From 7c551db23ea1f78d3ad7871521c045928f02cde1 Mon Sep 17 00:00:00 2001 From: Sandeepan Ghosh Date: Sun, 28 Nov 2021 12:11:07 +0530 Subject: [PATCH 1/3] Adding camera,tracking_pid --- dot_control/CMakeLists.txt | 2 + dot_control/launch/bring_up.launch | 1 + dot_control/scripts/Dot.py | 38 + dot_control/scripts/mark.py | 262 +++++++ dot_control/scripts/tf_apriltag.py | 241 +++--- dot_control/src/mymove.cpp | 93 +++ dot_control/src/omnidrive.cpp | 33 +- dot_control/src/switch.cpp | 117 +++ dot_description/mesh/card_100x100x01.scad | 7 + dot_description/mesh/card_100x100x01.stl | 86 +++ dot_description/mesh/make_meshes.sh | 23 + dot_description/mesh/master.dae | 137 ++++ dot_description/mesh/master.png | Bin 0 -> 147 bytes dot_description/mesh/mosaic.png | Bin 0 -> 1915 bytes dot_description/mesh/tag0/gazebo.material | 20 + dot_description/mesh/tag0/tag0.dae | 137 ++++ dot_description/mesh/tag0/tag36_11_00000.png | Bin 0 -> 9376 bytes dot_description/mesh/tag1/gazebo.material | 20 + 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.../map_8by8_obst12_agents10_ex72.yaml | 46 ++ .../map_8by8_obst12_agents10_ex73.yaml | 46 ++ .../map_8by8_obst12_agents10_ex74.yaml | 46 ++ .../map_8by8_obst12_agents10_ex75.yaml | 46 ++ .../map_8by8_obst12_agents10_ex76.yaml | 46 ++ .../map_8by8_obst12_agents10_ex77.yaml | 46 ++ .../map_8by8_obst12_agents10_ex78.yaml | 46 ++ .../map_8by8_obst12_agents10_ex79.yaml | 46 ++ .../map_8by8_obst12_agents10_ex8.yaml | 46 ++ .../map_8by8_obst12_agents10_ex80.yaml | 46 ++ .../map_8by8_obst12_agents10_ex81.yaml | 46 ++ .../map_8by8_obst12_agents10_ex82.yaml | 46 ++ .../map_8by8_obst12_agents10_ex83.yaml | 46 ++ .../map_8by8_obst12_agents10_ex84.yaml | 46 ++ .../map_8by8_obst12_agents10_ex85.yaml | 46 ++ .../map_8by8_obst12_agents10_ex86.yaml | 46 ++ .../map_8by8_obst12_agents10_ex87.yaml | 46 ++ .../map_8by8_obst12_agents10_ex88.yaml | 46 ++ .../map_8by8_obst12_agents10_ex89.yaml | 46 ++ .../map_8by8_obst12_agents10_ex9.yaml | 46 ++ .../map_8by8_obst12_agents10_ex90.yaml | 46 ++ .../map_8by8_obst12_agents10_ex91.yaml | 46 ++ .../map_8by8_obst12_agents10_ex92.yaml | 46 ++ .../map_8by8_obst12_agents10_ex93.yaml | 46 ++ .../map_8by8_obst12_agents10_ex94.yaml | 46 ++ .../map_8by8_obst12_agents10_ex95.yaml | 46 ++ .../map_8by8_obst12_agents10_ex96.yaml | 46 ++ .../map_8by8_obst12_agents10_ex97.yaml | 46 ++ .../map_8by8_obst12_agents10_ex98.yaml | 46 ++ .../map_8by8_obst12_agents10_ex99.yaml | 46 ++ .../map_8by8_obst12_agents11_ex0.yaml | 49 ++ .../map_8by8_obst12_agents11_ex1.yaml | 49 ++ .../map_8by8_obst12_agents11_ex10.yaml | 49 ++ .../map_8by8_obst12_agents11_ex11.yaml | 49 ++ .../map_8by8_obst12_agents11_ex12.yaml | 49 ++ .../map_8by8_obst12_agents11_ex13.yaml | 49 ++ .../map_8by8_obst12_agents11_ex14.yaml | 49 ++ .../map_8by8_obst12_agents11_ex15.yaml | 49 ++ .../map_8by8_obst12_agents11_ex16.yaml | 49 ++ .../map_8by8_obst12_agents11_ex17.yaml | 49 ++ .../map_8by8_obst12_agents11_ex18.yaml | 49 ++ .../map_8by8_obst12_agents11_ex19.yaml | 49 ++ .../map_8by8_obst12_agents11_ex2.yaml | 49 ++ .../map_8by8_obst12_agents11_ex20.yaml | 49 ++ .../map_8by8_obst12_agents11_ex21.yaml | 49 ++ .../map_8by8_obst12_agents11_ex22.yaml | 49 ++ .../map_8by8_obst12_agents11_ex23.yaml | 49 ++ .../map_8by8_obst12_agents11_ex24.yaml | 49 ++ .../map_8by8_obst12_agents11_ex25.yaml | 49 ++ .../map_8by8_obst12_agents11_ex26.yaml | 49 ++ .../map_8by8_obst12_agents11_ex27.yaml | 49 ++ .../map_8by8_obst12_agents11_ex28.yaml | 49 ++ .../map_8by8_obst12_agents11_ex29.yaml | 49 ++ .../map_8by8_obst12_agents11_ex3.yaml | 49 ++ .../map_8by8_obst12_agents11_ex30.yaml | 49 ++ .../map_8by8_obst12_agents11_ex31.yaml | 49 ++ .../map_8by8_obst12_agents11_ex32.yaml | 49 ++ .../map_8by8_obst12_agents11_ex33.yaml | 49 ++ .../map_8by8_obst12_agents11_ex34.yaml | 49 ++ .../map_8by8_obst12_agents11_ex35.yaml | 49 ++ .../map_8by8_obst12_agents11_ex36.yaml | 49 ++ .../map_8by8_obst12_agents11_ex37.yaml | 49 ++ .../map_8by8_obst12_agents11_ex38.yaml | 49 ++ .../map_8by8_obst12_agents11_ex39.yaml | 49 ++ .../map_8by8_obst12_agents11_ex4.yaml | 49 ++ .../map_8by8_obst12_agents11_ex40.yaml | 49 ++ .../map_8by8_obst12_agents11_ex41.yaml | 49 ++ .../map_8by8_obst12_agents11_ex42.yaml | 49 ++ .../map_8by8_obst12_agents11_ex43.yaml | 49 ++ .../map_8by8_obst12_agents11_ex44.yaml | 49 ++ .../map_8by8_obst12_agents11_ex45.yaml | 49 ++ .../map_8by8_obst12_agents11_ex46.yaml | 49 ++ .../map_8by8_obst12_agents11_ex47.yaml | 49 ++ .../map_8by8_obst12_agents11_ex48.yaml | 49 ++ .../map_8by8_obst12_agents11_ex49.yaml | 49 ++ .../map_8by8_obst12_agents11_ex5.yaml | 49 ++ .../map_8by8_obst12_agents11_ex50.yaml | 49 ++ .../map_8by8_obst12_agents11_ex51.yaml | 49 ++ .../map_8by8_obst12_agents11_ex52.yaml | 49 ++ .../map_8by8_obst12_agents11_ex53.yaml | 49 ++ .../map_8by8_obst12_agents11_ex54.yaml | 49 ++ .../map_8by8_obst12_agents11_ex55.yaml | 49 ++ .../map_8by8_obst12_agents11_ex56.yaml | 49 ++ .../map_8by8_obst12_agents11_ex57.yaml | 49 ++ .../map_8by8_obst12_agents11_ex58.yaml | 49 ++ .../map_8by8_obst12_agents11_ex59.yaml | 49 ++ .../map_8by8_obst12_agents11_ex6.yaml | 49 ++ .../map_8by8_obst12_agents11_ex60.yaml | 49 ++ .../map_8by8_obst12_agents11_ex61.yaml | 49 ++ .../map_8by8_obst12_agents11_ex62.yaml | 49 ++ .../map_8by8_obst12_agents11_ex63.yaml | 49 ++ .../map_8by8_obst12_agents11_ex64.yaml | 49 ++ .../map_8by8_obst12_agents11_ex65.yaml | 49 ++ .../map_8by8_obst12_agents11_ex66.yaml | 49 ++ .../map_8by8_obst12_agents11_ex67.yaml | 49 ++ .../map_8by8_obst12_agents11_ex68.yaml | 49 ++ .../map_8by8_obst12_agents11_ex69.yaml | 49 ++ .../map_8by8_obst12_agents11_ex7.yaml | 49 ++ .../map_8by8_obst12_agents11_ex70.yaml | 49 ++ .../map_8by8_obst12_agents11_ex71.yaml | 49 ++ .../map_8by8_obst12_agents11_ex72.yaml | 49 ++ .../map_8by8_obst12_agents11_ex73.yaml | 49 ++ .../map_8by8_obst12_agents11_ex74.yaml | 49 ++ .../map_8by8_obst12_agents11_ex75.yaml | 49 ++ .../map_8by8_obst12_agents11_ex76.yaml | 49 ++ 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.../map_8by8_obst12_agents11_ex96.yaml | 49 ++ .../map_8by8_obst12_agents11_ex97.yaml | 49 ++ .../map_8by8_obst12_agents11_ex98.yaml | 49 ++ .../map_8by8_obst12_agents11_ex99.yaml | 49 ++ .../map_8by8_obst12_agents12_ex0.yaml | 52 ++ .../map_8by8_obst12_agents12_ex1.yaml | 52 ++ .../map_8by8_obst12_agents12_ex10.yaml | 52 ++ .../map_8by8_obst12_agents12_ex11.yaml | 52 ++ .../map_8by8_obst12_agents12_ex12.yaml | 52 ++ .../map_8by8_obst12_agents12_ex13.yaml | 52 ++ .../map_8by8_obst12_agents12_ex14.yaml | 52 ++ .../map_8by8_obst12_agents12_ex15.yaml | 52 ++ .../map_8by8_obst12_agents12_ex16.yaml | 52 ++ .../map_8by8_obst12_agents12_ex17.yaml | 52 ++ .../map_8by8_obst12_agents12_ex18.yaml | 52 ++ .../map_8by8_obst12_agents12_ex19.yaml | 52 ++ .../map_8by8_obst12_agents12_ex2.yaml | 52 ++ .../map_8by8_obst12_agents12_ex20.yaml | 52 ++ .../map_8by8_obst12_agents12_ex21.yaml | 52 ++ .../map_8by8_obst12_agents12_ex22.yaml | 52 ++ .../map_8by8_obst12_agents12_ex23.yaml | 52 ++ .../map_8by8_obst12_agents12_ex24.yaml | 52 ++ .../map_8by8_obst12_agents12_ex25.yaml | 52 ++ .../map_8by8_obst12_agents12_ex26.yaml | 52 ++ .../map_8by8_obst12_agents12_ex27.yaml | 52 ++ .../map_8by8_obst12_agents12_ex28.yaml | 52 ++ .../map_8by8_obst12_agents12_ex29.yaml | 52 ++ .../map_8by8_obst12_agents12_ex3.yaml | 52 ++ .../map_8by8_obst12_agents12_ex30.yaml | 52 ++ .../map_8by8_obst12_agents12_ex31.yaml | 52 ++ .../map_8by8_obst12_agents12_ex32.yaml | 52 ++ .../map_8by8_obst12_agents12_ex33.yaml | 52 ++ .../map_8by8_obst12_agents12_ex34.yaml | 52 ++ .../map_8by8_obst12_agents12_ex35.yaml | 52 ++ .../map_8by8_obst12_agents12_ex36.yaml | 52 ++ .../map_8by8_obst12_agents12_ex37.yaml | 52 ++ .../map_8by8_obst12_agents12_ex38.yaml | 52 ++ .../map_8by8_obst12_agents12_ex39.yaml | 52 ++ .../map_8by8_obst12_agents12_ex4.yaml | 52 ++ .../map_8by8_obst12_agents12_ex40.yaml | 52 ++ .../map_8by8_obst12_agents12_ex41.yaml | 52 ++ .../map_8by8_obst12_agents12_ex42.yaml | 52 ++ 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dot_planner/centralized/cbs/__init__.py create mode 100644 dot_planner/centralized/cbs/__pycache__/__init__.cpython-38.pyc create mode 100644 dot_planner/centralized/cbs/__pycache__/a_star.cpython-38.pyc create mode 100644 dot_planner/centralized/cbs/__pycache__/cbs.cpython-38.pyc create mode 100755 dot_planner/centralized/cbs/a_star.py create mode 100755 dot_planner/centralized/cbs/cbs.py create mode 100644 dot_planner/centralized/cbs/input.yaml create mode 100644 dot_planner/centralized/cbs/output.yaml create mode 100644 dot_planner/centralized/cbs/real_schedule.yaml create mode 100644 dot_planner/centralized/cbs/results/test_1.gif create mode 100644 dot_planner/centralized/cbs/results/test_2.gif create mode 100644 dot_planner/centralized/cbs/results/test_3.gif create mode 100644 dot_planner/centralized/cbs/results/test_4.gif create mode 100644 dot_planner/centralized/scheduling/__init__.py create mode 100644 dot_planner/centralized/scheduling/__pycache__/__init__.cpython-38.pyc create mode 100644 dot_planner/centralized/scheduling/__pycache__/stn.cpython-38.pyc create mode 100644 dot_planner/centralized/scheduling/__pycache__/tpg.cpython-38.pyc create mode 100644 dot_planner/centralized/scheduling/minimize.py create mode 100644 dot_planner/centralized/scheduling/real_schedule.yaml create mode 100644 dot_planner/centralized/scheduling/stn.py create mode 100644 dot_planner/centralized/scheduling/tpg.py create mode 100644 dot_planner/centralized/sipp/__init__.py create mode 100755 dot_planner/centralized/sipp/graph_generation.py create mode 100644 dot_planner/centralized/sipp/input.yaml create mode 100755 dot_planner/centralized/sipp/multi_sipp.py create mode 100644 dot_planner/centralized/sipp/output.yaml create mode 100644 dot_planner/centralized/sipp/results/failure.gif create mode 100644 dot_planner/centralized/sipp/results/success.gif create mode 100755 dot_planner/centralized/sipp/sipp.py create mode 100755 dot_planner/centralized/sipp/visualize_sipp.py create mode 100755 dot_planner/centralized/visualize.py create mode 100644 dot_planner/scripts/__pycache__/cbs.cpython-38.pyc delete mode 100644 dot_teleop/src/dot_key.cpp create mode 160000 tracking_pid diff --git a/dot_control/CMakeLists.txt b/dot_control/CMakeLists.txt index 68f380e..f35b242 100644 --- a/dot_control/CMakeLists.txt +++ b/dot_control/CMakeLists.txt @@ -133,6 +133,8 @@ ${catkin_INCLUDE_DIRS} add_executable(omnidrive src/omnidrive_node.cpp src/omnidrive.cpp) #add_executable(odometry_node src/odometry.cpp) target_link_libraries(omnidrive ${catkin_LIBRARIES}) +add_executable(mymove src/mymove.cpp) +target_link_libraries(mymove ${catkin_LIBRARIES}) #target_link_libraries(odometry_node ${catkin_LIBRARIES}) ## Rename C++ executable without prefix diff --git a/dot_control/launch/bring_up.launch b/dot_control/launch/bring_up.launch index d08ae19..5000d77 100644 --- a/dot_control/launch/bring_up.launch +++ b/dot_control/launch/bring_up.launch @@ -12,4 +12,5 @@ + diff --git a/dot_control/scripts/Dot.py b/dot_control/scripts/Dot.py new file mode 100755 index 0000000..2abf7c5 --- /dev/null +++ b/dot_control/scripts/Dot.py @@ -0,0 +1,38 @@ +#!/usr/bin/env python3 +from re import X +import rospy +import math +import tf +import roslib +from geometry_msgs.msg import Twist +from std_msgs.msg import String +from turtlesim.msg import Pose +from nav_msgs.msg import Odometry + +def callback(msg): + global x + global y + x=msg.pose.pose.position.x + y=msg.pose.pose.position.y + + +if __name__ == '__main__': + global x + global y + + xf=int(input("Enter x coordinate")) + yf=int(input("Enter y coordinate")) + a=Twist() + rospy.init_node('dot_move', anonymous=True) + pub=rospy.Publisher("dot/cmd_vel",Twist,queue_size=10) + rospy.Subscriber("/dot/odom", Odometry, callback) + rospy.sleep(1) + while(not rospy.is_shutdown() and ((x-xf)**2+(y-yf)**2)**0.5>1): + a.linear.x=(xf-x)/20 + a.linear.y=(yf-y)/20 + print(a.linear.x,a.linear.y) + pub.publish(a) + + b=Twist() + pub.publish(b) + diff --git a/dot_control/scripts/mark.py b/dot_control/scripts/mark.py new file mode 100755 index 0000000..9c80e57 --- /dev/null +++ b/dot_control/scripts/mark.py @@ -0,0 +1,262 @@ +#!/usr/bin/env python3 +import rospy +import math +import tf +import roslib +from geometry_msgs.msg import Twist +from std_msgs.msg import String +from std_msgs.msg import Int8 +from nav_msgs.msg import Odometry +from visualization_msgs.msg import Marker +from nav_msgs.msg import Path +from geometry_msgs.msg import PoseWithCovarianceStamped, PoseStamped + +mark1_pub=rospy.Publisher("/dot1/marker",Marker,queue_size=1) +mark2_pub=rospy.Publisher("/dot2/marker",Marker,queue_size=1) +mark3_pub=rospy.Publisher("/dot3/marker",Marker,queue_size=1) +mark4_pub=rospy.Publisher("/dot4/marker",Marker,queue_size=1) +mark5_pub=rospy.Publisher("/dot5/marker",Marker,queue_size=1) +mark6_pub=rospy.Publisher("/dot6/marker",Marker,queue_size=1) +recalc_pub=rospy.Publisher("/recalc",Int8,queue_size=1) +recalc=Int8() +recalc.data=0 +def p1_callback(msg): + global mark1_pub,recalc_pub,recalc + f=0 + for i in msg.poses: + if recalc.data==1: + f=1 + break + x1=i.pose.position.x + y1=i.pose.position.y + print(x1,y1) + marker=Marker() + marker.header.frame_id = "map" + marker.header.stamp = rospy.Time.now() + marker.ns = "/" + marker.id = 0 + marker.type = Marker.SPHERE + marker.action=0 + marker.scale.x=0.04 + marker.scale.y=0.04 + marker.scale.z=0.01 + marker.color.a = 1.0 + marker.color.r = 0.0 + marker.color.g = 1.0 + marker.color.b = 0.0 + marker.pose.position.x=x1 + marker.pose.position.y=y1 + marker.pose.position.z=0 + marker.pose.orientation.x = 0.0 + marker.pose.orientation.y = 0.0 + marker.pose.orientation.z = 0.0 + marker.pose.orientation.w = 1.0 + mark1_pub.publish(marker) + rospy.sleep(1) + if f==0: + recalc.data=1 + recalc_pub.publish(recalc) + recalc.data=0 + +def p2_callback(msg): + global mark2_pub,recalc_pub,recalc + f=0 + for i in msg.poses: + if recalc.data==1: + f=1 + break + x1=i.pose.position.x + y1=i.pose.position.y + print(x1,y1) + marker=Marker() + marker.header.frame_id = "map" + marker.header.stamp = rospy.Time.now() + marker.ns = "/" + marker.id = 0 + marker.type = Marker.SPHERE + marker.action=0 + marker.scale.x=0.04 + marker.scale.y=0.04 + marker.scale.z=0.01 + marker.color.a = 1.0 + marker.color.r = 0.0 + marker.color.g = 0.0 + marker.color.b = 1.0 + marker.pose.position.x=x1 + marker.pose.position.y=y1 + marker.pose.position.z=0 + marker.pose.orientation.x = 0.0 + marker.pose.orientation.y = 0.0 + marker.pose.orientation.z = 0.0 + marker.pose.orientation.w = 1.0 + mark2_pub.publish(marker) + rospy.sleep(1) + if f==0: + recalc.data=1 + recalc_pub.publish(recalc) + recalc.data=0 + +def p3_callback(msg): + global mark3_pub,recalc_pub,recalc + f=0 + for i in msg.poses: + if recalc.data==1: + f=1 + break + x1=i.pose.position.x + y1=i.pose.position.y + print(x1,y1) + marker=Marker() + marker.header.frame_id = "map" + marker.header.stamp = rospy.Time.now() + marker.ns = "/" + marker.id = 0 + marker.type = Marker.SPHERE + marker.action=0 + marker.scale.x=0.04 + marker.scale.y=0.04 + marker.scale.z=0.01 + marker.color.a = 1.0 + marker.color.r = 1.0 + marker.color.g = 0.0 + marker.color.b = 0.0 + marker.pose.position.x=x1 + marker.pose.position.y=y1 + marker.pose.position.z=0 + marker.pose.orientation.x = 0.0 + marker.pose.orientation.y = 0.0 + marker.pose.orientation.z = 0.0 + marker.pose.orientation.w = 1.0 + mark3_pub.publish(marker) + rospy.sleep(1) + if f==0: + recalc.data=1 + recalc_pub.publish(recalc) + recalc.data=0 + +def p4_callback(msg): + global mark4_pub,recalc_pub,recalc + f=0 + for i in msg.poses: + if recalc.data==1: + f=1 + break + x1=i.pose.position.x + y1=i.pose.position.y + print(x1,y1) + marker=Marker() + marker.header.frame_id = "map" + marker.header.stamp = rospy.Time.now() + marker.ns = "/" + marker.id = 0 + marker.type = Marker.SPHERE + marker.action=0 + marker.scale.x=0.04 + marker.scale.y=0.04 + marker.scale.z=0.01 + marker.color.a = 1.0 + marker.color.r = 0.0 + marker.color.g = 1.0 + marker.color.b = 1.0 + marker.pose.position.x=x1 + marker.pose.position.y=y1 + marker.pose.position.z=0 + marker.pose.orientation.x = 0.0 + marker.pose.orientation.y = 0.0 + marker.pose.orientation.z = 0.0 + marker.pose.orientation.w = 1.0 + mark4_pub.publish(marker) + rospy.sleep(1) + if f==0: + recalc.data=1 + recalc_pub.publish(recalc) + recalc.data=0 + +def p5_callback(msg): + global mark5_pub,recalc_pub,recalc + f=0 + for i in msg.poses: + if recalc.data==1: + f=1 + break + x1=i.pose.position.x + y1=i.pose.position.y + print(x1,y1) + marker=Marker() + marker.header.frame_id = "map" + marker.header.stamp = rospy.Time.now() + marker.ns = "/" + marker.id = 0 + marker.type = Marker.SPHERE + marker.action=0 + marker.scale.x=0.04 + marker.scale.y=0.04 + marker.scale.z=0.01 + marker.color.a = 1.0 + marker.color.r = 1.0 + marker.color.g = 0.0 + marker.color.b = 1.0 + marker.pose.position.x=x1 + marker.pose.position.y=y1 + marker.pose.position.z=0 + marker.pose.orientation.x = 0.0 + marker.pose.orientation.y = 0.0 + marker.pose.orientation.z = 0.0 + marker.pose.orientation.w = 1.0 + mark5_pub.publish(marker) + rospy.sleep(1) + if f==0: + recalc.data=1 + recalc_pub.publish(recalc) + recalc.data=0 + +def p6_callback(msg): + global mark6_pub,recalc_pub,recalc + f=0 + for i in msg.poses: + if recalc.data==1: + f=1 + break + x1=i.pose.position.x + y1=i.pose.position.y + print(x1,y1) + marker=Marker() + marker.header.frame_id = "map" + marker.header.stamp = rospy.Time.now() + marker.ns = "/" + marker.id = 0 + marker.type = Marker.SPHERE + marker.action=0 + marker.scale.x=0.04 + marker.scale.y=0.04 + marker.scale.z=0.01 + marker.color.a = 1.0 + marker.color.r = 1.0 + marker.color.g = 1.0 + marker.color.b = 0.0 + marker.pose.position.x=x1 + marker.pose.position.y=y1 + marker.pose.position.z=0 + marker.pose.orientation.x = 0.0 + marker.pose.orientation.y = 0.0 + marker.pose.orientation.z = 0.0 + marker.pose.orientation.w = 1.0 + mark6_pub.publish(marker) + rospy.sleep(1) + if f==0: + recalc.data=1 + recalc_pub.publish(recalc) + recalc.data=0 + +def main(): + m1=rospy.Subscriber('/dot1/path',Path,p1_callback,queue_size=1) + m2=rospy.Subscriber('/dot2/path',Path,p2_callback,queue_size=1) + m3=rospy.Subscriber('/dot3/path',Path,p3_callback,queue_size=1) + m4=rospy.Subscriber('/dot4/path',Path,p4_callback,queue_size=1) + m5=rospy.Subscriber('/dot5/path',Path,p5_callback,queue_size=1) + m6=rospy.Subscriber('/dot6/path',Path,p6_callback,queue_size=1) + +if __name__ == "__main__": + rospy.init_node('marksub', anonymous=True) + main() + rospy.spin() diff --git a/dot_control/scripts/tf_apriltag.py b/dot_control/scripts/tf_apriltag.py index 2f3b1ac..392e223 100755 --- a/dot_control/scripts/tf_apriltag.py +++ b/dot_control/scripts/tf_apriltag.py @@ -1,9 +1,9 @@ -#!/usr/bin/env python +#!/usr/bin/env python3 import rospy from visualization_msgs.msg import Marker, MarkerArray from apriltag_ros.msg import AprilTagDetectionArray -from geometry_msgs.msg import PoseStamped, Vector3 +from geometry_msgs.msg import PoseStamped, Vector3,TransformStamped from std_msgs.msg import ColorRGBA import tf import tf2_ros @@ -18,34 +18,6 @@ i_3 = 0.0762 -S1 = (-i_6 - i_3, i_6*6 + i_3 ) -path1 = [] -for k in range(9): - path1.append((S1[0], round(S1[1] - k*i_6 ,2))) - -for k in range(7): - path1.append((round(S1[0] - i_6*(k+1),2), round(path1[8][1],2))) -# print(map) - - -S2 = (-i_3, i_6*6 + i_3) -path2 = [] -for k in range(10): - path2.append((S2[0], round(S2[1] - k*i_6,2))) - -for k in range(8): - path2.append((round(S2[0] - i_6*(k+1),2), path2[9][1])) - -S3 = (i_3, i_6*6 + i_3) -path3 = [] -for k in range(18): - path3.append((-path2[k][0], path2[k][1])) - - -S4 = (i_6 + i_3, i_6*6 + i_3 ) -path4 = [] -for k in range(16): - path4.append((-path1[k][0], path1[k][1])) N_TAGS = 6 def tags_callback(msg): @@ -63,6 +35,12 @@ def tags_callback(msg): pose_stamped = PoseStamped() pose_stamped.header = detection.pose.header pose_stamped.pose = pose.pose.pose + + try: + trans = tfBuffer.lookup_transform('map', 'tag_14', rospy.Time()) + print(trans) + except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException): + print("Hello") #try: #f = tfBuffer.lookup_transform(detection.pose.header.frame_id, 'world', rospy.Time()) @@ -101,96 +79,96 @@ def tags_callback(msg): # print('-'*10, "SENT MESSAGE", '-'*10) # marker_arry_pub.publish(marker_arry) # tranformed_pose_stamped = listener.transformPose('world', pose_stamped) - print('-'*5, pose_stamped, '-'*5) - #except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException) as e: - # print(e) - # continue - if detection.id[0] == 14: - if pose_stamped.header.frame_id == "usb_cam": - br = tf.TransformBroadcaster() - br.sendTransform((pose_stamped.pose.position.x,pose_stamped.pose.position.y, 0), - tf.transformations.quaternion_from_euler(0, 0, 0), - rospy.Time.now(), - pose_stamped.header.frame_id, - "world") - # if pose_stamped.header.frame_id == "usb_cam_2": - # br = tf.TransformBroadcaster() - # br.sendTransform((pose_stamped.pose.position.x,pose_stamped.pose.position.y, 0), - # tf.transformations.quaternion_from_euler(0, 0, 0), - # rospy.Time.now(), - # pose_stamped.header.frame_id, - # "world") - for k in range(16): - marker_msg = Marker() - marker_msg.header.frame_id = "/world" - marker_msg.id = k - marker_msg.pose.position.x = path1[k][0] - marker_msg.pose.position.y = path1[k][1] - marker_msg.pose.position.z = 0 - marker_msg.scale.x = 0.1 - marker_msg.scale.y = 0.1 - marker_msg.scale.z = 0.1 - marker_msg.color = ColorRGBA() - if(detection.pose.header.frame_id[-1]=="2"): - marker_msg.color.r = 1 - if(detection.pose.header.frame_id[-1]=="3"): - marker_msg.color.b = 1 - if(detection.pose.header.frame_id[-1]=="4"): - marker_msg.color.g = 1 - - marker_msg.color.a = 1 - marker_arry_1.markers.append(marker_msg) - for k in range(18): - marker_msg = Marker() - marker_msg.header.frame_id = "/world" - marker_msg.id = k - marker_msg.pose.position.x = path2[k][0] - marker_msg.pose.position.y = path2[k][1] - marker_msg.pose.position.z = 0 - marker_msg.scale.x = 0.1 - marker_msg.scale.y = 0.1 - marker_msg.scale.z = 0.1 - marker_msg.color = ColorRGBA() - if(detection.pose.header.frame_id[-1]=="2"): - marker_msg.color.r = 1 - if(detection.pose.header.frame_id[-1]=="3"): - marker_msg.color.b = 1 - if(detection.pose.header.frame_id[-1]=="4"): - marker_msg.color.g = 1 - - marker_msg.color.a = 1 - marker_arry_2.markers.append(marker_msg) - for k in range(18): - marker_msg = Marker() - marker_msg.header.frame_id = "/world" - marker_msg.id = k - marker_msg.pose.position.x = path3[k][0] - marker_msg.pose.position.y = path3[k][1] - marker_msg.pose.position.z = 0 - marker_msg.scale.x = 0.1 - marker_msg.scale.y = 0.1 - marker_msg.scale.z = 0.1 - marker_msg.color = ColorRGBA() - if(detection.pose.header.frame_id[-1]=="2"): - marker_msg.color.r = 1 - if(detection.pose.header.frame_id[-1]=="3"): - marker_msg.color.b = 1 - if(detection.pose.header.frame_id[-1]=="4"): - marker_msg.color.g = 1 - - marker_msg.color.a = 1 - marker_arry_3.markers.append(marker_msg) - - # print("Found tag ", detection.id, ' at (', - # tranformed_pose_stamped.pose.position.x, ', ', - # tranformed_pose_stamped.pose.position.y) - - #if len(visited_ids) == N_TAGS: - # print('-'*10, "SENT MESSAGE", '-'*10) - marker_arry_1_pub.publish(marker_arry_1) - marker_arry_2_pub.publish(marker_arry_2) - marker_arry_3_pub.publish(marker_arry_3) - marker_arry_4_pub.publish(marker_arry_4) +# print('-'*5, pose_stamped, '-'*5) +# #except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException) as e: +# # print(e) +# # continue +# if detection.id[0] == 14: +# if pose_stamped.header.frame_id == "usb_cam": +# br = tf.TransformBroadcaster() +# br.sendTransform((pose_stamped.pose.position.x,pose_stamped.pose.position.y, 0), +# tf.transformations.quaternion_from_euler(0, 0, 0), +# rospy.Time.now(), +# pose_stamped.header.frame_id, +# "world") +# # if pose_stamped.header.frame_id == "usb_cam_2": +# # br = tf.TransformBroadcaster() +# # br.sendTransform((pose_stamped.pose.position.x,pose_stamped.pose.position.y, 0), +# # tf.transformations.quaternion_from_euler(0, 0, 0), +# # rospy.Time.now(), +# # pose_stamped.header.frame_id, +# # "world") +# for k in range(16): +# marker_msg = Marker() +# marker_msg.header.frame_id = "/world" +# marker_msg.id = k +# marker_msg.pose.position.x = path1[k][0] +# marker_msg.pose.position.y = path1[k][1] +# marker_msg.pose.position.z = 0 +# marker_msg.scale.x = 0.1 +# marker_msg.scale.y = 0.1 +# marker_msg.scale.z = 0.1 +# marker_msg.color = ColorRGBA() +# if(detection.pose.header.frame_id[-1]=="2"): +# marker_msg.color.r = 1 +# if(detection.pose.header.frame_id[-1]=="3"): +# marker_msg.color.b = 1 +# if(detection.pose.header.frame_id[-1]=="4"): +# marker_msg.color.g = 1 +# +# marker_msg.color.a = 1 +# marker_arry_1.markers.append(marker_msg) +# for k in range(18): +# marker_msg = Marker() +# marker_msg.header.frame_id = "/world" +# marker_msg.id = k +# marker_msg.pose.position.x = path2[k][0] +# marker_msg.pose.position.y = path2[k][1] +# marker_msg.pose.position.z = 0 +# marker_msg.scale.x = 0.1 +# marker_msg.scale.y = 0.1 +# marker_msg.scale.z = 0.1 +# marker_msg.color = ColorRGBA() +# if(detection.pose.header.frame_id[-1]=="2"): +# marker_msg.color.r = 1 +# if(detection.pose.header.frame_id[-1]=="3"): +# marker_msg.color.b = 1 +# if(detection.pose.header.frame_id[-1]=="4"): +# marker_msg.color.g = 1 +# +# marker_msg.color.a = 1 +# marker_arry_2.markers.append(marker_msg) +# for k in range(18): +# marker_msg = Marker() +# marker_msg.header.frame_id = "/world" +# marker_msg.id = k +# marker_msg.pose.position.x = path3[k][0] +# marker_msg.pose.position.y = path3[k][1] +# marker_msg.pose.position.z = 0 +# marker_msg.scale.x = 0.1 +# marker_msg.scale.y = 0.1 +# marker_msg.scale.z = 0.1 +# marker_msg.color = ColorRGBA() +# if(detection.pose.header.frame_id[-1]=="2"): +# marker_msg.color.r = 1 +# if(detection.pose.header.frame_id[-1]=="3"): +# marker_msg.color.b = 1 +# if(detection.pose.header.frame_id[-1]=="4"): +# marker_msg.color.g = 1 +# +# marker_msg.color.a = 1 +# marker_arry_3.markers.append(marker_msg) + +# # print("Found tag ", detection.id, ' at (', +# # tranformed_pose_stamped.pose.position.x, ', ', +# # tranformed_pose_stamped.pose.position.y) +# +# #if len(visited_ids) == N_TAGS: +# # print('-'*10, "SENT MESSAGE", '-'*10) +# marker_arry_1_pub.publish(marker_arry_1) +# marker_arry_2_pub.publish(marker_arry_2) +# marker_arry_3_pub.publish(marker_arry_3) +# marker_arry_4_pub.publish(marker_arry_4) @@ -199,14 +177,33 @@ def tags_callback(msg): try: rospy.init_node('tf_apriltag') tfBuffer = tf2_ros.Buffer() - listener = tf.TransformListener(tfBuffer) + listener = tf2_ros.TransformListener(tfBuffer) marker_arry_1_pub = rospy.Publisher('/tags_marker_array_1', MarkerArray, queue_size=10) marker_arry_2_pub = rospy.Publisher('/tags_marker_array_2', MarkerArray, queue_size=10) marker_arry_3_pub = rospy.Publisher('/tags_marker_array_3', MarkerArray, queue_size=10) marker_arry_4_pub = rospy.Publisher('/tags_marker_array_4', MarkerArray, queue_size=10) - rospy.Subscriber("/tag_detections", AprilTagDetectionArray, tags_callback) + rospy.Subscriber("/camera1/tag_detections", AprilTagDetectionArray, tags_callback) + broadcaster = tf2_ros.StaticTransformBroadcaster() + static_transformStamped = TransformStamped() + + static_transformStamped.header.stamp = rospy.Time.now() + static_transformStamped.header.frame_id = "map" + static_transformStamped.child_frame_id = "camera1" + + static_transformStamped.transform.translation.x = -0.25 + static_transformStamped.transform.translation.y = 0 + static_transformStamped.transform.translation.z = 1 + + quat = tf.transformations.quaternion_from_euler(0,3.142,1.571) + static_transformStamped.transform.rotation.x = quat[0] + static_transformStamped.transform.rotation.y = quat[1] + static_transformStamped.transform.rotation.z = quat[2] + static_transformStamped.transform.rotation.w = quat[3] + + broadcaster.sendTransform(static_transformStamped) + rospy.spin() except rospy.ROSInterruptException: diff --git a/dot_control/src/mymove.cpp b/dot_control/src/mymove.cpp new file mode 100644 index 0000000..4aad546 --- /dev/null +++ b/dot_control/src/mymove.cpp @@ -0,0 +1,93 @@ +#include + +#include +#include +#include + +class RobotDriver +{ +private: + //! The node handle we'll be using + ros::NodeHandle nh_; + //! We will be publishing to the "cmd_vel" topic to issue commands + ros::Publisher cmd_vel_pub_; + //! We will be listening to TF transforms as well + tf::TransformListener listener_; + +public: + //! ROS node initialization + RobotDriver(ros::NodeHandle &nh) + { + nh_ = nh; + //set up the publisher for the cmd_vel topic + cmd_vel_pub_ = nh_.advertise("/dot/cmd_vel", 1); + } + + //! Drive forward a specified distance based on odometry information + bool driveForwardOdom(double distance) + { + //wait for the listener to get the first message + listener_.waitForTransform("origin_link", "odom", + ros::Time(0), ros::Duration(1.0)); + + //we will record transforms here + tf::StampedTransform start_transform; + tf::StampedTransform current_transform; + + //record the starting transform from the odometry to the base frame + listener_.lookupTransform("origin_link", "odom", + ros::Time(0), start_transform); + + //we will be sending commands of type "twist" + geometry_msgs::Twist base_cmd; + //the command will be to go forward at 0.25 m/s + base_cmd.linear.x = base_cmd.angular.z = 0; + base_cmd.linear.y = -0.25; + + ros::Rate rate(10.0); + bool done = false; + while (!done && nh_.ok()) + { + //send the drive command + cmd_vel_pub_.publish(base_cmd); + rate.sleep(); + //get the current transform + try + { + listener_.lookupTransform("origin_link", "odom", + ros::Time(0), current_transform); + } + catch (tf::TransformException ex) + { + ROS_ERROR("%s",ex.what()); + break; + } + //see how far we've traveled + tf::Transform relative_transform = + start_transform.inverse() * current_transform; + double dist_moved = relative_transform.getOrigin().length(); + + if(dist_moved > distance) + { + done = true; + base_cmd.linear.y=0; + cmd_vel_pub_.publish(base_cmd); + } + } + if (done) return true; + return false; + } +}; + +int main(int argc, char** argv) +{ + //init the ROS node + ros::init(argc, argv, "robot_driver"); + ros::NodeHandle nh; + + RobotDriver driver(nh); + double d; + std::cin>>d; + driver.driveForwardOdom(d); +} + diff --git a/dot_control/src/omnidrive.cpp b/dot_control/src/omnidrive.cpp index a12e234..1754f90 100644 --- a/dot_control/src/omnidrive.cpp +++ b/dot_control/src/omnidrive.cpp @@ -5,7 +5,7 @@ -std_msgs::Float64 message; +std_msgs::Float64 msg2,msg3,msg4; ros::Publisher publisher; ros::Subscriber joint_states; @@ -26,7 +26,7 @@ double yaw_offset; bool yaw_flag=true; double xref, yref, thetaref; using namespace std; - +int g=0; ros::Time timeCurrent; @@ -71,6 +71,7 @@ namespace omnidrive{ yaw_offset = yaw; } odom_theta = yaw - yaw_offset; + //cout<<"Theta"< + +#include +#include +#include + +class RobotDriver +{ +private: + //! The node handle we'll be using + ros::NodeHandle nh_; + //! We will be publishing to the "cmd_vel" topic to issue commands + ros::Publisher cmd_vel_pub_; + //! We will be listening to TF transforms as well + tf::TransformListener listener_; + +public: + //! ROS node initialization + RobotDriver(ros::NodeHandle &nh) + { + nh_ = nh; + //set up the publisher for the cmd_vel topic + cmd_vel_pub_ = nh_.advertise("/dot/cmd_vel", 1); + } + + //! Drive forward a specified distance based on odometry information + bool driveForwardOdom(int dir) + { + //wait for the listener to get the first message + listener_.waitForTransform("base_link", "odom", + ros::Time(0), ros::Duration(1.0)); + + //we will record transforms here + tf::StampedTransform start_transform; + tf::StampedTransform current_transform; + + //record the starting transform from the odometry to the base frame + listener_.lookupTransform("base_link", "odom", + ros::Time(0), start_transform); + + //we will be sending commands of type "twist" + geometry_msgs::Twist base_cmd; + //the command will be to go forward at 0.25 m/s + double dist=0.1524; + switch(dir){ + case 8: + base_cmd.linear.y = 0; + base_cmd.linear.x = 0.25; + break; + case 2: + base_cmd.linear.y = 0; + base_cmd.linear.x = -0.25; + break; + case 4: + base_cmd.linear.x = 0; + base_cmd.linear.y = 0.25; + break; + case 6: + base_cmd.linear.x = 0; + base_cmd.linear.y = -0.25; + break; + default: + base_cmd.linear.y = 0; + base_cmd.linear.x = 0; + dist=-1; + break; + } + base_cmd.angular.z = 0; + + ros::Rate rate(10.0); + bool done = false; + while (!done && nh_.ok()) + { + //send the drive command + cmd_vel_pub_.publish(base_cmd); + rate.sleep(); + //get the current transform + try + { + listener_.lookupTransform("base_link", "odom", + ros::Time(0), current_transform); + } + catch (tf::TransformException ex) + { + ROS_ERROR("%s",ex.what()); + break; + } + //see how far we've traveled + tf::Transform relative_transform = + start_transform.inverse() * current_transform; + double dist_moved = relative_transform.getOrigin().length(); + + if(dist_moved > dist) + { + done = true; + base_cmd.linear.x=0; + base_cmd.linear.y=0; + cmd_vel_pub_.publish(base_cmd); + } + } + if (done) return true; + return false; + } +}; + +int main(int argc, char** argv) +{ + //init the ROS node + ros::init(argc, argv, "robot_driver"); + ros::NodeHandle nh; + + RobotDriver driver(nh); + int d; + std::cin>>d; + driver.driveForwardOdom(d); +} + diff --git a/dot_description/mesh/card_100x100x01.scad b/dot_description/mesh/card_100x100x01.scad new file mode 100644 index 0000000..e451c07 --- /dev/null +++ b/dot_description/mesh/card_100x100x01.scad @@ -0,0 +1,7 @@ +/** A thin card of size (100 x 100 x 0.1) millimeters, + * origin at the center, scaled to meters for ROS. + */ + +scale( 0.001, 0.001, 0.001 ) + cube( size=[100,100,0.1], center=true ); + diff --git a/dot_description/mesh/card_100x100x01.stl b/dot_description/mesh/card_100x100x01.stl new file mode 100644 index 0000000..6dd9623 --- /dev/null +++ b/dot_description/mesh/card_100x100x01.stl @@ -0,0 +1,86 @@ +solid OpenSCAD_Model + facet normal -0 0 1 + outer loop + vertex -0.05 0.05 5e-05 + vertex 0.05 -0.05 5e-05 + vertex 0.05 0.05 5e-05 + endloop + endfacet + facet normal 0 0 1 + outer loop + vertex 0.05 -0.05 5e-05 + vertex -0.05 0.05 5e-05 + vertex -0.05 -0.05 5e-05 + endloop + endfacet + facet normal 0 0 -1 + outer loop + vertex -0.05 -0.05 -5e-05 + vertex 0.05 0.05 -5e-05 + vertex 0.05 -0.05 -5e-05 + endloop + endfacet + facet normal -0 0 -1 + outer loop + vertex 0.05 0.05 -5e-05 + vertex -0.05 -0.05 -5e-05 + vertex -0.05 0.05 -5e-05 + endloop + endfacet + facet normal 0 -1 0 + outer loop + vertex -0.05 -0.05 -5e-05 + vertex 0.05 -0.05 5e-05 + vertex -0.05 -0.05 5e-05 + endloop + endfacet + facet normal 0 -1 -0 + outer loop + vertex 0.05 -0.05 5e-05 + vertex -0.05 -0.05 -5e-05 + vertex 0.05 -0.05 -5e-05 + endloop + endfacet + facet normal 1 -0 0 + outer loop + vertex 0.05 -0.05 5e-05 + vertex 0.05 0.05 -5e-05 + vertex 0.05 0.05 5e-05 + endloop + endfacet + facet normal 1 0 0 + outer loop + vertex 0.05 0.05 -5e-05 + vertex 0.05 -0.05 5e-05 + vertex 0.05 -0.05 -5e-05 + endloop + endfacet + facet normal 0 1 -0 + outer loop + vertex 0.05 0.05 -5e-05 + vertex -0.05 0.05 5e-05 + vertex 0.05 0.05 5e-05 + endloop + endfacet + facet normal 0 1 0 + outer loop + vertex -0.05 0.05 5e-05 + vertex 0.05 0.05 -5e-05 + vertex -0.05 0.05 -5e-05 + endloop + endfacet + facet normal -1 0 0 + outer loop + vertex -0.05 -0.05 -5e-05 + vertex -0.05 0.05 5e-05 + vertex -0.05 0.05 -5e-05 + endloop + endfacet + facet normal -1 -0 0 + outer loop + vertex -0.05 0.05 5e-05 + vertex -0.05 -0.05 -5e-05 + vertex -0.05 -0.05 5e-05 + endloop + endfacet +endsolid OpenSCAD_Model diff --git a/dot_description/mesh/make_meshes.sh b/dot_description/mesh/make_meshes.sh new file mode 100644 index 0000000..512ace8 --- /dev/null +++ b/dot_description/mesh/make_meshes.sh @@ -0,0 +1,23 @@ +#!/bin/bash +# +# 16h5 family +for i in tag16_05*.png +do + echo $i + j=$(basename $i .png).dae + echo $j + cp master.dae $j + sed -i s/master.png/$i/ $j +done + +# 36h11 family +for i in tag36_11*.png +do + echo $i + j=$(basename $i .png).dae + echo $j + cp master.dae $j + sed -i s/master.png/$i/ $j +done + +# other families not yet (not needed) diff --git a/dot_description/mesh/master.dae b/dot_description/mesh/master.dae new file mode 100644 index 0000000..41bc2a3 --- /dev/null +++ b/dot_description/mesh/master.dae @@ -0,0 +1,137 @@ + + + + + VCGLab + VCGLib | MeshLab + + Y_UP + Mi. 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b/dot_description/xacro/main2.urdf.xacro @@ -0,0 +1,668 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0 0 0 0 0 0 + false + 40 + + + + 720 + 1 + -1.570796 + 1.570796 + + + + 0.1 + 30 + 0.01 + + + gaussian + + 0.0 + 0.01 + + + + /dot/laser_scan + hokuyo_link + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + + true + 100 + true + __default_topic__ + + /imu/data_raw + imu_link + 100.0 + 0.0 + 0 0 0 + 0 0 0 + imu_link + false + + 0 0 0 0 0 0 + + + + + + + + /dot + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/Black + 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hardware_interface/EffortJointInterface + + + diff --git a/dot_description/xacro/main3.urdf.xacro b/dot_description/xacro/main3.urdf.xacro new file mode 100644 index 0000000..22c1636 --- /dev/null +++ b/dot_description/xacro/main3.urdf.xacro @@ -0,0 +1,668 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0 0 0 0 0 0 + false + 40 + + + + 720 + 1 + -1.570796 + 1.570796 + + + + 0.1 + 30 + 0.01 + + + gaussian + + 0.0 + 0.01 + + + + /dot/laser_scan + hokuyo_link + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + + true + 100 + true + __default_topic__ + + /imu/data_raw + imu_link + 100.0 + 0.0 + 0 0 0 + 0 0 0 + imu_link + false + + 0 0 0 0 0 0 + + + + + + + + /dot + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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hardware_interface/EffortJointInterface + + + 50 + hardware_interface/EffortJointInterface + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + 50 + hardware_interface/EffortJointInterface + + + diff --git a/dot_gazebo/CMakeLists.txt b/dot_gazebo/CMakeLists.txt index 1339f0e..c89bc45 100644 --- a/dot_gazebo/CMakeLists.txt +++ b/dot_gazebo/CMakeLists.txt @@ -112,8 +112,8 @@ catkin_package( ## Specify additional locations of header files ## Your package locations should be listed before other locations include_directories( -# include -# ${catkin_INCLUDE_DIRS} + # include + ${catkin_INCLUDE_DIRS} ) ## Declare a C++ library diff --git a/dot_gazebo/launch/gazebo.launch b/dot_gazebo/launch/gazebo.launch index f4d581e..7927ffa 100644 --- a/dot_gazebo/launch/gazebo.launch +++ b/dot_gazebo/launch/gazebo.launch @@ -1,31 +1,36 @@ - + - + - + + + + - - + + - + + + diff --git a/dot_gazebo/models/Apriltag36/Apriltag36_11_00000/materials/scripts/Apriltag.material b/dot_gazebo/models/Apriltag36/Apriltag36_11_00000/materials/scripts/Apriltag.material new file mode 100644 index 0000000..3aaa263 --- /dev/null +++ b/dot_gazebo/models/Apriltag36/Apriltag36_11_00000/materials/scripts/Apriltag.material @@ -0,0 +1,17 @@ +material Apriltag36_11_00000 +{ + technique + { + pass + { + lighting off + texture_unit + { + texture tag36_11_00000.png + filtering none none none + scale 1.0 1.0 + } + } + } +} + diff --git a/dot_gazebo/models/Apriltag36/Apriltag36_11_00000/materials/textures/invert_tag36_11_00000.dae b/dot_gazebo/models/Apriltag36/Apriltag36_11_00000/materials/textures/invert_tag36_11_00000.dae new file mode 100644 index 0000000..05aaf24 --- /dev/null +++ b/dot_gazebo/models/Apriltag36/Apriltag36_11_00000/materials/textures/invert_tag36_11_00000.dae @@ -0,0 +1,93 @@ + + + + + + + + + + 0.86275 0.86275 0.86275 1 + + + + + + + + + + + + + + + + -40.22222 -40.22222 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b/dot_gazebo/models/Apriltag36/Apriltag36_11_00015/model.sdf new file mode 100644 index 0000000..92b1c66 --- /dev/null +++ b/dot_gazebo/models/Apriltag36/Apriltag36_11_00015/model.sdf @@ -0,0 +1,23 @@ + + + + + 0 0 0 0 0 0 + + + + 0.15 0.15 0.01 + + + + + + + + 1 + + diff --git a/dot_gazebo/models/Tag12/materials/scripts/aruco_marker_1_marker.material b/dot_gazebo/models/Tag12/materials/scripts/aruco_marker_1_marker.material new file mode 100644 index 0000000..e00c6c7 --- /dev/null +++ b/dot_gazebo/models/Tag12/materials/scripts/aruco_marker_1_marker.material @@ -0,0 +1,14 @@ +material ArucoMarker1/Marker +{ + technique + { + pass + { + texture_unit + { + texture tag16_05_00012.png + } + } + } +} + diff --git a/dot_gazebo/models/Tag12/materials/textures/tag16_05_00012.png b/dot_gazebo/models/Tag12/materials/textures/tag16_05_00012.png new file mode 100644 index 0000000000000000000000000000000000000000..466bb28fbc51b6e425d2555466a93579a68c11fa GIT binary patch literal 145 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{ + texture aruco_mark_1.png + } + } + } +} diff --git a/dot_gazebo/models/aruco_marker_1/materials/textures/aruco_mark_1.png b/dot_gazebo/models/aruco_marker_1/materials/textures/aruco_mark_1.png new file mode 100644 index 0000000000000000000000000000000000000000..466bb28fbc51b6e425d2555466a93579a68c11fa GIT binary patch literal 145 zcmeAS@N?(olHy`uVBq!ia0y~yU<5K585o&?RN5XZRUpL{;1l8sr2qf_zx3w(yFiwk zr;B4qM&sL42YDG3c$hc7+iy}Mz{HZ;@M~V@;##0#Ud + + aruco_marker_1 + 1.0 + model.sdf + + + + + + diff --git a/dot_gazebo/models/aruco_marker_1/model.sdf b/dot_gazebo/models/aruco_marker_1/model.sdf new file mode 100644 index 0000000..5e4d565 --- /dev/null +++ b/dot_gazebo/models/aruco_marker_1/model.sdf @@ -0,0 +1,74 @@ + + + + + + 0 0 0.005 0 0 0 + + + + 0.8 0.8 0.01 + + + + + 1 1 1 1 + 0.8 0.8 0.8 1 + 0 0 0 1 + 0.2 0.2 0.2 1 + + __default__ + + + 0 0 0 0 -0 0 + 1 + 0 + + + 0 + 10 + 0 0 0 0 -0 0 + + + 0.8 0.8 0.01 + + + + + + + 0 0 -0.4 0 -0 0 + + + + 0.8 0.8 0.1 + + + + + 0 + 10 + 0 0 -0.4 0 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diff --git a/dot_gazebo/models/landing_station/model.sdf b/dot_gazebo/models/landing_station/model.sdf new file mode 100644 index 0000000..e50e9d3 --- /dev/null +++ b/dot_gazebo/models/landing_station/model.sdf @@ -0,0 +1,14 @@ + + + + 0 0 0 0 0 0 + true + + + + model://landing_station/meshes/marker.obj + + + + + diff --git a/dot_gazebo/models/tag12/gazebo.material b/dot_gazebo/models/tag12/gazebo.material new file mode 100644 index 0000000..8e418ab --- /dev/null +++ b/dot_gazebo/models/tag12/gazebo.material @@ -0,0 +1,20 @@ +material aruco/2sides +{ + receive_shadows on + + technique + { + pass + { + ambient 1 1 1 1.000000 + diffuse 1 1 1 1.000000 + specular 0.03 0.03 0.03 1.000000 + emissive 0.900000 0.900000 0.900000 1.000000 + + texture_unit + { + tag16_05_00012.png + } + } + } +} diff --git a/dot_gazebo/models/tag12/tag12.sdf b/dot_gazebo/models/tag12/tag12.sdf new file mode 100644 index 0000000..de9ffe5 --- /dev/null +++ b/dot_gazebo/models/tag12/tag12.sdf @@ -0,0 +1,31 @@ + + + + 0 0 0.5 0 0 0 + true + + + 1.0 + + + 0.083 + 0.0 + 0.0 + 0.083 + 0.0 + 0.083 + + + + + + + + + + + + + + + diff --git a/dot_gazebo/models/tag12/tag16_05_00012.dae b/dot_gazebo/models/tag12/tag16_05_00012.dae new file mode 100644 index 0000000..7bd99af --- /dev/null +++ b/dot_gazebo/models/tag12/tag16_05_00012.dae @@ -0,0 +1,137 @@ + + + + + VCGLab + VCGLib | MeshLab + + Y_UP + Mi. 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ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ \ No newline at end of file diff --git a/dot_map/config/my_map.yaml b/dot_map/config/my_map.yaml index 05a4964..75e492c 100644 --- a/dot_map/config/my_map.yaml +++ b/dot_map/config/my_map.yaml @@ -1,6 +1,6 @@ -image: ps1_map.pgm -resolution: 0.00234375 #meters/pixel -origin: [-1.5, -0.5, 0.000000] #x,y,yaw of map +image: grey.pgm +resolution: 0.0017924496 #meters/pixel +origin: [-1.2192, -1.0683, 0.000000] #x,y,yaw of map negate: 0 #white/black free/occupied or reverse -occupied_thresh: 0.65 #Pixels with occupancy probability greater than this threshold are considered completely occupied -free_thresh: 0.196 #Pixels with occupancy probability less than this threshold are considered completely free +occupied_thresh: 0.85 #Pixels with occupancy probability greater than this threshold are considered completely occupied +free_thresh: 0.356 #Pixels with occupancy probability less than this threshold are considered completely free diff --git a/dot_map/src/gazebo_map.cpp b/dot_map/src/gazebo_map.cpp index 52463af..5c31c46 100644 --- a/dot_map/src/gazebo_map.cpp +++ b/dot_map/src/gazebo_map.cpp @@ -6,7 +6,7 @@ namespace gazebo_map { GazebomapPublisher::GazebomapPublisher(ros::NodeHandle &nodeHandle):nodeHandle_(nodeHandle){ pub_ = nodeHandle_.advertise("map", 50) ; modelName_= (std::string)"dot" ; - relativeEntityName_ = (std::string)"nosignal_ps1.world"; + relativeEntityName_ = (std::string)"nosignal_ps2.world"; client_ = nodeHandle_.serviceClient("/gazebo/get_model_state") ; } void GazebomapPublisher::publishmap(){ diff --git a/dot_perception/config/settings.yaml b/dot_perception/config/settings.yaml index 271bbb8..3cbc938 100644 --- a/dot_perception/config/settings.yaml +++ b/dot_perception/config/settings.yaml @@ -1,7 +1,7 @@ # AprilTag 3 code parameters # Find descriptions in apriltag/include/apriltag.h:struct apriltag_detector # apriltag/include/apriltag.h:struct apriltag_family -tag_family: 'tag25h9' # options: tagStandard52h13, tagStandard41h12, tag36h11, tag25h9, tag16h5, tagCustom48h12, tagCircle21h7, tagCircle49h12 +tag_family: 'tag36h11' # options: tagStandard52h13, tagStandard41h12, tag36h11, tag25h9, tag16h5, tagCustom48h12, tagCircle21h7, tagCircle49h12 tag_threads: 3 # default: 2 tag_decimate: 1.0 # default: 1.0 tag_blur: 0.0 # default: 0.0 diff --git a/dot_perception/config/tags.yaml b/dot_perception/config/tags.yaml index 6328dde..3f9a719 100644 --- a/dot_perception/config/tags.yaml +++ b/dot_perception/config/tags.yaml @@ -19,23 +19,23 @@ # ] standalone_tags: [ -# {id: 0, size: 0.052,frame_id: "tag_0"}, -# {id: 1, size: 0.052,frame_id: "tag_1"}, -# {id: 2, size: 0.052,frame_id: "tag_2"}, -# {id: 3, size: 0.052,frame_id: "tag_3"}, -# {id: 4, size: 0.052,frame_id: "tag_4"}, -# {id: 5, size: 0.052,frame_id: "tag_5"}, -# {id: 6, size: 0.052,frame_id: "tag_6"}, -# {id: 7, size: 0.052,frame_id: "tag_7"}, -# {id: 8, size: 0.052,frame_id: "tag_8"}, -# {id: 9, size: 0.052,frame_id: "tag_9"}, -# {id: 10, size: 0.052,frame_id: "tag_10"}, -{id: 11, size: 0.0931,frame_id: "tag_11"}, -{id: 12, size: 0.0931,frame_id: "tag_12"}, -# {id: 13, size: 0.052,frame_id: "tag_13"}, -# {id: 14, size: 0.052,frame_id: "world"}, -# {id: 15, size: 0.052,frame_id: "tag_15"}, -# {id: 16, size: 0.052,frame_id: "tag_16"} + {id: 0, size: 0.052,frame_id: "tag_0"}, + {id: 1, size: 0.052,frame_id: "tag_1"}, + {id: 2, size: 0.052,frame_id: "tag_2"}, + {id: 3, size: 0.052,frame_id: "tag_3"}, + {id: 4, size: 0.052,frame_id: "tag_4"}, + {id: 5, size: 0.052,frame_id: "tag_5"}, + {id: 6, size: 0.052,frame_id: "tag_6"}, + {id: 7, size: 0.052,frame_id: "tag_7"}, + {id: 8, size: 0.052,frame_id: "tag_8"}, + {id: 9, size: 0.052,frame_id: "tag_9"}, + {id: 10, size: 0.052,frame_id: "tag_10"}, + {id: 11, size: 0.0931,frame_id: "tag_11"}, + {id: 12, size: 0.0931,frame_id: "tag_12"}, + {id: 13, size: 0.052,frame_id: "tag_13"}, + {id: 14, size: 0.052,frame_id: "world"}, + {id: 15, size: 0.052,frame_id: "tag_15"}, + {id: 16, size: 0.052,frame_id: "tag_16"} ] # ## Tag bundle definitions # ### Remarks diff --git a/dot_perception/launch/gazebo_camera_continous_detection.launch b/dot_perception/launch/gazebo_camera_continous_detection.launch index f3d8de6..f0f8f57 100644 --- a/dot_perception/launch/gazebo_camera_continous_detection.launch +++ b/dot_perception/launch/gazebo_camera_continous_detection.launch @@ -8,16 +8,41 @@ - - + + + + + + + + + + + + + + + + + + + + + + + + + - + + + - - - - + + + + diff --git a/dot_perception/scripts/dummy_coor.py b/dot_perception/scripts/dummy_coor.py index f5d7c76..13b6e6a 100755 --- a/dot_perception/scripts/dummy_coor.py +++ b/dot_perception/scripts/dummy_coor.py @@ -1,4 +1,4 @@ -#!/usr/bin/env python +#!/usr/bin/env python3 import rospy from sensor_msgs.msg import CameraInfo, Image diff --git a/dot_perception/scripts/vel_estimate.py b/dot_perception/scripts/vel_estimate.py index e050f43..65f051f 100755 --- a/dot_perception/scripts/vel_estimate.py +++ b/dot_perception/scripts/vel_estimate.py @@ -1,4 +1,4 @@ -#!/usr/bin/env python2 +#!/usr/bin/env python3 import rospy import tf @@ -98,4 +98,4 @@ def loop(): rospy.Subscriber("tag_detections", AprilTagDetectionArray, updateVel) loop() except: - print("done for the day") \ No newline at end of file + print("done for the day") diff --git a/dot_planner/CMakeLists.txt b/dot_planner/CMakeLists.txt index 7020203..749dba6 100644 --- a/dot_planner/CMakeLists.txt +++ b/dot_planner/CMakeLists.txt @@ -12,8 +12,8 @@ find_package(catkin REQUIRED COMPONENTS dot_map dot_teleop dot_gazebo + rospy ) - ## System dependencies are found with CMake's conventions # find_package(Boost REQUIRED COMPONENTS system) diff --git a/dot_planner/centralized/__init__.py b/dot_planner/centralized/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex0.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex0.yaml new file mode 100644 index 0000000..c6d23da --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex0.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [29, 2] + name: agent0 + start: [3, 1] +- goal: [5, 24] + name: agent1 + start: [3, 31] +- goal: [14, 6] + name: agent2 + start: [25, 29] +- goal: [24, 14] + name: agent3 + start: [4, 21] +- goal: [27, 1] + name: agent4 + start: [9, 30] +- goal: [9, 25] + name: agent5 + start: [29, 29] +- goal: [20, 15] + name: agent6 + start: [9, 15] +- goal: [11, 28] + name: agent7 + start: [27, 23] +- goal: [6, 9] + name: agent8 + start: [28, 9] +- goal: [14, 23] + name: agent9 + start: [3, 16] +- goal: [9, 28] + name: agent10 + start: [3, 26] +- goal: [9, 15] + name: agent11 + start: [24, 29] +- goal: [30, 30] + name: agent12 + start: [28, 3] +- goal: [7, 19] + name: agent13 + start: [31, 24] +- goal: [1, 22] + name: agent14 + start: [18, 25] +- goal: [30, 15] + name: agent15 + start: [25, 11] +- goal: [24, 26] + name: agent16 + start: [1, 3] +- goal: [19, 22] + name: agent17 + start: [15, 6] +- goal: [7, 2] + name: agent18 + start: [18, 18] +- goal: [25, 20] + name: agent19 + start: [3, 15] +- goal: [23, 1] + name: agent20 + start: [0, 12] +- goal: [22, 3] + name: agent21 + start: [2, 21] +- goal: [20, 11] + name: agent22 + start: [6, 15] +- goal: [18, 22] + name: agent23 + start: [27, 25] +- goal: [19, 19] + name: agent24 + start: [19, 11] +- goal: [24, 18] + name: agent25 + start: [31, 0] +- goal: [1, 18] + name: agent26 + start: [26, 15] +- goal: [12, 0] + name: agent27 + start: [22, 4] +- goal: [20, 22] + name: agent28 + start: [10, 8] +- goal: [19, 18] + name: agent29 + start: [31, 17] +- goal: [30, 12] + name: agent30 + start: [25, 20] +- goal: [2, 7] + name: agent31 + start: [21, 13] +- goal: [16, 7] + name: agent32 + start: [20, 19] +- goal: [7, 1] + name: agent33 + start: [3, 8] +- goal: [1, 30] + name: agent34 + start: [3, 18] +- goal: [27, 26] + name: agent35 + start: [24, 3] +- goal: [27, 5] + name: agent36 + start: [17, 15] +- goal: [31, 22] + name: agent37 + start: [25, 31] +- goal: [27, 6] + name: agent38 + start: [17, 22] +- goal: [6, 23] + name: agent39 + start: [27, 17] +- goal: [25, 16] + name: agent40 + start: [27, 28] +- goal: [28, 5] + name: agent41 + start: [13, 8] +- goal: [14, 18] + name: agent42 + start: [25, 6] +- goal: [6, 21] + name: agent43 + start: [1, 11] +- goal: [19, 21] + name: agent44 + start: [13, 11] +- goal: [3, 21] + name: agent45 + start: [13, 14] +- goal: [19, 29] + name: agent46 + start: [29, 24] +- goal: [29, 27] + name: agent47 + start: [7, 25] +- goal: [24, 20] + name: agent48 + start: [18, 22] +- goal: [14, 9] + name: agent49 + start: [13, 13] +- goal: [2, 14] + name: agent50 + start: [3, 7] +- goal: [9, 10] + name: agent51 + start: [20, 18] +- goal: [23, 26] + name: agent52 + start: [1, 5] +- goal: [17, 0] + name: agent53 + start: [21, 10] +- goal: [2, 20] + name: agent54 + start: [26, 26] +- goal: [16, 27] + name: agent55 + start: [25, 17] +- goal: [19, 8] + name: agent56 + start: [16, 22] +- goal: [27, 0] + name: agent57 + start: [29, 28] +- goal: [13, 18] + name: agent58 + start: [22, 0] +- goal: [11, 15] + name: agent59 + start: [5, 21] +- goal: [31, 11] + name: agent60 + start: [27, 30] +- goal: [27, 14] + name: agent61 + start: [27, 26] +- goal: [30, 28] + name: agent62 + start: [15, 15] +- goal: [23, 7] + name: agent63 + start: [19, 26] +- goal: [3, 1] + name: agent64 + start: [21, 14] +- goal: [21, 4] + name: agent65 + start: [28, 17] +- goal: [29, 6] + name: agent66 + start: [30, 13] +- goal: [30, 2] + name: agent67 + start: [28, 15] +- goal: [19, 15] + name: agent68 + start: [22, 5] +- goal: [19, 12] + name: agent69 + start: [25, 8] +- goal: [12, 1] + name: agent70 + start: [15, 12] +- goal: [7, 31] + name: agent71 + start: [9, 8] +- goal: [13, 15] + name: agent72 + start: [17, 25] +- goal: [6, 18] + name: agent73 + start: [26, 19] +- goal: [12, 18] + name: agent74 + start: [11, 15] +- goal: [8, 7] + name: agent75 + start: [11, 16] +- goal: [15, 6] + name: agent76 + start: [2, 20] +- goal: [14, 25] + name: agent77 + start: [5, 27] +- goal: [26, 11] + name: agent78 + start: [11, 22] +- goal: [27, 12] + name: agent79 + start: [3, 28] +- goal: [12, 24] + name: agent80 + start: [7, 11] +- goal: [11, 16] + name: agent81 + start: [28, 27] +- goal: [27, 15] + name: agent82 + start: [0, 28] +- goal: [22, 15] + name: agent83 + start: [6, 8] +- goal: [23, 30] + name: agent84 + start: [27, 12] +- goal: [19, 6] + name: agent85 + start: [28, 2] +- goal: [12, 8] + name: agent86 + start: [11, 19] +- goal: [7, 22] + name: agent87 + start: [25, 0] +- goal: [31, 25] + name: agent88 + start: [31, 23] +- goal: [30, 21] + name: agent89 + start: [5, 28] +- goal: [25, 9] + name: agent90 + start: [30, 27] +- goal: [1, 27] + name: agent91 + start: [4, 7] +- goal: [20, 31] + name: agent92 + start: [20, 25] +- goal: [12, 27] + name: agent93 + start: [25, 9] +- goal: [27, 22] + name: agent94 + start: [26, 13] +- goal: [20, 16] + name: agent95 + start: [18, 24] +- goal: [22, 19] + name: agent96 + start: [16, 25] +- goal: [31, 1] + name: agent97 + start: [31, 18] +- goal: [21, 6] + name: agent98 + start: [0, 14] +- goal: [28, 22] + name: agent99 + start: [28, 22] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [29, 1] + - !!python/tuple [10, 9] + - !!python/tuple [6, 28] + - !!python/tuple [25, 25] + - !!python/tuple [22, 31] + - !!python/tuple [2, 5] + - !!python/tuple [30, 3] + - !!python/tuple [15, 28] + - !!python/tuple [19, 24] + - !!python/tuple [25, 23] + - !!python/tuple [31, 9] + - !!python/tuple [6, 3] + - !!python/tuple [2, 9] + - !!python/tuple [4, 10] + - !!python/tuple [24, 24] + - !!python/tuple [22, 16] + - !!python/tuple [26, 5] + - !!python/tuple [29, 30] + - !!python/tuple [4, 29] + - !!python/tuple [14, 16] + - !!python/tuple [26, 0] + - !!python/tuple [30, 17] + - !!python/tuple [16, 15] + - !!python/tuple [23, 20] + - !!python/tuple [28, 16] + - !!python/tuple [8, 30] + - !!python/tuple [9, 27] + - !!python/tuple [31, 29] + - !!python/tuple [0, 30] + - !!python/tuple [1, 25] + - !!python/tuple [17, 6] + - !!python/tuple [11, 17] + - !!python/tuple [10, 29] + - !!python/tuple [3, 20] + - !!python/tuple [15, 19] + - !!python/tuple [8, 20] + - !!python/tuple [4, 2] + - !!python/tuple [30, 8] + - !!python/tuple [8, 1] + - !!python/tuple [4, 19] + - !!python/tuple [11, 0] + - !!python/tuple [21, 11] + - !!python/tuple [0, 17] + - !!python/tuple [0, 24] + - !!python/tuple [31, 21] + - !!python/tuple [16, 24] + - !!python/tuple [25, 22] + - !!python/tuple [5, 12] + - !!python/tuple [16, 12] + - !!python/tuple [3, 23] + - !!python/tuple [2, 25] + - !!python/tuple [6, 1] + - !!python/tuple [14, 17] + - !!python/tuple [12, 23] + - !!python/tuple [7, 16] + - !!python/tuple [12, 31] + - !!python/tuple [10, 26] + - !!python/tuple [2, 1] + - !!python/tuple [24, 11] + - !!python/tuple [17, 3] + - !!python/tuple [9, 2] + - !!python/tuple [27, 11] + - !!python/tuple [13, 17] + - !!python/tuple [12, 3] + - !!python/tuple [25, 1] + - !!python/tuple [16, 30] + - !!python/tuple [6, 12] + - !!python/tuple [1, 17] + - !!python/tuple [23, 16] + - !!python/tuple [11, 20] + - !!python/tuple [14, 31] + - !!python/tuple [24, 19] + - !!python/tuple [3, 25] + - !!python/tuple [13, 25] + - !!python/tuple [4, 27] + - !!python/tuple [31, 26] + - !!python/tuple [10, 0] + - !!python/tuple [5, 8] + - !!python/tuple [2, 15] + - !!python/tuple [25, 14] + - !!python/tuple [0, 11] + - !!python/tuple [22, 27] + - !!python/tuple [9, 6] + - !!python/tuple [2, 10] + - !!python/tuple [2, 17] + - !!python/tuple [8, 22] + - !!python/tuple [11, 18] + - !!python/tuple [0, 1] + - !!python/tuple [2, 6] + - !!python/tuple [14, 3] + - !!python/tuple [5, 29] + - !!python/tuple [11, 7] + - !!python/tuple [17, 19] + - !!python/tuple [10, 30] + - !!python/tuple [4, 18] + - !!python/tuple [0, 10] + - !!python/tuple [5, 30] + - !!python/tuple [7, 30] + - !!python/tuple [17, 7] + - !!python/tuple [15, 4] + - !!python/tuple [0, 21] + - !!python/tuple [12, 11] + - !!python/tuple [7, 9] + - !!python/tuple [5, 3] + - !!python/tuple [29, 4] + - !!python/tuple [9, 11] + - !!python/tuple [7, 28] + - !!python/tuple [6, 31] + - !!python/tuple [0, 5] + - !!python/tuple [10, 31] + - !!python/tuple [4, 6] + - !!python/tuple [1, 15] + - !!python/tuple [10, 5] + - !!python/tuple [15, 2] + - !!python/tuple [13, 26] + - !!python/tuple [24, 31] + - !!python/tuple [6, 19] + - !!python/tuple [21, 15] + - !!python/tuple [4, 0] + - !!python/tuple [15, 31] + - !!python/tuple [11, 31] + - !!python/tuple [20, 6] + - !!python/tuple [17, 17] + - !!python/tuple [31, 19] + - !!python/tuple [13, 16] + - !!python/tuple [18, 20] + - !!python/tuple [25, 3] + - !!python/tuple [22, 24] + - !!python/tuple [4, 3] + - !!python/tuple [24, 7] + - !!python/tuple [26, 1] + - !!python/tuple [22, 22] + - !!python/tuple [21, 27] + - !!python/tuple [21, 1] + - !!python/tuple [7, 29] + - !!python/tuple [12, 4] + - !!python/tuple [29, 10] + - !!python/tuple [6, 16] + - !!python/tuple [7, 3] + - !!python/tuple [8, 23] + - !!python/tuple [29, 20] + - !!python/tuple [14, 21] + - !!python/tuple [3, 27] + - !!python/tuple [29, 5] + - !!python/tuple [15, 3] + - !!python/tuple [26, 28] + - !!python/tuple [10, 2] + - !!python/tuple [1, 4] + - !!python/tuple [5, 19] + - !!python/tuple [18, 15] + - !!python/tuple [0, 25] + - !!python/tuple [7, 10] + - !!python/tuple [20, 28] + - !!python/tuple [28, 20] + - !!python/tuple [25, 5] + - !!python/tuple [17, 5] + - !!python/tuple [2, 23] + - !!python/tuple [27, 21] + - !!python/tuple [2, 18] + - !!python/tuple [14, 19] + - !!python/tuple [30, 7] + - !!python/tuple [9, 23] + - !!python/tuple [19, 9] + - !!python/tuple [16, 6] + - !!python/tuple [30, 6] + - !!python/tuple [10, 16] + - !!python/tuple [16, 17] + - !!python/tuple [12, 26] + - !!python/tuple [12, 5] + - !!python/tuple [3, 19] + - !!python/tuple [30, 5] + - !!python/tuple [31, 5] + - !!python/tuple [9, 4] + - !!python/tuple [14, 2] + - !!python/tuple [18, 6] + - !!python/tuple [20, 9] + - !!python/tuple [28, 29] + - !!python/tuple [8, 19] + - !!python/tuple [2, 3] + - !!python/tuple [11, 4] + - !!python/tuple [17, 4] + - !!python/tuple [14, 15] + - !!python/tuple [1, 29] + - !!python/tuple [29, 21] + - !!python/tuple [14, 27] + - !!python/tuple [10, 1] + - !!python/tuple [29, 26] + - !!python/tuple [5, 11] + - !!python/tuple [11, 10] + - !!python/tuple [18, 2] + - !!python/tuple [0, 29] + - !!python/tuple [4, 15] + - !!python/tuple [28, 21] + - !!python/tuple [17, 14] + - !!python/tuple [17, 13] + - !!python/tuple [7, 17] + - !!python/tuple [12, 12] + - !!python/tuple [21, 8] + - !!python/tuple [5, 4] + - !!python/tuple [25, 24] + - !!python/tuple [26, 7] + - !!python/tuple [13, 24] + - !!python/tuple [30, 24] + - !!python/tuple [15, 24] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex1.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex1.yaml new file mode 100644 index 0000000..eb5fc16 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex1.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [14, 28] + name: agent0 + start: [23, 10] +- goal: [1, 30] + name: agent1 + start: [7, 23] +- goal: [15, 17] + name: agent2 + start: [22, 15] +- goal: [11, 23] + name: agent3 + start: [23, 20] +- goal: [23, 13] + name: agent4 + start: [28, 0] +- goal: [27, 21] + name: agent5 + start: [16, 7] +- goal: [14, 13] + name: agent6 + start: [28, 22] +- goal: [26, 7] + name: agent7 + start: [12, 26] +- goal: [25, 27] + name: agent8 + start: [16, 23] +- goal: [16, 9] + name: agent9 + start: [30, 30] +- goal: [4, 5] + name: agent10 + start: [27, 15] +- goal: [16, 19] + name: agent11 + start: [28, 11] +- goal: [15, 11] + name: agent12 + start: [0, 6] +- goal: [19, 15] + name: agent13 + start: [1, 2] +- goal: [2, 3] + name: agent14 + start: [12, 4] +- goal: [8, 18] + name: agent15 + start: [29, 15] +- goal: [20, 10] + name: agent16 + start: [0, 7] +- goal: [5, 11] + name: agent17 + start: [21, 6] +- goal: [2, 8] + name: agent18 + start: [13, 3] +- goal: [23, 5] + name: agent19 + start: [10, 1] +- goal: [7, 25] + name: agent20 + start: [28, 15] +- goal: [25, 10] + name: agent21 + start: [21, 30] +- goal: [4, 28] + name: agent22 + start: [5, 15] +- goal: [30, 31] + name: agent23 + start: [17, 26] +- goal: [23, 26] + name: agent24 + start: [27, 0] +- goal: [1, 6] + name: agent25 + start: [10, 13] +- goal: [12, 27] + name: agent26 + start: [12, 17] +- goal: [29, 20] + name: agent27 + start: [16, 16] +- goal: [1, 14] + name: agent28 + start: [8, 15] +- goal: [5, 20] + name: agent29 + start: [31, 23] +- goal: [5, 12] + name: agent30 + start: [5, 28] +- goal: [2, 25] + name: agent31 + start: [19, 24] +- goal: [4, 31] + name: agent32 + start: [0, 4] +- goal: [6, 14] + name: agent33 + start: [15, 24] +- goal: [0, 27] + name: agent34 + start: [20, 12] +- goal: [26, 31] + name: agent35 + start: [2, 6] +- goal: [20, 4] + name: agent36 + start: [9, 12] +- goal: [25, 23] + name: agent37 + start: [15, 0] +- goal: [21, 5] + name: agent38 + start: [13, 17] +- goal: [21, 12] + name: agent39 + start: [24, 18] +- goal: [19, 14] + name: agent40 + start: [18, 22] +- goal: [12, 18] + name: agent41 + start: [0, 5] +- goal: [20, 2] + name: agent42 + start: [22, 21] +- goal: [20, 19] + name: agent43 + start: [25, 19] +- goal: [10, 22] + name: agent44 + start: [28, 26] +- goal: [23, 27] + name: agent45 + start: [16, 13] +- goal: [1, 29] + name: agent46 + start: [28, 29] +- goal: [10, 23] + name: agent47 + start: [22, 5] +- goal: [27, 22] + name: agent48 + start: [15, 15] +- goal: [29, 3] + name: agent49 + start: [8, 22] +- goal: [15, 18] + name: agent50 + start: [4, 28] +- goal: [8, 29] + name: agent51 + start: [13, 26] +- goal: [12, 12] + name: agent52 + start: [18, 28] +- goal: [23, 10] + name: agent53 + start: [12, 11] +- goal: [31, 29] + name: agent54 + start: [29, 30] +- goal: [30, 27] + name: agent55 + start: [11, 21] +- goal: [8, 25] + name: agent56 + start: [15, 1] +- goal: [3, 22] + name: agent57 + start: [12, 1] +- goal: [19, 0] + name: agent58 + start: [28, 5] +- goal: [19, 21] + name: agent59 + start: [8, 2] +- goal: [15, 29] + name: agent60 + start: [16, 3] +- goal: [17, 16] + name: agent61 + start: [1, 11] +- goal: [18, 26] + name: agent62 + start: [29, 2] +- goal: [28, 30] + name: agent63 + start: [10, 10] +- goal: [13, 7] + name: agent64 + start: [11, 27] +- goal: [20, 11] + name: agent65 + start: [30, 9] +- goal: [0, 0] + name: agent66 + start: [30, 7] +- goal: [4, 0] + name: agent67 + start: [25, 10] +- goal: [27, 25] + name: agent68 + start: [18, 0] +- goal: [9, 22] + name: agent69 + start: [10, 7] +- goal: [4, 12] + name: agent70 + start: [2, 30] +- goal: [18, 20] + name: agent71 + start: [16, 27] +- goal: [27, 1] + name: agent72 + start: [18, 19] +- goal: [24, 24] + name: agent73 + start: [11, 26] +- goal: [6, 19] + name: agent74 + start: [28, 21] +- goal: [25, 30] + name: agent75 + start: [21, 10] +- goal: [28, 22] + name: agent76 + start: [14, 7] +- goal: [8, 21] + name: agent77 + start: [24, 8] +- goal: [29, 26] + name: agent78 + start: [19, 11] +- goal: [18, 25] + name: agent79 + start: [29, 11] +- goal: [30, 14] + name: agent80 + start: [16, 6] +- goal: [30, 11] + name: agent81 + start: [10, 6] +- goal: [0, 19] + name: agent82 + start: [8, 4] +- goal: [2, 6] + name: agent83 + start: [1, 24] +- goal: [29, 14] + name: agent84 + start: [6, 21] +- goal: [27, 31] + name: agent85 + start: [15, 25] +- goal: [13, 2] + name: agent86 + start: [1, 19] +- goal: [24, 7] + name: agent87 + start: [12, 10] +- goal: [0, 11] + name: agent88 + start: [9, 18] +- goal: [2, 31] + name: agent89 + start: [9, 10] +- goal: [20, 3] + name: agent90 + start: [14, 29] +- goal: [5, 7] + name: agent91 + start: [19, 3] +- goal: [3, 0] + name: agent92 + start: [7, 12] +- goal: [19, 3] + name: agent93 + start: [9, 13] +- goal: [25, 25] + name: agent94 + start: [17, 8] +- goal: [24, 11] + name: agent95 + start: [30, 10] +- goal: [9, 2] + name: agent96 + start: [1, 1] +- goal: [11, 4] + name: agent97 + start: [20, 22] +- goal: [0, 29] + name: agent98 + start: [7, 25] +- goal: [23, 14] + name: agent99 + start: [6, 1] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [4, 9] + - !!python/tuple [23, 15] + - !!python/tuple [14, 8] + - !!python/tuple [23, 29] + - !!python/tuple [17, 30] + - !!python/tuple [26, 18] + - !!python/tuple [0, 26] + - !!python/tuple [14, 18] + - !!python/tuple [26, 14] + - !!python/tuple [5, 21] + - !!python/tuple [21, 17] + - !!python/tuple [31, 4] + - !!python/tuple [12, 6] + - !!python/tuple [11, 28] + - !!python/tuple [14, 9] + - !!python/tuple [6, 18] + - !!python/tuple [30, 1] + - !!python/tuple [30, 8] + - !!python/tuple [2, 12] + - !!python/tuple [13, 9] + - !!python/tuple [6, 29] + - !!python/tuple [6, 20] + - !!python/tuple [15, 28] + - !!python/tuple [17, 0] + - !!python/tuple [1, 26] + - !!python/tuple [16, 14] + - !!python/tuple [29, 28] + - !!python/tuple [26, 5] + - !!python/tuple [7, 2] + - !!python/tuple [11, 30] + - !!python/tuple [12, 13] + - !!python/tuple [31, 19] + - !!python/tuple [26, 19] + - !!python/tuple [8, 20] + - !!python/tuple [4, 27] + - !!python/tuple [13, 4] + - !!python/tuple [24, 14] + - !!python/tuple [5, 0] + - !!python/tuple [0, 2] + - !!python/tuple [21, 1] + - !!python/tuple [13, 18] + - !!python/tuple [18, 5] + - !!python/tuple [21, 29] + - !!python/tuple [19, 9] + - !!python/tuple [19, 8] + - !!python/tuple [28, 6] + - !!python/tuple [10, 30] + - !!python/tuple [31, 22] + - !!python/tuple [6, 2] + - !!python/tuple [19, 19] + - !!python/tuple [20, 24] + - !!python/tuple [2, 26] + - !!python/tuple [2, 1] + - !!python/tuple [0, 23] + - !!python/tuple [10, 24] + - !!python/tuple [11, 2] + - !!python/tuple [17, 7] + - !!python/tuple [10, 0] + - !!python/tuple [21, 24] + - !!python/tuple [22, 7] + - !!python/tuple [16, 22] + - !!python/tuple [23, 12] + - !!python/tuple [4, 26] + - !!python/tuple [8, 14] + - !!python/tuple [19, 7] + - !!python/tuple [30, 23] + - !!python/tuple [9, 4] + - !!python/tuple [25, 21] + - !!python/tuple [6, 27] + - !!python/tuple [18, 8] + - !!python/tuple [1, 3] + - !!python/tuple [15, 6] + - !!python/tuple [26, 3] + - !!python/tuple [8, 1] + - !!python/tuple [10, 2] + - !!python/tuple [21, 28] + - !!python/tuple [3, 27] + - !!python/tuple [18, 2] + - !!python/tuple [24, 0] + - !!python/tuple [22, 18] + - !!python/tuple [8, 16] + - !!python/tuple [30, 29] + - !!python/tuple [12, 3] + - !!python/tuple [18, 23] + - !!python/tuple [14, 17] + - !!python/tuple [10, 31] + - !!python/tuple [18, 3] + - !!python/tuple [8, 10] + - !!python/tuple [11, 9] + - !!python/tuple [3, 8] + - !!python/tuple [27, 29] + - !!python/tuple [20, 1] + - !!python/tuple [26, 26] + - !!python/tuple [31, 0] + - !!python/tuple [20, 20] + - !!python/tuple [4, 6] + - !!python/tuple [10, 3] + - !!python/tuple [25, 20] + - !!python/tuple [3, 6] + - !!python/tuple [31, 14] + - !!python/tuple [22, 17] + - !!python/tuple [0, 8] + - !!python/tuple [18, 29] + - !!python/tuple [14, 21] + - !!python/tuple [24, 2] + - !!python/tuple [13, 29] + - !!python/tuple [5, 1] + - !!python/tuple [4, 10] + - !!python/tuple [20, 28] + - !!python/tuple [9, 3] + - !!python/tuple [11, 22] + - !!python/tuple [26, 0] + - !!python/tuple [25, 0] + - !!python/tuple [21, 7] + - !!python/tuple [9, 26] + - !!python/tuple [28, 25] + - !!python/tuple [17, 24] + - !!python/tuple [19, 1] + - !!python/tuple [4, 20] + - !!python/tuple [15, 31] + - !!python/tuple [23, 4] + - !!python/tuple [29, 6] + - !!python/tuple [12, 9] + - !!python/tuple [23, 21] + - !!python/tuple [19, 30] + - !!python/tuple [14, 30] + - !!python/tuple [10, 5] + - !!python/tuple [12, 0] + - !!python/tuple [31, 17] + - !!python/tuple [25, 5] + - !!python/tuple [1, 31] + - !!python/tuple [29, 4] + - !!python/tuple [22, 12] + - !!python/tuple [8, 12] + - !!python/tuple [21, 20] + - !!python/tuple [13, 27] + - !!python/tuple [0, 20] + - !!python/tuple [29, 8] + - !!python/tuple [16, 31] + - !!python/tuple [31, 15] + - !!python/tuple [9, 24] + - !!python/tuple [10, 25] + - !!python/tuple [15, 19] + - !!python/tuple [17, 13] + - !!python/tuple [11, 15] + - !!python/tuple [18, 18] + - !!python/tuple [28, 24] + - !!python/tuple [28, 14] + - !!python/tuple [8, 30] + - !!python/tuple [19, 5] + - !!python/tuple [0, 15] + - !!python/tuple [5, 31] + - !!python/tuple [22, 9] + - !!python/tuple [15, 30] + - !!python/tuple [1, 7] + - !!python/tuple [1, 4] + - !!python/tuple [20, 31] + - !!python/tuple [13, 22] + - !!python/tuple [26, 30] + - !!python/tuple [20, 21] + - !!python/tuple [24, 19] + - !!python/tuple [27, 7] + - !!python/tuple [0, 18] + - !!python/tuple [31, 27] + - !!python/tuple [27, 13] + - !!python/tuple [21, 21] + - !!python/tuple [29, 31] + - !!python/tuple [17, 23] + - !!python/tuple [18, 24] + - !!python/tuple [20, 29] + - !!python/tuple [5, 24] + - !!python/tuple [30, 16] + - !!python/tuple [9, 30] + - !!python/tuple [18, 4] + - !!python/tuple [4, 8] + - !!python/tuple [6, 7] + - !!python/tuple [23, 16] + - !!python/tuple [8, 19] + - !!python/tuple [15, 22] + - !!python/tuple [25, 26] + - !!python/tuple [11, 12] + - !!python/tuple [31, 1] + - !!python/tuple [1, 20] + - !!python/tuple [16, 29] + - !!python/tuple [25, 3] + - !!python/tuple [28, 9] + - !!python/tuple [26, 16] + - !!python/tuple [1, 27] + - !!python/tuple [5, 17] + - !!python/tuple [4, 18] + - !!python/tuple [14, 3] + - !!python/tuple [14, 4] + - !!python/tuple [24, 15] + - !!python/tuple [6, 17] + - !!python/tuple [7, 28] + - !!python/tuple [9, 29] + - !!python/tuple [21, 15] + - !!python/tuple [31, 5] + - !!python/tuple [12, 21] + - !!python/tuple [3, 30] + - !!python/tuple [8, 27] + - !!python/tuple [15, 27] + - !!python/tuple [15, 21] + - !!python/tuple [2, 13] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex10.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex10.yaml new file mode 100644 index 0000000..da7302f --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex10.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [30, 0] + name: agent0 + start: [0, 2] +- goal: [24, 16] + name: agent1 + start: [29, 28] +- goal: [16, 8] + name: agent2 + start: [16, 12] +- goal: [2, 18] + name: agent3 + start: [18, 16] +- goal: [19, 5] + name: agent4 + start: [26, 25] +- goal: [20, 19] + name: agent5 + start: [6, 31] +- goal: [9, 23] + name: agent6 + start: [20, 15] +- goal: [3, 4] + name: agent7 + start: [3, 4] +- goal: [12, 5] + name: agent8 + start: [25, 31] +- goal: [18, 11] + name: agent9 + start: [4, 6] +- goal: [28, 0] + name: agent10 + start: [10, 4] +- goal: [4, 28] + name: agent11 + start: [31, 8] +- goal: [17, 30] + name: agent12 + start: [11, 5] +- goal: [0, 27] + name: agent13 + start: [17, 22] +- goal: [29, 19] + name: agent14 + start: [3, 3] +- goal: [28, 24] + name: agent15 + start: [25, 4] +- goal: [27, 0] + name: agent16 + start: [13, 21] +- goal: [9, 10] + name: agent17 + start: [0, 4] +- goal: [7, 12] + name: agent18 + start: [3, 31] +- goal: [10, 4] + name: agent19 + start: [7, 20] +- goal: [3, 14] + name: agent20 + start: [4, 18] +- goal: [16, 21] + name: agent21 + start: [12, 13] +- goal: [19, 22] + name: agent22 + start: [25, 3] +- goal: [30, 13] + name: agent23 + start: [10, 21] +- goal: [2, 4] + name: agent24 + start: [29, 16] +- goal: [1, 25] + name: agent25 + start: [11, 15] +- goal: [1, 4] + name: agent26 + start: [8, 10] +- goal: [19, 0] + name: agent27 + start: [6, 14] +- goal: [28, 12] + name: agent28 + start: [7, 21] +- goal: [12, 0] + name: agent29 + start: [5, 18] +- goal: [2, 22] + name: agent30 + start: [4, 25] +- goal: [0, 15] + name: agent31 + start: [29, 26] +- goal: [13, 3] + name: agent32 + start: [1, 8] +- goal: [20, 6] + name: agent33 + start: [24, 15] +- goal: [30, 7] + name: agent34 + start: [12, 23] +- goal: [23, 0] + name: agent35 + start: [5, 24] +- goal: [7, 1] + name: agent36 + start: [11, 23] +- goal: [9, 3] + name: agent37 + start: [11, 0] +- goal: [15, 23] + name: agent38 + start: [14, 22] +- goal: [28, 4] + name: agent39 + start: [8, 3] +- goal: [30, 3] + name: agent40 + start: [12, 5] +- goal: [14, 27] + name: agent41 + start: [10, 3] +- goal: [28, 19] + name: agent42 + start: [2, 18] +- goal: [20, 2] + name: agent43 + start: [31, 6] +- goal: [31, 5] + name: agent44 + start: [7, 22] +- goal: [19, 6] + name: agent45 + start: [31, 14] +- goal: [19, 30] + name: agent46 + start: [19, 24] +- goal: [7, 10] + name: agent47 + start: [13, 8] +- goal: [31, 7] + name: agent48 + start: [15, 9] +- goal: [25, 19] + name: agent49 + start: [5, 1] +- goal: [11, 3] + name: agent50 + start: [25, 26] +- goal: [29, 6] + name: agent51 + start: [21, 6] +- goal: [10, 26] + name: agent52 + start: [18, 19] +- goal: [0, 2] + name: agent53 + start: [21, 23] +- goal: [18, 8] + name: agent54 + start: [19, 21] +- goal: [21, 29] + name: agent55 + start: [11, 12] +- goal: [3, 21] + name: agent56 + start: [26, 24] +- goal: [24, 1] + name: agent57 + start: [11, 11] +- goal: [14, 5] + name: agent58 + start: [20, 30] +- goal: [23, 19] + name: agent59 + start: [27, 21] +- goal: [5, 31] + name: agent60 + start: [11, 3] +- goal: [2, 19] + name: agent61 + start: [29, 8] +- goal: [14, 26] + name: agent62 + start: [25, 11] +- goal: [10, 20] + name: agent63 + start: [27, 13] +- goal: [12, 14] + name: agent64 + start: [16, 27] +- goal: [23, 4] + name: agent65 + start: [28, 26] +- goal: [28, 18] + name: agent66 + start: [20, 1] +- goal: [12, 2] + name: agent67 + start: [9, 6] +- goal: [14, 25] + name: agent68 + start: [12, 0] +- goal: [8, 1] + name: agent69 + start: [22, 15] +- goal: [27, 26] + name: agent70 + start: [17, 23] +- goal: [12, 28] + name: agent71 + start: [25, 2] +- goal: [31, 16] + name: agent72 + start: [30, 24] +- goal: [25, 3] + name: agent73 + start: [7, 3] +- goal: [2, 16] + name: agent74 + start: [8, 30] +- goal: [0, 31] + name: agent75 + start: [1, 30] +- goal: [0, 9] + name: agent76 + start: [20, 2] +- goal: [28, 27] + name: agent77 + start: [5, 14] +- goal: [8, 0] + name: agent78 + start: [2, 17] +- goal: [17, 6] + name: agent79 + start: [7, 9] +- goal: [25, 29] + name: agent80 + start: [7, 1] +- goal: [23, 26] + name: agent81 + start: [7, 23] +- goal: [13, 25] + name: agent82 + start: [20, 16] +- goal: [14, 29] + name: agent83 + start: [21, 22] +- goal: [8, 18] + name: agent84 + start: [23, 25] +- goal: [1, 21] + name: agent85 + start: [12, 28] +- goal: [19, 20] + name: agent86 + start: [0, 9] +- goal: [27, 16] + name: agent87 + start: [8, 22] +- goal: [29, 15] + name: agent88 + start: [13, 30] +- goal: [11, 11] + name: agent89 + start: [28, 17] +- goal: [7, 22] + name: agent90 + start: [22, 8] +- goal: [9, 4] + name: agent91 + start: [3, 28] +- goal: [18, 25] + name: agent92 + start: [30, 31] +- goal: [11, 15] + name: agent93 + start: [31, 16] +- goal: [2, 2] + name: agent94 + start: [7, 8] +- goal: [21, 9] + name: agent95 + start: [10, 12] +- goal: [17, 23] + name: agent96 + start: [31, 11] +- goal: [23, 23] + name: agent97 + start: [3, 22] +- goal: [16, 17] + name: agent98 + start: [2, 28] +- goal: [18, 13] + name: agent99 + start: [19, 22] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [18, 17] + - !!python/tuple [29, 22] + - !!python/tuple [20, 12] + - !!python/tuple [31, 3] + - !!python/tuple [9, 14] + - !!python/tuple [18, 10] + - !!python/tuple [28, 28] + - !!python/tuple [12, 12] + - !!python/tuple [19, 9] + - !!python/tuple [4, 10] + - !!python/tuple [31, 2] + - !!python/tuple [23, 28] + - !!python/tuple [6, 26] + - !!python/tuple [4, 12] + - !!python/tuple [4, 14] + - !!python/tuple [20, 13] + - !!python/tuple [23, 8] + - !!python/tuple [25, 14] + - !!python/tuple [27, 11] + - !!python/tuple [14, 0] + - !!python/tuple [11, 26] + - !!python/tuple [30, 5] + - !!python/tuple [2, 6] + - !!python/tuple [20, 29] + - !!python/tuple [28, 31] + - !!python/tuple [19, 26] + - !!python/tuple [3, 11] + - !!python/tuple [31, 18] + - !!python/tuple [22, 24] + - !!python/tuple [16, 23] + - !!python/tuple [31, 24] + - !!python/tuple [14, 14] + - !!python/tuple [13, 0] + - !!python/tuple [11, 2] + - !!python/tuple [8, 6] + - !!python/tuple [5, 28] + - !!python/tuple [15, 0] + - !!python/tuple [2, 12] + - !!python/tuple [21, 13] + - !!python/tuple [26, 23] + - !!python/tuple [6, 6] + - !!python/tuple [8, 20] + - !!python/tuple [3, 29] + - !!python/tuple [13, 28] + - !!python/tuple [4, 15] + - !!python/tuple [0, 11] + - !!python/tuple [27, 10] + - !!python/tuple [10, 18] + - !!python/tuple [0, 26] + - !!python/tuple [31, 13] + - !!python/tuple [24, 22] + - !!python/tuple [26, 19] + - !!python/tuple [10, 1] + - !!python/tuple [5, 0] + - !!python/tuple [0, 5] + - !!python/tuple [20, 8] + - !!python/tuple [26, 0] + - !!python/tuple [3, 8] + - !!python/tuple [14, 16] + - !!python/tuple [1, 11] + - !!python/tuple [13, 23] + - !!python/tuple [15, 11] + - !!python/tuple [27, 6] + - !!python/tuple [9, 11] + - !!python/tuple [4, 31] + - !!python/tuple [24, 29] + - !!python/tuple [16, 25] + - !!python/tuple [1, 15] + - !!python/tuple [31, 29] + - !!python/tuple [13, 31] + - !!python/tuple [23, 29] + - !!python/tuple [10, 24] + - !!python/tuple [8, 9] + - !!python/tuple [1, 24] + - !!python/tuple [21, 30] + - !!python/tuple [20, 10] + - !!python/tuple [6, 29] + - !!python/tuple [6, 1] + - !!python/tuple [17, 20] + - !!python/tuple [29, 24] + - !!python/tuple [4, 11] + - !!python/tuple [14, 18] + - !!python/tuple [9, 13] + - !!python/tuple [21, 26] + - !!python/tuple [16, 15] + - !!python/tuple [6, 17] + - !!python/tuple [3, 25] + - !!python/tuple [31, 28] + - !!python/tuple [8, 4] + - !!python/tuple [25, 21] + - !!python/tuple [15, 5] + - !!python/tuple [21, 15] + - !!python/tuple [31, 10] + - !!python/tuple [23, 5] + - !!python/tuple [3, 2] + - !!python/tuple [5, 26] + - !!python/tuple [31, 25] + - !!python/tuple [25, 6] + - !!python/tuple [13, 15] + - !!python/tuple [12, 30] + - !!python/tuple [9, 9] + - !!python/tuple [24, 12] + - !!python/tuple [26, 12] + - !!python/tuple [8, 31] + - !!python/tuple [2, 14] + - !!python/tuple [29, 27] + - !!python/tuple [3, 1] + - !!python/tuple [18, 18] + - !!python/tuple [11, 10] + - !!python/tuple [27, 15] + - !!python/tuple [23, 18] + - !!python/tuple [10, 31] + - !!python/tuple [21, 0] + - !!python/tuple [26, 7] + - !!python/tuple [8, 26] + - !!python/tuple [9, 17] + - !!python/tuple [26, 11] + - !!python/tuple [13, 13] + - !!python/tuple [23, 20] + - !!python/tuple [20, 5] + - !!python/tuple [15, 16] + - !!python/tuple [20, 3] + - !!python/tuple [11, 7] + - !!python/tuple [21, 24] + - !!python/tuple [21, 5] + - !!python/tuple [21, 18] + - !!python/tuple [7, 27] + - !!python/tuple [29, 23] + - !!python/tuple [14, 17] + - !!python/tuple [13, 1] + - !!python/tuple [2, 11] + - !!python/tuple [11, 17] + - !!python/tuple [5, 7] + - !!python/tuple [19, 19] + - !!python/tuple [2, 0] + - !!python/tuple [15, 30] + - !!python/tuple [17, 11] + - !!python/tuple [7, 6] + - !!python/tuple [16, 2] + - !!python/tuple [27, 5] + - !!python/tuple [27, 17] + - !!python/tuple [28, 29] + - !!python/tuple [4, 29] + - !!python/tuple [0, 25] + - !!python/tuple [18, 21] + - !!python/tuple [21, 25] + - !!python/tuple [15, 31] + - !!python/tuple [27, 12] + - !!python/tuple [11, 27] + - !!python/tuple [18, 22] + - !!python/tuple [26, 21] + - !!python/tuple [8, 11] + - !!python/tuple [6, 11] + - !!python/tuple [30, 18] + - !!python/tuple [1, 22] + - !!python/tuple [17, 8] + - !!python/tuple [1, 5] + - !!python/tuple [29, 0] + - !!python/tuple [12, 20] + - !!python/tuple [30, 6] + - !!python/tuple [9, 19] + - !!python/tuple [1, 6] + - !!python/tuple [13, 10] + - !!python/tuple [21, 27] + - !!python/tuple [23, 27] + - !!python/tuple [31, 27] + - !!python/tuple [9, 0] + - !!python/tuple [8, 29] + - !!python/tuple [20, 20] + - !!python/tuple [1, 3] + - !!python/tuple [13, 17] + - !!python/tuple [18, 23] + - !!python/tuple [17, 31] + - !!python/tuple [6, 9] + - !!python/tuple [3, 30] + - !!python/tuple [21, 8] + - !!python/tuple [7, 2] + - !!python/tuple [22, 19] + - !!python/tuple [17, 29] + - !!python/tuple [24, 20] + - !!python/tuple [24, 27] + - !!python/tuple [27, 31] + - !!python/tuple [28, 8] + - !!python/tuple [15, 12] + - !!python/tuple [15, 13] + - !!python/tuple [18, 1] + - !!python/tuple [0, 10] + - !!python/tuple [16, 4] + - !!python/tuple [28, 2] + - !!python/tuple [20, 11] + - !!python/tuple [26, 27] + - !!python/tuple [25, 13] + - !!python/tuple [1, 2] + - !!python/tuple [24, 14] + - !!python/tuple [25, 17] + - !!python/tuple [12, 8] + - !!python/tuple [31, 31] + - !!python/tuple [11, 28] + - !!python/tuple [16, 31] + - !!python/tuple [3, 0] + - !!python/tuple [16, 18] + - !!python/tuple [11, 19] + - !!python/tuple [15, 18] + - !!python/tuple [30, 21] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex11.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex11.yaml new file mode 100644 index 0000000..1f21973 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex11.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [15, 2] + name: agent0 + start: [29, 13] +- goal: [28, 6] + name: agent1 + start: [0, 12] +- goal: [2, 7] + name: agent2 + start: [31, 0] +- goal: [0, 10] + name: agent3 + start: [2, 8] +- goal: [12, 8] + name: agent4 + start: [31, 11] +- goal: [11, 20] + name: agent5 + start: [19, 2] +- goal: [23, 13] + name: agent6 + start: [4, 23] +- goal: [24, 15] + name: agent7 + start: [31, 21] +- goal: [4, 0] + name: agent8 + start: [30, 30] +- goal: [8, 19] + name: agent9 + start: [16, 29] +- goal: [23, 5] + name: agent10 + start: [28, 1] +- goal: [0, 9] + name: agent11 + start: [29, 30] +- goal: [9, 16] + name: agent12 + start: [8, 6] +- goal: [5, 31] + name: agent13 + start: [20, 7] +- goal: [26, 17] + name: agent14 + start: [9, 23] +- goal: [21, 17] + name: agent15 + start: [11, 11] +- goal: [25, 20] + name: agent16 + start: [0, 0] +- goal: [26, 29] + name: agent17 + start: [19, 30] +- goal: [15, 30] + name: agent18 + start: [11, 2] +- goal: [12, 31] + name: agent19 + start: [1, 11] +- goal: [22, 21] + name: agent20 + start: [17, 21] +- goal: [27, 27] + name: agent21 + start: [5, 16] +- goal: [14, 16] + name: agent22 + start: [1, 19] +- goal: [24, 28] + name: agent23 + start: [3, 4] +- goal: [26, 2] + name: agent24 + start: [22, 5] +- goal: [2, 19] + name: agent25 + start: [18, 14] +- goal: [24, 9] + name: agent26 + start: [6, 13] +- goal: [3, 14] + name: agent27 + start: [3, 11] +- goal: [12, 4] + name: agent28 + start: [6, 21] +- goal: [4, 22] + name: agent29 + start: [27, 14] +- goal: [10, 16] + name: agent30 + start: [27, 6] +- goal: [1, 23] + name: agent31 + start: [14, 24] +- goal: [4, 20] + name: agent32 + start: [21, 28] +- goal: [13, 23] + name: agent33 + start: [8, 9] +- goal: [10, 22] + name: agent34 + start: [24, 17] +- goal: [6, 22] + name: agent35 + start: [2, 27] +- goal: [8, 25] + name: agent36 + start: [1, 7] +- goal: [28, 12] + name: agent37 + start: [31, 7] +- goal: [28, 30] + name: agent38 + start: [27, 30] +- goal: [20, 6] + name: agent39 + start: [31, 13] +- goal: [27, 28] + name: agent40 + start: [14, 13] +- goal: [22, 4] + name: agent41 + start: [29, 10] +- goal: [21, 7] + name: agent42 + start: [0, 25] +- goal: [3, 23] + name: agent43 + start: [22, 31] +- goal: [4, 10] + name: agent44 + start: [26, 14] +- goal: [30, 30] + name: agent45 + start: [15, 2] +- goal: [13, 8] + name: agent46 + start: [20, 20] +- goal: [14, 3] + name: agent47 + start: [4, 15] +- goal: [16, 3] + name: agent48 + start: [13, 22] +- goal: [25, 7] + name: agent49 + start: [21, 23] +- goal: [22, 6] + name: agent50 + start: [21, 12] +- goal: [13, 12] + name: agent51 + start: [20, 0] +- goal: [24, 12] + name: agent52 + start: [13, 9] +- goal: [12, 6] + name: agent53 + start: [25, 12] +- goal: [20, 19] + name: agent54 + start: [12, 8] +- goal: [5, 22] + name: agent55 + start: [3, 21] +- goal: [21, 16] + name: agent56 + start: [0, 2] +- goal: [8, 1] + name: agent57 + start: [7, 6] +- goal: [9, 15] + name: agent58 + start: [17, 23] +- goal: [31, 4] + name: agent59 + start: [14, 28] +- goal: [27, 15] + name: agent60 + start: [6, 12] +- goal: [21, 25] + name: agent61 + start: [19, 29] +- goal: [20, 11] + name: agent62 + start: [1, 22] +- goal: [16, 1] + name: agent63 + start: [11, 4] +- goal: [4, 13] + name: agent64 + start: [20, 9] +- goal: [7, 4] + name: agent65 + start: [27, 25] +- goal: [18, 9] + name: agent66 + start: [18, 13] +- goal: [3, 4] + name: agent67 + start: [12, 4] +- goal: [21, 15] + name: agent68 + start: [29, 15] +- goal: [30, 16] + name: agent69 + start: [10, 23] +- goal: [16, 13] + name: agent70 + start: [8, 7] +- goal: [0, 6] + name: agent71 + start: [18, 29] +- goal: [14, 14] + name: agent72 + start: [0, 4] +- goal: [25, 5] + name: agent73 + start: [13, 12] +- goal: [2, 26] + name: agent74 + start: [30, 16] +- goal: [17, 13] + name: agent75 + start: [9, 29] +- goal: [2, 29] + name: agent76 + start: [30, 28] +- goal: [17, 22] + name: agent77 + start: [18, 10] +- goal: [6, 20] + name: agent78 + start: [12, 11] +- goal: [22, 23] + name: agent79 + start: [7, 27] +- goal: [1, 19] + name: agent80 + start: [20, 6] +- goal: [24, 26] + name: agent81 + start: [30, 6] +- goal: [28, 5] + name: agent82 + start: [7, 22] +- goal: [25, 17] + name: agent83 + start: [31, 25] +- goal: [16, 26] + name: agent84 + start: [1, 29] +- goal: [29, 23] + name: agent85 + start: [9, 15] +- goal: [7, 28] + name: agent86 + start: [13, 19] +- goal: [4, 15] + name: agent87 + start: [13, 28] +- goal: [10, 4] + name: agent88 + start: [17, 29] +- goal: [13, 25] + name: agent89 + start: [26, 18] +- goal: [5, 15] + name: agent90 + start: [11, 6] +- goal: [29, 14] + name: agent91 + start: [5, 1] +- goal: [12, 2] + name: agent92 + start: [13, 14] +- goal: [16, 11] + name: agent93 + start: [9, 22] +- goal: [0, 8] + name: agent94 + start: [29, 7] +- goal: [7, 31] + name: agent95 + start: [6, 5] +- goal: [31, 18] + name: agent96 + start: [7, 2] +- goal: [2, 11] + name: agent97 + start: [25, 20] +- goal: [19, 26] + name: agent98 + start: [18, 6] +- goal: [24, 31] + name: agent99 + start: [25, 25] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [0, 19] + - !!python/tuple [25, 29] + - !!python/tuple [22, 30] + - !!python/tuple [9, 27] + - !!python/tuple [29, 9] + - !!python/tuple [29, 17] + - !!python/tuple [17, 19] + - !!python/tuple [3, 31] + - !!python/tuple [20, 31] + - !!python/tuple [13, 10] + - !!python/tuple [5, 3] + - !!python/tuple [16, 24] + - !!python/tuple [21, 3] + - !!python/tuple [5, 12] + - !!python/tuple [19, 18] + - !!python/tuple [23, 29] + - !!python/tuple [24, 20] + - !!python/tuple [7, 23] + - !!python/tuple [11, 8] + - !!python/tuple [0, 5] + - !!python/tuple [16, 21] + - !!python/tuple [6, 27] + - !!python/tuple [29, 12] + - !!python/tuple [4, 3] + - !!python/tuple [10, 13] + - !!python/tuple [22, 25] + - !!python/tuple [9, 12] + - !!python/tuple [27, 9] + - !!python/tuple [29, 19] + - !!python/tuple [1, 24] + - !!python/tuple [15, 5] + - !!python/tuple [25, 6] + - !!python/tuple [18, 25] + - !!python/tuple [28, 21] + - !!python/tuple [23, 22] + - !!python/tuple [26, 8] + - !!python/tuple [10, 21] + - !!python/tuple [24, 5] + - !!python/tuple [9, 19] + - !!python/tuple [6, 23] + - !!python/tuple [19, 28] + - !!python/tuple [25, 10] + - !!python/tuple [28, 2] + - !!python/tuple [9, 17] + - !!python/tuple [24, 27] + - !!python/tuple [13, 21] + - !!python/tuple [1, 25] + - !!python/tuple [18, 30] + - !!python/tuple [5, 30] + - !!python/tuple [21, 22] + - !!python/tuple [14, 10] + - !!python/tuple [19, 21] + - !!python/tuple [5, 27] + - !!python/tuple [15, 21] + - !!python/tuple [29, 27] + - !!python/tuple [4, 28] + - !!python/tuple [19, 8] + - !!python/tuple [12, 1] + - !!python/tuple [9, 7] + - !!python/tuple [23, 28] + - !!python/tuple [30, 7] + - !!python/tuple [0, 14] + - !!python/tuple [17, 26] + - !!python/tuple [9, 9] + - !!python/tuple [19, 11] + - !!python/tuple [22, 27] + - !!python/tuple [13, 13] + - !!python/tuple [11, 14] + - !!python/tuple [22, 1] + - !!python/tuple [10, 0] + - !!python/tuple [31, 22] + - !!python/tuple [21, 4] + - !!python/tuple [30, 0] + - !!python/tuple [7, 8] + - !!python/tuple [15, 1] + - !!python/tuple [27, 10] + - !!python/tuple [8, 12] + - !!python/tuple [22, 24] + - !!python/tuple [9, 18] + - !!python/tuple [20, 14] + - !!python/tuple [21, 5] + - !!python/tuple [14, 18] + - !!python/tuple [18, 11] + - !!python/tuple [27, 8] + - !!python/tuple [23, 26] + - !!python/tuple [27, 12] + - !!python/tuple [0, 27] + - !!python/tuple [21, 20] + - !!python/tuple [8, 11] + - !!python/tuple [31, 30] + - !!python/tuple [16, 10] + - !!python/tuple [24, 29] + - !!python/tuple [2, 4] + - !!python/tuple [28, 18] + - !!python/tuple [6, 31] + - !!python/tuple [5, 21] + - !!python/tuple [1, 18] + - !!python/tuple [20, 4] + - !!python/tuple [27, 4] + - !!python/tuple [5, 18] + - !!python/tuple [15, 6] + - !!python/tuple [10, 8] + - !!python/tuple [17, 2] + - !!python/tuple [6, 18] + - !!python/tuple [10, 29] + - !!python/tuple [31, 20] + - !!python/tuple [2, 28] + - !!python/tuple [3, 6] + - !!python/tuple [26, 20] + - !!python/tuple [23, 31] + - !!python/tuple [29, 24] + - !!python/tuple [16, 28] + - !!python/tuple [23, 12] + - !!python/tuple [4, 25] + - !!python/tuple [11, 24] + - !!python/tuple [28, 3] + - !!python/tuple [9, 20] + - !!python/tuple [17, 31] + - !!python/tuple [9, 21] + - !!python/tuple [28, 15] + - !!python/tuple [19, 19] + - !!python/tuple [9, 2] + - !!python/tuple [24, 24] + - !!python/tuple [16, 22] + - !!python/tuple [10, 15] + - !!python/tuple [0, 29] + - !!python/tuple [16, 4] + - !!python/tuple [31, 10] + - !!python/tuple [16, 17] + - !!python/tuple [13, 15] + - !!python/tuple [8, 14] + - !!python/tuple [1, 4] + - !!python/tuple [19, 10] + - !!python/tuple [22, 12] + - !!python/tuple [17, 5] + - !!python/tuple [10, 3] + - !!python/tuple [12, 7] + - !!python/tuple [4, 4] + - !!python/tuple [17, 1] + - !!python/tuple [26, 31] + - !!python/tuple [8, 3] + - !!python/tuple [21, 18] + - !!python/tuple [4, 5] + - !!python/tuple [29, 29] + - !!python/tuple [16, 20] + - !!python/tuple [2, 21] + - !!python/tuple [15, 12] + - !!python/tuple [19, 27] + - !!python/tuple [5, 13] + - !!python/tuple [6, 26] + - !!python/tuple [14, 21] + - !!python/tuple [30, 12] + - !!python/tuple [21, 11] + - !!python/tuple [11, 16] + - !!python/tuple [14, 6] + - !!python/tuple [11, 17] + - !!python/tuple [12, 13] + - !!python/tuple [16, 9] + - !!python/tuple [0, 17] + - !!python/tuple [29, 25] + - !!python/tuple [4, 29] + - !!python/tuple [5, 14] + - !!python/tuple [10, 30] + - !!python/tuple [11, 1] + - !!python/tuple [9, 28] + - !!python/tuple [30, 17] + - !!python/tuple [6, 16] + - !!python/tuple [22, 17] + - !!python/tuple [28, 16] + - !!python/tuple [4, 24] + - !!python/tuple [13, 30] + - !!python/tuple [18, 15] + - !!python/tuple [28, 24] + - !!python/tuple [2, 17] + - !!python/tuple [4, 7] + - !!python/tuple [28, 14] + - !!python/tuple [19, 13] + - !!python/tuple [19, 12] + - !!python/tuple [31, 3] + - !!python/tuple [3, 7] + - !!python/tuple [10, 11] + - !!python/tuple [13, 0] + - !!python/tuple [21, 21] + - !!python/tuple [15, 15] + - !!python/tuple [0, 16] + - !!python/tuple [17, 8] + - !!python/tuple [19, 17] + - !!python/tuple [20, 29] + - !!python/tuple [12, 21] + - !!python/tuple [31, 2] + - !!python/tuple [22, 0] + - !!python/tuple [11, 10] + - !!python/tuple [1, 5] + - !!python/tuple [27, 17] + - !!python/tuple [5, 6] + - !!python/tuple [1, 3] + - !!python/tuple [2, 9] + - !!python/tuple [18, 16] + - !!python/tuple [4, 18] + - !!python/tuple [15, 13] + - !!python/tuple [3, 12] + - !!python/tuple [10, 5] + - !!python/tuple [12, 17] + - !!python/tuple [7, 30] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex12.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex12.yaml new file mode 100644 index 0000000..b818a4a --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex12.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [28, 30] + name: agent0 + start: [17, 6] +- goal: [30, 1] + name: agent1 + start: [18, 4] +- goal: [5, 15] + name: agent2 + start: [9, 13] +- goal: [3, 25] + name: agent3 + start: [4, 1] +- goal: [18, 2] + name: agent4 + start: [8, 31] +- goal: [25, 27] + name: agent5 + start: [2, 9] +- goal: [26, 31] + name: agent6 + start: [13, 20] +- goal: [12, 3] + name: agent7 + start: [15, 4] +- goal: [1, 2] + name: agent8 + start: [7, 15] +- goal: [3, 5] + name: agent9 + start: [12, 18] +- goal: [25, 6] + name: agent10 + start: [19, 28] +- goal: [2, 2] + name: agent11 + start: [15, 21] +- goal: [31, 29] + name: agent12 + start: [14, 5] +- goal: [11, 5] + name: agent13 + start: [11, 30] +- goal: [5, 16] + name: agent14 + start: [30, 14] +- goal: [8, 3] + name: agent15 + start: [29, 22] +- goal: [7, 7] + name: agent16 + start: [29, 18] +- goal: [14, 28] + name: agent17 + start: [4, 19] +- goal: [31, 11] + name: agent18 + start: [3, 0] +- goal: [24, 5] + name: agent19 + start: [15, 12] +- goal: [28, 29] + name: agent20 + start: [4, 15] +- goal: [11, 8] + name: agent21 + start: [5, 19] +- goal: [12, 30] + name: agent22 + start: [20, 6] +- goal: [19, 30] + name: agent23 + start: [8, 25] +- goal: [29, 20] + name: agent24 + start: [16, 23] +- goal: [9, 0] + name: agent25 + start: [12, 23] +- goal: [27, 18] + name: agent26 + start: [20, 27] +- goal: [27, 1] + name: agent27 + start: [25, 13] +- goal: [27, 15] + name: agent28 + start: [28, 10] +- goal: [2, 15] + name: agent29 + start: [15, 14] +- goal: [23, 13] + name: agent30 + start: [28, 11] +- goal: [4, 18] + name: agent31 + start: [10, 14] +- goal: [15, 21] + name: agent32 + start: [2, 21] +- goal: [10, 17] + name: agent33 + start: [5, 23] +- goal: [6, 17] + name: agent34 + start: [22, 24] +- goal: [2, 19] + name: agent35 + start: [27, 15] +- goal: [0, 16] + name: agent36 + start: [10, 28] +- goal: [25, 18] + name: agent37 + start: [26, 13] +- goal: [7, 3] + name: agent38 + start: [5, 4] +- goal: [7, 2] + name: agent39 + start: [28, 23] +- goal: [4, 1] + name: agent40 + start: [11, 9] +- goal: [15, 2] + name: agent41 + start: [19, 19] +- goal: [23, 18] + name: agent42 + start: [14, 18] +- goal: [13, 10] + name: agent43 + start: [6, 22] +- goal: [25, 3] + name: agent44 + start: [0, 30] +- goal: [15, 3] + name: agent45 + start: [3, 24] +- goal: [1, 17] + name: agent46 + start: [4, 2] +- goal: [31, 13] + name: agent47 + start: [18, 6] +- goal: [12, 20] + name: agent48 + start: [2, 1] +- goal: [30, 23] + name: agent49 + start: [10, 17] +- goal: [2, 11] + name: agent50 + start: [30, 17] +- goal: [18, 30] + name: agent51 + start: [8, 12] +- goal: [9, 13] + name: agent52 + start: [6, 6] +- goal: [16, 16] + name: agent53 + start: [12, 0] +- goal: [30, 29] + name: agent54 + start: [1, 15] +- goal: [20, 24] + name: agent55 + start: [26, 22] +- goal: [25, 0] + name: agent56 + start: [31, 12] +- goal: [2, 29] + name: agent57 + start: [27, 27] +- goal: [10, 3] + name: agent58 + start: [16, 13] +- goal: [13, 7] + name: agent59 + start: [25, 24] +- goal: [1, 13] + name: agent60 + start: [6, 11] +- goal: [16, 17] + name: agent61 + start: [19, 20] +- goal: [4, 21] + name: agent62 + start: [6, 27] +- goal: [21, 3] + name: agent63 + start: [14, 16] +- goal: [16, 0] + name: agent64 + start: [23, 0] +- goal: [3, 4] + name: agent65 + start: [18, 3] +- goal: [21, 2] + name: agent66 + start: [12, 13] +- goal: [18, 27] + name: agent67 + start: [17, 27] +- goal: [8, 10] + name: agent68 + start: [27, 30] +- goal: [22, 4] + name: agent69 + start: [7, 0] +- goal: [27, 10] + name: agent70 + start: [22, 2] +- goal: [20, 28] + name: agent71 + start: [19, 12] +- goal: [5, 31] + name: agent72 + start: [29, 13] +- goal: [18, 18] + name: agent73 + start: [15, 0] +- goal: [25, 7] + name: agent74 + start: [6, 7] +- goal: [21, 29] + name: agent75 + start: [1, 29] +- goal: [18, 17] + name: agent76 + start: [13, 31] +- goal: [21, 31] + name: agent77 + start: [18, 28] +- goal: [17, 22] + name: agent78 + start: [28, 14] +- goal: [9, 15] + name: agent79 + start: [3, 29] +- goal: [7, 24] + name: agent80 + start: [2, 10] +- goal: [28, 4] + name: agent81 + start: [2, 18] +- goal: [8, 27] + name: agent82 + start: [25, 9] +- goal: [3, 17] + name: agent83 + start: [30, 15] +- goal: [20, 10] + name: agent84 + start: [13, 24] +- goal: [8, 0] + name: agent85 + start: [0, 29] +- goal: [31, 22] + name: agent86 + start: [11, 3] +- goal: [2, 0] + name: agent87 + start: [17, 7] +- goal: [15, 0] + name: agent88 + start: [27, 19] +- goal: [12, 8] + name: agent89 + start: [1, 12] +- goal: [10, 28] + name: agent90 + start: [3, 12] +- goal: [12, 7] + name: agent91 + start: [31, 10] +- goal: [15, 13] + name: agent92 + start: [15, 8] +- goal: [0, 4] + name: agent93 + start: [26, 14] +- goal: [20, 19] + name: agent94 + start: [16, 2] +- goal: [4, 11] + name: agent95 + start: [14, 22] +- goal: [23, 23] + name: agent96 + start: [21, 10] +- goal: [14, 9] + name: agent97 + start: [18, 17] +- goal: [3, 18] + name: agent98 + start: [4, 17] +- goal: [25, 24] + name: agent99 + start: [31, 11] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [1, 28] + - !!python/tuple [27, 20] + - !!python/tuple [1, 14] + - !!python/tuple [4, 26] + - !!python/tuple [8, 1] + - !!python/tuple [0, 27] + - !!python/tuple [15, 22] + - !!python/tuple [6, 9] + - !!python/tuple [6, 25] + - !!python/tuple [25, 12] + - !!python/tuple [28, 25] + - !!python/tuple [22, 5] + - !!python/tuple [25, 16] + - !!python/tuple [15, 29] + - !!python/tuple [14, 12] + - !!python/tuple [31, 31] + - !!python/tuple [18, 31] + - !!python/tuple [29, 12] + - !!python/tuple [14, 19] + - !!python/tuple [8, 26] + - !!python/tuple [30, 8] + - !!python/tuple [14, 30] + - !!python/tuple [13, 8] + - !!python/tuple [13, 26] + - !!python/tuple [14, 10] + - !!python/tuple [0, 13] + - !!python/tuple [22, 21] + - !!python/tuple [1, 9] + - !!python/tuple [6, 0] + - !!python/tuple [26, 27] + - !!python/tuple [23, 31] + - !!python/tuple [24, 30] + - !!python/tuple [21, 16] + - !!python/tuple [16, 14] + - !!python/tuple [17, 11] + - !!python/tuple [26, 7] + - !!python/tuple [4, 9] + - !!python/tuple [2, 13] + - !!python/tuple [22, 13] + - !!python/tuple [10, 29] + - !!python/tuple [15, 16] + - !!python/tuple [2, 24] + - !!python/tuple [2, 27] + - !!python/tuple [10, 9] + - !!python/tuple [17, 16] + - !!python/tuple [13, 30] + - !!python/tuple [3, 21] + - !!python/tuple [2, 4] + - !!python/tuple [18, 12] + - !!python/tuple [0, 9] + - !!python/tuple [22, 23] + - !!python/tuple [31, 5] + - !!python/tuple [5, 13] + - !!python/tuple [9, 12] + - !!python/tuple [7, 20] + - !!python/tuple [16, 30] + - !!python/tuple [29, 26] + - !!python/tuple [31, 7] + - !!python/tuple [24, 3] + - !!python/tuple [28, 9] + - !!python/tuple [11, 19] + - !!python/tuple [8, 28] + - !!python/tuple [20, 0] + - !!python/tuple [23, 11] + - !!python/tuple [2, 8] + - !!python/tuple [3, 27] + - !!python/tuple [19, 5] + - !!python/tuple [3, 8] + - !!python/tuple [23, 16] + - !!python/tuple [11, 15] + - !!python/tuple [23, 1] + - !!python/tuple [13, 2] + - !!python/tuple [28, 21] + - !!python/tuple [20, 3] + - !!python/tuple [10, 16] + - !!python/tuple [13, 5] + - !!python/tuple [13, 6] + - !!python/tuple [25, 17] + - !!python/tuple [28, 17] + - !!python/tuple [10, 7] + - !!python/tuple [9, 27] + - !!python/tuple [17, 3] + - !!python/tuple [29, 17] + - !!python/tuple [4, 23] + - !!python/tuple [12, 22] + - !!python/tuple [5, 18] + - !!python/tuple [27, 11] + - !!python/tuple [0, 12] + - !!python/tuple [5, 6] + - !!python/tuple [22, 17] + - !!python/tuple [18, 21] + - !!python/tuple [8, 18] + - !!python/tuple [26, 25] + - !!python/tuple [30, 27] + - !!python/tuple [10, 21] + - !!python/tuple [28, 2] + - !!python/tuple [8, 23] + - !!python/tuple [17, 18] + - !!python/tuple [6, 29] + - !!python/tuple [9, 7] + - !!python/tuple [30, 16] + - !!python/tuple [16, 31] + - !!python/tuple [23, 2] + - !!python/tuple [9, 6] + - !!python/tuple [1, 5] + - !!python/tuple [24, 14] + - !!python/tuple [27, 13] + - !!python/tuple [12, 21] + - !!python/tuple [26, 6] + - !!python/tuple [20, 17] + - !!python/tuple [28, 0] + - !!python/tuple [1, 11] + - !!python/tuple [31, 23] + - !!python/tuple [24, 28] + - !!python/tuple [16, 12] + - !!python/tuple [9, 18] + - !!python/tuple [3, 13] + - !!python/tuple [24, 0] + - !!python/tuple [14, 27] + - !!python/tuple [12, 16] + - !!python/tuple [1, 18] + - !!python/tuple [8, 21] + - !!python/tuple [24, 15] + - !!python/tuple [2, 6] + - !!python/tuple [19, 24] + - !!python/tuple [29, 29] + - !!python/tuple [3, 26] + - !!python/tuple [3, 19] + - !!python/tuple [11, 10] + - !!python/tuple [18, 14] + - !!python/tuple [6, 2] + - !!python/tuple [31, 4] + - !!python/tuple [17, 17] + - !!python/tuple [24, 19] + - !!python/tuple [25, 5] + - !!python/tuple [26, 30] + - !!python/tuple [30, 9] + - !!python/tuple [21, 6] + - !!python/tuple [0, 31] + - !!python/tuple [27, 24] + - !!python/tuple [3, 2] + - !!python/tuple [13, 23] + - !!python/tuple [4, 20] + - !!python/tuple [6, 31] + - !!python/tuple [17, 26] + - !!python/tuple [2, 28] + - !!python/tuple [10, 24] + - !!python/tuple [29, 25] + - !!python/tuple [24, 8] + - !!python/tuple [6, 10] + - !!python/tuple [17, 23] + - !!python/tuple [1, 0] + - !!python/tuple [10, 26] + - !!python/tuple [6, 8] + - !!python/tuple [24, 25] + - !!python/tuple [21, 23] + - !!python/tuple [8, 15] + - !!python/tuple [18, 23] + - !!python/tuple [27, 2] + - !!python/tuple [0, 21] + - !!python/tuple [11, 0] + - !!python/tuple [16, 4] + - !!python/tuple [2, 30] + - !!python/tuple [13, 28] + - !!python/tuple [8, 17] + - !!python/tuple [31, 17] + - !!python/tuple [23, 10] + - !!python/tuple [5, 28] + - !!python/tuple [23, 15] + - !!python/tuple [7, 4] + - !!python/tuple [1, 20] + - !!python/tuple [28, 26] + - !!python/tuple [0, 15] + - !!python/tuple [22, 18] + - !!python/tuple [22, 15] + - !!python/tuple [30, 2] + - !!python/tuple [30, 7] + - !!python/tuple [25, 8] + - !!python/tuple [23, 30] + - !!python/tuple [6, 28] + - !!python/tuple [23, 19] + - !!python/tuple [7, 31] + - !!python/tuple [22, 27] + - !!python/tuple [7, 14] + - !!python/tuple [3, 31] + - !!python/tuple [9, 4] + - !!python/tuple [17, 25] + - !!python/tuple [29, 24] + - !!python/tuple [23, 17] + - !!python/tuple [2, 5] + - !!python/tuple [8, 22] + - !!python/tuple [18, 0] + - !!python/tuple [30, 31] + - !!python/tuple [31, 2] + - !!python/tuple [30, 20] + - !!python/tuple [0, 2] + - !!python/tuple [14, 7] + - !!python/tuple [7, 1] + - !!python/tuple [12, 11] + - !!python/tuple [3, 22] + - !!python/tuple [19, 21] + - !!python/tuple [29, 16] + - !!python/tuple [30, 4] + - !!python/tuple [20, 18] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex13.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex13.yaml new file mode 100644 index 0000000..da3635c --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex13.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [21, 25] + name: agent0 + start: [3, 9] +- goal: [22, 16] + name: agent1 + start: [18, 30] +- goal: [22, 26] + name: agent2 + start: [11, 30] +- goal: [3, 18] + name: agent3 + start: [22, 30] +- goal: [14, 20] + name: agent4 + start: [10, 21] +- goal: [31, 27] + name: agent5 + start: [14, 6] +- goal: [8, 10] + name: agent6 + start: [13, 2] +- goal: [18, 10] + name: agent7 + start: [8, 18] +- goal: [23, 13] + name: agent8 + start: [13, 13] +- goal: [16, 12] + name: agent9 + start: [3, 28] +- goal: [27, 3] + name: agent10 + start: [7, 10] +- goal: [14, 30] + name: agent11 + start: [31, 22] +- goal: [9, 26] + name: agent12 + start: [0, 20] +- goal: [15, 26] + name: agent13 + start: [8, 26] +- goal: [29, 28] + name: agent14 + start: [9, 27] +- goal: [31, 16] + name: agent15 + start: [12, 5] +- goal: [11, 16] + name: agent16 + start: [3, 17] +- goal: [9, 24] + name: agent17 + start: [3, 8] +- goal: [14, 6] + name: agent18 + start: [12, 18] +- goal: [26, 0] + name: agent19 + start: [5, 24] +- goal: [15, 13] + name: agent20 + start: [24, 19] +- goal: [17, 3] + name: agent21 + start: [16, 17] +- goal: [18, 9] + name: agent22 + start: [11, 8] +- goal: [19, 31] + name: agent23 + start: [30, 30] +- goal: [28, 25] + name: agent24 + start: [2, 4] +- goal: [29, 13] + name: agent25 + start: [11, 31] +- goal: [21, 3] + name: agent26 + start: [13, 6] +- goal: [19, 20] + name: agent27 + start: [28, 13] +- goal: [15, 24] + name: agent28 + start: [25, 25] +- goal: [17, 6] + name: agent29 + start: [28, 26] +- goal: [28, 19] + name: agent30 + start: [23, 5] +- goal: [14, 21] + name: agent31 + start: [17, 27] +- goal: [15, 0] + name: agent32 + start: [21, 25] +- goal: [29, 4] + name: agent33 + start: [25, 15] +- goal: [31, 18] + name: agent34 + start: [28, 14] +- goal: [27, 4] + name: agent35 + start: [20, 6] +- goal: [27, 30] + name: agent36 + start: [10, 23] +- goal: [19, 21] + name: agent37 + start: [8, 12] +- goal: [1, 26] + name: agent38 + start: [22, 28] +- goal: [0, 25] + name: agent39 + start: [29, 30] +- goal: [5, 10] + name: agent40 + start: [11, 18] +- goal: [30, 7] + name: agent41 + start: [0, 21] +- goal: [9, 0] + name: agent42 + start: [23, 11] +- goal: [14, 7] + name: agent43 + start: [27, 3] +- goal: [22, 29] + name: agent44 + start: [6, 2] +- goal: [30, 17] + name: agent45 + start: [25, 19] +- goal: [6, 24] + name: agent46 + start: [26, 18] +- goal: [13, 11] + name: agent47 + start: [7, 23] +- goal: [7, 10] + name: agent48 + start: [20, 11] +- goal: [23, 11] + name: agent49 + start: [25, 22] +- goal: [8, 17] + name: agent50 + start: [8, 14] +- goal: [26, 8] + name: agent51 + start: [19, 4] +- goal: [9, 30] + name: agent52 + start: [4, 8] +- goal: [22, 17] + name: agent53 + start: [23, 27] +- goal: [25, 24] + name: agent54 + start: [6, 0] +- goal: [6, 21] + name: agent55 + start: [28, 15] +- goal: [27, 9] + name: agent56 + start: [24, 14] +- goal: [24, 23] + name: agent57 + start: [26, 5] +- goal: [29, 8] + name: agent58 + start: [24, 4] +- goal: [24, 18] + name: agent59 + start: [28, 2] +- goal: [11, 26] + name: agent60 + start: [27, 1] +- goal: [19, 7] + name: agent61 + start: [20, 3] +- goal: [29, 10] + name: agent62 + start: [24, 0] +- goal: [26, 11] + name: agent63 + start: [19, 27] +- goal: [25, 16] + name: agent64 + start: [15, 28] +- goal: [7, 27] + name: agent65 + start: [14, 4] +- goal: [20, 16] + name: agent66 + start: [24, 27] +- goal: [16, 17] + name: agent67 + start: [9, 17] +- goal: [14, 8] + name: agent68 + start: [27, 21] +- goal: [24, 22] + name: agent69 + start: [8, 7] +- goal: [17, 16] + name: agent70 + start: [5, 0] +- goal: [29, 11] + name: agent71 + start: [12, 21] +- goal: [25, 3] + name: agent72 + start: [13, 17] +- goal: [7, 25] + name: agent73 + start: [19, 14] +- goal: [8, 9] + name: agent74 + start: [21, 20] +- goal: [9, 17] + name: agent75 + start: [1, 30] +- goal: [5, 6] + name: agent76 + start: [31, 20] +- goal: [21, 5] + name: agent77 + start: [4, 11] +- goal: [27, 29] + name: agent78 + start: [17, 25] +- goal: [20, 4] + name: agent79 + start: [15, 19] +- goal: [31, 5] + name: agent80 + start: [5, 21] +- goal: [29, 30] + name: agent81 + start: [13, 14] +- goal: [14, 11] + name: agent82 + start: [16, 1] +- goal: [16, 4] + name: agent83 + start: [4, 3] +- goal: [18, 27] + name: agent84 + start: [29, 22] +- goal: [26, 16] + name: agent85 + start: [8, 11] +- goal: [25, 26] + name: agent86 + start: [29, 26] +- goal: [10, 25] + name: agent87 + start: [11, 14] +- goal: [18, 30] + name: agent88 + start: [1, 2] +- goal: [10, 26] + name: agent89 + start: [12, 12] +- goal: [8, 30] + name: agent90 + start: [21, 1] +- goal: [28, 7] + name: agent91 + start: [6, 3] +- goal: [28, 0] + name: agent92 + start: [22, 31] +- goal: [20, 1] + name: agent93 + start: [2, 7] +- goal: [30, 20] + name: agent94 + start: [19, 11] +- goal: [8, 8] + name: agent95 + start: [22, 14] +- goal: [20, 19] + name: agent96 + start: [24, 25] +- goal: [0, 7] + name: agent97 + start: [12, 1] +- goal: [0, 28] + name: agent98 + start: [9, 3] +- goal: [24, 1] + name: agent99 + start: [8, 4] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [10, 30] + - !!python/tuple [22, 5] + - !!python/tuple [30, 1] + - !!python/tuple [31, 15] + - !!python/tuple [23, 21] + - !!python/tuple [27, 0] + - !!python/tuple [8, 13] + - !!python/tuple [16, 25] + - !!python/tuple [18, 2] + - !!python/tuple [28, 18] + - !!python/tuple [16, 30] + - !!python/tuple [8, 3] + - !!python/tuple [18, 16] + - !!python/tuple [8, 1] + - !!python/tuple [21, 11] + - !!python/tuple [13, 7] + - !!python/tuple [15, 7] + - !!python/tuple [30, 5] + - !!python/tuple [2, 14] + - !!python/tuple [0, 3] + - !!python/tuple [19, 9] + - !!python/tuple [12, 20] + - !!python/tuple [10, 3] + - !!python/tuple [24, 7] + - !!python/tuple [28, 5] + - !!python/tuple [26, 17] + - !!python/tuple [13, 26] + - !!python/tuple [29, 17] + - !!python/tuple [12, 24] + - !!python/tuple [31, 9] + - !!python/tuple [21, 6] + - !!python/tuple [21, 4] + - !!python/tuple [6, 6] + - !!python/tuple [25, 20] + - !!python/tuple [6, 26] + - !!python/tuple [14, 15] + - !!python/tuple [30, 14] + - !!python/tuple [13, 10] + - !!python/tuple [11, 4] + - !!python/tuple [9, 21] + - !!python/tuple [19, 2] + - !!python/tuple [30, 4] + - !!python/tuple [16, 23] + - !!python/tuple [21, 31] + - !!python/tuple [19, 26] + - !!python/tuple [16, 3] + - !!python/tuple [5, 26] + - !!python/tuple [20, 24] + - !!python/tuple [26, 6] + - !!python/tuple [24, 11] + - !!python/tuple [0, 18] + - !!python/tuple [26, 29] + - !!python/tuple [22, 0] + - !!python/tuple [14, 24] + - !!python/tuple [23, 17] + - !!python/tuple [17, 22] + - !!python/tuple [9, 14] + - !!python/tuple [23, 7] + - !!python/tuple [14, 29] + - !!python/tuple [10, 14] + - !!python/tuple [2, 13] + - !!python/tuple [18, 29] + - !!python/tuple [12, 25] + - !!python/tuple [16, 8] + - !!python/tuple [18, 4] + - !!python/tuple [14, 17] + - !!python/tuple [4, 14] + - !!python/tuple [8, 6] + - !!python/tuple [18, 21] + - !!python/tuple [1, 3] + - !!python/tuple [6, 16] + - !!python/tuple [31, 6] + - !!python/tuple [26, 26] + - !!python/tuple [15, 31] + - !!python/tuple [12, 23] + - !!python/tuple [9, 8] + - !!python/tuple [17, 9] + - !!python/tuple [14, 26] + - !!python/tuple [14, 18] + - !!python/tuple [24, 3] + - !!python/tuple [20, 23] + - !!python/tuple [11, 17] + - !!python/tuple [21, 28] + - !!python/tuple [25, 29] + - !!python/tuple [30, 24] + - !!python/tuple [31, 0] + - !!python/tuple [31, 13] + - !!python/tuple [23, 16] + - !!python/tuple [5, 30] + - !!python/tuple [10, 2] + - !!python/tuple [5, 9] + - !!python/tuple [16, 5] + - !!python/tuple [13, 5] + - !!python/tuple [13, 31] + - !!python/tuple [13, 23] + - !!python/tuple [17, 11] + - !!python/tuple [1, 4] + - !!python/tuple [11, 21] + - !!python/tuple [21, 29] + - !!python/tuple [28, 3] + - !!python/tuple [4, 25] + - !!python/tuple [23, 30] + - !!python/tuple [26, 3] + - !!python/tuple [29, 3] + - !!python/tuple [19, 8] + - !!python/tuple [25, 10] + - !!python/tuple [3, 5] + - !!python/tuple [11, 19] + - !!python/tuple [30, 8] + - !!python/tuple [5, 31] + - !!python/tuple [1, 20] + - !!python/tuple [21, 15] + - !!python/tuple [10, 4] + - !!python/tuple [19, 28] + - !!python/tuple [17, 18] + - !!python/tuple [23, 2] + - !!python/tuple [21, 0] + - !!python/tuple [24, 6] + - !!python/tuple [16, 11] + - !!python/tuple [6, 27] + - !!python/tuple [12, 17] + - !!python/tuple [27, 24] + - !!python/tuple [31, 1] + - !!python/tuple [30, 23] + - !!python/tuple [17, 20] + - !!python/tuple [31, 17] + - !!python/tuple [19, 10] + - !!python/tuple [31, 24] + - !!python/tuple [19, 25] + - !!python/tuple [16, 15] + - !!python/tuple [28, 6] + - !!python/tuple [0, 22] + - !!python/tuple [12, 6] + - !!python/tuple [3, 12] + - !!python/tuple [4, 6] + - !!python/tuple [19, 17] + - !!python/tuple [5, 25] + - !!python/tuple [3, 7] + - !!python/tuple [7, 26] + - !!python/tuple [10, 24] + - !!python/tuple [2, 19] + - !!python/tuple [8, 21] + - !!python/tuple [22, 11] + - !!python/tuple [2, 8] + - !!python/tuple [8, 22] + - !!python/tuple [24, 15] + - !!python/tuple [18, 15] + - !!python/tuple [20, 29] + - !!python/tuple [17, 30] + - !!python/tuple [26, 27] + - !!python/tuple [26, 9] + - !!python/tuple [7, 31] + - !!python/tuple [16, 26] + - !!python/tuple [3, 21] + - !!python/tuple [15, 10] + - !!python/tuple [18, 26] + - !!python/tuple [17, 19] + - !!python/tuple [7, 2] + - !!python/tuple [0, 26] + - !!python/tuple [14, 27] + - !!python/tuple [29, 14] + - !!python/tuple [22, 12] + - !!python/tuple [27, 16] + - !!python/tuple [22, 27] + - !!python/tuple [16, 21] + - !!python/tuple [12, 16] + - !!python/tuple [28, 17] + - !!python/tuple [3, 29] + - !!python/tuple [21, 17] + - !!python/tuple [30, 19] + - !!python/tuple [29, 9] + - !!python/tuple [7, 20] + - !!python/tuple [7, 21] + - !!python/tuple [24, 16] + - !!python/tuple [17, 5] + - !!python/tuple [24, 17] + - !!python/tuple [25, 2] + - !!python/tuple [12, 26] + - !!python/tuple [29, 18] + - !!python/tuple [10, 8] + - !!python/tuple [23, 24] + - !!python/tuple [18, 24] + - !!python/tuple [2, 20] + - !!python/tuple [15, 23] + - !!python/tuple [7, 17] + - !!python/tuple [10, 20] + - !!python/tuple [8, 16] + - !!python/tuple [25, 23] + - !!python/tuple [0, 14] + - !!python/tuple [17, 28] + - !!python/tuple [19, 18] + - !!python/tuple [29, 24] + - !!python/tuple [23, 12] + - !!python/tuple [0, 2] + - !!python/tuple [12, 2] + - !!python/tuple [22, 3] + - !!python/tuple [22, 1] + - !!python/tuple [24, 12] + - !!python/tuple [22, 8] + - !!python/tuple [7, 29] + - !!python/tuple [23, 6] + - !!python/tuple [10, 28] + - !!python/tuple [24, 30] + - !!python/tuple [16, 9] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex14.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex14.yaml new file mode 100644 index 0000000..0a9210e --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex14.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [24, 31] + name: agent0 + start: [11, 12] +- goal: [10, 24] + name: agent1 + start: [23, 9] +- goal: [12, 4] + name: agent2 + start: [3, 22] +- goal: [9, 23] + name: agent3 + start: [8, 11] +- goal: [3, 25] + name: agent4 + start: [13, 12] +- goal: [25, 18] + name: agent5 + start: [19, 11] +- goal: [12, 31] + name: agent6 + start: [22, 2] +- goal: [5, 9] + name: agent7 + start: [30, 0] +- goal: [3, 8] + name: agent8 + start: [29, 4] +- goal: [21, 28] + name: agent9 + start: [24, 17] +- goal: [0, 7] + name: agent10 + start: [8, 1] +- goal: [30, 1] + name: agent11 + start: [31, 13] +- goal: [22, 4] + name: agent12 + start: [19, 3] +- goal: [19, 19] + name: agent13 + start: [12, 5] +- goal: [15, 29] + name: agent14 + start: [30, 11] +- goal: [27, 5] + name: agent15 + start: [12, 13] +- goal: [15, 6] + name: agent16 + start: [21, 5] +- goal: [17, 27] + name: agent17 + start: [8, 15] +- goal: [31, 26] + name: agent18 + start: [25, 15] +- goal: [7, 15] + name: agent19 + start: [21, 4] +- goal: [12, 5] + name: agent20 + start: [21, 21] +- goal: [28, 12] + name: agent21 + start: [23, 20] +- goal: [22, 5] + name: agent22 + start: [19, 22] +- goal: [20, 20] + name: agent23 + start: [13, 19] +- goal: [22, 15] + name: agent24 + start: [23, 14] +- goal: [26, 31] + name: agent25 + start: [9, 25] +- goal: [10, 11] + name: agent26 + start: [6, 8] +- goal: [19, 11] + name: agent27 + start: [24, 13] +- goal: [15, 5] + name: agent28 + start: [14, 27] +- goal: [0, 14] + name: agent29 + start: [17, 25] +- goal: [4, 5] + name: agent30 + start: [12, 6] +- goal: [30, 17] + name: agent31 + start: [5, 6] +- goal: [15, 24] + name: agent32 + start: [28, 23] +- goal: [3, 30] + name: agent33 + start: [14, 31] +- goal: [28, 2] + name: agent34 + start: [1, 31] +- goal: [29, 19] + name: agent35 + start: [21, 10] +- goal: [29, 6] + name: agent36 + start: [31, 3] +- goal: [12, 1] + name: agent37 + start: [9, 11] +- goal: [24, 27] + name: agent38 + start: [28, 0] +- goal: [23, 27] + name: agent39 + start: [4, 5] +- goal: [15, 14] + name: agent40 + start: [15, 23] +- goal: [4, 12] + name: agent41 + start: [17, 29] +- goal: [10, 4] + name: agent42 + start: [20, 16] +- goal: [27, 7] + name: agent43 + start: [25, 9] +- goal: [31, 25] + name: agent44 + start: [13, 26] +- goal: [8, 21] + name: agent45 + start: [3, 8] +- goal: [3, 10] + name: agent46 + start: [1, 1] +- goal: [12, 0] + name: agent47 + start: [12, 19] +- goal: [7, 17] + name: agent48 + start: [27, 24] +- goal: [4, 10] + name: agent49 + start: [22, 7] +- goal: [25, 16] + name: agent50 + start: [22, 19] +- goal: [25, 31] + name: agent51 + start: [18, 23] +- goal: [28, 26] + name: agent52 + start: [12, 7] +- goal: [3, 22] + name: agent53 + start: [18, 16] +- goal: [31, 0] + name: agent54 + start: [11, 9] +- goal: [19, 0] + name: agent55 + start: [23, 22] +- goal: [9, 7] + name: agent56 + start: [21, 15] +- goal: [16, 5] + name: agent57 + start: [23, 6] +- goal: [14, 13] + name: agent58 + start: [8, 21] +- goal: [20, 31] + name: agent59 + start: [27, 15] +- goal: [20, 9] + name: agent60 + start: [21, 11] +- goal: [25, 6] + name: agent61 + start: [1, 12] +- goal: [8, 20] + name: agent62 + start: [17, 24] +- goal: [8, 15] + name: agent63 + start: [26, 23] +- goal: [2, 28] + name: agent64 + start: [7, 15] +- goal: [16, 27] + name: agent65 + start: [16, 15] +- goal: [14, 16] + name: agent66 + start: [3, 0] +- goal: [11, 13] + name: agent67 + start: [26, 13] +- goal: [17, 7] + name: agent68 + start: [20, 29] +- goal: [17, 18] + name: agent69 + start: [24, 10] +- goal: [0, 16] + name: agent70 + start: [16, 7] +- goal: [11, 4] + name: agent71 + start: [26, 29] +- goal: [1, 7] + name: agent72 + start: [28, 12] +- goal: [23, 29] + name: agent73 + start: [7, 6] +- goal: [22, 18] + name: agent74 + start: [6, 22] +- goal: [17, 4] + name: agent75 + start: [13, 18] +- goal: [24, 6] + name: agent76 + start: [2, 26] +- goal: [20, 26] + name: agent77 + start: [13, 28] +- goal: [16, 16] + name: agent78 + start: [5, 27] +- goal: [23, 25] + name: agent79 + start: [25, 14] +- goal: [16, 26] + name: agent80 + start: [30, 6] +- goal: [17, 6] + name: agent81 + start: [15, 16] +- goal: [30, 24] + name: agent82 + start: [7, 31] +- goal: [25, 29] + name: agent83 + start: [14, 25] +- goal: [25, 11] + name: agent84 + start: [13, 16] +- goal: [14, 31] + name: agent85 + start: [4, 6] +- goal: [28, 6] + name: agent86 + start: [14, 1] +- goal: [10, 5] + name: agent87 + start: [19, 0] +- goal: [20, 27] + name: agent88 + start: [24, 25] +- goal: [17, 24] + name: agent89 + start: [9, 26] +- goal: [16, 23] + name: agent90 + start: [11, 13] +- goal: [8, 16] + name: agent91 + start: [12, 18] +- goal: [8, 24] + name: agent92 + start: [18, 20] +- goal: [27, 25] + name: agent93 + start: [11, 29] +- goal: [0, 20] + name: agent94 + start: [31, 19] +- goal: [10, 9] + name: agent95 + start: [16, 12] +- goal: [22, 7] + name: agent96 + start: [24, 3] +- goal: [23, 30] + name: agent97 + start: [0, 24] +- goal: [6, 4] + name: agent98 + start: [10, 11] +- goal: [15, 17] + name: agent99 + start: [0, 20] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [23, 5] + - !!python/tuple [10, 8] + - !!python/tuple [26, 26] + - !!python/tuple [7, 29] + - !!python/tuple [1, 3] + - !!python/tuple [12, 11] + - !!python/tuple [7, 14] + - !!python/tuple [8, 7] + - !!python/tuple [13, 21] + - !!python/tuple [17, 22] + - !!python/tuple [17, 0] + - !!python/tuple [5, 28] + - !!python/tuple [20, 8] + - !!python/tuple [17, 2] + - !!python/tuple [29, 17] + - !!python/tuple [24, 18] + - !!python/tuple [2, 4] + - !!python/tuple [25, 20] + - !!python/tuple [11, 19] + - !!python/tuple [9, 2] + - !!python/tuple [0, 28] + - !!python/tuple [14, 7] + - !!python/tuple [2, 20] + - !!python/tuple [6, 16] + - !!python/tuple [24, 0] + - !!python/tuple [0, 11] + - !!python/tuple [27, 19] + - !!python/tuple [24, 12] + - !!python/tuple [29, 29] + - !!python/tuple [2, 17] + - !!python/tuple [27, 16] + - !!python/tuple [2, 7] + - !!python/tuple [0, 15] + - !!python/tuple [31, 21] + - !!python/tuple [21, 22] + - !!python/tuple [26, 15] + - !!python/tuple [10, 17] + - !!python/tuple [25, 5] + - !!python/tuple [1, 11] + - !!python/tuple [0, 0] + - !!python/tuple [30, 16] + - !!python/tuple [13, 22] + - !!python/tuple [28, 21] + - !!python/tuple [15, 7] + - !!python/tuple [0, 8] + - !!python/tuple [27, 13] + - !!python/tuple [5, 11] + - !!python/tuple [23, 7] + - !!python/tuple [6, 3] + - !!python/tuple [26, 16] + - !!python/tuple [7, 23] + - !!python/tuple [9, 1] + - !!python/tuple [29, 28] + - !!python/tuple [29, 10] + - !!python/tuple [19, 13] + - !!python/tuple [5, 5] + - !!python/tuple [13, 20] + - !!python/tuple [10, 27] + - !!python/tuple [30, 27] + - !!python/tuple [15, 26] + - !!python/tuple [31, 6] + - !!python/tuple [27, 21] + - !!python/tuple [31, 16] + - !!python/tuple [26, 0] + - !!python/tuple [3, 9] + - !!python/tuple [18, 15] + - !!python/tuple [27, 23] + - !!python/tuple [4, 11] + - !!python/tuple [16, 31] + - !!python/tuple [31, 29] + - !!python/tuple [12, 8] + - !!python/tuple [1, 19] + - !!python/tuple [21, 3] + - !!python/tuple [18, 22] + - !!python/tuple [10, 29] + - !!python/tuple [28, 24] + - !!python/tuple [12, 21] + - !!python/tuple [4, 21] + - !!python/tuple [14, 28] + - !!python/tuple [27, 8] + - !!python/tuple [18, 8] + - !!python/tuple [23, 23] + - !!python/tuple [0, 21] + - !!python/tuple [25, 1] + - !!python/tuple [22, 29] + - !!python/tuple [14, 15] + - !!python/tuple [21, 8] + - !!python/tuple [8, 8] + - !!python/tuple [1, 20] + - !!python/tuple [8, 5] + - !!python/tuple [11, 10] + - !!python/tuple [20, 28] + - !!python/tuple [16, 10] + - !!python/tuple [18, 13] + - !!python/tuple [15, 4] + - !!python/tuple [26, 30] + - !!python/tuple [17, 1] + - !!python/tuple [31, 4] + - !!python/tuple [8, 31] + - !!python/tuple [18, 10] + - !!python/tuple [11, 3] + - !!python/tuple [7, 12] + - !!python/tuple [0, 9] + - !!python/tuple [31, 18] + - !!python/tuple [10, 30] + - !!python/tuple [3, 26] + - !!python/tuple [0, 1] + - !!python/tuple [15, 1] + - !!python/tuple [16, 13] + - !!python/tuple [5, 2] + - !!python/tuple [12, 22] + - !!python/tuple [30, 4] + - !!python/tuple [30, 2] + - !!python/tuple [20, 19] + - !!python/tuple [0, 31] + - !!python/tuple [29, 16] + - !!python/tuple [2, 5] + - !!python/tuple [15, 10] + - !!python/tuple [25, 21] + - !!python/tuple [27, 26] + - !!python/tuple [0, 12] + - !!python/tuple [25, 22] + - !!python/tuple [13, 23] + - !!python/tuple [1, 30] + - !!python/tuple [17, 8] + - !!python/tuple [8, 2] + - !!python/tuple [11, 15] + - !!python/tuple [24, 14] + - !!python/tuple [19, 28] + - !!python/tuple [2, 25] + - !!python/tuple [28, 11] + - !!python/tuple [24, 11] + - !!python/tuple [14, 11] + - !!python/tuple [3, 20] + - !!python/tuple [24, 23] + - !!python/tuple [22, 31] + - !!python/tuple [22, 28] + - !!python/tuple [3, 17] + - !!python/tuple [5, 29] + - !!python/tuple [15, 11] + - !!python/tuple [15, 25] + - !!python/tuple [6, 14] + - !!python/tuple [8, 26] + - !!python/tuple [13, 17] + - !!python/tuple [15, 2] + - !!python/tuple [23, 15] + - !!python/tuple [28, 25] + - !!python/tuple [6, 0] + - !!python/tuple [12, 29] + - !!python/tuple [29, 26] + - !!python/tuple [1, 10] + - !!python/tuple [11, 7] + - !!python/tuple [18, 7] + - !!python/tuple [6, 17] + - !!python/tuple [16, 19] + - !!python/tuple [31, 28] + - !!python/tuple [28, 3] + - !!python/tuple [1, 29] + - !!python/tuple [4, 17] + - !!python/tuple [29, 31] + - !!python/tuple [21, 30] + - !!python/tuple [9, 31] + - !!python/tuple [4, 30] + - !!python/tuple [17, 9] + - !!python/tuple [23, 24] + - !!python/tuple [9, 20] + - !!python/tuple [4, 28] + - !!python/tuple [10, 0] + - !!python/tuple [20, 5] + - !!python/tuple [11, 8] + - !!python/tuple [8, 12] + - !!python/tuple [18, 4] + - !!python/tuple [1, 21] + - !!python/tuple [9, 13] + - !!python/tuple [15, 22] + - !!python/tuple [16, 21] + - !!python/tuple [21, 29] + - !!python/tuple [5, 13] + - !!python/tuple [6, 11] + - !!python/tuple [20, 25] + - !!python/tuple [25, 2] + - !!python/tuple [27, 31] + - !!python/tuple [8, 23] + - !!python/tuple [21, 20] + - !!python/tuple [9, 10] + - !!python/tuple [18, 30] + - !!python/tuple [28, 4] + - !!python/tuple [6, 25] + - !!python/tuple [28, 18] + - !!python/tuple [28, 29] + - !!python/tuple [23, 4] + - !!python/tuple [30, 3] + - !!python/tuple [28, 20] + - !!python/tuple [29, 2] + - !!python/tuple [19, 21] + - !!python/tuple [8, 30] + - !!python/tuple [2, 2] + - !!python/tuple [26, 6] + - !!python/tuple [15, 9] + - !!python/tuple [5, 1] + - !!python/tuple [31, 11] + - !!python/tuple [27, 29] + - !!python/tuple [0, 25] + - !!python/tuple [3, 31] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex15.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex15.yaml new file mode 100644 index 0000000..21379d8 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex15.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [24, 24] + name: agent0 + start: [26, 9] +- goal: [14, 5] + name: agent1 + start: [28, 9] +- goal: [19, 23] + name: agent2 + start: [31, 19] +- goal: [9, 13] + name: agent3 + start: [25, 20] +- goal: [4, 9] + name: agent4 + start: [31, 26] +- goal: [10, 23] + name: agent5 + start: [24, 28] +- goal: [15, 29] + name: agent6 + start: [30, 10] +- goal: [26, 20] + name: agent7 + start: [11, 10] +- goal: [1, 27] + name: agent8 + start: [27, 29] +- goal: [21, 22] + name: agent9 + start: [31, 7] +- goal: [17, 31] + name: agent10 + start: [13, 8] +- goal: [20, 9] + name: agent11 + start: [5, 17] +- goal: [11, 14] + name: agent12 + start: [23, 26] +- goal: [10, 17] + name: agent13 + start: [31, 12] +- goal: [29, 8] + name: agent14 + start: [2, 24] +- goal: [22, 15] + name: agent15 + start: [23, 9] +- goal: [24, 27] + name: agent16 + start: [7, 22] +- goal: [15, 10] + name: agent17 + start: [20, 3] +- goal: [29, 25] + name: agent18 + start: [30, 5] +- goal: [8, 10] + name: agent19 + start: [23, 24] +- goal: [11, 30] + name: agent20 + start: [28, 24] +- goal: [1, 0] + name: agent21 + start: [12, 20] +- goal: [2, 0] + name: agent22 + start: [6, 22] +- goal: [15, 18] + name: agent23 + start: [28, 29] +- goal: [6, 12] + name: agent24 + start: [7, 18] +- goal: [15, 17] + name: agent25 + start: [24, 29] +- goal: [19, 20] + name: agent26 + start: [6, 15] +- goal: [9, 5] + name: agent27 + start: [30, 11] +- goal: [8, 1] + name: agent28 + start: [4, 14] +- goal: [19, 3] + name: agent29 + start: [9, 0] +- goal: [1, 8] + name: agent30 + start: [17, 20] +- goal: [6, 14] + name: agent31 + start: [5, 1] +- goal: [22, 24] + name: agent32 + start: [7, 13] +- goal: [14, 28] + name: agent33 + start: [8, 11] +- goal: [10, 0] + name: agent34 + start: [20, 25] +- goal: [4, 5] + name: agent35 + start: [16, 28] +- goal: [28, 25] + name: agent36 + start: [9, 30] +- goal: [9, 18] + name: agent37 + start: [1, 0] +- goal: [3, 15] + name: agent38 + start: [25, 3] +- goal: [9, 26] + name: agent39 + start: [25, 31] +- goal: [8, 17] + name: agent40 + start: [8, 12] +- goal: [11, 4] + name: agent41 + start: [31, 25] +- goal: [5, 24] + name: agent42 + start: [19, 30] +- goal: [0, 19] + name: agent43 + start: [16, 9] +- goal: [4, 24] + name: agent44 + start: [11, 22] +- goal: [31, 15] + name: agent45 + start: [16, 4] +- goal: [0, 17] + name: agent46 + start: [15, 0] +- goal: [16, 8] + name: agent47 + start: [26, 6] +- goal: [25, 13] + name: agent48 + start: [9, 10] +- goal: [23, 19] + name: agent49 + start: [21, 8] +- goal: [13, 3] + name: agent50 + start: [2, 22] +- goal: [5, 27] + name: agent51 + start: [0, 20] +- goal: [9, 24] + name: agent52 + start: [3, 16] +- goal: [6, 0] + name: agent53 + start: [31, 27] +- goal: [22, 10] + name: agent54 + start: [30, 27] +- goal: [3, 26] + name: agent55 + start: [9, 27] +- goal: [26, 28] + name: agent56 + start: [6, 27] +- goal: [9, 7] + name: agent57 + start: [12, 3] +- goal: [1, 1] + name: agent58 + start: [28, 1] +- goal: [23, 1] + name: agent59 + start: [2, 4] +- goal: [20, 27] + name: agent60 + start: [28, 4] +- goal: [23, 26] + name: agent61 + start: [3, 23] +- goal: [8, 24] + name: agent62 + start: [24, 10] +- goal: [25, 15] + name: agent63 + start: [19, 10] +- goal: [17, 1] + name: agent64 + start: [29, 18] +- goal: [5, 2] + name: agent65 + start: [6, 29] +- goal: [27, 27] + name: agent66 + start: [28, 18] +- goal: [27, 21] + name: agent67 + start: [19, 7] +- goal: [13, 4] + name: agent68 + start: [23, 19] +- goal: [26, 17] + name: agent69 + start: [11, 7] +- goal: [8, 14] + name: agent70 + start: [1, 30] +- goal: [18, 16] + name: agent71 + start: [17, 6] +- goal: [11, 15] + name: agent72 + start: [24, 23] +- goal: [26, 1] + name: agent73 + start: [24, 11] +- goal: [23, 4] + name: agent74 + start: [16, 12] +- goal: [16, 19] + name: agent75 + start: [2, 16] +- goal: [29, 12] + name: agent76 + start: [31, 9] +- goal: [29, 15] + name: agent77 + start: [27, 10] +- goal: [5, 22] + name: agent78 + start: [10, 27] +- goal: [28, 7] + name: agent79 + start: [13, 20] +- goal: [26, 12] + name: agent80 + start: [30, 23] +- goal: [17, 18] + name: agent81 + start: [3, 26] +- goal: [3, 10] + name: agent82 + start: [17, 0] +- goal: [23, 9] + name: agent83 + start: [23, 29] +- goal: [9, 4] + name: agent84 + start: [26, 14] +- goal: [0, 28] + name: agent85 + start: [30, 31] +- goal: [19, 4] + name: agent86 + start: [0, 31] +- goal: [2, 25] + name: agent87 + start: [26, 15] +- goal: [15, 14] + name: agent88 + start: [21, 10] +- goal: [17, 26] + name: agent89 + start: [22, 9] +- goal: [30, 17] + name: agent90 + start: [23, 23] +- goal: [25, 11] + name: agent91 + start: [8, 20] +- goal: [13, 21] + name: agent92 + start: [21, 13] +- goal: [25, 21] + name: agent93 + start: [15, 10] +- goal: [28, 28] + name: agent94 + start: [16, 5] +- goal: [20, 10] + name: agent95 + start: [17, 10] +- goal: [0, 16] + name: agent96 + start: [24, 16] +- goal: [18, 10] + name: agent97 + start: [23, 18] +- goal: [15, 20] + name: agent98 + start: [25, 15] +- goal: [5, 6] + name: agent99 + start: [12, 28] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [29, 14] + - !!python/tuple [8, 2] + - !!python/tuple [10, 5] + - !!python/tuple [21, 4] + - !!python/tuple [19, 26] + - !!python/tuple [19, 6] + - !!python/tuple [13, 18] + - !!python/tuple [28, 31] + - !!python/tuple [24, 20] + - !!python/tuple [12, 24] + - !!python/tuple [4, 13] + - !!python/tuple [7, 17] + - !!python/tuple [10, 30] + - !!python/tuple [18, 9] + - !!python/tuple [16, 16] + - !!python/tuple [9, 6] + - !!python/tuple [15, 2] + - !!python/tuple [7, 5] + - !!python/tuple [12, 30] + - !!python/tuple [16, 24] + - !!python/tuple [30, 2] + - !!python/tuple [9, 17] + - !!python/tuple [20, 1] + - !!python/tuple [6, 30] + - !!python/tuple [25, 7] + - !!python/tuple [21, 6] + - !!python/tuple [27, 30] + - !!python/tuple [25, 2] + - !!python/tuple [27, 2] + - !!python/tuple [3, 9] + - !!python/tuple [15, 11] + - !!python/tuple [17, 13] + - !!python/tuple [26, 26] + - !!python/tuple [25, 26] + - !!python/tuple [18, 14] + - !!python/tuple [7, 28] + - !!python/tuple [31, 21] + - !!python/tuple [27, 5] + - !!python/tuple [16, 13] + - !!python/tuple [31, 5] + - !!python/tuple [6, 16] + - !!python/tuple [3, 2] + - !!python/tuple [27, 9] + - !!python/tuple [2, 5] + - !!python/tuple [11, 31] + - !!python/tuple [31, 14] + - !!python/tuple [11, 17] + - !!python/tuple [29, 10] + - !!python/tuple [3, 11] + - !!python/tuple [1, 11] + - !!python/tuple [25, 17] + - !!python/tuple [30, 20] + - !!python/tuple [31, 3] + - !!python/tuple [9, 2] + - !!python/tuple [5, 7] + - !!python/tuple [16, 7] + - !!python/tuple [8, 5] + - !!python/tuple [2, 3] + - !!python/tuple [22, 26] + - !!python/tuple [15, 16] + - !!python/tuple [25, 10] + - !!python/tuple [8, 18] + - !!python/tuple [8, 13] + - !!python/tuple [5, 19] + - !!python/tuple [0, 5] + - !!python/tuple [31, 10] + - !!python/tuple [3, 24] + - !!python/tuple [2, 11] + - !!python/tuple [5, 25] + - !!python/tuple [27, 3] + - !!python/tuple [15, 4] + - !!python/tuple [22, 2] + - !!python/tuple [29, 19] + - !!python/tuple [19, 22] + - !!python/tuple [29, 0] + - !!python/tuple [29, 22] + - !!python/tuple [31, 20] + - !!python/tuple [5, 15] + - !!python/tuple [16, 21] + - !!python/tuple [22, 29] + - !!python/tuple [27, 20] + - !!python/tuple [23, 5] + - !!python/tuple [1, 10] + - !!python/tuple [22, 5] + - !!python/tuple [17, 15] + - !!python/tuple [25, 30] + - !!python/tuple [7, 3] + - !!python/tuple [0, 22] + - !!python/tuple [16, 25] + - !!python/tuple [24, 12] + - !!python/tuple [4, 21] + - !!python/tuple [28, 2] + - !!python/tuple [13, 23] + - !!python/tuple [4, 20] + - !!python/tuple [6, 31] + - !!python/tuple [19, 0] + - !!python/tuple [2, 26] + - !!python/tuple [4, 22] + - !!python/tuple [18, 13] + - !!python/tuple [12, 23] + - !!python/tuple [7, 15] + - !!python/tuple [17, 16] + - !!python/tuple [31, 22] + - !!python/tuple [23, 28] + - !!python/tuple [0, 27] + - !!python/tuple [27, 22] + - !!python/tuple [8, 21] + - !!python/tuple [21, 16] + - !!python/tuple [22, 23] + - !!python/tuple [28, 22] + - !!python/tuple [1, 31] + - !!python/tuple [19, 5] + - !!python/tuple [0, 24] + - !!python/tuple [6, 2] + - !!python/tuple [7, 14] + - !!python/tuple [13, 19] + - !!python/tuple [25, 25] + - !!python/tuple [6, 6] + - !!python/tuple [9, 12] + - !!python/tuple [3, 4] + - !!python/tuple [25, 4] + - !!python/tuple [19, 14] + - !!python/tuple [23, 27] + - !!python/tuple [4, 25] + - !!python/tuple [12, 9] + - !!python/tuple [1, 13] + - !!python/tuple [3, 19] + - !!python/tuple [3, 22] + - !!python/tuple [20, 2] + - !!python/tuple [31, 1] + - !!python/tuple [30, 13] + - !!python/tuple [30, 19] + - !!python/tuple [11, 26] + - !!python/tuple [2, 9] + - !!python/tuple [5, 28] + - !!python/tuple [18, 27] + - !!python/tuple [7, 6] + - !!python/tuple [15, 19] + - !!python/tuple [12, 15] + - !!python/tuple [1, 2] + - !!python/tuple [11, 1] + - !!python/tuple [12, 12] + - !!python/tuple [23, 17] + - !!python/tuple [1, 3] + - !!python/tuple [14, 19] + - !!python/tuple [10, 14] + - !!python/tuple [18, 12] + - !!python/tuple [16, 10] + - !!python/tuple [25, 18] + - !!python/tuple [24, 18] + - !!python/tuple [21, 27] + - !!python/tuple [4, 11] + - !!python/tuple [11, 19] + - !!python/tuple [14, 22] + - !!python/tuple [10, 31] + - !!python/tuple [11, 20] + - !!python/tuple [13, 5] + - !!python/tuple [23, 2] + - !!python/tuple [0, 29] + - !!python/tuple [24, 25] + - !!python/tuple [6, 5] + - !!python/tuple [19, 17] + - !!python/tuple [13, 30] + - !!python/tuple [10, 11] + - !!python/tuple [0, 11] + - !!python/tuple [28, 12] + - !!python/tuple [28, 23] + - !!python/tuple [11, 8] + - !!python/tuple [6, 4] + - !!python/tuple [28, 3] + - !!python/tuple [11, 12] + - !!python/tuple [17, 3] + - !!python/tuple [21, 2] + - !!python/tuple [13, 2] + - !!python/tuple [1, 16] + - !!python/tuple [29, 9] + - !!python/tuple [14, 16] + - !!python/tuple [19, 19] + - !!python/tuple [21, 5] + - !!python/tuple [30, 7] + - !!python/tuple [27, 4] + - !!python/tuple [23, 20] + - !!python/tuple [4, 23] + - !!python/tuple [26, 25] + - !!python/tuple [1, 9] + - !!python/tuple [20, 18] + - !!python/tuple [3, 18] + - !!python/tuple [19, 28] + - !!python/tuple [1, 17] + - !!python/tuple [6, 17] + - !!python/tuple [30, 3] + - !!python/tuple [20, 6] + - !!python/tuple [18, 0] + - !!python/tuple [31, 13] + - !!python/tuple [24, 3] + - !!python/tuple [2, 15] + - !!python/tuple [4, 28] + - !!python/tuple [0, 13] + - !!python/tuple [18, 22] + - !!python/tuple [20, 4] + - !!python/tuple [5, 0] + - !!python/tuple [26, 22] + - !!python/tuple [14, 11] + - !!python/tuple [31, 8] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex16.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex16.yaml new file mode 100644 index 0000000..6674bfd --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex16.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [8, 5] + name: agent0 + start: [0, 23] +- goal: [24, 11] + name: agent1 + start: [0, 25] +- goal: [22, 4] + name: agent2 + start: [29, 29] +- goal: [12, 7] + name: agent3 + start: [19, 0] +- goal: [15, 11] + name: agent4 + start: [6, 26] +- goal: [9, 20] + name: agent5 + start: [28, 25] +- goal: [25, 29] + name: agent6 + start: [14, 26] +- goal: [0, 18] + name: agent7 + start: [1, 4] +- goal: [11, 17] + name: agent8 + start: [7, 26] +- goal: [21, 24] + name: agent9 + start: [11, 19] +- goal: [17, 2] + name: agent10 + start: [28, 9] +- goal: [24, 7] + name: agent11 + start: [6, 5] +- goal: [8, 19] + name: agent12 + start: [31, 5] +- goal: [4, 2] + name: agent13 + start: [29, 14] +- goal: [16, 2] + name: agent14 + start: [18, 11] +- goal: [16, 21] + name: agent15 + start: [31, 8] +- goal: [17, 26] + name: agent16 + start: [17, 8] +- goal: [18, 23] + name: agent17 + start: [19, 1] +- goal: [21, 28] + name: agent18 + start: [11, 21] +- goal: [29, 4] + name: agent19 + start: [3, 11] +- goal: [30, 31] + name: agent20 + start: [31, 15] +- goal: [4, 5] + name: agent21 + start: [1, 27] +- goal: [2, 25] + name: agent22 + start: [22, 14] +- goal: [29, 19] + name: agent23 + start: [10, 12] +- goal: [23, 0] + name: agent24 + start: [11, 10] +- goal: [3, 23] + name: agent25 + start: [24, 3] +- goal: [3, 20] + name: agent26 + start: [23, 14] +- goal: [26, 23] + name: agent27 + start: [30, 31] +- goal: [27, 6] + name: agent28 + start: [5, 24] +- goal: [22, 25] + name: agent29 + start: [10, 31] +- goal: [28, 8] + name: agent30 + start: [12, 14] +- goal: [15, 17] + name: agent31 + start: [25, 17] +- goal: [4, 31] + name: agent32 + start: [16, 9] +- goal: [6, 25] + name: agent33 + start: [9, 20] +- goal: [18, 25] + name: agent34 + start: [21, 10] +- goal: [23, 21] + name: agent35 + start: [7, 6] +- goal: [9, 24] + name: agent36 + start: [27, 30] +- goal: [31, 25] + name: agent37 + start: [8, 12] +- goal: [23, 23] + name: agent38 + start: [10, 19] +- goal: [9, 14] + name: agent39 + start: [2, 23] +- goal: [19, 8] + name: agent40 + start: [1, 28] +- goal: [0, 11] + name: agent41 + start: [12, 1] +- goal: [18, 11] + name: agent42 + start: [3, 10] +- goal: [12, 0] + name: agent43 + start: [11, 8] +- goal: [11, 12] + name: agent44 + start: [25, 4] +- goal: [18, 15] + name: agent45 + start: [16, 24] +- goal: [17, 30] + name: agent46 + start: [18, 6] +- goal: [0, 28] + name: agent47 + start: [14, 12] +- goal: [12, 5] + name: agent48 + start: [0, 31] +- goal: [24, 16] + name: agent49 + start: [7, 16] +- goal: [16, 18] + name: agent50 + start: [26, 31] +- goal: [0, 2] + name: agent51 + start: [9, 25] +- goal: [22, 3] + name: agent52 + start: [27, 29] +- goal: [22, 5] + name: agent53 + start: [31, 12] +- goal: [15, 9] + name: agent54 + start: [8, 8] +- goal: [9, 28] + name: agent55 + start: [16, 6] +- goal: [8, 29] + name: agent56 + start: [21, 12] +- goal: [17, 18] + name: agent57 + start: [25, 30] +- goal: [8, 7] + name: agent58 + start: [7, 11] +- goal: [27, 2] + name: agent59 + start: [25, 29] +- goal: [0, 5] + name: agent60 + start: [20, 6] +- goal: [23, 28] + name: agent61 + start: [2, 4] +- goal: [23, 18] + name: agent62 + start: [12, 13] +- goal: [16, 30] + name: agent63 + start: [5, 19] +- goal: [20, 7] + name: agent64 + start: [30, 17] +- goal: [14, 2] + name: agent65 + start: [15, 8] +- goal: [0, 13] + name: agent66 + start: [20, 0] +- goal: [5, 15] + name: agent67 + start: [13, 8] +- goal: [25, 17] + name: agent68 + start: [26, 3] +- goal: [21, 27] + name: agent69 + start: [10, 25] +- goal: [10, 9] + name: agent70 + start: [4, 23] +- goal: [28, 31] + name: agent71 + start: [16, 19] +- goal: [30, 30] + name: agent72 + start: [10, 18] +- goal: [11, 25] + name: agent73 + start: [10, 0] +- goal: [0, 8] + name: agent74 + start: [7, 20] +- goal: [11, 20] + name: agent75 + start: [0, 1] +- goal: [4, 12] + name: agent76 + start: [13, 10] +- goal: [16, 26] + name: agent77 + start: [17, 23] +- goal: [28, 25] + name: agent78 + start: [28, 20] +- goal: [5, 11] + name: agent79 + start: [4, 14] +- goal: [7, 25] + name: agent80 + start: [19, 18] +- goal: [30, 28] + name: agent81 + start: [21, 31] +- goal: [5, 25] + name: agent82 + start: [30, 20] +- goal: [11, 11] + name: agent83 + start: [11, 22] +- goal: [23, 14] + name: agent84 + start: [22, 1] +- goal: [28, 3] + name: agent85 + start: [26, 1] +- goal: [9, 25] + name: agent86 + start: [8, 18] +- goal: [25, 26] + name: agent87 + start: [28, 27] +- goal: [28, 16] + name: agent88 + start: [22, 8] +- goal: [5, 22] + name: agent89 + start: [25, 15] +- goal: [28, 6] + name: agent90 + start: [30, 1] +- goal: [10, 8] + name: agent91 + start: [3, 4] +- goal: [9, 1] + name: agent92 + start: [30, 25] +- goal: [21, 14] + name: agent93 + start: [23, 8] +- goal: [9, 12] + name: agent94 + start: [2, 17] +- goal: [16, 23] + name: agent95 + start: [30, 16] +- goal: [2, 27] + name: agent96 + start: [29, 24] +- goal: [19, 23] + name: agent97 + start: [31, 4] +- goal: [14, 25] + name: agent98 + start: [20, 7] +- goal: [30, 23] + name: agent99 + start: [20, 15] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [29, 10] + - !!python/tuple [31, 21] + - !!python/tuple [17, 28] + - !!python/tuple [6, 27] + - !!python/tuple [23, 31] + - !!python/tuple [13, 20] + - !!python/tuple [12, 2] + - !!python/tuple [8, 30] + - !!python/tuple [22, 19] + - !!python/tuple [2, 0] + - !!python/tuple [23, 22] + - !!python/tuple [8, 14] + - !!python/tuple [31, 10] + - !!python/tuple [10, 27] + - !!python/tuple [7, 15] + - !!python/tuple [1, 1] + - !!python/tuple [19, 24] + - !!python/tuple [19, 21] + - !!python/tuple [8, 22] + - !!python/tuple [31, 26] + - !!python/tuple [28, 10] + - !!python/tuple [16, 31] + - !!python/tuple [1, 5] + - !!python/tuple [12, 15] + - !!python/tuple [12, 6] + - !!python/tuple [23, 20] + - !!python/tuple [9, 19] + - !!python/tuple [21, 13] + - !!python/tuple [29, 0] + - !!python/tuple [27, 14] + - !!python/tuple [15, 25] + - !!python/tuple [9, 8] + - !!python/tuple [6, 17] + - !!python/tuple [3, 16] + - !!python/tuple [0, 16] + - !!python/tuple [15, 1] + - !!python/tuple [22, 11] + - !!python/tuple [10, 20] + - !!python/tuple [7, 21] + - !!python/tuple [30, 18] + - !!python/tuple [12, 23] + - !!python/tuple [29, 8] + - !!python/tuple [26, 21] + - !!python/tuple [6, 22] + - !!python/tuple [9, 23] + - !!python/tuple [22, 18] + - !!python/tuple [7, 24] + - !!python/tuple [26, 20] + - !!python/tuple [6, 20] + - !!python/tuple [0, 26] + - !!python/tuple [29, 9] + - !!python/tuple [26, 0] + - !!python/tuple [10, 10] + - !!python/tuple [1, 2] + - !!python/tuple [29, 27] + - !!python/tuple [12, 24] + - !!python/tuple [20, 30] + - !!python/tuple [22, 30] + - !!python/tuple [20, 9] + - !!python/tuple [27, 5] + - !!python/tuple [17, 22] + - !!python/tuple [29, 6] + - !!python/tuple [6, 11] + - !!python/tuple [23, 27] + - !!python/tuple [15, 14] + - !!python/tuple [10, 11] + - !!python/tuple [6, 24] + - !!python/tuple [14, 0] + - !!python/tuple [29, 23] + - !!python/tuple [28, 12] + - !!python/tuple [17, 12] + - !!python/tuple [12, 31] + - !!python/tuple [10, 6] + - !!python/tuple [17, 16] + - !!python/tuple [25, 5] + - !!python/tuple [27, 18] + - !!python/tuple [13, 26] + - !!python/tuple [7, 13] + - !!python/tuple [14, 29] + - !!python/tuple [6, 7] + - !!python/tuple [24, 2] + - !!python/tuple [8, 16] + - !!python/tuple [0, 9] + - !!python/tuple [28, 0] + - !!python/tuple [0, 30] + - !!python/tuple [1, 0] + - !!python/tuple [1, 30] + - !!python/tuple [26, 17] + - !!python/tuple [11, 31] + - !!python/tuple [27, 15] + - !!python/tuple [14, 5] + - !!python/tuple [8, 24] + - !!python/tuple [3, 7] + - !!python/tuple [31, 1] + - !!python/tuple [12, 28] + - !!python/tuple [6, 4] + - !!python/tuple [21, 25] + - !!python/tuple [4, 24] + - !!python/tuple [22, 26] + - !!python/tuple [29, 5] + - !!python/tuple [13, 28] + - !!python/tuple [2, 11] + - !!python/tuple [12, 10] + - !!python/tuple [8, 25] + - !!python/tuple [28, 2] + - !!python/tuple [17, 13] + - !!python/tuple [21, 15] + - !!python/tuple [27, 25] + - !!python/tuple [5, 3] + - !!python/tuple [30, 3] + - !!python/tuple [24, 21] + - !!python/tuple [26, 27] + - !!python/tuple [23, 26] + - !!python/tuple [19, 7] + - !!python/tuple [8, 28] + - !!python/tuple [19, 19] + - !!python/tuple [16, 16] + - !!python/tuple [17, 27] + - !!python/tuple [13, 1] + - !!python/tuple [14, 22] + - !!python/tuple [29, 11] + - !!python/tuple [3, 24] + - !!python/tuple [17, 24] + - !!python/tuple [0, 21] + - !!python/tuple [24, 13] + - !!python/tuple [26, 8] + - !!python/tuple [20, 31] + - !!python/tuple [4, 16] + - !!python/tuple [8, 26] + - !!python/tuple [29, 3] + - !!python/tuple [25, 10] + - !!python/tuple [25, 11] + - !!python/tuple [29, 7] + - !!python/tuple [31, 11] + - !!python/tuple [24, 5] + - !!python/tuple [26, 29] + - !!python/tuple [1, 6] + - !!python/tuple [30, 6] + - !!python/tuple [1, 14] + - !!python/tuple [6, 6] + - !!python/tuple [1, 25] + - !!python/tuple [30, 21] + - !!python/tuple [0, 19] + - !!python/tuple [28, 22] + - !!python/tuple [7, 29] + - !!python/tuple [11, 28] + - !!python/tuple [20, 2] + - !!python/tuple [17, 31] + - !!python/tuple [29, 22] + - !!python/tuple [1, 12] + - !!python/tuple [11, 29] + - !!python/tuple [27, 24] + - !!python/tuple [15, 19] + - !!python/tuple [13, 25] + - !!python/tuple [3, 0] + - !!python/tuple [10, 14] + - !!python/tuple [27, 16] + - !!python/tuple [12, 19] + - !!python/tuple [23, 7] + - !!python/tuple [19, 4] + - !!python/tuple [5, 17] + - !!python/tuple [19, 13] + - !!python/tuple [28, 18] + - !!python/tuple [25, 25] + - !!python/tuple [27, 3] + - !!python/tuple [1, 8] + - !!python/tuple [16, 27] + - !!python/tuple [16, 10] + - !!python/tuple [13, 3] + - !!python/tuple [3, 27] + - !!python/tuple [5, 23] + - !!python/tuple [27, 26] + - !!python/tuple [15, 3] + - !!python/tuple [23, 10] + - !!python/tuple [6, 10] + - !!python/tuple [19, 29] + - !!python/tuple [9, 30] + - !!python/tuple [5, 7] + - !!python/tuple [3, 9] + - !!python/tuple [30, 7] + - !!python/tuple [26, 30] + - !!python/tuple [19, 2] + - !!python/tuple [2, 1] + - !!python/tuple [22, 7] + - !!python/tuple [19, 16] + - !!python/tuple [12, 18] + - !!python/tuple [9, 22] + - !!python/tuple [17, 0] + - !!python/tuple [14, 30] + - !!python/tuple [22, 12] + - !!python/tuple [10, 7] + - !!python/tuple [14, 11] + - !!python/tuple [31, 7] + - !!python/tuple [13, 18] + - !!python/tuple [0, 29] + - !!python/tuple [9, 21] + - !!python/tuple [17, 17] + - !!python/tuple [14, 18] + - !!python/tuple [9, 0] + - !!python/tuple [9, 15] + - !!python/tuple [29, 26] + - !!python/tuple [15, 30] + - !!python/tuple [4, 6] + - !!python/tuple [25, 23] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex17.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex17.yaml new file mode 100644 index 0000000..f8abcf7 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex17.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [17, 5] + name: agent0 + start: [12, 10] +- goal: [16, 16] + name: agent1 + start: [6, 2] +- goal: [10, 14] + name: agent2 + start: [13, 18] +- goal: [7, 25] + name: agent3 + start: [1, 27] +- goal: [2, 20] + name: agent4 + start: [2, 25] +- goal: [3, 3] + name: agent5 + start: [18, 30] +- goal: [2, 28] + name: agent6 + start: [11, 26] +- goal: [4, 6] + name: agent7 + start: [6, 31] +- goal: [18, 19] + name: agent8 + start: [30, 7] +- goal: [12, 29] + name: agent9 + start: [9, 23] +- goal: [3, 17] + name: agent10 + start: [10, 13] +- goal: [23, 13] + name: agent11 + start: [4, 25] +- goal: [21, 15] + name: agent12 + start: [30, 17] +- goal: [28, 5] + name: agent13 + start: [5, 28] +- goal: [1, 15] + name: agent14 + start: [0, 14] +- goal: [1, 21] + name: agent15 + start: [13, 7] +- goal: [4, 3] + name: agent16 + start: [24, 30] +- goal: [7, 30] + name: agent17 + start: [15, 17] +- goal: [21, 24] + name: agent18 + start: [25, 22] +- goal: [18, 21] + name: agent19 + start: [1, 15] +- goal: [20, 11] + name: agent20 + start: [25, 13] +- goal: [12, 19] + name: agent21 + start: [13, 0] +- goal: [27, 3] + name: agent22 + start: [26, 31] +- goal: [0, 19] + name: agent23 + start: [16, 3] +- goal: [17, 12] + name: agent24 + start: [24, 4] +- goal: [11, 5] + name: agent25 + start: [5, 18] +- goal: [31, 17] + name: agent26 + start: [23, 27] +- goal: [29, 31] + name: agent27 + start: [26, 19] +- goal: [5, 11] + name: agent28 + start: [8, 18] +- goal: [9, 21] + name: agent29 + start: [10, 23] +- goal: [15, 17] + name: agent30 + start: [5, 5] +- goal: [8, 12] + name: agent31 + start: [25, 16] +- goal: [25, 29] + name: agent32 + start: [27, 20] +- goal: [9, 29] + name: agent33 + start: [7, 13] +- goal: [30, 23] + name: agent34 + start: [0, 16] +- goal: [22, 4] + name: agent35 + start: [2, 15] +- goal: [26, 5] + name: agent36 + start: [27, 13] +- goal: [24, 28] + name: agent37 + start: [20, 8] +- goal: [21, 1] + name: agent38 + start: [23, 31] +- goal: [26, 11] + name: agent39 + start: [28, 0] +- goal: [24, 20] + name: agent40 + start: [6, 19] +- goal: [11, 16] + name: agent41 + start: [16, 0] +- goal: [5, 2] + name: agent42 + start: [7, 20] +- goal: [2, 0] + name: agent43 + start: [13, 4] +- goal: [13, 0] + name: agent44 + start: [19, 9] +- goal: [6, 24] + name: agent45 + start: [16, 30] +- goal: [21, 27] + name: agent46 + start: [26, 21] +- goal: [18, 7] + name: agent47 + start: [30, 2] +- goal: [0, 1] + name: agent48 + start: [18, 11] +- goal: [17, 30] + name: agent49 + start: [3, 9] +- goal: [27, 20] + name: agent50 + start: [20, 1] +- goal: [12, 13] + name: agent51 + start: [18, 8] +- goal: [23, 23] + name: agent52 + start: [22, 29] +- goal: [8, 14] + name: agent53 + start: [13, 1] +- goal: [0, 15] + name: agent54 + start: [16, 22] +- goal: [3, 30] + name: agent55 + start: [6, 15] +- goal: [16, 31] + name: agent56 + start: [19, 30] +- goal: [0, 12] + name: agent57 + start: [1, 26] +- goal: [12, 6] + name: agent58 + start: [10, 19] +- goal: [26, 8] + name: agent59 + start: [27, 6] +- goal: [27, 30] + name: agent60 + start: [16, 28] +- goal: [1, 12] + name: agent61 + start: [28, 18] +- goal: [20, 9] + name: agent62 + start: [5, 16] +- goal: [18, 9] + name: agent63 + start: [9, 4] +- goal: [12, 17] + name: agent64 + start: [28, 15] +- goal: [16, 27] + name: agent65 + start: [3, 12] +- goal: [19, 17] + name: agent66 + start: [2, 5] +- goal: [23, 14] + name: agent67 + start: [7, 26] +- goal: [29, 25] + name: agent68 + start: [14, 9] +- goal: [26, 31] + name: agent69 + start: [22, 28] +- goal: [17, 14] + name: agent70 + start: [31, 17] +- goal: [26, 19] + name: agent71 + start: [21, 19] +- goal: [12, 25] + name: agent72 + start: [26, 14] +- goal: [0, 2] + name: agent73 + start: [20, 31] +- goal: [10, 8] + name: agent74 + start: [27, 16] +- goal: [12, 12] + name: agent75 + start: [31, 31] +- goal: [7, 13] + name: agent76 + start: [7, 31] +- goal: [9, 26] + name: agent77 + start: [2, 12] +- goal: [15, 4] + name: agent78 + start: [25, 15] +- goal: [22, 10] + name: agent79 + start: [9, 16] +- goal: [27, 18] + name: agent80 + start: [12, 4] +- goal: [28, 6] + name: agent81 + start: [31, 27] +- goal: [23, 2] + name: agent82 + start: [20, 30] +- goal: [21, 2] + name: agent83 + start: [28, 22] +- goal: [2, 7] + name: agent84 + start: [21, 1] +- goal: [1, 16] + name: agent85 + start: [7, 16] +- goal: [25, 27] + name: agent86 + start: [2, 28] +- goal: [17, 10] + name: agent87 + start: [26, 5] +- goal: [5, 0] + name: agent88 + start: [19, 3] +- goal: [19, 4] + name: agent89 + start: [25, 29] +- goal: [13, 31] + name: agent90 + start: [17, 16] +- goal: [24, 21] + name: agent91 + start: [10, 11] +- goal: [24, 17] + name: agent92 + start: [16, 27] +- goal: [28, 18] + name: agent93 + start: [24, 0] +- goal: [27, 9] + name: agent94 + start: [13, 11] +- goal: [9, 27] + name: agent95 + start: [29, 5] +- goal: [31, 7] + name: agent96 + start: [2, 27] +- goal: [14, 19] + name: agent97 + start: [7, 18] +- goal: [31, 18] + name: agent98 + start: [0, 10] +- goal: [3, 6] + name: agent99 + start: [7, 1] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [19, 13] + - !!python/tuple [13, 15] + - !!python/tuple [12, 22] + - !!python/tuple [13, 28] + - !!python/tuple [21, 18] + - !!python/tuple [9, 31] + - !!python/tuple [22, 0] + - !!python/tuple [21, 4] + - !!python/tuple [2, 23] + - !!python/tuple [26, 0] + - !!python/tuple [29, 19] + - !!python/tuple [22, 3] + - !!python/tuple [14, 17] + - !!python/tuple [12, 9] + - !!python/tuple [7, 28] + - !!python/tuple [31, 24] + - !!python/tuple [3, 26] + - !!python/tuple [19, 14] + - !!python/tuple [30, 18] + - !!python/tuple [4, 29] + - !!python/tuple [2, 30] + - !!python/tuple [2, 11] + - !!python/tuple [28, 25] + - !!python/tuple [11, 24] + - !!python/tuple [8, 25] + - !!python/tuple [14, 16] + - !!python/tuple [1, 2] + - !!python/tuple [22, 20] + - !!python/tuple [7, 0] + - !!python/tuple [8, 6] + - !!python/tuple [22, 9] + - !!python/tuple [2, 8] + - !!python/tuple [6, 20] + - !!python/tuple [21, 5] + - !!python/tuple [28, 28] + - !!python/tuple [12, 23] + - !!python/tuple [16, 10] + - !!python/tuple [31, 30] + - !!python/tuple [15, 28] + - !!python/tuple [16, 18] + - !!python/tuple [30, 22] + - !!python/tuple [9, 22] + - !!python/tuple [5, 30] + - !!python/tuple [9, 3] + - !!python/tuple [12, 3] + - !!python/tuple [26, 6] + - !!python/tuple [17, 31] + - !!python/tuple [4, 10] + - !!python/tuple [29, 17] + - !!python/tuple [18, 26] + - !!python/tuple [10, 2] + - !!python/tuple [19, 20] + - !!python/tuple [30, 21] + - !!python/tuple [7, 8] + - !!python/tuple [25, 20] + - !!python/tuple [1, 20] + - !!python/tuple [23, 20] + - !!python/tuple [25, 4] + - !!python/tuple [11, 10] + - !!python/tuple [10, 16] + - !!python/tuple [1, 13] + - !!python/tuple [24, 7] + - !!python/tuple [19, 27] + - !!python/tuple [20, 2] + - !!python/tuple [28, 30] + - !!python/tuple [1, 4] + - !!python/tuple [28, 14] + - !!python/tuple [6, 22] + - !!python/tuple [3, 8] + - !!python/tuple [3, 16] + - !!python/tuple [24, 11] + - !!python/tuple [15, 24] + - !!python/tuple [14, 14] + - !!python/tuple [22, 1] + - !!python/tuple [9, 0] + - !!python/tuple [0, 0] + - !!python/tuple [19, 6] + - !!python/tuple [31, 1] + - !!python/tuple [8, 23] + - !!python/tuple [5, 19] + - !!python/tuple [0, 17] + - !!python/tuple [20, 25] + - !!python/tuple [21, 25] + - !!python/tuple [8, 0] + - !!python/tuple [27, 8] + - !!python/tuple [6, 30] + - !!python/tuple [28, 16] + - !!python/tuple [14, 22] + - !!python/tuple [16, 26] + - !!python/tuple [1, 24] + - !!python/tuple [17, 6] + - !!python/tuple [2, 21] + - !!python/tuple [28, 12] + - !!python/tuple [1, 6] + - !!python/tuple [28, 26] + - !!python/tuple [7, 17] + - !!python/tuple [0, 31] + - !!python/tuple [1, 14] + - !!python/tuple [3, 28] + - !!python/tuple [7, 3] + - !!python/tuple [1, 3] + - !!python/tuple [11, 20] + - !!python/tuple [6, 13] + - !!python/tuple [15, 9] + - !!python/tuple [22, 5] + - !!python/tuple [9, 13] + - !!python/tuple [24, 19] + - !!python/tuple [11, 14] + - !!python/tuple [14, 31] + - !!python/tuple [3, 29] + - !!python/tuple [11, 8] + - !!python/tuple [22, 16] + - !!python/tuple [24, 26] + - !!python/tuple [23, 22] + - !!python/tuple [0, 20] + - !!python/tuple [16, 6] + - !!python/tuple [20, 7] + - !!python/tuple [17, 22] + - !!python/tuple [21, 14] + - !!python/tuple [11, 25] + - !!python/tuple [6, 28] + - !!python/tuple [4, 18] + - !!python/tuple [24, 6] + - !!python/tuple [28, 20] + - !!python/tuple [20, 3] + - !!python/tuple [30, 20] + - !!python/tuple [20, 27] + - !!python/tuple [21, 29] + - !!python/tuple [13, 2] + - !!python/tuple [30, 16] + - !!python/tuple [8, 4] + - !!python/tuple [20, 24] + - !!python/tuple [10, 21] + - !!python/tuple [8, 1] + - !!python/tuple [10, 7] + - !!python/tuple [18, 15] + - !!python/tuple [23, 29] + - !!python/tuple [29, 20] + - !!python/tuple [15, 6] + - !!python/tuple [30, 15] + - !!python/tuple [25, 8] + - !!python/tuple [2, 4] + - !!python/tuple [25, 17] + - !!python/tuple [17, 24] + - !!python/tuple [8, 16] + - !!python/tuple [24, 1] + - !!python/tuple [27, 26] + - !!python/tuple [27, 24] + - !!python/tuple [29, 12] + - !!python/tuple [27, 14] + - !!python/tuple [30, 8] + - !!python/tuple [20, 26] + - !!python/tuple [11, 11] + - !!python/tuple [20, 23] + - !!python/tuple [12, 14] + - !!python/tuple [3, 11] + - !!python/tuple [22, 8] + - !!python/tuple [3, 4] + - !!python/tuple [31, 19] + - !!python/tuple [16, 24] + - !!python/tuple [4, 9] + - !!python/tuple [29, 18] + - !!python/tuple [23, 3] + - !!python/tuple [14, 8] + - !!python/tuple [22, 27] + - !!python/tuple [2, 3] + - !!python/tuple [31, 0] + - !!python/tuple [9, 1] + - !!python/tuple [11, 19] + - !!python/tuple [28, 10] + - !!python/tuple [29, 0] + - !!python/tuple [16, 12] + - !!python/tuple [15, 23] + - !!python/tuple [11, 29] + - !!python/tuple [21, 12] + - !!python/tuple [16, 5] + - !!python/tuple [15, 30] + - !!python/tuple [11, 30] + - !!python/tuple [28, 19] + - !!python/tuple [24, 15] + - !!python/tuple [26, 24] + - !!python/tuple [1, 5] + - !!python/tuple [31, 22] + - !!python/tuple [3, 18] + - !!python/tuple [27, 15] + - !!python/tuple [15, 8] + - !!python/tuple [31, 20] + - !!python/tuple [4, 2] + - !!python/tuple [16, 8] + - !!python/tuple [13, 9] + - !!python/tuple [9, 5] + - !!python/tuple [7, 6] + - !!python/tuple [7, 5] + - !!python/tuple [2, 13] + - !!python/tuple [22, 12] + - !!python/tuple [13, 13] + - !!python/tuple [20, 6] + - !!python/tuple [19, 21] + - !!python/tuple [9, 30] + - !!python/tuple [1, 9] + - !!python/tuple [6, 9] + - !!python/tuple [19, 31] + - !!python/tuple [16, 4] + - !!python/tuple [12, 20] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex18.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex18.yaml new file mode 100644 index 0000000..3dd6818 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex18.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [26, 27] + name: agent0 + start: [13, 13] +- goal: [14, 24] + name: agent1 + start: [18, 27] +- goal: [27, 25] + name: agent2 + start: [5, 22] +- goal: [5, 20] + name: agent3 + start: [16, 6] +- goal: [4, 15] + name: agent4 + start: [9, 24] +- goal: [4, 8] + name: agent5 + start: [12, 1] +- goal: [1, 18] + name: agent6 + start: [22, 1] +- goal: [15, 7] + name: agent7 + start: [26, 15] +- goal: [12, 19] + name: agent8 + start: [6, 9] +- goal: [1, 23] + name: agent9 + start: [22, 21] +- goal: [10, 25] + name: agent10 + start: [20, 17] +- goal: [7, 10] + name: agent11 + start: [3, 21] +- goal: [20, 13] + name: agent12 + start: [2, 17] +- goal: [13, 31] + name: agent13 + start: [22, 24] +- goal: [28, 22] + name: agent14 + start: [31, 4] +- goal: [1, 3] + name: agent15 + start: [5, 18] +- goal: [0, 11] + name: agent16 + start: [29, 24] +- goal: [2, 11] + name: agent17 + start: [18, 7] +- goal: [13, 14] + name: agent18 + start: [21, 28] +- goal: [11, 15] + name: agent19 + start: [25, 2] +- goal: [3, 27] + name: agent20 + start: [30, 16] +- goal: [24, 1] + name: agent21 + start: [31, 17] +- goal: [8, 17] + name: agent22 + start: [2, 2] +- goal: [31, 9] + name: agent23 + start: [10, 23] +- goal: [28, 15] + name: agent24 + start: [21, 11] +- goal: [5, 29] + name: agent25 + start: [21, 10] +- goal: [31, 30] + name: agent26 + start: [16, 20] +- goal: [10, 4] + name: agent27 + start: [4, 6] +- goal: [3, 17] + name: agent28 + start: [25, 25] +- goal: [6, 1] + name: agent29 + start: [22, 6] +- goal: [26, 10] + name: agent30 + start: [12, 12] +- goal: [2, 4] + name: agent31 + start: [26, 11] +- goal: [3, 23] + name: agent32 + start: [0, 7] +- goal: [12, 11] + name: agent33 + start: [2, 30] +- goal: [17, 26] + name: agent34 + start: [23, 11] +- goal: [28, 3] + name: agent35 + start: [19, 5] +- goal: [31, 26] + name: agent36 + start: [13, 30] +- goal: [17, 10] + name: agent37 + start: [19, 8] +- goal: [2, 22] + name: agent38 + start: [23, 3] +- goal: [18, 21] + name: agent39 + start: [10, 29] +- goal: [20, 11] + name: agent40 + start: [11, 15] +- goal: [5, 12] + name: agent41 + start: [14, 29] +- goal: [10, 24] + name: agent42 + start: [10, 20] +- goal: [1, 22] + name: agent43 + start: [2, 16] +- goal: [4, 9] + name: agent44 + start: [31, 15] +- goal: [9, 17] + name: agent45 + start: [27, 27] +- goal: [23, 16] + name: agent46 + start: [24, 11] +- goal: [11, 23] + name: agent47 + start: [25, 18] +- goal: [30, 6] + name: agent48 + start: [24, 19] +- goal: [22, 13] + name: agent49 + start: [15, 5] +- goal: [25, 15] + name: agent50 + start: [20, 28] +- goal: [2, 31] + name: agent51 + start: [16, 30] +- goal: [31, 6] + name: agent52 + start: [3, 8] +- goal: [25, 0] + name: agent53 + start: [14, 18] +- goal: [11, 4] + name: agent54 + start: [11, 13] +- goal: [10, 29] + name: agent55 + start: [5, 6] +- goal: [9, 27] + name: agent56 + start: [6, 18] +- goal: [14, 7] + name: agent57 + start: [15, 16] +- goal: [8, 10] + name: agent58 + start: [22, 15] +- goal: [13, 17] + name: agent59 + start: [31, 21] +- goal: [25, 22] + name: agent60 + start: [2, 22] +- goal: [3, 25] + name: agent61 + start: [23, 21] +- goal: [3, 26] + name: agent62 + start: [8, 20] +- goal: [6, 18] + name: agent63 + start: [4, 21] +- goal: [6, 19] + name: agent64 + start: [22, 26] +- goal: [19, 11] + name: agent65 + start: [29, 9] +- goal: [18, 25] + name: agent66 + start: [9, 27] +- goal: [30, 26] + name: agent67 + start: [2, 23] +- goal: [10, 3] + name: agent68 + start: [19, 13] +- goal: [14, 27] + name: agent69 + start: [14, 27] +- goal: [17, 2] + name: agent70 + start: [29, 20] +- goal: [22, 22] + name: agent71 + start: [16, 26] +- goal: [30, 0] + name: agent72 + start: [22, 28] +- goal: [13, 2] + name: agent73 + start: [11, 27] +- goal: [27, 16] + name: agent74 + start: [31, 27] +- goal: [20, 19] + name: agent75 + start: [27, 28] +- goal: [29, 9] + name: agent76 + start: [31, 0] +- goal: [13, 26] + name: agent77 + start: [27, 19] +- goal: [16, 7] + name: agent78 + start: [17, 4] +- goal: [21, 31] + name: agent79 + start: [24, 20] +- goal: [21, 6] + name: agent80 + start: [11, 4] +- goal: [4, 25] + name: agent81 + start: [23, 26] +- goal: [7, 2] + name: agent82 + start: [7, 24] +- goal: [4, 11] + name: agent83 + start: [16, 21] +- goal: [25, 28] + name: agent84 + start: [21, 25] +- goal: [30, 4] + name: agent85 + start: [21, 21] +- goal: [2, 17] + name: agent86 + start: [5, 16] +- goal: [23, 2] + name: agent87 + start: [28, 6] +- goal: [24, 9] + name: agent88 + start: [7, 23] +- goal: [14, 21] + name: agent89 + start: [21, 26] +- goal: [19, 5] + name: agent90 + start: [26, 10] +- goal: [20, 0] + name: agent91 + start: [3, 11] +- goal: [14, 8] + name: agent92 + start: [5, 23] +- goal: [1, 11] + name: agent93 + start: [5, 15] +- goal: [3, 18] + name: agent94 + start: [26, 4] +- goal: [12, 5] + name: agent95 + start: [24, 3] +- goal: [12, 27] + name: agent96 + start: [12, 11] +- goal: [20, 7] + name: agent97 + start: [28, 12] +- goal: [9, 12] + name: agent98 + start: [24, 9] +- goal: [21, 14] + name: agent99 + start: [18, 6] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [26, 13] + - !!python/tuple [17, 14] + - !!python/tuple [6, 2] + - !!python/tuple [12, 22] + - !!python/tuple [18, 28] + - !!python/tuple [28, 24] + - !!python/tuple [30, 10] + - !!python/tuple [17, 7] + - !!python/tuple [8, 30] + - !!python/tuple [24, 18] + - !!python/tuple [2, 3] + - !!python/tuple [4, 22] + - !!python/tuple [25, 4] + - !!python/tuple [15, 3] + - !!python/tuple [11, 6] + - !!python/tuple [16, 12] + - !!python/tuple [20, 5] + - !!python/tuple [4, 26] + - !!python/tuple [12, 18] + - !!python/tuple [8, 27] + - !!python/tuple [11, 14] + - !!python/tuple [4, 19] + - !!python/tuple [18, 26] + - !!python/tuple [18, 30] + - !!python/tuple [11, 18] + - !!python/tuple [1, 4] + - !!python/tuple [11, 17] + - !!python/tuple [17, 21] + - !!python/tuple [14, 19] + - !!python/tuple [28, 21] + - !!python/tuple [29, 8] + - !!python/tuple [29, 17] + - !!python/tuple [15, 19] + - !!python/tuple [4, 5] + - !!python/tuple [24, 10] + - !!python/tuple [13, 9] + - !!python/tuple [0, 15] + - !!python/tuple [4, 14] + - !!python/tuple [28, 0] + - !!python/tuple [12, 13] + - !!python/tuple [2, 20] + - !!python/tuple [11, 29] + - !!python/tuple [5, 0] + - !!python/tuple [30, 7] + - !!python/tuple [24, 23] + - !!python/tuple [11, 1] + - !!python/tuple [22, 16] + - !!python/tuple [18, 8] + - !!python/tuple [24, 2] + - !!python/tuple [20, 2] + - !!python/tuple [26, 1] + - !!python/tuple [1, 21] + - !!python/tuple [5, 8] + - !!python/tuple [21, 5] + - !!python/tuple [12, 4] + - !!python/tuple [28, 16] + - !!python/tuple [3, 19] + - !!python/tuple [28, 19] + - !!python/tuple [31, 7] + - !!python/tuple [10, 22] + - !!python/tuple [1, 15] + - !!python/tuple [30, 22] + - !!python/tuple [14, 26] + - !!python/tuple [24, 24] + - !!python/tuple [7, 31] + - !!python/tuple [25, 6] + - !!python/tuple [10, 11] + - !!python/tuple [27, 14] + - !!python/tuple [24, 12] + - !!python/tuple [7, 22] + - !!python/tuple [8, 8] + - !!python/tuple [13, 18] + - !!python/tuple [20, 24] + - !!python/tuple [16, 31] + - !!python/tuple [16, 1] + - !!python/tuple [13, 5] + - !!python/tuple [14, 2] + - !!python/tuple [22, 31] + - !!python/tuple [17, 13] + - !!python/tuple [16, 18] + - !!python/tuple [16, 0] + - !!python/tuple [25, 24] + - !!python/tuple [8, 24] + - !!python/tuple [20, 10] + - !!python/tuple [22, 29] + - !!python/tuple [27, 10] + - !!python/tuple [5, 25] + - !!python/tuple [13, 19] + - !!python/tuple [19, 15] + - !!python/tuple [9, 8] + - !!python/tuple [27, 8] + - !!python/tuple [28, 20] + - !!python/tuple [14, 4] + - !!python/tuple [25, 1] + - !!python/tuple [1, 16] + - !!python/tuple [19, 6] + - !!python/tuple [7, 20] + - !!python/tuple [2, 25] + - !!python/tuple [26, 24] + - !!python/tuple [29, 13] + - !!python/tuple [16, 11] + - !!python/tuple [15, 4] + - !!python/tuple [1, 13] + - !!python/tuple [25, 13] + - !!python/tuple [8, 14] + - !!python/tuple [1, 0] + - !!python/tuple [10, 19] + - !!python/tuple [14, 31] + - !!python/tuple [6, 23] + - !!python/tuple [22, 27] + - !!python/tuple [11, 21] + - !!python/tuple [12, 14] + - !!python/tuple [0, 12] + - !!python/tuple [28, 14] + - !!python/tuple [3, 0] + - !!python/tuple [18, 4] + - !!python/tuple [25, 11] + - !!python/tuple [10, 15] + - !!python/tuple [27, 18] + - !!python/tuple [10, 26] + - !!python/tuple [9, 20] + - !!python/tuple [22, 9] + - !!python/tuple [21, 7] + - !!python/tuple [23, 9] + - !!python/tuple [29, 0] + - !!python/tuple [31, 28] + - !!python/tuple [10, 28] + - !!python/tuple [3, 12] + - !!python/tuple [20, 29] + - !!python/tuple [0, 30] + - !!python/tuple [9, 5] + - !!python/tuple [6, 15] + - !!python/tuple [18, 2] + - !!python/tuple [8, 26] + - !!python/tuple [19, 12] + - !!python/tuple [20, 27] + - !!python/tuple [2, 24] + - !!python/tuple [4, 4] + - !!python/tuple [14, 3] + - !!python/tuple [3, 2] + - !!python/tuple [30, 18] + - !!python/tuple [21, 8] + - !!python/tuple [1, 7] + - !!python/tuple [16, 23] + - !!python/tuple [15, 9] + - !!python/tuple [2, 28] + - !!python/tuple [0, 24] + - !!python/tuple [14, 17] + - !!python/tuple [19, 20] + - !!python/tuple [18, 12] + - !!python/tuple [23, 23] + - !!python/tuple [18, 23] + - !!python/tuple [4, 28] + - !!python/tuple [7, 29] + - !!python/tuple [29, 23] + - !!python/tuple [10, 1] + - !!python/tuple [24, 16] + - !!python/tuple [8, 28] + - !!python/tuple [20, 9] + - !!python/tuple [29, 27] + - !!python/tuple [24, 0] + - !!python/tuple [31, 12] + - !!python/tuple [7, 27] + - !!python/tuple [7, 7] + - !!python/tuple [10, 16] + - !!python/tuple [18, 16] + - !!python/tuple [30, 8] + - !!python/tuple [24, 29] + - !!python/tuple [8, 1] + - !!python/tuple [17, 8] + - !!python/tuple [1, 5] + - !!python/tuple [9, 11] + - !!python/tuple [25, 17] + - !!python/tuple [20, 8] + - !!python/tuple [20, 6] + - !!python/tuple [8, 25] + - !!python/tuple [4, 18] + - !!python/tuple [14, 30] + - !!python/tuple [9, 28] + - !!python/tuple [9, 6] + - !!python/tuple [20, 14] + - !!python/tuple [13, 16] + - !!python/tuple [31, 10] + - !!python/tuple [7, 9] + - !!python/tuple [21, 13] + - !!python/tuple [9, 23] + - !!python/tuple [8, 11] + - !!python/tuple [17, 23] + - !!python/tuple [26, 14] + - !!python/tuple [14, 6] + - !!python/tuple [8, 15] + - !!python/tuple [31, 29] + - !!python/tuple [22, 23] + - !!python/tuple [7, 18] + - !!python/tuple [24, 17] + - !!python/tuple [12, 0] + - !!python/tuple [1, 9] + - !!python/tuple [21, 3] + - !!python/tuple [18, 15] + - !!python/tuple [29, 14] + - !!python/tuple [9, 22] + - !!python/tuple [31, 3] + - !!python/tuple [15, 12] + - !!python/tuple [1, 14] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex19.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex19.yaml new file mode 100644 index 0000000..a03ca29 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex19.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [6, 9] + name: agent0 + start: [24, 24] +- goal: [6, 29] + name: agent1 + start: [21, 21] +- goal: [2, 23] + name: agent2 + start: [7, 9] +- goal: [7, 11] + name: agent3 + start: [29, 17] +- goal: [10, 3] + name: agent4 + start: [19, 10] +- goal: [9, 1] + name: agent5 + start: [26, 31] +- goal: [4, 2] + name: agent6 + start: [1, 28] +- goal: [14, 11] + name: agent7 + start: [25, 1] +- goal: [19, 6] + name: agent8 + start: [14, 18] +- goal: [21, 22] + name: agent9 + start: [4, 7] +- goal: [15, 6] + name: agent10 + start: [0, 3] +- goal: [27, 4] + name: agent11 + start: [31, 11] +- goal: [7, 21] + name: agent12 + start: [27, 25] +- goal: [21, 19] + name: agent13 + start: [19, 1] +- goal: [2, 30] + name: agent14 + start: [11, 14] +- goal: [24, 1] + name: agent15 + start: [16, 24] +- goal: [14, 7] + name: agent16 + start: [29, 30] +- goal: [4, 4] + name: agent17 + start: [12, 16] +- goal: [19, 16] + name: agent18 + start: [26, 13] +- goal: [16, 2] + name: agent19 + start: [25, 7] +- goal: [27, 2] + name: agent20 + start: [6, 18] +- goal: [8, 3] + name: agent21 + start: [7, 22] +- goal: [16, 24] + name: agent22 + start: [19, 5] +- goal: [12, 14] + name: agent23 + start: [6, 15] +- goal: [4, 12] + name: agent24 + start: [0, 21] +- goal: [30, 9] + name: agent25 + start: [17, 1] +- goal: [15, 5] + name: agent26 + start: [14, 27] +- goal: [4, 31] + name: agent27 + start: [2, 5] +- goal: [16, 14] + name: agent28 + start: [27, 19] +- goal: [30, 10] + name: agent29 + start: [7, 21] +- goal: [19, 23] + name: agent30 + start: [10, 26] +- goal: [30, 4] + name: agent31 + start: [19, 28] +- goal: [2, 4] + name: agent32 + start: [4, 4] +- goal: [31, 10] + name: agent33 + start: [8, 15] +- goal: [21, 29] + name: agent34 + start: [30, 4] +- goal: [29, 29] + name: agent35 + start: [6, 7] +- goal: [31, 23] + name: agent36 + start: [17, 13] +- goal: [27, 20] + name: agent37 + start: [2, 25] +- goal: [4, 17] + name: agent38 + start: [0, 1] +- goal: [1, 5] + name: agent39 + start: [4, 2] +- goal: [26, 31] + name: agent40 + start: [17, 14] +- goal: [5, 27] + name: agent41 + start: [20, 11] +- goal: [3, 10] + name: agent42 + start: [14, 15] +- goal: [9, 24] + name: agent43 + start: [15, 12] +- goal: [2, 24] + name: agent44 + start: [30, 17] +- goal: [27, 0] + name: agent45 + start: [6, 25] +- goal: [5, 17] + name: agent46 + start: [8, 6] +- goal: [19, 31] + name: agent47 + start: [26, 25] +- goal: [10, 26] + name: agent48 + start: [16, 12] +- goal: [11, 19] + name: agent49 + start: [8, 12] +- goal: [14, 10] + name: agent50 + start: [5, 25] +- goal: [13, 31] + name: agent51 + start: [29, 11] +- goal: [4, 0] + name: agent52 + start: [5, 12] +- goal: [29, 19] + name: agent53 + start: [21, 11] +- goal: [18, 8] + name: agent54 + start: [16, 11] +- goal: [22, 24] + name: agent55 + start: [15, 17] +- goal: [25, 9] + name: agent56 + start: [3, 31] +- goal: [16, 22] + name: agent57 + start: [2, 13] +- goal: [27, 29] + name: agent58 + start: [24, 12] +- goal: [30, 31] + name: agent59 + start: [9, 27] +- goal: [14, 24] + name: agent60 + start: [18, 3] +- goal: [5, 28] + name: agent61 + start: [0, 24] +- goal: [23, 27] + name: agent62 + start: [6, 30] +- goal: [31, 30] + name: agent63 + start: [30, 9] +- goal: [1, 24] + name: agent64 + start: [2, 16] +- goal: [20, 6] + name: agent65 + start: [25, 19] +- goal: [5, 2] + name: agent66 + start: [24, 6] +- goal: [29, 15] + name: agent67 + start: [26, 22] +- goal: [17, 14] + name: agent68 + start: [25, 30] +- goal: [24, 31] + name: agent69 + start: [22, 19] +- goal: [23, 3] + name: agent70 + start: [26, 11] +- goal: [15, 19] + name: agent71 + start: [26, 21] +- goal: [0, 5] + name: agent72 + start: [3, 25] +- goal: [16, 17] + name: agent73 + start: [6, 24] +- goal: [28, 18] + name: agent74 + start: [29, 23] +- goal: [6, 16] + name: agent75 + start: [5, 17] +- goal: [16, 28] + name: agent76 + start: [16, 27] +- goal: [12, 3] + name: agent77 + start: [20, 16] +- goal: [16, 19] + name: agent78 + start: [25, 3] +- goal: [3, 26] + name: agent79 + start: [27, 13] +- goal: [0, 11] + name: agent80 + start: [24, 28] +- goal: [26, 25] + name: agent81 + start: [16, 30] +- goal: [19, 1] + name: agent82 + start: [26, 28] +- goal: [23, 18] + name: agent83 + start: [11, 10] +- goal: [7, 15] + name: agent84 + start: [6, 14] +- goal: [18, 21] + name: agent85 + start: [0, 2] +- goal: [24, 15] + name: agent86 + start: [13, 11] +- goal: [23, 5] + name: agent87 + start: [9, 30] +- goal: [16, 27] + name: agent88 + start: [8, 23] +- goal: [4, 27] + name: agent89 + start: [5, 29] +- goal: [17, 11] + name: agent90 + start: [25, 11] +- goal: [4, 19] + name: agent91 + start: [5, 19] +- goal: [10, 31] + name: agent92 + start: [13, 27] +- goal: [15, 30] + name: agent93 + start: [25, 16] +- goal: [12, 5] + name: agent94 + start: [27, 23] +- goal: [25, 29] + name: agent95 + start: [31, 27] +- goal: [5, 23] + name: agent96 + start: [11, 18] +- goal: [24, 18] + name: agent97 + start: [14, 0] +- goal: [9, 17] + name: agent98 + start: [16, 14] +- goal: [23, 1] + name: agent99 + start: [1, 20] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [14, 29] + - !!python/tuple [20, 20] + - !!python/tuple [11, 0] + - !!python/tuple [1, 0] + - !!python/tuple [3, 24] + - !!python/tuple [7, 0] + - !!python/tuple [13, 3] + - !!python/tuple [3, 23] + - !!python/tuple [14, 3] + - !!python/tuple [26, 15] + - !!python/tuple [21, 28] + - !!python/tuple [29, 3] + - !!python/tuple [26, 2] + - !!python/tuple [30, 6] + - !!python/tuple [10, 5] + - !!python/tuple [29, 16] + - !!python/tuple [29, 18] + - !!python/tuple [5, 11] + - !!python/tuple [10, 27] + - !!python/tuple [20, 9] + - !!python/tuple [9, 21] + - !!python/tuple [23, 6] + - !!python/tuple [3, 27] + - !!python/tuple [29, 14] + - !!python/tuple [25, 4] + - !!python/tuple [17, 15] + - !!python/tuple [21, 6] + - !!python/tuple [23, 0] + - !!python/tuple [20, 21] + - !!python/tuple [22, 7] + - !!python/tuple [16, 7] + - !!python/tuple [14, 21] + - !!python/tuple [17, 16] + - !!python/tuple [17, 4] + - !!python/tuple [16, 29] + - !!python/tuple [8, 4] + - !!python/tuple [8, 5] + - !!python/tuple [29, 9] + - !!python/tuple [20, 7] + - !!python/tuple [24, 27] + - !!python/tuple [15, 9] + - !!python/tuple [20, 10] + - !!python/tuple [5, 22] + - !!python/tuple [1, 14] + - !!python/tuple [31, 25] + - !!python/tuple [0, 16] + - !!python/tuple [25, 13] + - !!python/tuple [1, 19] + - !!python/tuple [1, 21] + - !!python/tuple [19, 30] + - !!python/tuple [12, 26] + - !!python/tuple [16, 16] + - !!python/tuple [20, 25] + - !!python/tuple [17, 7] + - !!python/tuple [23, 12] + - !!python/tuple [24, 11] + - !!python/tuple [24, 7] + - !!python/tuple [28, 1] + - !!python/tuple [29, 21] + - !!python/tuple [21, 7] + - !!python/tuple [5, 21] + - !!python/tuple [14, 19] + - !!python/tuple [10, 12] + - !!python/tuple [4, 29] + - !!python/tuple [0, 14] + - !!python/tuple [4, 30] + - !!python/tuple [14, 12] + - !!python/tuple [2, 12] + - !!python/tuple [1, 18] + - !!python/tuple [28, 23] + - !!python/tuple [10, 6] + - !!python/tuple [18, 23] + - !!python/tuple [26, 6] + - !!python/tuple [1, 17] + - !!python/tuple [13, 0] + - !!python/tuple [7, 29] + - !!python/tuple [15, 1] + - !!python/tuple [10, 16] + - !!python/tuple [23, 14] + - !!python/tuple [7, 7] + - !!python/tuple [9, 31] + - !!python/tuple [18, 25] + - !!python/tuple [21, 3] + - !!python/tuple [16, 15] + - !!python/tuple [3, 18] + - !!python/tuple [31, 26] + - !!python/tuple [28, 0] + - !!python/tuple [13, 12] + - !!python/tuple [10, 0] + - !!python/tuple [20, 19] + - !!python/tuple [29, 6] + - !!python/tuple [10, 22] + - !!python/tuple [12, 9] + - !!python/tuple [13, 24] + - !!python/tuple [18, 10] + - !!python/tuple [3, 16] + - !!python/tuple [30, 0] + - !!python/tuple [26, 16] + - !!python/tuple [26, 18] + - !!python/tuple [20, 31] + - !!python/tuple [23, 28] + - !!python/tuple [5, 30] + - !!python/tuple [20, 14] + - !!python/tuple [25, 18] + - !!python/tuple [20, 13] + - !!python/tuple [7, 16] + - !!python/tuple [25, 28] + - !!python/tuple [2, 11] + - !!python/tuple [8, 1] + - !!python/tuple [8, 17] + - !!python/tuple [12, 22] + - !!python/tuple [31, 22] + - !!python/tuple [30, 3] + - !!python/tuple [4, 28] + - !!python/tuple [9, 12] + - !!python/tuple [1, 9] + - !!python/tuple [23, 11] + - !!python/tuple [19, 25] + - !!python/tuple [17, 10] + - !!python/tuple [27, 30] + - !!python/tuple [23, 2] + - !!python/tuple [25, 17] + - !!python/tuple [16, 9] + - !!python/tuple [7, 8] + - !!python/tuple [25, 12] + - !!python/tuple [21, 5] + - !!python/tuple [22, 23] + - !!python/tuple [15, 11] + - !!python/tuple [8, 8] + - !!python/tuple [3, 7] + - !!python/tuple [28, 24] + - !!python/tuple [26, 17] + - !!python/tuple [18, 30] + - !!python/tuple [11, 11] + - !!python/tuple [3, 21] + - !!python/tuple [23, 31] + - !!python/tuple [24, 16] + - !!python/tuple [20, 2] + - !!python/tuple [25, 6] + - !!python/tuple [12, 29] + - !!python/tuple [12, 23] + - !!python/tuple [8, 27] + - !!python/tuple [25, 2] + - !!python/tuple [26, 8] + - !!python/tuple [18, 1] + - !!python/tuple [8, 20] + - !!python/tuple [24, 4] + - !!python/tuple [8, 29] + - !!python/tuple [24, 30] + - !!python/tuple [0, 17] + - !!python/tuple [22, 0] + - !!python/tuple [28, 20] + - !!python/tuple [3, 20] + - !!python/tuple [27, 18] + - !!python/tuple [28, 8] + - !!python/tuple [12, 11] + - !!python/tuple [8, 19] + - !!python/tuple [27, 17] + - !!python/tuple [29, 2] + - !!python/tuple [26, 30] + - !!python/tuple [24, 10] + - !!python/tuple [3, 4] + - !!python/tuple [13, 23] + - !!python/tuple [21, 8] + - !!python/tuple [4, 11] + - !!python/tuple [27, 7] + - !!python/tuple [22, 30] + - !!python/tuple [23, 8] + - !!python/tuple [29, 22] + - !!python/tuple [3, 14] + - !!python/tuple [31, 4] + - !!python/tuple [12, 25] + - !!python/tuple [16, 10] + - !!python/tuple [0, 22] + - !!python/tuple [11, 9] + - !!python/tuple [1, 3] + - !!python/tuple [15, 27] + - !!python/tuple [10, 1] + - !!python/tuple [10, 24] + - !!python/tuple [20, 28] + - !!python/tuple [0, 0] + - !!python/tuple [28, 22] + - !!python/tuple [15, 8] + - !!python/tuple [26, 20] + - !!python/tuple [11, 7] + - !!python/tuple [4, 8] + - !!python/tuple [17, 18] + - !!python/tuple [18, 0] + - !!python/tuple [21, 13] + - !!python/tuple [24, 26] + - !!python/tuple [21, 17] + - !!python/tuple [4, 25] + - !!python/tuple [13, 18] + - !!python/tuple [28, 19] + - !!python/tuple [27, 26] + - !!python/tuple [15, 15] + - !!python/tuple [11, 21] + - !!python/tuple [10, 25] + - !!python/tuple [12, 19] + - !!python/tuple [24, 23] + - !!python/tuple [13, 4] + - !!python/tuple [31, 8] + - !!python/tuple [14, 6] + - !!python/tuple [1, 8] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex2.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex2.yaml new file mode 100644 index 0000000..56e13b2 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex2.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [2, 12] + name: agent0 + start: [0, 26] +- goal: [1, 4] + name: agent1 + start: [31, 30] +- goal: [29, 16] + name: agent2 + start: [25, 20] +- goal: [14, 0] + name: agent3 + start: [25, 4] +- goal: [19, 17] + name: agent4 + start: [23, 28] +- goal: [22, 15] + name: agent5 + start: [6, 7] +- goal: [7, 10] + name: agent6 + start: [30, 20] +- goal: [13, 7] + name: agent7 + start: [12, 28] +- goal: [2, 14] + name: agent8 + start: [27, 29] +- goal: [29, 22] + name: agent9 + start: [30, 14] +- goal: [29, 6] + name: agent10 + start: [21, 9] +- goal: [1, 5] + name: agent11 + start: [9, 3] +- goal: [15, 21] + name: agent12 + start: [11, 18] +- goal: [20, 24] + name: agent13 + start: [17, 6] +- goal: [2, 7] + name: agent14 + start: [4, 28] +- goal: [21, 6] + name: agent15 + start: [3, 6] +- goal: [22, 12] + name: agent16 + start: [21, 2] +- goal: [24, 4] + name: agent17 + start: [19, 17] +- goal: [16, 22] + name: agent18 + start: [1, 6] +- goal: [17, 10] + name: agent19 + start: [26, 23] +- goal: [29, 4] + name: agent20 + start: [29, 8] +- goal: [29, 31] + name: agent21 + start: [5, 18] +- goal: [18, 15] + name: agent22 + start: [25, 14] +- goal: [16, 3] + name: agent23 + start: [7, 26] +- goal: [22, 13] + name: agent24 + start: [6, 9] +- goal: [30, 10] + name: agent25 + start: [4, 14] +- goal: [25, 29] + name: agent26 + start: [3, 14] +- goal: [18, 16] + name: agent27 + start: [31, 12] +- goal: [13, 6] + name: agent28 + start: [31, 19] +- goal: [17, 13] + name: agent29 + start: [9, 10] +- goal: [17, 6] + name: agent30 + start: [30, 5] +- goal: [12, 2] + name: agent31 + start: [12, 9] +- goal: [17, 9] + name: agent32 + start: [3, 1] +- goal: [6, 0] + name: agent33 + start: [8, 4] +- goal: [12, 16] + name: agent34 + start: [0, 22] +- goal: [12, 11] + name: agent35 + start: [2, 11] +- goal: [10, 2] + name: agent36 + start: [3, 19] +- goal: [24, 23] + name: agent37 + start: [26, 21] +- goal: [30, 15] + name: agent38 + start: [31, 4] +- goal: [28, 27] + name: agent39 + start: [1, 31] +- goal: [29, 24] + name: agent40 + start: [19, 1] +- goal: [12, 20] + name: agent41 + start: [4, 6] +- goal: [14, 28] + name: agent42 + start: [0, 9] +- goal: [30, 20] + name: agent43 + start: [2, 27] +- goal: [4, 24] + name: agent44 + start: [3, 17] +- goal: [4, 1] + name: agent45 + start: [0, 21] +- goal: [13, 26] + name: agent46 + start: [13, 14] +- goal: [7, 21] + name: agent47 + start: [14, 24] +- goal: [18, 4] + name: agent48 + start: [18, 29] +- goal: [15, 11] + name: agent49 + start: [14, 28] +- goal: [27, 24] + name: agent50 + start: [28, 15] +- goal: [9, 15] + name: agent51 + start: [10, 16] +- goal: [8, 21] + name: agent52 + start: [24, 29] +- goal: [19, 29] + name: agent53 + start: [31, 29] +- goal: [31, 1] + name: agent54 + start: [24, 20] +- goal: [15, 16] + name: agent55 + start: [19, 2] +- goal: [7, 30] + name: agent56 + start: [29, 18] +- goal: [31, 25] + name: agent57 + start: [25, 29] +- goal: [2, 31] + name: agent58 + start: [9, 25] +- goal: [2, 1] + name: agent59 + start: [16, 14] +- goal: [18, 2] + name: agent60 + start: [12, 22] +- goal: [8, 22] + name: agent61 + start: [28, 30] +- goal: [5, 8] + name: agent62 + start: [10, 29] +- goal: [0, 11] + name: agent63 + start: [31, 27] +- goal: [5, 23] + name: agent64 + start: [3, 9] +- goal: [27, 5] + name: agent65 + start: [26, 5] +- goal: [21, 7] + name: agent66 + start: [10, 8] +- goal: [3, 25] + name: agent67 + start: [19, 16] +- goal: [29, 19] + name: agent68 + start: [24, 19] +- goal: [19, 15] + name: agent69 + start: [26, 3] +- goal: [6, 18] + name: agent70 + start: [20, 0] +- goal: [19, 7] + name: agent71 + start: [25, 18] +- goal: [4, 17] + name: agent72 + start: [5, 8] +- goal: [23, 21] + name: agent73 + start: [17, 22] +- goal: [4, 5] + name: agent74 + start: [0, 2] +- goal: [9, 21] + name: agent75 + start: [10, 13] +- goal: [15, 1] + name: agent76 + start: [12, 30] +- goal: [4, 22] + name: agent77 + start: [15, 28] +- goal: [8, 13] + name: agent78 + start: [22, 25] +- goal: [4, 26] + name: agent79 + start: [11, 13] +- goal: [15, 12] + name: agent80 + start: [11, 1] +- goal: [30, 14] + name: agent81 + start: [31, 28] +- goal: [10, 31] + name: agent82 + start: [9, 19] +- goal: [15, 8] + name: agent83 + start: [4, 5] +- goal: [28, 12] + name: agent84 + start: [16, 15] +- goal: [11, 15] + name: agent85 + start: [28, 11] +- goal: [20, 23] + name: agent86 + start: [24, 2] +- goal: [15, 15] + name: agent87 + start: [6, 13] +- goal: [27, 19] + name: agent88 + start: [19, 14] +- goal: [9, 29] + name: agent89 + start: [10, 30] +- goal: [19, 5] + name: agent90 + start: [22, 12] +- goal: [14, 19] + name: agent91 + start: [18, 25] +- goal: [29, 23] + name: agent92 + start: [5, 24] +- goal: [30, 29] + name: agent93 + start: [1, 23] +- goal: [23, 23] + name: agent94 + start: [26, 25] +- goal: [26, 3] + name: agent95 + start: [28, 13] +- goal: [0, 29] + name: agent96 + start: [26, 10] +- goal: [0, 19] + name: agent97 + start: [15, 16] +- goal: [9, 0] + name: agent98 + start: [16, 6] +- goal: [29, 13] + name: agent99 + start: [19, 6] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [21, 23] + - !!python/tuple [8, 6] + - !!python/tuple [15, 23] + - !!python/tuple [7, 14] + - !!python/tuple [3, 11] + - !!python/tuple [6, 2] + - !!python/tuple [28, 28] + - !!python/tuple [12, 10] + - !!python/tuple [18, 6] + - !!python/tuple [29, 11] + - !!python/tuple [21, 22] + - !!python/tuple [7, 9] + - !!python/tuple [11, 28] + - !!python/tuple [16, 23] + - !!python/tuple [0, 12] + - !!python/tuple [20, 30] + - !!python/tuple [24, 15] + - !!python/tuple [24, 14] + - !!python/tuple [12, 26] + - !!python/tuple [22, 6] + - !!python/tuple [24, 25] + - !!python/tuple [17, 11] + - !!python/tuple [16, 31] + - !!python/tuple [15, 22] + - !!python/tuple [16, 20] + - !!python/tuple [14, 17] + - !!python/tuple [10, 3] + - !!python/tuple [8, 1] + - !!python/tuple [18, 23] + - !!python/tuple [17, 8] + - !!python/tuple [16, 21] + - !!python/tuple [1, 20] + - !!python/tuple [21, 16] + - !!python/tuple [12, 24] + - !!python/tuple [19, 12] + - !!python/tuple [11, 9] + - !!python/tuple [7, 8] + - !!python/tuple [13, 13] + - !!python/tuple [5, 5] + - !!python/tuple [25, 9] + - !!python/tuple [20, 22] + - !!python/tuple [7, 19] + - !!python/tuple [2, 21] + - !!python/tuple [28, 16] + - !!python/tuple [3, 29] + - !!python/tuple [19, 19] + - !!python/tuple [28, 22] + - !!python/tuple [23, 10] + - !!python/tuple [1, 15] + - !!python/tuple [20, 4] + - !!python/tuple [8, 7] + - !!python/tuple [7, 5] + - !!python/tuple [11, 22] + - !!python/tuple [3, 31] + - !!python/tuple [20, 14] + - !!python/tuple [13, 21] + - !!python/tuple [21, 1] + - !!python/tuple [17, 30] + - !!python/tuple [23, 4] + - !!python/tuple [15, 30] + - !!python/tuple [2, 24] + - !!python/tuple [27, 8] + - !!python/tuple [11, 16] + - !!python/tuple [0, 0] + - !!python/tuple [13, 9] + - !!python/tuple [25, 30] + - !!python/tuple [9, 1] + - !!python/tuple [11, 29] + - !!python/tuple [11, 11] + - !!python/tuple [19, 23] + - !!python/tuple [9, 6] + - !!python/tuple [6, 14] + - !!python/tuple [8, 11] + - !!python/tuple [10, 21] + - !!python/tuple [28, 21] + - !!python/tuple [11, 21] + - !!python/tuple [4, 3] + - !!python/tuple [3, 5] + - !!python/tuple [28, 0] + - !!python/tuple [25, 11] + - !!python/tuple [30, 26] + - !!python/tuple [11, 4] + - !!python/tuple [9, 27] + - !!python/tuple [8, 29] + - !!python/tuple [24, 22] + - !!python/tuple [4, 11] + - !!python/tuple [2, 23] + - !!python/tuple [22, 1] + - !!python/tuple [29, 21] + - !!python/tuple [4, 25] + - !!python/tuple [6, 31] + - !!python/tuple [22, 31] + - !!python/tuple [24, 7] + - !!python/tuple [2, 4] + - !!python/tuple [8, 30] + - !!python/tuple [18, 21] + - !!python/tuple [30, 12] + - !!python/tuple [8, 23] + - !!python/tuple [10, 26] + - !!python/tuple [16, 7] + - !!python/tuple [6, 17] + - !!python/tuple [26, 0] + - !!python/tuple [25, 3] + - !!python/tuple [31, 9] + - !!python/tuple [17, 17] + - !!python/tuple [20, 7] + - !!python/tuple [8, 14] + - !!python/tuple [17, 1] + - !!python/tuple [7, 29] + - !!python/tuple [10, 19] + - !!python/tuple [19, 9] + - !!python/tuple [13, 18] + - !!python/tuple [17, 31] + - !!python/tuple [21, 13] + - !!python/tuple [4, 4] + - !!python/tuple [7, 20] + - !!python/tuple [5, 15] + - !!python/tuple [3, 4] + - !!python/tuple [25, 25] + - !!python/tuple [8, 16] + - !!python/tuple [14, 1] + - !!python/tuple [5, 3] + - !!python/tuple [28, 5] + - !!python/tuple [30, 24] + - !!python/tuple [0, 5] + - !!python/tuple [3, 7] + - !!python/tuple [8, 17] + - !!python/tuple [9, 22] + - !!python/tuple [25, 21] + - !!python/tuple [12, 29] + - !!python/tuple [10, 14] + - !!python/tuple [30, 13] + - !!python/tuple [22, 5] + - !!python/tuple [8, 27] + - !!python/tuple [12, 27] + - !!python/tuple [26, 22] + - !!python/tuple [12, 6] + - !!python/tuple [23, 15] + - !!python/tuple [27, 27] + - !!python/tuple [4, 30] + - !!python/tuple [24, 3] + - !!python/tuple [9, 12] + - !!python/tuple [8, 10] + - !!python/tuple [17, 26] + - !!python/tuple [18, 27] + - !!python/tuple [30, 8] + - !!python/tuple [23, 13] + - !!python/tuple [0, 31] + - !!python/tuple [16, 2] + - !!python/tuple [5, 2] + - !!python/tuple [20, 28] + - !!python/tuple [0, 18] + - !!python/tuple [6, 24] + - !!python/tuple [30, 9] + - !!python/tuple [30, 25] + - !!python/tuple [2, 26] + - !!python/tuple [19, 13] + - !!python/tuple [13, 12] + - !!python/tuple [5, 4] + - !!python/tuple [28, 1] + - !!python/tuple [30, 18] + - !!python/tuple [3, 27] + - !!python/tuple [23, 17] + - !!python/tuple [16, 12] + - !!python/tuple [0, 28] + - !!python/tuple [11, 23] + - !!python/tuple [16, 17] + - !!python/tuple [31, 6] + - !!python/tuple [8, 12] + - !!python/tuple [5, 25] + - !!python/tuple [25, 0] + - !!python/tuple [31, 13] + - !!python/tuple [14, 13] + - !!python/tuple [26, 19] + - !!python/tuple [5, 20] + - !!python/tuple [2, 16] + - !!python/tuple [4, 2] + - !!python/tuple [9, 7] + - !!python/tuple [2, 20] + - !!python/tuple [28, 18] + - !!python/tuple [12, 25] + - !!python/tuple [2, 0] + - !!python/tuple [31, 14] + - !!python/tuple [21, 3] + - !!python/tuple [16, 29] + - !!python/tuple [25, 12] + - !!python/tuple [30, 17] + - !!python/tuple [13, 3] + - !!python/tuple [25, 17] + - !!python/tuple [27, 23] + - !!python/tuple [17, 16] + - !!python/tuple [11, 3] + - !!python/tuple [8, 26] + - !!python/tuple [9, 11] + - !!python/tuple [19, 31] + - !!python/tuple [14, 14] + - !!python/tuple [6, 29] + - !!python/tuple [16, 10] + - !!python/tuple [19, 20] + - !!python/tuple [8, 31] + - !!python/tuple [11, 24] + - !!python/tuple [18, 13] + - !!python/tuple [19, 11] + - !!python/tuple [27, 0] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex20.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex20.yaml new file mode 100644 index 0000000..e6d7f74 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex20.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [19, 27] + name: agent0 + start: [15, 11] +- goal: [15, 5] + name: agent1 + start: [22, 1] +- goal: [30, 12] + name: agent2 + start: [13, 7] +- goal: [16, 0] + name: agent3 + start: [29, 17] +- goal: [14, 27] + name: agent4 + start: [16, 19] +- goal: [11, 1] + name: agent5 + start: [0, 27] +- goal: [23, 7] + name: agent6 + start: [24, 8] +- goal: [5, 11] + name: agent7 + start: [27, 11] +- goal: [3, 8] + name: agent8 + start: [23, 12] +- goal: [13, 17] + name: agent9 + start: [26, 13] +- goal: [20, 1] + name: agent10 + start: [6, 23] +- goal: [7, 0] + name: agent11 + start: [26, 20] +- goal: [19, 18] + name: agent12 + start: [17, 31] +- goal: [11, 0] + name: agent13 + start: [18, 18] +- goal: [22, 1] + name: agent14 + start: [20, 10] +- goal: [4, 10] + name: agent15 + start: [6, 15] +- goal: [19, 16] + name: agent16 + start: [23, 15] +- goal: [6, 25] + name: agent17 + start: [20, 4] +- goal: [15, 0] + name: agent18 + start: [5, 25] +- goal: [31, 10] + name: agent19 + start: [18, 14] +- goal: [10, 19] + name: agent20 + start: [0, 21] +- goal: [23, 4] + name: agent21 + start: [17, 6] +- goal: [25, 23] + name: agent22 + start: [19, 26] +- goal: [7, 31] + name: agent23 + start: [1, 21] +- goal: [0, 28] + name: agent24 + start: [27, 29] +- goal: [18, 20] + name: agent25 + start: [16, 25] +- goal: [11, 9] + name: agent26 + start: [29, 27] +- goal: [6, 1] + name: agent27 + start: [13, 14] +- goal: [19, 13] + name: agent28 + start: [16, 31] +- goal: [8, 28] + name: agent29 + start: [5, 19] +- goal: [10, 23] + name: agent30 + start: [1, 6] +- goal: [29, 17] + name: agent31 + start: [11, 29] +- goal: [19, 30] + name: agent32 + start: [13, 29] +- goal: [20, 21] + name: agent33 + start: [19, 28] +- goal: [30, 9] + name: agent34 + start: [31, 14] +- goal: [17, 26] + name: agent35 + start: [7, 19] +- goal: [22, 28] + name: agent36 + start: [15, 28] +- goal: [30, 3] + name: agent37 + start: [1, 30] +- goal: [17, 29] + name: agent38 + start: [11, 19] +- goal: [27, 17] + name: agent39 + start: [26, 18] +- goal: [3, 15] + name: agent40 + start: [25, 13] +- goal: [11, 6] + name: agent41 + start: [16, 16] +- goal: [9, 20] + name: agent42 + start: [27, 20] +- goal: [8, 20] + name: agent43 + start: [22, 30] +- goal: [11, 29] + name: agent44 + start: [20, 25] +- goal: [15, 28] + name: agent45 + start: [23, 7] +- goal: [16, 29] + name: agent46 + start: [13, 3] +- goal: [5, 6] + name: agent47 + start: [15, 15] +- goal: [29, 18] + name: agent48 + start: [28, 15] +- goal: [31, 18] + name: agent49 + start: [5, 14] +- goal: [31, 17] + name: agent50 + start: [5, 10] +- goal: [22, 30] + name: agent51 + start: [25, 1] +- goal: [3, 1] + name: agent52 + start: [9, 27] +- goal: [5, 10] + name: agent53 + start: [2, 21] +- goal: [5, 2] + name: agent54 + start: [31, 21] +- goal: [23, 3] + name: agent55 + start: [6, 26] +- goal: [11, 21] + name: agent56 + start: [26, 3] +- goal: [2, 10] + name: agent57 + start: [19, 27] +- goal: [30, 15] + name: agent58 + start: [1, 23] +- goal: [8, 9] + name: agent59 + start: [16, 14] +- goal: [16, 31] + name: agent60 + start: [23, 26] +- goal: [9, 18] + name: agent61 + start: [28, 21] +- goal: [17, 2] + name: agent62 + start: [13, 21] +- goal: [7, 21] + name: agent63 + start: [21, 11] +- goal: [1, 27] + name: agent64 + start: [15, 22] +- goal: [25, 10] + name: agent65 + start: [14, 2] +- goal: [0, 17] + name: agent66 + start: [0, 24] +- goal: [18, 31] + name: agent67 + start: [30, 21] +- goal: [8, 17] + name: agent68 + start: [14, 24] +- goal: [29, 28] + name: agent69 + start: [25, 31] +- goal: [28, 2] + name: agent70 + start: [11, 6] +- goal: [31, 23] + name: agent71 + start: [15, 16] +- goal: [13, 16] + name: agent72 + start: [14, 30] +- goal: [27, 8] + name: agent73 + start: [26, 8] +- goal: [5, 9] + name: agent74 + start: [7, 14] +- goal: [18, 0] + name: agent75 + start: [27, 31] +- goal: [24, 30] + name: agent76 + start: [10, 7] +- goal: [26, 26] + name: agent77 + start: [8, 28] +- goal: [12, 6] + name: agent78 + start: [24, 30] +- goal: [13, 1] + name: agent79 + start: [25, 14] +- goal: [3, 29] + name: agent80 + start: [21, 14] +- goal: [3, 20] + name: agent81 + start: [29, 6] +- goal: [26, 20] + name: agent82 + start: [18, 6] +- goal: [1, 18] + name: agent83 + start: [13, 17] +- goal: [18, 12] + name: agent84 + start: [28, 8] +- goal: [9, 0] + name: agent85 + start: [31, 23] +- goal: [16, 20] + name: agent86 + start: [21, 30] +- goal: [25, 1] + name: agent87 + start: [3, 19] +- goal: [27, 20] + name: agent88 + start: [11, 8] +- goal: [21, 31] + name: agent89 + start: [5, 26] +- goal: [5, 22] + name: agent90 + start: [11, 7] +- goal: [3, 10] + name: agent91 + start: [18, 23] +- goal: [10, 7] + name: agent92 + start: [27, 22] +- goal: [10, 25] + name: agent93 + start: [4, 1] +- goal: [27, 12] + name: agent94 + start: [2, 8] +- goal: [5, 27] + name: agent95 + start: [27, 19] +- goal: [7, 6] + name: agent96 + start: [17, 3] +- goal: [8, 26] + name: agent97 + start: [14, 7] +- goal: [3, 14] + name: agent98 + start: [26, 2] +- goal: [25, 31] + name: agent99 + start: [0, 11] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [15, 24] + - !!python/tuple [27, 24] + - !!python/tuple [20, 30] + - !!python/tuple [6, 27] + - !!python/tuple [22, 2] + - !!python/tuple [0, 7] + - !!python/tuple [28, 4] + - !!python/tuple [18, 1] + - !!python/tuple [16, 17] + - !!python/tuple [21, 4] + - !!python/tuple [12, 5] + - !!python/tuple [27, 27] + - !!python/tuple [30, 27] + - !!python/tuple [13, 22] + - !!python/tuple [29, 8] + - !!python/tuple [8, 7] + - !!python/tuple [24, 18] + - !!python/tuple [1, 26] + - !!python/tuple [12, 31] + - !!python/tuple [1, 2] + - !!python/tuple [1, 19] + - !!python/tuple [16, 22] + - !!python/tuple [30, 1] + - !!python/tuple [12, 25] + - !!python/tuple [28, 27] + - !!python/tuple [28, 22] + - !!python/tuple [6, 20] + - !!python/tuple [17, 15] + - !!python/tuple [31, 25] + - !!python/tuple [12, 24] + - !!python/tuple [31, 24] + - !!python/tuple [11, 26] + - !!python/tuple [16, 3] + - !!python/tuple [7, 20] + - !!python/tuple [2, 3] + - !!python/tuple [23, 29] + - !!python/tuple [13, 4] + - !!python/tuple [19, 10] + - !!python/tuple [21, 12] + - !!python/tuple [14, 31] + - !!python/tuple [12, 13] + - !!python/tuple [20, 18] + - !!python/tuple [17, 13] + - !!python/tuple [23, 13] + - !!python/tuple [23, 22] + - !!python/tuple [7, 29] + - !!python/tuple [19, 31] + - !!python/tuple [22, 19] + - !!python/tuple [25, 7] + - !!python/tuple [7, 23] + - !!python/tuple [30, 7] + - !!python/tuple [7, 18] + - !!python/tuple [2, 9] + - !!python/tuple [28, 24] + - !!python/tuple [0, 3] + - !!python/tuple [28, 9] + - !!python/tuple [10, 29] + - !!python/tuple [24, 12] + - !!python/tuple [7, 17] + - !!python/tuple [28, 28] + - !!python/tuple [9, 7] + - !!python/tuple [1, 22] + - !!python/tuple [10, 20] + - !!python/tuple [11, 20] + - !!python/tuple [3, 27] + - !!python/tuple [10, 22] + - !!python/tuple [10, 28] + - !!python/tuple [7, 10] + - !!python/tuple [11, 16] + - !!python/tuple [10, 15] + - !!python/tuple [10, 12] + - !!python/tuple [21, 7] + - !!python/tuple [2, 29] + - !!python/tuple [27, 1] + - !!python/tuple [9, 30] + - !!python/tuple [5, 18] + - !!python/tuple [31, 15] + - !!python/tuple [29, 10] + - !!python/tuple [13, 26] + - !!python/tuple [9, 29] + - !!python/tuple [3, 23] + - !!python/tuple [7, 8] + - !!python/tuple [9, 3] + - !!python/tuple [17, 23] + - !!python/tuple [23, 21] + - !!python/tuple [27, 26] + - !!python/tuple [19, 8] + - !!python/tuple [8, 31] + - !!python/tuple [6, 24] + - !!python/tuple [23, 19] + - !!python/tuple [5, 13] + - !!python/tuple [6, 16] + - !!python/tuple [22, 18] + - !!python/tuple [4, 13] + - !!python/tuple [27, 30] + - !!python/tuple [8, 23] + - !!python/tuple [19, 29] + - !!python/tuple [17, 12] + - !!python/tuple [16, 18] + - !!python/tuple [27, 4] + - !!python/tuple [8, 3] + - !!python/tuple [12, 0] + - !!python/tuple [29, 21] + - !!python/tuple [12, 21] + - !!python/tuple [19, 24] + - !!python/tuple [10, 14] + - !!python/tuple [19, 3] + - !!python/tuple [27, 10] + - !!python/tuple [1, 5] + - !!python/tuple [14, 4] + - !!python/tuple [18, 24] + - !!python/tuple [2, 7] + - !!python/tuple [25, 20] + - !!python/tuple [30, 25] + - !!python/tuple [20, 26] + - !!python/tuple [9, 5] + - !!python/tuple [0, 1] + - !!python/tuple [6, 13] + - !!python/tuple [1, 11] + - !!python/tuple [15, 18] + - !!python/tuple [4, 7] + - !!python/tuple [9, 4] + - !!python/tuple [7, 3] + - !!python/tuple [21, 24] + - !!python/tuple [4, 14] + - !!python/tuple [23, 1] + - !!python/tuple [14, 3] + - !!python/tuple [16, 24] + - !!python/tuple [8, 16] + - !!python/tuple [4, 23] + - !!python/tuple [2, 31] + - !!python/tuple [6, 31] + - !!python/tuple [6, 3] + - !!python/tuple [31, 31] + - !!python/tuple [14, 9] + - !!python/tuple [28, 18] + - !!python/tuple [25, 2] + - !!python/tuple [28, 30] + - !!python/tuple [19, 17] + - !!python/tuple [16, 2] + - !!python/tuple [29, 24] + - !!python/tuple [4, 28] + - !!python/tuple [29, 22] + - !!python/tuple [18, 15] + - !!python/tuple [26, 14] + - !!python/tuple [11, 5] + - !!python/tuple [20, 15] + - !!python/tuple [2, 20] + - !!python/tuple [6, 19] + - !!python/tuple [1, 13] + - !!python/tuple [12, 1] + - !!python/tuple [29, 12] + - !!python/tuple [4, 25] + - !!python/tuple [27, 9] + - !!python/tuple [26, 9] + - !!python/tuple [25, 11] + - !!python/tuple [8, 25] + - !!python/tuple [31, 6] + - !!python/tuple [24, 16] + - !!python/tuple [31, 8] + - !!python/tuple [29, 19] + - !!python/tuple [10, 21] + - !!python/tuple [29, 30] + - !!python/tuple [20, 29] + - !!python/tuple [7, 24] + - !!python/tuple [8, 22] + - !!python/tuple [17, 11] + - !!python/tuple [12, 9] + - !!python/tuple [28, 26] + - !!python/tuple [11, 27] + - !!python/tuple [29, 5] + - !!python/tuple [8, 21] + - !!python/tuple [18, 19] + - !!python/tuple [18, 4] + - !!python/tuple [4, 15] + - !!python/tuple [3, 4] + - !!python/tuple [6, 7] + - !!python/tuple [17, 24] + - !!python/tuple [25, 21] + - !!python/tuple [28, 17] + - !!python/tuple [23, 14] + - !!python/tuple [28, 0] + - !!python/tuple [17, 4] + - !!python/tuple [7, 7] + - !!python/tuple [27, 16] + - !!python/tuple [8, 4] + - !!python/tuple [9, 12] + - !!python/tuple [13, 10] + - !!python/tuple [18, 21] + - !!python/tuple [20, 3] + - !!python/tuple [14, 14] + - !!python/tuple [11, 13] + - !!python/tuple [23, 9] + - !!python/tuple [10, 0] + - !!python/tuple [1, 7] + - !!python/tuple [25, 30] + - !!python/tuple [5, 15] + - !!python/tuple [10, 6] + - !!python/tuple [21, 21] + - !!python/tuple [8, 0] + - !!python/tuple [29, 3] + - !!python/tuple [23, 30] + - !!python/tuple [14, 17] + - !!python/tuple [8, 29] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex21.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex21.yaml new file mode 100644 index 0000000..16a3679 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex21.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [25, 2] + name: agent0 + start: [15, 10] +- goal: [7, 14] + name: agent1 + start: [10, 2] +- goal: [30, 31] + name: agent2 + start: [10, 15] +- goal: [28, 3] + name: agent3 + start: [13, 8] +- goal: [21, 21] + name: agent4 + start: [2, 14] +- goal: [30, 17] + name: agent5 + start: [11, 22] +- goal: [8, 7] + name: agent6 + start: [8, 4] +- goal: [9, 6] + name: agent7 + start: [3, 17] +- goal: [2, 10] + name: agent8 + start: [0, 30] +- goal: [30, 12] + name: agent9 + start: [19, 9] +- goal: [26, 15] + name: agent10 + start: [7, 20] +- goal: [7, 18] + name: agent11 + start: [13, 3] +- goal: [5, 10] + name: agent12 + start: [9, 17] +- goal: [4, 31] + name: agent13 + start: [12, 9] +- goal: [9, 12] + name: agent14 + start: [2, 3] +- goal: [27, 1] + name: agent15 + start: [21, 25] +- goal: [1, 6] + name: agent16 + start: [2, 25] +- goal: [11, 26] + name: agent17 + start: [19, 28] +- goal: [18, 27] + name: agent18 + start: [4, 3] +- goal: [26, 24] + name: agent19 + start: [23, 23] +- goal: [21, 3] + name: agent20 + start: [24, 6] +- goal: [21, 20] + name: agent21 + start: [18, 9] +- goal: [0, 12] + name: agent22 + start: [30, 25] +- goal: [21, 27] + name: agent23 + start: [5, 9] +- goal: [18, 7] + name: agent24 + start: [16, 7] +- goal: [24, 8] + name: agent25 + start: [16, 18] +- goal: [1, 12] + name: agent26 + start: [12, 19] +- goal: [13, 1] + name: agent27 + start: [30, 11] +- goal: [12, 31] + name: agent28 + start: [29, 17] +- goal: [12, 10] + name: agent29 + start: [6, 24] +- goal: [2, 27] + name: agent30 + start: [31, 20] +- goal: [31, 27] + name: agent31 + start: [30, 1] +- goal: [3, 21] + name: agent32 + start: [5, 17] +- goal: [16, 31] + name: agent33 + start: [1, 30] +- goal: [27, 11] + name: agent34 + start: [5, 26] +- goal: [14, 24] + name: agent35 + start: [20, 5] +- goal: [3, 3] + name: agent36 + start: [19, 23] +- goal: [31, 22] + name: agent37 + start: [10, 24] +- goal: [28, 13] + name: agent38 + start: [29, 18] +- goal: [27, 15] + name: agent39 + start: [2, 31] +- goal: [27, 4] + name: agent40 + start: [5, 28] +- goal: [10, 27] + name: agent41 + start: [6, 11] +- goal: [10, 10] + name: agent42 + start: [12, 15] +- goal: [5, 26] + name: agent43 + start: [8, 1] +- goal: [8, 17] + name: agent44 + start: [30, 19] +- goal: [29, 0] + name: agent45 + start: [31, 5] +- goal: [13, 26] + name: agent46 + start: [27, 6] +- goal: [29, 12] + name: agent47 + start: [0, 16] +- goal: [9, 25] + name: agent48 + start: [2, 18] +- goal: [3, 20] + name: agent49 + start: [15, 24] +- goal: [12, 14] + name: agent50 + start: [31, 30] +- goal: [6, 9] + name: agent51 + start: [31, 2] +- goal: [5, 13] + name: agent52 + start: [18, 19] +- goal: [18, 1] + name: agent53 + start: [18, 2] +- goal: [23, 30] + name: agent54 + start: [26, 20] +- goal: [5, 0] + name: agent55 + start: [21, 21] +- goal: [15, 12] + name: agent56 + start: [14, 6] +- goal: [2, 5] + name: agent57 + start: [27, 13] +- goal: [11, 1] + name: agent58 + start: [18, 22] +- goal: [15, 2] + name: agent59 + start: [27, 29] +- goal: [23, 29] + name: agent60 + start: [6, 6] +- goal: [10, 3] + name: agent61 + start: [6, 21] +- goal: [12, 1] + name: agent62 + start: [8, 28] +- goal: [14, 22] + name: agent63 + start: [26, 2] +- goal: [30, 5] + name: agent64 + start: [22, 26] +- goal: [12, 13] + name: agent65 + start: [6, 28] +- goal: [21, 8] + name: agent66 + start: [25, 30] +- goal: [0, 15] + name: agent67 + start: [5, 0] +- goal: [19, 28] + name: agent68 + start: [14, 5] +- goal: [8, 8] + name: agent69 + start: [10, 20] +- goal: [17, 11] + name: agent70 + start: [27, 21] +- goal: [1, 11] + name: agent71 + start: [16, 1] +- goal: [30, 24] + name: agent72 + start: [1, 29] +- goal: [15, 25] + name: agent73 + start: [4, 4] +- goal: [10, 24] + name: agent74 + start: [11, 12] +- goal: [7, 20] + name: agent75 + start: [11, 19] +- goal: [26, 14] + name: agent76 + start: [21, 8] +- goal: [10, 22] + name: agent77 + start: [22, 30] +- goal: [31, 17] + name: agent78 + start: [21, 12] +- goal: [19, 15] + name: agent79 + start: [11, 29] +- goal: [16, 1] + name: agent80 + start: [24, 5] +- goal: [11, 16] + name: agent81 + start: [16, 24] +- goal: [24, 30] + name: agent82 + start: [11, 3] +- goal: [30, 19] + name: agent83 + start: [4, 2] +- goal: [25, 30] + name: agent84 + start: [28, 28] +- goal: [29, 26] + name: agent85 + start: [2, 22] +- goal: [20, 5] + name: agent86 + start: [24, 11] +- goal: [31, 29] + name: agent87 + start: [12, 30] +- goal: [15, 29] + name: agent88 + start: [23, 8] +- goal: [19, 22] + name: agent89 + start: [10, 3] +- goal: [22, 30] + name: agent90 + start: [17, 14] +- goal: [25, 29] + name: agent91 + start: [5, 29] +- goal: [9, 11] + name: agent92 + start: [6, 20] +- goal: [25, 11] + name: agent93 + start: [6, 25] +- goal: [22, 9] + name: agent94 + start: [15, 27] +- goal: [0, 9] + name: agent95 + start: [24, 7] +- goal: [13, 12] + name: agent96 + start: [21, 1] +- goal: [10, 21] + name: agent97 + start: [26, 9] +- goal: [13, 24] + name: agent98 + start: [15, 13] +- goal: [28, 22] + name: agent99 + start: [19, 0] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [8, 22] + - !!python/tuple [7, 15] + - !!python/tuple [15, 3] + - !!python/tuple [14, 10] + - !!python/tuple [5, 16] + - !!python/tuple [8, 10] + - !!python/tuple [8, 29] + - !!python/tuple [6, 13] + - !!python/tuple [17, 24] + - !!python/tuple [19, 2] + - !!python/tuple [4, 21] + - !!python/tuple [30, 27] + - !!python/tuple [24, 2] + - !!python/tuple [9, 14] + - !!python/tuple [16, 28] + - !!python/tuple [30, 0] + - !!python/tuple [6, 7] + - !!python/tuple [25, 9] + - !!python/tuple [17, 2] + - !!python/tuple [20, 9] + - !!python/tuple [13, 7] + - !!python/tuple [17, 12] + - !!python/tuple [18, 26] + - !!python/tuple [11, 15] + - !!python/tuple [5, 2] + - !!python/tuple [30, 7] + - !!python/tuple [17, 0] + - !!python/tuple [23, 15] + - !!python/tuple [30, 4] + - !!python/tuple [9, 26] + - !!python/tuple [23, 24] + - !!python/tuple [1, 22] + - !!python/tuple [27, 25] + - !!python/tuple [4, 22] + - !!python/tuple [1, 28] + - !!python/tuple [24, 18] + - !!python/tuple [22, 31] + - !!python/tuple [12, 24] + - !!python/tuple [19, 25] + - !!python/tuple [26, 28] + - !!python/tuple [1, 14] + - !!python/tuple [29, 15] + - !!python/tuple [0, 24] + - !!python/tuple [22, 10] + - !!python/tuple [6, 14] + - !!python/tuple [24, 25] + - !!python/tuple [21, 9] + - !!python/tuple [21, 28] + - !!python/tuple [2, 13] + - !!python/tuple [5, 19] + - !!python/tuple [9, 2] + - !!python/tuple [7, 9] + - !!python/tuple [13, 29] + - !!python/tuple [12, 23] + - !!python/tuple [31, 8] + - !!python/tuple [27, 23] + - !!python/tuple [2, 1] + - !!python/tuple [8, 23] + - !!python/tuple [3, 1] + - !!python/tuple [23, 13] + - !!python/tuple [27, 0] + - !!python/tuple [7, 16] + - !!python/tuple [7, 1] + - !!python/tuple [30, 9] + - !!python/tuple [21, 4] + - !!python/tuple [18, 11] + - !!python/tuple [22, 25] + - !!python/tuple [24, 19] + - !!python/tuple [13, 30] + - !!python/tuple [3, 15] + - !!python/tuple [26, 8] + - !!python/tuple [17, 29] + - !!python/tuple [31, 18] + - !!python/tuple [31, 15] + - !!python/tuple [10, 26] + - !!python/tuple [10, 23] + - !!python/tuple [19, 12] + - !!python/tuple [12, 7] + - !!python/tuple [5, 4] + - !!python/tuple [12, 11] + - !!python/tuple [26, 19] + - !!python/tuple [27, 18] + - !!python/tuple [30, 10] + - !!python/tuple [14, 7] + - !!python/tuple [21, 30] + - !!python/tuple [24, 13] + - !!python/tuple [24, 14] + - !!python/tuple [12, 4] + - !!python/tuple [2, 7] + - !!python/tuple [4, 15] + - !!python/tuple [8, 9] + - !!python/tuple [5, 7] + - !!python/tuple [14, 25] + - !!python/tuple [9, 4] + - !!python/tuple [12, 29] + - !!python/tuple [28, 18] + - !!python/tuple [7, 29] + - !!python/tuple [20, 22] + - !!python/tuple [21, 17] + - !!python/tuple [28, 26] + - !!python/tuple [20, 7] + - !!python/tuple [31, 11] + - !!python/tuple [28, 12] + - !!python/tuple [29, 22] + - !!python/tuple [6, 0] + - !!python/tuple [27, 26] + - !!python/tuple [5, 14] + - !!python/tuple [2, 4] + - !!python/tuple [2, 26] + - !!python/tuple [6, 27] + - !!python/tuple [23, 5] + - !!python/tuple [7, 22] + - !!python/tuple [9, 22] + - !!python/tuple [24, 23] + - !!python/tuple [12, 17] + - !!python/tuple [16, 6] + - !!python/tuple [20, 19] + - !!python/tuple [9, 8] + - !!python/tuple [8, 31] + - !!python/tuple [13, 16] + - !!python/tuple [20, 29] + - !!python/tuple [19, 1] + - !!python/tuple [21, 11] + - !!python/tuple [8, 20] + - !!python/tuple [18, 23] + - !!python/tuple [18, 30] + - !!python/tuple [18, 12] + - !!python/tuple [3, 2] + - !!python/tuple [24, 22] + - !!python/tuple [4, 17] + - !!python/tuple [5, 25] + - !!python/tuple [10, 13] + - !!python/tuple [2, 11] + - !!python/tuple [15, 22] + - !!python/tuple [8, 14] + - !!python/tuple [4, 19] + - !!python/tuple [1, 26] + - !!python/tuple [23, 1] + - !!python/tuple [25, 1] + - !!python/tuple [14, 1] + - !!python/tuple [19, 7] + - !!python/tuple [29, 11] + - !!python/tuple [8, 25] + - !!python/tuple [9, 30] + - !!python/tuple [14, 26] + - !!python/tuple [4, 10] + - !!python/tuple [30, 21] + - !!python/tuple [13, 25] + - !!python/tuple [1, 18] + - !!python/tuple [7, 28] + - !!python/tuple [0, 14] + - !!python/tuple [22, 19] + - !!python/tuple [30, 13] + - !!python/tuple [6, 31] + - !!python/tuple [30, 18] + - !!python/tuple [4, 30] + - !!python/tuple [6, 19] + - !!python/tuple [7, 31] + - !!python/tuple [25, 14] + - !!python/tuple [0, 31] + - !!python/tuple [9, 24] + - !!python/tuple [15, 21] + - !!python/tuple [6, 15] + - !!python/tuple [0, 10] + - !!python/tuple [2, 21] + - !!python/tuple [28, 29] + - !!python/tuple [15, 0] + - !!python/tuple [0, 8] + - !!python/tuple [1, 15] + - !!python/tuple [3, 8] + - !!python/tuple [20, 15] + - !!python/tuple [20, 4] + - !!python/tuple [11, 30] + - !!python/tuple [1, 10] + - !!python/tuple [18, 20] + - !!python/tuple [16, 10] + - !!python/tuple [8, 5] + - !!python/tuple [2, 30] + - !!python/tuple [19, 29] + - !!python/tuple [14, 13] + - !!python/tuple [22, 24] + - !!python/tuple [17, 8] + - !!python/tuple [20, 26] + - !!python/tuple [28, 16] + - !!python/tuple [3, 11] + - !!python/tuple [22, 22] + - !!python/tuple [20, 23] + - !!python/tuple [10, 14] + - !!python/tuple [31, 4] + - !!python/tuple [1, 17] + - !!python/tuple [5, 31] + - !!python/tuple [30, 6] + - !!python/tuple [12, 20] + - !!python/tuple [16, 29] + - !!python/tuple [16, 9] + - !!python/tuple [27, 2] + - !!python/tuple [4, 25] + - !!python/tuple [25, 28] + - !!python/tuple [27, 12] + - !!python/tuple [0, 29] + - !!python/tuple [18, 14] + - !!python/tuple [12, 3] + - !!python/tuple [11, 24] + - !!python/tuple [20, 2] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex22.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex22.yaml new file mode 100644 index 0000000..e51e029 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex22.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [28, 3] + name: agent0 + start: [8, 7] +- goal: [22, 18] + name: agent1 + start: [7, 12] +- goal: [24, 19] + name: agent2 + start: [31, 30] +- goal: [24, 26] + name: agent3 + start: [18, 20] +- goal: [19, 16] + name: agent4 + start: [3, 0] +- goal: [1, 20] + name: agent5 + start: [24, 30] +- goal: [29, 0] + name: agent6 + start: [17, 21] +- goal: [16, 15] + name: agent7 + start: [8, 2] +- goal: [28, 20] + name: agent8 + start: [12, 4] +- goal: [29, 23] + name: agent9 + start: [14, 19] +- goal: [16, 10] + name: agent10 + start: [8, 12] +- goal: [2, 19] + name: agent11 + start: [17, 15] +- goal: [11, 14] + name: agent12 + start: [17, 10] +- goal: [29, 15] + name: agent13 + start: [25, 1] +- goal: [19, 26] + name: agent14 + start: [18, 28] +- goal: [18, 20] + name: agent15 + start: [23, 31] +- goal: [29, 13] + name: agent16 + start: [17, 16] +- goal: [11, 21] + name: agent17 + start: [23, 5] +- goal: [24, 23] + name: agent18 + start: [2, 31] +- goal: [26, 18] + name: agent19 + start: [6, 24] +- goal: [29, 8] + name: agent20 + start: [1, 10] +- goal: [22, 13] + name: agent21 + start: [22, 17] +- goal: [21, 30] + name: agent22 + start: [26, 27] +- goal: [2, 25] + name: agent23 + start: [26, 18] +- goal: [29, 16] + name: agent24 + start: [8, 9] +- goal: [23, 12] + name: agent25 + start: [27, 12] +- goal: [27, 0] + name: agent26 + start: [26, 0] +- goal: [10, 30] + name: agent27 + start: [24, 2] +- goal: [14, 1] + name: agent28 + start: [12, 7] +- goal: [26, 15] + name: agent29 + start: [29, 20] +- goal: [23, 18] + name: agent30 + start: [25, 20] +- goal: [31, 28] + name: agent31 + start: [25, 30] +- goal: [29, 21] + name: agent32 + start: [28, 18] +- goal: [8, 9] + name: agent33 + start: [30, 18] +- goal: [6, 15] + name: agent34 + start: [23, 22] +- goal: [4, 23] + name: agent35 + start: [7, 2] +- goal: [19, 28] + name: agent36 + start: [8, 6] +- goal: [0, 23] + name: agent37 + start: [29, 5] +- goal: [10, 13] + name: agent38 + start: [28, 4] +- goal: [7, 11] + name: agent39 + start: [9, 20] +- goal: [23, 23] + name: agent40 + start: [14, 23] +- goal: [23, 31] + name: agent41 + start: [23, 27] +- goal: [25, 6] + name: agent42 + start: [26, 10] +- goal: [27, 30] + name: agent43 + start: [25, 11] +- goal: [31, 18] + name: agent44 + start: [29, 28] +- goal: [23, 14] + name: agent45 + start: [11, 31] +- goal: [1, 6] + name: agent46 + start: [15, 10] +- goal: [16, 2] + name: agent47 + start: [25, 13] +- goal: [13, 11] + name: agent48 + start: [15, 29] +- goal: [14, 26] + name: agent49 + start: [12, 22] +- goal: [16, 6] + name: agent50 + start: [3, 30] +- goal: [30, 24] + name: agent51 + start: [2, 14] +- goal: [21, 10] + name: agent52 + start: [20, 13] +- goal: [6, 24] + name: agent53 + start: [19, 2] +- goal: [4, 8] + name: agent54 + start: [22, 24] +- goal: [17, 28] + name: agent55 + start: [16, 13] +- goal: [18, 13] + name: agent56 + start: [6, 25] +- goal: [6, 19] + name: agent57 + start: [21, 20] +- goal: [16, 18] + name: agent58 + start: [30, 1] +- goal: [3, 26] + name: agent59 + start: [15, 28] +- goal: [25, 11] + name: agent60 + start: [5, 14] +- goal: [14, 18] + name: agent61 + start: [22, 5] +- goal: [18, 15] + name: agent62 + start: [10, 30] +- goal: [9, 22] + name: agent63 + start: [28, 24] +- goal: [11, 28] + name: agent64 + start: [3, 27] +- goal: [12, 12] + name: agent65 + start: [31, 22] +- goal: [12, 29] + name: agent66 + start: [9, 23] +- goal: [24, 11] + name: agent67 + start: [18, 11] +- goal: [3, 13] + name: agent68 + start: [28, 15] +- goal: [21, 0] + name: agent69 + start: [14, 9] +- goal: [25, 13] + name: agent70 + start: [29, 9] +- goal: [19, 22] + name: agent71 + start: [20, 10] +- goal: [26, 10] + name: agent72 + start: [19, 24] +- goal: [5, 1] + name: agent73 + start: [7, 8] +- goal: [17, 21] + name: agent74 + start: [29, 0] +- goal: [0, 10] + name: agent75 + start: [25, 10] +- goal: [25, 4] + name: agent76 + start: [11, 27] +- goal: [5, 11] + name: agent77 + start: [1, 26] +- goal: [15, 17] + name: agent78 + start: [28, 8] +- goal: [25, 26] + name: agent79 + start: [24, 25] +- goal: [10, 26] + name: agent80 + start: [1, 21] +- goal: [19, 17] + name: agent81 + start: [11, 12] +- goal: [0, 3] + name: agent82 + start: [4, 12] +- goal: [14, 8] + name: agent83 + start: [27, 3] +- goal: [10, 22] + name: agent84 + start: [4, 9] +- goal: [9, 25] + name: agent85 + start: [9, 12] +- goal: [15, 6] + name: agent86 + start: [26, 28] +- goal: [2, 22] + name: agent87 + start: [0, 11] +- goal: [30, 7] + name: agent88 + start: [3, 18] +- goal: [16, 28] + name: agent89 + start: [17, 6] +- goal: [27, 27] + name: agent90 + start: [24, 26] +- goal: [27, 21] + name: agent91 + start: [17, 5] +- goal: [25, 16] + name: agent92 + start: [1, 12] +- goal: [16, 29] + name: agent93 + start: [22, 25] +- goal: [25, 3] + name: agent94 + start: [30, 27] +- goal: [10, 24] + name: agent95 + start: [16, 2] +- goal: [11, 22] + name: agent96 + start: [15, 0] +- goal: [17, 10] + name: agent97 + start: [23, 30] +- goal: [10, 7] + name: agent98 + start: [23, 6] +- goal: [4, 10] + name: agent99 + start: [29, 1] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [4, 26] + - !!python/tuple [2, 29] + - !!python/tuple [16, 20] + - !!python/tuple [4, 14] + - !!python/tuple [17, 7] + - !!python/tuple [9, 29] + - !!python/tuple [1, 31] + - !!python/tuple [20, 21] + - !!python/tuple [16, 23] + - !!python/tuple [25, 27] + - !!python/tuple [26, 1] + - !!python/tuple [21, 16] + - !!python/tuple [30, 23] + - !!python/tuple [25, 25] + - !!python/tuple [3, 29] + - !!python/tuple [6, 12] + - !!python/tuple [25, 14] + - !!python/tuple [2, 27] + - !!python/tuple [13, 29] + - !!python/tuple [8, 21] + - !!python/tuple [26, 30] + - !!python/tuple [21, 14] + - !!python/tuple [2, 5] + - !!python/tuple [23, 15] + - !!python/tuple [25, 15] + - !!python/tuple [10, 20] + - !!python/tuple [13, 4] + - !!python/tuple [2, 28] + - !!python/tuple [13, 1] + - !!python/tuple [26, 5] + - !!python/tuple [31, 27] + - !!python/tuple [19, 12] + - !!python/tuple [27, 28] + - !!python/tuple [0, 22] + - !!python/tuple [7, 21] + - !!python/tuple [18, 29] + - !!python/tuple [12, 11] + - !!python/tuple [15, 22] + - !!python/tuple [12, 18] + - !!python/tuple [7, 6] + - !!python/tuple [8, 8] + - !!python/tuple [27, 10] + - !!python/tuple [22, 19] + - !!python/tuple [26, 8] + - !!python/tuple [28, 19] + - !!python/tuple [1, 5] + - !!python/tuple [10, 27] + - !!python/tuple [8, 20] + - !!python/tuple [15, 31] + - !!python/tuple [0, 25] + - !!python/tuple [23, 26] + - !!python/tuple [25, 8] + - !!python/tuple [23, 21] + - !!python/tuple [23, 10] + - !!python/tuple [10, 28] + - !!python/tuple [24, 7] + - !!python/tuple [26, 13] + - !!python/tuple [22, 8] + - !!python/tuple [14, 15] + - !!python/tuple [26, 16] + - !!python/tuple [6, 0] + - !!python/tuple [10, 4] + - !!python/tuple [6, 6] + - !!python/tuple [9, 7] + - !!python/tuple [21, 17] + - !!python/tuple [6, 23] + - !!python/tuple [29, 3] + - !!python/tuple [24, 18] + - !!python/tuple [7, 26] + - !!python/tuple [16, 31] + - !!python/tuple [18, 16] + - !!python/tuple [24, 29] + - !!python/tuple [15, 15] + - !!python/tuple [4, 3] + - !!python/tuple [1, 27] + - !!python/tuple [15, 26] + - !!python/tuple [26, 19] + - !!python/tuple [31, 12] + - !!python/tuple [24, 21] + - !!python/tuple [13, 14] + - !!python/tuple [24, 13] + - !!python/tuple [7, 25] + - !!python/tuple [16, 26] + - !!python/tuple [2, 23] + - !!python/tuple [0, 24] + - !!python/tuple [19, 5] + - !!python/tuple [7, 5] + - !!python/tuple [30, 2] + - !!python/tuple [29, 12] + - !!python/tuple [30, 20] + - !!python/tuple [24, 24] + - !!python/tuple [21, 31] + - !!python/tuple [2, 10] + - !!python/tuple [29, 19] + - !!python/tuple [22, 28] + - !!python/tuple [31, 21] + - !!python/tuple [5, 25] + - !!python/tuple [12, 23] + - !!python/tuple [13, 26] + - !!python/tuple [7, 17] + - !!python/tuple [11, 11] + - !!python/tuple [11, 5] + - !!python/tuple [11, 2] + - !!python/tuple [28, 28] + - !!python/tuple [2, 6] + - !!python/tuple [30, 4] + - !!python/tuple [11, 30] + - !!python/tuple [24, 22] + - !!python/tuple [3, 8] + - !!python/tuple [9, 3] + - !!python/tuple [23, 7] + - !!python/tuple [13, 22] + - !!python/tuple [14, 10] + - !!python/tuple [3, 16] + - !!python/tuple [31, 8] + - !!python/tuple [10, 1] + - !!python/tuple [4, 0] + - !!python/tuple [21, 29] + - !!python/tuple [28, 12] + - !!python/tuple [1, 2] + - !!python/tuple [24, 9] + - !!python/tuple [17, 18] + - !!python/tuple [13, 8] + - !!python/tuple [27, 9] + - !!python/tuple [26, 4] + - !!python/tuple [6, 22] + - !!python/tuple [28, 23] + - !!python/tuple [1, 4] + - !!python/tuple [18, 7] + - !!python/tuple [21, 5] + - !!python/tuple [16, 5] + - !!python/tuple [7, 1] + - !!python/tuple [8, 30] + - !!python/tuple [6, 5] + - !!python/tuple [12, 15] + - !!python/tuple [11, 6] + - !!python/tuple [20, 3] + - !!python/tuple [24, 3] + - !!python/tuple [25, 9] + - !!python/tuple [9, 26] + - !!python/tuple [0, 30] + - !!python/tuple [27, 26] + - !!python/tuple [6, 13] + - !!python/tuple [17, 24] + - !!python/tuple [6, 14] + - !!python/tuple [22, 11] + - !!python/tuple [2, 16] + - !!python/tuple [6, 2] + - !!python/tuple [27, 14] + - !!python/tuple [3, 2] + - !!python/tuple [22, 3] + - !!python/tuple [28, 13] + - !!python/tuple [20, 2] + - !!python/tuple [9, 31] + - !!python/tuple [9, 10] + - !!python/tuple [9, 5] + - !!python/tuple [26, 26] + - !!python/tuple [22, 6] + - !!python/tuple [2, 21] + - !!python/tuple [7, 29] + - !!python/tuple [2, 12] + - !!python/tuple [6, 31] + - !!python/tuple [24, 1] + - !!python/tuple [0, 12] + - !!python/tuple [6, 18] + - !!python/tuple [26, 3] + - !!python/tuple [30, 13] + - !!python/tuple [26, 21] + - !!python/tuple [5, 27] + - !!python/tuple [7, 30] + - !!python/tuple [30, 21] + - !!python/tuple [11, 4] + - !!python/tuple [18, 8] + - !!python/tuple [30, 22] + - !!python/tuple [28, 26] + - !!python/tuple [9, 1] + - !!python/tuple [23, 20] + - !!python/tuple [12, 10] + - !!python/tuple [9, 19] + - !!python/tuple [23, 28] + - !!python/tuple [26, 25] + - !!python/tuple [20, 29] + - !!python/tuple [30, 15] + - !!python/tuple [14, 20] + - !!python/tuple [0, 14] + - !!python/tuple [20, 24] + - !!python/tuple [5, 21] + - !!python/tuple [3, 3] + - !!python/tuple [10, 18] + - !!python/tuple [12, 2] + - !!python/tuple [23, 9] + - !!python/tuple [20, 4] + - !!python/tuple [29, 10] + - !!python/tuple [10, 31] + - !!python/tuple [2, 26] + - !!python/tuple [12, 26] + - !!python/tuple [21, 27] + - !!python/tuple [21, 23] + - !!python/tuple [30, 8] + - !!python/tuple [1, 24] + - !!python/tuple [24, 4] + - !!python/tuple [11, 0] + - !!python/tuple [3, 4] + - !!python/tuple [22, 20] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex23.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex23.yaml new file mode 100644 index 0000000..113a32a --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex23.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [27, 22] + name: agent0 + start: [22, 31] +- goal: [30, 9] + name: agent1 + start: [30, 16] +- goal: [0, 0] + name: agent2 + start: [20, 24] +- goal: [8, 0] + name: agent3 + start: [2, 2] +- goal: [7, 31] + name: agent4 + start: [23, 26] +- goal: [0, 4] + name: agent5 + start: [30, 27] +- goal: [25, 28] + name: agent6 + start: [21, 23] +- goal: [24, 16] + name: agent7 + start: [9, 30] +- goal: [13, 5] + name: agent8 + start: [5, 19] +- goal: [5, 8] + name: agent9 + start: [1, 17] +- goal: [5, 19] + name: agent10 + start: [29, 4] +- goal: [7, 17] + name: agent11 + start: [19, 28] +- goal: [4, 7] + name: agent12 + start: [22, 24] +- goal: [20, 0] + name: agent13 + start: [24, 15] +- goal: [12, 22] + name: agent14 + start: [19, 11] +- goal: [19, 24] + name: agent15 + start: [23, 18] +- goal: [0, 12] + name: agent16 + start: [22, 5] +- goal: [18, 29] + name: agent17 + start: [8, 17] +- goal: [4, 31] + name: agent18 + start: [26, 14] +- goal: [24, 23] + name: agent19 + start: [11, 16] +- goal: [7, 11] + name: agent20 + start: [15, 14] +- goal: [13, 13] + name: agent21 + start: [1, 24] +- goal: [8, 6] + name: agent22 + start: [30, 1] +- goal: [30, 7] + name: agent23 + start: [27, 11] +- goal: [30, 23] + name: agent24 + start: [17, 19] +- goal: [26, 7] + name: agent25 + start: [10, 13] +- goal: [10, 11] + name: agent26 + start: [31, 29] +- goal: [30, 27] + name: agent27 + start: [5, 1] +- goal: [8, 26] + name: agent28 + start: [28, 2] +- goal: [16, 11] + name: agent29 + start: [15, 2] +- goal: [7, 26] + name: agent30 + start: [29, 31] +- goal: [1, 2] + name: agent31 + start: [6, 3] +- goal: [27, 6] + name: agent32 + start: [28, 8] +- goal: [28, 8] + name: agent33 + start: [9, 3] +- goal: [14, 0] + name: agent34 + start: [10, 3] +- goal: [7, 9] + name: agent35 + start: [26, 18] +- goal: [20, 16] + name: agent36 + start: [17, 4] +- goal: [5, 9] + name: agent37 + start: [19, 26] +- goal: [23, 6] + name: agent38 + start: [28, 31] +- goal: [19, 7] + name: agent39 + start: [17, 31] +- goal: [10, 13] + name: agent40 + start: [17, 22] +- goal: [2, 15] + name: agent41 + start: [27, 2] +- goal: [3, 13] + name: agent42 + start: [11, 17] +- goal: [7, 21] + name: agent43 + start: [20, 0] +- goal: [17, 31] + name: agent44 + start: [15, 19] +- goal: [28, 18] + name: agent45 + start: [1, 2] +- goal: [28, 24] + name: agent46 + start: [25, 23] +- goal: [3, 14] + name: agent47 + start: [23, 3] +- goal: [4, 5] + name: agent48 + start: [30, 5] +- goal: [26, 23] + name: agent49 + start: [31, 22] +- goal: [22, 29] + name: agent50 + start: [19, 1] +- goal: [8, 18] + name: agent51 + start: [26, 22] +- goal: [27, 2] + name: agent52 + start: [19, 23] +- goal: [5, 28] + name: agent53 + start: [15, 21] +- goal: [5, 15] + name: agent54 + start: [8, 26] +- goal: [28, 3] + name: agent55 + start: [30, 23] +- goal: [28, 12] + name: agent56 + start: [2, 20] +- goal: [16, 3] + name: agent57 + start: [25, 1] +- goal: [14, 24] + name: agent58 + start: [20, 16] +- goal: [20, 7] + name: agent59 + start: [11, 14] +- goal: [7, 6] + name: agent60 + start: [18, 16] +- goal: [16, 18] + name: agent61 + start: [31, 0] +- goal: [24, 8] + name: agent62 + start: [29, 18] +- goal: [24, 26] + name: agent63 + start: [7, 8] +- goal: [12, 24] + name: agent64 + start: [16, 10] +- goal: [6, 25] + name: agent65 + start: [18, 23] +- goal: [4, 11] + name: agent66 + start: [19, 8] +- goal: [27, 14] + name: agent67 + start: [19, 2] +- goal: [9, 7] + name: agent68 + start: [23, 21] +- goal: [31, 1] + name: agent69 + start: [16, 9] +- goal: [2, 25] + name: agent70 + start: [26, 17] +- goal: [30, 22] + name: agent71 + start: [14, 17] +- goal: [23, 28] + name: agent72 + start: [10, 31] +- goal: [25, 0] + name: agent73 + start: [11, 19] +- goal: [18, 18] + name: agent74 + start: [24, 30] +- goal: [19, 28] + name: agent75 + start: [31, 18] +- goal: [15, 24] + name: agent76 + start: [13, 2] +- goal: [6, 18] + name: agent77 + start: [12, 24] +- goal: [20, 15] + name: agent78 + start: [28, 15] +- goal: [8, 24] + name: agent79 + start: [14, 22] +- goal: [28, 14] + name: agent80 + start: [8, 3] +- goal: [6, 27] + name: agent81 + start: [14, 2] +- goal: [21, 3] + name: agent82 + start: [25, 0] +- goal: [23, 2] + name: agent83 + start: [12, 19] +- goal: [15, 11] + name: agent84 + start: [27, 21] +- goal: [28, 6] + name: agent85 + start: [4, 1] +- goal: [25, 21] + name: agent86 + start: [25, 2] +- goal: [27, 21] + name: agent87 + start: [30, 11] +- goal: [18, 15] + name: agent88 + start: [21, 24] +- goal: [12, 15] + name: agent89 + start: [24, 11] +- goal: [23, 23] + name: agent90 + start: [13, 4] +- goal: [13, 22] + name: agent91 + start: [27, 6] +- goal: [29, 11] + name: agent92 + start: [21, 20] +- goal: [26, 30] + name: agent93 + start: [0, 21] +- goal: [29, 21] + name: agent94 + start: [14, 24] +- goal: [1, 20] + name: agent95 + start: [4, 0] +- goal: [0, 23] + name: agent96 + start: [9, 19] +- goal: [21, 6] + name: agent97 + start: [10, 23] +- goal: [16, 23] + name: agent98 + start: [0, 18] +- goal: [26, 22] + name: agent99 + start: [12, 12] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [11, 1] + - !!python/tuple [14, 3] + - !!python/tuple [31, 4] + - !!python/tuple [16, 7] + - !!python/tuple [14, 18] + - !!python/tuple [16, 15] + - !!python/tuple [12, 23] + - !!python/tuple [1, 9] + - !!python/tuple [27, 10] + - !!python/tuple [24, 4] + - !!python/tuple [6, 15] + - !!python/tuple [21, 5] + - !!python/tuple [3, 17] + - !!python/tuple [28, 30] + - !!python/tuple [11, 20] + - !!python/tuple [31, 30] + - !!python/tuple [3, 6] + - !!python/tuple [11, 7] + - !!python/tuple [16, 8] + - !!python/tuple [3, 11] + - !!python/tuple [13, 24] + - !!python/tuple [21, 19] + - !!python/tuple [7, 30] + - !!python/tuple [2, 27] + - !!python/tuple [5, 2] + - !!python/tuple [23, 0] + - !!python/tuple [6, 19] + - !!python/tuple [23, 1] + - !!python/tuple [17, 18] + - !!python/tuple [17, 11] + - !!python/tuple [0, 10] + - !!python/tuple [9, 31] + - !!python/tuple [11, 13] + - !!python/tuple [25, 11] + - !!python/tuple [16, 21] + - !!python/tuple [25, 8] + - !!python/tuple [23, 25] + - !!python/tuple [1, 11] + - !!python/tuple [24, 9] + - !!python/tuple [26, 12] + - !!python/tuple [22, 18] + - !!python/tuple [26, 24] + - !!python/tuple [29, 5] + - !!python/tuple [31, 26] + - !!python/tuple [1, 8] + - !!python/tuple [4, 19] + - !!python/tuple [20, 4] + - !!python/tuple [6, 29] + - !!python/tuple [14, 20] + - !!python/tuple [18, 27] + - !!python/tuple [11, 18] + - !!python/tuple [25, 15] + - !!python/tuple [21, 2] + - !!python/tuple [25, 17] + - !!python/tuple [30, 25] + - !!python/tuple [25, 27] + - !!python/tuple [28, 28] + - !!python/tuple [29, 29] + - !!python/tuple [7, 12] + - !!python/tuple [5, 4] + - !!python/tuple [29, 30] + - !!python/tuple [17, 24] + - !!python/tuple [28, 11] + - !!python/tuple [5, 31] + - !!python/tuple [1, 25] + - !!python/tuple [26, 25] + - !!python/tuple [13, 6] + - !!python/tuple [3, 9] + - !!python/tuple [3, 23] + - !!python/tuple [8, 16] + - !!python/tuple [0, 29] + - !!python/tuple [29, 9] + - !!python/tuple [1, 3] + - !!python/tuple [19, 5] + - !!python/tuple [14, 19] + - !!python/tuple [20, 30] + - !!python/tuple [0, 2] + - !!python/tuple [2, 3] + - !!python/tuple [2, 11] + - !!python/tuple [22, 12] + - !!python/tuple [20, 23] + - !!python/tuple [12, 18] + - !!python/tuple [19, 29] + - !!python/tuple [2, 4] + - !!python/tuple [31, 13] + - !!python/tuple [30, 18] + - !!python/tuple [15, 5] + - !!python/tuple [11, 12] + - !!python/tuple [23, 4] + - !!python/tuple [31, 31] + - !!python/tuple [23, 7] + - !!python/tuple [20, 9] + - !!python/tuple [24, 31] + - !!python/tuple [10, 2] + - !!python/tuple [4, 22] + - !!python/tuple [26, 6] + - !!python/tuple [9, 16] + - !!python/tuple [13, 8] + - !!python/tuple [14, 15] + - !!python/tuple [3, 21] + - !!python/tuple [3, 10] + - !!python/tuple [7, 10] + - !!python/tuple [3, 0] + - !!python/tuple [0, 11] + - !!python/tuple [0, 13] + - !!python/tuple [26, 16] + - !!python/tuple [18, 31] + - !!python/tuple [8, 22] + - !!python/tuple [26, 8] + - !!python/tuple [21, 18] + - !!python/tuple [14, 29] + - !!python/tuple [12, 1] + - !!python/tuple [0, 17] + - !!python/tuple [20, 18] + - !!python/tuple [13, 18] + - !!python/tuple [29, 23] + - !!python/tuple [10, 18] + - !!python/tuple [15, 23] + - !!python/tuple [26, 29] + - !!python/tuple [18, 8] + - !!python/tuple [10, 4] + - !!python/tuple [21, 27] + - !!python/tuple [19, 6] + - !!python/tuple [20, 5] + - !!python/tuple [6, 0] + - !!python/tuple [17, 10] + - !!python/tuple [12, 31] + - !!python/tuple [6, 21] + - !!python/tuple [17, 20] + - !!python/tuple [8, 1] + - !!python/tuple [29, 22] + - !!python/tuple [14, 16] + - !!python/tuple [19, 4] + - !!python/tuple [12, 6] + - !!python/tuple [13, 20] + - !!python/tuple [27, 25] + - !!python/tuple [15, 0] + - !!python/tuple [4, 15] + - !!python/tuple [1, 18] + - !!python/tuple [2, 6] + - !!python/tuple [0, 1] + - !!python/tuple [5, 17] + - !!python/tuple [14, 30] + - !!python/tuple [3, 3] + - !!python/tuple [6, 4] + - !!python/tuple [16, 31] + - !!python/tuple [22, 2] + - !!python/tuple [16, 28] + - !!python/tuple [18, 2] + - !!python/tuple [8, 25] + - !!python/tuple [14, 25] + - !!python/tuple [14, 26] + - !!python/tuple [17, 27] + - !!python/tuple [3, 18] + - !!python/tuple [31, 11] + - !!python/tuple [22, 7] + - !!python/tuple [11, 4] + - !!python/tuple [10, 8] + - !!python/tuple [4, 30] + - !!python/tuple [26, 28] + - !!python/tuple [7, 20] + - !!python/tuple [15, 8] + - !!python/tuple [6, 12] + - !!python/tuple [27, 17] + - !!python/tuple [14, 27] + - !!python/tuple [15, 20] + - !!python/tuple [20, 2] + - !!python/tuple [0, 26] + - !!python/tuple [17, 6] + - !!python/tuple [16, 16] + - !!python/tuple [14, 11] + - !!python/tuple [17, 5] + - !!python/tuple [31, 25] + - !!python/tuple [30, 19] + - !!python/tuple [13, 9] + - !!python/tuple [4, 20] + - !!python/tuple [20, 26] + - !!python/tuple [3, 28] + - !!python/tuple [8, 8] + - !!python/tuple [15, 17] + - !!python/tuple [25, 9] + - !!python/tuple [24, 13] + - !!python/tuple [14, 21] + - !!python/tuple [18, 28] + - !!python/tuple [31, 10] + - !!python/tuple [17, 17] + - !!python/tuple [27, 4] + - !!python/tuple [21, 1] + - !!python/tuple [9, 6] + - !!python/tuple [18, 11] + - !!python/tuple [9, 22] + - !!python/tuple [18, 30] + - !!python/tuple [23, 29] + - !!python/tuple [21, 30] + - !!python/tuple [6, 26] + - !!python/tuple [25, 7] + - !!python/tuple [11, 2] + - !!python/tuple [22, 27] + - !!python/tuple [29, 10] + - !!python/tuple [3, 26] + - !!python/tuple [5, 30] + - !!python/tuple [17, 3] + - !!python/tuple [9, 25] + - !!python/tuple [17, 9] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex24.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex24.yaml new file mode 100644 index 0000000..9e935ba --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex24.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [17, 5] + name: agent0 + start: [31, 22] +- goal: [19, 12] + name: agent1 + start: [23, 1] +- goal: [12, 20] + name: agent2 + start: [31, 15] +- goal: [21, 18] + name: agent3 + start: [5, 3] +- goal: [30, 27] + name: agent4 + start: [22, 2] +- goal: [0, 13] + name: agent5 + start: [8, 2] +- goal: [27, 7] + name: agent6 + start: [10, 8] +- goal: [4, 9] + name: agent7 + start: [31, 4] +- goal: [18, 3] + name: agent8 + start: [15, 20] +- goal: [7, 3] + name: agent9 + start: [1, 21] +- goal: [5, 15] + name: agent10 + start: [13, 18] +- goal: [12, 23] + name: agent11 + start: [1, 12] +- goal: [15, 0] + name: agent12 + start: [31, 28] +- goal: [17, 11] + name: agent13 + start: [14, 16] +- goal: [23, 23] + name: agent14 + start: [5, 28] +- goal: [17, 16] + name: agent15 + start: [14, 6] +- goal: [12, 4] + name: agent16 + start: [28, 0] +- goal: [16, 16] + name: agent17 + start: [17, 23] +- goal: [29, 11] + name: agent18 + start: [30, 9] +- goal: [24, 11] + name: agent19 + start: [13, 16] +- goal: [19, 24] + name: agent20 + start: [20, 24] +- goal: [6, 2] + name: agent21 + start: [18, 23] +- goal: [8, 14] + name: agent22 + start: [3, 17] +- goal: [0, 0] + name: agent23 + start: [27, 7] +- goal: [2, 13] + name: agent24 + start: [3, 22] +- goal: [31, 27] + name: agent25 + start: [28, 21] +- goal: [30, 26] + name: agent26 + start: [30, 27] +- goal: [14, 17] + name: agent27 + start: [5, 17] +- goal: [25, 19] + name: agent28 + start: [12, 4] +- goal: [16, 13] + name: agent29 + start: [10, 16] +- goal: [16, 5] + name: agent30 + start: [21, 3] +- goal: [13, 10] + name: agent31 + start: [5, 4] +- goal: [29, 13] + name: agent32 + start: [27, 10] +- goal: [22, 5] + name: agent33 + start: [17, 3] +- goal: [11, 10] + name: agent34 + start: [21, 28] +- goal: [2, 7] + name: agent35 + start: [0, 19] +- goal: [30, 25] + name: agent36 + start: [11, 31] +- goal: [28, 5] + name: agent37 + start: [16, 26] +- goal: [1, 23] + name: agent38 + start: [29, 14] +- goal: [2, 4] + name: agent39 + start: [28, 1] +- goal: [17, 24] + name: agent40 + start: [6, 29] +- goal: [10, 7] + name: agent41 + start: [17, 10] +- goal: [25, 24] + name: agent42 + start: [16, 30] +- goal: [6, 9] + name: agent43 + start: [0, 12] +- goal: [19, 21] + name: agent44 + start: [5, 29] +- goal: [21, 26] + name: agent45 + start: [5, 25] +- goal: [10, 2] + name: agent46 + start: [13, 26] +- goal: [26, 15] + name: agent47 + start: [12, 28] +- goal: [22, 20] + name: agent48 + start: [3, 20] +- goal: [12, 1] + name: agent49 + start: [23, 4] +- goal: [8, 22] + name: agent50 + start: [14, 25] +- goal: [1, 15] + name: agent51 + start: [4, 3] +- goal: [31, 28] + name: agent52 + start: [13, 31] +- goal: [25, 7] + name: agent53 + start: [27, 12] +- goal: [0, 28] + name: agent54 + start: [11, 28] +- goal: [12, 6] + name: agent55 + start: [24, 22] +- goal: [19, 19] + name: agent56 + start: [12, 3] +- goal: [7, 7] + name: agent57 + start: [31, 0] +- goal: [31, 22] + name: agent58 + start: [18, 7] +- goal: [11, 21] + name: agent59 + start: [7, 10] +- goal: [10, 14] + name: agent60 + start: [12, 8] +- goal: [11, 12] + name: agent61 + start: [2, 26] +- goal: [24, 3] + name: agent62 + start: [29, 12] +- goal: [20, 28] + name: agent63 + start: [17, 21] +- goal: [15, 3] + name: agent64 + start: [12, 26] +- goal: [11, 28] + name: agent65 + start: [7, 8] +- goal: [28, 27] + name: agent66 + start: [10, 28] +- goal: [6, 4] + name: agent67 + start: [19, 3] +- goal: [8, 19] + name: agent68 + start: [11, 6] +- goal: [4, 30] + name: agent69 + start: [1, 10] +- goal: [25, 17] + name: agent70 + start: [21, 22] +- goal: [27, 11] + name: agent71 + start: [0, 1] +- goal: [20, 29] + name: agent72 + start: [10, 3] +- goal: [10, 16] + name: agent73 + start: [21, 21] +- goal: [26, 19] + name: agent74 + start: [0, 24] +- goal: [11, 22] + name: agent75 + start: [20, 17] +- goal: [29, 16] + name: agent76 + start: [7, 14] +- goal: [20, 5] + name: agent77 + start: [16, 15] +- goal: [12, 27] + name: agent78 + start: [4, 12] +- goal: [22, 17] + name: agent79 + start: [21, 4] +- goal: [2, 22] + name: agent80 + start: [8, 9] +- goal: [1, 10] + name: agent81 + start: [11, 9] +- goal: [31, 12] + name: agent82 + start: [10, 30] +- goal: [2, 5] + name: agent83 + start: [20, 26] +- goal: [13, 12] + name: agent84 + start: [10, 21] +- goal: [6, 27] + name: agent85 + start: [25, 27] +- goal: [8, 15] + name: agent86 + start: [22, 10] +- goal: [16, 22] + name: agent87 + start: [5, 24] +- goal: [21, 2] + name: agent88 + start: [2, 9] +- goal: [23, 19] + name: agent89 + start: [7, 26] +- goal: [19, 10] + name: agent90 + start: [11, 18] +- goal: [1, 28] + name: agent91 + start: [9, 16] +- goal: [19, 5] + name: agent92 + start: [3, 13] +- goal: [0, 15] + name: agent93 + start: [24, 10] +- goal: [11, 26] + name: agent94 + start: [14, 10] +- goal: [19, 27] + name: agent95 + start: [18, 31] +- goal: [10, 15] + name: agent96 + start: [18, 21] +- goal: [30, 19] + name: agent97 + start: [16, 18] +- goal: [25, 31] + name: agent98 + start: [16, 10] +- goal: [20, 25] + name: agent99 + start: [5, 13] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [1, 31] + - !!python/tuple [18, 14] + - !!python/tuple [21, 14] + - !!python/tuple [15, 1] + - !!python/tuple [0, 11] + - !!python/tuple [5, 11] + - !!python/tuple [13, 11] + - !!python/tuple [0, 2] + - !!python/tuple [25, 14] + - !!python/tuple [3, 21] + - !!python/tuple [17, 19] + - !!python/tuple [28, 8] + - !!python/tuple [29, 1] + - !!python/tuple [18, 28] + - !!python/tuple [23, 17] + - !!python/tuple [15, 16] + - !!python/tuple [28, 6] + - !!python/tuple [13, 19] + - !!python/tuple [19, 29] + - !!python/tuple [1, 7] + - !!python/tuple [21, 25] + - !!python/tuple [25, 18] + - !!python/tuple [3, 2] + - !!python/tuple [27, 19] + - !!python/tuple [0, 29] + - !!python/tuple [24, 15] + - !!python/tuple [30, 3] + - !!python/tuple [30, 16] + - !!python/tuple [9, 10] + - !!python/tuple [21, 5] + - !!python/tuple [27, 15] + - !!python/tuple [22, 13] + - !!python/tuple [27, 24] + - !!python/tuple [28, 22] + - !!python/tuple [9, 29] + - !!python/tuple [21, 17] + - !!python/tuple [26, 9] + - !!python/tuple [1, 14] + - !!python/tuple [0, 9] + - !!python/tuple [17, 25] + - !!python/tuple [26, 4] + - !!python/tuple [26, 8] + - !!python/tuple [3, 8] + - !!python/tuple [12, 30] + - !!python/tuple [24, 29] + - !!python/tuple [26, 0] + - !!python/tuple [24, 7] + - !!python/tuple [19, 4] + - !!python/tuple [13, 20] + - !!python/tuple [15, 22] + - !!python/tuple [6, 15] + - !!python/tuple [5, 5] + - !!python/tuple [0, 3] + - !!python/tuple [7, 23] + - !!python/tuple [7, 28] + - !!python/tuple [12, 9] + - !!python/tuple [26, 22] + - !!python/tuple [30, 22] + - !!python/tuple [7, 1] + - !!python/tuple [17, 26] + - !!python/tuple [28, 29] + - !!python/tuple [12, 18] + - !!python/tuple [14, 21] + - !!python/tuple [9, 12] + - !!python/tuple [28, 30] + - !!python/tuple [17, 15] + - !!python/tuple [31, 26] + - !!python/tuple [11, 1] + - !!python/tuple [24, 5] + - !!python/tuple [6, 10] + - !!python/tuple [23, 9] + - !!python/tuple [20, 16] + - !!python/tuple [18, 27] + - !!python/tuple [27, 28] + - !!python/tuple [9, 6] + - !!python/tuple [14, 12] + - !!python/tuple [25, 16] + - !!python/tuple [23, 31] + - !!python/tuple [27, 23] + - !!python/tuple [11, 8] + - !!python/tuple [29, 23] + - !!python/tuple [23, 13] + - !!python/tuple [19, 11] + - !!python/tuple [25, 10] + - !!python/tuple [10, 0] + - !!python/tuple [19, 7] + - !!python/tuple [18, 13] + - !!python/tuple [25, 9] + - !!python/tuple [30, 13] + - !!python/tuple [20, 20] + - !!python/tuple [17, 18] + - !!python/tuple [23, 27] + - !!python/tuple [11, 13] + - !!python/tuple [0, 18] + - !!python/tuple [0, 20] + - !!python/tuple [1, 2] + - !!python/tuple [26, 11] + - !!python/tuple [26, 27] + - !!python/tuple [28, 7] + - !!python/tuple [7, 0] + - !!python/tuple [2, 8] + - !!python/tuple [28, 24] + - !!python/tuple [4, 8] + - !!python/tuple [6, 30] + - !!python/tuple [6, 12] + - !!python/tuple [10, 5] + - !!python/tuple [20, 11] + - !!python/tuple [19, 8] + - !!python/tuple [13, 3] + - !!python/tuple [29, 20] + - !!python/tuple [1, 11] + - !!python/tuple [13, 29] + - !!python/tuple [24, 23] + - !!python/tuple [17, 1] + - !!python/tuple [7, 6] + - !!python/tuple [30, 29] + - !!python/tuple [12, 5] + - !!python/tuple [20, 22] + - !!python/tuple [3, 28] + - !!python/tuple [11, 5] + - !!python/tuple [30, 31] + - !!python/tuple [17, 17] + - !!python/tuple [4, 0] + - !!python/tuple [15, 6] + - !!python/tuple [31, 17] + - !!python/tuple [5, 16] + - !!python/tuple [27, 2] + - !!python/tuple [3, 11] + - !!python/tuple [8, 13] + - !!python/tuple [23, 24] + - !!python/tuple [4, 27] + - !!python/tuple [3, 0] + - !!python/tuple [14, 24] + - !!python/tuple [21, 1] + - !!python/tuple [6, 14] + - !!python/tuple [3, 25] + - !!python/tuple [25, 22] + - !!python/tuple [15, 13] + - !!python/tuple [16, 31] + - !!python/tuple [18, 4] + - !!python/tuple [4, 13] + - !!python/tuple [30, 20] + - !!python/tuple [20, 14] + - !!python/tuple [0, 16] + - !!python/tuple [5, 8] + - !!python/tuple [6, 7] + - !!python/tuple [7, 5] + - !!python/tuple [8, 8] + - !!python/tuple [23, 21] + - !!python/tuple [7, 17] + - !!python/tuple [7, 22] + - !!python/tuple [9, 15] + - !!python/tuple [15, 30] + - !!python/tuple [18, 8] + - !!python/tuple [21, 29] + - !!python/tuple [21, 23] + - !!python/tuple [29, 30] + - !!python/tuple [20, 19] + - !!python/tuple [9, 1] + - !!python/tuple [19, 14] + - !!python/tuple [7, 9] + - !!python/tuple [20, 1] + - !!python/tuple [26, 6] + - !!python/tuple [16, 23] + - !!python/tuple [12, 12] + - !!python/tuple [24, 17] + - !!python/tuple [22, 22] + - !!python/tuple [16, 29] + - !!python/tuple [4, 21] + - !!python/tuple [5, 26] + - !!python/tuple [25, 4] + - !!python/tuple [31, 8] + - !!python/tuple [8, 25] + - !!python/tuple [30, 23] + - !!python/tuple [24, 21] + - !!python/tuple [17, 29] + - !!python/tuple [14, 5] + - !!python/tuple [15, 5] + - !!python/tuple [14, 1] + - !!python/tuple [31, 7] + - !!python/tuple [8, 29] + - !!python/tuple [10, 1] + - !!python/tuple [3, 5] + - !!python/tuple [30, 7] + - !!python/tuple [17, 22] + - !!python/tuple [5, 23] + - !!python/tuple [30, 21] + - !!python/tuple [22, 30] + - !!python/tuple [7, 16] + - !!python/tuple [2, 0] + - !!python/tuple [18, 30] + - !!python/tuple [14, 31] + - !!python/tuple [16, 28] + - !!python/tuple [14, 23] + - !!python/tuple [10, 20] + - !!python/tuple [9, 0] + - !!python/tuple [31, 14] + - !!python/tuple [15, 29] + - !!python/tuple [20, 27] + - !!python/tuple [11, 2] + - !!python/tuple [27, 5] + - !!python/tuple [15, 4] + - !!python/tuple [4, 29] + - !!python/tuple [20, 8] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex25.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex25.yaml new file mode 100644 index 0000000..8f9a149 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex25.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [3, 24] + name: agent0 + start: [14, 23] +- goal: [11, 11] + name: agent1 + start: [14, 14] +- goal: [15, 4] + name: agent2 + start: [7, 27] +- goal: [19, 24] + name: agent3 + start: [13, 31] +- goal: [3, 6] + name: agent4 + start: [14, 21] +- goal: [27, 3] + name: agent5 + start: [2, 16] +- goal: [30, 8] + name: agent6 + start: [27, 7] +- goal: [14, 21] + name: agent7 + start: [29, 17] +- goal: [2, 8] + name: agent8 + start: [30, 15] +- goal: [10, 27] + name: agent9 + start: [14, 10] +- goal: [11, 25] + name: agent10 + start: [0, 2] +- goal: [25, 0] + name: agent11 + start: [13, 12] +- goal: [17, 20] + name: agent12 + start: [8, 0] +- goal: [16, 31] + name: agent13 + start: [16, 29] +- goal: [6, 29] + name: agent14 + start: [6, 26] +- goal: [8, 11] + name: agent15 + start: [1, 22] +- goal: [15, 21] + name: agent16 + start: [25, 1] +- goal: [5, 12] + name: agent17 + start: [8, 25] +- goal: [0, 16] + name: agent18 + start: [26, 19] +- goal: [31, 21] + name: agent19 + start: [17, 11] +- goal: [29, 18] + name: agent20 + start: [15, 25] +- goal: [14, 20] + name: agent21 + start: [24, 10] +- goal: [20, 3] + name: agent22 + start: [29, 30] +- goal: [23, 9] + name: agent23 + start: [2, 22] +- goal: [15, 18] + name: agent24 + start: [31, 19] +- goal: [7, 30] + name: agent25 + start: [31, 9] +- goal: [19, 12] + name: agent26 + start: [26, 20] +- goal: [24, 29] + name: agent27 + start: [8, 27] +- goal: [19, 20] + name: agent28 + start: [26, 25] +- goal: [18, 21] + name: agent29 + start: [9, 5] +- goal: [5, 22] + name: agent30 + start: [25, 17] +- goal: [3, 17] + name: agent31 + start: [14, 18] +- goal: [13, 28] + name: agent32 + start: [13, 28] +- goal: [10, 16] + name: agent33 + start: [19, 12] +- goal: [2, 3] + name: agent34 + start: [12, 23] +- goal: [18, 5] + name: agent35 + start: [11, 5] +- goal: [7, 8] + name: agent36 + start: [22, 23] +- goal: [29, 24] + name: agent37 + start: [5, 10] +- goal: [1, 8] + name: agent38 + start: [26, 29] +- goal: [26, 10] + name: agent39 + start: [2, 14] +- goal: [13, 22] + name: agent40 + start: [26, 8] +- goal: [28, 7] + name: agent41 + start: [30, 31] +- goal: [17, 15] + name: agent42 + start: [10, 23] +- goal: [14, 23] + name: agent43 + start: [20, 30] +- goal: [4, 9] + name: agent44 + start: [29, 20] +- goal: [20, 10] + name: agent45 + start: [22, 4] +- goal: [25, 17] + name: agent46 + start: [0, 22] +- goal: [24, 18] + name: agent47 + start: [27, 18] +- goal: [13, 11] + name: agent48 + start: [13, 16] +- goal: [18, 28] + name: agent49 + start: [8, 6] +- goal: [1, 13] + name: agent50 + start: [14, 15] +- goal: [10, 25] + name: agent51 + start: [20, 2] +- goal: [14, 29] + name: agent52 + start: [12, 19] +- goal: [27, 18] + name: agent53 + start: [13, 26] +- goal: [11, 26] + name: agent54 + start: [20, 10] +- goal: [0, 22] + name: agent55 + start: [11, 13] +- goal: [0, 10] + name: agent56 + start: [7, 17] +- goal: [27, 25] + name: agent57 + start: [7, 14] +- goal: [31, 26] + name: agent58 + start: [23, 7] +- goal: [26, 21] + name: agent59 + start: [6, 4] +- goal: [31, 13] + name: agent60 + start: [8, 4] +- goal: [11, 4] + name: agent61 + start: [23, 8] +- goal: [5, 17] + name: agent62 + start: [9, 12] +- goal: [13, 23] + name: agent63 + start: [16, 8] +- goal: [18, 0] + name: agent64 + start: [10, 15] +- goal: [28, 2] + name: agent65 + start: [29, 24] +- goal: [4, 24] + name: agent66 + start: [19, 0] +- goal: [20, 14] + name: agent67 + start: [20, 21] +- goal: [6, 5] + name: agent68 + start: [16, 0] +- goal: [6, 31] + name: agent69 + start: [27, 3] +- goal: [24, 19] + name: agent70 + start: [7, 13] +- goal: [5, 9] + name: agent71 + start: [30, 16] +- goal: [24, 7] + name: agent72 + start: [28, 6] +- goal: [9, 27] + name: agent73 + start: [7, 16] +- goal: [4, 2] + name: agent74 + start: [2, 10] +- goal: [5, 14] + name: agent75 + start: [14, 12] +- goal: [26, 3] + name: agent76 + start: [18, 5] +- goal: [11, 7] + name: agent77 + start: [2, 26] +- goal: [17, 17] + name: agent78 + start: [19, 5] +- goal: [22, 31] + name: agent79 + start: [17, 8] +- goal: [11, 15] + name: agent80 + start: [8, 12] +- goal: [16, 18] + name: agent81 + start: [26, 0] +- goal: [4, 29] + name: agent82 + start: [14, 11] +- goal: [3, 13] + name: agent83 + start: [20, 16] +- goal: [22, 1] + name: agent84 + start: [23, 14] +- goal: [24, 5] + name: agent85 + start: [30, 18] +- goal: [17, 14] + name: agent86 + start: [24, 30] +- goal: [14, 30] + name: agent87 + start: [11, 2] +- goal: [17, 25] + name: agent88 + start: [4, 23] +- goal: [13, 3] + name: agent89 + start: [7, 0] +- goal: [28, 25] + name: agent90 + start: [24, 4] +- goal: [6, 13] + name: agent91 + start: [13, 15] +- goal: [19, 0] + name: agent92 + start: [24, 6] +- goal: [18, 3] + name: agent93 + start: [25, 30] +- goal: [10, 21] + name: agent94 + start: [15, 30] +- goal: [7, 26] + name: agent95 + start: [21, 12] +- goal: [30, 20] + name: agent96 + start: [8, 29] +- goal: [28, 9] + name: agent97 + start: [11, 20] +- goal: [21, 1] + name: agent98 + start: [24, 28] +- goal: [28, 24] + name: agent99 + start: [12, 17] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [7, 2] + - !!python/tuple [25, 18] + - !!python/tuple [24, 12] + - !!python/tuple [18, 17] + - !!python/tuple [22, 29] + - !!python/tuple [18, 13] + - !!python/tuple [14, 13] + - !!python/tuple [5, 18] + - !!python/tuple [21, 30] + - !!python/tuple [26, 14] + - !!python/tuple [5, 19] + - !!python/tuple [27, 24] + - !!python/tuple [13, 14] + - !!python/tuple [19, 10] + - !!python/tuple [19, 18] + - !!python/tuple [4, 19] + - !!python/tuple [27, 9] + - !!python/tuple [27, 6] + - !!python/tuple [23, 22] + - !!python/tuple [25, 20] + - !!python/tuple [19, 4] + - !!python/tuple [29, 15] + - !!python/tuple [26, 13] + - !!python/tuple [24, 21] + - !!python/tuple [22, 10] + - !!python/tuple [9, 13] + - !!python/tuple [25, 2] + - !!python/tuple [2, 28] + - !!python/tuple [8, 8] + - !!python/tuple [3, 2] + - !!python/tuple [9, 10] + - !!python/tuple [27, 21] + - !!python/tuple [31, 23] + - !!python/tuple [29, 13] + - !!python/tuple [2, 21] + - !!python/tuple [17, 28] + - !!python/tuple [17, 13] + - !!python/tuple [5, 27] + - !!python/tuple [17, 7] + - !!python/tuple [12, 26] + - !!python/tuple [17, 21] + - !!python/tuple [15, 0] + - !!python/tuple [11, 22] + - !!python/tuple [29, 12] + - !!python/tuple [27, 20] + - !!python/tuple [11, 19] + - !!python/tuple [6, 20] + - !!python/tuple [5, 1] + - !!python/tuple [23, 25] + - !!python/tuple [23, 10] + - !!python/tuple [2, 17] + - !!python/tuple [2, 4] + - !!python/tuple [30, 3] + - !!python/tuple [1, 28] + - !!python/tuple [28, 11] + - !!python/tuple [31, 0] + - !!python/tuple [7, 20] + - !!python/tuple [3, 7] + - !!python/tuple [25, 25] + - !!python/tuple [18, 19] + - !!python/tuple [16, 14] + - !!python/tuple [31, 20] + - !!python/tuple [30, 29] + - !!python/tuple [2, 1] + - !!python/tuple [10, 13] + - !!python/tuple [10, 18] + - !!python/tuple [11, 31] + - !!python/tuple [0, 6] + - !!python/tuple [6, 10] + - !!python/tuple [5, 20] + - !!python/tuple [27, 0] + - !!python/tuple [3, 25] + - !!python/tuple [4, 8] + - !!python/tuple [28, 18] + - !!python/tuple [21, 9] + - !!python/tuple [23, 21] + - !!python/tuple [29, 11] + - !!python/tuple [16, 16] + - !!python/tuple [0, 7] + - !!python/tuple [12, 18] + - !!python/tuple [25, 14] + - !!python/tuple [18, 26] + - !!python/tuple [12, 20] + - !!python/tuple [7, 28] + - !!python/tuple [13, 7] + - !!python/tuple [19, 16] + - !!python/tuple [25, 12] + - !!python/tuple [16, 27] + - !!python/tuple [12, 14] + - !!python/tuple [25, 16] + - !!python/tuple [15, 24] + - !!python/tuple [4, 12] + - !!python/tuple [29, 9] + - !!python/tuple [12, 16] + - !!python/tuple [15, 19] + - !!python/tuple [12, 0] + - !!python/tuple [23, 23] + - !!python/tuple [24, 8] + - !!python/tuple [15, 10] + - !!python/tuple [25, 9] + - !!python/tuple [2, 25] + - !!python/tuple [30, 26] + - !!python/tuple [16, 30] + - !!python/tuple [25, 5] + - !!python/tuple [14, 0] + - !!python/tuple [10, 30] + - !!python/tuple [6, 14] + - !!python/tuple [18, 12] + - !!python/tuple [5, 24] + - !!python/tuple [2, 6] + - !!python/tuple [29, 27] + - !!python/tuple [17, 4] + - !!python/tuple [11, 8] + - !!python/tuple [0, 12] + - !!python/tuple [17, 16] + - !!python/tuple [28, 8] + - !!python/tuple [0, 4] + - !!python/tuple [9, 16] + - !!python/tuple [26, 7] + - !!python/tuple [13, 6] + - !!python/tuple [19, 21] + - !!python/tuple [1, 18] + - !!python/tuple [15, 13] + - !!python/tuple [18, 30] + - !!python/tuple [11, 23] + - !!python/tuple [13, 21] + - !!python/tuple [8, 15] + - !!python/tuple [16, 9] + - !!python/tuple [18, 4] + - !!python/tuple [17, 18] + - !!python/tuple [31, 1] + - !!python/tuple [16, 26] + - !!python/tuple [28, 5] + - !!python/tuple [30, 25] + - !!python/tuple [25, 23] + - !!python/tuple [2, 27] + - !!python/tuple [0, 3] + - !!python/tuple [27, 8] + - !!python/tuple [15, 7] + - !!python/tuple [2, 18] + - !!python/tuple [8, 2] + - !!python/tuple [14, 17] + - !!python/tuple [23, 5] + - !!python/tuple [16, 20] + - !!python/tuple [11, 29] + - !!python/tuple [9, 17] + - !!python/tuple [30, 30] + - !!python/tuple [18, 23] + - !!python/tuple [23, 29] + - !!python/tuple [31, 30] + - !!python/tuple [12, 1] + - !!python/tuple [3, 20] + - !!python/tuple [3, 8] + - !!python/tuple [4, 15] + - !!python/tuple [4, 14] + - !!python/tuple [23, 20] + - !!python/tuple [11, 12] + - !!python/tuple [3, 10] + - !!python/tuple [27, 26] + - !!python/tuple [12, 28] + - !!python/tuple [29, 28] + - !!python/tuple [18, 10] + - !!python/tuple [17, 3] + - !!python/tuple [0, 21] + - !!python/tuple [29, 0] + - !!python/tuple [1, 6] + - !!python/tuple [9, 19] + - !!python/tuple [20, 4] + - !!python/tuple [6, 2] + - !!python/tuple [4, 11] + - !!python/tuple [4, 27] + - !!python/tuple [22, 8] + - !!python/tuple [6, 7] + - !!python/tuple [16, 24] + - !!python/tuple [17, 19] + - !!python/tuple [20, 15] + - !!python/tuple [22, 11] + - !!python/tuple [24, 31] + - !!python/tuple [21, 23] + - !!python/tuple [11, 14] + - !!python/tuple [26, 24] + - !!python/tuple [28, 4] + - !!python/tuple [1, 12] + - !!python/tuple [23, 4] + - !!python/tuple [24, 16] + - !!python/tuple [19, 28] + - !!python/tuple [7, 21] + - !!python/tuple [6, 23] + - !!python/tuple [9, 6] + - !!python/tuple [22, 5] + - !!python/tuple [30, 11] + - !!python/tuple [24, 9] + - !!python/tuple [20, 27] + - !!python/tuple [0, 8] + - !!python/tuple [31, 4] + - !!python/tuple [17, 27] + - !!python/tuple [7, 11] + - !!python/tuple [22, 17] + - !!python/tuple [18, 24] + - !!python/tuple [17, 9] + - !!python/tuple [4, 10] + - !!python/tuple [1, 0] + - !!python/tuple [21, 17] + - !!python/tuple [0, 26] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex26.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex26.yaml new file mode 100644 index 0000000..4f99b3a --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex26.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [5, 12] + name: agent0 + start: [8, 6] +- goal: [3, 8] + name: agent1 + start: [0, 23] +- goal: [31, 4] + name: agent2 + start: [14, 22] +- goal: [21, 19] + name: agent3 + start: [30, 0] +- goal: [28, 9] + name: agent4 + start: [13, 18] +- goal: [29, 6] + name: agent5 + start: [17, 21] +- goal: [0, 21] + name: agent6 + start: [15, 0] +- goal: [2, 17] + name: agent7 + start: [9, 0] +- goal: [26, 28] + name: agent8 + start: [24, 18] +- goal: [20, 30] + name: agent9 + start: [22, 1] +- goal: [13, 18] + name: agent10 + start: [20, 24] +- goal: [3, 22] + name: agent11 + start: [3, 19] +- goal: [27, 14] + name: agent12 + start: [0, 28] +- goal: [29, 19] + name: agent13 + start: [26, 18] +- goal: [11, 15] + name: agent14 + start: [27, 20] +- goal: [9, 22] + name: agent15 + start: [1, 20] +- goal: [20, 12] + name: agent16 + start: [7, 11] +- goal: [24, 2] + name: agent17 + start: [17, 27] +- goal: [20, 10] + name: agent18 + start: [31, 15] +- goal: [25, 19] + name: agent19 + start: [5, 4] +- goal: [22, 19] + name: agent20 + start: [11, 7] +- goal: [13, 22] + name: agent21 + start: [16, 29] +- goal: [28, 14] + name: agent22 + start: [23, 31] +- goal: [15, 12] + name: agent23 + start: [19, 0] +- goal: [13, 28] + name: agent24 + start: [5, 20] +- goal: [25, 24] + name: agent25 + start: [23, 9] +- goal: [15, 1] + name: agent26 + start: [7, 14] +- goal: [10, 15] + name: agent27 + start: [11, 20] +- goal: [9, 26] + name: agent28 + start: [26, 17] +- goal: [29, 29] + name: agent29 + start: [21, 10] +- goal: [8, 12] + name: agent30 + start: [19, 20] +- goal: [4, 15] + name: agent31 + start: [15, 12] +- goal: [0, 3] + name: agent32 + start: [26, 8] +- goal: [30, 30] + name: agent33 + start: [28, 14] +- goal: [23, 14] + name: agent34 + start: [0, 10] +- goal: [20, 20] + name: agent35 + start: [7, 26] +- goal: [6, 24] + name: agent36 + start: [1, 1] +- goal: [2, 31] + name: agent37 + start: [7, 20] +- goal: [18, 10] + name: agent38 + start: [9, 30] +- goal: [29, 10] + name: agent39 + start: [18, 19] +- goal: [15, 24] + name: agent40 + start: [24, 12] +- goal: [23, 31] + name: agent41 + start: [9, 27] +- goal: [30, 16] + name: agent42 + start: [7, 28] +- goal: [17, 24] + name: agent43 + start: [17, 31] +- goal: [9, 9] + name: agent44 + start: [31, 1] +- goal: [19, 13] + name: agent45 + start: [17, 24] +- goal: [15, 19] + name: agent46 + start: [13, 17] +- goal: [8, 6] + name: agent47 + start: [25, 15] +- goal: [29, 27] + name: agent48 + start: [7, 24] +- goal: [7, 12] + name: agent49 + start: [11, 2] +- goal: [21, 1] + name: agent50 + start: [24, 27] +- goal: [19, 19] + name: agent51 + start: [8, 23] +- goal: [18, 9] + name: agent52 + start: [9, 10] +- goal: [5, 6] + name: agent53 + start: [7, 9] +- goal: [27, 27] + name: agent54 + start: [30, 8] +- goal: [31, 27] + name: agent55 + start: [11, 28] +- goal: [9, 29] + name: agent56 + start: [0, 1] +- goal: [29, 1] + name: agent57 + start: [30, 11] +- goal: [1, 27] + name: agent58 + start: [22, 24] +- goal: [7, 3] + name: agent59 + start: [31, 22] +- goal: [10, 27] + name: agent60 + start: [10, 31] +- goal: [26, 14] + name: agent61 + start: [4, 31] +- goal: [4, 5] + name: agent62 + start: [18, 9] +- goal: [22, 7] + name: agent63 + start: [24, 20] +- goal: [26, 18] + name: agent64 + start: [14, 21] +- goal: [8, 0] + name: agent65 + start: [0, 24] +- goal: [16, 25] + name: agent66 + start: [26, 28] +- goal: [3, 24] + name: agent67 + start: [0, 31] +- goal: [26, 20] + name: agent68 + start: [29, 7] +- goal: [2, 30] + name: agent69 + start: [24, 11] +- goal: [15, 28] + name: agent70 + start: [18, 22] +- goal: [31, 0] + name: agent71 + start: [8, 7] +- goal: [30, 6] + name: agent72 + start: [2, 3] +- goal: [24, 25] + name: agent73 + start: [6, 28] +- goal: [1, 5] + name: agent74 + start: [18, 0] +- goal: [27, 21] + name: agent75 + start: [0, 14] +- goal: [12, 21] + name: agent76 + start: [10, 18] +- goal: [18, 0] + name: agent77 + start: [18, 24] +- goal: [12, 13] + name: agent78 + start: [7, 16] +- goal: [15, 14] + name: agent79 + start: [26, 30] +- goal: [9, 13] + name: agent80 + start: [0, 11] +- goal: [25, 15] + name: agent81 + start: [4, 25] +- goal: [1, 22] + name: agent82 + start: [29, 22] +- goal: [26, 29] + name: agent83 + start: [22, 18] +- goal: [2, 16] + name: agent84 + start: [26, 21] +- goal: [24, 9] + name: agent85 + start: [23, 13] +- goal: [28, 23] + name: agent86 + start: [17, 13] +- goal: [0, 14] + name: agent87 + start: [7, 18] +- goal: [7, 13] + name: agent88 + start: [21, 26] +- goal: [1, 12] + name: agent89 + start: [2, 13] +- goal: [26, 8] + name: agent90 + start: [8, 28] +- goal: [15, 16] + name: agent91 + start: [0, 25] +- goal: [20, 18] + name: agent92 + start: [23, 14] +- goal: [26, 31] + name: agent93 + start: [22, 13] +- goal: [26, 6] + name: agent94 + start: [28, 1] +- goal: [25, 20] + name: agent95 + start: [9, 12] +- goal: [21, 31] + name: agent96 + start: [4, 17] +- goal: [31, 1] + name: agent97 + start: [17, 6] +- goal: [24, 6] + name: agent98 + start: [25, 24] +- goal: [6, 28] + name: agent99 + start: [19, 7] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [29, 18] + - !!python/tuple [18, 15] + - !!python/tuple [6, 12] + - !!python/tuple [24, 15] + - !!python/tuple [4, 28] + - !!python/tuple [3, 25] + - !!python/tuple [27, 3] + - !!python/tuple [17, 19] + - !!python/tuple [2, 7] + - !!python/tuple [6, 22] + - !!python/tuple [6, 19] + - !!python/tuple [16, 15] + - !!python/tuple [20, 21] + - !!python/tuple [5, 7] + - !!python/tuple [12, 18] + - !!python/tuple [14, 15] + - !!python/tuple [29, 17] + - !!python/tuple [9, 20] + - !!python/tuple [11, 16] + - !!python/tuple [5, 19] + - !!python/tuple [2, 18] + - !!python/tuple [0, 30] + - !!python/tuple [13, 8] + - !!python/tuple [20, 1] + - !!python/tuple [26, 2] + - !!python/tuple [21, 5] + - !!python/tuple [7, 21] + - !!python/tuple [25, 17] + - !!python/tuple [14, 1] + - !!python/tuple [3, 10] + - !!python/tuple [5, 22] + - !!python/tuple [15, 27] + - !!python/tuple [20, 16] + - !!python/tuple [10, 12] + - !!python/tuple [16, 10] + - !!python/tuple [18, 17] + - !!python/tuple [15, 26] + - !!python/tuple [14, 20] + - !!python/tuple [24, 19] + - !!python/tuple [26, 9] + - !!python/tuple [14, 13] + - !!python/tuple [25, 2] + - !!python/tuple [22, 0] + - !!python/tuple [6, 7] + - !!python/tuple [14, 19] + - !!python/tuple [17, 14] + - !!python/tuple [28, 28] + - !!python/tuple [4, 23] + - !!python/tuple [23, 27] + - !!python/tuple [20, 26] + - !!python/tuple [16, 26] + - !!python/tuple [30, 7] + - !!python/tuple [24, 1] + - !!python/tuple [26, 1] + - !!python/tuple [12, 8] + - !!python/tuple [27, 28] + - !!python/tuple [4, 1] + - !!python/tuple [13, 25] + - !!python/tuple [21, 6] + - !!python/tuple [25, 0] + - !!python/tuple [4, 16] + - !!python/tuple [25, 29] + - !!python/tuple [12, 0] + - !!python/tuple [30, 20] + - !!python/tuple [22, 12] + - !!python/tuple [2, 4] + - !!python/tuple [4, 30] + - !!python/tuple [22, 17] + - !!python/tuple [7, 6] + - !!python/tuple [17, 0] + - !!python/tuple [3, 2] + - !!python/tuple [30, 28] + - !!python/tuple [16, 14] + - !!python/tuple [4, 20] + - !!python/tuple [9, 31] + - !!python/tuple [13, 0] + - !!python/tuple [27, 7] + - !!python/tuple [9, 28] + - !!python/tuple [23, 1] + - !!python/tuple [23, 15] + - !!python/tuple [12, 31] + - !!python/tuple [0, 16] + - !!python/tuple [19, 23] + - !!python/tuple [8, 20] + - !!python/tuple [10, 30] + - !!python/tuple [14, 24] + - !!python/tuple [31, 11] + - !!python/tuple [11, 24] + - !!python/tuple [29, 28] + - !!python/tuple [11, 27] + - !!python/tuple [8, 19] + - !!python/tuple [5, 2] + - !!python/tuple [14, 27] + - !!python/tuple [1, 30] + - !!python/tuple [29, 8] + - !!python/tuple [6, 29] + - !!python/tuple [19, 26] + - !!python/tuple [26, 4] + - !!python/tuple [7, 8] + - !!python/tuple [30, 5] + - !!python/tuple [17, 12] + - !!python/tuple [31, 19] + - !!python/tuple [11, 18] + - !!python/tuple [25, 11] + - !!python/tuple [11, 4] + - !!python/tuple [28, 0] + - !!python/tuple [5, 1] + - !!python/tuple [2, 6] + - !!python/tuple [10, 22] + - !!python/tuple [23, 11] + - !!python/tuple [18, 30] + - !!python/tuple [3, 11] + - !!python/tuple [31, 29] + - !!python/tuple [31, 23] + - !!python/tuple [12, 3] + - !!python/tuple [13, 7] + - !!python/tuple [9, 6] + - !!python/tuple [6, 4] + - !!python/tuple [7, 31] + - !!python/tuple [28, 26] + - !!python/tuple [4, 27] + - !!python/tuple [30, 1] + - !!python/tuple [2, 21] + - !!python/tuple [24, 17] + - !!python/tuple [13, 24] + - !!python/tuple [30, 18] + - !!python/tuple [20, 0] + - !!python/tuple [12, 11] + - !!python/tuple [1, 19] + - !!python/tuple [1, 18] + - !!python/tuple [11, 6] + - !!python/tuple [2, 14] + - !!python/tuple [20, 7] + - !!python/tuple [28, 25] + - !!python/tuple [7, 4] + - !!python/tuple [22, 6] + - !!python/tuple [30, 2] + - !!python/tuple [27, 8] + - !!python/tuple [11, 10] + - !!python/tuple [25, 26] + - !!python/tuple [11, 5] + - !!python/tuple [27, 1] + - !!python/tuple [30, 19] + - !!python/tuple [23, 22] + - !!python/tuple [28, 22] + - !!python/tuple [22, 3] + - !!python/tuple [23, 29] + - !!python/tuple [13, 3] + - !!python/tuple [3, 16] + - !!python/tuple [25, 8] + - !!python/tuple [21, 14] + - !!python/tuple [22, 8] + - !!python/tuple [31, 12] + - !!python/tuple [20, 9] + - !!python/tuple [0, 27] + - !!python/tuple [28, 17] + - !!python/tuple [12, 4] + - !!python/tuple [12, 27] + - !!python/tuple [18, 7] + - !!python/tuple [22, 27] + - !!python/tuple [24, 22] + - !!python/tuple [11, 17] + - !!python/tuple [17, 26] + - !!python/tuple [2, 5] + - !!python/tuple [26, 11] + - !!python/tuple [15, 7] + - !!python/tuple [10, 28] + - !!python/tuple [26, 16] + - !!python/tuple [1, 21] + - !!python/tuple [19, 12] + - !!python/tuple [27, 16] + - !!python/tuple [25, 6] + - !!python/tuple [23, 26] + - !!python/tuple [4, 24] + - !!python/tuple [16, 7] + - !!python/tuple [21, 15] + - !!python/tuple [24, 7] + - !!python/tuple [29, 30] + - !!python/tuple [7, 5] + - !!python/tuple [28, 7] + - !!python/tuple [10, 6] + - !!python/tuple [12, 23] + - !!python/tuple [3, 20] + - !!python/tuple [8, 15] + - !!python/tuple [13, 1] + - !!python/tuple [17, 16] + - !!python/tuple [20, 25] + - !!python/tuple [9, 21] + - !!python/tuple [12, 16] + - !!python/tuple [13, 20] + - !!python/tuple [23, 23] + - !!python/tuple [5, 16] + - !!python/tuple [24, 24] + - !!python/tuple [6, 11] + - !!python/tuple [7, 27] + - !!python/tuple [3, 12] + - !!python/tuple [31, 24] + - !!python/tuple [15, 6] + - !!python/tuple [10, 13] + - !!python/tuple [2, 0] + - !!python/tuple [1, 13] + - !!python/tuple [21, 0] + - !!python/tuple [17, 30] + - !!python/tuple [16, 6] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex27.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex27.yaml new file mode 100644 index 0000000..ad84081 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex27.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [29, 6] + name: agent0 + start: [25, 30] +- goal: [20, 12] + name: agent1 + start: [0, 9] +- goal: [8, 24] + name: agent2 + start: [13, 5] +- goal: [10, 26] + name: agent3 + start: [2, 3] +- goal: [21, 2] + name: agent4 + start: [18, 8] +- goal: [14, 8] + name: agent5 + start: [24, 22] +- goal: [20, 5] + name: agent6 + start: [10, 12] +- goal: [10, 5] + name: agent7 + start: [29, 19] +- goal: [18, 15] + name: agent8 + start: [26, 24] +- goal: [3, 14] + name: agent9 + start: [23, 28] +- goal: [14, 16] + name: agent10 + start: [22, 8] +- goal: [6, 17] + name: agent11 + start: [23, 3] +- goal: [21, 11] + name: agent12 + start: [14, 30] +- goal: [24, 24] + name: agent13 + start: [21, 24] +- goal: [26, 16] + name: agent14 + start: [9, 11] +- goal: [8, 8] + name: agent15 + start: [5, 13] +- goal: [12, 25] + name: agent16 + start: [8, 21] +- goal: [13, 24] + name: agent17 + start: [22, 3] +- goal: [4, 22] + name: agent18 + start: [30, 9] +- goal: [1, 31] + name: agent19 + start: [13, 0] +- goal: [13, 30] + name: agent20 + start: [23, 4] +- goal: [16, 15] + name: agent21 + start: [31, 31] +- goal: [0, 7] + name: agent22 + start: [29, 21] +- goal: [12, 3] + name: agent23 + start: [13, 30] +- goal: [18, 14] + name: agent24 + start: [29, 27] +- goal: [4, 28] + name: agent25 + start: [20, 27] +- goal: [2, 23] + name: agent26 + start: [18, 15] +- goal: [31, 22] + name: agent27 + start: [16, 23] +- goal: [21, 24] + name: agent28 + start: [17, 6] +- goal: [22, 31] + name: agent29 + start: [21, 11] +- goal: [5, 17] + name: agent30 + start: [18, 30] +- goal: [25, 1] + name: agent31 + start: [24, 24] +- goal: [27, 5] + name: agent32 + start: [14, 5] +- goal: [6, 2] + name: agent33 + start: [9, 30] +- goal: [11, 14] + name: agent34 + start: [0, 23] +- goal: [7, 25] + name: agent35 + start: [20, 5] +- goal: [1, 19] + name: agent36 + start: [25, 5] +- goal: [10, 17] + name: agent37 + start: [17, 27] +- goal: [9, 15] + name: agent38 + start: [25, 7] +- goal: [3, 8] + name: agent39 + start: [16, 2] +- goal: [17, 9] + name: agent40 + start: [15, 17] +- goal: [26, 21] + name: agent41 + start: [21, 28] +- goal: [21, 9] + name: agent42 + start: [9, 17] +- goal: [10, 0] + name: agent43 + start: [10, 1] +- goal: [17, 13] + name: agent44 + start: [6, 8] +- goal: [9, 1] + name: agent45 + start: [4, 9] +- goal: [29, 11] + name: agent46 + start: [12, 2] +- goal: [8, 21] + name: agent47 + start: [12, 28] +- goal: [25, 12] + name: agent48 + start: [15, 3] +- goal: [13, 7] + name: agent49 + start: [25, 2] +- goal: [20, 1] + name: agent50 + start: [13, 11] +- goal: [3, 9] + name: agent51 + start: [12, 15] +- goal: [18, 26] + name: agent52 + start: [25, 18] +- goal: [11, 4] + name: agent53 + start: [15, 19] +- goal: [13, 6] + name: agent54 + start: [18, 1] +- goal: [19, 26] + name: agent55 + start: [17, 9] +- goal: [14, 30] + name: agent56 + start: [23, 15] +- goal: [3, 19] + name: agent57 + start: [10, 26] +- goal: [30, 11] + name: agent58 + start: [13, 4] +- goal: [2, 8] + name: agent59 + start: [5, 20] +- goal: [31, 29] + name: agent60 + start: [27, 19] +- goal: [10, 12] + name: agent61 + start: [3, 7] +- goal: [25, 0] + name: agent62 + start: [20, 22] +- goal: [8, 18] + name: agent63 + start: [30, 6] +- goal: [21, 8] + name: agent64 + start: [1, 29] +- goal: [1, 26] + name: agent65 + start: [5, 31] +- goal: [11, 12] + name: agent66 + start: [13, 6] +- goal: [19, 10] + name: agent67 + start: [30, 7] +- goal: [31, 28] + name: agent68 + start: [23, 5] +- goal: [18, 12] + name: agent69 + start: [20, 6] +- goal: [16, 25] + name: agent70 + start: [11, 11] +- goal: [23, 4] + name: agent71 + start: [24, 23] +- goal: [27, 29] + name: agent72 + start: [23, 17] +- goal: [31, 0] + name: agent73 + start: [12, 4] +- goal: [2, 25] + name: agent74 + start: [27, 6] +- goal: [20, 2] + name: agent75 + start: [24, 2] +- goal: [6, 13] + name: agent76 + start: [13, 17] +- goal: [11, 0] + name: agent77 + start: [4, 16] +- goal: [11, 16] + name: agent78 + start: [10, 7] +- goal: [5, 9] + name: agent79 + start: [2, 15] +- goal: [31, 24] + name: agent80 + start: [22, 28] +- goal: [10, 4] + name: agent81 + start: [22, 9] +- goal: [10, 15] + name: agent82 + start: [31, 15] +- goal: [20, 0] + name: agent83 + start: [9, 20] +- goal: [2, 15] + name: agent84 + start: [19, 17] +- goal: [16, 14] + name: agent85 + start: [11, 19] +- goal: [26, 11] + name: agent86 + start: [16, 31] +- goal: [20, 19] + name: agent87 + start: [31, 11] +- goal: [18, 8] + name: agent88 + start: [23, 9] +- goal: [28, 19] + name: agent89 + start: [3, 15] +- goal: [8, 26] + name: agent90 + start: [28, 24] +- goal: [13, 14] + name: agent91 + start: [14, 6] +- goal: [30, 21] + name: agent92 + start: [10, 10] +- goal: [14, 11] + name: agent93 + start: [6, 0] +- goal: [1, 9] + name: agent94 + start: [27, 26] +- goal: [25, 29] + name: agent95 + start: [28, 20] +- goal: [23, 19] + name: agent96 + start: [28, 23] +- goal: [12, 6] + name: agent97 + start: [13, 15] +- goal: [20, 14] + name: agent98 + start: [31, 18] +- goal: [1, 5] + name: agent99 + start: [30, 28] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [6, 7] + - !!python/tuple [22, 17] + - !!python/tuple [2, 0] + - !!python/tuple [17, 30] + - !!python/tuple [0, 27] + - !!python/tuple [17, 1] + - !!python/tuple [16, 19] + - !!python/tuple [9, 2] + - !!python/tuple [26, 22] + - !!python/tuple [7, 20] + - !!python/tuple [14, 9] + - !!python/tuple [2, 5] + - !!python/tuple [4, 12] + - !!python/tuple [24, 13] + - !!python/tuple [31, 4] + - !!python/tuple [5, 21] + - !!python/tuple [16, 12] + - !!python/tuple [0, 2] + - !!python/tuple [4, 18] + - !!python/tuple [16, 30] + - !!python/tuple [6, 11] + - !!python/tuple [0, 25] + - !!python/tuple [19, 8] + - !!python/tuple [17, 4] + - !!python/tuple [1, 14] + - !!python/tuple [1, 28] + - !!python/tuple [23, 18] + - !!python/tuple [27, 12] + - !!python/tuple [14, 21] + - !!python/tuple [4, 7] + - !!python/tuple [31, 30] + - !!python/tuple [24, 5] + - !!python/tuple [20, 15] + - !!python/tuple [11, 17] + - !!python/tuple [8, 25] + - !!python/tuple [13, 19] + - !!python/tuple [19, 5] + - !!python/tuple [9, 4] + - !!python/tuple [13, 10] + - !!python/tuple [31, 21] + - !!python/tuple [19, 21] + - !!python/tuple [16, 4] + - !!python/tuple [24, 17] + - !!python/tuple [28, 28] + - !!python/tuple [21, 10] + - !!python/tuple [3, 25] + - !!python/tuple [9, 22] + - !!python/tuple [3, 22] + - !!python/tuple [1, 8] + - !!python/tuple [15, 28] + - !!python/tuple [14, 29] + - !!python/tuple [20, 26] + - !!python/tuple [8, 20] + - !!python/tuple [27, 21] + - !!python/tuple [19, 29] + - !!python/tuple [27, 15] + - !!python/tuple [25, 17] + - !!python/tuple [23, 6] + - !!python/tuple [27, 16] + - !!python/tuple [30, 8] + - !!python/tuple [12, 24] + - !!python/tuple [24, 16] + - !!python/tuple [16, 10] + - !!python/tuple [23, 25] + - !!python/tuple [10, 9] + - !!python/tuple [14, 14] + - !!python/tuple [15, 12] + - !!python/tuple [29, 10] + - !!python/tuple [10, 29] + - !!python/tuple [19, 24] + - !!python/tuple [9, 27] + - !!python/tuple [22, 27] + - !!python/tuple [10, 23] + - !!python/tuple [8, 0] + - !!python/tuple [1, 17] + - !!python/tuple [24, 7] + - !!python/tuple [29, 3] + - !!python/tuple [13, 13] + - !!python/tuple [19, 23] + - !!python/tuple [19, 30] + - !!python/tuple [2, 9] + - !!python/tuple [15, 23] + - !!python/tuple [11, 9] + - !!python/tuple [16, 29] + - !!python/tuple [18, 10] + - !!python/tuple [6, 10] + - !!python/tuple [22, 10] + - !!python/tuple [7, 11] + - !!python/tuple [2, 30] + - !!python/tuple [4, 21] + - !!python/tuple [9, 0] + - !!python/tuple [0, 24] + - !!python/tuple [30, 1] + - !!python/tuple [10, 19] + - !!python/tuple [1, 0] + - !!python/tuple [23, 23] + - !!python/tuple [14, 18] + - !!python/tuple [18, 24] + - !!python/tuple [0, 31] + - !!python/tuple [1, 18] + - !!python/tuple [25, 15] + - !!python/tuple [28, 29] + - !!python/tuple [6, 18] + - !!python/tuple [5, 19] + - !!python/tuple [18, 16] + - !!python/tuple [23, 12] + - !!python/tuple [21, 0] + - !!python/tuple [21, 12] + - !!python/tuple [2, 26] + - !!python/tuple [6, 29] + - !!python/tuple [28, 26] + - !!python/tuple [2, 7] + - !!python/tuple [11, 27] + - !!python/tuple [12, 30] + - !!python/tuple [19, 16] + - !!python/tuple [15, 16] + - !!python/tuple [0, 12] + - !!python/tuple [12, 5] + - !!python/tuple [23, 20] + - !!python/tuple [7, 0] + - !!python/tuple [11, 24] + - !!python/tuple [7, 2] + - !!python/tuple [25, 28] + - !!python/tuple [25, 31] + - !!python/tuple [1, 25] + - !!python/tuple [11, 29] + - !!python/tuple [12, 27] + - !!python/tuple [4, 20] + - !!python/tuple [30, 13] + - !!python/tuple [5, 16] + - !!python/tuple [21, 14] + - !!python/tuple [15, 7] + - !!python/tuple [0, 17] + - !!python/tuple [22, 1] + - !!python/tuple [6, 26] + - !!python/tuple [4, 25] + - !!python/tuple [21, 20] + - !!python/tuple [22, 24] + - !!python/tuple [4, 0] + - !!python/tuple [15, 8] + - !!python/tuple [25, 3] + - !!python/tuple [21, 31] + - !!python/tuple [30, 30] + - !!python/tuple [24, 20] + - !!python/tuple [29, 17] + - !!python/tuple [26, 14] + - !!python/tuple [31, 7] + - !!python/tuple [23, 7] + - !!python/tuple [6, 3] + - !!python/tuple [24, 8] + - !!python/tuple [1, 1] + - !!python/tuple [18, 7] + - !!python/tuple [0, 19] + - !!python/tuple [21, 3] + - !!python/tuple [15, 24] + - !!python/tuple [5, 11] + - !!python/tuple [12, 12] + - !!python/tuple [12, 21] + - !!python/tuple [29, 22] + - !!python/tuple [15, 9] + - !!python/tuple [1, 6] + - !!python/tuple [21, 7] + - !!python/tuple [13, 18] + - !!python/tuple [2, 31] + - !!python/tuple [8, 23] + - !!python/tuple [10, 22] + - !!python/tuple [11, 1] + - !!python/tuple [14, 23] + - !!python/tuple [26, 30] + - !!python/tuple [11, 15] + - !!python/tuple [7, 29] + - !!python/tuple [26, 18] + - !!python/tuple [17, 18] + - !!python/tuple [15, 20] + - !!python/tuple [4, 15] + - !!python/tuple [2, 10] + - !!python/tuple [18, 17] + - !!python/tuple [9, 14] + - !!python/tuple [2, 20] + - !!python/tuple [13, 29] + - !!python/tuple [15, 25] + - !!python/tuple [21, 15] + - !!python/tuple [18, 28] + - !!python/tuple [19, 20] + - !!python/tuple [10, 8] + - !!python/tuple [9, 7] + - !!python/tuple [3, 11] + - !!python/tuple [27, 22] + - !!python/tuple [15, 27] + - !!python/tuple [25, 26] + - !!python/tuple [28, 1] + - !!python/tuple [8, 15] + - !!python/tuple [11, 3] + - !!python/tuple [28, 27] + - !!python/tuple [19, 27] + - !!python/tuple [1, 20] + - !!python/tuple [8, 27] + - !!python/tuple [19, 13] + - !!python/tuple [5, 7] + - !!python/tuple [28, 8] + - !!python/tuple [21, 13] + - !!python/tuple [4, 29] + - !!python/tuple [12, 22] + - !!python/tuple [3, 20] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex28.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex28.yaml new file mode 100644 index 0000000..736ff20 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex28.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [19, 7] + name: agent0 + start: [25, 23] +- goal: [5, 3] + name: agent1 + start: [24, 22] +- goal: [20, 11] + name: agent2 + start: [0, 20] +- goal: [13, 25] + name: agent3 + start: [23, 6] +- goal: [13, 11] + name: agent4 + start: [31, 23] +- goal: [9, 17] + name: agent5 + start: [6, 0] +- goal: [14, 1] + name: agent6 + start: [30, 25] +- goal: [21, 4] + name: agent7 + start: [16, 10] +- goal: [21, 14] + name: agent8 + start: [7, 20] +- goal: [25, 20] + name: agent9 + start: [21, 4] +- goal: [0, 7] + name: agent10 + start: [22, 6] +- goal: [19, 0] + name: agent11 + start: [18, 19] +- goal: [23, 8] + name: agent12 + start: [12, 29] +- goal: [23, 23] + name: agent13 + start: [13, 16] +- goal: [11, 13] + name: agent14 + start: [10, 30] +- goal: [16, 20] + name: agent15 + start: [11, 23] +- goal: [29, 5] + name: agent16 + start: [0, 3] +- goal: [10, 21] + name: agent17 + start: [22, 18] +- goal: [10, 9] + name: agent18 + start: [12, 27] +- goal: [10, 29] + name: agent19 + start: [28, 7] +- goal: [29, 16] + name: agent20 + start: [9, 17] +- goal: [6, 3] + name: agent21 + start: [21, 28] +- goal: [15, 3] + name: agent22 + start: [30, 26] +- goal: [3, 30] + name: agent23 + start: [3, 23] +- goal: [21, 2] + name: agent24 + start: [0, 16] +- goal: [26, 16] + name: agent25 + start: [23, 16] +- goal: [26, 11] + name: agent26 + start: [21, 26] +- goal: [22, 5] + name: agent27 + start: [18, 20] +- goal: [7, 12] + name: agent28 + start: [19, 31] +- goal: [20, 25] + name: agent29 + start: [25, 27] +- goal: [19, 29] + name: agent30 + start: [9, 21] +- goal: [28, 30] + name: agent31 + start: [5, 9] +- goal: [26, 30] + name: agent32 + start: [15, 19] +- goal: [2, 24] + name: agent33 + start: [28, 10] +- goal: [16, 9] + name: agent34 + start: [29, 16] +- goal: [30, 23] + name: agent35 + start: [3, 27] +- goal: [4, 31] + name: agent36 + start: [25, 7] +- goal: [1, 19] + name: agent37 + start: [11, 18] +- goal: [8, 13] + name: agent38 + start: [2, 13] +- goal: [26, 18] + name: agent39 + start: [31, 8] +- goal: [31, 5] + name: agent40 + start: [14, 27] +- goal: [1, 14] + name: agent41 + start: [28, 18] +- goal: [12, 25] + name: agent42 + start: [0, 2] +- goal: [23, 7] + name: agent43 + start: [23, 28] +- goal: [6, 2] + name: agent44 + start: [8, 12] +- goal: [21, 6] + name: agent45 + start: [24, 20] +- goal: [0, 17] + name: agent46 + start: [11, 9] +- goal: [30, 17] + name: agent47 + start: [24, 19] +- goal: [24, 31] + name: agent48 + start: [4, 0] +- goal: [16, 16] + name: agent49 + start: [29, 7] +- goal: [7, 19] + name: agent50 + start: [20, 1] +- goal: [7, 20] + name: agent51 + start: [27, 29] +- goal: [9, 10] + name: agent52 + start: [24, 30] +- goal: [20, 20] + name: agent53 + start: [6, 27] +- goal: [10, 25] + name: agent54 + start: [4, 16] +- goal: [15, 14] + name: agent55 + start: [16, 19] +- goal: [0, 27] + name: agent56 + start: [0, 9] +- goal: [21, 30] + name: agent57 + start: [23, 8] +- goal: [21, 17] + name: agent58 + start: [23, 7] +- goal: [16, 7] + name: agent59 + start: [31, 28] +- goal: [10, 16] + name: agent60 + start: [27, 27] +- goal: [7, 31] + name: agent61 + start: [11, 11] +- goal: [3, 11] + name: agent62 + start: [11, 12] +- goal: [6, 20] + name: agent63 + start: [18, 23] +- goal: [7, 18] + name: agent64 + start: [7, 5] +- goal: [2, 4] + name: agent65 + start: [21, 13] +- goal: [17, 8] + name: agent66 + start: [27, 6] +- goal: [3, 17] + name: agent67 + start: [4, 26] +- goal: [24, 3] + name: agent68 + start: [4, 3] +- goal: [28, 7] + name: agent69 + start: [18, 2] +- goal: [12, 31] + name: agent70 + start: [26, 17] +- goal: [20, 2] + name: agent71 + start: [6, 22] +- goal: [25, 8] + name: agent72 + start: [15, 18] +- goal: [12, 9] + name: agent73 + start: [26, 30] +- goal: [20, 31] + name: agent74 + start: [16, 6] +- goal: [11, 25] + name: agent75 + start: [29, 12] +- goal: [17, 25] + name: agent76 + start: [2, 21] +- goal: [5, 18] + name: agent77 + start: [5, 23] +- goal: [22, 27] + name: agent78 + start: [27, 19] +- goal: [15, 9] + name: agent79 + start: [28, 30] +- goal: [0, 18] + name: agent80 + start: [1, 18] +- goal: [30, 2] + name: agent81 + start: [11, 2] +- goal: [14, 12] + name: agent82 + start: [18, 0] +- goal: [23, 0] + name: agent83 + start: [26, 16] +- goal: [5, 15] + name: agent84 + start: [28, 2] +- goal: [18, 27] + name: agent85 + start: [28, 22] +- goal: [0, 5] + name: agent86 + start: [30, 9] +- goal: [18, 4] + name: agent87 + start: [29, 29] +- goal: [3, 31] + name: agent88 + start: [12, 24] +- goal: [3, 21] + name: agent89 + start: [31, 5] +- goal: [5, 6] + name: agent90 + start: [8, 28] +- goal: [11, 21] + name: agent91 + start: [10, 0] +- goal: [11, 23] + name: agent92 + start: [29, 13] +- goal: [23, 31] + name: agent93 + start: [18, 13] +- goal: [28, 16] + name: agent94 + start: [13, 27] +- goal: [8, 11] + name: agent95 + start: [6, 21] +- goal: [8, 10] + name: agent96 + start: [2, 3] +- goal: [12, 22] + name: agent97 + start: [11, 13] +- goal: [24, 25] + name: agent98 + start: [11, 24] +- goal: [19, 15] + name: agent99 + start: [0, 23] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [13, 2] + - !!python/tuple [14, 3] + - !!python/tuple [16, 18] + - !!python/tuple [9, 16] + - !!python/tuple [14, 23] + - !!python/tuple [24, 24] + - !!python/tuple [11, 14] + - !!python/tuple [26, 2] + - !!python/tuple [12, 20] + - !!python/tuple [13, 14] + - !!python/tuple [24, 4] + - !!python/tuple [21, 24] + - !!python/tuple [22, 13] + - !!python/tuple [24, 27] + - !!python/tuple [31, 21] + - !!python/tuple [15, 25] + - !!python/tuple [25, 31] + - !!python/tuple [18, 17] + - !!python/tuple [9, 6] + - !!python/tuple [9, 14] + - !!python/tuple [14, 20] + - !!python/tuple [1, 8] + - !!python/tuple [17, 23] + - !!python/tuple [31, 6] + - !!python/tuple [30, 18] + - !!python/tuple [30, 31] + - !!python/tuple [31, 16] + - !!python/tuple [3, 13] + - !!python/tuple [7, 22] + - !!python/tuple [24, 0] + - !!python/tuple [31, 31] + - !!python/tuple [13, 3] + - !!python/tuple [25, 15] + - !!python/tuple [23, 18] + - !!python/tuple [21, 18] + - !!python/tuple [10, 12] + - !!python/tuple [27, 4] + - !!python/tuple [10, 15] + - !!python/tuple [2, 25] + - !!python/tuple [20, 10] + - !!python/tuple [27, 1] + - !!python/tuple [2, 0] + - !!python/tuple [20, 7] + - !!python/tuple [0, 31] + - !!python/tuple [26, 20] + - !!python/tuple [21, 22] + - !!python/tuple [9, 7] + - !!python/tuple [13, 1] + - !!python/tuple [3, 9] + - !!python/tuple [28, 5] + - !!python/tuple [1, 4] + - !!python/tuple [0, 6] + - !!python/tuple [26, 13] + - !!python/tuple [28, 27] + - !!python/tuple [7, 13] + - !!python/tuple [29, 20] + - !!python/tuple [24, 14] + - !!python/tuple [17, 11] + - !!python/tuple [31, 27] + - !!python/tuple [31, 2] + - !!python/tuple [0, 10] + - !!python/tuple [21, 16] + - !!python/tuple [2, 1] + - !!python/tuple [14, 13] + - !!python/tuple [13, 7] + - !!python/tuple [20, 13] + - !!python/tuple [0, 21] + - !!python/tuple [19, 4] + - !!python/tuple [3, 18] + - !!python/tuple [26, 26] + - !!python/tuple [24, 17] + - !!python/tuple [28, 9] + - !!python/tuple [30, 20] + - !!python/tuple [8, 2] + - !!python/tuple [6, 28] + - !!python/tuple [4, 6] + - !!python/tuple [25, 26] + - !!python/tuple [22, 20] + - !!python/tuple [15, 4] + - !!python/tuple [1, 10] + - !!python/tuple [14, 30] + - !!python/tuple [3, 16] + - !!python/tuple [18, 21] + - !!python/tuple [19, 18] + - !!python/tuple [4, 7] + - !!python/tuple [18, 28] + - !!python/tuple [29, 4] + - !!python/tuple [22, 11] + - !!python/tuple [7, 15] + - !!python/tuple [28, 11] + - !!python/tuple [13, 18] + - !!python/tuple [2, 12] + - !!python/tuple [25, 1] + - !!python/tuple [26, 23] + - !!python/tuple [1, 25] + - !!python/tuple [11, 3] + - !!python/tuple [12, 19] + - !!python/tuple [31, 22] + - !!python/tuple [31, 15] + - !!python/tuple [6, 9] + - !!python/tuple [19, 30] + - !!python/tuple [15, 5] + - !!python/tuple [31, 11] + - !!python/tuple [19, 10] + - !!python/tuple [27, 30] + - !!python/tuple [29, 3] + - !!python/tuple [27, 14] + - !!python/tuple [17, 19] + - !!python/tuple [14, 2] + - !!python/tuple [24, 18] + - !!python/tuple [7, 8] + - !!python/tuple [2, 31] + - !!python/tuple [23, 27] + - !!python/tuple [22, 0] + - !!python/tuple [23, 30] + - !!python/tuple [31, 13] + - !!python/tuple [13, 22] + - !!python/tuple [30, 3] + - !!python/tuple [1, 0] + - !!python/tuple [5, 8] + - !!python/tuple [6, 1] + - !!python/tuple [30, 21] + - !!python/tuple [16, 4] + - !!python/tuple [2, 22] + - !!python/tuple [13, 0] + - !!python/tuple [6, 11] + - !!python/tuple [4, 2] + - !!python/tuple [3, 12] + - !!python/tuple [11, 17] + - !!python/tuple [4, 21] + - !!python/tuple [27, 7] + - !!python/tuple [2, 18] + - !!python/tuple [5, 12] + - !!python/tuple [15, 6] + - !!python/tuple [2, 5] + - !!python/tuple [19, 11] + - !!python/tuple [31, 4] + - !!python/tuple [6, 4] + - !!python/tuple [27, 24] + - !!python/tuple [14, 16] + - !!python/tuple [12, 23] + - !!python/tuple [8, 6] + - !!python/tuple [22, 3] + - !!python/tuple [23, 19] + - !!python/tuple [23, 13] + - !!python/tuple [26, 21] + - !!python/tuple [29, 30] + - !!python/tuple [9, 25] + - !!python/tuple [25, 17] + - !!python/tuple [15, 8] + - !!python/tuple [17, 7] + - !!python/tuple [5, 30] + - !!python/tuple [11, 5] + - !!python/tuple [29, 19] + - !!python/tuple [12, 15] + - !!python/tuple [5, 1] + - !!python/tuple [11, 27] + - !!python/tuple [26, 8] + - !!python/tuple [3, 3] + - !!python/tuple [17, 21] + - !!python/tuple [5, 28] + - !!python/tuple [21, 8] + - !!python/tuple [11, 10] + - !!python/tuple [24, 11] + - !!python/tuple [4, 22] + - !!python/tuple [6, 23] + - !!python/tuple [0, 11] + - !!python/tuple [27, 10] + - !!python/tuple [15, 21] + - !!python/tuple [19, 19] + - !!python/tuple [2, 10] + - !!python/tuple [30, 13] + - !!python/tuple [22, 8] + - !!python/tuple [23, 12] + - !!python/tuple [22, 9] + - !!python/tuple [0, 19] + - !!python/tuple [25, 24] + - !!python/tuple [6, 26] + - !!python/tuple [8, 27] + - !!python/tuple [9, 28] + - !!python/tuple [6, 10] + - !!python/tuple [10, 31] + - !!python/tuple [10, 7] + - !!python/tuple [2, 23] + - !!python/tuple [28, 0] + - !!python/tuple [12, 14] + - !!python/tuple [21, 0] + - !!python/tuple [2, 11] + - !!python/tuple [17, 17] + - !!python/tuple [14, 28] + - !!python/tuple [23, 24] + - !!python/tuple [24, 7] + - !!python/tuple [7, 26] + - !!python/tuple [30, 0] + - !!python/tuple [0, 13] + - !!python/tuple [25, 11] + - !!python/tuple [2, 19] + - !!python/tuple [27, 12] + - !!python/tuple [3, 28] + - !!python/tuple [6, 5] + - !!python/tuple [18, 18] + - !!python/tuple [7, 9] + - !!python/tuple [29, 26] + - !!python/tuple [19, 24] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex29.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex29.yaml new file mode 100644 index 0000000..f3e06a1 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex29.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [3, 7] + name: agent0 + start: [30, 7] +- goal: [17, 14] + name: agent1 + start: [16, 7] +- goal: [22, 5] + name: agent2 + start: [8, 27] +- goal: [5, 28] + name: agent3 + start: [2, 31] +- goal: [19, 7] + name: agent4 + start: [25, 17] +- goal: [11, 26] + name: agent5 + start: [12, 28] +- goal: [24, 25] + name: agent6 + start: [31, 9] +- goal: [16, 20] + name: agent7 + start: [30, 26] +- goal: [6, 30] + name: agent8 + start: [15, 11] +- goal: [18, 18] + name: agent9 + start: [30, 19] +- goal: [12, 4] + name: agent10 + start: [13, 14] +- goal: [18, 3] + name: agent11 + start: [15, 28] +- goal: [4, 21] + name: agent12 + start: [7, 5] +- goal: [21, 12] + name: agent13 + start: [5, 9] +- goal: [7, 22] + name: agent14 + start: [6, 29] +- goal: [16, 25] + name: agent15 + start: [0, 22] +- goal: [7, 3] + name: agent16 + start: [2, 18] +- goal: [17, 6] + name: agent17 + start: [14, 0] +- goal: [12, 24] + name: agent18 + start: [6, 10] +- goal: [2, 24] + name: agent19 + start: [26, 24] +- goal: [10, 29] + name: agent20 + start: [22, 1] +- goal: [10, 6] + name: agent21 + start: [15, 16] +- goal: [1, 29] + name: agent22 + start: [14, 16] +- goal: [10, 0] + name: agent23 + start: [26, 21] +- goal: [16, 8] + name: agent24 + start: [14, 6] +- goal: [19, 2] + name: agent25 + start: [13, 29] +- goal: [31, 21] + name: agent26 + start: [3, 14] +- goal: [3, 13] + name: agent27 + start: [29, 9] +- goal: [11, 25] + name: agent28 + start: [1, 22] +- goal: [16, 24] + name: agent29 + start: [20, 13] +- goal: [28, 15] + name: agent30 + start: [4, 16] +- goal: [17, 31] + name: agent31 + start: [25, 12] +- goal: [6, 16] + name: agent32 + start: [19, 2] +- goal: [24, 27] + name: agent33 + start: [13, 0] +- goal: [9, 31] + name: agent34 + start: [15, 22] +- goal: [23, 21] + name: agent35 + start: [7, 13] +- goal: [28, 22] + name: agent36 + start: [11, 26] +- goal: [26, 25] + name: agent37 + start: [22, 31] +- goal: [0, 15] + name: agent38 + start: [22, 7] +- goal: [30, 20] + name: agent39 + start: [25, 9] +- goal: [19, 3] + name: agent40 + start: [9, 24] +- goal: [14, 17] + name: agent41 + start: [30, 25] +- goal: [26, 8] + name: agent42 + start: [21, 1] +- goal: [14, 8] + name: agent43 + start: [18, 6] +- goal: [29, 5] + name: agent44 + start: [29, 8] +- goal: [2, 10] + name: agent45 + start: [22, 13] +- goal: [22, 9] + name: agent46 + start: [20, 12] +- goal: [31, 18] + name: agent47 + start: [5, 1] +- goal: [4, 22] + name: agent48 + start: [6, 20] +- goal: [15, 6] + name: agent49 + start: [21, 20] +- goal: [14, 28] + name: agent50 + start: [13, 13] +- goal: [29, 11] + name: agent51 + start: [3, 3] +- goal: [22, 4] + name: agent52 + start: [20, 4] +- goal: [25, 25] + name: agent53 + start: [24, 17] +- goal: [24, 16] + name: agent54 + start: [2, 7] +- goal: [23, 17] + name: agent55 + start: [11, 3] +- goal: [18, 4] + name: agent56 + start: [20, 9] +- goal: [21, 26] + name: agent57 + start: [20, 5] +- goal: [3, 20] + name: agent58 + start: [12, 26] +- goal: [10, 28] + name: agent59 + start: [19, 28] +- goal: [12, 27] + name: agent60 + start: [26, 8] +- goal: [25, 21] + name: agent61 + start: [16, 13] +- goal: [12, 12] + name: agent62 + start: [15, 20] +- goal: [31, 24] + name: agent63 + start: [7, 11] +- goal: [24, 1] + name: agent64 + start: [7, 26] +- goal: [12, 31] + name: agent65 + start: [26, 15] +- goal: [17, 15] + name: agent66 + start: [1, 8] +- goal: [31, 29] + name: agent67 + start: [5, 7] +- goal: [29, 12] + name: agent68 + start: [13, 30] +- goal: [27, 8] + name: agent69 + start: [29, 24] +- goal: [30, 15] + name: agent70 + start: [29, 31] +- goal: [11, 27] + name: agent71 + start: [18, 3] +- goal: [12, 8] + name: agent72 + start: [12, 20] +- goal: [25, 20] + name: agent73 + start: [6, 24] +- goal: [24, 20] + name: agent74 + start: [27, 9] +- goal: [13, 30] + name: agent75 + start: [29, 13] +- goal: [28, 10] + name: agent76 + start: [18, 0] +- goal: [4, 11] + name: agent77 + start: [4, 13] +- goal: [31, 2] + name: agent78 + start: [30, 15] +- goal: [23, 30] + name: agent79 + start: [6, 16] +- goal: [13, 15] + name: agent80 + start: [1, 21] +- goal: [2, 17] + name: agent81 + start: [11, 12] +- goal: [4, 9] + name: agent82 + start: [27, 27] +- goal: [29, 19] + name: agent83 + start: [8, 7] +- goal: [7, 30] + name: agent84 + start: [10, 19] +- goal: [10, 14] + name: agent85 + start: [28, 7] +- goal: [18, 25] + name: agent86 + start: [6, 14] +- goal: [5, 27] + name: agent87 + start: [8, 26] +- goal: [7, 10] + name: agent88 + start: [18, 21] +- goal: [11, 29] + name: agent89 + start: [10, 9] +- goal: [2, 3] + name: agent90 + start: [0, 9] +- goal: [5, 12] + name: agent91 + start: [31, 8] +- goal: [30, 18] + name: agent92 + start: [19, 1] +- goal: [22, 0] + name: agent93 + start: [5, 22] +- goal: [24, 26] + name: agent94 + start: [22, 30] +- goal: [13, 2] + name: agent95 + start: [29, 3] +- goal: [6, 2] + name: agent96 + start: [22, 20] +- goal: [17, 26] + name: agent97 + start: [6, 21] +- goal: [29, 14] + name: agent98 + start: [22, 14] +- goal: [31, 4] + name: agent99 + start: [8, 0] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [20, 20] + - !!python/tuple [29, 2] + - !!python/tuple [12, 10] + - !!python/tuple [10, 7] + - !!python/tuple [24, 9] + - !!python/tuple [18, 24] + - !!python/tuple [14, 1] + - !!python/tuple [8, 22] + - !!python/tuple [27, 18] + - !!python/tuple [24, 12] + - !!python/tuple [1, 27] + - !!python/tuple [7, 29] + - !!python/tuple [27, 0] + - !!python/tuple [27, 7] + - !!python/tuple [18, 31] + - !!python/tuple [25, 6] + - !!python/tuple [28, 30] + - !!python/tuple [0, 3] + - !!python/tuple [8, 12] + - !!python/tuple [17, 9] + - !!python/tuple [21, 23] + - !!python/tuple [15, 17] + - !!python/tuple [31, 20] + - !!python/tuple [15, 13] + - !!python/tuple [1, 25] + - !!python/tuple [20, 14] + - !!python/tuple [9, 15] + - !!python/tuple [22, 10] + - !!python/tuple [2, 30] + - !!python/tuple [16, 6] + - !!python/tuple [13, 7] + - !!python/tuple [24, 15] + - !!python/tuple [11, 6] + - !!python/tuple [3, 18] + - !!python/tuple [2, 16] + - !!python/tuple [5, 31] + - !!python/tuple [16, 17] + - !!python/tuple [9, 29] + - !!python/tuple [28, 31] + - !!python/tuple [30, 2] + - !!python/tuple [24, 8] + - !!python/tuple [4, 23] + - !!python/tuple [26, 18] + - !!python/tuple [29, 15] + - !!python/tuple [3, 19] + - !!python/tuple [25, 28] + - !!python/tuple [20, 0] + - !!python/tuple [24, 31] + - !!python/tuple [9, 22] + - !!python/tuple [6, 0] + - !!python/tuple [21, 28] + - !!python/tuple [22, 25] + - !!python/tuple [6, 9] + - !!python/tuple [27, 16] + - !!python/tuple [1, 9] + - !!python/tuple [31, 23] + - !!python/tuple [8, 20] + - !!python/tuple [24, 13] + - !!python/tuple [27, 29] + - !!python/tuple [3, 5] + - !!python/tuple [23, 10] + - !!python/tuple [0, 26] + - !!python/tuple [23, 18] + - !!python/tuple [12, 30] + - !!python/tuple [5, 13] + - !!python/tuple [3, 23] + - !!python/tuple [18, 15] + - !!python/tuple [30, 3] + - !!python/tuple [31, 11] + - !!python/tuple [12, 17] + - !!python/tuple [3, 12] + - !!python/tuple [20, 8] + - !!python/tuple [31, 1] + - !!python/tuple [9, 3] + - !!python/tuple [26, 23] + - !!python/tuple [9, 17] + - !!python/tuple [12, 5] + - !!python/tuple [3, 4] + - !!python/tuple [7, 16] + - !!python/tuple [16, 16] + - !!python/tuple [1, 6] + - !!python/tuple [1, 1] + - !!python/tuple [0, 28] + - !!python/tuple [3, 30] + - !!python/tuple [30, 10] + - !!python/tuple [10, 30] + - !!python/tuple [12, 1] + - !!python/tuple [11, 7] + - !!python/tuple [14, 7] + - !!python/tuple [13, 17] + - !!python/tuple [21, 7] + - !!python/tuple [13, 8] + - !!python/tuple [17, 11] + - !!python/tuple [17, 16] + - !!python/tuple [22, 24] + - !!python/tuple [8, 21] + - !!python/tuple [23, 16] + - !!python/tuple [5, 14] + - !!python/tuple [14, 23] + - !!python/tuple [22, 23] + - !!python/tuple [31, 25] + - !!python/tuple [25, 13] + - !!python/tuple [27, 20] + - !!python/tuple [11, 9] + - !!python/tuple [9, 14] + - !!python/tuple [7, 23] + - !!python/tuple [15, 2] + - !!python/tuple [30, 31] + - !!python/tuple [26, 14] + - !!python/tuple [18, 20] + - !!python/tuple [6, 8] + - !!python/tuple [31, 13] + - !!python/tuple [1, 11] + - !!python/tuple [12, 3] + - !!python/tuple [23, 14] + - !!python/tuple [17, 29] + - !!python/tuple [0, 17] + - !!python/tuple [12, 14] + - !!python/tuple [2, 21] + - !!python/tuple [9, 21] + - !!python/tuple [21, 29] + - !!python/tuple [8, 14] + - !!python/tuple [15, 1] + - !!python/tuple [24, 23] + - !!python/tuple [24, 5] + - !!python/tuple [17, 3] + - !!python/tuple [1, 4] + - !!python/tuple [16, 4] + - !!python/tuple [27, 26] + - !!python/tuple [2, 20] + - !!python/tuple [25, 23] + - !!python/tuple [6, 12] + - !!python/tuple [10, 18] + - !!python/tuple [17, 4] + - !!python/tuple [7, 8] + - !!python/tuple [8, 29] + - !!python/tuple [2, 15] + - !!python/tuple [9, 18] + - !!python/tuple [26, 31] + - !!python/tuple [26, 10] + - !!python/tuple [17, 19] + - !!python/tuple [18, 17] + - !!python/tuple [19, 26] + - !!python/tuple [16, 23] + - !!python/tuple [4, 0] + - !!python/tuple [16, 3] + - !!python/tuple [10, 5] + - !!python/tuple [10, 3] + - !!python/tuple [30, 22] + - !!python/tuple [1, 30] + - !!python/tuple [31, 22] + - !!python/tuple [25, 29] + - !!python/tuple [16, 22] + - !!python/tuple [4, 1] + - !!python/tuple [27, 30] + - !!python/tuple [15, 12] + - !!python/tuple [26, 4] + - !!python/tuple [31, 19] + - !!python/tuple [31, 6] + - !!python/tuple [15, 3] + - !!python/tuple [0, 6] + - !!python/tuple [9, 23] + - !!python/tuple [13, 6] + - !!python/tuple [3, 9] + - !!python/tuple [0, 10] + - !!python/tuple [11, 15] + - !!python/tuple [11, 10] + - !!python/tuple [11, 16] + - !!python/tuple [14, 22] + - !!python/tuple [13, 25] + - !!python/tuple [21, 21] + - !!python/tuple [14, 27] + - !!python/tuple [19, 15] + - !!python/tuple [13, 23] + - !!python/tuple [14, 21] + - !!python/tuple [25, 11] + - !!python/tuple [31, 17] + - !!python/tuple [7, 25] + - !!python/tuple [28, 19] + - !!python/tuple [23, 28] + - !!python/tuple [27, 2] + - !!python/tuple [8, 25] + - !!python/tuple [5, 2] + - !!python/tuple [30, 1] + - !!python/tuple [17, 8] + - !!python/tuple [8, 1] + - !!python/tuple [9, 10] + - !!python/tuple [26, 1] + - !!python/tuple [12, 19] + - !!python/tuple [24, 28] + - !!python/tuple [17, 7] + - !!python/tuple [22, 15] + - !!python/tuple [27, 12] + - !!python/tuple [15, 10] + - !!python/tuple [31, 10] + - !!python/tuple [21, 16] + - !!python/tuple [18, 10] + - !!python/tuple [2, 19] + - !!python/tuple [5, 18] + - !!python/tuple [19, 5] + - !!python/tuple [21, 14] + - !!python/tuple [2, 2] + - !!python/tuple [22, 21] + - !!python/tuple [14, 3] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex3.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex3.yaml new file mode 100644 index 0000000..34bc126 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex3.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [16, 26] + name: agent0 + start: [4, 17] +- goal: [6, 5] + name: agent1 + start: [29, 1] +- goal: [24, 0] + name: agent2 + start: [25, 22] +- goal: [4, 11] + name: agent3 + start: [3, 10] +- goal: [15, 18] + name: agent4 + start: [28, 29] +- goal: [28, 1] + name: agent5 + start: [30, 16] +- goal: [12, 30] + name: agent6 + start: [17, 12] +- goal: [29, 26] + name: agent7 + start: [15, 15] +- goal: [2, 22] + name: agent8 + start: [8, 10] +- goal: [6, 14] + name: agent9 + start: [20, 8] +- goal: [30, 25] + name: agent10 + start: [11, 18] +- goal: [13, 3] + name: agent11 + start: [17, 21] +- goal: [25, 5] + name: agent12 + start: [12, 14] +- goal: [13, 5] + name: agent13 + start: [27, 22] +- goal: [17, 12] + name: agent14 + start: [17, 24] +- goal: [0, 23] + name: agent15 + start: [12, 9] +- goal: [19, 23] + name: agent16 + start: [15, 25] +- goal: [10, 31] + name: agent17 + start: [8, 6] +- goal: [21, 6] + name: agent18 + start: [31, 23] +- goal: [4, 17] + name: agent19 + start: [8, 1] +- goal: [1, 16] + name: agent20 + start: [15, 13] +- goal: [14, 11] + name: agent21 + start: [8, 22] +- goal: [8, 31] + name: agent22 + start: [26, 5] +- goal: [1, 13] + name: agent23 + start: [6, 20] +- goal: [25, 29] + name: agent24 + start: [10, 30] +- goal: [21, 7] + name: agent25 + start: [8, 17] +- goal: [16, 17] + name: agent26 + start: [5, 15] +- goal: [19, 27] + name: agent27 + start: [3, 25] +- goal: [11, 0] + name: agent28 + start: [6, 31] +- goal: [28, 31] + name: agent29 + start: [19, 2] +- goal: [9, 6] + name: agent30 + start: [24, 9] +- goal: [10, 24] + name: agent31 + start: [9, 19] +- goal: [14, 29] + name: agent32 + start: [5, 29] +- goal: [30, 1] + name: agent33 + start: [11, 23] +- goal: [7, 18] + name: agent34 + start: [18, 10] +- goal: [31, 3] + name: agent35 + start: [30, 25] +- goal: [7, 28] + name: agent36 + start: [13, 13] +- goal: [22, 7] + name: agent37 + start: [25, 31] +- goal: [23, 19] + name: agent38 + start: [26, 16] +- goal: [17, 5] + name: agent39 + start: [3, 6] +- goal: [18, 10] + name: agent40 + start: [6, 14] +- goal: [12, 29] + name: agent41 + start: [10, 10] +- goal: [28, 29] + name: agent42 + start: [25, 2] +- goal: [24, 19] + name: agent43 + start: [9, 17] +- goal: [13, 15] + name: agent44 + start: [1, 31] +- goal: [30, 18] + name: agent45 + start: [3, 30] +- goal: [13, 13] + name: agent46 + start: [5, 4] +- goal: [20, 7] + name: agent47 + start: [25, 26] +- goal: [22, 4] + name: agent48 + start: [24, 30] +- goal: [25, 7] + name: agent49 + start: [27, 8] +- goal: [27, 26] + name: agent50 + start: [3, 7] +- goal: [29, 15] + name: agent51 + start: [20, 28] +- goal: [8, 8] + name: agent52 + start: [25, 9] +- goal: [5, 13] + name: agent53 + start: [2, 14] +- goal: [21, 5] + name: agent54 + start: [27, 24] +- goal: [31, 9] + name: agent55 + start: [19, 27] +- goal: [27, 22] + name: agent56 + start: [21, 31] +- goal: [14, 10] + name: agent57 + start: [9, 14] +- goal: [0, 13] + name: agent58 + start: [24, 28] +- goal: [21, 15] + name: agent59 + start: [2, 17] +- goal: [18, 7] + name: agent60 + start: [13, 5] +- goal: [19, 7] + name: agent61 + start: [6, 26] +- goal: [11, 4] + name: agent62 + start: [3, 16] +- goal: [16, 21] + name: agent63 + start: [14, 24] +- goal: [27, 11] + name: agent64 + start: [30, 9] +- goal: [30, 26] + name: agent65 + start: [23, 5] +- goal: [11, 6] + name: agent66 + start: [6, 2] +- goal: [22, 10] + name: agent67 + start: [23, 28] +- goal: [16, 5] + name: agent68 + start: [22, 8] +- goal: [10, 14] + name: agent69 + start: [15, 5] +- goal: [26, 14] + name: agent70 + start: [12, 20] +- goal: [3, 25] + name: agent71 + start: [13, 23] +- goal: [9, 24] + name: agent72 + start: [18, 9] +- goal: [4, 23] + name: agent73 + start: [11, 6] +- goal: [8, 23] + name: agent74 + start: [23, 24] +- goal: [6, 30] + name: agent75 + start: [6, 23] +- goal: [16, 13] + name: agent76 + start: [25, 15] +- goal: [0, 31] + name: agent77 + start: [5, 12] +- goal: [24, 15] + name: agent78 + start: [25, 29] +- goal: [28, 14] + name: agent79 + start: [17, 28] +- goal: [5, 7] + name: agent80 + start: [19, 9] +- goal: [26, 19] + name: agent81 + start: [20, 3] +- goal: [12, 3] + name: agent82 + start: [28, 12] +- goal: [3, 23] + name: agent83 + start: [10, 0] +- goal: [29, 9] + name: agent84 + start: [10, 21] +- goal: [9, 3] + name: agent85 + start: [27, 28] +- goal: [18, 31] + name: agent86 + start: [21, 5] +- goal: [3, 4] + name: agent87 + start: [23, 8] +- goal: [14, 0] + name: agent88 + start: [5, 6] +- goal: [13, 21] + name: agent89 + start: [1, 13] +- goal: [18, 20] + name: agent90 + start: [5, 2] +- goal: [4, 26] + name: agent91 + start: [11, 8] +- goal: [24, 20] + name: agent92 + start: [14, 11] +- goal: [16, 25] + name: agent93 + start: [29, 17] +- goal: [12, 19] + name: agent94 + start: [10, 1] +- goal: [19, 25] + name: agent95 + start: [6, 8] +- goal: [13, 22] + name: agent96 + start: [24, 4] +- goal: [27, 18] + name: agent97 + start: [23, 4] +- goal: [12, 9] + name: agent98 + start: [9, 12] +- goal: [19, 8] + name: agent99 + start: [8, 14] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [14, 22] + - !!python/tuple [30, 24] + - !!python/tuple [15, 2] + - !!python/tuple [27, 12] + - !!python/tuple [29, 20] + - !!python/tuple [20, 20] + - !!python/tuple [13, 18] + - !!python/tuple [28, 15] + - !!python/tuple [19, 3] + - !!python/tuple [20, 16] + - !!python/tuple [14, 30] + - !!python/tuple [16, 15] + - !!python/tuple [14, 15] + - !!python/tuple [1, 5] + - !!python/tuple [1, 8] + - !!python/tuple [15, 21] + - !!python/tuple [22, 2] + - !!python/tuple [26, 17] + - !!python/tuple [3, 5] + - !!python/tuple [29, 7] + - !!python/tuple [24, 5] + - !!python/tuple [20, 27] + - !!python/tuple [6, 4] + - !!python/tuple [16, 10] + - !!python/tuple [8, 15] + - !!python/tuple [14, 19] + - !!python/tuple [30, 30] + - !!python/tuple [2, 28] + - !!python/tuple [20, 6] + - !!python/tuple [13, 17] + - !!python/tuple [26, 31] + - !!python/tuple [18, 2] + - !!python/tuple [27, 3] + - !!python/tuple [5, 14] + - !!python/tuple [30, 29] + - !!python/tuple [6, 19] + - !!python/tuple [2, 9] + - !!python/tuple [30, 4] + - !!python/tuple [23, 11] + - !!python/tuple [25, 1] + - !!python/tuple [7, 30] + - !!python/tuple [29, 25] + - !!python/tuple [12, 23] + - !!python/tuple [24, 18] + - !!python/tuple [6, 17] + - !!python/tuple [21, 30] + - !!python/tuple [31, 5] + - !!python/tuple [13, 27] + - !!python/tuple [26, 20] + - !!python/tuple [9, 31] + - !!python/tuple [0, 18] + - !!python/tuple [1, 24] + - !!python/tuple [4, 9] + - !!python/tuple [4, 20] + - !!python/tuple [30, 7] + - !!python/tuple [6, 6] + - !!python/tuple [8, 3] + - !!python/tuple [3, 24] + - !!python/tuple [13, 9] + - !!python/tuple [27, 5] + - !!python/tuple [7, 16] + - !!python/tuple [24, 25] + - !!python/tuple [7, 4] + - !!python/tuple [13, 25] + - !!python/tuple [20, 23] + - !!python/tuple [21, 12] + - !!python/tuple [9, 26] + - !!python/tuple [12, 5] + - !!python/tuple [20, 10] + - !!python/tuple [14, 31] + - !!python/tuple [15, 8] + - !!python/tuple [3, 21] + - !!python/tuple [5, 1] + - !!python/tuple [10, 8] + - !!python/tuple [1, 3] + - !!python/tuple [24, 2] + - !!python/tuple [22, 31] + - !!python/tuple [19, 20] + - !!python/tuple [30, 15] + - !!python/tuple [12, 31] + - !!python/tuple [25, 12] + - !!python/tuple [10, 16] + - !!python/tuple [22, 15] + - !!python/tuple [26, 3] + - !!python/tuple [16, 22] + - !!python/tuple [25, 10] + - !!python/tuple [2, 7] + - !!python/tuple [0, 5] + - !!python/tuple [7, 2] + - !!python/tuple [7, 15] + - !!python/tuple [26, 30] + - !!python/tuple [9, 10] + - !!python/tuple [7, 17] + - !!python/tuple [4, 0] + - !!python/tuple [11, 28] + - !!python/tuple [25, 11] + - !!python/tuple [10, 17] + - !!python/tuple [11, 2] + - !!python/tuple [5, 3] + - !!python/tuple [28, 28] + - !!python/tuple [18, 19] + - !!python/tuple [18, 8] + - !!python/tuple [28, 4] + - !!python/tuple [6, 21] + - !!python/tuple [16, 7] + - !!python/tuple [14, 1] + - !!python/tuple [28, 13] + - !!python/tuple [13, 0] + - !!python/tuple [22, 13] + - !!python/tuple [10, 19] + - !!python/tuple [17, 27] + - !!python/tuple [5, 18] + - !!python/tuple [0, 26] + - !!python/tuple [28, 21] + - !!python/tuple [14, 27] + - !!python/tuple [12, 7] + - !!python/tuple [16, 3] + - !!python/tuple [21, 4] + - !!python/tuple [25, 19] + - !!python/tuple [20, 14] + - !!python/tuple [1, 26] + - !!python/tuple [15, 14] + - !!python/tuple [19, 26] + - !!python/tuple [31, 25] + - !!python/tuple [16, 29] + - !!python/tuple [11, 14] + - !!python/tuple [27, 29] + - !!python/tuple [22, 21] + - !!python/tuple [29, 31] + - !!python/tuple [27, 31] + - !!python/tuple [22, 16] + - !!python/tuple [0, 20] + - !!python/tuple [30, 17] + - !!python/tuple [27, 4] + - !!python/tuple [18, 13] + - !!python/tuple [27, 20] + - !!python/tuple [21, 28] + - !!python/tuple [8, 4] + - !!python/tuple [15, 11] + - !!python/tuple [15, 19] + - !!python/tuple [16, 12] + - !!python/tuple [18, 1] + - !!python/tuple [18, 22] + - !!python/tuple [10, 6] + - !!python/tuple [18, 25] + - !!python/tuple [9, 16] + - !!python/tuple [25, 4] + - !!python/tuple [6, 0] + - !!python/tuple [19, 16] + - !!python/tuple [29, 4] + - !!python/tuple [26, 8] + - !!python/tuple [17, 16] + - !!python/tuple [24, 7] + - !!python/tuple [14, 7] + - !!python/tuple [9, 2] + - !!python/tuple [17, 7] + - !!python/tuple [18, 16] + - !!python/tuple [18, 23] + - !!python/tuple [28, 8] + - !!python/tuple [16, 19] + - !!python/tuple [11, 11] + - !!python/tuple [23, 15] + - !!python/tuple [29, 19] + - !!python/tuple [3, 22] + - !!python/tuple [5, 9] + - !!python/tuple [17, 9] + - !!python/tuple [12, 4] + - !!python/tuple [18, 18] + - !!python/tuple [15, 28] + - !!python/tuple [13, 8] + - !!python/tuple [13, 16] + - !!python/tuple [0, 25] + - !!python/tuple [21, 3] + - !!python/tuple [31, 19] + - !!python/tuple [25, 17] + - !!python/tuple [7, 7] + - !!python/tuple [18, 24] + - !!python/tuple [20, 17] + - !!python/tuple [4, 24] + - !!python/tuple [28, 17] + - !!python/tuple [16, 28] + - !!python/tuple [3, 11] + - !!python/tuple [12, 2] + - !!python/tuple [21, 1] + - !!python/tuple [31, 29] + - !!python/tuple [1, 9] + - !!python/tuple [8, 9] + - !!python/tuple [26, 22] + - !!python/tuple [18, 15] + - !!python/tuple [1, 19] + - !!python/tuple [8, 28] + - !!python/tuple [24, 11] + - !!python/tuple [29, 14] + - !!python/tuple [22, 18] + - !!python/tuple [15, 6] + - !!python/tuple [29, 22] + - !!python/tuple [2, 23] + - !!python/tuple [10, 5] + - !!python/tuple [28, 18] + - !!python/tuple [17, 22] + - !!python/tuple [17, 13] + - !!python/tuple [1, 21] + - !!python/tuple [28, 26] + - !!python/tuple [0, 0] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex30.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex30.yaml new file mode 100644 index 0000000..98f59bf --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex30.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [21, 7] + name: agent0 + start: [17, 27] +- goal: [3, 26] + name: agent1 + start: [31, 21] +- goal: [5, 20] + name: agent2 + start: [22, 22] +- goal: [22, 24] + name: agent3 + start: [26, 8] +- goal: [14, 30] + name: agent4 + start: [8, 21] +- goal: [17, 3] + name: agent5 + start: [0, 22] +- goal: [20, 8] + name: agent6 + start: [1, 23] +- goal: [6, 26] + name: agent7 + start: [15, 28] +- goal: [4, 21] + name: agent8 + start: [14, 8] +- goal: [25, 15] + name: agent9 + start: [15, 18] +- goal: [14, 9] + name: agent10 + start: [13, 1] +- goal: [9, 8] + name: agent11 + start: [23, 12] +- goal: [8, 19] + name: agent12 + start: [21, 0] +- goal: [4, 2] + name: agent13 + start: [17, 3] +- goal: [23, 30] + name: agent14 + start: [16, 30] +- goal: [25, 2] + name: agent15 + start: [7, 10] +- goal: [26, 22] + name: agent16 + start: [25, 4] +- goal: [7, 6] + name: agent17 + start: [6, 22] +- goal: [27, 23] + name: agent18 + start: [9, 17] +- goal: [9, 31] + name: agent19 + start: [21, 8] +- goal: [22, 0] + name: agent20 + start: [12, 4] +- goal: [22, 8] + name: agent21 + start: [16, 24] +- goal: [6, 5] + name: agent22 + start: [13, 5] +- goal: [4, 1] + name: agent23 + start: [14, 13] +- goal: [1, 8] + name: agent24 + start: [6, 18] +- goal: [15, 22] + name: agent25 + start: [23, 29] +- goal: [6, 15] + name: agent26 + start: [17, 23] +- goal: [7, 20] + name: agent27 + start: [28, 25] +- goal: [15, 30] + name: agent28 + start: [18, 0] +- goal: [5, 19] + name: agent29 + start: [16, 21] +- goal: [31, 14] + name: agent30 + start: [0, 24] +- goal: [16, 27] + name: agent31 + start: [10, 1] +- goal: [6, 29] + name: agent32 + start: [2, 7] +- goal: [24, 17] + name: agent33 + start: [13, 14] +- goal: [20, 22] + name: agent34 + start: [26, 1] +- goal: [8, 22] + name: agent35 + start: [20, 8] +- goal: [1, 26] + name: agent36 + start: [2, 18] +- goal: [18, 25] + name: agent37 + start: [12, 14] +- goal: [8, 16] + name: agent38 + start: [15, 31] +- goal: [3, 25] + name: agent39 + start: [30, 29] +- goal: [16, 14] + name: agent40 + start: [18, 29] +- goal: [8, 17] + name: agent41 + start: [18, 17] +- goal: [28, 0] + name: agent42 + start: [18, 20] +- goal: [27, 10] + name: agent43 + start: [6, 8] +- goal: [7, 14] + name: agent44 + start: [24, 15] +- goal: [22, 11] + name: agent45 + start: [0, 10] +- goal: [0, 10] + name: agent46 + start: [24, 18] +- goal: [16, 30] + name: agent47 + start: [15, 26] +- goal: [9, 13] + name: agent48 + start: [18, 4] +- goal: [2, 16] + name: agent49 + start: [15, 23] +- goal: [23, 16] + name: agent50 + start: [14, 22] +- goal: [3, 27] + name: agent51 + start: [23, 20] +- goal: [27, 26] + name: agent52 + start: [13, 21] +- goal: [10, 15] + name: agent53 + start: [25, 2] +- goal: [10, 25] + name: agent54 + start: [6, 7] +- goal: [2, 4] + name: agent55 + start: [21, 21] +- goal: [29, 6] + name: agent56 + start: [16, 12] +- goal: [6, 10] + name: agent57 + start: [29, 8] +- goal: [14, 8] + name: agent58 + start: [25, 10] +- goal: [21, 8] + name: agent59 + start: [18, 6] +- goal: [12, 12] + name: agent60 + start: [28, 2] +- goal: [20, 21] + name: agent61 + start: [1, 30] +- goal: [11, 1] + name: agent62 + start: [25, 8] +- goal: [28, 21] + name: agent63 + start: [5, 10] +- goal: [19, 14] + name: agent64 + start: [12, 25] +- goal: [19, 12] + name: agent65 + start: [19, 4] +- goal: [5, 14] + name: agent66 + start: [10, 19] +- goal: [26, 23] + name: agent67 + start: [19, 2] +- goal: [2, 22] + name: agent68 + start: [16, 27] +- goal: [22, 29] + name: agent69 + start: [22, 29] +- goal: [15, 28] + name: agent70 + start: [15, 14] +- goal: [2, 17] + name: agent71 + start: [1, 11] +- goal: [8, 9] + name: agent72 + start: [23, 30] +- goal: [30, 20] + name: agent73 + start: [24, 28] +- goal: [18, 19] + name: agent74 + start: [14, 30] +- goal: [2, 23] + name: agent75 + start: [17, 21] +- goal: [13, 10] + name: agent76 + start: [19, 31] +- goal: [17, 15] + name: agent77 + start: [5, 15] +- goal: [6, 16] + name: agent78 + start: [18, 27] +- goal: [30, 13] + name: agent79 + start: [0, 29] +- goal: [3, 18] + name: agent80 + start: [31, 25] +- goal: [8, 30] + name: agent81 + start: [23, 1] +- goal: [0, 9] + name: agent82 + start: [28, 3] +- goal: [3, 9] + name: agent83 + start: [22, 23] +- goal: [10, 9] + name: agent84 + start: [9, 25] +- goal: [25, 9] + name: agent85 + start: [24, 5] +- goal: [13, 12] + name: agent86 + start: [18, 18] +- goal: [19, 20] + name: agent87 + start: [1, 4] +- goal: [15, 4] + name: agent88 + start: [26, 26] +- goal: [27, 6] + name: agent89 + start: [6, 12] +- goal: [12, 18] + name: agent90 + start: [1, 13] +- goal: [28, 29] + name: agent91 + start: [9, 9] +- goal: [30, 11] + name: agent92 + start: [27, 18] +- goal: [5, 1] + name: agent93 + start: [25, 16] +- goal: [9, 16] + name: agent94 + start: [9, 31] +- goal: [19, 28] + name: agent95 + start: [23, 27] +- goal: [11, 18] + name: agent96 + start: [23, 14] +- goal: [13, 18] + name: agent97 + start: [19, 22] +- goal: [22, 7] + name: agent98 + start: [27, 29] +- goal: [4, 6] + name: agent99 + start: [31, 6] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [11, 3] + - !!python/tuple [30, 6] + - !!python/tuple [11, 19] + - !!python/tuple [19, 13] + - !!python/tuple [1, 17] + - !!python/tuple [21, 11] + - !!python/tuple [14, 0] + - !!python/tuple [26, 0] + - !!python/tuple [27, 11] + - !!python/tuple [6, 3] + - !!python/tuple [17, 8] + - !!python/tuple [2, 12] + - !!python/tuple [27, 13] + - !!python/tuple [20, 7] + - !!python/tuple [4, 31] + - !!python/tuple [23, 19] + - !!python/tuple [24, 30] + - !!python/tuple [0, 18] + - !!python/tuple [22, 18] + - !!python/tuple [31, 28] + - !!python/tuple [3, 16] + - !!python/tuple [20, 31] + - !!python/tuple [26, 24] + - !!python/tuple [5, 22] + - !!python/tuple [11, 25] + - !!python/tuple [21, 28] + - !!python/tuple [25, 22] + - !!python/tuple [22, 1] + - !!python/tuple [18, 7] + - !!python/tuple [29, 1] + - !!python/tuple [0, 17] + - !!python/tuple [7, 5] + - !!python/tuple [28, 26] + - !!python/tuple [5, 28] + - !!python/tuple [16, 10] + - !!python/tuple [26, 28] + - !!python/tuple [6, 27] + - !!python/tuple [11, 6] + - !!python/tuple [18, 9] + - !!python/tuple [30, 1] + - !!python/tuple [1, 10] + - !!python/tuple [13, 24] + - !!python/tuple [29, 24] + - !!python/tuple [31, 19] + - !!python/tuple [23, 21] + - !!python/tuple [30, 22] + - !!python/tuple [30, 5] + - !!python/tuple [13, 27] + - !!python/tuple [19, 18] + - !!python/tuple [18, 3] + - !!python/tuple [24, 25] + - !!python/tuple [22, 14] + - !!python/tuple [18, 24] + - !!python/tuple [0, 21] + - !!python/tuple [22, 5] + - !!python/tuple [31, 18] + - !!python/tuple [19, 0] + - !!python/tuple [13, 6] + - !!python/tuple [10, 18] + - !!python/tuple [4, 3] + - !!python/tuple [27, 24] + - !!python/tuple [2, 27] + - !!python/tuple [11, 27] + - !!python/tuple [27, 21] + - !!python/tuple [22, 12] + - !!python/tuple [28, 17] + - !!python/tuple [19, 9] + - !!python/tuple [28, 27] + - !!python/tuple [5, 11] + - !!python/tuple [7, 17] + - !!python/tuple [25, 17] + - !!python/tuple [13, 22] + - !!python/tuple [28, 22] + - !!python/tuple [18, 16] + - !!python/tuple [14, 10] + - !!python/tuple [9, 6] + - !!python/tuple [5, 21] + - !!python/tuple [31, 23] + - !!python/tuple [23, 28] + - !!python/tuple [24, 27] + - !!python/tuple [30, 8] + - !!python/tuple [1, 2] + - !!python/tuple [14, 5] + - !!python/tuple [16, 11] + - !!python/tuple [21, 5] + - !!python/tuple [27, 12] + - !!python/tuple [16, 7] + - !!python/tuple [11, 2] + - !!python/tuple [19, 24] + - !!python/tuple [4, 11] + - !!python/tuple [12, 26] + - !!python/tuple [2, 9] + - !!python/tuple [21, 25] + - !!python/tuple [6, 17] + - !!python/tuple [3, 4] + - !!python/tuple [17, 22] + - !!python/tuple [12, 24] + - !!python/tuple [29, 7] + - !!python/tuple [29, 3] + - !!python/tuple [17, 5] + - !!python/tuple [5, 8] + - !!python/tuple [16, 3] + - !!python/tuple [31, 3] + - !!python/tuple [0, 2] + - !!python/tuple [5, 23] + - !!python/tuple [10, 20] + - !!python/tuple [6, 13] + - !!python/tuple [4, 14] + - !!python/tuple [3, 19] + - !!python/tuple [2, 24] + - !!python/tuple [1, 25] + - !!python/tuple [11, 30] + - !!python/tuple [18, 2] + - !!python/tuple [20, 18] + - !!python/tuple [28, 13] + - !!python/tuple [13, 31] + - !!python/tuple [21, 6] + - !!python/tuple [9, 22] + - !!python/tuple [17, 31] + - !!python/tuple [8, 29] + - !!python/tuple [1, 28] + - !!python/tuple [27, 28] + - !!python/tuple [31, 2] + - !!python/tuple [12, 9] + - !!python/tuple [19, 16] + - !!python/tuple [29, 29] + - !!python/tuple [16, 28] + - !!python/tuple [19, 10] + - !!python/tuple [31, 8] + - !!python/tuple [24, 16] + - !!python/tuple [7, 4] + - !!python/tuple [23, 13] + - !!python/tuple [22, 2] + - !!python/tuple [15, 3] + - !!python/tuple [0, 13] + - !!python/tuple [0, 1] + - !!python/tuple [11, 10] + - !!python/tuple [20, 9] + - !!python/tuple [22, 10] + - !!python/tuple [14, 16] + - !!python/tuple [24, 3] + - !!python/tuple [29, 27] + - !!python/tuple [20, 24] + - !!python/tuple [7, 9] + - !!python/tuple [25, 30] + - !!python/tuple [16, 15] + - !!python/tuple [30, 30] + - !!python/tuple [13, 3] + - !!python/tuple [3, 0] + - !!python/tuple [2, 28] + - !!python/tuple [11, 9] + - !!python/tuple [4, 17] + - !!python/tuple [26, 5] + - !!python/tuple [15, 2] + - !!python/tuple [13, 4] + - !!python/tuple [1, 20] + - !!python/tuple [3, 8] + - !!python/tuple [25, 1] + - !!python/tuple [9, 14] + - !!python/tuple [0, 12] + - !!python/tuple [29, 26] + - !!python/tuple [1, 21] + - !!python/tuple [31, 17] + - !!python/tuple [14, 18] + - !!python/tuple [3, 10] + - !!python/tuple [27, 8] + - !!python/tuple [12, 6] + - !!python/tuple [6, 30] + - !!python/tuple [27, 22] + - !!python/tuple [17, 28] + - !!python/tuple [10, 31] + - !!python/tuple [29, 16] + - !!python/tuple [0, 20] + - !!python/tuple [19, 23] + - !!python/tuple [7, 26] + - !!python/tuple [17, 9] + - !!python/tuple [1, 27] + - !!python/tuple [25, 13] + - !!python/tuple [5, 27] + - !!python/tuple [20, 30] + - !!python/tuple [26, 21] + - !!python/tuple [13, 9] + - !!python/tuple [19, 1] + - !!python/tuple [28, 15] + - !!python/tuple [10, 2] + - !!python/tuple [28, 1] + - !!python/tuple [4, 4] + - !!python/tuple [18, 11] + - !!python/tuple [10, 14] + - !!python/tuple [20, 16] + - !!python/tuple [18, 26] + - !!python/tuple [10, 27] + - !!python/tuple [7, 23] + - !!python/tuple [11, 4] + - !!python/tuple [1, 12] + - !!python/tuple [31, 31] + - !!python/tuple [8, 5] + - !!python/tuple [4, 12] + - !!python/tuple [7, 29] + - !!python/tuple [1, 19] + - !!python/tuple [7, 8] + - !!python/tuple [3, 7] + - !!python/tuple [7, 30] + - !!python/tuple [15, 25] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex31.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex31.yaml new file mode 100644 index 0000000..bb6c321 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex31.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [17, 18] + name: agent0 + start: [31, 17] +- goal: [16, 24] + name: agent1 + start: [22, 31] +- goal: [14, 19] + name: agent2 + start: [6, 10] +- goal: [11, 31] + name: agent3 + start: [7, 4] +- goal: [23, 20] + name: agent4 + start: [3, 30] +- goal: [26, 9] + name: agent5 + start: [0, 15] +- goal: [19, 0] + name: agent6 + start: [30, 29] +- goal: [9, 12] + name: agent7 + start: [22, 9] +- goal: [29, 31] + name: agent8 + start: [14, 0] +- goal: [5, 3] + name: agent9 + start: [15, 28] +- goal: [12, 8] + name: agent10 + start: [1, 10] +- goal: [29, 16] + name: agent11 + start: [4, 23] +- goal: [8, 11] + name: agent12 + start: [27, 30] +- goal: [17, 4] + name: agent13 + start: [29, 27] +- goal: [23, 22] + name: agent14 + start: [21, 20] +- goal: [27, 15] + name: agent15 + start: [26, 8] +- goal: [23, 28] + name: agent16 + start: [21, 24] +- goal: [6, 3] + name: agent17 + start: [18, 31] +- goal: [1, 30] + name: agent18 + start: [7, 8] +- goal: [19, 19] + name: agent19 + start: [13, 28] +- goal: [12, 26] + name: agent20 + start: [10, 1] +- goal: [8, 23] + name: agent21 + start: [20, 21] +- goal: [5, 12] + name: agent22 + start: [24, 21] +- goal: [24, 14] + name: agent23 + start: [15, 15] +- goal: [15, 5] + name: agent24 + start: [28, 4] +- goal: [25, 4] + name: agent25 + start: [2, 19] +- goal: [18, 13] + name: agent26 + start: [17, 17] +- goal: [1, 18] + name: agent27 + start: [26, 30] +- goal: [19, 3] + name: agent28 + start: [23, 20] +- goal: [23, 0] + name: agent29 + start: [15, 14] +- goal: [31, 18] + name: agent30 + start: [24, 29] +- goal: [19, 24] + name: agent31 + start: [27, 5] +- goal: [27, 11] + name: agent32 + start: [14, 30] +- goal: [12, 29] + name: agent33 + start: [5, 21] +- goal: [19, 23] + name: agent34 + start: [15, 29] +- goal: [9, 15] + name: agent35 + start: [23, 18] +- goal: [3, 21] + name: agent36 + start: [16, 20] +- goal: [28, 20] + name: agent37 + start: [23, 10] +- goal: [16, 11] + name: agent38 + start: [1, 8] +- goal: [11, 8] + name: agent39 + start: [28, 25] +- goal: [3, 11] + name: agent40 + start: [2, 5] +- goal: [17, 9] + name: agent41 + start: [13, 10] +- goal: [18, 22] + name: agent42 + start: [23, 0] +- goal: [11, 2] + name: agent43 + start: [8, 19] +- goal: [6, 27] + name: agent44 + start: [18, 0] +- goal: [22, 8] + name: agent45 + start: [1, 7] +- goal: [26, 29] + name: agent46 + start: [19, 14] +- goal: [16, 21] + name: agent47 + start: [6, 29] +- goal: [28, 24] + name: agent48 + start: [24, 23] +- goal: [31, 17] + name: agent49 + start: [6, 22] +- goal: [27, 13] + name: agent50 + start: [24, 26] +- goal: [2, 9] + name: agent51 + start: [13, 1] +- goal: [17, 10] + name: agent52 + start: [21, 27] +- goal: [5, 10] + name: agent53 + start: [8, 13] +- goal: [11, 12] + name: agent54 + start: [18, 5] +- goal: [3, 23] + name: agent55 + start: [1, 24] +- goal: [22, 11] + name: agent56 + start: [31, 10] +- goal: [7, 27] + name: agent57 + start: [28, 14] +- goal: [11, 0] + name: agent58 + start: [27, 25] +- goal: [13, 18] + name: agent59 + start: [8, 7] +- goal: [29, 27] + name: agent60 + start: [11, 28] +- goal: [1, 29] + name: agent61 + start: [5, 18] +- goal: [5, 8] + name: agent62 + start: [16, 6] +- goal: [11, 21] + name: agent63 + start: [4, 7] +- goal: [4, 7] + name: agent64 + start: [21, 21] +- goal: [14, 16] + name: agent65 + start: [28, 12] +- goal: [28, 30] + name: agent66 + start: [27, 15] +- goal: [5, 7] + name: agent67 + start: [23, 22] +- goal: [24, 7] + name: agent68 + start: [9, 0] +- goal: [22, 22] + name: agent69 + start: [24, 14] +- goal: [8, 5] + name: agent70 + start: [24, 25] +- goal: [3, 6] + name: agent71 + start: [4, 24] +- goal: [25, 15] + name: agent72 + start: [5, 7] +- goal: [26, 6] + name: agent73 + start: [7, 27] +- goal: [6, 26] + name: agent74 + start: [13, 13] +- goal: [6, 16] + name: agent75 + start: [5, 11] +- goal: [22, 2] + name: agent76 + start: [9, 14] +- goal: [14, 25] + name: agent77 + start: [23, 9] +- goal: [6, 7] + name: agent78 + start: [6, 19] +- goal: [9, 23] + name: agent79 + start: [22, 25] +- goal: [24, 12] + name: agent80 + start: [8, 9] +- goal: [20, 28] + name: agent81 + start: [21, 9] +- goal: [16, 1] + name: agent82 + start: [27, 8] +- goal: [19, 2] + name: agent83 + start: [20, 3] +- goal: [29, 18] + name: agent84 + start: [16, 15] +- goal: [2, 12] + name: agent85 + start: [6, 26] +- goal: [11, 1] + name: agent86 + start: [25, 8] +- goal: [5, 20] + name: agent87 + start: [7, 21] +- goal: [22, 27] + name: agent88 + start: [24, 19] +- goal: [26, 15] + name: agent89 + start: [23, 31] +- goal: [5, 30] + name: agent90 + start: [17, 19] +- goal: [28, 3] + name: agent91 + start: [7, 12] +- goal: [15, 10] + name: agent92 + start: [18, 20] +- goal: [11, 19] + name: agent93 + start: [12, 28] +- goal: [10, 27] + name: agent94 + start: [1, 28] +- goal: [18, 31] + name: agent95 + start: [6, 17] +- goal: [3, 4] + name: agent96 + start: [21, 14] +- goal: [2, 14] + name: agent97 + start: [10, 5] +- goal: [5, 29] + name: agent98 + start: [4, 11] +- goal: [19, 14] + name: agent99 + start: [28, 5] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [29, 10] + - !!python/tuple [22, 19] + - !!python/tuple [22, 29] + - !!python/tuple [24, 28] + - !!python/tuple [6, 4] + - !!python/tuple [17, 8] + - !!python/tuple [25, 3] + - !!python/tuple [8, 22] + - !!python/tuple [10, 2] + - !!python/tuple [30, 31] + - !!python/tuple [12, 10] + - !!python/tuple [28, 17] + - !!python/tuple [27, 0] + - !!python/tuple [11, 25] + - !!python/tuple [21, 31] + - !!python/tuple [16, 8] + - !!python/tuple [14, 4] + - !!python/tuple [21, 13] + - !!python/tuple [12, 23] + - !!python/tuple [4, 16] + - !!python/tuple [25, 20] + - !!python/tuple [17, 5] + - !!python/tuple [3, 2] + - !!python/tuple [7, 10] + - !!python/tuple [5, 15] + - !!python/tuple [8, 3] + - !!python/tuple [0, 28] + - !!python/tuple [21, 12] + - !!python/tuple [13, 26] + - !!python/tuple [21, 4] + - !!python/tuple [0, 8] + - !!python/tuple [20, 31] + - !!python/tuple [29, 3] + - !!python/tuple [3, 15] + - !!python/tuple [27, 17] + - !!python/tuple [22, 21] + - !!python/tuple [25, 5] + - !!python/tuple [6, 11] + - !!python/tuple [13, 17] + - !!python/tuple [6, 6] + - !!python/tuple [19, 6] + - !!python/tuple [9, 8] + - !!python/tuple [6, 30] + - !!python/tuple [13, 3] + - !!python/tuple [18, 25] + - !!python/tuple [6, 28] + - !!python/tuple [6, 13] + - !!python/tuple [21, 2] + - !!python/tuple [4, 26] + - !!python/tuple [2, 6] + - !!python/tuple [24, 11] + - !!python/tuple [18, 26] + - !!python/tuple [18, 17] + - !!python/tuple [18, 19] + - !!python/tuple [15, 22] + - !!python/tuple [10, 12] + - !!python/tuple [27, 31] + - !!python/tuple [5, 2] + - !!python/tuple [23, 26] + - !!python/tuple [16, 10] + - !!python/tuple [3, 0] + - !!python/tuple [8, 6] + - !!python/tuple [28, 19] + - !!python/tuple [21, 10] + - !!python/tuple [27, 29] + - !!python/tuple [4, 19] + - !!python/tuple [17, 24] + - !!python/tuple [0, 29] + - !!python/tuple [2, 22] + - !!python/tuple [24, 31] + - !!python/tuple [11, 6] + - !!python/tuple [30, 0] + - !!python/tuple [2, 16] + - !!python/tuple [15, 12] + - !!python/tuple [16, 12] + - !!python/tuple [4, 6] + - !!python/tuple [8, 15] + - !!python/tuple [10, 6] + - !!python/tuple [4, 25] + - !!python/tuple [4, 27] + - !!python/tuple [19, 20] + - !!python/tuple [16, 3] + - !!python/tuple [19, 27] + - !!python/tuple [21, 19] + - !!python/tuple [10, 28] + - !!python/tuple [18, 4] + - !!python/tuple [14, 22] + - !!python/tuple [0, 18] + - !!python/tuple [3, 29] + - !!python/tuple [4, 9] + - !!python/tuple [20, 17] + - !!python/tuple [26, 26] + - !!python/tuple [23, 23] + - !!python/tuple [19, 16] + - !!python/tuple [28, 1] + - !!python/tuple [14, 31] + - !!python/tuple [14, 17] + - !!python/tuple [14, 15] + - !!python/tuple [31, 11] + - !!python/tuple [1, 9] + - !!python/tuple [12, 19] + - !!python/tuple [25, 21] + - !!python/tuple [22, 6] + - !!python/tuple [14, 7] + - !!python/tuple [5, 6] + - !!python/tuple [4, 18] + - !!python/tuple [28, 8] + - !!python/tuple [22, 23] + - !!python/tuple [29, 14] + - !!python/tuple [17, 14] + - !!python/tuple [20, 24] + - !!python/tuple [18, 2] + - !!python/tuple [8, 0] + - !!python/tuple [23, 30] + - !!python/tuple [12, 9] + - !!python/tuple [20, 12] + - !!python/tuple [18, 1] + - !!python/tuple [9, 25] + - !!python/tuple [16, 31] + - !!python/tuple [19, 8] + - !!python/tuple [17, 6] + - !!python/tuple [9, 5] + - !!python/tuple [9, 19] + - !!python/tuple [7, 22] + - !!python/tuple [20, 11] + - !!python/tuple [8, 26] + - !!python/tuple [29, 4] + - !!python/tuple [8, 1] + - !!python/tuple [0, 24] + - !!python/tuple [4, 17] + - !!python/tuple [5, 9] + - !!python/tuple [16, 22] + - !!python/tuple [25, 7] + - !!python/tuple [14, 10] + - !!python/tuple [31, 24] + - !!python/tuple [26, 28] + - !!python/tuple [1, 19] + - !!python/tuple [10, 31] + - !!python/tuple [28, 7] + - !!python/tuple [29, 26] + - !!python/tuple [17, 11] + - !!python/tuple [2, 31] + - !!python/tuple [23, 7] + - !!python/tuple [26, 11] + - !!python/tuple [11, 11] + - !!python/tuple [10, 7] + - !!python/tuple [18, 9] + - !!python/tuple [19, 13] + - !!python/tuple [1, 11] + - !!python/tuple [10, 22] + - !!python/tuple [27, 27] + - !!python/tuple [30, 18] + - !!python/tuple [0, 2] + - !!python/tuple [9, 26] + - !!python/tuple [0, 6] + - !!python/tuple [5, 27] + - !!python/tuple [22, 20] + - !!python/tuple [12, 5] + - !!python/tuple [20, 5] + - !!python/tuple [23, 29] + - !!python/tuple [6, 31] + - !!python/tuple [11, 24] + - !!python/tuple [31, 30] + - !!python/tuple [23, 8] + - !!python/tuple [15, 27] + - !!python/tuple [28, 6] + - !!python/tuple [23, 24] + - !!python/tuple [4, 12] + - !!python/tuple [25, 19] + - !!python/tuple [7, 13] + - !!python/tuple [9, 30] + - !!python/tuple [16, 23] + - !!python/tuple [28, 13] + - !!python/tuple [13, 23] + - !!python/tuple [24, 18] + - !!python/tuple [24, 3] + - !!python/tuple [27, 3] + - !!python/tuple [12, 11] + - !!python/tuple [24, 0] + - !!python/tuple [28, 27] + - !!python/tuple [13, 24] + - !!python/tuple [24, 13] + - !!python/tuple [30, 13] + - !!python/tuple [7, 16] + - !!python/tuple [30, 17] + - !!python/tuple [26, 7] + - !!python/tuple [16, 5] + - !!python/tuple [7, 17] + - !!python/tuple [23, 1] + - !!python/tuple [11, 13] + - !!python/tuple [5, 25] + - !!python/tuple [26, 21] + - !!python/tuple [25, 28] + - !!python/tuple [30, 16] + - !!python/tuple [8, 31] + - !!python/tuple [26, 10] + - !!python/tuple [31, 14] + - !!python/tuple [11, 22] + - !!python/tuple [23, 16] + - !!python/tuple [31, 28] + - !!python/tuple [20, 13] + - !!python/tuple [28, 0] + - !!python/tuple [21, 17] + - !!python/tuple [14, 20] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex32.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex32.yaml new file mode 100644 index 0000000..3e20f39 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex32.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [28, 19] + name: agent0 + start: [16, 9] +- goal: [23, 10] + name: agent1 + start: [21, 9] +- goal: [5, 13] + name: agent2 + start: [15, 16] +- goal: [12, 28] + name: agent3 + start: [12, 24] +- goal: [20, 28] + name: agent4 + start: [22, 28] +- goal: [4, 22] + name: agent5 + start: [1, 7] +- goal: [22, 0] + name: agent6 + start: [5, 29] +- goal: [9, 24] + name: agent7 + start: [10, 6] +- goal: [28, 23] + name: agent8 + start: [2, 29] +- goal: [29, 18] + name: agent9 + start: [29, 19] +- goal: [31, 16] + name: agent10 + start: [27, 3] +- goal: [4, 16] + name: agent11 + start: [15, 8] +- goal: [3, 21] + name: agent12 + start: [3, 3] +- goal: [4, 1] + name: agent13 + start: [24, 26] +- goal: [23, 21] + name: agent14 + start: [17, 12] +- goal: [21, 24] + name: agent15 + start: [8, 10] +- goal: [3, 15] + name: agent16 + start: [21, 1] +- goal: [20, 19] + name: agent17 + start: [18, 27] +- goal: [19, 8] + name: agent18 + start: [7, 2] +- goal: [10, 27] + name: agent19 + start: [19, 27] +- goal: [28, 26] + name: agent20 + start: [2, 25] +- goal: [15, 21] + name: agent21 + start: [8, 3] +- goal: [27, 8] + name: agent22 + start: [19, 24] +- goal: [9, 5] + name: agent23 + start: [29, 13] +- goal: [28, 22] + name: agent24 + start: [21, 5] +- goal: [16, 9] + name: agent25 + start: [13, 8] +- goal: [30, 15] + name: agent26 + start: [26, 1] +- goal: [19, 25] + name: agent27 + start: [0, 31] +- goal: [11, 14] + name: agent28 + start: [0, 5] +- goal: [23, 31] + name: agent29 + start: [19, 14] +- goal: [0, 29] + name: agent30 + start: [16, 1] +- goal: [8, 5] + name: agent31 + start: [2, 27] +- goal: [16, 2] + name: agent32 + start: [2, 18] +- goal: [18, 12] + name: agent33 + start: [12, 4] +- goal: [14, 11] + name: agent34 + start: [18, 21] +- goal: [18, 15] + name: agent35 + start: [7, 22] +- goal: [9, 27] + name: agent36 + start: [21, 7] +- goal: [16, 6] + name: agent37 + start: [21, 30] +- goal: [0, 8] + name: agent38 + start: [31, 20] +- goal: [11, 25] + name: agent39 + start: [19, 5] +- goal: [29, 12] + name: agent40 + start: [25, 3] +- goal: [19, 12] + name: agent41 + start: [3, 25] +- goal: [3, 12] + name: agent42 + start: [8, 12] +- goal: [27, 11] + name: agent43 + start: [11, 6] +- goal: [1, 27] + name: agent44 + start: [4, 8] +- goal: [2, 31] + name: agent45 + start: [24, 23] +- goal: [8, 10] + name: agent46 + start: [19, 21] +- goal: [26, 9] + name: agent47 + start: [28, 25] +- goal: [22, 8] + name: agent48 + start: [24, 27] +- goal: [13, 28] + name: agent49 + start: [28, 14] +- goal: [31, 4] + name: agent50 + start: [20, 19] +- goal: [3, 25] + name: agent51 + start: [25, 1] +- goal: [15, 16] + name: agent52 + start: [26, 0] +- goal: [13, 15] + name: agent53 + start: [22, 31] +- goal: [19, 14] + name: agent54 + start: [18, 17] +- goal: [9, 2] + name: agent55 + start: [21, 25] +- goal: [8, 24] + name: agent56 + start: [29, 25] +- goal: [6, 21] + name: agent57 + start: [1, 28] +- goal: [29, 21] + name: agent58 + start: [22, 2] +- goal: [6, 8] + name: agent59 + start: [20, 24] +- goal: [15, 13] + name: agent60 + start: [4, 6] +- goal: [17, 8] + name: agent61 + start: [12, 31] +- goal: [14, 0] + name: agent62 + start: [20, 18] +- goal: [4, 26] + name: agent63 + start: [7, 21] +- goal: [16, 11] + name: agent64 + start: [23, 2] +- goal: [1, 15] + name: agent65 + start: [0, 6] +- goal: [27, 0] + name: agent66 + start: [4, 3] +- goal: [26, 24] + name: agent67 + start: [17, 9] +- goal: [15, 24] + name: agent68 + start: [24, 19] +- goal: [27, 14] + name: agent69 + start: [31, 11] +- goal: [12, 11] + name: agent70 + start: [0, 12] +- goal: [11, 1] + name: agent71 + start: [20, 2] +- goal: [27, 26] + name: agent72 + start: [30, 18] +- goal: [10, 22] + name: agent73 + start: [19, 31] +- goal: [23, 14] + name: agent74 + start: [9, 5] +- goal: [12, 9] + name: agent75 + start: [29, 23] +- goal: [0, 22] + name: agent76 + start: [10, 20] +- goal: [23, 8] + name: agent77 + start: [27, 8] +- goal: [14, 30] + name: agent78 + start: [17, 4] +- goal: [29, 2] + name: agent79 + start: [23, 27] +- goal: [10, 4] + name: agent80 + start: [2, 10] +- goal: [3, 28] + name: agent81 + start: [22, 7] +- goal: [26, 4] + name: agent82 + start: [7, 4] +- goal: [11, 6] + name: agent83 + start: [30, 1] +- goal: [5, 9] + name: agent84 + start: [21, 11] +- goal: [7, 14] + name: agent85 + start: [23, 29] +- goal: [5, 25] + name: agent86 + start: [7, 16] +- goal: [13, 30] + name: agent87 + start: [4, 5] +- goal: [22, 31] + name: agent88 + start: [0, 26] +- goal: [31, 29] + name: agent89 + start: [30, 26] +- goal: [8, 16] + name: agent90 + start: [23, 18] +- goal: [14, 18] + name: agent91 + start: [25, 25] +- goal: [1, 12] + name: agent92 + start: [28, 5] +- goal: [4, 24] + name: agent93 + start: [17, 16] +- goal: [15, 31] + name: agent94 + start: [4, 27] +- goal: [3, 13] + name: agent95 + start: [25, 29] +- goal: [20, 11] + name: agent96 + start: [23, 10] +- goal: [31, 30] + name: agent97 + start: [6, 12] +- goal: [7, 31] + name: agent98 + start: [25, 27] +- goal: [15, 23] + name: agent99 + start: [26, 13] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [25, 15] + - !!python/tuple [19, 3] + - !!python/tuple [21, 4] + - !!python/tuple [15, 29] + - !!python/tuple [5, 21] + - !!python/tuple [29, 8] + - !!python/tuple [19, 15] + - !!python/tuple [14, 10] + - !!python/tuple [20, 27] + - !!python/tuple [21, 27] + - !!python/tuple [13, 27] + - !!python/tuple [4, 31] + - !!python/tuple [8, 8] + - !!python/tuple [30, 17] + - !!python/tuple [25, 22] + - !!python/tuple [10, 1] + - !!python/tuple [3, 2] + - !!python/tuple [31, 5] + - !!python/tuple [5, 22] + - !!python/tuple [30, 3] + - !!python/tuple [31, 14] + - !!python/tuple [5, 8] + - !!python/tuple [30, 20] + - !!python/tuple [24, 9] + - !!python/tuple [4, 7] + - !!python/tuple [6, 18] + - !!python/tuple [9, 29] + - !!python/tuple [31, 19] + - !!python/tuple [23, 24] + - !!python/tuple [20, 23] + - !!python/tuple [21, 21] + - !!python/tuple [18, 30] + - !!python/tuple [23, 17] + - !!python/tuple [13, 16] + - !!python/tuple [17, 19] + - !!python/tuple [6, 13] + - !!python/tuple [10, 23] + - !!python/tuple [7, 15] + - !!python/tuple [9, 11] + - !!python/tuple [27, 15] + - !!python/tuple [3, 0] + - !!python/tuple [13, 5] + - !!python/tuple [21, 23] + - !!python/tuple [13, 29] + - !!python/tuple [22, 16] + - !!python/tuple [23, 9] + - !!python/tuple [4, 29] + - !!python/tuple [9, 21] + - !!python/tuple [1, 0] + - !!python/tuple [15, 3] + - !!python/tuple [14, 29] + - !!python/tuple [26, 22] + - !!python/tuple [10, 2] + - !!python/tuple [26, 28] + - !!python/tuple [13, 1] + - !!python/tuple [3, 22] + - !!python/tuple [30, 12] + - !!python/tuple [10, 17] + - !!python/tuple [24, 22] + - !!python/tuple [4, 28] + - !!python/tuple [24, 28] + - !!python/tuple [2, 14] + - !!python/tuple [0, 27] + - !!python/tuple [2, 8] + - !!python/tuple [12, 22] + - !!python/tuple [1, 3] + - !!python/tuple [31, 1] + - !!python/tuple [5, 24] + - !!python/tuple [16, 17] + - !!python/tuple [27, 2] + - !!python/tuple [12, 29] + - !!python/tuple [8, 14] + - !!python/tuple [13, 21] + - !!python/tuple [6, 3] + - !!python/tuple [15, 19] + - !!python/tuple [14, 6] + - !!python/tuple [29, 3] + - !!python/tuple [20, 26] + - !!python/tuple [4, 10] + - !!python/tuple [1, 8] + - !!python/tuple [7, 3] + - !!python/tuple [14, 31] + - !!python/tuple [25, 11] + - !!python/tuple [4, 2] + - !!python/tuple [16, 10] + - !!python/tuple [21, 0] + - !!python/tuple [7, 5] + - !!python/tuple [14, 2] + - !!python/tuple [23, 4] + - !!python/tuple [24, 30] + - !!python/tuple [23, 25] + - !!python/tuple [6, 17] + - !!python/tuple [31, 23] + - !!python/tuple [8, 17] + - !!python/tuple [11, 12] + - !!python/tuple [29, 16] + - !!python/tuple [22, 17] + - !!python/tuple [20, 17] + - !!python/tuple [15, 4] + - !!python/tuple [13, 23] + - !!python/tuple [1, 24] + - !!python/tuple [15, 5] + - !!python/tuple [18, 0] + - !!python/tuple [10, 0] + - !!python/tuple [25, 13] + - !!python/tuple [7, 12] + - !!python/tuple [31, 3] + - !!python/tuple [9, 25] + - !!python/tuple [16, 7] + - !!python/tuple [14, 23] + - !!python/tuple [8, 4] + - !!python/tuple [26, 14] + - !!python/tuple [31, 9] + - !!python/tuple [4, 23] + - !!python/tuple [5, 11] + - !!python/tuple [5, 28] + - !!python/tuple [9, 10] + - !!python/tuple [27, 9] + - !!python/tuple [17, 13] + - !!python/tuple [27, 17] + - !!python/tuple [11, 4] + - !!python/tuple [2, 12] + - !!python/tuple [8, 30] + - !!python/tuple [13, 9] + - !!python/tuple [26, 26] + - !!python/tuple [21, 2] + - !!python/tuple [5, 23] + - !!python/tuple [6, 27] + - !!python/tuple [2, 6] + - !!python/tuple [9, 23] + - !!python/tuple [6, 9] + - !!python/tuple [18, 31] + - !!python/tuple [18, 7] + - !!python/tuple [5, 4] + - !!python/tuple [26, 11] + - !!python/tuple [12, 8] + - !!python/tuple [1, 19] + - !!python/tuple [17, 23] + - !!python/tuple [6, 14] + - !!python/tuple [7, 6] + - !!python/tuple [29, 15] + - !!python/tuple [18, 16] + - !!python/tuple [28, 20] + - !!python/tuple [10, 13] + - !!python/tuple [6, 31] + - !!python/tuple [25, 0] + - !!python/tuple [26, 19] + - !!python/tuple [18, 13] + - !!python/tuple [20, 4] + - !!python/tuple [3, 29] + - !!python/tuple [12, 30] + - !!python/tuple [23, 0] + - !!python/tuple [24, 10] + - !!python/tuple [27, 18] + - !!python/tuple [24, 3] + - !!python/tuple [18, 9] + - !!python/tuple [31, 12] + - !!python/tuple [11, 23] + - !!python/tuple [14, 5] + - !!python/tuple [16, 0] + - !!python/tuple [1, 6] + - !!python/tuple [0, 16] + - !!python/tuple [26, 31] + - !!python/tuple [8, 9] + - !!python/tuple [28, 0] + - !!python/tuple [22, 3] + - !!python/tuple [24, 29] + - !!python/tuple [8, 27] + - !!python/tuple [8, 31] + - !!python/tuple [24, 2] + - !!python/tuple [19, 9] + - !!python/tuple [5, 2] + - !!python/tuple [5, 18] + - !!python/tuple [28, 30] + - !!python/tuple [20, 7] + - !!python/tuple [6, 20] + - !!python/tuple [16, 18] + - !!python/tuple [0, 3] + - !!python/tuple [6, 28] + - !!python/tuple [29, 9] + - !!python/tuple [9, 19] + - !!python/tuple [16, 4] + - !!python/tuple [14, 12] + - !!python/tuple [13, 3] + - !!python/tuple [12, 13] + - !!python/tuple [23, 30] + - !!python/tuple [26, 2] + - !!python/tuple [1, 21] + - !!python/tuple [25, 23] + - !!python/tuple [2, 20] + - !!python/tuple [3, 20] + - !!python/tuple [8, 26] + - !!python/tuple [26, 5] + - !!python/tuple [6, 23] + - !!python/tuple [21, 17] + - !!python/tuple [20, 5] + - !!python/tuple [22, 25] + - !!python/tuple [13, 13] + - !!python/tuple [19, 16] + - !!python/tuple [0, 20] + - !!python/tuple [24, 25] + - !!python/tuple [15, 1] + - !!python/tuple [1, 25] + - !!python/tuple [28, 18] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex33.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex33.yaml new file mode 100644 index 0000000..a408de4 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex33.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [24, 3] + name: agent0 + start: [13, 2] +- goal: [30, 27] + name: agent1 + start: [8, 4] +- goal: [12, 24] + name: agent2 + start: [0, 22] +- goal: [26, 30] + name: agent3 + start: [17, 2] +- goal: [4, 21] + name: agent4 + start: [19, 30] +- goal: [27, 10] + name: agent5 + start: [30, 11] +- goal: [23, 10] + name: agent6 + start: [14, 4] +- goal: [8, 25] + name: agent7 + start: [0, 31] +- goal: [7, 0] + name: agent8 + start: [19, 11] +- goal: [25, 15] + name: agent9 + start: [0, 0] +- goal: [22, 31] + name: agent10 + start: [5, 11] +- goal: [13, 18] + name: agent11 + start: [2, 2] +- goal: [21, 10] + name: agent12 + start: [22, 20] +- goal: [24, 30] + name: agent13 + start: [3, 12] +- goal: [30, 29] + name: agent14 + start: [22, 4] +- goal: [15, 10] + name: agent15 + start: [9, 5] +- goal: [8, 16] + name: agent16 + start: [27, 11] +- goal: [3, 17] + name: agent17 + start: [24, 12] +- goal: [28, 8] + name: agent18 + start: [1, 22] +- goal: [5, 8] + name: agent19 + start: [25, 28] +- goal: [0, 26] + name: agent20 + start: [5, 18] +- goal: [18, 0] + name: agent21 + start: [29, 18] +- goal: [8, 18] + name: agent22 + start: [27, 17] +- goal: [15, 27] + name: agent23 + start: [4, 31] +- goal: [28, 6] + name: agent24 + start: [24, 20] +- goal: [10, 21] + name: agent25 + start: [3, 27] +- goal: [6, 17] + name: agent26 + start: [15, 21] +- goal: [2, 27] + name: agent27 + start: [20, 23] +- goal: [31, 22] + name: agent28 + start: [28, 20] +- goal: [10, 29] + name: agent29 + start: [9, 11] +- goal: [30, 9] + name: agent30 + start: [22, 8] +- goal: [26, 26] + name: agent31 + start: [27, 20] +- goal: [6, 26] + name: agent32 + start: [3, 24] +- goal: [31, 28] + name: agent33 + start: [10, 29] +- goal: [4, 15] + name: agent34 + start: [22, 9] +- goal: [28, 27] + name: agent35 + start: [21, 30] +- goal: [17, 8] + name: agent36 + start: [4, 17] +- goal: [17, 14] + name: agent37 + start: [18, 1] +- goal: [4, 26] + name: agent38 + start: [25, 24] +- goal: [30, 19] + name: agent39 + start: [17, 16] +- goal: [29, 8] + name: agent40 + start: [22, 29] +- goal: [6, 1] + name: agent41 + start: [19, 5] +- goal: [6, 3] + name: agent42 + start: [6, 4] +- goal: [8, 28] + name: agent43 + start: [0, 18] +- goal: [15, 4] + name: agent44 + start: [3, 16] +- goal: [25, 25] + name: agent45 + start: [30, 23] +- goal: [4, 16] + name: agent46 + start: [8, 30] +- goal: [10, 18] + name: agent47 + start: [11, 24] +- goal: [22, 10] + name: agent48 + start: [12, 1] +- goal: [22, 5] + name: agent49 + start: [11, 10] +- goal: [27, 14] + name: agent50 + start: [3, 5] +- goal: [10, 17] + name: agent51 + start: [13, 16] +- goal: [8, 17] + name: agent52 + start: [6, 29] +- goal: [4, 13] + name: agent53 + start: [27, 9] +- goal: [31, 9] + name: agent54 + start: [12, 17] +- goal: [2, 1] + name: agent55 + start: [21, 22] +- goal: [20, 30] + name: agent56 + start: [15, 26] +- goal: [25, 28] + name: agent57 + start: [18, 9] +- goal: [2, 17] + name: agent58 + start: [6, 3] +- goal: [23, 14] + name: agent59 + start: [16, 18] +- goal: [0, 17] + name: agent60 + start: [22, 13] +- goal: [11, 4] + name: agent61 + start: [22, 18] +- goal: [27, 20] + name: agent62 + start: [31, 25] +- goal: [25, 24] + name: agent63 + start: [0, 28] +- goal: [0, 5] + name: agent64 + start: [1, 24] +- goal: [21, 16] + name: agent65 + start: [0, 23] +- goal: [12, 7] + name: agent66 + start: [17, 21] +- goal: [26, 25] + name: agent67 + start: [17, 24] +- goal: [28, 24] + name: agent68 + start: [8, 26] +- goal: [24, 15] + name: agent69 + start: [18, 0] +- goal: [29, 16] + name: agent70 + start: [14, 1] +- goal: [9, 12] + name: agent71 + start: [9, 23] +- goal: [15, 8] + name: agent72 + start: [17, 11] +- goal: [12, 6] + name: agent73 + start: [15, 27] +- goal: [28, 18] + name: agent74 + start: [12, 10] +- goal: [28, 31] + name: agent75 + start: [23, 12] +- goal: [30, 2] + name: agent76 + start: [20, 1] +- goal: [27, 30] + name: agent77 + start: [8, 20] +- goal: [11, 27] + name: agent78 + start: [2, 12] +- goal: [19, 28] + name: agent79 + start: [4, 3] +- goal: [21, 18] + name: agent80 + start: [8, 6] +- goal: [3, 7] + name: agent81 + start: [5, 2] +- goal: [24, 7] + name: agent82 + start: [5, 15] +- goal: [25, 17] + name: agent83 + start: [30, 15] +- goal: [9, 13] + name: agent84 + start: [17, 25] +- goal: [14, 0] + name: agent85 + start: [19, 13] +- goal: [27, 6] + name: agent86 + start: [20, 0] +- goal: [18, 28] + name: agent87 + start: [4, 6] +- goal: [15, 18] + name: agent88 + start: [16, 28] +- goal: [16, 29] + name: agent89 + start: [23, 31] +- goal: [17, 5] + name: agent90 + start: [9, 18] +- goal: [4, 22] + name: agent91 + start: [7, 6] +- goal: [30, 17] + name: agent92 + start: [14, 13] +- goal: [3, 4] + name: agent93 + start: [16, 21] +- goal: [19, 15] + name: agent94 + start: [1, 0] +- goal: [22, 2] + name: agent95 + start: [27, 5] +- goal: [5, 4] + name: agent96 + start: [18, 31] +- goal: [1, 22] + name: agent97 + start: [12, 25] +- goal: [13, 0] + name: agent98 + start: [23, 29] +- goal: [22, 29] + name: agent99 + start: [6, 12] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [16, 9] + - !!python/tuple [8, 0] + - !!python/tuple [6, 15] + - !!python/tuple [0, 24] + - !!python/tuple [4, 25] + - !!python/tuple [4, 9] + - !!python/tuple [8, 14] + - !!python/tuple [13, 9] + - !!python/tuple [21, 27] + - !!python/tuple [15, 15] + - !!python/tuple [10, 3] + - !!python/tuple [15, 17] + - !!python/tuple [21, 19] + - !!python/tuple [12, 29] + - !!python/tuple [7, 1] + - !!python/tuple [20, 8] + - !!python/tuple [0, 29] + - !!python/tuple [23, 30] + - !!python/tuple [29, 28] + - !!python/tuple [17, 29] + - !!python/tuple [9, 19] + - !!python/tuple [15, 2] + - !!python/tuple [3, 1] + - !!python/tuple [16, 23] + - !!python/tuple [12, 3] + - !!python/tuple [16, 25] + - !!python/tuple [28, 30] + - !!python/tuple [4, 29] + - !!python/tuple [10, 0] + - !!python/tuple [28, 0] + - !!python/tuple [16, 20] + - !!python/tuple [17, 1] + - !!python/tuple [23, 11] + - !!python/tuple [6, 21] + - !!python/tuple [23, 17] + - !!python/tuple [30, 24] + - !!python/tuple [26, 20] + - !!python/tuple [8, 23] + - !!python/tuple [24, 19] + - !!python/tuple [18, 22] + - !!python/tuple [15, 22] + - !!python/tuple [26, 27] + - !!python/tuple [12, 21] + - !!python/tuple [9, 24] + - !!python/tuple [25, 30] + - !!python/tuple [23, 24] + - !!python/tuple [10, 9] + - !!python/tuple [10, 28] + - !!python/tuple [15, 3] + - !!python/tuple [6, 24] + - !!python/tuple [5, 13] + - !!python/tuple [14, 12] + - !!python/tuple [27, 26] + - !!python/tuple [27, 8] + - !!python/tuple [26, 6] + - !!python/tuple [9, 27] + - !!python/tuple [13, 25] + - !!python/tuple [31, 17] + - !!python/tuple [1, 13] + - !!python/tuple [6, 11] + - !!python/tuple [6, 18] + - !!python/tuple [22, 24] + - !!python/tuple [18, 24] + - !!python/tuple [25, 22] + - !!python/tuple [8, 3] + - !!python/tuple [14, 29] + - !!python/tuple [30, 5] + - !!python/tuple [13, 28] + - !!python/tuple [9, 4] + - !!python/tuple [7, 21] + - !!python/tuple [30, 8] + - !!python/tuple [29, 3] + - !!python/tuple [21, 7] + - !!python/tuple [1, 7] + - !!python/tuple [1, 4] + - !!python/tuple [10, 31] + - !!python/tuple [28, 5] + - !!python/tuple [8, 11] + - !!python/tuple [17, 22] + - !!python/tuple [20, 20] + - !!python/tuple [26, 4] + - !!python/tuple [25, 0] + - !!python/tuple [0, 8] + - !!python/tuple [14, 25] + - !!python/tuple [29, 13] + - !!python/tuple [2, 5] + - !!python/tuple [19, 31] + - !!python/tuple [16, 27] + - !!python/tuple [26, 19] + - !!python/tuple [11, 20] + - !!python/tuple [18, 3] + - !!python/tuple [14, 19] + - !!python/tuple [23, 19] + - !!python/tuple [23, 5] + - !!python/tuple [11, 8] + - !!python/tuple [21, 17] + - !!python/tuple [31, 1] + - !!python/tuple [0, 25] + - !!python/tuple [28, 11] + - !!python/tuple [24, 18] + - !!python/tuple [23, 26] + - !!python/tuple [12, 19] + - !!python/tuple [21, 6] + - !!python/tuple [30, 14] + - !!python/tuple [1, 18] + - !!python/tuple [10, 11] + - !!python/tuple [17, 10] + - !!python/tuple [29, 29] + - !!python/tuple [2, 6] + - !!python/tuple [14, 18] + - !!python/tuple [7, 10] + - !!python/tuple [17, 13] + - !!python/tuple [2, 24] + - !!python/tuple [29, 21] + - !!python/tuple [24, 2] + - !!python/tuple [9, 20] + - !!python/tuple [3, 29] + - !!python/tuple [5, 24] + - !!python/tuple [20, 13] + - !!python/tuple [4, 1] + - !!python/tuple [7, 13] + - !!python/tuple [4, 10] + - !!python/tuple [25, 2] + - !!python/tuple [29, 7] + - !!python/tuple [20, 25] + - !!python/tuple [30, 30] + - !!python/tuple [2, 21] + - !!python/tuple [22, 23] + - !!python/tuple [25, 8] + - !!python/tuple [7, 2] + - !!python/tuple [31, 20] + - !!python/tuple [17, 15] + - !!python/tuple [31, 13] + - !!python/tuple [21, 5] + - !!python/tuple [13, 11] + - !!python/tuple [2, 23] + - !!python/tuple [6, 23] + - !!python/tuple [21, 29] + - !!python/tuple [10, 14] + - !!python/tuple [11, 31] + - !!python/tuple [12, 16] + - !!python/tuple [8, 21] + - !!python/tuple [23, 20] + - !!python/tuple [21, 31] + - !!python/tuple [18, 14] + - !!python/tuple [1, 8] + - !!python/tuple [16, 30] + - !!python/tuple [21, 11] + - !!python/tuple [7, 15] + - !!python/tuple [12, 14] + - !!python/tuple [29, 31] + - !!python/tuple [27, 24] + - !!python/tuple [13, 17] + - !!python/tuple [1, 5] + - !!python/tuple [31, 24] + - !!python/tuple [17, 3] + - !!python/tuple [30, 10] + - !!python/tuple [9, 0] + - !!python/tuple [18, 8] + - !!python/tuple [22, 28] + - !!python/tuple [13, 20] + - !!python/tuple [7, 5] + - !!python/tuple [4, 20] + - !!python/tuple [30, 20] + - !!python/tuple [4, 30] + - !!python/tuple [5, 26] + - !!python/tuple [28, 14] + - !!python/tuple [30, 12] + - !!python/tuple [24, 14] + - !!python/tuple [10, 13] + - !!python/tuple [27, 21] + - !!python/tuple [6, 25] + - !!python/tuple [11, 1] + - !!python/tuple [18, 7] + - !!python/tuple [2, 31] + - !!python/tuple [23, 22] + - !!python/tuple [15, 25] + - !!python/tuple [10, 10] + - !!python/tuple [5, 22] + - !!python/tuple [31, 4] + - !!python/tuple [11, 13] + - !!python/tuple [27, 23] + - !!python/tuple [2, 11] + - !!python/tuple [10, 23] + - !!python/tuple [21, 4] + - !!python/tuple [24, 22] + - !!python/tuple [1, 14] + - !!python/tuple [27, 2] + - !!python/tuple [29, 27] + - !!python/tuple [5, 10] + - !!python/tuple [18, 20] + - !!python/tuple [8, 24] + - !!python/tuple [1, 16] + - !!python/tuple [19, 17] + - !!python/tuple [26, 3] + - !!python/tuple [20, 22] + - !!python/tuple [25, 1] + - !!python/tuple [12, 27] + - !!python/tuple [13, 13] + - !!python/tuple [6, 28] + - !!python/tuple [10, 26] + - !!python/tuple [26, 31] + - !!python/tuple [10, 8] + - !!python/tuple [24, 21] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex34.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex34.yaml new file mode 100644 index 0000000..c92f37a --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex34.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [3, 0] + name: agent0 + start: [4, 27] +- goal: [15, 12] + name: agent1 + start: [2, 12] +- goal: [30, 21] + name: agent2 + start: [8, 15] +- goal: [11, 20] + name: agent3 + start: [11, 28] +- goal: [12, 20] + name: agent4 + start: [26, 27] +- goal: [14, 7] + name: agent5 + start: [13, 2] +- goal: [21, 3] + name: agent6 + start: [20, 24] +- goal: [0, 12] + name: agent7 + start: [15, 14] +- goal: [3, 11] + name: agent8 + start: [22, 25] +- goal: [14, 0] + name: agent9 + start: [29, 30] +- goal: [9, 26] + name: agent10 + start: [14, 21] +- goal: [29, 13] + name: agent11 + start: [30, 12] +- goal: [24, 3] + name: agent12 + start: [10, 10] +- goal: [24, 28] + name: agent13 + start: [14, 5] +- goal: [15, 27] + name: agent14 + start: [3, 24] +- goal: [25, 6] + name: agent15 + start: [28, 5] +- goal: [8, 10] + name: agent16 + start: [19, 21] +- goal: [16, 28] + name: agent17 + start: [27, 31] +- goal: [25, 8] + name: agent18 + start: [6, 24] +- goal: [1, 18] + name: agent19 + start: [18, 17] +- goal: [3, 14] + name: agent20 + start: [5, 7] +- goal: [15, 26] + name: agent21 + start: [31, 28] +- goal: [24, 24] + name: agent22 + start: [8, 1] +- goal: [16, 6] + name: agent23 + start: [24, 29] +- goal: [16, 25] + name: agent24 + start: [21, 13] +- goal: [18, 6] + name: agent25 + start: [6, 17] +- goal: [6, 3] + name: agent26 + start: [25, 13] +- goal: [21, 11] + name: agent27 + start: [6, 7] +- goal: [16, 12] + name: agent28 + start: [7, 13] +- goal: [19, 30] + name: agent29 + start: [25, 11] +- goal: [26, 9] + name: agent30 + start: [20, 20] +- goal: [4, 0] + name: agent31 + start: [3, 5] +- goal: [7, 11] + name: agent32 + start: [26, 23] +- goal: [11, 23] + name: agent33 + start: [8, 22] +- goal: [9, 11] + name: agent34 + start: [15, 30] +- goal: [24, 13] + name: agent35 + start: [21, 22] +- goal: [30, 5] + name: agent36 + start: [1, 14] +- goal: [10, 31] + name: agent37 + start: [16, 7] +- goal: [3, 30] + name: agent38 + start: [24, 24] +- goal: [23, 27] + name: agent39 + start: [14, 15] +- goal: [8, 20] + name: agent40 + start: [5, 5] +- goal: [9, 8] + name: agent41 + start: [19, 27] +- goal: [13, 15] + name: agent42 + start: [13, 16] +- goal: [7, 6] + name: agent43 + start: [15, 27] +- goal: [23, 0] + name: agent44 + start: [21, 10] +- goal: [8, 15] + name: agent45 + start: [21, 29] +- goal: [24, 9] + name: agent46 + start: [12, 10] +- goal: [6, 9] + name: agent47 + start: [0, 11] +- goal: [29, 24] + name: agent48 + start: [17, 27] +- goal: [27, 25] + name: agent49 + start: [14, 6] +- goal: [28, 14] + name: agent50 + start: [19, 6] +- goal: [14, 23] + name: agent51 + start: [8, 2] +- goal: [17, 7] + name: agent52 + start: [8, 5] +- goal: [17, 17] + name: agent53 + start: [26, 9] +- goal: [26, 22] + name: agent54 + start: [5, 12] +- goal: [21, 5] + name: agent55 + start: [20, 22] +- goal: [19, 3] + name: agent56 + start: [23, 5] +- goal: [4, 21] + name: agent57 + start: [2, 23] +- goal: [19, 27] + name: agent58 + start: [24, 6] +- goal: [9, 2] + name: agent59 + start: [26, 24] +- goal: [3, 16] + name: agent60 + start: [21, 23] +- goal: [5, 18] + name: agent61 + start: [27, 30] +- goal: [8, 17] + name: agent62 + start: [13, 21] +- goal: [30, 14] + name: agent63 + start: [15, 8] +- goal: [6, 23] + name: agent64 + start: [24, 23] +- goal: [1, 27] + name: agent65 + start: [7, 26] +- goal: [12, 17] + name: agent66 + start: [24, 31] +- goal: [27, 31] + name: agent67 + start: [14, 23] +- goal: [20, 20] + name: agent68 + start: [29, 5] +- goal: [14, 30] + name: agent69 + start: [14, 10] +- goal: [21, 2] + name: agent70 + start: [24, 7] +- goal: [6, 20] + name: agent71 + start: [12, 25] +- goal: [23, 30] + name: agent72 + start: [20, 21] +- goal: [8, 8] + name: agent73 + start: [20, 13] +- goal: [17, 6] + name: agent74 + start: [8, 8] +- goal: [27, 11] + name: agent75 + start: [3, 28] +- goal: [19, 19] + name: agent76 + start: [19, 16] +- goal: [23, 6] + name: agent77 + start: [2, 21] +- goal: [27, 16] + name: agent78 + start: [19, 22] +- goal: [14, 25] + name: agent79 + start: [27, 16] +- goal: [4, 5] + name: agent80 + start: [0, 12] +- goal: [9, 5] + name: agent81 + start: [23, 7] +- goal: [20, 3] + name: agent82 + start: [4, 7] +- goal: [28, 28] + name: agent83 + start: [2, 18] +- goal: [30, 19] + name: agent84 + start: [0, 6] +- goal: [21, 14] + name: agent85 + start: [25, 6] +- goal: [10, 9] + name: agent86 + start: [12, 0] +- goal: [22, 14] + name: agent87 + start: [10, 5] +- goal: [9, 10] + name: agent88 + start: [3, 17] +- goal: [16, 3] + name: agent89 + start: [28, 27] +- goal: [20, 27] + name: agent90 + start: [15, 11] +- goal: [14, 8] + name: agent91 + start: [10, 23] +- goal: [7, 26] + name: agent92 + start: [18, 2] +- goal: [18, 31] + name: agent93 + start: [12, 8] +- goal: [5, 31] + name: agent94 + start: [25, 8] +- goal: [10, 23] + name: agent95 + start: [6, 31] +- goal: [25, 29] + name: agent96 + start: [27, 8] +- goal: [9, 1] + name: agent97 + start: [21, 18] +- goal: [25, 16] + name: agent98 + start: [20, 11] +- goal: [29, 25] + name: agent99 + start: [24, 22] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [8, 26] + - !!python/tuple [23, 4] + - !!python/tuple [8, 0] + - !!python/tuple [29, 18] + - !!python/tuple [10, 25] + - !!python/tuple [0, 2] + - !!python/tuple [17, 24] + - !!python/tuple [18, 10] + - !!python/tuple [20, 8] + - !!python/tuple [27, 13] + - !!python/tuple [9, 13] + - !!python/tuple [19, 18] + - !!python/tuple [26, 21] + - !!python/tuple [26, 15] + - !!python/tuple [8, 12] + - !!python/tuple [18, 24] + - !!python/tuple [22, 28] + - !!python/tuple [30, 6] + - !!python/tuple [9, 22] + - !!python/tuple [30, 22] + - !!python/tuple [24, 8] + - !!python/tuple [17, 29] + - !!python/tuple [5, 27] + - !!python/tuple [21, 26] + - !!python/tuple [19, 8] + - !!python/tuple [16, 10] + - !!python/tuple [2, 31] + - !!python/tuple [31, 24] + - !!python/tuple [8, 14] + - !!python/tuple [22, 4] + - !!python/tuple [7, 10] + - !!python/tuple [23, 21] + - !!python/tuple [21, 25] + - !!python/tuple [3, 26] + - !!python/tuple [7, 12] + - !!python/tuple [19, 20] + - !!python/tuple [4, 6] + - !!python/tuple [6, 8] + - !!python/tuple [22, 20] + - !!python/tuple [22, 1] + - !!python/tuple [1, 24] + - !!python/tuple [9, 18] + - !!python/tuple [22, 10] + - !!python/tuple [9, 12] + - !!python/tuple [7, 20] + - !!python/tuple [25, 1] + - !!python/tuple [16, 4] + - !!python/tuple [9, 28] + - !!python/tuple [13, 18] + - !!python/tuple [22, 19] + - !!python/tuple [12, 2] + - !!python/tuple [2, 26] + - !!python/tuple [1, 21] + - !!python/tuple [4, 24] + - !!python/tuple [20, 9] + - !!python/tuple [11, 17] + - !!python/tuple [27, 4] + - !!python/tuple [9, 20] + - !!python/tuple [29, 7] + - !!python/tuple [7, 2] + - !!python/tuple [10, 3] + - !!python/tuple [6, 29] + - !!python/tuple [13, 22] + - !!python/tuple [29, 23] + - !!python/tuple [23, 3] + - !!python/tuple [19, 5] + - !!python/tuple [11, 25] + - !!python/tuple [21, 8] + - !!python/tuple [26, 31] + - !!python/tuple [22, 3] + - !!python/tuple [31, 10] + - !!python/tuple [7, 3] + - !!python/tuple [11, 21] + - !!python/tuple [4, 28] + - !!python/tuple [30, 24] + - !!python/tuple [28, 20] + - !!python/tuple [14, 26] + - !!python/tuple [16, 24] + - !!python/tuple [11, 19] + - !!python/tuple [21, 6] + - !!python/tuple [5, 17] + - !!python/tuple [24, 19] + - !!python/tuple [27, 15] + - !!python/tuple [30, 13] + - !!python/tuple [10, 7] + - !!python/tuple [12, 1] + - !!python/tuple [9, 30] + - !!python/tuple [20, 14] + - !!python/tuple [21, 30] + - !!python/tuple [23, 28] + - !!python/tuple [6, 12] + - !!python/tuple [10, 13] + - !!python/tuple [23, 9] + - !!python/tuple [22, 27] + - !!python/tuple [26, 8] + - !!python/tuple [17, 14] + - !!python/tuple [28, 4] + - !!python/tuple [6, 30] + - !!python/tuple [29, 0] + - !!python/tuple [21, 7] + - !!python/tuple [18, 18] + - !!python/tuple [10, 0] + - !!python/tuple [13, 26] + - !!python/tuple [0, 22] + - !!python/tuple [29, 22] + - !!python/tuple [4, 30] + - !!python/tuple [26, 13] + - !!python/tuple [28, 7] + - !!python/tuple [24, 30] + - !!python/tuple [20, 5] + - !!python/tuple [0, 10] + - !!python/tuple [31, 25] + - !!python/tuple [1, 31] + - !!python/tuple [8, 11] + - !!python/tuple [13, 17] + - !!python/tuple [8, 24] + - !!python/tuple [11, 22] + - !!python/tuple [20, 31] + - !!python/tuple [30, 2] + - !!python/tuple [27, 1] + - !!python/tuple [20, 0] + - !!python/tuple [28, 30] + - !!python/tuple [0, 4] + - !!python/tuple [22, 15] + - !!python/tuple [16, 5] + - !!python/tuple [25, 20] + - !!python/tuple [24, 25] + - !!python/tuple [2, 7] + - !!python/tuple [19, 14] + - !!python/tuple [26, 5] + - !!python/tuple [22, 12] + - !!python/tuple [17, 2] + - !!python/tuple [24, 0] + - !!python/tuple [21, 27] + - !!python/tuple [19, 7] + - !!python/tuple [30, 18] + - !!python/tuple [17, 31] + - !!python/tuple [30, 28] + - !!python/tuple [0, 9] + - !!python/tuple [29, 3] + - !!python/tuple [28, 22] + - !!python/tuple [18, 0] + - !!python/tuple [15, 20] + - !!python/tuple [2, 5] + - !!python/tuple [16, 21] + - !!python/tuple [5, 10] + - !!python/tuple [7, 15] + - !!python/tuple [14, 2] + - !!python/tuple [25, 24] + - !!python/tuple [15, 13] + - !!python/tuple [14, 13] + - !!python/tuple [6, 5] + - !!python/tuple [22, 11] + - !!python/tuple [31, 5] + - !!python/tuple [31, 17] + - !!python/tuple [12, 15] + - !!python/tuple [30, 8] + - !!python/tuple [9, 17] + - !!python/tuple [31, 31] + - !!python/tuple [2, 13] + - !!python/tuple [31, 14] + - !!python/tuple [5, 6] + - !!python/tuple [23, 8] + - !!python/tuple [16, 19] + - !!python/tuple [5, 19] + - !!python/tuple [10, 27] + - !!python/tuple [12, 24] + - !!python/tuple [15, 4] + - !!python/tuple [21, 15] + - !!python/tuple [9, 6] + - !!python/tuple [12, 3] + - !!python/tuple [29, 16] + - !!python/tuple [4, 23] + - !!python/tuple [19, 10] + - !!python/tuple [30, 29] + - !!python/tuple [31, 16] + - !!python/tuple [30, 1] + - !!python/tuple [17, 18] + - !!python/tuple [4, 4] + - !!python/tuple [20, 1] + - !!python/tuple [8, 21] + - !!python/tuple [21, 17] + - !!python/tuple [8, 30] + - !!python/tuple [25, 12] + - !!python/tuple [7, 18] + - !!python/tuple [24, 12] + - !!python/tuple [20, 16] + - !!python/tuple [5, 0] + - !!python/tuple [30, 11] + - !!python/tuple [5, 3] + - !!python/tuple [16, 14] + - !!python/tuple [11, 9] + - !!python/tuple [14, 29] + - !!python/tuple [10, 26] + - !!python/tuple [31, 13] + - !!python/tuple [23, 29] + - !!python/tuple [12, 7] + - !!python/tuple [4, 22] + - !!python/tuple [5, 23] + - !!python/tuple [1, 13] + - !!python/tuple [24, 18] + - !!python/tuple [4, 3] + - !!python/tuple [1, 16] + - !!python/tuple [16, 2] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex35.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex35.yaml new file mode 100644 index 0000000..919f9d4 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex35.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [31, 15] + name: agent0 + start: [9, 16] +- goal: [15, 13] + name: agent1 + start: [8, 2] +- goal: [19, 20] + name: agent2 + start: [11, 16] +- goal: [18, 27] + name: agent3 + start: [23, 25] +- goal: [18, 1] + name: agent4 + start: [1, 11] +- goal: [9, 21] + name: agent5 + start: [19, 9] +- goal: [25, 8] + name: agent6 + start: [31, 27] +- goal: [18, 5] + name: agent7 + start: [22, 1] +- goal: [21, 3] + name: agent8 + start: [23, 31] +- goal: [17, 13] + name: agent9 + start: [21, 9] +- goal: [0, 20] + name: agent10 + start: [1, 2] +- goal: [31, 18] + name: agent11 + start: [18, 17] +- goal: [23, 28] + name: agent12 + start: [4, 12] +- goal: [18, 24] + name: agent13 + start: [4, 0] +- goal: [1, 6] + name: agent14 + start: [23, 30] +- goal: [15, 21] + name: agent15 + start: [9, 19] +- goal: [17, 9] + name: agent16 + start: [11, 23] +- goal: [7, 20] + name: agent17 + start: [28, 11] +- goal: [7, 28] + name: agent18 + start: [5, 30] +- goal: [21, 0] + name: agent19 + start: [26, 13] +- goal: [11, 5] + name: agent20 + start: [25, 0] +- goal: [12, 23] + name: agent21 + start: [2, 16] +- goal: [9, 31] + name: agent22 + start: [22, 2] +- goal: [17, 27] + name: agent23 + start: [20, 22] +- goal: [10, 25] + name: agent24 + start: [6, 22] +- goal: [23, 9] + name: agent25 + start: [3, 28] +- goal: [2, 18] + name: agent26 + start: [25, 31] +- goal: [1, 31] + name: agent27 + start: [9, 6] +- goal: [30, 16] + name: agent28 + start: [20, 24] +- goal: [2, 12] + name: agent29 + start: [17, 7] +- goal: [16, 10] + name: agent30 + start: [2, 27] +- goal: [4, 29] + name: agent31 + start: [25, 20] +- goal: [11, 19] + name: agent32 + start: [19, 19] +- goal: [17, 31] + name: agent33 + start: [29, 31] +- goal: [7, 24] + name: agent34 + start: [13, 18] +- goal: [11, 20] + name: agent35 + start: [6, 16] +- goal: [31, 5] + name: agent36 + start: [22, 15] +- goal: [6, 21] + name: agent37 + start: [16, 4] +- goal: [4, 4] + name: agent38 + start: [8, 23] +- goal: [20, 29] + name: agent39 + start: [13, 17] +- goal: [26, 1] + name: agent40 + start: [3, 9] +- goal: [3, 22] + name: agent41 + start: [4, 7] +- goal: [3, 20] + name: agent42 + start: [29, 1] +- goal: [1, 28] + name: agent43 + start: [15, 22] +- goal: [20, 16] + name: agent44 + start: [2, 5] +- goal: [8, 19] + name: agent45 + start: [17, 5] +- goal: [15, 27] + name: agent46 + start: [24, 13] +- goal: [13, 17] + name: agent47 + start: [11, 30] +- goal: [9, 5] + name: agent48 + start: [3, 16] +- goal: [10, 19] + name: agent49 + start: [16, 30] +- goal: [24, 30] + name: agent50 + start: [19, 26] +- goal: [0, 15] + name: agent51 + start: [11, 29] +- goal: [9, 1] + name: agent52 + start: [6, 15] +- goal: [29, 14] + name: agent53 + start: [17, 3] +- goal: [9, 25] + name: agent54 + start: [28, 16] +- goal: [6, 6] + name: agent55 + start: [19, 28] +- goal: [9, 16] + name: agent56 + start: [7, 20] +- goal: [29, 21] + name: agent57 + start: [17, 31] +- goal: [3, 3] + name: agent58 + start: [12, 15] +- goal: [11, 26] + name: agent59 + start: [18, 15] +- goal: [26, 13] + name: agent60 + start: [7, 26] +- goal: [21, 25] + name: agent61 + start: [14, 24] +- goal: [20, 14] + name: agent62 + start: [15, 2] +- goal: [3, 13] + name: agent63 + start: [4, 26] +- goal: [31, 19] + name: agent64 + start: [11, 17] +- goal: [21, 5] + name: agent65 + start: [20, 19] +- goal: [22, 0] + name: agent66 + start: [24, 3] +- goal: [24, 16] + name: agent67 + start: [10, 17] +- goal: [19, 24] + name: agent68 + start: [8, 7] +- goal: [4, 31] + name: agent69 + start: [23, 27] +- goal: [21, 16] + name: agent70 + start: [29, 18] +- goal: [23, 19] + name: agent71 + start: [22, 31] +- goal: [26, 29] + name: agent72 + start: [15, 9] +- goal: [22, 1] + name: agent73 + start: [29, 7] +- goal: [29, 20] + name: agent74 + start: [23, 16] +- goal: [7, 17] + name: agent75 + start: [13, 0] +- goal: [26, 0] + name: agent76 + start: [25, 26] +- goal: [28, 23] + name: agent77 + start: [9, 30] +- goal: [1, 9] + name: agent78 + start: [13, 4] +- goal: [12, 18] + name: agent79 + start: [17, 26] +- goal: [19, 15] + name: agent80 + start: [29, 20] +- goal: [31, 25] + name: agent81 + start: [30, 10] +- goal: [12, 31] + name: agent82 + start: [9, 11] +- goal: [12, 14] + name: agent83 + start: [13, 23] +- goal: [10, 2] + name: agent84 + start: [25, 8] +- goal: [17, 12] + name: agent85 + start: [0, 23] +- goal: [19, 27] + name: agent86 + start: [6, 2] +- goal: [20, 28] + name: agent87 + start: [27, 20] +- goal: [8, 25] + name: agent88 + start: [13, 16] +- goal: [13, 18] + name: agent89 + start: [13, 26] +- goal: [27, 5] + name: agent90 + start: [10, 6] +- goal: [15, 1] + name: agent91 + start: [22, 19] +- goal: [16, 29] + name: agent92 + start: [25, 6] +- goal: [16, 18] + name: agent93 + start: [31, 6] +- goal: [13, 29] + name: agent94 + start: [10, 21] +- goal: [30, 29] + name: agent95 + start: [12, 5] +- goal: [19, 4] + name: agent96 + start: [20, 21] +- goal: [25, 27] + name: agent97 + start: [22, 21] +- goal: [16, 1] + name: agent98 + start: [21, 21] +- goal: [1, 13] + name: agent99 + start: [9, 25] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [11, 3] + - !!python/tuple [8, 0] + - !!python/tuple [13, 13] + - !!python/tuple [19, 5] + - !!python/tuple [20, 26] + - !!python/tuple [20, 1] + - !!python/tuple [31, 23] + - !!python/tuple [20, 8] + - !!python/tuple [2, 4] + - !!python/tuple [25, 12] + - !!python/tuple [25, 18] + - !!python/tuple [21, 6] + - !!python/tuple [30, 21] + - !!python/tuple [2, 2] + - !!python/tuple [24, 8] + - !!python/tuple [21, 8] + - !!python/tuple [30, 24] + - !!python/tuple [24, 7] + - !!python/tuple [30, 1] + - !!python/tuple [26, 18] + - !!python/tuple [31, 26] + - !!python/tuple [22, 13] + - !!python/tuple [24, 31] + - !!python/tuple [26, 12] + - !!python/tuple [16, 8] + - !!python/tuple [7, 10] + - !!python/tuple [18, 10] + - !!python/tuple [7, 0] + - !!python/tuple [8, 18] + - !!python/tuple [27, 10] + - !!python/tuple [8, 14] + - !!python/tuple [30, 9] + - !!python/tuple [19, 0] + - !!python/tuple [11, 10] + - !!python/tuple [13, 8] + - !!python/tuple [12, 21] + - !!python/tuple [12, 4] + - !!python/tuple [14, 8] + - !!python/tuple [12, 0] + - !!python/tuple [31, 4] + - !!python/tuple [5, 5] + - !!python/tuple [3, 26] + - !!python/tuple [3, 5] + - !!python/tuple [28, 17] + - !!python/tuple [11, 0] + - !!python/tuple [15, 23] + - !!python/tuple [31, 11] + - !!python/tuple [21, 26] + - !!python/tuple [28, 9] + - !!python/tuple [16, 17] + - !!python/tuple [26, 10] + - !!python/tuple [16, 28] + - !!python/tuple [4, 2] + - !!python/tuple [1, 14] + - !!python/tuple [4, 6] + - !!python/tuple [3, 1] + - !!python/tuple [28, 1] + - !!python/tuple [6, 29] + - !!python/tuple [9, 2] + - !!python/tuple [23, 24] + - !!python/tuple [24, 18] + - !!python/tuple [28, 22] + - !!python/tuple [17, 6] + - !!python/tuple [14, 10] + - !!python/tuple [27, 9] + - !!python/tuple [18, 6] + - !!python/tuple [14, 13] + - !!python/tuple [30, 23] + - !!python/tuple [10, 1] + - !!python/tuple [15, 19] + - !!python/tuple [27, 0] + - !!python/tuple [28, 15] + - !!python/tuple [17, 15] + - !!python/tuple [5, 4] + - !!python/tuple [14, 0] + - !!python/tuple [31, 20] + - !!python/tuple [20, 3] + - !!python/tuple [26, 16] + - !!python/tuple [21, 30] + - !!python/tuple [8, 12] + - !!python/tuple [1, 12] + - !!python/tuple [2, 14] + - !!python/tuple [5, 11] + - !!python/tuple [22, 9] + - !!python/tuple [27, 19] + - !!python/tuple [9, 29] + - !!python/tuple [12, 11] + - !!python/tuple [7, 13] + - !!python/tuple [27, 16] + - !!python/tuple [3, 23] + - !!python/tuple [29, 8] + - !!python/tuple [2, 10] + - !!python/tuple [31, 7] + - !!python/tuple [26, 21] + - !!python/tuple [12, 6] + - !!python/tuple [18, 29] + - !!python/tuple [18, 23] + - !!python/tuple [10, 26] + - !!python/tuple [5, 24] + - !!python/tuple [11, 2] + - !!python/tuple [6, 25] + - !!python/tuple [7, 12] + - !!python/tuple [5, 14] + - !!python/tuple [5, 0] + - !!python/tuple [28, 14] + - !!python/tuple [0, 21] + - !!python/tuple [14, 12] + - !!python/tuple [24, 23] + - !!python/tuple [17, 30] + - !!python/tuple [0, 22] + - !!python/tuple [14, 26] + - !!python/tuple [22, 28] + - !!python/tuple [6, 11] + - !!python/tuple [2, 21] + - !!python/tuple [19, 2] + - !!python/tuple [18, 31] + - !!python/tuple [28, 30] + - !!python/tuple [17, 4] + - !!python/tuple [22, 22] + - !!python/tuple [14, 21] + - !!python/tuple [6, 24] + - !!python/tuple [14, 7] + - !!python/tuple [13, 25] + - !!python/tuple [23, 12] + - !!python/tuple [12, 24] + - !!python/tuple [13, 3] + - !!python/tuple [24, 29] + - !!python/tuple [24, 14] + - !!python/tuple [23, 22] + - !!python/tuple [1, 23] + - !!python/tuple [11, 6] + - !!python/tuple [3, 6] + - !!python/tuple [3, 15] + - !!python/tuple [30, 17] + - !!python/tuple [9, 20] + - !!python/tuple [2, 3] + - !!python/tuple [7, 6] + - !!python/tuple [13, 20] + - !!python/tuple [12, 3] + - !!python/tuple [24, 9] + - !!python/tuple [31, 0] + - !!python/tuple [1, 3] + - !!python/tuple [6, 7] + - !!python/tuple [22, 12] + - !!python/tuple [14, 15] + - !!python/tuple [3, 18] + - !!python/tuple [28, 4] + - !!python/tuple [3, 11] + - !!python/tuple [14, 9] + - !!python/tuple [15, 31] + - !!python/tuple [17, 28] + - !!python/tuple [24, 22] + - !!python/tuple [29, 17] + - !!python/tuple [14, 2] + - !!python/tuple [27, 30] + - !!python/tuple [3, 4] + - !!python/tuple [15, 18] + - !!python/tuple [0, 26] + - !!python/tuple [7, 5] + - !!python/tuple [28, 29] + - !!python/tuple [18, 11] + - !!python/tuple [20, 27] + - !!python/tuple [31, 24] + - !!python/tuple [12, 8] + - !!python/tuple [18, 18] + - !!python/tuple [26, 25] + - !!python/tuple [10, 16] + - !!python/tuple [1, 19] + - !!python/tuple [30, 19] + - !!python/tuple [8, 29] + - !!python/tuple [24, 28] + - !!python/tuple [29, 10] + - !!python/tuple [15, 24] + - !!python/tuple [29, 0] + - !!python/tuple [20, 2] + - !!python/tuple [24, 11] + - !!python/tuple [17, 2] + - !!python/tuple [11, 8] + - !!python/tuple [16, 7] + - !!python/tuple [8, 28] + - !!python/tuple [11, 22] + - !!python/tuple [21, 7] + - !!python/tuple [3, 25] + - !!python/tuple [17, 23] + - !!python/tuple [22, 8] + - !!python/tuple [24, 5] + - !!python/tuple [7, 11] + - !!python/tuple [25, 10] + - !!python/tuple [29, 26] + - !!python/tuple [20, 13] + - !!python/tuple [21, 28] + - !!python/tuple [1, 0] + - !!python/tuple [5, 16] + - !!python/tuple [30, 28] + - !!python/tuple [1, 20] + - !!python/tuple [10, 20] + - !!python/tuple [5, 19] + - !!python/tuple [14, 31] + - !!python/tuple [7, 4] + - !!python/tuple [16, 24] + - !!python/tuple [19, 1] + - !!python/tuple [23, 3] + - !!python/tuple [18, 22] + - !!python/tuple [22, 26] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex36.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex36.yaml new file mode 100644 index 0000000..fbc6ac1 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex36.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [16, 25] + name: agent0 + start: [8, 20] +- goal: [8, 9] + name: agent1 + start: [27, 8] +- goal: [6, 18] + name: agent2 + start: [24, 13] +- goal: [7, 2] + name: agent3 + start: [14, 20] +- goal: [6, 2] + name: agent4 + start: [22, 18] +- goal: [23, 19] + name: agent5 + start: [23, 28] +- goal: [20, 16] + name: agent6 + start: [12, 4] +- goal: [8, 27] + name: agent7 + start: [14, 1] +- goal: [24, 12] + name: agent8 + start: [8, 12] +- goal: [31, 29] + name: agent9 + start: [23, 21] +- goal: [8, 10] + name: agent10 + start: [30, 14] +- goal: [8, 4] + name: agent11 + start: [31, 22] +- goal: [11, 13] + name: agent12 + start: [22, 25] +- goal: [29, 0] + name: agent13 + start: [27, 0] +- goal: [26, 22] + name: agent14 + start: [17, 7] +- goal: [26, 17] + name: agent15 + start: [18, 30] +- goal: [12, 30] + name: agent16 + start: [28, 7] +- goal: [15, 20] + name: agent17 + start: [23, 3] +- goal: [31, 10] + name: agent18 + start: [3, 26] +- goal: [17, 29] + name: agent19 + start: [17, 21] +- goal: [2, 12] + name: agent20 + start: [4, 24] +- goal: [20, 21] + name: agent21 + start: [3, 27] +- goal: [31, 28] + name: agent22 + start: [11, 2] +- goal: [28, 0] + name: agent23 + start: [1, 12] +- goal: [24, 2] + name: agent24 + start: [17, 11] +- goal: [22, 17] + name: agent25 + start: [28, 20] +- goal: [1, 5] + name: agent26 + start: [22, 29] +- goal: [29, 1] + name: agent27 + start: [23, 24] +- goal: [3, 18] + name: agent28 + start: [25, 23] +- goal: [20, 3] + name: agent29 + start: [17, 5] +- goal: [10, 31] + name: agent30 + start: [15, 12] +- goal: [13, 4] + name: agent31 + start: [28, 0] +- goal: [5, 17] + name: agent32 + start: [7, 9] +- goal: [11, 29] + name: agent33 + start: [20, 29] +- goal: [25, 3] + name: agent34 + start: [6, 14] +- goal: [13, 26] + name: agent35 + start: [22, 16] +- goal: [11, 9] + name: agent36 + start: [31, 10] +- goal: [31, 18] + name: agent37 + start: [0, 25] +- goal: [6, 11] + name: agent38 + start: [4, 8] +- goal: [24, 1] + name: agent39 + start: [31, 27] +- goal: [14, 1] + name: agent40 + start: [25, 10] +- goal: [1, 22] + name: agent41 + start: [26, 8] +- goal: [24, 14] + name: agent42 + start: [12, 20] +- goal: [27, 13] + name: agent43 + start: [31, 29] +- goal: [12, 3] + name: agent44 + start: [12, 12] +- goal: [22, 21] + name: agent45 + start: [11, 0] +- goal: [3, 26] + name: agent46 + start: [0, 30] +- goal: [9, 3] + name: agent47 + start: [0, 6] +- goal: [22, 5] + name: agent48 + start: [15, 15] +- goal: [3, 21] + name: agent49 + start: [17, 23] +- goal: [15, 12] + name: agent50 + start: [21, 14] +- goal: [27, 21] + name: agent51 + start: [2, 26] +- goal: [6, 16] + name: agent52 + start: [25, 20] +- goal: [29, 20] + name: agent53 + start: [14, 21] +- goal: [28, 15] + name: agent54 + start: [15, 10] +- goal: [31, 11] + name: agent55 + start: [19, 31] +- goal: [27, 23] + name: agent56 + start: [3, 2] +- goal: [7, 21] + name: agent57 + start: [18, 22] +- goal: [13, 7] + name: agent58 + start: [12, 15] +- goal: [12, 29] + name: agent59 + start: [14, 9] +- goal: [18, 21] + name: agent60 + start: [25, 22] +- goal: [0, 15] + name: agent61 + start: [10, 25] +- goal: [20, 23] + name: agent62 + start: [13, 25] +- goal: [0, 21] + name: agent63 + start: [5, 7] +- goal: [23, 10] + name: agent64 + start: [7, 16] +- goal: [31, 7] + name: agent65 + start: [14, 30] +- goal: [23, 17] + name: agent66 + start: [29, 23] +- goal: [3, 27] + name: agent67 + start: [31, 4] +- goal: [2, 30] + name: agent68 + start: [22, 22] +- goal: [24, 7] + name: agent69 + start: [14, 12] +- goal: [28, 31] + name: agent70 + start: [10, 13] +- goal: [2, 23] + name: agent71 + start: [11, 22] +- goal: [30, 0] + name: agent72 + start: [26, 23] +- goal: [3, 28] + name: agent73 + start: [1, 15] +- goal: [7, 26] + name: agent74 + start: [0, 4] +- goal: [11, 20] + name: agent75 + start: [21, 2] +- goal: [26, 10] + name: agent76 + start: [17, 26] +- goal: [23, 29] + name: agent77 + start: [13, 27] +- goal: [22, 29] + name: agent78 + start: [31, 7] +- goal: [9, 12] + name: agent79 + start: [22, 15] +- goal: [9, 10] + name: agent80 + start: [29, 12] +- goal: [11, 19] + name: agent81 + start: [6, 1] +- goal: [3, 13] + name: agent82 + start: [9, 6] +- goal: [12, 2] + name: agent83 + start: [4, 7] +- goal: [27, 12] + name: agent84 + start: [18, 5] +- goal: [14, 9] + name: agent85 + start: [0, 29] +- goal: [8, 20] + name: agent86 + start: [20, 9] +- goal: [11, 28] + name: agent87 + start: [8, 16] +- goal: [26, 11] + name: agent88 + start: [23, 5] +- goal: [0, 14] + name: agent89 + start: [9, 12] +- goal: [25, 4] + name: agent90 + start: [7, 5] +- goal: [27, 16] + name: agent91 + start: [9, 18] +- goal: [28, 25] + name: agent92 + start: [3, 31] +- goal: [12, 20] + name: agent93 + start: [3, 11] +- goal: [23, 28] + name: agent94 + start: [24, 15] +- goal: [28, 22] + name: agent95 + start: [29, 11] +- goal: [31, 17] + name: agent96 + start: [17, 9] +- goal: [25, 9] + name: agent97 + start: [8, 25] +- goal: [10, 21] + name: agent98 + start: [13, 23] +- goal: [5, 0] + name: agent99 + start: [7, 21] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [7, 7] + - !!python/tuple [7, 27] + - !!python/tuple [27, 3] + - !!python/tuple [16, 20] + - !!python/tuple [30, 6] + - !!python/tuple [24, 19] + - !!python/tuple [15, 26] + - !!python/tuple [25, 7] + - !!python/tuple [5, 3] + - !!python/tuple [8, 19] + - !!python/tuple [29, 6] + - !!python/tuple [26, 3] + - !!python/tuple [18, 18] + - !!python/tuple [9, 26] + - !!python/tuple [20, 19] + - !!python/tuple [11, 18] + - !!python/tuple [5, 1] + - !!python/tuple [23, 12] + - !!python/tuple [4, 12] + - !!python/tuple [28, 18] + - !!python/tuple [29, 5] + - !!python/tuple [20, 20] + - !!python/tuple [25, 21] + - !!python/tuple [5, 29] + - !!python/tuple [6, 22] + - !!python/tuple [25, 24] + - !!python/tuple [12, 18] + - !!python/tuple [12, 25] + - !!python/tuple [2, 6] + - !!python/tuple [19, 25] + - !!python/tuple [18, 12] + - !!python/tuple [13, 6] + - !!python/tuple [5, 6] + - !!python/tuple [22, 14] + - !!python/tuple [15, 31] + - !!python/tuple [28, 23] + - !!python/tuple [26, 20] + - !!python/tuple [28, 3] + - !!python/tuple [15, 30] + - !!python/tuple [22, 12] + - !!python/tuple [1, 9] + - !!python/tuple [30, 20] + - !!python/tuple [19, 12] + - !!python/tuple [6, 13] + - !!python/tuple [9, 24] + - !!python/tuple [12, 21] + - !!python/tuple [10, 12] + - !!python/tuple [20, 26] + - !!python/tuple [27, 20] + - !!python/tuple [7, 19] + - !!python/tuple [21, 5] + - !!python/tuple [21, 12] + - !!python/tuple [16, 9] + - !!python/tuple [25, 28] + - !!python/tuple [16, 17] + - !!python/tuple [23, 30] + - !!python/tuple [19, 19] + - !!python/tuple [27, 27] + - !!python/tuple [10, 16] + - !!python/tuple [23, 20] + - !!python/tuple [6, 12] + - !!python/tuple [19, 22] + - !!python/tuple [10, 28] + - !!python/tuple [17, 8] + - !!python/tuple [27, 29] + - !!python/tuple [18, 16] + - !!python/tuple [13, 17] + - !!python/tuple [30, 18] + - !!python/tuple [14, 17] + - !!python/tuple [23, 22] + - !!python/tuple [6, 9] + - !!python/tuple [22, 11] + - !!python/tuple [19, 26] + - !!python/tuple [0, 13] + - !!python/tuple [23, 15] + - !!python/tuple [7, 13] + - !!python/tuple [27, 30] + - !!python/tuple [4, 15] + - !!python/tuple [2, 21] + - !!python/tuple [3, 16] + - !!python/tuple [23, 14] + - !!python/tuple [11, 16] + - !!python/tuple [26, 9] + - !!python/tuple [11, 5] + - !!python/tuple [9, 4] + - !!python/tuple [27, 18] + - !!python/tuple [20, 11] + - !!python/tuple [15, 13] + - !!python/tuple [29, 22] + - !!python/tuple [4, 14] + - !!python/tuple [11, 8] + - !!python/tuple [11, 14] + - !!python/tuple [23, 4] + - !!python/tuple [21, 29] + - !!python/tuple [12, 23] + - !!python/tuple [16, 7] + - !!python/tuple [3, 30] + - !!python/tuple [18, 15] + - !!python/tuple [19, 3] + - !!python/tuple [1, 7] + - !!python/tuple [9, 27] + - !!python/tuple [31, 31] + - !!python/tuple [4, 20] + - !!python/tuple [17, 18] + - !!python/tuple [6, 4] + - !!python/tuple [18, 20] + - !!python/tuple [14, 15] + - !!python/tuple [5, 30] + - !!python/tuple [3, 29] + - !!python/tuple [30, 17] + - !!python/tuple [18, 31] + - !!python/tuple [15, 4] + - !!python/tuple [30, 16] + - !!python/tuple [14, 8] + - !!python/tuple [7, 25] + - !!python/tuple [6, 8] + - !!python/tuple [12, 6] + - !!python/tuple [8, 21] + - !!python/tuple [30, 7] + - !!python/tuple [19, 7] + - !!python/tuple [22, 27] + - !!python/tuple [13, 18] + - !!python/tuple [16, 3] + - !!python/tuple [24, 29] + - !!python/tuple [12, 17] + - !!python/tuple [31, 2] + - !!python/tuple [5, 25] + - !!python/tuple [20, 18] + - !!python/tuple [28, 19] + - !!python/tuple [12, 31] + - !!python/tuple [17, 13] + - !!python/tuple [11, 24] + - !!python/tuple [29, 19] + - !!python/tuple [25, 14] + - !!python/tuple [7, 11] + - !!python/tuple [27, 15] + - !!python/tuple [0, 5] + - !!python/tuple [2, 18] + - !!python/tuple [24, 31] + - !!python/tuple [22, 4] + - !!python/tuple [19, 30] + - !!python/tuple [2, 5] + - !!python/tuple [20, 8] + - !!python/tuple [22, 6] + - !!python/tuple [25, 0] + - !!python/tuple [17, 28] + - !!python/tuple [25, 16] + - !!python/tuple [30, 8] + - !!python/tuple [16, 24] + - !!python/tuple [18, 25] + - !!python/tuple [2, 3] + - !!python/tuple [20, 13] + - !!python/tuple [9, 30] + - !!python/tuple [17, 20] + - !!python/tuple [15, 6] + - !!python/tuple [22, 0] + - !!python/tuple [4, 26] + - !!python/tuple [22, 23] + - !!python/tuple [10, 8] + - !!python/tuple [10, 17] + - !!python/tuple [12, 14] + - !!python/tuple [9, 2] + - !!python/tuple [28, 16] + - !!python/tuple [4, 1] + - !!python/tuple [15, 17] + - !!python/tuple [23, 7] + - !!python/tuple [22, 28] + - !!python/tuple [25, 25] + - !!python/tuple [11, 26] + - !!python/tuple [27, 2] + - !!python/tuple [5, 12] + - !!python/tuple [1, 14] + - !!python/tuple [1, 13] + - !!python/tuple [15, 25] + - !!python/tuple [10, 26] + - !!python/tuple [21, 22] + - !!python/tuple [14, 27] + - !!python/tuple [28, 10] + - !!python/tuple [11, 10] + - !!python/tuple [12, 0] + - !!python/tuple [27, 31] + - !!python/tuple [8, 14] + - !!python/tuple [7, 14] + - !!python/tuple [19, 13] + - !!python/tuple [11, 21] + - !!python/tuple [29, 17] + - !!python/tuple [2, 10] + - !!python/tuple [27, 19] + - !!python/tuple [23, 23] + - !!python/tuple [6, 21] + - !!python/tuple [4, 29] + - !!python/tuple [16, 18] + - !!python/tuple [15, 11] + - !!python/tuple [17, 25] + - !!python/tuple [3, 10] + - !!python/tuple [27, 17] + - !!python/tuple [8, 7] + - !!python/tuple [12, 22] + - !!python/tuple [30, 30] + - !!python/tuple [29, 2] + - !!python/tuple [26, 14] + - !!python/tuple [18, 10] + - !!python/tuple [2, 22] + - !!python/tuple [2, 24] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex37.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex37.yaml new file mode 100644 index 0000000..f3de4d9 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex37.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [9, 10] + name: agent0 + start: [17, 13] +- goal: [26, 7] + name: agent1 + start: [25, 0] +- goal: [19, 4] + name: agent2 + start: [13, 28] +- goal: [19, 25] + name: agent3 + start: [20, 6] +- goal: [5, 3] + name: agent4 + start: [7, 17] +- goal: [20, 23] + name: agent5 + start: [5, 18] +- goal: [12, 26] + name: agent6 + start: [4, 28] +- goal: [7, 13] + name: agent7 + start: [15, 31] +- goal: [14, 28] + name: agent8 + start: [28, 6] +- goal: [4, 12] + name: agent9 + start: [29, 20] +- goal: [16, 27] + name: agent10 + start: [3, 13] +- goal: [6, 0] + name: agent11 + start: [26, 21] +- goal: [11, 7] + name: agent12 + start: [12, 12] +- goal: [26, 5] + name: agent13 + start: [25, 10] +- goal: [13, 28] + name: agent14 + start: [0, 9] +- goal: [4, 1] + name: agent15 + start: [4, 21] +- goal: [8, 28] + name: agent16 + start: [16, 3] +- goal: [27, 9] + name: agent17 + start: [20, 2] +- goal: [22, 5] + name: agent18 + start: [14, 10] +- goal: [29, 26] + name: agent19 + start: [21, 8] +- goal: [3, 12] + name: agent20 + start: [28, 12] +- goal: [8, 1] + name: agent21 + start: [25, 18] +- goal: [17, 6] + name: agent22 + start: [2, 31] +- goal: [21, 23] + name: agent23 + start: [26, 12] +- goal: [27, 12] + name: agent24 + start: [15, 6] +- goal: [24, 25] + name: agent25 + start: [6, 28] +- goal: [13, 25] + name: agent26 + start: [7, 27] +- goal: [18, 29] + name: agent27 + start: [19, 29] +- goal: [3, 29] + name: agent28 + start: [11, 27] +- goal: [26, 8] + name: agent29 + start: [5, 16] +- goal: [6, 16] + name: agent30 + start: [24, 12] +- goal: [9, 29] + name: agent31 + start: [29, 0] +- goal: [3, 14] + name: agent32 + start: [10, 2] +- goal: [5, 13] + name: agent33 + start: [19, 4] +- goal: [2, 0] + name: agent34 + start: [1, 11] +- goal: [18, 2] + name: agent35 + start: [1, 30] +- goal: [21, 21] + name: agent36 + start: [21, 18] +- goal: [19, 20] + name: agent37 + start: [26, 28] +- goal: [16, 7] + name: agent38 + start: [2, 15] +- goal: [24, 2] + name: agent39 + start: [18, 28] +- goal: [28, 9] + name: agent40 + start: [27, 29] +- goal: [26, 12] + name: agent41 + start: [4, 8] +- goal: [29, 4] + name: agent42 + start: [7, 31] +- goal: [14, 22] + name: agent43 + start: [9, 5] +- goal: [2, 12] + name: agent44 + start: [0, 10] +- goal: [15, 7] + name: agent45 + start: [20, 16] +- goal: [18, 0] + name: agent46 + start: [5, 15] +- goal: [18, 5] + name: agent47 + start: [19, 11] +- goal: [29, 22] + name: agent48 + start: [14, 21] +- goal: [12, 6] + name: agent49 + start: [29, 8] +- goal: [22, 18] + name: agent50 + start: [15, 23] +- goal: [10, 15] + name: agent51 + start: [2, 11] +- goal: [15, 2] + name: agent52 + start: [20, 27] +- goal: [1, 5] + name: agent53 + start: [17, 17] +- goal: [2, 16] + name: agent54 + start: [18, 4] +- goal: [19, 30] + name: agent55 + start: [0, 4] +- goal: [16, 0] + name: agent56 + start: [15, 26] +- goal: [10, 31] + name: agent57 + start: [1, 18] +- goal: [0, 16] + name: agent58 + start: [27, 1] +- goal: [22, 17] + name: agent59 + start: [14, 14] +- goal: [11, 5] + name: agent60 + start: [5, 4] +- goal: [15, 13] + name: agent61 + start: [11, 5] +- goal: [18, 15] + name: agent62 + start: [18, 6] +- goal: [0, 5] + name: agent63 + start: [18, 9] +- goal: [21, 14] + name: agent64 + start: [5, 9] +- goal: [30, 17] + name: agent65 + start: [22, 5] +- goal: [20, 2] + name: agent66 + start: [10, 19] +- goal: [16, 18] + name: agent67 + start: [18, 5] +- goal: [10, 4] + name: agent68 + start: [9, 29] +- goal: [27, 15] + name: agent69 + start: [29, 31] +- goal: [30, 30] + name: agent70 + start: [24, 14] +- goal: [4, 3] + name: agent71 + start: [13, 23] +- goal: [5, 21] + name: agent72 + start: [24, 27] +- goal: [2, 6] + name: agent73 + start: [11, 4] +- goal: [21, 2] + name: agent74 + start: [9, 16] +- goal: [24, 10] + name: agent75 + start: [8, 16] +- goal: [25, 10] + name: agent76 + start: [8, 21] +- goal: [6, 10] + name: agent77 + start: [27, 27] +- goal: [11, 14] + name: agent78 + start: [10, 31] +- goal: [30, 11] + name: agent79 + start: [3, 12] +- goal: [22, 16] + name: agent80 + start: [22, 2] +- goal: [3, 31] + name: agent81 + start: [22, 6] +- goal: [31, 16] + name: agent82 + start: [11, 22] +- goal: [28, 20] + name: agent83 + start: [6, 23] +- goal: [16, 5] + name: agent84 + start: [9, 30] +- goal: [6, 12] + name: agent85 + start: [23, 24] +- goal: [8, 22] + name: agent86 + start: [1, 17] +- goal: [5, 17] + name: agent87 + start: [12, 6] +- goal: [31, 25] + name: agent88 + start: [14, 22] +- goal: [3, 16] + name: agent89 + start: [11, 14] +- goal: [4, 28] + name: agent90 + start: [11, 26] +- goal: [11, 21] + name: agent91 + start: [22, 18] +- goal: [6, 6] + name: agent92 + start: [7, 16] +- goal: [20, 4] + name: agent93 + start: [20, 22] +- goal: [5, 20] + name: agent94 + start: [2, 8] +- goal: [7, 15] + name: agent95 + start: [25, 16] +- goal: [9, 12] + name: agent96 + start: [6, 17] +- goal: [15, 19] + name: agent97 + start: [26, 2] +- goal: [1, 25] + name: agent98 + start: [21, 31] +- goal: [20, 6] + name: agent99 + start: [20, 0] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [24, 18] + - !!python/tuple [23, 26] + - !!python/tuple [26, 20] + - !!python/tuple [27, 10] + - !!python/tuple [12, 25] + - !!python/tuple [13, 14] + - !!python/tuple [2, 30] + - !!python/tuple [15, 11] + - !!python/tuple [30, 31] + - !!python/tuple [9, 15] + - !!python/tuple [18, 17] + - !!python/tuple [15, 4] + - !!python/tuple [13, 17] + - !!python/tuple [17, 1] + - !!python/tuple [6, 18] + - !!python/tuple [19, 14] + - !!python/tuple [8, 12] + - !!python/tuple [5, 26] + - !!python/tuple [11, 10] + - !!python/tuple [16, 17] + - !!python/tuple [30, 27] + - !!python/tuple [31, 5] + - !!python/tuple [1, 29] + - !!python/tuple [4, 22] + - !!python/tuple [12, 1] + - !!python/tuple [30, 19] + - !!python/tuple [7, 0] + - !!python/tuple [30, 6] + - !!python/tuple [12, 28] + - !!python/tuple [16, 20] + - !!python/tuple [2, 7] + - !!python/tuple [28, 21] + - !!python/tuple [9, 0] + - !!python/tuple [25, 13] + - !!python/tuple [1, 13] + - !!python/tuple [22, 21] + - !!python/tuple [11, 31] + - !!python/tuple [31, 19] + - !!python/tuple [22, 30] + - !!python/tuple [2, 22] + - !!python/tuple [28, 27] + - !!python/tuple [31, 13] + - !!python/tuple [26, 18] + - !!python/tuple [25, 21] + - !!python/tuple [0, 24] + - !!python/tuple [26, 30] + - !!python/tuple [9, 18] + - !!python/tuple [22, 3] + - !!python/tuple [20, 1] + - !!python/tuple [18, 3] + - !!python/tuple [24, 16] + - !!python/tuple [19, 12] + - !!python/tuple [15, 28] + - !!python/tuple [23, 2] + - !!python/tuple [10, 27] + - !!python/tuple [4, 14] + - !!python/tuple [21, 11] + - !!python/tuple [19, 0] + - !!python/tuple [2, 1] + - !!python/tuple [16, 9] + - !!python/tuple [29, 12] + - !!python/tuple [14, 13] + - !!python/tuple [4, 17] + - !!python/tuple [14, 30] + - !!python/tuple [13, 15] + - !!python/tuple [12, 4] + - !!python/tuple [5, 6] + - !!python/tuple [23, 14] + - !!python/tuple [11, 18] + - !!python/tuple [30, 21] + - !!python/tuple [10, 14] + - !!python/tuple [18, 1] + - !!python/tuple [2, 2] + - !!python/tuple [21, 22] + - !!python/tuple [18, 23] + - !!python/tuple [18, 30] + - !!python/tuple [5, 24] + - !!python/tuple [14, 9] + - !!python/tuple [5, 7] + - !!python/tuple [21, 3] + - !!python/tuple [3, 11] + - !!python/tuple [6, 7] + - !!python/tuple [4, 4] + - !!python/tuple [17, 15] + - !!python/tuple [11, 15] + - !!python/tuple [10, 8] + - !!python/tuple [11, 6] + - !!python/tuple [1, 6] + - !!python/tuple [28, 4] + - !!python/tuple [17, 3] + - !!python/tuple [14, 3] + - !!python/tuple [17, 25] + - !!python/tuple [18, 25] + - !!python/tuple [3, 26] + - !!python/tuple [30, 26] + - !!python/tuple [30, 24] + - !!python/tuple [12, 24] + - !!python/tuple [0, 30] + - !!python/tuple [24, 21] + - !!python/tuple [31, 10] + - !!python/tuple [4, 2] + - !!python/tuple [28, 13] + - !!python/tuple [22, 14] + - !!python/tuple [28, 18] + - !!python/tuple [23, 21] + - !!python/tuple [22, 9] + - !!python/tuple [7, 10] + - !!python/tuple [7, 18] + - !!python/tuple [28, 26] + - !!python/tuple [23, 15] + - !!python/tuple [13, 30] + - !!python/tuple [22, 20] + - !!python/tuple [31, 23] + - !!python/tuple [5, 14] + - !!python/tuple [23, 13] + - !!python/tuple [29, 21] + - !!python/tuple [8, 27] + - !!python/tuple [4, 27] + - !!python/tuple [23, 18] + - !!python/tuple [25, 19] + - !!python/tuple [26, 15] + - !!python/tuple [15, 1] + - !!python/tuple [26, 26] + - !!python/tuple [3, 25] + - !!python/tuple [15, 27] + - !!python/tuple [8, 20] + - !!python/tuple [22, 11] + - !!python/tuple [21, 17] + - !!python/tuple [11, 0] + - !!python/tuple [30, 7] + - !!python/tuple [17, 4] + - !!python/tuple [9, 31] + - !!python/tuple [30, 23] + - !!python/tuple [1, 19] + - !!python/tuple [15, 10] + - !!python/tuple [4, 30] + - !!python/tuple [9, 24] + - !!python/tuple [29, 1] + - !!python/tuple [7, 1] + - !!python/tuple [4, 25] + - !!python/tuple [29, 14] + - !!python/tuple [23, 19] + - !!python/tuple [12, 7] + - !!python/tuple [12, 18] + - !!python/tuple [6, 21] + - !!python/tuple [16, 22] + - !!python/tuple [1, 16] + - !!python/tuple [6, 29] + - !!python/tuple [21, 16] + - !!python/tuple [25, 30] + - !!python/tuple [14, 31] + - !!python/tuple [1, 28] + - !!python/tuple [2, 24] + - !!python/tuple [21, 1] + - !!python/tuple [27, 31] + - !!python/tuple [13, 18] + - !!python/tuple [31, 2] + - !!python/tuple [20, 14] + - !!python/tuple [11, 13] + - !!python/tuple [12, 20] + - !!python/tuple [12, 21] + - !!python/tuple [14, 16] + - !!python/tuple [0, 23] + - !!python/tuple [13, 22] + - !!python/tuple [14, 2] + - !!python/tuple [8, 15] + - !!python/tuple [20, 31] + - !!python/tuple [15, 9] + - !!python/tuple [26, 13] + - !!python/tuple [28, 31] + - !!python/tuple [27, 20] + - !!python/tuple [30, 16] + - !!python/tuple [19, 17] + - !!python/tuple [9, 17] + - !!python/tuple [6, 14] + - !!python/tuple [8, 0] + - !!python/tuple [2, 17] + - !!python/tuple [29, 9] + - !!python/tuple [2, 28] + - !!python/tuple [11, 2] + - !!python/tuple [22, 24] + - !!python/tuple [23, 12] + - !!python/tuple [31, 22] + - !!python/tuple [10, 11] + - !!python/tuple [0, 29] + - !!python/tuple [14, 4] + - !!python/tuple [18, 13] + - !!python/tuple [18, 26] + - !!python/tuple [11, 11] + - !!python/tuple [27, 23] + - !!python/tuple [6, 1] + - !!python/tuple [25, 9] + - !!python/tuple [20, 18] + - !!python/tuple [17, 22] + - !!python/tuple [29, 19] + - !!python/tuple [15, 20] + - !!python/tuple [29, 23] + - !!python/tuple [0, 2] + - !!python/tuple [15, 29] + - !!python/tuple [7, 28] + - !!python/tuple [10, 1] + - !!python/tuple [30, 25] + - !!python/tuple [20, 3] + - !!python/tuple [17, 31] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex38.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex38.yaml new file mode 100644 index 0000000..de9bae0 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex38.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [20, 29] + name: agent0 + start: [14, 1] +- goal: [12, 18] + name: agent1 + start: [20, 19] +- goal: [10, 15] + name: agent2 + start: [2, 23] +- goal: [21, 6] + name: agent3 + start: [14, 27] +- goal: [25, 17] + name: agent4 + start: [4, 29] +- goal: [0, 28] + name: agent5 + start: [3, 25] +- goal: [27, 21] + name: agent6 + start: [25, 12] +- goal: [0, 2] + name: agent7 + start: [15, 0] +- goal: [2, 1] + name: agent8 + start: [31, 26] +- goal: [25, 27] + name: agent9 + start: [25, 29] +- goal: [3, 25] + name: agent10 + start: [5, 16] +- goal: [28, 12] + name: agent11 + start: [10, 3] +- goal: [28, 27] + name: agent12 + start: [0, 14] +- goal: [25, 18] + name: agent13 + start: [6, 12] +- goal: [26, 16] + name: agent14 + start: [9, 4] +- goal: [1, 10] + name: agent15 + start: [22, 7] +- goal: [1, 30] + name: agent16 + start: [8, 28] +- goal: [10, 7] + name: agent17 + start: [15, 23] +- goal: [8, 25] + name: agent18 + start: [7, 4] +- goal: [7, 12] + name: agent19 + start: [12, 7] +- goal: [23, 13] + name: agent20 + start: [1, 18] +- goal: [24, 6] + name: agent21 + start: [1, 17] +- goal: [7, 21] + name: agent22 + start: [0, 0] +- goal: [25, 0] + name: agent23 + start: [21, 23] +- goal: [15, 15] + name: agent24 + start: [13, 10] +- goal: [13, 6] + name: agent25 + start: [11, 5] +- goal: [30, 26] + name: agent26 + start: [10, 19] +- goal: [13, 19] + name: agent27 + start: [7, 19] +- goal: [15, 2] + name: agent28 + start: [26, 19] +- goal: [8, 30] + name: agent29 + start: [25, 15] +- goal: [6, 28] + name: agent30 + start: [13, 3] +- goal: [30, 29] + name: agent31 + start: [25, 24] +- goal: [22, 29] + name: agent32 + start: [13, 12] +- goal: [1, 21] + name: agent33 + start: [1, 26] +- goal: [16, 22] + name: agent34 + start: [28, 19] +- goal: [16, 6] + name: agent35 + start: [9, 29] +- goal: [24, 29] + name: agent36 + start: [1, 23] +- goal: [21, 2] + name: agent37 + start: [17, 6] +- goal: [30, 15] + name: agent38 + start: [29, 8] +- goal: [10, 21] + name: agent39 + start: [22, 27] +- goal: [14, 15] + name: agent40 + start: [27, 0] +- goal: [13, 10] + name: agent41 + start: [10, 23] +- goal: [2, 25] + name: agent42 + start: [16, 22] +- goal: [28, 5] + name: agent43 + start: [0, 17] +- goal: [0, 4] + name: agent44 + start: [27, 27] +- goal: [16, 3] + name: agent45 + start: [20, 31] +- goal: [2, 18] + name: agent46 + start: [9, 21] +- goal: [4, 2] + name: agent47 + start: [21, 5] +- goal: [4, 23] + name: agent48 + start: [3, 18] +- goal: [20, 31] + name: agent49 + start: [27, 22] +- goal: [2, 3] + name: agent50 + start: [3, 30] +- goal: [11, 22] + name: agent51 + start: [16, 11] +- goal: [18, 27] + name: agent52 + start: [5, 14] +- goal: [3, 13] + name: agent53 + start: [22, 15] +- goal: [30, 8] + name: agent54 + start: [23, 5] +- goal: [31, 0] + name: agent55 + start: [24, 28] +- goal: [17, 23] + name: agent56 + start: [3, 7] +- goal: [25, 16] + name: agent57 + start: [14, 0] +- goal: [25, 2] + name: agent58 + start: [31, 4] +- goal: [18, 21] + name: agent59 + start: [11, 15] +- goal: [24, 14] + name: agent60 + start: [16, 31] +- goal: [0, 3] + name: agent61 + start: [23, 17] +- goal: [5, 22] + name: agent62 + start: [23, 24] +- goal: [17, 1] + name: agent63 + start: [27, 2] +- goal: [4, 22] + name: agent64 + start: [3, 20] +- goal: [3, 5] + name: agent65 + start: [19, 25] +- goal: [27, 26] + name: agent66 + start: [8, 19] +- goal: [5, 15] + name: agent67 + start: [10, 26] +- goal: [0, 31] + name: agent68 + start: [21, 25] +- goal: [4, 30] + name: agent69 + start: [6, 24] +- goal: [1, 2] + name: agent70 + start: [28, 5] +- goal: [14, 7] + name: agent71 + start: [2, 25] +- goal: [31, 14] + name: agent72 + start: [19, 23] +- goal: [9, 13] + name: agent73 + start: [5, 2] +- goal: [16, 7] + name: agent74 + start: [26, 8] +- goal: [20, 13] + name: agent75 + start: [21, 31] +- goal: [9, 16] + name: agent76 + start: [2, 7] +- goal: [3, 16] + name: agent77 + start: [18, 4] +- goal: [22, 6] + name: agent78 + start: [9, 0] +- goal: [22, 8] + name: agent79 + start: [1, 2] +- goal: [2, 23] + name: agent80 + start: [14, 31] +- goal: [2, 29] + name: agent81 + start: [13, 31] +- goal: [28, 11] + name: agent82 + start: [21, 20] +- goal: [20, 12] + name: agent83 + start: [14, 22] +- goal: [24, 11] + name: agent84 + start: [20, 17] +- goal: [9, 0] + name: agent85 + start: [16, 26] +- goal: [5, 14] + name: agent86 + start: [4, 20] +- goal: [6, 12] + name: agent87 + start: [5, 5] +- goal: [6, 31] + name: agent88 + start: [17, 15] +- goal: [0, 11] + name: agent89 + start: [6, 4] +- goal: [31, 29] + name: agent90 + start: [11, 9] +- goal: [22, 24] + name: agent91 + start: [27, 9] +- goal: [19, 29] + name: agent92 + start: [23, 19] +- goal: [29, 26] + name: agent93 + start: [10, 0] +- goal: [8, 21] + name: agent94 + start: [25, 28] +- goal: [30, 13] + name: agent95 + start: [25, 8] +- goal: [29, 9] + name: agent96 + start: [14, 2] +- goal: [29, 13] + name: agent97 + start: [0, 4] +- goal: [2, 31] + name: agent98 + start: [19, 0] +- goal: [24, 16] + name: agent99 + start: [2, 28] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [24, 8] + - !!python/tuple [31, 2] + - !!python/tuple [13, 4] + - !!python/tuple [11, 18] + - !!python/tuple [8, 29] + - !!python/tuple [15, 10] + - !!python/tuple [1, 12] + - !!python/tuple [17, 19] + - !!python/tuple [27, 12] + - !!python/tuple [21, 9] + - !!python/tuple [15, 3] + - !!python/tuple [28, 29] + - !!python/tuple [3, 19] + - !!python/tuple [1, 19] + - !!python/tuple [31, 17] + - !!python/tuple [28, 22] + - !!python/tuple [4, 12] + - !!python/tuple [21, 24] + - !!python/tuple [4, 28] + - !!python/tuple [7, 15] + - !!python/tuple [14, 19] + - !!python/tuple [5, 23] + - !!python/tuple [2, 2] + - !!python/tuple [6, 18] + - !!python/tuple [22, 22] + - !!python/tuple [13, 5] + - !!python/tuple [10, 24] + - !!python/tuple [24, 4] + - !!python/tuple [26, 3] + - !!python/tuple [31, 13] + - !!python/tuple [26, 31] + - !!python/tuple [21, 26] + - !!python/tuple [18, 28] + - !!python/tuple [27, 8] + - !!python/tuple [29, 10] + - !!python/tuple [25, 25] + - !!python/tuple [17, 24] + - !!python/tuple [31, 16] + - !!python/tuple [19, 28] + - !!python/tuple [18, 0] + - !!python/tuple [26, 0] + - !!python/tuple [5, 4] + - !!python/tuple [31, 18] + - !!python/tuple [31, 27] + - !!python/tuple [11, 21] + - !!python/tuple [31, 6] + - !!python/tuple [5, 24] + - !!python/tuple [13, 8] + - !!python/tuple [3, 15] + - !!python/tuple [15, 28] + - !!python/tuple [18, 24] + - !!python/tuple [23, 9] + - !!python/tuple [18, 26] + - !!python/tuple [7, 30] + - !!python/tuple [11, 1] + - !!python/tuple [6, 16] + - !!python/tuple [29, 28] + - !!python/tuple [1, 22] + - !!python/tuple [29, 5] + - !!python/tuple [22, 13] + - !!python/tuple [10, 20] + - !!python/tuple [10, 27] + - !!python/tuple [6, 20] + - !!python/tuple [8, 4] + - !!python/tuple [28, 4] + - !!python/tuple [0, 12] + - !!python/tuple [20, 24] + - !!python/tuple [4, 19] + - !!python/tuple [10, 1] + - !!python/tuple [15, 8] + - !!python/tuple [19, 10] + - !!python/tuple [15, 22] + - !!python/tuple [0, 7] + - !!python/tuple [16, 4] + - !!python/tuple [22, 10] + - !!python/tuple [14, 17] + - !!python/tuple [9, 11] + - !!python/tuple [9, 10] + - !!python/tuple [3, 31] + - !!python/tuple [20, 6] + - !!python/tuple [29, 29] + - !!python/tuple [3, 28] + - !!python/tuple [11, 30] + - !!python/tuple [19, 3] + - !!python/tuple [3, 2] + - !!python/tuple [16, 20] + - !!python/tuple [3, 14] + - !!python/tuple [26, 26] + - !!python/tuple [18, 9] + - !!python/tuple [15, 17] + - !!python/tuple [20, 10] + - !!python/tuple [19, 7] + - !!python/tuple [23, 27] + - !!python/tuple [12, 17] + - !!python/tuple [31, 5] + - !!python/tuple [1, 11] + - !!python/tuple [13, 24] + - !!python/tuple [16, 21] + - !!python/tuple [6, 27] + - !!python/tuple [12, 16] + - !!python/tuple [16, 17] + - !!python/tuple [17, 16] + - !!python/tuple [14, 24] + - !!python/tuple [9, 27] + - !!python/tuple [7, 10] + - !!python/tuple [26, 14] + - !!python/tuple [10, 5] + - !!python/tuple [30, 31] + - !!python/tuple [24, 1] + - !!python/tuple [10, 18] + - !!python/tuple [18, 16] + - !!python/tuple [10, 16] + - !!python/tuple [18, 23] + - !!python/tuple [30, 20] + - !!python/tuple [27, 28] + - !!python/tuple [5, 20] + - !!python/tuple [14, 5] + - !!python/tuple [8, 14] + - !!python/tuple [30, 23] + - !!python/tuple [24, 30] + - !!python/tuple [8, 5] + - !!python/tuple [31, 1] + - !!python/tuple [7, 20] + - !!python/tuple [6, 30] + - !!python/tuple [25, 20] + - !!python/tuple [8, 3] + - !!python/tuple [18, 11] + - !!python/tuple [9, 24] + - !!python/tuple [18, 8] + - !!python/tuple [10, 14] + - !!python/tuple [20, 30] + - !!python/tuple [21, 27] + - !!python/tuple [21, 12] + - !!python/tuple [12, 9] + - !!python/tuple [30, 2] + - !!python/tuple [7, 2] + - !!python/tuple [24, 0] + - !!python/tuple [25, 11] + - !!python/tuple [25, 5] + - !!python/tuple [1, 7] + - !!python/tuple [27, 16] + - !!python/tuple [17, 10] + - !!python/tuple [25, 21] + - !!python/tuple [25, 19] + - !!python/tuple [3, 29] + - !!python/tuple [21, 7] + - !!python/tuple [5, 3] + - !!python/tuple [19, 24] + - !!python/tuple [19, 18] + - !!python/tuple [18, 30] + - !!python/tuple [6, 17] + - !!python/tuple [19, 9] + - !!python/tuple [16, 19] + - !!python/tuple [29, 2] + - !!python/tuple [25, 6] + - !!python/tuple [20, 0] + - !!python/tuple [11, 26] + - !!python/tuple [26, 12] + - !!python/tuple [30, 5] + - !!python/tuple [24, 22] + - !!python/tuple [5, 0] + - !!python/tuple [2, 13] + - !!python/tuple [8, 1] + - !!python/tuple [11, 10] + - !!python/tuple [8, 20] + - !!python/tuple [31, 25] + - !!python/tuple [3, 9] + - !!python/tuple [19, 20] + - !!python/tuple [3, 17] + - !!python/tuple [30, 25] + - !!python/tuple [19, 8] + - !!python/tuple [9, 2] + - !!python/tuple [26, 22] + - !!python/tuple [24, 26] + - !!python/tuple [23, 21] + - !!python/tuple [26, 25] + - !!python/tuple [27, 5] + - !!python/tuple [31, 28] + - !!python/tuple [14, 8] + - !!python/tuple [11, 12] + - !!python/tuple [29, 12] + - !!python/tuple [16, 9] + - !!python/tuple [14, 4] + - !!python/tuple [9, 7] + - !!python/tuple [21, 29] + - !!python/tuple [16, 27] + - !!python/tuple [31, 9] + - !!python/tuple [23, 10] + - !!python/tuple [31, 20] + - !!python/tuple [14, 30] + - !!python/tuple [25, 31] + - !!python/tuple [27, 19] + - !!python/tuple [4, 17] + - !!python/tuple [11, 13] + - !!python/tuple [21, 28] + - !!python/tuple [14, 16] + - !!python/tuple [6, 6] + - !!python/tuple [0, 27] + - !!python/tuple [4, 11] + - !!python/tuple [16, 18] + - !!python/tuple [0, 23] + - !!python/tuple [17, 28] + - !!python/tuple [27, 4] + - !!python/tuple [31, 19] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex39.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex39.yaml new file mode 100644 index 0000000..557a499 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex39.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [13, 18] + name: agent0 + start: [18, 23] +- goal: [24, 1] + name: agent1 + start: [27, 14] +- goal: [15, 24] + name: agent2 + start: [8, 28] +- goal: [23, 6] + name: agent3 + start: [13, 26] +- goal: [4, 18] + name: agent4 + start: [25, 24] +- goal: [9, 28] + name: agent5 + start: [4, 9] +- goal: [6, 22] + name: agent6 + start: [31, 27] +- goal: [30, 25] + name: agent7 + start: [5, 0] +- goal: [11, 12] + name: agent8 + start: [1, 23] +- goal: [28, 0] + name: agent9 + start: [25, 23] +- goal: [15, 31] + name: agent10 + start: [19, 6] +- goal: [25, 5] + name: agent11 + start: [23, 24] +- goal: [6, 27] + name: agent12 + start: [11, 7] +- goal: [14, 15] + name: agent13 + start: [17, 14] +- goal: [8, 4] + name: agent14 + start: [19, 17] +- goal: [22, 1] + name: agent15 + start: [24, 0] +- goal: [18, 28] + name: agent16 + start: [23, 14] +- goal: [20, 24] + name: agent17 + start: [21, 10] +- goal: [0, 17] + name: agent18 + start: [30, 7] +- goal: [9, 17] + name: agent19 + start: [16, 7] +- goal: [12, 10] + name: agent20 + start: [13, 6] +- goal: [19, 17] + name: agent21 + start: [7, 3] +- goal: [23, 24] + name: agent22 + start: [1, 7] +- goal: [25, 15] + name: agent23 + start: [17, 11] +- goal: [11, 17] + name: agent24 + start: [31, 8] +- goal: [3, 4] + name: agent25 + start: [29, 8] +- goal: [4, 21] + name: agent26 + start: [29, 6] +- goal: [7, 31] + name: agent27 + start: [27, 16] +- goal: [30, 29] + name: agent28 + start: [23, 16] +- goal: [21, 4] + name: agent29 + start: [19, 9] +- goal: [8, 9] + name: agent30 + start: [28, 11] +- goal: [27, 4] + name: agent31 + start: [15, 27] +- goal: [18, 29] + name: agent32 + start: [30, 8] +- goal: [14, 9] + name: agent33 + start: [17, 29] +- goal: [20, 28] + name: agent34 + start: [11, 26] +- goal: [29, 12] + name: agent35 + start: [9, 10] +- goal: [8, 7] + name: agent36 + start: [12, 16] +- goal: [10, 20] + name: agent37 + start: [0, 2] +- goal: [27, 6] + name: agent38 + start: [22, 13] +- goal: [8, 28] + name: agent39 + start: [7, 6] +- goal: [26, 30] + name: agent40 + start: [6, 10] +- goal: [26, 21] + name: agent41 + start: [22, 14] +- goal: [27, 24] + name: agent42 + start: [14, 2] +- goal: [25, 0] + name: agent43 + start: [10, 19] +- goal: [16, 31] + name: agent44 + start: [9, 18] +- goal: [14, 24] + name: agent45 + start: [22, 28] +- goal: [21, 25] + name: agent46 + start: [27, 13] +- goal: [18, 5] + name: agent47 + start: [12, 10] +- goal: [22, 29] + name: agent48 + start: [0, 7] +- goal: [4, 31] + name: agent49 + start: [1, 2] +- goal: [0, 4] + name: agent50 + start: [24, 25] +- goal: [20, 7] + name: agent51 + start: [12, 9] +- goal: [9, 18] + name: agent52 + start: [11, 16] +- goal: [8, 10] + name: agent53 + start: [22, 5] +- goal: [0, 6] + name: agent54 + start: [26, 5] +- goal: [23, 30] + name: agent55 + start: [4, 25] +- goal: [23, 11] + name: agent56 + start: [18, 18] +- goal: [23, 0] + name: agent57 + start: [30, 23] +- goal: [8, 13] + name: agent58 + start: [7, 8] +- goal: [31, 5] + name: agent59 + start: [28, 13] +- goal: [13, 21] + name: agent60 + start: [22, 9] +- goal: [21, 9] + name: agent61 + start: [7, 7] +- goal: [30, 26] + name: agent62 + start: [0, 10] +- goal: [20, 16] + name: agent63 + start: [24, 24] +- goal: [5, 22] + name: agent64 + start: [6, 12] +- goal: [5, 25] + name: agent65 + start: [13, 5] +- goal: [2, 14] + name: agent66 + start: [12, 28] +- goal: [20, 13] + name: agent67 + start: [20, 28] +- goal: [21, 2] + name: agent68 + start: [12, 23] +- goal: [22, 2] + name: agent69 + start: [30, 30] +- goal: [24, 9] + name: agent70 + start: [26, 19] +- goal: [6, 21] + name: agent71 + start: [30, 25] +- goal: [20, 17] + name: agent72 + start: [9, 2] +- goal: [27, 5] + name: agent73 + start: [2, 29] +- goal: [3, 15] + name: agent74 + start: [6, 5] +- goal: [29, 21] + name: agent75 + start: [27, 4] +- goal: [15, 21] + name: agent76 + start: [25, 19] +- goal: [27, 23] + name: agent77 + start: [12, 19] +- goal: [3, 13] + name: agent78 + start: [8, 27] +- goal: [21, 31] + name: agent79 + start: [22, 20] +- goal: [28, 12] + name: agent80 + start: [5, 27] +- goal: [12, 1] + name: agent81 + start: [26, 24] +- goal: [16, 23] + name: agent82 + start: [20, 10] +- goal: [25, 6] + name: agent83 + start: [8, 29] +- goal: [12, 17] + name: agent84 + start: [18, 7] +- goal: [16, 18] + name: agent85 + start: [4, 3] +- goal: [0, 21] + name: agent86 + start: [12, 15] +- goal: [16, 9] + name: agent87 + start: [15, 1] +- goal: [9, 29] + name: agent88 + start: [23, 3] +- goal: [2, 6] + name: agent89 + start: [3, 20] +- goal: [12, 25] + name: agent90 + start: [8, 18] +- goal: [14, 6] + name: agent91 + start: [10, 27] +- goal: [5, 9] + name: agent92 + start: [7, 15] +- goal: [17, 4] + name: agent93 + start: [10, 25] +- goal: [8, 6] + name: agent94 + start: [24, 30] +- goal: [10, 31] + name: agent95 + start: [27, 2] +- goal: [0, 30] + name: agent96 + start: [16, 3] +- goal: [29, 20] + name: agent97 + start: [19, 3] +- goal: [2, 11] + name: agent98 + start: [2, 16] +- goal: [4, 15] + name: agent99 + start: [18, 29] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [22, 8] + - !!python/tuple [16, 15] + - !!python/tuple [31, 20] + - !!python/tuple [1, 11] + - !!python/tuple [12, 4] + - !!python/tuple [24, 17] + - !!python/tuple [20, 6] + - !!python/tuple [0, 27] + - !!python/tuple [4, 12] + - !!python/tuple [11, 29] + - !!python/tuple [20, 22] + - !!python/tuple [21, 18] + - !!python/tuple [7, 28] + - !!python/tuple [10, 22] + - !!python/tuple [19, 16] + - !!python/tuple [26, 23] + - !!python/tuple [11, 4] + - !!python/tuple [18, 20] + - !!python/tuple [25, 29] + - !!python/tuple [29, 19] + - !!python/tuple [14, 11] + - !!python/tuple [28, 15] + - !!python/tuple [29, 26] + - !!python/tuple [15, 4] + - !!python/tuple [10, 23] + - !!python/tuple [10, 21] + - !!python/tuple [2, 17] + - !!python/tuple [18, 24] + - !!python/tuple [11, 23] + - !!python/tuple [18, 2] + - !!python/tuple [25, 3] + - !!python/tuple [0, 20] + - !!python/tuple [31, 17] + - !!python/tuple [28, 3] + - !!python/tuple [7, 19] + - !!python/tuple [3, 27] + - !!python/tuple [22, 23] + - !!python/tuple [2, 28] + - !!python/tuple [26, 26] + - !!python/tuple [7, 13] + - !!python/tuple [27, 11] + - !!python/tuple [5, 2] + - !!python/tuple [18, 22] + - !!python/tuple [3, 14] + - !!python/tuple [24, 10] + - !!python/tuple [12, 22] + - !!python/tuple [13, 14] + - !!python/tuple [8, 15] + - !!python/tuple [3, 21] + - !!python/tuple [8, 20] + - !!python/tuple [24, 20] + - !!python/tuple [11, 5] + - !!python/tuple [16, 19] + - !!python/tuple [28, 30] + - !!python/tuple [2, 31] + - !!python/tuple [0, 1] + - !!python/tuple [30, 16] + - !!python/tuple [5, 5] + - !!python/tuple [20, 26] + - !!python/tuple [24, 29] + - !!python/tuple [19, 25] + - !!python/tuple [4, 6] + - !!python/tuple [19, 1] + - !!python/tuple [0, 24] + - !!python/tuple [23, 10] + - !!python/tuple [31, 12] + - !!python/tuple [2, 19] + - !!python/tuple [28, 1] + - !!python/tuple [8, 2] + - !!python/tuple [10, 6] + - !!python/tuple [20, 12] + - !!python/tuple [24, 26] + - !!python/tuple [15, 22] + - !!python/tuple [3, 2] + - !!python/tuple [13, 19] + - !!python/tuple [29, 9] + - !!python/tuple [17, 12] + - !!python/tuple [31, 0] + - !!python/tuple [14, 7] + - !!python/tuple [9, 19] + - !!python/tuple [10, 13] + - !!python/tuple [23, 20] + - !!python/tuple [23, 1] + - !!python/tuple [19, 0] + - !!python/tuple [26, 27] + - !!python/tuple [0, 26] + - !!python/tuple [22, 19] + - !!python/tuple [31, 9] + - !!python/tuple [31, 22] + - !!python/tuple [23, 12] + - !!python/tuple [20, 23] + - !!python/tuple [30, 4] + - !!python/tuple [18, 13] + - !!python/tuple [24, 6] + - !!python/tuple [14, 18] + - !!python/tuple [9, 0] + - !!python/tuple [8, 30] + - !!python/tuple [22, 21] + - !!python/tuple [30, 5] + - !!python/tuple [25, 28] + - !!python/tuple [31, 26] + - !!python/tuple [29, 0] + - !!python/tuple [6, 31] + - !!python/tuple [4, 2] + - !!python/tuple [26, 25] + - !!python/tuple [15, 29] + - !!python/tuple [5, 24] + - !!python/tuple [9, 13] + - !!python/tuple [1, 9] + - !!python/tuple [26, 9] + - !!python/tuple [4, 0] + - !!python/tuple [6, 9] + - !!python/tuple [12, 5] + - !!python/tuple [15, 6] + - !!python/tuple [21, 23] + - !!python/tuple [29, 31] + - !!python/tuple [5, 23] + - !!python/tuple [1, 30] + - !!python/tuple [10, 29] + - !!python/tuple [30, 28] + - !!python/tuple [16, 1] + - !!python/tuple [16, 17] + - !!python/tuple [6, 2] + - !!python/tuple [4, 4] + - !!python/tuple [11, 15] + - !!python/tuple [15, 11] + - !!python/tuple [26, 1] + - !!python/tuple [9, 26] + - !!python/tuple [4, 24] + - !!python/tuple [5, 13] + - !!python/tuple [22, 6] + - !!python/tuple [23, 17] + - !!python/tuple [31, 14] + - !!python/tuple [18, 11] + - !!python/tuple [18, 10] + - !!python/tuple [16, 24] + - !!python/tuple [9, 16] + - !!python/tuple [25, 7] + - !!python/tuple [19, 26] + - !!python/tuple [25, 26] + - !!python/tuple [13, 16] + - !!python/tuple [9, 1] + - !!python/tuple [17, 10] + - !!python/tuple [22, 17] + - !!python/tuple [14, 0] + - !!python/tuple [25, 30] + - !!python/tuple [27, 28] + - !!python/tuple [7, 29] + - !!python/tuple [22, 11] + - !!python/tuple [15, 2] + - !!python/tuple [30, 21] + - !!python/tuple [15, 28] + - !!python/tuple [9, 23] + - !!python/tuple [18, 12] + - !!python/tuple [20, 5] + - !!python/tuple [10, 9] + - !!python/tuple [25, 17] + - !!python/tuple [31, 3] + - !!python/tuple [21, 5] + - !!python/tuple [15, 0] + - !!python/tuple [16, 16] + - !!python/tuple [28, 7] + - !!python/tuple [19, 28] + - !!python/tuple [7, 5] + - !!python/tuple [7, 11] + - !!python/tuple [18, 27] + - !!python/tuple [29, 17] + - !!python/tuple [8, 22] + - !!python/tuple [30, 1] + - !!python/tuple [0, 19] + - !!python/tuple [19, 18] + - !!python/tuple [15, 16] + - !!python/tuple [4, 28] + - !!python/tuple [23, 18] + - !!python/tuple [28, 17] + - !!python/tuple [14, 20] + - !!python/tuple [26, 8] + - !!python/tuple [9, 30] + - !!python/tuple [6, 19] + - !!python/tuple [18, 16] + - !!python/tuple [24, 31] + - !!python/tuple [10, 26] + - !!python/tuple [7, 22] + - !!python/tuple [4, 27] + - !!python/tuple [9, 8] + - !!python/tuple [26, 7] + - !!python/tuple [8, 17] + - !!python/tuple [16, 8] + - !!python/tuple [23, 15] + - !!python/tuple [31, 4] + - !!python/tuple [31, 28] + - !!python/tuple [28, 6] + - !!python/tuple [1, 24] + - !!python/tuple [20, 18] + - !!python/tuple [19, 19] + - !!python/tuple [5, 4] + - !!python/tuple [8, 11] + - !!python/tuple [13, 7] + - !!python/tuple [0, 22] + - !!python/tuple [19, 13] + - !!python/tuple [24, 7] + - !!python/tuple [19, 22] + - !!python/tuple [14, 25] + - !!python/tuple [3, 11] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex4.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex4.yaml new file mode 100644 index 0000000..afe68b4 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex4.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [0, 14] + name: agent0 + start: [9, 12] +- goal: [31, 2] + name: agent1 + start: [26, 20] +- goal: [22, 7] + name: agent2 + start: [16, 19] +- goal: [29, 17] + name: agent3 + start: [14, 6] +- goal: [26, 31] + name: agent4 + start: [29, 25] +- goal: [30, 18] + name: agent5 + start: [11, 31] +- goal: [26, 10] + name: agent6 + start: [18, 31] +- goal: [4, 4] + name: agent7 + start: [10, 14] +- goal: [27, 5] + name: agent8 + start: [10, 26] +- goal: [8, 11] + name: agent9 + start: [5, 23] +- goal: [13, 15] + name: agent10 + start: [23, 24] +- goal: [6, 1] + name: agent11 + start: [12, 10] +- goal: [29, 27] + name: agent12 + start: [22, 2] +- goal: [24, 30] + name: agent13 + start: [21, 29] +- goal: [15, 4] + name: agent14 + start: [5, 31] +- goal: [28, 11] + name: agent15 + start: [12, 9] +- goal: [1, 9] + name: agent16 + start: [12, 31] +- goal: [17, 8] + name: agent17 + start: [30, 11] +- goal: [21, 16] + name: agent18 + start: [31, 25] +- goal: [30, 19] + name: agent19 + start: [17, 11] +- goal: [28, 19] + name: agent20 + start: [26, 22] +- goal: [8, 22] + name: agent21 + start: [22, 24] +- goal: [5, 8] + name: agent22 + start: [11, 23] +- goal: [13, 19] + name: agent23 + start: [9, 23] +- goal: [1, 0] + name: agent24 + start: [14, 22] +- goal: [9, 15] + name: agent25 + start: [31, 9] +- goal: [4, 15] + name: agent26 + start: [1, 9] +- goal: [8, 13] + name: agent27 + start: [3, 23] +- goal: [18, 25] + name: agent28 + start: [12, 24] +- goal: [18, 30] + name: agent29 + start: [8, 16] +- goal: [24, 13] + name: agent30 + start: [29, 18] +- goal: [10, 25] + name: agent31 + start: [17, 6] +- goal: [27, 24] + name: agent32 + start: [29, 27] +- goal: [25, 29] + name: agent33 + start: [29, 3] +- goal: [28, 9] + name: agent34 + start: [3, 4] +- goal: [9, 10] + name: agent35 + start: [19, 12] +- goal: [20, 18] + name: agent36 + start: [8, 18] +- goal: [26, 30] + name: agent37 + start: [11, 5] +- goal: [15, 13] + name: agent38 + start: [24, 9] +- goal: [2, 15] + name: agent39 + start: [4, 6] +- goal: [30, 6] + name: agent40 + start: [13, 4] +- goal: [29, 8] + name: agent41 + start: [29, 17] +- goal: [0, 31] + name: agent42 + start: [6, 15] +- goal: [30, 25] + name: agent43 + start: [9, 10] +- goal: [9, 14] + name: agent44 + start: [2, 2] +- goal: [3, 8] + name: agent45 + start: [23, 14] +- goal: [16, 21] + name: agent46 + start: [13, 15] +- goal: [7, 14] + name: agent47 + start: [13, 2] +- goal: [9, 28] + name: agent48 + start: [23, 11] +- goal: [31, 30] + name: agent49 + start: [22, 13] +- goal: [2, 10] + name: agent50 + start: [17, 14] +- goal: [18, 9] + name: agent51 + start: [9, 28] +- goal: [29, 0] + name: agent52 + start: [11, 0] +- goal: [25, 24] + name: agent53 + start: [8, 26] +- goal: [4, 1] + name: agent54 + start: [3, 19] +- goal: [15, 18] + name: agent55 + start: [6, 26] +- goal: [26, 3] + name: agent56 + start: [14, 0] +- goal: [24, 21] + name: agent57 + start: [10, 31] +- goal: [20, 9] + name: agent58 + start: [18, 9] +- goal: [12, 12] + name: agent59 + start: [14, 1] +- goal: [22, 8] + name: agent60 + start: [18, 5] +- goal: [0, 6] + name: agent61 + start: [24, 20] +- goal: [19, 9] + name: agent62 + start: [19, 26] +- goal: [5, 2] + name: agent63 + start: [18, 4] +- goal: [20, 6] + name: agent64 + start: [20, 0] +- goal: [3, 15] + name: agent65 + start: [1, 10] +- goal: [30, 11] + name: agent66 + start: [19, 5] +- goal: [20, 14] + name: agent67 + start: [16, 30] +- goal: [23, 29] + name: agent68 + start: [15, 11] +- goal: [28, 0] + name: agent69 + start: [7, 21] +- goal: [21, 0] + name: agent70 + start: [26, 18] +- goal: [17, 23] + name: agent71 + start: [23, 26] +- goal: [8, 21] + name: agent72 + start: [30, 13] +- goal: [2, 0] + name: agent73 + start: [17, 26] +- goal: [21, 29] + name: agent74 + start: [20, 3] +- goal: [22, 2] + name: agent75 + start: [9, 11] +- goal: [16, 0] + name: agent76 + start: [18, 23] +- goal: [18, 11] + name: agent77 + start: [26, 12] +- goal: [22, 14] + name: agent78 + start: [10, 30] +- goal: [30, 22] + name: agent79 + start: [30, 5] +- goal: [14, 21] + name: agent80 + start: [11, 4] +- goal: [18, 4] + name: agent81 + start: [22, 8] +- goal: [19, 13] + name: agent82 + start: [15, 6] +- goal: [12, 18] + name: agent83 + start: [16, 24] +- goal: [23, 24] + name: agent84 + start: [15, 7] +- goal: [27, 17] + name: agent85 + start: [21, 26] +- goal: [12, 5] + name: agent86 + start: [5, 20] +- goal: [10, 1] + name: agent87 + start: [25, 29] +- goal: [16, 13] + name: agent88 + start: [10, 3] +- goal: [25, 1] + name: agent89 + start: [31, 29] +- goal: [7, 3] + name: agent90 + start: [25, 25] +- goal: [29, 19] + name: agent91 + start: [8, 23] +- goal: [20, 7] + name: agent92 + start: [18, 26] +- goal: [17, 15] + name: agent93 + start: [18, 27] +- goal: [16, 23] + name: agent94 + start: [6, 17] +- goal: [22, 23] + name: agent95 + start: [2, 0] +- goal: [2, 11] + name: agent96 + start: [0, 3] +- goal: [3, 12] + name: agent97 + start: [0, 23] +- goal: [25, 31] + name: agent98 + start: [5, 18] +- goal: [25, 28] + name: agent99 + start: [5, 25] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [23, 25] + - !!python/tuple [2, 29] + - !!python/tuple [9, 26] + - !!python/tuple [6, 13] + - !!python/tuple [25, 3] + - !!python/tuple [20, 31] + - !!python/tuple [15, 17] + - !!python/tuple [7, 24] + - !!python/tuple [30, 21] + - !!python/tuple [13, 5] + - !!python/tuple [5, 4] + - !!python/tuple [27, 18] + - !!python/tuple [5, 17] + - !!python/tuple [15, 29] + - !!python/tuple [18, 8] + - !!python/tuple [24, 11] + - !!python/tuple [8, 15] + - !!python/tuple [19, 11] + - !!python/tuple [3, 7] + - !!python/tuple [10, 8] + - !!python/tuple [17, 4] + - !!python/tuple [14, 9] + - !!python/tuple [9, 25] + - !!python/tuple [19, 8] + - !!python/tuple [30, 12] + - !!python/tuple [29, 20] + - !!python/tuple [6, 16] + - !!python/tuple [20, 12] + - !!python/tuple [13, 27] + - !!python/tuple [10, 12] + - !!python/tuple [15, 27] + - !!python/tuple [19, 19] + - !!python/tuple [6, 5] + - !!python/tuple [3, 16] + - !!python/tuple [3, 27] + - !!python/tuple [12, 26] + - !!python/tuple [0, 22] + - !!python/tuple [22, 1] + - !!python/tuple [1, 1] + - !!python/tuple [13, 3] + - !!python/tuple [23, 21] + - !!python/tuple [21, 30] + - !!python/tuple [15, 26] + - !!python/tuple [20, 22] + - !!python/tuple [7, 31] + - !!python/tuple [19, 15] + - !!python/tuple [12, 13] + - !!python/tuple [24, 0] + - !!python/tuple [1, 26] + - !!python/tuple [19, 20] + - !!python/tuple [3, 3] + - !!python/tuple [14, 26] + - !!python/tuple [1, 12] + - !!python/tuple [1, 23] + - !!python/tuple [24, 1] + - !!python/tuple [8, 12] + - !!python/tuple [23, 9] + - !!python/tuple [27, 27] + - !!python/tuple [2, 18] + - !!python/tuple [21, 27] + - !!python/tuple [27, 3] + - !!python/tuple [13, 26] + - !!python/tuple [6, 22] + - !!python/tuple [19, 31] + - !!python/tuple [14, 3] + - !!python/tuple [31, 6] + - !!python/tuple [12, 11] + - !!python/tuple [19, 29] + - !!python/tuple [13, 12] + - !!python/tuple [12, 1] + - !!python/tuple [22, 4] + - !!python/tuple [29, 29] + - !!python/tuple [15, 23] + - !!python/tuple [20, 19] + - !!python/tuple [23, 17] + - !!python/tuple [17, 18] + - !!python/tuple [30, 27] + - !!python/tuple [26, 1] + - !!python/tuple [30, 8] + - !!python/tuple [15, 0] + - !!python/tuple [17, 17] + - !!python/tuple [15, 10] + - !!python/tuple [18, 20] + - !!python/tuple [26, 16] + - !!python/tuple [1, 30] + - !!python/tuple [9, 1] + - !!python/tuple [31, 5] + - !!python/tuple [10, 29] + - !!python/tuple [5, 12] + - !!python/tuple [4, 3] + - !!python/tuple [8, 28] + - !!python/tuple [18, 22] + - !!python/tuple [18, 24] + - !!python/tuple [27, 0] + - !!python/tuple [3, 31] + - !!python/tuple [0, 25] + - !!python/tuple [20, 2] + - !!python/tuple [16, 15] + - !!python/tuple [0, 0] + - !!python/tuple [9, 16] + - !!python/tuple [29, 23] + - !!python/tuple [12, 23] + - !!python/tuple [22, 3] + - !!python/tuple [4, 21] + - !!python/tuple [23, 15] + - !!python/tuple [16, 1] + - !!python/tuple [26, 27] + - !!python/tuple [27, 13] + - !!python/tuple [13, 7] + - !!python/tuple [5, 10] + - !!python/tuple [21, 14] + - !!python/tuple [4, 18] + - !!python/tuple [7, 23] + - !!python/tuple [30, 15] + - !!python/tuple [2, 31] + - !!python/tuple [23, 4] + - !!python/tuple [29, 26] + - !!python/tuple [24, 15] + - !!python/tuple [1, 2] + - !!python/tuple [19, 22] + - !!python/tuple [8, 27] + - !!python/tuple [5, 15] + - !!python/tuple [21, 20] + - !!python/tuple [28, 3] + - !!python/tuple [3, 6] + - !!python/tuple [9, 17] + - !!python/tuple [30, 9] + - !!python/tuple [15, 2] + - !!python/tuple [24, 17] + - !!python/tuple [5, 26] + - !!python/tuple [31, 4] + - !!python/tuple [17, 19] + - !!python/tuple [19, 6] + - !!python/tuple [11, 6] + - !!python/tuple [14, 10] + - !!python/tuple [23, 12] + - !!python/tuple [23, 20] + - !!python/tuple [21, 18] + - !!python/tuple [18, 21] + - !!python/tuple [13, 25] + - !!python/tuple [17, 16] + - !!python/tuple [27, 9] + - !!python/tuple [1, 3] + - !!python/tuple [27, 10] + - !!python/tuple [16, 10] + - !!python/tuple [5, 6] + - !!python/tuple [10, 16] + - !!python/tuple [25, 30] + - !!python/tuple [14, 15] + - !!python/tuple [5, 7] + - !!python/tuple [13, 10] + - !!python/tuple [13, 21] + - !!python/tuple [19, 27] + - !!python/tuple [6, 18] + - !!python/tuple [1, 7] + - !!python/tuple [8, 14] + - !!python/tuple [0, 18] + - !!python/tuple [2, 21] + - !!python/tuple [9, 3] + - !!python/tuple [4, 28] + - !!python/tuple [15, 30] + - !!python/tuple [31, 22] + - !!python/tuple [17, 3] + - !!python/tuple [0, 7] + - !!python/tuple [3, 0] + - !!python/tuple [7, 20] + - !!python/tuple [11, 14] + - !!python/tuple [2, 19] + - !!python/tuple [31, 31] + - !!python/tuple [25, 10] + - !!python/tuple [18, 2] + - !!python/tuple [27, 25] + - !!python/tuple [22, 0] + - !!python/tuple [7, 28] + - !!python/tuple [2, 23] + - !!python/tuple [11, 21] + - !!python/tuple [3, 20] + - !!python/tuple [30, 29] + - !!python/tuple [7, 2] + - !!python/tuple [25, 20] + - !!python/tuple [31, 7] + - !!python/tuple [3, 9] + - !!python/tuple [10, 20] + - !!python/tuple [6, 25] + - !!python/tuple [1, 5] + - !!python/tuple [26, 19] + - !!python/tuple [23, 30] + - !!python/tuple [21, 2] + - !!python/tuple [24, 22] + - !!python/tuple [14, 5] + - !!python/tuple [9, 8] + - !!python/tuple [4, 27] + - !!python/tuple [22, 9] + - !!python/tuple [24, 31] + - !!python/tuple [10, 0] + - !!python/tuple [14, 30] + - !!python/tuple [7, 27] + - !!python/tuple [14, 31] + - !!python/tuple [25, 17] + - !!python/tuple [23, 16] + - !!python/tuple [11, 20] + - !!python/tuple [14, 8] + - !!python/tuple [22, 20] + - !!python/tuple [29, 2] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex40.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex40.yaml new file mode 100644 index 0000000..afa82b0 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex40.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [24, 24] + name: agent0 + start: [25, 10] +- goal: [1, 0] + name: agent1 + start: [24, 21] +- goal: [10, 10] + name: agent2 + start: [0, 3] +- goal: [19, 24] + name: agent3 + start: [14, 20] +- goal: [13, 10] + name: agent4 + start: [0, 17] +- goal: [29, 17] + name: agent5 + start: [27, 14] +- goal: [7, 24] + name: agent6 + start: [1, 6] +- goal: [11, 10] + name: agent7 + start: [12, 28] +- goal: [28, 0] + name: agent8 + start: [5, 27] +- goal: [0, 17] + name: agent9 + start: [19, 15] +- goal: [20, 14] + name: agent10 + start: [29, 0] +- goal: [16, 24] + name: agent11 + start: [18, 5] +- goal: [29, 4] + name: agent12 + start: [19, 20] +- goal: [19, 26] + name: agent13 + start: [5, 30] +- goal: [12, 9] + name: agent14 + start: [9, 25] +- goal: [27, 31] + name: agent15 + start: [7, 20] +- goal: [18, 5] + name: agent16 + start: [8, 30] +- goal: [19, 12] + name: agent17 + start: [17, 2] +- goal: [28, 25] + name: agent18 + start: [9, 16] +- goal: [24, 22] + name: agent19 + start: [16, 30] +- goal: [1, 14] + name: agent20 + start: [8, 7] +- goal: [7, 30] + name: agent21 + start: [11, 16] +- goal: [30, 18] + name: agent22 + start: [3, 6] +- goal: [15, 3] + name: agent23 + start: [18, 11] +- goal: [1, 22] + name: agent24 + start: [12, 1] +- goal: [2, 10] + name: agent25 + start: [0, 5] +- goal: [8, 20] + name: agent26 + start: [14, 3] +- goal: [22, 0] + name: agent27 + start: [12, 29] +- goal: [28, 11] + name: agent28 + start: [30, 16] +- goal: [17, 25] + name: agent29 + start: [20, 14] +- goal: [22, 5] + name: agent30 + start: [31, 1] +- goal: [8, 31] + name: agent31 + start: [9, 1] +- goal: [8, 29] + name: agent32 + start: [26, 29] +- goal: [3, 26] + name: agent33 + start: [19, 17] +- goal: [9, 22] + name: agent34 + start: [13, 19] +- goal: [8, 26] + name: agent35 + start: [15, 14] +- goal: [5, 25] + name: agent36 + start: [28, 9] +- goal: [6, 11] + name: agent37 + start: [3, 30] +- goal: [25, 31] + name: agent38 + start: [20, 2] +- goal: [4, 13] + name: agent39 + start: [6, 5] +- goal: [25, 25] + name: agent40 + start: [16, 20] +- goal: [29, 25] + name: agent41 + start: [26, 23] +- goal: [29, 29] + name: agent42 + start: [20, 6] +- goal: [3, 4] + name: agent43 + start: [18, 8] +- goal: [18, 8] + name: agent44 + start: [31, 15] +- goal: [27, 0] + name: agent45 + start: [23, 20] +- goal: [16, 7] + name: agent46 + start: [9, 8] +- goal: [12, 29] + name: agent47 + start: [31, 13] +- goal: [27, 26] + name: agent48 + start: [12, 18] +- goal: [8, 13] + name: agent49 + start: [3, 1] +- goal: [25, 0] + name: agent50 + start: [25, 7] +- goal: [27, 2] + name: agent51 + start: [25, 24] +- goal: [21, 15] + name: agent52 + start: [1, 13] +- goal: [14, 13] + name: agent53 + start: [4, 4] +- goal: [1, 13] + name: agent54 + start: [15, 26] +- goal: [22, 19] + name: agent55 + start: [18, 16] +- goal: [11, 17] + name: agent56 + start: [14, 24] +- goal: [17, 22] + name: agent57 + start: [8, 21] +- goal: [16, 12] + name: agent58 + start: [19, 18] +- goal: [7, 27] + name: agent59 + start: [29, 9] +- goal: [15, 15] + name: agent60 + start: [31, 4] +- goal: [20, 18] + name: agent61 + start: [31, 2] +- goal: [29, 28] + name: agent62 + start: [20, 19] +- goal: [7, 16] + name: agent63 + start: [10, 24] +- goal: [30, 11] + name: agent64 + start: [5, 17] +- goal: [25, 13] + name: agent65 + start: [18, 2] +- goal: [18, 16] + name: agent66 + start: [13, 24] +- goal: [18, 20] + name: agent67 + start: [11, 20] +- goal: [29, 6] + name: agent68 + start: [12, 31] +- goal: [16, 21] + name: agent69 + start: [8, 20] +- goal: [28, 30] + name: agent70 + start: [11, 13] +- goal: [1, 24] + name: agent71 + start: [20, 20] +- goal: [11, 22] + name: agent72 + start: [24, 19] +- goal: [9, 5] + name: agent73 + start: [4, 5] +- goal: [16, 16] + name: agent74 + start: [3, 27] +- goal: [29, 22] + name: agent75 + start: [5, 1] +- goal: [11, 1] + name: agent76 + start: [15, 0] +- goal: [2, 28] + name: agent77 + start: [16, 1] +- goal: [9, 31] + name: agent78 + start: [15, 17] +- goal: [25, 4] + name: agent79 + start: [3, 4] +- goal: [2, 27] + name: agent80 + start: [29, 1] +- goal: [5, 11] + name: agent81 + start: [1, 20] +- goal: [0, 2] + name: agent82 + start: [17, 28] +- goal: [16, 14] + name: agent83 + start: [21, 1] +- goal: [2, 29] + name: agent84 + start: [22, 4] +- goal: [31, 2] + name: agent85 + start: [12, 22] +- goal: [30, 2] + name: agent86 + start: [16, 28] +- goal: [5, 1] + name: agent87 + start: [27, 22] +- goal: [14, 5] + name: agent88 + start: [26, 26] +- goal: [11, 30] + name: agent89 + start: [0, 16] +- goal: [8, 12] + name: agent90 + start: [5, 25] +- goal: [28, 14] + name: agent91 + start: [14, 23] +- goal: [10, 25] + name: agent92 + start: [7, 10] +- goal: [29, 9] + name: agent93 + start: [27, 29] +- goal: [6, 27] + name: agent94 + start: [30, 29] +- goal: [9, 29] + name: agent95 + start: [5, 3] +- goal: [15, 23] + name: agent96 + start: [22, 1] +- goal: [10, 5] + name: agent97 + start: [11, 12] +- goal: [3, 0] + name: agent98 + start: [26, 4] +- goal: [27, 3] + name: agent99 + start: [6, 0] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [28, 10] + - !!python/tuple [4, 10] + - !!python/tuple [20, 31] + - !!python/tuple [12, 6] + - !!python/tuple [13, 29] + - !!python/tuple [9, 21] + - !!python/tuple [2, 18] + - !!python/tuple [10, 19] + - !!python/tuple [1, 19] + - !!python/tuple [7, 28] + - !!python/tuple [2, 14] + - !!python/tuple [1, 28] + - !!python/tuple [7, 14] + - !!python/tuple [28, 31] + - !!python/tuple [31, 5] + - !!python/tuple [8, 3] + - !!python/tuple [24, 12] + - !!python/tuple [9, 26] + - !!python/tuple [14, 16] + - !!python/tuple [22, 29] + - !!python/tuple [10, 6] + - !!python/tuple [5, 8] + - !!python/tuple [27, 30] + - !!python/tuple [8, 22] + - !!python/tuple [0, 18] + - !!python/tuple [14, 28] + - !!python/tuple [12, 20] + - !!python/tuple [0, 23] + - !!python/tuple [17, 24] + - !!python/tuple [5, 5] + - !!python/tuple [24, 25] + - !!python/tuple [17, 11] + - !!python/tuple [3, 22] + - !!python/tuple [21, 3] + - !!python/tuple [8, 9] + - !!python/tuple [3, 19] + - !!python/tuple [6, 3] + - !!python/tuple [25, 17] + - !!python/tuple [26, 8] + - !!python/tuple [22, 6] + - !!python/tuple [22, 8] + - !!python/tuple [1, 4] + - !!python/tuple [22, 25] + - !!python/tuple [13, 8] + - !!python/tuple [22, 14] + - !!python/tuple [28, 16] + - !!python/tuple [10, 1] + - !!python/tuple [30, 20] + - !!python/tuple [20, 26] + - !!python/tuple [2, 3] + - !!python/tuple [10, 17] + - !!python/tuple [10, 8] + - !!python/tuple [3, 14] + - !!python/tuple [8, 24] + - !!python/tuple [11, 26] + - !!python/tuple [29, 5] + - !!python/tuple [5, 15] + - !!python/tuple [15, 30] + - !!python/tuple [9, 3] + - !!python/tuple [5, 6] + - !!python/tuple [9, 9] + - !!python/tuple [15, 5] + - !!python/tuple [22, 3] + - !!python/tuple [8, 19] + - !!python/tuple [19, 30] + - !!python/tuple [30, 9] + - !!python/tuple [20, 28] + - !!python/tuple [1, 27] + - !!python/tuple [13, 20] + - !!python/tuple [10, 27] + - !!python/tuple [6, 26] + - !!python/tuple [16, 4] + - !!python/tuple [21, 18] + - !!python/tuple [31, 28] + - !!python/tuple [2, 16] + - !!python/tuple [24, 0] + - !!python/tuple [28, 8] + - !!python/tuple [14, 12] + - !!python/tuple [5, 28] + - !!python/tuple [19, 0] + - !!python/tuple [8, 1] + - !!python/tuple [18, 27] + - !!python/tuple [19, 13] + - !!python/tuple [14, 11] + - !!python/tuple [17, 18] + - !!python/tuple [17, 16] + - !!python/tuple [31, 27] + - !!python/tuple [4, 7] + - !!python/tuple [18, 30] + - !!python/tuple [22, 21] + - !!python/tuple [11, 24] + - !!python/tuple [8, 25] + - !!python/tuple [17, 17] + - !!python/tuple [22, 31] + - !!python/tuple [27, 19] + - !!python/tuple [5, 18] + - !!python/tuple [30, 21] + - !!python/tuple [2, 6] + - !!python/tuple [28, 18] + - !!python/tuple [24, 27] + - !!python/tuple [4, 18] + - !!python/tuple [30, 10] + - !!python/tuple [10, 26] + - !!python/tuple [26, 16] + - !!python/tuple [4, 11] + - !!python/tuple [15, 12] + - !!python/tuple [0, 31] + - !!python/tuple [16, 17] + - !!python/tuple [29, 27] + - !!python/tuple [22, 24] + - !!python/tuple [6, 16] + - !!python/tuple [22, 22] + - !!python/tuple [0, 25] + - !!python/tuple [14, 26] + - !!python/tuple [12, 0] + - !!python/tuple [2, 24] + - !!python/tuple [18, 18] + - !!python/tuple [11, 27] + - !!python/tuple [25, 5] + - !!python/tuple [6, 21] + - !!python/tuple [14, 18] + - !!python/tuple [0, 8] + - !!python/tuple [9, 11] + - !!python/tuple [4, 20] + - !!python/tuple [27, 20] + - !!python/tuple [16, 0] + - !!python/tuple [14, 10] + - !!python/tuple [3, 11] + - !!python/tuple [2, 8] + - !!python/tuple [18, 31] + - !!python/tuple [18, 14] + - !!python/tuple [19, 28] + - !!python/tuple [1, 9] + - !!python/tuple [26, 17] + - !!python/tuple [24, 16] + - !!python/tuple [8, 23] + - !!python/tuple [18, 24] + - !!python/tuple [17, 13] + - !!python/tuple [15, 2] + - !!python/tuple [8, 18] + - !!python/tuple [14, 1] + - !!python/tuple [27, 28] + - !!python/tuple [3, 24] + - !!python/tuple [6, 13] + - !!python/tuple [22, 23] + - !!python/tuple [9, 6] + - !!python/tuple [20, 15] + - !!python/tuple [21, 28] + - !!python/tuple [23, 16] + - !!python/tuple [13, 17] + - !!python/tuple [6, 8] + - !!python/tuple [1, 5] + - !!python/tuple [9, 10] + - !!python/tuple [1, 11] + - !!python/tuple [0, 24] + - !!python/tuple [29, 20] + - !!python/tuple [24, 13] + - !!python/tuple [25, 27] + - !!python/tuple [31, 30] + - !!python/tuple [16, 3] + - !!python/tuple [28, 24] + - !!python/tuple [8, 0] + - !!python/tuple [2, 20] + - !!python/tuple [12, 14] + - !!python/tuple [10, 2] + - !!python/tuple [24, 17] + - !!python/tuple [5, 23] + - !!python/tuple [31, 26] + - !!python/tuple [6, 31] + - !!python/tuple [20, 22] + - !!python/tuple [23, 10] + - !!python/tuple [28, 29] + - !!python/tuple [1, 29] + - !!python/tuple [7, 26] + - !!python/tuple [30, 17] + - !!python/tuple [2, 30] + - !!python/tuple [8, 5] + - !!python/tuple [19, 22] + - !!python/tuple [23, 12] + - !!python/tuple [17, 7] + - !!python/tuple [16, 9] + - !!python/tuple [0, 4] + - !!python/tuple [20, 7] + - !!python/tuple [13, 31] + - !!python/tuple [6, 29] + - !!python/tuple [23, 26] + - !!python/tuple [5, 31] + - !!python/tuple [7, 17] + - !!python/tuple [14, 6] + - !!python/tuple [27, 4] + - !!python/tuple [27, 10] + - !!python/tuple [31, 16] + - !!python/tuple [29, 19] + - !!python/tuple [15, 16] + - !!python/tuple [30, 3] + - !!python/tuple [19, 23] + - !!python/tuple [9, 30] + - !!python/tuple [25, 1] + - !!python/tuple [17, 9] + - !!python/tuple [17, 10] + - !!python/tuple [9, 13] + - !!python/tuple [3, 31] + - !!python/tuple [3, 25] + - !!python/tuple [28, 21] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex41.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex41.yaml new file mode 100644 index 0000000..914e56e --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex41.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [31, 18] + name: agent0 + start: [4, 20] +- goal: [13, 30] + name: agent1 + start: [30, 8] +- goal: [22, 20] + name: agent2 + start: [13, 30] +- goal: [9, 27] + name: agent3 + start: [22, 20] +- goal: [27, 16] + name: agent4 + start: [25, 26] +- goal: [10, 28] + name: agent5 + start: [1, 11] +- goal: [16, 7] + name: agent6 + start: [9, 13] +- goal: [14, 4] + name: agent7 + start: [24, 15] +- goal: [16, 24] + name: agent8 + start: [14, 10] +- goal: [11, 21] + name: agent9 + start: [9, 17] +- goal: [10, 4] + name: agent10 + start: [28, 12] +- goal: [15, 6] + name: agent11 + start: [21, 12] +- goal: [7, 28] + name: agent12 + start: [23, 3] +- goal: [19, 2] + name: agent13 + start: [25, 15] +- goal: [11, 20] + name: agent14 + start: [11, 0] +- goal: [16, 4] + name: agent15 + start: [14, 20] +- goal: [22, 30] + name: agent16 + start: [23, 14] +- goal: [27, 14] + name: agent17 + start: [21, 13] +- goal: [15, 7] + name: agent18 + start: [10, 4] +- goal: [16, 15] + name: agent19 + start: [2, 18] +- goal: [5, 14] + name: agent20 + start: [5, 30] +- goal: [5, 28] + name: agent21 + start: [24, 6] +- goal: [13, 12] + name: agent22 + start: [7, 15] +- goal: [23, 4] + name: agent23 + start: [16, 17] +- goal: [22, 31] + name: agent24 + start: [3, 31] +- goal: [23, 18] + name: agent25 + start: [31, 29] +- goal: [22, 28] + name: agent26 + start: [29, 16] +- goal: [26, 20] + name: agent27 + start: [20, 17] +- goal: [15, 12] + name: agent28 + start: [19, 7] +- goal: [3, 11] + name: agent29 + start: [19, 31] +- goal: [2, 12] + name: agent30 + start: [30, 7] +- goal: [5, 9] + name: agent31 + start: [12, 13] +- goal: [21, 17] + name: agent32 + start: [21, 28] +- goal: [19, 23] + name: agent33 + start: [27, 25] +- goal: [5, 2] + name: agent34 + start: [6, 13] +- goal: [6, 6] + name: agent35 + start: [23, 13] +- goal: [25, 12] + name: agent36 + start: [24, 5] +- goal: [5, 0] + name: agent37 + start: [5, 13] +- goal: [4, 13] + name: agent38 + start: [0, 25] +- goal: [11, 12] + name: agent39 + start: [16, 19] +- goal: [30, 2] + name: agent40 + start: [17, 3] +- goal: [22, 5] + name: agent41 + start: [1, 29] +- goal: [13, 31] + name: agent42 + start: [28, 3] +- goal: [29, 17] + name: agent43 + start: [8, 27] +- goal: [16, 12] + name: agent44 + start: [1, 18] +- goal: [24, 21] + name: agent45 + start: [31, 25] +- goal: [30, 14] + name: agent46 + start: [25, 19] +- goal: [6, 20] + name: agent47 + start: [3, 3] +- goal: [31, 3] + name: agent48 + start: [14, 1] +- goal: [30, 24] + name: agent49 + start: [6, 5] +- goal: [30, 29] + name: agent50 + start: [5, 19] +- goal: [26, 22] + name: agent51 + start: [1, 19] +- goal: [7, 18] + name: agent52 + start: [14, 31] +- goal: [18, 21] + name: agent53 + start: [10, 15] +- goal: [25, 1] + name: agent54 + start: [27, 2] +- goal: [27, 23] + name: agent55 + start: [30, 6] +- goal: [27, 2] + name: agent56 + start: [18, 29] +- goal: [10, 27] + name: agent57 + start: [26, 10] +- goal: [12, 5] + name: agent58 + start: [24, 20] +- goal: [7, 3] + name: agent59 + start: [7, 2] +- goal: [13, 15] + name: agent60 + start: [8, 9] +- goal: [20, 19] + name: agent61 + start: [13, 22] +- goal: [3, 28] + name: agent62 + start: [27, 28] +- goal: [29, 1] + name: agent63 + start: [18, 20] +- goal: [30, 6] + name: agent64 + start: [20, 10] +- goal: [5, 31] + name: agent65 + start: [2, 10] +- goal: [30, 3] + name: agent66 + start: [10, 13] +- goal: [1, 15] + name: agent67 + start: [22, 2] +- goal: [20, 26] + name: agent68 + start: [12, 22] +- goal: [17, 10] + name: agent69 + start: [31, 22] +- goal: [21, 26] + name: agent70 + start: [9, 27] +- goal: [10, 13] + name: agent71 + start: [4, 5] +- goal: [27, 3] + name: agent72 + start: [27, 26] +- goal: [28, 18] + name: agent73 + start: [25, 2] +- goal: [4, 8] + name: agent74 + start: [5, 0] +- goal: [27, 10] + name: agent75 + start: [2, 15] +- goal: [27, 28] + name: agent76 + start: [14, 29] +- goal: [17, 14] + name: agent77 + start: [27, 8] +- goal: [15, 20] + name: agent78 + start: [30, 30] +- goal: [15, 16] + name: agent79 + start: [15, 28] +- goal: [14, 10] + name: agent80 + start: [2, 20] +- goal: [12, 1] + name: agent81 + start: [17, 31] +- goal: [19, 10] + name: agent82 + start: [0, 11] +- goal: [0, 6] + name: agent83 + start: [25, 20] +- goal: [7, 6] + name: agent84 + start: [0, 8] +- goal: [5, 3] + name: agent85 + start: [13, 25] +- goal: [30, 0] + name: agent86 + start: [15, 27] +- goal: [3, 20] + name: agent87 + start: [26, 20] +- goal: [12, 6] + name: agent88 + start: [20, 9] +- goal: [26, 24] + name: agent89 + start: [17, 6] +- goal: [22, 23] + name: agent90 + start: [26, 17] +- goal: [29, 26] + name: agent91 + start: [26, 1] +- goal: [23, 22] + name: agent92 + start: [21, 18] +- goal: [28, 3] + name: agent93 + start: [24, 21] +- goal: [16, 17] + name: agent94 + start: [21, 19] +- goal: [4, 7] + name: agent95 + start: [12, 17] +- goal: [12, 23] + name: agent96 + start: [6, 31] +- goal: [1, 5] + name: agent97 + start: [22, 6] +- goal: [14, 21] + name: agent98 + start: [6, 30] +- goal: [14, 2] + name: agent99 + start: [27, 22] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [10, 12] + - !!python/tuple [9, 16] + - !!python/tuple [0, 3] + - !!python/tuple [19, 5] + - !!python/tuple [16, 31] + - !!python/tuple [0, 12] + - !!python/tuple [0, 14] + - !!python/tuple [7, 12] + - !!python/tuple [5, 10] + - !!python/tuple [18, 22] + - !!python/tuple [6, 25] + - !!python/tuple [25, 17] + - !!python/tuple [19, 27] + - !!python/tuple [2, 31] + - !!python/tuple [30, 21] + - !!python/tuple [0, 29] + - !!python/tuple [7, 13] + - !!python/tuple [24, 3] + - !!python/tuple [25, 9] + - !!python/tuple [29, 29] + - !!python/tuple [19, 4] + - !!python/tuple [29, 5] + - !!python/tuple [29, 8] + - !!python/tuple [31, 10] + - !!python/tuple [4, 0] + - !!python/tuple [24, 9] + - !!python/tuple [9, 15] + - !!python/tuple [20, 29] + - !!python/tuple [9, 0] + - !!python/tuple [19, 25] + - !!python/tuple [24, 28] + - !!python/tuple [27, 1] + - !!python/tuple [2, 0] + - !!python/tuple [15, 9] + - !!python/tuple [22, 11] + - !!python/tuple [31, 16] + - !!python/tuple [0, 2] + - !!python/tuple [25, 0] + - !!python/tuple [23, 26] + - !!python/tuple [4, 28] + - !!python/tuple [3, 25] + - !!python/tuple [8, 7] + - !!python/tuple [31, 23] + - !!python/tuple [27, 11] + - !!python/tuple [3, 0] + - !!python/tuple [30, 25] + - !!python/tuple [0, 17] + - !!python/tuple [4, 31] + - !!python/tuple [2, 21] + - !!python/tuple [21, 24] + - !!python/tuple [13, 26] + - !!python/tuple [25, 5] + - !!python/tuple [4, 15] + - !!python/tuple [1, 9] + - !!python/tuple [24, 24] + - !!python/tuple [3, 4] + - !!python/tuple [31, 31] + - !!python/tuple [24, 29] + - !!python/tuple [22, 7] + - !!python/tuple [30, 27] + - !!python/tuple [26, 4] + - !!python/tuple [11, 19] + - !!python/tuple [14, 0] + - !!python/tuple [21, 6] + - !!python/tuple [11, 10] + - !!python/tuple [31, 19] + - !!python/tuple [7, 21] + - !!python/tuple [2, 11] + - !!python/tuple [23, 28] + - !!python/tuple [21, 15] + - !!python/tuple [22, 13] + - !!python/tuple [0, 24] + - !!python/tuple [23, 10] + - !!python/tuple [28, 19] + - !!python/tuple [17, 27] + - !!python/tuple [1, 6] + - !!python/tuple [24, 30] + - !!python/tuple [26, 15] + - !!python/tuple [2, 4] + - !!python/tuple [18, 5] + - !!python/tuple [24, 16] + - !!python/tuple [12, 7] + - !!python/tuple [22, 0] + - !!python/tuple [5, 18] + - !!python/tuple [23, 6] + - !!python/tuple [27, 17] + - !!python/tuple [5, 24] + - !!python/tuple [8, 18] + - !!python/tuple [4, 17] + - !!python/tuple [10, 8] + - !!python/tuple [25, 10] + - !!python/tuple [30, 11] + - !!python/tuple [19, 17] + - !!python/tuple [24, 18] + - !!python/tuple [19, 28] + - !!python/tuple [16, 10] + - !!python/tuple [27, 9] + - !!python/tuple [5, 7] + - !!python/tuple [7, 20] + - !!python/tuple [23, 21] + - !!python/tuple [26, 13] + - !!python/tuple [20, 31] + - !!python/tuple [2, 22] + - !!python/tuple [24, 26] + - !!python/tuple [6, 12] + - !!python/tuple [26, 12] + - !!python/tuple [6, 24] + - !!python/tuple [12, 28] + - !!python/tuple [19, 19] + - !!python/tuple [3, 22] + - !!python/tuple [10, 21] + - !!python/tuple [6, 19] + - !!python/tuple [19, 20] + - !!python/tuple [16, 13] + - !!python/tuple [28, 1] + - !!python/tuple [27, 19] + - !!python/tuple [15, 0] + - !!python/tuple [5, 8] + - !!python/tuple [29, 10] + - !!python/tuple [21, 3] + - !!python/tuple [6, 26] + - !!python/tuple [16, 16] + - !!python/tuple [14, 8] + - !!python/tuple [10, 2] + - !!python/tuple [31, 11] + - !!python/tuple [26, 8] + - !!python/tuple [28, 25] + - !!python/tuple [14, 24] + - !!python/tuple [8, 29] + - !!python/tuple [19, 0] + - !!python/tuple [20, 12] + - !!python/tuple [3, 1] + - !!python/tuple [29, 7] + - !!python/tuple [24, 7] + - !!python/tuple [24, 25] + - !!python/tuple [24, 2] + - !!python/tuple [0, 18] + - !!python/tuple [23, 27] + - !!python/tuple [30, 15] + - !!python/tuple [14, 16] + - !!python/tuple [12, 31] + - !!python/tuple [26, 30] + - !!python/tuple [13, 16] + - !!python/tuple [14, 18] + - !!python/tuple [17, 4] + - !!python/tuple [11, 23] + - !!python/tuple [7, 24] + - !!python/tuple [28, 5] + - !!python/tuple [13, 1] + - !!python/tuple [15, 29] + - !!python/tuple [28, 21] + - !!python/tuple [28, 11] + - !!python/tuple [15, 23] + - !!python/tuple [24, 31] + - !!python/tuple [27, 7] + - !!python/tuple [7, 26] + - !!python/tuple [22, 8] + - !!python/tuple [22, 22] + - !!python/tuple [18, 13] + - !!python/tuple [3, 5] + - !!python/tuple [31, 17] + - !!python/tuple [31, 8] + - !!python/tuple [6, 14] + - !!python/tuple [8, 17] + - !!python/tuple [26, 28] + - !!python/tuple [17, 12] + - !!python/tuple [6, 16] + - !!python/tuple [8, 28] + - !!python/tuple [25, 29] + - !!python/tuple [25, 16] + - !!python/tuple [27, 27] + - !!python/tuple [8, 26] + - !!python/tuple [18, 19] + - !!python/tuple [14, 14] + - !!python/tuple [18, 26] + - !!python/tuple [17, 30] + - !!python/tuple [24, 4] + - !!python/tuple [2, 25] + - !!python/tuple [15, 14] + - !!python/tuple [0, 30] + - !!python/tuple [5, 6] + - !!python/tuple [15, 21] + - !!python/tuple [6, 17] + - !!python/tuple [3, 14] + - !!python/tuple [30, 22] + - !!python/tuple [25, 27] + - !!python/tuple [8, 1] + - !!python/tuple [18, 28] + - !!python/tuple [29, 22] + - !!python/tuple [21, 5] + - !!python/tuple [29, 2] + - !!python/tuple [12, 8] + - !!python/tuple [16, 29] + - !!python/tuple [2, 3] + - !!python/tuple [27, 4] + - !!python/tuple [1, 24] + - !!python/tuple [5, 20] + - !!python/tuple [12, 11] + - !!python/tuple [10, 30] + - !!python/tuple [23, 0] + - !!python/tuple [7, 19] + - !!python/tuple [25, 14] + - !!python/tuple [0, 9] + - !!python/tuple [22, 12] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex42.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex42.yaml new file mode 100644 index 0000000..9ea21c7 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex42.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [12, 6] + name: agent0 + start: [16, 21] +- goal: [22, 8] + name: agent1 + start: [26, 20] +- goal: [10, 24] + name: agent2 + start: [23, 27] +- goal: [16, 12] + name: agent3 + start: [3, 10] +- goal: [6, 12] + name: agent4 + start: [18, 31] +- goal: [29, 23] + name: agent5 + start: [6, 16] +- goal: [21, 29] + name: agent6 + start: [1, 4] +- goal: [0, 4] + name: agent7 + start: [10, 24] +- goal: [9, 24] + name: agent8 + start: [18, 21] +- goal: [11, 31] + name: agent9 + start: [12, 18] +- goal: [18, 23] + name: agent10 + start: [4, 20] +- goal: [17, 24] + name: agent11 + start: [24, 16] +- goal: [1, 7] + name: agent12 + start: [29, 9] +- goal: [2, 20] + name: agent13 + start: [7, 23] +- goal: [23, 6] + name: agent14 + start: [2, 16] +- goal: [24, 12] + name: agent15 + start: [7, 22] +- goal: [1, 4] + name: agent16 + start: [2, 19] +- goal: [25, 29] + name: agent17 + start: [3, 11] +- goal: [30, 8] + name: agent18 + start: [18, 27] +- goal: [15, 10] + name: agent19 + start: [0, 7] +- goal: [2, 31] + name: agent20 + start: [2, 26] +- goal: [13, 28] + name: agent21 + start: [6, 8] +- goal: [1, 2] + name: agent22 + start: [28, 19] +- goal: [11, 25] + name: agent23 + start: [9, 20] +- goal: [23, 27] + name: agent24 + start: [28, 8] +- goal: [7, 8] + name: agent25 + start: [2, 11] +- goal: [16, 9] + name: agent26 + start: [22, 2] +- goal: [22, 2] + name: agent27 + start: [4, 0] +- goal: [23, 29] + name: agent28 + start: [11, 9] +- goal: [14, 15] + name: agent29 + start: [10, 30] +- goal: [22, 1] + name: agent30 + start: [31, 3] +- goal: [27, 30] + name: agent31 + start: [20, 18] +- goal: [0, 23] + name: agent32 + start: [5, 24] +- goal: [9, 16] + name: agent33 + start: [9, 19] +- goal: [31, 21] + name: agent34 + start: [24, 15] +- goal: [11, 30] + name: agent35 + start: [4, 2] +- goal: [19, 26] + name: agent36 + start: [31, 9] +- goal: [19, 23] + name: agent37 + start: [3, 16] +- goal: [18, 15] + name: agent38 + start: [21, 12] +- goal: [12, 18] + name: agent39 + start: [26, 19] +- goal: [28, 26] + name: agent40 + start: [19, 8] +- goal: [13, 3] + name: agent41 + start: [13, 25] +- goal: [3, 5] + name: agent42 + start: [8, 29] +- goal: [6, 11] + name: agent43 + start: [8, 9] +- goal: [1, 6] + name: agent44 + start: [17, 10] +- goal: [5, 19] + name: agent45 + start: [28, 23] +- goal: [23, 15] + name: agent46 + start: [30, 16] +- goal: [12, 12] + name: agent47 + start: [16, 9] +- goal: [26, 10] + name: agent48 + start: [28, 2] +- goal: [11, 15] + name: agent49 + start: [14, 3] +- goal: [18, 25] + name: agent50 + start: [28, 7] +- goal: [23, 30] + name: agent51 + start: [2, 10] +- goal: [23, 17] + name: agent52 + start: [23, 30] +- goal: [14, 26] + name: agent53 + start: [10, 3] +- goal: [12, 3] + name: agent54 + start: [8, 3] +- goal: [13, 15] + name: agent55 + start: [28, 3] +- goal: [17, 23] + name: agent56 + start: [29, 10] +- goal: [10, 30] + name: agent57 + start: [28, 29] +- goal: [20, 15] + name: agent58 + start: [8, 21] +- goal: [16, 17] + name: agent59 + start: [30, 19] +- goal: [24, 20] + name: agent60 + start: [27, 14] +- goal: [7, 5] + name: agent61 + start: [9, 26] +- goal: [3, 17] + name: agent62 + start: [16, 13] +- goal: [29, 4] + name: agent63 + start: [19, 17] +- goal: [5, 9] + name: agent64 + start: [27, 28] +- goal: [15, 2] + name: agent65 + start: [30, 9] +- goal: [25, 27] + name: agent66 + start: [2, 20] +- goal: [16, 7] + name: agent67 + start: [30, 30] +- goal: [9, 9] + name: agent68 + start: [19, 18] +- goal: [26, 7] + name: agent69 + start: [19, 13] +- goal: [19, 12] + name: agent70 + start: [27, 21] +- goal: [20, 25] + name: agent71 + start: [22, 10] +- goal: [25, 13] + name: agent72 + start: [19, 31] +- goal: [5, 13] + name: agent73 + start: [21, 22] +- goal: [6, 7] + name: agent74 + start: [5, 12] +- goal: [1, 13] + name: agent75 + start: [25, 13] +- goal: [3, 1] + name: agent76 + start: [20, 15] +- goal: [30, 14] + name: agent77 + start: [0, 9] +- goal: [24, 5] + name: agent78 + start: [21, 24] +- goal: [12, 8] + name: agent79 + start: [1, 10] +- goal: [5, 24] + name: agent80 + start: [25, 16] +- goal: [21, 12] + name: agent81 + start: [12, 12] +- goal: [29, 26] + name: agent82 + start: [24, 17] +- goal: [11, 1] + name: agent83 + start: [29, 28] +- goal: [27, 15] + name: agent84 + start: [15, 1] +- goal: [13, 21] + name: agent85 + start: [31, 6] +- goal: [27, 3] + name: agent86 + start: [5, 2] +- goal: [8, 7] + name: agent87 + start: [17, 9] +- goal: [29, 25] + name: agent88 + start: [18, 8] +- goal: [5, 25] + name: agent89 + start: [1, 11] +- goal: [6, 23] + name: agent90 + start: [18, 1] +- goal: [18, 31] + name: agent91 + start: [28, 20] +- goal: [21, 27] + name: agent92 + start: [2, 22] +- goal: [2, 18] + name: agent93 + start: [11, 17] +- goal: [9, 14] + name: agent94 + start: [18, 24] +- goal: [30, 13] + name: agent95 + start: [1, 7] +- goal: [18, 21] + name: agent96 + start: [5, 19] +- goal: [19, 22] + name: agent97 + start: [25, 2] +- goal: [17, 11] + name: agent98 + start: [31, 11] +- goal: [29, 16] + name: agent99 + start: [2, 29] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [13, 17] + - !!python/tuple [4, 16] + - !!python/tuple [27, 1] + - !!python/tuple [23, 18] + - !!python/tuple [3, 28] + - !!python/tuple [9, 31] + - !!python/tuple [2, 7] + - !!python/tuple [28, 9] + - !!python/tuple [31, 4] + - !!python/tuple [21, 19] + - !!python/tuple [0, 6] + - !!python/tuple [0, 29] + - !!python/tuple [26, 31] + - !!python/tuple [3, 4] + - !!python/tuple [31, 31] + - !!python/tuple [12, 28] + - !!python/tuple [10, 23] + - !!python/tuple [11, 29] + - !!python/tuple [12, 19] + - !!python/tuple [26, 30] + - !!python/tuple [27, 16] + - !!python/tuple [16, 23] + - !!python/tuple [15, 24] + - !!python/tuple [2, 21] + - !!python/tuple [20, 8] + - !!python/tuple [7, 28] + - !!python/tuple [20, 5] + - !!python/tuple [28, 17] + - !!python/tuple [3, 26] + - !!python/tuple [26, 29] + - !!python/tuple [5, 11] + - !!python/tuple [12, 11] + - !!python/tuple [22, 23] + - !!python/tuple [26, 22] + - !!python/tuple [5, 5] + - !!python/tuple [17, 22] + - !!python/tuple [3, 14] + - !!python/tuple [26, 21] + - !!python/tuple [15, 14] + - !!python/tuple [25, 14] + - !!python/tuple [10, 22] + - !!python/tuple [6, 24] + - !!python/tuple [10, 27] + - !!python/tuple [30, 4] + - !!python/tuple [11, 21] + - !!python/tuple [3, 8] + - !!python/tuple [21, 2] + - !!python/tuple [13, 16] + - !!python/tuple [3, 3] + - !!python/tuple [10, 5] + - !!python/tuple [21, 25] + - !!python/tuple [9, 4] + - !!python/tuple [22, 20] + - !!python/tuple [15, 27] + - !!python/tuple [14, 22] + - !!python/tuple [9, 23] + - !!python/tuple [17, 15] + - !!python/tuple [23, 23] + - !!python/tuple [13, 14] + - !!python/tuple [14, 8] + - !!python/tuple [30, 20] + - !!python/tuple [19, 6] + - !!python/tuple [7, 19] + - !!python/tuple [5, 4] + - !!python/tuple [6, 21] + - !!python/tuple [15, 18] + - !!python/tuple [1, 25] + - !!python/tuple [30, 1] + - !!python/tuple [13, 7] + - !!python/tuple [18, 19] + - !!python/tuple [17, 30] + - !!python/tuple [15, 0] + - !!python/tuple [9, 12] + - !!python/tuple [24, 1] + - !!python/tuple [10, 19] + - !!python/tuple [31, 24] + - !!python/tuple [5, 23] + - !!python/tuple [1, 17] + - !!python/tuple [18, 11] + - !!python/tuple [8, 0] + - !!python/tuple [16, 14] + - !!python/tuple [12, 0] + - !!python/tuple [27, 10] + - !!python/tuple [20, 13] + - !!python/tuple [17, 6] + - !!python/tuple [21, 18] + - !!python/tuple [25, 17] + - !!python/tuple [23, 21] + - !!python/tuple [24, 0] + - !!python/tuple [21, 15] + - !!python/tuple [4, 31] + - !!python/tuple [8, 26] + - !!python/tuple [15, 23] + - !!python/tuple [5, 20] + - !!python/tuple [8, 18] + - !!python/tuple [6, 26] + - !!python/tuple [24, 6] + - !!python/tuple [13, 2] + - !!python/tuple [28, 12] + - !!python/tuple [13, 6] + - !!python/tuple [7, 3] + - !!python/tuple [26, 3] + - !!python/tuple [24, 22] + - !!python/tuple [7, 24] + - !!python/tuple [2, 5] + - !!python/tuple [1, 0] + - !!python/tuple [1, 19] + - !!python/tuple [3, 0] + - !!python/tuple [0, 15] + - !!python/tuple [7, 25] + - !!python/tuple [22, 21] + - !!python/tuple [17, 21] + - !!python/tuple [12, 1] + - !!python/tuple [0, 20] + - !!python/tuple [10, 16] + - !!python/tuple [25, 15] + - !!python/tuple [5, 28] + - !!python/tuple [3, 24] + - !!python/tuple [18, 22] + - !!python/tuple [3, 29] + - !!python/tuple [1, 15] + - !!python/tuple [21, 1] + - !!python/tuple [23, 3] + - !!python/tuple [26, 16] + - !!python/tuple [5, 6] + - !!python/tuple [23, 2] + - !!python/tuple [14, 30] + - !!python/tuple [10, 29] + - !!python/tuple [17, 18] + - !!python/tuple [25, 26] + - !!python/tuple [8, 20] + - !!python/tuple [19, 11] + - !!python/tuple [9, 10] + - !!python/tuple [18, 17] + - !!python/tuple [5, 15] + - !!python/tuple [24, 9] + - !!python/tuple [21, 23] + - !!python/tuple [23, 28] + - !!python/tuple [20, 9] + - !!python/tuple [28, 14] + - !!python/tuple [3, 12] + - !!python/tuple [17, 20] + - !!python/tuple [30, 0] + - !!python/tuple [1, 24] + - !!python/tuple [12, 2] + - !!python/tuple [31, 19] + - !!python/tuple [6, 15] + - !!python/tuple [1, 12] + - !!python/tuple [14, 4] + - !!python/tuple [17, 25] + - !!python/tuple [15, 22] + - !!python/tuple [16, 27] + - !!python/tuple [4, 11] + - !!python/tuple [19, 15] + - !!python/tuple [21, 8] + - !!python/tuple [3, 2] + - !!python/tuple [4, 14] + - !!python/tuple [29, 3] + - !!python/tuple [30, 24] + - !!python/tuple [18, 7] + - !!python/tuple [15, 13] + - !!python/tuple [13, 4] + - !!python/tuple [5, 10] + - !!python/tuple [11, 11] + - !!python/tuple [31, 29] + - !!python/tuple [30, 29] + - !!python/tuple [30, 21] + - !!python/tuple [13, 31] + - !!python/tuple [23, 10] + - !!python/tuple [25, 18] + - !!python/tuple [11, 20] + - !!python/tuple [21, 5] + - !!python/tuple [19, 0] + - !!python/tuple [12, 5] + - !!python/tuple [3, 21] + - !!python/tuple [4, 5] + - !!python/tuple [9, 2] + - !!python/tuple [24, 21] + - !!python/tuple [27, 27] + - !!python/tuple [10, 18] + - !!python/tuple [14, 28] + - !!python/tuple [13, 9] + - !!python/tuple [20, 22] + - !!python/tuple [31, 13] + - !!python/tuple [0, 12] + - !!python/tuple [26, 14] + - !!python/tuple [1, 21] + - !!python/tuple [29, 29] + - !!python/tuple [17, 19] + - !!python/tuple [17, 26] + - !!python/tuple [24, 31] + - !!python/tuple [17, 28] + - !!python/tuple [25, 22] + - !!python/tuple [3, 30] + - !!python/tuple [23, 9] + - !!python/tuple [12, 21] + - !!python/tuple [27, 29] + - !!python/tuple [1, 28] + - !!python/tuple [9, 22] + - !!python/tuple [1, 9] + - !!python/tuple [24, 23] + - !!python/tuple [1, 14] + - !!python/tuple [9, 7] + - !!python/tuple [14, 9] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex43.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex43.yaml new file mode 100644 index 0000000..a45848c --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex43.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [15, 10] + name: agent0 + start: [10, 26] +- goal: [28, 8] + name: agent1 + start: [25, 22] +- goal: [5, 1] + name: agent2 + start: [13, 27] +- goal: [24, 26] + name: agent3 + start: [10, 6] +- goal: [12, 27] + name: agent4 + start: [11, 0] +- goal: [10, 22] + name: agent5 + start: [16, 16] +- goal: [28, 29] + name: agent6 + start: [18, 25] +- goal: [19, 4] + name: agent7 + start: [31, 16] +- goal: [2, 28] + name: agent8 + start: [26, 23] +- goal: [28, 27] + name: agent9 + start: [27, 24] +- goal: [9, 29] + name: agent10 + start: [19, 27] +- goal: [17, 1] + name: agent11 + start: [6, 7] +- goal: [3, 1] + name: agent12 + start: [24, 3] +- goal: [30, 31] + name: agent13 + start: [14, 0] +- goal: [31, 27] + name: agent14 + start: [21, 1] +- goal: [3, 19] + name: agent15 + start: [19, 19] +- goal: [3, 30] + name: agent16 + start: [20, 13] +- goal: [22, 21] + name: agent17 + start: [17, 18] +- goal: [19, 10] + name: agent18 + start: [14, 20] +- goal: [3, 13] + name: agent19 + start: [28, 1] +- goal: [18, 16] + name: agent20 + start: [25, 1] +- goal: [11, 14] + name: agent21 + start: [31, 0] +- goal: [8, 27] + name: agent22 + start: [30, 16] +- goal: [30, 30] + name: agent23 + start: [31, 15] +- goal: [7, 20] + name: agent24 + start: [29, 31] +- goal: [25, 6] + name: agent25 + start: [6, 6] +- goal: [4, 1] + name: agent26 + start: [31, 20] +- goal: [19, 12] + name: agent27 + start: [27, 3] +- goal: [2, 14] + name: agent28 + start: [15, 6] +- goal: [30, 6] + name: agent29 + start: [18, 14] +- goal: [3, 7] + name: agent30 + start: [4, 7] +- goal: [26, 2] + name: agent31 + start: [10, 28] +- goal: [19, 7] + name: agent32 + start: [8, 13] +- goal: [18, 0] + name: agent33 + start: [24, 30] +- goal: [12, 8] + name: agent34 + start: [2, 30] +- goal: [22, 26] + name: agent35 + start: [21, 16] +- goal: [21, 24] + name: agent36 + start: [4, 31] +- goal: [0, 17] + name: agent37 + start: [30, 24] +- goal: [6, 31] + name: agent38 + start: [19, 14] +- goal: [24, 8] + name: agent39 + start: [15, 18] +- goal: [15, 18] + name: agent40 + start: [17, 15] +- goal: [28, 1] + name: agent41 + start: [7, 15] +- goal: [20, 22] + name: agent42 + start: [1, 17] +- goal: [0, 13] + name: agent43 + start: [7, 27] +- goal: [20, 4] + name: agent44 + start: [26, 6] +- goal: [7, 29] + name: agent45 + start: [9, 7] +- goal: [8, 0] + name: agent46 + start: [22, 28] +- goal: [19, 8] + name: agent47 + start: [13, 28] +- goal: [1, 25] + name: agent48 + start: [3, 23] +- goal: [3, 15] + name: agent49 + start: [0, 3] +- goal: [5, 10] + name: agent50 + start: [24, 5] +- goal: [30, 26] + name: agent51 + start: [8, 4] +- goal: [23, 1] + name: agent52 + start: [26, 25] +- goal: [9, 2] + name: agent53 + start: [14, 13] +- goal: [19, 27] + name: agent54 + start: [0, 17] +- goal: [2, 25] + name: agent55 + start: [10, 4] +- goal: [24, 21] + name: agent56 + start: [12, 3] +- goal: [18, 23] + name: agent57 + start: [30, 22] +- goal: [15, 13] + name: agent58 + start: [11, 9] +- goal: [10, 23] + name: agent59 + start: [5, 30] +- goal: [18, 31] + name: agent60 + start: [24, 20] +- goal: [13, 28] + name: agent61 + start: [15, 11] +- goal: [15, 21] + name: agent62 + start: [16, 13] +- goal: [18, 10] + name: agent63 + start: [26, 17] +- goal: [6, 12] + name: agent64 + start: [13, 9] +- goal: [19, 28] + name: agent65 + start: [1, 15] +- goal: [7, 26] + name: agent66 + start: [1, 30] +- goal: [31, 21] + name: agent67 + start: [23, 21] +- goal: [27, 26] + name: agent68 + start: [5, 10] +- goal: [0, 12] + name: agent69 + start: [22, 13] +- goal: [2, 3] + name: agent70 + start: [11, 29] +- goal: [0, 24] + name: agent71 + start: [7, 17] +- goal: [17, 9] + name: agent72 + start: [21, 21] +- goal: [20, 16] + name: agent73 + start: [9, 6] +- goal: [3, 8] + name: agent74 + start: [30, 0] +- goal: [24, 27] + name: agent75 + start: [17, 26] +- goal: [12, 28] + name: agent76 + start: [3, 0] +- goal: [24, 25] + name: agent77 + start: [25, 30] +- goal: [11, 20] + name: agent78 + start: [16, 0] +- goal: [17, 12] + name: agent79 + start: [11, 20] +- goal: [19, 5] + name: agent80 + start: [7, 20] +- goal: [6, 3] + name: agent81 + start: [14, 22] +- goal: [7, 17] + name: agent82 + start: [7, 30] +- goal: [11, 27] + name: agent83 + start: [16, 18] +- goal: [11, 12] + name: agent84 + start: [28, 31] +- goal: [29, 22] + name: agent85 + start: [3, 9] +- goal: [2, 1] + name: agent86 + start: [8, 0] +- goal: [20, 9] + name: agent87 + start: [29, 11] +- goal: [7, 16] + name: agent88 + start: [16, 3] +- goal: [23, 24] + name: agent89 + start: [8, 8] +- goal: [23, 4] + name: agent90 + start: [16, 30] +- goal: [31, 20] + name: agent91 + start: [29, 29] +- goal: [28, 2] + name: agent92 + start: [29, 22] +- goal: [12, 22] + name: agent93 + start: [10, 29] +- goal: [27, 2] + name: agent94 + start: [3, 29] +- goal: [6, 20] + name: agent95 + start: [19, 16] +- goal: [27, 8] + name: agent96 + start: [24, 13] +- goal: [9, 1] + name: agent97 + start: [21, 15] +- goal: [3, 0] + name: agent98 + start: [8, 5] +- goal: [13, 10] + name: agent99 + start: [27, 20] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [12, 12] + - !!python/tuple [26, 3] + - !!python/tuple [5, 11] + - !!python/tuple [3, 3] + - !!python/tuple [10, 8] + - !!python/tuple [21, 0] + - !!python/tuple [6, 29] + - !!python/tuple [24, 11] + - !!python/tuple [22, 6] + - !!python/tuple [31, 1] + - !!python/tuple [11, 19] + - !!python/tuple [0, 11] + - !!python/tuple [4, 22] + - !!python/tuple [3, 24] + - !!python/tuple [28, 6] + - !!python/tuple [26, 16] + - !!python/tuple [19, 3] + - !!python/tuple [15, 1] + - !!python/tuple [20, 30] + - !!python/tuple [6, 2] + - !!python/tuple [25, 31] + - !!python/tuple [21, 5] + - !!python/tuple [18, 8] + - !!python/tuple [4, 25] + - !!python/tuple [15, 19] + - !!python/tuple [22, 7] + - !!python/tuple [14, 28] + - !!python/tuple [29, 4] + - !!python/tuple [24, 24] + - !!python/tuple [21, 3] + - !!python/tuple [20, 0] + - !!python/tuple [14, 10] + - !!python/tuple [16, 1] + - !!python/tuple [16, 17] + - !!python/tuple [6, 30] + - !!python/tuple [12, 18] + - !!python/tuple [10, 7] + - !!python/tuple [13, 29] + - !!python/tuple [13, 4] + - !!python/tuple [31, 6] + - !!python/tuple [26, 1] + - !!python/tuple [29, 23] + - !!python/tuple [13, 26] + - !!python/tuple [17, 6] + - !!python/tuple [30, 27] + - !!python/tuple [0, 16] + - !!python/tuple [13, 19] + - !!python/tuple [18, 20] + - !!python/tuple [21, 17] + - !!python/tuple [10, 2] + - !!python/tuple [31, 4] + - !!python/tuple [0, 4] + - !!python/tuple [0, 9] + - !!python/tuple [2, 15] + - !!python/tuple [12, 13] + - !!python/tuple [25, 24] + - !!python/tuple [20, 14] + - !!python/tuple [0, 5] + - !!python/tuple [30, 1] + - !!python/tuple [10, 19] + - !!python/tuple [12, 11] + - !!python/tuple [15, 14] + - !!python/tuple [7, 5] + - !!python/tuple [20, 15] + - !!python/tuple [1, 13] + - !!python/tuple [30, 7] + - !!python/tuple [17, 2] + - !!python/tuple [23, 13] + - !!python/tuple [19, 9] + - !!python/tuple [10, 10] + - !!python/tuple [15, 22] + - !!python/tuple [12, 17] + - !!python/tuple [19, 20] + - !!python/tuple [27, 16] + - !!python/tuple [28, 15] + - !!python/tuple [30, 25] + - !!python/tuple [9, 19] + - !!python/tuple [11, 7] + - !!python/tuple [7, 1] + - !!python/tuple [16, 23] + - !!python/tuple [8, 23] + - !!python/tuple [7, 13] + - !!python/tuple [13, 23] + - !!python/tuple [8, 31] + - !!python/tuple [23, 14] + - !!python/tuple [7, 14] + - !!python/tuple [29, 1] + - !!python/tuple [0, 31] + - !!python/tuple [22, 0] + - !!python/tuple [31, 10] + - !!python/tuple [16, 31] + - !!python/tuple [10, 3] + - !!python/tuple [19, 24] + - !!python/tuple [4, 27] + - !!python/tuple [21, 23] + - !!python/tuple [4, 18] + - !!python/tuple [10, 30] + - !!python/tuple [4, 29] + - !!python/tuple [31, 23] + - !!python/tuple [4, 30] + - !!python/tuple [17, 31] + - !!python/tuple [28, 19] + - !!python/tuple [5, 4] + - !!python/tuple [22, 20] + - !!python/tuple [3, 25] + - !!python/tuple [4, 2] + - !!python/tuple [25, 2] + - !!python/tuple [16, 6] + - !!python/tuple [12, 0] + - !!python/tuple [17, 10] + - !!python/tuple [22, 3] + - !!python/tuple [6, 9] + - !!python/tuple [25, 25] + - !!python/tuple [14, 19] + - !!python/tuple [21, 25] + - !!python/tuple [17, 14] + - !!python/tuple [29, 21] + - !!python/tuple [13, 18] + - !!python/tuple [27, 7] + - !!python/tuple [3, 31] + - !!python/tuple [18, 24] + - !!python/tuple [5, 3] + - !!python/tuple [23, 3] + - !!python/tuple [24, 16] + - !!python/tuple [0, 6] + - !!python/tuple [23, 27] + - !!python/tuple [23, 2] + - !!python/tuple [1, 8] + - !!python/tuple [18, 12] + - !!python/tuple [15, 5] + - !!python/tuple [1, 20] + - !!python/tuple [23, 6] + - !!python/tuple [6, 17] + - !!python/tuple [2, 13] + - !!python/tuple [25, 20] + - !!python/tuple [11, 26] + - !!python/tuple [28, 9] + - !!python/tuple [25, 5] + - !!python/tuple [6, 23] + - !!python/tuple [5, 18] + - !!python/tuple [26, 26] + - !!python/tuple [31, 7] + - !!python/tuple [20, 12] + - !!python/tuple [11, 30] + - !!python/tuple [12, 19] + - !!python/tuple [5, 26] + - !!python/tuple [12, 1] + - !!python/tuple [14, 12] + - !!python/tuple [1, 0] + - !!python/tuple [17, 22] + - !!python/tuple [17, 13] + - !!python/tuple [5, 16] + - !!python/tuple [21, 22] + - !!python/tuple [31, 28] + - !!python/tuple [13, 1] + - !!python/tuple [16, 25] + - !!python/tuple [23, 5] + - !!python/tuple [26, 11] + - !!python/tuple [4, 9] + - !!python/tuple [25, 10] + - !!python/tuple [27, 30] + - !!python/tuple [24, 29] + - !!python/tuple [15, 17] + - !!python/tuple [3, 28] + - !!python/tuple [4, 15] + - !!python/tuple [24, 23] + - !!python/tuple [5, 24] + - !!python/tuple [31, 2] + - !!python/tuple [9, 31] + - !!python/tuple [25, 17] + - !!python/tuple [20, 7] + - !!python/tuple [21, 28] + - !!python/tuple [25, 28] + - !!python/tuple [29, 17] + - !!python/tuple [28, 16] + - !!python/tuple [4, 26] + - !!python/tuple [17, 11] + - !!python/tuple [17, 29] + - !!python/tuple [3, 10] + - !!python/tuple [19, 13] + - !!python/tuple [1, 2] + - !!python/tuple [8, 11] + - !!python/tuple [21, 7] + - !!python/tuple [15, 29] + - !!python/tuple [13, 7] + - !!python/tuple [3, 11] + - !!python/tuple [26, 18] + - !!python/tuple [17, 19] + - !!python/tuple [17, 24] + - !!python/tuple [24, 31] + - !!python/tuple [16, 20] + - !!python/tuple [23, 28] + - !!python/tuple [0, 23] + - !!python/tuple [11, 13] + - !!python/tuple [11, 23] + - !!python/tuple [22, 29] + - !!python/tuple [24, 9] + - !!python/tuple [29, 13] + - !!python/tuple [17, 7] + - !!python/tuple [0, 28] + - !!python/tuple [28, 26] + - !!python/tuple [5, 13] + - !!python/tuple [26, 0] + - !!python/tuple [6, 21] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex44.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex44.yaml new file mode 100644 index 0000000..823a1e0 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex44.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [14, 21] + name: agent0 + start: [24, 8] +- goal: [6, 5] + name: agent1 + start: [13, 18] +- goal: [3, 19] + name: agent2 + start: [18, 10] +- goal: [11, 12] + name: agent3 + start: [0, 17] +- goal: [1, 27] + name: agent4 + start: [16, 13] +- goal: [17, 10] + name: agent5 + start: [18, 12] +- goal: [16, 25] + name: agent6 + start: [6, 10] +- goal: [11, 26] + name: agent7 + start: [5, 5] +- goal: [16, 20] + name: agent8 + start: [2, 5] +- goal: [4, 4] + name: agent9 + start: [10, 19] +- goal: [30, 30] + name: agent10 + start: [11, 13] +- goal: [17, 4] + name: agent11 + start: [14, 4] +- goal: [21, 12] + name: agent12 + start: [12, 30] +- goal: [22, 9] + name: agent13 + start: [10, 18] +- goal: [3, 28] + name: agent14 + start: [26, 6] +- goal: [13, 10] + name: agent15 + start: [17, 26] +- goal: [7, 4] + name: agent16 + start: [1, 17] +- goal: [2, 31] + name: agent17 + start: [23, 10] +- goal: [28, 14] + name: agent18 + start: [20, 4] +- goal: [15, 23] + name: agent19 + start: [18, 21] +- goal: [0, 12] + name: agent20 + start: [15, 6] +- goal: [21, 18] + name: agent21 + start: [31, 1] +- goal: [27, 25] + name: agent22 + start: [20, 10] +- goal: [18, 7] + name: agent23 + start: [20, 8] +- goal: [15, 19] + name: agent24 + start: [11, 3] +- goal: [13, 18] + name: agent25 + start: [22, 30] +- goal: [4, 14] + name: agent26 + start: [23, 22] +- goal: [13, 15] + name: agent27 + start: [20, 14] +- goal: [11, 1] + name: agent28 + start: [4, 12] +- goal: [26, 7] + name: agent29 + start: [28, 17] +- goal: [29, 5] + name: agent30 + start: [18, 16] +- goal: [4, 11] + name: agent31 + start: [8, 4] +- goal: [11, 0] + name: agent32 + start: [24, 27] +- goal: [13, 30] + name: agent33 + start: [13, 25] +- goal: [10, 0] + name: agent34 + start: [14, 11] +- goal: [12, 15] + name: agent35 + start: [24, 23] +- goal: [12, 30] + name: agent36 + start: [4, 1] +- goal: [20, 31] + name: agent37 + start: [4, 5] +- goal: [24, 0] + name: agent38 + start: [17, 19] +- goal: [17, 6] + name: agent39 + start: [26, 1] +- goal: [19, 18] + name: agent40 + start: [5, 18] +- goal: [10, 31] + name: agent41 + start: [23, 18] +- goal: [29, 6] + name: agent42 + start: [0, 22] +- goal: [22, 21] + name: agent43 + start: [12, 29] +- goal: [9, 15] + name: agent44 + start: [25, 4] +- goal: [12, 28] + name: agent45 + start: [11, 9] +- goal: [27, 4] + name: agent46 + start: [18, 29] +- goal: [20, 24] + name: agent47 + start: [29, 5] +- goal: [12, 31] + name: agent48 + start: [13, 8] +- goal: [4, 22] + name: agent49 + start: [19, 11] +- goal: [6, 13] + name: agent50 + start: [17, 22] +- goal: [31, 13] + name: agent51 + start: [16, 14] +- goal: [9, 23] + name: agent52 + start: [16, 17] +- goal: [7, 10] + name: agent53 + start: [23, 29] +- goal: [31, 16] + name: agent54 + start: [4, 14] +- goal: [4, 31] + name: agent55 + start: [9, 25] +- goal: [17, 26] + name: agent56 + start: [7, 24] +- goal: [29, 2] + name: agent57 + start: [6, 19] +- goal: [7, 12] + name: agent58 + start: [2, 27] +- goal: [6, 20] + name: agent59 + start: [19, 23] +- goal: [9, 30] + name: agent60 + start: [10, 9] +- goal: [23, 8] + name: agent61 + start: [23, 8] +- goal: [16, 7] + name: agent62 + start: [12, 27] +- goal: [28, 20] + name: agent63 + start: [19, 7] +- goal: [2, 6] + name: agent64 + start: [27, 23] +- goal: [4, 30] + name: agent65 + start: [28, 28] +- goal: [27, 22] + name: agent66 + start: [19, 15] +- goal: [5, 6] + name: agent67 + start: [22, 27] +- goal: [13, 16] + name: agent68 + start: [14, 13] +- goal: [6, 10] + name: agent69 + start: [19, 31] +- goal: [20, 6] + name: agent70 + start: [31, 14] +- goal: [11, 29] + name: agent71 + start: [2, 7] +- goal: [26, 0] + name: agent72 + start: [27, 17] +- goal: [2, 15] + name: agent73 + start: [29, 23] +- goal: [22, 12] + name: agent74 + start: [18, 14] +- goal: [14, 24] + name: agent75 + start: [7, 1] +- goal: [13, 12] + name: agent76 + start: [26, 5] +- goal: [7, 26] + name: agent77 + start: [27, 10] +- goal: [29, 13] + name: agent78 + start: [14, 3] +- goal: [18, 13] + name: agent79 + start: [6, 7] +- goal: [24, 6] + name: agent80 + start: [14, 14] +- goal: [4, 5] + name: agent81 + start: [2, 20] +- goal: [24, 19] + name: agent82 + start: [11, 11] +- goal: [31, 21] + name: agent83 + start: [1, 29] +- goal: [15, 15] + name: agent84 + start: [11, 8] +- goal: [17, 22] + name: agent85 + start: [5, 11] +- goal: [19, 10] + name: agent86 + start: [21, 7] +- goal: [20, 20] + name: agent87 + start: [6, 21] +- goal: [29, 27] + name: agent88 + start: [12, 22] +- goal: [11, 7] + name: agent89 + start: [14, 21] +- goal: [22, 3] + name: agent90 + start: [28, 16] +- goal: [31, 1] + name: agent91 + start: [30, 14] +- goal: [19, 3] + name: agent92 + start: [16, 26] +- goal: [30, 16] + name: agent93 + start: [8, 30] +- goal: [0, 21] + name: agent94 + start: [11, 15] +- goal: [18, 3] + name: agent95 + start: [28, 13] +- goal: [27, 21] + name: agent96 + start: [16, 7] +- goal: [22, 28] + name: agent97 + start: [5, 22] +- goal: [29, 20] + name: agent98 + start: [28, 9] +- goal: [14, 1] + name: agent99 + start: [8, 2] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [8, 11] + - !!python/tuple [22, 19] + - !!python/tuple [31, 0] + - !!python/tuple [9, 14] + - !!python/tuple [13, 31] + - !!python/tuple [0, 3] + - !!python/tuple [9, 20] + - !!python/tuple [30, 5] + - !!python/tuple [4, 8] + - !!python/tuple [16, 11] + - !!python/tuple [1, 6] + - !!python/tuple [21, 5] + - !!python/tuple [31, 19] + - !!python/tuple [17, 11] + - !!python/tuple [4, 18] + - !!python/tuple [15, 11] + - !!python/tuple [5, 31] + - !!python/tuple [5, 20] + - !!python/tuple [13, 20] + - !!python/tuple [6, 1] + - !!python/tuple [2, 26] + - !!python/tuple [12, 23] + - !!python/tuple [2, 2] + - !!python/tuple [26, 25] + - !!python/tuple [16, 18] + - !!python/tuple [23, 17] + - !!python/tuple [17, 25] + - !!python/tuple [26, 13] + - !!python/tuple [30, 15] + - !!python/tuple [30, 20] + - !!python/tuple [10, 12] + - !!python/tuple [18, 2] + - !!python/tuple [22, 8] + - !!python/tuple [28, 26] + - !!python/tuple [13, 24] + - !!python/tuple [9, 19] + - !!python/tuple [3, 23] + - !!python/tuple [8, 19] + - !!python/tuple [24, 25] + - !!python/tuple [28, 19] + - !!python/tuple [23, 9] + - !!python/tuple [20, 2] + - !!python/tuple [31, 29] + - !!python/tuple [19, 13] + - !!python/tuple [30, 3] + - !!python/tuple [11, 30] + - !!python/tuple [29, 0] + - !!python/tuple [10, 14] + - !!python/tuple [22, 17] + - !!python/tuple [4, 27] + - !!python/tuple [10, 1] + - !!python/tuple [26, 24] + - !!python/tuple [20, 0] + - !!python/tuple [2, 17] + - !!python/tuple [27, 14] + - !!python/tuple [15, 22] + - !!python/tuple [12, 10] + - !!python/tuple [14, 27] + - !!python/tuple [0, 18] + - !!python/tuple [31, 23] + - !!python/tuple [24, 5] + - !!python/tuple [28, 22] + - !!python/tuple [12, 3] + - !!python/tuple [15, 20] + - !!python/tuple [18, 6] + - !!python/tuple [10, 3] + - !!python/tuple [7, 27] + - !!python/tuple [30, 0] + - !!python/tuple [31, 18] + - !!python/tuple [8, 13] + - !!python/tuple [24, 17] + - !!python/tuple [9, 10] + - !!python/tuple [9, 3] + - !!python/tuple [5, 0] + - !!python/tuple [12, 18] + - !!python/tuple [9, 0] + - !!python/tuple [12, 25] + - !!python/tuple [13, 22] + - !!python/tuple [9, 6] + - !!python/tuple [25, 10] + - !!python/tuple [25, 28] + - !!python/tuple [15, 9] + - !!python/tuple [1, 2] + - !!python/tuple [12, 14] + - !!python/tuple [6, 26] + - !!python/tuple [30, 27] + - !!python/tuple [26, 10] + - !!python/tuple [8, 9] + - !!python/tuple [22, 7] + - !!python/tuple [24, 13] + - !!python/tuple [3, 12] + - !!python/tuple [13, 13] + - !!python/tuple [17, 3] + - !!python/tuple [8, 31] + - !!python/tuple [1, 25] + - !!python/tuple [0, 20] + - !!python/tuple [7, 8] + - !!python/tuple [24, 3] + - !!python/tuple [4, 10] + - !!python/tuple [2, 29] + - !!python/tuple [17, 15] + - !!python/tuple [12, 9] + - !!python/tuple [2, 30] + - !!python/tuple [12, 6] + - !!python/tuple [1, 12] + - !!python/tuple [29, 17] + - !!python/tuple [9, 9] + - !!python/tuple [19, 0] + - !!python/tuple [13, 23] + - !!python/tuple [15, 7] + - !!python/tuple [6, 23] + - !!python/tuple [29, 3] + - !!python/tuple [16, 5] + - !!python/tuple [19, 26] + - !!python/tuple [5, 19] + - !!python/tuple [5, 27] + - !!python/tuple [2, 22] + - !!python/tuple [2, 4] + - !!python/tuple [1, 1] + - !!python/tuple [23, 14] + - !!python/tuple [30, 13] + - !!python/tuple [4, 3] + - !!python/tuple [7, 9] + - !!python/tuple [8, 26] + - !!python/tuple [20, 17] + - !!python/tuple [14, 20] + - !!python/tuple [6, 30] + - !!python/tuple [13, 9] + - !!python/tuple [25, 21] + - !!python/tuple [0, 6] + - !!python/tuple [13, 21] + - !!python/tuple [4, 17] + - !!python/tuple [25, 27] + - !!python/tuple [29, 4] + - !!python/tuple [30, 22] + - !!python/tuple [8, 16] + - !!python/tuple [11, 16] + - !!python/tuple [24, 14] + - !!python/tuple [0, 8] + - !!python/tuple [29, 16] + - !!python/tuple [17, 16] + - !!python/tuple [14, 7] + - !!python/tuple [4, 28] + - !!python/tuple [9, 2] + - !!python/tuple [11, 24] + - !!python/tuple [19, 9] + - !!python/tuple [23, 0] + - !!python/tuple [23, 25] + - !!python/tuple [8, 14] + - !!python/tuple [14, 22] + - !!python/tuple [12, 19] + - !!python/tuple [5, 25] + - !!python/tuple [18, 4] + - !!python/tuple [8, 8] + - !!python/tuple [6, 0] + - !!python/tuple [15, 12] + - !!python/tuple [22, 24] + - !!python/tuple [23, 20] + - !!python/tuple [2, 19] + - !!python/tuple [19, 28] + - !!python/tuple [2, 3] + - !!python/tuple [27, 30] + - !!python/tuple [24, 15] + - !!python/tuple [29, 25] + - !!python/tuple [23, 23] + - !!python/tuple [26, 30] + - !!python/tuple [27, 9] + - !!python/tuple [7, 30] + - !!python/tuple [11, 27] + - !!python/tuple [19, 29] + - !!python/tuple [17, 31] + - !!python/tuple [11, 2] + - !!python/tuple [21, 20] + - !!python/tuple [12, 4] + - !!python/tuple [0, 2] + - !!python/tuple [20, 27] + - !!python/tuple [29, 19] + - !!python/tuple [6, 27] + - !!python/tuple [16, 1] + - !!python/tuple [14, 26] + - !!python/tuple [31, 28] + - !!python/tuple [24, 29] + - !!python/tuple [3, 7] + - !!python/tuple [29, 9] + - !!python/tuple [27, 28] + - !!python/tuple [3, 14] + - !!python/tuple [28, 11] + - !!python/tuple [10, 10] + - !!python/tuple [30, 28] + - !!python/tuple [22, 14] + - !!python/tuple [21, 30] + - !!python/tuple [13, 26] + - !!python/tuple [29, 12] + - !!python/tuple [11, 10] + - !!python/tuple [3, 27] + - !!python/tuple [22, 20] + - !!python/tuple [24, 28] + - !!python/tuple [10, 16] + - !!python/tuple [8, 29] + - !!python/tuple [13, 11] + - !!python/tuple [31, 24] + - !!python/tuple [31, 9] + - !!python/tuple [15, 31] + - !!python/tuple [21, 19] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex45.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex45.yaml new file mode 100644 index 0000000..4e2f412 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex45.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [3, 0] + name: agent0 + start: [7, 12] +- goal: [7, 21] + name: agent1 + start: [12, 11] +- goal: [30, 14] + name: agent2 + start: [14, 16] +- goal: [14, 0] + name: agent3 + start: [24, 7] +- goal: [17, 16] + name: agent4 + start: [3, 18] +- goal: [29, 13] + name: agent5 + start: [14, 28] +- goal: [11, 21] + name: agent6 + start: [17, 11] +- goal: [4, 15] + name: agent7 + start: [17, 16] +- goal: [2, 18] + name: agent8 + start: [11, 23] +- goal: [29, 3] + name: agent9 + start: [28, 13] +- goal: [0, 20] + name: agent10 + start: [10, 18] +- goal: [8, 14] + name: agent11 + start: [11, 31] +- goal: [14, 26] + name: agent12 + start: [19, 21] +- goal: [27, 11] + name: agent13 + start: [25, 25] +- goal: [31, 1] + name: agent14 + start: [0, 24] +- goal: [12, 14] + name: agent15 + start: [24, 20] +- goal: [22, 3] + name: agent16 + start: [19, 1] +- goal: [15, 13] + name: agent17 + start: [19, 10] +- goal: [21, 13] + name: agent18 + start: [22, 19] +- goal: [7, 10] + name: agent19 + start: [14, 15] +- goal: [16, 23] + name: agent20 + start: [23, 3] +- goal: [8, 22] + name: agent21 + start: [5, 0] +- goal: [12, 18] + name: agent22 + start: [8, 3] +- goal: [2, 20] + name: agent23 + start: [23, 1] +- goal: [30, 10] + name: agent24 + start: [14, 22] +- goal: [17, 10] + name: agent25 + start: [30, 0] +- goal: [4, 5] + name: agent26 + start: [2, 3] +- goal: [8, 8] + name: agent27 + start: [0, 26] +- goal: [18, 16] + name: agent28 + start: [25, 5] +- goal: [15, 26] + name: agent29 + start: [3, 0] +- goal: [31, 10] + name: agent30 + start: [18, 10] +- goal: [1, 30] + name: agent31 + start: [23, 28] +- goal: [31, 27] + name: agent32 + start: [20, 12] +- goal: [29, 27] + name: agent33 + start: [18, 14] +- goal: [6, 18] + name: agent34 + start: [22, 22] +- goal: [24, 6] + name: agent35 + start: [10, 24] +- goal: [1, 18] + name: agent36 + start: [19, 30] +- goal: [23, 23] + name: agent37 + start: [5, 22] +- goal: [18, 8] + name: agent38 + start: [8, 23] +- goal: [7, 23] + name: agent39 + start: [18, 26] +- goal: [20, 17] + name: agent40 + start: [17, 17] +- goal: [17, 8] + name: agent41 + start: [4, 22] +- goal: [6, 4] + name: agent42 + start: [14, 19] +- goal: [31, 20] + name: agent43 + start: [14, 14] +- goal: [25, 20] + name: agent44 + start: [15, 13] +- goal: [9, 6] + name: agent45 + start: [20, 18] +- goal: [31, 28] + name: agent46 + start: [18, 24] +- goal: [7, 25] + name: agent47 + start: [1, 22] +- goal: [20, 25] + name: agent48 + start: [18, 11] +- goal: [30, 23] + name: agent49 + start: [29, 15] +- goal: [13, 12] + name: agent50 + start: [9, 30] +- goal: [29, 19] + name: agent51 + start: [19, 3] +- goal: [11, 27] + name: agent52 + start: [4, 8] +- goal: [10, 20] + name: agent53 + start: [0, 23] +- goal: [11, 24] + name: agent54 + start: [14, 5] +- goal: [0, 7] + name: agent55 + start: [1, 31] +- goal: [9, 0] + name: agent56 + start: [28, 9] +- goal: [13, 11] + name: agent57 + start: [19, 0] +- goal: [7, 5] + name: agent58 + start: [3, 24] +- goal: [10, 11] + name: agent59 + start: [26, 11] +- goal: [18, 17] + name: agent60 + start: [27, 25] +- goal: [13, 6] + name: agent61 + start: [16, 18] +- goal: [28, 4] + name: agent62 + start: [26, 22] +- goal: [1, 19] + name: agent63 + start: [6, 30] +- goal: [31, 22] + name: agent64 + start: [21, 19] +- goal: [21, 17] + name: agent65 + start: [31, 5] +- goal: [4, 2] + name: agent66 + start: [11, 27] +- goal: [31, 11] + name: agent67 + start: [10, 12] +- goal: [6, 19] + name: agent68 + start: [7, 23] +- goal: [14, 1] + name: agent69 + start: [9, 14] +- goal: [13, 1] + name: agent70 + start: [13, 5] +- goal: [10, 13] + name: agent71 + start: [15, 14] +- goal: [9, 13] + name: agent72 + start: [10, 23] +- goal: [1, 31] + name: agent73 + start: [13, 12] +- goal: [30, 26] + name: agent74 + start: [13, 18] +- goal: [16, 27] + name: agent75 + start: [25, 10] +- goal: [10, 18] + name: agent76 + start: [5, 28] +- goal: [6, 25] + name: agent77 + start: [23, 30] +- goal: [29, 9] + name: agent78 + start: [23, 27] +- goal: [29, 5] + name: agent79 + start: [4, 21] +- goal: [16, 30] + name: agent80 + start: [20, 16] +- goal: [23, 11] + name: agent81 + start: [18, 15] +- goal: [2, 15] + name: agent82 + start: [26, 18] +- goal: [18, 7] + name: agent83 + start: [0, 5] +- goal: [9, 3] + name: agent84 + start: [26, 1] +- goal: [23, 0] + name: agent85 + start: [25, 9] +- goal: [6, 3] + name: agent86 + start: [25, 27] +- goal: [12, 1] + name: agent87 + start: [7, 31] +- goal: [8, 6] + name: agent88 + start: [17, 18] +- goal: [31, 30] + name: agent89 + start: [24, 18] +- goal: [19, 19] + name: agent90 + start: [26, 17] +- goal: [17, 4] + name: agent91 + start: [14, 6] +- goal: [12, 17] + name: agent92 + start: [17, 22] +- goal: [21, 29] + name: agent93 + start: [24, 25] +- goal: [19, 31] + name: agent94 + start: [11, 2] +- goal: [19, 28] + name: agent95 + start: [27, 3] +- goal: [22, 0] + name: agent96 + start: [23, 31] +- goal: [20, 0] + name: agent97 + start: [21, 27] +- goal: [19, 14] + name: agent98 + start: [0, 11] +- goal: [2, 6] + name: agent99 + start: [1, 10] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [15, 3] + - !!python/tuple [20, 20] + - !!python/tuple [18, 6] + - !!python/tuple [30, 16] + - !!python/tuple [30, 4] + - !!python/tuple [26, 6] + - !!python/tuple [15, 16] + - !!python/tuple [12, 9] + - !!python/tuple [24, 3] + - !!python/tuple [3, 29] + - !!python/tuple [24, 28] + - !!python/tuple [6, 5] + - !!python/tuple [1, 3] + - !!python/tuple [20, 8] + - !!python/tuple [20, 29] + - !!python/tuple [17, 28] + - !!python/tuple [25, 24] + - !!python/tuple [14, 27] + - !!python/tuple [1, 11] + - !!python/tuple [0, 15] + - !!python/tuple [15, 7] + - !!python/tuple [15, 24] + - !!python/tuple [8, 5] + - !!python/tuple [0, 14] + - !!python/tuple [31, 2] + - !!python/tuple [24, 29] + - !!python/tuple [6, 10] + - !!python/tuple [17, 14] + - !!python/tuple [1, 2] + - !!python/tuple [19, 13] + - !!python/tuple [29, 18] + - !!python/tuple [13, 17] + - !!python/tuple [12, 2] + - !!python/tuple [17, 29] + - !!python/tuple [2, 5] + - !!python/tuple [11, 7] + - !!python/tuple [16, 9] + - !!python/tuple [27, 17] + - !!python/tuple [9, 5] + - !!python/tuple [22, 31] + - !!python/tuple [21, 12] + - !!python/tuple [13, 29] + - !!python/tuple [21, 4] + - !!python/tuple [31, 29] + - !!python/tuple [11, 30] + - !!python/tuple [28, 7] + - !!python/tuple [5, 18] + - !!python/tuple [11, 5] + - !!python/tuple [25, 13] + - !!python/tuple [10, 30] + - !!python/tuple [6, 27] + - !!python/tuple [17, 7] + - !!python/tuple [0, 0] + - !!python/tuple [17, 19] + - !!python/tuple [23, 10] + - !!python/tuple [9, 1] + - !!python/tuple [20, 1] + - !!python/tuple [1, 17] + - !!python/tuple [13, 26] + - !!python/tuple [21, 14] + - !!python/tuple [27, 19] + - !!python/tuple [18, 18] + - !!python/tuple [0, 30] + - !!python/tuple [22, 11] + - !!python/tuple [7, 27] + - !!python/tuple [10, 7] + - !!python/tuple [0, 4] + - !!python/tuple [25, 14] + - !!python/tuple [6, 6] + - !!python/tuple [6, 22] + - !!python/tuple [11, 18] + - !!python/tuple [28, 24] + - !!python/tuple [27, 20] + - !!python/tuple [21, 2] + - !!python/tuple [18, 13] + - !!python/tuple [4, 31] + - !!python/tuple [10, 22] + - !!python/tuple [7, 8] + - !!python/tuple [16, 20] + - !!python/tuple [3, 5] + - !!python/tuple [26, 14] + - !!python/tuple [3, 8] + - !!python/tuple [2, 0] + - !!python/tuple [11, 1] + - !!python/tuple [30, 6] + - !!python/tuple [3, 1] + - !!python/tuple [19, 5] + - !!python/tuple [18, 1] + - !!python/tuple [31, 7] + - !!python/tuple [3, 26] + - !!python/tuple [31, 0] + - !!python/tuple [5, 23] + - !!python/tuple [12, 24] + - !!python/tuple [16, 21] + - !!python/tuple [1, 29] + - !!python/tuple [2, 14] + - !!python/tuple [27, 13] + - !!python/tuple [8, 7] + - !!python/tuple [18, 29] + - !!python/tuple [31, 12] + - !!python/tuple [22, 29] + - !!python/tuple [29, 7] + - !!python/tuple [6, 29] + - !!python/tuple [21, 7] + - !!python/tuple [13, 16] + - !!python/tuple [12, 15] + - !!python/tuple [20, 7] + - !!python/tuple [26, 29] + - !!python/tuple [5, 31] + - !!python/tuple [18, 20] + - !!python/tuple [19, 16] + - !!python/tuple [13, 7] + - !!python/tuple [21, 15] + - !!python/tuple [13, 24] + - !!python/tuple [2, 9] + - !!python/tuple [22, 27] + - !!python/tuple [1, 15] + - !!python/tuple [31, 14] + - !!python/tuple [15, 25] + - !!python/tuple [3, 14] + - !!python/tuple [14, 23] + - !!python/tuple [13, 10] + - !!python/tuple [28, 17] + - !!python/tuple [0, 21] + - !!python/tuple [28, 31] + - !!python/tuple [26, 7] + - !!python/tuple [24, 10] + - !!python/tuple [2, 13] + - !!python/tuple [26, 8] + - !!python/tuple [13, 23] + - !!python/tuple [23, 21] + - !!python/tuple [7, 17] + - !!python/tuple [19, 24] + - !!python/tuple [16, 24] + - !!python/tuple [21, 28] + - !!python/tuple [12, 21] + - !!python/tuple [30, 8] + - !!python/tuple [14, 30] + - !!python/tuple [21, 25] + - !!python/tuple [28, 26] + - !!python/tuple [22, 25] + - !!python/tuple [3, 25] + - !!python/tuple [9, 23] + - !!python/tuple [2, 21] + - !!python/tuple [25, 4] + - !!python/tuple [4, 16] + - !!python/tuple [12, 6] + - !!python/tuple [18, 25] + - !!python/tuple [15, 31] + - !!python/tuple [0, 25] + - !!python/tuple [24, 0] + - !!python/tuple [16, 26] + - !!python/tuple [28, 21] + - !!python/tuple [10, 29] + - !!python/tuple [12, 25] + - !!python/tuple [6, 11] + - !!python/tuple [5, 27] + - !!python/tuple [1, 6] + - !!python/tuple [18, 27] + - !!python/tuple [15, 19] + - !!python/tuple [22, 4] + - !!python/tuple [5, 7] + - !!python/tuple [23, 15] + - !!python/tuple [14, 7] + - !!python/tuple [29, 21] + - !!python/tuple [5, 25] + - !!python/tuple [16, 11] + - !!python/tuple [9, 22] + - !!python/tuple [27, 8] + - !!python/tuple [16, 14] + - !!python/tuple [31, 3] + - !!python/tuple [2, 11] + - !!python/tuple [27, 4] + - !!python/tuple [8, 12] + - !!python/tuple [21, 9] + - !!python/tuple [3, 31] + - !!python/tuple [7, 19] + - !!python/tuple [12, 12] + - !!python/tuple [19, 7] + - !!python/tuple [12, 28] + - !!python/tuple [26, 9] + - !!python/tuple [10, 21] + - !!python/tuple [19, 11] + - !!python/tuple [1, 12] + - !!python/tuple [11, 3] + - !!python/tuple [23, 4] + - !!python/tuple [6, 24] + - !!python/tuple [27, 7] + - !!python/tuple [25, 3] + - !!python/tuple [31, 23] + - !!python/tuple [22, 21] + - !!python/tuple [2, 4] + - !!python/tuple [18, 30] + - !!python/tuple [25, 16] + - !!python/tuple [22, 23] + - !!python/tuple [28, 19] + - !!python/tuple [4, 29] + - !!python/tuple [8, 29] + - !!python/tuple [27, 5] + - !!python/tuple [5, 26] + - !!python/tuple [27, 29] + - !!python/tuple [4, 11] + - !!python/tuple [6, 31] + - !!python/tuple [6, 17] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex46.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex46.yaml new file mode 100644 index 0000000..9c84f30 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex46.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [22, 5] + name: agent0 + start: [21, 17] +- goal: [10, 18] + name: agent1 + start: [30, 9] +- goal: [9, 0] + name: agent2 + start: [30, 28] +- goal: [30, 3] + name: agent3 + start: [9, 21] +- goal: [6, 13] + name: agent4 + start: [17, 24] +- goal: [31, 18] + name: agent5 + start: [26, 26] +- goal: [17, 14] + name: agent6 + start: [1, 13] +- goal: [26, 31] + name: agent7 + start: [15, 3] +- goal: [26, 24] + name: agent8 + start: [12, 11] +- goal: [23, 3] + name: agent9 + start: [18, 23] +- goal: [13, 13] + name: agent10 + start: [22, 15] +- goal: [13, 19] + name: agent11 + start: [7, 1] +- goal: [28, 19] + name: agent12 + start: [22, 12] +- goal: [5, 3] + name: agent13 + start: [9, 11] +- goal: [27, 24] + name: agent14 + start: [28, 25] +- goal: [20, 16] + name: agent15 + start: [13, 12] +- goal: [19, 20] + name: agent16 + start: [25, 2] +- goal: [2, 25] + name: agent17 + start: [24, 31] +- goal: [3, 6] + name: agent18 + start: [5, 1] +- goal: [23, 28] + name: agent19 + start: [1, 24] +- goal: [26, 5] + name: agent20 + start: [5, 21] +- goal: [18, 31] + name: agent21 + start: [20, 20] +- goal: [4, 4] + name: agent22 + start: [17, 10] +- goal: [29, 24] + name: agent23 + start: [27, 14] +- goal: [7, 11] + name: agent24 + start: [13, 3] +- goal: [27, 31] + name: agent25 + start: [16, 12] +- goal: [11, 5] + name: agent26 + start: [9, 13] +- goal: [6, 17] + name: agent27 + start: [27, 31] +- goal: [5, 30] + name: agent28 + start: [18, 3] +- goal: [11, 28] + name: agent29 + start: [16, 2] +- goal: [4, 6] + name: agent30 + start: [22, 6] +- goal: [0, 21] + name: agent31 + start: [4, 26] +- goal: [5, 23] + name: agent32 + start: [20, 8] +- goal: [8, 3] + name: agent33 + start: [12, 4] +- goal: [23, 8] + name: agent34 + start: [22, 7] +- goal: [15, 14] + name: agent35 + start: [13, 5] +- goal: [16, 2] + name: agent36 + start: [28, 8] +- goal: [6, 27] + name: agent37 + start: [2, 1] +- goal: [19, 7] + name: agent38 + start: [4, 4] +- goal: [12, 27] + name: agent39 + start: [7, 7] +- goal: [21, 1] + name: agent40 + start: [29, 0] +- goal: [2, 3] + name: agent41 + start: [24, 25] +- goal: [7, 3] + name: agent42 + start: [18, 27] +- goal: [21, 24] + name: agent43 + start: [20, 2] +- goal: [9, 22] + name: agent44 + start: [8, 13] +- goal: [27, 27] + name: agent45 + start: [14, 9] +- goal: [11, 25] + name: agent46 + start: [5, 3] +- goal: [6, 4] + name: agent47 + start: [25, 16] +- goal: [21, 5] + name: agent48 + start: [24, 16] +- goal: [11, 11] + name: agent49 + start: [1, 16] +- goal: [14, 18] + name: agent50 + start: [3, 8] +- goal: [20, 13] + name: agent51 + start: [16, 16] +- goal: [13, 5] + name: agent52 + start: [2, 26] +- goal: [23, 16] + name: agent53 + start: [27, 16] +- goal: [0, 13] + name: agent54 + start: [3, 23] +- goal: [17, 25] + name: agent55 + start: [19, 0] +- goal: [16, 12] + name: agent56 + start: [19, 20] +- goal: [27, 21] + name: agent57 + start: [8, 28] +- goal: [21, 8] + name: agent58 + start: [26, 14] +- goal: [20, 26] + name: agent59 + start: [16, 28] +- goal: [20, 9] + name: agent60 + start: [15, 13] +- goal: [27, 30] + name: agent61 + start: [31, 30] +- goal: [30, 12] + name: agent62 + start: [15, 12] +- goal: [5, 6] + name: agent63 + start: [7, 4] +- goal: [13, 26] + name: agent64 + start: [8, 22] +- goal: [0, 28] + name: agent65 + start: [20, 6] +- goal: [16, 27] + name: agent66 + start: [7, 21] +- goal: [22, 7] + name: agent67 + start: [27, 28] +- goal: [6, 23] + name: agent68 + start: [8, 26] +- goal: [28, 17] + name: agent69 + start: [4, 18] +- goal: [18, 5] + name: agent70 + start: [20, 29] +- goal: [16, 6] + name: agent71 + start: [2, 11] +- goal: [17, 5] + name: agent72 + start: [25, 3] +- goal: [9, 20] + name: agent73 + start: [28, 22] +- goal: [17, 17] + name: agent74 + start: [1, 2] +- goal: [16, 20] + name: agent75 + start: [7, 13] +- goal: [18, 26] + name: agent76 + start: [17, 26] +- goal: [26, 4] + name: agent77 + start: [31, 21] +- goal: [1, 16] + name: agent78 + start: [20, 15] +- goal: [8, 6] + name: agent79 + start: [23, 30] +- goal: [13, 8] + name: agent80 + start: [22, 19] +- goal: [4, 22] + name: agent81 + start: [30, 0] +- goal: [5, 10] + name: agent82 + start: [19, 4] +- goal: [20, 2] + name: agent83 + start: [6, 26] +- goal: [19, 19] + name: agent84 + start: [16, 6] +- goal: [29, 6] + name: agent85 + start: [16, 22] +- goal: [14, 8] + name: agent86 + start: [23, 3] +- goal: [6, 9] + name: agent87 + start: [30, 19] +- goal: [8, 28] + name: agent88 + start: [10, 13] +- goal: [8, 24] + name: agent89 + start: [18, 25] +- goal: [18, 9] + name: agent90 + start: [12, 12] +- goal: [20, 15] + name: agent91 + start: [6, 24] +- goal: [6, 28] + name: agent92 + start: [31, 23] +- goal: [19, 6] + name: agent93 + start: [5, 29] +- goal: [11, 27] + name: agent94 + start: [1, 30] +- goal: [31, 14] + name: agent95 + start: [0, 22] +- goal: [25, 25] + name: agent96 + start: [12, 6] +- goal: [8, 15] + name: agent97 + start: [16, 30] +- goal: [3, 10] + name: agent98 + start: [11, 16] +- goal: [19, 8] + name: agent99 + start: [11, 5] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [23, 29] + - !!python/tuple [30, 18] + - !!python/tuple [14, 20] + - !!python/tuple [4, 24] + - !!python/tuple [2, 14] + - !!python/tuple [7, 25] + - !!python/tuple [24, 19] + - !!python/tuple [29, 8] + - !!python/tuple [29, 17] + - !!python/tuple [19, 9] + - !!python/tuple [5, 12] + - !!python/tuple [29, 18] + - !!python/tuple [29, 16] + - !!python/tuple [26, 30] + - !!python/tuple [18, 15] + - !!python/tuple [16, 10] + - !!python/tuple [1, 12] + - !!python/tuple [31, 20] + - !!python/tuple [14, 4] + - !!python/tuple [27, 6] + - !!python/tuple [26, 17] + - !!python/tuple [30, 27] + - !!python/tuple [24, 29] + - !!python/tuple [8, 17] + - !!python/tuple [0, 12] + - !!python/tuple [23, 6] + - !!python/tuple [28, 26] + - !!python/tuple [22, 10] + - !!python/tuple [1, 17] + - !!python/tuple [17, 0] + - !!python/tuple [25, 0] + - !!python/tuple [30, 20] + - !!python/tuple [15, 24] + - !!python/tuple [4, 15] + - !!python/tuple [3, 22] + - !!python/tuple [10, 7] + - !!python/tuple [1, 15] + - !!python/tuple [13, 7] + - !!python/tuple [23, 31] + - !!python/tuple [9, 23] + - !!python/tuple [9, 15] + - !!python/tuple [10, 9] + - !!python/tuple [2, 22] + - !!python/tuple [26, 8] + - !!python/tuple [27, 29] + - !!python/tuple [30, 14] + - !!python/tuple [14, 16] + - !!python/tuple [17, 12] + - !!python/tuple [20, 30] + - !!python/tuple [4, 14] + - !!python/tuple [27, 19] + - !!python/tuple [15, 17] + - !!python/tuple [31, 27] + - !!python/tuple [21, 12] + - !!python/tuple [10, 20] + - !!python/tuple [13, 6] + - !!python/tuple [4, 16] + - !!python/tuple [7, 16] + - !!python/tuple [26, 3] + - !!python/tuple [30, 16] + - !!python/tuple [27, 2] + - !!python/tuple [4, 2] + - !!python/tuple [19, 17] + - !!python/tuple [20, 25] + - !!python/tuple [3, 5] + - !!python/tuple [1, 9] + - !!python/tuple [28, 23] + - !!python/tuple [29, 12] + - !!python/tuple [8, 23] + - !!python/tuple [25, 10] + - !!python/tuple [11, 23] + - !!python/tuple [12, 5] + - !!python/tuple [19, 22] + - !!python/tuple [0, 29] + - !!python/tuple [21, 18] + - !!python/tuple [23, 0] + - !!python/tuple [14, 5] + - !!python/tuple [21, 2] + - !!python/tuple [29, 25] + - !!python/tuple [15, 25] + - !!python/tuple [27, 7] + - !!python/tuple [21, 25] + - !!python/tuple [12, 30] + - !!python/tuple [13, 30] + - !!python/tuple [17, 8] + - !!python/tuple [17, 18] + - !!python/tuple [25, 26] + - !!python/tuple [2, 19] + - !!python/tuple [27, 4] + - !!python/tuple [16, 21] + - !!python/tuple [11, 2] + - !!python/tuple [19, 10] + - !!python/tuple [26, 16] + - !!python/tuple [10, 27] + - !!python/tuple [8, 31] + - !!python/tuple [26, 7] + - !!python/tuple [29, 29] + - !!python/tuple [15, 9] + - !!python/tuple [22, 0] + - !!python/tuple [17, 27] + - !!python/tuple [15, 28] + - !!python/tuple [18, 11] + - !!python/tuple [2, 10] + - !!python/tuple [7, 5] + - !!python/tuple [5, 8] + - !!python/tuple [26, 6] + - !!python/tuple [31, 31] + - !!python/tuple [8, 10] + - !!python/tuple [18, 22] + - !!python/tuple [24, 11] + - !!python/tuple [4, 17] + - !!python/tuple [21, 19] + - !!python/tuple [1, 26] + - !!python/tuple [24, 24] + - !!python/tuple [12, 31] + - !!python/tuple [26, 9] + - !!python/tuple [16, 29] + - !!python/tuple [25, 11] + - !!python/tuple [28, 21] + - !!python/tuple [7, 8] + - !!python/tuple [31, 25] + - !!python/tuple [27, 9] + - !!python/tuple [4, 23] + - !!python/tuple [13, 0] + - !!python/tuple [25, 17] + - !!python/tuple [28, 4] + - !!python/tuple [3, 18] + - !!python/tuple [31, 5] + - !!python/tuple [15, 18] + - !!python/tuple [3, 29] + - !!python/tuple [16, 5] + - !!python/tuple [30, 7] + - !!python/tuple [5, 2] + - !!python/tuple [8, 9] + - !!python/tuple [6, 8] + - !!python/tuple [22, 14] + - !!python/tuple [11, 30] + - !!python/tuple [16, 24] + - !!python/tuple [6, 1] + - !!python/tuple [31, 1] + - !!python/tuple [24, 3] + - !!python/tuple [9, 1] + - !!python/tuple [18, 14] + - !!python/tuple [20, 24] + - !!python/tuple [10, 12] + - !!python/tuple [13, 16] + - !!python/tuple [0, 11] + - !!python/tuple [4, 0] + - !!python/tuple [8, 21] + - !!python/tuple [16, 4] + - !!python/tuple [18, 21] + - !!python/tuple [2, 15] + - !!python/tuple [31, 17] + - !!python/tuple [28, 5] + - !!python/tuple [23, 2] + - !!python/tuple [28, 20] + - !!python/tuple [20, 17] + - !!python/tuple [22, 31] + - !!python/tuple [14, 17] + - !!python/tuple [1, 3] + - !!python/tuple [19, 28] + - !!python/tuple [10, 31] + - !!python/tuple [14, 27] + - !!python/tuple [0, 26] + - !!python/tuple [27, 18] + - !!python/tuple [9, 27] + - !!python/tuple [17, 21] + - !!python/tuple [29, 31] + - !!python/tuple [0, 18] + - !!python/tuple [24, 18] + - !!python/tuple [15, 10] + - !!python/tuple [29, 9] + - !!python/tuple [24, 1] + - !!python/tuple [3, 30] + - !!python/tuple [10, 19] + - !!python/tuple [12, 15] + - !!python/tuple [23, 10] + - !!python/tuple [28, 16] + - !!python/tuple [7, 31] + - !!python/tuple [3, 12] + - !!python/tuple [17, 19] + - !!python/tuple [21, 23] + - !!python/tuple [29, 4] + - !!python/tuple [29, 1] + - !!python/tuple [1, 8] + - !!python/tuple [28, 3] + - !!python/tuple [22, 22] + - !!python/tuple [9, 2] + - !!python/tuple [30, 30] + - !!python/tuple [9, 30] + - !!python/tuple [22, 11] + - !!python/tuple [10, 22] + - !!python/tuple [8, 12] + - !!python/tuple [22, 4] + - !!python/tuple [23, 13] + - !!python/tuple [10, 23] + - !!python/tuple [20, 5] + - !!python/tuple [18, 1] + - !!python/tuple [4, 5] + - !!python/tuple [12, 10] + - !!python/tuple [17, 13] + - !!python/tuple [10, 2] + - !!python/tuple [17, 2] + - !!python/tuple [11, 4] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex47.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex47.yaml new file mode 100644 index 0000000..9aa25c5 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex47.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [17, 24] + name: agent0 + start: [23, 30] +- goal: [10, 23] + name: agent1 + start: [25, 31] +- goal: [30, 26] + name: agent2 + start: [8, 2] +- goal: [12, 11] + name: agent3 + start: [7, 1] +- goal: [9, 10] + name: agent4 + start: [30, 15] +- goal: [0, 22] + name: agent5 + start: [6, 6] +- goal: [8, 11] + name: agent6 + start: [11, 23] +- goal: [6, 27] + name: agent7 + start: [25, 15] +- goal: [3, 7] + name: agent8 + start: [11, 25] +- goal: [4, 17] + name: agent9 + start: [20, 5] +- goal: [29, 24] + name: agent10 + start: [6, 18] +- goal: [28, 5] + name: agent11 + start: [30, 17] +- goal: [11, 25] + name: agent12 + start: [11, 0] +- goal: [7, 8] + name: agent13 + start: [3, 1] +- goal: [24, 25] + name: agent14 + start: [30, 19] +- goal: [30, 17] + name: agent15 + start: [23, 8] +- goal: [31, 26] + name: agent16 + start: [19, 19] +- goal: [23, 14] + name: agent17 + start: [29, 0] +- goal: [19, 14] + name: agent18 + start: [12, 27] +- goal: [31, 13] + name: agent19 + start: [24, 24] +- goal: [9, 3] + name: agent20 + start: [5, 25] +- goal: [11, 21] + name: agent21 + start: [0, 15] +- goal: [20, 4] + name: agent22 + start: [5, 6] +- goal: [21, 5] + name: agent23 + start: [20, 24] +- goal: [21, 25] + name: agent24 + start: [4, 16] +- goal: [14, 2] + name: agent25 + start: [18, 7] +- goal: [25, 6] + name: agent26 + start: [13, 9] +- goal: [1, 17] + name: agent27 + start: [24, 29] +- goal: [29, 16] + name: agent28 + start: [1, 10] +- goal: [18, 31] + name: agent29 + start: [9, 15] +- goal: [0, 9] + name: agent30 + start: [1, 5] +- goal: [16, 8] + name: agent31 + start: [14, 11] +- goal: [14, 27] + name: agent32 + start: [20, 27] +- goal: [29, 30] + name: agent33 + start: [21, 12] +- goal: [23, 4] + name: agent34 + start: [20, 30] +- goal: [1, 11] + name: agent35 + start: [8, 17] +- goal: [23, 24] + name: agent36 + start: [18, 24] +- goal: [12, 0] + name: agent37 + start: [14, 31] +- goal: [24, 18] + name: agent38 + start: [6, 0] +- goal: [28, 19] + name: agent39 + start: [8, 9] +- goal: [26, 1] + name: agent40 + start: [0, 5] +- goal: [3, 6] + name: agent41 + start: [26, 10] +- goal: [25, 13] + name: agent42 + start: [16, 9] +- goal: [6, 7] + name: agent43 + start: [24, 11] +- goal: [21, 31] + name: agent44 + start: [20, 8] +- goal: [10, 2] + name: agent45 + start: [10, 5] +- goal: [7, 15] + name: agent46 + start: [9, 6] +- goal: [22, 11] + name: agent47 + start: [17, 5] +- goal: [22, 31] + name: agent48 + start: [26, 6] +- goal: [16, 14] + name: agent49 + start: [14, 7] +- goal: [31, 23] + name: agent50 + start: [14, 4] +- goal: [28, 29] + name: agent51 + start: [12, 4] +- goal: [6, 15] + name: agent52 + start: [16, 27] +- goal: [8, 4] + name: agent53 + start: [29, 12] +- goal: [10, 26] + name: agent54 + start: [5, 28] +- goal: [13, 1] + name: agent55 + start: [7, 12] +- goal: [1, 16] + name: agent56 + start: [5, 22] +- goal: [2, 25] + name: agent57 + start: [29, 30] +- goal: [8, 28] + name: agent58 + start: [13, 30] +- goal: [23, 16] + name: agent59 + start: [25, 25] +- goal: [8, 21] + name: agent60 + start: [13, 4] +- goal: [21, 9] + name: agent61 + start: [16, 24] +- goal: [11, 23] + name: agent62 + start: [27, 3] +- goal: [3, 5] + name: agent63 + start: [0, 24] +- goal: [7, 18] + name: agent64 + start: [29, 16] +- goal: [20, 24] + name: agent65 + start: [27, 26] +- goal: [23, 28] + name: agent66 + start: [7, 17] +- goal: [5, 28] + name: agent67 + start: [31, 6] +- goal: [30, 18] + name: agent68 + start: [22, 11] +- goal: [27, 26] + name: agent69 + start: [9, 29] +- goal: [31, 15] + name: agent70 + start: [1, 13] +- goal: [9, 31] + name: agent71 + start: [12, 13] +- goal: [2, 9] + name: agent72 + start: [26, 12] +- goal: [9, 11] + name: agent73 + start: [2, 15] +- goal: [7, 20] + name: agent74 + start: [22, 17] +- goal: [24, 21] + name: agent75 + start: [10, 18] +- goal: [1, 23] + name: agent76 + start: [21, 5] +- goal: [7, 17] + name: agent77 + start: [29, 23] +- goal: [6, 14] + name: agent78 + start: [21, 27] +- goal: [5, 10] + name: agent79 + start: [23, 27] +- goal: [14, 26] + name: agent80 + start: [13, 22] +- goal: [7, 5] + name: agent81 + start: [15, 22] +- goal: [27, 2] + name: agent82 + start: [27, 19] +- goal: [7, 12] + name: agent83 + start: [25, 19] +- goal: [23, 15] + name: agent84 + start: [23, 6] +- goal: [13, 5] + name: agent85 + start: [14, 28] +- goal: [24, 1] + name: agent86 + start: [4, 0] +- goal: [23, 7] + name: agent87 + start: [6, 15] +- goal: [26, 17] + name: agent88 + start: [26, 4] +- goal: [12, 21] + name: agent89 + start: [0, 28] +- goal: [25, 26] + name: agent90 + start: [21, 3] +- goal: [21, 13] + name: agent91 + start: [30, 4] +- goal: [9, 19] + name: agent92 + start: [13, 31] +- goal: [10, 5] + name: agent93 + start: [4, 30] +- goal: [8, 16] + name: agent94 + start: [7, 30] +- goal: [19, 13] + name: agent95 + start: [2, 1] +- goal: [14, 28] + name: agent96 + start: [15, 11] +- goal: [28, 13] + name: agent97 + start: [20, 19] +- goal: [11, 17] + name: agent98 + start: [26, 21] +- goal: [15, 21] + name: agent99 + start: [19, 16] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [31, 31] + - !!python/tuple [26, 28] + - !!python/tuple [18, 0] + - !!python/tuple [22, 13] + - !!python/tuple [28, 23] + - !!python/tuple [26, 11] + - !!python/tuple [7, 16] + - !!python/tuple [27, 27] + - !!python/tuple [31, 30] + - !!python/tuple [20, 18] + - !!python/tuple [17, 27] + - !!python/tuple [12, 24] + - !!python/tuple [24, 22] + - !!python/tuple [8, 0] + - !!python/tuple [2, 21] + - !!python/tuple [20, 22] + - !!python/tuple [2, 0] + - !!python/tuple [31, 21] + - !!python/tuple [22, 15] + - !!python/tuple [18, 15] + - !!python/tuple [10, 4] + - !!python/tuple [27, 11] + - !!python/tuple [19, 5] + - !!python/tuple [31, 4] + - !!python/tuple [24, 3] + - !!python/tuple [25, 23] + - !!python/tuple [13, 23] + - !!python/tuple [1, 20] + - !!python/tuple [28, 28] + - !!python/tuple [19, 23] + - !!python/tuple [22, 22] + - !!python/tuple [16, 23] + - !!python/tuple [10, 10] + - !!python/tuple [26, 20] + - !!python/tuple [24, 28] + - !!python/tuple [28, 14] + - !!python/tuple [19, 30] + - !!python/tuple [26, 2] + - !!python/tuple [7, 25] + - !!python/tuple [29, 17] + - !!python/tuple [26, 25] + - !!python/tuple [26, 30] + - !!python/tuple [30, 21] + - !!python/tuple [16, 28] + - !!python/tuple [11, 29] + - !!python/tuple [30, 31] + - !!python/tuple [20, 3] + - !!python/tuple [0, 23] + - !!python/tuple [29, 2] + - !!python/tuple [16, 6] + - !!python/tuple [30, 11] + - !!python/tuple [1, 19] + - !!python/tuple [21, 6] + - !!python/tuple [6, 13] + - !!python/tuple [6, 8] + - !!python/tuple [18, 25] + - !!python/tuple [12, 18] + - !!python/tuple [31, 16] + - !!python/tuple [27, 21] + - !!python/tuple [18, 13] + - !!python/tuple [1, 15] + - !!python/tuple [24, 5] + - !!python/tuple [2, 2] + - !!python/tuple [28, 25] + - !!python/tuple [5, 29] + - !!python/tuple [28, 8] + - !!python/tuple [17, 16] + - !!python/tuple [12, 6] + - !!python/tuple [22, 8] + - !!python/tuple [27, 8] + - !!python/tuple [19, 8] + - !!python/tuple [25, 8] + - !!python/tuple [26, 24] + - !!python/tuple [29, 11] + - !!python/tuple [17, 25] + - !!python/tuple [22, 26] + - !!python/tuple [30, 30] + - !!python/tuple [10, 21] + - !!python/tuple [6, 29] + - !!python/tuple [11, 1] + - !!python/tuple [4, 8] + - !!python/tuple [15, 27] + - !!python/tuple [28, 9] + - !!python/tuple [21, 26] + - !!python/tuple [24, 6] + - !!python/tuple [25, 11] + - !!python/tuple [20, 13] + - !!python/tuple [30, 2] + - !!python/tuple [8, 1] + - !!python/tuple [3, 29] + - !!python/tuple [28, 0] + - !!python/tuple [23, 19] + - !!python/tuple [19, 11] + - !!python/tuple [11, 31] + - !!python/tuple [16, 2] + - !!python/tuple [22, 27] + - !!python/tuple [7, 28] + - !!python/tuple [9, 22] + - !!python/tuple [9, 30] + - !!python/tuple [5, 3] + - !!python/tuple [5, 7] + - !!python/tuple [10, 12] + - !!python/tuple [0, 27] + - !!python/tuple [11, 7] + - !!python/tuple [1, 4] + - !!python/tuple [7, 2] + - !!python/tuple [3, 21] + - !!python/tuple [28, 16] + - !!python/tuple [16, 4] + - !!python/tuple [22, 19] + - !!python/tuple [24, 8] + - !!python/tuple [2, 7] + - !!python/tuple [15, 15] + - !!python/tuple [15, 8] + - !!python/tuple [18, 8] + - !!python/tuple [23, 13] + - !!python/tuple [13, 15] + - !!python/tuple [11, 20] + - !!python/tuple [21, 17] + - !!python/tuple [10, 7] + - !!python/tuple [2, 29] + - !!python/tuple [8, 31] + - !!python/tuple [12, 20] + - !!python/tuple [16, 30] + - !!python/tuple [19, 3] + - !!python/tuple [16, 25] + - !!python/tuple [19, 10] + - !!python/tuple [13, 29] + - !!python/tuple [26, 31] + - !!python/tuple [23, 29] + - !!python/tuple [21, 18] + - !!python/tuple [18, 1] + - !!python/tuple [1, 28] + - !!python/tuple [28, 7] + - !!python/tuple [25, 20] + - !!python/tuple [17, 0] + - !!python/tuple [7, 4] + - !!python/tuple [30, 14] + - !!python/tuple [19, 26] + - !!python/tuple [26, 19] + - !!python/tuple [18, 11] + - !!python/tuple [18, 12] + - !!python/tuple [2, 4] + - !!python/tuple [5, 27] + - !!python/tuple [8, 13] + - !!python/tuple [11, 16] + - !!python/tuple [9, 28] + - !!python/tuple [30, 3] + - !!python/tuple [4, 18] + - !!python/tuple [14, 18] + - !!python/tuple [31, 10] + - !!python/tuple [6, 10] + - !!python/tuple [17, 30] + - !!python/tuple [0, 17] + - !!python/tuple [1, 7] + - !!python/tuple [7, 23] + - !!python/tuple [5, 14] + - !!python/tuple [0, 4] + - !!python/tuple [24, 0] + - !!python/tuple [6, 25] + - !!python/tuple [27, 23] + - !!python/tuple [19, 24] + - !!python/tuple [12, 22] + - !!python/tuple [17, 1] + - !!python/tuple [11, 5] + - !!python/tuple [22, 12] + - !!python/tuple [29, 3] + - !!python/tuple [26, 0] + - !!python/tuple [12, 9] + - !!python/tuple [29, 9] + - !!python/tuple [13, 18] + - !!python/tuple [20, 14] + - !!python/tuple [5, 5] + - !!python/tuple [6, 4] + - !!python/tuple [19, 2] + - !!python/tuple [9, 26] + - !!python/tuple [31, 18] + - !!python/tuple [23, 23] + - !!python/tuple [17, 14] + - !!python/tuple [23, 9] + - !!python/tuple [12, 2] + - !!python/tuple [30, 8] + - !!python/tuple [13, 19] + - !!python/tuple [12, 5] + - !!python/tuple [3, 9] + - !!python/tuple [23, 3] + - !!python/tuple [24, 13] + - !!python/tuple [8, 14] + - !!python/tuple [18, 10] + - !!python/tuple [8, 10] + - !!python/tuple [3, 16] + - !!python/tuple [21, 8] + - !!python/tuple [16, 13] + - !!python/tuple [17, 22] + - !!python/tuple [21, 0] + - !!python/tuple [22, 1] + - !!python/tuple [31, 17] + - !!python/tuple [1, 22] + - !!python/tuple [13, 12] + - !!python/tuple [5, 20] + - !!python/tuple [7, 21] + - !!python/tuple [7, 27] + - !!python/tuple [16, 16] + - !!python/tuple [26, 13] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex48.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex48.yaml new file mode 100644 index 0000000..4cdefed --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex48.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [26, 29] + name: agent0 + start: [22, 14] +- goal: [0, 12] + name: agent1 + start: [18, 6] +- goal: [21, 16] + name: agent2 + start: [11, 0] +- goal: [21, 7] + name: agent3 + start: [17, 3] +- goal: [4, 21] + name: agent4 + start: [2, 27] +- goal: [25, 27] + name: agent5 + start: [4, 31] +- goal: [18, 4] + name: agent6 + start: [13, 26] +- goal: [21, 27] + name: agent7 + start: [15, 26] +- goal: [9, 23] + name: agent8 + start: [22, 4] +- goal: [20, 22] + name: agent9 + start: [26, 23] +- goal: [30, 28] + name: agent10 + start: [15, 6] +- goal: [31, 6] + name: agent11 + start: [1, 30] +- goal: [17, 18] + name: agent12 + start: [17, 2] +- goal: [16, 20] + name: agent13 + start: [25, 21] +- goal: [26, 12] + name: agent14 + start: [8, 3] +- goal: [19, 2] + name: agent15 + start: [11, 14] +- goal: [11, 9] + name: agent16 + start: [13, 2] +- goal: [11, 23] + name: agent17 + start: [0, 5] +- goal: [18, 17] + name: agent18 + start: [15, 20] +- goal: [5, 11] + name: agent19 + start: [22, 10] +- goal: [6, 18] + name: agent20 + start: [7, 31] +- goal: [11, 16] + name: agent21 + start: [19, 31] +- goal: [23, 24] + name: agent22 + start: [31, 5] +- goal: [31, 10] + name: agent23 + start: [9, 15] +- goal: [0, 14] + name: agent24 + start: [11, 15] +- goal: [17, 30] + name: agent25 + start: [6, 7] +- goal: [22, 20] + name: agent26 + start: [27, 5] +- goal: [12, 5] + name: agent27 + start: [4, 2] +- goal: [20, 18] + name: agent28 + start: [3, 17] +- goal: [2, 7] + name: agent29 + start: [23, 11] +- goal: [4, 9] + name: agent30 + start: [20, 27] +- goal: [31, 8] + name: agent31 + start: [8, 14] +- goal: [15, 22] + name: agent32 + start: [6, 8] +- goal: [16, 17] + name: agent33 + start: [3, 7] +- goal: [6, 1] + name: agent34 + start: [14, 20] +- goal: [23, 17] + name: agent35 + start: [1, 9] +- goal: [16, 5] + name: agent36 + start: [17, 12] +- goal: [17, 29] + name: agent37 + start: [15, 28] +- goal: [3, 16] + name: agent38 + start: [19, 4] +- goal: [18, 1] + name: agent39 + start: [29, 8] +- goal: [14, 29] + name: agent40 + start: [29, 7] +- goal: [28, 0] + name: agent41 + start: [27, 30] +- goal: [18, 30] + name: agent42 + start: [4, 11] +- goal: [5, 27] + name: agent43 + start: [0, 29] +- goal: [29, 12] + name: agent44 + start: [14, 1] +- goal: [13, 11] + name: agent45 + start: [17, 9] +- goal: [7, 18] + name: agent46 + start: [25, 18] +- goal: [8, 3] + name: agent47 + start: [11, 19] +- goal: [25, 2] + name: agent48 + start: [29, 1] +- goal: [16, 31] + name: agent49 + start: [28, 0] +- goal: [13, 20] + name: agent50 + start: [15, 15] +- goal: [10, 16] + name: agent51 + start: [8, 4] +- goal: [24, 27] + name: agent52 + start: [0, 22] +- goal: [12, 0] + name: agent53 + start: [3, 27] +- goal: [11, 11] + name: agent54 + start: [15, 1] +- goal: [23, 12] + name: agent55 + start: [7, 22] +- goal: [0, 6] + name: agent56 + start: [26, 30] +- goal: [16, 19] + name: agent57 + start: [12, 26] +- goal: [13, 7] + name: agent58 + start: [20, 9] +- goal: [5, 24] + name: agent59 + start: [4, 16] +- goal: [30, 15] + name: agent60 + start: [8, 1] +- goal: [1, 20] + name: agent61 + start: [4, 15] +- goal: [18, 22] + name: agent62 + start: [14, 23] +- goal: [14, 8] + name: agent63 + start: [8, 22] +- goal: [16, 2] + name: agent64 + start: [22, 20] +- goal: [17, 15] + name: agent65 + start: [21, 9] +- goal: [29, 24] + name: agent66 + start: [24, 20] +- goal: [23, 23] + name: agent67 + start: [3, 22] +- goal: [20, 4] + name: agent68 + start: [30, 4] +- goal: [28, 10] + name: agent69 + start: [6, 14] +- goal: [17, 31] + name: agent70 + start: [21, 31] +- goal: [16, 11] + name: agent71 + start: [30, 20] +- goal: [8, 17] + name: agent72 + start: [8, 11] +- goal: [24, 5] + name: agent73 + start: [10, 29] +- goal: [16, 6] + name: agent74 + start: [1, 11] +- goal: [31, 18] + name: agent75 + start: [17, 24] +- goal: [19, 1] + name: agent76 + start: [20, 22] +- goal: [14, 18] + name: agent77 + start: [31, 6] +- goal: [2, 21] + name: agent78 + start: [21, 26] +- goal: [28, 30] + name: agent79 + start: [29, 15] +- goal: [2, 18] + name: agent80 + start: [24, 27] +- goal: [26, 18] + name: agent81 + start: [30, 5] +- goal: [11, 6] + name: agent82 + start: [1, 17] +- goal: [8, 7] + name: agent83 + start: [22, 25] +- goal: [24, 22] + name: agent84 + start: [26, 19] +- goal: [17, 28] + name: agent85 + start: [6, 23] +- goal: [0, 25] + name: agent86 + start: [21, 21] +- goal: [12, 29] + name: agent87 + start: [14, 4] +- goal: [10, 2] + name: agent88 + start: [29, 24] +- goal: [23, 0] + name: agent89 + start: [19, 9] +- goal: [24, 31] + name: agent90 + start: [11, 25] +- goal: [14, 1] + name: agent91 + start: [11, 30] +- goal: [3, 15] + name: agent92 + start: [14, 0] +- goal: [21, 23] + name: agent93 + start: [14, 11] +- goal: [13, 16] + name: agent94 + start: [25, 1] +- goal: [11, 17] + name: agent95 + start: [18, 18] +- goal: [5, 29] + name: agent96 + start: [9, 26] +- goal: [5, 26] + name: agent97 + start: [2, 14] +- goal: [8, 31] + name: agent98 + start: [6, 18] +- goal: [11, 1] + name: agent99 + start: [28, 6] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [3, 4] + - !!python/tuple [8, 16] + - !!python/tuple [13, 12] + - !!python/tuple [12, 23] + - !!python/tuple [11, 3] + - !!python/tuple [28, 26] + - !!python/tuple [1, 31] + - !!python/tuple [21, 25] + - !!python/tuple [28, 16] + - !!python/tuple [4, 22] + - !!python/tuple [6, 19] + - !!python/tuple [19, 13] + - !!python/tuple [12, 25] + - !!python/tuple [16, 9] + - !!python/tuple [24, 24] + - !!python/tuple [25, 24] + - !!python/tuple [8, 20] + - !!python/tuple [6, 5] + - !!python/tuple [13, 27] + - !!python/tuple [7, 7] + - !!python/tuple [12, 21] + - !!python/tuple [24, 11] + - !!python/tuple [3, 0] + - !!python/tuple [0, 17] + - !!python/tuple [30, 2] + - !!python/tuple [30, 25] + - !!python/tuple [18, 9] + - !!python/tuple [2, 5] + - !!python/tuple [0, 4] + - !!python/tuple [14, 14] + - !!python/tuple [7, 10] + - !!python/tuple [31, 23] + - !!python/tuple [9, 27] + - !!python/tuple [23, 6] + - !!python/tuple [2, 6] + - !!python/tuple [24, 0] + - !!python/tuple [31, 0] + - !!python/tuple [16, 18] + - !!python/tuple [20, 31] + - !!python/tuple [17, 10] + - !!python/tuple [2, 17] + - !!python/tuple [20, 24] + - !!python/tuple [27, 1] + - !!python/tuple [2, 19] + - !!python/tuple [8, 26] + - !!python/tuple [15, 13] + - !!python/tuple [15, 9] + - !!python/tuple [29, 17] + - !!python/tuple [1, 25] + - !!python/tuple [26, 27] + - !!python/tuple [18, 14] + - !!python/tuple [15, 31] + - !!python/tuple [5, 8] + - !!python/tuple [16, 7] + - !!python/tuple [3, 26] + - !!python/tuple [11, 10] + - !!python/tuple [20, 2] + - !!python/tuple [19, 19] + - !!python/tuple [31, 29] + - !!python/tuple [12, 30] + - !!python/tuple [11, 29] + - !!python/tuple [25, 9] + - !!python/tuple [17, 27] + - !!python/tuple [9, 17] + - !!python/tuple [2, 28] + - !!python/tuple [23, 16] + - !!python/tuple [28, 20] + - !!python/tuple [9, 28] + - !!python/tuple [2, 20] + - !!python/tuple [14, 2] + - !!python/tuple [10, 17] + - !!python/tuple [18, 25] + - !!python/tuple [16, 15] + - !!python/tuple [7, 24] + - !!python/tuple [9, 6] + - !!python/tuple [9, 14] + - !!python/tuple [0, 15] + - !!python/tuple [1, 28] + - !!python/tuple [27, 3] + - !!python/tuple [5, 0] + - !!python/tuple [3, 30] + - !!python/tuple [13, 6] + - !!python/tuple [19, 18] + - !!python/tuple [31, 31] + - !!python/tuple [24, 21] + - !!python/tuple [1, 2] + - !!python/tuple [20, 13] + - !!python/tuple [29, 27] + - !!python/tuple [25, 28] + - !!python/tuple [13, 29] + - !!python/tuple [21, 19] + - !!python/tuple [16, 27] + - !!python/tuple [13, 3] + - !!python/tuple [4, 4] + - !!python/tuple [6, 15] + - !!python/tuple [13, 17] + - !!python/tuple [18, 13] + - !!python/tuple [24, 18] + - !!python/tuple [12, 10] + - !!python/tuple [29, 20] + - !!python/tuple [29, 14] + - !!python/tuple [28, 23] + - !!python/tuple [29, 29] + - !!python/tuple [9, 29] + - !!python/tuple [22, 22] + - !!python/tuple [25, 7] + - !!python/tuple [22, 31] + - !!python/tuple [22, 27] + - !!python/tuple [24, 25] + - !!python/tuple [30, 30] + - !!python/tuple [2, 12] + - !!python/tuple [25, 11] + - !!python/tuple [27, 16] + - !!python/tuple [27, 7] + - !!python/tuple [10, 8] + - !!python/tuple [4, 30] + - !!python/tuple [10, 24] + - !!python/tuple [20, 29] + - !!python/tuple [17, 26] + - !!python/tuple [0, 10] + - !!python/tuple [25, 16] + - !!python/tuple [13, 9] + - !!python/tuple [13, 10] + - !!python/tuple [2, 16] + - !!python/tuple [27, 29] + - !!python/tuple [21, 3] + - !!python/tuple [8, 28] + - !!python/tuple [8, 13] + - !!python/tuple [8, 18] + - !!python/tuple [24, 3] + - !!python/tuple [1, 19] + - !!python/tuple [24, 17] + - !!python/tuple [3, 31] + - !!python/tuple [11, 31] + - !!python/tuple [18, 29] + - !!python/tuple [28, 4] + - !!python/tuple [3, 2] + - !!python/tuple [20, 25] + - !!python/tuple [24, 15] + - !!python/tuple [19, 25] + - !!python/tuple [6, 26] + - !!python/tuple [27, 14] + - !!python/tuple [29, 18] + - !!python/tuple [2, 9] + - !!python/tuple [16, 3] + - !!python/tuple [22, 6] + - !!python/tuple [22, 23] + - !!python/tuple [5, 6] + - !!python/tuple [27, 28] + - !!python/tuple [19, 21] + - !!python/tuple [14, 9] + - !!python/tuple [7, 26] + - !!python/tuple [13, 31] + - !!python/tuple [21, 14] + - !!python/tuple [1, 0] + - !!python/tuple [17, 19] + - !!python/tuple [10, 20] + - !!python/tuple [1, 5] + - !!python/tuple [11, 22] + - !!python/tuple [24, 16] + - !!python/tuple [16, 28] + - !!python/tuple [15, 11] + - !!python/tuple [21, 29] + - !!python/tuple [20, 15] + - !!python/tuple [14, 26] + - !!python/tuple [27, 31] + - !!python/tuple [11, 24] + - !!python/tuple [26, 16] + - !!python/tuple [30, 3] + - !!python/tuple [3, 25] + - !!python/tuple [28, 14] + - !!python/tuple [14, 10] + - !!python/tuple [13, 25] + - !!python/tuple [0, 23] + - !!python/tuple [18, 5] + - !!python/tuple [10, 7] + - !!python/tuple [24, 23] + - !!python/tuple [1, 24] + - !!python/tuple [3, 6] + - !!python/tuple [3, 3] + - !!python/tuple [19, 15] + - !!python/tuple [17, 1] + - !!python/tuple [28, 8] + - !!python/tuple [13, 8] + - !!python/tuple [6, 21] + - !!python/tuple [3, 8] + - !!python/tuple [0, 16] + - !!python/tuple [23, 13] + - !!python/tuple [16, 24] + - !!python/tuple [7, 25] + - !!python/tuple [15, 7] + - !!python/tuple [29, 9] + - !!python/tuple [19, 24] + - !!python/tuple [30, 23] + - !!python/tuple [10, 28] + - !!python/tuple [4, 1] + - !!python/tuple [7, 11] + - !!python/tuple [10, 11] + - !!python/tuple [13, 1] + - !!python/tuple [14, 5] + - !!python/tuple [16, 25] + - !!python/tuple [19, 7] + - !!python/tuple [23, 27] + - !!python/tuple [3, 12] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex49.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex49.yaml new file mode 100644 index 0000000..db2b11d --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex49.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [19, 3] + name: agent0 + start: [16, 26] +- goal: [30, 8] + name: agent1 + start: [28, 16] +- goal: [27, 1] + name: agent2 + start: [19, 28] +- goal: [20, 2] + name: agent3 + start: [19, 21] +- goal: [10, 3] + name: agent4 + start: [9, 5] +- goal: [21, 26] + name: agent5 + start: [31, 6] +- goal: [15, 19] + name: agent6 + start: [26, 13] +- goal: [2, 26] + name: agent7 + start: [1, 20] +- goal: [12, 13] + name: agent8 + start: [0, 2] +- goal: [27, 27] + name: agent9 + start: [7, 22] +- goal: [4, 8] + name: agent10 + start: [30, 6] +- goal: [13, 29] + name: agent11 + start: [19, 12] +- goal: [12, 30] + name: agent12 + start: [8, 22] +- goal: [14, 0] + name: agent13 + start: [26, 1] +- goal: [3, 8] + name: agent14 + start: [19, 0] +- goal: [8, 8] + name: agent15 + start: [22, 6] +- goal: [8, 30] + name: agent16 + start: [2, 21] +- goal: [22, 24] + name: agent17 + start: [21, 20] +- goal: [29, 17] + name: agent18 + start: [13, 18] +- goal: [26, 26] + name: agent19 + start: [16, 25] +- goal: [0, 20] + name: agent20 + start: [10, 4] +- goal: [2, 27] + name: agent21 + start: [26, 8] +- goal: [16, 21] + name: agent22 + start: [4, 2] +- goal: [7, 12] + name: agent23 + start: [8, 17] +- goal: [11, 17] + name: agent24 + start: [25, 21] +- goal: [8, 9] + name: agent25 + start: [14, 30] +- goal: [2, 16] + name: agent26 + start: [17, 22] +- goal: [18, 14] + name: agent27 + start: [26, 28] +- goal: [7, 16] + name: agent28 + start: [8, 28] +- goal: [14, 21] + name: agent29 + start: [29, 3] +- goal: [29, 2] + name: agent30 + start: [9, 24] +- goal: [10, 10] + name: agent31 + start: [4, 22] +- goal: [0, 6] + name: agent32 + start: [20, 6] +- goal: [25, 17] + name: agent33 + start: [29, 25] +- goal: [1, 12] + name: agent34 + start: [9, 21] +- goal: [1, 7] + name: agent35 + start: [27, 29] +- goal: [10, 11] + name: agent36 + start: [28, 4] +- goal: [14, 5] + name: agent37 + start: [9, 14] +- goal: [31, 22] + name: agent38 + start: [27, 17] +- goal: [4, 20] + name: agent39 + start: [21, 5] +- goal: [11, 9] + name: agent40 + start: [24, 7] +- goal: [17, 27] + name: agent41 + start: [1, 29] +- goal: [29, 5] + name: agent42 + start: [9, 29] +- goal: [1, 31] + name: agent43 + start: [21, 27] +- goal: [30, 16] + name: agent44 + start: [5, 13] +- goal: [21, 7] + name: agent45 + start: [27, 13] +- goal: [24, 1] + name: agent46 + start: [2, 8] +- goal: [22, 4] + name: agent47 + start: [31, 28] +- goal: [27, 20] + name: agent48 + start: [13, 9] +- goal: [23, 25] + name: agent49 + start: [3, 30] +- goal: [28, 20] + name: agent50 + start: [22, 29] +- goal: [4, 27] + name: agent51 + start: [7, 11] +- goal: [23, 26] + name: agent52 + start: [19, 13] +- goal: [3, 9] + name: agent53 + start: [15, 0] +- goal: [29, 20] + name: agent54 + start: [25, 4] +- goal: [15, 8] + name: agent55 + start: [4, 4] +- goal: [3, 0] + name: agent56 + start: [19, 19] +- goal: [21, 4] + name: agent57 + start: [5, 20] +- goal: [13, 21] + name: agent58 + start: [19, 1] +- goal: [28, 13] + name: agent59 + start: [17, 0] +- goal: [19, 25] + name: agent60 + start: [26, 3] +- goal: [3, 12] + name: agent61 + start: [30, 15] +- goal: [20, 7] + name: agent62 + start: [24, 5] +- goal: [28, 4] + name: agent63 + start: [12, 9] +- goal: [29, 25] + name: agent64 + start: [21, 11] +- goal: [16, 16] + name: agent65 + start: [17, 1] +- goal: [27, 21] + name: agent66 + start: [23, 23] +- goal: [22, 13] + name: agent67 + start: [18, 5] +- goal: [30, 20] + name: agent68 + start: [0, 6] +- goal: [10, 13] + name: agent69 + start: [16, 20] +- goal: [18, 8] + name: agent70 + start: [14, 17] +- goal: [17, 4] + name: agent71 + start: [8, 9] +- goal: [5, 24] + name: agent72 + start: [16, 7] +- goal: [18, 16] + name: agent73 + start: [4, 16] +- goal: [5, 28] + name: agent74 + start: [25, 24] +- goal: [12, 19] + name: agent75 + start: [22, 3] +- goal: [27, 5] + name: agent76 + start: [7, 7] +- goal: [16, 29] + name: agent77 + start: [20, 20] +- goal: [16, 27] + name: agent78 + start: [4, 12] +- goal: [0, 11] + name: agent79 + start: [1, 2] +- goal: [18, 15] + name: agent80 + start: [4, 30] +- goal: [22, 25] + name: agent81 + start: [2, 23] +- goal: [30, 30] + name: agent82 + start: [23, 11] +- goal: [29, 19] + name: agent83 + start: [7, 1] +- goal: [19, 2] + name: agent84 + start: [25, 15] +- goal: [3, 26] + name: agent85 + start: [13, 25] +- goal: [1, 21] + name: agent86 + start: [30, 10] +- goal: [6, 13] + name: agent87 + start: [24, 9] +- goal: [14, 28] + name: agent88 + start: [20, 22] +- goal: [28, 2] + name: agent89 + start: [5, 16] +- goal: [20, 23] + name: agent90 + start: [3, 7] +- goal: [21, 16] + name: agent91 + start: [28, 8] +- goal: [30, 22] + name: agent92 + start: [11, 30] +- goal: [20, 5] + name: agent93 + start: [20, 0] +- goal: [16, 22] + name: agent94 + start: [15, 19] +- goal: [2, 18] + name: agent95 + start: [26, 9] +- goal: [24, 9] + name: agent96 + start: [30, 18] +- goal: [16, 18] + name: agent97 + start: [15, 18] +- goal: [6, 15] + name: agent98 + start: [4, 26] +- goal: [4, 23] + name: agent99 + start: [11, 1] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [15, 2] + - !!python/tuple [29, 29] + - !!python/tuple [25, 3] + - !!python/tuple [30, 19] + - !!python/tuple [18, 22] + - !!python/tuple [17, 19] + - !!python/tuple [6, 2] + - !!python/tuple [29, 13] + - !!python/tuple [7, 27] + - !!python/tuple [25, 31] + - !!python/tuple [11, 13] + - !!python/tuple [4, 10] + - !!python/tuple [26, 17] + - !!python/tuple [18, 9] + - !!python/tuple [14, 19] + - !!python/tuple [20, 19] + - !!python/tuple [15, 29] + - !!python/tuple [17, 2] + - !!python/tuple [24, 4] + - !!python/tuple [1, 14] + - !!python/tuple [20, 24] + - !!python/tuple [15, 12] + - !!python/tuple [7, 9] + - !!python/tuple [27, 24] + - !!python/tuple [10, 19] + - !!python/tuple [26, 7] + - !!python/tuple [26, 16] + - !!python/tuple [26, 20] + - !!python/tuple [18, 28] + - !!python/tuple [4, 14] + - !!python/tuple [16, 8] + - !!python/tuple [11, 28] + - !!python/tuple [15, 31] + - !!python/tuple [4, 25] + - !!python/tuple [28, 17] + - !!python/tuple [2, 29] + - !!python/tuple [2, 28] + - !!python/tuple [16, 2] + - !!python/tuple [14, 15] + - !!python/tuple [16, 1] + - !!python/tuple [21, 18] + - !!python/tuple [15, 7] + - !!python/tuple [13, 8] + - !!python/tuple [2, 20] + - !!python/tuple [12, 14] + - !!python/tuple [31, 9] + - !!python/tuple [5, 23] + - !!python/tuple [28, 29] + - !!python/tuple [4, 9] + - !!python/tuple [27, 11] + - !!python/tuple [23, 10] + - !!python/tuple [10, 23] + - !!python/tuple [20, 4] + - !!python/tuple [3, 24] + - !!python/tuple [12, 25] + - !!python/tuple [26, 27] + - !!python/tuple [29, 27] + - !!python/tuple [8, 10] + - !!python/tuple [18, 12] + - !!python/tuple [6, 16] + - !!python/tuple [17, 3] + - !!python/tuple [12, 0] + - !!python/tuple [11, 2] + - !!python/tuple [15, 10] + - !!python/tuple [11, 6] + - !!python/tuple [7, 17] + - !!python/tuple [0, 22] + - !!python/tuple [16, 23] + - !!python/tuple [6, 9] + - !!python/tuple [12, 23] + - !!python/tuple [19, 26] + - !!python/tuple [4, 18] + - !!python/tuple [21, 3] + - !!python/tuple [21, 2] + - !!python/tuple [5, 2] + - !!python/tuple [23, 30] + - !!python/tuple [29, 16] + - !!python/tuple [0, 8] + - !!python/tuple [26, 11] + - !!python/tuple [22, 0] + - !!python/tuple [28, 26] + - !!python/tuple [6, 6] + - !!python/tuple [3, 11] + - !!python/tuple [0, 4] + - !!python/tuple [3, 10] + - !!python/tuple [18, 18] + - !!python/tuple [22, 19] + - !!python/tuple [8, 1] + - !!python/tuple [28, 30] + - !!python/tuple [16, 15] + - !!python/tuple [5, 18] + - !!python/tuple [19, 30] + - !!python/tuple [27, 8] + - !!python/tuple [4, 15] + - !!python/tuple [21, 23] + - !!python/tuple [4, 6] + - !!python/tuple [10, 25] + - !!python/tuple [22, 31] + - !!python/tuple [6, 0] + - !!python/tuple [16, 6] + - !!python/tuple [13, 7] + - !!python/tuple [15, 6] + - !!python/tuple [9, 30] + - !!python/tuple [3, 17] + - !!python/tuple [11, 23] + - !!python/tuple [26, 18] + - !!python/tuple [9, 0] + - !!python/tuple [4, 0] + - !!python/tuple [26, 21] + - !!python/tuple [26, 12] + - !!python/tuple [12, 11] + - !!python/tuple [5, 9] + - !!python/tuple [31, 2] + - !!python/tuple [31, 10] + - !!python/tuple [18, 17] + - !!python/tuple [30, 27] + - !!python/tuple [16, 19] + - !!python/tuple [31, 18] + - !!python/tuple [31, 11] + - !!python/tuple [27, 16] + - !!python/tuple [23, 14] + - !!python/tuple [17, 9] + - !!python/tuple [14, 1] + - !!python/tuple [16, 10] + - !!python/tuple [17, 26] + - !!python/tuple [10, 16] + - !!python/tuple [30, 25] + - !!python/tuple [21, 29] + - !!python/tuple [3, 2] + - !!python/tuple [30, 12] + - !!python/tuple [14, 7] + - !!python/tuple [19, 18] + - !!python/tuple [28, 5] + - !!python/tuple [30, 14] + - !!python/tuple [15, 26] + - !!python/tuple [13, 26] + - !!python/tuple [5, 15] + - !!python/tuple [21, 13] + - !!python/tuple [3, 29] + - !!python/tuple [30, 7] + - !!python/tuple [29, 22] + - !!python/tuple [18, 30] + - !!python/tuple [25, 8] + - !!python/tuple [14, 16] + - !!python/tuple [11, 19] + - !!python/tuple [10, 26] + - !!python/tuple [10, 21] + - !!python/tuple [7, 6] + - !!python/tuple [9, 11] + - !!python/tuple [15, 21] + - !!python/tuple [29, 4] + - !!python/tuple [24, 30] + - !!python/tuple [3, 4] + - !!python/tuple [7, 21] + - !!python/tuple [25, 19] + - !!python/tuple [2, 9] + - !!python/tuple [19, 7] + - !!python/tuple [31, 16] + - !!python/tuple [24, 19] + - !!python/tuple [19, 15] + - !!python/tuple [24, 31] + - !!python/tuple [7, 0] + - !!python/tuple [20, 27] + - !!python/tuple [8, 0] + - !!python/tuple [9, 8] + - !!python/tuple [0, 0] + - !!python/tuple [30, 5] + - !!python/tuple [14, 25] + - !!python/tuple [12, 8] + - !!python/tuple [31, 21] + - !!python/tuple [10, 17] + - !!python/tuple [0, 27] + - !!python/tuple [6, 30] + - !!python/tuple [4, 28] + - !!python/tuple [13, 10] + - !!python/tuple [7, 18] + - !!python/tuple [7, 15] + - !!python/tuple [12, 29] + - !!python/tuple [31, 13] + - !!python/tuple [8, 3] + - !!python/tuple [2, 12] + - !!python/tuple [10, 20] + - !!python/tuple [21, 12] + - !!python/tuple [9, 23] + - !!python/tuple [29, 9] + - !!python/tuple [3, 20] + - !!python/tuple [28, 9] + - !!python/tuple [9, 4] + - !!python/tuple [7, 30] + - !!python/tuple [23, 2] + - !!python/tuple [31, 29] + - !!python/tuple [13, 12] + - !!python/tuple [10, 7] + - !!python/tuple [16, 13] + - !!python/tuple [17, 20] + - !!python/tuple [6, 28] + - !!python/tuple [6, 21] + - !!python/tuple [26, 6] + - !!python/tuple [24, 6] + - !!python/tuple [0, 10] + - !!python/tuple [15, 23] + - !!python/tuple [13, 2] + - !!python/tuple [23, 8] + - !!python/tuple [18, 25] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex5.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex5.yaml new file mode 100644 index 0000000..3de5090 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex5.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [23, 19] + name: agent0 + start: [31, 21] +- goal: [8, 28] + name: agent1 + start: [5, 11] +- goal: [6, 11] + name: agent2 + start: [30, 10] +- goal: [17, 22] + name: agent3 + start: [31, 5] +- goal: [14, 24] + name: agent4 + start: [18, 16] +- goal: [18, 7] + name: agent5 + start: [1, 23] +- goal: [22, 4] + name: agent6 + start: [15, 1] +- goal: [19, 22] + name: agent7 + start: [0, 19] +- goal: [0, 18] + name: agent8 + start: [1, 16] +- goal: [23, 3] + name: agent9 + start: [0, 13] +- goal: [31, 25] + name: agent10 + start: [24, 7] +- goal: [24, 18] + name: agent11 + start: [18, 21] +- goal: [25, 9] + name: agent12 + start: [3, 25] +- goal: [12, 1] + name: agent13 + start: [13, 11] +- goal: [6, 12] + name: agent14 + start: [22, 27] +- goal: [10, 6] + name: agent15 + start: [6, 25] +- goal: [13, 1] + name: agent16 + start: [14, 20] +- goal: [0, 15] + name: agent17 + start: [0, 16] +- goal: [14, 18] + name: agent18 + start: [20, 1] +- goal: [26, 15] + name: agent19 + start: [25, 13] +- goal: [13, 16] + name: agent20 + start: [15, 19] +- goal: [17, 27] + name: agent21 + start: [6, 14] +- goal: [19, 4] + name: agent22 + start: [9, 30] +- goal: [31, 31] + name: agent23 + start: [9, 17] +- goal: [29, 13] + name: agent24 + start: [13, 13] +- goal: [5, 19] + name: agent25 + start: [3, 0] +- goal: [5, 18] + name: agent26 + start: [3, 10] +- goal: [1, 24] + name: agent27 + start: [25, 5] +- goal: [5, 1] + name: agent28 + start: [17, 11] +- goal: [22, 31] + name: agent29 + start: [6, 15] +- goal: [15, 10] + name: agent30 + start: [28, 29] +- goal: [31, 11] + name: agent31 + start: [7, 31] +- goal: [6, 31] + name: agent32 + start: [6, 31] +- goal: [7, 29] + name: agent33 + start: [10, 26] +- goal: [26, 0] + name: agent34 + start: [6, 9] +- goal: [6, 20] + name: agent35 + start: [12, 7] +- goal: [2, 10] + name: agent36 + start: [14, 10] +- goal: [26, 16] + name: agent37 + start: [26, 9] +- goal: [21, 31] + name: agent38 + start: [18, 7] +- goal: [30, 19] + name: agent39 + start: [17, 7] +- goal: [5, 14] + name: agent40 + start: [13, 19] +- goal: [15, 16] + name: agent41 + start: [16, 19] +- goal: [5, 0] + name: agent42 + start: [26, 28] +- goal: [31, 19] + name: agent43 + start: [13, 3] +- goal: [27, 20] + name: agent44 + start: [24, 10] +- goal: [20, 18] + name: agent45 + start: [2, 21] +- goal: [29, 4] + name: agent46 + start: [20, 6] +- goal: [7, 11] + name: agent47 + start: [5, 25] +- goal: [18, 16] + name: agent48 + start: [17, 27] +- goal: [21, 12] + name: agent49 + start: [2, 28] +- goal: [17, 6] + name: agent50 + start: [27, 9] +- goal: [11, 16] + name: agent51 + start: [5, 24] +- goal: [3, 26] + name: agent52 + start: [22, 21] +- goal: [19, 9] + name: agent53 + start: [1, 22] +- goal: [27, 7] + name: agent54 + start: [27, 0] +- goal: [11, 27] + name: agent55 + start: [22, 10] +- goal: [4, 13] + name: agent56 + start: [31, 12] +- goal: [12, 5] + name: agent57 + start: [9, 31] +- goal: [30, 15] + name: agent58 + start: [27, 29] +- goal: [24, 6] + name: agent59 + start: [2, 13] +- goal: [31, 7] + name: agent60 + start: [14, 26] +- goal: [24, 12] + name: agent61 + start: [2, 23] +- goal: [23, 29] + name: agent62 + start: [26, 6] +- goal: [3, 3] + name: agent63 + start: [19, 17] +- goal: [3, 30] + name: agent64 + start: [4, 16] +- goal: [3, 17] + name: agent65 + start: [5, 9] +- goal: [16, 30] + name: agent66 + start: [3, 5] +- goal: [21, 6] + name: agent67 + start: [14, 6] +- goal: [12, 20] + name: agent68 + start: [27, 7] +- goal: [25, 8] + name: agent69 + start: [15, 15] +- goal: [29, 21] + name: agent70 + start: [25, 25] +- goal: [8, 17] + name: agent71 + start: [16, 18] +- goal: [6, 26] + name: agent72 + start: [23, 22] +- goal: [16, 1] + name: agent73 + start: [6, 22] +- goal: [28, 14] + name: agent74 + start: [27, 27] +- goal: [25, 31] + name: agent75 + start: [6, 16] +- goal: [12, 24] + name: agent76 + start: [4, 10] +- goal: [11, 11] + name: agent77 + start: [15, 30] +- goal: [23, 8] + name: agent78 + start: [7, 18] +- goal: [7, 6] + name: agent79 + start: [23, 6] +- goal: [25, 14] + name: agent80 + start: [4, 23] +- goal: [16, 22] + name: agent81 + start: [2, 3] +- goal: [24, 9] + name: agent82 + start: [14, 8] +- goal: [1, 5] + name: agent83 + start: [13, 18] +- goal: [27, 2] + name: agent84 + start: [27, 28] +- goal: [30, 7] + name: agent85 + start: [14, 27] +- goal: [21, 8] + name: agent86 + start: [30, 22] +- goal: [5, 21] + name: agent87 + start: [11, 13] +- goal: [12, 26] + name: agent88 + start: [19, 9] +- goal: [10, 22] + name: agent89 + start: [22, 23] +- goal: [5, 6] + name: agent90 + start: [7, 16] +- goal: [11, 14] + name: agent91 + start: [1, 5] +- goal: [30, 9] + name: agent92 + start: [0, 12] +- goal: [8, 12] + name: agent93 + start: [1, 19] +- goal: [19, 8] + name: agent94 + start: [29, 10] +- goal: [23, 15] + name: agent95 + start: [1, 30] +- goal: [23, 10] + name: agent96 + start: [7, 26] +- goal: [2, 25] + name: agent97 + start: [13, 10] +- goal: [17, 21] + name: agent98 + start: [10, 27] +- goal: [19, 18] + name: agent99 + start: [20, 28] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [15, 9] + - !!python/tuple [23, 14] + - !!python/tuple [12, 19] + - !!python/tuple [6, 23] + - !!python/tuple [18, 24] + - !!python/tuple [1, 11] + - !!python/tuple [21, 17] + - !!python/tuple [25, 15] + - !!python/tuple [20, 10] + - !!python/tuple [3, 8] + - !!python/tuple [29, 8] + - !!python/tuple [20, 7] + - !!python/tuple [2, 19] + - !!python/tuple [10, 11] + - !!python/tuple [23, 16] + - !!python/tuple [9, 18] + - !!python/tuple [16, 5] + - !!python/tuple [6, 2] + - !!python/tuple [27, 24] + - !!python/tuple [29, 0] + - !!python/tuple [0, 7] + - !!python/tuple [18, 3] + - !!python/tuple [25, 16] + - !!python/tuple [11, 12] + - !!python/tuple [17, 1] + - !!python/tuple [17, 28] + - !!python/tuple [11, 2] + - !!python/tuple [20, 22] + - !!python/tuple [5, 8] + - !!python/tuple [1, 20] + - !!python/tuple [14, 7] + - !!python/tuple [17, 17] + - !!python/tuple [26, 13] + - !!python/tuple [14, 16] + - !!python/tuple [6, 6] + - !!python/tuple [20, 15] + - !!python/tuple [7, 15] + - !!python/tuple [9, 25] + - !!python/tuple [29, 26] + - !!python/tuple [10, 9] + - !!python/tuple [8, 6] + - !!python/tuple [11, 19] + - !!python/tuple [17, 18] + - !!python/tuple [30, 2] + - !!python/tuple [14, 0] + - !!python/tuple [24, 4] + - !!python/tuple [29, 14] + - !!python/tuple [26, 26] + - !!python/tuple [5, 17] + - !!python/tuple [10, 13] + - !!python/tuple [2, 20] + - !!python/tuple [12, 9] + - !!python/tuple [22, 0] + - !!python/tuple [20, 17] + - !!python/tuple [0, 21] + - !!python/tuple [26, 19] + - !!python/tuple [7, 7] + - !!python/tuple [4, 29] + - !!python/tuple [18, 14] + - !!python/tuple [8, 20] + - !!python/tuple [7, 3] + - !!python/tuple [19, 10] + - !!python/tuple [5, 28] + - !!python/tuple [28, 22] + - !!python/tuple [2, 22] + - !!python/tuple [1, 12] + - !!python/tuple [0, 11] + - !!python/tuple [3, 16] + - !!python/tuple [9, 28] + - !!python/tuple [8, 27] + - !!python/tuple [10, 25] + - !!python/tuple [21, 21] + - !!python/tuple [7, 25] + - !!python/tuple [29, 28] + - !!python/tuple [3, 28] + - !!python/tuple [2, 30] + - !!python/tuple [30, 8] + - !!python/tuple [0, 29] + - !!python/tuple [14, 22] + - !!python/tuple [6, 21] + - !!python/tuple [14, 25] + - !!python/tuple [0, 28] + - !!python/tuple [14, 12] + - !!python/tuple [12, 17] + - !!python/tuple [3, 18] + - !!python/tuple [28, 25] + - !!python/tuple [14, 13] + - !!python/tuple [8, 15] + - !!python/tuple [13, 28] + - !!python/tuple [22, 7] + - !!python/tuple [8, 26] + - !!python/tuple [18, 17] + - !!python/tuple [18, 9] + - !!python/tuple [31, 16] + - !!python/tuple [27, 1] + - !!python/tuple [4, 27] + - !!python/tuple [5, 15] + - !!python/tuple [14, 2] + - !!python/tuple [13, 12] + - !!python/tuple [19, 27] + - !!python/tuple [25, 11] + - !!python/tuple [31, 8] + - !!python/tuple [24, 27] + - !!python/tuple [22, 18] + - !!python/tuple [10, 15] + - !!python/tuple [20, 24] + - !!python/tuple [16, 9] + - !!python/tuple [16, 15] + - !!python/tuple [1, 29] + - !!python/tuple [29, 6] + - !!python/tuple [9, 27] + - !!python/tuple [19, 12] + - !!python/tuple [29, 25] + - !!python/tuple [26, 11] + - !!python/tuple [9, 7] + - !!python/tuple [1, 26] + - !!python/tuple [23, 5] + - !!python/tuple [10, 24] + - !!python/tuple [0, 31] + - !!python/tuple [19, 15] + - !!python/tuple [21, 29] + - !!python/tuple [4, 21] + - !!python/tuple [5, 7] + - !!python/tuple [9, 6] + - !!python/tuple [9, 2] + - !!python/tuple [27, 16] + - !!python/tuple [6, 7] + - !!python/tuple [1, 4] + - !!python/tuple [28, 9] + - !!python/tuple [9, 19] + - !!python/tuple [1, 7] + - !!python/tuple [24, 19] + - !!python/tuple [1, 25] + - !!python/tuple [11, 20] + - !!python/tuple [31, 1] + - !!python/tuple [14, 21] + - !!python/tuple [28, 31] + - !!python/tuple [10, 14] + - !!python/tuple [30, 26] + - !!python/tuple [30, 23] + - !!python/tuple [2, 27] + - !!python/tuple [16, 24] + - !!python/tuple [10, 12] + - !!python/tuple [19, 19] + - !!python/tuple [21, 25] + - !!python/tuple [19, 28] + - !!python/tuple [2, 12] + - !!python/tuple [3, 11] + - !!python/tuple [16, 13] + - !!python/tuple [13, 8] + - !!python/tuple [29, 2] + - !!python/tuple [0, 26] + - !!python/tuple [26, 22] + - !!python/tuple [21, 10] + - !!python/tuple [20, 30] + - !!python/tuple [1, 21] + - !!python/tuple [3, 14] + - !!python/tuple [3, 4] + - !!python/tuple [11, 6] + - !!python/tuple [4, 28] + - !!python/tuple [25, 24] + - !!python/tuple [4, 0] + - !!python/tuple [7, 17] + - !!python/tuple [17, 2] + - !!python/tuple [28, 23] + - !!python/tuple [10, 20] + - !!python/tuple [4, 8] + - !!python/tuple [23, 27] + - !!python/tuple [2, 18] + - !!python/tuple [9, 11] + - !!python/tuple [30, 25] + - !!python/tuple [16, 0] + - !!python/tuple [23, 0] + - !!python/tuple [16, 31] + - !!python/tuple [31, 0] + - !!python/tuple [28, 5] + - !!python/tuple [22, 5] + - !!python/tuple [9, 10] + - !!python/tuple [20, 23] + - !!python/tuple [11, 15] + - !!python/tuple [1, 6] + - !!python/tuple [23, 9] + - !!python/tuple [15, 26] + - !!python/tuple [22, 12] + - !!python/tuple [26, 30] + - !!python/tuple [12, 12] + - !!python/tuple [2, 16] + - !!python/tuple [16, 20] + - !!python/tuple [18, 29] + - !!python/tuple [13, 6] + - !!python/tuple [8, 24] + - !!python/tuple [2, 5] + - !!python/tuple [17, 13] + - !!python/tuple [25, 29] + - !!python/tuple [29, 7] + - !!python/tuple [12, 23] + - !!python/tuple [17, 24] + - !!python/tuple [30, 30] + - !!python/tuple [29, 5] + - !!python/tuple [18, 4] + - !!python/tuple [16, 16] + - !!python/tuple [2, 7] + - !!python/tuple [1, 13] + - !!python/tuple [20, 26] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex50.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex50.yaml new file mode 100644 index 0000000..39f8f64 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex50.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [9, 28] + name: agent0 + start: [0, 8] +- goal: [28, 19] + name: agent1 + start: [29, 20] +- goal: [2, 26] + name: agent2 + start: [24, 27] +- goal: [11, 7] + name: agent3 + start: [21, 28] +- goal: [20, 0] + name: agent4 + start: [9, 21] +- goal: [11, 20] + name: agent5 + start: [20, 13] +- goal: [2, 24] + name: agent6 + start: [19, 6] +- goal: [0, 6] + name: agent7 + start: [30, 26] +- goal: [12, 8] + name: agent8 + start: [7, 26] +- goal: [25, 28] + name: agent9 + start: [26, 7] +- goal: [3, 16] + name: agent10 + start: [31, 21] +- goal: [19, 19] + name: agent11 + start: [28, 0] +- goal: [5, 2] + name: agent12 + start: [6, 8] +- goal: [27, 23] + name: agent13 + start: [22, 26] +- goal: [4, 23] + name: agent14 + start: [21, 30] +- goal: [20, 24] + name: agent15 + start: [29, 22] +- goal: [7, 21] + name: agent16 + start: [20, 7] +- goal: [11, 13] + name: agent17 + start: [19, 13] +- goal: [29, 16] + name: agent18 + start: [25, 21] +- goal: [26, 29] + name: agent19 + start: [18, 27] +- goal: [27, 29] + name: agent20 + start: [22, 8] +- goal: [4, 6] + name: agent21 + start: [7, 13] +- goal: [31, 15] + name: agent22 + start: [10, 19] +- goal: [23, 23] + name: agent23 + start: [11, 2] +- goal: [23, 7] + name: agent24 + start: [30, 24] +- goal: [16, 16] + name: agent25 + start: [23, 21] +- goal: [19, 22] + name: agent26 + start: [24, 6] +- goal: [22, 16] + name: agent27 + start: [17, 24] +- goal: [11, 19] + name: agent28 + start: [12, 17] +- goal: [30, 21] + name: agent29 + start: [15, 16] +- goal: [9, 1] + name: agent30 + start: [20, 28] +- goal: [15, 3] + name: agent31 + start: [20, 27] +- goal: [28, 1] + name: agent32 + start: [25, 20] +- goal: [10, 20] + name: agent33 + start: [11, 5] +- goal: [28, 28] + name: agent34 + start: [12, 3] +- goal: [10, 9] + name: agent35 + start: [16, 10] +- goal: [18, 29] + name: agent36 + start: [22, 10] +- goal: [23, 26] + name: agent37 + start: [21, 26] +- goal: [15, 6] + name: agent38 + start: [11, 0] +- goal: [11, 12] + name: agent39 + start: [7, 31] +- goal: [21, 16] + name: agent40 + start: [4, 22] +- goal: [13, 20] + name: agent41 + start: [22, 9] +- goal: [8, 7] + name: agent42 + start: [3, 22] +- goal: [19, 12] + name: agent43 + start: [18, 11] +- goal: [9, 9] + name: agent44 + start: [30, 30] +- goal: [13, 6] + name: agent45 + start: [23, 4] +- goal: [5, 12] + name: agent46 + start: [9, 16] +- goal: [26, 23] + name: agent47 + start: [20, 22] +- goal: [13, 16] + name: agent48 + start: [3, 15] +- goal: [19, 29] + name: agent49 + start: [22, 1] +- goal: [30, 3] + name: agent50 + start: [9, 14] +- goal: [1, 3] + name: agent51 + start: [8, 10] +- goal: [7, 28] + name: agent52 + start: [3, 5] +- goal: [4, 13] + name: agent53 + start: [18, 15] +- goal: [20, 4] + name: agent54 + start: [20, 21] +- goal: [5, 24] + name: agent55 + start: [28, 14] +- goal: [29, 25] + name: agent56 + start: [9, 5] +- goal: [22, 1] + name: agent57 + start: [4, 0] +- goal: [21, 26] + name: agent58 + start: [5, 12] +- goal: [28, 22] + name: agent59 + start: [27, 18] +- goal: [5, 22] + name: agent60 + start: [25, 3] +- goal: [1, 9] + name: agent61 + start: [30, 11] +- goal: [25, 5] + name: agent62 + start: [19, 11] +- goal: [10, 13] + name: agent63 + start: [8, 12] +- goal: [22, 2] + name: agent64 + start: [5, 21] +- goal: [2, 25] + name: agent65 + start: [5, 18] +- goal: [10, 11] + name: agent66 + start: [0, 22] +- goal: [28, 16] + name: agent67 + start: [30, 3] +- goal: [1, 23] + name: agent68 + start: [23, 20] +- goal: [1, 1] + name: agent69 + start: [2, 27] +- goal: [9, 5] + name: agent70 + start: [12, 25] +- goal: [28, 6] + name: agent71 + start: [3, 9] +- goal: [6, 24] + name: agent72 + start: [9, 19] +- goal: [1, 25] + name: agent73 + start: [15, 8] +- goal: [0, 12] + name: agent74 + start: [16, 11] +- goal: [29, 7] + name: agent75 + start: [31, 15] +- goal: [15, 25] + name: agent76 + start: [0, 11] +- goal: [1, 18] + name: agent77 + start: [0, 25] +- goal: [1, 20] + name: agent78 + start: [3, 26] +- goal: [2, 23] + name: agent79 + start: [15, 14] +- goal: [8, 2] + name: agent80 + start: [18, 18] +- goal: [21, 10] + name: agent81 + start: [11, 25] +- goal: [16, 11] + name: agent82 + start: [8, 30] +- goal: [12, 13] + name: agent83 + start: [28, 5] +- goal: [4, 26] + name: agent84 + start: [11, 29] +- goal: [13, 26] + name: agent85 + start: [19, 29] +- goal: [17, 11] + name: agent86 + start: [3, 25] +- goal: [15, 7] + name: agent87 + start: [9, 2] +- goal: [14, 20] + name: agent88 + start: [14, 5] +- goal: [12, 4] + name: agent89 + start: [31, 23] +- goal: [25, 30] + name: agent90 + start: [20, 23] +- goal: [2, 9] + name: agent91 + start: [25, 28] +- goal: [2, 0] + name: agent92 + start: [24, 21] +- goal: [27, 9] + name: agent93 + start: [12, 28] +- goal: [12, 12] + name: agent94 + start: [31, 17] +- goal: [30, 12] + name: agent95 + start: [19, 3] +- goal: [3, 14] + name: agent96 + start: [22, 6] +- goal: [31, 1] + name: agent97 + start: [4, 20] +- goal: [22, 9] + name: agent98 + start: [29, 28] +- goal: [11, 4] + name: agent99 + start: [25, 6] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [7, 11] + - !!python/tuple [15, 12] + - !!python/tuple [13, 31] + - !!python/tuple [30, 17] + - !!python/tuple [4, 2] + - !!python/tuple [6, 21] + - !!python/tuple [1, 27] + - !!python/tuple [19, 15] + - !!python/tuple [18, 5] + - !!python/tuple [22, 20] + - !!python/tuple [26, 12] + - !!python/tuple [16, 13] + - !!python/tuple [8, 23] + - !!python/tuple [2, 7] + - !!python/tuple [9, 25] + - !!python/tuple [27, 26] + - !!python/tuple [22, 23] + - !!python/tuple [9, 23] + - !!python/tuple [10, 21] + - !!python/tuple [4, 5] + - !!python/tuple [14, 4] + - !!python/tuple [5, 3] + - !!python/tuple [26, 19] + - !!python/tuple [0, 4] + - !!python/tuple [21, 20] + - !!python/tuple [22, 13] + - !!python/tuple [30, 0] + - !!python/tuple [27, 16] + - !!python/tuple [0, 1] + - !!python/tuple [5, 10] + - !!python/tuple [15, 11] + - !!python/tuple [22, 4] + - !!python/tuple [20, 20] + - !!python/tuple [19, 16] + - !!python/tuple [13, 12] + - !!python/tuple [17, 0] + - !!python/tuple [28, 12] + - !!python/tuple [26, 28] + - !!python/tuple [25, 0] + - !!python/tuple [12, 19] + - !!python/tuple [6, 30] + - !!python/tuple [21, 13] + - !!python/tuple [25, 18] + - !!python/tuple [14, 0] + - !!python/tuple [3, 1] + - !!python/tuple [23, 11] + - !!python/tuple [24, 1] + - !!python/tuple [6, 7] + - !!python/tuple [19, 10] + - !!python/tuple [30, 20] + - !!python/tuple [5, 0] + - !!python/tuple [4, 27] + - !!python/tuple [21, 15] + - !!python/tuple [18, 0] + - !!python/tuple [12, 26] + - !!python/tuple [17, 6] + - !!python/tuple [3, 3] + - !!python/tuple [8, 18] + - !!python/tuple [24, 14] + - !!python/tuple [30, 19] + - !!python/tuple [5, 13] + - !!python/tuple [17, 14] + - !!python/tuple [22, 24] + - !!python/tuple [18, 28] + - !!python/tuple [0, 26] + - !!python/tuple [8, 16] + - !!python/tuple [26, 22] + - !!python/tuple [25, 4] + - !!python/tuple [16, 30] + - !!python/tuple [31, 16] + - !!python/tuple [6, 29] + - !!python/tuple [18, 24] + - !!python/tuple [29, 6] + - !!python/tuple [12, 24] + - !!python/tuple [27, 22] + - !!python/tuple [8, 22] + - !!python/tuple [14, 27] + - !!python/tuple [26, 25] + - !!python/tuple [17, 17] + - !!python/tuple [31, 12] + - !!python/tuple [11, 27] + - !!python/tuple [11, 21] + - !!python/tuple [31, 28] + - !!python/tuple [23, 31] + - !!python/tuple [28, 27] + - !!python/tuple [7, 6] + - !!python/tuple [13, 23] + - !!python/tuple [4, 31] + - !!python/tuple [19, 26] + - !!python/tuple [30, 6] + - !!python/tuple [13, 29] + - !!python/tuple [0, 5] + - !!python/tuple [7, 1] + - !!python/tuple [20, 1] + - !!python/tuple [24, 5] + - !!python/tuple [10, 29] + - !!python/tuple [7, 9] + - !!python/tuple [18, 6] + - !!python/tuple [8, 17] + - !!python/tuple [13, 25] + - !!python/tuple [30, 13] + - !!python/tuple [29, 5] + - !!python/tuple [29, 23] + - !!python/tuple [6, 22] + - !!python/tuple [26, 4] + - !!python/tuple [27, 6] + - !!python/tuple [10, 6] + - !!python/tuple [8, 21] + - !!python/tuple [13, 15] + - !!python/tuple [18, 25] + - !!python/tuple [25, 26] + - !!python/tuple [30, 27] + - !!python/tuple [27, 3] + - !!python/tuple [28, 21] + - !!python/tuple [17, 4] + - !!python/tuple [30, 25] + - !!python/tuple [6, 27] + - !!python/tuple [24, 8] + - !!python/tuple [11, 16] + - !!python/tuple [12, 18] + - !!python/tuple [31, 9] + - !!python/tuple [22, 12] + - !!python/tuple [8, 1] + - !!python/tuple [30, 5] + - !!python/tuple [10, 1] + - !!python/tuple [23, 12] + - !!python/tuple [2, 14] + - !!python/tuple [16, 6] + - !!python/tuple [8, 27] + - !!python/tuple [29, 2] + - !!python/tuple [19, 17] + - !!python/tuple [1, 5] + - !!python/tuple [20, 3] + - !!python/tuple [31, 26] + - !!python/tuple [24, 7] + - !!python/tuple [26, 3] + - !!python/tuple [15, 1] + - !!python/tuple [8, 8] + - !!python/tuple [9, 27] + - !!python/tuple [21, 31] + - !!python/tuple [1, 8] + - !!python/tuple [10, 16] + - !!python/tuple [22, 5] + - !!python/tuple [20, 9] + - !!python/tuple [14, 29] + - !!python/tuple [27, 15] + - !!python/tuple [10, 30] + - !!python/tuple [7, 12] + - !!python/tuple [14, 22] + - !!python/tuple [4, 18] + - !!python/tuple [7, 24] + - !!python/tuple [23, 17] + - !!python/tuple [14, 23] + - !!python/tuple [0, 31] + - !!python/tuple [23, 2] + - !!python/tuple [22, 21] + - !!python/tuple [20, 5] + - !!python/tuple [3, 17] + - !!python/tuple [1, 22] + - !!python/tuple [16, 7] + - !!python/tuple [16, 9] + - !!python/tuple [7, 5] + - !!python/tuple [7, 2] + - !!python/tuple [3, 2] + - !!python/tuple [13, 19] + - !!python/tuple [2, 20] + - !!python/tuple [11, 28] + - !!python/tuple [17, 8] + - !!python/tuple [8, 19] + - !!python/tuple [21, 9] + - !!python/tuple [22, 17] + - !!python/tuple [8, 3] + - !!python/tuple [12, 7] + - !!python/tuple [3, 7] + - !!python/tuple [6, 13] + - !!python/tuple [12, 27] + - !!python/tuple [4, 3] + - !!python/tuple [4, 14] + - !!python/tuple [29, 10] + - !!python/tuple [9, 20] + - !!python/tuple [21, 1] + - !!python/tuple [15, 15] + - !!python/tuple [2, 22] + - !!python/tuple [11, 10] + - !!python/tuple [21, 19] + - !!python/tuple [24, 2] + - !!python/tuple [9, 15] + - !!python/tuple [17, 22] + - !!python/tuple [27, 27] + - !!python/tuple [1, 29] + - !!python/tuple [28, 10] + - !!python/tuple [28, 7] + - !!python/tuple [17, 13] + - !!python/tuple [9, 7] + - !!python/tuple [31, 10] + - !!python/tuple [0, 0] + - !!python/tuple [12, 31] + - !!python/tuple [30, 10] + - !!python/tuple [12, 30] + - !!python/tuple [22, 19] + - !!python/tuple [31, 22] + - !!python/tuple [16, 22] + - !!python/tuple [0, 19] + - !!python/tuple [22, 3] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex51.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex51.yaml new file mode 100644 index 0000000..6c85317 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex51.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [17, 14] + name: agent0 + start: [20, 22] +- goal: [31, 14] + name: agent1 + start: [6, 12] +- goal: [18, 25] + name: agent2 + start: [17, 11] +- goal: [27, 11] + name: agent3 + start: [13, 2] +- goal: [4, 25] + name: agent4 + start: [27, 5] +- goal: [7, 28] + name: agent5 + start: [2, 23] +- goal: [20, 22] + name: agent6 + start: [8, 13] +- goal: [26, 29] + name: agent7 + start: [9, 8] +- goal: [13, 31] + name: agent8 + start: [11, 18] +- goal: [17, 6] + name: agent9 + start: [22, 13] +- goal: [22, 20] + name: agent10 + start: [28, 13] +- goal: [29, 19] + name: agent11 + start: [19, 27] +- goal: [2, 21] + name: agent12 + start: [16, 29] +- goal: [15, 13] + name: agent13 + start: [11, 24] +- goal: [15, 20] + name: agent14 + start: [21, 11] +- goal: [13, 29] + name: agent15 + start: [16, 9] +- goal: [26, 19] + name: agent16 + start: [18, 5] +- goal: [17, 23] + name: agent17 + start: [10, 3] +- goal: [9, 21] + name: agent18 + start: [22, 27] +- goal: [5, 25] + name: agent19 + start: [29, 7] +- goal: [16, 5] + name: agent20 + start: [7, 20] +- goal: [9, 8] + name: agent21 + start: [13, 23] +- goal: [7, 0] + name: agent22 + start: [0, 29] +- goal: [23, 20] + name: agent23 + start: [21, 5] +- goal: [13, 1] + name: agent24 + start: [17, 14] +- goal: [14, 22] + name: agent25 + start: [24, 14] +- goal: [22, 17] + name: agent26 + start: [18, 31] +- goal: [29, 2] + name: agent27 + start: [28, 2] +- goal: [16, 20] + name: agent28 + start: [3, 14] +- goal: [11, 27] + name: agent29 + start: [17, 3] +- goal: [25, 31] + name: agent30 + start: [20, 24] +- goal: [0, 9] + name: agent31 + start: [21, 20] +- goal: [16, 23] + name: agent32 + start: [0, 9] +- goal: [4, 8] + name: agent33 + start: [14, 18] +- goal: [30, 25] + name: agent34 + start: [23, 19] +- goal: [20, 11] + name: agent35 + start: [14, 4] +- goal: [21, 19] + name: agent36 + start: [15, 8] +- goal: [18, 12] + name: agent37 + start: [6, 8] +- goal: [0, 29] + name: agent38 + start: [19, 5] +- goal: [4, 2] + name: agent39 + start: [11, 29] +- goal: [6, 8] + name: agent40 + start: [27, 28] +- goal: [3, 10] + name: agent41 + start: [28, 27] +- goal: [16, 28] + name: agent42 + start: [14, 5] +- goal: [15, 27] + name: agent43 + start: [9, 12] +- goal: [10, 28] + name: agent44 + start: [2, 15] +- goal: [25, 10] + name: agent45 + start: [4, 27] +- goal: [3, 24] + name: agent46 + start: [10, 23] +- goal: [4, 16] + name: agent47 + start: [15, 13] +- goal: [26, 1] + name: agent48 + start: [10, 29] +- goal: [31, 29] + name: agent49 + start: [23, 28] +- goal: [11, 12] + name: agent50 + start: [5, 13] +- goal: [2, 5] + name: agent51 + start: [18, 19] +- goal: [27, 1] + name: agent52 + start: [14, 2] +- goal: [18, 30] + name: agent53 + start: [19, 14] +- goal: [29, 11] + name: agent54 + start: [25, 6] +- goal: [0, 16] + name: agent55 + start: [16, 1] +- goal: [0, 5] + name: agent56 + start: [23, 8] +- goal: [9, 27] + name: agent57 + start: [25, 29] +- goal: [25, 29] + name: agent58 + start: [30, 18] +- goal: [12, 29] + name: agent59 + start: [25, 9] +- goal: [31, 3] + name: agent60 + start: [13, 11] +- goal: [19, 9] + name: agent61 + start: [30, 31] +- goal: [24, 17] + name: agent62 + start: [6, 21] +- goal: [7, 27] + name: agent63 + start: [9, 7] +- goal: [22, 4] + name: agent64 + start: [1, 25] +- goal: [22, 26] + name: agent65 + start: [12, 11] +- goal: [6, 15] + name: agent66 + start: [24, 12] +- goal: [30, 5] + name: agent67 + start: [31, 3] +- goal: [17, 7] + name: agent68 + start: [1, 19] +- goal: [5, 21] + name: agent69 + start: [15, 21] +- goal: [17, 17] + name: agent70 + start: [28, 21] +- goal: [5, 3] + name: agent71 + start: [15, 14] +- goal: [9, 5] + name: agent72 + start: [21, 27] +- goal: [16, 3] + name: agent73 + start: [17, 20] +- goal: [26, 6] + name: agent74 + start: [14, 14] +- goal: [12, 3] + name: agent75 + start: [28, 6] +- goal: [8, 31] + name: agent76 + start: [6, 22] +- goal: [8, 28] + name: agent77 + start: [6, 4] +- goal: [17, 1] + name: agent78 + start: [11, 14] +- goal: [17, 21] + name: agent79 + start: [31, 14] +- goal: [23, 8] + name: agent80 + start: [7, 22] +- goal: [22, 31] + name: agent81 + start: [10, 24] +- goal: [14, 13] + name: agent82 + start: [20, 14] +- goal: [28, 14] + name: agent83 + start: [8, 4] +- goal: [8, 23] + name: agent84 + start: [4, 16] +- goal: [2, 27] + name: agent85 + start: [16, 5] +- goal: [21, 5] + name: agent86 + start: [12, 27] +- goal: [9, 24] + name: agent87 + start: [29, 17] +- goal: [20, 4] + name: agent88 + start: [6, 19] +- goal: [20, 10] + name: agent89 + start: [9, 28] +- goal: [11, 18] + name: agent90 + start: [9, 1] +- goal: [0, 12] + name: agent91 + start: [27, 12] +- goal: [3, 7] + name: agent92 + start: [22, 15] +- goal: [7, 7] + name: agent93 + start: [26, 8] +- goal: [12, 18] + name: agent94 + start: [23, 24] +- goal: [11, 20] + name: agent95 + start: [2, 6] +- goal: [8, 14] + name: agent96 + start: [24, 15] +- goal: [3, 15] + name: agent97 + start: [18, 24] +- goal: [6, 14] + name: agent98 + start: [7, 28] +- goal: [31, 28] + name: agent99 + start: [9, 4] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [9, 18] + - !!python/tuple [28, 11] + - !!python/tuple [29, 14] + - !!python/tuple [28, 10] + - !!python/tuple [18, 9] + - !!python/tuple [4, 10] + - !!python/tuple [6, 3] + - !!python/tuple [15, 3] + - !!python/tuple [3, 16] + - !!python/tuple [31, 22] + - !!python/tuple [16, 16] + - !!python/tuple [30, 23] + - !!python/tuple [29, 25] + - !!python/tuple [30, 13] + - !!python/tuple [26, 13] + - !!python/tuple [24, 6] + - !!python/tuple [0, 17] + - !!python/tuple [9, 2] + - !!python/tuple [6, 9] + - !!python/tuple [30, 6] + - !!python/tuple [16, 18] + - !!python/tuple [31, 16] + - !!python/tuple [26, 26] + - !!python/tuple [8, 10] + - !!python/tuple [9, 15] + - !!python/tuple [14, 19] + - !!python/tuple [4, 13] + - !!python/tuple [0, 14] + - !!python/tuple [15, 4] + - !!python/tuple [0, 23] + - !!python/tuple [18, 7] + - !!python/tuple [16, 2] + - !!python/tuple [1, 3] + - !!python/tuple [31, 24] + - !!python/tuple [8, 26] + - !!python/tuple [2, 12] + - !!python/tuple [30, 10] + - !!python/tuple [7, 19] + - !!python/tuple [17, 12] + - !!python/tuple [11, 13] + - !!python/tuple [2, 14] + - !!python/tuple [9, 3] + - !!python/tuple [25, 24] + - !!python/tuple [27, 22] + - !!python/tuple [22, 23] + - !!python/tuple [23, 10] + - !!python/tuple [18, 4] + - !!python/tuple [12, 2] + - !!python/tuple [26, 7] + - !!python/tuple [5, 7] + - !!python/tuple [15, 0] + - !!python/tuple [11, 0] + - !!python/tuple [22, 19] + - !!python/tuple [22, 24] + - !!python/tuple [20, 19] + - !!python/tuple [8, 19] + - !!python/tuple [1, 31] + - !!python/tuple [24, 1] + - !!python/tuple [8, 3] + - !!python/tuple [21, 3] + - !!python/tuple [23, 15] + - !!python/tuple [4, 1] + - !!python/tuple [24, 30] + - !!python/tuple [7, 9] + - !!python/tuple [3, 25] + - !!python/tuple [25, 19] + - !!python/tuple [7, 1] + - !!python/tuple [6, 23] + - !!python/tuple [17, 31] + - !!python/tuple [25, 18] + - !!python/tuple [3, 29] + - !!python/tuple [28, 20] + - !!python/tuple [14, 11] + - !!python/tuple [8, 29] + - !!python/tuple [9, 17] + - !!python/tuple [2, 10] + - !!python/tuple [29, 20] + - !!python/tuple [13, 24] + - !!python/tuple [17, 19] + - !!python/tuple [24, 25] + - !!python/tuple [29, 4] + - !!python/tuple [10, 25] + - !!python/tuple [27, 9] + - !!python/tuple [18, 0] + - !!python/tuple [11, 30] + - !!python/tuple [28, 16] + - !!python/tuple [0, 30] + - !!python/tuple [29, 12] + - !!python/tuple [18, 3] + - !!python/tuple [16, 22] + - !!python/tuple [3, 20] + - !!python/tuple [24, 23] + - !!python/tuple [5, 18] + - !!python/tuple [10, 31] + - !!python/tuple [0, 2] + - !!python/tuple [19, 15] + - !!python/tuple [19, 12] + - !!python/tuple [25, 26] + - !!python/tuple [1, 22] + - !!python/tuple [22, 30] + - !!python/tuple [0, 0] + - !!python/tuple [26, 16] + - !!python/tuple [13, 10] + - !!python/tuple [16, 30] + - !!python/tuple [15, 30] + - !!python/tuple [18, 2] + - !!python/tuple [0, 18] + - !!python/tuple [19, 29] + - !!python/tuple [3, 26] + - !!python/tuple [6, 28] + - !!python/tuple [24, 22] + - !!python/tuple [9, 9] + - !!python/tuple [18, 13] + - !!python/tuple [31, 25] + - !!python/tuple [20, 30] + - !!python/tuple [14, 15] + - !!python/tuple [2, 25] + - !!python/tuple [17, 10] + - !!python/tuple [7, 21] + - !!python/tuple [20, 3] + - !!python/tuple [26, 28] + - !!python/tuple [27, 8] + - !!python/tuple [13, 27] + - !!python/tuple [27, 20] + - !!python/tuple [0, 20] + - !!python/tuple [22, 5] + - !!python/tuple [22, 3] + - !!python/tuple [1, 10] + - !!python/tuple [25, 1] + - !!python/tuple [8, 11] + - !!python/tuple [23, 16] + - !!python/tuple [20, 8] + - !!python/tuple [29, 0] + - !!python/tuple [3, 2] + - !!python/tuple [15, 15] + - !!python/tuple [9, 14] + - !!python/tuple [20, 5] + - !!python/tuple [31, 31] + - !!python/tuple [4, 5] + - !!python/tuple [12, 7] + - !!python/tuple [13, 5] + - !!python/tuple [6, 0] + - !!python/tuple [20, 28] + - !!python/tuple [13, 26] + - !!python/tuple [22, 21] + - !!python/tuple [1, 4] + - !!python/tuple [26, 5] + - !!python/tuple [31, 21] + - !!python/tuple [31, 1] + - !!python/tuple [2, 4] + - !!python/tuple [16, 11] + - !!python/tuple [29, 10] + - !!python/tuple [1, 14] + - !!python/tuple [13, 14] + - !!python/tuple [22, 2] + - !!python/tuple [4, 0] + - !!python/tuple [14, 25] + - !!python/tuple [12, 26] + - !!python/tuple [27, 30] + - !!python/tuple [10, 30] + - !!python/tuple [24, 28] + - !!python/tuple [1, 9] + - !!python/tuple [8, 9] + - !!python/tuple [25, 22] + - !!python/tuple [23, 3] + - !!python/tuple [19, 3] + - !!python/tuple [1, 12] + - !!python/tuple [23, 27] + - !!python/tuple [24, 11] + - !!python/tuple [12, 4] + - !!python/tuple [10, 12] + - !!python/tuple [31, 19] + - !!python/tuple [3, 3] + - !!python/tuple [30, 21] + - !!python/tuple [6, 11] + - !!python/tuple [28, 23] + - !!python/tuple [27, 29] + - !!python/tuple [26, 14] + - !!python/tuple [19, 19] + - !!python/tuple [20, 29] + - !!python/tuple [31, 6] + - !!python/tuple [28, 0] + - !!python/tuple [6, 20] + - !!python/tuple [4, 15] + - !!python/tuple [23, 30] + - !!python/tuple [17, 4] + - !!python/tuple [11, 31] + - !!python/tuple [13, 16] + - !!python/tuple [2, 20] + - !!python/tuple [6, 24] + - !!python/tuple [4, 20] + - !!python/tuple [24, 7] + - !!python/tuple [31, 17] + - !!python/tuple [30, 3] + - !!python/tuple [30, 29] + - !!python/tuple [7, 23] + - !!python/tuple [18, 8] + - !!python/tuple [2, 13] + - !!python/tuple [27, 4] + - !!python/tuple [8, 8] + - !!python/tuple [2, 18] + - !!python/tuple [27, 14] + - !!python/tuple [30, 4] + - !!python/tuple [12, 22] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex52.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex52.yaml new file mode 100644 index 0000000..7064355 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex52.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [14, 15] + name: agent0 + start: [14, 19] +- goal: [28, 18] + name: agent1 + start: [17, 20] +- goal: [31, 16] + name: agent2 + start: [13, 4] +- goal: [1, 25] + name: agent3 + start: [24, 27] +- goal: [15, 27] + name: agent4 + start: [21, 6] +- goal: [17, 20] + name: agent5 + start: [14, 5] +- goal: [2, 15] + name: agent6 + start: [27, 31] +- goal: [10, 18] + name: agent7 + start: [19, 1] +- goal: [11, 15] + name: agent8 + start: [1, 31] +- goal: [18, 19] + name: agent9 + start: [7, 0] +- goal: [22, 11] + name: agent10 + start: [3, 22] +- goal: [26, 2] + name: agent11 + start: [29, 24] +- goal: [29, 27] + name: agent12 + start: [3, 19] +- goal: [7, 21] + name: agent13 + start: [17, 7] +- goal: [15, 14] + name: agent14 + start: [21, 22] +- goal: [25, 28] + name: agent15 + start: [23, 17] +- goal: [16, 31] + name: agent16 + start: [11, 25] +- goal: [4, 21] + name: agent17 + start: [5, 0] +- goal: [18, 7] + name: agent18 + start: [29, 26] +- goal: [29, 3] + name: agent19 + start: [31, 7] +- goal: [29, 13] + name: agent20 + start: [8, 15] +- goal: [7, 19] + name: agent21 + start: [3, 13] +- goal: [8, 27] + name: agent22 + start: [19, 26] +- goal: [22, 14] + name: agent23 + start: [25, 22] +- goal: [11, 2] + name: agent24 + start: [31, 14] +- goal: [13, 1] + name: agent25 + start: [28, 17] +- goal: [19, 3] + name: agent26 + start: [26, 15] +- goal: [24, 3] + name: agent27 + start: [9, 14] +- goal: [24, 1] + name: agent28 + start: [29, 18] +- goal: [23, 7] + name: agent29 + start: [1, 14] +- goal: [2, 10] + name: agent30 + start: [29, 31] +- goal: [0, 11] + name: agent31 + start: [31, 9] +- goal: [0, 19] + name: agent32 + start: [21, 23] +- goal: [13, 26] + name: agent33 + start: [18, 30] +- goal: [3, 13] + name: agent34 + start: [24, 30] +- goal: [15, 16] + name: agent35 + start: [21, 15] +- goal: [16, 6] + name: agent36 + start: [21, 30] +- goal: [12, 21] + name: agent37 + start: [11, 2] +- goal: [21, 12] + name: agent38 + start: [23, 21] +- goal: [3, 22] + name: agent39 + start: [27, 4] +- goal: [6, 18] + name: agent40 + start: [0, 4] +- goal: [31, 3] + name: agent41 + start: [10, 30] +- goal: [29, 29] + name: agent42 + start: [4, 6] +- goal: [3, 26] + name: agent43 + start: [26, 20] +- goal: [1, 26] + name: agent44 + start: [12, 4] +- goal: [10, 14] + name: agent45 + start: [31, 10] +- goal: [9, 2] + name: agent46 + start: [13, 21] +- goal: [18, 21] + name: agent47 + start: [19, 7] +- goal: [9, 26] + name: agent48 + start: [14, 16] +- goal: [25, 9] + name: agent49 + start: [21, 31] +- goal: [21, 21] + name: agent50 + start: [0, 2] +- goal: [21, 2] + name: agent51 + start: [3, 1] +- goal: [3, 9] + name: agent52 + start: [16, 10] +- goal: [26, 11] + name: agent53 + start: [11, 31] +- goal: [8, 6] + name: agent54 + start: [2, 16] +- goal: [12, 5] + name: agent55 + start: [21, 27] +- goal: [11, 5] + name: agent56 + start: [25, 17] +- goal: [1, 30] + name: agent57 + start: [8, 27] +- goal: [28, 15] + name: agent58 + start: [7, 7] +- goal: [29, 8] + name: agent59 + start: [17, 22] +- goal: [21, 3] + name: agent60 + start: [20, 22] +- goal: [9, 8] + name: agent61 + start: [14, 15] +- goal: [24, 23] + name: agent62 + start: [27, 8] +- goal: [24, 15] + name: agent63 + start: [27, 2] +- goal: [21, 9] + name: agent64 + start: [28, 13] +- goal: [29, 5] + name: agent65 + start: [7, 19] +- goal: [13, 19] + name: agent66 + start: [9, 16] +- goal: [9, 20] + name: agent67 + start: [29, 1] +- goal: [6, 13] + name: agent68 + start: [26, 29] +- goal: [29, 1] + name: agent69 + start: [9, 3] +- goal: [16, 14] + name: agent70 + start: [13, 9] +- goal: [10, 26] + name: agent71 + start: [13, 8] +- goal: [13, 21] + name: agent72 + start: [24, 1] +- goal: [25, 29] + name: agent73 + start: [15, 26] +- goal: [17, 7] + name: agent74 + start: [30, 20] +- goal: [8, 4] + name: agent75 + start: [2, 0] +- goal: [7, 13] + name: agent76 + start: [3, 4] +- goal: [12, 16] + name: agent77 + start: [7, 26] +- goal: [9, 17] + name: agent78 + start: [24, 24] +- goal: [22, 7] + name: agent79 + start: [26, 13] +- goal: [31, 2] + name: agent80 + start: [6, 3] +- goal: [2, 21] + name: agent81 + start: [15, 3] +- goal: [2, 23] + name: agent82 + start: [30, 15] +- goal: [13, 14] + name: agent83 + start: [15, 12] +- goal: [3, 27] + name: agent84 + start: [8, 18] +- goal: [30, 13] + name: agent85 + start: [16, 14] +- goal: [30, 30] + name: agent86 + start: [19, 23] +- goal: [26, 27] + name: agent87 + start: [3, 9] +- goal: [9, 29] + name: agent88 + start: [20, 14] +- goal: [19, 16] + name: agent89 + start: [22, 0] +- goal: [0, 10] + name: agent90 + start: [3, 27] +- goal: [3, 5] + name: agent91 + start: [7, 9] +- goal: [3, 19] + name: agent92 + start: [22, 7] +- goal: [17, 5] + name: agent93 + start: [1, 17] +- goal: [18, 26] + name: agent94 + start: [14, 18] +- goal: [11, 3] + name: agent95 + start: [8, 25] +- goal: [25, 31] + name: agent96 + start: [29, 30] +- goal: [25, 16] + name: agent97 + start: [2, 28] +- goal: [21, 7] + name: agent98 + start: [8, 7] +- goal: [26, 0] + name: agent99 + start: [27, 26] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [2, 31] + - !!python/tuple [2, 22] + - !!python/tuple [21, 19] + - !!python/tuple [5, 8] + - !!python/tuple [29, 20] + - !!python/tuple [20, 0] + - !!python/tuple [31, 19] + - !!python/tuple [16, 12] + - !!python/tuple [22, 1] + - !!python/tuple [29, 25] + - !!python/tuple [22, 2] + - !!python/tuple [16, 18] + - !!python/tuple [11, 19] + - !!python/tuple [16, 23] + - !!python/tuple [13, 2] + - !!python/tuple [12, 6] + - !!python/tuple [10, 17] + - !!python/tuple [2, 27] + - !!python/tuple [9, 10] + - !!python/tuple [11, 1] + - !!python/tuple [24, 21] + - !!python/tuple [6, 15] + - !!python/tuple [22, 9] + - !!python/tuple [30, 17] + - !!python/tuple [30, 4] + - !!python/tuple [21, 5] + - !!python/tuple [0, 3] + - !!python/tuple [16, 13] + - !!python/tuple [10, 16] + - !!python/tuple [8, 0] + - !!python/tuple [30, 6] + - !!python/tuple [22, 13] + - !!python/tuple [22, 15] + - !!python/tuple [22, 6] + - !!python/tuple [25, 2] + - !!python/tuple [27, 12] + - !!python/tuple [28, 2] + - !!python/tuple [26, 14] + - !!python/tuple [24, 7] + - !!python/tuple [8, 13] + - !!python/tuple [20, 13] + - !!python/tuple [6, 12] + - !!python/tuple [31, 23] + - !!python/tuple [22, 22] + - !!python/tuple [23, 27] + - !!python/tuple [31, 18] + - !!python/tuple [23, 2] + - !!python/tuple [21, 14] + - !!python/tuple [3, 2] + - !!python/tuple [24, 25] + - !!python/tuple [6, 16] + - !!python/tuple [14, 0] + - !!python/tuple [7, 5] + - !!python/tuple [11, 11] + - !!python/tuple [15, 1] + - !!python/tuple [16, 5] + - !!python/tuple [12, 3] + - !!python/tuple [18, 24] + - !!python/tuple [17, 23] + - !!python/tuple [23, 9] + - !!python/tuple [8, 12] + - !!python/tuple [27, 18] + - !!python/tuple [6, 14] + - !!python/tuple [12, 13] + - !!python/tuple [30, 21] + - !!python/tuple [22, 8] + - !!python/tuple [0, 12] + - !!python/tuple [9, 1] + - !!python/tuple [18, 16] + - !!python/tuple [18, 28] + - !!python/tuple [2, 2] + - !!python/tuple [13, 24] + - !!python/tuple [14, 23] + - !!python/tuple [14, 31] + - !!python/tuple [31, 22] + - !!python/tuple [26, 23] + - !!python/tuple [30, 2] + - !!python/tuple [25, 18] + - !!python/tuple [24, 13] + - !!python/tuple [0, 18] + - !!python/tuple [29, 2] + - !!python/tuple [16, 2] + - !!python/tuple [19, 0] + - !!python/tuple [6, 24] + - !!python/tuple [9, 31] + - !!python/tuple [29, 14] + - !!python/tuple [26, 4] + - !!python/tuple [20, 8] + - !!python/tuple [0, 26] + - !!python/tuple [5, 20] + - !!python/tuple [12, 20] + - !!python/tuple [5, 11] + - !!python/tuple [11, 14] + - !!python/tuple [22, 16] + - !!python/tuple [23, 19] + - !!python/tuple [27, 15] + - !!python/tuple [9, 0] + - !!python/tuple [21, 18] + - !!python/tuple [5, 28] + - !!python/tuple [3, 18] + - !!python/tuple [15, 4] + - !!python/tuple [24, 9] + - !!python/tuple [8, 2] + - !!python/tuple [13, 3] + - !!python/tuple [10, 10] + - !!python/tuple [17, 15] + - !!python/tuple [26, 8] + - !!python/tuple [24, 2] + - !!python/tuple [16, 8] + - !!python/tuple [28, 0] + - !!python/tuple [24, 29] + - !!python/tuple [5, 18] + - !!python/tuple [1, 20] + - !!python/tuple [17, 30] + - !!python/tuple [30, 16] + - !!python/tuple [12, 2] + - !!python/tuple [2, 20] + - !!python/tuple [13, 7] + - !!python/tuple [20, 3] + - !!python/tuple [25, 23] + - !!python/tuple [27, 16] + - !!python/tuple [4, 27] + - !!python/tuple [16, 9] + - !!python/tuple [30, 26] + - !!python/tuple [22, 26] + - !!python/tuple [23, 10] + - !!python/tuple [19, 28] + - !!python/tuple [13, 23] + - !!python/tuple [4, 17] + - !!python/tuple [24, 22] + - !!python/tuple [8, 20] + - !!python/tuple [1, 0] + - !!python/tuple [28, 24] + - !!python/tuple [7, 6] + - !!python/tuple [12, 1] + - !!python/tuple [31, 21] + - !!python/tuple [31, 31] + - !!python/tuple [7, 14] + - !!python/tuple [9, 7] + - !!python/tuple [13, 25] + - !!python/tuple [13, 20] + - !!python/tuple [23, 4] + - !!python/tuple [5, 26] + - !!python/tuple [17, 28] + - !!python/tuple [16, 22] + - !!python/tuple [21, 28] + - !!python/tuple [16, 28] + - !!python/tuple [5, 13] + - !!python/tuple [31, 13] + - !!python/tuple [6, 21] + - !!python/tuple [14, 1] + - !!python/tuple [2, 12] + - !!python/tuple [24, 28] + - !!python/tuple [12, 10] + - !!python/tuple [1, 9] + - !!python/tuple [18, 29] + - !!python/tuple [17, 27] + - !!python/tuple [8, 28] + - !!python/tuple [7, 8] + - !!python/tuple [30, 22] + - !!python/tuple [16, 15] + - !!python/tuple [6, 27] + - !!python/tuple [26, 24] + - !!python/tuple [28, 28] + - !!python/tuple [4, 20] + - !!python/tuple [30, 31] + - !!python/tuple [10, 29] + - !!python/tuple [14, 28] + - !!python/tuple [20, 16] + - !!python/tuple [21, 10] + - !!python/tuple [14, 14] + - !!python/tuple [9, 11] + - !!python/tuple [18, 11] + - !!python/tuple [1, 7] + - !!python/tuple [19, 12] + - !!python/tuple [16, 19] + - !!python/tuple [2, 11] + - !!python/tuple [4, 15] + - !!python/tuple [0, 8] + - !!python/tuple [15, 5] + - !!python/tuple [3, 6] + - !!python/tuple [22, 5] + - !!python/tuple [1, 1] + - !!python/tuple [5, 4] + - !!python/tuple [20, 30] + - !!python/tuple [6, 10] + - !!python/tuple [4, 19] + - !!python/tuple [4, 12] + - !!python/tuple [1, 5] + - !!python/tuple [27, 7] + - !!python/tuple [5, 7] + - !!python/tuple [3, 20] + - !!python/tuple [18, 25] + - !!python/tuple [14, 6] + - !!python/tuple [14, 17] + - !!python/tuple [7, 31] + - !!python/tuple [17, 6] + - !!python/tuple [11, 9] + - !!python/tuple [17, 29] + - !!python/tuple [25, 12] + - !!python/tuple [5, 31] + - !!python/tuple [15, 13] + - !!python/tuple [8, 24] + - !!python/tuple [0, 7] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex53.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex53.yaml new file mode 100644 index 0000000..44b7ad1 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex53.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [26, 10] + name: agent0 + start: [24, 20] +- goal: [3, 29] + name: agent1 + start: [24, 18] +- goal: [10, 24] + name: agent2 + start: [4, 30] +- goal: [5, 19] + name: agent3 + start: [11, 28] +- goal: [25, 12] + name: agent4 + start: [23, 5] +- goal: [21, 29] + name: agent5 + start: [13, 28] +- goal: [10, 15] + name: agent6 + start: [26, 26] +- goal: [11, 8] + name: agent7 + start: [1, 9] +- goal: [20, 2] + name: agent8 + start: [13, 4] +- goal: [5, 10] + name: agent9 + start: [31, 11] +- goal: [8, 10] + name: agent10 + start: [26, 13] +- goal: [29, 1] + name: agent11 + start: [19, 0] +- goal: [15, 6] + name: agent12 + start: [12, 6] +- goal: [11, 17] + name: agent13 + start: [29, 9] +- goal: [1, 1] + name: agent14 + start: [22, 8] +- goal: [12, 16] + name: agent15 + start: [18, 16] +- goal: [24, 19] + name: agent16 + start: [3, 1] +- goal: [5, 17] + name: agent17 + start: [19, 12] +- goal: [26, 22] + name: agent18 + start: [17, 31] +- goal: [5, 24] + name: agent19 + start: [0, 20] +- goal: [19, 8] + name: agent20 + start: [14, 22] +- goal: [2, 27] + name: agent21 + start: [26, 23] +- goal: [21, 9] + name: agent22 + start: [17, 10] +- goal: [5, 29] + name: agent23 + start: [5, 3] +- goal: [4, 2] + name: agent24 + start: [16, 9] +- goal: [14, 26] + name: agent25 + start: [22, 20] +- goal: [9, 20] + name: agent26 + start: [27, 17] +- goal: [0, 24] + name: agent27 + start: [27, 14] +- goal: [20, 22] + name: agent28 + start: [21, 6] +- goal: [13, 13] + name: agent29 + start: [17, 4] +- goal: [2, 28] + name: agent30 + start: [18, 30] +- goal: [13, 16] + name: agent31 + start: [7, 8] +- goal: [18, 0] + name: agent32 + start: [16, 4] +- goal: [13, 31] + name: agent33 + start: [5, 11] +- goal: [8, 29] + name: agent34 + start: [3, 8] +- goal: [13, 5] + name: agent35 + start: [6, 27] +- goal: [19, 28] + name: agent36 + start: [9, 25] +- goal: [15, 18] + name: agent37 + start: [28, 4] +- goal: [30, 13] + name: agent38 + start: [29, 29] +- goal: [23, 4] + name: agent39 + start: [17, 30] +- goal: [18, 8] + name: agent40 + start: [12, 19] +- goal: [1, 29] + name: agent41 + start: [18, 10] +- goal: [4, 24] + name: agent42 + start: [27, 26] +- goal: [9, 12] + name: agent43 + start: [0, 10] +- goal: [12, 29] + name: agent44 + start: [1, 21] +- goal: [0, 1] + name: agent45 + start: [0, 23] +- goal: [10, 13] + name: agent46 + start: [6, 12] +- goal: [23, 16] + name: agent47 + start: [20, 16] +- goal: [9, 22] + name: agent48 + start: [25, 14] +- goal: [20, 16] + name: agent49 + start: [18, 14] +- goal: [5, 5] + name: agent50 + start: [1, 29] +- goal: [22, 13] + name: agent51 + start: [28, 14] +- goal: [30, 29] + name: agent52 + start: [27, 18] +- goal: [5, 15] + name: agent53 + start: [25, 30] +- goal: [16, 2] + name: agent54 + start: [10, 14] +- goal: [12, 27] + name: agent55 + start: [13, 13] +- goal: [23, 22] + name: agent56 + start: [26, 2] +- goal: [20, 27] + name: agent57 + start: [30, 5] +- goal: [31, 7] + name: agent58 + start: [2, 4] +- goal: [17, 21] + name: agent59 + start: [8, 25] +- goal: [15, 9] + name: agent60 + start: [24, 14] +- goal: [6, 11] + name: agent61 + start: [17, 18] +- goal: [11, 1] + name: agent62 + start: [26, 12] +- goal: [7, 1] + name: agent63 + start: [31, 9] +- goal: [6, 28] + name: agent64 + start: [19, 4] +- goal: [25, 10] + name: agent65 + start: [24, 4] +- goal: [30, 22] + name: agent66 + start: [31, 13] +- goal: [28, 3] + name: agent67 + start: [26, 5] +- goal: [21, 27] + name: agent68 + start: [13, 20] +- goal: [18, 19] + name: agent69 + start: [19, 13] +- goal: [29, 11] + name: agent70 + start: [16, 18] +- goal: [20, 21] + name: agent71 + start: [13, 19] +- goal: [13, 15] + name: agent72 + start: [5, 19] +- goal: [1, 18] + name: agent73 + start: [11, 25] +- goal: [31, 5] + name: agent74 + start: [8, 22] +- goal: [1, 28] + name: agent75 + start: [13, 30] +- goal: [5, 26] + name: agent76 + start: [11, 5] +- goal: [26, 21] + name: agent77 + start: [23, 27] +- goal: [18, 10] + name: agent78 + start: [9, 13] +- goal: [23, 20] + name: agent79 + start: [0, 6] +- goal: [31, 0] + name: agent80 + start: [28, 26] +- goal: [2, 14] + name: agent81 + start: [11, 4] +- goal: [0, 17] + name: agent82 + start: [5, 29] +- goal: [1, 24] + name: agent83 + start: [20, 3] +- goal: [14, 10] + name: agent84 + start: [14, 14] +- goal: [9, 8] + name: agent85 + start: [13, 31] +- goal: [13, 25] + name: agent86 + start: [4, 7] +- goal: [8, 30] + name: agent87 + start: [9, 30] +- goal: [10, 27] + name: agent88 + start: [12, 29] +- goal: [11, 30] + name: agent89 + start: [0, 9] +- goal: [27, 23] + name: agent90 + start: [10, 24] +- goal: [15, 1] + name: agent91 + start: [6, 22] +- goal: [24, 16] + name: agent92 + start: [24, 16] +- goal: [3, 8] + name: agent93 + start: [11, 7] +- goal: [14, 22] + name: agent94 + start: [31, 24] +- goal: [11, 7] + name: agent95 + start: [16, 1] +- goal: [10, 11] + name: agent96 + start: [8, 26] +- goal: [14, 29] + name: agent97 + start: [26, 4] +- goal: [5, 9] + name: agent98 + start: [27, 15] +- goal: [28, 8] + name: agent99 + start: [25, 8] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [23, 26] + - !!python/tuple [10, 7] + - !!python/tuple [1, 4] + - !!python/tuple [15, 26] + - !!python/tuple [21, 3] + - !!python/tuple [7, 7] + - !!python/tuple [23, 12] + - !!python/tuple [6, 13] + - !!python/tuple [7, 31] + - !!python/tuple [4, 16] + - !!python/tuple [15, 27] + - !!python/tuple [14, 2] + - !!python/tuple [16, 27] + - !!python/tuple [5, 1] + - !!python/tuple [4, 1] + - !!python/tuple [9, 11] + - !!python/tuple [1, 2] + - !!python/tuple [11, 3] + - !!python/tuple [6, 20] + - !!python/tuple [24, 22] + - !!python/tuple [9, 3] + - !!python/tuple [15, 7] + - !!python/tuple [16, 21] + - !!python/tuple [12, 15] + - !!python/tuple [25, 9] + - !!python/tuple [8, 15] + - !!python/tuple [13, 22] + - !!python/tuple [22, 26] + - !!python/tuple [6, 29] + - !!python/tuple [23, 24] + - !!python/tuple [15, 13] + - !!python/tuple [29, 10] + - !!python/tuple [19, 15] + - !!python/tuple [8, 9] + - !!python/tuple [12, 14] + - !!python/tuple [30, 21] + - !!python/tuple [0, 8] + - !!python/tuple [2, 5] + - !!python/tuple [15, 29] + - !!python/tuple [10, 18] + - !!python/tuple [6, 5] + - !!python/tuple [0, 31] + - !!python/tuple [22, 24] + - !!python/tuple [19, 10] + - !!python/tuple [20, 15] + - !!python/tuple [26, 3] + - !!python/tuple [0, 26] + - !!python/tuple [21, 28] + - !!python/tuple [8, 7] + - !!python/tuple [14, 3] + - !!python/tuple [12, 13] + - !!python/tuple [29, 6] + - !!python/tuple [4, 31] + - !!python/tuple [31, 16] + - !!python/tuple [5, 14] + - !!python/tuple [29, 8] + - !!python/tuple [17, 20] + - !!python/tuple [6, 23] + - !!python/tuple [7, 24] + - !!python/tuple [26, 19] + - !!python/tuple [7, 4] + - !!python/tuple [19, 17] + - !!python/tuple [12, 10] + - !!python/tuple [13, 21] + - !!python/tuple [21, 31] + - !!python/tuple [8, 3] + - !!python/tuple [19, 24] + - !!python/tuple [19, 30] + - !!python/tuple [3, 11] + - !!python/tuple [10, 25] + - !!python/tuple [16, 16] + - !!python/tuple [18, 18] + - !!python/tuple [14, 21] + - !!python/tuple [15, 21] + - !!python/tuple [8, 28] + - !!python/tuple [0, 5] + - !!python/tuple [18, 4] + - !!python/tuple [3, 25] + - !!python/tuple [1, 12] + - !!python/tuple [5, 7] + - !!python/tuple [14, 19] + - !!python/tuple [21, 0] + - !!python/tuple [21, 16] + - !!python/tuple [21, 19] + - !!python/tuple [9, 16] + - !!python/tuple [25, 11] + - !!python/tuple [17, 24] + - !!python/tuple [6, 15] + - !!python/tuple [29, 15] + - !!python/tuple [27, 19] + - !!python/tuple [23, 3] + - !!python/tuple [22, 11] + - !!python/tuple [20, 5] + - !!python/tuple [1, 22] + - !!python/tuple [23, 7] + - !!python/tuple [6, 1] + - !!python/tuple [5, 13] + - !!python/tuple [30, 26] + - !!python/tuple [26, 27] + - !!python/tuple [17, 0] + - !!python/tuple [30, 1] + - !!python/tuple [29, 7] + - !!python/tuple [12, 31] + - !!python/tuple [29, 22] + - !!python/tuple [19, 22] + - !!python/tuple [2, 7] + - !!python/tuple [22, 14] + - !!python/tuple [29, 2] + - !!python/tuple [27, 10] + - !!python/tuple [18, 31] + - !!python/tuple [19, 11] + - !!python/tuple [30, 9] + - !!python/tuple [16, 6] + - !!python/tuple [7, 30] + - !!python/tuple [31, 30] + - !!python/tuple [29, 14] + - !!python/tuple [12, 24] + - !!python/tuple [15, 2] + - !!python/tuple [5, 25] + - !!python/tuple [0, 29] + - !!python/tuple [31, 21] + - !!python/tuple [20, 14] + - !!python/tuple [27, 20] + - !!python/tuple [3, 19] + - !!python/tuple [19, 26] + - !!python/tuple [12, 18] + - !!python/tuple [21, 10] + - !!python/tuple [1, 26] + - !!python/tuple [16, 3] + - !!python/tuple [21, 12] + - !!python/tuple [11, 26] + - !!python/tuple [18, 24] + - !!python/tuple [12, 1] + - !!python/tuple [3, 6] + - !!python/tuple [30, 25] + - !!python/tuple [3, 28] + - !!python/tuple [31, 22] + - !!python/tuple [25, 31] + - !!python/tuple [25, 22] + - !!python/tuple [24, 2] + - !!python/tuple [2, 24] + - !!python/tuple [18, 5] + - !!python/tuple [2, 16] + - !!python/tuple [2, 22] + - !!python/tuple [28, 29] + - !!python/tuple [2, 13] + - !!python/tuple [29, 27] + - !!python/tuple [20, 8] + - !!python/tuple [24, 12] + - !!python/tuple [22, 25] + - !!python/tuple [10, 19] + - !!python/tuple [0, 19] + - !!python/tuple [19, 2] + - !!python/tuple [3, 21] + - !!python/tuple [31, 25] + - !!python/tuple [15, 25] + - !!python/tuple [28, 20] + - !!python/tuple [29, 31] + - !!python/tuple [13, 23] + - !!python/tuple [2, 0] + - !!python/tuple [14, 13] + - !!python/tuple [28, 10] + - !!python/tuple [9, 21] + - !!python/tuple [15, 22] + - !!python/tuple [20, 12] + - !!python/tuple [31, 19] + - !!python/tuple [18, 11] + - !!python/tuple [19, 23] + - !!python/tuple [23, 2] + - !!python/tuple [28, 23] + - !!python/tuple [24, 11] + - !!python/tuple [22, 31] + - !!python/tuple [3, 17] + - !!python/tuple [19, 6] + - !!python/tuple [21, 30] + - !!python/tuple [11, 14] + - !!python/tuple [20, 10] + - !!python/tuple [3, 31] + - !!python/tuple [17, 27] + - !!python/tuple [11, 16] + - !!python/tuple [4, 29] + - !!python/tuple [22, 23] + - !!python/tuple [4, 28] + - !!python/tuple [21, 25] + - !!python/tuple [7, 5] + - !!python/tuple [27, 5] + - !!python/tuple [23, 29] + - !!python/tuple [20, 29] + - !!python/tuple [23, 17] + - !!python/tuple [29, 21] + - !!python/tuple [11, 15] + - !!python/tuple [2, 6] + - !!python/tuple [26, 9] + - !!python/tuple [11, 19] + - !!python/tuple [12, 17] + - !!python/tuple [2, 21] + - !!python/tuple [9, 31] + - !!python/tuple [7, 3] + - !!python/tuple [22, 6] + - !!python/tuple [16, 26] + - !!python/tuple [23, 15] + - !!python/tuple [14, 4] + - !!python/tuple [13, 3] + - !!python/tuple [16, 13] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex54.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex54.yaml new file mode 100644 index 0000000..61f7026 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex54.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [5, 18] + name: agent0 + start: [8, 15] +- goal: [12, 2] + name: agent1 + start: [1, 24] +- goal: [9, 8] + name: agent2 + start: [12, 20] +- goal: [31, 8] + name: agent3 + start: [21, 21] +- goal: [18, 30] + name: agent4 + start: [4, 6] +- goal: [29, 9] + name: agent5 + start: [27, 12] +- goal: [18, 24] + name: agent6 + start: [22, 26] +- goal: [19, 21] + name: agent7 + start: [19, 23] +- goal: [0, 0] + name: agent8 + start: [26, 20] +- goal: [3, 10] + name: agent9 + start: [3, 23] +- goal: [12, 26] + name: agent10 + start: [2, 24] +- goal: [11, 14] + name: agent11 + start: [1, 25] +- goal: [22, 10] + name: agent12 + start: [23, 23] +- goal: [7, 17] + name: agent13 + start: [5, 27] +- goal: [31, 28] + name: agent14 + start: [0, 23] +- goal: [13, 8] + name: agent15 + start: [13, 2] +- goal: [23, 25] + name: agent16 + start: [4, 22] +- goal: [23, 27] + name: agent17 + start: [10, 17] +- goal: [2, 8] + name: agent18 + start: [1, 2] +- goal: [19, 0] + name: agent19 + start: [19, 2] +- goal: [14, 3] + name: agent20 + start: [10, 13] +- goal: [26, 31] + name: agent21 + start: [11, 13] +- goal: [22, 12] + name: agent22 + start: [8, 26] +- goal: [17, 27] + name: agent23 + start: [21, 6] +- goal: [19, 26] + name: agent24 + start: [16, 30] +- goal: [8, 23] + name: agent25 + start: [15, 13] +- goal: [6, 11] + name: agent26 + start: [7, 22] +- goal: [4, 3] + name: agent27 + start: [21, 24] +- goal: [17, 21] + name: agent28 + start: [30, 14] +- goal: [29, 25] + name: agent29 + start: [21, 12] +- goal: [7, 18] + name: agent30 + start: [31, 30] +- goal: [15, 1] + name: agent31 + start: [24, 7] +- goal: [26, 1] + name: agent32 + start: [28, 0] +- goal: [27, 26] + name: agent33 + start: [20, 3] +- goal: [2, 23] + name: agent34 + start: [25, 19] +- goal: [13, 22] + name: agent35 + start: [5, 2] +- goal: [3, 1] + name: agent36 + start: [13, 6] +- goal: [2, 14] + name: agent37 + start: [22, 7] +- goal: [27, 24] + name: agent38 + start: [10, 1] +- goal: [8, 26] + name: agent39 + start: [14, 25] +- goal: [12, 7] + name: agent40 + start: [11, 9] +- goal: [5, 12] + name: agent41 + start: [24, 12] +- goal: [22, 3] + name: agent42 + start: [15, 14] +- goal: [9, 23] + name: agent43 + start: [19, 9] +- goal: [29, 28] + name: agent44 + start: [29, 27] +- goal: [12, 22] + name: agent45 + start: [18, 5] +- goal: [10, 14] + name: agent46 + start: [15, 0] +- goal: [16, 13] + name: agent47 + start: [5, 6] +- goal: [14, 24] + name: agent48 + start: [11, 19] +- goal: [3, 13] + name: agent49 + start: [8, 28] +- goal: [16, 9] + name: agent50 + start: [9, 21] +- goal: [26, 4] + name: agent51 + start: [31, 17] +- goal: [16, 3] + name: agent52 + start: [13, 10] +- goal: [23, 10] + name: agent53 + start: [12, 27] +- goal: [20, 22] + name: agent54 + start: [6, 11] +- goal: [14, 10] + name: agent55 + start: [11, 31] +- goal: [26, 6] + name: agent56 + start: [26, 10] +- goal: [12, 11] + name: agent57 + start: [5, 20] +- goal: [14, 8] + name: agent58 + start: [15, 29] +- goal: [15, 6] + name: agent59 + start: [4, 20] +- goal: [4, 6] + name: agent60 + start: [6, 1] +- goal: [6, 14] + name: agent61 + start: [17, 21] +- goal: [9, 24] + name: agent62 + start: [17, 29] +- goal: [13, 17] + name: agent63 + start: [1, 1] +- goal: [15, 29] + name: agent64 + start: [22, 8] +- goal: [21, 7] + name: agent65 + start: [29, 31] +- goal: [28, 8] + name: agent66 + start: [4, 27] +- goal: [19, 19] + name: agent67 + start: [21, 13] +- goal: [9, 3] + name: agent68 + start: [20, 30] +- goal: [20, 30] + name: agent69 + start: [22, 12] +- goal: [28, 7] + name: agent70 + start: [20, 15] +- goal: [15, 25] + name: agent71 + start: [27, 0] +- goal: [17, 1] + name: agent72 + start: [3, 11] +- goal: [28, 23] + name: agent73 + start: [7, 17] +- goal: [0, 16] + name: agent74 + start: [11, 12] +- goal: [8, 20] + name: agent75 + start: [25, 0] +- goal: [31, 25] + name: agent76 + start: [29, 22] +- goal: [5, 24] + name: agent77 + start: [15, 31] +- goal: [23, 29] + name: agent78 + start: [21, 7] +- goal: [16, 18] + name: agent79 + start: [24, 31] +- goal: [28, 16] + name: agent80 + start: [2, 22] +- goal: [28, 3] + name: agent81 + start: [0, 16] +- goal: [30, 4] + name: agent82 + start: [17, 4] +- goal: [15, 15] + name: agent83 + start: [27, 2] +- goal: [27, 22] + name: agent84 + start: [24, 18] +- goal: [18, 10] + name: agent85 + start: [29, 3] +- goal: [17, 29] + name: agent86 + start: [21, 22] +- goal: [5, 26] + name: agent87 + start: [24, 4] +- goal: [16, 29] + name: agent88 + start: [22, 1] +- goal: [18, 23] + name: agent89 + start: [21, 31] +- goal: [26, 12] + name: agent90 + start: [20, 8] +- goal: [22, 8] + name: agent91 + start: [5, 16] +- goal: [4, 20] + name: agent92 + start: [13, 15] +- goal: [9, 20] + name: agent93 + start: [16, 19] +- goal: [27, 2] + name: agent94 + start: [17, 15] +- goal: [19, 7] + name: agent95 + start: [23, 9] +- goal: [5, 9] + name: agent96 + start: [8, 21] +- goal: [7, 8] + name: agent97 + start: [27, 17] +- goal: [30, 21] + name: agent98 + start: [8, 9] +- goal: [0, 1] + name: agent99 + start: [9, 16] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [18, 31] + - !!python/tuple [17, 10] + - !!python/tuple [15, 19] + - !!python/tuple [5, 31] + - !!python/tuple [27, 4] + - !!python/tuple [7, 3] + - !!python/tuple [31, 31] + - !!python/tuple [1, 20] + - !!python/tuple [3, 8] + - !!python/tuple [8, 13] + - !!python/tuple [6, 23] + - !!python/tuple [0, 31] + - !!python/tuple [25, 29] + - !!python/tuple [2, 6] + - !!python/tuple [28, 19] + - !!python/tuple [31, 3] + - !!python/tuple [18, 8] + - !!python/tuple [3, 19] + - !!python/tuple [2, 19] + - !!python/tuple [8, 3] + - !!python/tuple [7, 30] + - !!python/tuple [30, 22] + - !!python/tuple [7, 15] + - !!python/tuple [14, 18] + - !!python/tuple [0, 21] + - !!python/tuple [3, 7] + - !!python/tuple [11, 3] + - !!python/tuple [7, 7] + - !!python/tuple [20, 5] + - !!python/tuple [30, 31] + - !!python/tuple [24, 8] + - !!python/tuple [17, 23] + - !!python/tuple [19, 6] + - !!python/tuple [30, 26] + - !!python/tuple [13, 26] + - !!python/tuple [15, 7] + - !!python/tuple [28, 15] + - !!python/tuple [4, 11] + - !!python/tuple [3, 12] + - !!python/tuple [3, 17] + - !!python/tuple [31, 0] + - !!python/tuple [24, 17] + - !!python/tuple [14, 20] + - !!python/tuple [3, 5] + - !!python/tuple [7, 31] + - !!python/tuple [16, 15] + - !!python/tuple [0, 22] + - !!python/tuple [18, 28] + - !!python/tuple [8, 5] + - !!python/tuple [6, 25] + - !!python/tuple [24, 19] + - !!python/tuple [10, 26] + - !!python/tuple [9, 29] + - !!python/tuple [9, 1] + - !!python/tuple [23, 21] + - !!python/tuple [12, 6] + - !!python/tuple [30, 25] + - !!python/tuple [2, 10] + - !!python/tuple [27, 30] + - !!python/tuple [24, 25] + - !!python/tuple [29, 18] + - !!python/tuple [14, 12] + - !!python/tuple [9, 28] + - !!python/tuple [17, 19] + - !!python/tuple [22, 9] + - !!python/tuple [20, 4] + - !!python/tuple [25, 17] + - !!python/tuple [2, 27] + - !!python/tuple [28, 12] + - !!python/tuple [17, 9] + - !!python/tuple [18, 4] + - !!python/tuple [3, 31] + - !!python/tuple [9, 2] + - !!python/tuple [1, 27] + - !!python/tuple [10, 20] + - !!python/tuple [0, 20] + - !!python/tuple [15, 18] + - !!python/tuple [31, 12] + - !!python/tuple [29, 20] + - !!python/tuple [31, 29] + - !!python/tuple [1, 23] + - !!python/tuple [1, 19] + - !!python/tuple [9, 7] + - !!python/tuple [14, 21] + - !!python/tuple [5, 13] + - !!python/tuple [4, 8] + - !!python/tuple [14, 7] + - !!python/tuple [30, 8] + - !!python/tuple [3, 25] + - !!python/tuple [18, 1] + - !!python/tuple [18, 11] + - !!python/tuple [27, 19] + - !!python/tuple [15, 30] + - !!python/tuple [24, 20] + - !!python/tuple [10, 25] + - !!python/tuple [24, 28] + - !!python/tuple [21, 18] + - !!python/tuple [13, 12] + - !!python/tuple [18, 25] + - !!python/tuple [9, 13] + - !!python/tuple [25, 5] + - !!python/tuple [16, 26] + - !!python/tuple [12, 13] + - !!python/tuple [19, 25] + - !!python/tuple [12, 23] + - !!python/tuple [13, 14] + - !!python/tuple [17, 30] + - !!python/tuple [0, 29] + - !!python/tuple [7, 28] + - !!python/tuple [1, 28] + - !!python/tuple [28, 9] + - !!python/tuple [24, 15] + - !!python/tuple [26, 2] + - !!python/tuple [4, 17] + - !!python/tuple [18, 15] + - !!python/tuple [4, 14] + - !!python/tuple [9, 17] + - !!python/tuple [23, 12] + - !!python/tuple [25, 26] + - !!python/tuple [22, 21] + - !!python/tuple [19, 15] + - !!python/tuple [27, 15] + - !!python/tuple [27, 1] + - !!python/tuple [25, 14] + - !!python/tuple [22, 31] + - !!python/tuple [8, 0] + - !!python/tuple [13, 7] + - !!python/tuple [5, 30] + - !!python/tuple [26, 3] + - !!python/tuple [25, 9] + - !!python/tuple [27, 6] + - !!python/tuple [1, 3] + - !!python/tuple [6, 8] + - !!python/tuple [26, 18] + - !!python/tuple [25, 11] + - !!python/tuple [10, 10] + - !!python/tuple [22, 30] + - !!python/tuple [24, 6] + - !!python/tuple [29, 26] + - !!python/tuple [8, 16] + - !!python/tuple [23, 3] + - !!python/tuple [21, 27] + - !!python/tuple [25, 16] + - !!python/tuple [16, 22] + - !!python/tuple [19, 5] + - !!python/tuple [14, 16] + - !!python/tuple [29, 7] + - !!python/tuple [11, 4] + - !!python/tuple [15, 27] + - !!python/tuple [10, 6] + - !!python/tuple [16, 10] + - !!python/tuple [22, 27] + - !!python/tuple [5, 25] + - !!python/tuple [29, 23] + - !!python/tuple [26, 16] + - !!python/tuple [5, 19] + - !!python/tuple [30, 3] + - !!python/tuple [30, 2] + - !!python/tuple [20, 25] + - !!python/tuple [4, 19] + - !!python/tuple [19, 11] + - !!python/tuple [21, 30] + - !!python/tuple [15, 9] + - !!python/tuple [24, 13] + - !!python/tuple [19, 12] + - !!python/tuple [29, 6] + - !!python/tuple [27, 27] + - !!python/tuple [12, 29] + - !!python/tuple [26, 29] + - !!python/tuple [15, 4] + - !!python/tuple [6, 5] + - !!python/tuple [25, 18] + - !!python/tuple [29, 4] + - !!python/tuple [16, 12] + - !!python/tuple [10, 12] + - !!python/tuple [27, 21] + - !!python/tuple [19, 24] + - !!python/tuple [6, 22] + - !!python/tuple [19, 16] + - !!python/tuple [14, 17] + - !!python/tuple [25, 25] + - !!python/tuple [20, 11] + - !!python/tuple [0, 26] + - !!python/tuple [2, 1] + - !!python/tuple [5, 29] + - !!python/tuple [18, 12] + - !!python/tuple [12, 24] + - !!python/tuple [7, 26] + - !!python/tuple [15, 16] + - !!python/tuple [28, 10] + - !!python/tuple [25, 28] + - !!python/tuple [31, 7] + - !!python/tuple [19, 17] + - !!python/tuple [29, 12] + - !!python/tuple [19, 10] + - !!python/tuple [12, 5] + - !!python/tuple [1, 9] + - !!python/tuple [23, 30] + - !!python/tuple [27, 23] + - !!python/tuple [25, 22] + - !!python/tuple [14, 4] + - !!python/tuple [3, 9] + - !!python/tuple [0, 2] + - !!python/tuple [25, 2] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex55.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex55.yaml new file mode 100644 index 0000000..0a9424b --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex55.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [31, 20] + name: agent0 + start: [13, 23] +- goal: [7, 29] + name: agent1 + start: [8, 23] +- goal: [26, 3] + name: agent2 + start: [23, 10] +- goal: [14, 31] + name: agent3 + start: [10, 18] +- goal: [18, 28] + name: agent4 + start: [23, 24] +- goal: [14, 30] + name: agent5 + start: [25, 12] +- goal: [14, 4] + name: agent6 + start: [5, 12] +- goal: [15, 31] + name: agent7 + start: [19, 0] +- goal: [26, 17] + name: agent8 + start: [24, 2] +- goal: [8, 5] + name: agent9 + start: [27, 15] +- goal: [8, 28] + name: agent10 + start: [5, 9] +- goal: [18, 7] + name: agent11 + start: [23, 26] +- goal: [2, 13] + name: agent12 + start: [13, 0] +- goal: [12, 17] + name: agent13 + start: [12, 15] +- goal: [14, 27] + name: agent14 + start: [8, 31] +- goal: [28, 4] + name: agent15 + start: [20, 26] +- goal: [3, 30] + name: agent16 + start: [16, 18] +- goal: [7, 4] + name: agent17 + start: [22, 9] +- goal: [4, 31] + name: agent18 + start: [26, 26] +- goal: [1, 27] + name: agent19 + start: [1, 12] +- goal: [29, 6] + name: agent20 + start: [31, 7] +- goal: [3, 1] + name: agent21 + start: [1, 21] +- goal: [21, 16] + name: agent22 + start: [9, 23] +- goal: [9, 9] + name: agent23 + start: [3, 11] +- goal: [27, 1] + name: agent24 + start: [20, 19] +- goal: [14, 10] + name: agent25 + start: [30, 20] +- goal: [10, 0] + name: agent26 + start: [17, 13] +- goal: [29, 10] + name: agent27 + start: [11, 26] +- goal: [27, 10] + name: agent28 + start: [9, 21] +- goal: [21, 10] + name: agent29 + start: [22, 16] +- goal: [6, 3] + name: agent30 + start: [21, 25] +- goal: [12, 27] + name: agent31 + start: [20, 0] +- goal: [12, 28] + name: agent32 + start: [24, 1] +- goal: [19, 15] + name: agent33 + start: [25, 22] +- goal: [5, 15] + name: agent34 + start: [5, 4] +- goal: [30, 24] + name: agent35 + start: [31, 13] +- goal: [4, 8] + name: agent36 + start: [6, 22] +- goal: [9, 0] + name: agent37 + start: [5, 15] +- goal: [21, 7] + name: agent38 + start: [9, 13] +- goal: [2, 28] + name: agent39 + start: [1, 6] +- goal: [14, 20] + name: agent40 + start: [21, 7] +- goal: [18, 26] + name: agent41 + start: [12, 9] +- goal: [30, 19] + name: agent42 + start: [21, 6] +- goal: [10, 26] + name: agent43 + start: [18, 1] +- goal: [19, 3] + name: agent44 + start: [20, 20] +- goal: [13, 23] + name: agent45 + start: [11, 23] +- goal: [16, 26] + name: agent46 + start: [8, 21] +- goal: [19, 30] + name: agent47 + start: [18, 21] +- goal: [6, 23] + name: agent48 + start: [12, 24] +- goal: [11, 2] + name: agent49 + start: [8, 4] +- goal: [0, 19] + name: agent50 + start: [12, 29] +- goal: [7, 31] + name: agent51 + start: [19, 17] +- goal: [12, 22] + name: agent52 + start: [4, 16] +- goal: [3, 22] + name: agent53 + start: [4, 10] +- goal: [2, 24] + name: agent54 + start: [22, 28] +- goal: [1, 1] + name: agent55 + start: [25, 11] +- goal: [29, 4] + name: agent56 + start: [19, 15] +- goal: [4, 21] + name: agent57 + start: [7, 24] +- goal: [29, 22] + name: agent58 + start: [4, 8] +- goal: [3, 11] + name: agent59 + start: [31, 29] +- goal: [12, 29] + name: agent60 + start: [0, 9] +- goal: [15, 1] + name: agent61 + start: [31, 15] +- goal: [26, 15] + name: agent62 + start: [10, 16] +- goal: [6, 26] + name: agent63 + start: [12, 20] +- goal: [4, 17] + name: agent64 + start: [17, 15] +- goal: [25, 15] + name: agent65 + start: [20, 7] +- goal: [28, 2] + name: agent66 + start: [20, 22] +- goal: [25, 23] + name: agent67 + start: [4, 1] +- goal: [10, 7] + name: agent68 + start: [3, 22] +- goal: [24, 21] + name: agent69 + start: [6, 27] +- goal: [13, 27] + name: agent70 + start: [19, 11] +- goal: [6, 30] + name: agent71 + start: [22, 13] +- goal: [11, 20] + name: agent72 + start: [27, 23] +- goal: [24, 9] + name: agent73 + start: [10, 27] +- goal: [4, 11] + name: agent74 + start: [7, 20] +- goal: [18, 30] + name: agent75 + start: [14, 4] +- goal: [8, 11] + name: agent76 + start: [14, 21] +- goal: [4, 24] + name: agent77 + start: [10, 20] +- goal: [16, 17] + name: agent78 + start: [26, 23] +- goal: [9, 8] + name: agent79 + start: [6, 8] +- goal: [19, 7] + name: agent80 + start: [29, 12] +- goal: [17, 24] + name: agent81 + start: [3, 23] +- goal: [7, 18] + name: agent82 + start: [11, 14] +- goal: [23, 27] + name: agent83 + start: [29, 3] +- goal: [2, 29] + name: agent84 + start: [23, 17] +- goal: [0, 24] + name: agent85 + start: [30, 19] +- goal: [19, 23] + name: agent86 + start: [30, 7] +- goal: [9, 19] + name: agent87 + start: [15, 2] +- goal: [22, 22] + name: agent88 + start: [2, 1] +- goal: [25, 30] + name: agent89 + start: [24, 11] +- goal: [15, 22] + name: agent90 + start: [11, 7] +- goal: [13, 28] + name: agent91 + start: [1, 15] +- goal: [20, 2] + name: agent92 + start: [28, 7] +- goal: [26, 14] + name: agent93 + start: [27, 28] +- goal: [6, 8] + name: agent94 + start: [12, 1] +- goal: [16, 23] + name: agent95 + start: [28, 15] +- goal: [26, 2] + name: agent96 + start: [25, 6] +- goal: [1, 28] + name: agent97 + start: [19, 2] +- goal: [6, 16] + name: agent98 + start: [23, 27] +- goal: [28, 8] + name: agent99 + start: [21, 27] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [24, 4] + - !!python/tuple [25, 26] + - !!python/tuple [30, 27] + - !!python/tuple [0, 8] + - !!python/tuple [14, 24] + - !!python/tuple [16, 20] + - !!python/tuple [19, 21] + - !!python/tuple [28, 16] + - !!python/tuple [13, 29] + - !!python/tuple [14, 15] + - !!python/tuple [26, 11] + - !!python/tuple [2, 8] + - !!python/tuple [7, 12] + - !!python/tuple [24, 29] + - !!python/tuple [8, 2] + - !!python/tuple [7, 7] + - !!python/tuple [19, 29] + - !!python/tuple [26, 28] + - !!python/tuple [1, 29] + - !!python/tuple [22, 10] + - !!python/tuple [22, 18] + - !!python/tuple [13, 13] + - !!python/tuple [30, 11] + - !!python/tuple [19, 18] + - !!python/tuple [14, 9] + - !!python/tuple [28, 20] + - !!python/tuple [25, 0] + - !!python/tuple [5, 26] + - !!python/tuple [13, 10] + - !!python/tuple [25, 8] + - !!python/tuple [10, 13] + - !!python/tuple [13, 12] + - !!python/tuple [23, 13] + - !!python/tuple [10, 14] + - !!python/tuple [5, 29] + - !!python/tuple [13, 21] + - !!python/tuple [25, 28] + - !!python/tuple [16, 19] + - !!python/tuple [0, 6] + - !!python/tuple [17, 14] + - !!python/tuple [29, 0] + - !!python/tuple [11, 0] + - !!python/tuple [5, 27] + - !!python/tuple [4, 18] + - !!python/tuple [29, 5] + - !!python/tuple [6, 13] + - !!python/tuple [31, 11] + - !!python/tuple [3, 21] + - !!python/tuple [4, 4] + - !!python/tuple [1, 30] + - !!python/tuple [13, 26] + - !!python/tuple [4, 7] + - !!python/tuple [15, 29] + - !!python/tuple [5, 14] + - !!python/tuple [16, 12] + - !!python/tuple [31, 8] + - !!python/tuple [6, 2] + - !!python/tuple [20, 16] + - !!python/tuple [15, 24] + - !!python/tuple [15, 13] + - !!python/tuple [15, 3] + - !!python/tuple [9, 28] + - !!python/tuple [6, 6] + - !!python/tuple [4, 3] + - !!python/tuple [31, 26] + - !!python/tuple [25, 1] + - !!python/tuple [12, 18] + - !!python/tuple [16, 7] + - !!python/tuple [9, 10] + - !!python/tuple [16, 1] + - !!python/tuple [12, 14] + - !!python/tuple [15, 20] + - !!python/tuple [13, 24] + - !!python/tuple [14, 5] + - !!python/tuple [11, 18] + - !!python/tuple [1, 24] + - !!python/tuple [20, 23] + - !!python/tuple [25, 24] + - !!python/tuple [18, 2] + - !!python/tuple [12, 11] + - !!python/tuple [21, 31] + - !!python/tuple [30, 22] + - !!python/tuple [2, 25] + - !!python/tuple [2, 4] + - !!python/tuple [10, 17] + - !!python/tuple [31, 24] + - !!python/tuple [20, 10] + - !!python/tuple [23, 25] + - !!python/tuple [20, 24] + - !!python/tuple [8, 15] + - !!python/tuple [11, 21] + - !!python/tuple [25, 10] + - !!python/tuple [4, 15] + - !!python/tuple [12, 5] + - !!python/tuple [14, 2] + - !!python/tuple [10, 4] + - !!python/tuple [24, 23] + - !!python/tuple [5, 23] + - !!python/tuple [9, 24] + - !!python/tuple [26, 9] + - !!python/tuple [2, 15] + - !!python/tuple [24, 12] + - !!python/tuple [26, 4] + - !!python/tuple [11, 22] + - !!python/tuple [30, 10] + - !!python/tuple [24, 10] + - !!python/tuple [16, 6] + - !!python/tuple [12, 23] + - !!python/tuple [19, 24] + - !!python/tuple [11, 1] + - !!python/tuple [17, 25] + - !!python/tuple [18, 3] + - !!python/tuple [23, 14] + - !!python/tuple [23, 20] + - !!python/tuple [19, 22] + - !!python/tuple [27, 27] + - !!python/tuple [6, 15] + - !!python/tuple [30, 16] + - !!python/tuple [2, 26] + - !!python/tuple [7, 28] + - !!python/tuple [23, 30] + - !!python/tuple [28, 11] + - !!python/tuple [15, 21] + - !!python/tuple [2, 23] + - !!python/tuple [27, 14] + - !!python/tuple [11, 30] + - !!python/tuple [10, 6] + - !!python/tuple [29, 16] + - !!python/tuple [31, 22] + - !!python/tuple [26, 16] + - !!python/tuple [27, 4] + - !!python/tuple [3, 10] + - !!python/tuple [22, 5] + - !!python/tuple [29, 9] + - !!python/tuple [25, 20] + - !!python/tuple [24, 31] + - !!python/tuple [0, 21] + - !!python/tuple [2, 30] + - !!python/tuple [18, 24] + - !!python/tuple [9, 20] + - !!python/tuple [27, 31] + - !!python/tuple [22, 27] + - !!python/tuple [24, 14] + - !!python/tuple [9, 5] + - !!python/tuple [24, 5] + - !!python/tuple [16, 11] + - !!python/tuple [5, 28] + - !!python/tuple [22, 24] + - !!python/tuple [31, 2] + - !!python/tuple [6, 10] + - !!python/tuple [29, 30] + - !!python/tuple [28, 29] + - !!python/tuple [14, 6] + - !!python/tuple [0, 12] + - !!python/tuple [10, 9] + - !!python/tuple [11, 15] + - !!python/tuple [14, 22] + - !!python/tuple [0, 17] + - !!python/tuple [9, 16] + - !!python/tuple [24, 18] + - !!python/tuple [17, 4] + - !!python/tuple [31, 19] + - !!python/tuple [13, 30] + - !!python/tuple [4, 2] + - !!python/tuple [30, 0] + - !!python/tuple [12, 21] + - !!python/tuple [30, 6] + - !!python/tuple [18, 4] + - !!python/tuple [17, 23] + - !!python/tuple [29, 25] + - !!python/tuple [25, 25] + - !!python/tuple [9, 17] + - !!python/tuple [5, 31] + - !!python/tuple [19, 26] + - !!python/tuple [30, 15] + - !!python/tuple [12, 6] + - !!python/tuple [19, 20] + - !!python/tuple [8, 25] + - !!python/tuple [16, 2] + - !!python/tuple [18, 27] + - !!python/tuple [12, 30] + - !!python/tuple [20, 31] + - !!python/tuple [23, 1] + - !!python/tuple [18, 15] + - !!python/tuple [14, 13] + - !!python/tuple [24, 6] + - !!python/tuple [20, 27] + - !!python/tuple [10, 30] + - !!python/tuple [21, 23] + - !!python/tuple [12, 8] + - !!python/tuple [3, 4] + - !!python/tuple [9, 2] + - !!python/tuple [0, 18] + - !!python/tuple [27, 12] + - !!python/tuple [31, 28] + - !!python/tuple [20, 30] + - !!python/tuple [31, 9] + - !!python/tuple [17, 7] + - !!python/tuple [5, 8] + - !!python/tuple [27, 26] + - !!python/tuple [16, 16] + - !!python/tuple [6, 21] + - !!python/tuple [13, 1] + - !!python/tuple [16, 5] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex56.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex56.yaml new file mode 100644 index 0000000..808735d --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex56.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [9, 12] + name: agent0 + start: [11, 14] +- goal: [20, 13] + name: agent1 + start: [18, 14] +- goal: [9, 22] + name: agent2 + start: [2, 18] +- goal: [2, 22] + name: agent3 + start: [28, 10] +- goal: [19, 1] + name: agent4 + start: [11, 6] +- goal: [3, 6] + name: agent5 + start: [9, 1] +- goal: [30, 27] + name: agent6 + start: [31, 17] +- goal: [6, 3] + name: agent7 + start: [19, 2] +- goal: [15, 5] + name: agent8 + start: [7, 26] +- goal: [2, 18] + name: agent9 + start: [27, 15] +- goal: [9, 17] + name: agent10 + start: [5, 2] +- goal: [1, 30] + name: agent11 + start: [13, 25] +- goal: [11, 30] + name: agent12 + start: [3, 11] +- goal: [2, 12] + name: agent13 + start: [31, 4] +- goal: [7, 9] + name: agent14 + start: [26, 30] +- goal: [3, 24] + name: agent15 + start: [18, 6] +- goal: [13, 19] + name: agent16 + start: [21, 16] +- goal: [15, 7] + name: agent17 + start: [2, 31] +- goal: [27, 3] + name: agent18 + start: [0, 0] +- goal: [14, 30] + name: agent19 + start: [12, 1] +- goal: [25, 17] + name: agent20 + start: [30, 5] +- goal: [25, 7] + name: agent21 + start: [10, 11] +- goal: [14, 25] + name: agent22 + start: [16, 26] +- goal: [20, 3] + name: agent23 + start: [31, 8] +- goal: [8, 1] + name: agent24 + start: [11, 18] +- goal: [18, 24] + name: agent25 + start: [16, 29] +- goal: [23, 3] + name: agent26 + start: [1, 18] +- goal: [30, 0] + name: agent27 + start: [5, 8] +- goal: [10, 4] + name: agent28 + start: [3, 27] +- goal: [16, 6] + name: agent29 + start: [28, 12] +- goal: [11, 15] + name: agent30 + start: [29, 31] +- goal: [31, 28] + name: agent31 + start: [18, 29] +- goal: [16, 17] + name: agent32 + start: [15, 15] +- goal: [7, 26] + name: agent33 + start: [25, 18] +- goal: [4, 28] + name: agent34 + start: [31, 1] +- goal: [10, 22] + name: agent35 + start: [9, 15] +- goal: [22, 17] + name: agent36 + start: [22, 24] +- goal: [31, 13] + name: agent37 + start: [3, 4] +- goal: [21, 8] + name: agent38 + start: [16, 20] +- goal: [21, 4] + name: agent39 + start: [12, 19] +- goal: [31, 7] + name: agent40 + start: [1, 7] +- goal: [25, 1] + name: agent41 + start: [21, 30] +- goal: [29, 24] + name: agent42 + start: [15, 16] +- goal: [20, 21] + name: agent43 + start: [23, 6] +- goal: [28, 7] + name: agent44 + start: [13, 22] +- goal: [30, 9] + name: agent45 + start: [14, 20] +- goal: [5, 29] + name: agent46 + start: [19, 31] +- goal: [0, 17] + name: agent47 + start: [1, 23] +- goal: [0, 6] + name: agent48 + start: [31, 15] +- goal: [9, 6] + name: agent49 + start: [2, 25] +- goal: [14, 8] + name: agent50 + start: [23, 4] +- goal: [29, 13] + name: agent51 + start: [12, 20] +- goal: [3, 27] + name: agent52 + start: [1, 20] +- goal: [13, 12] + name: agent53 + start: [18, 7] +- goal: [6, 11] + name: agent54 + start: [12, 24] +- goal: [23, 31] + name: agent55 + start: [30, 16] +- goal: [4, 6] + name: agent56 + start: [7, 8] +- goal: [8, 20] + name: agent57 + start: [17, 11] +- goal: [7, 14] + name: agent58 + start: [26, 6] +- goal: [11, 13] + name: agent59 + start: [19, 15] +- goal: [1, 23] + name: agent60 + start: [22, 11] +- goal: [14, 12] + name: agent61 + start: [27, 6] +- goal: [11, 0] + name: agent62 + start: [2, 19] +- goal: [18, 7] + name: agent63 + start: [4, 16] +- goal: [0, 25] + name: agent64 + start: [10, 22] +- goal: [1, 27] + name: agent65 + start: [8, 22] +- goal: [25, 21] + name: agent66 + start: [4, 19] +- goal: [2, 17] + name: agent67 + start: [17, 30] +- goal: [21, 29] + name: agent68 + start: [15, 25] +- goal: [27, 6] + name: agent69 + start: [9, 24] +- goal: [31, 19] + name: agent70 + start: [21, 13] +- goal: [6, 14] + name: agent71 + start: [5, 28] +- goal: [15, 19] + name: agent72 + start: [16, 16] +- goal: [7, 20] + name: agent73 + start: [23, 13] +- goal: [2, 0] + name: agent74 + start: [14, 7] +- goal: [11, 27] + name: agent75 + start: [14, 2] +- goal: [13, 15] + name: agent76 + start: [24, 30] +- goal: [5, 25] + name: agent77 + start: [15, 3] +- goal: [9, 31] + name: agent78 + start: [25, 21] +- goal: [14, 7] + name: agent79 + start: [4, 31] +- goal: [8, 15] + name: agent80 + start: [5, 27] +- goal: [4, 9] + name: agent81 + start: [21, 31] +- goal: [19, 13] + name: agent82 + start: [16, 6] +- goal: [2, 16] + name: agent83 + start: [17, 25] +- goal: [1, 26] + name: agent84 + start: [21, 1] +- goal: [28, 28] + name: agent85 + start: [30, 25] +- goal: [12, 26] + name: agent86 + start: [22, 1] +- goal: [7, 7] + name: agent87 + start: [1, 8] +- goal: [21, 30] + name: agent88 + start: [28, 19] +- goal: [30, 24] + name: agent89 + start: [14, 30] +- goal: [20, 8] + name: agent90 + start: [2, 10] +- goal: [18, 11] + name: agent91 + start: [7, 27] +- goal: [19, 29] + name: agent92 + start: [18, 24] +- goal: [14, 21] + name: agent93 + start: [30, 8] +- goal: [28, 26] + name: agent94 + start: [20, 23] +- goal: [23, 0] + name: agent95 + start: [12, 4] +- goal: [1, 19] + name: agent96 + start: [1, 4] +- goal: [13, 17] + name: agent97 + start: [4, 23] +- goal: [18, 31] + name: agent98 + start: [14, 14] +- goal: [5, 5] + name: agent99 + start: [7, 14] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [8, 17] + - !!python/tuple [28, 18] + - !!python/tuple [14, 17] + - !!python/tuple [28, 17] + - !!python/tuple [8, 12] + - !!python/tuple [27, 25] + - !!python/tuple [23, 17] + - !!python/tuple [28, 24] + - !!python/tuple [4, 26] + - !!python/tuple [22, 7] + - !!python/tuple [11, 8] + - !!python/tuple [6, 10] + - !!python/tuple [1, 21] + - !!python/tuple [23, 19] + - !!python/tuple [7, 2] + - !!python/tuple [26, 26] + - !!python/tuple [26, 28] + - !!python/tuple [27, 30] + - !!python/tuple [11, 7] + - !!python/tuple [19, 19] + - !!python/tuple [20, 10] + - !!python/tuple [30, 17] + - !!python/tuple [16, 31] + - !!python/tuple [15, 24] + - !!python/tuple [4, 21] + - !!python/tuple [30, 10] + - !!python/tuple [2, 5] + - !!python/tuple [21, 28] + - !!python/tuple [12, 0] + - !!python/tuple [13, 10] + - !!python/tuple [17, 9] + - !!python/tuple [8, 14] + - !!python/tuple [1, 22] + - !!python/tuple [12, 22] + - !!python/tuple [21, 18] + - !!python/tuple [1, 10] + - !!python/tuple [15, 4] + - !!python/tuple [18, 20] + - !!python/tuple [15, 20] + - !!python/tuple [28, 5] + - !!python/tuple [4, 5] + - !!python/tuple [24, 8] + - !!python/tuple [26, 16] + - !!python/tuple [16, 11] + - !!python/tuple [21, 15] + - !!python/tuple [16, 18] + - !!python/tuple [16, 22] + - !!python/tuple [13, 13] + - !!python/tuple [1, 15] + - !!python/tuple [10, 31] + - !!python/tuple [22, 15] + - !!python/tuple [31, 0] + - !!python/tuple [5, 15] + - !!python/tuple [9, 4] + - !!python/tuple [12, 5] + - !!python/tuple [8, 26] + - !!python/tuple [0, 12] + - !!python/tuple [31, 27] + - !!python/tuple [26, 5] + - !!python/tuple [26, 15] + - !!python/tuple [22, 3] + - !!python/tuple [1, 13] + - !!python/tuple [23, 7] + - !!python/tuple [8, 19] + - !!python/tuple [14, 3] + - !!python/tuple [20, 24] + - !!python/tuple [10, 10] + - !!python/tuple [10, 28] + - !!python/tuple [7, 19] + - !!python/tuple [9, 23] + - !!python/tuple [26, 18] + - !!python/tuple [9, 21] + - !!python/tuple [15, 28] + - !!python/tuple [17, 13] + - !!python/tuple [18, 27] + - !!python/tuple [26, 12] + - !!python/tuple [21, 23] + - !!python/tuple [7, 28] + - !!python/tuple [23, 9] + - !!python/tuple [21, 5] + - !!python/tuple [25, 9] + - !!python/tuple [5, 20] + - !!python/tuple [13, 6] + - !!python/tuple [8, 23] + - !!python/tuple [9, 29] + - !!python/tuple [19, 23] + - !!python/tuple [28, 16] + - !!python/tuple [15, 30] + - !!python/tuple [4, 1] + - !!python/tuple [26, 13] + - !!python/tuple [21, 11] + - !!python/tuple [12, 25] + - !!python/tuple [27, 27] + - !!python/tuple [8, 10] + - !!python/tuple [16, 3] + - !!python/tuple [28, 21] + - !!python/tuple [14, 0] + - !!python/tuple [29, 4] + - !!python/tuple [5, 12] + - !!python/tuple [29, 16] + - !!python/tuple [18, 23] + - !!python/tuple [17, 20] + - !!python/tuple [19, 21] + - !!python/tuple [11, 21] + - !!python/tuple [27, 20] + - !!python/tuple [13, 4] + - !!python/tuple [0, 24] + - !!python/tuple [6, 15] + - !!python/tuple [3, 2] + - !!python/tuple [7, 30] + - !!python/tuple [0, 22] + - !!python/tuple [0, 8] + - !!python/tuple [30, 26] + - !!python/tuple [28, 30] + - !!python/tuple [21, 9] + - !!python/tuple [8, 27] + - !!python/tuple [28, 2] + - !!python/tuple [12, 9] + - !!python/tuple [13, 3] + - !!python/tuple [22, 18] + - !!python/tuple [12, 29] + - !!python/tuple [29, 14] + - !!python/tuple [24, 29] + - !!python/tuple [22, 14] + - !!python/tuple [25, 19] + - !!python/tuple [12, 10] + - !!python/tuple [0, 20] + - !!python/tuple [27, 16] + - !!python/tuple [24, 4] + - !!python/tuple [28, 11] + - !!python/tuple [30, 2] + - !!python/tuple [1, 16] + - !!python/tuple [20, 26] + - !!python/tuple [25, 10] + - !!python/tuple [29, 10] + - !!python/tuple [29, 9] + - !!python/tuple [2, 4] + - !!python/tuple [11, 24] + - !!python/tuple [17, 4] + - !!python/tuple [18, 28] + - !!python/tuple [11, 22] + - !!python/tuple [27, 21] + - !!python/tuple [8, 8] + - !!python/tuple [2, 14] + - !!python/tuple [9, 3] + - !!python/tuple [10, 1] + - !!python/tuple [15, 12] + - !!python/tuple [5, 13] + - !!python/tuple [30, 21] + - !!python/tuple [2, 13] + - !!python/tuple [21, 21] + - !!python/tuple [11, 10] + - !!python/tuple [20, 25] + - !!python/tuple [20, 19] + - !!python/tuple [3, 20] + - !!python/tuple [10, 0] + - !!python/tuple [22, 30] + - !!python/tuple [25, 29] + - !!python/tuple [1, 6] + - !!python/tuple [11, 9] + - !!python/tuple [27, 10] + - !!python/tuple [14, 1] + - !!python/tuple [17, 12] + - !!python/tuple [2, 30] + - !!python/tuple [23, 30] + - !!python/tuple [14, 10] + - !!python/tuple [4, 18] + - !!python/tuple [21, 22] + - !!python/tuple [5, 22] + - !!python/tuple [30, 20] + - !!python/tuple [0, 16] + - !!python/tuple [11, 16] + - !!python/tuple [20, 9] + - !!python/tuple [27, 28] + - !!python/tuple [13, 27] + - !!python/tuple [19, 26] + - !!python/tuple [4, 14] + - !!python/tuple [27, 13] + - !!python/tuple [3, 14] + - !!python/tuple [27, 14] + - !!python/tuple [6, 6] + - !!python/tuple [15, 21] + - !!python/tuple [24, 2] + - !!python/tuple [31, 25] + - !!python/tuple [17, 28] + - !!python/tuple [8, 7] + - !!python/tuple [25, 2] + - !!python/tuple [16, 14] + - !!python/tuple [12, 31] + - !!python/tuple [7, 12] + - !!python/tuple [0, 27] + - !!python/tuple [30, 1] + - !!python/tuple [6, 17] + - !!python/tuple [5, 21] + - !!python/tuple [23, 27] + - !!python/tuple [5, 1] + - !!python/tuple [3, 23] + - !!python/tuple [20, 27] + - !!python/tuple [31, 20] + - !!python/tuple [31, 30] + - !!python/tuple [22, 28] + - !!python/tuple [31, 11] + - !!python/tuple [24, 1] + - !!python/tuple [18, 18] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex57.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex57.yaml new file mode 100644 index 0000000..4950276 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex57.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [2, 5] + name: agent0 + start: [19, 30] +- goal: [2, 7] + name: agent1 + start: [24, 12] +- goal: [10, 19] + name: agent2 + start: [1, 15] +- goal: [14, 28] + name: agent3 + start: [2, 3] +- goal: [10, 22] + name: agent4 + start: [14, 11] +- goal: [26, 31] + name: agent5 + start: [6, 25] +- goal: [10, 30] + name: agent6 + start: [6, 11] +- goal: [22, 5] + name: agent7 + start: [0, 29] +- goal: [0, 25] + name: agent8 + start: [28, 13] +- goal: [12, 30] + name: agent9 + start: [30, 26] +- goal: [30, 3] + name: agent10 + start: [21, 3] +- goal: [18, 19] + name: agent11 + start: [24, 11] +- goal: [28, 24] + name: agent12 + start: [10, 2] +- goal: [3, 28] + name: agent13 + start: [14, 9] +- goal: [22, 19] + name: agent14 + start: [8, 14] +- goal: [25, 8] + name: agent15 + start: [26, 6] +- goal: [2, 0] + name: agent16 + start: [8, 5] +- goal: [6, 19] + name: agent17 + start: [31, 2] +- goal: [2, 18] + name: agent18 + start: [10, 22] +- goal: [3, 27] + name: agent19 + start: [9, 3] +- goal: [25, 25] + name: agent20 + start: [20, 17] +- goal: [26, 28] + name: agent21 + start: [0, 3] +- goal: [13, 30] + name: agent22 + start: [7, 22] +- goal: [23, 2] + name: agent23 + start: [3, 16] +- goal: [12, 7] + name: agent24 + start: [29, 8] +- goal: [6, 23] + name: agent25 + start: [7, 15] +- goal: [26, 22] + name: agent26 + start: [24, 10] +- goal: [0, 29] + name: agent27 + start: [9, 24] +- goal: [2, 27] + name: agent28 + start: [7, 18] +- goal: [23, 28] + name: agent29 + start: [10, 20] +- goal: [11, 7] + name: agent30 + start: [30, 18] +- goal: [23, 11] + name: agent31 + start: [31, 12] +- goal: [0, 7] + name: agent32 + start: [0, 25] +- goal: [22, 9] + name: agent33 + start: [0, 9] +- goal: [28, 3] + name: agent34 + start: [0, 27] +- goal: [3, 5] + name: agent35 + start: [6, 31] +- goal: [25, 22] + name: agent36 + start: [23, 14] +- goal: [10, 27] + name: agent37 + start: [12, 24] +- goal: [1, 15] + name: agent38 + start: [6, 28] +- goal: [16, 1] + name: agent39 + start: [31, 21] +- goal: [16, 23] + name: agent40 + start: [5, 17] +- goal: [16, 5] + name: agent41 + start: [4, 30] +- goal: [1, 22] + name: agent42 + start: [8, 18] +- goal: [25, 20] + name: agent43 + start: [5, 8] +- goal: [7, 3] + name: agent44 + start: [14, 2] +- goal: [23, 3] + name: agent45 + start: [12, 22] +- goal: [6, 18] + name: agent46 + start: [29, 7] +- goal: [0, 22] + name: agent47 + start: [31, 19] +- goal: [31, 22] + name: agent48 + start: [2, 2] +- goal: [2, 8] + name: agent49 + start: [7, 3] +- goal: [21, 2] + name: agent50 + start: [6, 22] +- goal: [28, 5] + name: agent51 + start: [10, 25] +- goal: [13, 16] + name: agent52 + start: [17, 4] +- goal: [25, 23] + name: agent53 + start: [30, 2] +- goal: [18, 28] + name: agent54 + start: [0, 6] +- goal: [30, 19] + name: agent55 + start: [19, 5] +- goal: [11, 2] + name: agent56 + start: [1, 30] +- goal: [5, 17] + name: agent57 + start: [7, 6] +- goal: [12, 20] + name: agent58 + start: [21, 10] +- goal: [21, 27] + name: agent59 + start: [25, 8] +- goal: [26, 5] + name: agent60 + start: [9, 5] +- goal: [13, 28] + name: agent61 + start: [1, 1] +- goal: [29, 23] + name: agent62 + start: [0, 2] +- goal: [1, 13] + name: agent63 + start: [1, 31] +- goal: [22, 3] + name: agent64 + start: [17, 17] +- goal: [20, 27] + name: agent65 + start: [7, 19] +- goal: [11, 26] + name: agent66 + start: [15, 27] +- goal: [13, 3] + name: agent67 + start: [8, 28] +- goal: [5, 20] + name: agent68 + start: [21, 28] +- goal: [18, 5] + name: agent69 + start: [23, 27] +- goal: [5, 25] + name: agent70 + start: [2, 22] +- goal: [15, 13] + name: agent71 + start: [21, 18] +- goal: [17, 27] + name: agent72 + start: [11, 18] +- goal: [21, 8] + name: agent73 + start: [3, 18] +- goal: [30, 23] + name: agent74 + start: [15, 30] +- goal: [29, 29] + name: agent75 + start: [27, 21] +- goal: [3, 2] + name: agent76 + start: [0, 22] +- goal: [31, 18] + name: agent77 + start: [22, 21] +- goal: [26, 20] + name: agent78 + start: [20, 31] +- goal: [27, 9] + name: agent79 + start: [12, 19] +- goal: [15, 30] + name: agent80 + start: [24, 26] +- goal: [5, 27] + name: agent81 + start: [4, 15] +- goal: [24, 14] + name: agent82 + start: [23, 29] +- goal: [16, 9] + name: agent83 + start: [27, 11] +- goal: [17, 28] + name: agent84 + start: [28, 28] +- goal: [24, 16] + name: agent85 + start: [20, 1] +- goal: [8, 18] + name: agent86 + start: [4, 24] +- goal: [5, 4] + name: agent87 + start: [8, 1] +- goal: [27, 2] + name: agent88 + start: [29, 4] +- goal: [8, 26] + name: agent89 + start: [13, 9] +- goal: [15, 23] + name: agent90 + start: [5, 19] +- goal: [25, 2] + name: agent91 + start: [4, 1] +- goal: [18, 11] + name: agent92 + start: [11, 7] +- goal: [20, 4] + name: agent93 + start: [29, 3] +- goal: [3, 15] + name: agent94 + start: [16, 28] +- goal: [29, 2] + name: agent95 + start: [24, 15] +- goal: [29, 9] + name: agent96 + start: [20, 28] +- goal: [6, 6] + name: agent97 + start: [28, 3] +- goal: [20, 8] + name: agent98 + start: [3, 13] +- goal: [7, 5] + name: agent99 + start: [11, 6] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [8, 12] + - !!python/tuple [15, 26] + - !!python/tuple [7, 0] + - !!python/tuple [14, 20] + - !!python/tuple [23, 31] + - !!python/tuple [5, 7] + - !!python/tuple [5, 9] + - !!python/tuple [29, 31] + - !!python/tuple [18, 8] + - !!python/tuple [13, 18] + - !!python/tuple [8, 23] + - !!python/tuple [26, 9] + - !!python/tuple [0, 1] + - !!python/tuple [9, 18] + - !!python/tuple [8, 17] + - !!python/tuple [29, 17] + - !!python/tuple [4, 23] + - !!python/tuple [8, 31] + - !!python/tuple [15, 19] + - !!python/tuple [28, 2] + - !!python/tuple [10, 9] + - !!python/tuple [31, 9] + - !!python/tuple [20, 15] + - !!python/tuple [26, 24] + - !!python/tuple [7, 7] + - !!python/tuple [4, 10] + - !!python/tuple [5, 22] + - !!python/tuple [25, 18] + - !!python/tuple [18, 12] + - !!python/tuple [17, 7] + - !!python/tuple [19, 25] + - !!python/tuple [9, 2] + - !!python/tuple [30, 20] + - !!python/tuple [9, 29] + - !!python/tuple [0, 17] + - !!python/tuple [0, 26] + - !!python/tuple [9, 6] + - !!python/tuple [3, 17] + - !!python/tuple [30, 27] + - !!python/tuple [14, 5] + - !!python/tuple [3, 4] + - !!python/tuple [25, 4] + - !!python/tuple [27, 15] + - !!python/tuple [19, 7] + - !!python/tuple [12, 28] + - !!python/tuple [19, 27] + - !!python/tuple [24, 1] + - !!python/tuple [17, 10] + - !!python/tuple [25, 28] + - !!python/tuple [4, 28] + - !!python/tuple [11, 20] + - !!python/tuple [31, 15] + - !!python/tuple [12, 13] + - !!python/tuple [7, 12] + - !!python/tuple [20, 3] + - !!python/tuple [9, 10] + - !!python/tuple [28, 8] + - !!python/tuple [8, 2] + - !!python/tuple [9, 11] + - !!python/tuple [17, 20] + - !!python/tuple [13, 26] + - !!python/tuple [21, 12] + - !!python/tuple [31, 26] + - !!python/tuple [16, 7] + - !!python/tuple [7, 20] + - !!python/tuple [2, 21] + - !!python/tuple [17, 6] + - !!python/tuple [20, 12] + - !!python/tuple [11, 22] + - !!python/tuple [19, 4] + - !!python/tuple [22, 12] + - !!python/tuple [30, 31] + - !!python/tuple [3, 19] + - !!python/tuple [11, 14] + - !!python/tuple [28, 31] + - !!python/tuple [28, 19] + - !!python/tuple [18, 17] + - !!python/tuple [13, 2] + - !!python/tuple [17, 9] + - !!python/tuple [29, 10] + - !!python/tuple [30, 10] + - !!python/tuple [16, 18] + - !!python/tuple [22, 26] + - !!python/tuple [7, 4] + - !!python/tuple [26, 7] + - !!python/tuple [3, 26] + - !!python/tuple [5, 14] + - !!python/tuple [30, 22] + - !!python/tuple [9, 8] + - !!python/tuple [19, 18] + - !!python/tuple [7, 17] + - !!python/tuple [9, 0] + - !!python/tuple [28, 18] + - !!python/tuple [3, 29] + - !!python/tuple [15, 3] + - !!python/tuple [23, 26] + - !!python/tuple [28, 25] + - !!python/tuple [2, 11] + - !!python/tuple [27, 26] + - !!python/tuple [14, 22] + - !!python/tuple [3, 8] + - !!python/tuple [30, 21] + - !!python/tuple [6, 12] + - !!python/tuple [30, 15] + - !!python/tuple [21, 25] + - !!python/tuple [2, 26] + - !!python/tuple [26, 15] + - !!python/tuple [17, 5] + - !!python/tuple [20, 21] + - !!python/tuple [1, 19] + - !!python/tuple [11, 27] + - !!python/tuple [18, 3] + - !!python/tuple [13, 8] + - !!python/tuple [31, 30] + - !!python/tuple [1, 26] + - !!python/tuple [10, 3] + - !!python/tuple [30, 7] + - !!python/tuple [15, 25] + - !!python/tuple [2, 1] + - !!python/tuple [2, 25] + - !!python/tuple [24, 5] + - !!python/tuple [18, 23] + - !!python/tuple [7, 16] + - !!python/tuple [23, 17] + - !!python/tuple [9, 12] + - !!python/tuple [27, 1] + - !!python/tuple [2, 10] + - !!python/tuple [20, 6] + - !!python/tuple [25, 27] + - !!python/tuple [19, 26] + - !!python/tuple [21, 23] + - !!python/tuple [31, 16] + - !!python/tuple [3, 30] + - !!python/tuple [3, 3] + - !!python/tuple [31, 31] + - !!python/tuple [8, 6] + - !!python/tuple [2, 4] + - !!python/tuple [31, 17] + - !!python/tuple [20, 0] + - !!python/tuple [7, 8] + - !!python/tuple [26, 10] + - !!python/tuple [1, 8] + - !!python/tuple [14, 18] + - !!python/tuple [5, 30] + - !!python/tuple [28, 9] + - !!python/tuple [26, 23] + - !!python/tuple [14, 0] + - !!python/tuple [4, 19] + - !!python/tuple [17, 24] + - !!python/tuple [18, 22] + - !!python/tuple [11, 28] + - !!python/tuple [28, 21] + - !!python/tuple [13, 14] + - !!python/tuple [1, 10] + - !!python/tuple [7, 27] + - !!python/tuple [27, 17] + - !!python/tuple [26, 14] + - !!python/tuple [11, 3] + - !!python/tuple [26, 18] + - !!python/tuple [28, 17] + - !!python/tuple [4, 27] + - !!python/tuple [23, 19] + - !!python/tuple [22, 18] + - !!python/tuple [15, 1] + - !!python/tuple [13, 20] + - !!python/tuple [6, 20] + - !!python/tuple [16, 3] + - !!python/tuple [22, 8] + - !!python/tuple [28, 22] + - !!python/tuple [0, 28] + - !!python/tuple [26, 30] + - !!python/tuple [11, 17] + - !!python/tuple [22, 22] + - !!python/tuple [11, 30] + - !!python/tuple [14, 25] + - !!python/tuple [18, 25] + - !!python/tuple [18, 9] + - !!python/tuple [25, 24] + - !!python/tuple [22, 10] + - !!python/tuple [23, 23] + - !!python/tuple [6, 14] + - !!python/tuple [15, 12] + - !!python/tuple [2, 24] + - !!python/tuple [10, 5] + - !!python/tuple [31, 10] + - !!python/tuple [2, 19] + - !!python/tuple [26, 16] + - !!python/tuple [27, 19] + - !!python/tuple [8, 13] + - !!python/tuple [9, 26] + - !!python/tuple [19, 31] + - !!python/tuple [28, 7] + - !!python/tuple [12, 8] + - !!python/tuple [17, 1] + - !!python/tuple [10, 18] + - !!python/tuple [5, 23] + - !!python/tuple [25, 19] + - !!python/tuple [0, 8] + - !!python/tuple [14, 31] + - !!python/tuple [28, 20] + - !!python/tuple [16, 21] + - !!python/tuple [12, 14] + - !!python/tuple [20, 2] + - !!python/tuple [10, 17] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex58.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex58.yaml new file mode 100644 index 0000000..1b4f4f2 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex58.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [22, 5] + name: agent0 + start: [8, 12] +- goal: [18, 23] + name: agent1 + start: [7, 2] +- goal: [10, 22] + name: agent2 + start: [0, 16] +- goal: [11, 29] + name: agent3 + start: [30, 15] +- goal: [19, 9] + name: agent4 + start: [18, 26] +- goal: [27, 15] + name: agent5 + start: [19, 9] +- goal: [17, 8] + name: agent6 + start: [2, 10] +- goal: [13, 30] + name: agent7 + start: [6, 3] +- goal: [2, 0] + name: agent8 + start: [2, 1] +- goal: [10, 20] + name: agent9 + start: [30, 5] +- goal: [17, 21] + name: agent10 + start: [27, 14] +- goal: [4, 23] + name: agent11 + start: [27, 12] +- goal: [12, 5] + name: agent12 + start: [30, 1] +- goal: [15, 12] + name: agent13 + start: [15, 28] +- goal: [27, 28] + name: agent14 + start: [11, 23] +- goal: [30, 1] + name: agent15 + start: [22, 22] +- goal: [26, 19] + name: agent16 + start: [5, 4] +- goal: [0, 3] + name: agent17 + start: [15, 22] +- goal: [19, 17] + name: agent18 + start: [17, 6] +- goal: [3, 31] + name: agent19 + start: [1, 26] +- goal: [14, 21] + name: agent20 + start: [3, 2] +- goal: [4, 10] + name: agent21 + start: [1, 29] +- goal: [28, 27] + name: agent22 + start: [31, 25] +- goal: [11, 11] + name: agent23 + start: [20, 19] +- goal: [21, 0] + name: agent24 + start: [26, 12] +- goal: [29, 20] + name: agent25 + start: [11, 8] +- goal: [14, 11] + name: agent26 + start: [14, 27] +- goal: [4, 16] + name: agent27 + start: [17, 23] +- goal: [8, 20] + name: agent28 + start: [6, 11] +- goal: [16, 17] + name: agent29 + start: [23, 4] +- goal: [10, 7] + name: agent30 + start: [24, 11] +- goal: [29, 13] + name: agent31 + start: [17, 24] +- goal: [0, 20] + name: agent32 + start: [31, 15] +- goal: [27, 25] + name: agent33 + start: [12, 5] +- goal: [12, 18] + name: agent34 + start: [18, 30] +- goal: [28, 23] + name: agent35 + start: [5, 14] +- goal: [28, 5] + name: agent36 + start: [3, 20] +- goal: [1, 5] + name: agent37 + start: [25, 2] +- goal: [9, 3] + name: agent38 + start: [15, 9] +- goal: [31, 26] + name: agent39 + start: [16, 10] +- goal: [29, 9] + name: agent40 + start: [15, 24] +- goal: [9, 20] + name: agent41 + start: [21, 16] +- goal: [31, 18] + name: agent42 + start: [2, 28] +- goal: [18, 1] + name: agent43 + start: [0, 24] +- goal: [17, 28] + name: agent44 + start: [29, 27] +- goal: [15, 30] + name: agent45 + start: [19, 2] +- goal: [17, 4] + name: agent46 + start: [2, 17] +- goal: [13, 11] + name: agent47 + start: [21, 31] +- goal: [9, 5] + name: agent48 + start: [12, 19] +- goal: [22, 28] + name: agent49 + start: [5, 12] +- goal: [5, 12] + name: agent50 + start: [31, 29] +- goal: [21, 1] + name: agent51 + start: [24, 24] +- goal: [27, 4] + name: agent52 + start: [23, 2] +- goal: [21, 18] + name: agent53 + start: [16, 14] +- goal: [10, 19] + name: agent54 + start: [25, 5] +- goal: [28, 12] + name: agent55 + start: [9, 7] +- goal: [28, 1] + name: agent56 + start: [8, 29] +- goal: [26, 12] + name: agent57 + start: [0, 11] +- goal: [17, 30] + name: agent58 + start: [1, 31] +- goal: [23, 0] + name: agent59 + start: [30, 13] +- goal: [1, 22] + name: agent60 + start: [1, 20] +- goal: [22, 3] + name: agent61 + start: [1, 19] +- goal: [9, 24] + name: agent62 + start: [13, 27] +- goal: [9, 30] + name: agent63 + start: [8, 27] +- goal: [7, 20] + name: agent64 + start: [22, 16] +- goal: [0, 7] + name: agent65 + start: [22, 15] +- goal: [30, 23] + name: agent66 + start: [13, 2] +- goal: [5, 31] + name: agent67 + start: [16, 28] +- goal: [8, 31] + name: agent68 + start: [5, 30] +- goal: [23, 16] + name: agent69 + start: [13, 18] +- goal: [16, 26] + name: agent70 + start: [10, 4] +- goal: [14, 0] + name: agent71 + start: [0, 9] +- goal: [18, 26] + name: agent72 + start: [19, 8] +- goal: [29, 19] + name: agent73 + start: [11, 24] +- goal: [29, 18] + name: agent74 + start: [7, 25] +- goal: [21, 4] + name: agent75 + start: [20, 18] +- goal: [8, 23] + name: agent76 + start: [20, 0] +- goal: [0, 31] + name: agent77 + start: [17, 19] +- goal: [4, 24] + name: agent78 + start: [5, 15] +- goal: [11, 31] + name: agent79 + start: [12, 30] +- goal: [21, 24] + name: agent80 + start: [19, 26] +- goal: [13, 22] + name: agent81 + start: [29, 30] +- goal: [8, 17] + name: agent82 + start: [21, 24] +- goal: [13, 13] + name: agent83 + start: [13, 4] +- goal: [2, 30] + name: agent84 + start: [6, 9] +- goal: [15, 18] + name: agent85 + start: [19, 22] +- goal: [30, 9] + name: agent86 + start: [31, 16] +- goal: [9, 22] + name: agent87 + start: [27, 26] +- goal: [14, 27] + name: agent88 + start: [7, 13] +- goal: [15, 6] + name: agent89 + start: [2, 30] +- goal: [27, 20] + name: agent90 + start: [16, 19] +- goal: [4, 13] + name: agent91 + start: [11, 4] +- goal: [10, 23] + name: agent92 + start: [21, 18] +- goal: [13, 4] + name: agent93 + start: [17, 28] +- goal: [20, 5] + name: agent94 + start: [25, 26] +- goal: [5, 23] + name: agent95 + start: [6, 4] +- goal: [31, 1] + name: agent96 + start: [29, 0] +- goal: [7, 16] + name: agent97 + start: [27, 17] +- goal: [3, 18] + name: agent98 + start: [28, 13] +- goal: [26, 20] + name: agent99 + start: [21, 13] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [28, 2] + - !!python/tuple [16, 6] + - !!python/tuple [10, 9] + - !!python/tuple [6, 27] + - !!python/tuple [24, 5] + - !!python/tuple [18, 11] + - !!python/tuple [26, 0] + - !!python/tuple [22, 21] + - !!python/tuple [14, 16] + - !!python/tuple [15, 16] + - !!python/tuple [30, 4] + - !!python/tuple [7, 31] + - !!python/tuple [31, 13] + - !!python/tuple [9, 1] + - !!python/tuple [13, 28] + - !!python/tuple [18, 4] + - !!python/tuple [2, 19] + - !!python/tuple [22, 10] + - !!python/tuple [5, 10] + - !!python/tuple [1, 28] + - !!python/tuple [20, 25] + - !!python/tuple [31, 24] + - !!python/tuple [12, 8] + - !!python/tuple [19, 28] + - !!python/tuple [14, 28] + - !!python/tuple [12, 29] + - !!python/tuple [0, 25] + - !!python/tuple [26, 2] + - !!python/tuple [17, 17] + - !!python/tuple [6, 19] + - !!python/tuple [7, 14] + - !!python/tuple [5, 25] + - !!python/tuple [29, 8] + - !!python/tuple [13, 20] + - !!python/tuple [19, 15] + - !!python/tuple [24, 25] + - !!python/tuple [23, 22] + - !!python/tuple [24, 30] + - !!python/tuple [29, 3] + - !!python/tuple [31, 17] + - !!python/tuple [24, 26] + - !!python/tuple [15, 23] + - !!python/tuple [23, 9] + - !!python/tuple [24, 7] + - !!python/tuple [12, 15] + - !!python/tuple [10, 30] + - !!python/tuple [17, 16] + - !!python/tuple [6, 28] + - !!python/tuple [3, 16] + - !!python/tuple [28, 6] + - !!python/tuple [8, 1] + - !!python/tuple [7, 21] + - !!python/tuple [19, 1] + - !!python/tuple [22, 20] + - !!python/tuple [14, 1] + - !!python/tuple [15, 26] + - !!python/tuple [10, 29] + - !!python/tuple [25, 30] + - !!python/tuple [17, 20] + - !!python/tuple [30, 29] + - !!python/tuple [18, 24] + - !!python/tuple [7, 29] + - !!python/tuple [15, 4] + - !!python/tuple [10, 15] + - !!python/tuple [26, 31] + - !!python/tuple [28, 17] + - !!python/tuple [20, 1] + - !!python/tuple [12, 10] + - !!python/tuple [4, 4] + - !!python/tuple [25, 18] + - !!python/tuple [12, 27] + - !!python/tuple [1, 11] + - !!python/tuple [19, 31] + - !!python/tuple [4, 18] + - !!python/tuple [13, 12] + - !!python/tuple [22, 11] + - !!python/tuple [4, 6] + - !!python/tuple [28, 20] + - !!python/tuple [15, 31] + - !!python/tuple [25, 7] + - !!python/tuple [28, 21] + - !!python/tuple [8, 16] + - !!python/tuple [21, 7] + - !!python/tuple [13, 19] + - !!python/tuple [28, 16] + - !!python/tuple [11, 10] + - !!python/tuple [25, 15] + - !!python/tuple [23, 8] + - !!python/tuple [5, 5] + - !!python/tuple [25, 23] + - !!python/tuple [27, 29] + - !!python/tuple [1, 13] + - !!python/tuple [8, 11] + - !!python/tuple [30, 16] + - !!python/tuple [27, 11] + - !!python/tuple [5, 20] + - !!python/tuple [7, 5] + - !!python/tuple [11, 6] + - !!python/tuple [16, 15] + - !!python/tuple [19, 4] + - !!python/tuple [28, 9] + - !!python/tuple [8, 3] + - !!python/tuple [12, 23] + - !!python/tuple [1, 7] + - !!python/tuple [12, 14] + - !!python/tuple [16, 11] + - !!python/tuple [31, 0] + - !!python/tuple [20, 22] + - !!python/tuple [14, 18] + - !!python/tuple [30, 20] + - !!python/tuple [0, 21] + - !!python/tuple [21, 10] + - !!python/tuple [13, 15] + - !!python/tuple [17, 12] + - !!python/tuple [25, 22] + - !!python/tuple [14, 25] + - !!python/tuple [23, 1] + - !!python/tuple [6, 30] + - !!python/tuple [13, 6] + - !!python/tuple [8, 15] + - !!python/tuple [26, 26] + - !!python/tuple [10, 25] + - !!python/tuple [22, 26] + - !!python/tuple [22, 25] + - !!python/tuple [5, 1] + - !!python/tuple [29, 31] + - !!python/tuple [23, 30] + - !!python/tuple [0, 19] + - !!python/tuple [25, 6] + - !!python/tuple [11, 1] + - !!python/tuple [9, 12] + - !!python/tuple [2, 3] + - !!python/tuple [27, 7] + - !!python/tuple [28, 3] + - !!python/tuple [14, 14] + - !!python/tuple [24, 21] + - !!python/tuple [4, 21] + - !!python/tuple [18, 27] + - !!python/tuple [11, 13] + - !!python/tuple [0, 6] + - !!python/tuple [6, 6] + - !!python/tuple [2, 8] + - !!python/tuple [23, 26] + - !!python/tuple [28, 10] + - !!python/tuple [6, 25] + - !!python/tuple [7, 24] + - !!python/tuple [25, 17] + - !!python/tuple [2, 29] + - !!python/tuple [2, 11] + - !!python/tuple [31, 11] + - !!python/tuple [3, 10] + - !!python/tuple [5, 29] + - !!python/tuple [2, 13] + - !!python/tuple [18, 8] + - !!python/tuple [0, 14] + - !!python/tuple [28, 28] + - !!python/tuple [6, 10] + - !!python/tuple [14, 29] + - !!python/tuple [14, 19] + - !!python/tuple [1, 4] + - !!python/tuple [22, 7] + - !!python/tuple [1, 30] + - !!python/tuple [21, 28] + - !!python/tuple [21, 23] + - !!python/tuple [3, 30] + - !!python/tuple [5, 9] + - !!python/tuple [14, 20] + - !!python/tuple [4, 2] + - !!python/tuple [2, 7] + - !!python/tuple [26, 30] + - !!python/tuple [18, 15] + - !!python/tuple [26, 23] + - !!python/tuple [14, 26] + - !!python/tuple [29, 4] + - !!python/tuple [25, 21] + - !!python/tuple [14, 7] + - !!python/tuple [6, 21] + - !!python/tuple [14, 3] + - !!python/tuple [10, 17] + - !!python/tuple [9, 26] + - !!python/tuple [26, 9] + - !!python/tuple [21, 14] + - !!python/tuple [25, 12] + - !!python/tuple [16, 25] + - !!python/tuple [6, 18] + - !!python/tuple [9, 21] + - !!python/tuple [10, 27] + - !!python/tuple [7, 19] + - !!python/tuple [2, 16] + - !!python/tuple [12, 1] + - !!python/tuple [23, 11] + - !!python/tuple [9, 2] + - !!python/tuple [3, 27] + - !!python/tuple [15, 27] + - !!python/tuple [28, 7] + - !!python/tuple [14, 4] + - !!python/tuple [27, 0] + - !!python/tuple [6, 13] + - !!python/tuple [7, 22] + - !!python/tuple [18, 12] + - !!python/tuple [7, 10] + - !!python/tuple [11, 12] + - !!python/tuple [3, 11] + - !!python/tuple [6, 8] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex59.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex59.yaml new file mode 100644 index 0000000..f3bf354 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex59.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [15, 14] + name: agent0 + start: [1, 25] +- goal: [28, 0] + name: agent1 + start: [4, 9] +- goal: [22, 21] + name: agent2 + start: [27, 25] +- goal: [30, 31] + name: agent3 + start: [16, 30] +- goal: [8, 10] + name: agent4 + start: [8, 10] +- goal: [18, 13] + name: agent5 + start: [15, 22] +- goal: [20, 20] + name: agent6 + start: [7, 2] +- goal: [4, 9] + name: agent7 + start: [3, 24] +- goal: [16, 26] + name: agent8 + start: [0, 12] +- goal: [0, 8] + name: agent9 + start: [25, 29] +- goal: [25, 23] + name: agent10 + start: [7, 6] +- goal: [9, 16] + name: agent11 + start: [28, 22] +- goal: [14, 31] + name: agent12 + start: [22, 15] +- goal: [7, 18] + name: agent13 + start: [5, 13] +- goal: [31, 27] + name: agent14 + start: [21, 10] +- goal: [15, 3] + name: agent15 + start: [17, 18] +- goal: [9, 15] + name: agent16 + start: [21, 20] +- goal: [12, 28] + name: agent17 + start: [25, 20] +- goal: [4, 24] + name: agent18 + start: [11, 23] +- goal: [6, 21] + name: agent19 + start: [14, 30] +- goal: [22, 24] + name: agent20 + start: [28, 7] +- goal: [23, 29] + name: agent21 + start: [19, 28] +- goal: [31, 22] + name: agent22 + start: [26, 6] +- goal: [5, 13] + name: agent23 + start: [3, 17] +- goal: [21, 0] + name: agent24 + start: [7, 12] +- goal: [24, 12] + name: agent25 + start: [14, 28] +- goal: [1, 9] + name: agent26 + start: [7, 18] +- goal: [27, 25] + name: agent27 + start: [9, 25] +- goal: [27, 29] + name: agent28 + start: [23, 17] +- goal: [8, 3] + name: agent29 + start: [14, 13] +- goal: [26, 3] + name: agent30 + start: [18, 4] +- goal: [15, 21] + name: agent31 + start: [1, 16] +- goal: [5, 29] + name: agent32 + start: [29, 12] +- goal: [4, 20] + name: agent33 + start: [28, 3] +- goal: [20, 9] + name: agent34 + start: [23, 31] +- goal: [24, 4] + name: agent35 + start: [1, 14] +- goal: [13, 18] + name: agent36 + start: [29, 1] +- goal: [3, 25] + name: agent37 + start: [13, 14] +- goal: [14, 18] + name: agent38 + start: [13, 18] +- goal: [16, 29] + name: agent39 + start: [31, 16] +- goal: [2, 8] + name: agent40 + start: [23, 14] +- goal: [13, 8] + name: agent41 + start: [15, 20] +- goal: [1, 10] + name: agent42 + start: [25, 5] +- goal: [0, 3] + name: agent43 + start: [21, 31] +- goal: [27, 27] + name: agent44 + start: [0, 26] +- goal: [28, 21] + name: agent45 + start: [20, 18] +- goal: [27, 18] + name: agent46 + start: [6, 27] +- goal: [4, 12] + name: agent47 + start: [24, 11] +- goal: [5, 10] + name: agent48 + start: [20, 17] +- goal: [10, 30] + name: agent49 + start: [3, 19] +- goal: [7, 9] + name: agent50 + start: [20, 9] +- goal: [25, 15] + name: agent51 + start: [22, 0] +- goal: [15, 0] + name: agent52 + start: [3, 3] +- goal: [6, 26] + name: agent53 + start: [0, 4] +- goal: [13, 22] + name: agent54 + start: [28, 30] +- goal: [7, 5] + name: agent55 + start: [8, 5] +- goal: [7, 16] + name: agent56 + start: [15, 19] +- goal: [15, 6] + name: agent57 + start: [3, 23] +- goal: [9, 26] + name: agent58 + start: [26, 11] +- goal: [0, 22] + name: agent59 + start: [25, 19] +- goal: [14, 10] + name: agent60 + start: [2, 27] +- goal: [12, 22] + name: agent61 + start: [29, 26] +- goal: [13, 24] + name: agent62 + start: [31, 22] +- goal: [23, 15] + name: agent63 + start: [31, 15] +- goal: [6, 28] + name: agent64 + start: [3, 8] +- goal: [3, 13] + name: agent65 + start: [23, 16] +- goal: [21, 29] + name: agent66 + start: [25, 28] +- goal: [27, 15] + name: agent67 + start: [12, 6] +- goal: [28, 29] + name: agent68 + start: [4, 19] +- goal: [29, 24] + name: agent69 + start: [19, 15] +- goal: [9, 25] + name: agent70 + start: [13, 17] +- goal: [10, 17] + name: agent71 + start: [22, 2] +- goal: [8, 20] + name: agent72 + start: [1, 8] +- goal: [6, 20] + name: agent73 + start: [26, 9] +- goal: [23, 19] + name: agent74 + start: [22, 7] +- goal: [0, 27] + name: agent75 + start: [16, 20] +- goal: [25, 21] + name: agent76 + start: [20, 27] +- goal: [24, 17] + name: agent77 + start: [8, 0] +- goal: [30, 4] + name: agent78 + start: [6, 8] +- goal: [26, 8] + name: agent79 + start: [28, 28] +- goal: [11, 0] + name: agent80 + start: [10, 5] +- goal: [30, 13] + name: agent81 + start: [18, 11] +- goal: [24, 14] + name: agent82 + start: [29, 25] +- goal: [11, 24] + name: agent83 + start: [4, 7] +- goal: [28, 26] + name: agent84 + start: [2, 23] +- goal: [0, 12] + name: agent85 + start: [25, 23] +- goal: [18, 27] + name: agent86 + start: [6, 17] +- goal: [3, 11] + name: agent87 + start: [9, 13] +- goal: [21, 14] + name: agent88 + start: [6, 1] +- goal: [23, 9] + name: agent89 + start: [3, 31] +- goal: [21, 5] + name: agent90 + start: [6, 16] +- goal: [17, 16] + name: agent91 + start: [11, 7] +- goal: [11, 23] + name: agent92 + start: [1, 30] +- goal: [8, 0] + name: agent93 + start: [28, 11] +- goal: [25, 6] + name: agent94 + start: [11, 0] +- goal: [3, 24] + name: agent95 + start: [28, 5] +- goal: [13, 30] + name: agent96 + start: [8, 27] +- goal: [19, 9] + name: agent97 + start: [16, 31] +- goal: [3, 22] + name: agent98 + start: [17, 8] +- goal: [5, 3] + name: agent99 + start: [11, 11] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [19, 20] + - !!python/tuple [13, 19] + - !!python/tuple [0, 31] + - !!python/tuple [21, 12] + - !!python/tuple [9, 18] + - !!python/tuple [27, 30] + - !!python/tuple [9, 1] + - !!python/tuple [22, 9] + - !!python/tuple [1, 4] + - !!python/tuple [24, 5] + - !!python/tuple [13, 25] + - !!python/tuple [29, 16] + - !!python/tuple [2, 10] + - !!python/tuple [11, 2] + - !!python/tuple [3, 2] + - !!python/tuple [1, 29] + - !!python/tuple [22, 26] + - !!python/tuple [24, 15] + - !!python/tuple [14, 12] + - !!python/tuple [30, 5] + - !!python/tuple [23, 30] + - !!python/tuple [21, 25] + - !!python/tuple [1, 12] + - !!python/tuple [26, 16] + - !!python/tuple [18, 16] + - !!python/tuple [7, 17] + - !!python/tuple [11, 12] + - !!python/tuple [14, 27] + - !!python/tuple [27, 23] + - !!python/tuple [13, 11] + - !!python/tuple [20, 2] + - !!python/tuple [29, 22] + - !!python/tuple [29, 11] + - !!python/tuple [2, 24] + - !!python/tuple [3, 27] + - !!python/tuple [2, 29] + - !!python/tuple [17, 4] + - !!python/tuple [7, 10] + - !!python/tuple [13, 2] + - !!python/tuple [5, 15] + - !!python/tuple [18, 21] + - !!python/tuple [31, 7] + - !!python/tuple [9, 9] + - !!python/tuple [7, 7] + - !!python/tuple [17, 5] + - !!python/tuple [24, 28] + - !!python/tuple [16, 18] + - !!python/tuple [28, 15] + - !!python/tuple [22, 25] + - !!python/tuple [18, 20] + - !!python/tuple [29, 21] + - !!python/tuple [16, 9] + - !!python/tuple [31, 18] + - !!python/tuple [29, 19] + - !!python/tuple [0, 5] + - !!python/tuple [15, 31] + - !!python/tuple [12, 5] + - !!python/tuple [28, 23] + - !!python/tuple [30, 26] + - !!python/tuple [26, 0] + - !!python/tuple [22, 30] + - !!python/tuple [3, 15] + - !!python/tuple [0, 16] + - !!python/tuple [28, 31] + - !!python/tuple [7, 20] + - !!python/tuple [11, 1] + - !!python/tuple [6, 13] + - !!python/tuple [8, 4] + - !!python/tuple [14, 3] + - !!python/tuple [25, 3] + - !!python/tuple [3, 29] + - !!python/tuple [27, 22] + - !!python/tuple [22, 20] + - !!python/tuple [2, 11] + - !!python/tuple [3, 26] + - !!python/tuple [27, 21] + - !!python/tuple [31, 30] + - !!python/tuple [9, 19] + - !!python/tuple [28, 24] + - !!python/tuple [14, 7] + - !!python/tuple [21, 13] + - !!python/tuple [4, 14] + - !!python/tuple [28, 12] + - !!python/tuple [14, 25] + - !!python/tuple [13, 12] + - !!python/tuple [18, 31] + - !!python/tuple [21, 4] + - !!python/tuple [4, 11] + - !!python/tuple [15, 10] + - !!python/tuple [23, 6] + - !!python/tuple [2, 16] + - !!python/tuple [4, 8] + - !!python/tuple [5, 12] + - !!python/tuple [2, 22] + - !!python/tuple [19, 22] + - !!python/tuple [13, 31] + - !!python/tuple [28, 17] + - !!python/tuple [14, 26] + - !!python/tuple [31, 21] + - !!python/tuple [7, 15] + - !!python/tuple [9, 21] + - !!python/tuple [20, 5] + - !!python/tuple [10, 26] + - !!python/tuple [27, 19] + - !!python/tuple [21, 7] + - !!python/tuple [7, 22] + - !!python/tuple [23, 24] + - !!python/tuple [31, 10] + - !!python/tuple [9, 22] + - !!python/tuple [4, 21] + - !!python/tuple [25, 9] + - !!python/tuple [23, 22] + - !!python/tuple [13, 21] + - !!python/tuple [14, 2] + - !!python/tuple [17, 13] + - !!python/tuple [27, 11] + - !!python/tuple [22, 13] + - !!python/tuple [30, 30] + - !!python/tuple [15, 15] + - !!python/tuple [22, 29] + - !!python/tuple [17, 10] + - !!python/tuple [6, 25] + - !!python/tuple [18, 12] + - !!python/tuple [30, 7] + - !!python/tuple [18, 10] + - !!python/tuple [27, 2] + - !!python/tuple [18, 15] + - !!python/tuple [20, 14] + - !!python/tuple [12, 1] + - !!python/tuple [15, 26] + - !!python/tuple [18, 24] + - !!python/tuple [5, 11] + - !!python/tuple [15, 9] + - !!python/tuple [7, 23] + - !!python/tuple [0, 11] + - !!python/tuple [22, 23] + - !!python/tuple [26, 30] + - !!python/tuple [13, 26] + - !!python/tuple [15, 13] + - !!python/tuple [27, 10] + - !!python/tuple [25, 11] + - !!python/tuple [3, 21] + - !!python/tuple [11, 30] + - !!python/tuple [13, 28] + - !!python/tuple [21, 2] + - !!python/tuple [26, 27] + - !!python/tuple [3, 12] + - !!python/tuple [12, 8] + - !!python/tuple [12, 19] + - !!python/tuple [19, 25] + - !!python/tuple [19, 31] + - !!python/tuple [31, 20] + - !!python/tuple [4, 22] + - !!python/tuple [31, 2] + - !!python/tuple [12, 27] + - !!python/tuple [30, 9] + - !!python/tuple [29, 4] + - !!python/tuple [11, 8] + - !!python/tuple [15, 18] + - !!python/tuple [18, 3] + - !!python/tuple [26, 29] + - !!python/tuple [16, 10] + - !!python/tuple [0, 6] + - !!python/tuple [24, 29] + - !!python/tuple [30, 19] + - !!python/tuple [20, 6] + - !!python/tuple [12, 23] + - !!python/tuple [23, 11] + - !!python/tuple [18, 1] + - !!python/tuple [4, 23] + - !!python/tuple [12, 25] + - !!python/tuple [21, 6] + - !!python/tuple [0, 19] + - !!python/tuple [10, 28] + - !!python/tuple [17, 15] + - !!python/tuple [20, 10] + - !!python/tuple [9, 30] + - !!python/tuple [21, 19] + - !!python/tuple [0, 20] + - !!python/tuple [2, 26] + - !!python/tuple [2, 14] + - !!python/tuple [5, 9] + - !!python/tuple [12, 12] + - !!python/tuple [20, 7] + - !!python/tuple [24, 3] + - !!python/tuple [26, 20] + - !!python/tuple [6, 10] + - !!python/tuple [6, 19] + - !!python/tuple [19, 29] + - !!python/tuple [14, 21] + - !!python/tuple [2, 28] + - !!python/tuple [19, 8] + - !!python/tuple [11, 15] + - !!python/tuple [6, 12] + - !!python/tuple [13, 23] + - !!python/tuple [11, 3] + - !!python/tuple [8, 17] + - !!python/tuple [9, 0] + - !!python/tuple [15, 16] + - !!python/tuple [18, 0] + - !!python/tuple [10, 16] + - !!python/tuple [26, 12] + - !!python/tuple [18, 7] + - !!python/tuple [12, 17] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex6.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex6.yaml new file mode 100644 index 0000000..3077556 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex6.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [20, 17] + name: agent0 + start: [5, 13] +- goal: [28, 12] + name: agent1 + start: [23, 17] +- goal: [8, 3] + name: agent2 + start: [8, 29] +- goal: [31, 6] + name: agent3 + start: [25, 10] +- goal: [9, 27] + name: agent4 + start: [16, 11] +- goal: [10, 24] + name: agent5 + start: [23, 23] +- goal: [3, 1] + name: agent6 + start: [16, 19] +- goal: [19, 19] + name: agent7 + start: [20, 3] +- goal: [12, 23] + name: agent8 + start: [6, 2] +- goal: [29, 4] + name: agent9 + start: [19, 26] +- goal: [2, 29] + name: agent10 + start: [13, 13] +- goal: [19, 9] + name: agent11 + start: [13, 6] +- goal: [6, 14] + name: agent12 + start: [1, 5] +- goal: [21, 12] + name: agent13 + start: [31, 11] +- goal: [12, 1] + name: agent14 + start: [17, 14] +- goal: [2, 20] + name: agent15 + start: [8, 1] +- goal: [31, 10] + name: agent16 + start: [24, 25] +- goal: [20, 0] + name: agent17 + start: [28, 2] +- goal: [23, 31] + name: agent18 + start: [19, 21] +- goal: [15, 1] + name: agent19 + start: [0, 16] +- goal: [14, 1] + name: agent20 + start: [28, 22] +- goal: [10, 25] + name: agent21 + start: [0, 3] +- goal: [6, 1] + name: agent22 + start: [26, 18] +- goal: [6, 23] + name: agent23 + start: [3, 13] +- goal: [27, 15] + name: agent24 + start: [28, 4] +- goal: [31, 20] + name: agent25 + start: [22, 14] +- goal: [4, 28] + name: agent26 + start: [3, 5] +- goal: [26, 5] + name: agent27 + start: [16, 20] +- goal: [12, 0] + name: agent28 + start: [0, 1] +- goal: [9, 12] + name: agent29 + start: [22, 28] +- goal: [17, 7] + name: agent30 + start: [11, 12] +- goal: [0, 30] + name: agent31 + start: [7, 14] +- goal: [21, 18] + name: agent32 + start: [13, 18] +- goal: [28, 2] + name: agent33 + start: [17, 7] +- goal: [19, 4] + name: agent34 + start: [19, 10] +- goal: [8, 16] + name: agent35 + start: [8, 3] +- goal: [15, 24] + name: agent36 + start: [27, 8] +- goal: [10, 2] + name: agent37 + start: [19, 19] +- goal: [18, 8] + name: agent38 + start: [14, 29] +- goal: [30, 6] + name: agent39 + start: [29, 4] +- goal: [20, 24] + name: agent40 + start: [8, 5] +- goal: [24, 5] + name: agent41 + start: [2, 21] +- goal: [9, 21] + name: agent42 + start: [22, 4] +- goal: [14, 7] + name: agent43 + start: [3, 9] +- goal: [14, 26] + name: agent44 + start: [20, 13] +- goal: [31, 5] + name: agent45 + start: [29, 29] +- goal: [3, 3] + name: agent46 + start: [15, 19] +- goal: [13, 17] + name: agent47 + start: [28, 0] +- goal: [1, 5] + name: agent48 + start: [4, 22] +- goal: [31, 21] + name: agent49 + start: [31, 12] +- goal: [25, 3] + name: agent50 + start: [28, 3] +- goal: [24, 17] + name: agent51 + start: [9, 20] +- goal: [4, 31] + name: agent52 + start: [0, 28] +- goal: [26, 30] + name: agent53 + start: [31, 10] +- goal: [17, 30] + name: agent54 + start: [10, 26] +- goal: [22, 23] + name: agent55 + start: [0, 27] +- goal: [22, 17] + name: agent56 + start: [1, 17] +- goal: [31, 25] + name: agent57 + start: [19, 1] +- goal: [1, 1] + name: agent58 + start: [23, 6] +- goal: [11, 5] + name: agent59 + start: [24, 1] +- goal: [20, 10] + name: agent60 + start: [20, 17] +- goal: [20, 13] + name: agent61 + start: [11, 11] +- goal: [0, 11] + name: agent62 + start: [8, 11] +- goal: [2, 31] + name: agent63 + start: [27, 26] +- goal: [20, 23] + name: agent64 + start: [2, 17] +- goal: [23, 5] + name: agent65 + start: [24, 13] +- goal: [8, 18] + name: agent66 + start: [9, 16] +- goal: [12, 19] + name: agent67 + start: [28, 24] +- goal: [18, 9] + name: agent68 + start: [29, 31] +- goal: [15, 8] + name: agent69 + start: [4, 12] +- goal: [15, 18] + name: agent70 + start: [17, 3] +- goal: [13, 0] + name: agent71 + start: [17, 18] +- goal: [10, 9] + name: agent72 + start: [4, 26] +- goal: [16, 17] + name: agent73 + start: [9, 31] +- goal: [27, 18] + name: agent74 + start: [24, 12] +- goal: [1, 29] + name: agent75 + start: [22, 24] +- goal: [30, 24] + name: agent76 + start: [3, 6] +- goal: [9, 18] + name: agent77 + start: [8, 13] +- goal: [27, 22] + name: agent78 + start: [18, 9] +- goal: [25, 17] + name: agent79 + start: [10, 16] +- goal: [3, 27] + name: agent80 + start: [12, 30] +- goal: [7, 31] + name: agent81 + start: [9, 18] +- goal: [17, 0] + name: agent82 + start: [17, 10] +- goal: [1, 12] + name: agent83 + start: [15, 2] +- goal: [11, 26] + name: agent84 + start: [29, 5] +- goal: [21, 5] + name: agent85 + start: [30, 9] +- goal: [25, 13] + name: agent86 + start: [20, 24] +- goal: [21, 10] + name: agent87 + start: [12, 4] +- goal: [0, 2] + name: agent88 + start: [0, 24] +- goal: [29, 18] + name: agent89 + start: [26, 29] +- goal: [15, 17] + name: agent90 + start: [11, 22] +- goal: [26, 27] + name: agent91 + start: [18, 14] +- goal: [29, 12] + name: agent92 + start: [12, 29] +- goal: [26, 6] + name: agent93 + start: [14, 31] +- goal: [15, 2] + name: agent94 + start: [18, 7] +- goal: [8, 30] + name: agent95 + start: [7, 17] +- goal: [17, 10] + name: agent96 + start: [0, 9] +- goal: [2, 30] + name: agent97 + start: [17, 19] +- goal: [22, 15] + name: agent98 + start: [3, 11] +- goal: [4, 24] + name: agent99 + start: [22, 9] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [8, 28] + - !!python/tuple [1, 26] + - !!python/tuple [12, 31] + - !!python/tuple [9, 1] + - !!python/tuple [16, 8] + - !!python/tuple [27, 9] + - !!python/tuple [18, 25] + - !!python/tuple [10, 4] + - !!python/tuple [4, 5] + - !!python/tuple [19, 17] + - !!python/tuple [7, 22] + - !!python/tuple [28, 31] + - !!python/tuple [24, 31] + - !!python/tuple [29, 1] + - !!python/tuple [2, 22] + - !!python/tuple [3, 18] + - !!python/tuple [17, 5] + - !!python/tuple [7, 0] + - !!python/tuple [19, 20] + - !!python/tuple [13, 31] + - !!python/tuple [25, 15] + - !!python/tuple [8, 21] + - !!python/tuple [15, 0] + - !!python/tuple [17, 21] + - !!python/tuple [4, 17] + - !!python/tuple [0, 0] + - !!python/tuple [9, 0] + - !!python/tuple [18, 11] + - !!python/tuple [1, 10] + - !!python/tuple [15, 25] + - !!python/tuple [16, 23] + - !!python/tuple [28, 5] + - !!python/tuple [15, 23] + - !!python/tuple [1, 3] + - !!python/tuple [19, 3] + - !!python/tuple [16, 26] + - !!python/tuple [17, 17] + - !!python/tuple [11, 16] + - !!python/tuple [2, 28] + - !!python/tuple [2, 19] + - !!python/tuple [20, 20] + - !!python/tuple [12, 24] + - !!python/tuple [3, 16] + - !!python/tuple [15, 3] + - !!python/tuple [25, 21] + - !!python/tuple [10, 23] + - !!python/tuple [4, 0] + - !!python/tuple [12, 22] + - !!python/tuple [18, 23] + - !!python/tuple [17, 31] + - !!python/tuple [30, 31] + - !!python/tuple [0, 12] + - !!python/tuple [8, 6] + - !!python/tuple [1, 8] + - !!python/tuple [8, 9] + - !!python/tuple [6, 27] + - !!python/tuple [10, 6] + - !!python/tuple [24, 6] + - !!python/tuple [31, 19] + - !!python/tuple [10, 3] + - !!python/tuple [6, 6] + - !!python/tuple [2, 15] + - !!python/tuple [27, 20] + - !!python/tuple [28, 8] + - !!python/tuple [8, 31] + - !!python/tuple [10, 18] + - !!python/tuple [18, 30] + - !!python/tuple [9, 23] + - !!python/tuple [16, 27] + - !!python/tuple [26, 23] + - !!python/tuple [7, 13] + - !!python/tuple [5, 30] + - !!python/tuple [23, 24] + - !!python/tuple [21, 23] + - !!python/tuple [22, 19] + - !!python/tuple [4, 20] + - !!python/tuple [4, 18] + - !!python/tuple [27, 16] + - !!python/tuple [18, 13] + - !!python/tuple [31, 0] + - !!python/tuple [7, 18] + - !!python/tuple [16, 21] + - !!python/tuple [17, 11] + - !!python/tuple [28, 21] + - !!python/tuple [24, 16] + - !!python/tuple [14, 30] + - !!python/tuple [18, 21] + - !!python/tuple [29, 10] + - !!python/tuple [10, 20] + - !!python/tuple [29, 13] + - !!python/tuple [31, 15] + - !!python/tuple [20, 28] + - !!python/tuple [16, 28] + - !!python/tuple [4, 7] + - !!python/tuple [14, 12] + - !!python/tuple [31, 7] + - !!python/tuple [10, 13] + - !!python/tuple [19, 27] + - !!python/tuple [10, 29] + - !!python/tuple [11, 24] + - !!python/tuple [16, 9] + - !!python/tuple [19, 11] + - !!python/tuple [20, 19] + - !!python/tuple [31, 9] + - !!python/tuple [9, 19] + - !!python/tuple [8, 25] + - !!python/tuple [23, 25] + - !!python/tuple [6, 20] + - !!python/tuple [13, 11] + - !!python/tuple [21, 6] + - !!python/tuple [5, 10] + - !!python/tuple [14, 6] + - !!python/tuple [13, 27] + - !!python/tuple [11, 20] + - !!python/tuple [16, 24] + - !!python/tuple [1, 21] + - !!python/tuple [1, 16] + - !!python/tuple [15, 9] + - !!python/tuple [3, 7] + - !!python/tuple [18, 12] + - !!python/tuple [23, 30] + - !!python/tuple [5, 17] + - !!python/tuple [1, 28] + - !!python/tuple [3, 22] + - !!python/tuple [3, 2] + - !!python/tuple [4, 14] + - !!python/tuple [2, 11] + - !!python/tuple [21, 7] + - !!python/tuple [5, 3] + - !!python/tuple [18, 29] + - !!python/tuple [19, 24] + - !!python/tuple [27, 0] + - !!python/tuple [11, 14] + - !!python/tuple [7, 7] + - !!python/tuple [24, 19] + - !!python/tuple [16, 25] + - !!python/tuple [24, 0] + - !!python/tuple [14, 20] + - !!python/tuple [14, 28] + - !!python/tuple [2, 24] + - !!python/tuple [29, 2] + - !!python/tuple [26, 15] + - !!python/tuple [1, 13] + - !!python/tuple [2, 7] + - !!python/tuple [7, 26] + - !!python/tuple [19, 2] + - !!python/tuple [4, 30] + - !!python/tuple [22, 26] + - !!python/tuple [25, 25] + - !!python/tuple [31, 27] + - !!python/tuple [1, 6] + - !!python/tuple [27, 25] + - !!python/tuple [14, 3] + - !!python/tuple [17, 24] + - !!python/tuple [22, 5] + - !!python/tuple [25, 27] + - !!python/tuple [4, 29] + - !!python/tuple [9, 22] + - !!python/tuple [10, 0] + - !!python/tuple [19, 16] + - !!python/tuple [10, 5] + - !!python/tuple [20, 22] + - !!python/tuple [16, 30] + - !!python/tuple [14, 27] + - !!python/tuple [8, 22] + - !!python/tuple [9, 15] + - !!python/tuple [3, 26] + - !!python/tuple [6, 11] + - !!python/tuple [4, 23] + - !!python/tuple [24, 14] + - !!python/tuple [5, 27] + - !!python/tuple [22, 1] + - !!python/tuple [13, 7] + - !!python/tuple [21, 16] + - !!python/tuple [3, 4] + - !!python/tuple [29, 27] + - !!python/tuple [14, 21] + - !!python/tuple [20, 12] + - !!python/tuple [21, 13] + - !!python/tuple [31, 13] + - !!python/tuple [0, 19] + - !!python/tuple [9, 2] + - !!python/tuple [16, 15] + - !!python/tuple [25, 5] + - !!python/tuple [22, 7] + - !!python/tuple [13, 9] + - !!python/tuple [5, 29] + - !!python/tuple [13, 2] + - !!python/tuple [15, 22] + - !!python/tuple [21, 0] + - !!python/tuple [25, 29] + - !!python/tuple [14, 23] + - !!python/tuple [14, 16] + - !!python/tuple [27, 28] + - !!python/tuple [4, 21] + - !!python/tuple [0, 13] + - !!python/tuple [21, 9] + - !!python/tuple [14, 10] + - !!python/tuple [5, 20] + - !!python/tuple [31, 14] + - !!python/tuple [13, 3] + - !!python/tuple [17, 22] + - !!python/tuple [31, 18] + - !!python/tuple [20, 7] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex60.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex60.yaml new file mode 100644 index 0000000..a8eebe5 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex60.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [16, 15] + name: agent0 + start: [19, 12] +- goal: [31, 23] + name: agent1 + start: [24, 13] +- goal: [19, 18] + name: agent2 + start: [13, 29] +- goal: [11, 29] + name: agent3 + start: [17, 10] +- goal: [26, 31] + name: agent4 + start: [20, 3] +- goal: [30, 24] + name: agent5 + start: [8, 28] +- goal: [14, 27] + name: agent6 + start: [9, 2] +- goal: [16, 23] + name: agent7 + start: [16, 21] +- goal: [25, 31] + name: agent8 + start: [11, 29] +- goal: [9, 4] + name: agent9 + start: [29, 16] +- goal: [26, 15] + name: agent10 + start: [31, 20] +- goal: [12, 24] + name: agent11 + start: [17, 21] +- goal: [9, 14] + name: agent12 + start: [26, 23] +- goal: [17, 27] + name: agent13 + start: [20, 30] +- goal: [13, 30] + name: agent14 + start: [24, 9] +- goal: [20, 0] + name: agent15 + start: [7, 1] +- goal: [14, 22] + name: agent16 + start: [29, 2] +- goal: [22, 7] + name: agent17 + start: [30, 29] +- goal: [23, 8] + name: agent18 + start: [6, 24] +- goal: [14, 29] + name: agent19 + start: [6, 25] +- goal: [25, 30] + name: agent20 + start: [24, 7] +- goal: [0, 1] + name: agent21 + start: [3, 4] +- goal: [22, 18] + name: agent22 + start: [16, 27] +- goal: [17, 25] + name: agent23 + start: [26, 13] +- goal: [0, 6] + name: agent24 + start: [30, 9] +- goal: [16, 10] + name: agent25 + start: [0, 14] +- goal: [17, 16] + name: agent26 + start: [31, 13] +- goal: [28, 3] + name: agent27 + start: [15, 17] +- goal: [4, 19] + name: agent28 + start: [0, 1] +- goal: [20, 16] + name: agent29 + start: [19, 16] +- goal: [23, 7] + name: agent30 + start: [30, 3] +- goal: [31, 14] + name: agent31 + start: [0, 4] +- goal: [30, 2] + name: agent32 + start: [22, 11] +- goal: [18, 11] + name: agent33 + start: [19, 0] +- goal: [28, 10] + name: agent34 + start: [20, 4] +- goal: [15, 4] + name: agent35 + start: [12, 22] +- goal: [3, 11] + name: agent36 + start: [15, 12] +- goal: [14, 14] + name: agent37 + start: [30, 25] +- goal: [8, 1] + name: agent38 + start: [20, 27] +- goal: [31, 20] + name: agent39 + start: [31, 3] +- goal: [20, 10] + name: agent40 + start: [23, 2] +- goal: [25, 3] + name: agent41 + start: [12, 19] +- goal: [21, 17] + name: agent42 + start: [24, 1] +- goal: [1, 7] + name: agent43 + start: [27, 18] +- goal: [3, 16] + name: agent44 + start: [28, 3] +- goal: [2, 5] + name: agent45 + start: [27, 3] +- goal: [4, 9] + name: agent46 + start: [5, 28] +- goal: [0, 9] + name: agent47 + start: [1, 9] +- goal: [1, 1] + name: agent48 + start: [3, 5] +- goal: [0, 20] + name: agent49 + start: [5, 13] +- goal: [3, 28] + name: agent50 + start: [25, 19] +- goal: [22, 2] + name: agent51 + start: [21, 1] +- goal: [10, 18] + name: agent52 + start: [22, 18] +- goal: [20, 19] + name: agent53 + start: [4, 22] +- goal: [12, 4] + name: agent54 + start: [10, 8] +- goal: [19, 11] + name: agent55 + start: [30, 28] +- goal: [29, 23] + name: agent56 + start: [19, 22] +- goal: [20, 25] + name: agent57 + start: [5, 26] +- goal: [7, 14] + name: agent58 + start: [4, 27] +- goal: [21, 26] + name: agent59 + start: [1, 25] +- goal: [2, 31] + name: agent60 + start: [5, 31] +- goal: [18, 8] + name: agent61 + start: [19, 4] +- goal: [29, 3] + name: agent62 + start: [12, 9] +- goal: [22, 21] + name: agent63 + start: [7, 5] +- goal: [5, 10] + name: agent64 + start: [9, 18] +- goal: [1, 26] + name: agent65 + start: [3, 20] +- goal: [25, 6] + name: agent66 + start: [9, 23] +- goal: [6, 7] + name: agent67 + start: [13, 3] +- goal: [10, 28] + name: agent68 + start: [2, 18] +- goal: [2, 13] + name: agent69 + start: [8, 0] +- goal: [15, 26] + name: agent70 + start: [23, 23] +- goal: [6, 20] + name: agent71 + start: [6, 23] +- goal: [11, 4] + name: agent72 + start: [3, 18] +- goal: [2, 26] + name: agent73 + start: [29, 10] +- goal: [12, 16] + name: agent74 + start: [19, 14] +- goal: [16, 4] + name: agent75 + start: [0, 21] +- goal: [24, 2] + name: agent76 + start: [14, 21] +- goal: [27, 5] + name: agent77 + start: [22, 12] +- goal: [14, 13] + name: agent78 + start: [28, 26] +- goal: [7, 15] + name: agent79 + start: [12, 31] +- goal: [8, 12] + name: agent80 + start: [3, 17] +- goal: [27, 24] + name: agent81 + start: [9, 10] +- goal: [11, 27] + name: agent82 + start: [31, 18] +- goal: [0, 3] + name: agent83 + start: [20, 31] +- goal: [1, 2] + name: agent84 + start: [3, 24] +- goal: [1, 12] + name: agent85 + start: [31, 30] +- goal: [29, 24] + name: agent86 + start: [28, 25] +- goal: [5, 11] + name: agent87 + start: [21, 10] +- goal: [6, 18] + name: agent88 + start: [15, 6] +- goal: [24, 31] + name: agent89 + start: [0, 10] +- goal: [10, 30] + name: agent90 + start: [9, 29] +- goal: [0, 13] + name: agent91 + start: [15, 4] +- goal: [16, 24] + name: agent92 + start: [10, 19] +- goal: [26, 27] + name: agent93 + start: [3, 21] +- goal: [17, 10] + name: agent94 + start: [25, 31] +- goal: [24, 27] + name: agent95 + start: [17, 26] +- goal: [31, 9] + name: agent96 + start: [9, 22] +- goal: [0, 0] + name: agent97 + start: [22, 7] +- goal: [29, 15] + name: agent98 + start: [18, 15] +- goal: [19, 19] + name: agent99 + start: [28, 22] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [10, 1] + - !!python/tuple [8, 27] + - !!python/tuple [10, 20] + - !!python/tuple [9, 31] + - !!python/tuple [28, 31] + - !!python/tuple [12, 30] + - !!python/tuple [17, 14] + - !!python/tuple [2, 3] + - !!python/tuple [31, 28] + - !!python/tuple [14, 11] + - !!python/tuple [9, 19] + - !!python/tuple [9, 15] + - !!python/tuple [26, 1] + - !!python/tuple [21, 4] + - !!python/tuple [6, 22] + - !!python/tuple [8, 5] + - !!python/tuple [11, 1] + - !!python/tuple [2, 14] + - !!python/tuple [26, 4] + - !!python/tuple [5, 9] + - !!python/tuple [0, 24] + - !!python/tuple [23, 12] + - !!python/tuple [5, 22] + - !!python/tuple [26, 29] + - !!python/tuple [17, 22] + - !!python/tuple [21, 28] + - !!python/tuple [27, 16] + - !!python/tuple [28, 17] + - !!python/tuple [20, 26] + - !!python/tuple [19, 31] + - !!python/tuple [12, 13] + - !!python/tuple [6, 15] + - !!python/tuple [24, 24] + - !!python/tuple [28, 14] + - !!python/tuple [28, 28] + - !!python/tuple [24, 16] + - !!python/tuple [21, 9] + - !!python/tuple [4, 10] + - !!python/tuple [8, 21] + - !!python/tuple [12, 28] + - !!python/tuple [9, 13] + - !!python/tuple [1, 29] + - !!python/tuple [15, 30] + - !!python/tuple [3, 31] + - !!python/tuple [22, 27] + - !!python/tuple [19, 17] + - !!python/tuple [9, 12] + - !!python/tuple [15, 19] + - !!python/tuple [10, 21] + - !!python/tuple [27, 1] + - !!python/tuple [13, 19] + - !!python/tuple [22, 24] + - !!python/tuple [2, 1] + - !!python/tuple [11, 18] + - !!python/tuple [0, 31] + - !!python/tuple [8, 16] + - !!python/tuple [1, 19] + - !!python/tuple [19, 27] + - !!python/tuple [25, 29] + - !!python/tuple [11, 17] + - !!python/tuple [11, 24] + - !!python/tuple [5, 23] + - !!python/tuple [25, 9] + - !!python/tuple [31, 22] + - !!python/tuple [28, 23] + - !!python/tuple [12, 8] + - !!python/tuple [28, 2] + - !!python/tuple [0, 19] + - !!python/tuple [24, 21] + - !!python/tuple [17, 19] + - !!python/tuple [4, 31] + - !!python/tuple [22, 25] + - !!python/tuple [17, 1] + - !!python/tuple [30, 0] + - !!python/tuple [5, 14] + - !!python/tuple [6, 14] + - !!python/tuple [26, 20] + - !!python/tuple [2, 4] + - !!python/tuple [13, 21] + - !!python/tuple [25, 4] + - !!python/tuple [30, 27] + - !!python/tuple [4, 17] + - !!python/tuple [3, 8] + - !!python/tuple [31, 24] + - !!python/tuple [15, 5] + - !!python/tuple [29, 25] + - !!python/tuple [28, 19] + - !!python/tuple [8, 3] + - !!python/tuple [6, 10] + - !!python/tuple [21, 30] + - !!python/tuple [5, 7] + - !!python/tuple [24, 19] + - !!python/tuple [28, 24] + - !!python/tuple [30, 19] + - !!python/tuple [4, 12] + - !!python/tuple [30, 12] + - !!python/tuple [4, 14] + - !!python/tuple [21, 21] + - !!python/tuple [29, 27] + - !!python/tuple [28, 6] + - !!python/tuple [30, 21] + - !!python/tuple [0, 30] + - !!python/tuple [7, 7] + - !!python/tuple [0, 18] + - !!python/tuple [7, 22] + - !!python/tuple [13, 31] + - !!python/tuple [19, 20] + - !!python/tuple [26, 30] + - !!python/tuple [20, 28] + - !!python/tuple [7, 23] + - !!python/tuple [16, 26] + - !!python/tuple [27, 15] + - !!python/tuple [20, 6] + - !!python/tuple [3, 19] + - !!python/tuple [0, 22] + - !!python/tuple [18, 31] + - !!python/tuple [6, 1] + - !!python/tuple [21, 2] + - !!python/tuple [1, 18] + - !!python/tuple [15, 16] + - !!python/tuple [31, 27] + - !!python/tuple [5, 25] + - !!python/tuple [6, 26] + - !!python/tuple [14, 3] + - !!python/tuple [9, 27] + - !!python/tuple [25, 26] + - !!python/tuple [6, 6] + - !!python/tuple [29, 1] + - !!python/tuple [31, 31] + - !!python/tuple [10, 3] + - !!python/tuple [9, 5] + - !!python/tuple [28, 5] + - !!python/tuple [26, 11] + - !!python/tuple [23, 6] + - !!python/tuple [31, 2] + - !!python/tuple [17, 20] + - !!python/tuple [4, 30] + - !!python/tuple [23, 20] + - !!python/tuple [16, 31] + - !!python/tuple [24, 29] + - !!python/tuple [27, 0] + - !!python/tuple [13, 14] + - !!python/tuple [17, 15] + - !!python/tuple [14, 20] + - !!python/tuple [21, 15] + - !!python/tuple [2, 7] + - !!python/tuple [3, 1] + - !!python/tuple [4, 11] + - !!python/tuple [30, 15] + - !!python/tuple [15, 21] + - !!python/tuple [19, 30] + - !!python/tuple [3, 14] + - !!python/tuple [0, 7] + - !!python/tuple [1, 27] + - !!python/tuple [17, 23] + - !!python/tuple [4, 16] + - !!python/tuple [7, 17] + - !!python/tuple [0, 15] + - !!python/tuple [3, 9] + - !!python/tuple [15, 13] + - !!python/tuple [2, 27] + - !!python/tuple [22, 14] + - !!python/tuple [4, 6] + - !!python/tuple [14, 15] + - !!python/tuple [29, 14] + - !!python/tuple [26, 9] + - !!python/tuple [2, 29] + - !!python/tuple [18, 28] + - !!python/tuple [28, 29] + - !!python/tuple [18, 19] + - !!python/tuple [22, 0] + - !!python/tuple [12, 3] + - !!python/tuple [15, 7] + - !!python/tuple [16, 25] + - !!python/tuple [31, 7] + - !!python/tuple [4, 18] + - !!python/tuple [25, 0] + - !!python/tuple [8, 25] + - !!python/tuple [1, 16] + - !!python/tuple [25, 16] + - !!python/tuple [19, 6] + - !!python/tuple [24, 0] + - !!python/tuple [29, 29] + - !!python/tuple [3, 23] + - !!python/tuple [13, 13] + - !!python/tuple [23, 16] + - !!python/tuple [16, 29] + - !!python/tuple [25, 14] + - !!python/tuple [27, 4] + - !!python/tuple [15, 10] + - !!python/tuple [30, 20] + - !!python/tuple [21, 5] + - !!python/tuple [18, 24] + - !!python/tuple [23, 15] + - !!python/tuple [24, 20] + - !!python/tuple [29, 19] + - !!python/tuple [7, 21] + - !!python/tuple [8, 6] + - !!python/tuple [17, 5] + - !!python/tuple [13, 8] + - !!python/tuple [17, 28] + - !!python/tuple [3, 3] + - !!python/tuple [21, 25] + - !!python/tuple [14, 2] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex61.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex61.yaml new file mode 100644 index 0000000..4bbd20f --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex61.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [28, 5] + name: agent0 + start: [17, 2] +- goal: [14, 26] + name: agent1 + start: [15, 16] +- goal: [11, 6] + name: agent2 + start: [10, 14] +- goal: [9, 29] + name: agent3 + start: [9, 10] +- goal: [10, 2] + name: agent4 + start: [14, 17] +- goal: [6, 20] + name: agent5 + start: [9, 27] +- goal: [4, 29] + name: agent6 + start: [26, 27] +- goal: [4, 30] + name: agent7 + start: [14, 3] +- goal: [18, 19] + name: agent8 + start: [7, 23] +- goal: [25, 5] + name: agent9 + start: [26, 12] +- goal: [3, 25] + name: agent10 + start: [10, 16] +- goal: [30, 15] + name: agent11 + start: [9, 15] +- goal: [23, 15] + name: agent12 + start: [19, 6] +- goal: [25, 18] + name: agent13 + start: [24, 1] +- goal: [7, 26] + name: agent14 + start: [10, 25] +- goal: [6, 16] + name: agent15 + start: [2, 19] +- goal: [13, 24] + name: agent16 + start: [14, 6] +- goal: [25, 23] + name: agent17 + start: [4, 20] +- goal: [14, 2] + name: agent18 + start: [7, 13] +- goal: [24, 0] + name: agent19 + start: [1, 13] +- goal: [3, 17] + name: agent20 + start: [15, 2] +- goal: [16, 8] + name: agent21 + start: [3, 21] +- goal: [26, 18] + name: agent22 + start: [6, 22] +- goal: [25, 0] + name: agent23 + start: [22, 17] +- goal: [16, 31] + name: agent24 + start: [11, 23] +- goal: [5, 4] + name: agent25 + start: [9, 17] +- goal: [21, 17] + name: agent26 + start: [13, 21] +- goal: [8, 16] + name: agent27 + start: [10, 1] +- goal: [11, 31] + name: agent28 + start: [4, 25] +- goal: [11, 2] + name: agent29 + start: [4, 19] +- goal: [14, 13] + name: agent30 + start: [12, 8] +- goal: [3, 14] + name: agent31 + start: [8, 12] +- goal: [31, 17] + name: agent32 + start: [14, 22] +- goal: [16, 30] + name: agent33 + start: [15, 25] +- goal: [12, 10] + name: agent34 + start: [31, 17] +- goal: [17, 11] + name: agent35 + start: [10, 6] +- goal: [14, 5] + name: agent36 + start: [31, 24] +- goal: [3, 30] + name: agent37 + start: [6, 6] +- goal: [14, 20] + name: agent38 + start: [31, 20] +- goal: [24, 15] + name: agent39 + start: [2, 7] +- goal: [11, 28] + name: agent40 + start: [24, 6] +- goal: [29, 30] + name: agent41 + start: [29, 23] +- goal: [27, 28] + name: agent42 + start: [2, 14] +- goal: [2, 22] + name: agent43 + start: [12, 7] +- goal: [20, 28] + name: agent44 + start: [3, 2] +- goal: [17, 18] + name: agent45 + start: [21, 28] +- goal: [28, 6] + name: agent46 + start: [27, 21] +- goal: [27, 1] + name: agent47 + start: [29, 4] +- goal: [9, 30] + name: agent48 + start: [5, 23] +- goal: [22, 11] + name: agent49 + start: [29, 0] +- goal: [10, 30] + name: agent50 + start: [30, 20] +- goal: [17, 25] + name: agent51 + start: [22, 12] +- goal: [2, 14] + name: agent52 + start: [29, 31] +- goal: [29, 18] + name: agent53 + start: [21, 14] +- goal: [28, 0] + name: agent54 + start: [23, 20] +- goal: [16, 9] + name: agent55 + start: [2, 6] +- goal: [18, 17] + name: agent56 + start: [20, 8] +- goal: [10, 11] + name: agent57 + start: [24, 18] +- goal: [21, 24] + name: agent58 + start: [30, 13] +- goal: [13, 18] + name: agent59 + start: [26, 28] +- goal: [29, 5] + name: agent60 + start: [5, 14] +- goal: [31, 29] + name: agent61 + start: [0, 17] +- goal: [16, 23] + name: agent62 + start: [15, 23] +- goal: [17, 24] + name: agent63 + start: [2, 3] +- goal: [23, 0] + name: agent64 + start: [29, 8] +- goal: [17, 12] + name: agent65 + start: [10, 22] +- goal: [6, 15] + name: agent66 + start: [29, 27] +- goal: [5, 17] + name: agent67 + start: [0, 27] +- goal: [20, 7] + name: agent68 + start: [7, 7] +- goal: [3, 27] + name: agent69 + start: [6, 13] +- goal: [9, 25] + name: agent70 + start: [2, 23] +- goal: [21, 26] + name: agent71 + start: [28, 19] +- goal: [6, 0] + name: agent72 + start: [22, 23] +- goal: [12, 7] + name: agent73 + start: [9, 12] +- goal: [4, 3] + name: agent74 + start: [24, 21] +- goal: [9, 31] + name: agent75 + start: [14, 5] +- goal: [7, 21] + name: agent76 + start: [23, 11] +- goal: [10, 31] + name: agent77 + start: [9, 4] +- goal: [3, 3] + name: agent78 + start: [30, 3] +- goal: [30, 19] + name: agent79 + start: [27, 2] +- goal: [2, 25] + name: agent80 + start: [5, 3] +- goal: [4, 4] + name: agent81 + start: [14, 23] +- goal: [3, 6] + name: agent82 + start: [10, 30] +- goal: [22, 12] + name: agent83 + start: [15, 29] +- goal: [21, 5] + name: agent84 + start: [21, 23] +- goal: [1, 16] + name: agent85 + start: [4, 16] +- goal: [25, 8] + name: agent86 + start: [31, 1] +- goal: [25, 27] + name: agent87 + start: [30, 19] +- goal: [28, 20] + name: agent88 + start: [11, 4] +- goal: [5, 19] + name: agent89 + start: [19, 12] +- goal: [31, 25] + name: agent90 + start: [2, 10] +- goal: [29, 4] + name: agent91 + start: [31, 14] +- goal: [9, 24] + name: agent92 + start: [20, 29] +- goal: [6, 22] + name: agent93 + start: [18, 14] +- goal: [12, 16] + name: agent94 + start: [22, 11] +- goal: [5, 6] + name: agent95 + start: [0, 23] +- goal: [22, 29] + name: agent96 + start: [13, 19] +- goal: [22, 19] + name: agent97 + start: [28, 26] +- goal: [10, 6] + name: agent98 + start: [18, 28] +- goal: [31, 8] + name: agent99 + start: [31, 18] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [0, 2] + - !!python/tuple [23, 6] + - !!python/tuple [29, 9] + - !!python/tuple [3, 9] + - !!python/tuple [19, 22] + - !!python/tuple [0, 5] + - !!python/tuple [7, 24] + - !!python/tuple [22, 4] + - !!python/tuple [23, 7] + - !!python/tuple [3, 23] + - !!python/tuple [10, 7] + - !!python/tuple [31, 6] + - !!python/tuple [24, 8] + - !!python/tuple [30, 29] + - !!python/tuple [5, 25] + - !!python/tuple [30, 31] + - !!python/tuple [14, 9] + - !!python/tuple [0, 13] + - !!python/tuple [24, 10] + - !!python/tuple [30, 9] + - !!python/tuple [10, 3] + - !!python/tuple [1, 8] + - !!python/tuple [20, 3] + - !!python/tuple [17, 21] + - !!python/tuple [1, 23] + - !!python/tuple [16, 27] + - !!python/tuple [25, 29] + - !!python/tuple [13, 29] + - !!python/tuple [18, 26] + - !!python/tuple [28, 11] + - !!python/tuple [11, 12] + - !!python/tuple [26, 8] + - !!python/tuple [1, 11] + - !!python/tuple [9, 11] + - !!python/tuple [15, 18] + - !!python/tuple [30, 1] + - !!python/tuple [11, 20] + - !!python/tuple [26, 25] + - !!python/tuple [11, 13] + - !!python/tuple [15, 13] + - !!python/tuple [6, 11] + - !!python/tuple [24, 19] + - !!python/tuple [18, 27] + - !!python/tuple [2, 4] + - !!python/tuple [21, 16] + - !!python/tuple [2, 30] + - !!python/tuple [17, 23] + - !!python/tuple [16, 25] + - !!python/tuple [18, 20] + - !!python/tuple [25, 28] + - !!python/tuple [14, 21] + - !!python/tuple [2, 12] + - !!python/tuple [24, 11] + - !!python/tuple [26, 11] + - !!python/tuple [27, 17] + - !!python/tuple [2, 20] + - !!python/tuple [8, 7] + - !!python/tuple [15, 24] + - !!python/tuple [8, 6] + - !!python/tuple [3, 10] + - !!python/tuple [10, 19] + - !!python/tuple [26, 7] + - !!python/tuple [12, 27] + - !!python/tuple [27, 7] + - !!python/tuple [19, 11] + - !!python/tuple [0, 15] + - !!python/tuple [28, 1] + - !!python/tuple [21, 15] + - !!python/tuple [31, 3] + - !!python/tuple [30, 6] + - !!python/tuple [27, 14] + - !!python/tuple [24, 28] + - !!python/tuple [27, 27] + - !!python/tuple [21, 31] + - !!python/tuple [0, 18] + - !!python/tuple [8, 10] + - !!python/tuple [15, 12] + - !!python/tuple [15, 15] + - !!python/tuple [19, 28] + - !!python/tuple [14, 8] + - !!python/tuple [0, 19] + - !!python/tuple [6, 17] + - !!python/tuple [26, 30] + - !!python/tuple [15, 22] + - !!python/tuple [7, 10] + - !!python/tuple [22, 15] + - !!python/tuple [23, 30] + - !!python/tuple [12, 0] + - !!python/tuple [17, 4] + - !!python/tuple [16, 14] + - !!python/tuple [20, 16] + - !!python/tuple [12, 4] + - !!python/tuple [2, 11] + - !!python/tuple [2, 27] + - !!python/tuple [20, 23] + - !!python/tuple [19, 23] + - !!python/tuple [14, 19] + - !!python/tuple [5, 13] + - !!python/tuple [27, 19] + - !!python/tuple [11, 9] + - !!python/tuple [11, 21] + - !!python/tuple [9, 13] + - !!python/tuple [24, 12] + - !!python/tuple [28, 22] + - !!python/tuple [11, 16] + - !!python/tuple [13, 7] + - !!python/tuple [0, 11] + - !!python/tuple [4, 22] + - !!python/tuple [6, 24] + - !!python/tuple [19, 25] + - !!python/tuple [6, 19] + - !!python/tuple [22, 3] + - !!python/tuple [20, 17] + - !!python/tuple [7, 15] + - !!python/tuple [0, 29] + - !!python/tuple [21, 29] + - !!python/tuple [7, 19] + - !!python/tuple [31, 22] + - !!python/tuple [11, 30] + - !!python/tuple [29, 14] + - !!python/tuple [4, 9] + - !!python/tuple [3, 11] + - !!python/tuple [3, 22] + - !!python/tuple [22, 16] + - !!python/tuple [22, 22] + - !!python/tuple [3, 7] + - !!python/tuple [27, 9] + - !!python/tuple [1, 28] + - !!python/tuple [26, 31] + - !!python/tuple [6, 31] + - !!python/tuple [21, 3] + - !!python/tuple [27, 3] + - !!python/tuple [8, 2] + - !!python/tuple [11, 0] + - !!python/tuple [22, 30] + - !!python/tuple [26, 23] + - !!python/tuple [24, 13] + - !!python/tuple [26, 9] + - !!python/tuple [5, 2] + - !!python/tuple [26, 2] + - !!python/tuple [10, 12] + - !!python/tuple [19, 16] + - !!python/tuple [25, 13] + - !!python/tuple [17, 7] + - !!python/tuple [12, 21] + - !!python/tuple [31, 28] + - !!python/tuple [12, 26] + - !!python/tuple [10, 13] + - !!python/tuple [4, 10] + - !!python/tuple [14, 29] + - !!python/tuple [26, 14] + - !!python/tuple [1, 2] + - !!python/tuple [7, 0] + - !!python/tuple [22, 9] + - !!python/tuple [30, 21] + - !!python/tuple [10, 5] + - !!python/tuple [5, 31] + - !!python/tuple [10, 24] + - !!python/tuple [23, 29] + - !!python/tuple [5, 12] + - !!python/tuple [6, 2] + - !!python/tuple [8, 27] + - !!python/tuple [14, 16] + - !!python/tuple [25, 10] + - !!python/tuple [12, 17] + - !!python/tuple [21, 19] + - !!python/tuple [30, 11] + - !!python/tuple [20, 4] + - !!python/tuple [8, 30] + - !!python/tuple [0, 10] + - !!python/tuple [7, 4] + - !!python/tuple [4, 18] + - !!python/tuple [1, 6] + - !!python/tuple [14, 25] + - !!python/tuple [21, 6] + - !!python/tuple [14, 12] + - !!python/tuple [23, 25] + - !!python/tuple [18, 8] + - !!python/tuple [22, 1] + - !!python/tuple [1, 27] + - !!python/tuple [4, 24] + - !!python/tuple [0, 7] + - !!python/tuple [19, 18] + - !!python/tuple [24, 20] + - !!python/tuple [12, 1] + - !!python/tuple [12, 30] + - !!python/tuple [29, 1] + - !!python/tuple [16, 11] + - !!python/tuple [5, 30] + - !!python/tuple [19, 21] + - !!python/tuple [14, 10] + - !!python/tuple [19, 19] + - !!python/tuple [1, 9] + - !!python/tuple [14, 4] + - !!python/tuple [27, 31] + - !!python/tuple [23, 23] + - !!python/tuple [15, 4] + - !!python/tuple [16, 19] + - !!python/tuple [25, 9] + - !!python/tuple [26, 3] + - !!python/tuple [14, 31] + - !!python/tuple [6, 23] + - !!python/tuple [22, 18] + - !!python/tuple [5, 28] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex62.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex62.yaml new file mode 100644 index 0000000..d9beee3 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex62.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [26, 19] + name: agent0 + start: [11, 9] +- goal: [14, 22] + name: agent1 + start: [13, 19] +- goal: [7, 27] + name: agent2 + start: [4, 3] +- goal: [17, 2] + name: agent3 + start: [22, 28] +- goal: [24, 29] + name: agent4 + start: [26, 9] +- goal: [4, 29] + name: agent5 + start: [7, 30] +- goal: [23, 22] + name: agent6 + start: [28, 31] +- goal: [11, 8] + name: agent7 + start: [11, 23] +- goal: [27, 25] + name: agent8 + start: [16, 9] +- goal: [4, 2] + name: agent9 + start: [21, 29] +- goal: [13, 2] + name: agent10 + start: [29, 25] +- goal: [0, 17] + name: agent11 + start: [18, 26] +- goal: [18, 18] + name: agent12 + start: [23, 21] +- goal: [13, 22] + name: agent13 + start: [23, 20] +- goal: [27, 3] + name: agent14 + start: [17, 15] +- goal: [6, 18] + name: agent15 + start: [14, 21] +- goal: [27, 15] + name: agent16 + start: [25, 11] +- goal: [29, 7] + name: agent17 + start: [6, 2] +- goal: [2, 5] + name: agent18 + start: [7, 17] +- goal: [21, 27] + name: agent19 + start: [21, 27] +- goal: [30, 10] + name: agent20 + start: [10, 9] +- goal: [23, 1] + name: agent21 + start: [17, 23] +- goal: [13, 24] + name: agent22 + start: [16, 8] +- goal: [19, 22] + name: agent23 + start: [6, 14] +- goal: [30, 16] + name: agent24 + start: [5, 24] +- goal: [17, 18] + name: agent25 + start: [21, 15] +- goal: [30, 0] + name: agent26 + start: [29, 0] +- goal: [10, 30] + name: agent27 + start: [10, 1] +- goal: [28, 1] + name: agent28 + start: [29, 27] +- goal: [28, 15] + name: agent29 + start: [15, 24] +- goal: [28, 3] + name: agent30 + start: [9, 24] +- goal: [25, 12] + name: agent31 + start: [25, 25] +- goal: [14, 14] + name: agent32 + start: [17, 22] +- goal: [29, 8] + name: agent33 + start: [24, 31] +- goal: [29, 19] + name: agent34 + start: [9, 1] +- goal: [9, 7] + name: agent35 + start: [5, 18] +- goal: [24, 11] + name: agent36 + start: [2, 16] +- goal: [17, 4] + name: agent37 + start: [7, 25] +- goal: [14, 2] + name: agent38 + start: [9, 2] +- goal: [28, 22] + name: agent39 + start: [2, 6] +- goal: [3, 0] + name: agent40 + start: [20, 2] +- goal: [12, 28] + name: agent41 + start: [5, 9] +- goal: [3, 26] + name: agent42 + start: [29, 17] +- goal: [20, 21] + name: agent43 + start: [21, 26] +- goal: [18, 0] + name: agent44 + start: [29, 18] +- goal: [8, 10] + name: agent45 + start: [27, 25] +- goal: [22, 21] + name: agent46 + start: [7, 3] +- goal: [14, 3] + name: agent47 + start: [2, 28] +- goal: [20, 0] + name: agent48 + start: [9, 0] +- goal: [20, 20] + name: agent49 + start: [27, 10] +- goal: [27, 12] + name: agent50 + start: [13, 18] +- goal: [18, 6] + name: agent51 + start: [0, 2] +- goal: [15, 19] + name: agent52 + start: [4, 6] +- goal: [23, 25] + name: agent53 + start: [7, 16] +- goal: [0, 1] + name: agent54 + start: [3, 11] +- goal: [0, 4] + name: agent55 + start: [25, 1] +- goal: [6, 24] + name: agent56 + start: [5, 31] +- goal: [27, 5] + name: agent57 + start: [6, 13] +- goal: [12, 5] + name: agent58 + start: [8, 8] +- goal: [25, 3] + name: agent59 + start: [20, 22] +- goal: [0, 6] + name: agent60 + start: [12, 18] +- goal: [5, 22] + name: agent61 + start: [14, 16] +- goal: [2, 28] + name: agent62 + start: [26, 27] +- goal: [29, 13] + name: agent63 + start: [22, 23] +- goal: [17, 23] + name: agent64 + start: [23, 0] +- goal: [28, 26] + name: agent65 + start: [22, 13] +- goal: [4, 6] + name: agent66 + start: [29, 22] +- goal: [0, 21] + name: agent67 + start: [25, 29] +- goal: [25, 13] + name: agent68 + start: [30, 29] +- goal: [16, 4] + name: agent69 + start: [18, 28] +- goal: [15, 2] + name: agent70 + start: [7, 19] +- goal: [3, 15] + name: agent71 + start: [23, 19] +- goal: [27, 18] + name: agent72 + start: [18, 23] +- goal: [25, 7] + name: agent73 + start: [10, 8] +- goal: [4, 13] + name: agent74 + start: [16, 11] +- goal: [22, 7] + name: agent75 + start: [8, 24] +- goal: [1, 14] + name: agent76 + start: [31, 25] +- goal: [0, 27] + name: agent77 + start: [15, 7] +- goal: [19, 17] + name: agent78 + start: [12, 25] +- goal: [26, 9] + name: agent79 + start: [29, 2] +- goal: [14, 4] + name: agent80 + start: [14, 10] +- goal: [18, 2] + name: agent81 + start: [23, 25] +- goal: [31, 9] + name: agent82 + start: [29, 19] +- goal: [17, 15] + name: agent83 + start: [12, 7] +- goal: [18, 17] + name: agent84 + start: [17, 1] +- goal: [5, 20] + name: agent85 + start: [13, 22] +- goal: [10, 23] + name: agent86 + start: [17, 19] +- goal: [9, 12] + name: agent87 + start: [27, 23] +- goal: [26, 27] + name: agent88 + start: [28, 1] +- goal: [8, 11] + name: agent89 + start: [30, 23] +- goal: [26, 12] + name: agent90 + start: [15, 5] +- goal: [5, 3] + name: agent91 + start: [30, 16] +- goal: [18, 15] + name: agent92 + start: [16, 0] +- goal: [31, 23] + name: agent93 + start: [17, 13] +- goal: [14, 9] + name: agent94 + start: [11, 18] +- goal: [9, 29] + name: agent95 + start: [20, 23] +- goal: [20, 7] + name: agent96 + start: [23, 17] +- goal: [13, 5] + name: agent97 + start: [4, 19] +- goal: [22, 6] + name: agent98 + start: [10, 25] +- goal: [2, 19] + name: agent99 + start: [5, 19] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [9, 18] + - !!python/tuple [18, 24] + - !!python/tuple [1, 0] + - !!python/tuple [24, 26] + - !!python/tuple [0, 24] + - !!python/tuple [24, 22] + - !!python/tuple [30, 25] + - !!python/tuple [23, 13] + - !!python/tuple [3, 17] + - !!python/tuple [15, 22] + - !!python/tuple [19, 24] + - !!python/tuple [24, 9] + - !!python/tuple [12, 12] + - !!python/tuple [8, 7] + - !!python/tuple [11, 27] + - !!python/tuple [23, 14] + - !!python/tuple [31, 3] + - !!python/tuple [21, 21] + - !!python/tuple [4, 25] + - !!python/tuple [6, 19] + - !!python/tuple [28, 7] + - !!python/tuple [22, 20] + - !!python/tuple [11, 4] + - !!python/tuple [21, 30] + - !!python/tuple [0, 22] + - !!python/tuple [9, 26] + - !!python/tuple [20, 18] + - !!python/tuple [20, 11] + - !!python/tuple [11, 20] + - !!python/tuple [3, 8] + - !!python/tuple [9, 31] + - !!python/tuple [0, 29] + - !!python/tuple [27, 13] + - !!python/tuple [25, 16] + - !!python/tuple [25, 27] + - !!python/tuple [20, 4] + - !!python/tuple [1, 18] + - !!python/tuple [7, 12] + - !!python/tuple [9, 13] + - !!python/tuple [2, 12] + - !!python/tuple [24, 10] + - !!python/tuple [4, 31] + - !!python/tuple [26, 4] + - !!python/tuple [14, 31] + - !!python/tuple [2, 8] + - !!python/tuple [28, 12] + - !!python/tuple [13, 15] + - !!python/tuple [26, 15] + - !!python/tuple [25, 30] + - !!python/tuple [13, 16] + - !!python/tuple [9, 20] + - !!python/tuple [16, 21] + - !!python/tuple [19, 18] + - !!python/tuple [1, 4] + - !!python/tuple [27, 16] + - !!python/tuple [29, 1] + - !!python/tuple [13, 7] + - !!python/tuple [22, 18] + - !!python/tuple [3, 3] + - !!python/tuple [11, 1] + - !!python/tuple [23, 30] + - !!python/tuple [28, 8] + - !!python/tuple [26, 13] + - !!python/tuple [30, 7] + - !!python/tuple [8, 14] + - !!python/tuple [19, 8] + - !!python/tuple [14, 11] + - !!python/tuple [28, 9] + - !!python/tuple [4, 23] + - !!python/tuple [12, 21] + - !!python/tuple [28, 18] + - !!python/tuple [12, 14] + - !!python/tuple [1, 22] + - !!python/tuple [3, 29] + - !!python/tuple [14, 15] + - !!python/tuple [18, 3] + - !!python/tuple [22, 9] + - !!python/tuple [5, 15] + - !!python/tuple [16, 6] + - !!python/tuple [10, 28] + - !!python/tuple [16, 30] + - !!python/tuple [2, 18] + - !!python/tuple [25, 5] + - !!python/tuple [1, 11] + - !!python/tuple [18, 16] + - !!python/tuple [9, 8] + - !!python/tuple [3, 7] + - !!python/tuple [19, 9] + - !!python/tuple [9, 27] + - !!python/tuple [29, 5] + - !!python/tuple [5, 25] + - !!python/tuple [13, 12] + - !!python/tuple [17, 24] + - !!python/tuple [25, 14] + - !!python/tuple [16, 26] + - !!python/tuple [13, 25] + - !!python/tuple [2, 17] + - !!python/tuple [30, 6] + - !!python/tuple [26, 21] + - !!python/tuple [14, 28] + - !!python/tuple [10, 2] + - !!python/tuple [27, 4] + - !!python/tuple [11, 16] + - !!python/tuple [24, 19] + - !!python/tuple [9, 10] + - !!python/tuple [11, 7] + - !!python/tuple [2, 14] + - !!python/tuple [19, 2] + - !!python/tuple [26, 18] + - !!python/tuple [4, 30] + - !!python/tuple [21, 28] + - !!python/tuple [18, 9] + - !!python/tuple [21, 1] + - !!python/tuple [9, 6] + - !!python/tuple [25, 6] + - !!python/tuple [12, 0] + - !!python/tuple [0, 8] + - !!python/tuple [21, 12] + - !!python/tuple [14, 7] + - !!python/tuple [8, 17] + - !!python/tuple [0, 11] + - !!python/tuple [10, 21] + - !!python/tuple [21, 19] + - !!python/tuple [26, 11] + - !!python/tuple [13, 6] + - !!python/tuple [28, 10] + - !!python/tuple [17, 17] + - !!python/tuple [2, 30] + - !!python/tuple [10, 31] + - !!python/tuple [1, 17] + - !!python/tuple [2, 25] + - !!python/tuple [2, 15] + - !!python/tuple [20, 12] + - !!python/tuple [3, 31] + - !!python/tuple [7, 13] + - !!python/tuple [11, 19] + - !!python/tuple [8, 27] + - !!python/tuple [17, 29] + - !!python/tuple [31, 12] + - !!python/tuple [22, 15] + - !!python/tuple [9, 14] + - !!python/tuple [18, 14] + - !!python/tuple [16, 10] + - !!python/tuple [0, 7] + - !!python/tuple [26, 3] + - !!python/tuple [29, 28] + - !!python/tuple [9, 30] + - !!python/tuple [6, 10] + - !!python/tuple [29, 12] + - !!python/tuple [6, 27] + - !!python/tuple [27, 1] + - !!python/tuple [30, 19] + - !!python/tuple [2, 27] + - !!python/tuple [3, 28] + - !!python/tuple [25, 19] + - !!python/tuple [28, 4] + - !!python/tuple [16, 16] + - !!python/tuple [15, 18] + - !!python/tuple [4, 12] + - !!python/tuple [8, 22] + - !!python/tuple [15, 16] + - !!python/tuple [2, 7] + - !!python/tuple [24, 28] + - !!python/tuple [1, 27] + - !!python/tuple [31, 26] + - !!python/tuple [6, 5] + - !!python/tuple [31, 8] + - !!python/tuple [18, 11] + - !!python/tuple [9, 4] + - !!python/tuple [1, 9] + - !!python/tuple [23, 28] + - !!python/tuple [28, 5] + - !!python/tuple [31, 1] + - !!python/tuple [14, 18] + - !!python/tuple [23, 29] + - !!python/tuple [4, 21] + - !!python/tuple [2, 31] + - !!python/tuple [12, 17] + - !!python/tuple [22, 27] + - !!python/tuple [31, 0] + - !!python/tuple [31, 21] + - !!python/tuple [24, 5] + - !!python/tuple [18, 12] + - !!python/tuple [4, 8] + - !!python/tuple [6, 26] + - !!python/tuple [16, 18] + - !!python/tuple [12, 23] + - !!python/tuple [9, 16] + - !!python/tuple [3, 23] + - !!python/tuple [26, 14] + - !!python/tuple [10, 22] + - !!python/tuple [5, 2] + - !!python/tuple [11, 22] + - !!python/tuple [26, 26] + - !!python/tuple [15, 17] + - !!python/tuple [17, 21] + - !!python/tuple [20, 31] + - !!python/tuple [20, 15] + - !!python/tuple [21, 5] + - !!python/tuple [25, 26] + - !!python/tuple [1, 25] + - !!python/tuple [5, 6] + - !!python/tuple [6, 29] + - !!python/tuple [1, 1] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex63.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex63.yaml new file mode 100644 index 0000000..ae4f5ee --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex63.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [21, 13] + name: agent0 + start: [30, 10] +- goal: [20, 8] + name: agent1 + start: [18, 20] +- goal: [20, 14] + name: agent2 + start: [24, 4] +- goal: [13, 4] + name: agent3 + start: [12, 30] +- goal: [31, 15] + name: agent4 + start: [22, 22] +- goal: [8, 25] + name: agent5 + start: [29, 19] +- goal: [24, 9] + name: agent6 + start: [23, 17] +- goal: [11, 7] + name: agent7 + start: [6, 29] +- goal: [11, 24] + name: agent8 + start: [26, 1] +- goal: [21, 30] + name: agent9 + start: [6, 14] +- goal: [18, 11] + name: agent10 + start: [23, 29] +- goal: [1, 25] + name: agent11 + start: [8, 9] +- goal: [5, 6] + name: agent12 + start: [16, 6] +- goal: [27, 25] + name: agent13 + start: [2, 13] +- goal: [14, 25] + name: agent14 + start: [3, 19] +- goal: [15, 27] + name: agent15 + start: [24, 18] +- goal: [14, 27] + name: agent16 + start: [26, 5] +- goal: [17, 8] + name: agent17 + start: [13, 3] +- goal: [24, 30] + name: agent18 + start: [17, 1] +- goal: [21, 28] + name: agent19 + start: [11, 3] +- goal: [28, 21] + name: agent20 + start: [25, 6] +- goal: [22, 22] + name: agent21 + start: [20, 9] +- goal: [29, 31] + name: agent22 + start: [20, 8] +- goal: [30, 4] + name: agent23 + start: [14, 7] +- goal: [3, 4] + name: agent24 + start: [17, 2] +- goal: [24, 26] + name: agent25 + start: [30, 31] +- goal: [0, 5] + name: agent26 + start: [21, 3] +- goal: [7, 24] + name: agent27 + start: [1, 1] +- goal: [3, 10] + name: agent28 + start: [9, 9] +- goal: [17, 2] + name: agent29 + start: [3, 9] +- goal: [13, 29] + name: agent30 + start: [6, 10] +- goal: [5, 3] + name: agent31 + start: [30, 8] +- goal: [12, 29] + name: agent32 + start: [27, 15] +- goal: [24, 29] + name: agent33 + start: [9, 4] +- goal: [18, 18] + name: agent34 + start: [19, 12] +- goal: [1, 22] + name: agent35 + start: [11, 18] +- goal: [8, 14] + name: agent36 + start: [3, 16] +- goal: [7, 25] + name: agent37 + start: [21, 31] +- goal: [16, 28] + name: agent38 + start: [9, 18] +- goal: [25, 1] + name: agent39 + start: [20, 30] +- goal: [8, 12] + name: agent40 + start: [3, 26] +- goal: [8, 11] + name: agent41 + start: [31, 3] +- goal: [24, 18] + name: agent42 + start: [2, 28] +- goal: [5, 1] + name: agent43 + start: [22, 28] +- goal: [29, 25] + name: agent44 + start: [20, 24] +- goal: [16, 12] + name: agent45 + start: [1, 23] +- goal: [5, 12] + name: agent46 + start: [19, 18] +- goal: [3, 15] + name: agent47 + start: [20, 4] +- goal: [3, 11] + name: agent48 + start: [24, 23] +- goal: [15, 4] + name: agent49 + start: [7, 9] +- goal: [0, 16] + name: agent50 + start: [18, 19] +- goal: [23, 21] + name: agent51 + start: [15, 23] +- goal: [7, 17] + name: agent52 + start: [13, 12] +- goal: [15, 1] + name: agent53 + start: [18, 10] +- goal: [11, 0] + name: agent54 + start: [25, 17] +- goal: [13, 9] + name: agent55 + start: [13, 27] +- goal: [15, 20] + name: agent56 + start: [27, 5] +- goal: [15, 15] + name: agent57 + start: [14, 14] +- goal: [26, 29] + name: agent58 + start: [17, 19] +- goal: [31, 21] + name: agent59 + start: [28, 14] +- goal: [24, 23] + name: agent60 + start: [8, 10] +- goal: [2, 4] + name: agent61 + start: [14, 13] +- goal: [6, 18] + name: agent62 + start: [1, 3] +- goal: [19, 14] + name: agent63 + start: [25, 16] +- goal: [20, 27] + name: agent64 + start: [8, 31] +- goal: [8, 20] + name: agent65 + start: [27, 12] +- goal: [30, 31] + name: agent66 + start: [5, 4] +- goal: [13, 2] + name: agent67 + start: [8, 2] +- goal: [28, 5] + name: agent68 + start: [24, 27] +- goal: [7, 1] + name: agent69 + start: [5, 31] +- goal: [21, 3] + name: agent70 + start: [26, 15] +- goal: [4, 10] + name: agent71 + start: [31, 8] +- goal: [23, 20] + name: agent72 + start: [18, 13] +- goal: [23, 5] + name: agent73 + start: [30, 2] +- goal: [6, 15] + name: agent74 + start: [3, 18] +- goal: [14, 31] + name: agent75 + start: [17, 21] +- goal: [12, 22] + name: agent76 + start: [14, 22] +- goal: [27, 0] + name: agent77 + start: [26, 11] +- goal: [9, 8] + name: agent78 + start: [7, 19] +- goal: [24, 16] + name: agent79 + start: [25, 8] +- goal: [8, 7] + name: agent80 + start: [10, 22] +- goal: [7, 14] + name: agent81 + start: [31, 4] +- goal: [19, 17] + name: agent82 + start: [7, 2] +- goal: [10, 31] + name: agent83 + start: [18, 8] +- goal: [21, 24] + name: agent84 + start: [13, 6] +- goal: [18, 1] + name: agent85 + start: [28, 26] +- goal: [29, 17] + name: agent86 + start: [11, 12] +- goal: [15, 3] + name: agent87 + start: [14, 27] +- goal: [26, 22] + name: agent88 + start: [2, 4] +- goal: [4, 29] + name: agent89 + start: [13, 20] +- goal: [5, 9] + name: agent90 + start: [2, 17] +- goal: [24, 0] + name: agent91 + start: [16, 20] +- goal: [19, 6] + name: agent92 + start: [9, 25] +- goal: [21, 31] + name: agent93 + start: [23, 5] +- goal: [15, 19] + name: agent94 + start: [29, 17] +- goal: [20, 23] + name: agent95 + start: [19, 24] +- goal: [1, 14] + name: agent96 + start: [9, 24] +- goal: [22, 12] + name: agent97 + start: [21, 30] +- goal: [26, 31] + name: agent98 + start: [28, 10] +- goal: [26, 9] + name: agent99 + start: [13, 7] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [11, 4] + - !!python/tuple [11, 13] + - !!python/tuple [3, 29] + - !!python/tuple [27, 28] + - !!python/tuple [2, 16] + - !!python/tuple [0, 23] + - !!python/tuple [10, 15] + - !!python/tuple [13, 22] + - !!python/tuple [28, 18] + - !!python/tuple [7, 3] + - !!python/tuple [5, 0] + - !!python/tuple [8, 19] + - !!python/tuple [6, 26] + - !!python/tuple [28, 15] + - !!python/tuple [11, 15] + - !!python/tuple [6, 21] + - !!python/tuple [22, 27] + - !!python/tuple [19, 28] + - !!python/tuple [9, 13] + - !!python/tuple [28, 0] + - !!python/tuple [21, 22] + - !!python/tuple [31, 20] + - !!python/tuple [30, 0] + - !!python/tuple [19, 10] + - !!python/tuple [29, 20] + - !!python/tuple [5, 7] + - !!python/tuple [31, 12] + - !!python/tuple [26, 28] + - !!python/tuple [22, 10] + - !!python/tuple [5, 27] + - !!python/tuple [23, 9] + - !!python/tuple [18, 27] + - !!python/tuple [12, 6] + - !!python/tuple [17, 0] + - !!python/tuple [16, 23] + - !!python/tuple [20, 5] + - !!python/tuple [7, 23] + - !!python/tuple [30, 15] + - !!python/tuple [30, 19] + - !!python/tuple [0, 14] + - !!python/tuple [17, 27] + - !!python/tuple [21, 4] + - !!python/tuple [10, 12] + - !!python/tuple [28, 20] + - !!python/tuple [15, 12] + - !!python/tuple [28, 9] + - !!python/tuple [1, 31] + - !!python/tuple [4, 16] + - !!python/tuple [26, 0] + - !!python/tuple [0, 29] + - !!python/tuple [13, 31] + - !!python/tuple [1, 5] + - !!python/tuple [6, 11] + - !!python/tuple [25, 10] + - !!python/tuple [18, 30] + - !!python/tuple [22, 11] + - !!python/tuple [7, 27] + - !!python/tuple [3, 6] + - !!python/tuple [6, 8] + - !!python/tuple [16, 29] + - !!python/tuple [25, 28] + - !!python/tuple [29, 7] + - !!python/tuple [19, 26] + - !!python/tuple [4, 19] + - !!python/tuple [5, 29] + - !!python/tuple [1, 18] + - !!python/tuple [14, 9] + - !!python/tuple [3, 27] + - !!python/tuple [23, 11] + - !!python/tuple [7, 10] + - !!python/tuple [11, 22] + - !!python/tuple [11, 17] + - !!python/tuple [28, 1] + - !!python/tuple [18, 3] + - !!python/tuple [8, 3] + - !!python/tuple [20, 28] + - !!python/tuple [9, 14] + - !!python/tuple [23, 25] + - !!python/tuple [7, 5] + - !!python/tuple [8, 8] + - !!python/tuple [28, 31] + - !!python/tuple [15, 10] + - !!python/tuple [22, 20] + - !!python/tuple [28, 27] + - !!python/tuple [14, 15] + - !!python/tuple [31, 0] + - !!python/tuple [16, 0] + - !!python/tuple [11, 23] + - !!python/tuple [3, 8] + - !!python/tuple [8, 0] + - !!python/tuple [8, 26] + - !!python/tuple [21, 19] + - !!python/tuple [23, 3] + - !!python/tuple [14, 8] + - !!python/tuple [12, 20] + - !!python/tuple [2, 12] + - !!python/tuple [20, 16] + - !!python/tuple [1, 27] + - !!python/tuple [14, 30] + - !!python/tuple [14, 23] + - !!python/tuple [16, 16] + - !!python/tuple [5, 18] + - !!python/tuple [24, 5] + - !!python/tuple [14, 24] + - !!python/tuple [27, 23] + - !!python/tuple [15, 21] + - !!python/tuple [11, 1] + - !!python/tuple [17, 5] + - !!python/tuple [17, 18] + - !!python/tuple [30, 22] + - !!python/tuple [19, 30] + - !!python/tuple [10, 0] + - !!python/tuple [31, 19] + - !!python/tuple [9, 16] + - !!python/tuple [4, 25] + - !!python/tuple [18, 31] + - !!python/tuple [10, 10] + - !!python/tuple [6, 23] + - !!python/tuple [13, 16] + - !!python/tuple [16, 3] + - !!python/tuple [17, 25] + - !!python/tuple [3, 22] + - !!python/tuple [27, 14] + - !!python/tuple [14, 12] + - !!python/tuple [5, 16] + - !!python/tuple [25, 2] + - !!python/tuple [21, 20] + - !!python/tuple [26, 16] + - !!python/tuple [31, 6] + - !!python/tuple [28, 16] + - !!python/tuple [0, 30] + - !!python/tuple [12, 24] + - !!python/tuple [16, 14] + - !!python/tuple [23, 22] + - !!python/tuple [28, 19] + - !!python/tuple [23, 19] + - !!python/tuple [25, 9] + - !!python/tuple [30, 23] + - !!python/tuple [17, 4] + - !!python/tuple [29, 30] + - !!python/tuple [0, 6] + - !!python/tuple [29, 24] + - !!python/tuple [10, 9] + - !!python/tuple [31, 9] + - !!python/tuple [27, 22] + - !!python/tuple [13, 17] + - !!python/tuple [6, 2] + - !!python/tuple [22, 8] + - !!python/tuple [9, 31] + - !!python/tuple [24, 1] + - !!python/tuple [26, 12] + - !!python/tuple [2, 19] + - !!python/tuple [14, 19] + - !!python/tuple [4, 28] + - !!python/tuple [11, 31] + - !!python/tuple [31, 13] + - !!python/tuple [13, 8] + - !!python/tuple [31, 5] + - !!python/tuple [4, 3] + - !!python/tuple [4, 22] + - !!python/tuple [16, 7] + - !!python/tuple [15, 24] + - !!python/tuple [25, 14] + - !!python/tuple [17, 14] + - !!python/tuple [12, 10] + - !!python/tuple [17, 23] + - !!python/tuple [24, 25] + - !!python/tuple [6, 13] + - !!python/tuple [19, 4] + - !!python/tuple [0, 3] + - !!python/tuple [24, 7] + - !!python/tuple [20, 7] + - !!python/tuple [29, 13] + - !!python/tuple [21, 7] + - !!python/tuple [10, 19] + - !!python/tuple [17, 13] + - !!python/tuple [11, 19] + - !!python/tuple [23, 13] + - !!python/tuple [21, 26] + - !!python/tuple [19, 13] + - !!python/tuple [20, 1] + - !!python/tuple [18, 5] + - !!python/tuple [25, 19] + - !!python/tuple [5, 22] + - !!python/tuple [30, 3] + - !!python/tuple [22, 31] + - !!python/tuple [10, 2] + - !!python/tuple [22, 21] + - !!python/tuple [21, 2] + - !!python/tuple [12, 5] + - !!python/tuple [19, 3] + - !!python/tuple [11, 20] + - !!python/tuple [17, 26] + - !!python/tuple [20, 19] + - !!python/tuple [30, 13] + - !!python/tuple [18, 6] + - !!python/tuple [13, 24] + - !!python/tuple [31, 31] + - !!python/tuple [8, 23] + - !!python/tuple [24, 10] + - !!python/tuple [30, 17] + - !!python/tuple [1, 11] + - !!python/tuple [15, 7] + - !!python/tuple [27, 26] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex64.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex64.yaml new file mode 100644 index 0000000..2267aa0 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex64.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [2, 20] + name: agent0 + start: [8, 23] +- goal: [4, 12] + name: agent1 + start: [0, 22] +- goal: [1, 10] + name: agent2 + start: [1, 3] +- goal: [16, 25] + name: agent3 + start: [20, 25] +- goal: [5, 31] + name: agent4 + start: [27, 15] +- goal: [28, 28] + name: agent5 + start: [23, 26] +- goal: [7, 14] + name: agent6 + start: [8, 19] +- goal: [23, 16] + name: agent7 + start: [10, 10] +- goal: [17, 29] + name: agent8 + start: [19, 10] +- goal: [26, 27] + name: agent9 + start: [1, 24] +- goal: [10, 1] + name: agent10 + start: [22, 21] +- goal: [9, 1] + name: agent11 + start: [4, 23] +- goal: [23, 31] + name: agent12 + start: [4, 9] +- goal: [5, 2] + name: agent13 + start: [16, 31] +- goal: [3, 13] + name: agent14 + start: [10, 9] +- goal: [6, 9] + name: agent15 + start: [24, 6] +- goal: [5, 21] + name: agent16 + start: [3, 9] +- goal: [29, 10] + name: agent17 + start: [9, 16] +- goal: [18, 14] + name: agent18 + start: [9, 14] +- goal: [4, 11] + name: agent19 + start: [27, 30] +- goal: [0, 3] + name: agent20 + start: [29, 1] +- goal: [24, 22] + name: agent21 + start: [24, 18] +- goal: [2, 14] + name: agent22 + start: [12, 30] +- goal: [14, 1] + name: agent23 + start: [12, 2] +- goal: [13, 12] + name: agent24 + start: [13, 12] +- goal: [10, 4] + name: agent25 + start: [30, 27] +- goal: [26, 4] + name: agent26 + start: [26, 14] +- goal: [9, 24] + name: agent27 + start: [8, 9] +- goal: [27, 10] + name: agent28 + start: [31, 22] +- goal: [4, 13] + name: agent29 + start: [1, 0] +- goal: [11, 8] + name: agent30 + start: [24, 15] +- goal: [23, 26] + name: agent31 + start: [25, 7] +- goal: [21, 23] + name: agent32 + start: [16, 5] +- goal: [27, 15] + name: agent33 + start: [14, 29] +- goal: [14, 22] + name: agent34 + start: [3, 19] +- goal: [26, 6] + name: agent35 + start: [17, 23] +- goal: [15, 8] + name: agent36 + start: [30, 30] +- goal: [14, 24] + name: agent37 + start: [3, 13] +- goal: [18, 8] + name: agent38 + start: [15, 15] +- goal: [3, 15] + name: agent39 + start: [0, 17] +- goal: [12, 19] + name: agent40 + start: [24, 30] +- goal: [26, 28] + name: agent41 + start: [6, 2] +- goal: [4, 19] + name: agent42 + start: [18, 14] +- goal: [15, 19] + name: agent43 + start: [12, 22] +- goal: [15, 16] + name: agent44 + start: [31, 12] +- goal: [30, 28] + name: agent45 + start: [19, 9] +- goal: [30, 22] + name: agent46 + start: [17, 11] +- goal: [2, 10] + name: agent47 + start: [8, 26] +- goal: [6, 14] + name: agent48 + start: [21, 31] +- goal: [16, 23] + name: agent49 + start: [0, 21] +- goal: [1, 21] + name: agent50 + start: [14, 25] +- goal: [24, 17] + name: agent51 + start: [28, 21] +- goal: [20, 1] + name: agent52 + start: [29, 3] +- goal: [12, 30] + name: agent53 + start: [14, 26] +- goal: [17, 12] + name: agent54 + start: [8, 17] +- goal: [6, 0] + name: agent55 + start: [10, 5] +- goal: [0, 2] + name: agent56 + start: [3, 4] +- goal: [2, 13] + name: agent57 + start: [10, 6] +- goal: [17, 0] + name: agent58 + start: [27, 9] +- goal: [23, 20] + name: agent59 + start: [1, 16] +- goal: [5, 4] + name: agent60 + start: [11, 16] +- goal: [22, 1] + name: agent61 + start: [12, 5] +- goal: [7, 26] + name: agent62 + start: [15, 25] +- goal: [10, 17] + name: agent63 + start: [20, 5] +- goal: [29, 20] + name: agent64 + start: [18, 31] +- goal: [13, 27] + name: agent65 + start: [19, 20] +- goal: [9, 11] + name: agent66 + start: [6, 17] +- goal: [21, 1] + name: agent67 + start: [1, 5] +- goal: [14, 11] + name: agent68 + start: [17, 7] +- goal: [0, 28] + name: agent69 + start: [16, 15] +- goal: [7, 12] + name: agent70 + start: [20, 21] +- goal: [6, 23] + name: agent71 + start: [13, 30] +- goal: [21, 21] + name: agent72 + start: [24, 12] +- goal: [26, 30] + name: agent73 + start: [21, 19] +- goal: [2, 3] + name: agent74 + start: [1, 10] +- goal: [12, 13] + name: agent75 + start: [16, 7] +- goal: [0, 25] + name: agent76 + start: [0, 5] +- goal: [1, 6] + name: agent77 + start: [6, 14] +- goal: [17, 31] + name: agent78 + start: [30, 2] +- goal: [12, 10] + name: agent79 + start: [23, 22] +- goal: [11, 22] + name: agent80 + start: [21, 26] +- goal: [2, 16] + name: agent81 + start: [30, 4] +- goal: [13, 26] + name: agent82 + start: [7, 14] +- goal: [17, 23] + name: agent83 + start: [12, 8] +- goal: [13, 16] + name: agent84 + start: [3, 21] +- goal: [6, 4] + name: agent85 + start: [26, 4] +- goal: [19, 1] + name: agent86 + start: [17, 0] +- goal: [31, 19] + name: agent87 + start: [21, 4] +- goal: [25, 31] + name: agent88 + start: [17, 28] +- goal: [4, 14] + name: agent89 + start: [9, 12] +- goal: [0, 23] + name: agent90 + start: [15, 0] +- goal: [28, 27] + name: agent91 + start: [26, 11] +- goal: [1, 4] + name: agent92 + start: [20, 17] +- goal: [1, 27] + name: agent93 + start: [9, 0] +- goal: [5, 11] + name: agent94 + start: [22, 15] +- goal: [23, 15] + name: agent95 + start: [6, 22] +- goal: [13, 8] + name: agent96 + start: [4, 15] +- goal: [12, 7] + name: agent97 + start: [10, 18] +- goal: [18, 4] + name: agent98 + start: [5, 15] +- goal: [17, 3] + name: agent99 + start: [1, 12] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [26, 20] + - !!python/tuple [27, 27] + - !!python/tuple [10, 19] + - !!python/tuple [8, 18] + - !!python/tuple [22, 8] + - !!python/tuple [21, 9] + - !!python/tuple [18, 15] + - !!python/tuple [12, 24] + - !!python/tuple [11, 11] + - !!python/tuple [14, 3] + - !!python/tuple [7, 17] + - !!python/tuple [5, 25] + - !!python/tuple [8, 20] + - !!python/tuple [4, 3] + - !!python/tuple [1, 9] + - !!python/tuple [13, 18] + - !!python/tuple [22, 30] + - !!python/tuple [20, 12] + - !!python/tuple [31, 31] + - !!python/tuple [5, 16] + - !!python/tuple [4, 20] + - !!python/tuple [10, 14] + - !!python/tuple [0, 7] + - !!python/tuple [1, 13] + - !!python/tuple [9, 30] + - !!python/tuple [12, 1] + - !!python/tuple [15, 7] + - !!python/tuple [5, 10] + - !!python/tuple [1, 23] + - !!python/tuple [4, 2] + - !!python/tuple [28, 14] + - !!python/tuple [12, 14] + - !!python/tuple [18, 16] + - !!python/tuple [7, 16] + - !!python/tuple [8, 5] + - !!python/tuple [29, 22] + - !!python/tuple [27, 8] + - !!python/tuple [0, 9] + - !!python/tuple [0, 1] + - !!python/tuple [5, 28] + - !!python/tuple [29, 4] + - !!python/tuple [21, 14] + - !!python/tuple [16, 28] + - !!python/tuple [13, 19] + - !!python/tuple [20, 4] + - !!python/tuple [5, 23] + - !!python/tuple [1, 15] + - !!python/tuple [9, 26] + - !!python/tuple [9, 9] + - !!python/tuple [6, 24] + - !!python/tuple [0, 0] + - !!python/tuple [29, 24] + - !!python/tuple [9, 13] + - !!python/tuple [27, 20] + - !!python/tuple [17, 6] + - !!python/tuple [19, 5] + - !!python/tuple [25, 15] + - !!python/tuple [9, 31] + - !!python/tuple [31, 21] + - !!python/tuple [24, 27] + - !!python/tuple [21, 17] + - !!python/tuple [30, 3] + - !!python/tuple [18, 22] + - !!python/tuple [11, 13] + - !!python/tuple [31, 20] + - !!python/tuple [25, 2] + - !!python/tuple [0, 15] + - !!python/tuple [11, 0] + - !!python/tuple [11, 15] + - !!python/tuple [17, 5] + - !!python/tuple [21, 18] + - !!python/tuple [29, 14] + - !!python/tuple [12, 27] + - !!python/tuple [4, 30] + - !!python/tuple [22, 14] + - !!python/tuple [1, 17] + - !!python/tuple [5, 6] + - !!python/tuple [30, 11] + - !!python/tuple [15, 28] + - !!python/tuple [3, 16] + - !!python/tuple [11, 10] + - !!python/tuple [2, 30] + - !!python/tuple [13, 0] + - !!python/tuple [1, 22] + - !!python/tuple [26, 31] + - !!python/tuple [1, 30] + - !!python/tuple [7, 31] + - !!python/tuple [11, 6] + - !!python/tuple [15, 9] + - !!python/tuple [23, 8] + - !!python/tuple [17, 25] + - !!python/tuple [22, 31] + - !!python/tuple [6, 26] + - !!python/tuple [24, 8] + - !!python/tuple [18, 29] + - !!python/tuple [22, 17] + - !!python/tuple [26, 26] + - !!python/tuple [26, 25] + - !!python/tuple [4, 25] + - !!python/tuple [22, 19] + - !!python/tuple [13, 4] + - !!python/tuple [23, 30] + - !!python/tuple [24, 23] + - !!python/tuple [31, 15] + - !!python/tuple [17, 19] + - !!python/tuple [28, 18] + - !!python/tuple [17, 13] + - !!python/tuple [28, 22] + - !!python/tuple [0, 19] + - !!python/tuple [11, 2] + - !!python/tuple [26, 23] + - !!python/tuple [10, 3] + - !!python/tuple [26, 3] + - !!python/tuple [21, 22] + - !!python/tuple [10, 26] + - !!python/tuple [10, 20] + - !!python/tuple [15, 21] + - !!python/tuple [16, 9] + - !!python/tuple [20, 10] + - !!python/tuple [5, 5] + - !!python/tuple [5, 9] + - !!python/tuple [14, 0] + - !!python/tuple [10, 0] + - !!python/tuple [27, 23] + - !!python/tuple [24, 21] + - !!python/tuple [8, 22] + - !!python/tuple [1, 31] + - !!python/tuple [31, 25] + - !!python/tuple [23, 29] + - !!python/tuple [6, 1] + - !!python/tuple [22, 4] + - !!python/tuple [9, 25] + - !!python/tuple [0, 18] + - !!python/tuple [10, 2] + - !!python/tuple [11, 18] + - !!python/tuple [12, 0] + - !!python/tuple [2, 1] + - !!python/tuple [25, 13] + - !!python/tuple [18, 25] + - !!python/tuple [11, 23] + - !!python/tuple [29, 19] + - !!python/tuple [5, 24] + - !!python/tuple [14, 6] + - !!python/tuple [21, 15] + - !!python/tuple [20, 24] + - !!python/tuple [28, 2] + - !!python/tuple [25, 3] + - !!python/tuple [24, 25] + - !!python/tuple [16, 22] + - !!python/tuple [8, 16] + - !!python/tuple [29, 2] + - !!python/tuple [15, 13] + - !!python/tuple [16, 16] + - !!python/tuple [19, 4] + - !!python/tuple [0, 29] + - !!python/tuple [9, 27] + - !!python/tuple [8, 29] + - !!python/tuple [19, 15] + - !!python/tuple [16, 0] + - !!python/tuple [23, 28] + - !!python/tuple [17, 14] + - !!python/tuple [19, 31] + - !!python/tuple [11, 19] + - !!python/tuple [2, 29] + - !!python/tuple [5, 30] + - !!python/tuple [16, 12] + - !!python/tuple [11, 29] + - !!python/tuple [12, 17] + - !!python/tuple [4, 5] + - !!python/tuple [16, 17] + - !!python/tuple [8, 11] + - !!python/tuple [29, 5] + - !!python/tuple [23, 7] + - !!python/tuple [28, 7] + - !!python/tuple [15, 30] + - !!python/tuple [9, 15] + - !!python/tuple [3, 8] + - !!python/tuple [22, 2] + - !!python/tuple [16, 30] + - !!python/tuple [31, 6] + - !!python/tuple [15, 26] + - !!python/tuple [16, 19] + - !!python/tuple [13, 21] + - !!python/tuple [21, 16] + - !!python/tuple [17, 8] + - !!python/tuple [23, 24] + - !!python/tuple [5, 13] + - !!python/tuple [2, 7] + - !!python/tuple [6, 13] + - !!python/tuple [2, 21] + - !!python/tuple [21, 30] + - !!python/tuple [27, 0] + - !!python/tuple [7, 5] + - !!python/tuple [29, 13] + - !!python/tuple [14, 21] + - !!python/tuple [31, 0] + - !!python/tuple [29, 11] + - !!python/tuple [28, 17] + - !!python/tuple [6, 21] + - !!python/tuple [17, 30] + - !!python/tuple [21, 3] + - !!python/tuple [11, 1] + - !!python/tuple [24, 29] + - !!python/tuple [14, 23] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex65.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex65.yaml new file mode 100644 index 0000000..d6bccb2 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex65.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [30, 19] + name: agent0 + start: [28, 16] +- goal: [13, 9] + name: agent1 + start: [25, 19] +- goal: [18, 7] + name: agent2 + start: [14, 22] +- goal: [16, 21] + name: agent3 + start: [22, 9] +- goal: [8, 7] + name: agent4 + start: [2, 15] +- goal: [12, 11] + name: agent5 + start: [25, 18] +- goal: [27, 3] + name: agent6 + start: [1, 21] +- goal: [8, 0] + name: agent7 + start: [12, 19] +- goal: [2, 15] + name: agent8 + start: [30, 19] +- goal: [16, 17] + name: agent9 + start: [6, 11] +- goal: [17, 3] + name: agent10 + start: [19, 22] +- goal: [6, 29] + name: agent11 + start: [24, 0] +- goal: [10, 18] + name: agent12 + start: [8, 20] +- goal: [2, 24] + name: agent13 + start: [26, 7] +- goal: [1, 2] + name: agent14 + start: [12, 21] +- goal: [23, 30] + name: agent15 + start: [25, 30] +- goal: [27, 28] + name: agent16 + start: [26, 31] +- goal: [7, 9] + name: agent17 + start: [19, 27] +- goal: [1, 16] + name: agent18 + start: [8, 23] +- goal: [9, 22] + name: agent19 + start: [14, 21] +- goal: [13, 1] + name: agent20 + start: [5, 21] +- goal: [8, 30] + name: agent21 + start: [7, 28] +- goal: [24, 20] + name: agent22 + start: [10, 18] +- goal: [31, 11] + name: agent23 + start: [2, 29] +- goal: [14, 27] + name: agent24 + start: [11, 17] +- goal: [4, 8] + name: agent25 + start: [30, 28] +- goal: [28, 31] + name: agent26 + start: [3, 21] +- goal: [2, 30] + name: agent27 + start: [21, 1] +- goal: [24, 5] + name: agent28 + start: [26, 20] +- goal: [20, 4] + name: agent29 + start: [3, 1] +- goal: [9, 15] + name: agent30 + start: [7, 19] +- goal: [30, 16] + name: agent31 + start: [22, 20] +- goal: [23, 31] + name: agent32 + start: [22, 19] +- goal: [1, 11] + name: agent33 + start: [16, 15] +- goal: [24, 2] + name: agent34 + start: [17, 17] +- goal: [3, 16] + name: agent35 + start: [13, 5] +- goal: [30, 2] + name: agent36 + start: [15, 20] +- goal: [12, 9] + name: agent37 + start: [18, 11] +- goal: [29, 29] + name: agent38 + start: [11, 8] +- goal: [24, 11] + name: agent39 + start: [20, 28] +- goal: [27, 29] + name: agent40 + start: [2, 21] +- goal: [4, 5] + name: agent41 + start: [17, 11] +- goal: [1, 24] + name: agent42 + start: [5, 23] +- goal: [21, 28] + name: agent43 + start: [8, 26] +- goal: [17, 20] + name: agent44 + start: [4, 17] +- goal: [0, 27] + name: agent45 + start: [28, 24] +- goal: [5, 14] + name: agent46 + start: [16, 18] +- goal: [24, 10] + name: agent47 + start: [10, 26] +- goal: [11, 23] + name: agent48 + start: [19, 0] +- goal: [24, 31] + name: agent49 + start: [30, 30] +- goal: [4, 10] + name: agent50 + start: [22, 24] +- goal: [25, 16] + name: agent51 + start: [1, 20] +- goal: [23, 22] + name: agent52 + start: [0, 30] +- goal: [24, 24] + name: agent53 + start: [8, 16] +- goal: [6, 26] + name: agent54 + start: [19, 4] +- goal: [6, 31] + name: agent55 + start: [7, 2] +- goal: [22, 29] + name: agent56 + start: [15, 19] +- goal: [1, 19] + name: agent57 + start: [20, 0] +- goal: [30, 10] + name: agent58 + start: [21, 30] +- goal: [31, 3] + name: agent59 + start: [21, 20] +- goal: [20, 26] + name: agent60 + start: [21, 6] +- goal: [20, 5] + name: agent61 + start: [30, 17] +- goal: [21, 24] + name: agent62 + start: [18, 0] +- goal: [10, 23] + name: agent63 + start: [14, 12] +- goal: [9, 10] + name: agent64 + start: [13, 31] +- goal: [1, 17] + name: agent65 + start: [4, 5] +- goal: [10, 19] + name: agent66 + start: [12, 7] +- goal: [26, 1] + name: agent67 + start: [5, 18] +- goal: [18, 25] + name: agent68 + start: [29, 29] +- goal: [17, 23] + name: agent69 + start: [12, 15] +- goal: [25, 20] + name: agent70 + start: [0, 19] +- goal: [14, 7] + name: agent71 + start: [5, 0] +- goal: [12, 15] + name: agent72 + start: [30, 15] +- goal: [31, 22] + name: agent73 + start: [2, 5] +- goal: [30, 29] + name: agent74 + start: [7, 1] +- goal: [16, 11] + name: agent75 + start: [9, 7] +- goal: [18, 9] + name: agent76 + start: [29, 19] +- goal: [30, 7] + name: agent77 + start: [20, 3] +- goal: [19, 2] + name: agent78 + start: [28, 20] +- goal: [7, 28] + name: agent79 + start: [24, 22] +- goal: [7, 19] + name: agent80 + start: [11, 25] +- goal: [7, 2] + name: agent81 + start: [9, 31] +- goal: [11, 24] + name: agent82 + start: [18, 9] +- goal: [11, 5] + name: agent83 + start: [16, 5] +- goal: [14, 14] + name: agent84 + start: [10, 14] +- goal: [13, 3] + name: agent85 + start: [0, 24] +- goal: [31, 2] + name: agent86 + start: [23, 11] +- goal: [9, 19] + name: agent87 + start: [15, 5] +- goal: [31, 30] + name: agent88 + start: [20, 4] +- goal: [17, 31] + name: agent89 + start: [12, 31] +- goal: [8, 16] + name: agent90 + start: [5, 29] +- goal: [28, 7] + name: agent91 + start: [2, 28] +- goal: [13, 30] + name: agent92 + start: [23, 6] +- goal: [0, 9] + name: agent93 + start: [23, 3] +- goal: [25, 0] + name: agent94 + start: [16, 9] +- goal: [0, 31] + name: agent95 + start: [3, 3] +- goal: [20, 22] + name: agent96 + start: [17, 19] +- goal: [23, 18] + name: agent97 + start: [1, 0] +- goal: [12, 26] + name: agent98 + start: [14, 8] +- goal: [6, 5] + name: agent99 + start: [11, 1] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [11, 0] + - !!python/tuple [24, 21] + - !!python/tuple [1, 29] + - !!python/tuple [5, 16] + - !!python/tuple [5, 1] + - !!python/tuple [13, 25] + - !!python/tuple [18, 22] + - !!python/tuple [16, 1] + - !!python/tuple [9, 4] + - !!python/tuple [19, 15] + - !!python/tuple [11, 9] + - !!python/tuple [31, 9] + - !!python/tuple [0, 17] + - !!python/tuple [28, 10] + - !!python/tuple [10, 11] + - !!python/tuple [25, 14] + - !!python/tuple [22, 21] + - !!python/tuple [28, 14] + - !!python/tuple [1, 6] + - !!python/tuple [3, 18] + - !!python/tuple [4, 23] + - !!python/tuple [6, 8] + - !!python/tuple [7, 6] + - !!python/tuple [0, 21] + - !!python/tuple [8, 24] + - !!python/tuple [16, 20] + - !!python/tuple [9, 12] + - !!python/tuple [2, 16] + - !!python/tuple [14, 9] + - !!python/tuple [15, 6] + - !!python/tuple [11, 28] + - !!python/tuple [12, 2] + - !!python/tuple [7, 11] + - !!python/tuple [18, 1] + - !!python/tuple [3, 8] + - !!python/tuple [15, 11] + - !!python/tuple [30, 27] + - !!python/tuple [19, 26] + - !!python/tuple [27, 13] + - !!python/tuple [7, 22] + - !!python/tuple [17, 24] + - !!python/tuple [27, 26] + - !!python/tuple [29, 18] + - !!python/tuple [0, 2] + - !!python/tuple [14, 3] + - !!python/tuple [6, 1] + - !!python/tuple [11, 20] + - !!python/tuple [15, 25] + - !!python/tuple [24, 15] + - !!python/tuple [0, 18] + - !!python/tuple [10, 30] + - !!python/tuple [15, 21] + - !!python/tuple [9, 8] + - !!python/tuple [28, 30] + - !!python/tuple [17, 16] + - !!python/tuple [16, 25] + - !!python/tuple [1, 8] + - !!python/tuple [0, 5] + - !!python/tuple [27, 18] + - !!python/tuple [17, 9] + - !!python/tuple [25, 27] + - !!python/tuple [2, 9] + - !!python/tuple [29, 26] + - !!python/tuple [1, 22] + - !!python/tuple [20, 16] + - !!python/tuple [6, 24] + - !!python/tuple [6, 22] + - !!python/tuple [3, 10] + - !!python/tuple [24, 7] + - !!python/tuple [13, 2] + - !!python/tuple [14, 18] + - !!python/tuple [25, 17] + - !!python/tuple [7, 18] + - !!python/tuple [2, 12] + - !!python/tuple [13, 19] + - !!python/tuple [24, 6] + - !!python/tuple [4, 19] + - !!python/tuple [27, 12] + - !!python/tuple [12, 28] + - !!python/tuple [14, 1] + - !!python/tuple [12, 27] + - !!python/tuple [15, 29] + - !!python/tuple [25, 10] + - !!python/tuple [15, 22] + - !!python/tuple [8, 19] + - !!python/tuple [7, 3] + - !!python/tuple [7, 20] + - !!python/tuple [8, 17] + - !!python/tuple [28, 9] + - !!python/tuple [11, 6] + - !!python/tuple [5, 9] + - !!python/tuple [4, 12] + - !!python/tuple [12, 5] + - !!python/tuple [10, 25] + - !!python/tuple [13, 8] + - !!python/tuple [19, 9] + - !!python/tuple [6, 4] + - !!python/tuple [10, 21] + - !!python/tuple [14, 20] + - !!python/tuple [5, 10] + - !!python/tuple [16, 29] + - !!python/tuple [20, 2] + - !!python/tuple [14, 10] + - !!python/tuple [19, 14] + - !!python/tuple [6, 3] + - !!python/tuple [6, 27] + - !!python/tuple [8, 13] + - !!python/tuple [1, 23] + - !!python/tuple [31, 31] + - !!python/tuple [4, 25] + - !!python/tuple [10, 22] + - !!python/tuple [9, 17] + - !!python/tuple [0, 22] + - !!python/tuple [31, 28] + - !!python/tuple [17, 10] + - !!python/tuple [29, 8] + - !!python/tuple [24, 13] + - !!python/tuple [23, 8] + - !!python/tuple [7, 13] + - !!python/tuple [5, 11] + - !!python/tuple [15, 17] + - !!python/tuple [3, 28] + - !!python/tuple [20, 13] + - !!python/tuple [15, 2] + - !!python/tuple [7, 29] + - !!python/tuple [8, 22] + - !!python/tuple [4, 2] + - !!python/tuple [5, 15] + - !!python/tuple [26, 22] + - !!python/tuple [5, 28] + - !!python/tuple [10, 24] + - !!python/tuple [27, 10] + - !!python/tuple [9, 18] + - !!python/tuple [26, 2] + - !!python/tuple [7, 4] + - !!python/tuple [9, 11] + - !!python/tuple [12, 16] + - !!python/tuple [20, 27] + - !!python/tuple [6, 25] + - !!python/tuple [11, 4] + - !!python/tuple [16, 7] + - !!python/tuple [28, 6] + - !!python/tuple [21, 29] + - !!python/tuple [12, 12] + - !!python/tuple [2, 31] + - !!python/tuple [24, 4] + - !!python/tuple [3, 25] + - !!python/tuple [1, 25] + - !!python/tuple [17, 5] + - !!python/tuple [3, 6] + - !!python/tuple [28, 18] + - !!python/tuple [30, 6] + - !!python/tuple [27, 17] + - !!python/tuple [23, 23] + - !!python/tuple [12, 3] + - !!python/tuple [25, 12] + - !!python/tuple [4, 24] + - !!python/tuple [15, 30] + - !!python/tuple [3, 30] + - !!python/tuple [9, 27] + - !!python/tuple [1, 18] + - !!python/tuple [9, 0] + - !!python/tuple [13, 15] + - !!python/tuple [13, 10] + - !!python/tuple [15, 27] + - !!python/tuple [6, 10] + - !!python/tuple [13, 6] + - !!python/tuple [2, 19] + - !!python/tuple [14, 6] + - !!python/tuple [22, 31] + - !!python/tuple [28, 0] + - !!python/tuple [26, 25] + - !!python/tuple [6, 15] + - !!python/tuple [31, 6] + - !!python/tuple [3, 19] + - !!python/tuple [4, 26] + - !!python/tuple [19, 12] + - !!python/tuple [19, 17] + - !!python/tuple [28, 2] + - !!python/tuple [29, 16] + - !!python/tuple [20, 7] + - !!python/tuple [16, 4] + - !!python/tuple [26, 24] + - !!python/tuple [22, 11] + - !!python/tuple [30, 18] + - !!python/tuple [7, 31] + - !!python/tuple [12, 4] + - !!python/tuple [30, 20] + - !!python/tuple [21, 8] + - !!python/tuple [28, 22] + - !!python/tuple [14, 25] + - !!python/tuple [27, 31] + - !!python/tuple [24, 14] + - !!python/tuple [31, 18] + - !!python/tuple [29, 25] + - !!python/tuple [22, 0] + - !!python/tuple [28, 1] + - !!python/tuple [9, 3] + - !!python/tuple [4, 27] + - !!python/tuple [15, 8] + - !!python/tuple [26, 10] + - !!python/tuple [15, 4] + - !!python/tuple [9, 23] + - !!python/tuple [0, 6] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex66.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex66.yaml new file mode 100644 index 0000000..60effa3 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex66.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [2, 18] + name: agent0 + start: [28, 28] +- goal: [6, 24] + name: agent1 + start: [27, 16] +- goal: [1, 21] + name: agent2 + start: [21, 14] +- goal: [15, 9] + name: agent3 + start: [9, 27] +- goal: [3, 4] + name: agent4 + start: [30, 18] +- goal: [3, 14] + name: agent5 + start: [24, 9] +- goal: [25, 18] + name: agent6 + start: [30, 25] +- goal: [7, 24] + name: agent7 + start: [16, 12] +- goal: [26, 24] + name: agent8 + start: [13, 11] +- goal: [5, 4] + name: agent9 + start: [7, 22] +- goal: [25, 7] + name: agent10 + start: [31, 5] +- goal: [26, 14] + name: agent11 + start: [25, 21] +- goal: [15, 22] + name: agent12 + start: [4, 9] +- goal: [11, 25] + name: agent13 + start: [31, 23] +- goal: [1, 25] + name: agent14 + start: [7, 15] +- goal: [25, 24] + name: agent15 + start: [0, 25] +- goal: [3, 1] + name: agent16 + start: [18, 27] +- goal: [3, 18] + name: agent17 + start: [26, 28] +- goal: [23, 2] + name: agent18 + start: [5, 12] +- goal: [28, 1] + name: agent19 + start: [17, 17] +- goal: [7, 0] + name: agent20 + start: [10, 17] +- goal: [15, 2] + name: agent21 + start: [28, 0] +- goal: [13, 9] + name: agent22 + start: [24, 6] +- goal: [25, 30] + name: agent23 + start: [20, 25] +- goal: [14, 13] + name: agent24 + start: [21, 21] +- goal: [6, 19] + name: agent25 + start: [27, 20] +- goal: [4, 13] + name: agent26 + start: [24, 30] +- goal: [12, 2] + name: agent27 + start: [9, 6] +- goal: [27, 4] + name: agent28 + start: [15, 24] +- goal: [16, 6] + name: agent29 + start: [29, 6] +- goal: [29, 12] + name: agent30 + start: [31, 31] +- goal: [29, 20] + name: agent31 + start: [2, 7] +- goal: [8, 2] + name: agent32 + start: [11, 5] +- goal: [11, 24] + name: agent33 + start: [1, 3] +- goal: [24, 22] + name: agent34 + start: [9, 11] +- goal: [8, 30] + name: agent35 + start: [7, 24] +- goal: [12, 22] + name: agent36 + start: [20, 17] +- goal: [31, 21] + name: agent37 + start: [29, 30] +- goal: [20, 31] + name: agent38 + start: [0, 18] +- goal: [2, 26] + name: agent39 + start: [5, 0] +- goal: [15, 20] + name: agent40 + start: [30, 27] +- goal: [31, 30] + name: agent41 + start: [25, 12] +- goal: [26, 4] + name: agent42 + start: [12, 14] +- goal: [0, 1] + name: agent43 + start: [7, 25] +- goal: [30, 9] + name: agent44 + start: [24, 23] +- goal: [15, 10] + name: agent45 + start: [12, 13] +- goal: [14, 21] + name: agent46 + start: [12, 8] +- goal: [18, 13] + name: agent47 + start: [17, 3] +- goal: [9, 28] + name: agent48 + start: [23, 8] +- goal: [9, 7] + name: agent49 + start: [15, 10] +- goal: [11, 27] + name: agent50 + start: [7, 21] +- goal: [10, 1] + name: agent51 + start: [14, 20] +- goal: [1, 14] + name: agent52 + start: [23, 11] +- goal: [20, 9] + name: agent53 + start: [26, 26] +- goal: [12, 0] + name: agent54 + start: [14, 7] +- goal: [17, 9] + name: agent55 + start: [9, 26] +- goal: [11, 12] + name: agent56 + start: [29, 3] +- goal: [23, 6] + name: agent57 + start: [18, 13] +- goal: [10, 26] + name: agent58 + start: [21, 0] +- goal: [18, 31] + name: agent59 + start: [30, 14] +- goal: [16, 24] + name: agent60 + start: [26, 12] +- goal: [26, 7] + name: agent61 + start: [29, 16] +- goal: [3, 16] + name: agent62 + start: [26, 18] +- goal: [0, 3] + name: agent63 + start: [7, 31] +- goal: [5, 23] + name: agent64 + start: [29, 19] +- goal: [10, 20] + name: agent65 + start: [29, 17] +- goal: [23, 13] + name: agent66 + start: [0, 29] +- goal: [16, 17] + name: agent67 + start: [17, 16] +- goal: [14, 10] + name: agent68 + start: [25, 6] +- goal: [12, 23] + name: agent69 + start: [15, 17] +- goal: [1, 13] + name: agent70 + start: [18, 26] +- goal: [28, 11] + name: agent71 + start: [7, 4] +- goal: [10, 16] + name: agent72 + start: [3, 0] +- goal: [23, 15] + name: agent73 + start: [1, 7] +- goal: [0, 6] + name: agent74 + start: [21, 25] +- goal: [11, 9] + name: agent75 + start: [1, 21] +- goal: [5, 0] + name: agent76 + start: [1, 31] +- goal: [30, 5] + name: agent77 + start: [15, 13] +- goal: [17, 4] + name: agent78 + start: [7, 11] +- goal: [15, 6] + name: agent79 + start: [0, 7] +- goal: [13, 3] + name: agent80 + start: [17, 22] +- goal: [31, 19] + name: agent81 + start: [29, 25] +- goal: [2, 31] + name: agent82 + start: [22, 2] +- goal: [21, 11] + name: agent83 + start: [22, 1] +- goal: [31, 8] + name: agent84 + start: [30, 3] +- goal: [8, 12] + name: agent85 + start: [4, 27] +- goal: [26, 18] + name: agent86 + start: [23, 2] +- goal: [11, 16] + name: agent87 + start: [21, 26] +- goal: [7, 2] + name: agent88 + start: [4, 30] +- goal: [9, 11] + name: agent89 + start: [2, 27] +- goal: [23, 10] + name: agent90 + start: [11, 15] +- goal: [18, 5] + name: agent91 + start: [7, 29] +- goal: [10, 4] + name: agent92 + start: [16, 19] +- goal: [1, 31] + name: agent93 + start: [8, 15] +- goal: [13, 10] + name: agent94 + start: [30, 6] +- goal: [18, 8] + name: agent95 + start: [19, 4] +- goal: [28, 4] + name: agent96 + start: [14, 0] +- goal: [31, 22] + name: agent97 + start: [14, 21] +- goal: [29, 7] + name: agent98 + start: [19, 24] +- goal: [31, 1] + name: agent99 + start: [6, 15] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [31, 10] + - !!python/tuple [26, 22] + - !!python/tuple [25, 3] + - !!python/tuple [28, 27] + - !!python/tuple [24, 11] + - !!python/tuple [24, 19] + - !!python/tuple [24, 28] + - !!python/tuple [6, 10] + - !!python/tuple [3, 23] + - !!python/tuple [17, 2] + - !!python/tuple [7, 19] + - !!python/tuple [8, 6] + - !!python/tuple [31, 3] + - !!python/tuple [23, 7] + - !!python/tuple [16, 10] + - !!python/tuple [26, 8] + - !!python/tuple [4, 14] + - !!python/tuple [14, 15] + - !!python/tuple [2, 5] + - !!python/tuple [1, 4] + - !!python/tuple [4, 7] + - !!python/tuple [11, 17] + - !!python/tuple [25, 9] + - !!python/tuple [10, 28] + - !!python/tuple [22, 7] + - !!python/tuple [9, 1] + - !!python/tuple [3, 19] + - !!python/tuple [1, 10] + - !!python/tuple [19, 0] + - !!python/tuple [6, 16] + - !!python/tuple [12, 15] + - !!python/tuple [31, 15] + - !!python/tuple [24, 24] + - !!python/tuple [22, 4] + - !!python/tuple [27, 0] + - !!python/tuple [7, 26] + - !!python/tuple [0, 9] + - !!python/tuple [12, 28] + - !!python/tuple [13, 5] + - !!python/tuple [13, 25] + - !!python/tuple [18, 2] + - !!python/tuple [21, 3] + - !!python/tuple [22, 24] + - !!python/tuple [25, 23] + - !!python/tuple [30, 22] + - !!python/tuple [2, 1] + - !!python/tuple [3, 9] + - !!python/tuple [0, 22] + - !!python/tuple [18, 12] + - !!python/tuple [2, 19] + - !!python/tuple [7, 28] + - !!python/tuple [29, 21] + - !!python/tuple [3, 11] + - !!python/tuple [2, 13] + - !!python/tuple [17, 6] + - !!python/tuple [14, 14] + - !!python/tuple [28, 9] + - !!python/tuple [9, 5] + - !!python/tuple [24, 25] + - !!python/tuple [26, 25] + - !!python/tuple [12, 6] + - !!python/tuple [27, 12] + - !!python/tuple [21, 10] + - !!python/tuple [29, 11] + - !!python/tuple [2, 30] + - !!python/tuple [3, 29] + - !!python/tuple [10, 13] + - !!python/tuple [2, 28] + - !!python/tuple [12, 20] + - !!python/tuple [29, 0] + - !!python/tuple [31, 6] + - !!python/tuple [6, 1] + - !!python/tuple [14, 19] + - !!python/tuple [9, 25] + - !!python/tuple [15, 15] + - !!python/tuple [22, 0] + - !!python/tuple [11, 20] + - !!python/tuple [27, 13] + - !!python/tuple [18, 18] + - !!python/tuple [13, 18] + - !!python/tuple [3, 20] + - !!python/tuple [20, 22] + - !!python/tuple [19, 18] + - !!python/tuple [2, 20] + - !!python/tuple [31, 9] + - !!python/tuple [20, 2] + - !!python/tuple [7, 16] + - !!python/tuple [30, 24] + - !!python/tuple [20, 16] + - !!python/tuple [5, 3] + - !!python/tuple [26, 3] + - !!python/tuple [14, 28] + - !!python/tuple [24, 21] + - !!python/tuple [17, 14] + - !!python/tuple [10, 30] + - !!python/tuple [18, 17] + - !!python/tuple [6, 0] + - !!python/tuple [20, 10] + - !!python/tuple [28, 6] + - !!python/tuple [17, 23] + - !!python/tuple [30, 19] + - !!python/tuple [19, 16] + - !!python/tuple [0, 2] + - !!python/tuple [20, 23] + - !!python/tuple [23, 20] + - !!python/tuple [15, 0] + - !!python/tuple [2, 3] + - !!python/tuple [17, 1] + - !!python/tuple [21, 16] + - !!python/tuple [4, 2] + - !!python/tuple [24, 13] + - !!python/tuple [7, 1] + - !!python/tuple [19, 26] + - !!python/tuple [31, 29] + - !!python/tuple [8, 29] + - !!python/tuple [14, 23] + - !!python/tuple [14, 11] + - !!python/tuple [26, 27] + - !!python/tuple [10, 14] + - !!python/tuple [17, 29] + - !!python/tuple [20, 5] + - !!python/tuple [15, 31] + - !!python/tuple [20, 4] + - !!python/tuple [23, 0] + - !!python/tuple [28, 12] + - !!python/tuple [11, 10] + - !!python/tuple [30, 20] + - !!python/tuple [3, 7] + - !!python/tuple [12, 26] + - !!python/tuple [24, 16] + - !!python/tuple [15, 12] + - !!python/tuple [27, 31] + - !!python/tuple [15, 1] + - !!python/tuple [21, 22] + - !!python/tuple [17, 18] + - !!python/tuple [24, 31] + - !!python/tuple [8, 16] + - !!python/tuple [4, 6] + - !!python/tuple [23, 25] + - !!python/tuple [5, 16] + - !!python/tuple [17, 25] + - !!python/tuple [19, 17] + - !!python/tuple [16, 30] + - !!python/tuple [25, 11] + - !!python/tuple [11, 4] + - !!python/tuple [18, 15] + - !!python/tuple [4, 20] + - !!python/tuple [8, 19] + - !!python/tuple [30, 10] + - !!python/tuple [1, 24] + - !!python/tuple [28, 20] + - !!python/tuple [1, 19] + - !!python/tuple [3, 24] + - !!python/tuple [17, 21] + - !!python/tuple [8, 27] + - !!python/tuple [27, 25] + - !!python/tuple [22, 13] + - !!python/tuple [27, 15] + - !!python/tuple [13, 7] + - !!python/tuple [4, 5] + - !!python/tuple [19, 7] + - !!python/tuple [6, 21] + - !!python/tuple [25, 2] + - !!python/tuple [9, 16] + - !!python/tuple [24, 20] + - !!python/tuple [21, 28] + - !!python/tuple [16, 5] + - !!python/tuple [20, 27] + - !!python/tuple [16, 8] + - !!python/tuple [14, 12] + - !!python/tuple [1, 17] + - !!python/tuple [29, 29] + - !!python/tuple [29, 14] + - !!python/tuple [7, 30] + - !!python/tuple [19, 2] + - !!python/tuple [9, 3] + - !!python/tuple [4, 4] + - !!python/tuple [22, 31] + - !!python/tuple [2, 8] + - !!python/tuple [4, 16] + - !!python/tuple [8, 1] + - !!python/tuple [13, 14] + - !!python/tuple [29, 23] + - !!python/tuple [27, 28] + - !!python/tuple [5, 26] + - !!python/tuple [10, 10] + - !!python/tuple [24, 14] + - !!python/tuple [13, 29] + - !!python/tuple [16, 28] + - !!python/tuple [23, 3] + - !!python/tuple [8, 20] + - !!python/tuple [22, 22] + - !!python/tuple [10, 22] + - !!python/tuple [27, 24] + - !!python/tuple [20, 12] + - !!python/tuple [11, 8] + - !!python/tuple [19, 30] + - !!python/tuple [15, 7] + - !!python/tuple [27, 30] + - !!python/tuple [14, 5] + - !!python/tuple [12, 4] + - !!python/tuple [2, 17] + - !!python/tuple [30, 8] + - !!python/tuple [22, 12] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex67.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex67.yaml new file mode 100644 index 0000000..fddde06 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex67.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [27, 13] + name: agent0 + start: [15, 22] +- goal: [31, 8] + name: agent1 + start: [24, 6] +- goal: [31, 17] + name: agent2 + start: [22, 20] +- goal: [12, 0] + name: agent3 + start: [23, 2] +- goal: [25, 27] + name: agent4 + start: [2, 0] +- goal: [24, 6] + name: agent5 + start: [18, 19] +- goal: [16, 19] + name: agent6 + start: [20, 21] +- goal: [15, 21] + name: agent7 + start: [11, 4] +- goal: [29, 15] + name: agent8 + start: [2, 28] +- goal: [25, 8] + name: agent9 + start: [10, 6] +- goal: [4, 24] + name: agent10 + start: [13, 1] +- goal: [18, 2] + name: agent11 + start: [20, 28] +- goal: [7, 15] + name: agent12 + start: [13, 18] +- goal: [21, 30] + name: agent13 + start: [14, 24] +- goal: [18, 23] + name: agent14 + start: [15, 1] +- goal: [19, 14] + name: agent15 + start: [15, 25] +- goal: [23, 28] + name: agent16 + start: [4, 29] +- goal: [7, 17] + name: agent17 + start: [8, 23] +- goal: [23, 18] + name: agent18 + start: [25, 8] +- goal: [23, 29] + name: agent19 + start: [14, 11] +- goal: [1, 24] + name: agent20 + start: [10, 23] +- goal: [26, 31] + name: agent21 + start: [31, 26] +- goal: [25, 10] + name: agent22 + start: [16, 30] +- goal: [23, 25] + name: agent23 + start: [22, 12] +- goal: [29, 5] + name: agent24 + start: [15, 2] +- goal: [23, 10] + name: agent25 + start: [17, 2] +- goal: [22, 0] + name: agent26 + start: [4, 21] +- goal: [21, 22] + name: agent27 + start: [23, 18] +- goal: [31, 1] + name: agent28 + start: [17, 29] +- goal: [25, 14] + name: agent29 + start: [22, 10] +- goal: [16, 12] + name: agent30 + start: [29, 20] +- goal: [11, 29] + name: agent31 + start: [8, 4] +- goal: [19, 23] + name: agent32 + start: [8, 15] +- goal: [6, 7] + name: agent33 + start: [17, 15] +- goal: [24, 5] + name: agent34 + start: [19, 15] +- goal: [6, 29] + name: agent35 + start: [22, 13] +- goal: [27, 9] + name: agent36 + start: [6, 10] +- goal: [8, 18] + name: agent37 + start: [21, 2] +- goal: [3, 24] + name: agent38 + start: [5, 2] +- goal: [19, 26] + name: agent39 + start: [30, 27] +- goal: [14, 27] + name: agent40 + start: [23, 23] +- goal: [14, 14] + name: agent41 + start: [21, 22] +- goal: [12, 11] + name: agent42 + start: [8, 24] +- goal: [7, 2] + name: agent43 + start: [20, 12] +- goal: [15, 18] + name: agent44 + start: [7, 27] +- goal: [19, 1] + name: agent45 + start: [3, 21] +- goal: [23, 2] + name: agent46 + start: [14, 29] +- goal: [28, 0] + name: agent47 + start: [13, 28] +- goal: [4, 16] + name: agent48 + start: [7, 2] +- goal: [29, 8] + name: agent49 + start: [27, 24] +- goal: [9, 15] + name: agent50 + start: [11, 0] +- goal: [22, 12] + name: agent51 + start: [23, 27] +- goal: [1, 3] + name: agent52 + start: [24, 3] +- goal: [4, 3] + name: agent53 + start: [6, 26] +- goal: [19, 22] + name: agent54 + start: [10, 24] +- goal: [18, 16] + name: agent55 + start: [15, 26] +- goal: [18, 22] + name: agent56 + start: [19, 14] +- goal: [15, 10] + name: agent57 + start: [12, 23] +- goal: [1, 13] + name: agent58 + start: [29, 8] +- goal: [26, 13] + name: agent59 + start: [10, 0] +- goal: [25, 19] + name: agent60 + start: [16, 25] +- goal: [23, 21] + name: agent61 + start: [12, 9] +- goal: [31, 4] + name: agent62 + start: [4, 22] +- goal: [20, 20] + name: agent63 + start: [24, 27] +- goal: [9, 11] + name: agent64 + start: [13, 0] +- goal: [23, 24] + name: agent65 + start: [14, 26] +- goal: [2, 21] + name: agent66 + start: [11, 21] +- goal: [20, 16] + name: agent67 + start: [29, 19] +- goal: [14, 0] + name: agent68 + start: [30, 30] +- goal: [1, 10] + name: agent69 + start: [27, 9] +- goal: [30, 21] + name: agent70 + start: [20, 26] +- goal: [17, 21] + name: agent71 + start: [18, 14] +- goal: [3, 7] + name: agent72 + start: [9, 7] +- goal: [23, 0] + name: agent73 + start: [21, 18] +- goal: [4, 13] + name: agent74 + start: [18, 27] +- goal: [6, 17] + name: agent75 + start: [30, 14] +- goal: [16, 30] + name: agent76 + start: [18, 29] +- goal: [20, 30] + name: agent77 + start: [30, 13] +- goal: [22, 6] + name: agent78 + start: [2, 16] +- goal: [23, 12] + name: agent79 + start: [21, 29] +- goal: [28, 19] + name: agent80 + start: [22, 1] +- goal: [16, 21] + name: agent81 + start: [0, 16] +- goal: [3, 19] + name: agent82 + start: [18, 20] +- goal: [11, 20] + name: agent83 + start: [1, 16] +- goal: [31, 0] + name: agent84 + start: [10, 1] +- goal: [31, 15] + name: agent85 + start: [10, 2] +- goal: [15, 6] + name: agent86 + start: [21, 19] +- goal: [22, 16] + name: agent87 + start: [20, 0] +- goal: [18, 25] + name: agent88 + start: [29, 14] +- goal: [24, 25] + name: agent89 + start: [23, 16] +- goal: [26, 14] + name: agent90 + start: [15, 10] +- goal: [2, 28] + name: agent91 + start: [28, 17] +- goal: [19, 29] + name: agent92 + start: [28, 12] +- goal: [19, 13] + name: agent93 + start: [4, 20] +- goal: [22, 2] + name: agent94 + start: [9, 18] +- goal: [6, 25] + name: agent95 + start: [9, 11] +- goal: [2, 26] + name: agent96 + start: [1, 13] +- goal: [4, 17] + name: agent97 + start: [9, 28] +- goal: [7, 30] + name: agent98 + start: [12, 15] +- goal: [13, 22] + name: agent99 + start: [10, 17] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [2, 12] + - !!python/tuple [24, 13] + - !!python/tuple [24, 31] + - !!python/tuple [2, 8] + - !!python/tuple [4, 28] + - !!python/tuple [21, 27] + - !!python/tuple [12, 29] + - !!python/tuple [29, 21] + - !!python/tuple [28, 16] + - !!python/tuple [5, 6] + - !!python/tuple [0, 5] + - !!python/tuple [13, 23] + - !!python/tuple [22, 4] + - !!python/tuple [14, 25] + - !!python/tuple [31, 16] + - !!python/tuple [23, 26] + - !!python/tuple [26, 1] + - !!python/tuple [0, 2] + - !!python/tuple [16, 27] + - !!python/tuple [28, 23] + - !!python/tuple [25, 9] + - !!python/tuple [17, 27] + - !!python/tuple [6, 19] + - !!python/tuple [11, 10] + - !!python/tuple [21, 26] + - !!python/tuple [15, 4] + - !!python/tuple [22, 26] + - !!python/tuple [7, 9] + - !!python/tuple [30, 7] + - !!python/tuple [8, 22] + - !!python/tuple [21, 1] + - !!python/tuple [30, 29] + - !!python/tuple [24, 4] + - !!python/tuple [16, 20] + - !!python/tuple [29, 30] + - !!python/tuple [3, 25] + - !!python/tuple [22, 30] + - !!python/tuple [17, 23] + - !!python/tuple [11, 28] + - !!python/tuple [19, 2] + - !!python/tuple [25, 23] + - !!python/tuple [18, 31] + - !!python/tuple [1, 20] + - !!python/tuple [1, 19] + - !!python/tuple [25, 11] + - !!python/tuple [17, 8] + - !!python/tuple [8, 21] + - !!python/tuple [12, 28] + - !!python/tuple [6, 1] + - !!python/tuple [13, 21] + - !!python/tuple [1, 15] + - !!python/tuple [0, 19] + - !!python/tuple [14, 21] + - !!python/tuple [9, 31] + - !!python/tuple [31, 24] + - !!python/tuple [4, 15] + - !!python/tuple [9, 13] + - !!python/tuple [30, 3] + - !!python/tuple [27, 8] + - !!python/tuple [10, 14] + - !!python/tuple [21, 31] + - !!python/tuple [3, 8] + - !!python/tuple [2, 23] + - !!python/tuple [28, 5] + - !!python/tuple [2, 29] + - !!python/tuple [5, 12] + - !!python/tuple [27, 11] + - !!python/tuple [1, 28] + - !!python/tuple [0, 29] + - !!python/tuple [22, 5] + - !!python/tuple [29, 12] + - !!python/tuple [27, 7] + - !!python/tuple [17, 12] + - !!python/tuple [22, 28] + - !!python/tuple [24, 2] + - !!python/tuple [9, 6] + - !!python/tuple [2, 14] + - !!python/tuple [31, 13] + - !!python/tuple [3, 17] + - !!python/tuple [6, 21] + - !!python/tuple [26, 29] + - !!python/tuple [20, 5] + - !!python/tuple [2, 31] + - !!python/tuple [11, 6] + - !!python/tuple [1, 11] + - !!python/tuple [23, 8] + - !!python/tuple [23, 14] + - !!python/tuple [3, 31] + - !!python/tuple [17, 19] + - !!python/tuple [3, 9] + - !!python/tuple [24, 23] + - !!python/tuple [16, 1] + - !!python/tuple [9, 1] + - !!python/tuple [1, 27] + - !!python/tuple [7, 3] + - !!python/tuple [10, 22] + - !!python/tuple [31, 5] + - !!python/tuple [24, 8] + - !!python/tuple [5, 14] + - !!python/tuple [30, 28] + - !!python/tuple [31, 2] + - !!python/tuple [2, 10] + - !!python/tuple [5, 0] + - !!python/tuple [19, 20] + - !!python/tuple [15, 3] + - !!python/tuple [7, 6] + - !!python/tuple [0, 15] + - !!python/tuple [28, 21] + - !!python/tuple [29, 0] + - !!python/tuple [18, 4] + - !!python/tuple [0, 22] + - !!python/tuple [26, 24] + - !!python/tuple [25, 1] + - !!python/tuple [3, 6] + - !!python/tuple [6, 20] + - !!python/tuple [6, 18] + - !!python/tuple [8, 25] + - !!python/tuple [4, 31] + - !!python/tuple [29, 7] + - !!python/tuple [23, 19] + - !!python/tuple [11, 26] + - !!python/tuple [29, 10] + - !!python/tuple [11, 24] + - !!python/tuple [14, 1] + - !!python/tuple [18, 21] + - !!python/tuple [6, 8] + - !!python/tuple [8, 7] + - !!python/tuple [12, 8] + - !!python/tuple [29, 4] + - !!python/tuple [10, 3] + - !!python/tuple [10, 28] + - !!python/tuple [13, 14] + - !!python/tuple [9, 9] + - !!python/tuple [21, 24] + - !!python/tuple [3, 5] + - !!python/tuple [14, 17] + - !!python/tuple [21, 23] + - !!python/tuple [12, 4] + - !!python/tuple [14, 23] + - !!python/tuple [14, 31] + - !!python/tuple [26, 17] + - !!python/tuple [28, 20] + - !!python/tuple [11, 17] + - !!python/tuple [15, 24] + - !!python/tuple [5, 21] + - !!python/tuple [3, 27] + - !!python/tuple [1, 2] + - !!python/tuple [3, 15] + - !!python/tuple [2, 25] + - !!python/tuple [28, 9] + - !!python/tuple [27, 29] + - !!python/tuple [0, 4] + - !!python/tuple [3, 22] + - !!python/tuple [18, 10] + - !!python/tuple [3, 14] + - !!python/tuple [30, 24] + - !!python/tuple [20, 14] + - !!python/tuple [28, 3] + - !!python/tuple [28, 25] + - !!python/tuple [24, 15] + - !!python/tuple [20, 19] + - !!python/tuple [5, 19] + - !!python/tuple [13, 19] + - !!python/tuple [12, 2] + - !!python/tuple [7, 1] + - !!python/tuple [31, 21] + - !!python/tuple [27, 26] + - !!python/tuple [2, 24] + - !!python/tuple [8, 19] + - !!python/tuple [8, 14] + - !!python/tuple [19, 30] + - !!python/tuple [7, 5] + - !!python/tuple [3, 2] + - !!python/tuple [29, 3] + - !!python/tuple [16, 23] + - !!python/tuple [20, 4] + - !!python/tuple [16, 17] + - !!python/tuple [9, 14] + - !!python/tuple [24, 16] + - !!python/tuple [14, 19] + - !!python/tuple [22, 24] + - !!python/tuple [1, 8] + - !!python/tuple [28, 22] + - !!python/tuple [29, 27] + - !!python/tuple [21, 17] + - !!python/tuple [19, 16] + - !!python/tuple [25, 12] + - !!python/tuple [4, 7] + - !!python/tuple [6, 27] + - !!python/tuple [15, 12] + - !!python/tuple [1, 30] + - !!python/tuple [15, 7] + - !!python/tuple [20, 25] + - !!python/tuple [24, 18] + - !!python/tuple [0, 9] + - !!python/tuple [22, 8] + - !!python/tuple [10, 25] + - !!python/tuple [19, 24] + - !!python/tuple [4, 14] + - !!python/tuple [8, 30] + - !!python/tuple [21, 0] + - !!python/tuple [29, 29] + - !!python/tuple [8, 29] + - !!python/tuple [27, 25] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex68.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex68.yaml new file mode 100644 index 0000000..d4a7e96 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex68.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [28, 22] + name: agent0 + start: [31, 26] +- goal: [23, 20] + name: agent1 + start: [30, 0] +- goal: [24, 2] + name: agent2 + start: [0, 9] +- goal: [8, 15] + name: agent3 + start: [9, 22] +- goal: [9, 24] + name: agent4 + start: [11, 24] +- goal: [18, 25] + name: agent5 + start: [21, 27] +- goal: [6, 26] + name: agent6 + start: [15, 15] +- goal: [13, 16] + name: agent7 + start: [17, 8] +- goal: [0, 8] + name: agent8 + start: [17, 29] +- goal: [13, 27] + name: agent9 + start: [13, 13] +- goal: [19, 18] + name: agent10 + start: [17, 0] +- goal: [26, 23] + name: agent11 + start: [17, 20] +- goal: [25, 0] + name: agent12 + start: [4, 6] +- goal: [21, 13] + name: agent13 + start: [27, 20] +- goal: [10, 1] + name: agent14 + start: [9, 10] +- goal: [15, 0] + name: agent15 + start: [2, 18] +- goal: [6, 31] + name: agent16 + start: [3, 5] +- goal: [0, 30] + name: agent17 + start: [24, 8] +- goal: [19, 17] + name: agent18 + start: [4, 24] +- goal: [7, 13] + name: agent19 + start: [29, 26] +- goal: [0, 23] + name: agent20 + start: [28, 21] +- goal: [20, 23] + name: agent21 + start: [25, 15] +- goal: [23, 10] + name: agent22 + start: [10, 30] +- goal: [17, 18] + name: agent23 + start: [26, 0] +- goal: [14, 11] + name: agent24 + start: [3, 4] +- goal: [16, 0] + name: agent25 + start: [12, 9] +- goal: [4, 24] + name: agent26 + start: [18, 27] +- goal: [16, 7] + name: agent27 + start: [27, 3] +- goal: [2, 31] + name: agent28 + start: [24, 1] +- goal: [21, 16] + name: agent29 + start: [17, 17] +- goal: [4, 14] + name: agent30 + start: [0, 24] +- goal: [9, 13] + name: agent31 + start: [16, 15] +- goal: [28, 16] + name: agent32 + start: [3, 27] +- goal: [24, 26] + name: agent33 + start: [1, 10] +- goal: [23, 17] + name: agent34 + start: [13, 6] +- goal: [13, 3] + name: agent35 + start: [18, 25] +- goal: [21, 30] + name: agent36 + start: [24, 6] +- goal: [23, 31] + name: agent37 + start: [11, 8] +- goal: [22, 21] + name: agent38 + start: [16, 27] +- goal: [20, 21] + name: agent39 + start: [30, 12] +- goal: [30, 4] + name: agent40 + start: [18, 20] +- goal: [2, 28] + name: agent41 + start: [18, 17] +- goal: [23, 6] + name: agent42 + start: [30, 31] +- goal: [31, 31] + name: agent43 + start: [13, 17] +- goal: [0, 3] + name: agent44 + start: [2, 15] +- goal: [26, 26] + name: agent45 + start: [31, 15] +- goal: [21, 27] + name: agent46 + start: [29, 0] +- goal: [17, 8] + name: agent47 + start: [31, 9] +- goal: [31, 30] + name: agent48 + start: [3, 0] +- goal: [0, 20] + name: agent49 + start: [23, 21] +- goal: [4, 31] + name: agent50 + start: [14, 1] +- goal: [15, 19] + name: agent51 + start: [20, 23] +- goal: [0, 31] + name: agent52 + start: [1, 16] +- goal: [30, 18] + name: agent53 + start: [28, 24] +- goal: [28, 8] + name: agent54 + start: [6, 18] +- goal: [19, 7] + name: agent55 + start: [14, 28] +- goal: [31, 18] + name: agent56 + start: [14, 8] +- goal: [19, 26] + name: agent57 + start: [19, 28] +- goal: [16, 21] + name: agent58 + start: [20, 17] +- goal: [14, 23] + name: agent59 + start: [17, 3] +- goal: [1, 20] + name: agent60 + start: [1, 8] +- goal: [6, 29] + name: agent61 + start: [9, 11] +- goal: [16, 11] + name: agent62 + start: [7, 29] +- goal: [27, 9] + name: agent63 + start: [17, 2] +- goal: [18, 21] + name: agent64 + start: [21, 7] +- goal: [9, 4] + name: agent65 + start: [27, 12] +- goal: [0, 16] + name: agent66 + start: [26, 2] +- goal: [14, 19] + name: agent67 + start: [4, 13] +- goal: [11, 9] + name: agent68 + start: [13, 31] +- goal: [5, 12] + name: agent69 + start: [19, 26] +- goal: [13, 19] + name: agent70 + start: [19, 25] +- goal: [30, 9] + name: agent71 + start: [28, 15] +- goal: [25, 8] + name: agent72 + start: [13, 3] +- goal: [23, 8] + name: agent73 + start: [0, 25] +- goal: [16, 30] + name: agent74 + start: [24, 0] +- goal: [31, 17] + name: agent75 + start: [31, 3] +- goal: [20, 0] + name: agent76 + start: [13, 12] +- goal: [0, 9] + name: agent77 + start: [16, 11] +- goal: [22, 3] + name: agent78 + start: [18, 21] +- goal: [30, 11] + name: agent79 + start: [14, 2] +- goal: [25, 15] + name: agent80 + start: [0, 18] +- goal: [6, 18] + name: agent81 + start: [6, 28] +- goal: [9, 15] + name: agent82 + start: [29, 29] +- goal: [22, 7] + name: agent83 + start: [0, 3] +- goal: [13, 15] + name: agent84 + start: [6, 26] +- goal: [31, 8] + name: agent85 + start: [3, 22] +- goal: [26, 17] + name: agent86 + start: [30, 16] +- goal: [14, 13] + name: agent87 + start: [11, 5] +- goal: [18, 9] + name: agent88 + start: [3, 26] +- goal: [23, 28] + name: agent89 + start: [8, 11] +- goal: [27, 16] + name: agent90 + start: [5, 27] +- goal: [31, 15] + name: agent91 + start: [28, 0] +- goal: [4, 12] + name: agent92 + start: [31, 27] +- goal: [31, 7] + name: agent93 + start: [17, 15] +- goal: [9, 1] + name: agent94 + start: [31, 22] +- goal: [11, 22] + name: agent95 + start: [26, 3] +- goal: [31, 24] + name: agent96 + start: [27, 24] +- goal: [14, 29] + name: agent97 + start: [2, 21] +- goal: [12, 15] + name: agent98 + start: [15, 9] +- goal: [9, 0] + name: agent99 + start: [26, 8] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [1, 31] + - !!python/tuple [22, 0] + - !!python/tuple [16, 10] + - !!python/tuple [7, 23] + - !!python/tuple [28, 1] + - !!python/tuple [6, 25] + - !!python/tuple [25, 2] + - !!python/tuple [22, 22] + - !!python/tuple [7, 8] + - !!python/tuple [18, 22] + - !!python/tuple [19, 24] + - !!python/tuple [3, 19] + - !!python/tuple [20, 11] + - !!python/tuple [17, 25] + - !!python/tuple [15, 25] + - !!python/tuple [17, 28] + - !!python/tuple [28, 26] + - !!python/tuple [19, 2] + - !!python/tuple [12, 14] + - !!python/tuple [20, 20] + - !!python/tuple [20, 19] + - !!python/tuple [29, 2] + - !!python/tuple [21, 5] + - !!python/tuple [26, 9] + - !!python/tuple [5, 30] + - !!python/tuple [26, 10] + - !!python/tuple [26, 5] + - !!python/tuple [23, 13] + - !!python/tuple [28, 11] + - !!python/tuple [20, 26] + - !!python/tuple [15, 16] + - !!python/tuple [30, 28] + - !!python/tuple [8, 31] + - !!python/tuple [18, 5] + - !!python/tuple [28, 2] + - !!python/tuple [6, 30] + - !!python/tuple [22, 13] + - !!python/tuple [7, 26] + - !!python/tuple [17, 14] + - !!python/tuple [26, 21] + - !!python/tuple [17, 7] + - !!python/tuple [16, 4] + - !!python/tuple [28, 20] + - !!python/tuple [1, 24] + - !!python/tuple [12, 28] + - !!python/tuple [15, 13] + - !!python/tuple [14, 21] + - !!python/tuple [30, 27] + - !!python/tuple [0, 4] + - !!python/tuple [20, 16] + - !!python/tuple [19, 11] + - !!python/tuple [2, 17] + - !!python/tuple [21, 6] + - !!python/tuple [29, 3] + - !!python/tuple [20, 14] + - !!python/tuple [26, 20] + - !!python/tuple [22, 8] + - !!python/tuple [1, 2] + - !!python/tuple [0, 21] + - !!python/tuple [27, 21] + - !!python/tuple [1, 29] + - !!python/tuple [28, 13] + - !!python/tuple [2, 8] + - !!python/tuple [13, 24] + - !!python/tuple [8, 21] + - !!python/tuple [5, 4] + - !!python/tuple [26, 31] + - !!python/tuple [23, 29] + - !!python/tuple [5, 23] + - !!python/tuple [4, 11] + - !!python/tuple [8, 0] + - !!python/tuple [11, 23] + - !!python/tuple [8, 14] + - !!python/tuple [8, 30] + - !!python/tuple [14, 24] + - !!python/tuple [21, 20] + - !!python/tuple [0, 13] + - !!python/tuple [7, 7] + - !!python/tuple [23, 7] + - !!python/tuple [21, 24] + - !!python/tuple [3, 14] + - !!python/tuple [13, 22] + - !!python/tuple [27, 29] + - !!python/tuple [10, 18] + - !!python/tuple [17, 31] + - !!python/tuple [27, 2] + - !!python/tuple [23, 11] + - !!python/tuple [16, 14] + - !!python/tuple [14, 5] + - !!python/tuple [29, 13] + - !!python/tuple [27, 1] + - !!python/tuple [1, 25] + - !!python/tuple [24, 20] + - !!python/tuple [12, 5] + - !!python/tuple [25, 12] + - !!python/tuple [15, 30] + - !!python/tuple [2, 12] + - !!python/tuple [14, 3] + - !!python/tuple [29, 11] + - !!python/tuple [12, 29] + - !!python/tuple [9, 6] + - !!python/tuple [24, 10] + - !!python/tuple [4, 10] + - !!python/tuple [18, 3] + - !!python/tuple [16, 20] + - !!python/tuple [12, 0] + - !!python/tuple [26, 25] + - !!python/tuple [13, 28] + - !!python/tuple [15, 8] + - !!python/tuple [30, 25] + - !!python/tuple [20, 13] + - !!python/tuple [27, 31] + - !!python/tuple [24, 11] + - !!python/tuple [16, 6] + - !!python/tuple [10, 4] + - !!python/tuple [3, 10] + - !!python/tuple [25, 26] + - !!python/tuple [7, 5] + - !!python/tuple [5, 29] + - !!python/tuple [15, 27] + - !!python/tuple [3, 7] + - !!python/tuple [24, 14] + - !!python/tuple [5, 6] + - !!python/tuple [29, 19] + - !!python/tuple [11, 1] + - !!python/tuple [29, 4] + - !!python/tuple [22, 24] + - !!python/tuple [5, 1] + - !!python/tuple [31, 5] + - !!python/tuple [6, 20] + - !!python/tuple [2, 22] + - !!python/tuple [7, 17] + - !!python/tuple [25, 11] + - !!python/tuple [25, 16] + - !!python/tuple [16, 26] + - !!python/tuple [15, 23] + - !!python/tuple [25, 14] + - !!python/tuple [24, 9] + - !!python/tuple [8, 13] + - !!python/tuple [30, 21] + - !!python/tuple [30, 17] + - !!python/tuple [9, 9] + - !!python/tuple [25, 5] + - !!python/tuple [11, 20] + - !!python/tuple [6, 0] + - !!python/tuple [0, 12] + - !!python/tuple [24, 16] + - !!python/tuple [26, 1] + - !!python/tuple [1, 1] + - !!python/tuple [11, 29] + - !!python/tuple [8, 12] + - !!python/tuple [13, 21] + - !!python/tuple [5, 19] + - !!python/tuple [2, 13] + - !!python/tuple [18, 26] + - !!python/tuple [4, 8] + - !!python/tuple [29, 18] + - !!python/tuple [2, 2] + - !!python/tuple [4, 30] + - !!python/tuple [26, 18] + - !!python/tuple [4, 4] + - !!python/tuple [29, 20] + - !!python/tuple [18, 16] + - !!python/tuple [4, 7] + - !!python/tuple [27, 25] + - !!python/tuple [0, 26] + - !!python/tuple [22, 29] + - !!python/tuple [7, 24] + - !!python/tuple [21, 11] + - !!python/tuple [2, 7] + - !!python/tuple [20, 5] + - !!python/tuple [29, 14] + - !!python/tuple [10, 28] + - !!python/tuple [23, 25] + - !!python/tuple [12, 18] + - !!python/tuple [0, 11] + - !!python/tuple [27, 10] + - !!python/tuple [24, 23] + - !!python/tuple [12, 19] + - !!python/tuple [22, 4] + - !!python/tuple [7, 16] + - !!python/tuple [5, 5] + - !!python/tuple [20, 30] + - !!python/tuple [18, 2] + - !!python/tuple [4, 5] + - !!python/tuple [6, 6] + - !!python/tuple [12, 16] + - !!python/tuple [4, 17] + - !!python/tuple [17, 22] + - !!python/tuple [23, 14] + - !!python/tuple [16, 28] + - !!python/tuple [26, 27] + - !!python/tuple [22, 27] + - !!python/tuple [16, 24] + - !!python/tuple [21, 8] + - !!python/tuple [25, 13] + - !!python/tuple [20, 31] + - !!python/tuple [25, 30] + - !!python/tuple [17, 5] + - !!python/tuple [12, 23] + - !!python/tuple [10, 21] + - !!python/tuple [9, 28] + - !!python/tuple [9, 21] + - !!python/tuple [24, 29] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex69.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex69.yaml new file mode 100644 index 0000000..9dd1418 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex69.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [5, 16] + name: agent0 + start: [22, 26] +- goal: [5, 31] + name: agent1 + start: [17, 1] +- goal: [29, 7] + name: agent2 + start: [23, 16] +- goal: [16, 27] + name: agent3 + start: [24, 0] +- goal: [26, 14] + name: agent4 + start: [31, 3] +- goal: [27, 6] + name: agent5 + start: [24, 6] +- goal: [1, 18] + name: agent6 + start: [3, 0] +- goal: [10, 18] + name: agent7 + start: [16, 29] +- goal: [3, 16] + name: agent8 + start: [21, 2] +- goal: [27, 27] + name: agent9 + start: [3, 2] +- goal: [0, 14] + name: agent10 + start: [2, 30] +- goal: [22, 4] + name: agent11 + start: [17, 13] +- goal: [1, 20] + name: agent12 + start: [13, 12] +- goal: [23, 21] + name: agent13 + start: [4, 15] +- goal: [11, 30] + name: agent14 + start: [13, 14] +- goal: [13, 12] + name: agent15 + start: [19, 21] +- goal: [22, 10] + name: agent16 + start: [13, 30] +- goal: [5, 29] + name: agent17 + start: [12, 7] +- goal: [20, 31] + name: agent18 + start: [15, 5] +- goal: [31, 28] + name: agent19 + start: [1, 4] +- goal: [16, 25] + name: agent20 + start: [28, 9] +- goal: [29, 5] + name: agent21 + start: [10, 16] +- goal: [22, 16] + name: agent22 + start: [22, 5] +- goal: [22, 5] + name: agent23 + start: [0, 6] +- goal: [24, 13] + name: agent24 + start: [20, 16] +- goal: [16, 21] + name: agent25 + start: [22, 4] +- goal: [10, 22] + name: agent26 + start: [29, 11] +- goal: [15, 10] + name: agent27 + start: [2, 29] +- goal: [14, 21] + name: agent28 + start: [2, 25] +- goal: [21, 16] + name: agent29 + start: [28, 28] +- goal: [15, 23] + name: agent30 + start: [10, 21] +- goal: [22, 30] + name: agent31 + start: [24, 1] +- goal: [21, 0] + name: agent32 + start: [13, 23] +- goal: [4, 15] + name: agent33 + start: [1, 8] +- goal: [20, 1] + name: agent34 + start: [19, 3] +- goal: [29, 28] + name: agent35 + start: [26, 19] +- goal: [29, 23] + name: agent36 + start: [29, 20] +- goal: [13, 31] + name: agent37 + start: [2, 6] +- goal: [23, 20] + name: agent38 + start: [30, 5] +- goal: [4, 26] + name: agent39 + start: [7, 21] +- goal: [19, 2] + name: agent40 + start: [27, 9] +- goal: [31, 9] + name: agent41 + start: [27, 8] +- goal: [27, 29] + name: agent42 + start: [21, 27] +- goal: [20, 28] + name: agent43 + start: [25, 23] +- goal: [31, 17] + name: agent44 + start: [7, 14] +- goal: [30, 10] + name: agent45 + start: [0, 24] +- goal: [18, 7] + name: agent46 + start: [6, 24] +- goal: [7, 7] + name: agent47 + start: [4, 16] +- goal: [16, 20] + name: agent48 + start: [24, 25] +- goal: [31, 26] + name: agent49 + start: [28, 8] +- goal: [30, 29] + name: agent50 + start: [10, 9] +- goal: [5, 12] + name: agent51 + start: [19, 27] +- goal: [0, 13] + name: agent52 + start: [2, 2] +- goal: [25, 18] + name: agent53 + start: [5, 3] +- goal: [5, 18] + name: agent54 + start: [6, 16] +- goal: [22, 20] + name: agent55 + start: [4, 1] +- goal: [26, 1] + name: agent56 + start: [19, 25] +- goal: [16, 24] + name: agent57 + start: [16, 0] +- goal: [23, 14] + name: agent58 + start: [18, 8] +- goal: [12, 0] + name: agent59 + start: [2, 13] +- goal: [7, 24] + name: agent60 + start: [16, 21] +- goal: [4, 23] + name: agent61 + start: [8, 0] +- goal: [1, 21] + name: agent62 + start: [30, 8] +- goal: [24, 15] + name: agent63 + start: [9, 7] +- goal: [28, 9] + name: agent64 + start: [30, 18] +- goal: [23, 10] + name: agent65 + start: [26, 2] +- goal: [6, 20] + name: agent66 + start: [30, 14] +- goal: [25, 25] + name: agent67 + start: [15, 31] +- goal: [31, 16] + name: agent68 + start: [26, 7] +- goal: [4, 22] + name: agent69 + start: [1, 11] +- goal: [2, 22] + name: agent70 + start: [22, 2] +- goal: [28, 24] + name: agent71 + start: [4, 30] +- goal: [9, 5] + name: agent72 + start: [31, 25] +- goal: [10, 11] + name: agent73 + start: [3, 25] +- goal: [26, 30] + name: agent74 + start: [25, 26] +- goal: [17, 15] + name: agent75 + start: [19, 19] +- goal: [9, 6] + name: agent76 + start: [19, 31] +- goal: [24, 21] + name: agent77 + start: [1, 28] +- goal: [13, 19] + name: agent78 + start: [22, 28] +- goal: [17, 11] + name: agent79 + start: [23, 28] +- goal: [8, 11] + name: agent80 + start: [17, 31] +- goal: [1, 6] + name: agent81 + start: [25, 25] +- goal: [12, 13] + name: agent82 + start: [25, 7] +- goal: [29, 17] + name: agent83 + start: [1, 5] +- goal: [9, 0] + name: agent84 + start: [20, 17] +- goal: [14, 1] + name: agent85 + start: [20, 20] +- goal: [12, 21] + name: agent86 + start: [20, 29] +- goal: [25, 5] + name: agent87 + start: [0, 28] +- goal: [24, 6] + name: agent88 + start: [26, 18] +- goal: [3, 21] + name: agent89 + start: [0, 4] +- goal: [9, 7] + name: agent90 + start: [30, 20] +- goal: [21, 28] + name: agent91 + start: [20, 2] +- goal: [11, 10] + name: agent92 + start: [15, 6] +- goal: [30, 1] + name: agent93 + start: [25, 21] +- goal: [16, 28] + name: agent94 + start: [22, 3] +- goal: [24, 10] + name: agent95 + start: [5, 1] +- goal: [22, 17] + name: agent96 + start: [8, 28] +- goal: [30, 5] + name: agent97 + start: [4, 3] +- goal: [13, 23] + name: agent98 + start: [2, 5] +- goal: [5, 1] + name: agent99 + start: [24, 18] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [11, 17] + - !!python/tuple [23, 5] + - !!python/tuple [11, 9] + - !!python/tuple [10, 19] + - !!python/tuple [8, 30] + - !!python/tuple [1, 1] + - !!python/tuple [31, 12] + - !!python/tuple [30, 22] + - !!python/tuple [29, 27] + - !!python/tuple [30, 27] + - !!python/tuple [12, 26] + - !!python/tuple [15, 18] + - !!python/tuple [29, 30] + - !!python/tuple [8, 13] + - !!python/tuple [11, 16] + - !!python/tuple [18, 4] + - !!python/tuple [24, 8] + - !!python/tuple [21, 30] + - !!python/tuple [14, 26] + - !!python/tuple [13, 9] + - !!python/tuple [8, 6] + - !!python/tuple [17, 0] + - !!python/tuple [0, 27] + - !!python/tuple [22, 23] + - !!python/tuple [26, 26] + - !!python/tuple [20, 18] + - !!python/tuple [12, 23] + - !!python/tuple [23, 6] + - !!python/tuple [4, 21] + - !!python/tuple [19, 23] + - !!python/tuple [11, 14] + - !!python/tuple [23, 12] + - !!python/tuple [26, 11] + - !!python/tuple [23, 23] + - !!python/tuple [6, 2] + - !!python/tuple [13, 21] + - !!python/tuple [24, 5] + - !!python/tuple [12, 29] + - !!python/tuple [3, 10] + - !!python/tuple [20, 27] + - !!python/tuple [24, 2] + - !!python/tuple [9, 18] + - !!python/tuple [27, 12] + - !!python/tuple [30, 25] + - !!python/tuple [31, 29] + - !!python/tuple [16, 3] + - !!python/tuple [10, 0] + - !!python/tuple [16, 6] + - !!python/tuple [26, 23] + - !!python/tuple [13, 20] + - !!python/tuple [21, 20] + - !!python/tuple [7, 11] + - !!python/tuple [4, 27] + - !!python/tuple [23, 11] + - !!python/tuple [15, 30] + - !!python/tuple [25, 2] + - !!python/tuple [28, 30] + - !!python/tuple [16, 5] + - !!python/tuple [4, 13] + - !!python/tuple [13, 18] + - !!python/tuple [15, 0] + - !!python/tuple [17, 9] + - !!python/tuple [5, 13] + - !!python/tuple [4, 6] + - !!python/tuple [19, 9] + - !!python/tuple [13, 17] + - !!python/tuple [12, 25] + - !!python/tuple [13, 26] + - !!python/tuple [27, 31] + - !!python/tuple [0, 17] + - !!python/tuple [12, 6] + - !!python/tuple [21, 11] + - !!python/tuple [1, 3] + - !!python/tuple [20, 6] + - !!python/tuple [6, 8] + - !!python/tuple [18, 21] + - !!python/tuple [8, 7] + - !!python/tuple [10, 1] + - !!python/tuple [9, 28] + - !!python/tuple [12, 20] + - !!python/tuple [30, 16] + - !!python/tuple [13, 2] + - !!python/tuple [20, 4] + - !!python/tuple [11, 3] + - !!python/tuple [20, 3] + - !!python/tuple [25, 22] + - !!python/tuple [30, 4] + - !!python/tuple [26, 25] + - !!python/tuple [21, 6] + - !!python/tuple [14, 18] + - !!python/tuple [21, 14] + - !!python/tuple [4, 28] + - !!python/tuple [2, 8] + - !!python/tuple [24, 17] + - !!python/tuple [2, 21] + - !!python/tuple [26, 9] + - !!python/tuple [8, 31] + - !!python/tuple [16, 18] + - !!python/tuple [25, 4] + - !!python/tuple [17, 3] + - !!python/tuple [9, 27] + - !!python/tuple [22, 29] + - !!python/tuple [15, 17] + - !!python/tuple [1, 17] + - !!python/tuple [12, 4] + - !!python/tuple [23, 22] + - !!python/tuple [17, 25] + - !!python/tuple [17, 20] + - !!python/tuple [14, 27] + - !!python/tuple [2, 7] + - !!python/tuple [17, 10] + - !!python/tuple [14, 30] + - !!python/tuple [12, 9] + - !!python/tuple [3, 1] + - !!python/tuple [0, 31] + - !!python/tuple [4, 12] + - !!python/tuple [4, 2] + - !!python/tuple [30, 24] + - !!python/tuple [5, 20] + - !!python/tuple [5, 25] + - !!python/tuple [17, 2] + - !!python/tuple [14, 29] + - !!python/tuple [7, 19] + - !!python/tuple [12, 11] + - !!python/tuple [10, 7] + - !!python/tuple [31, 10] + - !!python/tuple [11, 26] + - !!python/tuple [9, 1] + - !!python/tuple [21, 29] + - !!python/tuple [9, 25] + - !!python/tuple [30, 13] + - !!python/tuple [28, 7] + - !!python/tuple [13, 27] + - !!python/tuple [9, 11] + - !!python/tuple [28, 1] + - !!python/tuple [3, 3] + - !!python/tuple [28, 11] + - !!python/tuple [29, 16] + - !!python/tuple [26, 31] + - !!python/tuple [31, 8] + - !!python/tuple [28, 21] + - !!python/tuple [5, 21] + - !!python/tuple [10, 3] + - !!python/tuple [29, 12] + - !!python/tuple [29, 15] + - !!python/tuple [31, 13] + - !!python/tuple [4, 20] + - !!python/tuple [7, 9] + - !!python/tuple [11, 22] + - !!python/tuple [24, 26] + - !!python/tuple [20, 0] + - !!python/tuple [19, 20] + - !!python/tuple [8, 17] + - !!python/tuple [25, 14] + - !!python/tuple [9, 9] + - !!python/tuple [20, 23] + - !!python/tuple [3, 22] + - !!python/tuple [7, 13] + - !!python/tuple [21, 19] + - !!python/tuple [9, 20] + - !!python/tuple [5, 11] + - !!python/tuple [1, 2] + - !!python/tuple [19, 6] + - !!python/tuple [12, 3] + - !!python/tuple [22, 7] + - !!python/tuple [11, 7] + - !!python/tuple [2, 12] + - !!python/tuple [24, 27] + - !!python/tuple [28, 31] + - !!python/tuple [27, 24] + - !!python/tuple [12, 12] + - !!python/tuple [0, 11] + - !!python/tuple [11, 28] + - !!python/tuple [14, 24] + - !!python/tuple [8, 21] + - !!python/tuple [15, 12] + - !!python/tuple [22, 12] + - !!python/tuple [21, 18] + - !!python/tuple [13, 11] + - !!python/tuple [27, 23] + - !!python/tuple [10, 6] + - !!python/tuple [1, 10] + - !!python/tuple [28, 18] + - !!python/tuple [7, 15] + - !!python/tuple [15, 19] + - !!python/tuple [14, 12] + - !!python/tuple [5, 14] + - !!python/tuple [25, 20] + - !!python/tuple [6, 29] + - !!python/tuple [21, 22] + - !!python/tuple [18, 5] + - !!python/tuple [18, 2] + - !!python/tuple [4, 24] + - !!python/tuple [24, 7] + - !!python/tuple [29, 21] + - !!python/tuple [5, 23] + - !!python/tuple [8, 24] + - !!python/tuple [28, 16] + - !!python/tuple [21, 5] + - !!python/tuple [21, 9] + - !!python/tuple [22, 11] + - !!python/tuple [19, 26] + - !!python/tuple [18, 10] + - !!python/tuple [26, 29] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex7.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex7.yaml new file mode 100644 index 0000000..51fcb3e --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex7.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [20, 29] + name: agent0 + start: [7, 30] +- goal: [24, 30] + name: agent1 + start: [16, 27] +- goal: [10, 24] + name: agent2 + start: [25, 31] +- goal: [21, 16] + name: agent3 + start: [7, 19] +- goal: [31, 17] + name: agent4 + start: [18, 22] +- goal: [15, 11] + name: agent5 + start: [4, 24] +- goal: [5, 19] + name: agent6 + start: [27, 10] +- goal: [4, 13] + name: agent7 + start: [0, 22] +- goal: [28, 18] + name: agent8 + start: [13, 30] +- goal: [23, 9] + name: agent9 + start: [26, 28] +- goal: [10, 16] + name: agent10 + start: [0, 15] +- goal: [24, 15] + name: agent11 + start: [25, 27] +- goal: [18, 20] + name: agent12 + start: [2, 9] +- goal: [21, 4] + name: agent13 + start: [30, 20] +- goal: [1, 21] + name: agent14 + start: [0, 26] +- goal: [2, 25] + name: agent15 + start: [31, 9] +- goal: [1, 2] + name: agent16 + start: [9, 4] +- goal: [27, 31] + name: agent17 + start: [15, 21] +- goal: [5, 10] + name: agent18 + start: [27, 14] +- goal: [4, 20] + name: agent19 + start: [13, 22] +- goal: [20, 15] + name: agent20 + start: [18, 24] +- goal: [13, 8] + name: agent21 + start: [14, 6] +- goal: [17, 15] + name: agent22 + start: [20, 3] +- goal: [29, 13] + name: agent23 + start: [21, 6] +- goal: [25, 10] + name: agent24 + start: [12, 28] +- goal: [0, 24] + name: agent25 + start: [6, 26] +- goal: [24, 20] + name: agent26 + start: [31, 3] +- goal: [11, 4] + name: agent27 + start: [2, 25] +- goal: [30, 26] + name: agent28 + start: [4, 15] +- goal: [31, 15] + name: agent29 + start: [15, 23] +- goal: [14, 26] + name: agent30 + start: [24, 22] +- goal: [0, 25] + name: agent31 + start: [26, 17] +- goal: [29, 22] + name: agent32 + start: [7, 27] +- goal: [11, 21] + name: agent33 + start: [14, 22] +- goal: [0, 22] + name: agent34 + start: [3, 5] +- goal: [18, 15] + name: agent35 + start: [25, 12] +- goal: [29, 24] + name: agent36 + start: [21, 3] +- goal: [5, 8] + name: agent37 + start: [9, 0] +- goal: [23, 22] + name: agent38 + start: [19, 2] +- goal: [22, 29] + name: agent39 + start: [25, 17] +- goal: [7, 7] + name: agent40 + start: [23, 16] +- goal: [6, 27] + name: agent41 + start: [7, 15] +- goal: [5, 6] + name: agent42 + start: [7, 12] +- goal: [14, 22] + name: agent43 + start: [9, 28] +- goal: [23, 12] + name: agent44 + start: [21, 29] +- goal: [25, 11] + name: agent45 + start: [28, 17] +- goal: [24, 14] + name: agent46 + start: [9, 6] +- goal: [8, 5] + name: agent47 + start: [3, 30] +- goal: [25, 13] + name: agent48 + start: [10, 15] +- goal: [6, 13] + name: agent49 + start: [17, 16] +- goal: [21, 20] + name: agent50 + start: [25, 19] +- goal: [30, 10] + name: agent51 + start: [20, 18] +- goal: [1, 30] + name: agent52 + start: [17, 15] +- goal: [3, 2] + name: agent53 + start: [30, 10] +- goal: [22, 31] + name: agent54 + start: [2, 15] +- goal: [19, 22] + name: agent55 + start: [5, 26] +- goal: [27, 11] + name: agent56 + start: [29, 25] +- goal: [14, 11] + name: agent57 + start: [6, 25] +- goal: [0, 8] + name: agent58 + start: [4, 2] +- goal: [6, 31] + name: agent59 + start: [27, 4] +- goal: [3, 3] + name: agent60 + start: [2, 24] +- goal: [25, 25] + name: agent61 + start: [10, 20] +- goal: [30, 11] + name: agent62 + start: [23, 17] +- goal: [15, 23] + name: agent63 + start: [18, 6] +- goal: [27, 1] + name: agent64 + start: [29, 14] +- goal: [2, 24] + name: agent65 + start: [1, 14] +- goal: [30, 30] + name: agent66 + start: [11, 25] +- goal: [12, 1] + name: agent67 + start: [0, 31] +- goal: [15, 1] + name: agent68 + start: [19, 12] +- goal: [31, 21] + name: agent69 + start: [14, 8] +- goal: [12, 22] + name: agent70 + start: [5, 16] +- goal: [8, 21] + name: agent71 + start: [17, 25] +- goal: [21, 28] + name: agent72 + start: [20, 11] +- goal: [8, 6] + name: agent73 + start: [23, 31] +- goal: [7, 15] + name: agent74 + start: [13, 25] +- goal: [19, 25] + name: agent75 + start: [3, 19] +- goal: [11, 26] + name: agent76 + start: [9, 2] +- goal: [31, 12] + name: agent77 + start: [1, 13] +- goal: [8, 23] + name: agent78 + start: [2, 18] +- goal: [29, 9] + name: agent79 + start: [31, 0] +- goal: [27, 21] + name: agent80 + start: [10, 11] +- goal: [16, 11] + name: agent81 + start: [19, 9] +- goal: [7, 29] + name: agent82 + start: [13, 8] +- goal: [1, 11] + name: agent83 + start: [14, 23] +- goal: [24, 21] + name: agent84 + start: [2, 0] +- goal: [17, 21] + name: agent85 + start: [29, 3] +- goal: [25, 23] + name: agent86 + start: [5, 30] +- goal: [19, 12] + name: agent87 + start: [28, 31] +- goal: [7, 14] + name: agent88 + start: [13, 3] +- goal: [6, 8] + name: agent89 + start: [18, 29] +- goal: [8, 17] + name: agent90 + start: [25, 25] +- goal: [15, 5] + name: agent91 + start: [30, 11] +- goal: [30, 2] + name: agent92 + start: [4, 13] +- goal: [9, 30] + name: agent93 + start: [20, 17] +- goal: [31, 11] + name: agent94 + start: [21, 0] +- goal: [3, 24] + name: agent95 + start: [25, 9] +- goal: [10, 26] + name: agent96 + start: [22, 13] +- goal: [8, 9] + name: agent97 + start: [26, 30] +- goal: [9, 24] + name: agent98 + start: [13, 5] +- goal: [3, 5] + name: agent99 + start: [31, 11] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [19, 14] + - !!python/tuple [26, 2] + - !!python/tuple [22, 16] + - !!python/tuple [22, 3] + - !!python/tuple [12, 27] + - !!python/tuple [30, 5] + - !!python/tuple [7, 6] + - !!python/tuple [27, 25] + - !!python/tuple [8, 3] + - !!python/tuple [7, 22] + - !!python/tuple [29, 23] + - !!python/tuple [3, 9] + - !!python/tuple [17, 12] + - !!python/tuple [15, 4] + - !!python/tuple [5, 27] + - !!python/tuple [30, 29] + - !!python/tuple [18, 31] + - !!python/tuple [29, 18] + - !!python/tuple [3, 21] + - !!python/tuple [16, 23] + - !!python/tuple [13, 13] + - !!python/tuple [6, 6] + - !!python/tuple [10, 30] + - !!python/tuple [24, 24] + - !!python/tuple [3, 22] + - !!python/tuple [23, 19] + - !!python/tuple [1, 31] + - !!python/tuple [16, 3] + - !!python/tuple [24, 9] + - !!python/tuple [12, 29] + - !!python/tuple [11, 11] + - !!python/tuple [0, 10] + - !!python/tuple [9, 7] + - !!python/tuple [0, 21] + - !!python/tuple [11, 12] + - !!python/tuple [28, 25] + - !!python/tuple [8, 24] + - !!python/tuple [0, 19] + - !!python/tuple [20, 14] + - !!python/tuple [26, 6] + - !!python/tuple [20, 25] + - !!python/tuple [8, 13] + - !!python/tuple [22, 14] + - !!python/tuple [1, 25] + - !!python/tuple [25, 3] + - !!python/tuple [1, 24] + - !!python/tuple [0, 2] + - !!python/tuple [4, 21] + - !!python/tuple [29, 7] + - !!python/tuple [13, 23] + - !!python/tuple [29, 5] + - !!python/tuple [31, 7] + - !!python/tuple [17, 29] + - !!python/tuple [3, 29] + - !!python/tuple [10, 5] + - !!python/tuple [19, 20] + - !!python/tuple [6, 23] + - !!python/tuple [1, 10] + - !!python/tuple [9, 20] + - !!python/tuple [3, 23] + - !!python/tuple [23, 2] + - !!python/tuple [15, 20] + - !!python/tuple [24, 25] + - !!python/tuple [2, 14] + - !!python/tuple [31, 19] + - !!python/tuple [15, 27] + - !!python/tuple [26, 5] + - !!python/tuple [7, 28] + - !!python/tuple [1, 17] + - !!python/tuple [3, 25] + - !!python/tuple [23, 25] + - !!python/tuple [10, 0] + - !!python/tuple [10, 13] + - !!python/tuple [11, 0] + - !!python/tuple [27, 18] + - !!python/tuple [31, 26] + - !!python/tuple [5, 2] + - !!python/tuple [7, 3] + - !!python/tuple [4, 22] + - !!python/tuple [17, 4] + - !!python/tuple [22, 8] + - !!python/tuple [4, 14] + - !!python/tuple [19, 28] + - !!python/tuple [0, 28] + - !!python/tuple [20, 13] + - !!python/tuple [16, 5] + - !!python/tuple [23, 27] + - !!python/tuple [1, 22] + - !!python/tuple [13, 28] + - !!python/tuple [10, 3] + - !!python/tuple [20, 9] + - !!python/tuple [28, 1] + - !!python/tuple [29, 6] + - !!python/tuple [19, 19] + - !!python/tuple [19, 27] + - !!python/tuple [2, 29] + - !!python/tuple [8, 1] + - !!python/tuple [31, 20] + - !!python/tuple [17, 23] + - !!python/tuple [0, 3] + - !!python/tuple [31, 1] + - !!python/tuple [30, 12] + - !!python/tuple [6, 3] + - !!python/tuple [0, 29] + - !!python/tuple [22, 11] + - !!python/tuple [31, 6] + - !!python/tuple [24, 29] + - !!python/tuple [2, 10] + - !!python/tuple [22, 26] + - !!python/tuple [5, 4] + - !!python/tuple [2, 5] + - !!python/tuple [25, 28] + - !!python/tuple [6, 4] + - !!python/tuple [19, 21] + - !!python/tuple [10, 21] + - !!python/tuple [27, 30] + - !!python/tuple [7, 2] + - !!python/tuple [17, 28] + - !!python/tuple [16, 4] + - !!python/tuple [6, 11] + - !!python/tuple [6, 21] + - !!python/tuple [14, 24] + - !!python/tuple [19, 18] + - !!python/tuple [26, 16] + - !!python/tuple [4, 23] + - !!python/tuple [15, 15] + - !!python/tuple [5, 17] + - !!python/tuple [1, 28] + - !!python/tuple [10, 28] + - !!python/tuple [30, 14] + - !!python/tuple [4, 27] + - !!python/tuple [16, 21] + - !!python/tuple [5, 7] + - !!python/tuple [23, 15] + - !!python/tuple [19, 3] + - !!python/tuple [15, 24] + - !!python/tuple [22, 2] + - !!python/tuple [3, 8] + - !!python/tuple [6, 19] + - !!python/tuple [21, 12] + - !!python/tuple [12, 11] + - !!python/tuple [6, 22] + - !!python/tuple [23, 3] + - !!python/tuple [16, 1] + - !!python/tuple [23, 10] + - !!python/tuple [22, 15] + - !!python/tuple [10, 31] + - !!python/tuple [22, 10] + - !!python/tuple [14, 7] + - !!python/tuple [8, 4] + - !!python/tuple [14, 29] + - !!python/tuple [12, 25] + - !!python/tuple [7, 18] + - !!python/tuple [6, 18] + - !!python/tuple [0, 17] + - !!python/tuple [22, 6] + - !!python/tuple [7, 10] + - !!python/tuple [4, 28] + - !!python/tuple [19, 17] + - !!python/tuple [30, 4] + - !!python/tuple [31, 16] + - !!python/tuple [6, 1] + - !!python/tuple [17, 19] + - !!python/tuple [0, 5] + - !!python/tuple [31, 31] + - !!python/tuple [12, 20] + - !!python/tuple [24, 27] + - !!python/tuple [17, 8] + - !!python/tuple [13, 7] + - !!python/tuple [22, 12] + - !!python/tuple [21, 15] + - !!python/tuple [4, 10] + - !!python/tuple [22, 0] + - !!python/tuple [21, 31] + - !!python/tuple [16, 24] + - !!python/tuple [28, 27] + - !!python/tuple [5, 13] + - !!python/tuple [25, 8] + - !!python/tuple [24, 5] + - !!python/tuple [28, 14] + - !!python/tuple [9, 27] + - !!python/tuple [8, 31] + - !!python/tuple [16, 9] + - !!python/tuple [27, 24] + - !!python/tuple [15, 26] + - !!python/tuple [30, 23] + - !!python/tuple [19, 5] + - !!python/tuple [15, 13] + - !!python/tuple [4, 26] + - !!python/tuple [7, 25] + - !!python/tuple [8, 20] + - !!python/tuple [20, 4] + - !!python/tuple [23, 7] + - !!python/tuple [5, 1] + - !!python/tuple [20, 20] + - !!python/tuple [27, 15] + - !!python/tuple [13, 17] + - !!python/tuple [29, 20] + - !!python/tuple [29, 27] + - !!python/tuple [8, 10] + - !!python/tuple [26, 24] + - !!python/tuple [21, 22] + - !!python/tuple [12, 14] + - !!python/tuple [19, 24] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex70.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex70.yaml new file mode 100644 index 0000000..5f38544 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex70.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [14, 10] + name: agent0 + start: [7, 18] +- goal: [29, 23] + name: agent1 + start: [25, 1] +- goal: [10, 13] + name: agent2 + start: [26, 9] +- goal: [19, 6] + name: agent3 + start: [2, 16] +- goal: [5, 13] + name: agent4 + start: [15, 27] +- goal: [26, 19] + name: agent5 + start: [4, 26] +- goal: [28, 10] + name: agent6 + start: [17, 22] +- goal: [12, 26] + name: agent7 + start: [6, 28] +- goal: [23, 0] + name: agent8 + start: [17, 31] +- goal: [22, 30] + name: agent9 + start: [31, 22] +- goal: [19, 1] + name: agent10 + start: [2, 24] +- goal: [27, 31] + name: agent11 + start: [19, 11] +- goal: [27, 8] + name: agent12 + start: [0, 15] +- goal: [3, 20] + name: agent13 + start: [23, 27] +- goal: [31, 15] + name: agent14 + start: [11, 30] +- goal: [4, 9] + name: agent15 + start: [30, 22] +- goal: [20, 12] + name: agent16 + start: [17, 8] +- goal: [2, 31] + name: agent17 + start: [8, 2] +- goal: [29, 26] + name: agent18 + start: [16, 9] +- goal: [30, 11] + name: agent19 + start: [12, 15] +- goal: [20, 28] + name: agent20 + start: [15, 8] +- goal: [22, 23] + name: agent21 + start: [20, 10] +- goal: [7, 9] + name: agent22 + start: [30, 9] +- goal: [0, 27] + name: agent23 + start: [19, 13] +- goal: [27, 25] + name: agent24 + start: [3, 12] +- goal: [22, 27] + name: agent25 + start: [6, 14] +- goal: [18, 8] + name: agent26 + start: [3, 6] +- goal: [11, 15] + name: agent27 + start: [27, 28] +- goal: [12, 5] + name: agent28 + start: [3, 16] +- goal: [23, 11] + name: agent29 + start: [20, 29] +- goal: [8, 28] + name: agent30 + start: [20, 17] +- goal: [30, 25] + name: agent31 + start: [8, 7] +- goal: [6, 3] + name: agent32 + start: [23, 17] +- goal: [18, 14] + name: agent33 + start: [21, 4] +- goal: [19, 31] + name: agent34 + start: [5, 25] +- goal: [29, 22] + name: agent35 + start: [16, 27] +- goal: [3, 12] + name: agent36 + start: [27, 8] +- goal: [5, 30] + name: agent37 + start: [22, 22] +- goal: [5, 4] + name: agent38 + start: [19, 1] +- goal: [0, 13] + name: agent39 + start: [20, 14] +- goal: [1, 19] + name: agent40 + start: [3, 29] +- goal: [21, 19] + name: agent41 + start: [13, 16] +- goal: [10, 20] + name: agent42 + start: [22, 0] +- goal: [9, 21] + name: agent43 + start: [26, 19] +- goal: [12, 23] + name: agent44 + start: [21, 2] +- goal: [26, 3] + name: agent45 + start: [3, 17] +- goal: [17, 16] + name: agent46 + start: [30, 5] +- goal: [14, 26] + name: agent47 + start: [24, 19] +- goal: [12, 0] + name: agent48 + start: [2, 9] +- goal: [31, 29] + name: agent49 + start: [26, 25] +- goal: [1, 29] + name: agent50 + start: [20, 23] +- goal: [0, 19] + name: agent51 + start: [12, 23] +- goal: [21, 6] + name: agent52 + start: [26, 22] +- goal: [9, 5] + name: agent53 + start: [11, 25] +- goal: [3, 11] + name: agent54 + start: [2, 1] +- goal: [13, 12] + name: agent55 + start: [28, 23] +- goal: [23, 3] + name: agent56 + start: [26, 15] +- goal: [13, 10] + name: agent57 + start: [13, 27] +- goal: [1, 0] + name: agent58 + start: [30, 16] +- goal: [7, 25] + name: agent59 + start: [1, 22] +- goal: [31, 28] + name: agent60 + start: [24, 16] +- goal: [26, 11] + name: agent61 + start: [26, 24] +- goal: [20, 2] + name: agent62 + start: [7, 10] +- goal: [0, 11] + name: agent63 + start: [2, 11] +- goal: [10, 21] + name: agent64 + start: [18, 6] +- goal: [8, 26] + name: agent65 + start: [29, 24] +- goal: [19, 13] + name: agent66 + start: [8, 26] +- goal: [28, 19] + name: agent67 + start: [7, 0] +- goal: [14, 18] + name: agent68 + start: [5, 0] +- goal: [29, 7] + name: agent69 + start: [23, 7] +- goal: [18, 18] + name: agent70 + start: [14, 12] +- goal: [0, 29] + name: agent71 + start: [20, 30] +- goal: [8, 13] + name: agent72 + start: [30, 20] +- goal: [27, 19] + name: agent73 + start: [15, 23] +- goal: [28, 11] + name: agent74 + start: [10, 4] +- goal: [9, 16] + name: agent75 + start: [4, 8] +- goal: [11, 22] + name: agent76 + start: [17, 18] +- goal: [27, 20] + name: agent77 + start: [2, 19] +- goal: [15, 30] + name: agent78 + start: [6, 15] +- goal: [27, 9] + name: agent79 + start: [15, 22] +- goal: [20, 19] + name: agent80 + start: [1, 7] +- goal: [31, 13] + name: agent81 + start: [19, 0] +- goal: [23, 13] + name: agent82 + start: [25, 20] +- goal: [7, 27] + name: agent83 + start: [6, 21] +- goal: [20, 23] + name: agent84 + start: [21, 31] +- goal: [22, 19] + name: agent85 + start: [21, 23] +- goal: [10, 7] + name: agent86 + start: [6, 16] +- goal: [17, 25] + name: agent87 + start: [17, 19] +- goal: [5, 22] + name: agent88 + start: [2, 4] +- goal: [2, 25] + name: agent89 + start: [10, 11] +- goal: [9, 12] + name: agent90 + start: [15, 3] +- goal: [2, 1] + name: agent91 + start: [6, 23] +- goal: [7, 11] + name: agent92 + start: [24, 20] +- goal: [16, 1] + name: agent93 + start: [16, 1] +- goal: [11, 2] + name: agent94 + start: [28, 16] +- goal: [0, 6] + name: agent95 + start: [20, 6] +- goal: [18, 17] + name: agent96 + start: [1, 24] +- goal: [20, 16] + name: agent97 + start: [17, 12] +- goal: [1, 18] + name: agent98 + start: [5, 24] +- goal: [7, 8] + name: agent99 + start: [31, 24] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [25, 2] + - !!python/tuple [19, 9] + - !!python/tuple [5, 11] + - !!python/tuple [12, 25] + - !!python/tuple [20, 27] + - !!python/tuple [14, 29] + - !!python/tuple [24, 9] + - !!python/tuple [16, 11] + - !!python/tuple [27, 29] + - !!python/tuple [18, 3] + - !!python/tuple [12, 20] + - !!python/tuple [22, 2] + - !!python/tuple [7, 1] + - !!python/tuple [7, 6] + - !!python/tuple [25, 30] + - !!python/tuple [10, 14] + - !!python/tuple [18, 29] + - !!python/tuple [4, 23] + - !!python/tuple [6, 10] + - !!python/tuple [2, 15] + - !!python/tuple [11, 23] + - !!python/tuple [17, 7] + - !!python/tuple [17, 27] + - !!python/tuple [23, 28] + - !!python/tuple [3, 2] + - !!python/tuple [16, 18] + - !!python/tuple [18, 15] + - !!python/tuple [27, 13] + - !!python/tuple [13, 13] + - !!python/tuple [13, 26] + - !!python/tuple [5, 28] + - !!python/tuple [23, 2] + - !!python/tuple [24, 6] + - !!python/tuple [4, 11] + - !!python/tuple [8, 9] + - !!python/tuple [25, 11] + - !!python/tuple [6, 31] + - !!python/tuple [22, 29] + - !!python/tuple [21, 7] + - !!python/tuple [26, 10] + - !!python/tuple [23, 20] + - !!python/tuple [31, 7] + - !!python/tuple [10, 15] + - !!python/tuple [9, 8] + - !!python/tuple [19, 12] + - !!python/tuple [11, 27] + - !!python/tuple [24, 27] + - !!python/tuple [12, 9] + - !!python/tuple [28, 28] + - !!python/tuple [16, 22] + - !!python/tuple [24, 3] + - !!python/tuple [17, 30] + - !!python/tuple [10, 29] + - !!python/tuple [1, 6] + - !!python/tuple [2, 26] + - !!python/tuple [15, 18] + - !!python/tuple [18, 20] + - !!python/tuple [29, 4] + - !!python/tuple [25, 10] + - !!python/tuple [17, 13] + - !!python/tuple [3, 8] + - !!python/tuple [24, 5] + - !!python/tuple [23, 30] + - !!python/tuple [16, 4] + - !!python/tuple [31, 11] + - !!python/tuple [29, 12] + - !!python/tuple [17, 6] + - !!python/tuple [8, 5] + - !!python/tuple [12, 21] + - !!python/tuple [8, 19] + - !!python/tuple [6, 9] + - !!python/tuple [11, 10] + - !!python/tuple [13, 20] + - !!python/tuple [14, 6] + - !!python/tuple [20, 20] + - !!python/tuple [26, 20] + - !!python/tuple [18, 23] + - !!python/tuple [15, 29] + - !!python/tuple [4, 28] + - !!python/tuple [20, 11] + - !!python/tuple [18, 13] + - !!python/tuple [22, 18] + - !!python/tuple [1, 1] + - !!python/tuple [21, 28] + - !!python/tuple [15, 12] + - !!python/tuple [2, 21] + - !!python/tuple [28, 2] + - !!python/tuple [10, 22] + - !!python/tuple [8, 17] + - !!python/tuple [21, 11] + - !!python/tuple [7, 2] + - !!python/tuple [15, 17] + - !!python/tuple [2, 8] + - !!python/tuple [12, 19] + - !!python/tuple [7, 21] + - !!python/tuple [9, 6] + - !!python/tuple [23, 12] + - !!python/tuple [24, 17] + - !!python/tuple [9, 15] + - !!python/tuple [19, 26] + - !!python/tuple [21, 14] + - !!python/tuple [21, 21] + - !!python/tuple [3, 31] + - !!python/tuple [6, 18] + - !!python/tuple [27, 17] + - !!python/tuple [9, 23] + - !!python/tuple [29, 11] + - !!python/tuple [12, 8] + - !!python/tuple [19, 2] + - !!python/tuple [14, 25] + - !!python/tuple [10, 23] + - !!python/tuple [30, 17] + - !!python/tuple [11, 3] + - !!python/tuple [27, 27] + - !!python/tuple [28, 24] + - !!python/tuple [8, 14] + - !!python/tuple [28, 12] + - !!python/tuple [27, 26] + - !!python/tuple [0, 4] + - !!python/tuple [26, 2] + - !!python/tuple [25, 29] + - !!python/tuple [25, 3] + - !!python/tuple [9, 20] + - !!python/tuple [9, 14] + - !!python/tuple [15, 19] + - !!python/tuple [24, 15] + - !!python/tuple [4, 13] + - !!python/tuple [13, 31] + - !!python/tuple [25, 0] + - !!python/tuple [12, 27] + - !!python/tuple [0, 23] + - !!python/tuple [26, 7] + - !!python/tuple [14, 30] + - !!python/tuple [3, 9] + - !!python/tuple [16, 29] + - !!python/tuple [1, 3] + - !!python/tuple [2, 20] + - !!python/tuple [17, 15] + - !!python/tuple [26, 5] + - !!python/tuple [11, 5] + - !!python/tuple [15, 9] + - !!python/tuple [24, 22] + - !!python/tuple [29, 31] + - !!python/tuple [24, 7] + - !!python/tuple [15, 14] + - !!python/tuple [5, 21] + - !!python/tuple [4, 0] + - !!python/tuple [8, 20] + - !!python/tuple [26, 6] + - !!python/tuple [21, 3] + - !!python/tuple [29, 21] + - !!python/tuple [13, 8] + - !!python/tuple [0, 8] + - !!python/tuple [6, 26] + - !!python/tuple [22, 5] + - !!python/tuple [2, 2] + - !!python/tuple [25, 18] + - !!python/tuple [7, 12] + - !!python/tuple [8, 4] + - !!python/tuple [10, 27] + - !!python/tuple [1, 17] + - !!python/tuple [8, 3] + - !!python/tuple [31, 17] + - !!python/tuple [24, 18] + - !!python/tuple [26, 0] + - !!python/tuple [30, 24] + - !!python/tuple [28, 7] + - !!python/tuple [30, 28] + - !!python/tuple [13, 15] + - !!python/tuple [25, 25] + - !!python/tuple [8, 27] + - !!python/tuple [22, 4] + - !!python/tuple [18, 7] + - !!python/tuple [21, 1] + - !!python/tuple [5, 29] + - !!python/tuple [13, 28] + - !!python/tuple [28, 17] + - !!python/tuple [16, 10] + - !!python/tuple [24, 31] + - !!python/tuple [14, 28] + - !!python/tuple [16, 14] + - !!python/tuple [11, 4] + - !!python/tuple [4, 17] + - !!python/tuple [26, 4] + - !!python/tuple [20, 24] + - !!python/tuple [21, 22] + - !!python/tuple [25, 17] + - !!python/tuple [9, 13] + - !!python/tuple [20, 5] + - !!python/tuple [23, 19] + - !!python/tuple [21, 29] + - !!python/tuple [18, 11] + - !!python/tuple [7, 17] + - !!python/tuple [5, 27] + - !!python/tuple [18, 26] + - !!python/tuple [31, 5] + - !!python/tuple [25, 26] + - !!python/tuple [4, 27] + - !!python/tuple [16, 13] + - !!python/tuple [4, 22] + - !!python/tuple [12, 30] + - !!python/tuple [31, 3] + - !!python/tuple [30, 1] + - !!python/tuple [27, 10] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex71.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex71.yaml new file mode 100644 index 0000000..8391f8a --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex71.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [18, 3] + name: agent0 + start: [8, 28] +- goal: [0, 11] + name: agent1 + start: [24, 15] +- goal: [27, 5] + name: agent2 + start: [1, 23] +- goal: [6, 29] + name: agent3 + start: [6, 27] +- goal: [26, 14] + name: agent4 + start: [23, 6] +- goal: [7, 24] + name: agent5 + start: [21, 21] +- goal: [20, 24] + name: agent6 + start: [5, 28] +- goal: [19, 13] + name: agent7 + start: [6, 10] +- goal: [10, 0] + name: agent8 + start: [23, 3] +- goal: [0, 27] + name: agent9 + start: [15, 7] +- goal: [31, 0] + name: agent10 + start: [12, 28] +- goal: [19, 24] + name: agent11 + start: [17, 24] +- goal: [17, 8] + name: agent12 + start: [3, 26] +- goal: [6, 21] + name: agent13 + start: [17, 1] +- goal: [27, 20] + name: agent14 + start: [23, 14] +- goal: [18, 2] + name: agent15 + start: [8, 6] +- goal: [30, 17] + name: agent16 + start: [31, 21] +- goal: [25, 13] + name: agent17 + start: [10, 8] +- goal: [21, 2] + name: agent18 + start: [13, 0] +- goal: [0, 12] + name: agent19 + start: [3, 31] +- goal: [27, 19] + name: agent20 + start: [7, 8] +- goal: [5, 0] + name: agent21 + start: [25, 26] +- goal: [18, 22] + name: agent22 + start: [20, 21] +- goal: [8, 10] + name: agent23 + start: [30, 14] +- goal: [15, 11] + name: agent24 + start: [20, 14] +- goal: [27, 16] + name: agent25 + start: [27, 9] +- goal: [26, 20] + name: agent26 + start: [1, 6] +- goal: [0, 14] + name: agent27 + start: [21, 2] +- goal: [5, 2] + name: agent28 + start: [27, 2] +- goal: [29, 15] + name: agent29 + start: [0, 15] +- goal: [21, 15] + name: agent30 + start: [11, 0] +- goal: [18, 28] + name: agent31 + start: [13, 30] +- goal: [7, 31] + name: agent32 + start: [5, 16] +- goal: [15, 27] + name: agent33 + start: [25, 13] +- goal: [25, 6] + name: agent34 + start: [23, 12] +- goal: [1, 7] + name: agent35 + start: [16, 21] +- goal: [7, 4] + name: agent36 + start: [5, 20] +- goal: [25, 29] + name: agent37 + start: [21, 24] +- goal: [17, 7] + name: agent38 + start: [13, 12] +- goal: [15, 21] + name: agent39 + start: [10, 6] +- goal: [22, 5] + name: agent40 + start: [28, 25] +- goal: [7, 8] + name: agent41 + start: [20, 24] +- goal: [13, 20] + name: agent42 + start: [0, 12] +- goal: [19, 27] + name: agent43 + start: [12, 24] +- goal: [0, 10] + name: agent44 + start: [18, 13] +- goal: [24, 22] + name: agent45 + start: [23, 2] +- goal: [17, 1] + name: agent46 + start: [3, 29] +- goal: [27, 1] + name: agent47 + start: [5, 23] +- goal: [20, 23] + name: agent48 + start: [26, 19] +- goal: [30, 0] + name: agent49 + start: [18, 24] +- goal: [24, 1] + name: agent50 + start: [26, 2] +- goal: [6, 25] + name: agent51 + start: [0, 10] +- goal: [11, 14] + name: agent52 + start: [22, 24] +- goal: [3, 20] + name: agent53 + start: [17, 7] +- goal: [10, 25] + name: agent54 + start: [11, 22] +- goal: [27, 29] + name: agent55 + start: [19, 17] +- goal: [28, 22] + name: agent56 + start: [14, 26] +- goal: [13, 15] + name: agent57 + start: [8, 17] +- goal: [8, 4] + name: agent58 + start: [29, 24] +- goal: [27, 17] + name: agent59 + start: [24, 1] +- goal: [22, 3] + name: agent60 + start: [20, 20] +- goal: [8, 13] + name: agent61 + start: [7, 28] +- goal: [10, 2] + name: agent62 + start: [11, 9] +- goal: [11, 13] + name: agent63 + start: [23, 11] +- goal: [19, 26] + name: agent64 + start: [14, 6] +- goal: [16, 22] + name: agent65 + start: [12, 5] +- goal: [21, 11] + name: agent66 + start: [14, 23] +- goal: [18, 10] + name: agent67 + start: [19, 7] +- goal: [24, 4] + name: agent68 + start: [6, 5] +- goal: [13, 28] + name: agent69 + start: [19, 5] +- goal: [23, 23] + name: agent70 + start: [28, 28] +- goal: [13, 23] + name: agent71 + start: [14, 3] +- goal: [15, 7] + name: agent72 + start: [18, 22] +- goal: [13, 11] + name: agent73 + start: [9, 0] +- goal: [12, 4] + name: agent74 + start: [18, 14] +- goal: [8, 7] + name: agent75 + start: [7, 0] +- goal: [20, 0] + name: agent76 + start: [26, 30] +- goal: [11, 25] + name: agent77 + start: [4, 22] +- goal: [1, 11] + name: agent78 + start: [22, 18] +- goal: [1, 24] + name: agent79 + start: [7, 22] +- goal: [24, 24] + name: agent80 + start: [26, 22] +- goal: [17, 22] + name: agent81 + start: [1, 2] +- goal: [8, 2] + name: agent82 + start: [10, 26] +- goal: [22, 6] + name: agent83 + start: [3, 19] +- goal: [0, 28] + name: agent84 + start: [3, 25] +- goal: [9, 19] + name: agent85 + start: [2, 22] +- goal: [28, 26] + name: agent86 + start: [10, 28] +- goal: [6, 14] + name: agent87 + start: [26, 16] +- goal: [27, 6] + name: agent88 + start: [10, 15] +- goal: [9, 30] + name: agent89 + start: [19, 6] +- goal: [17, 18] + name: agent90 + start: [11, 7] +- goal: [6, 12] + name: agent91 + start: [25, 28] +- goal: [3, 2] + name: agent92 + start: [4, 21] +- goal: [19, 23] + name: agent93 + start: [0, 20] +- goal: [28, 0] + name: agent94 + start: [30, 21] +- goal: [25, 7] + name: agent95 + start: [29, 13] +- goal: [23, 24] + name: agent96 + start: [15, 1] +- goal: [31, 29] + name: agent97 + start: [24, 30] +- goal: [19, 9] + name: agent98 + start: [13, 5] +- goal: [17, 16] + name: agent99 + start: [16, 15] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [15, 9] + - !!python/tuple [21, 25] + - !!python/tuple [4, 4] + - !!python/tuple [3, 9] + - !!python/tuple [2, 26] + - !!python/tuple [14, 20] + - !!python/tuple [27, 11] + - !!python/tuple [0, 0] + - !!python/tuple [1, 31] + - !!python/tuple [19, 20] + - !!python/tuple [9, 1] + - !!python/tuple [28, 9] + - !!python/tuple [3, 24] + - !!python/tuple [11, 21] + - !!python/tuple [27, 25] + - !!python/tuple [31, 19] + - !!python/tuple [29, 4] + - !!python/tuple [11, 5] + - !!python/tuple [23, 17] + - !!python/tuple [22, 7] + - !!python/tuple [2, 14] + - !!python/tuple [25, 18] + - !!python/tuple [25, 27] + - !!python/tuple [16, 27] + - !!python/tuple [23, 16] + - !!python/tuple [3, 8] + - !!python/tuple [12, 1] + - !!python/tuple [14, 19] + - !!python/tuple [22, 8] + - !!python/tuple [19, 18] + - !!python/tuple [12, 26] + - !!python/tuple [6, 8] + - !!python/tuple [18, 6] + - !!python/tuple [17, 6] + - !!python/tuple [20, 15] + - !!python/tuple [3, 21] + - !!python/tuple [12, 11] + - !!python/tuple [26, 12] + - !!python/tuple [30, 4] + - !!python/tuple [11, 28] + - !!python/tuple [30, 19] + - !!python/tuple [8, 3] + - !!python/tuple [31, 16] + - !!python/tuple [24, 8] + - !!python/tuple [2, 27] + - !!python/tuple [8, 8] + - !!python/tuple [9, 9] + - !!python/tuple [27, 3] + - !!python/tuple [27, 4] + - !!python/tuple [15, 10] + - !!python/tuple [5, 26] + - !!python/tuple [10, 11] + - !!python/tuple [15, 0] + - !!python/tuple [7, 11] + - !!python/tuple [0, 22] + - !!python/tuple [24, 27] + - !!python/tuple [10, 10] + - !!python/tuple [24, 16] + - !!python/tuple [17, 2] + - !!python/tuple [10, 23] + - !!python/tuple [7, 10] + - !!python/tuple [11, 12] + - !!python/tuple [15, 20] + - !!python/tuple [17, 31] + - !!python/tuple [20, 28] + - !!python/tuple [9, 18] + - !!python/tuple [30, 20] + - !!python/tuple [16, 3] + - !!python/tuple [12, 31] + - !!python/tuple [6, 3] + - !!python/tuple [19, 4] + - !!python/tuple [14, 2] + - !!python/tuple [6, 1] + - !!python/tuple [5, 27] + - !!python/tuple [17, 4] + - !!python/tuple [16, 19] + - !!python/tuple [11, 17] + - !!python/tuple [3, 6] + - !!python/tuple [10, 27] + - !!python/tuple [12, 19] + - !!python/tuple [3, 18] + - !!python/tuple [12, 15] + - !!python/tuple [9, 3] + - !!python/tuple [14, 16] + - !!python/tuple [17, 26] + - !!python/tuple [28, 27] + - !!python/tuple [20, 16] + - !!python/tuple [16, 13] + - !!python/tuple [12, 16] + - !!python/tuple [22, 20] + - !!python/tuple [17, 29] + - !!python/tuple [27, 14] + - !!python/tuple [31, 4] + - !!python/tuple [5, 31] + - !!python/tuple [10, 24] + - !!python/tuple [21, 12] + - !!python/tuple [7, 29] + - !!python/tuple [16, 7] + - !!python/tuple [23, 1] + - !!python/tuple [5, 13] + - !!python/tuple [7, 25] + - !!python/tuple [30, 30] + - !!python/tuple [30, 16] + - !!python/tuple [2, 18] + - !!python/tuple [5, 3] + - !!python/tuple [30, 15] + - !!python/tuple [30, 18] + - !!python/tuple [4, 17] + - !!python/tuple [5, 14] + - !!python/tuple [9, 31] + - !!python/tuple [9, 11] + - !!python/tuple [29, 21] + - !!python/tuple [14, 4] + - !!python/tuple [7, 7] + - !!python/tuple [20, 17] + - !!python/tuple [25, 15] + - !!python/tuple [23, 29] + - !!python/tuple [22, 0] + - !!python/tuple [24, 6] + - !!python/tuple [29, 10] + - !!python/tuple [16, 14] + - !!python/tuple [11, 20] + - !!python/tuple [24, 23] + - !!python/tuple [15, 26] + - !!python/tuple [11, 2] + - !!python/tuple [22, 2] + - !!python/tuple [7, 13] + - !!python/tuple [8, 0] + - !!python/tuple [21, 17] + - !!python/tuple [29, 7] + - !!python/tuple [0, 31] + - !!python/tuple [21, 10] + - !!python/tuple [15, 13] + - !!python/tuple [23, 22] + - !!python/tuple [17, 15] + - !!python/tuple [3, 30] + - !!python/tuple [20, 5] + - !!python/tuple [9, 26] + - !!python/tuple [2, 17] + - !!python/tuple [7, 21] + - !!python/tuple [12, 9] + - !!python/tuple [20, 2] + - !!python/tuple [7, 30] + - !!python/tuple [6, 11] + - !!python/tuple [19, 25] + - !!python/tuple [28, 21] + - !!python/tuple [4, 18] + - !!python/tuple [13, 4] + - !!python/tuple [20, 9] + - !!python/tuple [3, 11] + - !!python/tuple [21, 4] + - !!python/tuple [29, 26] + - !!python/tuple [0, 21] + - !!python/tuple [9, 17] + - !!python/tuple [13, 24] + - !!python/tuple [16, 2] + - !!python/tuple [0, 24] + - !!python/tuple [8, 21] + - !!python/tuple [18, 19] + - !!python/tuple [4, 3] + - !!python/tuple [14, 29] + - !!python/tuple [28, 10] + - !!python/tuple [20, 3] + - !!python/tuple [19, 8] + - !!python/tuple [5, 18] + - !!python/tuple [1, 5] + - !!python/tuple [13, 17] + - !!python/tuple [29, 29] + - !!python/tuple [2, 3] + - !!python/tuple [25, 9] + - !!python/tuple [11, 3] + - !!python/tuple [31, 5] + - !!python/tuple [12, 25] + - !!python/tuple [30, 29] + - !!python/tuple [20, 31] + - !!python/tuple [24, 18] + - !!python/tuple [11, 8] + - !!python/tuple [20, 8] + - !!python/tuple [23, 18] + - !!python/tuple [28, 19] + - !!python/tuple [25, 25] + - !!python/tuple [24, 9] + - !!python/tuple [11, 31] + - !!python/tuple [21, 1] + - !!python/tuple [21, 6] + - !!python/tuple [30, 24] + - !!python/tuple [29, 28] + - !!python/tuple [9, 8] + - !!python/tuple [29, 20] + - !!python/tuple [21, 27] + - !!python/tuple [22, 10] + - !!python/tuple [31, 28] + - !!python/tuple [3, 23] + - !!python/tuple [21, 0] + - !!python/tuple [7, 6] + - !!python/tuple [12, 27] + - !!python/tuple [8, 20] + - !!python/tuple [23, 7] + - !!python/tuple [31, 1] + - !!python/tuple [31, 20] + - !!python/tuple [20, 13] + - !!python/tuple [12, 10] + - !!python/tuple [10, 12] + - !!python/tuple [20, 19] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex72.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex72.yaml new file mode 100644 index 0000000..4b2e427 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex72.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [5, 15] + name: agent0 + start: [15, 11] +- goal: [19, 14] + name: agent1 + start: [16, 1] +- goal: [23, 7] + name: agent2 + start: [15, 15] +- goal: [2, 15] + name: agent3 + start: [13, 26] +- goal: [1, 29] + name: agent4 + start: [1, 3] +- goal: [24, 17] + name: agent5 + start: [27, 25] +- goal: [25, 14] + name: agent6 + start: [6, 21] +- goal: [2, 7] + name: agent7 + start: [27, 29] +- goal: [18, 28] + name: agent8 + start: [25, 28] +- goal: [21, 24] + name: agent9 + start: [2, 4] +- goal: [0, 11] + name: agent10 + start: [1, 22] +- goal: [31, 1] + name: agent11 + start: [30, 30] +- goal: [4, 30] + name: agent12 + start: [21, 17] +- goal: [31, 5] + name: agent13 + start: [0, 20] +- goal: [7, 0] + name: agent14 + start: [19, 18] +- goal: [1, 19] + name: agent15 + start: [24, 20] +- goal: [25, 28] + name: agent16 + start: [23, 18] +- goal: [31, 21] + name: agent17 + start: [5, 3] +- goal: [12, 22] + name: agent18 + start: [22, 22] +- goal: [19, 25] + name: agent19 + start: [16, 13] +- goal: [29, 23] + name: agent20 + start: [11, 6] +- goal: [6, 7] + name: agent21 + start: [17, 29] +- goal: [1, 16] + name: agent22 + start: [17, 9] +- goal: [5, 11] + name: agent23 + start: [3, 13] +- goal: [26, 31] + name: agent24 + start: [11, 5] +- goal: [28, 6] + name: agent25 + start: [8, 20] +- goal: [21, 20] + name: agent26 + start: [31, 24] +- goal: [29, 28] + name: agent27 + start: [31, 23] +- goal: [13, 0] + name: agent28 + start: [11, 23] +- goal: [7, 7] + name: agent29 + start: [0, 8] +- goal: [22, 19] + name: agent30 + start: [31, 27] +- goal: [2, 0] + name: agent31 + start: [12, 21] +- goal: [1, 7] + name: agent32 + start: [5, 20] +- goal: [22, 31] + name: agent33 + start: [7, 10] +- goal: [24, 16] + name: agent34 + start: [17, 4] +- goal: [5, 19] + name: agent35 + start: [31, 20] +- goal: [14, 2] + name: agent36 + start: [22, 5] +- goal: [3, 5] + name: agent37 + start: [8, 5] +- goal: [25, 4] + name: agent38 + start: [15, 3] +- goal: [31, 0] + name: agent39 + start: [12, 27] +- goal: [20, 8] + name: agent40 + start: [27, 30] +- goal: [28, 2] + name: agent41 + start: [7, 24] +- goal: [17, 10] + name: agent42 + start: [0, 13] +- goal: [30, 3] + name: agent43 + start: [10, 2] +- goal: [17, 25] + name: agent44 + start: [2, 13] +- goal: [16, 4] + name: agent45 + start: [25, 11] +- goal: [31, 23] + name: agent46 + start: [12, 29] +- goal: [31, 3] + name: agent47 + start: [6, 18] +- goal: [21, 6] + name: agent48 + start: [17, 27] +- goal: [22, 18] + name: agent49 + start: [11, 22] +- goal: [2, 18] + name: agent50 + start: [2, 10] +- goal: [19, 10] + name: agent51 + start: [31, 15] +- goal: [11, 24] + name: agent52 + start: [12, 3] +- goal: [1, 11] + name: agent53 + start: [26, 5] +- goal: [4, 2] + name: agent54 + start: [13, 4] +- goal: [26, 22] + name: agent55 + start: [16, 29] +- goal: [29, 1] + name: agent56 + start: [18, 22] +- goal: [30, 31] + name: agent57 + start: [0, 26] +- goal: [21, 19] + name: agent58 + start: [22, 11] +- goal: [16, 5] + name: agent59 + start: [29, 9] +- goal: [17, 19] + name: agent60 + start: [4, 23] +- goal: [30, 26] + name: agent61 + start: [1, 18] +- goal: [0, 12] + name: agent62 + start: [4, 22] +- goal: [19, 19] + name: agent63 + start: [7, 12] +- goal: [3, 18] + name: agent64 + start: [19, 10] +- goal: [18, 10] + name: agent65 + start: [7, 20] +- goal: [24, 19] + name: agent66 + start: [7, 19] +- goal: [16, 7] + name: agent67 + start: [27, 1] +- goal: [20, 22] + name: agent68 + start: [21, 16] +- goal: [22, 10] + name: agent69 + start: [8, 29] +- goal: [7, 24] + name: agent70 + start: [9, 16] +- goal: [17, 27] + name: agent71 + start: [12, 5] +- goal: [2, 10] + name: agent72 + start: [13, 19] +- goal: [4, 21] + name: agent73 + start: [17, 26] +- goal: [5, 9] + name: agent74 + start: [18, 23] +- goal: [30, 25] + name: agent75 + start: [10, 20] +- goal: [6, 6] + name: agent76 + start: [3, 20] +- goal: [20, 10] + name: agent77 + start: [15, 10] +- goal: [20, 1] + name: agent78 + start: [15, 7] +- goal: [24, 25] + name: agent79 + start: [13, 2] +- goal: [25, 16] + name: agent80 + start: [27, 7] +- goal: [19, 22] + name: agent81 + start: [17, 3] +- goal: [8, 4] + name: agent82 + start: [6, 13] +- goal: [11, 19] + name: agent83 + start: [12, 15] +- goal: [31, 24] + name: agent84 + start: [27, 2] +- goal: [4, 29] + name: agent85 + start: [16, 22] +- goal: [10, 28] + name: agent86 + start: [7, 3] +- goal: [12, 0] + name: agent87 + start: [15, 2] +- goal: [24, 31] + name: agent88 + start: [18, 24] +- goal: [18, 2] + name: agent89 + start: [23, 17] +- goal: [13, 26] + name: agent90 + start: [7, 7] +- goal: [20, 26] + name: agent91 + start: [18, 28] +- goal: [30, 10] + name: agent92 + start: [31, 5] +- goal: [23, 8] + name: agent93 + start: [6, 27] +- goal: [8, 3] + name: agent94 + start: [23, 6] +- goal: [0, 17] + name: agent95 + start: [4, 26] +- goal: [7, 19] + name: agent96 + start: [25, 1] +- goal: [27, 19] + name: agent97 + start: [13, 18] +- goal: [11, 30] + name: agent98 + start: [8, 30] +- goal: [4, 9] + name: agent99 + start: [18, 1] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [14, 27] + - !!python/tuple [14, 25] + - !!python/tuple [15, 28] + - !!python/tuple [19, 15] + - !!python/tuple [8, 14] + - !!python/tuple [22, 24] + - !!python/tuple [16, 21] + - !!python/tuple [17, 11] + - !!python/tuple [11, 10] + - !!python/tuple [12, 17] + - !!python/tuple [23, 16] + - !!python/tuple [9, 21] + - !!python/tuple [23, 21] + - !!python/tuple [28, 0] + - !!python/tuple [24, 4] + - !!python/tuple [7, 18] + - !!python/tuple [9, 2] + - !!python/tuple [25, 2] + - !!python/tuple [19, 28] + - !!python/tuple [20, 5] + - !!python/tuple [18, 26] + - !!python/tuple [25, 6] + - !!python/tuple [18, 15] + - !!python/tuple [5, 21] + - !!python/tuple [3, 14] + - !!python/tuple [11, 12] + - !!python/tuple [30, 15] + - !!python/tuple [31, 2] + - !!python/tuple [24, 3] + - !!python/tuple [3, 28] + - !!python/tuple [30, 28] + - !!python/tuple [24, 2] + - !!python/tuple [26, 7] + - !!python/tuple [12, 8] + - !!python/tuple [20, 2] + - !!python/tuple [13, 14] + - !!python/tuple [10, 9] + - !!python/tuple [6, 3] + - !!python/tuple [18, 8] + - !!python/tuple [21, 0] + - !!python/tuple [22, 26] + - !!python/tuple [15, 13] + - !!python/tuple [12, 25] + - !!python/tuple [2, 31] + - !!python/tuple [17, 0] + - !!python/tuple [13, 27] + - !!python/tuple [20, 14] + - !!python/tuple [3, 9] + - !!python/tuple [22, 2] + - !!python/tuple [14, 24] + - !!python/tuple [4, 20] + - !!python/tuple [4, 25] + - !!python/tuple [18, 25] + - !!python/tuple [29, 20] + - !!python/tuple [7, 27] + - !!python/tuple [9, 19] + - !!python/tuple [23, 30] + - !!python/tuple [8, 21] + - !!python/tuple [22, 23] + - !!python/tuple [25, 17] + - !!python/tuple [26, 27] + - !!python/tuple [24, 28] + - !!python/tuple [2, 5] + - !!python/tuple [21, 4] + - !!python/tuple [18, 12] + - !!python/tuple [30, 22] + - !!python/tuple [18, 4] + - !!python/tuple [21, 22] + - !!python/tuple [31, 30] + - !!python/tuple [3, 7] + - !!python/tuple [5, 6] + - !!python/tuple [1, 4] + - !!python/tuple [26, 13] + - !!python/tuple [14, 28] + - !!python/tuple [24, 23] + - !!python/tuple [25, 20] + - !!python/tuple [16, 25] + - !!python/tuple [30, 8] + - !!python/tuple [27, 13] + - !!python/tuple [15, 21] + - !!python/tuple [23, 15] + - !!python/tuple [5, 5] + - !!python/tuple [0, 3] + - !!python/tuple [21, 25] + - !!python/tuple [30, 7] + - !!python/tuple [8, 8] + - !!python/tuple [12, 30] + - !!python/tuple [7, 2] + - !!python/tuple [12, 13] + - !!python/tuple [2, 1] + - !!python/tuple [8, 0] + - !!python/tuple [28, 28] + - !!python/tuple [25, 29] + - !!python/tuple [25, 18] + - !!python/tuple [4, 7] + - !!python/tuple [8, 28] + - !!python/tuple [2, 20] + - !!python/tuple [23, 11] + - !!python/tuple [16, 18] + - !!python/tuple [2, 9] + - !!python/tuple [10, 29] + - !!python/tuple [12, 19] + - !!python/tuple [1, 30] + - !!python/tuple [5, 1] + - !!python/tuple [27, 8] + - !!python/tuple [31, 28] + - !!python/tuple [16, 31] + - !!python/tuple [9, 29] + - !!python/tuple [5, 12] + - !!python/tuple [18, 5] + - !!python/tuple [22, 9] + - !!python/tuple [9, 0] + - !!python/tuple [19, 12] + - !!python/tuple [15, 18] + - !!python/tuple [10, 10] + - !!python/tuple [31, 18] + - !!python/tuple [13, 21] + - !!python/tuple [18, 30] + - !!python/tuple [14, 18] + - !!python/tuple [26, 12] + - !!python/tuple [8, 26] + - !!python/tuple [28, 7] + - !!python/tuple [21, 12] + - !!python/tuple [22, 29] + - !!python/tuple [12, 18] + - !!python/tuple [29, 4] + - !!python/tuple [26, 18] + - !!python/tuple [17, 24] + - !!python/tuple [23, 1] + - !!python/tuple [19, 31] + - !!python/tuple [17, 8] + - !!python/tuple [19, 27] + - !!python/tuple [31, 10] + - !!python/tuple [21, 28] + - !!python/tuple [26, 24] + - !!python/tuple [26, 30] + - !!python/tuple [23, 5] + - !!python/tuple [22, 7] + - !!python/tuple [11, 2] + - !!python/tuple [29, 0] + - !!python/tuple [7, 30] + - !!python/tuple [8, 2] + - !!python/tuple [23, 29] + - !!python/tuple [23, 12] + - !!python/tuple [29, 8] + - !!python/tuple [24, 0] + - !!python/tuple [10, 23] + - !!python/tuple [4, 12] + - !!python/tuple [1, 15] + - !!python/tuple [13, 16] + - !!python/tuple [9, 27] + - !!python/tuple [22, 25] + - !!python/tuple [4, 24] + - !!python/tuple [3, 8] + - !!python/tuple [17, 20] + - !!python/tuple [16, 15] + - !!python/tuple [9, 23] + - !!python/tuple [21, 31] + - !!python/tuple [11, 29] + - !!python/tuple [1, 6] + - !!python/tuple [15, 12] + - !!python/tuple [2, 22] + - !!python/tuple [23, 3] + - !!python/tuple [0, 5] + - !!python/tuple [29, 7] + - !!python/tuple [24, 29] + - !!python/tuple [13, 22] + - !!python/tuple [13, 11] + - !!python/tuple [5, 26] + - !!python/tuple [21, 2] + - !!python/tuple [14, 4] + - !!python/tuple [2, 21] + - !!python/tuple [7, 6] + - !!python/tuple [7, 25] + - !!python/tuple [15, 17] + - !!python/tuple [20, 29] + - !!python/tuple [7, 23] + - !!python/tuple [23, 26] + - !!python/tuple [18, 31] + - !!python/tuple [25, 26] + - !!python/tuple [5, 4] + - !!python/tuple [15, 4] + - !!python/tuple [15, 31] + - !!python/tuple [19, 13] + - !!python/tuple [23, 9] + - !!python/tuple [30, 0] + - !!python/tuple [14, 30] + - !!python/tuple [3, 12] + - !!python/tuple [22, 27] + - !!python/tuple [4, 13] + - !!python/tuple [4, 16] + - !!python/tuple [7, 5] + - !!python/tuple [5, 22] + - !!python/tuple [0, 27] + - !!python/tuple [29, 13] + - !!python/tuple [17, 5] + - !!python/tuple [12, 11] + - !!python/tuple [26, 16] + - !!python/tuple [19, 17] + - !!python/tuple [26, 29] + - !!python/tuple [10, 26] + - !!python/tuple [18, 11] + - !!python/tuple [14, 20] + - !!python/tuple [15, 16] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex73.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex73.yaml new file mode 100644 index 0000000..a7094da --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex73.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [25, 23] + name: agent0 + start: [27, 25] +- goal: [27, 8] + name: agent1 + start: [2, 21] +- goal: [2, 2] + name: agent2 + start: [0, 27] +- goal: [31, 3] + name: agent3 + start: [3, 19] +- goal: [9, 0] + name: agent4 + start: [15, 10] +- goal: [10, 15] + name: agent5 + start: [17, 24] +- goal: [4, 6] + name: agent6 + start: [5, 6] +- goal: [21, 22] + name: agent7 + start: [25, 14] +- goal: [14, 16] + name: agent8 + start: [11, 31] +- goal: [24, 14] + name: agent9 + start: [19, 29] +- goal: [17, 3] + name: agent10 + start: [17, 17] +- goal: [23, 21] + name: agent11 + start: [21, 7] +- goal: [4, 9] + name: agent12 + start: [16, 24] +- goal: [19, 31] + name: agent13 + start: [31, 9] +- goal: [28, 21] + name: agent14 + start: [24, 0] +- goal: [17, 6] + name: agent15 + start: [9, 15] +- goal: [9, 18] + name: agent16 + start: [19, 20] +- goal: [14, 19] + name: agent17 + start: [10, 28] +- goal: [20, 14] + name: agent18 + start: [0, 3] +- goal: [7, 15] + name: agent19 + start: [7, 30] +- goal: [11, 10] + name: agent20 + start: [22, 16] +- goal: [22, 6] + name: agent21 + start: [2, 20] +- goal: [28, 16] + name: agent22 + start: [10, 17] +- goal: [25, 9] + name: agent23 + start: [15, 21] +- goal: [1, 6] + name: agent24 + start: [19, 18] +- goal: [1, 30] + name: agent25 + start: [18, 0] +- goal: [2, 28] + name: agent26 + start: [28, 24] +- goal: [21, 25] + name: agent27 + start: [5, 24] +- goal: [28, 3] + name: agent28 + start: [3, 31] +- goal: [29, 21] + name: agent29 + start: [31, 30] +- goal: [23, 6] + name: agent30 + start: [5, 17] +- goal: [24, 21] + name: agent31 + start: [14, 18] +- goal: [29, 29] + name: agent32 + start: [27, 18] +- goal: [13, 25] + name: agent33 + start: [5, 14] +- goal: [6, 3] + name: agent34 + start: [1, 7] +- goal: [0, 22] + name: agent35 + start: [6, 18] +- goal: [7, 2] + name: agent36 + start: [1, 31] +- goal: [3, 4] + name: agent37 + start: [13, 11] +- goal: [10, 12] + name: agent38 + start: [18, 24] +- goal: [29, 7] + name: agent39 + start: [17, 27] +- goal: [17, 25] + name: agent40 + start: [11, 5] +- goal: [21, 31] + name: agent41 + start: [5, 9] +- goal: [31, 18] + name: agent42 + start: [2, 26] +- goal: [19, 5] + name: agent43 + start: [26, 8] +- goal: [15, 11] + name: agent44 + start: [9, 27] +- goal: [21, 27] + name: agent45 + start: [29, 14] +- goal: [0, 9] + name: agent46 + start: [12, 29] +- goal: [31, 2] + name: agent47 + start: [28, 21] +- goal: [24, 27] + name: agent48 + start: [8, 6] +- goal: [11, 17] + name: agent49 + start: [28, 29] +- goal: [14, 22] + name: agent50 + start: [25, 3] +- goal: [24, 17] + name: agent51 + start: [10, 5] +- goal: [10, 27] + name: agent52 + start: [20, 14] +- goal: [5, 30] + name: agent53 + start: [2, 13] +- goal: [5, 12] + name: agent54 + start: [17, 7] +- goal: [5, 28] + name: agent55 + start: [0, 30] +- goal: [21, 7] + name: agent56 + start: [22, 31] +- goal: [6, 16] + name: agent57 + start: [21, 13] +- goal: [12, 21] + name: agent58 + start: [27, 6] +- goal: [18, 11] + name: agent59 + start: [7, 12] +- goal: [8, 4] + name: agent60 + start: [23, 21] +- goal: [30, 23] + name: agent61 + start: [10, 15] +- goal: [14, 0] + name: agent62 + start: [28, 28] +- goal: [4, 3] + name: agent63 + start: [17, 19] +- goal: [30, 7] + name: agent64 + start: [24, 18] +- goal: [15, 19] + name: agent65 + start: [4, 22] +- goal: [27, 13] + name: agent66 + start: [3, 24] +- goal: [0, 23] + name: agent67 + start: [4, 24] +- goal: [6, 20] + name: agent68 + start: [1, 14] +- goal: [7, 18] + name: agent69 + start: [17, 6] +- goal: [5, 3] + name: agent70 + start: [6, 2] +- goal: [0, 20] + name: agent71 + start: [4, 12] +- goal: [31, 22] + name: agent72 + start: [6, 17] +- goal: [14, 24] + name: agent73 + start: [16, 11] +- goal: [8, 3] + name: agent74 + start: [4, 6] +- goal: [24, 30] + name: agent75 + start: [14, 29] +- goal: [27, 10] + name: agent76 + start: [4, 5] +- goal: [15, 10] + name: agent77 + start: [10, 21] +- goal: [0, 18] + name: agent78 + start: [26, 25] +- goal: [6, 2] + name: agent79 + start: [7, 18] +- goal: [26, 2] + name: agent80 + start: [15, 12] +- goal: [4, 18] + name: agent81 + start: [27, 19] +- goal: [10, 7] + name: agent82 + start: [29, 5] +- goal: [21, 21] + name: agent83 + start: [29, 1] +- goal: [2, 19] + name: agent84 + start: [28, 10] +- goal: [16, 29] + name: agent85 + start: [25, 16] +- goal: [22, 18] + name: agent86 + start: [28, 9] +- goal: [15, 9] + name: agent87 + start: [22, 29] +- goal: [21, 6] + name: agent88 + start: [3, 12] +- goal: [17, 12] + name: agent89 + start: [20, 17] +- goal: [28, 23] + name: agent90 + start: [24, 26] +- goal: [15, 1] + name: agent91 + start: [26, 10] +- goal: [0, 13] + name: agent92 + start: [19, 26] +- goal: [0, 14] + name: agent93 + start: [24, 6] +- goal: [2, 0] + name: agent94 + start: [7, 10] +- goal: [30, 14] + name: agent95 + start: [16, 6] +- goal: [10, 25] + name: agent96 + start: [9, 1] +- goal: [8, 16] + name: agent97 + start: [20, 31] +- goal: [7, 28] + name: agent98 + start: [22, 18] +- goal: [4, 27] + name: agent99 + start: [15, 26] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [11, 23] + - !!python/tuple [16, 30] + - !!python/tuple [22, 7] + - !!python/tuple [14, 5] + - !!python/tuple [11, 3] + - !!python/tuple [16, 14] + - !!python/tuple [19, 17] + - !!python/tuple [17, 31] + - !!python/tuple [28, 20] + - !!python/tuple [11, 7] + - !!python/tuple [18, 7] + - !!python/tuple [5, 2] + - !!python/tuple [9, 5] + - !!python/tuple [4, 16] + - !!python/tuple [25, 1] + - !!python/tuple [12, 7] + - !!python/tuple [30, 25] + - !!python/tuple [24, 22] + - !!python/tuple [27, 7] + - !!python/tuple [24, 1] + - !!python/tuple [15, 25] + - !!python/tuple [25, 22] + - !!python/tuple [21, 10] + - !!python/tuple [16, 2] + - !!python/tuple [16, 19] + - !!python/tuple [24, 13] + - !!python/tuple [17, 26] + - !!python/tuple [7, 19] + - !!python/tuple [18, 6] + - !!python/tuple [25, 20] + - !!python/tuple [15, 29] + - !!python/tuple [14, 3] + - !!python/tuple [27, 12] + - !!python/tuple [26, 26] + - !!python/tuple [7, 3] + - !!python/tuple [24, 19] + - !!python/tuple [4, 1] + - !!python/tuple [18, 14] + - !!python/tuple [2, 8] + - !!python/tuple [22, 15] + - !!python/tuple [26, 20] + - !!python/tuple [12, 0] + - !!python/tuple [20, 24] + - !!python/tuple [5, 20] + - !!python/tuple [11, 30] + - !!python/tuple [15, 13] + - !!python/tuple [20, 5] + - !!python/tuple [3, 18] + - !!python/tuple [16, 23] + - !!python/tuple [25, 4] + - !!python/tuple [20, 19] + - !!python/tuple [16, 8] + - !!python/tuple [6, 25] + - !!python/tuple [14, 23] + - !!python/tuple [2, 3] + - !!python/tuple [18, 23] + - !!python/tuple [9, 2] + - !!python/tuple [19, 2] + - !!python/tuple [1, 22] + - !!python/tuple [12, 8] + - !!python/tuple [12, 1] + - !!python/tuple [12, 25] + - !!python/tuple [5, 16] + - !!python/tuple [13, 13] + - !!python/tuple [9, 26] + - !!python/tuple [3, 16] + - !!python/tuple [28, 30] + - !!python/tuple [6, 6] + - !!python/tuple [31, 10] + - !!python/tuple [23, 17] + - !!python/tuple [7, 13] + - !!python/tuple [27, 5] + - !!python/tuple [3, 14] + - !!python/tuple [18, 25] + - !!python/tuple [18, 26] + - !!python/tuple [24, 31] + - !!python/tuple [6, 31] + - !!python/tuple [8, 7] + - !!python/tuple [16, 5] + - !!python/tuple [30, 22] + - !!python/tuple [9, 4] + - !!python/tuple [10, 31] + - !!python/tuple [25, 30] + - !!python/tuple [23, 3] + - !!python/tuple [30, 8] + - !!python/tuple [17, 5] + - !!python/tuple [21, 29] + - !!python/tuple [0, 12] + - !!python/tuple [31, 11] + - !!python/tuple [14, 11] + - !!python/tuple [7, 27] + - !!python/tuple [25, 12] + - !!python/tuple [26, 17] + - !!python/tuple [31, 25] + - !!python/tuple [6, 7] + - !!python/tuple [16, 7] + - !!python/tuple [3, 28] + - !!python/tuple [7, 7] + - !!python/tuple [10, 14] + - !!python/tuple [4, 17] + - !!python/tuple [19, 10] + - !!python/tuple [11, 13] + - !!python/tuple [26, 5] + - !!python/tuple [18, 20] + - !!python/tuple [3, 15] + - !!python/tuple [8, 28] + - !!python/tuple [14, 25] + - !!python/tuple [19, 7] + - !!python/tuple [18, 16] + - !!python/tuple [3, 20] + - !!python/tuple [24, 20] + - !!python/tuple [14, 4] + - !!python/tuple [23, 18] + - !!python/tuple [13, 8] + - !!python/tuple [25, 21] + - !!python/tuple [18, 2] + - !!python/tuple [13, 27] + - !!python/tuple [20, 21] + - !!python/tuple [15, 7] + - !!python/tuple [25, 0] + - !!python/tuple [27, 20] + - !!python/tuple [2, 7] + - !!python/tuple [31, 19] + - !!python/tuple [17, 23] + - !!python/tuple [27, 4] + - !!python/tuple [0, 5] + - !!python/tuple [30, 20] + - !!python/tuple [0, 4] + - !!python/tuple [0, 7] + - !!python/tuple [17, 20] + - !!python/tuple [8, 13] + - !!python/tuple [28, 31] + - !!python/tuple [9, 11] + - !!python/tuple [25, 28] + - !!python/tuple [11, 29] + - !!python/tuple [23, 15] + - !!python/tuple [29, 25] + - !!python/tuple [6, 30] + - !!python/tuple [21, 15] + - !!python/tuple [3, 7] + - !!python/tuple [13, 4] + - !!python/tuple [17, 29] + - !!python/tuple [22, 3] + - !!python/tuple [10, 23] + - !!python/tuple [26, 3] + - !!python/tuple [27, 2] + - !!python/tuple [6, 27] + - !!python/tuple [20, 22] + - !!python/tuple [18, 22] + - !!python/tuple [12, 17] + - !!python/tuple [8, 1] + - !!python/tuple [7, 11] + - !!python/tuple [17, 10] + - !!python/tuple [17, 9] + - !!python/tuple [25, 19] + - !!python/tuple [12, 9] + - !!python/tuple [22, 4] + - !!python/tuple [19, 8] + - !!python/tuple [23, 7] + - !!python/tuple [24, 11] + - !!python/tuple [6, 21] + - !!python/tuple [9, 23] + - !!python/tuple [18, 1] + - !!python/tuple [29, 13] + - !!python/tuple [31, 17] + - !!python/tuple [8, 18] + - !!python/tuple [23, 4] + - !!python/tuple [1, 21] + - !!python/tuple [15, 0] + - !!python/tuple [27, 27] + - !!python/tuple [16, 17] + - !!python/tuple [30, 16] + - !!python/tuple [8, 30] + - !!python/tuple [19, 3] + - !!python/tuple [25, 27] + - !!python/tuple [2, 31] + - !!python/tuple [21, 28] + - !!python/tuple [14, 26] + - !!python/tuple [10, 1] + - !!python/tuple [21, 16] + - !!python/tuple [11, 12] + - !!python/tuple [0, 16] + - !!python/tuple [22, 9] + - !!python/tuple [14, 31] + - !!python/tuple [23, 11] + - !!python/tuple [1, 15] + - !!python/tuple [22, 20] + - !!python/tuple [27, 15] + - !!python/tuple [11, 11] + - !!python/tuple [30, 12] + - !!python/tuple [1, 16] + - !!python/tuple [31, 0] + - !!python/tuple [25, 10] + - !!python/tuple [12, 27] + - !!python/tuple [18, 27] + - !!python/tuple [23, 2] + - !!python/tuple [25, 29] + - !!python/tuple [11, 14] + - !!python/tuple [10, 9] + - !!python/tuple [12, 4] + - !!python/tuple [13, 6] + - !!python/tuple [23, 16] + - !!python/tuple [2, 17] + - !!python/tuple [8, 2] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex74.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex74.yaml new file mode 100644 index 0000000..2109a2b --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex74.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [24, 9] + name: agent0 + start: [29, 26] +- goal: [10, 5] + name: agent1 + start: [1, 2] +- goal: [20, 20] + name: agent2 + start: [6, 25] +- goal: [30, 12] + name: agent3 + start: [27, 15] +- goal: [18, 21] + name: agent4 + start: [30, 4] +- goal: [6, 19] + name: agent5 + start: [10, 25] +- goal: [15, 18] + name: agent6 + start: [8, 2] +- goal: [11, 17] + name: agent7 + start: [21, 30] +- goal: [7, 12] + name: agent8 + start: [8, 27] +- goal: [12, 12] + name: agent9 + start: [20, 10] +- goal: [21, 25] + name: agent10 + start: [11, 1] +- goal: [6, 26] + name: agent11 + start: [15, 27] +- goal: [8, 31] + name: agent12 + start: [22, 17] +- goal: [15, 27] + name: agent13 + start: [1, 13] +- goal: [26, 6] + name: agent14 + start: [26, 24] +- goal: [25, 27] + name: agent15 + start: [20, 20] +- goal: [9, 23] + name: agent16 + start: [18, 27] +- goal: [28, 1] + name: agent17 + start: [30, 23] +- goal: [14, 14] + name: agent18 + start: [24, 16] +- goal: [16, 9] + name: agent19 + start: [26, 0] +- goal: [23, 2] + name: agent20 + start: [10, 23] +- goal: [4, 28] + name: agent21 + start: [29, 29] +- goal: [7, 20] + name: agent22 + start: [21, 9] +- goal: [8, 15] + name: agent23 + start: [5, 4] +- goal: [24, 8] + name: agent24 + start: [4, 26] +- goal: [3, 15] + name: agent25 + start: [4, 16] +- goal: [28, 4] + name: agent26 + start: [14, 22] +- goal: [7, 23] + name: agent27 + start: [7, 9] +- goal: [29, 22] + name: agent28 + start: [18, 20] +- goal: [31, 9] + name: agent29 + start: [31, 24] +- goal: [23, 21] + name: agent30 + start: [18, 5] +- goal: [12, 3] + name: agent31 + start: [8, 11] +- goal: [25, 20] + name: agent32 + start: [14, 15] +- goal: [0, 8] + name: agent33 + start: [0, 21] +- goal: [21, 26] + name: agent34 + start: [8, 21] +- goal: [23, 14] + name: agent35 + start: [18, 6] +- goal: [28, 6] + name: agent36 + start: [30, 26] +- goal: [9, 13] + name: agent37 + start: [6, 26] +- goal: [27, 4] + name: agent38 + start: [11, 10] +- goal: [9, 8] + name: agent39 + start: [20, 16] +- goal: [2, 18] + name: agent40 + start: [21, 13] +- goal: [20, 25] + name: agent41 + start: [10, 7] +- goal: [3, 8] + name: agent42 + start: [8, 24] +- goal: [28, 8] + name: agent43 + start: [8, 28] +- goal: [9, 30] + name: agent44 + start: [28, 20] +- goal: [3, 13] + name: agent45 + start: [29, 4] +- goal: [25, 9] + name: agent46 + start: [4, 7] +- goal: [10, 16] + name: agent47 + start: [15, 16] +- goal: [12, 19] + name: agent48 + start: [25, 23] +- goal: [8, 11] + name: agent49 + start: [11, 31] +- goal: [6, 21] + name: agent50 + start: [16, 11] +- goal: [13, 1] + name: agent51 + start: [25, 11] +- goal: [13, 31] + name: agent52 + start: [19, 19] +- goal: [28, 31] + name: agent53 + start: [3, 27] +- goal: [10, 15] + name: agent54 + start: [27, 14] +- goal: [31, 2] + name: agent55 + start: [20, 14] +- goal: [4, 15] + name: agent56 + start: [11, 30] +- goal: [2, 25] + name: agent57 + start: [12, 28] +- goal: [15, 26] + name: agent58 + start: [6, 18] +- goal: [22, 10] + name: agent59 + start: [31, 2] +- goal: [14, 19] + name: agent60 + start: [0, 3] +- goal: [11, 3] + name: agent61 + start: [27, 25] +- goal: [20, 6] + name: agent62 + start: [30, 13] +- goal: [24, 16] + name: agent63 + start: [21, 24] +- goal: [30, 9] + name: agent64 + start: [9, 16] +- goal: [10, 19] + name: agent65 + start: [5, 24] +- goal: [27, 20] + name: agent66 + start: [27, 11] +- goal: [6, 10] + name: agent67 + start: [4, 0] +- goal: [27, 25] + name: agent68 + start: [6, 19] +- goal: [4, 3] + name: agent69 + start: [25, 13] +- goal: [13, 22] + name: agent70 + start: [15, 24] +- goal: [17, 19] + name: agent71 + start: [10, 8] +- goal: [19, 10] + name: agent72 + start: [19, 24] +- goal: [15, 24] + name: agent73 + start: [14, 20] +- goal: [30, 17] + name: agent74 + start: [6, 22] +- goal: [2, 19] + name: agent75 + start: [5, 3] +- goal: [31, 21] + name: agent76 + start: [31, 25] +- goal: [0, 18] + name: agent77 + start: [29, 18] +- goal: [2, 8] + name: agent78 + start: [14, 30] +- goal: [17, 17] + name: agent79 + start: [12, 16] +- goal: [5, 0] + name: agent80 + start: [6, 27] +- goal: [17, 14] + name: agent81 + start: [25, 20] +- goal: [3, 2] + name: agent82 + start: [31, 23] +- goal: [10, 22] + name: agent83 + start: [30, 5] +- goal: [23, 13] + name: agent84 + start: [3, 8] +- goal: [26, 18] + name: agent85 + start: [19, 21] +- goal: [25, 21] + name: agent86 + start: [19, 25] +- goal: [25, 17] + name: agent87 + start: [9, 3] +- goal: [5, 8] + name: agent88 + start: [15, 30] +- goal: [31, 7] + name: agent89 + start: [31, 1] +- goal: [1, 17] + name: agent90 + start: [13, 6] +- goal: [7, 9] + name: agent91 + start: [19, 13] +- goal: [8, 27] + name: agent92 + start: [19, 23] +- goal: [0, 4] + name: agent93 + start: [10, 9] +- goal: [22, 20] + name: agent94 + start: [26, 8] +- goal: [11, 6] + name: agent95 + start: [14, 6] +- goal: [7, 10] + name: agent96 + start: [20, 19] +- goal: [3, 26] + name: agent97 + start: [24, 30] +- goal: [1, 1] + name: agent98 + start: [24, 25] +- goal: [11, 18] + name: agent99 + start: [6, 21] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [20, 31] + - !!python/tuple [21, 6] + - !!python/tuple [1, 7] + - !!python/tuple [5, 18] + - !!python/tuple [17, 13] + - !!python/tuple [15, 23] + - !!python/tuple [12, 1] + - !!python/tuple [13, 14] + - !!python/tuple [7, 3] + - !!python/tuple [24, 10] + - !!python/tuple [29, 30] + - !!python/tuple [26, 30] + - !!python/tuple [22, 24] + - !!python/tuple [19, 4] + - !!python/tuple [7, 22] + - !!python/tuple [21, 10] + - !!python/tuple [3, 31] + - !!python/tuple [9, 5] + - !!python/tuple [2, 1] + - !!python/tuple [20, 17] + - !!python/tuple [5, 15] + - !!python/tuple [13, 21] + - !!python/tuple [10, 29] + - !!python/tuple [15, 12] + - !!python/tuple [11, 27] + - !!python/tuple [17, 18] + - !!python/tuple [16, 20] + - !!python/tuple [26, 7] + - !!python/tuple [2, 9] + - !!python/tuple [14, 25] + - !!python/tuple [3, 5] + - !!python/tuple [1, 25] + - !!python/tuple [31, 30] + - !!python/tuple [8, 14] + - !!python/tuple [20, 23] + - !!python/tuple [28, 25] + - !!python/tuple [0, 11] + - !!python/tuple [13, 27] + - !!python/tuple [29, 14] + - !!python/tuple [11, 23] + - !!python/tuple [13, 7] + - !!python/tuple [0, 2] + - !!python/tuple [22, 18] + - !!python/tuple [2, 29] + - !!python/tuple [16, 16] + - !!python/tuple [12, 2] + - !!python/tuple [0, 7] + - !!python/tuple [5, 12] + - !!python/tuple [15, 14] + - !!python/tuple [19, 2] + - !!python/tuple [6, 9] + - !!python/tuple [4, 29] + - !!python/tuple [18, 4] + - !!python/tuple [0, 30] + - !!python/tuple [9, 7] + - !!python/tuple [22, 12] + - !!python/tuple [6, 15] + - !!python/tuple [29, 28] + - !!python/tuple [21, 21] + - !!python/tuple [23, 7] + - !!python/tuple [17, 31] + - !!python/tuple [5, 20] + - !!python/tuple [21, 4] + - !!python/tuple [26, 1] + - !!python/tuple [20, 15] + - !!python/tuple [17, 30] + - !!python/tuple [16, 19] + - !!python/tuple [5, 14] + - !!python/tuple [14, 7] + - !!python/tuple [9, 4] + - !!python/tuple [5, 16] + - !!python/tuple [17, 25] + - !!python/tuple [9, 1] + - !!python/tuple [31, 0] + - !!python/tuple [5, 5] + - !!python/tuple [26, 14] + - !!python/tuple [4, 17] + - !!python/tuple [19, 20] + - !!python/tuple [23, 3] + - !!python/tuple [22, 13] + - !!python/tuple [3, 23] + - !!python/tuple [10, 28] + - !!python/tuple [7, 15] + - !!python/tuple [2, 11] + - !!python/tuple [7, 25] + - !!python/tuple [18, 3] + - !!python/tuple [15, 9] + - !!python/tuple [13, 9] + - !!python/tuple [2, 12] + - !!python/tuple [1, 4] + - !!python/tuple [26, 17] + - !!python/tuple [27, 7] + - !!python/tuple [9, 14] + - !!python/tuple [1, 20] + - !!python/tuple [21, 29] + - !!python/tuple [25, 10] + - !!python/tuple [21, 2] + - !!python/tuple [4, 6] + - !!python/tuple [22, 14] + - !!python/tuple [6, 5] + - !!python/tuple [31, 11] + - !!python/tuple [22, 1] + - !!python/tuple [12, 15] + - !!python/tuple [25, 1] + - !!python/tuple [15, 10] + - !!python/tuple [21, 20] + - !!python/tuple [8, 23] + - !!python/tuple [25, 6] + - !!python/tuple [17, 26] + - !!python/tuple [1, 9] + - !!python/tuple [7, 18] + - !!python/tuple [4, 14] + - !!python/tuple [3, 12] + - !!python/tuple [23, 9] + - !!python/tuple [8, 9] + - !!python/tuple [10, 30] + - !!python/tuple [12, 7] + - !!python/tuple [17, 9] + - !!python/tuple [12, 10] + - !!python/tuple [31, 14] + - !!python/tuple [22, 23] + - !!python/tuple [19, 30] + - !!python/tuple [4, 10] + - !!python/tuple [20, 21] + - !!python/tuple [11, 26] + - !!python/tuple [9, 24] + - !!python/tuple [2, 30] + - !!python/tuple [22, 31] + - !!python/tuple [17, 8] + - !!python/tuple [23, 5] + - !!python/tuple [13, 24] + - !!python/tuple [12, 4] + - !!python/tuple [0, 13] + - !!python/tuple [28, 19] + - !!python/tuple [23, 27] + - !!python/tuple [1, 18] + - !!python/tuple [20, 2] + - !!python/tuple [27, 0] + - !!python/tuple [22, 25] + - !!python/tuple [30, 1] + - !!python/tuple [14, 23] + - !!python/tuple [24, 12] + - !!python/tuple [21, 5] + - !!python/tuple [15, 21] + - !!python/tuple [16, 12] + - !!python/tuple [9, 28] + - !!python/tuple [23, 1] + - !!python/tuple [12, 31] + - !!python/tuple [20, 26] + - !!python/tuple [7, 14] + - !!python/tuple [19, 12] + - !!python/tuple [20, 0] + - !!python/tuple [25, 12] + - !!python/tuple [31, 27] + - !!python/tuple [15, 19] + - !!python/tuple [24, 23] + - !!python/tuple [9, 11] + - !!python/tuple [22, 7] + - !!python/tuple [1, 12] + - !!python/tuple [2, 10] + - !!python/tuple [28, 28] + - !!python/tuple [6, 6] + - !!python/tuple [2, 21] + - !!python/tuple [11, 12] + - !!python/tuple [16, 5] + - !!python/tuple [31, 20] + - !!python/tuple [15, 25] + - !!python/tuple [14, 0] + - !!python/tuple [20, 24] + - !!python/tuple [25, 8] + - !!python/tuple [19, 7] + - !!python/tuple [10, 26] + - !!python/tuple [31, 4] + - !!python/tuple [31, 28] + - !!python/tuple [4, 30] + - !!python/tuple [28, 2] + - !!python/tuple [21, 11] + - !!python/tuple [31, 15] + - !!python/tuple [15, 15] + - !!python/tuple [4, 24] + - !!python/tuple [18, 30] + - !!python/tuple [8, 12] + - !!python/tuple [27, 1] + - !!python/tuple [1, 14] + - !!python/tuple [20, 4] + - !!python/tuple [6, 7] + - !!python/tuple [14, 28] + - !!python/tuple [15, 17] + - !!python/tuple [28, 23] + - !!python/tuple [20, 11] + - !!python/tuple [18, 1] + - !!python/tuple [29, 20] + - !!python/tuple [30, 21] + - !!python/tuple [8, 19] + - !!python/tuple [30, 18] + - !!python/tuple [27, 22] + - !!python/tuple [3, 3] + - !!python/tuple [23, 18] + - !!python/tuple [28, 21] + - !!python/tuple [5, 23] + - !!python/tuple [18, 26] + - !!python/tuple [6, 4] + - !!python/tuple [31, 31] + - !!python/tuple [17, 28] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex75.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex75.yaml new file mode 100644 index 0000000..f95aad1 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex75.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [30, 22] + name: agent0 + start: [5, 13] +- goal: [16, 17] + name: agent1 + start: [29, 14] +- goal: [15, 3] + name: agent2 + start: [8, 20] +- goal: [13, 11] + name: agent3 + start: [20, 12] +- goal: [23, 23] + name: agent4 + start: [25, 2] +- goal: [23, 22] + name: agent5 + start: [1, 31] +- goal: [21, 6] + name: agent6 + start: [9, 23] +- goal: [11, 16] + name: agent7 + start: [18, 19] +- goal: [2, 30] + name: agent8 + start: [6, 7] +- goal: [4, 2] + name: agent9 + start: [7, 28] +- goal: [4, 4] + name: agent10 + start: [9, 4] +- goal: [28, 18] + name: agent11 + start: [26, 23] +- goal: [3, 12] + name: agent12 + start: [23, 18] +- goal: [12, 24] + name: agent13 + start: [23, 8] +- goal: [15, 14] + name: agent14 + start: [28, 31] +- goal: [31, 15] + name: agent15 + start: [4, 29] +- goal: [2, 28] + name: agent16 + start: [27, 17] +- goal: [21, 19] + name: agent17 + start: [28, 13] +- goal: [12, 12] + name: agent18 + start: [11, 7] +- goal: [10, 0] + name: agent19 + start: [1, 4] +- goal: [0, 25] + name: agent20 + start: [6, 25] +- goal: [2, 0] + name: agent21 + start: [1, 8] +- goal: [5, 4] + name: agent22 + start: [2, 30] +- goal: [28, 31] + name: agent23 + start: [24, 16] +- goal: [27, 19] + name: agent24 + start: [27, 27] +- goal: [24, 0] + name: agent25 + start: [31, 5] +- goal: [23, 17] + name: agent26 + start: [14, 0] +- goal: [15, 20] + name: agent27 + start: [30, 26] +- goal: [13, 26] + name: agent28 + start: [16, 4] +- goal: [30, 23] + name: agent29 + start: [7, 19] +- goal: [0, 14] + name: agent30 + start: [22, 8] +- goal: [0, 9] + name: agent31 + start: [5, 1] +- goal: [8, 15] + name: agent32 + start: [2, 3] +- goal: [23, 14] + name: agent33 + start: [27, 13] +- goal: [20, 15] + name: agent34 + start: [5, 23] +- goal: [16, 2] + name: agent35 + start: [9, 29] +- goal: [7, 3] + name: agent36 + start: [18, 21] +- goal: [13, 29] + name: agent37 + start: [1, 25] +- goal: [29, 16] + name: agent38 + start: [18, 1] +- goal: [12, 13] + name: agent39 + start: [8, 15] +- goal: [18, 26] + name: agent40 + start: [16, 20] +- goal: [12, 7] + name: agent41 + start: [15, 0] +- goal: [6, 25] + name: agent42 + start: [29, 13] +- goal: [13, 5] + name: agent43 + start: [20, 25] +- goal: [10, 24] + name: agent44 + start: [17, 23] +- goal: [4, 14] + name: agent45 + start: [28, 2] +- goal: [10, 23] + name: agent46 + start: [28, 18] +- goal: [3, 19] + name: agent47 + start: [28, 8] +- goal: [17, 8] + name: agent48 + start: [4, 5] +- goal: [9, 17] + name: agent49 + start: [16, 2] +- goal: [4, 9] + name: agent50 + start: [26, 10] +- goal: [29, 14] + name: agent51 + start: [12, 24] +- goal: [2, 29] + name: agent52 + start: [30, 21] +- goal: [13, 18] + name: agent53 + start: [20, 22] +- goal: [8, 27] + name: agent54 + start: [13, 26] +- goal: [15, 0] + name: agent55 + start: [7, 22] +- goal: [28, 7] + name: agent56 + start: [18, 23] +- goal: [11, 6] + name: agent57 + start: [16, 6] +- goal: [23, 18] + name: agent58 + start: [6, 28] +- goal: [5, 27] + name: agent59 + start: [17, 21] +- goal: [4, 22] + name: agent60 + start: [23, 25] +- goal: [7, 11] + name: agent61 + start: [11, 12] +- goal: [1, 29] + name: agent62 + start: [4, 9] +- goal: [10, 8] + name: agent63 + start: [20, 4] +- goal: [27, 26] + name: agent64 + start: [7, 29] +- goal: [21, 20] + name: agent65 + start: [0, 21] +- goal: [18, 14] + name: agent66 + start: [14, 20] +- goal: [1, 17] + name: agent67 + start: [16, 17] +- goal: [23, 16] + name: agent68 + start: [25, 1] +- goal: [17, 0] + name: agent69 + start: [22, 11] +- goal: [14, 14] + name: agent70 + start: [11, 14] +- goal: [19, 1] + name: agent71 + start: [5, 6] +- goal: [1, 26] + name: agent72 + start: [25, 16] +- goal: [3, 20] + name: agent73 + start: [31, 30] +- goal: [3, 6] + name: agent74 + start: [3, 12] +- goal: [19, 25] + name: agent75 + start: [9, 1] +- goal: [14, 15] + name: agent76 + start: [19, 25] +- goal: [29, 19] + name: agent77 + start: [12, 31] +- goal: [11, 15] + name: agent78 + start: [28, 12] +- goal: [15, 13] + name: agent79 + start: [13, 22] +- goal: [0, 4] + name: agent80 + start: [4, 25] +- goal: [12, 27] + name: agent81 + start: [0, 6] +- goal: [23, 13] + name: agent82 + start: [26, 15] +- goal: [31, 26] + name: agent83 + start: [19, 21] +- goal: [17, 29] + name: agent84 + start: [21, 19] +- goal: [21, 15] + name: agent85 + start: [4, 28] +- goal: [30, 20] + name: agent86 + start: [20, 6] +- goal: [0, 6] + name: agent87 + start: [19, 16] +- goal: [3, 0] + name: agent88 + start: [12, 29] +- goal: [2, 5] + name: agent89 + start: [9, 31] +- goal: [14, 0] + name: agent90 + start: [30, 16] +- goal: [24, 9] + name: agent91 + start: [9, 20] +- goal: [18, 27] + name: agent92 + start: [0, 0] +- goal: [10, 28] + name: agent93 + start: [13, 29] +- goal: [9, 3] + name: agent94 + start: [23, 31] +- goal: [27, 21] + name: agent95 + start: [21, 7] +- goal: [16, 29] + name: agent96 + start: [7, 6] +- goal: [31, 8] + name: agent97 + start: [10, 25] +- goal: [14, 9] + name: agent98 + start: [7, 21] +- goal: [22, 18] + name: agent99 + start: [14, 9] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [28, 14] + - !!python/tuple [23, 2] + - !!python/tuple [11, 31] + - !!python/tuple [8, 10] + - !!python/tuple [13, 24] + - !!python/tuple [22, 20] + - !!python/tuple [1, 10] + - !!python/tuple [14, 30] + - !!python/tuple [15, 19] + - !!python/tuple [3, 21] + - !!python/tuple [17, 3] + - !!python/tuple [21, 17] + - !!python/tuple [4, 21] + - !!python/tuple [26, 1] + - !!python/tuple [6, 5] + - !!python/tuple [27, 8] + - !!python/tuple [10, 22] + - !!python/tuple [28, 26] + - !!python/tuple [6, 15] + - !!python/tuple [31, 18] + - !!python/tuple [0, 8] + - !!python/tuple [24, 7] + - !!python/tuple [20, 17] + - !!python/tuple [17, 6] + - !!python/tuple [15, 1] + - !!python/tuple [3, 15] + - !!python/tuple [31, 19] + - !!python/tuple [15, 8] + - !!python/tuple [22, 13] + - !!python/tuple [29, 17] + - !!python/tuple [0, 1] + - !!python/tuple [5, 8] + - !!python/tuple [8, 28] + - !!python/tuple [26, 19] + - !!python/tuple [19, 19] + - !!python/tuple [10, 4] + - !!python/tuple [6, 11] + - !!python/tuple [31, 29] + - !!python/tuple [26, 5] + - !!python/tuple [15, 4] + - !!python/tuple [21, 4] + - !!python/tuple [18, 24] + - !!python/tuple [19, 7] + - !!python/tuple [28, 21] + - !!python/tuple [20, 5] + - !!python/tuple [0, 13] + - !!python/tuple [27, 10] + - !!python/tuple [12, 23] + - !!python/tuple [3, 31] + - !!python/tuple [16, 3] + - !!python/tuple [26, 31] + - !!python/tuple [20, 20] + - !!python/tuple [18, 15] + - !!python/tuple [19, 22] + - !!python/tuple [11, 13] + - !!python/tuple [26, 2] + - !!python/tuple [7, 9] + - !!python/tuple [18, 4] + - !!python/tuple [23, 19] + - !!python/tuple [12, 1] + - !!python/tuple [18, 12] + - !!python/tuple [13, 19] + - !!python/tuple [30, 15] + - !!python/tuple [18, 6] + - !!python/tuple [25, 29] + - !!python/tuple [15, 25] + - !!python/tuple [12, 30] + - !!python/tuple [11, 11] + - !!python/tuple [9, 27] + - !!python/tuple [17, 7] + - !!python/tuple [3, 14] + - !!python/tuple [20, 7] + - !!python/tuple [23, 1] + - !!python/tuple [5, 0] + - !!python/tuple [16, 28] + - !!python/tuple [7, 1] + - !!python/tuple [22, 3] + - !!python/tuple [28, 9] + - !!python/tuple [6, 10] + - !!python/tuple [21, 10] + - !!python/tuple [7, 27] + - !!python/tuple [30, 19] + - !!python/tuple [18, 10] + - !!python/tuple [27, 31] + - !!python/tuple [10, 12] + - !!python/tuple [22, 23] + - !!python/tuple [31, 28] + - !!python/tuple [24, 28] + - !!python/tuple [24, 25] + - !!python/tuple [2, 27] + - !!python/tuple [19, 5] + - !!python/tuple [29, 4] + - !!python/tuple [6, 17] + - !!python/tuple [18, 20] + - !!python/tuple [19, 18] + - !!python/tuple [8, 1] + - !!python/tuple [19, 10] + - !!python/tuple [16, 22] + - !!python/tuple [24, 11] + - !!python/tuple [1, 23] + - !!python/tuple [8, 6] + - !!python/tuple [11, 17] + - !!python/tuple [26, 20] + - !!python/tuple [28, 30] + - !!python/tuple [12, 10] + - !!python/tuple [27, 20] + - !!python/tuple [23, 0] + - !!python/tuple [15, 22] + - !!python/tuple [24, 20] + - !!python/tuple [3, 24] + - !!python/tuple [28, 27] + - !!python/tuple [15, 24] + - !!python/tuple [24, 30] + - !!python/tuple [24, 21] + - !!python/tuple [12, 19] + - !!python/tuple [13, 12] + - !!python/tuple [3, 30] + - !!python/tuple [28, 28] + - !!python/tuple [26, 0] + - !!python/tuple [22, 31] + - !!python/tuple [5, 5] + - !!python/tuple [6, 8] + - !!python/tuple [17, 4] + - !!python/tuple [9, 26] + - !!python/tuple [22, 0] + - !!python/tuple [30, 12] + - !!python/tuple [25, 0] + - !!python/tuple [10, 3] + - !!python/tuple [28, 23] + - !!python/tuple [29, 28] + - !!python/tuple [22, 24] + - !!python/tuple [7, 18] + - !!python/tuple [0, 22] + - !!python/tuple [0, 20] + - !!python/tuple [30, 10] + - !!python/tuple [4, 7] + - !!python/tuple [7, 5] + - !!python/tuple [29, 21] + - !!python/tuple [24, 23] + - !!python/tuple [10, 7] + - !!python/tuple [15, 11] + - !!python/tuple [15, 30] + - !!python/tuple [0, 23] + - !!python/tuple [21, 31] + - !!python/tuple [8, 14] + - !!python/tuple [29, 15] + - !!python/tuple [3, 7] + - !!python/tuple [12, 6] + - !!python/tuple [2, 10] + - !!python/tuple [22, 2] + - !!python/tuple [13, 8] + - !!python/tuple [13, 6] + - !!python/tuple [19, 13] + - !!python/tuple [19, 31] + - !!python/tuple [4, 23] + - !!python/tuple [7, 17] + - !!python/tuple [25, 12] + - !!python/tuple [15, 18] + - !!python/tuple [6, 3] + - !!python/tuple [26, 12] + - !!python/tuple [24, 5] + - !!python/tuple [19, 26] + - !!python/tuple [22, 16] + - !!python/tuple [7, 25] + - !!python/tuple [12, 18] + - !!python/tuple [13, 0] + - !!python/tuple [30, 5] + - !!python/tuple [17, 5] + - !!python/tuple [24, 29] + - !!python/tuple [12, 0] + - !!python/tuple [31, 0] + - !!python/tuple [31, 6] + - !!python/tuple [30, 28] + - !!python/tuple [27, 22] + - !!python/tuple [6, 23] + - !!python/tuple [0, 19] + - !!python/tuple [29, 1] + - !!python/tuple [31, 17] + - !!python/tuple [28, 1] + - !!python/tuple [25, 20] + - !!python/tuple [15, 31] + - !!python/tuple [9, 21] + - !!python/tuple [30, 17] + - !!python/tuple [1, 27] + - !!python/tuple [28, 16] + - !!python/tuple [5, 14] + - !!python/tuple [4, 12] + - !!python/tuple [17, 14] + - !!python/tuple [19, 27] + - !!python/tuple [8, 25] + - !!python/tuple [23, 29] + - !!python/tuple [20, 0] + - !!python/tuple [23, 6] + - !!python/tuple [30, 3] + - !!python/tuple [5, 30] + - !!python/tuple [2, 20] + - !!python/tuple [26, 25] + - !!python/tuple [30, 30] + - !!python/tuple [15, 23] + - !!python/tuple [24, 26] + - !!python/tuple [18, 16] + - !!python/tuple [4, 31] + - !!python/tuple [21, 28] + - !!python/tuple [5, 2] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex76.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex76.yaml new file mode 100644 index 0000000..150c664 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex76.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [20, 27] + name: agent0 + start: [29, 28] +- goal: [23, 23] + name: agent1 + start: [15, 13] +- goal: [19, 3] + name: agent2 + start: [12, 16] +- goal: [3, 6] + name: agent3 + start: [4, 0] +- goal: [10, 23] + name: agent4 + start: [21, 28] +- goal: [8, 25] + name: agent5 + start: [8, 5] +- goal: [1, 9] + name: agent6 + start: [10, 9] +- goal: [7, 22] + name: agent7 + start: [8, 6] +- goal: [6, 14] + name: agent8 + start: [16, 20] +- goal: [21, 5] + name: agent9 + start: [18, 28] +- goal: [27, 9] + name: agent10 + start: [12, 26] +- goal: [3, 9] + name: agent11 + start: [26, 28] +- goal: [5, 10] + name: agent12 + start: [0, 30] +- goal: [17, 12] + name: agent13 + start: [28, 7] +- goal: [9, 18] + name: agent14 + start: [22, 17] +- goal: [14, 7] + name: agent15 + start: [22, 12] +- goal: [24, 1] + name: agent16 + start: [21, 25] +- goal: [26, 30] + name: agent17 + start: [24, 1] +- goal: [29, 12] + name: agent18 + start: [15, 29] +- goal: [17, 28] + name: agent19 + start: [11, 4] +- goal: [3, 20] + name: agent20 + start: [23, 1] +- goal: [3, 14] + name: agent21 + start: [23, 27] +- goal: [27, 24] + name: agent22 + start: [0, 5] +- goal: [14, 2] + name: agent23 + start: [18, 6] +- goal: [24, 31] + name: agent24 + start: [19, 16] +- goal: [9, 7] + name: agent25 + start: [23, 23] +- goal: [7, 26] + name: agent26 + start: [18, 26] +- goal: [0, 6] + name: agent27 + start: [20, 11] +- goal: [15, 13] + name: agent28 + start: [22, 1] +- goal: [8, 17] + name: agent29 + start: [18, 5] +- goal: [20, 9] + name: agent30 + start: [15, 5] +- goal: [14, 22] + name: agent31 + start: [4, 3] +- goal: [15, 1] + name: agent32 + start: [22, 15] +- goal: [27, 21] + name: agent33 + start: [25, 23] +- goal: [10, 0] + name: agent34 + start: [20, 0] +- goal: [28, 22] + name: agent35 + start: [27, 12] +- goal: [1, 26] + name: agent36 + start: [8, 17] +- goal: [10, 16] + name: agent37 + start: [20, 21] +- goal: [16, 7] + name: agent38 + start: [13, 11] +- goal: [16, 9] + name: agent39 + start: [16, 2] +- goal: [4, 13] + name: agent40 + start: [11, 24] +- goal: [22, 14] + name: agent41 + start: [14, 14] +- goal: [5, 19] + name: agent42 + start: [17, 18] +- goal: [19, 31] + name: agent43 + start: [15, 4] +- goal: [8, 24] + name: agent44 + start: [26, 0] +- goal: [4, 26] + name: agent45 + start: [12, 3] +- goal: [22, 4] + name: agent46 + start: [20, 17] +- goal: [25, 16] + name: agent47 + start: [10, 22] +- goal: [19, 20] + name: agent48 + start: [30, 2] +- goal: [12, 10] + name: agent49 + start: [16, 12] +- goal: [5, 21] + name: agent50 + start: [28, 13] +- goal: [14, 20] + name: agent51 + start: [23, 11] +- goal: [1, 15] + name: agent52 + start: [29, 31] +- goal: [31, 22] + name: agent53 + start: [6, 25] +- goal: [2, 16] + name: agent54 + start: [17, 0] +- goal: [17, 19] + name: agent55 + start: [14, 22] +- goal: [7, 15] + name: agent56 + start: [9, 21] +- goal: [29, 21] + name: agent57 + start: [1, 9] +- goal: [2, 29] + name: agent58 + start: [11, 27] +- goal: [0, 20] + name: agent59 + start: [23, 18] +- goal: [27, 2] + name: agent60 + start: [28, 10] +- goal: [20, 13] + name: agent61 + start: [27, 31] +- goal: [4, 12] + name: agent62 + start: [12, 4] +- goal: [31, 13] + name: agent63 + start: [17, 31] +- goal: [15, 0] + name: agent64 + start: [19, 21] +- goal: [30, 25] + name: agent65 + start: [24, 19] +- goal: [19, 5] + name: agent66 + start: [29, 7] +- goal: [16, 2] + name: agent67 + start: [19, 7] +- goal: [18, 13] + name: agent68 + start: [25, 1] +- goal: [18, 4] + name: agent69 + start: [10, 6] +- goal: [7, 12] + name: agent70 + start: [12, 17] +- goal: [4, 21] + name: agent71 + start: [19, 26] +- goal: [1, 4] + name: agent72 + start: [19, 23] +- goal: [3, 11] + name: agent73 + start: [9, 3] +- goal: [7, 25] + name: agent74 + start: [7, 9] +- goal: [6, 27] + name: agent75 + start: [5, 0] +- goal: [16, 19] + name: agent76 + start: [2, 13] +- goal: [17, 2] + name: agent77 + start: [22, 22] +- goal: [5, 30] + name: agent78 + start: [30, 11] +- goal: [6, 1] + name: agent79 + start: [27, 17] +- goal: [22, 26] + name: agent80 + start: [28, 1] +- goal: [21, 20] + name: agent81 + start: [19, 6] +- goal: [10, 10] + name: agent82 + start: [26, 21] +- goal: [13, 19] + name: agent83 + start: [7, 3] +- goal: [8, 27] + name: agent84 + start: [14, 25] +- goal: [29, 18] + name: agent85 + start: [3, 3] +- goal: [27, 29] + name: agent86 + start: [21, 14] +- goal: [21, 1] + name: agent87 + start: [14, 1] +- goal: [24, 14] + name: agent88 + start: [5, 10] +- goal: [2, 31] + name: agent89 + start: [23, 7] +- goal: [15, 31] + name: agent90 + start: [30, 7] +- goal: [22, 24] + name: agent91 + start: [30, 27] +- goal: [27, 12] + name: agent92 + start: [8, 21] +- goal: [9, 22] + name: agent93 + start: [15, 30] +- goal: [28, 27] + name: agent94 + start: [28, 15] +- goal: [21, 25] + name: agent95 + start: [27, 13] +- goal: [11, 28] + name: agent96 + start: [27, 16] +- goal: [6, 22] + name: agent97 + start: [3, 25] +- goal: [1, 14] + name: agent98 + start: [29, 18] +- goal: [15, 25] + name: agent99 + start: [16, 9] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [12, 9] + - !!python/tuple [18, 19] + - !!python/tuple [16, 28] + - !!python/tuple [16, 14] + - !!python/tuple [7, 0] + - !!python/tuple [31, 9] + - !!python/tuple [9, 23] + - !!python/tuple [25, 27] + - !!python/tuple [29, 26] + - !!python/tuple [1, 30] + - !!python/tuple [6, 4] + - !!python/tuple [10, 27] + - !!python/tuple [21, 17] + - !!python/tuple [17, 9] + - !!python/tuple [11, 10] + - !!python/tuple [18, 30] + - !!python/tuple [29, 10] + - !!python/tuple [29, 22] + - !!python/tuple [29, 5] + - !!python/tuple [6, 16] + - !!python/tuple [29, 8] + - !!python/tuple [4, 28] + - !!python/tuple [1, 24] + - !!python/tuple [11, 17] + - !!python/tuple [29, 9] + - !!python/tuple [19, 0] + - !!python/tuple [16, 30] + - !!python/tuple [13, 14] + - !!python/tuple [11, 30] + - !!python/tuple [28, 16] + - !!python/tuple [18, 14] + - !!python/tuple [10, 18] + - !!python/tuple [12, 8] + - !!python/tuple [25, 5] + - !!python/tuple [23, 29] + - !!python/tuple [20, 10] + - !!python/tuple [0, 15] + - !!python/tuple [18, 2] + - !!python/tuple [20, 8] + - !!python/tuple [29, 19] + - !!python/tuple [6, 29] + - !!python/tuple [22, 31] + - !!python/tuple [14, 15] + - !!python/tuple [18, 24] + - !!python/tuple [6, 0] + - !!python/tuple [27, 14] + - !!python/tuple [27, 7] + - !!python/tuple [11, 29] + - !!python/tuple [15, 2] + - !!python/tuple [24, 13] + - !!python/tuple [15, 28] + - !!python/tuple [12, 7] + - !!python/tuple [4, 15] + - !!python/tuple [13, 28] + - !!python/tuple [13, 7] + - !!python/tuple [7, 1] + - !!python/tuple [31, 7] + - !!python/tuple [5, 3] + - !!python/tuple [1, 16] + - !!python/tuple [27, 27] + - !!python/tuple [28, 28] + - !!python/tuple [23, 20] + - !!python/tuple [13, 9] + - !!python/tuple [12, 22] + - !!python/tuple [8, 15] + - !!python/tuple [31, 25] + - !!python/tuple [31, 20] + - !!python/tuple [25, 9] + - !!python/tuple [30, 6] + - !!python/tuple [7, 17] + - !!python/tuple [9, 26] + - !!python/tuple [24, 26] + - !!python/tuple [2, 9] + - !!python/tuple [1, 7] + - !!python/tuple [17, 27] + - !!python/tuple [3, 29] + - !!python/tuple [14, 29] + - !!python/tuple [29, 11] + - !!python/tuple [16, 24] + - !!python/tuple [10, 19] + - !!python/tuple [21, 0] + - !!python/tuple [7, 4] + - !!python/tuple [5, 7] + - !!python/tuple [14, 13] + - !!python/tuple [7, 7] + - !!python/tuple [21, 19] + - !!python/tuple [27, 0] + - !!python/tuple [4, 2] + - !!python/tuple [9, 15] + - !!python/tuple [10, 2] + - !!python/tuple [31, 21] + - !!python/tuple [11, 7] + - !!python/tuple [16, 6] + - !!python/tuple [11, 19] + - !!python/tuple [2, 6] + - !!python/tuple [24, 28] + - !!python/tuple [26, 5] + - !!python/tuple [4, 9] + - !!python/tuple [20, 4] + - !!python/tuple [28, 9] + - !!python/tuple [14, 12] + - !!python/tuple [1, 6] + - !!python/tuple [17, 26] + - !!python/tuple [12, 27] + - !!python/tuple [0, 24] + - !!python/tuple [23, 14] + - !!python/tuple [31, 8] + - !!python/tuple [31, 16] + - !!python/tuple [1, 3] + - !!python/tuple [2, 20] + - !!python/tuple [30, 5] + - !!python/tuple [16, 23] + - !!python/tuple [25, 0] + - !!python/tuple [10, 24] + - !!python/tuple [20, 22] + - !!python/tuple [24, 17] + - !!python/tuple [4, 4] + - !!python/tuple [28, 23] + - !!python/tuple [0, 31] + - !!python/tuple [25, 11] + - !!python/tuple [25, 3] + - !!python/tuple [12, 1] + - !!python/tuple [25, 10] + - !!python/tuple [22, 27] + - !!python/tuple [13, 8] + - !!python/tuple [18, 11] + - !!python/tuple [29, 0] + - !!python/tuple [26, 2] + - !!python/tuple [0, 28] + - !!python/tuple [11, 0] + - !!python/tuple [17, 14] + - !!python/tuple [17, 25] + - !!python/tuple [21, 10] + - !!python/tuple [19, 19] + - !!python/tuple [23, 5] + - !!python/tuple [23, 16] + - !!python/tuple [28, 4] + - !!python/tuple [17, 20] + - !!python/tuple [26, 26] + - !!python/tuple [26, 23] + - !!python/tuple [21, 9] + - !!python/tuple [27, 3] + - !!python/tuple [19, 4] + - !!python/tuple [3, 30] + - !!python/tuple [4, 31] + - !!python/tuple [8, 9] + - !!python/tuple [30, 18] + - !!python/tuple [5, 6] + - !!python/tuple [21, 23] + - !!python/tuple [0, 25] + - !!python/tuple [6, 30] + - !!python/tuple [5, 9] + - !!python/tuple [14, 26] + - !!python/tuple [25, 25] + - !!python/tuple [22, 29] + - !!python/tuple [6, 24] + - !!python/tuple [9, 13] + - !!python/tuple [22, 28] + - !!python/tuple [7, 2] + - !!python/tuple [1, 13] + - !!python/tuple [11, 14] + - !!python/tuple [31, 0] + - !!python/tuple [14, 0] + - !!python/tuple [25, 21] + - !!python/tuple [20, 25] + - !!python/tuple [20, 18] + - !!python/tuple [2, 26] + - !!python/tuple [26, 16] + - !!python/tuple [13, 21] + - !!python/tuple [5, 24] + - !!python/tuple [23, 31] + - !!python/tuple [23, 12] + - !!python/tuple [13, 2] + - !!python/tuple [9, 28] + - !!python/tuple [18, 17] + - !!python/tuple [10, 21] + - !!python/tuple [12, 23] + - !!python/tuple [15, 9] + - !!python/tuple [21, 26] + - !!python/tuple [8, 18] + - !!python/tuple [21, 18] + - !!python/tuple [4, 20] + - !!python/tuple [26, 25] + - !!python/tuple [29, 25] + - !!python/tuple [28, 2] + - !!python/tuple [7, 20] + - !!python/tuple [19, 30] + - !!python/tuple [4, 23] + - !!python/tuple [5, 14] + - !!python/tuple [2, 22] + - !!python/tuple [11, 13] + - !!python/tuple [23, 25] + - !!python/tuple [6, 18] + - !!python/tuple [0, 11] + - !!python/tuple [8, 16] + - !!python/tuple [22, 0] + - !!python/tuple [24, 4] + - !!python/tuple [1, 27] + - !!python/tuple [0, 18] + - !!python/tuple [19, 27] + - !!python/tuple [2, 12] + - !!python/tuple [27, 26] + - !!python/tuple [2, 24] + - !!python/tuple [9, 25] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex77.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex77.yaml new file mode 100644 index 0000000..30eb05e --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex77.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [10, 3] + name: agent0 + start: [11, 13] +- goal: [0, 7] + name: agent1 + start: [20, 28] +- goal: [23, 14] + name: agent2 + start: [18, 27] +- goal: [16, 28] + name: agent3 + start: [13, 12] +- goal: [12, 14] + name: agent4 + start: [15, 8] +- goal: [7, 6] + name: agent5 + start: [6, 19] +- goal: [29, 18] + name: agent6 + start: [29, 3] +- goal: [5, 13] + name: agent7 + start: [1, 3] +- goal: [3, 30] + name: agent8 + start: [25, 29] +- goal: [29, 16] + name: agent9 + start: [31, 10] +- goal: [11, 15] + name: agent10 + start: [15, 20] +- goal: [21, 2] + name: agent11 + start: [26, 6] +- goal: [9, 1] + name: agent12 + start: [5, 24] +- goal: [19, 0] + name: agent13 + start: [26, 3] +- goal: [24, 6] + name: agent14 + start: [2, 7] +- goal: [21, 18] + name: agent15 + start: [28, 20] +- goal: [28, 5] + name: agent16 + start: [18, 16] +- goal: [3, 2] + name: agent17 + start: [9, 6] +- goal: [11, 28] + name: agent18 + start: [3, 24] +- goal: [24, 7] + name: agent19 + start: [21, 11] +- goal: [23, 8] + name: agent20 + start: [29, 21] +- goal: [29, 7] + name: agent21 + start: [18, 12] +- goal: [14, 15] + name: agent22 + start: [4, 0] +- goal: [31, 15] + name: agent23 + start: [3, 7] +- goal: [10, 21] + name: agent24 + start: [14, 21] +- goal: [1, 2] + name: agent25 + start: [4, 21] +- goal: [29, 23] + name: agent26 + start: [1, 12] +- goal: [14, 19] + name: agent27 + start: [24, 12] +- goal: [28, 31] + name: agent28 + start: [8, 26] +- goal: [5, 2] + name: agent29 + start: [20, 30] +- goal: [28, 20] + name: agent30 + start: [27, 13] +- goal: [19, 6] + name: agent31 + start: [22, 24] +- goal: [11, 14] + name: agent32 + start: [11, 15] +- goal: [11, 31] + name: agent33 + start: [29, 0] +- goal: [30, 11] + name: agent34 + start: [14, 4] +- goal: [10, 2] + name: agent35 + start: [23, 10] +- goal: [30, 19] + name: agent36 + start: [29, 22] +- goal: [2, 1] + name: agent37 + start: [18, 25] +- goal: [13, 24] + name: agent38 + start: [6, 21] +- goal: [14, 6] + name: agent39 + start: [27, 26] +- goal: [7, 20] + name: agent40 + start: [16, 13] +- goal: [19, 26] + name: agent41 + start: [7, 13] +- goal: [25, 17] + name: agent42 + start: [16, 30] +- goal: [23, 0] + name: agent43 + start: [4, 7] +- goal: [29, 17] + name: agent44 + start: [0, 11] +- goal: [15, 29] + name: agent45 + start: [18, 19] +- goal: [13, 14] + name: agent46 + start: [14, 15] +- goal: [17, 13] + name: agent47 + start: [12, 0] +- goal: [22, 15] + name: agent48 + start: [31, 0] +- goal: [1, 6] + name: agent49 + start: [15, 0] +- goal: [8, 13] + name: agent50 + start: [17, 2] +- goal: [11, 20] + name: agent51 + start: [23, 3] +- goal: [31, 29] + name: agent52 + start: [16, 29] +- goal: [6, 24] + name: agent53 + start: [1, 25] +- goal: [10, 28] + name: agent54 + start: [26, 19] +- goal: [9, 26] + name: agent55 + start: [13, 8] +- goal: [28, 15] + name: agent56 + start: [13, 18] +- goal: [5, 4] + name: agent57 + start: [10, 27] +- goal: [1, 23] + name: agent58 + start: [11, 9] +- goal: [4, 23] + name: agent59 + start: [10, 0] +- goal: [23, 1] + name: agent60 + start: [22, 4] +- goal: [27, 1] + name: agent61 + start: [13, 14] +- goal: [14, 3] + name: agent62 + start: [29, 10] +- goal: [1, 10] + name: agent63 + start: [0, 9] +- goal: [6, 26] + name: agent64 + start: [13, 29] +- goal: [13, 3] + name: agent65 + start: [9, 7] +- goal: [27, 4] + name: agent66 + start: [12, 28] +- goal: [9, 14] + name: agent67 + start: [23, 5] +- goal: [24, 25] + name: agent68 + start: [13, 7] +- goal: [30, 29] + name: agent69 + start: [16, 3] +- goal: [31, 14] + name: agent70 + start: [1, 5] +- goal: [3, 9] + name: agent71 + start: [20, 7] +- goal: [25, 8] + name: agent72 + start: [13, 1] +- goal: [4, 4] + name: agent73 + start: [5, 9] +- goal: [14, 7] + name: agent74 + start: [30, 9] +- goal: [0, 12] + name: agent75 + start: [9, 12] +- goal: [24, 15] + name: agent76 + start: [31, 15] +- goal: [7, 24] + name: agent77 + start: [29, 29] +- goal: [5, 7] + name: agent78 + start: [14, 3] +- goal: [18, 10] + name: agent79 + start: [24, 15] +- goal: [30, 6] + name: agent80 + start: [5, 11] +- goal: [7, 31] + name: agent81 + start: [23, 15] +- goal: [25, 4] + name: agent82 + start: [28, 11] +- goal: [15, 12] + name: agent83 + start: [5, 18] +- goal: [3, 22] + name: agent84 + start: [13, 21] +- goal: [21, 22] + name: agent85 + start: [30, 17] +- goal: [10, 4] + name: agent86 + start: [26, 26] +- goal: [18, 12] + name: agent87 + start: [21, 20] +- goal: [17, 20] + name: agent88 + start: [8, 6] +- goal: [20, 13] + name: agent89 + start: [6, 15] +- goal: [23, 28] + name: agent90 + start: [18, 17] +- goal: [19, 4] + name: agent91 + start: [31, 23] +- goal: [10, 11] + name: agent92 + start: [29, 2] +- goal: [7, 14] + name: agent93 + start: [25, 5] +- goal: [7, 10] + name: agent94 + start: [12, 23] +- goal: [27, 30] + name: agent95 + start: [20, 18] +- goal: [1, 24] + name: agent96 + start: [3, 13] +- goal: [22, 29] + name: agent97 + start: [29, 24] +- goal: [21, 6] + name: agent98 + start: [3, 6] +- goal: [6, 30] + name: agent99 + start: [20, 10] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [28, 27] + - !!python/tuple [1, 8] + - !!python/tuple [23, 27] + - !!python/tuple [7, 26] + - !!python/tuple [0, 0] + - !!python/tuple [24, 20] + - !!python/tuple [7, 7] + - !!python/tuple [0, 25] + - !!python/tuple [3, 31] + - !!python/tuple [11, 12] + - !!python/tuple [2, 20] + - !!python/tuple [14, 9] + - !!python/tuple [13, 9] + - !!python/tuple [16, 22] + - !!python/tuple [5, 5] + - !!python/tuple [6, 9] + - !!python/tuple [28, 6] + - !!python/tuple [26, 20] + - !!python/tuple [17, 30] + - !!python/tuple [19, 9] + - !!python/tuple [20, 15] + - !!python/tuple [13, 25] + - !!python/tuple [26, 11] + - !!python/tuple [24, 18] + - !!python/tuple [17, 21] + - !!python/tuple [15, 30] + - !!python/tuple [19, 16] + - !!python/tuple [27, 11] + - !!python/tuple [18, 21] + - !!python/tuple [20, 23] + - !!python/tuple [3, 8] + - !!python/tuple [5, 27] + - !!python/tuple [15, 26] + - !!python/tuple [9, 21] + - !!python/tuple [3, 14] + - !!python/tuple [28, 14] + - !!python/tuple [31, 28] + - !!python/tuple [0, 24] + - !!python/tuple [30, 16] + - !!python/tuple [26, 2] + - !!python/tuple [24, 13] + - !!python/tuple [17, 24] + - !!python/tuple [7, 21] + - !!python/tuple [11, 22] + - !!python/tuple [27, 7] + - !!python/tuple [28, 8] + - !!python/tuple [15, 15] + - !!python/tuple [28, 26] + - !!python/tuple [24, 14] + - !!python/tuple [14, 8] + - !!python/tuple [5, 23] + - !!python/tuple [29, 9] + - !!python/tuple [6, 1] + - !!python/tuple [9, 13] + - !!python/tuple [21, 13] + - !!python/tuple [13, 22] + - !!python/tuple [15, 31] + - !!python/tuple [19, 17] + - !!python/tuple [15, 17] + - !!python/tuple [6, 23] + - !!python/tuple [4, 18] + - !!python/tuple [4, 17] + - !!python/tuple [16, 27] + - !!python/tuple [13, 30] + - !!python/tuple [30, 10] + - !!python/tuple [30, 26] + - !!python/tuple [12, 18] + - !!python/tuple [11, 29] + - !!python/tuple [5, 21] + - !!python/tuple [2, 19] + - !!python/tuple [1, 15] + - !!python/tuple [3, 17] + - !!python/tuple [10, 23] + - !!python/tuple [2, 11] + - !!python/tuple [20, 25] + - !!python/tuple [25, 24] + - !!python/tuple [15, 4] + - !!python/tuple [20, 17] + - !!python/tuple [19, 10] + - !!python/tuple [19, 31] + - !!python/tuple [11, 7] + - !!python/tuple [12, 7] + - !!python/tuple [14, 17] + - !!python/tuple [5, 19] + - !!python/tuple [3, 1] + - !!python/tuple [0, 10] + - !!python/tuple [22, 6] + - !!python/tuple [0, 15] + - !!python/tuple [30, 24] + - !!python/tuple [28, 21] + - !!python/tuple [28, 16] + - !!python/tuple [19, 12] + - !!python/tuple [12, 27] + - !!python/tuple [17, 25] + - !!python/tuple [10, 13] + - !!python/tuple [2, 16] + - !!python/tuple [6, 6] + - !!python/tuple [25, 7] + - !!python/tuple [7, 12] + - !!python/tuple [31, 12] + - !!python/tuple [26, 0] + - !!python/tuple [24, 24] + - !!python/tuple [10, 12] + - !!python/tuple [26, 5] + - !!python/tuple [9, 22] + - !!python/tuple [28, 22] + - !!python/tuple [8, 21] + - !!python/tuple [27, 20] + - !!python/tuple [22, 25] + - !!python/tuple [21, 28] + - !!python/tuple [25, 21] + - !!python/tuple [0, 27] + - !!python/tuple [2, 9] + - !!python/tuple [2, 23] + - !!python/tuple [12, 4] + - !!python/tuple [22, 13] + - !!python/tuple [24, 11] + - !!python/tuple [29, 8] + - !!python/tuple [8, 15] + - !!python/tuple [6, 10] + - !!python/tuple [11, 30] + - !!python/tuple [25, 28] + - !!python/tuple [9, 20] + - !!python/tuple [4, 14] + - !!python/tuple [16, 24] + - !!python/tuple [9, 18] + - !!python/tuple [24, 19] + - !!python/tuple [7, 22] + - !!python/tuple [14, 24] + - !!python/tuple [18, 15] + - !!python/tuple [5, 15] + - !!python/tuple [0, 23] + - !!python/tuple [8, 25] + - !!python/tuple [20, 24] + - !!python/tuple [2, 12] + - !!python/tuple [2, 10] + - !!python/tuple [4, 9] + - !!python/tuple [25, 13] + - !!python/tuple [8, 9] + - !!python/tuple [4, 1] + - !!python/tuple [2, 8] + - !!python/tuple [24, 23] + - !!python/tuple [17, 19] + - !!python/tuple [23, 13] + - !!python/tuple [25, 18] + - !!python/tuple [13, 4] + - !!python/tuple [17, 14] + - !!python/tuple [3, 19] + - !!python/tuple [12, 12] + - !!python/tuple [24, 0] + - !!python/tuple [20, 4] + - !!python/tuple [15, 18] + - !!python/tuple [31, 6] + - !!python/tuple [11, 17] + - !!python/tuple [23, 21] + - !!python/tuple [5, 26] + - !!python/tuple [25, 9] + - !!python/tuple [8, 17] + - !!python/tuple [20, 9] + - !!python/tuple [14, 0] + - !!python/tuple [29, 28] + - !!python/tuple [20, 27] + - !!python/tuple [13, 10] + - !!python/tuple [8, 28] + - !!python/tuple [11, 18] + - !!python/tuple [7, 0] + - !!python/tuple [6, 16] + - !!python/tuple [26, 23] + - !!python/tuple [0, 17] + - !!python/tuple [8, 18] + - !!python/tuple [5, 20] + - !!python/tuple [9, 15] + - !!python/tuple [1, 17] + - !!python/tuple [27, 23] + - !!python/tuple [31, 4] + - !!python/tuple [2, 30] + - !!python/tuple [25, 26] + - !!python/tuple [9, 28] + - !!python/tuple [13, 23] + - !!python/tuple [1, 14] + - !!python/tuple [7, 30] + - !!python/tuple [17, 27] + - !!python/tuple [22, 8] + - !!python/tuple [30, 27] + - !!python/tuple [31, 30] + - !!python/tuple [24, 22] + - !!python/tuple [18, 13] + - !!python/tuple [0, 1] + - !!python/tuple [28, 25] + - !!python/tuple [20, 2] + - !!python/tuple [15, 3] + - !!python/tuple [4, 22] + - !!python/tuple [8, 12] + - !!python/tuple [22, 16] + - !!python/tuple [24, 1] + - !!python/tuple [17, 6] + - !!python/tuple [15, 10] + - !!python/tuple [19, 5] + - !!python/tuple [18, 31] + - !!python/tuple [14, 11] + - !!python/tuple [4, 11] + - !!python/tuple [31, 27] + - !!python/tuple [26, 30] + - !!python/tuple [17, 26] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex78.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex78.yaml new file mode 100644 index 0000000..721301b --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex78.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [24, 13] + name: agent0 + start: [24, 10] +- goal: [28, 10] + name: agent1 + start: [11, 26] +- goal: [7, 18] + name: agent2 + start: [8, 13] +- goal: [14, 12] + name: agent3 + start: [14, 21] +- goal: [9, 11] + name: agent4 + start: [14, 0] +- goal: [12, 19] + name: agent5 + start: [16, 13] +- goal: [12, 17] + name: agent6 + start: [28, 28] +- goal: [22, 9] + name: agent7 + start: [17, 6] +- goal: [20, 7] + name: agent8 + start: [30, 18] +- goal: [31, 0] + name: agent9 + start: [6, 0] +- goal: [17, 18] + name: agent10 + start: [4, 3] +- goal: [13, 10] + name: agent11 + start: [5, 29] +- goal: [24, 7] + name: agent12 + start: [16, 6] +- goal: [26, 27] + name: agent13 + start: [2, 10] +- goal: [2, 3] + name: agent14 + start: [25, 12] +- goal: [19, 8] + name: agent15 + start: [17, 1] +- goal: [6, 9] + name: agent16 + start: [0, 11] +- goal: [11, 12] + name: agent17 + start: [11, 23] +- goal: [6, 1] + name: agent18 + start: [15, 3] +- goal: [20, 11] + name: agent19 + start: [8, 28] +- goal: [11, 16] + name: agent20 + start: [16, 5] +- goal: [20, 9] + name: agent21 + start: [0, 7] +- goal: [1, 2] + name: agent22 + start: [12, 28] +- goal: [2, 25] + name: agent23 + start: [0, 2] +- goal: [0, 8] + name: agent24 + start: [19, 18] +- goal: [18, 19] + name: agent25 + start: [15, 0] +- goal: [4, 5] + name: agent26 + start: [8, 16] +- goal: [16, 16] + name: agent27 + start: [24, 29] +- goal: [24, 6] + name: agent28 + start: [10, 1] +- goal: [9, 28] + name: agent29 + start: [22, 0] +- goal: [24, 5] + name: agent30 + start: [7, 23] +- goal: [5, 24] + name: agent31 + start: [25, 7] +- goal: [8, 1] + name: agent32 + start: [11, 8] +- goal: [4, 19] + name: agent33 + start: [9, 21] +- goal: [13, 4] + name: agent34 + start: [11, 30] +- goal: [29, 12] + name: agent35 + start: [26, 16] +- goal: [20, 24] + name: agent36 + start: [31, 7] +- goal: [17, 26] + name: agent37 + start: [2, 9] +- goal: [18, 24] + name: agent38 + start: [29, 1] +- goal: [7, 2] + name: agent39 + start: [26, 9] +- goal: [9, 3] + name: agent40 + start: [19, 25] +- goal: [18, 21] + name: agent41 + start: [2, 20] +- goal: [26, 16] + name: agent42 + start: [1, 29] +- goal: [27, 13] + name: agent43 + start: [23, 15] +- goal: [24, 11] + name: agent44 + start: [5, 16] +- goal: [10, 10] + name: agent45 + start: [2, 14] +- goal: [5, 1] + name: agent46 + start: [24, 1] +- goal: [21, 26] + name: agent47 + start: [28, 25] +- goal: [1, 5] + name: agent48 + start: [16, 23] +- goal: [13, 30] + name: agent49 + start: [14, 12] +- goal: [21, 18] + name: agent50 + start: [29, 11] +- goal: [26, 11] + name: agent51 + start: [0, 0] +- goal: [20, 16] + name: agent52 + start: [28, 12] +- goal: [2, 18] + name: agent53 + start: [31, 25] +- goal: [1, 23] + name: agent54 + start: [8, 31] +- goal: [2, 8] + name: agent55 + start: [4, 10] +- goal: [10, 3] + name: agent56 + start: [3, 1] +- goal: [20, 25] + name: agent57 + start: [1, 4] +- goal: [13, 18] + name: agent58 + start: [24, 22] +- goal: [11, 18] + name: agent59 + start: [17, 3] +- goal: [23, 13] + name: agent60 + start: [22, 25] +- goal: [14, 16] + name: agent61 + start: [17, 23] +- goal: [6, 27] + name: agent62 + start: [18, 22] +- goal: [17, 24] + name: agent63 + start: [0, 18] +- goal: [5, 31] + name: agent64 + start: [30, 1] +- goal: [16, 0] + name: agent65 + start: [17, 7] +- goal: [13, 12] + name: agent66 + start: [8, 7] +- goal: [0, 25] + name: agent67 + start: [31, 9] +- goal: [24, 25] + name: agent68 + start: [5, 18] +- goal: [21, 7] + name: agent69 + start: [11, 31] +- goal: [14, 3] + name: agent70 + start: [1, 12] +- goal: [28, 11] + name: agent71 + start: [0, 16] +- goal: [17, 1] + name: agent72 + start: [20, 10] +- goal: [31, 29] + name: agent73 + start: [5, 14] +- goal: [29, 16] + name: agent74 + start: [11, 0] +- goal: [7, 26] + name: agent75 + start: [23, 4] +- goal: [22, 19] + name: agent76 + start: [15, 12] +- goal: [8, 25] + name: agent77 + start: [20, 17] +- goal: [17, 9] + name: agent78 + start: [2, 26] +- goal: [19, 13] + name: agent79 + start: [6, 15] +- goal: [30, 21] + name: agent80 + start: [14, 1] +- goal: [29, 25] + name: agent81 + start: [24, 9] +- goal: [23, 8] + name: agent82 + start: [8, 4] +- goal: [2, 12] + name: agent83 + start: [26, 1] +- goal: [10, 9] + name: agent84 + start: [29, 5] +- goal: [26, 26] + name: agent85 + start: [31, 28] +- goal: [13, 7] + name: agent86 + start: [30, 17] +- goal: [29, 7] + name: agent87 + start: [23, 8] +- goal: [22, 18] + name: agent88 + start: [6, 24] +- goal: [27, 24] + name: agent89 + start: [22, 23] +- goal: [18, 31] + name: agent90 + start: [2, 27] +- goal: [2, 26] + name: agent91 + start: [25, 18] +- goal: [19, 5] + name: agent92 + start: [12, 25] +- goal: [23, 16] + name: agent93 + start: [25, 17] +- goal: [16, 24] + name: agent94 + start: [27, 0] +- goal: [6, 2] + name: agent95 + start: [2, 24] +- goal: [31, 24] + name: agent96 + start: [18, 16] +- goal: [21, 17] + name: agent97 + start: [16, 2] +- goal: [29, 19] + name: agent98 + start: [4, 5] +- goal: [4, 30] + name: agent99 + start: [18, 30] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [18, 2] + - !!python/tuple [31, 27] + - !!python/tuple [5, 26] + - !!python/tuple [31, 1] + - !!python/tuple [20, 19] + - !!python/tuple [0, 28] + - !!python/tuple [2, 4] + - !!python/tuple [28, 16] + - !!python/tuple [0, 15] + - !!python/tuple [0, 6] + - !!python/tuple [13, 15] + - !!python/tuple [1, 6] + - !!python/tuple [18, 12] + - !!python/tuple [9, 29] + - !!python/tuple [30, 14] + - !!python/tuple [9, 18] + - !!python/tuple [15, 26] + - !!python/tuple [18, 3] + - !!python/tuple [13, 17] + - !!python/tuple [19, 28] + - !!python/tuple [3, 23] + - !!python/tuple [3, 31] + - !!python/tuple [19, 21] + - !!python/tuple [26, 20] + - !!python/tuple [23, 2] + - !!python/tuple [30, 26] + - !!python/tuple [16, 8] + - !!python/tuple [31, 14] + - !!python/tuple [3, 14] + - !!python/tuple [27, 25] + - !!python/tuple [24, 31] + - !!python/tuple [7, 11] + - !!python/tuple [28, 9] + - !!python/tuple [28, 13] + - !!python/tuple [29, 13] + - !!python/tuple [3, 17] + - !!python/tuple [5, 19] + - !!python/tuple [30, 8] + - !!python/tuple [25, 23] + - !!python/tuple [24, 30] + - !!python/tuple [16, 26] + - !!python/tuple [31, 18] + - !!python/tuple [9, 31] + - !!python/tuple [28, 31] + - !!python/tuple [10, 21] + - !!python/tuple [18, 18] + - !!python/tuple [30, 9] + - !!python/tuple [26, 21] + - !!python/tuple [28, 30] + - !!python/tuple [31, 22] + - !!python/tuple [7, 19] + - !!python/tuple [28, 15] + - !!python/tuple [3, 8] + - !!python/tuple [25, 28] + - !!python/tuple [20, 20] + - !!python/tuple [1, 7] + - !!python/tuple [30, 2] + - !!python/tuple [10, 12] + - !!python/tuple [0, 24] + - !!python/tuple [13, 29] + - !!python/tuple [25, 5] + - !!python/tuple [7, 9] + - !!python/tuple [12, 7] + - !!python/tuple [11, 19] + - !!python/tuple [1, 24] + - !!python/tuple [0, 31] + - !!python/tuple [14, 4] + - !!python/tuple [22, 22] + - !!python/tuple [0, 9] + - !!python/tuple [0, 5] + - !!python/tuple [23, 22] + - !!python/tuple [26, 18] + - !!python/tuple [13, 1] + - !!python/tuple [20, 3] + - !!python/tuple [14, 15] + - !!python/tuple [13, 27] + - !!python/tuple [24, 21] + - !!python/tuple [4, 6] + - !!python/tuple [10, 23] + - !!python/tuple [2, 13] + - !!python/tuple [30, 13] + - !!python/tuple [12, 11] + - !!python/tuple [26, 2] + - !!python/tuple [4, 31] + - !!python/tuple [12, 21] + - !!python/tuple [19, 24] + - !!python/tuple [27, 7] + - !!python/tuple [22, 16] + - !!python/tuple [18, 20] + - !!python/tuple [27, 11] + - !!python/tuple [11, 15] + - !!python/tuple [30, 6] + - !!python/tuple [14, 30] + - !!python/tuple [15, 16] + - !!python/tuple [9, 13] + - !!python/tuple [18, 27] + - !!python/tuple [12, 18] + - !!python/tuple [29, 8] + - !!python/tuple [19, 19] + - !!python/tuple [2, 7] + - !!python/tuple [12, 24] + - !!python/tuple [7, 27] + - !!python/tuple [29, 22] + - !!python/tuple [29, 3] + - !!python/tuple [5, 21] + - !!python/tuple [13, 5] + - !!python/tuple [16, 17] + - !!python/tuple [30, 16] + - !!python/tuple [15, 9] + - !!python/tuple [0, 10] + - !!python/tuple [17, 8] + - !!python/tuple [12, 22] + - !!python/tuple [28, 23] + - !!python/tuple [26, 29] + - !!python/tuple [26, 30] + - !!python/tuple [9, 15] + - !!python/tuple [4, 8] + - !!python/tuple [13, 20] + - !!python/tuple [9, 5] + - !!python/tuple [25, 0] + - !!python/tuple [7, 31] + - !!python/tuple [3, 29] + - !!python/tuple [26, 6] + - !!python/tuple [22, 15] + - !!python/tuple [8, 5] + - !!python/tuple [26, 5] + - !!python/tuple [8, 8] + - !!python/tuple [20, 15] + - !!python/tuple [24, 3] + - !!python/tuple [5, 0] + - !!python/tuple [5, 22] + - !!python/tuple [22, 26] + - !!python/tuple [10, 8] + - !!python/tuple [0, 4] + - !!python/tuple [23, 21] + - !!python/tuple [21, 0] + - !!python/tuple [26, 25] + - !!python/tuple [25, 22] + - !!python/tuple [22, 31] + - !!python/tuple [3, 24] + - !!python/tuple [1, 26] + - !!python/tuple [27, 10] + - !!python/tuple [26, 22] + - !!python/tuple [14, 13] + - !!python/tuple [14, 2] + - !!python/tuple [6, 31] + - !!python/tuple [3, 7] + - !!python/tuple [0, 30] + - !!python/tuple [9, 24] + - !!python/tuple [26, 13] + - !!python/tuple [4, 23] + - !!python/tuple [22, 13] + - !!python/tuple [4, 20] + - !!python/tuple [19, 31] + - !!python/tuple [10, 30] + - !!python/tuple [0, 3] + - !!python/tuple [10, 26] + - !!python/tuple [29, 18] + - !!python/tuple [27, 16] + - !!python/tuple [25, 1] + - !!python/tuple [30, 3] + - !!python/tuple [22, 4] + - !!python/tuple [9, 19] + - !!python/tuple [23, 30] + - !!python/tuple [1, 11] + - !!python/tuple [18, 9] + - !!python/tuple [4, 12] + - !!python/tuple [4, 1] + - !!python/tuple [8, 29] + - !!python/tuple [23, 12] + - !!python/tuple [1, 19] + - !!python/tuple [17, 22] + - !!python/tuple [23, 11] + - !!python/tuple [17, 28] + - !!python/tuple [12, 9] + - !!python/tuple [23, 31] + - !!python/tuple [14, 27] + - !!python/tuple [7, 17] + - !!python/tuple [2, 23] + - !!python/tuple [1, 18] + - !!python/tuple [12, 14] + - !!python/tuple [9, 25] + - !!python/tuple [24, 18] + - !!python/tuple [26, 3] + - !!python/tuple [31, 2] + - !!python/tuple [21, 29] + - !!python/tuple [11, 1] + - !!python/tuple [22, 10] + - !!python/tuple [28, 17] + - !!python/tuple [22, 5] + - !!python/tuple [21, 12] + - !!python/tuple [14, 29] + - !!python/tuple [26, 8] + - !!python/tuple [5, 9] + - !!python/tuple [12, 26] + - !!python/tuple [1, 15] + - !!python/tuple [7, 28] + - !!python/tuple [25, 26] + - !!python/tuple [30, 22] + - !!python/tuple [6, 30] + - !!python/tuple [7, 20] + - !!python/tuple [23, 23] + - !!python/tuple [3, 5] + - !!python/tuple [20, 30] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex79.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex79.yaml new file mode 100644 index 0000000..41185d4 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex79.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [2, 14] + name: agent0 + start: [6, 22] +- goal: [15, 17] + name: agent1 + start: [12, 11] +- goal: [20, 29] + name: agent2 + start: [2, 29] +- goal: [6, 24] + name: agent3 + start: [13, 19] +- goal: [25, 24] + name: agent4 + start: [19, 21] +- goal: [27, 27] + name: agent5 + start: [9, 19] +- goal: [24, 2] + name: agent6 + start: [26, 28] +- goal: [6, 9] + name: agent7 + start: [12, 31] +- goal: [30, 1] + name: agent8 + start: [15, 31] +- goal: [4, 13] + name: agent9 + start: [25, 0] +- goal: [0, 10] + name: agent10 + start: [23, 21] +- goal: [24, 19] + name: agent11 + start: [28, 4] +- goal: [24, 31] + name: agent12 + start: [25, 2] +- goal: [7, 18] + name: agent13 + start: [27, 19] +- goal: [23, 4] + name: agent14 + start: [22, 11] +- goal: [22, 8] + name: agent15 + start: [5, 6] +- goal: [27, 6] + name: agent16 + start: [0, 1] +- goal: [6, 31] + name: agent17 + start: [3, 1] +- goal: [30, 22] + name: agent18 + start: [30, 7] +- goal: [12, 20] + name: agent19 + start: [19, 17] +- goal: [27, 20] + name: agent20 + start: [22, 20] +- goal: [17, 22] + name: agent21 + start: [21, 22] +- goal: [26, 12] + name: agent22 + start: [17, 18] +- goal: [23, 26] + name: agent23 + start: [11, 0] +- goal: [18, 23] + name: agent24 + start: [15, 25] +- goal: [22, 7] + name: agent25 + start: [4, 30] +- goal: [31, 6] + name: agent26 + start: [22, 28] +- goal: [27, 23] + name: agent27 + start: [6, 24] +- goal: [1, 31] + name: agent28 + start: [1, 15] +- goal: [3, 26] + name: agent29 + start: [8, 20] +- goal: [13, 31] + name: agent30 + start: [28, 27] +- goal: [16, 4] + name: agent31 + start: [19, 2] +- goal: [4, 23] + name: agent32 + start: [8, 28] +- goal: [12, 23] + name: agent33 + start: [13, 12] +- goal: [3, 15] + name: agent34 + start: [18, 3] +- goal: [24, 28] + name: agent35 + start: [5, 13] +- goal: [9, 4] + name: agent36 + start: [16, 14] +- goal: [17, 15] + name: agent37 + start: [15, 6] +- goal: [25, 1] + name: agent38 + start: [7, 22] +- goal: [5, 24] + name: agent39 + start: [0, 26] +- goal: [20, 4] + name: agent40 + start: [22, 5] +- goal: [18, 16] + name: agent41 + start: [29, 28] +- goal: [12, 6] + name: agent42 + start: [13, 8] +- goal: [4, 15] + name: agent43 + start: [29, 16] +- goal: [21, 7] + name: agent44 + start: [14, 25] +- goal: [26, 0] + name: agent45 + start: [20, 11] +- goal: [9, 12] + name: agent46 + start: [22, 15] +- goal: [27, 18] + name: agent47 + start: [3, 4] +- goal: [5, 6] + name: agent48 + start: [12, 24] +- goal: [4, 19] + name: agent49 + start: [24, 20] +- goal: [8, 20] + name: agent50 + start: [16, 5] +- goal: [25, 6] + name: agent51 + start: [5, 24] +- goal: [18, 9] + name: agent52 + start: [29, 3] +- goal: [17, 13] + name: agent53 + start: [11, 6] +- goal: [15, 1] + name: agent54 + start: [21, 31] +- goal: [20, 24] + name: agent55 + start: [30, 13] +- goal: [9, 16] + name: agent56 + start: [22, 16] +- goal: [1, 19] + name: agent57 + start: [8, 5] +- goal: [30, 25] + name: agent58 + start: [3, 30] +- goal: [31, 18] + name: agent59 + start: [22, 18] +- goal: [11, 28] + name: agent60 + start: [24, 1] +- goal: [18, 20] + name: agent61 + start: [30, 25] +- goal: [26, 4] + name: agent62 + start: [20, 23] +- goal: [19, 14] + name: agent63 + start: [29, 11] +- goal: [5, 15] + name: agent64 + start: [9, 5] +- goal: [2, 2] + name: agent65 + start: [15, 5] +- goal: [1, 27] + name: agent66 + start: [18, 28] +- goal: [26, 21] + name: agent67 + start: [24, 6] +- goal: [12, 28] + name: agent68 + start: [28, 21] +- goal: [9, 10] + name: agent69 + start: [7, 12] +- goal: [31, 4] + name: agent70 + start: [13, 23] +- goal: [15, 11] + name: agent71 + start: [12, 27] +- goal: [28, 16] + name: agent72 + start: [4, 14] +- goal: [2, 9] + name: agent73 + start: [11, 3] +- goal: [4, 27] + name: agent74 + start: [23, 13] +- goal: [27, 17] + name: agent75 + start: [9, 28] +- goal: [17, 26] + name: agent76 + start: [6, 27] +- goal: [6, 19] + name: agent77 + start: [3, 10] +- goal: [14, 22] + name: agent78 + start: [4, 25] +- goal: [27, 29] + name: agent79 + start: [4, 22] +- goal: [11, 10] + name: agent80 + start: [5, 27] +- goal: [12, 12] + name: agent81 + start: [22, 0] +- goal: [31, 19] + name: agent82 + start: [1, 2] +- goal: [21, 31] + name: agent83 + start: [21, 27] +- goal: [26, 28] + name: agent84 + start: [14, 24] +- goal: [28, 22] + name: agent85 + start: [5, 9] +- goal: [20, 1] + name: agent86 + start: [28, 30] +- goal: [7, 3] + name: agent87 + start: [21, 0] +- goal: [3, 5] + name: agent88 + start: [16, 30] +- goal: [5, 7] + name: agent89 + start: [28, 19] +- goal: [1, 15] + name: agent90 + start: [20, 25] +- goal: [23, 8] + name: agent91 + start: [10, 6] +- goal: [26, 20] + name: agent92 + start: [25, 31] +- goal: [16, 11] + name: agent93 + start: [20, 22] +- goal: [0, 22] + name: agent94 + start: [18, 31] +- goal: [14, 27] + name: agent95 + start: [28, 9] +- goal: [3, 13] + name: agent96 + start: [17, 26] +- goal: [21, 27] + name: agent97 + start: [6, 21] +- goal: [2, 20] + name: agent98 + start: [27, 20] +- goal: [17, 18] + name: agent99 + start: [3, 6] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [18, 0] + - !!python/tuple [18, 19] + - !!python/tuple [13, 3] + - !!python/tuple [31, 25] + - !!python/tuple [24, 5] + - !!python/tuple [16, 19] + - !!python/tuple [15, 18] + - !!python/tuple [2, 4] + - !!python/tuple [19, 28] + - !!python/tuple [26, 6] + - !!python/tuple [26, 15] + - !!python/tuple [11, 22] + - !!python/tuple [15, 4] + - !!python/tuple [29, 31] + - !!python/tuple [29, 8] + - !!python/tuple [31, 0] + - !!python/tuple [18, 4] + - !!python/tuple [20, 9] + - !!python/tuple [4, 31] + - !!python/tuple [18, 6] + - !!python/tuple [5, 8] + - !!python/tuple [2, 18] + - !!python/tuple [17, 31] + - !!python/tuple [2, 0] + - !!python/tuple [22, 25] + - !!python/tuple [29, 27] + - !!python/tuple [7, 1] + - !!python/tuple [0, 2] + - !!python/tuple [6, 13] + - !!python/tuple [23, 15] + - !!python/tuple [29, 6] + - !!python/tuple [29, 1] + - !!python/tuple [16, 31] + - !!python/tuple [8, 31] + - !!python/tuple [0, 19] + - !!python/tuple [21, 26] + - !!python/tuple [6, 7] + - !!python/tuple [30, 0] + - !!python/tuple [12, 7] + - !!python/tuple [28, 7] + - !!python/tuple [2, 6] + - !!python/tuple [6, 23] + - !!python/tuple [10, 24] + - !!python/tuple [31, 13] + - !!python/tuple [0, 6] + - !!python/tuple [10, 29] + - !!python/tuple [31, 3] + - !!python/tuple [3, 28] + - !!python/tuple [22, 12] + - !!python/tuple [17, 16] + - !!python/tuple [0, 17] + - !!python/tuple [28, 0] + - !!python/tuple [4, 16] + - !!python/tuple [14, 17] + - !!python/tuple [16, 13] + - !!python/tuple [8, 27] + - !!python/tuple [26, 24] + - !!python/tuple [22, 30] + - !!python/tuple [19, 0] + - !!python/tuple [12, 3] + - !!python/tuple [15, 24] + - !!python/tuple [21, 19] + - !!python/tuple [18, 7] + - !!python/tuple [18, 12] + - !!python/tuple [28, 1] + - !!python/tuple [6, 12] + - !!python/tuple [19, 12] + - !!python/tuple [6, 1] + - !!python/tuple [5, 16] + - !!python/tuple [0, 23] + - !!python/tuple [22, 21] + - !!python/tuple [8, 22] + - !!python/tuple [11, 16] + - !!python/tuple [8, 7] + - !!python/tuple [26, 2] + - !!python/tuple [20, 7] + - !!python/tuple [28, 3] + - !!python/tuple [0, 18] + - !!python/tuple [0, 8] + - !!python/tuple [31, 14] + - !!python/tuple [8, 29] + - !!python/tuple [16, 9] + - !!python/tuple [21, 10] + - !!python/tuple [10, 12] + - !!python/tuple [9, 23] + - !!python/tuple [25, 23] + - !!python/tuple [16, 17] + - !!python/tuple [30, 19] + - !!python/tuple [27, 0] + - !!python/tuple [16, 21] + - !!python/tuple [13, 30] + - !!python/tuple [8, 3] + - !!python/tuple [7, 23] + - !!python/tuple [22, 10] + - !!python/tuple [21, 24] + - !!python/tuple [23, 12] + - !!python/tuple [10, 3] + - !!python/tuple [20, 12] + - !!python/tuple [3, 31] + - !!python/tuple [4, 24] + - !!python/tuple [1, 4] + - !!python/tuple [24, 11] + - !!python/tuple [13, 15] + - !!python/tuple [13, 7] + - !!python/tuple [28, 2] + - !!python/tuple [22, 14] + - !!python/tuple [22, 2] + - !!python/tuple [28, 13] + - !!python/tuple [11, 4] + - !!python/tuple [22, 13] + - !!python/tuple [27, 10] + - !!python/tuple [23, 30] + - !!python/tuple [11, 18] + - !!python/tuple [16, 10] + - !!python/tuple [30, 17] + - !!python/tuple [3, 22] + - !!python/tuple [25, 16] + - !!python/tuple [21, 16] + - !!python/tuple [8, 17] + - !!python/tuple [12, 0] + - !!python/tuple [30, 18] + - !!python/tuple [26, 25] + - !!python/tuple [14, 20] + - !!python/tuple [20, 10] + - !!python/tuple [14, 30] + - !!python/tuple [11, 15] + - !!python/tuple [7, 25] + - !!python/tuple [4, 26] + - !!python/tuple [20, 19] + - !!python/tuple [2, 22] + - !!python/tuple [15, 13] + - !!python/tuple [1, 21] + - !!python/tuple [28, 8] + - !!python/tuple [7, 11] + - !!python/tuple [7, 27] + - !!python/tuple [31, 28] + - !!python/tuple [29, 2] + - !!python/tuple [19, 22] + - !!python/tuple [28, 18] + - !!python/tuple [3, 12] + - !!python/tuple [29, 5] + - !!python/tuple [1, 3] + - !!python/tuple [26, 5] + - !!python/tuple [2, 7] + - !!python/tuple [11, 23] + - !!python/tuple [7, 31] + - !!python/tuple [12, 16] + - !!python/tuple [9, 17] + - !!python/tuple [10, 7] + - !!python/tuple [13, 22] + - !!python/tuple [7, 29] + - !!python/tuple [13, 14] + - !!python/tuple [17, 11] + - !!python/tuple [12, 5] + - !!python/tuple [20, 30] + - !!python/tuple [21, 5] + - !!python/tuple [17, 7] + - !!python/tuple [17, 9] + - !!python/tuple [16, 23] + - !!python/tuple [4, 18] + - !!python/tuple [10, 22] + - !!python/tuple [7, 4] + - !!python/tuple [24, 15] + - !!python/tuple [23, 11] + - !!python/tuple [8, 0] + - !!python/tuple [14, 11] + - !!python/tuple [1, 29] + - !!python/tuple [3, 11] + - !!python/tuple [12, 9] + - !!python/tuple [3, 25] + - !!python/tuple [13, 1] + - !!python/tuple [11, 17] + - !!python/tuple [21, 14] + - !!python/tuple [6, 26] + - !!python/tuple [31, 11] + - !!python/tuple [4, 0] + - !!python/tuple [5, 28] + - !!python/tuple [18, 27] + - !!python/tuple [29, 30] + - !!python/tuple [5, 17] + - !!python/tuple [26, 11] + - !!python/tuple [26, 19] + - !!python/tuple [27, 25] + - !!python/tuple [12, 18] + - !!python/tuple [11, 13] + - !!python/tuple [13, 0] + - !!python/tuple [22, 19] + - !!python/tuple [14, 31] + - !!python/tuple [1, 13] + - !!python/tuple [27, 13] + - !!python/tuple [15, 19] + - !!python/tuple [20, 3] + - !!python/tuple [4, 8] + - !!python/tuple [15, 9] + - !!python/tuple [0, 29] + - !!python/tuple [18, 11] + - !!python/tuple [5, 1] + - !!python/tuple [3, 21] + - !!python/tuple [4, 17] + - !!python/tuple [15, 3] + - !!python/tuple [9, 8] + - !!python/tuple [11, 12] + - !!python/tuple [29, 26] + - !!python/tuple [11, 25] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex8.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex8.yaml new file mode 100644 index 0000000..9abeb28 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex8.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [5, 23] + name: agent0 + start: [3, 0] +- goal: [31, 4] + name: agent1 + start: [31, 28] +- goal: [5, 26] + name: agent2 + start: [12, 1] +- goal: [7, 5] + name: agent3 + start: [27, 19] +- goal: [30, 7] + name: agent4 + start: [15, 31] +- goal: [10, 7] + name: agent5 + start: [16, 0] +- goal: [15, 8] + name: agent6 + start: [20, 11] +- goal: [30, 25] + name: agent7 + start: [20, 2] +- goal: [3, 17] + name: agent8 + start: [27, 7] +- goal: [14, 24] + name: agent9 + start: [22, 19] +- goal: [20, 25] + name: agent10 + start: [13, 12] +- goal: [18, 28] + name: agent11 + start: [4, 22] +- goal: [0, 21] + name: agent12 + start: [2, 10] +- goal: [7, 28] + name: agent13 + start: [19, 4] +- goal: [13, 18] + name: agent14 + start: [1, 5] +- goal: [4, 1] + name: agent15 + start: [13, 20] +- goal: [26, 31] + name: agent16 + start: [2, 13] +- goal: [11, 11] + name: agent17 + start: [23, 8] +- goal: [8, 31] + name: agent18 + start: [1, 11] +- goal: [16, 6] + name: agent19 + start: [8, 9] +- goal: [25, 26] + name: agent20 + start: [20, 20] +- goal: [23, 17] + name: agent21 + start: [21, 24] +- goal: [11, 18] + name: agent22 + start: [7, 11] +- goal: [21, 31] + name: agent23 + start: [1, 9] +- goal: [5, 16] + name: agent24 + start: [8, 16] +- goal: [12, 21] + name: agent25 + start: [12, 2] +- goal: [21, 19] + name: agent26 + start: [20, 12] +- goal: [21, 26] + name: agent27 + start: [10, 20] +- goal: [30, 1] + name: agent28 + start: [30, 24] +- goal: [24, 12] + name: agent29 + start: [8, 18] +- goal: [5, 25] + name: agent30 + start: [8, 30] +- goal: [30, 8] + name: agent31 + start: [29, 20] +- goal: [18, 24] + name: agent32 + start: [26, 22] +- goal: [8, 29] + name: agent33 + start: [24, 31] +- goal: [22, 14] + name: agent34 + start: [2, 11] +- goal: [14, 26] + name: agent35 + start: [14, 24] +- goal: [10, 15] + name: agent36 + start: [21, 16] +- goal: [13, 1] + name: agent37 + start: [24, 3] +- goal: [31, 14] + name: agent38 + start: [4, 9] +- goal: [25, 25] + name: agent39 + start: [30, 7] +- goal: [27, 12] + name: agent40 + start: [2, 23] +- goal: [25, 22] + name: agent41 + start: [22, 14] +- goal: [22, 30] + name: agent42 + start: [12, 4] +- goal: [4, 26] + name: agent43 + start: [8, 10] +- goal: [25, 16] + name: agent44 + start: [13, 15] +- goal: [16, 28] + name: agent45 + start: [15, 26] +- goal: [18, 5] + name: agent46 + start: [1, 29] +- goal: [9, 18] + name: agent47 + start: [17, 21] +- goal: [23, 0] + name: agent48 + start: [19, 2] +- goal: [11, 4] + name: agent49 + start: [25, 28] +- goal: [9, 3] + name: agent50 + start: [28, 24] +- goal: [13, 29] + name: agent51 + start: [7, 5] +- goal: [0, 22] + name: agent52 + start: [14, 8] +- goal: [0, 14] + name: agent53 + start: [22, 27] +- goal: [30, 11] + name: agent54 + start: [0, 20] +- goal: [28, 5] + name: agent55 + start: [17, 15] +- goal: [25, 19] + name: agent56 + start: [8, 6] +- goal: [21, 4] + name: agent57 + start: [0, 3] +- goal: [30, 23] + name: agent58 + start: [18, 3] +- goal: [23, 29] + name: agent59 + start: [8, 4] +- goal: [9, 26] + name: agent60 + start: [31, 30] +- goal: [15, 26] + name: agent61 + start: [4, 15] +- goal: [10, 26] + name: agent62 + start: [1, 27] +- goal: [4, 31] + name: agent63 + start: [27, 17] +- goal: [27, 5] + name: agent64 + start: [4, 24] +- goal: [25, 29] + name: agent65 + start: [27, 11] +- goal: [7, 12] + name: agent66 + start: [20, 23] +- goal: [23, 22] + name: agent67 + start: [28, 5] +- goal: [18, 9] + name: agent68 + start: [11, 0] +- goal: [5, 18] + name: agent69 + start: [8, 27] +- goal: [4, 7] + name: agent70 + start: [10, 25] +- goal: [15, 24] + name: agent71 + start: [26, 2] +- goal: [21, 1] + name: agent72 + start: [5, 25] +- goal: [14, 11] + name: agent73 + start: [24, 30] +- goal: [30, 18] + name: agent74 + start: [10, 24] +- goal: [26, 28] + name: agent75 + start: [23, 16] +- goal: [10, 20] + name: agent76 + start: [14, 0] +- goal: [5, 22] + name: agent77 + start: [24, 24] +- goal: [20, 2] + name: agent78 + start: [27, 26] +- goal: [11, 12] + name: agent79 + start: [17, 24] +- goal: [20, 20] + name: agent80 + start: [21, 15] +- goal: [10, 21] + name: agent81 + start: [16, 15] +- goal: [10, 23] + name: agent82 + start: [7, 18] +- goal: [14, 14] + name: agent83 + start: [1, 31] +- goal: [4, 4] + name: agent84 + start: [31, 14] +- goal: [11, 5] + name: agent85 + start: [10, 30] +- goal: [17, 29] + name: agent86 + start: [20, 10] +- goal: [12, 1] + name: agent87 + start: [27, 12] +- goal: [18, 7] + name: agent88 + start: [16, 17] +- goal: [0, 10] + name: agent89 + start: [22, 28] +- goal: [30, 19] + name: agent90 + start: [29, 10] +- goal: [23, 19] + name: agent91 + start: [27, 9] +- goal: [3, 0] + name: agent92 + start: [4, 13] +- goal: [15, 29] + name: agent93 + start: [26, 12] +- goal: [10, 13] + name: agent94 + start: [3, 11] +- goal: [12, 25] + name: agent95 + start: [4, 12] +- goal: [4, 15] + name: agent96 + start: [3, 20] +- goal: [16, 14] + name: agent97 + start: [26, 27] +- goal: [24, 23] + name: agent98 + start: [16, 1] +- goal: [14, 12] + name: agent99 + start: [26, 9] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [27, 21] + - !!python/tuple [13, 22] + - !!python/tuple [22, 20] + - !!python/tuple [7, 10] + - !!python/tuple [15, 10] + - !!python/tuple [21, 12] + - !!python/tuple [27, 8] + - !!python/tuple [3, 23] + - !!python/tuple [31, 13] + - !!python/tuple [13, 14] + - !!python/tuple [1, 25] + - !!python/tuple [26, 14] + - !!python/tuple [1, 21] + - !!python/tuple [6, 14] + - !!python/tuple [11, 16] + - !!python/tuple [12, 11] + - !!python/tuple [8, 22] + - !!python/tuple [8, 28] + - !!python/tuple [2, 14] + - !!python/tuple [3, 7] + - !!python/tuple [21, 13] + - !!python/tuple [30, 10] + - !!python/tuple [4, 17] + - !!python/tuple [15, 28] + - !!python/tuple [6, 29] + - !!python/tuple [17, 13] + - !!python/tuple [28, 30] + - !!python/tuple [27, 27] + - !!python/tuple [5, 3] + - !!python/tuple [30, 30] + - !!python/tuple [5, 15] + - !!python/tuple [30, 27] + - !!python/tuple [31, 27] + - !!python/tuple [0, 30] + - !!python/tuple [28, 9] + - !!python/tuple [4, 14] + - !!python/tuple [8, 23] + - !!python/tuple [5, 31] + - !!python/tuple [1, 12] + - !!python/tuple [29, 26] + - !!python/tuple [0, 7] + - !!python/tuple [3, 1] + - !!python/tuple [10, 31] + - !!python/tuple [22, 0] + - !!python/tuple [24, 11] + - !!python/tuple [22, 17] + - !!python/tuple [29, 30] + - !!python/tuple [15, 20] + - !!python/tuple [23, 28] + - !!python/tuple [27, 30] + - !!python/tuple [4, 5] + - !!python/tuple [8, 20] + - !!python/tuple [28, 22] + - !!python/tuple [6, 11] + - !!python/tuple [19, 19] + - !!python/tuple [26, 24] + - !!python/tuple [24, 5] + - !!python/tuple [20, 13] + - !!python/tuple [31, 11] + - !!python/tuple [29, 23] + - !!python/tuple [10, 14] + - !!python/tuple [1, 19] + - !!python/tuple [29, 24] + - !!python/tuple [13, 3] + - !!python/tuple [18, 26] + - !!python/tuple [8, 24] + - !!python/tuple [16, 21] + - !!python/tuple [21, 2] + - !!python/tuple [3, 5] + - !!python/tuple [2, 19] + - !!python/tuple [19, 20] + - !!python/tuple [15, 27] + - !!python/tuple [9, 16] + - !!python/tuple [31, 23] + - !!python/tuple [23, 10] + - !!python/tuple [7, 6] + - !!python/tuple [6, 0] + - !!python/tuple [7, 20] + - !!python/tuple [6, 26] + - !!python/tuple [2, 15] + - !!python/tuple [7, 29] + - !!python/tuple [30, 31] + - !!python/tuple [1, 18] + - !!python/tuple [11, 6] + - !!python/tuple [25, 6] + - !!python/tuple [7, 0] + - !!python/tuple [23, 23] + - !!python/tuple [29, 19] + - !!python/tuple [1, 23] + - !!python/tuple [5, 5] + - !!python/tuple [17, 2] + - !!python/tuple [6, 18] + - !!python/tuple [10, 19] + - !!python/tuple [7, 25] + - !!python/tuple [15, 2] + - !!python/tuple [26, 25] + - !!python/tuple [4, 3] + - !!python/tuple [24, 19] + - !!python/tuple [8, 19] + - !!python/tuple [6, 21] + - !!python/tuple [3, 29] + - !!python/tuple [31, 24] + - !!python/tuple [6, 23] + - !!python/tuple [24, 15] + - !!python/tuple [12, 17] + - !!python/tuple [13, 17] + - !!python/tuple [18, 25] + - !!python/tuple [29, 6] + - !!python/tuple [1, 10] + - !!python/tuple [17, 8] + - !!python/tuple [0, 28] + - !!python/tuple [18, 0] + - !!python/tuple [17, 6] + - !!python/tuple [11, 14] + - !!python/tuple [3, 9] + - !!python/tuple [4, 19] + - !!python/tuple [11, 1] + - !!python/tuple [26, 18] + - !!python/tuple [4, 23] + - !!python/tuple [7, 21] + - !!python/tuple [6, 9] + - !!python/tuple [8, 15] + - !!python/tuple [30, 16] + - !!python/tuple [2, 16] + - !!python/tuple [26, 20] + - !!python/tuple [20, 27] + - !!python/tuple [12, 8] + - !!python/tuple [22, 4] + - !!python/tuple [11, 10] + - !!python/tuple [9, 11] + - !!python/tuple [30, 14] + - !!python/tuple [22, 22] + - !!python/tuple [26, 8] + - !!python/tuple [17, 16] + - !!python/tuple [22, 13] + - !!python/tuple [25, 2] + - !!python/tuple [21, 22] + - !!python/tuple [19, 24] + - !!python/tuple [30, 4] + - !!python/tuple [25, 21] + - !!python/tuple [22, 9] + - !!python/tuple [15, 12] + - !!python/tuple [7, 4] + - !!python/tuple [24, 14] + - !!python/tuple [20, 22] + - !!python/tuple [4, 30] + - !!python/tuple [24, 0] + - !!python/tuple [18, 17] + - !!python/tuple [16, 12] + - !!python/tuple [7, 24] + - !!python/tuple [13, 7] + - !!python/tuple [14, 18] + - !!python/tuple [14, 30] + - !!python/tuple [29, 21] + - !!python/tuple [22, 6] + - !!python/tuple [19, 29] + - !!python/tuple [0, 31] + - !!python/tuple [5, 21] + - !!python/tuple [5, 27] + - !!python/tuple [17, 3] + - !!python/tuple [25, 10] + - !!python/tuple [24, 21] + - !!python/tuple [23, 21] + - !!python/tuple [0, 25] + - !!python/tuple [19, 30] + - !!python/tuple [26, 10] + - !!python/tuple [16, 8] + - !!python/tuple [28, 19] + - !!python/tuple [18, 2] + - !!python/tuple [27, 23] + - !!python/tuple [5, 17] + - !!python/tuple [29, 5] + - !!python/tuple [12, 16] + - !!python/tuple [18, 14] + - !!python/tuple [28, 1] + - !!python/tuple [15, 15] + - !!python/tuple [13, 11] + - !!python/tuple [11, 7] + - !!python/tuple [29, 14] + - !!python/tuple [12, 15] + - !!python/tuple [1, 26] + - !!python/tuple [29, 25] + - !!python/tuple [9, 17] + - !!python/tuple [22, 16] + - !!python/tuple [6, 15] + - !!python/tuple [15, 16] + - !!python/tuple [17, 12] + - !!python/tuple [23, 27] + - !!python/tuple [8, 2] + - !!python/tuple [8, 13] + - !!python/tuple [1, 30] + - !!python/tuple [3, 25] + - !!python/tuple [26, 26] + - !!python/tuple [16, 30] + - !!python/tuple [24, 17] + - !!python/tuple [6, 20] + - !!python/tuple [19, 0] + - !!python/tuple [29, 31] + - !!python/tuple [3, 10] + - !!python/tuple [4, 29] + - !!python/tuple [25, 24] + - !!python/tuple [5, 24] + - !!python/tuple [20, 30] + - !!python/tuple [21, 14] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex80.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex80.yaml new file mode 100644 index 0000000..0493b7b --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex80.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [31, 5] + name: agent0 + start: [1, 23] +- goal: [19, 6] + name: agent1 + start: [3, 10] +- goal: [26, 13] + name: agent2 + start: [18, 10] +- goal: [30, 26] + name: agent3 + start: [0, 22] +- goal: [1, 31] + name: agent4 + start: [19, 21] +- goal: [0, 3] + name: agent5 + start: [23, 14] +- goal: [13, 11] + name: agent6 + start: [29, 8] +- goal: [17, 5] + name: agent7 + start: [14, 30] +- goal: [5, 31] + name: agent8 + start: [28, 31] +- goal: [16, 9] + name: agent9 + start: [6, 0] +- goal: [9, 14] + name: agent10 + start: [15, 23] +- goal: [2, 14] + name: agent11 + start: [15, 10] +- goal: [30, 21] + name: agent12 + start: [5, 26] +- goal: [3, 5] + name: agent13 + start: [29, 24] +- goal: [22, 2] + name: agent14 + start: [23, 10] +- goal: [28, 1] + name: agent15 + start: [0, 4] +- goal: [24, 13] + name: agent16 + start: [25, 18] +- goal: [13, 31] + name: agent17 + start: [29, 0] +- goal: [25, 23] + name: agent18 + start: [28, 25] +- goal: [1, 12] + name: agent19 + start: [27, 4] +- goal: [4, 11] + name: agent20 + start: [19, 6] +- goal: [15, 17] + name: agent21 + start: [28, 3] +- goal: [14, 21] + name: agent22 + start: [16, 26] +- goal: [14, 19] + name: agent23 + start: [4, 17] +- goal: [6, 31] + name: agent24 + start: [3, 7] +- goal: [16, 28] + name: agent25 + start: [30, 24] +- goal: [23, 26] + name: agent26 + start: [2, 30] +- goal: [18, 0] + name: agent27 + start: [8, 20] +- goal: [9, 28] + name: agent28 + start: [3, 8] +- goal: [25, 8] + name: agent29 + start: [17, 25] +- goal: [17, 15] + name: agent30 + start: [22, 15] +- goal: [25, 22] + name: agent31 + start: [15, 14] +- goal: [24, 27] + name: agent32 + start: [2, 15] +- goal: [20, 6] + name: agent33 + start: [26, 17] +- goal: [3, 12] + name: agent34 + start: [27, 31] +- goal: [1, 19] + name: agent35 + start: [5, 18] +- goal: [16, 4] + name: agent36 + start: [19, 30] +- goal: [12, 1] + name: agent37 + start: [9, 29] +- goal: [16, 16] + name: agent38 + start: [6, 26] +- goal: [30, 12] + name: agent39 + start: [0, 31] +- goal: [15, 9] + name: agent40 + start: [10, 23] +- goal: [4, 20] + name: agent41 + start: [23, 5] +- goal: [31, 23] + name: agent42 + start: [2, 31] +- goal: [17, 14] + name: agent43 + start: [18, 16] +- goal: [26, 18] + name: agent44 + start: [25, 21] +- goal: [6, 26] + name: agent45 + start: [21, 0] +- goal: [12, 18] + name: agent46 + start: [3, 18] +- goal: [31, 18] + name: agent47 + start: [17, 23] +- goal: [31, 10] + name: agent48 + start: [25, 9] +- goal: [29, 7] + name: agent49 + start: [16, 30] +- goal: [26, 24] + name: agent50 + start: [28, 29] +- goal: [27, 20] + name: agent51 + start: [1, 1] +- goal: [27, 1] + name: agent52 + start: [3, 3] +- goal: [17, 8] + name: agent53 + start: [17, 29] +- goal: [14, 15] + name: agent54 + start: [29, 6] +- goal: [14, 18] + name: agent55 + start: [0, 16] +- goal: [20, 20] + name: agent56 + start: [30, 7] +- goal: [19, 19] + name: agent57 + start: [8, 28] +- goal: [28, 19] + name: agent58 + start: [26, 13] +- goal: [30, 2] + name: agent59 + start: [18, 9] +- goal: [23, 6] + name: agent60 + start: [9, 14] +- goal: [21, 14] + name: agent61 + start: [3, 30] +- goal: [30, 23] + name: agent62 + start: [7, 17] +- goal: [7, 4] + name: agent63 + start: [3, 12] +- goal: [6, 1] + name: agent64 + start: [11, 24] +- goal: [14, 11] + name: agent65 + start: [7, 10] +- goal: [16, 5] + name: agent66 + start: [26, 24] +- goal: [23, 19] + name: agent67 + start: [21, 12] +- goal: [28, 4] + name: agent68 + start: [10, 17] +- goal: [15, 4] + name: agent69 + start: [25, 22] +- goal: [5, 18] + name: agent70 + start: [20, 25] +- goal: [4, 18] + name: agent71 + start: [1, 19] +- goal: [0, 6] + name: agent72 + start: [30, 26] +- goal: [12, 11] + name: agent73 + start: [10, 26] +- goal: [14, 5] + name: agent74 + start: [18, 14] +- goal: [13, 24] + name: agent75 + start: [23, 24] +- goal: [16, 6] + name: agent76 + start: [20, 9] +- goal: [25, 11] + name: agent77 + start: [27, 12] +- goal: [24, 15] + name: agent78 + start: [1, 21] +- goal: [11, 19] + name: agent79 + start: [17, 30] +- goal: [0, 20] + name: agent80 + start: [12, 31] +- goal: [8, 24] + name: agent81 + start: [21, 24] +- goal: [12, 26] + name: agent82 + start: [11, 13] +- goal: [28, 10] + name: agent83 + start: [23, 28] +- goal: [11, 16] + name: agent84 + start: [4, 12] +- goal: [5, 20] + name: agent85 + start: [2, 14] +- goal: [5, 2] + name: agent86 + start: [7, 18] +- goal: [13, 23] + name: agent87 + start: [2, 4] +- goal: [17, 17] + name: agent88 + start: [9, 6] +- goal: [6, 0] + name: agent89 + start: [10, 28] +- goal: [29, 25] + name: agent90 + start: [24, 8] +- goal: [15, 14] + name: agent91 + start: [27, 22] +- goal: [14, 6] + name: agent92 + start: [16, 6] +- goal: [24, 4] + name: agent93 + start: [1, 10] +- goal: [31, 22] + name: agent94 + start: [9, 31] +- goal: [10, 2] + name: agent95 + start: [27, 14] +- goal: [23, 23] + name: agent96 + start: [22, 12] +- goal: [23, 3] + name: agent97 + start: [1, 13] +- goal: [16, 20] + name: agent98 + start: [5, 3] +- goal: [15, 25] + name: agent99 + start: [23, 25] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [3, 16] + - !!python/tuple [3, 26] + - !!python/tuple [29, 1] + - !!python/tuple [26, 14] + - !!python/tuple [29, 4] + - !!python/tuple [28, 17] + - !!python/tuple [16, 3] + - !!python/tuple [17, 1] + - !!python/tuple [26, 31] + - !!python/tuple [4, 25] + - !!python/tuple [18, 3] + - !!python/tuple [3, 14] + - !!python/tuple [12, 5] + - !!python/tuple [31, 30] + - !!python/tuple [1, 8] + - !!python/tuple [26, 15] + - !!python/tuple [17, 2] + - !!python/tuple [22, 17] + - !!python/tuple [0, 28] + - !!python/tuple [13, 4] + - !!python/tuple [16, 25] + - !!python/tuple [26, 23] + - !!python/tuple [16, 0] + - !!python/tuple [18, 17] + - !!python/tuple [1, 9] + - !!python/tuple [4, 10] + - !!python/tuple [12, 23] + - !!python/tuple [19, 12] + - !!python/tuple [0, 12] + - !!python/tuple [29, 2] + - !!python/tuple [6, 17] + - !!python/tuple [1, 15] + - !!python/tuple [15, 7] + - !!python/tuple [10, 13] + - !!python/tuple [8, 22] + - !!python/tuple [9, 3] + - !!python/tuple [29, 3] + - !!python/tuple [31, 15] + - !!python/tuple [22, 20] + - !!python/tuple [22, 18] + - !!python/tuple [9, 1] + - !!python/tuple [26, 30] + - !!python/tuple [25, 3] + - !!python/tuple [22, 0] + - !!python/tuple [5, 10] + - !!python/tuple [7, 2] + - !!python/tuple [13, 29] + - !!python/tuple [11, 15] + - !!python/tuple [21, 7] + - !!python/tuple [12, 24] + - !!python/tuple [0, 10] + - !!python/tuple [23, 13] + - !!python/tuple [8, 7] + - !!python/tuple [6, 19] + - !!python/tuple [18, 21] + - !!python/tuple [26, 26] + - !!python/tuple [29, 30] + - !!python/tuple [30, 1] + - !!python/tuple [27, 29] + - !!python/tuple [25, 24] + - !!python/tuple [6, 2] + - !!python/tuple [29, 28] + - !!python/tuple [2, 16] + - !!python/tuple [4, 15] + - !!python/tuple [30, 17] + - !!python/tuple [12, 7] + - !!python/tuple [29, 19] + - !!python/tuple [16, 24] + - !!python/tuple [8, 4] + - !!python/tuple [14, 24] + - !!python/tuple [20, 8] + - !!python/tuple [5, 0] + - !!python/tuple [28, 22] + - !!python/tuple [7, 16] + - !!python/tuple [1, 6] + - !!python/tuple [26, 1] + - !!python/tuple [12, 21] + - !!python/tuple [5, 16] + - !!python/tuple [2, 22] + - !!python/tuple [1, 17] + - !!python/tuple [27, 25] + - !!python/tuple [5, 21] + - !!python/tuple [29, 16] + - !!python/tuple [11, 4] + - !!python/tuple [6, 15] + - !!python/tuple [11, 8] + - !!python/tuple [9, 12] + - !!python/tuple [16, 31] + - !!python/tuple [18, 13] + - !!python/tuple [3, 4] + - !!python/tuple [19, 9] + - !!python/tuple [29, 22] + - !!python/tuple [24, 3] + - !!python/tuple [11, 30] + - !!python/tuple [24, 29] + - !!python/tuple [13, 18] + - !!python/tuple [7, 27] + - !!python/tuple [2, 6] + - !!python/tuple [28, 16] + - !!python/tuple [25, 15] + - !!python/tuple [21, 3] + - !!python/tuple [4, 0] + - !!python/tuple [3, 27] + - !!python/tuple [29, 23] + - !!python/tuple [27, 9] + - !!python/tuple [2, 9] + - !!python/tuple [17, 21] + - !!python/tuple [13, 30] + - !!python/tuple [30, 27] + - !!python/tuple [26, 7] + - !!python/tuple [7, 1] + - !!python/tuple [7, 11] + - !!python/tuple [0, 5] + - !!python/tuple [0, 17] + - !!python/tuple [28, 18] + - !!python/tuple [11, 7] + - !!python/tuple [18, 18] + - !!python/tuple [23, 16] + - !!python/tuple [7, 31] + - !!python/tuple [21, 8] + - !!python/tuple [23, 29] + - !!python/tuple [1, 3] + - !!python/tuple [21, 13] + - !!python/tuple [31, 21] + - !!python/tuple [22, 27] + - !!python/tuple [19, 10] + - !!python/tuple [5, 30] + - !!python/tuple [8, 8] + - !!python/tuple [15, 0] + - !!python/tuple [8, 2] + - !!python/tuple [14, 28] + - !!python/tuple [25, 5] + - !!python/tuple [8, 21] + - !!python/tuple [4, 23] + - !!python/tuple [10, 11] + - !!python/tuple [9, 7] + - !!python/tuple [28, 15] + - !!python/tuple [21, 1] + - !!python/tuple [20, 15] + - !!python/tuple [4, 13] + - !!python/tuple [18, 4] + - !!python/tuple [20, 10] + - !!python/tuple [22, 14] + - !!python/tuple [19, 4] + - !!python/tuple [13, 21] + - !!python/tuple [14, 16] + - !!python/tuple [18, 7] + - !!python/tuple [16, 18] + - !!python/tuple [20, 29] + - !!python/tuple [20, 30] + - !!python/tuple [29, 13] + - !!python/tuple [19, 17] + - !!python/tuple [6, 27] + - !!python/tuple [22, 3] + - !!python/tuple [2, 8] + - !!python/tuple [3, 1] + - !!python/tuple [31, 7] + - !!python/tuple [5, 5] + - !!python/tuple [2, 25] + - !!python/tuple [11, 5] + - !!python/tuple [17, 7] + - !!python/tuple [14, 2] + - !!python/tuple [26, 8] + - !!python/tuple [20, 22] + - !!python/tuple [2, 0] + - !!python/tuple [28, 2] + - !!python/tuple [20, 27] + - !!python/tuple [13, 2] + - !!python/tuple [10, 19] + - !!python/tuple [18, 27] + - !!python/tuple [15, 6] + - !!python/tuple [30, 31] + - !!python/tuple [28, 13] + - !!python/tuple [8, 3] + - !!python/tuple [7, 5] + - !!python/tuple [5, 17] + - !!python/tuple [11, 25] + - !!python/tuple [12, 20] + - !!python/tuple [16, 11] + - !!python/tuple [28, 6] + - !!python/tuple [9, 22] + - !!python/tuple [31, 3] + - !!python/tuple [28, 0] + - !!python/tuple [23, 4] + - !!python/tuple [0, 2] + - !!python/tuple [30, 18] + - !!python/tuple [12, 19] + - !!python/tuple [23, 30] + - !!python/tuple [24, 17] + - !!python/tuple [10, 9] + - !!python/tuple [25, 25] + - !!python/tuple [30, 15] + - !!python/tuple [10, 8] + - !!python/tuple [18, 5] + - !!python/tuple [3, 29] + - !!python/tuple [14, 8] + - !!python/tuple [3, 19] + - !!python/tuple [22, 10] + - !!python/tuple [17, 0] + - !!python/tuple [25, 17] + - !!python/tuple [18, 2] + - !!python/tuple [2, 1] + - !!python/tuple [20, 19] + - !!python/tuple [26, 16] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex81.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex81.yaml new file mode 100644 index 0000000..0b1f266 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex81.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [27, 19] + name: agent0 + start: [18, 2] +- goal: [31, 14] + name: agent1 + start: [28, 18] +- goal: [18, 12] + name: agent2 + start: [11, 6] +- goal: [29, 2] + name: agent3 + start: [19, 22] +- goal: [28, 23] + name: agent4 + start: [28, 6] +- goal: [27, 14] + name: agent5 + start: [1, 21] +- goal: [4, 18] + name: agent6 + start: [6, 17] +- goal: [4, 7] + name: agent7 + start: [17, 15] +- goal: [26, 25] + name: agent8 + start: [21, 14] +- goal: [18, 24] + name: agent9 + start: [25, 27] +- goal: [28, 18] + name: agent10 + start: [4, 12] +- goal: [31, 27] + name: agent11 + start: [21, 29] +- goal: [30, 8] + name: agent12 + start: [5, 13] +- goal: [4, 3] + name: agent13 + start: [15, 4] +- goal: [17, 4] + name: agent14 + start: [18, 1] +- goal: [23, 13] + name: agent15 + start: [0, 13] +- goal: [6, 28] + name: agent16 + start: [24, 23] +- goal: [19, 3] + name: agent17 + start: [21, 8] +- goal: [13, 29] + name: agent18 + start: [5, 4] +- goal: [0, 14] + name: agent19 + start: [26, 25] +- goal: [10, 21] + name: agent20 + start: [10, 0] +- goal: [18, 25] + name: agent21 + start: [6, 7] +- goal: [15, 29] + name: agent22 + start: [14, 3] +- goal: [17, 5] + name: agent23 + start: [18, 20] +- goal: [29, 19] + name: agent24 + start: [15, 8] +- goal: [26, 31] + name: agent25 + start: [24, 10] +- goal: [10, 20] + name: agent26 + start: [31, 6] +- goal: [3, 24] + name: agent27 + start: [2, 21] +- goal: [23, 23] + name: agent28 + start: [4, 30] +- goal: [28, 24] + name: agent29 + start: [7, 11] +- goal: [8, 27] + name: agent30 + start: [14, 2] +- goal: [14, 14] + name: agent31 + start: [24, 9] +- goal: [3, 16] + name: agent32 + start: [17, 27] +- goal: [3, 8] + name: agent33 + start: [19, 25] +- goal: [14, 31] + name: agent34 + start: [24, 1] +- goal: [20, 16] + name: agent35 + start: [19, 24] +- goal: [10, 0] + name: agent36 + start: [3, 15] +- goal: [19, 23] + name: agent37 + start: [31, 20] +- goal: [17, 1] + name: agent38 + start: [10, 23] +- goal: [15, 15] + name: agent39 + start: [27, 27] +- goal: [29, 10] + name: agent40 + start: [11, 11] +- goal: [4, 12] + name: agent41 + start: [18, 9] +- goal: [24, 31] + name: agent42 + start: [2, 4] +- goal: [21, 4] + name: agent43 + start: [8, 6] +- goal: [9, 24] + name: agent44 + start: [17, 22] +- goal: [26, 27] + name: agent45 + start: [28, 13] +- goal: [6, 8] + name: agent46 + start: [30, 15] +- goal: [26, 14] + name: agent47 + start: [25, 4] +- goal: [29, 4] + name: agent48 + start: [13, 23] +- goal: [1, 29] + name: agent49 + start: [14, 10] +- goal: [14, 20] + name: agent50 + start: [10, 14] +- goal: [30, 30] + name: agent51 + start: [9, 24] +- goal: [25, 21] + name: agent52 + start: [28, 15] +- goal: [15, 9] + name: agent53 + start: [0, 20] +- goal: [14, 12] + name: agent54 + start: [18, 21] +- goal: [12, 14] + name: agent55 + start: [8, 17] +- goal: [17, 10] + name: agent56 + start: [23, 17] +- goal: [5, 21] + name: agent57 + start: [19, 8] +- goal: [28, 1] + name: agent58 + start: [6, 25] +- goal: [17, 23] + name: agent59 + start: [29, 23] +- goal: [16, 7] + name: agent60 + start: [27, 24] +- goal: [18, 14] + name: agent61 + start: [19, 13] +- goal: [25, 7] + name: agent62 + start: [17, 7] +- goal: [17, 31] + name: agent63 + start: [0, 24] +- goal: [12, 5] + name: agent64 + start: [23, 13] +- goal: [27, 18] + name: agent65 + start: [24, 8] +- goal: [12, 1] + name: agent66 + start: [20, 12] +- goal: [26, 3] + name: agent67 + start: [30, 19] +- goal: [11, 19] + name: agent68 + start: [20, 13] +- goal: [16, 29] + name: agent69 + start: [15, 2] +- goal: [14, 10] + name: agent70 + start: [14, 4] +- goal: [2, 13] + name: agent71 + start: [16, 1] +- goal: [8, 22] + name: agent72 + start: [30, 23] +- goal: [8, 31] + name: agent73 + start: [19, 23] +- goal: [0, 25] + name: agent74 + start: [30, 2] +- goal: [31, 21] + name: agent75 + start: [18, 0] +- goal: [7, 9] + name: agent76 + start: [27, 5] +- goal: [1, 30] + name: agent77 + start: [3, 8] +- goal: [23, 17] + name: agent78 + start: [27, 1] +- goal: [9, 31] + name: agent79 + start: [27, 31] +- goal: [31, 15] + name: agent80 + start: [17, 4] +- goal: [27, 30] + name: agent81 + start: [22, 20] +- goal: [9, 17] + name: agent82 + start: [27, 2] +- goal: [3, 10] + name: agent83 + start: [18, 31] +- goal: [14, 30] + name: agent84 + start: [14, 29] +- goal: [12, 7] + name: agent85 + start: [25, 31] +- goal: [0, 1] + name: agent86 + start: [12, 31] +- goal: [28, 22] + name: agent87 + start: [11, 23] +- goal: [9, 27] + name: agent88 + start: [7, 21] +- goal: [15, 5] + name: agent89 + start: [24, 7] +- goal: [6, 6] + name: agent90 + start: [17, 23] +- goal: [7, 22] + name: agent91 + start: [31, 11] +- goal: [26, 7] + name: agent92 + start: [10, 31] +- goal: [20, 21] + name: agent93 + start: [18, 22] +- goal: [10, 8] + name: agent94 + start: [17, 1] +- goal: [0, 6] + name: agent95 + start: [11, 20] +- goal: [11, 2] + name: agent96 + start: [14, 31] +- goal: [27, 29] + name: agent97 + start: [31, 15] +- goal: [15, 19] + name: agent98 + start: [1, 16] +- goal: [13, 9] + name: agent99 + start: [15, 18] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [29, 17] + - !!python/tuple [20, 14] + - !!python/tuple [29, 31] + - !!python/tuple [22, 24] + - !!python/tuple [6, 16] + - !!python/tuple [5, 12] + - !!python/tuple [7, 12] + - !!python/tuple [30, 17] + - !!python/tuple [27, 28] + - !!python/tuple [2, 18] + - !!python/tuple [9, 15] + - !!python/tuple [10, 30] + - !!python/tuple [13, 4] + - !!python/tuple [20, 1] + - !!python/tuple [27, 23] + - !!python/tuple [8, 0] + - !!python/tuple [7, 1] + - !!python/tuple [13, 1] + - !!python/tuple [12, 18] + - !!python/tuple [31, 13] + - !!python/tuple [9, 6] + - !!python/tuple [29, 11] + - !!python/tuple [2, 10] + - !!python/tuple [21, 31] + - !!python/tuple [29, 8] + - !!python/tuple [2, 1] + - !!python/tuple [29, 0] + - !!python/tuple [6, 3] + - !!python/tuple [24, 22] + - !!python/tuple [2, 9] + - !!python/tuple [26, 15] + - !!python/tuple [2, 6] + - !!python/tuple [24, 28] + - !!python/tuple [2, 20] + - !!python/tuple [27, 4] + - !!python/tuple [2, 12] + - !!python/tuple [21, 6] + - !!python/tuple [25, 15] + - !!python/tuple [11, 3] + - !!python/tuple [22, 22] + - !!python/tuple [22, 19] + - !!python/tuple [28, 31] + - !!python/tuple [10, 18] + - !!python/tuple [9, 1] + - !!python/tuple [25, 10] + - !!python/tuple [2, 30] + - !!python/tuple [15, 21] + - !!python/tuple [5, 26] + - !!python/tuple [19, 26] + - !!python/tuple [26, 8] + - !!python/tuple [16, 8] + - !!python/tuple [13, 2] + - !!python/tuple [17, 8] + - !!python/tuple [17, 19] + - !!python/tuple [20, 29] + - !!python/tuple [30, 31] + - !!python/tuple [15, 20] + - !!python/tuple [20, 27] + - !!python/tuple [30, 11] + - !!python/tuple [4, 16] + - !!python/tuple [8, 23] + - !!python/tuple [5, 5] + - !!python/tuple [18, 19] + - !!python/tuple [4, 14] + - !!python/tuple [19, 28] + - !!python/tuple [2, 29] + - !!python/tuple [25, 12] + - !!python/tuple [22, 27] + - !!python/tuple [14, 15] + - !!python/tuple [13, 25] + - !!python/tuple [23, 30] + - !!python/tuple [6, 12] + - !!python/tuple [0, 21] + - !!python/tuple [16, 23] + - !!python/tuple [22, 2] + - !!python/tuple [16, 28] + - !!python/tuple [24, 12] + - !!python/tuple [27, 8] + - !!python/tuple [8, 28] + - !!python/tuple [22, 16] + - !!python/tuple [0, 15] + - !!python/tuple [11, 31] + - !!python/tuple [1, 19] + - !!python/tuple [29, 25] + - !!python/tuple [26, 4] + - !!python/tuple [28, 14] + - !!python/tuple [27, 7] + - !!python/tuple [13, 3] + - !!python/tuple [3, 21] + - !!python/tuple [30, 14] + - !!python/tuple [29, 5] + - !!python/tuple [31, 8] + - !!python/tuple [23, 5] + - !!python/tuple [23, 31] + - !!python/tuple [27, 3] + - !!python/tuple [6, 0] + - !!python/tuple [22, 23] + - !!python/tuple [8, 29] + - !!python/tuple [2, 15] + - !!python/tuple [25, 9] + - !!python/tuple [29, 13] + - !!python/tuple [4, 2] + - !!python/tuple [15, 31] + - !!python/tuple [26, 10] + - !!python/tuple [4, 0] + - !!python/tuple [0, 27] + - !!python/tuple [1, 27] + - !!python/tuple [26, 28] + - !!python/tuple [16, 9] + - !!python/tuple [2, 19] + - !!python/tuple [25, 0] + - !!python/tuple [7, 16] + - !!python/tuple [22, 6] + - !!python/tuple [16, 31] + - !!python/tuple [30, 9] + - !!python/tuple [19, 29] + - !!python/tuple [8, 20] + - !!python/tuple [26, 1] + - !!python/tuple [15, 3] + - !!python/tuple [14, 19] + - !!python/tuple [31, 25] + - !!python/tuple [19, 14] + - !!python/tuple [13, 12] + - !!python/tuple [3, 28] + - !!python/tuple [14, 13] + - !!python/tuple [17, 12] + - !!python/tuple [26, 21] + - !!python/tuple [19, 16] + - !!python/tuple [27, 15] + - !!python/tuple [20, 9] + - !!python/tuple [8, 4] + - !!python/tuple [18, 16] + - !!python/tuple [31, 4] + - !!python/tuple [22, 26] + - !!python/tuple [11, 26] + - !!python/tuple [12, 29] + - !!python/tuple [22, 7] + - !!python/tuple [3, 6] + - !!python/tuple [25, 17] + - !!python/tuple [23, 10] + - !!python/tuple [6, 13] + - !!python/tuple [29, 9] + - !!python/tuple [24, 6] + - !!python/tuple [15, 24] + - !!python/tuple [19, 21] + - !!python/tuple [3, 30] + - !!python/tuple [9, 3] + - !!python/tuple [1, 13] + - !!python/tuple [25, 18] + - !!python/tuple [13, 8] + - !!python/tuple [11, 17] + - !!python/tuple [15, 11] + - !!python/tuple [3, 9] + - !!python/tuple [9, 28] + - !!python/tuple [29, 12] + - !!python/tuple [18, 29] + - !!python/tuple [27, 26] + - !!python/tuple [13, 31] + - !!python/tuple [20, 5] + - !!python/tuple [29, 6] + - !!python/tuple [25, 19] + - !!python/tuple [6, 9] + - !!python/tuple [4, 13] + - !!python/tuple [23, 4] + - !!python/tuple [8, 15] + - !!python/tuple [11, 30] + - !!python/tuple [6, 4] + - !!python/tuple [25, 28] + - !!python/tuple [4, 15] + - !!python/tuple [18, 23] + - !!python/tuple [13, 17] + - !!python/tuple [10, 3] + - !!python/tuple [22, 21] + - !!python/tuple [19, 31] + - !!python/tuple [12, 23] + - !!python/tuple [1, 26] + - !!python/tuple [14, 28] + - !!python/tuple [23, 3] + - !!python/tuple [25, 13] + - !!python/tuple [8, 26] + - !!python/tuple [23, 27] + - !!python/tuple [18, 8] + - !!python/tuple [9, 23] + - !!python/tuple [3, 29] + - !!python/tuple [21, 17] + - !!python/tuple [31, 31] + - !!python/tuple [7, 29] + - !!python/tuple [16, 17] + - !!python/tuple [22, 15] + - !!python/tuple [10, 10] + - !!python/tuple [0, 19] + - !!python/tuple [23, 22] + - !!python/tuple [16, 12] + - !!python/tuple [25, 23] + - !!python/tuple [13, 16] + - !!python/tuple [14, 5] + - !!python/tuple [31, 9] + - !!python/tuple [15, 13] + - !!python/tuple [29, 21] + - !!python/tuple [20, 28] + - !!python/tuple [7, 7] + - !!python/tuple [28, 29] + - !!python/tuple [29, 28] + - !!python/tuple [21, 11] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex82.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex82.yaml new file mode 100644 index 0000000..3fcd1cc --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex82.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [2, 31] + name: agent0 + start: [17, 22] +- goal: [4, 0] + name: agent1 + start: [31, 21] +- goal: [27, 24] + name: agent2 + start: [27, 10] +- goal: [14, 20] + name: agent3 + start: [12, 11] +- goal: [12, 21] + name: agent4 + start: [20, 15] +- goal: [19, 23] + name: agent5 + start: [27, 17] +- goal: [8, 26] + name: agent6 + start: [13, 0] +- goal: [5, 16] + name: agent7 + start: [9, 31] +- goal: [2, 0] + name: agent8 + start: [25, 6] +- goal: [11, 20] + name: agent9 + start: [19, 11] +- goal: [0, 23] + name: agent10 + start: [17, 1] +- goal: [9, 7] + name: agent11 + start: [29, 28] +- goal: [16, 4] + name: agent12 + start: [21, 30] +- goal: [29, 20] + name: agent13 + start: [9, 4] +- goal: [30, 15] + name: agent14 + start: [15, 2] +- goal: [17, 30] + name: agent15 + start: [20, 14] +- goal: [22, 12] + name: agent16 + start: [31, 0] +- goal: [5, 17] + name: agent17 + start: [29, 31] +- goal: [24, 17] + name: agent18 + start: [3, 1] +- goal: [8, 30] + name: agent19 + start: [2, 15] +- goal: [24, 28] + name: agent20 + start: [28, 15] +- goal: [0, 27] + name: agent21 + start: [4, 19] +- goal: [12, 30] + name: agent22 + start: [0, 12] +- goal: [28, 1] + name: agent23 + start: [4, 6] +- goal: [19, 14] + name: agent24 + start: [11, 17] +- goal: [8, 5] + name: agent25 + start: [29, 29] +- goal: [28, 7] + name: agent26 + start: [1, 10] +- goal: [5, 5] + name: agent27 + start: [22, 30] +- goal: [19, 18] + name: agent28 + start: [13, 25] +- goal: [21, 9] + name: agent29 + start: [27, 24] +- goal: [4, 16] + name: agent30 + start: [28, 16] +- goal: [10, 6] + name: agent31 + start: [5, 4] +- goal: [8, 3] + name: agent32 + start: [12, 27] +- goal: [29, 10] + name: agent33 + start: [10, 14] +- goal: [31, 1] + name: agent34 + start: [24, 25] +- goal: [14, 5] + name: agent35 + start: [16, 15] +- goal: [18, 10] + name: agent36 + start: [25, 30] +- goal: [13, 25] + name: agent37 + start: [5, 0] +- goal: [21, 6] + name: agent38 + start: [13, 22] +- goal: [10, 8] + name: agent39 + start: [10, 26] +- goal: [1, 11] + name: agent40 + start: [30, 0] +- goal: [31, 22] + name: agent41 + start: [26, 18] +- goal: [31, 28] + name: agent42 + start: [22, 7] +- goal: [6, 5] + name: agent43 + start: [25, 7] +- goal: [10, 22] + name: agent44 + start: [10, 22] +- goal: [26, 5] + name: agent45 + start: [20, 20] +- goal: [23, 30] + name: agent46 + start: [17, 17] +- goal: [27, 4] + name: agent47 + start: [12, 28] +- goal: [22, 28] + name: agent48 + start: [4, 7] +- goal: [15, 28] + name: agent49 + start: [21, 16] +- goal: [14, 23] + name: agent50 + start: [25, 14] +- goal: [25, 12] + name: agent51 + start: [11, 19] +- goal: [6, 2] + name: agent52 + start: [21, 24] +- goal: [6, 1] + name: agent53 + start: [13, 1] +- goal: [9, 22] + name: agent54 + start: [29, 7] +- goal: [21, 5] + name: agent55 + start: [20, 10] +- goal: [0, 10] + name: agent56 + start: [29, 8] +- goal: [2, 11] + name: agent57 + start: [10, 20] +- goal: [10, 13] + name: agent58 + start: [19, 13] +- goal: [12, 6] + name: agent59 + start: [23, 12] +- goal: [29, 25] + name: agent60 + start: [8, 3] +- goal: [3, 28] + name: agent61 + start: [6, 21] +- goal: [0, 13] + name: agent62 + start: [0, 0] +- goal: [14, 27] + name: agent63 + start: [25, 31] +- goal: [9, 29] + name: agent64 + start: [23, 27] +- goal: [15, 11] + name: agent65 + start: [9, 8] +- goal: [16, 25] + name: agent66 + start: [24, 20] +- goal: [23, 6] + name: agent67 + start: [19, 15] +- goal: [27, 0] + name: agent68 + start: [24, 2] +- goal: [6, 21] + name: agent69 + start: [22, 3] +- goal: [3, 7] + name: agent70 + start: [20, 18] +- goal: [6, 8] + name: agent71 + start: [17, 16] +- goal: [5, 19] + name: agent72 + start: [31, 26] +- goal: [24, 25] + name: agent73 + start: [19, 18] +- goal: [17, 8] + name: agent74 + start: [31, 7] +- goal: [2, 13] + name: agent75 + start: [27, 8] +- goal: [23, 15] + name: agent76 + start: [14, 30] +- goal: [14, 24] + name: agent77 + start: [0, 17] +- goal: [29, 7] + name: agent78 + start: [17, 8] +- goal: [20, 19] + name: agent79 + start: [18, 26] +- goal: [27, 22] + name: agent80 + start: [9, 7] +- goal: [3, 15] + name: agent81 + start: [10, 3] +- goal: [19, 28] + name: agent82 + start: [13, 27] +- goal: [2, 29] + name: agent83 + start: [3, 22] +- goal: [24, 9] + name: agent84 + start: [3, 21] +- goal: [23, 16] + name: agent85 + start: [24, 5] +- goal: [26, 21] + name: agent86 + start: [7, 14] +- goal: [20, 24] + name: agent87 + start: [5, 18] +- goal: [2, 2] + name: agent88 + start: [23, 10] +- goal: [10, 15] + name: agent89 + start: [23, 19] +- goal: [12, 12] + name: agent90 + start: [5, 14] +- goal: [28, 10] + name: agent91 + start: [28, 26] +- goal: [9, 26] + name: agent92 + start: [6, 27] +- goal: [14, 17] + name: agent93 + start: [3, 12] +- goal: [27, 11] + name: agent94 + start: [9, 13] +- goal: [5, 12] + name: agent95 + start: [3, 20] +- goal: [0, 0] + name: agent96 + start: [30, 8] +- goal: [0, 2] + name: agent97 + start: [9, 18] +- goal: [27, 10] + name: agent98 + start: [29, 25] +- goal: [1, 7] + name: agent99 + start: [19, 25] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [7, 4] + - !!python/tuple [8, 25] + - !!python/tuple [19, 29] + - !!python/tuple [28, 6] + - !!python/tuple [20, 13] + - !!python/tuple [9, 25] + - !!python/tuple [6, 23] + - !!python/tuple [12, 18] + - !!python/tuple [13, 20] + - !!python/tuple [12, 25] + - !!python/tuple [3, 26] + - !!python/tuple [17, 12] + - !!python/tuple [19, 12] + - !!python/tuple [15, 23] + - !!python/tuple [15, 0] + - !!python/tuple [8, 31] + - !!python/tuple [26, 7] + - !!python/tuple [8, 12] + - !!python/tuple [10, 17] + - !!python/tuple [11, 2] + - !!python/tuple [21, 14] + - !!python/tuple [1, 15] + - !!python/tuple [22, 22] + - !!python/tuple [24, 27] + - !!python/tuple [8, 15] + - !!python/tuple [20, 12] + - !!python/tuple [17, 24] + - !!python/tuple [25, 3] + - !!python/tuple [8, 29] + - !!python/tuple [15, 9] + - !!python/tuple [23, 13] + - !!python/tuple [4, 15] + - !!python/tuple [25, 13] + - !!python/tuple [17, 4] + - !!python/tuple [28, 11] + - !!python/tuple [11, 18] + - !!python/tuple [28, 23] + - !!python/tuple [2, 22] + - !!python/tuple [11, 28] + - !!python/tuple [0, 6] + - !!python/tuple [0, 26] + - !!python/tuple [0, 15] + - !!python/tuple [26, 13] + - !!python/tuple [31, 4] + - !!python/tuple [9, 21] + - !!python/tuple [18, 7] + - !!python/tuple [31, 14] + - !!python/tuple [18, 1] + - !!python/tuple [31, 20] + - !!python/tuple [31, 30] + - !!python/tuple [9, 12] + - !!python/tuple [6, 14] + - !!python/tuple [23, 22] + - !!python/tuple [8, 2] + - !!python/tuple [11, 30] + - !!python/tuple [22, 5] + - !!python/tuple [17, 2] + - !!python/tuple [23, 28] + - !!python/tuple [19, 7] + - !!python/tuple [7, 22] + - !!python/tuple [11, 5] + - !!python/tuple [16, 17] + - !!python/tuple [4, 4] + - !!python/tuple [5, 22] + - !!python/tuple [3, 6] + - !!python/tuple [31, 18] + - !!python/tuple [9, 15] + - !!python/tuple [14, 7] + - !!python/tuple [4, 30] + - !!python/tuple [7, 7] + - !!python/tuple [1, 4] + - !!python/tuple [22, 24] + - !!python/tuple [5, 30] + - !!python/tuple [13, 16] + - !!python/tuple [2, 7] + - !!python/tuple [5, 2] + - !!python/tuple [13, 17] + - !!python/tuple [9, 10] + - !!python/tuple [30, 30] + - !!python/tuple [22, 4] + - !!python/tuple [13, 19] + - !!python/tuple [26, 17] + - !!python/tuple [2, 23] + - !!python/tuple [27, 2] + - !!python/tuple [2, 5] + - !!python/tuple [19, 19] + - !!python/tuple [30, 29] + - !!python/tuple [13, 10] + - !!python/tuple [11, 12] + - !!python/tuple [24, 13] + - !!python/tuple [15, 22] + - !!python/tuple [14, 8] + - !!python/tuple [4, 11] + - !!python/tuple [3, 30] + - !!python/tuple [17, 5] + - !!python/tuple [11, 24] + - !!python/tuple [27, 28] + - !!python/tuple [20, 1] + - !!python/tuple [0, 19] + - !!python/tuple [1, 14] + - !!python/tuple [1, 22] + - !!python/tuple [2, 4] + - !!python/tuple [16, 21] + - !!python/tuple [10, 9] + - !!python/tuple [8, 22] + - !!python/tuple [20, 0] + - !!python/tuple [9, 16] + - !!python/tuple [24, 15] + - !!python/tuple [22, 27] + - !!python/tuple [13, 14] + - !!python/tuple [2, 25] + - !!python/tuple [16, 23] + - !!python/tuple [5, 6] + - !!python/tuple [21, 12] + - !!python/tuple [25, 10] + - !!python/tuple [16, 5] + - !!python/tuple [18, 15] + - !!python/tuple [27, 3] + - !!python/tuple [7, 24] + - !!python/tuple [30, 20] + - !!python/tuple [18, 17] + - !!python/tuple [11, 11] + - !!python/tuple [24, 12] + - !!python/tuple [30, 9] + - !!python/tuple [26, 19] + - !!python/tuple [3, 29] + - !!python/tuple [4, 5] + - !!python/tuple [3, 18] + - !!python/tuple [24, 26] + - !!python/tuple [10, 0] + - !!python/tuple [10, 21] + - !!python/tuple [28, 8] + - !!python/tuple [22, 8] + - !!python/tuple [4, 31] + - !!python/tuple [10, 2] + - !!python/tuple [29, 1] + - !!python/tuple [22, 23] + - !!python/tuple [4, 28] + - !!python/tuple [19, 30] + - !!python/tuple [26, 9] + - !!python/tuple [5, 15] + - !!python/tuple [8, 24] + - !!python/tuple [27, 5] + - !!python/tuple [5, 11] + - !!python/tuple [25, 29] + - !!python/tuple [21, 7] + - !!python/tuple [4, 25] + - !!python/tuple [21, 23] + - !!python/tuple [7, 3] + - !!python/tuple [2, 16] + - !!python/tuple [0, 16] + - !!python/tuple [14, 18] + - !!python/tuple [0, 22] + - !!python/tuple [20, 11] + - !!python/tuple [9, 19] + - !!python/tuple [24, 24] + - !!python/tuple [1, 3] + - !!python/tuple [28, 5] + - !!python/tuple [2, 9] + - !!python/tuple [3, 3] + - !!python/tuple [9, 2] + - !!python/tuple [15, 1] + - !!python/tuple [20, 6] + - !!python/tuple [12, 31] + - !!python/tuple [28, 19] + - !!python/tuple [5, 28] + - !!python/tuple [30, 4] + - !!python/tuple [30, 12] + - !!python/tuple [13, 30] + - !!python/tuple [16, 9] + - !!python/tuple [14, 12] + - !!python/tuple [20, 8] + - !!python/tuple [29, 22] + - !!python/tuple [31, 10] + - !!python/tuple [4, 8] + - !!python/tuple [15, 16] + - !!python/tuple [23, 7] + - !!python/tuple [29, 23] + - !!python/tuple [9, 17] + - !!python/tuple [4, 24] + - !!python/tuple [12, 14] + - !!python/tuple [0, 29] + - !!python/tuple [8, 11] + - !!python/tuple [23, 25] + - !!python/tuple [29, 4] + - !!python/tuple [11, 8] + - !!python/tuple [14, 21] + - !!python/tuple [6, 0] + - !!python/tuple [5, 23] + - !!python/tuple [16, 10] + - !!python/tuple [24, 0] + - !!python/tuple [12, 17] + - !!python/tuple [18, 25] + - !!python/tuple [27, 15] + - !!python/tuple [4, 29] + - !!python/tuple [19, 1] + - !!python/tuple [30, 25] + - !!python/tuple [31, 29] + - !!python/tuple [8, 1] + - !!python/tuple [14, 31] + - !!python/tuple [11, 26] + - !!python/tuple [3, 27] + - !!python/tuple [26, 16] + - !!python/tuple [18, 16] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex83.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex83.yaml new file mode 100644 index 0000000..5b399fb --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex83.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [2, 28] + name: agent0 + start: [14, 2] +- goal: [1, 1] + name: agent1 + start: [7, 28] +- goal: [1, 23] + name: agent2 + start: [25, 7] +- goal: [15, 8] + name: agent3 + start: [22, 27] +- goal: [1, 8] + name: agent4 + start: [31, 14] +- goal: [1, 26] + name: agent5 + start: [8, 11] +- goal: [0, 16] + name: agent6 + start: [14, 20] +- goal: [8, 17] + name: agent7 + start: [19, 14] +- goal: [16, 10] + name: agent8 + start: [27, 22] +- goal: [23, 6] + name: agent9 + start: [21, 28] +- goal: [9, 2] + name: agent10 + start: [17, 27] +- goal: [19, 23] + name: agent11 + start: [4, 11] +- goal: [27, 7] + name: agent12 + start: [12, 14] +- goal: [1, 15] + name: agent13 + start: [26, 9] +- goal: [0, 28] + name: agent14 + start: [25, 28] +- goal: [22, 13] + name: agent15 + start: [18, 13] +- goal: [7, 6] + name: agent16 + start: [30, 6] +- goal: [18, 27] + name: agent17 + start: [26, 29] +- goal: [0, 24] + name: agent18 + start: [6, 25] +- goal: [3, 10] + name: agent19 + start: [18, 9] +- goal: [14, 8] + name: agent20 + start: [28, 15] +- goal: [18, 30] + name: agent21 + start: [14, 17] +- goal: [12, 0] + name: agent22 + start: [16, 23] +- goal: [3, 30] + name: agent23 + start: [1, 8] +- goal: [25, 15] + name: agent24 + start: [21, 31] +- goal: [28, 21] + name: agent25 + start: [3, 13] +- goal: [26, 21] + name: agent26 + start: [21, 10] +- goal: [25, 23] + name: agent27 + start: [23, 31] +- goal: [21, 13] + name: agent28 + start: [24, 25] +- goal: [31, 5] + name: agent29 + start: [0, 10] +- goal: [11, 10] + name: agent30 + start: [9, 22] +- goal: [20, 30] + name: agent31 + start: [2, 1] +- goal: [24, 18] + name: agent32 + start: [8, 25] +- goal: [13, 21] + name: agent33 + start: [17, 23] +- goal: [0, 10] + name: agent34 + start: [0, 3] +- goal: [24, 10] + name: agent35 + start: [18, 11] +- goal: [30, 13] + name: agent36 + start: [16, 8] +- goal: [16, 18] + name: agent37 + start: [15, 10] +- goal: [21, 16] + name: agent38 + start: [14, 18] +- goal: [14, 13] + name: agent39 + start: [14, 23] +- goal: [4, 3] + name: agent40 + start: [12, 19] +- goal: [13, 5] + name: agent41 + start: [27, 26] +- goal: [30, 27] + name: agent42 + start: [31, 29] +- goal: [7, 1] + name: agent43 + start: [10, 30] +- goal: [15, 25] + name: agent44 + start: [21, 1] +- goal: [0, 22] + name: agent45 + start: [26, 23] +- goal: [2, 26] + name: agent46 + start: [2, 10] +- goal: [11, 3] + name: agent47 + start: [10, 12] +- goal: [17, 25] + name: agent48 + start: [0, 6] +- goal: [17, 23] + name: agent49 + start: [4, 30] +- goal: [2, 8] + name: agent50 + start: [10, 21] +- goal: [26, 31] + name: agent51 + start: [18, 2] +- goal: [28, 28] + name: agent52 + start: [10, 24] +- goal: [16, 17] + name: agent53 + start: [22, 23] +- goal: [14, 4] + name: agent54 + start: [26, 18] +- goal: [18, 29] + name: agent55 + start: [3, 19] +- goal: [12, 4] + name: agent56 + start: [5, 26] +- goal: [13, 0] + name: agent57 + start: [12, 22] +- goal: [29, 5] + name: agent58 + start: [10, 29] +- goal: [14, 1] + name: agent59 + start: [22, 1] +- goal: [13, 4] + name: agent60 + start: [9, 24] +- goal: [22, 18] + name: agent61 + start: [6, 29] +- goal: [8, 1] + name: agent62 + start: [8, 19] +- goal: [1, 3] + name: agent63 + start: [8, 29] +- goal: [30, 30] + name: agent64 + start: [19, 3] +- goal: [31, 14] + name: agent65 + start: [21, 19] +- goal: [20, 1] + name: agent66 + start: [2, 0] +- goal: [19, 25] + name: agent67 + start: [11, 19] +- goal: [27, 26] + name: agent68 + start: [19, 9] +- goal: [21, 1] + name: agent69 + start: [7, 9] +- goal: [4, 11] + name: agent70 + start: [4, 22] +- goal: [28, 12] + name: agent71 + start: [20, 19] +- goal: [9, 18] + name: agent72 + start: [17, 7] +- goal: [13, 19] + name: agent73 + start: [6, 0] +- goal: [15, 16] + name: agent74 + start: [29, 22] +- goal: [20, 4] + name: agent75 + start: [27, 25] +- goal: [30, 16] + name: agent76 + start: [19, 8] +- goal: [4, 20] + name: agent77 + start: [30, 23] +- goal: [19, 7] + name: agent78 + start: [13, 5] +- goal: [27, 22] + name: agent79 + start: [23, 2] +- goal: [25, 18] + name: agent80 + start: [3, 3] +- goal: [28, 22] + name: agent81 + start: [29, 13] +- goal: [22, 28] + name: agent82 + start: [9, 6] +- goal: [22, 26] + name: agent83 + start: [14, 7] +- goal: [31, 8] + name: agent84 + start: [0, 1] +- goal: [16, 30] + name: agent85 + start: [10, 7] +- goal: [15, 27] + name: agent86 + start: [18, 22] +- goal: [30, 17] + name: agent87 + start: [13, 30] +- goal: [11, 30] + name: agent88 + start: [15, 17] +- goal: [30, 21] + name: agent89 + start: [9, 17] +- goal: [29, 12] + name: agent90 + start: [21, 15] +- goal: [12, 15] + name: agent91 + start: [0, 24] +- goal: [23, 14] + name: agent92 + start: [12, 27] +- goal: [10, 13] + name: agent93 + start: [8, 8] +- goal: [23, 19] + name: agent94 + start: [25, 8] +- goal: [7, 20] + name: agent95 + start: [4, 31] +- goal: [16, 6] + name: agent96 + start: [5, 19] +- goal: [2, 18] + name: agent97 + start: [5, 4] +- goal: [28, 25] + name: agent98 + start: [21, 30] +- goal: [27, 12] + name: agent99 + start: [13, 17] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [29, 27] + - !!python/tuple [26, 27] + - !!python/tuple [26, 8] + - !!python/tuple [4, 4] + - !!python/tuple [22, 22] + - !!python/tuple [31, 16] + - !!python/tuple [24, 3] + - !!python/tuple [6, 18] + - !!python/tuple [16, 14] + - !!python/tuple [21, 20] + - !!python/tuple [8, 20] + - !!python/tuple [14, 21] + - !!python/tuple [6, 12] + - !!python/tuple [7, 17] + - !!python/tuple [26, 14] + - !!python/tuple [23, 0] + - !!python/tuple [12, 1] + - !!python/tuple [26, 26] + - !!python/tuple [26, 12] + - !!python/tuple [15, 0] + - !!python/tuple [3, 1] + - !!python/tuple [13, 7] + - !!python/tuple [19, 11] + - !!python/tuple [30, 28] + - !!python/tuple [16, 29] + - !!python/tuple [0, 31] + - !!python/tuple [20, 10] + - !!python/tuple [31, 20] + - !!python/tuple [19, 30] + - !!python/tuple [11, 13] + - !!python/tuple [5, 9] + - !!python/tuple [6, 31] + - !!python/tuple [7, 13] + - !!python/tuple [12, 29] + - !!python/tuple [15, 14] + - !!python/tuple [28, 26] + - !!python/tuple [23, 27] + - !!python/tuple [2, 9] + - !!python/tuple [9, 4] + - !!python/tuple [28, 3] + - !!python/tuple [17, 1] + - !!python/tuple [5, 0] + - !!python/tuple [16, 5] + - !!python/tuple [10, 14] + - !!python/tuple [28, 13] + - !!python/tuple [18, 12] + - !!python/tuple [16, 24] + - !!python/tuple [29, 7] + - !!python/tuple [6, 1] + - !!python/tuple [5, 22] + - !!python/tuple [16, 21] + - !!python/tuple [28, 19] + - !!python/tuple [6, 16] + - !!python/tuple [2, 19] + - !!python/tuple [8, 0] + - !!python/tuple [26, 20] + - !!python/tuple [29, 4] + - !!python/tuple [8, 16] + - !!python/tuple [23, 18] + - !!python/tuple [17, 4] + - !!python/tuple [4, 14] + - !!python/tuple [21, 6] + - !!python/tuple [26, 25] + - !!python/tuple [5, 11] + - !!python/tuple [27, 23] + - !!python/tuple [20, 11] + - !!python/tuple [22, 0] + - !!python/tuple [26, 15] + - !!python/tuple [31, 22] + - !!python/tuple [29, 29] + - !!python/tuple [29, 19] + - !!python/tuple [15, 29] + - !!python/tuple [5, 10] + - !!python/tuple [31, 31] + - !!python/tuple [22, 10] + - !!python/tuple [26, 1] + - !!python/tuple [29, 24] + - !!python/tuple [3, 0] + - !!python/tuple [5, 27] + - !!python/tuple [16, 25] + - !!python/tuple [30, 19] + - !!python/tuple [2, 20] + - !!python/tuple [7, 24] + - !!python/tuple [17, 31] + - !!python/tuple [27, 6] + - !!python/tuple [9, 27] + - !!python/tuple [0, 23] + - !!python/tuple [17, 28] + - !!python/tuple [28, 18] + - !!python/tuple [23, 15] + - !!python/tuple [3, 8] + - !!python/tuple [14, 14] + - !!python/tuple [2, 30] + - !!python/tuple [12, 8] + - !!python/tuple [31, 7] + - !!python/tuple [14, 12] + - !!python/tuple [20, 31] + - !!python/tuple [19, 6] + - !!python/tuple [4, 18] + - !!python/tuple [6, 10] + - !!python/tuple [2, 14] + - !!python/tuple [27, 11] + - !!python/tuple [5, 5] + - !!python/tuple [22, 7] + - !!python/tuple [2, 27] + - !!python/tuple [0, 5] + - !!python/tuple [16, 26] + - !!python/tuple [7, 7] + - !!python/tuple [23, 5] + - !!python/tuple [20, 8] + - !!python/tuple [21, 23] + - !!python/tuple [29, 6] + - !!python/tuple [3, 18] + - !!python/tuple [0, 12] + - !!python/tuple [28, 16] + - !!python/tuple [26, 22] + - !!python/tuple [9, 9] + - !!python/tuple [16, 1] + - !!python/tuple [28, 9] + - !!python/tuple [27, 15] + - !!python/tuple [2, 31] + - !!python/tuple [14, 6] + - !!python/tuple [1, 20] + - !!python/tuple [24, 26] + - !!python/tuple [7, 11] + - !!python/tuple [14, 24] + - !!python/tuple [13, 6] + - !!python/tuple [20, 3] + - !!python/tuple [29, 1] + - !!python/tuple [5, 1] + - !!python/tuple [8, 18] + - !!python/tuple [21, 27] + - !!python/tuple [27, 27] + - !!python/tuple [24, 24] + - !!python/tuple [14, 28] + - !!python/tuple [12, 23] + - !!python/tuple [4, 15] + - !!python/tuple [15, 31] + - !!python/tuple [3, 24] + - !!python/tuple [7, 5] + - !!python/tuple [4, 26] + - !!python/tuple [19, 2] + - !!python/tuple [1, 7] + - !!python/tuple [18, 19] + - !!python/tuple [0, 7] + - !!python/tuple [7, 27] + - !!python/tuple [30, 7] + - !!python/tuple [15, 9] + - !!python/tuple [20, 15] + - !!python/tuple [16, 31] + - !!python/tuple [23, 25] + - !!python/tuple [28, 2] + - !!python/tuple [8, 3] + - !!python/tuple [11, 22] + - !!python/tuple [3, 5] + - !!python/tuple [5, 31] + - !!python/tuple [18, 10] + - !!python/tuple [15, 7] + - !!python/tuple [22, 5] + - !!python/tuple [9, 28] + - !!python/tuple [4, 6] + - !!python/tuple [16, 13] + - !!python/tuple [10, 16] + - !!python/tuple [22, 6] + - !!python/tuple [23, 17] + - !!python/tuple [24, 28] + - !!python/tuple [19, 26] + - !!python/tuple [16, 22] + - !!python/tuple [27, 9] + - !!python/tuple [18, 4] + - !!python/tuple [25, 4] + - !!python/tuple [28, 20] + - !!python/tuple [19, 21] + - !!python/tuple [13, 1] + - !!python/tuple [16, 0] + - !!python/tuple [18, 26] + - !!python/tuple [26, 4] + - !!python/tuple [26, 5] + - !!python/tuple [19, 13] + - !!python/tuple [9, 23] + - !!python/tuple [19, 18] + - !!python/tuple [18, 17] + - !!python/tuple [1, 12] + - !!python/tuple [31, 12] + - !!python/tuple [28, 10] + - !!python/tuple [18, 0] + - !!python/tuple [8, 31] + - !!python/tuple [0, 14] + - !!python/tuple [4, 0] + - !!python/tuple [13, 13] + - !!python/tuple [17, 30] + - !!python/tuple [7, 8] + - !!python/tuple [20, 13] + - !!python/tuple [13, 25] + - !!python/tuple [2, 15] + - !!python/tuple [15, 19] + - !!python/tuple [11, 18] + - !!python/tuple [7, 3] + - !!python/tuple [20, 24] + - !!python/tuple [13, 3] + - !!python/tuple [14, 5] + - !!python/tuple [29, 3] + - !!python/tuple [22, 17] + - !!python/tuple [27, 0] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex84.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex84.yaml new file mode 100644 index 0000000..384e7f2 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex84.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [25, 3] + name: agent0 + start: [3, 21] +- goal: [21, 26] + name: agent1 + start: [7, 25] +- goal: [29, 1] + name: agent2 + start: [16, 30] +- goal: [28, 27] + name: agent3 + start: [22, 1] +- goal: [4, 3] + name: agent4 + start: [27, 26] +- goal: [4, 15] + name: agent5 + start: [23, 31] +- goal: [28, 4] + name: agent6 + start: [31, 14] +- goal: [29, 27] + name: agent7 + start: [29, 4] +- goal: [18, 8] + name: agent8 + start: [10, 25] +- goal: [22, 30] + name: agent9 + start: [29, 16] +- goal: [4, 29] + name: agent10 + start: [6, 11] +- goal: [31, 11] + name: agent11 + start: [5, 28] +- goal: [10, 15] + name: agent12 + start: [17, 9] +- goal: [12, 1] + name: agent13 + start: [6, 5] +- goal: [16, 8] + name: agent14 + start: [12, 6] +- goal: [25, 28] + name: agent15 + start: [14, 10] +- goal: [2, 26] + name: agent16 + start: [10, 5] +- goal: [18, 5] + name: agent17 + start: [8, 8] +- goal: [28, 18] + name: agent18 + start: [1, 30] +- goal: [25, 23] + name: agent19 + start: [30, 11] +- goal: [24, 14] + name: agent20 + start: [4, 27] +- goal: [1, 28] + name: agent21 + start: [1, 25] +- goal: [19, 13] + name: agent22 + start: [26, 31] +- goal: [5, 2] + name: agent23 + start: [8, 27] +- goal: [7, 3] + name: agent24 + start: [12, 23] +- goal: [2, 4] + name: agent25 + start: [1, 18] +- goal: [6, 6] + name: agent26 + start: [2, 13] +- goal: [21, 9] + name: agent27 + start: [27, 14] +- goal: [26, 8] + name: agent28 + start: [17, 25] +- goal: [6, 3] + name: agent29 + start: [13, 31] +- goal: [14, 6] + name: agent30 + start: [25, 30] +- goal: [16, 28] + name: agent31 + start: [4, 6] +- goal: [13, 3] + name: agent32 + start: [8, 23] +- goal: [21, 12] + name: agent33 + start: [5, 7] +- goal: [13, 19] + name: agent34 + start: [4, 28] +- goal: [11, 26] + name: agent35 + start: [11, 28] +- goal: [24, 31] + name: agent36 + start: [12, 10] +- goal: [26, 11] + name: agent37 + start: [6, 13] +- goal: [5, 13] + name: agent38 + start: [10, 10] +- goal: [28, 20] + name: agent39 + start: [19, 25] +- goal: [10, 12] + name: agent40 + start: [1, 22] +- goal: [29, 30] + name: agent41 + start: [25, 28] +- goal: [31, 1] + name: agent42 + start: [8, 15] +- goal: [26, 22] + name: agent43 + start: [22, 12] +- goal: [4, 27] + name: agent44 + start: [26, 21] +- goal: [2, 9] + name: agent45 + start: [10, 16] +- goal: [1, 18] + name: agent46 + start: [27, 3] +- goal: [5, 9] + name: agent47 + start: [1, 7] +- goal: [12, 16] + name: agent48 + start: [23, 19] +- goal: [27, 0] + name: agent49 + start: [1, 26] +- goal: [0, 22] + name: agent50 + start: [11, 14] +- goal: [24, 15] + name: agent51 + start: [3, 24] +- goal: [11, 2] + name: agent52 + start: [4, 8] +- goal: [14, 1] + name: agent53 + start: [22, 25] +- goal: [30, 6] + name: agent54 + start: [15, 26] +- goal: [1, 27] + name: agent55 + start: [29, 23] +- goal: [14, 23] + name: agent56 + start: [21, 19] +- goal: [30, 19] + name: agent57 + start: [16, 1] +- goal: [5, 8] + name: agent58 + start: [31, 9] +- goal: [5, 7] + name: agent59 + start: [11, 3] +- goal: [29, 2] + name: agent60 + start: [24, 29] +- goal: [5, 28] + name: agent61 + start: [5, 0] +- goal: [0, 11] + name: agent62 + start: [0, 8] +- goal: [16, 5] + name: agent63 + start: [26, 24] +- goal: [29, 14] + name: agent64 + start: [21, 2] +- goal: [28, 31] + name: agent65 + start: [16, 26] +- goal: [22, 28] + name: agent66 + start: [31, 10] +- goal: [12, 4] + name: agent67 + start: [11, 15] +- goal: [18, 30] + name: agent68 + start: [14, 17] +- goal: [22, 13] + name: agent69 + start: [13, 10] +- goal: [4, 23] + name: agent70 + start: [12, 15] +- goal: [27, 30] + name: agent71 + start: [7, 15] +- goal: [1, 6] + name: agent72 + start: [29, 25] +- goal: [10, 13] + name: agent73 + start: [26, 25] +- goal: [16, 15] + name: agent74 + start: [0, 9] +- goal: [9, 9] + name: agent75 + start: [13, 9] +- goal: [15, 27] + name: agent76 + start: [13, 18] +- goal: [22, 12] + name: agent77 + start: [16, 23] +- goal: [1, 15] + name: agent78 + start: [11, 12] +- goal: [3, 10] + name: agent79 + start: [15, 10] +- goal: [28, 13] + name: agent80 + start: [7, 10] +- goal: [14, 24] + name: agent81 + start: [24, 15] +- goal: [22, 11] + name: agent82 + start: [6, 6] +- goal: [2, 18] + name: agent83 + start: [19, 18] +- goal: [0, 20] + name: agent84 + start: [12, 9] +- goal: [24, 12] + name: agent85 + start: [1, 29] +- goal: [26, 3] + name: agent86 + start: [3, 1] +- goal: [15, 18] + name: agent87 + start: [16, 9] +- goal: [0, 18] + name: agent88 + start: [21, 9] +- goal: [2, 25] + name: agent89 + start: [17, 15] +- goal: [1, 0] + name: agent90 + start: [24, 23] +- goal: [21, 27] + name: agent91 + start: [22, 31] +- goal: [8, 4] + name: agent92 + start: [0, 2] +- goal: [7, 14] + name: agent93 + start: [31, 11] +- goal: [13, 26] + name: agent94 + start: [31, 26] +- goal: [15, 5] + name: agent95 + start: [10, 6] +- goal: [31, 20] + name: agent96 + start: [5, 4] +- goal: [30, 11] + name: agent97 + start: [5, 9] +- goal: [2, 11] + name: agent98 + start: [15, 11] +- goal: [6, 29] + name: agent99 + start: [0, 4] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [9, 17] + - !!python/tuple [22, 15] + - !!python/tuple [11, 19] + - !!python/tuple [4, 30] + - !!python/tuple [3, 23] + - !!python/tuple [12, 26] + - !!python/tuple [18, 7] + - !!python/tuple [19, 26] + - !!python/tuple [9, 28] + - !!python/tuple [14, 2] + - !!python/tuple [17, 12] + - !!python/tuple [19, 9] + - !!python/tuple [18, 11] + - !!python/tuple [23, 27] + - !!python/tuple [15, 13] + - !!python/tuple [16, 25] + - !!python/tuple [12, 27] + - !!python/tuple [15, 4] + - !!python/tuple [7, 7] + - !!python/tuple [14, 3] + - !!python/tuple [3, 31] + - !!python/tuple [22, 21] + - !!python/tuple [21, 3] + - !!python/tuple [27, 10] + - !!python/tuple [25, 18] + - !!python/tuple [26, 28] + - !!python/tuple [13, 28] + - !!python/tuple [19, 28] + - !!python/tuple [28, 9] + - !!python/tuple [2, 28] + - !!python/tuple [2, 1] + - !!python/tuple [27, 24] + - !!python/tuple [31, 17] + - !!python/tuple [3, 15] + - !!python/tuple [20, 25] + - !!python/tuple [13, 5] + - !!python/tuple [17, 16] + - !!python/tuple [7, 2] + - !!python/tuple [23, 30] + - !!python/tuple [28, 1] + - !!python/tuple [30, 4] + - !!python/tuple [2, 8] + - !!python/tuple [19, 24] + - !!python/tuple [2, 6] + - !!python/tuple [26, 9] + - !!python/tuple [13, 21] + - !!python/tuple [30, 29] + - !!python/tuple [24, 28] + - !!python/tuple [19, 27] + - !!python/tuple [16, 2] + - !!python/tuple [17, 3] + - !!python/tuple [21, 28] + - !!python/tuple [19, 16] + - !!python/tuple [23, 0] + - !!python/tuple [8, 19] + - !!python/tuple [11, 23] + - !!python/tuple [24, 18] + - !!python/tuple [19, 1] + - !!python/tuple [25, 6] + - !!python/tuple [28, 30] + - !!python/tuple [22, 24] + - !!python/tuple [18, 0] + - !!python/tuple [18, 23] + - !!python/tuple [22, 18] + - !!python/tuple [22, 23] + - !!python/tuple [13, 15] + - !!python/tuple [2, 21] + - !!python/tuple [20, 7] + - !!python/tuple [31, 22] + - !!python/tuple [9, 3] + - !!python/tuple [15, 9] + - !!python/tuple [8, 26] + - !!python/tuple [5, 22] + - !!python/tuple [5, 1] + - !!python/tuple [18, 24] + - !!python/tuple [5, 19] + - !!python/tuple [23, 25] + - !!python/tuple [8, 24] + - !!python/tuple [14, 5] + - !!python/tuple [26, 5] + - !!python/tuple [19, 2] + - !!python/tuple [0, 26] + - !!python/tuple [11, 5] + - !!python/tuple [3, 14] + - !!python/tuple [12, 12] + - !!python/tuple [29, 15] + - !!python/tuple [8, 17] + - !!python/tuple [23, 17] + - !!python/tuple [13, 7] + - !!python/tuple [25, 2] + - !!python/tuple [23, 2] + - !!python/tuple [22, 10] + - !!python/tuple [29, 9] + - !!python/tuple [31, 31] + - !!python/tuple [10, 11] + - !!python/tuple [7, 31] + - !!python/tuple [1, 16] + - !!python/tuple [10, 29] + - !!python/tuple [6, 31] + - !!python/tuple [31, 5] + - !!python/tuple [5, 12] + - !!python/tuple [18, 3] + - !!python/tuple [3, 25] + - !!python/tuple [12, 21] + - !!python/tuple [17, 1] + - !!python/tuple [7, 11] + - !!python/tuple [15, 3] + - !!python/tuple [18, 6] + - !!python/tuple [21, 14] + - !!python/tuple [16, 14] + - !!python/tuple [0, 28] + - !!python/tuple [20, 16] + - !!python/tuple [8, 0] + - !!python/tuple [23, 14] + - !!python/tuple [6, 21] + - !!python/tuple [16, 13] + - !!python/tuple [8, 1] + - !!python/tuple [28, 16] + - !!python/tuple [21, 23] + - !!python/tuple [30, 26] + - !!python/tuple [27, 31] + - !!python/tuple [4, 16] + - !!python/tuple [3, 4] + - !!python/tuple [1, 1] + - !!python/tuple [26, 19] + - !!python/tuple [9, 4] + - !!python/tuple [0, 21] + - !!python/tuple [23, 5] + - !!python/tuple [17, 0] + - !!python/tuple [19, 22] + - !!python/tuple [31, 6] + - !!python/tuple [30, 25] + - !!python/tuple [28, 7] + - !!python/tuple [11, 16] + - !!python/tuple [25, 16] + - !!python/tuple [24, 13] + - !!python/tuple [24, 2] + - !!python/tuple [21, 18] + - !!python/tuple [21, 4] + - !!python/tuple [0, 17] + - !!python/tuple [7, 26] + - !!python/tuple [20, 20] + - !!python/tuple [19, 31] + - !!python/tuple [15, 24] + - !!python/tuple [29, 13] + - !!python/tuple [23, 23] + - !!python/tuple [31, 12] + - !!python/tuple [13, 13] + - !!python/tuple [7, 20] + - !!python/tuple [23, 8] + - !!python/tuple [10, 1] + - !!python/tuple [16, 19] + - !!python/tuple [21, 24] + - !!python/tuple [19, 11] + - !!python/tuple [29, 20] + - !!python/tuple [25, 25] + - !!python/tuple [10, 17] + - !!python/tuple [18, 4] + - !!python/tuple [7, 30] + - !!python/tuple [20, 11] + - !!python/tuple [2, 24] + - !!python/tuple [14, 9] + - !!python/tuple [6, 7] + - !!python/tuple [18, 16] + - !!python/tuple [0, 15] + - !!python/tuple [2, 2] + - !!python/tuple [9, 25] + - !!python/tuple [13, 23] + - !!python/tuple [8, 30] + - !!python/tuple [14, 30] + - !!python/tuple [10, 2] + - !!python/tuple [31, 25] + - !!python/tuple [11, 20] + - !!python/tuple [15, 6] + - !!python/tuple [30, 0] + - !!python/tuple [3, 28] + - !!python/tuple [7, 27] + - !!python/tuple [14, 16] + - !!python/tuple [21, 31] + - !!python/tuple [26, 15] + - !!python/tuple [23, 28] + - !!python/tuple [5, 10] + - !!python/tuple [7, 19] + - !!python/tuple [25, 7] + - !!python/tuple [9, 6] + - !!python/tuple [19, 15] + - !!python/tuple [28, 14] + - !!python/tuple [28, 26] + - !!python/tuple [31, 19] + - !!python/tuple [9, 26] + - !!python/tuple [9, 21] + - !!python/tuple [9, 14] + - !!python/tuple [12, 30] + - !!python/tuple [30, 18] + - !!python/tuple [24, 30] + - !!python/tuple [27, 27] + - !!python/tuple [30, 8] + - !!python/tuple [14, 21] + - !!python/tuple [3, 13] + - !!python/tuple [20, 6] + - !!python/tuple [10, 14] + - !!python/tuple [27, 21] + - !!python/tuple [6, 8] + - !!python/tuple [2, 7] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex85.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex85.yaml new file mode 100644 index 0000000..2a9676e --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex85.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [30, 24] + name: agent0 + start: [18, 2] +- goal: [19, 22] + name: agent1 + start: [7, 13] +- goal: [21, 4] + name: agent2 + start: [20, 2] +- goal: [13, 26] + name: agent3 + start: [7, 26] +- goal: [21, 10] + name: agent4 + start: [18, 17] +- goal: [7, 30] + name: agent5 + start: [5, 27] +- goal: [1, 27] + name: agent6 + start: [14, 8] +- goal: [4, 1] + name: agent7 + start: [20, 6] +- goal: [0, 12] + name: agent8 + start: [11, 24] +- goal: [22, 4] + name: agent9 + start: [29, 0] +- goal: [21, 29] + name: agent10 + start: [22, 14] +- goal: [20, 1] + name: agent11 + start: [1, 3] +- goal: [8, 4] + name: agent12 + start: [8, 3] +- goal: [3, 23] + name: agent13 + start: [12, 9] +- goal: [25, 6] + name: agent14 + start: [24, 28] +- goal: [29, 27] + name: agent15 + start: [12, 5] +- goal: [12, 17] + name: agent16 + start: [7, 19] +- goal: [19, 26] + name: agent17 + start: [8, 5] +- goal: [22, 12] + name: agent18 + start: [30, 28] +- goal: [30, 1] + name: agent19 + start: [0, 0] +- goal: [24, 28] + name: agent20 + start: [26, 31] +- goal: [4, 5] + name: agent21 + start: [19, 9] +- goal: [27, 15] + name: agent22 + start: [3, 20] +- goal: [15, 7] + name: agent23 + start: [14, 14] +- goal: [27, 21] + name: agent24 + start: [4, 0] +- goal: [25, 14] + name: agent25 + start: [25, 14] +- goal: [31, 17] + name: agent26 + start: [11, 27] +- goal: [22, 9] + name: agent27 + start: [25, 28] +- goal: [2, 20] + name: agent28 + start: [8, 18] +- goal: [10, 25] + name: agent29 + start: [10, 18] +- goal: [21, 22] + name: agent30 + start: [23, 26] +- goal: [27, 3] + name: agent31 + start: [28, 18] +- goal: [14, 29] + name: agent32 + start: [28, 21] +- goal: [11, 18] + name: agent33 + start: [9, 0] +- goal: [31, 12] + name: agent34 + start: [15, 6] +- goal: [2, 17] + name: agent35 + start: [11, 1] +- goal: [0, 29] + name: agent36 + start: [0, 24] +- goal: [29, 1] + name: agent37 + start: [18, 30] +- goal: [2, 25] + name: agent38 + start: [18, 6] +- goal: [2, 14] + name: agent39 + start: [0, 14] +- goal: [3, 0] + name: agent40 + start: [20, 1] +- goal: [0, 24] + name: agent41 + start: [27, 1] +- goal: [1, 26] + name: agent42 + start: [24, 29] +- goal: [14, 14] + name: agent43 + start: [10, 11] +- goal: [7, 14] + name: agent44 + start: [22, 0] +- goal: [12, 4] + name: agent45 + start: [11, 30] +- goal: [23, 30] + name: agent46 + start: [25, 31] +- goal: [0, 10] + name: agent47 + start: [6, 23] +- goal: [15, 9] + name: agent48 + start: [3, 1] +- goal: [30, 16] + name: agent49 + start: [19, 4] +- goal: [10, 8] + name: agent50 + start: [7, 28] +- goal: [17, 14] + name: agent51 + start: [22, 17] +- goal: [5, 27] + name: agent52 + start: [16, 8] +- goal: [29, 29] + name: agent53 + start: [27, 21] +- goal: [26, 27] + name: agent54 + start: [7, 15] +- goal: [29, 24] + name: agent55 + start: [19, 6] +- goal: [26, 15] + name: agent56 + start: [20, 11] +- goal: [29, 12] + name: agent57 + start: [31, 18] +- goal: [19, 11] + name: agent58 + start: [6, 18] +- goal: [17, 23] + name: agent59 + start: [24, 14] +- goal: [0, 0] + name: agent60 + start: [3, 14] +- goal: [21, 14] + name: agent61 + start: [18, 11] +- goal: [21, 8] + name: agent62 + start: [10, 5] +- goal: [15, 18] + name: agent63 + start: [17, 2] +- goal: [26, 8] + name: agent64 + start: [20, 20] +- goal: [11, 7] + name: agent65 + start: [8, 29] +- goal: [15, 4] + name: agent66 + start: [12, 24] +- goal: [20, 23] + name: agent67 + start: [6, 29] +- goal: [16, 13] + name: agent68 + start: [17, 31] +- goal: [19, 1] + name: agent69 + start: [27, 20] +- goal: [2, 28] + name: agent70 + start: [3, 28] +- goal: [21, 3] + name: agent71 + start: [9, 13] +- goal: [6, 25] + name: agent72 + start: [10, 30] +- goal: [1, 30] + name: agent73 + start: [9, 10] +- goal: [22, 26] + name: agent74 + start: [31, 20] +- goal: [23, 2] + name: agent75 + start: [1, 18] +- goal: [18, 24] + name: agent76 + start: [26, 24] +- goal: [1, 22] + name: agent77 + start: [27, 6] +- goal: [29, 25] + name: agent78 + start: [5, 26] +- goal: [17, 28] + name: agent79 + start: [13, 14] +- goal: [19, 13] + name: agent80 + start: [22, 3] +- goal: [12, 24] + name: agent81 + start: [8, 31] +- goal: [4, 30] + name: agent82 + start: [12, 30] +- goal: [8, 10] + name: agent83 + start: [14, 2] +- goal: [25, 21] + name: agent84 + start: [7, 9] +- goal: [5, 31] + name: agent85 + start: [8, 14] +- goal: [11, 25] + name: agent86 + start: [5, 18] +- goal: [18, 10] + name: agent87 + start: [19, 30] +- goal: [15, 12] + name: agent88 + start: [2, 14] +- goal: [14, 3] + name: agent89 + start: [5, 16] +- goal: [0, 14] + name: agent90 + start: [13, 1] +- goal: [4, 20] + name: agent91 + start: [4, 12] +- goal: [21, 28] + name: agent92 + start: [17, 30] +- goal: [2, 8] + name: agent93 + start: [5, 28] +- goal: [7, 21] + name: agent94 + start: [1, 27] +- goal: [15, 3] + name: agent95 + start: [28, 10] +- goal: [5, 18] + name: agent96 + start: [1, 1] +- goal: [16, 6] + name: agent97 + start: [2, 17] +- goal: [30, 30] + name: agent98 + start: [26, 8] +- goal: [2, 6] + name: agent99 + start: [11, 29] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [26, 4] + - !!python/tuple [6, 22] + - !!python/tuple [13, 4] + - !!python/tuple [30, 7] + - !!python/tuple [16, 25] + - !!python/tuple [25, 1] + - !!python/tuple [4, 19] + - !!python/tuple [18, 18] + - !!python/tuple [9, 25] + - !!python/tuple [25, 7] + - !!python/tuple [30, 19] + - !!python/tuple [0, 7] + - !!python/tuple [8, 21] + - !!python/tuple [0, 19] + - !!python/tuple [21, 24] + - !!python/tuple [2, 3] + - !!python/tuple [14, 16] + - !!python/tuple [31, 21] + - !!python/tuple [0, 15] + - !!python/tuple [10, 4] + - !!python/tuple [0, 8] + - !!python/tuple [12, 20] + - !!python/tuple [8, 17] + - !!python/tuple [25, 24] + - !!python/tuple [6, 11] + - !!python/tuple [5, 1] + - !!python/tuple [7, 22] + - !!python/tuple [30, 2] + - !!python/tuple [21, 23] + - !!python/tuple [22, 10] + - !!python/tuple [3, 26] + - !!python/tuple [31, 0] + - !!python/tuple [29, 13] + - !!python/tuple [16, 18] + - !!python/tuple [0, 16] + - !!python/tuple [17, 3] + - !!python/tuple [1, 15] + - !!python/tuple [28, 22] + - !!python/tuple [16, 17] + - !!python/tuple [0, 5] + - !!python/tuple [9, 21] + - !!python/tuple [23, 6] + - !!python/tuple [9, 5] + - !!python/tuple [1, 6] + - !!python/tuple [17, 25] + - !!python/tuple [12, 7] + - !!python/tuple [5, 21] + - !!python/tuple [3, 18] + - !!python/tuple [16, 27] + - !!python/tuple [23, 14] + - !!python/tuple [27, 27] + - !!python/tuple [9, 30] + - !!python/tuple [29, 9] + - !!python/tuple [30, 9] + - !!python/tuple [21, 1] + - !!python/tuple [27, 11] + - !!python/tuple [31, 30] + - !!python/tuple [1, 2] + - !!python/tuple [16, 28] + - !!python/tuple [31, 14] + - !!python/tuple [18, 19] + - !!python/tuple [21, 25] + - !!python/tuple [15, 30] + - !!python/tuple [5, 6] + - !!python/tuple [26, 9] + - !!python/tuple [14, 26] + - !!python/tuple [18, 28] + - !!python/tuple [10, 15] + - !!python/tuple [6, 16] + - !!python/tuple [9, 8] + - !!python/tuple [1, 28] + - !!python/tuple [24, 24] + - !!python/tuple [15, 8] + - !!python/tuple [23, 25] + - !!python/tuple [4, 3] + - !!python/tuple [11, 20] + - !!python/tuple [25, 19] + - !!python/tuple [6, 19] + - !!python/tuple [11, 11] + - !!python/tuple [30, 21] + - !!python/tuple [26, 13] + - !!python/tuple [16, 31] + - !!python/tuple [30, 3] + - !!python/tuple [10, 22] + - !!python/tuple [9, 9] + - !!python/tuple [13, 2] + - !!python/tuple [23, 23] + - !!python/tuple [13, 25] + - !!python/tuple [7, 27] + - !!python/tuple [12, 12] + - !!python/tuple [17, 8] + - !!python/tuple [25, 8] + - !!python/tuple [16, 1] + - !!python/tuple [18, 14] + - !!python/tuple [24, 18] + - !!python/tuple [6, 17] + - !!python/tuple [10, 2] + - !!python/tuple [24, 9] + - !!python/tuple [15, 22] + - !!python/tuple [20, 5] + - !!python/tuple [31, 23] + - !!python/tuple [3, 15] + - !!python/tuple [9, 2] + - !!python/tuple [8, 1] + - !!python/tuple [2, 9] + - !!python/tuple [6, 1] + - !!python/tuple [11, 13] + - !!python/tuple [5, 10] + - !!python/tuple [16, 15] + - !!python/tuple [13, 17] + - !!python/tuple [30, 6] + - !!python/tuple [1, 12] + - !!python/tuple [21, 13] + - !!python/tuple [21, 31] + - !!python/tuple [25, 0] + - !!python/tuple [22, 16] + - !!python/tuple [10, 27] + - !!python/tuple [29, 28] + - !!python/tuple [25, 17] + - !!python/tuple [16, 11] + - !!python/tuple [28, 7] + - !!python/tuple [27, 0] + - !!python/tuple [23, 10] + - !!python/tuple [18, 23] + - !!python/tuple [19, 8] + - !!python/tuple [7, 31] + - !!python/tuple [18, 27] + - !!python/tuple [4, 9] + - !!python/tuple [2, 22] + - !!python/tuple [27, 29] + - !!python/tuple [30, 13] + - !!python/tuple [23, 31] + - !!python/tuple [17, 1] + - !!python/tuple [16, 16] + - !!python/tuple [6, 3] + - !!python/tuple [14, 7] + - !!python/tuple [15, 24] + - !!python/tuple [1, 24] + - !!python/tuple [8, 28] + - !!python/tuple [23, 0] + - !!python/tuple [20, 0] + - !!python/tuple [27, 14] + - !!python/tuple [24, 1] + - !!python/tuple [15, 23] + - !!python/tuple [25, 2] + - !!python/tuple [31, 25] + - !!python/tuple [28, 28] + - !!python/tuple [5, 22] + - !!python/tuple [21, 19] + - !!python/tuple [13, 13] + - !!python/tuple [30, 27] + - !!python/tuple [24, 27] + - !!python/tuple [13, 9] + - !!python/tuple [3, 5] + - !!python/tuple [15, 15] + - !!python/tuple [23, 22] + - !!python/tuple [19, 18] + - !!python/tuple [20, 22] + - !!python/tuple [10, 9] + - !!python/tuple [10, 12] + - !!python/tuple [24, 17] + - !!python/tuple [19, 16] + - !!python/tuple [9, 17] + - !!python/tuple [31, 9] + - !!python/tuple [18, 9] + - !!python/tuple [2, 4] + - !!python/tuple [11, 4] + - !!python/tuple [13, 20] + - !!python/tuple [9, 26] + - !!python/tuple [29, 4] + - !!python/tuple [17, 27] + - !!python/tuple [12, 23] + - !!python/tuple [18, 31] + - !!python/tuple [21, 7] + - !!python/tuple [19, 5] + - !!python/tuple [12, 22] + - !!python/tuple [11, 23] + - !!python/tuple [10, 14] + - !!python/tuple [24, 25] + - !!python/tuple [23, 1] + - !!python/tuple [28, 4] + - !!python/tuple [24, 31] + - !!python/tuple [12, 13] + - !!python/tuple [19, 27] + - !!python/tuple [1, 4] + - !!python/tuple [4, 10] + - !!python/tuple [7, 23] + - !!python/tuple [5, 23] + - !!python/tuple [27, 12] + - !!python/tuple [15, 16] + - !!python/tuple [1, 21] + - !!python/tuple [29, 22] + - !!python/tuple [29, 26] + - !!python/tuple [13, 10] + - !!python/tuple [11, 26] + - !!python/tuple [19, 10] + - !!python/tuple [26, 1] + - !!python/tuple [0, 23] + - !!python/tuple [27, 7] + - !!python/tuple [21, 2] + - !!python/tuple [26, 21] + - !!python/tuple [10, 21] + - !!python/tuple [19, 28] + - !!python/tuple [13, 5] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex86.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex86.yaml new file mode 100644 index 0000000..88df7ab --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex86.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [9, 22] + name: agent0 + start: [10, 7] +- goal: [22, 24] + name: agent1 + start: [30, 7] +- goal: [24, 3] + name: agent2 + start: [20, 29] +- goal: [27, 14] + name: agent3 + start: [14, 23] +- goal: [25, 9] + name: agent4 + start: [2, 27] +- goal: [25, 14] + name: agent5 + start: [25, 10] +- goal: [28, 9] + name: agent6 + start: [18, 2] +- goal: [6, 8] + name: agent7 + start: [26, 0] +- goal: [26, 7] + name: agent8 + start: [16, 6] +- goal: [0, 15] + name: agent9 + start: [7, 15] +- goal: [28, 5] + name: agent10 + start: [16, 3] +- goal: [5, 6] + name: agent11 + start: [6, 8] +- goal: [15, 23] + name: agent12 + start: [13, 28] +- goal: [4, 14] + name: agent13 + start: [5, 14] +- goal: [19, 6] + name: agent14 + start: [25, 27] +- goal: [17, 10] + name: agent15 + start: [0, 25] +- goal: [7, 18] + name: agent16 + start: [22, 2] +- goal: [13, 29] + name: agent17 + start: [1, 17] +- goal: [29, 10] + name: agent18 + start: [27, 30] +- goal: [23, 9] + name: agent19 + start: [2, 4] +- goal: [8, 30] + name: agent20 + start: [19, 8] +- goal: [31, 12] + name: agent21 + start: [26, 1] +- goal: [21, 12] + name: agent22 + start: [26, 26] +- goal: [11, 23] + name: agent23 + start: [16, 12] +- goal: [12, 14] + name: agent24 + start: [22, 30] +- goal: [5, 9] + name: agent25 + start: [28, 26] +- goal: [27, 26] + name: agent26 + start: [25, 19] +- goal: [25, 3] + name: agent27 + start: [3, 27] +- goal: [23, 20] + name: agent28 + start: [29, 6] +- goal: [30, 27] + name: agent29 + start: [4, 1] +- goal: [6, 17] + name: agent30 + start: [1, 13] +- goal: [2, 7] + name: agent31 + start: [27, 9] +- goal: [2, 1] + name: agent32 + start: [30, 1] +- goal: [4, 10] + name: agent33 + start: [29, 18] +- goal: [7, 13] + name: agent34 + start: [29, 26] +- goal: [14, 24] + name: agent35 + start: [26, 5] +- goal: [11, 13] + name: agent36 + start: [20, 21] +- goal: [19, 12] + name: agent37 + start: [13, 18] +- goal: [11, 16] + name: agent38 + start: [16, 13] +- goal: [15, 11] + name: agent39 + start: [12, 11] +- goal: [21, 17] + name: agent40 + start: [7, 9] +- goal: [2, 9] + name: agent41 + start: [29, 3] +- goal: [4, 9] + name: agent42 + start: [25, 9] +- goal: [13, 14] + name: agent43 + start: [16, 28] +- goal: [24, 26] + name: agent44 + start: [24, 21] +- goal: [20, 15] + name: agent45 + start: [12, 26] +- goal: [16, 12] + name: agent46 + start: [9, 23] +- goal: [26, 26] + name: agent47 + start: [18, 28] +- goal: [23, 7] + name: agent48 + start: [19, 27] +- goal: [14, 5] + name: agent49 + start: [12, 14] +- goal: [29, 4] + name: agent50 + start: [16, 0] +- goal: [24, 10] + name: agent51 + start: [23, 31] +- goal: [2, 27] + name: agent52 + start: [17, 1] +- goal: [18, 11] + name: agent53 + start: [31, 6] +- goal: [13, 26] + name: agent54 + start: [10, 5] +- goal: [1, 20] + name: agent55 + start: [15, 14] +- goal: [31, 13] + name: agent56 + start: [10, 4] +- goal: [27, 20] + name: agent57 + start: [17, 9] +- goal: [30, 0] + name: agent58 + start: [30, 27] +- goal: [24, 25] + name: agent59 + start: [10, 31] +- goal: [29, 6] + name: agent60 + start: [25, 16] +- goal: [21, 7] + name: agent61 + start: [25, 23] +- goal: [15, 2] + name: agent62 + start: [27, 29] +- goal: [26, 2] + name: agent63 + start: [27, 25] +- goal: [19, 15] + name: agent64 + start: [2, 15] +- goal: [19, 20] + name: agent65 + start: [28, 3] +- goal: [1, 11] + name: agent66 + start: [3, 0] +- goal: [19, 22] + name: agent67 + start: [0, 20] +- goal: [6, 13] + name: agent68 + start: [13, 29] +- goal: [22, 17] + name: agent69 + start: [16, 15] +- goal: [14, 29] + name: agent70 + start: [1, 7] +- goal: [2, 22] + name: agent71 + start: [30, 11] +- goal: [26, 23] + name: agent72 + start: [22, 10] +- goal: [28, 29] + name: agent73 + start: [7, 19] +- goal: [23, 22] + name: agent74 + start: [11, 0] +- goal: [24, 9] + name: agent75 + start: [15, 17] +- goal: [13, 22] + name: agent76 + start: [17, 11] +- goal: [25, 23] + name: agent77 + start: [31, 15] +- goal: [29, 21] + name: agent78 + start: [3, 21] +- goal: [5, 10] + name: agent79 + start: [25, 20] +- goal: [0, 20] + name: agent80 + start: [8, 13] +- goal: [5, 21] + name: agent81 + start: [11, 14] +- goal: [5, 4] + name: agent82 + start: [17, 18] +- goal: [7, 28] + name: agent83 + start: [17, 4] +- goal: [29, 17] + name: agent84 + start: [29, 22] +- goal: [23, 6] + name: agent85 + start: [31, 12] +- goal: [14, 23] + name: agent86 + start: [0, 14] +- goal: [8, 7] + name: agent87 + start: [19, 29] +- goal: [0, 17] + name: agent88 + start: [23, 25] +- goal: [10, 30] + name: agent89 + start: [14, 25] +- goal: [16, 14] + name: agent90 + start: [19, 21] +- goal: [7, 19] + name: agent91 + start: [19, 13] +- goal: [14, 31] + name: agent92 + start: [26, 13] +- goal: [4, 31] + name: agent93 + start: [2, 22] +- goal: [3, 20] + name: agent94 + start: [14, 28] +- goal: [10, 8] + name: agent95 + start: [24, 22] +- goal: [11, 11] + name: agent96 + start: [14, 4] +- goal: [10, 12] + name: agent97 + start: [22, 28] +- goal: [1, 21] + name: agent98 + start: [26, 12] +- goal: [3, 29] + name: agent99 + start: [23, 21] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [11, 26] + - !!python/tuple [1, 15] + - !!python/tuple [29, 24] + - !!python/tuple [1, 12] + - !!python/tuple [26, 4] + - !!python/tuple [28, 20] + - !!python/tuple [18, 17] + - !!python/tuple [16, 18] + - !!python/tuple [31, 24] + - !!python/tuple [30, 25] + - !!python/tuple [12, 28] + - !!python/tuple [14, 6] + - !!python/tuple [22, 4] + - !!python/tuple [0, 24] + - !!python/tuple [1, 0] + - !!python/tuple [4, 13] + - !!python/tuple [2, 28] + - !!python/tuple [4, 29] + - !!python/tuple [24, 19] + - !!python/tuple [26, 19] + - !!python/tuple [26, 17] + - !!python/tuple [20, 12] + - !!python/tuple [23, 0] + - !!python/tuple [24, 4] + - !!python/tuple [10, 21] + - !!python/tuple [8, 25] + - !!python/tuple [16, 2] + - !!python/tuple [13, 25] + - !!python/tuple [19, 26] + - !!python/tuple [12, 30] + - !!python/tuple [4, 17] + - !!python/tuple [6, 4] + - !!python/tuple [23, 10] + - !!python/tuple [13, 20] + - !!python/tuple [16, 31] + - !!python/tuple [4, 15] + - !!python/tuple [28, 7] + - !!python/tuple [17, 8] + - !!python/tuple [17, 23] + - !!python/tuple [22, 29] + - !!python/tuple [9, 4] + - !!python/tuple [4, 30] + - !!python/tuple [27, 19] + - !!python/tuple [22, 7] + - !!python/tuple [30, 12] + - !!python/tuple [31, 23] + - !!python/tuple [14, 15] + - !!python/tuple [0, 11] + - !!python/tuple [27, 6] + - !!python/tuple [21, 6] + - !!python/tuple [1, 25] + - !!python/tuple [6, 6] + - !!python/tuple [12, 21] + - !!python/tuple [27, 16] + - !!python/tuple [6, 29] + - !!python/tuple [18, 12] + - !!python/tuple [13, 11] + - !!python/tuple [13, 12] + - !!python/tuple [22, 14] + - !!python/tuple [25, 21] + - !!python/tuple [23, 17] + - !!python/tuple [24, 8] + - !!python/tuple [12, 20] + - !!python/tuple [29, 1] + - !!python/tuple [11, 19] + - !!python/tuple [12, 15] + - !!python/tuple [25, 12] + - !!python/tuple [16, 1] + - !!python/tuple [25, 5] + - !!python/tuple [22, 19] + - !!python/tuple [11, 2] + - !!python/tuple [21, 21] + - !!python/tuple [24, 11] + - !!python/tuple [19, 24] + - !!python/tuple [3, 2] + - !!python/tuple [9, 12] + - !!python/tuple [18, 14] + - !!python/tuple [13, 10] + - !!python/tuple [14, 19] + - !!python/tuple [22, 16] + - !!python/tuple [27, 13] + - !!python/tuple [8, 9] + - !!python/tuple [21, 4] + - !!python/tuple [15, 4] + - !!python/tuple [5, 19] + - !!python/tuple [30, 26] + - !!python/tuple [9, 6] + - !!python/tuple [8, 11] + - !!python/tuple [5, 29] + - !!python/tuple [10, 22] + - !!python/tuple [17, 6] + - !!python/tuple [8, 4] + - !!python/tuple [4, 18] + - !!python/tuple [28, 21] + - !!python/tuple [12, 19] + - !!python/tuple [11, 30] + - !!python/tuple [8, 3] + - !!python/tuple [10, 14] + - !!python/tuple [13, 15] + - !!python/tuple [31, 10] + - !!python/tuple [20, 10] + - !!python/tuple [12, 31] + - !!python/tuple [10, 28] + - !!python/tuple [29, 16] + - !!python/tuple [27, 2] + - !!python/tuple [13, 9] + - !!python/tuple [22, 18] + - !!python/tuple [14, 30] + - !!python/tuple [31, 7] + - !!python/tuple [30, 2] + - !!python/tuple [11, 12] + - !!python/tuple [1, 14] + - !!python/tuple [22, 6] + - !!python/tuple [7, 30] + - !!python/tuple [18, 19] + - !!python/tuple [6, 15] + - !!python/tuple [19, 17] + - !!python/tuple [30, 29] + - !!python/tuple [23, 13] + - !!python/tuple [20, 3] + - !!python/tuple [13, 3] + - !!python/tuple [8, 31] + - !!python/tuple [16, 27] + - !!python/tuple [27, 12] + - !!python/tuple [3, 12] + - !!python/tuple [12, 12] + - !!python/tuple [19, 7] + - !!python/tuple [6, 21] + - !!python/tuple [1, 3] + - !!python/tuple [28, 8] + - !!python/tuple [5, 13] + - !!python/tuple [21, 8] + - !!python/tuple [16, 22] + - !!python/tuple [28, 22] + - !!python/tuple [25, 11] + - !!python/tuple [10, 2] + - !!python/tuple [28, 30] + - !!python/tuple [15, 20] + - !!python/tuple [3, 26] + - !!python/tuple [2, 6] + - !!python/tuple [23, 30] + - !!python/tuple [16, 16] + - !!python/tuple [16, 10] + - !!python/tuple [29, 25] + - !!python/tuple [17, 3] + - !!python/tuple [30, 17] + - !!python/tuple [21, 15] + - !!python/tuple [9, 1] + - !!python/tuple [0, 6] + - !!python/tuple [9, 14] + - !!python/tuple [2, 24] + - !!python/tuple [9, 31] + - !!python/tuple [21, 14] + - !!python/tuple [10, 11] + - !!python/tuple [18, 18] + - !!python/tuple [4, 20] + - !!python/tuple [19, 16] + - !!python/tuple [18, 20] + - !!python/tuple [7, 21] + - !!python/tuple [12, 22] + - !!python/tuple [11, 24] + - !!python/tuple [30, 19] + - !!python/tuple [14, 21] + - !!python/tuple [28, 15] + - !!python/tuple [26, 16] + - !!python/tuple [9, 5] + - !!python/tuple [5, 23] + - !!python/tuple [25, 24] + - !!python/tuple [30, 21] + - !!python/tuple [2, 25] + - !!python/tuple [11, 4] + - !!python/tuple [5, 0] + - !!python/tuple [4, 4] + - !!python/tuple [22, 20] + - !!python/tuple [22, 1] + - !!python/tuple [13, 23] + - !!python/tuple [9, 21] + - !!python/tuple [23, 26] + - !!python/tuple [3, 5] + - !!python/tuple [20, 17] + - !!python/tuple [20, 4] + - !!python/tuple [26, 30] + - !!python/tuple [19, 3] + - !!python/tuple [9, 18] + - !!python/tuple [26, 14] + - !!python/tuple [25, 7] + - !!python/tuple [13, 13] + - !!python/tuple [11, 27] + - !!python/tuple [27, 31] + - !!python/tuple [3, 11] + - !!python/tuple [16, 19] + - !!python/tuple [31, 26] + - !!python/tuple [14, 12] + - !!python/tuple [1, 4] + - !!python/tuple [19, 1] + - !!python/tuple [21, 2] + - !!python/tuple [11, 28] + - !!python/tuple [24, 28] + - !!python/tuple [11, 17] + - !!python/tuple [17, 15] + - !!python/tuple [15, 9] + - !!python/tuple [9, 27] + - !!python/tuple [12, 10] + - !!python/tuple [11, 31] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex87.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex87.yaml new file mode 100644 index 0000000..da0b168 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex87.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [27, 9] + name: agent0 + start: [19, 3] +- goal: [16, 22] + name: agent1 + start: [21, 25] +- goal: [4, 26] + name: agent2 + start: [13, 20] +- goal: [18, 3] + name: agent3 + start: [12, 25] +- goal: [31, 21] + name: agent4 + start: [19, 30] +- goal: [4, 16] + name: agent5 + start: [16, 29] +- goal: [26, 7] + name: agent6 + start: [18, 20] +- goal: [4, 22] + name: agent7 + start: [18, 13] +- goal: [26, 14] + name: agent8 + start: [20, 5] +- goal: [23, 8] + name: agent9 + start: [7, 5] +- goal: [30, 19] + name: agent10 + start: [3, 28] +- goal: [1, 7] + name: agent11 + start: [0, 28] +- goal: [10, 20] + name: agent12 + start: [20, 3] +- goal: [5, 14] + name: agent13 + start: [29, 22] +- goal: [0, 14] + name: agent14 + start: [22, 12] +- goal: [17, 18] + name: agent15 + start: [19, 6] +- goal: [17, 24] + name: agent16 + start: [23, 30] +- goal: [12, 21] + name: agent17 + start: [0, 2] +- goal: [19, 3] + name: agent18 + start: [29, 10] +- goal: [24, 26] + name: agent19 + start: [31, 8] +- goal: [30, 27] + name: agent20 + start: [4, 25] +- goal: [15, 5] + name: agent21 + start: [20, 16] +- goal: [5, 25] + name: agent22 + start: [5, 4] +- goal: [22, 21] + name: agent23 + start: [7, 16] +- goal: [25, 21] + name: agent24 + start: [9, 29] +- goal: [24, 18] + name: agent25 + start: [7, 20] +- goal: [12, 20] + name: agent26 + start: [23, 14] +- goal: [6, 21] + name: agent27 + start: [19, 24] +- goal: [2, 23] + name: agent28 + start: [14, 11] +- goal: [26, 15] + name: agent29 + start: [12, 22] +- goal: [16, 9] + name: agent30 + start: [1, 6] +- goal: [9, 7] + name: agent31 + start: [28, 16] +- goal: [11, 17] + name: agent32 + start: [28, 31] +- goal: [22, 13] + name: agent33 + start: [30, 29] +- goal: [8, 1] + name: agent34 + start: [28, 6] +- goal: [20, 15] + name: agent35 + start: [24, 2] +- goal: [30, 16] + name: agent36 + start: [25, 16] +- goal: [12, 5] + name: agent37 + start: [8, 5] +- goal: [12, 11] + name: agent38 + start: [20, 28] +- goal: [1, 11] + name: agent39 + start: [18, 9] +- goal: [22, 4] + name: agent40 + start: [16, 28] +- goal: [12, 4] + name: agent41 + start: [4, 22] +- goal: [21, 19] + name: agent42 + start: [6, 2] +- goal: [7, 11] + name: agent43 + start: [16, 1] +- goal: [21, 8] + name: agent44 + start: [15, 6] +- goal: [22, 16] + name: agent45 + start: [23, 21] +- goal: [28, 11] + name: agent46 + start: [22, 3] +- goal: [19, 12] + name: agent47 + start: [20, 4] +- goal: [1, 10] + name: agent48 + start: [3, 24] +- goal: [0, 3] + name: agent49 + start: [9, 2] +- goal: [9, 3] + name: agent50 + start: [14, 27] +- goal: [12, 15] + name: agent51 + start: [31, 30] +- goal: [25, 28] + name: agent52 + start: [26, 0] +- goal: [31, 30] + name: agent53 + start: [23, 25] +- goal: [8, 20] + name: agent54 + start: [13, 3] +- goal: [20, 8] + name: agent55 + start: [2, 6] +- goal: [0, 26] + name: agent56 + start: [10, 28] +- goal: [11, 11] + name: agent57 + start: [2, 27] +- goal: [6, 15] + name: agent58 + start: [28, 21] +- goal: [26, 23] + name: agent59 + start: [9, 7] +- goal: [22, 0] + name: agent60 + start: [1, 5] +- goal: [29, 17] + name: agent61 + start: [11, 11] +- goal: [25, 0] + name: agent62 + start: [12, 16] +- goal: [6, 23] + name: agent63 + start: [9, 21] +- goal: [16, 4] + name: agent64 + start: [9, 3] +- goal: [13, 25] + name: agent65 + start: [17, 0] +- goal: [2, 8] + name: agent66 + start: [25, 26] +- goal: [25, 26] + name: agent67 + start: [16, 24] +- goal: [30, 25] + name: agent68 + start: [6, 8] +- goal: [13, 10] + name: agent69 + start: [1, 29] +- goal: [20, 13] + name: agent70 + start: [23, 9] +- goal: [19, 7] + name: agent71 + start: [23, 5] +- goal: [2, 29] + name: agent72 + start: [27, 13] +- goal: [15, 11] + name: agent73 + start: [13, 19] +- goal: [18, 15] + name: agent74 + start: [15, 1] +- goal: [25, 20] + name: agent75 + start: [15, 9] +- goal: [18, 5] + name: agent76 + start: [13, 8] +- goal: [23, 17] + name: agent77 + start: [13, 4] +- goal: [29, 31] + name: agent78 + start: [16, 9] +- goal: [5, 26] + name: agent79 + start: [27, 15] +- goal: [3, 7] + name: agent80 + start: [9, 12] +- goal: [22, 26] + name: agent81 + start: [18, 14] +- goal: [5, 28] + name: agent82 + start: [2, 22] +- goal: [31, 31] + name: agent83 + start: [16, 11] +- goal: [2, 4] + name: agent84 + start: [27, 18] +- goal: [2, 3] + name: agent85 + start: [6, 17] +- goal: [25, 11] + name: agent86 + start: [11, 9] +- goal: [25, 22] + name: agent87 + start: [24, 8] +- goal: [12, 31] + name: agent88 + start: [11, 30] +- goal: [14, 5] + name: agent89 + start: [24, 0] +- goal: [13, 1] + name: agent90 + start: [0, 26] +- goal: [31, 18] + name: agent91 + start: [31, 14] +- goal: [12, 1] + name: agent92 + start: [11, 6] +- goal: [4, 8] + name: agent93 + start: [13, 14] +- goal: [7, 6] + name: agent94 + start: [23, 12] +- goal: [26, 27] + name: agent95 + start: [1, 14] +- goal: [30, 7] + name: agent96 + start: [7, 1] +- goal: [17, 16] + name: agent97 + start: [28, 29] +- goal: [24, 28] + name: agent98 + start: [8, 17] +- goal: [18, 16] + name: agent99 + start: [16, 2] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [4, 27] + - !!python/tuple [9, 24] + - !!python/tuple [4, 19] + - !!python/tuple [10, 18] + - !!python/tuple [5, 20] + - !!python/tuple [18, 22] + - !!python/tuple [3, 23] + - !!python/tuple [12, 28] + - !!python/tuple [23, 11] + - !!python/tuple [8, 2] + - !!python/tuple [18, 21] + - !!python/tuple [21, 18] + - !!python/tuple [18, 23] + - !!python/tuple [8, 23] + - !!python/tuple [2, 14] + - !!python/tuple [25, 4] + - !!python/tuple [11, 3] + - !!python/tuple [0, 22] + - !!python/tuple [26, 16] + - !!python/tuple [22, 8] + - !!python/tuple [20, 0] + - !!python/tuple [0, 31] + - !!python/tuple [21, 26] + - !!python/tuple [12, 2] + - !!python/tuple [24, 24] + - !!python/tuple [3, 10] + - !!python/tuple [3, 0] + - !!python/tuple [6, 16] + - !!python/tuple [28, 22] + - !!python/tuple [24, 16] + - !!python/tuple [29, 13] + - !!python/tuple [8, 30] + - !!python/tuple [15, 14] + - !!python/tuple [8, 7] + - !!python/tuple [22, 22] + - !!python/tuple [27, 26] + - !!python/tuple [16, 17] + - !!python/tuple [22, 11] + - !!python/tuple [20, 23] + - !!python/tuple [23, 28] + - !!python/tuple [8, 16] + - !!python/tuple [10, 25] + - !!python/tuple [28, 13] + - !!python/tuple [25, 12] + - !!python/tuple [26, 12] + - !!python/tuple [28, 28] + - !!python/tuple [30, 10] + - !!python/tuple [31, 24] + - !!python/tuple [3, 31] + - !!python/tuple [20, 21] + - !!python/tuple [19, 26] + - !!python/tuple [6, 18] + - !!python/tuple [13, 15] + - !!python/tuple [31, 26] + - !!python/tuple [21, 14] + - !!python/tuple [30, 24] + - !!python/tuple [21, 29] + - !!python/tuple [2, 28] + - !!python/tuple [16, 21] + - !!python/tuple [30, 21] + - !!python/tuple [23, 26] + - !!python/tuple [31, 7] + - !!python/tuple [11, 19] + - !!python/tuple [14, 25] + - !!python/tuple [27, 25] + - !!python/tuple [19, 14] + - !!python/tuple [13, 29] + - !!python/tuple [12, 0] + - !!python/tuple [3, 27] + - !!python/tuple [9, 8] + - !!python/tuple [29, 3] + - !!python/tuple [3, 4] + - !!python/tuple [17, 4] + - !!python/tuple [26, 1] + - !!python/tuple [26, 6] + - !!python/tuple [9, 13] + - !!python/tuple [16, 15] + - !!python/tuple [15, 24] + - !!python/tuple [13, 21] + - !!python/tuple [10, 14] + - !!python/tuple [1, 0] + - !!python/tuple [11, 26] + - !!python/tuple [20, 22] + - !!python/tuple [15, 23] + - !!python/tuple [4, 14] + - !!python/tuple [12, 26] + - !!python/tuple [0, 13] + - !!python/tuple [4, 3] + - !!python/tuple [28, 26] + - !!python/tuple [9, 1] + - !!python/tuple [29, 12] + - !!python/tuple [15, 20] + - !!python/tuple [13, 5] + - !!python/tuple [27, 0] + - !!python/tuple [3, 12] + - !!python/tuple [8, 19] + - !!python/tuple [13, 18] + - !!python/tuple [24, 5] + - !!python/tuple [5, 15] + - !!python/tuple [9, 20] + - !!python/tuple [11, 4] + - !!python/tuple [0, 17] + - !!python/tuple [9, 27] + - !!python/tuple [24, 14] + - !!python/tuple [19, 4] + - !!python/tuple [25, 9] + - !!python/tuple [27, 8] + - !!python/tuple [7, 2] + - !!python/tuple [15, 18] + - !!python/tuple [7, 19] + - !!python/tuple [29, 15] + - !!python/tuple [14, 20] + - !!python/tuple [2, 17] + - !!python/tuple [18, 28] + - !!python/tuple [18, 29] + - !!python/tuple [19, 9] + - !!python/tuple [13, 28] + - !!python/tuple [28, 17] + - !!python/tuple [20, 27] + - !!python/tuple [8, 12] + - !!python/tuple [15, 22] + - !!python/tuple [31, 5] + - !!python/tuple [15, 16] + - !!python/tuple [0, 6] + - !!python/tuple [31, 10] + - !!python/tuple [17, 25] + - !!python/tuple [22, 9] + - !!python/tuple [28, 25] + - !!python/tuple [2, 7] + - !!python/tuple [5, 13] + - !!python/tuple [12, 29] + - !!python/tuple [5, 30] + - !!python/tuple [5, 31] + - !!python/tuple [12, 9] + - !!python/tuple [28, 19] + - !!python/tuple [26, 2] + - !!python/tuple [19, 17] + - !!python/tuple [7, 15] + - !!python/tuple [11, 1] + - !!python/tuple [2, 26] + - !!python/tuple [31, 6] + - !!python/tuple [13, 23] + - !!python/tuple [31, 19] + - !!python/tuple [23, 3] + - !!python/tuple [5, 9] + - !!python/tuple [1, 12] + - !!python/tuple [16, 19] + - !!python/tuple [22, 27] + - !!python/tuple [19, 13] + - !!python/tuple [29, 5] + - !!python/tuple [12, 27] + - !!python/tuple [31, 12] + - !!python/tuple [21, 17] + - !!python/tuple [27, 31] + - !!python/tuple [28, 18] + - !!python/tuple [19, 20] + - !!python/tuple [4, 10] + - !!python/tuple [31, 1] + - !!python/tuple [8, 29] + - !!python/tuple [3, 17] + - !!python/tuple [17, 26] + - !!python/tuple [14, 0] + - !!python/tuple [18, 12] + - !!python/tuple [3, 29] + - !!python/tuple [6, 5] + - !!python/tuple [3, 25] + - !!python/tuple [3, 20] + - !!python/tuple [22, 20] + - !!python/tuple [28, 5] + - !!python/tuple [10, 2] + - !!python/tuple [22, 15] + - !!python/tuple [26, 3] + - !!python/tuple [1, 16] + - !!python/tuple [31, 16] + - !!python/tuple [20, 2] + - !!python/tuple [18, 17] + - !!python/tuple [7, 29] + - !!python/tuple [22, 30] + - !!python/tuple [27, 2] + - !!python/tuple [31, 22] + - !!python/tuple [30, 6] + - !!python/tuple [22, 6] + - !!python/tuple [2, 30] + - !!python/tuple [21, 6] + - !!python/tuple [2, 31] + - !!python/tuple [4, 31] + - !!python/tuple [24, 10] + - !!python/tuple [5, 5] + - !!python/tuple [7, 14] + - !!python/tuple [23, 23] + - !!python/tuple [25, 13] + - !!python/tuple [9, 0] + - !!python/tuple [17, 31] + - !!python/tuple [20, 11] + - !!python/tuple [24, 9] + - !!python/tuple [5, 1] + - !!python/tuple [24, 31] + - !!python/tuple [15, 17] + - !!python/tuple [26, 24] + - !!python/tuple [2, 13] + - !!python/tuple [10, 23] + - !!python/tuple [27, 4] + - !!python/tuple [24, 29] + - !!python/tuple [5, 8] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex88.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex88.yaml new file mode 100644 index 0000000..4e0573e --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex88.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [25, 10] + name: agent0 + start: [28, 16] +- goal: [20, 13] + name: agent1 + start: [0, 26] +- goal: [27, 12] + name: agent2 + start: [15, 27] +- goal: [31, 13] + name: agent3 + start: [29, 0] +- goal: [8, 1] + name: agent4 + start: [17, 5] +- goal: [17, 23] + name: agent5 + start: [7, 15] +- goal: [1, 30] + name: agent6 + start: [12, 26] +- goal: [28, 5] + name: agent7 + start: [23, 12] +- goal: [31, 9] + name: agent8 + start: [0, 13] +- goal: [31, 4] + name: agent9 + start: [23, 28] +- goal: [12, 30] + name: agent10 + start: [14, 30] +- goal: [18, 4] + name: agent11 + start: [24, 8] +- goal: [16, 31] + name: agent12 + start: [24, 22] +- goal: [18, 8] + name: agent13 + start: [13, 24] +- goal: [12, 27] + name: agent14 + start: [23, 23] +- goal: [14, 6] + name: agent15 + start: [15, 8] +- goal: [4, 4] + name: agent16 + start: [10, 13] +- goal: [16, 4] + name: agent17 + start: [29, 23] +- goal: [16, 20] + name: agent18 + start: [19, 15] +- goal: [27, 27] + name: agent19 + start: [12, 13] +- goal: [7, 30] + name: agent20 + start: [2, 9] +- goal: [17, 19] + name: agent21 + start: [26, 24] +- goal: [10, 14] + name: agent22 + start: [30, 3] +- goal: [18, 9] + name: agent23 + start: [22, 22] +- goal: [0, 24] + name: agent24 + start: [16, 16] +- goal: [21, 0] + name: agent25 + start: [18, 28] +- goal: [30, 31] + name: agent26 + start: [5, 28] +- goal: [7, 5] + name: agent27 + start: [26, 15] +- goal: [18, 14] + name: agent28 + start: [19, 20] +- goal: [28, 26] + name: agent29 + start: [27, 12] +- goal: [10, 18] + name: agent30 + start: [25, 22] +- goal: [3, 7] + name: agent31 + start: [14, 17] +- goal: [27, 31] + name: agent32 + start: [18, 16] +- goal: [22, 11] + name: agent33 + start: [28, 31] +- goal: [11, 21] + name: agent34 + start: [7, 31] +- goal: [27, 4] + name: agent35 + start: [28, 26] +- goal: [31, 2] + name: agent36 + start: [30, 4] +- goal: [15, 16] + name: agent37 + start: [22, 20] +- goal: [16, 6] + name: agent38 + start: [0, 17] +- goal: [0, 12] + name: agent39 + start: [17, 31] +- goal: [1, 19] + name: agent40 + start: [15, 5] +- goal: [23, 29] + name: agent41 + start: [1, 1] +- goal: [23, 19] + name: agent42 + start: [15, 6] +- goal: [6, 21] + name: agent43 + start: [4, 28] +- goal: [11, 18] + name: agent44 + start: [18, 10] +- goal: [8, 22] + name: agent45 + start: [9, 14] +- goal: [27, 6] + name: agent46 + start: [26, 1] +- goal: [1, 10] + name: agent47 + start: [16, 25] +- goal: [1, 13] + name: agent48 + start: [11, 12] +- goal: [23, 24] + name: agent49 + start: [25, 12] +- goal: [4, 28] + name: agent50 + start: [30, 28] +- goal: [25, 19] + name: agent51 + start: [11, 20] +- goal: [23, 3] + name: agent52 + start: [2, 12] +- goal: [8, 9] + name: agent53 + start: [2, 6] +- goal: [3, 24] + name: agent54 + start: [19, 0] +- goal: [31, 27] + name: agent55 + start: [1, 28] +- goal: [5, 2] + name: agent56 + start: [4, 3] +- goal: [21, 14] + name: agent57 + start: [14, 21] +- goal: [31, 0] + name: agent58 + start: [31, 17] +- goal: [23, 28] + name: agent59 + start: [0, 22] +- goal: [26, 28] + name: agent60 + start: [24, 12] +- goal: [0, 9] + name: agent61 + start: [15, 0] +- goal: [31, 29] + name: agent62 + start: [18, 7] +- goal: [26, 24] + name: agent63 + start: [31, 11] +- goal: [17, 0] + name: agent64 + start: [28, 8] +- goal: [2, 17] + name: agent65 + start: [19, 28] +- goal: [27, 23] + name: agent66 + start: [15, 28] +- goal: [11, 20] + name: agent67 + start: [30, 8] +- goal: [25, 11] + name: agent68 + start: [2, 3] +- goal: [23, 8] + name: agent69 + start: [15, 21] +- goal: [8, 8] + name: agent70 + start: [18, 15] +- goal: [15, 18] + name: agent71 + start: [22, 25] +- goal: [1, 18] + name: agent72 + start: [1, 17] +- goal: [9, 0] + name: agent73 + start: [25, 29] +- goal: [26, 9] + name: agent74 + start: [17, 2] +- goal: [2, 0] + name: agent75 + start: [2, 0] +- goal: [16, 24] + name: agent76 + start: [20, 24] +- goal: [1, 17] + name: agent77 + start: [2, 23] +- goal: [6, 31] + name: agent78 + start: [30, 26] +- goal: [17, 24] + name: agent79 + start: [20, 10] +- goal: [17, 29] + name: agent80 + start: [21, 15] +- goal: [28, 31] + name: agent81 + start: [8, 26] +- goal: [7, 23] + name: agent82 + start: [25, 16] +- goal: [3, 13] + name: agent83 + start: [4, 0] +- goal: [17, 1] + name: agent84 + start: [30, 30] +- goal: [6, 28] + name: agent85 + start: [23, 8] +- goal: [15, 27] + name: agent86 + start: [11, 25] +- goal: [2, 20] + name: agent87 + start: [26, 29] +- goal: [8, 14] + name: agent88 + start: [6, 11] +- goal: [22, 23] + name: agent89 + start: [11, 2] +- goal: [24, 1] + name: agent90 + start: [17, 3] +- goal: [21, 3] + name: agent91 + start: [22, 26] +- goal: [18, 16] + name: agent92 + start: [0, 24] +- goal: [31, 21] + name: agent93 + start: [8, 23] +- goal: [15, 5] + name: agent94 + start: [15, 20] +- goal: [28, 16] + name: agent95 + start: [14, 31] +- goal: [27, 7] + name: agent96 + start: [29, 25] +- goal: [18, 0] + name: agent97 + start: [8, 25] +- goal: [4, 13] + name: agent98 + start: [13, 20] +- goal: [23, 23] + name: agent99 + start: [29, 1] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [4, 5] + - !!python/tuple [12, 18] + - !!python/tuple [17, 4] + - !!python/tuple [9, 13] + - !!python/tuple [22, 6] + - !!python/tuple [25, 25] + - !!python/tuple [9, 9] + - !!python/tuple [4, 17] + - !!python/tuple [31, 8] + - !!python/tuple [7, 29] + - !!python/tuple [26, 21] + - !!python/tuple [25, 24] + - !!python/tuple [25, 1] + - !!python/tuple [0, 15] + - !!python/tuple [12, 31] + - !!python/tuple [1, 8] + - !!python/tuple [22, 24] + - !!python/tuple [12, 3] + - !!python/tuple [26, 6] + - !!python/tuple [21, 25] + - !!python/tuple [5, 11] + - !!python/tuple [2, 21] + - !!python/tuple [28, 25] + - !!python/tuple [7, 16] + - !!python/tuple [17, 28] + - !!python/tuple [21, 5] + - !!python/tuple [3, 27] + - !!python/tuple [25, 31] + - !!python/tuple [0, 21] + - !!python/tuple [15, 15] + - !!python/tuple [18, 3] + - !!python/tuple [21, 12] + - !!python/tuple [12, 24] + - !!python/tuple [24, 19] + - !!python/tuple [4, 29] + - !!python/tuple [15, 12] + - !!python/tuple [9, 10] + - !!python/tuple [24, 13] + - !!python/tuple [2, 30] + - !!python/tuple [22, 19] + - !!python/tuple [2, 2] + - !!python/tuple [0, 2] + - !!python/tuple [31, 14] + - !!python/tuple [15, 31] + - !!python/tuple [8, 2] + - !!python/tuple [22, 4] + - !!python/tuple [1, 4] + - !!python/tuple [8, 27] + - !!python/tuple [11, 7] + - !!python/tuple [26, 3] + - !!python/tuple [4, 11] + - !!python/tuple [18, 27] + - !!python/tuple [4, 10] + - !!python/tuple [27, 24] + - !!python/tuple [10, 4] + - !!python/tuple [2, 19] + - !!python/tuple [26, 11] + - !!python/tuple [22, 7] + - !!python/tuple [5, 29] + - !!python/tuple [8, 10] + - !!python/tuple [31, 3] + - !!python/tuple [28, 9] + - !!python/tuple [0, 16] + - !!python/tuple [3, 20] + - !!python/tuple [29, 5] + - !!python/tuple [4, 19] + - !!python/tuple [20, 23] + - !!python/tuple [18, 24] + - !!python/tuple [13, 31] + - !!python/tuple [3, 16] + - !!python/tuple [6, 6] + - !!python/tuple [10, 5] + - !!python/tuple [19, 30] + - !!python/tuple [24, 31] + - !!python/tuple [19, 11] + - !!python/tuple [6, 10] + - !!python/tuple [23, 17] + - !!python/tuple [26, 12] + - !!python/tuple [14, 8] + - !!python/tuple [23, 27] + - !!python/tuple [24, 21] + - !!python/tuple [23, 13] + - !!python/tuple [7, 0] + - !!python/tuple [24, 3] + - !!python/tuple [22, 10] + - !!python/tuple [5, 16] + - !!python/tuple [1, 9] + - !!python/tuple [21, 9] + - !!python/tuple [5, 9] + - !!python/tuple [9, 15] + - !!python/tuple [12, 23] + - !!python/tuple [13, 29] + - !!python/tuple [6, 18] + - !!python/tuple [11, 3] + - !!python/tuple [21, 7] + - !!python/tuple [4, 12] + - !!python/tuple [6, 20] + - !!python/tuple [30, 7] + - !!python/tuple [10, 30] + - !!python/tuple [20, 28] + - !!python/tuple [11, 28] + - !!python/tuple [30, 11] + - !!python/tuple [10, 1] + - !!python/tuple [19, 12] + - !!python/tuple [31, 12] + - !!python/tuple [29, 9] + - !!python/tuple [0, 7] + - !!python/tuple [7, 7] + - !!python/tuple [17, 12] + - !!python/tuple [19, 19] + - !!python/tuple [13, 16] + - !!python/tuple [7, 28] + - !!python/tuple [8, 3] + - !!python/tuple [24, 23] + - !!python/tuple [22, 2] + - !!python/tuple [28, 4] + - !!python/tuple [22, 21] + - !!python/tuple [26, 18] + - !!python/tuple [13, 5] + - !!python/tuple [9, 22] + - !!python/tuple [21, 6] + - !!python/tuple [2, 8] + - !!python/tuple [6, 27] + - !!python/tuple [16, 14] + - !!python/tuple [12, 21] + - !!python/tuple [9, 6] + - !!python/tuple [5, 1] + - !!python/tuple [10, 19] + - !!python/tuple [30, 29] + - !!python/tuple [6, 2] + - !!python/tuple [10, 23] + - !!python/tuple [20, 17] + - !!python/tuple [5, 15] + - !!python/tuple [3, 4] + - !!python/tuple [23, 2] + - !!python/tuple [5, 30] + - !!python/tuple [30, 14] + - !!python/tuple [24, 11] + - !!python/tuple [20, 22] + - !!python/tuple [24, 2] + - !!python/tuple [23, 25] + - !!python/tuple [5, 14] + - !!python/tuple [16, 11] + - !!python/tuple [5, 17] + - !!python/tuple [28, 23] + - !!python/tuple [6, 24] + - !!python/tuple [19, 10] + - !!python/tuple [8, 7] + - !!python/tuple [8, 30] + - !!python/tuple [17, 27] + - !!python/tuple [14, 9] + - !!python/tuple [6, 30] + - !!python/tuple [13, 7] + - !!python/tuple [27, 13] + - !!python/tuple [2, 7] + - !!python/tuple [26, 25] + - !!python/tuple [28, 13] + - !!python/tuple [17, 8] + - !!python/tuple [20, 9] + - !!python/tuple [12, 15] + - !!python/tuple [6, 8] + - !!python/tuple [13, 21] + - !!python/tuple [9, 24] + - !!python/tuple [25, 3] + - !!python/tuple [24, 5] + - !!python/tuple [16, 23] + - !!python/tuple [16, 2] + - !!python/tuple [13, 18] + - !!python/tuple [27, 21] + - !!python/tuple [30, 27] + - !!python/tuple [13, 28] + - !!python/tuple [1, 26] + - !!python/tuple [12, 20] + - !!python/tuple [0, 20] + - !!python/tuple [7, 9] + - !!python/tuple [10, 24] + - !!python/tuple [6, 1] + - !!python/tuple [6, 23] + - !!python/tuple [23, 4] + - !!python/tuple [30, 22] + - !!python/tuple [26, 16] + - !!python/tuple [17, 25] + - !!python/tuple [20, 0] + - !!python/tuple [16, 8] + - !!python/tuple [19, 7] + - !!python/tuple [14, 14] + - !!python/tuple [14, 13] + - !!python/tuple [17, 30] + - !!python/tuple [21, 29] + - !!python/tuple [28, 19] + - !!python/tuple [17, 16] + - !!python/tuple [24, 7] + - !!python/tuple [24, 24] + - !!python/tuple [29, 19] + - !!python/tuple [15, 23] + - !!python/tuple [9, 19] + - !!python/tuple [29, 14] + - !!python/tuple [30, 23] + - !!python/tuple [7, 4] + - !!python/tuple [7, 11] + - !!python/tuple [16, 13] + - !!python/tuple [28, 14] + - !!python/tuple [11, 17] + - !!python/tuple [6, 16] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex89.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex89.yaml new file mode 100644 index 0000000..e666676 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex89.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [31, 19] + name: agent0 + start: [3, 29] +- goal: [21, 4] + name: agent1 + start: [28, 28] +- goal: [1, 31] + name: agent2 + start: [2, 2] +- goal: [5, 22] + name: agent3 + start: [28, 5] +- goal: [14, 11] + name: agent4 + start: [23, 6] +- goal: [8, 17] + name: agent5 + start: [8, 23] +- goal: [28, 27] + name: agent6 + start: [30, 30] +- goal: [8, 9] + name: agent7 + start: [30, 26] +- goal: [9, 25] + name: agent8 + start: [18, 9] +- goal: [11, 23] + name: agent9 + start: [22, 22] +- goal: [21, 15] + name: agent10 + start: [26, 21] +- goal: [8, 18] + name: agent11 + start: [30, 10] +- goal: [3, 12] + name: agent12 + start: [6, 28] +- goal: [15, 25] + name: agent13 + start: [27, 31] +- goal: [17, 11] + name: agent14 + start: [31, 0] +- goal: [2, 24] + name: agent15 + start: [11, 28] +- goal: [29, 13] + name: agent16 + start: [24, 26] +- goal: [0, 29] + name: agent17 + start: [22, 17] +- goal: [13, 25] + name: agent18 + start: [5, 25] +- goal: [23, 22] + name: agent19 + start: [4, 30] +- goal: [29, 31] + name: agent20 + start: [3, 12] +- goal: [30, 16] + name: agent21 + start: [14, 2] +- goal: [8, 5] + name: agent22 + start: [9, 13] +- goal: [26, 14] + name: agent23 + start: [21, 30] +- goal: [29, 23] + name: agent24 + start: [7, 29] +- goal: [28, 24] + name: agent25 + start: [5, 13] +- goal: [0, 5] + name: agent26 + start: [3, 13] +- goal: [11, 25] + name: agent27 + start: [23, 13] +- goal: [22, 1] + name: agent28 + start: [2, 21] +- goal: [13, 10] + name: agent29 + start: [20, 22] +- goal: [26, 17] + name: agent30 + start: [1, 23] +- goal: [3, 20] + name: agent31 + start: [11, 13] +- goal: [5, 11] + name: agent32 + start: [10, 11] +- goal: [3, 6] + name: agent33 + start: [31, 3] +- goal: [11, 2] + name: agent34 + start: [25, 27] +- goal: [22, 0] + name: agent35 + start: [4, 8] +- goal: [27, 17] + name: agent36 + start: [25, 7] +- goal: [22, 17] + name: agent37 + start: [2, 18] +- goal: [26, 28] + name: agent38 + start: [3, 6] +- goal: [11, 11] + name: agent39 + start: [9, 2] +- goal: [28, 15] + name: agent40 + start: [15, 1] +- goal: [2, 8] + name: agent41 + start: [31, 25] +- goal: [20, 19] + name: agent42 + start: [13, 20] +- goal: [23, 18] + name: agent43 + start: [31, 6] +- goal: [25, 30] + name: agent44 + start: [2, 25] +- goal: [13, 21] + name: agent45 + start: [30, 25] +- goal: [12, 3] + name: agent46 + start: [26, 31] +- goal: [19, 22] + name: agent47 + start: [18, 31] +- goal: [10, 30] + name: agent48 + start: [14, 15] +- goal: [3, 14] + name: agent49 + start: [26, 6] +- goal: [26, 9] + name: agent50 + start: [8, 24] +- goal: [2, 25] + name: agent51 + start: [20, 2] +- goal: [14, 5] + name: agent52 + start: [10, 21] +- goal: [31, 21] + name: agent53 + start: [2, 14] +- goal: [11, 5] + name: agent54 + start: [9, 31] +- goal: [20, 25] + name: agent55 + start: [22, 8] +- goal: [21, 18] + name: agent56 + start: [29, 14] +- goal: [2, 14] + name: agent57 + start: [9, 26] +- goal: [28, 29] + name: agent58 + start: [31, 13] +- goal: [1, 19] + name: agent59 + start: [7, 22] +- goal: [9, 20] + name: agent60 + start: [31, 1] +- goal: [18, 4] + name: agent61 + start: [1, 12] +- goal: [20, 11] + name: agent62 + start: [17, 1] +- goal: [18, 29] + name: agent63 + start: [24, 23] +- goal: [28, 2] + name: agent64 + start: [14, 17] +- goal: [23, 25] + name: agent65 + start: [0, 1] +- goal: [9, 12] + name: agent66 + start: [29, 11] +- goal: [24, 22] + name: agent67 + start: [9, 3] +- goal: [17, 17] + name: agent68 + start: [7, 9] +- goal: [6, 6] + name: agent69 + start: [28, 20] +- goal: [4, 11] + name: agent70 + start: [24, 5] +- goal: [6, 9] + name: agent71 + start: [19, 27] +- goal: [20, 7] + name: agent72 + start: [3, 19] +- goal: [26, 25] + name: agent73 + start: [11, 1] +- goal: [10, 4] + name: agent74 + start: [8, 15] +- goal: [9, 0] + name: agent75 + start: [4, 21] +- goal: [10, 0] + name: agent76 + start: [30, 21] +- goal: [21, 12] + name: agent77 + start: [27, 27] +- goal: [16, 8] + name: agent78 + start: [12, 13] +- goal: [31, 28] + name: agent79 + start: [24, 0] +- goal: [9, 1] + name: agent80 + start: [28, 11] +- goal: [0, 2] + name: agent81 + start: [16, 14] +- goal: [22, 2] + name: agent82 + start: [27, 0] +- goal: [19, 15] + name: agent83 + start: [12, 14] +- goal: [24, 11] + name: agent84 + start: [12, 30] +- goal: [9, 18] + name: agent85 + start: [6, 17] +- goal: [11, 28] + name: agent86 + start: [25, 20] +- goal: [25, 14] + name: agent87 + start: [10, 27] +- goal: [13, 17] + name: agent88 + start: [5, 20] +- goal: [29, 12] + name: agent89 + start: [17, 9] +- goal: [11, 13] + name: agent90 + start: [8, 26] +- goal: [1, 14] + name: agent91 + start: [1, 18] +- goal: [3, 9] + name: agent92 + start: [4, 24] +- goal: [11, 15] + name: agent93 + start: [20, 29] +- goal: [0, 8] + name: agent94 + start: [5, 31] +- goal: [15, 21] + name: agent95 + start: [0, 7] +- goal: [3, 25] + name: agent96 + start: [25, 2] +- goal: [0, 6] + name: agent97 + start: [26, 30] +- goal: [1, 22] + name: agent98 + start: [11, 12] +- goal: [15, 28] + name: agent99 + start: [21, 13] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [22, 6] + - !!python/tuple [29, 6] + - !!python/tuple [29, 0] + - !!python/tuple [10, 25] + - !!python/tuple [19, 4] + - !!python/tuple [15, 2] + - !!python/tuple [15, 24] + - !!python/tuple [18, 24] + - !!python/tuple [3, 3] + - !!python/tuple [21, 26] + - !!python/tuple [16, 24] + - !!python/tuple [1, 10] + - !!python/tuple [5, 15] + - !!python/tuple [20, 28] + - !!python/tuple [26, 23] + - !!python/tuple [10, 1] + - !!python/tuple [22, 12] + - !!python/tuple [28, 30] + - !!python/tuple [15, 17] + - !!python/tuple [25, 31] + - !!python/tuple [26, 13] + - !!python/tuple [13, 9] + - !!python/tuple [7, 28] + - !!python/tuple [30, 24] + - !!python/tuple [23, 26] + - !!python/tuple [20, 4] + - !!python/tuple [30, 22] + - !!python/tuple [10, 17] + - !!python/tuple [14, 30] + - !!python/tuple [25, 11] + - !!python/tuple [16, 22] + - !!python/tuple [30, 13] + - !!python/tuple [27, 28] + - !!python/tuple [7, 11] + - !!python/tuple [20, 12] + - !!python/tuple [24, 30] + - !!python/tuple [6, 7] + - !!python/tuple [0, 18] + - !!python/tuple [27, 21] + - !!python/tuple [20, 23] + - !!python/tuple [5, 6] + - !!python/tuple [29, 15] + - !!python/tuple [25, 8] + - !!python/tuple [28, 14] + - !!python/tuple [28, 4] + - !!python/tuple [2, 22] + - !!python/tuple [6, 27] + - !!python/tuple [26, 1] + - !!python/tuple [19, 20] + - !!python/tuple [25, 28] + - !!python/tuple [19, 13] + - !!python/tuple [16, 11] + - !!python/tuple [14, 27] + - !!python/tuple [16, 10] + - !!python/tuple [21, 2] + - !!python/tuple [11, 21] + - !!python/tuple [18, 12] + - !!python/tuple [27, 20] + - !!python/tuple [2, 30] + - !!python/tuple [10, 5] + - !!python/tuple [10, 3] + - !!python/tuple [2, 28] + - !!python/tuple [22, 26] + - !!python/tuple [22, 28] + - !!python/tuple [26, 27] + - !!python/tuple [10, 18] + - !!python/tuple [4, 6] + - !!python/tuple [14, 12] + - !!python/tuple [28, 13] + - !!python/tuple [10, 31] + - !!python/tuple [26, 20] + - !!python/tuple [8, 3] + - !!python/tuple [24, 20] + - !!python/tuple [4, 2] + - !!python/tuple [2, 9] + - !!python/tuple [19, 7] + - !!python/tuple [13, 16] + - !!python/tuple [27, 1] + - !!python/tuple [28, 26] + - !!python/tuple [20, 8] + - !!python/tuple [15, 13] + - !!python/tuple [15, 5] + - !!python/tuple [17, 20] + - !!python/tuple [27, 25] + - !!python/tuple [21, 22] + - !!python/tuple [30, 15] + - !!python/tuple [0, 10] + - !!python/tuple [31, 7] + - !!python/tuple [14, 26] + - !!python/tuple [3, 2] + - !!python/tuple [31, 11] + - !!python/tuple [2, 31] + - !!python/tuple [18, 2] + - !!python/tuple [1, 21] + - !!python/tuple [13, 22] + - !!python/tuple [5, 17] + - !!python/tuple [26, 24] + - !!python/tuple [1, 0] + - !!python/tuple [29, 17] + - !!python/tuple [17, 25] + - !!python/tuple [17, 15] + - !!python/tuple [19, 18] + - !!python/tuple [23, 31] + - !!python/tuple [6, 26] + - !!python/tuple [21, 11] + - !!python/tuple [30, 6] + - !!python/tuple [15, 31] + - !!python/tuple [25, 29] + - !!python/tuple [7, 24] + - !!python/tuple [18, 1] + - !!python/tuple [25, 24] + - !!python/tuple [20, 20] + - !!python/tuple [24, 17] + - !!python/tuple [24, 16] + - !!python/tuple [22, 20] + - !!python/tuple [3, 10] + - !!python/tuple [17, 18] + - !!python/tuple [27, 22] + - !!python/tuple [19, 9] + - !!python/tuple [18, 7] + - !!python/tuple [28, 12] + - !!python/tuple [22, 25] + - !!python/tuple [9, 5] + - !!python/tuple [21, 29] + - !!python/tuple [31, 24] + - !!python/tuple [9, 23] + - !!python/tuple [12, 16] + - !!python/tuple [10, 20] + - !!python/tuple [4, 7] + - !!python/tuple [13, 1] + - !!python/tuple [21, 17] + - !!python/tuple [14, 21] + - !!python/tuple [13, 7] + - !!python/tuple [31, 20] + - !!python/tuple [3, 4] + - !!python/tuple [1, 29] + - !!python/tuple [15, 29] + - !!python/tuple [15, 0] + - !!python/tuple [21, 21] + - !!python/tuple [14, 23] + - !!python/tuple [29, 28] + - !!python/tuple [0, 12] + - !!python/tuple [27, 14] + - !!python/tuple [1, 27] + - !!python/tuple [2, 27] + - !!python/tuple [26, 4] + - !!python/tuple [9, 29] + - !!python/tuple [14, 28] + - !!python/tuple [6, 12] + - !!python/tuple [28, 19] + - !!python/tuple [7, 16] + - !!python/tuple [14, 9] + - !!python/tuple [10, 24] + - !!python/tuple [3, 11] + - !!python/tuple [31, 22] + - !!python/tuple [3, 27] + - !!python/tuple [8, 20] + - !!python/tuple [13, 30] + - !!python/tuple [17, 31] + - !!python/tuple [13, 14] + - !!python/tuple [4, 1] + - !!python/tuple [6, 20] + - !!python/tuple [6, 3] + - !!python/tuple [21, 28] + - !!python/tuple [16, 5] + - !!python/tuple [8, 19] + - !!python/tuple [26, 18] + - !!python/tuple [3, 23] + - !!python/tuple [12, 6] + - !!python/tuple [27, 3] + - !!python/tuple [16, 2] + - !!python/tuple [11, 4] + - !!python/tuple [25, 12] + - !!python/tuple [16, 30] + - !!python/tuple [12, 21] + - !!python/tuple [14, 4] + - !!python/tuple [1, 4] + - !!python/tuple [23, 20] + - !!python/tuple [0, 11] + - !!python/tuple [31, 2] + - !!python/tuple [4, 31] + - !!python/tuple [28, 0] + - !!python/tuple [9, 19] + - !!python/tuple [29, 29] + - !!python/tuple [7, 5] + - !!python/tuple [11, 24] + - !!python/tuple [28, 22] + - !!python/tuple [3, 17] + - !!python/tuple [21, 16] + - !!python/tuple [15, 20] + - !!python/tuple [0, 3] + - !!python/tuple [2, 6] + - !!python/tuple [7, 19] + - !!python/tuple [20, 13] + - !!python/tuple [19, 30] + - !!python/tuple [8, 13] + - !!python/tuple [1, 24] + - !!python/tuple [13, 11] + - !!python/tuple [27, 30] + - !!python/tuple [3, 7] + - !!python/tuple [21, 6] + - !!python/tuple [25, 5] + - !!python/tuple [25, 3] + - !!python/tuple [20, 1] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex9.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex9.yaml new file mode 100644 index 0000000..3247f22 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex9.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [16, 3] + name: agent0 + start: [17, 14] +- goal: [17, 24] + name: agent1 + start: [10, 18] +- goal: [27, 31] + name: agent2 + start: [15, 12] +- goal: [20, 13] + name: agent3 + start: [18, 18] +- goal: [21, 23] + name: agent4 + start: [14, 22] +- goal: [28, 20] + name: agent5 + start: [3, 12] +- goal: [31, 17] + name: agent6 + start: [17, 9] +- goal: [31, 1] + name: agent7 + start: [23, 31] +- goal: [26, 17] + name: agent8 + start: [0, 24] +- goal: [19, 12] + name: agent9 + start: [11, 16] +- goal: [28, 25] + name: agent10 + start: [6, 11] +- goal: [14, 6] + name: agent11 + start: [25, 25] +- goal: [10, 14] + name: agent12 + start: [16, 29] +- goal: [12, 25] + name: agent13 + start: [28, 22] +- goal: [13, 16] + name: agent14 + start: [15, 26] +- goal: [12, 11] + name: agent15 + start: [28, 10] +- goal: [2, 25] + name: agent16 + start: [0, 31] +- goal: [24, 16] + name: agent17 + start: [19, 12] +- goal: [29, 0] + name: agent18 + start: [6, 17] +- goal: [0, 14] + name: agent19 + start: [5, 21] +- goal: [13, 29] + name: agent20 + start: [21, 6] +- goal: [18, 22] + name: agent21 + start: [21, 9] +- goal: [18, 4] + name: agent22 + start: [30, 1] +- goal: [24, 21] + name: agent23 + start: [5, 25] +- goal: [16, 4] + name: agent24 + start: [17, 26] +- goal: [24, 23] + name: agent25 + start: [21, 3] +- goal: [22, 23] + name: agent26 + start: [15, 5] +- goal: [0, 25] + name: agent27 + start: [7, 12] +- goal: [6, 11] + name: agent28 + start: [15, 7] +- goal: [30, 2] + name: agent29 + start: [5, 4] +- goal: [14, 27] + name: agent30 + start: [4, 26] +- goal: [27, 16] + name: agent31 + start: [26, 1] +- goal: [6, 7] + name: agent32 + start: [21, 28] +- goal: [30, 25] + name: agent33 + start: [21, 24] +- goal: [6, 3] + name: agent34 + start: [0, 10] +- goal: [7, 7] + name: agent35 + start: [13, 26] +- goal: [3, 12] + name: agent36 + start: [27, 30] +- goal: [2, 8] + name: agent37 + start: [11, 30] +- goal: [16, 5] + name: agent38 + start: [20, 1] +- goal: [27, 26] + name: agent39 + start: [10, 10] +- goal: [17, 31] + name: agent40 + start: [26, 26] +- goal: [1, 28] + name: agent41 + start: [11, 23] +- goal: [30, 26] + name: agent42 + start: [9, 17] +- goal: [10, 2] + name: agent43 + start: [17, 1] +- goal: [31, 3] + name: agent44 + start: [28, 27] +- goal: [26, 16] + name: agent45 + start: [6, 0] +- goal: [12, 17] + name: agent46 + start: [1, 14] +- goal: [17, 30] + name: agent47 + start: [31, 4] +- goal: [21, 9] + name: agent48 + start: [15, 13] +- goal: [11, 26] + name: agent49 + start: [8, 10] +- goal: [29, 28] + name: agent50 + start: [26, 15] +- goal: [5, 19] + name: agent51 + start: [1, 27] +- goal: [2, 10] + name: agent52 + start: [2, 0] +- goal: [8, 29] + name: agent53 + start: [28, 28] +- goal: [30, 23] + name: agent54 + start: [0, 8] +- goal: [20, 9] + name: agent55 + start: [2, 1] +- goal: [15, 27] + name: agent56 + start: [0, 1] +- goal: [19, 11] + name: agent57 + start: [0, 14] +- goal: [0, 3] + name: agent58 + start: [26, 24] +- goal: [1, 3] + name: agent59 + start: [22, 6] +- goal: [14, 9] + name: agent60 + start: [11, 4] +- goal: [31, 4] + name: agent61 + start: [21, 1] +- goal: [23, 23] + name: agent62 + start: [30, 4] +- goal: [21, 17] + name: agent63 + start: [12, 20] +- goal: [0, 9] + name: agent64 + start: [3, 25] +- goal: [13, 31] + name: agent65 + start: [23, 28] +- goal: [11, 20] + name: agent66 + start: [26, 8] +- goal: [13, 1] + name: agent67 + start: [24, 3] +- goal: [20, 26] + name: agent68 + start: [7, 27] +- goal: [20, 2] + name: agent69 + start: [30, 31] +- goal: [14, 20] + name: agent70 + start: [23, 9] +- goal: [31, 30] + name: agent71 + start: [24, 7] +- goal: [1, 24] + name: agent72 + start: [8, 20] +- goal: [9, 3] + name: agent73 + start: [23, 5] +- goal: [30, 10] + name: agent74 + start: [17, 7] +- goal: [9, 23] + name: agent75 + start: [19, 13] +- goal: [16, 1] + name: agent76 + start: [16, 26] +- goal: [23, 30] + name: agent77 + start: [23, 4] +- goal: [7, 24] + name: agent78 + start: [2, 11] +- goal: [16, 16] + name: agent79 + start: [29, 28] +- goal: [7, 30] + name: agent80 + start: [6, 27] +- goal: [0, 15] + name: agent81 + start: [15, 16] +- goal: [3, 29] + name: agent82 + start: [4, 5] +- goal: [20, 12] + name: agent83 + start: [2, 22] +- goal: [26, 0] + name: agent84 + start: [24, 19] +- goal: [27, 8] + name: agent85 + start: [24, 31] +- goal: [19, 20] + name: agent86 + start: [4, 8] +- goal: [15, 23] + name: agent87 + start: [6, 30] +- goal: [5, 21] + name: agent88 + start: [29, 8] +- goal: [24, 3] + name: agent89 + start: [0, 25] +- goal: [7, 13] + name: agent90 + start: [23, 1] +- goal: [2, 28] + name: agent91 + start: [20, 5] +- goal: [8, 31] + name: agent92 + start: [8, 27] +- goal: [8, 4] + name: agent93 + start: [19, 23] +- goal: [13, 13] + name: agent94 + start: [27, 0] +- goal: [12, 19] + name: agent95 + start: [12, 31] +- goal: [2, 5] + name: agent96 + start: [23, 3] +- goal: [8, 11] + name: agent97 + start: [2, 14] +- goal: [10, 13] + name: agent98 + start: [31, 7] +- goal: [12, 10] + name: agent99 + start: [21, 14] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [26, 11] + - !!python/tuple [15, 15] + - !!python/tuple [7, 19] + - !!python/tuple [21, 10] + - !!python/tuple [13, 11] + - !!python/tuple [16, 0] + - !!python/tuple [17, 22] + - !!python/tuple [17, 3] + - !!python/tuple [0, 7] + - !!python/tuple [4, 10] + - !!python/tuple [2, 18] + - !!python/tuple [27, 27] + - !!python/tuple [15, 8] + - !!python/tuple [2, 30] + - !!python/tuple [27, 2] + - !!python/tuple [17, 28] + - !!python/tuple [1, 4] + - !!python/tuple [15, 18] + - !!python/tuple [21, 13] + - !!python/tuple [19, 28] + - !!python/tuple [31, 14] + - !!python/tuple [28, 7] + - !!python/tuple [13, 27] + - !!python/tuple [17, 12] + - !!python/tuple [29, 5] + - !!python/tuple [20, 18] + - !!python/tuple [31, 28] + - !!python/tuple [10, 24] + - !!python/tuple [8, 24] + - !!python/tuple [27, 19] + - !!python/tuple [4, 6] + - !!python/tuple [5, 14] + - !!python/tuple [21, 18] + - !!python/tuple [11, 14] + - !!python/tuple [2, 17] + - !!python/tuple [29, 23] + - !!python/tuple [5, 3] + - !!python/tuple [30, 16] + - !!python/tuple [2, 15] + - !!python/tuple [20, 11] + - !!python/tuple [20, 16] + - !!python/tuple [23, 13] + - !!python/tuple [18, 20] + - !!python/tuple [16, 24] + - !!python/tuple [24, 6] + - !!python/tuple [27, 29] + - !!python/tuple [5, 8] + - !!python/tuple [8, 14] + - !!python/tuple [26, 20] + - !!python/tuple [21, 4] + - !!python/tuple [31, 10] + - !!python/tuple [9, 4] + - !!python/tuple [18, 28] + - !!python/tuple [15, 25] + - !!python/tuple [22, 16] + - !!python/tuple [9, 10] + - !!python/tuple [0, 22] + - !!python/tuple [1, 22] + - !!python/tuple [5, 1] + - !!python/tuple [19, 9] + - !!python/tuple [11, 29] + - !!python/tuple [30, 19] + - !!python/tuple [17, 16] + - !!python/tuple [25, 18] + - !!python/tuple [10, 16] + - !!python/tuple [28, 5] + - !!python/tuple [4, 22] + - !!python/tuple [26, 5] + - !!python/tuple [21, 11] + - !!python/tuple [3, 0] + - !!python/tuple [23, 17] + - !!python/tuple [16, 23] + - !!python/tuple [17, 19] + - !!python/tuple [1, 25] + - !!python/tuple [23, 26] + - !!python/tuple [3, 28] + - !!python/tuple [3, 19] + - !!python/tuple [2, 21] + - !!python/tuple [8, 2] + - !!python/tuple [20, 3] + - !!python/tuple [23, 7] + - !!python/tuple [2, 13] + - !!python/tuple [29, 31] + - !!python/tuple [25, 14] + - !!python/tuple [19, 7] + - !!python/tuple [4, 7] + - !!python/tuple [14, 16] + - !!python/tuple [27, 5] + - !!python/tuple [11, 19] + - !!python/tuple [1, 5] + - !!python/tuple [18, 6] + - !!python/tuple [9, 25] + - !!python/tuple [5, 5] + - !!python/tuple [0, 28] + - !!python/tuple [14, 18] + - !!python/tuple [21, 0] + - !!python/tuple [20, 24] + - !!python/tuple [29, 16] + - !!python/tuple [10, 8] + - !!python/tuple [1, 0] + - !!python/tuple [9, 26] + - !!python/tuple [0, 26] + - !!python/tuple [12, 12] + - !!python/tuple [11, 2] + - !!python/tuple [13, 18] + - !!python/tuple [25, 23] + - !!python/tuple [0, 19] + - !!python/tuple [11, 7] + - !!python/tuple [24, 12] + - !!python/tuple [1, 12] + - !!python/tuple [24, 4] + - !!python/tuple [15, 20] + - !!python/tuple [8, 12] + - !!python/tuple [8, 5] + - !!python/tuple [30, 12] + - !!python/tuple [5, 9] + - !!python/tuple [31, 22] + - !!python/tuple [3, 2] + - !!python/tuple [29, 27] + - !!python/tuple [26, 30] + - !!python/tuple [13, 2] + - !!python/tuple [11, 31] + - !!python/tuple [18, 12] + - !!python/tuple [7, 28] + - !!python/tuple [4, 4] + - !!python/tuple [6, 9] + - !!python/tuple [19, 1] + - !!python/tuple [8, 7] + - !!python/tuple [10, 4] + - !!python/tuple [9, 14] + - !!python/tuple [4, 25] + - !!python/tuple [17, 4] + - !!python/tuple [31, 21] + - !!python/tuple [31, 0] + - !!python/tuple [5, 18] + - !!python/tuple [30, 14] + - !!python/tuple [30, 20] + - !!python/tuple [28, 12] + - !!python/tuple [18, 23] + - !!python/tuple [15, 1] + - !!python/tuple [13, 25] + - !!python/tuple [16, 27] + - !!python/tuple [31, 27] + - !!python/tuple [21, 19] + - !!python/tuple [0, 2] + - !!python/tuple [10, 28] + - !!python/tuple [9, 31] + - !!python/tuple [9, 29] + - !!python/tuple [20, 15] + - !!python/tuple [17, 17] + - !!python/tuple [15, 17] + - !!python/tuple [12, 21] + - !!python/tuple [0, 16] + - !!python/tuple [19, 10] + - !!python/tuple [7, 23] + - !!python/tuple [25, 15] + - !!python/tuple [8, 22] + - !!python/tuple [18, 31] + - !!python/tuple [1, 6] + - !!python/tuple [4, 9] + - !!python/tuple [17, 5] + - !!python/tuple [10, 23] + - !!python/tuple [3, 9] + - !!python/tuple [11, 12] + - !!python/tuple [14, 29] + - !!python/tuple [12, 2] + - !!python/tuple [22, 4] + - !!python/tuple [31, 29] + - !!python/tuple [25, 4] + - !!python/tuple [8, 3] + - !!python/tuple [14, 0] + - !!python/tuple [30, 17] + - !!python/tuple [4, 21] + - !!python/tuple [4, 19] + - !!python/tuple [27, 24] + - !!python/tuple [29, 29] + - !!python/tuple [4, 14] + - !!python/tuple [29, 2] + - !!python/tuple [23, 8] + - !!python/tuple [18, 3] + - !!python/tuple [28, 0] + - !!python/tuple [10, 29] + - !!python/tuple [5, 22] + - !!python/tuple [30, 7] + - !!python/tuple [31, 20] + - !!python/tuple [13, 24] + - !!python/tuple [5, 29] + - !!python/tuple [29, 19] + - !!python/tuple [29, 15] + - !!python/tuple [5, 11] + - !!python/tuple [20, 27] + - !!python/tuple [17, 20] + - !!python/tuple [19, 6] + - !!python/tuple [28, 26] + - !!python/tuple [5, 0] + - !!python/tuple [17, 13] + - !!python/tuple [30, 6] + - !!python/tuple [10, 15] + - !!python/tuple [5, 27] + - !!python/tuple [27, 25] + - !!python/tuple [26, 4] + - !!python/tuple [29, 9] + - !!python/tuple [27, 10] + - !!python/tuple [2, 31] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex90.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex90.yaml new file mode 100644 index 0000000..8005b63 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex90.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [21, 4] + name: agent0 + start: [21, 5] +- goal: [1, 9] + name: agent1 + start: [31, 1] +- goal: [3, 25] + name: agent2 + start: [13, 31] +- goal: [28, 26] + name: agent3 + start: [19, 26] +- goal: [11, 22] + name: agent4 + start: [10, 2] +- goal: [8, 26] + name: agent5 + start: [4, 27] +- goal: [6, 8] + name: agent6 + start: [27, 24] +- goal: [21, 6] + name: agent7 + start: [19, 6] +- goal: [8, 31] + name: agent8 + start: [25, 7] +- goal: [29, 22] + name: agent9 + start: [31, 7] +- goal: [8, 8] + name: agent10 + start: [16, 20] +- goal: [3, 26] + name: agent11 + start: [17, 29] +- goal: [14, 20] + name: agent12 + start: [2, 31] +- goal: [8, 20] + name: agent13 + start: [21, 4] +- goal: [10, 4] + name: agent14 + start: [28, 2] +- goal: [12, 21] + name: agent15 + start: [0, 5] +- goal: [18, 29] + name: agent16 + start: [3, 23] +- goal: [22, 25] + name: agent17 + start: [16, 19] +- goal: [0, 14] + name: agent18 + start: [7, 8] +- goal: [3, 5] + name: agent19 + start: [15, 19] +- goal: [23, 9] + name: agent20 + start: [10, 4] +- goal: [27, 15] + name: agent21 + start: [27, 5] +- goal: [25, 4] + name: agent22 + start: [19, 23] +- goal: [27, 7] + name: agent23 + start: [18, 13] +- goal: [2, 0] + name: agent24 + start: [18, 6] +- goal: [23, 25] + name: agent25 + start: [19, 22] +- goal: [23, 26] + name: agent26 + start: [3, 12] +- goal: [0, 12] + name: agent27 + start: [12, 6] +- goal: [13, 11] + name: agent28 + start: [25, 5] +- goal: [25, 7] + name: agent29 + start: [4, 17] +- goal: [28, 31] + name: agent30 + start: [17, 3] +- goal: [6, 21] + name: agent31 + start: [26, 7] +- goal: [6, 23] + name: agent32 + start: [1, 13] +- goal: [27, 25] + name: agent33 + start: [29, 26] +- goal: [8, 6] + name: agent34 + start: [28, 14] +- goal: [19, 11] + name: agent35 + start: [20, 21] +- goal: [6, 31] + name: agent36 + start: [26, 9] +- goal: [28, 12] + name: agent37 + start: [19, 15] +- goal: [1, 25] + name: agent38 + start: [17, 17] +- goal: [26, 9] + name: agent39 + start: [17, 2] +- goal: [22, 12] + name: agent40 + start: [12, 28] +- goal: [0, 10] + name: agent41 + start: [29, 30] +- goal: [22, 10] + name: agent42 + start: [11, 18] +- goal: [30, 16] + name: agent43 + start: [14, 7] +- goal: [27, 5] + name: agent44 + start: [23, 9] +- goal: [9, 1] + name: agent45 + start: [5, 1] +- goal: [23, 29] + name: agent46 + start: [23, 20] +- goal: [30, 2] + name: agent47 + start: [30, 29] +- goal: [29, 29] + name: agent48 + start: [11, 12] +- goal: [11, 11] + name: agent49 + start: [7, 6] +- goal: [18, 10] + name: agent50 + start: [22, 6] +- goal: [31, 1] + name: agent51 + start: [13, 8] +- goal: [2, 13] + name: agent52 + start: [8, 24] +- goal: [20, 13] + name: agent53 + start: [19, 21] +- goal: [16, 4] + name: agent54 + start: [5, 10] +- goal: [16, 1] + name: agent55 + start: [19, 2] +- goal: [26, 12] + name: agent56 + start: [2, 13] +- goal: [2, 19] + name: agent57 + start: [19, 7] +- goal: [3, 23] + name: agent58 + start: [8, 9] +- goal: [4, 7] + name: agent59 + start: [30, 26] +- goal: [28, 13] + name: agent60 + start: [17, 24] +- goal: [13, 2] + name: agent61 + start: [1, 5] +- goal: [0, 7] + name: agent62 + start: [1, 14] +- goal: [16, 11] + name: agent63 + start: [9, 28] +- goal: [5, 26] + name: agent64 + start: [13, 11] +- goal: [9, 31] + name: agent65 + start: [4, 7] +- goal: [0, 11] + name: agent66 + start: [31, 21] +- goal: [13, 29] + name: agent67 + start: [20, 5] +- goal: [27, 24] + name: agent68 + start: [13, 26] +- goal: [23, 20] + name: agent69 + start: [12, 24] +- goal: [9, 21] + name: agent70 + start: [12, 8] +- goal: [20, 2] + name: agent71 + start: [19, 8] +- goal: [30, 6] + name: agent72 + start: [30, 27] +- goal: [19, 1] + name: agent73 + start: [29, 8] +- goal: [28, 0] + name: agent74 + start: [31, 28] +- goal: [16, 29] + name: agent75 + start: [9, 23] +- goal: [18, 12] + name: agent76 + start: [0, 3] +- goal: [31, 0] + name: agent77 + start: [11, 10] +- goal: [20, 8] + name: agent78 + start: [3, 11] +- goal: [20, 3] + name: agent79 + start: [10, 21] +- goal: [7, 31] + name: agent80 + start: [2, 3] +- goal: [9, 27] + name: agent81 + start: [24, 1] +- goal: [5, 6] + name: agent82 + start: [5, 13] +- goal: [22, 4] + name: agent83 + start: [24, 27] +- goal: [13, 20] + name: agent84 + start: [21, 26] +- goal: [25, 20] + name: agent85 + start: [17, 19] +- goal: [30, 9] + name: agent86 + start: [31, 19] +- goal: [27, 27] + name: agent87 + start: [27, 23] +- goal: [24, 15] + name: agent88 + start: [9, 4] +- goal: [27, 29] + name: agent89 + start: [11, 3] +- goal: [12, 20] + name: agent90 + start: [12, 1] +- goal: [18, 7] + name: agent91 + start: [28, 25] +- goal: [14, 14] + name: agent92 + start: [27, 28] +- goal: [21, 25] + name: agent93 + start: [21, 10] +- goal: [25, 10] + name: agent94 + start: [31, 25] +- goal: [6, 3] + name: agent95 + start: [26, 4] +- goal: [15, 15] + name: agent96 + start: [7, 25] +- goal: [20, 5] + name: agent97 + start: [1, 17] +- goal: [9, 5] + name: agent98 + start: [24, 7] +- goal: [5, 21] + name: agent99 + start: [28, 20] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [22, 21] + - !!python/tuple [4, 22] + - !!python/tuple [0, 17] + - !!python/tuple [27, 14] + - !!python/tuple [22, 29] + - !!python/tuple [30, 17] + - !!python/tuple [18, 4] + - !!python/tuple [31, 20] + - !!python/tuple [12, 7] + - !!python/tuple [4, 26] + - !!python/tuple [5, 22] + - !!python/tuple [18, 11] + - !!python/tuple [15, 5] + - !!python/tuple [28, 6] + - !!python/tuple [26, 17] + - !!python/tuple [2, 22] + - !!python/tuple [0, 15] + - !!python/tuple [22, 22] + - !!python/tuple [26, 28] + - !!python/tuple [30, 10] + - !!python/tuple [18, 25] + - !!python/tuple [27, 10] + - !!python/tuple [19, 20] + - !!python/tuple [10, 10] + - !!python/tuple [31, 15] + - !!python/tuple [10, 7] + - !!python/tuple [0, 23] + - !!python/tuple [23, 28] + - !!python/tuple [26, 16] + - !!python/tuple [7, 2] + - !!python/tuple [3, 16] + - !!python/tuple [11, 29] + - !!python/tuple [8, 10] + - !!python/tuple [13, 10] + - !!python/tuple [4, 16] + - !!python/tuple [1, 1] + - !!python/tuple [13, 27] + - !!python/tuple [8, 15] + - !!python/tuple [28, 18] + - !!python/tuple [0, 0] + - !!python/tuple [5, 15] + - !!python/tuple [26, 29] + - !!python/tuple [17, 30] + - !!python/tuple [15, 27] + - !!python/tuple [19, 18] + - !!python/tuple [11, 20] + - !!python/tuple [5, 19] + - !!python/tuple [1, 24] + - !!python/tuple [20, 31] + - !!python/tuple [21, 21] + - !!python/tuple [24, 8] + - !!python/tuple [29, 19] + - !!python/tuple [11, 1] + - !!python/tuple [17, 14] + - !!python/tuple [21, 8] + - !!python/tuple [18, 19] + - !!python/tuple [7, 4] + - !!python/tuple [25, 9] + - !!python/tuple [2, 29] + - !!python/tuple [25, 14] + - !!python/tuple [8, 13] + - !!python/tuple [18, 28] + - !!python/tuple [25, 3] + - !!python/tuple [17, 20] + - !!python/tuple [19, 28] + - !!python/tuple [23, 30] + - !!python/tuple [27, 17] + - !!python/tuple [27, 13] + - !!python/tuple [13, 19] + - !!python/tuple [7, 22] + - !!python/tuple [26, 2] + - !!python/tuple [20, 16] + - !!python/tuple [14, 12] + - !!python/tuple [1, 28] + - !!python/tuple [28, 27] + - !!python/tuple [19, 19] + - !!python/tuple [5, 9] + - !!python/tuple [29, 12] + - !!python/tuple [15, 2] + - !!python/tuple [3, 9] + - !!python/tuple [29, 13] + - !!python/tuple [30, 30] + - !!python/tuple [26, 25] + - !!python/tuple [9, 30] + - !!python/tuple [18, 15] + - !!python/tuple [21, 2] + - !!python/tuple [15, 13] + - !!python/tuple [1, 0] + - !!python/tuple [15, 26] + - !!python/tuple [14, 17] + - !!python/tuple [1, 4] + - !!python/tuple [6, 5] + - !!python/tuple [22, 3] + - !!python/tuple [7, 16] + - !!python/tuple [6, 30] + - !!python/tuple [30, 5] + - !!python/tuple [24, 12] + - !!python/tuple [16, 12] + - !!python/tuple [19, 31] + - !!python/tuple [9, 11] + - !!python/tuple [5, 28] + - !!python/tuple [19, 16] + - !!python/tuple [7, 11] + - !!python/tuple [8, 2] + - !!python/tuple [2, 16] + - !!python/tuple [28, 23] + - !!python/tuple [3, 7] + - !!python/tuple [25, 28] + - !!python/tuple [31, 6] + - !!python/tuple [22, 1] + - !!python/tuple [13, 14] + - !!python/tuple [8, 0] + - !!python/tuple [13, 3] + - !!python/tuple [0, 27] + - !!python/tuple [8, 5] + - !!python/tuple [9, 14] + - !!python/tuple [29, 23] + - !!python/tuple [8, 22] + - !!python/tuple [14, 9] + - !!python/tuple [31, 30] + - !!python/tuple [7, 12] + - !!python/tuple [19, 30] + - !!python/tuple [16, 26] + - !!python/tuple [2, 10] + - !!python/tuple [1, 23] + - !!python/tuple [6, 13] + - !!python/tuple [10, 3] + - !!python/tuple [9, 24] + - !!python/tuple [13, 21] + - !!python/tuple [2, 6] + - !!python/tuple [27, 8] + - !!python/tuple [15, 30] + - !!python/tuple [28, 24] + - !!python/tuple [21, 16] + - !!python/tuple [31, 17] + - !!python/tuple [26, 1] + - !!python/tuple [8, 25] + - !!python/tuple [20, 26] + - !!python/tuple [5, 24] + - !!python/tuple [7, 19] + - !!python/tuple [29, 3] + - !!python/tuple [7, 20] + - !!python/tuple [15, 10] + - !!python/tuple [8, 4] + - !!python/tuple [29, 31] + - !!python/tuple [14, 23] + - !!python/tuple [31, 13] + - !!python/tuple [4, 14] + - !!python/tuple [4, 9] + - !!python/tuple [13, 15] + - !!python/tuple [23, 19] + - !!python/tuple [4, 24] + - !!python/tuple [20, 15] + - !!python/tuple [15, 17] + - !!python/tuple [9, 19] + - !!python/tuple [9, 18] + - !!python/tuple [16, 27] + - !!python/tuple [7, 28] + - !!python/tuple [1, 31] + - !!python/tuple [18, 24] + - !!python/tuple [14, 1] + - !!python/tuple [31, 11] + - !!python/tuple [31, 12] + - !!python/tuple [17, 26] + - !!python/tuple [15, 7] + - !!python/tuple [14, 13] + - !!python/tuple [10, 6] + - !!python/tuple [8, 7] + - !!python/tuple [9, 2] + - !!python/tuple [26, 18] + - !!python/tuple [23, 12] + - !!python/tuple [17, 5] + - !!python/tuple [23, 17] + - !!python/tuple [5, 18] + - !!python/tuple [12, 3] + - !!python/tuple [4, 15] + - !!python/tuple [8, 19] + - !!python/tuple [20, 27] + - !!python/tuple [11, 21] + - !!python/tuple [30, 31] + - !!python/tuple [16, 25] + - !!python/tuple [0, 1] + - !!python/tuple [27, 31] + - !!python/tuple [15, 31] + - !!python/tuple [15, 3] + - !!python/tuple [26, 6] + - !!python/tuple [26, 3] + - !!python/tuple [14, 10] + - !!python/tuple [18, 2] + - !!python/tuple [18, 0] + - !!python/tuple [10, 24] + - !!python/tuple [18, 27] + - !!python/tuple [11, 23] + - !!python/tuple [15, 24] + - !!python/tuple [30, 3] + - !!python/tuple [0, 30] + - !!python/tuple [6, 20] + - !!python/tuple [24, 20] + - !!python/tuple [27, 18] + - !!python/tuple [23, 24] + - !!python/tuple [27, 21] + - !!python/tuple [11, 6] + - !!python/tuple [25, 19] + - !!python/tuple [11, 25] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex91.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex91.yaml new file mode 100644 index 0000000..eea548a --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex91.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [28, 16] + name: agent0 + start: [23, 15] +- goal: [21, 19] + name: agent1 + start: [24, 1] +- goal: [31, 22] + name: agent2 + start: [22, 22] +- goal: [5, 27] + name: agent3 + start: [16, 30] +- goal: [3, 30] + name: agent4 + start: [3, 27] +- goal: [18, 24] + name: agent5 + start: [24, 10] +- goal: [27, 25] + name: agent6 + start: [9, 8] +- goal: [10, 1] + name: agent7 + start: [28, 5] +- goal: [19, 4] + name: agent8 + start: [26, 26] +- goal: [6, 28] + name: agent9 + start: [0, 4] +- goal: [19, 15] + name: agent10 + start: [6, 10] +- goal: [27, 17] + name: agent11 + start: [9, 10] +- goal: [22, 2] + name: agent12 + start: [16, 25] +- goal: [16, 7] + name: agent13 + start: [16, 7] +- goal: [3, 23] + name: agent14 + start: [1, 9] +- goal: [22, 12] + name: agent15 + start: [5, 6] +- goal: [7, 17] + name: agent16 + start: [1, 4] +- goal: [0, 12] + name: agent17 + start: [27, 9] +- goal: [15, 2] + name: agent18 + start: [17, 17] +- goal: [21, 28] + name: agent19 + start: [26, 3] +- goal: [28, 4] + name: agent20 + start: [2, 22] +- goal: [2, 13] + name: agent21 + start: [18, 7] +- goal: [2, 27] + name: agent22 + start: [21, 1] +- goal: [9, 6] + name: agent23 + start: [5, 12] +- goal: [18, 23] + name: agent24 + start: [10, 18] +- goal: [10, 19] + name: agent25 + start: [28, 13] +- goal: [22, 24] + name: agent26 + start: [9, 22] +- goal: [22, 17] + name: agent27 + start: [25, 10] +- goal: [31, 0] + name: agent28 + start: [23, 5] +- goal: [20, 29] + name: agent29 + start: [23, 27] +- goal: [1, 22] + name: agent30 + start: [31, 22] +- goal: [21, 10] + name: agent31 + start: [3, 22] +- goal: [23, 20] + name: agent32 + start: [30, 8] +- goal: [4, 13] + name: agent33 + start: [15, 1] +- goal: [14, 8] + name: agent34 + start: [5, 2] +- goal: [14, 30] + name: agent35 + start: [10, 13] +- goal: [3, 28] + name: agent36 + start: [7, 15] +- goal: [13, 7] + name: agent37 + start: [22, 8] +- goal: [13, 29] + name: agent38 + start: [22, 14] +- goal: [25, 21] + name: agent39 + start: [29, 7] +- goal: [18, 1] + name: agent40 + start: [16, 0] +- goal: [26, 30] + name: agent41 + start: [8, 31] +- goal: [19, 13] + name: agent42 + start: [3, 15] +- goal: [7, 9] + name: agent43 + start: [29, 29] +- goal: [29, 27] + name: agent44 + start: [8, 18] +- goal: [19, 2] + name: agent45 + start: [5, 28] +- goal: [5, 29] + name: agent46 + start: [15, 17] +- goal: [23, 7] + name: agent47 + start: [0, 11] +- goal: [29, 30] + name: agent48 + start: [13, 20] +- goal: [25, 7] + name: agent49 + start: [8, 25] +- goal: [12, 6] + name: agent50 + start: [31, 14] +- goal: [7, 24] + name: agent51 + start: [27, 15] +- goal: [17, 30] + name: agent52 + start: [12, 3] +- goal: [27, 27] + name: agent53 + start: [29, 28] +- goal: [5, 3] + name: agent54 + start: [14, 0] +- goal: [13, 16] + name: agent55 + start: [29, 5] +- goal: [24, 25] + name: agent56 + start: [18, 16] +- goal: [11, 30] + name: agent57 + start: [19, 12] +- goal: [16, 16] + name: agent58 + start: [30, 15] +- goal: [22, 23] + name: agent59 + start: [21, 5] +- goal: [14, 23] + name: agent60 + start: [1, 1] +- goal: [27, 14] + name: agent61 + start: [4, 28] +- goal: [14, 25] + name: agent62 + start: [11, 7] +- goal: [18, 13] + name: agent63 + start: [13, 31] +- goal: [3, 27] + name: agent64 + start: [14, 17] +- goal: [26, 12] + name: agent65 + start: [3, 11] +- goal: [28, 6] + name: agent66 + start: [29, 12] +- goal: [23, 26] + name: agent67 + start: [18, 12] +- goal: [3, 8] + name: agent68 + start: [13, 30] +- goal: [28, 27] + name: agent69 + start: [4, 30] +- goal: [24, 30] + name: agent70 + start: [23, 8] +- goal: [26, 28] + name: agent71 + start: [10, 12] +- goal: [8, 9] + name: agent72 + start: [31, 15] +- goal: [1, 0] + name: agent73 + start: [11, 3] +- goal: [4, 1] + name: agent74 + start: [29, 2] +- goal: [22, 30] + name: agent75 + start: [23, 10] +- goal: [25, 15] + name: agent76 + start: [1, 20] +- goal: [9, 16] + name: agent77 + start: [25, 2] +- goal: [23, 22] + name: agent78 + start: [15, 24] +- goal: [8, 18] + name: agent79 + start: [12, 21] +- goal: [0, 24] + name: agent80 + start: [24, 19] +- goal: [24, 23] + name: agent81 + start: [30, 24] +- goal: [26, 7] + name: agent82 + start: [18, 3] +- goal: [17, 29] + name: agent83 + start: [27, 28] +- goal: [20, 17] + name: agent84 + start: [27, 10] +- goal: [25, 1] + name: agent85 + start: [17, 26] +- goal: [24, 18] + name: agent86 + start: [18, 24] +- goal: [29, 11] + name: agent87 + start: [29, 15] +- goal: [19, 14] + name: agent88 + start: [11, 29] +- goal: [18, 11] + name: agent89 + start: [11, 26] +- goal: [15, 31] + name: agent90 + start: [19, 10] +- goal: [4, 7] + name: agent91 + start: [10, 3] +- goal: [8, 5] + name: agent92 + start: [9, 19] +- goal: [11, 18] + name: agent93 + start: [9, 6] +- goal: [22, 15] + name: agent94 + start: [19, 6] +- goal: [21, 2] + name: agent95 + start: [26, 15] +- goal: [28, 31] + name: agent96 + start: [21, 3] +- goal: [5, 26] + name: agent97 + start: [14, 10] +- goal: [12, 19] + name: agent98 + start: [6, 30] +- goal: [20, 25] + name: agent99 + start: [17, 29] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [27, 1] + - !!python/tuple [15, 11] + - !!python/tuple [23, 16] + - !!python/tuple [26, 18] + - !!python/tuple [26, 31] + - !!python/tuple [28, 9] + - !!python/tuple [14, 19] + - !!python/tuple [7, 20] + - !!python/tuple [4, 22] + - !!python/tuple [6, 5] + - !!python/tuple [8, 27] + - !!python/tuple [6, 0] + - !!python/tuple [26, 17] + - !!python/tuple [21, 7] + - !!python/tuple [3, 31] + - !!python/tuple [22, 10] + - !!python/tuple [1, 23] + - !!python/tuple [17, 31] + - !!python/tuple [9, 24] + - !!python/tuple [10, 22] + - !!python/tuple [10, 9] + - !!python/tuple [30, 4] + - !!python/tuple [1, 28] + - !!python/tuple [3, 9] + - !!python/tuple [20, 18] + - !!python/tuple [14, 2] + - !!python/tuple [8, 20] + - !!python/tuple [27, 20] + - !!python/tuple [20, 14] + - !!python/tuple [1, 7] + - !!python/tuple [3, 26] + - !!python/tuple [6, 9] + - !!python/tuple [11, 11] + - !!python/tuple [5, 8] + - !!python/tuple [17, 12] + - !!python/tuple [6, 18] + - !!python/tuple [5, 19] + - !!python/tuple [6, 20] + - !!python/tuple [4, 4] + - !!python/tuple [1, 17] + - !!python/tuple [2, 9] + - !!python/tuple [17, 0] + - !!python/tuple [16, 20] + - !!python/tuple [3, 16] + - !!python/tuple [19, 17] + - !!python/tuple [5, 31] + - !!python/tuple [21, 9] + - !!python/tuple [24, 21] + - !!python/tuple [16, 15] + - !!python/tuple [11, 14] + - !!python/tuple [7, 22] + - !!python/tuple [7, 23] + - !!python/tuple [4, 21] + - !!python/tuple [25, 22] + - !!python/tuple [9, 26] + - !!python/tuple [20, 16] + - !!python/tuple [27, 22] + - !!python/tuple [13, 18] + - !!python/tuple [7, 2] + - !!python/tuple [21, 27] + - !!python/tuple [25, 25] + - !!python/tuple [15, 14] + - !!python/tuple [0, 0] + - !!python/tuple [12, 25] + - !!python/tuple [31, 4] + - !!python/tuple [10, 6] + - !!python/tuple [23, 21] + - !!python/tuple [19, 28] + - !!python/tuple [2, 25] + - !!python/tuple [1, 16] + - !!python/tuple [0, 3] + - !!python/tuple [12, 31] + - !!python/tuple [10, 24] + - !!python/tuple [21, 13] + - !!python/tuple [1, 24] + - !!python/tuple [19, 27] + - !!python/tuple [15, 13] + - !!python/tuple [18, 4] + - !!python/tuple [8, 29] + - !!python/tuple [15, 10] + - !!python/tuple [21, 25] + - !!python/tuple [24, 11] + - !!python/tuple [24, 16] + - !!python/tuple [12, 8] + - !!python/tuple [0, 30] + - !!python/tuple [18, 28] + - !!python/tuple [13, 5] + - !!python/tuple [18, 10] + - !!python/tuple [21, 26] + - !!python/tuple [13, 13] + - !!python/tuple [15, 19] + - !!python/tuple [8, 13] + - !!python/tuple [7, 5] + - !!python/tuple [27, 21] + - !!python/tuple [18, 0] + - !!python/tuple [20, 7] + - !!python/tuple [31, 31] + - !!python/tuple [30, 9] + - !!python/tuple [27, 11] + - !!python/tuple [18, 6] + - !!python/tuple [21, 23] + - !!python/tuple [13, 3] + - !!python/tuple [16, 5] + - !!python/tuple [14, 29] + - !!python/tuple [11, 4] + - !!python/tuple [15, 9] + - !!python/tuple [12, 1] + - !!python/tuple [16, 26] + - !!python/tuple [24, 9] + - !!python/tuple [19, 16] + - !!python/tuple [29, 22] + - !!python/tuple [27, 8] + - !!python/tuple [31, 13] + - !!python/tuple [15, 16] + - !!python/tuple [12, 5] + - !!python/tuple [15, 30] + - !!python/tuple [28, 17] + - !!python/tuple [12, 28] + - !!python/tuple [23, 1] + - !!python/tuple [11, 25] + - !!python/tuple [1, 13] + - !!python/tuple [26, 16] + - !!python/tuple [25, 30] + - !!python/tuple [7, 25] + - !!python/tuple [5, 4] + - !!python/tuple [10, 21] + - !!python/tuple [31, 29] + - !!python/tuple [15, 20] + - !!python/tuple [30, 13] + - !!python/tuple [5, 22] + - !!python/tuple [17, 8] + - !!python/tuple [3, 10] + - !!python/tuple [28, 11] + - !!python/tuple [2, 0] + - !!python/tuple [27, 16] + - !!python/tuple [26, 2] + - !!python/tuple [15, 22] + - !!python/tuple [24, 15] + - !!python/tuple [19, 11] + - !!python/tuple [18, 22] + - !!python/tuple [0, 21] + - !!python/tuple [7, 1] + - !!python/tuple [12, 17] + - !!python/tuple [9, 4] + - !!python/tuple [26, 11] + - !!python/tuple [20, 3] + - !!python/tuple [9, 27] + - !!python/tuple [19, 1] + - !!python/tuple [13, 11] + - !!python/tuple [12, 29] + - !!python/tuple [29, 9] + - !!python/tuple [14, 24] + - !!python/tuple [0, 29] + - !!python/tuple [17, 7] + - !!python/tuple [13, 24] + - !!python/tuple [24, 4] + - !!python/tuple [29, 13] + - !!python/tuple [6, 6] + - !!python/tuple [10, 27] + - !!python/tuple [15, 8] + - !!python/tuple [30, 26] + - !!python/tuple [28, 21] + - !!python/tuple [26, 8] + - !!python/tuple [17, 15] + - !!python/tuple [5, 0] + - !!python/tuple [4, 15] + - !!python/tuple [14, 15] + - !!python/tuple [6, 27] + - !!python/tuple [17, 20] + - !!python/tuple [19, 19] + - !!python/tuple [28, 1] + - !!python/tuple [16, 28] + - !!python/tuple [29, 1] + - !!python/tuple [3, 25] + - !!python/tuple [24, 20] + - !!python/tuple [24, 27] + - !!python/tuple [9, 28] + - !!python/tuple [15, 18] + - !!python/tuple [22, 31] + - !!python/tuple [8, 6] + - !!python/tuple [7, 27] + - !!python/tuple [5, 10] + - !!python/tuple [21, 30] + - !!python/tuple [9, 25] + - !!python/tuple [30, 21] + - !!python/tuple [12, 7] + - !!python/tuple [1, 8] + - !!python/tuple [10, 2] + - !!python/tuple [23, 28] + - !!python/tuple [29, 0] + - !!python/tuple [13, 27] + - !!python/tuple [0, 15] + - !!python/tuple [13, 28] + - !!python/tuple [9, 21] + - !!python/tuple [2, 6] + - !!python/tuple [29, 18] + - !!python/tuple [17, 6] + - !!python/tuple [25, 12] + - !!python/tuple [10, 29] + - !!python/tuple [29, 4] + - !!python/tuple [17, 21] + - !!python/tuple [24, 22] + - !!python/tuple [9, 1] + - !!python/tuple [5, 15] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex92.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex92.yaml new file mode 100644 index 0000000..817ec99 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex92.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [8, 11] + name: agent0 + start: [18, 5] +- goal: [24, 22] + name: agent1 + start: [6, 22] +- goal: [20, 12] + name: agent2 + start: [4, 31] +- goal: [7, 31] + name: agent3 + start: [1, 24] +- goal: [30, 14] + name: agent4 + start: [27, 31] +- goal: [2, 18] + name: agent5 + start: [11, 25] +- goal: [8, 31] + name: agent6 + start: [28, 21] +- goal: [0, 31] + name: agent7 + start: [3, 9] +- goal: [18, 22] + name: agent8 + start: [10, 19] +- goal: [14, 25] + name: agent9 + start: [10, 27] +- goal: [29, 20] + name: agent10 + start: [20, 13] +- goal: [27, 31] + name: agent11 + start: [5, 13] +- goal: [18, 0] + name: agent12 + start: [28, 27] +- goal: [24, 8] + name: agent13 + start: [16, 20] +- goal: [14, 7] + name: agent14 + start: [18, 26] +- goal: [12, 27] + name: agent15 + start: [15, 6] +- goal: [25, 18] + name: agent16 + start: [29, 5] +- goal: [25, 27] + name: agent17 + start: [24, 15] +- goal: [20, 21] + name: agent18 + start: [31, 7] +- goal: [13, 6] + name: agent19 + start: [8, 8] +- goal: [28, 3] + name: agent20 + start: [26, 26] +- goal: [15, 30] + name: agent21 + start: [18, 14] +- goal: [10, 25] + name: agent22 + start: [25, 8] +- goal: [23, 5] + name: agent23 + start: [10, 0] +- goal: [3, 16] + name: agent24 + start: [18, 29] +- goal: [27, 7] + name: agent25 + start: [14, 21] +- goal: [4, 27] + name: agent26 + start: [4, 15] +- goal: [2, 13] + name: agent27 + start: [30, 22] +- goal: [7, 3] + name: agent28 + start: [31, 27] +- goal: [18, 30] + name: agent29 + start: [0, 20] +- goal: [19, 7] + name: agent30 + start: [12, 15] +- goal: [11, 20] + name: agent31 + start: [30, 28] +- goal: [28, 10] + name: agent32 + start: [31, 12] +- goal: [17, 14] + name: agent33 + start: [23, 18] +- goal: [20, 13] + name: agent34 + start: [2, 21] +- goal: [29, 0] + name: agent35 + start: [25, 6] +- goal: [15, 21] + name: agent36 + start: [5, 11] +- goal: [4, 11] + name: agent37 + start: [6, 30] +- goal: [31, 24] + name: agent38 + start: [9, 18] +- goal: [9, 23] + name: agent39 + start: [28, 7] +- goal: [24, 15] + name: agent40 + start: [25, 20] +- goal: [11, 3] + name: agent41 + start: [2, 23] +- goal: [2, 20] + name: agent42 + start: [6, 11] +- goal: [2, 26] + name: agent43 + start: [3, 20] +- goal: [17, 6] + name: agent44 + start: [5, 24] +- goal: [29, 4] + name: agent45 + start: [30, 8] +- goal: [5, 4] + name: agent46 + start: [13, 14] +- goal: [17, 18] + name: agent47 + start: [7, 9] +- goal: [4, 18] + name: agent48 + start: [3, 11] +- goal: [28, 0] + name: agent49 + start: [15, 2] +- goal: [31, 3] + name: agent50 + start: [13, 29] +- goal: [28, 23] + name: agent51 + start: [5, 31] +- goal: [14, 19] + name: agent52 + start: [5, 19] +- goal: [26, 6] + name: agent53 + start: [25, 5] +- goal: [16, 26] + name: agent54 + start: [24, 10] +- goal: [19, 9] + name: agent55 + start: [30, 23] +- goal: [22, 18] + name: agent56 + start: [4, 30] +- goal: [17, 7] + name: agent57 + start: [15, 5] +- goal: [19, 4] + name: agent58 + start: [8, 21] +- goal: [12, 15] + name: agent59 + start: [19, 8] +- goal: [4, 31] + name: agent60 + start: [4, 5] +- goal: [30, 2] + name: agent61 + start: [0, 13] +- goal: [25, 21] + name: agent62 + start: [10, 7] +- goal: [24, 27] + name: agent63 + start: [6, 17] +- goal: [10, 10] + name: agent64 + start: [1, 15] +- goal: [17, 13] + name: agent65 + start: [16, 31] +- goal: [23, 22] + name: agent66 + start: [26, 24] +- goal: [3, 1] + name: agent67 + start: [11, 31] +- goal: [26, 21] + name: agent68 + start: [13, 9] +- goal: [6, 24] + name: agent69 + start: [8, 4] +- goal: [31, 27] + name: agent70 + start: [4, 21] +- goal: [2, 5] + name: agent71 + start: [8, 23] +- goal: [0, 19] + name: agent72 + start: [16, 3] +- goal: [8, 15] + name: agent73 + start: [11, 4] +- goal: [16, 20] + name: agent74 + start: [8, 15] +- goal: [17, 26] + name: agent75 + start: [27, 6] +- goal: [23, 15] + name: agent76 + start: [18, 2] +- goal: [24, 3] + name: agent77 + start: [27, 5] +- goal: [12, 13] + name: agent78 + start: [10, 6] +- goal: [22, 9] + name: agent79 + start: [10, 28] +- goal: [30, 31] + name: agent80 + start: [4, 27] +- goal: [14, 9] + name: agent81 + start: [10, 8] +- goal: [6, 28] + name: agent82 + start: [18, 23] +- goal: [0, 24] + name: agent83 + start: [25, 25] +- goal: [23, 1] + name: agent84 + start: [21, 24] +- goal: [17, 5] + name: agent85 + start: [14, 9] +- goal: [26, 14] + name: agent86 + start: [29, 15] +- goal: [0, 16] + name: agent87 + start: [16, 28] +- goal: [19, 25] + name: agent88 + start: [26, 20] +- goal: [24, 26] + name: agent89 + start: [14, 7] +- goal: [21, 31] + name: agent90 + start: [25, 28] +- goal: [9, 14] + name: agent91 + start: [4, 26] +- goal: [28, 30] + name: agent92 + start: [16, 27] +- goal: [23, 29] + name: agent93 + start: [22, 22] +- goal: [21, 22] + name: agent94 + start: [18, 27] +- goal: [11, 25] + name: agent95 + start: [2, 9] +- goal: [30, 6] + name: agent96 + start: [24, 20] +- goal: [31, 31] + name: agent97 + start: [24, 1] +- goal: [10, 13] + name: agent98 + start: [12, 21] +- goal: [17, 10] + name: agent99 + start: [6, 27] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [31, 8] + - !!python/tuple [21, 13] + - !!python/tuple [11, 8] + - !!python/tuple [15, 9] + - !!python/tuple [20, 20] + - !!python/tuple [10, 4] + - !!python/tuple [9, 1] + - !!python/tuple [7, 30] + - !!python/tuple [0, 7] + - !!python/tuple [10, 18] + - !!python/tuple [30, 17] + - !!python/tuple [3, 7] + - !!python/tuple [20, 26] + - !!python/tuple [27, 27] + - !!python/tuple [12, 4] + - !!python/tuple [24, 23] + - !!python/tuple [6, 8] + - !!python/tuple [10, 12] + - !!python/tuple [3, 23] + - !!python/tuple [14, 15] + - !!python/tuple [20, 0] + - !!python/tuple [31, 9] + - !!python/tuple [9, 3] + - !!python/tuple [26, 12] + - !!python/tuple [29, 22] + - !!python/tuple [26, 28] + - !!python/tuple [31, 4] + - !!python/tuple [18, 20] + - !!python/tuple [7, 10] + - !!python/tuple [18, 24] + - !!python/tuple [19, 13] + - !!python/tuple [3, 22] + - !!python/tuple [13, 18] + - !!python/tuple [18, 9] + - !!python/tuple [2, 3] + - !!python/tuple [1, 31] + - !!python/tuple [21, 30] + - !!python/tuple [20, 31] + - !!python/tuple [23, 31] + - !!python/tuple [25, 0] + - !!python/tuple [3, 2] + - !!python/tuple [14, 27] + - !!python/tuple [18, 10] + - !!python/tuple [12, 19] + - !!python/tuple [30, 4] + - !!python/tuple [11, 1] + - !!python/tuple [8, 27] + - !!python/tuple [28, 31] + - !!python/tuple [14, 30] + - !!python/tuple [22, 16] + - !!python/tuple [21, 27] + - !!python/tuple [8, 9] + - !!python/tuple [29, 25] + - !!python/tuple [3, 0] + - !!python/tuple [22, 4] + - !!python/tuple [17, 1] + - !!python/tuple [13, 21] + - !!python/tuple [24, 12] + - !!python/tuple [8, 10] + - !!python/tuple [31, 17] + - !!python/tuple [23, 12] + - !!python/tuple [20, 27] + - !!python/tuple [21, 3] + - !!python/tuple [21, 5] + - !!python/tuple [1, 26] + - !!python/tuple [28, 11] + - !!python/tuple [14, 13] + - !!python/tuple [31, 28] + - !!python/tuple [28, 2] + - !!python/tuple [11, 26] + - !!python/tuple [17, 22] + - !!python/tuple [31, 22] + - !!python/tuple [8, 22] + - !!python/tuple [26, 2] + - !!python/tuple [23, 28] + - !!python/tuple [17, 28] + - !!python/tuple [30, 24] + - !!python/tuple [0, 3] + - !!python/tuple [6, 9] + - !!python/tuple [0, 5] + - !!python/tuple [8, 28] + - !!python/tuple [29, 17] + - !!python/tuple [24, 0] + - !!python/tuple [11, 5] + - !!python/tuple [30, 12] + - !!python/tuple [7, 12] + - !!python/tuple [21, 12] + - !!python/tuple [14, 3] + - !!python/tuple [23, 24] + - !!python/tuple [4, 29] + - !!python/tuple [0, 15] + - !!python/tuple [7, 25] + - !!python/tuple [1, 21] + - !!python/tuple [25, 13] + - !!python/tuple [27, 17] + - !!python/tuple [7, 15] + - !!python/tuple [24, 19] + - !!python/tuple [23, 19] + - !!python/tuple [5, 14] + - !!python/tuple [10, 29] + - !!python/tuple [18, 13] + - !!python/tuple [13, 17] + - !!python/tuple [27, 29] + - !!python/tuple [21, 4] + - !!python/tuple [11, 29] + - !!python/tuple [15, 20] + - !!python/tuple [9, 10] + - !!python/tuple [22, 10] + - !!python/tuple [12, 29] + - !!python/tuple [15, 3] + - !!python/tuple [26, 23] + - !!python/tuple [22, 27] + - !!python/tuple [14, 17] + - !!python/tuple [20, 8] + - !!python/tuple [0, 1] + - !!python/tuple [7, 0] + - !!python/tuple [17, 11] + - !!python/tuple [28, 4] + - !!python/tuple [21, 20] + - !!python/tuple [4, 2] + - !!python/tuple [17, 25] + - !!python/tuple [9, 29] + - !!python/tuple [19, 30] + - !!python/tuple [6, 7] + - !!python/tuple [22, 1] + - !!python/tuple [29, 19] + - !!python/tuple [23, 7] + - !!python/tuple [19, 23] + - !!python/tuple [13, 19] + - !!python/tuple [31, 11] + - !!python/tuple [5, 27] + - !!python/tuple [19, 26] + - !!python/tuple [11, 27] + - !!python/tuple [1, 25] + - !!python/tuple [9, 25] + - !!python/tuple [12, 18] + - !!python/tuple [26, 0] + - !!python/tuple [31, 30] + - !!python/tuple [17, 23] + - !!python/tuple [30, 7] + - !!python/tuple [7, 29] + - !!python/tuple [29, 21] + - !!python/tuple [22, 7] + - !!python/tuple [8, 5] + - !!python/tuple [15, 18] + - !!python/tuple [18, 16] + - !!python/tuple [6, 26] + - !!python/tuple [24, 9] + - !!python/tuple [6, 15] + - !!python/tuple [20, 16] + - !!python/tuple [8, 26] + - !!python/tuple [5, 15] + - !!python/tuple [17, 12] + - !!python/tuple [6, 18] + - !!python/tuple [1, 2] + - !!python/tuple [20, 1] + - !!python/tuple [7, 11] + - !!python/tuple [30, 11] + - !!python/tuple [4, 7] + - !!python/tuple [12, 12] + - !!python/tuple [1, 17] + - !!python/tuple [3, 5] + - !!python/tuple [22, 11] + - !!python/tuple [11, 22] + - !!python/tuple [17, 16] + - !!python/tuple [9, 28] + - !!python/tuple [31, 25] + - !!python/tuple [27, 30] + - !!python/tuple [13, 23] + - !!python/tuple [15, 22] + - !!python/tuple [4, 20] + - !!python/tuple [3, 13] + - !!python/tuple [3, 14] + - !!python/tuple [8, 19] + - !!python/tuple [10, 2] + - !!python/tuple [3, 4] + - !!python/tuple [1, 14] + - !!python/tuple [28, 20] + - !!python/tuple [8, 25] + - !!python/tuple [18, 15] + - !!python/tuple [25, 4] + - !!python/tuple [22, 25] + - !!python/tuple [1, 27] + - !!python/tuple [5, 2] + - !!python/tuple [23, 6] + - !!python/tuple [21, 8] + - !!python/tuple [8, 3] + - !!python/tuple [12, 20] + - !!python/tuple [8, 18] + - !!python/tuple [7, 13] + - !!python/tuple [13, 13] + - !!python/tuple [30, 16] + - !!python/tuple [9, 4] + - !!python/tuple [13, 22] + - !!python/tuple [20, 14] + - !!python/tuple [29, 29] + - !!python/tuple [6, 6] + - !!python/tuple [11, 30] + - !!python/tuple [19, 21] + - !!python/tuple [25, 24] + - !!python/tuple [5, 0] + - !!python/tuple [3, 19] + - !!python/tuple [20, 29] + - !!python/tuple [25, 10] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex93.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex93.yaml new file mode 100644 index 0000000..a568584 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex93.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [12, 9] + name: agent0 + start: [30, 19] +- goal: [24, 6] + name: agent1 + start: [7, 27] +- goal: [14, 14] + name: agent2 + start: [9, 25] +- goal: [14, 28] + name: agent3 + start: [9, 16] +- goal: [14, 23] + name: agent4 + start: [20, 5] +- goal: [0, 29] + name: agent5 + start: [21, 25] +- goal: [25, 31] + name: agent6 + start: [15, 31] +- goal: [21, 26] + name: agent7 + start: [11, 9] +- goal: [18, 9] + name: agent8 + start: [30, 13] +- goal: [3, 14] + name: agent9 + start: [30, 26] +- goal: [11, 7] + name: agent10 + start: [25, 16] +- goal: [2, 14] + name: agent11 + start: [0, 31] +- goal: [21, 21] + name: agent12 + start: [18, 1] +- goal: [13, 11] + name: agent13 + start: [5, 18] +- goal: [21, 14] + name: agent14 + start: [15, 0] +- goal: [26, 11] + name: agent15 + start: [15, 11] +- goal: [23, 25] + name: agent16 + start: [7, 20] +- goal: [11, 13] + name: agent17 + start: [30, 4] +- goal: [29, 24] + name: agent18 + start: [13, 15] +- goal: [0, 8] + name: agent19 + start: [25, 30] +- goal: [12, 6] + name: agent20 + start: [16, 30] +- goal: [4, 6] + name: agent21 + start: [29, 27] +- goal: [23, 27] + name: agent22 + start: [18, 29] +- goal: [30, 20] + name: agent23 + start: [29, 15] +- goal: [31, 28] + name: agent24 + start: [6, 23] +- goal: [22, 6] + name: agent25 + start: [29, 5] +- goal: [16, 26] + name: agent26 + start: [14, 27] +- goal: [11, 1] + name: agent27 + start: [18, 22] +- goal: [1, 13] + name: agent28 + start: [11, 2] +- goal: [17, 23] + name: agent29 + start: [27, 2] +- goal: [18, 31] + name: agent30 + start: [3, 31] +- goal: [28, 8] + name: agent31 + start: [29, 6] +- goal: [27, 1] + name: agent32 + start: [7, 28] +- goal: [31, 20] + name: agent33 + start: [20, 23] +- goal: [31, 1] + name: agent34 + start: [22, 24] +- goal: [23, 22] + name: agent35 + start: [28, 16] +- goal: [18, 28] + name: agent36 + start: [8, 15] +- goal: [4, 9] + name: agent37 + start: [11, 1] +- goal: [11, 28] + name: agent38 + start: [3, 23] +- goal: [9, 18] + name: agent39 + start: [31, 18] +- goal: [23, 31] + name: agent40 + start: [10, 10] +- goal: [2, 13] + name: agent41 + start: [23, 20] +- goal: [10, 22] + name: agent42 + start: [18, 19] +- goal: [11, 10] + name: agent43 + start: [2, 8] +- goal: [10, 29] + name: agent44 + start: [27, 26] +- goal: [16, 1] + name: agent45 + start: [12, 15] +- goal: [29, 12] + name: agent46 + start: [27, 7] +- goal: [9, 9] + name: agent47 + start: [30, 8] +- goal: [21, 23] + name: agent48 + start: [26, 29] +- goal: [14, 7] + name: agent49 + start: [3, 18] +- goal: [3, 24] + name: agent50 + start: [28, 10] +- goal: [8, 22] + name: agent51 + start: [8, 27] +- goal: [14, 27] + name: agent52 + start: [14, 23] +- goal: [16, 14] + name: agent53 + start: [18, 26] +- goal: [23, 4] + name: agent54 + start: [16, 8] +- goal: [18, 20] + name: agent55 + start: [15, 3] +- goal: [14, 16] + name: agent56 + start: [2, 18] +- goal: [6, 2] + name: agent57 + start: [2, 19] +- goal: [13, 27] + name: agent58 + start: [2, 2] +- goal: [4, 17] + name: agent59 + start: [8, 10] +- goal: [27, 21] + name: agent60 + start: [20, 27] +- goal: [0, 21] + name: agent61 + start: [24, 19] +- goal: [31, 4] + name: agent62 + start: [12, 14] +- goal: [1, 15] + name: agent63 + start: [16, 18] +- goal: [31, 2] + name: agent64 + start: [2, 21] +- goal: [6, 3] + name: agent65 + start: [23, 5] +- goal: [15, 25] + name: agent66 + start: [25, 10] +- goal: [6, 30] + name: agent67 + start: [16, 24] +- goal: [5, 25] + name: agent68 + start: [14, 12] +- goal: [14, 26] + name: agent69 + start: [9, 19] +- goal: [23, 8] + name: agent70 + start: [13, 10] +- goal: [17, 11] + name: agent71 + start: [18, 23] +- goal: [24, 14] + name: agent72 + start: [8, 7] +- goal: [19, 23] + name: agent73 + start: [29, 11] +- goal: [20, 0] + name: agent74 + start: [10, 11] +- goal: [7, 20] + name: agent75 + start: [4, 6] +- goal: [27, 29] + name: agent76 + start: [31, 12] +- goal: [30, 14] + name: agent77 + start: [4, 24] +- goal: [13, 3] + name: agent78 + start: [22, 2] +- goal: [17, 31] + name: agent79 + start: [14, 21] +- goal: [2, 25] + name: agent80 + start: [18, 20] +- goal: [22, 1] + name: agent81 + start: [27, 0] +- goal: [6, 18] + name: agent82 + start: [27, 31] +- goal: [21, 19] + name: agent83 + start: [0, 18] +- goal: [16, 9] + name: agent84 + start: [13, 16] +- goal: [11, 30] + name: agent85 + start: [5, 16] +- goal: [4, 2] + name: agent86 + start: [13, 8] +- goal: [25, 17] + name: agent87 + start: [16, 14] +- goal: [7, 15] + name: agent88 + start: [11, 18] +- goal: [14, 4] + name: agent89 + start: [0, 19] +- goal: [19, 19] + name: agent90 + start: [8, 16] +- goal: [7, 26] + name: agent91 + start: [12, 29] +- goal: [22, 16] + name: agent92 + start: [24, 22] +- goal: [12, 22] + name: agent93 + start: [13, 25] +- goal: [19, 13] + name: agent94 + start: [29, 2] +- goal: [30, 21] + name: agent95 + start: [13, 30] +- goal: [5, 20] + name: agent96 + start: [18, 6] +- goal: [14, 0] + name: agent97 + start: [30, 31] +- goal: [2, 7] + name: agent98 + start: [26, 10] +- goal: [27, 13] + name: agent99 + start: [0, 13] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [28, 3] + - !!python/tuple [2, 20] + - !!python/tuple [18, 24] + - !!python/tuple [30, 30] + - !!python/tuple [5, 1] + - !!python/tuple [9, 27] + - !!python/tuple [11, 29] + - !!python/tuple [16, 23] + - !!python/tuple [18, 25] + - !!python/tuple [12, 25] + - !!python/tuple [29, 29] + - !!python/tuple [17, 4] + - !!python/tuple [23, 26] + - !!python/tuple [3, 19] + - !!python/tuple [9, 22] + - !!python/tuple [29, 28] + - !!python/tuple [7, 18] + - !!python/tuple [6, 20] + - !!python/tuple [30, 27] + - !!python/tuple [0, 1] + - !!python/tuple [8, 12] + - !!python/tuple [28, 19] + - !!python/tuple [12, 13] + - !!python/tuple [11, 14] + - !!python/tuple [10, 14] + - !!python/tuple [9, 5] + - !!python/tuple [21, 17] + - !!python/tuple [26, 1] + - !!python/tuple [26, 6] + - !!python/tuple [25, 9] + - !!python/tuple [17, 3] + - !!python/tuple [30, 10] + - !!python/tuple [27, 18] + - !!python/tuple [28, 1] + - !!python/tuple [30, 2] + - !!python/tuple [12, 12] + - !!python/tuple [26, 31] + - !!python/tuple [20, 9] + - !!python/tuple [6, 6] + - !!python/tuple [7, 22] + - !!python/tuple [17, 10] + - !!python/tuple [28, 9] + - !!python/tuple [4, 11] + - !!python/tuple [12, 4] + - !!python/tuple [28, 24] + - !!python/tuple [23, 21] + - !!python/tuple [19, 11] + - !!python/tuple [30, 6] + - !!python/tuple [17, 22] + - !!python/tuple [10, 18] + - !!python/tuple [7, 5] + - !!python/tuple [22, 9] + - !!python/tuple [10, 24] + - !!python/tuple [4, 18] + - !!python/tuple [9, 4] + - !!python/tuple [0, 12] + - !!python/tuple [26, 15] + - !!python/tuple [25, 27] + - !!python/tuple [2, 31] + - !!python/tuple [29, 1] + - !!python/tuple [0, 16] + - !!python/tuple [9, 3] + - !!python/tuple [17, 14] + - !!python/tuple [8, 20] + - !!python/tuple [4, 4] + - !!python/tuple [9, 30] + - !!python/tuple [28, 5] + - !!python/tuple [7, 9] + - !!python/tuple [20, 7] + - !!python/tuple [1, 8] + - !!python/tuple [13, 5] + - !!python/tuple [14, 24] + - !!python/tuple [16, 0] + - !!python/tuple [5, 4] + - !!python/tuple [4, 5] + - !!python/tuple [9, 20] + - !!python/tuple [1, 30] + - !!python/tuple [12, 18] + - !!python/tuple [14, 17] + - !!python/tuple [23, 0] + - !!python/tuple [0, 11] + - !!python/tuple [13, 4] + - !!python/tuple [15, 21] + - !!python/tuple [27, 22] + - !!python/tuple [6, 13] + - !!python/tuple [16, 15] + - !!python/tuple [23, 24] + - !!python/tuple [14, 29] + - !!python/tuple [27, 30] + - !!python/tuple [20, 17] + - !!python/tuple [7, 4] + - !!python/tuple [24, 11] + - !!python/tuple [30, 0] + - !!python/tuple [18, 0] + - !!python/tuple [21, 31] + - !!python/tuple [25, 14] + - !!python/tuple [31, 16] + - !!python/tuple [2, 4] + - !!python/tuple [26, 22] + - !!python/tuple [19, 4] + - !!python/tuple [3, 7] + - !!python/tuple [18, 12] + - !!python/tuple [6, 29] + - !!python/tuple [22, 27] + - !!python/tuple [1, 12] + - !!python/tuple [20, 29] + - !!python/tuple [19, 22] + - !!python/tuple [28, 4] + - !!python/tuple [19, 31] + - !!python/tuple [4, 31] + - !!python/tuple [13, 22] + - !!python/tuple [26, 16] + - !!python/tuple [3, 5] + - !!python/tuple [0, 2] + - !!python/tuple [10, 31] + - !!python/tuple [10, 1] + - !!python/tuple [10, 9] + - !!python/tuple [24, 21] + - !!python/tuple [7, 25] + - !!python/tuple [7, 1] + - !!python/tuple [20, 10] + - !!python/tuple [27, 12] + - !!python/tuple [19, 26] + - !!python/tuple [0, 27] + - !!python/tuple [12, 10] + - !!python/tuple [4, 15] + - !!python/tuple [31, 14] + - !!python/tuple [2, 5] + - !!python/tuple [4, 28] + - !!python/tuple [1, 26] + - !!python/tuple [6, 15] + - !!python/tuple [9, 2] + - !!python/tuple [28, 13] + - !!python/tuple [21, 20] + - !!python/tuple [21, 18] + - !!python/tuple [0, 23] + - !!python/tuple [27, 16] + - !!python/tuple [0, 24] + - !!python/tuple [26, 8] + - !!python/tuple [6, 14] + - !!python/tuple [7, 0] + - !!python/tuple [21, 6] + - !!python/tuple [29, 23] + - !!python/tuple [1, 21] + - !!python/tuple [14, 2] + - !!python/tuple [9, 15] + - !!python/tuple [19, 24] + - !!python/tuple [28, 14] + - !!python/tuple [4, 16] + - !!python/tuple [19, 8] + - !!python/tuple [17, 2] + - !!python/tuple [27, 25] + - !!python/tuple [1, 6] + - !!python/tuple [28, 21] + - !!python/tuple [4, 21] + - !!python/tuple [13, 0] + - !!python/tuple [6, 9] + - !!python/tuple [12, 23] + - !!python/tuple [15, 14] + - !!python/tuple [23, 7] + - !!python/tuple [1, 19] + - !!python/tuple [5, 14] + - !!python/tuple [22, 21] + - !!python/tuple [8, 31] + - !!python/tuple [20, 15] + - !!python/tuple [19, 0] + - !!python/tuple [3, 13] + - !!python/tuple [15, 12] + - !!python/tuple [8, 2] + - !!python/tuple [13, 1] + - !!python/tuple [4, 22] + - !!python/tuple [11, 3] + - !!python/tuple [1, 14] + - !!python/tuple [11, 12] + - !!python/tuple [1, 5] + - !!python/tuple [25, 3] + - !!python/tuple [11, 26] + - !!python/tuple [24, 2] + - !!python/tuple [8, 23] + - !!python/tuple [26, 5] + - !!python/tuple [26, 20] + - !!python/tuple [15, 18] + - !!python/tuple [5, 8] + - !!python/tuple [2, 29] + - !!python/tuple [15, 30] + - !!python/tuple [29, 14] + - !!python/tuple [26, 24] + - !!python/tuple [3, 25] + - !!python/tuple [21, 27] + - !!python/tuple [4, 12] + - !!python/tuple [7, 16] + - !!python/tuple [16, 10] + - !!python/tuple [18, 18] + - !!python/tuple [25, 24] + - !!python/tuple [22, 19] + - !!python/tuple [4, 25] + - !!python/tuple [19, 30] + - !!python/tuple [11, 25] + - !!python/tuple [19, 28] + - !!python/tuple [13, 12] + - !!python/tuple [3, 1] + - !!python/tuple [17, 17] + - !!python/tuple [8, 19] + - !!python/tuple [23, 10] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex94.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex94.yaml new file mode 100644 index 0000000..9c6fccc --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex94.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [25, 8] + name: agent0 + start: [25, 22] +- goal: [5, 5] + name: agent1 + start: [13, 28] +- goal: [19, 17] + name: agent2 + start: [11, 31] +- goal: [12, 23] + name: agent3 + start: [5, 19] +- goal: [6, 22] + name: agent4 + start: [14, 12] +- goal: [10, 0] + name: agent5 + start: [6, 4] +- goal: [2, 16] + name: agent6 + start: [10, 24] +- goal: [14, 31] + name: agent7 + start: [23, 24] +- goal: [10, 17] + name: agent8 + start: [20, 13] +- goal: [19, 11] + name: agent9 + start: [28, 12] +- goal: [31, 16] + name: agent10 + start: [19, 17] +- goal: [1, 28] + name: agent11 + start: [16, 15] +- goal: [17, 11] + name: agent12 + start: [6, 26] +- goal: [13, 26] + name: agent13 + start: [24, 7] +- goal: [14, 1] + name: agent14 + start: [29, 18] +- goal: [14, 18] + name: agent15 + start: [22, 10] +- goal: [25, 12] + name: agent16 + start: [9, 2] +- goal: [14, 4] + name: agent17 + start: [1, 31] +- goal: [25, 27] + name: agent18 + start: [2, 26] +- goal: [0, 16] + name: agent19 + start: [16, 3] +- goal: [2, 26] + name: agent20 + start: [18, 10] +- goal: [31, 10] + name: agent21 + start: [14, 27] +- goal: [10, 6] + name: agent22 + start: [3, 18] +- goal: [1, 7] + name: agent23 + start: [13, 5] +- goal: [25, 18] + name: agent24 + start: [24, 17] +- goal: [28, 22] + name: agent25 + start: [4, 21] +- goal: [11, 29] + name: agent26 + start: [24, 28] +- goal: [25, 25] + name: agent27 + start: [13, 0] +- goal: [26, 6] + name: agent28 + start: [30, 10] +- goal: [13, 0] + name: agent29 + start: [2, 31] +- goal: [23, 12] + name: agent30 + start: [9, 29] +- goal: [30, 14] + name: agent31 + start: [9, 19] +- goal: [20, 16] + name: agent32 + start: [3, 26] +- goal: [0, 30] + name: agent33 + start: [27, 29] +- goal: [0, 22] + name: agent34 + start: [26, 25] +- goal: [31, 12] + name: agent35 + start: [23, 26] +- goal: [29, 1] + name: agent36 + start: [25, 10] +- goal: [4, 6] + name: agent37 + start: [13, 3] +- goal: [11, 13] + name: agent38 + start: [2, 8] +- goal: [14, 7] + name: agent39 + start: [23, 15] +- goal: [21, 26] + name: agent40 + start: [23, 25] +- goal: [29, 30] + name: agent41 + start: [30, 16] +- goal: [21, 16] + name: agent42 + start: [12, 23] +- goal: [22, 19] + name: agent43 + start: [30, 5] +- goal: [4, 13] + name: agent44 + start: [7, 28] +- goal: [12, 12] + name: agent45 + start: [9, 7] +- goal: [27, 5] + name: agent46 + start: [8, 31] +- goal: [22, 9] + name: agent47 + start: [30, 18] +- goal: [19, 31] + name: agent48 + start: [0, 30] +- goal: [23, 28] + name: agent49 + start: [26, 24] +- goal: [9, 2] + name: agent50 + start: [12, 31] +- goal: [11, 20] + name: agent51 + start: [27, 1] +- goal: [17, 13] + name: agent52 + start: [3, 6] +- goal: [19, 1] + name: agent53 + start: [22, 0] +- goal: [27, 27] + name: agent54 + start: [0, 25] +- goal: [4, 15] + name: agent55 + start: [10, 17] +- goal: [8, 13] + name: agent56 + start: [29, 31] +- goal: [25, 3] + name: agent57 + start: [0, 27] +- goal: [21, 19] + name: agent58 + start: [10, 10] +- goal: [17, 5] + name: agent59 + start: [15, 30] +- goal: [13, 3] + name: agent60 + start: [26, 30] +- goal: [22, 31] + name: agent61 + start: [23, 0] +- goal: [4, 10] + name: agent62 + start: [9, 18] +- goal: [22, 8] + name: agent63 + start: [10, 2] +- goal: [25, 23] + name: agent64 + start: [28, 29] +- goal: [2, 0] + name: agent65 + start: [7, 24] +- goal: [16, 7] + name: agent66 + start: [19, 31] +- goal: [25, 28] + name: agent67 + start: [12, 10] +- goal: [2, 14] + name: agent68 + start: [11, 23] +- goal: [3, 10] + name: agent69 + start: [8, 30] +- goal: [12, 7] + name: agent70 + start: [15, 9] +- goal: [16, 10] + name: agent71 + start: [0, 14] +- goal: [25, 19] + name: agent72 + start: [20, 26] +- goal: [16, 8] + name: agent73 + start: [23, 22] +- goal: [13, 18] + name: agent74 + start: [10, 7] +- goal: [27, 18] + name: agent75 + start: [14, 28] +- goal: [15, 22] + name: agent76 + start: [31, 31] +- goal: [9, 30] + name: agent77 + start: [23, 14] +- goal: [4, 27] + name: agent78 + start: [21, 0] +- goal: [17, 23] + name: agent79 + start: [12, 3] +- goal: [20, 2] + name: agent80 + start: [21, 2] +- goal: [12, 2] + name: agent81 + start: [29, 30] +- goal: [3, 15] + name: agent82 + start: [26, 13] +- goal: [13, 8] + name: agent83 + start: [11, 7] +- goal: [25, 13] + name: agent84 + start: [31, 25] +- goal: [22, 24] + name: agent85 + start: [12, 19] +- goal: [4, 16] + name: agent86 + start: [29, 21] +- goal: [25, 6] + name: agent87 + start: [5, 5] +- goal: [17, 28] + name: agent88 + start: [11, 24] +- goal: [0, 14] + name: agent89 + start: [24, 10] +- goal: [26, 22] + name: agent90 + start: [9, 13] +- goal: [1, 0] + name: agent91 + start: [23, 2] +- goal: [20, 23] + name: agent92 + start: [1, 22] +- goal: [8, 8] + name: agent93 + start: [25, 31] +- goal: [27, 1] + name: agent94 + start: [6, 17] +- goal: [20, 14] + name: agent95 + start: [2, 7] +- goal: [5, 12] + name: agent96 + start: [26, 10] +- goal: [8, 2] + name: agent97 + start: [30, 25] +- goal: [24, 25] + name: agent98 + start: [29, 3] +- goal: [24, 14] + name: agent99 + start: [8, 27] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [11, 2] + - !!python/tuple [26, 8] + - !!python/tuple [28, 10] + - !!python/tuple [31, 27] + - !!python/tuple [17, 17] + - !!python/tuple [8, 26] + - !!python/tuple [23, 19] + - !!python/tuple [10, 8] + - !!python/tuple [1, 9] + - !!python/tuple [4, 4] + - !!python/tuple [28, 21] + - !!python/tuple [21, 27] + - !!python/tuple [29, 29] + - !!python/tuple [7, 25] + - !!python/tuple [19, 24] + - !!python/tuple [23, 16] + - !!python/tuple [28, 5] + - !!python/tuple [29, 19] + - !!python/tuple [10, 27] + - !!python/tuple [18, 13] + - !!python/tuple [21, 28] + - !!python/tuple [18, 27] + - !!python/tuple [11, 11] + - !!python/tuple [21, 7] + - !!python/tuple [0, 11] + - !!python/tuple [11, 28] + - !!python/tuple [19, 16] + - !!python/tuple [11, 1] + - !!python/tuple [6, 18] + - !!python/tuple [5, 3] + - !!python/tuple [2, 22] + - !!python/tuple [30, 0] + - !!python/tuple [24, 30] + - !!python/tuple [3, 5] + - !!python/tuple [13, 29] + - !!python/tuple [17, 30] + - !!python/tuple [31, 9] + - !!python/tuple [29, 26] + - !!python/tuple [26, 16] + - !!python/tuple [14, 5] + - !!python/tuple [16, 30] + - !!python/tuple [30, 23] + - !!python/tuple [12, 29] + - !!python/tuple [20, 21] + - !!python/tuple [2, 20] + - !!python/tuple [16, 29] + - !!python/tuple [22, 17] + - !!python/tuple [14, 19] + - !!python/tuple [16, 31] + - !!python/tuple [12, 18] + - !!python/tuple [17, 8] + - !!python/tuple [17, 18] + - !!python/tuple [30, 6] + - !!python/tuple [24, 15] + - !!python/tuple [29, 16] + - !!python/tuple [26, 1] + - !!python/tuple [17, 25] + - !!python/tuple [20, 12] + - !!python/tuple [19, 3] + - !!python/tuple [10, 25] + - !!python/tuple [13, 20] + - !!python/tuple [13, 14] + - !!python/tuple [16, 22] + - !!python/tuple [24, 29] + - !!python/tuple [4, 29] + - !!python/tuple [4, 8] + - !!python/tuple [4, 14] + - !!python/tuple [20, 0] + - !!python/tuple [9, 26] + - !!python/tuple [4, 31] + - !!python/tuple [22, 12] + - !!python/tuple [8, 5] + - !!python/tuple [19, 4] + - !!python/tuple [1, 25] + - !!python/tuple [30, 28] + - !!python/tuple [9, 15] + - !!python/tuple [31, 14] + - !!python/tuple [1, 4] + - !!python/tuple [29, 23] + - !!python/tuple [1, 26] + - !!python/tuple [18, 11] + - !!python/tuple [16, 28] + - !!python/tuple [22, 14] + - !!python/tuple [20, 15] + - !!python/tuple [20, 5] + - !!python/tuple [8, 1] + - !!python/tuple [26, 9] + - !!python/tuple [30, 8] + - !!python/tuple [0, 0] + - !!python/tuple [3, 7] + - !!python/tuple [17, 29] + - !!python/tuple [9, 12] + - !!python/tuple [4, 7] + - !!python/tuple [17, 9] + - !!python/tuple [13, 19] + - !!python/tuple [27, 7] + - !!python/tuple [16, 26] + - !!python/tuple [26, 20] + - !!python/tuple [0, 15] + - !!python/tuple [21, 18] + - !!python/tuple [21, 25] + - !!python/tuple [2, 24] + - !!python/tuple [4, 18] + - !!python/tuple [4, 0] + - !!python/tuple [1, 6] + - !!python/tuple [30, 30] + - !!python/tuple [10, 4] + - !!python/tuple [10, 15] + - !!python/tuple [12, 13] + - !!python/tuple [5, 30] + - !!python/tuple [16, 24] + - !!python/tuple [25, 21] + - !!python/tuple [25, 20] + - !!python/tuple [1, 10] + - !!python/tuple [0, 3] + - !!python/tuple [6, 15] + - !!python/tuple [18, 22] + - !!python/tuple [8, 28] + - !!python/tuple [22, 27] + - !!python/tuple [23, 7] + - !!python/tuple [5, 11] + - !!python/tuple [20, 19] + - !!python/tuple [18, 15] + - !!python/tuple [17, 16] + - !!python/tuple [7, 0] + - !!python/tuple [24, 23] + - !!python/tuple [26, 2] + - !!python/tuple [27, 21] + - !!python/tuple [30, 19] + - !!python/tuple [1, 20] + - !!python/tuple [11, 8] + - !!python/tuple [3, 16] + - !!python/tuple [25, 4] + - !!python/tuple [1, 3] + - !!python/tuple [29, 9] + - !!python/tuple [11, 25] + - !!python/tuple [22, 30] + - !!python/tuple [28, 0] + - !!python/tuple [9, 9] + - !!python/tuple [31, 0] + - !!python/tuple [11, 3] + - !!python/tuple [2, 18] + - !!python/tuple [3, 19] + - !!python/tuple [19, 20] + - !!python/tuple [8, 0] + - !!python/tuple [0, 1] + - !!python/tuple [1, 21] + - !!python/tuple [14, 30] + - !!python/tuple [22, 3] + - !!python/tuple [1, 13] + - !!python/tuple [7, 18] + - !!python/tuple [27, 26] + - !!python/tuple [16, 27] + - !!python/tuple [9, 10] + - !!python/tuple [19, 19] + - !!python/tuple [9, 20] + - !!python/tuple [13, 25] + - !!python/tuple [6, 21] + - !!python/tuple [17, 1] + - !!python/tuple [19, 14] + - !!python/tuple [21, 1] + - !!python/tuple [31, 23] + - !!python/tuple [19, 28] + - !!python/tuple [1, 18] + - !!python/tuple [22, 5] + - !!python/tuple [23, 3] + - !!python/tuple [11, 10] + - !!python/tuple [19, 21] + - !!python/tuple [10, 19] + - !!python/tuple [18, 20] + - !!python/tuple [21, 9] + - !!python/tuple [22, 7] + - !!python/tuple [28, 17] + - !!python/tuple [20, 18] + - !!python/tuple [21, 4] + - !!python/tuple [10, 31] + - !!python/tuple [8, 6] + - !!python/tuple [19, 9] + - !!python/tuple [11, 21] + - !!python/tuple [29, 8] + - !!python/tuple [30, 2] + - !!python/tuple [6, 28] + - !!python/tuple [14, 22] + - !!python/tuple [14, 21] + - !!python/tuple [22, 28] + - !!python/tuple [9, 25] + - !!python/tuple [3, 13] + - !!python/tuple [22, 6] + - !!python/tuple [25, 17] + - !!python/tuple [31, 6] + - !!python/tuple [10, 5] + - !!python/tuple [29, 12] + - !!python/tuple [28, 11] + - !!python/tuple [14, 23] + - !!python/tuple [11, 26] + - !!python/tuple [7, 17] + - !!python/tuple [27, 2] + - !!python/tuple [0, 20] + - !!python/tuple [26, 4] + - !!python/tuple [21, 22] + - !!python/tuple [11, 4] + - !!python/tuple [26, 7] + - !!python/tuple [26, 0] + - !!python/tuple [27, 0] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex95.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex95.yaml new file mode 100644 index 0000000..da3b7b3 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex95.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [0, 16] + name: agent0 + start: [19, 3] +- goal: [9, 0] + name: agent1 + start: [19, 27] +- goal: [21, 18] + name: agent2 + start: [19, 10] +- goal: [21, 7] + name: agent3 + start: [3, 15] +- goal: [0, 4] + name: agent4 + start: [17, 12] +- goal: [29, 15] + name: agent5 + start: [20, 4] +- goal: [31, 2] + name: agent6 + start: [29, 29] +- goal: [29, 0] + name: agent7 + start: [2, 10] +- goal: [0, 29] + name: agent8 + start: [12, 11] +- goal: [1, 17] + name: agent9 + start: [26, 19] +- goal: [1, 21] + name: agent10 + start: [3, 5] +- goal: [18, 20] + name: agent11 + start: [24, 19] +- goal: [20, 8] + name: agent12 + start: [2, 5] +- goal: [26, 17] + name: agent13 + start: [31, 18] +- goal: [24, 23] + name: agent14 + start: [16, 7] +- goal: [21, 1] + name: agent15 + start: [12, 15] +- goal: [26, 0] + name: agent16 + start: [18, 18] +- goal: [10, 2] + name: agent17 + start: [6, 10] +- goal: [31, 18] + name: agent18 + start: [12, 23] +- goal: [1, 15] + name: agent19 + start: [17, 5] +- goal: [15, 17] + name: agent20 + start: [20, 3] +- goal: [19, 17] + name: agent21 + start: [11, 16] +- goal: [13, 4] + name: agent22 + start: [7, 28] +- goal: [19, 12] + name: agent23 + start: [11, 4] +- goal: [5, 0] + name: agent24 + start: [30, 25] +- goal: [16, 29] + name: agent25 + start: [28, 24] +- goal: [16, 2] + name: agent26 + start: [16, 3] +- goal: [31, 7] + name: agent27 + start: [1, 11] +- goal: [19, 26] + name: agent28 + start: [8, 25] +- goal: [3, 14] + name: agent29 + start: [4, 6] +- goal: [11, 0] + name: agent30 + start: [18, 22] +- goal: [31, 0] + name: agent31 + start: [19, 25] +- goal: [5, 6] + name: agent32 + start: [15, 26] +- goal: [22, 13] + name: agent33 + start: [22, 16] +- goal: [4, 17] + name: agent34 + start: [15, 14] +- goal: [12, 31] + name: agent35 + start: [14, 31] +- goal: [14, 26] + name: agent36 + start: [0, 12] +- goal: [14, 0] + name: agent37 + start: [25, 29] +- goal: [7, 24] + name: agent38 + start: [11, 22] +- goal: [19, 8] + name: agent39 + start: [3, 11] +- goal: [27, 15] + name: agent40 + start: [13, 7] +- goal: [4, 3] + name: agent41 + start: [0, 8] +- goal: [6, 1] + name: agent42 + start: [0, 26] +- goal: [28, 18] + name: agent43 + start: [14, 28] +- goal: [30, 25] + name: agent44 + start: [15, 18] +- goal: [9, 19] + name: agent45 + start: [7, 8] +- goal: [1, 13] + name: agent46 + start: [11, 5] +- goal: [5, 26] + name: agent47 + start: [31, 20] +- goal: [26, 19] + name: agent48 + start: [9, 29] +- goal: [4, 18] + name: agent49 + start: [18, 17] +- goal: [21, 21] + name: agent50 + start: [23, 9] +- goal: [0, 24] + name: agent51 + start: [13, 1] +- goal: [1, 23] + name: agent52 + start: [27, 4] +- goal: [16, 27] + name: agent53 + start: [26, 11] +- goal: [11, 24] + name: agent54 + start: [14, 6] +- goal: [9, 11] + name: agent55 + start: [19, 24] +- goal: [23, 17] + name: agent56 + start: [27, 10] +- goal: [10, 31] + name: agent57 + start: [13, 12] +- goal: [8, 16] + name: agent58 + start: [31, 23] +- goal: [27, 3] + name: agent59 + start: [16, 27] +- goal: [6, 14] + name: agent60 + start: [12, 17] +- goal: [29, 1] + name: agent61 + start: [8, 20] +- goal: [30, 22] + name: agent62 + start: [3, 29] +- goal: [28, 17] + name: agent63 + start: [26, 0] +- goal: [28, 12] + name: agent64 + start: [10, 12] +- goal: [19, 24] + name: agent65 + start: [8, 31] +- goal: [23, 28] + name: agent66 + start: [5, 22] +- goal: [1, 25] + name: agent67 + start: [2, 12] +- goal: [30, 28] + name: agent68 + start: [9, 26] +- goal: [25, 1] + name: agent69 + start: [24, 9] +- goal: [4, 11] + name: agent70 + start: [28, 18] +- goal: [25, 18] + name: agent71 + start: [3, 28] +- goal: [26, 8] + name: agent72 + start: [23, 20] +- goal: [22, 7] + name: agent73 + start: [30, 11] +- goal: [18, 5] + name: agent74 + start: [29, 19] +- goal: [30, 21] + name: agent75 + start: [28, 31] +- goal: [4, 10] + name: agent76 + start: [17, 3] +- goal: [26, 9] + name: agent77 + start: [1, 21] +- goal: [17, 16] + name: agent78 + start: [31, 11] +- goal: [25, 23] + name: agent79 + start: [21, 7] +- goal: [30, 30] + name: agent80 + start: [6, 31] +- goal: [7, 14] + name: agent81 + start: [13, 2] +- goal: [31, 23] + name: agent82 + start: [11, 6] +- goal: [31, 3] + name: agent83 + start: [18, 15] +- goal: [23, 12] + name: agent84 + start: [20, 12] +- goal: [13, 13] + name: agent85 + start: [13, 13] +- goal: [29, 6] + name: agent86 + start: [31, 29] +- goal: [26, 18] + name: agent87 + start: [6, 22] +- goal: [1, 20] + name: agent88 + start: [22, 26] +- goal: [20, 11] + name: agent89 + start: [19, 31] +- goal: [10, 14] + name: agent90 + start: [23, 25] +- goal: [14, 19] + name: agent91 + start: [6, 11] +- goal: [22, 10] + name: agent92 + start: [11, 31] +- goal: [18, 31] + name: agent93 + start: [19, 5] +- goal: [27, 2] + name: agent94 + start: [12, 22] +- goal: [24, 13] + name: agent95 + start: [15, 3] +- goal: [26, 23] + name: agent96 + start: [9, 31] +- goal: [6, 5] + name: agent97 + start: [6, 23] +- goal: [0, 20] + name: agent98 + start: [4, 22] +- goal: [1, 10] + name: agent99 + start: [24, 8] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [13, 0] + - !!python/tuple [28, 11] + - !!python/tuple [0, 1] + - !!python/tuple [5, 24] + - !!python/tuple [21, 28] + - !!python/tuple [15, 25] + - !!python/tuple [25, 17] + - !!python/tuple [4, 23] + - !!python/tuple [13, 28] + - !!python/tuple [0, 15] + - !!python/tuple [21, 4] + - !!python/tuple [2, 27] + - !!python/tuple [20, 15] + - !!python/tuple [7, 6] + - !!python/tuple [15, 24] + - !!python/tuple [2, 7] + - !!python/tuple [23, 0] + - !!python/tuple [16, 17] + - !!python/tuple [20, 13] + - !!python/tuple [13, 21] + - !!python/tuple [7, 11] + - !!python/tuple [14, 2] + - !!python/tuple [22, 19] + - !!python/tuple [1, 1] + - !!python/tuple [27, 24] + - !!python/tuple [24, 5] + - !!python/tuple [8, 9] + - !!python/tuple [25, 3] + - !!python/tuple [22, 11] + - !!python/tuple [20, 26] + - !!python/tuple [29, 31] + - !!python/tuple [28, 19] + - !!python/tuple [0, 21] + - !!python/tuple [6, 26] + - !!python/tuple [15, 0] + - !!python/tuple [28, 8] + - !!python/tuple [21, 15] + - !!python/tuple [17, 7] + - !!python/tuple [21, 23] + - !!python/tuple [3, 3] + - !!python/tuple [10, 17] + - !!python/tuple [17, 27] + - !!python/tuple [3, 13] + - !!python/tuple [16, 6] + - !!python/tuple [7, 30] + - !!python/tuple [26, 26] + - !!python/tuple [16, 22] + - !!python/tuple [16, 9] + - !!python/tuple [5, 13] + - !!python/tuple [13, 10] + - !!python/tuple [29, 5] + - !!python/tuple [26, 30] + - !!python/tuple [5, 21] + - !!python/tuple [18, 28] + - !!python/tuple [25, 10] + - !!python/tuple [19, 6] + - !!python/tuple [19, 11] + - !!python/tuple [0, 13] + - !!python/tuple [18, 7] + - !!python/tuple [2, 4] + - !!python/tuple [27, 27] + - !!python/tuple [1, 30] + - !!python/tuple [24, 10] + - !!python/tuple [31, 16] + - !!python/tuple [22, 18] + - !!python/tuple [17, 2] + - !!python/tuple [30, 9] + - !!python/tuple [0, 30] + - !!python/tuple [29, 12] + - !!python/tuple [25, 2] + - !!python/tuple [5, 15] + - !!python/tuple [26, 27] + - !!python/tuple [12, 1] + - !!python/tuple [8, 2] + - !!python/tuple [20, 2] + - !!python/tuple [10, 18] + - !!python/tuple [22, 31] + - !!python/tuple [0, 6] + - !!python/tuple [21, 27] + - !!python/tuple [15, 1] + - !!python/tuple [2, 19] + - !!python/tuple [10, 9] + - !!python/tuple [0, 5] + - !!python/tuple [3, 31] + - !!python/tuple [18, 12] + - !!python/tuple [3, 10] + - !!python/tuple [8, 17] + - !!python/tuple [21, 26] + - !!python/tuple [28, 6] + - !!python/tuple [3, 12] + - !!python/tuple [24, 30] + - !!python/tuple [29, 14] + - !!python/tuple [15, 12] + - !!python/tuple [21, 25] + - !!python/tuple [4, 21] + - !!python/tuple [24, 22] + - !!python/tuple [5, 4] + - !!python/tuple [31, 8] + - !!python/tuple [1, 22] + - !!python/tuple [27, 8] + - !!python/tuple [3, 25] + - !!python/tuple [10, 20] + - !!python/tuple [9, 17] + - !!python/tuple [3, 20] + - !!python/tuple [8, 26] + - !!python/tuple [4, 27] + - !!python/tuple [11, 9] + - !!python/tuple [7, 26] + - !!python/tuple [23, 15] + - !!python/tuple [17, 30] + - !!python/tuple [15, 21] + - !!python/tuple [25, 7] + - !!python/tuple [11, 19] + - !!python/tuple [22, 30] + - !!python/tuple [28, 15] + - !!python/tuple [5, 7] + - !!python/tuple [14, 16] + - !!python/tuple [14, 21] + - !!python/tuple [1, 0] + - !!python/tuple [0, 25] + - !!python/tuple [8, 21] + - !!python/tuple [6, 2] + - !!python/tuple [18, 11] + - !!python/tuple [11, 10] + - !!python/tuple [27, 17] + - !!python/tuple [31, 22] + - !!python/tuple [0, 17] + - !!python/tuple [8, 4] + - !!python/tuple [29, 22] + - !!python/tuple [4, 1] + - !!python/tuple [4, 26] + - !!python/tuple [7, 1] + - !!python/tuple [14, 20] + - !!python/tuple [4, 0] + - !!python/tuple [7, 17] + - !!python/tuple [3, 26] + - !!python/tuple [5, 1] + - !!python/tuple [10, 28] + - !!python/tuple [9, 10] + - !!python/tuple [18, 19] + - !!python/tuple [0, 18] + - !!python/tuple [29, 10] + - !!python/tuple [12, 5] + - !!python/tuple [2, 1] + - !!python/tuple [11, 26] + - !!python/tuple [30, 10] + - !!python/tuple [23, 23] + - !!python/tuple [26, 29] + - !!python/tuple [10, 10] + - !!python/tuple [12, 12] + - !!python/tuple [5, 17] + - !!python/tuple [17, 0] + - !!python/tuple [7, 16] + - !!python/tuple [25, 11] + - !!python/tuple [19, 28] + - !!python/tuple [14, 22] + - !!python/tuple [25, 26] + - !!python/tuple [8, 28] + - !!python/tuple [17, 8] + - !!python/tuple [27, 6] + - !!python/tuple [25, 15] + - !!python/tuple [8, 24] + - !!python/tuple [9, 9] + - !!python/tuple [18, 9] + - !!python/tuple [25, 30] + - !!python/tuple [26, 21] + - !!python/tuple [4, 25] + - !!python/tuple [6, 20] + - !!python/tuple [19, 7] + - !!python/tuple [13, 19] + - !!python/tuple [14, 8] + - !!python/tuple [28, 25] + - !!python/tuple [24, 26] + - !!python/tuple [11, 2] + - !!python/tuple [20, 22] + - !!python/tuple [30, 17] + - !!python/tuple [31, 1] + - !!python/tuple [1, 14] + - !!python/tuple [19, 9] + - !!python/tuple [6, 29] + - !!python/tuple [23, 21] + - !!python/tuple [7, 3] + - !!python/tuple [31, 31] + - !!python/tuple [15, 13] + - !!python/tuple [9, 25] + - !!python/tuple [31, 26] + - !!python/tuple [30, 4] + - !!python/tuple [7, 2] + - !!python/tuple [11, 12] + - !!python/tuple [30, 18] + - !!python/tuple [7, 19] + - !!python/tuple [18, 4] + - !!python/tuple [15, 16] + - !!python/tuple [7, 23] + - !!python/tuple [29, 11] + - !!python/tuple [30, 2] + - !!python/tuple [8, 10] + - !!python/tuple [11, 14] + - !!python/tuple [16, 8] + - !!python/tuple [24, 18] + - !!python/tuple [22, 24] + - !!python/tuple [25, 8] + - !!python/tuple [6, 8] + - !!python/tuple [17, 21] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex96.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex96.yaml new file mode 100644 index 0000000..d472812 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex96.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [5, 6] + name: agent0 + start: [7, 18] +- goal: [21, 21] + name: agent1 + start: [15, 2] +- goal: [5, 12] + name: agent2 + start: [11, 26] +- goal: [21, 23] + name: agent3 + start: [21, 30] +- goal: [4, 6] + name: agent4 + start: [5, 12] +- goal: [27, 31] + name: agent5 + start: [22, 19] +- goal: [11, 19] + name: agent6 + start: [31, 1] +- goal: [2, 23] + name: agent7 + start: [21, 25] +- goal: [5, 25] + name: agent8 + start: [7, 25] +- goal: [8, 31] + name: agent9 + start: [4, 10] +- goal: [4, 0] + name: agent10 + start: [5, 17] +- goal: [27, 28] + name: agent11 + start: [18, 3] +- goal: [5, 21] + name: agent12 + start: [6, 19] +- goal: [10, 18] + name: agent13 + start: [7, 26] +- goal: [7, 16] + name: agent14 + start: [7, 22] +- goal: [9, 15] + name: agent15 + start: [31, 17] +- goal: [26, 30] + name: agent16 + start: [12, 18] +- goal: [16, 30] + name: agent17 + start: [5, 25] +- goal: [31, 11] + name: agent18 + start: [25, 24] +- goal: [29, 18] + name: agent19 + start: [11, 10] +- goal: [0, 12] + name: agent20 + start: [2, 24] +- goal: [18, 6] + name: agent21 + start: [5, 18] +- goal: [2, 25] + name: agent22 + start: [15, 10] +- goal: [29, 29] + name: agent23 + start: [1, 18] +- goal: [15, 1] + name: agent24 + start: [1, 9] +- goal: [15, 26] + name: agent25 + start: [14, 26] +- goal: [16, 26] + name: agent26 + start: [14, 2] +- goal: [12, 26] + name: agent27 + start: [19, 24] +- goal: [0, 25] + name: agent28 + start: [29, 6] +- goal: [27, 29] + name: agent29 + start: [23, 13] +- goal: [9, 20] + name: agent30 + start: [25, 1] +- goal: [4, 20] + name: agent31 + start: [26, 15] +- goal: [18, 9] + name: agent32 + start: [23, 15] +- goal: [27, 24] + name: agent33 + start: [22, 4] +- goal: [6, 28] + name: agent34 + start: [6, 2] +- goal: [16, 4] + name: agent35 + start: [23, 2] +- goal: [27, 14] + name: agent36 + start: [13, 14] +- goal: [20, 29] + name: agent37 + start: [1, 29] +- goal: [4, 9] + name: agent38 + start: [30, 5] +- goal: [1, 23] + name: agent39 + start: [8, 25] +- goal: [27, 30] + name: agent40 + start: [5, 27] +- goal: [1, 29] + name: agent41 + start: [3, 10] +- goal: [23, 18] + name: agent42 + start: [4, 8] +- goal: [21, 16] + name: agent43 + start: [20, 16] +- goal: [1, 14] + name: agent44 + start: [25, 4] +- goal: [18, 16] + name: agent45 + start: [31, 16] +- goal: [5, 30] + name: agent46 + start: [8, 10] +- goal: [3, 0] + name: agent47 + start: [18, 26] +- goal: [27, 4] + name: agent48 + start: [24, 29] +- goal: [8, 19] + name: agent49 + start: [29, 26] +- goal: [22, 29] + name: agent50 + start: [15, 21] +- goal: [9, 1] + name: agent51 + start: [16, 9] +- goal: [26, 31] + name: agent52 + start: [20, 1] +- goal: [1, 22] + name: agent53 + start: [1, 25] +- goal: [8, 15] + name: agent54 + start: [6, 30] +- goal: [19, 7] + name: agent55 + start: [24, 26] +- goal: [28, 20] + name: agent56 + start: [7, 2] +- goal: [27, 23] + name: agent57 + start: [29, 30] +- goal: [5, 29] + name: agent58 + start: [26, 22] +- goal: [13, 23] + name: agent59 + start: [27, 24] +- goal: [7, 1] + name: agent60 + start: [10, 17] +- goal: [18, 10] + name: agent61 + start: [10, 13] +- goal: [10, 17] + name: agent62 + start: [9, 13] +- goal: [14, 29] + name: agent63 + start: [22, 1] +- goal: [26, 19] + name: agent64 + start: [13, 17] +- goal: [14, 2] + name: agent65 + start: [12, 15] +- goal: [25, 6] + name: agent66 + start: [26, 5] +- goal: [25, 30] + name: agent67 + start: [7, 7] +- goal: [13, 5] + name: agent68 + start: [17, 21] +- goal: [9, 27] + name: agent69 + start: [7, 1] +- goal: [5, 7] + name: agent70 + start: [9, 3] +- goal: [17, 1] + name: agent71 + start: [30, 23] +- goal: [22, 1] + name: agent72 + start: [20, 21] +- goal: [14, 7] + name: agent73 + start: [23, 6] +- goal: [19, 11] + name: agent74 + start: [29, 20] +- goal: [5, 22] + name: agent75 + start: [29, 13] +- goal: [26, 7] + name: agent76 + start: [13, 13] +- goal: [21, 3] + name: agent77 + start: [20, 13] +- goal: [22, 20] + name: agent78 + start: [21, 5] +- goal: [24, 28] + name: agent79 + start: [28, 12] +- goal: [19, 3] + name: agent80 + start: [2, 21] +- goal: [31, 18] + name: agent81 + start: [22, 28] +- goal: [1, 8] + name: agent82 + start: [19, 28] +- goal: [11, 31] + name: agent83 + start: [22, 25] +- goal: [29, 22] + name: agent84 + start: [18, 8] +- goal: [30, 22] + name: agent85 + start: [30, 19] +- goal: [5, 19] + name: agent86 + start: [15, 19] +- goal: [19, 12] + name: agent87 + start: [7, 15] +- goal: [1, 7] + name: agent88 + start: [3, 4] +- goal: [17, 5] + name: agent89 + start: [5, 11] +- goal: [6, 14] + name: agent90 + start: [8, 13] +- goal: [19, 27] + name: agent91 + start: [9, 7] +- goal: [31, 27] + name: agent92 + start: [11, 4] +- goal: [16, 12] + name: agent93 + start: [23, 22] +- goal: [3, 28] + name: agent94 + start: [15, 16] +- goal: [15, 25] + name: agent95 + start: [5, 3] +- goal: [22, 31] + name: agent96 + start: [19, 3] +- goal: [29, 19] + name: agent97 + start: [7, 24] +- goal: [30, 27] + name: agent98 + start: [11, 19] +- goal: [12, 9] + name: agent99 + start: [21, 4] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [21, 24] + - !!python/tuple [4, 30] + - !!python/tuple [20, 20] + - !!python/tuple [30, 29] + - !!python/tuple [12, 7] + - !!python/tuple [19, 5] + - !!python/tuple [25, 16] + - !!python/tuple [22, 8] + - !!python/tuple [31, 25] + - !!python/tuple [12, 22] + - !!python/tuple [23, 12] + - !!python/tuple [21, 13] + - !!python/tuple [0, 16] + - !!python/tuple [4, 12] + - !!python/tuple [17, 17] + - !!python/tuple [23, 1] + - !!python/tuple [21, 10] + - !!python/tuple [3, 3] + - !!python/tuple [23, 27] + - !!python/tuple [12, 19] + - !!python/tuple [0, 19] + - !!python/tuple [7, 29] + - !!python/tuple [1, 5] + - !!python/tuple [29, 1] + - !!python/tuple [27, 0] + - !!python/tuple [27, 22] + - !!python/tuple [22, 27] + - !!python/tuple [13, 18] + - !!python/tuple [30, 24] + - !!python/tuple [0, 21] + - !!python/tuple [24, 27] + - !!python/tuple [7, 3] + - !!python/tuple [30, 6] + - !!python/tuple [12, 24] + - !!python/tuple [13, 3] + - !!python/tuple [28, 16] + - !!python/tuple [13, 6] + - !!python/tuple [29, 14] + - !!python/tuple [10, 23] + - !!python/tuple [0, 20] + - !!python/tuple [22, 6] + - !!python/tuple [2, 8] + - !!python/tuple [12, 21] + - !!python/tuple [10, 0] + - !!python/tuple [2, 20] + - !!python/tuple [20, 23] + - !!python/tuple [16, 2] + - !!python/tuple [15, 12] + - !!python/tuple [30, 2] + - !!python/tuple [8, 23] + - !!python/tuple [18, 2] + - !!python/tuple [16, 21] + - !!python/tuple [15, 22] + - !!python/tuple [25, 5] + - !!python/tuple [30, 11] + - !!python/tuple [13, 12] + - !!python/tuple [0, 28] + - !!python/tuple [13, 31] + - !!python/tuple [9, 18] + - !!python/tuple [26, 18] + - !!python/tuple [18, 15] + - !!python/tuple [18, 18] + - !!python/tuple [18, 5] + - !!python/tuple [27, 15] + - !!python/tuple [19, 1] + - !!python/tuple [25, 25] + - !!python/tuple [7, 4] + - !!python/tuple [21, 8] + - !!python/tuple [3, 7] + - !!python/tuple [6, 21] + - !!python/tuple [19, 17] + - !!python/tuple [17, 10] + - !!python/tuple [3, 8] + - !!python/tuple [28, 10] + - !!python/tuple [19, 26] + - !!python/tuple [20, 6] + - !!python/tuple [2, 14] + - !!python/tuple [21, 12] + - !!python/tuple [17, 0] + - !!python/tuple [6, 17] + - !!python/tuple [14, 31] + - !!python/tuple [11, 25] + - !!python/tuple [19, 9] + - !!python/tuple [3, 26] + - !!python/tuple [28, 15] + - !!python/tuple [31, 20] + - !!python/tuple [18, 12] + - !!python/tuple [15, 23] + - !!python/tuple [11, 24] + - !!python/tuple [12, 13] + - !!python/tuple [28, 3] + - !!python/tuple [2, 2] + - !!python/tuple [11, 29] + - !!python/tuple [20, 12] + - !!python/tuple [19, 0] + - !!python/tuple [6, 6] + - !!python/tuple [28, 2] + - !!python/tuple [1, 4] + - !!python/tuple [18, 24] + - !!python/tuple [4, 19] + - !!python/tuple [11, 22] + - !!python/tuple [19, 18] + - !!python/tuple [22, 2] + - !!python/tuple [13, 10] + - !!python/tuple [22, 15] + - !!python/tuple [11, 2] + - !!python/tuple [22, 30] + - !!python/tuple [3, 13] + - !!python/tuple [15, 30] + - !!python/tuple [8, 2] + - !!python/tuple [2, 26] + - !!python/tuple [12, 31] + - !!python/tuple [16, 5] + - !!python/tuple [4, 16] + - !!python/tuple [11, 20] + - !!python/tuple [28, 22] + - !!python/tuple [27, 11] + - !!python/tuple [30, 28] + - !!python/tuple [1, 15] + - !!python/tuple [25, 23] + - !!python/tuple [18, 13] + - !!python/tuple [1, 21] + - !!python/tuple [26, 27] + - !!python/tuple [26, 12] + - !!python/tuple [18, 17] + - !!python/tuple [28, 30] + - !!python/tuple [24, 0] + - !!python/tuple [27, 20] + - !!python/tuple [14, 23] + - !!python/tuple [22, 0] + - !!python/tuple [26, 24] + - !!python/tuple [2, 11] + - !!python/tuple [14, 8] + - !!python/tuple [9, 0] + - !!python/tuple [30, 30] + - !!python/tuple [24, 23] + - !!python/tuple [6, 20] + - !!python/tuple [1, 3] + - !!python/tuple [5, 14] + - !!python/tuple [21, 26] + - !!python/tuple [28, 5] + - !!python/tuple [25, 2] + - !!python/tuple [27, 26] + - !!python/tuple [1, 6] + - !!python/tuple [20, 27] + - !!python/tuple [28, 0] + - !!python/tuple [28, 23] + - !!python/tuple [22, 11] + - !!python/tuple [4, 13] + - !!python/tuple [31, 26] + - !!python/tuple [28, 31] + - !!python/tuple [26, 25] + - !!python/tuple [25, 19] + - !!python/tuple [14, 25] + - !!python/tuple [12, 23] + - !!python/tuple [10, 21] + - !!python/tuple [8, 6] + - !!python/tuple [6, 11] + - !!python/tuple [9, 8] + - !!python/tuple [10, 20] + - !!python/tuple [17, 15] + - !!python/tuple [11, 6] + - !!python/tuple [10, 10] + - !!python/tuple [8, 11] + - !!python/tuple [24, 16] + - !!python/tuple [17, 7] + - !!python/tuple [20, 25] + - !!python/tuple [10, 19] + - !!python/tuple [6, 24] + - !!python/tuple [22, 22] + - !!python/tuple [25, 26] + - !!python/tuple [16, 6] + - !!python/tuple [10, 26] + - !!python/tuple [29, 8] + - !!python/tuple [18, 30] + - !!python/tuple [14, 12] + - !!python/tuple [10, 27] + - !!python/tuple [6, 0] + - !!python/tuple [25, 12] + - !!python/tuple [1, 17] + - !!python/tuple [10, 1] + - !!python/tuple [9, 11] + - !!python/tuple [12, 16] + - !!python/tuple [23, 11] + - !!python/tuple [8, 24] + - !!python/tuple [21, 31] + - !!python/tuple [31, 9] + - !!python/tuple [12, 28] + - !!python/tuple [21, 6] + - !!python/tuple [14, 4] + - !!python/tuple [0, 7] + - !!python/tuple [17, 19] + - !!python/tuple [2, 18] + - !!python/tuple [10, 11] + - !!python/tuple [6, 23] + - !!python/tuple [15, 29] + - !!python/tuple [14, 28] + - !!python/tuple [8, 5] + - !!python/tuple [22, 12] + - !!python/tuple [12, 3] + - !!python/tuple [14, 18] + - !!python/tuple [28, 8] + - !!python/tuple [11, 23] + - !!python/tuple [24, 1] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex97.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex97.yaml new file mode 100644 index 0000000..b93149a --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex97.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [17, 18] + name: agent0 + start: [8, 26] +- goal: [7, 3] + name: agent1 + start: [6, 29] +- goal: [23, 7] + name: agent2 + start: [20, 0] +- goal: [0, 23] + name: agent3 + start: [15, 30] +- goal: [6, 10] + name: agent4 + start: [22, 31] +- goal: [12, 27] + name: agent5 + start: [3, 4] +- goal: [4, 8] + name: agent6 + start: [3, 7] +- goal: [5, 4] + name: agent7 + start: [23, 19] +- goal: [18, 7] + name: agent8 + start: [11, 19] +- goal: [2, 8] + name: agent9 + start: [5, 12] +- goal: [31, 26] + name: agent10 + start: [2, 4] +- goal: [10, 2] + name: agent11 + start: [16, 4] +- goal: [25, 6] + name: agent12 + start: [4, 15] +- goal: [30, 7] + name: agent13 + start: [15, 11] +- goal: [16, 26] + name: agent14 + start: [20, 16] +- goal: [7, 4] + name: agent15 + start: [18, 11] +- goal: [6, 7] + name: agent16 + start: [31, 8] +- goal: [26, 14] + name: agent17 + start: [22, 0] +- goal: [29, 26] + name: agent18 + start: [22, 26] +- goal: [16, 21] + name: agent19 + start: [26, 1] +- goal: [30, 22] + name: agent20 + start: [0, 15] +- goal: [28, 8] + name: agent21 + start: [6, 21] +- goal: [5, 11] + name: agent22 + start: [26, 21] +- goal: [15, 10] + name: agent23 + start: [12, 8] +- goal: [1, 0] + name: agent24 + start: [25, 4] +- goal: [0, 3] + name: agent25 + start: [4, 1] +- goal: [13, 14] + name: agent26 + start: [15, 18] +- goal: [10, 13] + name: agent27 + start: [16, 18] +- goal: [19, 14] + name: agent28 + start: [8, 22] +- goal: [18, 27] + name: agent29 + start: [10, 17] +- goal: [24, 11] + name: agent30 + start: [15, 12] +- goal: [10, 8] + name: agent31 + start: [31, 22] +- goal: [11, 10] + name: agent32 + start: [2, 20] +- goal: [13, 22] + name: agent33 + start: [11, 21] +- goal: [14, 11] + name: agent34 + start: [16, 29] +- goal: [4, 30] + name: agent35 + start: [23, 22] +- goal: [6, 3] + name: agent36 + start: [19, 25] +- goal: [5, 1] + name: agent37 + start: [9, 7] +- goal: [4, 17] + name: agent38 + start: [9, 6] +- goal: [28, 27] + name: agent39 + start: [3, 21] +- goal: [1, 22] + name: agent40 + start: [3, 14] +- goal: [21, 9] + name: agent41 + start: [4, 10] +- goal: [5, 9] + name: agent42 + start: [2, 19] +- goal: [12, 22] + name: agent43 + start: [30, 10] +- goal: [30, 6] + name: agent44 + start: [20, 13] +- goal: [18, 14] + name: agent45 + start: [20, 11] +- goal: [22, 18] + name: agent46 + start: [0, 14] +- goal: [23, 20] + name: agent47 + start: [24, 16] +- goal: [28, 19] + name: agent48 + start: [23, 30] +- goal: [10, 27] + name: agent49 + start: [21, 21] +- goal: [8, 20] + name: agent50 + start: [7, 20] +- goal: [26, 5] + name: agent51 + start: [17, 11] +- goal: [22, 16] + name: agent52 + start: [31, 1] +- goal: [18, 2] + name: agent53 + start: [8, 0] +- goal: [31, 2] + name: agent54 + start: [22, 28] +- goal: [13, 3] + name: agent55 + start: [6, 16] +- goal: [6, 29] + name: agent56 + start: [23, 18] +- goal: [20, 18] + name: agent57 + start: [5, 19] +- goal: [11, 3] + name: agent58 + start: [14, 8] +- goal: [23, 28] + name: agent59 + start: [4, 13] +- goal: [26, 1] + name: agent60 + start: [18, 16] +- goal: [23, 29] + name: agent61 + start: [12, 31] +- goal: [18, 0] + name: agent62 + start: [22, 17] +- goal: [7, 19] + name: agent63 + start: [12, 23] +- goal: [22, 3] + name: agent64 + start: [25, 6] +- goal: [14, 5] + name: agent65 + start: [29, 15] +- goal: [18, 28] + name: agent66 + start: [0, 1] +- goal: [17, 2] + name: agent67 + start: [14, 5] +- goal: [28, 0] + name: agent68 + start: [17, 1] +- goal: [24, 3] + name: agent69 + start: [14, 24] +- goal: [24, 14] + name: agent70 + start: [31, 28] +- goal: [15, 29] + name: agent71 + start: [10, 15] +- goal: [29, 9] + name: agent72 + start: [25, 30] +- goal: [19, 27] + name: agent73 + start: [16, 3] +- goal: [14, 14] + name: agent74 + start: [26, 18] +- goal: [2, 20] + name: agent75 + start: [26, 2] +- goal: [8, 26] + name: agent76 + start: [30, 3] +- goal: [8, 29] + name: agent77 + start: [23, 21] +- goal: [21, 3] + name: agent78 + start: [9, 23] +- goal: [30, 14] + name: agent79 + start: [19, 0] +- goal: [17, 5] + name: agent80 + start: [17, 6] +- goal: [19, 8] + name: agent81 + start: [1, 15] +- goal: [7, 27] + name: agent82 + start: [19, 27] +- goal: [19, 10] + name: agent83 + start: [13, 19] +- goal: [0, 9] + name: agent84 + start: [31, 3] +- goal: [10, 15] + name: agent85 + start: [24, 12] +- goal: [8, 25] + name: agent86 + start: [8, 25] +- goal: [20, 31] + name: agent87 + start: [1, 0] +- goal: [16, 14] + name: agent88 + start: [16, 30] +- goal: [23, 27] + name: agent89 + start: [18, 18] +- goal: [30, 10] + name: agent90 + start: [13, 22] +- goal: [31, 30] + name: agent91 + start: [14, 23] +- goal: [26, 20] + name: agent92 + start: [31, 7] +- goal: [8, 21] + name: agent93 + start: [9, 4] +- goal: [4, 9] + name: agent94 + start: [18, 0] +- goal: [24, 30] + name: agent95 + start: [15, 19] +- goal: [31, 31] + name: agent96 + start: [18, 5] +- goal: [17, 10] + name: agent97 + start: [24, 25] +- goal: [26, 11] + name: agent98 + start: [29, 17] +- goal: [17, 19] + name: agent99 + start: [7, 23] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [12, 21] + - !!python/tuple [14, 28] + - !!python/tuple [28, 13] + - !!python/tuple [12, 26] + - !!python/tuple [6, 26] + - !!python/tuple [0, 30] + - !!python/tuple [0, 7] + - !!python/tuple [24, 15] + - !!python/tuple [8, 7] + - !!python/tuple [31, 12] + - !!python/tuple [2, 5] + - !!python/tuple [2, 11] + - !!python/tuple [16, 8] + - !!python/tuple [1, 8] + - !!python/tuple [7, 9] + - !!python/tuple [6, 25] + - !!python/tuple [15, 24] + - !!python/tuple [30, 31] + - !!python/tuple [11, 12] + - !!python/tuple [13, 12] + - !!python/tuple [9, 16] + - !!python/tuple [15, 3] + - !!python/tuple [13, 27] + - !!python/tuple [21, 23] + - !!python/tuple [1, 13] + - !!python/tuple [10, 0] + - !!python/tuple [14, 0] + - !!python/tuple [0, 16] + - !!python/tuple [23, 26] + - !!python/tuple [4, 12] + - !!python/tuple [10, 3] + - !!python/tuple [19, 15] + - !!python/tuple [23, 2] + - !!python/tuple [24, 5] + - !!python/tuple [0, 4] + - !!python/tuple [30, 12] + - !!python/tuple [1, 4] + - !!python/tuple [17, 15] + - !!python/tuple [20, 5] + - !!python/tuple [2, 25] + - !!python/tuple [9, 24] + - !!python/tuple [16, 27] + - !!python/tuple [4, 23] + - !!python/tuple [19, 7] + - !!python/tuple [3, 18] + - !!python/tuple [7, 29] + - !!python/tuple [27, 15] + - !!python/tuple [19, 24] + - !!python/tuple [8, 4] + - !!python/tuple [21, 5] + - !!python/tuple [10, 4] + - !!python/tuple [23, 1] + - !!python/tuple [2, 22] + - !!python/tuple [9, 2] + - !!python/tuple [3, 3] + - !!python/tuple [26, 4] + - !!python/tuple [13, 5] + - !!python/tuple [14, 4] + - !!python/tuple [31, 5] + - !!python/tuple [26, 8] + - !!python/tuple [5, 23] + - !!python/tuple [31, 15] + - !!python/tuple [26, 10] + - !!python/tuple [1, 27] + - !!python/tuple [2, 16] + - !!python/tuple [29, 14] + - !!python/tuple [27, 12] + - !!python/tuple [7, 12] + - !!python/tuple [19, 16] + - !!python/tuple [25, 25] + - !!python/tuple [30, 25] + - !!python/tuple [14, 30] + - !!python/tuple [11, 30] + - !!python/tuple [27, 25] + - !!python/tuple [28, 31] + - !!python/tuple [2, 3] + - !!python/tuple [21, 18] + - !!python/tuple [22, 15] + - !!python/tuple [13, 29] + - !!python/tuple [20, 9] + - !!python/tuple [10, 22] + - !!python/tuple [13, 10] + - !!python/tuple [29, 28] + - !!python/tuple [19, 13] + - !!python/tuple [27, 22] + - !!python/tuple [23, 23] + - !!python/tuple [30, 16] + - !!python/tuple [18, 29] + - !!python/tuple [3, 1] + - !!python/tuple [14, 15] + - !!python/tuple [6, 5] + - !!python/tuple [25, 24] + - !!python/tuple [9, 25] + - !!python/tuple [14, 13] + - !!python/tuple [26, 9] + - !!python/tuple [7, 16] + - !!python/tuple [0, 6] + - !!python/tuple [9, 27] + - !!python/tuple [21, 27] + - !!python/tuple [0, 21] + - !!python/tuple [6, 31] + - !!python/tuple [11, 6] + - !!python/tuple [29, 19] + - !!python/tuple [6, 2] + - !!python/tuple [5, 25] + - !!python/tuple [11, 0] + - !!python/tuple [3, 10] + - !!python/tuple [9, 10] + - !!python/tuple [19, 21] + - !!python/tuple [8, 6] + - !!python/tuple [12, 15] + - !!python/tuple [10, 25] + - !!python/tuple [12, 20] + - !!python/tuple [18, 20] + - !!python/tuple [12, 4] + - !!python/tuple [14, 25] + - !!python/tuple [10, 18] + - !!python/tuple [28, 24] + - !!python/tuple [17, 21] + - !!python/tuple [6, 14] + - !!python/tuple [18, 30] + - !!python/tuple [13, 0] + - !!python/tuple [27, 10] + - !!python/tuple [31, 11] + - !!python/tuple [17, 27] + - !!python/tuple [15, 6] + - !!python/tuple [9, 18] + - !!python/tuple [21, 14] + - !!python/tuple [9, 17] + - !!python/tuple [8, 31] + - !!python/tuple [20, 2] + - !!python/tuple [20, 25] + - !!python/tuple [0, 8] + - !!python/tuple [14, 29] + - !!python/tuple [17, 24] + - !!python/tuple [11, 20] + - !!python/tuple [2, 30] + - !!python/tuple [22, 8] + - !!python/tuple [12, 6] + - !!python/tuple [31, 21] + - !!python/tuple [30, 21] + - !!python/tuple [22, 29] + - !!python/tuple [26, 7] + - !!python/tuple [11, 5] + - !!python/tuple [8, 14] + - !!python/tuple [13, 7] + - !!python/tuple [4, 14] + - !!python/tuple [4, 25] + - !!python/tuple [0, 20] + - !!python/tuple [21, 24] + - !!python/tuple [25, 27] + - !!python/tuple [9, 12] + - !!python/tuple [23, 9] + - !!python/tuple [16, 5] + - !!python/tuple [9, 28] + - !!python/tuple [13, 24] + - !!python/tuple [26, 22] + - !!python/tuple [22, 13] + - !!python/tuple [3, 15] + - !!python/tuple [23, 11] + - !!python/tuple [2, 7] + - !!python/tuple [7, 11] + - !!python/tuple [0, 10] + - !!python/tuple [30, 15] + - !!python/tuple [15, 7] + - !!python/tuple [27, 13] + - !!python/tuple [13, 23] + - !!python/tuple [16, 0] + - !!python/tuple [12, 0] + - !!python/tuple [5, 5] + - !!python/tuple [13, 11] + - !!python/tuple [9, 8] + - !!python/tuple [6, 28] + - !!python/tuple [15, 13] + - !!python/tuple [22, 19] + - !!python/tuple [13, 31] + - !!python/tuple [18, 12] + - !!python/tuple [1, 5] + - !!python/tuple [20, 6] + - !!python/tuple [31, 29] + - !!python/tuple [25, 8] + - !!python/tuple [19, 3] + - !!python/tuple [20, 22] + - !!python/tuple [22, 21] + - !!python/tuple [21, 29] + - !!python/tuple [20, 28] + - !!python/tuple [10, 29] + - !!python/tuple [28, 25] + - !!python/tuple [7, 8] + - !!python/tuple [14, 17] + - !!python/tuple [3, 2] + - !!python/tuple [27, 20] + - !!python/tuple [16, 2] + - !!python/tuple [29, 30] + - !!python/tuple [19, 19] + - !!python/tuple [1, 31] + - !!python/tuple [19, 4] + - !!python/tuple [19, 20] + - !!python/tuple [10, 23] + - !!python/tuple [27, 5] + - !!python/tuple [27, 2] + - !!python/tuple [23, 12] + - !!python/tuple [7, 6] + - !!python/tuple [30, 5] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex98.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex98.yaml new file mode 100644 index 0000000..40a2157 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex98.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [1, 2] + name: agent0 + start: [19, 25] +- goal: [8, 11] + name: agent1 + start: [27, 20] +- goal: [19, 20] + name: agent2 + start: [7, 1] +- goal: [21, 11] + name: agent3 + start: [14, 22] +- goal: [22, 31] + name: agent4 + start: [6, 10] +- goal: [20, 10] + name: agent5 + start: [17, 5] +- goal: [28, 22] + name: agent6 + start: [26, 18] +- goal: [8, 12] + name: agent7 + start: [30, 12] +- goal: [18, 2] + name: agent8 + start: [21, 30] +- goal: [15, 30] + name: agent9 + start: [11, 27] +- goal: [5, 0] + name: agent10 + start: [1, 20] +- goal: [21, 25] + name: agent11 + start: [26, 27] +- goal: [17, 17] + name: agent12 + start: [25, 18] +- goal: [4, 5] + name: agent13 + start: [10, 0] +- goal: [14, 23] + name: agent14 + start: [25, 11] +- goal: [5, 11] + name: agent15 + start: [12, 14] +- goal: [13, 30] + name: agent16 + start: [25, 17] +- goal: [11, 1] + name: agent17 + start: [29, 11] +- goal: [31, 19] + name: agent18 + start: [6, 16] +- goal: [1, 13] + name: agent19 + start: [22, 24] +- goal: [27, 24] + name: agent20 + start: [17, 3] +- goal: [15, 6] + name: agent21 + start: [18, 18] +- goal: [5, 22] + name: agent22 + start: [4, 30] +- goal: [3, 10] + name: agent23 + start: [5, 22] +- goal: [26, 22] + name: agent24 + start: [8, 11] +- goal: [9, 22] + name: agent25 + start: [16, 4] +- goal: [22, 0] + name: agent26 + start: [25, 12] +- goal: [2, 17] + name: agent27 + start: [1, 28] +- goal: [2, 3] + name: agent28 + start: [17, 15] +- goal: [5, 9] + name: agent29 + start: [9, 4] +- goal: [22, 22] + name: agent30 + start: [15, 30] +- goal: [29, 27] + name: agent31 + start: [24, 22] +- goal: [10, 13] + name: agent32 + start: [5, 7] +- goal: [19, 22] + name: agent33 + start: [9, 15] +- goal: [20, 30] + name: agent34 + start: [20, 4] +- goal: [28, 15] + name: agent35 + start: [17, 21] +- goal: [8, 26] + name: agent36 + start: [29, 23] +- goal: [21, 1] + name: agent37 + start: [17, 9] +- goal: [0, 21] + name: agent38 + start: [7, 26] +- goal: [4, 7] + name: agent39 + start: [11, 3] +- goal: [13, 23] + name: agent40 + start: [9, 30] +- goal: [11, 14] + name: agent41 + start: [14, 27] +- goal: [10, 23] + name: agent42 + start: [15, 25] +- goal: [12, 8] + name: agent43 + start: [27, 12] +- goal: [23, 19] + name: agent44 + start: [7, 21] +- goal: [1, 30] + name: agent45 + start: [21, 18] +- goal: [19, 17] + name: agent46 + start: [27, 13] +- goal: [21, 3] + name: agent47 + start: [18, 7] +- goal: [21, 23] + name: agent48 + start: [22, 27] +- goal: [0, 0] + name: agent49 + start: [12, 18] +- goal: [13, 7] + name: agent50 + start: [11, 31] +- goal: [8, 2] + name: agent51 + start: [5, 25] +- goal: [5, 21] + name: agent52 + start: [19, 30] +- goal: [17, 25] + name: agent53 + start: [10, 7] +- goal: [11, 12] + name: agent54 + start: [26, 16] +- goal: [3, 25] + name: agent55 + start: [17, 4] +- goal: [1, 24] + name: agent56 + start: [3, 5] +- goal: [25, 5] + name: agent57 + start: [26, 14] +- goal: [11, 5] + name: agent58 + start: [6, 22] +- goal: [19, 5] + name: agent59 + start: [18, 1] +- goal: [14, 21] + name: agent60 + start: [15, 11] +- goal: [26, 13] + name: agent61 + start: [18, 30] +- goal: [21, 10] + name: agent62 + start: [5, 30] +- goal: [23, 15] + name: agent63 + start: [12, 30] +- goal: [22, 25] + name: agent64 + start: [13, 26] +- goal: [24, 7] + name: agent65 + start: [13, 7] +- goal: [15, 25] + name: agent66 + start: [12, 26] +- goal: [3, 17] + name: agent67 + start: [22, 1] +- goal: [28, 13] + name: agent68 + start: [23, 18] +- goal: [6, 10] + name: agent69 + start: [20, 9] +- goal: [2, 21] + name: agent70 + start: [2, 23] +- goal: [17, 7] + name: agent71 + start: [25, 3] +- goal: [3, 18] + name: agent72 + start: [6, 19] +- goal: [3, 14] + name: agent73 + start: [19, 3] +- goal: [14, 25] + name: agent74 + start: [24, 12] +- goal: [5, 3] + name: agent75 + start: [1, 25] +- goal: [5, 12] + name: agent76 + start: [21, 25] +- goal: [3, 13] + name: agent77 + start: [23, 24] +- goal: [1, 22] + name: agent78 + start: [16, 2] +- goal: [4, 8] + name: agent79 + start: [11, 9] +- goal: [10, 7] + name: agent80 + start: [17, 22] +- goal: [31, 17] + name: agent81 + start: [5, 10] +- goal: [12, 18] + name: agent82 + start: [31, 5] +- goal: [26, 12] + name: agent83 + start: [6, 8] +- goal: [13, 14] + name: agent84 + start: [17, 12] +- goal: [8, 28] + name: agent85 + start: [29, 4] +- goal: [4, 3] + name: agent86 + start: [13, 2] +- goal: [20, 6] + name: agent87 + start: [11, 0] +- goal: [25, 23] + name: agent88 + start: [15, 24] +- goal: [22, 28] + name: agent89 + start: [23, 2] +- goal: [9, 16] + name: agent90 + start: [18, 12] +- goal: [3, 7] + name: agent91 + start: [17, 26] +- goal: [0, 19] + name: agent92 + start: [24, 31] +- goal: [16, 3] + name: agent93 + start: [0, 15] +- goal: [9, 20] + name: agent94 + start: [1, 23] +- goal: [18, 0] + name: agent95 + start: [16, 26] +- goal: [10, 11] + name: agent96 + start: [15, 23] +- goal: [28, 2] + name: agent97 + start: [25, 19] +- goal: [23, 7] + name: agent98 + start: [14, 6] +- goal: [14, 6] + name: agent99 + start: [2, 19] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [28, 4] + - !!python/tuple [0, 13] + - !!python/tuple [17, 27] + - !!python/tuple [31, 26] + - !!python/tuple [19, 12] + - !!python/tuple [2, 7] + - !!python/tuple [12, 5] + - !!python/tuple [16, 24] + - !!python/tuple [21, 26] + - !!python/tuple [27, 31] + - !!python/tuple [25, 15] + - !!python/tuple [8, 30] + - !!python/tuple [24, 20] + - !!python/tuple [23, 11] + - !!python/tuple [8, 20] + - !!python/tuple [25, 26] + - !!python/tuple [10, 12] + - !!python/tuple [2, 4] + - !!python/tuple [11, 16] + - !!python/tuple [5, 26] + - !!python/tuple [11, 4] + - !!python/tuple [12, 9] + - !!python/tuple [27, 17] + - !!python/tuple [22, 2] + - !!python/tuple [10, 9] + - !!python/tuple [10, 3] + - !!python/tuple [18, 10] + - !!python/tuple [24, 23] + - !!python/tuple [12, 22] + - !!python/tuple [18, 26] + - !!python/tuple [1, 1] + - !!python/tuple [23, 16] + - !!python/tuple [9, 24] + - !!python/tuple [22, 15] + - !!python/tuple [3, 16] + - !!python/tuple [0, 7] + - !!python/tuple [29, 2] + - !!python/tuple [16, 27] + - !!python/tuple [14, 13] + - !!python/tuple [13, 21] + - !!python/tuple [16, 1] + - !!python/tuple [11, 22] + - !!python/tuple [27, 29] + - !!python/tuple [0, 4] + - !!python/tuple [28, 28] + - !!python/tuple [2, 6] + - !!python/tuple [21, 16] + - !!python/tuple [19, 1] + - !!python/tuple [10, 29] + - !!python/tuple [30, 16] + - !!python/tuple [3, 22] + - !!python/tuple [30, 2] + - !!python/tuple [13, 25] + - !!python/tuple [8, 0] + - !!python/tuple [7, 23] + - !!python/tuple [9, 11] + - !!python/tuple [31, 28] + - !!python/tuple [24, 3] + - !!python/tuple [14, 19] + - !!python/tuple [25, 13] + - !!python/tuple [18, 25] + - !!python/tuple [20, 1] + - !!python/tuple [20, 22] + - !!python/tuple [23, 30] + - !!python/tuple [4, 13] + - !!python/tuple [21, 2] + - !!python/tuple [20, 21] + - !!python/tuple [0, 31] + - !!python/tuple [13, 9] + - !!python/tuple [4, 12] + - !!python/tuple [29, 17] + - !!python/tuple [29, 12] + - !!python/tuple [26, 29] + - !!python/tuple [29, 19] + - !!python/tuple [8, 31] + - !!python/tuple [3, 6] + - !!python/tuple [4, 28] + - !!python/tuple [10, 6] + - !!python/tuple [7, 11] + - !!python/tuple [19, 24] + - !!python/tuple [25, 24] + - !!python/tuple [29, 31] + - !!python/tuple [17, 10] + - !!python/tuple [22, 11] + - !!python/tuple [18, 16] + - !!python/tuple [1, 10] + - !!python/tuple [22, 9] + - !!python/tuple [17, 6] + - !!python/tuple [21, 28] + - !!python/tuple [14, 12] + - !!python/tuple [11, 15] + - !!python/tuple [22, 26] + - !!python/tuple [26, 6] + - !!python/tuple [2, 20] + - !!python/tuple [10, 8] + - !!python/tuple [29, 24] + - !!python/tuple [12, 6] + - !!python/tuple [18, 13] + - !!python/tuple [11, 24] + - !!python/tuple [27, 18] + - !!python/tuple [25, 21] + - !!python/tuple [18, 11] + - !!python/tuple [11, 17] + - !!python/tuple [11, 8] + - !!python/tuple [7, 4] + - !!python/tuple [10, 25] + - !!python/tuple [15, 14] + - !!python/tuple [21, 20] + - !!python/tuple [10, 2] + - !!python/tuple [27, 14] + - !!python/tuple [21, 31] + - !!python/tuple [26, 3] + - !!python/tuple [7, 31] + - !!python/tuple [15, 15] + - !!python/tuple [18, 17] + - !!python/tuple [2, 15] + - !!python/tuple [22, 19] + - !!python/tuple [18, 14] + - !!python/tuple [31, 11] + - !!python/tuple [17, 29] + - !!python/tuple [3, 27] + - !!python/tuple [29, 0] + - !!python/tuple [8, 27] + - !!python/tuple [8, 10] + - !!python/tuple [8, 25] + - !!python/tuple [17, 31] + - !!python/tuple [0, 23] + - !!python/tuple [6, 2] + - !!python/tuple [18, 20] + - !!python/tuple [30, 31] + - !!python/tuple [20, 15] + - !!python/tuple [7, 30] + - !!python/tuple [16, 18] + - !!python/tuple [13, 17] + - !!python/tuple [3, 19] + - !!python/tuple [13, 11] + - !!python/tuple [25, 29] + - !!python/tuple [10, 18] + - !!python/tuple [0, 11] + - !!python/tuple [3, 9] + - !!python/tuple [28, 0] + - !!python/tuple [25, 27] + - !!python/tuple [15, 16] + - !!python/tuple [15, 28] + - !!python/tuple [25, 6] + - !!python/tuple [5, 19] + - !!python/tuple [31, 15] + - !!python/tuple [14, 17] + - !!python/tuple [26, 25] + - !!python/tuple [0, 14] + - !!python/tuple [9, 5] + - !!python/tuple [21, 14] + - !!python/tuple [17, 19] + - !!python/tuple [16, 7] + - !!python/tuple [26, 1] + - !!python/tuple [17, 23] + - !!python/tuple [30, 20] + - !!python/tuple [9, 19] + - !!python/tuple [30, 27] + - !!python/tuple [24, 13] + - !!python/tuple [4, 21] + - !!python/tuple [6, 4] + - !!python/tuple [2, 24] + - !!python/tuple [14, 7] + - !!python/tuple [5, 2] + - !!python/tuple [4, 18] + - !!python/tuple [5, 27] + - !!python/tuple [31, 22] + - !!python/tuple [15, 20] + - !!python/tuple [7, 5] + - !!python/tuple [23, 31] + - !!python/tuple [7, 25] + - !!python/tuple [4, 16] + - !!python/tuple [28, 17] + - !!python/tuple [8, 24] + - !!python/tuple [31, 4] + - !!python/tuple [2, 29] + - !!python/tuple [2, 12] + - !!python/tuple [26, 9] + - !!python/tuple [27, 16] + - !!python/tuple [22, 3] + - !!python/tuple [22, 12] + - !!python/tuple [10, 14] + - !!python/tuple [30, 7] + - !!python/tuple [21, 5] + - !!python/tuple [26, 17] + - !!python/tuple [7, 28] + - !!python/tuple [19, 7] + - !!python/tuple [4, 23] + - !!python/tuple [30, 15] + - !!python/tuple [27, 0] + - !!python/tuple [25, 8] + - !!python/tuple [12, 31] + - !!python/tuple [20, 29] + - !!python/tuple [7, 13] + - !!python/tuple [13, 0] + - !!python/tuple [30, 13] + - !!python/tuple [14, 14] + - !!python/tuple [28, 29] + - !!python/tuple [29, 18] + - !!python/tuple [8, 8] + - !!python/tuple [22, 7] + - !!python/tuple [7, 8] + - !!python/tuple [6, 28] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex99.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex99.yaml new file mode 100644 index 0000000..3596079 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents100_ex99.yaml @@ -0,0 +1,508 @@ +agents: +- goal: [28, 6] + name: agent0 + start: [13, 11] +- goal: [5, 23] + name: agent1 + start: [16, 29] +- goal: [9, 18] + name: agent2 + start: [14, 11] +- goal: [23, 22] + name: agent3 + start: [21, 30] +- goal: [5, 15] + name: agent4 + start: [8, 9] +- goal: [18, 3] + name: agent5 + start: [30, 29] +- goal: [3, 20] + name: agent6 + start: [8, 28] +- goal: [31, 29] + name: agent7 + start: [26, 23] +- goal: [19, 27] + name: agent8 + start: [9, 31] +- goal: [23, 23] + name: agent9 + start: [3, 0] +- goal: [19, 22] + name: agent10 + start: [26, 25] +- goal: [12, 18] + name: agent11 + start: [24, 10] +- goal: [22, 21] + name: agent12 + start: [30, 15] +- goal: [21, 11] + name: agent13 + start: [0, 4] +- goal: [23, 30] + name: agent14 + start: [18, 3] +- goal: [11, 6] + name: agent15 + start: [29, 31] +- goal: [16, 31] + name: agent16 + start: [24, 16] +- goal: [10, 31] + name: agent17 + start: [21, 12] +- goal: [12, 20] + name: agent18 + start: [5, 20] +- goal: [6, 0] + name: agent19 + start: [21, 25] +- goal: [26, 23] + name: agent20 + start: [9, 21] +- goal: [15, 20] + name: agent21 + start: [30, 18] +- goal: [3, 25] + name: agent22 + start: [13, 5] +- goal: [8, 21] + name: agent23 + start: [25, 28] +- goal: [9, 27] + name: agent24 + start: [29, 4] +- goal: [5, 5] + name: agent25 + start: [16, 2] +- goal: [1, 9] + name: agent26 + start: [19, 1] +- goal: [9, 11] + name: agent27 + start: [29, 10] +- goal: [26, 2] + name: agent28 + start: [6, 20] +- goal: [5, 8] + name: agent29 + start: [19, 20] +- goal: [26, 25] + name: agent30 + start: [22, 9] +- goal: [20, 15] + name: agent31 + start: [7, 20] +- goal: [16, 2] + name: agent32 + start: [19, 24] +- goal: [29, 12] + name: agent33 + start: [3, 1] +- goal: [23, 12] + name: agent34 + start: [11, 4] +- goal: [15, 14] + name: agent35 + start: [0, 24] +- goal: [3, 30] + name: agent36 + start: [30, 6] +- goal: [20, 3] + name: agent37 + start: [28, 9] +- goal: [11, 17] + name: agent38 + start: [28, 13] +- goal: [1, 27] + name: agent39 + start: [9, 3] +- goal: [15, 16] + name: agent40 + start: [1, 16] +- goal: [7, 19] + name: agent41 + start: [31, 0] +- goal: [20, 12] + name: agent42 + start: [6, 18] +- goal: [7, 13] + name: agent43 + start: [29, 2] +- goal: [8, 22] + name: agent44 + start: [2, 23] +- goal: [17, 26] + name: agent45 + start: [31, 9] +- goal: [6, 9] + name: agent46 + start: [22, 27] +- goal: [0, 22] + name: agent47 + start: [25, 24] +- goal: [31, 7] + name: agent48 + start: [7, 28] +- goal: [27, 3] + name: agent49 + start: [9, 17] +- goal: [24, 8] + name: agent50 + start: [8, 16] +- goal: [19, 29] + name: agent51 + start: [16, 5] +- goal: [13, 6] + name: agent52 + start: [16, 25] +- goal: [7, 20] + name: agent53 + start: [4, 22] +- goal: [23, 9] + name: agent54 + start: [4, 15] +- goal: [3, 19] + name: agent55 + start: [15, 24] +- goal: [0, 15] + name: agent56 + start: [15, 31] +- goal: [3, 1] + name: agent57 + start: [0, 15] +- goal: [25, 14] + name: agent58 + start: [19, 3] +- goal: [15, 5] + name: agent59 + start: [2, 8] +- goal: [14, 27] + name: agent60 + start: [21, 24] +- goal: [22, 20] + name: agent61 + start: [9, 26] +- goal: [24, 26] + name: agent62 + start: [4, 1] +- goal: [4, 17] + name: agent63 + start: [31, 16] +- goal: [3, 23] + name: agent64 + start: [22, 26] +- goal: [28, 4] + name: agent65 + start: [28, 23] +- goal: [9, 17] + name: agent66 + start: [23, 29] +- goal: [8, 29] + name: agent67 + start: [8, 19] +- goal: [25, 10] + name: agent68 + start: [20, 6] +- goal: [20, 17] + name: agent69 + start: [10, 5] +- goal: [15, 4] + name: agent70 + start: [10, 10] +- goal: [26, 11] + name: agent71 + start: [27, 3] +- goal: [0, 19] + name: agent72 + start: [23, 9] +- goal: [15, 10] + name: agent73 + start: [27, 15] +- goal: [17, 6] + name: agent74 + start: [16, 27] +- goal: [30, 29] + name: agent75 + start: [0, 20] +- goal: [25, 5] + name: agent76 + start: [20, 12] +- goal: [3, 18] + name: agent77 + start: [30, 21] +- goal: [19, 4] + name: agent78 + start: [23, 24] +- goal: [23, 19] + name: agent79 + start: [13, 16] +- goal: [24, 15] + name: agent80 + start: [13, 14] +- goal: [11, 21] + name: agent81 + start: [29, 0] +- goal: [12, 3] + name: agent82 + start: [17, 30] +- goal: [14, 6] + name: agent83 + start: [13, 31] +- goal: [6, 28] + name: agent84 + start: [17, 17] +- goal: [2, 6] + name: agent85 + start: [28, 27] +- goal: [17, 16] + name: agent86 + start: [29, 8] +- goal: [14, 7] + name: agent87 + start: [28, 14] +- goal: [6, 12] + name: agent88 + start: [2, 10] +- goal: [2, 27] + name: agent89 + start: [26, 10] +- goal: [30, 0] + name: agent90 + start: [18, 20] +- goal: [17, 30] + name: agent91 + start: [4, 27] +- goal: [31, 22] + name: agent92 + start: [3, 26] +- goal: [8, 20] + name: agent93 + start: [10, 20] +- goal: [30, 9] + name: agent94 + start: [22, 11] +- goal: [3, 5] + name: agent95 + start: [2, 26] +- goal: [1, 4] + name: agent96 + start: [7, 24] +- goal: [9, 15] + name: agent97 + start: [14, 18] +- goal: [8, 8] + name: agent98 + start: [13, 1] +- goal: [23, 25] + name: agent99 + start: [20, 25] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [24, 29] + - !!python/tuple [15, 3] + - !!python/tuple [28, 18] + - !!python/tuple [6, 27] + - !!python/tuple [29, 9] + - !!python/tuple [15, 22] + - !!python/tuple [30, 14] + - !!python/tuple [13, 12] + - !!python/tuple [27, 26] + - !!python/tuple [1, 25] + - !!python/tuple [17, 4] + - !!python/tuple [14, 4] + - !!python/tuple [4, 12] + - !!python/tuple [30, 12] + - !!python/tuple [11, 8] + - !!python/tuple [15, 7] + - !!python/tuple [2, 16] + - !!python/tuple [25, 9] + - !!python/tuple [7, 22] + - !!python/tuple [4, 3] + - !!python/tuple [18, 1] + - !!python/tuple [12, 11] + - !!python/tuple [20, 27] + - !!python/tuple [9, 9] + - !!python/tuple [15, 29] + - !!python/tuple [23, 10] + - !!python/tuple [18, 25] + - !!python/tuple [22, 6] + - !!python/tuple [17, 27] + - !!python/tuple [4, 8] + - !!python/tuple [7, 11] + - !!python/tuple [3, 28] + - !!python/tuple [20, 2] + - !!python/tuple [5, 26] + - !!python/tuple [3, 10] + - !!python/tuple [11, 1] + - !!python/tuple [10, 30] + - !!python/tuple [8, 18] + - !!python/tuple [8, 11] + - !!python/tuple [7, 7] + - !!python/tuple [21, 4] + - !!python/tuple [6, 25] + - !!python/tuple [2, 29] + - !!python/tuple [17, 10] + - !!python/tuple [24, 4] + - !!python/tuple [7, 26] + - !!python/tuple [18, 22] + - !!python/tuple [17, 29] + - !!python/tuple [9, 16] + - !!python/tuple [22, 4] + - !!python/tuple [5, 18] + - !!python/tuple [8, 0] + - !!python/tuple [20, 4] + - !!python/tuple [9, 13] + - !!python/tuple [27, 31] + - !!python/tuple [9, 24] + - !!python/tuple [11, 3] + - !!python/tuple [26, 26] + - !!python/tuple [17, 31] + - !!python/tuple [10, 14] + - !!python/tuple [26, 20] + - !!python/tuple [0, 5] + - !!python/tuple [21, 14] + - !!python/tuple [23, 14] + - !!python/tuple [1, 14] + - !!python/tuple [26, 30] + - !!python/tuple [16, 24] + - !!python/tuple [25, 3] + - !!python/tuple [29, 25] + - !!python/tuple [27, 16] + - !!python/tuple [25, 6] + - !!python/tuple [19, 26] + - !!python/tuple [14, 21] + - !!python/tuple [10, 24] + - !!python/tuple [7, 12] + - !!python/tuple [29, 19] + - !!python/tuple [27, 4] + - !!python/tuple [1, 1] + - !!python/tuple [25, 4] + - !!python/tuple [21, 27] + - !!python/tuple [8, 25] + - !!python/tuple [19, 23] + - !!python/tuple [7, 27] + - !!python/tuple [7, 6] + - !!python/tuple [13, 18] + - !!python/tuple [24, 30] + - !!python/tuple [16, 26] + - !!python/tuple [21, 15] + - !!python/tuple [15, 28] + - !!python/tuple [6, 3] + - !!python/tuple [8, 2] + - !!python/tuple [13, 19] + - !!python/tuple [1, 2] + - !!python/tuple [5, 7] + - !!python/tuple [1, 11] + - !!python/tuple [30, 22] + - !!python/tuple [2, 30] + - !!python/tuple [28, 28] + - !!python/tuple [0, 12] + - !!python/tuple [5, 17] + - !!python/tuple [25, 30] + - !!python/tuple [0, 14] + - !!python/tuple [10, 18] + - !!python/tuple [29, 16] + - !!python/tuple [19, 6] + - !!python/tuple [18, 23] + - !!python/tuple [23, 26] + - !!python/tuple [3, 29] + - !!python/tuple [17, 19] + - !!python/tuple [13, 3] + - !!python/tuple [24, 23] + - !!python/tuple [10, 25] + - !!python/tuple [6, 11] + - !!python/tuple [29, 17] + - !!python/tuple [5, 2] + - !!python/tuple [18, 12] + - !!python/tuple [28, 7] + - !!python/tuple [25, 20] + - !!python/tuple [18, 13] + - !!python/tuple [6, 8] + - !!python/tuple [15, 6] + - !!python/tuple [23, 4] + - !!python/tuple [7, 23] + - !!python/tuple [4, 31] + - !!python/tuple [31, 18] + - !!python/tuple [6, 10] + - !!python/tuple [2, 2] + - !!python/tuple [31, 6] + - !!python/tuple [31, 21] + - !!python/tuple [11, 15] + - !!python/tuple [21, 3] + - !!python/tuple [19, 5] + - !!python/tuple [11, 25] + - !!python/tuple [11, 2] + - !!python/tuple [1, 5] + - !!python/tuple [11, 14] + - !!python/tuple [2, 15] + - !!python/tuple [26, 1] + - !!python/tuple [25, 29] + - !!python/tuple [2, 22] + - !!python/tuple [1, 31] + - !!python/tuple [10, 2] + - !!python/tuple [27, 19] + - !!python/tuple [30, 28] + - !!python/tuple [19, 14] + - !!python/tuple [29, 21] + - !!python/tuple [22, 25] + - !!python/tuple [15, 23] + - !!python/tuple [7, 17] + - !!python/tuple [23, 17] + - !!python/tuple [17, 12] + - !!python/tuple [24, 24] + - !!python/tuple [8, 23] + - !!python/tuple [6, 22] + - !!python/tuple [10, 8] + - !!python/tuple [27, 5] + - !!python/tuple [27, 14] + - !!python/tuple [16, 4] + - !!python/tuple [7, 16] + - !!python/tuple [31, 13] + - !!python/tuple [22, 19] + - !!python/tuple [31, 27] + - !!python/tuple [4, 6] + - !!python/tuple [6, 2] + - !!python/tuple [10, 12] + - !!python/tuple [23, 8] + - !!python/tuple [3, 8] + - !!python/tuple [18, 4] + - !!python/tuple [19, 7] + - !!python/tuple [19, 13] + - !!python/tuple [18, 10] + - !!python/tuple [9, 6] + - !!python/tuple [12, 5] + - !!python/tuple [10, 22] + - !!python/tuple [24, 19] + - !!python/tuple [20, 24] + - !!python/tuple [13, 29] + - !!python/tuple [31, 3] + - !!python/tuple [3, 13] + - !!python/tuple [16, 30] + - !!python/tuple [12, 15] + - !!python/tuple [4, 25] + - !!python/tuple [5, 21] + - !!python/tuple [14, 30] + - !!python/tuple [7, 18] + - !!python/tuple [8, 12] + - !!python/tuple [10, 21] + - !!python/tuple [7, 5] + - !!python/tuple [12, 16] + - !!python/tuple [27, 23] + - !!python/tuple [16, 6] + - !!python/tuple [29, 13] + - !!python/tuple [25, 19] + - !!python/tuple [3, 3] + - !!python/tuple [28, 21] + - !!python/tuple [18, 2] + - !!python/tuple [17, 5] + - !!python/tuple [17, 18] + - !!python/tuple [20, 28] + - !!python/tuple [5, 1] + - !!python/tuple [17, 20] + - !!python/tuple [29, 29] + - !!python/tuple [19, 10] + - !!python/tuple [30, 8] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex0.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex0.yaml new file mode 100644 index 0000000..31c283c --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex0.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [11, 20] + name: agent0 + start: [4, 21] +- goal: [6, 5] + name: agent1 + start: [20, 4] +- goal: [18, 21] + name: agent2 + start: [12, 1] +- goal: [7, 28] + name: agent3 + start: [20, 5] +- goal: [12, 4] + name: agent4 + start: [16, 26] +- goal: [26, 27] + name: agent5 + start: [16, 2] +- goal: [13, 1] + name: agent6 + start: [12, 25] +- goal: [9, 14] + name: agent7 + start: [7, 7] +- goal: [17, 8] + name: agent8 + start: [27, 29] +- goal: [28, 0] + name: agent9 + start: [21, 6] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [30, 3] + - !!python/tuple [20, 13] + - !!python/tuple [23, 25] + - !!python/tuple [21, 8] + - !!python/tuple [10, 18] + - !!python/tuple [15, 16] + - !!python/tuple [8, 1] + - !!python/tuple [0, 26] + - !!python/tuple [19, 13] + - !!python/tuple [24, 25] + - !!python/tuple [6, 11] + - !!python/tuple [30, 24] + - !!python/tuple [15, 17] + - !!python/tuple [4, 3] + - !!python/tuple [3, 30] + - !!python/tuple [15, 25] + - !!python/tuple [29, 25] + - !!python/tuple [8, 31] + - !!python/tuple [4, 28] + - !!python/tuple [1, 6] + - !!python/tuple [18, 6] + - !!python/tuple [22, 27] + - !!python/tuple [30, 27] + - !!python/tuple [6, 18] + - !!python/tuple [13, 8] + - !!python/tuple [3, 26] + - !!python/tuple [30, 26] + - !!python/tuple [13, 7] + - !!python/tuple [21, 13] + - !!python/tuple [9, 2] + - !!python/tuple [21, 31] + - !!python/tuple [20, 10] + - !!python/tuple [4, 15] + - !!python/tuple [23, 13] + - !!python/tuple [19, 18] + - !!python/tuple [23, 17] + - !!python/tuple [20, 2] + - !!python/tuple [27, 31] + - !!python/tuple [27, 27] + - !!python/tuple [20, 14] + - !!python/tuple [25, 20] + - !!python/tuple [22, 28] + - !!python/tuple [17, 27] + - !!python/tuple [11, 18] + - !!python/tuple [16, 25] + - !!python/tuple [22, 16] + - !!python/tuple [5, 13] + - !!python/tuple [24, 30] + - !!python/tuple [12, 29] + - !!python/tuple [5, 23] + - !!python/tuple [13, 10] + - !!python/tuple [9, 11] + - !!python/tuple [28, 21] + - !!python/tuple [7, 0] + - !!python/tuple [22, 13] + - !!python/tuple [9, 1] + - !!python/tuple [31, 17] + - !!python/tuple [24, 15] + - !!python/tuple [24, 12] + - !!python/tuple [31, 30] + - !!python/tuple [4, 16] + - !!python/tuple [23, 2] + - !!python/tuple [13, 26] + - !!python/tuple [25, 4] + - !!python/tuple [9, 7] + - !!python/tuple [12, 23] + - !!python/tuple [9, 30] + - !!python/tuple [23, 26] + - !!python/tuple [21, 19] + - !!python/tuple [14, 13] + - !!python/tuple [12, 31] + - !!python/tuple [23, 27] + - !!python/tuple [14, 28] + - !!python/tuple [30, 13] + - !!python/tuple [27, 21] + - !!python/tuple [4, 6] + - !!python/tuple [30, 15] + - !!python/tuple [19, 8] + - !!python/tuple [0, 3] + - !!python/tuple [4, 12] + - !!python/tuple [10, 25] + - !!python/tuple [1, 31] + - !!python/tuple [12, 21] + - !!python/tuple [18, 27] + - !!python/tuple [24, 17] + - !!python/tuple [9, 27] + - !!python/tuple [26, 10] + - !!python/tuple [23, 15] + - !!python/tuple [7, 5] + - !!python/tuple [11, 9] + - !!python/tuple [1, 3] + - !!python/tuple [23, 1] + - !!python/tuple [19, 23] + - !!python/tuple [1, 5] + - !!python/tuple [25, 0] + - !!python/tuple [11, 28] + - !!python/tuple [26, 22] + - !!python/tuple [6, 24] + - !!python/tuple [8, 24] + - !!python/tuple [14, 21] + - !!python/tuple [9, 8] + - !!python/tuple [17, 13] + - !!python/tuple [13, 30] + - !!python/tuple [13, 3] + - !!python/tuple [25, 11] + - !!python/tuple [9, 13] + - !!python/tuple [1, 7] + - !!python/tuple [26, 18] + - !!python/tuple [14, 11] + - !!python/tuple [25, 28] + - !!python/tuple [13, 23] + - !!python/tuple [22, 21] + - !!python/tuple [8, 3] + - !!python/tuple [17, 4] + - !!python/tuple [15, 1] + - !!python/tuple [15, 21] + - !!python/tuple [29, 9] + - !!python/tuple [24, 2] + - !!python/tuple [1, 14] + - !!python/tuple [27, 8] + - !!python/tuple [1, 25] + - !!python/tuple [10, 20] + - !!python/tuple [27, 3] + - !!python/tuple [14, 31] + - !!python/tuple [16, 27] + - !!python/tuple [5, 19] + - !!python/tuple [26, 11] + - !!python/tuple [17, 17] + - !!python/tuple [2, 11] + - !!python/tuple [15, 2] + - !!python/tuple [1, 16] + - !!python/tuple [16, 8] + - !!python/tuple [8, 21] + - !!python/tuple [8, 6] + - !!python/tuple [14, 26] + - !!python/tuple [30, 17] + - !!python/tuple [6, 1] + - !!python/tuple [1, 22] + - !!python/tuple [6, 8] + - !!python/tuple [21, 25] + - !!python/tuple [28, 18] + - !!python/tuple [29, 11] + - !!python/tuple [20, 7] + - !!python/tuple [24, 4] + - !!python/tuple [25, 21] + - !!python/tuple [3, 12] + - !!python/tuple [30, 5] + - !!python/tuple [7, 4] + - !!python/tuple [15, 14] + - !!python/tuple [22, 23] + - !!python/tuple [26, 19] + - !!python/tuple [2, 2] + - !!python/tuple [13, 6] + - !!python/tuple [20, 9] + - !!python/tuple [22, 15] + - !!python/tuple [6, 7] + - !!python/tuple [28, 7] + - !!python/tuple [12, 3] + - !!python/tuple [8, 4] + - !!python/tuple [12, 20] + - !!python/tuple [5, 20] + - !!python/tuple [2, 13] + - !!python/tuple [17, 28] + - !!python/tuple [15, 6] + - !!python/tuple [16, 1] + - !!python/tuple [27, 20] + - !!python/tuple [31, 3] + - !!python/tuple [30, 21] + - !!python/tuple [14, 6] + - !!python/tuple [31, 15] + - !!python/tuple [7, 30] + - !!python/tuple [20, 12] + - !!python/tuple [12, 8] + - !!python/tuple [21, 0] + - !!python/tuple [28, 6] + - !!python/tuple [16, 18] + - !!python/tuple [1, 30] + - !!python/tuple [16, 11] + - !!python/tuple [5, 10] + - !!python/tuple [26, 16] + - !!python/tuple [1, 20] + - !!python/tuple [13, 27] + - !!python/tuple [16, 5] + - !!python/tuple [17, 7] + - !!python/tuple [31, 6] + - !!python/tuple [17, 6] + - !!python/tuple [6, 20] + - !!python/tuple [17, 12] + - !!python/tuple [24, 21] + - !!python/tuple [26, 8] + - !!python/tuple [10, 1] + - !!python/tuple [26, 23] + - !!python/tuple [16, 14] + - !!python/tuple [19, 14] + - !!python/tuple [31, 21] + - !!python/tuple [0, 27] + - !!python/tuple [19, 9] + - !!python/tuple [2, 24] + - !!python/tuple [21, 21] + - !!python/tuple [11, 19] + - !!python/tuple [26, 5] + - !!python/tuple [7, 10] + - !!python/tuple [25, 9] + - !!python/tuple [23, 12] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex1.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex1.yaml new file mode 100644 index 0000000..3eca999 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex1.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [29, 10] + name: agent0 + start: [18, 10] +- goal: [0, 27] + name: agent1 + start: [12, 5] +- goal: [7, 28] + name: agent2 + start: [22, 19] +- goal: [8, 0] + name: agent3 + start: [3, 25] +- goal: [31, 31] + name: agent4 + start: [5, 13] +- goal: [20, 13] + name: agent5 + start: [13, 0] +- goal: [10, 26] + name: agent6 + start: [7, 14] +- goal: [12, 25] + name: agent7 + start: [22, 21] +- goal: [25, 7] + name: agent8 + start: [2, 15] +- goal: [20, 16] + name: agent9 + start: [27, 18] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [26, 21] + - !!python/tuple [3, 10] + - !!python/tuple [5, 26] + - !!python/tuple [29, 11] + - !!python/tuple [24, 31] + - !!python/tuple [11, 18] + - !!python/tuple [6, 14] + - !!python/tuple [8, 28] + - !!python/tuple [15, 29] + - !!python/tuple [2, 24] + - !!python/tuple [23, 2] + - !!python/tuple [6, 6] + - !!python/tuple [14, 24] + - !!python/tuple [11, 13] + - !!python/tuple [17, 5] + - !!python/tuple [26, 26] + - !!python/tuple [8, 19] + - !!python/tuple [21, 14] + - !!python/tuple [17, 3] + - !!python/tuple [13, 29] + - !!python/tuple [24, 6] + - !!python/tuple [30, 24] + - !!python/tuple [30, 17] + - !!python/tuple [17, 7] + - !!python/tuple [21, 11] + - !!python/tuple [1, 29] + - !!python/tuple [29, 25] + - !!python/tuple [13, 17] + - !!python/tuple [2, 22] + - !!python/tuple [24, 23] + - !!python/tuple [29, 0] + - !!python/tuple [14, 0] + - !!python/tuple [14, 27] + - !!python/tuple [31, 26] + - !!python/tuple [28, 5] + - !!python/tuple [18, 1] + - !!python/tuple [11, 6] + - !!python/tuple [27, 13] + - !!python/tuple [24, 18] + - !!python/tuple [3, 2] + - !!python/tuple [24, 19] + - !!python/tuple [6, 21] + - !!python/tuple [29, 18] + - !!python/tuple [13, 26] + - !!python/tuple [20, 18] + - !!python/tuple [28, 8] + - !!python/tuple [5, 5] + - !!python/tuple [3, 30] + - !!python/tuple [30, 3] + - !!python/tuple [24, 4] + - !!python/tuple [23, 7] + - !!python/tuple [26, 28] + - !!python/tuple [3, 14] + - !!python/tuple [30, 12] + - !!python/tuple [31, 19] + - !!python/tuple [27, 10] + - !!python/tuple [10, 20] + - !!python/tuple [23, 18] + - !!python/tuple [11, 15] + - !!python/tuple [2, 3] + - !!python/tuple [12, 3] + - !!python/tuple [19, 30] + - !!python/tuple [29, 15] + - !!python/tuple [1, 9] + - !!python/tuple [5, 0] + - !!python/tuple [11, 12] + - !!python/tuple [21, 7] + - !!python/tuple [29, 13] + - !!python/tuple [20, 4] + - !!python/tuple [14, 29] + - !!python/tuple [3, 16] + - !!python/tuple [1, 5] + - !!python/tuple [15, 6] + - !!python/tuple [15, 23] + - !!python/tuple [17, 11] + - !!python/tuple [8, 17] + - !!python/tuple [17, 9] + - !!python/tuple [1, 1] + - !!python/tuple [12, 6] + - !!python/tuple [30, 31] + - !!python/tuple [2, 28] + - !!python/tuple [23, 0] + - !!python/tuple [2, 25] + - !!python/tuple [7, 8] + - !!python/tuple [4, 18] + - !!python/tuple [0, 9] + - !!python/tuple [27, 7] + - !!python/tuple [12, 2] + - !!python/tuple [22, 14] + - !!python/tuple [26, 12] + - !!python/tuple [30, 20] + - !!python/tuple [10, 12] + - !!python/tuple [11, 8] + - !!python/tuple [18, 25] + - !!python/tuple [10, 28] + - !!python/tuple [13, 21] + - !!python/tuple [5, 30] + - !!python/tuple [6, 16] + - !!python/tuple [19, 9] + - !!python/tuple [9, 15] + - !!python/tuple [8, 5] + - !!python/tuple [11, 16] + - !!python/tuple [23, 28] + - !!python/tuple [0, 3] + - !!python/tuple [17, 4] + - !!python/tuple [30, 6] + - !!python/tuple [21, 10] + - !!python/tuple [19, 15] + - !!python/tuple [7, 10] + - !!python/tuple [0, 23] + - !!python/tuple [23, 19] + - !!python/tuple [9, 16] + - !!python/tuple [11, 10] + - !!python/tuple [12, 16] + - !!python/tuple [23, 16] + - !!python/tuple [17, 16] + - !!python/tuple [22, 26] + - !!python/tuple [8, 18] + - !!python/tuple [18, 22] + - !!python/tuple [5, 29] + - !!python/tuple [2, 23] + - !!python/tuple [10, 10] + - !!python/tuple [6, 31] + - !!python/tuple [9, 17] + - !!python/tuple [21, 6] + - !!python/tuple [15, 31] + - !!python/tuple [26, 3] + - !!python/tuple [29, 2] + - !!python/tuple [0, 4] + - !!python/tuple [8, 16] + - !!python/tuple [25, 14] + - !!python/tuple [22, 24] + - !!python/tuple [24, 16] + - !!python/tuple [14, 5] + - !!python/tuple [18, 8] + - !!python/tuple [0, 10] + - !!python/tuple [13, 27] + - !!python/tuple [25, 18] + - !!python/tuple [0, 11] + - !!python/tuple [0, 1] + - !!python/tuple [31, 2] + - !!python/tuple [26, 16] + - !!python/tuple [26, 6] + - !!python/tuple [3, 5] + - !!python/tuple [23, 5] + - !!python/tuple [8, 10] + - !!python/tuple [1, 25] + - !!python/tuple [21, 21] + - !!python/tuple [7, 11] + - !!python/tuple [18, 11] + - !!python/tuple [16, 19] + - !!python/tuple [5, 3] + - !!python/tuple [1, 21] + - !!python/tuple [4, 9] + - !!python/tuple [11, 25] + - !!python/tuple [4, 26] + - !!python/tuple [12, 30] + - !!python/tuple [24, 3] + - !!python/tuple [31, 11] + - !!python/tuple [7, 25] + - !!python/tuple [11, 26] + - !!python/tuple [5, 11] + - !!python/tuple [7, 12] + - !!python/tuple [19, 31] + - !!python/tuple [24, 7] + - !!python/tuple [12, 14] + - !!python/tuple [24, 9] + - !!python/tuple [13, 12] + - !!python/tuple [10, 30] + - !!python/tuple [31, 17] + - !!python/tuple [23, 24] + - !!python/tuple [29, 14] + - !!python/tuple [31, 28] + - !!python/tuple [9, 18] + - !!python/tuple [28, 15] + - !!python/tuple [21, 20] + - !!python/tuple [17, 20] + - !!python/tuple [31, 8] + - !!python/tuple [1, 10] + - !!python/tuple [22, 5] + - !!python/tuple [26, 8] + - !!python/tuple [8, 20] + - !!python/tuple [13, 10] + - !!python/tuple [2, 21] + - !!python/tuple [2, 16] + - !!python/tuple [28, 19] + - !!python/tuple [16, 23] + - !!python/tuple [4, 5] + - !!python/tuple [0, 13] + - !!python/tuple [27, 22] + - !!python/tuple [5, 31] + - !!python/tuple [25, 28] + - !!python/tuple [1, 2] + - !!python/tuple [29, 24] + - !!python/tuple [31, 13] + - !!python/tuple [16, 0] + - !!python/tuple [9, 26] + - !!python/tuple [19, 4] + - !!python/tuple [0, 5] + - !!python/tuple [9, 28] + - !!python/tuple [7, 3] + - !!python/tuple [2, 14] + - !!python/tuple [22, 8] + - !!python/tuple [25, 24] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex10.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex10.yaml new file mode 100644 index 0000000..74a0499 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex10.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [16, 8] + name: agent0 + start: [14, 18] +- goal: [28, 28] + name: agent1 + start: [6, 22] +- goal: [16, 3] + name: agent2 + start: [9, 1] +- goal: [17, 0] + name: agent3 + start: [8, 22] +- goal: [5, 30] + name: agent4 + start: [24, 28] +- goal: [21, 18] + name: agent5 + start: [26, 25] +- goal: [21, 24] + name: agent6 + start: [16, 22] +- goal: [27, 15] + name: agent7 + start: [5, 31] +- goal: [29, 22] + name: agent8 + start: [23, 4] +- goal: [30, 7] + name: agent9 + start: [19, 25] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [27, 2] + - !!python/tuple [30, 28] + - !!python/tuple [21, 30] + - !!python/tuple [26, 16] + - !!python/tuple [19, 31] + - !!python/tuple [13, 14] + - !!python/tuple [3, 11] + - !!python/tuple [8, 2] + - !!python/tuple [15, 29] + - !!python/tuple [30, 8] + - !!python/tuple [3, 15] + - !!python/tuple [12, 4] + - !!python/tuple [13, 25] + - !!python/tuple [2, 31] + - !!python/tuple [12, 0] + - !!python/tuple [8, 5] + - !!python/tuple [19, 22] + - !!python/tuple [9, 4] + - !!python/tuple [12, 18] + - !!python/tuple [19, 7] + - !!python/tuple [18, 29] + - !!python/tuple [24, 16] + - !!python/tuple [22, 26] + - !!python/tuple [22, 2] + - !!python/tuple [21, 9] + - !!python/tuple [20, 17] + - !!python/tuple [3, 6] + - !!python/tuple [31, 30] + - !!python/tuple [9, 5] + - !!python/tuple [6, 15] + - !!python/tuple [28, 12] + - !!python/tuple [25, 22] + - !!python/tuple [7, 31] + - !!python/tuple [12, 7] + - !!python/tuple [4, 24] + - !!python/tuple [26, 1] + - !!python/tuple [28, 13] + - !!python/tuple [5, 13] + - !!python/tuple [14, 7] + - !!python/tuple [1, 1] + - !!python/tuple [15, 12] + - !!python/tuple [8, 19] + - !!python/tuple [17, 2] + - !!python/tuple [11, 4] + - !!python/tuple [6, 10] + - !!python/tuple [0, 25] + - !!python/tuple [8, 0] + - !!python/tuple [14, 31] + - !!python/tuple [17, 6] + - !!python/tuple [17, 4] + - !!python/tuple [18, 13] + - !!python/tuple [0, 21] + - !!python/tuple [23, 1] + - !!python/tuple [8, 1] + - !!python/tuple [1, 5] + - !!python/tuple [28, 8] + - !!python/tuple [3, 22] + - !!python/tuple [5, 10] + - !!python/tuple [30, 23] + - !!python/tuple [31, 14] + - !!python/tuple [23, 3] + - !!python/tuple [24, 30] + - !!python/tuple [13, 7] + - !!python/tuple [27, 28] + - !!python/tuple [12, 14] + - !!python/tuple [1, 23] + - !!python/tuple [15, 13] + - !!python/tuple [0, 6] + - !!python/tuple [18, 22] + - !!python/tuple [27, 9] + - !!python/tuple [11, 21] + - !!python/tuple [0, 11] + - !!python/tuple [30, 25] + - !!python/tuple [29, 18] + - !!python/tuple [0, 14] + - !!python/tuple [1, 9] + - !!python/tuple [1, 22] + - !!python/tuple [12, 29] + - !!python/tuple [15, 9] + - !!python/tuple [23, 2] + - !!python/tuple [31, 9] + - !!python/tuple [3, 1] + - !!python/tuple [6, 19] + - !!python/tuple [23, 13] + - !!python/tuple [19, 13] + - !!python/tuple [0, 4] + - !!python/tuple [11, 10] + - !!python/tuple [11, 1] + - !!python/tuple [0, 3] + - !!python/tuple [1, 19] + - !!python/tuple [27, 20] + - !!python/tuple [26, 22] + - !!python/tuple [10, 12] + - !!python/tuple [21, 22] + - !!python/tuple [14, 20] + - !!python/tuple [4, 13] + - !!python/tuple [18, 2] + - !!python/tuple [21, 26] + - !!python/tuple [26, 17] + - !!python/tuple [26, 7] + - !!python/tuple [11, 17] + - !!python/tuple [19, 18] + - !!python/tuple [18, 28] + - !!python/tuple [30, 18] + - !!python/tuple [22, 31] + - !!python/tuple [26, 24] + - !!python/tuple [1, 7] + - !!python/tuple [17, 1] + - !!python/tuple [15, 31] + - !!python/tuple [11, 29] + - !!python/tuple [20, 19] + - !!python/tuple [11, 3] + - !!python/tuple [27, 27] + - !!python/tuple [6, 0] + - !!python/tuple [28, 31] + - !!python/tuple [16, 6] + - !!python/tuple [31, 4] + - !!python/tuple [17, 25] + - !!python/tuple [7, 7] + - !!python/tuple [31, 0] + - !!python/tuple [24, 1] + - !!python/tuple [31, 22] + - !!python/tuple [20, 27] + - !!python/tuple [17, 16] + - !!python/tuple [11, 31] + - !!python/tuple [11, 30] + - !!python/tuple [9, 13] + - !!python/tuple [1, 14] + - !!python/tuple [1, 4] + - !!python/tuple [13, 16] + - !!python/tuple [12, 27] + - !!python/tuple [19, 16] + - !!python/tuple [5, 7] + - !!python/tuple [18, 7] + - !!python/tuple [3, 30] + - !!python/tuple [25, 14] + - !!python/tuple [13, 8] + - !!python/tuple [23, 28] + - !!python/tuple [10, 20] + - !!python/tuple [30, 13] + - !!python/tuple [10, 5] + - !!python/tuple [3, 16] + - !!python/tuple [28, 9] + - !!python/tuple [12, 16] + - !!python/tuple [2, 12] + - !!python/tuple [28, 4] + - !!python/tuple [23, 7] + - !!python/tuple [23, 20] + - !!python/tuple [23, 8] + - !!python/tuple [23, 27] + - !!python/tuple [18, 16] + - !!python/tuple [29, 27] + - !!python/tuple [9, 28] + - !!python/tuple [2, 8] + - !!python/tuple [0, 23] + - !!python/tuple [28, 15] + - !!python/tuple [1, 20] + - !!python/tuple [30, 30] + - !!python/tuple [2, 27] + - !!python/tuple [16, 30] + - !!python/tuple [14, 28] + - !!python/tuple [3, 19] + - !!python/tuple [3, 9] + - !!python/tuple [13, 19] + - !!python/tuple [2, 28] + - !!python/tuple [1, 24] + - !!python/tuple [4, 28] + - !!python/tuple [4, 25] + - !!python/tuple [12, 26] + - !!python/tuple [27, 26] + - !!python/tuple [16, 17] + - !!python/tuple [14, 27] + - !!python/tuple [23, 11] + - !!python/tuple [26, 8] + - !!python/tuple [8, 24] + - !!python/tuple [4, 26] + - !!python/tuple [13, 9] + - !!python/tuple [8, 3] + - !!python/tuple [21, 2] + - !!python/tuple [3, 10] + - !!python/tuple [3, 31] + - !!python/tuple [18, 24] + - !!python/tuple [15, 1] + - !!python/tuple [26, 27] + - !!python/tuple [15, 7] + - !!python/tuple [30, 0] + - !!python/tuple [8, 16] + - !!python/tuple [3, 25] + - !!python/tuple [18, 4] + - !!python/tuple [21, 29] + - !!python/tuple [0, 16] + - !!python/tuple [15, 22] + - !!python/tuple [5, 20] + - !!python/tuple [15, 6] + - !!python/tuple [30, 26] + - !!python/tuple [24, 24] + - !!python/tuple [18, 23] + - !!python/tuple [5, 11] + - !!python/tuple [25, 9] + - !!python/tuple [22, 17] + - !!python/tuple [18, 1] + - !!python/tuple [31, 16] + - !!python/tuple [16, 28] + - !!python/tuple [14, 19] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex11.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex11.yaml new file mode 100644 index 0000000..ae7b8c2 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex11.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [3, 11] + name: agent0 + start: [30, 14] +- goal: [23, 26] + name: agent1 + start: [20, 0] +- goal: [22, 27] + name: agent2 + start: [8, 16] +- goal: [4, 19] + name: agent3 + start: [14, 26] +- goal: [7, 26] + name: agent4 + start: [31, 22] +- goal: [10, 26] + name: agent5 + start: [6, 21] +- goal: [1, 7] + name: agent6 + start: [26, 10] +- goal: [26, 12] + name: agent7 + start: [11, 11] +- goal: [7, 9] + name: agent8 + start: [4, 7] +- goal: [15, 20] + name: agent9 + start: [9, 7] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [22, 26] + - !!python/tuple [1, 21] + - !!python/tuple [14, 16] + - !!python/tuple [21, 25] + - !!python/tuple [17, 14] + - !!python/tuple [15, 21] + - !!python/tuple [13, 31] + - !!python/tuple [24, 4] + - !!python/tuple [4, 31] + - !!python/tuple [15, 29] + - !!python/tuple [28, 27] + - !!python/tuple [14, 22] + - !!python/tuple [30, 12] + - !!python/tuple [14, 1] + - !!python/tuple [5, 30] + - !!python/tuple [11, 28] + - !!python/tuple [2, 24] + - !!python/tuple [28, 28] + - !!python/tuple [12, 12] + - !!python/tuple [4, 23] + - !!python/tuple [30, 28] + - !!python/tuple [23, 22] + - !!python/tuple [7, 31] + - !!python/tuple [2, 4] + - !!python/tuple [7, 22] + - !!python/tuple [28, 16] + - !!python/tuple [27, 19] + - !!python/tuple [18, 10] + - !!python/tuple [15, 6] + - !!python/tuple [19, 29] + - !!python/tuple [2, 18] + - !!python/tuple [18, 17] + - !!python/tuple [23, 30] + - !!python/tuple [1, 12] + - !!python/tuple [30, 24] + - !!python/tuple [9, 5] + - !!python/tuple [8, 23] + - !!python/tuple [18, 2] + - !!python/tuple [24, 3] + - !!python/tuple [26, 20] + - !!python/tuple [27, 17] + - !!python/tuple [9, 0] + - !!python/tuple [1, 10] + - !!python/tuple [15, 10] + - !!python/tuple [7, 23] + - !!python/tuple [24, 12] + - !!python/tuple [12, 13] + - !!python/tuple [6, 2] + - !!python/tuple [14, 19] + - !!python/tuple [21, 29] + - !!python/tuple [10, 18] + - !!python/tuple [0, 10] + - !!python/tuple [12, 14] + - !!python/tuple [16, 20] + - !!python/tuple [5, 8] + - !!python/tuple [4, 11] + - !!python/tuple [16, 13] + - !!python/tuple [9, 12] + - !!python/tuple [27, 14] + - !!python/tuple [18, 28] + - !!python/tuple [21, 9] + - !!python/tuple [18, 9] + - !!python/tuple [28, 12] + - !!python/tuple [10, 29] + - !!python/tuple [16, 17] + - !!python/tuple [24, 1] + - !!python/tuple [8, 25] + - !!python/tuple [29, 30] + - !!python/tuple [16, 6] + - !!python/tuple [6, 31] + - !!python/tuple [21, 22] + - !!python/tuple [28, 7] + - !!python/tuple [7, 2] + - !!python/tuple [2, 11] + - !!python/tuple [13, 18] + - !!python/tuple [12, 15] + - !!python/tuple [22, 24] + - !!python/tuple [7, 4] + - !!python/tuple [16, 28] + - !!python/tuple [8, 20] + - !!python/tuple [21, 24] + - !!python/tuple [9, 31] + - !!python/tuple [31, 28] + - !!python/tuple [8, 22] + - !!python/tuple [24, 25] + - !!python/tuple [1, 20] + - !!python/tuple [29, 11] + - !!python/tuple [25, 26] + - !!python/tuple [10, 0] + - !!python/tuple [16, 2] + - !!python/tuple [26, 24] + - !!python/tuple [20, 29] + - !!python/tuple [5, 6] + - !!python/tuple [18, 24] + - !!python/tuple [8, 21] + - !!python/tuple [11, 7] + - !!python/tuple [17, 16] + - !!python/tuple [13, 22] + - !!python/tuple [22, 16] + - !!python/tuple [21, 13] + - !!python/tuple [17, 1] + - !!python/tuple [23, 19] + - !!python/tuple [15, 13] + - !!python/tuple [6, 25] + - !!python/tuple [1, 11] + - !!python/tuple [14, 2] + - !!python/tuple [20, 8] + - !!python/tuple [18, 16] + - !!python/tuple [6, 7] + - !!python/tuple [5, 12] + - !!python/tuple [23, 5] + - !!python/tuple [7, 14] + - !!python/tuple [6, 26] + - !!python/tuple [2, 31] + - !!python/tuple [15, 22] + - !!python/tuple [13, 16] + - !!python/tuple [19, 4] + - !!python/tuple [22, 10] + - !!python/tuple [28, 24] + - !!python/tuple [24, 10] + - !!python/tuple [23, 10] + - !!python/tuple [8, 3] + - !!python/tuple [24, 31] + - !!python/tuple [14, 8] + - !!python/tuple [18, 8] + - !!python/tuple [2, 7] + - !!python/tuple [21, 26] + - !!python/tuple [17, 19] + - !!python/tuple [22, 5] + - !!python/tuple [3, 10] + - !!python/tuple [7, 29] + - !!python/tuple [30, 6] + - !!python/tuple [27, 16] + - !!python/tuple [25, 16] + - !!python/tuple [9, 8] + - !!python/tuple [16, 10] + - !!python/tuple [4, 16] + - !!python/tuple [3, 15] + - !!python/tuple [12, 7] + - !!python/tuple [8, 10] + - !!python/tuple [14, 27] + - !!python/tuple [16, 21] + - !!python/tuple [28, 2] + - !!python/tuple [2, 29] + - !!python/tuple [20, 28] + - !!python/tuple [8, 13] + - !!python/tuple [26, 7] + - !!python/tuple [27, 6] + - !!python/tuple [25, 10] + - !!python/tuple [7, 28] + - !!python/tuple [4, 24] + - !!python/tuple [9, 10] + - !!python/tuple [13, 30] + - !!python/tuple [30, 15] + - !!python/tuple [6, 8] + - !!python/tuple [26, 16] + - !!python/tuple [17, 25] + - !!python/tuple [0, 28] + - !!python/tuple [7, 27] + - !!python/tuple [28, 29] + - !!python/tuple [7, 10] + - !!python/tuple [30, 1] + - !!python/tuple [10, 28] + - !!python/tuple [9, 28] + - !!python/tuple [4, 9] + - !!python/tuple [25, 25] + - !!python/tuple [22, 30] + - !!python/tuple [25, 0] + - !!python/tuple [18, 22] + - !!python/tuple [13, 7] + - !!python/tuple [31, 25] + - !!python/tuple [11, 1] + - !!python/tuple [7, 18] + - !!python/tuple [31, 4] + - !!python/tuple [12, 6] + - !!python/tuple [6, 6] + - !!python/tuple [30, 3] + - !!python/tuple [1, 4] + - !!python/tuple [23, 17] + - !!python/tuple [17, 20] + - !!python/tuple [24, 6] + - !!python/tuple [21, 7] + - !!python/tuple [6, 14] + - !!python/tuple [13, 25] + - !!python/tuple [10, 16] + - !!python/tuple [28, 8] + - !!python/tuple [1, 22] + - !!python/tuple [2, 5] + - !!python/tuple [19, 2] + - !!python/tuple [10, 1] + - !!python/tuple [16, 8] + - !!python/tuple [27, 20] + - !!python/tuple [7, 19] + - !!python/tuple [24, 5] + - !!python/tuple [27, 0] + - !!python/tuple [3, 8] + - !!python/tuple [14, 21] + - !!python/tuple [28, 21] + - !!python/tuple [17, 24] + - !!python/tuple [31, 7] + - !!python/tuple [29, 10] + - !!python/tuple [17, 21] + - !!python/tuple [19, 20] + - !!python/tuple [1, 29] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex12.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex12.yaml new file mode 100644 index 0000000..e715281 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex12.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [31, 14] + name: agent0 + start: [20, 14] +- goal: [17, 20] + name: agent1 + start: [24, 19] +- goal: [15, 7] + name: agent2 + start: [27, 18] +- goal: [28, 14] + name: agent3 + start: [13, 17] +- goal: [13, 5] + name: agent4 + start: [14, 3] +- goal: [0, 26] + name: agent5 + start: [1, 18] +- goal: [9, 13] + name: agent6 + start: [16, 14] +- goal: [30, 3] + name: agent7 + start: [31, 28] +- goal: [7, 22] + name: agent8 + start: [5, 6] +- goal: [11, 18] + name: agent9 + start: [13, 26] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [8, 20] + - !!python/tuple [3, 5] + - !!python/tuple [20, 20] + - !!python/tuple [18, 10] + - !!python/tuple [18, 4] + - !!python/tuple [16, 29] + - !!python/tuple [26, 11] + - !!python/tuple [6, 0] + - !!python/tuple [0, 7] + - !!python/tuple [24, 17] + - !!python/tuple [15, 0] + - !!python/tuple [27, 24] + - !!python/tuple [18, 31] + - !!python/tuple [10, 10] + - !!python/tuple [0, 2] + - !!python/tuple [12, 3] + - !!python/tuple [21, 10] + - !!python/tuple [23, 26] + - !!python/tuple [26, 29] + - !!python/tuple [3, 16] + - !!python/tuple [3, 28] + - !!python/tuple [17, 31] + - !!python/tuple [12, 21] + - !!python/tuple [26, 31] + - !!python/tuple [6, 2] + - !!python/tuple [31, 21] + - !!python/tuple [25, 25] + - !!python/tuple [20, 6] + - !!python/tuple [13, 0] + - !!python/tuple [6, 3] + - !!python/tuple [3, 0] + - !!python/tuple [0, 19] + - !!python/tuple [0, 3] + - !!python/tuple [13, 27] + - !!python/tuple [7, 0] + - !!python/tuple [9, 22] + - !!python/tuple [23, 10] + - !!python/tuple [12, 31] + - !!python/tuple [30, 18] + - !!python/tuple [17, 28] + - !!python/tuple [4, 18] + - !!python/tuple [31, 9] + - !!python/tuple [12, 27] + - !!python/tuple [25, 24] + - !!python/tuple [19, 1] + - !!python/tuple [17, 2] + - !!python/tuple [2, 29] + - !!python/tuple [23, 15] + - !!python/tuple [0, 5] + - !!python/tuple [13, 28] + - !!python/tuple [1, 23] + - !!python/tuple [2, 0] + - !!python/tuple [1, 13] + - !!python/tuple [3, 27] + - !!python/tuple [1, 16] + - !!python/tuple [0, 29] + - !!python/tuple [21, 7] + - !!python/tuple [11, 21] + - !!python/tuple [25, 17] + - !!python/tuple [18, 25] + - !!python/tuple [22, 30] + - !!python/tuple [3, 2] + - !!python/tuple [7, 16] + - !!python/tuple [22, 24] + - !!python/tuple [27, 9] + - !!python/tuple [13, 11] + - !!python/tuple [5, 8] + - !!python/tuple [21, 1] + - !!python/tuple [10, 4] + - !!python/tuple [28, 11] + - !!python/tuple [9, 11] + - !!python/tuple [13, 3] + - !!python/tuple [4, 25] + - !!python/tuple [30, 1] + - !!python/tuple [2, 19] + - !!python/tuple [30, 30] + - !!python/tuple [18, 0] + - !!python/tuple [26, 0] + - !!python/tuple [17, 22] + - !!python/tuple [10, 20] + - !!python/tuple [20, 25] + - !!python/tuple [29, 3] + - !!python/tuple [8, 14] + - !!python/tuple [1, 4] + - !!python/tuple [22, 3] + - !!python/tuple [21, 29] + - !!python/tuple [26, 27] + - !!python/tuple [9, 27] + - !!python/tuple [22, 27] + - !!python/tuple [12, 10] + - !!python/tuple [4, 8] + - !!python/tuple [2, 30] + - !!python/tuple [19, 2] + - !!python/tuple [4, 9] + - !!python/tuple [8, 0] + - !!python/tuple [7, 27] + - !!python/tuple [30, 5] + - !!python/tuple [1, 1] + - !!python/tuple [23, 7] + - !!python/tuple [29, 15] + - !!python/tuple [15, 26] + - !!python/tuple [21, 21] + - !!python/tuple [6, 29] + - !!python/tuple [3, 7] + - !!python/tuple [0, 25] + - !!python/tuple [5, 21] + - !!python/tuple [7, 2] + - !!python/tuple [21, 2] + - !!python/tuple [1, 3] + - !!python/tuple [24, 7] + - !!python/tuple [21, 19] + - !!python/tuple [27, 3] + - !!python/tuple [12, 17] + - !!python/tuple [24, 9] + - !!python/tuple [11, 14] + - !!python/tuple [1, 14] + - !!python/tuple [15, 14] + - !!python/tuple [28, 20] + - !!python/tuple [6, 7] + - !!python/tuple [12, 7] + - !!python/tuple [20, 3] + - !!python/tuple [31, 5] + - !!python/tuple [4, 22] + - !!python/tuple [31, 2] + - !!python/tuple [10, 24] + - !!python/tuple [1, 19] + - !!python/tuple [14, 4] + - !!python/tuple [18, 17] + - !!python/tuple [16, 1] + - !!python/tuple [14, 8] + - !!python/tuple [30, 6] + - !!python/tuple [27, 1] + - !!python/tuple [12, 28] + - !!python/tuple [2, 10] + - !!python/tuple [24, 31] + - !!python/tuple [4, 15] + - !!python/tuple [10, 9] + - !!python/tuple [8, 12] + - !!python/tuple [2, 3] + - !!python/tuple [27, 11] + - !!python/tuple [9, 30] + - !!python/tuple [16, 13] + - !!python/tuple [22, 26] + - !!python/tuple [27, 31] + - !!python/tuple [10, 27] + - !!python/tuple [3, 23] + - !!python/tuple [26, 17] + - !!python/tuple [31, 6] + - !!python/tuple [11, 1] + - !!python/tuple [6, 6] + - !!python/tuple [28, 8] + - !!python/tuple [1, 21] + - !!python/tuple [20, 12] + - !!python/tuple [9, 1] + - !!python/tuple [1, 20] + - !!python/tuple [20, 18] + - !!python/tuple [29, 6] + - !!python/tuple [15, 29] + - !!python/tuple [11, 22] + - !!python/tuple [4, 20] + - !!python/tuple [3, 30] + - !!python/tuple [27, 10] + - !!python/tuple [20, 9] + - !!python/tuple [17, 4] + - !!python/tuple [30, 26] + - !!python/tuple [5, 23] + - !!python/tuple [3, 22] + - !!python/tuple [11, 29] + - !!python/tuple [9, 29] + - !!python/tuple [24, 2] + - !!python/tuple [6, 28] + - !!python/tuple [18, 12] + - !!python/tuple [20, 29] + - !!python/tuple [23, 29] + - !!python/tuple [20, 19] + - !!python/tuple [20, 30] + - !!python/tuple [12, 1] + - !!python/tuple [18, 26] + - !!python/tuple [5, 0] + - !!python/tuple [9, 2] + - !!python/tuple [5, 18] + - !!python/tuple [24, 23] + - !!python/tuple [16, 19] + - !!python/tuple [7, 13] + - !!python/tuple [16, 18] + - !!python/tuple [26, 22] + - !!python/tuple [19, 9] + - !!python/tuple [1, 26] + - !!python/tuple [21, 3] + - !!python/tuple [22, 15] + - !!python/tuple [3, 26] + - !!python/tuple [0, 9] + - !!python/tuple [25, 30] + - !!python/tuple [27, 19] + - !!python/tuple [9, 9] + - !!python/tuple [15, 17] + - !!python/tuple [4, 1] + - !!python/tuple [28, 28] + - !!python/tuple [6, 21] + - !!python/tuple [30, 9] + - !!python/tuple [4, 7] + - !!python/tuple [4, 31] + - !!python/tuple [11, 9] + - !!python/tuple [8, 8] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex13.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex13.yaml new file mode 100644 index 0000000..2fbda7a --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex13.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [13, 19] + name: agent0 + start: [2, 1] +- goal: [29, 19] + name: agent1 + start: [8, 19] +- goal: [2, 13] + name: agent2 + start: [3, 26] +- goal: [21, 23] + name: agent3 + start: [7, 30] +- goal: [3, 18] + name: agent4 + start: [18, 7] +- goal: [10, 4] + name: agent5 + start: [9, 30] +- goal: [7, 31] + name: agent6 + start: [11, 4] +- goal: [0, 13] + name: agent7 + start: [23, 0] +- goal: [7, 2] + name: agent8 + start: [4, 0] +- goal: [8, 12] + name: agent9 + start: [2, 6] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [3, 13] + - !!python/tuple [28, 4] + - !!python/tuple [31, 0] + - !!python/tuple [7, 20] + - !!python/tuple [1, 12] + - !!python/tuple [25, 7] + - !!python/tuple [24, 6] + - !!python/tuple [3, 16] + - !!python/tuple [27, 19] + - !!python/tuple [29, 21] + - !!python/tuple [26, 30] + - !!python/tuple [17, 19] + - !!python/tuple [7, 28] + - !!python/tuple [21, 7] + - !!python/tuple [7, 6] + - !!python/tuple [28, 7] + - !!python/tuple [8, 1] + - !!python/tuple [12, 30] + - !!python/tuple [22, 23] + - !!python/tuple [24, 31] + - !!python/tuple [21, 16] + - !!python/tuple [10, 6] + - !!python/tuple [11, 22] + - !!python/tuple [10, 31] + - !!python/tuple [7, 0] + - !!python/tuple [19, 9] + - !!python/tuple [5, 3] + - !!python/tuple [29, 9] + - !!python/tuple [9, 5] + - !!python/tuple [24, 12] + - !!python/tuple [31, 15] + - !!python/tuple [24, 14] + - !!python/tuple [15, 17] + - !!python/tuple [20, 15] + - !!python/tuple [11, 2] + - !!python/tuple [26, 9] + - !!python/tuple [27, 29] + - !!python/tuple [26, 31] + - !!python/tuple [7, 3] + - !!python/tuple [22, 10] + - !!python/tuple [21, 4] + - !!python/tuple [7, 12] + - !!python/tuple [23, 17] + - !!python/tuple [17, 15] + - !!python/tuple [5, 27] + - !!python/tuple [20, 1] + - !!python/tuple [12, 20] + - !!python/tuple [1, 10] + - !!python/tuple [3, 17] + - !!python/tuple [6, 24] + - !!python/tuple [19, 18] + - !!python/tuple [19, 10] + - !!python/tuple [29, 14] + - !!python/tuple [5, 20] + - !!python/tuple [20, 17] + - !!python/tuple [13, 10] + - !!python/tuple [30, 24] + - !!python/tuple [11, 30] + - !!python/tuple [2, 0] + - !!python/tuple [1, 4] + - !!python/tuple [26, 15] + - !!python/tuple [13, 30] + - !!python/tuple [24, 9] + - !!python/tuple [10, 18] + - !!python/tuple [27, 4] + - !!python/tuple [0, 21] + - !!python/tuple [11, 26] + - !!python/tuple [16, 30] + - !!python/tuple [18, 6] + - !!python/tuple [11, 10] + - !!python/tuple [19, 0] + - !!python/tuple [1, 20] + - !!python/tuple [20, 10] + - !!python/tuple [13, 15] + - !!python/tuple [8, 24] + - !!python/tuple [5, 19] + - !!python/tuple [27, 23] + - !!python/tuple [2, 19] + - !!python/tuple [7, 29] + - !!python/tuple [2, 10] + - !!python/tuple [1, 18] + - !!python/tuple [29, 10] + - !!python/tuple [17, 22] + - !!python/tuple [30, 2] + - !!python/tuple [12, 25] + - !!python/tuple [14, 14] + - !!python/tuple [13, 31] + - !!python/tuple [18, 25] + - !!python/tuple [3, 1] + - !!python/tuple [12, 9] + - !!python/tuple [14, 23] + - !!python/tuple [16, 10] + - !!python/tuple [20, 3] + - !!python/tuple [14, 31] + - !!python/tuple [4, 23] + - !!python/tuple [25, 17] + - !!python/tuple [0, 12] + - !!python/tuple [26, 29] + - !!python/tuple [1, 19] + - !!python/tuple [15, 14] + - !!python/tuple [21, 29] + - !!python/tuple [2, 15] + - !!python/tuple [1, 8] + - !!python/tuple [9, 11] + - !!python/tuple [16, 18] + - !!python/tuple [19, 15] + - !!python/tuple [13, 29] + - !!python/tuple [16, 1] + - !!python/tuple [2, 12] + - !!python/tuple [5, 24] + - !!python/tuple [9, 21] + - !!python/tuple [2, 25] + - !!python/tuple [11, 15] + - !!python/tuple [4, 10] + - !!python/tuple [12, 13] + - !!python/tuple [9, 10] + - !!python/tuple [26, 26] + - !!python/tuple [17, 23] + - !!python/tuple [5, 31] + - !!python/tuple [18, 23] + - !!python/tuple [28, 21] + - !!python/tuple [7, 16] + - !!python/tuple [12, 6] + - !!python/tuple [12, 22] + - !!python/tuple [17, 16] + - !!python/tuple [1, 15] + - !!python/tuple [6, 23] + - !!python/tuple [28, 5] + - !!python/tuple [18, 19] + - !!python/tuple [17, 4] + - !!python/tuple [13, 16] + - !!python/tuple [20, 30] + - !!python/tuple [23, 16] + - !!python/tuple [10, 22] + - !!python/tuple [25, 13] + - !!python/tuple [20, 0] + - !!python/tuple [11, 18] + - !!python/tuple [15, 31] + - !!python/tuple [11, 7] + - !!python/tuple [21, 0] + - !!python/tuple [31, 16] + - !!python/tuple [14, 25] + - !!python/tuple [26, 0] + - !!python/tuple [19, 5] + - !!python/tuple [1, 11] + - !!python/tuple [8, 14] + - !!python/tuple [24, 23] + - !!python/tuple [14, 21] + - !!python/tuple [5, 16] + - !!python/tuple [31, 17] + - !!python/tuple [0, 9] + - !!python/tuple [27, 8] + - !!python/tuple [30, 1] + - !!python/tuple [19, 7] + - !!python/tuple [3, 2] + - !!python/tuple [29, 31] + - !!python/tuple [18, 15] + - !!python/tuple [14, 10] + - !!python/tuple [27, 13] + - !!python/tuple [27, 10] + - !!python/tuple [28, 13] + - !!python/tuple [13, 5] + - !!python/tuple [15, 29] + - !!python/tuple [16, 4] + - !!python/tuple [29, 15] + - !!python/tuple [14, 20] + - !!python/tuple [18, 24] + - !!python/tuple [3, 20] + - !!python/tuple [16, 17] + - !!python/tuple [14, 6] + - !!python/tuple [1, 5] + - !!python/tuple [30, 28] + - !!python/tuple [15, 30] + - !!python/tuple [24, 20] + - !!python/tuple [17, 30] + - !!python/tuple [22, 5] + - !!python/tuple [28, 23] + - !!python/tuple [4, 28] + - !!python/tuple [20, 2] + - !!python/tuple [3, 14] + - !!python/tuple [0, 6] + - !!python/tuple [15, 9] + - !!python/tuple [27, 30] + - !!python/tuple [13, 9] + - !!python/tuple [17, 18] + - !!python/tuple [29, 30] + - !!python/tuple [9, 7] + - !!python/tuple [31, 10] + - !!python/tuple [30, 7] + - !!python/tuple [31, 5] + - !!python/tuple [17, 11] + - !!python/tuple [15, 20] + - !!python/tuple [13, 2] + - !!python/tuple [29, 4] + - !!python/tuple [28, 18] + - !!python/tuple [30, 0] + - !!python/tuple [21, 19] + - !!python/tuple [14, 27] + - !!python/tuple [12, 3] + - !!python/tuple [21, 13] + - !!python/tuple [6, 6] + - !!python/tuple [13, 13] + - !!python/tuple [28, 20] + - !!python/tuple [27, 17] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex14.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex14.yaml new file mode 100644 index 0000000..4b63c25 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex14.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [16, 14] + name: agent0 + start: [6, 23] +- goal: [14, 3] + name: agent1 + start: [27, 15] +- goal: [4, 15] + name: agent2 + start: [10, 9] +- goal: [9, 7] + name: agent3 + start: [29, 24] +- goal: [26, 15] + name: agent4 + start: [18, 26] +- goal: [29, 29] + name: agent5 + start: [14, 30] +- goal: [9, 2] + name: agent6 + start: [27, 1] +- goal: [9, 25] + name: agent7 + start: [30, 18] +- goal: [28, 10] + name: agent8 + start: [2, 10] +- goal: [13, 24] + name: agent9 + start: [11, 20] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [26, 31] + - !!python/tuple [3, 4] + - !!python/tuple [1, 30] + - !!python/tuple [14, 31] + - !!python/tuple [11, 9] + - !!python/tuple [17, 3] + - !!python/tuple [7, 27] + - !!python/tuple [16, 20] + - !!python/tuple [25, 8] + - !!python/tuple [24, 21] + - !!python/tuple [25, 20] + - !!python/tuple [22, 7] + - !!python/tuple [22, 30] + - !!python/tuple [28, 3] + - !!python/tuple [25, 22] + - !!python/tuple [27, 25] + - !!python/tuple [26, 0] + - !!python/tuple [17, 28] + - !!python/tuple [7, 7] + - !!python/tuple [3, 19] + - !!python/tuple [20, 6] + - !!python/tuple [25, 28] + - !!python/tuple [25, 24] + - !!python/tuple [21, 30] + - !!python/tuple [26, 11] + - !!python/tuple [11, 3] + - !!python/tuple [26, 4] + - !!python/tuple [10, 18] + - !!python/tuple [9, 9] + - !!python/tuple [4, 31] + - !!python/tuple [4, 7] + - !!python/tuple [6, 0] + - !!python/tuple [16, 0] + - !!python/tuple [20, 27] + - !!python/tuple [31, 23] + - !!python/tuple [18, 11] + - !!python/tuple [18, 29] + - !!python/tuple [21, 18] + - !!python/tuple [26, 27] + - !!python/tuple [31, 12] + - !!python/tuple [5, 20] + - !!python/tuple [10, 7] + - !!python/tuple [0, 7] + - !!python/tuple [30, 29] + - !!python/tuple [17, 31] + - !!python/tuple [6, 16] + - !!python/tuple [14, 13] + - !!python/tuple [23, 2] + - !!python/tuple [15, 10] + - !!python/tuple [15, 31] + - !!python/tuple [11, 5] + - !!python/tuple [30, 28] + - !!python/tuple [17, 23] + - !!python/tuple [27, 7] + - !!python/tuple [14, 14] + - !!python/tuple [23, 11] + - !!python/tuple [21, 21] + - !!python/tuple [30, 21] + - !!python/tuple [3, 2] + - !!python/tuple [23, 21] + - !!python/tuple [27, 12] + - !!python/tuple [15, 14] + - !!python/tuple [24, 24] + - !!python/tuple [31, 7] + - !!python/tuple [9, 19] + - !!python/tuple [0, 11] + - !!python/tuple [6, 28] + - !!python/tuple [30, 25] + - !!python/tuple [28, 11] + - !!python/tuple [3, 5] + - !!python/tuple [6, 8] + - !!python/tuple [0, 16] + - !!python/tuple [4, 29] + - !!python/tuple [22, 29] + - !!python/tuple [7, 17] + - !!python/tuple [23, 18] + - !!python/tuple [1, 1] + - !!python/tuple [31, 21] + - !!python/tuple [2, 19] + - !!python/tuple [28, 9] + - 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!!python/tuple [9, 30] + - !!python/tuple [20, 28] + - !!python/tuple [5, 17] + - !!python/tuple [11, 19] + - !!python/tuple [24, 19] + - !!python/tuple [8, 2] + - !!python/tuple [19, 31] + - !!python/tuple [4, 4] + - !!python/tuple [3, 11] + - !!python/tuple [12, 19] + - !!python/tuple [23, 1] + - !!python/tuple [27, 4] + - !!python/tuple [3, 17] + - !!python/tuple [22, 11] + - !!python/tuple [0, 24] + - !!python/tuple [9, 20] + - !!python/tuple [31, 2] + - !!python/tuple [9, 23] + - !!python/tuple [16, 1] + - !!python/tuple [14, 6] + - !!python/tuple [15, 26] + - !!python/tuple [17, 1] + - !!python/tuple [7, 31] + - !!python/tuple [7, 18] + - !!python/tuple [11, 8] + - !!python/tuple [13, 28] + - !!python/tuple [14, 25] + - !!python/tuple [18, 9] + - !!python/tuple [23, 26] + - !!python/tuple [2, 21] + - !!python/tuple [1, 2] + - !!python/tuple [7, 6] + - !!python/tuple [30, 13] + - !!python/tuple [1, 3] + - !!python/tuple [28, 6] + - !!python/tuple [30, 8] + - !!python/tuple [2, 5] + - !!python/tuple [23, 16] + - !!python/tuple [8, 23] + - !!python/tuple [4, 14] + - !!python/tuple [8, 1] + - !!python/tuple [1, 23] + - !!python/tuple [22, 4] + - !!python/tuple [25, 12] + - !!python/tuple [10, 20] + - !!python/tuple [8, 8] + - !!python/tuple [5, 11] + - !!python/tuple [6, 5] + - !!python/tuple [19, 0] + - !!python/tuple [26, 23] + - !!python/tuple [30, 22] + - !!python/tuple [31, 4] + - !!python/tuple [0, 30] + - !!python/tuple [8, 30] + - !!python/tuple [10, 12] + - !!python/tuple [15, 7] + - !!python/tuple [31, 3] + - !!python/tuple [8, 10] + - !!python/tuple [26, 8] + - !!python/tuple [4, 5] + - !!python/tuple [10, 30] + - !!python/tuple [18, 22] + - !!python/tuple [10, 8] + - !!python/tuple [18, 10] + - !!python/tuple [10, 4] + - !!python/tuple [19, 20] + - !!python/tuple [18, 15] + - !!python/tuple [15, 29] + - !!python/tuple [0, 6] + - !!python/tuple [30, 1] + - !!python/tuple [11, 18] + - !!python/tuple [25, 27] + - !!python/tuple [31, 6] + - !!python/tuple [7, 28] + - !!python/tuple [16, 16] + - !!python/tuple [21, 20] + - !!python/tuple [9, 1] + - !!python/tuple [27, 11] + - !!python/tuple [7, 21] + - !!python/tuple [8, 18] + - !!python/tuple [14, 8] + - !!python/tuple [27, 8] + - !!python/tuple [27, 24] + - !!python/tuple [19, 25] + - !!python/tuple [3, 27] + - !!python/tuple [8, 27] + - !!python/tuple [12, 3] + - !!python/tuple [20, 15] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex15.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex15.yaml new file mode 100644 index 0000000..d0a34ee --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex15.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [10, 7] + name: agent0 + start: [18, 7] +- goal: [30, 8] + name: agent1 + start: [19, 12] +- goal: [16, 19] + name: agent2 + start: [5, 12] +- goal: [29, 8] + name: agent3 + start: [19, 20] +- goal: [6, 2] + name: agent4 + start: [2, 31] +- goal: [10, 20] + name: agent5 + start: [24, 5] +- goal: [6, 21] + name: agent6 + start: [7, 5] +- goal: [8, 17] + name: agent7 + start: [13, 7] +- goal: [15, 28] + name: agent8 + start: [16, 8] +- goal: [8, 16] + name: agent9 + start: [0, 0] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [7, 12] + - !!python/tuple [12, 27] + - !!python/tuple [25, 22] + - !!python/tuple [4, 12] + - !!python/tuple [3, 7] + - !!python/tuple [12, 25] + - !!python/tuple [7, 21] + - !!python/tuple [31, 2] + - !!python/tuple [16, 13] + - !!python/tuple [7, 28] + - !!python/tuple [19, 27] + - !!python/tuple [19, 31] + - !!python/tuple [2, 4] + - !!python/tuple [17, 6] + - !!python/tuple [11, 13] + - !!python/tuple [3, 11] + - !!python/tuple [16, 0] + - !!python/tuple [18, 29] + - !!python/tuple [31, 28] + - !!python/tuple [27, 31] + - !!python/tuple [21, 30] + - !!python/tuple [12, 29] + - !!python/tuple [7, 14] + - !!python/tuple [25, 16] + - !!python/tuple [12, 4] + - !!python/tuple [9, 30] + - !!python/tuple [8, 6] + - !!python/tuple [29, 21] + - !!python/tuple [23, 15] + - !!python/tuple [31, 17] + - !!python/tuple [28, 22] + - !!python/tuple [31, 1] + - !!python/tuple [14, 12] + - !!python/tuple [7, 3] + - !!python/tuple [5, 22] + - !!python/tuple [12, 17] + - !!python/tuple [2, 27] + - !!python/tuple [17, 17] + - !!python/tuple [4, 10] + - !!python/tuple [6, 29] + - !!python/tuple [9, 26] + - !!python/tuple [0, 9] + - !!python/tuple [7, 0] + - !!python/tuple [29, 2] + - !!python/tuple [28, 7] + - !!python/tuple [8, 21] + - !!python/tuple [11, 15] + - !!python/tuple [25, 8] + - !!python/tuple [6, 5] + - !!python/tuple [19, 5] + - !!python/tuple [22, 26] + - !!python/tuple [1, 26] + - !!python/tuple [13, 3] + - !!python/tuple [21, 6] + - !!python/tuple [11, 8] + - !!python/tuple [3, 23] + - !!python/tuple [15, 31] + - !!python/tuple [4, 24] + - !!python/tuple [17, 12] + - !!python/tuple [0, 6] + - !!python/tuple [21, 17] + - !!python/tuple [26, 4] + - !!python/tuple [26, 11] + - !!python/tuple [31, 21] + - !!python/tuple [24, 11] + - !!python/tuple [15, 19] + - !!python/tuple [16, 21] + - !!python/tuple [1, 16] + - !!python/tuple [25, 9] + - !!python/tuple [27, 2] + - !!python/tuple [26, 17] + - !!python/tuple [8, 13] + - !!python/tuple [2, 29] + - !!python/tuple [6, 4] + - !!python/tuple [23, 31] + - !!python/tuple [6, 28] + - !!python/tuple [17, 9] + - !!python/tuple [24, 29] + - !!python/tuple [27, 9] + - !!python/tuple [25, 26] + - !!python/tuple [24, 8] + - !!python/tuple [23, 6] + - !!python/tuple [17, 23] + - !!python/tuple [3, 6] + - !!python/tuple [12, 18] + - !!python/tuple [31, 29] + - !!python/tuple [18, 9] + - !!python/tuple [1, 5] + - !!python/tuple [13, 27] + - !!python/tuple [13, 23] + - !!python/tuple [5, 21] + - !!python/tuple [11, 4] + - !!python/tuple [30, 16] + - !!python/tuple [15, 12] + - !!python/tuple [5, 13] + - !!python/tuple [26, 12] + - !!python/tuple [29, 6] + - !!python/tuple [19, 3] + - !!python/tuple [29, 28] + - !!python/tuple [3, 12] + - !!python/tuple [8, 28] + - !!python/tuple [16, 14] + - !!python/tuple [23, 14] + - !!python/tuple [8, 18] + - !!python/tuple [11, 2] + - !!python/tuple [4, 16] + - !!python/tuple [29, 24] + - !!python/tuple [30, 31] + - !!python/tuple [3, 15] + - !!python/tuple [29, 9] + - !!python/tuple [31, 16] + - !!python/tuple [28, 8] + - !!python/tuple [19, 19] + - !!python/tuple [24, 15] + - !!python/tuple [21, 10] + - !!python/tuple [21, 1] + - !!python/tuple [4, 30] + - !!python/tuple [20, 10] + - !!python/tuple [13, 20] + - !!python/tuple [15, 20] + - !!python/tuple [16, 30] + - !!python/tuple [10, 22] + - !!python/tuple [19, 23] + - !!python/tuple [2, 24] + - !!python/tuple [1, 28] + - !!python/tuple [9, 4] + - !!python/tuple [29, 25] + - !!python/tuple [12, 7] + - !!python/tuple [26, 30] + - !!python/tuple [21, 5] + - !!python/tuple [17, 5] + - !!python/tuple [18, 1] + - !!python/tuple [9, 18] + - !!python/tuple [25, 1] + - !!python/tuple [9, 24] + - !!python/tuple [29, 16] + - !!python/tuple [7, 24] + - !!python/tuple [2, 3] + - !!python/tuple [10, 15] + - !!python/tuple [23, 12] + - !!python/tuple [25, 4] + - !!python/tuple [20, 3] + - !!python/tuple [21, 27] + - !!python/tuple [18, 13] + - !!python/tuple [2, 22] + - !!python/tuple [2, 8] + - !!python/tuple [25, 30] + - !!python/tuple [20, 12] + - !!python/tuple [1, 3] + - !!python/tuple [19, 21] + - !!python/tuple [27, 12] + - !!python/tuple [6, 24] + - !!python/tuple [15, 22] + - !!python/tuple [31, 9] + - !!python/tuple [24, 17] + - !!python/tuple [25, 20] + - !!python/tuple [15, 25] + - !!python/tuple [8, 23] + - !!python/tuple [14, 29] + - !!python/tuple [12, 1] + - !!python/tuple [21, 20] + - !!python/tuple [19, 1] + - !!python/tuple [2, 21] + - !!python/tuple [12, 24] + - !!python/tuple [15, 16] + - !!python/tuple [14, 19] + - !!python/tuple [25, 28] + - !!python/tuple [3, 16] + - !!python/tuple [10, 17] + - !!python/tuple [13, 26] + - !!python/tuple [0, 23] + - !!python/tuple [17, 14] + - !!python/tuple [4, 22] + - !!python/tuple [25, 11] + - !!python/tuple [15, 21] + - !!python/tuple [12, 10] + - !!python/tuple [0, 11] + - !!python/tuple [5, 17] + - !!python/tuple [0, 22] + - !!python/tuple [15, 17] + - !!python/tuple [13, 5] + - !!python/tuple [8, 20] + - !!python/tuple [28, 15] + - !!python/tuple [27, 22] + - !!python/tuple [30, 23] + - !!python/tuple [2, 18] + - !!python/tuple [8, 3] + - !!python/tuple [13, 16] + - !!python/tuple [18, 28] + - !!python/tuple [13, 15] + - !!python/tuple [24, 26] + - !!python/tuple [23, 27] + - !!python/tuple [20, 15] + - !!python/tuple [10, 27] + - !!python/tuple [6, 20] + - !!python/tuple [3, 25] + - !!python/tuple [25, 13] + - !!python/tuple [5, 30] + - !!python/tuple [26, 31] + - !!python/tuple [0, 8] + - !!python/tuple [24, 19] + - !!python/tuple [29, 22] + - !!python/tuple [19, 22] + - !!python/tuple [10, 10] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex16.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex16.yaml new file mode 100644 index 0000000..061181f --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex16.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [7, 11] + name: agent0 + start: [28, 28] +- goal: [13, 23] + name: agent1 + start: [24, 22] +- goal: [21, 30] + name: agent2 + start: [29, 19] +- goal: [16, 6] + name: agent3 + start: [16, 25] +- goal: [5, 3] + name: agent4 + start: [7, 21] +- goal: [16, 29] + name: agent5 + start: [17, 18] +- goal: [5, 25] + name: agent6 + start: [19, 5] +- goal: [7, 14] + name: agent7 + start: [10, 6] +- goal: [30, 16] + name: agent8 + start: [26, 31] +- goal: [30, 8] + name: agent9 + start: [6, 18] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [5, 18] + - !!python/tuple [22, 21] + - !!python/tuple [19, 14] + - !!python/tuple [9, 27] + - !!python/tuple [3, 26] + - !!python/tuple [2, 11] + - !!python/tuple [9, 11] + - !!python/tuple [31, 27] + - !!python/tuple [19, 7] + - !!python/tuple [17, 1] + - !!python/tuple [23, 12] + - !!python/tuple [10, 23] + - !!python/tuple [16, 3] + - !!python/tuple [24, 15] + - !!python/tuple [13, 3] + - !!python/tuple [7, 9] + - !!python/tuple [23, 6] + - !!python/tuple [2, 28] + - !!python/tuple [2, 24] + - !!python/tuple [14, 18] + - !!python/tuple [31, 29] + - !!python/tuple [0, 24] + - !!python/tuple [9, 8] + - !!python/tuple [11, 10] + - !!python/tuple [30, 4] + - !!python/tuple [26, 11] + - !!python/tuple [9, 21] + - !!python/tuple [1, 20] + - !!python/tuple [0, 29] + - !!python/tuple [21, 10] + - !!python/tuple [27, 16] + - !!python/tuple [8, 4] + - !!python/tuple [1, 2] + - !!python/tuple [18, 18] + - !!python/tuple [1, 28] + - !!python/tuple [26, 29] + - !!python/tuple [11, 4] + - !!python/tuple [4, 14] + - !!python/tuple [31, 9] + - !!python/tuple [12, 13] + - !!python/tuple [29, 18] + - !!python/tuple [28, 29] + - !!python/tuple [30, 30] + - !!python/tuple [23, 1] + - !!python/tuple [16, 31] + - !!python/tuple [23, 10] + - !!python/tuple [2, 1] + - !!python/tuple [18, 7] + - !!python/tuple [16, 0] + - !!python/tuple [29, 16] + - !!python/tuple [27, 18] + - !!python/tuple [14, 16] + - !!python/tuple [28, 6] + - !!python/tuple [12, 19] + - !!python/tuple [7, 28] + - !!python/tuple [23, 28] + - !!python/tuple [7, 27] + - !!python/tuple [24, 17] + - !!python/tuple [2, 12] + - !!python/tuple [15, 31] + - !!python/tuple [6, 29] + - !!python/tuple [6, 30] + - !!python/tuple [19, 20] + - !!python/tuple [30, 10] + - !!python/tuple [14, 14] + - !!python/tuple [30, 14] + - !!python/tuple [3, 16] + - !!python/tuple [20, 31] + - !!python/tuple [12, 18] + - !!python/tuple [22, 13] + - !!python/tuple [3, 5] + - !!python/tuple [28, 22] + - !!python/tuple [10, 25] + - !!python/tuple [29, 2] + - !!python/tuple [4, 4] + - !!python/tuple [19, 25] + - !!python/tuple [23, 14] + - !!python/tuple [28, 4] + - !!python/tuple [4, 17] + - !!python/tuple [10, 4] + - !!python/tuple [4, 5] + - !!python/tuple [4, 30] + - !!python/tuple [12, 4] + - !!python/tuple [12, 16] + - !!python/tuple [22, 12] + - !!python/tuple [27, 3] + - !!python/tuple [6, 6] + - !!python/tuple [7, 0] + - !!python/tuple [6, 9] + - !!python/tuple [24, 19] + - !!python/tuple [28, 10] + - !!python/tuple [9, 7] + - !!python/tuple [0, 3] + - !!python/tuple [1, 15] + - !!python/tuple [27, 19] + - !!python/tuple [23, 17] + - !!python/tuple [13, 30] + - !!python/tuple [12, 20] + - !!python/tuple [28, 8] + - !!python/tuple [7, 4] + - !!python/tuple [10, 3] + - !!python/tuple [5, 12] + - !!python/tuple [31, 18] + - !!python/tuple [28, 31] + - !!python/tuple [17, 9] + - !!python/tuple [22, 2] + - !!python/tuple [22, 1] + - !!python/tuple [2, 20] + - !!python/tuple [16, 13] + - !!python/tuple [11, 24] + - !!python/tuple [27, 0] + - !!python/tuple [27, 6] + - !!python/tuple [16, 2] + - !!python/tuple [26, 18] + - !!python/tuple [21, 25] + - !!python/tuple [3, 4] + - !!python/tuple [28, 25] + - !!python/tuple [19, 11] + - !!python/tuple [5, 5] + - !!python/tuple [20, 9] + - !!python/tuple [10, 12] + - !!python/tuple [8, 17] + - !!python/tuple [13, 22] + - !!python/tuple [17, 22] + - !!python/tuple [21, 3] + - !!python/tuple [1, 1] + - !!python/tuple [1, 22] + - !!python/tuple [6, 22] + - !!python/tuple [29, 17] + - !!python/tuple [3, 24] + - !!python/tuple [7, 22] + - !!python/tuple [18, 28] + - !!python/tuple [4, 26] + - !!python/tuple [3, 29] + - !!python/tuple [29, 10] + - !!python/tuple [13, 4] + - !!python/tuple [10, 0] + - !!python/tuple [9, 17] + - !!python/tuple [25, 4] + - !!python/tuple [30, 11] + - !!python/tuple [23, 4] + - !!python/tuple [20, 24] + - !!python/tuple [9, 12] + - !!python/tuple [22, 15] + - !!python/tuple [21, 22] + - !!python/tuple [14, 29] + - !!python/tuple [8, 20] + - !!python/tuple [15, 19] + - !!python/tuple [30, 1] + - !!python/tuple [0, 14] + - !!python/tuple [1, 27] + - !!python/tuple [4, 18] + - !!python/tuple [21, 17] + - !!python/tuple [13, 11] + - !!python/tuple [20, 4] + - !!python/tuple [18, 2] + - !!python/tuple [1, 7] + - !!python/tuple [5, 6] + - !!python/tuple [27, 15] + - !!python/tuple [13, 9] + - !!python/tuple [17, 2] + - !!python/tuple [10, 31] + - !!python/tuple [24, 31] + - !!python/tuple [13, 21] + - !!python/tuple [18, 8] + - !!python/tuple [24, 29] + - !!python/tuple [16, 19] + - !!python/tuple [25, 10] + - !!python/tuple [0, 5] + - !!python/tuple [1, 23] + - !!python/tuple [4, 27] + - !!python/tuple [13, 6] + - !!python/tuple [11, 26] + - !!python/tuple [21, 1] + - !!python/tuple [15, 0] + - !!python/tuple [9, 16] + - !!python/tuple [4, 22] + - !!python/tuple [8, 9] + - !!python/tuple [6, 7] + - !!python/tuple [11, 2] + - !!python/tuple [23, 19] + - !!python/tuple [8, 3] + - !!python/tuple [11, 5] + - !!python/tuple [30, 28] + - !!python/tuple [26, 15] + - !!python/tuple [31, 19] + - !!python/tuple [28, 17] + - !!python/tuple [19, 15] + - !!python/tuple [31, 22] + - !!python/tuple [24, 1] + - !!python/tuple [9, 19] + - !!python/tuple [4, 12] + - !!python/tuple [11, 16] + - !!python/tuple [14, 1] + - !!python/tuple [31, 15] + - !!python/tuple [25, 8] + - !!python/tuple [3, 17] + - !!python/tuple [19, 21] + - !!python/tuple [10, 28] + - !!python/tuple [24, 7] + - !!python/tuple [31, 10] + - !!python/tuple [0, 2] + - !!python/tuple [25, 15] + - !!python/tuple [9, 5] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex17.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex17.yaml new file mode 100644 index 0000000..477ce7d --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex17.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [20, 16] + name: agent0 + start: [27, 11] +- goal: [18, 3] + name: agent1 + start: [18, 26] +- goal: [1, 7] + name: agent2 + start: [9, 15] +- goal: [26, 31] + name: agent3 + start: [2, 4] +- goal: [7, 29] + name: agent4 + start: [15, 28] +- goal: [22, 26] + name: agent5 + start: [24, 16] +- goal: [24, 13] + name: agent6 + start: [31, 20] +- goal: [6, 4] + name: agent7 + start: [1, 6] +- goal: [29, 9] + name: agent8 + start: [26, 13] +- goal: [23, 30] + name: agent9 + start: [28, 7] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [3, 17] + - !!python/tuple [25, 1] + - !!python/tuple [29, 22] + - !!python/tuple [7, 21] + - !!python/tuple [4, 30] + - !!python/tuple [12, 29] + - !!python/tuple [13, 5] + - !!python/tuple [27, 9] + - !!python/tuple [26, 6] + - !!python/tuple [31, 0] + - !!python/tuple [25, 28] + - !!python/tuple [1, 8] + - !!python/tuple [1, 31] + - !!python/tuple [11, 29] + - !!python/tuple [12, 6] + - !!python/tuple [3, 22] + - !!python/tuple [29, 0] + - !!python/tuple [25, 19] + - !!python/tuple [4, 13] + - !!python/tuple [17, 19] + - !!python/tuple [13, 16] + - !!python/tuple [1, 19] + - !!python/tuple [31, 16] + - !!python/tuple [14, 6] + - !!python/tuple [13, 17] + - !!python/tuple [5, 27] + - !!python/tuple [30, 31] + - !!python/tuple [8, 13] + - !!python/tuple [22, 18] + - !!python/tuple [12, 15] + - !!python/tuple [28, 29] + - !!python/tuple [18, 18] + - !!python/tuple [0, 5] + - !!python/tuple [5, 29] + - !!python/tuple [27, 15] + - !!python/tuple [19, 29] + - !!python/tuple [9, 3] + - !!python/tuple [28, 15] + - !!python/tuple [25, 26] + - !!python/tuple [24, 21] + - !!python/tuple [29, 5] + - !!python/tuple [13, 22] + - !!python/tuple [30, 16] + - !!python/tuple [17, 5] + - !!python/tuple [27, 21] + - !!python/tuple [23, 4] + - !!python/tuple [8, 31] + - !!python/tuple [14, 21] + - !!python/tuple [26, 11] + - !!python/tuple [12, 13] + - !!python/tuple [5, 20] + - !!python/tuple [18, 25] + - !!python/tuple [29, 29] + - !!python/tuple [2, 6] + - !!python/tuple [27, 25] + - !!python/tuple [11, 18] + - !!python/tuple [8, 16] + - !!python/tuple [3, 31] + - 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[11, 15] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex18.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex18.yaml new file mode 100644 index 0000000..ba39678 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex18.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [17, 22] + name: agent0 + start: [10, 15] +- goal: [6, 25] + name: agent1 + start: [6, 21] +- goal: [7, 9] + name: agent2 + start: [27, 30] +- goal: [1, 13] + name: agent3 + start: [28, 20] +- goal: [9, 13] + name: agent4 + start: [30, 26] +- goal: [29, 1] + name: agent5 + start: [17, 18] +- goal: [29, 30] + name: agent6 + start: [12, 9] +- goal: [6, 7] + name: agent7 + start: [28, 18] +- goal: [25, 19] + name: agent8 + start: [6, 3] +- goal: [6, 31] + name: agent9 + start: [25, 23] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [30, 31] + - !!python/tuple [6, 30] + - !!python/tuple [16, 3] + - 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!!python/tuple [21, 28] + - !!python/tuple [24, 15] + - !!python/tuple [27, 1] + - !!python/tuple [1, 23] + - !!python/tuple [1, 26] + - !!python/tuple [12, 19] + - !!python/tuple [19, 7] + - !!python/tuple [12, 18] + - !!python/tuple [16, 22] + - !!python/tuple [20, 22] + - !!python/tuple [31, 9] + - !!python/tuple [13, 23] + - !!python/tuple [3, 3] + - !!python/tuple [8, 6] + - !!python/tuple [26, 14] + - !!python/tuple [29, 28] + - !!python/tuple [1, 16] + - !!python/tuple [9, 22] + - !!python/tuple [5, 17] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex19.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex19.yaml new file mode 100644 index 0000000..6b3788a --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex19.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [31, 30] + name: agent0 + start: [11, 0] +- goal: [3, 10] + name: agent1 + start: [19, 24] +- goal: [12, 22] + name: agent2 + start: [20, 25] +- goal: [3, 13] + name: agent3 + start: [0, 10] +- goal: [14, 7] + name: agent4 + start: [26, 17] +- goal: [9, 25] + name: agent5 + start: [4, 8] +- goal: [1, 25] + name: agent6 + start: [24, 10] +- goal: [15, 12] + name: agent7 + start: [11, 15] +- goal: [30, 22] + name: agent8 + start: [19, 29] +- goal: [7, 29] + name: agent9 + start: [27, 23] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [11, 11] + - !!python/tuple [25, 20] + - !!python/tuple [6, 6] + - !!python/tuple [26, 8] + - !!python/tuple [19, 26] + - !!python/tuple [12, 24] + - !!python/tuple [25, 5] + - !!python/tuple [5, 18] + - !!python/tuple [27, 19] + - !!python/tuple [24, 22] + - !!python/tuple [6, 16] + - !!python/tuple [23, 29] + - !!python/tuple [29, 16] + - !!python/tuple [22, 15] + - !!python/tuple [29, 1] + - !!python/tuple [31, 13] + - !!python/tuple [2, 29] + - !!python/tuple [10, 7] + - !!python/tuple [3, 17] + - !!python/tuple [5, 31] + - !!python/tuple [20, 5] + - !!python/tuple [18, 6] + - !!python/tuple [7, 14] + - !!python/tuple [15, 4] + - !!python/tuple [15, 10] + - !!python/tuple [22, 29] + - !!python/tuple [24, 24] + - !!python/tuple [21, 15] + - !!python/tuple [16, 18] + - !!python/tuple [5, 4] + - !!python/tuple [0, 7] + - !!python/tuple [23, 1] + - !!python/tuple [19, 18] + - !!python/tuple [24, 11] + - !!python/tuple [31, 22] + - !!python/tuple [27, 6] + - !!python/tuple [22, 20] + - !!python/tuple [14, 12] + - !!python/tuple [12, 0] + - !!python/tuple [30, 12] + - !!python/tuple [1, 22] + - !!python/tuple [23, 16] + - !!python/tuple [15, 11] + - !!python/tuple [16, 12] + - !!python/tuple [8, 4] + - !!python/tuple [3, 23] + - !!python/tuple [12, 23] + - !!python/tuple [6, 15] + - !!python/tuple [25, 13] + - !!python/tuple [8, 16] + - !!python/tuple [18, 23] + - !!python/tuple [31, 29] + - !!python/tuple [3, 15] + - !!python/tuple [20, 17] + - !!python/tuple [10, 27] + - !!python/tuple [9, 9] + - !!python/tuple [22, 11] + - 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[11, 9] + - !!python/tuple [5, 16] + - !!python/tuple [25, 18] + - !!python/tuple [28, 4] + - !!python/tuple [15, 22] + - !!python/tuple [20, 0] + - !!python/tuple [20, 4] + - !!python/tuple [25, 14] + - !!python/tuple [26, 7] + - !!python/tuple [30, 10] + - !!python/tuple [31, 15] + - !!python/tuple [17, 20] + - !!python/tuple [0, 1] + - !!python/tuple [2, 16] + - !!python/tuple [16, 0] + - !!python/tuple [28, 6] + - !!python/tuple [27, 5] + - !!python/tuple [3, 12] + - !!python/tuple [18, 8] + - !!python/tuple [14, 8] + - !!python/tuple [28, 22] + - !!python/tuple [20, 23] + - !!python/tuple [7, 4] + - !!python/tuple [2, 21] + - !!python/tuple [1, 16] + - !!python/tuple [13, 27] + - !!python/tuple [2, 13] + - !!python/tuple [27, 16] + - !!python/tuple [19, 21] + - !!python/tuple [12, 15] + - !!python/tuple [2, 15] + - !!python/tuple [12, 21] + - !!python/tuple [28, 0] + - !!python/tuple [4, 28] + - !!python/tuple [10, 16] + - !!python/tuple [6, 25] + - !!python/tuple [13, 31] + - !!python/tuple [31, 8] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex2.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex2.yaml new file mode 100644 index 0000000..9e4d741 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex2.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [3, 8] + name: agent0 + start: [15, 28] +- goal: [8, 31] + name: agent1 + start: [5, 13] +- goal: [21, 13] + name: agent2 + start: [9, 24] +- goal: [22, 5] + name: agent3 + start: [26, 30] +- goal: [2, 27] + name: agent4 + start: [16, 25] +- goal: [18, 13] + name: agent5 + start: [22, 4] +- goal: [9, 3] + name: agent6 + start: [20, 22] +- goal: [4, 25] + name: agent7 + start: [5, 30] +- goal: [5, 31] + name: agent8 + start: [30, 31] +- goal: [11, 15] + name: agent9 + start: [24, 1] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [14, 24] + - !!python/tuple [8, 11] + - !!python/tuple [5, 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[0, 15] + - !!python/tuple [29, 3] + - !!python/tuple [2, 11] + - !!python/tuple [13, 3] + - !!python/tuple [4, 22] + - !!python/tuple [0, 5] + - !!python/tuple [22, 14] + - !!python/tuple [10, 21] + - !!python/tuple [9, 30] + - !!python/tuple [30, 16] + - !!python/tuple [1, 21] + - !!python/tuple [11, 3] + - !!python/tuple [7, 26] + - !!python/tuple [6, 19] + - !!python/tuple [19, 2] + - !!python/tuple [21, 25] + - !!python/tuple [12, 30] + - !!python/tuple [17, 28] + - !!python/tuple [21, 26] + - !!python/tuple [6, 22] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex20.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex20.yaml new file mode 100644 index 0000000..726bf41 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex20.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [12, 1] + name: agent0 + start: [9, 23] +- goal: [23, 16] + name: agent1 + start: [29, 16] +- goal: [13, 17] + name: agent2 + start: [2, 7] +- goal: [30, 5] + name: agent3 + start: [26, 31] +- goal: [9, 20] + name: agent4 + start: [11, 6] +- goal: [2, 0] + name: agent5 + start: [5, 16] +- goal: [17, 29] + name: agent6 + start: [18, 0] +- goal: [30, 14] + name: agent7 + start: [19, 7] +- goal: [23, 13] + name: agent8 + start: [7, 27] +- goal: [20, 16] + name: agent9 + start: [8, 24] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [18, 26] + - !!python/tuple [30, 6] + - !!python/tuple [13, 11] + - !!python/tuple [14, 6] + - !!python/tuple [8, 10] + - !!python/tuple [6, 0] + - !!python/tuple [20, 10] + - !!python/tuple [2, 27] + - !!python/tuple [22, 20] + - !!python/tuple [30, 1] + - !!python/tuple [16, 2] + - !!python/tuple [7, 14] + - !!python/tuple [31, 18] + - !!python/tuple [8, 23] + - !!python/tuple [26, 21] + - !!python/tuple [9, 12] + - !!python/tuple [25, 25] + - !!python/tuple [0, 14] + - !!python/tuple [14, 3] + - !!python/tuple [26, 28] + - !!python/tuple [3, 3] + - !!python/tuple [20, 26] + - !!python/tuple [7, 5] + - !!python/tuple [26, 11] + - !!python/tuple [24, 8] + - !!python/tuple [14, 15] + - !!python/tuple [1, 8] + - !!python/tuple [20, 23] + - !!python/tuple [24, 30] + - !!python/tuple [19, 12] + - !!python/tuple [7, 8] + - !!python/tuple [7, 29] + - !!python/tuple [22, 27] + - !!python/tuple [23, 1] + - !!python/tuple [13, 26] + - !!python/tuple [7, 23] + - !!python/tuple [27, 21] + - !!python/tuple [28, 20] + - !!python/tuple [19, 26] + - !!python/tuple [11, 28] + - !!python/tuple [6, 25] + - !!python/tuple [16, 11] + - !!python/tuple [0, 20] + - !!python/tuple [5, 23] + - !!python/tuple [16, 8] + - !!python/tuple [14, 31] + - !!python/tuple [6, 6] + - !!python/tuple [29, 12] + - !!python/tuple [13, 13] + - !!python/tuple [12, 16] + - !!python/tuple [20, 11] + - !!python/tuple [31, 5] + - !!python/tuple [5, 25] + - !!python/tuple [3, 17] + - !!python/tuple [12, 11] + - !!python/tuple [30, 15] + - !!python/tuple [12, 20] + - 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[14, 29] + - !!python/tuple [27, 1] + - !!python/tuple [30, 8] + - !!python/tuple [6, 27] + - !!python/tuple [24, 31] + - !!python/tuple [31, 24] + - !!python/tuple [24, 4] + - !!python/tuple [1, 26] + - !!python/tuple [3, 13] + - !!python/tuple [26, 22] + - !!python/tuple [18, 27] + - !!python/tuple [4, 29] + - !!python/tuple [14, 13] + - !!python/tuple [23, 6] + - !!python/tuple [29, 18] + - !!python/tuple [27, 7] + - !!python/tuple [20, 13] + - !!python/tuple [16, 17] + - !!python/tuple [8, 20] + - !!python/tuple [10, 1] + - !!python/tuple [27, 23] + - !!python/tuple [18, 15] + - !!python/tuple [7, 18] + - !!python/tuple [18, 7] + - !!python/tuple [17, 3] + - !!python/tuple [23, 12] + - !!python/tuple [21, 31] + - !!python/tuple [17, 6] + - !!python/tuple [13, 22] + - !!python/tuple [14, 5] + - !!python/tuple [19, 0] + - !!python/tuple [5, 0] + - !!python/tuple [24, 7] + - !!python/tuple [17, 2] + - !!python/tuple [3, 11] + - !!python/tuple [20, 19] + - !!python/tuple [25, 21] + - !!python/tuple [31, 28] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex21.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex21.yaml new file mode 100644 index 0000000..b17e04e --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex21.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [10, 3] + name: agent0 + start: [31, 11] +- goal: [30, 22] + name: agent1 + start: [11, 19] +- goal: [27, 28] + name: agent2 + start: [3, 23] +- goal: [31, 14] + name: agent3 + start: [27, 2] +- goal: [30, 13] + name: agent4 + start: [3, 9] +- goal: [22, 6] + name: agent5 + start: [31, 23] +- goal: [3, 28] + name: agent6 + start: [15, 27] +- goal: [16, 15] + name: agent7 + start: [16, 28] +- goal: [18, 14] + name: agent8 + start: [3, 25] +- goal: [11, 28] + name: agent9 + start: [0, 23] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [14, 20] + - !!python/tuple [1, 25] + - !!python/tuple [31, 15] + - !!python/tuple [4, 22] + - !!python/tuple [26, 22] + - !!python/tuple [23, 29] + - !!python/tuple [13, 3] + - !!python/tuple [23, 10] + - !!python/tuple [10, 4] + - !!python/tuple [30, 28] + - !!python/tuple [28, 8] + - !!python/tuple [15, 29] + - !!python/tuple [24, 24] + - !!python/tuple [28, 31] + - !!python/tuple [14, 30] + - !!python/tuple [28, 9] + - !!python/tuple [22, 22] + - !!python/tuple [17, 4] + - !!python/tuple [5, 30] + - !!python/tuple [23, 8] + - !!python/tuple [13, 31] + - !!python/tuple [6, 26] + - !!python/tuple [3, 11] + - !!python/tuple [4, 24] + - !!python/tuple [18, 24] + - !!python/tuple [24, 9] + - !!python/tuple [30, 17] + - !!python/tuple [30, 11] + - !!python/tuple [19, 24] + - !!python/tuple [9, 14] + - !!python/tuple [19, 27] + - !!python/tuple [27, 20] + - !!python/tuple [0, 25] + - !!python/tuple [11, 17] + - !!python/tuple [24, 13] + - !!python/tuple [17, 15] + - !!python/tuple [6, 22] + - !!python/tuple [31, 4] + - !!python/tuple [4, 23] + - !!python/tuple [16, 8] + - !!python/tuple [0, 15] + - !!python/tuple [27, 9] + - !!python/tuple [5, 21] + - !!python/tuple [15, 20] + - !!python/tuple [29, 5] + - !!python/tuple [3, 14] + - !!python/tuple [13, 13] + - !!python/tuple [7, 9] + - !!python/tuple [30, 19] + - !!python/tuple [28, 18] + - !!python/tuple [7, 24] + - !!python/tuple [31, 21] + - !!python/tuple [30, 25] + - !!python/tuple [1, 4] + - !!python/tuple [18, 4] + - !!python/tuple [28, 6] + - !!python/tuple [15, 4] + - !!python/tuple [18, 1] + - !!python/tuple [2, 3] + - !!python/tuple [20, 19] + - !!python/tuple [9, 6] + - !!python/tuple [23, 14] + - !!python/tuple [4, 15] + - !!python/tuple [25, 12] + - !!python/tuple [24, 8] + - !!python/tuple [10, 10] + - !!python/tuple [22, 20] + - !!python/tuple [19, 11] + - !!python/tuple [13, 11] + - !!python/tuple [26, 18] + - !!python/tuple [16, 30] + - !!python/tuple [7, 11] + - !!python/tuple [28, 4] + - !!python/tuple [1, 29] + - !!python/tuple [22, 28] + - !!python/tuple [27, 10] + - !!python/tuple [26, 3] + - !!python/tuple [4, 30] + - !!python/tuple [27, 19] + - !!python/tuple [2, 27] + - !!python/tuple [5, 10] + - !!python/tuple [1, 0] + - !!python/tuple [25, 18] + - !!python/tuple [4, 9] + - !!python/tuple [25, 30] + - !!python/tuple [0, 1] + - !!python/tuple [23, 27] + - !!python/tuple [25, 20] + - !!python/tuple [10, 0] + - !!python/tuple [16, 23] + - !!python/tuple [2, 15] + - !!python/tuple [16, 27] + - !!python/tuple [23, 18] + - !!python/tuple [17, 11] + - !!python/tuple [20, 24] + - !!python/tuple [7, 20] + - !!python/tuple [13, 21] + - !!python/tuple [16, 29] + - !!python/tuple [16, 17] + - !!python/tuple [18, 3] + - !!python/tuple [11, 11] + - !!python/tuple [27, 0] + - !!python/tuple [3, 10] + - !!python/tuple [31, 8] + - !!python/tuple [21, 26] + - !!python/tuple [11, 13] + - !!python/tuple [5, 0] + - !!python/tuple [16, 11] + - !!python/tuple [14, 22] + - !!python/tuple [23, 16] + - !!python/tuple [27, 7] + - !!python/tuple [5, 19] + - !!python/tuple [3, 12] + - !!python/tuple [5, 18] + - !!python/tuple [19, 12] + - !!python/tuple [11, 5] + - !!python/tuple [19, 23] + - !!python/tuple [14, 31] + - !!python/tuple [15, 12] + - !!python/tuple [18, 30] + - !!python/tuple [15, 0] + - !!python/tuple [24, 30] + - !!python/tuple [29, 26] + - !!python/tuple [14, 24] + - !!python/tuple [21, 17] + - !!python/tuple [7, 0] + - !!python/tuple [27, 18] + - !!python/tuple [24, 16] + - !!python/tuple [8, 11] + - !!python/tuple [7, 22] + - !!python/tuple [8, 21] + - !!python/tuple [2, 31] + - !!python/tuple [7, 30] + - !!python/tuple [20, 8] + - !!python/tuple [27, 15] + - !!python/tuple [15, 23] + - !!python/tuple [28, 26] + - !!python/tuple [26, 20] + - !!python/tuple [0, 16] + - !!python/tuple [29, 31] + - !!python/tuple [12, 10] + - !!python/tuple [25, 23] + - !!python/tuple [13, 15] + - !!python/tuple [31, 7] + - !!python/tuple [7, 14] + - !!python/tuple [3, 24] + - !!python/tuple [9, 30] + - !!python/tuple [8, 0] + - !!python/tuple [5, 22] + - !!python/tuple [15, 7] + - !!python/tuple [20, 31] + - !!python/tuple [5, 4] + - !!python/tuple [20, 9] + - !!python/tuple [0, 29] + - !!python/tuple [30, 12] + - !!python/tuple [17, 20] + - !!python/tuple [0, 6] + - !!python/tuple [17, 10] + - !!python/tuple [8, 16] + - !!python/tuple [5, 15] + - !!python/tuple [18, 15] + - !!python/tuple [19, 16] + - !!python/tuple [19, 3] + - !!python/tuple [27, 21] + - !!python/tuple [31, 12] + - !!python/tuple [8, 5] + - !!python/tuple [16, 12] + - !!python/tuple [16, 21] + - !!python/tuple [12, 6] + - !!python/tuple [0, 5] + - !!python/tuple [18, 10] + - !!python/tuple [17, 27] + - !!python/tuple [5, 31] + - !!python/tuple [5, 6] + - !!python/tuple [22, 21] + - !!python/tuple [3, 3] + - !!python/tuple [2, 4] + - !!python/tuple [30, 15] + - !!python/tuple [30, 14] + - !!python/tuple [30, 6] + - !!python/tuple [24, 18] + - !!python/tuple [12, 28] + - !!python/tuple [10, 9] + - !!python/tuple [1, 21] + - !!python/tuple [11, 20] + - !!python/tuple [7, 23] + - !!python/tuple [25, 10] + - !!python/tuple [9, 1] + - !!python/tuple [14, 8] + - !!python/tuple [29, 17] + - !!python/tuple [5, 14] + - !!python/tuple [21, 15] + - !!python/tuple [22, 27] + - !!python/tuple [9, 5] + - !!python/tuple [16, 24] + - !!python/tuple [11, 1] + - !!python/tuple [22, 0] + - !!python/tuple [2, 5] + - !!python/tuple [24, 23] + - !!python/tuple [18, 13] + - !!python/tuple [12, 30] + - !!python/tuple [23, 21] + - !!python/tuple [21, 23] + - !!python/tuple [14, 1] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex22.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex22.yaml new file mode 100644 index 0000000..df806e6 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex22.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [29, 22] + name: agent0 + start: [0, 21] +- goal: [5, 1] + name: agent1 + start: [11, 11] +- goal: [6, 4] + name: agent2 + start: [21, 3] +- goal: [17, 20] + name: agent3 + start: [19, 21] +- goal: [2, 29] + name: agent4 + start: [6, 23] +- goal: [12, 8] + name: agent5 + start: [4, 28] +- goal: [10, 29] + name: agent6 + start: [25, 27] +- goal: [13, 11] + name: agent7 + start: [7, 21] +- goal: [24, 7] + name: agent8 + start: [17, 23] +- goal: [23, 5] + name: agent9 + start: [22, 11] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [13, 31] + - !!python/tuple [12, 17] + - !!python/tuple [25, 11] + - !!python/tuple [0, 18] + - !!python/tuple [19, 3] + - !!python/tuple [20, 18] + - !!python/tuple [25, 31] + - !!python/tuple [23, 19] + - !!python/tuple [21, 1] + - !!python/tuple [23, 14] + - !!python/tuple [1, 26] + - !!python/tuple [2, 2] + - !!python/tuple [13, 4] + - !!python/tuple [8, 28] + - !!python/tuple [20, 8] + - !!python/tuple [20, 5] + - !!python/tuple [22, 5] + - !!python/tuple [22, 22] + - !!python/tuple [30, 28] + - !!python/tuple [3, 4] + - !!python/tuple [21, 29] + - !!python/tuple [3, 27] + - !!python/tuple [23, 0] + - !!python/tuple [28, 29] + - !!python/tuple [25, 23] + - !!python/tuple [1, 24] + - !!python/tuple [14, 28] + - !!python/tuple [5, 31] + - !!python/tuple [19, 18] + - !!python/tuple [8, 1] + - !!python/tuple [7, 6] + - !!python/tuple [28, 5] + - !!python/tuple [22, 4] + - !!python/tuple [10, 16] + - !!python/tuple [19, 2] + - !!python/tuple [13, 5] + - !!python/tuple [7, 19] + - !!python/tuple [2, 4] + - !!python/tuple [20, 28] + - !!python/tuple [1, 27] + - !!python/tuple [6, 9] + - !!python/tuple [11, 1] + - !!python/tuple [27, 18] + - !!python/tuple [12, 26] + - !!python/tuple [4, 24] + - !!python/tuple [5, 29] + - !!python/tuple [16, 31] + - !!python/tuple [28, 31] + - !!python/tuple [31, 23] + - !!python/tuple [24, 27] + - !!python/tuple [7, 25] + - !!python/tuple [27, 6] + - !!python/tuple [1, 15] + - !!python/tuple [17, 22] + - !!python/tuple [1, 5] + - !!python/tuple [10, 15] + - !!python/tuple [5, 3] + - !!python/tuple [24, 25] + - !!python/tuple [21, 14] + - !!python/tuple [2, 13] + - !!python/tuple [8, 17] + - !!python/tuple [6, 8] + - !!python/tuple [25, 17] + - !!python/tuple [17, 3] + - !!python/tuple [5, 28] + - !!python/tuple [2, 15] + - !!python/tuple [3, 31] + - !!python/tuple [30, 3] + - !!python/tuple [20, 21] + - !!python/tuple [16, 15] + - !!python/tuple [6, 30] + - !!python/tuple [26, 25] + - !!python/tuple [20, 17] + - !!python/tuple [11, 8] + - !!python/tuple [0, 7] + - !!python/tuple [12, 21] + - !!python/tuple [21, 0] + - !!python/tuple [31, 4] + - !!python/tuple [21, 5] + - !!python/tuple [5, 14] + - !!python/tuple [19, 20] + - !!python/tuple [23, 31] + - !!python/tuple [10, 26] + - !!python/tuple [31, 9] + - !!python/tuple [16, 6] + - !!python/tuple [14, 13] + - !!python/tuple [12, 30] + - !!python/tuple [17, 30] + - !!python/tuple [18, 2] + - !!python/tuple [6, 17] + - !!python/tuple [28, 19] + - !!python/tuple [16, 14] + - !!python/tuple [7, 16] + - !!python/tuple [11, 15] + - !!python/tuple [30, 24] + - !!python/tuple [26, 20] + - !!python/tuple [26, 2] + - !!python/tuple [17, 18] + - !!python/tuple [24, 4] + - !!python/tuple [6, 1] + - !!python/tuple [31, 11] + - !!python/tuple [24, 16] + - !!python/tuple [11, 18] + - !!python/tuple [24, 21] + - !!python/tuple [6, 28] + - !!python/tuple [18, 15] + - !!python/tuple [9, 4] + - !!python/tuple [29, 15] + - !!python/tuple [12, 31] + - !!python/tuple [2, 5] + - !!python/tuple [24, 17] + - !!python/tuple [24, 15] + - !!python/tuple [31, 29] + - !!python/tuple [13, 20] + - !!python/tuple [29, 27] + - !!python/tuple [3, 0] + - !!python/tuple [20, 26] + - !!python/tuple [6, 21] + - !!python/tuple [29, 12] + - !!python/tuple [2, 16] + - !!python/tuple [17, 10] + - !!python/tuple [5, 10] + - !!python/tuple [31, 10] + - !!python/tuple [22, 29] + - !!python/tuple [21, 10] + - !!python/tuple [5, 22] + - !!python/tuple [6, 27] + - !!python/tuple [24, 13] + - !!python/tuple [22, 31] + - !!python/tuple [4, 2] + - !!python/tuple [17, 31] + - !!python/tuple [28, 8] + - !!python/tuple [26, 29] + - !!python/tuple [27, 7] + - !!python/tuple [17, 27] + - !!python/tuple [27, 5] + - !!python/tuple [0, 8] + - !!python/tuple [9, 31] + - !!python/tuple [30, 9] + - !!python/tuple [16, 16] + - !!python/tuple [26, 14] + - !!python/tuple [29, 25] + - !!python/tuple [10, 18] + - !!python/tuple [24, 18] + - !!python/tuple [15, 7] + - !!python/tuple [21, 17] + - !!python/tuple [1, 2] + - !!python/tuple [28, 18] + - !!python/tuple [0, 6] + - !!python/tuple [14, 3] + - !!python/tuple [3, 26] + - !!python/tuple [6, 16] + - !!python/tuple [17, 6] + - !!python/tuple [19, 11] + - !!python/tuple [15, 10] + - !!python/tuple [27, 8] + - !!python/tuple [27, 2] + - !!python/tuple [20, 6] + - !!python/tuple [29, 20] + - !!python/tuple [30, 25] + - !!python/tuple [27, 31] + - !!python/tuple [23, 16] + - !!python/tuple [6, 0] + - !!python/tuple [4, 19] + - !!python/tuple [14, 18] + - !!python/tuple [31, 5] + - !!python/tuple [14, 27] + - !!python/tuple [17, 7] + - !!python/tuple [14, 14] + - !!python/tuple [22, 28] + - !!python/tuple [11, 13] + - !!python/tuple [7, 13] + - !!python/tuple [21, 13] + - !!python/tuple [14, 8] + - !!python/tuple [16, 2] + - !!python/tuple [9, 1] + - !!python/tuple [15, 23] + - !!python/tuple [30, 23] + - !!python/tuple [7, 22] + - !!python/tuple [22, 23] + - !!python/tuple [26, 6] + - !!python/tuple [14, 12] + - !!python/tuple [4, 21] + - !!python/tuple [19, 14] + - !!python/tuple [18, 30] + - !!python/tuple [20, 29] + - !!python/tuple [25, 20] + - !!python/tuple [15, 2] + - !!python/tuple [27, 14] + - !!python/tuple [8, 13] + - !!python/tuple [21, 7] + - !!python/tuple [20, 2] + - !!python/tuple [16, 20] + - !!python/tuple [6, 6] + - !!python/tuple [8, 12] + - !!python/tuple [5, 23] + - !!python/tuple [2, 0] + - !!python/tuple [8, 18] + - !!python/tuple [26, 21] + - !!python/tuple [21, 28] + - !!python/tuple [9, 19] + - !!python/tuple [20, 23] + - !!python/tuple [15, 20] + - !!python/tuple [28, 30] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex23.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex23.yaml new file mode 100644 index 0000000..ff22d64 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex23.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [17, 10] + name: agent0 + start: [25, 18] +- goal: [31, 15] + name: agent1 + start: [25, 29] +- goal: [5, 11] + name: agent2 + start: [11, 17] +- goal: [2, 2] + name: agent3 + start: [19, 17] +- goal: [5, 26] + name: agent4 + start: [20, 3] +- goal: [19, 17] + name: agent5 + start: [11, 30] +- goal: [10, 29] + name: agent6 + start: [6, 26] +- goal: [18, 2] + name: agent7 + start: [17, 13] +- goal: [31, 23] + name: agent8 + start: [12, 21] +- goal: [18, 26] + name: agent9 + start: [7, 6] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [8, 4] + - !!python/tuple [26, 2] + - !!python/tuple [24, 4] + - !!python/tuple [9, 5] + - !!python/tuple [30, 21] + - !!python/tuple [9, 31] + - !!python/tuple [28, 25] + - !!python/tuple [17, 18] + - !!python/tuple [28, 26] + - !!python/tuple [15, 20] + - !!python/tuple [1, 2] + - !!python/tuple [1, 13] + - !!python/tuple [23, 15] + - !!python/tuple [9, 24] + - !!python/tuple [26, 6] + - !!python/tuple [25, 25] + - !!python/tuple [16, 30] + - !!python/tuple [5, 31] + - !!python/tuple [14, 7] + - !!python/tuple [14, 17] + - !!python/tuple [21, 24] + - !!python/tuple [18, 25] + - !!python/tuple [17, 24] + - !!python/tuple [0, 8] + - !!python/tuple [14, 19] + - !!python/tuple [16, 7] + - !!python/tuple [20, 28] + - !!python/tuple [16, 15] + - !!python/tuple [1, 31] + - !!python/tuple [26, 25] + - !!python/tuple [29, 17] + - !!python/tuple [30, 27] + - !!python/tuple [30, 0] + - !!python/tuple [8, 15] + - !!python/tuple [13, 3] + - !!python/tuple [6, 6] + - !!python/tuple [12, 12] + - !!python/tuple [13, 2] + - !!python/tuple [10, 12] + - !!python/tuple [4, 3] + - !!python/tuple [2, 16] + - !!python/tuple [9, 27] + - !!python/tuple [18, 19] + - !!python/tuple [30, 3] + - !!python/tuple [17, 8] + - !!python/tuple [4, 7] + - !!python/tuple [12, 27] + - !!python/tuple [21, 3] + - !!python/tuple [17, 20] + - !!python/tuple [0, 28] + - !!python/tuple [18, 31] + - !!python/tuple [7, 23] + - !!python/tuple [14, 23] + - !!python/tuple [19, 24] + - !!python/tuple [19, 25] + - !!python/tuple [6, 20] + - !!python/tuple [16, 23] + - !!python/tuple [2, 5] + - !!python/tuple [23, 19] + - !!python/tuple [26, 31] + - !!python/tuple [27, 1] + - !!python/tuple [22, 28] + - !!python/tuple [25, 3] + - !!python/tuple [10, 4] + - !!python/tuple [31, 4] + - !!python/tuple [15, 5] + - !!python/tuple [10, 16] + - !!python/tuple [3, 24] + - !!python/tuple [30, 9] + - !!python/tuple [5, 24] + - !!python/tuple [1, 24] + - !!python/tuple [23, 9] + - !!python/tuple [24, 23] + - !!python/tuple [10, 14] + - !!python/tuple [10, 7] + - !!python/tuple [1, 0] + - !!python/tuple [12, 2] + - !!python/tuple [5, 8] + - !!python/tuple [12, 28] + - !!python/tuple [22, 16] + - !!python/tuple [17, 17] + - !!python/tuple [21, 17] + - !!python/tuple [23, 26] + - !!python/tuple [20, 16] + - !!python/tuple [2, 7] + - !!python/tuple [2, 1] + - !!python/tuple [27, 15] + - !!python/tuple [15, 25] + - !!python/tuple [6, 17] + - !!python/tuple [29, 12] + - !!python/tuple [21, 23] + - !!python/tuple [4, 29] + - !!python/tuple [24, 21] + - !!python/tuple [14, 28] + - !!python/tuple [25, 4] + - !!python/tuple [8, 1] + - !!python/tuple [6, 21] + - !!python/tuple [17, 30] + - !!python/tuple [14, 8] + - !!python/tuple [15, 6] + - !!python/tuple [2, 11] + - !!python/tuple [25, 27] + - !!python/tuple [23, 27] + - !!python/tuple [31, 17] + - !!python/tuple [26, 16] + - !!python/tuple [7, 1] + - !!python/tuple [15, 14] + - !!python/tuple [16, 24] + - !!python/tuple [0, 3] + - !!python/tuple [4, 14] + - !!python/tuple [26, 11] + - !!python/tuple [29, 13] + - !!python/tuple [15, 28] + - !!python/tuple [12, 1] + - !!python/tuple [14, 13] + - !!python/tuple [30, 31] + - !!python/tuple [22, 6] + - !!python/tuple [26, 3] + - !!python/tuple [21, 10] + - !!python/tuple [31, 13] + - !!python/tuple [6, 10] + - !!python/tuple [21, 8] + - !!python/tuple [2, 19] + - !!python/tuple [23, 4] + - !!python/tuple [13, 26] + - !!python/tuple [4, 27] + - !!python/tuple [14, 9] + - !!python/tuple [2, 4] + - !!python/tuple [25, 24] + - !!python/tuple [4, 15] + - !!python/tuple [0, 31] + - !!python/tuple [28, 12] + - !!python/tuple [22, 21] + - !!python/tuple [11, 0] + - !!python/tuple [10, 3] + - !!python/tuple [29, 25] + - !!python/tuple [14, 15] + - !!python/tuple [15, 10] + - !!python/tuple [12, 10] + - !!python/tuple [29, 20] + - !!python/tuple [13, 20] + - !!python/tuple [20, 22] + - !!python/tuple [28, 23] + - !!python/tuple [26, 18] + - !!python/tuple [3, 20] + - !!python/tuple [9, 10] + - !!python/tuple [1, 18] + - !!python/tuple [9, 23] + - !!python/tuple [16, 4] + - !!python/tuple [5, 20] + - !!python/tuple [17, 31] + - !!python/tuple [24, 20] + - !!python/tuple [5, 13] + - !!python/tuple [30, 7] + - !!python/tuple [11, 24] + - !!python/tuple [21, 12] + - !!python/tuple [2, 30] + - !!python/tuple [30, 13] + - !!python/tuple [10, 20] + - !!python/tuple [30, 20] + - !!python/tuple [10, 13] + - !!python/tuple [4, 30] + - !!python/tuple [4, 11] + - !!python/tuple [24, 5] + - !!python/tuple [20, 24] + - !!python/tuple [14, 0] + - !!python/tuple [14, 12] + - !!python/tuple [12, 23] + - !!python/tuple [14, 22] + - !!python/tuple [20, 18] + - !!python/tuple [3, 15] + - !!python/tuple [30, 26] + - !!python/tuple [10, 11] + - !!python/tuple [26, 20] + - !!python/tuple [16, 17] + - !!python/tuple [19, 1] + - !!python/tuple [19, 21] + - !!python/tuple [28, 31] + - !!python/tuple [18, 0] + - !!python/tuple [31, 26] + - !!python/tuple [8, 24] + - !!python/tuple [15, 4] + - !!python/tuple [10, 17] + - !!python/tuple [7, 30] + - !!python/tuple [9, 13] + - !!python/tuple [11, 15] + - !!python/tuple [28, 9] + - !!python/tuple [29, 8] + - !!python/tuple [6, 5] + - !!python/tuple [4, 31] + - !!python/tuple [31, 25] + - !!python/tuple [4, 4] + - !!python/tuple [6, 14] + - !!python/tuple [24, 19] + - !!python/tuple [7, 9] + - !!python/tuple [0, 29] + - !!python/tuple [30, 11] + - !!python/tuple [7, 12] + - !!python/tuple [16, 21] + - !!python/tuple [2, 15] + - !!python/tuple [9, 8] + - !!python/tuple [24, 25] + - !!python/tuple [10, 27] + - !!python/tuple [25, 30] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex24.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex24.yaml new file mode 100644 index 0000000..28276c7 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex24.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [13, 23] + name: agent0 + start: [13, 17] +- goal: [27, 12] + name: agent1 + start: [17, 4] +- goal: [17, 2] + name: agent2 + start: [11, 28] +- goal: [16, 28] + name: agent3 + start: [26, 15] +- goal: [8, 2] + name: agent4 + start: [5, 7] +- goal: [10, 28] + name: agent5 + start: [18, 21] +- goal: [21, 1] + name: agent6 + start: [23, 17] +- goal: [10, 16] + name: agent7 + start: [14, 16] +- goal: [19, 3] + name: agent8 + start: [1, 28] +- goal: [11, 17] + name: agent9 + start: [28, 10] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [5, 8] + - !!python/tuple [3, 13] + - !!python/tuple [18, 16] + - !!python/tuple [20, 10] + - !!python/tuple [31, 1] + - !!python/tuple [24, 16] + - !!python/tuple [23, 2] + - !!python/tuple [16, 5] + - !!python/tuple [13, 29] + - !!python/tuple [24, 18] + - !!python/tuple [6, 27] + - !!python/tuple [5, 22] + - !!python/tuple [8, 28] + - !!python/tuple [24, 25] + - !!python/tuple [13, 31] + - !!python/tuple [17, 13] + - !!python/tuple [7, 17] + - !!python/tuple [29, 31] + - !!python/tuple [10, 29] + - !!python/tuple [23, 15] + - !!python/tuple [9, 28] + - !!python/tuple [15, 6] + - !!python/tuple [11, 9] + - !!python/tuple [13, 11] + - !!python/tuple [21, 16] + - !!python/tuple [27, 10] + - !!python/tuple [16, 16] + - !!python/tuple [21, 19] + - !!python/tuple [31, 26] + - !!python/tuple [31, 16] + - !!python/tuple [21, 23] + - !!python/tuple [5, 11] + - !!python/tuple [11, 27] + - !!python/tuple [14, 3] + - !!python/tuple [6, 23] + - !!python/tuple [31, 14] + - !!python/tuple [26, 25] + - !!python/tuple [2, 28] + - !!python/tuple [14, 9] + - !!python/tuple [21, 20] + - !!python/tuple [22, 22] + - !!python/tuple [14, 31] + - !!python/tuple [4, 12] + - !!python/tuple [9, 12] + - !!python/tuple [22, 15] + - !!python/tuple [8, 16] + - !!python/tuple [29, 18] + - !!python/tuple [4, 24] + - !!python/tuple [25, 11] + - !!python/tuple [2, 18] + - !!python/tuple [4, 2] + - !!python/tuple [29, 4] + - !!python/tuple [15, 11] + - !!python/tuple [28, 1] + - 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!!python/tuple [20, 14] + - !!python/tuple [9, 22] + - !!python/tuple [11, 14] + - !!python/tuple [25, 10] + - !!python/tuple [25, 25] + - !!python/tuple [21, 30] + - !!python/tuple [7, 23] + - !!python/tuple [8, 29] + - !!python/tuple [13, 12] + - !!python/tuple [8, 8] + - !!python/tuple [8, 10] + - !!python/tuple [20, 1] + - !!python/tuple [23, 7] + - !!python/tuple [24, 8] + - !!python/tuple [30, 30] + - !!python/tuple [21, 15] + - !!python/tuple [20, 29] + - !!python/tuple [23, 10] + - !!python/tuple [25, 13] + - !!python/tuple [22, 31] + - !!python/tuple [6, 25] + - !!python/tuple [14, 28] + - !!python/tuple [31, 0] + - !!python/tuple [18, 5] + - !!python/tuple [24, 5] + - !!python/tuple [29, 5] + - !!python/tuple [5, 30] + - !!python/tuple [0, 2] + - !!python/tuple [6, 16] + - !!python/tuple [31, 23] + - !!python/tuple [12, 23] + - !!python/tuple [21, 29] + - !!python/tuple [10, 25] + - !!python/tuple [11, 23] + - !!python/tuple [24, 0] + - !!python/tuple [17, 31] + - !!python/tuple [16, 22] + - !!python/tuple [2, 21] + - !!python/tuple [12, 13] + - !!python/tuple [26, 20] + - !!python/tuple [16, 31] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex25.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex25.yaml new file mode 100644 index 0000000..07c6999 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex25.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [27, 3] + name: agent0 + start: [24, 28] +- goal: [25, 22] + name: agent1 + start: [29, 0] +- goal: [8, 24] + name: agent2 + start: [28, 26] +- goal: [20, 12] + name: agent3 + start: [31, 21] +- goal: [28, 30] + name: agent4 + start: [8, 28] +- goal: [18, 19] + name: agent5 + start: [6, 27] +- goal: [5, 23] + name: agent6 + start: [31, 17] +- goal: [0, 4] + name: agent7 + start: [6, 29] +- goal: [8, 18] + name: agent8 + start: [13, 5] +- goal: [16, 16] + name: agent9 + start: [1, 21] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [19, 0] + - !!python/tuple [5, 21] + - !!python/tuple [6, 9] + - !!python/tuple [19, 21] + - !!python/tuple [27, 20] + - !!python/tuple [2, 27] + - !!python/tuple [16, 26] + - !!python/tuple [4, 13] + - !!python/tuple [27, 16] + - !!python/tuple [31, 28] + - !!python/tuple [0, 29] + - !!python/tuple [25, 31] + - !!python/tuple [21, 12] + - !!python/tuple [2, 11] + - !!python/tuple [12, 31] + - !!python/tuple [31, 2] + - !!python/tuple [26, 28] + - !!python/tuple [17, 30] + - !!python/tuple [7, 1] + - !!python/tuple [9, 16] + - !!python/tuple [22, 14] + - !!python/tuple [22, 3] + - !!python/tuple [14, 19] + - !!python/tuple [1, 26] + - !!python/tuple [20, 27] + - !!python/tuple [22, 30] + - !!python/tuple [13, 27] + - !!python/tuple [0, 5] + - !!python/tuple [4, 1] + - !!python/tuple [20, 31] + - !!python/tuple [10, 7] + - !!python/tuple [13, 6] + - !!python/tuple [28, 22] + - !!python/tuple [10, 1] + - !!python/tuple [31, 20] + - !!python/tuple [10, 25] + - !!python/tuple [20, 5] + - !!python/tuple [6, 25] + - !!python/tuple [14, 20] + - !!python/tuple [4, 22] + - !!python/tuple [31, 11] + - !!python/tuple [24, 16] + - !!python/tuple [24, 1] + - !!python/tuple [28, 20] + - !!python/tuple [31, 1] + - !!python/tuple [11, 5] + - !!python/tuple [5, 16] + - !!python/tuple [3, 23] + - !!python/tuple [30, 16] + - !!python/tuple [9, 4] + - !!python/tuple [3, 5] + - !!python/tuple [18, 25] + - !!python/tuple [17, 15] + - !!python/tuple [5, 3] + - !!python/tuple [4, 19] + - !!python/tuple [10, 27] + - !!python/tuple [27, 7] + - !!python/tuple [23, 25] + - !!python/tuple [21, 28] + - !!python/tuple [8, 6] + - !!python/tuple [7, 7] + - !!python/tuple [5, 5] + - !!python/tuple [10, 16] + - !!python/tuple [6, 17] + - !!python/tuple [3, 18] + - !!python/tuple [6, 18] + - !!python/tuple [21, 16] + - !!python/tuple [7, 23] + - !!python/tuple [15, 2] + - !!python/tuple [21, 0] + - !!python/tuple [26, 22] + - !!python/tuple [19, 17] + - !!python/tuple [20, 22] + - !!python/tuple [10, 11] + - !!python/tuple [9, 17] + - !!python/tuple [10, 10] + - !!python/tuple [7, 15] + - !!python/tuple [20, 3] + - !!python/tuple [18, 15] + - !!python/tuple [11, 26] + - !!python/tuple [7, 30] + - !!python/tuple [11, 24] + - !!python/tuple [28, 13] + - !!python/tuple [29, 3] + - !!python/tuple [19, 9] + - !!python/tuple [17, 10] + - !!python/tuple [1, 12] + - !!python/tuple [25, 7] + - !!python/tuple [5, 1] + - !!python/tuple [2, 15] + - !!python/tuple [30, 14] + - !!python/tuple [11, 8] + - !!python/tuple [15, 21] + - !!python/tuple [15, 20] + - !!python/tuple [7, 22] + - !!python/tuple [24, 12] + - !!python/tuple [15, 31] + - !!python/tuple [30, 19] + - !!python/tuple [3, 3] + - !!python/tuple [0, 28] + - !!python/tuple [28, 8] + - !!python/tuple [13, 23] + - !!python/tuple [18, 29] + - !!python/tuple [30, 10] + - !!python/tuple [4, 5] + - !!python/tuple [15, 1] + - !!python/tuple [4, 4] + - !!python/tuple [8, 13] + - !!python/tuple [18, 12] + - !!python/tuple [1, 1] + - !!python/tuple [6, 31] + - !!python/tuple [31, 8] + - !!python/tuple [14, 3] + - !!python/tuple [31, 27] + - !!python/tuple [30, 2] + - !!python/tuple [11, 25] + - !!python/tuple [30, 1] + - !!python/tuple [26, 30] + - !!python/tuple [8, 0] + - !!python/tuple [11, 12] + - !!python/tuple [24, 19] + - !!python/tuple [12, 12] + - !!python/tuple [12, 25] + - !!python/tuple [10, 6] + - !!python/tuple [23, 17] + - !!python/tuple [6, 1] + - !!python/tuple [17, 1] + - !!python/tuple [31, 30] + - !!python/tuple [24, 22] + - !!python/tuple [21, 5] + - !!python/tuple [1, 31] + - !!python/tuple [17, 23] + - !!python/tuple [4, 15] + - !!python/tuple [21, 18] + - !!python/tuple [22, 18] + - !!python/tuple [19, 30] + - !!python/tuple [5, 12] + - !!python/tuple [8, 14] + - !!python/tuple [30, 31] + - !!python/tuple [2, 20] + - !!python/tuple [16, 7] + - !!python/tuple [28, 9] + - !!python/tuple [3, 24] + - !!python/tuple [7, 11] + - !!python/tuple [9, 24] + - !!python/tuple [1, 18] + - !!python/tuple [26, 7] + - !!python/tuple [15, 23] + - !!python/tuple [26, 13] + - !!python/tuple [12, 29] + - !!python/tuple [5, 27] + - !!python/tuple [30, 11] + - !!python/tuple [31, 16] + - !!python/tuple [9, 9] + - !!python/tuple [14, 15] + - !!python/tuple [17, 17] + - !!python/tuple [30, 12] + - !!python/tuple [21, 14] + - !!python/tuple [15, 28] + - !!python/tuple [8, 27] + - !!python/tuple [12, 13] + - !!python/tuple [12, 10] + - !!python/tuple [0, 25] + - !!python/tuple [6, 14] + - !!python/tuple [15, 22] + - !!python/tuple [24, 30] + - !!python/tuple [21, 10] + - !!python/tuple [7, 19] + - !!python/tuple [28, 29] + - !!python/tuple [10, 23] + - !!python/tuple [7, 24] + - !!python/tuple [5, 28] + - !!python/tuple [8, 1] + - !!python/tuple [12, 11] + - !!python/tuple [10, 24] + - !!python/tuple [11, 10] + - !!python/tuple [16, 21] + - !!python/tuple [24, 29] + - !!python/tuple [28, 4] + - !!python/tuple [21, 7] + - !!python/tuple [18, 18] + - !!python/tuple [31, 31] + - !!python/tuple [24, 17] + - !!python/tuple [25, 4] + - !!python/tuple [15, 9] + - !!python/tuple [30, 25] + - !!python/tuple [19, 1] + - !!python/tuple [25, 19] + - !!python/tuple [9, 30] + - !!python/tuple [18, 11] + - !!python/tuple [27, 6] + - !!python/tuple [0, 8] + - !!python/tuple [27, 30] + - !!python/tuple [2, 13] + - !!python/tuple [25, 1] + - !!python/tuple [2, 26] + - !!python/tuple [3, 11] + - !!python/tuple [11, 14] + - !!python/tuple [28, 15] + - !!python/tuple [23, 14] + - !!python/tuple [11, 7] + - !!python/tuple [3, 12] + - !!python/tuple [10, 18] + - !!python/tuple [15, 4] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex26.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex26.yaml new file mode 100644 index 0000000..38d5805 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex26.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [10, 18] + name: agent0 + start: [22, 19] +- goal: [23, 31] + name: agent1 + start: [6, 13] +- goal: [24, 0] + name: agent2 + start: [4, 28] +- goal: [15, 16] + name: agent3 + start: [15, 26] +- goal: [1, 9] + name: agent4 + start: [5, 16] +- goal: [11, 17] + name: agent5 + start: [15, 22] +- goal: [31, 23] + name: agent6 + start: [29, 21] +- goal: [7, 25] + name: agent7 + start: [15, 2] +- goal: [12, 4] + name: agent8 + start: [13, 4] +- goal: [4, 5] + name: agent9 + start: [25, 25] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [8, 26] + - !!python/tuple [14, 2] + - !!python/tuple [4, 19] + - !!python/tuple [18, 28] + - !!python/tuple [4, 2] + - !!python/tuple [27, 5] + - !!python/tuple [8, 16] + - !!python/tuple [8, 18] + - !!python/tuple [29, 10] + - !!python/tuple [26, 8] + - !!python/tuple [20, 14] + - !!python/tuple [10, 11] + - !!python/tuple [1, 0] + - !!python/tuple [4, 9] + - !!python/tuple [29, 0] + - !!python/tuple [13, 19] + - !!python/tuple [7, 19] + - !!python/tuple [0, 2] + - !!python/tuple [15, 17] + - !!python/tuple [21, 4] + - !!python/tuple [11, 7] + - !!python/tuple [21, 9] + - !!python/tuple [27, 13] + - !!python/tuple [15, 12] + - !!python/tuple [13, 16] + - !!python/tuple [30, 16] + - !!python/tuple [13, 28] + - !!python/tuple [8, 19] + - !!python/tuple [25, 27] + - !!python/tuple [10, 8] + - !!python/tuple [25, 21] + - !!python/tuple [17, 9] + - !!python/tuple [19, 21] + - !!python/tuple [5, 4] + - !!python/tuple [15, 5] + - !!python/tuple [29, 7] + - !!python/tuple [4, 26] + - !!python/tuple [0, 19] + - !!python/tuple [30, 6] + - !!python/tuple [30, 31] + - !!python/tuple [16, 10] + - !!python/tuple [28, 3] + - !!python/tuple [1, 24] + - !!python/tuple [23, 16] + - !!python/tuple [14, 7] + - !!python/tuple [5, 17] + - !!python/tuple [1, 13] + - !!python/tuple [13, 17] + - !!python/tuple [14, 5] + - !!python/tuple [21, 3] + - !!python/tuple [4, 21] + - !!python/tuple [7, 20] + - !!python/tuple [21, 25] + - !!python/tuple [22, 12] + - !!python/tuple [14, 13] + - !!python/tuple [22, 17] + - !!python/tuple [28, 16] + - !!python/tuple [29, 26] + - !!python/tuple [27, 22] + - !!python/tuple [14, 20] + - !!python/tuple [13, 31] + - !!python/tuple [18, 22] + - !!python/tuple [21, 8] + - !!python/tuple [8, 23] + - !!python/tuple [3, 29] + - !!python/tuple [31, 27] + - !!python/tuple [16, 17] + - !!python/tuple [15, 19] + - !!python/tuple [2, 13] + - !!python/tuple [8, 8] + - !!python/tuple [25, 6] + - !!python/tuple [19, 4] + - !!python/tuple [21, 23] + - !!python/tuple [14, 23] + - !!python/tuple [6, 5] + - !!python/tuple [7, 8] + - !!python/tuple [12, 29] + - !!python/tuple [17, 24] + - !!python/tuple [28, 28] + - !!python/tuple [10, 1] + - !!python/tuple [17, 3] + - !!python/tuple [28, 12] + - !!python/tuple [7, 12] + - !!python/tuple [1, 27] + - !!python/tuple [8, 28] + - !!python/tuple [27, 23] + - !!python/tuple [9, 4] + - !!python/tuple [30, 4] + - !!python/tuple [31, 13] + - !!python/tuple [0, 12] + - !!python/tuple [9, 27] + - !!python/tuple [4, 8] + - !!python/tuple [9, 17] + - !!python/tuple [26, 30] + - !!python/tuple [16, 24] + - !!python/tuple [14, 16] + - !!python/tuple [11, 31] + - !!python/tuple [1, 31] + - !!python/tuple [16, 31] + - !!python/tuple [0, 26] + - !!python/tuple [9, 13] + - !!python/tuple [12, 13] + - !!python/tuple [24, 8] + - !!python/tuple [10, 4] + - !!python/tuple [16, 3] + - !!python/tuple [17, 30] + - !!python/tuple [6, 1] + - !!python/tuple [6, 18] + - !!python/tuple [17, 8] + - !!python/tuple [25, 19] + - !!python/tuple [0, 30] + - !!python/tuple [15, 24] + - !!python/tuple [12, 14] + - !!python/tuple [4, 29] + - !!python/tuple [18, 14] + - !!python/tuple [31, 21] + - !!python/tuple [23, 15] + - !!python/tuple [14, 11] + - !!python/tuple [17, 21] + - !!python/tuple [31, 5] + - !!python/tuple [25, 17] + - !!python/tuple [9, 28] + - !!python/tuple [21, 15] + - !!python/tuple [22, 22] + - !!python/tuple [5, 0] + - !!python/tuple [31, 0] + - !!python/tuple [27, 3] + - !!python/tuple [31, 15] + - !!python/tuple [25, 5] + - !!python/tuple [4, 13] + - !!python/tuple [3, 11] + - !!python/tuple [27, 8] + - !!python/tuple [16, 13] + - !!python/tuple [14, 27] + - !!python/tuple [2, 11] + - !!python/tuple [30, 28] + - !!python/tuple [24, 5] + - !!python/tuple [6, 31] + - !!python/tuple [13, 25] + - !!python/tuple [13, 2] + - !!python/tuple [14, 21] + - !!python/tuple [0, 11] + - !!python/tuple [16, 26] + - !!python/tuple [2, 26] + - !!python/tuple [31, 16] + - !!python/tuple [1, 7] + - !!python/tuple [22, 29] + - !!python/tuple [3, 22] + - !!python/tuple [13, 30] + - !!python/tuple [30, 17] + - !!python/tuple [28, 26] + - !!python/tuple [21, 14] + - !!python/tuple [31, 7] + - !!python/tuple [12, 0] + - !!python/tuple [10, 5] + - !!python/tuple [9, 22] + - !!python/tuple [12, 23] + - !!python/tuple [28, 14] + - !!python/tuple [20, 27] + - !!python/tuple [22, 25] + - !!python/tuple [10, 3] + - !!python/tuple [4, 4] + - !!python/tuple [31, 6] + - !!python/tuple [22, 7] + - !!python/tuple [1, 6] + - !!python/tuple [2, 20] + - !!python/tuple [13, 20] + - !!python/tuple [3, 0] + - !!python/tuple [6, 10] + - !!python/tuple [2, 27] + - !!python/tuple [17, 28] + - !!python/tuple [18, 27] + - !!python/tuple [18, 15] + - !!python/tuple [1, 25] + - !!python/tuple [5, 20] + - !!python/tuple [31, 31] + - !!python/tuple [10, 20] + - !!python/tuple [7, 30] + - !!python/tuple [17, 7] + - !!python/tuple [2, 15] + - !!python/tuple [18, 21] + - !!python/tuple [18, 1] + - !!python/tuple [7, 17] + - !!python/tuple [6, 22] + - !!python/tuple [24, 12] + - !!python/tuple [16, 25] + - !!python/tuple [17, 31] + - !!python/tuple [20, 25] + - !!python/tuple [13, 6] + - !!python/tuple [30, 22] + - !!python/tuple [7, 18] + - !!python/tuple [4, 30] + - !!python/tuple [20, 15] + - !!python/tuple [31, 3] + - !!python/tuple [12, 3] + - !!python/tuple [6, 12] + - !!python/tuple [21, 7] + - !!python/tuple [25, 20] + - !!python/tuple [21, 10] + - !!python/tuple [9, 23] + - !!python/tuple [7, 4] + - !!python/tuple [7, 31] + - !!python/tuple [0, 1] + - !!python/tuple [9, 12] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex27.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex27.yaml new file mode 100644 index 0000000..76e61c1 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex27.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [27, 17] + name: agent0 + start: [25, 22] +- goal: [28, 0] + name: agent1 + start: [31, 8] +- goal: [12, 4] + name: agent2 + start: [30, 16] +- goal: [31, 29] + name: agent3 + start: [11, 1] +- goal: [2, 19] + name: agent4 + start: [25, 25] +- goal: [8, 9] + name: agent5 + start: [22, 18] +- goal: [14, 25] + name: agent6 + start: [31, 24] +- goal: [5, 3] + name: agent7 + start: [1, 30] +- goal: [30, 12] + name: agent8 + start: [28, 24] +- goal: [26, 10] + name: agent9 + start: [6, 23] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [1, 22] + - !!python/tuple [29, 16] + - !!python/tuple [21, 8] + - !!python/tuple [19, 22] + - !!python/tuple [28, 5] + - !!python/tuple [18, 24] + - !!python/tuple [6, 6] + - !!python/tuple [24, 26] + - !!python/tuple [22, 27] + - !!python/tuple [14, 18] + - !!python/tuple [29, 8] + - !!python/tuple [23, 3] + - !!python/tuple [17, 10] + - !!python/tuple [29, 20] + - !!python/tuple [13, 3] + - !!python/tuple [16, 25] + - !!python/tuple [7, 24] + - !!python/tuple [22, 15] + - !!python/tuple [28, 29] + - !!python/tuple [4, 0] + - !!python/tuple [1, 11] + - !!python/tuple [11, 12] + - !!python/tuple [2, 11] + - !!python/tuple [17, 13] + - !!python/tuple [8, 31] + - !!python/tuple [10, 26] + - !!python/tuple [10, 11] + - !!python/tuple [29, 5] + - !!python/tuple [20, 11] + - !!python/tuple [20, 16] + - !!python/tuple [25, 5] + - !!python/tuple [22, 9] + - !!python/tuple [13, 8] + - !!python/tuple [20, 6] + - !!python/tuple [15, 8] + - !!python/tuple [22, 30] + - !!python/tuple [10, 29] + - !!python/tuple [9, 0] + - !!python/tuple [6, 17] + - !!python/tuple [22, 26] + - !!python/tuple [3, 5] + - !!python/tuple [17, 11] + - !!python/tuple [12, 20] + - !!python/tuple [21, 31] + - !!python/tuple [6, 8] + - !!python/tuple [16, 31] + - !!python/tuple [12, 28] + - !!python/tuple [17, 19] + - !!python/tuple [25, 21] + - !!python/tuple [2, 15] + - !!python/tuple [14, 15] + - !!python/tuple [27, 16] + - !!python/tuple [13, 11] + - !!python/tuple [7, 18] + - !!python/tuple [29, 30] + - !!python/tuple [1, 7] + - !!python/tuple [7, 1] + - !!python/tuple [20, 17] + - !!python/tuple [25, 0] + - !!python/tuple [4, 16] + - !!python/tuple [27, 0] + - !!python/tuple [16, 2] + - !!python/tuple [21, 25] + - !!python/tuple [15, 31] + - !!python/tuple [19, 2] + - !!python/tuple [12, 3] + - !!python/tuple [11, 23] + - !!python/tuple [12, 24] + - !!python/tuple [26, 4] + - !!python/tuple [18, 20] + - !!python/tuple [11, 13] + - 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6] + - !!python/tuple [30, 27] + - !!python/tuple [22, 11] + - !!python/tuple [19, 9] + - !!python/tuple [3, 14] + - !!python/tuple [7, 25] + - !!python/tuple [19, 17] + - !!python/tuple [1, 17] + - !!python/tuple [26, 15] + - !!python/tuple [9, 12] + - !!python/tuple [30, 28] + - !!python/tuple [4, 22] + - !!python/tuple [9, 6] + - !!python/tuple [14, 4] + - !!python/tuple [6, 28] + - !!python/tuple [26, 16] + - !!python/tuple [16, 0] + - !!python/tuple [24, 25] + - !!python/tuple [28, 9] + - !!python/tuple [6, 31] + - !!python/tuple [3, 30] + - !!python/tuple [31, 11] + - !!python/tuple [8, 6] + - !!python/tuple [17, 25] + - !!python/tuple [20, 25] + - !!python/tuple [16, 8] + - !!python/tuple [1, 15] + - !!python/tuple [19, 28] + - !!python/tuple [25, 30] + - !!python/tuple [20, 19] + - !!python/tuple [3, 29] + - !!python/tuple [26, 12] + - !!python/tuple [26, 11] + - !!python/tuple [30, 5] + - !!python/tuple [18, 25] + - !!python/tuple [28, 6] + - !!python/tuple [23, 21] + - 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!!python/tuple [4, 18] + - !!python/tuple [25, 7] + - !!python/tuple [16, 26] + - !!python/tuple [11, 22] + - !!python/tuple [29, 9] + - !!python/tuple [24, 28] + - !!python/tuple [1, 1] + - !!python/tuple [13, 26] + - !!python/tuple [12, 22] + - !!python/tuple [1, 23] + - !!python/tuple [13, 31] + - !!python/tuple [17, 27] + - !!python/tuple [13, 21] + - !!python/tuple [3, 22] + - !!python/tuple [12, 5] + - !!python/tuple [18, 31] + - !!python/tuple [3, 12] + - !!python/tuple [3, 27] + - !!python/tuple [22, 2] + - !!python/tuple [1, 14] + - !!python/tuple [20, 2] + - !!python/tuple [10, 16] + - !!python/tuple [28, 10] + - !!python/tuple [10, 12] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex28.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex28.yaml new file mode 100644 index 0000000..18318a4 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex28.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [31, 28] + name: agent0 + start: [11, 4] +- goal: [24, 14] + name: agent1 + start: [24, 4] +- goal: [15, 21] + name: agent2 + start: [3, 29] +- goal: [29, 17] + name: agent3 + start: [22, 7] +- goal: [6, 2] + name: agent4 + start: [2, 8] +- goal: [30, 8] + name: agent5 + start: [10, 12] +- goal: [13, 2] + name: agent6 + start: [30, 20] +- goal: [15, 11] + name: agent7 + start: [26, 4] +- goal: [19, 16] + name: agent8 + start: [12, 12] +- goal: [0, 26] + name: agent9 + start: [3, 9] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [27, 31] + - !!python/tuple [27, 30] + - !!python/tuple [1, 3] + - !!python/tuple [5, 23] + - !!python/tuple [25, 31] + - !!python/tuple [22, 5] + - !!python/tuple [23, 29] + - !!python/tuple [28, 28] + - !!python/tuple [21, 3] + - !!python/tuple [14, 10] + - !!python/tuple [15, 19] + - !!python/tuple [13, 30] + - !!python/tuple [14, 12] + - !!python/tuple [24, 3] + - !!python/tuple [24, 12] + - !!python/tuple [23, 9] + - !!python/tuple [17, 21] + - !!python/tuple [11, 28] + - !!python/tuple [6, 11] + - !!python/tuple [26, 26] + - !!python/tuple [31, 13] + - !!python/tuple [23, 16] + - !!python/tuple [19, 7] + - !!python/tuple [2, 22] + - !!python/tuple [4, 24] + - !!python/tuple [8, 30] + - !!python/tuple [1, 2] + - !!python/tuple [24, 27] + - !!python/tuple [5, 20] + - !!python/tuple [0, 31] + - !!python/tuple [13, 29] + - !!python/tuple [19, 15] + - !!python/tuple [15, 12] + - !!python/tuple [16, 22] + - !!python/tuple [13, 10] + - !!python/tuple [14, 21] + - !!python/tuple [10, 29] + - !!python/tuple [17, 7] + - !!python/tuple [3, 28] + - !!python/tuple [4, 31] + - !!python/tuple [23, 11] + - !!python/tuple [8, 26] + - !!python/tuple [8, 27] + - !!python/tuple [16, 9] + - !!python/tuple [12, 7] + - !!python/tuple [8, 11] + - !!python/tuple [4, 28] + - !!python/tuple [13, 25] + - !!python/tuple [23, 7] + - !!python/tuple [30, 13] + - !!python/tuple [24, 13] + - !!python/tuple [27, 14] + - 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[27, 29] + - !!python/tuple [28, 23] + - !!python/tuple [16, 25] + - !!python/tuple [19, 11] + - !!python/tuple [0, 16] + - !!python/tuple [9, 12] + - !!python/tuple [10, 24] + - !!python/tuple [11, 26] + - !!python/tuple [25, 9] + - !!python/tuple [17, 15] + - !!python/tuple [20, 5] + - !!python/tuple [16, 23] + - !!python/tuple [11, 19] + - !!python/tuple [9, 3] + - !!python/tuple [9, 20] + - !!python/tuple [10, 15] + - !!python/tuple [12, 5] + - !!python/tuple [1, 8] + - !!python/tuple [24, 2] + - !!python/tuple [16, 16] + - !!python/tuple [7, 27] + - !!python/tuple [18, 26] + - !!python/tuple [14, 4] + - !!python/tuple [8, 28] + - !!python/tuple [14, 7] + - !!python/tuple [2, 16] + - !!python/tuple [7, 24] + - !!python/tuple [31, 22] + - !!python/tuple [29, 30] + - !!python/tuple [20, 18] + - !!python/tuple [26, 19] + - !!python/tuple [15, 17] + - !!python/tuple [18, 5] + - !!python/tuple [31, 29] + - !!python/tuple [10, 4] + - !!python/tuple [6, 18] + - !!python/tuple [11, 2] + - !!python/tuple [5, 1] + - !!python/tuple [16, 0] + - !!python/tuple [1, 18] + - !!python/tuple [10, 16] + - !!python/tuple [2, 2] + - !!python/tuple [12, 21] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex29.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex29.yaml new file mode 100644 index 0000000..c0fb155 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex29.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [31, 3] + name: agent0 + start: [22, 4] +- goal: [15, 23] + name: agent1 + start: [17, 3] +- goal: [18, 1] + name: agent2 + start: [3, 14] +- goal: [12, 22] + name: agent3 + start: [8, 31] +- goal: [18, 0] + name: agent4 + start: [3, 9] +- goal: [31, 11] + name: agent5 + start: [20, 29] +- goal: [4, 11] + name: agent6 + start: [8, 0] +- goal: [19, 5] + name: agent7 + start: [11, 6] +- goal: [27, 4] + name: agent8 + start: [17, 19] +- goal: [25, 9] + name: agent9 + start: [10, 6] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [18, 21] + - !!python/tuple [6, 28] + - !!python/tuple [12, 5] + - !!python/tuple [7, 16] + - !!python/tuple [15, 0] + - !!python/tuple [4, 25] + - !!python/tuple [23, 20] + - !!python/tuple [4, 4] + - !!python/tuple [9, 11] + - !!python/tuple [1, 21] + - !!python/tuple [28, 30] + - !!python/tuple [2, 19] + - !!python/tuple [31, 0] + - !!python/tuple [18, 23] + - !!python/tuple [25, 16] + - !!python/tuple [13, 22] + - !!python/tuple [13, 28] + - !!python/tuple [0, 18] + - !!python/tuple [19, 17] + - !!python/tuple [28, 18] + - !!python/tuple [10, 28] + - !!python/tuple [29, 21] + - !!python/tuple [9, 9] + - !!python/tuple [11, 9] + - !!python/tuple [2, 3] + - !!python/tuple [31, 10] + - !!python/tuple [16, 18] + - !!python/tuple [0, 19] + - !!python/tuple [18, 30] + - !!python/tuple [23, 4] + - !!python/tuple [11, 17] + - !!python/tuple [20, 25] + - !!python/tuple [6, 14] + - !!python/tuple [29, 22] + - !!python/tuple [14, 12] + - !!python/tuple [21, 21] + - !!python/tuple [16, 0] + - !!python/tuple [29, 18] + - !!python/tuple [0, 29] + - !!python/tuple [30, 20] + - !!python/tuple [8, 29] + - !!python/tuple [21, 13] + - !!python/tuple [20, 5] + - !!python/tuple [6, 7] + - !!python/tuple [17, 7] + - !!python/tuple [29, 28] + - !!python/tuple [19, 29] + - !!python/tuple [3, 3] + - !!python/tuple [15, 7] + - !!python/tuple [25, 27] + - !!python/tuple [5, 10] + - !!python/tuple [26, 28] + - !!python/tuple [4, 8] + - !!python/tuple [12, 27] + - !!python/tuple [9, 27] + - !!python/tuple [7, 22] + - !!python/tuple [28, 27] + - !!python/tuple [3, 1] + - !!python/tuple [5, 6] + - !!python/tuple [26, 10] + - !!python/tuple [28, 13] + - !!python/tuple [1, 6] + - !!python/tuple [23, 30] + - !!python/tuple [4, 23] + - !!python/tuple [24, 25] + - !!python/tuple [27, 17] + - !!python/tuple [14, 30] + - !!python/tuple [22, 25] + - !!python/tuple [10, 12] + - !!python/tuple [3, 0] + - !!python/tuple [19, 18] + - !!python/tuple [25, 25] + - !!python/tuple [18, 19] + - !!python/tuple [10, 5] + - !!python/tuple [16, 28] + - !!python/tuple [9, 23] + - !!python/tuple [13, 26] + - !!python/tuple [5, 3] + - !!python/tuple [8, 30] + - !!python/tuple [2, 13] + - !!python/tuple [13, 4] + - !!python/tuple [9, 1] + - !!python/tuple [2, 15] + - !!python/tuple [9, 29] + - !!python/tuple [15, 6] + - !!python/tuple [8, 26] + - !!python/tuple [15, 2] + - !!python/tuple [3, 5] + - !!python/tuple [29, 2] + - !!python/tuple [15, 1] + - !!python/tuple [0, 5] + - !!python/tuple [24, 11] + - !!python/tuple [27, 8] + - !!python/tuple [16, 1] + - !!python/tuple [6, 20] + - !!python/tuple [24, 4] + - !!python/tuple [5, 25] + - !!python/tuple [21, 27] + - !!python/tuple [11, 7] + - !!python/tuple [1, 31] + - !!python/tuple [30, 13] + - !!python/tuple [16, 29] + - !!python/tuple [8, 6] + - !!python/tuple [15, 18] + - !!python/tuple [30, 30] + - !!python/tuple [27, 20] + - !!python/tuple [12, 10] + - 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!!python/tuple [8, 13] + - !!python/tuple [25, 19] + - !!python/tuple [23, 26] + - !!python/tuple [21, 28] + - !!python/tuple [13, 2] + - !!python/tuple [17, 1] + - !!python/tuple [19, 23] + - !!python/tuple [19, 31] + - !!python/tuple [15, 20] + - !!python/tuple [1, 24] + - !!python/tuple [11, 3] + - !!python/tuple [25, 3] + - !!python/tuple [9, 0] + - !!python/tuple [23, 1] + - !!python/tuple [10, 26] + - !!python/tuple [22, 17] + - !!python/tuple [12, 15] + - !!python/tuple [21, 20] + - !!python/tuple [1, 3] + - !!python/tuple [6, 3] + - !!python/tuple [15, 9] + - !!python/tuple [10, 18] + - !!python/tuple [5, 7] + - !!python/tuple [31, 25] + - !!python/tuple [18, 10] + - !!python/tuple [26, 9] + - !!python/tuple [5, 30] + - !!python/tuple [24, 6] + - !!python/tuple [5, 17] + - !!python/tuple [15, 4] + - !!python/tuple [25, 6] + - !!python/tuple [31, 2] + - !!python/tuple [2, 8] + - !!python/tuple [11, 31] + - !!python/tuple [6, 30] + - !!python/tuple [7, 10] + - !!python/tuple [0, 7] + - !!python/tuple [15, 16] + - !!python/tuple [24, 17] + - !!python/tuple [25, 12] + - !!python/tuple [27, 11] + - !!python/tuple [13, 1] + - !!python/tuple [30, 25] + - !!python/tuple [30, 10] + - !!python/tuple [10, 21] + - !!python/tuple [26, 6] + - !!python/tuple [5, 27] + - !!python/tuple [21, 31] + - !!python/tuple [0, 15] + - !!python/tuple [1, 13] + - !!python/tuple [12, 12] + - !!python/tuple [14, 29] + - !!python/tuple [5, 26] + - !!python/tuple [8, 2] + - !!python/tuple [11, 11] + - !!python/tuple [16, 2] + - !!python/tuple [28, 29] + - !!python/tuple [6, 31] + - !!python/tuple [2, 11] + - !!python/tuple [22, 7] + - !!python/tuple [5, 22] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex3.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex3.yaml new file mode 100644 index 0000000..d589246 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex3.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [16, 28] + name: agent0 + start: [7, 9] +- goal: [27, 19] + name: agent1 + start: [15, 0] +- goal: [21, 23] + name: agent2 + start: [7, 24] +- goal: [23, 16] + name: agent3 + start: [6, 30] +- goal: [18, 19] + name: agent4 + start: [19, 8] +- goal: [8, 21] + name: agent5 + start: [18, 31] +- goal: [5, 0] + name: agent6 + start: [23, 4] +- goal: [23, 13] + name: agent7 + start: [18, 5] +- goal: [17, 1] + name: agent8 + start: [5, 15] +- goal: [29, 10] + name: agent9 + start: [29, 22] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [13, 20] + - !!python/tuple [29, 6] + - !!python/tuple [14, 26] + - !!python/tuple [31, 9] + - !!python/tuple [4, 16] + - !!python/tuple [12, 19] + - !!python/tuple [24, 30] + - !!python/tuple [7, 28] + - !!python/tuple [14, 31] + - !!python/tuple [3, 22] + - !!python/tuple [7, 4] + - !!python/tuple [23, 17] + - !!python/tuple [12, 23] + - !!python/tuple [0, 17] + - !!python/tuple [10, 8] + - !!python/tuple [6, 25] 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!!python/tuple [20, 25] + - !!python/tuple [6, 29] + - !!python/tuple [28, 23] + - !!python/tuple [13, 9] + - !!python/tuple [5, 24] + - !!python/tuple [23, 12] + - !!python/tuple [24, 14] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex30.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex30.yaml new file mode 100644 index 0000000..edece7d --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex30.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [19, 5] + name: agent0 + start: [10, 24] +- goal: [20, 1] + name: agent1 + start: [29, 30] +- goal: [17, 22] + name: agent2 + start: [0, 11] +- goal: [14, 29] + name: agent3 + start: [11, 26] +- goal: [20, 13] + name: agent4 + start: [29, 8] +- goal: [5, 9] + name: agent5 + start: [30, 27] +- goal: [25, 31] + name: agent6 + start: [28, 22] +- goal: [28, 15] + name: agent7 + start: [16, 22] +- goal: [17, 18] + name: agent8 + start: [16, 9] +- goal: [2, 9] + name: agent9 + start: [31, 10] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [10, 20] + - !!python/tuple [21, 3] + - !!python/tuple [14, 27] + - !!python/tuple [31, 0] + - !!python/tuple [4, 13] + - !!python/tuple [2, 12] + - !!python/tuple [4, 20] + - !!python/tuple [9, 26] + - !!python/tuple [25, 20] + - !!python/tuple [15, 25] + - !!python/tuple [1, 2] + - !!python/tuple [10, 4] + - !!python/tuple [26, 24] + - !!python/tuple [8, 26] + - !!python/tuple [15, 15] + - !!python/tuple [10, 19] + - !!python/tuple [29, 26] + - !!python/tuple [26, 30] + - !!python/tuple [13, 24] + - !!python/tuple [3, 20] + - !!python/tuple [24, 4] + - !!python/tuple [10, 7] + - !!python/tuple [31, 26] + - !!python/tuple [23, 4] + - !!python/tuple [8, 11] + - !!python/tuple [26, 2] + - !!python/tuple [28, 14] + - !!python/tuple [3, 22] + - !!python/tuple [1, 11] + - !!python/tuple [3, 2] + - !!python/tuple [6, 28] + - !!python/tuple [1, 15] + - !!python/tuple [9, 31] 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[25, 15] + - !!python/tuple [8, 16] + - !!python/tuple [5, 10] + - !!python/tuple [0, 6] + - !!python/tuple [0, 0] + - !!python/tuple [28, 1] + - !!python/tuple [11, 10] + - !!python/tuple [31, 9] + - !!python/tuple [7, 2] + - !!python/tuple [7, 13] + - !!python/tuple [8, 28] + - !!python/tuple [15, 12] + - !!python/tuple [17, 2] + - !!python/tuple [19, 16] + - !!python/tuple [24, 20] + - !!python/tuple [31, 21] + - !!python/tuple [19, 17] + - !!python/tuple [23, 15] + - !!python/tuple [12, 14] + - !!python/tuple [27, 9] + - !!python/tuple [9, 10] + - !!python/tuple [11, 8] + - !!python/tuple [25, 29] + - !!python/tuple [18, 25] + - !!python/tuple [6, 3] + - !!python/tuple [4, 21] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex31.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex31.yaml new file mode 100644 index 0000000..83253fd --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex31.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [12, 22] + name: agent0 + start: [6, 5] +- goal: [11, 6] + name: agent1 + start: [1, 10] +- goal: [3, 27] + name: agent2 + start: [8, 13] +- goal: [3, 0] + name: agent3 + start: [14, 2] +- goal: [5, 7] + name: agent4 + start: [6, 16] +- goal: [14, 10] + name: agent5 + start: [22, 22] +- goal: [12, 21] + name: agent6 + start: [17, 21] +- goal: [14, 24] + name: agent7 + start: [14, 26] +- goal: [15, 25] + name: agent8 + start: [23, 11] +- goal: [25, 15] + name: agent9 + start: [5, 3] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [24, 8] + - !!python/tuple [10, 6] + - !!python/tuple [3, 25] + - !!python/tuple [16, 25] + - !!python/tuple [26, 3] + - !!python/tuple [26, 1] + - !!python/tuple [30, 24] + - !!python/tuple [6, 30] + - !!python/tuple [4, 6] + - !!python/tuple [27, 23] + - !!python/tuple [13, 4] + - !!python/tuple [26, 12] + - !!python/tuple [1, 13] + - !!python/tuple [6, 14] + - !!python/tuple [31, 5] + - !!python/tuple [20, 8] + - !!python/tuple [17, 5] + - !!python/tuple [23, 27] + - !!python/tuple [12, 4] + - !!python/tuple [17, 30] + - !!python/tuple [27, 25] + - !!python/tuple [13, 6] + - !!python/tuple [4, 23] + - !!python/tuple [29, 27] + - !!python/tuple [19, 17] + - !!python/tuple [0, 26] + - !!python/tuple [30, 3] + - !!python/tuple [6, 1] + - !!python/tuple [9, 16] + - !!python/tuple [29, 23] + - !!python/tuple [10, 21] + - !!python/tuple [16, 23] + - !!python/tuple [6, 12] + - !!python/tuple [0, 2] + - !!python/tuple [5, 19] + - !!python/tuple [23, 30] + - !!python/tuple [23, 23] + - !!python/tuple [10, 20] + - !!python/tuple [25, 31] + - !!python/tuple [31, 22] + - !!python/tuple [8, 23] + - !!python/tuple [18, 17] + - !!python/tuple [26, 28] + - !!python/tuple [24, 10] + - !!python/tuple [28, 4] + - !!python/tuple [31, 21] + - !!python/tuple [26, 6] + - !!python/tuple [21, 21] + - !!python/tuple [23, 29] + - 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!!python/tuple [29, 4] + - !!python/tuple [15, 26] + - !!python/tuple [31, 24] + - !!python/tuple [26, 24] + - !!python/tuple [26, 13] + - !!python/tuple [17, 18] + - !!python/tuple [12, 27] + - !!python/tuple [1, 1] + - !!python/tuple [16, 21] + - !!python/tuple [28, 30] + - !!python/tuple [20, 14] + - !!python/tuple [22, 26] + - !!python/tuple [7, 13] + - !!python/tuple [11, 0] + - !!python/tuple [18, 12] + - !!python/tuple [28, 2] + - !!python/tuple [15, 2] + - !!python/tuple [2, 24] + - !!python/tuple [8, 19] + - !!python/tuple [14, 20] + - !!python/tuple [8, 21] + - !!python/tuple [12, 19] + - !!python/tuple [18, 11] + - !!python/tuple [23, 25] + - !!python/tuple [20, 10] + - !!python/tuple [28, 15] + - !!python/tuple [15, 23] + - !!python/tuple [28, 23] + - !!python/tuple [4, 22] + - !!python/tuple [22, 28] + - !!python/tuple [1, 7] + - !!python/tuple [10, 30] + - !!python/tuple [2, 28] + - !!python/tuple [20, 1] + - !!python/tuple [18, 9] + - !!python/tuple [12, 9] + - !!python/tuple [26, 15] + - !!python/tuple [16, 30] + - !!python/tuple [18, 20] + - !!python/tuple [31, 31] + - !!python/tuple [12, 20] + - !!python/tuple [19, 13] + - !!python/tuple [7, 22] + - !!python/tuple [28, 6] + - !!python/tuple [13, 11] + - !!python/tuple [18, 15] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex32.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex32.yaml new file mode 100644 index 0000000..04553ff --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex32.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [17, 16] + name: agent0 + start: [7, 1] +- goal: [27, 16] + name: agent1 + start: [15, 9] +- goal: [10, 6] + name: agent2 + start: [0, 21] +- goal: [19, 14] + name: agent3 + start: [11, 24] +- goal: [22, 15] + name: agent4 + start: [19, 18] +- goal: [29, 23] + name: agent5 + start: [30, 17] +- goal: [24, 27] + name: agent6 + start: [0, 17] +- goal: [4, 31] + name: agent7 + start: [27, 19] +- goal: [1, 12] + name: agent8 + start: [5, 21] +- goal: [30, 30] + name: agent9 + start: [1, 27] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [31, 17] + - !!python/tuple [11, 8] + - !!python/tuple [12, 31] + - !!python/tuple [18, 7] + - !!python/tuple [20, 14] + - !!python/tuple [30, 12] + - !!python/tuple [31, 9] + - !!python/tuple [9, 26] + - !!python/tuple [1, 25] + - !!python/tuple [11, 14] + - !!python/tuple [18, 21] + - !!python/tuple [3, 11] + - !!python/tuple [6, 5] + - !!python/tuple [18, 11] + - !!python/tuple [15, 6] + - !!python/tuple [29, 6] + - !!python/tuple [12, 14] + - !!python/tuple [16, 22] + - !!python/tuple [11, 23] + - !!python/tuple [27, 25] + - !!python/tuple [13, 4] + - !!python/tuple [0, 10] + - !!python/tuple [0, 3] + - !!python/tuple [13, 6] + - !!python/tuple [11, 9] + - !!python/tuple [14, 10] + - !!python/tuple [18, 0] + - !!python/tuple [4, 30] + - !!python/tuple [4, 26] + - !!python/tuple [1, 15] + - !!python/tuple [4, 23] + - !!python/tuple [30, 13] + - !!python/tuple [4, 16] + - !!python/tuple [9, 23] + - !!python/tuple [13, 2] + - !!python/tuple [1, 19] + - !!python/tuple [24, 29] + - !!python/tuple [19, 15] + - !!python/tuple [14, 16] + - !!python/tuple [7, 9] + - !!python/tuple [14, 21] + - !!python/tuple [19, 23] + - !!python/tuple [24, 14] + - !!python/tuple [14, 2] + - !!python/tuple [13, 22] + - !!python/tuple [1, 5] + - !!python/tuple [29, 28] + - !!python/tuple [11, 13] + - !!python/tuple [12, 0] + - !!python/tuple [22, 19] + - !!python/tuple [22, 3] + - !!python/tuple [10, 3] + - !!python/tuple [10, 12] + - !!python/tuple [24, 16] + - !!python/tuple [1, 10] + - !!python/tuple [17, 29] + - !!python/tuple [3, 4] + - !!python/tuple [29, 29] + - !!python/tuple [15, 23] + - !!python/tuple [14, 15] + - !!python/tuple [3, 30] + - !!python/tuple [24, 17] + - !!python/tuple [2, 20] + - !!python/tuple [28, 20] + - !!python/tuple [5, 10] + - !!python/tuple [21, 10] + - !!python/tuple [24, 20] + - !!python/tuple [6, 12] + - !!python/tuple [6, 4] + - !!python/tuple [10, 26] + - !!python/tuple [31, 7] + - !!python/tuple [22, 8] + - !!python/tuple [0, 24] + - !!python/tuple [18, 27] + - !!python/tuple [30, 9] + - !!python/tuple [8, 12] + - !!python/tuple [11, 5] + - !!python/tuple [28, 13] + - !!python/tuple [17, 8] + - !!python/tuple [31, 10] + - !!python/tuple [3, 2] + - !!python/tuple [8, 0] + - !!python/tuple [4, 18] + - !!python/tuple [12, 23] + - !!python/tuple [1, 16] + - !!python/tuple [20, 20] + - !!python/tuple [26, 25] + - !!python/tuple [22, 17] + - !!python/tuple [0, 11] + - !!python/tuple [6, 29] + - !!python/tuple [30, 27] + - !!python/tuple [6, 11] + - !!python/tuple [2, 18] + - !!python/tuple [12, 26] + - !!python/tuple [9, 15] + - !!python/tuple [5, 24] + - !!python/tuple [8, 5] + - !!python/tuple [14, 23] + - !!python/tuple [7, 26] + - !!python/tuple [9, 28] + - !!python/tuple [22, 10] + - !!python/tuple [8, 10] + - !!python/tuple [14, 13] + - !!python/tuple [0, 31] + - !!python/tuple [12, 7] + - !!python/tuple [25, 9] + - !!python/tuple [8, 24] + - !!python/tuple [4, 28] + - !!python/tuple [2, 0] + - !!python/tuple [27, 4] + - !!python/tuple [19, 30] + - !!python/tuple [21, 22] + - !!python/tuple [6, 27] + - !!python/tuple [19, 3] + - !!python/tuple [1, 1] + - !!python/tuple [18, 28] + - !!python/tuple [19, 9] + - !!python/tuple [0, 4] + - !!python/tuple [7, 3] + - !!python/tuple [2, 1] + - !!python/tuple [31, 29] + - !!python/tuple [17, 24] + - !!python/tuple [16, 6] + - !!python/tuple [10, 1] + - !!python/tuple [1, 26] + - !!python/tuple [4, 13] + - !!python/tuple [26, 21] + - !!python/tuple [1, 31] + - !!python/tuple [3, 22] + - !!python/tuple [26, 12] + - !!python/tuple [1, 0] + - !!python/tuple [3, 25] + - !!python/tuple [27, 2] + - !!python/tuple [29, 21] + - !!python/tuple [14, 18] + - !!python/tuple [31, 20] + - !!python/tuple [24, 24] + - !!python/tuple [21, 3] + - !!python/tuple [25, 13] + - !!python/tuple [12, 21] + - !!python/tuple [31, 19] + - !!python/tuple [20, 3] + - !!python/tuple [12, 4] + - !!python/tuple [16, 25] + - !!python/tuple [5, 8] + - !!python/tuple [30, 18] + - !!python/tuple [25, 15] + - !!python/tuple [17, 20] + - !!python/tuple [3, 3] + - !!python/tuple [23, 4] + - !!python/tuple [19, 31] + - !!python/tuple [30, 10] + - !!python/tuple [13, 5] + - !!python/tuple [7, 28] + - !!python/tuple [21, 16] + - !!python/tuple [5, 18] + - !!python/tuple [27, 3] + - !!python/tuple [19, 2] + - !!python/tuple [29, 20] + - !!python/tuple [6, 18] + - !!python/tuple [31, 31] + - !!python/tuple [30, 26] + - !!python/tuple [21, 30] + - !!python/tuple [25, 6] + - !!python/tuple [17, 13] + - !!python/tuple [15, 5] + - !!python/tuple [15, 30] + - !!python/tuple [7, 14] + - !!python/tuple [13, 12] + - !!python/tuple [18, 25] + - !!python/tuple [10, 17] + - !!python/tuple [11, 6] + - !!python/tuple [13, 17] + - !!python/tuple [21, 1] + - !!python/tuple [21, 24] + - !!python/tuple [18, 16] + - !!python/tuple [26, 13] + - !!python/tuple [29, 22] + - !!python/tuple [27, 14] + - !!python/tuple [2, 22] + - !!python/tuple [24, 19] + - !!python/tuple [23, 23] + - !!python/tuple [7, 7] + - !!python/tuple [22, 27] + - !!python/tuple [4, 10] + - !!python/tuple [21, 7] + - !!python/tuple [15, 19] + - !!python/tuple [13, 15] + - !!python/tuple [30, 15] + - !!python/tuple [4, 25] + - !!python/tuple [31, 22] + - !!python/tuple [23, 14] + - !!python/tuple [6, 14] + - !!python/tuple [9, 14] + - !!python/tuple [18, 13] + - !!python/tuple [21, 19] + - !!python/tuple [28, 26] + - !!python/tuple [24, 13] + - !!python/tuple [20, 11] + - !!python/tuple [10, 19] + - !!python/tuple [15, 25] + - !!python/tuple [10, 13] + - !!python/tuple [5, 27] + - !!python/tuple [5, 11] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex33.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex33.yaml new file mode 100644 index 0000000..eeb67a7 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex33.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [19, 28] + name: agent0 + start: [16, 5] +- goal: [30, 2] + name: agent1 + start: [16, 28] +- goal: [16, 27] + name: agent2 + start: [30, 26] +- goal: [10, 31] + name: agent3 + start: [13, 14] +- goal: [16, 17] + name: agent4 + start: [25, 12] +- goal: [3, 9] + name: agent5 + start: [24, 14] +- goal: [19, 22] + name: agent6 + start: [27, 14] +- goal: [18, 6] + name: agent7 + start: [23, 31] +- goal: [12, 15] + name: agent8 + start: [10, 13] +- goal: [25, 0] + name: agent9 + start: [12, 6] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [3, 24] + - !!python/tuple [5, 12] + - !!python/tuple [15, 31] + - !!python/tuple [22, 23] + - !!python/tuple [26, 0] + - !!python/tuple [8, 21] + - !!python/tuple [22, 4] + - !!python/tuple [6, 12] + - !!python/tuple [4, 7] + - !!python/tuple [21, 3] + - !!python/tuple [21, 9] + - !!python/tuple [28, 9] + - !!python/tuple [26, 4] + - !!python/tuple [23, 3] + - !!python/tuple [1, 0] + - !!python/tuple [6, 10] + - !!python/tuple [17, 7] + - !!python/tuple [31, 13] + - !!python/tuple [27, 4] + - !!python/tuple [11, 24] + - !!python/tuple [17, 11] + - !!python/tuple [12, 14] + - !!python/tuple [1, 2] + - !!python/tuple [7, 5] + - !!python/tuple [19, 31] + - !!python/tuple [16, 6] + - !!python/tuple [2, 18] + - !!python/tuple [25, 10] + - !!python/tuple [18, 5] + - !!python/tuple [5, 29] + - !!python/tuple [5, 3] + - !!python/tuple [10, 5] + - !!python/tuple [25, 4] + - !!python/tuple [5, 20] + - !!python/tuple [26, 19] + - !!python/tuple [20, 25] + - !!python/tuple [5, 17] + - !!python/tuple [1, 19] + - !!python/tuple [20, 29] + - !!python/tuple [16, 14] + - !!python/tuple [23, 13] + - !!python/tuple [24, 2] + - !!python/tuple [2, 4] + - !!python/tuple [22, 12] + - !!python/tuple [2, 10] + - !!python/tuple [21, 5] + - !!python/tuple [27, 23] + - !!python/tuple [14, 15] + - !!python/tuple [17, 20] + - !!python/tuple [11, 26] + - !!python/tuple [10, 6] + - !!python/tuple [20, 4] + - !!python/tuple [7, 1] + - !!python/tuple [12, 5] + - !!python/tuple [28, 6] + - !!python/tuple [11, 8] + - !!python/tuple [12, 26] + - !!python/tuple [7, 14] + - !!python/tuple [1, 20] + - !!python/tuple [1, 12] + - !!python/tuple [17, 28] + - !!python/tuple [11, 23] + - !!python/tuple [5, 4] + - !!python/tuple [8, 2] + - !!python/tuple [2, 30] + - !!python/tuple [3, 31] + - !!python/tuple [8, 12] + - !!python/tuple [13, 13] + - !!python/tuple [26, 24] + - !!python/tuple [9, 16] + - !!python/tuple [2, 6] + - !!python/tuple [5, 21] + - !!python/tuple [11, 12] + - !!python/tuple [12, 31] + - !!python/tuple [7, 28] + - !!python/tuple [6, 13] + - !!python/tuple [31, 28] + - !!python/tuple [9, 28] + - !!python/tuple [16, 26] + - !!python/tuple [20, 7] + - !!python/tuple [10, 30] + - !!python/tuple [29, 8] + - !!python/tuple [19, 1] + - !!python/tuple [20, 27] + - !!python/tuple [29, 5] + - !!python/tuple [4, 21] + - !!python/tuple [8, 17] + - !!python/tuple [17, 2] + - !!python/tuple [30, 0] + - !!python/tuple [20, 0] + - !!python/tuple [10, 2] + - !!python/tuple [1, 1] + - !!python/tuple [9, 11] + - !!python/tuple [14, 4] + - !!python/tuple [4, 31] + - !!python/tuple [23, 26] + - !!python/tuple [5, 10] + - !!python/tuple [7, 23] + - !!python/tuple [29, 17] + - !!python/tuple [3, 27] + - !!python/tuple [17, 29] + - !!python/tuple [22, 27] + - !!python/tuple [16, 2] + - !!python/tuple [18, 13] + - !!python/tuple [0, 18] + - !!python/tuple [25, 23] + - !!python/tuple [11, 16] + - !!python/tuple [21, 15] + - !!python/tuple [8, 15] + - !!python/tuple [15, 28] + - !!python/tuple [15, 15] + - !!python/tuple [6, 30] + - !!python/tuple [17, 6] + - !!python/tuple [26, 10] + - !!python/tuple [14, 21] + - !!python/tuple [11, 18] + - !!python/tuple [27, 27] + - !!python/tuple [31, 8] + - !!python/tuple [1, 28] + - !!python/tuple [6, 24] + - !!python/tuple [22, 28] + - !!python/tuple [31, 30] + - !!python/tuple [6, 20] + - !!python/tuple [22, 17] + - !!python/tuple [20, 23] + - !!python/tuple [25, 21] + - !!python/tuple [4, 25] + - !!python/tuple [26, 6] + - !!python/tuple [6, 26] + - !!python/tuple [21, 10] + - !!python/tuple [22, 5] + - !!python/tuple [16, 19] + - !!python/tuple [11, 25] + - !!python/tuple [7, 24] + - !!python/tuple [18, 25] + - !!python/tuple [13, 17] + - !!python/tuple [9, 21] + - !!python/tuple [31, 1] + - !!python/tuple [12, 19] + - !!python/tuple [10, 16] + - !!python/tuple [16, 15] + - !!python/tuple [30, 20] + - !!python/tuple [4, 4] + - !!python/tuple [27, 21] + - !!python/tuple [3, 25] + - !!python/tuple [19, 24] + - !!python/tuple [30, 14] + - !!python/tuple [1, 31] + - !!python/tuple [4, 10] + - !!python/tuple [14, 13] + - !!python/tuple [4, 1] + - !!python/tuple [16, 12] + - !!python/tuple [20, 19] + - !!python/tuple [30, 1] + - !!python/tuple [30, 4] + - !!python/tuple [0, 15] + - !!python/tuple [24, 25] + - !!python/tuple [30, 31] + - !!python/tuple [20, 18] + - !!python/tuple [9, 7] + - !!python/tuple [7, 31] + - !!python/tuple [26, 30] + - !!python/tuple [7, 16] + - !!python/tuple [30, 3] + - !!python/tuple [19, 5] + - !!python/tuple [31, 4] + - !!python/tuple [0, 23] + - !!python/tuple [9, 19] + - !!python/tuple [4, 26] + - !!python/tuple [17, 27] + - !!python/tuple [27, 20] + - !!python/tuple [28, 1] + - !!python/tuple [14, 27] + - !!python/tuple [8, 11] + - !!python/tuple [24, 20] + - !!python/tuple [5, 0] + - !!python/tuple [26, 8] + - !!python/tuple [17, 24] + - !!python/tuple [5, 7] + - !!python/tuple [8, 28] + - !!python/tuple [28, 7] + - !!python/tuple [3, 18] + - !!python/tuple [22, 6] + - !!python/tuple [18, 1] + - !!python/tuple [27, 0] + - !!python/tuple [3, 22] + - !!python/tuple [10, 3] + - !!python/tuple [8, 1] + - !!python/tuple [12, 22] + - !!python/tuple [28, 28] + - !!python/tuple [21, 21] + - !!python/tuple [10, 11] + - !!python/tuple [26, 15] + - !!python/tuple [0, 3] + - !!python/tuple [27, 12] + - !!python/tuple [11, 14] + - !!python/tuple [28, 19] + - !!python/tuple [29, 29] + - !!python/tuple [29, 28] + - !!python/tuple [4, 11] + - !!python/tuple [10, 23] + - !!python/tuple [10, 8] + - !!python/tuple [28, 11] + - !!python/tuple [29, 31] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex34.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex34.yaml new file mode 100644 index 0000000..845e95d --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex34.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [11, 14] + name: agent0 + start: [9, 28] +- goal: [21, 16] + name: agent1 + start: [14, 3] +- goal: [21, 20] + name: agent2 + start: [17, 27] +- goal: [12, 21] + name: agent3 + start: [29, 24] +- goal: [26, 0] + name: agent4 + start: [19, 31] +- goal: [16, 3] + name: agent5 + start: [30, 13] +- goal: [15, 2] + name: agent6 + start: [27, 4] +- goal: [24, 25] + name: agent7 + start: [9, 30] +- goal: [12, 19] + name: agent8 + start: [24, 31] +- goal: [22, 3] + name: agent9 + start: [3, 2] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [16, 16] + - !!python/tuple [29, 15] + - !!python/tuple [26, 13] + - !!python/tuple [24, 30] + - !!python/tuple [6, 7] + - !!python/tuple [22, 27] + - !!python/tuple [20, 15] + - !!python/tuple [15, 20] + - !!python/tuple [20, 11] + - !!python/tuple [16, 5] + - !!python/tuple [26, 17] + - !!python/tuple [6, 11] + - !!python/tuple [18, 10] + - !!python/tuple [8, 1] + - !!python/tuple [28, 19] + - !!python/tuple [16, 14] + - !!python/tuple [16, 11] + - !!python/tuple [7, 6] + - !!python/tuple [11, 18] + - !!python/tuple [27, 13] + - !!python/tuple [24, 13] + - !!python/tuple [26, 7] + - !!python/tuple [5, 26] + - !!python/tuple [25, 10] + - !!python/tuple [11, 10] + - !!python/tuple [4, 15] + - !!python/tuple [13, 2] + - !!python/tuple [6, 3] + - !!python/tuple [6, 2] + - !!python/tuple [4, 21] + - !!python/tuple [10, 5] + - !!python/tuple [16, 29] + - !!python/tuple [8, 13] + - !!python/tuple [6, 24] + - !!python/tuple [25, 22] + - !!python/tuple [9, 18] + - !!python/tuple [25, 4] + - !!python/tuple [15, 24] + - !!python/tuple [9, 3] + - !!python/tuple [15, 25] + - !!python/tuple [14, 18] + - !!python/tuple [1, 13] + - !!python/tuple [25, 18] + - !!python/tuple [17, 7] + - !!python/tuple [5, 12] + - !!python/tuple [1, 7] + - !!python/tuple [2, 26] + - !!python/tuple [3, 16] + - !!python/tuple [1, 23] + - !!python/tuple [6, 28] + - !!python/tuple [20, 5] + - !!python/tuple [21, 6] + - !!python/tuple [30, 0] + - !!python/tuple [1, 21] + - !!python/tuple [5, 6] + - !!python/tuple [12, 22] + - !!python/tuple [24, 12] + - !!python/tuple [19, 30] + - !!python/tuple [7, 18] + - !!python/tuple [23, 18] + - !!python/tuple [7, 16] + - !!python/tuple [0, 30] + - !!python/tuple [10, 22] + - !!python/tuple [29, 17] + - !!python/tuple [25, 0] + - !!python/tuple [22, 10] + - !!python/tuple [26, 11] + - !!python/tuple [0, 15] + - !!python/tuple [19, 3] + - !!python/tuple [14, 20] + - !!python/tuple [6, 8] + - !!python/tuple [5, 30] + - !!python/tuple [28, 23] + - !!python/tuple [20, 23] + - !!python/tuple [2, 19] + - !!python/tuple [26, 18] + - !!python/tuple [3, 26] + - !!python/tuple [18, 23] + - !!python/tuple [7, 12] + - !!python/tuple [25, 9] + - !!python/tuple [4, 4] + - !!python/tuple [13, 6] + - !!python/tuple [14, 26] + - !!python/tuple [9, 11] + - !!python/tuple [10, 24] + - !!python/tuple [12, 15] + - !!python/tuple [1, 22] + - !!python/tuple [25, 30] + - !!python/tuple [21, 5] + - !!python/tuple [14, 25] + - !!python/tuple [18, 14] + - !!python/tuple [28, 30] + - !!python/tuple [30, 9] + - !!python/tuple [16, 17] + - !!python/tuple [0, 5] + - !!python/tuple [24, 1] + - !!python/tuple [3, 10] + - !!python/tuple [7, 2] + - !!python/tuple [12, 25] + - !!python/tuple [2, 4] + - !!python/tuple [20, 20] + - !!python/tuple [27, 8] + - !!python/tuple [13, 12] + - !!python/tuple [30, 6] + - !!python/tuple [25, 3] + - !!python/tuple [3, 1] + - !!python/tuple [21, 29] + - !!python/tuple [8, 11] + - !!python/tuple [16, 22] + - !!python/tuple [30, 12] + - !!python/tuple [29, 0] + - !!python/tuple [24, 9] + - !!python/tuple [3, 24] + - !!python/tuple [26, 31] + - !!python/tuple [18, 12] + - !!python/tuple [26, 30] + - !!python/tuple [28, 27] + - !!python/tuple [16, 15] + - !!python/tuple [21, 2] + - !!python/tuple [21, 22] + - !!python/tuple [9, 5] + - !!python/tuple [9, 17] + - !!python/tuple [24, 6] + - !!python/tuple [14, 30] + - !!python/tuple [26, 24] + - !!python/tuple [7, 29] + - !!python/tuple [27, 9] + - !!python/tuple [22, 6] + - !!python/tuple [12, 27] + - !!python/tuple [13, 19] + - !!python/tuple [23, 0] + - !!python/tuple [1, 12] + - !!python/tuple [15, 30] + - !!python/tuple [1, 31] + - !!python/tuple [18, 29] + - !!python/tuple [11, 31] + - !!python/tuple [22, 31] + - !!python/tuple [4, 7] + - !!python/tuple [19, 16] + - !!python/tuple [15, 7] + - !!python/tuple [16, 9] + - !!python/tuple [10, 28] + - !!python/tuple [23, 16] + - !!python/tuple [20, 16] + - !!python/tuple [21, 13] + - !!python/tuple [1, 20] + - !!python/tuple [24, 19] + - !!python/tuple [2, 29] + - !!python/tuple [10, 9] + - !!python/tuple [11, 24] + - !!python/tuple [31, 22] + - !!python/tuple [28, 5] + - !!python/tuple [28, 11] + - !!python/tuple [13, 5] + - !!python/tuple [17, 21] + - !!python/tuple [25, 24] + - !!python/tuple [23, 25] + - !!python/tuple [18, 0] + - !!python/tuple [9, 6] + - !!python/tuple [13, 14] + - !!python/tuple [4, 13] + - !!python/tuple [1, 4] + - !!python/tuple [25, 27] + - !!python/tuple [14, 7] + - !!python/tuple [26, 28] + - !!python/tuple [8, 20] + - !!python/tuple [31, 15] + - !!python/tuple [0, 10] + - !!python/tuple [13, 0] + - !!python/tuple [24, 16] + - !!python/tuple [0, 13] + - !!python/tuple [0, 1] + - !!python/tuple [7, 5] + - !!python/tuple [20, 7] + - !!python/tuple [30, 24] + - !!python/tuple [29, 4] + - !!python/tuple [25, 23] + - !!python/tuple [7, 23] + - !!python/tuple [4, 11] + - !!python/tuple [14, 6] + - !!python/tuple [2, 22] + - !!python/tuple [7, 19] + - !!python/tuple [7, 27] + - !!python/tuple [31, 19] + - !!python/tuple [24, 7] + - !!python/tuple [0, 28] + - !!python/tuple [24, 11] + - !!python/tuple [6, 31] + - !!python/tuple [7, 7] + - !!python/tuple [29, 2] + - !!python/tuple [6, 23] + - !!python/tuple [3, 30] + - !!python/tuple [14, 1] + - !!python/tuple [31, 28] + - !!python/tuple [31, 20] + - !!python/tuple [9, 10] + - !!python/tuple [24, 3] + - !!python/tuple [5, 22] + - !!python/tuple [26, 12] + - !!python/tuple [24, 26] + - !!python/tuple [5, 11] + - !!python/tuple [21, 30] + - !!python/tuple [22, 21] + - !!python/tuple [12, 16] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex35.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex35.yaml new file mode 100644 index 0000000..df5c39b --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex35.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [30, 0] + name: agent0 + start: [18, 7] +- goal: [14, 14] + name: agent1 + start: [17, 27] +- goal: [12, 18] + name: agent2 + start: [10, 6] +- goal: [22, 30] + name: agent3 + start: [20, 1] +- goal: [10, 7] + name: agent4 + start: [15, 15] +- goal: [16, 24] + name: agent5 + start: [18, 25] +- goal: [6, 19] + name: agent6 + start: [26, 6] +- goal: [1, 30] + name: agent7 + start: [23, 4] +- goal: [23, 29] + name: agent8 + start: [3, 5] +- goal: [11, 28] + name: agent9 + start: [14, 27] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [16, 15] + - !!python/tuple [25, 12] + - !!python/tuple [5, 10] + - !!python/tuple [13, 25] + - !!python/tuple [18, 5] + - !!python/tuple [11, 6] + - !!python/tuple [9, 0] + - !!python/tuple [31, 26] + - !!python/tuple [27, 5] + - !!python/tuple [20, 22] + - !!python/tuple [8, 12] + - !!python/tuple [21, 28] + - !!python/tuple [24, 5] + - !!python/tuple [6, 6] + - !!python/tuple [25, 13] + - !!python/tuple [9, 14] + - !!python/tuple [0, 5] + - !!python/tuple [27, 28] + - !!python/tuple [26, 11] + - !!python/tuple [28, 4] + - !!python/tuple [0, 20] + - !!python/tuple [6, 22] + - !!python/tuple [9, 24] + - !!python/tuple [6, 15] + - !!python/tuple [20, 30] + - !!python/tuple [6, 12] + - !!python/tuple [16, 30] + - !!python/tuple [30, 1] + - !!python/tuple [0, 21] + - !!python/tuple [29, 5] + - !!python/tuple [31, 20] + - !!python/tuple [6, 1] + - !!python/tuple [15, 9] + - !!python/tuple [19, 9] + - !!python/tuple [29, 29] + - !!python/tuple [16, 5] + - !!python/tuple [5, 26] + - !!python/tuple [23, 14] + - !!python/tuple [20, 17] + - !!python/tuple [20, 11] + - !!python/tuple [14, 2] + - !!python/tuple [22, 20] + - !!python/tuple [6, 4] + - !!python/tuple [19, 3] + - !!python/tuple [22, 5] + - !!python/tuple [17, 11] + - !!python/tuple [20, 2] + - !!python/tuple [15, 20] + - !!python/tuple [25, 11] + - !!python/tuple [11, 0] + - !!python/tuple [11, 7] + - !!python/tuple [8, 27] + - !!python/tuple [12, 24] + - !!python/tuple [0, 3] + - !!python/tuple [23, 2] + - !!python/tuple [14, 17] + - !!python/tuple [15, 27] + - !!python/tuple [19, 0] + - !!python/tuple [27, 22] + - !!python/tuple [13, 21] + - !!python/tuple [26, 14] + - !!python/tuple [21, 31] + - !!python/tuple [25, 3] + - !!python/tuple [2, 26] + - !!python/tuple [8, 11] + - !!python/tuple [29, 30] + - !!python/tuple [25, 24] + - !!python/tuple [27, 11] + - !!python/tuple [21, 24] + - !!python/tuple [14, 5] + - !!python/tuple [0, 12] + - !!python/tuple [14, 25] + - !!python/tuple [30, 15] + - !!python/tuple [26, 30] + - !!python/tuple [15, 12] + - !!python/tuple [11, 17] + - !!python/tuple [4, 3] + - !!python/tuple [16, 4] + - !!python/tuple [17, 29] + - !!python/tuple [5, 7] + - !!python/tuple [10, 12] + - !!python/tuple [3, 15] + - !!python/tuple [16, 3] + - 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!!python/tuple [16, 2] + - !!python/tuple [16, 21] + - !!python/tuple [6, 13] + - !!python/tuple [18, 6] + - !!python/tuple [25, 23] + - !!python/tuple [20, 23] + - !!python/tuple [11, 9] + - !!python/tuple [10, 27] + - !!python/tuple [19, 31] + - !!python/tuple [11, 30] + - !!python/tuple [8, 7] + - !!python/tuple [29, 25] + - !!python/tuple [20, 14] + - !!python/tuple [15, 6] + - !!python/tuple [13, 1] + - !!python/tuple [0, 16] + - !!python/tuple [29, 31] + - !!python/tuple [21, 19] + - !!python/tuple [28, 13] + - !!python/tuple [2, 4] + - !!python/tuple [31, 28] + - !!python/tuple [30, 21] + - !!python/tuple [20, 13] + - !!python/tuple [8, 2] + - !!python/tuple [8, 13] + - !!python/tuple [0, 7] + - !!python/tuple [24, 19] + - !!python/tuple [25, 28] + - !!python/tuple [18, 12] + - !!python/tuple [17, 8] + - !!python/tuple [0, 26] + - !!python/tuple [6, 3] + - !!python/tuple [11, 5] + - !!python/tuple [14, 13] + - !!python/tuple [2, 0] + - !!python/tuple [1, 3] + - !!python/tuple [3, 14] + - !!python/tuple [28, 6] + - !!python/tuple [9, 21] + - !!python/tuple [26, 17] + - !!python/tuple [16, 0] + - !!python/tuple [10, 14] + - !!python/tuple [26, 0] + - !!python/tuple [13, 26] + - !!python/tuple [19, 25] + - !!python/tuple [12, 27] + - !!python/tuple [8, 8] + - !!python/tuple [15, 1] + - !!python/tuple [26, 16] + - !!python/tuple [20, 0] + - !!python/tuple [12, 16] + - !!python/tuple [22, 7] + - !!python/tuple [16, 18] + - !!python/tuple [0, 1] + - !!python/tuple [3, 0] + - !!python/tuple [26, 7] + - !!python/tuple [28, 19] + - !!python/tuple [10, 24] + - !!python/tuple [16, 11] + - !!python/tuple [2, 2] + - !!python/tuple [8, 5] + - !!python/tuple [9, 28] + - !!python/tuple [20, 10] + - !!python/tuple [4, 0] + - !!python/tuple [24, 31] + - !!python/tuple [12, 23] + - !!python/tuple [22, 29] + - !!python/tuple [10, 8] + - !!python/tuple [27, 31] + - !!python/tuple [2, 5] + - !!python/tuple [24, 23] + - !!python/tuple [14, 12] + - !!python/tuple [0, 14] + - !!python/tuple [21, 21] + - !!python/tuple [6, 23] + - !!python/tuple [11, 2] + - !!python/tuple [4, 20] + - !!python/tuple [7, 24] + - !!python/tuple [31, 8] + - !!python/tuple [13, 11] + - !!python/tuple [23, 0] + - !!python/tuple [23, 10] + - !!python/tuple [1, 1] + - !!python/tuple [4, 27] + - !!python/tuple [30, 29] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex36.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex36.yaml new file mode 100644 index 0000000..5affc66 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex36.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [22, 17] + name: agent0 + start: [26, 4] +- goal: [8, 21] + name: agent1 + start: [22, 24] +- goal: [9, 30] + name: agent2 + start: [22, 13] +- goal: [21, 10] + name: agent3 + start: [21, 17] +- goal: [3, 4] + name: agent4 + start: [27, 7] +- goal: [19, 10] + name: agent5 + start: [4, 24] +- goal: [21, 9] + name: agent6 + start: [26, 18] +- goal: [29, 9] + name: agent7 + start: [19, 21] +- goal: [8, 8] + name: agent8 + start: [20, 29] +- goal: [10, 30] + name: agent9 + start: [27, 4] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [26, 14] + - !!python/tuple [13, 16] + - !!python/tuple [31, 20] + - !!python/tuple [6, 15] + - !!python/tuple [2, 19] + - !!python/tuple [12, 7] + - !!python/tuple [21, 28] + - !!python/tuple [28, 1] + - !!python/tuple [14, 30] + - !!python/tuple [25, 17] + - !!python/tuple [26, 11] + - !!python/tuple [9, 28] + - !!python/tuple [2, 3] + - !!python/tuple [8, 3] + - !!python/tuple [22, 29] + - !!python/tuple [10, 27] + - !!python/tuple [30, 22] + - !!python/tuple [0, 3] + - !!python/tuple [9, 20] + - !!python/tuple [17, 20] + - !!python/tuple [13, 8] + - !!python/tuple [21, 18] + - !!python/tuple [28, 0] + - !!python/tuple [0, 27] + - !!python/tuple [27, 10] + - !!python/tuple [4, 4] + - !!python/tuple [27, 25] + - !!python/tuple [27, 6] + - !!python/tuple [27, 8] + - !!python/tuple [25, 12] + - !!python/tuple [31, 26] + - !!python/tuple [6, 12] + - !!python/tuple [30, 12] + - !!python/tuple [24, 23] + - !!python/tuple [10, 26] + - !!python/tuple [23, 21] + - !!python/tuple [14, 31] + - !!python/tuple [26, 15] + - !!python/tuple [28, 5] + - !!python/tuple [28, 14] + - !!python/tuple [31, 1] + - !!python/tuple [20, 18] + - !!python/tuple [31, 3] + - !!python/tuple [26, 20] + - !!python/tuple [20, 30] + - !!python/tuple [9, 27] + - !!python/tuple [12, 26] + - !!python/tuple [12, 8] + - !!python/tuple [16, 19] + - !!python/tuple [15, 29] + - !!python/tuple [17, 12] + - !!python/tuple [23, 12] + - !!python/tuple [9, 1] + - !!python/tuple [9, 10] + - !!python/tuple [7, 13] + - !!python/tuple [6, 6] + - !!python/tuple [28, 2] + - !!python/tuple [14, 17] + - !!python/tuple [5, 12] + - !!python/tuple [26, 9] + - !!python/tuple [13, 27] + - !!python/tuple [18, 31] + - !!python/tuple [17, 10] + - !!python/tuple [4, 12] + - !!python/tuple [3, 13] + - !!python/tuple [2, 5] + - !!python/tuple [5, 17] + - !!python/tuple [1, 10] + - !!python/tuple [11, 24] + - !!python/tuple [9, 19] + - !!python/tuple [20, 19] + - !!python/tuple [22, 2] + - !!python/tuple [19, 12] + - !!python/tuple [27, 26] + - !!python/tuple [23, 0] + - !!python/tuple [8, 29] + - !!python/tuple [5, 29] + - !!python/tuple [24, 9] + - !!python/tuple [2, 30] + - !!python/tuple [12, 10] + - !!python/tuple [1, 3] + - !!python/tuple [26, 23] + - !!python/tuple [14, 18] + - !!python/tuple [13, 4] + - !!python/tuple [18, 13] + - !!python/tuple [15, 3] + - !!python/tuple [15, 28] + - !!python/tuple [5, 5] + - !!python/tuple [21, 2] + - !!python/tuple [15, 5] + - !!python/tuple [19, 28] + - !!python/tuple [31, 6] + - !!python/tuple [16, 8] + - !!python/tuple [27, 19] + - !!python/tuple [7, 1] + - !!python/tuple [24, 27] + - !!python/tuple [23, 31] + - !!python/tuple [17, 2] + - !!python/tuple [24, 5] + - !!python/tuple [2, 13] + - !!python/tuple [0, 28] + - !!python/tuple [22, 3] + - !!python/tuple [4, 5] + - !!python/tuple [12, 19] + - !!python/tuple [0, 5] + - !!python/tuple [9, 11] + - !!python/tuple [15, 4] + - !!python/tuple [7, 26] + - !!python/tuple [15, 30] + - !!python/tuple [2, 8] + - !!python/tuple [2, 6] + - !!python/tuple [3, 0] + - !!python/tuple [23, 6] + - !!python/tuple [24, 22] + - !!python/tuple [6, 20] + - !!python/tuple [4, 15] + - !!python/tuple [29, 8] + - !!python/tuple [1, 16] + - !!python/tuple [16, 11] + - !!python/tuple [24, 25] + - !!python/tuple [20, 16] + - !!python/tuple [12, 24] + - !!python/tuple [20, 11] + - !!python/tuple [16, 1] + - !!python/tuple [11, 6] + - !!python/tuple [11, 12] + - !!python/tuple [20, 20] + - !!python/tuple [0, 15] + - !!python/tuple [25, 19] + - !!python/tuple [0, 9] + - !!python/tuple [19, 23] + - !!python/tuple [30, 26] + - !!python/tuple [15, 23] + - !!python/tuple [26, 3] + - !!python/tuple [25, 11] + - !!python/tuple [20, 27] + - !!python/tuple [14, 9] + - !!python/tuple [25, 2] + - !!python/tuple [30, 5] + - !!python/tuple [15, 13] + - !!python/tuple [30, 8] + - !!python/tuple [19, 31] + - !!python/tuple [20, 1] + - !!python/tuple [3, 11] + - !!python/tuple [20, 6] + - !!python/tuple [24, 15] + - !!python/tuple [24, 6] + - !!python/tuple [18, 2] + - !!python/tuple [31, 5] + - !!python/tuple [29, 24] + - !!python/tuple [3, 29] + - !!python/tuple [29, 0] + - !!python/tuple [15, 17] + - !!python/tuple [0, 29] + - !!python/tuple [15, 24] + - !!python/tuple [9, 29] + - !!python/tuple [24, 20] + - !!python/tuple [2, 22] + - !!python/tuple [30, 21] + - !!python/tuple [17, 24] + - !!python/tuple [13, 6] + - !!python/tuple [24, 29] + - !!python/tuple [23, 16] + - !!python/tuple [30, 2] + - !!python/tuple [17, 25] + - !!python/tuple [15, 6] + - !!python/tuple [21, 4] + - !!python/tuple [10, 15] + - !!python/tuple [31, 19] + - !!python/tuple [12, 31] + - !!python/tuple [31, 11] + - !!python/tuple [27, 16] + - !!python/tuple [7, 21] + - !!python/tuple [20, 0] + - !!python/tuple [30, 30] + - !!python/tuple [8, 22] + - !!python/tuple [27, 21] + - !!python/tuple [26, 17] + - !!python/tuple [14, 4] + - !!python/tuple [16, 28] + - !!python/tuple [3, 3] + - !!python/tuple [16, 0] + - !!python/tuple [5, 21] + - !!python/tuple [18, 27] + - !!python/tuple [10, 12] + - !!python/tuple [28, 16] + - !!python/tuple [17, 5] + - !!python/tuple [11, 29] + - !!python/tuple [3, 2] + - !!python/tuple [9, 21] + - !!python/tuple [23, 15] + - !!python/tuple [0, 2] + - !!python/tuple [18, 28] + - !!python/tuple [6, 9] + - !!python/tuple [28, 12] + - !!python/tuple [29, 16] + - !!python/tuple [31, 28] + - !!python/tuple [5, 27] + - !!python/tuple [24, 10] + - !!python/tuple [18, 20] + - !!python/tuple [13, 22] + - !!python/tuple [18, 14] + - !!python/tuple [14, 1] + - !!python/tuple [30, 18] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex37.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex37.yaml new file mode 100644 index 0000000..d376521 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex37.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [5, 3] + name: agent0 + start: [5, 17] +- goal: [22, 16] + name: agent1 + start: [16, 5] +- goal: [23, 28] + name: agent2 + start: [16, 20] +- goal: [16, 6] + name: agent3 + start: [20, 9] +- goal: [13, 12] + name: agent4 + start: [18, 21] +- goal: [3, 7] + name: agent5 + start: [12, 16] +- goal: [11, 28] + name: agent6 + start: [27, 21] +- goal: [11, 16] + name: agent7 + start: [8, 8] +- goal: [3, 5] + name: agent8 + start: [28, 21] +- goal: [1, 22] + name: agent9 + start: [6, 21] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [28, 13] + - !!python/tuple [10, 18] + - !!python/tuple [8, 25] + - !!python/tuple [27, 28] + - !!python/tuple [25, 25] + - !!python/tuple [12, 21] + - !!python/tuple [25, 28] + - !!python/tuple [0, 24] + - !!python/tuple [24, 7] + - !!python/tuple [15, 21] + - !!python/tuple [3, 23] + - !!python/tuple [30, 19] + - !!python/tuple [28, 16] + - !!python/tuple [19, 2] + - !!python/tuple [6, 23] + - !!python/tuple [13, 21] + - !!python/tuple [21, 17] + - !!python/tuple [1, 21] + - !!python/tuple [8, 20] + - !!python/tuple [14, 13] + - !!python/tuple [20, 28] + - !!python/tuple [8, 22] + - !!python/tuple [11, 1] + - !!python/tuple [14, 27] + - !!python/tuple [29, 31] + - !!python/tuple [26, 10] + - !!python/tuple [30, 5] + - !!python/tuple [15, 17] + - !!python/tuple [0, 1] + - !!python/tuple [27, 13] + - !!python/tuple [2, 2] + - !!python/tuple [9, 17] + - !!python/tuple [17, 2] + - !!python/tuple [9, 22] + - !!python/tuple [29, 23] + - !!python/tuple [18, 22] + - !!python/tuple [14, 20] + - !!python/tuple [17, 9] + - !!python/tuple [6, 13] + - !!python/tuple [13, 24] + - !!python/tuple [2, 9] + - !!python/tuple [16, 17] + - !!python/tuple [24, 9] + - 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!!python/tuple [27, 3] + - !!python/tuple [7, 5] + - !!python/tuple [11, 0] + - !!python/tuple [0, 7] + - !!python/tuple [27, 31] + - !!python/tuple [0, 17] + - !!python/tuple [27, 29] + - !!python/tuple [4, 30] + - !!python/tuple [19, 31] + - !!python/tuple [19, 3] + - !!python/tuple [23, 17] + - !!python/tuple [18, 24] + - !!python/tuple [4, 9] + - !!python/tuple [23, 2] + - !!python/tuple [7, 2] + - !!python/tuple [12, 28] + - !!python/tuple [29, 9] + - !!python/tuple [21, 2] + - !!python/tuple [29, 24] + - !!python/tuple [19, 19] + - !!python/tuple [3, 21] + - !!python/tuple [24, 29] + - !!python/tuple [17, 17] + - !!python/tuple [22, 8] + - !!python/tuple [6, 6] + - !!python/tuple [22, 1] + - !!python/tuple [17, 30] + - !!python/tuple [13, 25] + - !!python/tuple [19, 0] + - !!python/tuple [15, 5] + - !!python/tuple [27, 27] + - !!python/tuple [16, 15] + - !!python/tuple [11, 23] + - !!python/tuple [13, 2] + - !!python/tuple [7, 7] + - !!python/tuple [23, 10] + - !!python/tuple [20, 11] + - !!python/tuple [19, 29] + - !!python/tuple [9, 20] + - !!python/tuple [0, 10] + - !!python/tuple [16, 24] + - !!python/tuple [3, 1] + - !!python/tuple [17, 27] + - !!python/tuple [14, 25] + - !!python/tuple [14, 21] + - !!python/tuple [27, 22] + - !!python/tuple [23, 14] + - !!python/tuple [29, 18] + - !!python/tuple [19, 14] + - !!python/tuple [5, 10] + - !!python/tuple [27, 11] + - !!python/tuple [10, 16] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex38.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex38.yaml new file mode 100644 index 0000000..1a92f11 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex38.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [27, 8] + name: agent0 + start: [20, 13] +- goal: [21, 27] + name: agent1 + start: [12, 20] +- goal: [11, 3] + name: agent2 + start: [6, 2] +- goal: [23, 14] + name: agent3 + start: [20, 21] +- goal: [25, 10] + name: agent4 + start: [31, 3] +- goal: [4, 1] + name: agent5 + start: [1, 19] +- goal: [18, 30] + name: agent6 + start: [4, 20] +- goal: [27, 30] + name: agent7 + start: [16, 7] +- goal: [7, 6] + name: agent8 + start: [23, 17] +- goal: [23, 4] + name: agent9 + start: [27, 31] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [30, 18] + - !!python/tuple [28, 12] + - !!python/tuple [10, 10] + - !!python/tuple [6, 29] + - !!python/tuple [25, 29] + - !!python/tuple [1, 9] + - !!python/tuple [18, 29] + - !!python/tuple [13, 16] + - !!python/tuple [16, 9] + - !!python/tuple [31, 10] + - !!python/tuple [24, 2] + - !!python/tuple [28, 16] + - !!python/tuple [5, 13] + - !!python/tuple [25, 4] + - !!python/tuple [1, 23] + - !!python/tuple [19, 4] + - !!python/tuple [0, 13] + - !!python/tuple [6, 19] + - !!python/tuple [6, 4] + - !!python/tuple [6, 1] + - !!python/tuple [24, 20] + - !!python/tuple [13, 15] + - !!python/tuple [0, 4] + - !!python/tuple [21, 5] + - !!python/tuple [27, 24] + - !!python/tuple [1, 29] + - !!python/tuple [25, 15] + - !!python/tuple [8, 17] + - !!python/tuple [28, 21] + - !!python/tuple [16, 15] + - !!python/tuple [2, 30] + - !!python/tuple [22, 14] + - !!python/tuple [14, 10] + - !!python/tuple [14, 7] + - !!python/tuple [30, 3] + - !!python/tuple [25, 31] + - !!python/tuple [17, 23] + - !!python/tuple [15, 25] + - !!python/tuple [2, 9] + - !!python/tuple [17, 24] + - !!python/tuple [18, 12] + - !!python/tuple [5, 6] + - !!python/tuple [8, 28] + - !!python/tuple [31, 4] + - !!python/tuple [8, 30] + - !!python/tuple [27, 11] + - !!python/tuple [14, 11] + - !!python/tuple [1, 24] + - !!python/tuple [15, 4] + - !!python/tuple [12, 22] + - !!python/tuple [0, 6] + - !!python/tuple [30, 28] + - !!python/tuple [10, 16] + - !!python/tuple [24, 24] + - !!python/tuple [6, 31] + - !!python/tuple [23, 7] + - !!python/tuple [26, 11] + - !!python/tuple [16, 12] + - !!python/tuple [26, 3] + - !!python/tuple [11, 7] + - 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[18, 7] + - !!python/tuple [6, 3] + - !!python/tuple [18, 15] + - !!python/tuple [9, 11] + - !!python/tuple [7, 7] + - !!python/tuple [11, 21] + - !!python/tuple [6, 21] + - !!python/tuple [20, 16] + - !!python/tuple [8, 27] + - !!python/tuple [7, 22] + - !!python/tuple [9, 28] + - !!python/tuple [1, 30] + - !!python/tuple [19, 25] + - !!python/tuple [2, 5] + - !!python/tuple [7, 29] + - !!python/tuple [26, 16] + - !!python/tuple [14, 9] + - !!python/tuple [17, 15] + - !!python/tuple [14, 12] + - !!python/tuple [4, 21] + - !!python/tuple [0, 11] + - !!python/tuple [4, 30] + - !!python/tuple [20, 14] + - !!python/tuple [23, 10] + - !!python/tuple [8, 10] + - !!python/tuple [27, 5] + - !!python/tuple [13, 29] + - !!python/tuple [22, 23] + - !!python/tuple [28, 18] + - !!python/tuple [2, 21] + - !!python/tuple [25, 24] + - !!python/tuple [24, 17] + - !!python/tuple [16, 1] + - !!python/tuple [31, 27] + - !!python/tuple [12, 7] + - !!python/tuple [17, 17] + - !!python/tuple [27, 14] + - !!python/tuple [13, 19] + - !!python/tuple [0, 30] + - !!python/tuple [21, 10] + - !!python/tuple [20, 1] + - !!python/tuple [22, 19] + - !!python/tuple [3, 2] + - !!python/tuple [22, 3] + - !!python/tuple [31, 20] + - !!python/tuple [9, 15] + - !!python/tuple [10, 27] + - !!python/tuple [18, 4] + - !!python/tuple [5, 26] + - !!python/tuple [6, 7] + - !!python/tuple [9, 22] + - !!python/tuple [9, 9] + - !!python/tuple [18, 16] + - !!python/tuple [13, 2] + - !!python/tuple [13, 3] + - !!python/tuple [2, 22] + - !!python/tuple [16, 21] + - !!python/tuple [20, 27] + - !!python/tuple [25, 26] + - !!python/tuple [24, 18] + - !!python/tuple [2, 17] + - !!python/tuple [0, 3] + - !!python/tuple [5, 4] + - !!python/tuple [27, 12] + - !!python/tuple [6, 12] + - !!python/tuple [10, 28] + - !!python/tuple [2, 15] + - !!python/tuple [10, 22] + - !!python/tuple [21, 2] + - !!python/tuple [27, 19] + - !!python/tuple [31, 28] + - !!python/tuple [27, 9] + - !!python/tuple [1, 7] + - !!python/tuple [15, 30] + - !!python/tuple [18, 24] + - !!python/tuple [22, 26] + - !!python/tuple [2, 10] + - !!python/tuple [23, 3] + - !!python/tuple [24, 5] + - !!python/tuple [30, 14] + - !!python/tuple [23, 18] + - !!python/tuple [15, 6] + - !!python/tuple [14, 15] + - !!python/tuple [26, 22] + - !!python/tuple [10, 4] + - !!python/tuple [15, 9] + - !!python/tuple [25, 18] + - !!python/tuple [24, 26] + - !!python/tuple [5, 18] + - !!python/tuple [12, 0] + - !!python/tuple [3, 13] + - !!python/tuple [27, 25] + - !!python/tuple [23, 22] + - !!python/tuple [14, 1] + - !!python/tuple [12, 9] + - !!python/tuple [20, 18] + - !!python/tuple [10, 21] + - !!python/tuple [15, 19] + - !!python/tuple [17, 7] + - !!python/tuple [7, 8] + - !!python/tuple [11, 22] + - !!python/tuple [29, 13] + - !!python/tuple [8, 3] + - !!python/tuple [8, 12] + - !!python/tuple [14, 14] + - !!python/tuple [10, 15] + - !!python/tuple [24, 12] + - !!python/tuple [16, 5] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex39.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex39.yaml new file mode 100644 index 0000000..10693dd --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex39.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [17, 25] + name: agent0 + start: [6, 9] +- goal: [13, 13] + name: agent1 + start: [12, 7] +- goal: [14, 7] + name: agent2 + start: [9, 30] +- goal: [0, 7] + name: agent3 + start: [13, 5] +- goal: [23, 26] + name: agent4 + start: [24, 15] +- goal: [14, 14] + name: agent5 + start: [22, 6] +- goal: [9, 6] + name: agent6 + start: [4, 5] +- goal: [2, 0] + name: agent7 + start: [5, 15] +- goal: [12, 17] + name: agent8 + start: [19, 28] +- goal: [4, 25] + name: agent9 + start: [14, 14] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [9, 16] + - !!python/tuple [25, 1] + - !!python/tuple [7, 24] + - !!python/tuple [4, 31] + - !!python/tuple [16, 1] + - !!python/tuple [20, 0] + - !!python/tuple [1, 22] + - !!python/tuple [25, 7] + - !!python/tuple [24, 19] + - !!python/tuple [1, 25] + - !!python/tuple [20, 16] + - !!python/tuple [29, 30] + - !!python/tuple [20, 4] + - !!python/tuple [17, 26] + - !!python/tuple [0, 23] + - !!python/tuple [20, 28] + - !!python/tuple [7, 13] + - !!python/tuple [10, 7] + - !!python/tuple [6, 10] + - !!python/tuple [22, 5] + - !!python/tuple [18, 29] + - !!python/tuple [13, 4] + - !!python/tuple [29, 17] + - !!python/tuple [4, 19] + - !!python/tuple [17, 28] + - !!python/tuple [16, 24] + - !!python/tuple [29, 16] + - !!python/tuple [28, 7] + - !!python/tuple [30, 16] + - !!python/tuple [27, 2] + - !!python/tuple [11, 3] + - !!python/tuple [13, 30] + - !!python/tuple [20, 27] + - !!python/tuple [13, 15] + - !!python/tuple [25, 26] + - !!python/tuple [28, 15] + - !!python/tuple [28, 16] + - !!python/tuple [4, 24] + - !!python/tuple [21, 19] + - !!python/tuple [28, 8] + - !!python/tuple [15, 11] + - !!python/tuple [8, 22] + - !!python/tuple [4, 16] + - !!python/tuple [26, 13] + - !!python/tuple [31, 13] + - !!python/tuple [31, 25] + - !!python/tuple [23, 19] + - !!python/tuple [6, 4] + - !!python/tuple [8, 20] + - !!python/tuple [10, 10] + - !!python/tuple [24, 24] + - !!python/tuple [13, 12] + - !!python/tuple [18, 9] + - !!python/tuple [14, 12] + - !!python/tuple [26, 17] + - !!python/tuple [19, 14] + - !!python/tuple [0, 1] + - !!python/tuple [13, 24] + - !!python/tuple [29, 14] + - !!python/tuple [26, 12] + - !!python/tuple [24, 23] + - !!python/tuple [29, 0] + - !!python/tuple [13, 8] + - !!python/tuple [10, 21] + - !!python/tuple [16, 28] + - !!python/tuple [13, 25] + - !!python/tuple [8, 23] + - !!python/tuple [18, 6] + - !!python/tuple [16, 10] + - !!python/tuple [18, 17] + - !!python/tuple [19, 7] + - !!python/tuple [27, 6] + - !!python/tuple [13, 31] + - !!python/tuple [18, 22] + - !!python/tuple [15, 3] + - !!python/tuple [4, 1] + - !!python/tuple [18, 16] + - !!python/tuple [4, 14] + - !!python/tuple [21, 1] + - !!python/tuple [8, 21] + - !!python/tuple [18, 15] + - !!python/tuple [1, 27] + - !!python/tuple [25, 18] + - !!python/tuple [17, 6] + - !!python/tuple [29, 29] + - !!python/tuple [2, 31] + - !!python/tuple [17, 30] + - !!python/tuple [5, 24] + - !!python/tuple [4, 7] + - !!python/tuple [9, 28] + - !!python/tuple [16, 19] + - !!python/tuple [26, 24] + - !!python/tuple [13, 7] + - !!python/tuple [31, 3] + - !!python/tuple [19, 26] + - !!python/tuple [16, 14] + - !!python/tuple [3, 27] + - !!python/tuple [0, 30] + - !!python/tuple [19, 18] + - !!python/tuple [4, 30] + - !!python/tuple [9, 23] + - !!python/tuple [5, 22] + - !!python/tuple [27, 20] + - !!python/tuple [31, 12] + - !!python/tuple [10, 5] + - !!python/tuple [2, 9] + - !!python/tuple [2, 3] + - !!python/tuple [17, 10] + - !!python/tuple [23, 21] + - !!python/tuple [24, 3] + - !!python/tuple [30, 26] + - !!python/tuple [9, 19] + - !!python/tuple [15, 12] + - !!python/tuple [22, 23] + - !!python/tuple [12, 15] + - !!python/tuple [5, 25] + - !!python/tuple [26, 26] + - !!python/tuple [0, 11] + - !!python/tuple [21, 18] + - !!python/tuple [5, 5] + - !!python/tuple [12, 13] + - !!python/tuple [18, 25] + - !!python/tuple [8, 25] + - !!python/tuple [13, 28] + - !!python/tuple [31, 23] + - !!python/tuple [0, 20] + - !!python/tuple [29, 22] + - !!python/tuple [12, 2] + - !!python/tuple [8, 31] + - !!python/tuple [15, 20] + - !!python/tuple [9, 24] + - !!python/tuple [30, 21] + - !!python/tuple [28, 4] + - !!python/tuple [2, 11] + - !!python/tuple [3, 21] + - !!python/tuple [21, 15] + - !!python/tuple [7, 22] + - !!python/tuple [18, 2] + - !!python/tuple [26, 18] + - !!python/tuple [11, 15] + - !!python/tuple [11, 27] + - !!python/tuple [27, 7] + - !!python/tuple [4, 28] + - !!python/tuple [18, 19] + - !!python/tuple [23, 24] + - !!python/tuple [26, 16] + - !!python/tuple [7, 25] + - !!python/tuple [31, 7] + - !!python/tuple [21, 3] + - !!python/tuple [23, 8] + - !!python/tuple [2, 4] + - !!python/tuple [19, 19] + - !!python/tuple [10, 17] + - !!python/tuple [22, 29] + - !!python/tuple [24, 22] + - !!python/tuple [9, 9] + - !!python/tuple [23, 5] + - !!python/tuple [16, 20] + - !!python/tuple [9, 13] + - !!python/tuple [29, 2] + - !!python/tuple [6, 16] + - !!python/tuple [29, 13] + - !!python/tuple [8, 3] + - !!python/tuple [19, 16] + - !!python/tuple [15, 10] + - !!python/tuple [12, 30] + - !!python/tuple [9, 12] + - !!python/tuple [12, 11] + - !!python/tuple [22, 4] + - !!python/tuple [17, 7] + - !!python/tuple [3, 28] + - !!python/tuple [1, 23] + - !!python/tuple [8, 4] + - !!python/tuple [21, 24] + - !!python/tuple [23, 30] + - !!python/tuple [5, 0] + - !!python/tuple [16, 18] + - !!python/tuple [10, 12] + - !!python/tuple [16, 4] + - !!python/tuple [12, 21] + - !!python/tuple [16, 12] + - !!python/tuple [30, 22] + - !!python/tuple [31, 26] + - !!python/tuple [2, 20] + - !!python/tuple [5, 13] + - !!python/tuple [27, 1] + - !!python/tuple [15, 22] + - !!python/tuple [8, 8] + - !!python/tuple [25, 0] + - !!python/tuple [27, 28] + - !!python/tuple [24, 18] + - !!python/tuple [19, 31] + - !!python/tuple [15, 18] + - !!python/tuple [16, 16] + - !!python/tuple [11, 1] + - !!python/tuple [16, 25] + - !!python/tuple [0, 10] + - !!python/tuple [10, 24] + - !!python/tuple [7, 5] + - !!python/tuple [7, 4] + - !!python/tuple [0, 3] + - !!python/tuple [8, 0] + - !!python/tuple [3, 15] + - !!python/tuple [28, 9] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex4.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex4.yaml new file mode 100644 index 0000000..c78cf7a --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex4.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [13, 8] + name: agent0 + start: [24, 16] +- goal: [4, 16] + name: agent1 + start: [9, 4] +- goal: [29, 30] + name: agent2 + start: [25, 12] +- goal: [16, 12] + name: agent3 + start: [20, 10] +- goal: [2, 19] + name: agent4 + start: [5, 30] +- goal: [16, 27] + name: agent5 + start: [24, 30] +- goal: [4, 1] + name: agent6 + start: [29, 11] +- goal: [17, 23] + name: agent7 + start: [9, 14] +- goal: [4, 31] + name: agent8 + start: [10, 23] +- goal: [3, 4] + name: agent9 + start: [12, 22] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [28, 17] + - !!python/tuple [7, 22] + - !!python/tuple [26, 20] + - !!python/tuple [30, 26] + - !!python/tuple [15, 31] + - !!python/tuple [21, 25] + - !!python/tuple [0, 31] + - !!python/tuple [4, 30] + - !!python/tuple [27, 3] + - !!python/tuple [8, 23] + - !!python/tuple [3, 5] + - !!python/tuple [1, 18] + - !!python/tuple [0, 29] + - !!python/tuple [30, 27] + - !!python/tuple [8, 20] + - !!python/tuple [20, 22] + - !!python/tuple [30, 15] + - !!python/tuple [25, 30] + - !!python/tuple [16, 10] + - !!python/tuple [9, 16] + - !!python/tuple [14, 28] + - 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!!python/tuple [15, 25] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex40.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex40.yaml new file mode 100644 index 0000000..2870905 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex40.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [27, 19] + name: agent0 + start: [9, 2] +- goal: [2, 18] + name: agent1 + start: [1, 22] +- goal: [24, 5] + name: agent2 + start: [20, 31] +- goal: [31, 20] + name: agent3 + start: [24, 24] +- goal: [23, 29] + name: agent4 + start: [26, 8] +- goal: [15, 28] + name: agent5 + start: [8, 27] +- goal: [31, 12] + name: agent6 + start: [30, 31] +- goal: [4, 19] + name: agent7 + start: [8, 28] +- goal: [29, 30] + name: agent8 + start: [26, 26] +- goal: [19, 0] + name: agent9 + start: [16, 13] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [26, 22] + - !!python/tuple [24, 29] + - 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!!python/tuple [27, 31] + - !!python/tuple [8, 21] + - !!python/tuple [1, 26] + - !!python/tuple [26, 24] + - !!python/tuple [8, 19] + - !!python/tuple [17, 24] + - !!python/tuple [25, 12] + - !!python/tuple [6, 11] + - !!python/tuple [0, 31] + - !!python/tuple [27, 27] + - !!python/tuple [12, 24] + - !!python/tuple [13, 24] + - !!python/tuple [0, 2] + - !!python/tuple [5, 0] + - !!python/tuple [10, 11] + - !!python/tuple [5, 27] + - !!python/tuple [19, 25] + - !!python/tuple [28, 28] + - !!python/tuple [3, 5] + - !!python/tuple [16, 20] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex41.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex41.yaml new file mode 100644 index 0000000..0b10f14 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex41.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [26, 1] + name: agent0 + start: [18, 9] +- goal: [1, 26] + name: agent1 + start: [19, 27] +- goal: [26, 0] + name: agent2 + start: [23, 23] +- goal: [31, 19] + name: agent3 + start: [0, 16] +- goal: [27, 15] + name: agent4 + start: [5, 5] +- goal: [13, 22] + name: agent5 + start: [15, 2] +- goal: [19, 29] + name: agent6 + start: [4, 6] +- goal: [25, 22] + name: agent7 + start: [29, 7] +- goal: [3, 18] + name: agent8 + start: [17, 5] +- goal: [28, 29] + name: agent9 + start: [6, 13] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [30, 20] + - !!python/tuple [31, 21] + - !!python/tuple [11, 18] + - !!python/tuple [29, 16] + - !!python/tuple [8, 5] + - !!python/tuple [3, 22] + - !!python/tuple [19, 17] + - !!python/tuple [8, 9] + - !!python/tuple [7, 11] + - !!python/tuple [7, 27] + - !!python/tuple [29, 18] + - !!python/tuple [11, 3] + - !!python/tuple [8, 20] + - !!python/tuple [9, 8] + - !!python/tuple [2, 26] + - !!python/tuple [19, 16] + - !!python/tuple [16, 1] + - !!python/tuple [6, 2] + - !!python/tuple [17, 30] + - !!python/tuple [0, 12] + - !!python/tuple [15, 19] + - !!python/tuple [28, 20] + - !!python/tuple [23, 31] + - !!python/tuple [13, 9] + - !!python/tuple [11, 25] + - !!python/tuple [31, 2] + - !!python/tuple [24, 4] + - !!python/tuple [7, 1] + - !!python/tuple [23, 28] + - !!python/tuple [14, 25] + - !!python/tuple [10, 31] + - !!python/tuple [12, 8] + - !!python/tuple [9, 18] + - !!python/tuple [8, 2] + - !!python/tuple [25, 3] + - !!python/tuple [30, 17] + - !!python/tuple [6, 12] + - !!python/tuple [6, 18] + - !!python/tuple [19, 31] + - !!python/tuple [19, 22] + - !!python/tuple [15, 7] + - !!python/tuple [4, 13] + - !!python/tuple [28, 18] + - !!python/tuple [27, 11] + - !!python/tuple [12, 30] + - !!python/tuple [17, 18] + - !!python/tuple [17, 1] + - !!python/tuple [23, 4] + - !!python/tuple [9, 15] + - !!python/tuple [21, 7] + - !!python/tuple [23, 26] + - !!python/tuple [23, 9] + - !!python/tuple [29, 13] + - !!python/tuple [23, 16] + - !!python/tuple [0, 27] + - !!python/tuple [18, 16] + - 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27] + - !!python/tuple [29, 11] + - !!python/tuple [1, 25] + - !!python/tuple [2, 8] + - !!python/tuple [8, 22] + - !!python/tuple [14, 8] + - !!python/tuple [27, 12] + - !!python/tuple [8, 0] + - !!python/tuple [28, 15] + - !!python/tuple [17, 17] + - !!python/tuple [23, 24] + - !!python/tuple [13, 31] + - !!python/tuple [22, 11] + - !!python/tuple [9, 27] + - !!python/tuple [24, 30] + - !!python/tuple [31, 30] + - !!python/tuple [14, 2] + - !!python/tuple [23, 30] + - !!python/tuple [14, 13] + - !!python/tuple [22, 2] + - !!python/tuple [5, 8] + - !!python/tuple [14, 18] + - !!python/tuple [6, 4] + - !!python/tuple [13, 27] + - !!python/tuple [6, 14] + - !!python/tuple [25, 23] + - !!python/tuple [11, 1] + - !!python/tuple [6, 9] + - !!python/tuple [2, 10] + - !!python/tuple [31, 5] + - !!python/tuple [6, 7] + - !!python/tuple [24, 18] + - !!python/tuple [7, 21] + - !!python/tuple [18, 21] + - !!python/tuple [1, 10] + - !!python/tuple [5, 27] + - !!python/tuple [31, 8] + - !!python/tuple [18, 11] + - !!python/tuple [26, 15] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex42.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex42.yaml new file mode 100644 index 0000000..03f6e25 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex42.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [4, 13] + name: agent0 + start: [21, 25] +- goal: [3, 30] + name: agent1 + start: [28, 29] +- goal: [21, 29] + name: agent2 + start: [31, 22] +- goal: [1, 4] + name: agent3 + start: [8, 23] +- goal: [2, 17] + name: agent4 + start: [1, 10] +- goal: [9, 22] + name: agent5 + start: [3, 15] +- goal: [1, 30] + name: agent6 + start: [22, 9] +- goal: [20, 22] + name: agent7 + start: [2, 30] +- goal: [14, 21] + name: agent8 + start: [12, 26] +- goal: [0, 10] + name: agent9 + start: [18, 12] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [11, 13] + - !!python/tuple [22, 30] + - !!python/tuple [12, 4] + - !!python/tuple [12, 5] + - !!python/tuple [9, 6] + - !!python/tuple [3, 12] + - !!python/tuple [21, 14] + - !!python/tuple [13, 20] + - !!python/tuple [17, 18] + - !!python/tuple [0, 29] + - !!python/tuple [20, 8] + - !!python/tuple [31, 24] + - !!python/tuple [29, 5] + - !!python/tuple [6, 20] + - !!python/tuple [23, 8] + - !!python/tuple [15, 28] + - !!python/tuple [17, 29] + - !!python/tuple [5, 6] + - !!python/tuple [5, 13] + - !!python/tuple [20, 4] + - !!python/tuple [9, 24] + - !!python/tuple [31, 3] + - !!python/tuple [3, 5] + - !!python/tuple [25, 30] + - !!python/tuple [16, 19] + - !!python/tuple [7, 28] + - !!python/tuple [13, 26] + - !!python/tuple [24, 0] + - !!python/tuple [20, 0] + - !!python/tuple [3, 16] + - !!python/tuple [7, 13] + - !!python/tuple [14, 13] + - !!python/tuple [14, 30] + - !!python/tuple [14, 8] + - !!python/tuple [1, 9] + - !!python/tuple [5, 30] + - !!python/tuple [1, 11] + - !!python/tuple [26, 6] + - !!python/tuple [8, 28] + - !!python/tuple [4, 12] + - !!python/tuple [5, 3] + - !!python/tuple [13, 28] + - !!python/tuple [25, 27] + - !!python/tuple [28, 7] + - !!python/tuple [12, 15] + - !!python/tuple [26, 25] + - !!python/tuple [19, 4] + - !!python/tuple [6, 15] + - !!python/tuple [23, 4] + - !!python/tuple [9, 28] + - !!python/tuple [8, 14] + - !!python/tuple [26, 7] + - !!python/tuple [23, 31] + - !!python/tuple [8, 1] + - !!python/tuple [4, 21] + - !!python/tuple [2, 1] + - !!python/tuple [4, 31] + - !!python/tuple [8, 11] + - !!python/tuple [24, 10] + - !!python/tuple [27, 8] + - !!python/tuple [6, 2] + - !!python/tuple [26, 24] + - !!python/tuple [19, 3] + - !!python/tuple [30, 18] + - !!python/tuple [1, 17] + - !!python/tuple [19, 7] + - !!python/tuple [29, 7] + - !!python/tuple [29, 17] + - !!python/tuple [27, 3] + - !!python/tuple [3, 6] + - !!python/tuple [5, 0] + - !!python/tuple [28, 17] + - !!python/tuple [7, 11] + - !!python/tuple [0, 19] + - !!python/tuple [15, 6] + - !!python/tuple [12, 2] + - !!python/tuple [24, 18] + - !!python/tuple [5, 11] + - !!python/tuple [7, 31] + - !!python/tuple [28, 2] + - !!python/tuple [31, 14] + - !!python/tuple [14, 1] + - !!python/tuple [12, 11] + - !!python/tuple [31, 10] + - !!python/tuple [14, 12] + - !!python/tuple [6, 1] + - !!python/tuple [18, 9] + - !!python/tuple [27, 29] + - !!python/tuple [4, 9] + - !!python/tuple [23, 11] + - !!python/tuple [6, 21] + - !!python/tuple [7, 23] + - !!python/tuple [27, 11] + - !!python/tuple [17, 7] + - !!python/tuple [14, 24] + - !!python/tuple [12, 10] + - !!python/tuple [25, 19] + - !!python/tuple [24, 1] + - !!python/tuple [4, 0] + - !!python/tuple [3, 10] + - !!python/tuple [25, 14] + - !!python/tuple [19, 26] + - !!python/tuple [16, 10] + - !!python/tuple [29, 30] + - !!python/tuple [29, 18] + - !!python/tuple [14, 9] + - !!python/tuple [11, 27] + - !!python/tuple [16, 18] + - !!python/tuple [27, 23] + - !!python/tuple [26, 8] + - !!python/tuple [11, 10] + - !!python/tuple [17, 8] + - !!python/tuple [9, 5] + - !!python/tuple [15, 24] + - !!python/tuple [21, 6] + - !!python/tuple [9, 15] + - !!python/tuple [18, 29] + - !!python/tuple [10, 21] + - !!python/tuple [11, 14] + - !!python/tuple [5, 8] + - !!python/tuple [1, 15] + - !!python/tuple [12, 20] + - !!python/tuple [16, 29] + - !!python/tuple [17, 3] + - !!python/tuple [13, 7] + - !!python/tuple [11, 25] + - !!python/tuple [25, 8] + - !!python/tuple [15, 27] + - !!python/tuple [31, 0] + - !!python/tuple [10, 9] + - !!python/tuple [30, 17] + - !!python/tuple [6, 19] + - !!python/tuple [5, 19] + - !!python/tuple [17, 27] + - !!python/tuple [12, 27] + - !!python/tuple [23, 14] + - !!python/tuple [4, 25] + - !!python/tuple [6, 7] + - !!python/tuple [22, 12] + - !!python/tuple [18, 1] + - !!python/tuple [27, 14] + - !!python/tuple [2, 6] + - !!python/tuple [16, 0] + - !!python/tuple [28, 16] + - !!python/tuple [19, 5] + - !!python/tuple [31, 20] + - !!python/tuple [17, 23] + - !!python/tuple [14, 3] + - !!python/tuple [30, 24] + - !!python/tuple [21, 5] + - !!python/tuple [29, 29] + - !!python/tuple [20, 27] + - !!python/tuple [11, 22] + - !!python/tuple [9, 11] + - !!python/tuple [0, 5] + - !!python/tuple [21, 22] + - !!python/tuple [16, 25] + - !!python/tuple [31, 13] + - !!python/tuple [7, 27] + - !!python/tuple [0, 21] + - !!python/tuple [13, 24] + - !!python/tuple [22, 21] + - !!python/tuple [28, 9] + - !!python/tuple [7, 26] + - !!python/tuple [7, 5] + - !!python/tuple [13, 3] + - !!python/tuple [24, 7] + - !!python/tuple [25, 12] + - !!python/tuple [1, 13] + - !!python/tuple [25, 20] + - !!python/tuple [2, 20] + - !!python/tuple [27, 0] + - !!python/tuple [25, 13] + - !!python/tuple [0, 3] + - !!python/tuple [27, 20] + - !!python/tuple [13, 2] + - !!python/tuple [9, 21] + - !!python/tuple [14, 5] + - !!python/tuple [19, 11] + - !!python/tuple [31, 15] + - !!python/tuple [0, 7] + - !!python/tuple [30, 9] + - !!python/tuple [30, 3] + - !!python/tuple [17, 14] + - !!python/tuple [21, 15] + - !!python/tuple [26, 5] + - !!python/tuple [16, 24] + - !!python/tuple [18, 11] + - !!python/tuple [0, 30] + - !!python/tuple [29, 21] + - !!python/tuple [31, 23] + - !!python/tuple [8, 15] + - !!python/tuple [1, 12] + - !!python/tuple [26, 19] + - !!python/tuple [22, 26] + - !!python/tuple [22, 14] + - !!python/tuple [30, 29] + - !!python/tuple [3, 19] + - !!python/tuple [14, 2] + - !!python/tuple [20, 30] + - !!python/tuple [29, 4] + - !!python/tuple [24, 31] + - !!python/tuple [4, 8] + - !!python/tuple [21, 4] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex43.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex43.yaml new file mode 100644 index 0000000..91b68c9 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex43.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [24, 18] + name: agent0 + start: [5, 23] +- goal: [14, 15] + name: agent1 + start: [12, 1] +- goal: [0, 16] + name: agent2 + start: [30, 26] +- goal: [22, 21] + name: agent3 + start: [10, 3] +- goal: [26, 19] + name: agent4 + start: [7, 17] +- goal: [24, 26] + name: agent5 + start: [6, 24] +- goal: [18, 27] + name: agent6 + start: [1, 30] +- goal: [20, 30] + name: agent7 + start: [19, 20] +- goal: [5, 26] + name: agent8 + start: [0, 5] +- goal: [31, 20] + name: agent9 + start: [4, 7] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [26, 1] + - !!python/tuple [14, 5] + - !!python/tuple [8, 20] + - !!python/tuple [22, 8] + - !!python/tuple [28, 25] + - !!python/tuple [25, 25] + - !!python/tuple [10, 30] + - !!python/tuple [19, 8] + - !!python/tuple [30, 29] + - !!python/tuple [23, 3] + - !!python/tuple [24, 24] + - !!python/tuple [17, 16] + - !!python/tuple [27, 13] + - !!python/tuple [15, 26] + - !!python/tuple [22, 27] + - !!python/tuple [27, 31] + - !!python/tuple [24, 28] + - !!python/tuple [3, 4] + - !!python/tuple [1, 13] + - !!python/tuple [0, 11] + - !!python/tuple [23, 19] + - !!python/tuple [13, 11] + - !!python/tuple [9, 12] + - !!python/tuple [13, 17] + - !!python/tuple [31, 6] + - !!python/tuple [16, 29] + - !!python/tuple [12, 11] + - !!python/tuple [15, 28] + - !!python/tuple [14, 8] + - !!python/tuple [6, 0] + - !!python/tuple [30, 2] + - !!python/tuple [13, 16] + - !!python/tuple [4, 3] + - !!python/tuple [4, 0] + - !!python/tuple [29, 8] + - !!python/tuple [1, 1] + - !!python/tuple [19, 29] + - !!python/tuple [27, 27] + - !!python/tuple [20, 26] + - !!python/tuple [13, 26] + - !!python/tuple [10, 12] + - !!python/tuple [26, 25] + - !!python/tuple [12, 8] + - !!python/tuple [18, 1] + - !!python/tuple [0, 8] + - !!python/tuple [16, 11] + - !!python/tuple [4, 17] + - !!python/tuple [25, 15] + - !!python/tuple [6, 14] + - !!python/tuple [19, 12] + - !!python/tuple [15, 17] + - !!python/tuple [20, 13] + - !!python/tuple [15, 12] + - !!python/tuple [8, 7] + - !!python/tuple [27, 17] + - !!python/tuple [29, 4] + - !!python/tuple [31, 17] + - !!python/tuple [22, 25] + - !!python/tuple [2, 25] + - !!python/tuple [1, 6] + - !!python/tuple [22, 20] + - !!python/tuple [23, 11] + - !!python/tuple [5, 14] + - !!python/tuple [22, 28] + - !!python/tuple [19, 22] + - !!python/tuple [30, 5] + - !!python/tuple [0, 18] + - !!python/tuple [4, 31] + - !!python/tuple [4, 13] + - !!python/tuple [0, 15] + - !!python/tuple [20, 24] + - !!python/tuple [25, 14] + - !!python/tuple [31, 19] + - !!python/tuple [8, 27] + - !!python/tuple [21, 18] + - !!python/tuple [1, 29] + - !!python/tuple [22, 16] + - !!python/tuple [22, 29] + - !!python/tuple [19, 16] + - !!python/tuple [25, 20] + - !!python/tuple [2, 11] + - !!python/tuple [6, 16] + - !!python/tuple [29, 31] + - !!python/tuple [20, 2] + - !!python/tuple [26, 9] + - !!python/tuple [8, 6] + - !!python/tuple [13, 6] + - !!python/tuple [12, 0] + - !!python/tuple [29, 25] + - !!python/tuple [25, 29] + - !!python/tuple [1, 3] + - !!python/tuple [3, 12] + - !!python/tuple [16, 26] + - !!python/tuple [8, 11] + - !!python/tuple [4, 20] + - !!python/tuple [26, 11] + - !!python/tuple [15, 6] + - !!python/tuple [23, 4] + - !!python/tuple [2, 27] + - !!python/tuple [20, 18] + - !!python/tuple [5, 13] + - !!python/tuple [11, 8] + - !!python/tuple [22, 22] + - !!python/tuple [8, 22] + - !!python/tuple [15, 8] + - !!python/tuple [1, 11] + - !!python/tuple [13, 12] + - !!python/tuple [26, 26] + - !!python/tuple [16, 27] + - !!python/tuple [4, 12] + - !!python/tuple [20, 7] + - !!python/tuple [17, 7] + - !!python/tuple [7, 1] + - !!python/tuple [27, 18] + - !!python/tuple [14, 9] + - !!python/tuple [5, 25] + - !!python/tuple [6, 2] + - !!python/tuple [21, 28] + - !!python/tuple [14, 19] + - !!python/tuple [6, 8] + - !!python/tuple [16, 17] + - !!python/tuple [25, 5] + - !!python/tuple [7, 19] + - !!python/tuple [4, 11] + - !!python/tuple [15, 7] + - !!python/tuple [4, 21] + - !!python/tuple [9, 15] + - !!python/tuple [28, 2] + - !!python/tuple [17, 30] + - !!python/tuple [14, 20] + - !!python/tuple [31, 11] + - !!python/tuple [10, 19] + - !!python/tuple [28, 11] + - !!python/tuple [26, 12] + - !!python/tuple [2, 2] + - !!python/tuple [25, 31] + - !!python/tuple [5, 27] + - !!python/tuple [14, 13] + - !!python/tuple [27, 12] + - !!python/tuple [30, 8] + - !!python/tuple [1, 10] + - !!python/tuple [23, 23] + - !!python/tuple [20, 12] + - !!python/tuple [9, 10] + - !!python/tuple [28, 7] + - !!python/tuple [13, 15] + - !!python/tuple [6, 25] + - !!python/tuple [9, 16] + - !!python/tuple [20, 15] + - !!python/tuple [21, 10] + - !!python/tuple [25, 3] + - !!python/tuple [30, 3] + - !!python/tuple [18, 10] + - !!python/tuple [27, 0] + - !!python/tuple [29, 24] + - !!python/tuple [11, 13] + - !!python/tuple [1, 22] + - !!python/tuple [18, 18] + - !!python/tuple [25, 16] + - !!python/tuple [25, 22] + - !!python/tuple [21, 13] + - !!python/tuple [5, 17] + - !!python/tuple [4, 1] + - !!python/tuple [7, 15] + - !!python/tuple [14, 25] + - !!python/tuple [10, 20] + - !!python/tuple [10, 15] + - !!python/tuple [28, 3] + - !!python/tuple [16, 9] + - !!python/tuple [0, 9] + - !!python/tuple [21, 26] + - !!python/tuple [8, 3] + - !!python/tuple [6, 15] + - !!python/tuple [30, 24] + - !!python/tuple [26, 13] + - !!python/tuple [11, 27] + - !!python/tuple [1, 19] + - !!python/tuple [29, 23] + - !!python/tuple [12, 23] + - !!python/tuple [10, 2] + - !!python/tuple [21, 9] + - !!python/tuple [23, 24] + - !!python/tuple [29, 19] + - !!python/tuple [21, 11] + - !!python/tuple [25, 26] + - !!python/tuple [20, 5] + - !!python/tuple [28, 15] + - !!python/tuple [24, 8] + - !!python/tuple [31, 12] + - !!python/tuple [9, 27] + - !!python/tuple [27, 14] + - !!python/tuple [3, 27] + - !!python/tuple [25, 24] + - !!python/tuple [21, 21] + - !!python/tuple [3, 13] + - !!python/tuple [18, 17] + - !!python/tuple [22, 18] + - !!python/tuple [27, 8] + - !!python/tuple [12, 28] + - !!python/tuple [11, 7] + - !!python/tuple [30, 4] + - !!python/tuple [8, 21] + - !!python/tuple [16, 21] + - !!python/tuple [17, 22] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex44.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex44.yaml new file mode 100644 index 0000000..a0427c4 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex44.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [27, 28] + name: agent0 + start: [21, 2] +- goal: [2, 8] + name: agent1 + start: [19, 30] +- goal: [12, 27] + name: agent2 + start: [21, 10] +- goal: [28, 26] + name: agent3 + start: [16, 24] +- goal: [13, 18] + name: agent4 + start: [2, 2] +- goal: [27, 10] + name: agent5 + start: [25, 25] +- goal: [22, 26] + name: agent6 + start: [28, 12] +- goal: [26, 26] + name: agent7 + start: [18, 7] +- goal: [11, 28] + name: agent8 + start: [20, 22] +- goal: [27, 14] + name: agent9 + start: [31, 19] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [5, 6] + - !!python/tuple [26, 31] + - !!python/tuple [6, 9] + - !!python/tuple [1, 19] + - !!python/tuple [3, 0] + - !!python/tuple [19, 22] + - !!python/tuple [30, 14] + - !!python/tuple [21, 29] + - !!python/tuple [9, 19] + - !!python/tuple [18, 11] + - !!python/tuple [3, 7] + - !!python/tuple [3, 21] + - !!python/tuple [8, 4] + - !!python/tuple [19, 5] + - !!python/tuple [2, 20] + - !!python/tuple [16, 1] + - !!python/tuple [15, 5] + - !!python/tuple [21, 4] + - !!python/tuple [6, 0] + - !!python/tuple [7, 13] + - !!python/tuple [15, 10] + - !!python/tuple [4, 26] + - !!python/tuple [9, 1] + - !!python/tuple [6, 26] + - !!python/tuple [6, 8] + - !!python/tuple [27, 18] + - !!python/tuple [0, 12] + - !!python/tuple [1, 28] + - !!python/tuple [13, 4] + - !!python/tuple [18, 0] + - !!python/tuple [27, 0] + - !!python/tuple [20, 16] + - !!python/tuple [29, 9] + - !!python/tuple [7, 5] + - !!python/tuple [25, 19] + - !!python/tuple [23, 8] + - !!python/tuple [18, 12] + - !!python/tuple [24, 0] + - !!python/tuple [5, 15] + - !!python/tuple [7, 8] + - !!python/tuple [25, 8] + - !!python/tuple [18, 6] + - !!python/tuple [21, 6] + - !!python/tuple [29, 5] + - !!python/tuple [26, 13] + - !!python/tuple [2, 31] + - !!python/tuple [30, 15] + - !!python/tuple [15, 8] + - !!python/tuple [11, 19] + - !!python/tuple [23, 26] + - !!python/tuple [19, 19] + - !!python/tuple [6, 7] + - !!python/tuple [15, 1] + - !!python/tuple [6, 18] + - !!python/tuple [0, 29] + - !!python/tuple [15, 16] + - !!python/tuple [5, 31] + - !!python/tuple [28, 24] + - !!python/tuple [20, 20] + - !!python/tuple [7, 6] + - !!python/tuple [14, 27] + - !!python/tuple [27, 19] + - !!python/tuple [19, 12] + - !!python/tuple [31, 6] + - !!python/tuple [0, 17] + - !!python/tuple [3, 13] + - !!python/tuple [8, 24] + - !!python/tuple [22, 17] + - !!python/tuple [14, 13] + - !!python/tuple [16, 7] + - !!python/tuple [3, 26] + - !!python/tuple [22, 7] + - !!python/tuple [11, 6] + - !!python/tuple [28, 21] + - !!python/tuple [4, 1] + - !!python/tuple [28, 8] + - !!python/tuple [10, 26] + - !!python/tuple [7, 4] + - !!python/tuple [23, 18] + - !!python/tuple [24, 25] + - !!python/tuple [14, 11] + - !!python/tuple [26, 23] + - !!python/tuple [6, 30] + - !!python/tuple [1, 31] + - !!python/tuple [10, 1] + - !!python/tuple [24, 31] + - !!python/tuple [9, 8] + - !!python/tuple [29, 19] + - !!python/tuple [23, 10] + - !!python/tuple [24, 12] + - !!python/tuple [7, 20] + - !!python/tuple [29, 2] + - !!python/tuple [3, 15] + - !!python/tuple [2, 15] + - !!python/tuple [0, 10] + - !!python/tuple [25, 28] + - !!python/tuple [4, 12] + - !!python/tuple [23, 30] + - !!python/tuple [16, 28] + - !!python/tuple [10, 13] + - !!python/tuple [24, 22] + - !!python/tuple [28, 1] + - !!python/tuple [8, 22] + - !!python/tuple [13, 8] + - !!python/tuple [18, 5] + - !!python/tuple [7, 15] + - !!python/tuple [24, 5] + - !!python/tuple [27, 11] + - !!python/tuple [10, 6] + - !!python/tuple [13, 19] + - !!python/tuple [14, 20] + - !!python/tuple [5, 24] + - !!python/tuple [17, 26] + - !!python/tuple [29, 11] + - !!python/tuple [22, 15] + - !!python/tuple [0, 19] + - !!python/tuple [30, 25] + - !!python/tuple [2, 24] + - !!python/tuple [17, 4] + - !!python/tuple [26, 12] + - !!python/tuple [14, 0] + - !!python/tuple [14, 18] + - !!python/tuple [14, 22] + - !!python/tuple [7, 28] + - !!python/tuple [8, 20] + - !!python/tuple [21, 15] + - !!python/tuple [8, 29] + - !!python/tuple [7, 26] + - !!python/tuple [20, 7] + - !!python/tuple [2, 0] + - !!python/tuple [10, 8] + - !!python/tuple [3, 20] + - !!python/tuple [31, 3] + - !!python/tuple [30, 30] + - !!python/tuple [7, 17] + - !!python/tuple [8, 25] + - !!python/tuple [0, 7] + - !!python/tuple [26, 20] + - !!python/tuple [12, 2] + - !!python/tuple [13, 28] + - !!python/tuple [24, 29] + - !!python/tuple [27, 21] + - !!python/tuple [15, 11] + - !!python/tuple [3, 22] + - !!python/tuple [3, 3] + - !!python/tuple [10, 19] + - !!python/tuple [22, 16] + - !!python/tuple [6, 28] + - !!python/tuple [16, 13] + - !!python/tuple [10, 31] + - !!python/tuple [22, 18] + - !!python/tuple [1, 20] + - !!python/tuple [3, 2] + - !!python/tuple [26, 10] + - !!python/tuple [30, 5] + - !!python/tuple [28, 7] + - !!python/tuple [22, 11] + - !!python/tuple [2, 11] + - !!python/tuple [26, 4] + - !!python/tuple [22, 0] + - !!python/tuple [3, 24] + - !!python/tuple [22, 2] + - !!python/tuple [17, 31] + - !!python/tuple [4, 0] + - !!python/tuple [27, 5] + - !!python/tuple [30, 28] + - !!python/tuple [11, 18] + - !!python/tuple [28, 9] + - !!python/tuple [13, 26] + - !!python/tuple [4, 20] + - !!python/tuple [21, 5] + - !!python/tuple [13, 22] + - !!python/tuple [29, 16] + - !!python/tuple [14, 14] + - !!python/tuple [27, 8] + - !!python/tuple [30, 1] + - !!python/tuple [13, 20] + - !!python/tuple [20, 17] + - !!python/tuple [9, 6] + - !!python/tuple [21, 9] + - !!python/tuple [7, 30] + - !!python/tuple [7, 22] + - !!python/tuple [5, 1] + - !!python/tuple [13, 27] + - !!python/tuple [7, 29] + - !!python/tuple [7, 25] + - !!python/tuple [2, 5] + - !!python/tuple [0, 23] + - !!python/tuple [1, 2] + - !!python/tuple [24, 7] + - !!python/tuple [20, 15] + - !!python/tuple [3, 27] + - !!python/tuple [21, 12] + - !!python/tuple [17, 19] + - !!python/tuple [3, 31] + - !!python/tuple [28, 25] + - !!python/tuple [24, 13] + - !!python/tuple [17, 3] + - !!python/tuple [23, 23] + - !!python/tuple [18, 25] + - !!python/tuple [7, 23] + - !!python/tuple [13, 11] + - !!python/tuple [0, 1] + - !!python/tuple [2, 1] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex45.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex45.yaml new file mode 100644 index 0000000..c2f1153 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex45.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [14, 28] + name: agent0 + start: [4, 30] +- goal: [3, 28] + name: agent1 + start: [19, 30] +- goal: [28, 23] + name: agent2 + start: [17, 16] +- goal: [14, 11] + name: agent3 + start: [26, 17] +- goal: [4, 23] + name: agent4 + start: [24, 6] +- goal: [25, 21] + name: agent5 + start: [19, 22] +- goal: [17, 2] + name: agent6 + start: [25, 10] +- goal: [8, 2] + name: agent7 + start: [31, 22] +- goal: [26, 23] + name: agent8 + start: [17, 7] +- goal: [0, 11] + name: agent9 + start: [14, 27] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [10, 7] + - !!python/tuple [11, 28] + - !!python/tuple [18, 1] + - !!python/tuple [3, 7] + - !!python/tuple [8, 27] + - !!python/tuple [30, 13] + - !!python/tuple [22, 23] + - !!python/tuple [28, 5] + - !!python/tuple [28, 10] + - !!python/tuple [14, 9] + - !!python/tuple [27, 24] + - !!python/tuple [5, 29] + - !!python/tuple [7, 17] + - !!python/tuple [27, 9] + - !!python/tuple [7, 7] + - !!python/tuple [7, 24] + - !!python/tuple [27, 29] + - !!python/tuple [28, 9] + - !!python/tuple [9, 7] + - !!python/tuple [2, 26] + - !!python/tuple [17, 6] + - !!python/tuple [6, 6] + - !!python/tuple [4, 28] + - !!python/tuple [30, 23] + - !!python/tuple [7, 25] + - !!python/tuple [9, 2] + - !!python/tuple [2, 9] + - !!python/tuple [21, 30] + - !!python/tuple [5, 13] + - !!python/tuple [27, 13] + - !!python/tuple [7, 5] + - !!python/tuple [14, 20] + - !!python/tuple [4, 24] + - !!python/tuple [8, 22] + - !!python/tuple [0, 8] + - !!python/tuple [9, 5] + - !!python/tuple [1, 2] + - !!python/tuple [19, 27] + - !!python/tuple [13, 9] + - !!python/tuple [22, 11] + - !!python/tuple [26, 20] + - !!python/tuple [10, 26] + - !!python/tuple [13, 8] + - !!python/tuple [30, 30] + - !!python/tuple [3, 4] + - !!python/tuple [27, 0] + - !!python/tuple [10, 12] + - !!python/tuple [9, 0] + - !!python/tuple [25, 22] + - !!python/tuple [27, 4] + - !!python/tuple [18, 31] + - !!python/tuple [17, 18] + - !!python/tuple [7, 15] + - !!python/tuple [2, 6] + - !!python/tuple [2, 21] + - !!python/tuple [20, 16] + 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[2, 28] + - !!python/tuple [8, 17] + - !!python/tuple [14, 14] + - !!python/tuple [23, 29] + - !!python/tuple [6, 15] + - !!python/tuple [2, 17] + - !!python/tuple [11, 11] + - !!python/tuple [3, 17] + - !!python/tuple [0, 21] + - !!python/tuple [13, 31] + - !!python/tuple [7, 12] + - !!python/tuple [7, 26] + - !!python/tuple [30, 11] + - !!python/tuple [12, 19] + - !!python/tuple [1, 29] + - !!python/tuple [17, 30] + - !!python/tuple [19, 18] + - !!python/tuple [19, 25] + - !!python/tuple [15, 11] + - !!python/tuple [29, 27] + - !!python/tuple [30, 15] + - !!python/tuple [18, 26] + - !!python/tuple [22, 12] + - !!python/tuple [20, 23] + - !!python/tuple [31, 25] + - !!python/tuple [23, 31] + - !!python/tuple [21, 27] + - !!python/tuple [25, 29] + - !!python/tuple [9, 20] + - !!python/tuple [2, 31] + - !!python/tuple [6, 16] + - !!python/tuple [17, 26] + - !!python/tuple [19, 6] + - !!python/tuple [31, 9] + - !!python/tuple [26, 27] + - !!python/tuple [1, 13] + - !!python/tuple [24, 24] + - !!python/tuple [18, 6] + - !!python/tuple [0, 17] + - !!python/tuple [2, 2] + - !!python/tuple [16, 14] + - !!python/tuple [9, 25] + - !!python/tuple [17, 13] + - !!python/tuple [29, 21] + - !!python/tuple [12, 16] + - !!python/tuple [29, 25] + - !!python/tuple [4, 1] + - !!python/tuple [23, 4] + - !!python/tuple [4, 7] + - !!python/tuple [11, 21] + - !!python/tuple [12, 12] + - !!python/tuple [27, 19] + - !!python/tuple [29, 20] + - !!python/tuple [21, 14] + - !!python/tuple [0, 12] + - !!python/tuple [12, 24] + - !!python/tuple [18, 5] + - !!python/tuple [11, 5] + - !!python/tuple [12, 4] + - !!python/tuple [14, 19] + - !!python/tuple [9, 18] + - !!python/tuple [5, 18] + - !!python/tuple [4, 0] + - !!python/tuple [29, 8] + - !!python/tuple [27, 1] + - !!python/tuple [14, 18] + - !!python/tuple [30, 8] + - !!python/tuple [29, 26] + - !!python/tuple [29, 28] + - !!python/tuple [11, 27] + - !!python/tuple [10, 25] + - !!python/tuple [3, 19] + - !!python/tuple [31, 31] + - !!python/tuple [28, 3] + - !!python/tuple [0, 29] + - !!python/tuple [19, 13] + - !!python/tuple [19, 9] + - !!python/tuple [14, 3] + - !!python/tuple [13, 11] + - !!python/tuple [27, 5] + - !!python/tuple [27, 26] + - !!python/tuple [21, 5] + - !!python/tuple [17, 1] + - !!python/tuple [21, 18] + - !!python/tuple [8, 26] + - !!python/tuple [20, 8] + - !!python/tuple [16, 9] + - !!python/tuple [24, 9] + - !!python/tuple [24, 4] + - !!python/tuple [20, 21] + - !!python/tuple [6, 20] + - !!python/tuple [18, 12] + - !!python/tuple [8, 23] + - !!python/tuple [24, 30] + - !!python/tuple [5, 8] + - !!python/tuple [29, 22] + - !!python/tuple [28, 6] + - !!python/tuple [5, 12] + - !!python/tuple [18, 3] + - !!python/tuple [4, 19] + - !!python/tuple [0, 23] + - !!python/tuple [6, 3] + - !!python/tuple [13, 25] + - !!python/tuple [10, 4] + - !!python/tuple [26, 2] + - !!python/tuple [20, 12] + - !!python/tuple [1, 24] + - !!python/tuple [4, 18] + - !!python/tuple [10, 11] + - !!python/tuple [6, 4] + - !!python/tuple [18, 8] + - !!python/tuple [14, 15] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex46.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex46.yaml new file mode 100644 index 0000000..db26f23 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex46.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [31, 2] + name: agent0 + start: [22, 29] +- goal: [18, 23] + name: agent1 + start: [17, 22] +- goal: [7, 6] + name: agent2 + start: [30, 27] +- goal: [21, 21] + name: agent3 + start: [25, 30] +- goal: [23, 10] + name: agent4 + start: [21, 17] +- goal: [13, 5] + name: agent5 + start: [30, 18] +- goal: [2, 28] + name: agent6 + start: [8, 20] +- goal: [18, 16] + name: agent7 + start: [14, 28] +- goal: [22, 18] + name: agent8 + start: [29, 8] +- goal: [0, 1] + name: agent9 + start: [22, 27] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [27, 2] + - !!python/tuple [27, 26] + - !!python/tuple [1, 10] + - !!python/tuple [1, 16] + - !!python/tuple [5, 20] + - !!python/tuple [7, 18] + - !!python/tuple [12, 16] + - !!python/tuple [27, 29] + - !!python/tuple [1, 9] + - !!python/tuple [14, 4] + - !!python/tuple [11, 13] + - !!python/tuple [31, 26] + - !!python/tuple [7, 16] + - !!python/tuple [31, 3] + - !!python/tuple [22, 2] + - !!python/tuple [15, 8] + - !!python/tuple [25, 21] + - !!python/tuple [22, 13] + - !!python/tuple [20, 29] + - !!python/tuple [31, 19] + - !!python/tuple [0, 21] + - !!python/tuple [22, 15] + - !!python/tuple [7, 30] + - !!python/tuple [21, 28] + - !!python/tuple [13, 12] + - !!python/tuple [14, 29] + - !!python/tuple [3, 19] + - !!python/tuple [2, 24] + - !!python/tuple [25, 9] + - !!python/tuple [28, 3] + - !!python/tuple [15, 17] + - !!python/tuple [13, 3] + - !!python/tuple [24, 15] + - !!python/tuple [28, 31] + - !!python/tuple [6, 10] + - !!python/tuple [12, 29] + - !!python/tuple [9, 22] + - !!python/tuple [4, 16] + - !!python/tuple [16, 27] + - !!python/tuple [17, 30] + - !!python/tuple [17, 3] + - !!python/tuple [1, 4] + - !!python/tuple [18, 27] + - !!python/tuple [9, 28] + - !!python/tuple [1, 21] + - !!python/tuple [10, 19] + - !!python/tuple [24, 27] + - !!python/tuple [2, 10] + - !!python/tuple [14, 8] + - !!python/tuple [23, 22] + - !!python/tuple [13, 24] + - !!python/tuple [22, 26] + - !!python/tuple [19, 5] + - !!python/tuple [28, 13] + - !!python/tuple [9, 7] + - !!python/tuple [9, 27] + - !!python/tuple [20, 21] + - !!python/tuple [12, 12] + - !!python/tuple [30, 31] + - !!python/tuple [20, 27] + - !!python/tuple [3, 12] + - !!python/tuple [22, 30] + - !!python/tuple [23, 5] + - !!python/tuple [0, 16] + - !!python/tuple [16, 29] + - !!python/tuple [31, 29] + - !!python/tuple [13, 25] + - !!python/tuple [13, 11] + - !!python/tuple [12, 4] + - !!python/tuple [10, 31] + - !!python/tuple [23, 16] + - !!python/tuple [1, 30] + - !!python/tuple [1, 1] + - !!python/tuple [4, 18] + - !!python/tuple [1, 19] + - !!python/tuple [25, 12] + - !!python/tuple [16, 13] + - !!python/tuple [13, 22] + - !!python/tuple [7, 21] + - !!python/tuple [22, 21] + - !!python/tuple [29, 19] + - !!python/tuple [25, 17] + - !!python/tuple [16, 15] + - !!python/tuple [25, 3] + - !!python/tuple [25, 14] + - !!python/tuple [23, 25] + - !!python/tuple [10, 22] + - !!python/tuple [16, 26] + - !!python/tuple [6, 0] + - !!python/tuple [2, 27] + - !!python/tuple [15, 27] + - !!python/tuple [10, 4] + - !!python/tuple [26, 1] + - !!python/tuple [14, 13] + - !!python/tuple [26, 6] + - !!python/tuple [11, 9] + - !!python/tuple [27, 9] + - !!python/tuple [26, 29] + - !!python/tuple [3, 28] + - !!python/tuple [26, 3] + - !!python/tuple [25, 15] + - !!python/tuple [31, 28] + - !!python/tuple [12, 24] + - !!python/tuple [9, 11] + - !!python/tuple [23, 24] + - !!python/tuple [1, 2] + - !!python/tuple [9, 18] + - !!python/tuple [9, 17] + - !!python/tuple [9, 13] + - !!python/tuple [29, 28] + - !!python/tuple [11, 5] + - !!python/tuple [21, 4] + - !!python/tuple [23, 18] + - !!python/tuple [20, 3] + - !!python/tuple [24, 18] + - !!python/tuple [12, 0] + - !!python/tuple [17, 27] + - !!python/tuple [11, 30] + - !!python/tuple [6, 24] + - !!python/tuple [15, 30] + - !!python/tuple [20, 22] + - !!python/tuple [4, 20] + - !!python/tuple [23, 31] + - !!python/tuple [2, 20] + - !!python/tuple [29, 7] + - !!python/tuple [20, 11] + - !!python/tuple [30, 2] + - !!python/tuple [17, 21] + - !!python/tuple [23, 0] + - !!python/tuple [27, 30] + - !!python/tuple [15, 23] + - !!python/tuple [26, 24] + - !!python/tuple [3, 1] + - !!python/tuple [20, 30] + - !!python/tuple [4, 21] + - !!python/tuple [2, 16] + - !!python/tuple [20, 15] + - !!python/tuple [31, 12] + - !!python/tuple [24, 30] + - !!python/tuple [28, 19] + - !!python/tuple [5, 2] + - !!python/tuple [10, 25] + - !!python/tuple [6, 5] + - !!python/tuple [2, 18] + - !!python/tuple [11, 16] + - !!python/tuple [19, 17] + - !!python/tuple [15, 18] + - !!python/tuple [9, 5] + - !!python/tuple [16, 14] + - !!python/tuple [11, 20] + - !!python/tuple [20, 2] + - !!python/tuple [25, 19] + - !!python/tuple [1, 8] + - !!python/tuple [28, 4] + - !!python/tuple [28, 9] + - !!python/tuple [13, 16] + - !!python/tuple [12, 7] + - !!python/tuple [22, 16] + - !!python/tuple [17, 23] + - !!python/tuple [0, 13] + - !!python/tuple [3, 16] + - !!python/tuple [19, 28] + - !!python/tuple [9, 4] + - !!python/tuple [21, 20] + - !!python/tuple [17, 18] + - !!python/tuple [6, 18] + - !!python/tuple [16, 5] + - !!python/tuple [15, 20] + - !!python/tuple [5, 4] + - !!python/tuple [16, 23] + - !!python/tuple [14, 11] + - !!python/tuple [1, 28] + - !!python/tuple [21, 25] + - !!python/tuple [19, 22] + - !!python/tuple [1, 31] + - !!python/tuple [18, 13] + - !!python/tuple [7, 8] + - !!python/tuple [5, 3] + - !!python/tuple [23, 15] + - !!python/tuple [14, 1] + - !!python/tuple [21, 16] + - !!python/tuple [16, 11] + - !!python/tuple [0, 8] + - !!python/tuple [20, 8] + - !!python/tuple [20, 4] + - !!python/tuple [11, 21] + - !!python/tuple [2, 14] + - !!python/tuple [9, 10] + - !!python/tuple [14, 26] + - !!python/tuple [5, 7] + - !!python/tuple [24, 25] + - !!python/tuple [30, 22] + - !!python/tuple [21, 3] + - !!python/tuple [13, 7] + - !!python/tuple [29, 27] + - !!python/tuple [22, 28] + - !!python/tuple [13, 8] + - !!python/tuple [2, 25] + - !!python/tuple [14, 21] + - !!python/tuple [24, 9] + - !!python/tuple [19, 29] + - !!python/tuple [28, 1] + - !!python/tuple [1, 14] + - !!python/tuple [28, 22] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex47.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex47.yaml new file mode 100644 index 0000000..655014f --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex47.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [30, 31] + name: agent0 + start: [27, 17] +- goal: [8, 1] + name: agent1 + start: [14, 22] +- goal: [17, 20] + name: agent2 + start: [12, 26] +- goal: [23, 19] + name: agent3 + start: [11, 18] +- goal: [9, 18] + name: agent4 + start: [8, 11] +- goal: [10, 6] + name: agent5 + start: [24, 3] +- goal: [1, 16] + name: agent6 + start: [9, 16] +- goal: [25, 14] + name: agent7 + start: [26, 28] +- goal: [12, 16] + name: agent8 + start: [22, 0] +- goal: [21, 14] + name: agent9 + start: [12, 4] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [19, 7] + - !!python/tuple [31, 6] + - !!python/tuple [25, 10] + - !!python/tuple [21, 28] + - !!python/tuple [31, 9] + - !!python/tuple [14, 11] + - !!python/tuple [0, 4] + - !!python/tuple [27, 14] + - !!python/tuple [6, 0] + - !!python/tuple [6, 31] + - !!python/tuple [30, 12] + - !!python/tuple [3, 27] + - !!python/tuple [16, 29] + - !!python/tuple [15, 24] + - !!python/tuple [26, 31] + - !!python/tuple [27, 18] + - !!python/tuple [28, 28] + - !!python/tuple [24, 27] + - !!python/tuple [4, 16] + - !!python/tuple [30, 19] + - !!python/tuple [4, 10] + - !!python/tuple [0, 14] + - !!python/tuple [23, 11] + - !!python/tuple [6, 6] + - !!python/tuple [23, 3] + - !!python/tuple [16, 18] + - !!python/tuple [30, 30] + - !!python/tuple [21, 22] + - !!python/tuple [29, 9] + - !!python/tuple [31, 15] + - !!python/tuple [31, 19] + - !!python/tuple [28, 31] + - !!python/tuple [18, 12] + - !!python/tuple [1, 4] + - !!python/tuple [26, 12] + - !!python/tuple [18, 0] + - !!python/tuple [3, 19] + - !!python/tuple [10, 30] + - !!python/tuple [28, 23] + - !!python/tuple [6, 12] + - !!python/tuple [6, 2] + - !!python/tuple [19, 21] + - !!python/tuple [3, 26] + - !!python/tuple [11, 22] + - !!python/tuple [18, 5] + - !!python/tuple [5, 1] + - !!python/tuple [18, 30] + - !!python/tuple [12, 0] + - !!python/tuple [18, 19] + - !!python/tuple [9, 21] + - !!python/tuple [2, 0] + - !!python/tuple [4, 1] + - !!python/tuple [20, 2] + - !!python/tuple [8, 15] + - !!python/tuple [2, 24] + - !!python/tuple [11, 25] + - !!python/tuple [23, 15] + - !!python/tuple [0, 11] + - !!python/tuple [29, 1] + - !!python/tuple [19, 20] + - !!python/tuple [24, 25] + - !!python/tuple [13, 28] + - !!python/tuple [10, 14] + - !!python/tuple [24, 22] + - !!python/tuple [1, 6] + - !!python/tuple [24, 4] + - !!python/tuple [15, 29] + - !!python/tuple [17, 2] + - !!python/tuple [23, 2] + - !!python/tuple [21, 31] + - !!python/tuple [0, 3] + - !!python/tuple [20, 0] + - !!python/tuple [19, 17] + - !!python/tuple [7, 9] + - !!python/tuple [31, 20] + - !!python/tuple [25, 2] + - !!python/tuple [2, 9] + - !!python/tuple [15, 27] + - !!python/tuple [29, 20] + - !!python/tuple [2, 11] + - !!python/tuple [20, 18] + - !!python/tuple [16, 23] + - !!python/tuple [5, 25] + - !!python/tuple [8, 6] + - !!python/tuple [20, 25] + - !!python/tuple [16, 28] + - !!python/tuple [26, 4] + - !!python/tuple [29, 12] + - !!python/tuple [21, 1] + - !!python/tuple [28, 14] + - 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!!python/tuple [7, 28] + - !!python/tuple [25, 17] + - !!python/tuple [3, 10] + - !!python/tuple [11, 11] + - !!python/tuple [25, 16] + - !!python/tuple [28, 5] + - !!python/tuple [31, 17] + - !!python/tuple [14, 23] + - !!python/tuple [15, 3] + - !!python/tuple [15, 4] + - !!python/tuple [0, 26] + - !!python/tuple [6, 27] + - !!python/tuple [4, 14] + - !!python/tuple [13, 14] + - !!python/tuple [17, 0] + - !!python/tuple [5, 14] + - !!python/tuple [1, 17] + - !!python/tuple [28, 18] + - !!python/tuple [28, 21] + - !!python/tuple [25, 18] + - !!python/tuple [1, 5] + - !!python/tuple [28, 24] + - !!python/tuple [4, 13] + - !!python/tuple [4, 22] + - !!python/tuple [26, 11] + - !!python/tuple [28, 13] + - !!python/tuple [13, 20] + - !!python/tuple [28, 17] + - !!python/tuple [18, 2] + - !!python/tuple [7, 13] + - !!python/tuple [23, 7] + - !!python/tuple [3, 21] + - !!python/tuple [25, 3] + - !!python/tuple [8, 16] + - !!python/tuple [30, 15] + - !!python/tuple [15, 31] + - !!python/tuple [22, 20] + - !!python/tuple [9, 29] + - !!python/tuple [2, 21] + - !!python/tuple [9, 28] + - !!python/tuple [1, 25] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex48.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex48.yaml new file mode 100644 index 0000000..8007529 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex48.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [28, 13] + name: agent0 + start: [0, 0] +- goal: [21, 14] + name: agent1 + start: [25, 26] +- goal: [3, 29] + name: agent2 + start: [3, 1] +- goal: [22, 1] + name: agent3 + start: [22, 22] +- goal: [20, 14] + name: agent4 + start: [7, 10] +- goal: [6, 23] + name: agent5 + start: [20, 16] +- goal: [16, 24] + name: agent6 + start: [13, 15] +- goal: [8, 11] + name: agent7 + start: [31, 2] +- goal: [12, 12] + name: agent8 + start: [26, 3] +- goal: [10, 2] + name: agent9 + start: [8, 26] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [6, 20] + - !!python/tuple [21, 17] + - !!python/tuple [20, 1] + - !!python/tuple [0, 6] + - !!python/tuple [2, 6] + - !!python/tuple [29, 7] + - !!python/tuple [15, 6] + - !!python/tuple [15, 17] + - !!python/tuple [30, 28] + - !!python/tuple [0, 23] + - !!python/tuple [28, 1] + - !!python/tuple [3, 24] + - !!python/tuple [25, 16] + - !!python/tuple [2, 4] + - !!python/tuple [14, 20] + - !!python/tuple [12, 27] + - !!python/tuple [15, 20] + - !!python/tuple [0, 1] + - !!python/tuple [6, 3] + - !!python/tuple [20, 24] + - !!python/tuple [2, 17] + - !!python/tuple [5, 26] + - !!python/tuple [29, 6] + - !!python/tuple [13, 29] + - !!python/tuple [18, 23] + - !!python/tuple [13, 1] + - !!python/tuple [10, 30] + - !!python/tuple [1, 28] + - !!python/tuple [18, 20] + - !!python/tuple [0, 17] + - !!python/tuple [30, 9] + - !!python/tuple [7, 5] + - !!python/tuple [29, 2] + - !!python/tuple [26, 23] + - !!python/tuple [24, 15] + - 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!!python/tuple [7, 20] + - !!python/tuple [29, 11] + - !!python/tuple [22, 25] + - !!python/tuple [16, 12] + - !!python/tuple [29, 26] + - !!python/tuple [14, 29] + - !!python/tuple [4, 17] + - !!python/tuple [21, 27] + - !!python/tuple [24, 2] + - !!python/tuple [26, 5] + - !!python/tuple [19, 25] + - !!python/tuple [27, 29] + - !!python/tuple [17, 28] + - !!python/tuple [3, 16] + - !!python/tuple [26, 24] + - !!python/tuple [3, 25] + - !!python/tuple [3, 26] + - !!python/tuple [8, 12] + - !!python/tuple [23, 8] + - !!python/tuple [24, 16] + - !!python/tuple [7, 26] + - !!python/tuple [29, 25] + - !!python/tuple [11, 5] + - !!python/tuple [17, 24] + - !!python/tuple [23, 10] + - !!python/tuple [15, 8] + - !!python/tuple [21, 26] + - !!python/tuple [25, 10] + - !!python/tuple [11, 9] + - !!python/tuple [8, 1] + - !!python/tuple [15, 1] + - !!python/tuple [26, 4] + - !!python/tuple [17, 31] + - !!python/tuple [21, 3] + - !!python/tuple [25, 11] + - !!python/tuple [18, 3] + - !!python/tuple [25, 24] + - !!python/tuple [26, 13] + - !!python/tuple [7, 17] + - !!python/tuple [15, 5] + - !!python/tuple [20, 22] + - !!python/tuple [2, 3] + - !!python/tuple [14, 18] + - !!python/tuple [17, 15] + - !!python/tuple [15, 28] + - !!python/tuple [11, 25] + - !!python/tuple [3, 23] + - !!python/tuple [15, 4] + - !!python/tuple [7, 14] + - !!python/tuple [30, 22] + - !!python/tuple [7, 12] + - !!python/tuple [14, 25] + - !!python/tuple [27, 28] + - !!python/tuple [26, 27] + - !!python/tuple [24, 22] + - !!python/tuple [12, 1] + - !!python/tuple [29, 27] + - !!python/tuple [21, 15] + - !!python/tuple [2, 5] + - !!python/tuple [20, 17] + - !!python/tuple [5, 6] + - !!python/tuple [5, 9] + - !!python/tuple [19, 19] + - !!python/tuple [28, 16] + - !!python/tuple [14, 9] + - !!python/tuple [25, 8] + - !!python/tuple [16, 15] + - !!python/tuple [11, 16] + - !!python/tuple [21, 13] + - !!python/tuple [1, 9] + - !!python/tuple [13, 0] + - !!python/tuple [4, 15] + - !!python/tuple [0, 16] + - !!python/tuple [8, 29] + - !!python/tuple [1, 13] + - !!python/tuple [1, 10] + - !!python/tuple [15, 14] + - !!python/tuple [16, 19] + - !!python/tuple [23, 31] + - !!python/tuple [29, 29] + - !!python/tuple [2, 7] + - !!python/tuple [31, 29] + - !!python/tuple [19, 4] + - !!python/tuple [28, 3] + - !!python/tuple [8, 0] + - !!python/tuple [23, 15] + - !!python/tuple [12, 16] + - !!python/tuple [15, 2] + - !!python/tuple [1, 12] + - !!python/tuple [10, 21] + - !!python/tuple [25, 1] + - !!python/tuple [1, 3] + - !!python/tuple [3, 27] + - !!python/tuple [5, 2] + - !!python/tuple [30, 4] + - !!python/tuple [6, 9] + - !!python/tuple [29, 24] + - !!python/tuple [6, 5] + - !!python/tuple [6, 21] + - !!python/tuple [24, 27] + - !!python/tuple [31, 18] + - !!python/tuple [11, 4] + - !!python/tuple [12, 22] + - !!python/tuple [6, 14] + - !!python/tuple [10, 28] + - !!python/tuple [26, 15] + - !!python/tuple [28, 17] + - !!python/tuple [0, 28] + - !!python/tuple [2, 29] + - !!python/tuple [14, 23] + - !!python/tuple [24, 23] + - !!python/tuple [14, 11] + - !!python/tuple [17, 0] + - !!python/tuple [30, 1] + - !!python/tuple [11, 21] + - !!python/tuple [1, 22] + - !!python/tuple [31, 28] + - !!python/tuple [10, 24] + - !!python/tuple [29, 17] + - !!python/tuple [18, 2] + - !!python/tuple [5, 20] + - !!python/tuple [11, 3] + - !!python/tuple [0, 30] + - !!python/tuple [16, 8] + - !!python/tuple [5, 24] + - !!python/tuple [20, 5] + - !!python/tuple [2, 23] + - !!python/tuple [16, 16] + - !!python/tuple [30, 19] + - !!python/tuple [18, 22] + - !!python/tuple [5, 10] + - !!python/tuple [7, 1] + - !!python/tuple [25, 21] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex49.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex49.yaml new file mode 100644 index 0000000..8b64b01 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex49.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [23, 9] + name: agent0 + start: [31, 7] +- goal: [12, 27] + name: agent1 + start: [17, 29] +- goal: [31, 26] + name: agent2 + start: [26, 13] +- goal: [9, 29] + name: agent3 + start: [4, 24] +- goal: [27, 25] + name: agent4 + start: [26, 21] +- goal: [1, 12] + name: agent5 + start: [27, 6] +- goal: [15, 3] + name: agent6 + start: [21, 22] +- goal: [4, 6] + name: agent7 + start: [10, 13] +- goal: [7, 22] + name: agent8 + start: [4, 13] +- goal: [14, 30] + name: agent9 + start: [12, 26] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [5, 16] + - !!python/tuple [23, 23] + - !!python/tuple [17, 7] + - !!python/tuple [10, 9] + - !!python/tuple [26, 3] + - !!python/tuple [24, 22] + - !!python/tuple [26, 25] + - !!python/tuple [23, 31] + - !!python/tuple [26, 19] + - !!python/tuple [12, 22] + - !!python/tuple [0, 25] + - !!python/tuple [20, 16] + - !!python/tuple [12, 23] + - !!python/tuple [18, 12] + - !!python/tuple [29, 3] + - !!python/tuple [27, 20] + - !!python/tuple [15, 11] + - !!python/tuple [28, 28] + - !!python/tuple [4, 25] + - !!python/tuple [26, 6] + - !!python/tuple [5, 26] + - !!python/tuple [12, 11] + - !!python/tuple [31, 0] + - !!python/tuple [8, 29] + - !!python/tuple [25, 3] + - !!python/tuple [10, 17] + - !!python/tuple [8, 1] + - !!python/tuple [15, 26] + - !!python/tuple [17, 11] + - !!python/tuple [16, 13] + - !!python/tuple [22, 6] + - !!python/tuple [23, 15] + - !!python/tuple [16, 31] + - !!python/tuple [0, 19] + - !!python/tuple [24, 1] + - !!python/tuple [28, 9] + - !!python/tuple [8, 8] + - !!python/tuple [17, 2] + - !!python/tuple [1, 15] + - !!python/tuple [2, 25] + - !!python/tuple [26, 24] + - !!python/tuple [19, 25] + - !!python/tuple [14, 12] + - !!python/tuple [15, 14] + - !!python/tuple [11, 2] + - !!python/tuple [26, 31] + - !!python/tuple [14, 14] + - !!python/tuple [15, 1] + - !!python/tuple [22, 27] + - !!python/tuple [7, 30] + - !!python/tuple [5, 4] + - !!python/tuple [7, 11] + - !!python/tuple [13, 26] + - !!python/tuple [3, 8] + - !!python/tuple [31, 31] + - !!python/tuple [21, 14] + - !!python/tuple [31, 12] + - !!python/tuple [27, 10] + - !!python/tuple [1, 7] + - !!python/tuple [26, 26] + - !!python/tuple [23, 17] + - !!python/tuple [19, 8] + - !!python/tuple [24, 11] + - !!python/tuple [19, 5] + - !!python/tuple [30, 24] + - !!python/tuple [16, 3] + - !!python/tuple [19, 26] + - !!python/tuple [6, 20] + - !!python/tuple [6, 1] + - !!python/tuple [31, 18] + - !!python/tuple [14, 0] + - !!python/tuple [21, 15] + - !!python/tuple [0, 2] + - !!python/tuple [29, 26] + - !!python/tuple [26, 12] + - !!python/tuple [13, 30] + - !!python/tuple [18, 16] + - !!python/tuple [1, 1] + - !!python/tuple [6, 14] + - !!python/tuple [10, 22] + - !!python/tuple [9, 7] + - !!python/tuple [12, 15] + - !!python/tuple [15, 5] + - !!python/tuple [21, 27] + - !!python/tuple [2, 5] + - !!python/tuple [23, 18] + - !!python/tuple [20, 31] + - !!python/tuple [1, 9] + - !!python/tuple [9, 11] + - !!python/tuple [16, 5] + - !!python/tuple [18, 2] + - !!python/tuple [3, 9] + - !!python/tuple [19, 24] + - !!python/tuple [8, 19] + - !!python/tuple [18, 29] + - !!python/tuple [2, 29] + - !!python/tuple [25, 14] + - !!python/tuple [2, 26] + - !!python/tuple [2, 0] + - !!python/tuple [8, 12] + - !!python/tuple [7, 19] + - !!python/tuple [12, 13] + - !!python/tuple [28, 13] + - !!python/tuple [28, 19] + - !!python/tuple [27, 17] + - !!python/tuple [0, 30] + - !!python/tuple [11, 7] + - !!python/tuple [7, 16] + - !!python/tuple [4, 23] + - !!python/tuple [31, 13] + - !!python/tuple [29, 5] + - !!python/tuple [11, 23] + - !!python/tuple [9, 14] + - !!python/tuple [17, 9] + - !!python/tuple [23, 16] + - !!python/tuple [19, 21] + - !!python/tuple [20, 2] + - !!python/tuple [14, 19] + - !!python/tuple [26, 2] + - !!python/tuple [17, 21] + - !!python/tuple [5, 10] + - !!python/tuple [29, 23] + - !!python/tuple [7, 31] + - !!python/tuple [24, 7] + - !!python/tuple [5, 3] + - !!python/tuple [11, 0] + - !!python/tuple [4, 15] + - !!python/tuple [10, 31] + - !!python/tuple [6, 24] + - !!python/tuple [1, 17] + - !!python/tuple [15, 30] + - !!python/tuple [25, 31] + - !!python/tuple [10, 30] + - !!python/tuple [31, 6] + - !!python/tuple [0, 3] + - !!python/tuple [20, 22] + - !!python/tuple [13, 23] + - !!python/tuple [18, 9] + - !!python/tuple [1, 23] + - !!python/tuple [16, 6] + - !!python/tuple [12, 17] + - !!python/tuple [25, 12] + - !!python/tuple [11, 17] + - !!python/tuple [25, 23] + - !!python/tuple [22, 15] + - !!python/tuple [3, 18] + - !!python/tuple [6, 22] + - !!python/tuple [8, 18] + - !!python/tuple [12, 30] + - !!python/tuple [14, 25] + - !!python/tuple [14, 29] + - !!python/tuple [19, 12] + - !!python/tuple [12, 12] + - !!python/tuple [1, 22] + - !!python/tuple [18, 21] + - !!python/tuple [29, 27] + - !!python/tuple [2, 10] + - !!python/tuple [9, 22] + - !!python/tuple [10, 23] + - !!python/tuple [18, 5] + - !!python/tuple [27, 26] + - !!python/tuple [3, 26] + - !!python/tuple [18, 20] + - !!python/tuple [18, 15] + - !!python/tuple [24, 24] + - !!python/tuple [26, 30] + - !!python/tuple [6, 31] + - !!python/tuple [18, 22] + - !!python/tuple [14, 16] + - !!python/tuple [22, 24] + - !!python/tuple [23, 27] + - !!python/tuple [10, 26] + - !!python/tuple [20, 10] + - !!python/tuple [29, 10] + - !!python/tuple [27, 11] + - !!python/tuple [28, 7] + - !!python/tuple [14, 27] + - !!python/tuple [21, 17] + - !!python/tuple [28, 6] + - !!python/tuple [11, 5] + - !!python/tuple [22, 3] + - !!python/tuple [13, 5] + - !!python/tuple [15, 24] + - !!python/tuple [17, 27] + - !!python/tuple [3, 20] + - !!python/tuple [1, 2] + - !!python/tuple [6, 18] + - !!python/tuple [21, 10] + - !!python/tuple [12, 16] + - !!python/tuple [23, 7] + - !!python/tuple [31, 1] + - !!python/tuple [30, 13] + - !!python/tuple [0, 28] + - !!python/tuple [1, 11] + - !!python/tuple [31, 21] + - !!python/tuple [23, 13] + - !!python/tuple [31, 29] + - !!python/tuple [10, 8] + - !!python/tuple [19, 19] + - !!python/tuple [28, 31] + - !!python/tuple [1, 28] + - !!python/tuple [15, 23] + - !!python/tuple [27, 8] + - !!python/tuple [27, 3] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex5.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex5.yaml new file mode 100644 index 0000000..93361cb --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex5.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [16, 16] + name: agent0 + start: [10, 20] +- goal: [4, 22] + name: agent1 + start: [0, 27] +- goal: [0, 12] + name: agent2 + start: [17, 18] +- goal: [11, 22] + name: agent3 + start: [11, 11] +- goal: [0, 7] + name: agent4 + start: [22, 23] +- goal: [16, 30] + name: agent5 + start: [19, 22] +- goal: [23, 24] + name: agent6 + start: [3, 6] +- goal: [23, 13] + name: agent7 + start: [23, 20] +- goal: [26, 15] + name: agent8 + start: [16, 4] +- goal: [29, 11] + name: agent9 + start: [24, 20] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [5, 28] + - !!python/tuple [10, 28] + - !!python/tuple [9, 8] + - !!python/tuple [12, 8] + - !!python/tuple [25, 6] + - !!python/tuple [15, 3] + - !!python/tuple [8, 29] + - !!python/tuple [8, 12] + - !!python/tuple [3, 7] + - !!python/tuple [29, 2] + - !!python/tuple [22, 28] + - !!python/tuple [6, 6] + - !!python/tuple [4, 15] + - !!python/tuple [27, 26] + - !!python/tuple [1, 3] + - !!python/tuple [11, 4] + - !!python/tuple [7, 10] + - !!python/tuple [5, 11] + - !!python/tuple [26, 23] + - !!python/tuple [15, 31] + - !!python/tuple [3, 4] + - !!python/tuple [10, 16] + - !!python/tuple [9, 14] + - !!python/tuple [19, 1] + - !!python/tuple [15, 11] + - !!python/tuple [17, 27] + - !!python/tuple [10, 26] + - !!python/tuple [2, 9] + - !!python/tuple [19, 29] + - !!python/tuple [8, 17] + - !!python/tuple [1, 1] + - !!python/tuple [21, 26] + - !!python/tuple [4, 1] + - 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!!python/tuple [18, 23] + - !!python/tuple [8, 14] + - !!python/tuple [10, 3] + - !!python/tuple [27, 6] + - !!python/tuple [2, 15] + - !!python/tuple [19, 7] + - !!python/tuple [19, 2] + - !!python/tuple [27, 12] + - !!python/tuple [31, 7] + - !!python/tuple [31, 15] + - !!python/tuple [16, 13] + - !!python/tuple [9, 24] + - !!python/tuple [19, 13] + - !!python/tuple [7, 27] + - !!python/tuple [12, 19] + - !!python/tuple [3, 3] + - !!python/tuple [0, 20] + - !!python/tuple [30, 31] + - !!python/tuple [25, 31] + - !!python/tuple [5, 3] + - !!python/tuple [23, 23] + - !!python/tuple [17, 10] + - !!python/tuple [18, 20] + - !!python/tuple [22, 0] + - !!python/tuple [15, 26] + - !!python/tuple [21, 4] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex50.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex50.yaml new file mode 100644 index 0000000..5d38f0a --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex50.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [15, 23] + name: agent0 + start: [27, 8] +- goal: [20, 13] + name: agent1 + start: [12, 3] +- goal: [13, 4] + name: agent2 + start: [3, 23] +- goal: [21, 8] + name: agent3 + start: [20, 12] +- goal: [31, 20] + name: agent4 + start: [4, 31] +- goal: [11, 14] + name: agent5 + start: [0, 7] +- goal: [1, 29] + name: agent6 + start: [31, 30] +- goal: [30, 24] + name: agent7 + start: [22, 28] +- goal: [0, 31] + name: agent8 + start: [16, 24] +- goal: [10, 1] + name: agent9 + start: [25, 31] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [19, 13] + - !!python/tuple [28, 15] + - !!python/tuple [31, 29] + - !!python/tuple [26, 24] + - !!python/tuple [15, 18] + - !!python/tuple [10, 28] + - !!python/tuple [27, 7] + - !!python/tuple [28, 22] + - !!python/tuple [2, 19] + - !!python/tuple [2, 14] + - !!python/tuple [4, 2] + - !!python/tuple [21, 24] + - !!python/tuple [19, 12] + - !!python/tuple [20, 15] + - !!python/tuple [8, 30] + - !!python/tuple [8, 2] + - !!python/tuple [1, 4] + - !!python/tuple [21, 22] + - !!python/tuple [8, 25] + - !!python/tuple [25, 15] + - !!python/tuple [6, 13] + - !!python/tuple [31, 19] + - !!python/tuple [19, 10] + - !!python/tuple [24, 18] + - !!python/tuple [15, 30] + - !!python/tuple [0, 29] + - !!python/tuple [17, 29] + - !!python/tuple [7, 9] + - !!python/tuple [1, 19] + - !!python/tuple [20, 25] + - !!python/tuple [3, 30] + - !!python/tuple [16, 30] + - !!python/tuple [5, 27] + - !!python/tuple [2, 1] + - !!python/tuple [0, 25] + - !!python/tuple [11, 25] + - !!python/tuple [31, 22] + - !!python/tuple [24, 3] + - !!python/tuple [22, 24] + - !!python/tuple [5, 23] + - !!python/tuple [30, 14] + - !!python/tuple [28, 6] + - !!python/tuple [16, 20] + - !!python/tuple [22, 8] + - !!python/tuple [27, 13] + - !!python/tuple [16, 12] + - !!python/tuple [18, 30] + - !!python/tuple [21, 11] + - 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!!python/tuple [28, 28] + - !!python/tuple [29, 2] + - !!python/tuple [4, 11] + - !!python/tuple [25, 23] + - !!python/tuple [18, 15] + - !!python/tuple [29, 25] + - !!python/tuple [14, 18] + - !!python/tuple [23, 28] + - !!python/tuple [17, 15] + - !!python/tuple [13, 22] + - !!python/tuple [5, 15] + - !!python/tuple [15, 20] + - !!python/tuple [26, 13] + - !!python/tuple [4, 16] + - !!python/tuple [15, 5] + - !!python/tuple [2, 28] + - !!python/tuple [3, 25] + - !!python/tuple [28, 21] + - !!python/tuple [20, 3] + - !!python/tuple [14, 19] + - !!python/tuple [10, 14] + - !!python/tuple [4, 29] + - !!python/tuple [13, 15] + - !!python/tuple [10, 5] + - !!python/tuple [12, 18] + - !!python/tuple [10, 7] + - !!python/tuple [3, 24] + - !!python/tuple [30, 25] + - !!python/tuple [15, 6] + - !!python/tuple [25, 26] + - !!python/tuple [17, 25] + - !!python/tuple [30, 18] + - !!python/tuple [28, 1] + - !!python/tuple [16, 16] + - !!python/tuple [13, 19] + - !!python/tuple [15, 22] + - !!python/tuple [27, 22] + - !!python/tuple [1, 6] + - !!python/tuple [6, 17] + - !!python/tuple [1, 18] + - !!python/tuple [2, 8] + - !!python/tuple [21, 2] + - !!python/tuple [7, 23] + - !!python/tuple [15, 0] + - !!python/tuple [14, 13] + - !!python/tuple [16, 6] + - !!python/tuple [31, 26] + - !!python/tuple [27, 4] + - !!python/tuple [26, 29] + - !!python/tuple [21, 31] + - !!python/tuple [31, 7] + - !!python/tuple [20, 4] + - !!python/tuple [13, 3] + - !!python/tuple [5, 24] + - !!python/tuple [27, 1] + - !!python/tuple [5, 3] + - !!python/tuple [20, 10] + - !!python/tuple [7, 28] + - !!python/tuple [26, 14] + - !!python/tuple [13, 13] + - !!python/tuple [1, 28] + - !!python/tuple [6, 7] + - !!python/tuple [11, 21] + - !!python/tuple [12, 0] + - !!python/tuple [25, 21] + - !!python/tuple [5, 12] + - !!python/tuple [27, 6] + - !!python/tuple [7, 26] + - !!python/tuple [4, 19] + - !!python/tuple [29, 4] + - !!python/tuple [22, 2] + - !!python/tuple [24, 15] + - !!python/tuple [25, 14] + - !!python/tuple [7, 5] + - !!python/tuple [27, 0] + - !!python/tuple [6, 2] + - !!python/tuple [0, 6] + - !!python/tuple [25, 8] + - !!python/tuple [10, 6] + - !!python/tuple [21, 9] + - !!python/tuple [15, 3] + - !!python/tuple [0, 2] + - !!python/tuple [23, 12] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex51.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex51.yaml new file mode 100644 index 0000000..922ec81 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex51.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [13, 27] + name: agent0 + start: [21, 24] +- goal: [29, 30] + name: agent1 + start: [27, 26] +- goal: [5, 22] + name: agent2 + start: [3, 0] +- goal: [19, 23] + name: agent3 + start: [17, 29] +- goal: [0, 11] + name: agent4 + start: [11, 19] +- goal: [0, 21] + name: agent5 + start: [31, 1] +- goal: [10, 5] + name: agent6 + start: [10, 10] +- goal: [8, 1] + name: agent7 + start: [27, 29] +- goal: [0, 16] + name: agent8 + start: [8, 16] +- goal: [22, 22] + name: agent9 + start: [20, 1] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [28, 25] + - !!python/tuple [16, 26] + - !!python/tuple [7, 4] + - !!python/tuple [9, 14] + - !!python/tuple [2, 9] + - !!python/tuple [28, 1] + - !!python/tuple [5, 31] + - !!python/tuple [2, 27] + - !!python/tuple [20, 30] + - !!python/tuple [9, 27] + - !!python/tuple [31, 17] + - !!python/tuple [25, 12] + - !!python/tuple [1, 8] + - !!python/tuple [31, 18] + - !!python/tuple [1, 22] + - !!python/tuple [18, 10] + - !!python/tuple [30, 13] + - !!python/tuple [31, 25] + - !!python/tuple [21, 6] + - !!python/tuple [17, 19] + - !!python/tuple [27, 25] + - !!python/tuple [10, 26] + - !!python/tuple [8, 21] + - !!python/tuple [31, 5] + - !!python/tuple [15, 7] + - !!python/tuple [21, 27] + - !!python/tuple [2, 31] + - !!python/tuple [2, 12] + - !!python/tuple [13, 4] + - !!python/tuple [30, 27] + - !!python/tuple [22, 29] + - !!python/tuple [18, 22] + - !!python/tuple [0, 6] + - !!python/tuple [22, 8] + - !!python/tuple [22, 0] + - !!python/tuple [9, 15] + - !!python/tuple [2, 25] + - !!python/tuple [23, 21] + - !!python/tuple [16, 0] + - !!python/tuple [22, 20] + - !!python/tuple [11, 22] + - !!python/tuple [0, 12] + - !!python/tuple [2, 20] + - !!python/tuple [27, 22] + - !!python/tuple [24, 10] + - !!python/tuple [1, 30] + - !!python/tuple [5, 2] + - !!python/tuple [19, 11] + - !!python/tuple [26, 7] + - !!python/tuple [17, 13] + - !!python/tuple [11, 16] + - !!python/tuple [14, 7] + - !!python/tuple [0, 4] + - !!python/tuple [13, 23] + - !!python/tuple [3, 30] + - !!python/tuple [14, 30] + - !!python/tuple [28, 15] + - !!python/tuple [7, 20] + - !!python/tuple [25, 30] + - !!python/tuple [14, 5] + - !!python/tuple [27, 28] + - !!python/tuple [7, 27] + - !!python/tuple [11, 3] + - !!python/tuple [27, 21] + - !!python/tuple [12, 17] + - !!python/tuple [20, 24] + - !!python/tuple [13, 25] + - !!python/tuple [3, 5] + - !!python/tuple [28, 30] + - !!python/tuple [21, 26] + - !!python/tuple [2, 16] + - !!python/tuple [3, 26] + - !!python/tuple [30, 21] + - !!python/tuple [17, 8] + - !!python/tuple [19, 3] + - !!python/tuple [13, 6] + - !!python/tuple [23, 0] + - !!python/tuple [23, 18] + - !!python/tuple [31, 6] + - !!python/tuple [20, 9] + - !!python/tuple [26, 26] + - !!python/tuple [25, 5] + - !!python/tuple [9, 28] + - !!python/tuple [3, 8] + - !!python/tuple [6, 29] + - !!python/tuple [31, 31] + - !!python/tuple [27, 7] + - !!python/tuple [20, 12] + - !!python/tuple [11, 18] + - !!python/tuple [6, 3] + - !!python/tuple [29, 3] + - !!python/tuple [27, 3] + - !!python/tuple [31, 2] + - !!python/tuple [28, 6] + - !!python/tuple [21, 13] + - !!python/tuple [2, 6] + - !!python/tuple [21, 8] + - !!python/tuple [12, 16] + - !!python/tuple [4, 0] + - !!python/tuple [8, 23] + - !!python/tuple [6, 22] + - !!python/tuple [6, 23] + - !!python/tuple [12, 2] + - !!python/tuple [20, 18] + - !!python/tuple [14, 18] + - !!python/tuple [26, 3] + - !!python/tuple [9, 20] + - !!python/tuple [6, 5] + - !!python/tuple [1, 6] + - !!python/tuple [9, 13] + - !!python/tuple [27, 27] + - !!python/tuple [3, 17] + - !!python/tuple [19, 9] + - !!python/tuple [14, 1] + - !!python/tuple [9, 10] + - !!python/tuple [9, 4] + - !!python/tuple [12, 5] + - !!python/tuple [22, 9] + - !!python/tuple [15, 9] + - !!python/tuple [18, 23] + - !!python/tuple [0, 22] + - !!python/tuple [10, 28] + - !!python/tuple [18, 30] + - !!python/tuple [4, 2] + - !!python/tuple [30, 6] + - !!python/tuple [24, 23] + - !!python/tuple [17, 15] + - !!python/tuple [1, 9] + - !!python/tuple [24, 1] + - !!python/tuple [29, 4] + - !!python/tuple [7, 25] + - !!python/tuple [5, 0] + - !!python/tuple [7, 30] + - !!python/tuple [4, 15] + - !!python/tuple [15, 11] + - !!python/tuple [4, 26] + - !!python/tuple [0, 9] + - !!python/tuple [18, 24] + - !!python/tuple [13, 11] + - !!python/tuple [14, 21] + - !!python/tuple [21, 2] + - !!python/tuple [9, 19] + - !!python/tuple [0, 24] + - !!python/tuple [30, 4] + - !!python/tuple [8, 22] + - !!python/tuple [4, 23] + - !!python/tuple [23, 22] + - !!python/tuple [23, 7] + - !!python/tuple [11, 30] + - !!python/tuple [19, 17] + - !!python/tuple [4, 18] + - !!python/tuple [15, 28] + - !!python/tuple [9, 3] + - !!python/tuple [9, 17] + - !!python/tuple [15, 23] + - !!python/tuple [27, 2] + - !!python/tuple [22, 27] + - !!python/tuple [23, 8] + - !!python/tuple [30, 26] + - !!python/tuple [12, 26] + - !!python/tuple [26, 18] + - !!python/tuple [28, 17] + - !!python/tuple [30, 14] + - !!python/tuple [15, 6] + - !!python/tuple [24, 28] + - !!python/tuple [8, 9] + - !!python/tuple [9, 11] + - !!python/tuple [25, 4] + - !!python/tuple [18, 27] + - !!python/tuple [24, 7] + - !!python/tuple [16, 29] + - !!python/tuple [20, 7] + - !!python/tuple [20, 28] + - !!python/tuple [2, 24] + - !!python/tuple [8, 12] + - !!python/tuple [31, 23] + - !!python/tuple [0, 19] + - !!python/tuple [31, 10] + - !!python/tuple [21, 11] + - !!python/tuple [3, 28] + - !!python/tuple [4, 22] + - !!python/tuple [11, 0] + - !!python/tuple [25, 23] + - !!python/tuple [26, 24] + - !!python/tuple [27, 20] + - !!python/tuple [16, 2] + - !!python/tuple [24, 0] + - !!python/tuple [5, 5] + - !!python/tuple [8, 4] + - !!python/tuple [6, 17] + - !!python/tuple [4, 10] + - !!python/tuple [25, 11] + - !!python/tuple [23, 12] + - !!python/tuple [12, 10] + - !!python/tuple [6, 0] + - !!python/tuple [25, 31] + - !!python/tuple [8, 7] + - !!python/tuple [31, 26] + - !!python/tuple [2, 29] + - !!python/tuple [28, 20] + - !!python/tuple [9, 5] + - !!python/tuple [24, 12] + - !!python/tuple [8, 24] + - !!python/tuple [6, 19] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex52.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex52.yaml new file mode 100644 index 0000000..86dcf86 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex52.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [14, 1] + name: agent0 + start: [19, 0] +- goal: [15, 18] + name: agent1 + start: [10, 31] +- goal: [26, 29] + name: agent2 + start: [16, 24] +- goal: [8, 28] + name: agent3 + start: [20, 16] +- goal: [20, 9] + name: agent4 + start: [25, 11] +- goal: [0, 17] + name: agent5 + start: [21, 3] +- goal: [3, 21] + name: agent6 + start: [14, 17] +- goal: [25, 3] + name: agent7 + start: [0, 26] +- goal: [12, 26] + name: agent8 + start: [26, 27] +- goal: [28, 24] + name: agent9 + start: [15, 15] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [31, 3] + - !!python/tuple [23, 8] + - !!python/tuple [4, 15] + - !!python/tuple [13, 22] + - !!python/tuple [28, 21] + - !!python/tuple [4, 3] + - !!python/tuple [8, 30] + - !!python/tuple [30, 21] + - !!python/tuple [4, 24] + - !!python/tuple [29, 29] + - !!python/tuple [28, 13] + - !!python/tuple [22, 0] + - !!python/tuple [12, 9] + - !!python/tuple [26, 31] + - !!python/tuple [11, 26] + - !!python/tuple [15, 29] + - !!python/tuple [6, 15] + - !!python/tuple [12, 10] + - !!python/tuple [8, 8] + - !!python/tuple [22, 17] + - !!python/tuple [15, 7] + - !!python/tuple [1, 3] + - !!python/tuple [4, 18] + - !!python/tuple [28, 14] + - !!python/tuple [3, 13] + - !!python/tuple [16, 15] + - !!python/tuple [11, 24] + - !!python/tuple [24, 20] + - !!python/tuple [4, 2] + - !!python/tuple [17, 12] + - !!python/tuple [28, 22] + - !!python/tuple [14, 9] + - !!python/tuple [8, 25] + - !!python/tuple [13, 16] + - !!python/tuple [19, 1] + - !!python/tuple [2, 0] + - !!python/tuple [6, 29] + - !!python/tuple [28, 17] + - !!python/tuple [13, 26] + - !!python/tuple [16, 11] + - !!python/tuple [1, 24] + - !!python/tuple [5, 31] + - !!python/tuple [8, 23] + - !!python/tuple [1, 21] + - !!python/tuple [0, 9] + - !!python/tuple [27, 20] + - !!python/tuple [12, 1] + - !!python/tuple [30, 29] + - !!python/tuple [17, 29] + - !!python/tuple [26, 11] + - !!python/tuple [1, 20] + - !!python/tuple [23, 13] + - !!python/tuple [5, 20] + - !!python/tuple [6, 9] + - !!python/tuple [19, 25] + - !!python/tuple [29, 30] + - !!python/tuple [30, 22] + - !!python/tuple [8, 16] + - !!python/tuple [3, 12] + - !!python/tuple [31, 19] + - !!python/tuple [14, 3] + - !!python/tuple [28, 20] + - !!python/tuple [29, 17] + - !!python/tuple [14, 6] + - !!python/tuple [27, 24] + - !!python/tuple [11, 13] + - !!python/tuple [5, 22] + - !!python/tuple [31, 18] + - !!python/tuple [8, 18] + - !!python/tuple [27, 10] + - !!python/tuple [6, 25] + - !!python/tuple [8, 10] + - !!python/tuple [22, 30] + - !!python/tuple [22, 12] + - !!python/tuple [23, 25] + - !!python/tuple [9, 17] + - !!python/tuple [20, 3] + - !!python/tuple [12, 29] + - !!python/tuple [10, 7] + - !!python/tuple [3, 14] + - !!python/tuple [4, 16] + - !!python/tuple [22, 22] + - !!python/tuple [2, 14] + - !!python/tuple [23, 14] + - !!python/tuple [31, 16] + - !!python/tuple [11, 5] + - !!python/tuple [16, 8] + - !!python/tuple [2, 3] + - !!python/tuple [25, 12] + - !!python/tuple [27, 14] + - !!python/tuple [2, 19] + - !!python/tuple [23, 11] + - !!python/tuple [25, 18] + - !!python/tuple [19, 27] + - !!python/tuple [15, 6] + - !!python/tuple [16, 0] + - !!python/tuple [18, 30] + - !!python/tuple [12, 30] + - !!python/tuple [17, 20] + - !!python/tuple [15, 2] + - !!python/tuple [12, 0] + - !!python/tuple [22, 13] + - !!python/tuple [18, 31] + - !!python/tuple [0, 21] + - !!python/tuple [5, 19] + - !!python/tuple [25, 28] + - !!python/tuple [14, 14] + - !!python/tuple [24, 23] + - !!python/tuple [1, 22] + - !!python/tuple [13, 18] + - !!python/tuple [29, 22] + - !!python/tuple [6, 30] + - !!python/tuple [8, 21] + - !!python/tuple [16, 2] + - !!python/tuple [14, 12] + - !!python/tuple [18, 22] + - !!python/tuple [26, 24] + - !!python/tuple [3, 22] + - !!python/tuple [4, 27] + - !!python/tuple [16, 21] + - !!python/tuple [8, 11] + - !!python/tuple [10, 9] + - !!python/tuple [18, 18] + - !!python/tuple [27, 27] + - !!python/tuple [25, 30] + - !!python/tuple [8, 1] + - !!python/tuple [12, 22] + - !!python/tuple [0, 5] + - !!python/tuple [2, 28] + - !!python/tuple [14, 7] + - !!python/tuple [30, 2] + - !!python/tuple [31, 9] + - !!python/tuple [11, 10] + - !!python/tuple [20, 17] + - !!python/tuple [26, 30] + - !!python/tuple [26, 21] + - !!python/tuple [7, 14] + - !!python/tuple [25, 22] + - !!python/tuple [28, 8] + - !!python/tuple [23, 21] + - !!python/tuple [15, 28] + - !!python/tuple [6, 26] + - !!python/tuple [12, 7] + - !!python/tuple [0, 24] + - !!python/tuple [7, 18] + - !!python/tuple [22, 19] + - !!python/tuple [11, 2] + - !!python/tuple [0, 19] + - !!python/tuple [10, 30] + - !!python/tuple [9, 24] + - !!python/tuple [21, 26] + - !!python/tuple [5, 14] + - !!python/tuple [4, 14] + - !!python/tuple [24, 14] + - !!python/tuple [21, 15] + - !!python/tuple [8, 24] + - !!python/tuple [25, 13] + - !!python/tuple [23, 12] + - !!python/tuple [27, 19] + - !!python/tuple [1, 11] + - !!python/tuple [25, 19] + - !!python/tuple [26, 13] + - !!python/tuple [27, 0] + - !!python/tuple [26, 28] + - !!python/tuple [2, 23] + - !!python/tuple [5, 9] + - !!python/tuple [31, 11] + - !!python/tuple [21, 16] + - !!python/tuple [6, 24] + - !!python/tuple [8, 3] + - !!python/tuple [15, 17] + - !!python/tuple [30, 1] + - !!python/tuple [10, 29] + - !!python/tuple [25, 31] + - !!python/tuple [26, 17] + - !!python/tuple [18, 25] + - !!python/tuple [28, 26] + - !!python/tuple [27, 16] + - !!python/tuple [21, 6] + - !!python/tuple [21, 25] + - !!python/tuple [13, 11] + - !!python/tuple [23, 27] + - !!python/tuple [17, 25] + - !!python/tuple [3, 20] + - !!python/tuple [30, 9] + - !!python/tuple [18, 2] + - !!python/tuple [0, 31] + - !!python/tuple [8, 4] + - !!python/tuple [19, 20] + - !!python/tuple [28, 5] + - !!python/tuple [17, 11] + - !!python/tuple [20, 8] + - !!python/tuple [3, 15] + - !!python/tuple [24, 24] + - !!python/tuple [24, 3] + - !!python/tuple [30, 16] + - !!python/tuple [10, 19] + - !!python/tuple [13, 1] + - !!python/tuple [10, 22] + - !!python/tuple [2, 13] + - !!python/tuple [20, 27] + - !!python/tuple [7, 4] + - !!python/tuple [24, 7] + - !!python/tuple [0, 27] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex53.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex53.yaml new file mode 100644 index 0000000..6a43e49 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex53.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [21, 10] + name: agent0 + start: [26, 23] +- goal: [19, 20] + name: agent1 + start: [27, 26] +- goal: [14, 16] + name: agent2 + start: [1, 13] +- goal: [2, 6] + name: agent3 + start: [23, 0] +- goal: [10, 4] + name: agent4 + start: [16, 23] +- goal: [25, 20] + name: agent5 + start: [28, 18] +- goal: [11, 12] + name: agent6 + start: [1, 14] +- goal: [5, 8] + name: agent7 + start: [27, 20] +- goal: [16, 3] + name: agent8 + start: [7, 20] +- goal: [0, 15] + name: agent9 + start: [0, 26] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [7, 17] + - !!python/tuple [13, 24] + - !!python/tuple [24, 9] + - !!python/tuple [26, 20] + - !!python/tuple [30, 14] + - !!python/tuple [26, 2] + - !!python/tuple [6, 23] + - !!python/tuple [22, 14] + - !!python/tuple [24, 28] + - !!python/tuple [24, 8] + - !!python/tuple [18, 2] + - !!python/tuple [23, 12] + - !!python/tuple [10, 9] + - !!python/tuple [24, 3] + - !!python/tuple [27, 24] + - !!python/tuple [15, 3] + - !!python/tuple [26, 10] + - !!python/tuple [3, 2] + - !!python/tuple [4, 4] + - !!python/tuple [10, 0] + - !!python/tuple [5, 0] + - !!python/tuple [30, 22] + - !!python/tuple [8, 13] + - !!python/tuple [8, 16] + - !!python/tuple [4, 22] + - !!python/tuple [14, 7] + - !!python/tuple [10, 8] + - !!python/tuple [9, 31] + - !!python/tuple [7, 27] + - !!python/tuple [21, 4] + - !!python/tuple [11, 0] + - !!python/tuple [11, 28] + - !!python/tuple [11, 24] + - !!python/tuple [28, 19] + - !!python/tuple [7, 30] + - !!python/tuple [4, 12] + - !!python/tuple [9, 4] + - !!python/tuple [13, 13] + - !!python/tuple [14, 31] + - !!python/tuple [17, 12] + - !!python/tuple [5, 1] + - !!python/tuple [16, 1] + - !!python/tuple [25, 18] + - !!python/tuple [0, 28] + - !!python/tuple [3, 22] + - !!python/tuple [21, 23] + - !!python/tuple [25, 26] + - !!python/tuple [20, 31] + - !!python/tuple [11, 14] + - !!python/tuple [8, 0] + - !!python/tuple [1, 0] + - !!python/tuple [12, 11] + - !!python/tuple [8, 9] + - !!python/tuple [27, 17] + - !!python/tuple [16, 6] + - !!python/tuple [13, 9] + - !!python/tuple [18, 3] + - !!python/tuple [14, 9] + - !!python/tuple [27, 1] + - !!python/tuple [31, 27] + - !!python/tuple [19, 12] + - !!python/tuple [29, 29] + - !!python/tuple [13, 20] + - !!python/tuple [12, 29] + - !!python/tuple [23, 5] + - !!python/tuple [18, 7] + - !!python/tuple [9, 3] + - !!python/tuple [20, 18] + - !!python/tuple [20, 5] + - !!python/tuple [3, 4] + - !!python/tuple [15, 15] + - !!python/tuple [11, 30] + - !!python/tuple [23, 10] + - !!python/tuple [19, 18] + - !!python/tuple [12, 28] + - !!python/tuple [25, 0] + - !!python/tuple [20, 6] + - !!python/tuple [21, 7] + - !!python/tuple [22, 11] + - !!python/tuple [21, 24] + - !!python/tuple [14, 24] + - !!python/tuple [22, 25] + - !!python/tuple [27, 5] + - !!python/tuple [4, 21] + - !!python/tuple [4, 19] + - !!python/tuple [23, 20] + - !!python/tuple [5, 4] + - !!python/tuple [16, 11] + - !!python/tuple [12, 12] + - !!python/tuple [27, 11] + - !!python/tuple [31, 29] + - !!python/tuple [10, 7] + - !!python/tuple [7, 2] + - !!python/tuple [19, 23] + - !!python/tuple [6, 9] + - !!python/tuple [3, 7] + - !!python/tuple [1, 19] + - !!python/tuple [20, 19] + - !!python/tuple [1, 9] + - !!python/tuple [3, 27] + - !!python/tuple [9, 18] + - !!python/tuple [3, 24] + - !!python/tuple [8, 6] + - !!python/tuple [20, 13] + - !!python/tuple [23, 3] + - !!python/tuple [6, 26] + - !!python/tuple [31, 20] + - !!python/tuple [16, 0] + - !!python/tuple [17, 16] + - !!python/tuple [12, 14] + - !!python/tuple [16, 10] + - !!python/tuple [20, 4] + - !!python/tuple [12, 23] + - !!python/tuple [26, 28] + - !!python/tuple [0, 6] + - !!python/tuple [21, 20] + - !!python/tuple [12, 17] + - !!python/tuple [16, 28] + - !!python/tuple [3, 9] + - !!python/tuple [29, 6] + - !!python/tuple [10, 27] + - !!python/tuple [22, 20] + - !!python/tuple [5, 21] + - !!python/tuple [4, 8] + - !!python/tuple [7, 7] + - !!python/tuple [6, 1] + - !!python/tuple [28, 0] + - !!python/tuple [18, 8] + - !!python/tuple [10, 25] + - !!python/tuple [6, 21] + - !!python/tuple [15, 18] + - !!python/tuple [5, 20] + - !!python/tuple [1, 26] + - !!python/tuple [16, 2] + - !!python/tuple [19, 8] + - !!python/tuple [0, 23] + - !!python/tuple [27, 23] + - !!python/tuple [7, 4] + - !!python/tuple [15, 25] + - !!python/tuple [22, 28] + - !!python/tuple [5, 5] + - !!python/tuple [26, 11] + - !!python/tuple [1, 3] + - !!python/tuple [10, 11] + - !!python/tuple [22, 4] + - !!python/tuple [10, 31] + - !!python/tuple [12, 30] + - !!python/tuple [30, 24] + - !!python/tuple [1, 28] + - !!python/tuple [5, 6] + - !!python/tuple [15, 7] + - !!python/tuple [21, 9] + - !!python/tuple [14, 2] + - !!python/tuple [15, 12] + - !!python/tuple [18, 16] + - !!python/tuple [1, 11] + - !!python/tuple [27, 27] + - !!python/tuple [0, 8] + - !!python/tuple [3, 10] + - !!python/tuple [22, 9] + - !!python/tuple [11, 3] + - !!python/tuple [17, 26] + - !!python/tuple [30, 20] + - !!python/tuple [11, 9] + - !!python/tuple [25, 31] + - !!python/tuple [27, 12] + - !!python/tuple [11, 29] + - !!python/tuple [29, 1] + - !!python/tuple [5, 26] + - !!python/tuple [11, 5] + - !!python/tuple [16, 22] + - !!python/tuple [29, 30] + - !!python/tuple [17, 24] + - !!python/tuple [23, 23] + - !!python/tuple [30, 0] + - !!python/tuple [19, 11] + - !!python/tuple [1, 5] + - !!python/tuple [16, 27] + - !!python/tuple [18, 11] + - !!python/tuple [15, 21] + - !!python/tuple [15, 11] + - !!python/tuple [21, 14] + - !!python/tuple [2, 8] + - !!python/tuple [13, 28] + - !!python/tuple [28, 22] + - !!python/tuple [31, 23] + - !!python/tuple [0, 31] + - !!python/tuple [24, 27] + - !!python/tuple [9, 27] + - !!python/tuple [3, 16] + - !!python/tuple [29, 13] + - !!python/tuple [7, 13] + - !!python/tuple [23, 16] + - !!python/tuple [22, 2] + - !!python/tuple [25, 19] + - !!python/tuple [13, 4] + - !!python/tuple [3, 0] + - !!python/tuple [30, 29] + - !!python/tuple [21, 28] + - !!python/tuple [4, 26] + - !!python/tuple [28, 4] + - !!python/tuple [14, 29] + - !!python/tuple [19, 3] + - !!python/tuple [25, 12] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex54.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex54.yaml new file mode 100644 index 0000000..1bacda5 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex54.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [12, 26] + name: agent0 + start: [27, 2] +- goal: [28, 29] + name: agent1 + start: [12, 14] +- goal: [12, 0] + name: agent2 + start: [2, 29] +- goal: [26, 18] + name: agent3 + start: [31, 2] +- goal: [20, 4] + name: agent4 + start: [31, 26] +- goal: [30, 24] + name: agent5 + start: [0, 11] +- goal: [7, 18] + name: agent6 + start: [6, 0] +- goal: [19, 19] + name: agent7 + start: [9, 11] +- goal: [5, 7] + name: agent8 + start: [19, 22] +- goal: [4, 23] + name: agent9 + start: [30, 5] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [16, 30] + - !!python/tuple [30, 16] + - !!python/tuple [16, 16] + - !!python/tuple [23, 13] + - !!python/tuple [27, 15] + - !!python/tuple [11, 26] + - !!python/tuple [24, 29] + - !!python/tuple [0, 8] + - !!python/tuple [26, 22] + - !!python/tuple [3, 8] + - !!python/tuple [6, 1] + - !!python/tuple [13, 21] + - !!python/tuple [30, 14] + - !!python/tuple [6, 5] + - !!python/tuple [0, 5] + - !!python/tuple [4, 30] + - !!python/tuple [9, 31] + - !!python/tuple [11, 11] + - !!python/tuple [6, 24] + - !!python/tuple [19, 27] + - !!python/tuple [14, 13] + - !!python/tuple [31, 18] + - !!python/tuple [5, 6] + - !!python/tuple [5, 10] + - !!python/tuple [3, 14] + - !!python/tuple [25, 27] + - !!python/tuple [20, 2] + - !!python/tuple [11, 1] + - !!python/tuple [14, 8] + - !!python/tuple [12, 23] + - !!python/tuple [12, 27] + - !!python/tuple [17, 25] + - !!python/tuple [17, 7] + - !!python/tuple [0, 22] + - !!python/tuple [13, 6] + - !!python/tuple [17, 29] + - !!python/tuple [18, 5] + - !!python/tuple [25, 0] + - !!python/tuple [7, 14] + - !!python/tuple [1, 17] + - !!python/tuple [3, 2] + - !!python/tuple [24, 26] + - !!python/tuple [12, 17] + - !!python/tuple [5, 31] + - !!python/tuple [27, 9] + - !!python/tuple [25, 30] + - !!python/tuple [30, 29] + - !!python/tuple [8, 13] + - !!python/tuple [22, 10] + - !!python/tuple [16, 27] + - !!python/tuple [6, 23] + - !!python/tuple [4, 6] + - !!python/tuple [11, 28] + - !!python/tuple [3, 13] + - !!python/tuple [0, 3] + - !!python/tuple [10, 28] + - !!python/tuple [12, 11] + - !!python/tuple [19, 9] + - !!python/tuple [15, 14] + - !!python/tuple [30, 18] + - !!python/tuple [10, 23] + - !!python/tuple [31, 4] + - !!python/tuple [28, 26] + - !!python/tuple [9, 25] + - !!python/tuple [24, 24] + - !!python/tuple [17, 17] + - !!python/tuple [18, 0] + - !!python/tuple [7, 2] + - !!python/tuple [18, 27] + - !!python/tuple [24, 4] + - !!python/tuple [4, 14] + - !!python/tuple [6, 30] + - !!python/tuple [12, 1] + - !!python/tuple [1, 24] + - !!python/tuple [3, 17] + - !!python/tuple [23, 7] + - !!python/tuple [29, 23] + - !!python/tuple [7, 12] + - !!python/tuple [9, 26] + - !!python/tuple [24, 8] + - !!python/tuple [16, 21] + - !!python/tuple [8, 27] + - !!python/tuple [29, 0] + - !!python/tuple [29, 13] + - !!python/tuple [20, 17] + - !!python/tuple [30, 27] + - !!python/tuple [5, 23] + - !!python/tuple [12, 5] + - !!python/tuple [11, 19] + - !!python/tuple [31, 16] + - !!python/tuple [5, 3] + - !!python/tuple [29, 21] + - !!python/tuple [11, 21] + - !!python/tuple [11, 0] + - !!python/tuple [22, 12] + - !!python/tuple [27, 22] + - !!python/tuple [6, 21] + - !!python/tuple [19, 1] + - !!python/tuple [28, 31] + - !!python/tuple [21, 30] + - !!python/tuple [3, 10] + - !!python/tuple [24, 30] + - !!python/tuple [17, 10] + - !!python/tuple [11, 6] + - !!python/tuple [22, 18] + - !!python/tuple [1, 12] + - !!python/tuple [25, 24] + - !!python/tuple [10, 0] + - !!python/tuple [5, 12] + - !!python/tuple [21, 31] + - !!python/tuple [22, 28] + - !!python/tuple [29, 29] + - !!python/tuple [0, 14] + - !!python/tuple [28, 24] + - !!python/tuple [5, 14] + - !!python/tuple [24, 3] + - !!python/tuple [8, 10] + - !!python/tuple [1, 29] + - !!python/tuple [6, 7] + - !!python/tuple [26, 17] + - !!python/tuple [2, 16] + - !!python/tuple [28, 30] + - !!python/tuple [22, 6] + - !!python/tuple [2, 8] + - !!python/tuple [18, 13] + - !!python/tuple [30, 4] + - !!python/tuple [6, 18] + - !!python/tuple [26, 9] + - !!python/tuple [31, 27] + - !!python/tuple [14, 3] + - !!python/tuple [17, 26] + - !!python/tuple [18, 16] + - !!python/tuple [6, 16] + - !!python/tuple [3, 1] + - !!python/tuple [0, 16] + - !!python/tuple [26, 2] + - !!python/tuple [0, 27] + - !!python/tuple [6, 3] + - !!python/tuple [5, 25] + - !!python/tuple [22, 1] + - !!python/tuple [23, 1] + - !!python/tuple [31, 11] + - !!python/tuple [24, 22] + - !!python/tuple [26, 31] + - !!python/tuple [11, 3] + - !!python/tuple [2, 13] + - !!python/tuple [10, 7] + - !!python/tuple [1, 19] + - !!python/tuple [16, 9] + - !!python/tuple [31, 20] + - !!python/tuple [28, 18] + - !!python/tuple [5, 0] + - !!python/tuple [20, 19] + - !!python/tuple [3, 24] + - !!python/tuple [24, 10] + - !!python/tuple [7, 10] + - !!python/tuple [3, 5] + - !!python/tuple [1, 14] + - !!python/tuple [7, 28] + - !!python/tuple [22, 31] + - !!python/tuple [20, 14] + - !!python/tuple [2, 19] + - !!python/tuple [5, 20] + - !!python/tuple [27, 17] + - !!python/tuple [15, 9] + - !!python/tuple [6, 14] + - !!python/tuple [29, 28] + - !!python/tuple [24, 6] + - !!python/tuple [14, 12] + - !!python/tuple [4, 13] + - !!python/tuple [25, 21] + - !!python/tuple [13, 28] + - !!python/tuple [14, 22] + - !!python/tuple [29, 30] + - !!python/tuple [6, 20] + - !!python/tuple [25, 2] + - !!python/tuple [29, 11] + - !!python/tuple [4, 1] + - !!python/tuple [13, 29] + - !!python/tuple [27, 5] + - !!python/tuple [27, 25] + - !!python/tuple [26, 13] + - !!python/tuple [10, 16] + - !!python/tuple [16, 0] + - !!python/tuple [0, 4] + - !!python/tuple [8, 24] + - !!python/tuple [31, 7] + - !!python/tuple [22, 23] + - !!python/tuple [22, 0] + - !!python/tuple [2, 31] + - !!python/tuple [17, 3] + - !!python/tuple [4, 20] + - !!python/tuple [25, 3] + - !!python/tuple [8, 29] + - !!python/tuple [29, 4] + - !!python/tuple [22, 30] + - !!python/tuple [29, 24] + - !!python/tuple [19, 24] + - !!python/tuple [12, 20] + - !!python/tuple [1, 9] + - !!python/tuple [13, 23] + - !!python/tuple [8, 30] + - !!python/tuple [5, 17] + - !!python/tuple [21, 8] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex55.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex55.yaml new file mode 100644 index 0000000..f79c9bb --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex55.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [28, 19] + name: agent0 + start: [23, 14] +- goal: [26, 10] + name: agent1 + start: [10, 5] +- goal: [28, 20] + name: agent2 + start: [17, 26] +- goal: [19, 25] + name: agent3 + start: [15, 21] +- goal: [28, 26] + name: agent4 + start: [12, 19] +- goal: [3, 26] + name: agent5 + start: [14, 10] +- goal: [15, 14] + name: agent6 + start: [21, 9] +- goal: [19, 8] + name: agent7 + start: [10, 25] +- goal: [18, 29] + name: agent8 + start: [16, 0] +- goal: [23, 30] + name: agent9 + start: [27, 27] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [31, 9] + - !!python/tuple [11, 25] + - !!python/tuple [11, 21] + - !!python/tuple [24, 17] + - !!python/tuple [15, 15] + - !!python/tuple [17, 20] + - !!python/tuple [7, 28] + - !!python/tuple [19, 30] + - !!python/tuple [4, 9] + - !!python/tuple [15, 4] + - !!python/tuple [29, 5] + - !!python/tuple [27, 1] + - !!python/tuple [13, 18] + - !!python/tuple [8, 24] + - !!python/tuple [19, 19] + - !!python/tuple [14, 4] + - !!python/tuple [3, 30] + - !!python/tuple [3, 13] + - !!python/tuple [3, 19] + - !!python/tuple [11, 17] + - !!python/tuple [0, 18] + - !!python/tuple [8, 12] + - !!python/tuple [13, 13] + - !!python/tuple [14, 31] + - !!python/tuple [19, 16] + - !!python/tuple [4, 3] + - !!python/tuple [2, 3] + - !!python/tuple [12, 6] + - !!python/tuple [15, 23] + - !!python/tuple [8, 20] + - !!python/tuple [14, 17] + - !!python/tuple [21, 24] + - !!python/tuple [19, 26] + - !!python/tuple [21, 19] + - !!python/tuple [7, 26] + - !!python/tuple [11, 14] + - !!python/tuple [10, 4] + - !!python/tuple [9, 20] + - !!python/tuple [29, 16] + - !!python/tuple [14, 14] + - !!python/tuple [29, 0] + - !!python/tuple [26, 23] + - !!python/tuple [25, 16] + - !!python/tuple [7, 12] + - !!python/tuple [18, 26] + - !!python/tuple [21, 6] + - !!python/tuple [12, 2] + - !!python/tuple [10, 19] + - !!python/tuple [8, 6] + - !!python/tuple [19, 22] + - !!python/tuple [12, 9] + - !!python/tuple [26, 1] + - !!python/tuple [28, 17] + - !!python/tuple [13, 29] + - !!python/tuple [9, 29] + - !!python/tuple [1, 17] + - !!python/tuple [18, 18] + - !!python/tuple [16, 25] + - !!python/tuple [1, 23] + - !!python/tuple [13, 27] + - !!python/tuple [20, 10] + - !!python/tuple [5, 24] + - !!python/tuple [24, 7] + - !!python/tuple [22, 0] + - !!python/tuple [20, 29] + - !!python/tuple [10, 3] + - !!python/tuple [16, 10] + - !!python/tuple [24, 22] + - !!python/tuple [15, 2] + - !!python/tuple [19, 24] + - !!python/tuple [6, 2] + - !!python/tuple [2, 10] + - !!python/tuple [11, 8] + - !!python/tuple [30, 23] + - !!python/tuple [1, 27] + - !!python/tuple [21, 20] + - !!python/tuple [3, 7] + - !!python/tuple [20, 30] + - !!python/tuple [29, 3] + - !!python/tuple [24, 29] + - !!python/tuple [11, 1] + - !!python/tuple [20, 17] + - !!python/tuple [13, 30] + - !!python/tuple [29, 21] + - !!python/tuple [21, 13] + - !!python/tuple [11, 11] + - !!python/tuple [27, 28] + - !!python/tuple [31, 1] + - !!python/tuple [30, 13] + - !!python/tuple [6, 13] + - !!python/tuple [16, 23] + - !!python/tuple [2, 20] + - !!python/tuple [29, 19] + - !!python/tuple [8, 5] + - !!python/tuple [13, 25] + - !!python/tuple [26, 30] + - !!python/tuple [5, 23] + - !!python/tuple [20, 23] + - !!python/tuple [1, 29] + - !!python/tuple [7, 3] + - !!python/tuple [31, 28] + - !!python/tuple [31, 25] + - !!python/tuple [21, 1] + - !!python/tuple [8, 8] + - !!python/tuple [11, 13] + - !!python/tuple [1, 18] + - !!python/tuple [21, 15] + - !!python/tuple [7, 4] + - !!python/tuple [0, 6] + - !!python/tuple [7, 20] + - !!python/tuple [30, 30] + - !!python/tuple [13, 8] + - !!python/tuple [26, 17] + - !!python/tuple [25, 3] + - !!python/tuple [31, 18] + - !!python/tuple [26, 29] + - !!python/tuple [22, 19] + - !!python/tuple [14, 26] + - !!python/tuple [23, 28] + - !!python/tuple [5, 1] + - !!python/tuple [20, 3] + - !!python/tuple [21, 8] + - !!python/tuple [1, 8] + - !!python/tuple [25, 9] + - !!python/tuple [22, 21] + - !!python/tuple [18, 22] + - !!python/tuple [20, 6] + - !!python/tuple [10, 12] + - !!python/tuple [12, 22] + - !!python/tuple [10, 7] + - !!python/tuple [10, 24] + - !!python/tuple [22, 22] + - !!python/tuple [3, 0] + - !!python/tuple [30, 25] + - !!python/tuple [8, 15] + - !!python/tuple [31, 2] + - !!python/tuple [14, 23] + - !!python/tuple [16, 11] + - !!python/tuple [4, 8] + - !!python/tuple [28, 4] + - !!python/tuple [25, 23] + - !!python/tuple [25, 2] + - !!python/tuple [18, 28] + - !!python/tuple [9, 22] + - !!python/tuple [4, 7] + - !!python/tuple [19, 27] + - !!python/tuple [28, 31] + - !!python/tuple [7, 13] + - !!python/tuple [17, 23] + - !!python/tuple [27, 11] + - !!python/tuple [26, 13] + - !!python/tuple [3, 31] + - !!python/tuple [9, 21] + - !!python/tuple [8, 30] + - !!python/tuple [12, 14] + - !!python/tuple [1, 21] + - !!python/tuple [29, 9] + - !!python/tuple [1, 20] + - !!python/tuple [17, 13] + - !!python/tuple [20, 15] + - !!python/tuple [8, 18] + - !!python/tuple [30, 21] + - !!python/tuple [26, 4] + - !!python/tuple [15, 18] + - !!python/tuple [6, 27] + - !!python/tuple [23, 25] + - !!python/tuple [6, 0] + - !!python/tuple [28, 11] + - !!python/tuple [20, 11] + - !!python/tuple [20, 28] + - !!python/tuple [24, 28] + - !!python/tuple [28, 27] + - !!python/tuple [13, 22] + - !!python/tuple [1, 26] + - !!python/tuple [26, 6] + - !!python/tuple [1, 16] + - !!python/tuple [17, 25] + - !!python/tuple [15, 1] + - !!python/tuple [28, 5] + - !!python/tuple [7, 25] + - !!python/tuple [16, 27] + - !!python/tuple [18, 19] + - !!python/tuple [22, 24] + - !!python/tuple [15, 11] + - !!python/tuple [8, 13] + - !!python/tuple [12, 25] + - !!python/tuple [17, 27] + - !!python/tuple [29, 4] + - !!python/tuple [27, 6] + - !!python/tuple [18, 0] + - !!python/tuple [22, 31] + - !!python/tuple [3, 6] + - !!python/tuple [11, 18] + - !!python/tuple [16, 2] + - !!python/tuple [23, 0] + - !!python/tuple [3, 5] + - !!python/tuple [10, 17] + - !!python/tuple [18, 8] + - !!python/tuple [14, 9] + - !!python/tuple [30, 31] + - !!python/tuple [30, 2] + - !!python/tuple [18, 13] + - !!python/tuple [2, 5] + - !!python/tuple [23, 21] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex56.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex56.yaml new file mode 100644 index 0000000..3d3698c --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex56.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [12, 17] + name: agent0 + start: [14, 8] +- goal: [24, 16] + name: agent1 + start: [14, 17] +- goal: [24, 1] + name: agent2 + start: [26, 28] +- goal: [11, 0] + name: agent3 + start: [24, 17] +- goal: [1, 3] + name: agent4 + start: [31, 9] +- goal: [26, 3] + name: agent5 + start: [13, 11] +- goal: [17, 21] + name: agent6 + start: [22, 14] +- goal: [30, 24] + name: agent7 + start: [4, 14] +- goal: [12, 14] + name: agent8 + start: [14, 12] +- goal: [19, 17] + name: agent9 + start: [11, 6] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [14, 7] + - !!python/tuple [14, 14] + - !!python/tuple [2, 10] + - !!python/tuple [27, 28] + - !!python/tuple [14, 29] + - !!python/tuple [19, 1] + - !!python/tuple [11, 23] + - !!python/tuple [9, 17] + - !!python/tuple [13, 2] + - !!python/tuple [26, 7] + - !!python/tuple [13, 7] + - !!python/tuple [20, 9] + - !!python/tuple [12, 2] + - !!python/tuple [5, 3] + - !!python/tuple [26, 19] + - !!python/tuple [2, 29] + - !!python/tuple [17, 16] + - !!python/tuple [11, 15] + - !!python/tuple [25, 13] + - !!python/tuple [30, 26] + - !!python/tuple [21, 16] + - !!python/tuple [6, 27] + - !!python/tuple [0, 23] + - !!python/tuple [14, 2] + - !!python/tuple [7, 3] + - !!python/tuple [22, 6] + - !!python/tuple [28, 14] + - !!python/tuple [14, 4] + - !!python/tuple [7, 22] + - !!python/tuple [30, 2] + - !!python/tuple [10, 6] + - !!python/tuple [4, 28] + - !!python/tuple [4, 7] + - !!python/tuple [2, 8] + - !!python/tuple [18, 12] + - !!python/tuple [25, 16] + - !!python/tuple [9, 8] + - !!python/tuple [31, 16] + - !!python/tuple [12, 1] + - !!python/tuple [30, 21] + - !!python/tuple [25, 4] + - !!python/tuple [26, 8] + - !!python/tuple [23, 9] + - !!python/tuple [15, 18] + - !!python/tuple [21, 4] + - !!python/tuple [11, 31] + - !!python/tuple [25, 21] + - !!python/tuple [17, 1] + - !!python/tuple [23, 20] + - !!python/tuple [17, 25] + - !!python/tuple [17, 3] + - !!python/tuple [30, 14] + - !!python/tuple [2, 23] + - !!python/tuple [20, 8] + - !!python/tuple [10, 5] + - !!python/tuple [13, 15] + - !!python/tuple [31, 24] + - !!python/tuple [3, 29] + - !!python/tuple [22, 29] + - !!python/tuple [30, 0] + - !!python/tuple [17, 12] + - !!python/tuple [2, 21] + - !!python/tuple [28, 25] + - !!python/tuple [16, 30] + - !!python/tuple [19, 9] + - !!python/tuple [31, 21] + - !!python/tuple [25, 31] + - !!python/tuple [14, 28] + - !!python/tuple [5, 20] + - !!python/tuple [28, 3] + - !!python/tuple [17, 2] + - !!python/tuple [11, 21] + - !!python/tuple [17, 0] + - !!python/tuple [9, 9] + - !!python/tuple [7, 6] + - !!python/tuple [11, 22] + - !!python/tuple [26, 4] + - !!python/tuple [9, 3] + - !!python/tuple [18, 24] + - !!python/tuple [15, 16] + - 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!!python/tuple [3, 31] + - !!python/tuple [16, 28] + - !!python/tuple [29, 19] + - !!python/tuple [18, 11] + - !!python/tuple [10, 17] + - !!python/tuple [30, 5] + - !!python/tuple [23, 4] + - !!python/tuple [29, 2] + - !!python/tuple [23, 25] + - !!python/tuple [15, 3] + - !!python/tuple [11, 9] + - !!python/tuple [26, 11] + - !!python/tuple [26, 29] + - !!python/tuple [12, 15] + - !!python/tuple [6, 12] + - !!python/tuple [10, 7] + - !!python/tuple [13, 0] + - !!python/tuple [13, 30] + - !!python/tuple [11, 11] + - !!python/tuple [19, 4] + - !!python/tuple [8, 17] + - !!python/tuple [24, 7] + - !!python/tuple [22, 20] + - !!python/tuple [19, 15] + - !!python/tuple [16, 24] + - !!python/tuple [13, 18] + - !!python/tuple [23, 28] + - !!python/tuple [1, 2] + - !!python/tuple [14, 0] + - !!python/tuple [0, 27] + - !!python/tuple [10, 15] + - !!python/tuple [12, 11] + - !!python/tuple [28, 30] + - !!python/tuple [21, 9] + - !!python/tuple [26, 17] + - !!python/tuple [29, 1] + - !!python/tuple [19, 11] + - !!python/tuple [20, 31] + - !!python/tuple [13, 26] + - !!python/tuple [8, 26] + - !!python/tuple [29, 4] + - !!python/tuple [29, 15] + - !!python/tuple [26, 20] + - !!python/tuple [12, 22] + - !!python/tuple [5, 19] + - !!python/tuple [29, 23] + - !!python/tuple [1, 24] + - !!python/tuple [28, 1] + - !!python/tuple [12, 24] + - !!python/tuple [6, 5] + - !!python/tuple [21, 7] + - !!python/tuple [22, 12] + - !!python/tuple [0, 29] + - !!python/tuple [27, 8] + - !!python/tuple [13, 6] + - !!python/tuple [15, 0] + - !!python/tuple [27, 31] + - !!python/tuple [24, 29] + - !!python/tuple [9, 22] + - !!python/tuple [30, 25] + - !!python/tuple [6, 23] + - !!python/tuple [26, 5] + - !!python/tuple [0, 31] + - !!python/tuple [22, 7] + - !!python/tuple [5, 29] + - !!python/tuple [3, 28] + - !!python/tuple [0, 16] + - !!python/tuple [5, 31] + - !!python/tuple [16, 8] + - !!python/tuple [18, 3] + - !!python/tuple [22, 31] + - !!python/tuple [15, 28] + - !!python/tuple [11, 26] + - !!python/tuple [29, 6] + - !!python/tuple [20, 25] + - !!python/tuple [13, 10] + - !!python/tuple [9, 1] + - !!python/tuple [28, 28] + - !!python/tuple [21, 27] + - !!python/tuple [27, 21] + - !!python/tuple [21, 26] + - !!python/tuple [26, 9] + - !!python/tuple [23, 18] + - !!python/tuple [18, 17] + - !!python/tuple [7, 9] + - !!python/tuple [24, 30] + - !!python/tuple [16, 5] + - !!python/tuple [13, 21] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex57.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex57.yaml new file mode 100644 index 0000000..dc801f8 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex57.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [0, 28] + name: agent0 + start: [19, 6] +- goal: [0, 10] + name: agent1 + start: [30, 2] +- goal: [13, 15] + name: agent2 + start: [16, 31] +- goal: [26, 18] + name: agent3 + start: [28, 16] +- goal: [29, 5] + name: agent4 + start: [28, 4] +- goal: [31, 30] + name: agent5 + start: [20, 16] +- goal: [29, 31] + name: agent6 + start: [12, 31] +- goal: [28, 0] + name: agent7 + start: [11, 22] +- goal: [8, 3] + name: agent8 + start: [15, 19] +- goal: [22, 1] + name: agent9 + start: [7, 31] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [29, 17] + - !!python/tuple [10, 26] + - !!python/tuple [20, 17] + - !!python/tuple [15, 21] + - !!python/tuple [19, 31] + - !!python/tuple [27, 18] + - !!python/tuple [21, 9] + - !!python/tuple [1, 28] + - !!python/tuple [4, 7] + - !!python/tuple [24, 11] + - !!python/tuple [8, 0] + - !!python/tuple [12, 3] + - !!python/tuple [16, 14] + - !!python/tuple [5, 29] + - !!python/tuple [4, 18] + - !!python/tuple [0, 9] + - !!python/tuple [6, 11] + - !!python/tuple [17, 8] + - !!python/tuple [5, 21] + - !!python/tuple [27, 7] + - !!python/tuple [10, 25] + - !!python/tuple [16, 12] + - !!python/tuple [15, 8] + - !!python/tuple [26, 8] + - !!python/tuple [17, 30] + - !!python/tuple [23, 12] + - !!python/tuple [28, 27] + - !!python/tuple [25, 18] + - !!python/tuple [8, 15] + - !!python/tuple [31, 4] + - !!python/tuple [9, 3] + - !!python/tuple [26, 20] + - !!python/tuple [31, 1] + - !!python/tuple [5, 6] + - !!python/tuple [13, 10] + - !!python/tuple [30, 25] + - !!python/tuple [1, 19] + - !!python/tuple [21, 10] + - !!python/tuple [8, 4] + - !!python/tuple [10, 24] + - !!python/tuple [21, 2] + - !!python/tuple [21, 5] + - !!python/tuple [29, 27] + - !!python/tuple [5, 3] + - !!python/tuple [13, 13] + - !!python/tuple [8, 24] + - !!python/tuple [8, 5] + - !!python/tuple [29, 1] + - !!python/tuple [11, 1] + - !!python/tuple [24, 23] + - !!python/tuple [20, 15] + - !!python/tuple [12, 18] + - !!python/tuple [25, 17] + - !!python/tuple [15, 0] + - !!python/tuple [19, 17] + - !!python/tuple [26, 21] + - !!python/tuple [3, 15] + - !!python/tuple [14, 24] + - !!python/tuple [22, 18] + - !!python/tuple [19, 22] + - !!python/tuple [10, 29] + - 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2] + - !!python/tuple [5, 27] + - !!python/tuple [28, 30] + - !!python/tuple [16, 24] + - !!python/tuple [30, 3] + - !!python/tuple [12, 2] + - !!python/tuple [16, 21] + - !!python/tuple [9, 1] + - !!python/tuple [22, 25] + - !!python/tuple [23, 3] + - !!python/tuple [22, 22] + - !!python/tuple [13, 26] + - !!python/tuple [16, 28] + - !!python/tuple [7, 2] + - !!python/tuple [10, 22] + - !!python/tuple [22, 15] + - !!python/tuple [28, 6] + - !!python/tuple [24, 21] + - !!python/tuple [24, 6] + - !!python/tuple [17, 12] + - !!python/tuple [29, 6] + - !!python/tuple [6, 13] + - !!python/tuple [6, 0] + - !!python/tuple [29, 3] + - !!python/tuple [19, 12] + - !!python/tuple [16, 29] + - !!python/tuple [25, 20] + - !!python/tuple [17, 13] + - !!python/tuple [3, 4] + - !!python/tuple [25, 22] + - !!python/tuple [21, 3] + - !!python/tuple [22, 21] + - !!python/tuple [6, 29] + - !!python/tuple [11, 23] + - !!python/tuple [18, 2] + - !!python/tuple [3, 18] + - !!python/tuple [12, 19] + - !!python/tuple [2, 6] + - !!python/tuple [11, 18] + - !!python/tuple [9, 23] + - !!python/tuple [14, 22] + - !!python/tuple [25, 8] + - !!python/tuple [5, 19] + - !!python/tuple [30, 8] + - !!python/tuple [12, 13] + - !!python/tuple [21, 12] + - !!python/tuple [3, 8] + - !!python/tuple [31, 9] + - !!python/tuple [15, 28] + - !!python/tuple [27, 1] + - !!python/tuple [31, 20] + - !!python/tuple [5, 7] + - !!python/tuple [31, 3] + - !!python/tuple [4, 14] + - !!python/tuple [2, 9] + - !!python/tuple [25, 29] + - !!python/tuple [31, 25] + - !!python/tuple [27, 22] + - !!python/tuple [22, 10] + - !!python/tuple [1, 11] + - !!python/tuple [13, 23] + - !!python/tuple [22, 5] + - !!python/tuple [29, 15] + - !!python/tuple [21, 21] + - !!python/tuple [1, 25] + - !!python/tuple [11, 6] + - !!python/tuple [23, 5] + - !!python/tuple [21, 18] + - !!python/tuple [10, 28] + - !!python/tuple [0, 8] + - !!python/tuple [29, 20] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex58.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex58.yaml new file mode 100644 index 0000000..5f3ab82 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex58.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [18, 17] + name: agent0 + start: [27, 23] +- goal: [12, 2] + name: agent1 + start: [2, 10] +- goal: [15, 24] + name: agent2 + start: [24, 9] +- goal: [4, 18] + name: agent3 + start: [29, 30] +- goal: [3, 15] + name: agent4 + start: [13, 9] +- goal: [9, 18] + name: agent5 + start: [23, 2] +- goal: [9, 13] + name: agent6 + start: [0, 15] +- goal: [31, 18] + name: agent7 + start: [9, 18] +- goal: [10, 10] + name: agent8 + start: [4, 2] +- goal: [29, 23] + name: agent9 + start: [23, 22] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [23, 15] + - !!python/tuple [13, 28] + - !!python/tuple [16, 27] + - !!python/tuple [19, 3] + - !!python/tuple [30, 17] + - !!python/tuple [24, 16] + - !!python/tuple [6, 13] + - !!python/tuple [6, 19] + - !!python/tuple [28, 30] + - !!python/tuple [17, 3] + - !!python/tuple [7, 10] + - !!python/tuple [24, 29] + - !!python/tuple [9, 22] + - !!python/tuple [5, 13] + - !!python/tuple [4, 31] + - !!python/tuple [18, 27] + - !!python/tuple [3, 31] + - !!python/tuple [11, 6] + - !!python/tuple [21, 3] + - !!python/tuple [22, 13] + - !!python/tuple [16, 2] + - !!python/tuple [18, 6] + - !!python/tuple [13, 10] + - !!python/tuple [22, 22] + - !!python/tuple [8, 15] + - !!python/tuple [8, 7] + - !!python/tuple [2, 24] + - !!python/tuple [15, 2] + - !!python/tuple [13, 25] + - !!python/tuple [20, 10] + - !!python/tuple [6, 10] + - !!python/tuple [4, 26] + - !!python/tuple [28, 9] + - !!python/tuple [25, 22] + - !!python/tuple [0, 0] + - !!python/tuple [10, 21] + - !!python/tuple [1, 27] + - !!python/tuple [21, 31] + - !!python/tuple [16, 17] + - !!python/tuple [23, 12] + - !!python/tuple [8, 27] + - !!python/tuple [22, 0] + - !!python/tuple [5, 5] + - !!python/tuple [22, 8] + - !!python/tuple [12, 8] + - !!python/tuple [20, 31] + - !!python/tuple [7, 12] + - !!python/tuple [17, 5] + - !!python/tuple [31, 8] + - !!python/tuple [7, 21] + - !!python/tuple [20, 27] + - !!python/tuple [28, 18] + - !!python/tuple [4, 21] + - !!python/tuple [13, 26] + - !!python/tuple [8, 16] + - !!python/tuple [31, 26] + - !!python/tuple [3, 7] + - !!python/tuple [22, 24] + - !!python/tuple [11, 16] + - !!python/tuple [13, 20] + - !!python/tuple [21, 13] + - !!python/tuple [30, 2] + - !!python/tuple [19, 24] + - !!python/tuple [0, 13] + - !!python/tuple [11, 23] + - !!python/tuple [23, 8] + - !!python/tuple [12, 25] + - !!python/tuple [7, 0] + - !!python/tuple [2, 29] + - !!python/tuple [30, 22] + - !!python/tuple [19, 0] + - !!python/tuple [16, 15] + - !!python/tuple [20, 22] + - !!python/tuple [28, 7] + - !!python/tuple [13, 6] + - !!python/tuple [17, 15] + - !!python/tuple [3, 1] + - !!python/tuple [29, 16] + - !!python/tuple [27, 19] + - !!python/tuple [10, 5] + - !!python/tuple [7, 28] + - !!python/tuple [0, 14] + - !!python/tuple [22, 14] + - !!python/tuple [4, 1] + - !!python/tuple [0, 28] + - !!python/tuple [8, 3] + - !!python/tuple [13, 18] + - !!python/tuple [12, 11] + - !!python/tuple [22, 31] + - !!python/tuple [11, 10] + - !!python/tuple [25, 2] + - !!python/tuple [15, 12] + - !!python/tuple [3, 5] + - !!python/tuple [29, 14] + - !!python/tuple [5, 11] + - !!python/tuple [24, 4] + - !!python/tuple [7, 27] + - !!python/tuple [10, 6] + - !!python/tuple [14, 4] + - !!python/tuple [0, 26] + - !!python/tuple [5, 23] + - !!python/tuple [9, 19] + - !!python/tuple [22, 16] + - !!python/tuple [10, 20] + - !!python/tuple [29, 31] + - !!python/tuple [3, 10] + - !!python/tuple [27, 25] + - !!python/tuple [20, 13] + - !!python/tuple [11, 0] + - !!python/tuple [14, 8] + - !!python/tuple [13, 11] + - !!python/tuple [2, 13] + - !!python/tuple [7, 2] + - !!python/tuple [22, 7] + - !!python/tuple [24, 7] + - !!python/tuple [10, 28] + - !!python/tuple [18, 1] + - !!python/tuple [26, 18] + - !!python/tuple [10, 9] + - !!python/tuple [0, 11] + - !!python/tuple [16, 24] + - !!python/tuple [23, 14] + - !!python/tuple [30, 4] + - !!python/tuple [24, 22] + - !!python/tuple [18, 8] + - !!python/tuple [31, 5] + - !!python/tuple [7, 17] + - !!python/tuple [16, 0] + - !!python/tuple [13, 16] + - !!python/tuple [21, 30] + - !!python/tuple [4, 30] + - !!python/tuple [9, 6] + - !!python/tuple [28, 13] + - !!python/tuple [13, 2] + - !!python/tuple [5, 25] + - !!python/tuple [27, 13] + - !!python/tuple [13, 21] + - !!python/tuple [12, 31] + - !!python/tuple [11, 17] + - !!python/tuple [10, 18] + - !!python/tuple [2, 9] + - !!python/tuple [6, 4] + - !!python/tuple [21, 25] + - !!python/tuple [11, 29] + - !!python/tuple [29, 17] + - !!python/tuple [4, 5] + - !!python/tuple [27, 30] + - !!python/tuple [26, 2] + - !!python/tuple [19, 23] + - !!python/tuple [6, 6] + - !!python/tuple [25, 30] + - !!python/tuple [15, 31] + - !!python/tuple [10, 8] + - !!python/tuple [9, 25] + - !!python/tuple [2, 31] + - !!python/tuple [20, 20] + - !!python/tuple [28, 21] + - !!python/tuple [9, 29] + - !!python/tuple [24, 12] + - !!python/tuple [4, 0] + - !!python/tuple [28, 6] + - !!python/tuple [19, 9] + - !!python/tuple [14, 16] + - !!python/tuple [29, 28] + - !!python/tuple [20, 21] + - !!python/tuple [0, 23] + - !!python/tuple [24, 26] + - !!python/tuple [3, 11] + - !!python/tuple [23, 13] + - !!python/tuple [16, 8] + - !!python/tuple [4, 11] + - !!python/tuple [9, 12] + - !!python/tuple [0, 24] + - !!python/tuple [2, 0] + - !!python/tuple [20, 4] + - !!python/tuple [25, 15] + - !!python/tuple [14, 7] + - !!python/tuple [2, 2] + - !!python/tuple [21, 11] + - !!python/tuple [16, 19] + - !!python/tuple [8, 14] + - !!python/tuple [21, 24] + - !!python/tuple [22, 3] + - !!python/tuple [31, 7] + - !!python/tuple [30, 0] + - !!python/tuple [29, 27] + - !!python/tuple [4, 12] + - !!python/tuple [4, 29] + - !!python/tuple [6, 3] + - !!python/tuple [26, 27] + - !!python/tuple [30, 11] + - !!python/tuple [9, 2] + - !!python/tuple [0, 9] + - !!python/tuple [30, 27] + - !!python/tuple [1, 12] + - !!python/tuple [14, 15] + - !!python/tuple [3, 21] + - !!python/tuple [23, 16] + - !!python/tuple [10, 2] + - !!python/tuple [23, 28] + - !!python/tuple [18, 4] + - !!python/tuple [7, 29] + - !!python/tuple [2, 25] + - !!python/tuple [16, 4] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex59.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex59.yaml new file mode 100644 index 0000000..cc71762 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex59.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [29, 11] + name: agent0 + start: [22, 11] +- goal: [30, 29] + name: agent1 + start: [15, 4] +- goal: [8, 23] + name: agent2 + start: [30, 21] +- goal: [24, 19] + name: agent3 + start: [6, 11] +- goal: [30, 2] + name: agent4 + start: [23, 22] +- goal: [4, 19] + name: agent5 + start: [16, 15] +- goal: [28, 22] + name: agent6 + start: [28, 15] +- goal: [3, 11] + name: agent7 + start: [3, 20] +- goal: [21, 20] + name: agent8 + start: [30, 17] +- goal: [31, 2] + name: agent9 + start: [26, 13] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [15, 26] + - !!python/tuple [4, 14] + - !!python/tuple [27, 27] + - !!python/tuple [7, 28] + - !!python/tuple [8, 24] + - !!python/tuple [23, 26] + - !!python/tuple [1, 12] + - !!python/tuple [14, 26] + - !!python/tuple [1, 24] + - !!python/tuple [12, 0] + - !!python/tuple [28, 6] + - !!python/tuple [9, 25] + - !!python/tuple [7, 31] + - !!python/tuple [27, 0] + - !!python/tuple [15, 14] + - !!python/tuple [11, 18] + - !!python/tuple [2, 11] + - !!python/tuple [26, 17] + - !!python/tuple [27, 1] + - !!python/tuple [13, 0] + - !!python/tuple [1, 15] + - !!python/tuple [10, 17] + - !!python/tuple [4, 11] + - !!python/tuple [11, 14] + - !!python/tuple [1, 4] + - !!python/tuple [18, 13] + - !!python/tuple [10, 15] + - !!python/tuple [7, 17] + - !!python/tuple [19, 25] + - !!python/tuple [5, 6] + - !!python/tuple [17, 13] + - !!python/tuple [1, 30] + - !!python/tuple [15, 30] + - !!python/tuple [26, 3] + - !!python/tuple [18, 25] + - !!python/tuple [14, 6] + - !!python/tuple [17, 0] + - !!python/tuple [5, 31] + - !!python/tuple [17, 11] + - !!python/tuple [30, 14] + - !!python/tuple [15, 0] + - !!python/tuple [23, 14] + - !!python/tuple [17, 19] + - !!python/tuple [6, 20] + - !!python/tuple [0, 9] + - !!python/tuple [14, 10] + - !!python/tuple [18, 0] + - !!python/tuple [28, 4] + - !!python/tuple [16, 0] + - !!python/tuple [9, 8] + - !!python/tuple [20, 21] + - !!python/tuple [27, 28] + - !!python/tuple [8, 4] + - !!python/tuple [28, 30] + - !!python/tuple [7, 15] + - !!python/tuple [15, 25] + - !!python/tuple [24, 31] + - !!python/tuple [19, 14] + - !!python/tuple [24, 7] + - !!python/tuple [23, 12] + - !!python/tuple [6, 0] + - !!python/tuple [27, 13] + - !!python/tuple [16, 21] + - !!python/tuple [24, 3] + - !!python/tuple [9, 30] + - !!python/tuple [27, 9] + - !!python/tuple [22, 15] + - !!python/tuple [10, 8] + - !!python/tuple [14, 11] + - !!python/tuple [6, 8] + - !!python/tuple [30, 16] + - !!python/tuple [8, 15] + - !!python/tuple [14, 24] + - !!python/tuple [27, 8] + - !!python/tuple [20, 24] + - !!python/tuple [28, 5] + - !!python/tuple [26, 7] + - !!python/tuple [9, 20] + - !!python/tuple [12, 18] + - !!python/tuple [0, 25] + - !!python/tuple [2, 20] + - !!python/tuple [0, 5] + - !!python/tuple [18, 12] + - !!python/tuple [6, 4] + - !!python/tuple [6, 18] + - !!python/tuple [16, 18] + - !!python/tuple [14, 23] + - !!python/tuple [17, 17] + - !!python/tuple [22, 30] + - !!python/tuple [31, 3] + - !!python/tuple [18, 6] + - !!python/tuple [4, 20] + - !!python/tuple [11, 5] + - !!python/tuple [10, 2] + - !!python/tuple [0, 28] + - !!python/tuple [26, 23] + - !!python/tuple [5, 9] + - !!python/tuple [21, 10] + - !!python/tuple [28, 16] + - !!python/tuple [17, 24] + - !!python/tuple [12, 5] + - !!python/tuple [7, 18] + - !!python/tuple [26, 25] + - !!python/tuple [14, 22] + - !!python/tuple [11, 21] + - !!python/tuple [26, 4] + - !!python/tuple [27, 4] + - !!python/tuple [23, 11] + - !!python/tuple [20, 2] + - !!python/tuple [27, 18] + - !!python/tuple [9, 16] + - !!python/tuple [30, 31] + - !!python/tuple [13, 22] + - !!python/tuple [13, 27] + - !!python/tuple [24, 6] + - !!python/tuple [17, 10] + - !!python/tuple [29, 10] + - !!python/tuple [16, 14] + - !!python/tuple [19, 27] + - !!python/tuple [10, 5] + - !!python/tuple [11, 22] + - !!python/tuple [22, 7] + - !!python/tuple [25, 26] + - !!python/tuple [29, 19] + - !!python/tuple [4, 9] + - !!python/tuple [28, 29] + - !!python/tuple [30, 18] + - !!python/tuple [27, 6] + - !!python/tuple [31, 27] + - !!python/tuple [31, 25] + - !!python/tuple [12, 22] + - !!python/tuple [4, 10] + - !!python/tuple [16, 13] + - !!python/tuple [10, 29] + - !!python/tuple [9, 31] + - !!python/tuple [14, 18] + - !!python/tuple [1, 13] + - !!python/tuple [12, 26] + - !!python/tuple [2, 18] + - !!python/tuple [14, 31] + - !!python/tuple [5, 2] + - !!python/tuple [6, 29] + - !!python/tuple [5, 8] + - !!python/tuple [5, 11] + - !!python/tuple [16, 10] + - !!python/tuple [8, 11] + - !!python/tuple [24, 24] + - !!python/tuple [2, 31] + - !!python/tuple [18, 2] + - !!python/tuple [24, 21] + - !!python/tuple [27, 24] + - !!python/tuple [2, 19] + - !!python/tuple [13, 9] + - !!python/tuple [0, 12] + - !!python/tuple [2, 17] + - !!python/tuple [15, 19] + - !!python/tuple [9, 6] + - !!python/tuple [31, 21] + - !!python/tuple [31, 15] + - !!python/tuple [8, 10] + - !!python/tuple [15, 16] + - !!python/tuple [6, 13] + - !!python/tuple [8, 20] + - !!python/tuple [1, 9] + - !!python/tuple [1, 20] + - !!python/tuple [16, 17] + - !!python/tuple [0, 16] + - !!python/tuple [16, 1] + - !!python/tuple [2, 1] + - !!python/tuple [25, 19] + - !!python/tuple [12, 11] + - !!python/tuple [27, 11] + - !!python/tuple [19, 17] + - !!python/tuple [24, 28] + - !!python/tuple [31, 7] + - !!python/tuple [7, 19] + - !!python/tuple [21, 21] + - !!python/tuple [23, 28] + - !!python/tuple [20, 28] + - !!python/tuple [13, 19] + - !!python/tuple [29, 6] + - !!python/tuple [3, 29] + - !!python/tuple [16, 6] + - !!python/tuple [10, 4] + - !!python/tuple [8, 26] + - !!python/tuple [7, 27] + - !!python/tuple [9, 15] + - !!python/tuple [11, 12] + - !!python/tuple [5, 28] + - !!python/tuple [9, 28] + - !!python/tuple [31, 0] + - !!python/tuple [0, 24] + - !!python/tuple [31, 18] + - !!python/tuple [19, 23] + - !!python/tuple [26, 28] + - !!python/tuple [27, 7] + - !!python/tuple [26, 15] + - !!python/tuple [25, 7] + - !!python/tuple [29, 24] + - !!python/tuple [12, 17] + - !!python/tuple [19, 11] + - !!python/tuple [25, 15] + - !!python/tuple [15, 31] + - !!python/tuple [31, 26] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex6.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex6.yaml new file mode 100644 index 0000000..7f7d81f --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex6.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [5, 15] + name: agent0 + start: [27, 4] +- goal: [14, 28] + name: agent1 + start: [25, 15] +- goal: [26, 14] + name: agent2 + start: [17, 1] +- goal: [17, 31] + name: agent3 + start: [22, 14] +- goal: [19, 22] + name: agent4 + start: [0, 23] +- goal: [7, 7] + name: agent5 + start: [6, 19] +- goal: [4, 13] + name: agent6 + start: [23, 10] +- goal: [9, 21] + name: agent7 + start: [21, 22] +- goal: [0, 17] + name: agent8 + start: [7, 3] +- goal: [27, 9] + name: agent9 + start: [2, 0] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [16, 15] + - !!python/tuple [17, 5] + - !!python/tuple [10, 8] + - !!python/tuple [26, 2] + - !!python/tuple [14, 16] + - !!python/tuple [24, 29] + - !!python/tuple [21, 1] + - !!python/tuple [27, 27] + - !!python/tuple [3, 3] + - !!python/tuple [27, 14] + - !!python/tuple [23, 1] + - !!python/tuple [7, 0] + - !!python/tuple [17, 23] + - !!python/tuple [15, 4] + - !!python/tuple [23, 31] + - !!python/tuple [13, 21] + - !!python/tuple [17, 17] + - !!python/tuple [25, 13] + - !!python/tuple [24, 19] + - !!python/tuple [13, 20] + - !!python/tuple [13, 11] + - !!python/tuple [9, 20] + - !!python/tuple [25, 7] + - !!python/tuple [13, 14] + - !!python/tuple [29, 4] + - !!python/tuple [11, 13] + - !!python/tuple [21, 24] + - !!python/tuple [29, 6] + - !!python/tuple [24, 14] + - !!python/tuple [29, 7] + - !!python/tuple [6, 2] + - !!python/tuple [2, 11] + - !!python/tuple [19, 10] + - !!python/tuple [9, 29] + - !!python/tuple [23, 14] + - !!python/tuple [28, 29] + - !!python/tuple [8, 31] + - !!python/tuple [16, 5] + - !!python/tuple [31, 7] + - !!python/tuple [28, 30] + - !!python/tuple [22, 28] + - !!python/tuple [23, 13] + - !!python/tuple [22, 13] + - !!python/tuple [10, 11] + - !!python/tuple [11, 19] + - !!python/tuple [28, 21] + - !!python/tuple [22, 12] + - !!python/tuple [29, 29] + - !!python/tuple [12, 12] + - !!python/tuple [2, 9] + - !!python/tuple [9, 15] + - !!python/tuple [15, 10] + - !!python/tuple [26, 13] + - !!python/tuple [10, 3] + - !!python/tuple [14, 15] + - !!python/tuple [11, 14] + - !!python/tuple [26, 16] + - !!python/tuple [19, 2] + - !!python/tuple [11, 12] + - !!python/tuple [5, 14] + - !!python/tuple [23, 5] + - !!python/tuple [4, 5] + - !!python/tuple [3, 18] + - !!python/tuple [26, 10] + - !!python/tuple [23, 3] + - !!python/tuple [18, 31] + - !!python/tuple [14, 2] + - !!python/tuple [5, 30] + - !!python/tuple [30, 31] + - !!python/tuple [19, 15] + - !!python/tuple [1, 17] + - !!python/tuple [12, 1] + - !!python/tuple [5, 27] + - !!python/tuple [24, 23] + - !!python/tuple [18, 24] + - !!python/tuple [21, 25] + - !!python/tuple [14, 31] + - !!python/tuple [2, 26] + - !!python/tuple [29, 16] + - !!python/tuple [26, 21] + - !!python/tuple [9, 9] + - !!python/tuple [17, 7] + - !!python/tuple [10, 2] + - !!python/tuple [3, 11] + - !!python/tuple [23, 25] + - !!python/tuple [7, 1] + - !!python/tuple [21, 5] + - !!python/tuple [15, 17] + - !!python/tuple [13, 4] + - !!python/tuple [27, 17] + - !!python/tuple [25, 16] + - !!python/tuple [11, 7] + - !!python/tuple [29, 9] + - !!python/tuple [1, 1] + - !!python/tuple [13, 5] + - !!python/tuple [4, 16] + - !!python/tuple [29, 12] + - !!python/tuple [13, 24] + - !!python/tuple [31, 2] + - !!python/tuple [7, 22] + - !!python/tuple [26, 19] + - !!python/tuple [25, 22] + - !!python/tuple [17, 10] + - !!python/tuple [21, 8] + - !!python/tuple [10, 0] + - !!python/tuple [1, 22] + - !!python/tuple [4, 29] + - !!python/tuple [9, 6] + - !!python/tuple [26, 20] + - !!python/tuple [5, 25] + - !!python/tuple [0, 14] + - !!python/tuple [20, 8] + - !!python/tuple [6, 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!!python/tuple [8, 22] + - !!python/tuple [18, 8] + - !!python/tuple [1, 21] + - !!python/tuple [10, 9] + - !!python/tuple [14, 5] + - !!python/tuple [6, 7] + - !!python/tuple [28, 26] + - !!python/tuple [31, 15] + - !!python/tuple [7, 8] + - !!python/tuple [26, 24] + - !!python/tuple [8, 19] + - !!python/tuple [10, 6] + - !!python/tuple [7, 20] + - !!python/tuple [24, 16] + - !!python/tuple [4, 14] + - !!python/tuple [27, 12] + - !!python/tuple [6, 1] + - !!python/tuple [21, 3] + - !!python/tuple [17, 9] + - !!python/tuple [16, 4] + - !!python/tuple [4, 22] + - !!python/tuple [30, 18] + - !!python/tuple [15, 13] + - !!python/tuple [9, 8] + - !!python/tuple [15, 8] + - !!python/tuple [30, 19] + - !!python/tuple [11, 30] + - !!python/tuple [20, 27] + - !!python/tuple [16, 0] + - !!python/tuple [20, 12] + - !!python/tuple [2, 4] + - !!python/tuple [27, 26] + - !!python/tuple [14, 3] + - !!python/tuple [26, 23] + - !!python/tuple [0, 0] + - !!python/tuple [12, 7] + - !!python/tuple [25, 6] + - !!python/tuple [29, 23] + - !!python/tuple [21, 17] + - !!python/tuple [21, 6] + - !!python/tuple [5, 19] + - !!python/tuple [14, 10] + - !!python/tuple [19, 20] + - !!python/tuple [0, 29] + - !!python/tuple [13, 30] + - !!python/tuple [31, 24] + - !!python/tuple [13, 12] + - !!python/tuple [12, 25] + - !!python/tuple [7, 27] + - !!python/tuple [5, 22] + - !!python/tuple [11, 5] + - !!python/tuple [9, 7] + - !!python/tuple [7, 14] + - !!python/tuple [12, 22] + - !!python/tuple [27, 13] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex60.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex60.yaml new file mode 100644 index 0000000..aab35b6 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex60.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [27, 19] + name: agent0 + start: [9, 16] +- goal: [24, 12] + name: agent1 + start: [10, 16] +- goal: [10, 20] + name: agent2 + start: [30, 25] +- goal: [5, 4] + name: agent3 + start: [24, 8] +- goal: [26, 9] + name: agent4 + start: [15, 22] +- goal: [3, 9] + name: agent5 + start: [13, 9] +- goal: [7, 26] + name: agent6 + start: [22, 16] +- goal: [31, 2] + name: agent7 + start: [20, 8] +- goal: [18, 15] + name: agent8 + start: [19, 22] +- goal: [31, 31] + name: agent9 + start: [14, 10] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [17, 17] + - !!python/tuple [9, 2] + - !!python/tuple [25, 8] + - !!python/tuple [24, 2] + - !!python/tuple [26, 23] + - !!python/tuple [1, 28] + - !!python/tuple [4, 25] + - !!python/tuple [16, 11] + - !!python/tuple [28, 22] + - !!python/tuple [4, 19] + - !!python/tuple [27, 14] + - !!python/tuple [30, 21] + - !!python/tuple [12, 14] + - !!python/tuple [6, 8] + - !!python/tuple [8, 20] + - !!python/tuple [5, 3] + - !!python/tuple [27, 30] + - !!python/tuple [20, 24] + - !!python/tuple [31, 24] + - !!python/tuple [7, 23] + - !!python/tuple [17, 21] + - !!python/tuple [6, 17] + - !!python/tuple [1, 27] + - !!python/tuple [8, 14] + - !!python/tuple [7, 16] + - !!python/tuple [8, 11] + - !!python/tuple [19, 6] + - !!python/tuple [31, 3] + - !!python/tuple [11, 26] + - !!python/tuple [0, 15] + - !!python/tuple [18, 16] + - !!python/tuple [30, 10] + - !!python/tuple [21, 14] + - !!python/tuple [6, 21] + - !!python/tuple [29, 5] + - !!python/tuple [17, 25] + - !!python/tuple [11, 3] + - !!python/tuple [12, 2] + - !!python/tuple [1, 8] + - !!python/tuple [26, 12] + - !!python/tuple [31, 8] + - !!python/tuple [1, 31] + - !!python/tuple [19, 4] + - !!python/tuple [19, 18] + - !!python/tuple [28, 3] + - !!python/tuple [8, 30] + - !!python/tuple [5, 7] + - !!python/tuple [10, 4] + - !!python/tuple [10, 11] + - !!python/tuple [17, 30] + - !!python/tuple [11, 5] + - !!python/tuple [18, 7] + - !!python/tuple [8, 17] + - !!python/tuple [11, 9] + - !!python/tuple [30, 18] + - !!python/tuple [4, 15] + - !!python/tuple [13, 30] + - !!python/tuple [17, 0] + - 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[14, 4] + - !!python/tuple [3, 6] + - !!python/tuple [16, 28] + - !!python/tuple [13, 28] + - !!python/tuple [15, 13] + - !!python/tuple [10, 23] + - !!python/tuple [16, 10] + - !!python/tuple [13, 10] + - !!python/tuple [21, 2] + - !!python/tuple [0, 20] + - !!python/tuple [22, 4] + - !!python/tuple [17, 23] + - !!python/tuple [31, 1] + - !!python/tuple [28, 26] + - !!python/tuple [19, 31] + - !!python/tuple [13, 25] + - !!python/tuple [27, 21] + - !!python/tuple [16, 14] + - !!python/tuple [16, 6] + - !!python/tuple [5, 17] + - !!python/tuple [12, 31] + - !!python/tuple [9, 19] + - !!python/tuple [2, 18] + - !!python/tuple [23, 27] + - !!python/tuple [11, 21] + - !!python/tuple [3, 28] + - !!python/tuple [10, 10] + - !!python/tuple [4, 9] + - !!python/tuple [21, 8] + - !!python/tuple [2, 6] + - !!python/tuple [6, 28] + - !!python/tuple [7, 15] + - !!python/tuple [18, 31] + - !!python/tuple [16, 30] + - !!python/tuple [13, 2] + - !!python/tuple [30, 16] + - !!python/tuple [16, 19] + - !!python/tuple [31, 30] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex61.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex61.yaml new file mode 100644 index 0000000..6e96ba3 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex61.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [3, 29] + name: agent0 + start: [14, 5] +- goal: [1, 15] + name: agent1 + start: [9, 1] +- goal: [4, 13] + name: agent2 + start: [4, 9] +- goal: [15, 3] + name: agent3 + start: [30, 1] +- goal: [28, 2] + name: agent4 + start: [4, 7] +- goal: [19, 20] + name: agent5 + start: [10, 8] +- goal: [3, 23] + name: agent6 + start: [1, 17] +- goal: [0, 14] + name: agent7 + start: [25, 22] +- goal: [31, 17] + name: agent8 + start: [16, 16] +- goal: [7, 13] + name: agent9 + start: [22, 22] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [25, 25] + - !!python/tuple [0, 13] + - !!python/tuple [1, 0] + - !!python/tuple [9, 8] + - !!python/tuple [4, 23] + - !!python/tuple [18, 9] + - !!python/tuple [7, 14] + - !!python/tuple [11, 0] + - !!python/tuple [19, 13] + - !!python/tuple [16, 7] + - !!python/tuple [11, 25] + - !!python/tuple [3, 25] + - !!python/tuple [15, 28] + - !!python/tuple [14, 28] + - !!python/tuple [19, 18] + - !!python/tuple [17, 24] + - !!python/tuple [8, 8] + - !!python/tuple [27, 22] + - !!python/tuple [17, 28] + - !!python/tuple [18, 19] + - !!python/tuple [5, 14] + - !!python/tuple [9, 23] + - !!python/tuple [16, 13] + - !!python/tuple [16, 2] + - !!python/tuple [25, 6] + - !!python/tuple [16, 31] + - !!python/tuple [29, 3] + - !!python/tuple [14, 25] + - !!python/tuple [29, 5] + - !!python/tuple [9, 29] + - !!python/tuple [28, 18] + - !!python/tuple [16, 24] + - !!python/tuple [29, 27] + - !!python/tuple [6, 18] + - !!python/tuple [3, 8] + - !!python/tuple [26, 12] + - !!python/tuple [30, 3] + - !!python/tuple [28, 1] + - !!python/tuple [1, 28] + - !!python/tuple [15, 8] + - !!python/tuple [18, 21] + - !!python/tuple [22, 31] + - !!python/tuple [23, 13] + - !!python/tuple [24, 4] + - !!python/tuple [4, 16] + - !!python/tuple [19, 8] + - !!python/tuple [11, 11] + - !!python/tuple [26, 0] + - !!python/tuple [10, 1] + - !!python/tuple [18, 30] + - !!python/tuple [23, 3] + - !!python/tuple [26, 29] + - !!python/tuple [16, 29] + - !!python/tuple [23, 30] + - !!python/tuple [30, 28] + - !!python/tuple [10, 14] + - !!python/tuple [7, 29] + - !!python/tuple [2, 4] + - !!python/tuple [10, 27] + - !!python/tuple [0, 19] + - !!python/tuple [25, 5] + - !!python/tuple [8, 29] + - !!python/tuple [21, 18] + - !!python/tuple [28, 11] + - !!python/tuple [20, 19] + - !!python/tuple [26, 1] + - !!python/tuple [19, 21] + - !!python/tuple [27, 12] + - !!python/tuple [2, 11] + - !!python/tuple [16, 14] + - !!python/tuple [21, 10] + - !!python/tuple [21, 15] + - !!python/tuple [5, 19] + - !!python/tuple [23, 14] + - !!python/tuple [6, 25] + - !!python/tuple [17, 19] + - !!python/tuple [30, 18] + - !!python/tuple [31, 22] + - !!python/tuple [16, 12] + - !!python/tuple [24, 20] + - !!python/tuple [16, 23] + - !!python/tuple [23, 21] + - !!python/tuple [6, 19] + - !!python/tuple [9, 5] + - !!python/tuple [6, 16] + - !!python/tuple [8, 17] + - !!python/tuple [3, 17] + - !!python/tuple [12, 21] + - !!python/tuple [3, 22] + - !!python/tuple [11, 18] + - !!python/tuple [12, 2] + - !!python/tuple [19, 23] + - !!python/tuple [8, 25] + - !!python/tuple [28, 23] + - !!python/tuple [23, 11] + - !!python/tuple [24, 12] + - !!python/tuple [16, 11] + - !!python/tuple [31, 30] + - !!python/tuple [3, 27] + - !!python/tuple [0, 1] + - !!python/tuple [10, 30] + - !!python/tuple [4, 25] + - !!python/tuple [26, 4] + - !!python/tuple [15, 18] + - !!python/tuple [2, 18] + - !!python/tuple [0, 21] + - !!python/tuple [21, 21] + - !!python/tuple [23, 16] + - !!python/tuple [17, 9] + - !!python/tuple [5, 22] + - !!python/tuple [24, 16] + - !!python/tuple [19, 3] + - !!python/tuple [14, 7] + - !!python/tuple [19, 24] + - !!python/tuple [13, 25] + - !!python/tuple [24, 15] + - !!python/tuple [27, 1] + - !!python/tuple [1, 8] + - !!python/tuple [18, 31] + - !!python/tuple [28, 29] + - !!python/tuple [15, 14] + - !!python/tuple [7, 24] + - !!python/tuple [18, 12] + - !!python/tuple [1, 26] + - !!python/tuple [20, 9] + - !!python/tuple [17, 30] + - !!python/tuple [23, 27] + - !!python/tuple [9, 20] + - !!python/tuple [12, 0] + - !!python/tuple [20, 17] + - !!python/tuple [3, 5] + - !!python/tuple [17, 23] + - !!python/tuple [29, 19] + - !!python/tuple [6, 9] + - !!python/tuple [1, 11] + - !!python/tuple [27, 27] + - !!python/tuple [26, 3] + - !!python/tuple [14, 17] + - !!python/tuple [2, 8] + - !!python/tuple [28, 26] + - !!python/tuple [31, 4] + - !!python/tuple [27, 26] + - !!python/tuple [9, 6] + - !!python/tuple [16, 27] + - !!python/tuple [11, 7] + - !!python/tuple [11, 31] + - !!python/tuple [26, 15] + - !!python/tuple [6, 6] + - !!python/tuple [6, 12] + - !!python/tuple [14, 27] + - !!python/tuple [22, 30] + - !!python/tuple [29, 29] + - !!python/tuple [19, 15] + - !!python/tuple [27, 0] + - !!python/tuple [25, 29] + - !!python/tuple [7, 17] + - !!python/tuple [26, 17] + - !!python/tuple [13, 26] + - !!python/tuple [7, 6] + - !!python/tuple [14, 8] + - !!python/tuple [18, 22] + - !!python/tuple [20, 18] + - !!python/tuple [27, 4] + - !!python/tuple [6, 1] + - !!python/tuple [16, 30] + - !!python/tuple [15, 15] + - !!python/tuple [21, 28] + - !!python/tuple [10, 21] + - !!python/tuple [14, 14] + - !!python/tuple [9, 12] + - !!python/tuple [1, 30] + - !!python/tuple [27, 21] + - !!python/tuple [29, 30] + - !!python/tuple [15, 24] + - !!python/tuple [0, 6] + - !!python/tuple [2, 24] + - !!python/tuple [18, 14] + - !!python/tuple [29, 7] + - !!python/tuple [2, 26] + - !!python/tuple [4, 26] + - !!python/tuple [16, 4] + - !!python/tuple [11, 2] + - !!python/tuple [11, 26] + - !!python/tuple [2, 25] + - !!python/tuple [8, 20] + - !!python/tuple [25, 31] + - !!python/tuple [14, 20] + - !!python/tuple [22, 26] + - !!python/tuple [17, 14] + - !!python/tuple [4, 5] + - !!python/tuple [5, 0] + - !!python/tuple [9, 10] + - !!python/tuple [30, 25] + - !!python/tuple [11, 14] + - !!python/tuple [23, 10] + - !!python/tuple [7, 30] + - !!python/tuple [1, 5] + - !!python/tuple [1, 9] + - !!python/tuple [13, 7] + - !!python/tuple [25, 16] + - !!python/tuple [27, 15] + - !!python/tuple [7, 28] + - !!python/tuple [3, 1] + - !!python/tuple [13, 17] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex62.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex62.yaml new file mode 100644 index 0000000..d96b0c7 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex62.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [20, 14] + name: agent0 + start: [0, 21] +- goal: [14, 8] + name: agent1 + start: [4, 31] +- goal: [27, 27] + name: agent2 + start: [6, 20] +- goal: [23, 0] + name: agent3 + start: [19, 26] +- goal: [6, 22] + name: agent4 + start: [2, 9] +- goal: [12, 27] + name: agent5 + start: [25, 26] +- goal: [30, 12] + name: agent6 + start: [23, 6] +- goal: [31, 14] + name: agent7 + start: [0, 2] +- goal: [9, 6] + name: agent8 + start: [25, 27] +- goal: [9, 13] + name: agent9 + start: [12, 31] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [5, 14] + - !!python/tuple [15, 24] + - !!python/tuple [4, 12] + - !!python/tuple [23, 1] + - !!python/tuple [14, 30] + - !!python/tuple [19, 11] + - !!python/tuple [21, 19] + - !!python/tuple [22, 24] + - !!python/tuple [10, 7] + - !!python/tuple [19, 6] + - !!python/tuple [2, 2] + - !!python/tuple [22, 27] + - !!python/tuple [27, 14] + - !!python/tuple [3, 0] + - !!python/tuple [22, 17] + - !!python/tuple [28, 27] + - !!python/tuple [16, 23] + - !!python/tuple [10, 2] + - !!python/tuple [25, 5] + - !!python/tuple [21, 28] + - !!python/tuple [26, 22] + - !!python/tuple [11, 15] + - !!python/tuple [28, 15] + - !!python/tuple [13, 18] + - !!python/tuple [30, 16] + - !!python/tuple [8, 3] + - !!python/tuple [18, 27] + - !!python/tuple [7, 23] + - !!python/tuple [3, 7] + - !!python/tuple [14, 18] + - !!python/tuple [0, 8] + - !!python/tuple [12, 22] + - !!python/tuple [22, 1] + - !!python/tuple [5, 4] + - !!python/tuple [20, 19] + - !!python/tuple [2, 7] + - !!python/tuple [18, 7] + - !!python/tuple [1, 21] + - !!python/tuple [26, 7] + - !!python/tuple [9, 20] + - !!python/tuple [30, 22] + - !!python/tuple [16, 10] + - !!python/tuple [17, 2] + - !!python/tuple [12, 10] + - !!python/tuple [7, 26] + - !!python/tuple [10, 24] + - !!python/tuple [23, 7] + - !!python/tuple [9, 8] + - !!python/tuple [30, 26] + - !!python/tuple [9, 16] + - !!python/tuple [23, 12] + - !!python/tuple [30, 30] + - !!python/tuple [8, 12] + - !!python/tuple [25, 13] + - !!python/tuple [12, 8] + - !!python/tuple [6, 10] + - !!python/tuple [18, 5] + - !!python/tuple [4, 20] + - !!python/tuple [28, 19] + - !!python/tuple [16, 2] + - !!python/tuple [17, 27] + - !!python/tuple [8, 15] + - !!python/tuple [31, 29] + - !!python/tuple [27, 22] + - !!python/tuple [24, 31] + - !!python/tuple [12, 24] + - !!python/tuple [8, 31] + - !!python/tuple [13, 3] + - !!python/tuple [29, 21] + - !!python/tuple [23, 28] + - !!python/tuple [0, 11] + - !!python/tuple [2, 21] + - !!python/tuple [20, 27] + - !!python/tuple [7, 20] + - !!python/tuple [20, 30] + - !!python/tuple [21, 13] + - !!python/tuple [11, 16] + - !!python/tuple [12, 23] + - !!python/tuple [19, 14] + - !!python/tuple [23, 23] + - !!python/tuple [25, 14] + - !!python/tuple [1, 30] + - !!python/tuple [25, 2] + - !!python/tuple [18, 8] + - !!python/tuple [21, 12] + - !!python/tuple [3, 1] + - !!python/tuple [20, 4] + - !!python/tuple [27, 31] + - !!python/tuple [24, 19] + - !!python/tuple [20, 23] + - !!python/tuple [7, 9] + - !!python/tuple [31, 25] + - !!python/tuple [15, 29] + - !!python/tuple [22, 2] + - !!python/tuple [21, 31] + - !!python/tuple [29, 1] + - !!python/tuple [8, 4] + - !!python/tuple [23, 13] + - !!python/tuple [17, 22] + - !!python/tuple [5, 2] + - !!python/tuple [16, 4] + - !!python/tuple [21, 2] + - !!python/tuple [29, 6] + - !!python/tuple [26, 17] + - !!python/tuple [6, 2] + - !!python/tuple [8, 21] + - !!python/tuple [1, 7] + - !!python/tuple [8, 28] + - !!python/tuple [11, 6] + - !!python/tuple [22, 10] + - !!python/tuple [10, 1] + - !!python/tuple [14, 15] + - !!python/tuple [25, 18] + - !!python/tuple [6, 8] + - !!python/tuple [24, 6] + - !!python/tuple [1, 19] + - !!python/tuple [25, 31] + - !!python/tuple [12, 26] + - !!python/tuple [26, 18] + - !!python/tuple [31, 28] + - !!python/tuple [30, 13] + - !!python/tuple [16, 11] + - !!python/tuple [22, 22] + - !!python/tuple [20, 17] + - !!python/tuple [25, 23] + - !!python/tuple [27, 30] + - !!python/tuple [4, 3] + - !!python/tuple [26, 29] + - !!python/tuple [17, 18] + - !!python/tuple [3, 3] + - !!python/tuple [23, 14] + - !!python/tuple [27, 6] + - !!python/tuple [9, 22] + - !!python/tuple [27, 19] + - !!python/tuple [0, 5] + - !!python/tuple [6, 30] + - !!python/tuple [7, 22] + - !!python/tuple [9, 18] + - !!python/tuple [29, 22] + - !!python/tuple [8, 0] + - !!python/tuple [16, 30] + - !!python/tuple [11, 4] + - !!python/tuple [16, 28] + - !!python/tuple [6, 11] + - !!python/tuple [1, 31] + - !!python/tuple [18, 30] + - !!python/tuple [30, 18] + - !!python/tuple [1, 23] + - !!python/tuple [7, 14] + - !!python/tuple [10, 4] + - !!python/tuple [13, 28] + - !!python/tuple [24, 29] + - !!python/tuple [17, 14] + - !!python/tuple [15, 1] + - !!python/tuple [21, 21] + - !!python/tuple [27, 17] + - !!python/tuple [0, 20] + - !!python/tuple [15, 0] + - !!python/tuple [5, 20] + - !!python/tuple [28, 9] + - !!python/tuple [23, 24] + - !!python/tuple [12, 7] + - !!python/tuple [11, 23] + - !!python/tuple [12, 5] + - !!python/tuple [22, 28] + - !!python/tuple [5, 8] + - !!python/tuple [27, 11] + - !!python/tuple [8, 24] + - !!python/tuple [24, 2] + - !!python/tuple [3, 30] + - !!python/tuple [7, 25] + - !!python/tuple [30, 17] + - !!python/tuple [5, 9] + - !!python/tuple [0, 14] + - !!python/tuple [6, 28] + - !!python/tuple [17, 21] + - !!python/tuple [6, 18] + - !!python/tuple [7, 17] + - !!python/tuple [29, 25] + - !!python/tuple [16, 26] + - !!python/tuple [29, 0] + - !!python/tuple [0, 0] + - !!python/tuple [13, 25] + - !!python/tuple [6, 3] + - !!python/tuple [23, 10] + - !!python/tuple [24, 22] + - !!python/tuple [1, 16] + - !!python/tuple [17, 6] + - !!python/tuple [15, 4] + - !!python/tuple [24, 0] + - !!python/tuple [3, 28] + - !!python/tuple [27, 24] + - !!python/tuple [22, 13] + - !!python/tuple [14, 12] + - !!python/tuple [15, 31] + - !!python/tuple [7, 10] + - !!python/tuple [23, 3] + - !!python/tuple [7, 12] + - !!python/tuple [26, 14] + - !!python/tuple [29, 29] + - !!python/tuple [19, 19] + - !!python/tuple [21, 24] + - !!python/tuple [16, 8] + - !!python/tuple [23, 11] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex63.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex63.yaml new file mode 100644 index 0000000..750d8df --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex63.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [1, 4] + name: agent0 + start: [16, 5] +- goal: [5, 1] + name: agent1 + start: [6, 27] +- goal: [4, 13] + name: agent2 + start: [13, 2] +- goal: [15, 14] + name: agent3 + start: [0, 17] +- goal: [29, 10] + name: agent4 + start: [19, 6] +- goal: [5, 21] + name: agent5 + start: [5, 21] +- goal: [17, 14] + name: agent6 + start: [2, 24] +- goal: [9, 31] + name: agent7 + start: [29, 5] +- goal: [4, 27] + name: agent8 + start: [31, 13] +- goal: [18, 15] + name: agent9 + start: [0, 31] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [28, 10] + - !!python/tuple [29, 11] + - !!python/tuple [19, 29] + - !!python/tuple [7, 17] + - !!python/tuple [3, 3] + - !!python/tuple [22, 21] + - !!python/tuple [17, 6] + - !!python/tuple [23, 27] + - !!python/tuple [20, 8] + - !!python/tuple [14, 31] + - !!python/tuple [14, 25] + - !!python/tuple [19, 9] + - !!python/tuple [4, 4] + - !!python/tuple [22, 2] + - !!python/tuple [15, 1] + - !!python/tuple [27, 19] + - !!python/tuple [31, 15] + - !!python/tuple [17, 21] + - !!python/tuple [23, 11] + - !!python/tuple [8, 26] + - !!python/tuple [1, 23] + - !!python/tuple [15, 6] + - !!python/tuple [6, 15] + - !!python/tuple [25, 1] + - !!python/tuple [24, 26] + - !!python/tuple [7, 6] + - !!python/tuple [28, 26] + - !!python/tuple [23, 0] + - !!python/tuple [17, 15] + - !!python/tuple [30, 14] + - !!python/tuple [8, 27] + - !!python/tuple [28, 3] + - !!python/tuple [12, 14] + - !!python/tuple [12, 8] + - !!python/tuple [31, 8] + - !!python/tuple [23, 10] + - !!python/tuple [20, 11] + - !!python/tuple [19, 18] + - !!python/tuple [10, 0] + - !!python/tuple [28, 30] + - !!python/tuple [29, 12] + - !!python/tuple [19, 8] + - !!python/tuple [18, 26] + - !!python/tuple [2, 17] + - !!python/tuple [28, 14] + - !!python/tuple [22, 7] + - !!python/tuple [6, 19] + - !!python/tuple [13, 0] + - !!python/tuple [9, 17] + - !!python/tuple [24, 15] + - !!python/tuple [30, 21] + - !!python/tuple [12, 11] + - !!python/tuple [8, 8] + - !!python/tuple [16, 13] + - !!python/tuple [5, 17] + - !!python/tuple [3, 6] + - !!python/tuple [26, 1] + - !!python/tuple [9, 25] + - !!python/tuple [10, 3] + - !!python/tuple [18, 19] + - !!python/tuple [16, 15] + - !!python/tuple [10, 15] + - !!python/tuple [19, 16] + - !!python/tuple [20, 22] + - !!python/tuple [7, 27] + - !!python/tuple [17, 31] + - !!python/tuple [23, 1] + - !!python/tuple [10, 2] + - !!python/tuple [17, 1] + - !!python/tuple [2, 1] + - !!python/tuple [19, 10] + - !!python/tuple [12, 7] + - !!python/tuple [12, 27] + - !!python/tuple [11, 18] + - !!python/tuple [14, 6] + - !!python/tuple [20, 20] + - !!python/tuple [30, 18] + - !!python/tuple [27, 29] + - !!python/tuple [15, 31] + - !!python/tuple [24, 25] + - !!python/tuple [21, 11] + - !!python/tuple [28, 18] + - !!python/tuple [3, 31] + - !!python/tuple [4, 9] + - !!python/tuple [6, 12] + - !!python/tuple [4, 7] + - !!python/tuple [1, 14] + - !!python/tuple [11, 24] + - !!python/tuple [29, 26] + - !!python/tuple [13, 1] + - !!python/tuple [3, 24] + - !!python/tuple [15, 22] + - !!python/tuple [26, 23] + - !!python/tuple [29, 24] + - !!python/tuple [9, 5] + - !!python/tuple [9, 15] + - !!python/tuple [16, 6] + - !!python/tuple [20, 4] + - !!python/tuple [4, 14] + - !!python/tuple [14, 1] + - !!python/tuple [23, 15] + - !!python/tuple [7, 4] + - !!python/tuple [5, 10] + - !!python/tuple [2, 20] + - !!python/tuple [6, 3] + - !!python/tuple [19, 31] + - !!python/tuple [9, 12] + - !!python/tuple [28, 7] + - !!python/tuple [0, 14] + - !!python/tuple [25, 22] + - !!python/tuple [29, 13] + - !!python/tuple [22, 20] + - !!python/tuple [31, 2] + - !!python/tuple [16, 20] + - !!python/tuple [3, 16] + - !!python/tuple [1, 9] + - !!python/tuple [24, 30] + - !!python/tuple [18, 12] + - !!python/tuple [4, 18] + - !!python/tuple [4, 24] + - !!python/tuple [26, 17] + - !!python/tuple [15, 13] + - !!python/tuple [1, 0] + - !!python/tuple [11, 29] + - !!python/tuple [27, 30] + - !!python/tuple [19, 4] + - !!python/tuple [24, 21] + - !!python/tuple [4, 25] + - !!python/tuple [6, 31] + - !!python/tuple [15, 17] + - !!python/tuple [30, 22] + - !!python/tuple [30, 27] + - !!python/tuple [26, 13] + - !!python/tuple [4, 20] + - !!python/tuple [26, 4] + - !!python/tuple [1, 1] + - !!python/tuple [8, 20] + - !!python/tuple [0, 24] + - !!python/tuple [26, 15] + - !!python/tuple [20, 15] + - !!python/tuple [21, 18] + - !!python/tuple [28, 9] + - !!python/tuple [3, 27] + - !!python/tuple [30, 10] + - !!python/tuple [14, 22] + - !!python/tuple [12, 5] + - !!python/tuple [0, 9] + - !!python/tuple [12, 22] + - !!python/tuple [24, 24] + - !!python/tuple [6, 4] + - !!python/tuple [31, 25] + - !!python/tuple [5, 31] + - !!python/tuple [9, 7] + - !!python/tuple [17, 0] + - !!python/tuple [1, 19] + - !!python/tuple [12, 16] + - !!python/tuple [17, 4] + - !!python/tuple [8, 30] + - !!python/tuple [16, 11] + - !!python/tuple [22, 29] + - !!python/tuple [10, 9] + - !!python/tuple [20, 24] + - !!python/tuple [5, 16] + - !!python/tuple [12, 3] + - !!python/tuple [12, 20] + - !!python/tuple [9, 18] + - !!python/tuple [13, 27] + - !!python/tuple [13, 13] + - !!python/tuple [3, 17] + - !!python/tuple [14, 26] + - !!python/tuple [11, 27] + - !!python/tuple [9, 9] + - !!python/tuple [20, 30] + - !!python/tuple [6, 0] + - !!python/tuple [14, 8] + - !!python/tuple [14, 20] + - !!python/tuple [9, 8] + - !!python/tuple [7, 0] + - !!python/tuple [28, 21] + - !!python/tuple [30, 31] + - !!python/tuple [0, 5] + - !!python/tuple [16, 27] + - !!python/tuple [18, 17] + - !!python/tuple [20, 16] + - !!python/tuple [7, 5] + - !!python/tuple [9, 14] + - !!python/tuple [4, 5] + - !!python/tuple [0, 27] + - !!python/tuple [15, 15] + - !!python/tuple [4, 11] + - !!python/tuple [22, 23] + - !!python/tuple [5, 22] + - !!python/tuple [17, 30] + - !!python/tuple [11, 4] + - !!python/tuple [15, 28] + - !!python/tuple [13, 29] + - !!python/tuple [29, 19] + - !!python/tuple [29, 4] + - !!python/tuple [15, 11] + - !!python/tuple [4, 31] + - !!python/tuple [27, 1] + - !!python/tuple [13, 17] + - !!python/tuple [28, 29] + - !!python/tuple [21, 8] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex64.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex64.yaml new file mode 100644 index 0000000..514d261 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex64.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [0, 30] + name: agent0 + start: [22, 29] +- goal: [26, 14] + name: agent1 + start: [30, 13] +- goal: [2, 30] + name: agent2 + start: [30, 8] +- goal: [6, 3] + name: agent3 + start: [9, 6] +- goal: [9, 30] + name: agent4 + start: [18, 19] +- goal: [21, 29] + name: agent5 + start: [31, 15] +- goal: [19, 20] + name: agent6 + start: [10, 19] +- goal: [30, 25] + name: agent7 + start: [25, 7] +- goal: [3, 0] + name: agent8 + start: [10, 9] +- goal: [16, 13] + name: agent9 + start: [5, 16] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [21, 26] + - !!python/tuple [19, 14] + - !!python/tuple [21, 13] + - !!python/tuple [15, 16] + - !!python/tuple [5, 1] + - !!python/tuple [29, 11] + - !!python/tuple [11, 17] + - !!python/tuple [30, 29] + - !!python/tuple [2, 19] + - !!python/tuple [28, 9] + - !!python/tuple [18, 20] + - !!python/tuple [23, 25] + - !!python/tuple [4, 30] + - !!python/tuple [25, 10] + - !!python/tuple [8, 13] + - !!python/tuple [0, 29] + - !!python/tuple [20, 27] + - !!python/tuple [13, 31] + - !!python/tuple [20, 14] + - !!python/tuple [1, 30] + - !!python/tuple [3, 28] + - !!python/tuple [27, 22] + - !!python/tuple [27, 16] + - !!python/tuple [1, 11] + - !!python/tuple [6, 8] + - !!python/tuple [3, 19] + - !!python/tuple [18, 28] + - !!python/tuple [31, 19] + - !!python/tuple [15, 17] + - !!python/tuple [30, 10] + - !!python/tuple [24, 31] + - !!python/tuple [13, 8] + - !!python/tuple [23, 31] + - !!python/tuple [27, 30] + - !!python/tuple [13, 2] + - !!python/tuple [29, 16] + - !!python/tuple [15, 13] + - !!python/tuple [6, 7] + - !!python/tuple [6, 15] + - !!python/tuple [0, 24] + - !!python/tuple [0, 6] + - !!python/tuple [10, 13] + - !!python/tuple [28, 10] + - !!python/tuple [22, 15] + - !!python/tuple [14, 18] + - !!python/tuple [7, 19] + - !!python/tuple [29, 30] + - !!python/tuple [30, 14] + - !!python/tuple [6, 9] + - !!python/tuple [22, 23] + - !!python/tuple [11, 2] + - !!python/tuple [23, 8] + - !!python/tuple [5, 3] + - !!python/tuple [2, 0] + - !!python/tuple [13, 24] + - !!python/tuple [6, 30] + - !!python/tuple [30, 3] + - !!python/tuple [5, 18] + - !!python/tuple [15, 20] + - !!python/tuple [3, 11] + - !!python/tuple [5, 13] + - !!python/tuple [31, 1] + - !!python/tuple [29, 26] + - !!python/tuple [23, 12] + - !!python/tuple [6, 19] + - !!python/tuple [15, 10] + - !!python/tuple [3, 12] + - !!python/tuple [0, 12] + - !!python/tuple [24, 17] + - !!python/tuple [24, 15] + - !!python/tuple [6, 24] + - !!python/tuple [31, 10] + - !!python/tuple [18, 23] + - !!python/tuple [7, 17] + - !!python/tuple [7, 29] + - !!python/tuple [9, 15] + - !!python/tuple [5, 28] + - !!python/tuple [14, 25] + - !!python/tuple [24, 19] + - !!python/tuple [22, 19] + - !!python/tuple [8, 15] + - !!python/tuple [17, 9] + - !!python/tuple [21, 22] + - !!python/tuple [21, 2] + - !!python/tuple [0, 22] + - !!python/tuple [2, 8] + - !!python/tuple [0, 3] + - !!python/tuple [1, 2] + - !!python/tuple [12, 31] + - !!python/tuple [14, 29] + - !!python/tuple [4, 12] + - !!python/tuple [24, 18] + - !!python/tuple [21, 3] + - !!python/tuple [18, 7] + - !!python/tuple [0, 16] + - !!python/tuple [22, 5] + - !!python/tuple [26, 30] + - !!python/tuple [18, 9] + - !!python/tuple [27, 1] + - !!python/tuple [21, 18] + - !!python/tuple [9, 20] + - !!python/tuple [8, 9] + - !!python/tuple [11, 6] + - !!python/tuple [3, 24] + - !!python/tuple [26, 4] + - !!python/tuple [29, 4] + - !!python/tuple [23, 27] + - !!python/tuple [3, 29] + - !!python/tuple [14, 5] + - !!python/tuple [7, 7] + - !!python/tuple [23, 0] + - !!python/tuple [18, 4] + - !!python/tuple [0, 9] + - !!python/tuple [21, 15] + - !!python/tuple [31, 13] + - !!python/tuple [1, 5] + - !!python/tuple [14, 6] + - !!python/tuple [23, 30] + - !!python/tuple [31, 30] + - !!python/tuple [28, 11] + - !!python/tuple [29, 22] + - !!python/tuple [19, 25] + - !!python/tuple [14, 10] + - !!python/tuple [12, 7] + - !!python/tuple [1, 1] + - !!python/tuple [24, 2] + - !!python/tuple [21, 14] + - !!python/tuple [28, 28] + - !!python/tuple [19, 0] + - !!python/tuple [17, 25] + - !!python/tuple [10, 31] + - !!python/tuple [10, 15] + - !!python/tuple [7, 22] + - !!python/tuple [26, 15] + - !!python/tuple [9, 16] + - !!python/tuple [11, 23] + - !!python/tuple [26, 28] + - !!python/tuple [7, 25] + - !!python/tuple [31, 9] + - !!python/tuple [4, 5] + - !!python/tuple [8, 7] + - !!python/tuple [11, 24] + - !!python/tuple [27, 29] + - !!python/tuple [2, 20] + - !!python/tuple [11, 14] + - !!python/tuple [29, 14] + - !!python/tuple [3, 6] + - !!python/tuple [1, 13] + - !!python/tuple [7, 21] + - !!python/tuple [28, 23] + - !!python/tuple [11, 13] + - !!python/tuple [9, 9] + - !!python/tuple [12, 3] + - !!python/tuple [19, 5] + - !!python/tuple [20, 17] + - !!python/tuple [30, 6] + - !!python/tuple [15, 24] + - !!python/tuple [24, 1] + - !!python/tuple [28, 17] + - !!python/tuple [8, 6] + - !!python/tuple [21, 5] + - !!python/tuple [24, 21] + - !!python/tuple [24, 5] + - !!python/tuple [4, 0] + - !!python/tuple [24, 10] + - !!python/tuple [2, 16] + - !!python/tuple [17, 0] + - !!python/tuple [22, 9] + - !!python/tuple [13, 0] + - !!python/tuple [15, 31] + - !!python/tuple [7, 6] + - !!python/tuple [17, 7] + - !!python/tuple [0, 21] + - !!python/tuple [7, 8] + - !!python/tuple [3, 9] + - !!python/tuple [6, 5] + - !!python/tuple [12, 12] + - !!python/tuple [12, 5] + - !!python/tuple [6, 25] + - !!python/tuple [25, 18] + - !!python/tuple [7, 9] + - !!python/tuple [24, 29] + - !!python/tuple [26, 10] + - !!python/tuple [12, 27] + - !!python/tuple [29, 23] + - !!python/tuple [28, 15] + - !!python/tuple [31, 7] + - !!python/tuple [10, 12] + - !!python/tuple [19, 12] + - !!python/tuple [26, 24] + - !!python/tuple [3, 31] + - !!python/tuple [25, 3] + - !!python/tuple [19, 9] + - !!python/tuple [17, 6] + - !!python/tuple [2, 14] + - !!python/tuple [16, 9] + - !!python/tuple [11, 10] + - !!python/tuple [4, 7] + - !!python/tuple [12, 25] + - !!python/tuple [28, 12] + - !!python/tuple [21, 16] + - !!python/tuple [28, 27] + - !!python/tuple [26, 2] + - !!python/tuple [4, 2] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex65.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex65.yaml new file mode 100644 index 0000000..b1ccc46 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex65.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [22, 24] + name: agent0 + start: [4, 1] +- goal: [1, 21] + name: agent1 + start: [17, 28] +- goal: [24, 3] + name: agent2 + start: [12, 12] +- goal: [1, 29] + name: agent3 + start: [28, 28] +- goal: [27, 4] + name: agent4 + start: [10, 21] +- goal: [4, 13] + name: agent5 + start: [12, 21] +- goal: [12, 14] + name: agent6 + start: [10, 20] +- goal: [11, 0] + name: agent7 + start: [0, 3] +- goal: [8, 29] + name: agent8 + start: [22, 19] +- goal: [28, 24] + name: agent9 + start: [6, 18] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [14, 13] + - !!python/tuple [5, 29] + - !!python/tuple [29, 20] + - !!python/tuple [24, 24] + - !!python/tuple [29, 24] + - !!python/tuple [3, 3] + - !!python/tuple [14, 20] + - !!python/tuple [9, 25] + - !!python/tuple [19, 14] + - !!python/tuple [20, 7] + - !!python/tuple [18, 6] + - !!python/tuple [22, 16] + - !!python/tuple [11, 5] + - !!python/tuple [9, 14] + - !!python/tuple [0, 21] + - !!python/tuple [23, 11] + - !!python/tuple [6, 4] + - !!python/tuple [21, 8] + - !!python/tuple [10, 25] + - !!python/tuple [5, 26] + - !!python/tuple [27, 7] + - !!python/tuple [24, 15] + - !!python/tuple [18, 21] + - !!python/tuple [2, 13] + - !!python/tuple [19, 1] + - !!python/tuple [16, 10] + - !!python/tuple [7, 14] + - !!python/tuple [10, 9] + - !!python/tuple [28, 10] + - !!python/tuple [4, 15] + - !!python/tuple [21, 18] + - !!python/tuple [2, 9] + - !!python/tuple [15, 16] + - !!python/tuple [19, 21] + - !!python/tuple [9, 0] + - !!python/tuple [1, 31] + - !!python/tuple [30, 14] + - !!python/tuple [18, 9] + - !!python/tuple [29, 23] + - !!python/tuple [27, 20] + - !!python/tuple [16, 1] + - !!python/tuple [5, 9] + - !!python/tuple [11, 24] + - !!python/tuple [15, 15] + - !!python/tuple [11, 29] + - !!python/tuple [28, 12] + - !!python/tuple [8, 9] + - !!python/tuple [25, 2] + - !!python/tuple [30, 7] + - !!python/tuple [2, 14] + - !!python/tuple [30, 3] + - !!python/tuple [20, 30] + - !!python/tuple [11, 19] + - !!python/tuple [1, 12] + - !!python/tuple [8, 23] + - !!python/tuple [22, 12] + - !!python/tuple [0, 17] + - !!python/tuple [20, 26] + - !!python/tuple [9, 21] + - !!python/tuple [7, 6] + - !!python/tuple [16, 26] + - !!python/tuple [27, 15] + - !!python/tuple [4, 21] + - !!python/tuple [28, 3] + - !!python/tuple [21, 0] + - !!python/tuple [27, 19] + - !!python/tuple [30, 0] + - !!python/tuple [30, 12] + - !!python/tuple [9, 17] + - !!python/tuple [6, 21] + - !!python/tuple [10, 27] + - !!python/tuple [21, 11] + - !!python/tuple [13, 24] + - !!python/tuple [4, 8] + - !!python/tuple 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!!python/tuple [9, 22] + - !!python/tuple [18, 10] + - !!python/tuple [9, 15] + - !!python/tuple [31, 28] + - !!python/tuple [21, 2] + - !!python/tuple [16, 16] + - !!python/tuple [1, 22] + - !!python/tuple [0, 26] + - !!python/tuple [16, 4] + - !!python/tuple [6, 12] + - !!python/tuple [8, 15] + - !!python/tuple [0, 1] + - !!python/tuple [20, 6] + - !!python/tuple [6, 1] + - !!python/tuple [11, 2] + - !!python/tuple [29, 12] + - !!python/tuple [1, 3] + - !!python/tuple [23, 30] + - !!python/tuple [10, 15] + - !!python/tuple [20, 1] + - !!python/tuple [19, 12] + - !!python/tuple [25, 0] + - !!python/tuple [18, 30] + - !!python/tuple [3, 18] + - !!python/tuple [23, 12] + - !!python/tuple [0, 29] + - !!python/tuple [5, 14] + - !!python/tuple [4, 7] + - !!python/tuple [31, 5] + - !!python/tuple [4, 6] + - !!python/tuple [30, 17] + - !!python/tuple [7, 30] + - !!python/tuple [30, 10] + - !!python/tuple [17, 27] + - !!python/tuple [13, 1] + - !!python/tuple [19, 2] + - !!python/tuple [3, 19] + - !!python/tuple [15, 27] + - !!python/tuple [19, 7] + - !!python/tuple [12, 11] + - !!python/tuple [17, 13] + - !!python/tuple [26, 1] + - !!python/tuple [9, 16] + - !!python/tuple [8, 3] + - !!python/tuple [26, 18] + - !!python/tuple [26, 30] + - !!python/tuple [1, 7] + - !!python/tuple [11, 11] + - !!python/tuple [12, 1] + - !!python/tuple [22, 29] + - !!python/tuple [23, 15] + - !!python/tuple [1, 10] + - !!python/tuple [1, 9] + - !!python/tuple [18, 16] + - !!python/tuple [20, 11] + - !!python/tuple [6, 26] + - !!python/tuple [30, 4] + - !!python/tuple [6, 25] + - !!python/tuple [4, 2] + - !!python/tuple [4, 24] + - !!python/tuple [29, 29] + - !!python/tuple [16, 27] + - !!python/tuple [13, 8] + - !!python/tuple [27, 5] + - !!python/tuple [18, 0] + - !!python/tuple [7, 21] + - !!python/tuple [12, 28] + - !!python/tuple [31, 7] + - !!python/tuple [18, 17] + - !!python/tuple [0, 27] + - !!python/tuple [5, 19] + - !!python/tuple [8, 18] + - !!python/tuple [28, 1] + - !!python/tuple [27, 0] + - !!python/tuple [0, 14] + - !!python/tuple [22, 10] + - !!python/tuple [10, 6] + - !!python/tuple [28, 17] + - !!python/tuple [29, 26] + - !!python/tuple [11, 18] + - !!python/tuple [15, 17] + - !!python/tuple [14, 29] + - !!python/tuple [21, 26] + - !!python/tuple [5, 11] + - !!python/tuple [6, 15] + - !!python/tuple [2, 11] + - !!python/tuple [4, 12] + - !!python/tuple [7, 13] + - !!python/tuple [27, 31] + - !!python/tuple [2, 7] + - !!python/tuple [29, 18] + - !!python/tuple [4, 0] + - !!python/tuple [17, 19] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex66.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex66.yaml new file mode 100644 index 0000000..0fbae1e --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex66.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [0, 0] + name: agent0 + start: [12, 0] +- goal: [24, 14] + name: agent1 + start: [1, 0] +- goal: [13, 21] + name: agent2 + start: [6, 4] +- goal: [6, 30] + name: agent3 + start: [29, 29] +- goal: [10, 16] + name: agent4 + start: [16, 21] +- goal: [26, 23] + name: agent5 + start: [27, 11] +- goal: [2, 27] + name: agent6 + start: [30, 2] +- goal: [18, 17] + name: agent7 + start: [28, 20] +- goal: [24, 3] + name: agent8 + start: [3, 11] +- goal: [6, 21] + name: agent9 + start: [11, 13] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [14, 13] + - !!python/tuple [8, 10] + - !!python/tuple [6, 1] + - !!python/tuple [31, 25] + - !!python/tuple [29, 9] + - !!python/tuple [16, 4] + - !!python/tuple [5, 21] + - !!python/tuple [3, 18] + - !!python/tuple [12, 4] + - !!python/tuple [2, 5] + - !!python/tuple [2, 17] + - !!python/tuple [3, 30] + - !!python/tuple [25, 26] + - !!python/tuple [2, 3] + - !!python/tuple [3, 10] + - !!python/tuple [27, 23] + - !!python/tuple [15, 3] + - !!python/tuple [18, 22] + - !!python/tuple [3, 19] + - !!python/tuple [15, 16] + - !!python/tuple [5, 15] + - !!python/tuple [30, 0] + - !!python/tuple [7, 4] + - !!python/tuple [27, 28] + - !!python/tuple [13, 27] + - !!python/tuple [22, 11] + - !!python/tuple [20, 31] + - !!python/tuple [14, 5] + - !!python/tuple [12, 25] + - !!python/tuple [29, 30] + - !!python/tuple [5, 16] + - !!python/tuple [13, 2] + - !!python/tuple [15, 31] + - !!python/tuple [10, 2] + - !!python/tuple [5, 17] + - !!python/tuple [13, 5] + - !!python/tuple [28, 0] + - !!python/tuple [16, 17] + - !!python/tuple [26, 26] + - !!python/tuple [13, 15] + - !!python/tuple [2, 2] + - !!python/tuple [14, 10] + - !!python/tuple [21, 25] + - !!python/tuple [14, 16] + - !!python/tuple [4, 26] + - !!python/tuple [31, 21] + - !!python/tuple [22, 24] + - !!python/tuple [13, 22] + - !!python/tuple [12, 5] + - !!python/tuple [20, 11] + - !!python/tuple [10, 4] + - !!python/tuple [21, 22] + - !!python/tuple [1, 2] + - !!python/tuple [13, 14] + - !!python/tuple [8, 30] + - !!python/tuple [23, 10] + - 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[16, 5] + - !!python/tuple [14, 3] + - !!python/tuple [0, 14] + - !!python/tuple [19, 2] + - !!python/tuple [16, 12] + - !!python/tuple [27, 19] + - !!python/tuple [10, 9] + - !!python/tuple [2, 1] + - !!python/tuple [18, 23] + - !!python/tuple [8, 19] + - !!python/tuple [7, 15] + - !!python/tuple [13, 25] + - !!python/tuple [14, 1] + - !!python/tuple [28, 21] + - !!python/tuple [26, 16] + - !!python/tuple [11, 0] + - !!python/tuple [7, 11] + - !!python/tuple [7, 14] + - !!python/tuple [24, 10] + - !!python/tuple [24, 7] + - !!python/tuple [22, 16] + - !!python/tuple [27, 3] + - !!python/tuple [19, 29] + - !!python/tuple [8, 1] + - !!python/tuple [7, 13] + - !!python/tuple [28, 16] + - !!python/tuple [28, 25] + - !!python/tuple [18, 21] + - !!python/tuple [18, 8] + - !!python/tuple [27, 1] + - !!python/tuple [0, 28] + - !!python/tuple [1, 17] + - !!python/tuple [17, 30] + - !!python/tuple [17, 11] + - !!python/tuple [25, 27] + - !!python/tuple [0, 16] + - !!python/tuple [25, 12] + - !!python/tuple [12, 13] + - !!python/tuple [26, 20] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex67.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex67.yaml new file mode 100644 index 0000000..33d5057 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex67.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [24, 3] + name: agent0 + start: [2, 22] +- goal: [7, 24] + name: agent1 + start: [5, 23] +- goal: [15, 10] + name: agent2 + start: [17, 13] +- goal: [18, 6] + name: agent3 + start: [20, 18] +- goal: [14, 19] + name: agent4 + start: [8, 2] +- goal: [15, 5] + name: agent5 + start: [16, 18] +- goal: [27, 9] + name: agent6 + start: [19, 21] +- goal: [21, 31] + name: agent7 + start: [1, 0] +- goal: [28, 31] + name: agent8 + start: [7, 24] +- goal: [14, 21] + name: agent9 + start: [16, 1] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [30, 6] + - !!python/tuple [1, 8] + - !!python/tuple [0, 30] + - !!python/tuple [17, 0] + - !!python/tuple [6, 7] + - !!python/tuple [21, 11] + - !!python/tuple [29, 1] + - !!python/tuple [24, 25] + - !!python/tuple [18, 17] + - !!python/tuple [12, 24] + - !!python/tuple [12, 11] + - !!python/tuple [11, 2] + - !!python/tuple [4, 6] + - !!python/tuple [7, 19] + - !!python/tuple [9, 31] + - !!python/tuple [24, 0] + - !!python/tuple [22, 13] + - !!python/tuple [28, 14] + - !!python/tuple [23, 17] + - !!python/tuple [21, 1] + - !!python/tuple [9, 5] + - !!python/tuple [23, 31] + - !!python/tuple [15, 17] + - !!python/tuple [21, 13] + - !!python/tuple [31, 16] + - !!python/tuple [4, 13] + - !!python/tuple [14, 4] + - !!python/tuple [31, 17] + - !!python/tuple [13, 7] + - !!python/tuple [17, 19] + - !!python/tuple [13, 31] + - !!python/tuple [17, 3] + - !!python/tuple [30, 20] + - !!python/tuple [7, 23] + - !!python/tuple [21, 4] + - !!python/tuple [0, 1] + - !!python/tuple [6, 20] + - !!python/tuple [5, 17] + - 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!!python/tuple [25, 5] + - !!python/tuple [21, 24] + - !!python/tuple [11, 20] + - !!python/tuple [22, 22] + - !!python/tuple [21, 17] + - !!python/tuple [28, 19] + - !!python/tuple [27, 11] + - !!python/tuple [9, 2] + - !!python/tuple [14, 3] + - !!python/tuple [23, 6] + - !!python/tuple [6, 14] + - !!python/tuple [2, 20] + - !!python/tuple [11, 26] + - !!python/tuple [13, 19] + - !!python/tuple [26, 19] + - !!python/tuple [4, 20] + - !!python/tuple [28, 8] + - !!python/tuple [22, 3] + - !!python/tuple [15, 3] + - !!python/tuple [15, 4] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex68.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex68.yaml new file mode 100644 index 0000000..0f09639 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex68.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [3, 29] + name: agent0 + start: [12, 27] +- goal: [0, 20] + name: agent1 + start: [5, 25] +- goal: [1, 0] + name: agent2 + start: [19, 17] +- goal: [14, 16] + name: agent3 + start: [23, 3] +- goal: [24, 0] + name: agent4 + start: [3, 12] +- goal: [3, 18] + name: agent5 + start: [4, 4] +- goal: [6, 23] + name: agent6 + start: [14, 0] +- goal: [27, 7] + name: agent7 + start: [10, 23] +- goal: [2, 7] + name: agent8 + start: [12, 26] +- goal: [26, 25] + name: agent9 + start: [29, 26] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [2, 10] + - !!python/tuple [19, 13] + - !!python/tuple [17, 30] + - !!python/tuple [19, 25] + - !!python/tuple [3, 11] + - !!python/tuple [26, 23] + - !!python/tuple [30, 19] + - !!python/tuple [16, 15] + - !!python/tuple [20, 17] + - !!python/tuple [7, 25] + - !!python/tuple [23, 23] + - !!python/tuple [9, 14] + - !!python/tuple [16, 31] + - !!python/tuple [30, 23] + - !!python/tuple [27, 30] + - !!python/tuple [15, 17] + - !!python/tuple [30, 8] + - !!python/tuple [16, 21] + - !!python/tuple [9, 25] + - !!python/tuple [0, 9] + - !!python/tuple [1, 26] + - !!python/tuple [28, 27] + - !!python/tuple [5, 20] + - !!python/tuple [5, 9] + - !!python/tuple [3, 9] + - !!python/tuple [12, 1] + - !!python/tuple [9, 24] + - !!python/tuple [29, 20] + - !!python/tuple [18, 4] + - !!python/tuple [15, 25] + - !!python/tuple [15, 20] + - !!python/tuple [24, 1] + - !!python/tuple [19, 30] + - !!python/tuple [19, 20] + - !!python/tuple [6, 3] + - !!python/tuple [17, 12] + - !!python/tuple [20, 25] + - !!python/tuple [14, 13] + - !!python/tuple [3, 10] + - !!python/tuple [15, 27] + - !!python/tuple [9, 26] + - !!python/tuple [5, 3] + - !!python/tuple [25, 24] + - !!python/tuple [30, 2] + - !!python/tuple [30, 16] + - !!python/tuple [22, 6] + - !!python/tuple [12, 13] + - !!python/tuple [24, 11] + - !!python/tuple [0, 29] + - !!python/tuple [8, 4] + - !!python/tuple [3, 17] + - !!python/tuple [11, 11] + - !!python/tuple [0, 30] + - !!python/tuple [28, 1] + - !!python/tuple [13, 10] + - !!python/tuple [7, 7] + - !!python/tuple [10, 7] + - !!python/tuple [4, 14] + - !!python/tuple [26, 3] + - !!python/tuple [25, 10] + - !!python/tuple [5, 4] + - !!python/tuple [14, 31] + - !!python/tuple [16, 1] + - !!python/tuple [15, 28] + - !!python/tuple [18, 28] + - !!python/tuple [12, 6] + - !!python/tuple [18, 24] + - !!python/tuple [13, 12] + - !!python/tuple [11, 16] + - !!python/tuple [16, 29] + - !!python/tuple [30, 13] + - !!python/tuple [29, 9] + - !!python/tuple [6, 24] + - !!python/tuple [27, 8] + - !!python/tuple [31, 4] + - !!python/tuple [31, 25] + - !!python/tuple [9, 31] + - !!python/tuple [28, 14] + - !!python/tuple [28, 26] + - !!python/tuple [15, 30] + - !!python/tuple [28, 22] + - !!python/tuple [8, 18] + - !!python/tuple [0, 1] + - !!python/tuple [2, 0] + - !!python/tuple [24, 26] + - !!python/tuple [13, 23] + - !!python/tuple [26, 22] + - !!python/tuple [23, 1] + - !!python/tuple [27, 3] + - !!python/tuple [7, 2] + - !!python/tuple [26, 5] + - !!python/tuple [4, 13] + - !!python/tuple [30, 12] + - 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[27, 2] + - !!python/tuple [14, 26] + - !!python/tuple [15, 13] + - !!python/tuple [15, 24] + - !!python/tuple [30, 28] + - !!python/tuple [16, 25] + - !!python/tuple [25, 17] + - !!python/tuple [14, 23] + - !!python/tuple [28, 11] + - !!python/tuple [13, 27] + - !!python/tuple [18, 1] + - !!python/tuple [3, 7] + - !!python/tuple [18, 9] + - !!python/tuple [16, 6] + - !!python/tuple [11, 7] + - !!python/tuple [8, 30] + - !!python/tuple [19, 12] + - !!python/tuple [23, 15] + - !!python/tuple [11, 22] + - !!python/tuple [8, 5] + - !!python/tuple [26, 20] + - !!python/tuple [22, 30] + - !!python/tuple [26, 13] + - !!python/tuple [31, 29] + - !!python/tuple [19, 23] + - !!python/tuple [18, 7] + - !!python/tuple [30, 21] + - !!python/tuple [3, 22] + - !!python/tuple [31, 12] + - !!python/tuple [25, 19] + - !!python/tuple [2, 9] + - !!python/tuple [28, 31] + - !!python/tuple [17, 6] + - !!python/tuple [30, 25] + - !!python/tuple [31, 27] + - !!python/tuple [4, 17] + - !!python/tuple [31, 9] + - !!python/tuple [24, 24] + - !!python/tuple [17, 14] + - !!python/tuple [12, 14] + - !!python/tuple [14, 19] + - !!python/tuple [24, 22] + - !!python/tuple [21, 13] + - !!python/tuple [24, 16] + - !!python/tuple [3, 31] + - !!python/tuple [0, 13] + - !!python/tuple [27, 17] + - !!python/tuple [23, 29] + - !!python/tuple [12, 4] + - !!python/tuple [23, 12] + - !!python/tuple [11, 20] + - !!python/tuple [7, 19] + - !!python/tuple [16, 20] + - !!python/tuple [0, 3] + - !!python/tuple [21, 16] + - !!python/tuple [4, 2] + - !!python/tuple [15, 21] + - !!python/tuple [2, 1] + - !!python/tuple [0, 7] + - !!python/tuple [16, 24] + - !!python/tuple [5, 12] + - !!python/tuple [29, 19] + - !!python/tuple [19, 0] + - !!python/tuple [10, 1] + - !!python/tuple [7, 17] + - !!python/tuple [23, 16] + - !!python/tuple [10, 25] + - !!python/tuple [23, 28] + - !!python/tuple [4, 0] + - !!python/tuple [17, 18] + - !!python/tuple [23, 17] + - !!python/tuple [18, 8] + - !!python/tuple [31, 31] + - !!python/tuple [26, 19] + - !!python/tuple [20, 8] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex69.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex69.yaml new file mode 100644 index 0000000..1ccbb93 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex69.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [15, 5] + name: agent0 + start: [24, 10] +- goal: [10, 10] + name: agent1 + start: [28, 21] +- goal: [28, 16] + name: agent2 + start: [6, 17] +- goal: [12, 27] + name: agent3 + start: [25, 30] +- goal: [21, 11] + name: agent4 + start: [1, 15] +- goal: [23, 5] + name: agent5 + start: [16, 16] +- goal: [19, 10] + name: agent6 + start: [0, 14] +- goal: [2, 4] + name: agent7 + start: [18, 10] +- goal: [7, 24] + name: agent8 + start: [9, 20] +- goal: [7, 4] + name: agent9 + start: [25, 29] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [16, 26] + - !!python/tuple [19, 18] + - !!python/tuple [31, 14] + - !!python/tuple [22, 27] + - !!python/tuple [27, 22] + - !!python/tuple [25, 21] + - !!python/tuple [22, 5] + - !!python/tuple [8, 21] + - !!python/tuple [4, 21] + - !!python/tuple [11, 24] + - !!python/tuple [4, 17] + - !!python/tuple [15, 7] + - !!python/tuple [7, 21] + - !!python/tuple [21, 21] + - !!python/tuple [0, 18] + - !!python/tuple [4, 2] + - !!python/tuple [29, 18] + - !!python/tuple [12, 17] + - !!python/tuple [29, 3] + - !!python/tuple [29, 30] + - !!python/tuple [23, 29] + - !!python/tuple [6, 15] + - !!python/tuple [17, 2] + - !!python/tuple [0, 25] + - !!python/tuple [22, 9] + - !!python/tuple [30, 17] + - !!python/tuple [22, 29] + - !!python/tuple [8, 28] + - !!python/tuple [19, 12] + - !!python/tuple [23, 22] + - !!python/tuple [3, 3] + - !!python/tuple [27, 17] + - !!python/tuple [3, 11] + - !!python/tuple [29, 2] + - !!python/tuple [12, 1] + - !!python/tuple [9, 0] + - !!python/tuple [3, 5] + - !!python/tuple [13, 0] + - !!python/tuple [6, 6] + - !!python/tuple [17, 0] + - !!python/tuple [6, 31] + - !!python/tuple [25, 14] + - !!python/tuple [13, 31] + - !!python/tuple [1, 9] + - !!python/tuple [20, 13] + - !!python/tuple [17, 26] + - !!python/tuple [12, 14] + - !!python/tuple [18, 31] + - !!python/tuple [26, 5] + - !!python/tuple [1, 3] + - !!python/tuple [10, 7] + - !!python/tuple [4, 27] + - !!python/tuple [29, 29] + - !!python/tuple [31, 31] + - !!python/tuple [19, 8] + - !!python/tuple [29, 21] + - !!python/tuple [5, 18] + - !!python/tuple [5, 27] + - !!python/tuple [21, 5] + - !!python/tuple [24, 13] + - !!python/tuple [27, 14] + - !!python/tuple [12, 16] + - !!python/tuple [10, 11] + - !!python/tuple [21, 15] + - !!python/tuple [10, 30] + - !!python/tuple [12, 2] + - !!python/tuple [21, 17] + - !!python/tuple [8, 30] + - !!python/tuple [13, 19] + - !!python/tuple [3, 6] + - !!python/tuple [31, 17] + - !!python/tuple [21, 26] + - !!python/tuple [12, 6] + - !!python/tuple [4, 29] + - !!python/tuple [28, 15] + - !!python/tuple [14, 26] + - !!python/tuple [13, 28] + - !!python/tuple [15, 13] + - !!python/tuple [8, 25] + - !!python/tuple [0, 15] + - !!python/tuple [9, 8] + - !!python/tuple [7, 0] + - !!python/tuple [12, 23] + - !!python/tuple [1, 0] + - !!python/tuple [29, 9] + - !!python/tuple [10, 19] + - !!python/tuple [19, 11] + - !!python/tuple [11, 13] + - !!python/tuple [30, 1] + - !!python/tuple [5, 8] + - !!python/tuple [22, 1] + - !!python/tuple [31, 0] + - !!python/tuple [27, 16] + - !!python/tuple [2, 16] + - !!python/tuple [2, 27] + - !!python/tuple [2, 12] + - !!python/tuple [7, 29] + - !!python/tuple [19, 14] + - !!python/tuple [9, 2] + - !!python/tuple [1, 20] + - !!python/tuple [26, 6] + - !!python/tuple [13, 27] + - !!python/tuple [26, 7] + - !!python/tuple [23, 31] + - !!python/tuple [24, 5] + - !!python/tuple [16, 10] + - !!python/tuple [7, 11] + - !!python/tuple [24, 19] + - !!python/tuple [23, 15] + - !!python/tuple [12, 4] + - !!python/tuple [23, 10] + - !!python/tuple [20, 3] + - !!python/tuple [27, 20] + - !!python/tuple [21, 2] + - !!python/tuple [27, 13] + - !!python/tuple [14, 29] + - !!python/tuple [12, 19] + - !!python/tuple [0, 4] + - !!python/tuple [31, 10] + - !!python/tuple [1, 31] + - !!python/tuple [15, 26] + - !!python/tuple [2, 9] + - !!python/tuple [1, 18] + - !!python/tuple [25, 0] + - !!python/tuple [22, 20] + - !!python/tuple [29, 22] + - !!python/tuple [6, 30] + - !!python/tuple [16, 13] + - !!python/tuple [3, 12] + - !!python/tuple [8, 15] + - !!python/tuple [12, 21] + - !!python/tuple [31, 5] + - !!python/tuple [30, 31] + - !!python/tuple [3, 17] + - !!python/tuple [21, 20] + - !!python/tuple [15, 28] + - !!python/tuple [29, 1] + - !!python/tuple [23, 27] + - !!python/tuple [16, 6] + - !!python/tuple [17, 5] + - !!python/tuple [26, 28] + - !!python/tuple [26, 0] + - !!python/tuple [9, 10] + - !!python/tuple [25, 15] + - !!python/tuple [28, 10] + - !!python/tuple [23, 7] + - !!python/tuple [15, 12] + - !!python/tuple [0, 31] + - !!python/tuple [16, 24] + - !!python/tuple [0, 11] + - !!python/tuple [27, 21] + - !!python/tuple [25, 27] + - !!python/tuple [26, 25] + - !!python/tuple [16, 18] + - !!python/tuple [13, 30] + - !!python/tuple [18, 6] + - !!python/tuple [7, 30] + - !!python/tuple [14, 12] + - !!python/tuple [2, 2] + - !!python/tuple [25, 28] + - !!python/tuple [16, 23] + - !!python/tuple [8, 11] + - !!python/tuple [20, 1] + - !!python/tuple [7, 3] + - !!python/tuple [17, 6] + - !!python/tuple [10, 1] + - !!python/tuple [12, 7] + - !!python/tuple [21, 0] + - !!python/tuple [26, 2] + - !!python/tuple [3, 16] + - !!python/tuple [31, 6] + - !!python/tuple [29, 24] + - !!python/tuple [25, 3] + - !!python/tuple [30, 5] + - !!python/tuple [5, 2] + - !!python/tuple [31, 13] + - !!python/tuple [11, 31] + - !!python/tuple [5, 28] + - !!python/tuple [2, 23] + - !!python/tuple [0, 3] + - !!python/tuple [20, 12] + - !!python/tuple [18, 18] + - !!python/tuple [12, 5] + - !!python/tuple [2, 22] + - !!python/tuple [21, 31] + - !!python/tuple [9, 29] + - !!python/tuple [16, 11] + - !!python/tuple [14, 27] + - !!python/tuple [9, 11] + - !!python/tuple [20, 25] + - !!python/tuple [18, 13] + - !!python/tuple [6, 12] + - !!python/tuple [17, 7] + - !!python/tuple [8, 20] + - !!python/tuple [5, 1] + - !!python/tuple [5, 21] + - !!python/tuple [0, 13] + - !!python/tuple [6, 18] + - !!python/tuple [10, 29] + - !!python/tuple [26, 18] + - !!python/tuple [13, 3] + - !!python/tuple [12, 25] + - !!python/tuple [3, 23] + - !!python/tuple [13, 22] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex7.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex7.yaml new file mode 100644 index 0000000..e9f6b57 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex7.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [27, 21] + name: agent0 + start: [16, 2] +- goal: [9, 16] + name: agent1 + start: [28, 3] +- goal: [2, 12] + name: agent2 + start: [19, 8] +- goal: [31, 2] + name: agent3 + start: [12, 10] +- goal: [23, 31] + name: agent4 + start: [21, 0] +- goal: [30, 7] + name: agent5 + start: [15, 8] +- goal: [29, 5] + name: agent6 + start: [30, 14] +- goal: [22, 0] + name: agent7 + start: [14, 4] +- goal: [1, 21] + name: agent8 + start: [25, 18] +- goal: [19, 29] + name: agent9 + start: [30, 25] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [31, 20] + - !!python/tuple [6, 3] + - !!python/tuple [27, 20] + - !!python/tuple [0, 9] + - !!python/tuple [1, 13] + - !!python/tuple [31, 15] + - !!python/tuple [24, 17] + - !!python/tuple [30, 24] + - !!python/tuple [10, 22] + - !!python/tuple [6, 7] + - !!python/tuple [30, 15] + - !!python/tuple [30, 23] + - !!python/tuple [14, 14] + - !!python/tuple [25, 30] + - !!python/tuple [23, 30] + - !!python/tuple [8, 9] + - !!python/tuple [11, 1] + - !!python/tuple [6, 21] + - !!python/tuple [6, 4] + - !!python/tuple [26, 26] + - !!python/tuple [13, 2] + - !!python/tuple [11, 15] + - !!python/tuple [13, 21] + - !!python/tuple [1, 30] + - !!python/tuple [31, 16] + - !!python/tuple [7, 16] + - !!python/tuple [16, 27] + - !!python/tuple [5, 3] + - !!python/tuple [14, 2] + - !!python/tuple [9, 9] + - !!python/tuple [5, 15] + - !!python/tuple [16, 20] + - !!python/tuple [2, 18] + - !!python/tuple [13, 10] + - !!python/tuple [17, 6] + - !!python/tuple [24, 3] + - !!python/tuple [0, 8] + - !!python/tuple [24, 24] + - !!python/tuple [29, 9] + - !!python/tuple [11, 31] + - !!python/tuple [5, 23] + - !!python/tuple [3, 18] + - !!python/tuple [15, 13] + - !!python/tuple [28, 16] + - !!python/tuple [29, 12] + - !!python/tuple [6, 27] + - !!python/tuple [19, 3] + - !!python/tuple [26, 10] + - !!python/tuple [6, 29] + - !!python/tuple [19, 16] + - !!python/tuple [25, 25] + - !!python/tuple [12, 18] + - !!python/tuple [25, 11] + - !!python/tuple [11, 19] + - !!python/tuple [28, 9] + - !!python/tuple [27, 17] + - 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!!python/tuple [29, 6] + - !!python/tuple [9, 31] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex70.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex70.yaml new file mode 100644 index 0000000..a060277 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex70.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [3, 6] + name: agent0 + start: [2, 22] +- goal: [1, 23] + name: agent1 + start: [6, 12] +- goal: [19, 13] + name: agent2 + start: [25, 5] +- goal: [15, 22] + name: agent3 + start: [15, 23] +- goal: [1, 6] + name: agent4 + start: [19, 27] +- goal: [29, 19] + name: agent5 + start: [27, 8] +- goal: [6, 12] + name: agent6 + start: [9, 22] +- goal: [18, 14] + name: agent7 + start: [13, 0] +- goal: [19, 27] + name: agent8 + start: [15, 19] +- goal: [21, 0] + name: agent9 + start: [7, 11] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [25, 13] + - !!python/tuple 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[12, 11] + - !!python/tuple [1, 14] + - !!python/tuple [18, 1] + - !!python/tuple [0, 17] + - !!python/tuple [4, 27] + - !!python/tuple [17, 29] + - !!python/tuple [2, 27] + - !!python/tuple [6, 11] + - !!python/tuple [23, 11] + - !!python/tuple [18, 25] + - !!python/tuple [30, 10] + - !!python/tuple [0, 24] + - !!python/tuple [14, 22] + - !!python/tuple [14, 8] + - !!python/tuple [21, 21] + - !!python/tuple [25, 25] + - !!python/tuple [23, 18] + - !!python/tuple [22, 7] + - !!python/tuple [21, 7] + - !!python/tuple [14, 10] + - !!python/tuple [31, 0] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex71.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex71.yaml new file mode 100644 index 0000000..2bb3b95 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex71.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [0, 22] + name: agent0 + start: [12, 12] +- goal: [1, 25] + name: agent1 + start: [28, 11] +- goal: [15, 26] + name: agent2 + start: [18, 16] +- goal: [5, 24] + name: agent3 + start: [14, 18] +- goal: [27, 17] + name: agent4 + start: [31, 26] +- goal: [29, 4] + name: agent5 + start: [11, 13] +- goal: [6, 23] + name: agent6 + start: [3, 6] +- goal: [23, 20] + name: agent7 + start: [18, 7] +- goal: [11, 4] + name: agent8 + start: [22, 6] +- goal: [22, 4] + name: agent9 + start: [13, 23] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [0, 11] + - !!python/tuple [8, 18] + - !!python/tuple [5, 27] + - !!python/tuple [30, 0] + - !!python/tuple [6, 7] + - !!python/tuple [21, 18] + - !!python/tuple [0, 1] + - !!python/tuple [23, 3] + - !!python/tuple [20, 17] + - !!python/tuple [18, 13] + - !!python/tuple [21, 11] + - !!python/tuple [2, 8] + - !!python/tuple [7, 17] + - !!python/tuple [22, 23] + - !!python/tuple [25, 10] + - !!python/tuple [13, 22] + - !!python/tuple [4, 7] + - !!python/tuple [18, 12] + - !!python/tuple [0, 25] + - 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[23, 23] + - !!python/tuple [18, 14] + - !!python/tuple [16, 28] + - !!python/tuple [12, 1] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex72.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex72.yaml new file mode 100644 index 0000000..36db7f7 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex72.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [14, 6] + name: agent0 + start: [31, 28] +- goal: [23, 1] + name: agent1 + start: [24, 19] +- goal: [20, 2] + name: agent2 + start: [20, 26] +- goal: [7, 28] + name: agent3 + start: [17, 17] +- goal: [28, 12] + name: agent4 + start: [8, 25] +- goal: [9, 5] + name: agent5 + start: [26, 3] +- goal: [3, 5] + name: agent6 + start: [12, 22] +- goal: [8, 18] + name: agent7 + start: [30, 2] +- goal: [17, 4] + name: agent8 + start: [14, 30] +- goal: [11, 8] + name: agent9 + start: [3, 16] +map: + dimensions: [32, 32] + obstacles: + - 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!!python/tuple [8, 24] + - !!python/tuple [31, 3] + - !!python/tuple [6, 16] + - !!python/tuple [15, 4] + - !!python/tuple [6, 23] + - !!python/tuple [6, 28] + - !!python/tuple [23, 27] + - !!python/tuple [7, 30] + - !!python/tuple [30, 25] + - !!python/tuple [24, 4] + - !!python/tuple [17, 18] + - !!python/tuple [25, 10] + - !!python/tuple [21, 23] + - !!python/tuple [31, 21] + - !!python/tuple [1, 24] + - !!python/tuple [4, 22] + - !!python/tuple [18, 19] + - !!python/tuple [31, 8] + - !!python/tuple [20, 14] + - !!python/tuple [1, 27] + - !!python/tuple [30, 16] + - !!python/tuple [25, 23] + - !!python/tuple [22, 18] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex73.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex73.yaml new file mode 100644 index 0000000..e876e43 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex73.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [9, 24] + name: agent0 + start: [8, 30] +- goal: [23, 15] + name: agent1 + start: [17, 18] +- goal: [31, 1] + name: agent2 + start: [16, 14] +- goal: [11, 11] + name: agent3 + start: [25, 19] +- goal: [31, 21] + name: agent4 + start: [28, 2] +- goal: [1, 3] + name: agent5 + start: [1, 26] +- goal: [15, 6] + name: agent6 + start: [31, 1] +- goal: [10, 7] + name: agent7 + start: [18, 19] +- goal: [12, 25] + name: agent8 + start: [17, 21] +- goal: [5, 13] + name: agent9 + start: [23, 5] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [25, 6] + - !!python/tuple [5, 9] + - !!python/tuple [18, 22] + - !!python/tuple [25, 4] + - !!python/tuple [30, 11] + - !!python/tuple [14, 12] + - !!python/tuple [25, 3] + - !!python/tuple [11, 9] + - !!python/tuple [26, 3] + - !!python/tuple [21, 10] + - !!python/tuple [12, 16] + - !!python/tuple [25, 7] + - !!python/tuple [1, 9] + - !!python/tuple [3, 31] + - !!python/tuple [27, 20] + - !!python/tuple [20, 15] + - !!python/tuple [14, 25] + - 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[28, 16] + - !!python/tuple [0, 2] + - !!python/tuple [19, 15] + - !!python/tuple [20, 16] + - !!python/tuple [12, 28] + - !!python/tuple [31, 20] + - !!python/tuple [11, 28] + - !!python/tuple [9, 25] + - !!python/tuple [0, 11] + - !!python/tuple [3, 27] + - !!python/tuple [17, 28] + - !!python/tuple [16, 18] + - !!python/tuple [25, 21] + - !!python/tuple [3, 14] + - !!python/tuple [20, 3] + - !!python/tuple [19, 3] + - !!python/tuple [28, 30] + - !!python/tuple [22, 29] + - !!python/tuple [30, 12] + - !!python/tuple [28, 3] + - !!python/tuple [12, 31] + - !!python/tuple [18, 29] + - !!python/tuple [20, 25] + - !!python/tuple [20, 4] + - !!python/tuple [3, 8] + - !!python/tuple [29, 7] + - !!python/tuple [16, 19] + - !!python/tuple [29, 30] + - !!python/tuple [1, 10] + - !!python/tuple [27, 11] + - !!python/tuple [8, 19] + - !!python/tuple [9, 29] + - !!python/tuple [23, 23] + - !!python/tuple [24, 3] + - !!python/tuple [16, 27] + - !!python/tuple [10, 1] + - !!python/tuple [14, 3] + 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!!python/tuple [1, 29] + - !!python/tuple [26, 0] + - !!python/tuple [9, 3] + - !!python/tuple [16, 0] + - !!python/tuple [16, 8] + - !!python/tuple [10, 14] + - !!python/tuple [7, 14] + - !!python/tuple [14, 1] + - !!python/tuple [31, 10] + - !!python/tuple [16, 3] + - !!python/tuple [15, 14] + - !!python/tuple [28, 15] + - !!python/tuple [21, 27] + - !!python/tuple [17, 31] + - !!python/tuple [3, 20] + - !!python/tuple [13, 14] + - !!python/tuple [1, 6] + - !!python/tuple [1, 2] + - !!python/tuple [29, 14] + - !!python/tuple [6, 26] + - !!python/tuple [26, 26] + - !!python/tuple [9, 22] + - !!python/tuple [12, 29] + - !!python/tuple [20, 9] + - !!python/tuple [9, 19] + - !!python/tuple [16, 13] + - !!python/tuple [4, 24] + - !!python/tuple [22, 5] + - !!python/tuple [23, 0] + - !!python/tuple [16, 10] + - !!python/tuple [0, 14] + - !!python/tuple [8, 5] + - !!python/tuple [31, 24] + - !!python/tuple [28, 7] + - !!python/tuple [30, 25] + - !!python/tuple [1, 25] + - !!python/tuple [0, 31] + - !!python/tuple [23, 27] + - !!python/tuple [15, 18] + - !!python/tuple [16, 1] + - !!python/tuple [24, 0] + - !!python/tuple [3, 11] + - !!python/tuple [24, 16] + - !!python/tuple [7, 6] + - !!python/tuple [25, 8] + - !!python/tuple [22, 25] + - !!python/tuple [19, 25] + - !!python/tuple [26, 19] + - !!python/tuple [30, 29] + - !!python/tuple [21, 16] + - !!python/tuple [16, 30] + - !!python/tuple [0, 25] + - !!python/tuple [2, 25] + - !!python/tuple [0, 13] + - !!python/tuple [26, 11] + - !!python/tuple [20, 29] + - !!python/tuple [31, 7] + - !!python/tuple [13, 21] + - !!python/tuple [18, 4] + - !!python/tuple [11, 20] + - !!python/tuple [29, 16] + - !!python/tuple [23, 12] + - !!python/tuple [3, 23] + - !!python/tuple [14, 22] + - !!python/tuple [2, 11] + - !!python/tuple [17, 15] + - !!python/tuple [22, 26] + - !!python/tuple [26, 21] + - !!python/tuple [17, 24] + - !!python/tuple [18, 15] + - !!python/tuple [2, 10] + - !!python/tuple [28, 18] + - !!python/tuple [3, 9] + - !!python/tuple [29, 18] + - !!python/tuple [24, 18] + - !!python/tuple [5, 6] + - !!python/tuple [13, 13] + - !!python/tuple [8, 14] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex74.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex74.yaml new file mode 100644 index 0000000..ffbefde --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex74.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [22, 4] + name: agent0 + start: [21, 18] +- goal: [27, 25] + name: agent1 + start: [30, 11] +- goal: [11, 6] + name: agent2 + start: [26, 8] +- goal: [24, 10] + name: agent3 + start: [18, 22] +- goal: [17, 0] + name: agent4 + start: [18, 0] +- goal: [5, 9] + name: agent5 + start: [9, 31] +- goal: [27, 22] + name: agent6 + start: [7, 0] +- goal: [21, 18] + name: agent7 + start: [9, 10] +- goal: [25, 3] + name: agent8 + start: [10, 17] +- goal: [21, 17] + name: agent9 + start: [0, 0] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [24, 12] + - !!python/tuple [21, 12] + - !!python/tuple [18, 5] + - !!python/tuple [27, 2] + - !!python/tuple [10, 25] + - !!python/tuple [22, 14] + - !!python/tuple [0, 25] + - !!python/tuple [2, 17] + - !!python/tuple [22, 16] + - !!python/tuple [8, 11] + - !!python/tuple [4, 18] + - !!python/tuple [8, 27] + - !!python/tuple [28, 23] + - !!python/tuple [22, 3] + - !!python/tuple [2, 25] + - !!python/tuple [26, 14] + - !!python/tuple [20, 13] + - !!python/tuple [26, 9] + - !!python/tuple [19, 7] + - !!python/tuple [17, 4] + - !!python/tuple [4, 29] + - !!python/tuple [17, 10] + - !!python/tuple [26, 29] + - !!python/tuple [10, 21] + - !!python/tuple [28, 13] + - !!python/tuple [23, 20] + - !!python/tuple [29, 28] + - !!python/tuple [0, 8] + - !!python/tuple [29, 29] + - !!python/tuple [20, 26] + - !!python/tuple [27, 13] + - !!python/tuple [7, 31] + - !!python/tuple [15, 13] + - !!python/tuple [20, 24] + - !!python/tuple [9, 13] + - !!python/tuple [6, 29] + - !!python/tuple [27, 21] + - !!python/tuple [6, 8] + - !!python/tuple [13, 0] + - !!python/tuple [31, 16] + - !!python/tuple [15, 6] + - !!python/tuple [24, 16] + - !!python/tuple [1, 4] + - !!python/tuple [12, 17] + - !!python/tuple [10, 15] + - !!python/tuple [5, 10] + - !!python/tuple [21, 22] + - !!python/tuple [3, 7] + - !!python/tuple [0, 6] + - !!python/tuple [14, 10] + - !!python/tuple [6, 13] + - !!python/tuple [21, 8] + - !!python/tuple [29, 31] + - !!python/tuple [31, 18] + - !!python/tuple [2, 9] + - !!python/tuple [21, 30] + - !!python/tuple [6, 22] + - !!python/tuple [18, 16] + - !!python/tuple [11, 15] + - !!python/tuple [13, 1] + - !!python/tuple [5, 3] + - !!python/tuple [11, 16] + - !!python/tuple [29, 20] + - !!python/tuple [14, 9] + - !!python/tuple [4, 20] + - !!python/tuple [7, 9] + - !!python/tuple [24, 17] + - !!python/tuple [25, 4] + - !!python/tuple [24, 31] + - !!python/tuple [16, 14] + - !!python/tuple [27, 5] + - !!python/tuple [3, 29] + - !!python/tuple [19, 22] + - !!python/tuple [16, 21] + - !!python/tuple [23, 13] + - !!python/tuple [26, 30] + - !!python/tuple [20, 28] + - !!python/tuple [12, 3] + - !!python/tuple [0, 3] + - !!python/tuple [7, 26] + - !!python/tuple [14, 25] + - !!python/tuple [9, 26] + - !!python/tuple [4, 19] + - !!python/tuple [17, 24] + - !!python/tuple [17, 22] + - !!python/tuple [0, 10] + - !!python/tuple [13, 7] + - !!python/tuple [28, 10] + - !!python/tuple [23, 7] + - !!python/tuple [8, 7] + - !!python/tuple [4, 23] + - !!python/tuple [2, 15] + - !!python/tuple [2, 10] + - !!python/tuple [22, 22] + - !!python/tuple [8, 23] + - !!python/tuple [31, 23] + - !!python/tuple [4, 24] + - !!python/tuple [31, 3] + - !!python/tuple [20, 1] + - !!python/tuple [1, 27] + - !!python/tuple [22, 17] + - !!python/tuple [6, 14] + - !!python/tuple [6, 6] + - !!python/tuple [8, 18] + - !!python/tuple [25, 12] + - !!python/tuple [3, 21] + - !!python/tuple [22, 1] + - !!python/tuple [28, 11] + - !!python/tuple [11, 2] + - !!python/tuple [15, 21] + - !!python/tuple [24, 3] + - !!python/tuple [8, 29] + - !!python/tuple [0, 21] + - !!python/tuple [28, 26] + - !!python/tuple [17, 9] + - !!python/tuple [15, 7] + - !!python/tuple [6, 3] + - !!python/tuple [30, 22] + - !!python/tuple [20, 18] + - !!python/tuple [5, 20] + - !!python/tuple [23, 19] + - !!python/tuple [28, 27] + - !!python/tuple [26, 7] + - !!python/tuple [19, 23] + - !!python/tuple [16, 11] + - !!python/tuple [27, 6] + - !!python/tuple [19, 5] + - !!python/tuple [11, 29] + - !!python/tuple [24, 11] + - !!python/tuple [0, 13] + - !!python/tuple [9, 29] + - !!python/tuple [24, 8] + - !!python/tuple [15, 29] + - !!python/tuple [13, 21] + - !!python/tuple [19, 30] + - !!python/tuple [16, 26] + - !!python/tuple [12, 8] + - !!python/tuple [18, 29] + - !!python/tuple [17, 13] + - !!python/tuple [15, 24] + - !!python/tuple [20, 0] + - !!python/tuple [4, 5] + - !!python/tuple [29, 21] + - !!python/tuple [13, 18] + - !!python/tuple [8, 31] + - !!python/tuple [29, 30] + - !!python/tuple [12, 18] + - !!python/tuple [1, 26] + - !!python/tuple [29, 27] + - !!python/tuple [10, 8] + - !!python/tuple [12, 25] + - !!python/tuple [0, 1] + - !!python/tuple [11, 22] + - !!python/tuple [3, 23] + - !!python/tuple [22, 8] + - !!python/tuple [19, 28] + - !!python/tuple [20, 21] + - !!python/tuple [15, 22] + - !!python/tuple [3, 11] + - !!python/tuple [16, 30] + - !!python/tuple [5, 8] + - !!python/tuple [26, 4] + - !!python/tuple [16, 18] + - !!python/tuple [23, 21] + - !!python/tuple [25, 28] + - !!python/tuple [22, 19] + - !!python/tuple [20, 5] + - !!python/tuple [26, 25] + - !!python/tuple [17, 20] + - !!python/tuple [18, 25] + - !!python/tuple [0, 17] + - !!python/tuple [19, 18] + - !!python/tuple [5, 29] + - !!python/tuple [16, 3] + - !!python/tuple [12, 29] + - !!python/tuple [23, 25] + - !!python/tuple [16, 4] + - !!python/tuple [2, 6] + - !!python/tuple [15, 31] + - !!python/tuple [21, 27] + - !!python/tuple [13, 11] + - !!python/tuple [11, 5] + - !!python/tuple [27, 3] + - !!python/tuple [31, 31] + - !!python/tuple [29, 14] + - !!python/tuple [9, 15] + - !!python/tuple [7, 18] + - !!python/tuple [24, 28] + - !!python/tuple [13, 13] + - !!python/tuple [16, 13] + - !!python/tuple [0, 9] + - !!python/tuple [1, 9] + - !!python/tuple [3, 27] + - !!python/tuple [31, 2] + - !!python/tuple [28, 18] + - !!python/tuple [12, 14] + - !!python/tuple [23, 3] + - !!python/tuple [31, 6] + - !!python/tuple [17, 18] + - !!python/tuple [30, 17] + - !!python/tuple [8, 8] + - !!python/tuple [16, 0] + - !!python/tuple [26, 20] + - !!python/tuple [10, 4] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex75.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex75.yaml new file mode 100644 index 0000000..b8a4b00 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex75.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [26, 11] + name: agent0 + start: [18, 13] +- goal: [13, 13] + name: agent1 + start: [7, 12] +- goal: [23, 2] + name: agent2 + start: [12, 3] +- goal: [22, 7] + name: agent3 + start: [19, 26] +- goal: [26, 20] + name: agent4 + start: [14, 7] +- goal: [10, 12] + name: agent5 + start: [31, 29] +- goal: [20, 7] + name: agent6 + start: [16, 3] +- goal: [8, 2] + name: agent7 + start: [8, 1] +- goal: [13, 3] + name: agent8 + start: [14, 16] +- goal: [8, 9] + name: agent9 + start: [30, 17] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [8, 13] + - !!python/tuple [24, 19] + - !!python/tuple [15, 20] + - !!python/tuple [28, 25] + - !!python/tuple [12, 21] + - !!python/tuple [6, 31] + - !!python/tuple [24, 16] + - !!python/tuple [0, 6] + - !!python/tuple [4, 11] + - !!python/tuple [13, 1] + - !!python/tuple [16, 29] + - !!python/tuple [7, 16] + - !!python/tuple [16, 22] + - !!python/tuple [13, 12] + - !!python/tuple [28, 17] + - !!python/tuple [22, 27] + - !!python/tuple [18, 20] + - !!python/tuple [21, 15] + - !!python/tuple [31, 2] + - !!python/tuple [5, 18] + - !!python/tuple [20, 26] + - !!python/tuple [16, 28] + - !!python/tuple [24, 2] + - !!python/tuple [23, 11] + - !!python/tuple [17, 14] + - !!python/tuple [6, 10] + - !!python/tuple [29, 0] + - !!python/tuple [9, 1] + - !!python/tuple [20, 3] + - !!python/tuple [24, 17] + - !!python/tuple [7, 1] + - !!python/tuple [31, 5] + - !!python/tuple [18, 21] + - !!python/tuple [20, 29] + - !!python/tuple [14, 17] + - !!python/tuple [5, 2] + - !!python/tuple [10, 29] + - !!python/tuple [18, 22] + - !!python/tuple [12, 23] + - !!python/tuple [4, 31] + - !!python/tuple [31, 3] + - !!python/tuple [14, 21] + - !!python/tuple [2, 15] + - !!python/tuple [28, 3] + - !!python/tuple [14, 30] + - !!python/tuple [25, 1] + - !!python/tuple [15, 10] + - !!python/tuple [4, 26] + - !!python/tuple [30, 14] + - !!python/tuple [16, 13] + - !!python/tuple [6, 30] + - !!python/tuple [2, 12] + - !!python/tuple [7, 13] + - !!python/tuple [11, 9] + - !!python/tuple [7, 28] + - !!python/tuple [3, 29] + - !!python/tuple [12, 25] + - !!python/tuple [2, 30] + - !!python/tuple [16, 14] + - !!python/tuple [24, 24] + - !!python/tuple [14, 6] + - !!python/tuple [20, 24] + - !!python/tuple [25, 19] + - !!python/tuple [22, 17] + - !!python/tuple [22, 30] + - !!python/tuple [22, 20] + - !!python/tuple [28, 11] + - !!python/tuple [3, 31] + - !!python/tuple [10, 22] + - !!python/tuple [3, 11] + - !!python/tuple [29, 12] + - !!python/tuple [9, 25] + - !!python/tuple [17, 12] + - !!python/tuple [4, 7] + - !!python/tuple [28, 9] + - !!python/tuple [23, 25] + - !!python/tuple [15, 15] + - !!python/tuple [25, 21] + - !!python/tuple [14, 25] + - !!python/tuple [16, 31] + - !!python/tuple [18, 6] + - !!python/tuple [2, 13] + - !!python/tuple [25, 12] + - !!python/tuple [1, 26] + - !!python/tuple [6, 20] + - !!python/tuple [28, 21] + - !!python/tuple [0, 15] + - !!python/tuple [10, 16] + - !!python/tuple [27, 12] + - !!python/tuple [20, 17] + - !!python/tuple [16, 12] + - !!python/tuple [6, 6] + - !!python/tuple [15, 24] + - !!python/tuple [4, 8] + - !!python/tuple [27, 8] + - !!python/tuple [8, 18] + - !!python/tuple [28, 19] + - !!python/tuple [9, 6] + - !!python/tuple [13, 5] + - !!python/tuple [31, 15] + - !!python/tuple [14, 1] + - !!python/tuple [26, 14] + - !!python/tuple [15, 31] + - !!python/tuple [21, 19] + - !!python/tuple [26, 21] + - !!python/tuple [23, 24] + - !!python/tuple [22, 26] + - !!python/tuple [1, 8] + - !!python/tuple [27, 22] + - !!python/tuple [3, 19] + - !!python/tuple [23, 27] + - !!python/tuple [24, 30] + - !!python/tuple [0, 7] + - !!python/tuple [21, 29] + - !!python/tuple [14, 11] + - !!python/tuple [29, 25] + - !!python/tuple [9, 4] + - !!python/tuple [9, 20] + - !!python/tuple [5, 11] + - !!python/tuple [2, 7] + - !!python/tuple [27, 23] + - !!python/tuple [24, 8] + - !!python/tuple [23, 18] + - !!python/tuple [19, 25] + - !!python/tuple [28, 18] + - !!python/tuple [2, 9] + - !!python/tuple [27, 29] + - !!python/tuple [9, 8] + - !!python/tuple [21, 16] + - !!python/tuple [25, 23] + - !!python/tuple [22, 1] + - !!python/tuple [20, 15] + - !!python/tuple [23, 12] + - !!python/tuple [7, 31] + - !!python/tuple [14, 31] + - !!python/tuple [13, 16] + - !!python/tuple [10, 31] + - !!python/tuple [26, 3] + - !!python/tuple [18, 26] + - !!python/tuple [21, 13] + - !!python/tuple [30, 15] + - !!python/tuple [13, 17] + - !!python/tuple [2, 10] + - !!python/tuple [23, 21] + - !!python/tuple [4, 19] + - !!python/tuple [15, 26] + - !!python/tuple [0, 29] + - !!python/tuple [17, 20] + - !!python/tuple [16, 20] + - !!python/tuple [21, 26] + - !!python/tuple [5, 14] + - !!python/tuple [8, 23] + - !!python/tuple [21, 10] + - !!python/tuple [2, 27] + - !!python/tuple [31, 7] + - !!python/tuple [30, 0] + - !!python/tuple [20, 31] + - !!python/tuple [11, 7] + - !!python/tuple [4, 4] + - !!python/tuple [28, 22] + - !!python/tuple [9, 15] + - !!python/tuple [26, 0] + - !!python/tuple [17, 9] + - !!python/tuple [19, 29] + - !!python/tuple [22, 29] + - !!python/tuple [6, 19] + - !!python/tuple [31, 14] + - !!python/tuple [29, 9] + - !!python/tuple [13, 26] + - !!python/tuple [14, 5] + - !!python/tuple [16, 10] + - !!python/tuple [31, 13] + - !!python/tuple [26, 13] + - !!python/tuple [25, 15] + - !!python/tuple [10, 15] + - !!python/tuple [13, 15] + - !!python/tuple [11, 20] + - !!python/tuple [23, 16] + - !!python/tuple [8, 3] + - !!python/tuple [2, 16] + - !!python/tuple [12, 0] + - !!python/tuple [15, 1] + - !!python/tuple [8, 25] + - !!python/tuple [30, 25] + - !!python/tuple [21, 9] + - !!python/tuple [28, 28] + - !!python/tuple [15, 8] + - !!python/tuple [5, 12] + - !!python/tuple [9, 31] + - !!python/tuple [29, 1] + - !!python/tuple [3, 12] + - !!python/tuple [2, 23] + - !!python/tuple [7, 3] + - !!python/tuple [20, 18] + - !!python/tuple [14, 24] + - !!python/tuple [19, 0] + - !!python/tuple [27, 30] + - !!python/tuple [4, 3] + - !!python/tuple [11, 2] + - !!python/tuple [28, 10] + - !!python/tuple [31, 0] + - !!python/tuple [2, 1] + - !!python/tuple [5, 15] + - !!python/tuple [4, 18] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex76.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex76.yaml new file mode 100644 index 0000000..c33b47d --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex76.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [15, 0] + name: agent0 + start: [16, 1] +- goal: [7, 22] + name: agent1 + start: [19, 17] +- goal: [13, 8] + name: agent2 + start: [27, 24] +- goal: [2, 8] + name: agent3 + start: [8, 18] +- goal: [4, 25] + name: agent4 + start: [15, 0] +- goal: [29, 23] + name: agent5 + start: [17, 25] +- goal: [20, 5] + name: agent6 + start: [17, 16] +- goal: [18, 12] + name: agent7 + start: [27, 18] +- goal: [14, 6] + name: agent8 + start: [11, 31] +- goal: [25, 27] + name: agent9 + start: [11, 18] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [18, 21] + - !!python/tuple [30, 0] + - !!python/tuple [31, 9] + - !!python/tuple [16, 23] + - !!python/tuple [10, 1] + - !!python/tuple [6, 1] + - !!python/tuple [13, 26] + - !!python/tuple [3, 18] + - !!python/tuple [11, 2] + - !!python/tuple [9, 3] + - !!python/tuple [20, 12] + - !!python/tuple [18, 10] + - !!python/tuple [12, 11] + - !!python/tuple [25, 1] + - !!python/tuple [24, 23] + - !!python/tuple [13, 4] + - !!python/tuple [16, 8] + - !!python/tuple [3, 10] + - !!python/tuple [11, 19] + - !!python/tuple [3, 24] + - !!python/tuple [25, 13] + - !!python/tuple [14, 30] + - !!python/tuple [16, 5] + - !!python/tuple [19, 30] + - !!python/tuple [11, 10] + - !!python/tuple [5, 16] + - !!python/tuple [10, 30] + - !!python/tuple [28, 29] + - !!python/tuple [14, 29] + - !!python/tuple [31, 10] + - !!python/tuple [15, 19] + - !!python/tuple [13, 6] + - !!python/tuple [3, 5] + - !!python/tuple [0, 5] + - !!python/tuple [12, 3] + - !!python/tuple [24, 8] + - !!python/tuple [21, 1] + - !!python/tuple [29, 24] + - !!python/tuple [11, 20] + - !!python/tuple [4, 20] + - !!python/tuple [8, 11] + - !!python/tuple [14, 17] + - !!python/tuple [31, 7] + - !!python/tuple [24, 30] + - !!python/tuple [28, 15] + - !!python/tuple [5, 22] + - !!python/tuple [11, 9] + - !!python/tuple [16, 19] + - !!python/tuple [15, 30] + - !!python/tuple [12, 31] + - !!python/tuple [5, 18] + - !!python/tuple [10, 15] + - !!python/tuple [30, 3] + - !!python/tuple [20, 21] + - !!python/tuple [27, 2] + - !!python/tuple [0, 3] + - !!python/tuple [6, 16] + - !!python/tuple [3, 28] + - !!python/tuple [3, 25] + - !!python/tuple [16, 9] + - !!python/tuple [0, 23] + - !!python/tuple [23, 15] + - !!python/tuple [2, 17] + - !!python/tuple [27, 29] + - !!python/tuple [0, 13] + - !!python/tuple [11, 22] + - !!python/tuple [14, 20] + - !!python/tuple [24, 31] + - !!python/tuple [28, 3] + - !!python/tuple [20, 1] + - !!python/tuple [9, 7] + - !!python/tuple [25, 19] + - !!python/tuple [14, 27] + - !!python/tuple [9, 8] + - !!python/tuple [17, 15] + - !!python/tuple [14, 23] + - !!python/tuple [0, 9] + - !!python/tuple [3, 21] + - !!python/tuple [17, 0] + - !!python/tuple [30, 9] + - !!python/tuple [28, 11] + - !!python/tuple [16, 10] + - !!python/tuple [24, 17] + - !!python/tuple [24, 14] + - !!python/tuple [29, 21] + - !!python/tuple [9, 27] + - !!python/tuple [0, 22] + - !!python/tuple [18, 1] + - !!python/tuple [28, 12] + - !!python/tuple [8, 13] + - !!python/tuple [10, 10] + - !!python/tuple [20, 9] + - !!python/tuple [28, 27] + - !!python/tuple [0, 31] + - !!python/tuple [12, 7] + - !!python/tuple [2, 13] + - !!python/tuple [30, 27] + - !!python/tuple [11, 24] + - !!python/tuple [29, 2] + - !!python/tuple [31, 17] + - !!python/tuple [20, 6] + - !!python/tuple [29, 11] + - !!python/tuple [20, 19] + - !!python/tuple [23, 30] + - !!python/tuple [6, 30] + - !!python/tuple [15, 28] + - !!python/tuple [1, 5] + - !!python/tuple [11, 14] + - !!python/tuple [18, 30] + - !!python/tuple [25, 7] + - !!python/tuple [29, 28] + - !!python/tuple [4, 3] + - !!python/tuple [0, 18] + - !!python/tuple [1, 28] + - !!python/tuple [6, 5] + - !!python/tuple [16, 4] + - !!python/tuple [2, 21] + - !!python/tuple [2, 7] + - !!python/tuple [9, 11] + - !!python/tuple [23, 17] + - !!python/tuple [3, 0] + - !!python/tuple [21, 20] + - !!python/tuple [12, 19] + - !!python/tuple [2, 23] + - !!python/tuple [9, 10] + - !!python/tuple [26, 21] + - !!python/tuple [4, 0] + - !!python/tuple [29, 22] + - !!python/tuple [17, 10] + - !!python/tuple [26, 16] + - !!python/tuple [3, 11] + - !!python/tuple [9, 15] + - !!python/tuple [27, 11] + - !!python/tuple [30, 6] + - !!python/tuple [30, 30] + - !!python/tuple [23, 11] + - !!python/tuple [10, 11] + - !!python/tuple [8, 9] + - !!python/tuple [2, 18] + - !!python/tuple [7, 13] + - !!python/tuple [10, 13] + - !!python/tuple [26, 8] + - !!python/tuple [30, 11] + - !!python/tuple [14, 3] + - !!python/tuple [23, 26] + - !!python/tuple [19, 28] + - !!python/tuple [11, 28] + - !!python/tuple [22, 25] + - !!python/tuple [30, 18] + - !!python/tuple [0, 16] + - !!python/tuple [22, 1] + - !!python/tuple [21, 7] + - !!python/tuple [25, 26] + - !!python/tuple [22, 18] + - !!python/tuple [29, 31] + - !!python/tuple [20, 14] + - !!python/tuple [15, 4] + - !!python/tuple [7, 21] + - !!python/tuple [14, 7] + - !!python/tuple [4, 5] + - !!python/tuple [15, 6] + - !!python/tuple [27, 4] + - !!python/tuple [23, 2] + - !!python/tuple [7, 7] + - !!python/tuple [12, 15] + - !!python/tuple [7, 31] + - !!python/tuple [22, 27] + - !!python/tuple [25, 31] + - !!python/tuple [31, 31] + - !!python/tuple [17, 22] + - !!python/tuple [8, 8] + - !!python/tuple [24, 20] + - !!python/tuple [11, 27] + - !!python/tuple [24, 13] + - !!python/tuple [17, 23] + - !!python/tuple [2, 15] + - !!python/tuple [0, 29] + - !!python/tuple [27, 15] + - !!python/tuple [20, 4] + - !!python/tuple [2, 14] + - !!python/tuple [29, 26] + - !!python/tuple [24, 4] + - !!python/tuple [10, 23] + - !!python/tuple [13, 0] + - !!python/tuple [6, 21] + - !!python/tuple [14, 10] + - !!python/tuple [18, 5] + - !!python/tuple [0, 8] + - !!python/tuple [3, 7] + - !!python/tuple [28, 4] + - !!python/tuple [16, 13] + - !!python/tuple [9, 22] + - !!python/tuple [21, 0] + - !!python/tuple [18, 13] + - !!python/tuple [7, 23] + - !!python/tuple [20, 31] + - !!python/tuple [30, 21] + - !!python/tuple [18, 20] + - !!python/tuple [30, 25] + - !!python/tuple [12, 24] + - !!python/tuple [19, 26] + - !!python/tuple [28, 2] + - !!python/tuple [21, 13] + - !!python/tuple [1, 22] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex77.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex77.yaml new file mode 100644 index 0000000..93f6165 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex77.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [26, 10] + name: agent0 + start: [19, 28] +- goal: [0, 13] + name: agent1 + start: [27, 11] +- goal: [30, 3] + name: agent2 + start: [10, 30] +- goal: [21, 23] + name: agent3 + start: [25, 0] +- goal: [22, 22] + name: agent4 + start: [8, 10] +- goal: [6, 8] + name: agent5 + start: [8, 7] +- goal: [25, 25] + name: agent6 + start: [13, 1] +- goal: [1, 24] + name: agent7 + start: [24, 9] +- goal: [8, 30] + name: agent8 + start: [10, 22] +- goal: [31, 17] + name: agent9 + start: [18, 11] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [27, 15] + - !!python/tuple [26, 26] + - !!python/tuple [15, 16] + - !!python/tuple [23, 10] + - !!python/tuple [1, 3] + - !!python/tuple [3, 16] + - !!python/tuple [10, 12] + - !!python/tuple [22, 31] + - !!python/tuple [27, 6] + - !!python/tuple [7, 28] + - !!python/tuple [1, 0] + - !!python/tuple [8, 19] + - !!python/tuple [6, 13] + - !!python/tuple [16, 31] + - !!python/tuple [13, 16] + - !!python/tuple [16, 12] + - !!python/tuple [7, 24] + - !!python/tuple [20, 0] + - !!python/tuple [0, 18] + - !!python/tuple [6, 1] + - !!python/tuple [26, 29] + - !!python/tuple [29, 31] + - !!python/tuple [22, 17] + - !!python/tuple [14, 10] + - !!python/tuple [28, 31] + - !!python/tuple [29, 12] + - !!python/tuple [27, 2] + - !!python/tuple [25, 26] + - !!python/tuple [21, 10] + - !!python/tuple [23, 2] + - !!python/tuple [14, 7] + - !!python/tuple [19, 23] + - !!python/tuple [3, 4] + - !!python/tuple [29, 3] + - !!python/tuple [23, 4] + - !!python/tuple [0, 26] + - !!python/tuple [22, 19] + - !!python/tuple [10, 7] + - !!python/tuple [0, 30] + - !!python/tuple [9, 31] + - !!python/tuple [3, 20] + - !!python/tuple [16, 3] + - !!python/tuple [24, 25] + - !!python/tuple [10, 3] + - !!python/tuple [10, 26] + - !!python/tuple [24, 18] + - !!python/tuple [6, 12] + - !!python/tuple [27, 1] + - !!python/tuple [31, 7] + - !!python/tuple [16, 13] + - !!python/tuple [19, 11] + - !!python/tuple [19, 24] + - !!python/tuple [31, 21] + - !!python/tuple [26, 31] + - !!python/tuple [2, 15] + - !!python/tuple [24, 28] + - !!python/tuple [17, 2] + - !!python/tuple [18, 27] + - !!python/tuple [10, 25] + - !!python/tuple [20, 15] + - !!python/tuple [11, 13] + - !!python/tuple [21, 30] + - !!python/tuple [28, 8] + - !!python/tuple [19, 19] + - !!python/tuple [27, 24] + - !!python/tuple [4, 22] + - !!python/tuple [17, 26] + - !!python/tuple [4, 26] + - !!python/tuple [7, 9] + - !!python/tuple [2, 11] + - !!python/tuple [17, 22] + - !!python/tuple [20, 29] + - !!python/tuple [4, 25] + - !!python/tuple [5, 19] + - !!python/tuple [15, 8] + - !!python/tuple [3, 5] + - !!python/tuple [6, 28] + - !!python/tuple [12, 11] + - !!python/tuple [11, 20] + - !!python/tuple [15, 7] + - !!python/tuple [19, 31] + - !!python/tuple [19, 16] + - !!python/tuple [3, 29] + - !!python/tuple [26, 2] + - !!python/tuple [30, 8] + 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!!python/tuple [22, 21] + - !!python/tuple [19, 15] + - !!python/tuple [30, 16] + - !!python/tuple [21, 13] + - !!python/tuple [30, 1] + - !!python/tuple [28, 12] + - !!python/tuple [4, 12] + - !!python/tuple [29, 11] + - !!python/tuple [0, 3] + - !!python/tuple [28, 4] + - !!python/tuple [11, 23] + - !!python/tuple [18, 8] + - !!python/tuple [30, 23] + - !!python/tuple [11, 18] + - !!python/tuple [11, 26] + - !!python/tuple [5, 15] + - !!python/tuple [9, 14] + - !!python/tuple [12, 14] + - !!python/tuple [29, 15] + - !!python/tuple [11, 1] + - !!python/tuple [23, 25] + - !!python/tuple [3, 7] + - !!python/tuple [6, 27] + - !!python/tuple [12, 22] + - !!python/tuple [12, 19] + - !!python/tuple [0, 15] + - !!python/tuple [18, 20] + - !!python/tuple [1, 14] + - !!python/tuple [1, 5] + - !!python/tuple [31, 10] + - !!python/tuple [10, 20] + - !!python/tuple [9, 11] + - !!python/tuple [5, 30] + - !!python/tuple [16, 24] + - !!python/tuple [15, 1] + - !!python/tuple [31, 29] + - !!python/tuple [1, 28] + - !!python/tuple [28, 2] + - !!python/tuple [24, 4] + - !!python/tuple [15, 17] + - !!python/tuple [18, 10] + - !!python/tuple [5, 22] + - !!python/tuple [9, 27] + - !!python/tuple [15, 29] + - !!python/tuple [10, 4] + - !!python/tuple [17, 7] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex78.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex78.yaml new file mode 100644 index 0000000..1c62194 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex78.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [18, 22] + name: agent0 + start: [0, 22] +- goal: [2, 31] + name: agent1 + start: [13, 2] +- goal: [23, 21] + name: agent2 + start: [31, 19] +- goal: [10, 17] + name: agent3 + start: [1, 24] +- goal: [10, 7] + name: agent4 + start: [29, 5] +- goal: [17, 12] + name: agent5 + start: [25, 17] +- goal: [20, 25] + name: agent6 + start: [17, 7] +- goal: [27, 24] + name: agent7 + start: [4, 0] +- goal: [22, 27] + name: agent8 + start: [31, 2] +- goal: [24, 27] + name: agent9 + start: [14, 31] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [30, 13] + - !!python/tuple [18, 2] + - !!python/tuple [25, 2] + - !!python/tuple [28, 5] + - !!python/tuple [20, 30] + - !!python/tuple [3, 14] + - !!python/tuple [28, 26] + - !!python/tuple [28, 6] + - !!python/tuple [4, 19] + - !!python/tuple [1, 5] + - !!python/tuple [23, 10] + - !!python/tuple [5, 9] + - !!python/tuple [31, 18] + - !!python/tuple [15, 0] + - !!python/tuple [0, 28] + - !!python/tuple [29, 12] + - !!python/tuple [7, 27] + - !!python/tuple [25, 10] + - !!python/tuple [17, 10] + - !!python/tuple [23, 15] + - !!python/tuple [31, 30] + - !!python/tuple [30, 25] + - !!python/tuple [25, 31] + - !!python/tuple [14, 16] + - !!python/tuple [5, 17] + - !!python/tuple [30, 9] + - !!python/tuple [18, 11] + - !!python/tuple [11, 5] + - !!python/tuple [0, 0] + - !!python/tuple [28, 13] + - 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[12, 31] + - !!python/tuple [25, 15] + - !!python/tuple [22, 30] + - !!python/tuple [27, 19] + - !!python/tuple [6, 3] + - !!python/tuple [28, 20] + - !!python/tuple [6, 24] + - !!python/tuple [4, 18] + - !!python/tuple [23, 1] + - !!python/tuple [11, 17] + - !!python/tuple [23, 2] + - !!python/tuple [21, 15] + - !!python/tuple [6, 7] + - !!python/tuple [30, 21] + - !!python/tuple [16, 19] + - !!python/tuple [31, 24] + - !!python/tuple [4, 8] + - !!python/tuple [7, 19] + - !!python/tuple [10, 13] + - !!python/tuple [26, 15] + - !!python/tuple [26, 29] + - !!python/tuple [21, 22] + - !!python/tuple [1, 13] + - !!python/tuple [17, 16] + - !!python/tuple [27, 18] + - !!python/tuple [13, 25] + - !!python/tuple [27, 16] + - !!python/tuple [18, 31] + - !!python/tuple [22, 3] + - !!python/tuple [19, 27] + - !!python/tuple [25, 7] + - !!python/tuple [7, 25] + - !!python/tuple [7, 10] + - !!python/tuple [13, 17] + - !!python/tuple [7, 6] + - !!python/tuple [31, 0] + - !!python/tuple [6, 15] + - !!python/tuple [0, 27] + - !!python/tuple [10, 18] + - !!python/tuple [28, 2] + - !!python/tuple [7, 3] + - !!python/tuple [2, 2] + - !!python/tuple [8, 8] + - !!python/tuple [26, 24] + - !!python/tuple [15, 8] + - !!python/tuple [10, 21] + - !!python/tuple [9, 19] + - !!python/tuple [21, 10] + - !!python/tuple [7, 22] + - !!python/tuple [4, 30] + - !!python/tuple [29, 4] + - !!python/tuple [26, 7] + - !!python/tuple [27, 5] + - !!python/tuple [9, 21] + - !!python/tuple [16, 9] + - !!python/tuple [5, 1] + - !!python/tuple [8, 6] + - !!python/tuple [2, 24] + - !!python/tuple [16, 2] + - !!python/tuple [22, 13] + - !!python/tuple [21, 3] + - !!python/tuple [22, 5] + - !!python/tuple [24, 0] + - !!python/tuple [6, 2] + - !!python/tuple [1, 12] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex79.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex79.yaml new file mode 100644 index 0000000..b41c40d --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex79.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [27, 14] + name: agent0 + start: [24, 26] +- goal: [1, 14] + name: agent1 + start: [18, 28] +- goal: [26, 20] + name: agent2 + start: [14, 6] +- goal: [22, 20] + name: agent3 + start: [6, 31] +- goal: [24, 2] + name: agent4 + start: [23, 20] +- goal: [7, 3] + name: agent5 + start: [25, 22] +- goal: [22, 22] + name: agent6 + start: [6, 6] +- goal: [24, 0] + name: agent7 + start: [26, 16] +- goal: [18, 30] + name: agent8 + start: [21, 3] +- goal: [29, 31] + name: agent9 + start: [26, 7] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [2, 0] + - !!python/tuple [19, 13] + - !!python/tuple [15, 19] + - !!python/tuple [22, 2] + - !!python/tuple [0, 18] + - !!python/tuple [17, 3] + - !!python/tuple [24, 24] + - !!python/tuple [6, 14] + - !!python/tuple [6, 20] + - !!python/tuple [23, 24] + - !!python/tuple [5, 3] + - !!python/tuple [13, 20] + - !!python/tuple [29, 14] + - !!python/tuple [7, 21] + - !!python/tuple [30, 10] + - !!python/tuple [8, 7] + - !!python/tuple [0, 21] + - !!python/tuple [11, 3] + - !!python/tuple [0, 19] + - !!python/tuple [24, 8] + - !!python/tuple [3, 29] + - !!python/tuple [21, 30] + - !!python/tuple [6, 7] + - !!python/tuple [4, 12] + - !!python/tuple [18, 0] + - !!python/tuple [9, 0] + - !!python/tuple [25, 4] + - !!python/tuple [15, 31] + - !!python/tuple [23, 17] + - !!python/tuple [19, 28] + - !!python/tuple [21, 27] + - !!python/tuple [21, 11] + - !!python/tuple [24, 4] + - !!python/tuple [29, 28] + - !!python/tuple [14, 17] + - !!python/tuple [0, 23] + - !!python/tuple [1, 26] + - !!python/tuple [19, 16] + - !!python/tuple [9, 18] + - !!python/tuple [7, 11] + - !!python/tuple [3, 14] + - !!python/tuple [17, 27] + - !!python/tuple [14, 25] + - !!python/tuple [0, 12] + - !!python/tuple [2, 26] + - !!python/tuple [24, 18] + - !!python/tuple [9, 16] + - !!python/tuple [19, 22] + - !!python/tuple [20, 12] + - !!python/tuple [10, 7] + - !!python/tuple [15, 0] + - !!python/tuple [17, 15] + - !!python/tuple [19, 1] + - !!python/tuple [4, 26] + - !!python/tuple [11, 5] + - !!python/tuple [24, 16] + - !!python/tuple [13, 28] + - !!python/tuple [20, 15] + - !!python/tuple [4, 27] + - !!python/tuple [1, 9] + - !!python/tuple [12, 17] + - !!python/tuple [31, 0] + - !!python/tuple [23, 1] + - !!python/tuple [0, 7] + - !!python/tuple [20, 30] + - !!python/tuple [13, 24] + - !!python/tuple [6, 13] + - !!python/tuple [12, 11] + - !!python/tuple [0, 30] + - !!python/tuple [28, 18] + - !!python/tuple [24, 6] + - !!python/tuple [5, 0] + - !!python/tuple [1, 10] + - !!python/tuple [6, 16] + - !!python/tuple [9, 13] + - !!python/tuple [27, 6] + - !!python/tuple [1, 6] + - !!python/tuple [2, 19] + - !!python/tuple [20, 8] + - !!python/tuple [23, 18] + - !!python/tuple [10, 27] + - !!python/tuple [4, 17] + - !!python/tuple [2, 6] + - !!python/tuple [21, 31] + - !!python/tuple [15, 3] + - !!python/tuple [23, 9] + - !!python/tuple [2, 21] + - !!python/tuple [8, 26] + - !!python/tuple [18, 21] + - !!python/tuple [16, 12] + - !!python/tuple [18, 20] + - !!python/tuple [11, 1] + - !!python/tuple [10, 18] + - !!python/tuple [6, 10] + - !!python/tuple [20, 17] + - !!python/tuple [5, 24] + - !!python/tuple [2, 24] + - !!python/tuple [25, 14] + - !!python/tuple [12, 9] + - !!python/tuple [27, 7] + - !!python/tuple [21, 20] + - !!python/tuple [25, 21] + - !!python/tuple [21, 14] + - !!python/tuple [21, 2] + - !!python/tuple [11, 30] + - !!python/tuple [4, 7] + - !!python/tuple [31, 17] + - !!python/tuple [22, 19] + - !!python/tuple [29, 8] + - !!python/tuple [10, 16] + - !!python/tuple [31, 6] + - !!python/tuple [19, 21] + - !!python/tuple [16, 14] + - !!python/tuple [16, 18] + - !!python/tuple [21, 15] + - !!python/tuple [16, 20] + - !!python/tuple [2, 25] + - !!python/tuple [11, 18] + - !!python/tuple [25, 15] + - !!python/tuple [18, 18] + - !!python/tuple [8, 27] + - !!python/tuple [6, 0] + - !!python/tuple [20, 22] + - !!python/tuple [29, 20] + - !!python/tuple [9, 20] + - !!python/tuple [27, 11] + - !!python/tuple [26, 23] + - !!python/tuple [5, 23] + - !!python/tuple [5, 28] + - !!python/tuple [14, 18] + - !!python/tuple [3, 28] + - !!python/tuple [1, 17] + - !!python/tuple [3, 5] + - !!python/tuple [20, 19] + - !!python/tuple [20, 27] + - !!python/tuple [27, 23] + - !!python/tuple [10, 12] + - !!python/tuple [18, 2] + - !!python/tuple [6, 18] + - !!python/tuple [28, 0] + - !!python/tuple [19, 24] + - !!python/tuple [3, 10] + - !!python/tuple [26, 6] + - !!python/tuple [15, 2] + - !!python/tuple [24, 9] + - !!python/tuple [27, 16] + - !!python/tuple [14, 5] + - !!python/tuple [21, 9] + - !!python/tuple [18, 12] + - !!python/tuple [15, 24] + - !!python/tuple [26, 26] + - !!python/tuple [9, 31] + - !!python/tuple [14, 24] + - !!python/tuple [10, 5] + - !!python/tuple [11, 8] + - !!python/tuple [19, 26] + - !!python/tuple [7, 6] + - !!python/tuple [5, 2] + - !!python/tuple [18, 14] + - !!python/tuple [20, 5] + - !!python/tuple [27, 15] + - !!python/tuple [16, 16] + - !!python/tuple [6, 15] + - !!python/tuple [5, 21] + - !!python/tuple [14, 26] + - !!python/tuple [7, 27] + - !!python/tuple [11, 15] + - !!python/tuple [19, 5] + - !!python/tuple [27, 19] + - !!python/tuple [12, 20] + - !!python/tuple [31, 15] + - !!python/tuple [2, 10] + - !!python/tuple [20, 16] + - !!python/tuple [28, 27] + - !!python/tuple [29, 4] + - !!python/tuple [21, 18] + - !!python/tuple [29, 6] + - !!python/tuple [29, 27] + - !!python/tuple [16, 26] + - !!python/tuple [27, 30] + - !!python/tuple [11, 2] + - !!python/tuple [24, 5] + - !!python/tuple [16, 2] + - !!python/tuple [31, 31] + - !!python/tuple [28, 16] + - !!python/tuple [26, 19] + - !!python/tuple [13, 3] + - !!python/tuple [28, 20] + - !!python/tuple [12, 10] + - !!python/tuple [6, 23] + - !!python/tuple [7, 19] + - !!python/tuple [11, 24] + - !!python/tuple [23, 25] + - !!python/tuple [24, 25] + - !!python/tuple [13, 16] + - !!python/tuple [4, 25] + - !!python/tuple [23, 11] + - !!python/tuple [25, 23] + - !!python/tuple [12, 6] + - !!python/tuple [1, 5] + - !!python/tuple [15, 18] + - !!python/tuple [17, 12] + - !!python/tuple [19, 19] + - !!python/tuple [21, 29] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex8.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex8.yaml new file mode 100644 index 0000000..a93ae25 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex8.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [14, 14] + name: agent0 + start: [17, 31] +- goal: [7, 31] + name: agent1 + start: [20, 28] +- goal: [14, 29] + name: agent2 + start: [20, 11] +- goal: [24, 0] + name: agent3 + start: [4, 6] +- goal: [17, 4] + name: agent4 + start: [3, 9] +- goal: [17, 14] + name: agent5 + start: [9, 8] +- goal: [24, 16] + name: agent6 + start: [20, 6] +- goal: [18, 22] + name: agent7 + start: [18, 29] +- goal: [13, 21] + name: agent8 + start: [23, 14] +- goal: [26, 29] + name: agent9 + start: [14, 27] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [19, 9] + - !!python/tuple [31, 16] + - !!python/tuple [3, 15] + - !!python/tuple [14, 24] + - !!python/tuple [17, 20] + - !!python/tuple [30, 3] + - !!python/tuple [17, 16] + - !!python/tuple [5, 31] + - !!python/tuple [6, 7] + - !!python/tuple [23, 15] + - !!python/tuple [24, 28] + - !!python/tuple [30, 0] + - !!python/tuple [23, 25] + - !!python/tuple [16, 8] + - !!python/tuple [24, 21] + - !!python/tuple [4, 9] + - !!python/tuple [4, 24] + - !!python/tuple [14, 11] + - !!python/tuple [1, 11] + - !!python/tuple [16, 29] + - !!python/tuple [11, 27] + - !!python/tuple [22, 29] + - !!python/tuple [12, 20] + - !!python/tuple [31, 7] + - !!python/tuple [6, 11] + - !!python/tuple [10, 16] + - !!python/tuple [15, 1] + - !!python/tuple [9, 22] + - !!python/tuple [19, 15] + - !!python/tuple [16, 19] + - !!python/tuple [25, 14] + - !!python/tuple [31, 5] + - !!python/tuple [16, 26] + - !!python/tuple [8, 8] + - !!python/tuple [19, 26] + - !!python/tuple [3, 29] + - !!python/tuple [29, 24] + - !!python/tuple [14, 28] + - !!python/tuple [10, 24] + - !!python/tuple [25, 22] + - !!python/tuple [23, 31] + - !!python/tuple [29, 1] + - !!python/tuple [4, 28] + - !!python/tuple [12, 17] + - !!python/tuple [12, 6] + - !!python/tuple [31, 10] + - !!python/tuple [8, 17] + - !!python/tuple [13, 23] + - !!python/tuple [16, 23] + - !!python/tuple [11, 26] + - !!python/tuple [19, 0] + - !!python/tuple [6, 29] + - !!python/tuple [30, 23] + - !!python/tuple [11, 9] + - !!python/tuple [4, 11] + - !!python/tuple [31, 28] + - !!python/tuple [17, 18] + - !!python/tuple [7, 23] + - !!python/tuple [18, 8] + - !!python/tuple [22, 9] + - !!python/tuple [27, 25] + - !!python/tuple [25, 8] + - !!python/tuple [12, 7] + - !!python/tuple [30, 29] + - !!python/tuple [15, 21] + - !!python/tuple [14, 20] + - 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+ - !!python/tuple [30, 18] + - !!python/tuple [16, 5] + - !!python/tuple [8, 3] + - !!python/tuple [15, 8] + - !!python/tuple [2, 2] + - !!python/tuple [7, 0] + - !!python/tuple [19, 4] + - !!python/tuple [27, 17] + - !!python/tuple [9, 24] + - !!python/tuple [16, 2] + - !!python/tuple [17, 6] + - !!python/tuple [9, 15] + - !!python/tuple [1, 19] + - !!python/tuple [8, 2] + - !!python/tuple [2, 17] + - !!python/tuple [28, 10] + - !!python/tuple [8, 23] + - !!python/tuple [28, 31] + - !!python/tuple [10, 11] + - !!python/tuple [29, 0] + - !!python/tuple [5, 1] + - !!python/tuple [27, 8] + - !!python/tuple [8, 15] + - !!python/tuple [28, 18] + - !!python/tuple [17, 30] + - !!python/tuple [10, 30] + - !!python/tuple [24, 23] + - !!python/tuple [9, 0] + - !!python/tuple [0, 8] + - !!python/tuple [10, 6] + - !!python/tuple [30, 8] + - !!python/tuple [24, 6] + - !!python/tuple [29, 15] + - !!python/tuple [28, 19] + - !!python/tuple [1, 13] + - !!python/tuple [9, 20] + - !!python/tuple [7, 16] + - !!python/tuple [25, 18] + - !!python/tuple [24, 9] + - !!python/tuple [13, 16] + - !!python/tuple [1, 24] + - !!python/tuple [27, 16] + - !!python/tuple [19, 6] + - !!python/tuple [11, 14] + - !!python/tuple [18, 7] + - !!python/tuple [16, 22] + - !!python/tuple [14, 12] + - !!python/tuple [11, 20] + - !!python/tuple [2, 20] + - !!python/tuple [4, 4] + - !!python/tuple [25, 21] + - !!python/tuple [22, 6] + - !!python/tuple [10, 29] + - !!python/tuple [8, 25] + - !!python/tuple [16, 6] + - !!python/tuple [3, 16] + - !!python/tuple [22, 12] + - !!python/tuple [17, 28] + - !!python/tuple [9, 23] + - !!python/tuple [8, 26] + - !!python/tuple [3, 30] + - !!python/tuple [29, 30] + - !!python/tuple [16, 24] + - !!python/tuple [25, 9] + - !!python/tuple [7, 6] + - !!python/tuple [25, 5] + - !!python/tuple [14, 4] + - !!python/tuple [12, 30] + - !!python/tuple [5, 27] + - !!python/tuple [14, 8] + - !!python/tuple [30, 30] + - !!python/tuple [7, 7] + - !!python/tuple [18, 10] + - !!python/tuple [11, 21] + - !!python/tuple [29, 29] + - !!python/tuple [24, 1] + - !!python/tuple [8, 18] + - !!python/tuple [12, 2] + - !!python/tuple [6, 21] + - !!python/tuple [12, 29] + - !!python/tuple [31, 17] + - !!python/tuple [5, 10] + - !!python/tuple [7, 18] + - !!python/tuple [12, 14] + - !!python/tuple [23, 12] + - !!python/tuple [23, 28] + - !!python/tuple [25, 11] + - !!python/tuple [2, 11] + - !!python/tuple [25, 26] + - !!python/tuple [5, 25] + - !!python/tuple [4, 7] + - !!python/tuple [12, 11] + - !!python/tuple [28, 25] + - !!python/tuple [17, 24] + - !!python/tuple [3, 13] + - !!python/tuple [22, 7] + - !!python/tuple [15, 26] + - !!python/tuple [1, 14] + - !!python/tuple [26, 20] + - !!python/tuple [6, 20] + - !!python/tuple [16, 17] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex80.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex80.yaml new file mode 100644 index 0000000..d945972 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex80.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [2, 11] + name: agent0 + start: [3, 2] +- goal: [17, 3] + name: agent1 + start: [29, 4] +- goal: [3, 23] + name: agent2 + start: [15, 26] +- goal: [19, 12] + name: agent3 + start: [19, 15] +- goal: [31, 11] + name: agent4 + start: [3, 6] +- goal: [25, 12] + name: agent5 + start: [23, 9] +- goal: [21, 16] + name: agent6 + start: [18, 18] +- goal: [21, 6] + name: agent7 + start: [2, 3] +- goal: [6, 15] + name: agent8 + start: [12, 24] +- goal: [0, 4] + name: agent9 + start: [10, 26] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [20, 27] + - !!python/tuple [23, 24] + - !!python/tuple [27, 8] + - !!python/tuple [19, 6] + - !!python/tuple [14, 15] + - !!python/tuple [18, 22] + - !!python/tuple [19, 11] + - !!python/tuple [13, 15] + - !!python/tuple [4, 21] + - !!python/tuple [16, 3] + - !!python/tuple [27, 6] + - !!python/tuple [26, 27] + - !!python/tuple [20, 8] + - !!python/tuple [5, 24] + - !!python/tuple [9, 7] + - !!python/tuple [11, 23] + - !!python/tuple [20, 11] + - !!python/tuple [24, 7] + - !!python/tuple [15, 16] + - !!python/tuple [29, 19] + - !!python/tuple [12, 31] + - !!python/tuple [10, 15] + - !!python/tuple [28, 6] + - !!python/tuple [28, 29] + - !!python/tuple [8, 8] + - !!python/tuple [25, 23] + - !!python/tuple [1, 25] + - !!python/tuple [13, 25] + - !!python/tuple [9, 21] + - !!python/tuple [31, 25] + - !!python/tuple [21, 22] + - !!python/tuple [16, 4] + - !!python/tuple [20, 13] + - !!python/tuple [8, 3] + - !!python/tuple [21, 29] + - !!python/tuple [20, 12] + - !!python/tuple [9, 30] + - !!python/tuple [2, 24] + - !!python/tuple [12, 20] + - !!python/tuple [10, 6] + - !!python/tuple [20, 1] + - !!python/tuple [29, 25] + - !!python/tuple [14, 28] + - !!python/tuple [13, 4] + - !!python/tuple [17, 20] + - !!python/tuple [15, 11] + - !!python/tuple [26, 8] + - !!python/tuple [8, 7] + - 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!!python/tuple [1, 23] + - !!python/tuple [12, 23] + - !!python/tuple [22, 7] + - !!python/tuple [2, 19] + - !!python/tuple [1, 18] + - !!python/tuple [4, 15] + - !!python/tuple [8, 6] + - !!python/tuple [8, 29] + - !!python/tuple [8, 4] + - !!python/tuple [16, 0] + - !!python/tuple [2, 18] + - !!python/tuple [7, 10] + - !!python/tuple [22, 22] + - !!python/tuple [9, 14] + - !!python/tuple [26, 25] + - !!python/tuple [18, 14] + - !!python/tuple [25, 25] + - !!python/tuple [0, 10] + - !!python/tuple [12, 4] + - !!python/tuple [20, 16] + - !!python/tuple [28, 27] + - !!python/tuple [13, 30] + - !!python/tuple [14, 13] + - !!python/tuple [21, 4] + - !!python/tuple [12, 1] + - !!python/tuple [14, 27] + - !!python/tuple [12, 3] + - !!python/tuple [4, 13] + - !!python/tuple [29, 8] + - !!python/tuple [2, 31] + - !!python/tuple [31, 5] + - !!python/tuple [20, 2] + - !!python/tuple [4, 16] + - !!python/tuple [2, 21] + - !!python/tuple [6, 30] + - !!python/tuple [29, 7] + - !!python/tuple [16, 22] + - !!python/tuple [22, 23] + - !!python/tuple [29, 24] + - !!python/tuple [14, 6] + - !!python/tuple [13, 29] + - !!python/tuple [9, 3] + - !!python/tuple [16, 23] + - !!python/tuple [18, 27] + - !!python/tuple [31, 2] + - !!python/tuple [22, 13] + - !!python/tuple [14, 11] + - !!python/tuple [25, 29] + - !!python/tuple [8, 19] + - !!python/tuple [12, 26] + - !!python/tuple [13, 19] + - !!python/tuple [21, 8] + - !!python/tuple [31, 19] + - !!python/tuple [11, 19] + - !!python/tuple [9, 4] + - !!python/tuple [19, 23] + - !!python/tuple [20, 21] + - !!python/tuple [9, 11] + - !!python/tuple [12, 21] + - !!python/tuple [31, 12] + - !!python/tuple [11, 28] + - !!python/tuple [27, 26] + - !!python/tuple [27, 10] + - !!python/tuple [19, 24] + - !!python/tuple [13, 31] + - !!python/tuple [19, 8] + - !!python/tuple [14, 22] + - !!python/tuple [11, 15] + - !!python/tuple [20, 28] + - !!python/tuple [18, 13] + - !!python/tuple [24, 9] + - !!python/tuple [2, 22] + - !!python/tuple [1, 17] + - !!python/tuple [31, 3] + - !!python/tuple [6, 1] + - !!python/tuple [16, 7] + - !!python/tuple [6, 25] + - !!python/tuple [29, 6] + - !!python/tuple [17, 23] + - !!python/tuple [11, 11] + - !!python/tuple [5, 6] + - !!python/tuple [9, 2] + - !!python/tuple [7, 8] + - !!python/tuple [24, 0] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex81.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex81.yaml new file mode 100644 index 0000000..359e1e9 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex81.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [31, 15] + name: agent0 + start: [9, 31] +- goal: [1, 11] + name: agent1 + start: [8, 28] +- goal: [16, 10] + name: agent2 + start: [11, 5] +- goal: [0, 10] + name: agent3 + start: [16, 10] +- goal: [25, 1] + name: agent4 + start: [5, 23] +- goal: [6, 22] + name: agent5 + start: [24, 20] +- goal: [18, 3] + name: agent6 + start: [31, 5] +- goal: [14, 18] + name: agent7 + start: [20, 25] +- goal: [10, 6] + name: agent8 + start: [16, 26] +- goal: [24, 31] + name: agent9 + start: [28, 6] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [12, 7] + - !!python/tuple [14, 15] + - !!python/tuple [5, 16] + - !!python/tuple [26, 7] + - !!python/tuple [13, 10] + - !!python/tuple [21, 2] + - !!python/tuple [2, 20] + - !!python/tuple [16, 21] + - !!python/tuple [6, 24] + - !!python/tuple [9, 21] + - !!python/tuple [30, 14] + - !!python/tuple [21, 31] + - !!python/tuple [4, 1] + - !!python/tuple [16, 7] + - !!python/tuple [20, 1] + - !!python/tuple [2, 17] + - !!python/tuple [4, 26] + - !!python/tuple [17, 10] + - !!python/tuple [20, 18] + - !!python/tuple [24, 8] + - !!python/tuple [2, 19] + - !!python/tuple [26, 25] + - !!python/tuple [22, 0] + - !!python/tuple [9, 4] + - !!python/tuple [10, 15] + - !!python/tuple [5, 31] + - !!python/tuple [12, 13] + - !!python/tuple [16, 13] + - !!python/tuple [26, 5] + - !!python/tuple [20, 12] + - !!python/tuple [6, 15] + - !!python/tuple [13, 8] + - !!python/tuple [8, 16] + - !!python/tuple [1, 18] + - !!python/tuple [10, 23] + - !!python/tuple [19, 21] + - !!python/tuple [19, 2] + - !!python/tuple [10, 0] + - !!python/tuple [4, 28] + - !!python/tuple [2, 24] + - !!python/tuple [27, 31] + - !!python/tuple [2, 7] + - !!python/tuple [2, 3] + - !!python/tuple [11, 31] + - !!python/tuple [17, 18] + - !!python/tuple [21, 20] + - !!python/tuple [1, 27] + - !!python/tuple [9, 15] + - !!python/tuple [24, 12] + - !!python/tuple [6, 6] + - !!python/tuple [7, 13] + - !!python/tuple [3, 5] + - !!python/tuple [11, 1] + - !!python/tuple [23, 11] + - !!python/tuple [20, 28] + - !!python/tuple [15, 7] + - !!python/tuple [21, 3] + - !!python/tuple [18, 30] + - !!python/tuple [27, 25] + - !!python/tuple [17, 2] + - !!python/tuple [16, 16] + - !!python/tuple [8, 25] + - !!python/tuple [17, 22] + - !!python/tuple [15, 1] + - !!python/tuple [9, 26] + - !!python/tuple [7, 26] + - !!python/tuple [1, 30] + - !!python/tuple [19, 16] + - !!python/tuple [29, 21] + - !!python/tuple [26, 0] + - !!python/tuple [24, 25] + - !!python/tuple [15, 15] + - !!python/tuple [4, 24] + - !!python/tuple [8, 2] + - !!python/tuple [19, 11] + - !!python/tuple [19, 4] + - !!python/tuple [24, 17] + - !!python/tuple [9, 18] + - !!python/tuple [9, 24] + - !!python/tuple [13, 1] + - !!python/tuple [30, 17] + - !!python/tuple [25, 26] + - !!python/tuple [30, 0] + - !!python/tuple [0, 7] + - !!python/tuple [12, 29] + - !!python/tuple [21, 21] + - !!python/tuple [1, 28] + - !!python/tuple [11, 9] + - !!python/tuple [30, 5] + - !!python/tuple [28, 16] + - !!python/tuple [20, 8] + - !!python/tuple [0, 2] + - !!python/tuple [18, 18] + - !!python/tuple [28, 9] + - !!python/tuple [5, 9] + - !!python/tuple [7, 30] + - !!python/tuple [29, 0] + - !!python/tuple [25, 8] + - !!python/tuple [8, 13] + - !!python/tuple [31, 30] + - !!python/tuple [12, 31] + - !!python/tuple [10, 31] + - 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[4, 0] + - !!python/tuple [12, 15] + - !!python/tuple [7, 8] + - !!python/tuple [27, 15] + - !!python/tuple [5, 4] + - !!python/tuple [4, 10] + - !!python/tuple [15, 24] + - !!python/tuple [27, 28] + - !!python/tuple [21, 5] + - !!python/tuple [16, 6] + - !!python/tuple [0, 12] + - !!python/tuple [14, 23] + - !!python/tuple [27, 6] + - !!python/tuple [10, 9] + - !!python/tuple [1, 13] + - !!python/tuple [12, 12] + - !!python/tuple [28, 0] + - !!python/tuple [3, 19] + - !!python/tuple [10, 17] + - !!python/tuple [17, 20] + - !!python/tuple [15, 9] + - !!python/tuple [11, 24] + - !!python/tuple [15, 21] + - !!python/tuple [13, 31] + - !!python/tuple [15, 2] + - !!python/tuple [25, 10] + - !!python/tuple [28, 1] + - !!python/tuple [1, 20] + - !!python/tuple [9, 25] + - !!python/tuple [11, 13] + - !!python/tuple [30, 18] + - !!python/tuple [25, 12] + - !!python/tuple [18, 7] + - !!python/tuple [27, 19] + - !!python/tuple [3, 7] + - !!python/tuple [13, 7] + - !!python/tuple [9, 16] + - !!python/tuple [12, 11] + - !!python/tuple [31, 28] + - !!python/tuple [11, 26] + - !!python/tuple [24, 4] + - !!python/tuple [2, 9] + - !!python/tuple [7, 2] + - !!python/tuple [22, 22] + - !!python/tuple [19, 12] + - !!python/tuple [16, 4] + - !!python/tuple [23, 17] + - !!python/tuple [6, 11] + - !!python/tuple [9, 11] + - !!python/tuple [16, 11] + - !!python/tuple [6, 23] + - !!python/tuple [5, 29] + - !!python/tuple [28, 5] + - !!python/tuple [3, 29] + - !!python/tuple [2, 8] + - !!python/tuple [2, 15] + - !!python/tuple [25, 28] + - !!python/tuple [20, 9] + - !!python/tuple [7, 31] + - !!python/tuple [29, 22] + - !!python/tuple [19, 14] + - !!python/tuple [14, 11] + - !!python/tuple [11, 2] + - !!python/tuple [6, 8] + - !!python/tuple [19, 5] + - !!python/tuple [23, 4] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex82.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex82.yaml new file mode 100644 index 0000000..5716ada --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex82.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [6, 5] + name: agent0 + start: [31, 24] +- goal: [19, 22] + name: agent1 + start: [28, 19] +- goal: [17, 20] + name: agent2 + start: [13, 5] +- goal: [25, 16] + name: agent3 + start: [2, 30] +- goal: [4, 19] + name: agent4 + start: [6, 6] +- goal: [2, 21] + name: agent5 + start: [30, 4] +- goal: [9, 0] + name: agent6 + start: [23, 28] +- goal: [2, 7] + name: agent7 + start: [18, 31] +- goal: [7, 30] + name: agent8 + start: [29, 24] +- goal: [31, 12] + name: agent9 + start: [17, 23] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [10, 9] + - !!python/tuple [21, 7] + - !!python/tuple [24, 9] + - !!python/tuple [2, 9] + - !!python/tuple [16, 16] + - !!python/tuple [4, 14] + - !!python/tuple [13, 28] + - !!python/tuple [27, 23] + - !!python/tuple [20, 7] + - !!python/tuple [3, 18] + - !!python/tuple [30, 28] + - 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3] + - !!python/tuple [18, 23] + - !!python/tuple [6, 13] + - !!python/tuple [1, 17] + - !!python/tuple [17, 27] + - !!python/tuple [21, 30] + - !!python/tuple [3, 15] + - !!python/tuple [9, 5] + - !!python/tuple [3, 24] + - !!python/tuple [14, 9] + - !!python/tuple [1, 11] + - !!python/tuple [0, 25] + - !!python/tuple [10, 24] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex83.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex83.yaml new file mode 100644 index 0000000..0ce3d07 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex83.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [31, 1] + name: agent0 + start: [1, 15] +- goal: [17, 21] + name: agent1 + start: [11, 28] +- goal: [5, 23] + name: agent2 + start: [20, 26] +- goal: [16, 1] + name: agent3 + start: [12, 1] +- goal: [29, 24] + name: agent4 + start: [30, 16] +- goal: [10, 2] + name: agent5 + start: [14, 26] +- goal: [27, 12] + name: agent6 + start: [1, 22] +- goal: [16, 22] + name: agent7 + start: [24, 4] +- goal: [13, 20] + name: agent8 + start: [22, 15] +- goal: [16, 13] + name: agent9 + start: [5, 3] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [8, 24] + - !!python/tuple [24, 0] + - !!python/tuple [21, 13] + - !!python/tuple [19, 12] + - !!python/tuple [28, 21] + - !!python/tuple [15, 2] + - !!python/tuple [17, 27] + - !!python/tuple [3, 1] + - !!python/tuple [1, 19] + - !!python/tuple [24, 20] + - !!python/tuple [7, 29] + - !!python/tuple [6, 30] + - !!python/tuple [11, 11] + - !!python/tuple [17, 16] + - !!python/tuple [15, 10] + - !!python/tuple [20, 17] + - !!python/tuple [31, 30] + - !!python/tuple [0, 21] + - !!python/tuple [12, 27] + - !!python/tuple [3, 20] + - !!python/tuple [5, 19] + - !!python/tuple [23, 17] + - !!python/tuple [15, 19] + - !!python/tuple [24, 12] + - !!python/tuple [10, 11] + - !!python/tuple [27, 24] + - !!python/tuple [29, 11] + - !!python/tuple [12, 14] + - !!python/tuple [11, 20] + - !!python/tuple [18, 18] + - !!python/tuple [4, 31] + - !!python/tuple [28, 9] + - !!python/tuple [9, 19] + - !!python/tuple [0, 5] + - !!python/tuple [7, 23] + - !!python/tuple [5, 11] + - !!python/tuple [7, 13] + - !!python/tuple [19, 4] + - !!python/tuple [16, 18] + - !!python/tuple [8, 6] + - !!python/tuple [0, 13] + - !!python/tuple [15, 12] + - !!python/tuple [8, 29] + - !!python/tuple [25, 29] + - !!python/tuple [21, 16] + - !!python/tuple [29, 5] + - !!python/tuple [13, 8] + - !!python/tuple [16, 2] + - !!python/tuple [3, 19] + - !!python/tuple [7, 28] + - !!python/tuple [27, 10] + - !!python/tuple [31, 9] + - !!python/tuple [19, 6] + - !!python/tuple [18, 8] + - !!python/tuple [28, 29] + - !!python/tuple [31, 10] + - !!python/tuple [4, 2] + - !!python/tuple [19, 16] + - !!python/tuple [14, 4] + - !!python/tuple [12, 28] + - !!python/tuple [18, 26] + - !!python/tuple [5, 30] + - !!python/tuple [4, 24] + - !!python/tuple 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24] + - !!python/tuple [28, 10] + - !!python/tuple [27, 31] + - !!python/tuple [20, 29] + - !!python/tuple [31, 28] + - !!python/tuple [23, 29] + - !!python/tuple [27, 5] + - !!python/tuple [10, 12] + - !!python/tuple [27, 3] + - !!python/tuple [6, 29] + - !!python/tuple [23, 9] + - !!python/tuple [5, 25] + - !!python/tuple [29, 28] + - !!python/tuple [8, 20] + - !!python/tuple [26, 30] + - !!python/tuple [30, 23] + - !!python/tuple [18, 29] + - !!python/tuple [26, 27] + - !!python/tuple [12, 25] + - !!python/tuple [3, 6] + - !!python/tuple [7, 30] + - !!python/tuple [1, 28] + - !!python/tuple [13, 29] + - !!python/tuple [1, 3] + - !!python/tuple [0, 6] + - !!python/tuple [18, 31] + - !!python/tuple [1, 14] + - !!python/tuple [10, 25] + - !!python/tuple [30, 12] + - !!python/tuple [23, 10] + - !!python/tuple [27, 26] + - !!python/tuple [3, 11] + - !!python/tuple [15, 11] + - !!python/tuple [5, 1] + - !!python/tuple [27, 29] + - !!python/tuple [28, 19] + - !!python/tuple [17, 31] + - !!python/tuple [21, 24] + - !!python/tuple [30, 26] + - !!python/tuple [23, 8] + - !!python/tuple [5, 8] + - !!python/tuple [20, 23] + - !!python/tuple [7, 27] + - !!python/tuple [25, 31] + - !!python/tuple [16, 14] + - !!python/tuple [25, 24] + - !!python/tuple [3, 12] + - !!python/tuple [13, 28] + - !!python/tuple [6, 0] + - !!python/tuple [15, 14] + - !!python/tuple [2, 31] + - !!python/tuple [13, 24] + - !!python/tuple [27, 23] + - !!python/tuple [12, 24] + - !!python/tuple [0, 17] + - !!python/tuple [19, 27] + - !!python/tuple [10, 4] + - !!python/tuple [29, 3] + - !!python/tuple [4, 18] + - !!python/tuple [18, 14] + - !!python/tuple [20, 13] + - !!python/tuple [12, 11] + - !!python/tuple [11, 17] + - !!python/tuple [30, 21] + - !!python/tuple [5, 28] + - !!python/tuple [2, 25] + - !!python/tuple [8, 27] + - !!python/tuple [23, 18] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex84.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex84.yaml new file mode 100644 index 0000000..8e94293 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex84.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [22, 11] + name: agent0 + start: [14, 10] +- goal: [18, 22] + name: agent1 + start: [2, 11] +- goal: [0, 2] + name: agent2 + start: [13, 29] +- goal: [2, 20] + name: agent3 + start: [2, 8] +- goal: [21, 9] + name: agent4 + start: [5, 16] +- goal: [5, 4] + name: agent5 + start: [11, 22] +- goal: [28, 30] + name: agent6 + start: [30, 10] +- goal: [2, 12] + name: agent7 + start: [28, 0] +- goal: [20, 24] + name: agent8 + start: [9, 16] +- goal: [27, 20] + name: agent9 + start: [29, 31] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [18, 4] + - !!python/tuple [22, 12] + - !!python/tuple [4, 26] + - !!python/tuple [10, 21] + - !!python/tuple [26, 29] + - !!python/tuple [23, 10] + - !!python/tuple [0, 5] + - !!python/tuple [18, 6] + - !!python/tuple [7, 15] + - !!python/tuple [24, 5] + - !!python/tuple [16, 17] + - !!python/tuple [6, 26] + - !!python/tuple [12, 3] + - !!python/tuple [31, 23] + - !!python/tuple [15, 13] + - !!python/tuple [21, 23] + - !!python/tuple [13, 18] + - !!python/tuple [0, 25] + - !!python/tuple [16, 31] + - !!python/tuple [13, 5] + - !!python/tuple [8, 10] + - !!python/tuple [13, 17] + - !!python/tuple [8, 9] + - !!python/tuple [15, 12] + - !!python/tuple [22, 4] + - !!python/tuple [19, 9] + - !!python/tuple [28, 17] + - !!python/tuple [30, 12] + - !!python/tuple [9, 27] + - !!python/tuple [12, 2] + - !!python/tuple [11, 29] + - !!python/tuple [17, 30] + - !!python/tuple [30, 15] + - !!python/tuple [24, 17] + - !!python/tuple [1, 22] + - !!python/tuple [22, 15] + - !!python/tuple [1, 13] + - !!python/tuple [7, 23] + - !!python/tuple [7, 3] + - !!python/tuple [7, 20] + - !!python/tuple [23, 21] + - !!python/tuple [20, 7] + - !!python/tuple [0, 20] + - !!python/tuple [0, 9] + - !!python/tuple [21, 1] + - !!python/tuple [23, 30] + - !!python/tuple [30, 14] + - !!python/tuple [29, 17] + - !!python/tuple [24, 13] + - !!python/tuple [6, 20] + - !!python/tuple [23, 12] + - !!python/tuple [10, 0] + - !!python/tuple [26, 5] + - !!python/tuple [29, 22] + - !!python/tuple [5, 27] + - !!python/tuple [3, 30] + - !!python/tuple [15, 18] + - !!python/tuple [31, 29] + - !!python/tuple [21, 5] + - !!python/tuple [5, 8] + - !!python/tuple [8, 8] + - !!python/tuple [4, 16] + - !!python/tuple [4, 30] + - !!python/tuple [31, 1] + - !!python/tuple [19, 13] + - !!python/tuple [27, 25] + - !!python/tuple [3, 8] + - !!python/tuple [26, 23] + - !!python/tuple [1, 17] + - !!python/tuple [30, 31] + - !!python/tuple [5, 11] + - !!python/tuple [31, 12] + - !!python/tuple [11, 1] + - !!python/tuple [16, 10] + - !!python/tuple [19, 5] + - !!python/tuple [30, 0] + - !!python/tuple [9, 9] + - !!python/tuple [18, 28] + - !!python/tuple [0, 17] + - !!python/tuple [27, 24] + - !!python/tuple [31, 11] + - !!python/tuple [12, 8] + - !!python/tuple [16, 13] + - !!python/tuple [26, 8] + - !!python/tuple [28, 3] + - !!python/tuple [17, 9] + - !!python/tuple [13, 10] + - !!python/tuple [1, 6] + - !!python/tuple [4, 28] + - !!python/tuple [20, 1] + - !!python/tuple [29, 13] + - !!python/tuple [21, 2] + - !!python/tuple [17, 16] + - !!python/tuple [26, 24] + - !!python/tuple [8, 25] + - !!python/tuple [25, 20] + - !!python/tuple [23, 15] + - !!python/tuple [20, 17] + - !!python/tuple [5, 24] + - !!python/tuple [8, 26] + - !!python/tuple [16, 30] + - !!python/tuple [10, 27] + - !!python/tuple [5, 10] + - !!python/tuple [5, 1] + - !!python/tuple [16, 1] + - !!python/tuple [14, 8] + - !!python/tuple [16, 5] + - !!python/tuple [26, 10] + - !!python/tuple [0, 14] + - !!python/tuple [7, 1] + - !!python/tuple [4, 2] + - !!python/tuple [16, 18] + - !!python/tuple [13, 9] + - !!python/tuple [17, 15] + - !!python/tuple [31, 14] + - !!python/tuple [30, 22] + - !!python/tuple [21, 0] + - !!python/tuple [2, 17] + - !!python/tuple [29, 15] + - !!python/tuple [4, 20] + - !!python/tuple [11, 9] + - !!python/tuple [17, 0] + - !!python/tuple [30, 20] + - !!python/tuple [11, 30] + - !!python/tuple [24, 14] + - !!python/tuple [14, 14] + - !!python/tuple [3, 24] + - !!python/tuple [11, 18] + - !!python/tuple [12, 28] + - !!python/tuple [18, 30] + - !!python/tuple [26, 17] + - !!python/tuple [4, 8] + - !!python/tuple [14, 24] + - !!python/tuple [17, 24] + - !!python/tuple [28, 23] + - !!python/tuple [30, 3] + - !!python/tuple [19, 11] + - !!python/tuple [13, 13] + - !!python/tuple [6, 6] + - !!python/tuple [27, 1] + - !!python/tuple [2, 18] + - !!python/tuple [15, 24] + - !!python/tuple [11, 4] + - !!python/tuple [17, 12] + - !!python/tuple [3, 25] + - !!python/tuple [1, 24] + - !!python/tuple [24, 6] + - !!python/tuple [19, 14] + - !!python/tuple [18, 21] + - !!python/tuple [25, 19] + - !!python/tuple [3, 6] + - !!python/tuple [11, 17] + - !!python/tuple [17, 23] + - !!python/tuple [22, 18] + - !!python/tuple [9, 5] + - !!python/tuple [9, 18] + - !!python/tuple [5, 31] + - !!python/tuple [11, 27] + - !!python/tuple [5, 0] + - !!python/tuple [24, 12] + - !!python/tuple [2, 16] + - !!python/tuple [9, 10] + - !!python/tuple [6, 7] + - !!python/tuple [30, 30] + - !!python/tuple [21, 30] + - !!python/tuple [12, 13] + - !!python/tuple [27, 27] + - !!python/tuple [30, 9] + - !!python/tuple [14, 6] + - !!python/tuple [7, 8] + - !!python/tuple [25, 18] + - !!python/tuple [12, 1] + - !!python/tuple [2, 7] + - !!python/tuple [13, 14] + - !!python/tuple [4, 1] + - !!python/tuple [25, 2] + - !!python/tuple [16, 19] + - !!python/tuple [20, 0] + - !!python/tuple [16, 8] + - !!python/tuple [23, 24] + - !!python/tuple [4, 0] + - !!python/tuple [2, 15] + - !!python/tuple [8, 29] + - !!python/tuple [13, 26] + - !!python/tuple [3, 1] + - !!python/tuple [9, 6] + - !!python/tuple [12, 20] + - !!python/tuple [21, 18] + - !!python/tuple [7, 4] + - !!python/tuple [31, 22] + - !!python/tuple [29, 6] + - !!python/tuple [4, 15] + - !!python/tuple [8, 19] + - !!python/tuple [29, 23] + - !!python/tuple [12, 6] + - !!python/tuple [23, 27] + - !!python/tuple [18, 16] + - !!python/tuple [27, 30] + - !!python/tuple [26, 12] + - !!python/tuple [3, 7] + - !!python/tuple [4, 25] + - !!python/tuple [10, 12] + - !!python/tuple [30, 26] + - !!python/tuple [19, 8] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex85.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex85.yaml new file mode 100644 index 0000000..4bd44d7 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex85.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [31, 17] + name: agent0 + start: [8, 9] +- goal: [13, 14] + name: agent1 + start: [10, 27] +- goal: [5, 15] + name: agent2 + start: [31, 22] +- goal: [14, 10] + name: agent3 + start: [27, 19] +- goal: [13, 28] + name: agent4 + start: [3, 13] +- goal: [14, 15] + name: agent5 + start: [22, 10] +- goal: [3, 3] + name: agent6 + start: [6, 13] +- goal: [3, 5] + name: agent7 + start: [9, 21] +- goal: [4, 28] + name: agent8 + start: [11, 2] +- goal: [6, 24] + name: agent9 + start: [17, 0] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [31, 7] + - !!python/tuple [10, 3] + - !!python/tuple [6, 2] + - !!python/tuple [30, 14] + - !!python/tuple [28, 24] + - !!python/tuple [29, 25] + - !!python/tuple [10, 6] + - !!python/tuple [3, 20] + - !!python/tuple [11, 12] + - !!python/tuple [17, 11] + - !!python/tuple [6, 0] + - !!python/tuple [24, 26] + - !!python/tuple [8, 18] + - !!python/tuple [15, 13] + - !!python/tuple [0, 8] + - !!python/tuple [10, 28] + - !!python/tuple [16, 17] + - !!python/tuple [19, 5] + - !!python/tuple [15, 5] + - !!python/tuple [23, 20] + - !!python/tuple [9, 28] + - !!python/tuple [12, 23] + - !!python/tuple [9, 2] + - !!python/tuple [6, 11] + - !!python/tuple [18, 17] + - !!python/tuple [24, 5] + - !!python/tuple [2, 7] + - !!python/tuple [22, 21] + - !!python/tuple [11, 17] + - !!python/tuple [0, 28] + - !!python/tuple [6, 27] + - !!python/tuple [25, 10] + - !!python/tuple [11, 24] + - !!python/tuple [18, 2] + - !!python/tuple [26, 3] + - !!python/tuple [15, 1] + - !!python/tuple [1, 22] + - !!python/tuple [4, 12] + - !!python/tuple [13, 5] + - !!python/tuple [21, 23] + - !!python/tuple [21, 8] + - !!python/tuple [4, 14] + - !!python/tuple [0, 22] + - !!python/tuple [9, 16] + - !!python/tuple [4, 22] + - !!python/tuple [8, 28] + - !!python/tuple [5, 21] + - !!python/tuple [12, 27] + - !!python/tuple [9, 6] + - !!python/tuple [31, 31] + - !!python/tuple [25, 12] + - !!python/tuple [0, 27] + - !!python/tuple [19, 25] + - !!python/tuple [27, 2] + - !!python/tuple [15, 24] + - !!python/tuple [6, 1] + - !!python/tuple [7, 8] + - !!python/tuple [22, 29] + - !!python/tuple [6, 16] + - !!python/tuple [2, 8] + - !!python/tuple [8, 7] + - !!python/tuple [17, 13] + - !!python/tuple [8, 13] + - !!python/tuple [6, 30] + - !!python/tuple [18, 20] + - !!python/tuple [7, 14] + - !!python/tuple [13, 26] + - !!python/tuple [13, 20] + - !!python/tuple [25, 11] + - !!python/tuple [6, 3] + - !!python/tuple [17, 7] + - !!python/tuple [11, 23] + - !!python/tuple [29, 21] + - !!python/tuple [2, 20] + - !!python/tuple [12, 8] + - !!python/tuple [31, 0] + - !!python/tuple [1, 26] + - !!python/tuple [30, 21] + - !!python/tuple [25, 26] + - !!python/tuple [2, 23] + - !!python/tuple [28, 29] + - !!python/tuple [29, 13] + - !!python/tuple [14, 12] + - !!python/tuple [31, 8] + - !!python/tuple [5, 7] + - !!python/tuple [8, 10] + - !!python/tuple [24, 25] + - !!python/tuple [29, 18] + - !!python/tuple [29, 10] + - !!python/tuple [14, 19] + - !!python/tuple [4, 13] + - !!python/tuple [25, 14] + - !!python/tuple [3, 11] + - !!python/tuple [21, 22] + - !!python/tuple [10, 25] + - !!python/tuple [25, 21] + - !!python/tuple [31, 6] + - !!python/tuple [10, 10] + - !!python/tuple [30, 2] + - !!python/tuple [10, 22] + - !!python/tuple [18, 30] + - !!python/tuple [28, 2] + - !!python/tuple [22, 8] + - !!python/tuple [14, 22] + - !!python/tuple [8, 6] + - !!python/tuple [27, 29] + - !!python/tuple [29, 2] + - !!python/tuple [19, 15] + - !!python/tuple [8, 2] + - !!python/tuple [23, 13] + - !!python/tuple [26, 5] + - !!python/tuple [29, 6] + - !!python/tuple [28, 30] + - !!python/tuple [15, 2] + - !!python/tuple [17, 15] + - !!python/tuple [11, 29] + - !!python/tuple [19, 29] + - !!python/tuple [0, 30] + - !!python/tuple [4, 4] + - !!python/tuple [16, 15] + - !!python/tuple [29, 24] + - !!python/tuple [25, 30] + - !!python/tuple [31, 16] + - !!python/tuple [9, 22] + - !!python/tuple [28, 20] + - !!python/tuple [6, 26] + - !!python/tuple [20, 28] + - !!python/tuple [26, 26] + - !!python/tuple [22, 19] + - !!python/tuple [6, 17] + - !!python/tuple [1, 9] + - !!python/tuple [22, 2] + - !!python/tuple [12, 29] + - !!python/tuple [10, 12] + - !!python/tuple [7, 15] + - !!python/tuple [22, 7] + - !!python/tuple [23, 0] + - !!python/tuple [7, 28] + - !!python/tuple [24, 23] + - !!python/tuple [4, 21] + - !!python/tuple [30, 8] + - !!python/tuple [18, 12] + - !!python/tuple [12, 22] + - !!python/tuple [26, 11] + - !!python/tuple [6, 6] + - !!python/tuple [12, 15] + - !!python/tuple [11, 8] + - !!python/tuple [0, 2] + - !!python/tuple [20, 10] + - !!python/tuple [16, 13] + - !!python/tuple [2, 10] + - !!python/tuple [24, 30] + - !!python/tuple [7, 18] + - !!python/tuple [24, 2] + - !!python/tuple [27, 24] + - !!python/tuple [13, 21] + - !!python/tuple [16, 22] + - !!python/tuple [24, 29] + - !!python/tuple [9, 9] + - !!python/tuple [19, 2] + - !!python/tuple [21, 11] + - !!python/tuple [9, 5] + - !!python/tuple [26, 2] + - !!python/tuple [26, 22] + - !!python/tuple [8, 3] + - !!python/tuple [5, 2] + - !!python/tuple [28, 8] + - !!python/tuple [1, 0] + - !!python/tuple [8, 29] + - !!python/tuple [9, 19] + - !!python/tuple [31, 14] + - !!python/tuple [7, 16] + - !!python/tuple [2, 1] + - !!python/tuple [21, 20] + - !!python/tuple [11, 18] + - !!python/tuple [24, 15] + - !!python/tuple [20, 2] + - !!python/tuple [4, 31] + - !!python/tuple [30, 23] + - !!python/tuple [0, 16] + - !!python/tuple [1, 25] + - !!python/tuple [9, 30] + - !!python/tuple [2, 24] + - !!python/tuple [3, 24] + - !!python/tuple [28, 0] + - !!python/tuple [22, 13] + - !!python/tuple [5, 8] + - !!python/tuple [24, 9] + - !!python/tuple [17, 5] + - !!python/tuple [4, 1] + - !!python/tuple [24, 7] + - !!python/tuple [30, 30] + - !!python/tuple [17, 21] + - !!python/tuple [7, 13] + - !!python/tuple [27, 12] + - !!python/tuple [14, 11] + - !!python/tuple [7, 17] + - !!python/tuple [20, 26] + - !!python/tuple [17, 4] + - !!python/tuple [30, 27] + - !!python/tuple [19, 28] + - !!python/tuple [14, 4] + - !!python/tuple [1, 14] + - !!python/tuple [17, 16] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex86.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex86.yaml new file mode 100644 index 0000000..7a0ce7e --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex86.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [29, 14] + name: agent0 + start: [4, 8] +- goal: [15, 9] + name: agent1 + start: [1, 17] +- goal: [31, 31] + name: agent2 + start: [8, 3] +- goal: [6, 29] + name: agent3 + start: [3, 27] +- goal: [24, 7] + name: agent4 + start: [15, 12] +- goal: [5, 29] + name: agent5 + start: [4, 20] +- goal: [26, 26] + name: agent6 + start: [9, 12] +- goal: [17, 28] + name: agent7 + start: [24, 25] +- goal: [3, 26] + name: agent8 + start: [20, 19] +- goal: [21, 8] + name: agent9 + start: [30, 9] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [4, 9] + - !!python/tuple [3, 0] + - !!python/tuple [12, 28] + - !!python/tuple [16, 26] + - !!python/tuple [2, 22] + - !!python/tuple [12, 11] + - !!python/tuple [11, 9] + - !!python/tuple [15, 4] + - !!python/tuple [24, 19] + - !!python/tuple [12, 24] + - !!python/tuple [10, 6] + - !!python/tuple [0, 5] + - !!python/tuple [19, 23] + - !!python/tuple [0, 27] + - !!python/tuple [31, 3] + - !!python/tuple [19, 29] + - !!python/tuple [14, 6] + - !!python/tuple [28, 22] + - !!python/tuple [17, 11] + - !!python/tuple [4, 14] + - !!python/tuple [23, 23] + - !!python/tuple [2, 11] + - !!python/tuple [26, 5] + - !!python/tuple [4, 12] + - !!python/tuple [14, 24] + - !!python/tuple [0, 22] + - !!python/tuple [18, 26] + - !!python/tuple [8, 28] + - !!python/tuple [7, 1] + - !!python/tuple [14, 27] + - !!python/tuple [6, 30] + - !!python/tuple [11, 5] + - !!python/tuple [27, 2] + - !!python/tuple [2, 20] + - !!python/tuple [6, 15] + - !!python/tuple [8, 7] + - !!python/tuple [18, 8] + - !!python/tuple [26, 10] + - !!python/tuple [26, 16] + - !!python/tuple [20, 17] + - !!python/tuple [2, 0] + - !!python/tuple [27, 3] + - !!python/tuple [2, 17] + - !!python/tuple [6, 28] + - !!python/tuple [3, 16] + - !!python/tuple [7, 22] + - !!python/tuple [1, 31] + - !!python/tuple [5, 8] + - !!python/tuple [25, 20] + - !!python/tuple [5, 18] + - !!python/tuple [21, 20] + - !!python/tuple [14, 3] + - !!python/tuple [20, 4] + - !!python/tuple [27, 21] + - !!python/tuple [26, 23] + - !!python/tuple [11, 29] + - !!python/tuple [15, 10] + - !!python/tuple [8, 26] + - !!python/tuple [14, 8] + - !!python/tuple [10, 17] + - !!python/tuple [13, 28] + - !!python/tuple [3, 28] + - !!python/tuple [17, 6] + - !!python/tuple [1, 18] + - !!python/tuple [2, 18] + - !!python/tuple [23, 28] + - !!python/tuple [26, 0] + - !!python/tuple [16, 31] + - !!python/tuple [30, 7] + - !!python/tuple [14, 17] + - !!python/tuple [31, 4] + - !!python/tuple [23, 13] + - !!python/tuple [7, 6] + - !!python/tuple [21, 12] + - !!python/tuple [20, 8] + - !!python/tuple [1, 26] + - !!python/tuple [26, 29] + - !!python/tuple [20, 13] + - !!python/tuple [28, 12] + - !!python/tuple [21, 6] + - !!python/tuple [27, 16] + - !!python/tuple [6, 5] + - !!python/tuple [30, 11] + - !!python/tuple [21, 21] + - !!python/tuple [15, 20] + - !!python/tuple [19, 31] + - !!python/tuple [1, 27] + - !!python/tuple [13, 19] + - !!python/tuple [22, 4] + - !!python/tuple [24, 5] + - !!python/tuple [28, 31] + - !!python/tuple [10, 3] + - !!python/tuple [0, 3] + - !!python/tuple [8, 11] + - !!python/tuple [30, 5] + - !!python/tuple [28, 5] + - !!python/tuple [25, 16] + - !!python/tuple [8, 16] + - !!python/tuple [7, 29] + - !!python/tuple [7, 23] + - !!python/tuple [31, 21] + - !!python/tuple [16, 10] + - !!python/tuple [1, 30] + - !!python/tuple [0, 28] + - !!python/tuple [20, 29] + - !!python/tuple [20, 25] + - !!python/tuple [10, 26] + - !!python/tuple [18, 13] + - !!python/tuple [5, 1] + - !!python/tuple [16, 2] + - !!python/tuple [10, 14] + - !!python/tuple [27, 25] + - !!python/tuple [10, 13] + - !!python/tuple [30, 4] + - !!python/tuple [28, 10] + - !!python/tuple [17, 29] + - !!python/tuple [11, 18] + - !!python/tuple [12, 10] + - !!python/tuple [20, 3] + - !!python/tuple [13, 11] + - !!python/tuple [4, 26] + - !!python/tuple [6, 14] + - !!python/tuple [10, 10] + - !!python/tuple [22, 23] + - !!python/tuple [8, 25] + - !!python/tuple [10, 27] + - !!python/tuple [5, 28] + - !!python/tuple [2, 31] + - !!python/tuple [5, 12] + - !!python/tuple [14, 16] + - !!python/tuple [18, 2] + - !!python/tuple [24, 27] + - !!python/tuple [30, 16] + - !!python/tuple [27, 27] + - !!python/tuple [4, 15] + - !!python/tuple [9, 1] + - !!python/tuple [25, 27] + - !!python/tuple [6, 10] + - !!python/tuple [2, 14] + - !!python/tuple [12, 22] + - !!python/tuple [26, 27] + - !!python/tuple [15, 19] + - !!python/tuple [17, 24] + - !!python/tuple [15, 27] + - !!python/tuple [30, 26] + - !!python/tuple [29, 13] + - !!python/tuple [26, 14] + - !!python/tuple [29, 15] + - !!python/tuple [22, 31] + - !!python/tuple [12, 8] + - !!python/tuple [6, 20] + - !!python/tuple [11, 10] + - !!python/tuple [2, 27] + - !!python/tuple [0, 10] + - !!python/tuple [19, 3] + - !!python/tuple [3, 24] + - !!python/tuple [19, 13] + - !!python/tuple [22, 7] + - !!python/tuple [19, 8] + - !!python/tuple [16, 27] + - !!python/tuple [7, 31] + - !!python/tuple [7, 20] + - !!python/tuple [13, 4] + - !!python/tuple [2, 24] + - !!python/tuple [30, 6] + - !!python/tuple [31, 9] + - !!python/tuple [7, 24] + - !!python/tuple [18, 30] + - !!python/tuple [18, 29] + - !!python/tuple [9, 28] + - !!python/tuple [27, 17] + - !!python/tuple [20, 15] + - !!python/tuple [12, 16] + - !!python/tuple [21, 31] + - !!python/tuple [15, 11] + - !!python/tuple [30, 13] + - !!python/tuple [21, 24] + - !!python/tuple [14, 12] + - !!python/tuple [21, 30] + - !!python/tuple [8, 8] + - !!python/tuple [28, 1] + - !!python/tuple [4, 21] + - !!python/tuple [23, 9] + - !!python/tuple [1, 1] + - !!python/tuple [3, 12] + - !!python/tuple [5, 22] + - !!python/tuple [19, 27] + - !!python/tuple [23, 1] + - !!python/tuple [28, 15] + - !!python/tuple [5, 15] + - !!python/tuple [5, 4] + - !!python/tuple [27, 11] + - !!python/tuple [25, 3] + - !!python/tuple [27, 22] + - !!python/tuple [17, 23] + - !!python/tuple [19, 1] + - !!python/tuple [6, 8] + - !!python/tuple [20, 14] + - !!python/tuple [14, 29] + - !!python/tuple [13, 0] + - !!python/tuple [17, 31] + - !!python/tuple [8, 2] + - !!python/tuple [10, 25] + - !!python/tuple [15, 17] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex87.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex87.yaml new file mode 100644 index 0000000..534d175 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex87.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [20, 25] + name: agent0 + start: [0, 30] +- goal: [9, 23] + name: agent1 + start: [12, 8] +- goal: [7, 29] + name: agent2 + start: [26, 12] +- goal: [5, 15] + name: agent3 + start: [15, 22] +- goal: [20, 5] + name: agent4 + start: [23, 0] +- goal: [10, 1] + name: agent5 + start: [2, 20] +- goal: [11, 7] + name: agent6 + start: [30, 25] +- goal: [31, 14] + name: agent7 + start: [4, 14] +- goal: [4, 16] + name: agent8 + start: [13, 22] +- goal: [5, 14] + name: agent9 + start: [16, 18] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [8, 31] + - !!python/tuple [0, 13] + - !!python/tuple [12, 17] + - !!python/tuple [11, 22] + - !!python/tuple [1, 13] + - !!python/tuple [2, 26] + - !!python/tuple [21, 21] + - !!python/tuple [15, 16] + - !!python/tuple [25, 13] + - !!python/tuple [31, 1] + - !!python/tuple [6, 14] + - !!python/tuple [19, 17] + - !!python/tuple [15, 5] + - !!python/tuple [31, 8] + - !!python/tuple [30, 31] + - !!python/tuple [18, 22] + - !!python/tuple [23, 15] + - !!python/tuple [31, 4] + - !!python/tuple [27, 15] + - !!python/tuple [8, 12] + - !!python/tuple [15, 7] + - !!python/tuple [30, 22] + - !!python/tuple [22, 18] + - !!python/tuple [12, 20] + - !!python/tuple [16, 9] + - !!python/tuple [26, 4] + - !!python/tuple [10, 20] + - !!python/tuple [20, 22] + - !!python/tuple [18, 18] + - !!python/tuple [31, 6] + - !!python/tuple [22, 29] + - !!python/tuple [2, 25] + - !!python/tuple [5, 24] + - !!python/tuple [2, 16] + - !!python/tuple [12, 31] + - !!python/tuple [25, 6] + - !!python/tuple [6, 26] + - !!python/tuple [24, 28] + - !!python/tuple [6, 6] + - !!python/tuple [0, 1] + - !!python/tuple [2, 17] + - !!python/tuple [14, 3] + - !!python/tuple [31, 21] + - !!python/tuple [25, 27] + - !!python/tuple [9, 15] + - !!python/tuple [15, 20] + - !!python/tuple [25, 22] + - !!python/tuple [16, 6] + - !!python/tuple [8, 3] + - !!python/tuple [15, 26] + - !!python/tuple [19, 3] + - !!python/tuple [7, 19] + - !!python/tuple [3, 4] + - !!python/tuple [24, 29] + - !!python/tuple [29, 3] + - !!python/tuple [0, 21] + - !!python/tuple [4, 3] + - !!python/tuple [30, 29] + - !!python/tuple [11, 30] + - !!python/tuple [20, 12] + - !!python/tuple [15, 13] + - !!python/tuple [20, 17] + - !!python/tuple [3, 5] + - !!python/tuple [1, 18] + - !!python/tuple [1, 17] + - !!python/tuple [7, 8] + - !!python/tuple [10, 7] + - !!python/tuple [3, 29] + - !!python/tuple [10, 31] + - !!python/tuple [25, 17] + - !!python/tuple [16, 15] + - !!python/tuple [2, 5] + - !!python/tuple [26, 11] + - !!python/tuple [18, 23] + - !!python/tuple [15, 30] + - !!python/tuple [19, 25] + - !!python/tuple [9, 16] + - !!python/tuple [7, 15] + - !!python/tuple [5, 17] + - !!python/tuple [4, 27] + - !!python/tuple [0, 9] + - !!python/tuple [13, 10] + - !!python/tuple [26, 15] + - !!python/tuple [27, 25] + - !!python/tuple [13, 30] + - !!python/tuple [4, 1] + - !!python/tuple [17, 16] + - !!python/tuple [28, 25] + - !!python/tuple [29, 21] + - !!python/tuple [11, 24] + - !!python/tuple [31, 20] + - !!python/tuple [14, 19] + - !!python/tuple [6, 8] + - !!python/tuple [12, 15] + - !!python/tuple [19, 20] + - !!python/tuple [7, 13] + - !!python/tuple [26, 10] + - !!python/tuple [25, 28] + - !!python/tuple [23, 19] + - !!python/tuple [28, 9] + - !!python/tuple [27, 6] + - !!python/tuple [1, 8] + - !!python/tuple [26, 18] + - !!python/tuple [1, 28] + - !!python/tuple [23, 23] + - !!python/tuple [9, 14] + - !!python/tuple [27, 5] + - !!python/tuple [8, 15] + - !!python/tuple [21, 28] + - !!python/tuple [30, 23] + - !!python/tuple [24, 0] + - !!python/tuple [22, 7] + - !!python/tuple [3, 23] + - !!python/tuple [3, 24] + - !!python/tuple [7, 24] + - !!python/tuple [17, 25] + - !!python/tuple [3, 20] + - !!python/tuple [1, 27] + - !!python/tuple [0, 27] + - !!python/tuple [17, 19] + - !!python/tuple [24, 21] + - !!python/tuple [11, 23] + - !!python/tuple [0, 6] + - !!python/tuple [6, 29] + - !!python/tuple [12, 19] + - !!python/tuple [14, 2] + - !!python/tuple [14, 27] + - !!python/tuple [9, 17] + - !!python/tuple [19, 21] + - !!python/tuple [17, 24] + - !!python/tuple [10, 5] + - !!python/tuple [31, 23] + - !!python/tuple [11, 21] + - !!python/tuple [16, 13] + - !!python/tuple [13, 19] + - !!python/tuple [11, 11] + - !!python/tuple [16, 29] + - !!python/tuple [12, 27] + - !!python/tuple [29, 19] + - !!python/tuple [16, 16] + - !!python/tuple [31, 29] + - !!python/tuple [19, 9] + - !!python/tuple [8, 0] + - !!python/tuple [12, 29] + - !!python/tuple [11, 13] + - !!python/tuple [25, 18] + - !!python/tuple [3, 2] + - !!python/tuple [26, 23] + - !!python/tuple [20, 30] + - !!python/tuple [1, 16] + - !!python/tuple [30, 17] + - !!python/tuple [8, 17] + - !!python/tuple [27, 17] + - !!python/tuple [15, 3] + - !!python/tuple [25, 9] + - !!python/tuple [24, 17] + - !!python/tuple [29, 2] + - !!python/tuple [7, 21] + - !!python/tuple [20, 7] + - !!python/tuple [27, 4] + - !!python/tuple [20, 23] + - !!python/tuple [19, 23] + - !!python/tuple [29, 6] + - !!python/tuple [12, 28] + - !!python/tuple [6, 25] + - !!python/tuple [15, 0] + - !!python/tuple [28, 17] + - !!python/tuple [20, 20] + - !!python/tuple [22, 11] + - !!python/tuple [1, 9] + - !!python/tuple [29, 7] + - !!python/tuple [2, 8] + - !!python/tuple [3, 9] + - !!python/tuple [1, 21] + - !!python/tuple [29, 4] + - !!python/tuple [2, 22] + - !!python/tuple [10, 6] + - !!python/tuple [22, 28] + - !!python/tuple [11, 3] + - !!python/tuple [26, 0] + - !!python/tuple [5, 18] + - !!python/tuple [23, 17] + - !!python/tuple [11, 6] + - !!python/tuple [20, 10] + - !!python/tuple [18, 12] + - !!python/tuple [23, 1] + - !!python/tuple [5, 28] + - !!python/tuple [8, 28] + - !!python/tuple [17, 10] + - !!python/tuple [17, 5] + - !!python/tuple [30, 9] + - !!python/tuple [3, 30] + - !!python/tuple [0, 0] + - !!python/tuple [0, 22] + - !!python/tuple [10, 0] + - !!python/tuple [19, 1] + - !!python/tuple [14, 25] + - !!python/tuple [23, 28] + - !!python/tuple [4, 24] + - !!python/tuple [7, 17] + - !!python/tuple [4, 15] + - !!python/tuple [9, 3] + - !!python/tuple [14, 17] + - !!python/tuple [16, 19] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex88.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex88.yaml new file mode 100644 index 0000000..e50d04e --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex88.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [19, 19] + name: agent0 + start: [26, 5] +- goal: [6, 5] + name: agent1 + start: [15, 19] +- goal: [3, 28] + name: agent2 + start: [28, 7] +- goal: [22, 11] + name: agent3 + start: [28, 4] +- goal: [6, 31] + name: agent4 + start: [28, 29] +- goal: [29, 2] + name: agent5 + start: [9, 26] +- goal: [5, 2] + name: agent6 + start: [1, 2] +- goal: [27, 12] + name: agent7 + start: [31, 20] +- goal: [13, 1] + name: agent8 + start: [30, 2] +- goal: [9, 13] + name: agent9 + start: [4, 26] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [15, 7] + - !!python/tuple [23, 9] + - !!python/tuple [31, 9] + - !!python/tuple [13, 17] + - !!python/tuple [14, 1] + - !!python/tuple [20, 26] + - !!python/tuple [28, 20] + - !!python/tuple [9, 16] + - !!python/tuple [0, 30] + - !!python/tuple [30, 7] + - !!python/tuple [27, 26] + - !!python/tuple [9, 11] + - !!python/tuple [16, 27] + - !!python/tuple [4, 21] + - !!python/tuple [12, 10] + - !!python/tuple [24, 14] + - !!python/tuple [2, 5] + - !!python/tuple [18, 13] + - !!python/tuple [3, 1] + - !!python/tuple [18, 8] + - !!python/tuple [19, 9] + - !!python/tuple [21, 24] + - !!python/tuple [1, 31] + - !!python/tuple [24, 29] + - !!python/tuple [31, 18] + - !!python/tuple [29, 1] + - !!python/tuple [30, 1] + - !!python/tuple [18, 5] + - !!python/tuple [30, 5] + - !!python/tuple [23, 0] + - !!python/tuple [7, 1] + - !!python/tuple [26, 29] + - !!python/tuple [18, 18] + - !!python/tuple [4, 0] + - !!python/tuple [31, 12] + - !!python/tuple [1, 27] + - !!python/tuple [2, 13] + - !!python/tuple [5, 8] + - !!python/tuple [29, 3] + - !!python/tuple [24, 6] + - !!python/tuple [20, 28] + - !!python/tuple [23, 12] + - !!python/tuple [22, 14] + - !!python/tuple [14, 21] + - !!python/tuple [8, 8] + - !!python/tuple [26, 4] + - !!python/tuple [0, 25] + - !!python/tuple [14, 16] + - !!python/tuple [1, 7] + - !!python/tuple [7, 18] + - !!python/tuple [17, 3] + - !!python/tuple [28, 19] + - !!python/tuple [13, 18] + - !!python/tuple [28, 18] + - !!python/tuple [4, 2] + - !!python/tuple [26, 24] + - !!python/tuple [22, 21] + - !!python/tuple [1, 8] + - !!python/tuple [26, 20] + - !!python/tuple [22, 27] + - !!python/tuple [15, 4] + - !!python/tuple [20, 23] + - !!python/tuple [7, 4] + - !!python/tuple [29, 25] + - !!python/tuple [2, 11] + - !!python/tuple [22, 30] + - !!python/tuple [23, 5] + - !!python/tuple [29, 24] + - !!python/tuple [19, 13] + - !!python/tuple [30, 4] + - !!python/tuple [5, 4] + - !!python/tuple [8, 1] + - !!python/tuple [4, 11] + - !!python/tuple [29, 10] + - !!python/tuple [1, 10] + - !!python/tuple [10, 26] + - !!python/tuple [17, 23] + - !!python/tuple [31, 14] + - !!python/tuple [1, 23] + - !!python/tuple [26, 23] + - !!python/tuple [0, 15] + - !!python/tuple [20, 11] + - !!python/tuple [5, 13] + - !!python/tuple [30, 25] + - !!python/tuple [23, 25] + - !!python/tuple [0, 10] + - !!python/tuple [24, 17] + - !!python/tuple [15, 1] + - !!python/tuple [6, 29] + - !!python/tuple [20, 13] + - !!python/tuple [16, 10] + - !!python/tuple [17, 30] + - !!python/tuple [25, 2] + - !!python/tuple [6, 19] + - !!python/tuple [27, 16] + - !!python/tuple [20, 31] + - !!python/tuple [2, 2] + - !!python/tuple [15, 5] + - !!python/tuple [3, 3] + - !!python/tuple [18, 27] + - !!python/tuple [18, 22] + - !!python/tuple [23, 20] + - !!python/tuple [2, 4] + - !!python/tuple [5, 5] + - !!python/tuple [26, 17] + - !!python/tuple [14, 13] + - !!python/tuple [3, 15] + - !!python/tuple [4, 28] + - !!python/tuple [18, 1] + - !!python/tuple [8, 4] + - !!python/tuple [17, 1] + - !!python/tuple [20, 29] + - !!python/tuple [28, 27] + - !!python/tuple [25, 24] + - !!python/tuple [17, 28] + - !!python/tuple [28, 23] + - !!python/tuple [19, 30] + - !!python/tuple [14, 0] + - !!python/tuple [3, 18] + - !!python/tuple [11, 8] + - !!python/tuple [6, 10] + - !!python/tuple [28, 28] + - !!python/tuple [25, 6] + - !!python/tuple [7, 21] + - !!python/tuple [16, 20] + - !!python/tuple [17, 19] + - !!python/tuple [29, 19] + - !!python/tuple [10, 2] + - !!python/tuple [18, 20] + - !!python/tuple [0, 23] + - !!python/tuple [24, 8] + - !!python/tuple [28, 12] + - !!python/tuple [19, 8] + - !!python/tuple [11, 9] + - !!python/tuple [21, 25] + - !!python/tuple [4, 27] + - !!python/tuple [19, 4] + - !!python/tuple [2, 17] + - !!python/tuple [18, 10] + - !!python/tuple [23, 16] + - !!python/tuple [29, 22] + - !!python/tuple [27, 10] + - !!python/tuple [25, 10] + - !!python/tuple [22, 7] + - !!python/tuple [3, 24] + - !!python/tuple [6, 21] + - !!python/tuple [12, 6] + - !!python/tuple [8, 31] + - !!python/tuple [24, 28] + - !!python/tuple [8, 13] + - !!python/tuple [1, 0] + - !!python/tuple [27, 28] + - !!python/tuple [28, 10] + - !!python/tuple [10, 8] + - !!python/tuple [7, 16] + - !!python/tuple [26, 28] + - !!python/tuple [3, 9] + - !!python/tuple [30, 16] + - !!python/tuple [29, 8] + - !!python/tuple [9, 23] + - !!python/tuple [19, 20] + - !!python/tuple [4, 14] + - !!python/tuple [17, 5] + - !!python/tuple [17, 6] + - !!python/tuple [25, 29] + - !!python/tuple [21, 4] + - !!python/tuple [4, 6] + - !!python/tuple [10, 0] + - !!python/tuple [1, 22] + - !!python/tuple [21, 11] + - !!python/tuple [6, 12] + - !!python/tuple [3, 27] + - !!python/tuple [9, 4] + - !!python/tuple [17, 4] + - !!python/tuple [3, 0] + - !!python/tuple [11, 30] + - !!python/tuple [1, 26] + - !!python/tuple [13, 3] + - !!python/tuple [22, 26] + - !!python/tuple [24, 24] + - !!python/tuple [5, 7] + - !!python/tuple [17, 8] + - !!python/tuple [7, 28] + - !!python/tuple [17, 20] + - !!python/tuple [11, 3] + - !!python/tuple [6, 8] + - !!python/tuple [12, 7] + - !!python/tuple [13, 19] + - !!python/tuple [0, 13] + - !!python/tuple [20, 9] + - !!python/tuple [5, 24] + - !!python/tuple [13, 28] + - !!python/tuple [16, 22] + - !!python/tuple [4, 25] + - !!python/tuple [23, 18] + - !!python/tuple [2, 25] + - !!python/tuple [17, 26] + - !!python/tuple [16, 4] + - !!python/tuple [11, 0] + - !!python/tuple [6, 6] + - !!python/tuple [10, 24] + - !!python/tuple [21, 18] + - !!python/tuple [10, 28] + - !!python/tuple [10, 7] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex89.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex89.yaml new file mode 100644 index 0000000..2bc6430 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex89.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [16, 13] + name: agent0 + start: [2, 6] +- goal: [5, 17] + name: agent1 + start: [1, 27] +- goal: [25, 4] + name: agent2 + start: [15, 5] +- goal: [14, 14] + name: agent3 + start: [20, 6] +- goal: [23, 2] + name: agent4 + start: [20, 7] +- goal: [7, 18] + name: agent5 + start: [10, 4] +- goal: [14, 27] + name: agent6 + start: [21, 16] +- goal: [12, 24] + name: agent7 + start: [25, 28] +- goal: [21, 28] + name: agent8 + start: [22, 27] +- goal: [7, 14] + name: agent9 + start: [24, 19] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [15, 23] + - !!python/tuple [16, 14] + - !!python/tuple [12, 7] + - !!python/tuple [20, 22] + - !!python/tuple [7, 20] + - !!python/tuple [30, 0] + - !!python/tuple [1, 21] + - !!python/tuple [28, 10] + - !!python/tuple [30, 30] + - !!python/tuple [20, 27] + - !!python/tuple [14, 17] + - !!python/tuple [16, 2] + - !!python/tuple [16, 26] + - !!python/tuple [21, 27] + - !!python/tuple [26, 14] + - !!python/tuple [0, 0] + - !!python/tuple [21, 1] + - !!python/tuple [21, 20] + - !!python/tuple [20, 5] + - !!python/tuple [17, 22] + - !!python/tuple [2, 24] + - !!python/tuple [7, 2] + - !!python/tuple [26, 24] + - !!python/tuple [31, 19] + - !!python/tuple [2, 10] + - !!python/tuple [14, 25] + - !!python/tuple [13, 2] + - !!python/tuple [9, 13] + - !!python/tuple [18, 17] + - !!python/tuple [6, 0] + - !!python/tuple [26, 22] + - !!python/tuple [5, 26] + - !!python/tuple [6, 26] + - !!python/tuple [16, 19] + - !!python/tuple [5, 0] + - !!python/tuple [18, 30] + - !!python/tuple [0, 8] + - !!python/tuple [14, 21] + - !!python/tuple [7, 28] + - !!python/tuple [27, 10] + - !!python/tuple [19, 21] + - !!python/tuple [21, 18] + - !!python/tuple [24, 6] + - !!python/tuple [23, 5] + - !!python/tuple [22, 21] + - !!python/tuple [10, 26] + - !!python/tuple [16, 9] + - !!python/tuple [15, 17] + - !!python/tuple [17, 1] + - !!python/tuple [7, 4] + - !!python/tuple [14, 12] + - !!python/tuple [21, 14] + - !!python/tuple [15, 9] + - !!python/tuple [3, 25] + - !!python/tuple [12, 28] + - !!python/tuple [10, 22] + - !!python/tuple [10, 29] + - !!python/tuple [21, 2] + - !!python/tuple [9, 31] + - !!python/tuple [16, 25] + - !!python/tuple [15, 20] + - !!python/tuple [1, 18] + - !!python/tuple [28, 13] + - !!python/tuple [3, 15] + - !!python/tuple [30, 26] + - !!python/tuple [8, 7] + - !!python/tuple [22, 4] + - !!python/tuple [5, 16] + - !!python/tuple [4, 9] + - !!python/tuple [12, 26] + - !!python/tuple [30, 20] + - !!python/tuple [8, 28] + - !!python/tuple [26, 9] + - !!python/tuple [31, 21] + - !!python/tuple [25, 23] + - !!python/tuple [10, 19] + - !!python/tuple [10, 7] + - !!python/tuple [10, 27] + - !!python/tuple [31, 23] + - !!python/tuple [4, 2] + - !!python/tuple [21, 29] + - !!python/tuple [1, 13] + - !!python/tuple [18, 1] + - !!python/tuple [10, 14] + - !!python/tuple [24, 11] + - !!python/tuple [18, 21] + - !!python/tuple [17, 8] + - !!python/tuple [5, 14] + - !!python/tuple [25, 31] + - !!python/tuple [4, 14] + - !!python/tuple [7, 8] + - !!python/tuple [26, 12] + - !!python/tuple [8, 18] + - !!python/tuple [21, 5] + - !!python/tuple [15, 11] + - !!python/tuple [15, 1] + - !!python/tuple [4, 30] + - !!python/tuple [3, 24] + - !!python/tuple [28, 0] + - !!python/tuple [1, 8] + - !!python/tuple [20, 1] + - !!python/tuple [21, 6] + - !!python/tuple [4, 28] + - !!python/tuple [14, 22] + - !!python/tuple [21, 9] + - !!python/tuple [22, 22] + - !!python/tuple [19, 29] + - !!python/tuple [27, 13] + - !!python/tuple [28, 9] + - !!python/tuple [6, 10] + - !!python/tuple [27, 21] + - !!python/tuple [24, 23] + - !!python/tuple [14, 26] + - !!python/tuple [4, 1] + - !!python/tuple [6, 22] + - !!python/tuple [14, 30] + - !!python/tuple [24, 5] + - !!python/tuple [9, 9] + - !!python/tuple [25, 27] + - !!python/tuple [25, 19] + - !!python/tuple [6, 25] + - !!python/tuple [10, 18] + - !!python/tuple [20, 31] + - !!python/tuple [17, 6] + - !!python/tuple [28, 3] + - !!python/tuple [17, 10] + - !!python/tuple [3, 31] + - !!python/tuple [4, 12] + - !!python/tuple [18, 15] + - !!python/tuple [18, 7] + - !!python/tuple [5, 12] + - !!python/tuple [30, 4] + - !!python/tuple [8, 17] + - !!python/tuple [25, 21] + - !!python/tuple [21, 11] + - !!python/tuple [2, 21] + - !!python/tuple [19, 24] + - !!python/tuple [18, 16] + - !!python/tuple [17, 26] + - !!python/tuple [30, 18] + - !!python/tuple [30, 21] + - !!python/tuple [3, 28] + - !!python/tuple [7, 30] + - !!python/tuple [25, 8] + - !!python/tuple [19, 22] + - !!python/tuple [4, 31] + - !!python/tuple [2, 23] + - !!python/tuple [1, 30] + - !!python/tuple [26, 31] + - !!python/tuple [20, 19] + - !!python/tuple [26, 26] + - !!python/tuple [8, 11] + - !!python/tuple [13, 3] + - !!python/tuple [25, 13] + - !!python/tuple [7, 22] + - !!python/tuple [20, 29] + - !!python/tuple [15, 8] + - !!python/tuple [0, 20] + - !!python/tuple [19, 2] + - !!python/tuple [25, 6] + - !!python/tuple [21, 17] + - !!python/tuple [22, 19] + - !!python/tuple [3, 1] + - !!python/tuple [8, 5] + - !!python/tuple [4, 21] + - !!python/tuple [0, 14] + - !!python/tuple [11, 24] + - !!python/tuple [23, 20] + - !!python/tuple [18, 6] + - !!python/tuple [24, 16] + - !!python/tuple [15, 3] + - !!python/tuple [5, 31] + - !!python/tuple [9, 3] + - !!python/tuple [4, 26] + - !!python/tuple [20, 28] + - !!python/tuple [0, 2] + - !!python/tuple [22, 13] + - !!python/tuple [7, 26] + - !!python/tuple [3, 29] + - !!python/tuple [3, 2] + - !!python/tuple [31, 12] + - !!python/tuple [31, 28] + - !!python/tuple [2, 4] + - !!python/tuple [0, 26] + - !!python/tuple [22, 7] + - !!python/tuple [15, 28] + - !!python/tuple [16, 18] + - !!python/tuple [16, 20] + - !!python/tuple [30, 19] + - !!python/tuple [17, 0] + - !!python/tuple [2, 27] + - !!python/tuple [10, 10] + - !!python/tuple [7, 17] + - !!python/tuple [5, 29] + - !!python/tuple [6, 2] + - !!python/tuple [23, 18] + - !!python/tuple [24, 20] + - !!python/tuple [15, 30] + - !!python/tuple [23, 23] + - !!python/tuple [6, 20] + - !!python/tuple [4, 17] + - !!python/tuple [24, 15] + - !!python/tuple [4, 13] + - !!python/tuple [18, 31] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex9.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex9.yaml new file mode 100644 index 0000000..c5bd1c9 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex9.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [13, 17] + name: agent0 + start: [3, 0] +- goal: [2, 6] + name: agent1 + start: [17, 12] +- goal: [26, 12] + name: agent2 + start: [29, 0] +- goal: [19, 0] + name: agent3 + start: [7, 8] +- goal: [10, 17] + name: agent4 + start: [9, 0] +- goal: [3, 31] + name: agent5 + start: [1, 27] +- goal: [23, 29] + name: agent6 + start: [6, 2] +- goal: [27, 18] + name: agent7 + start: [18, 20] +- goal: [14, 28] + name: agent8 + start: [15, 25] +- goal: [11, 1] + name: agent9 + start: [27, 26] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [11, 30] + - !!python/tuple [15, 21] + - !!python/tuple [8, 20] + - !!python/tuple [6, 0] + - !!python/tuple [31, 0] + - !!python/tuple [6, 21] + - !!python/tuple [8, 4] + - !!python/tuple [3, 25] + - !!python/tuple [28, 6] + - !!python/tuple [4, 20] + - !!python/tuple [3, 15] + - !!python/tuple [2, 27] + - !!python/tuple [5, 23] + - !!python/tuple [29, 26] + - !!python/tuple [9, 4] + - !!python/tuple [28, 13] + - !!python/tuple [1, 30] + - !!python/tuple [16, 10] + - !!python/tuple [21, 22] + - !!python/tuple [4, 4] + - !!python/tuple [30, 12] + - !!python/tuple [31, 6] + - !!python/tuple [22, 8] + - !!python/tuple [1, 28] + - !!python/tuple [27, 9] + - !!python/tuple [23, 4] + - !!python/tuple [19, 1] + - !!python/tuple [7, 11] + - !!python/tuple [2, 17] + - !!python/tuple [28, 16] + - !!python/tuple [26, 6] + - !!python/tuple [29, 11] + - !!python/tuple [30, 0] + - !!python/tuple [30, 20] + - !!python/tuple [7, 25] + - !!python/tuple [25, 14] + - !!python/tuple [13, 22] + - !!python/tuple [25, 12] + - !!python/tuple [20, 30] + - !!python/tuple [0, 12] + - !!python/tuple [20, 9] + - !!python/tuple [5, 28] + - !!python/tuple [28, 26] + - !!python/tuple [2, 13] + - !!python/tuple [10, 21] + - !!python/tuple [21, 14] + - !!python/tuple [16, 29] + - !!python/tuple [4, 12] + - !!python/tuple [6, 20] + - !!python/tuple [24, 13] + - !!python/tuple [5, 14] + - !!python/tuple [17, 23] + - !!python/tuple [17, 10] + - !!python/tuple [5, 27] + - !!python/tuple [22, 23] + - !!python/tuple [23, 23] + - !!python/tuple [4, 28] + - !!python/tuple [25, 4] + - !!python/tuple [19, 5] + - !!python/tuple [30, 15] + - !!python/tuple [17, 28] + - !!python/tuple [9, 17] + - !!python/tuple [31, 13] + - !!python/tuple [27, 23] + - !!python/tuple [10, 15] + - !!python/tuple [18, 26] + - !!python/tuple [10, 31] + - !!python/tuple [26, 31] + - !!python/tuple [11, 17] + - !!python/tuple [21, 16] + - !!python/tuple [15, 17] + - !!python/tuple [16, 7] + - !!python/tuple [10, 18] + - !!python/tuple [17, 17] + - !!python/tuple [1, 16] + - !!python/tuple [26, 26] + - !!python/tuple [15, 15] + 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!!python/tuple [17, 29] + - !!python/tuple [24, 21] + - !!python/tuple [0, 26] + - !!python/tuple [14, 9] + - !!python/tuple [26, 28] + - !!python/tuple [17, 27] + - !!python/tuple [23, 2] + - !!python/tuple [6, 23] + - !!python/tuple [12, 1] + - !!python/tuple [19, 11] + - !!python/tuple [14, 22] + - !!python/tuple [2, 15] + - !!python/tuple [12, 10] + - !!python/tuple [3, 23] + - !!python/tuple [0, 10] + - !!python/tuple [10, 4] + - !!python/tuple [28, 7] + - !!python/tuple [20, 31] + - !!python/tuple [2, 12] + - !!python/tuple [0, 24] + - !!python/tuple [31, 16] + - !!python/tuple [0, 22] + - !!python/tuple [26, 19] + - !!python/tuple [3, 8] + - !!python/tuple [12, 26] + - !!python/tuple [21, 21] + - !!python/tuple [25, 19] + - !!python/tuple [29, 7] + - !!python/tuple [4, 30] + - !!python/tuple [4, 16] + - !!python/tuple [10, 24] + - !!python/tuple [22, 19] + - !!python/tuple [13, 1] + - !!python/tuple [24, 5] + - !!python/tuple [18, 3] + - !!python/tuple [13, 16] + - !!python/tuple [7, 15] + - !!python/tuple [2, 1] + - !!python/tuple [2, 22] + - !!python/tuple [22, 18] + - !!python/tuple [16, 25] + - !!python/tuple [30, 17] + - !!python/tuple [25, 0] + - !!python/tuple [31, 12] + - !!python/tuple [19, 16] + - !!python/tuple [3, 7] + - !!python/tuple [21, 27] + - !!python/tuple [30, 23] + - !!python/tuple [3, 10] + - !!python/tuple [26, 20] + - !!python/tuple [19, 26] + - !!python/tuple [7, 13] + - !!python/tuple [23, 25] + - !!python/tuple [25, 28] + - !!python/tuple [20, 17] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex90.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex90.yaml new file mode 100644 index 0000000..d8a4273 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex90.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [4, 31] + name: agent0 + start: [17, 6] +- goal: [18, 11] + name: agent1 + start: [2, 4] +- goal: [31, 10] + name: agent2 + start: [6, 4] +- goal: [29, 21] + name: agent3 + start: [6, 29] +- goal: [11, 10] + name: agent4 + start: [31, 26] +- goal: [18, 17] + name: agent5 + start: [24, 12] +- goal: [31, 2] + name: agent6 + start: [23, 25] +- goal: [9, 8] + name: agent7 + start: [4, 3] +- goal: [31, 11] + name: agent8 + start: [11, 8] +- goal: [4, 22] + name: agent9 + start: [29, 7] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [20, 5] + - !!python/tuple [6, 31] + - !!python/tuple [4, 11] + - !!python/tuple [21, 9] + - !!python/tuple [16, 0] + - !!python/tuple [30, 29] + - !!python/tuple [27, 21] + - !!python/tuple [9, 25] + - !!python/tuple [30, 20] + - !!python/tuple [12, 16] + - !!python/tuple [6, 9] + - !!python/tuple [6, 15] + - !!python/tuple [30, 8] + - !!python/tuple [19, 20] + - !!python/tuple [22, 14] + - !!python/tuple [19, 31] + - !!python/tuple [12, 7] + - !!python/tuple [26, 31] + - !!python/tuple [27, 24] + - !!python/tuple [7, 15] + - !!python/tuple [15, 14] + - !!python/tuple [0, 31] + - !!python/tuple [7, 2] + - !!python/tuple [28, 20] + - !!python/tuple [17, 27] + - !!python/tuple [18, 30] + - !!python/tuple [20, 31] + - !!python/tuple [15, 13] + - !!python/tuple [21, 24] + - !!python/tuple [31, 8] + - !!python/tuple [17, 30] + - !!python/tuple [8, 11] + - !!python/tuple [10, 13] + - !!python/tuple [20, 11] + - !!python/tuple [22, 6] + - !!python/tuple [20, 20] + - !!python/tuple [12, 23] + - !!python/tuple [12, 13] + - !!python/tuple [31, 19] + - !!python/tuple [2, 18] + - !!python/tuple [25, 1] + - !!python/tuple [12, 20] + - !!python/tuple [4, 17] + - !!python/tuple [5, 25] + - !!python/tuple [28, 30] + - !!python/tuple [1, 8] + - !!python/tuple [9, 15] + - !!python/tuple [1, 27] + - !!python/tuple [28, 8] + - !!python/tuple [8, 12] + - !!python/tuple [17, 11] + - !!python/tuple [11, 27] + - !!python/tuple [15, 24] + - !!python/tuple [8, 19] + - !!python/tuple [21, 12] + - !!python/tuple [24, 22] + - !!python/tuple [10, 12] + - 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[7, 26] + - !!python/tuple [13, 16] + - !!python/tuple [1, 19] + - !!python/tuple [23, 11] + - !!python/tuple [14, 13] + - !!python/tuple [5, 12] + - !!python/tuple [27, 26] + - !!python/tuple [31, 6] + - !!python/tuple [15, 8] + - !!python/tuple [31, 29] + - !!python/tuple [11, 12] + - !!python/tuple [20, 29] + - !!python/tuple [10, 21] + - !!python/tuple [11, 25] + - !!python/tuple [10, 16] + - !!python/tuple [11, 0] + - !!python/tuple [27, 10] + - !!python/tuple [16, 7] + - !!python/tuple [21, 4] + - !!python/tuple [5, 3] + - !!python/tuple [8, 15] + - !!python/tuple [0, 27] + - !!python/tuple [22, 25] + - !!python/tuple [19, 18] + - !!python/tuple [10, 25] + - !!python/tuple [4, 12] + - !!python/tuple [14, 1] + - !!python/tuple [16, 5] + - !!python/tuple [25, 14] + - !!python/tuple [7, 0] + - !!python/tuple [22, 10] + - !!python/tuple [29, 31] + - !!python/tuple [16, 10] + - !!python/tuple [2, 12] + - !!python/tuple [15, 23] + - !!python/tuple [9, 17] + - !!python/tuple [4, 9] + - !!python/tuple [15, 22] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex91.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex91.yaml new file mode 100644 index 0000000..53ae2b2 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex91.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [9, 8] + name: agent0 + start: [1, 5] +- goal: [25, 0] + name: agent1 + start: [20, 29] +- goal: [27, 16] + name: agent2 + start: [29, 4] +- goal: [14, 16] + name: agent3 + start: [31, 29] +- goal: [16, 30] + name: agent4 + start: [25, 28] +- goal: [14, 11] + name: agent5 + start: [28, 24] +- goal: [3, 5] + name: agent6 + start: [4, 1] +- goal: [23, 3] + name: agent7 + start: [1, 16] +- goal: [18, 30] + name: agent8 + start: [4, 18] +- goal: [19, 20] + name: agent9 + start: [1, 13] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [17, 28] + - !!python/tuple [16, 15] + - !!python/tuple [15, 3] + - !!python/tuple [19, 21] + - !!python/tuple [20, 19] + - !!python/tuple [6, 13] + - !!python/tuple [31, 15] + - !!python/tuple [17, 8] + - !!python/tuple [29, 27] + - !!python/tuple [14, 4] + - !!python/tuple [9, 2] + - !!python/tuple [13, 26] + - !!python/tuple [14, 25] + - !!python/tuple [7, 4] + - !!python/tuple [31, 27] + - !!python/tuple [24, 31] + - !!python/tuple [4, 7] + - !!python/tuple [30, 29] + - !!python/tuple [27, 12] + - !!python/tuple [7, 17] + - !!python/tuple [27, 22] + - !!python/tuple [24, 0] + - !!python/tuple [20, 23] + - !!python/tuple [13, 9] + - !!python/tuple [16, 29] + - !!python/tuple [23, 30] + - !!python/tuple [25, 27] + - !!python/tuple [27, 13] + - !!python/tuple [23, 10] + - !!python/tuple [6, 0] + - !!python/tuple [22, 4] + - !!python/tuple [13, 5] + - !!python/tuple [14, 8] + - !!python/tuple [21, 21] + - !!python/tuple [3, 21] + - !!python/tuple [7, 22] + - !!python/tuple [12, 10] + - !!python/tuple [8, 19] + - !!python/tuple [27, 5] + - !!python/tuple [2, 28] + - !!python/tuple [0, 30] + - !!python/tuple [29, 13] + - !!python/tuple [18, 23] + - !!python/tuple [8, 22] + - !!python/tuple [30, 11] + - !!python/tuple [5, 30] + - !!python/tuple [18, 20] + - !!python/tuple [24, 3] + - !!python/tuple [6, 2] + - !!python/tuple [15, 6] + - !!python/tuple [14, 13] + - !!python/tuple [15, 29] + - !!python/tuple [3, 16] + - !!python/tuple [28, 28] + - !!python/tuple [18, 0] + - !!python/tuple [3, 9] + - !!python/tuple [7, 29] + - !!python/tuple [6, 30] + - !!python/tuple [20, 18] + - !!python/tuple [23, 21] + - !!python/tuple [17, 10] + - !!python/tuple [30, 8] + - !!python/tuple [9, 21] + - !!python/tuple [8, 12] + - !!python/tuple [15, 24] + - !!python/tuple [21, 8] + - !!python/tuple [16, 13] + - !!python/tuple [0, 21] + - !!python/tuple [1, 20] + - !!python/tuple [31, 20] + - !!python/tuple [2, 5] + - !!python/tuple [22, 13] + - !!python/tuple [13, 20] + - !!python/tuple [3, 17] + - !!python/tuple [30, 15] + - !!python/tuple [5, 24] + - !!python/tuple [23, 20] + - !!python/tuple [24, 7] + - !!python/tuple [6, 14] + - !!python/tuple [1, 22] + - !!python/tuple [11, 7] + - !!python/tuple [24, 26] + - !!python/tuple [23, 9] + - !!python/tuple [9, 26] + - !!python/tuple [25, 18] + - !!python/tuple [10, 14] + - !!python/tuple [0, 19] + - !!python/tuple [22, 11] + - !!python/tuple [18, 22] + - !!python/tuple [1, 10] + - !!python/tuple [9, 7] + - !!python/tuple [3, 4] + - !!python/tuple [7, 16] + - !!python/tuple [2, 6] + - !!python/tuple [2, 9] + - !!python/tuple [7, 27] + - !!python/tuple [12, 27] + - !!python/tuple [9, 29] + - !!python/tuple [22, 19] + - !!python/tuple [21, 2] + - !!python/tuple [11, 2] + - !!python/tuple [16, 28] + - !!python/tuple [30, 28] + - !!python/tuple [4, 16] + - !!python/tuple [27, 4] + - !!python/tuple [9, 24] + - !!python/tuple [8, 6] + - !!python/tuple [15, 21] + - !!python/tuple [12, 13] + - !!python/tuple [5, 29] + - !!python/tuple [11, 30] + - !!python/tuple [14, 6] + - !!python/tuple [7, 28] + - !!python/tuple [18, 19] + - !!python/tuple [30, 13] + - !!python/tuple [27, 24] + - !!python/tuple [22, 27] + - !!python/tuple [28, 23] + - !!python/tuple [11, 14] + - !!python/tuple [6, 26] + - !!python/tuple [14, 27] + - !!python/tuple [17, 4] + - !!python/tuple [4, 5] + - !!python/tuple [10, 20] + - !!python/tuple [7, 20] + - !!python/tuple [12, 21] + - !!python/tuple [3, 23] + - !!python/tuple [6, 17] + - !!python/tuple [12, 26] + - !!python/tuple [1, 28] + - !!python/tuple [11, 0] + - !!python/tuple [25, 20] + - !!python/tuple [25, 26] + - !!python/tuple [5, 4] + - !!python/tuple [16, 16] + - !!python/tuple [10, 1] + - !!python/tuple [19, 15] + - !!python/tuple [25, 31] + - !!python/tuple [11, 26] + - !!python/tuple [17, 27] + - !!python/tuple [28, 1] + - !!python/tuple [17, 17] + - !!python/tuple [22, 20] + - !!python/tuple [19, 2] + - !!python/tuple [13, 22] + - !!python/tuple [0, 16] + - !!python/tuple [28, 6] + - !!python/tuple [29, 17] + - !!python/tuple [8, 26] + - !!python/tuple [11, 4] + - !!python/tuple [5, 21] + - !!python/tuple [25, 29] + - !!python/tuple [11, 23] + - !!python/tuple [19, 7] + - !!python/tuple [17, 15] + - !!python/tuple [8, 0] + - !!python/tuple [2, 1] + - !!python/tuple [7, 25] + - !!python/tuple [13, 8] + - !!python/tuple [1, 6] + - !!python/tuple [2, 7] + - !!python/tuple [23, 17] + - !!python/tuple [3, 24] + - !!python/tuple [12, 5] + - !!python/tuple [8, 27] + - !!python/tuple [10, 18] + - !!python/tuple [19, 18] + - !!python/tuple [11, 8] + - !!python/tuple [13, 1] + - !!python/tuple [0, 28] + - !!python/tuple [2, 13] + - !!python/tuple [19, 24] + - !!python/tuple [4, 6] + - !!python/tuple [25, 17] + - !!python/tuple [26, 24] + - !!python/tuple [6, 5] + - !!python/tuple [16, 22] + - !!python/tuple [11, 15] + - !!python/tuple [16, 3] + - !!python/tuple [15, 23] + - !!python/tuple [26, 31] + - !!python/tuple [16, 25] + - !!python/tuple [20, 28] + - !!python/tuple [29, 3] + - !!python/tuple [26, 18] + - !!python/tuple [8, 11] + - !!python/tuple [2, 26] + - !!python/tuple [1, 17] + - !!python/tuple [30, 1] + - !!python/tuple [15, 27] + - !!python/tuple [7, 2] + - !!python/tuple [0, 5] + - !!python/tuple [31, 13] + - !!python/tuple [28, 0] + - !!python/tuple [5, 3] + - !!python/tuple [9, 27] + - !!python/tuple [15, 22] + - !!python/tuple [21, 4] + - !!python/tuple [9, 9] + - !!python/tuple [30, 5] + - !!python/tuple [6, 15] + - !!python/tuple [9, 10] + - !!python/tuple [12, 9] + - !!python/tuple [12, 17] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex92.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex92.yaml new file mode 100644 index 0000000..7c2062f --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex92.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [4, 0] + name: agent0 + start: [9, 2] +- goal: [3, 13] + name: agent1 + start: [13, 9] +- goal: [7, 20] + name: agent2 + start: [27, 12] +- goal: [21, 13] + name: agent3 + start: [16, 31] +- goal: [13, 28] + name: agent4 + start: [9, 23] +- goal: [31, 19] + name: agent5 + start: [4, 25] +- goal: [6, 24] + name: agent6 + start: [21, 11] +- goal: [5, 10] + name: agent7 + start: [14, 11] +- goal: [29, 29] + name: agent8 + start: [3, 25] +- goal: [26, 25] + name: agent9 + start: [31, 16] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [6, 15] + - !!python/tuple [30, 25] + - !!python/tuple [7, 13] + - !!python/tuple [30, 6] + - !!python/tuple [14, 27] + - !!python/tuple [25, 13] + - !!python/tuple [28, 8] + - !!python/tuple [14, 9] + - !!python/tuple [23, 22] + - !!python/tuple [20, 18] + - !!python/tuple [8, 10] + - !!python/tuple [26, 5] + - !!python/tuple [8, 18] + - !!python/tuple [31, 26] + - !!python/tuple [2, 13] + - !!python/tuple [11, 31] + - !!python/tuple [23, 19] + - !!python/tuple [22, 15] + - !!python/tuple [29, 5] + - !!python/tuple [29, 4] + - !!python/tuple [25, 5] 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[24, 10] + - !!python/tuple [1, 10] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex93.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex93.yaml new file mode 100644 index 0000000..0e59f95 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex93.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [19, 0] + name: agent0 + start: [22, 6] +- goal: [10, 22] + name: agent1 + start: [16, 1] +- goal: [11, 28] + name: agent2 + start: [0, 23] +- goal: [5, 7] + name: agent3 + start: [30, 9] +- goal: [23, 30] + name: agent4 + start: [22, 14] +- goal: [14, 15] + name: agent5 + start: [26, 30] +- goal: [23, 19] + name: agent6 + start: [20, 26] +- goal: [23, 5] + name: agent7 + start: [1, 25] +- goal: [18, 10] + name: agent8 + start: [16, 22] +- goal: [12, 18] + name: agent9 + start: [25, 26] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [27, 20] + - !!python/tuple [12, 26] + 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!!python/tuple [30, 23] + - !!python/tuple [27, 19] + - !!python/tuple [29, 24] + - !!python/tuple [14, 23] + - !!python/tuple [23, 18] + - !!python/tuple [2, 2] + - !!python/tuple [8, 30] + - !!python/tuple [22, 15] + - !!python/tuple [12, 3] + - !!python/tuple [4, 1] + - !!python/tuple [15, 5] + - !!python/tuple [15, 20] + - !!python/tuple [5, 8] + - !!python/tuple [22, 9] + - !!python/tuple [3, 8] + - !!python/tuple [18, 1] + - !!python/tuple [0, 3] + - !!python/tuple [22, 20] + - !!python/tuple [20, 28] + - !!python/tuple [25, 23] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex94.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex94.yaml new file mode 100644 index 0000000..cb3c3a7 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex94.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [10, 21] + name: agent0 + start: [9, 4] +- goal: [25, 1] + name: agent1 + start: [0, 15] +- goal: [11, 3] + name: agent2 + start: [27, 29] +- goal: [23, 20] + name: agent3 + start: [26, 9] +- goal: [23, 4] + name: agent4 + start: [14, 22] +- goal: [21, 11] + name: agent5 + start: [15, 6] +- goal: [8, 20] + name: agent6 + start: [11, 18] +- goal: [20, 21] + name: agent7 + start: [16, 24] +- goal: [23, 0] + name: agent8 + start: [21, 22] +- goal: [1, 23] + name: agent9 + start: [8, 7] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [0, 7] + - !!python/tuple [15, 11] + - !!python/tuple [15, 24] + - !!python/tuple [20, 25] + - !!python/tuple [27, 11] + - !!python/tuple [3, 27] + - !!python/tuple [14, 30] + - !!python/tuple [26, 14] + - !!python/tuple [17, 10] + - !!python/tuple [26, 13] + - !!python/tuple [17, 23] + - !!python/tuple [22, 10] + - !!python/tuple [9, 26] + - !!python/tuple [2, 29] + - !!python/tuple [16, 15] + - !!python/tuple [5, 30] + - !!python/tuple [7, 8] + - !!python/tuple [13, 20] + - !!python/tuple [19, 25] + - !!python/tuple [2, 21] + - 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+ - !!python/tuple [21, 16] + - !!python/tuple [6, 17] + - !!python/tuple [27, 20] + - !!python/tuple [22, 28] + - !!python/tuple [14, 24] + - !!python/tuple [29, 16] + - !!python/tuple [24, 22] + - !!python/tuple [19, 20] + - !!python/tuple [12, 10] + - !!python/tuple [10, 28] + - !!python/tuple [21, 23] + - !!python/tuple [13, 19] + - !!python/tuple [30, 1] + - !!python/tuple [13, 16] + - !!python/tuple [5, 21] + - !!python/tuple [1, 14] + - !!python/tuple [13, 27] + - !!python/tuple [8, 23] + - !!python/tuple [28, 14] + - !!python/tuple [4, 15] + - !!python/tuple [31, 29] + - !!python/tuple [0, 16] + - !!python/tuple [28, 12] + - !!python/tuple [30, 29] + - !!python/tuple [27, 8] + - !!python/tuple [31, 30] + - !!python/tuple [23, 18] + - !!python/tuple [29, 3] + - !!python/tuple [26, 15] + - !!python/tuple [17, 3] + - !!python/tuple [11, 1] + - !!python/tuple [29, 0] + - !!python/tuple [21, 7] + - !!python/tuple [19, 8] + - !!python/tuple [26, 28] + - !!python/tuple [3, 9] + - 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!!python/tuple [20, 12] + - !!python/tuple [31, 15] + - !!python/tuple [8, 19] + - !!python/tuple [15, 2] + - !!python/tuple [7, 14] + - !!python/tuple [17, 4] + - !!python/tuple [21, 21] + - !!python/tuple [10, 1] + - !!python/tuple [29, 30] + - !!python/tuple [0, 19] + - !!python/tuple [3, 21] + - !!python/tuple [16, 11] + - !!python/tuple [26, 30] + - !!python/tuple [17, 1] + - !!python/tuple [16, 10] + - !!python/tuple [2, 7] + - !!python/tuple [28, 30] + - !!python/tuple [23, 6] + - !!python/tuple [5, 14] + - !!python/tuple [23, 26] + - !!python/tuple [25, 31] + - !!python/tuple [28, 26] + - !!python/tuple [14, 9] + - !!python/tuple [6, 31] + - !!python/tuple [5, 13] + - !!python/tuple [25, 7] + - !!python/tuple [30, 20] + - !!python/tuple [4, 7] + - !!python/tuple [14, 23] + - !!python/tuple [8, 3] + - !!python/tuple [8, 31] + - !!python/tuple [24, 27] + - !!python/tuple [2, 28] + - !!python/tuple [21, 25] + - !!python/tuple [23, 21] + - !!python/tuple [24, 7] + - !!python/tuple [25, 0] + - !!python/tuple [14, 13] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex95.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex95.yaml new file mode 100644 index 0000000..d1b0cfe --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex95.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [30, 21] + name: agent0 + start: [0, 25] +- goal: [16, 16] + name: agent1 + start: [14, 10] +- goal: [27, 30] + name: agent2 + start: [25, 2] +- goal: [12, 14] + name: agent3 + start: [1, 9] +- goal: [21, 20] + name: agent4 + start: [11, 19] +- goal: [6, 10] + name: agent5 + start: [17, 13] +- goal: [3, 9] + name: agent6 + start: [9, 31] +- goal: [3, 23] + name: agent7 + start: [9, 1] +- goal: [15, 13] + name: agent8 + start: [1, 11] +- goal: [1, 28] + name: agent9 + start: [25, 11] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [22, 0] + - !!python/tuple [1, 30] + - !!python/tuple [26, 4] + - !!python/tuple [13, 25] + - !!python/tuple [12, 3] + - !!python/tuple [20, 18] + - !!python/tuple [20, 2] + - !!python/tuple [0, 0] + - !!python/tuple [31, 3] + - !!python/tuple [30, 27] + - !!python/tuple [29, 5] + - !!python/tuple [14, 1] + - !!python/tuple [3, 17] + - !!python/tuple [12, 10] + - !!python/tuple [2, 21] + - !!python/tuple [18, 10] + - !!python/tuple [7, 11] + - !!python/tuple [2, 26] + - !!python/tuple [11, 13] + - !!python/tuple [10, 24] + - !!python/tuple [21, 30] + - !!python/tuple [19, 14] + - !!python/tuple [1, 20] + - !!python/tuple [22, 15] + - !!python/tuple [6, 16] + - !!python/tuple [26, 19] + - !!python/tuple [17, 9] + - !!python/tuple [6, 12] + - !!python/tuple [19, 13] + - !!python/tuple [0, 17] + - !!python/tuple [28, 30] + - !!python/tuple [10, 12] + - !!python/tuple [31, 13] + - !!python/tuple [0, 24] + - !!python/tuple [0, 28] + - !!python/tuple [17, 12] + - !!python/tuple [31, 22] + - !!python/tuple [20, 8] + - !!python/tuple [4, 0] + - !!python/tuple [8, 31] + - !!python/tuple [27, 2] + - !!python/tuple [4, 30] + - !!python/tuple [5, 24] + - !!python/tuple [30, 12] + - !!python/tuple [30, 14] + - !!python/tuple [5, 31] + - !!python/tuple [4, 2] + - !!python/tuple [21, 14] + - !!python/tuple [29, 16] + - !!python/tuple [5, 9] + - !!python/tuple [9, 9] + - !!python/tuple [10, 5] + - !!python/tuple [18, 22] + - !!python/tuple [30, 2] + - !!python/tuple [17, 15] + - !!python/tuple [23, 17] + - !!python/tuple [18, 6] + - !!python/tuple [19, 0] + - !!python/tuple [10, 17] + - !!python/tuple [29, 8] + - !!python/tuple [27, 21] + - !!python/tuple [2, 19] + - !!python/tuple [17, 25] + - !!python/tuple [23, 29] + - !!python/tuple [16, 9] + - !!python/tuple [5, 29] + - !!python/tuple [28, 13] + - !!python/tuple [0, 19] + - !!python/tuple [31, 6] + - !!python/tuple [1, 15] + - !!python/tuple [7, 4] + - !!python/tuple [26, 24] + - !!python/tuple [2, 20] + - !!python/tuple [16, 30] + - !!python/tuple [9, 11] + - !!python/tuple [31, 19] + - !!python/tuple [1, 12] + - !!python/tuple [1, 14] + - !!python/tuple [15, 25] + - !!python/tuple [1, 1] + - !!python/tuple [21, 29] + - !!python/tuple [26, 18] + - !!python/tuple [29, 30] + - !!python/tuple [7, 2] + - !!python/tuple [31, 24] + - !!python/tuple [27, 29] + - !!python/tuple [16, 13] + - !!python/tuple [28, 4] + - !!python/tuple [27, 0] + - !!python/tuple [22, 19] + - !!python/tuple [19, 4] + - !!python/tuple [22, 1] + - !!python/tuple [20, 7] + - !!python/tuple [2, 11] + - !!python/tuple [21, 10] + - !!python/tuple [26, 30] + - !!python/tuple [29, 28] + - !!python/tuple [15, 10] + - !!python/tuple [7, 23] + - !!python/tuple [2, 25] + - !!python/tuple [4, 25] + - !!python/tuple [8, 30] + - !!python/tuple [7, 22] + - !!python/tuple [22, 21] + - !!python/tuple [28, 31] + - !!python/tuple [12, 1] + - !!python/tuple [16, 24] + - !!python/tuple [9, 14] + - !!python/tuple [11, 0] + - !!python/tuple [3, 0] + - !!python/tuple [10, 10] + - !!python/tuple [28, 25] + - !!python/tuple [0, 29] + - !!python/tuple [22, 28] + - !!python/tuple [15, 1] + - !!python/tuple [0, 26] + - !!python/tuple [29, 19] + - !!python/tuple [17, 22] + - !!python/tuple [18, 25] + - !!python/tuple [4, 27] + - !!python/tuple [12, 2] + - !!python/tuple [30, 15] + - !!python/tuple [24, 20] + - !!python/tuple [22, 31] + - !!python/tuple [18, 23] + - !!python/tuple [31, 15] + - !!python/tuple [28, 12] + - !!python/tuple [6, 18] + - !!python/tuple [18, 0] + - !!python/tuple [31, 7] + - !!python/tuple [21, 9] + - !!python/tuple [24, 18] + - !!python/tuple [5, 17] + - !!python/tuple [26, 8] + - !!python/tuple [23, 31] + - !!python/tuple [23, 11] + - !!python/tuple [3, 24] + - !!python/tuple [4, 19] + - !!python/tuple [11, 21] + - !!python/tuple [16, 1] + - !!python/tuple [28, 11] + - !!python/tuple [11, 25] + - !!python/tuple [11, 20] + - !!python/tuple [25, 3] + - !!python/tuple [16, 26] + - !!python/tuple [13, 6] + - !!python/tuple [8, 26] + - !!python/tuple [12, 31] + - !!python/tuple [15, 17] + - !!python/tuple [9, 3] + - !!python/tuple [5, 22] + - !!python/tuple [10, 28] + - !!python/tuple [8, 19] + - !!python/tuple [13, 26] + - !!python/tuple [11, 6] + - !!python/tuple [20, 12] + - !!python/tuple [16, 22] + - !!python/tuple [6, 7] + - !!python/tuple [10, 2] + - !!python/tuple [8, 20] + - !!python/tuple [21, 24] + - !!python/tuple [2, 18] + - !!python/tuple [2, 2] + - !!python/tuple [8, 18] + - !!python/tuple [28, 26] + - !!python/tuple [17, 6] + - !!python/tuple [22, 13] + - !!python/tuple [9, 6] + - !!python/tuple [10, 11] + - !!python/tuple [17, 26] + - !!python/tuple [6, 19] + - !!python/tuple [31, 1] + - !!python/tuple [23, 24] + - !!python/tuple [27, 24] + - !!python/tuple [21, 4] + - !!python/tuple [2, 24] + - !!python/tuple [7, 16] + - !!python/tuple [20, 29] + - !!python/tuple [19, 3] + - !!python/tuple [13, 15] + - !!python/tuple [10, 22] + - !!python/tuple [3, 26] + - !!python/tuple [12, 8] + - !!python/tuple [10, 7] + - !!python/tuple [18, 30] + - !!python/tuple [12, 22] + - !!python/tuple [12, 30] + - !!python/tuple [3, 6] + - !!python/tuple [22, 12] + - !!python/tuple [21, 27] + - !!python/tuple [3, 7] + - !!python/tuple [26, 2] + - !!python/tuple [19, 8] + - !!python/tuple [7, 26] + - !!python/tuple [29, 7] + - !!python/tuple [5, 30] + - !!python/tuple [24, 25] + - !!python/tuple [6, 28] + - !!python/tuple [25, 0] + - !!python/tuple [8, 27] + - !!python/tuple [2, 8] + - !!python/tuple [29, 20] + - !!python/tuple [23, 8] + - !!python/tuple [15, 18] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex96.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex96.yaml new file mode 100644 index 0000000..5815234 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex96.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [14, 13] + name: agent0 + start: [16, 21] +- goal: [29, 21] + name: agent1 + start: [13, 17] +- goal: [0, 24] + name: agent2 + start: [17, 10] +- goal: [8, 21] + name: agent3 + start: [2, 16] +- goal: [28, 5] + name: agent4 + start: [14, 23] +- goal: [15, 31] + name: agent5 + start: [25, 17] +- goal: [14, 23] + name: agent6 + start: [9, 10] +- goal: [9, 26] + name: agent7 + start: [14, 27] +- goal: [13, 31] + name: agent8 + start: [23, 23] +- goal: [23, 6] + name: agent9 + start: [28, 14] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [9, 13] + - !!python/tuple [21, 2] + - !!python/tuple [20, 15] + - !!python/tuple [22, 13] + - !!python/tuple [8, 9] + - !!python/tuple [3, 18] + - !!python/tuple [14, 18] + - !!python/tuple [5, 13] + - !!python/tuple [9, 8] + - !!python/tuple [8, 14] + - !!python/tuple [19, 26] + - !!python/tuple [29, 27] + - !!python/tuple [13, 6] + - !!python/tuple [26, 3] + - !!python/tuple [12, 21] + - !!python/tuple [14, 4] + - !!python/tuple [31, 17] + - !!python/tuple [29, 16] + - !!python/tuple [29, 28] + - !!python/tuple [15, 6] + - !!python/tuple [13, 5] + - !!python/tuple [5, 11] + - !!python/tuple [1, 8] + - !!python/tuple [20, 31] + - !!python/tuple [19, 25] + - !!python/tuple [28, 8] + - !!python/tuple [20, 1] + - !!python/tuple [20, 4] + - !!python/tuple [21, 15] + - !!python/tuple [28, 27] + - !!python/tuple [29, 6] + - !!python/tuple [25, 1] + - !!python/tuple [10, 7] + - !!python/tuple [28, 22] + - !!python/tuple [15, 17] + - !!python/tuple [10, 20] + - !!python/tuple [19, 13] + - !!python/tuple [11, 31] + - !!python/tuple [28, 21] + - !!python/tuple [31, 6] + - !!python/tuple [0, 3] + - !!python/tuple [14, 22] + - !!python/tuple [6, 29] + - !!python/tuple [28, 12] + - !!python/tuple [17, 24] + - !!python/tuple [26, 16] + - !!python/tuple [7, 22] + - !!python/tuple [4, 2] + - !!python/tuple [24, 13] + - !!python/tuple [5, 23] + - !!python/tuple [12, 20] + - !!python/tuple [21, 22] + - !!python/tuple [3, 14] + - !!python/tuple [2, 7] + - !!python/tuple [0, 21] + - !!python/tuple [25, 6] + - !!python/tuple [9, 2] + - !!python/tuple [23, 30] + - !!python/tuple [0, 7] + - !!python/tuple [11, 28] + - !!python/tuple [29, 20] + - !!python/tuple [13, 27] + - !!python/tuple [30, 13] + - !!python/tuple [12, 30] + - !!python/tuple [20, 18] + - !!python/tuple [9, 12] + - !!python/tuple [10, 15] + - !!python/tuple [8, 19] + - !!python/tuple [3, 11] + - !!python/tuple [18, 12] + - !!python/tuple [28, 0] + - !!python/tuple [29, 24] + - !!python/tuple [6, 8] + - !!python/tuple [19, 27] + - !!python/tuple [17, 23] + - !!python/tuple [15, 19] + - !!python/tuple [25, 25] + - !!python/tuple [22, 11] + - !!python/tuple [2, 31] + - !!python/tuple [21, 3] + - !!python/tuple [9, 31] + - !!python/tuple [11, 0] + - !!python/tuple [1, 20] + - !!python/tuple [15, 28] + - !!python/tuple [14, 28] + - !!python/tuple [0, 25] + - !!python/tuple [10, 3] + - !!python/tuple [26, 24] + - !!python/tuple [16, 24] + - !!python/tuple [2, 5] + - !!python/tuple [20, 25] + - !!python/tuple [21, 28] + - !!python/tuple [6, 14] + - !!python/tuple [4, 1] + - !!python/tuple [5, 7] + - !!python/tuple [22, 7] + - !!python/tuple [0, 18] + - !!python/tuple [27, 4] + - !!python/tuple [19, 8] + - !!python/tuple [15, 0] + - !!python/tuple [12, 23] + - !!python/tuple [5, 2] + - !!python/tuple [31, 15] + - !!python/tuple [2, 4] + - !!python/tuple [19, 16] + - !!python/tuple [18, 14] + - !!python/tuple [30, 4] + - !!python/tuple [31, 25] + - !!python/tuple [1, 6] + - !!python/tuple [29, 8] + - !!python/tuple [30, 30] + - !!python/tuple [27, 14] + - !!python/tuple [29, 30] + - !!python/tuple [6, 28] + - !!python/tuple [17, 7] + - !!python/tuple [4, 6] + - !!python/tuple [11, 15] + - !!python/tuple [21, 24] + - !!python/tuple [22, 8] + - !!python/tuple [24, 25] + - !!python/tuple [17, 15] + - !!python/tuple [31, 14] + - !!python/tuple [3, 10] + - !!python/tuple [6, 2] + - !!python/tuple [18, 2] + - !!python/tuple [27, 0] + - !!python/tuple [13, 28] + - !!python/tuple [6, 0] + - !!python/tuple [13, 2] + - !!python/tuple [1, 13] + - !!python/tuple [24, 4] + - !!python/tuple [21, 27] + - !!python/tuple [27, 26] + - !!python/tuple [9, 11] + - !!python/tuple [3, 29] + - !!python/tuple [6, 11] + - !!python/tuple [10, 18] + - !!python/tuple [5, 28] + - !!python/tuple [7, 19] + - !!python/tuple [12, 26] + - !!python/tuple [12, 17] + - !!python/tuple [30, 17] + - !!python/tuple [7, 25] + - !!python/tuple [12, 16] + - !!python/tuple [12, 28] + - !!python/tuple [10, 4] + - !!python/tuple [6, 21] + - !!python/tuple [22, 16] + - !!python/tuple [20, 26] + - !!python/tuple [17, 19] + - !!python/tuple [3, 9] + - !!python/tuple [31, 22] + - !!python/tuple [22, 9] + - !!python/tuple [28, 28] + - !!python/tuple [19, 23] + - !!python/tuple [3, 22] + - !!python/tuple [19, 6] + - !!python/tuple [4, 15] + - !!python/tuple [31, 31] + - !!python/tuple [24, 6] + - !!python/tuple [1, 7] + - !!python/tuple [15, 26] + - !!python/tuple [16, 8] + - !!python/tuple [12, 11] + - !!python/tuple [11, 2] + - !!python/tuple [7, 10] + - !!python/tuple [7, 24] + - !!python/tuple [1, 14] + - !!python/tuple [29, 3] + - !!python/tuple [24, 7] + - !!python/tuple [15, 29] + - !!python/tuple [20, 24] + - !!python/tuple [18, 7] + - !!python/tuple [18, 11] + - !!python/tuple [5, 21] + - !!python/tuple [23, 19] + - !!python/tuple [21, 8] + - !!python/tuple [0, 10] + - !!python/tuple [17, 17] + - !!python/tuple [7, 23] + - !!python/tuple [22, 18] + - !!python/tuple [5, 4] + - !!python/tuple [12, 4] + - !!python/tuple [28, 20] + - !!python/tuple [5, 16] + - !!python/tuple [27, 16] + - !!python/tuple [29, 10] + - !!python/tuple [1, 5] + - !!python/tuple [25, 5] + - !!python/tuple [24, 28] + - !!python/tuple [24, 10] + - !!python/tuple [23, 13] + - !!python/tuple [11, 13] + - !!python/tuple [4, 24] + - !!python/tuple [11, 30] + - !!python/tuple [16, 9] + - !!python/tuple [12, 15] + - !!python/tuple [2, 8] + - !!python/tuple [12, 2] + - !!python/tuple [30, 16] + - !!python/tuple [19, 17] + - !!python/tuple [13, 21] + - !!python/tuple [27, 31] + - !!python/tuple [25, 15] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex97.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex97.yaml new file mode 100644 index 0000000..365904a --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex97.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [8, 28] + name: agent0 + start: [23, 25] +- goal: [22, 19] + name: agent1 + start: [21, 17] +- goal: [23, 30] + name: agent2 + start: [19, 9] +- goal: [20, 24] + name: agent3 + start: [8, 29] +- goal: [23, 12] + name: agent4 + start: [20, 3] +- goal: [28, 28] + name: agent5 + start: [22, 22] +- goal: [24, 3] + name: agent6 + start: [7, 27] +- goal: [21, 25] + name: agent7 + start: [5, 9] +- goal: [1, 8] + name: agent8 + start: [27, 13] +- goal: [27, 20] + name: agent9 + start: [27, 5] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [4, 18] + - !!python/tuple [11, 9] + - !!python/tuple [16, 18] + - !!python/tuple [2, 22] + - !!python/tuple [15, 0] + - !!python/tuple [18, 17] + - !!python/tuple [9, 8] + - !!python/tuple [26, 30] + - !!python/tuple [1, 31] + - !!python/tuple [16, 2] + - !!python/tuple [29, 19] + - !!python/tuple [6, 7] + - !!python/tuple [31, 9] + - !!python/tuple [24, 25] + - !!python/tuple [6, 31] + - !!python/tuple [24, 31] + - !!python/tuple [12, 17] + - !!python/tuple [3, 28] + - !!python/tuple [4, 10] + - !!python/tuple [18, 13] + - !!python/tuple [12, 19] + - !!python/tuple [12, 5] + - !!python/tuple [22, 11] + - !!python/tuple [30, 19] + - !!python/tuple [12, 1] + - !!python/tuple [6, 11] + - !!python/tuple [22, 26] + - !!python/tuple [2, 24] + - !!python/tuple [14, 30] + - !!python/tuple [10, 26] + - !!python/tuple [31, 11] + - !!python/tuple [1, 30] + - !!python/tuple [0, 8] + - !!python/tuple [24, 0] + - !!python/tuple [24, 19] + - !!python/tuple [21, 20] + - !!python/tuple [31, 16] + - !!python/tuple [6, 14] + - !!python/tuple [26, 19] + - !!python/tuple [17, 0] + - !!python/tuple [11, 22] + - !!python/tuple [31, 29] + - !!python/tuple [21, 23] + - !!python/tuple [17, 26] + - !!python/tuple [24, 22] + - !!python/tuple [3, 9] + - !!python/tuple [21, 13] + - !!python/tuple [2, 15] + - !!python/tuple [5, 28] + - !!python/tuple [18, 9] + - !!python/tuple [15, 19] + - !!python/tuple [30, 26] + - !!python/tuple [7, 25] + - !!python/tuple [10, 30] + - !!python/tuple [0, 24] + - !!python/tuple [15, 12] + - !!python/tuple [10, 22] + - !!python/tuple [22, 12] + - !!python/tuple [0, 11] + - !!python/tuple [22, 10] + - !!python/tuple [20, 1] + - !!python/tuple [2, 28] + - !!python/tuple [8, 9] + - !!python/tuple [2, 9] + - !!python/tuple [19, 30] + - !!python/tuple [7, 20] + - !!python/tuple [10, 16] + - !!python/tuple [27, 4] + - !!python/tuple [20, 21] + - !!python/tuple [3, 31] + - !!python/tuple [26, 26] + - !!python/tuple [7, 15] + - !!python/tuple [28, 8] + - !!python/tuple [9, 19] + - !!python/tuple [25, 18] + - !!python/tuple [20, 27] + - !!python/tuple [26, 2] + - !!python/tuple [18, 1] + - !!python/tuple [31, 7] + - !!python/tuple [29, 12] + - !!python/tuple [24, 15] + - !!python/tuple [0, 30] + - !!python/tuple [6, 12] + - !!python/tuple [7, 3] + - !!python/tuple [7, 16] + - !!python/tuple [28, 14] + - !!python/tuple [9, 24] + - !!python/tuple [6, 6] + - !!python/tuple [10, 12] + - !!python/tuple [29, 9] + - !!python/tuple [11, 31] + - !!python/tuple [31, 2] + - !!python/tuple [27, 16] + - !!python/tuple [9, 11] + - !!python/tuple [31, 3] + - !!python/tuple [6, 16] + - !!python/tuple [9, 18] + - !!python/tuple [17, 12] + - !!python/tuple [28, 4] + - !!python/tuple [8, 25] + - !!python/tuple [16, 29] + - !!python/tuple [18, 12] + - !!python/tuple [20, 28] + - !!python/tuple [0, 16] + - !!python/tuple [8, 5] + - !!python/tuple [5, 16] + - !!python/tuple [29, 31] + - !!python/tuple [30, 13] + - !!python/tuple [18, 11] + - !!python/tuple [14, 2] + - !!python/tuple [9, 20] + - !!python/tuple [2, 23] + - !!python/tuple [2, 14] + - !!python/tuple [19, 0] + - !!python/tuple [30, 3] + - !!python/tuple [28, 6] + - !!python/tuple [19, 10] + - !!python/tuple [21, 30] + - !!python/tuple [0, 15] + - !!python/tuple [19, 3] + - !!python/tuple [1, 3] + - !!python/tuple [10, 13] + - !!python/tuple [20, 23] + - !!python/tuple [29, 21] + - !!python/tuple [12, 23] + - !!python/tuple [27, 2] + - !!python/tuple [11, 2] + - !!python/tuple [24, 13] + - !!python/tuple [13, 26] + - !!python/tuple [6, 30] + - !!python/tuple [5, 20] + - !!python/tuple [12, 10] + - !!python/tuple [23, 19] + - !!python/tuple [7, 30] + - !!python/tuple [9, 3] + - !!python/tuple [22, 8] + - !!python/tuple [5, 15] + - !!python/tuple [25, 21] + - !!python/tuple [7, 18] + - !!python/tuple [12, 6] + - !!python/tuple [4, 14] + - !!python/tuple [6, 15] + - !!python/tuple [23, 6] + - !!python/tuple [25, 16] + - !!python/tuple [5, 21] + - !!python/tuple [24, 4] + - !!python/tuple [30, 12] + - !!python/tuple [0, 27] + - !!python/tuple [4, 26] + - !!python/tuple [26, 17] + - !!python/tuple [10, 15] + - !!python/tuple [26, 11] + - !!python/tuple [13, 16] + - !!python/tuple [1, 4] + - !!python/tuple [23, 3] + - !!python/tuple [28, 20] + - !!python/tuple [4, 12] + - !!python/tuple [30, 31] + - !!python/tuple [5, 27] + - !!python/tuple [7, 9] + - !!python/tuple [22, 30] + - !!python/tuple [10, 31] + - !!python/tuple [26, 22] + - !!python/tuple [22, 27] + - !!python/tuple [30, 16] + - !!python/tuple [26, 18] + - !!python/tuple [9, 23] + - !!python/tuple [30, 14] + - !!python/tuple [11, 10] + - !!python/tuple [15, 1] + - !!python/tuple [14, 18] + - !!python/tuple [23, 23] + - !!python/tuple [8, 12] + - !!python/tuple [16, 9] + - !!python/tuple [6, 29] + - !!python/tuple [18, 29] + - !!python/tuple [1, 17] + - !!python/tuple [21, 28] + - !!python/tuple [19, 7] + - !!python/tuple [3, 4] + - !!python/tuple [7, 2] + - !!python/tuple [16, 22] + - !!python/tuple [3, 1] + - !!python/tuple [2, 20] + - !!python/tuple [27, 23] + - !!python/tuple [18, 28] + - !!python/tuple [4, 2] + - !!python/tuple [4, 1] + - !!python/tuple [2, 3] + - !!python/tuple [21, 18] + - !!python/tuple [6, 9] + - !!python/tuple [21, 19] + - !!python/tuple [21, 1] + - !!python/tuple [3, 12] + - !!python/tuple [11, 25] + - !!python/tuple [19, 12] + - !!python/tuple [27, 31] + - !!python/tuple [13, 11] + - !!python/tuple [4, 16] + - !!python/tuple [1, 1] + - !!python/tuple [12, 29] + - !!python/tuple [26, 6] + - !!python/tuple [31, 5] + - !!python/tuple [23, 2] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex98.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex98.yaml new file mode 100644 index 0000000..084ccef --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex98.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [11, 18] + name: agent0 + start: [12, 16] +- goal: [21, 12] + name: agent1 + start: [8, 30] +- goal: [19, 3] + name: agent2 + start: [18, 13] +- goal: [31, 2] + name: agent3 + start: [11, 6] +- goal: [30, 14] + name: agent4 + start: [30, 21] +- goal: [17, 10] + name: agent5 + start: [24, 18] +- goal: [7, 17] + name: agent6 + start: [22, 31] +- goal: [11, 23] + name: agent7 + start: [8, 21] +- goal: [15, 27] + name: agent8 + start: [5, 21] +- goal: [28, 29] + name: agent9 + start: [2, 30] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [30, 15] + - !!python/tuple [31, 18] + - !!python/tuple [30, 29] + - !!python/tuple [18, 22] + - !!python/tuple [8, 15] + - !!python/tuple [30, 12] + - !!python/tuple [23, 22] + - !!python/tuple [22, 23] + - !!python/tuple [0, 6] + - !!python/tuple [17, 15] + - !!python/tuple [28, 10] + - !!python/tuple [3, 20] + - !!python/tuple [22, 12] + - !!python/tuple [14, 14] + - !!python/tuple [28, 5] + - !!python/tuple [27, 18] + - !!python/tuple [31, 11] + - !!python/tuple [29, 28] + - !!python/tuple [15, 17] + - !!python/tuple [9, 12] + - !!python/tuple [5, 22] + - !!python/tuple [1, 16] + - !!python/tuple [29, 20] + - !!python/tuple [12, 11] + - !!python/tuple [10, 8] + - !!python/tuple [19, 1] + - !!python/tuple [12, 2] + - !!python/tuple [20, 10] + - !!python/tuple [26, 30] + - !!python/tuple [0, 27] + - !!python/tuple [3, 16] + - !!python/tuple [18, 12] + - !!python/tuple [8, 16] + - !!python/tuple [13, 20] + - !!python/tuple [30, 31] + - !!python/tuple [2, 9] + - !!python/tuple [24, 10] + - !!python/tuple [1, 30] + - !!python/tuple [2, 13] + - !!python/tuple [4, 9] + - !!python/tuple [30, 26] + - !!python/tuple [22, 25] + - !!python/tuple [4, 3] + - !!python/tuple [22, 22] + - !!python/tuple [13, 29] + - !!python/tuple [13, 1] + - !!python/tuple [26, 26] + - !!python/tuple [9, 6] + - !!python/tuple [4, 26] + - !!python/tuple [26, 15] + - !!python/tuple [11, 16] + - !!python/tuple [24, 29] + - !!python/tuple [17, 7] + - !!python/tuple [17, 0] + - !!python/tuple [4, 19] + - !!python/tuple [21, 14] + - !!python/tuple [29, 3] + - !!python/tuple [21, 7] + - !!python/tuple [8, 23] + - !!python/tuple [29, 8] + - !!python/tuple [2, 7] + - !!python/tuple [6, 1] + - !!python/tuple [2, 16] + - !!python/tuple [23, 27] + - !!python/tuple [9, 20] + - !!python/tuple [16, 19] + - !!python/tuple [27, 19] + - !!python/tuple [17, 8] + - !!python/tuple [1, 23] + - !!python/tuple [7, 5] + - !!python/tuple [1, 25] + - !!python/tuple [26, 21] + - !!python/tuple [23, 15] + - !!python/tuple [30, 24] + - !!python/tuple [27, 22] + - !!python/tuple [1, 6] + - !!python/tuple [18, 7] + - !!python/tuple [6, 26] + - !!python/tuple [23, 30] + - !!python/tuple [10, 21] + - !!python/tuple [2, 0] + - !!python/tuple [18, 6] + - !!python/tuple [11, 1] + - !!python/tuple [22, 1] + - !!python/tuple [3, 6] + - !!python/tuple [17, 9] + - !!python/tuple [13, 11] + - !!python/tuple [31, 13] + - !!python/tuple [1, 27] + - !!python/tuple [11, 8] + - !!python/tuple [11, 2] + - !!python/tuple [25, 16] + - !!python/tuple [26, 20] + - !!python/tuple [10, 18] + - !!python/tuple [11, 9] + - !!python/tuple [12, 14] + - !!python/tuple [16, 17] + - !!python/tuple [14, 22] + - !!python/tuple [6, 20] + - !!python/tuple [21, 19] + - !!python/tuple [28, 18] + - !!python/tuple [10, 17] + - !!python/tuple [24, 28] + - !!python/tuple [3, 23] + - !!python/tuple [5, 18] + - !!python/tuple [6, 30] + - !!python/tuple [4, 4] + - !!python/tuple [3, 8] + - !!python/tuple [15, 7] + - !!python/tuple [5, 27] + - !!python/tuple [1, 29] + - !!python/tuple [2, 20] + - !!python/tuple [29, 5] + - !!python/tuple [3, 13] + - !!python/tuple [28, 30] + - !!python/tuple [12, 27] + - !!python/tuple [9, 30] + - !!python/tuple [10, 13] + - !!python/tuple [31, 26] + - !!python/tuple [9, 1] + - !!python/tuple [4, 12] + - !!python/tuple [8, 2] + - !!python/tuple [31, 9] + - !!python/tuple [1, 9] + - !!python/tuple [22, 13] + - !!python/tuple [11, 17] + - !!python/tuple [14, 5] + - !!python/tuple [31, 23] + - !!python/tuple [16, 13] + - !!python/tuple [15, 3] + - !!python/tuple [5, 3] + - !!python/tuple [1, 4] + - !!python/tuple [31, 10] + - !!python/tuple [16, 22] + - !!python/tuple [29, 1] + - !!python/tuple [25, 14] + - !!python/tuple [27, 17] + - !!python/tuple [29, 26] + - !!python/tuple [13, 25] + - !!python/tuple [10, 10] + - !!python/tuple [20, 2] + - !!python/tuple [25, 4] + - !!python/tuple [0, 0] + - !!python/tuple [5, 23] + - !!python/tuple [13, 5] + - !!python/tuple [29, 27] + - !!python/tuple [1, 14] + - !!python/tuple [5, 13] + - !!python/tuple [10, 6] + - !!python/tuple [6, 2] + - !!python/tuple [17, 25] + - !!python/tuple [15, 30] + - !!python/tuple [10, 5] + - !!python/tuple [5, 15] + - !!python/tuple [10, 0] + - !!python/tuple [6, 11] + - !!python/tuple [30, 30] + - !!python/tuple [23, 16] + - !!python/tuple [6, 25] + - !!python/tuple [6, 21] + - !!python/tuple [21, 0] + - !!python/tuple [2, 29] + - !!python/tuple [5, 7] + - !!python/tuple [21, 20] + - !!python/tuple [13, 16] + - !!python/tuple [31, 14] + - !!python/tuple [16, 3] + - !!python/tuple [21, 3] + - !!python/tuple [24, 19] + - !!python/tuple [17, 1] + - !!python/tuple [9, 25] + - !!python/tuple [21, 15] + - !!python/tuple [8, 6] + - !!python/tuple [8, 9] + - !!python/tuple [3, 0] + - !!python/tuple [17, 16] + - !!python/tuple [3, 17] + - !!python/tuple [1, 28] + - !!python/tuple [29, 0] + - !!python/tuple [3, 5] + - !!python/tuple [20, 12] + - !!python/tuple [8, 11] + - !!python/tuple [23, 4] + - !!python/tuple [0, 21] + - !!python/tuple [27, 10] + - !!python/tuple [12, 22] + - !!python/tuple [2, 6] + - !!python/tuple [3, 29] + - !!python/tuple [5, 2] + - !!python/tuple [6, 3] + - !!python/tuple [22, 7] + - !!python/tuple [21, 29] + - !!python/tuple [26, 2] + - !!python/tuple [13, 22] + - !!python/tuple [20, 8] + - !!python/tuple [5, 1] + - !!python/tuple [18, 3] + - !!python/tuple [31, 0] + - !!python/tuple [18, 24] + - !!python/tuple [11, 14] + - !!python/tuple [20, 13] + - !!python/tuple [18, 28] + - !!python/tuple [5, 19] + - !!python/tuple [15, 4] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex99.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex99.yaml new file mode 100644 index 0000000..6a2b44b --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents10_ex99.yaml @@ -0,0 +1,238 @@ +agents: +- goal: [15, 3] + name: agent0 + start: [5, 27] +- goal: [16, 17] + name: agent1 + start: [12, 16] +- goal: [9, 9] + name: agent2 + start: [14, 23] +- goal: [29, 20] + name: agent3 + start: [1, 11] +- goal: [9, 17] + name: agent4 + start: [23, 4] +- goal: [11, 16] + name: agent5 + start: [3, 19] +- goal: [26, 13] + name: agent6 + start: [18, 30] +- goal: [5, 8] + name: agent7 + start: [29, 24] +- goal: [21, 2] + name: agent8 + start: [1, 19] +- goal: [12, 30] + name: agent9 + start: [2, 29] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [18, 14] + - !!python/tuple [25, 3] + - !!python/tuple [26, 16] + - !!python/tuple [31, 24] + - !!python/tuple [30, 9] + - !!python/tuple [2, 4] + - !!python/tuple [11, 29] + - !!python/tuple [29, 11] + - !!python/tuple [7, 3] + - !!python/tuple [14, 30] + - !!python/tuple [13, 13] + - !!python/tuple [16, 2] + - !!python/tuple [5, 24] + - !!python/tuple [25, 10] + - !!python/tuple [8, 28] + - !!python/tuple [18, 8] + - !!python/tuple [15, 19] + - !!python/tuple [8, 11] + - !!python/tuple [15, 23] + - !!python/tuple [29, 7] + - !!python/tuple [24, 25] + - !!python/tuple [5, 17] + - !!python/tuple [12, 18] + - !!python/tuple [26, 14] + - !!python/tuple [29, 18] + - !!python/tuple [18, 16] + - !!python/tuple [15, 28] + - !!python/tuple [19, 16] + - !!python/tuple [6, 28] + - !!python/tuple [2, 9] + - !!python/tuple [23, 9] + - !!python/tuple [19, 11] + - !!python/tuple [2, 22] + - !!python/tuple [24, 22] + - !!python/tuple [29, 23] + - !!python/tuple [19, 27] + - !!python/tuple [27, 10] + - !!python/tuple [7, 29] + - !!python/tuple [19, 19] + - !!python/tuple [27, 14] + - !!python/tuple [17, 1] + - !!python/tuple [26, 26] + - !!python/tuple [29, 5] + - !!python/tuple [25, 0] + - !!python/tuple [20, 18] + - !!python/tuple [11, 2] + - !!python/tuple [8, 15] + - !!python/tuple [4, 6] + - !!python/tuple [19, 2] + - !!python/tuple [6, 12] + - !!python/tuple [11, 6] + - !!python/tuple [10, 4] + - !!python/tuple [5, 3] + - !!python/tuple [16, 27] + - !!python/tuple [7, 16] + - !!python/tuple [18, 9] + - !!python/tuple [10, 2] + - !!python/tuple [5, 11] + - !!python/tuple [11, 1] + - !!python/tuple [19, 17] + - !!python/tuple [20, 14] + - !!python/tuple [11, 13] + - !!python/tuple [26, 27] + - !!python/tuple [22, 30] + - !!python/tuple [27, 19] + - !!python/tuple [18, 5] + - !!python/tuple [12, 10] + - !!python/tuple [18, 28] + - !!python/tuple [14, 22] + - !!python/tuple [26, 23] + - !!python/tuple [10, 31] + - !!python/tuple [9, 12] + - !!python/tuple [26, 10] + - !!python/tuple [13, 27] + - !!python/tuple [12, 7] + - !!python/tuple [5, 4] + - !!python/tuple [4, 31] + - !!python/tuple [27, 20] + - !!python/tuple [14, 2] + - !!python/tuple [30, 21] + - !!python/tuple [7, 14] + - !!python/tuple [1, 26] + - !!python/tuple [13, 2] + - !!python/tuple [6, 10] + - !!python/tuple [14, 7] + - !!python/tuple [28, 28] + - !!python/tuple [18, 23] + - !!python/tuple [28, 27] + - !!python/tuple [18, 15] + - !!python/tuple [25, 11] + - !!python/tuple [28, 23] + - !!python/tuple [11, 26] + - !!python/tuple [22, 1] + - !!python/tuple [13, 15] + - !!python/tuple [8, 6] + - !!python/tuple [14, 10] + - !!python/tuple [25, 7] + - !!python/tuple [13, 12] + - !!python/tuple [25, 6] + - !!python/tuple [21, 12] + - !!python/tuple [19, 26] + - !!python/tuple [11, 0] + - !!python/tuple [27, 7] + - !!python/tuple [27, 25] + - !!python/tuple [11, 8] + - !!python/tuple [25, 5] + - !!python/tuple [7, 0] + - !!python/tuple [28, 6] + - !!python/tuple [13, 7] + - !!python/tuple [25, 25] + - !!python/tuple [21, 31] + - !!python/tuple [17, 31] + - !!python/tuple [25, 2] + - !!python/tuple [7, 17] + - !!python/tuple [20, 8] + - !!python/tuple [20, 23] + - !!python/tuple [7, 25] + - !!python/tuple [6, 14] + - !!python/tuple [10, 20] + - !!python/tuple [0, 4] + - !!python/tuple [30, 15] + - !!python/tuple [4, 18] + - !!python/tuple [18, 20] + - !!python/tuple [24, 3] + - !!python/tuple [19, 30] + - !!python/tuple [7, 5] + - !!python/tuple [11, 30] + - !!python/tuple [2, 20] + - !!python/tuple [16, 15] + - !!python/tuple [7, 9] + - !!python/tuple [19, 3] + - !!python/tuple [14, 29] + - !!python/tuple [20, 31] + - !!python/tuple [19, 25] + - !!python/tuple [13, 26] + - !!python/tuple [23, 29] + - !!python/tuple [11, 3] + - !!python/tuple [0, 27] + - !!python/tuple [1, 13] + - !!python/tuple [22, 5] + - !!python/tuple [10, 15] + - !!python/tuple [18, 13] + - !!python/tuple [22, 7] + - !!python/tuple [18, 18] + - !!python/tuple [2, 21] + - !!python/tuple [5, 9] + - !!python/tuple [22, 17] + - !!python/tuple [16, 4] + - !!python/tuple [8, 3] + - !!python/tuple [2, 18] + - !!python/tuple [25, 13] + - !!python/tuple [25, 9] + - !!python/tuple [5, 1] + - !!python/tuple [11, 21] + - !!python/tuple [27, 9] + - !!python/tuple [7, 10] + - !!python/tuple [18, 26] + - !!python/tuple [21, 16] + - !!python/tuple [30, 18] + - !!python/tuple [5, 22] + - !!python/tuple [0, 31] + - !!python/tuple [2, 11] + - !!python/tuple [24, 0] + - !!python/tuple [23, 3] + - !!python/tuple [0, 29] + - !!python/tuple [16, 9] + - !!python/tuple [24, 8] + - !!python/tuple [1, 22] + - !!python/tuple [0, 17] + - !!python/tuple [4, 12] + - !!python/tuple [18, 2] + - !!python/tuple [14, 5] + - !!python/tuple [24, 21] + - !!python/tuple [1, 15] + - !!python/tuple [17, 14] + - !!python/tuple [15, 8] + - !!python/tuple [7, 30] + - !!python/tuple [20, 25] + - !!python/tuple [11, 19] + - !!python/tuple [18, 21] + - !!python/tuple [10, 18] + - !!python/tuple [17, 8] + - !!python/tuple [5, 21] + - !!python/tuple [28, 0] + - !!python/tuple [20, 16] + - !!python/tuple [16, 22] + - !!python/tuple [21, 1] + - !!python/tuple [20, 20] + - !!python/tuple [25, 23] + - !!python/tuple [16, 19] + - !!python/tuple [20, 27] + - !!python/tuple [28, 25] + - !!python/tuple [7, 2] + - !!python/tuple [1, 18] + - !!python/tuple [23, 14] + - !!python/tuple [31, 19] + - !!python/tuple [17, 4] + - !!python/tuple [8, 24] + - !!python/tuple [7, 22] + - !!python/tuple [10, 12] + - !!python/tuple [31, 20] + - !!python/tuple [6, 15] + - !!python/tuple [4, 20] + - !!python/tuple [20, 24] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex0.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex0.yaml new file mode 100644 index 0000000..81d457e --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex0.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [24, 24] + name: agent0 + start: [30, 31] +- goal: [7, 7] + name: agent1 + start: [19, 19] +- goal: [1, 23] + name: agent2 + start: [18, 9] +- goal: [13, 28] + name: agent3 + start: [20, 16] +- goal: [25, 10] + name: agent4 + start: [6, 2] +- goal: [28, 4] + name: agent5 + start: [12, 27] +- goal: [18, 4] + name: agent6 + start: [18, 21] +- goal: [25, 21] + name: agent7 + start: [7, 4] +- goal: [11, 30] + name: agent8 + start: [11, 14] +- goal: [21, 1] + name: agent9 + start: [10, 0] +- goal: [3, 28] + name: agent10 + start: [22, 22] +- goal: [18, 15] + name: agent11 + start: [26, 2] +- goal: [28, 21] + name: agent12 + start: [14, 4] +- goal: [22, 13] + name: agent13 + start: [31, 11] +- goal: [1, 22] + name: agent14 + start: [3, 17] +- goal: [23, 13] + name: agent15 + start: [14, 28] +- goal: [23, 14] + name: agent16 + start: [12, 8] +- goal: [27, 26] + name: agent17 + start: [21, 3] +- goal: [5, 19] + name: agent18 + start: [18, 8] +- goal: [6, 14] + name: agent19 + start: [31, 4] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [28, 31] + - !!python/tuple [31, 26] + - !!python/tuple [8, 29] + - !!python/tuple [27, 2] + - !!python/tuple [2, 0] + - !!python/tuple [17, 30] + - !!python/tuple [1, 4] + - !!python/tuple [27, 1] + - !!python/tuple [9, 26] + - !!python/tuple [31, 10] + - !!python/tuple [3, 22] + - !!python/tuple [10, 4] + - !!python/tuple [11, 16] + - !!python/tuple [30, 18] + - !!python/tuple [7, 21] + - !!python/tuple [24, 4] + - !!python/tuple [2, 12] + - !!python/tuple [18, 17] + - !!python/tuple [28, 2] + - !!python/tuple [1, 8] + - !!python/tuple [20, 20] + - !!python/tuple [21, 19] + - !!python/tuple [26, 4] + - !!python/tuple [19, 13] + - !!python/tuple [25, 13] + - !!python/tuple [1, 13] + - !!python/tuple [24, 30] + - !!python/tuple [18, 27] + - !!python/tuple [8, 13] + - !!python/tuple [9, 2] + - !!python/tuple [18, 0] + - !!python/tuple [17, 1] + - !!python/tuple [14, 12] + - !!python/tuple [25, 29] + - !!python/tuple [21, 10] + - !!python/tuple [20, 5] + - !!python/tuple [5, 29] + - !!python/tuple [3, 21] + - !!python/tuple [4, 5] + - !!python/tuple [11, 18] + - !!python/tuple [0, 10] + - !!python/tuple [27, 19] + - !!python/tuple [13, 9] + - !!python/tuple [1, 18] + - !!python/tuple [16, 10] + - !!python/tuple [19, 8] + - !!python/tuple [28, 26] + - !!python/tuple [10, 16] + - !!python/tuple [1, 5] + - !!python/tuple [25, 6] + - !!python/tuple [13, 5] + - !!python/tuple [14, 1] + - !!python/tuple [27, 12] + - !!python/tuple [0, 17] + - !!python/tuple [8, 31] + - !!python/tuple [8, 23] + - !!python/tuple [2, 23] + - !!python/tuple [16, 30] + - !!python/tuple [10, 1] + - !!python/tuple [23, 18] + - !!python/tuple [30, 20] + - !!python/tuple [10, 26] + - !!python/tuple [11, 10] + - !!python/tuple [13, 14] + - !!python/tuple [31, 19] + - !!python/tuple [16, 21] + - !!python/tuple [26, 5] + - !!python/tuple [24, 25] + - !!python/tuple [24, 21] + - !!python/tuple [23, 28] + - !!python/tuple [6, 26] + - !!python/tuple [27, 24] + - !!python/tuple [23, 25] + - !!python/tuple [27, 5] + - !!python/tuple [15, 0] + - !!python/tuple [10, 8] + - !!python/tuple [18, 6] + - !!python/tuple [23, 31] + - !!python/tuple [0, 21] + - !!python/tuple [30, 13] + - !!python/tuple [2, 25] + - !!python/tuple [18, 20] + - !!python/tuple [15, 6] + - !!python/tuple [10, 22] + - !!python/tuple [6, 6] + - !!python/tuple [3, 19] + - !!python/tuple [5, 5] + - !!python/tuple [25, 31] + - !!python/tuple [12, 21] + - !!python/tuple [25, 26] + - !!python/tuple [30, 0] + - !!python/tuple [21, 22] + - !!python/tuple [17, 15] + - !!python/tuple [24, 3] + - !!python/tuple [24, 15] + - !!python/tuple [1, 26] + - !!python/tuple [24, 18] + - !!python/tuple [0, 26] + - !!python/tuple [1, 7] + - !!python/tuple [11, 13] + - !!python/tuple [0, 7] + - !!python/tuple [16, 31] + - !!python/tuple [2, 6] + - !!python/tuple [1, 15] + - !!python/tuple [31, 2] + - !!python/tuple [17, 17] + - !!python/tuple [8, 1] + - !!python/tuple [26, 0] + - !!python/tuple [5, 21] + - !!python/tuple [10, 24] + - !!python/tuple [7, 24] + - !!python/tuple [12, 18] + - !!python/tuple [21, 2] + - !!python/tuple [17, 8] + - !!python/tuple [16, 15] + - !!python/tuple [2, 9] + - !!python/tuple [14, 9] + - !!python/tuple [21, 26] + - !!python/tuple [24, 22] + - !!python/tuple [16, 17] + - !!python/tuple [22, 0] + - !!python/tuple [7, 25] + - !!python/tuple [1, 19] + - !!python/tuple [8, 5] + - !!python/tuple [7, 14] + - !!python/tuple [13, 8] + - !!python/tuple [26, 23] + - !!python/tuple [22, 11] + - !!python/tuple [18, 5] + - !!python/tuple [1, 17] + - !!python/tuple [20, 23] + - !!python/tuple [16, 6] + - !!python/tuple [17, 9] + - !!python/tuple [5, 8] + - !!python/tuple [26, 11] + - !!python/tuple [11, 0] + - !!python/tuple [30, 24] + - !!python/tuple [27, 3] + - !!python/tuple [27, 8] + - !!python/tuple [26, 6] + - !!python/tuple [21, 4] + - !!python/tuple [0, 3] + - !!python/tuple [29, 12] + - !!python/tuple [25, 22] + - !!python/tuple [21, 17] + - !!python/tuple [26, 17] + - !!python/tuple [25, 23] + - !!python/tuple [6, 30] + - !!python/tuple [26, 19] + - !!python/tuple [9, 21] + - !!python/tuple [1, 9] + - !!python/tuple [29, 10] + - !!python/tuple [0, 30] + - !!python/tuple [4, 3] + - !!python/tuple [26, 27] + - !!python/tuple [26, 28] + - !!python/tuple [24, 29] + - !!python/tuple [13, 18] + - !!python/tuple [16, 22] + - !!python/tuple [31, 14] + - !!python/tuple [17, 6] + - !!python/tuple [21, 14] + - !!python/tuple [9, 15] + - !!python/tuple [14, 31] + - !!python/tuple [25, 1] + - !!python/tuple [7, 6] + - !!python/tuple [29, 19] + - !!python/tuple [24, 13] + - !!python/tuple [5, 12] + - !!python/tuple [11, 6] + - !!python/tuple [2, 18] + - !!python/tuple [7, 1] + - !!python/tuple [21, 29] + - !!python/tuple [20, 31] + - !!python/tuple [11, 5] + - !!python/tuple [4, 8] + - !!python/tuple [12, 0] + - !!python/tuple [17, 10] + - !!python/tuple [1, 3] + - !!python/tuple [14, 2] + - !!python/tuple [24, 28] + - !!python/tuple [11, 19] + - !!python/tuple [9, 20] + - !!python/tuple [16, 29] + - !!python/tuple [1, 16] + - !!python/tuple [22, 16] + - !!python/tuple [13, 24] + - !!python/tuple [4, 10] + - !!python/tuple [28, 30] + - !!python/tuple [15, 24] + - !!python/tuple [19, 11] + - !!python/tuple [17, 29] + - !!python/tuple [19, 6] + - !!python/tuple [30, 16] + - !!python/tuple [5, 9] + - !!python/tuple [25, 15] + - !!python/tuple [3, 14] + - !!python/tuple [3, 25] + - !!python/tuple [14, 11] + - !!python/tuple [5, 31] + - !!python/tuple [30, 5] + - !!python/tuple [15, 17] + - !!python/tuple [14, 17] + - !!python/tuple [29, 31] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex1.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex1.yaml new file mode 100644 index 0000000..40d1020 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex1.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [14, 7] + name: agent0 + start: [25, 20] +- goal: [27, 23] + name: agent1 + start: [19, 22] +- goal: [31, 22] + name: agent2 + start: [5, 11] +- goal: [23, 9] + name: agent3 + start: [22, 15] +- goal: [7, 1] + name: agent4 + start: [24, 17] +- goal: [26, 18] + name: agent5 + start: [13, 14] +- goal: [23, 0] + name: agent6 + start: [1, 7] +- goal: [30, 6] + name: agent7 + start: [9, 3] +- goal: [31, 15] + name: agent8 + start: [11, 21] +- goal: [21, 14] + name: agent9 + start: [23, 0] +- goal: [25, 7] + name: agent10 + start: [2, 31] +- goal: [14, 9] + name: agent11 + start: [2, 20] +- goal: [4, 15] + name: agent12 + start: [17, 19] +- goal: [22, 25] + name: agent13 + start: [30, 11] +- goal: [12, 30] + name: agent14 + start: [22, 28] +- goal: [31, 18] + name: agent15 + start: [6, 18] +- goal: [7, 14] + name: agent16 + start: [12, 11] +- goal: [8, 8] + name: agent17 + start: [11, 20] +- goal: [26, 7] + name: agent18 + start: [2, 18] +- goal: [30, 1] + name: agent19 + start: [3, 4] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [10, 25] + - !!python/tuple [27, 18] + - !!python/tuple [14, 30] + - !!python/tuple [15, 27] + - !!python/tuple [16, 10] + - !!python/tuple [26, 16] + - !!python/tuple [5, 4] + - !!python/tuple [21, 0] + - !!python/tuple [19, 12] + - !!python/tuple [5, 13] + - !!python/tuple [8, 11] + - !!python/tuple [22, 17] + - !!python/tuple [13, 27] + - !!python/tuple [1, 8] + - !!python/tuple [5, 2] + - !!python/tuple [20, 8] + - !!python/tuple [24, 2] + - !!python/tuple [25, 25] + - !!python/tuple [13, 29] + - !!python/tuple [8, 10] + - !!python/tuple [13, 3] + - !!python/tuple [19, 26] + - !!python/tuple [5, 22] + - !!python/tuple [26, 3] + - !!python/tuple [7, 8] + - !!python/tuple [29, 6] + - !!python/tuple [18, 26] + - !!python/tuple [6, 31] + - !!python/tuple [10, 23] + - !!python/tuple [16, 5] + - !!python/tuple [19, 4] + - !!python/tuple [0, 29] + - !!python/tuple [28, 17] + - !!python/tuple [12, 23] + - !!python/tuple [17, 3] + - !!python/tuple [24, 4] + - !!python/tuple [22, 7] + - !!python/tuple [30, 3] + - !!python/tuple [31, 17] + - !!python/tuple [2, 6] + - !!python/tuple [3, 20] + - !!python/tuple [1, 23] + - !!python/tuple [10, 11] + - !!python/tuple [10, 26] + - !!python/tuple [3, 16] + - !!python/tuple [21, 8] + - !!python/tuple [27, 24] + - !!python/tuple [23, 2] + - !!python/tuple [17, 11] + - !!python/tuple [14, 3] + - !!python/tuple [22, 1] + - !!python/tuple [30, 7] + - !!python/tuple [29, 26] + - !!python/tuple [26, 1] + - !!python/tuple [20, 7] + - !!python/tuple [10, 0] + - !!python/tuple [6, 5] + - !!python/tuple [0, 31] + - !!python/tuple [2, 16] + - !!python/tuple [2, 3] + - !!python/tuple [4, 20] + - !!python/tuple [17, 31] + - !!python/tuple [2, 22] + - !!python/tuple [17, 15] + - !!python/tuple [9, 26] + - !!python/tuple [17, 29] + - !!python/tuple [30, 18] + - !!python/tuple [31, 11] + - !!python/tuple [26, 27] + - !!python/tuple [11, 31] + - !!python/tuple [28, 13] + - !!python/tuple [19, 21] + - !!python/tuple [14, 24] + - !!python/tuple [14, 22] + - !!python/tuple [30, 14] + - !!python/tuple [19, 25] + - !!python/tuple [1, 24] + - !!python/tuple [0, 22] + - !!python/tuple [10, 5] + - !!python/tuple [21, 29] + - !!python/tuple [14, 11] + - !!python/tuple [23, 19] + - !!python/tuple [7, 31] + - !!python/tuple [15, 21] + - !!python/tuple [29, 23] + - !!python/tuple [23, 29] + - !!python/tuple [10, 4] + - !!python/tuple [27, 5] + - !!python/tuple [28, 27] + - !!python/tuple [3, 25] + - !!python/tuple [1, 16] + - !!python/tuple [2, 4] + - !!python/tuple [21, 27] + - !!python/tuple [0, 1] + - !!python/tuple [2, 25] + - !!python/tuple [5, 0] + - !!python/tuple [22, 2] + - !!python/tuple [3, 22] + - !!python/tuple [8, 28] + - !!python/tuple [11, 19] + - !!python/tuple [20, 20] + - !!python/tuple [15, 14] + - !!python/tuple [13, 13] + - !!python/tuple [3, 3] + - !!python/tuple [4, 11] + - !!python/tuple [15, 6] + - !!python/tuple [14, 20] + - !!python/tuple [21, 31] + - !!python/tuple [29, 3] + - !!python/tuple [1, 3] + - !!python/tuple [10, 21] + - !!python/tuple [16, 21] + - !!python/tuple [10, 12] + - !!python/tuple [8, 21] + - !!python/tuple [22, 12] + - !!python/tuple [23, 3] + - !!python/tuple [13, 6] + - !!python/tuple [12, 0] + - !!python/tuple [20, 27] + - !!python/tuple [21, 13] + - !!python/tuple [5, 31] + - !!python/tuple [25, 19] + - !!python/tuple [9, 5] + - !!python/tuple [28, 15] + - !!python/tuple [27, 6] + - !!python/tuple [14, 16] + - !!python/tuple [6, 3] + - !!python/tuple [15, 28] + - !!python/tuple [6, 26] + - !!python/tuple [18, 5] + - !!python/tuple [10, 27] + - !!python/tuple [4, 17] + - !!python/tuple [2, 1] + - !!python/tuple [18, 9] + - !!python/tuple [13, 18] + - !!python/tuple [20, 30] + - !!python/tuple [24, 7] + - !!python/tuple [21, 22] + - !!python/tuple [1, 14] + - !!python/tuple [24, 12] + - !!python/tuple [22, 22] + - !!python/tuple [12, 31] + - !!python/tuple [30, 24] + - !!python/tuple [13, 17] + - !!python/tuple [12, 2] + - !!python/tuple [15, 7] + - !!python/tuple [10, 3] + - !!python/tuple [31, 23] + - !!python/tuple [0, 6] + - !!python/tuple [27, 19] + - !!python/tuple [24, 20] + - !!python/tuple [21, 17] + - !!python/tuple [9, 6] + - !!python/tuple [3, 14] + - !!python/tuple [13, 4] + - !!python/tuple [31, 3] + - !!python/tuple [2, 30] + - !!python/tuple [23, 11] + - !!python/tuple [7, 0] + - !!python/tuple [17, 6] + - !!python/tuple [21, 3] + - !!python/tuple [18, 16] + - !!python/tuple [23, 17] + - !!python/tuple [3, 30] + - !!python/tuple [16, 27] + - !!python/tuple [26, 14] + - !!python/tuple [29, 16] + - !!python/tuple [26, 17] + - !!python/tuple [31, 21] + - !!python/tuple [27, 13] + - !!python/tuple [25, 28] + - !!python/tuple [0, 9] + - !!python/tuple [14, 26] + - !!python/tuple [2, 2] + - !!python/tuple [13, 21] + - !!python/tuple [23, 5] + - !!python/tuple [20, 23] + - !!python/tuple [28, 18] + - !!python/tuple [29, 17] + - !!python/tuple [18, 21] + - !!python/tuple [10, 15] + - !!python/tuple [20, 25] + - !!python/tuple [4, 28] + - !!python/tuple [29, 31] + - !!python/tuple [1, 31] + - !!python/tuple [26, 4] + - !!python/tuple [27, 20] + - !!python/tuple [2, 9] + - !!python/tuple [2, 28] + - !!python/tuple [15, 20] + - !!python/tuple [30, 9] + - !!python/tuple [3, 24] + - !!python/tuple [24, 15] + - !!python/tuple [10, 18] + - !!python/tuple [4, 6] + - !!python/tuple [23, 16] + - !!python/tuple [1, 26] + - !!python/tuple [20, 2] + - !!python/tuple [10, 10] + - !!python/tuple [5, 23] + - !!python/tuple [4, 5] + - !!python/tuple [7, 25] + - !!python/tuple [0, 18] + - !!python/tuple [16, 1] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex10.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex10.yaml new file mode 100644 index 0000000..9506fc8 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex10.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [26, 17] + name: agent0 + start: [20, 21] +- goal: [10, 28] + name: agent1 + start: [10, 30] +- goal: [15, 16] + name: agent2 + start: [7, 26] +- goal: [1, 11] + name: agent3 + start: [15, 16] +- goal: [16, 13] + name: agent4 + start: [24, 31] +- goal: [0, 17] + name: agent5 + start: [7, 14] +- goal: [23, 28] + name: agent6 + start: [3, 7] +- goal: [25, 2] + name: agent7 + start: [20, 1] +- goal: [6, 25] + name: agent8 + start: [14, 31] +- goal: [9, 4] + name: agent9 + start: [18, 2] +- goal: [8, 19] + name: agent10 + start: [18, 1] +- goal: [15, 4] + name: agent11 + start: [21, 20] +- goal: [16, 31] + name: agent12 + start: [17, 19] +- goal: [25, 6] + name: agent13 + start: [28, 6] +- goal: [0, 20] + name: agent14 + start: [7, 8] +- goal: [18, 17] + name: agent15 + start: [28, 31] +- goal: [26, 22] + name: agent16 + start: [12, 31] +- goal: [5, 1] + name: agent17 + start: [9, 15] +- goal: [11, 1] + name: agent18 + start: [14, 15] +- goal: [13, 0] + name: agent19 + start: [0, 29] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [1, 13] + - !!python/tuple [8, 14] + - !!python/tuple [8, 3] + - !!python/tuple [1, 12] + - !!python/tuple [17, 3] + - !!python/tuple [21, 22] + - !!python/tuple [6, 15] + - !!python/tuple [19, 13] + - !!python/tuple [12, 4] + - !!python/tuple [21, 17] + - !!python/tuple [27, 4] + - !!python/tuple [17, 25] + - !!python/tuple [18, 9] + - !!python/tuple [26, 28] + - !!python/tuple [15, 6] + - !!python/tuple [31, 2] + - !!python/tuple [31, 1] + - !!python/tuple [23, 12] + - !!python/tuple [10, 2] + - !!python/tuple [23, 2] + - !!python/tuple [3, 6] + - !!python/tuple [9, 12] + - !!python/tuple [22, 2] + - !!python/tuple [9, 18] + - !!python/tuple [16, 29] + - !!python/tuple [6, 28] + - !!python/tuple [25, 4] + - !!python/tuple [25, 31] + - !!python/tuple [26, 21] + - !!python/tuple [9, 28] + - !!python/tuple [3, 22] + - !!python/tuple [27, 10] + - !!python/tuple [26, 20] + - !!python/tuple [2, 23] + - !!python/tuple [22, 23] + - !!python/tuple [29, 20] + - !!python/tuple [15, 17] + - !!python/tuple [29, 9] + - !!python/tuple [30, 8] + - !!python/tuple [7, 1] + - !!python/tuple [10, 15] + - !!python/tuple [17, 0] + - !!python/tuple [3, 1] + - !!python/tuple [11, 15] + - !!python/tuple [14, 23] + - !!python/tuple [0, 21] + - !!python/tuple [14, 16] + - !!python/tuple [19, 6] + - !!python/tuple [3, 13] + - !!python/tuple [20, 28] + - !!python/tuple [3, 4] + - !!python/tuple [30, 27] + - !!python/tuple [29, 27] + - !!python/tuple [8, 13] + - !!python/tuple [3, 0] + - !!python/tuple [17, 21] + - !!python/tuple [18, 18] + - !!python/tuple [16, 18] + - !!python/tuple [9, 26] + - !!python/tuple [26, 2] + - !!python/tuple [24, 0] + - !!python/tuple [15, 31] + - !!python/tuple [27, 26] + - !!python/tuple [25, 1] + - !!python/tuple [22, 13] + - !!python/tuple [30, 3] + - !!python/tuple [26, 11] + - !!python/tuple [31, 25] + - !!python/tuple [21, 10] + - !!python/tuple [0, 23] + - !!python/tuple [8, 7] + - !!python/tuple [21, 19] + - !!python/tuple [15, 11] + - !!python/tuple [7, 2] + - !!python/tuple [17, 9] + - !!python/tuple [9, 27] + - !!python/tuple [1, 19] + - !!python/tuple [17, 5] + - !!python/tuple [28, 22] + - !!python/tuple [12, 30] + - !!python/tuple [22, 28] + - !!python/tuple [28, 0] + - !!python/tuple [29, 17] + - !!python/tuple [26, 31] + - !!python/tuple [14, 19] + - !!python/tuple [4, 16] + - !!python/tuple [2, 29] + - !!python/tuple [26, 30] + - !!python/tuple [24, 6] + - !!python/tuple [11, 28] + - !!python/tuple [6, 1] + - !!python/tuple [24, 18] + - !!python/tuple [5, 17] + - !!python/tuple [22, 30] + - !!python/tuple [16, 19] + - !!python/tuple [14, 26] + - !!python/tuple [20, 3] + - !!python/tuple [28, 23] + - !!python/tuple [30, 24] + - !!python/tuple [16, 16] + - !!python/tuple [4, 9] + - !!python/tuple [18, 27] + - !!python/tuple [3, 14] + - !!python/tuple [0, 24] + - !!python/tuple [5, 4] + - !!python/tuple [21, 14] + - !!python/tuple [18, 24] + - !!python/tuple [6, 9] + - !!python/tuple [7, 11] + - !!python/tuple [20, 27] + - !!python/tuple [8, 10] + - !!python/tuple [19, 27] + - !!python/tuple [31, 28] + - !!python/tuple [9, 23] + - !!python/tuple [17, 29] + - !!python/tuple [17, 1] + - !!python/tuple [30, 9] + - !!python/tuple [3, 11] + - !!python/tuple [10, 16] + - !!python/tuple [26, 8] + - !!python/tuple [28, 3] + - !!python/tuple [1, 18] + - !!python/tuple [2, 20] + - !!python/tuple [13, 9] + - !!python/tuple [31, 14] + - !!python/tuple [0, 0] + - !!python/tuple [26, 19] + - !!python/tuple [3, 15] + - !!python/tuple [30, 31] + - !!python/tuple [5, 28] + - !!python/tuple [4, 4] + - !!python/tuple [18, 21] + - !!python/tuple [12, 7] + - !!python/tuple [14, 8] + - !!python/tuple [4, 6] + - !!python/tuple [9, 25] + - !!python/tuple [24, 7] + - !!python/tuple [13, 24] + - !!python/tuple [30, 29] + - !!python/tuple [16, 8] + - !!python/tuple [30, 17] + - !!python/tuple [30, 19] + - !!python/tuple [2, 22] + - !!python/tuple [29, 3] + - !!python/tuple [2, 16] + - !!python/tuple [18, 5] + - !!python/tuple [29, 19] + - !!python/tuple [13, 22] + - !!python/tuple [30, 5] + - !!python/tuple [21, 26] + - !!python/tuple [11, 12] + - !!python/tuple [8, 12] + - !!python/tuple [9, 17] + - !!python/tuple [21, 15] + - !!python/tuple [21, 3] + - !!python/tuple [21, 1] + - !!python/tuple [24, 30] + - !!python/tuple [14, 10] + - !!python/tuple [13, 25] + - !!python/tuple [6, 11] + - !!python/tuple [25, 8] + - !!python/tuple [20, 15] + - !!python/tuple [20, 31] + - !!python/tuple [21, 31] + - !!python/tuple [4, 10] + - !!python/tuple [5, 27] + - !!python/tuple [14, 30] + - !!python/tuple [27, 9] + - !!python/tuple [24, 26] + - !!python/tuple [0, 31] + - !!python/tuple [18, 14] + - !!python/tuple [21, 2] + - !!python/tuple [12, 5] + - !!python/tuple [1, 0] + - !!python/tuple [2, 17] + - !!python/tuple [1, 28] + - !!python/tuple [3, 12] + - !!python/tuple [15, 22] + - !!python/tuple [28, 24] + - !!python/tuple [5, 22] + - !!python/tuple [13, 17] + - !!python/tuple [24, 13] + - !!python/tuple [12, 10] + - !!python/tuple [16, 15] + - !!python/tuple [21, 27] + - !!python/tuple [23, 14] + - !!python/tuple [22, 17] + - !!python/tuple [13, 1] + - !!python/tuple [21, 5] + - !!python/tuple [10, 1] + - !!python/tuple [6, 18] + - !!python/tuple [11, 6] + - !!python/tuple [1, 7] + - !!python/tuple [30, 23] + - !!python/tuple [22, 19] + - !!python/tuple [4, 22] + - !!python/tuple [20, 11] + - !!python/tuple [7, 3] + - !!python/tuple [1, 24] + - !!python/tuple [2, 11] + - !!python/tuple [23, 11] + - !!python/tuple [9, 6] + - !!python/tuple [24, 20] + - !!python/tuple [1, 6] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex11.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex11.yaml new file mode 100644 index 0000000..23224ac --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex11.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [8, 24] + name: agent0 + start: [16, 3] +- goal: [18, 16] + name: agent1 + start: [12, 9] +- goal: [27, 0] + name: agent2 + start: [23, 21] +- goal: [13, 20] + name: agent3 + start: [6, 9] +- goal: [6, 8] + name: agent4 + start: [12, 29] +- goal: [10, 6] + name: agent5 + start: [5, 8] +- goal: [21, 23] + name: agent6 + start: [29, 13] +- goal: [13, 4] + name: agent7 + start: [27, 27] +- goal: [13, 27] + name: agent8 + start: [21, 2] +- goal: [0, 23] + name: agent9 + start: [11, 3] +- goal: [14, 7] + name: agent10 + start: [8, 22] +- goal: [23, 12] + name: agent11 + start: [4, 20] +- goal: [29, 27] + name: agent12 + start: [28, 2] +- goal: [29, 13] + name: agent13 + start: [5, 3] +- goal: [11, 12] + name: agent14 + start: [14, 7] +- goal: [6, 11] + name: agent15 + start: [18, 4] +- goal: [30, 17] + name: agent16 + start: [30, 19] +- goal: [23, 0] + name: agent17 + start: [14, 16] +- goal: [29, 16] + name: agent18 + start: [24, 14] +- goal: [22, 11] + name: agent19 + start: [9, 29] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [24, 20] + - !!python/tuple [25, 30] + - !!python/tuple [1, 9] + - !!python/tuple [31, 29] + - !!python/tuple [15, 31] + - !!python/tuple [31, 21] + - !!python/tuple [21, 29] + - !!python/tuple [23, 22] + - !!python/tuple [17, 19] + - !!python/tuple [17, 7] + - !!python/tuple [1, 1] + - !!python/tuple [12, 23] + - !!python/tuple [12, 11] + - !!python/tuple [31, 22] + - !!python/tuple [11, 27] + - !!python/tuple [22, 7] + - !!python/tuple [24, 24] + - !!python/tuple [21, 20] + - !!python/tuple [2, 25] + - !!python/tuple [3, 28] + - !!python/tuple [13, 11] + - !!python/tuple [8, 0] + - !!python/tuple [7, 15] + - !!python/tuple [16, 23] + - !!python/tuple [12, 30] + - !!python/tuple [15, 3] + - !!python/tuple [23, 20] + - !!python/tuple [4, 10] + - !!python/tuple [14, 6] + - !!python/tuple [26, 6] + - !!python/tuple [20, 1] + - !!python/tuple [9, 20] + - !!python/tuple [9, 13] + - !!python/tuple [8, 2] + - !!python/tuple [27, 24] + - !!python/tuple [5, 29] + - !!python/tuple [23, 30] + - !!python/tuple [17, 15] + - !!python/tuple [26, 31] + - !!python/tuple [23, 4] + - !!python/tuple [0, 13] + - !!python/tuple [28, 24] + - !!python/tuple [22, 5] + - !!python/tuple [24, 29] + - !!python/tuple [5, 11] + - !!python/tuple [3, 24] + - !!python/tuple [11, 15] + - !!python/tuple [22, 12] + - !!python/tuple [1, 25] + - !!python/tuple [3, 1] + - !!python/tuple [19, 17] + - !!python/tuple [18, 5] + - !!python/tuple [8, 12] + - !!python/tuple [26, 10] + - !!python/tuple [8, 28] + - !!python/tuple [21, 9] + - !!python/tuple [11, 29] + - !!python/tuple [23, 5] + - !!python/tuple [3, 8] + - !!python/tuple [10, 18] + - !!python/tuple [30, 18] + - !!python/tuple [5, 2] + - !!python/tuple [5, 1] + - !!python/tuple [15, 29] + - !!python/tuple [14, 22] + - !!python/tuple [12, 24] + - !!python/tuple [13, 1] + - !!python/tuple [0, 19] + - !!python/tuple [16, 9] + - !!python/tuple [4, 8] + - !!python/tuple [20, 4] + - !!python/tuple [9, 5] + - !!python/tuple [27, 17] + - !!python/tuple [5, 13] + - !!python/tuple [8, 16] + - !!python/tuple [20, 31] + - !!python/tuple [27, 8] + - !!python/tuple [10, 14] + - !!python/tuple [23, 28] + - !!python/tuple [25, 6] + - !!python/tuple [0, 28] + - !!python/tuple [31, 4] + - !!python/tuple [15, 2] + - !!python/tuple [9, 23] + - !!python/tuple [27, 29] + - !!python/tuple [25, 17] + - !!python/tuple [1, 13] + - !!python/tuple [3, 6] + - !!python/tuple [4, 14] + - !!python/tuple [0, 16] + - !!python/tuple [3, 20] + - !!python/tuple [16, 8] + - !!python/tuple [9, 16] + - !!python/tuple [24, 28] + - !!python/tuple [1, 16] + - !!python/tuple [19, 29] + - !!python/tuple [31, 2] + - !!python/tuple [26, 4] + - !!python/tuple [8, 18] + - !!python/tuple [18, 26] + - !!python/tuple [25, 29] + - !!python/tuple [3, 14] + - !!python/tuple [28, 17] + - !!python/tuple [21, 7] + - !!python/tuple [27, 25] + - !!python/tuple [5, 24] + - !!python/tuple [1, 26] + - !!python/tuple [2, 31] + - !!python/tuple [31, 17] + - !!python/tuple [10, 15] + - !!python/tuple [15, 28] + - !!python/tuple [28, 15] + - !!python/tuple [17, 31] + - !!python/tuple [24, 16] + - !!python/tuple [24, 11] + - !!python/tuple [20, 16] + - !!python/tuple [8, 14] + - !!python/tuple [28, 20] + - !!python/tuple [11, 20] + - !!python/tuple [0, 14] + - !!python/tuple [22, 6] + - !!python/tuple [4, 3] + - !!python/tuple [28, 22] + - !!python/tuple [21, 4] + - !!python/tuple [29, 2] + - !!python/tuple [6, 23] + - !!python/tuple [20, 26] + - !!python/tuple [18, 1] + - !!python/tuple [30, 28] + - !!python/tuple [9, 15] + - !!python/tuple [18, 25] + - !!python/tuple [27, 30] + - !!python/tuple [6, 29] + - !!python/tuple [25, 25] + - !!python/tuple [28, 16] + - !!python/tuple [19, 24] + - !!python/tuple [2, 16] + - !!python/tuple [6, 12] + - !!python/tuple [7, 19] + - !!python/tuple [19, 16] + - !!python/tuple [23, 25] + - !!python/tuple [24, 12] + - !!python/tuple [21, 24] + - !!python/tuple [31, 13] + - !!python/tuple [23, 31] + - !!python/tuple [4, 30] + - !!python/tuple [21, 28] + - !!python/tuple [16, 7] + - !!python/tuple [10, 23] + - !!python/tuple [22, 31] + - !!python/tuple [16, 26] + - !!python/tuple [12, 13] + - !!python/tuple [20, 9] + - !!python/tuple [20, 20] + - !!python/tuple [5, 0] + - !!python/tuple [17, 10] + - !!python/tuple [6, 25] + - !!python/tuple [3, 7] + - !!python/tuple [20, 3] + - !!python/tuple [12, 1] + - !!python/tuple [30, 21] + - !!python/tuple [21, 21] + - !!python/tuple [15, 6] + - !!python/tuple [7, 24] + - !!python/tuple [17, 16] + - !!python/tuple [17, 6] + - !!python/tuple [25, 12] + - !!python/tuple [5, 4] + - !!python/tuple [20, 2] + - !!python/tuple [18, 21] + - !!python/tuple [6, 19] + - !!python/tuple [28, 12] + - !!python/tuple [29, 30] + - !!python/tuple [31, 1] + - !!python/tuple [25, 5] + - !!python/tuple [18, 7] + - !!python/tuple [18, 13] + - !!python/tuple [23, 27] + - !!python/tuple [22, 3] + - !!python/tuple [17, 22] + - !!python/tuple [4, 5] + - !!python/tuple [3, 23] + - !!python/tuple [30, 27] + - !!python/tuple [25, 26] + - !!python/tuple [15, 23] + - !!python/tuple [8, 20] + - !!python/tuple [9, 25] + - !!python/tuple [12, 2] + - !!python/tuple [9, 19] + - !!python/tuple [0, 25] + - !!python/tuple [7, 27] + - !!python/tuple [7, 7] + - !!python/tuple [23, 29] + - !!python/tuple [23, 24] + - !!python/tuple [4, 12] + - !!python/tuple [16, 10] + - !!python/tuple [29, 29] + - !!python/tuple [3, 10] + - !!python/tuple [18, 2] + - !!python/tuple [9, 17] + - !!python/tuple [11, 8] + - !!python/tuple [10, 16] + - !!python/tuple [20, 25] + - !!python/tuple [16, 15] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex12.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex12.yaml new file mode 100644 index 0000000..9d0166d --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex12.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [19, 0] + name: agent0 + start: [0, 14] +- goal: [21, 10] + name: agent1 + start: [7, 12] +- goal: [18, 13] + name: agent2 + start: [24, 22] +- goal: [16, 8] + name: agent3 + start: [25, 11] +- goal: [8, 17] + name: agent4 + start: [9, 19] +- goal: [18, 18] + name: agent5 + start: [2, 23] +- goal: [22, 17] + name: agent6 + start: [21, 4] +- goal: [21, 5] + name: agent7 + start: [13, 4] +- goal: [6, 24] + name: agent8 + start: [9, 17] +- goal: [2, 23] + name: agent9 + start: [17, 31] +- goal: [19, 5] + name: agent10 + start: [2, 28] +- goal: [27, 30] + name: agent11 + start: [1, 4] +- goal: [17, 28] + name: agent12 + start: [21, 10] +- goal: [13, 3] + name: agent13 + start: [21, 5] +- goal: [9, 5] + name: agent14 + start: [3, 21] +- goal: [0, 4] + name: agent15 + start: [29, 23] +- goal: [8, 12] + name: agent16 + start: [0, 5] +- goal: [13, 9] + name: agent17 + start: [7, 25] +- goal: [12, 13] + name: agent18 + start: [29, 27] +- goal: [6, 1] + name: agent19 + start: [9, 10] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [0, 29] + - !!python/tuple [0, 20] + - !!python/tuple [5, 8] + - !!python/tuple [26, 16] + - !!python/tuple [13, 0] + - !!python/tuple [10, 3] + - !!python/tuple [11, 13] + - !!python/tuple [10, 30] + - !!python/tuple [11, 31] + - !!python/tuple [27, 28] + - !!python/tuple [4, 4] + - !!python/tuple [28, 7] + - !!python/tuple [30, 11] + - !!python/tuple [29, 13] + - !!python/tuple [7, 26] + - !!python/tuple [7, 14] + - !!python/tuple [24, 29] + - !!python/tuple [21, 20] + - !!python/tuple [17, 10] + - !!python/tuple [27, 15] + - !!python/tuple [4, 17] + - !!python/tuple [1, 13] + - !!python/tuple [30, 6] + - !!python/tuple [19, 23] + - !!python/tuple [12, 8] + - !!python/tuple [30, 25] + - !!python/tuple [1, 10] + - !!python/tuple [16, 11] + - !!python/tuple [15, 1] + - !!python/tuple [1, 11] + - !!python/tuple [2, 13] + - !!python/tuple [13, 19] + - !!python/tuple [16, 7] + - !!python/tuple [26, 13] + - !!python/tuple [6, 2] + - !!python/tuple [29, 15] + - !!python/tuple [16, 25] + - !!python/tuple [21, 18] + - !!python/tuple [14, 7] + - !!python/tuple [15, 9] + - !!python/tuple [12, 24] + - !!python/tuple [9, 21] + - !!python/tuple [13, 30] + - !!python/tuple [25, 12] + - !!python/tuple [3, 19] + - !!python/tuple [16, 14] + - !!python/tuple [25, 7] + - !!python/tuple [12, 5] + - !!python/tuple [1, 20] + - !!python/tuple [10, 9] + - !!python/tuple [7, 1] + - !!python/tuple [29, 24] + - !!python/tuple [12, 0] + - !!python/tuple [19, 16] + - !!python/tuple [6, 7] + - !!python/tuple [18, 14] + - !!python/tuple [4, 10] + - !!python/tuple [24, 4] + - !!python/tuple [11, 4] + - !!python/tuple [17, 13] + - !!python/tuple [24, 0] + - !!python/tuple [20, 27] + - !!python/tuple [0, 23] + - !!python/tuple [2, 27] + - !!python/tuple [6, 27] + - !!python/tuple [26, 28] + - !!python/tuple [27, 27] + - !!python/tuple [29, 20] + - !!python/tuple [23, 27] + - !!python/tuple [28, 28] + - !!python/tuple [20, 20] + - !!python/tuple [3, 7] + - !!python/tuple [25, 0] + - !!python/tuple [1, 9] + - !!python/tuple [19, 12] + - !!python/tuple [20, 14] + - !!python/tuple [24, 31] + - !!python/tuple [8, 19] + - !!python/tuple [31, 25] + - !!python/tuple [30, 29] + - !!python/tuple [22, 10] + - !!python/tuple [19, 20] + - !!python/tuple [10, 25] + - !!python/tuple [0, 6] + - !!python/tuple [21, 2] + - !!python/tuple [15, 18] + - !!python/tuple [29, 17] + - !!python/tuple [28, 30] + - !!python/tuple [31, 23] + - !!python/tuple [12, 3] + - !!python/tuple [0, 27] + - !!python/tuple [12, 6] + - !!python/tuple [15, 17] + - !!python/tuple [21, 12] + - !!python/tuple [13, 21] + - !!python/tuple [21, 7] + - !!python/tuple [31, 1] + - !!python/tuple [1, 26] + - !!python/tuple [10, 18] + - !!python/tuple [30, 30] + - !!python/tuple [31, 3] + - !!python/tuple [11, 9] + - !!python/tuple [15, 19] + - !!python/tuple [15, 30] + - !!python/tuple [12, 4] + - !!python/tuple [18, 22] + - !!python/tuple [18, 26] + - !!python/tuple [3, 3] + - !!python/tuple [28, 0] + - !!python/tuple [28, 21] + - !!python/tuple [20, 4] + - !!python/tuple [22, 8] + - !!python/tuple [4, 29] + - !!python/tuple [10, 17] + - !!python/tuple [16, 6] + - !!python/tuple [18, 25] + - !!python/tuple [1, 14] + - !!python/tuple [7, 19] + - !!python/tuple [23, 23] + - !!python/tuple [20, 7] + - !!python/tuple [14, 25] + - !!python/tuple [18, 24] + - !!python/tuple [16, 3] + - !!python/tuple [5, 21] + - !!python/tuple [29, 28] + - !!python/tuple [8, 5] + - !!python/tuple [18, 9] + - !!python/tuple [7, 10] + - !!python/tuple [3, 0] + - !!python/tuple [0, 10] + - !!python/tuple [4, 19] + - !!python/tuple [16, 27] + - !!python/tuple [1, 2] + - !!python/tuple [21, 25] + - !!python/tuple [4, 28] + - !!python/tuple [2, 14] + - !!python/tuple [28, 1] + - !!python/tuple [22, 25] + - !!python/tuple [19, 1] + - !!python/tuple [20, 31] + - !!python/tuple [30, 28] + - !!python/tuple [19, 15] + - !!python/tuple [27, 17] + - !!python/tuple [6, 31] + - !!python/tuple [5, 30] + - !!python/tuple [21, 16] + - !!python/tuple [17, 23] + - !!python/tuple [13, 22] + - !!python/tuple [14, 27] + - !!python/tuple [5, 7] + - !!python/tuple [27, 6] + - !!python/tuple [10, 24] + - !!python/tuple [13, 23] + - !!python/tuple [29, 8] + - !!python/tuple [28, 31] + - !!python/tuple [11, 30] + - !!python/tuple [28, 24] + - !!python/tuple [16, 18] + - !!python/tuple [5, 11] + - !!python/tuple [3, 24] + - !!python/tuple [19, 14] + - !!python/tuple [22, 26] + - !!python/tuple [5, 22] + - !!python/tuple [9, 16] + - !!python/tuple [16, 1] + - !!python/tuple [24, 26] + - !!python/tuple [16, 29] + - !!python/tuple [11, 27] + - !!python/tuple [19, 28] + - !!python/tuple [12, 2] + - !!python/tuple [9, 27] + - !!python/tuple [8, 10] + - !!python/tuple [13, 2] + - !!python/tuple [6, 9] + - !!python/tuple [12, 7] + - !!python/tuple [15, 4] + - !!python/tuple [0, 28] + - !!python/tuple [4, 18] + - !!python/tuple [27, 16] + - !!python/tuple [23, 29] + - !!python/tuple [15, 6] + - !!python/tuple [5, 0] + - !!python/tuple [31, 26] + - !!python/tuple [26, 10] + - !!python/tuple [22, 23] + - !!python/tuple [18, 1] + - !!python/tuple [29, 25] + - !!python/tuple [27, 20] + - !!python/tuple [28, 4] + - !!python/tuple [21, 11] + - !!python/tuple [20, 12] + - !!python/tuple [31, 15] + - !!python/tuple [17, 3] + - !!python/tuple [30, 31] + - !!python/tuple [13, 13] + - !!python/tuple [10, 12] + - !!python/tuple [3, 1] + - !!python/tuple [8, 2] + - !!python/tuple [26, 21] + - !!python/tuple [30, 18] + - !!python/tuple [11, 17] + - !!python/tuple [24, 7] + - !!python/tuple [20, 21] + - !!python/tuple [26, 9] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex13.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex13.yaml new file mode 100644 index 0000000..9c28009 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex13.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [11, 0] + name: agent0 + start: [28, 17] +- goal: [29, 10] + name: agent1 + start: [14, 25] +- goal: [27, 7] + name: agent2 + start: [1, 13] +- goal: [14, 7] + name: agent3 + start: [4, 14] +- goal: [4, 21] + name: agent4 + start: [2, 19] +- goal: [28, 30] + name: agent5 + start: [6, 29] +- goal: [30, 2] + name: agent6 + start: [14, 6] +- goal: [31, 3] + name: agent7 + start: [8, 9] +- goal: [12, 31] + name: agent8 + start: [10, 15] +- goal: [8, 13] + name: agent9 + start: [20, 0] +- goal: [14, 0] + name: agent10 + start: [3, 27] +- goal: [22, 19] + name: agent11 + start: [28, 20] +- goal: [7, 29] + name: agent12 + start: [0, 23] +- goal: [26, 10] + name: agent13 + start: [23, 26] +- goal: [30, 17] + name: agent14 + start: [26, 4] +- goal: [13, 19] + name: agent15 + start: [0, 17] +- goal: [3, 24] + name: agent16 + start: [22, 21] +- goal: [21, 23] + name: agent17 + start: [14, 20] +- goal: [6, 4] + name: agent18 + start: [22, 18] +- goal: [17, 12] + name: agent19 + start: [7, 7] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [23, 15] + - !!python/tuple [22, 1] + - !!python/tuple [31, 0] + - !!python/tuple [21, 26] + - !!python/tuple [8, 21] + - !!python/tuple [9, 0] + - !!python/tuple [2, 8] + - !!python/tuple [10, 28] + - !!python/tuple [7, 9] + - !!python/tuple [18, 2] + - !!python/tuple [17, 10] + - !!python/tuple [5, 14] + - !!python/tuple [20, 11] + - !!python/tuple [24, 8] + - !!python/tuple [13, 26] + - !!python/tuple [12, 12] + - !!python/tuple [0, 6] + - !!python/tuple [30, 19] + - !!python/tuple [28, 9] + - !!python/tuple [15, 24] + - !!python/tuple [28, 6] + - !!python/tuple [1, 19] + - !!python/tuple [2, 29] + - !!python/tuple [24, 14] + - !!python/tuple [8, 28] + - !!python/tuple [30, 7] + - !!python/tuple [0, 24] + - !!python/tuple [4, 7] + - !!python/tuple [16, 7] + - !!python/tuple [19, 10] + - !!python/tuple [19, 15] + - !!python/tuple [4, 27] + - !!python/tuple [9, 8] + - !!python/tuple [1, 25] + - !!python/tuple [18, 15] + - !!python/tuple [0, 5] + - !!python/tuple [2, 12] + - !!python/tuple [9, 14] + - !!python/tuple [5, 10] + - !!python/tuple [4, 11] + - !!python/tuple [6, 26] + - !!python/tuple [22, 31] + - !!python/tuple [24, 17] + - !!python/tuple [24, 6] + - !!python/tuple [8, 26] + - !!python/tuple [1, 16] + - !!python/tuple [30, 20] + - !!python/tuple [19, 20] + - !!python/tuple [23, 29] + - !!python/tuple [17, 21] + - !!python/tuple [4, 4] + - !!python/tuple [24, 20] + - !!python/tuple [30, 23] + - !!python/tuple [22, 0] + - !!python/tuple [28, 5] + - !!python/tuple [30, 25] + - !!python/tuple [15, 14] + - !!python/tuple [3, 9] + - !!python/tuple [19, 31] + - !!python/tuple [2, 21] + - !!python/tuple [30, 13] + - !!python/tuple [31, 10] + - !!python/tuple [15, 28] + - !!python/tuple [13, 4] + - !!python/tuple [25, 6] + - !!python/tuple [20, 4] + - !!python/tuple [26, 18] + - !!python/tuple [20, 14] + - !!python/tuple [1, 10] + - !!python/tuple [2, 13] + - !!python/tuple [9, 18] + - !!python/tuple [11, 3] + - !!python/tuple [19, 11] + - !!python/tuple [31, 26] + - !!python/tuple [23, 20] + - !!python/tuple [22, 28] + - !!python/tuple [29, 22] + - !!python/tuple [25, 23] + - !!python/tuple [14, 9] + - !!python/tuple [28, 11] + - !!python/tuple [13, 18] + - !!python/tuple [18, 1] + - !!python/tuple [2, 11] + - !!python/tuple [4, 10] + - !!python/tuple [25, 2] + - !!python/tuple [13, 14] + - !!python/tuple [25, 16] + - !!python/tuple [22, 2] + - !!python/tuple [6, 24] + - !!python/tuple [2, 23] + - !!python/tuple [7, 19] + - !!python/tuple [21, 8] + - !!python/tuple [13, 3] + - !!python/tuple [1, 1] + - !!python/tuple [22, 22] + - !!python/tuple [22, 30] + - !!python/tuple [8, 15] + - !!python/tuple [17, 4] + - !!python/tuple [5, 2] + - !!python/tuple [5, 22] + - !!python/tuple [31, 4] + - !!python/tuple [24, 18] + - !!python/tuple [23, 30] + - !!python/tuple [23, 17] + - !!python/tuple [10, 24] + - !!python/tuple [31, 17] + - !!python/tuple [30, 15] + - 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!!python/tuple [27, 10] + - !!python/tuple [24, 25] + - !!python/tuple [10, 29] + - !!python/tuple [7, 3] + - !!python/tuple [11, 6] + - !!python/tuple [1, 22] + - !!python/tuple [8, 16] + - !!python/tuple [22, 5] + - !!python/tuple [16, 28] + - !!python/tuple [20, 22] + - !!python/tuple [8, 29] + - !!python/tuple [7, 17] + - !!python/tuple [18, 30] + - !!python/tuple [26, 15] + - !!python/tuple [19, 12] + - !!python/tuple [26, 8] + - !!python/tuple [7, 21] + - !!python/tuple [16, 26] + - !!python/tuple [15, 1] + - !!python/tuple [24, 7] + - !!python/tuple [25, 15] + - !!python/tuple [15, 27] + - !!python/tuple [11, 14] + - !!python/tuple [1, 28] + - !!python/tuple [21, 10] + - !!python/tuple [24, 30] + - !!python/tuple [17, 2] + - !!python/tuple [18, 6] + - !!python/tuple [27, 13] + - !!python/tuple [5, 17] + - !!python/tuple [16, 31] + - !!python/tuple [20, 24] + - !!python/tuple [24, 5] + - !!python/tuple [29, 4] + - !!python/tuple [14, 19] + - !!python/tuple [11, 25] + - !!python/tuple [6, 1] + - !!python/tuple [7, 16] + - !!python/tuple [0, 13] + - !!python/tuple [4, 25] + - !!python/tuple [7, 25] + - !!python/tuple [28, 27] + - !!python/tuple [23, 7] + - !!python/tuple [24, 13] + - !!python/tuple [4, 9] + - !!python/tuple [20, 23] + - !!python/tuple [3, 6] + - !!python/tuple [28, 14] + - !!python/tuple [9, 12] + - !!python/tuple [13, 8] + - !!python/tuple [18, 5] + - !!python/tuple [26, 25] + - !!python/tuple [17, 16] + - !!python/tuple [19, 1] + - !!python/tuple [3, 14] + - !!python/tuple [11, 16] + - !!python/tuple [9, 9] + - !!python/tuple [8, 20] + - !!python/tuple [3, 12] + - !!python/tuple [30, 27] + - !!python/tuple [21, 13] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex14.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex14.yaml new file mode 100644 index 0000000..e1c503f --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex14.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [0, 21] + name: agent0 + start: [31, 28] +- goal: [27, 16] + name: agent1 + start: [29, 25] +- goal: [13, 18] + name: agent2 + start: [13, 9] +- goal: [15, 24] + name: agent3 + start: [30, 8] +- goal: [19, 28] + name: agent4 + start: [8, 8] +- goal: [15, 17] + name: agent5 + start: [26, 13] +- goal: [18, 15] + name: agent6 + start: [15, 27] +- goal: [8, 7] + name: agent7 + start: [9, 9] +- goal: [10, 13] + name: agent8 + start: [2, 0] +- goal: [24, 6] + name: agent9 + start: [10, 18] +- goal: [5, 13] + name: agent10 + start: [8, 7] +- goal: [21, 3] + name: agent11 + start: [8, 23] +- goal: [17, 10] + name: agent12 + start: [11, 18] +- goal: [17, 16] + name: agent13 + start: [1, 18] +- goal: [16, 5] + name: agent14 + start: [13, 12] +- goal: [2, 1] + name: agent15 + start: [26, 8] +- goal: [18, 31] + name: agent16 + start: [13, 14] +- goal: [26, 15] + name: agent17 + start: [31, 10] +- goal: [22, 29] + name: agent18 + start: [7, 19] +- goal: [15, 10] + name: agent19 + start: [18, 20] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [5, 30] + - !!python/tuple [17, 25] + - !!python/tuple [25, 12] + - !!python/tuple [27, 13] + - !!python/tuple [13, 13] + - !!python/tuple [10, 21] + - !!python/tuple [12, 3] + - !!python/tuple [3, 8] + - !!python/tuple [10, 17] + - !!python/tuple [14, 11] + - !!python/tuple [5, 22] + - !!python/tuple [1, 0] + - !!python/tuple [13, 0] + - !!python/tuple [30, 24] + - !!python/tuple [16, 4] + - !!python/tuple [26, 20] + - !!python/tuple [31, 17] + - !!python/tuple [1, 8] + - !!python/tuple [27, 17] + - !!python/tuple [11, 16] + - !!python/tuple [19, 2] + - !!python/tuple [22, 30] + - !!python/tuple [9, 5] + - !!python/tuple [12, 12] + - !!python/tuple [21, 19] + - !!python/tuple [18, 21] + - !!python/tuple [20, 22] + - !!python/tuple [24, 11] + - !!python/tuple [11, 19] + - !!python/tuple [21, 25] + - !!python/tuple [15, 26] + - !!python/tuple [18, 5] + - !!python/tuple [14, 20] + - !!python/tuple [20, 5] + - !!python/tuple [25, 19] + - !!python/tuple [29, 5] + - !!python/tuple [29, 20] + - !!python/tuple [22, 18] + - !!python/tuple [13, 10] + - !!python/tuple [20, 30] + - !!python/tuple [28, 6] + - !!python/tuple [26, 30] + - !!python/tuple [27, 8] + - !!python/tuple [3, 30] + - !!python/tuple [15, 19] + - !!python/tuple [16, 21] + - !!python/tuple [6, 17] + - !!python/tuple [29, 16] + - !!python/tuple [24, 14] + - !!python/tuple [16, 7] + - !!python/tuple [17, 0] + - !!python/tuple [29, 26] + - !!python/tuple [9, 10] + - !!python/tuple [22, 9] + - !!python/tuple [25, 14] + - !!python/tuple [12, 1] + - !!python/tuple [25, 21] + - !!python/tuple [9, 11] + - !!python/tuple [26, 0] + - !!python/tuple [20, 15] + - !!python/tuple [22, 3] + - !!python/tuple [10, 9] + - !!python/tuple [3, 7] + - !!python/tuple [4, 10] + - !!python/tuple [30, 17] + - !!python/tuple [25, 29] + - !!python/tuple [0, 3] + - !!python/tuple [17, 14] + - !!python/tuple [27, 11] + - !!python/tuple [8, 28] + - !!python/tuple [19, 21] + - !!python/tuple [22, 14] + - !!python/tuple [4, 11] + - !!python/tuple [22, 12] + - !!python/tuple [20, 3] + - !!python/tuple [20, 16] + - !!python/tuple [22, 28] + - !!python/tuple [25, 27] + - !!python/tuple [5, 28] + - !!python/tuple [9, 8] + - !!python/tuple [27, 1] + - !!python/tuple [28, 26] + - !!python/tuple [5, 31] + - !!python/tuple [19, 23] + - !!python/tuple [3, 28] + - !!python/tuple [3, 9] + - !!python/tuple [26, 24] + - !!python/tuple [6, 9] + - !!python/tuple [1, 13] + - !!python/tuple [0, 4] + - !!python/tuple [2, 27] + - !!python/tuple [18, 18] + - !!python/tuple [4, 31] + - !!python/tuple [25, 18] + - !!python/tuple [15, 1] + - !!python/tuple [16, 30] + - !!python/tuple [5, 29] + - !!python/tuple [13, 27] + - !!python/tuple [28, 30] + - !!python/tuple [8, 27] + - !!python/tuple [3, 5] + - !!python/tuple [10, 4] + - !!python/tuple [24, 31] + - !!python/tuple [10, 22] + - !!python/tuple [11, 2] + - !!python/tuple [11, 15] + - !!python/tuple [27, 29] + - !!python/tuple [3, 27] + - !!python/tuple [13, 4] + - !!python/tuple [15, 7] + - !!python/tuple [4, 20] + - !!python/tuple [20, 13] + - !!python/tuple [11, 9] + - !!python/tuple [3, 16] + - !!python/tuple [31, 5] + - !!python/tuple [18, 25] + - !!python/tuple [21, 23] + - !!python/tuple [16, 25] + - !!python/tuple [6, 15] + - !!python/tuple [15, 12] + - !!python/tuple [30, 22] + - !!python/tuple [20, 25] + - !!python/tuple [20, 10] + - !!python/tuple [1, 5] + - !!python/tuple [31, 8] + - !!python/tuple [13, 20] + - !!python/tuple [1, 21] + - !!python/tuple [19, 26] + - !!python/tuple [30, 12] + - !!python/tuple [13, 1] + - !!python/tuple [18, 24] + - !!python/tuple [21, 6] + - !!python/tuple [6, 26] + - !!python/tuple [23, 11] + - !!python/tuple [5, 16] + - !!python/tuple [10, 28] + - !!python/tuple [11, 3] + - !!python/tuple [14, 0] + - !!python/tuple [6, 29] + - !!python/tuple [29, 23] + - !!python/tuple [22, 17] + - !!python/tuple [5, 15] + - !!python/tuple [1, 7] + - !!python/tuple [27, 5] + - !!python/tuple [19, 0] + - !!python/tuple [18, 6] + - !!python/tuple [27, 20] + - !!python/tuple [27, 31] + - !!python/tuple [7, 29] + - !!python/tuple [12, 4] + - !!python/tuple [7, 26] + - !!python/tuple [31, 11] + - !!python/tuple [5, 17] + - !!python/tuple [14, 16] + - !!python/tuple [23, 13] + - !!python/tuple [24, 4] + - !!python/tuple [20, 17] + - !!python/tuple [19, 15] + - !!python/tuple [28, 3] + - !!python/tuple [2, 13] + - !!python/tuple [15, 28] + - !!python/tuple [4, 4] + - !!python/tuple [19, 8] + - !!python/tuple [3, 22] + - !!python/tuple [22, 25] + - !!python/tuple [30, 2] + - !!python/tuple [17, 5] + - !!python/tuple [6, 12] + - !!python/tuple [30, 11] + - !!python/tuple [31, 19] + - !!python/tuple [9, 24] + - !!python/tuple [5, 0] + - !!python/tuple [0, 16] + - !!python/tuple [20, 11] + - !!python/tuple [17, 26] + - !!python/tuple [20, 31] + - !!python/tuple [21, 18] + - !!python/tuple [26, 10] + - !!python/tuple [8, 21] + - !!python/tuple [0, 25] + - !!python/tuple [7, 14] + - !!python/tuple [12, 19] + - !!python/tuple [13, 7] + - !!python/tuple [9, 0] + - !!python/tuple [20, 0] + - !!python/tuple [24, 18] + - !!python/tuple [19, 17] + - !!python/tuple [17, 8] + - !!python/tuple [6, 16] + - !!python/tuple [23, 4] + - !!python/tuple [21, 0] + - !!python/tuple [18, 13] + - !!python/tuple [26, 6] + - !!python/tuple [31, 27] + - !!python/tuple [17, 18] + - !!python/tuple [10, 16] + - !!python/tuple [22, 2] + - !!python/tuple [6, 22] + - !!python/tuple [24, 10] + - !!python/tuple [10, 7] + - !!python/tuple [13, 15] + - !!python/tuple [16, 28] + - !!python/tuple [21, 24] + - !!python/tuple [9, 26] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex15.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex15.yaml new file mode 100644 index 0000000..1060fa3 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex15.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [27, 25] + name: agent0 + start: [21, 10] +- goal: [3, 28] + name: agent1 + start: [16, 9] +- goal: [11, 16] + name: agent2 + start: [31, 18] +- goal: [5, 0] + name: agent3 + start: [8, 24] +- goal: [30, 7] + name: agent4 + start: [2, 31] +- goal: [17, 9] + name: agent5 + start: [28, 21] +- goal: [24, 9] + name: agent6 + start: [25, 26] +- goal: [5, 31] + name: agent7 + start: [23, 30] +- goal: [6, 27] + name: agent8 + start: [14, 28] +- goal: [20, 17] + name: agent9 + start: [3, 18] +- goal: [31, 1] + name: agent10 + start: [30, 25] +- goal: [22, 31] + name: agent11 + start: [2, 20] +- goal: [23, 21] + name: agent12 + start: [19, 5] +- goal: [6, 13] + name: agent13 + start: [12, 17] +- goal: [23, 28] + name: agent14 + start: [17, 18] +- goal: [14, 5] + name: agent15 + start: [12, 20] +- goal: [2, 20] + name: agent16 + start: [28, 14] +- goal: [28, 15] + name: agent17 + start: [12, 31] +- goal: [27, 29] + name: agent18 + start: [6, 21] +- goal: [24, 4] + name: agent19 + start: [31, 3] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [25, 8] + - !!python/tuple [4, 7] + - !!python/tuple [2, 27] + - !!python/tuple [29, 29] + - !!python/tuple [15, 6] + - !!python/tuple [2, 11] + - !!python/tuple [2, 14] + - !!python/tuple [8, 26] + - !!python/tuple [28, 5] + - !!python/tuple [23, 12] + - !!python/tuple [8, 14] + - !!python/tuple [3, 7] + - !!python/tuple [16, 3] + - !!python/tuple [14, 19] + - !!python/tuple [10, 11] + - !!python/tuple [4, 16] + - !!python/tuple [2, 13] + - !!python/tuple [29, 8] + - !!python/tuple [17, 26] + - !!python/tuple [3, 14] + - !!python/tuple [28, 6] + - !!python/tuple [3, 6] + - !!python/tuple [22, 28] + - !!python/tuple [13, 23] + - !!python/tuple [21, 22] + - !!python/tuple [5, 2] + - !!python/tuple [15, 12] + - !!python/tuple [30, 19] + - !!python/tuple [12, 29] + - !!python/tuple [2, 18] + - !!python/tuple [5, 7] + - !!python/tuple [27, 12] + - !!python/tuple [12, 5] + - !!python/tuple [22, 15] + - !!python/tuple [13, 10] + - !!python/tuple [28, 4] + - !!python/tuple [8, 16] + - !!python/tuple [18, 7] + - !!python/tuple [16, 23] + - !!python/tuple [30, 12] + - !!python/tuple [5, 27] + - !!python/tuple [25, 17] + - !!python/tuple [17, 31] + - !!python/tuple [28, 31] + - !!python/tuple [23, 11] + - !!python/tuple [10, 3] + - !!python/tuple [29, 5] + - !!python/tuple [0, 2] + - !!python/tuple [28, 2] + - !!python/tuple [18, 12] + - !!python/tuple [11, 27] + - !!python/tuple [26, 30] + - !!python/tuple [13, 19] + - !!python/tuple [26, 23] + - !!python/tuple [8, 20] + - !!python/tuple [0, 3] + - !!python/tuple [26, 0] + - !!python/tuple [30, 18] + - !!python/tuple [28, 19] + - !!python/tuple [4, 5] + - !!python/tuple [29, 6] + - !!python/tuple [27, 2] + - !!python/tuple [17, 15] + - !!python/tuple [4, 10] + - !!python/tuple [13, 30] + - !!python/tuple [10, 14] + - !!python/tuple [1, 23] + - !!python/tuple [9, 16] + - !!python/tuple [12, 14] + - !!python/tuple [6, 0] + - !!python/tuple [8, 3] + - !!python/tuple [11, 29] + - !!python/tuple [12, 7] + - !!python/tuple [2, 1] + - !!python/tuple [25, 31] + - !!python/tuple [26, 6] + - !!python/tuple [1, 21] + - !!python/tuple [0, 10] + - !!python/tuple [8, 17] + - !!python/tuple [2, 23] + - !!python/tuple [16, 8] + - !!python/tuple [14, 3] + - !!python/tuple [8, 13] + - !!python/tuple [13, 6] + - !!python/tuple [30, 24] + - !!python/tuple [19, 24] + - !!python/tuple [19, 17] + - !!python/tuple [14, 18] + - !!python/tuple [23, 27] + - !!python/tuple [14, 23] + - !!python/tuple [31, 25] + - !!python/tuple [31, 20] + - !!python/tuple [31, 10] + - !!python/tuple [30, 28] + - !!python/tuple [15, 14] + - !!python/tuple [16, 29] + - !!python/tuple [31, 11] + - !!python/tuple [26, 31] + - !!python/tuple [17, 20] + - !!python/tuple [7, 16] + - !!python/tuple [25, 12] + - !!python/tuple [28, 20] + - !!python/tuple [22, 30] + - !!python/tuple [21, 15] + - !!python/tuple [10, 22] + - !!python/tuple [4, 24] + - !!python/tuple [19, 8] + - !!python/tuple [11, 5] + - !!python/tuple [17, 12] + - !!python/tuple [7, 3] + - !!python/tuple [18, 17] + - !!python/tuple [7, 19] + - !!python/tuple [16, 10] + - !!python/tuple [31, 9] + - !!python/tuple [3, 21] + - !!python/tuple [17, 27] + - !!python/tuple [27, 20] + - !!python/tuple [14, 7] + - !!python/tuple [12, 11] + - !!python/tuple [18, 5] + - !!python/tuple [31, 28] + - !!python/tuple [20, 16] + - !!python/tuple [24, 0] + - !!python/tuple [25, 14] + - !!python/tuple [12, 19] + - !!python/tuple [13, 9] + - !!python/tuple [9, 23] + - !!python/tuple [24, 13] + - !!python/tuple [17, 5] + - !!python/tuple [20, 7] + - !!python/tuple [30, 8] + - !!python/tuple [30, 2] + - !!python/tuple [18, 9] + - !!python/tuple [15, 10] + - !!python/tuple [3, 25] + - !!python/tuple [13, 13] + - !!python/tuple [7, 14] + - !!python/tuple [25, 0] + - !!python/tuple [26, 25] + - !!python/tuple [5, 23] + - !!python/tuple [12, 9] + - !!python/tuple [5, 28] + - !!python/tuple [17, 1] + - !!python/tuple [7, 20] + - !!python/tuple [8, 22] + - !!python/tuple [13, 31] + - !!python/tuple [21, 7] + - !!python/tuple [20, 31] + - !!python/tuple [11, 19] + - !!python/tuple [14, 6] + - !!python/tuple [12, 21] + - !!python/tuple [9, 25] + - !!python/tuple [19, 4] + - !!python/tuple [3, 3] + - !!python/tuple [6, 28] + - !!python/tuple [3, 11] + - !!python/tuple [13, 25] + - !!python/tuple [15, 31] + - !!python/tuple [25, 9] + - !!python/tuple [23, 9] + - !!python/tuple [31, 23] + - !!python/tuple [22, 25] + - !!python/tuple [26, 2] + - !!python/tuple [18, 21] + - !!python/tuple [23, 26] + - !!python/tuple [12, 28] + - !!python/tuple [29, 2] + - !!python/tuple [5, 14] + - !!python/tuple [29, 16] + - !!python/tuple [1, 31] + - !!python/tuple [16, 28] + - !!python/tuple [3, 8] + - !!python/tuple [20, 21] + - !!python/tuple [14, 11] + - !!python/tuple [18, 13] + - !!python/tuple [21, 12] + - !!python/tuple [26, 28] + - !!python/tuple [14, 16] + - !!python/tuple [10, 12] + - !!python/tuple [9, 1] + - !!python/tuple [18, 25] + - !!python/tuple [3, 9] + - !!python/tuple [24, 15] + - !!python/tuple [10, 8] + - !!python/tuple [15, 22] + - !!python/tuple [30, 5] + - !!python/tuple [30, 4] + - !!python/tuple [22, 4] + - !!python/tuple [2, 10] + - !!python/tuple [11, 22] + - !!python/tuple [3, 4] + - !!python/tuple [28, 0] + - !!python/tuple [16, 7] + - !!python/tuple [21, 25] + - !!python/tuple [20, 23] + - !!python/tuple [26, 3] + - !!python/tuple [31, 6] + - !!python/tuple [25, 22] + - !!python/tuple [5, 17] + - !!python/tuple [4, 25] + - !!python/tuple [5, 22] + - !!python/tuple [6, 3] + - !!python/tuple [24, 26] + - !!python/tuple [6, 14] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex16.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex16.yaml new file mode 100644 index 0000000..713c9cd --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex16.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [0, 19] + name: agent0 + start: [19, 2] +- goal: [30, 7] + name: agent1 + start: [16, 15] +- goal: [0, 13] + name: agent2 + start: [23, 19] +- goal: [25, 18] + name: agent3 + start: [11, 1] +- goal: [0, 4] + name: agent4 + start: [8, 1] +- goal: [30, 22] + name: agent5 + start: [5, 21] +- goal: [15, 5] + name: agent6 + start: [3, 1] +- goal: [0, 11] + name: agent7 + start: [18, 9] +- goal: [8, 22] + name: agent8 + start: [21, 30] +- goal: [18, 25] + name: agent9 + start: [13, 1] +- goal: [4, 15] + name: agent10 + start: [6, 12] +- goal: [24, 28] + name: agent11 + start: [0, 14] +- goal: [24, 14] + name: agent12 + start: [9, 21] +- goal: [0, 17] + name: agent13 + start: [11, 12] +- goal: [31, 16] + name: agent14 + start: [8, 5] +- goal: [8, 7] + name: agent15 + start: [3, 18] +- goal: [3, 29] + name: agent16 + start: [18, 26] +- goal: [24, 11] + name: agent17 + start: [2, 23] +- goal: [27, 2] + name: agent18 + start: [20, 25] +- goal: [17, 25] + name: agent19 + start: [16, 26] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [17, 5] + - !!python/tuple [21, 23] + - !!python/tuple [0, 0] + - !!python/tuple [16, 3] + - !!python/tuple [2, 19] + - !!python/tuple [6, 2] + - !!python/tuple [12, 24] + - !!python/tuple [2, 3] + - !!python/tuple [24, 20] + - !!python/tuple [24, 24] + - !!python/tuple [19, 28] + - !!python/tuple [22, 31] + - !!python/tuple [7, 4] + - !!python/tuple [0, 16] + - !!python/tuple [10, 24] + - !!python/tuple [19, 21] + - !!python/tuple [17, 30] + - !!python/tuple [20, 9] + - !!python/tuple [24, 26] + - !!python/tuple [14, 2] + - !!python/tuple [9, 6] + - !!python/tuple [27, 10] + - !!python/tuple [6, 19] + - !!python/tuple [8, 6] + - !!python/tuple [12, 30] + - !!python/tuple [28, 17] + - !!python/tuple [14, 0] + - !!python/tuple [13, 29] + - !!python/tuple [15, 12] + - !!python/tuple [29, 18] + - !!python/tuple [21, 9] + - !!python/tuple [19, 9] + - !!python/tuple [16, 9] + - !!python/tuple [19, 13] + - !!python/tuple [10, 12] + - !!python/tuple [13, 3] + - !!python/tuple [24, 25] + - !!python/tuple [25, 2] + - !!python/tuple [29, 2] + - !!python/tuple [17, 17] + - !!python/tuple [16, 16] + - !!python/tuple [17, 31] + - !!python/tuple [14, 26] + - !!python/tuple [10, 29] + - !!python/tuple [7, 18] + - !!python/tuple [5, 0] + - !!python/tuple [15, 11] + - !!python/tuple [23, 2] + - !!python/tuple [19, 5] + - !!python/tuple [5, 26] + - !!python/tuple [24, 10] + - !!python/tuple [19, 26] + - !!python/tuple [24, 31] + - !!python/tuple [12, 17] + - !!python/tuple [14, 9] + - !!python/tuple [15, 21] + - !!python/tuple [29, 23] + - !!python/tuple [19, 24] + - !!python/tuple [28, 7] + - !!python/tuple [4, 20] + - !!python/tuple [23, 17] + - !!python/tuple [26, 28] + - !!python/tuple [0, 21] + - !!python/tuple [23, 25] + - !!python/tuple [28, 18] + - !!python/tuple [23, 5] + - !!python/tuple [5, 6] + - !!python/tuple [22, 23] + - !!python/tuple [29, 15] + - !!python/tuple [30, 4] + - !!python/tuple [6, 7] + - !!python/tuple [4, 22] + - !!python/tuple [27, 11] + - !!python/tuple [21, 18] + - !!python/tuple [15, 15] + - !!python/tuple [2, 27] + - !!python/tuple [24, 30] + - !!python/tuple [15, 7] + - !!python/tuple [6, 13] + - !!python/tuple [7, 19] + - !!python/tuple [5, 3] + - !!python/tuple [6, 31] + - !!python/tuple [1, 14] + - !!python/tuple [4, 18] + - !!python/tuple [25, 30] + - !!python/tuple [29, 22] + - !!python/tuple [10, 18] + - !!python/tuple [14, 30] + - !!python/tuple [12, 29] + - !!python/tuple [23, 8] + - !!python/tuple [27, 28] + - !!python/tuple [19, 17] + - !!python/tuple [4, 8] + - !!python/tuple [4, 7] + - !!python/tuple [30, 13] + - !!python/tuple [14, 5] + - !!python/tuple [20, 5] + - !!python/tuple [4, 26] + - !!python/tuple [4, 10] + - !!python/tuple [15, 2] + - !!python/tuple [4, 4] + - !!python/tuple [3, 16] + - !!python/tuple [14, 20] + - !!python/tuple [1, 27] + - !!python/tuple [23, 21] + - !!python/tuple [9, 27] + - !!python/tuple [7, 26] + - !!python/tuple [16, 8] + - !!python/tuple [19, 19] + - !!python/tuple [16, 7] + - !!python/tuple [20, 31] + - !!python/tuple [16, 30] + - !!python/tuple [26, 26] + - !!python/tuple [17, 14] + - !!python/tuple [26, 4] + - !!python/tuple [18, 7] + - !!python/tuple [20, 18] + - !!python/tuple [9, 8] + - !!python/tuple [15, 29] + - !!python/tuple [7, 27] + - !!python/tuple [3, 0] + - !!python/tuple [20, 7] + - !!python/tuple [25, 17] + - !!python/tuple [8, 27] + - !!python/tuple [10, 7] + - !!python/tuple [13, 13] + - !!python/tuple [17, 8] + - !!python/tuple [17, 15] + - !!python/tuple [15, 9] + - !!python/tuple [3, 14] + - !!python/tuple [18, 30] + - !!python/tuple [2, 22] + - !!python/tuple [10, 16] + - !!python/tuple [31, 17] + - !!python/tuple [16, 25] + - !!python/tuple [29, 10] + - !!python/tuple [18, 6] + - !!python/tuple [27, 20] + - !!python/tuple [2, 16] + - !!python/tuple [5, 18] + - !!python/tuple [2, 12] + - !!python/tuple [24, 5] + - !!python/tuple [4, 31] + - !!python/tuple [11, 18] + - !!python/tuple [0, 5] + - !!python/tuple [16, 19] + - !!python/tuple [1, 6] + - !!python/tuple [23, 12] + - !!python/tuple [28, 31] + - !!python/tuple [3, 6] + - !!python/tuple [21, 12] + - !!python/tuple [25, 26] + - !!python/tuple [22, 30] + - !!python/tuple [11, 25] + - !!python/tuple [14, 22] + - !!python/tuple [31, 12] + - !!python/tuple [20, 15] + - !!python/tuple [6, 6] + - !!python/tuple [8, 25] + - !!python/tuple [5, 31] + - !!python/tuple [12, 26] + - !!python/tuple [17, 28] + - !!python/tuple [22, 3] + - !!python/tuple [25, 15] + - !!python/tuple [7, 11] + - !!python/tuple [5, 27] + - !!python/tuple [9, 12] + - !!python/tuple [20, 19] + - !!python/tuple [4, 11] + - !!python/tuple [19, 12] + - !!python/tuple [13, 31] + - !!python/tuple [3, 19] + - !!python/tuple [22, 28] + - !!python/tuple [7, 5] + - !!python/tuple [8, 23] + - !!python/tuple [9, 23] + - !!python/tuple [8, 30] + - !!python/tuple [4, 21] + - !!python/tuple [6, 9] + - !!python/tuple [15, 16] + - !!python/tuple [14, 21] + - !!python/tuple [8, 8] + - !!python/tuple [30, 8] + - !!python/tuple [24, 7] + - !!python/tuple [28, 15] + - !!python/tuple [7, 6] + - !!python/tuple [31, 5] + - !!python/tuple [21, 2] + - !!python/tuple [28, 24] + - !!python/tuple [8, 18] + - !!python/tuple [20, 21] + - !!python/tuple [6, 0] + - !!python/tuple [12, 22] + - !!python/tuple [14, 28] + - !!python/tuple [28, 25] + - !!python/tuple [5, 17] + - !!python/tuple [10, 31] + - !!python/tuple [25, 31] + - !!python/tuple [2, 9] + - !!python/tuple [4, 0] + - !!python/tuple [25, 9] + - !!python/tuple [4, 9] + - !!python/tuple [22, 25] + - !!python/tuple [5, 11] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex17.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex17.yaml new file mode 100644 index 0000000..6868bd9 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex17.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [7, 29] + name: agent0 + start: [31, 14] +- goal: [15, 29] + name: agent1 + start: [29, 6] +- goal: [16, 9] + name: agent2 + start: [14, 15] +- goal: [12, 16] + name: agent3 + start: [4, 15] +- goal: [3, 29] + name: agent4 + start: [12, 10] +- goal: [29, 29] + name: agent5 + start: [11, 25] +- goal: [19, 5] + name: agent6 + start: [21, 1] +- goal: [19, 2] + name: agent7 + start: [24, 18] +- goal: [1, 11] + name: agent8 + start: [10, 6] +- goal: [2, 22] + name: agent9 + start: [23, 10] +- goal: [9, 31] + name: agent10 + start: [21, 14] +- goal: [30, 31] + name: agent11 + start: [23, 30] +- goal: [7, 0] + name: agent12 + start: [21, 27] +- goal: [10, 30] + name: agent13 + start: [26, 15] +- goal: [23, 19] + name: agent14 + start: [30, 21] +- goal: [31, 31] + name: agent15 + start: [30, 23] +- goal: [19, 10] + name: agent16 + start: [22, 6] +- goal: [0, 28] + name: agent17 + start: [0, 16] +- goal: [15, 1] + name: agent18 + start: [26, 0] +- goal: [4, 23] + name: agent19 + start: [17, 12] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [6, 31] + - !!python/tuple [5, 3] + - !!python/tuple [7, 28] + - !!python/tuple [19, 22] + - !!python/tuple [7, 9] + - !!python/tuple [29, 17] + - !!python/tuple [13, 4] + - !!python/tuple [26, 22] + - !!python/tuple [3, 12] + - !!python/tuple [27, 3] + - !!python/tuple [27, 7] + - !!python/tuple [8, 27] + - !!python/tuple [0, 9] + - !!python/tuple [3, 4] + - !!python/tuple [5, 29] + - !!python/tuple [0, 12] + - !!python/tuple [25, 8] + - !!python/tuple [7, 17] + - !!python/tuple [8, 9] + - !!python/tuple [8, 28] + - !!python/tuple [29, 7] + - !!python/tuple [12, 6] + - !!python/tuple [3, 20] + - !!python/tuple [21, 12] + - !!python/tuple [11, 30] + - !!python/tuple [29, 0] + - !!python/tuple [19, 1] + - !!python/tuple [27, 27] + - !!python/tuple [11, 5] + - !!python/tuple [12, 15] + - !!python/tuple [12, 7] + - !!python/tuple [8, 13] + - !!python/tuple [18, 23] + - !!python/tuple [3, 0] + - !!python/tuple [3, 26] + - !!python/tuple [3, 5] + - !!python/tuple [10, 4] + - !!python/tuple [2, 1] + - !!python/tuple [20, 8] + - !!python/tuple [12, 23] + - !!python/tuple [0, 26] + - !!python/tuple [29, 10] + - !!python/tuple [0, 10] + - !!python/tuple [14, 18] + - !!python/tuple [31, 20] + - !!python/tuple [28, 12] + - !!python/tuple [26, 6] + - !!python/tuple [25, 14] + - !!python/tuple [25, 30] + - !!python/tuple [4, 17] + - !!python/tuple [1, 4] + - !!python/tuple [15, 27] + - !!python/tuple [2, 25] + - !!python/tuple [9, 5] + - !!python/tuple [5, 20] + - !!python/tuple [31, 18] + - !!python/tuple [2, 12] + - !!python/tuple [29, 15] + - !!python/tuple [13, 20] + - !!python/tuple [16, 16] + - !!python/tuple [18, 28] + - !!python/tuple [13, 13] + - !!python/tuple [19, 28] + - !!python/tuple [17, 10] + - !!python/tuple [12, 19] + - !!python/tuple [26, 14] + - !!python/tuple [22, 9] + - !!python/tuple [12, 4] + - !!python/tuple [15, 19] + - !!python/tuple [19, 29] + - !!python/tuple [6, 14] + - !!python/tuple [15, 16] + - !!python/tuple [28, 25] + - !!python/tuple [10, 19] + - !!python/tuple [26, 10] + - !!python/tuple [20, 30] + - !!python/tuple [3, 18] + - !!python/tuple [7, 1] + - !!python/tuple [1, 14] + - !!python/tuple [22, 26] + - !!python/tuple [21, 13] + - !!python/tuple [27, 19] + - !!python/tuple [24, 27] + - !!python/tuple [23, 24] + - !!python/tuple [13, 17] + - !!python/tuple [28, 1] + - !!python/tuple [21, 23] + - !!python/tuple [27, 4] + - !!python/tuple [19, 0] + - !!python/tuple [10, 25] + - !!python/tuple [6, 13] + - !!python/tuple [11, 0] + - !!python/tuple [17, 11] + - !!python/tuple [10, 7] + - !!python/tuple [10, 8] + - !!python/tuple [21, 26] + - !!python/tuple [5, 30] + - !!python/tuple [25, 28] + - !!python/tuple [3, 17] + - !!python/tuple [5, 19] + - !!python/tuple [11, 17] + - !!python/tuple [8, 12] + - !!python/tuple [30, 13] + - !!python/tuple [20, 29] + - !!python/tuple [8, 24] + - !!python/tuple [15, 5] + - !!python/tuple [12, 20] + - !!python/tuple [9, 19] + - !!python/tuple [16, 4] + - !!python/tuple [28, 6] + - !!python/tuple [29, 26] + - !!python/tuple [5, 5] + - !!python/tuple [31, 7] + - !!python/tuple [3, 6] + - !!python/tuple [26, 21] + - !!python/tuple [17, 29] + - !!python/tuple [17, 25] + - !!python/tuple [23, 9] + - !!python/tuple [19, 19] + - !!python/tuple [26, 18] + - !!python/tuple [20, 14] + - !!python/tuple [6, 10] + - !!python/tuple [1, 21] + - !!python/tuple [12, 5] + - !!python/tuple [13, 11] + - !!python/tuple [4, 19] + - !!python/tuple [9, 10] + - !!python/tuple [28, 8] + - !!python/tuple [8, 23] + - !!python/tuple [31, 2] + - !!python/tuple [20, 22] + - !!python/tuple [18, 11] + - !!python/tuple [26, 16] + - !!python/tuple [9, 3] + - !!python/tuple [17, 1] + - !!python/tuple [8, 17] + - !!python/tuple [24, 31] + - !!python/tuple [5, 1] + - !!python/tuple [9, 24] + - !!python/tuple [1, 31] + - !!python/tuple [1, 18] + - !!python/tuple [4, 21] + - !!python/tuple [27, 30] + - !!python/tuple [27, 26] + - !!python/tuple [1, 26] + - !!python/tuple [12, 26] + - !!python/tuple [14, 29] + - !!python/tuple [13, 31] + - !!python/tuple [17, 2] + - !!python/tuple [30, 3] + - !!python/tuple [29, 12] + - !!python/tuple [17, 13] + - !!python/tuple [9, 4] + - !!python/tuple [4, 16] + - !!python/tuple [13, 6] + - !!python/tuple [20, 26] + - !!python/tuple [6, 6] + - !!python/tuple [8, 4] + - !!python/tuple [3, 3] + - !!python/tuple [26, 11] + - !!python/tuple [16, 20] + - !!python/tuple [12, 0] + - !!python/tuple [28, 19] + - !!python/tuple [18, 4] + - !!python/tuple [11, 18] + - !!python/tuple [7, 30] + - !!python/tuple [27, 23] + - !!python/tuple [15, 12] + - !!python/tuple [17, 20] + - !!python/tuple [30, 20] + - !!python/tuple [15, 20] + - !!python/tuple [3, 16] + - !!python/tuple [0, 27] + - !!python/tuple [23, 31] + - !!python/tuple [24, 22] + - !!python/tuple [0, 30] + - !!python/tuple [27, 8] + - !!python/tuple [8, 19] + - !!python/tuple [6, 28] + - !!python/tuple [1, 25] + - !!python/tuple [11, 20] + - !!python/tuple [15, 26] + - !!python/tuple [3, 21] + - !!python/tuple [25, 20] + - !!python/tuple [21, 22] + - !!python/tuple [5, 22] + - !!python/tuple [27, 15] + - !!python/tuple [11, 19] + - !!python/tuple [18, 25] + - !!python/tuple [20, 2] + - !!python/tuple [19, 7] + - !!python/tuple [30, 17] + - !!python/tuple [7, 18] + - !!python/tuple [16, 8] + - !!python/tuple [18, 19] + - !!python/tuple [6, 4] + - !!python/tuple [14, 1] + - !!python/tuple [29, 27] + - !!python/tuple [26, 31] + - !!python/tuple [28, 18] + - !!python/tuple [2, 21] + - !!python/tuple [4, 27] + - !!python/tuple [22, 17] + - !!python/tuple [6, 8] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex18.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex18.yaml new file mode 100644 index 0000000..d213639 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex18.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [8, 31] + name: agent0 + start: [5, 13] +- goal: [28, 26] + name: agent1 + start: [25, 30] +- goal: [10, 5] + name: agent2 + start: [16, 21] +- goal: [6, 10] + name: agent3 + start: [8, 18] +- goal: [13, 11] + name: agent4 + start: [2, 6] +- goal: [20, 21] + name: agent5 + start: [31, 5] +- goal: [21, 16] + name: agent6 + start: [3, 28] +- goal: [5, 5] + name: agent7 + start: [31, 16] +- goal: [20, 17] + name: agent8 + start: [20, 31] +- goal: [21, 0] + name: agent9 + start: [9, 7] +- goal: [18, 22] + name: agent10 + start: [18, 27] +- goal: [29, 30] + name: agent11 + start: [15, 11] +- goal: [5, 4] + name: agent12 + start: [15, 25] +- goal: [13, 1] + name: agent13 + start: [18, 0] +- goal: [2, 1] + name: agent14 + start: [15, 5] +- goal: [10, 0] + name: agent15 + start: [31, 4] +- goal: [15, 21] + name: agent16 + start: [2, 27] +- goal: [2, 23] + name: agent17 + start: [13, 31] +- goal: [6, 5] + name: agent18 + start: [10, 26] +- goal: [5, 9] + name: agent19 + start: [8, 14] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [16, 17] + - !!python/tuple [21, 12] + - !!python/tuple [21, 14] + - !!python/tuple [17, 22] + - !!python/tuple [3, 29] + - !!python/tuple [10, 1] + - !!python/tuple [4, 21] + - !!python/tuple [3, 12] + - !!python/tuple [2, 0] + - !!python/tuple [5, 6] + - !!python/tuple [0, 28] + - !!python/tuple [24, 6] + - !!python/tuple [15, 7] + - !!python/tuple [25, 23] + - !!python/tuple [14, 30] + - !!python/tuple [7, 21] + - !!python/tuple [1, 20] + - !!python/tuple [8, 13] + - !!python/tuple [4, 18] + - !!python/tuple [20, 6] + - !!python/tuple [27, 5] + - !!python/tuple [30, 31] + - !!python/tuple [6, 16] + - !!python/tuple [22, 18] + - !!python/tuple [23, 20] + - !!python/tuple [24, 14] + - !!python/tuple [28, 30] + - !!python/tuple [30, 16] + - !!python/tuple [28, 11] + - !!python/tuple [3, 20] + - !!python/tuple [14, 15] + - !!python/tuple [17, 30] + - !!python/tuple [20, 30] + - !!python/tuple [3, 17] + - !!python/tuple [1, 19] + - !!python/tuple [24, 31] + - !!python/tuple [27, 28] + - !!python/tuple [24, 19] + - !!python/tuple [22, 4] + - !!python/tuple [6, 7] + - !!python/tuple [4, 13] + - !!python/tuple [0, 5] + - !!python/tuple [3, 30] + - !!python/tuple [28, 20] + - !!python/tuple [0, 26] + - !!python/tuple [25, 11] + - !!python/tuple [18, 23] + - !!python/tuple [7, 14] + - !!python/tuple [26, 6] + - !!python/tuple [6, 21] + - !!python/tuple [1, 14] + - !!python/tuple [19, 12] + - !!python/tuple [16, 3] + - !!python/tuple [24, 25] + - !!python/tuple [6, 4] + - !!python/tuple [26, 4] + - !!python/tuple [15, 28] + - !!python/tuple [19, 20] + - !!python/tuple [13, 21] + - !!python/tuple [31, 30] + - !!python/tuple [5, 26] + - !!python/tuple [11, 9] + - !!python/tuple [17, 31] + - !!python/tuple [27, 9] + - !!python/tuple [22, 26] + - !!python/tuple [22, 28] + - !!python/tuple [6, 30] + - !!python/tuple [8, 8] + - !!python/tuple [13, 13] + - !!python/tuple [4, 23] + - !!python/tuple [29, 19] + - !!python/tuple [28, 21] + - !!python/tuple [1, 23] + - !!python/tuple [21, 13] + - !!python/tuple [8, 2] + - !!python/tuple [25, 10] + - !!python/tuple [30, 8] + - !!python/tuple [14, 18] + - !!python/tuple [29, 22] + - !!python/tuple [28, 1] + - !!python/tuple [5, 8] + - !!python/tuple [17, 28] + - !!python/tuple [22, 30] + - !!python/tuple [4, 12] + - !!python/tuple [23, 23] + - !!python/tuple [10, 9] + - !!python/tuple [30, 30] + - !!python/tuple [22, 6] + - !!python/tuple [30, 12] + - !!python/tuple [12, 4] + - !!python/tuple [13, 23] + - !!python/tuple [24, 8] + - !!python/tuple [11, 27] + - !!python/tuple [8, 29] + - !!python/tuple [21, 18] + - !!python/tuple [31, 11] + - !!python/tuple [16, 11] + - !!python/tuple [16, 1] + - !!python/tuple [23, 11] + - !!python/tuple [30, 13] + - !!python/tuple [1, 17] + - !!python/tuple [21, 5] + - !!python/tuple [3, 0] + - !!python/tuple [6, 20] + - !!python/tuple [27, 19] + - !!python/tuple [8, 5] + - !!python/tuple [27, 25] + - !!python/tuple [4, 20] + - !!python/tuple [21, 31] + - !!python/tuple [19, 0] + - !!python/tuple [17, 7] + - !!python/tuple [9, 22] + - !!python/tuple [15, 0] + - !!python/tuple [16, 23] + - !!python/tuple [3, 14] + - !!python/tuple [16, 16] + - !!python/tuple [30, 10] + - !!python/tuple [0, 7] + - !!python/tuple [11, 12] + - !!python/tuple [29, 3] + - !!python/tuple [10, 8] + - !!python/tuple [22, 7] + - !!python/tuple [15, 30] + - !!python/tuple [3, 21] + - !!python/tuple [25, 31] + - !!python/tuple [3, 22] + - !!python/tuple [25, 17] + - !!python/tuple [11, 11] + - !!python/tuple [23, 27] + - !!python/tuple [31, 6] + - !!python/tuple [31, 1] + - !!python/tuple [5, 23] + - !!python/tuple [6, 13] + - !!python/tuple [23, 28] + - !!python/tuple [24, 1] + - !!python/tuple [29, 2] + - !!python/tuple [3, 2] + - !!python/tuple [23, 10] + - !!python/tuple [7, 25] + - !!python/tuple [24, 17] + - !!python/tuple [27, 22] + - !!python/tuple [8, 3] + - !!python/tuple [9, 4] + - !!python/tuple [26, 19] + - !!python/tuple [5, 22] + - !!python/tuple [8, 30] + - !!python/tuple [30, 14] + - !!python/tuple [5, 2] + - !!python/tuple [5, 14] + - !!python/tuple [12, 26] + - !!python/tuple [17, 8] + - !!python/tuple [28, 2] + - !!python/tuple [2, 19] + - !!python/tuple [25, 16] + - !!python/tuple [29, 31] + - !!python/tuple [1, 9] + - !!python/tuple [27, 10] + - !!python/tuple [15, 6] + - !!python/tuple [4, 11] + - !!python/tuple [28, 28] + - !!python/tuple [15, 26] + - !!python/tuple [13, 10] + - !!python/tuple [7, 28] + - !!python/tuple [24, 30] + - !!python/tuple [8, 21] + - !!python/tuple [15, 15] + - !!python/tuple [12, 24] + - !!python/tuple [23, 1] + - !!python/tuple [18, 12] + - !!python/tuple [14, 25] + - !!python/tuple [7, 10] + - !!python/tuple [5, 28] + - !!python/tuple [17, 16] + - !!python/tuple [10, 10] + - !!python/tuple [14, 7] + - !!python/tuple [21, 20] + - !!python/tuple [14, 5] + - !!python/tuple [23, 4] + - !!python/tuple [31, 0] + - !!python/tuple [4, 24] + - !!python/tuple [11, 17] + - !!python/tuple [29, 11] + - !!python/tuple [2, 29] + - !!python/tuple [4, 4] + - !!python/tuple [23, 24] + - !!python/tuple [18, 5] + - !!python/tuple [26, 15] + - !!python/tuple [28, 17] + - !!python/tuple [5, 3] + - !!python/tuple [15, 12] + - !!python/tuple [3, 6] + - !!python/tuple [9, 15] + - !!python/tuple [23, 17] + - !!python/tuple [11, 0] + - !!python/tuple [12, 23] + - !!python/tuple [24, 9] + - !!python/tuple [27, 8] + - !!python/tuple [19, 6] + - !!python/tuple [26, 0] + - !!python/tuple [28, 5] + - !!python/tuple [13, 17] + - !!python/tuple [18, 11] + - !!python/tuple [0, 22] + - !!python/tuple [7, 4] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex19.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex19.yaml new file mode 100644 index 0000000..984d979 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex19.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [7, 23] + name: agent0 + start: [3, 20] +- goal: [25, 12] + name: agent1 + start: [2, 30] +- goal: [3, 24] + name: agent2 + start: [17, 9] +- goal: [7, 14] + name: agent3 + start: [15, 14] +- goal: [28, 11] + name: agent4 + start: [22, 19] +- goal: [27, 26] + name: agent5 + start: [28, 21] +- goal: [8, 24] + name: agent6 + start: [21, 13] +- goal: [5, 0] + name: agent7 + start: [29, 21] +- goal: [18, 4] + name: agent8 + start: [22, 13] +- goal: [30, 28] + name: agent9 + start: [21, 11] +- goal: [23, 10] + name: agent10 + start: [2, 26] +- goal: [14, 23] + name: agent11 + start: [24, 29] +- goal: [31, 28] + name: agent12 + start: [22, 6] +- goal: [5, 20] + name: agent13 + start: [21, 1] +- goal: [17, 8] + name: agent14 + start: [1, 11] +- goal: [24, 27] + name: agent15 + start: [7, 15] +- goal: [28, 9] + name: agent16 + start: [0, 3] +- goal: [19, 1] + name: agent17 + start: [4, 28] +- goal: [0, 29] + name: agent18 + start: [19, 15] +- goal: [5, 22] + name: agent19 + start: [27, 16] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [10, 4] + - !!python/tuple [17, 1] + - !!python/tuple [4, 21] + - !!python/tuple [28, 6] + - !!python/tuple [29, 6] + - !!python/tuple [12, 6] + - !!python/tuple [26, 3] + - !!python/tuple [8, 7] + - !!python/tuple [10, 1] + - !!python/tuple [27, 23] + - !!python/tuple [9, 28] + - !!python/tuple [19, 20] + - !!python/tuple [2, 6] + - !!python/tuple [11, 29] + - !!python/tuple [2, 18] + - !!python/tuple [28, 23] + - !!python/tuple [6, 29] + - !!python/tuple [8, 9] + - !!python/tuple [14, 3] + - !!python/tuple [4, 9] + - !!python/tuple [27, 18] + - !!python/tuple [15, 27] + - !!python/tuple [31, 20] + - !!python/tuple [16, 12] + - !!python/tuple [12, 8] + - !!python/tuple [24, 19] + - !!python/tuple [11, 17] + - !!python/tuple [2, 15] + - !!python/tuple [0, 15] + - !!python/tuple [14, 6] + - !!python/tuple [5, 19] + - !!python/tuple [2, 17] + - !!python/tuple [7, 18] + - !!python/tuple [0, 24] + - !!python/tuple [23, 29] + - !!python/tuple [23, 16] + - !!python/tuple [26, 0] + - !!python/tuple [0, 12] + - !!python/tuple [2, 29] + - !!python/tuple [3, 25] + - !!python/tuple [30, 4] + - !!python/tuple [29, 22] + - !!python/tuple [12, 7] + - !!python/tuple [9, 19] + - !!python/tuple [16, 23] + - !!python/tuple [14, 18] + - !!python/tuple [6, 16] + - !!python/tuple [2, 1] + - !!python/tuple [24, 15] + - !!python/tuple [17, 28] + - !!python/tuple [1, 3] + - !!python/tuple [14, 15] + - !!python/tuple [20, 15] + - !!python/tuple [29, 19] + - !!python/tuple [16, 18] + - !!python/tuple [29, 18] + - !!python/tuple [20, 0] + - !!python/tuple [22, 1] + - !!python/tuple [31, 29] + - !!python/tuple [18, 3] + - !!python/tuple [12, 26] + - !!python/tuple [14, 30] + - !!python/tuple [5, 8] + - !!python/tuple [28, 19] + - !!python/tuple [7, 17] + - !!python/tuple [13, 18] + - !!python/tuple [31, 12] + - !!python/tuple [8, 13] + - !!python/tuple [8, 26] + - !!python/tuple [21, 14] + - !!python/tuple [30, 5] + - !!python/tuple [3, 29] + - !!python/tuple [7, 10] + - !!python/tuple [23, 23] + - !!python/tuple [24, 18] + - !!python/tuple [19, 28] + - !!python/tuple [29, 26] + - !!python/tuple [5, 15] + - !!python/tuple [23, 20] + - !!python/tuple [28, 12] + - !!python/tuple [17, 11] + - !!python/tuple [15, 5] + - !!python/tuple [6, 24] + - !!python/tuple [15, 26] + - !!python/tuple [7, 20] + - !!python/tuple [14, 1] + - !!python/tuple [4, 16] + - !!python/tuple [18, 8] + - !!python/tuple [1, 5] + - !!python/tuple [25, 4] + - !!python/tuple [13, 26] + - !!python/tuple [26, 5] + - !!python/tuple [3, 14] + - !!python/tuple [11, 26] + - !!python/tuple [1, 25] + - !!python/tuple [27, 31] + - !!python/tuple [23, 28] + - !!python/tuple [31, 24] + - !!python/tuple [18, 2] + - !!python/tuple [10, 24] + - !!python/tuple [28, 25] + - !!python/tuple [6, 27] + - !!python/tuple [20, 21] + - !!python/tuple [9, 7] + - !!python/tuple [1, 21] + - !!python/tuple [10, 16] + - !!python/tuple [31, 27] + - !!python/tuple [25, 28] + - !!python/tuple [29, 27] + - !!python/tuple [15, 13] + - !!python/tuple [30, 30] + - !!python/tuple [30, 24] + - !!python/tuple [7, 31] + - !!python/tuple [6, 18] + - !!python/tuple [30, 13] + - !!python/tuple [10, 17] + - !!python/tuple [27, 12] + - !!python/tuple [9, 27] + - !!python/tuple [16, 5] + - !!python/tuple [23, 3] + - !!python/tuple [29, 3] + - !!python/tuple [24, 28] + - !!python/tuple [23, 12] + - !!python/tuple [23, 22] + - !!python/tuple [7, 3] + - !!python/tuple [28, 2] + - !!python/tuple [5, 21] + - !!python/tuple [23, 7] + - !!python/tuple [25, 16] + - !!python/tuple [19, 29] + - !!python/tuple [11, 24] + - !!python/tuple [30, 20] + - !!python/tuple [13, 24] + - !!python/tuple [10, 12] + - !!python/tuple [3, 11] + - !!python/tuple [17, 6] + - !!python/tuple [6, 6] + - !!python/tuple [13, 22] + - !!python/tuple [15, 17] + - !!python/tuple [20, 13] + - !!python/tuple [18, 16] + - !!python/tuple [9, 1] + - !!python/tuple [15, 9] + - !!python/tuple [20, 17] + - !!python/tuple [5, 17] + - !!python/tuple [27, 3] + - !!python/tuple [31, 16] + - !!python/tuple [24, 2] + - !!python/tuple [21, 26] + - !!python/tuple [0, 17] + - !!python/tuple [16, 6] + - !!python/tuple [16, 31] + - !!python/tuple [28, 27] + - !!python/tuple [29, 31] + - !!python/tuple [6, 17] + - !!python/tuple [9, 0] + - !!python/tuple [12, 21] + - !!python/tuple [30, 22] + - !!python/tuple [13, 5] + - !!python/tuple [16, 2] + - !!python/tuple [30, 26] + - !!python/tuple [9, 13] + - !!python/tuple [17, 26] + - !!python/tuple [31, 8] + - !!python/tuple [22, 8] + - !!python/tuple [21, 18] + - !!python/tuple [29, 0] + - !!python/tuple [18, 25] + - !!python/tuple [13, 25] + - !!python/tuple [24, 16] + - !!python/tuple [29, 23] + - !!python/tuple [31, 5] + - !!python/tuple [2, 0] + - !!python/tuple [28, 10] + - !!python/tuple [0, 28] + - !!python/tuple [30, 8] + - !!python/tuple [7, 24] + - !!python/tuple [1, 14] + - !!python/tuple [5, 16] + - !!python/tuple [14, 2] + - !!python/tuple [6, 2] + - !!python/tuple [30, 25] + - !!python/tuple [11, 7] + - !!python/tuple [18, 13] + - !!python/tuple [11, 18] + - !!python/tuple [27, 21] + - !!python/tuple [12, 10] + - !!python/tuple [1, 10] + - !!python/tuple [7, 25] + - !!python/tuple [6, 19] + - !!python/tuple [5, 11] + - !!python/tuple [1, 9] + - !!python/tuple [30, 19] + - !!python/tuple [22, 28] + - !!python/tuple [5, 23] + - !!python/tuple [23, 25] + - !!python/tuple [12, 14] + - !!python/tuple [0, 13] + - !!python/tuple [21, 30] + - !!python/tuple [1, 30] + - !!python/tuple [19, 21] + - !!python/tuple [26, 24] + - !!python/tuple [16, 29] + - !!python/tuple [2, 14] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex2.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex2.yaml new file mode 100644 index 0000000..8b8eff2 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex2.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [17, 16] + name: agent0 + start: [3, 27] +- goal: [16, 29] + name: agent1 + start: [21, 11] +- goal: [29, 31] + name: agent2 + start: [10, 12] +- goal: [1, 14] + name: agent3 + start: [23, 1] +- goal: [10, 18] + name: agent4 + start: [7, 8] +- goal: [6, 1] + name: agent5 + start: [8, 5] +- goal: [23, 23] + name: agent6 + start: [9, 4] +- goal: [24, 6] + name: agent7 + start: [19, 18] +- goal: [8, 16] + name: agent8 + start: [24, 12] +- goal: [5, 1] + name: agent9 + start: [8, 16] +- goal: [16, 27] + name: agent10 + start: [19, 25] +- goal: [11, 2] + name: agent11 + start: [29, 18] +- goal: [20, 4] + name: agent12 + start: [4, 17] +- goal: [28, 2] + name: agent13 + start: [19, 15] +- goal: [24, 16] + name: agent14 + start: [31, 2] +- goal: [29, 18] + name: agent15 + start: [6, 30] +- goal: [7, 12] + name: agent16 + start: [5, 27] +- goal: [23, 17] + name: agent17 + start: [28, 26] +- goal: [10, 21] + name: agent18 + start: [9, 17] +- goal: [2, 23] + name: agent19 + start: [8, 17] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [18, 7] + - !!python/tuple [19, 2] + - !!python/tuple [26, 27] + - !!python/tuple [29, 9] + - !!python/tuple [27, 19] + - !!python/tuple [12, 12] + - !!python/tuple [19, 31] + - !!python/tuple [19, 0] + - !!python/tuple [14, 19] + - !!python/tuple [18, 20] + - !!python/tuple [2, 12] + - !!python/tuple [11, 22] + - !!python/tuple [16, 20] + - !!python/tuple [30, 3] + - !!python/tuple [4, 3] + - !!python/tuple [2, 19] + - !!python/tuple [27, 4] + - !!python/tuple [31, 22] + - !!python/tuple [25, 23] + - !!python/tuple [18, 0] + - !!python/tuple [22, 28] + - !!python/tuple [15, 10] + - !!python/tuple [10, 0] + - !!python/tuple [23, 14] + - !!python/tuple [17, 17] + - !!python/tuple [8, 26] + - !!python/tuple [2, 13] + - !!python/tuple [27, 8] + - !!python/tuple [20, 12] + - !!python/tuple [5, 18] + - !!python/tuple [21, 0] + - !!python/tuple [6, 20] + - !!python/tuple [9, 0] + - !!python/tuple [18, 19] + - !!python/tuple [19, 5] + - !!python/tuple [0, 17] + - !!python/tuple [17, 7] + - !!python/tuple [2, 27] + - !!python/tuple [5, 16] + - !!python/tuple [21, 15] + - !!python/tuple [25, 3] + - !!python/tuple [3, 11] + - !!python/tuple [31, 12] + - !!python/tuple [28, 17] + - !!python/tuple [2, 20] + - !!python/tuple [14, 16] + - !!python/tuple [3, 9] + - !!python/tuple [13, 18] + - !!python/tuple [29, 27] + - !!python/tuple [31, 20] + - !!python/tuple [5, 4] + - !!python/tuple [11, 11] + - !!python/tuple [7, 2] + - !!python/tuple [14, 4] + - !!python/tuple [29, 17] + - !!python/tuple [22, 31] + - !!python/tuple [26, 1] + - !!python/tuple [2, 14] + - !!python/tuple [10, 1] + - !!python/tuple [28, 10] + - !!python/tuple [26, 26] + - !!python/tuple [28, 22] + - !!python/tuple [9, 20] + - !!python/tuple [20, 6] + - !!python/tuple [30, 22] + - !!python/tuple [6, 26] + - !!python/tuple [17, 0] + - !!python/tuple [9, 12] + - !!python/tuple [24, 9] + - !!python/tuple [10, 28] + - !!python/tuple [23, 21] + - !!python/tuple [14, 3] + - !!python/tuple [17, 22] + - !!python/tuple [17, 28] + - !!python/tuple [25, 24] + - !!python/tuple [3, 16] + - !!python/tuple [19, 8] + - !!python/tuple [22, 26] + - !!python/tuple [23, 26] + - !!python/tuple [18, 9] + - !!python/tuple [16, 13] + - !!python/tuple [5, 7] + - !!python/tuple [10, 30] + - !!python/tuple [15, 26] + - !!python/tuple [15, 12] + - !!python/tuple [25, 21] + - !!python/tuple [14, 12] + - !!python/tuple [16, 30] + - !!python/tuple [31, 11] + - !!python/tuple [23, 15] + - !!python/tuple [15, 5] + - !!python/tuple [29, 19] + - !!python/tuple [18, 24] + - !!python/tuple [30, 31] + - !!python/tuple [1, 15] + - !!python/tuple [26, 0] + - !!python/tuple [25, 25] + - !!python/tuple [1, 12] + - !!python/tuple [5, 23] + - !!python/tuple [6, 16] + - !!python/tuple [10, 20] + - !!python/tuple [31, 30] + - !!python/tuple [9, 2] + - !!python/tuple [31, 5] + - !!python/tuple [21, 13] + - !!python/tuple [7, 26] + - !!python/tuple [24, 1] + - !!python/tuple [24, 29] + - !!python/tuple [22, 3] + - !!python/tuple [29, 8] + - !!python/tuple [22, 23] + - !!python/tuple [11, 27] + - !!python/tuple [4, 29] + - !!python/tuple [0, 3] + - !!python/tuple [3, 10] + - !!python/tuple [23, 2] + - !!python/tuple [2, 16] + - !!python/tuple [20, 15] + - !!python/tuple [16, 23] + - !!python/tuple [20, 11] + - !!python/tuple [26, 31] + - !!python/tuple [5, 24] + - !!python/tuple [23, 11] + - !!python/tuple [8, 8] + - !!python/tuple [20, 10] + - !!python/tuple [8, 10] + - !!python/tuple [21, 28] + - !!python/tuple [10, 13] + - !!python/tuple [16, 22] + - !!python/tuple [0, 26] + - !!python/tuple [31, 31] + - !!python/tuple [25, 5] + - !!python/tuple [15, 15] + - !!python/tuple [14, 1] + - !!python/tuple [15, 16] + - !!python/tuple [31, 3] + - !!python/tuple [15, 28] + - !!python/tuple [18, 26] + - !!python/tuple [2, 5] + - !!python/tuple [20, 14] + - !!python/tuple [1, 3] + - !!python/tuple [7, 18] + - !!python/tuple [25, 27] + - !!python/tuple [4, 27] + - !!python/tuple [21, 1] + - !!python/tuple [7, 25] + - !!python/tuple [20, 26] + - !!python/tuple [19, 16] + - !!python/tuple [24, 13] + - !!python/tuple [1, 20] + - !!python/tuple [13, 6] + - !!python/tuple [7, 4] + - !!python/tuple [30, 21] + - !!python/tuple [3, 7] + - !!python/tuple [22, 6] + - !!python/tuple [25, 28] + - !!python/tuple [2, 6] + - !!python/tuple [17, 19] + - !!python/tuple [10, 23] + - !!python/tuple [12, 26] + - !!python/tuple [4, 9] + - !!python/tuple [16, 12] + - !!python/tuple [10, 7] + - !!python/tuple [2, 17] + - !!python/tuple [3, 8] + - !!python/tuple [10, 17] + - !!python/tuple [26, 15] + - !!python/tuple [2, 8] + - !!python/tuple [20, 5] + - !!python/tuple [24, 15] + - !!python/tuple [26, 19] + - !!python/tuple [8, 2] + - !!python/tuple [19, 9] + - !!python/tuple [21, 7] + - !!python/tuple [30, 11] + - !!python/tuple [15, 17] + - !!python/tuple [2, 29] + - !!python/tuple [27, 29] + - !!python/tuple [11, 29] + - !!python/tuple [28, 30] + - !!python/tuple [15, 14] + - !!python/tuple [1, 28] + - !!python/tuple [22, 14] + - !!python/tuple [3, 17] + - !!python/tuple [22, 9] + - !!python/tuple [9, 10] + - !!python/tuple [8, 20] + - !!python/tuple [30, 6] + - !!python/tuple [13, 0] + - !!python/tuple [28, 6] + - !!python/tuple [16, 26] + - !!python/tuple [23, 9] + - !!python/tuple [13, 30] + - !!python/tuple [9, 9] + - !!python/tuple [7, 19] + - !!python/tuple [1, 19] + - !!python/tuple [10, 11] + - !!python/tuple [29, 14] + - !!python/tuple [18, 3] + - !!python/tuple [7, 14] + - !!python/tuple [10, 14] + - !!python/tuple [23, 31] + - !!python/tuple [5, 22] + - !!python/tuple [22, 0] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex20.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex20.yaml new file mode 100644 index 0000000..920d8a5 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex20.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [18, 28] + name: agent0 + start: [20, 11] +- goal: [12, 14] + name: agent1 + start: [19, 29] +- goal: [26, 27] + name: agent2 + start: [21, 28] +- goal: [26, 8] + name: agent3 + start: [3, 26] +- goal: [29, 0] + name: agent4 + start: [20, 5] +- goal: [22, 0] + name: agent5 + start: [27, 15] +- goal: [19, 11] + name: agent6 + start: [6, 22] +- goal: [28, 23] + name: agent7 + start: [28, 17] +- goal: [3, 23] + name: agent8 + start: [9, 5] +- goal: [4, 23] + name: agent9 + start: [12, 20] +- goal: [24, 28] + name: agent10 + start: [1, 30] +- goal: [19, 1] + name: agent11 + start: [28, 26] +- goal: [9, 28] + name: agent12 + start: [14, 17] +- goal: [31, 0] + name: agent13 + start: [28, 19] +- goal: [0, 19] + name: agent14 + start: [9, 0] +- goal: [7, 22] + name: agent15 + start: [19, 30] +- goal: [28, 25] + name: agent16 + start: [15, 27] +- goal: [28, 3] + name: agent17 + start: [14, 4] +- goal: [16, 26] + name: agent18 + start: [13, 22] +- goal: [23, 30] + name: agent19 + start: [26, 15] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [1, 13] + - !!python/tuple [14, 24] + - !!python/tuple [12, 12] + - !!python/tuple [24, 3] + - !!python/tuple [25, 18] + - !!python/tuple [16, 9] + - !!python/tuple [17, 11] + - !!python/tuple [22, 9] + - !!python/tuple [10, 14] + - !!python/tuple [15, 11] + - !!python/tuple [5, 1] + - !!python/tuple [25, 22] + - !!python/tuple [9, 31] + - !!python/tuple [27, 27] + - !!python/tuple [11, 28] + - !!python/tuple [23, 2] + - !!python/tuple [7, 5] + - !!python/tuple [19, 27] + - !!python/tuple [17, 17] + - !!python/tuple [7, 26] + - !!python/tuple [14, 3] + - !!python/tuple [26, 29] + - !!python/tuple [12, 2] + - !!python/tuple [26, 13] + - !!python/tuple [22, 8] + - !!python/tuple [14, 13] + - !!python/tuple [8, 17] + - !!python/tuple [1, 11] + - !!python/tuple [23, 25] + - !!python/tuple [14, 7] + - !!python/tuple [5, 5] + - !!python/tuple [29, 9] + - !!python/tuple [30, 31] + - !!python/tuple [1, 15] + - !!python/tuple [21, 10] + - !!python/tuple [7, 28] + - !!python/tuple [9, 9] + - !!python/tuple [2, 24] + - !!python/tuple [17, 1] + - !!python/tuple [9, 22] + - !!python/tuple [3, 11] + - !!python/tuple [20, 25] + - !!python/tuple [21, 15] + - !!python/tuple [5, 11] + - !!python/tuple [29, 19] + - !!python/tuple [1, 19] + - !!python/tuple [25, 6] + - !!python/tuple [24, 0] + - !!python/tuple [20, 29] + - !!python/tuple [9, 2] + - !!python/tuple [27, 26] + - !!python/tuple [13, 3] + - !!python/tuple [3, 16] + - !!python/tuple [7, 31] + - !!python/tuple [11, 1] + - !!python/tuple [10, 0] + - !!python/tuple [13, 14] + - !!python/tuple [11, 31] + - !!python/tuple [10, 4] + - !!python/tuple [8, 4] + - !!python/tuple [13, 4] + - !!python/tuple [0, 18] + - !!python/tuple [25, 30] + - !!python/tuple [1, 25] + - !!python/tuple [8, 27] + - !!python/tuple [28, 20] + - !!python/tuple [4, 16] + - !!python/tuple [27, 3] + - !!python/tuple [20, 14] + - !!python/tuple [28, 15] + - !!python/tuple [3, 19] + - !!python/tuple [19, 0] + - !!python/tuple [8, 1] + - !!python/tuple [6, 25] + - !!python/tuple [25, 25] + - !!python/tuple [14, 23] + - !!python/tuple [8, 10] + - !!python/tuple [20, 19] + - !!python/tuple [28, 13] + - !!python/tuple [1, 27] + - !!python/tuple [2, 7] + - !!python/tuple [14, 21] + - !!python/tuple [30, 18] + - !!python/tuple [25, 27] + - !!python/tuple [4, 2] + - !!python/tuple [14, 11] + - !!python/tuple [31, 25] + - !!python/tuple [8, 28] + - !!python/tuple [12, 27] + - !!python/tuple [18, 25] + - !!python/tuple [28, 2] + - !!python/tuple [26, 9] + - 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7] + - !!python/tuple [18, 8] + - !!python/tuple [3, 14] + - !!python/tuple [27, 13] + - !!python/tuple [2, 16] + - !!python/tuple [4, 10] + - !!python/tuple [11, 26] + - !!python/tuple [16, 29] + - !!python/tuple [20, 23] + - !!python/tuple [9, 1] + - !!python/tuple [2, 11] + - !!python/tuple [27, 29] + - !!python/tuple [12, 15] + - !!python/tuple [0, 9] + - !!python/tuple [18, 2] + - !!python/tuple [1, 24] + - !!python/tuple [18, 14] + - !!python/tuple [3, 8] + - !!python/tuple [3, 6] + - !!python/tuple [0, 26] + - !!python/tuple [1, 22] + - !!python/tuple [30, 23] + - !!python/tuple [30, 21] + - !!python/tuple [9, 15] + - !!python/tuple [19, 4] + - !!python/tuple [4, 14] + - !!python/tuple [24, 10] + - !!python/tuple [17, 14] + - !!python/tuple [30, 14] + - !!python/tuple [2, 8] + - !!python/tuple [30, 10] + - !!python/tuple [19, 31] + - !!python/tuple [15, 13] + - !!python/tuple [21, 25] + - !!python/tuple [8, 2] + - !!python/tuple [10, 29] + - !!python/tuple [6, 8] + - !!python/tuple [14, 26] + - !!python/tuple [9, 10] + - !!python/tuple [11, 7] + - !!python/tuple [3, 1] + - !!python/tuple [7, 15] + - !!python/tuple [7, 24] + - !!python/tuple [17, 0] + - !!python/tuple [22, 27] + - !!python/tuple [27, 14] + - !!python/tuple [7, 30] + - !!python/tuple [18, 10] + - !!python/tuple [27, 2] + - !!python/tuple [0, 7] + - !!python/tuple [9, 30] + - !!python/tuple [3, 3] + - !!python/tuple [10, 9] + - !!python/tuple [25, 3] + - !!python/tuple [4, 7] + - !!python/tuple [21, 3] + - !!python/tuple [5, 9] + - !!python/tuple [17, 16] + - !!python/tuple [18, 17] + - !!python/tuple [9, 19] + - !!python/tuple [9, 16] + - !!python/tuple [5, 17] + - !!python/tuple [6, 19] + - !!python/tuple [21, 16] + - !!python/tuple [6, 16] + - !!python/tuple [20, 15] + - !!python/tuple [27, 25] + - !!python/tuple [31, 28] + - !!python/tuple [0, 2] + - !!python/tuple [28, 28] + - !!python/tuple [6, 29] + - !!python/tuple [27, 30] + - !!python/tuple [19, 13] + - !!python/tuple [13, 7] + - !!python/tuple [17, 20] + - !!python/tuple [24, 1] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex21.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex21.yaml new file mode 100644 index 0000000..f27f4c1 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex21.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [22, 7] + name: agent0 + start: [27, 26] +- goal: [8, 20] + name: agent1 + start: [29, 5] +- goal: [16, 30] + name: agent2 + start: [6, 23] +- goal: [1, 27] + name: agent3 + start: [9, 12] +- goal: [14, 24] + name: agent4 + start: [6, 7] +- goal: [24, 19] + name: agent5 + start: [4, 20] +- goal: [31, 31] + name: agent6 + start: [4, 31] +- goal: [19, 25] + name: agent7 + start: [23, 10] +- goal: [4, 3] + name: agent8 + start: [14, 8] +- goal: [14, 9] + name: agent9 + start: [13, 11] +- goal: [28, 14] + name: agent10 + start: [1, 18] +- goal: [18, 26] + name: agent11 + start: [25, 20] +- goal: [31, 30] + name: agent12 + start: [25, 19] +- goal: [8, 0] + name: agent13 + start: [22, 22] +- goal: [31, 1] + name: agent14 + start: [0, 9] +- goal: [7, 18] + name: agent15 + start: [19, 17] +- goal: [27, 19] + name: agent16 + start: [19, 31] +- goal: [20, 8] + name: agent17 + start: [25, 22] +- goal: [24, 29] + name: agent18 + start: [4, 21] +- goal: [18, 13] + name: agent19 + start: [17, 27] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [8, 11] + - !!python/tuple [1, 19] + - !!python/tuple [24, 27] + - !!python/tuple [1, 2] + - !!python/tuple [25, 16] + - !!python/tuple [18, 14] + - !!python/tuple [6, 24] + - !!python/tuple [10, 20] + - !!python/tuple [16, 16] + - !!python/tuple [12, 5] + - !!python/tuple [5, 2] + - !!python/tuple [21, 15] + - !!python/tuple [22, 5] + - !!python/tuple [15, 30] + - !!python/tuple [6, 11] + - !!python/tuple [15, 28] + - !!python/tuple [9, 4] + - !!python/tuple [31, 20] + - !!python/tuple [25, 3] + - !!python/tuple [8, 9] + - !!python/tuple [31, 11] + - !!python/tuple [12, 2] + - !!python/tuple [24, 9] + - !!python/tuple [10, 4] + - !!python/tuple [13, 5] + - !!python/tuple [26, 31] + - !!python/tuple [7, 28] + - !!python/tuple [16, 2] + - !!python/tuple [2, 17] + - !!python/tuple [24, 18] + - !!python/tuple [14, 31] + - !!python/tuple [10, 2] + - !!python/tuple [16, 20] + - !!python/tuple [1, 29] + - !!python/tuple [5, 11] + - !!python/tuple [0, 7] + - !!python/tuple [26, 11] + - !!python/tuple [20, 1] + - !!python/tuple [17, 21] + - !!python/tuple [29, 28] + - !!python/tuple [7, 15] + - !!python/tuple [4, 23] + - !!python/tuple [6, 27] + - !!python/tuple [13, 10] + - !!python/tuple [21, 16] + - !!python/tuple [20, 7] + - !!python/tuple [1, 23] + - !!python/tuple [26, 5] + - !!python/tuple [20, 29] + - !!python/tuple [30, 17] + - !!python/tuple [12, 19] + - !!python/tuple [21, 19] + - !!python/tuple [0, 18] + - !!python/tuple [10, 18] + - !!python/tuple [30, 25] + - !!python/tuple [5, 28] + - !!python/tuple [27, 29] + - !!python/tuple [29, 12] + - !!python/tuple [5, 17] + - !!python/tuple [4, 11] + - !!python/tuple [17, 4] + - !!python/tuple [22, 6] + - !!python/tuple [25, 8] + - !!python/tuple [26, 25] + - !!python/tuple [12, 7] + - !!python/tuple [0, 12] + - !!python/tuple [20, 31] + - !!python/tuple [14, 15] + - !!python/tuple [13, 20] + - !!python/tuple [0, 11] + - !!python/tuple [8, 29] + - !!python/tuple [4, 12] + - !!python/tuple [17, 19] + - !!python/tuple [23, 17] + - !!python/tuple [28, 16] + - !!python/tuple [8, 1] + - !!python/tuple [1, 0] + - !!python/tuple [24, 3] + - !!python/tuple [8, 2] + - !!python/tuple [8, 3] + - !!python/tuple [27, 1] + - !!python/tuple [30, 24] + - !!python/tuple [17, 6] + - !!python/tuple [26, 22] + - !!python/tuple [8, 5] + - !!python/tuple [11, 22] + - !!python/tuple [3, 8] + - !!python/tuple [17, 31] + - !!python/tuple [3, 13] + - !!python/tuple [10, 21] + - !!python/tuple [11, 3] + - !!python/tuple [19, 4] + - 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!!python/tuple [24, 7] + - !!python/tuple [12, 10] + - !!python/tuple [17, 23] + - !!python/tuple [21, 24] + - !!python/tuple [14, 18] + - !!python/tuple [4, 28] + - !!python/tuple [5, 0] + - !!python/tuple [26, 9] + - !!python/tuple [25, 24] + - !!python/tuple [16, 13] + - !!python/tuple [3, 3] + - !!python/tuple [31, 18] + - !!python/tuple [31, 27] + - !!python/tuple [3, 11] + - !!python/tuple [11, 9] + - !!python/tuple [8, 30] + - !!python/tuple [14, 22] + - !!python/tuple [9, 9] + - !!python/tuple [14, 6] + - !!python/tuple [0, 1] + - !!python/tuple [9, 16] + - !!python/tuple [11, 14] + - !!python/tuple [7, 3] + - !!python/tuple [9, 13] + - !!python/tuple [3, 17] + - !!python/tuple [18, 12] + - !!python/tuple [31, 8] + - !!python/tuple [18, 21] + - !!python/tuple [17, 11] + - !!python/tuple [11, 16] + - !!python/tuple [2, 19] + - !!python/tuple [10, 17] + - !!python/tuple [1, 9] + - !!python/tuple [16, 26] + - !!python/tuple [27, 4] + - !!python/tuple [11, 24] + - !!python/tuple [20, 13] + - !!python/tuple [18, 9] + - !!python/tuple [24, 12] + - !!python/tuple [18, 11] + - !!python/tuple [24, 17] + - !!python/tuple [27, 11] + - !!python/tuple [3, 30] + - !!python/tuple [5, 10] + - !!python/tuple [20, 2] + - !!python/tuple [14, 29] + - !!python/tuple [24, 8] + - !!python/tuple [31, 7] + - !!python/tuple [24, 10] + - !!python/tuple [8, 6] + - !!python/tuple [29, 10] + - !!python/tuple [22, 25] + - !!python/tuple [8, 31] + - !!python/tuple [11, 31] + - !!python/tuple [5, 25] + - !!python/tuple [25, 9] + - !!python/tuple [14, 1] + - !!python/tuple [12, 3] + - !!python/tuple [23, 19] + - !!python/tuple [6, 30] + - !!python/tuple [14, 23] + - !!python/tuple [27, 2] + - !!python/tuple [1, 7] + - !!python/tuple [21, 13] + - !!python/tuple [3, 4] + - !!python/tuple [19, 27] + - !!python/tuple [1, 5] + - !!python/tuple [0, 26] + - !!python/tuple [10, 30] + - !!python/tuple [30, 10] + - !!python/tuple [18, 0] + - !!python/tuple [14, 19] + - !!python/tuple [28, 0] + - !!python/tuple [4, 8] + - !!python/tuple [18, 22] + - !!python/tuple [23, 27] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex22.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex22.yaml new file mode 100644 index 0000000..641789d --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex22.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [8, 3] + name: agent0 + start: [13, 17] +- goal: [19, 4] + name: agent1 + start: [4, 3] +- goal: [21, 22] + name: agent2 + start: [8, 16] +- goal: [6, 26] + name: agent3 + start: [16, 5] +- goal: [27, 17] + name: agent4 + start: [8, 2] +- goal: [7, 0] + name: agent5 + start: [15, 30] +- goal: [5, 25] + name: agent6 + start: [8, 14] +- goal: [10, 18] + name: agent7 + start: [28, 22] +- goal: [9, 30] + name: agent8 + start: [23, 12] +- goal: [15, 18] + name: agent9 + start: [25, 28] +- goal: [31, 29] + name: agent10 + start: [21, 22] +- goal: [31, 3] + name: agent11 + start: [23, 15] +- goal: [14, 16] + name: agent12 + start: [1, 23] +- goal: [21, 16] + name: agent13 + start: [28, 21] +- goal: [27, 14] + name: agent14 + start: [25, 12] +- goal: [16, 18] + name: agent15 + start: [6, 9] +- goal: [0, 25] + name: agent16 + start: [14, 29] +- goal: [3, 28] + name: agent17 + start: [4, 4] +- goal: [24, 10] + name: agent18 + start: [20, 12] +- goal: [16, 16] + name: agent19 + start: [19, 8] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [8, 23] + - !!python/tuple [19, 29] + - !!python/tuple [29, 23] + - !!python/tuple [15, 11] + - !!python/tuple [20, 19] + - !!python/tuple [7, 5] + - !!python/tuple [8, 30] + - !!python/tuple [23, 5] + - !!python/tuple [30, 27] + - !!python/tuple [10, 25] + - !!python/tuple [21, 0] + - !!python/tuple [17, 10] + - !!python/tuple [12, 26] + - !!python/tuple [30, 11] + - !!python/tuple [6, 19] + - !!python/tuple [20, 26] + - !!python/tuple [27, 12] + - !!python/tuple [27, 28] + - !!python/tuple [16, 12] + - !!python/tuple [3, 7] + - !!python/tuple [11, 15] + - !!python/tuple [29, 25] + - !!python/tuple [11, 8] + - !!python/tuple [29, 1] + - !!python/tuple [27, 10] + - !!python/tuple [6, 3] + - !!python/tuple [4, 17] + - !!python/tuple [31, 27] + - !!python/tuple [27, 3] + - !!python/tuple [28, 18] + - !!python/tuple [8, 18] + - !!python/tuple [14, 26] + - !!python/tuple [24, 9] + - !!python/tuple [10, 20] + - !!python/tuple [14, 2] + - !!python/tuple [13, 31] + - !!python/tuple [13, 9] + - !!python/tuple [0, 4] + - !!python/tuple [27, 1] + - !!python/tuple [25, 21] + - !!python/tuple [31, 7] + - !!python/tuple [28, 8] + - !!python/tuple [17, 1] + - !!python/tuple [12, 28] + - !!python/tuple [13, 24] + - !!python/tuple [12, 27] + - !!python/tuple [3, 2] + - !!python/tuple [10, 5] + - !!python/tuple [18, 23] + - !!python/tuple [5, 1] + - !!python/tuple [15, 12] + - !!python/tuple [2, 31] + - !!python/tuple [11, 17] + - !!python/tuple [9, 19] + - !!python/tuple [23, 20] + - !!python/tuple [21, 13] + - !!python/tuple [24, 28] + - !!python/tuple [15, 7] + - !!python/tuple [18, 8] + - !!python/tuple [25, 8] + - !!python/tuple [15, 3] + - !!python/tuple [20, 13] + - !!python/tuple [31, 0] + - !!python/tuple [7, 20] + - !!python/tuple [15, 23] + - !!python/tuple [12, 29] + - !!python/tuple [24, 2] + - !!python/tuple [6, 22] + - !!python/tuple [18, 22] + - !!python/tuple [13, 6] + - !!python/tuple [1, 12] + - !!python/tuple [9, 11] + - !!python/tuple [19, 15] + - !!python/tuple [11, 20] + - !!python/tuple [15, 29] + - !!python/tuple [21, 2] + - !!python/tuple [2, 30] + - !!python/tuple [6, 24] + - !!python/tuple [1, 28] + - !!python/tuple [27, 23] + - !!python/tuple [8, 28] + - !!python/tuple [28, 6] + - !!python/tuple [7, 11] + - !!python/tuple [26, 29] + - !!python/tuple [21, 5] + - !!python/tuple [29, 30] + - !!python/tuple [4, 16] + - !!python/tuple [20, 28] + - !!python/tuple [26, 21] + - !!python/tuple [12, 31] + - !!python/tuple [18, 1] + - !!python/tuple [0, 10] + - !!python/tuple [15, 22] + - !!python/tuple [26, 8] + - !!python/tuple [27, 11] + - !!python/tuple [26, 25] + - !!python/tuple [24, 25] + - !!python/tuple [2, 19] + - !!python/tuple [6, 0] + - !!python/tuple [21, 27] + - !!python/tuple [7, 14] + - !!python/tuple [13, 1] + - !!python/tuple [14, 14] + - !!python/tuple [7, 13] + - !!python/tuple [22, 17] + - !!python/tuple [21, 9] + - !!python/tuple [3, 20] + - !!python/tuple [20, 0] + - !!python/tuple [20, 20] + - !!python/tuple [2, 12] + - !!python/tuple [5, 8] + - !!python/tuple [29, 13] + - !!python/tuple [14, 25] + - !!python/tuple [21, 4] + - !!python/tuple [14, 4] + - !!python/tuple [9, 15] + - !!python/tuple [10, 22] + - !!python/tuple [30, 26] + - !!python/tuple [18, 21] + - !!python/tuple [14, 11] + - !!python/tuple [22, 2] + - !!python/tuple [25, 9] + - !!python/tuple [2, 9] + - !!python/tuple [4, 31] + - !!python/tuple [4, 6] + - !!python/tuple [24, 29] + - !!python/tuple [17, 29] + - !!python/tuple [30, 17] + - !!python/tuple [4, 22] + - !!python/tuple [1, 15] + - !!python/tuple [26, 16] + - !!python/tuple [29, 21] + - !!python/tuple [12, 14] + - !!python/tuple [11, 5] + - !!python/tuple [25, 30] + - !!python/tuple [7, 10] + - !!python/tuple [26, 31] + - !!python/tuple [15, 2] + - !!python/tuple [25, 23] + - !!python/tuple [12, 6] + - !!python/tuple [2, 1] + - !!python/tuple [17, 26] + - !!python/tuple [31, 26] + - !!python/tuple [10, 21] + - !!python/tuple [17, 7] + - !!python/tuple [2, 17] + - !!python/tuple [13, 12] + - !!python/tuple [18, 2] + - !!python/tuple [12, 20] + - !!python/tuple [17, 28] + - !!python/tuple [3, 8] + - !!python/tuple [30, 8] + - !!python/tuple [5, 6] + - !!python/tuple [0, 17] + - !!python/tuple [11, 9] + - !!python/tuple [26, 0] + - !!python/tuple [31, 20] + - !!python/tuple [27, 25] + - !!python/tuple [0, 9] + - !!python/tuple [17, 25] + - !!python/tuple [2, 20] + - !!python/tuple [29, 19] + - !!python/tuple [0, 15] + - !!python/tuple [1, 8] + - !!python/tuple [29, 12] + - !!python/tuple [19, 27] + - !!python/tuple [27, 2] + - !!python/tuple [4, 1] + - !!python/tuple [19, 10] + - !!python/tuple [1, 25] + - !!python/tuple [24, 6] + - !!python/tuple [22, 22] + - !!python/tuple [24, 17] + - !!python/tuple [5, 19] + - !!python/tuple [10, 10] + - !!python/tuple [3, 4] + - !!python/tuple [22, 10] + - !!python/tuple [7, 8] + - !!python/tuple [10, 6] + - !!python/tuple [27, 20] + - !!python/tuple [20, 1] + - !!python/tuple [28, 29] + - !!python/tuple [13, 18] + - !!python/tuple [31, 15] + - !!python/tuple [30, 1] + - !!python/tuple [7, 3] + - !!python/tuple [0, 24] + - !!python/tuple [20, 11] + - !!python/tuple [24, 26] + - !!python/tuple [30, 18] + - !!python/tuple [20, 7] + - !!python/tuple [16, 19] + - !!python/tuple [18, 11] + - !!python/tuple [14, 7] + - !!python/tuple [31, 11] + - !!python/tuple [9, 27] + - !!python/tuple [15, 31] + - !!python/tuple [2, 29] + - !!python/tuple [6, 27] + - !!python/tuple [25, 10] + - !!python/tuple [16, 13] + - !!python/tuple [6, 13] + - !!python/tuple [0, 21] + - !!python/tuple [17, 3] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex23.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex23.yaml new file mode 100644 index 0000000..2bf3d64 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex23.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [3, 22] + name: agent0 + start: [4, 18] +- goal: [5, 1] + name: agent1 + start: [11, 3] +- goal: [24, 13] + name: agent2 + start: [6, 24] +- goal: [15, 13] + name: agent3 + start: [17, 12] +- goal: [11, 19] + name: agent4 + start: [3, 18] +- goal: [4, 11] + name: agent5 + start: [21, 5] +- goal: [4, 5] + name: agent6 + start: [10, 24] +- goal: [0, 14] + name: agent7 + start: [17, 20] +- goal: [20, 24] + name: agent8 + start: [23, 7] +- goal: [6, 29] + name: agent9 + start: [17, 25] +- goal: [19, 10] + name: agent10 + start: [6, 9] +- goal: [15, 15] + name: agent11 + start: [12, 8] +- goal: [21, 15] + name: agent12 + start: [20, 25] +- goal: [13, 2] + name: agent13 + start: [23, 4] +- goal: [14, 17] + name: agent14 + start: [0, 23] +- goal: [27, 18] + name: agent15 + start: [11, 16] +- goal: [1, 24] + name: agent16 + start: [22, 11] +- goal: [23, 20] + name: agent17 + start: [16, 29] +- goal: [11, 21] + name: agent18 + start: [11, 31] +- goal: [16, 23] + name: agent19 + start: [7, 29] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [1, 6] + - !!python/tuple [5, 11] + - !!python/tuple [27, 25] + - !!python/tuple [0, 10] + - !!python/tuple [23, 10] + - !!python/tuple [31, 1] + - !!python/tuple [17, 13] + - !!python/tuple [10, 15] + - !!python/tuple [11, 29] + - !!python/tuple [27, 7] + - !!python/tuple [3, 9] + - !!python/tuple [25, 12] + - !!python/tuple [5, 28] + - !!python/tuple [25, 6] + - !!python/tuple [8, 0] + - !!python/tuple [7, 22] + - !!python/tuple [16, 21] + - !!python/tuple [28, 24] + - !!python/tuple [6, 4] + - !!python/tuple [20, 16] + - !!python/tuple [1, 4] + - !!python/tuple [7, 12] + - !!python/tuple [10, 2] + - !!python/tuple [25, 25] + - !!python/tuple [0, 24] + - !!python/tuple [19, 8] + - !!python/tuple [28, 1] + - !!python/tuple [6, 2] + - !!python/tuple [14, 16] + - !!python/tuple [16, 7] + - !!python/tuple [20, 7] + - !!python/tuple [16, 20] + - !!python/tuple [29, 12] + - !!python/tuple [28, 17] + - !!python/tuple [20, 6] + - !!python/tuple [9, 5] + - !!python/tuple [18, 11] + - !!python/tuple [10, 22] + - !!python/tuple [15, 4] + - !!python/tuple [2, 5] + - !!python/tuple [18, 31] + - !!python/tuple [22, 25] + - !!python/tuple [14, 20] + - !!python/tuple [28, 18] + - !!python/tuple [3, 28] + - !!python/tuple [31, 10] + - !!python/tuple [15, 19] + - !!python/tuple [5, 31] + - !!python/tuple [30, 21] + - !!python/tuple [23, 26] + - !!python/tuple [19, 5] + - !!python/tuple [31, 11] + - !!python/tuple [2, 3] + - !!python/tuple [8, 12] + - !!python/tuple [4, 9] + - !!python/tuple [21, 14] + - !!python/tuple [3, 4] + - !!python/tuple [19, 11] + - !!python/tuple [17, 6] + - !!python/tuple [31, 20] + - !!python/tuple [19, 4] + - !!python/tuple [28, 25] + - !!python/tuple [21, 26] + - !!python/tuple [29, 31] + - !!python/tuple [5, 9] + - !!python/tuple [24, 12] + - !!python/tuple [12, 21] + - !!python/tuple [22, 22] + - !!python/tuple [14, 30] + - !!python/tuple [18, 4] + - !!python/tuple [7, 5] + - !!python/tuple [6, 7] + - !!python/tuple [14, 28] + - !!python/tuple [21, 11] + - !!python/tuple [19, 27] + - !!python/tuple [28, 2] + - !!python/tuple [6, 26] + - !!python/tuple [17, 14] + - !!python/tuple [9, 15] + - !!python/tuple [14, 12] + - !!python/tuple [3, 26] + - !!python/tuple [26, 4] + - !!python/tuple [29, 26] + - !!python/tuple [19, 13] + - !!python/tuple [21, 2] + - !!python/tuple [2, 10] + - !!python/tuple [27, 6] + - !!python/tuple [24, 22] + - !!python/tuple [30, 0] + - !!python/tuple [16, 26] + - !!python/tuple [10, 10] + - !!python/tuple [23, 0] + - !!python/tuple [2, 21] + - !!python/tuple [8, 19] + - !!python/tuple [13, 19] + - !!python/tuple [20, 26] + - !!python/tuple [4, 3] + - !!python/tuple [18, 30] + - !!python/tuple [30, 4] + - !!python/tuple [23, 14] + - !!python/tuple [25, 17] + - !!python/tuple [11, 13] + - !!python/tuple [24, 2] + - !!python/tuple [28, 29] + - !!python/tuple [7, 14] + - !!python/tuple [28, 9] + - !!python/tuple [7, 8] + - !!python/tuple [26, 7] + - !!python/tuple [14, 26] + - !!python/tuple [11, 25] + - !!python/tuple [22, 1] + - !!python/tuple [14, 0] + - !!python/tuple [27, 21] + - !!python/tuple [14, 15] + - !!python/tuple [15, 30] + - !!python/tuple [30, 26] + - !!python/tuple [31, 13] + - !!python/tuple [27, 15] + - !!python/tuple [20, 9] + - !!python/tuple [26, 9] + - !!python/tuple [11, 0] + - !!python/tuple [0, 30] + - !!python/tuple [1, 19] + - !!python/tuple [25, 21] + - !!python/tuple [6, 25] + - !!python/tuple [9, 6] + - !!python/tuple [17, 8] + - !!python/tuple [9, 24] + - !!python/tuple [17, 2] + - !!python/tuple [24, 4] + - !!python/tuple [19, 22] + - !!python/tuple [15, 14] + - !!python/tuple [10, 30] + - !!python/tuple [26, 11] + - !!python/tuple [7, 15] + - !!python/tuple [14, 14] + - !!python/tuple [14, 11] + - !!python/tuple [26, 30] + - !!python/tuple [7, 18] + - !!python/tuple [18, 12] + - !!python/tuple [3, 19] + - !!python/tuple [11, 9] + - !!python/tuple [1, 9] + - !!python/tuple [8, 15] + - !!python/tuple [26, 24] + - !!python/tuple [11, 24] + - !!python/tuple [30, 8] + - !!python/tuple [11, 30] + - !!python/tuple [1, 18] + - !!python/tuple [22, 31] + - !!python/tuple [21, 29] + - !!python/tuple [23, 21] + - !!python/tuple [18, 5] + - !!python/tuple [26, 20] + - !!python/tuple [23, 11] + - !!python/tuple [31, 26] + - !!python/tuple [10, 4] + - !!python/tuple [22, 0] + - !!python/tuple [4, 16] + - !!python/tuple [23, 8] + - !!python/tuple [5, 7] + - !!python/tuple [2, 29] + - !!python/tuple [24, 26] + - !!python/tuple [28, 0] + - !!python/tuple [25, 15] + - !!python/tuple [9, 18] + - !!python/tuple [29, 7] + - !!python/tuple [30, 18] + - !!python/tuple [17, 27] + - !!python/tuple [8, 26] + - !!python/tuple [7, 9] + - !!python/tuple [22, 10] + - !!python/tuple [16, 4] + - !!python/tuple [18, 29] + - !!python/tuple [18, 2] + - !!python/tuple [26, 17] + - !!python/tuple [13, 6] + - !!python/tuple [26, 18] + - !!python/tuple [8, 11] + - !!python/tuple [11, 17] + - !!python/tuple [13, 24] + - !!python/tuple [10, 7] + - !!python/tuple [4, 19] + - !!python/tuple [17, 22] + - !!python/tuple [27, 17] + - !!python/tuple [7, 11] + - !!python/tuple [1, 25] + - !!python/tuple [18, 28] + - !!python/tuple [29, 18] + - !!python/tuple [4, 1] + - !!python/tuple [23, 6] + - !!python/tuple [21, 13] + - !!python/tuple [3, 20] + - !!python/tuple [15, 12] + - !!python/tuple [3, 1] + - !!python/tuple [21, 31] + - !!python/tuple [21, 27] + - !!python/tuple [10, 18] + - !!python/tuple [1, 5] + - !!python/tuple [6, 16] + - !!python/tuple [22, 14] + - !!python/tuple [16, 9] + - !!python/tuple [30, 6] + - !!python/tuple [11, 27] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex24.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex24.yaml new file mode 100644 index 0000000..032fe69 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex24.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [11, 9] + name: agent0 + start: [17, 5] +- goal: [26, 31] + name: agent1 + start: [29, 12] +- goal: [31, 7] + name: agent2 + start: [1, 9] +- goal: [12, 6] + name: agent3 + start: [15, 16] +- goal: [2, 17] + name: agent4 + start: [4, 3] +- goal: [17, 4] + name: agent5 + start: [21, 8] +- goal: [5, 19] + name: agent6 + start: [17, 14] +- goal: [16, 29] + name: agent7 + start: [12, 16] +- goal: [29, 12] + name: agent8 + start: [2, 4] +- goal: [21, 19] + name: agent9 + start: [0, 21] +- goal: [27, 26] + name: agent10 + start: [19, 26] +- goal: [28, 31] + name: agent11 + start: [12, 24] +- goal: [4, 29] + name: agent12 + start: [30, 13] +- goal: [15, 0] + name: agent13 + start: [30, 9] +- goal: [5, 7] + name: agent14 + start: [2, 29] +- goal: [8, 13] + name: agent15 + start: [28, 22] +- goal: [15, 14] + name: agent16 + start: [12, 21] +- goal: [0, 26] + name: agent17 + start: [23, 28] +- goal: [12, 15] + name: agent18 + start: [16, 21] +- goal: [10, 2] + name: agent19 + start: [28, 8] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [14, 10] + - !!python/tuple [31, 11] + - !!python/tuple [5, 2] + - !!python/tuple [19, 23] + - !!python/tuple [14, 1] + - !!python/tuple [7, 22] + - !!python/tuple [10, 22] + - !!python/tuple [16, 20] + - !!python/tuple [1, 12] + - !!python/tuple [29, 31] + - !!python/tuple [22, 6] + - !!python/tuple [13, 29] + - !!python/tuple [24, 25] + - !!python/tuple [11, 27] + - !!python/tuple [18, 8] + - !!python/tuple [30, 17] + - !!python/tuple [7, 31] + - !!python/tuple [26, 22] + - !!python/tuple [29, 2] + - !!python/tuple [17, 10] + - !!python/tuple [13, 2] + - !!python/tuple [8, 21] + - !!python/tuple [6, 5] + - !!python/tuple [12, 2] + - !!python/tuple [9, 3] + - !!python/tuple [22, 3] + - !!python/tuple [23, 12] + - !!python/tuple [0, 14] + - !!python/tuple [13, 25] + - !!python/tuple [9, 20] + - !!python/tuple [25, 4] + - !!python/tuple [24, 27] + - !!python/tuple [3, 7] + - !!python/tuple [13, 4] + - !!python/tuple [19, 3] + - !!python/tuple [28, 27] + - !!python/tuple [5, 1] + - !!python/tuple [21, 10] + - !!python/tuple [5, 15] + - !!python/tuple [22, 2] + - !!python/tuple [21, 24] + - !!python/tuple [7, 10] + - !!python/tuple [7, 24] + - !!python/tuple [2, 9] + - !!python/tuple [29, 28] + - !!python/tuple [8, 25] + - !!python/tuple [20, 29] + - !!python/tuple [25, 2] + - !!python/tuple [25, 7] + - !!python/tuple [6, 8] + - !!python/tuple [18, 9] + - !!python/tuple [3, 23] + - !!python/tuple [20, 15] + - !!python/tuple [3, 3] + - !!python/tuple [17, 26] + - !!python/tuple [14, 8] + - !!python/tuple [15, 1] + - !!python/tuple [20, 18] + - !!python/tuple [27, 4] + - !!python/tuple [23, 1] + - !!python/tuple [17, 13] + - !!python/tuple [7, 16] + - !!python/tuple [14, 28] + - !!python/tuple [23, 16] + - !!python/tuple [22, 15] + - !!python/tuple [6, 25] + - !!python/tuple [30, 3] + - !!python/tuple [5, 10] + - !!python/tuple [6, 11] + - !!python/tuple [1, 1] + - !!python/tuple [23, 13] + - !!python/tuple [8, 29] + - !!python/tuple [25, 26] + - !!python/tuple [14, 16] + - !!python/tuple [3, 21] + - !!python/tuple [13, 6] + - !!python/tuple [24, 1] + - !!python/tuple [9, 25] + - !!python/tuple [0, 7] + - !!python/tuple [17, 17] + - !!python/tuple [1, 8] + - !!python/tuple [25, 10] + - !!python/tuple [28, 23] + - !!python/tuple [1, 5] + - !!python/tuple [16, 9] + - !!python/tuple [10, 29] + - !!python/tuple [12, 20] + - !!python/tuple [16, 22] + - !!python/tuple [7, 19] + - !!python/tuple [1, 4] + - !!python/tuple [29, 21] + - !!python/tuple [27, 27] + - !!python/tuple [30, 29] + - !!python/tuple [15, 7] + - !!python/tuple [3, 26] + - !!python/tuple [20, 30] + - !!python/tuple [0, 13] + - !!python/tuple [23, 31] + - !!python/tuple [8, 23] + - !!python/tuple [28, 17] + - !!python/tuple [16, 10] + - !!python/tuple [10, 25] + - !!python/tuple [27, 5] + - !!python/tuple [13, 30] + - !!python/tuple [21, 30] + - !!python/tuple [10, 5] + - !!python/tuple [4, 20] + - !!python/tuple [26, 29] + - !!python/tuple [31, 24] + - !!python/tuple [28, 25] + - !!python/tuple [10, 0] + - !!python/tuple [7, 17] + - !!python/tuple [23, 5] + - !!python/tuple [23, 8] + - !!python/tuple [8, 15] + - !!python/tuple [25, 15] + - !!python/tuple [10, 3] + - !!python/tuple [6, 30] + - !!python/tuple [20, 20] + - !!python/tuple [8, 8] + - !!python/tuple [0, 17] + - !!python/tuple [17, 31] + - !!python/tuple [1, 26] + - !!python/tuple [0, 16] + - !!python/tuple [10, 20] + - !!python/tuple [19, 17] + - !!python/tuple [4, 13] + - !!python/tuple [27, 13] + - !!python/tuple [11, 11] + - !!python/tuple [11, 30] + - !!python/tuple [18, 20] + - !!python/tuple [16, 23] + - !!python/tuple [31, 19] + - !!python/tuple [9, 22] + - !!python/tuple [14, 0] + - !!python/tuple [3, 6] + - !!python/tuple [9, 13] + - !!python/tuple [5, 14] + - !!python/tuple [2, 12] + - !!python/tuple [7, 26] + - !!python/tuple [16, 31] + - !!python/tuple [3, 19] + - !!python/tuple [29, 29] + - !!python/tuple [13, 12] + - !!python/tuple [15, 26] + - !!python/tuple [30, 26] + - !!python/tuple [9, 24] + - !!python/tuple [9, 11] + - !!python/tuple [28, 29] + - !!python/tuple [4, 25] + - !!python/tuple [18, 23] + - !!python/tuple [18, 18] + - !!python/tuple [25, 1] + - !!python/tuple [31, 23] + - !!python/tuple [10, 11] + - !!python/tuple [31, 26] + - !!python/tuple [28, 18] + - !!python/tuple [11, 26] + - !!python/tuple [21, 18] + - !!python/tuple [14, 3] + - !!python/tuple [16, 28] + - !!python/tuple [21, 31] + - !!python/tuple [1, 19] + - !!python/tuple [11, 29] + - !!python/tuple [25, 18] + - !!python/tuple [10, 7] + - !!python/tuple [30, 6] + - !!python/tuple [13, 9] + - !!python/tuple [22, 16] + - !!python/tuple [20, 2] + - !!python/tuple [27, 23] + - !!python/tuple [16, 8] + - !!python/tuple [25, 17] + - !!python/tuple [23, 22] + - !!python/tuple [30, 7] + - !!python/tuple [18, 26] + - !!python/tuple [26, 13] + - !!python/tuple [19, 27] + - !!python/tuple [27, 14] + - !!python/tuple [9, 26] + - !!python/tuple [12, 13] + - !!python/tuple [17, 30] + - !!python/tuple [7, 29] + - !!python/tuple [11, 15] + - !!python/tuple [18, 13] + - !!python/tuple [4, 4] + - !!python/tuple [8, 2] + - !!python/tuple [13, 24] + - !!python/tuple [2, 22] + - !!python/tuple [23, 14] + - !!python/tuple [11, 25] + - !!python/tuple [8, 12] + - !!python/tuple [16, 15] + - !!python/tuple [12, 17] + - !!python/tuple [2, 7] + - !!python/tuple [18, 1] + - !!python/tuple [26, 14] + - !!python/tuple [19, 31] + - !!python/tuple [6, 4] + - !!python/tuple [6, 23] + - !!python/tuple [31, 8] + - !!python/tuple [23, 6] + - !!python/tuple [4, 1] + - !!python/tuple [2, 27] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex25.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex25.yaml new file mode 100644 index 0000000..b3d2472 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex25.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [9, 23] + name: agent0 + start: [30, 27] +- goal: [7, 13] + name: agent1 + start: [2, 12] +- goal: [4, 13] + name: agent2 + start: [20, 12] +- goal: [12, 9] + name: agent3 + start: [29, 12] +- goal: [18, 7] + name: agent4 + start: [15, 14] +- goal: [21, 7] + name: agent5 + start: [22, 23] +- goal: [31, 27] + name: agent6 + start: [4, 6] +- goal: [31, 8] + name: agent7 + start: [25, 25] +- goal: [7, 22] + name: agent8 + start: [4, 22] +- goal: [1, 22] + name: agent9 + start: [26, 23] +- goal: [26, 2] + name: agent10 + start: [17, 27] +- goal: [29, 17] + name: agent11 + start: [17, 17] +- goal: [30, 15] + name: agent12 + start: [7, 2] +- goal: [13, 20] + name: agent13 + start: [31, 26] +- goal: [12, 13] + name: agent14 + start: [26, 22] +- goal: [26, 19] + name: agent15 + start: [18, 14] +- goal: [5, 21] + name: agent16 + start: [4, 30] +- goal: [16, 10] + name: agent17 + start: [26, 5] +- goal: [16, 30] + name: agent18 + start: [13, 22] +- goal: [19, 13] + name: agent19 + start: [31, 3] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [1, 23] + - !!python/tuple [23, 6] + - !!python/tuple [20, 13] + - !!python/tuple [18, 9] + - !!python/tuple [11, 2] + - !!python/tuple [31, 12] + - !!python/tuple [5, 26] + - !!python/tuple [21, 23] + - !!python/tuple [28, 5] + - !!python/tuple [13, 19] + - !!python/tuple [29, 16] + - !!python/tuple [0, 30] + - !!python/tuple [10, 19] + - !!python/tuple [14, 13] + - !!python/tuple [6, 22] + - !!python/tuple [21, 20] + - !!python/tuple [28, 17] + - !!python/tuple [9, 16] + - !!python/tuple [21, 31] + - !!python/tuple [0, 1] + - !!python/tuple [20, 11] + - !!python/tuple [11, 21] + - !!python/tuple [10, 28] + - !!python/tuple [7, 3] + - !!python/tuple [31, 9] + - !!python/tuple [5, 2] + - !!python/tuple [4, 20] + - !!python/tuple [11, 28] + - !!python/tuple [9, 5] + - !!python/tuple [20, 20] + - !!python/tuple [16, 26] + - !!python/tuple [26, 24] + - !!python/tuple [9, 3] + - !!python/tuple [13, 25] + - !!python/tuple [27, 25] + - !!python/tuple [8, 10] + - !!python/tuple [21, 28] + - !!python/tuple [14, 29] + - !!python/tuple [23, 27] + - !!python/tuple [7, 29] + - !!python/tuple [13, 23] + - !!python/tuple [2, 11] + - !!python/tuple [2, 16] + - !!python/tuple [6, 13] + - !!python/tuple [3, 27] + - !!python/tuple [0, 16] + - !!python/tuple [12, 12] + - !!python/tuple [14, 5] + - !!python/tuple [29, 14] + - !!python/tuple [20, 0] + - !!python/tuple [31, 28] + - !!python/tuple [27, 5] + - !!python/tuple [2, 13] + - !!python/tuple [16, 14] + - !!python/tuple [25, 22] + - !!python/tuple [9, 17] + - !!python/tuple [14, 26] + - !!python/tuple [3, 5] + - !!python/tuple [17, 12] + - !!python/tuple [1, 20] + - !!python/tuple [10, 29] + - !!python/tuple [30, 31] + - !!python/tuple [24, 16] + - !!python/tuple [20, 7] + - !!python/tuple [0, 20] + - !!python/tuple [21, 22] + - !!python/tuple [13, 21] + - !!python/tuple [7, 11] + - !!python/tuple [0, 26] + - !!python/tuple [30, 22] + - !!python/tuple [23, 24] + - !!python/tuple [1, 9] + - !!python/tuple [18, 11] + - !!python/tuple [22, 25] + - !!python/tuple [25, 9] + - !!python/tuple [2, 17] + - !!python/tuple [19, 24] + - !!python/tuple [14, 4] + - !!python/tuple [30, 30] + - !!python/tuple [18, 1] + - !!python/tuple [26, 20] + - !!python/tuple [15, 27] + - !!python/tuple [20, 5] + - !!python/tuple [18, 6] + - !!python/tuple [22, 26] + - !!python/tuple [23, 3] + - !!python/tuple [20, 2] + - !!python/tuple [15, 30] + - 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!!python/tuple [31, 4] + - !!python/tuple [9, 12] + - !!python/tuple [20, 17] + - !!python/tuple [11, 23] + - !!python/tuple [28, 13] + - !!python/tuple [0, 19] + - !!python/tuple [11, 30] + - !!python/tuple [5, 28] + - !!python/tuple [18, 5] + - !!python/tuple [17, 21] + - !!python/tuple [16, 6] + - !!python/tuple [3, 28] + - !!python/tuple [4, 23] + - !!python/tuple [4, 16] + - !!python/tuple [30, 16] + - !!python/tuple [15, 0] + - !!python/tuple [18, 15] + - !!python/tuple [17, 1] + - !!python/tuple [10, 9] + - !!python/tuple [21, 8] + - !!python/tuple [15, 24] + - !!python/tuple [25, 12] + - !!python/tuple [28, 7] + - !!python/tuple [7, 18] + - !!python/tuple [16, 28] + - !!python/tuple [14, 10] + - !!python/tuple [12, 4] + - !!python/tuple [2, 25] + - !!python/tuple [27, 9] + - !!python/tuple [26, 1] + - !!python/tuple [24, 28] + - !!python/tuple [14, 31] + - !!python/tuple [26, 25] + - !!python/tuple [28, 22] + - !!python/tuple [4, 24] + - !!python/tuple [4, 31] + - !!python/tuple [27, 13] + - !!python/tuple [0, 25] + - !!python/tuple [17, 7] + - !!python/tuple [5, 31] + - !!python/tuple [5, 19] + - !!python/tuple [8, 28] + - !!python/tuple [10, 11] + - !!python/tuple [27, 26] + - !!python/tuple [9, 21] + - !!python/tuple [7, 15] + - !!python/tuple [30, 3] + - !!python/tuple [21, 10] + - !!python/tuple [26, 9] + - !!python/tuple [23, 13] + - !!python/tuple [21, 0] + - !!python/tuple [18, 10] + - !!python/tuple [29, 4] + - !!python/tuple [30, 5] + - !!python/tuple [16, 5] + - !!python/tuple [15, 4] + - !!python/tuple [5, 6] + - !!python/tuple [6, 27] + - !!python/tuple [12, 20] + - !!python/tuple [21, 12] + - !!python/tuple [5, 23] + - !!python/tuple [29, 22] + - !!python/tuple [12, 10] + - !!python/tuple [30, 26] + - !!python/tuple [14, 27] + - !!python/tuple [12, 5] + - !!python/tuple [22, 28] + - !!python/tuple [11, 15] + - !!python/tuple [2, 2] + - !!python/tuple [8, 22] + - !!python/tuple [17, 8] + - !!python/tuple [5, 10] + - !!python/tuple [21, 9] + - !!python/tuple [11, 26] + - !!python/tuple [11, 6] + - !!python/tuple [11, 1] + - !!python/tuple [18, 2] + - !!python/tuple [28, 24] + - !!python/tuple [27, 18] + - !!python/tuple [13, 7] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex26.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex26.yaml new file mode 100644 index 0000000..7741aab --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex26.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [7, 31] + name: agent0 + start: [7, 2] +- goal: [0, 6] + name: agent1 + start: [17, 6] +- goal: [10, 18] + name: agent2 + start: [13, 26] +- goal: [8, 8] + name: agent3 + start: [28, 8] +- goal: [21, 12] + name: agent4 + start: [29, 3] +- goal: [19, 20] + name: agent5 + start: [10, 17] +- goal: [16, 10] + name: agent6 + start: [7, 0] +- goal: [21, 20] + name: agent7 + start: [29, 29] +- goal: [26, 25] + name: agent8 + start: [13, 22] +- goal: [25, 16] + name: agent9 + start: [14, 0] +- goal: [30, 30] + name: agent10 + start: [21, 23] +- goal: [3, 31] + name: agent11 + start: [17, 15] +- goal: [30, 5] + name: agent12 + start: [25, 18] +- goal: [11, 9] + name: agent13 + start: [4, 26] +- goal: [14, 17] + name: agent14 + start: [22, 30] +- goal: [12, 23] + name: agent15 + start: [8, 2] +- goal: [20, 4] + name: agent16 + start: [3, 1] +- goal: [12, 28] + name: agent17 + start: [25, 29] +- goal: [21, 31] + name: agent18 + start: [11, 8] +- goal: [0, 7] + name: agent19 + start: [19, 23] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [16, 24] + - !!python/tuple [9, 23] + - !!python/tuple [9, 16] + - !!python/tuple [16, 0] + - !!python/tuple [5, 14] + - !!python/tuple [20, 15] + - !!python/tuple [20, 5] + - !!python/tuple [10, 5] + - !!python/tuple [22, 15] + - !!python/tuple [12, 5] + - !!python/tuple [3, 14] + - !!python/tuple [21, 18] + - !!python/tuple [25, 8] + - !!python/tuple [31, 21] + - !!python/tuple [30, 21] + - !!python/tuple [3, 24] + - !!python/tuple [7, 23] + - !!python/tuple [31, 15] + - !!python/tuple [3, 26] + - !!python/tuple [3, 29] + - !!python/tuple [2, 2] + - !!python/tuple [2, 17] + - !!python/tuple [22, 5] + - !!python/tuple [11, 26] + - !!python/tuple [23, 0] + - !!python/tuple [24, 24] + - !!python/tuple [0, 3] + - !!python/tuple [12, 8] + - !!python/tuple [11, 1] + - !!python/tuple [14, 29] + - !!python/tuple [30, 26] + - !!python/tuple [7, 25] + - !!python/tuple [23, 7] + - !!python/tuple [16, 6] + - !!python/tuple [16, 5] + - !!python/tuple [18, 10] + - !!python/tuple [18, 18] + - !!python/tuple [16, 21] + - !!python/tuple [11, 2] + - !!python/tuple [21, 3] + - !!python/tuple [9, 15] + - !!python/tuple [29, 21] + - !!python/tuple [28, 5] + - !!python/tuple [28, 11] + - !!python/tuple [6, 16] + - !!python/tuple [17, 4] + - !!python/tuple [15, 8] + - !!python/tuple [22, 8] + - !!python/tuple [1, 9] + - !!python/tuple [5, 29] + - !!python/tuple [12, 24] + - !!python/tuple [13, 14] + - !!python/tuple [29, 6] + - !!python/tuple [4, 28] + - !!python/tuple [8, 9] + - !!python/tuple [25, 27] + - !!python/tuple [25, 12] + - !!python/tuple [13, 0] + - !!python/tuple [15, 11] + - !!python/tuple [19, 22] + - !!python/tuple [28, 1] + - !!python/tuple [19, 18] + - !!python/tuple [26, 27] + - !!python/tuple [8, 17] + - !!python/tuple [7, 5] + - !!python/tuple [6, 1] + - !!python/tuple [8, 6] + - !!python/tuple [31, 18] + - !!python/tuple [31, 9] + - !!python/tuple [6, 21] + - !!python/tuple [13, 29] + - !!python/tuple [27, 30] + - !!python/tuple [18, 3] + - !!python/tuple [3, 18] + - !!python/tuple [18, 8] + - !!python/tuple [30, 1] + - !!python/tuple [2, 4] + - !!python/tuple [18, 31] + - !!python/tuple [27, 15] + - !!python/tuple [25, 2] + - !!python/tuple [25, 0] + - !!python/tuple [30, 16] + - !!python/tuple [8, 30] + - !!python/tuple [21, 1] + - !!python/tuple [31, 2] + - !!python/tuple [9, 5] + - !!python/tuple [13, 13] + - !!python/tuple [30, 27] + - !!python/tuple [24, 11] + - !!python/tuple [15, 17] + - !!python/tuple [11, 5] + - !!python/tuple [17, 23] + - !!python/tuple [23, 10] + - !!python/tuple [9, 30] + - !!python/tuple [14, 25] + - !!python/tuple [10, 15] + - !!python/tuple [19, 3] + - !!python/tuple [16, 25] + - !!python/tuple [28, 10] + - !!python/tuple [26, 22] + - !!python/tuple [15, 18] + - !!python/tuple [17, 7] + - !!python/tuple [14, 24] + - !!python/tuple [30, 14] + - !!python/tuple [31, 19] + - !!python/tuple [13, 28] + - !!python/tuple [13, 7] + - !!python/tuple [24, 2] + - !!python/tuple [18, 7] + - !!python/tuple [26, 28] + - !!python/tuple [6, 17] + - !!python/tuple [25, 7] + - !!python/tuple [15, 14] + - !!python/tuple [30, 10] + - !!python/tuple [15, 13] + - !!python/tuple [1, 16] + - !!python/tuple [26, 30] + - !!python/tuple [31, 25] + - !!python/tuple [12, 15] + - !!python/tuple [1, 18] + - !!python/tuple [24, 14] + - !!python/tuple [13, 1] + - !!python/tuple [6, 15] + - !!python/tuple [3, 23] + - !!python/tuple [8, 14] + - !!python/tuple [20, 6] + - !!python/tuple [22, 11] + - !!python/tuple [15, 20] + - !!python/tuple [16, 31] + - !!python/tuple [8, 12] + - !!python/tuple [23, 19] + - !!python/tuple [12, 11] + - !!python/tuple [8, 25] + - !!python/tuple [2, 31] + - !!python/tuple [30, 8] + - !!python/tuple [31, 16] + - !!python/tuple [14, 19] + - !!python/tuple [18, 6] + - !!python/tuple [0, 12] + - !!python/tuple [12, 26] + - !!python/tuple [25, 6] + - !!python/tuple [22, 29] + - !!python/tuple [7, 4] + - !!python/tuple [19, 21] + - !!python/tuple [21, 6] + - !!python/tuple [4, 0] + - !!python/tuple [5, 16] + - !!python/tuple [27, 29] + - !!python/tuple [12, 6] + - !!python/tuple [10, 13] + - !!python/tuple [30, 28] + - !!python/tuple [11, 20] + - !!python/tuple [28, 22] + - !!python/tuple [31, 23] + - !!python/tuple [14, 16] + - !!python/tuple [24, 16] + - !!python/tuple [30, 18] + - !!python/tuple [17, 24] + - !!python/tuple [1, 3] + - !!python/tuple [0, 15] + - !!python/tuple [21, 8] + - !!python/tuple [4, 8] + - !!python/tuple [2, 25] + - !!python/tuple [13, 20] + - !!python/tuple [23, 17] + - !!python/tuple [15, 15] + - !!python/tuple [1, 8] + - !!python/tuple [2, 8] + - !!python/tuple [24, 17] + - !!python/tuple [24, 30] + - !!python/tuple [24, 9] + - !!python/tuple [20, 24] + - !!python/tuple [29, 12] + - !!python/tuple [24, 26] + - !!python/tuple [10, 24] + - !!python/tuple [8, 4] + - !!python/tuple [4, 15] + - !!python/tuple [12, 20] + - !!python/tuple [7, 12] + - !!python/tuple [16, 22] + - !!python/tuple [7, 16] + - !!python/tuple [22, 4] + - !!python/tuple [0, 5] + - !!python/tuple [5, 7] + - !!python/tuple [17, 14] + - !!python/tuple [4, 23] + - !!python/tuple [31, 7] + - !!python/tuple [16, 23] + - !!python/tuple [23, 9] + - !!python/tuple [23, 6] + - !!python/tuple [17, 28] + - !!python/tuple [30, 20] + - !!python/tuple [4, 3] + - !!python/tuple [31, 31] + - !!python/tuple [31, 14] + - !!python/tuple [27, 22] + - !!python/tuple [4, 4] + - !!python/tuple [19, 30] + - !!python/tuple [28, 24] + - !!python/tuple [14, 31] + - !!python/tuple [6, 22] + - !!python/tuple [27, 12] + - !!python/tuple [8, 22] + - !!python/tuple [10, 2] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex27.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex27.yaml new file mode 100644 index 0000000..9946b1d --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex27.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [6, 0] + name: agent0 + start: [18, 26] +- goal: [10, 14] + name: agent1 + start: [8, 27] +- goal: [0, 30] + name: agent2 + start: [28, 15] +- goal: [28, 17] + name: agent3 + start: [13, 2] +- goal: [25, 12] + name: agent4 + start: [4, 21] +- goal: [19, 21] + name: agent5 + start: [3, 10] +- goal: [25, 22] + name: agent6 + start: [25, 19] +- goal: [28, 6] + name: agent7 + start: [27, 29] +- goal: [8, 25] + name: agent8 + start: [20, 6] +- goal: [26, 27] + name: agent9 + start: [2, 0] +- goal: [17, 28] + name: agent10 + start: [5, 19] +- goal: [11, 4] + name: agent11 + start: [21, 28] +- goal: [0, 15] + name: agent12 + start: [21, 6] +- goal: [3, 0] + name: agent13 + start: [9, 29] +- goal: [0, 8] + name: agent14 + start: [12, 18] +- goal: [19, 16] + name: agent15 + start: [8, 25] +- goal: [27, 14] + name: agent16 + start: [2, 29] +- goal: [2, 9] + name: agent17 + start: [2, 19] +- goal: [5, 27] + name: agent18 + start: [22, 24] +- goal: [8, 21] + name: agent19 + start: [23, 12] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [20, 7] + - !!python/tuple [17, 9] + - !!python/tuple [13, 22] + - !!python/tuple [1, 4] + - !!python/tuple [9, 18] + - !!python/tuple [3, 13] + - !!python/tuple [26, 1] + - !!python/tuple [8, 2] + - !!python/tuple [8, 19] + - !!python/tuple [15, 0] + - !!python/tuple [22, 3] + - !!python/tuple [4, 17] + - !!python/tuple [21, 10] + - !!python/tuple [13, 3] + - !!python/tuple [17, 11] + - !!python/tuple [15, 22] + - !!python/tuple [2, 31] + - !!python/tuple [25, 25] + - !!python/tuple [30, 21] + - !!python/tuple [12, 20] + - !!python/tuple [7, 29] + - !!python/tuple [1, 3] + - !!python/tuple [14, 13] + - !!python/tuple [5, 15] + - !!python/tuple [7, 15] + - !!python/tuple [10, 12] + - !!python/tuple [28, 7] + - !!python/tuple [27, 26] + - !!python/tuple [28, 0] + - !!python/tuple [25, 3] + - !!python/tuple [11, 6] + - !!python/tuple [25, 29] + - !!python/tuple [29, 26] + - !!python/tuple [5, 14] + - !!python/tuple [7, 28] + - !!python/tuple [19, 13] + - !!python/tuple [14, 25] + - !!python/tuple [23, 14] + - !!python/tuple [7, 26] + - !!python/tuple [26, 22] + - !!python/tuple [5, 16] + - !!python/tuple [15, 16] + - !!python/tuple [13, 17] + - !!python/tuple [11, 15] + - !!python/tuple [23, 24] + - !!python/tuple [15, 12] + - !!python/tuple [22, 25] + - !!python/tuple [25, 6] + - !!python/tuple [4, 30] + - !!python/tuple [30, 7] + - !!python/tuple [0, 17] + - !!python/tuple [5, 20] + - !!python/tuple [14, 20] + - !!python/tuple [11, 13] + - !!python/tuple [8, 14] + - !!python/tuple [18, 21] + - !!python/tuple [12, 15] + - !!python/tuple [7, 31] + - !!python/tuple [22, 20] + - !!python/tuple [22, 2] + - !!python/tuple [15, 26] + - !!python/tuple [2, 5] + - !!python/tuple [27, 28] + - !!python/tuple [31, 18] + - !!python/tuple [12, 10] + - !!python/tuple [5, 26] + - !!python/tuple [15, 4] + - !!python/tuple [27, 3] + - !!python/tuple [19, 1] + - !!python/tuple [1, 13] + - !!python/tuple [19, 14] + - !!python/tuple [11, 5] + - !!python/tuple [17, 25] + - !!python/tuple [4, 12] + - !!python/tuple [24, 12] + - !!python/tuple [25, 23] + - !!python/tuple [30, 14] + - !!python/tuple [0, 13] + - !!python/tuple [15, 18] + - !!python/tuple [8, 23] + - !!python/tuple [3, 31] + - !!python/tuple [23, 26] + - !!python/tuple [27, 12] + - !!python/tuple [24, 19] + - !!python/tuple [16, 2] + - !!python/tuple [24, 14] + - !!python/tuple [3, 12] + - !!python/tuple [29, 16] + - !!python/tuple [18, 19] + - !!python/tuple [10, 11] + - !!python/tuple [26, 23] + - !!python/tuple [25, 10] + - !!python/tuple [25, 11] + - !!python/tuple [8, 30] + - !!python/tuple [24, 24] + - !!python/tuple [4, 24] + - !!python/tuple [29, 2] + - !!python/tuple [28, 24] + - !!python/tuple [16, 17] + - !!python/tuple [27, 10] + - !!python/tuple [12, 21] + - !!python/tuple [2, 21] + - !!python/tuple [11, 29] + - !!python/tuple [7, 23] + - !!python/tuple [13, 24] + - !!python/tuple [14, 18] + - !!python/tuple [11, 24] + - !!python/tuple [14, 0] + - !!python/tuple [31, 10] + - !!python/tuple [13, 25] + - !!python/tuple [31, 8] + - !!python/tuple [28, 3] + - !!python/tuple [16, 4] + - !!python/tuple [8, 3] + - !!python/tuple [20, 11] + - !!python/tuple [2, 17] + - !!python/tuple [9, 26] + - !!python/tuple [12, 5] + - !!python/tuple [21, 27] + - !!python/tuple [19, 9] + - !!python/tuple [13, 4] + - !!python/tuple [5, 10] + - !!python/tuple [17, 12] + - !!python/tuple [27, 19] + - !!python/tuple [7, 19] + - !!python/tuple [25, 0] + - !!python/tuple [6, 10] + - !!python/tuple [2, 8] + - !!python/tuple [21, 31] + - !!python/tuple [26, 28] + - !!python/tuple [10, 22] + - !!python/tuple [18, 30] + - !!python/tuple [22, 1] + - !!python/tuple [29, 25] + - !!python/tuple [10, 31] + - !!python/tuple [28, 29] + - !!python/tuple [3, 25] + - !!python/tuple [26, 6] + - !!python/tuple [9, 2] + - !!python/tuple [0, 2] + - !!python/tuple [25, 2] + - !!python/tuple [22, 9] + - !!python/tuple [16, 13] + - !!python/tuple [20, 8] + - !!python/tuple [1, 30] + - !!python/tuple [18, 25] + - !!python/tuple [25, 31] + - !!python/tuple [11, 25] + - !!python/tuple [21, 8] + - !!python/tuple [27, 7] + - !!python/tuple [29, 23] + - !!python/tuple [15, 29] + - !!python/tuple [21, 30] + - !!python/tuple [2, 12] + - !!python/tuple [8, 10] + - !!python/tuple [25, 15] + - !!python/tuple [11, 20] + - !!python/tuple [9, 30] + - !!python/tuple [4, 7] + - !!python/tuple [23, 18] + - !!python/tuple [27, 2] + - !!python/tuple [0, 10] + - !!python/tuple [10, 25] + - !!python/tuple [19, 4] + - !!python/tuple [16, 22] + - !!python/tuple [24, 11] + - !!python/tuple [15, 31] + - !!python/tuple [6, 5] + - !!python/tuple [16, 26] + - !!python/tuple [5, 8] + - !!python/tuple [17, 10] + - !!python/tuple [11, 31] + - !!python/tuple [11, 22] + - !!python/tuple [2, 20] + - !!python/tuple [4, 4] + - !!python/tuple [30, 25] + - !!python/tuple [15, 25] + - !!python/tuple [13, 15] + - !!python/tuple [5, 23] + - !!python/tuple [1, 11] + - !!python/tuple [30, 16] + - !!python/tuple [6, 11] + - !!python/tuple [25, 1] + - !!python/tuple [16, 10] + - !!python/tuple [13, 5] + - !!python/tuple [27, 21] + - !!python/tuple [9, 25] + - !!python/tuple [12, 4] + - !!python/tuple [3, 16] + - !!python/tuple [10, 17] + - !!python/tuple [24, 16] + - !!python/tuple [10, 8] + - !!python/tuple [12, 13] + - !!python/tuple [28, 28] + - !!python/tuple [19, 10] + - !!python/tuple [12, 1] + - !!python/tuple [1, 28] + - !!python/tuple [8, 29] + - !!python/tuple [25, 20] + - !!python/tuple [9, 27] + - !!python/tuple [7, 12] + - !!python/tuple [22, 26] + - !!python/tuple [5, 28] + - !!python/tuple [21, 22] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex28.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex28.yaml new file mode 100644 index 0000000..f3bcbad --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex28.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [25, 16] + name: agent0 + start: [5, 21] +- goal: [13, 9] + name: agent1 + start: [13, 7] +- goal: [27, 17] + name: agent2 + start: [13, 6] +- goal: [23, 22] + name: agent3 + start: [18, 3] +- goal: [5, 6] + name: agent4 + start: [14, 19] +- goal: [11, 8] + name: agent5 + start: [29, 14] +- goal: [27, 15] + name: agent6 + start: [18, 22] +- goal: [21, 19] + name: agent7 + start: [6, 10] +- goal: [5, 29] + name: agent8 + start: [30, 18] +- goal: [5, 16] + name: agent9 + start: [2, 30] +- goal: [0, 27] + name: agent10 + start: [15, 25] +- goal: [16, 23] + name: agent11 + start: [2, 11] +- goal: [21, 29] + name: agent12 + start: [27, 30] +- goal: [7, 11] + name: agent13 + start: [11, 21] +- goal: [31, 1] + name: agent14 + start: [4, 31] +- goal: [30, 23] + name: agent15 + start: [31, 19] +- goal: [17, 5] + name: agent16 + start: [2, 28] +- goal: [30, 13] + name: agent17 + start: [8, 27] +- goal: [31, 25] + name: agent18 + start: [12, 16] +- goal: [31, 21] + name: agent19 + start: [15, 4] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [15, 29] + - !!python/tuple [6, 4] + - !!python/tuple [25, 8] + - !!python/tuple [0, 8] + - !!python/tuple [3, 13] + - !!python/tuple [20, 8] + - !!python/tuple [19, 17] + - !!python/tuple [0, 30] + - !!python/tuple [4, 10] + - !!python/tuple [28, 12] + - !!python/tuple [20, 28] + - !!python/tuple [27, 14] + - !!python/tuple [22, 9] + - !!python/tuple [23, 27] + - !!python/tuple [19, 0] + - !!python/tuple [23, 25] + - !!python/tuple [24, 6] + - !!python/tuple [17, 4] + - !!python/tuple [26, 14] + - !!python/tuple [4, 11] + - !!python/tuple [29, 21] + - !!python/tuple [1, 19] + - !!python/tuple [14, 12] + - !!python/tuple [24, 22] + - !!python/tuple [3, 7] + - !!python/tuple [16, 30] + - !!python/tuple [15, 22] + - !!python/tuple [9, 23] + - !!python/tuple [10, 14] + - !!python/tuple [10, 30] + - !!python/tuple [2, 15] + - !!python/tuple [28, 2] + - !!python/tuple [30, 17] + - !!python/tuple [26, 17] + - !!python/tuple [30, 20] + - !!python/tuple [30, 7] + - !!python/tuple [16, 21] + - !!python/tuple [27, 13] + - !!python/tuple [5, 10] + - !!python/tuple [25, 25] + - !!python/tuple [11, 6] + - !!python/tuple [2, 26] + - !!python/tuple [3, 1] + - !!python/tuple [21, 8] + - !!python/tuple [13, 2] + - !!python/tuple [4, 29] + - !!python/tuple [22, 24] + - !!python/tuple [13, 27] + - !!python/tuple [24, 20] + - !!python/tuple [6, 7] + - !!python/tuple [3, 24] + - !!python/tuple [0, 23] + - !!python/tuple [3, 14] + - !!python/tuple [28, 22] + - !!python/tuple [5, 28] + - !!python/tuple [3, 9] + - !!python/tuple [30, 28] + - !!python/tuple [13, 18] + - !!python/tuple [23, 16] + - !!python/tuple [16, 13] + - !!python/tuple [27, 3] + - !!python/tuple [23, 2] + - !!python/tuple [6, 13] + - !!python/tuple [12, 20] + - !!python/tuple [6, 31] + - !!python/tuple [17, 30] + - !!python/tuple [4, 15] + - !!python/tuple [12, 18] + - !!python/tuple [25, 6] + - !!python/tuple [2, 25] + - !!python/tuple [4, 16] + - !!python/tuple [22, 7] + - !!python/tuple [23, 6] + - !!python/tuple [24, 0] + - !!python/tuple [11, 30] + - !!python/tuple [27, 19] + - !!python/tuple [0, 13] + - !!python/tuple [18, 31] + - !!python/tuple [21, 24] + - !!python/tuple [11, 24] + - !!python/tuple [23, 5] + - !!python/tuple [16, 6] + - !!python/tuple [7, 23] + - !!python/tuple [30, 19] + - !!python/tuple [20, 1] + - !!python/tuple [26, 7] + - !!python/tuple [27, 9] + - !!python/tuple [25, 13] + - !!python/tuple [1, 30] + - !!python/tuple [18, 4] + - !!python/tuple [30, 14] + - !!python/tuple [11, 25] + - !!python/tuple [18, 11] + - !!python/tuple [21, 14] + - !!python/tuple [19, 19] + - !!python/tuple [21, 31] + - !!python/tuple [19, 14] + - !!python/tuple [14, 14] + - !!python/tuple [23, 1] + - !!python/tuple [20, 16] + - !!python/tuple [7, 17] + - !!python/tuple [10, 13] + - !!python/tuple [17, 27] + - !!python/tuple [22, 4] + - !!python/tuple [9, 15] + - !!python/tuple [0, 19] + - !!python/tuple [5, 23] + - !!python/tuple [21, 28] + - !!python/tuple [17, 8] + - !!python/tuple [10, 31] + - !!python/tuple [19, 22] + - !!python/tuple [18, 1] + - !!python/tuple [0, 1] + - !!python/tuple [19, 29] + - !!python/tuple [2, 10] + - !!python/tuple [23, 14] + - !!python/tuple [20, 19] + - !!python/tuple [4, 27] + - !!python/tuple [13, 4] + - !!python/tuple [3, 12] + - !!python/tuple [3, 26] + - !!python/tuple [31, 13] + - !!python/tuple [29, 7] + - !!python/tuple [25, 24] + - !!python/tuple [2, 23] + - !!python/tuple [8, 2] + - !!python/tuple [7, 26] + - !!python/tuple [23, 21] + - !!python/tuple [30, 8] + - !!python/tuple [26, 26] + - !!python/tuple [30, 11] + - !!python/tuple [28, 24] + - !!python/tuple [27, 21] + - !!python/tuple [20, 7] + - !!python/tuple [0, 10] + - !!python/tuple [1, 20] + - !!python/tuple [19, 20] + - !!python/tuple [22, 5] + - !!python/tuple [3, 2] + - !!python/tuple [22, 23] + - !!python/tuple [31, 12] + - !!python/tuple [14, 21] + - !!python/tuple [15, 14] + - !!python/tuple [1, 29] + - !!python/tuple [20, 17] + - !!python/tuple [0, 11] + - !!python/tuple [14, 27] + - !!python/tuple [26, 20] + - !!python/tuple [26, 24] + - !!python/tuple [23, 13] + - !!python/tuple [20, 18] + - !!python/tuple [31, 0] + - !!python/tuple [1, 31] + - !!python/tuple [28, 4] + - !!python/tuple [27, 20] + - !!python/tuple [20, 15] + - !!python/tuple [30, 16] + - !!python/tuple [7, 1] + - !!python/tuple [6, 24] + - !!python/tuple [26, 29] + - !!python/tuple [12, 24] + - !!python/tuple [9, 25] + - !!python/tuple [10, 23] + - !!python/tuple [29, 25] + - !!python/tuple [20, 21] + - !!python/tuple [9, 5] + - !!python/tuple [27, 1] + - !!python/tuple [15, 1] + - !!python/tuple [13, 13] + - !!python/tuple [26, 27] + - !!python/tuple [8, 31] + - !!python/tuple [1, 12] + - !!python/tuple [15, 6] + - !!python/tuple [12, 27] + - !!python/tuple [7, 5] + - !!python/tuple [21, 7] + - !!python/tuple [18, 23] + - !!python/tuple [2, 8] + - !!python/tuple [12, 17] + - !!python/tuple [19, 10] + - !!python/tuple [24, 10] + - !!python/tuple [13, 26] + - !!python/tuple [19, 13] + - !!python/tuple [0, 16] + - !!python/tuple [11, 29] + - !!python/tuple [5, 5] + - !!python/tuple [14, 29] + - !!python/tuple [6, 15] + - !!python/tuple [19, 26] + - !!python/tuple [14, 6] + - !!python/tuple [27, 29] + - !!python/tuple [7, 6] + - !!python/tuple [16, 8] + - !!python/tuple [25, 0] + - !!python/tuple [4, 14] + - !!python/tuple [16, 26] + - !!python/tuple [8, 14] + - !!python/tuple [11, 10] + - !!python/tuple [7, 28] + - !!python/tuple [8, 21] + - !!python/tuple [22, 6] + - !!python/tuple [31, 15] + - !!python/tuple [25, 14] + - !!python/tuple [23, 23] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex29.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex29.yaml new file mode 100644 index 0000000..6ea7227 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex29.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [23, 23] + name: agent0 + start: [27, 3] +- goal: [9, 10] + name: agent1 + start: [3, 15] +- goal: [13, 22] + name: agent2 + start: [17, 24] +- goal: [26, 7] + name: agent3 + start: [9, 17] +- goal: [20, 25] + name: agent4 + start: [20, 14] +- goal: [8, 4] + name: agent5 + start: [25, 19] +- goal: [3, 25] + name: agent6 + start: [4, 1] +- goal: [21, 20] + name: agent7 + start: [26, 26] +- goal: [30, 31] + name: agent8 + start: [14, 15] +- goal: [28, 23] + name: agent9 + start: [28, 8] +- goal: [8, 11] + name: agent10 + start: [18, 27] +- goal: [18, 24] + name: agent11 + start: [26, 7] +- goal: [9, 11] + name: agent12 + start: [1, 31] +- goal: [4, 3] + name: agent13 + start: [0, 25] +- goal: [16, 18] + name: agent14 + start: [28, 4] +- goal: [0, 23] + name: agent15 + start: [23, 25] +- goal: [17, 8] + name: agent16 + start: [21, 2] +- goal: [20, 30] + name: agent17 + start: [23, 8] +- goal: [24, 27] + name: agent18 + start: [1, 26] +- goal: [3, 23] + name: agent19 + start: [18, 10] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [11, 13] + - !!python/tuple [5, 24] + - !!python/tuple [19, 14] + - !!python/tuple [9, 4] + - !!python/tuple [18, 25] + - !!python/tuple [18, 31] + - !!python/tuple [18, 4] + - !!python/tuple [28, 17] + - !!python/tuple [17, 1] + - !!python/tuple [13, 20] + - !!python/tuple [8, 13] + - !!python/tuple [15, 23] + - !!python/tuple [27, 30] + - !!python/tuple [30, 5] + - !!python/tuple [23, 18] + - !!python/tuple [19, 4] + - !!python/tuple [24, 12] + - !!python/tuple [24, 31] + - !!python/tuple [9, 14] + - !!python/tuple [27, 14] + - !!python/tuple [28, 30] + - !!python/tuple [16, 29] + - !!python/tuple [4, 4] + - !!python/tuple [17, 7] + - !!python/tuple [23, 9] + - !!python/tuple [31, 12] + - !!python/tuple [12, 12] + - !!python/tuple [26, 14] + - !!python/tuple [15, 4] + - !!python/tuple [15, 31] + - !!python/tuple [17, 27] + - !!python/tuple [9, 7] + - !!python/tuple [11, 31] + - !!python/tuple [16, 27] + - !!python/tuple [4, 29] + - !!python/tuple [1, 16] + - !!python/tuple [8, 29] + - !!python/tuple [2, 23] + - !!python/tuple [19, 19] + - !!python/tuple [30, 11] + - !!python/tuple [19, 31] + - !!python/tuple [0, 5] + - !!python/tuple [21, 4] + - !!python/tuple [0, 8] + - !!python/tuple [3, 10] + - !!python/tuple [25, 13] + - !!python/tuple [12, 29] + - !!python/tuple [13, 15] + - !!python/tuple [7, 11] + - !!python/tuple [3, 20] + - !!python/tuple [30, 9] + - !!python/tuple [2, 6] + - !!python/tuple [21, 28] + - !!python/tuple [1, 11] + - !!python/tuple [22, 17] + - !!python/tuple [2, 9] + - !!python/tuple [31, 19] + - !!python/tuple [15, 11] + - !!python/tuple [7, 9] + - !!python/tuple [30, 15] + - !!python/tuple [22, 25] + - !!python/tuple [26, 5] + - !!python/tuple [23, 30] + - !!python/tuple [19, 3] + - !!python/tuple [4, 16] + - !!python/tuple [2, 28] + - !!python/tuple [23, 26] + - !!python/tuple [0, 28] + - !!python/tuple [8, 28] + - !!python/tuple [31, 25] + - !!python/tuple [19, 6] + - !!python/tuple [6, 18] + - !!python/tuple [14, 18] + - !!python/tuple [2, 13] + - !!python/tuple [2, 25] + - !!python/tuple [1, 10] + - !!python/tuple [3, 7] + - !!python/tuple [23, 1] + - !!python/tuple [31, 29] + - !!python/tuple [15, 12] + - !!python/tuple [25, 3] + - !!python/tuple [13, 14] + - !!python/tuple [19, 27] + - !!python/tuple [11, 12] + - !!python/tuple [15, 10] + - !!python/tuple [8, 16] + - !!python/tuple [11, 6] + - !!python/tuple [14, 28] + - !!python/tuple [1, 19] + - !!python/tuple [25, 18] + - !!python/tuple [21, 19] + - !!python/tuple [29, 18] + - !!python/tuple [16, 15] + - !!python/tuple [22, 30] + - !!python/tuple [5, 26] + - !!python/tuple [24, 11] + - !!python/tuple [28, 16] + - !!python/tuple [7, 7] + - !!python/tuple [13, 18] + - !!python/tuple [18, 9] + - !!python/tuple [22, 2] + - !!python/tuple [31, 17] + - !!python/tuple [21, 18] + - !!python/tuple [30, 22] + - !!python/tuple [22, 13] + - !!python/tuple [19, 30] + - !!python/tuple [12, 20] + - !!python/tuple [20, 4] + - !!python/tuple [26, 20] + - !!python/tuple [6, 1] + - !!python/tuple [17, 9] + - !!python/tuple [10, 28] + - !!python/tuple [23, 15] + - !!python/tuple [14, 30] + - !!python/tuple [18, 23] + - !!python/tuple [3, 3] + - !!python/tuple [6, 6] + - !!python/tuple [16, 14] + - !!python/tuple [20, 2] + - !!python/tuple [3, 17] + - !!python/tuple [9, 6] + - !!python/tuple [5, 15] + - !!python/tuple [20, 24] + - !!python/tuple [20, 22] + - !!python/tuple [22, 18] + - !!python/tuple [27, 0] + - !!python/tuple [15, 1] + - !!python/tuple [1, 15] + - !!python/tuple [29, 5] + - !!python/tuple [12, 3] + - !!python/tuple [31, 1] + - !!python/tuple [21, 5] + - !!python/tuple [10, 25] + - !!python/tuple [12, 11] + - !!python/tuple [9, 0] + - !!python/tuple [7, 6] + - !!python/tuple [11, 27] + - !!python/tuple [30, 26] + - !!python/tuple [7, 14] + - !!python/tuple [9, 8] + - !!python/tuple [27, 25] + - !!python/tuple [5, 11] + - !!python/tuple [25, 28] + - !!python/tuple [29, 26] + - !!python/tuple [29, 15] + - !!python/tuple [10, 30] + - !!python/tuple [14, 29] + - !!python/tuple [21, 7] + - !!python/tuple [11, 3] + - !!python/tuple [14, 1] + - !!python/tuple [12, 19] + - !!python/tuple [23, 31] + - !!python/tuple [0, 20] + - !!python/tuple [29, 22] + - !!python/tuple [18, 18] + - !!python/tuple [2, 26] + - !!python/tuple [10, 10] + - !!python/tuple [11, 11] + - !!python/tuple [11, 2] + - !!python/tuple [23, 4] + - !!python/tuple [9, 30] + - !!python/tuple [30, 20] + - !!python/tuple [12, 4] + - !!python/tuple [23, 20] + - !!python/tuple [17, 18] + - !!python/tuple [4, 13] + - !!python/tuple [16, 26] + - !!python/tuple [3, 29] + - !!python/tuple [15, 17] + - !!python/tuple [6, 13] + - !!python/tuple [5, 18] + - !!python/tuple [3, 27] + - !!python/tuple [8, 23] + - !!python/tuple [21, 9] + - !!python/tuple [15, 27] + - !!python/tuple [15, 14] + - !!python/tuple [19, 2] + - !!python/tuple [16, 10] + - !!python/tuple [16, 11] + - !!python/tuple [25, 7] + - !!python/tuple [27, 21] + - !!python/tuple [3, 13] + - !!python/tuple [0, 2] + - !!python/tuple [6, 19] + - !!python/tuple [26, 10] + - !!python/tuple [23, 27] + - !!python/tuple [28, 10] + - !!python/tuple [27, 28] + - !!python/tuple [11, 18] + - !!python/tuple [5, 31] + - !!python/tuple [10, 20] + - !!python/tuple [27, 24] + - !!python/tuple [24, 9] + - !!python/tuple [29, 29] + - !!python/tuple [28, 3] + - !!python/tuple [27, 6] + - !!python/tuple [13, 4] + - !!python/tuple [22, 12] + - !!python/tuple [9, 31] + - !!python/tuple [12, 30] + - !!python/tuple [30, 1] + - !!python/tuple [24, 19] + - !!python/tuple [29, 17] + - !!python/tuple [19, 5] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex3.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex3.yaml new file mode 100644 index 0000000..00da040 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex3.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [2, 1] + name: agent0 + start: [5, 29] +- goal: [28, 9] + name: agent1 + start: [29, 7] +- goal: [4, 18] + name: agent2 + start: [31, 12] +- goal: [13, 9] + name: agent3 + start: [29, 18] +- goal: [5, 4] + name: agent4 + start: [9, 10] +- goal: [25, 29] + name: agent5 + start: [2, 6] +- goal: [0, 6] + name: agent6 + start: [13, 8] +- goal: [6, 24] + name: agent7 + start: [3, 16] +- goal: [21, 12] + name: agent8 + start: [22, 17] +- goal: [12, 28] + name: agent9 + start: [12, 10] +- goal: [4, 7] + name: agent10 + start: [13, 21] +- goal: [1, 3] + name: agent11 + start: [15, 19] +- goal: [2, 29] + name: agent12 + start: [20, 11] +- goal: [27, 5] + name: agent13 + start: [10, 31] +- goal: [15, 21] + name: agent14 + start: [8, 6] +- goal: [18, 2] + name: agent15 + start: [31, 27] +- goal: [26, 0] + name: agent16 + start: [25, 2] +- goal: [24, 11] + name: agent17 + start: [29, 31] +- goal: [6, 0] + name: agent18 + start: [28, 7] +- goal: [10, 28] + name: agent19 + start: [4, 5] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [0, 19] + - !!python/tuple [11, 29] + - !!python/tuple [17, 12] + - !!python/tuple [20, 15] + - !!python/tuple [24, 29] + - !!python/tuple [24, 25] + - !!python/tuple [5, 27] + - !!python/tuple [30, 20] + - !!python/tuple [28, 13] + - !!python/tuple [29, 21] + - !!python/tuple [13, 15] + - !!python/tuple [5, 16] + - !!python/tuple [3, 4] + - !!python/tuple [4, 26] + - !!python/tuple [24, 28] + - !!python/tuple [3, 19] + - !!python/tuple [20, 3] + - !!python/tuple [25, 27] + - !!python/tuple [20, 23] + - !!python/tuple [5, 13] + - !!python/tuple [10, 12] + - !!python/tuple [28, 21] + - !!python/tuple [29, 15] + - !!python/tuple [12, 9] + - !!python/tuple [22, 25] + - !!python/tuple [27, 19] + - !!python/tuple [30, 12] + - !!python/tuple [15, 1] + - !!python/tuple [7, 1] + - !!python/tuple [27, 18] + - !!python/tuple [20, 16] + - !!python/tuple [8, 0] + - !!python/tuple [28, 0] + - !!python/tuple [30, 16] + - !!python/tuple [8, 26] + - !!python/tuple [29, 3] + - !!python/tuple [7, 2] + - !!python/tuple [17, 15] + - !!python/tuple [27, 6] + - !!python/tuple [13, 18] + - !!python/tuple [21, 28] + - !!python/tuple [3, 23] + - !!python/tuple [11, 31] + - !!python/tuple [9, 12] + - !!python/tuple [30, 22] + - !!python/tuple [26, 30] + - !!python/tuple [19, 23] + - !!python/tuple [28, 17] + - !!python/tuple [18, 22] + - !!python/tuple [28, 22] + - !!python/tuple [7, 21] + - !!python/tuple [2, 18] + - !!python/tuple [23, 26] + - !!python/tuple [27, 22] + - !!python/tuple [16, 19] + - !!python/tuple [11, 20] + - !!python/tuple [13, 25] + - !!python/tuple [19, 5] + - !!python/tuple [15, 20] + - !!python/tuple [2, 30] + - !!python/tuple [5, 22] + - !!python/tuple [1, 13] + - !!python/tuple [11, 25] + - !!python/tuple [23, 14] + - !!python/tuple [0, 17] + - !!python/tuple [0, 12] + - !!python/tuple [11, 1] + - !!python/tuple [1, 5] + - !!python/tuple [9, 13] + - !!python/tuple [30, 7] + - !!python/tuple [28, 25] + - !!python/tuple [5, 28] + - !!python/tuple [13, 12] + - !!python/tuple [10, 4] + - !!python/tuple [1, 26] + - !!python/tuple [6, 6] + - !!python/tuple [4, 4] + - !!python/tuple [22, 12] + - !!python/tuple [9, 23] + - !!python/tuple [15, 25] + - !!python/tuple [11, 26] + - !!python/tuple [23, 16] + - !!python/tuple [4, 9] + - !!python/tuple [6, 17] + - !!python/tuple [23, 22] + - !!python/tuple [11, 19] + - !!python/tuple [22, 1] + - !!python/tuple [12, 3] + - !!python/tuple [23, 17] + - !!python/tuple [3, 28] + - !!python/tuple [23, 6] + - !!python/tuple [13, 3] + - !!python/tuple [15, 0] + - !!python/tuple [15, 27] + - !!python/tuple [31, 13] + - !!python/tuple [24, 14] + - !!python/tuple [7, 24] + - !!python/tuple [14, 21] + - !!python/tuple [6, 23] + - !!python/tuple [22, 20] + - !!python/tuple [13, 17] + - !!python/tuple [16, 23] + - !!python/tuple [13, 2] + - !!python/tuple [16, 11] + - !!python/tuple [22, 28] + - !!python/tuple [30, 8] + - !!python/tuple [27, 16] + - !!python/tuple [21, 24] + - !!python/tuple [21, 22] + - !!python/tuple [9, 18] + - !!python/tuple [19, 3] + - !!python/tuple [9, 22] + - !!python/tuple [11, 18] + - !!python/tuple [27, 11] + - !!python/tuple [5, 21] + - !!python/tuple [8, 25] + - !!python/tuple [17, 25] + - !!python/tuple [1, 0] + - !!python/tuple [6, 10] + - !!python/tuple [22, 24] + - !!python/tuple [4, 17] + - !!python/tuple [23, 18] + - !!python/tuple [5, 15] + - !!python/tuple [26, 18] + - !!python/tuple [14, 5] + - !!python/tuple [2, 22] + - !!python/tuple [9, 20] + - !!python/tuple [9, 8] + - !!python/tuple [15, 22] + - !!python/tuple [13, 14] + - !!python/tuple [14, 2] + - !!python/tuple [29, 20] + - !!python/tuple [31, 23] + - !!python/tuple [4, 21] + - !!python/tuple [26, 17] + - !!python/tuple [26, 6] + - !!python/tuple [29, 25] + - !!python/tuple [1, 28] + - !!python/tuple [5, 11] + - !!python/tuple [13, 11] + - !!python/tuple [19, 22] + - !!python/tuple [15, 5] + - !!python/tuple [26, 12] + - !!python/tuple [24, 16] + - !!python/tuple [22, 8] + - !!python/tuple [6, 8] + - !!python/tuple [20, 26] + - !!python/tuple [0, 5] + - !!python/tuple [17, 29] + - !!python/tuple [18, 26] + - !!python/tuple [8, 14] + - !!python/tuple [13, 13] + - !!python/tuple [6, 28] + - !!python/tuple [21, 2] + - !!python/tuple [6, 26] + - !!python/tuple [9, 29] + - !!python/tuple [26, 27] + - !!python/tuple [1, 21] + - !!python/tuple [9, 5] + - !!python/tuple [18, 24] + - !!python/tuple [10, 2] + - !!python/tuple [31, 1] + - !!python/tuple [12, 24] + - !!python/tuple [7, 25] + - !!python/tuple [21, 8] + - !!python/tuple [6, 5] + - !!python/tuple [0, 9] + - !!python/tuple [21, 17] + - !!python/tuple [1, 23] + - !!python/tuple [22, 0] + - !!python/tuple [25, 6] + - !!python/tuple [25, 24] + - !!python/tuple [13, 26] + - !!python/tuple [3, 20] + - !!python/tuple [15, 17] + - !!python/tuple [8, 23] + - !!python/tuple [26, 7] + - !!python/tuple [8, 15] + - !!python/tuple [24, 4] + - !!python/tuple [1, 2] + - !!python/tuple [25, 18] + - !!python/tuple [6, 15] + - !!python/tuple [16, 2] + - !!python/tuple [20, 1] + - !!python/tuple [23, 27] + - !!python/tuple [24, 5] + - !!python/tuple [2, 19] + - !!python/tuple [6, 3] + - !!python/tuple [14, 14] + - !!python/tuple [14, 10] + - !!python/tuple [22, 26] + - !!python/tuple [15, 7] + - !!python/tuple [5, 14] + - !!python/tuple [11, 15] + - !!python/tuple [19, 12] + - !!python/tuple [25, 3] + - !!python/tuple [1, 19] + - !!python/tuple [5, 1] + - !!python/tuple [4, 13] + - !!python/tuple [6, 22] + - !!python/tuple [30, 9] + - !!python/tuple [8, 9] + - !!python/tuple [7, 0] + - !!python/tuple [10, 5] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex30.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex30.yaml new file mode 100644 index 0000000..d998a9d --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex30.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [6, 20] + name: agent0 + start: [6, 20] +- goal: [1, 0] + name: agent1 + start: [14, 31] +- goal: [8, 4] + name: agent2 + start: [26, 17] +- goal: [24, 3] + name: agent3 + start: [16, 30] +- goal: [1, 3] + name: agent4 + start: [28, 24] +- goal: [15, 3] + name: agent5 + start: [2, 0] +- goal: [2, 23] + name: agent6 + start: [19, 10] +- goal: [6, 3] + name: agent7 + start: [13, 9] +- goal: [6, 25] + name: agent8 + start: [25, 25] +- goal: [1, 8] + name: agent9 + start: [17, 10] +- goal: [21, 3] + name: agent10 + start: [28, 16] +- goal: [10, 11] + name: agent11 + start: [1, 15] +- goal: [29, 11] + name: agent12 + start: [7, 24] +- goal: [22, 23] + name: agent13 + start: [8, 24] +- goal: [31, 5] + name: agent14 + start: [14, 14] +- goal: [26, 22] + name: agent15 + start: [20, 23] +- goal: [29, 12] + name: agent16 + start: [29, 11] +- goal: [8, 24] + name: agent17 + start: [12, 8] +- goal: [8, 28] + name: agent18 + start: [26, 27] +- goal: [6, 24] + name: agent19 + start: [25, 15] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [15, 14] + - !!python/tuple [24, 4] + - !!python/tuple [6, 15] + - !!python/tuple [28, 17] + - !!python/tuple [2, 3] + - !!python/tuple [29, 28] + - !!python/tuple [27, 24] + - !!python/tuple [9, 12] + - !!python/tuple [9, 29] + - !!python/tuple [23, 14] + - !!python/tuple [8, 25] + - !!python/tuple [5, 24] + - !!python/tuple [24, 29] + - !!python/tuple [27, 9] + - !!python/tuple [0, 25] + - !!python/tuple [14, 28] + - !!python/tuple [30, 21] + - !!python/tuple [20, 30] + - !!python/tuple [17, 12] + - !!python/tuple [1, 13] + - !!python/tuple [6, 22] + - !!python/tuple [2, 31] + - !!python/tuple [5, 11] + - !!python/tuple [25, 28] + - !!python/tuple [0, 15] + - !!python/tuple [11, 5] + - !!python/tuple [1, 14] + - !!python/tuple [5, 31] + - !!python/tuple [30, 30] + - !!python/tuple [10, 28] + - !!python/tuple [18, 19] + - !!python/tuple [10, 25] + - !!python/tuple [10, 27] + - !!python/tuple [18, 29] + - !!python/tuple [2, 29] + - !!python/tuple [2, 22] + - !!python/tuple [25, 26] + - !!python/tuple [17, 13] + - !!python/tuple [11, 18] + - !!python/tuple [28, 14] + - !!python/tuple [3, 11] + - !!python/tuple [14, 2] + - !!python/tuple [17, 5] + - !!python/tuple [31, 3] + - !!python/tuple [20, 27] + - !!python/tuple [25, 0] + - !!python/tuple [19, 0] + - !!python/tuple [30, 0] + - !!python/tuple [15, 21] + - !!python/tuple [20, 28] + - !!python/tuple [1, 12] + - !!python/tuple [4, 10] + - !!python/tuple [24, 26] + - !!python/tuple [22, 1] + - !!python/tuple [15, 13] + - !!python/tuple [11, 19] + - !!python/tuple [21, 25] + - !!python/tuple [5, 16] + - !!python/tuple [24, 9] + - !!python/tuple [12, 14] + - !!python/tuple [10, 30] + - !!python/tuple [28, 21] + - !!python/tuple [23, 18] + - !!python/tuple [17, 1] + - !!python/tuple [18, 18] + - !!python/tuple [21, 24] + - !!python/tuple [21, 22] + - !!python/tuple [22, 0] + - !!python/tuple [18, 7] + - !!python/tuple [5, 17] + - !!python/tuple [13, 19] + - !!python/tuple [22, 25] + - !!python/tuple [14, 18] + - !!python/tuple [10, 22] + - !!python/tuple [22, 10] + - !!python/tuple [23, 23] + - !!python/tuple [14, 9] + - !!python/tuple [2, 19] + - !!python/tuple [23, 8] + - !!python/tuple [29, 7] + - !!python/tuple [31, 20] + - !!python/tuple [1, 5] + - !!python/tuple [26, 20] + - !!python/tuple [15, 7] + - !!python/tuple [12, 20] + - !!python/tuple [18, 8] + - !!python/tuple [21, 27] + - !!python/tuple [17, 24] + - !!python/tuple [1, 28] + - !!python/tuple [4, 8] + - !!python/tuple [3, 20] + - !!python/tuple [23, 20] + - !!python/tuple [25, 14] + - !!python/tuple [3, 7] + - !!python/tuple [11, 16] + - !!python/tuple [20, 4] + - !!python/tuple [21, 12] + - !!python/tuple [21, 14] + - !!python/tuple [10, 10] + - !!python/tuple [31, 21] + - !!python/tuple [19, 27] + - !!python/tuple [28, 29] + - !!python/tuple [5, 8] + - !!python/tuple [4, 17] + - !!python/tuple [30, 3] + - !!python/tuple [16, 19] + - !!python/tuple [3, 23] + - !!python/tuple [10, 4] + - !!python/tuple [21, 1] + - !!python/tuple [20, 21] + - !!python/tuple [21, 23] + - !!python/tuple [7, 30] + - !!python/tuple [26, 19] + - !!python/tuple [20, 14] + - !!python/tuple [30, 22] + - !!python/tuple [4, 29] + - !!python/tuple [27, 21] + - !!python/tuple [7, 0] + - !!python/tuple [2, 30] + - !!python/tuple [21, 16] + - !!python/tuple [31, 23] + - !!python/tuple [1, 20] + - !!python/tuple [28, 22] + - !!python/tuple [17, 19] + - !!python/tuple [22, 15] + - !!python/tuple [22, 7] + - !!python/tuple [30, 10] + - !!python/tuple [4, 9] + - !!python/tuple [26, 14] + - !!python/tuple [8, 16] + - !!python/tuple [3, 16] + - !!python/tuple [9, 28] + - !!python/tuple [28, 1] + - !!python/tuple [8, 13] + - !!python/tuple [0, 30] + - !!python/tuple [18, 3] + - !!python/tuple [26, 30] + - !!python/tuple [15, 24] + - !!python/tuple [5, 18] + - !!python/tuple [21, 7] + - !!python/tuple [18, 17] + - !!python/tuple [4, 11] + - !!python/tuple [20, 8] + - !!python/tuple [23, 6] + - !!python/tuple [8, 30] + - !!python/tuple [3, 8] + - !!python/tuple [29, 21] + - !!python/tuple [1, 22] + - !!python/tuple [5, 1] + - !!python/tuple [20, 11] + - !!python/tuple [21, 18] + - !!python/tuple [22, 2] + - !!python/tuple [30, 4] + - !!python/tuple [19, 8] + - !!python/tuple [30, 14] + - !!python/tuple [24, 11] + - !!python/tuple [13, 6] + - !!python/tuple [23, 5] + - !!python/tuple [18, 31] + - !!python/tuple [26, 7] + - !!python/tuple [3, 1] + - !!python/tuple [27, 13] + - !!python/tuple [16, 9] + - !!python/tuple [1, 26] + - !!python/tuple [7, 2] + - !!python/tuple [29, 6] + - !!python/tuple [8, 5] + - !!python/tuple [22, 21] + - !!python/tuple [27, 1] + - !!python/tuple [3, 27] + - !!python/tuple [5, 10] + - !!python/tuple [10, 23] + - !!python/tuple [9, 1] + - !!python/tuple [27, 6] + - !!python/tuple [24, 13] + - !!python/tuple [0, 29] + - !!python/tuple [5, 13] + - !!python/tuple [10, 18] + - !!python/tuple [12, 12] + - !!python/tuple [31, 17] + - !!python/tuple [27, 25] + - !!python/tuple [9, 14] + - !!python/tuple [29, 31] + - !!python/tuple [1, 16] + - !!python/tuple [22, 30] + - !!python/tuple [26, 21] + - !!python/tuple [19, 4] + - !!python/tuple [13, 21] + - !!python/tuple [18, 9] + - !!python/tuple [25, 6] + - !!python/tuple [4, 19] + - !!python/tuple [15, 18] + - !!python/tuple [23, 28] + - !!python/tuple [30, 15] + - !!python/tuple [16, 21] + - !!python/tuple [27, 18] + - !!python/tuple [19, 29] + - !!python/tuple [12, 10] + - !!python/tuple [31, 29] + - !!python/tuple [21, 29] + - !!python/tuple [3, 26] + - !!python/tuple [31, 19] + - !!python/tuple [26, 3] + - !!python/tuple [5, 6] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex31.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex31.yaml new file mode 100644 index 0000000..8d12e16 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex31.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [11, 12] + name: agent0 + start: [13, 6] +- goal: [21, 28] + name: agent1 + start: [13, 15] +- goal: [2, 0] + name: agent2 + start: [4, 16] +- goal: [22, 27] + name: agent3 + start: [8, 3] +- goal: [25, 8] + name: agent4 + start: [13, 0] +- goal: [18, 17] + name: agent5 + start: [19, 2] +- goal: [24, 0] + name: agent6 + start: [15, 21] +- goal: [2, 21] + name: agent7 + start: [11, 29] +- goal: [11, 7] + name: agent8 + start: [27, 16] +- goal: [28, 2] + name: agent9 + start: [5, 8] +- goal: [12, 18] + name: agent10 + start: [14, 15] +- goal: [18, 11] + name: agent11 + start: [24, 9] +- goal: [19, 6] + name: agent12 + start: [7, 31] +- goal: [29, 3] + name: agent13 + start: [22, 20] +- goal: [29, 27] + name: agent14 + start: [0, 14] +- goal: [24, 13] + name: agent15 + start: [10, 2] +- goal: [27, 2] + name: agent16 + start: [4, 29] +- goal: [6, 26] + name: agent17 + start: [29, 10] +- goal: [6, 3] + name: agent18 + start: [17, 23] +- goal: [17, 21] + name: agent19 + start: [9, 16] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [7, 10] + - !!python/tuple [2, 25] + - !!python/tuple [30, 21] + - !!python/tuple [4, 25] + - !!python/tuple [27, 0] + - !!python/tuple [20, 28] + - !!python/tuple [19, 27] + - !!python/tuple [17, 8] + - !!python/tuple [6, 10] + - !!python/tuple [17, 6] + - !!python/tuple [25, 7] + - !!python/tuple [30, 1] + - !!python/tuple [18, 4] + - !!python/tuple [17, 4] + - !!python/tuple [27, 22] + - !!python/tuple [12, 7] + - !!python/tuple [26, 18] + - !!python/tuple [19, 31] + - !!python/tuple [8, 9] + - !!python/tuple [24, 26] + - !!python/tuple [14, 1] + - !!python/tuple [14, 4] + - !!python/tuple [28, 10] + - !!python/tuple [12, 6] + - !!python/tuple [31, 19] + - !!python/tuple [12, 12] + - !!python/tuple [30, 26] + - !!python/tuple [27, 23] + - !!python/tuple [22, 16] + - !!python/tuple [24, 16] + - !!python/tuple [7, 18] + - !!python/tuple [12, 14] + - !!python/tuple [13, 7] + - !!python/tuple [3, 30] + - !!python/tuple [16, 20] + - !!python/tuple [26, 21] + - !!python/tuple [25, 30] + - !!python/tuple [16, 2] + - !!python/tuple [15, 11] + - !!python/tuple [26, 0] + - !!python/tuple [9, 23] + - !!python/tuple [27, 10] + - !!python/tuple [23, 9] + - !!python/tuple [19, 9] + - !!python/tuple [2, 23] + - !!python/tuple [3, 8] + - !!python/tuple [10, 12] + - !!python/tuple [15, 23] + - !!python/tuple [14, 22] + - !!python/tuple [22, 13] + - !!python/tuple [23, 2] + - !!python/tuple [6, 9] + - !!python/tuple [5, 3] + - !!python/tuple [20, 17] + - !!python/tuple [14, 9] + - !!python/tuple [2, 19] + - !!python/tuple [10, 29] + - !!python/tuple [0, 8] + - !!python/tuple [2, 28] + - !!python/tuple [27, 19] + - !!python/tuple [25, 26] + - !!python/tuple [19, 21] + - !!python/tuple [15, 27] + - !!python/tuple [20, 9] + - !!python/tuple [21, 15] + - !!python/tuple [22, 30] + - !!python/tuple [0, 11] + - !!python/tuple [18, 18] + - !!python/tuple [11, 23] + - !!python/tuple [13, 29] + - !!python/tuple [11, 25] + - !!python/tuple [6, 18] + - !!python/tuple [21, 9] + - !!python/tuple [9, 10] + - !!python/tuple [17, 20] + - !!python/tuple [7, 3] + - !!python/tuple [27, 24] + - !!python/tuple [28, 12] + - !!python/tuple [4, 19] + - !!python/tuple [0, 2] + - !!python/tuple [9, 17] + - !!python/tuple [16, 4] + - !!python/tuple [16, 10] + - !!python/tuple [29, 18] + - !!python/tuple [22, 8] + - !!python/tuple [21, 22] + - !!python/tuple [3, 2] + - !!python/tuple [11, 10] + - !!python/tuple [20, 1] + - !!python/tuple [13, 18] + - !!python/tuple [30, 12] + - !!python/tuple [10, 10] + - !!python/tuple [6, 13] + - !!python/tuple [20, 10] + - !!python/tuple [0, 13] + - !!python/tuple [30, 20] + - !!python/tuple [31, 10] + - !!python/tuple [14, 24] + - !!python/tuple [20, 26] + - !!python/tuple [21, 1] + - !!python/tuple [22, 0] + - !!python/tuple [28, 20] + - !!python/tuple [30, 2] + - !!python/tuple [8, 2] + - !!python/tuple [7, 13] + - !!python/tuple [28, 17] + - !!python/tuple [28, 19] + - !!python/tuple [15, 10] + - !!python/tuple [26, 19] + - !!python/tuple [0, 1] + - !!python/tuple [8, 30] + - !!python/tuple [28, 24] + - !!python/tuple [16, 19] + - !!python/tuple [30, 14] + - !!python/tuple [11, 9] + - !!python/tuple [29, 25] + - !!python/tuple [28, 13] + - !!python/tuple [5, 7] + - !!python/tuple [9, 15] + - !!python/tuple [22, 24] + - !!python/tuple [28, 22] + - !!python/tuple [20, 0] + - !!python/tuple [30, 9] + - !!python/tuple [18, 14] + - !!python/tuple [17, 19] + - !!python/tuple [25, 22] + - !!python/tuple [8, 25] + - !!python/tuple [25, 2] + - !!python/tuple [18, 23] + - !!python/tuple [31, 8] + - !!python/tuple [24, 19] + - !!python/tuple [27, 1] + - !!python/tuple [20, 27] + - !!python/tuple [18, 7] + - !!python/tuple [30, 18] + - !!python/tuple [14, 18] + - !!python/tuple [9, 29] + - !!python/tuple [30, 5] + - !!python/tuple [12, 28] + - !!python/tuple [18, 22] + - !!python/tuple [7, 9] + - !!python/tuple [1, 26] + - !!python/tuple [15, 4] + - !!python/tuple [17, 18] + - !!python/tuple [31, 7] + - !!python/tuple [28, 9] + - !!python/tuple [25, 18] + - !!python/tuple [17, 5] + - !!python/tuple [31, 18] + - !!python/tuple [7, 29] + - !!python/tuple [20, 21] + - !!python/tuple [2, 11] + - !!python/tuple [7, 25] + - !!python/tuple [16, 1] + - !!python/tuple [21, 11] + - !!python/tuple [24, 22] + - !!python/tuple [12, 16] + - !!python/tuple [25, 19] + - !!python/tuple [21, 25] + - !!python/tuple [8, 26] + - !!python/tuple [10, 3] + - !!python/tuple [4, 14] + - !!python/tuple [24, 17] + - !!python/tuple [27, 18] + - !!python/tuple [24, 10] + - !!python/tuple [26, 1] + - !!python/tuple [23, 20] + - !!python/tuple [23, 21] + - !!python/tuple [26, 12] + - !!python/tuple [21, 23] + - !!python/tuple [16, 11] + - !!python/tuple [2, 18] + - !!python/tuple [22, 12] + - !!python/tuple [16, 17] + - !!python/tuple [8, 14] + - !!python/tuple [8, 0] + - !!python/tuple [9, 28] + - !!python/tuple [0, 9] + - !!python/tuple [4, 15] + - !!python/tuple [20, 8] + - !!python/tuple [2, 1] + - !!python/tuple [2, 4] + - !!python/tuple [17, 3] + - !!python/tuple [23, 26] + - !!python/tuple [29, 2] + - !!python/tuple [9, 19] + - !!python/tuple [6, 0] + - !!python/tuple [1, 30] + - !!python/tuple [27, 5] + - !!python/tuple [12, 3] + - !!python/tuple [9, 22] + - !!python/tuple [1, 7] + - !!python/tuple [16, 22] + - !!python/tuple [5, 29] + - !!python/tuple [4, 0] + - !!python/tuple [22, 11] + - !!python/tuple [22, 18] + - !!python/tuple [12, 8] + - !!python/tuple [26, 20] + - !!python/tuple [1, 16] + - !!python/tuple [5, 11] + - !!python/tuple [3, 16] + - !!python/tuple [0, 5] + - !!python/tuple [3, 20] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex32.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex32.yaml new file mode 100644 index 0000000..d3e33e5 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex32.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [16, 26] + name: agent0 + start: [6, 6] +- goal: [8, 5] + name: agent1 + start: [27, 21] +- goal: [28, 1] + name: agent2 + start: [29, 20] +- goal: [21, 28] + name: agent3 + start: [18, 19] +- goal: [31, 20] + name: agent4 + start: [21, 2] +- goal: [24, 6] + name: agent5 + start: [3, 10] +- goal: [20, 14] + name: agent6 + start: [1, 0] +- goal: [7, 8] + name: agent7 + start: [28, 22] +- goal: [6, 28] + name: agent8 + start: [23, 11] +- goal: [2, 14] + name: agent9 + start: [26, 0] +- goal: [27, 22] + name: agent10 + start: [6, 28] +- goal: [2, 31] + name: agent11 + start: [25, 26] +- goal: [20, 18] + name: agent12 + start: [21, 31] +- goal: [25, 3] + name: agent13 + start: [12, 22] +- goal: [26, 15] + name: agent14 + start: [19, 8] +- goal: [15, 26] + name: agent15 + start: [5, 22] +- goal: [27, 25] + name: agent16 + start: [13, 31] +- goal: [30, 22] + name: agent17 + start: [23, 19] +- goal: [19, 12] + name: agent18 + start: [8, 3] +- goal: [20, 16] + name: agent19 + start: [3, 9] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [31, 2] + - !!python/tuple [0, 25] + - !!python/tuple [19, 10] + - !!python/tuple [22, 7] + - !!python/tuple [27, 28] + - !!python/tuple [17, 2] + - !!python/tuple [30, 31] + - !!python/tuple [2, 24] + - !!python/tuple [17, 24] + - !!python/tuple [4, 12] + - !!python/tuple [24, 20] + - !!python/tuple [9, 7] + - !!python/tuple [13, 7] + - !!python/tuple [5, 7] + - !!python/tuple [29, 0] + - !!python/tuple [16, 10] + - !!python/tuple [12, 17] + - !!python/tuple [12, 30] + - !!python/tuple [24, 3] + - !!python/tuple [16, 7] + - !!python/tuple [0, 11] + - !!python/tuple [11, 27] + - !!python/tuple [16, 20] + - !!python/tuple [29, 6] + - !!python/tuple [20, 19] + - !!python/tuple [13, 20] + - !!python/tuple [5, 16] + - !!python/tuple [3, 23] + - !!python/tuple [0, 9] + - !!python/tuple [19, 2] + - !!python/tuple [7, 17] + - !!python/tuple [4, 7] + - !!python/tuple [5, 27] + - !!python/tuple [16, 19] + - !!python/tuple [0, 20] + - !!python/tuple [24, 30] + - !!python/tuple [22, 5] + - !!python/tuple [25, 27] + - !!python/tuple [0, 0] + - !!python/tuple [6, 29] + - !!python/tuple [6, 25] + - !!python/tuple [21, 14] + - !!python/tuple [7, 24] + - !!python/tuple [19, 29] + - !!python/tuple [22, 9] + - !!python/tuple [2, 18] + - !!python/tuple [8, 27] + - !!python/tuple [26, 2] + - !!python/tuple [1, 9] + - !!python/tuple [14, 31] + - !!python/tuple [0, 27] + - !!python/tuple [20, 20] + - !!python/tuple [9, 30] + - !!python/tuple [15, 29] + - !!python/tuple [26, 24] + - !!python/tuple [14, 28] + - !!python/tuple [28, 28] + - !!python/tuple [15, 13] + - !!python/tuple [30, 2] + - !!python/tuple [27, 10] + - !!python/tuple [3, 2] + - !!python/tuple [7, 11] + - !!python/tuple [31, 25] + - !!python/tuple [8, 30] + - !!python/tuple [13, 24] + - !!python/tuple [14, 6] + - !!python/tuple [15, 15] + - !!python/tuple [10, 11] + - !!python/tuple [13, 12] + - !!python/tuple [1, 6] + - !!python/tuple [12, 13] + - !!python/tuple [21, 26] + - !!python/tuple [18, 16] + - !!python/tuple [16, 28] + - !!python/tuple [20, 21] + - !!python/tuple [24, 29] + - !!python/tuple [25, 0] + - !!python/tuple [29, 12] + - !!python/tuple [26, 26] + - !!python/tuple [6, 2] + - !!python/tuple [26, 13] + - !!python/tuple [17, 31] + - !!python/tuple [16, 14] + - !!python/tuple [30, 10] + - !!python/tuple [13, 4] + - !!python/tuple [13, 13] + - !!python/tuple [28, 8] + - !!python/tuple [2, 5] + - !!python/tuple [22, 6] + - !!python/tuple [17, 1] + - !!python/tuple [26, 12] + - !!python/tuple [30, 8] + - !!python/tuple [25, 4] + - !!python/tuple [8, 14] + - !!python/tuple [0, 10] + - !!python/tuple [12, 29] + - !!python/tuple [9, 12] + - !!python/tuple [4, 29] + - !!python/tuple [15, 28] + - !!python/tuple [6, 5] + - !!python/tuple [4, 13] + - !!python/tuple [7, 4] + - !!python/tuple [2, 19] + - !!python/tuple [18, 6] + - !!python/tuple [22, 14] + - !!python/tuple [6, 27] + - !!python/tuple [23, 20] + - !!python/tuple [24, 1] + - !!python/tuple [12, 31] + - !!python/tuple [14, 25] + - !!python/tuple [8, 19] + - !!python/tuple [21, 30] + - !!python/tuple [20, 13] + - !!python/tuple [3, 28] + - !!python/tuple [9, 21] + - !!python/tuple [14, 10] + - !!python/tuple [27, 4] + - !!python/tuple [14, 7] + - !!python/tuple [28, 14] + - !!python/tuple [29, 3] + - !!python/tuple [1, 13] + - !!python/tuple [1, 16] + - !!python/tuple [23, 31] + - !!python/tuple [4, 23] + - !!python/tuple [20, 28] + - !!python/tuple [30, 3] + - !!python/tuple [28, 23] + - !!python/tuple [27, 15] + - !!python/tuple [7, 30] + - !!python/tuple [20, 12] + - !!python/tuple [14, 29] + - !!python/tuple [0, 22] + - !!python/tuple [26, 28] + - !!python/tuple [19, 16] + - !!python/tuple [17, 29] + - !!python/tuple [21, 8] + - !!python/tuple [30, 12] + - !!python/tuple [30, 23] + - !!python/tuple [11, 9] + - !!python/tuple [5, 2] + - !!python/tuple [8, 11] + - !!python/tuple [4, 31] + - !!python/tuple [0, 2] + - !!python/tuple [3, 12] + - !!python/tuple [0, 31] + - !!python/tuple [29, 2] + - !!python/tuple [3, 26] + - !!python/tuple [25, 11] + - !!python/tuple [20, 25] + - !!python/tuple [24, 19] + - !!python/tuple [18, 22] + - !!python/tuple [1, 23] + - !!python/tuple [1, 21] + - !!python/tuple [25, 23] + - !!python/tuple [6, 7] + - !!python/tuple [2, 16] + - !!python/tuple [2, 22] + - !!python/tuple [12, 19] + - !!python/tuple [31, 14] + - !!python/tuple [12, 16] + - !!python/tuple [24, 10] + - !!python/tuple [21, 27] + - !!python/tuple [18, 13] + - !!python/tuple [26, 16] + - !!python/tuple [19, 5] + - !!python/tuple [1, 22] + - !!python/tuple [27, 7] + - !!python/tuple [21, 23] + - !!python/tuple [29, 7] + - !!python/tuple [5, 13] + - !!python/tuple [14, 4] + - !!python/tuple [14, 13] + - !!python/tuple [20, 8] + - !!python/tuple [20, 1] + - !!python/tuple [26, 9] + - !!python/tuple [20, 29] + - !!python/tuple [11, 20] + - !!python/tuple [6, 9] + - !!python/tuple [7, 15] + - !!python/tuple [15, 27] + - !!python/tuple [31, 16] + - !!python/tuple [4, 28] + - !!python/tuple [26, 5] + - !!python/tuple [9, 19] + - !!python/tuple [30, 1] + - !!python/tuple [13, 21] + - !!python/tuple [31, 0] + - !!python/tuple [28, 12] + - !!python/tuple [10, 8] + - !!python/tuple [6, 10] + - !!python/tuple [29, 15] + - !!python/tuple [9, 28] + - !!python/tuple [20, 7] + - !!python/tuple [8, 12] + - !!python/tuple [28, 13] + - !!python/tuple [7, 2] + - !!python/tuple [13, 19] + - !!python/tuple [17, 22] + - !!python/tuple [6, 15] + - !!python/tuple [3, 1] + - !!python/tuple [28, 18] + - !!python/tuple [6, 20] + - !!python/tuple [1, 17] + - !!python/tuple [10, 5] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex33.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex33.yaml new file mode 100644 index 0000000..be73b5a --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex33.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [29, 12] + name: agent0 + start: [4, 6] +- goal: [30, 6] + name: agent1 + start: [23, 21] +- goal: [0, 30] + name: agent2 + start: [23, 22] +- goal: [31, 12] + name: agent3 + start: [7, 9] +- goal: [0, 28] + name: agent4 + start: [2, 23] +- goal: [24, 7] + name: agent5 + start: [6, 8] +- goal: [22, 11] + name: agent6 + start: [1, 20] +- goal: [13, 12] + name: agent7 + start: [25, 16] +- goal: [26, 19] + name: agent8 + start: [17, 24] +- goal: [4, 0] + name: agent9 + start: [19, 17] +- goal: [20, 9] + name: agent10 + start: [10, 26] +- goal: [26, 27] + name: agent11 + start: [7, 30] +- goal: [0, 15] + name: agent12 + start: [24, 15] +- goal: [6, 13] + name: agent13 + start: [16, 29] +- goal: [0, 4] + name: agent14 + start: [25, 24] +- goal: [9, 21] + name: agent15 + start: [20, 23] +- goal: [24, 20] + name: agent16 + start: [2, 12] +- goal: [15, 8] + name: agent17 + start: [16, 16] +- goal: [21, 11] + name: agent18 + start: [4, 10] +- goal: [19, 15] + name: agent19 + start: [30, 0] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [24, 8] + - !!python/tuple [2, 8] + - !!python/tuple [29, 9] + - !!python/tuple [9, 14] + - !!python/tuple [13, 31] + - !!python/tuple [13, 13] + - !!python/tuple [27, 13] + - !!python/tuple [5, 21] + - !!python/tuple [15, 1] + - !!python/tuple [4, 21] + - !!python/tuple [10, 29] + - !!python/tuple [27, 10] + - !!python/tuple [2, 31] + - !!python/tuple [13, 20] + - !!python/tuple [23, 1] + - !!python/tuple [19, 3] + - !!python/tuple [15, 30] + - !!python/tuple [3, 22] + - !!python/tuple [28, 9] + - !!python/tuple [16, 11] + - !!python/tuple [30, 3] + - !!python/tuple [15, 15] + - !!python/tuple [9, 1] + - !!python/tuple [12, 17] + - !!python/tuple [12, 31] + - !!python/tuple [24, 31] + - !!python/tuple [16, 22] + - !!python/tuple [14, 24] + - !!python/tuple [20, 5] + - !!python/tuple [11, 24] + - !!python/tuple [31, 22] + - !!python/tuple [11, 18] + - !!python/tuple [4, 14] + - !!python/tuple [15, 25] + - !!python/tuple [21, 0] + - !!python/tuple [13, 5] + - !!python/tuple [14, 17] + - !!python/tuple [27, 20] + - !!python/tuple [20, 0] + - !!python/tuple [27, 22] + - !!python/tuple [22, 12] + - !!python/tuple [2, 28] + - !!python/tuple [25, 30] + - !!python/tuple [24, 30] + - !!python/tuple [5, 5] + - !!python/tuple [18, 26] + - !!python/tuple [12, 20] + - !!python/tuple [15, 10] + - !!python/tuple [1, 0] + - !!python/tuple [22, 19] + - !!python/tuple [5, 1] + - !!python/tuple [9, 2] + - !!python/tuple [10, 12] + - !!python/tuple [28, 14] + - !!python/tuple [16, 21] + - !!python/tuple [30, 30] + - !!python/tuple [28, 28] + - !!python/tuple [29, 29] + - !!python/tuple [26, 29] + - !!python/tuple [10, 11] + - !!python/tuple [11, 15] + - !!python/tuple [2, 9] + - !!python/tuple [24, 1] + - !!python/tuple [3, 8] + - !!python/tuple [24, 9] + - !!python/tuple [30, 5] + - !!python/tuple [22, 31] + - !!python/tuple [10, 15] + - !!python/tuple [24, 16] + - !!python/tuple [28, 29] + - !!python/tuple [17, 29] + - !!python/tuple [10, 18] + - !!python/tuple [5, 20] + - !!python/tuple [4, 28] + - !!python/tuple [0, 20] + - !!python/tuple [31, 11] + - !!python/tuple [14, 18] + - !!python/tuple [1, 9] + - !!python/tuple [7, 31] + - !!python/tuple [28, 24] + - !!python/tuple [3, 31] + - !!python/tuple [0, 18] + - !!python/tuple [12, 9] + - !!python/tuple [18, 17] + - !!python/tuple [28, 19] + - !!python/tuple [26, 5] + - !!python/tuple [28, 11] + - !!python/tuple [25, 0] + - !!python/tuple [27, 7] + - !!python/tuple [3, 11] + - !!python/tuple [25, 28] + - !!python/tuple [20, 10] + - !!python/tuple [2, 6] + - !!python/tuple [26, 2] + - !!python/tuple [6, 25] + - !!python/tuple [29, 0] + - !!python/tuple [20, 31] + - !!python/tuple [6, 28] + - !!python/tuple [6, 31] + - !!python/tuple [14, 2] + - !!python/tuple [1, 8] + - !!python/tuple [1, 4] + - !!python/tuple [21, 1] + - !!python/tuple [19, 13] + - !!python/tuple [29, 27] + - !!python/tuple [23, 12] + - !!python/tuple [12, 2] + - !!python/tuple [4, 9] + - !!python/tuple [1, 24] + - !!python/tuple [29, 18] + - !!python/tuple [22, 9] + - !!python/tuple [11, 7] + - !!python/tuple [6, 22] + - !!python/tuple [21, 16] + - !!python/tuple [7, 13] + - !!python/tuple [11, 3] + - !!python/tuple [8, 8] + - !!python/tuple [4, 26] + - !!python/tuple [24, 5] + - !!python/tuple [13, 10] + - !!python/tuple [16, 1] + - !!python/tuple [5, 31] + - !!python/tuple [10, 28] + - !!python/tuple [17, 18] + - !!python/tuple [30, 15] + - !!python/tuple [16, 28] + - !!python/tuple [8, 6] + - !!python/tuple [16, 9] + - !!python/tuple [9, 8] + - !!python/tuple [31, 4] + - !!python/tuple [29, 8] + - !!python/tuple [14, 8] + - !!python/tuple [13, 14] + - !!python/tuple [4, 13] + - !!python/tuple [2, 21] + - !!python/tuple [12, 5] + - !!python/tuple [0, 21] + - !!python/tuple [22, 16] + - !!python/tuple [19, 14] + - !!python/tuple [24, 17] + - !!python/tuple [31, 8] + - !!python/tuple [17, 6] + - !!python/tuple [20, 14] + - !!python/tuple [28, 10] + - !!python/tuple [11, 9] + - !!python/tuple [1, 28] + - !!python/tuple [1, 15] + - !!python/tuple [3, 17] + - !!python/tuple [7, 24] + - !!python/tuple [23, 24] + - !!python/tuple [14, 1] + - !!python/tuple [23, 10] + - !!python/tuple [19, 0] + - !!python/tuple [28, 17] + - !!python/tuple [21, 2] + - !!python/tuple [10, 13] + - !!python/tuple [20, 20] + - !!python/tuple [23, 19] + - !!python/tuple [30, 18] + - !!python/tuple [23, 30] + - !!python/tuple [12, 7] + - !!python/tuple [25, 26] + - !!python/tuple [23, 28] + - !!python/tuple [24, 12] + - !!python/tuple [31, 18] + - !!python/tuple [13, 11] + - !!python/tuple [1, 16] + - !!python/tuple [24, 2] + - !!python/tuple [20, 6] + - !!python/tuple [23, 2] + - !!python/tuple [3, 12] + - !!python/tuple [8, 0] + - !!python/tuple [1, 6] + - !!python/tuple [0, 19] + - !!python/tuple [20, 26] + - !!python/tuple [20, 16] + - !!python/tuple [9, 30] + - !!python/tuple [22, 24] + - !!python/tuple [3, 24] + - !!python/tuple [6, 12] + - !!python/tuple [5, 0] + - !!python/tuple [12, 26] + - !!python/tuple [21, 29] + - !!python/tuple [5, 11] + - !!python/tuple [3, 23] + - !!python/tuple [3, 26] + - !!python/tuple [27, 14] + - !!python/tuple [3, 20] + - !!python/tuple [26, 8] + - !!python/tuple [2, 16] + - !!python/tuple [15, 19] + - !!python/tuple [7, 5] + - !!python/tuple [31, 20] + - !!python/tuple [17, 1] + - !!python/tuple [7, 28] + - !!python/tuple [31, 1] + - !!python/tuple [30, 23] + - !!python/tuple [16, 6] + - !!python/tuple [10, 1] + - !!python/tuple [15, 23] + - !!python/tuple [6, 10] + - !!python/tuple [6, 4] + - !!python/tuple [22, 27] + - !!python/tuple [19, 8] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex34.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex34.yaml new file mode 100644 index 0000000..df840c0 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex34.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [21, 8] + name: agent0 + start: [20, 8] +- goal: [22, 1] + name: agent1 + start: [31, 26] +- goal: [28, 31] + name: agent2 + start: [14, 29] +- goal: [7, 6] + name: agent3 + start: [26, 10] +- goal: [28, 2] + name: agent4 + start: [6, 26] +- goal: [9, 11] + name: agent5 + start: [19, 29] +- goal: [0, 15] + name: agent6 + start: [20, 27] +- goal: [7, 4] + name: agent7 + start: [6, 31] +- goal: [31, 20] + name: agent8 + start: [0, 7] +- goal: [2, 29] + name: agent9 + start: [9, 27] +- goal: [26, 26] + name: agent10 + start: [30, 31] +- goal: [25, 28] + name: agent11 + start: [25, 11] +- goal: [30, 31] + name: agent12 + start: [27, 26] +- goal: [17, 12] + name: agent13 + start: [16, 2] +- goal: [9, 7] + name: agent14 + start: [24, 15] +- goal: [21, 5] + name: agent15 + start: [7, 4] +- goal: [16, 20] + name: agent16 + start: [2, 20] +- goal: [10, 4] + name: agent17 + start: [17, 9] +- goal: [4, 13] + name: agent18 + start: [7, 7] +- goal: [21, 17] + name: agent19 + start: [28, 9] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [2, 12] + - !!python/tuple [25, 9] + - !!python/tuple [24, 22] + - !!python/tuple [23, 29] + - !!python/tuple [4, 28] + - !!python/tuple [10, 30] + - !!python/tuple [14, 30] + - !!python/tuple [17, 0] + - !!python/tuple [17, 6] + - !!python/tuple [2, 3] + - !!python/tuple [30, 13] + - !!python/tuple [28, 19] + - !!python/tuple [17, 28] + - !!python/tuple [25, 14] + - !!python/tuple [27, 27] + - !!python/tuple [4, 26] + - !!python/tuple [26, 0] + - !!python/tuple [24, 3] + - !!python/tuple [17, 29] + - !!python/tuple [26, 6] + - !!python/tuple [29, 23] + - !!python/tuple [4, 12] + - !!python/tuple [9, 1] + - !!python/tuple [1, 27] + - !!python/tuple [5, 23] + - !!python/tuple [28, 27] + - !!python/tuple [2, 18] + - !!python/tuple [27, 14] + - !!python/tuple [23, 1] + - !!python/tuple [11, 2] + - !!python/tuple [7, 9] + - !!python/tuple [0, 13] + - !!python/tuple [23, 12] + - !!python/tuple [1, 8] + - !!python/tuple [8, 31] + - !!python/tuple [21, 11] + - !!python/tuple [27, 30] + - !!python/tuple [13, 23] + - !!python/tuple [24, 14] + - !!python/tuple [12, 21] + - !!python/tuple [18, 18] + - !!python/tuple [25, 3] + - !!python/tuple [9, 18] + - !!python/tuple [13, 15] + - !!python/tuple [1, 11] + - !!python/tuple [15, 23] + - !!python/tuple [8, 22] + - !!python/tuple [2, 30] + - !!python/tuple [22, 22] + - !!python/tuple [9, 26] + - !!python/tuple [25, 18] + - !!python/tuple [26, 14] + - !!python/tuple [13, 14] + - !!python/tuple [9, 9] + - !!python/tuple [15, 9] + - !!python/tuple [3, 19] + - !!python/tuple [25, 7] + - !!python/tuple [23, 22] + - !!python/tuple [11, 15] + - !!python/tuple [16, 28] + - !!python/tuple [21, 3] + - !!python/tuple [13, 7] + - !!python/tuple [18, 8] + - !!python/tuple [22, 31] + - !!python/tuple [9, 15] + - !!python/tuple [31, 24] + - !!python/tuple [14, 24] + - !!python/tuple [25, 30] + - !!python/tuple [23, 21] + - !!python/tuple [14, 31] + - !!python/tuple [21, 26] + - !!python/tuple [4, 1] + - !!python/tuple [13, 13] + - !!python/tuple [12, 27] + - !!python/tuple [6, 11] + - !!python/tuple [5, 1] + - !!python/tuple [30, 20] + - !!python/tuple [22, 8] + - !!python/tuple [29, 2] + - !!python/tuple [4, 5] + - !!python/tuple [9, 20] + - !!python/tuple [14, 5] + - !!python/tuple [7, 21] + - !!python/tuple [24, 28] + - !!python/tuple [20, 22] + - !!python/tuple [13, 6] + - !!python/tuple [25, 20] + - !!python/tuple [1, 31] + - !!python/tuple [26, 25] + - !!python/tuple [24, 5] + - !!python/tuple [15, 20] + - !!python/tuple [9, 17] + - !!python/tuple [31, 8] + - !!python/tuple [24, 19] + - !!python/tuple [23, 27] + - !!python/tuple [5, 12] + - !!python/tuple [3, 17] + - !!python/tuple [14, 15] + - !!python/tuple [25, 13] + - !!python/tuple [4, 16] + - !!python/tuple [14, 16] + - !!python/tuple [30, 18] + - !!python/tuple [7, 23] + - !!python/tuple [6, 5] + - !!python/tuple [19, 10] + - !!python/tuple [3, 13] + - !!python/tuple [12, 15] + - !!python/tuple [13, 10] + - !!python/tuple [23, 14] + - !!python/tuple [29, 30] + - !!python/tuple [5, 30] + - !!python/tuple [29, 18] + - !!python/tuple [26, 23] + - !!python/tuple [1, 28] + - !!python/tuple [14, 19] + - !!python/tuple [2, 25] + - !!python/tuple [16, 9] + - !!python/tuple [7, 26] + - !!python/tuple [22, 9] + - !!python/tuple [13, 5] + - !!python/tuple [25, 31] + - !!python/tuple [1, 3] + - !!python/tuple [21, 25] + - !!python/tuple [23, 19] + - !!python/tuple [26, 7] + - !!python/tuple [31, 2] + - !!python/tuple [19, 3] + - !!python/tuple [6, 9] + - !!python/tuple [18, 31] + - !!python/tuple [27, 17] + - !!python/tuple [23, 28] + - !!python/tuple [15, 13] + - !!python/tuple [8, 8] + - !!python/tuple [27, 22] + - !!python/tuple [19, 18] + - !!python/tuple [12, 18] + - !!python/tuple [16, 10] + - !!python/tuple [0, 18] + - !!python/tuple [1, 13] + - !!python/tuple [20, 1] + - !!python/tuple [10, 0] + - !!python/tuple [17, 1] + - !!python/tuple [12, 23] + - !!python/tuple [9, 13] + - !!python/tuple [3, 3] + - !!python/tuple [31, 14] + - !!python/tuple [5, 31] + - !!python/tuple [8, 19] + - !!python/tuple [0, 21] + - !!python/tuple [4, 9] + - !!python/tuple [2, 6] + - !!python/tuple [22, 19] + - !!python/tuple [0, 16] + - !!python/tuple [29, 20] + - !!python/tuple [29, 19] + - !!python/tuple [16, 31] + - !!python/tuple [23, 11] + - !!python/tuple [15, 27] + - !!python/tuple [12, 12] + - !!python/tuple [15, 28] + - !!python/tuple [12, 14] + - !!python/tuple [27, 19] + - !!python/tuple [13, 4] + - !!python/tuple [14, 0] + - !!python/tuple [29, 15] + - !!python/tuple [7, 1] + - !!python/tuple [9, 2] + - !!python/tuple [13, 31] + - !!python/tuple [6, 19] + - !!python/tuple [16, 24] + - !!python/tuple [15, 22] + - !!python/tuple [29, 16] + - !!python/tuple [3, 4] + - !!python/tuple [31, 9] + - !!python/tuple [24, 6] + - !!python/tuple [9, 12] + - !!python/tuple [8, 25] + - !!python/tuple [17, 25] + - !!python/tuple [4, 2] + - !!python/tuple [25, 15] + - !!python/tuple [2, 14] + - !!python/tuple [1, 9] + - !!python/tuple [27, 16] + - !!python/tuple [12, 3] + - !!python/tuple [11, 27] + - !!python/tuple [5, 3] + - !!python/tuple [3, 29] + - !!python/tuple [22, 4] + - !!python/tuple [16, 27] + - !!python/tuple [29, 9] + - !!python/tuple [26, 5] + - !!python/tuple [0, 0] + - !!python/tuple [6, 20] + - !!python/tuple [27, 13] + - !!python/tuple [31, 11] + - !!python/tuple [6, 10] + - !!python/tuple [7, 14] + - !!python/tuple [6, 0] + - !!python/tuple [17, 20] + - !!python/tuple [21, 0] + - !!python/tuple [21, 20] + - !!python/tuple [15, 29] + - !!python/tuple [2, 5] + - !!python/tuple [12, 29] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex35.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex35.yaml new file mode 100644 index 0000000..3a1ce03 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex35.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [30, 7] + name: agent0 + start: [23, 3] +- goal: [9, 6] + name: agent1 + start: [27, 12] +- goal: [6, 25] + name: agent2 + start: [11, 6] +- goal: [20, 7] + name: agent3 + start: [20, 19] +- goal: [14, 7] + name: agent4 + start: [18, 3] +- goal: [13, 10] + name: agent5 + start: [9, 27] +- goal: [4, 17] + name: agent6 + start: [24, 7] +- goal: [6, 31] + name: agent7 + start: [2, 10] +- goal: [0, 20] + name: agent8 + start: [30, 28] +- goal: [10, 27] + name: agent9 + start: [26, 20] +- goal: [7, 22] + name: agent10 + start: [5, 30] +- goal: [16, 30] + name: agent11 + start: [25, 26] +- goal: [3, 23] + name: agent12 + start: [29, 20] +- goal: [10, 0] + name: agent13 + start: [8, 30] +- goal: [23, 4] + name: agent14 + start: [18, 9] +- goal: [5, 31] + name: agent15 + start: [7, 17] +- goal: [31, 4] + name: agent16 + start: [31, 16] +- goal: [4, 4] + name: agent17 + start: [15, 11] +- goal: [21, 30] + name: agent18 + start: [17, 27] +- goal: [28, 25] + name: agent19 + start: [4, 8] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [9, 19] + - !!python/tuple [7, 18] + - !!python/tuple [26, 1] + - !!python/tuple [17, 12] + - !!python/tuple [26, 2] + - !!python/tuple [23, 21] + - !!python/tuple [22, 10] + - !!python/tuple [28, 12] + - !!python/tuple [30, 6] + - !!python/tuple [1, 21] + - !!python/tuple [27, 2] + - !!python/tuple [8, 9] + - !!python/tuple [12, 14] + - !!python/tuple [6, 0] + - !!python/tuple [1, 7] + - !!python/tuple [23, 22] + - !!python/tuple [31, 7] + - !!python/tuple [23, 12] + - !!python/tuple [4, 19] + - !!python/tuple [17, 13] + - !!python/tuple [28, 0] + - !!python/tuple [22, 7] + - !!python/tuple [17, 22] + - !!python/tuple [12, 0] + - !!python/tuple [1, 16] + - !!python/tuple [2, 17] + - !!python/tuple [19, 26] + - !!python/tuple [1, 5] + - !!python/tuple [15, 31] + - !!python/tuple [23, 5] + - !!python/tuple [0, 6] + - !!python/tuple [1, 31] + - !!python/tuple [6, 17] + - !!python/tuple [16, 22] + - !!python/tuple [21, 23] + - !!python/tuple [20, 1] + - !!python/tuple [6, 5] + - !!python/tuple [13, 22] + - !!python/tuple [11, 16] + - !!python/tuple [21, 6] + - !!python/tuple [28, 10] + - !!python/tuple [14, 19] + - !!python/tuple [26, 28] + - !!python/tuple [3, 4] + - !!python/tuple [4, 9] + - !!python/tuple [30, 2] + - !!python/tuple [24, 15] + - !!python/tuple [21, 17] + - !!python/tuple [19, 13] + - !!python/tuple [16, 2] + - !!python/tuple [23, 2] + - !!python/tuple [6, 20] + - !!python/tuple [6, 16] + - !!python/tuple [23, 31] + - !!python/tuple [7, 2] + - !!python/tuple [0, 26] + - !!python/tuple [17, 1] + - !!python/tuple [7, 29] + - !!python/tuple [20, 17] + - !!python/tuple [9, 25] + - !!python/tuple [24, 26] + - !!python/tuple [12, 25] + - !!python/tuple [22, 27] + - !!python/tuple [29, 12] + - !!python/tuple [31, 6] + - !!python/tuple [23, 14] + - !!python/tuple [5, 25] + - !!python/tuple [21, 2] + - !!python/tuple [6, 2] + - !!python/tuple [2, 4] + - !!python/tuple [31, 29] + - !!python/tuple [24, 20] + - !!python/tuple [3, 11] + - !!python/tuple [31, 15] + - !!python/tuple [8, 10] + - !!python/tuple [10, 17] + - !!python/tuple [28, 16] + - !!python/tuple [3, 31] + - !!python/tuple [5, 24] + - !!python/tuple [16, 13] + - !!python/tuple [7, 6] + - !!python/tuple [17, 2] + - !!python/tuple [19, 8] + - !!python/tuple [13, 6] + - !!python/tuple [7, 25] + - !!python/tuple [14, 2] + - !!python/tuple [17, 6] + - !!python/tuple [31, 22] + - !!python/tuple [17, 21] + - !!python/tuple [13, 16] + - !!python/tuple [6, 29] + - !!python/tuple [27, 5] + - !!python/tuple [13, 3] + - !!python/tuple [19, 3] + - !!python/tuple [8, 13] + - !!python/tuple [7, 4] + - !!python/tuple [16, 19] + - !!python/tuple [10, 9] + - !!python/tuple [20, 5] + - !!python/tuple [29, 8] + - !!python/tuple [17, 7] + - !!python/tuple [11, 7] + - !!python/tuple [12, 27] + - !!python/tuple [11, 8] + - !!python/tuple [16, 21] + - !!python/tuple [15, 14] + - !!python/tuple [24, 11] + - !!python/tuple [19, 29] + - !!python/tuple [19, 10] + - !!python/tuple [21, 11] + - !!python/tuple [23, 24] + - !!python/tuple [30, 21] + - !!python/tuple [4, 13] + - !!python/tuple [24, 0] + - !!python/tuple [20, 13] + - !!python/tuple [30, 9] + - !!python/tuple [31, 20] + - !!python/tuple [22, 1] + - !!python/tuple [18, 10] + - !!python/tuple [13, 20] + - !!python/tuple [22, 5] + - !!python/tuple [7, 1] + - !!python/tuple [28, 29] + - !!python/tuple [1, 8] + - !!python/tuple [2, 16] + - !!python/tuple [16, 1] + - !!python/tuple [29, 19] + - !!python/tuple [19, 4] + - !!python/tuple [29, 5] + - !!python/tuple [25, 20] + - !!python/tuple [0, 30] + - !!python/tuple [25, 14] + - !!python/tuple [2, 31] + - !!python/tuple [2, 9] + - !!python/tuple [25, 16] + - !!python/tuple [25, 13] + - !!python/tuple [1, 29] + - !!python/tuple [6, 9] + - !!python/tuple [26, 8] + - !!python/tuple [10, 29] + - !!python/tuple [10, 15] + - !!python/tuple [21, 27] + - !!python/tuple [12, 16] + - !!python/tuple [13, 27] + - !!python/tuple [1, 2] + - !!python/tuple [29, 25] + - !!python/tuple [2, 2] + - !!python/tuple [27, 21] + - !!python/tuple [27, 19] + - !!python/tuple [10, 24] + - !!python/tuple [26, 25] + - !!python/tuple [28, 26] + - !!python/tuple [13, 13] + - !!python/tuple [15, 13] + - !!python/tuple [28, 8] + - !!python/tuple [30, 30] + - !!python/tuple [8, 8] + - !!python/tuple [10, 16] + - !!python/tuple [10, 1] + - !!python/tuple [14, 0] + - !!python/tuple [13, 19] + - !!python/tuple [13, 15] + - !!python/tuple [15, 16] + - !!python/tuple [15, 0] + - !!python/tuple [17, 17] + - !!python/tuple [15, 7] + - !!python/tuple [9, 21] + - !!python/tuple [15, 2] + - !!python/tuple [14, 24] + - !!python/tuple [30, 4] + - !!python/tuple [4, 0] + - !!python/tuple [30, 19] + - !!python/tuple [1, 17] + - !!python/tuple [22, 22] + - !!python/tuple [20, 8] + - !!python/tuple [0, 28] + - !!python/tuple [11, 4] + - !!python/tuple [9, 9] + - !!python/tuple [16, 8] + - !!python/tuple [10, 23] + - !!python/tuple [30, 10] + - !!python/tuple [0, 3] + - !!python/tuple [4, 11] + - !!python/tuple [4, 23] + - !!python/tuple [12, 3] + - !!python/tuple [25, 3] + - !!python/tuple [16, 6] + - !!python/tuple [16, 16] + - !!python/tuple [30, 31] + - !!python/tuple [3, 10] + - !!python/tuple [24, 4] + - !!python/tuple [23, 10] + - !!python/tuple [1, 18] + - !!python/tuple [26, 30] + - !!python/tuple [27, 28] + - !!python/tuple [3, 30] + - !!python/tuple [4, 28] + - !!python/tuple [1, 28] + - !!python/tuple [16, 23] + - !!python/tuple [4, 2] + - !!python/tuple [17, 10] + - !!python/tuple [22, 25] + - !!python/tuple [0, 13] + - !!python/tuple [5, 27] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex36.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex36.yaml new file mode 100644 index 0000000..4a555aa --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex36.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [14, 11] + name: agent0 + start: [16, 17] +- goal: [19, 25] + name: agent1 + start: [9, 17] +- goal: [4, 12] + name: agent2 + start: [9, 31] +- goal: [11, 6] + name: agent3 + start: [6, 22] +- goal: [25, 23] + name: agent4 + start: [0, 14] +- goal: [19, 0] + name: agent5 + start: [0, 4] +- goal: [1, 1] + name: agent6 + start: [20, 18] +- goal: [15, 16] + name: agent7 + start: [31, 11] +- goal: [1, 18] + name: agent8 + start: [29, 30] +- goal: [28, 20] + name: agent9 + start: [21, 20] +- goal: [28, 1] + name: agent10 + start: [11, 31] +- goal: [3, 17] + name: agent11 + start: [21, 19] +- goal: [20, 0] + name: agent12 + start: [20, 7] +- goal: [13, 1] + name: agent13 + start: [16, 0] +- goal: [25, 10] + name: agent14 + start: [25, 8] +- goal: [16, 9] + name: agent15 + start: [28, 31] +- goal: [30, 21] + name: agent16 + start: [24, 9] +- goal: [31, 7] + name: agent17 + start: [19, 31] +- goal: [6, 2] + name: agent18 + start: [13, 6] +- goal: [28, 31] + name: agent19 + start: [26, 15] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [26, 0] + - !!python/tuple [10, 31] + - !!python/tuple [16, 4] + - !!python/tuple [23, 6] + - !!python/tuple [23, 30] + - !!python/tuple [16, 30] + - !!python/tuple [30, 19] + - !!python/tuple [22, 10] + - !!python/tuple [27, 28] + - !!python/tuple [24, 17] + - !!python/tuple [0, 20] + - !!python/tuple [19, 18] + - !!python/tuple [3, 20] + - !!python/tuple [22, 21] + - !!python/tuple [31, 1] + - !!python/tuple [25, 16] + - !!python/tuple [19, 7] + - !!python/tuple [18, 6] + - !!python/tuple [31, 24] + - !!python/tuple [2, 17] + - !!python/tuple [14, 16] + - !!python/tuple [23, 28] + - !!python/tuple [17, 6] + - !!python/tuple [17, 24] + - !!python/tuple [0, 22] + - !!python/tuple [30, 30] + - !!python/tuple [4, 17] + - !!python/tuple [22, 9] + - !!python/tuple [3, 29] + - !!python/tuple [24, 2] + - !!python/tuple [16, 8] + - !!python/tuple [19, 19] + - !!python/tuple [26, 29] + - !!python/tuple [9, 10] + - !!python/tuple [28, 18] + - !!python/tuple [0, 18] + - !!python/tuple [19, 24] + - !!python/tuple [2, 19] + - !!python/tuple [23, 4] + - !!python/tuple [17, 7] + - !!python/tuple [17, 8] + - !!python/tuple [27, 26] + - !!python/tuple [19, 11] + - !!python/tuple [10, 10] + - !!python/tuple [0, 8] + - !!python/tuple [28, 25] + - !!python/tuple [1, 16] + - !!python/tuple [6, 15] + - !!python/tuple [7, 20] + - !!python/tuple [0, 30] + - !!python/tuple [2, 14] + - !!python/tuple [7, 8] + - !!python/tuple [5, 21] + - !!python/tuple [12, 31] + - !!python/tuple [8, 16] + - !!python/tuple [25, 1] + - !!python/tuple [25, 25] + - !!python/tuple [28, 26] + - !!python/tuple [1, 24] + - !!python/tuple [22, 31] + - !!python/tuple [8, 13] + - !!python/tuple [9, 9] + - !!python/tuple [5, 27] + - !!python/tuple [17, 21] + - !!python/tuple [9, 4] + - !!python/tuple [11, 7] + - !!python/tuple [8, 3] + - !!python/tuple [7, 6] + - !!python/tuple [1, 28] + - !!python/tuple [7, 3] + - !!python/tuple [28, 0] + - !!python/tuple [13, 27] + - !!python/tuple [21, 3] + - !!python/tuple [18, 0] + - !!python/tuple [10, 13] + - !!python/tuple [24, 21] + - !!python/tuple [28, 16] + - !!python/tuple [4, 29] + - !!python/tuple [31, 10] + - !!python/tuple [1, 12] + - !!python/tuple [21, 18] + - !!python/tuple [28, 19] + - !!python/tuple [23, 10] + - !!python/tuple [28, 8] + - !!python/tuple [2, 21] + - !!python/tuple [30, 9] + - !!python/tuple [27, 14] + - !!python/tuple [15, 30] + - !!python/tuple [13, 23] + - !!python/tuple [23, 12] + - !!python/tuple [19, 27] + - !!python/tuple [26, 6] + - !!python/tuple [30, 6] + - !!python/tuple [17, 4] + - !!python/tuple [0, 9] + - !!python/tuple [24, 8] + - !!python/tuple [14, 17] + - !!python/tuple [1, 8] + - !!python/tuple [26, 23] + - !!python/tuple [19, 4] + - !!python/tuple [8, 31] + - !!python/tuple [26, 8] + - !!python/tuple [18, 20] + - !!python/tuple [5, 13] + - !!python/tuple [13, 25] + - !!python/tuple [27, 12] + - !!python/tuple [25, 3] + - !!python/tuple [25, 15] + - !!python/tuple [7, 24] + - !!python/tuple [2, 6] + - !!python/tuple [30, 3] + - !!python/tuple [1, 10] + - !!python/tuple [8, 24] + - !!python/tuple [2, 16] + - !!python/tuple [7, 10] + - !!python/tuple [4, 7] + - !!python/tuple [10, 3] + - !!python/tuple [21, 1] + - !!python/tuple [14, 29] + - !!python/tuple [5, 23] + - !!python/tuple [27, 11] + - !!python/tuple [24, 3] + - !!python/tuple [20, 2] + - !!python/tuple [21, 10] + - !!python/tuple [2, 11] + - !!python/tuple [24, 26] + - !!python/tuple [12, 9] + - !!python/tuple [8, 18] + - !!python/tuple [11, 15] + - !!python/tuple [7, 0] + - !!python/tuple [6, 13] + - !!python/tuple [17, 15] + - !!python/tuple [23, 3] + - !!python/tuple [6, 24] + - !!python/tuple [28, 6] + - !!python/tuple [14, 20] + - !!python/tuple [22, 3] + - !!python/tuple [18, 11] + - !!python/tuple [4, 25] + - !!python/tuple [0, 17] + - !!python/tuple [13, 3] + - !!python/tuple [0, 2] + - !!python/tuple [18, 18] + - !!python/tuple [29, 9] + - !!python/tuple [7, 26] + - !!python/tuple [12, 25] + - !!python/tuple [4, 15] + - !!python/tuple [11, 1] + - !!python/tuple [3, 21] + - !!python/tuple [5, 11] + - !!python/tuple [28, 9] + - !!python/tuple [14, 1] + - !!python/tuple [14, 19] + - !!python/tuple [30, 31] + - !!python/tuple [27, 21] + - !!python/tuple [17, 3] + - !!python/tuple [17, 12] + - !!python/tuple [20, 11] + - !!python/tuple [26, 21] + - !!python/tuple [18, 29] + - !!python/tuple [22, 7] + - !!python/tuple [31, 27] + - !!python/tuple [15, 4] + - !!python/tuple [19, 21] + - !!python/tuple [6, 3] + - !!python/tuple [28, 12] + - !!python/tuple [27, 27] + - !!python/tuple [8, 1] + - !!python/tuple [14, 14] + - !!python/tuple [29, 4] + - !!python/tuple [27, 24] + - !!python/tuple [23, 18] + - !!python/tuple [19, 2] + - !!python/tuple [3, 25] + - !!python/tuple [29, 24] + - !!python/tuple [17, 13] + - !!python/tuple [28, 14] + - !!python/tuple [8, 21] + - !!python/tuple [6, 17] + - !!python/tuple [3, 16] + - !!python/tuple [22, 28] + - !!python/tuple [17, 10] + - !!python/tuple [3, 5] + - !!python/tuple [30, 15] + - !!python/tuple [10, 17] + - !!python/tuple [27, 30] + - !!python/tuple [23, 24] + - !!python/tuple [24, 23] + - !!python/tuple [29, 12] + - !!python/tuple [15, 19] + - !!python/tuple [4, 11] + - !!python/tuple [15, 7] + - !!python/tuple [18, 13] + - !!python/tuple [22, 23] + - !!python/tuple [10, 30] + - !!python/tuple [20, 27] + - !!python/tuple [8, 8] + - !!python/tuple [24, 25] + - !!python/tuple [2, 20] + - !!python/tuple [22, 13] + - !!python/tuple [22, 12] + - !!python/tuple [9, 16] + - !!python/tuple [25, 12] + - !!python/tuple [25, 6] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex37.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex37.yaml new file mode 100644 index 0000000..871d871 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex37.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [20, 28] + name: agent0 + start: [4, 30] +- goal: [13, 8] + name: agent1 + start: [13, 18] +- goal: [26, 8] + name: agent2 + start: [26, 3] +- goal: [30, 4] + name: agent3 + start: [0, 6] +- goal: [28, 11] + name: agent4 + start: [16, 27] +- goal: [27, 10] + name: agent5 + start: [6, 23] +- goal: [20, 18] + name: agent6 + start: [20, 12] +- goal: [2, 5] + name: agent7 + start: [5, 31] +- goal: [17, 22] + name: agent8 + start: [10, 3] +- goal: [21, 21] + name: agent9 + start: [17, 26] +- goal: [21, 2] + name: agent10 + start: [18, 24] +- goal: [9, 21] + name: agent11 + start: [31, 12] +- goal: [0, 25] + name: agent12 + start: [19, 3] +- goal: [2, 17] + name: agent13 + start: [10, 25] +- goal: [12, 7] + name: agent14 + start: [0, 7] +- goal: [17, 4] + name: agent15 + start: [1, 9] +- goal: [0, 4] + name: agent16 + start: [23, 21] +- goal: [31, 14] + name: agent17 + start: [1, 2] +- goal: [10, 14] + name: agent18 + start: [31, 18] +- goal: [5, 0] + name: agent19 + start: [14, 4] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [6, 6] + - !!python/tuple [21, 23] + - !!python/tuple [24, 7] + - !!python/tuple [17, 30] + - !!python/tuple [3, 18] + - !!python/tuple [28, 19] + - !!python/tuple [9, 24] + - !!python/tuple [23, 24] + - !!python/tuple [3, 10] + - !!python/tuple [3, 8] + - !!python/tuple [27, 25] + - !!python/tuple [16, 5] + - !!python/tuple [9, 28] + - !!python/tuple [1, 29] + - !!python/tuple [25, 10] + - !!python/tuple [23, 2] + - !!python/tuple [27, 12] + - !!python/tuple [16, 12] + - !!python/tuple [8, 20] + - !!python/tuple [10, 7] + - !!python/tuple [5, 12] + - !!python/tuple [24, 1] + - !!python/tuple [28, 10] + - !!python/tuple [27, 29] + - !!python/tuple [17, 2] + - !!python/tuple [30, 22] + - !!python/tuple [28, 26] + - !!python/tuple [12, 4] + - !!python/tuple [10, 8] + - !!python/tuple [9, 3] + - !!python/tuple [13, 31] + - !!python/tuple [9, 20] + - !!python/tuple [23, 7] + - !!python/tuple [21, 4] + - !!python/tuple [9, 6] + - !!python/tuple [26, 31] + - !!python/tuple [23, 25] + - !!python/tuple [24, 19] + - !!python/tuple [13, 4] + - !!python/tuple [11, 15] + - !!python/tuple [8, 12] + - !!python/tuple [4, 23] + - !!python/tuple [30, 27] + - !!python/tuple [14, 27] + - !!python/tuple [15, 17] + - !!python/tuple [11, 2] + - !!python/tuple [6, 25] + - !!python/tuple [19, 22] + - !!python/tuple [30, 31] + - !!python/tuple [4, 15] + - !!python/tuple [21, 7] + - !!python/tuple [26, 0] + - !!python/tuple [5, 10] + - !!python/tuple [8, 0] + - !!python/tuple [29, 11] + - !!python/tuple [17, 5] + - !!python/tuple [3, 6] + - !!python/tuple [4, 12] + - !!python/tuple [2, 7] + - !!python/tuple [24, 16] + - !!python/tuple [23, 26] + - !!python/tuple [2, 19] + - !!python/tuple [0, 1] + - !!python/tuple [14, 30] + - !!python/tuple [27, 14] + - !!python/tuple [29, 5] + - !!python/tuple [28, 21] + - !!python/tuple [15, 24] + - !!python/tuple [7, 16] + - !!python/tuple [5, 24] + - !!python/tuple [12, 2] + - !!python/tuple [14, 5] + - !!python/tuple [2, 28] + - !!python/tuple [0, 19] + - !!python/tuple [24, 18] + - !!python/tuple [7, 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!!python/tuple [8, 3] + - !!python/tuple [31, 19] + - !!python/tuple [8, 28] + - !!python/tuple [3, 14] + - !!python/tuple [17, 1] + - !!python/tuple [15, 15] + - !!python/tuple [14, 19] + - !!python/tuple [12, 18] + - !!python/tuple [22, 29] + - !!python/tuple [17, 24] + - !!python/tuple [26, 7] + - !!python/tuple [10, 5] + - !!python/tuple [13, 25] + - !!python/tuple [13, 27] + - !!python/tuple [0, 16] + - !!python/tuple [25, 27] + - !!python/tuple [24, 22] + - !!python/tuple [24, 25] + - !!python/tuple [18, 23] + - !!python/tuple [28, 1] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex38.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex38.yaml new file mode 100644 index 0000000..ae911fa --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex38.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [7, 20] + name: agent0 + start: [7, 16] +- goal: [27, 13] + name: agent1 + start: [14, 7] +- goal: [22, 4] + name: agent2 + start: [27, 24] +- goal: [2, 3] + name: agent3 + start: [31, 26] +- goal: [29, 24] + name: agent4 + start: [8, 5] +- goal: [21, 23] + name: agent5 + start: [18, 28] +- goal: [13, 31] + name: agent6 + start: [15, 30] +- goal: [28, 0] + name: agent7 + start: [10, 18] +- goal: [12, 3] + name: agent8 + start: [1, 5] +- goal: [20, 20] + name: agent9 + start: [9, 4] +- goal: [20, 23] + name: agent10 + start: [2, 17] +- goal: [26, 6] + name: agent11 + start: [29, 3] +- goal: [3, 20] + name: agent12 + start: [17, 4] +- goal: [1, 30] + name: agent13 + start: [2, 6] +- goal: [0, 13] + name: agent14 + start: [12, 15] +- goal: [10, 10] + name: agent15 + start: [6, 7] +- goal: [31, 11] + name: agent16 + start: [19, 7] +- goal: [10, 31] + name: agent17 + start: [11, 10] +- goal: [16, 16] + name: agent18 + start: [31, 20] +- goal: [26, 28] + name: agent19 + start: [9, 8] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [19, 30] + - !!python/tuple [13, 7] + - !!python/tuple [30, 5] + - !!python/tuple [22, 3] + - !!python/tuple [20, 30] + - !!python/tuple [20, 25] + - !!python/tuple [11, 7] + - !!python/tuple [0, 22] + - !!python/tuple [17, 10] + - !!python/tuple [9, 15] + - !!python/tuple [27, 15] + - !!python/tuple [3, 6] + - !!python/tuple [18, 19] + - !!python/tuple [21, 31] + - !!python/tuple [6, 6] + - !!python/tuple [13, 1] + - !!python/tuple [21, 14] + - !!python/tuple [9, 20] + - !!python/tuple [17, 22] + - !!python/tuple [21, 21] + - !!python/tuple [14, 19] + - !!python/tuple [0, 2] + - !!python/tuple [20, 3] + - !!python/tuple [6, 15] + - !!python/tuple [16, 3] + - !!python/tuple [1, 2] + - !!python/tuple [0, 23] + - !!python/tuple [20, 10] + - !!python/tuple [4, 7] + - !!python/tuple [13, 23] + - !!python/tuple [5, 12] + - !!python/tuple [2, 9] + - !!python/tuple [21, 13] + - !!python/tuple [24, 26] + - !!python/tuple [12, 1] + - !!python/tuple [25, 30] + - !!python/tuple [29, 29] + - !!python/tuple [0, 31] + - !!python/tuple [29, 25] + - !!python/tuple [16, 19] + - !!python/tuple [9, 10] + - !!python/tuple [16, 1] + - !!python/tuple [27, 5] + - !!python/tuple [24, 14] + - !!python/tuple [31, 17] + - !!python/tuple [21, 9] + - !!python/tuple [18, 25] + - !!python/tuple [8, 12] + - !!python/tuple [7, 22] + - !!python/tuple [13, 8] + - !!python/tuple [23, 11] + - !!python/tuple [6, 19] + - !!python/tuple [17, 6] + - !!python/tuple [21, 20] + - !!python/tuple [4, 19] + - !!python/tuple [4, 30] + - !!python/tuple [31, 25] + - !!python/tuple [3, 22] + - !!python/tuple [10, 17] + - !!python/tuple [5, 28] + - !!python/tuple [8, 2] + - !!python/tuple [0, 26] + - !!python/tuple [17, 28] + - !!python/tuple [8, 6] + - !!python/tuple [1, 17] + - !!python/tuple [25, 13] + - !!python/tuple [27, 22] + - !!python/tuple [11, 13] + - !!python/tuple [22, 7] + - !!python/tuple [14, 8] + - !!python/tuple [23, 16] + - !!python/tuple [3, 3] + - !!python/tuple [10, 29] + - !!python/tuple [2, 15] + - 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!!python/tuple [7, 2] + - !!python/tuple [1, 21] + - !!python/tuple [29, 20] + - !!python/tuple [12, 14] + - !!python/tuple [10, 14] + - !!python/tuple [2, 22] + - !!python/tuple [31, 10] + - !!python/tuple [9, 27] + - !!python/tuple [30, 29] + - !!python/tuple [9, 7] + - !!python/tuple [14, 16] + - !!python/tuple [12, 29] + - !!python/tuple [5, 23] + - !!python/tuple [12, 26] + - !!python/tuple [28, 5] + - !!python/tuple [11, 11] + - !!python/tuple [15, 8] + - !!python/tuple [18, 17] + - !!python/tuple [31, 15] + - !!python/tuple [14, 23] + - !!python/tuple [26, 17] + - !!python/tuple [1, 13] + - !!python/tuple [3, 9] + - !!python/tuple [4, 18] + - !!python/tuple [23, 5] + - !!python/tuple [7, 21] + - !!python/tuple [30, 4] + - !!python/tuple [2, 14] + - !!python/tuple [9, 22] + - !!python/tuple [31, 18] + - !!python/tuple [21, 6] + - !!python/tuple [15, 22] + - !!python/tuple [20, 5] + - !!python/tuple [19, 12] + - !!python/tuple [2, 23] + - !!python/tuple [11, 21] + - !!python/tuple [18, 30] + - !!python/tuple [1, 27] + - !!python/tuple [5, 29] + - !!python/tuple [19, 0] + - !!python/tuple [23, 28] + - !!python/tuple [2, 2] + - !!python/tuple [26, 9] + - !!python/tuple [2, 4] + - !!python/tuple [19, 24] + - !!python/tuple [5, 3] + - !!python/tuple [19, 13] + - !!python/tuple [12, 21] + - !!python/tuple [0, 15] + - !!python/tuple [1, 22] + - !!python/tuple [17, 26] + - !!python/tuple [7, 0] + - !!python/tuple [16, 10] + - !!python/tuple [12, 18] + - !!python/tuple [3, 27] + - !!python/tuple [1, 18] + - !!python/tuple [8, 3] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex39.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex39.yaml new file mode 100644 index 0000000..a1e1dbd --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex39.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [18, 20] + name: agent0 + start: [4, 19] +- goal: [21, 10] + name: agent1 + start: [3, 18] +- goal: [12, 12] + name: agent2 + start: [0, 18] +- goal: [13, 9] + name: agent3 + start: [23, 9] +- goal: [17, 28] + name: agent4 + start: [5, 8] +- goal: [12, 3] + name: agent5 + start: [2, 2] +- goal: [14, 9] + name: agent6 + start: [7, 24] +- goal: [12, 17] + name: agent7 + start: [11, 2] +- goal: [14, 24] + name: agent8 + start: [13, 15] +- goal: [26, 30] + name: agent9 + start: [13, 18] +- goal: [15, 13] + name: agent10 + start: [5, 17] +- goal: [8, 3] + name: agent11 + start: [22, 25] +- goal: [30, 31] + name: agent12 + start: [17, 24] +- goal: [30, 24] + name: agent13 + start: [8, 11] +- goal: [18, 0] + name: agent14 + start: [24, 6] +- goal: [8, 22] + name: agent15 + start: [4, 6] +- goal: [3, 15] + name: agent16 + start: [7, 16] +- goal: [30, 15] + name: agent17 + start: [23, 20] +- goal: [13, 31] + name: agent18 + start: [20, 18] +- goal: [8, 27] + name: agent19 + start: [8, 12] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [19, 4] + - !!python/tuple [27, 22] + - !!python/tuple [11, 31] + - !!python/tuple [11, 5] + - !!python/tuple [20, 5] + - !!python/tuple [5, 15] + - !!python/tuple [12, 23] + - !!python/tuple [31, 27] + - !!python/tuple [4, 12] + - !!python/tuple [14, 28] + - !!python/tuple [29, 27] + - !!python/tuple [1, 3] + - !!python/tuple [14, 2] + - !!python/tuple [23, 6] + - !!python/tuple [24, 3] + - !!python/tuple [15, 29] + - !!python/tuple [4, 17] + - !!python/tuple [2, 31] + - !!python/tuple [25, 18] + - !!python/tuple [25, 5] + - !!python/tuple [5, 5] + - !!python/tuple [1, 13] + - !!python/tuple [8, 13] + - !!python/tuple [17, 16] + - !!python/tuple [23, 7] + - !!python/tuple [9, 30] + - !!python/tuple [15, 3] + - !!python/tuple [26, 15] + - !!python/tuple [1, 7] + - !!python/tuple [15, 24] + - !!python/tuple [22, 11] + - !!python/tuple [19, 18] + - !!python/tuple [19, 14] + - !!python/tuple [5, 4] + - !!python/tuple [4, 20] + - !!python/tuple [23, 15] + - !!python/tuple [19, 7] + - !!python/tuple [3, 16] + - !!python/tuple [18, 30] + - !!python/tuple [23, 31] + - !!python/tuple [6, 23] + - !!python/tuple [10, 12] + - !!python/tuple [18, 10] + - !!python/tuple [29, 23] + - !!python/tuple [2, 18] + - !!python/tuple [15, 5] + - !!python/tuple [1, 16] + - !!python/tuple [22, 27] + - !!python/tuple [1, 29] + - !!python/tuple [5, 27] + - !!python/tuple [18, 3] + - !!python/tuple [12, 11] + - !!python/tuple [25, 25] + - !!python/tuple [10, 31] + - !!python/tuple [27, 3] + - !!python/tuple [16, 28] + - !!python/tuple [10, 27] + - !!python/tuple [18, 21] + - !!python/tuple [5, 22] + - !!python/tuple [5, 29] + - !!python/tuple [13, 17] + - !!python/tuple [11, 19] + - !!python/tuple [18, 5] + - !!python/tuple [9, 2] + - !!python/tuple [10, 4] + - !!python/tuple [24, 10] + - !!python/tuple [27, 13] + - !!python/tuple [22, 29] + - !!python/tuple [17, 0] + - !!python/tuple [27, 7] + - !!python/tuple [5, 16] + - !!python/tuple [21, 5] + - !!python/tuple [6, 31] + - !!python/tuple [9, 20] + - !!python/tuple [17, 11] + - !!python/tuple [26, 25] + - !!python/tuple [26, 29] + - !!python/tuple [31, 5] + - !!python/tuple [5, 23] + - !!python/tuple [6, 10] + - !!python/tuple [13, 1] + - !!python/tuple [29, 17] + - !!python/tuple [27, 6] + - !!python/tuple [14, 3] + - !!python/tuple [25, 26] + - !!python/tuple [1, 12] + - !!python/tuple [23, 23] + - !!python/tuple [13, 14] + - !!python/tuple [8, 30] + - !!python/tuple [29, 25] + - !!python/tuple [28, 0] + - !!python/tuple [6, 5] + - !!python/tuple [0, 3] + - !!python/tuple [14, 18] + - !!python/tuple [26, 17] + - !!python/tuple [0, 13] + - !!python/tuple [2, 11] + - !!python/tuple [17, 2] + - !!python/tuple [18, 18] + - !!python/tuple [10, 2] + - !!python/tuple [14, 19] + - !!python/tuple [4, 31] + - !!python/tuple [15, 0] + - !!python/tuple [18, 7] + - !!python/tuple [18, 9] + - !!python/tuple [20, 26] + - !!python/tuple [21, 25] + - !!python/tuple [8, 19] + - !!python/tuple [10, 6] + - !!python/tuple [0, 1] + - !!python/tuple [16, 25] + - !!python/tuple [5, 28] + - !!python/tuple [16, 17] + - !!python/tuple [20, 29] + - !!python/tuple [9, 9] + - !!python/tuple [12, 9] + - !!python/tuple [24, 15] + - !!python/tuple [11, 15] + - !!python/tuple [17, 31] + - !!python/tuple [28, 13] + - !!python/tuple [7, 15] + - !!python/tuple [20, 9] + - !!python/tuple [8, 7] + - !!python/tuple [19, 21] + - !!python/tuple [22, 3] + - !!python/tuple [20, 13] + - !!python/tuple [24, 28] + - !!python/tuple [15, 14] + - !!python/tuple [26, 31] + - !!python/tuple [22, 24] + - !!python/tuple [30, 2] + - !!python/tuple [17, 23] + - !!python/tuple [31, 8] + - !!python/tuple [19, 8] + - !!python/tuple [9, 25] + - !!python/tuple [4, 24] + - !!python/tuple [26, 11] + - !!python/tuple [25, 21] + - !!python/tuple [25, 1] + - !!python/tuple [7, 2] + - !!python/tuple [7, 19] + - !!python/tuple [18, 26] + - !!python/tuple [23, 22] + - !!python/tuple [21, 1] + - !!python/tuple [4, 28] + - !!python/tuple [28, 26] + - !!python/tuple [10, 29] + - !!python/tuple [0, 24] + - !!python/tuple [1, 27] + - !!python/tuple [9, 16] + - !!python/tuple [0, 5] + - !!python/tuple [27, 8] + - !!python/tuple [27, 19] + - !!python/tuple [12, 2] + - !!python/tuple [25, 6] + - !!python/tuple [28, 23] + - !!python/tuple [19, 26] + - !!python/tuple [31, 25] + - !!python/tuple [28, 16] + - !!python/tuple [12, 0] + - !!python/tuple [24, 20] + - !!python/tuple [3, 0] + - !!python/tuple [19, 29] + - !!python/tuple [11, 0] + - !!python/tuple [31, 2] + - !!python/tuple [14, 1] + - !!python/tuple [27, 25] + - !!python/tuple [3, 31] + - !!python/tuple [0, 0] + - !!python/tuple [1, 22] + - !!python/tuple [23, 17] + - !!python/tuple [30, 26] + - !!python/tuple [4, 13] + - !!python/tuple [1, 6] + - !!python/tuple [19, 24] + - !!python/tuple [28, 5] + - !!python/tuple [19, 5] + - !!python/tuple [24, 31] + - !!python/tuple [9, 12] + - !!python/tuple [6, 16] + - !!python/tuple [2, 12] + - !!python/tuple [23, 24] + - !!python/tuple [22, 19] + - !!python/tuple [21, 13] + - !!python/tuple [29, 10] + - !!python/tuple [16, 16] + - !!python/tuple [16, 15] + - !!python/tuple [7, 26] + - !!python/tuple [30, 19] + - !!python/tuple [28, 17] + - !!python/tuple [21, 7] + - !!python/tuple [26, 14] + - !!python/tuple [29, 3] + - !!python/tuple [4, 8] + - !!python/tuple [9, 14] + - !!python/tuple [24, 4] + - !!python/tuple [4, 27] + - !!python/tuple [26, 8] + - !!python/tuple [17, 12] + - !!python/tuple [15, 8] + - !!python/tuple [18, 23] + - !!python/tuple [3, 8] + - !!python/tuple [30, 17] + - !!python/tuple [12, 8] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex4.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex4.yaml new file mode 100644 index 0000000..34b1b96 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex4.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [29, 21] + name: agent0 + start: [2, 18] +- goal: [11, 15] + name: agent1 + start: [16, 9] +- goal: [23, 7] + name: agent2 + start: [23, 28] +- goal: [22, 8] + name: agent3 + start: [0, 6] +- goal: [16, 27] + name: agent4 + start: [22, 21] +- goal: [15, 18] + name: agent5 + start: [14, 30] +- goal: [5, 18] + name: agent6 + start: [24, 8] +- goal: [10, 15] + name: agent7 + start: [26, 24] +- goal: [24, 30] + name: agent8 + start: [3, 18] +- goal: [5, 6] + name: agent9 + start: [20, 7] +- goal: [10, 31] + name: agent10 + start: [3, 2] +- goal: [13, 23] + name: agent11 + start: [23, 30] +- goal: [8, 21] + name: agent12 + start: [3, 26] +- goal: [24, 15] + name: agent13 + start: [8, 0] +- goal: [27, 0] + name: agent14 + start: [14, 2] +- goal: [24, 17] + name: agent15 + start: [5, 9] +- goal: [22, 3] + name: agent16 + start: [28, 13] +- goal: [5, 7] + name: agent17 + start: [14, 29] +- goal: [31, 21] + name: agent18 + start: [26, 31] +- goal: [31, 1] + name: agent19 + start: [23, 13] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [4, 17] + - !!python/tuple [30, 17] + - !!python/tuple [11, 20] + - !!python/tuple [1, 8] + - !!python/tuple [2, 5] + - !!python/tuple [2, 23] + - !!python/tuple [9, 15] + - !!python/tuple [17, 28] + - !!python/tuple [13, 17] + - !!python/tuple [3, 30] + - !!python/tuple [15, 12] + - !!python/tuple [19, 19] + - !!python/tuple [5, 4] + - !!python/tuple [3, 20] + - !!python/tuple [25, 15] + - !!python/tuple [31, 28] + - !!python/tuple [15, 9] + - !!python/tuple [25, 25] + - !!python/tuple [19, 25] + - !!python/tuple [6, 29] + - !!python/tuple [29, 5] + - !!python/tuple [15, 10] + - !!python/tuple [1, 30] + - !!python/tuple [1, 20] + - !!python/tuple [2, 13] + - !!python/tuple [18, 13] + - !!python/tuple [14, 17] + - !!python/tuple [10, 7] + - !!python/tuple [26, 23] + - !!python/tuple [12, 6] + - !!python/tuple [9, 24] + - !!python/tuple [8, 29] + - !!python/tuple [6, 12] + - !!python/tuple [17, 30] + - !!python/tuple [12, 11] + - !!python/tuple [21, 20] + - !!python/tuple [7, 21] + - !!python/tuple [10, 28] + - !!python/tuple [7, 5] + - !!python/tuple [19, 13] + - !!python/tuple [16, 19] + - !!python/tuple [6, 9] + - !!python/tuple [4, 29] + - !!python/tuple [1, 17] + - !!python/tuple [21, 4] + - !!python/tuple [21, 18] + - !!python/tuple [19, 28] + - !!python/tuple [16, 2] + - !!python/tuple [11, 11] + - !!python/tuple [27, 8] + - !!python/tuple [1, 15] + - !!python/tuple [26, 28] + - !!python/tuple [6, 26] + - !!python/tuple [6, 0] + - !!python/tuple [29, 8] + - !!python/tuple [26, 29] + - !!python/tuple [11, 28] + - !!python/tuple [29, 26] + - !!python/tuple [28, 11] + - !!python/tuple [30, 8] + - !!python/tuple [31, 24] + - !!python/tuple [27, 19] + - !!python/tuple [19, 30] + - !!python/tuple [10, 29] + - !!python/tuple [20, 19] + - !!python/tuple [26, 21] + - !!python/tuple [0, 20] + - !!python/tuple [22, 2] + - !!python/tuple [11, 21] + - !!python/tuple [11, 30] + - !!python/tuple [9, 26] + - !!python/tuple [25, 16] + - !!python/tuple [8, 11] + - !!python/tuple [6, 7] + - !!python/tuple [5, 19] + - !!python/tuple [29, 2] + - !!python/tuple [15, 23] + - !!python/tuple [25, 14] + - !!python/tuple [31, 26] + - !!python/tuple [25, 24] + - !!python/tuple [26, 15] + - !!python/tuple [31, 19] + - !!python/tuple [28, 15] + - !!python/tuple [1, 28] + - !!python/tuple [6, 11] + - !!python/tuple [2, 21] + - !!python/tuple [22, 7] + - !!python/tuple [10, 9] + - !!python/tuple [21, 3] + - !!python/tuple [2, 11] + - !!python/tuple [3, 22] + - !!python/tuple [3, 5] + - !!python/tuple [14, 31] + - !!python/tuple [31, 20] + - !!python/tuple [14, 11] + - !!python/tuple [24, 0] + - !!python/tuple [20, 20] + - !!python/tuple [30, 9] + - !!python/tuple [16, 30] + - !!python/tuple [4, 3] + - !!python/tuple [18, 29] + - !!python/tuple [22, 20] + - !!python/tuple [2, 19] + - !!python/tuple [4, 14] + - !!python/tuple [20, 16] + - !!python/tuple [4, 25] + - !!python/tuple [9, 0] + - !!python/tuple [28, 5] + - !!python/tuple [3, 23] + - !!python/tuple [23, 27] + - !!python/tuple [22, 28] + - !!python/tuple [2, 12] + - !!python/tuple [0, 10] + - !!python/tuple [23, 5] + - !!python/tuple [5, 28] + - !!python/tuple [5, 10] + - !!python/tuple [5, 26] + - !!python/tuple [30, 26] + - !!python/tuple [17, 6] + - !!python/tuple [21, 6] + - !!python/tuple [29, 3] + - !!python/tuple [3, 9] + - !!python/tuple [9, 21] + - !!python/tuple [19, 27] + - !!python/tuple [21, 13] + - !!python/tuple [7, 14] + - !!python/tuple [19, 10] + - !!python/tuple [31, 13] + - !!python/tuple [7, 6] + - !!python/tuple [21, 25] + - !!python/tuple [2, 24] + - !!python/tuple [11, 31] + - !!python/tuple [15, 16] + - !!python/tuple [23, 3] + - !!python/tuple [27, 23] + - !!python/tuple [22, 24] + - !!python/tuple [14, 12] + - !!python/tuple [18, 4] + - !!python/tuple [12, 4] + - !!python/tuple [16, 11] + - !!python/tuple [16, 22] + - !!python/tuple [11, 16] + - !!python/tuple [26, 16] + - !!python/tuple [21, 28] + - !!python/tuple [3, 3] + - !!python/tuple [8, 2] + - !!python/tuple [30, 12] + - !!python/tuple [12, 12] + - !!python/tuple [5, 23] + - !!python/tuple [1, 19] + - !!python/tuple [28, 12] + - !!python/tuple [21, 23] + - !!python/tuple [3, 4] + - !!python/tuple [0, 22] + - !!python/tuple [14, 27] + - !!python/tuple [7, 2] + - !!python/tuple [24, 26] + - !!python/tuple [23, 4] + - !!python/tuple [14, 20] + - !!python/tuple [21, 11] + - !!python/tuple [17, 18] + - !!python/tuple [19, 17] + - !!python/tuple [10, 27] + - !!python/tuple [0, 18] + - !!python/tuple [1, 26] + - !!python/tuple [17, 17] + - !!python/tuple [2, 8] + - !!python/tuple [24, 13] + - !!python/tuple [29, 12] + - !!python/tuple [19, 20] + - !!python/tuple [26, 5] + - !!python/tuple [5, 12] + - !!python/tuple [19, 26] + - !!python/tuple [27, 10] + - !!python/tuple [15, 24] + - !!python/tuple [9, 9] + - !!python/tuple [8, 30] + - !!python/tuple [14, 6] + - !!python/tuple [21, 15] + - !!python/tuple [23, 10] + - !!python/tuple [20, 23] + - !!python/tuple [1, 24] + - !!python/tuple [31, 31] + - !!python/tuple [2, 15] + - !!python/tuple [1, 1] + - !!python/tuple [13, 25] + - !!python/tuple [10, 22] + - !!python/tuple [3, 7] + - !!python/tuple [12, 22] + - !!python/tuple [14, 7] + - !!python/tuple [16, 4] + - !!python/tuple [5, 2] + - !!python/tuple [15, 26] + - !!python/tuple [5, 21] + - !!python/tuple [19, 12] + - !!python/tuple [5, 25] + - !!python/tuple [24, 10] + - !!python/tuple [23, 11] + - !!python/tuple [20, 2] + - !!python/tuple [11, 7] + - !!python/tuple [30, 20] + - !!python/tuple [21, 17] + - !!python/tuple [14, 21] + - !!python/tuple [13, 5] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex40.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex40.yaml new file mode 100644 index 0000000..4ae282e --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex40.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [2, 27] + name: agent0 + start: [23, 23] +- goal: [8, 5] + name: agent1 + start: [25, 30] +- goal: [9, 6] + name: agent2 + start: [27, 26] +- goal: [28, 21] + name: agent3 + start: [2, 2] +- goal: [20, 8] + name: agent4 + start: [20, 23] +- goal: [25, 21] + name: agent5 + start: [29, 21] +- goal: [26, 19] + name: agent6 + start: [24, 13] +- goal: [18, 3] + name: agent7 + start: [10, 12] +- goal: [25, 10] + name: agent8 + start: [12, 5] +- goal: [1, 17] + name: agent9 + start: [18, 18] +- goal: [3, 5] + name: agent10 + start: [23, 1] +- goal: [14, 11] + name: agent11 + start: [28, 2] +- goal: [12, 21] + name: agent12 + start: [31, 20] +- goal: [21, 31] + name: agent13 + start: [0, 8] +- goal: [25, 22] + name: agent14 + start: [2, 17] +- goal: [30, 3] + name: agent15 + start: [14, 2] +- goal: [14, 20] + name: agent16 + start: [10, 3] +- goal: [12, 12] + name: agent17 + start: [4, 15] +- goal: [25, 15] + name: agent18 + start: [22, 27] +- goal: [26, 9] + name: agent19 + start: [5, 13] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [19, 28] + - !!python/tuple [29, 31] + - !!python/tuple [7, 2] + - !!python/tuple [1, 23] + - !!python/tuple [20, 21] + - !!python/tuple [23, 24] + - !!python/tuple [30, 12] + - !!python/tuple [24, 27] + - !!python/tuple [14, 5] + - !!python/tuple [6, 23] + - !!python/tuple [5, 20] + - !!python/tuple [15, 12] + - !!python/tuple [17, 3] + - !!python/tuple [17, 14] + - !!python/tuple [11, 12] + - !!python/tuple [9, 10] + - !!python/tuple [3, 10] + - !!python/tuple [9, 11] + - !!python/tuple [20, 2] + - !!python/tuple [12, 26] + - !!python/tuple [16, 30] + - !!python/tuple [5, 27] + - !!python/tuple [0, 24] + - !!python/tuple [26, 29] + - !!python/tuple [31, 21] + - !!python/tuple [3, 2] + - !!python/tuple [5, 6] + - !!python/tuple [17, 16] + - !!python/tuple [7, 7] + - !!python/tuple [24, 18] + - !!python/tuple [27, 29] + - !!python/tuple [17, 13] + - !!python/tuple [6, 3] + - !!python/tuple [15, 29] + - !!python/tuple [22, 4] + - !!python/tuple [16, 3] + - !!python/tuple [4, 8] + - !!python/tuple [2, 28] + - !!python/tuple [7, 19] + - !!python/tuple [0, 18] + - !!python/tuple [19, 17] + - !!python/tuple [26, 11] + - !!python/tuple [3, 14] + - !!python/tuple [30, 21] + - !!python/tuple [12, 28] + - !!python/tuple [3, 22] + - !!python/tuple [31, 24] + - !!python/tuple [25, 14] + - !!python/tuple [5, 10] + - !!python/tuple [4, 18] + - !!python/tuple [19, 0] + - !!python/tuple [18, 21] + - !!python/tuple [9, 19] + - !!python/tuple [13, 24] + - !!python/tuple [10, 29] + - !!python/tuple [19, 24] + - !!python/tuple [3, 26] + - !!python/tuple [10, 9] + - !!python/tuple [14, 14] + - !!python/tuple [6, 4] + - !!python/tuple [2, 29] + - !!python/tuple [9, 31] + - !!python/tuple [23, 29] + - !!python/tuple [2, 13] + - !!python/tuple [18, 12] + - !!python/tuple [24, 6] + - !!python/tuple [1, 13] + - !!python/tuple [20, 15] + - !!python/tuple [11, 21] + - !!python/tuple [0, 2] + - !!python/tuple [6, 14] + - !!python/tuple [1, 20] + - !!python/tuple [1, 28] + - !!python/tuple [30, 19] + - !!python/tuple [26, 21] + - !!python/tuple [26, 12] + - !!python/tuple [29, 9] + - !!python/tuple [28, 8] + - !!python/tuple [21, 16] + - !!python/tuple [20, 18] + - !!python/tuple [17, 27] + - !!python/tuple [1, 22] + - !!python/tuple [25, 28] + - !!python/tuple [27, 25] + - !!python/tuple [8, 29] + - !!python/tuple [0, 11] + - !!python/tuple [14, 30] + - !!python/tuple [16, 9] + - !!python/tuple [19, 1] + - !!python/tuple [16, 5] + - !!python/tuple [27, 23] + - !!python/tuple [18, 7] + - !!python/tuple [28, 29] + - !!python/tuple [19, 9] + - !!python/tuple [26, 17] + - !!python/tuple [13, 11] + - !!python/tuple [27, 19] + - !!python/tuple [27, 31] + - !!python/tuple [0, 16] + - !!python/tuple [8, 16] + - !!python/tuple [7, 3] + - !!python/tuple [7, 21] + - !!python/tuple [0, 28] + - !!python/tuple [15, 15] + - !!python/tuple [16, 16] + - !!python/tuple [4, 19] + - !!python/tuple [3, 12] + - !!python/tuple [14, 16] + - !!python/tuple [31, 22] + - !!python/tuple [25, 6] + - !!python/tuple [20, 14] + - !!python/tuple [26, 25] + - !!python/tuple [2, 7] + - !!python/tuple [0, 29] + - !!python/tuple [13, 22] + - !!python/tuple [30, 15] + - !!python/tuple [0, 9] + - !!python/tuple [15, 9] + - !!python/tuple [4, 9] + - !!python/tuple [23, 13] + - !!python/tuple [12, 23] + - !!python/tuple [11, 5] + - !!python/tuple [9, 24] + - !!python/tuple [14, 4] + - !!python/tuple [31, 1] + - !!python/tuple [26, 28] + - !!python/tuple [15, 0] + - !!python/tuple [18, 4] + - !!python/tuple [27, 13] + - !!python/tuple [27, 8] + - !!python/tuple [13, 23] + - !!python/tuple [28, 26] + - !!python/tuple [3, 1] + - !!python/tuple [21, 0] + - !!python/tuple [22, 19] + - !!python/tuple [21, 21] + - !!python/tuple [22, 18] + - !!python/tuple [28, 20] + - !!python/tuple [18, 26] + - !!python/tuple [24, 26] + - !!python/tuple [29, 13] + - !!python/tuple [25, 8] + - !!python/tuple [19, 5] + - !!python/tuple [8, 19] + - !!python/tuple [12, 15] + - !!python/tuple [0, 17] + - !!python/tuple [7, 23] + - !!python/tuple [9, 8] + - !!python/tuple [11, 20] + - !!python/tuple [12, 7] + - !!python/tuple [24, 28] + - !!python/tuple [27, 20] + - !!python/tuple [4, 10] + - !!python/tuple [16, 18] + - !!python/tuple [21, 12] + - !!python/tuple [25, 16] + - !!python/tuple [28, 3] + - !!python/tuple [30, 26] + - !!python/tuple [26, 23] + - !!python/tuple [25, 18] + - !!python/tuple [3, 4] + - !!python/tuple [19, 8] + - !!python/tuple [17, 18] + - !!python/tuple [22, 24] + - !!python/tuple [23, 15] + - !!python/tuple [19, 22] + - !!python/tuple [7, 18] + - !!python/tuple [28, 22] + - !!python/tuple [3, 7] + - !!python/tuple [13, 15] + - !!python/tuple [29, 27] + - !!python/tuple [31, 3] + - !!python/tuple [9, 20] + - !!python/tuple [19, 29] + - !!python/tuple [23, 9] + - !!python/tuple [15, 27] + - !!python/tuple [13, 20] + - !!python/tuple [28, 28] + - !!python/tuple [1, 24] + - !!python/tuple [17, 28] + - !!python/tuple [20, 7] + - !!python/tuple [14, 1] + - !!python/tuple [5, 14] + - !!python/tuple [31, 2] + - !!python/tuple [8, 26] + - !!python/tuple [2, 26] + - !!python/tuple [22, 22] + - !!python/tuple [11, 14] + - !!python/tuple [21, 13] + - !!python/tuple [24, 2] + - !!python/tuple [9, 26] + - !!python/tuple [2, 16] + - !!python/tuple [5, 8] + - !!python/tuple [9, 17] + - !!python/tuple [20, 20] + - !!python/tuple [3, 24] + - !!python/tuple [8, 22] + - !!python/tuple [0, 30] + - !!python/tuple [10, 20] + - !!python/tuple [31, 27] + - !!python/tuple [11, 24] + - !!python/tuple [2, 12] + - !!python/tuple [1, 8] + - !!python/tuple [23, 21] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex41.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex41.yaml new file mode 100644 index 0000000..6661a6e --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex41.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [14, 22] + name: agent0 + start: [16, 10] +- goal: [25, 24] + name: agent1 + start: [4, 11] +- goal: [20, 29] + name: agent2 + start: [3, 21] +- goal: [20, 23] + name: agent3 + start: [28, 26] +- goal: [2, 18] + name: agent4 + start: [10, 28] +- goal: [27, 6] + name: agent5 + start: [24, 20] +- goal: [23, 7] + name: agent6 + start: [20, 5] +- goal: [21, 8] + name: agent7 + start: [9, 10] +- goal: [6, 31] + name: agent8 + start: [13, 21] +- goal: [1, 12] + name: agent9 + start: [27, 24] +- goal: [18, 21] + name: agent10 + start: [27, 9] +- goal: [29, 21] + name: agent11 + start: [17, 31] +- goal: [7, 27] + name: agent12 + start: [14, 17] +- goal: [22, 5] + name: agent13 + start: [25, 29] +- goal: [18, 2] + name: agent14 + start: [12, 26] +- goal: [16, 27] + name: agent15 + start: [10, 10] +- goal: [27, 27] + name: agent16 + start: [26, 23] +- goal: [28, 19] + name: agent17 + start: [30, 26] +- goal: [3, 10] + name: agent18 + start: [17, 24] +- goal: [27, 15] + name: agent19 + start: [3, 18] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [22, 8] + - !!python/tuple [28, 18] + - !!python/tuple [31, 12] + - !!python/tuple [21, 28] + - !!python/tuple [26, 28] + - !!python/tuple [3, 5] + - !!python/tuple [15, 28] + - !!python/tuple [8, 10] + - !!python/tuple [15, 29] + - !!python/tuple [5, 3] + - !!python/tuple [4, 27] + - !!python/tuple [5, 16] + - !!python/tuple [10, 13] + - !!python/tuple [31, 0] + - !!python/tuple [0, 17] + - !!python/tuple [3, 13] + - !!python/tuple [30, 13] + - !!python/tuple [27, 16] + - !!python/tuple [29, 11] + - !!python/tuple [19, 12] + - !!python/tuple [10, 0] + - !!python/tuple [23, 11] + - !!python/tuple [16, 19] + - !!python/tuple [8, 2] + - !!python/tuple [16, 6] + - !!python/tuple [30, 0] + - !!python/tuple [21, 4] + - !!python/tuple [25, 20] + - !!python/tuple [11, 23] + - !!python/tuple [6, 23] + - !!python/tuple [19, 0] + - !!python/tuple [8, 17] + - !!python/tuple [15, 19] + - !!python/tuple [24, 19] + - !!python/tuple [5, 21] + - !!python/tuple [25, 9] + - !!python/tuple [15, 0] + - !!python/tuple [20, 14] + - !!python/tuple [0, 28] + - !!python/tuple [24, 24] + - !!python/tuple [6, 10] + - !!python/tuple [6, 7] + - !!python/tuple [2, 2] + - !!python/tuple [19, 16] + - !!python/tuple [18, 3] + - !!python/tuple [4, 5] + - !!python/tuple [1, 6] + - !!python/tuple [18, 30] + - !!python/tuple [18, 31] + - !!python/tuple [5, 28] + - !!python/tuple [6, 0] + - !!python/tuple [25, 8] + - !!python/tuple [16, 7] + - !!python/tuple [18, 20] + - !!python/tuple [2, 4] + - !!python/tuple [14, 29] + - !!python/tuple [23, 24] + - !!python/tuple [21, 30] + - !!python/tuple [3, 25] + - !!python/tuple [31, 31] + - !!python/tuple [17, 2] + - !!python/tuple [30, 6] + - !!python/tuple [10, 11] + - !!python/tuple [1, 9] + - !!python/tuple [23, 4] + - !!python/tuple [22, 29] + - !!python/tuple [21, 16] + - !!python/tuple [11, 16] + - !!python/tuple [28, 29] + - !!python/tuple [23, 23] + - !!python/tuple [14, 0] + - !!python/tuple [17, 28] + - !!python/tuple [22, 2] + - !!python/tuple [4, 21] + - !!python/tuple [22, 14] + - !!python/tuple [16, 8] + - !!python/tuple [7, 15] + - !!python/tuple [5, 20] + - !!python/tuple [12, 5] + - !!python/tuple [19, 31] + - !!python/tuple [5, 6] + - !!python/tuple [26, 0] + - !!python/tuple [21, 10] + - !!python/tuple [26, 13] + - !!python/tuple [5, 13] + - !!python/tuple [16, 20] + - !!python/tuple [22, 13] + - !!python/tuple [21, 18] + - !!python/tuple [4, 29] + - !!python/tuple [25, 19] + - !!python/tuple [22, 21] + - !!python/tuple [14, 30] + - !!python/tuple [25, 30] + - !!python/tuple [28, 20] + - !!python/tuple [22, 10] + - !!python/tuple [1, 3] + - !!python/tuple [29, 0] + - !!python/tuple [16, 16] + - !!python/tuple [8, 13] + - !!python/tuple [21, 6] + - !!python/tuple [6, 14] + - !!python/tuple [9, 28] + - !!python/tuple [16, 14] + - !!python/tuple [29, 13] + - !!python/tuple [13, 5] + - !!python/tuple [30, 30] + - !!python/tuple [15, 18] + - !!python/tuple [23, 30] + - !!python/tuple [8, 0] + - !!python/tuple [14, 1] + - !!python/tuple [21, 25] + - !!python/tuple [30, 3] + - !!python/tuple [16, 15] + - !!python/tuple [15, 25] + - !!python/tuple [9, 15] + - !!python/tuple [17, 3] + - !!python/tuple [11, 20] + - !!python/tuple [25, 12] + - !!python/tuple [10, 2] + - !!python/tuple [12, 9] + - !!python/tuple [8, 24] + - !!python/tuple [31, 8] + - !!python/tuple [17, 12] + - !!python/tuple [8, 23] + - !!python/tuple [13, 25] + - !!python/tuple [11, 25] + - !!python/tuple [31, 17] + - !!python/tuple [13, 28] + - !!python/tuple [28, 25] + - !!python/tuple [0, 15] + - !!python/tuple [15, 20] + - !!python/tuple [31, 20] + - !!python/tuple [3, 14] + - !!python/tuple [27, 3] + - !!python/tuple [19, 2] + - !!python/tuple [17, 17] + - !!python/tuple [3, 8] + - !!python/tuple [23, 26] + - !!python/tuple [31, 9] + - !!python/tuple [20, 7] + - !!python/tuple [23, 19] + - !!python/tuple [11, 8] + - !!python/tuple [1, 24] + - !!python/tuple [23, 1] + - !!python/tuple [24, 28] + - !!python/tuple [7, 23] + - !!python/tuple [16, 3] + - !!python/tuple [29, 12] + - !!python/tuple [9, 30] + - !!python/tuple [17, 19] + - !!python/tuple [19, 21] + - !!python/tuple [2, 25] + - !!python/tuple [8, 3] + - !!python/tuple [21, 19] + - !!python/tuple [29, 14] + - !!python/tuple [12, 15] + - !!python/tuple [19, 11] + - !!python/tuple [22, 24] + - !!python/tuple [27, 11] + - !!python/tuple [28, 22] + - !!python/tuple [7, 16] + - !!python/tuple [17, 5] + - !!python/tuple [2, 10] + - !!python/tuple [18, 28] + - !!python/tuple [31, 5] + - !!python/tuple [1, 25] + - !!python/tuple [19, 10] + - !!python/tuple [10, 26] + - !!python/tuple [16, 26] + - !!python/tuple [7, 17] + - !!python/tuple [12, 14] + - !!python/tuple [5, 27] + - !!python/tuple [6, 26] + - !!python/tuple [29, 19] + - !!python/tuple [13, 26] + - !!python/tuple [23, 25] + - !!python/tuple [7, 0] + - !!python/tuple [4, 9] + - !!python/tuple [1, 28] + - !!python/tuple [5, 23] + - !!python/tuple [22, 11] + - !!python/tuple [18, 18] + - !!python/tuple [0, 23] + - !!python/tuple [14, 6] + - !!python/tuple [23, 16] + - !!python/tuple [5, 4] + - !!python/tuple [17, 7] + - !!python/tuple [4, 20] + - !!python/tuple [15, 12] + - !!python/tuple [18, 11] + - !!python/tuple [26, 8] + - !!python/tuple [2, 3] + - !!python/tuple [17, 15] + - !!python/tuple [1, 2] + - !!python/tuple [10, 19] + - !!python/tuple [24, 16] + - !!python/tuple [0, 8] + - !!python/tuple [17, 23] + - !!python/tuple [14, 10] + - !!python/tuple [17, 4] + - !!python/tuple [14, 20] + - !!python/tuple [5, 7] + - !!python/tuple [20, 13] + - !!python/tuple [13, 29] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex42.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex42.yaml new file mode 100644 index 0000000..9c7698f --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex42.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [11, 19] + name: agent0 + start: [9, 9] +- goal: [11, 29] + name: agent1 + start: [22, 11] +- goal: [29, 26] + name: agent2 + start: [26, 2] +- goal: [7, 9] + name: agent3 + start: [5, 7] +- goal: [17, 17] + name: agent4 + start: [5, 31] +- goal: [27, 14] + name: agent5 + start: [11, 25] +- goal: [20, 25] + name: agent6 + start: [28, 18] +- goal: [22, 24] + name: agent7 + start: [15, 18] +- goal: [14, 6] + name: agent8 + start: [11, 18] +- goal: [9, 11] + name: agent9 + start: [6, 31] +- goal: [5, 13] + name: agent10 + start: [12, 15] +- goal: [29, 27] + name: agent11 + start: [14, 28] +- goal: [23, 21] + name: agent12 + start: [8, 19] +- goal: [25, 28] + name: agent13 + start: [3, 6] +- goal: [1, 30] + name: agent14 + start: [28, 20] +- goal: [5, 22] + name: agent15 + start: [20, 19] +- goal: [10, 22] + name: agent16 + start: [13, 16] +- goal: [18, 29] + name: agent17 + start: [6, 24] +- goal: [6, 29] + name: agent18 + start: [9, 11] +- goal: [9, 27] + name: agent19 + start: [30, 0] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [23, 6] + - !!python/tuple [6, 11] + - !!python/tuple [23, 1] + - !!python/tuple [19, 2] + - !!python/tuple [24, 16] + - !!python/tuple [22, 26] + - !!python/tuple [12, 12] + - !!python/tuple [30, 26] + - !!python/tuple [28, 12] + - !!python/tuple [31, 23] + - !!python/tuple [2, 2] + - !!python/tuple [6, 1] + - !!python/tuple [1, 10] + - !!python/tuple [5, 26] + - !!python/tuple [23, 12] + - !!python/tuple [5, 16] + - !!python/tuple [31, 15] + - !!python/tuple [24, 13] + - !!python/tuple [1, 15] + - !!python/tuple [5, 27] + - !!python/tuple [24, 18] + - !!python/tuple [9, 20] + - !!python/tuple [4, 9] + - !!python/tuple [3, 31] + - !!python/tuple [28, 26] + - !!python/tuple [21, 20] + - !!python/tuple [2, 12] + - !!python/tuple [31, 31] + - !!python/tuple [13, 22] + - !!python/tuple [0, 23] + - !!python/tuple [29, 31] + - !!python/tuple [5, 21] + - !!python/tuple [15, 9] + - !!python/tuple [20, 11] + - !!python/tuple [18, 2] + - !!python/tuple [3, 28] + - !!python/tuple [20, 2] + - !!python/tuple [25, 9] + - !!python/tuple [7, 19] + - !!python/tuple [29, 0] + - !!python/tuple [18, 3] + - !!python/tuple [28, 2] + - !!python/tuple [14, 9] + - !!python/tuple [26, 10] + - !!python/tuple [13, 24] + - !!python/tuple [1, 22] + - !!python/tuple [2, 29] + - !!python/tuple [3, 15] + - !!python/tuple [11, 14] + - !!python/tuple [21, 26] + - !!python/tuple [5, 18] + - !!python/tuple [20, 24] + - !!python/tuple [6, 28] + - !!python/tuple [22, 30] + - !!python/tuple [5, 8] + - !!python/tuple [14, 25] + - !!python/tuple [4, 23] + - !!python/tuple [31, 30] + - !!python/tuple [10, 11] + - !!python/tuple [18, 22] + - !!python/tuple [12, 4] + - !!python/tuple [5, 9] + - !!python/tuple [31, 14] + - !!python/tuple [4, 8] + - !!python/tuple [1, 25] + - !!python/tuple [2, 23] + - !!python/tuple [10, 9] + - !!python/tuple [1, 21] + - !!python/tuple [4, 29] + - !!python/tuple [20, 22] + - !!python/tuple [20, 17] + - !!python/tuple [20, 1] + - !!python/tuple [10, 24] + - !!python/tuple [13, 13] + - !!python/tuple [4, 28] + - !!python/tuple [16, 2] + - !!python/tuple [7, 31] + - !!python/tuple [30, 27] + - !!python/tuple [27, 30] + - !!python/tuple [19, 26] + - !!python/tuple [1, 0] + - !!python/tuple [12, 30] + - !!python/tuple [31, 8] + - !!python/tuple [9, 16] + - !!python/tuple [28, 17] + - !!python/tuple [6, 27] + - !!python/tuple [20, 4] + - !!python/tuple [20, 16] + - !!python/tuple [13, 0] + - !!python/tuple [3, 19] + - !!python/tuple [30, 15] + - !!python/tuple [30, 22] + - !!python/tuple [4, 10] + - !!python/tuple [15, 22] + - !!python/tuple [8, 17] + - !!python/tuple [28, 6] + - !!python/tuple [3, 8] + - !!python/tuple [20, 29] + - !!python/tuple [3, 5] + - !!python/tuple [29, 12] + - !!python/tuple [0, 29] + - !!python/tuple [29, 29] + - !!python/tuple [15, 24] + - !!python/tuple [0, 20] + - !!python/tuple [10, 12] + - !!python/tuple [23, 17] + - !!python/tuple [2, 22] + - !!python/tuple [24, 7] + - !!python/tuple [22, 16] + - !!python/tuple [21, 5] + - !!python/tuple [4, 21] + - !!python/tuple [9, 24] + - !!python/tuple [15, 30] + - !!python/tuple [15, 6] + - !!python/tuple [18, 30] + - !!python/tuple [25, 1] + - !!python/tuple [12, 24] + - !!python/tuple [25, 30] + - !!python/tuple [17, 20] + - !!python/tuple [23, 30] + - !!python/tuple [6, 7] + - !!python/tuple [28, 8] + - !!python/tuple [25, 8] + - !!python/tuple [15, 15] + - !!python/tuple [3, 4] + - !!python/tuple [19, 20] + - !!python/tuple [16, 6] + - !!python/tuple [27, 9] + - !!python/tuple [4, 0] + - !!python/tuple [27, 0] + - !!python/tuple [7, 4] + - !!python/tuple [31, 1] + - !!python/tuple [25, 24] + - !!python/tuple [0, 17] + - !!python/tuple [9, 15] + - !!python/tuple [2, 16] + - !!python/tuple [16, 19] + - !!python/tuple [28, 15] + - !!python/tuple [23, 16] + - !!python/tuple [1, 31] + - !!python/tuple [10, 20] + - !!python/tuple [31, 29] + - !!python/tuple [13, 3] + - !!python/tuple [29, 18] + - !!python/tuple [16, 23] + - !!python/tuple [3, 17] + - !!python/tuple [3, 10] + - !!python/tuple [15, 17] + - !!python/tuple [0, 26] + - !!python/tuple [15, 12] + - !!python/tuple [27, 25] + - !!python/tuple [16, 30] + - !!python/tuple [16, 4] + - !!python/tuple [4, 16] + - !!python/tuple [8, 0] + - !!python/tuple [7, 21] + - !!python/tuple [13, 12] + - !!python/tuple [12, 5] + - !!python/tuple [10, 23] + - !!python/tuple [14, 1] + - !!python/tuple [15, 10] + - !!python/tuple [5, 11] + - !!python/tuple [12, 21] + - !!python/tuple [25, 26] + - !!python/tuple [11, 27] + - !!python/tuple [24, 19] + - !!python/tuple [20, 31] + - !!python/tuple [18, 15] + - !!python/tuple [11, 13] + - !!python/tuple [2, 20] + - !!python/tuple [9, 25] + - !!python/tuple [10, 18] + - !!python/tuple [12, 25] + - !!python/tuple [14, 7] + - !!python/tuple [28, 30] + - !!python/tuple [10, 13] + - !!python/tuple [22, 28] + - !!python/tuple [15, 26] + - !!python/tuple [18, 7] + - !!python/tuple [25, 11] + - !!python/tuple [14, 29] + - !!python/tuple [31, 27] + - !!python/tuple [26, 20] + - !!python/tuple [25, 3] + - !!python/tuple [9, 29] + - !!python/tuple [9, 14] + - !!python/tuple [28, 19] + - !!python/tuple [7, 22] + - !!python/tuple [14, 4] + - !!python/tuple [1, 24] + - !!python/tuple [24, 12] + - !!python/tuple [6, 19] + - !!python/tuple [30, 29] + - !!python/tuple [8, 5] + - !!python/tuple [30, 23] + - !!python/tuple [27, 22] + - !!python/tuple [22, 10] + - !!python/tuple [3, 26] + - !!python/tuple [23, 29] + - !!python/tuple [3, 1] + - !!python/tuple [3, 25] + - !!python/tuple [17, 8] + - !!python/tuple [22, 22] + - !!python/tuple [2, 14] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex43.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex43.yaml new file mode 100644 index 0000000..aeb353b --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex43.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [20, 29] + name: agent0 + start: [31, 8] +- goal: [2, 24] + name: agent1 + start: [1, 25] +- goal: [11, 13] + name: agent2 + start: [7, 1] +- goal: [18, 28] + name: agent3 + start: [16, 4] +- goal: [9, 30] + name: agent4 + start: [27, 5] +- goal: [0, 31] + name: agent5 + start: [10, 28] +- goal: [11, 18] + name: agent6 + start: [30, 25] +- goal: [30, 22] + name: agent7 + start: [19, 25] +- goal: [6, 9] + name: agent8 + start: [16, 28] +- goal: [26, 7] + name: agent9 + start: [20, 13] +- goal: [7, 18] + name: agent10 + start: [24, 1] +- goal: [6, 10] + name: agent11 + start: [24, 10] +- goal: [4, 9] + name: agent12 + start: [14, 16] +- goal: [3, 25] + name: agent13 + start: [14, 10] +- goal: [24, 25] + name: agent14 + start: [17, 6] +- goal: [17, 5] + name: agent15 + start: [11, 25] +- goal: [16, 25] + name: agent16 + start: [3, 25] +- goal: [8, 30] + name: agent17 + start: [22, 8] +- goal: [20, 15] + name: agent18 + start: [30, 7] +- goal: [19, 10] + name: agent19 + start: [22, 16] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [2, 23] + - !!python/tuple [30, 30] + - !!python/tuple [15, 4] + - !!python/tuple [1, 1] + - !!python/tuple [27, 6] + - !!python/tuple [29, 2] + - !!python/tuple [10, 30] + - !!python/tuple [20, 19] + - !!python/tuple [10, 22] + - !!python/tuple [19, 21] + - !!python/tuple [18, 6] + - !!python/tuple [9, 6] + - !!python/tuple [2, 3] + - !!python/tuple [11, 9] + - !!python/tuple [19, 9] + - !!python/tuple [5, 1] + - !!python/tuple [25, 23] + - !!python/tuple [24, 7] + - !!python/tuple [14, 30] + - !!python/tuple [18, 25] + - !!python/tuple [18, 18] + - !!python/tuple [12, 0] + - !!python/tuple [26, 27] + - !!python/tuple [30, 24] + - !!python/tuple [18, 11] + - !!python/tuple [16, 0] + - !!python/tuple [24, 31] + - !!python/tuple [16, 9] + - !!python/tuple [22, 21] + - !!python/tuple [20, 24] + - !!python/tuple [23, 0] + - !!python/tuple [27, 14] + - !!python/tuple [23, 1] + - !!python/tuple [20, 31] + - !!python/tuple [21, 13] + - !!python/tuple [27, 24] + - !!python/tuple [1, 0] + - !!python/tuple [0, 13] + - !!python/tuple [10, 23] + - !!python/tuple [13, 6] + - !!python/tuple [13, 3] + - !!python/tuple [22, 1] + - !!python/tuple [3, 9] + - !!python/tuple [13, 18] + - !!python/tuple [7, 28] + - !!python/tuple [0, 1] + - !!python/tuple [15, 9] + - !!python/tuple [20, 27] + - !!python/tuple [9, 22] + - !!python/tuple [8, 15] + - !!python/tuple [8, 28] + - !!python/tuple [2, 9] + - !!python/tuple [19, 3] + - !!python/tuple [28, 27] + - !!python/tuple [28, 14] + - !!python/tuple [13, 20] + - !!python/tuple [8, 9] + - !!python/tuple [2, 21] + - !!python/tuple [15, 6] + - !!python/tuple [23, 2] + - !!python/tuple [19, 16] + - !!python/tuple [25, 26] + - !!python/tuple [23, 20] + - !!python/tuple [27, 0] + - !!python/tuple [2, 7] + - !!python/tuple [17, 16] + - !!python/tuple [18, 1] + - !!python/tuple [4, 30] + - !!python/tuple [28, 21] + - !!python/tuple [15, 14] + - !!python/tuple [8, 31] + - !!python/tuple [21, 14] + - !!python/tuple [5, 23] + - !!python/tuple [27, 29] + - !!python/tuple [7, 31] + - !!python/tuple [30, 11] + - !!python/tuple [6, 29] + - !!python/tuple [10, 2] + - !!python/tuple [12, 12] + - !!python/tuple [11, 15] + - !!python/tuple [5, 20] + - !!python/tuple [14, 22] + - !!python/tuple [1, 9] + - !!python/tuple [15, 5] + - !!python/tuple [23, 17] + - !!python/tuple [21, 22] + - !!python/tuple [15, 10] + - !!python/tuple [8, 16] + - !!python/tuple [18, 27] + - !!python/tuple [25, 19] + - !!python/tuple [29, 12] + - !!python/tuple [11, 8] + - !!python/tuple [0, 14] + - !!python/tuple [19, 8] + - !!python/tuple [19, 11] + - !!python/tuple [28, 13] + - !!python/tuple [21, 2] + - !!python/tuple [4, 25] + - !!python/tuple [1, 6] + - !!python/tuple [11, 4] + - !!python/tuple [10, 29] + - !!python/tuple [6, 25] + - !!python/tuple [8, 13] + - !!python/tuple [24, 3] + - !!python/tuple [0, 23] + - !!python/tuple [24, 26] + - !!python/tuple [21, 10] + - !!python/tuple [12, 13] + - !!python/tuple [22, 10] + - !!python/tuple [27, 30] + - !!python/tuple [26, 31] + - !!python/tuple [26, 6] + - !!python/tuple [9, 24] + - !!python/tuple [2, 5] + - !!python/tuple [11, 2] + - !!python/tuple [1, 24] + - !!python/tuple [27, 17] + - !!python/tuple [21, 5] + - !!python/tuple [20, 30] + - !!python/tuple [0, 15] + - !!python/tuple [8, 14] + - !!python/tuple [26, 11] + - !!python/tuple [17, 22] + - !!python/tuple [28, 1] + - !!python/tuple [31, 4] + - !!python/tuple [25, 0] + - !!python/tuple [14, 12] + - !!python/tuple [0, 9] + - !!python/tuple [26, 25] + - !!python/tuple [31, 6] + - !!python/tuple [8, 18] + - !!python/tuple [27, 16] + - !!python/tuple [1, 30] + - !!python/tuple [25, 24] + - !!python/tuple [0, 10] + - !!python/tuple [9, 0] + - !!python/tuple [22, 19] + - !!python/tuple [22, 29] + - !!python/tuple [10, 19] + - !!python/tuple [3, 30] + - !!python/tuple [23, 25] + - !!python/tuple [29, 4] + - !!python/tuple [13, 24] + - !!python/tuple [6, 6] + - !!python/tuple [15, 19] + - !!python/tuple [1, 13] + - !!python/tuple [28, 18] + - !!python/tuple [29, 0] + - !!python/tuple [23, 3] + - !!python/tuple [9, 11] + - !!python/tuple [31, 13] + - !!python/tuple [5, 12] + - !!python/tuple [31, 23] + - !!python/tuple [26, 14] + - !!python/tuple [24, 11] + - !!python/tuple [19, 17] + - !!python/tuple [7, 9] + - !!python/tuple [26, 5] + - !!python/tuple [29, 8] + - !!python/tuple [28, 20] + - !!python/tuple [10, 10] + - !!python/tuple [1, 15] + - !!python/tuple [24, 17] + - !!python/tuple [28, 29] + - !!python/tuple [13, 21] + - !!python/tuple [0, 28] + - !!python/tuple [30, 15] + - !!python/tuple [24, 5] + - !!python/tuple [30, 18] + - !!python/tuple [12, 3] + - !!python/tuple [26, 28] + - !!python/tuple [29, 11] + - !!python/tuple [14, 14] + - !!python/tuple [23, 6] + - !!python/tuple [15, 30] + - !!python/tuple [16, 26] + - !!python/tuple [18, 15] + - !!python/tuple [30, 16] + - !!python/tuple [29, 26] + - !!python/tuple [14, 25] + - !!python/tuple [21, 15] + - !!python/tuple [11, 3] + - !!python/tuple [9, 14] + - !!python/tuple [11, 26] + - !!python/tuple [20, 20] + - !!python/tuple [26, 12] + - !!python/tuple [6, 16] + - !!python/tuple [25, 17] + - !!python/tuple [5, 16] + - !!python/tuple [6, 26] + - !!python/tuple [18, 30] + - !!python/tuple [9, 3] + - !!python/tuple [29, 19] + - !!python/tuple [9, 27] + - !!python/tuple [10, 17] + - !!python/tuple [2, 2] + - !!python/tuple [17, 1] + - !!python/tuple [20, 9] + - !!python/tuple [15, 20] + - !!python/tuple [12, 29] + - !!python/tuple [16, 12] + - !!python/tuple [16, 2] + - !!python/tuple [6, 14] + - !!python/tuple [18, 16] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex44.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex44.yaml new file mode 100644 index 0000000..9813e7d --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex44.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [30, 2] + name: agent0 + start: [26, 3] +- goal: [29, 0] + name: agent1 + start: [9, 30] +- goal: [11, 3] + name: agent2 + start: [19, 24] +- goal: [21, 6] + name: agent3 + start: [27, 21] +- goal: [17, 6] + name: agent4 + start: [29, 26] +- goal: [29, 6] + name: agent5 + start: [9, 4] +- goal: [14, 16] + name: agent6 + start: [9, 27] +- goal: [6, 17] + name: agent7 + start: [17, 19] +- goal: [14, 24] + name: agent8 + start: [0, 3] +- goal: [24, 10] + name: agent9 + start: [9, 21] +- goal: [19, 10] + name: agent10 + start: [27, 25] +- goal: [13, 6] + name: agent11 + start: [31, 11] +- goal: [9, 13] + name: agent12 + start: [27, 20] +- goal: [29, 4] + name: agent13 + start: [30, 16] +- goal: [1, 16] + name: agent14 + start: [31, 23] +- goal: [13, 4] + name: agent15 + start: [3, 2] +- goal: [30, 5] + name: agent16 + start: [4, 23] +- goal: [23, 4] + name: agent17 + start: [1, 2] +- goal: [8, 12] + name: agent18 + start: [12, 7] +- goal: [23, 27] + name: agent19 + start: [6, 15] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [21, 8] + - !!python/tuple [4, 29] + - !!python/tuple [3, 4] + - !!python/tuple [5, 20] + - !!python/tuple [26, 30] + - !!python/tuple [28, 21] + - !!python/tuple [17, 20] + - !!python/tuple [9, 10] + - !!python/tuple [24, 3] + - !!python/tuple [22, 18] + - !!python/tuple [9, 20] + - !!python/tuple [5, 26] + - !!python/tuple [28, 20] + - !!python/tuple [31, 2] + - !!python/tuple [11, 4] + - !!python/tuple [20, 19] + - !!python/tuple [30, 24] + - !!python/tuple [27, 23] + - !!python/tuple [29, 21] + - !!python/tuple [13, 15] + - !!python/tuple [2, 16] + - !!python/tuple [15, 2] + - !!python/tuple [22, 16] + - !!python/tuple [13, 18] + - !!python/tuple [16, 20] + - !!python/tuple [3, 15] + - !!python/tuple [25, 21] + - !!python/tuple [21, 29] + - !!python/tuple [30, 26] + - !!python/tuple [28, 2] + - !!python/tuple [6, 1] + - !!python/tuple [12, 6] + - !!python/tuple [18, 0] + - !!python/tuple [9, 19] + - !!python/tuple [2, 1] + - !!python/tuple [28, 24] + - !!python/tuple [25, 6] + - !!python/tuple [9, 22] + - !!python/tuple [9, 3] + - !!python/tuple [25, 25] + - !!python/tuple [18, 4] + - !!python/tuple [22, 15] + - !!python/tuple [26, 4] + - !!python/tuple [9, 12] + - !!python/tuple [3, 14] + - !!python/tuple [20, 1] + - !!python/tuple [28, 9] + - !!python/tuple [5, 25] + - !!python/tuple [31, 20] + - !!python/tuple [6, 9] + - !!python/tuple [27, 10] + - !!python/tuple [25, 26] + - !!python/tuple [15, 4] + - !!python/tuple [0, 18] + - !!python/tuple [1, 28] + - !!python/tuple [15, 3] + - !!python/tuple [1, 19] + - !!python/tuple [21, 21] + - !!python/tuple [29, 27] + - !!python/tuple [20, 28] + - !!python/tuple [30, 15] + - !!python/tuple [5, 16] + - !!python/tuple [2, 19] + - !!python/tuple [19, 21] + - !!python/tuple [15, 23] + - !!python/tuple [31, 12] + - !!python/tuple [10, 1] + - !!python/tuple [6, 3] + - !!python/tuple [2, 28] + - !!python/tuple [15, 8] + - !!python/tuple [20, 12] + - !!python/tuple [29, 28] + - !!python/tuple [11, 12] + - !!python/tuple [17, 11] + - !!python/tuple [11, 0] + - !!python/tuple [11, 2] + - !!python/tuple [17, 15] + - !!python/tuple [29, 7] + - !!python/tuple [16, 26] + - !!python/tuple [30, 27] + - !!python/tuple [26, 18] + - !!python/tuple [6, 27] + - !!python/tuple [25, 0] + - !!python/tuple [16, 12] + - !!python/tuple [18, 6] + - !!python/tuple [6, 22] + - !!python/tuple [30, 9] + - !!python/tuple [4, 31] + - !!python/tuple [10, 7] + - !!python/tuple [3, 3] + - !!python/tuple [0, 25] + - !!python/tuple [24, 25] + - !!python/tuple [9, 26] + - !!python/tuple [9, 0] + - !!python/tuple [5, 27] + - !!python/tuple [19, 20] + - !!python/tuple [8, 7] + - !!python/tuple [6, 23] + - !!python/tuple [2, 13] + - !!python/tuple [3, 21] + - !!python/tuple [12, 13] + - !!python/tuple [27, 24] + - !!python/tuple [5, 10] + - !!python/tuple [10, 22] + - !!python/tuple [1, 31] + - !!python/tuple [28, 8] + - !!python/tuple [1, 10] + - !!python/tuple [26, 0] + - !!python/tuple [5, 12] + - !!python/tuple [6, 31] + - !!python/tuple [22, 23] + - !!python/tuple [13, 9] + - !!python/tuple [12, 25] + - !!python/tuple [11, 13] + - !!python/tuple [28, 14] + - !!python/tuple [15, 16] + - !!python/tuple [17, 18] + - !!python/tuple [12, 28] + - !!python/tuple [13, 8] + - !!python/tuple [26, 23] + - !!python/tuple [11, 9] + - !!python/tuple [29, 10] + - !!python/tuple [31, 15] + - !!python/tuple [25, 28] + - !!python/tuple [9, 5] + - !!python/tuple [21, 9] + - !!python/tuple [24, 0] + - !!python/tuple [21, 7] + - !!python/tuple [30, 1] + - !!python/tuple [8, 17] + - !!python/tuple [17, 9] + - !!python/tuple [18, 24] + - !!python/tuple [0, 22] + - !!python/tuple [1, 20] + - !!python/tuple [12, 21] + - !!python/tuple [15, 22] + - !!python/tuple [28, 5] + - !!python/tuple [30, 3] + - !!python/tuple [9, 23] + - !!python/tuple [19, 4] + - !!python/tuple [1, 0] + - !!python/tuple [14, 12] + - !!python/tuple [2, 8] + - !!python/tuple [1, 30] + - !!python/tuple [0, 2] + - !!python/tuple [29, 1] + - !!python/tuple [23, 2] + - !!python/tuple [4, 21] + - !!python/tuple [2, 10] + - !!python/tuple [17, 3] + - !!python/tuple [10, 24] + - !!python/tuple [19, 18] + - !!python/tuple [30, 12] + - !!python/tuple [24, 2] + - !!python/tuple [4, 26] + - !!python/tuple [17, 26] + - !!python/tuple [26, 7] + - !!python/tuple [20, 16] + - !!python/tuple [21, 5] + - !!python/tuple [9, 7] + - !!python/tuple [26, 17] + - !!python/tuple [21, 0] + - !!python/tuple [3, 0] + - !!python/tuple [28, 29] + - !!python/tuple [26, 5] + - !!python/tuple [10, 20] + - !!python/tuple [25, 5] + - !!python/tuple [4, 17] + - !!python/tuple [10, 12] + - !!python/tuple [10, 25] + - !!python/tuple [6, 12] + - !!python/tuple [25, 23] + - !!python/tuple [14, 31] + - !!python/tuple [30, 29] + - !!python/tuple [23, 31] + - !!python/tuple [20, 31] + - !!python/tuple [8, 16] + - !!python/tuple [22, 19] + - !!python/tuple [24, 7] + - !!python/tuple [8, 20] + - !!python/tuple [0, 26] + - !!python/tuple [17, 10] + - !!python/tuple [15, 1] + - !!python/tuple [20, 0] + - !!python/tuple [20, 6] + - !!python/tuple [7, 8] + - !!python/tuple [3, 7] + - !!python/tuple [2, 24] + - !!python/tuple [26, 22] + - !!python/tuple [21, 19] + - !!python/tuple [25, 31] + - !!python/tuple [21, 4] + - !!python/tuple [22, 31] + - !!python/tuple [23, 12] + - !!python/tuple [27, 18] + - !!python/tuple [31, 9] + - !!python/tuple [7, 22] + - !!python/tuple [8, 31] + - !!python/tuple [26, 16] + - !!python/tuple [31, 21] + - !!python/tuple [18, 19] + - !!python/tuple [0, 15] + - !!python/tuple [17, 22] + - !!python/tuple [5, 8] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex45.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex45.yaml new file mode 100644 index 0000000..0c18df3 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex45.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [25, 31] + name: agent0 + start: [31, 4] +- goal: [8, 14] + name: agent1 + start: [1, 5] +- goal: [11, 5] + name: agent2 + start: [13, 2] +- goal: [0, 24] + name: agent3 + start: [16, 30] +- goal: [2, 4] + name: agent4 + start: [29, 7] +- goal: [17, 4] + name: agent5 + start: [21, 27] +- goal: [0, 17] + name: agent6 + start: [20, 15] +- goal: [3, 19] + name: agent7 + start: [14, 8] +- goal: [15, 12] + name: agent8 + start: [20, 12] +- goal: [27, 4] + name: agent9 + start: [27, 1] +- goal: [28, 30] + name: agent10 + start: [1, 10] +- goal: [1, 29] + name: agent11 + start: [31, 14] +- goal: [23, 12] + name: agent12 + start: [31, 12] +- goal: [11, 11] + name: agent13 + start: [19, 5] +- goal: [31, 18] + name: agent14 + start: [27, 19] +- goal: [19, 8] + name: agent15 + start: [16, 19] +- goal: [14, 13] + name: agent16 + start: [19, 13] +- goal: [4, 3] + name: agent17 + start: [1, 18] +- goal: [28, 12] + name: agent18 + start: [11, 23] +- goal: [14, 24] + name: agent19 + start: [3, 23] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [9, 7] + - !!python/tuple [28, 23] + - !!python/tuple [26, 13] + - !!python/tuple [22, 15] + - !!python/tuple [19, 11] + - !!python/tuple [14, 25] + - !!python/tuple [5, 17] + - !!python/tuple [7, 4] + - !!python/tuple [8, 13] + - !!python/tuple [29, 8] + - !!python/tuple [27, 21] + - !!python/tuple [14, 11] + - !!python/tuple [27, 14] + - !!python/tuple [17, 21] + - !!python/tuple [8, 6] + - !!python/tuple [0, 22] + - !!python/tuple [5, 3] + - !!python/tuple [15, 7] + - !!python/tuple [12, 6] + - !!python/tuple [10, 26] + - !!python/tuple [29, 23] + - !!python/tuple [29, 25] + - !!python/tuple [27, 20] + - !!python/tuple [12, 13] + - !!python/tuple [9, 18] + - !!python/tuple [1, 23] + - !!python/tuple [22, 6] + - !!python/tuple [27, 26] + - !!python/tuple [21, 17] + - !!python/tuple [25, 0] + - !!python/tuple [19, 22] + - !!python/tuple [30, 5] + - !!python/tuple [22, 12] + - !!python/tuple [0, 14] + - !!python/tuple [0, 0] + - !!python/tuple [27, 28] + - !!python/tuple [25, 17] + - !!python/tuple [26, 6] + - !!python/tuple [17, 7] + - !!python/tuple [12, 19] + - !!python/tuple [18, 10] + - !!python/tuple [2, 20] + - !!python/tuple [27, 3] + - !!python/tuple [29, 4] + - !!python/tuple [19, 2] + - !!python/tuple [14, 1] + - !!python/tuple [10, 18] + - !!python/tuple [13, 31] + - !!python/tuple [10, 6] + - !!python/tuple [27, 5] + - !!python/tuple [5, 2] + - !!python/tuple [12, 4] + - !!python/tuple [7, 25] + - !!python/tuple [26, 20] + - !!python/tuple [7, 8] + - !!python/tuple [15, 29] + - !!python/tuple [13, 28] + - !!python/tuple [13, 11] + - !!python/tuple [26, 19] + - !!python/tuple [29, 29] + - !!python/tuple [19, 28] + - !!python/tuple [4, 7] + - !!python/tuple [0, 26] + - !!python/tuple [3, 17] + - !!python/tuple [7, 30] + - !!python/tuple [6, 2] + - !!python/tuple [1, 21] + - !!python/tuple [22, 20] + - !!python/tuple [2, 16] + - !!python/tuple [23, 1] + - !!python/tuple [26, 8] + - !!python/tuple [5, 23] + - !!python/tuple [21, 21] + - !!python/tuple [24, 16] + - !!python/tuple [0, 27] + - !!python/tuple [20, 14] + - !!python/tuple [8, 16] + - !!python/tuple [23, 4] + - !!python/tuple [3, 29] + - !!python/tuple [22, 25] + - !!python/tuple [19, 29] + - !!python/tuple [0, 12] + - !!python/tuple [31, 16] + - !!python/tuple [24, 23] + - !!python/tuple [30, 9] + - !!python/tuple [6, 24] + - !!python/tuple [21, 9] + - !!python/tuple [12, 11] + - !!python/tuple [24, 10] + - !!python/tuple [9, 12] + - !!python/tuple [29, 14] + - !!python/tuple [9, 10] + - !!python/tuple [8, 29] + - !!python/tuple [18, 11] + - !!python/tuple [13, 23] + - !!python/tuple [23, 17] + - !!python/tuple [5, 31] + - !!python/tuple [28, 7] + - !!python/tuple [4, 24] + - !!python/tuple [18, 15] + - !!python/tuple [22, 23] + - !!python/tuple [1, 11] + - !!python/tuple [14, 30] + - !!python/tuple [15, 5] + - !!python/tuple [10, 29] + - !!python/tuple [31, 10] + - !!python/tuple [4, 11] + - !!python/tuple [3, 9] + - !!python/tuple [28, 8] + - !!python/tuple [12, 26] + - !!python/tuple [16, 8] + - !!python/tuple [9, 22] + - !!python/tuple [18, 12] + - !!python/tuple [6, 27] + - !!python/tuple [19, 12] + - !!python/tuple [18, 28] + - !!python/tuple [2, 25] + - !!python/tuple [17, 15] + - !!python/tuple [3, 30] + - !!python/tuple [12, 3] + - !!python/tuple [7, 29] + - !!python/tuple [14, 12] + - !!python/tuple [1, 31] + - !!python/tuple [27, 29] + - !!python/tuple [12, 14] + - !!python/tuple [6, 28] + - !!python/tuple [15, 14] + - !!python/tuple [3, 6] + - !!python/tuple [26, 27] + - !!python/tuple [3, 26] + - !!python/tuple [0, 18] + - !!python/tuple [22, 21] + - !!python/tuple [13, 24] + - !!python/tuple [21, 26] + - !!python/tuple [2, 18] + - !!python/tuple [11, 27] + - !!python/tuple [12, 15] + - !!python/tuple [22, 7] + - !!python/tuple [9, 0] + - !!python/tuple [24, 5] + - !!python/tuple [11, 22] + - !!python/tuple [22, 5] + - !!python/tuple [12, 25] + - !!python/tuple [30, 26] + - !!python/tuple [17, 19] + - !!python/tuple [22, 11] + - !!python/tuple [13, 15] + - !!python/tuple [23, 6] + - !!python/tuple [9, 14] + - !!python/tuple [22, 4] + - !!python/tuple [2, 12] + - !!python/tuple [15, 15] + - !!python/tuple [10, 24] + - !!python/tuple [29, 28] + - !!python/tuple [10, 12] + - !!python/tuple [23, 9] + - !!python/tuple [10, 13] + - !!python/tuple [10, 20] + - !!python/tuple [1, 27] + - !!python/tuple [5, 10] + - !!python/tuple [12, 24] + - !!python/tuple [8, 26] + - !!python/tuple [29, 21] + - !!python/tuple [29, 13] + - !!python/tuple [25, 11] + - !!python/tuple [1, 1] + - !!python/tuple [6, 29] + - !!python/tuple [27, 22] + - !!python/tuple [6, 0] + - !!python/tuple [6, 30] + - !!python/tuple [28, 26] + - !!python/tuple [4, 31] + - !!python/tuple [23, 3] + - !!python/tuple [7, 20] + - !!python/tuple [16, 16] + - !!python/tuple [11, 15] + - !!python/tuple [16, 14] + - !!python/tuple [28, 11] + - !!python/tuple [3, 25] + - !!python/tuple [16, 1] + - !!python/tuple [16, 3] + - !!python/tuple [18, 27] + - !!python/tuple [23, 20] + - !!python/tuple [0, 10] + - !!python/tuple [3, 22] + - !!python/tuple [22, 16] + - !!python/tuple [7, 18] + - !!python/tuple [29, 30] + - !!python/tuple [26, 17] + - !!python/tuple [1, 7] + - !!python/tuple [13, 13] + - !!python/tuple [25, 7] + - !!python/tuple [24, 28] + - !!python/tuple [26, 9] + - !!python/tuple [17, 30] + - !!python/tuple [25, 21] + - !!python/tuple [0, 25] + - !!python/tuple [8, 5] + - !!python/tuple [23, 25] + - !!python/tuple [13, 0] + - !!python/tuple [19, 21] + - !!python/tuple [9, 28] + - !!python/tuple [31, 7] + - !!python/tuple [20, 21] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex46.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex46.yaml new file mode 100644 index 0000000..7a7cfd5 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex46.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [10, 1] + name: agent0 + start: [27, 28] +- goal: [4, 22] + name: agent1 + start: [15, 19] +- goal: [9, 5] + name: agent2 + start: [9, 21] +- goal: [28, 21] + name: agent3 + start: [31, 8] +- goal: [27, 31] + name: agent4 + start: [19, 15] +- goal: [2, 26] + name: agent5 + start: [31, 28] +- goal: [9, 0] + name: agent6 + start: [10, 16] +- goal: [7, 14] + name: agent7 + start: [10, 19] +- goal: [18, 3] + name: agent8 + start: [6, 14] +- goal: [23, 13] + name: agent9 + start: [24, 19] +- goal: [14, 14] + name: agent10 + start: [16, 20] +- goal: [12, 12] + name: agent11 + start: [20, 15] +- goal: [7, 7] + name: agent12 + start: [8, 17] +- goal: [9, 18] + name: agent13 + start: [1, 6] +- goal: [6, 0] + name: agent14 + start: [15, 5] +- goal: [18, 6] + name: agent15 + start: [30, 14] +- goal: [30, 29] + name: agent16 + start: [1, 22] +- goal: [16, 4] + name: agent17 + start: [2, 2] +- goal: [2, 24] + name: agent18 + start: [7, 16] +- goal: [29, 9] + name: agent19 + start: [2, 7] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [18, 13] + - !!python/tuple [18, 18] + - !!python/tuple [17, 18] + - !!python/tuple [9, 27] + - !!python/tuple [10, 27] + - !!python/tuple [4, 14] + - !!python/tuple [3, 21] + - !!python/tuple [15, 9] + - !!python/tuple [26, 14] + - !!python/tuple [18, 14] + - !!python/tuple [28, 5] + - !!python/tuple [1, 17] + - !!python/tuple [10, 30] + - !!python/tuple [20, 26] + - !!python/tuple [30, 28] + - !!python/tuple [7, 10] + - !!python/tuple [4, 5] + - !!python/tuple [8, 23] + - !!python/tuple [23, 11] + - !!python/tuple [0, 24] + - !!python/tuple [21, 20] + - !!python/tuple [5, 23] + - !!python/tuple [31, 9] + - !!python/tuple [1, 19] + - !!python/tuple [11, 28] + - !!python/tuple [3, 25] + - !!python/tuple [18, 16] + - !!python/tuple [22, 21] + - !!python/tuple [15, 31] + - !!python/tuple [5, 31] + - !!python/tuple [27, 7] + - !!python/tuple [24, 26] + - !!python/tuple [8, 20] + - !!python/tuple [3, 5] + - !!python/tuple [10, 31] + - !!python/tuple [18, 25] + - !!python/tuple [15, 22] + - !!python/tuple [12, 2] + - !!python/tuple [12, 1] + - !!python/tuple [17, 22] + - !!python/tuple [14, 28] + - !!python/tuple [27, 4] + - !!python/tuple [15, 12] + - !!python/tuple [14, 13] + - !!python/tuple [13, 19] + - !!python/tuple [11, 31] + - !!python/tuple [16, 9] + - !!python/tuple [28, 12] + - !!python/tuple [2, 15] + - !!python/tuple [12, 25] + - !!python/tuple [14, 17] + - !!python/tuple [31, 14] + - !!python/tuple [19, 7] + - !!python/tuple [6, 18] + - !!python/tuple [21, 14] + - !!python/tuple [8, 10] + - !!python/tuple [11, 2] + - !!python/tuple [0, 14] + - !!python/tuple [26, 11] + - !!python/tuple [1, 4] + - !!python/tuple [31, 13] + - !!python/tuple [21, 28] + - !!python/tuple [1, 21] + - !!python/tuple [19, 16] + - !!python/tuple [14, 11] + - !!python/tuple [8, 25] + - !!python/tuple [29, 23] + 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[9, 3] + - !!python/tuple [11, 1] + - !!python/tuple [26, 17] + - !!python/tuple [14, 1] + - !!python/tuple [14, 7] + - !!python/tuple [13, 30] + - !!python/tuple [0, 1] + - !!python/tuple [1, 0] + - !!python/tuple [21, 12] + - !!python/tuple [1, 9] + - !!python/tuple [7, 22] + - !!python/tuple [13, 18] + - !!python/tuple [3, 4] + - !!python/tuple [18, 15] + - !!python/tuple [2, 30] + - !!python/tuple [5, 21] + - !!python/tuple [17, 12] + - !!python/tuple [4, 3] + - !!python/tuple [4, 4] + - !!python/tuple [4, 2] + - !!python/tuple [18, 30] + - !!python/tuple [13, 20] + - !!python/tuple [30, 23] + - !!python/tuple [0, 31] + - !!python/tuple [26, 2] + - !!python/tuple [10, 4] + - !!python/tuple [9, 12] + - !!python/tuple [18, 22] + - !!python/tuple [4, 11] + - !!python/tuple [22, 20] + - !!python/tuple [20, 29] + - !!python/tuple [26, 12] + - !!python/tuple [11, 14] + - !!python/tuple [18, 19] + - !!python/tuple [0, 27] + - !!python/tuple [1, 10] + - !!python/tuple [15, 15] + - !!python/tuple [23, 12] + - !!python/tuple [19, 8] + - !!python/tuple [2, 12] + - !!python/tuple [11, 16] + - !!python/tuple [10, 18] + - !!python/tuple [30, 4] + - !!python/tuple [5, 3] + - !!python/tuple [6, 2] + - !!python/tuple [5, 2] + - !!python/tuple [5, 30] + - !!python/tuple [6, 10] + - !!python/tuple [25, 0] + - !!python/tuple [31, 29] + - !!python/tuple [31, 6] + - !!python/tuple [5, 17] + - !!python/tuple [6, 21] + - !!python/tuple [6, 11] + - !!python/tuple [18, 1] + - !!python/tuple [31, 19] + - !!python/tuple [31, 18] + - !!python/tuple [15, 0] + - !!python/tuple [24, 7] + - !!python/tuple [30, 30] + - !!python/tuple [18, 2] + - !!python/tuple [1, 31] + - !!python/tuple [30, 22] + - !!python/tuple [13, 1] + - !!python/tuple [24, 18] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex47.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex47.yaml new file mode 100644 index 0000000..74b699f --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex47.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [24, 15] + name: agent0 + start: [19, 0] +- goal: [2, 10] + name: agent1 + start: [29, 6] +- goal: [6, 7] + name: agent2 + start: [2, 28] +- goal: [9, 2] + name: agent3 + start: [11, 27] +- goal: [3, 7] + name: agent4 + start: [9, 12] +- goal: [25, 18] + name: agent5 + start: [4, 16] +- goal: [13, 18] + name: agent6 + start: [22, 30] +- goal: [25, 12] + name: agent7 + start: [1, 26] +- goal: [8, 12] + name: agent8 + start: [12, 1] +- goal: [30, 7] + name: agent9 + start: [17, 4] +- goal: [15, 15] + name: agent10 + start: [14, 22] +- goal: [12, 20] + name: agent11 + start: [20, 6] +- goal: [25, 29] + name: agent12 + start: [8, 3] +- goal: [13, 0] + name: agent13 + start: [14, 14] +- goal: [24, 6] + name: agent14 + start: [15, 9] +- goal: [20, 6] + name: agent15 + start: [10, 28] +- goal: [8, 20] + name: agent16 + start: [0, 18] +- goal: [3, 29] + name: agent17 + start: [13, 5] +- goal: [14, 19] + name: agent18 + start: [22, 2] +- goal: [9, 26] + name: agent19 + start: [21, 23] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [23, 15] + - !!python/tuple [25, 2] + - !!python/tuple [6, 15] + - !!python/tuple [21, 18] + - !!python/tuple [15, 31] + - !!python/tuple [10, 26] + - !!python/tuple [20, 0] + - !!python/tuple [0, 7] + - !!python/tuple [2, 30] + - !!python/tuple [16, 31] + - !!python/tuple [17, 30] + - !!python/tuple [24, 4] + - !!python/tuple [28, 29] + - !!python/tuple [6, 24] + - !!python/tuple [31, 29] + - !!python/tuple [20, 14] + - !!python/tuple [11, 26] + - !!python/tuple [5, 24] + - !!python/tuple [30, 0] + - !!python/tuple [8, 4] + - !!python/tuple [26, 23] + - !!python/tuple [14, 7] + - !!python/tuple [0, 20] + - !!python/tuple [28, 16] + - !!python/tuple [31, 9] + - !!python/tuple [2, 3] + - !!python/tuple [25, 13] + - !!python/tuple [6, 17] + - !!python/tuple [13, 4] + - !!python/tuple [27, 29] + - !!python/tuple [19, 15] + - !!python/tuple [21, 13] + - !!python/tuple [25, 20] + - !!python/tuple [26, 24] + - !!python/tuple [10, 20] + - !!python/tuple [16, 18] + - !!python/tuple [17, 24] + - !!python/tuple [31, 23] + - !!python/tuple [7, 29] + - !!python/tuple [18, 6] + - !!python/tuple [27, 20] + - !!python/tuple [20, 3] + - !!python/tuple [24, 10] + - !!python/tuple [18, 15] + - !!python/tuple [12, 14] + - !!python/tuple [17, 19] + - !!python/tuple [13, 3] + - !!python/tuple [10, 21] + - !!python/tuple [29, 21] + - !!python/tuple [3, 14] + - !!python/tuple [30, 8] + - !!python/tuple [24, 3] + - !!python/tuple [21, 21] + - !!python/tuple [6, 23] + - !!python/tuple [26, 11] + - !!python/tuple [22, 8] + - !!python/tuple [5, 6] + - !!python/tuple [8, 31] + - !!python/tuple [8, 27] + - !!python/tuple [16, 3] + - !!python/tuple [16, 24] + - !!python/tuple [9, 14] + - !!python/tuple [17, 8] + - !!python/tuple [4, 17] + - !!python/tuple [8, 1] + - !!python/tuple [13, 2] + - !!python/tuple [30, 23] + - !!python/tuple [1, 20] + - !!python/tuple [27, 23] + - !!python/tuple [4, 6] + - !!python/tuple [16, 19] + - !!python/tuple [26, 29] + - !!python/tuple [17, 5] + - !!python/tuple [0, 8] + - !!python/tuple [27, 25] + - !!python/tuple [29, 24] + - !!python/tuple [13, 8] + - !!python/tuple [11, 6] + - !!python/tuple [17, 16] + - !!python/tuple [3, 28] + - !!python/tuple [28, 10] + - !!python/tuple [28, 0] + - !!python/tuple [9, 5] + - !!python/tuple [25, 30] + - !!python/tuple [28, 14] + - !!python/tuple [14, 3] + - !!python/tuple [6, 25] + - !!python/tuple [2, 19] + - !!python/tuple [27, 26] + - !!python/tuple [23, 4] + - !!python/tuple [28, 1] + - !!python/tuple [27, 10] + - !!python/tuple [14, 26] + - !!python/tuple [19, 20] + - !!python/tuple [24, 30] + - !!python/tuple [24, 21] + - !!python/tuple [25, 22] + - !!python/tuple [9, 10] + - !!python/tuple [7, 24] + - !!python/tuple [27, 7] + - !!python/tuple [1, 3] + - !!python/tuple [20, 20] + - !!python/tuple [21, 27] + - !!python/tuple [31, 12] + - !!python/tuple [17, 29] + - !!python/tuple [14, 2] + - !!python/tuple [10, 15] + - !!python/tuple [22, 12] + - !!python/tuple [22, 18] + - !!python/tuple [7, 23] + - !!python/tuple [13, 25] + - !!python/tuple [11, 11] + - !!python/tuple [14, 16] + - !!python/tuple [13, 1] + - !!python/tuple [19, 9] + - !!python/tuple [20, 24] + - !!python/tuple [11, 12] + - !!python/tuple [11, 1] + - !!python/tuple [22, 5] + - !!python/tuple [1, 5] + - !!python/tuple [18, 25] + - !!python/tuple [24, 19] + - !!python/tuple [12, 21] + - !!python/tuple [10, 6] + - !!python/tuple [3, 13] + - !!python/tuple [20, 5] + - !!python/tuple [31, 4] + - !!python/tuple [21, 5] + - !!python/tuple [29, 10] + - !!python/tuple [16, 20] + - !!python/tuple [30, 10] + - !!python/tuple [17, 14] + - !!python/tuple [15, 28] + - !!python/tuple [2, 13] + - !!python/tuple [3, 21] + - !!python/tuple [2, 12] + - !!python/tuple [23, 10] + - !!python/tuple [15, 8] + - !!python/tuple [16, 25] + - !!python/tuple [12, 16] + - !!python/tuple [3, 4] + - !!python/tuple [10, 23] + - !!python/tuple [25, 26] + - !!python/tuple [30, 28] + - !!python/tuple [23, 11] + - !!python/tuple [22, 9] + - !!python/tuple [0, 31] + - !!python/tuple [3, 8] + - !!python/tuple [31, 28] + - !!python/tuple [2, 1] + - !!python/tuple [6, 22] + - !!python/tuple [3, 30] + - !!python/tuple [11, 28] + - !!python/tuple [6, 20] + - !!python/tuple [12, 29] + - !!python/tuple [11, 3] + - !!python/tuple [23, 13] + - !!python/tuple [2, 31] + - !!python/tuple [29, 31] + - !!python/tuple [0, 29] + - !!python/tuple [15, 19] + - !!python/tuple [18, 31] + - !!python/tuple [12, 11] + - !!python/tuple [0, 16] + - !!python/tuple [6, 6] + - !!python/tuple [8, 6] + - !!python/tuple [16, 4] + - !!python/tuple [28, 31] + - !!python/tuple [30, 19] + - !!python/tuple [24, 13] + - !!python/tuple [5, 8] + - !!python/tuple [1, 18] + - !!python/tuple [16, 28] + - !!python/tuple [8, 22] + - !!python/tuple [16, 12] + - !!python/tuple [8, 9] + - !!python/tuple [7, 11] + - !!python/tuple [7, 15] + - !!python/tuple [29, 13] + - !!python/tuple [14, 17] + - !!python/tuple [23, 14] + - !!python/tuple [7, 3] + - !!python/tuple [26, 5] + - !!python/tuple [5, 17] + - !!python/tuple [24, 31] + - !!python/tuple [20, 4] + - !!python/tuple [20, 9] + - !!python/tuple [31, 24] + - !!python/tuple [3, 3] + - !!python/tuple [16, 17] + - !!python/tuple [13, 19] + - !!python/tuple [13, 26] + - !!python/tuple [25, 17] + - !!python/tuple [4, 28] + - !!python/tuple [28, 2] + - !!python/tuple [20, 22] + - !!python/tuple [22, 0] + - !!python/tuple [15, 24] + - !!python/tuple [4, 19] + - !!python/tuple [7, 6] + - !!python/tuple [21, 30] + - !!python/tuple [4, 12] + - !!python/tuple [27, 16] + - !!python/tuple [6, 12] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex48.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex48.yaml new file mode 100644 index 0000000..8fd39a6 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex48.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [25, 24] + name: agent0 + start: [4, 16] +- goal: [23, 5] + name: agent1 + start: [1, 5] +- goal: [1, 23] + name: agent2 + start: [25, 27] +- goal: [27, 27] + name: agent3 + start: [10, 18] +- goal: [11, 13] + name: agent4 + start: [21, 23] +- goal: [21, 1] + name: agent5 + start: [11, 29] +- goal: [21, 2] + name: agent6 + start: [26, 31] +- goal: [16, 30] + name: agent7 + start: [6, 16] +- goal: [31, 23] + name: agent8 + start: [15, 27] +- goal: [4, 15] + name: agent9 + start: [4, 21] +- goal: [4, 5] + name: agent10 + start: [12, 13] +- goal: [6, 2] + name: agent11 + start: [22, 11] +- goal: [12, 3] + name: agent12 + start: [14, 19] +- goal: [18, 11] + name: agent13 + start: [9, 20] +- goal: [25, 21] + name: agent14 + start: [11, 17] +- goal: [5, 28] + name: agent15 + start: [3, 17] +- goal: [9, 4] + name: agent16 + start: [15, 2] +- goal: [9, 21] + name: agent17 + start: [29, 3] +- goal: [26, 20] + name: agent18 + start: [8, 7] +- goal: [19, 23] + name: agent19 + start: [0, 24] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [17, 24] + - !!python/tuple [13, 29] + - !!python/tuple [0, 17] + - !!python/tuple [29, 29] + - !!python/tuple [16, 28] + - !!python/tuple [24, 5] + - !!python/tuple [18, 7] + - !!python/tuple [30, 6] + - !!python/tuple [16, 0] + - !!python/tuple [21, 21] + - !!python/tuple [21, 16] + - !!python/tuple [7, 8] + - !!python/tuple [31, 4] + - !!python/tuple [29, 28] + - !!python/tuple [19, 19] + - !!python/tuple [21, 5] + - !!python/tuple [12, 18] + - !!python/tuple [15, 15] + - !!python/tuple [18, 9] + - !!python/tuple [7, 21] + - !!python/tuple [17, 25] + - !!python/tuple [10, 29] + - !!python/tuple [27, 7] + - !!python/tuple [29, 26] + - !!python/tuple [31, 3] + - !!python/tuple [25, 17] + - !!python/tuple [30, 10] + - !!python/tuple [11, 14] + - !!python/tuple [28, 30] + - !!python/tuple [24, 6] + - !!python/tuple [20, 6] + - !!python/tuple [25, 15] + - !!python/tuple [30, 21] + - !!python/tuple [31, 5] + - !!python/tuple [13, 8] + - !!python/tuple [22, 30] + - !!python/tuple [7, 7] + - !!python/tuple [18, 12] + - !!python/tuple [3, 8] + - !!python/tuple [14, 25] + - !!python/tuple [25, 16] + - !!python/tuple [4, 29] + - !!python/tuple [4, 28] + - !!python/tuple [0, 13] + - !!python/tuple [1, 22] + - !!python/tuple [20, 11] + - !!python/tuple [12, 1] + - !!python/tuple [20, 5] + - !!python/tuple [29, 19] + - !!python/tuple [28, 17] + - !!python/tuple [30, 0] + - !!python/tuple [3, 22] + - !!python/tuple [14, 21] + - !!python/tuple [18, 4] + - !!python/tuple [19, 31] + - !!python/tuple [11, 23] + - !!python/tuple [26, 28] + - !!python/tuple [16, 23] + - !!python/tuple [9, 11] + - !!python/tuple [29, 7] + - !!python/tuple [10, 13] + - !!python/tuple [16, 10] + - !!python/tuple [0, 4] + - !!python/tuple [11, 3] + - !!python/tuple [0, 9] + - !!python/tuple [13, 16] + - !!python/tuple [23, 18] + - !!python/tuple [5, 23] + - !!python/tuple [22, 25] + - !!python/tuple [12, 12] + - !!python/tuple [17, 19] + - !!python/tuple [22, 1] + - !!python/tuple [20, 24] + - !!python/tuple [25, 11] + - !!python/tuple [30, 12] + - !!python/tuple [12, 11] + - !!python/tuple [19, 8] + - !!python/tuple [26, 9] + - !!python/tuple [6, 25] + - !!python/tuple [23, 27] + - !!python/tuple [15, 1] + - !!python/tuple [21, 24] + - !!python/tuple [18, 22] + - !!python/tuple [15, 19] + - !!python/tuple [14, 8] + - !!python/tuple [9, 8] + - !!python/tuple [19, 26] + - !!python/tuple [13, 27] + - !!python/tuple [1, 18] + - !!python/tuple [6, 29] + - !!python/tuple [7, 27] + - !!python/tuple [20, 21] + - !!python/tuple [14, 14] + - !!python/tuple [2, 7] + - !!python/tuple [29, 23] + - !!python/tuple [16, 27] + - !!python/tuple [13, 25] + - !!python/tuple [6, 19] + - !!python/tuple [31, 15] + - !!python/tuple [9, 14] + - !!python/tuple [24, 22] + - !!python/tuple [24, 15] + - !!python/tuple [22, 28] + - !!python/tuple [5, 31] + - !!python/tuple [17, 10] + - !!python/tuple [0, 20] + - !!python/tuple [3, 19] + - !!python/tuple [8, 30] + - !!python/tuple [22, 22] + - !!python/tuple [19, 6] + - !!python/tuple [2, 8] + - !!python/tuple [8, 0] + - !!python/tuple [23, 22] + - !!python/tuple [10, 2] + - !!python/tuple [0, 19] + - !!python/tuple [2, 22] + - !!python/tuple [15, 4] + - !!python/tuple [26, 22] + - !!python/tuple [17, 5] + - !!python/tuple [18, 25] + - !!python/tuple [28, 10] + - !!python/tuple [17, 1] + - !!python/tuple [13, 21] + - !!python/tuple [13, 5] + - !!python/tuple [22, 23] + - !!python/tuple [30, 15] + - !!python/tuple [10, 21] + - !!python/tuple [13, 23] + - !!python/tuple [10, 22] + - !!python/tuple [16, 21] + - !!python/tuple [18, 23] + - !!python/tuple [3, 13] + - !!python/tuple [17, 8] + - !!python/tuple [14, 5] + - !!python/tuple [5, 30] + - !!python/tuple [8, 16] + - !!python/tuple [0, 23] + - !!python/tuple [11, 24] + - !!python/tuple [1, 12] + - !!python/tuple [8, 26] + - !!python/tuple [17, 11] + - !!python/tuple [0, 29] + - !!python/tuple [29, 10] + - !!python/tuple [27, 20] + - !!python/tuple [21, 10] + - !!python/tuple [21, 31] + - !!python/tuple [20, 28] + - !!python/tuple [23, 1] + - !!python/tuple [3, 9] + - !!python/tuple [16, 3] + - !!python/tuple [7, 10] + - !!python/tuple [7, 12] + - !!python/tuple [27, 15] + - !!python/tuple [10, 11] + - !!python/tuple [11, 5] + - !!python/tuple [9, 23] + - !!python/tuple [3, 14] + - !!python/tuple [29, 27] + - !!python/tuple [0, 22] + - !!python/tuple [5, 21] + - !!python/tuple [27, 13] + - !!python/tuple [27, 28] + - !!python/tuple [0, 8] + - !!python/tuple [28, 19] + - !!python/tuple [25, 6] + - !!python/tuple [28, 0] + - !!python/tuple [28, 8] + - !!python/tuple [19, 27] + - !!python/tuple [25, 29] + - !!python/tuple [25, 20] + - !!python/tuple [7, 13] + - !!python/tuple [21, 17] + - !!python/tuple [26, 5] + - !!python/tuple [29, 17] + - !!python/tuple [8, 23] + - !!python/tuple [31, 22] + - !!python/tuple [24, 9] + - !!python/tuple [28, 22] + - !!python/tuple [10, 6] + - !!python/tuple [12, 14] + - !!python/tuple [24, 2] + - !!python/tuple [1, 20] + - !!python/tuple [10, 15] + - !!python/tuple [0, 30] + - !!python/tuple [18, 31] + - !!python/tuple [17, 28] + - !!python/tuple [26, 14] + - !!python/tuple [5, 16] + - !!python/tuple [29, 16] + - !!python/tuple [27, 17] + - !!python/tuple [21, 7] + - !!python/tuple [12, 2] + - !!python/tuple [26, 17] + - !!python/tuple [17, 26] + - !!python/tuple [31, 10] + - !!python/tuple [6, 27] + - !!python/tuple [18, 3] + - !!python/tuple [7, 28] + - !!python/tuple [3, 6] + - !!python/tuple [25, 23] + - !!python/tuple [15, 10] + - !!python/tuple [31, 25] + - !!python/tuple [8, 8] + - !!python/tuple [27, 1] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex49.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex49.yaml new file mode 100644 index 0000000..64aac42 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex49.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [25, 29] + name: agent0 + start: [18, 24] +- goal: [15, 23] + name: agent1 + start: [19, 17] +- goal: [21, 22] + name: agent2 + start: [1, 6] +- goal: [11, 17] + name: agent3 + start: [5, 23] +- goal: [18, 15] + name: agent4 + start: [1, 28] +- goal: [12, 12] + name: agent5 + start: [20, 17] +- goal: [28, 24] + name: agent6 + start: [3, 4] +- goal: [20, 12] + name: agent7 + start: [9, 12] +- goal: [15, 11] + name: agent8 + start: [20, 26] +- goal: [13, 4] + name: agent9 + start: [12, 24] +- goal: [27, 25] + name: agent10 + start: [15, 26] +- goal: [15, 2] + name: agent11 + start: [22, 30] +- goal: [6, 5] + name: agent12 + start: [21, 26] +- goal: [18, 27] + name: agent13 + start: [31, 12] +- goal: [21, 2] + name: agent14 + start: [11, 31] +- goal: [20, 13] + name: agent15 + start: [16, 28] +- goal: [14, 19] + name: agent16 + start: [23, 19] +- goal: [25, 4] + name: agent17 + start: [25, 0] +- goal: [22, 3] + name: agent18 + start: [5, 15] +- goal: [29, 27] + name: agent19 + start: [6, 14] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [31, 14] + - !!python/tuple [3, 11] + - !!python/tuple [18, 19] + - !!python/tuple [2, 27] + - !!python/tuple [12, 7] + - !!python/tuple [0, 23] + - !!python/tuple [4, 28] + - !!python/tuple [7, 2] + - !!python/tuple [19, 30] + - !!python/tuple [17, 13] + - !!python/tuple [19, 6] + - !!python/tuple [27, 17] + - !!python/tuple [31, 31] + - !!python/tuple [0, 30] + - !!python/tuple [29, 11] + - !!python/tuple [17, 3] + - !!python/tuple [4, 15] + - !!python/tuple [12, 0] + - !!python/tuple [30, 20] + - !!python/tuple [24, 13] + - !!python/tuple [8, 30] + - !!python/tuple [2, 20] + - !!python/tuple [27, 15] + - !!python/tuple [25, 3] + - !!python/tuple [10, 30] + - !!python/tuple [2, 15] + - !!python/tuple [5, 4] + - !!python/tuple [1, 7] + - !!python/tuple [4, 27] + - !!python/tuple [30, 1] + - !!python/tuple [4, 25] + - !!python/tuple [2, 5] + - !!python/tuple [30, 2] + - !!python/tuple [18, 8] + - !!python/tuple [12, 22] + - !!python/tuple [23, 13] + - !!python/tuple [6, 9] + - !!python/tuple [5, 21] + - !!python/tuple [4, 14] + - !!python/tuple [2, 18] + - !!python/tuple [20, 9] + - !!python/tuple [10, 16] + - !!python/tuple [19, 14] + - !!python/tuple [14, 0] + - !!python/tuple [13, 5] + - !!python/tuple [24, 18] + - !!python/tuple [31, 10] + - !!python/tuple [29, 19] + - !!python/tuple [5, 18] + - !!python/tuple [19, 25] + - !!python/tuple [17, 23] + - !!python/tuple [19, 20] + - !!python/tuple [9, 7] + - !!python/tuple [3, 24] + - !!python/tuple [27, 20] + - !!python/tuple [15, 29] + - !!python/tuple [6, 22] + - !!python/tuple [14, 16] + - !!python/tuple [25, 2] + - !!python/tuple [23, 8] + - !!python/tuple [14, 15] + - !!python/tuple [3, 27] + - !!python/tuple [12, 18] + - !!python/tuple [29, 16] + - !!python/tuple [10, 8] + - !!python/tuple [12, 31] + - !!python/tuple [27, 2] + - !!python/tuple [8, 16] + - !!python/tuple [26, 8] + - !!python/tuple [9, 28] + - !!python/tuple [0, 28] + - !!python/tuple [23, 29] + - !!python/tuple [27, 28] + - !!python/tuple [28, 13] + - !!python/tuple [11, 20] + - !!python/tuple [7, 3] + - !!python/tuple [24, 8] + - !!python/tuple [6, 29] + - !!python/tuple [4, 4] + - !!python/tuple [5, 12] + - !!python/tuple [1, 11] + - !!python/tuple [10, 2] + - !!python/tuple [30, 30] + - !!python/tuple [9, 2] + - !!python/tuple [18, 16] + - !!python/tuple [17, 16] + - !!python/tuple [29, 28] + - !!python/tuple [1, 21] + - !!python/tuple [24, 26] + - !!python/tuple [8, 14] + - !!python/tuple [8, 22] + - !!python/tuple [9, 19] + - !!python/tuple [22, 11] + - !!python/tuple [23, 22] + - !!python/tuple [23, 10] + - !!python/tuple [15, 21] + - !!python/tuple [1, 27] + - !!python/tuple [2, 26] + - !!python/tuple [23, 11] + - !!python/tuple [15, 12] + - !!python/tuple [6, 17] + - !!python/tuple [29, 15] + - !!python/tuple [11, 14] + - !!python/tuple [20, 19] + - !!python/tuple [18, 11] + - !!python/tuple [20, 25] + - !!python/tuple [16, 8] + - !!python/tuple [3, 17] + - !!python/tuple [19, 24] + - !!python/tuple [29, 31] + - !!python/tuple [15, 9] + - !!python/tuple [7, 11] + - !!python/tuple [16, 0] + - !!python/tuple [3, 1] + - !!python/tuple [10, 19] + - !!python/tuple [22, 23] + - !!python/tuple [8, 7] + - !!python/tuple [23, 5] + - !!python/tuple [1, 15] + - !!python/tuple [10, 12] + - !!python/tuple [26, 27] + - !!python/tuple [14, 27] + - !!python/tuple [31, 1] + - !!python/tuple [25, 25] + - !!python/tuple [14, 23] + - !!python/tuple [0, 12] + - !!python/tuple [0, 20] + - !!python/tuple [14, 4] + - !!python/tuple [16, 3] + - !!python/tuple [2, 24] + - !!python/tuple [17, 26] + - !!python/tuple [27, 19] + - !!python/tuple [3, 21] + - !!python/tuple [31, 25] + - !!python/tuple [28, 4] + - !!python/tuple [27, 8] + - !!python/tuple [18, 29] + - !!python/tuple [25, 20] + - !!python/tuple [3, 25] + - !!python/tuple [21, 29] + - !!python/tuple [17, 30] + - !!python/tuple [16, 18] + - !!python/tuple [9, 4] + - !!python/tuple [17, 8] + - !!python/tuple [21, 27] + - !!python/tuple [9, 9] + - !!python/tuple [23, 23] + - !!python/tuple [31, 6] + - !!python/tuple [18, 13] + - !!python/tuple [23, 31] + - !!python/tuple [13, 28] + - !!python/tuple [22, 2] + - !!python/tuple [1, 19] + - !!python/tuple [21, 24] + - !!python/tuple [17, 28] + - !!python/tuple [29, 22] + - !!python/tuple [15, 10] + - !!python/tuple [22, 31] + - !!python/tuple [11, 5] + - !!python/tuple [2, 31] + - !!python/tuple [30, 22] + - !!python/tuple [29, 1] + - !!python/tuple [6, 8] + - !!python/tuple [18, 7] + - !!python/tuple [2, 6] + - !!python/tuple [12, 14] + - !!python/tuple [24, 24] + - !!python/tuple [11, 26] + - !!python/tuple [10, 4] + - !!python/tuple [16, 25] + - !!python/tuple [2, 0] + - !!python/tuple [12, 1] + - !!python/tuple [5, 10] + - !!python/tuple [0, 8] + - !!python/tuple [14, 10] + - !!python/tuple [11, 4] + - !!python/tuple [9, 23] + - !!python/tuple [8, 8] + - !!python/tuple [20, 4] + - !!python/tuple [24, 7] + - !!python/tuple [7, 0] + - !!python/tuple [27, 29] + - !!python/tuple [21, 18] + - !!python/tuple [21, 9] + - !!python/tuple [22, 21] + - !!python/tuple [19, 8] + - !!python/tuple [25, 8] + - !!python/tuple [18, 4] + - !!python/tuple [7, 13] + - !!python/tuple [22, 25] + - !!python/tuple [25, 26] + - !!python/tuple [23, 30] + - !!python/tuple [0, 16] + - !!python/tuple [26, 10] + - !!python/tuple [22, 9] + - !!python/tuple [20, 24] + - !!python/tuple [15, 22] + - !!python/tuple [27, 31] + - !!python/tuple [7, 20] + - !!python/tuple [10, 5] + - !!python/tuple [31, 26] + - !!python/tuple [22, 18] + - !!python/tuple [15, 19] + - !!python/tuple [24, 19] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex5.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex5.yaml new file mode 100644 index 0000000..c2d5fa8 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex5.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [25, 27] + name: agent0 + start: [6, 29] +- goal: [22, 13] + name: agent1 + start: [20, 20] +- goal: [3, 9] + name: agent2 + start: [27, 28] +- goal: [1, 16] + name: agent3 + start: [20, 6] +- goal: [27, 21] + name: agent4 + start: [29, 13] +- goal: [31, 6] + name: agent5 + start: [20, 22] +- goal: [19, 15] + name: agent6 + start: [22, 16] +- goal: [29, 27] + name: agent7 + start: [10, 22] +- goal: [26, 12] + name: agent8 + start: [7, 29] +- goal: [8, 8] + name: agent9 + start: [18, 18] +- goal: [0, 18] + name: agent10 + start: [21, 17] +- goal: [9, 16] + name: agent11 + start: [30, 29] +- goal: [16, 12] + name: agent12 + start: [7, 4] +- goal: [7, 26] + name: agent13 + start: [19, 3] +- goal: [4, 15] + name: agent14 + start: [20, 0] +- goal: [4, 20] + name: agent15 + start: [2, 23] +- goal: [20, 4] + name: agent16 + start: [19, 20] +- goal: [7, 5] + name: agent17 + start: [22, 1] +- goal: [19, 26] + name: agent18 + start: [15, 1] +- goal: [30, 10] + name: agent19 + start: [18, 5] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [13, 26] + - !!python/tuple [11, 4] + - !!python/tuple [1, 22] + - !!python/tuple [13, 2] + - !!python/tuple [17, 14] + - !!python/tuple [26, 2] + - !!python/tuple [23, 4] + - !!python/tuple [31, 27] + - !!python/tuple [4, 17] + - !!python/tuple [29, 23] + - !!python/tuple [28, 22] + - !!python/tuple [24, 14] + - !!python/tuple [25, 25] + - !!python/tuple [30, 0] + - !!python/tuple [22, 3] + - !!python/tuple [20, 13] + - !!python/tuple [3, 19] + - !!python/tuple [6, 25] + - !!python/tuple [9, 13] + - !!python/tuple [18, 13] + - !!python/tuple [26, 15] + - !!python/tuple [7, 12] + - !!python/tuple [31, 31] + - !!python/tuple [30, 12] + - !!python/tuple [10, 7] + - !!python/tuple [1, 20] + - !!python/tuple [1, 3] + - !!python/tuple [16, 31] + - !!python/tuple [24, 24] + - !!python/tuple [28, 27] + - !!python/tuple [0, 13] + - !!python/tuple [30, 9] + - !!python/tuple [31, 0] + - !!python/tuple [30, 28] + - !!python/tuple [25, 11] + - !!python/tuple [3, 21] + - !!python/tuple [13, 19] + - !!python/tuple [7, 15] + - !!python/tuple [9, 12] + - !!python/tuple [30, 24] + - !!python/tuple [1, 1] + - !!python/tuple [21, 7] + - !!python/tuple [19, 2] + - !!python/tuple [20, 9] + - !!python/tuple [9, 28] + - !!python/tuple [27, 1] + - !!python/tuple [30, 21] + - !!python/tuple [25, 24] + - !!python/tuple [13, 30] + - !!python/tuple [29, 15] + - !!python/tuple [9, 0] + - !!python/tuple [11, 22] + - !!python/tuple [18, 11] + - !!python/tuple [11, 7] + - !!python/tuple [14, 0] + - !!python/tuple [10, 29] + - !!python/tuple [13, 28] + - !!python/tuple [26, 17] + - !!python/tuple [31, 12] + - !!python/tuple [21, 25] + - !!python/tuple [25, 28] + - !!python/tuple [12, 17] + - !!python/tuple [11, 29] + - !!python/tuple [9, 6] + - !!python/tuple [20, 2] + - !!python/tuple [0, 5] + - !!python/tuple [26, 4] + - !!python/tuple [17, 7] + - !!python/tuple [17, 2] + - !!python/tuple [13, 20] + - !!python/tuple [3, 24] + - !!python/tuple [27, 2] + - !!python/tuple [3, 27] + - !!python/tuple [26, 10] + - !!python/tuple [23, 2] + - !!python/tuple [10, 30] + - !!python/tuple [19, 7] + - !!python/tuple [12, 26] + - !!python/tuple [14, 28] + - !!python/tuple [4, 16] + - !!python/tuple [27, 30] + - !!python/tuple [15, 27] + - !!python/tuple [24, 27] + - !!python/tuple [6, 27] + - !!python/tuple [26, 24] + - !!python/tuple [5, 18] + - !!python/tuple [15, 5] + - !!python/tuple [15, 10] + - !!python/tuple [0, 25] + - !!python/tuple [3, 31] + - !!python/tuple [1, 19] + - !!python/tuple [10, 19] + - !!python/tuple [24, 8] + - !!python/tuple [7, 16] + - !!python/tuple [2, 30] + - !!python/tuple [23, 8] + - !!python/tuple [6, 13] + - !!python/tuple [24, 16] + - !!python/tuple [11, 17] + - !!python/tuple [9, 9] + - !!python/tuple [15, 26] + - !!python/tuple [9, 2] + - !!python/tuple [22, 28] + - !!python/tuple [0, 2] + - !!python/tuple [2, 9] + - !!python/tuple [30, 6] + - !!python/tuple [5, 17] + - !!python/tuple [29, 30] + - !!python/tuple [12, 21] + - !!python/tuple [1, 27] + - !!python/tuple [28, 31] + - !!python/tuple [2, 16] + - !!python/tuple [31, 21] + - !!python/tuple [28, 10] + - !!python/tuple [4, 28] + - !!python/tuple [18, 15] + - !!python/tuple [16, 20] + - !!python/tuple [10, 1] + - !!python/tuple [22, 20] + - !!python/tuple [23, 16] + - !!python/tuple [14, 7] + - !!python/tuple [22, 15] + - !!python/tuple [7, 30] + - !!python/tuple [29, 24] + - !!python/tuple [16, 1] + - !!python/tuple [14, 14] + - !!python/tuple [20, 1] + - !!python/tuple [22, 21] + - !!python/tuple [8, 14] + - !!python/tuple [9, 24] + - !!python/tuple [8, 16] + - !!python/tuple [6, 23] + - !!python/tuple [14, 31] + - !!python/tuple [13, 8] + - !!python/tuple [26, 9] + - !!python/tuple [18, 6] + - !!python/tuple [15, 24] + - !!python/tuple [5, 8] + - !!python/tuple [25, 2] + - !!python/tuple [21, 22] + - !!python/tuple [0, 22] + - !!python/tuple [12, 10] + - !!python/tuple [16, 28] + - !!python/tuple [24, 20] + - !!python/tuple [19, 25] + - !!python/tuple [14, 26] + - !!python/tuple [4, 3] + - !!python/tuple [19, 18] + - !!python/tuple [28, 12] + - !!python/tuple [21, 20] + - !!python/tuple [2, 28] + - !!python/tuple [11, 10] + - !!python/tuple [27, 4] + - !!python/tuple [7, 0] + - !!python/tuple [4, 18] + - !!python/tuple [17, 6] + - !!python/tuple [21, 30] + - !!python/tuple [7, 25] + - !!python/tuple [7, 19] + - !!python/tuple [0, 7] + - !!python/tuple [21, 18] + - !!python/tuple [19, 23] + - !!python/tuple [26, 8] + - !!python/tuple [22, 24] + - !!python/tuple [20, 25] + - !!python/tuple [16, 26] + - !!python/tuple [27, 13] + - !!python/tuple [27, 14] + - !!python/tuple [30, 26] + - !!python/tuple [19, 28] + - !!python/tuple [3, 10] + - !!python/tuple [6, 0] + - !!python/tuple [6, 26] + - !!python/tuple [28, 14] + - !!python/tuple [21, 26] + - !!python/tuple [17, 8] + - !!python/tuple [31, 10] + - !!python/tuple [5, 14] + - !!python/tuple [17, 29] + - !!python/tuple [2, 29] + - !!python/tuple [4, 5] + - !!python/tuple [9, 14] + - !!python/tuple [20, 12] + - !!python/tuple [22, 26] + - !!python/tuple [16, 6] + - !!python/tuple [8, 28] + - !!python/tuple [12, 13] + - !!python/tuple [21, 29] + - !!python/tuple [20, 29] + - !!python/tuple [4, 29] + - !!python/tuple [10, 6] + - !!python/tuple [3, 28] + - !!python/tuple [27, 8] + - !!python/tuple [2, 12] + - !!python/tuple [8, 0] + - !!python/tuple [16, 10] + - !!python/tuple [20, 7] + - !!python/tuple [11, 3] + - !!python/tuple [0, 28] + - !!python/tuple [24, 21] + - !!python/tuple [20, 19] + - !!python/tuple [12, 0] + - !!python/tuple [29, 0] + - !!python/tuple [16, 22] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex50.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex50.yaml new file mode 100644 index 0000000..24b1382 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex50.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [6, 16] + name: agent0 + start: [17, 6] +- goal: [31, 19] + name: agent1 + start: [9, 29] +- goal: [28, 12] + name: agent2 + start: [5, 0] +- goal: [1, 31] + name: agent3 + start: [21, 6] +- goal: [8, 13] + name: agent4 + start: [8, 24] +- goal: [30, 0] + name: agent5 + start: [18, 25] +- goal: [24, 25] + name: agent6 + start: [22, 25] +- goal: [10, 5] + name: agent7 + start: [12, 1] +- goal: [21, 17] + name: agent8 + start: [23, 18] +- goal: [27, 0] + name: agent9 + start: [0, 10] +- goal: [29, 11] + name: agent10 + start: [5, 12] +- goal: [23, 10] + name: agent11 + start: [5, 15] +- goal: [21, 26] + name: agent12 + start: [11, 25] +- goal: [6, 14] + name: agent13 + start: [10, 14] +- goal: [0, 12] + name: agent14 + start: [26, 29] +- goal: [4, 14] + name: agent15 + start: [3, 25] +- goal: [27, 27] + name: agent16 + start: [9, 8] +- goal: [16, 19] + name: agent17 + start: [19, 23] +- goal: [4, 27] + name: agent18 + start: [30, 17] +- goal: [8, 5] + name: agent19 + start: [20, 6] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [9, 16] + - !!python/tuple [31, 6] + - !!python/tuple [12, 20] + - !!python/tuple [4, 10] + - !!python/tuple [1, 3] + - !!python/tuple [16, 15] + - !!python/tuple [30, 11] + - !!python/tuple [16, 4] + - !!python/tuple [23, 7] + - !!python/tuple [20, 18] + - !!python/tuple [17, 20] + - !!python/tuple [9, 2] + - !!python/tuple [16, 22] + - !!python/tuple [24, 18] + - !!python/tuple [0, 17] + - !!python/tuple [14, 11] + - !!python/tuple [13, 11] + - !!python/tuple [20, 22] + - !!python/tuple [1, 21] + - !!python/tuple [19, 29] + - !!python/tuple [25, 22] + - !!python/tuple [8, 28] + - !!python/tuple [18, 1] + - !!python/tuple [8, 21] + - !!python/tuple [24, 29] + - !!python/tuple [11, 20] + - !!python/tuple [4, 18] + - !!python/tuple [24, 22] + - !!python/tuple [5, 5] + - !!python/tuple [4, 23] + - !!python/tuple [7, 7] + - !!python/tuple [15, 6] + - !!python/tuple [25, 16] + - !!python/tuple [1, 18] + - !!python/tuple [14, 18] + - !!python/tuple [12, 18] + - !!python/tuple [6, 4] + - !!python/tuple [10, 20] + - !!python/tuple [2, 13] + - !!python/tuple [14, 31] + - !!python/tuple [18, 11] + - !!python/tuple [14, 27] + - !!python/tuple [27, 5] + - !!python/tuple [12, 14] + - !!python/tuple [20, 27] + - !!python/tuple [31, 16] + - !!python/tuple [21, 10] + - !!python/tuple [18, 28] + - !!python/tuple [24, 9] + - !!python/tuple [4, 26] + - !!python/tuple [0, 14] + - !!python/tuple [31, 15] + - !!python/tuple [31, 28] + - !!python/tuple [9, 26] + - !!python/tuple [14, 5] + - !!python/tuple [28, 8] + - !!python/tuple [21, 15] + - !!python/tuple [11, 18] + - !!python/tuple [27, 7] + - !!python/tuple [10, 11] + - !!python/tuple [29, 27] + - !!python/tuple [20, 25] + - !!python/tuple [5, 16] + - !!python/tuple [15, 23] + - !!python/tuple [28, 23] + - !!python/tuple [23, 31] + - !!python/tuple [24, 15] + - !!python/tuple [18, 16] + - !!python/tuple [17, 5] + - !!python/tuple [8, 2] + - !!python/tuple [13, 16] + - !!python/tuple [26, 16] + - !!python/tuple [20, 17] + - !!python/tuple [20, 10] + - !!python/tuple [15, 17] + - !!python/tuple [1, 7] + - !!python/tuple [24, 17] + - !!python/tuple [28, 11] + - !!python/tuple [31, 3] + - !!python/tuple [25, 25] + - !!python/tuple [20, 30] + - !!python/tuple [11, 28] + - !!python/tuple [6, 25] + - !!python/tuple [3, 6] + - !!python/tuple [2, 9] + - !!python/tuple [23, 20] + - !!python/tuple [31, 23] + - !!python/tuple [29, 4] + - !!python/tuple [13, 2] + - !!python/tuple [21, 25] + - !!python/tuple [24, 19] + - !!python/tuple [2, 10] + - !!python/tuple [15, 20] + - !!python/tuple [22, 3] + - !!python/tuple [3, 20] + - !!python/tuple [24, 5] + - !!python/tuple [23, 30] + - !!python/tuple [10, 31] + - !!python/tuple [12, 13] + - !!python/tuple [28, 0] + - !!python/tuple [6, 1] + - !!python/tuple [21, 4] + - !!python/tuple [27, 20] + - !!python/tuple [20, 21] + - !!python/tuple [1, 26] + - !!python/tuple [23, 1] + - !!python/tuple [21, 31] + - !!python/tuple [11, 16] + - !!python/tuple [31, 8] + - !!python/tuple [28, 24] + - !!python/tuple [3, 11] + - !!python/tuple [23, 17] + - !!python/tuple [29, 10] + - !!python/tuple [3, 9] + - !!python/tuple [4, 21] + - !!python/tuple [31, 0] + - !!python/tuple [15, 7] + - !!python/tuple [2, 28] + - !!python/tuple [12, 30] + - !!python/tuple [19, 26] + - !!python/tuple [22, 26] + - !!python/tuple [22, 13] + - !!python/tuple [19, 8] + - !!python/tuple [22, 27] + - !!python/tuple [19, 30] + - !!python/tuple [0, 27] + - !!python/tuple [7, 23] + - !!python/tuple [14, 29] + - !!python/tuple [22, 4] + - !!python/tuple [4, 0] + - !!python/tuple [16, 13] + - !!python/tuple [15, 0] + - !!python/tuple [30, 7] + - !!python/tuple [1, 28] + - !!python/tuple [11, 3] + - !!python/tuple [6, 0] + - !!python/tuple [2, 19] + - !!python/tuple [2, 2] + - !!python/tuple [12, 5] + - !!python/tuple [0, 4] + - !!python/tuple [20, 8] + - !!python/tuple [7, 11] + - !!python/tuple [19, 3] + - !!python/tuple [26, 14] + - !!python/tuple [4, 24] + - !!python/tuple [5, 2] + - !!python/tuple [10, 13] + - !!python/tuple [2, 24] + - !!python/tuple [19, 11] + - !!python/tuple [29, 6] + - !!python/tuple [14, 25] + - !!python/tuple [26, 6] + - !!python/tuple [22, 6] + - !!python/tuple [3, 1] + - !!python/tuple [5, 14] + - !!python/tuple [23, 14] + - !!python/tuple [28, 28] + - !!python/tuple [14, 16] + - !!python/tuple [7, 21] + - !!python/tuple [26, 9] + - !!python/tuple [13, 8] + - !!python/tuple [11, 12] + - !!python/tuple [21, 19] + - !!python/tuple [7, 14] + - !!python/tuple [15, 26] + - !!python/tuple [8, 27] + - !!python/tuple [14, 9] + - !!python/tuple [24, 31] + - !!python/tuple [12, 19] + - !!python/tuple [21, 9] + - !!python/tuple [29, 2] + - !!python/tuple [22, 0] + - !!python/tuple [13, 24] + - !!python/tuple [13, 6] + - !!python/tuple [27, 29] + - !!python/tuple [19, 4] + - !!python/tuple [26, 31] + - !!python/tuple [8, 7] + - !!python/tuple [22, 17] + - !!python/tuple [8, 9] + - !!python/tuple [5, 3] + - !!python/tuple [29, 17] + - !!python/tuple [3, 18] + - !!python/tuple [5, 21] + - !!python/tuple [13, 30] + - !!python/tuple [25, 14] + - !!python/tuple [17, 1] + - !!python/tuple [21, 24] + - !!python/tuple [27, 13] + - !!python/tuple [24, 11] + - !!python/tuple [5, 27] + - !!python/tuple [1, 0] + - !!python/tuple [7, 5] + - !!python/tuple [30, 19] + - !!python/tuple [22, 2] + - !!python/tuple [4, 28] + - !!python/tuple [26, 17] + - !!python/tuple [14, 23] + - !!python/tuple [30, 8] + - !!python/tuple [1, 27] + - !!python/tuple [18, 9] + - !!python/tuple [26, 3] + - !!python/tuple [29, 8] + - !!python/tuple [17, 25] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex51.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex51.yaml new file mode 100644 index 0000000..b4df71c --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex51.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [28, 20] + name: agent0 + start: [20, 21] +- goal: [3, 29] + name: agent1 + start: [4, 14] +- goal: [18, 26] + name: agent2 + start: [11, 6] +- goal: [8, 9] + name: agent3 + start: [14, 4] +- goal: [4, 9] + name: agent4 + start: [17, 15] +- goal: [24, 16] + name: agent5 + start: [18, 22] +- goal: [24, 29] + name: agent6 + start: [23, 17] +- goal: [26, 27] + name: agent7 + start: [26, 7] +- goal: [6, 21] + name: agent8 + start: [1, 17] +- goal: [8, 16] + name: agent9 + start: [9, 13] +- goal: [12, 18] + name: agent10 + start: [6, 14] +- goal: [15, 23] + name: agent11 + start: [7, 16] +- goal: [6, 30] + name: agent12 + start: [14, 7] +- goal: [16, 0] + name: agent13 + start: [19, 9] +- goal: [10, 22] + name: agent14 + start: [2, 31] +- goal: [23, 22] + name: agent15 + start: [28, 18] +- goal: [17, 25] + name: agent16 + start: [2, 9] +- goal: [5, 9] + name: agent17 + start: [0, 29] +- goal: [11, 31] + name: agent18 + start: [29, 30] +- goal: [3, 19] + name: agent19 + start: [20, 9] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [30, 22] + - !!python/tuple [23, 30] + - !!python/tuple [31, 23] + - !!python/tuple [9, 17] + - !!python/tuple [1, 13] + - !!python/tuple [1, 10] + - !!python/tuple [8, 7] + - !!python/tuple [29, 15] + - !!python/tuple [15, 10] + - !!python/tuple [11, 15] + - !!python/tuple [14, 19] + - !!python/tuple [3, 7] + - !!python/tuple [21, 31] + - !!python/tuple [22, 23] + - !!python/tuple [10, 23] + - !!python/tuple [14, 11] + - !!python/tuple [22, 30] + - !!python/tuple [12, 23] + - !!python/tuple [0, 17] + - !!python/tuple [26, 11] + - !!python/tuple [29, 6] + - !!python/tuple [26, 23] + - !!python/tuple [26, 25] + - !!python/tuple [22, 3] + - !!python/tuple [28, 6] + - !!python/tuple [23, 19] + - !!python/tuple [10, 27] + - !!python/tuple [23, 11] + - !!python/tuple [27, 16] + - !!python/tuple [9, 0] + - !!python/tuple [13, 4] + - !!python/tuple [0, 30] + - !!python/tuple [8, 24] + - !!python/tuple [26, 14] + - !!python/tuple [15, 1] + - !!python/tuple [11, 28] + - !!python/tuple [19, 4] + - !!python/tuple [4, 18] + - !!python/tuple [26, 1] + - !!python/tuple [19, 18] + - !!python/tuple [18, 25] + - !!python/tuple [14, 15] + - !!python/tuple [11, 25] + - !!python/tuple [31, 2] + - !!python/tuple [23, 14] + - !!python/tuple [26, 3] + - !!python/tuple [1, 20] + - !!python/tuple [0, 8] + - !!python/tuple [18, 6] + - !!python/tuple [10, 10] + - !!python/tuple [10, 13] + - !!python/tuple [16, 30] + - !!python/tuple [16, 31] + - !!python/tuple [5, 17] + - !!python/tuple [13, 12] + - !!python/tuple [14, 0] + - !!python/tuple [15, 0] + - !!python/tuple [28, 0] + - !!python/tuple [13, 14] + - !!python/tuple [9, 23] + - !!python/tuple [7, 0] + - !!python/tuple [6, 17] + - !!python/tuple [18, 3] + - !!python/tuple [7, 17] + - !!python/tuple [6, 5] + - !!python/tuple [9, 24] + - !!python/tuple [14, 25] + - !!python/tuple [29, 9] + - !!python/tuple [7, 11] + - !!python/tuple [25, 0] + - !!python/tuple [21, 27] + - !!python/tuple [31, 7] + - !!python/tuple [28, 19] + - !!python/tuple [1, 23] + - !!python/tuple [29, 17] + - !!python/tuple [12, 14] + - !!python/tuple [1, 12] + - !!python/tuple [15, 29] + - !!python/tuple [31, 25] + - !!python/tuple [22, 29] + - !!python/tuple [0, 1] + - !!python/tuple [1, 16] + - !!python/tuple [20, 30] + - !!python/tuple [31, 20] + - !!python/tuple [4, 13] + - !!python/tuple [21, 26] + - !!python/tuple [20, 7] + - !!python/tuple [20, 18] + - !!python/tuple [20, 5] + - !!python/tuple [27, 6] + - !!python/tuple [3, 12] + - !!python/tuple [16, 11] + - !!python/tuple [13, 24] + - !!python/tuple [21, 16] + - !!python/tuple [9, 2] + - !!python/tuple [8, 13] + - !!python/tuple [30, 24] + - !!python/tuple [23, 6] + - !!python/tuple [7, 4] + - !!python/tuple [13, 28] + - !!python/tuple [19, 17] + - !!python/tuple [30, 13] + - !!python/tuple [21, 28] + - !!python/tuple [19, 8] + - !!python/tuple [6, 18] + - !!python/tuple [18, 29] + - !!python/tuple [2, 11] + - !!python/tuple [16, 25] + - !!python/tuple [13, 6] + - !!python/tuple [13, 17] + - !!python/tuple [30, 23] + - !!python/tuple [26, 21] + - !!python/tuple [28, 14] + - !!python/tuple [24, 23] + - !!python/tuple [26, 15] + - !!python/tuple [24, 9] + - !!python/tuple [15, 7] + - !!python/tuple [16, 1] + - !!python/tuple [11, 8] + - !!python/tuple [5, 2] + - !!python/tuple [26, 30] + - !!python/tuple [21, 25] + - !!python/tuple [22, 1] + - !!python/tuple [24, 5] + - !!python/tuple [1, 8] + - !!python/tuple [8, 27] + - !!python/tuple [2, 0] + - !!python/tuple [2, 21] + - !!python/tuple [2, 5] + - !!python/tuple [7, 1] + - !!python/tuple [23, 31] + - !!python/tuple [28, 12] + - !!python/tuple [27, 15] + - !!python/tuple [18, 19] + - !!python/tuple [31, 18] + - !!python/tuple [5, 4] + - !!python/tuple [21, 6] + - !!python/tuple [8, 0] + - !!python/tuple [1, 5] + - !!python/tuple [5, 11] + - !!python/tuple [4, 1] + - !!python/tuple [11, 26] + - !!python/tuple [25, 31] + - !!python/tuple [13, 1] + - !!python/tuple [8, 28] + - !!python/tuple [28, 15] + - !!python/tuple [15, 19] + - !!python/tuple [20, 10] + - !!python/tuple [21, 7] + - !!python/tuple [24, 19] + - !!python/tuple [12, 16] + - !!python/tuple [4, 11] + - !!python/tuple [28, 4] + - !!python/tuple [2, 7] + - !!python/tuple [22, 28] + - !!python/tuple [30, 10] + - !!python/tuple [31, 30] + - !!python/tuple [21, 13] + - !!python/tuple [4, 25] + - !!python/tuple [22, 20] + - !!python/tuple [23, 10] + - !!python/tuple [18, 27] + - !!python/tuple [28, 31] + - !!python/tuple [12, 9] + - !!python/tuple [11, 5] + - !!python/tuple [19, 10] + - !!python/tuple [20, 14] + - !!python/tuple [19, 0] + - !!python/tuple [17, 22] + - !!python/tuple [31, 10] + - !!python/tuple [5, 23] + - !!python/tuple [28, 1] + - !!python/tuple [3, 16] + - !!python/tuple [0, 7] + - !!python/tuple [13, 18] + - !!python/tuple [2, 30] + - !!python/tuple [14, 21] + - !!python/tuple [26, 18] + - !!python/tuple [19, 13] + - !!python/tuple [10, 20] + - !!python/tuple [1, 19] + - !!python/tuple [10, 2] + - !!python/tuple [30, 27] + - !!python/tuple [10, 11] + - !!python/tuple [2, 6] + - !!python/tuple [18, 4] + - !!python/tuple [11, 22] + - !!python/tuple [3, 31] + - !!python/tuple [21, 3] + - !!python/tuple [17, 18] + - !!python/tuple [23, 3] + - !!python/tuple [27, 30] + - !!python/tuple [17, 7] + - !!python/tuple [3, 4] + - !!python/tuple [3, 6] + - !!python/tuple [26, 22] + - !!python/tuple [2, 8] + - !!python/tuple [15, 3] + - !!python/tuple [2, 23] + - !!python/tuple [29, 28] + - !!python/tuple [2, 3] + - !!python/tuple [4, 3] + - !!python/tuple [11, 3] + - !!python/tuple [31, 16] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex52.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex52.yaml new file mode 100644 index 0000000..acbfb27 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex52.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [9, 20] + name: agent0 + start: [27, 6] +- goal: [0, 5] + name: agent1 + start: [30, 23] +- goal: [10, 4] + name: agent2 + start: [19, 21] +- goal: [17, 8] + name: agent3 + start: [17, 1] +- goal: [20, 12] + name: agent4 + start: [20, 9] +- goal: [17, 24] + name: agent5 + start: [25, 1] +- goal: [9, 28] + name: agent6 + start: [29, 16] +- goal: [23, 20] + name: agent7 + start: [2, 4] +- goal: [5, 25] + name: agent8 + start: [14, 16] +- goal: [0, 13] + name: agent9 + start: [17, 28] +- goal: [10, 11] + name: agent10 + start: [25, 14] +- goal: [25, 17] + name: agent11 + start: [22, 6] +- goal: [11, 27] + name: agent12 + start: [14, 4] +- goal: [16, 3] + name: agent13 + start: [17, 9] +- goal: [29, 9] + name: agent14 + start: [10, 24] +- goal: [13, 17] + name: agent15 + start: [6, 11] +- goal: [29, 15] + name: agent16 + start: [5, 7] +- goal: [0, 24] + name: agent17 + start: [15, 19] +- goal: [4, 9] + name: agent18 + start: [23, 20] +- goal: [29, 19] + name: agent19 + start: [17, 17] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [28, 10] + - !!python/tuple [23, 8] + - !!python/tuple [20, 30] + - !!python/tuple [9, 15] + - !!python/tuple [1, 28] + - !!python/tuple [1, 20] + - !!python/tuple [9, 23] + - !!python/tuple [31, 5] + - !!python/tuple [1, 4] + - !!python/tuple [4, 2] + - !!python/tuple [3, 16] + - !!python/tuple [2, 7] + - !!python/tuple [6, 30] + - !!python/tuple [6, 24] + - !!python/tuple [6, 16] + - !!python/tuple [26, 28] + - !!python/tuple [13, 30] + - !!python/tuple [19, 6] + - !!python/tuple [9, 27] + - !!python/tuple [21, 17] + - !!python/tuple [6, 13] + - !!python/tuple [2, 21] + - !!python/tuple [1, 0] + - !!python/tuple [23, 24] + - !!python/tuple [14, 10] + - !!python/tuple [14, 19] + - !!python/tuple [27, 7] + - !!python/tuple [3, 15] + - !!python/tuple [6, 29] + - !!python/tuple [16, 31] + - !!python/tuple [30, 19] + - !!python/tuple [15, 5] + - !!python/tuple [8, 6] + - !!python/tuple [20, 17] + - !!python/tuple [2, 27] + - !!python/tuple [29, 20] + - !!python/tuple [27, 27] + - !!python/tuple [12, 2] + - !!python/tuple [27, 25] + - !!python/tuple [0, 28] + - !!python/tuple [19, 19] + - !!python/tuple [8, 24] + - !!python/tuple [16, 10] + - !!python/tuple [25, 11] + - !!python/tuple [30, 10] + - !!python/tuple [23, 3] + - !!python/tuple [30, 7] + - !!python/tuple [0, 31] + - !!python/tuple [3, 30] + - !!python/tuple [3, 20] + - !!python/tuple [30, 17] + - !!python/tuple [2, 20] + - !!python/tuple [16, 16] + - !!python/tuple [15, 23] + - !!python/tuple [27, 23] + - !!python/tuple [23, 15] + - !!python/tuple [20, 2] + - !!python/tuple [28, 12] + - !!python/tuple [5, 8] + - !!python/tuple [3, 22] + - !!python/tuple [23, 7] + - !!python/tuple [15, 0] + - !!python/tuple [6, 6] + - !!python/tuple [22, 17] + - !!python/tuple [1, 16] + - !!python/tuple [8, 31] + - !!python/tuple [11, 31] + - !!python/tuple [29, 4] + - !!python/tuple [17, 21] + - !!python/tuple [23, 11] + - !!python/tuple [3, 11] + - !!python/tuple [11, 19] + - !!python/tuple [17, 2] + - !!python/tuple [16, 11] + - !!python/tuple [14, 23] + - !!python/tuple [28, 4] + - !!python/tuple [30, 16] + - !!python/tuple [28, 2] + - !!python/tuple [26, 1] + - !!python/tuple [28, 13] + - !!python/tuple [24, 2] + - !!python/tuple [11, 6] + - !!python/tuple [19, 24] + - !!python/tuple [0, 0] + - !!python/tuple [4, 6] + - !!python/tuple [5, 17] + - !!python/tuple [9, 12] + - !!python/tuple [14, 24] + - !!python/tuple [18, 10] + - !!python/tuple [3, 5] + - !!python/tuple [23, 1] + - !!python/tuple [4, 22] + - !!python/tuple [10, 25] + - !!python/tuple [12, 3] + - !!python/tuple [24, 24] + - !!python/tuple [6, 10] + - !!python/tuple [14, 3] + - !!python/tuple [1, 13] + - !!python/tuple [15, 21] + - !!python/tuple [10, 20] + - !!python/tuple [27, 24] + - !!python/tuple [22, 12] + - !!python/tuple [22, 8] + - !!python/tuple [5, 24] + - !!python/tuple [8, 30] + - !!python/tuple [3, 17] + - !!python/tuple [21, 11] + - !!python/tuple [14, 6] + - !!python/tuple [31, 27] + - !!python/tuple [17, 22] + - !!python/tuple [17, 27] + - !!python/tuple [13, 25] + - !!python/tuple [17, 10] + - !!python/tuple [6, 17] + - !!python/tuple [3, 24] + - !!python/tuple [14, 1] + - !!python/tuple [12, 19] + - !!python/tuple [3, 2] + - !!python/tuple [27, 1] + - !!python/tuple [23, 16] + - !!python/tuple [24, 22] + - !!python/tuple [26, 13] + - !!python/tuple [27, 30] + - !!python/tuple [16, 9] + - !!python/tuple [19, 1] + - !!python/tuple [24, 27] + - !!python/tuple [30, 18] + - !!python/tuple [14, 9] + - !!python/tuple [13, 31] + - !!python/tuple [11, 12] + - !!python/tuple [26, 2] + - !!python/tuple [24, 28] + - !!python/tuple [7, 8] + - !!python/tuple [1, 23] + - !!python/tuple [10, 9] + - !!python/tuple [2, 28] + - !!python/tuple [25, 5] + - !!python/tuple [24, 4] + - !!python/tuple [21, 24] + - !!python/tuple [19, 26] + - !!python/tuple [3, 26] + - !!python/tuple [28, 24] + - !!python/tuple [11, 13] + - !!python/tuple [4, 30] + - !!python/tuple [5, 31] + - !!python/tuple [4, 4] + - !!python/tuple [20, 29] + - !!python/tuple [23, 5] + - !!python/tuple [0, 21] + - !!python/tuple [5, 26] + - !!python/tuple [6, 12] + - !!python/tuple [20, 13] + - !!python/tuple [25, 4] + - !!python/tuple [22, 31] + - !!python/tuple [20, 1] + - !!python/tuple [19, 15] + - !!python/tuple [13, 16] + - !!python/tuple [7, 11] + - !!python/tuple [1, 30] + - !!python/tuple [11, 9] + - !!python/tuple [2, 16] + - !!python/tuple [12, 8] + - !!python/tuple [19, 9] + - !!python/tuple [6, 7] + - !!python/tuple [29, 14] + - !!python/tuple [3, 29] + - !!python/tuple [19, 7] + - !!python/tuple [4, 20] + - !!python/tuple [2, 14] + - !!python/tuple [30, 6] + - !!python/tuple [26, 14] + - !!python/tuple [15, 8] + - !!python/tuple [6, 27] + - !!python/tuple [22, 19] + - !!python/tuple [7, 6] + - !!python/tuple [21, 0] + - !!python/tuple [6, 22] + - !!python/tuple [20, 3] + - !!python/tuple [7, 7] + - !!python/tuple [14, 28] + - !!python/tuple [0, 4] + - !!python/tuple [27, 10] + - !!python/tuple [7, 21] + - !!python/tuple [25, 27] + - !!python/tuple [17, 18] + - !!python/tuple [13, 2] + - !!python/tuple [2, 9] + - !!python/tuple [2, 1] + - !!python/tuple [0, 7] + - !!python/tuple [20, 15] + - !!python/tuple [2, 6] + - !!python/tuple [21, 8] + - !!python/tuple [22, 22] + - !!python/tuple [18, 15] + - !!python/tuple [19, 16] + - !!python/tuple [29, 21] + - !!python/tuple [4, 19] + - !!python/tuple [5, 29] + - !!python/tuple [2, 3] + - !!python/tuple [8, 26] + - !!python/tuple [25, 10] + - !!python/tuple [26, 9] + - !!python/tuple [13, 6] + - !!python/tuple [29, 22] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex53.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex53.yaml new file mode 100644 index 0000000..eb9826d --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex53.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [17, 0] + name: agent0 + start: [8, 28] +- goal: [16, 11] + name: agent1 + start: [9, 11] +- goal: [19, 21] + name: agent2 + start: [10, 5] +- goal: [27, 20] + name: agent3 + start: [16, 13] +- goal: [30, 0] + name: agent4 + start: [26, 1] +- goal: [3, 22] + name: agent5 + start: [28, 14] +- goal: [22, 13] + name: agent6 + start: [31, 19] +- goal: [31, 25] + name: agent7 + start: [17, 12] +- goal: [28, 23] + name: agent8 + start: [12, 19] +- goal: [16, 10] + name: agent9 + start: [13, 10] +- goal: [16, 15] + name: agent10 + start: [13, 12] +- goal: [4, 29] + name: agent11 + start: [11, 20] +- goal: [2, 6] + name: agent12 + start: [26, 3] +- goal: [8, 18] + name: agent13 + start: [0, 26] +- goal: [26, 8] + name: agent14 + start: [23, 7] +- goal: [2, 18] + name: agent15 + start: [9, 8] +- goal: [12, 27] + name: agent16 + start: [23, 16] +- goal: [2, 10] + name: agent17 + start: [7, 7] +- goal: [14, 5] + name: agent18 + start: [29, 11] +- goal: [18, 22] + name: agent19 + start: [0, 2] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [12, 10] + - !!python/tuple [7, 3] + - !!python/tuple [25, 17] + - !!python/tuple [15, 9] + - !!python/tuple [28, 31] + - !!python/tuple [15, 24] + - !!python/tuple [28, 20] + - !!python/tuple [13, 22] + - !!python/tuple [0, 30] + - !!python/tuple [28, 26] + - !!python/tuple [3, 11] + - !!python/tuple [3, 20] + - !!python/tuple [13, 16] + - !!python/tuple [22, 26] + - !!python/tuple [5, 0] + - !!python/tuple [0, 10] + - !!python/tuple [21, 23] + - !!python/tuple [1, 23] + - !!python/tuple [12, 30] + - !!python/tuple [7, 2] + - !!python/tuple [17, 18] + - !!python/tuple [26, 24] + - !!python/tuple [14, 7] + - !!python/tuple [13, 18] + - !!python/tuple [11, 2] + - !!python/tuple [9, 17] + - !!python/tuple [6, 1] + - !!python/tuple [15, 4] + - !!python/tuple [27, 16] + - !!python/tuple [31, 7] + - !!python/tuple [2, 9] + - !!python/tuple [21, 11] + - !!python/tuple [29, 22] + - !!python/tuple [21, 14] + - !!python/tuple [7, 11] + - !!python/tuple [16, 27] + - !!python/tuple [29, 20] + - !!python/tuple [21, 4] + - !!python/tuple [15, 18] + - !!python/tuple [2, 5] + - !!python/tuple [9, 9] + - !!python/tuple [3, 15] + - !!python/tuple [15, 27] + - !!python/tuple [9, 13] + - !!python/tuple [15, 2] + - !!python/tuple [2, 21] + - !!python/tuple [3, 1] + - !!python/tuple [25, 5] + - !!python/tuple [25, 4] + - !!python/tuple [0, 0] + - !!python/tuple [5, 2] + - !!python/tuple [19, 14] + - !!python/tuple [30, 3] + - !!python/tuple [11, 17] + - !!python/tuple [6, 21] + - !!python/tuple [31, 20] + - !!python/tuple [27, 9] + - !!python/tuple [30, 1] + - !!python/tuple [19, 13] + - !!python/tuple [25, 20] + - !!python/tuple [31, 4] + - !!python/tuple [18, 27] + - !!python/tuple [19, 5] + - !!python/tuple [12, 31] + - !!python/tuple [17, 9] + - !!python/tuple [12, 23] + - !!python/tuple [18, 30] + - !!python/tuple [23, 14] + - !!python/tuple [22, 28] + - !!python/tuple [20, 28] + - !!python/tuple [15, 7] + - !!python/tuple [8, 30] + - !!python/tuple [19, 28] + - !!python/tuple [21, 10] + - !!python/tuple [0, 15] + - !!python/tuple [24, 18] + - !!python/tuple [0, 23] + - !!python/tuple [29, 31] + - !!python/tuple [23, 29] + - !!python/tuple [17, 4] + - !!python/tuple [18, 31] + - !!python/tuple [27, 2] + - !!python/tuple [5, 20] + - !!python/tuple [27, 25] + - !!python/tuple [31, 29] + - !!python/tuple [10, 20] + - !!python/tuple [11, 30] + - !!python/tuple [7, 19] + - !!python/tuple [22, 12] + - !!python/tuple [8, 10] + - !!python/tuple [15, 23] + - !!python/tuple [26, 15] + - !!python/tuple [10, 16] + - !!python/tuple [24, 6] + - !!python/tuple [27, 6] + - !!python/tuple [10, 15] + - !!python/tuple [8, 14] + - !!python/tuple [5, 18] + - !!python/tuple [16, 8] + - !!python/tuple [8, 17] + - !!python/tuple [22, 14] + - !!python/tuple [30, 9] + - !!python/tuple [17, 3] + - !!python/tuple [13, 1] + - !!python/tuple [24, 3] + - !!python/tuple [15, 19] + - !!python/tuple [13, 4] + - !!python/tuple [25, 19] + - !!python/tuple [29, 7] + - !!python/tuple [4, 20] + - !!python/tuple [20, 27] + - !!python/tuple [28, 13] + - !!python/tuple [17, 26] + - !!python/tuple [18, 6] + - !!python/tuple [10, 3] + - !!python/tuple [9, 10] + - !!python/tuple [28, 17] + - !!python/tuple [17, 6] + - !!python/tuple [23, 30] + - !!python/tuple [18, 7] + - !!python/tuple [29, 29] + - !!python/tuple [29, 8] + - !!python/tuple [10, 7] + - !!python/tuple [27, 22] + - !!python/tuple [1, 22] + - !!python/tuple [15, 14] + - !!python/tuple [26, 18] + - !!python/tuple [13, 21] + - !!python/tuple [19, 4] + - !!python/tuple [27, 7] + - !!python/tuple [14, 2] + - !!python/tuple [21, 12] + - !!python/tuple [14, 13] + - !!python/tuple [24, 5] + - !!python/tuple [3, 0] + - !!python/tuple [11, 26] + - !!python/tuple [1, 0] + - !!python/tuple [0, 18] + - !!python/tuple [2, 15] + - !!python/tuple [14, 28] + - !!python/tuple [5, 27] + - !!python/tuple [4, 25] + - !!python/tuple [28, 5] + - !!python/tuple [24, 10] + - !!python/tuple [23, 8] + - !!python/tuple [25, 23] + - !!python/tuple [15, 12] + - !!python/tuple [12, 15] + - !!python/tuple [20, 11] + - !!python/tuple [8, 24] + - !!python/tuple [8, 16] + - !!python/tuple [21, 22] + - !!python/tuple [9, 6] + - !!python/tuple [16, 3] + - !!python/tuple [2, 1] + - !!python/tuple [6, 2] + - !!python/tuple [6, 11] + - !!python/tuple [15, 1] + - !!python/tuple [11, 12] + - !!python/tuple [11, 25] + - !!python/tuple [8, 6] + - !!python/tuple [10, 17] + - !!python/tuple [1, 9] + - !!python/tuple [7, 10] + - !!python/tuple [0, 22] + - !!python/tuple [17, 15] + - !!python/tuple [24, 9] + - !!python/tuple [16, 19] + - !!python/tuple [17, 21] + - !!python/tuple [18, 19] + - !!python/tuple [19, 23] + - !!python/tuple [19, 15] + - !!python/tuple [28, 6] + - !!python/tuple [22, 29] + - !!python/tuple [14, 8] + - !!python/tuple [0, 31] + - !!python/tuple [25, 31] + - !!python/tuple [12, 20] + - !!python/tuple [18, 23] + - !!python/tuple [11, 11] + - !!python/tuple [22, 16] + - !!python/tuple [8, 19] + - !!python/tuple [10, 21] + - !!python/tuple [16, 7] + - !!python/tuple [21, 3] + - !!python/tuple [11, 5] + - !!python/tuple [5, 4] + - !!python/tuple [22, 1] + - !!python/tuple [7, 1] + - !!python/tuple [28, 19] + - !!python/tuple [17, 20] + - !!python/tuple [12, 5] + - !!python/tuple [11, 16] + - !!python/tuple [1, 10] + - !!python/tuple [19, 20] + - !!python/tuple [13, 5] + - !!python/tuple [10, 1] + - !!python/tuple [27, 26] + - !!python/tuple [29, 0] + - !!python/tuple [26, 19] + - !!python/tuple [7, 0] + - !!python/tuple [3, 9] + - !!python/tuple [15, 16] + - !!python/tuple [6, 30] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex54.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex54.yaml new file mode 100644 index 0000000..3baf9fe --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex54.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [26, 29] + name: agent0 + start: [22, 20] +- goal: [3, 26] + name: agent1 + start: [10, 2] +- goal: [6, 6] + name: agent2 + start: [9, 7] +- goal: [21, 26] + name: agent3 + start: [6, 28] +- goal: [17, 30] + name: agent4 + start: [15, 21] +- goal: [20, 24] + name: agent5 + start: [28, 20] +- goal: [31, 24] + name: agent6 + start: [22, 11] +- goal: [18, 10] + name: agent7 + start: [9, 28] +- goal: [23, 2] + name: agent8 + start: [14, 21] +- goal: [2, 9] + name: agent9 + start: [12, 7] +- goal: [19, 15] + name: agent10 + start: [4, 27] +- goal: [8, 4] + name: agent11 + start: [28, 3] +- goal: [8, 18] + name: agent12 + start: [22, 19] +- goal: [8, 19] + name: agent13 + start: [15, 0] +- goal: [12, 26] + name: agent14 + start: [12, 3] +- goal: [29, 12] + name: agent15 + start: [6, 22] +- goal: [0, 19] + name: agent16 + start: [0, 12] +- goal: [27, 18] + name: agent17 + start: [13, 17] +- goal: [28, 7] + name: agent18 + start: [24, 21] +- goal: [11, 6] + name: agent19 + start: [3, 25] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [11, 13] + - !!python/tuple [18, 22] + - !!python/tuple [5, 31] + - !!python/tuple [2, 23] + - !!python/tuple [23, 7] + - !!python/tuple [23, 8] + - !!python/tuple [21, 16] + - !!python/tuple [9, 12] + - !!python/tuple [14, 3] + - !!python/tuple [30, 4] + - !!python/tuple [24, 3] + - !!python/tuple [23, 4] + - !!python/tuple [27, 5] + - !!python/tuple [23, 29] + - !!python/tuple [1, 24] + - !!python/tuple [24, 10] + - !!python/tuple [5, 30] + - !!python/tuple [15, 31] + - !!python/tuple [14, 22] + - !!python/tuple [18, 3] + - !!python/tuple [5, 2] + - !!python/tuple [3, 9] + - !!python/tuple [31, 5] + - !!python/tuple [24, 0] + - !!python/tuple [1, 18] + - !!python/tuple [8, 28] + - !!python/tuple [10, 1] + - !!python/tuple [26, 19] + - !!python/tuple [15, 12] + - !!python/tuple [5, 7] + - !!python/tuple [25, 31] + - !!python/tuple [24, 30] + - !!python/tuple [7, 0] + - !!python/tuple [28, 13] + - !!python/tuple [12, 9] + - !!python/tuple [18, 1] + - !!python/tuple [31, 23] + - !!python/tuple [18, 6] + - !!python/tuple [1, 31] + - !!python/tuple [13, 0] + - !!python/tuple [7, 21] + - !!python/tuple [12, 27] + - !!python/tuple [31, 14] + - !!python/tuple [18, 27] + - !!python/tuple [11, 14] + - !!python/tuple [7, 3] + - !!python/tuple [13, 24] + - !!python/tuple [21, 17] + - !!python/tuple [25, 28] + - !!python/tuple [2, 15] + - !!python/tuple [29, 11] + - !!python/tuple [21, 14] + - !!python/tuple [22, 10] + - !!python/tuple [2, 25] + - !!python/tuple [2, 4] + - !!python/tuple [11, 29] + - !!python/tuple [19, 7] + - !!python/tuple [29, 14] + - !!python/tuple [22, 29] + - !!python/tuple [1, 3] + - !!python/tuple [1, 8] + - !!python/tuple [30, 6] + - !!python/tuple [0, 27] + - !!python/tuple [9, 9] + - !!python/tuple [23, 5] + - !!python/tuple [30, 31] + - !!python/tuple [14, 26] + - !!python/tuple [30, 1] + - !!python/tuple [9, 19] + - !!python/tuple [15, 20] + - !!python/tuple [15, 28] + - !!python/tuple [15, 18] + - !!python/tuple [3, 1] + - !!python/tuple [15, 24] + - !!python/tuple [4, 0] + - !!python/tuple [6, 2] + - !!python/tuple [21, 0] + - !!python/tuple [18, 4] + - !!python/tuple [21, 11] + - !!python/tuple [31, 20] + - !!python/tuple [25, 2] + - !!python/tuple [1, 5] + - !!python/tuple [21, 13] + - !!python/tuple [4, 1] + - !!python/tuple [14, 14] + - !!python/tuple [1, 2] + - !!python/tuple [6, 31] + - !!python/tuple [24, 2] + - !!python/tuple [4, 2] + - !!python/tuple [14, 20] + - !!python/tuple [26, 6] + - !!python/tuple [10, 7] + - !!python/tuple [22, 21] + - !!python/tuple [27, 4] + - !!python/tuple [11, 5] + - !!python/tuple [11, 31] + - !!python/tuple [12, 18] + - !!python/tuple [27, 26] + - !!python/tuple [18, 17] + - !!python/tuple [26, 9] + - !!python/tuple [26, 1] + - !!python/tuple [3, 16] + - !!python/tuple [10, 5] + - !!python/tuple [25, 27] + - !!python/tuple [19, 8] + - !!python/tuple [16, 26] + - !!python/tuple [19, 6] + - !!python/tuple [18, 2] + - !!python/tuple [31, 31] + - !!python/tuple [5, 16] + - !!python/tuple [4, 15] + - !!python/tuple [8, 26] + - !!python/tuple [27, 25] + - !!python/tuple [15, 1] + - !!python/tuple [5, 11] + - !!python/tuple [5, 21] + - !!python/tuple [0, 22] + - !!python/tuple [10, 8] + - !!python/tuple [19, 11] + - !!python/tuple [3, 2] + - !!python/tuple [14, 4] + - !!python/tuple [25, 10] + - !!python/tuple [19, 31] + - !!python/tuple [14, 2] + - !!python/tuple [7, 18] + - !!python/tuple [31, 3] + - !!python/tuple [6, 7] + - !!python/tuple [6, 5] + - !!python/tuple [0, 4] + - !!python/tuple [22, 26] + - !!python/tuple [30, 18] + - !!python/tuple [6, 23] + - !!python/tuple [1, 30] + - !!python/tuple [13, 28] + - !!python/tuple [2, 18] + - !!python/tuple [30, 0] + - !!python/tuple [30, 13] + - !!python/tuple [18, 9] + - !!python/tuple [28, 23] + - !!python/tuple [10, 24] + - !!python/tuple [0, 29] + - !!python/tuple [31, 8] + - !!python/tuple [15, 11] + - !!python/tuple [1, 17] + - !!python/tuple [11, 7] + - !!python/tuple [24, 29] + - !!python/tuple [23, 27] + - !!python/tuple [21, 18] + - !!python/tuple [29, 21] + - !!python/tuple [8, 9] + - !!python/tuple [24, 16] + - !!python/tuple [26, 10] + - !!python/tuple [10, 12] + - !!python/tuple [31, 17] + - !!python/tuple [21, 12] + - !!python/tuple [11, 3] + - !!python/tuple [5, 4] + - !!python/tuple [7, 12] + - !!python/tuple [9, 16] + - !!python/tuple [22, 4] + - !!python/tuple [30, 5] + - !!python/tuple [30, 2] + - !!python/tuple [12, 6] + - !!python/tuple [9, 3] + - !!python/tuple [28, 26] + - !!python/tuple [12, 10] + - !!python/tuple [25, 20] + - !!python/tuple [21, 28] + - !!python/tuple [29, 16] + - !!python/tuple [9, 29] + - !!python/tuple [2, 1] + - !!python/tuple [5, 23] + - !!python/tuple [17, 11] + - !!python/tuple [0, 9] + - !!python/tuple [1, 14] + - !!python/tuple [10, 17] + - !!python/tuple [15, 15] + - !!python/tuple [8, 3] + - !!python/tuple [27, 23] + - !!python/tuple [15, 8] + - !!python/tuple [14, 30] + - !!python/tuple [11, 16] + - !!python/tuple [11, 4] + - !!python/tuple [14, 18] + - !!python/tuple [0, 13] + - !!python/tuple [8, 20] + - !!python/tuple [28, 1] + - !!python/tuple [8, 16] + - !!python/tuple [17, 9] + - !!python/tuple [17, 27] + - !!python/tuple [7, 14] + - !!python/tuple [20, 5] + - !!python/tuple [28, 21] + - !!python/tuple [10, 0] + - !!python/tuple [24, 4] + - !!python/tuple [14, 0] + - !!python/tuple [20, 25] + - !!python/tuple [3, 11] + - !!python/tuple [8, 6] + - !!python/tuple [27, 30] + - !!python/tuple [15, 30] + - !!python/tuple [29, 20] + - !!python/tuple [5, 6] + - !!python/tuple [28, 25] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex55.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex55.yaml new file mode 100644 index 0000000..11a17a2 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex55.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [3, 28] + name: agent0 + start: [16, 19] +- goal: [29, 1] + name: agent1 + start: [16, 2] +- goal: [24, 16] + name: agent2 + start: [29, 31] +- goal: [12, 30] + name: agent3 + start: [28, 23] +- goal: [6, 14] + name: agent4 + start: [26, 5] +- goal: [24, 29] + name: agent5 + start: [6, 18] +- goal: [4, 25] + name: agent6 + start: [1, 29] +- goal: [22, 23] + name: agent7 + start: [7, 29] +- goal: [27, 14] + name: agent8 + start: [8, 13] +- goal: [8, 3] + name: agent9 + start: [18, 7] +- goal: [17, 2] + name: agent10 + start: [14, 24] +- goal: [12, 10] + name: agent11 + start: [20, 2] +- goal: [24, 18] + name: agent12 + start: [28, 14] +- goal: [9, 20] + name: agent13 + start: [31, 3] +- goal: [10, 13] + name: agent14 + start: [17, 20] +- goal: [25, 6] + name: agent15 + start: [22, 30] +- goal: [28, 8] + name: agent16 + start: [20, 30] +- goal: [19, 8] + name: agent17 + start: [1, 19] +- goal: [22, 26] + name: agent18 + start: [14, 28] +- goal: [11, 30] + name: agent19 + start: [26, 3] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [19, 21] + - !!python/tuple [28, 15] + - !!python/tuple [12, 17] + - !!python/tuple [22, 25] + - !!python/tuple [17, 19] + - !!python/tuple [8, 14] + - !!python/tuple [16, 6] + - !!python/tuple [11, 24] + - !!python/tuple [11, 17] + - !!python/tuple [11, 1] + - !!python/tuple [24, 21] + - !!python/tuple [7, 18] + - !!python/tuple [2, 26] + - !!python/tuple [15, 6] + - !!python/tuple [8, 12] + - !!python/tuple [0, 6] + - !!python/tuple [9, 7] + - !!python/tuple [26, 12] + - !!python/tuple [28, 26] + - !!python/tuple [27, 2] + - !!python/tuple [14, 12] + - !!python/tuple [17, 17] + - !!python/tuple [7, 1] + - !!python/tuple [16, 24] + - !!python/tuple [4, 6] + - !!python/tuple [21, 6] + - !!python/tuple [1, 18] + - !!python/tuple [9, 10] + - !!python/tuple [29, 10] + - !!python/tuple [10, 28] + - !!python/tuple [22, 19] + - !!python/tuple [27, 22] + - !!python/tuple [29, 25] + - !!python/tuple [13, 17] + - !!python/tuple [13, 7] + - !!python/tuple [9, 28] + - !!python/tuple [18, 30] + - !!python/tuple [31, 17] + - !!python/tuple [20, 15] + - !!python/tuple [16, 21] + - !!python/tuple [2, 3] + - !!python/tuple [7, 5] + - !!python/tuple [24, 26] + - !!python/tuple [30, 9] + - !!python/tuple [8, 15] + - !!python/tuple [10, 25] + - !!python/tuple [26, 2] + - !!python/tuple [14, 3] + - !!python/tuple [23, 4] + - !!python/tuple [11, 31] + - !!python/tuple [1, 13] + - !!python/tuple [2, 27] + - !!python/tuple [27, 8] + - !!python/tuple [15, 9] + - !!python/tuple [18, 17] + - !!python/tuple [9, 31] + - !!python/tuple [17, 6] + - !!python/tuple [5, 23] + - !!python/tuple [29, 30] + - !!python/tuple [11, 3] + - !!python/tuple [24, 10] + - !!python/tuple [26, 14] + - !!python/tuple [11, 25] + - !!python/tuple [5, 28] + - !!python/tuple [18, 9] + - !!python/tuple [0, 11] + - !!python/tuple [3, 7] + - !!python/tuple [7, 27] + - !!python/tuple [25, 20] + - !!python/tuple [19, 15] + - !!python/tuple [29, 29] + - !!python/tuple [3, 27] + - !!python/tuple [31, 31] + - !!python/tuple [7, 26] + - !!python/tuple [8, 27] + - !!python/tuple [6, 7] + - !!python/tuple [18, 14] + - !!python/tuple [27, 9] + - !!python/tuple [8, 16] + - !!python/tuple [19, 9] + - !!python/tuple [11, 15] + - !!python/tuple [9, 23] + - !!python/tuple [14, 11] + - !!python/tuple [22, 7] + - !!python/tuple [23, 5] + - !!python/tuple [20, 0] + - !!python/tuple [13, 5] + - !!python/tuple [15, 22] + - !!python/tuple [20, 10] + - !!python/tuple [27, 17] + - !!python/tuple [5, 10] + - !!python/tuple [14, 18] + - !!python/tuple [3, 17] + - !!python/tuple [23, 31] + - !!python/tuple [23, 26] + - !!python/tuple [27, 25] + - !!python/tuple [2, 15] + - !!python/tuple [23, 9] + - !!python/tuple [23, 17] + - !!python/tuple [28, 11] + - !!python/tuple [26, 9] + - !!python/tuple [30, 2] + - !!python/tuple [8, 26] + - !!python/tuple [9, 29] + - !!python/tuple [24, 3] + - !!python/tuple [12, 22] + - !!python/tuple [29, 20] + - !!python/tuple [10, 20] + - !!python/tuple [23, 3] + - !!python/tuple [12, 2] + - !!python/tuple [29, 5] + - !!python/tuple [22, 8] + - !!python/tuple [31, 22] + - !!python/tuple [31, 16] + - !!python/tuple [18, 21] + - !!python/tuple [19, 2] + - !!python/tuple [9, 4] + - !!python/tuple [25, 31] + - !!python/tuple [15, 17] + - !!python/tuple [14, 30] + - !!python/tuple [21, 10] + - !!python/tuple [26, 10] + - !!python/tuple [22, 4] + - !!python/tuple [1, 15] + - !!python/tuple [17, 18] + - !!python/tuple [16, 15] + - !!python/tuple [26, 4] + - !!python/tuple [15, 11] + - !!python/tuple [6, 19] + - !!python/tuple [26, 16] + - !!python/tuple [17, 23] + - !!python/tuple [11, 27] + - !!python/tuple [27, 18] + - !!python/tuple [10, 2] + - !!python/tuple [22, 27] + - !!python/tuple [28, 2] + - !!python/tuple [23, 18] + - !!python/tuple [19, 0] + - !!python/tuple [23, 23] + - !!python/tuple [10, 5] + - !!python/tuple [3, 5] + - !!python/tuple [27, 4] + - !!python/tuple [13, 19] + - !!python/tuple [16, 17] + - !!python/tuple [7, 15] + - !!python/tuple [13, 0] + - !!python/tuple [1, 30] + - !!python/tuple [8, 31] + - !!python/tuple [9, 9] + - !!python/tuple [27, 11] + - !!python/tuple [5, 14] + - !!python/tuple [20, 21] + - !!python/tuple [24, 11] + - !!python/tuple [30, 27] + - !!python/tuple [12, 1] + - !!python/tuple [26, 7] + - !!python/tuple [1, 8] + - !!python/tuple [30, 20] + - !!python/tuple [19, 30] + - !!python/tuple [8, 4] + - !!python/tuple [26, 29] + - !!python/tuple [6, 3] + - !!python/tuple [31, 15] + - !!python/tuple [4, 24] + - !!python/tuple [12, 19] + - !!python/tuple [22, 31] + - !!python/tuple [18, 25] + - !!python/tuple [23, 13] + - !!python/tuple [30, 0] + - !!python/tuple [8, 9] + - !!python/tuple [22, 22] + - !!python/tuple [19, 18] + - !!python/tuple [0, 12] + - !!python/tuple [6, 24] + - !!python/tuple [31, 26] + - !!python/tuple [17, 5] + - !!python/tuple [29, 3] + - !!python/tuple [6, 10] + - !!python/tuple [19, 1] + - !!python/tuple [26, 11] + - !!python/tuple [3, 2] + - !!python/tuple [30, 19] + - !!python/tuple [25, 28] + - !!python/tuple [29, 17] + - !!python/tuple [3, 18] + - !!python/tuple [0, 7] + - !!python/tuple [30, 12] + - !!python/tuple [14, 20] + - !!python/tuple [11, 7] + - !!python/tuple [31, 18] + - !!python/tuple [19, 23] + - !!python/tuple [9, 22] + - !!python/tuple [2, 29] + - !!python/tuple [18, 6] + - !!python/tuple [12, 31] + - !!python/tuple [19, 22] + - !!python/tuple [15, 1] + - !!python/tuple [21, 4] + - !!python/tuple [2, 18] + - !!python/tuple [21, 9] + - !!python/tuple [31, 27] + - !!python/tuple [14, 14] + - !!python/tuple [22, 13] + - !!python/tuple [15, 26] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex56.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex56.yaml new file mode 100644 index 0000000..ef85adc --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex56.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [3, 26] + name: agent0 + start: [20, 7] +- goal: [5, 22] + name: agent1 + start: [8, 24] +- goal: [16, 21] + name: agent2 + start: [21, 15] +- goal: [2, 9] + name: agent3 + start: [18, 19] +- goal: [8, 8] + name: agent4 + start: [31, 16] +- goal: [16, 9] + name: agent5 + start: [31, 17] +- goal: [25, 15] + name: agent6 + start: [21, 2] +- goal: [28, 19] + name: agent7 + start: [11, 7] +- goal: [29, 27] + name: agent8 + start: [8, 10] +- goal: [11, 16] + name: agent9 + start: [1, 11] +- goal: [18, 25] + name: agent10 + start: [24, 11] +- goal: [11, 27] + name: agent11 + start: [25, 0] +- goal: [16, 0] + name: agent12 + start: [29, 27] +- goal: [12, 23] + name: agent13 + start: [13, 7] +- goal: [28, 0] + name: agent14 + start: [12, 18] +- goal: [26, 2] + name: agent15 + start: [5, 21] +- goal: [4, 2] + name: agent16 + start: [14, 7] +- goal: [30, 24] + name: agent17 + start: [10, 15] +- goal: [21, 28] + name: agent18 + start: [6, 15] +- goal: [12, 18] + name: agent19 + start: [27, 26] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [19, 1] + - !!python/tuple [14, 21] + - !!python/tuple [25, 22] + - !!python/tuple [11, 9] + - !!python/tuple [14, 29] + - !!python/tuple [4, 14] + - !!python/tuple [1, 5] + - !!python/tuple [5, 14] + - !!python/tuple [21, 7] + - !!python/tuple [17, 9] + - !!python/tuple [19, 25] + - !!python/tuple [6, 8] + - !!python/tuple [17, 22] + - !!python/tuple [6, 31] + - !!python/tuple [24, 0] + - !!python/tuple [11, 29] + - !!python/tuple [20, 25] + - !!python/tuple [7, 26] + - !!python/tuple [17, 10] + - !!python/tuple [1, 26] + - !!python/tuple [14, 8] + - !!python/tuple [20, 6] + - !!python/tuple [16, 10] + - !!python/tuple [12, 14] + - !!python/tuple [6, 25] + - !!python/tuple [30, 8] + - !!python/tuple [25, 30] + - !!python/tuple [17, 13] + - !!python/tuple [3, 8] + - !!python/tuple [21, 11] + - !!python/tuple [17, 2] + - !!python/tuple [27, 3] + - !!python/tuple [26, 28] + - !!python/tuple [15, 7] + - !!python/tuple [14, 25] + - !!python/tuple [18, 27] + - !!python/tuple [26, 18] + - !!python/tuple [3, 12] + - !!python/tuple [17, 6] + - !!python/tuple [20, 4] + - !!python/tuple [24, 20] + - !!python/tuple [8, 6] + - !!python/tuple [2, 1] + - !!python/tuple [28, 6] + - !!python/tuple [4, 9] + - !!python/tuple [3, 16] + - !!python/tuple [11, 20] + - !!python/tuple [17, 5] + - !!python/tuple [0, 16] + - !!python/tuple [13, 17] + - !!python/tuple [18, 10] + - !!python/tuple [28, 14] + - !!python/tuple [21, 4] + - !!python/tuple [8, 18] + - !!python/tuple [3, 2] + - !!python/tuple [15, 20] + - !!python/tuple [24, 21] + - !!python/tuple [17, 14] + - !!python/tuple [12, 6] + - !!python/tuple [27, 12] + - !!python/tuple [8, 2] + - !!python/tuple [24, 12] + - !!python/tuple [18, 15] + - !!python/tuple [30, 27] + - !!python/tuple [20, 12] + - !!python/tuple [27, 21] + - !!python/tuple [14, 27] + - !!python/tuple [22, 2] + - !!python/tuple [16, 12] + - !!python/tuple [0, 20] + - !!python/tuple [1, 9] + - !!python/tuple [16, 5] + - !!python/tuple [20, 0] + - !!python/tuple [1, 17] + - !!python/tuple [13, 14] + - !!python/tuple [21, 25] + - !!python/tuple [12, 17] + - !!python/tuple [29, 6] + - !!python/tuple [6, 26] + - !!python/tuple [11, 2] + - !!python/tuple [27, 31] + - !!python/tuple [9, 28] + - !!python/tuple [20, 1] + - !!python/tuple [9, 30] + - !!python/tuple [21, 24] + - !!python/tuple [24, 26] + - !!python/tuple [0, 15] + - !!python/tuple [25, 9] + - !!python/tuple [28, 18] + - !!python/tuple [11, 31] + - !!python/tuple [2, 30] + - !!python/tuple [6, 6] + - !!python/tuple [23, 25] + - !!python/tuple [14, 23] + - !!python/tuple [10, 26] + - !!python/tuple [26, 27] + - !!python/tuple [7, 2] + - !!python/tuple [12, 11] + - !!python/tuple [8, 22] + - !!python/tuple [10, 30] + - !!python/tuple [7, 20] + - !!python/tuple [27, 29] + - !!python/tuple [21, 23] + - !!python/tuple [18, 30] + - !!python/tuple [10, 18] + - !!python/tuple [30, 26] + - !!python/tuple [8, 30] + - !!python/tuple [23, 15] + - !!python/tuple [12, 2] + - !!python/tuple [4, 1] + - !!python/tuple [13, 29] + - !!python/tuple [28, 31] + - !!python/tuple [3, 6] + - !!python/tuple [4, 12] + - !!python/tuple [16, 25] + - !!python/tuple [6, 19] + - !!python/tuple [22, 12] + - !!python/tuple [26, 20] + - !!python/tuple [31, 1] + - !!python/tuple [19, 31] + - !!python/tuple [5, 26] + - !!python/tuple [31, 5] + - !!python/tuple [2, 13] + - !!python/tuple [7, 3] + - !!python/tuple [5, 24] + - !!python/tuple [29, 10] + - !!python/tuple [15, 27] + - !!python/tuple [11, 12] + - !!python/tuple [17, 30] + - !!python/tuple [27, 11] + - !!python/tuple [30, 11] + - !!python/tuple [18, 21] + - !!python/tuple [22, 5] + - !!python/tuple [29, 12] + - !!python/tuple [10, 19] + - !!python/tuple [23, 14] + - !!python/tuple [10, 25] + - !!python/tuple [19, 10] + - !!python/tuple [0, 26] + - !!python/tuple [25, 25] + - !!python/tuple [20, 2] + - !!python/tuple [8, 23] + - !!python/tuple [11, 0] + - !!python/tuple [8, 0] + - !!python/tuple [25, 27] + - !!python/tuple [22, 15] + - !!python/tuple [18, 9] + - !!python/tuple [16, 3] + - !!python/tuple [11, 17] + - !!python/tuple [23, 23] + - !!python/tuple [5, 25] + - !!python/tuple [7, 22] + - !!python/tuple [18, 12] + - !!python/tuple [10, 21] + - !!python/tuple [26, 14] + - !!python/tuple [27, 15] + - !!python/tuple [0, 12] + - !!python/tuple [30, 4] + - !!python/tuple [9, 23] + - !!python/tuple [15, 18] + - !!python/tuple [5, 19] + - !!python/tuple [13, 1] + - !!python/tuple [30, 2] + - !!python/tuple [16, 15] + - !!python/tuple [18, 24] + - !!python/tuple [11, 11] + - !!python/tuple [28, 29] + - !!python/tuple [19, 9] + - !!python/tuple [21, 20] + - !!python/tuple [15, 5] + - !!python/tuple [17, 11] + - !!python/tuple [9, 31] + - !!python/tuple [12, 24] + - !!python/tuple [11, 22] + - !!python/tuple [13, 3] + - !!python/tuple [28, 12] + - !!python/tuple [20, 29] + - !!python/tuple [10, 23] + - !!python/tuple [10, 22] + - !!python/tuple [0, 6] + - !!python/tuple [0, 29] + - !!python/tuple [5, 6] + - !!python/tuple [12, 3] + - !!python/tuple [30, 7] + - !!python/tuple [9, 13] + - !!python/tuple [23, 19] + - !!python/tuple [23, 20] + - !!python/tuple [8, 11] + - !!python/tuple [9, 26] + - !!python/tuple [30, 17] + - !!python/tuple [4, 17] + - !!python/tuple [19, 20] + - !!python/tuple [21, 13] + - !!python/tuple [16, 14] + - !!python/tuple [20, 23] + - !!python/tuple [17, 23] + - !!python/tuple [6, 21] + - !!python/tuple [7, 19] + - !!python/tuple [12, 8] + - !!python/tuple [25, 18] + - !!python/tuple [4, 25] + - !!python/tuple [28, 4] + - !!python/tuple [29, 14] + - !!python/tuple [8, 14] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex57.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex57.yaml new file mode 100644 index 0000000..dcb3124 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex57.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [11, 14] + name: agent0 + start: [8, 7] +- goal: [6, 10] + name: agent1 + start: [23, 15] +- goal: [10, 27] + name: agent2 + start: [27, 9] +- goal: [10, 31] + name: agent3 + start: [29, 26] +- goal: [27, 8] + name: agent4 + start: [24, 23] +- goal: [13, 10] + name: agent5 + start: [29, 2] +- goal: [18, 24] + name: agent6 + start: [23, 8] +- goal: [15, 17] + name: agent7 + start: [0, 2] +- goal: [27, 29] + name: agent8 + start: [0, 4] +- goal: [10, 3] + name: agent9 + start: [16, 11] +- goal: [17, 1] + name: agent10 + start: [26, 18] +- goal: [28, 25] + name: agent11 + start: [21, 18] +- goal: [18, 25] + name: agent12 + start: [9, 3] +- goal: [5, 20] + name: agent13 + start: [29, 31] +- goal: [30, 25] + name: agent14 + start: [13, 13] +- goal: [1, 14] + name: agent15 + start: [12, 15] +- goal: [26, 13] + name: agent16 + start: [9, 7] +- goal: [12, 24] + name: agent17 + start: [16, 29] +- goal: [9, 8] + name: agent18 + start: [17, 5] +- goal: [23, 12] + name: agent19 + start: [17, 25] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [21, 16] + - !!python/tuple [11, 20] + - !!python/tuple [19, 23] + - !!python/tuple [17, 17] + - !!python/tuple [9, 21] + - !!python/tuple [25, 23] + - !!python/tuple [29, 13] + - !!python/tuple [2, 18] + - !!python/tuple [1, 25] + - !!python/tuple [5, 31] + - !!python/tuple [18, 31] + - !!python/tuple [5, 0] + - !!python/tuple [1, 22] + - !!python/tuple [18, 20] + - !!python/tuple [28, 1] + - !!python/tuple [2, 6] + - !!python/tuple [29, 23] + - !!python/tuple [31, 24] + - !!python/tuple [6, 5] + - !!python/tuple [19, 26] + - !!python/tuple [16, 6] + - !!python/tuple [4, 16] + - !!python/tuple [23, 23] + - !!python/tuple [12, 16] + - !!python/tuple [21, 7] + - !!python/tuple [28, 3] + - !!python/tuple [30, 16] + - !!python/tuple [18, 30] + - !!python/tuple [19, 31] + - !!python/tuple [31, 20] + - !!python/tuple [27, 21] + - !!python/tuple [21, 4] + - !!python/tuple [20, 28] + - !!python/tuple [17, 16] + - !!python/tuple [4, 21] + - !!python/tuple [27, 12] + - !!python/tuple [22, 2] + - !!python/tuple [5, 26] + - !!python/tuple [3, 14] + - !!python/tuple [30, 30] + - !!python/tuple [7, 0] + - !!python/tuple [15, 2] + - !!python/tuple [8, 23] + - !!python/tuple [0, 1] + - !!python/tuple [11, 22] + - !!python/tuple [14, 18] + - !!python/tuple [9, 10] + - !!python/tuple [4, 5] + - !!python/tuple [24, 8] + - !!python/tuple [4, 29] + - !!python/tuple [18, 29] + - !!python/tuple [4, 4] + - !!python/tuple [27, 24] + - !!python/tuple [8, 8] + - !!python/tuple [30, 5] + - !!python/tuple [25, 10] + - !!python/tuple [13, 31] + - !!python/tuple [2, 14] + - !!python/tuple [6, 24] + - !!python/tuple [22, 25] + - !!python/tuple [21, 1] + - !!python/tuple [14, 0] + - !!python/tuple [26, 5] + - !!python/tuple [11, 31] + - !!python/tuple [27, 26] + - !!python/tuple [4, 11] + - !!python/tuple [31, 29] + - !!python/tuple [27, 18] + - !!python/tuple [5, 16] + - !!python/tuple [31, 1] + - !!python/tuple [31, 31] + - !!python/tuple [18, 15] + - !!python/tuple [12, 23] + - !!python/tuple [30, 17] + - !!python/tuple [16, 24] + - !!python/tuple [19, 1] + - !!python/tuple [15, 29] + - !!python/tuple [12, 5] + - !!python/tuple [16, 2] + - !!python/tuple [27, 2] + - !!python/tuple [30, 21] + - !!python/tuple [13, 29] + - !!python/tuple [14, 8] + - !!python/tuple [27, 16] + - !!python/tuple [25, 2] + - !!python/tuple [28, 22] + - !!python/tuple [24, 4] + - !!python/tuple [9, 2] + - !!python/tuple [17, 13] + - !!python/tuple [14, 12] + - !!python/tuple [21, 8] + - !!python/tuple [31, 14] + - !!python/tuple [19, 6] + - !!python/tuple [23, 28] + - !!python/tuple [13, 22] + - !!python/tuple [27, 5] + - !!python/tuple [30, 31] + - !!python/tuple [25, 13] + - !!python/tuple [20, 14] + - !!python/tuple [6, 2] + - !!python/tuple [4, 27] + - !!python/tuple [9, 12] + - !!python/tuple [21, 5] + - !!python/tuple [23, 21] + - !!python/tuple [19, 0] + - !!python/tuple [21, 25] + - !!python/tuple [3, 12] + - !!python/tuple [28, 13] + - !!python/tuple [2, 15] + - !!python/tuple [7, 26] + - !!python/tuple [29, 21] + - !!python/tuple [15, 19] + - !!python/tuple [12, 22] + - !!python/tuple [16, 12] + - !!python/tuple [11, 17] + - !!python/tuple [12, 9] + - !!python/tuple [25, 21] + - !!python/tuple [3, 28] + - !!python/tuple [3, 31] + - !!python/tuple [16, 10] + - !!python/tuple [8, 30] + - !!python/tuple [28, 23] + - !!python/tuple [12, 12] + - !!python/tuple [15, 26] + - !!python/tuple [30, 27] + - !!python/tuple [26, 28] + - !!python/tuple [13, 27] + - !!python/tuple [18, 0] + - !!python/tuple [17, 0] + - !!python/tuple [2, 3] + - !!python/tuple [1, 23] + - !!python/tuple [25, 5] + - !!python/tuple [8, 10] + - !!python/tuple [31, 10] + - !!python/tuple [21, 24] + - !!python/tuple [31, 8] + - !!python/tuple [0, 24] + - !!python/tuple [4, 13] + - !!python/tuple [4, 9] + - !!python/tuple [18, 19] + - !!python/tuple [28, 12] + - !!python/tuple [15, 4] + - !!python/tuple [16, 31] + - !!python/tuple [12, 28] + - !!python/tuple [29, 22] + - !!python/tuple [3, 17] + - !!python/tuple [30, 10] + - !!python/tuple [8, 22] + - !!python/tuple [26, 29] + - !!python/tuple [1, 16] + - !!python/tuple [10, 1] + - !!python/tuple [6, 17] + - !!python/tuple [13, 17] + - !!python/tuple [30, 19] + - !!python/tuple [26, 26] + - !!python/tuple [2, 2] + - !!python/tuple [13, 1] + - !!python/tuple [19, 16] + - !!python/tuple [27, 20] + - !!python/tuple [21, 3] + - !!python/tuple [9, 5] + - !!python/tuple [24, 27] + - !!python/tuple [19, 17] + - !!python/tuple [17, 18] + - !!python/tuple [21, 10] + - !!python/tuple [16, 30] + - !!python/tuple [30, 26] + - !!python/tuple [30, 23] + - !!python/tuple [22, 9] + - !!python/tuple [1, 26] + - !!python/tuple [11, 27] + - !!python/tuple [23, 2] + - !!python/tuple [0, 18] + - !!python/tuple [14, 23] + - !!python/tuple [26, 21] + - !!python/tuple [21, 17] + - !!python/tuple [15, 23] + - !!python/tuple [14, 19] + - !!python/tuple [17, 30] + - !!python/tuple [3, 13] + - !!python/tuple [6, 7] + - !!python/tuple [30, 22] + - !!python/tuple [29, 12] + - !!python/tuple [26, 8] + - !!python/tuple [9, 22] + - !!python/tuple [25, 3] + - !!python/tuple [29, 19] + - !!python/tuple [30, 0] + - !!python/tuple [21, 20] + - !!python/tuple [6, 29] + - !!python/tuple [3, 2] + - !!python/tuple [13, 18] + - !!python/tuple [11, 9] + - !!python/tuple [22, 19] + - !!python/tuple [28, 24] + - !!python/tuple [7, 13] + - !!python/tuple [10, 24] + - !!python/tuple [26, 27] + - !!python/tuple [20, 0] + - !!python/tuple [26, 1] + - !!python/tuple [26, 31] + - !!python/tuple [18, 21] + - !!python/tuple [14, 3] + - !!python/tuple [0, 12] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex58.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex58.yaml new file mode 100644 index 0000000..1d6fe2f --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex58.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [6, 10] + name: agent0 + start: [22, 11] +- goal: [25, 24] + name: agent1 + start: [28, 17] +- goal: [16, 13] + name: agent2 + start: [7, 18] +- goal: [9, 5] + name: agent3 + start: [23, 9] +- goal: [25, 12] + name: agent4 + start: [13, 4] +- goal: [0, 18] + name: agent5 + start: [22, 5] +- goal: [18, 4] + name: agent6 + start: [5, 0] +- goal: [17, 14] + name: agent7 + start: [5, 28] +- goal: [6, 28] + name: agent8 + start: [0, 7] +- goal: [30, 30] + name: agent9 + start: [14, 20] +- goal: [7, 18] + name: agent10 + start: [7, 13] +- goal: [19, 27] + name: agent11 + start: [12, 5] +- goal: [30, 15] + name: agent12 + start: [17, 12] +- goal: [30, 12] + name: agent13 + start: [19, 7] +- goal: [30, 26] + name: agent14 + start: [21, 25] +- goal: [24, 13] + name: agent15 + start: [19, 16] +- goal: [5, 22] + name: agent16 + start: [25, 4] +- goal: [29, 30] + name: agent17 + start: [6, 27] +- goal: [1, 7] + name: agent18 + start: [10, 21] +- goal: [8, 27] + name: agent19 + start: [14, 29] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [20, 10] + - !!python/tuple [9, 30] + - !!python/tuple [19, 1] + - !!python/tuple [6, 15] + - !!python/tuple [26, 6] + - !!python/tuple [9, 31] + - !!python/tuple [24, 12] + - !!python/tuple [8, 0] + - !!python/tuple [4, 18] + - !!python/tuple [24, 15] + - !!python/tuple [28, 11] + - !!python/tuple [30, 23] + - !!python/tuple [30, 6] + - !!python/tuple [16, 31] + - !!python/tuple [24, 26] + - 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[20, 19] + - !!python/tuple [12, 26] + - !!python/tuple [7, 14] + - !!python/tuple [28, 25] + - !!python/tuple [3, 17] + - !!python/tuple [6, 3] + - !!python/tuple [14, 8] + - !!python/tuple [29, 6] + - !!python/tuple [7, 22] + - !!python/tuple [11, 12] + - !!python/tuple [21, 4] + - !!python/tuple [16, 20] + - !!python/tuple [31, 0] + - !!python/tuple [27, 7] + - !!python/tuple [24, 18] + - !!python/tuple [3, 6] + - !!python/tuple [4, 4] + - !!python/tuple [12, 25] + - !!python/tuple [15, 29] + - !!python/tuple [13, 9] + - !!python/tuple [7, 16] + - !!python/tuple [21, 7] + - !!python/tuple [0, 2] + - !!python/tuple [28, 30] + - !!python/tuple [30, 5] + - !!python/tuple [0, 27] + - !!python/tuple [14, 19] + - !!python/tuple [22, 19] + - !!python/tuple [15, 2] + - !!python/tuple [8, 18] + - !!python/tuple [19, 29] + - !!python/tuple [18, 12] + - !!python/tuple [11, 13] + - !!python/tuple [10, 24] + - !!python/tuple [8, 7] + - !!python/tuple [27, 11] + - !!python/tuple [8, 20] + - 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!!python/tuple [12, 6] + - !!python/tuple [12, 18] + - !!python/tuple [26, 11] + - !!python/tuple [24, 5] + - !!python/tuple [22, 15] + - !!python/tuple [19, 30] + - !!python/tuple [28, 0] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex59.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex59.yaml new file mode 100644 index 0000000..a745cdb --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex59.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [6, 12] + name: agent0 + start: [8, 2] +- goal: [20, 1] + name: agent1 + start: [22, 22] +- goal: [4, 28] + name: agent2 + start: [19, 3] +- goal: [4, 26] + name: agent3 + start: [30, 25] +- goal: [12, 18] + name: agent4 + start: [7, 14] +- goal: [26, 27] + name: agent5 + start: [3, 12] +- goal: [11, 26] + name: agent6 + start: [12, 4] +- goal: [6, 5] + name: agent7 + start: [17, 17] +- goal: [20, 20] + name: agent8 + start: [2, 15] +- goal: [9, 24] + name: agent9 + start: [26, 16] +- goal: [28, 3] + name: agent10 + start: [13, 25] +- goal: [15, 18] + name: agent11 + start: [23, 15] +- goal: [7, 9] + name: agent12 + start: [27, 24] +- goal: [29, 14] + name: agent13 + start: [7, 10] +- goal: [8, 9] + name: agent14 + start: [24, 26] +- goal: [2, 2] + name: agent15 + start: [10, 2] +- goal: [6, 31] + name: agent16 + start: [3, 15] +- goal: [18, 25] + name: agent17 + start: [0, 18] +- goal: [17, 14] + name: agent18 + start: [15, 5] +- goal: [29, 12] + name: agent19 + start: [8, 9] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [15, 12] + - !!python/tuple [9, 17] + - !!python/tuple [28, 20] + - !!python/tuple [0, 29] + - !!python/tuple [4, 4] + - !!python/tuple [30, 22] + - !!python/tuple [0, 1] + - !!python/tuple [6, 14] + - !!python/tuple [0, 12] + - !!python/tuple [24, 22] + - !!python/tuple [20, 11] + - !!python/tuple [5, 27] + - !!python/tuple [30, 17] + - !!python/tuple [11, 21] + - !!python/tuple 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!!python/tuple [22, 2] + - !!python/tuple [21, 16] + - !!python/tuple [6, 16] + - !!python/tuple [10, 16] + - !!python/tuple [3, 14] + - !!python/tuple [27, 26] + - !!python/tuple [12, 5] + - !!python/tuple [17, 30] + - !!python/tuple [2, 28] + - !!python/tuple [10, 20] + - !!python/tuple [31, 3] + - !!python/tuple [9, 11] + - !!python/tuple [24, 3] + - !!python/tuple [25, 0] + - !!python/tuple [9, 18] + - !!python/tuple [5, 18] + - !!python/tuple [23, 6] + - !!python/tuple [1, 10] + - !!python/tuple [22, 27] + - !!python/tuple [14, 11] + - !!python/tuple [25, 11] + - !!python/tuple [6, 30] + - !!python/tuple [3, 22] + - !!python/tuple [21, 0] + - !!python/tuple [26, 2] + - !!python/tuple [4, 23] + - !!python/tuple [9, 2] + - !!python/tuple [3, 5] + - !!python/tuple [26, 12] + - !!python/tuple [2, 16] + - !!python/tuple [12, 14] + - !!python/tuple [6, 3] + - !!python/tuple [8, 18] + - !!python/tuple [10, 18] + - !!python/tuple [25, 14] + - !!python/tuple [18, 7] + - !!python/tuple [20, 10] + - !!python/tuple [23, 20] + - !!python/tuple [17, 16] + - !!python/tuple [16, 30] + - !!python/tuple [15, 13] + - !!python/tuple [31, 6] + - !!python/tuple [12, 12] + - !!python/tuple [12, 17] + - !!python/tuple [31, 25] + - !!python/tuple [5, 24] + - !!python/tuple [19, 10] + - !!python/tuple [2, 21] + - !!python/tuple [4, 8] + - !!python/tuple [17, 25] + - !!python/tuple [6, 9] + - !!python/tuple [7, 17] + - !!python/tuple [20, 8] + - !!python/tuple [27, 15] + - !!python/tuple [21, 27] + - !!python/tuple [11, 6] + - !!python/tuple [10, 6] + - !!python/tuple [24, 10] + - !!python/tuple [20, 21] + - !!python/tuple [4, 31] + - !!python/tuple [5, 2] + - !!python/tuple [30, 8] + - !!python/tuple [16, 29] + - !!python/tuple [23, 24] + - !!python/tuple [4, 0] + - !!python/tuple [5, 16] + - !!python/tuple [31, 11] + - !!python/tuple [28, 19] + - !!python/tuple [18, 5] + - !!python/tuple [2, 18] + - !!python/tuple [14, 5] + - !!python/tuple [18, 31] + - !!python/tuple [21, 13] + - !!python/tuple [23, 30] + - !!python/tuple [8, 22] + - !!python/tuple [20, 3] + - !!python/tuple [1, 30] + - !!python/tuple [31, 10] + - !!python/tuple [11, 18] + - !!python/tuple [23, 5] + - !!python/tuple [27, 11] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex6.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex6.yaml new file mode 100644 index 0000000..ed8dea7 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex6.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [31, 20] + name: agent0 + start: [2, 26] +- goal: [24, 24] + name: agent1 + start: [8, 13] +- goal: [16, 21] + name: agent2 + start: [28, 12] +- goal: [7, 11] + name: agent3 + start: [20, 26] +- goal: [15, 2] + name: agent4 + start: [16, 3] +- goal: [12, 20] + name: agent5 + start: [8, 20] +- goal: [23, 28] + name: agent6 + start: [19, 0] +- goal: [21, 26] + name: agent7 + start: [23, 8] +- goal: [5, 22] + name: agent8 + start: [10, 15] +- goal: [15, 22] + name: agent9 + start: [6, 29] +- goal: [4, 22] + name: agent10 + start: [18, 9] +- goal: [16, 8] + name: agent11 + start: [6, 31] +- goal: [13, 1] + name: agent12 + start: [3, 7] +- goal: [26, 28] + name: agent13 + start: [18, 7] +- goal: [6, 25] + name: agent14 + start: [14, 5] +- goal: [16, 23] + name: agent15 + start: [23, 12] +- goal: [25, 29] + name: agent16 + start: [31, 20] +- goal: [14, 26] + name: agent17 + start: [27, 12] +- goal: [24, 21] + name: agent18 + start: [19, 18] +- goal: [0, 31] + name: agent19 + start: [7, 18] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [0, 15] + - !!python/tuple [22, 24] + - !!python/tuple [15, 1] + - !!python/tuple [13, 12] + - !!python/tuple [28, 15] + - !!python/tuple [14, 27] + - !!python/tuple [20, 9] + - !!python/tuple [31, 2] + - !!python/tuple [14, 19] + - !!python/tuple [4, 25] + - !!python/tuple [16, 10] + - !!python/tuple [4, 16] + - !!python/tuple [21, 13] + - !!python/tuple [14, 1] + - !!python/tuple [0, 22] + - !!python/tuple [25, 24] + - !!python/tuple [3, 28] + - !!python/tuple [14, 22] + - !!python/tuple [3, 5] + - !!python/tuple [18, 3] + - !!python/tuple [30, 3] + - !!python/tuple [7, 12] + - !!python/tuple [5, 16] + - !!python/tuple [1, 11] + - !!python/tuple [16, 14] + - !!python/tuple [10, 20] + - !!python/tuple [23, 30] + - !!python/tuple [18, 20] + - !!python/tuple [31, 19] + - !!python/tuple [4, 29] + - !!python/tuple [26, 9] + - !!python/tuple [6, 24] + - !!python/tuple [10, 2] + - !!python/tuple [1, 0] + - !!python/tuple [21, 18] + - !!python/tuple [5, 19] + - !!python/tuple [14, 13] + - !!python/tuple [12, 16] + - !!python/tuple [19, 7] + - !!python/tuple [6, 22] + - !!python/tuple [19, 14] + - !!python/tuple [23, 13] + - !!python/tuple [4, 23] + - !!python/tuple [11, 24] + - !!python/tuple [25, 20] + - !!python/tuple [2, 13] + - !!python/tuple [0, 7] + - !!python/tuple [18, 31] + - !!python/tuple [13, 17] + - !!python/tuple [19, 29] + - !!python/tuple [9, 7] + - !!python/tuple [8, 27] + - !!python/tuple [8, 5] + - !!python/tuple [23, 0] + - !!python/tuple [6, 21] + - !!python/tuple [5, 14] + - !!python/tuple [18, 27] + - !!python/tuple [10, 25] + - !!python/tuple [1, 1] + - !!python/tuple [18, 16] + - !!python/tuple [22, 19] + - !!python/tuple [22, 25] + - !!python/tuple [10, 11] + - !!python/tuple [28, 19] + - !!python/tuple [16, 22] + - !!python/tuple [20, 18] + - !!python/tuple [3, 16] + - !!python/tuple [25, 1] + - !!python/tuple [8, 28] + - !!python/tuple [17, 29] + - !!python/tuple [15, 20] + - !!python/tuple [26, 29] + - !!python/tuple [14, 18] + - !!python/tuple [26, 3] + - !!python/tuple [26, 31] + - !!python/tuple [13, 8] + - !!python/tuple [31, 29] + - !!python/tuple [5, 20] + - !!python/tuple [0, 24] + - !!python/tuple [18, 23] + - !!python/tuple [27, 17] + - !!python/tuple [20, 6] + - !!python/tuple [31, 12] + - !!python/tuple [31, 13] + - !!python/tuple [0, 28] + - !!python/tuple [24, 19] + - !!python/tuple [11, 6] + - !!python/tuple [29, 17] + - !!python/tuple [31, 9] + - !!python/tuple [29, 14] + - !!python/tuple [22, 23] + - !!python/tuple [0, 11] + - !!python/tuple [0, 3] + - !!python/tuple [27, 11] + - !!python/tuple [24, 16] + - !!python/tuple [1, 2] + - !!python/tuple [11, 31] + - !!python/tuple [9, 25] + - !!python/tuple [10, 4] + - !!python/tuple [30, 18] + - !!python/tuple [18, 25] + - !!python/tuple [13, 18] + - !!python/tuple [18, 13] + - !!python/tuple [26, 4] + - !!python/tuple [7, 9] + - !!python/tuple [18, 18] + - !!python/tuple [23, 14] + - !!python/tuple [9, 15] + - !!python/tuple [28, 29] + - !!python/tuple [27, 25] + - !!python/tuple [24, 18] + - !!python/tuple [12, 21] + - !!python/tuple [19, 2] + - !!python/tuple [9, 24] + - !!python/tuple [21, 27] + - !!python/tuple [17, 9] + - !!python/tuple [16, 18] + - !!python/tuple [8, 30] + - !!python/tuple [25, 13] + - !!python/tuple [25, 22] + - !!python/tuple [20, 29] + - !!python/tuple [26, 17] + - !!python/tuple [24, 15] + - !!python/tuple [5, 2] + - !!python/tuple [29, 12] + - !!python/tuple [18, 4] + - !!python/tuple [26, 30] + - !!python/tuple [23, 5] + - !!python/tuple [3, 6] + - !!python/tuple [20, 13] + - !!python/tuple [30, 14] + - !!python/tuple [22, 22] + - !!python/tuple [11, 27] + - !!python/tuple [16, 5] + - !!python/tuple [6, 10] + - !!python/tuple [20, 20] + - !!python/tuple [1, 27] + - !!python/tuple [14, 10] + - !!python/tuple [9, 5] + - !!python/tuple [15, 0] + - !!python/tuple [20, 28] + - !!python/tuple [8, 11] + - !!python/tuple [23, 27] + - !!python/tuple [21, 30] + - !!python/tuple [29, 19] + - !!python/tuple [9, 1] + - !!python/tuple [18, 10] + - !!python/tuple [7, 10] + - !!python/tuple [18, 5] + - !!python/tuple [21, 6] + - !!python/tuple [24, 13] + - !!python/tuple [29, 21] + - !!python/tuple [14, 7] + - !!python/tuple [30, 7] + - !!python/tuple [13, 27] + - !!python/tuple [13, 10] + - !!python/tuple [12, 6] + - !!python/tuple [8, 6] + - !!python/tuple [28, 25] + - !!python/tuple [0, 23] + - !!python/tuple [10, 31] + - !!python/tuple [27, 5] + - !!python/tuple [2, 19] + - !!python/tuple [15, 25] + - !!python/tuple [10, 19] + - !!python/tuple [15, 27] + - !!python/tuple [13, 28] + - !!python/tuple [0, 18] + - !!python/tuple [20, 11] + - !!python/tuple [25, 7] + - !!python/tuple [2, 14] + - !!python/tuple [28, 0] + - !!python/tuple [30, 22] + - !!python/tuple [19, 31] + - !!python/tuple [21, 17] + - !!python/tuple [29, 1] + - !!python/tuple [4, 21] + - !!python/tuple [15, 5] + - !!python/tuple [15, 21] + - !!python/tuple [20, 3] + - !!python/tuple [8, 18] + - !!python/tuple [14, 24] + - !!python/tuple [14, 31] + - !!python/tuple [20, 14] + - !!python/tuple [16, 24] + - !!python/tuple [13, 20] + - !!python/tuple [5, 10] + - !!python/tuple [9, 29] + - !!python/tuple [27, 3] + - !!python/tuple [9, 18] + - !!python/tuple [30, 25] + - !!python/tuple [2, 5] + - !!python/tuple [13, 15] + - !!python/tuple [20, 30] + - !!python/tuple [2, 23] + - !!python/tuple [7, 15] + - !!python/tuple [0, 12] + - !!python/tuple [10, 13] + - !!python/tuple [31, 21] + - !!python/tuple [20, 8] + - !!python/tuple [23, 26] + - !!python/tuple [16, 16] + - !!python/tuple [24, 5] + - !!python/tuple [27, 21] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex60.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex60.yaml new file mode 100644 index 0000000..2650309 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex60.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [8, 11] + name: agent0 + start: [31, 21] +- goal: [21, 16] + name: agent1 + start: [7, 30] +- goal: [25, 15] + name: agent2 + start: [23, 28] +- goal: [7, 3] + name: agent3 + start: [0, 10] +- goal: [3, 15] + name: agent4 + start: [6, 30] +- goal: [27, 20] + name: agent5 + start: [29, 20] +- goal: [4, 13] + name: agent6 + start: [21, 9] +- goal: [8, 10] + name: agent7 + start: [20, 27] +- goal: [13, 20] + name: agent8 + start: [2, 19] +- goal: [2, 20] + name: agent9 + start: [31, 12] +- goal: [17, 1] + name: agent10 + start: [14, 22] +- goal: [5, 22] + name: agent11 + start: [17, 0] +- goal: [24, 14] + name: agent12 + start: [17, 31] +- goal: [27, 22] + name: agent13 + start: [2, 3] +- goal: [17, 6] + name: agent14 + start: [1, 15] +- goal: [10, 23] + name: agent15 + start: [27, 15] +- goal: [5, 28] + name: agent16 + start: [29, 23] +- goal: [15, 0] + name: agent17 + start: [30, 4] +- goal: [6, 1] + name: agent18 + start: [26, 23] +- goal: [26, 20] + name: agent19 + start: [18, 7] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [27, 31] + - !!python/tuple [14, 12] + - !!python/tuple [17, 26] + - !!python/tuple [8, 19] + - !!python/tuple [25, 22] + - !!python/tuple [27, 19] + - !!python/tuple [22, 18] + - !!python/tuple [31, 4] + - !!python/tuple [27, 16] + - !!python/tuple [7, 23] + - !!python/tuple [7, 8] + - !!python/tuple [26, 13] + - !!python/tuple [2, 30] + - !!python/tuple [3, 30] + - !!python/tuple [17, 23] + - !!python/tuple [19, 9] + - !!python/tuple [25, 17] + - !!python/tuple [17, 12] + - !!python/tuple [7, 25] + - !!python/tuple [31, 29] + - !!python/tuple [26, 25] + - !!python/tuple [7, 18] + - !!python/tuple [22, 17] + - !!python/tuple [13, 13] + - !!python/tuple [1, 13] + - !!python/tuple [13, 14] + - !!python/tuple [6, 12] + - !!python/tuple [27, 27] + - !!python/tuple [31, 14] + - !!python/tuple [4, 24] + - !!python/tuple [29, 25] + - !!python/tuple [13, 16] + - !!python/tuple [7, 29] + - !!python/tuple [8, 29] + - !!python/tuple [18, 20] + - !!python/tuple [1, 23] + - !!python/tuple [21, 23] + - !!python/tuple [28, 26] + - !!python/tuple [5, 8] + - !!python/tuple [1, 12] + - !!python/tuple [5, 30] + - !!python/tuple [6, 3] + - !!python/tuple [16, 21] + - !!python/tuple [20, 16] + - !!python/tuple [17, 19] + - !!python/tuple [21, 26] + - !!python/tuple [8, 23] + - !!python/tuple [16, 1] + - !!python/tuple [21, 2] + - !!python/tuple [12, 18] + - !!python/tuple [10, 18] + - !!python/tuple [16, 14] + - !!python/tuple [3, 12] + - !!python/tuple [10, 29] + - !!python/tuple [19, 14] + - !!python/tuple [14, 5] + - !!python/tuple [17, 14] + - !!python/tuple [27, 3] + - !!python/tuple [23, 25] + - !!python/tuple [25, 19] + - !!python/tuple [25, 26] + - !!python/tuple [18, 28] + - !!python/tuple [0, 3] + - !!python/tuple [6, 2] + - !!python/tuple [4, 11] + - !!python/tuple [22, 3] + - !!python/tuple [14, 19] + - !!python/tuple [2, 29] + - !!python/tuple [6, 5] + - !!python/tuple [21, 10] + - !!python/tuple [21, 4] + - !!python/tuple [26, 19] + - !!python/tuple [12, 26] + - !!python/tuple [22, 31] + - !!python/tuple [12, 27] + - !!python/tuple [3, 26] + - !!python/tuple [18, 14] + - !!python/tuple [4, 6] + - !!python/tuple [0, 17] + - !!python/tuple [16, 25] + - !!python/tuple [25, 25] + - !!python/tuple [19, 29] + - !!python/tuple [24, 31] + - !!python/tuple [10, 2] + - !!python/tuple [18, 19] + - !!python/tuple [4, 1] + - !!python/tuple [30, 22] + - !!python/tuple [10, 0] + - !!python/tuple [19, 27] + - !!python/tuple [23, 27] + - !!python/tuple [21, 27] + - !!python/tuple [8, 9] + - !!python/tuple [10, 15] + - !!python/tuple [16, 4] + - !!python/tuple [10, 27] + - !!python/tuple [9, 5] + - !!python/tuple [9, 12] + - !!python/tuple [25, 31] + - !!python/tuple [26, 8] + - !!python/tuple [16, 10] + - !!python/tuple [16, 16] + - !!python/tuple [8, 30] + - !!python/tuple [17, 15] + - !!python/tuple [24, 28] + - !!python/tuple [7, 2] + - !!python/tuple [27, 1] + - !!python/tuple [4, 2] + - !!python/tuple [12, 22] + - !!python/tuple [30, 26] + - !!python/tuple [7, 6] + - !!python/tuple [14, 3] + - !!python/tuple [7, 7] + - !!python/tuple [2, 14] + - !!python/tuple [21, 24] + - !!python/tuple [27, 2] + - !!python/tuple [7, 27] + - !!python/tuple [31, 1] + - !!python/tuple [25, 29] + - !!python/tuple [18, 1] + - !!python/tuple [3, 25] + - !!python/tuple [17, 2] + - !!python/tuple [7, 16] + - !!python/tuple [6, 18] + - !!python/tuple [17, 17] + - !!python/tuple [16, 19] + - !!python/tuple [6, 10] + - !!python/tuple [2, 5] + - !!python/tuple [20, 0] + - !!python/tuple [0, 22] + - !!python/tuple [29, 0] + - !!python/tuple [28, 5] + - !!python/tuple [5, 20] + - !!python/tuple [3, 17] + - !!python/tuple [11, 12] + - !!python/tuple [15, 21] + - !!python/tuple [22, 6] + - !!python/tuple [2, 2] + - !!python/tuple [6, 26] + - !!python/tuple [9, 15] + - !!python/tuple [16, 8] + - !!python/tuple [5, 18] + - !!python/tuple [16, 5] + - !!python/tuple [5, 23] + - !!python/tuple [17, 16] + - !!python/tuple [3, 6] + - !!python/tuple [14, 17] + - !!python/tuple [31, 15] + - !!python/tuple [14, 13] + - !!python/tuple [22, 27] + - !!python/tuple [13, 23] + - !!python/tuple [29, 31] + - !!python/tuple [6, 8] + - !!python/tuple [31, 18] + - !!python/tuple [27, 21] + - !!python/tuple [26, 7] + - !!python/tuple [15, 30] + - !!python/tuple [15, 20] + - !!python/tuple [30, 28] + - !!python/tuple [27, 8] + - !!python/tuple [11, 21] + - !!python/tuple [0, 6] + - !!python/tuple [29, 17] + - !!python/tuple [8, 14] + - !!python/tuple [21, 7] + - !!python/tuple [19, 11] + - !!python/tuple [17, 29] + - !!python/tuple [23, 24] + - !!python/tuple [11, 2] + - !!python/tuple [12, 0] + - !!python/tuple [28, 19] + - !!python/tuple [27, 0] + - !!python/tuple [24, 22] + - !!python/tuple [1, 30] + - !!python/tuple [31, 28] + - !!python/tuple [5, 14] + - !!python/tuple [11, 1] + - !!python/tuple [17, 8] + - !!python/tuple [8, 4] + - !!python/tuple [0, 9] + - !!python/tuple [1, 10] + - !!python/tuple [4, 8] + - !!python/tuple [10, 25] + - !!python/tuple [20, 19] + - !!python/tuple [21, 0] + - !!python/tuple [16, 24] + - !!python/tuple [26, 26] + - !!python/tuple [17, 7] + - !!python/tuple [12, 4] + - !!python/tuple [29, 15] + - !!python/tuple [25, 27] + - !!python/tuple [1, 14] + - !!python/tuple [16, 26] + - !!python/tuple [6, 21] + - !!python/tuple [0, 0] + - !!python/tuple [12, 21] + - !!python/tuple [4, 22] + - !!python/tuple [24, 0] + - !!python/tuple [31, 25] + - !!python/tuple [30, 31] + - !!python/tuple [30, 25] + - !!python/tuple [4, 16] + - !!python/tuple [25, 12] + - !!python/tuple [15, 26] + - !!python/tuple [30, 1] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex61.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex61.yaml new file mode 100644 index 0000000..21c1dd8 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex61.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [20, 14] + name: agent0 + start: [26, 8] +- goal: [17, 29] + name: agent1 + start: [16, 17] +- goal: [26, 11] + name: agent2 + start: [8, 27] +- goal: [23, 6] + name: agent3 + start: [25, 24] +- goal: [18, 7] + name: agent4 + start: [26, 31] +- goal: [3, 12] + name: agent5 + start: [29, 15] +- goal: [8, 13] + name: agent6 + start: [12, 31] +- goal: [4, 14] + name: agent7 + start: [22, 28] +- goal: [16, 18] + name: agent8 + start: [29, 21] +- goal: [17, 30] + name: agent9 + start: [28, 30] +- goal: [20, 26] + name: agent10 + start: [9, 19] +- goal: [15, 8] + name: agent11 + start: [17, 25] +- goal: [19, 5] + name: agent12 + start: [27, 22] +- goal: [26, 31] + name: agent13 + start: [28, 29] +- goal: [26, 10] + name: agent14 + start: [1, 25] +- goal: [21, 25] + name: agent15 + start: [2, 24] +- goal: [30, 29] + name: agent16 + start: [16, 2] +- goal: [24, 16] + name: agent17 + start: [16, 0] +- goal: [7, 24] + name: agent18 + start: [31, 16] +- goal: [7, 22] + name: agent19 + start: [4, 11] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [16, 14] + - !!python/tuple [21, 2] + - !!python/tuple [30, 1] + - !!python/tuple [30, 12] + - !!python/tuple [20, 3] + - !!python/tuple [11, 4] + - !!python/tuple [1, 15] + - !!python/tuple [22, 22] + - !!python/tuple [1, 10] + - !!python/tuple [15, 31] + - !!python/tuple [29, 14] + - !!python/tuple [23, 29] + - !!python/tuple [23, 20] + - !!python/tuple [3, 31] + - !!python/tuple [6, 7] + - !!python/tuple [23, 17] + - !!python/tuple [22, 2] + - !!python/tuple [17, 21] + - !!python/tuple [16, 16] + - !!python/tuple [8, 14] + - !!python/tuple [8, 0] + - !!python/tuple [18, 13] + - !!python/tuple [18, 21] + - !!python/tuple [19, 0] + - !!python/tuple [5, 18] + - !!python/tuple [1, 9] + - !!python/tuple [9, 23] + - !!python/tuple [14, 22] + - !!python/tuple [12, 13] + - !!python/tuple [5, 24] + - !!python/tuple [1, 1] + - !!python/tuple [23, 7] + - !!python/tuple [9, 24] + - !!python/tuple [31, 28] + - !!python/tuple [19, 10] + - !!python/tuple [28, 13] + - !!python/tuple [25, 0] + - !!python/tuple [24, 30] + - !!python/tuple [22, 31] + - !!python/tuple [10, 28] + - !!python/tuple [27, 18] + - !!python/tuple [2, 3] + - !!python/tuple [14, 4] + - !!python/tuple [7, 13] + - !!python/tuple [15, 21] + - !!python/tuple [23, 9] + - !!python/tuple [3, 29] + - !!python/tuple [12, 17] + - !!python/tuple [24, 31] + - !!python/tuple [4, 2] + - !!python/tuple [21, 5] + - !!python/tuple [19, 25] + - !!python/tuple [12, 23] + - !!python/tuple [12, 5] + - !!python/tuple [22, 10] + - !!python/tuple [14, 16] + - !!python/tuple [24, 11] + - !!python/tuple [19, 22] + - !!python/tuple [20, 22] + - !!python/tuple [0, 31] + - !!python/tuple [31, 11] + - !!python/tuple [23, 30] + - !!python/tuple [27, 26] + - !!python/tuple [13, 25] + - !!python/tuple [20, 19] + - !!python/tuple [0, 26] + - !!python/tuple [9, 18] + - !!python/tuple [8, 21] + - !!python/tuple [12, 0] + - !!python/tuple [11, 7] + - !!python/tuple [30, 21] + - !!python/tuple [30, 2] + - !!python/tuple [11, 2] + - !!python/tuple [22, 17] + - !!python/tuple [4, 12] + - !!python/tuple [2, 28] + - !!python/tuple [16, 30] + - !!python/tuple [30, 6] + - !!python/tuple [4, 18] + - !!python/tuple [29, 4] + - !!python/tuple [9, 25] + - !!python/tuple [10, 0] + - !!python/tuple [12, 12] + - !!python/tuple [7, 12] + - !!python/tuple [18, 8] + - !!python/tuple [1, 21] + - !!python/tuple [31, 8] + - !!python/tuple [24, 15] + - !!python/tuple [8, 29] + - !!python/tuple [11, 11] + - !!python/tuple [2, 7] + - !!python/tuple [7, 26] + - !!python/tuple [12, 26] + - !!python/tuple [0, 10] + - !!python/tuple [14, 2] + - !!python/tuple [25, 29] + - !!python/tuple [19, 13] + - !!python/tuple [7, 19] + - !!python/tuple [27, 29] + - !!python/tuple [24, 6] + - !!python/tuple [16, 15] + - !!python/tuple [14, 3] + - !!python/tuple [23, 26] + - !!python/tuple [20, 7] + - !!python/tuple [26, 5] + - !!python/tuple [16, 29] + - !!python/tuple [17, 19] + - !!python/tuple [10, 21] + - !!python/tuple [3, 11] + - !!python/tuple [30, 22] + - !!python/tuple [0, 6] + - !!python/tuple [8, 11] + - !!python/tuple [3, 24] + - !!python/tuple [19, 26] + - !!python/tuple [18, 19] + - !!python/tuple [0, 9] + - !!python/tuple [31, 18] + - !!python/tuple [5, 1] + - !!python/tuple [19, 6] + - !!python/tuple [1, 8] + - !!python/tuple [29, 28] + - !!python/tuple [6, 14] + - !!python/tuple [30, 30] + - !!python/tuple [12, 1] + - !!python/tuple [17, 3] + - !!python/tuple [25, 6] + - !!python/tuple [25, 3] + - !!python/tuple [1, 26] + - !!python/tuple [4, 27] + - !!python/tuple [21, 14] + - !!python/tuple [9, 3] + - !!python/tuple [18, 31] + - !!python/tuple [5, 30] + - !!python/tuple [8, 9] + - !!python/tuple [14, 18] + - !!python/tuple [2, 6] + - !!python/tuple [15, 18] + - !!python/tuple [24, 19] + - !!python/tuple [12, 7] + - !!python/tuple [12, 9] + - !!python/tuple [13, 14] + - !!python/tuple [31, 24] + - !!python/tuple [19, 24] + - !!python/tuple [31, 19] + - !!python/tuple [22, 14] + - !!python/tuple [10, 29] + - !!python/tuple [21, 29] + - !!python/tuple [13, 31] + - !!python/tuple [1, 28] + - !!python/tuple [0, 24] + - !!python/tuple [6, 4] + - !!python/tuple [14, 11] + - !!python/tuple [0, 19] + - !!python/tuple [14, 25] + - !!python/tuple [0, 2] + - !!python/tuple [9, 0] + - !!python/tuple [18, 12] + - !!python/tuple [7, 17] + - !!python/tuple [22, 12] + - !!python/tuple [0, 18] + - !!python/tuple [18, 2] + - !!python/tuple [28, 14] + - !!python/tuple [21, 27] + - !!python/tuple [6, 31] + - !!python/tuple [1, 27] + - !!python/tuple [23, 15] + - !!python/tuple [17, 16] + - !!python/tuple [10, 16] + - !!python/tuple [18, 18] + - !!python/tuple [27, 23] + - !!python/tuple [24, 3] + - !!python/tuple [27, 31] + - !!python/tuple [9, 2] + - !!python/tuple [10, 25] + - !!python/tuple [2, 27] + - !!python/tuple [30, 8] + - !!python/tuple [11, 3] + - !!python/tuple [5, 14] + - !!python/tuple [30, 18] + - !!python/tuple [14, 13] + - !!python/tuple [29, 1] + - !!python/tuple [3, 2] + - !!python/tuple [24, 2] + - !!python/tuple [23, 1] + - !!python/tuple [31, 6] + - !!python/tuple [9, 4] + - !!python/tuple [30, 19] + - !!python/tuple [4, 21] + - !!python/tuple [11, 8] + - !!python/tuple [6, 28] + - !!python/tuple [25, 18] + - !!python/tuple [15, 3] + - !!python/tuple [0, 21] + - !!python/tuple [1, 13] + - !!python/tuple [1, 17] + - !!python/tuple [19, 14] + - !!python/tuple [2, 1] + - !!python/tuple [16, 11] + - !!python/tuple [9, 13] + - !!python/tuple [4, 30] + - !!python/tuple [30, 28] + - !!python/tuple [9, 22] + - !!python/tuple [1, 7] + - !!python/tuple [20, 10] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex62.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex62.yaml new file mode 100644 index 0000000..53fdc08 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex62.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [9, 2] + name: agent0 + start: [10, 9] +- goal: [6, 21] + name: agent1 + start: [17, 15] +- goal: [16, 20] + name: agent2 + start: [3, 30] +- goal: [3, 10] + name: agent3 + start: [21, 0] +- goal: [2, 18] + name: agent4 + start: [11, 12] +- goal: [7, 7] + name: agent5 + start: [0, 3] +- goal: [9, 3] + name: agent6 + start: [28, 2] +- goal: [28, 21] + name: agent7 + start: [15, 0] +- goal: [18, 29] + name: agent8 + start: [6, 28] +- goal: [21, 11] + name: agent9 + start: [25, 13] +- goal: [25, 3] + name: agent10 + start: [2, 18] +- goal: [27, 27] + name: agent11 + start: [21, 28] +- goal: [10, 18] + name: agent12 + start: [12, 8] +- goal: [0, 8] + name: agent13 + start: [17, 21] +- goal: [31, 13] + name: agent14 + start: [18, 2] +- goal: [7, 30] + name: agent15 + start: [2, 27] +- goal: [18, 6] + name: agent16 + start: [10, 1] +- goal: [20, 25] + name: agent17 + start: [4, 10] +- goal: [16, 17] + name: agent18 + start: [28, 16] +- goal: [17, 24] + name: agent19 + start: [29, 16] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [20, 15] + - !!python/tuple [3, 5] + - !!python/tuple [2, 2] + - !!python/tuple [9, 16] + - !!python/tuple [14, 8] + - !!python/tuple [6, 24] + - !!python/tuple [31, 9] + - !!python/tuple [30, 8] + - !!python/tuple [19, 26] + - !!python/tuple [4, 7] + - !!python/tuple [17, 4] + - !!python/tuple [17, 23] + - !!python/tuple [19, 0] + - !!python/tuple [11, 0] + - !!python/tuple [17, 28] + - !!python/tuple [3, 3] + - !!python/tuple [16, 16] + - !!python/tuple [13, 26] + - !!python/tuple [10, 16] + - !!python/tuple [13, 17] + - !!python/tuple [31, 2] + - !!python/tuple [10, 4] + - !!python/tuple [26, 15] + - !!python/tuple [12, 27] + - !!python/tuple [5, 5] + - !!python/tuple [29, 1] + - !!python/tuple [13, 18] + - !!python/tuple [8, 27] + - !!python/tuple [22, 30] + - !!python/tuple [4, 18] + - !!python/tuple [12, 14] + - !!python/tuple [18, 12] + - !!python/tuple [20, 29] + - !!python/tuple [9, 25] + - !!python/tuple [10, 22] + - !!python/tuple [24, 20] + - !!python/tuple [15, 6] + - !!python/tuple [25, 0] + - !!python/tuple [3, 6] + - !!python/tuple [19, 4] + - !!python/tuple [24, 2] + - !!python/tuple [8, 5] + - !!python/tuple [19, 11] + - !!python/tuple [17, 20] + - !!python/tuple [12, 29] + - !!python/tuple [21, 19] + - !!python/tuple [18, 9] + - !!python/tuple [14, 15] + - !!python/tuple [27, 18] + - !!python/tuple [10, 21] + - !!python/tuple [26, 5] + - !!python/tuple [7, 14] + - !!python/tuple [17, 22] + - !!python/tuple [30, 6] + - !!python/tuple [30, 19] + - !!python/tuple [31, 19] + - !!python/tuple [6, 27] + - !!python/tuple [12, 5] + - !!python/tuple [13, 28] + - !!python/tuple [29, 10] + - !!python/tuple [7, 27] + - !!python/tuple [4, 25] + - !!python/tuple [10, 8] + - !!python/tuple [20, 1] + - !!python/tuple [9, 12] + - !!python/tuple [9, 26] + - !!python/tuple [27, 21] + - !!python/tuple [1, 27] + - !!python/tuple [15, 3] + - !!python/tuple [12, 30] + - !!python/tuple [30, 10] + - !!python/tuple [18, 26] + - !!python/tuple [7, 24] + - !!python/tuple [6, 4] + - !!python/tuple [14, 11] + - !!python/tuple [2, 4] + - !!python/tuple [7, 10] + - !!python/tuple [28, 25] + - !!python/tuple [9, 0] + - !!python/tuple [27, 10] + - !!python/tuple [14, 27] + - !!python/tuple [16, 27] + - !!python/tuple [28, 6] + - !!python/tuple [5, 18] + - !!python/tuple [0, 30] + - !!python/tuple [24, 30] + - !!python/tuple [21, 8] + - !!python/tuple [3, 9] + - !!python/tuple [9, 6] + - !!python/tuple [28, 30] + - !!python/tuple [23, 23] + - !!python/tuple [12, 9] + - !!python/tuple [1, 3] + - !!python/tuple [12, 31] + - !!python/tuple [30, 15] + - !!python/tuple [22, 23] + - !!python/tuple [16, 28] + - !!python/tuple [10, 13] + - !!python/tuple [17, 16] + - !!python/tuple [11, 29] + - !!python/tuple [21, 31] + - !!python/tuple [24, 14] + - !!python/tuple [13, 4] + - !!python/tuple [9, 5] + - !!python/tuple [16, 23] + - !!python/tuple [16, 26] + - !!python/tuple [19, 19] + - !!python/tuple [5, 15] + - !!python/tuple [22, 4] + - !!python/tuple [24, 25] + - !!python/tuple [13, 8] + - !!python/tuple [19, 25] + - !!python/tuple [14, 14] + - !!python/tuple [25, 4] + - !!python/tuple [25, 27] + - !!python/tuple [2, 3] + - !!python/tuple [14, 22] + - !!python/tuple [3, 11] + - !!python/tuple [7, 20] + - 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[16, 11] + - !!python/tuple [22, 0] + - !!python/tuple [6, 11] + - !!python/tuple [24, 31] + - !!python/tuple [2, 14] + - !!python/tuple [14, 19] + - !!python/tuple [8, 22] + - !!python/tuple [22, 19] + - !!python/tuple [3, 7] + - !!python/tuple [9, 19] + - !!python/tuple [29, 21] + - !!python/tuple [2, 23] + - !!python/tuple [5, 4] + - !!python/tuple [2, 24] + - !!python/tuple [2, 25] + - !!python/tuple [12, 19] + - !!python/tuple [15, 20] + - !!python/tuple [2, 31] + - !!python/tuple [11, 10] + - !!python/tuple [12, 2] + - !!python/tuple [31, 30] + - !!python/tuple [29, 17] + - !!python/tuple [27, 20] + - !!python/tuple [10, 7] + - !!python/tuple [1, 25] + - !!python/tuple [11, 28] + - !!python/tuple [2, 22] + - !!python/tuple [0, 12] + - !!python/tuple [27, 24] + - !!python/tuple [9, 9] + - !!python/tuple [21, 27] + - !!python/tuple [17, 29] + - !!python/tuple [8, 11] + - !!python/tuple [2, 9] + - !!python/tuple [29, 20] + - !!python/tuple [16, 0] + - !!python/tuple [19, 21] + - !!python/tuple [6, 9] + - !!python/tuple [8, 15] + - !!python/tuple [9, 7] + - !!python/tuple [15, 30] + - !!python/tuple [1, 7] + - !!python/tuple [27, 3] + - !!python/tuple [1, 9] + - !!python/tuple [3, 18] + - !!python/tuple [22, 13] + - !!python/tuple [23, 13] + - !!python/tuple [20, 11] + - !!python/tuple [16, 1] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex63.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex63.yaml new file mode 100644 index 0000000..4d85fca --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex63.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [23, 6] + name: agent0 + start: [15, 29] +- goal: [19, 25] + name: agent1 + start: [21, 2] +- goal: [0, 0] + name: agent2 + start: [10, 18] +- goal: [31, 5] + name: agent3 + start: [13, 4] +- goal: [17, 6] + name: agent4 + start: [2, 21] +- goal: [13, 11] + name: agent5 + start: [26, 4] +- goal: [22, 11] + name: agent6 + start: [27, 23] +- goal: [10, 5] + name: agent7 + start: [12, 6] +- goal: [22, 22] + name: agent8 + start: [31, 11] +- goal: [22, 29] + name: agent9 + start: [3, 19] +- goal: [24, 19] + name: agent10 + start: [24, 14] +- goal: [5, 3] + name: agent11 + start: [6, 4] +- goal: [11, 9] + name: agent12 + start: [9, 11] +- goal: [12, 11] + name: agent13 + start: [28, 2] +- goal: [9, 14] + name: agent14 + start: [1, 31] +- goal: [3, 6] + name: agent15 + start: [23, 29] +- goal: [23, 24] + name: agent16 + start: [16, 19] +- goal: [21, 16] + name: agent17 + start: [5, 8] +- goal: [3, 1] + name: agent18 + start: [28, 5] +- goal: [25, 24] + name: agent19 + start: [26, 17] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [30, 26] + - !!python/tuple [25, 11] + - !!python/tuple [8, 1] + - !!python/tuple [17, 2] + - !!python/tuple [30, 21] + - !!python/tuple [12, 16] + - !!python/tuple [10, 7] + - !!python/tuple [28, 26] + - !!python/tuple [25, 7] + - !!python/tuple [6, 9] + - !!python/tuple [3, 16] + - !!python/tuple [13, 21] + - !!python/tuple [13, 19] + - !!python/tuple [20, 18] + - !!python/tuple [12, 20] + - !!python/tuple [5, 19] + - !!python/tuple [6, 22] + - !!python/tuple [10, 30] + - !!python/tuple [19, 19] + - !!python/tuple [21, 21] + - !!python/tuple [18, 4] + - !!python/tuple [29, 5] + - !!python/tuple [0, 27] + - !!python/tuple [22, 17] + - !!python/tuple [15, 5] + - !!python/tuple [25, 19] + - !!python/tuple [28, 7] + - !!python/tuple [12, 18] + - !!python/tuple [19, 3] + - !!python/tuple [2, 2] + - !!python/tuple [14, 12] + - !!python/tuple [27, 30] + - !!python/tuple [0, 7] + - !!python/tuple [25, 1] + - !!python/tuple [17, 16] + - !!python/tuple [7, 5] + - !!python/tuple [8, 16] + - !!python/tuple [8, 5] + - !!python/tuple [5, 26] + - !!python/tuple [22, 6] + - !!python/tuple [25, 12] + - !!python/tuple [6, 24] + - !!python/tuple [2, 27] + - !!python/tuple [6, 3] + - !!python/tuple [25, 9] + - !!python/tuple [31, 27] + - !!python/tuple [4, 29] + - !!python/tuple [30, 14] + - !!python/tuple [6, 29] + - !!python/tuple [3, 20] + - !!python/tuple [21, 26] + - !!python/tuple [14, 8] + - !!python/tuple [5, 13] + - !!python/tuple [27, 22] + - !!python/tuple [15, 22] + - !!python/tuple [8, 28] + - !!python/tuple [1, 7] + - !!python/tuple [5, 7] + - !!python/tuple [27, 19] + - !!python/tuple [28, 27] + - !!python/tuple [19, 28] + - !!python/tuple [29, 18] + - !!python/tuple [8, 8] + - !!python/tuple [11, 19] + - !!python/tuple [15, 27] + - !!python/tuple [28, 6] + - !!python/tuple [29, 19] + - !!python/tuple [22, 30] + - !!python/tuple [18, 18] + - !!python/tuple [23, 25] + - !!python/tuple [24, 12] + - !!python/tuple [1, 13] + - !!python/tuple [24, 10] + - !!python/tuple [7, 29] + - !!python/tuple [15, 16] + - !!python/tuple [8, 30] + - !!python/tuple [25, 0] + - !!python/tuple [30, 10] + - !!python/tuple [30, 8] + - !!python/tuple [13, 23] + - !!python/tuple [0, 28] + - !!python/tuple [15, 20] + - !!python/tuple [0, 24] + - !!python/tuple [0, 12] + - !!python/tuple [10, 25] + - !!python/tuple [29, 31] + - !!python/tuple [19, 23] + - !!python/tuple [19, 15] + - !!python/tuple [22, 1] + - !!python/tuple [13, 5] + - !!python/tuple [15, 10] + - !!python/tuple [13, 0] + - !!python/tuple [25, 4] + - !!python/tuple [15, 0] + - !!python/tuple [31, 0] + - !!python/tuple [4, 9] + - !!python/tuple [21, 11] + - !!python/tuple [17, 27] + - !!python/tuple [21, 23] + - !!python/tuple [1, 18] + - !!python/tuple [1, 10] + - !!python/tuple [16, 28] + - !!python/tuple [29, 17] + - !!python/tuple [5, 20] + - !!python/tuple [14, 25] + - !!python/tuple [14, 4] + - !!python/tuple [31, 26] + - !!python/tuple [13, 29] + - !!python/tuple [3, 7] + - !!python/tuple [31, 13] + - !!python/tuple [26, 21] + - !!python/tuple [3, 11] + - !!python/tuple [19, 14] + - !!python/tuple [18, 11] + - !!python/tuple [9, 5] + - !!python/tuple [8, 10] + - !!python/tuple [27, 21] + - !!python/tuple [29, 4] + - !!python/tuple [30, 4] + - !!python/tuple [24, 28] + - !!python/tuple [13, 6] + - !!python/tuple [12, 9] + - !!python/tuple [27, 31] + - !!python/tuple [1, 0] + - !!python/tuple [23, 28] + - !!python/tuple [23, 12] + - !!python/tuple [17, 7] + - !!python/tuple [24, 25] + - !!python/tuple [22, 19] + - !!python/tuple [20, 10] + - !!python/tuple [5, 15] + - !!python/tuple [26, 15] + - !!python/tuple [0, 25] + - !!python/tuple [24, 8] + - !!python/tuple [14, 22] + - !!python/tuple [10, 13] + - !!python/tuple [14, 11] + - !!python/tuple [13, 13] + - !!python/tuple [23, 17] + - !!python/tuple [9, 16] + - !!python/tuple [16, 3] + - !!python/tuple [19, 22] + - !!python/tuple [5, 11] + - !!python/tuple [9, 10] + - !!python/tuple [25, 30] + - !!python/tuple [21, 30] + - !!python/tuple [27, 12] + - !!python/tuple [29, 28] + - !!python/tuple [20, 19] + - !!python/tuple [20, 11] + - !!python/tuple [16, 24] + - !!python/tuple [0, 5] + - !!python/tuple [20, 23] + - !!python/tuple [10, 23] + - !!python/tuple [6, 25] + - !!python/tuple [17, 12] + - !!python/tuple [2, 5] + - !!python/tuple [7, 8] + - !!python/tuple [8, 31] + - !!python/tuple [10, 12] + - !!python/tuple [12, 17] + - !!python/tuple [8, 4] + - !!python/tuple [31, 14] + - !!python/tuple [16, 29] + - !!python/tuple [31, 17] + - !!python/tuple [12, 3] + - !!python/tuple [6, 26] + - !!python/tuple [17, 4] + - !!python/tuple [2, 6] + - !!python/tuple [30, 24] + - !!python/tuple [1, 15] + - !!python/tuple [11, 26] + - !!python/tuple [28, 12] + - !!python/tuple [27, 14] + - !!python/tuple [8, 21] + - !!python/tuple [15, 25] + - !!python/tuple [18, 22] + - !!python/tuple [1, 27] + - !!python/tuple [17, 31] + - !!python/tuple [16, 21] + - !!python/tuple [1, 16] + - !!python/tuple [29, 27] + - !!python/tuple [19, 10] + - !!python/tuple [19, 4] + - !!python/tuple [16, 13] + - !!python/tuple [24, 24] + - !!python/tuple [27, 17] + - !!python/tuple [31, 21] + - !!python/tuple [7, 14] + - !!python/tuple [5, 12] + - !!python/tuple [25, 16] + - !!python/tuple [1, 17] + - !!python/tuple [2, 19] + - !!python/tuple [18, 30] + - !!python/tuple [14, 18] + - !!python/tuple [28, 29] + - !!python/tuple [3, 2] + - !!python/tuple [21, 27] + - !!python/tuple [1, 12] + - !!python/tuple [21, 4] + - !!python/tuple [9, 24] + - !!python/tuple [23, 19] + - !!python/tuple [11, 7] + - !!python/tuple [13, 22] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex64.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex64.yaml new file mode 100644 index 0000000..1a7b61f --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex64.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [19, 17] + name: agent0 + start: [2, 7] +- goal: [31, 14] + name: agent1 + start: [24, 7] +- goal: [18, 3] + name: agent2 + start: [21, 24] +- goal: [31, 2] + name: agent3 + start: [23, 22] +- goal: [8, 29] + name: agent4 + start: [13, 4] +- goal: [21, 5] + name: agent5 + start: [7, 19] +- goal: [27, 27] + name: agent6 + start: [6, 23] +- goal: [18, 14] + name: agent7 + start: [13, 1] +- goal: [19, 12] + name: agent8 + start: [4, 1] +- goal: [29, 18] + name: agent9 + start: [3, 13] +- goal: [22, 20] + name: agent10 + start: [27, 11] +- goal: [18, 27] + name: agent11 + start: [12, 9] +- goal: [17, 14] + name: agent12 + start: [18, 11] +- goal: [20, 9] + name: agent13 + start: [27, 24] +- goal: [3, 3] + name: agent14 + start: [25, 2] +- goal: [22, 9] + name: agent15 + start: [21, 30] +- goal: [31, 5] + name: agent16 + start: [31, 7] +- goal: [24, 0] + name: agent17 + start: [17, 21] +- goal: [30, 1] + name: agent18 + start: [14, 3] +- goal: [7, 19] + name: agent19 + start: [12, 18] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [9, 31] + - !!python/tuple [13, 0] + - !!python/tuple [8, 16] + - !!python/tuple [14, 8] + - !!python/tuple [29, 26] + - !!python/tuple [25, 31] + - !!python/tuple [12, 23] + - !!python/tuple [2, 21] + - !!python/tuple [14, 20] + - !!python/tuple [4, 19] + - !!python/tuple [12, 11] + - !!python/tuple [2, 17] + - !!python/tuple [4, 31] + - !!python/tuple [25, 22] + - !!python/tuple [21, 23] + - !!python/tuple [24, 12] + - !!python/tuple [9, 17] + - !!python/tuple [6, 11] + - !!python/tuple [23, 9] + - !!python/tuple [5, 1] + - !!python/tuple [22, 1] + - !!python/tuple [31, 23] + - !!python/tuple [12, 29] + - !!python/tuple [28, 29] + - !!python/tuple [24, 26] + - !!python/tuple [7, 28] + - !!python/tuple [19, 22] + - !!python/tuple [22, 22] + - !!python/tuple [11, 6] + - !!python/tuple [18, 23] + - !!python/tuple [7, 11] + - !!python/tuple [14, 18] + - !!python/tuple [15, 26] + - !!python/tuple [21, 1] + - !!python/tuple [15, 18] + - !!python/tuple [7, 30] + - !!python/tuple [10, 11] + - !!python/tuple [29, 16] + - !!python/tuple [16, 19] + - !!python/tuple [29, 8] + - !!python/tuple [7, 23] + - !!python/tuple [18, 31] + - !!python/tuple [0, 19] + - !!python/tuple [24, 6] + - !!python/tuple [25, 7] + - !!python/tuple [9, 9] + - !!python/tuple [19, 29] + - !!python/tuple [20, 18] + - !!python/tuple [20, 0] + - !!python/tuple [0, 8] + - !!python/tuple [10, 16] + - !!python/tuple [1, 9] + - !!python/tuple [21, 12] + - !!python/tuple [26, 8] + - !!python/tuple [15, 29] + - !!python/tuple [6, 1] + - !!python/tuple [9, 22] + - !!python/tuple [28, 24] + - !!python/tuple [24, 11] + - !!python/tuple [5, 9] + - !!python/tuple [20, 29] + - !!python/tuple [22, 21] + - !!python/tuple [31, 30] + - !!python/tuple [12, 27] + - !!python/tuple [17, 22] + - !!python/tuple [5, 28] + - !!python/tuple [7, 21] + - !!python/tuple [21, 7] + - !!python/tuple [5, 13] + - !!python/tuple [2, 18] + - !!python/tuple [27, 9] + - !!python/tuple [1, 2] + - !!python/tuple [18, 26] + - !!python/tuple [19, 15] + - !!python/tuple [30, 25] + - !!python/tuple [25, 6] + - !!python/tuple [11, 11] + - !!python/tuple [16, 14] + - !!python/tuple [0, 2] + - !!python/tuple [16, 22] + - !!python/tuple [22, 8] + - !!python/tuple [19, 10] + - !!python/tuple [12, 22] + - !!python/tuple [20, 10] + - !!python/tuple [20, 12] + - !!python/tuple [27, 2] + - !!python/tuple [15, 24] + - !!python/tuple [29, 10] + - !!python/tuple [30, 20] + - !!python/tuple [24, 19] + - !!python/tuple [0, 3] + - !!python/tuple [18, 7] + - !!python/tuple [23, 13] + - !!python/tuple [17, 17] + - !!python/tuple [14, 5] + - !!python/tuple [24, 27] + - !!python/tuple [26, 28] + - !!python/tuple [27, 8] + - !!python/tuple [21, 9] + - !!python/tuple [28, 19] + - !!python/tuple [28, 0] + - !!python/tuple [24, 17] + - !!python/tuple [30, 0] + - !!python/tuple [18, 5] + - !!python/tuple [0, 30] + - !!python/tuple [17, 11] + - !!python/tuple [28, 12] + - !!python/tuple [2, 25] + - !!python/tuple [7, 22] + - !!python/tuple [5, 20] + - !!python/tuple [6, 2] + - !!python/tuple [21, 19] + - !!python/tuple [16, 10] + - !!python/tuple [2, 24] + - !!python/tuple [20, 26] + - !!python/tuple [6, 13] + - !!python/tuple [10, 20] + - !!python/tuple [6, 31] + - !!python/tuple [19, 11] + - !!python/tuple [11, 17] + - !!python/tuple [2, 23] + - !!python/tuple [6, 27] + - !!python/tuple [1, 3] + - !!python/tuple [0, 23] + - !!python/tuple [19, 9] + - !!python/tuple [21, 4] + - !!python/tuple [19, 16] + - !!python/tuple [5, 10] + - !!python/tuple [14, 22] + - !!python/tuple [28, 9] + - !!python/tuple [22, 16] + - !!python/tuple [15, 15] + - !!python/tuple [30, 31] + - !!python/tuple [23, 17] + - !!python/tuple [11, 21] + - !!python/tuple [18, 17] + - !!python/tuple [21, 25] + - !!python/tuple [25, 1] + - !!python/tuple [23, 2] + - !!python/tuple [20, 1] + - !!python/tuple [5, 23] + - !!python/tuple [29, 7] + - !!python/tuple [7, 13] + - !!python/tuple [26, 7] + - !!python/tuple [7, 3] + - !!python/tuple [29, 11] + - !!python/tuple [23, 8] + - !!python/tuple [1, 29] + - !!python/tuple [6, 9] + - !!python/tuple [15, 6] + - !!python/tuple [0, 13] + - !!python/tuple [25, 8] + - !!python/tuple [0, 10] + - !!python/tuple [13, 11] + - !!python/tuple [25, 27] + - !!python/tuple [6, 8] + - !!python/tuple [3, 16] + - !!python/tuple [1, 20] + - !!python/tuple [25, 10] + - !!python/tuple [5, 3] + - !!python/tuple [27, 22] + - !!python/tuple [25, 17] + - !!python/tuple [22, 5] + - !!python/tuple [30, 7] + - !!python/tuple [4, 24] + - !!python/tuple [19, 4] + - !!python/tuple [22, 24] + - !!python/tuple [11, 1] + - !!python/tuple [14, 10] + - !!python/tuple [11, 18] + - !!python/tuple [6, 7] + - !!python/tuple [5, 14] + - !!python/tuple [0, 21] + - !!python/tuple [14, 14] + - !!python/tuple [2, 15] + - !!python/tuple [20, 16] + - !!python/tuple [13, 14] + - !!python/tuple [29, 24] + - !!python/tuple [17, 2] + - !!python/tuple [29, 29] + - !!python/tuple [8, 21] + - !!python/tuple [7, 27] + - !!python/tuple [1, 25] + - !!python/tuple [11, 8] + - !!python/tuple [3, 21] + - !!python/tuple [23, 18] + - !!python/tuple [31, 19] + - !!python/tuple [31, 13] + - !!python/tuple [13, 3] + - !!python/tuple [22, 25] + - !!python/tuple [26, 6] + - !!python/tuple [21, 31] + - !!python/tuple [22, 23] + - !!python/tuple [30, 22] + - !!python/tuple [22, 30] + - !!python/tuple [6, 30] + - !!python/tuple [13, 30] + - !!python/tuple [31, 1] + - !!python/tuple [29, 20] + - !!python/tuple [31, 25] + - !!python/tuple [0, 14] + - !!python/tuple [0, 7] + - !!python/tuple [20, 2] + - !!python/tuple [11, 5] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex65.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex65.yaml new file mode 100644 index 0000000..2f1260c --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex65.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [20, 17] + name: agent0 + start: [5, 31] +- goal: [3, 5] + name: agent1 + start: [31, 1] +- goal: [9, 10] + name: agent2 + start: [16, 24] +- goal: [15, 20] + name: agent3 + start: [6, 22] +- goal: [28, 23] + name: agent4 + start: [23, 7] +- goal: [17, 14] + name: agent5 + start: [30, 19] +- goal: [15, 6] + name: agent6 + start: [21, 5] +- goal: [19, 18] + name: agent7 + start: [21, 23] +- goal: [10, 14] + name: agent8 + start: [29, 15] +- goal: [23, 17] + name: agent9 + start: [30, 8] +- goal: [13, 12] + name: agent10 + start: [8, 1] +- goal: [14, 8] + name: agent11 + start: [7, 0] +- goal: [11, 17] + name: agent12 + start: [31, 3] +- goal: [27, 31] + name: agent13 + start: [30, 29] +- goal: [11, 30] + name: agent14 + start: [16, 22] +- goal: [29, 5] + name: agent15 + start: [11, 31] +- goal: [12, 0] + name: agent16 + start: [13, 10] +- goal: [8, 3] + name: agent17 + start: [2, 5] +- goal: [6, 3] + name: agent18 + start: [23, 27] +- goal: [16, 15] + name: agent19 + start: [22, 28] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [30, 2] + - !!python/tuple [27, 29] + - !!python/tuple [16, 27] + - !!python/tuple [16, 2] + - !!python/tuple [4, 14] + - !!python/tuple [23, 11] + - !!python/tuple [12, 9] + - !!python/tuple [21, 12] + - !!python/tuple [11, 10] + - !!python/tuple [18, 20] + - !!python/tuple [9, 6] + - !!python/tuple [8, 8] + - !!python/tuple [10, 29] + - !!python/tuple [19, 24] + - !!python/tuple [20, 14] + - !!python/tuple [16, 14] + - !!python/tuple [14, 16] + - !!python/tuple [31, 20] + - !!python/tuple [17, 5] + - !!python/tuple [4, 7] + - !!python/tuple [6, 7] + - !!python/tuple [18, 10] + - !!python/tuple [26, 17] + - !!python/tuple [14, 25] + - !!python/tuple [10, 16] + - !!python/tuple [2, 23] + - !!python/tuple [19, 17] + - !!python/tuple [12, 18] + - !!python/tuple [23, 6] + - !!python/tuple [20, 29] + - !!python/tuple [30, 16] + - !!python/tuple [5, 9] + - !!python/tuple [19, 9] + - !!python/tuple [8, 16] + - !!python/tuple [10, 24] + - !!python/tuple [7, 5] + - !!python/tuple [31, 17] + - !!python/tuple [6, 0] + - !!python/tuple [21, 19] + - !!python/tuple [21, 14] + - !!python/tuple [14, 5] + - !!python/tuple [29, 8] + - !!python/tuple [5, 18] + - !!python/tuple [10, 13] + - !!python/tuple [8, 20] + - !!python/tuple [19, 2] + - !!python/tuple [0, 26] + - !!python/tuple [23, 18] + - !!python/tuple [16, 20] + - !!python/tuple [2, 9] + - !!python/tuple [22, 16] + - !!python/tuple [2, 16] + - !!python/tuple [10, 25] + - !!python/tuple [1, 18] + - !!python/tuple [25, 22] + - !!python/tuple [28, 10] + - !!python/tuple [24, 2] + - !!python/tuple [7, 4] + - !!python/tuple [6, 8] + - !!python/tuple [11, 20] + - !!python/tuple [9, 4] + - !!python/tuple [12, 5] + - !!python/tuple [23, 22] + - !!python/tuple [18, 5] + - !!python/tuple [26, 20] + - !!python/tuple [4, 20] + - !!python/tuple [1, 26] + - !!python/tuple [11, 2] + - !!python/tuple [23, 15] + - !!python/tuple [12, 6] + - !!python/tuple [7, 8] + - !!python/tuple [2, 24] + - !!python/tuple [23, 19] + - !!python/tuple [11, 6] + - !!python/tuple [18, 15] + - !!python/tuple [20, 26] + - !!python/tuple [3, 3] + - !!python/tuple [19, 4] + - !!python/tuple [8, 31] + - !!python/tuple [9, 25] + - 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!!python/tuple [23, 14] + - !!python/tuple [15, 30] + - !!python/tuple [31, 21] + - !!python/tuple [21, 18] + - !!python/tuple [26, 2] + - !!python/tuple [0, 1] + - !!python/tuple [5, 30] + - !!python/tuple [22, 10] + - !!python/tuple [6, 28] + - !!python/tuple [4, 5] + - !!python/tuple [21, 25] + - !!python/tuple [26, 22] + - !!python/tuple [30, 25] + - !!python/tuple [21, 2] + - !!python/tuple [7, 26] + - !!python/tuple [17, 24] + - !!python/tuple [26, 23] + - !!python/tuple [14, 7] + - !!python/tuple [14, 23] + - !!python/tuple [21, 7] + - !!python/tuple [22, 5] + - !!python/tuple [0, 24] + - !!python/tuple [2, 3] + - !!python/tuple [15, 1] + - !!python/tuple [15, 11] + - !!python/tuple [8, 19] + - !!python/tuple [20, 23] + - !!python/tuple [27, 5] + - !!python/tuple [9, 28] + - !!python/tuple [20, 6] + - !!python/tuple [27, 15] + - !!python/tuple [24, 15] + - !!python/tuple [26, 10] + - !!python/tuple [25, 23] + - !!python/tuple [15, 4] + - !!python/tuple [9, 8] + - !!python/tuple [7, 2] + - !!python/tuple [18, 3] + - !!python/tuple [30, 5] + - !!python/tuple [24, 4] + - !!python/tuple [24, 11] + - !!python/tuple [9, 22] + - !!python/tuple [22, 12] + - !!python/tuple [4, 12] + - !!python/tuple [25, 29] + - !!python/tuple [28, 6] + - !!python/tuple [9, 3] + - !!python/tuple [20, 22] + - !!python/tuple [20, 16] + - !!python/tuple [20, 5] + - !!python/tuple [9, 5] + - !!python/tuple [18, 12] + - !!python/tuple [14, 14] + - !!python/tuple [19, 10] + - !!python/tuple [28, 29] + - !!python/tuple [15, 17] + - !!python/tuple [6, 25] + - !!python/tuple [30, 3] + - !!python/tuple [16, 31] + - !!python/tuple [0, 5] + - !!python/tuple [4, 26] + - !!python/tuple [7, 20] + - !!python/tuple [16, 9] + - !!python/tuple [8, 5] + - !!python/tuple [30, 14] + - !!python/tuple [19, 25] + - !!python/tuple [8, 23] + - !!python/tuple [11, 8] + - !!python/tuple [10, 30] + - !!python/tuple [8, 29] + - !!python/tuple [5, 10] + - !!python/tuple [31, 28] + - !!python/tuple [7, 24] + - !!python/tuple [26, 0] + - !!python/tuple [16, 30] + - !!python/tuple [21, 3] + - !!python/tuple [14, 3] + - !!python/tuple [30, 6] + - !!python/tuple [3, 21] + - !!python/tuple [31, 30] + - !!python/tuple [22, 6] + - !!python/tuple [17, 6] + - !!python/tuple [17, 31] + - !!python/tuple [2, 12] + - !!python/tuple [19, 5] + - !!python/tuple [19, 23] + - !!python/tuple [0, 18] + - !!python/tuple [26, 26] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex66.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex66.yaml new file mode 100644 index 0000000..2d0893e --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex66.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [8, 15] + name: agent0 + start: [25, 10] +- goal: [19, 31] + name: agent1 + start: [22, 1] +- goal: [16, 16] + name: agent2 + start: [15, 31] +- goal: [22, 26] + name: agent3 + start: [29, 22] +- goal: [23, 31] + name: agent4 + start: [27, 4] +- goal: [1, 23] + name: agent5 + start: [8, 19] +- goal: [22, 11] + name: agent6 + start: [5, 29] +- goal: [31, 17] + name: agent7 + start: [20, 29] +- goal: [26, 26] + name: agent8 + start: [30, 16] +- goal: [19, 21] + name: agent9 + start: [23, 11] +- goal: [8, 22] + name: agent10 + start: [8, 5] +- goal: [23, 0] + name: agent11 + start: [6, 17] +- goal: [6, 18] + name: agent12 + start: [11, 21] +- goal: [12, 8] + name: agent13 + start: [24, 5] +- goal: [26, 17] + name: agent14 + start: [30, 18] +- goal: [1, 10] + name: agent15 + start: [5, 22] +- goal: [18, 8] + name: agent16 + start: [29, 15] +- goal: [2, 28] + name: agent17 + start: [29, 8] +- goal: [13, 25] + name: agent18 + start: [20, 14] +- goal: [26, 5] + name: agent19 + start: [18, 16] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [11, 19] + - !!python/tuple [29, 27] + - !!python/tuple [12, 14] + - !!python/tuple [29, 19] + - !!python/tuple [27, 30] + - !!python/tuple [10, 27] + - !!python/tuple [18, 10] + - !!python/tuple [31, 6] + - !!python/tuple [2, 12] + - !!python/tuple [15, 0] + - !!python/tuple [9, 18] + - !!python/tuple [9, 13] + - !!python/tuple [9, 9] + - !!python/tuple [28, 22] + - !!python/tuple [17, 25] + - !!python/tuple [29, 7] + - !!python/tuple [4, 17] + - !!python/tuple [31, 7] + - !!python/tuple [8, 4] + - !!python/tuple [3, 14] + - !!python/tuple [7, 1] + - !!python/tuple [17, 24] + - !!python/tuple [15, 28] + - !!python/tuple [11, 1] + - !!python/tuple [4, 24] + - !!python/tuple [19, 12] + - !!python/tuple [1, 30] + - !!python/tuple [3, 15] + - !!python/tuple [29, 2] + - !!python/tuple [25, 19] + - !!python/tuple [7, 11] + - !!python/tuple [23, 19] + - !!python/tuple [13, 1] + - !!python/tuple [2, 21] + - !!python/tuple [14, 10] + - !!python/tuple [28, 18] + - !!python/tuple [16, 27] + - !!python/tuple [28, 6] + - !!python/tuple [22, 10] + - !!python/tuple [12, 13] + - !!python/tuple [10, 1] + - !!python/tuple [26, 2] + - !!python/tuple [14, 28] + - !!python/tuple [29, 12] + - !!python/tuple [7, 30] + - !!python/tuple [26, 12] + - !!python/tuple [7, 16] + - !!python/tuple [9, 8] + - !!python/tuple [8, 7] + - !!python/tuple [25, 16] + - !!python/tuple [20, 15] + - !!python/tuple [16, 9] + - !!python/tuple [18, 17] + - !!python/tuple [10, 13] + - !!python/tuple [23, 8] + - !!python/tuple [30, 26] + - !!python/tuple [12, 20] + - !!python/tuple [30, 9] + - !!python/tuple [30, 25] + - !!python/tuple [31, 30] + - !!python/tuple [23, 13] + - !!python/tuple [30, 1] + - !!python/tuple [25, 12] + - !!python/tuple [24, 19] + - !!python/tuple [14, 22] + - !!python/tuple [16, 25] + - !!python/tuple [27, 11] + - !!python/tuple [7, 12] + - !!python/tuple [26, 25] + - !!python/tuple [20, 5] + - !!python/tuple [15, 4] + - !!python/tuple [25, 9] + - !!python/tuple [28, 29] + - !!python/tuple [8, 14] + - !!python/tuple [21, 26] + - !!python/tuple [2, 1] + - !!python/tuple [26, 4] + - !!python/tuple [5, 15] + - !!python/tuple [6, 8] + - !!python/tuple [27, 31] + - !!python/tuple [25, 18] + - !!python/tuple [17, 14] + - !!python/tuple [6, 13] + - !!python/tuple [4, 27] + - !!python/tuple [10, 3] + - !!python/tuple [19, 25] + - !!python/tuple [0, 30] + - !!python/tuple [3, 7] + - !!python/tuple [11, 25] + - !!python/tuple [23, 7] + - !!python/tuple [30, 28] + - !!python/tuple [9, 12] + - !!python/tuple [22, 23] + - !!python/tuple [0, 28] + - !!python/tuple [31, 2] + - !!python/tuple [17, 9] + - !!python/tuple [3, 25] + - !!python/tuple [12, 18] + - !!python/tuple [24, 25] + - !!python/tuple [8, 30] + - !!python/tuple [0, 24] + - !!python/tuple [1, 19] + - !!python/tuple [0, 31] + - !!python/tuple [27, 10] + - !!python/tuple [14, 14] + - !!python/tuple [24, 11] + - !!python/tuple [16, 28] + - !!python/tuple [19, 17] + - !!python/tuple [4, 12] + - !!python/tuple [9, 2] + - !!python/tuple [2, 14] + - !!python/tuple [5, 18] + - !!python/tuple [7, 23] + - !!python/tuple [22, 6] + - !!python/tuple [9, 24] + - !!python/tuple [14, 13] + - !!python/tuple [29, 1] + - !!python/tuple [21, 27] + - !!python/tuple [10, 23] + - !!python/tuple [17, 18] + - !!python/tuple [10, 6] + - !!python/tuple [30, 12] + - !!python/tuple [21, 17] + - !!python/tuple [1, 28] + - !!python/tuple [30, 20] + - !!python/tuple [26, 28] + - !!python/tuple [27, 3] + - !!python/tuple [28, 4] + - !!python/tuple [18, 13] + - !!python/tuple [12, 29] + - !!python/tuple [13, 8] + - !!python/tuple [22, 29] + - !!python/tuple [26, 30] + - !!python/tuple [11, 11] + - !!python/tuple [21, 4] + - !!python/tuple [15, 18] + - !!python/tuple [0, 0] + - !!python/tuple [14, 9] + - !!python/tuple [21, 22] + - !!python/tuple [20, 20] + - !!python/tuple [30, 11] + - !!python/tuple [12, 7] + - !!python/tuple [10, 7] + - !!python/tuple [17, 8] + - !!python/tuple [7, 4] + - !!python/tuple [14, 4] + - !!python/tuple [25, 20] + - !!python/tuple [31, 26] + - !!python/tuple [5, 14] + - !!python/tuple [12, 3] + - !!python/tuple [14, 26] + - !!python/tuple [26, 15] + - !!python/tuple [6, 7] + - !!python/tuple [13, 12] + - !!python/tuple [2, 18] + - !!python/tuple [18, 28] + - !!python/tuple [20, 22] + - !!python/tuple [21, 29] + - !!python/tuple [12, 11] + - !!python/tuple [16, 11] + - !!python/tuple [16, 0] + - !!python/tuple [1, 5] + - !!python/tuple [23, 14] + - !!python/tuple [23, 17] + - !!python/tuple [1, 6] + - !!python/tuple [25, 11] + - !!python/tuple [1, 27] + - !!python/tuple [10, 8] + - !!python/tuple [5, 4] + - !!python/tuple [14, 27] + - !!python/tuple [18, 29] + - !!python/tuple [24, 6] + - !!python/tuple [20, 28] + - !!python/tuple [30, 24] + - !!python/tuple [11, 22] + - !!python/tuple [25, 3] + - !!python/tuple [5, 1] + - !!python/tuple [7, 5] + - !!python/tuple [7, 24] + - !!python/tuple [20, 16] + - !!python/tuple [17, 17] + - !!python/tuple [5, 25] + - !!python/tuple [13, 18] + - !!python/tuple [10, 4] + - !!python/tuple [25, 0] + - !!python/tuple [26, 31] + - !!python/tuple [13, 27] + - !!python/tuple [14, 19] + - !!python/tuple [30, 30] + - !!python/tuple [10, 26] + - !!python/tuple [5, 7] + - !!python/tuple [17, 4] + - !!python/tuple [26, 3] + - !!python/tuple [0, 11] + - !!python/tuple [14, 18] + - !!python/tuple [2, 10] + - !!python/tuple [12, 1] + - !!python/tuple [27, 22] + - !!python/tuple [21, 10] + - !!python/tuple [0, 4] + - !!python/tuple [4, 1] + - !!python/tuple [1, 0] + - !!python/tuple [8, 1] + - !!python/tuple [26, 29] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex67.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex67.yaml new file mode 100644 index 0000000..1b56320 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex67.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [18, 21] + name: agent0 + start: [0, 20] +- goal: [12, 23] + name: agent1 + start: [0, 24] +- goal: [7, 25] + name: agent2 + start: [7, 17] +- goal: [28, 6] + name: agent3 + start: [21, 29] +- goal: [4, 29] + name: agent4 + start: [7, 3] +- goal: [17, 13] + name: agent5 + start: [30, 0] +- goal: [31, 7] + name: agent6 + start: [6, 4] +- goal: [5, 6] + name: agent7 + start: [22, 29] +- goal: [10, 20] + name: agent8 + start: [22, 2] +- goal: [7, 0] + name: agent9 + start: [5, 17] +- goal: [3, 18] + name: agent10 + start: [9, 18] +- goal: [21, 14] + name: agent11 + start: [5, 25] +- goal: [21, 6] + name: agent12 + start: [14, 17] +- goal: [19, 20] + name: agent13 + start: [15, 13] +- goal: [7, 17] + name: agent14 + start: [9, 31] +- goal: [26, 8] + name: agent15 + start: [12, 8] +- goal: [0, 6] + name: agent16 + start: [2, 3] +- goal: [25, 23] + name: agent17 + start: [25, 9] +- goal: [31, 4] + name: agent18 + start: [16, 29] +- goal: [19, 23] + name: agent19 + start: [21, 28] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [19, 29] + - !!python/tuple [1, 18] + - !!python/tuple [14, 8] + - !!python/tuple [9, 26] + - !!python/tuple [12, 25] + - !!python/tuple [31, 12] + - !!python/tuple [20, 21] + - !!python/tuple [5, 4] + - !!python/tuple [21, 20] + - !!python/tuple [21, 4] + - !!python/tuple [1, 20] + - !!python/tuple [23, 9] + - !!python/tuple [31, 16] + - !!python/tuple [29, 23] + - !!python/tuple [3, 4] + - !!python/tuple [2, 18] + - !!python/tuple [17, 3] + - !!python/tuple [4, 31] + - !!python/tuple [29, 30] + - !!python/tuple [27, 2] + - !!python/tuple [9, 0] + - !!python/tuple [25, 20] + - !!python/tuple [2, 22] + - !!python/tuple [5, 24] + - !!python/tuple [2, 29] + - !!python/tuple [8, 0] + - !!python/tuple [3, 16] + - !!python/tuple [16, 5] + - !!python/tuple [17, 18] + - !!python/tuple [1, 0] + - !!python/tuple [15, 26] + - !!python/tuple [15, 27] + - !!python/tuple [28, 12] + - !!python/tuple [7, 24] + - !!python/tuple [9, 16] + - !!python/tuple [18, 14] + - !!python/tuple [30, 11] + - !!python/tuple [13, 14] + - !!python/tuple [30, 15] + - !!python/tuple [5, 3] + - !!python/tuple [9, 2] + - !!python/tuple [12, 5] + - !!python/tuple [1, 10] + - !!python/tuple [11, 3] + - !!python/tuple [1, 16] + - !!python/tuple [11, 1] + - !!python/tuple [4, 18] + - !!python/tuple [12, 16] + - !!python/tuple [25, 15] + - !!python/tuple [12, 17] + - !!python/tuple [10, 31] + - !!python/tuple [0, 5] + - !!python/tuple [19, 30] + - !!python/tuple [10, 6] + - !!python/tuple [21, 18] + - !!python/tuple [20, 12] + - !!python/tuple [5, 15] + - !!python/tuple [10, 25] + - !!python/tuple [30, 23] + - !!python/tuple [23, 6] + - !!python/tuple [22, 17] + - !!python/tuple [16, 18] + - !!python/tuple [24, 31] + - !!python/tuple [21, 8] + - !!python/tuple [20, 8] + - !!python/tuple [27, 9] + - !!python/tuple [4, 16] + - !!python/tuple [21, 7] + - !!python/tuple [4, 6] + - !!python/tuple [13, 25] + - !!python/tuple [17, 5] + - !!python/tuple [17, 10] + - !!python/tuple [25, 1] + - !!python/tuple [8, 17] + - !!python/tuple [3, 7] + - !!python/tuple [23, 5] + - !!python/tuple [3, 13] + - !!python/tuple [4, 21] + - !!python/tuple [14, 15] + - !!python/tuple [20, 9] + - !!python/tuple [15, 0] + - !!python/tuple [16, 31] + - !!python/tuple [17, 26] + - !!python/tuple [21, 31] + - !!python/tuple [25, 12] + - !!python/tuple [20, 19] + - !!python/tuple [11, 20] + - !!python/tuple [21, 1] + - !!python/tuple [14, 2] + - !!python/tuple [4, 13] + - !!python/tuple [16, 8] + - !!python/tuple [27, 31] + - !!python/tuple [18, 6] + - !!python/tuple [0, 13] + - !!python/tuple [13, 22] + - !!python/tuple [28, 10] + - !!python/tuple [9, 13] + - !!python/tuple [28, 15] + - !!python/tuple [0, 15] + - !!python/tuple [5, 23] + - !!python/tuple [24, 30] + - !!python/tuple [3, 31] + - !!python/tuple [8, 20] + - !!python/tuple [27, 1] + - !!python/tuple [20, 17] + - !!python/tuple [24, 5] + - !!python/tuple [13, 8] + - !!python/tuple [14, 24] + - !!python/tuple [7, 10] + - !!python/tuple [11, 16] + - !!python/tuple [15, 14] + - !!python/tuple [24, 11] + - !!python/tuple [22, 25] + - !!python/tuple [30, 12] + - !!python/tuple [6, 14] + - !!python/tuple [4, 10] + - !!python/tuple [8, 14] + - !!python/tuple [3, 8] + - !!python/tuple [20, 11] + - !!python/tuple [2, 1] + - !!python/tuple [4, 23] + - !!python/tuple [16, 26] + - !!python/tuple [5, 10] + - !!python/tuple [1, 23] + - !!python/tuple [19, 7] + - !!python/tuple [26, 4] + - !!python/tuple [2, 14] + - !!python/tuple [24, 16] + - !!python/tuple [23, 11] + - !!python/tuple [28, 25] + - !!python/tuple [19, 19] + - !!python/tuple [9, 22] + - !!python/tuple [4, 12] + - !!python/tuple [6, 21] + - !!python/tuple [8, 27] + - !!python/tuple [2, 4] + - !!python/tuple [26, 5] + - !!python/tuple [8, 11] + - !!python/tuple [11, 14] + - !!python/tuple [2, 27] + - !!python/tuple [13, 29] + - !!python/tuple [14, 1] + - !!python/tuple [1, 31] + - !!python/tuple [30, 24] + - !!python/tuple [20, 28] + - !!python/tuple [26, 6] + - !!python/tuple [23, 3] + - !!python/tuple [5, 0] + - !!python/tuple [18, 25] + - !!python/tuple [4, 0] + - !!python/tuple [9, 28] + - !!python/tuple [24, 3] + - !!python/tuple [21, 9] + - !!python/tuple [24, 9] + - !!python/tuple [1, 8] + - !!python/tuple [31, 30] + - !!python/tuple [22, 30] + - !!python/tuple [16, 13] + - !!python/tuple [30, 1] + - !!python/tuple [21, 26] + - !!python/tuple [25, 18] + - !!python/tuple [5, 5] + - !!python/tuple [13, 16] + - !!python/tuple [3, 15] + - !!python/tuple [16, 0] + - !!python/tuple [17, 30] + - !!python/tuple [11, 11] + - !!python/tuple [11, 9] + - !!python/tuple [26, 27] + - !!python/tuple [16, 17] + - !!python/tuple [25, 6] + - !!python/tuple [21, 3] + - !!python/tuple [27, 22] + - !!python/tuple [25, 17] + - !!python/tuple [20, 3] + - !!python/tuple [20, 30] + - !!python/tuple [16, 22] + - !!python/tuple [18, 29] + - !!python/tuple [9, 17] + - !!python/tuple [29, 25] + - !!python/tuple [13, 11] + - !!python/tuple [12, 15] + - !!python/tuple [25, 22] + - !!python/tuple [2, 16] + - !!python/tuple [26, 29] + - !!python/tuple [7, 1] + - !!python/tuple [6, 15] + - !!python/tuple [29, 16] + - !!python/tuple [27, 19] + - !!python/tuple [1, 27] + - !!python/tuple [6, 22] + - !!python/tuple [21, 25] + - !!python/tuple [11, 15] + - !!python/tuple [7, 11] + - !!python/tuple [7, 23] + - !!python/tuple [5, 21] + - !!python/tuple [9, 1] + - !!python/tuple [30, 26] + - !!python/tuple [15, 1] + - !!python/tuple [25, 21] + - !!python/tuple [12, 22] + - !!python/tuple [30, 5] + - !!python/tuple [20, 7] + - !!python/tuple [22, 6] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex68.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex68.yaml new file mode 100644 index 0000000..8205363 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex68.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [9, 6] + name: agent0 + start: [28, 6] +- goal: [5, 15] + name: agent1 + start: [21, 20] +- goal: [30, 1] + name: agent2 + start: [3, 18] +- goal: [29, 22] + name: agent3 + start: [2, 28] +- goal: [1, 28] + name: agent4 + start: [27, 22] +- goal: [0, 31] + name: agent5 + start: [25, 12] +- goal: [5, 24] + name: agent6 + start: [21, 11] +- goal: [14, 10] + name: agent7 + start: [19, 17] +- goal: [19, 20] + name: agent8 + start: [29, 14] +- goal: [18, 27] + name: agent9 + start: [22, 26] +- goal: [8, 27] + name: agent10 + start: [20, 4] +- goal: [29, 7] + name: agent11 + start: [21, 21] +- goal: [8, 12] + name: agent12 + start: [17, 11] +- goal: [12, 27] + name: agent13 + start: [5, 6] +- goal: [22, 30] + name: agent14 + start: [23, 31] +- goal: [20, 0] + name: agent15 + start: [26, 8] +- goal: [15, 5] + name: agent16 + start: [15, 12] +- goal: [19, 10] + name: agent17 + start: [29, 2] +- goal: [27, 21] + name: agent18 + start: [31, 11] +- goal: [0, 9] + name: agent19 + start: [3, 27] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [15, 10] + - !!python/tuple [14, 1] + - !!python/tuple [2, 27] + - !!python/tuple [22, 27] + - !!python/tuple [22, 21] + - !!python/tuple [25, 1] + - !!python/tuple [9, 20] + - !!python/tuple [19, 3] + - !!python/tuple [26, 18] + - !!python/tuple [0, 13] + - !!python/tuple [14, 9] + - !!python/tuple [27, 5] + - !!python/tuple [25, 31] + - !!python/tuple [0, 10] + - !!python/tuple [2, 15] + - !!python/tuple [6, 28] + - !!python/tuple [6, 31] + - !!python/tuple [10, 14] + - !!python/tuple [31, 25] + - !!python/tuple [22, 16] + - !!python/tuple [5, 27] + - !!python/tuple [27, 20] + - !!python/tuple [17, 13] + - !!python/tuple [8, 25] + - !!python/tuple [26, 19] + - !!python/tuple [28, 0] + - !!python/tuple [28, 26] + - !!python/tuple [20, 24] + - !!python/tuple [2, 26] + - !!python/tuple [20, 25] + - !!python/tuple [5, 21] + - !!python/tuple [19, 24] + - !!python/tuple [16, 22] + - !!python/tuple [12, 25] + - !!python/tuple [24, 14] + - !!python/tuple [23, 15] + - !!python/tuple [7, 2] + - !!python/tuple [7, 12] + - !!python/tuple [4, 2] + - !!python/tuple [13, 17] + - !!python/tuple [16, 28] + - !!python/tuple [12, 14] + - !!python/tuple [4, 6] + - !!python/tuple [24, 28] + - !!python/tuple [8, 2] + - !!python/tuple [21, 30] + - !!python/tuple [30, 6] + - !!python/tuple [6, 23] + - !!python/tuple [12, 11] + - !!python/tuple [31, 19] + - !!python/tuple [11, 30] + - !!python/tuple [7, 23] + - !!python/tuple [1, 20] + - !!python/tuple [28, 22] + - !!python/tuple [7, 22] + - !!python/tuple [9, 1] + - !!python/tuple [31, 6] + - !!python/tuple [7, 9] + - !!python/tuple [29, 1] + - !!python/tuple [17, 5] + - !!python/tuple [16, 18] + - !!python/tuple [25, 11] + - !!python/tuple [1, 10] + - !!python/tuple [0, 18] + - !!python/tuple [30, 28] + - !!python/tuple [31, 8] + - !!python/tuple [3, 7] + - !!python/tuple [9, 22] + - !!python/tuple [4, 8] + - !!python/tuple [9, 4] + - !!python/tuple [22, 6] + - !!python/tuple [5, 30] + - !!python/tuple [14, 3] + - !!python/tuple [17, 27] + - !!python/tuple [17, 28] + - !!python/tuple [24, 6] + - !!python/tuple [20, 13] + - !!python/tuple [17, 16] + - !!python/tuple [13, 14] + - !!python/tuple [1, 11] + - !!python/tuple [26, 15] + - !!python/tuple [11, 0] + - !!python/tuple [15, 9] + - !!python/tuple [16, 13] + - !!python/tuple [5, 11] + - !!python/tuple [14, 25] + - !!python/tuple [15, 18] + - !!python/tuple [18, 29] + - !!python/tuple [13, 9] + - !!python/tuple [8, 20] + - !!python/tuple [17, 19] + - !!python/tuple [21, 31] + - !!python/tuple [5, 23] + - !!python/tuple [20, 10] + - !!python/tuple [2, 0] + - !!python/tuple [16, 6] + - !!python/tuple [5, 13] + - !!python/tuple [7, 16] + - !!python/tuple [31, 12] + - !!python/tuple [16, 30] + - !!python/tuple [25, 15] + - !!python/tuple [31, 29] + - !!python/tuple [25, 17] + - !!python/tuple [7, 21] + - !!python/tuple [4, 12] + - !!python/tuple [1, 0] + - !!python/tuple [7, 27] + - !!python/tuple [10, 3] + - !!python/tuple [30, 9] + - !!python/tuple [12, 16] + - !!python/tuple [10, 6] + - !!python/tuple [15, 23] + - !!python/tuple [21, 5] + - !!python/tuple [15, 31] + - !!python/tuple [13, 30] + - !!python/tuple [14, 15] + - !!python/tuple [22, 28] + - !!python/tuple [3, 8] + - !!python/tuple [23, 21] + - !!python/tuple [19, 8] + - !!python/tuple [14, 24] + - !!python/tuple [6, 24] + - !!python/tuple [15, 11] + - !!python/tuple [25, 28] + - !!python/tuple [13, 29] + - !!python/tuple [18, 9] + - !!python/tuple [8, 21] + - !!python/tuple [8, 17] + - !!python/tuple [6, 1] + - !!python/tuple [16, 16] + - !!python/tuple [23, 29] + - !!python/tuple [26, 12] + - !!python/tuple [17, 26] + - !!python/tuple [15, 21] + - !!python/tuple [13, 11] + - !!python/tuple [22, 8] + - !!python/tuple [13, 16] + - !!python/tuple [2, 23] + - !!python/tuple [14, 8] + - !!python/tuple [26, 7] + - !!python/tuple [22, 20] + - !!python/tuple [6, 2] + - !!python/tuple [16, 11] + - !!python/tuple [21, 27] + - !!python/tuple [20, 3] + - !!python/tuple [0, 0] + - !!python/tuple [8, 5] + - !!python/tuple [8, 28] + - !!python/tuple [15, 8] + - !!python/tuple [20, 9] + - !!python/tuple [9, 16] + - !!python/tuple [27, 1] + - !!python/tuple [19, 15] + - !!python/tuple [27, 18] + - !!python/tuple [19, 6] + - !!python/tuple [10, 5] + - !!python/tuple [19, 22] + - !!python/tuple [15, 15] + - !!python/tuple [31, 3] + - !!python/tuple [31, 16] + - !!python/tuple [0, 4] + - !!python/tuple [9, 9] + - !!python/tuple [27, 15] + - !!python/tuple [23, 11] + - !!python/tuple [10, 29] + - !!python/tuple [6, 19] + - !!python/tuple [26, 20] + - !!python/tuple [27, 8] + - !!python/tuple [4, 14] + - !!python/tuple [16, 19] + - !!python/tuple [3, 2] + - !!python/tuple [29, 23] + - !!python/tuple [1, 26] + - !!python/tuple [27, 28] + - !!python/tuple [15, 30] + - !!python/tuple [12, 29] + - !!python/tuple [12, 24] + - !!python/tuple [6, 20] + - !!python/tuple [4, 30] + - !!python/tuple [2, 10] + - !!python/tuple [25, 21] + - !!python/tuple [18, 20] + - !!python/tuple [8, 15] + - !!python/tuple [10, 9] + - !!python/tuple [29, 21] + - !!python/tuple [14, 7] + - !!python/tuple [26, 10] + - !!python/tuple [28, 30] + - !!python/tuple [13, 15] + - !!python/tuple [9, 11] + - !!python/tuple [1, 22] + - !!python/tuple [20, 23] + - !!python/tuple [30, 4] + - !!python/tuple [7, 26] + - !!python/tuple [9, 5] + - !!python/tuple [20, 26] + - !!python/tuple [17, 1] + - !!python/tuple [12, 28] + - !!python/tuple [18, 0] + - !!python/tuple [25, 9] + - !!python/tuple [12, 13] + - !!python/tuple [1, 5] + - !!python/tuple [27, 16] + - !!python/tuple [7, 4] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex69.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex69.yaml new file mode 100644 index 0000000..c4e818a --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex69.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [5, 4] + name: agent0 + start: [20, 17] +- goal: [9, 8] + name: agent1 + start: [1, 25] +- goal: [17, 2] + name: agent2 + start: [5, 12] +- goal: [20, 11] + name: agent3 + start: [4, 22] +- goal: [18, 2] + name: agent4 + start: [22, 30] +- goal: [15, 18] + name: agent5 + start: [1, 10] +- goal: [2, 16] + name: agent6 + start: [15, 3] +- goal: [26, 18] + name: agent7 + start: [13, 18] +- goal: [19, 27] + name: agent8 + start: [18, 10] +- goal: [25, 13] + name: agent9 + start: [27, 16] +- goal: [1, 22] + name: agent10 + start: [3, 31] +- goal: [18, 1] + name: agent11 + start: [25, 0] +- goal: [25, 11] + name: agent12 + start: [30, 8] +- goal: [10, 30] + name: agent13 + start: [21, 4] +- goal: [5, 8] + name: agent14 + start: [8, 15] +- goal: [4, 15] + name: agent15 + start: [26, 29] +- goal: [14, 18] + name: agent16 + start: [26, 23] +- goal: [26, 13] + name: agent17 + start: [3, 10] +- goal: [19, 13] + name: agent18 + start: [17, 21] +- goal: [27, 30] + name: agent19 + start: [29, 1] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [30, 22] + - !!python/tuple [14, 30] + - !!python/tuple [0, 5] + - !!python/tuple [28, 9] + - !!python/tuple [2, 10] + - !!python/tuple [13, 24] + - !!python/tuple [24, 13] + - !!python/tuple [11, 2] + - !!python/tuple [28, 23] + - !!python/tuple [1, 8] + - !!python/tuple [12, 2] + - !!python/tuple [20, 15] + - !!python/tuple [6, 16] + - !!python/tuple [1, 15] + - !!python/tuple [8, 28] + - !!python/tuple [21, 7] + - !!python/tuple [16, 4] + - !!python/tuple [15, 28] + - !!python/tuple [12, 26] + - !!python/tuple [10, 6] + - !!python/tuple [10, 14] + - !!python/tuple [26, 31] + - !!python/tuple [21, 22] + - !!python/tuple [18, 29] + - !!python/tuple [27, 5] + - !!python/tuple [22, 3] + - !!python/tuple [17, 14] + - !!python/tuple [22, 8] + - !!python/tuple [17, 10] + - !!python/tuple [31, 14] + - !!python/tuple [24, 16] + - !!python/tuple [19, 18] + - !!python/tuple [19, 31] + - !!python/tuple [12, 6] + - !!python/tuple [29, 8] + - !!python/tuple [5, 26] + - !!python/tuple [27, 1] + - !!python/tuple [9, 3] + - !!python/tuple [30, 23] + - !!python/tuple [15, 20] + - !!python/tuple [21, 28] + - !!python/tuple [26, 27] + - !!python/tuple [7, 15] + - !!python/tuple [8, 19] + - !!python/tuple [20, 0] + - !!python/tuple [28, 21] + - !!python/tuple [26, 10] + - !!python/tuple [20, 27] + - !!python/tuple [28, 7] + - !!python/tuple [14, 10] + - !!python/tuple [23, 1] + - !!python/tuple [19, 19] + - !!python/tuple [2, 22] + - !!python/tuple [0, 3] + - !!python/tuple [24, 8] + - !!python/tuple [8, 14] + - !!python/tuple [30, 26] + - !!python/tuple [13, 9] + - !!python/tuple [25, 6] + - !!python/tuple [2, 5] + - !!python/tuple [15, 23] + - !!python/tuple [2, 24] + - !!python/tuple [21, 1] + - !!python/tuple [27, 24] + - !!python/tuple [16, 3] + - !!python/tuple [25, 1] + - !!python/tuple [2, 17] + - !!python/tuple [11, 16] + - !!python/tuple [25, 2] + - !!python/tuple [20, 16] + - !!python/tuple [24, 22] + - !!python/tuple [24, 3] + - !!python/tuple [31, 13] + - !!python/tuple [10, 26] + - !!python/tuple [23, 16] + - !!python/tuple [27, 27] + - !!python/tuple [12, 31] + - !!python/tuple [4, 8] + - !!python/tuple [2, 18] + - !!python/tuple [22, 19] + - !!python/tuple [25, 5] + - !!python/tuple [11, 21] + - !!python/tuple [7, 9] + - !!python/tuple [6, 7] + - !!python/tuple [6, 20] + - !!python/tuple [25, 20] + - !!python/tuple [18, 16] + - !!python/tuple [8, 17] + - !!python/tuple [3, 17] + - !!python/tuple [16, 23] + - !!python/tuple [19, 26] + - !!python/tuple [30, 15] + - !!python/tuple [12, 3] + - !!python/tuple [22, 11] + - !!python/tuple [11, 27] + - !!python/tuple [21, 2] + - !!python/tuple [5, 31] + - !!python/tuple [28, 24] + - !!python/tuple [31, 1] + - !!python/tuple [27, 11] + - !!python/tuple [3, 25] + - !!python/tuple [30, 31] + - !!python/tuple [12, 10] + - !!python/tuple [16, 12] + - !!python/tuple [19, 0] + - !!python/tuple [18, 15] + - !!python/tuple [15, 30] + - !!python/tuple [18, 8] + - !!python/tuple [13, 16] + - !!python/tuple [20, 14] + - !!python/tuple [2, 13] + - !!python/tuple [25, 16] + - !!python/tuple [26, 24] + - !!python/tuple [30, 2] + - !!python/tuple [7, 25] + - !!python/tuple [12, 14] + - !!python/tuple [27, 9] + - !!python/tuple [0, 8] + - !!python/tuple [27, 28] + - !!python/tuple [11, 5] + - !!python/tuple [0, 30] + - !!python/tuple [23, 2] + - !!python/tuple [24, 24] + - !!python/tuple [13, 20] + - !!python/tuple [4, 31] + - !!python/tuple [13, 31] + - !!python/tuple [12, 5] + - !!python/tuple [1, 2] + - !!python/tuple [4, 5] + - !!python/tuple [28, 17] + - !!python/tuple [18, 31] + - !!python/tuple [1, 16] + - !!python/tuple [23, 14] + - !!python/tuple [29, 30] + - !!python/tuple [16, 9] + - !!python/tuple [31, 29] + - !!python/tuple [22, 21] + - !!python/tuple [22, 2] + - !!python/tuple [13, 27] + - !!python/tuple [31, 12] + - !!python/tuple [13, 14] + - !!python/tuple [26, 19] + - !!python/tuple [17, 0] + - !!python/tuple [12, 21] + - !!python/tuple [28, 18] + - !!python/tuple [24, 9] + - !!python/tuple [6, 6] + - !!python/tuple [25, 19] + - !!python/tuple [31, 11] + - !!python/tuple [9, 12] + - !!python/tuple [16, 15] + - !!python/tuple [0, 13] + - !!python/tuple [8, 11] + - !!python/tuple [2, 25] + - !!python/tuple [2, 3] + - !!python/tuple [15, 27] + - !!python/tuple [12, 15] + - !!python/tuple [3, 21] + - !!python/tuple [25, 26] + - !!python/tuple [8, 18] + - !!python/tuple [4, 9] + - !!python/tuple [23, 4] + - !!python/tuple [3, 22] + - !!python/tuple [22, 26] + - !!python/tuple [30, 27] + - !!python/tuple [30, 12] + - !!python/tuple [19, 5] + - !!python/tuple [26, 22] + - !!python/tuple [6, 1] + - !!python/tuple [3, 9] + - !!python/tuple [12, 19] + - !!python/tuple [23, 19] + - !!python/tuple [9, 13] + - !!python/tuple [23, 17] + - !!python/tuple [7, 14] + - !!python/tuple [10, 12] + - !!python/tuple [18, 13] + - !!python/tuple [19, 11] + - !!python/tuple [10, 1] + - !!python/tuple [28, 0] + - !!python/tuple [2, 6] + - !!python/tuple [1, 17] + - !!python/tuple [3, 12] + - !!python/tuple [17, 17] + - !!python/tuple [4, 23] + - !!python/tuple [29, 23] + - !!python/tuple [17, 31] + - !!python/tuple [25, 3] + - !!python/tuple [12, 13] + - !!python/tuple [15, 2] + - !!python/tuple [21, 24] + - !!python/tuple [25, 10] + - !!python/tuple [6, 5] + - !!python/tuple [4, 11] + - !!python/tuple [14, 24] + - !!python/tuple [25, 29] + - !!python/tuple [22, 6] + - !!python/tuple [27, 15] + - !!python/tuple [5, 21] + - !!python/tuple [19, 25] + - !!python/tuple [20, 6] + - !!python/tuple [14, 11] + - !!python/tuple [8, 6] + - !!python/tuple [5, 30] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex7.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex7.yaml new file mode 100644 index 0000000..04d25b2 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex7.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [17, 8] + name: agent0 + start: [4, 5] +- goal: [27, 7] + name: agent1 + start: [19, 31] +- goal: [24, 11] + name: agent2 + start: [28, 28] +- goal: [10, 21] + name: agent3 + start: [11, 18] +- goal: [24, 5] + name: agent4 + start: [23, 6] +- goal: [12, 17] + name: agent5 + start: [10, 27] +- goal: [16, 14] + name: agent6 + start: [15, 17] +- goal: [20, 14] + name: agent7 + start: [2, 29] +- goal: [28, 2] + name: agent8 + start: [31, 0] +- goal: [28, 10] + name: agent9 + start: [7, 21] +- goal: [26, 8] + name: agent10 + start: [6, 9] +- goal: [15, 8] + name: agent11 + start: [18, 13] +- goal: [31, 25] + name: agent12 + start: [29, 28] +- goal: [25, 19] + name: agent13 + start: [9, 9] +- goal: [26, 18] + name: agent14 + start: [15, 31] +- goal: [31, 7] + name: agent15 + start: [3, 14] +- goal: [22, 4] + name: agent16 + start: [24, 6] +- goal: [26, 4] + name: agent17 + start: [11, 12] +- goal: [10, 27] + name: agent18 + start: [11, 3] +- goal: [13, 3] + name: agent19 + start: [19, 29] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [23, 1] + - !!python/tuple [5, 14] + - !!python/tuple [31, 21] + - !!python/tuple [21, 2] + - !!python/tuple [2, 19] + - !!python/tuple [9, 31] + - !!python/tuple [15, 28] + - !!python/tuple [1, 5] + - !!python/tuple [6, 13] + - !!python/tuple [24, 27] + - !!python/tuple [30, 9] + - !!python/tuple [20, 16] + - !!python/tuple [7, 13] + - !!python/tuple [19, 8] + - !!python/tuple [14, 24] + - !!python/tuple [18, 15] + - !!python/tuple [8, 31] + - !!python/tuple [16, 17] + - !!python/tuple [0, 2] + - !!python/tuple [7, 10] + - !!python/tuple [11, 13] + - !!python/tuple [11, 7] + - !!python/tuple [9, 13] + - !!python/tuple [10, 14] + - !!python/tuple [0, 30] + - !!python/tuple [19, 1] + - !!python/tuple [31, 13] + - !!python/tuple [15, 6] + - !!python/tuple [13, 6] + - !!python/tuple [7, 23] + - !!python/tuple [16, 20] + - !!python/tuple [2, 3] + - !!python/tuple [4, 11] + - !!python/tuple [9, 26] + - !!python/tuple [6, 24] + - !!python/tuple [3, 13] + - !!python/tuple [18, 10] + - !!python/tuple [24, 22] + - !!python/tuple [17, 2] + - !!python/tuple [24, 9] + - !!python/tuple [15, 5] + - !!python/tuple [21, 12] + - !!python/tuple [23, 10] + - !!python/tuple [12, 28] + - !!python/tuple [12, 3] + - !!python/tuple [28, 9] + - !!python/tuple [28, 8] + - !!python/tuple [4, 2] + - !!python/tuple [8, 6] + - !!python/tuple [0, 20] + - !!python/tuple [12, 30] + - !!python/tuple [10, 13] + - !!python/tuple [25, 15] + - !!python/tuple [0, 0] + - !!python/tuple [0, 15] + - !!python/tuple [14, 17] + - !!python/tuple [10, 30] + - !!python/tuple [2, 9] + - !!python/tuple [27, 5] + - !!python/tuple [4, 19] + - !!python/tuple [31, 20] + - !!python/tuple [8, 19] + - !!python/tuple [24, 29] + - !!python/tuple [1, 28] + - !!python/tuple [30, 25] + - !!python/tuple [28, 19] + - !!python/tuple [10, 8] + - !!python/tuple [10, 22] + - !!python/tuple [6, 31] + - !!python/tuple [11, 1] + - !!python/tuple [28, 13] + - !!python/tuple [16, 19] + - !!python/tuple [0, 16] + - !!python/tuple [19, 24] + - !!python/tuple [5, 28] + - !!python/tuple [29, 13] + - !!python/tuple [9, 27] + - !!python/tuple [5, 7] + - !!python/tuple [11, 11] + - !!python/tuple [22, 5] + - !!python/tuple [19, 27] + - !!python/tuple [11, 31] + - !!python/tuple [31, 12] + - !!python/tuple [17, 9] + - !!python/tuple [17, 7] + - !!python/tuple [16, 5] + - !!python/tuple [5, 29] + - !!python/tuple [16, 11] + - !!python/tuple [3, 8] + - !!python/tuple [16, 2] + - !!python/tuple [19, 12] + - !!python/tuple [5, 11] + - !!python/tuple [2, 27] + - !!python/tuple [0, 4] + - !!python/tuple [29, 14] + - !!python/tuple [20, 27] + - !!python/tuple [2, 26] + - !!python/tuple [24, 15] + - !!python/tuple [22, 30] + - !!python/tuple [30, 6] + - !!python/tuple [20, 0] + - !!python/tuple [21, 4] + - !!python/tuple [8, 30] + - !!python/tuple [22, 21] + - !!python/tuple [23, 8] + - !!python/tuple [7, 5] + - !!python/tuple [12, 1] + - !!python/tuple [26, 30] + - !!python/tuple [10, 6] + - !!python/tuple [24, 25] + - !!python/tuple [18, 0] + - !!python/tuple [20, 24] + - !!python/tuple [29, 30] + - !!python/tuple [27, 14] + - !!python/tuple [9, 23] + - !!python/tuple [15, 12] + - !!python/tuple [12, 22] + - !!python/tuple [28, 14] + - !!python/tuple [10, 18] + - !!python/tuple [17, 25] + - !!python/tuple [3, 9] + - !!python/tuple [9, 8] + - !!python/tuple [5, 4] + - !!python/tuple [23, 29] + - !!python/tuple [22, 18] + - !!python/tuple [17, 20] + - !!python/tuple [22, 15] + - !!python/tuple [17, 21] + - !!python/tuple [5, 1] + - !!python/tuple [2, 2] + - !!python/tuple [10, 29] + - !!python/tuple [9, 14] + - !!python/tuple [1, 16] + - !!python/tuple [23, 16] + - !!python/tuple [4, 10] + - !!python/tuple [25, 24] + - !!python/tuple [23, 4] + - !!python/tuple [4, 1] + - !!python/tuple [7, 12] + - !!python/tuple [7, 15] + - !!python/tuple [1, 13] + - !!python/tuple [3, 25] + - !!python/tuple [24, 18] + - !!python/tuple [4, 24] + - !!python/tuple [18, 22] + - !!python/tuple [24, 28] + - !!python/tuple [7, 7] + - !!python/tuple [12, 15] + - !!python/tuple [12, 0] + - !!python/tuple [2, 15] + - !!python/tuple [1, 24] + - !!python/tuple [31, 16] + - !!python/tuple [8, 5] + - !!python/tuple [20, 3] + - !!python/tuple [13, 21] + - !!python/tuple [6, 16] + - !!python/tuple [8, 22] + - !!python/tuple [19, 5] + - !!python/tuple [28, 3] + - !!python/tuple [15, 2] + - !!python/tuple [10, 12] + - !!python/tuple [10, 31] + - !!python/tuple [16, 6] + - !!python/tuple [8, 20] + - !!python/tuple [13, 9] + - !!python/tuple [0, 9] + - !!python/tuple [4, 15] + - !!python/tuple [14, 13] + - !!python/tuple [25, 26] + - !!python/tuple [30, 27] + - !!python/tuple [26, 2] + - !!python/tuple [8, 15] + - !!python/tuple [29, 11] + - !!python/tuple [19, 7] + - !!python/tuple [12, 21] + - !!python/tuple [12, 5] + - !!python/tuple [23, 11] + - !!python/tuple [10, 16] + - !!python/tuple [13, 1] + - !!python/tuple [0, 17] + - !!python/tuple [27, 27] + - !!python/tuple [10, 25] + - !!python/tuple [12, 29] + - !!python/tuple [21, 0] + - !!python/tuple [4, 7] + - !!python/tuple [8, 18] + - !!python/tuple [26, 9] + - !!python/tuple [31, 22] + - !!python/tuple [25, 20] + - !!python/tuple [17, 5] + - !!python/tuple [31, 24] + - !!python/tuple [22, 28] + - !!python/tuple [11, 25] + - !!python/tuple [1, 6] + - !!python/tuple [18, 30] + - !!python/tuple [1, 21] + - !!python/tuple [9, 2] + - !!python/tuple [27, 30] + - !!python/tuple [3, 1] + - !!python/tuple [18, 23] + - !!python/tuple [8, 29] + - !!python/tuple [8, 10] + - !!python/tuple [2, 8] + - !!python/tuple [16, 22] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex70.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex70.yaml new file mode 100644 index 0000000..13fd39d --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex70.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [24, 7] + name: agent0 + start: [14, 30] +- goal: [27, 28] + name: agent1 + start: [6, 13] +- goal: [31, 25] + name: agent2 + start: [18, 29] +- goal: [13, 2] + name: agent3 + start: [20, 25] +- goal: [28, 17] + name: agent4 + start: [5, 25] +- goal: [31, 15] + name: agent5 + start: [0, 7] +- goal: [22, 1] + name: agent6 + start: [31, 2] +- goal: [17, 5] + name: agent7 + start: [18, 23] +- goal: [17, 19] + name: agent8 + start: [30, 2] +- goal: [21, 15] + name: agent9 + start: [11, 20] +- goal: [11, 12] + name: agent10 + start: [0, 9] +- goal: [3, 31] + name: agent11 + start: [31, 18] +- goal: [26, 0] + name: agent12 + start: [24, 17] +- goal: [10, 10] + name: agent13 + start: [6, 15] +- goal: [10, 11] + name: agent14 + start: [23, 31] +- goal: [7, 10] + name: agent15 + start: [12, 9] +- goal: [11, 23] + name: agent16 + start: [10, 1] +- goal: [23, 14] + name: agent17 + start: [21, 18] +- goal: [10, 14] + name: agent18 + start: [22, 21] +- goal: [25, 10] + name: agent19 + start: [2, 3] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [2, 19] + - !!python/tuple [4, 22] + - !!python/tuple [18, 30] + - !!python/tuple [23, 20] + - !!python/tuple [8, 0] + - !!python/tuple [11, 6] + - !!python/tuple [31, 10] + - !!python/tuple [4, 14] + - !!python/tuple [5, 31] + - !!python/tuple [9, 29] + - !!python/tuple [19, 21] + - !!python/tuple [3, 28] + - !!python/tuple [25, 23] + - !!python/tuple [1, 0] + - !!python/tuple [11, 17] + - !!python/tuple [29, 6] + - !!python/tuple [14, 18] + - !!python/tuple [29, 19] + - !!python/tuple [26, 30] + - !!python/tuple [5, 10] + - !!python/tuple [29, 17] + - !!python/tuple [17, 21] + - !!python/tuple [8, 22] + - !!python/tuple [6, 25] + - !!python/tuple [7, 1] + - !!python/tuple [5, 0] + - !!python/tuple [27, 29] + - !!python/tuple [27, 22] + - !!python/tuple [3, 13] + - !!python/tuple [18, 31] + - !!python/tuple [10, 23] + - !!python/tuple [30, 16] + - !!python/tuple [8, 14] + - !!python/tuple [24, 14] + - !!python/tuple [0, 2] + - !!python/tuple [25, 7] + - !!python/tuple [5, 7] + - !!python/tuple [22, 18] + - !!python/tuple [5, 6] + - !!python/tuple [7, 5] + - !!python/tuple [31, 29] + - !!python/tuple [1, 14] + - !!python/tuple [31, 31] + - !!python/tuple [27, 2] + - !!python/tuple [27, 24] + - !!python/tuple [14, 12] + - !!python/tuple [16, 28] + - !!python/tuple [27, 8] + - !!python/tuple [26, 11] + - !!python/tuple [7, 27] + - !!python/tuple [19, 10] + - !!python/tuple [0, 28] + - !!python/tuple [5, 27] + - !!python/tuple [25, 5] + - !!python/tuple [7, 12] + - !!python/tuple [18, 21] + - !!python/tuple [21, 1] + - !!python/tuple [1, 3] + - !!python/tuple [21, 6] + - !!python/tuple [13, 4] + - !!python/tuple [20, 0] + - !!python/tuple [21, 14] + - !!python/tuple [11, 24] + - !!python/tuple [6, 10] + - !!python/tuple [25, 15] + - !!python/tuple [19, 7] + - !!python/tuple [1, 24] + - !!python/tuple [20, 22] + - !!python/tuple [7, 3] + - !!python/tuple [15, 0] + - !!python/tuple [11, 2] + - !!python/tuple [17, 6] + - !!python/tuple [2, 30] + - !!python/tuple [4, 19] + - !!python/tuple [24, 31] + - !!python/tuple [7, 23] + - !!python/tuple [1, 11] + - !!python/tuple [6, 9] + - !!python/tuple [25, 8] + - !!python/tuple [18, 9] + - !!python/tuple [21, 16] + - !!python/tuple [23, 7] + - !!python/tuple [12, 19] + - !!python/tuple [23, 12] + - !!python/tuple [3, 7] + - !!python/tuple [4, 5] + - !!python/tuple [25, 20] + - !!python/tuple [11, 9] + - !!python/tuple [12, 2] + - !!python/tuple [10, 9] + - !!python/tuple [6, 28] + - !!python/tuple [1, 17] + - !!python/tuple [11, 0] + - !!python/tuple [11, 14] + - !!python/tuple [10, 31] + - !!python/tuple [4, 29] + - !!python/tuple [22, 0] + - !!python/tuple [8, 12] + - !!python/tuple [7, 20] + - !!python/tuple [13, 27] + - !!python/tuple [24, 25] + - !!python/tuple [20, 19] + - !!python/tuple [13, 3] + - !!python/tuple [17, 9] + - !!python/tuple [19, 16] + - !!python/tuple [15, 11] + - !!python/tuple [21, 31] + - !!python/tuple [13, 6] + - !!python/tuple [6, 18] + - !!python/tuple [7, 29] + - !!python/tuple [16, 9] + - !!python/tuple [22, 23] + - !!python/tuple [28, 19] + - !!python/tuple [22, 3] + - !!python/tuple [3, 9] + - !!python/tuple [28, 13] + - !!python/tuple [30, 25] + - !!python/tuple [18, 3] + - !!python/tuple [22, 26] + - !!python/tuple [24, 1] + - !!python/tuple [2, 23] + - !!python/tuple [5, 26] + - !!python/tuple [30, 24] + - !!python/tuple [7, 2] + - !!python/tuple [10, 0] + - !!python/tuple [1, 4] + - !!python/tuple [9, 13] + - !!python/tuple [30, 0] + - !!python/tuple [13, 20] + - !!python/tuple [31, 28] + - !!python/tuple [8, 13] + - !!python/tuple [22, 2] + - !!python/tuple [11, 16] + - !!python/tuple [0, 21] + - !!python/tuple [30, 30] + - !!python/tuple [7, 18] + - !!python/tuple [31, 11] + - !!python/tuple [6, 0] + - !!python/tuple [24, 24] + - !!python/tuple [25, 21] + - !!python/tuple [13, 14] + - !!python/tuple [31, 16] + - !!python/tuple [21, 29] + - !!python/tuple [29, 28] + - !!python/tuple [4, 20] + - !!python/tuple [10, 3] + - !!python/tuple [30, 19] + - !!python/tuple [15, 1] + - !!python/tuple [18, 7] + - !!python/tuple [0, 20] + - !!python/tuple [24, 3] + - !!python/tuple [20, 23] + - !!python/tuple [11, 7] + - !!python/tuple [4, 17] + - !!python/tuple [23, 26] + - !!python/tuple [30, 13] + - !!python/tuple [16, 5] + - !!python/tuple [8, 16] + - !!python/tuple [21, 30] + - !!python/tuple [1, 28] + - !!python/tuple [7, 0] + - !!python/tuple [2, 26] + - !!python/tuple [9, 14] + - !!python/tuple [12, 20] + - !!python/tuple [5, 28] + - !!python/tuple [13, 24] + - !!python/tuple [16, 20] + - !!python/tuple [22, 16] + - !!python/tuple [22, 10] + - !!python/tuple [22, 15] + - !!python/tuple [28, 24] + - !!python/tuple [20, 12] + - !!python/tuple [20, 13] + - !!python/tuple [11, 19] + - !!python/tuple [23, 10] + - !!python/tuple [28, 1] + - !!python/tuple [16, 22] + - !!python/tuple [9, 18] + - !!python/tuple [10, 19] + - !!python/tuple [1, 21] + - !!python/tuple [5, 29] + - !!python/tuple [13, 17] + - !!python/tuple [4, 8] + - !!python/tuple [8, 17] + - !!python/tuple [11, 26] + - !!python/tuple [31, 27] + - !!python/tuple [0, 14] + - !!python/tuple [15, 20] + - !!python/tuple [18, 2] + - !!python/tuple [22, 24] + - !!python/tuple [21, 8] + - !!python/tuple [18, 10] + - !!python/tuple [23, 9] + - !!python/tuple [14, 28] + - !!python/tuple [10, 28] + - !!python/tuple [18, 0] + - !!python/tuple [22, 29] + - !!python/tuple [25, 26] + - !!python/tuple [18, 6] + - !!python/tuple [29, 8] + - !!python/tuple [23, 0] + - !!python/tuple [4, 23] + - !!python/tuple [11, 8] + - !!python/tuple [4, 3] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex71.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex71.yaml new file mode 100644 index 0000000..9fb1fb9 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex71.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [5, 20] + name: agent0 + start: [21, 4] +- goal: [17, 16] + name: agent1 + start: [24, 10] +- goal: [15, 22] + name: agent2 + start: [19, 23] +- goal: [31, 20] + name: agent3 + start: [2, 25] +- goal: [17, 2] + name: agent4 + start: [5, 23] +- goal: [29, 6] + name: agent5 + start: [28, 19] +- goal: [14, 2] + name: agent6 + start: [27, 9] +- goal: [15, 14] + name: agent7 + start: [19, 20] +- goal: [4, 23] + name: agent8 + start: [11, 14] +- goal: [9, 3] + name: agent9 + start: [21, 24] +- goal: [24, 16] + name: agent10 + start: [16, 29] +- goal: [1, 30] + name: agent11 + start: [21, 18] +- goal: [9, 10] + name: agent12 + start: [12, 3] +- goal: [17, 9] + name: agent13 + start: [4, 28] +- goal: [31, 11] + name: agent14 + start: [6, 4] +- goal: [21, 13] + name: agent15 + start: [11, 13] +- goal: [23, 30] + name: agent16 + start: [18, 23] +- goal: [16, 20] + name: agent17 + start: [0, 27] +- goal: [18, 8] + name: agent18 + start: [7, 11] +- goal: [19, 10] + name: agent19 + start: [9, 26] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [2, 13] + - !!python/tuple [30, 17] + - !!python/tuple [27, 10] + - !!python/tuple [18, 7] + - !!python/tuple [26, 6] + - !!python/tuple [3, 10] + - !!python/tuple [24, 13] + - !!python/tuple [8, 10] + - !!python/tuple [26, 25] + - !!python/tuple [30, 14] + - !!python/tuple [27, 13] + - !!python/tuple [20, 1] + - !!python/tuple [29, 18] + - !!python/tuple [29, 13] + - !!python/tuple [0, 17] + - !!python/tuple [21, 17] + - !!python/tuple [2, 14] + - !!python/tuple [28, 3] + - !!python/tuple [31, 10] + - !!python/tuple [25, 26] + - !!python/tuple [17, 8] + - !!python/tuple [23, 23] + - !!python/tuple [27, 17] + - !!python/tuple [16, 11] + - !!python/tuple [19, 4] + - !!python/tuple [11, 23] + - !!python/tuple [31, 23] + - !!python/tuple [26, 8] + - !!python/tuple [3, 0] + - !!python/tuple [22, 8] + - !!python/tuple [0, 4] + - !!python/tuple [14, 11] + - !!python/tuple [7, 26] + - !!python/tuple [11, 24] + - !!python/tuple [3, 18] + - !!python/tuple [1, 23] + - !!python/tuple [22, 13] + - !!python/tuple [2, 11] + - !!python/tuple [23, 13] + - !!python/tuple [10, 11] + - !!python/tuple [18, 25] + - !!python/tuple [13, 7] + - !!python/tuple [6, 24] + - !!python/tuple [2, 8] + - !!python/tuple [13, 22] + - !!python/tuple [24, 0] + - !!python/tuple [19, 1] + - !!python/tuple [0, 29] + - !!python/tuple [16, 16] + - !!python/tuple [4, 5] + - !!python/tuple [20, 23] + - !!python/tuple [1, 11] + - !!python/tuple [5, 4] + - !!python/tuple [7, 9] + - !!python/tuple [27, 15] + - !!python/tuple [25, 11] + - !!python/tuple [0, 9] + - !!python/tuple [31, 12] + - !!python/tuple [15, 13] + - !!python/tuple [31, 26] + - !!python/tuple [4, 21] + - !!python/tuple [22, 2] + - !!python/tuple [30, 24] + - !!python/tuple [12, 5] + - !!python/tuple [5, 26] + - !!python/tuple [24, 31] + - !!python/tuple [30, 13] + - !!python/tuple [18, 5] + - !!python/tuple [28, 28] + - !!python/tuple [31, 25] + - !!python/tuple [8, 5] + - !!python/tuple [2, 19] + - !!python/tuple [2, 6] + - !!python/tuple [14, 16] + - !!python/tuple [4, 9] + - !!python/tuple [1, 2] + - !!python/tuple [26, 23] + - !!python/tuple [0, 3] + - !!python/tuple [18, 24] + - !!python/tuple [10, 30] + - !!python/tuple [20, 15] + - !!python/tuple [23, 20] + - !!python/tuple [12, 30] + - !!python/tuple [15, 31] + - !!python/tuple [3, 16] + - !!python/tuple [28, 22] + - !!python/tuple [21, 1] + - !!python/tuple [23, 27] + - !!python/tuple [12, 20] + - !!python/tuple [7, 14] + - !!python/tuple [9, 28] + - !!python/tuple [23, 4] + - !!python/tuple [3, 20] + - !!python/tuple [13, 17] + - !!python/tuple [27, 23] + - !!python/tuple [23, 14] + - !!python/tuple [12, 14] + - !!python/tuple [25, 7] + - !!python/tuple [26, 11] + - !!python/tuple [6, 8] + - !!python/tuple [7, 1] + - !!python/tuple [20, 22] + - !!python/tuple [21, 23] + - !!python/tuple [22, 20] + - !!python/tuple [4, 3] + - !!python/tuple [8, 31] + - !!python/tuple [26, 28] + - !!python/tuple [23, 16] + - !!python/tuple [23, 21] + - !!python/tuple [28, 5] + - !!python/tuple [3, 28] + - !!python/tuple [5, 25] + - !!python/tuple [6, 25] + - !!python/tuple [4, 10] + - !!python/tuple [25, 2] + - !!python/tuple [15, 25] + - !!python/tuple [7, 2] + - !!python/tuple [25, 25] + - !!python/tuple [26, 5] + - !!python/tuple [26, 27] + - !!python/tuple [10, 6] + - !!python/tuple [11, 31] + - !!python/tuple [17, 20] + - !!python/tuple [12, 12] + - !!python/tuple [10, 20] + - !!python/tuple [18, 20] + - !!python/tuple [16, 23] + - !!python/tuple [1, 17] + - !!python/tuple [17, 11] + - !!python/tuple [26, 21] + - !!python/tuple [28, 12] + - !!python/tuple [12, 6] + - !!python/tuple [4, 2] + - !!python/tuple [13, 14] + - !!python/tuple [21, 27] + - !!python/tuple [6, 5] + - !!python/tuple [23, 9] + - !!python/tuple [17, 12] + - !!python/tuple [11, 3] + - !!python/tuple [13, 20] + - !!python/tuple [30, 20] + - !!python/tuple [23, 26] + - !!python/tuple [12, 21] + - !!python/tuple [0, 28] + - !!python/tuple [2, 2] + - !!python/tuple [31, 27] + - !!python/tuple [14, 19] + - !!python/tuple [3, 1] + - !!python/tuple [9, 0] + - !!python/tuple [5, 10] + - !!python/tuple [10, 17] + - !!python/tuple [22, 12] + - !!python/tuple [11, 16] + - !!python/tuple [20, 16] + - !!python/tuple [5, 22] + - !!python/tuple [22, 17] + - !!python/tuple [21, 0] + - !!python/tuple [9, 2] + - !!python/tuple [20, 8] + - !!python/tuple [12, 8] + - !!python/tuple [21, 29] + - !!python/tuple [26, 0] + - !!python/tuple [2, 29] + - !!python/tuple [1, 10] + - !!python/tuple [1, 18] + - !!python/tuple [13, 29] + - !!python/tuple [10, 19] + - !!python/tuple [14, 21] + - !!python/tuple [10, 28] + - !!python/tuple [14, 22] + - !!python/tuple [11, 8] + - !!python/tuple [28, 29] + - !!python/tuple [15, 21] + - !!python/tuple [29, 24] + - !!python/tuple [6, 28] + - !!python/tuple [28, 26] + - !!python/tuple [27, 26] + - !!python/tuple [4, 6] + - !!python/tuple [29, 29] + - !!python/tuple [25, 0] + - !!python/tuple [31, 13] + - !!python/tuple [19, 9] + - !!python/tuple [29, 10] + - !!python/tuple [10, 25] + - !!python/tuple [17, 27] + - !!python/tuple [26, 7] + - !!python/tuple [15, 3] + - !!python/tuple [22, 27] + - !!python/tuple [2, 7] + - !!python/tuple [31, 30] + - !!python/tuple [30, 15] + - !!python/tuple [7, 25] + - !!python/tuple [30, 26] + - !!python/tuple [16, 27] + - !!python/tuple [18, 1] + - !!python/tuple [13, 4] + - !!python/tuple [6, 10] + - !!python/tuple [5, 16] + - !!python/tuple [17, 15] + - !!python/tuple [3, 30] + - !!python/tuple [18, 4] + - !!python/tuple [18, 0] + - !!python/tuple [6, 19] + - !!python/tuple [17, 29] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex72.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex72.yaml new file mode 100644 index 0000000..47c855c --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex72.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [29, 31] + name: agent0 + start: [14, 3] +- goal: [21, 31] + name: agent1 + start: [22, 27] +- goal: [26, 1] + name: agent2 + start: [17, 29] +- goal: [0, 10] + name: agent3 + start: [27, 29] +- goal: [3, 27] + name: agent4 + start: [3, 14] +- goal: [30, 3] + name: agent5 + start: [24, 31] +- goal: [3, 25] + name: agent6 + start: [26, 14] +- goal: [16, 2] + name: agent7 + start: [29, 25] +- goal: [10, 11] + name: agent8 + start: [23, 30] +- goal: [19, 14] + name: agent9 + start: [23, 8] +- goal: [11, 13] + name: agent10 + start: [9, 28] +- goal: [0, 11] + name: agent11 + start: [0, 26] +- goal: [9, 31] + name: agent12 + start: [16, 10] +- goal: [29, 13] + name: agent13 + start: [2, 2] +- goal: [1, 1] + name: agent14 + start: [31, 23] +- goal: [17, 29] + name: agent15 + start: [20, 12] +- goal: [3, 5] + name: agent16 + start: [7, 9] +- goal: [20, 31] + name: agent17 + start: [4, 4] +- goal: [17, 19] + name: agent18 + start: [18, 21] +- goal: [6, 15] + name: agent19 + start: [3, 30] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [31, 28] + - !!python/tuple [20, 27] + - !!python/tuple [20, 0] + - !!python/tuple [11, 22] + - !!python/tuple [23, 27] + - !!python/tuple [27, 10] + - !!python/tuple [20, 23] + - !!python/tuple [31, 14] + - !!python/tuple [22, 24] + - !!python/tuple [22, 17] + - !!python/tuple [16, 24] + - !!python/tuple [0, 29] + - !!python/tuple [18, 12] + - !!python/tuple [15, 9] + - !!python/tuple [24, 8] + - !!python/tuple [20, 9] + - !!python/tuple [27, 15] + - !!python/tuple [28, 14] + - !!python/tuple [20, 15] + - !!python/tuple [2, 29] + - !!python/tuple [2, 23] + - !!python/tuple [20, 19] + - !!python/tuple [23, 6] + - !!python/tuple [23, 24] + - !!python/tuple [14, 8] + - !!python/tuple [8, 24] + - !!python/tuple [29, 29] + - !!python/tuple [29, 27] + - !!python/tuple [13, 27] + - !!python/tuple [10, 13] + - !!python/tuple [7, 25] + - !!python/tuple [13, 28] + - !!python/tuple [6, 2] + - !!python/tuple [31, 5] + - !!python/tuple [2, 3] + - !!python/tuple [13, 4] + - !!python/tuple [7, 7] + - !!python/tuple [19, 25] + - !!python/tuple [6, 23] + - !!python/tuple [29, 6] + - !!python/tuple [3, 7] + - !!python/tuple [22, 18] + - !!python/tuple [24, 30] + - !!python/tuple [10, 10] + - !!python/tuple [20, 2] + - !!python/tuple [29, 12] + - !!python/tuple [9, 22] + - !!python/tuple [3, 12] + - !!python/tuple [13, 21] + - !!python/tuple [19, 16] + - !!python/tuple [20, 21] + - !!python/tuple [2, 28] + - !!python/tuple [11, 30] + - !!python/tuple [0, 5] + - !!python/tuple [10, 19] + - !!python/tuple [8, 15] + - !!python/tuple [29, 7] + - !!python/tuple [9, 7] + - !!python/tuple [26, 20] + - !!python/tuple [21, 8] + - !!python/tuple [12, 11] + - !!python/tuple [27, 5] + - !!python/tuple [5, 13] + - !!python/tuple [2, 26] + - !!python/tuple [23, 9] + - !!python/tuple [27, 28] + - !!python/tuple [13, 13] + - !!python/tuple [16, 9] + - !!python/tuple [17, 24] + - !!python/tuple [7, 26] + - !!python/tuple [15, 15] + - !!python/tuple [9, 11] + - !!python/tuple [19, 27] + - !!python/tuple [13, 20] + - !!python/tuple [16, 7] + - !!python/tuple [9, 13] + - !!python/tuple [5, 6] + - !!python/tuple [11, 28] + - !!python/tuple [20, 17] + - !!python/tuple [21, 4] + - !!python/tuple [5, 5] + - !!python/tuple [12, 7] + - !!python/tuple [19, 15] + - !!python/tuple [24, 29] + - !!python/tuple [27, 19] + - !!python/tuple [8, 31] + - !!python/tuple [7, 29] + - !!python/tuple [4, 17] + - !!python/tuple [8, 16] + - !!python/tuple [22, 8] + - !!python/tuple [12, 21] + - !!python/tuple [24, 7] + - !!python/tuple [4, 24] + - !!python/tuple [31, 21] + - !!python/tuple [15, 12] + - !!python/tuple [1, 18] + - !!python/tuple [17, 13] + - !!python/tuple [12, 9] + - !!python/tuple [6, 19] + - !!python/tuple [26, 23] + - !!python/tuple [3, 18] + - !!python/tuple [22, 30] + - !!python/tuple [18, 16] + - !!python/tuple [21, 27] + - !!python/tuple [26, 11] + - !!python/tuple [16, 25] + - !!python/tuple [4, 28] + - !!python/tuple [9, 17] + - !!python/tuple [27, 9] + - !!python/tuple [9, 16] + - !!python/tuple [28, 23] + - !!python/tuple [17, 17] + - !!python/tuple [6, 24] + - !!python/tuple [5, 15] + - !!python/tuple [0, 21] + - !!python/tuple [17, 28] + - !!python/tuple [4, 10] + - !!python/tuple [7, 14] + - !!python/tuple [4, 27] + - !!python/tuple [31, 1] + - !!python/tuple [24, 28] + - !!python/tuple [16, 8] + - !!python/tuple [12, 24] + - !!python/tuple [4, 21] + - !!python/tuple [7, 10] + - !!python/tuple [25, 11] + - !!python/tuple [15, 22] + - !!python/tuple [1, 19] + - !!python/tuple [17, 18] + - !!python/tuple [24, 4] + - !!python/tuple [28, 12] + - !!python/tuple [12, 3] + - !!python/tuple [5, 2] + - !!python/tuple [11, 31] + - !!python/tuple [7, 19] + - !!python/tuple [5, 18] + - !!python/tuple [31, 10] + - !!python/tuple [8, 18] + - !!python/tuple [6, 22] + - !!python/tuple [4, 30] + - !!python/tuple [10, 28] + - !!python/tuple [25, 29] + - !!python/tuple [30, 9] + - !!python/tuple [13, 31] + - !!python/tuple [25, 1] + - !!python/tuple [26, 29] + - !!python/tuple [22, 14] + - !!python/tuple [8, 20] + - !!python/tuple [28, 16] + - !!python/tuple [30, 21] + - !!python/tuple [12, 13] + - !!python/tuple [17, 1] + - !!python/tuple [7, 12] + - !!python/tuple [30, 7] + - !!python/tuple [2, 21] + - !!python/tuple [1, 9] + - !!python/tuple [5, 10] + - !!python/tuple [25, 27] + - !!python/tuple [2, 31] + - !!python/tuple [14, 22] + - !!python/tuple [11, 21] + - !!python/tuple [9, 0] + - !!python/tuple [31, 20] + - !!python/tuple [29, 26] + - !!python/tuple [3, 16] + - !!python/tuple [21, 16] + - !!python/tuple [25, 21] + - !!python/tuple [21, 18] + - !!python/tuple [1, 3] + - !!python/tuple [31, 25] + - !!python/tuple [5, 22] + - !!python/tuple [21, 25] + - !!python/tuple [24, 9] + - !!python/tuple [4, 23] + - !!python/tuple [18, 29] + - !!python/tuple [10, 24] + - !!python/tuple [15, 13] + - !!python/tuple [6, 10] + - !!python/tuple [6, 25] + - !!python/tuple [9, 26] + - !!python/tuple [30, 10] + - !!python/tuple [11, 1] + - !!python/tuple [13, 17] + - !!python/tuple [9, 21] + - !!python/tuple [12, 19] + - !!python/tuple [30, 18] + - !!python/tuple [18, 26] + - !!python/tuple [11, 20] + - !!python/tuple [21, 2] + - !!python/tuple [11, 7] + - !!python/tuple [24, 1] + - !!python/tuple [14, 23] + - !!python/tuple [20, 10] + - !!python/tuple [2, 15] + - !!python/tuple [0, 18] + - !!python/tuple [12, 1] + - !!python/tuple [14, 9] + - !!python/tuple [29, 1] + - !!python/tuple [29, 11] + - !!python/tuple [31, 17] + - !!python/tuple [1, 26] + - !!python/tuple [28, 26] + - !!python/tuple [22, 23] + - !!python/tuple [14, 0] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex73.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex73.yaml new file mode 100644 index 0000000..202cabc --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex73.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [5, 10] + name: agent0 + start: [0, 8] +- goal: [8, 23] + name: agent1 + start: [30, 26] +- goal: [1, 19] + name: agent2 + start: [24, 10] +- goal: [25, 24] + name: agent3 + start: [5, 12] +- goal: [30, 2] + name: agent4 + start: [26, 2] +- goal: [15, 12] + name: agent5 + start: [9, 6] +- goal: [29, 16] + name: agent6 + start: [17, 15] +- goal: [23, 24] + name: agent7 + start: [22, 15] +- goal: [16, 25] + name: agent8 + start: [7, 20] +- goal: [14, 16] + name: agent9 + start: [26, 19] +- goal: [9, 25] + name: agent10 + start: [28, 11] +- goal: [5, 19] + name: agent11 + start: [16, 12] +- goal: [26, 4] + name: agent12 + start: [28, 2] +- goal: [1, 6] + name: agent13 + start: [20, 15] +- goal: [23, 10] + name: agent14 + start: [3, 27] +- goal: [0, 27] + name: agent15 + start: [24, 18] +- goal: [26, 0] + name: agent16 + start: [21, 31] +- goal: [10, 17] + name: agent17 + start: [18, 3] +- goal: [8, 28] + name: agent18 + start: [13, 29] +- goal: [29, 21] + name: agent19 + start: [22, 23] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [26, 18] + - !!python/tuple [11, 30] + - !!python/tuple [30, 6] + - !!python/tuple [7, 22] + - !!python/tuple [6, 14] + - !!python/tuple [26, 22] + - !!python/tuple [26, 17] + - !!python/tuple [21, 20] + - !!python/tuple [6, 27] + - !!python/tuple [20, 6] + - !!python/tuple [28, 8] + - !!python/tuple [24, 1] + - !!python/tuple [11, 29] + - !!python/tuple [5, 2] + - !!python/tuple [20, 21] + - !!python/tuple [0, 2] + - !!python/tuple [31, 22] + - !!python/tuple [8, 15] + - !!python/tuple [26, 28] + - !!python/tuple [2, 0] + - !!python/tuple [17, 22] + - !!python/tuple [21, 30] + - !!python/tuple [25, 19] + - !!python/tuple [27, 9] + - !!python/tuple [7, 12] + - !!python/tuple [12, 8] + - !!python/tuple [12, 14] + - !!python/tuple [18, 21] + - !!python/tuple [14, 22] + - !!python/tuple [4, 26] + - !!python/tuple [20, 24] + - !!python/tuple [5, 20] + - !!python/tuple [5, 15] + - !!python/tuple [22, 12] + - !!python/tuple [27, 12] + - !!python/tuple [19, 10] + - !!python/tuple [1, 26] + - !!python/tuple [0, 5] + - !!python/tuple [6, 24] + - !!python/tuple [16, 1] + - !!python/tuple [27, 11] + - !!python/tuple [10, 24] + - !!python/tuple [10, 31] + - !!python/tuple [7, 0] + - !!python/tuple [19, 6] + - !!python/tuple [13, 28] + - !!python/tuple [16, 8] + - !!python/tuple [4, 27] + - !!python/tuple [11, 12] + - !!python/tuple [31, 14] + - !!python/tuple [9, 1] + - !!python/tuple [13, 11] + - !!python/tuple [19, 25] + - !!python/tuple [3, 11] + - !!python/tuple [20, 9] + - !!python/tuple [25, 27] + - !!python/tuple [6, 16] + - !!python/tuple [2, 24] + - !!python/tuple [0, 31] + - !!python/tuple [12, 17] + - !!python/tuple [8, 29] + - !!python/tuple [9, 7] + - !!python/tuple [22, 17] + - !!python/tuple [1, 24] + - !!python/tuple [24, 31] + - !!python/tuple [13, 3] + - !!python/tuple [6, 20] + - !!python/tuple [21, 24] + - !!python/tuple [29, 9] + - !!python/tuple [7, 23] + - !!python/tuple [9, 3] + - !!python/tuple [4, 14] + - !!python/tuple [29, 13] + - !!python/tuple [25, 23] + - !!python/tuple [14, 18] + - !!python/tuple [25, 7] + - !!python/tuple [3, 24] + - !!python/tuple [19, 30] + - !!python/tuple [4, 25] + - !!python/tuple [13, 31] + - !!python/tuple [9, 24] + - !!python/tuple [22, 29] + - !!python/tuple [18, 2] + - !!python/tuple [1, 3] + - !!python/tuple [4, 2] + - !!python/tuple [29, 17] + - !!python/tuple [2, 22] + - !!python/tuple [7, 21] + - !!python/tuple [20, 10] + - !!python/tuple [22, 14] + - !!python/tuple [24, 29] + - !!python/tuple [11, 16] + - !!python/tuple [10, 13] + - !!python/tuple [11, 11] + - !!python/tuple [6, 15] + - !!python/tuple [28, 0] + - !!python/tuple [21, 14] + - !!python/tuple [5, 6] + - !!python/tuple [20, 26] + - !!python/tuple [20, 22] + - !!python/tuple [11, 26] + - !!python/tuple [12, 19] + - !!python/tuple [2, 31] + - !!python/tuple [31, 24] + - !!python/tuple [12, 25] + - !!python/tuple [31, 21] + - !!python/tuple [4, 10] + - !!python/tuple [10, 9] + - !!python/tuple [1, 1] + - !!python/tuple [18, 22] + - !!python/tuple [6, 3] + - !!python/tuple [9, 8] + - !!python/tuple [15, 14] + - !!python/tuple [15, 19] + - !!python/tuple [0, 29] + - !!python/tuple [15, 7] + - !!python/tuple [1, 8] + - !!python/tuple [13, 15] + - !!python/tuple [19, 26] + - !!python/tuple [8, 17] + - !!python/tuple [30, 24] + - !!python/tuple [10, 27] + - !!python/tuple [23, 23] + - !!python/tuple [31, 7] + - !!python/tuple [3, 19] + - !!python/tuple [7, 17] + - !!python/tuple [16, 27] + - !!python/tuple [13, 30] + - !!python/tuple [31, 19] + - !!python/tuple [29, 10] + - !!python/tuple [22, 16] + - !!python/tuple [3, 7] + - !!python/tuple [31, 23] + - !!python/tuple [24, 13] + - !!python/tuple [22, 4] + - !!python/tuple [14, 8] + - !!python/tuple [13, 21] + - !!python/tuple [4, 28] + - !!python/tuple [25, 15] + - !!python/tuple [1, 14] + - !!python/tuple [8, 0] + - !!python/tuple [26, 11] + - !!python/tuple [6, 30] + - !!python/tuple [6, 6] + - !!python/tuple [28, 19] + - !!python/tuple [6, 10] + - !!python/tuple [15, 23] + - !!python/tuple [25, 8] + - !!python/tuple [18, 31] + - !!python/tuple [5, 0] + - !!python/tuple [0, 4] + - !!python/tuple [13, 18] + - !!python/tuple [27, 0] + - !!python/tuple [7, 31] + - !!python/tuple [5, 25] + - !!python/tuple [17, 21] + - !!python/tuple [30, 21] + - !!python/tuple [8, 16] + - !!python/tuple [19, 0] + - !!python/tuple [4, 4] + - !!python/tuple [26, 27] + - !!python/tuple [16, 31] + - !!python/tuple [1, 16] + - !!python/tuple [16, 19] + - !!python/tuple [7, 13] + - !!python/tuple [29, 7] + - !!python/tuple [9, 20] + - !!python/tuple [24, 19] + - !!python/tuple [19, 15] + - !!python/tuple [11, 24] + - !!python/tuple [27, 3] + - !!python/tuple [25, 26] + - !!python/tuple [18, 6] + - !!python/tuple [22, 8] + - !!python/tuple [9, 13] + - !!python/tuple [8, 11] + - !!python/tuple [15, 16] + - !!python/tuple [18, 5] + - !!python/tuple [4, 21] + - !!python/tuple [27, 5] + - !!python/tuple [8, 7] + - !!python/tuple [29, 4] + - !!python/tuple [21, 21] + - !!python/tuple [19, 9] + - !!python/tuple [28, 5] + - !!python/tuple [14, 20] + - !!python/tuple [0, 17] + - !!python/tuple [11, 28] + - !!python/tuple [26, 7] + - !!python/tuple [8, 30] + - !!python/tuple [13, 5] + - !!python/tuple [19, 17] + - !!python/tuple [4, 30] + - !!python/tuple [5, 28] + - !!python/tuple [21, 18] + - !!python/tuple [5, 5] + - !!python/tuple [23, 14] + - !!python/tuple [28, 1] + - !!python/tuple [27, 21] + - !!python/tuple [6, 5] + - !!python/tuple [25, 2] + - !!python/tuple [4, 6] + - !!python/tuple [16, 20] + - !!python/tuple [16, 2] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex74.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex74.yaml new file mode 100644 index 0000000..fc79ea0 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex74.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [26, 6] + name: agent0 + start: [22, 20] +- goal: [26, 14] + name: agent1 + start: [4, 11] +- goal: [12, 9] + name: agent2 + start: [4, 10] +- goal: [28, 0] + name: agent3 + start: [30, 1] +- goal: [17, 25] + name: agent4 + start: [5, 19] +- goal: [17, 23] + name: agent5 + start: [15, 19] +- goal: [20, 17] + name: agent6 + start: [28, 0] +- goal: [1, 27] + name: agent7 + start: [27, 30] +- goal: [9, 10] + name: agent8 + start: [16, 31] +- goal: [14, 14] + name: agent9 + start: [28, 20] +- goal: [14, 30] + name: agent10 + start: [20, 5] +- goal: [6, 17] + name: agent11 + start: [10, 13] +- goal: [26, 11] + name: agent12 + start: [10, 7] +- goal: [12, 8] + name: agent13 + start: [3, 4] +- goal: [13, 14] + name: agent14 + start: [1, 19] +- goal: [20, 1] + name: agent15 + start: [12, 17] +- goal: [6, 5] + name: agent16 + start: [24, 22] +- goal: [16, 30] + name: agent17 + start: [5, 14] +- goal: [6, 18] + name: agent18 + start: [11, 0] +- goal: [29, 5] + name: agent19 + start: [10, 30] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [29, 13] + - !!python/tuple [10, 18] + - !!python/tuple [30, 10] + - !!python/tuple [19, 23] + - !!python/tuple [12, 29] + - !!python/tuple [9, 28] + - !!python/tuple [1, 3] + - !!python/tuple [9, 20] + - !!python/tuple [27, 5] + - !!python/tuple [1, 17] + - !!python/tuple [27, 8] + - !!python/tuple [0, 6] + - !!python/tuple [6, 31] + - !!python/tuple [11, 19] + - !!python/tuple [31, 13] + - !!python/tuple [21, 0] + - !!python/tuple [6, 3] + - !!python/tuple [8, 12] + - !!python/tuple [14, 28] + - !!python/tuple [6, 7] + - !!python/tuple [19, 17] + - !!python/tuple [31, 16] + - !!python/tuple [17, 28] + - !!python/tuple [16, 19] + - !!python/tuple [0, 5] + - !!python/tuple [26, 7] + - !!python/tuple [0, 20] + - !!python/tuple [20, 19] + - !!python/tuple [5, 11] + - !!python/tuple [11, 20] + - !!python/tuple [4, 8] + - !!python/tuple [2, 10] + - !!python/tuple [18, 9] + - !!python/tuple [28, 27] + - !!python/tuple [8, 28] + - !!python/tuple [7, 13] + - !!python/tuple [16, 7] + - !!python/tuple [25, 18] + - !!python/tuple [25, 14] + - !!python/tuple [26, 30] + - !!python/tuple [11, 30] + - !!python/tuple [31, 2] + - !!python/tuple [10, 31] + - !!python/tuple [25, 19] + - !!python/tuple [22, 5] + - !!python/tuple [1, 15] + - !!python/tuple [18, 18] + - !!python/tuple [16, 15] + - !!python/tuple [23, 9] + - !!python/tuple [28, 30] + - !!python/tuple [19, 19] + - !!python/tuple [21, 23] + - !!python/tuple [24, 4] + - !!python/tuple [7, 10] + - !!python/tuple [28, 4] + - !!python/tuple [7, 5] + - !!python/tuple [9, 1] + - !!python/tuple [2, 31] + - !!python/tuple [0, 0] + - !!python/tuple [2, 11] + - !!python/tuple [29, 9] + - !!python/tuple [9, 22] + - !!python/tuple [10, 23] + - !!python/tuple [21, 13] + - !!python/tuple [7, 19] + - !!python/tuple [2, 2] + - !!python/tuple [15, 31] + - !!python/tuple [6, 21] + - !!python/tuple [2, 27] + - !!python/tuple [0, 12] + - !!python/tuple 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[9, 18] + - !!python/tuple [19, 12] + - !!python/tuple [25, 10] + - !!python/tuple [29, 11] + - !!python/tuple [13, 8] + - !!python/tuple [22, 3] + - !!python/tuple [11, 9] + - !!python/tuple [31, 15] + - !!python/tuple [14, 16] + - !!python/tuple [30, 8] + - !!python/tuple [29, 4] + - !!python/tuple [12, 30] + - !!python/tuple [23, 28] + - !!python/tuple [28, 8] + - !!python/tuple [24, 16] + - !!python/tuple [18, 4] + - !!python/tuple [11, 7] + - !!python/tuple [5, 15] + - !!python/tuple [0, 24] + - !!python/tuple [30, 11] + - !!python/tuple [4, 12] + - !!python/tuple [13, 3] + - !!python/tuple [26, 16] + - !!python/tuple [15, 7] + - !!python/tuple [3, 19] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex75.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex75.yaml new file mode 100644 index 0000000..f79b06e --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex75.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [1, 18] + name: agent0 + start: [20, 22] +- goal: [0, 25] + name: agent1 + start: [29, 4] +- goal: [1, 13] + name: agent2 + start: [1, 22] +- goal: [5, 4] + name: agent3 + start: [17, 6] +- goal: [4, 3] + name: agent4 + start: [31, 12] +- goal: [27, 30] + name: agent5 + start: [3, 11] +- goal: [11, 18] + name: agent6 + start: [21, 6] +- goal: [29, 0] + name: agent7 + start: [13, 2] +- goal: [14, 31] + name: agent8 + start: [24, 1] +- goal: [10, 23] + name: agent9 + start: [10, 30] +- goal: [20, 9] + name: agent10 + start: [24, 25] +- goal: [21, 22] + name: agent11 + start: [19, 8] +- goal: [10, 9] + name: agent12 + start: [7, 16] +- goal: [16, 11] + name: agent13 + start: [16, 11] +- goal: [29, 14] + name: agent14 + start: [19, 14] +- goal: [18, 0] + name: agent15 + start: [30, 23] +- goal: [22, 7] + name: agent16 + start: [6, 22] +- goal: [23, 26] + name: agent17 + start: [11, 2] +- goal: [22, 14] + name: agent18 + start: [27, 8] +- goal: [10, 22] + name: agent19 + start: [6, 24] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [16, 12] + - !!python/tuple [7, 6] + - !!python/tuple [25, 25] + - !!python/tuple [3, 13] + - !!python/tuple [9, 29] + - !!python/tuple [2, 26] + - !!python/tuple [3, 31] + - !!python/tuple [0, 17] + - !!python/tuple [21, 3] + - !!python/tuple [24, 0] + - !!python/tuple [27, 20] + - !!python/tuple [9, 13] + - !!python/tuple [20, 2] + - !!python/tuple [17, 22] + - !!python/tuple [31, 22] + - !!python/tuple [11, 10] + - !!python/tuple [27, 7] + - !!python/tuple [23, 20] + - !!python/tuple [15, 11] + - !!python/tuple [31, 30] + - !!python/tuple [18, 22] + - !!python/tuple [21, 17] + - !!python/tuple [2, 12] + - !!python/tuple [21, 2] + - !!python/tuple [17, 11] + - !!python/tuple [9, 6] + - !!python/tuple [14, 1] + - !!python/tuple [15, 23] + - !!python/tuple [1, 24] + - !!python/tuple [3, 12] + - !!python/tuple 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!!python/tuple [25, 7] + - !!python/tuple [19, 13] + - !!python/tuple [14, 9] + - !!python/tuple [22, 2] + - !!python/tuple [0, 18] + - !!python/tuple [28, 15] + - !!python/tuple [5, 2] + - !!python/tuple [4, 8] + - !!python/tuple [21, 19] + - !!python/tuple [26, 23] + - !!python/tuple [23, 24] + - !!python/tuple [4, 22] + - !!python/tuple [28, 27] + - !!python/tuple [4, 18] + - !!python/tuple [6, 9] + - !!python/tuple [12, 25] + - !!python/tuple [19, 29] + - !!python/tuple [17, 12] + - !!python/tuple [12, 31] + - !!python/tuple [24, 8] + - !!python/tuple [16, 21] + - !!python/tuple [27, 9] + - !!python/tuple [17, 17] + - !!python/tuple [20, 26] + - !!python/tuple [7, 27] + - !!python/tuple [26, 26] + - !!python/tuple [14, 6] + - !!python/tuple [29, 2] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex76.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex76.yaml new file mode 100644 index 0000000..44ad3a4 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex76.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [2, 17] + name: agent0 + start: [30, 9] +- goal: [17, 20] + name: agent1 + start: [29, 10] +- goal: [15, 30] + name: agent2 + start: [1, 0] +- goal: [10, 19] + name: agent3 + start: [1, 13] +- goal: [6, 2] + name: agent4 + start: [8, 4] +- goal: [29, 12] + name: agent5 + start: [20, 0] +- goal: [7, 15] + name: agent6 + start: [20, 6] +- goal: [8, 7] + name: agent7 + start: [12, 26] +- goal: [6, 8] + name: agent8 + start: [20, 25] +- goal: [20, 15] + name: agent9 + start: [4, 30] +- goal: [3, 15] + name: agent10 + start: [12, 4] +- goal: [9, 18] + name: agent11 + start: [23, 3] +- goal: [1, 12] + name: agent12 + start: [26, 17] +- goal: [28, 10] + name: agent13 + start: [9, 5] +- goal: [7, 2] + name: agent14 + start: [19, 5] +- goal: [23, 5] + name: agent15 + start: [24, 15] +- goal: [9, 6] + name: agent16 + start: [31, 20] +- goal: [29, 14] + name: agent17 + start: [30, 23] +- goal: [21, 20] + name: agent18 + start: [16, 21] +- goal: [31, 2] + name: agent19 + start: [1, 27] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [29, 13] + - !!python/tuple [17, 30] + - !!python/tuple [18, 3] + - !!python/tuple [2, 18] + - !!python/tuple [10, 24] + - !!python/tuple [10, 29] + - !!python/tuple [16, 17] + - !!python/tuple [12, 27] + - !!python/tuple [12, 14] + - !!python/tuple [20, 19] + - !!python/tuple [31, 4] + - !!python/tuple [10, 30] + - !!python/tuple [12, 18] + - !!python/tuple [29, 11] + - !!python/tuple [7, 11] + - !!python/tuple [30, 19] + - !!python/tuple [25, 29] + - !!python/tuple [13, 9] + - !!python/tuple [3, 7] + - !!python/tuple [9, 28] + - !!python/tuple [22, 16] + - !!python/tuple [28, 4] + - !!python/tuple [20, 10] + - !!python/tuple [18, 19] + - !!python/tuple [5, 29] + - !!python/tuple [10, 22] + - !!python/tuple [21, 27] + - !!python/tuple [14, 26] + - !!python/tuple [6, 0] + - !!python/tuple [28, 28] + 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!!python/tuple [20, 4] + - !!python/tuple [12, 24] + - !!python/tuple [28, 29] + - !!python/tuple [16, 12] + - !!python/tuple [16, 29] + - !!python/tuple [31, 14] + - !!python/tuple [29, 19] + - !!python/tuple [16, 9] + - !!python/tuple [1, 16] + - !!python/tuple [27, 28] + - !!python/tuple [19, 31] + - !!python/tuple [9, 13] + - !!python/tuple [3, 25] + - !!python/tuple [10, 14] + - !!python/tuple [4, 6] + - !!python/tuple [3, 28] + - !!python/tuple [18, 21] + - !!python/tuple [10, 31] + - !!python/tuple [4, 7] + - !!python/tuple [29, 27] + - !!python/tuple [21, 6] + - !!python/tuple [2, 28] + - !!python/tuple [0, 19] + - !!python/tuple [2, 4] + - !!python/tuple [26, 6] + - !!python/tuple [17, 18] + - !!python/tuple [14, 31] + - !!python/tuple [11, 23] + - !!python/tuple [21, 5] + - !!python/tuple [5, 21] + - !!python/tuple [27, 27] + - !!python/tuple [24, 27] + - !!python/tuple [29, 6] + - !!python/tuple [20, 22] + - !!python/tuple [17, 9] + - !!python/tuple [26, 0] + - !!python/tuple [8, 27] + - !!python/tuple [25, 28] + - !!python/tuple [3, 16] + - !!python/tuple [3, 4] + - !!python/tuple [27, 5] + - !!python/tuple [31, 28] + - !!python/tuple [2, 30] + - !!python/tuple [10, 11] + - !!python/tuple [0, 12] + - !!python/tuple [3, 30] + - !!python/tuple [31, 25] + - !!python/tuple [21, 19] + - !!python/tuple [30, 0] + - !!python/tuple [16, 23] + - !!python/tuple [14, 10] + - !!python/tuple [23, 7] + - !!python/tuple [13, 17] + - !!python/tuple [18, 4] + - !!python/tuple [9, 27] + - !!python/tuple [12, 1] + - !!python/tuple [9, 25] + - !!python/tuple [16, 27] + - !!python/tuple [18, 12] + - !!python/tuple [9, 1] + - !!python/tuple [1, 5] + - !!python/tuple [19, 19] + - !!python/tuple [20, 9] + - !!python/tuple [14, 9] + - !!python/tuple [2, 26] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex77.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex77.yaml new file mode 100644 index 0000000..cd9ee8c --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex77.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [30, 10] + name: agent0 + start: [16, 30] +- goal: [0, 0] + name: agent1 + start: [18, 4] +- goal: [27, 2] + name: agent2 + start: [20, 27] +- goal: [18, 19] + name: agent3 + start: [22, 9] +- goal: [0, 5] + name: agent4 + start: [15, 26] +- goal: [7, 28] + name: agent5 + start: [21, 0] +- goal: [20, 15] + name: agent6 + start: [15, 14] +- goal: [1, 23] + name: agent7 + start: [0, 4] +- goal: [27, 16] + name: agent8 + start: [11, 9] +- goal: [5, 27] + name: agent9 + start: [19, 26] +- goal: [12, 9] + name: agent10 + start: [5, 26] +- goal: [22, 20] + name: agent11 + start: [17, 22] +- goal: [26, 23] + name: agent12 + start: [9, 6] +- goal: [5, 11] + name: agent13 + start: [2, 6] +- goal: [10, 13] + name: agent14 + start: [20, 31] +- goal: [24, 15] + name: agent15 + start: [3, 10] +- goal: [4, 26] + name: agent16 + start: [13, 14] +- goal: [4, 24] + name: agent17 + start: [23, 4] +- goal: [10, 2] + name: agent18 + start: [0, 15] +- goal: [18, 0] + name: agent19 + start: [29, 4] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [16, 2] + - !!python/tuple [16, 26] + - !!python/tuple [31, 9] + - !!python/tuple [29, 22] + - !!python/tuple [11, 24] + - !!python/tuple [7, 11] + - !!python/tuple [0, 19] + - !!python/tuple [29, 16] + - !!python/tuple [10, 6] + - !!python/tuple [31, 8] + - !!python/tuple [31, 4] + - !!python/tuple [12, 25] + - !!python/tuple [1, 6] + - !!python/tuple [27, 3] + - !!python/tuple [26, 8] + - !!python/tuple [30, 6] + - !!python/tuple [26, 2] + - !!python/tuple [4, 28] + - !!python/tuple [20, 23] + - !!python/tuple [26, 16] + - !!python/tuple [15, 21] + - !!python/tuple [1, 9] + - !!python/tuple [18, 9] + - !!python/tuple [6, 30] + - !!python/tuple [11, 31] + - !!python/tuple [23, 19] + - !!python/tuple [22, 26] + - !!python/tuple [24, 18] + - !!python/tuple [28, 14] + - !!python/tuple [13, 31] + - !!python/tuple [13, 23] + - !!python/tuple [22, 16] + - !!python/tuple [23, 15] + - !!python/tuple [11, 20] + - !!python/tuple [29, 15] + - !!python/tuple [30, 29] + - !!python/tuple [24, 0] + - !!python/tuple [17, 31] + - !!python/tuple [1, 8] + - !!python/tuple [18, 27] + - !!python/tuple [29, 14] + - !!python/tuple [21, 11] + - !!python/tuple [14, 7] + - !!python/tuple [21, 4] + - !!python/tuple [24, 21] + - !!python/tuple [17, 12] + - !!python/tuple [17, 24] + - !!python/tuple [3, 5] + - !!python/tuple [23, 2] + - !!python/tuple [10, 14] + - !!python/tuple [10, 12] + - !!python/tuple [0, 25] + - !!python/tuple [13, 25] + - !!python/tuple [27, 5] + - !!python/tuple [30, 24] + - !!python/tuple [12, 11] + - !!python/tuple [13, 15] + - !!python/tuple [15, 9] + - !!python/tuple [18, 23] + - !!python/tuple [6, 19] + - !!python/tuple [23, 23] + - !!python/tuple [3, 24] + - !!python/tuple [26, 6] + - !!python/tuple [28, 4] + - !!python/tuple [14, 20] + - !!python/tuple [19, 31] + - !!python/tuple [6, 26] + - !!python/tuple [2, 23] + - !!python/tuple [29, 20] + - !!python/tuple [28, 13] + - !!python/tuple [25, 9] + - !!python/tuple [8, 6] + - !!python/tuple [22, 2] + - !!python/tuple [17, 6] + - !!python/tuple [24, 17] + - !!python/tuple [30, 13] + - !!python/tuple [29, 23] + - !!python/tuple [3, 13] + - !!python/tuple [28, 7] + - !!python/tuple [27, 28] + - !!python/tuple [16, 27] + - !!python/tuple [17, 30] + - !!python/tuple [18, 3] + - !!python/tuple [8, 26] + - !!python/tuple [12, 3] + - !!python/tuple [16, 9] + - !!python/tuple [26, 13] + - !!python/tuple [22, 28] + - !!python/tuple [6, 17] + - !!python/tuple [3, 23] + - !!python/tuple [26, 28] + - !!python/tuple [19, 25] + - !!python/tuple [20, 11] + - !!python/tuple [7, 2] + - !!python/tuple [27, 15] + - !!python/tuple [18, 26] + - !!python/tuple [25, 14] + - !!python/tuple [10, 31] + - !!python/tuple [6, 7] + - !!python/tuple [25, 0] + - !!python/tuple [2, 3] + - !!python/tuple [0, 18] + - !!python/tuple [1, 12] + - !!python/tuple [21, 25] + - !!python/tuple [10, 4] + - !!python/tuple [29, 24] + - !!python/tuple [22, 15] + - !!python/tuple [20, 26] + - !!python/tuple [10, 9] + - !!python/tuple [25, 23] + - !!python/tuple [31, 25] + - !!python/tuple [13, 9] + - !!python/tuple [30, 18] + - !!python/tuple [2, 20] + - !!python/tuple [2, 1] + - !!python/tuple [11, 22] + - !!python/tuple [17, 18] + - !!python/tuple [20, 9] + - !!python/tuple [20, 3] + - !!python/tuple [21, 1] + - !!python/tuple [26, 27] + - !!python/tuple [7, 19] + - !!python/tuple [18, 16] + - !!python/tuple [25, 10] + - !!python/tuple [23, 18] + - !!python/tuple [16, 19] + - !!python/tuple [0, 3] + - !!python/tuple [5, 2] + - !!python/tuple [7, 27] + - !!python/tuple [13, 6] + - !!python/tuple [5, 31] + - !!python/tuple [21, 15] + - !!python/tuple [11, 12] + - !!python/tuple [28, 20] + - !!python/tuple [2, 21] + - !!python/tuple [12, 6] + - !!python/tuple [4, 16] + - !!python/tuple [31, 13] + - !!python/tuple [0, 28] + - !!python/tuple [7, 4] + - !!python/tuple [6, 16] + - !!python/tuple [12, 21] + - !!python/tuple [15, 4] + - !!python/tuple [3, 6] + - !!python/tuple [31, 20] + - !!python/tuple [17, 29] + - !!python/tuple [15, 7] + - !!python/tuple [15, 29] + - !!python/tuple [25, 26] + - !!python/tuple [8, 27] + - !!python/tuple [1, 31] + - !!python/tuple [31, 5] + - !!python/tuple [0, 27] + - !!python/tuple [11, 6] + - !!python/tuple [3, 15] + - !!python/tuple [19, 18] + - !!python/tuple [3, 18] + - !!python/tuple [27, 26] + - !!python/tuple [16, 4] + - !!python/tuple [27, 31] + - !!python/tuple [18, 10] + - !!python/tuple [30, 27] + - !!python/tuple [20, 2] + - !!python/tuple [10, 18] + - !!python/tuple [13, 18] + - !!python/tuple [4, 21] + - !!python/tuple [9, 0] + - !!python/tuple [23, 21] + - !!python/tuple [17, 17] + - !!python/tuple [8, 12] + - !!python/tuple [15, 30] + - !!python/tuple [22, 31] + - !!python/tuple [12, 28] + - !!python/tuple [30, 26] + - !!python/tuple [9, 10] + - !!python/tuple [26, 26] + - !!python/tuple [25, 7] + - !!python/tuple [16, 24] + - !!python/tuple [30, 21] + - !!python/tuple [20, 19] + - !!python/tuple [27, 24] + - !!python/tuple [9, 25] + - !!python/tuple [6, 14] + - !!python/tuple [15, 15] + - !!python/tuple [2, 28] + - !!python/tuple [28, 25] + - !!python/tuple [22, 29] + - !!python/tuple [6, 25] + - !!python/tuple [10, 17] + - !!python/tuple [5, 19] + - !!python/tuple [24, 14] + - !!python/tuple [1, 2] + - !!python/tuple [31, 22] + - !!python/tuple [4, 11] + - !!python/tuple [3, 27] + - !!python/tuple [25, 29] + - !!python/tuple [14, 21] + - !!python/tuple [12, 30] + - !!python/tuple [21, 23] + - !!python/tuple [13, 21] + - !!python/tuple [13, 1] + - !!python/tuple [20, 25] + - !!python/tuple [17, 0] + - !!python/tuple [10, 29] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex78.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex78.yaml new file mode 100644 index 0000000..3255228 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex78.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [28, 24] + name: agent0 + start: [7, 24] +- goal: [8, 4] + name: agent1 + start: [28, 19] +- goal: [16, 12] + name: agent2 + start: [8, 2] +- goal: [16, 7] + name: agent3 + start: [16, 28] +- goal: [2, 0] + name: agent4 + start: [30, 9] +- goal: [7, 22] + name: agent5 + start: [30, 3] +- goal: [31, 17] + name: agent6 + start: [12, 18] +- goal: [11, 27] + name: agent7 + start: [10, 4] +- goal: [26, 27] + name: agent8 + start: [22, 2] +- goal: [4, 28] + name: agent9 + start: [24, 23] +- goal: [10, 30] + name: agent10 + start: [11, 27] +- goal: [21, 0] + name: agent11 + start: [30, 18] +- goal: [26, 22] + name: agent12 + start: [19, 12] +- goal: [12, 7] + name: agent13 + start: [17, 3] +- goal: [23, 19] + name: agent14 + start: [14, 0] +- goal: [6, 31] + name: agent15 + start: [14, 31] +- goal: [1, 23] + name: agent16 + start: [16, 27] +- goal: [20, 16] + name: agent17 + start: [19, 4] +- goal: [24, 23] + name: agent18 + start: [5, 20] +- goal: [3, 26] + name: agent19 + start: [21, 15] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [15, 22] + - !!python/tuple [0, 30] + - !!python/tuple [24, 24] + - !!python/tuple [31, 3] + - !!python/tuple [18, 15] + - !!python/tuple [22, 27] + - !!python/tuple [19, 20] + - !!python/tuple [4, 5] + - !!python/tuple [1, 18] + - !!python/tuple [29, 10] + - !!python/tuple [28, 8] + - !!python/tuple [2, 14] + - !!python/tuple [22, 0] + - !!python/tuple [14, 7] + - !!python/tuple [13, 7] + - !!python/tuple [1, 17] + - !!python/tuple [5, 13] + - !!python/tuple [6, 14] + - !!python/tuple [0, 7] + - !!python/tuple [8, 20] + - !!python/tuple [13, 4] + - !!python/tuple [15, 21] + - !!python/tuple [15, 2] + - !!python/tuple [21, 29] + - !!python/tuple [0, 16] + - !!python/tuple [18, 20] + - !!python/tuple [23, 9] + - !!python/tuple [24, 13] + - !!python/tuple [21, 18] + - !!python/tuple [10, 1] + - !!python/tuple [2, 10] + - !!python/tuple [4, 8] + - !!python/tuple [9, 10] + - !!python/tuple [31, 13] + - !!python/tuple [29, 2] + - !!python/tuple [31, 22] + - !!python/tuple [25, 8] + - !!python/tuple [28, 21] + - !!python/tuple [28, 6] + - !!python/tuple [6, 12] + - !!python/tuple [21, 31] + - !!python/tuple [1, 3] + - !!python/tuple [11, 16] + - !!python/tuple [13, 10] + - !!python/tuple [20, 11] + - !!python/tuple [14, 1] + - !!python/tuple [13, 2] + - !!python/tuple [6, 29] + - !!python/tuple [18, 16] + - !!python/tuple [31, 1] + - !!python/tuple [24, 0] + - !!python/tuple [16, 14] + - !!python/tuple [25, 0] + - !!python/tuple [24, 17] + - !!python/tuple [12, 22] + - !!python/tuple [26, 25] + - !!python/tuple [10, 21] + - !!python/tuple [9, 5] + - !!python/tuple [1, 25] + - !!python/tuple [16, 1] + - !!python/tuple [12, 0] + - !!python/tuple [3, 28] + - !!python/tuple [9, 15] + - !!python/tuple [5, 10] + - !!python/tuple [17, 19] + - !!python/tuple [2, 18] + - !!python/tuple [16, 9] + - !!python/tuple [10, 17] + - !!python/tuple [3, 17] + - !!python/tuple [10, 13] + - !!python/tuple [17, 7] + - !!python/tuple [7, 20] + - !!python/tuple [26, 9] + - !!python/tuple [9, 18] + - !!python/tuple [21, 27] + - !!python/tuple [23, 16] + - !!python/tuple [5, 24] + - !!python/tuple [9, 9] + - !!python/tuple [2, 7] + - !!python/tuple [20, 31] + - !!python/tuple [25, 11] + - !!python/tuple [23, 0] + - !!python/tuple [4, 16] + - !!python/tuple [14, 15] + - !!python/tuple [19, 5] + - !!python/tuple [9, 6] + - !!python/tuple [26, 30] + - !!python/tuple [16, 8] + - !!python/tuple [3, 4] + - !!python/tuple [22, 13] + - !!python/tuple [0, 26] + - !!python/tuple [14, 19] + - !!python/tuple [13, 25] + - !!python/tuple [1, 19] + - !!python/tuple [15, 16] + - !!python/tuple [1, 7] + - !!python/tuple [3, 15] + - !!python/tuple [2, 2] + - !!python/tuple [31, 6] + - !!python/tuple [20, 5] + - !!python/tuple [7, 21] + - !!python/tuple [5, 8] + - !!python/tuple [12, 12] + - !!python/tuple [2, 1] + - !!python/tuple [6, 26] + - !!python/tuple [24, 6] + - !!python/tuple [26, 20] + - !!python/tuple [5, 7] + - !!python/tuple [24, 10] + - !!python/tuple [6, 15] + - !!python/tuple [13, 13] + - !!python/tuple [3, 25] + - !!python/tuple [4, 27] + - !!python/tuple [15, 6] + - !!python/tuple [0, 5] + - !!python/tuple [31, 28] + - !!python/tuple [30, 26] + - !!python/tuple [29, 16] + - !!python/tuple [5, 12] + - !!python/tuple [29, 26] + - !!python/tuple [29, 29] + - !!python/tuple [29, 7] + - !!python/tuple [0, 12] + - !!python/tuple [22, 11] + - !!python/tuple [6, 0] + - !!python/tuple [25, 24] + - !!python/tuple [10, 27] + - !!python/tuple [11, 8] + - !!python/tuple [13, 20] + - !!python/tuple [27, 6] + - !!python/tuple [26, 29] + - !!python/tuple [10, 29] + - !!python/tuple [16, 26] + - !!python/tuple [26, 31] + - !!python/tuple [27, 29] + - !!python/tuple [10, 14] + - !!python/tuple [16, 21] + - !!python/tuple [22, 15] + - !!python/tuple [16, 25] + - !!python/tuple [6, 19] + - !!python/tuple [28, 22] + - !!python/tuple [18, 26] + - !!python/tuple [7, 4] + - !!python/tuple [31, 30] + - !!python/tuple [31, 12] + - !!python/tuple [30, 23] + - !!python/tuple [15, 3] + - !!python/tuple [8, 6] + - !!python/tuple [19, 7] + - !!python/tuple [11, 29] + - !!python/tuple [6, 27] + - !!python/tuple [9, 26] + - !!python/tuple [0, 15] + - !!python/tuple [30, 20] + - !!python/tuple [8, 29] + - !!python/tuple [23, 17] + - !!python/tuple [5, 5] + - !!python/tuple [20, 22] + - !!python/tuple [4, 12] + - !!python/tuple [16, 30] + - !!python/tuple [0, 4] + - !!python/tuple [8, 26] + - !!python/tuple [0, 29] + - !!python/tuple [27, 25] + - !!python/tuple [3, 21] + - !!python/tuple [4, 25] + - !!python/tuple [2, 15] + - !!python/tuple [9, 29] + - !!python/tuple [8, 1] + - !!python/tuple [17, 16] + - !!python/tuple [7, 25] + - !!python/tuple [9, 8] + - !!python/tuple [31, 29] + - !!python/tuple [21, 3] + - !!python/tuple [19, 23] + - !!python/tuple [4, 24] + - !!python/tuple [1, 28] + - !!python/tuple [10, 2] + - !!python/tuple [6, 5] + - !!python/tuple [20, 1] + - !!python/tuple [10, 7] + - !!python/tuple [16, 19] + - !!python/tuple [10, 5] + - !!python/tuple [29, 23] + - !!python/tuple [11, 6] + - !!python/tuple [27, 11] + - !!python/tuple [5, 29] + - !!python/tuple [19, 18] + - !!python/tuple [21, 16] + - !!python/tuple [7, 15] + - !!python/tuple [9, 24] + - !!python/tuple [6, 17] + - !!python/tuple [20, 25] + - !!python/tuple [13, 30] + - !!python/tuple [7, 13] + - !!python/tuple [14, 27] + - !!python/tuple [16, 3] + - !!python/tuple [3, 31] + - !!python/tuple [14, 8] + - !!python/tuple [5, 6] + - !!python/tuple [16, 20] + - !!python/tuple [16, 17] + - !!python/tuple [25, 22] + - !!python/tuple [19, 29] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex79.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex79.yaml new file mode 100644 index 0000000..0e5270a --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex79.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [0, 28] + name: agent0 + start: [17, 29] +- goal: [6, 24] + name: agent1 + start: [16, 8] +- goal: [4, 20] + name: agent2 + start: [4, 3] +- goal: [26, 27] + name: agent3 + start: [20, 9] +- goal: [22, 5] + name: agent4 + start: [1, 30] +- goal: [21, 0] + name: agent5 + start: [22, 17] +- goal: [15, 17] + name: agent6 + start: [11, 14] +- goal: [29, 28] + name: agent7 + start: [10, 31] +- goal: [24, 20] + name: agent8 + start: [11, 31] +- goal: [27, 2] + name: agent9 + start: [12, 8] +- goal: [0, 19] + name: agent10 + start: [19, 15] +- goal: [7, 16] + name: agent11 + start: [24, 15] +- goal: [9, 26] + name: agent12 + start: [16, 0] +- goal: [22, 25] + name: agent13 + start: [29, 28] +- goal: [22, 29] + name: agent14 + start: [9, 12] +- goal: [31, 9] + name: agent15 + start: [0, 31] +- goal: [9, 12] + name: agent16 + start: [22, 15] +- goal: [26, 7] + name: agent17 + start: [20, 11] +- goal: [16, 0] + name: agent18 + start: [1, 5] +- goal: [4, 22] + name: agent19 + start: [13, 2] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [23, 17] + - !!python/tuple [2, 11] + - !!python/tuple [28, 7] + - !!python/tuple [16, 11] + - !!python/tuple [11, 1] + - !!python/tuple [6, 31] + - !!python/tuple [19, 1] + - !!python/tuple [25, 19] + - !!python/tuple [30, 3] + - !!python/tuple [27, 3] + - !!python/tuple [23, 0] + - !!python/tuple [28, 19] + - !!python/tuple [25, 1] + - !!python/tuple [7, 6] + - !!python/tuple [30, 25] + - !!python/tuple [4, 10] + - !!python/tuple [12, 23] + - !!python/tuple [29, 5] + - !!python/tuple [17, 6] + - !!python/tuple [5, 17] + - !!python/tuple [19, 10] + - !!python/tuple [8, 30] + - !!python/tuple [18, 28] + - !!python/tuple [0, 24] + - !!python/tuple [14, 27] + - !!python/tuple [24, 7] + - !!python/tuple [2, 17] + - !!python/tuple [6, 11] + - !!python/tuple [23, 22] + - !!python/tuple [31, 11] + - !!python/tuple [1, 23] + - !!python/tuple [27, 25] + - !!python/tuple [30, 13] + - !!python/tuple [5, 24] + - !!python/tuple [3, 28] + - !!python/tuple [30, 28] + - !!python/tuple [9, 28] + - !!python/tuple [11, 4] + - !!python/tuple [15, 2] + - !!python/tuple [8, 16] + - !!python/tuple [18, 10] + - !!python/tuple [10, 2] + - !!python/tuple [30, 1] + - !!python/tuple [20, 14] + - !!python/tuple [15, 20] + - !!python/tuple [29, 8] + - !!python/tuple [0, 22] + - !!python/tuple [1, 3] + - !!python/tuple [20, 0] + - !!python/tuple [6, 16] + - !!python/tuple [3, 0] + - !!python/tuple [5, 16] + - !!python/tuple [28, 0] + - !!python/tuple [13, 13] + - !!python/tuple [21, 25] + - !!python/tuple [5, 7] + - !!python/tuple [2, 30] + - !!python/tuple [29, 13] + - !!python/tuple [14, 2] + - !!python/tuple [7, 27] + - !!python/tuple [14, 18] + - !!python/tuple [2, 5] + - !!python/tuple [3, 25] + - !!python/tuple [27, 18] + - !!python/tuple [19, 7] + - !!python/tuple [28, 8] + - !!python/tuple [23, 16] + - !!python/tuple [20, 26] + - !!python/tuple [2, 14] + - !!python/tuple [2, 9] + - !!python/tuple [17, 31] + - !!python/tuple [15, 8] + - !!python/tuple [30, 24] + - !!python/tuple [26, 22] + - !!python/tuple [4, 12] + - !!python/tuple [27, 9] + - !!python/tuple [4, 14] + - !!python/tuple [4, 8] + - !!python/tuple [23, 26] + - !!python/tuple [9, 6] + - !!python/tuple [19, 29] + - !!python/tuple [24, 11] + - !!python/tuple [0, 25] + - !!python/tuple [31, 21] + - !!python/tuple [27, 8] + - !!python/tuple [25, 9] + - !!python/tuple [12, 9] + - !!python/tuple [8, 14] + - !!python/tuple [26, 26] + - !!python/tuple [10, 27] + - !!python/tuple [5, 23] + - !!python/tuple [24, 1] + - !!python/tuple [10, 19] + - !!python/tuple [1, 13] + - !!python/tuple [31, 1] + - !!python/tuple [28, 1] + - !!python/tuple [17, 5] + - !!python/tuple [23, 15] + - !!python/tuple [5, 13] + - !!python/tuple [30, 16] + - !!python/tuple [13, 24] + - !!python/tuple [3, 20] + - !!python/tuple [2, 3] + - !!python/tuple [31, 29] + - !!python/tuple [20, 13] + - !!python/tuple [13, 26] + - !!python/tuple [13, 14] + - !!python/tuple [25, 8] + - !!python/tuple [9, 21] + - !!python/tuple [3, 9] + - !!python/tuple [25, 12] + - !!python/tuple [4, 1] + - !!python/tuple [7, 13] + - !!python/tuple [9, 2] + - !!python/tuple [29, 14] + - !!python/tuple [19, 0] + - !!python/tuple [19, 22] + - !!python/tuple [7, 30] + - !!python/tuple [4, 4] + - !!python/tuple [10, 10] + - !!python/tuple [5, 2] + - !!python/tuple [26, 19] + - !!python/tuple [10, 13] + - !!python/tuple [0, 12] + - !!python/tuple [6, 8] + - !!python/tuple [28, 3] + - !!python/tuple [24, 10] + - !!python/tuple [8, 3] + - !!python/tuple [19, 3] + - !!python/tuple [12, 0] + - !!python/tuple [4, 31] + - !!python/tuple [16, 24] + - !!python/tuple [0, 0] + - !!python/tuple [7, 14] + - !!python/tuple [15, 26] + - !!python/tuple [17, 30] + - !!python/tuple [28, 12] + - !!python/tuple [23, 3] + - !!python/tuple [17, 21] + - !!python/tuple [21, 5] + - !!python/tuple [7, 4] + - !!python/tuple [29, 2] + - !!python/tuple [3, 11] + - !!python/tuple [25, 13] + - !!python/tuple [26, 15] + - !!python/tuple [20, 22] + - !!python/tuple [27, 26] + - !!python/tuple [18, 7] + - !!python/tuple [27, 31] + - !!python/tuple [14, 15] + - !!python/tuple [4, 30] + - !!python/tuple [16, 7] + - !!python/tuple [8, 0] + - !!python/tuple [10, 29] + - !!python/tuple [13, 27] + - !!python/tuple [1, 17] + - !!python/tuple [0, 15] + - !!python/tuple [31, 8] + - !!python/tuple [9, 0] + - !!python/tuple [7, 5] + - !!python/tuple [6, 10] + - !!python/tuple [9, 5] + - !!python/tuple [25, 16] + - !!python/tuple [28, 13] + - !!python/tuple [29, 30] + - !!python/tuple [2, 2] + - !!python/tuple [11, 22] + - !!python/tuple [30, 0] + - !!python/tuple [30, 31] + - !!python/tuple [11, 20] + - !!python/tuple [19, 30] + - !!python/tuple [3, 29] + - !!python/tuple [25, 21] + - !!python/tuple [6, 12] + - !!python/tuple [6, 1] + - !!python/tuple [9, 23] + - !!python/tuple [27, 7] + - !!python/tuple [6, 7] + - !!python/tuple [7, 7] + - !!python/tuple [26, 28] + - !!python/tuple [22, 19] + - !!python/tuple [10, 16] + - !!python/tuple [15, 3] + - !!python/tuple [20, 25] + - !!python/tuple [16, 25] + - !!python/tuple [28, 9] + - !!python/tuple [11, 18] + - !!python/tuple [24, 25] + - !!python/tuple [3, 19] + - !!python/tuple [13, 6] + - !!python/tuple [17, 3] + - !!python/tuple [21, 22] + - !!python/tuple [1, 8] + - !!python/tuple [1, 20] + - !!python/tuple [1, 25] + - !!python/tuple [10, 15] + - !!python/tuple [21, 27] + - !!python/tuple [13, 29] + - !!python/tuple [25, 30] + - !!python/tuple [2, 29] + - !!python/tuple [8, 26] + - !!python/tuple [18, 14] + - !!python/tuple [1, 18] + - !!python/tuple [26, 3] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex8.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex8.yaml new file mode 100644 index 0000000..25c5f3c --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex8.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [19, 31] + name: agent0 + start: [11, 10] +- goal: [27, 4] + name: agent1 + start: [11, 2] +- goal: [12, 6] + name: agent2 + start: [0, 28] +- goal: [15, 22] + name: agent3 + start: [16, 20] +- goal: [18, 23] + name: agent4 + start: [22, 6] +- goal: [18, 3] + name: agent5 + start: [31, 16] +- goal: [17, 0] + name: agent6 + start: [13, 14] +- goal: [30, 20] + name: agent7 + start: [29, 12] +- goal: [20, 28] + name: agent8 + start: [28, 30] +- goal: [25, 7] + name: agent9 + start: [15, 3] +- goal: [8, 17] + name: agent10 + start: [7, 13] +- goal: [26, 18] + name: agent11 + start: [6, 11] +- goal: [27, 27] + name: agent12 + start: [3, 28] +- goal: [23, 2] + name: agent13 + start: [8, 1] +- goal: [14, 17] + name: agent14 + start: [18, 9] +- goal: [5, 21] + name: agent15 + start: [17, 29] +- goal: [29, 27] + name: agent16 + start: [27, 21] +- goal: [11, 3] + name: agent17 + start: [7, 12] +- goal: [26, 1] + name: agent18 + start: [12, 31] +- goal: [31, 7] + name: agent19 + start: [8, 7] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [5, 26] + - !!python/tuple [23, 5] + - !!python/tuple [4, 13] + - !!python/tuple [11, 15] + - !!python/tuple [8, 11] + - !!python/tuple [6, 30] + - !!python/tuple [18, 28] + - !!python/tuple [16, 25] + - !!python/tuple [26, 5] + - !!python/tuple [4, 22] + - !!python/tuple [21, 28] + - !!python/tuple [26, 31] + - !!python/tuple [5, 25] + - !!python/tuple [2, 28] + - !!python/tuple [26, 6] + - !!python/tuple [5, 7] + - !!python/tuple [29, 10] + - !!python/tuple [7, 25] + - !!python/tuple [5, 29] + - !!python/tuple [6, 0] + - !!python/tuple [2, 30] + - !!python/tuple [19, 21] + - !!python/tuple [29, 25] + - !!python/tuple [2, 1] + - !!python/tuple [1, 0] + - !!python/tuple [13, 12] + - !!python/tuple [25, 8] + - !!python/tuple [28, 10] + - !!python/tuple [3, 12] + - !!python/tuple [23, 13] + - !!python/tuple [25, 27] + - !!python/tuple [26, 3] + - !!python/tuple [12, 11] + - !!python/tuple [17, 15] + - !!python/tuple [4, 2] + - !!python/tuple [18, 16] + - !!python/tuple [11, 17] + - !!python/tuple [21, 21] + - !!python/tuple [2, 8] + - !!python/tuple [20, 19] + - !!python/tuple [15, 18] + - !!python/tuple [25, 28] + - !!python/tuple [5, 14] + - !!python/tuple [20, 25] + - !!python/tuple [6, 25] + - !!python/tuple [11, 5] + - !!python/tuple [28, 19] + - !!python/tuple [4, 7] + - !!python/tuple [0, 10] + - !!python/tuple [24, 17] + - !!python/tuple [15, 4] + - !!python/tuple [28, 16] + - !!python/tuple [24, 12] + - !!python/tuple [8, 28] + - !!python/tuple [8, 18] + - !!python/tuple [11, 20] + - !!python/tuple [24, 3] + - !!python/tuple [16, 27] + - !!python/tuple [10, 29] + - !!python/tuple [28, 11] + - !!python/tuple [9, 20] + - !!python/tuple [12, 29] + - !!python/tuple [1, 21] + - !!python/tuple [7, 2] + - !!python/tuple [22, 22] + - !!python/tuple [17, 4] + - !!python/tuple [1, 4] + - !!python/tuple [23, 9] + - !!python/tuple [1, 5] + - !!python/tuple [31, 2] + - !!python/tuple [24, 20] + - !!python/tuple [5, 4] + - !!python/tuple [4, 14] + - !!python/tuple [0, 8] + - !!python/tuple [19, 5] + - !!python/tuple [30, 6] + - !!python/tuple [30, 22] + - !!python/tuple [25, 0] + - !!python/tuple [25, 29] + - !!python/tuple [19, 2] + - !!python/tuple [24, 23] + - !!python/tuple [22, 3] + - !!python/tuple [10, 23] + - !!python/tuple [9, 11] + - !!python/tuple [14, 10] + - !!python/tuple [21, 24] + - !!python/tuple [23, 14] + - !!python/tuple [2, 24] + - !!python/tuple [6, 21] + - !!python/tuple [10, 26] + - !!python/tuple [31, 11] + - !!python/tuple [10, 20] + - !!python/tuple [22, 29] + - !!python/tuple [20, 15] + - !!python/tuple [12, 5] + - !!python/tuple [28, 0] + - !!python/tuple [30, 19] + - !!python/tuple [5, 17] + - !!python/tuple [20, 8] + - !!python/tuple [18, 2] + - !!python/tuple [8, 15] + - !!python/tuple [7, 16] + - !!python/tuple [6, 16] + - !!python/tuple [11, 30] + - !!python/tuple [16, 11] + - !!python/tuple [30, 5] + - !!python/tuple [25, 10] + - !!python/tuple [3, 1] + - !!python/tuple [31, 9] + - !!python/tuple [8, 31] + - !!python/tuple [28, 8] + - !!python/tuple [0, 7] + - !!python/tuple [31, 22] + - !!python/tuple [23, 12] + - !!python/tuple [11, 9] + - !!python/tuple [11, 29] + - !!python/tuple [14, 23] + - !!python/tuple [25, 25] + - !!python/tuple [5, 9] + - !!python/tuple [31, 18] + - !!python/tuple [13, 3] + - !!python/tuple [20, 24] + - !!python/tuple [24, 18] + - !!python/tuple [5, 31] + - !!python/tuple [26, 27] + - !!python/tuple [25, 5] + - !!python/tuple [1, 27] + - !!python/tuple [0, 22] + - !!python/tuple [13, 13] + - !!python/tuple [9, 28] + - !!python/tuple [8, 29] + - !!python/tuple [15, 20] + - !!python/tuple [23, 18] + - !!python/tuple [29, 24] + - !!python/tuple [2, 11] + - !!python/tuple [20, 16] + - !!python/tuple [0, 4] + - !!python/tuple [27, 20] + - !!python/tuple [16, 13] + - !!python/tuple [31, 4] + - !!python/tuple [20, 13] + - !!python/tuple [19, 6] + - !!python/tuple [7, 20] + - !!python/tuple [14, 4] + - !!python/tuple [0, 21] + - !!python/tuple [19, 28] + - !!python/tuple [22, 25] + - !!python/tuple [23, 24] + - !!python/tuple [9, 12] + - !!python/tuple [29, 15] + - !!python/tuple [18, 5] + - !!python/tuple [6, 14] + - !!python/tuple [6, 2] + - !!python/tuple [12, 19] + - !!python/tuple [4, 26] + - !!python/tuple [21, 9] + - !!python/tuple [7, 28] + - !!python/tuple [8, 8] + - !!python/tuple [18, 31] + - !!python/tuple [4, 5] + - !!python/tuple [8, 25] + - !!python/tuple [17, 1] + - !!python/tuple [11, 8] + - !!python/tuple [6, 22] + - !!python/tuple [31, 12] + - !!python/tuple [14, 29] + - !!python/tuple [6, 1] + - !!python/tuple [27, 12] + - !!python/tuple [1, 10] + - !!python/tuple [2, 21] + - !!python/tuple [30, 29] + - !!python/tuple [28, 4] + - !!python/tuple [2, 4] + - !!python/tuple [21, 4] + - !!python/tuple [24, 28] + - !!python/tuple [31, 25] + - !!python/tuple [16, 21] + - !!python/tuple [10, 17] + - !!python/tuple [0, 25] + - !!python/tuple [26, 25] + - !!python/tuple [1, 30] + - !!python/tuple [31, 20] + - !!python/tuple [4, 19] + - !!python/tuple [8, 4] + - !!python/tuple [12, 22] + - !!python/tuple [0, 27] + - !!python/tuple [21, 13] + - !!python/tuple [26, 14] + - !!python/tuple [13, 15] + - !!python/tuple [29, 13] + - !!python/tuple [31, 10] + - !!python/tuple [14, 22] + - !!python/tuple [15, 19] + - !!python/tuple [24, 31] + - !!python/tuple [11, 22] + - !!python/tuple [1, 20] + - !!python/tuple [19, 3] + - !!python/tuple [24, 11] + - !!python/tuple [13, 22] + - !!python/tuple [28, 27] + - !!python/tuple [11, 11] + - !!python/tuple [3, 10] + - !!python/tuple [0, 31] + - !!python/tuple [7, 4] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex80.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex80.yaml new file mode 100644 index 0000000..947e63c --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex80.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [15, 12] + name: agent0 + start: [26, 24] +- goal: [2, 20] + name: agent1 + start: [13, 12] +- goal: [22, 4] + name: agent2 + start: [31, 24] +- goal: [24, 14] + name: agent3 + start: [7, 31] +- goal: [5, 3] + name: agent4 + start: [18, 18] +- goal: [19, 17] + name: agent5 + start: [14, 17] +- goal: [15, 15] + name: agent6 + start: [19, 0] +- goal: [2, 26] + name: agent7 + start: [18, 21] +- goal: [19, 13] + name: agent8 + start: [22, 17] +- goal: [14, 8] + name: agent9 + start: [21, 8] +- goal: [0, 4] + name: agent10 + start: [17, 23] +- goal: [23, 14] + name: agent11 + start: [18, 6] +- goal: [20, 4] + name: agent12 + start: [9, 28] +- goal: [21, 20] + name: agent13 + start: [14, 22] +- goal: [14, 1] + name: agent14 + start: [27, 9] +- goal: [29, 8] + name: agent15 + start: [24, 27] +- goal: [25, 28] + name: agent16 + start: [18, 28] +- goal: [0, 21] + name: agent17 + start: [1, 11] +- goal: [13, 25] + name: agent18 + start: [25, 31] +- goal: [23, 27] + name: agent19 + start: [4, 18] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [17, 20] + - !!python/tuple [9, 12] + - !!python/tuple [23, 20] + - !!python/tuple [7, 20] + - !!python/tuple [31, 25] + - !!python/tuple [10, 6] + - !!python/tuple [0, 5] + - !!python/tuple [5, 1] + - !!python/tuple [28, 3] + - !!python/tuple [10, 30] + - !!python/tuple [29, 22] + - !!python/tuple [14, 5] + - !!python/tuple [14, 10] + - !!python/tuple [5, 17] + - !!python/tuple [27, 18] + - !!python/tuple [21, 14] + - !!python/tuple [12, 27] + - !!python/tuple [1, 14] + - !!python/tuple [4, 27] + - !!python/tuple [11, 3] + - !!python/tuple [31, 2] + - !!python/tuple [7, 22] + - !!python/tuple [22, 23] + - !!python/tuple [2, 4] + - !!python/tuple [19, 22] + - !!python/tuple [3, 10] + - !!python/tuple [17, 27] + - !!python/tuple [26, 21] + - !!python/tuple [12, 23] + - !!python/tuple [11, 18] + - !!python/tuple [18, 25] + - !!python/tuple [15, 2] + - !!python/tuple [31, 19] + - !!python/tuple [20, 16] + - !!python/tuple [24, 23] + - !!python/tuple [9, 18] + - !!python/tuple [23, 18] + - !!python/tuple [2, 11] + - !!python/tuple [24, 10] + - !!python/tuple [28, 5] + - !!python/tuple [29, 12] + - !!python/tuple [18, 27] + - !!python/tuple [22, 27] + - !!python/tuple [29, 26] + - !!python/tuple [27, 20] + - !!python/tuple [26, 4] + - !!python/tuple [27, 24] + - !!python/tuple [21, 24] + - !!python/tuple [6, 31] + - !!python/tuple [28, 18] + - !!python/tuple [21, 26] + - !!python/tuple [23, 31] + - !!python/tuple [4, 3] + - !!python/tuple [13, 20] + - !!python/tuple [8, 8] + - !!python/tuple [12, 24] + - !!python/tuple [3, 11] + - !!python/tuple [31, 8] + - !!python/tuple [18, 29] + - !!python/tuple [23, 24] + - !!python/tuple [15, 19] + - !!python/tuple [28, 20] + - !!python/tuple [0, 16] + - !!python/tuple [4, 11] + - !!python/tuple [21, 22] + - !!python/tuple [30, 27] + - !!python/tuple [29, 3] + - !!python/tuple [21, 13] + - !!python/tuple [25, 13] + - !!python/tuple [20, 0] + - !!python/tuple [2, 21] + - !!python/tuple [27, 8] + - !!python/tuple [17, 17] + - !!python/tuple [20, 31] + - !!python/tuple [26, 2] + - !!python/tuple [31, 23] + - !!python/tuple [19, 10] + - !!python/tuple [27, 2] + - !!python/tuple [13, 24] + - !!python/tuple [22, 12] + - !!python/tuple [3, 25] + - !!python/tuple [11, 26] + - !!python/tuple [7, 30] + - !!python/tuple [17, 7] + - !!python/tuple [3, 0] + - !!python/tuple [17, 14] + - !!python/tuple [14, 20] + - !!python/tuple [20, 10] + - !!python/tuple [16, 25] + - !!python/tuple [3, 21] + - !!python/tuple [26, 31] + - !!python/tuple [7, 8] + - !!python/tuple [3, 30] + - !!python/tuple [3, 3] + - !!python/tuple [10, 27] + - !!python/tuple [19, 2] + - !!python/tuple [29, 17] + - !!python/tuple [3, 28] + - !!python/tuple [2, 1] + - !!python/tuple [10, 29] + - !!python/tuple [10, 2] + - !!python/tuple [18, 8] + - !!python/tuple [13, 13] + - !!python/tuple [10, 17] + - !!python/tuple [21, 27] + - !!python/tuple [18, 30] + - !!python/tuple [13, 22] + - !!python/tuple [11, 21] + - !!python/tuple [24, 12] + - !!python/tuple [10, 11] + - !!python/tuple [10, 7] + - !!python/tuple [26, 14] + - !!python/tuple [24, 24] + - !!python/tuple [26, 30] + - !!python/tuple [11, 30] + - !!python/tuple [29, 2] + - !!python/tuple [12, 18] + - !!python/tuple [2, 22] + - !!python/tuple [20, 19] + - !!python/tuple [19, 15] + - !!python/tuple [7, 3] + - !!python/tuple [26, 18] + - !!python/tuple [20, 27] + - !!python/tuple [25, 20] + - !!python/tuple [5, 21] + - !!python/tuple [12, 11] + - !!python/tuple [8, 29] + - !!python/tuple [11, 2] + - !!python/tuple [6, 13] + - !!python/tuple [10, 3] + - !!python/tuple [4, 24] + - !!python/tuple [20, 28] + - !!python/tuple [29, 24] + - !!python/tuple [5, 5] + - !!python/tuple [26, 23] + - !!python/tuple [19, 6] + - !!python/tuple [30, 22] + - !!python/tuple [12, 4] + - !!python/tuple [12, 30] + - !!python/tuple [0, 25] + - !!python/tuple [3, 27] + - !!python/tuple [16, 28] + - !!python/tuple [24, 8] + - !!python/tuple [15, 1] + - !!python/tuple [12, 31] + - !!python/tuple [14, 26] + - !!python/tuple [23, 7] + - !!python/tuple [11, 19] + - !!python/tuple [20, 12] + - !!python/tuple [15, 23] + - !!python/tuple [2, 13] + - !!python/tuple [7, 15] + - !!python/tuple [1, 4] + - !!python/tuple [31, 3] + - !!python/tuple [17, 29] + - !!python/tuple [20, 25] + - !!python/tuple [14, 11] + - !!python/tuple [29, 28] + - !!python/tuple [22, 18] + - !!python/tuple [14, 29] + - !!python/tuple [24, 26] + - !!python/tuple [11, 24] + - !!python/tuple [31, 5] + - !!python/tuple [8, 17] + - !!python/tuple [23, 8] + - !!python/tuple [9, 17] + - !!python/tuple [6, 12] + - !!python/tuple [1, 12] + - !!python/tuple [7, 14] + - !!python/tuple [27, 27] + - !!python/tuple [30, 18] + - !!python/tuple [18, 26] + - !!python/tuple [20, 17] + - !!python/tuple [25, 26] + - !!python/tuple [18, 20] + - !!python/tuple [13, 5] + - !!python/tuple [5, 18] + - !!python/tuple [23, 5] + - !!python/tuple [11, 9] + - !!python/tuple [27, 30] + - !!python/tuple [7, 21] + - !!python/tuple [18, 17] + - !!python/tuple [9, 31] + - !!python/tuple [19, 4] + - !!python/tuple [2, 25] + - !!python/tuple [31, 6] + - !!python/tuple [23, 4] + - !!python/tuple [29, 11] + - !!python/tuple [4, 17] + - !!python/tuple [12, 6] + - !!python/tuple [4, 31] + - !!python/tuple [19, 1] + - !!python/tuple [25, 16] + - !!python/tuple [10, 14] + - !!python/tuple [24, 29] + - !!python/tuple [28, 16] + - !!python/tuple [12, 12] + - !!python/tuple [18, 14] + - !!python/tuple [16, 11] + - !!python/tuple [28, 10] + - !!python/tuple [17, 15] + - !!python/tuple [7, 10] + - !!python/tuple [9, 5] + - !!python/tuple [4, 6] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex81.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex81.yaml new file mode 100644 index 0000000..b4e2afc --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex81.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [19, 6] + name: agent0 + start: [29, 24] +- goal: [9, 30] + name: agent1 + start: [23, 11] +- goal: [7, 25] + name: agent2 + start: [20, 3] +- goal: [11, 15] + name: agent3 + start: [10, 25] +- goal: [1, 5] + name: agent4 + start: [30, 14] +- goal: [14, 29] + name: agent5 + start: [16, 9] +- goal: [14, 9] + name: agent6 + start: [11, 28] +- goal: [17, 2] + name: agent7 + start: [20, 30] +- goal: [0, 7] + name: agent8 + start: [19, 20] +- goal: [12, 7] + name: agent9 + start: [7, 4] +- goal: [12, 3] + name: agent10 + start: [14, 17] +- goal: [5, 7] + name: agent11 + start: [30, 28] +- goal: [27, 9] + name: agent12 + start: [9, 10] +- goal: [7, 5] + name: agent13 + start: [19, 1] +- goal: [29, 24] + name: agent14 + start: [31, 18] +- goal: [5, 9] + name: agent15 + start: [11, 29] +- goal: [28, 2] + name: agent16 + start: [17, 31] +- goal: [2, 6] + name: agent17 + start: [7, 23] +- goal: [17, 25] + name: agent18 + start: [11, 1] +- goal: [26, 31] + name: agent19 + start: [23, 23] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [10, 26] + - !!python/tuple [4, 20] + - !!python/tuple [20, 31] + - !!python/tuple [23, 2] + - !!python/tuple [6, 18] + - !!python/tuple [27, 0] + - !!python/tuple [8, 8] + - !!python/tuple [19, 25] + - !!python/tuple [14, 10] + - !!python/tuple [16, 13] + - !!python/tuple [27, 2] + - !!python/tuple [1, 9] + - !!python/tuple [29, 14] + - !!python/tuple [20, 25] + - !!python/tuple [19, 21] + - !!python/tuple [26, 26] + - !!python/tuple [14, 19] + - !!python/tuple [25, 31] + - !!python/tuple [27, 13] + - !!python/tuple [4, 3] + - !!python/tuple [2, 30] + - !!python/tuple [17, 24] + - !!python/tuple [8, 2] + - !!python/tuple [26, 19] + - !!python/tuple [13, 2] + - !!python/tuple [2, 1] + - !!python/tuple [5, 4] + - !!python/tuple [20, 21] + - !!python/tuple [10, 23] + - !!python/tuple [0, 25] + - !!python/tuple [8, 24] + - !!python/tuple [22, 28] + - !!python/tuple [17, 17] + - !!python/tuple [16, 18] + - !!python/tuple [20, 19] + - !!python/tuple [30, 27] + - !!python/tuple [8, 28] + - !!python/tuple [25, 18] + - !!python/tuple [26, 25] + - !!python/tuple [25, 22] + - !!python/tuple [27, 10] + - !!python/tuple [24, 25] + - !!python/tuple [8, 17] + - !!python/tuple [4, 28] + - !!python/tuple [6, 11] + - !!python/tuple [12, 8] + - !!python/tuple [7, 6] + - !!python/tuple [26, 9] + - !!python/tuple [4, 4] + - !!python/tuple [4, 12] + - !!python/tuple [23, 3] + - !!python/tuple [15, 25] + - !!python/tuple [11, 9] + - !!python/tuple [18, 26] + - !!python/tuple [30, 7] + - !!python/tuple [19, 28] + - !!python/tuple [16, 15] + - !!python/tuple [5, 15] + - !!python/tuple [3, 27] + - !!python/tuple [29, 16] + - !!python/tuple [18, 9] + - !!python/tuple [12, 2] + - !!python/tuple [19, 4] + - !!python/tuple [10, 24] + - !!python/tuple [22, 12] + - !!python/tuple [14, 28] + - !!python/tuple [11, 11] + - !!python/tuple [20, 4] + - !!python/tuple [1, 25] + - !!python/tuple [26, 21] + - !!python/tuple [5, 23] + - !!python/tuple [29, 7] + - !!python/tuple [21, 6] + - !!python/tuple [31, 10] + - !!python/tuple [20, 27] + - !!python/tuple [31, 26] + - !!python/tuple [30, 30] + - !!python/tuple [7, 26] + - !!python/tuple [15, 9] + - !!python/tuple [3, 1] + - !!python/tuple [3, 20] + - !!python/tuple [27, 26] + - !!python/tuple [0, 21] + - !!python/tuple [8, 22] + - !!python/tuple [29, 22] + - !!python/tuple [1, 11] + - !!python/tuple [17, 18] + - !!python/tuple [28, 3] + - !!python/tuple [9, 1] + - !!python/tuple [22, 27] + - !!python/tuple [26, 24] + - !!python/tuple [12, 1] + - !!python/tuple [15, 29] + - !!python/tuple [4, 17] + - !!python/tuple [0, 11] + - !!python/tuple [24, 17] + - !!python/tuple [19, 15] + - !!python/tuple [8, 0] + - !!python/tuple [15, 22] + - !!python/tuple [13, 27] + - !!python/tuple [15, 13] + - !!python/tuple [22, 23] + - !!python/tuple [29, 26] + - !!python/tuple [28, 27] + - !!python/tuple [12, 21] + - !!python/tuple [19, 19] + - !!python/tuple [31, 14] + - !!python/tuple [21, 29] + - !!python/tuple [21, 26] + - !!python/tuple [17, 13] + - !!python/tuple [30, 17] + - !!python/tuple [29, 17] + - !!python/tuple [25, 21] + - !!python/tuple [4, 7] + - !!python/tuple [14, 0] + - !!python/tuple [6, 17] + - !!python/tuple [13, 7] + - !!python/tuple [23, 27] + - !!python/tuple [8, 1] + - !!python/tuple [18, 8] + - !!python/tuple [14, 26] + - !!python/tuple [1, 16] + - !!python/tuple [29, 4] + - !!python/tuple [20, 11] + - !!python/tuple [6, 31] + - !!python/tuple [13, 3] + - !!python/tuple [21, 7] + - !!python/tuple [31, 7] + - !!python/tuple [31, 15] + - !!python/tuple [24, 24] + - !!python/tuple [28, 6] + - !!python/tuple [16, 25] + - !!python/tuple [11, 19] + - !!python/tuple [0, 18] + - !!python/tuple [31, 27] + - !!python/tuple [11, 0] + - !!python/tuple [10, 3] + - !!python/tuple [1, 3] + - !!python/tuple [11, 21] + - !!python/tuple [3, 31] + - !!python/tuple [21, 11] + - !!python/tuple [9, 4] + - !!python/tuple [5, 0] + - !!python/tuple [0, 26] + - !!python/tuple [13, 25] + - !!python/tuple [18, 18] + - !!python/tuple [20, 29] + - !!python/tuple [26, 4] + - !!python/tuple [13, 29] + - !!python/tuple [27, 12] + - !!python/tuple [14, 3] + - !!python/tuple [4, 2] + - !!python/tuple [26, 13] + - !!python/tuple [13, 26] + - !!python/tuple [12, 14] + - !!python/tuple [28, 26] + - !!python/tuple [19, 23] + - !!python/tuple [9, 18] + - !!python/tuple [18, 15] + - !!python/tuple [20, 22] + - !!python/tuple [0, 5] + - !!python/tuple [3, 0] + - !!python/tuple [21, 17] + - !!python/tuple [15, 0] + - !!python/tuple [21, 13] + - !!python/tuple [10, 12] + - !!python/tuple [6, 21] + - !!python/tuple [15, 11] + - !!python/tuple [28, 9] + - !!python/tuple [1, 17] + - !!python/tuple [25, 17] + - !!python/tuple [8, 13] + - !!python/tuple [22, 20] + - !!python/tuple [10, 1] + - !!python/tuple [30, 3] + - !!python/tuple [10, 28] + - !!python/tuple [0, 14] + - !!python/tuple [3, 12] + - !!python/tuple [27, 27] + - !!python/tuple [18, 31] + - !!python/tuple [27, 22] + - !!python/tuple [18, 22] + - !!python/tuple [3, 2] + - !!python/tuple [1, 6] + - !!python/tuple [11, 27] + - !!python/tuple [9, 7] + - !!python/tuple [13, 10] + - !!python/tuple [15, 2] + - !!python/tuple [31, 8] + - !!python/tuple [27, 28] + - !!python/tuple [22, 31] + - !!python/tuple [17, 10] + - !!python/tuple [31, 28] + - !!python/tuple [19, 27] + - !!python/tuple [17, 21] + - !!python/tuple [8, 9] + - !!python/tuple [1, 19] + - !!python/tuple [1, 4] + - !!python/tuple [20, 15] + - !!python/tuple [27, 4] + - !!python/tuple [29, 8] + - !!python/tuple [26, 30] + - !!python/tuple [20, 26] + - !!python/tuple [18, 16] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex82.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex82.yaml new file mode 100644 index 0000000..190aaf8 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex82.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [9, 0] + name: agent0 + start: [31, 28] +- goal: [22, 2] + name: agent1 + start: [29, 20] +- goal: [6, 24] + name: agent2 + start: [5, 10] +- goal: [12, 31] + name: agent3 + start: [18, 28] +- goal: [14, 3] + name: agent4 + start: [4, 19] +- goal: [8, 25] + name: agent5 + start: [31, 2] +- goal: [12, 6] + name: agent6 + start: [11, 23] +- goal: [8, 10] + name: agent7 + start: [23, 20] +- goal: [25, 25] + name: agent8 + start: [0, 25] +- goal: [25, 2] + name: agent9 + start: [24, 31] +- goal: [28, 31] + name: agent10 + start: [26, 26] +- goal: [19, 13] + name: agent11 + start: [13, 26] +- goal: [6, 22] + name: agent12 + start: [13, 21] +- goal: [27, 11] + name: agent13 + start: [12, 6] +- goal: [20, 21] + name: agent14 + start: [24, 14] +- goal: [27, 13] + name: agent15 + start: [11, 26] +- goal: [29, 24] + name: agent16 + start: [1, 0] +- goal: [10, 20] + name: agent17 + start: [31, 27] +- goal: [10, 24] + name: agent18 + start: [20, 20] +- goal: [6, 8] + name: agent19 + start: [12, 8] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [14, 2] + - !!python/tuple [5, 24] + - !!python/tuple [4, 24] + - !!python/tuple [9, 5] + - !!python/tuple [8, 28] + - !!python/tuple [29, 31] + - !!python/tuple [13, 7] + - !!python/tuple [19, 4] + - !!python/tuple [26, 13] + - !!python/tuple [10, 4] + - !!python/tuple [16, 30] + - !!python/tuple [19, 25] + - !!python/tuple [25, 30] + - !!python/tuple [31, 21] + - !!python/tuple [28, 11] + - !!python/tuple [1, 8] + - !!python/tuple [2, 25] + - !!python/tuple [16, 0] + - !!python/tuple [13, 12] + - !!python/tuple [26, 18] + - !!python/tuple [7, 30] + - !!python/tuple [8, 19] + - !!python/tuple [21, 0] + - !!python/tuple [13, 3] + - !!python/tuple [28, 26] + - !!python/tuple [23, 16] + - !!python/tuple [0, 8] + - !!python/tuple [6, 4] + - !!python/tuple [26, 2] + - !!python/tuple [15, 17] + - !!python/tuple [18, 29] + - !!python/tuple [29, 26] + - !!python/tuple [22, 13] + - !!python/tuple [21, 10] + - !!python/tuple [2, 7] + - !!python/tuple [21, 29] + - !!python/tuple [8, 4] + - !!python/tuple [28, 23] + - !!python/tuple [2, 0] + - !!python/tuple [15, 2] + - !!python/tuple [16, 12] + - !!python/tuple [19, 6] + - !!python/tuple [30, 11] + - !!python/tuple [23, 0] + - !!python/tuple [1, 31] + - !!python/tuple [28, 17] + - !!python/tuple [1, 3] + - !!python/tuple [13, 5] + - !!python/tuple [12, 3] + - !!python/tuple [1, 22] + - !!python/tuple [26, 24] + - !!python/tuple [30, 5] + - !!python/tuple [19, 14] + - !!python/tuple [2, 3] + - !!python/tuple [10, 9] + - !!python/tuple [28, 19] + - !!python/tuple [13, 20] + - !!python/tuple [29, 1] + - !!python/tuple [20, 17] + - !!python/tuple [6, 28] + - !!python/tuple [11, 17] + - !!python/tuple [12, 17] + - !!python/tuple [16, 20] + - !!python/tuple [17, 12] + - !!python/tuple [21, 6] + - !!python/tuple [16, 10] + - !!python/tuple [8, 20] + - !!python/tuple [21, 19] + - !!python/tuple [20, 6] + - !!python/tuple [25, 5] + - !!python/tuple [27, 19] + - !!python/tuple [26, 5] + - !!python/tuple [0, 24] + - !!python/tuple [11, 22] + - !!python/tuple [27, 10] + - !!python/tuple [5, 16] + - !!python/tuple [3, 4] + - !!python/tuple [11, 20] + - !!python/tuple [26, 29] + - !!python/tuple [9, 15] + - !!python/tuple [30, 9] + - !!python/tuple [1, 29] + - !!python/tuple [29, 5] + - !!python/tuple [24, 25] + - !!python/tuple [23, 22] + - !!python/tuple [7, 29] + - !!python/tuple [28, 5] + - !!python/tuple [24, 28] + - !!python/tuple [5, 25] + - !!python/tuple [26, 21] + - !!python/tuple [16, 3] + - !!python/tuple [14, 8] + - !!python/tuple [31, 7] + - !!python/tuple [12, 23] + - !!python/tuple [12, 9] + - !!python/tuple [10, 1] + - !!python/tuple [17, 21] + - !!python/tuple [7, 23] + - !!python/tuple [8, 16] + - !!python/tuple [12, 26] + - !!python/tuple [14, 12] + - !!python/tuple [28, 15] + - !!python/tuple [18, 2] + - !!python/tuple [18, 8] + - !!python/tuple [14, 0] + - !!python/tuple [28, 24] + - !!python/tuple [3, 28] + - !!python/tuple [5, 3] + - !!python/tuple [27, 1] + - !!python/tuple [20, 7] + - !!python/tuple [10, 15] + - !!python/tuple [7, 25] + - !!python/tuple [31, 4] + - !!python/tuple [15, 13] + - !!python/tuple [10, 27] + - !!python/tuple [7, 20] + - !!python/tuple [9, 20] + - !!python/tuple [15, 16] + - !!python/tuple [11, 30] + - !!python/tuple [18, 9] + - !!python/tuple [31, 9] + - !!python/tuple [6, 12] + - !!python/tuple [9, 21] + - !!python/tuple [24, 17] + - !!python/tuple [18, 6] + - !!python/tuple [1, 5] + - !!python/tuple [22, 29] + - !!python/tuple [12, 24] + - !!python/tuple [20, 26] + - !!python/tuple [5, 15] + - !!python/tuple [15, 8] + - !!python/tuple [0, 2] + - !!python/tuple [21, 11] + - !!python/tuple [4, 14] + - !!python/tuple [24, 20] + - !!python/tuple [7, 13] + - !!python/tuple [9, 8] + - !!python/tuple [11, 1] + - !!python/tuple [8, 0] + - !!python/tuple [7, 7] + - !!python/tuple [15, 19] + - !!python/tuple [0, 15] + - !!python/tuple [29, 12] + - !!python/tuple [13, 0] + - !!python/tuple [7, 19] + - !!python/tuple [15, 6] + - !!python/tuple [14, 9] + - !!python/tuple [3, 24] + - !!python/tuple [1, 17] + - !!python/tuple [22, 15] + - !!python/tuple [2, 8] + - !!python/tuple [3, 7] + - !!python/tuple [14, 16] + - !!python/tuple [19, 23] + - !!python/tuple [22, 16] + - !!python/tuple [6, 14] + - !!python/tuple [14, 24] + - !!python/tuple [3, 10] + - !!python/tuple [5, 8] + - !!python/tuple [23, 10] + - !!python/tuple [6, 15] + - !!python/tuple [14, 27] + - !!python/tuple [22, 22] + - !!python/tuple [16, 18] + - !!python/tuple [20, 1] + - !!python/tuple [13, 15] + - !!python/tuple [0, 6] + - !!python/tuple [3, 31] + - !!python/tuple [19, 15] + - !!python/tuple [5, 31] + - !!python/tuple [6, 23] + - !!python/tuple [0, 9] + - !!python/tuple [17, 2] + - !!python/tuple [15, 21] + - !!python/tuple [31, 1] + - !!python/tuple [3, 23] + - !!python/tuple [24, 30] + - !!python/tuple [18, 5] + - !!python/tuple [18, 12] + - !!python/tuple [27, 14] + - !!python/tuple [9, 30] + - !!python/tuple [0, 19] + - !!python/tuple [25, 29] + - !!python/tuple [24, 9] + - !!python/tuple [2, 31] + - !!python/tuple [12, 13] + - !!python/tuple [26, 19] + - !!python/tuple [28, 18] + - !!python/tuple [30, 29] + - !!python/tuple [24, 19] + - !!python/tuple [4, 26] + - !!python/tuple [18, 15] + - !!python/tuple [9, 23] + - !!python/tuple [26, 15] + - !!python/tuple [24, 0] + - !!python/tuple [27, 20] + - !!python/tuple [19, 11] + - !!python/tuple [9, 28] + - !!python/tuple [17, 5] + - !!python/tuple [29, 13] + - !!python/tuple [13, 10] + - !!python/tuple [20, 11] + - !!python/tuple [14, 11] + - !!python/tuple [15, 11] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex83.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex83.yaml new file mode 100644 index 0000000..0c653c4 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex83.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [28, 5] + name: agent0 + start: [28, 5] +- goal: [1, 2] + name: agent1 + start: [16, 17] +- goal: [25, 31] + name: agent2 + start: [29, 7] +- goal: [20, 12] + name: agent3 + start: [4, 20] +- goal: [20, 19] + name: agent4 + start: [27, 8] +- goal: [11, 12] + name: agent5 + start: [6, 18] +- goal: [20, 29] + name: agent6 + start: [16, 26] +- goal: [29, 24] + name: agent7 + start: [11, 12] +- goal: [8, 22] + name: agent8 + start: [11, 27] +- goal: [2, 30] + name: agent9 + start: [12, 27] +- goal: [16, 24] + name: agent10 + start: [2, 21] +- goal: [26, 24] + name: agent11 + start: [2, 12] +- goal: [31, 15] + name: agent12 + start: [5, 15] +- goal: [31, 2] + name: agent13 + start: [31, 1] +- goal: [5, 19] + name: agent14 + start: [4, 9] +- goal: [22, 25] + name: agent15 + start: [26, 1] +- goal: [15, 5] + name: agent16 + start: [14, 31] +- goal: [29, 5] + name: agent17 + start: [2, 2] +- goal: [7, 29] + name: agent18 + start: [21, 25] +- goal: [2, 5] + name: agent19 + start: [11, 5] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [17, 12] + - !!python/tuple [12, 12] + - !!python/tuple [15, 31] + - !!python/tuple [0, 12] + - !!python/tuple [17, 29] + - !!python/tuple [10, 23] + - !!python/tuple [20, 22] + - !!python/tuple [11, 21] + - !!python/tuple [7, 8] + - !!python/tuple [8, 28] + - !!python/tuple [28, 7] + - !!python/tuple [1, 3] + - !!python/tuple [24, 2] + - !!python/tuple [30, 29] + - !!python/tuple [15, 13] + - !!python/tuple [21, 7] + - !!python/tuple [2, 27] + - !!python/tuple [7, 25] + - !!python/tuple [18, 8] + - !!python/tuple [30, 23] + - !!python/tuple [12, 29] + - !!python/tuple [31, 21] + - !!python/tuple [22, 14] + - !!python/tuple [9, 28] + - !!python/tuple [16, 2] + - !!python/tuple [27, 15] + - !!python/tuple [11, 13] + - !!python/tuple [14, 26] + - !!python/tuple [7, 2] + - !!python/tuple [16, 15] + - !!python/tuple [28, 29] + - !!python/tuple [3, 21] + - !!python/tuple [21, 6] + - !!python/tuple [17, 5] + - !!python/tuple [0, 3] + - !!python/tuple [28, 4] + - !!python/tuple [14, 0] + - !!python/tuple [25, 7] + - !!python/tuple [17, 16] + - !!python/tuple [14, 2] + - !!python/tuple [9, 11] + - !!python/tuple [0, 31] + - !!python/tuple [10, 25] + - !!python/tuple [17, 8] + - !!python/tuple [24, 28] + - !!python/tuple [18, 6] + - !!python/tuple [27, 12] + - !!python/tuple [5, 27] + - !!python/tuple [20, 16] + - !!python/tuple [22, 20] + - !!python/tuple [24, 3] + - !!python/tuple [21, 18] + - !!python/tuple [8, 12] + - !!python/tuple 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[14, 22] + - !!python/tuple [12, 16] + - !!python/tuple [13, 13] + - !!python/tuple [0, 22] + - !!python/tuple [6, 8] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex84.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex84.yaml new file mode 100644 index 0000000..524b117 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex84.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [26, 2] + name: agent0 + start: [19, 11] +- goal: [12, 1] + name: agent1 + start: [25, 30] +- goal: [5, 1] + name: agent2 + start: [12, 24] +- goal: [19, 2] + name: agent3 + start: [31, 22] +- goal: [28, 7] + name: agent4 + start: [23, 5] +- goal: [1, 3] + name: agent5 + start: [18, 6] +- goal: [17, 17] + name: agent6 + start: [8, 1] +- goal: [8, 6] + name: agent7 + start: [29, 16] +- goal: [15, 10] + name: agent8 + start: [26, 21] +- goal: [4, 21] + name: agent9 + start: [18, 9] +- goal: [9, 21] + name: agent10 + start: [20, 6] +- goal: [23, 19] + name: agent11 + start: [28, 11] +- goal: [16, 12] + name: agent12 + start: [12, 5] +- goal: [23, 10] + name: agent13 + start: [10, 24] +- goal: [30, 25] + name: agent14 + start: [0, 17] +- goal: [8, 15] + name: agent15 + start: [24, 16] +- goal: [2, 10] + name: agent16 + start: [7, 26] +- goal: [13, 22] + name: agent17 + start: [0, 0] +- goal: [9, 5] + name: agent18 + start: [4, 2] +- goal: [13, 16] + name: agent19 + start: [14, 10] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [3, 13] + - !!python/tuple [26, 7] + - !!python/tuple [25, 1] + - !!python/tuple [10, 28] + - !!python/tuple [8, 2] + - !!python/tuple [24, 10] + - !!python/tuple [24, 21] + - !!python/tuple [7, 10] + - !!python/tuple [22, 25] + - !!python/tuple [11, 8] + - !!python/tuple [9, 26] + - !!python/tuple [6, 24] + - !!python/tuple [13, 5] + - !!python/tuple [6, 25] + - !!python/tuple [23, 30] + - !!python/tuple [28, 10] + - !!python/tuple [13, 26] + - 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1] + - !!python/tuple [19, 8] + - !!python/tuple [13, 7] + - !!python/tuple [9, 8] + - !!python/tuple [23, 28] + - !!python/tuple [30, 2] + - !!python/tuple [31, 31] + - !!python/tuple [14, 6] + - !!python/tuple [9, 2] + - !!python/tuple [3, 26] + - !!python/tuple [21, 26] + - !!python/tuple [13, 31] + - !!python/tuple [8, 19] + - !!python/tuple [9, 16] + - !!python/tuple [19, 21] + - !!python/tuple [25, 10] + - !!python/tuple [22, 7] + - !!python/tuple [22, 20] + - !!python/tuple [22, 30] + - !!python/tuple [16, 28] + - !!python/tuple [28, 4] + - !!python/tuple [20, 13] + - !!python/tuple [28, 16] + - !!python/tuple [7, 19] + - !!python/tuple [6, 6] + - !!python/tuple [11, 6] + - !!python/tuple [26, 22] + - !!python/tuple [22, 27] + - !!python/tuple [27, 11] + - !!python/tuple [20, 21] + - !!python/tuple [19, 4] + - !!python/tuple [0, 6] + - !!python/tuple [25, 31] + - !!python/tuple [25, 24] + - !!python/tuple [14, 5] + - !!python/tuple [8, 9] + - !!python/tuple [18, 21] + - 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!!python/tuple [18, 28] + - !!python/tuple [24, 26] + - !!python/tuple [7, 16] + - !!python/tuple [10, 19] + - !!python/tuple [8, 3] + - !!python/tuple [4, 26] + - !!python/tuple [13, 21] + - !!python/tuple [4, 28] + - !!python/tuple [14, 31] + - !!python/tuple [26, 9] + - !!python/tuple [27, 0] + - !!python/tuple [23, 27] + - !!python/tuple [20, 27] + - !!python/tuple [1, 11] + - !!python/tuple [1, 29] + - !!python/tuple [23, 26] + - !!python/tuple [31, 15] + - !!python/tuple [16, 9] + - !!python/tuple [8, 10] + - !!python/tuple [2, 6] + - !!python/tuple [9, 10] + - !!python/tuple [4, 9] + - !!python/tuple [2, 7] + - !!python/tuple [29, 19] + - !!python/tuple [0, 1] + - !!python/tuple [19, 27] + - !!python/tuple [14, 20] + - !!python/tuple [28, 29] + - !!python/tuple [10, 7] + - !!python/tuple [31, 5] + - !!python/tuple [7, 14] + - !!python/tuple [23, 3] + - !!python/tuple [12, 8] + - !!python/tuple [8, 26] + - !!python/tuple [13, 14] + - !!python/tuple [19, 19] + - !!python/tuple [24, 24] + - !!python/tuple [24, 31] + - !!python/tuple [2, 19] + - !!python/tuple [28, 15] + - !!python/tuple [14, 12] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex85.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex85.yaml new file mode 100644 index 0000000..b007d8b --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex85.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [26, 4] + name: agent0 + start: [25, 18] +- goal: [8, 8] + name: agent1 + start: [30, 12] +- goal: [9, 9] + name: agent2 + start: [27, 21] +- goal: [25, 22] + name: agent3 + start: [25, 22] +- goal: [2, 6] + name: agent4 + start: [23, 20] +- goal: [29, 15] + name: agent5 + start: [20, 16] +- goal: [19, 7] + name: agent6 + start: [17, 14] +- goal: [4, 30] + name: agent7 + start: [30, 10] +- goal: [4, 1] + name: agent8 + start: [3, 22] +- goal: [8, 18] + name: agent9 + start: [1, 26] +- goal: [6, 1] + name: agent10 + start: [20, 10] +- goal: [16, 6] + name: agent11 + start: [27, 29] +- goal: [6, 18] + name: agent12 + start: [8, 13] +- goal: [25, 29] + name: agent13 + start: [7, 13] +- goal: [10, 26] + name: agent14 + start: [3, 4] +- goal: [20, 25] + name: agent15 + start: [29, 5] +- goal: [13, 30] + name: agent16 + start: [31, 14] +- goal: [7, 11] + name: agent17 + start: [30, 19] +- goal: [28, 12] + name: agent18 + start: [17, 8] +- goal: [9, 28] + name: agent19 + start: [4, 18] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [23, 23] + - !!python/tuple [17, 12] + - !!python/tuple [22, 10] + - !!python/tuple [17, 27] + - !!python/tuple [29, 30] + - !!python/tuple [0, 15] + - !!python/tuple [30, 29] + - !!python/tuple [16, 3] + - !!python/tuple [1, 8] + - !!python/tuple [21, 20] + - !!python/tuple [7, 3] + - !!python/tuple [12, 7] + - !!python/tuple [12, 11] + - !!python/tuple [6, 4] + - !!python/tuple [16, 18] + - !!python/tuple [1, 21] + - !!python/tuple [13, 0] + - !!python/tuple [14, 9] + - !!python/tuple [14, 11] + - !!python/tuple [23, 30] + - !!python/tuple [3, 29] + - !!python/tuple [23, 2] + - !!python/tuple [26, 8] + - !!python/tuple [3, 14] + - !!python/tuple [15, 30] + - !!python/tuple [20, 12] + - !!python/tuple [31, 18] + - !!python/tuple [26, 12] + - !!python/tuple [14, 24] + - !!python/tuple [21, 28] + - !!python/tuple [9, 15] + - !!python/tuple [13, 26] + - !!python/tuple [4, 21] + - !!python/tuple [18, 8] + - !!python/tuple [11, 23] + - !!python/tuple [5, 7] + - !!python/tuple [28, 9] + - !!python/tuple [18, 0] + - !!python/tuple [13, 13] + - !!python/tuple [14, 30] + - !!python/tuple [4, 31] + - !!python/tuple [18, 30] + - !!python/tuple [22, 12] + - !!python/tuple [24, 17] + - !!python/tuple [17, 24] + - !!python/tuple [17, 3] + - !!python/tuple [30, 31] + - !!python/tuple [21, 12] + - !!python/tuple [23, 1] + - !!python/tuple [7, 4] + - !!python/tuple [25, 14] + - !!python/tuple [3, 6] + - !!python/tuple [12, 15] + - !!python/tuple [26, 7] + - !!python/tuple [8, 9] + - !!python/tuple [11, 17] + - !!python/tuple [1, 16] + - !!python/tuple [13, 1] + - !!python/tuple [13, 16] + - !!python/tuple [8, 23] + - !!python/tuple [14, 21] + - !!python/tuple [30, 14] + - !!python/tuple [15, 7] + - !!python/tuple [27, 8] + - !!python/tuple [11, 25] + - !!python/tuple [13, 22] + - !!python/tuple [28, 30] + - !!python/tuple [24, 22] + - !!python/tuple [20, 29] + - !!python/tuple [16, 15] + - !!python/tuple [19, 16] + - !!python/tuple [24, 18] + - !!python/tuple [30, 13] + - !!python/tuple [13, 20] + - !!python/tuple [20, 20] + - !!python/tuple [28, 1] + - !!python/tuple [14, 10] + - !!python/tuple [7, 7] + - !!python/tuple [26, 28] + - !!python/tuple [22, 19] + - !!python/tuple [0, 31] + - !!python/tuple [20, 4] + - !!python/tuple [27, 26] + - !!python/tuple [31, 20] + - !!python/tuple [14, 12] + - !!python/tuple [7, 15] + - !!python/tuple [20, 13] + - !!python/tuple [19, 4] + - !!python/tuple [2, 25] + - !!python/tuple [1, 28] + - !!python/tuple [5, 21] + - !!python/tuple [19, 25] + - !!python/tuple [3, 31] + - !!python/tuple [20, 22] + - !!python/tuple [29, 9] + - !!python/tuple [12, 31] + - !!python/tuple [13, 5] + - !!python/tuple [5, 11] + - !!python/tuple [14, 23] + - !!python/tuple [16, 28] + - !!python/tuple [25, 24] + - !!python/tuple [6, 6] + - !!python/tuple [26, 14] + - !!python/tuple [10, 9] + - !!python/tuple [10, 30] + - !!python/tuple [25, 27] + - !!python/tuple [23, 14] + - !!python/tuple [7, 20] + - !!python/tuple [12, 12] + - !!python/tuple [20, 27] + - !!python/tuple [29, 18] + - !!python/tuple [26, 25] + - !!python/tuple [1, 14] + - !!python/tuple [8, 30] + - !!python/tuple [26, 0] + - !!python/tuple [2, 27] + - !!python/tuple [6, 7] + - !!python/tuple [9, 30] + - !!python/tuple [23, 24] + - !!python/tuple [3, 3] + - !!python/tuple [31, 11] + - !!python/tuple [0, 5] + - !!python/tuple [22, 16] + - !!python/tuple [8, 28] + - !!python/tuple [29, 29] + - !!python/tuple [20, 5] + - !!python/tuple [30, 3] + - !!python/tuple [7, 5] + - !!python/tuple [23, 17] + - !!python/tuple [10, 13] + - !!python/tuple [16, 10] + - !!python/tuple [18, 20] + - !!python/tuple [24, 7] + - !!python/tuple [6, 27] + - !!python/tuple [19, 1] + - !!python/tuple [2, 10] + - !!python/tuple [31, 3] + - !!python/tuple [7, 19] + - !!python/tuple [19, 26] + - !!python/tuple [31, 15] + - !!python/tuple [22, 27] + - !!python/tuple [4, 23] + - !!python/tuple [27, 22] + - !!python/tuple [22, 8] + - !!python/tuple [13, 14] + - !!python/tuple [16, 5] + - !!python/tuple [11, 26] + - !!python/tuple [9, 2] + - !!python/tuple [5, 16] + - !!python/tuple [21, 25] + - !!python/tuple [20, 1] + - !!python/tuple [19, 27] + - !!python/tuple [25, 21] + - !!python/tuple [31, 23] + - !!python/tuple [27, 10] + - !!python/tuple [15, 6] + - !!python/tuple [9, 12] + - !!python/tuple [27, 19] + - !!python/tuple [19, 19] + - !!python/tuple [15, 26] + - !!python/tuple [1, 4] + - !!python/tuple [11, 1] + - !!python/tuple [26, 23] + - !!python/tuple [24, 11] + - !!python/tuple [6, 10] + - !!python/tuple [24, 25] + - !!python/tuple [10, 16] + - !!python/tuple [12, 26] + - !!python/tuple [11, 8] + - !!python/tuple [6, 23] + - !!python/tuple [5, 24] + - !!python/tuple [7, 24] + - !!python/tuple [21, 16] + - !!python/tuple [3, 16] + - !!python/tuple [20, 28] + - !!python/tuple [30, 8] + - !!python/tuple [24, 9] + - !!python/tuple [21, 27] + - !!python/tuple [8, 12] + - !!python/tuple [10, 19] + - !!python/tuple [24, 15] + - !!python/tuple [18, 19] + - !!python/tuple [8, 5] + - !!python/tuple [14, 4] + - !!python/tuple [2, 30] + - !!python/tuple [29, 16] + - !!python/tuple [7, 21] + - !!python/tuple [17, 17] + - !!python/tuple [31, 29] + - !!python/tuple [25, 5] + - !!python/tuple [24, 28] + - !!python/tuple [15, 9] + - !!python/tuple [25, 26] + - !!python/tuple [15, 0] + - !!python/tuple [12, 19] + - !!python/tuple [7, 28] + - !!python/tuple [5, 17] + - !!python/tuple [8, 17] + - !!python/tuple [12, 22] + - !!python/tuple [10, 27] + - !!python/tuple [30, 24] + - !!python/tuple [9, 11] + - !!python/tuple [19, 23] + - !!python/tuple [17, 29] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex86.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex86.yaml new file mode 100644 index 0000000..5a829f4 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex86.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [19, 21] + name: agent0 + start: [15, 13] +- goal: [18, 28] + name: agent1 + start: [31, 14] +- goal: [5, 18] + name: agent2 + start: [26, 27] +- goal: [6, 18] + name: agent3 + start: [18, 25] +- goal: [1, 8] + name: agent4 + start: [11, 31] +- goal: [29, 27] + name: agent5 + start: [7, 11] +- goal: [9, 6] + name: agent6 + start: [8, 19] +- goal: [18, 11] + name: agent7 + start: [23, 0] +- goal: [15, 8] + name: agent8 + start: [6, 31] +- goal: [26, 21] + name: agent9 + start: [2, 25] +- goal: [15, 25] + name: agent10 + start: [4, 21] +- goal: [8, 29] + name: agent11 + start: [30, 24] +- goal: [28, 2] + name: agent12 + start: [22, 19] +- goal: [6, 21] + name: agent13 + start: [30, 27] +- goal: [17, 26] + name: agent14 + start: [3, 18] +- goal: [7, 7] + name: agent15 + start: [23, 25] +- goal: [16, 19] + name: agent16 + start: [6, 4] +- goal: [0, 17] + name: agent17 + start: [12, 8] +- goal: [25, 3] + name: agent18 + start: [5, 26] +- goal: [21, 23] + name: agent19 + start: [19, 27] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [1, 3] + - !!python/tuple [12, 1] + - !!python/tuple [17, 19] + - !!python/tuple [6, 17] + - !!python/tuple [10, 17] + - !!python/tuple [2, 4] + - !!python/tuple [17, 9] + - !!python/tuple [25, 28] + - !!python/tuple [9, 14] + - !!python/tuple [0, 31] + - !!python/tuple [29, 11] + - !!python/tuple [2, 14] + - !!python/tuple [31, 15] + - !!python/tuple [3, 27] + - !!python/tuple [13, 0] + - !!python/tuple [7, 24] + - !!python/tuple [5, 28] + - !!python/tuple [24, 12] + - !!python/tuple [10, 14] + - !!python/tuple [17, 20] + - !!python/tuple [14, 30] + - !!python/tuple [3, 16] + - !!python/tuple [11, 28] + - !!python/tuple [20, 0] + - !!python/tuple [3, 17] + - !!python/tuple [20, 26] + - !!python/tuple [17, 24] + - !!python/tuple [9, 9] + - !!python/tuple [24, 22] + - !!python/tuple [10, 15] + - !!python/tuple [7, 29] + - !!python/tuple [26, 15] + - !!python/tuple [26, 26] + - !!python/tuple [22, 1] + - !!python/tuple [31, 3] + - !!python/tuple [13, 15] + - !!python/tuple [12, 18] + - !!python/tuple [4, 15] + - !!python/tuple [17, 12] + - !!python/tuple [24, 10] + - !!python/tuple [22, 3] + - !!python/tuple [31, 0] + - !!python/tuple [6, 0] + - !!python/tuple [9, 11] + - !!python/tuple [8, 3] + - !!python/tuple [29, 25] + - !!python/tuple [24, 16] + - !!python/tuple [15, 17] + - !!python/tuple [30, 30] + - !!python/tuple [31, 27] + - !!python/tuple [21, 28] + - !!python/tuple [28, 25] + - !!python/tuple [17, 6] + - !!python/tuple [6, 5] + - !!python/tuple [25, 27] + - !!python/tuple [15, 31] + - !!python/tuple [29, 26] + - !!python/tuple [26, 2] + - !!python/tuple [5, 3] + - !!python/tuple [10, 10] + - !!python/tuple [6, 27] + - !!python/tuple [28, 22] + - !!python/tuple [21, 13] + - !!python/tuple [7, 17] + - !!python/tuple [24, 21] + - !!python/tuple [9, 27] + - !!python/tuple [13, 28] + - !!python/tuple [31, 30] + - !!python/tuple [12, 27] + - !!python/tuple [11, 11] + - !!python/tuple [20, 4] + - !!python/tuple [20, 24] + - !!python/tuple [0, 12] + - !!python/tuple [0, 26] + - !!python/tuple [4, 26] + - !!python/tuple [22, 5] + - !!python/tuple [10, 13] + - !!python/tuple [1, 31] + - !!python/tuple [8, 15] + - !!python/tuple [21, 2] + - !!python/tuple [30, 17] + - !!python/tuple [3, 21] + - !!python/tuple [19, 4] + - !!python/tuple [1, 29] + - !!python/tuple [5, 24] + - !!python/tuple [21, 4] + - !!python/tuple [27, 31] + - !!python/tuple [3, 26] + - !!python/tuple [3, 5] + - !!python/tuple [14, 4] + - !!python/tuple [10, 3] + - !!python/tuple [10, 18] + - !!python/tuple [22, 8] + - !!python/tuple [20, 30] + - !!python/tuple [26, 22] + - !!python/tuple [28, 7] + - !!python/tuple [6, 19] + - !!python/tuple [20, 21] + - !!python/tuple [27, 10] + - !!python/tuple [15, 1] + - !!python/tuple [23, 28] + - !!python/tuple [19, 20] + - !!python/tuple [23, 12] + - !!python/tuple [6, 7] + - !!python/tuple [21, 11] + - !!python/tuple [18, 9] + - !!python/tuple [18, 8] + - !!python/tuple [2, 24] + - !!python/tuple [31, 29] + - !!python/tuple [13, 13] + - !!python/tuple [1, 28] + - !!python/tuple [16, 29] + - !!python/tuple [19, 14] + - !!python/tuple [31, 22] + - !!python/tuple [0, 15] + - !!python/tuple [9, 23] + - !!python/tuple [29, 14] + - !!python/tuple [24, 20] + - !!python/tuple [20, 25] + - !!python/tuple [31, 9] + - !!python/tuple [7, 9] + - !!python/tuple [20, 13] + - !!python/tuple [21, 29] + - !!python/tuple [15, 14] + - !!python/tuple [28, 14] + - !!python/tuple [8, 26] + - !!python/tuple [7, 18] + - !!python/tuple [23, 14] + - !!python/tuple [28, 21] + - !!python/tuple [15, 29] + - !!python/tuple [21, 22] + - !!python/tuple [4, 6] + - !!python/tuple [10, 0] + - !!python/tuple [22, 28] + - !!python/tuple [10, 31] + - !!python/tuple [24, 31] + - !!python/tuple [25, 16] + - !!python/tuple [15, 4] + - !!python/tuple [13, 6] + - !!python/tuple [25, 12] + - !!python/tuple [27, 30] + - !!python/tuple [30, 19] + - !!python/tuple [15, 6] + - !!python/tuple [19, 17] + - !!python/tuple [15, 27] + - !!python/tuple [18, 27] + - !!python/tuple [10, 9] + - !!python/tuple [28, 11] + - !!python/tuple [7, 10] + - !!python/tuple [3, 29] + - !!python/tuple [18, 10] + - !!python/tuple [8, 18] + - !!python/tuple [25, 7] + - !!python/tuple [6, 13] + - !!python/tuple [20, 16] + - !!python/tuple [6, 9] + - !!python/tuple [28, 12] + - !!python/tuple [14, 5] + - !!python/tuple [2, 3] + - !!python/tuple [29, 10] + - !!python/tuple [0, 21] + - !!python/tuple [19, 30] + - !!python/tuple [30, 3] + - !!python/tuple [3, 11] + - !!python/tuple [3, 30] + - !!python/tuple [1, 1] + - !!python/tuple [14, 28] + - !!python/tuple [22, 31] + - !!python/tuple [21, 16] + - !!python/tuple [20, 3] + - !!python/tuple [22, 25] + - !!python/tuple [6, 24] + - !!python/tuple [21, 25] + - !!python/tuple [15, 10] + - !!python/tuple [8, 2] + - !!python/tuple [1, 27] + - !!python/tuple [4, 13] + - !!python/tuple [11, 2] + - !!python/tuple [30, 31] + - !!python/tuple [17, 17] + - !!python/tuple [19, 5] + - !!python/tuple [30, 10] + - !!python/tuple [22, 22] + - !!python/tuple [27, 26] + - !!python/tuple [29, 20] + - !!python/tuple [27, 13] + - !!python/tuple [26, 31] + - !!python/tuple [27, 8] + - !!python/tuple [11, 21] + - !!python/tuple [21, 20] + - !!python/tuple [18, 15] + - !!python/tuple [14, 21] + - !!python/tuple [18, 18] + - !!python/tuple [3, 20] + - !!python/tuple [3, 25] + - !!python/tuple [24, 5] + - !!python/tuple [24, 25] + - !!python/tuple [8, 16] + - !!python/tuple [24, 18] + - !!python/tuple [24, 3] + - !!python/tuple [29, 4] + - !!python/tuple [12, 16] + - !!python/tuple [18, 17] + - !!python/tuple [7, 6] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex87.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex87.yaml new file mode 100644 index 0000000..23113c3 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex87.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [6, 14] + name: agent0 + start: [11, 1] +- goal: [0, 17] + name: agent1 + start: [21, 12] +- goal: [13, 6] + name: agent2 + start: [0, 24] +- goal: [6, 31] + name: agent3 + start: [8, 19] +- goal: [9, 5] + name: agent4 + start: [8, 6] +- goal: [19, 11] + name: agent5 + start: [0, 3] +- goal: [15, 21] + name: agent6 + start: [0, 30] +- goal: [17, 16] + name: agent7 + start: [25, 3] +- goal: [13, 5] + name: agent8 + start: [31, 23] +- goal: [3, 24] + name: agent9 + start: [0, 29] +- goal: [3, 2] + name: agent10 + start: [4, 11] +- goal: [24, 31] + name: agent11 + start: [8, 30] +- goal: [24, 4] + name: agent12 + start: [22, 28] +- goal: [1, 13] + name: agent13 + start: [9, 9] +- goal: [12, 12] + name: agent14 + start: [7, 8] +- goal: [8, 20] + name: agent15 + start: [14, 19] +- goal: [30, 1] + name: agent16 + start: [27, 31] +- goal: [14, 15] + name: agent17 + start: [19, 8] +- goal: [10, 19] + name: agent18 + start: [25, 14] +- goal: [3, 1] + name: agent19 + start: [16, 26] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [3, 27] + - !!python/tuple [22, 15] + - !!python/tuple [2, 25] + - !!python/tuple [31, 10] + - !!python/tuple [15, 14] + - !!python/tuple [3, 5] + - !!python/tuple [20, 1] + - !!python/tuple [16, 9] + - !!python/tuple [1, 12] + - !!python/tuple [23, 0] + - !!python/tuple [1, 2] + - !!python/tuple [13, 29] + - !!python/tuple [18, 0] + - !!python/tuple [10, 11] + - !!python/tuple [18, 28] + - !!python/tuple [29, 8] + - !!python/tuple [7, 7] + - !!python/tuple [30, 4] + - !!python/tuple [12, 8] + - !!python/tuple [10, 1] + - !!python/tuple [0, 10] + - !!python/tuple [0, 4] + - !!python/tuple [26, 26] + - !!python/tuple [5, 8] + - !!python/tuple [19, 20] + - !!python/tuple [11, 16] + - !!python/tuple [18, 25] + - !!python/tuple [26, 19] + - !!python/tuple [11, 6] + - !!python/tuple [6, 11] + - !!python/tuple [19, 30] + - !!python/tuple [28, 11] + - !!python/tuple [4, 9] + - !!python/tuple [1, 27] + - !!python/tuple [27, 2] + - !!python/tuple [31, 0] + - !!python/tuple [17, 7] + - !!python/tuple [20, 30] + - !!python/tuple [3, 8] + - !!python/tuple [19, 12] + - !!python/tuple [26, 10] + - !!python/tuple [9, 22] + - !!python/tuple [5, 6] + - !!python/tuple [25, 15] + - !!python/tuple [21, 4] + - !!python/tuple [0, 21] + - !!python/tuple [20, 17] + - !!python/tuple [20, 10] + - !!python/tuple [25, 24] + - !!python/tuple [3, 23] + - !!python/tuple [18, 14] + - !!python/tuple [29, 26] + - !!python/tuple [20, 15] + - !!python/tuple [5, 16] + - !!python/tuple [8, 4] + - !!python/tuple [18, 2] + - !!python/tuple [28, 20] + - !!python/tuple [19, 19] + - !!python/tuple [22, 3] + - !!python/tuple [12, 9] + - !!python/tuple [6, 17] + - !!python/tuple [15, 24] + - !!python/tuple [30, 27] + - !!python/tuple [0, 31] + - !!python/tuple [22, 24] + - !!python/tuple [4, 8] + - !!python/tuple [8, 21] + - !!python/tuple [10, 10] + - !!python/tuple [27, 20] + - !!python/tuple [21, 24] + - !!python/tuple [28, 13] + - !!python/tuple [20, 21] + - !!python/tuple [26, 13] + - !!python/tuple [10, 30] + - !!python/tuple [26, 23] + - !!python/tuple [28, 3] + - !!python/tuple [4, 19] + - !!python/tuple [30, 3] + - !!python/tuple [17, 4] + - !!python/tuple [13, 19] + - !!python/tuple [22, 12] + - !!python/tuple [29, 6] + - !!python/tuple [18, 17] + - !!python/tuple [11, 19] + - !!python/tuple [10, 17] + - !!python/tuple [18, 10] + - !!python/tuple [5, 5] + - !!python/tuple [21, 25] + - !!python/tuple [27, 16] + - !!python/tuple [27, 30] + - !!python/tuple [28, 16] + - !!python/tuple [24, 13] + - !!python/tuple [28, 18] + - !!python/tuple [4, 15] + - !!python/tuple [22, 5] + - !!python/tuple [10, 27] + - !!python/tuple [11, 17] + - !!python/tuple [22, 4] + - !!python/tuple [9, 28] + - !!python/tuple [30, 5] + - !!python/tuple [17, 30] + - !!python/tuple [25, 27] + - !!python/tuple [16, 29] + - !!python/tuple [22, 8] + - !!python/tuple [14, 6] + - !!python/tuple [25, 7] + - !!python/tuple [13, 23] + - !!python/tuple [26, 1] + - !!python/tuple [1, 9] + - !!python/tuple [4, 13] + - !!python/tuple [23, 30] + - !!python/tuple [19, 7] + - !!python/tuple [15, 30] + - !!python/tuple [12, 15] + - !!python/tuple [26, 3] + - !!python/tuple [12, 13] + - !!python/tuple [4, 3] + - !!python/tuple [29, 16] + - !!python/tuple [19, 16] + - !!python/tuple [24, 29] + - !!python/tuple [20, 5] + - !!python/tuple [2, 31] + - !!python/tuple [9, 19] + - !!python/tuple [13, 16] + - !!python/tuple [1, 25] + - !!python/tuple [15, 31] + - !!python/tuple [18, 30] + - !!python/tuple [22, 20] + - !!python/tuple [18, 7] + - !!python/tuple [31, 20] + - !!python/tuple [8, 22] + - !!python/tuple [17, 27] + - !!python/tuple [2, 17] + - !!python/tuple [24, 3] + - !!python/tuple [28, 7] + - !!python/tuple [30, 6] + - !!python/tuple [26, 4] + - !!python/tuple [21, 6] + - !!python/tuple [4, 28] + - !!python/tuple [19, 22] + - !!python/tuple [5, 7] + - !!python/tuple [1, 30] + - !!python/tuple [27, 7] + - !!python/tuple [16, 31] + - !!python/tuple [30, 22] + - !!python/tuple [26, 18] + - !!python/tuple [28, 26] + - !!python/tuple [15, 17] + - !!python/tuple [27, 29] + - !!python/tuple [1, 22] + - !!python/tuple [7, 1] + - !!python/tuple [3, 17] + - !!python/tuple [11, 29] + - !!python/tuple [13, 3] + - !!python/tuple [13, 15] + - !!python/tuple [24, 1] + - !!python/tuple [12, 28] + - !!python/tuple [28, 21] + - !!python/tuple [16, 8] + - !!python/tuple [17, 2] + - !!python/tuple [10, 9] + - !!python/tuple [4, 14] + - !!python/tuple [31, 14] + - !!python/tuple [29, 17] + - !!python/tuple [7, 20] + - !!python/tuple [1, 31] + - !!python/tuple [12, 21] + - !!python/tuple [10, 24] + - !!python/tuple [10, 13] + - !!python/tuple [1, 21] + - !!python/tuple [22, 31] + - !!python/tuple [7, 14] + - !!python/tuple [15, 22] + - !!python/tuple [4, 16] + - !!python/tuple [20, 28] + - !!python/tuple [9, 16] + - !!python/tuple [9, 27] + - !!python/tuple [18, 22] + - !!python/tuple [5, 28] + - !!python/tuple [30, 14] + - !!python/tuple [4, 7] + - !!python/tuple [15, 12] + - !!python/tuple [4, 12] + - !!python/tuple [1, 8] + - !!python/tuple [16, 27] + - !!python/tuple [8, 31] + - !!python/tuple [19, 6] + - !!python/tuple [23, 28] + - !!python/tuple [16, 15] + - !!python/tuple [17, 29] + - !!python/tuple [15, 4] + - !!python/tuple [18, 3] + - !!python/tuple [22, 11] + - !!python/tuple [23, 25] + - !!python/tuple [31, 4] + - !!python/tuple [27, 27] + - !!python/tuple [19, 31] + - !!python/tuple [8, 29] + - !!python/tuple [14, 21] + - !!python/tuple [18, 29] + - !!python/tuple [10, 15] + - !!python/tuple [18, 16] + - !!python/tuple [4, 0] + - !!python/tuple [4, 18] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex88.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex88.yaml new file mode 100644 index 0000000..644f311 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex88.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [18, 14] + name: agent0 + start: [21, 5] +- goal: [26, 17] + name: agent1 + start: [2, 15] +- goal: [25, 1] + name: agent2 + start: [28, 30] +- goal: [8, 2] + name: agent3 + start: [23, 17] +- goal: [8, 18] + name: agent4 + start: [5, 1] +- goal: [27, 19] + name: agent5 + start: [20, 22] +- goal: [18, 26] + name: agent6 + start: [8, 3] +- goal: [26, 10] + name: agent7 + start: [29, 20] +- goal: [27, 17] + name: agent8 + start: [2, 28] +- goal: [8, 0] + name: agent9 + start: [31, 31] +- goal: [9, 20] + name: agent10 + start: [0, 26] +- goal: [2, 14] + name: agent11 + start: [15, 18] +- goal: [29, 3] + name: agent12 + start: [14, 10] +- goal: [31, 13] + name: agent13 + start: [4, 1] +- goal: [26, 15] + name: agent14 + start: [24, 5] +- goal: [4, 15] + name: agent15 + start: [14, 13] +- goal: [29, 20] + name: agent16 + start: [4, 28] +- goal: [20, 17] + name: agent17 + start: [25, 25] +- goal: [10, 14] + name: agent18 + start: [3, 14] +- goal: [10, 17] + name: agent19 + start: [8, 13] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [6, 24] + - !!python/tuple [13, 8] + - !!python/tuple [9, 28] + - !!python/tuple [29, 14] + - !!python/tuple [9, 30] + - !!python/tuple [22, 14] + - !!python/tuple [26, 6] + - !!python/tuple [10, 2] + - !!python/tuple [14, 19] + - !!python/tuple [13, 30] + - !!python/tuple [4, 8] + - !!python/tuple [24, 19] + - !!python/tuple [8, 4] + - !!python/tuple [7, 2] + - !!python/tuple [25, 6] + - !!python/tuple [28, 5] + - !!python/tuple [23, 27] + - !!python/tuple [29, 24] + - !!python/tuple [30, 18] + - !!python/tuple [28, 15] + - !!python/tuple [30, 21] + - !!python/tuple [11, 31] + - !!python/tuple [20, 24] + - !!python/tuple [15, 17] + - !!python/tuple [10, 4] + - !!python/tuple [18, 1] + - !!python/tuple [7, 6] + - !!python/tuple [12, 11] + - !!python/tuple [31, 29] + - !!python/tuple [23, 4] + - !!python/tuple [13, 1] + - !!python/tuple [2, 29] + - !!python/tuple [19, 26] + - !!python/tuple [4, 4] + - !!python/tuple [1, 27] + - !!python/tuple [0, 17] + - !!python/tuple [24, 26] + - !!python/tuple [0, 0] + - !!python/tuple [3, 16] + - !!python/tuple [31, 17] + - !!python/tuple [12, 26] + - !!python/tuple [4, 14] + - !!python/tuple [5, 7] + - !!python/tuple [11, 25] + - !!python/tuple [4, 27] + - !!python/tuple [24, 21] + - !!python/tuple [12, 20] + - !!python/tuple [2, 16] + - !!python/tuple [27, 1] + - !!python/tuple [17, 19] + - !!python/tuple [24, 24] + - !!python/tuple [16, 24] + - !!python/tuple [24, 30] + - !!python/tuple [0, 2] + - !!python/tuple [28, 27] + - !!python/tuple [0, 29] + - !!python/tuple [25, 11] + - !!python/tuple [13, 20] + - !!python/tuple [24, 20] + - !!python/tuple [30, 28] + - !!python/tuple [6, 10] + - !!python/tuple [28, 6] + - !!python/tuple [25, 16] + - !!python/tuple [7, 9] + - !!python/tuple [14, 22] + - !!python/tuple [18, 19] + - !!python/tuple [25, 20] + - !!python/tuple [30, 15] + - !!python/tuple [28, 26] + - !!python/tuple [4, 18] + - !!python/tuple [18, 0] + - !!python/tuple [29, 15] + - !!python/tuple [0, 16] + - !!python/tuple [25, 17] + - !!python/tuple [22, 30] + - !!python/tuple [23, 31] + - !!python/tuple [10, 3] + - !!python/tuple [30, 9] + - !!python/tuple [27, 16] + - !!python/tuple [20, 16] + - !!python/tuple [19, 7] + - !!python/tuple [14, 11] + - !!python/tuple [24, 23] + - !!python/tuple [20, 20] + - !!python/tuple [25, 27] + - !!python/tuple [18, 2] + - !!python/tuple [5, 25] + - !!python/tuple [14, 0] + - !!python/tuple [30, 29] + - !!python/tuple [20, 0] + - !!python/tuple [11, 6] + - !!python/tuple [1, 1] + - !!python/tuple [3, 19] + - !!python/tuple [6, 25] + - !!python/tuple [30, 19] + - !!python/tuple [20, 21] + - !!python/tuple [16, 0] + - !!python/tuple [25, 5] + - !!python/tuple [9, 26] + - !!python/tuple [0, 7] + - !!python/tuple [25, 15] + - !!python/tuple [31, 16] + - !!python/tuple [6, 5] + - !!python/tuple [17, 29] + - !!python/tuple [28, 24] + - !!python/tuple [24, 25] + - !!python/tuple [9, 2] + - !!python/tuple [29, 27] + - !!python/tuple [12, 8] + - !!python/tuple [29, 29] + - !!python/tuple [1, 28] + - !!python/tuple [30, 16] + - !!python/tuple [1, 5] + - !!python/tuple [9, 9] + - !!python/tuple [2, 12] + - !!python/tuple [31, 7] + - !!python/tuple [27, 24] + - !!python/tuple [27, 28] + - !!python/tuple [3, 0] + - !!python/tuple [17, 7] + - 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[25, 28] + - !!python/tuple [26, 1] + - !!python/tuple [18, 24] + - !!python/tuple [5, 10] + - !!python/tuple [19, 16] + - !!python/tuple [31, 9] + - !!python/tuple [13, 17] + - !!python/tuple [23, 7] + - !!python/tuple [14, 15] + - !!python/tuple [29, 31] + - !!python/tuple [12, 1] + - !!python/tuple [27, 4] + - !!python/tuple [31, 10] + - !!python/tuple [11, 22] + - !!python/tuple [11, 1] + - !!python/tuple [26, 28] + - !!python/tuple [15, 9] + - !!python/tuple [8, 26] + - !!python/tuple [4, 12] + - !!python/tuple [20, 11] + - !!python/tuple [29, 16] + - !!python/tuple [2, 2] + - !!python/tuple [25, 19] + - !!python/tuple [23, 29] + - !!python/tuple [25, 24] + - !!python/tuple [3, 25] + - !!python/tuple [16, 3] + - !!python/tuple [9, 3] + - !!python/tuple [14, 3] + - !!python/tuple [23, 1] + - !!python/tuple [31, 19] + - !!python/tuple [18, 8] + - !!python/tuple [31, 3] + - !!python/tuple [19, 17] + - !!python/tuple [11, 10] + - !!python/tuple [14, 23] + - !!python/tuple [19, 11] + - !!python/tuple [0, 30] + - !!python/tuple [1, 11] + - !!python/tuple [4, 20] + - !!python/tuple [26, 2] + - !!python/tuple [22, 29] + - !!python/tuple [0, 22] + - !!python/tuple [5, 12] + - !!python/tuple [7, 23] + - !!python/tuple [4, 21] + - !!python/tuple [9, 7] + - !!python/tuple [5, 9] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex89.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex89.yaml new file mode 100644 index 0000000..d73b518 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex89.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [17, 23] + name: agent0 + start: [7, 5] +- goal: [21, 2] + name: agent1 + start: [13, 11] +- goal: [15, 8] + name: agent2 + start: [31, 13] +- goal: [31, 4] + name: agent3 + start: [21, 13] +- goal: [19, 21] + name: agent4 + start: [3, 31] +- goal: [1, 18] + name: agent5 + start: [9, 30] +- goal: [18, 16] + name: agent6 + start: [11, 14] +- goal: [19, 27] + name: agent7 + start: [26, 19] +- goal: [16, 26] + name: agent8 + start: [27, 7] +- goal: [6, 15] + name: agent9 + start: [9, 16] +- goal: [8, 1] + name: agent10 + start: [14, 31] +- goal: [19, 23] + name: agent11 + start: [22, 8] +- goal: [16, 24] + name: agent12 + start: [24, 9] +- goal: [23, 1] + name: agent13 + start: [16, 26] +- goal: [24, 13] + name: agent14 + start: [29, 0] +- goal: [18, 20] + name: agent15 + start: [30, 18] +- goal: [13, 13] + name: agent16 + start: [1, 30] +- goal: [15, 25] + name: agent17 + start: [18, 29] +- goal: [4, 0] + name: agent18 + start: [14, 26] +- goal: [13, 20] + name: agent19 + start: [24, 22] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [31, 26] + - !!python/tuple [23, 17] + - !!python/tuple [25, 20] + - !!python/tuple [2, 24] + - !!python/tuple [22, 12] + - !!python/tuple [23, 31] + - !!python/tuple [3, 12] + - !!python/tuple [0, 21] + - !!python/tuple [23, 11] + - !!python/tuple [23, 13] + - !!python/tuple [6, 11] + - !!python/tuple [4, 15] + - !!python/tuple [0, 12] + - !!python/tuple [4, 28] + - !!python/tuple [7, 3] + - !!python/tuple [25, 7] + - !!python/tuple [7, 6] + - !!python/tuple [22, 28] + - !!python/tuple [9, 28] + - !!python/tuple [29, 2] + - !!python/tuple [6, 23] + - !!python/tuple [6, 16] + - !!python/tuple [4, 6] + - !!python/tuple [25, 0] + - !!python/tuple [20, 10] + - !!python/tuple [2, 22] + - !!python/tuple [2, 11] + - !!python/tuple [30, 13] + - !!python/tuple [23, 3] + - !!python/tuple [3, 25] + - !!python/tuple [18, 15] + - !!python/tuple [31, 25] + - !!python/tuple [6, 4] + - !!python/tuple [30, 6] + - !!python/tuple [28, 31] + - !!python/tuple [1, 11] + - !!python/tuple [19, 7] + - !!python/tuple [27, 3] + - !!python/tuple [10, 16] + - !!python/tuple [8, 17] + - !!python/tuple [27, 26] + - !!python/tuple [22, 13] + - !!python/tuple [19, 8] + - !!python/tuple [22, 2] + - !!python/tuple [21, 29] + - !!python/tuple [11, 28] + - !!python/tuple [5, 11] + - !!python/tuple [8, 31] + - !!python/tuple [28, 30] + - !!python/tuple [5, 6] + - !!python/tuple [8, 10] + - !!python/tuple [1, 6] + - !!python/tuple [23, 4] + - !!python/tuple [8, 30] + - !!python/tuple [26, 28] + - !!python/tuple [31, 7] + - !!python/tuple [16, 13] + - !!python/tuple [20, 28] + - !!python/tuple [22, 9] + - !!python/tuple [20, 20] + - !!python/tuple [10, 26] + - !!python/tuple [25, 12] + - !!python/tuple [18, 6] + - !!python/tuple [28, 15] + - !!python/tuple [24, 23] + - !!python/tuple [1, 25] + - !!python/tuple [12, 28] + - !!python/tuple [27, 13] + - !!python/tuple [22, 5] + - !!python/tuple [7, 8] + - !!python/tuple [4, 5] + - !!python/tuple [2, 17] + - !!python/tuple [9, 26] + - !!python/tuple [19, 24] + - !!python/tuple [1, 13] + - !!python/tuple [0, 4] + - !!python/tuple [12, 20] + - !!python/tuple [15, 6] + - !!python/tuple [4, 7] + - !!python/tuple [3, 0] + - !!python/tuple [9, 8] + - !!python/tuple [31, 3] + - !!python/tuple [25, 2] + - !!python/tuple 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!!python/tuple [22, 30] + - !!python/tuple [7, 12] + - !!python/tuple [7, 16] + - !!python/tuple [9, 13] + - !!python/tuple [20, 13] + - !!python/tuple [21, 15] + - !!python/tuple [31, 0] + - !!python/tuple [24, 8] + - !!python/tuple [15, 7] + - !!python/tuple [1, 23] + - !!python/tuple [27, 12] + - !!python/tuple [28, 6] + - !!python/tuple [16, 1] + - !!python/tuple [3, 9] + - !!python/tuple [5, 12] + - !!python/tuple [21, 4] + - !!python/tuple [22, 10] + - !!python/tuple [3, 22] + - !!python/tuple [14, 27] + - !!python/tuple [20, 30] + - !!python/tuple [31, 14] + - !!python/tuple [11, 24] + - !!python/tuple [7, 1] + - !!python/tuple [27, 30] + - !!python/tuple [22, 20] + - !!python/tuple [24, 31] + - !!python/tuple [7, 7] + - !!python/tuple [22, 15] + - !!python/tuple [2, 18] + - !!python/tuple [9, 27] + - !!python/tuple [28, 22] + - !!python/tuple [12, 26] + - !!python/tuple [26, 25] + - !!python/tuple [27, 9] + - !!python/tuple [21, 12] + - !!python/tuple [26, 1] + - !!python/tuple [26, 16] + - !!python/tuple [2, 20] + - !!python/tuple [14, 10] + - !!python/tuple [1, 21] + - !!python/tuple [8, 24] + - !!python/tuple [6, 2] + - !!python/tuple [16, 31] + - !!python/tuple [1, 0] + - !!python/tuple [23, 7] + - !!python/tuple [17, 7] + - !!python/tuple [18, 31] + - !!python/tuple [31, 6] + - !!python/tuple [4, 12] + - !!python/tuple [17, 24] + - !!python/tuple [16, 25] + - !!python/tuple [29, 8] + - !!python/tuple [2, 23] + - !!python/tuple [21, 20] + - !!python/tuple [29, 15] + - !!python/tuple [8, 28] + - !!python/tuple [15, 23] + - !!python/tuple [2, 12] + - !!python/tuple [25, 18] + - !!python/tuple [9, 20] + - !!python/tuple [28, 4] + - !!python/tuple [21, 1] + - !!python/tuple [26, 3] + - !!python/tuple [29, 18] + - !!python/tuple [19, 29] + - !!python/tuple [22, 6] + - !!python/tuple [25, 22] + - !!python/tuple [18, 28] + - !!python/tuple [29, 22] + - !!python/tuple [29, 1] + - !!python/tuple [23, 15] + - !!python/tuple [24, 28] + - !!python/tuple [7, 25] + - !!python/tuple [11, 5] + - !!python/tuple [4, 25] + - !!python/tuple [7, 31] + - !!python/tuple [24, 5] + - !!python/tuple [10, 27] + - !!python/tuple [25, 5] + - !!python/tuple [25, 11] + - !!python/tuple [4, 26] + - !!python/tuple [3, 16] + - !!python/tuple [20, 6] + - !!python/tuple [20, 15] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex9.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex9.yaml new file mode 100644 index 0000000..2bcd7cd --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex9.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [29, 0] + name: agent0 + start: [15, 22] +- goal: [8, 7] + name: agent1 + start: [30, 16] +- goal: [26, 10] + name: agent2 + start: [0, 13] +- goal: [5, 17] + name: agent3 + start: [5, 7] +- goal: [27, 12] + name: agent4 + start: [1, 10] +- goal: [14, 31] + name: agent5 + start: [18, 8] +- goal: [3, 8] + name: agent6 + start: [18, 6] +- goal: [12, 15] + name: agent7 + start: [7, 21] +- goal: [11, 6] + name: agent8 + start: [0, 1] +- goal: [31, 31] + name: agent9 + start: [19, 28] +- goal: [9, 11] + name: agent10 + start: [10, 4] +- goal: [13, 12] + name: agent11 + start: [18, 30] +- goal: [22, 10] + name: agent12 + start: [16, 3] +- goal: [9, 21] + name: agent13 + start: [17, 18] +- goal: [17, 14] + name: agent14 + start: [17, 23] +- goal: [8, 9] + name: agent15 + start: [26, 10] +- goal: [16, 3] + name: agent16 + start: [16, 22] +- goal: [28, 21] + name: agent17 + start: [11, 15] +- goal: [26, 8] + name: agent18 + start: [18, 27] +- goal: [8, 0] + name: agent19 + start: [5, 21] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [0, 14] + - !!python/tuple [8, 29] + - !!python/tuple [1, 3] + - !!python/tuple [10, 9] + - !!python/tuple [16, 20] + - !!python/tuple [18, 20] + - !!python/tuple [10, 20] + - !!python/tuple [17, 1] + - !!python/tuple [3, 3] + - !!python/tuple [14, 6] + - !!python/tuple [20, 13] + - !!python/tuple [23, 10] + - !!python/tuple [17, 26] + - !!python/tuple [5, 10] + - !!python/tuple [8, 27] + - !!python/tuple [25, 22] + - !!python/tuple [20, 18] + - !!python/tuple [23, 16] + - !!python/tuple [24, 20] + - !!python/tuple [15, 23] + - !!python/tuple [9, 23] + - !!python/tuple [1, 1] + - !!python/tuple [10, 2] + - !!python/tuple [8, 20] + - !!python/tuple [28, 4] + - !!python/tuple [27, 28] + - !!python/tuple [31, 20] + - !!python/tuple [30, 22] + - !!python/tuple [12, 7] + - !!python/tuple [4, 5] + - !!python/tuple [0, 12] + - !!python/tuple [25, 5] + - !!python/tuple [14, 30] + - !!python/tuple [25, 26] + - !!python/tuple [15, 14] + - !!python/tuple [25, 27] + - !!python/tuple [19, 31] + - !!python/tuple [30, 2] + - !!python/tuple [30, 11] + - !!python/tuple [16, 7] + - !!python/tuple [27, 5] + - !!python/tuple [30, 23] + - !!python/tuple [23, 23] + - !!python/tuple [1, 29] + - !!python/tuple [3, 1] + - !!python/tuple [26, 7] + - !!python/tuple [6, 21] + - !!python/tuple [15, 10] + - !!python/tuple [9, 17] + - !!python/tuple [18, 9] + - !!python/tuple [19, 24] + - !!python/tuple [16, 19] + - !!python/tuple [20, 27] + - !!python/tuple [19, 4] + - !!python/tuple [13, 15] + - !!python/tuple [27, 17] + - !!python/tuple [14, 17] + - !!python/tuple [21, 9] + - !!python/tuple [5, 11] + - !!python/tuple [24, 7] + - !!python/tuple [18, 11] + - !!python/tuple [20, 3] + - !!python/tuple [24, 28] + - !!python/tuple [2, 20] + - !!python/tuple [22, 27] + - !!python/tuple [24, 21] + - !!python/tuple [21, 14] + - !!python/tuple [17, 9] + - !!python/tuple [1, 5] + - !!python/tuple [11, 31] + - !!python/tuple [29, 19] + - !!python/tuple [26, 28] + - !!python/tuple [29, 13] + - !!python/tuple [8, 30] + - !!python/tuple [25, 25] + - !!python/tuple [10, 0] + - !!python/tuple [23, 9] + - !!python/tuple [9, 10] + - !!python/tuple [10, 26] + - !!python/tuple [21, 0] + - !!python/tuple [16, 30] + - !!python/tuple [9, 0] + - !!python/tuple [20, 24] + - !!python/tuple [4, 21] + - !!python/tuple [14, 21] + - !!python/tuple [28, 12] + - !!python/tuple [25, 28] + - !!python/tuple [16, 6] + - !!python/tuple [14, 26] + - !!python/tuple [13, 8] + - !!python/tuple [28, 27] + - !!python/tuple [4, 29] + - !!python/tuple [15, 29] + - !!python/tuple [3, 23] + - !!python/tuple [30, 27] + - !!python/tuple [7, 9] + - !!python/tuple [10, 12] + - !!python/tuple [9, 14] + - !!python/tuple [0, 5] + - !!python/tuple [10, 22] + - !!python/tuple [6, 15] + - !!python/tuple [8, 28] + - !!python/tuple [4, 24] + - !!python/tuple [2, 9] + - !!python/tuple [16, 12] + - !!python/tuple [25, 17] + - !!python/tuple [5, 9] + - !!python/tuple [18, 13] + - !!python/tuple [10, 28] + - !!python/tuple [15, 2] + - !!python/tuple [31, 19] + - !!python/tuple [6, 3] + - !!python/tuple [2, 22] + - !!python/tuple [9, 29] + - !!python/tuple [23, 3] + - !!python/tuple [23, 15] + - !!python/tuple [7, 7] + - !!python/tuple [27, 1] + - !!python/tuple [11, 26] + - !!python/tuple [27, 26] + - !!python/tuple [15, 12] + - !!python/tuple [20, 15] + - !!python/tuple [16, 26] + - !!python/tuple [5, 12] + - !!python/tuple [14, 7] + - !!python/tuple [18, 17] + - !!python/tuple [8, 16] + - !!python/tuple [31, 17] + - !!python/tuple [28, 15] + - !!python/tuple [9, 9] + - !!python/tuple [7, 5] + - !!python/tuple [3, 17] + - !!python/tuple [11, 19] + - !!python/tuple [6, 25] + - !!python/tuple [22, 11] + - !!python/tuple [18, 10] + - !!python/tuple [18, 5] + - !!python/tuple [15, 24] + - !!python/tuple [31, 14] + - !!python/tuple [1, 8] + - !!python/tuple [30, 14] + - !!python/tuple [25, 24] + - !!python/tuple [16, 31] + - !!python/tuple [22, 30] + - !!python/tuple [20, 5] + - !!python/tuple [27, 8] + - !!python/tuple [21, 3] + - !!python/tuple [31, 3] + - !!python/tuple [7, 1] + - !!python/tuple [24, 19] + - !!python/tuple [29, 14] + - !!python/tuple [8, 21] + - !!python/tuple [6, 9] + - !!python/tuple [2, 23] + - !!python/tuple [9, 12] + - !!python/tuple [21, 19] + - !!python/tuple [26, 15] + - !!python/tuple [9, 15] + - !!python/tuple [13, 7] + - !!python/tuple [5, 13] + - !!python/tuple [20, 9] + - !!python/tuple [20, 20] + - !!python/tuple [17, 28] + - !!python/tuple [29, 4] + - !!python/tuple [24, 4] + - !!python/tuple [20, 30] + - !!python/tuple [31, 12] + - !!python/tuple [26, 12] + - !!python/tuple [3, 9] + - !!python/tuple [19, 8] + - !!python/tuple [13, 0] + - !!python/tuple [11, 24] + - !!python/tuple [30, 5] + - !!python/tuple [23, 29] + - !!python/tuple [28, 29] + - !!python/tuple [24, 11] + - !!python/tuple [2, 16] + - !!python/tuple [14, 11] + - !!python/tuple [0, 9] + - !!python/tuple [13, 21] + - !!python/tuple [0, 22] + - !!python/tuple [20, 26] + - !!python/tuple [6, 5] + - !!python/tuple [6, 6] + - !!python/tuple [6, 28] + - !!python/tuple [5, 28] + - !!python/tuple [0, 11] + - !!python/tuple [9, 2] + - !!python/tuple [10, 18] + - !!python/tuple [29, 3] + - !!python/tuple [11, 16] + - !!python/tuple [16, 29] + - !!python/tuple [5, 19] + - !!python/tuple [13, 17] + - !!python/tuple [2, 8] + - !!python/tuple [26, 23] + - !!python/tuple [14, 12] + - !!python/tuple [26, 17] + - !!python/tuple [0, 30] + - !!python/tuple [25, 12] + - !!python/tuple [13, 11] + - !!python/tuple [4, 1] + - !!python/tuple [19, 20] + - !!python/tuple [30, 21] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex90.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex90.yaml new file mode 100644 index 0000000..b3acc3f --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex90.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [13, 15] + name: agent0 + start: [2, 12] +- goal: [5, 0] + name: agent1 + start: [30, 1] +- goal: [16, 21] + name: agent2 + start: [13, 13] +- goal: [23, 27] + name: agent3 + start: [30, 30] +- goal: [13, 5] + name: agent4 + start: [6, 2] +- goal: [18, 0] + name: agent5 + start: [22, 20] +- goal: [15, 19] + name: agent6 + start: [14, 3] +- goal: [13, 2] + name: agent7 + start: [1, 28] +- goal: [20, 7] + name: agent8 + start: [18, 18] +- goal: [15, 24] + name: agent9 + start: [23, 24] +- goal: [30, 12] + name: agent10 + start: [3, 30] +- goal: [26, 25] + name: agent11 + start: [5, 7] +- goal: [1, 28] + name: agent12 + start: [14, 16] +- goal: [10, 28] + name: agent13 + start: [8, 16] +- goal: [8, 2] + name: agent14 + start: [27, 29] +- goal: [4, 26] + name: agent15 + start: [0, 19] +- goal: [19, 7] + name: agent16 + start: [27, 25] +- goal: [23, 18] + name: agent17 + start: [26, 28] +- goal: [14, 17] + name: agent18 + start: [19, 30] +- goal: [26, 11] + name: agent19 + start: [25, 29] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [24, 9] + - !!python/tuple [5, 9] + - !!python/tuple [17, 31] + - !!python/tuple [6, 14] + - !!python/tuple [28, 19] + - !!python/tuple [12, 1] + - !!python/tuple [13, 26] + - !!python/tuple [23, 23] + - !!python/tuple [23, 19] + - !!python/tuple [0, 5] + - !!python/tuple [13, 4] + - !!python/tuple [16, 5] + - !!python/tuple [26, 17] + - !!python/tuple [13, 24] + - !!python/tuple [20, 6] + - !!python/tuple [17, 14] + - !!python/tuple [14, 4] + - !!python/tuple [30, 18] + - !!python/tuple [24, 12] + - !!python/tuple [0, 3] + - !!python/tuple [25, 18] + - !!python/tuple [14, 30] + - !!python/tuple [5, 20] + - !!python/tuple [0, 21] + - !!python/tuple [8, 5] + - !!python/tuple [13, 11] + - !!python/tuple [12, 31] + - !!python/tuple [1, 5] + - !!python/tuple [2, 2] + - !!python/tuple [12, 24] + - !!python/tuple [30, 2] + - !!python/tuple [13, 9] + - !!python/tuple [26, 19] + - !!python/tuple [11, 14] + - !!python/tuple [11, 2] + - !!python/tuple [14, 21] + - !!python/tuple [13, 3] + - !!python/tuple [23, 12] + - !!python/tuple [26, 4] + - !!python/tuple [15, 9] + - !!python/tuple [22, 27] + - !!python/tuple [30, 8] + - !!python/tuple [7, 6] + - !!python/tuple [28, 31] + - !!python/tuple [11, 29] + - !!python/tuple [31, 28] + - !!python/tuple [15, 4] + - !!python/tuple [14, 13] + - !!python/tuple [0, 1] + - !!python/tuple [2, 26] + - !!python/tuple [1, 14] + - !!python/tuple [27, 10] + - !!python/tuple [25, 5] + - !!python/tuple [17, 21] + - !!python/tuple [28, 30] + - !!python/tuple [12, 14] + - !!python/tuple [3, 15] + - !!python/tuple [3, 5] + - !!python/tuple [27, 2] + - !!python/tuple [6, 19] + - !!python/tuple [19, 19] + - !!python/tuple [29, 24] + - !!python/tuple [19, 24] + - !!python/tuple [2, 11] + - !!python/tuple [24, 24] + - !!python/tuple [21, 30] + - !!python/tuple [9, 25] + - !!python/tuple [10, 13] + - !!python/tuple [15, 5] + - !!python/tuple [1, 18] + - !!python/tuple [4, 1] + - !!python/tuple [8, 8] + - !!python/tuple [24, 15] + - !!python/tuple [26, 6] + - !!python/tuple [14, 22] + - !!python/tuple [0, 7] + - !!python/tuple [4, 25] + - !!python/tuple [12, 13] + - !!python/tuple [7, 14] + - !!python/tuple [10, 4] + - !!python/tuple [14, 11] + - !!python/tuple [16, 1] + - !!python/tuple [2, 17] + - !!python/tuple [2, 3] + - !!python/tuple [7, 30] + - !!python/tuple [12, 29] + - !!python/tuple [30, 9] + - !!python/tuple [14, 25] + - !!python/tuple [12, 12] + - !!python/tuple [27, 16] + - !!python/tuple [11, 10] + - !!python/tuple [12, 27] + - !!python/tuple [1, 3] + - !!python/tuple [22, 21] + - !!python/tuple [5, 15] + - !!python/tuple [30, 14] + - !!python/tuple [18, 28] + - !!python/tuple [7, 21] + - !!python/tuple [8, 20] + - !!python/tuple [20, 12] + - !!python/tuple [15, 23] + - !!python/tuple [11, 27] + - !!python/tuple [19, 9] + - !!python/tuple [26, 0] + - !!python/tuple [21, 15] + - !!python/tuple [0, 25] + - !!python/tuple [27, 27] + - !!python/tuple [23, 20] + - !!python/tuple [5, 23] + - !!python/tuple [26, 22] + - !!python/tuple [31, 5] + - !!python/tuple [0, 8] + - !!python/tuple [21, 31] + - !!python/tuple [20, 24] + - !!python/tuple [25, 6] + - !!python/tuple [10, 11] + - !!python/tuple [18, 30] + - !!python/tuple [23, 26] + - !!python/tuple [7, 22] + - !!python/tuple [3, 22] + - !!python/tuple [9, 28] + - !!python/tuple [8, 18] + - !!python/tuple [30, 19] + - !!python/tuple [23, 0] + - !!python/tuple [12, 20] + - !!python/tuple [23, 9] + - !!python/tuple [6, 17] + - !!python/tuple [31, 8] + - !!python/tuple [8, 17] + - !!python/tuple [28, 1] + - !!python/tuple [6, 26] + - !!python/tuple [28, 0] + - !!python/tuple [29, 16] + - !!python/tuple [17, 11] + - !!python/tuple [11, 28] + - !!python/tuple [25, 31] + - !!python/tuple [25, 30] + - !!python/tuple [12, 23] + - !!python/tuple [1, 21] + - !!python/tuple [20, 18] + - !!python/tuple [29, 27] + - !!python/tuple [2, 1] + - !!python/tuple [30, 25] + - !!python/tuple [20, 4] + - !!python/tuple [26, 1] + - !!python/tuple [30, 22] + - !!python/tuple [18, 20] + - !!python/tuple [3, 14] + - !!python/tuple [4, 7] + - !!python/tuple [30, 24] + - !!python/tuple [4, 3] + - !!python/tuple [11, 8] + - !!python/tuple [0, 16] + - !!python/tuple [6, 16] + - !!python/tuple [6, 3] + - !!python/tuple [20, 10] + - !!python/tuple [24, 4] + - !!python/tuple [27, 6] + - !!python/tuple [20, 28] + - !!python/tuple [18, 29] + - !!python/tuple [2, 27] + - !!python/tuple [26, 23] + - !!python/tuple [24, 28] + - !!python/tuple [31, 23] + - !!python/tuple [20, 29] + - !!python/tuple [17, 16] + - !!python/tuple [6, 11] + - !!python/tuple [28, 18] + - !!python/tuple [7, 7] + - !!python/tuple [9, 9] + - !!python/tuple [23, 1] + - !!python/tuple [4, 13] + - !!python/tuple [12, 10] + - !!python/tuple [6, 15] + - !!python/tuple [8, 6] + - !!python/tuple [25, 25] + - !!python/tuple [18, 17] + - !!python/tuple [8, 25] + - !!python/tuple [5, 29] + - !!python/tuple [25, 0] + - !!python/tuple [27, 9] + - !!python/tuple [29, 25] + - !!python/tuple [30, 27] + - !!python/tuple [19, 26] + - !!python/tuple [17, 12] + - !!python/tuple [31, 27] + - !!python/tuple [12, 6] + - !!python/tuple [11, 31] + - !!python/tuple [9, 2] + - !!python/tuple [18, 21] + - !!python/tuple [29, 14] + - !!python/tuple [17, 6] + - !!python/tuple [9, 0] + - !!python/tuple [14, 26] + - !!python/tuple [22, 25] + - !!python/tuple [13, 27] + - !!python/tuple [7, 12] + - !!python/tuple [29, 13] + - !!python/tuple [26, 16] + - !!python/tuple [13, 28] + - !!python/tuple [16, 25] + - !!python/tuple [25, 20] + - !!python/tuple [0, 17] + - !!python/tuple [27, 22] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex91.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex91.yaml new file mode 100644 index 0000000..ae761f5 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex91.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [27, 13] + name: agent0 + start: [24, 21] +- goal: [12, 5] + name: agent1 + start: [0, 8] +- goal: [12, 18] + name: agent2 + start: [31, 13] +- goal: [14, 16] + name: agent3 + start: [17, 18] +- goal: [3, 6] + name: agent4 + start: [21, 7] +- goal: [23, 14] + name: agent5 + start: [9, 4] +- goal: [19, 20] + name: agent6 + start: [25, 27] +- goal: [18, 0] + name: agent7 + start: [23, 19] +- goal: [31, 20] + name: agent8 + start: [26, 27] +- goal: [14, 21] + name: agent9 + start: [11, 24] +- goal: [31, 1] + name: agent10 + start: [11, 10] +- goal: [26, 24] + name: agent11 + start: [21, 9] +- goal: [29, 26] + name: agent12 + start: [28, 19] +- goal: [7, 8] + name: agent13 + start: [15, 17] +- goal: [4, 9] + name: agent14 + start: [26, 3] +- goal: [19, 7] + name: agent15 + start: [22, 7] +- goal: [17, 20] + name: agent16 + start: [17, 31] +- goal: [30, 5] + name: agent17 + start: [1, 30] +- goal: [7, 24] + name: agent18 + start: [24, 20] +- goal: [9, 3] + name: agent19 + start: [23, 4] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [24, 23] + - !!python/tuple [7, 1] + - !!python/tuple [24, 17] + - !!python/tuple [25, 3] + - !!python/tuple [1, 2] + - !!python/tuple [4, 1] + - !!python/tuple [8, 12] + - !!python/tuple [7, 23] + - !!python/tuple [11, 23] + - !!python/tuple [16, 22] + - !!python/tuple [20, 30] + - !!python/tuple [29, 11] + - !!python/tuple [26, 26] + - !!python/tuple [10, 19] + - !!python/tuple [31, 14] + - !!python/tuple [21, 3] + - !!python/tuple [18, 4] + - !!python/tuple [19, 3] + - !!python/tuple [19, 5] + - !!python/tuple [30, 10] + - !!python/tuple [20, 29] + - !!python/tuple [2, 2] + - !!python/tuple [31, 21] + - !!python/tuple [15, 20] + - !!python/tuple [25, 16] + - !!python/tuple [28, 11] + - !!python/tuple [20, 26] + - !!python/tuple [8, 21] + - !!python/tuple [11, 16] + - !!python/tuple [22, 26] + - !!python/tuple [10, 20] + - !!python/tuple [28, 7] + - !!python/tuple [14, 10] + - !!python/tuple [27, 6] + - !!python/tuple [13, 8] + - !!python/tuple [0, 4] + - !!python/tuple [19, 29] + - !!python/tuple [17, 10] + - !!python/tuple [5, 6] + - !!python/tuple [6, 7] + - !!python/tuple [30, 29] + - !!python/tuple [31, 3] + - !!python/tuple [1, 20] + - !!python/tuple [21, 31] + - !!python/tuple [5, 1] + - !!python/tuple [21, 1] + - !!python/tuple [14, 20] + - !!python/tuple [30, 19] + - !!python/tuple [9, 17] + - !!python/tuple [17, 5] + - !!python/tuple [19, 21] + - !!python/tuple [31, 23] + - !!python/tuple [2, 30] + - !!python/tuple [28, 18] + - !!python/tuple [30, 23] + - !!python/tuple [19, 25] + - !!python/tuple [15, 7] + - !!python/tuple [19, 4] + - !!python/tuple [8, 10] + - !!python/tuple [2, 27] + - !!python/tuple [2, 11] + - !!python/tuple [26, 5] + - !!python/tuple [4, 2] + - !!python/tuple [31, 17] + - !!python/tuple [2, 9] + - !!python/tuple [0, 16] + - !!python/tuple [23, 24] + - !!python/tuple [26, 25] + - !!python/tuple [17, 7] + - !!python/tuple [13, 15] + - !!python/tuple [19, 23] + - !!python/tuple [21, 19] + - !!python/tuple [31, 26] + - !!python/tuple [12, 12] + - !!python/tuple [24, 3] + - !!python/tuple [25, 18] + - !!python/tuple [31, 10] + - !!python/tuple [27, 28] + - !!python/tuple [7, 3] + - !!python/tuple [19, 10] + - !!python/tuple [18, 3] + - !!python/tuple [26, 15] + - !!python/tuple [28, 22] + - !!python/tuple [7, 29] + - !!python/tuple [14, 4] + - !!python/tuple [0, 3] + - !!python/tuple [8, 18] + - !!python/tuple [8, 20] + - !!python/tuple [17, 30] + - !!python/tuple [16, 23] + - !!python/tuple [7, 5] + - !!python/tuple [24, 13] + - !!python/tuple [17, 2] + - !!python/tuple [9, 15] + - !!python/tuple [27, 14] + - !!python/tuple [9, 25] + - !!python/tuple [13, 27] + - !!python/tuple [12, 2] + - !!python/tuple [24, 16] + - !!python/tuple [28, 5] + - !!python/tuple [3, 8] + - !!python/tuple [28, 31] + - !!python/tuple [14, 31] + - !!python/tuple [11, 4] + - !!python/tuple [21, 22] + - !!python/tuple [8, 5] + - !!python/tuple [10, 14] + - !!python/tuple [0, 25] + - !!python/tuple [23, 13] + - !!python/tuple [1, 21] + - !!python/tuple [21, 27] + - !!python/tuple [14, 2] + - !!python/tuple [11, 29] + - !!python/tuple [30, 14] + - !!python/tuple [18, 18] + - !!python/tuple [20, 9] + - !!python/tuple [2, 24] + - !!python/tuple [8, 26] + - !!python/tuple [9, 8] + - !!python/tuple [7, 2] + - !!python/tuple [29, 19] + - !!python/tuple [23, 27] + - !!python/tuple [6, 20] + - !!python/tuple [11, 27] + - !!python/tuple [19, 8] + - !!python/tuple [29, 14] + - !!python/tuple [16, 30] + - !!python/tuple [27, 11] + - !!python/tuple [13, 11] + - !!python/tuple [5, 5] + - !!python/tuple [8, 29] + - !!python/tuple [31, 0] + - !!python/tuple [9, 9] + - !!python/tuple [10, 2] + - !!python/tuple [9, 24] + - !!python/tuple [10, 30] + - !!python/tuple [26, 2] + - !!python/tuple [24, 4] + - !!python/tuple [31, 28] + - !!python/tuple [16, 24] + - !!python/tuple [18, 6] + - !!python/tuple [25, 17] + - !!python/tuple [29, 10] + - !!python/tuple [22, 17] + - !!python/tuple [13, 17] + - !!python/tuple [29, 22] + - !!python/tuple [23, 1] + - !!python/tuple [18, 31] + - !!python/tuple [19, 22] + - !!python/tuple [23, 0] + - !!python/tuple [4, 15] + - !!python/tuple [19, 0] + - !!python/tuple [19, 27] + - !!python/tuple [17, 22] + - !!python/tuple [15, 13] + - !!python/tuple [16, 8] + - !!python/tuple [12, 27] + - !!python/tuple [1, 26] + - !!python/tuple [19, 11] + - !!python/tuple [10, 28] + - !!python/tuple [7, 27] + - !!python/tuple [30, 16] + - !!python/tuple [2, 14] + - !!python/tuple [20, 18] + - !!python/tuple [5, 29] + - !!python/tuple [27, 7] + - !!python/tuple [9, 19] + - !!python/tuple [28, 25] + - !!python/tuple [21, 17] + - !!python/tuple [15, 21] + - !!python/tuple [0, 28] + - !!python/tuple [1, 24] + - !!python/tuple [7, 16] + - !!python/tuple [11, 2] + - !!python/tuple [6, 11] + - !!python/tuple [24, 24] + - !!python/tuple [3, 3] + - !!python/tuple [28, 28] + - !!python/tuple [20, 8] + - !!python/tuple [17, 11] + - !!python/tuple [17, 28] + - !!python/tuple [17, 1] + - !!python/tuple [22, 5] + - !!python/tuple [26, 31] + - !!python/tuple [26, 9] + - !!python/tuple [0, 15] + - !!python/tuple [24, 31] + - !!python/tuple [29, 15] + - !!python/tuple [4, 4] + - !!python/tuple [0, 30] + - !!python/tuple [25, 28] + - !!python/tuple [23, 11] + - !!python/tuple [13, 7] + - !!python/tuple [12, 4] + - !!python/tuple [19, 30] + - !!python/tuple [22, 10] + - !!python/tuple [5, 7] + - !!python/tuple [29, 23] + - !!python/tuple [29, 2] + - !!python/tuple [0, 20] + - !!python/tuple [22, 13] + - !!python/tuple [12, 15] + - !!python/tuple [19, 13] + - !!python/tuple [28, 8] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex92.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex92.yaml new file mode 100644 index 0000000..b45100c --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex92.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [7, 4] + name: agent0 + start: [12, 12] +- goal: [27, 27] + name: agent1 + start: [17, 5] +- goal: [7, 11] + name: agent2 + start: [31, 8] +- goal: [10, 17] + name: agent3 + start: [21, 12] +- goal: [4, 29] + name: agent4 + start: [29, 31] +- goal: [14, 22] + name: agent5 + start: [0, 4] +- goal: [0, 8] + name: agent6 + start: [18, 16] +- goal: [16, 22] + name: agent7 + start: [26, 24] +- goal: [13, 13] + name: agent8 + start: [16, 18] +- goal: [9, 11] + name: agent9 + start: [0, 19] +- goal: [18, 31] + name: agent10 + start: [16, 1] +- goal: [0, 24] + name: agent11 + start: [31, 9] +- goal: [17, 27] + name: agent12 + start: [25, 4] +- goal: [22, 13] + name: agent13 + start: [23, 21] +- goal: [6, 17] + name: agent14 + start: [5, 2] +- goal: [24, 16] + name: agent15 + start: [29, 5] +- goal: [0, 25] + name: agent16 + start: [11, 20] +- goal: [31, 26] + name: agent17 + start: [0, 24] +- goal: [5, 25] + name: agent18 + start: [7, 22] +- goal: [5, 18] + name: agent19 + start: [22, 13] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [31, 24] + - !!python/tuple [9, 28] + - !!python/tuple [1, 24] + - !!python/tuple [2, 3] + - !!python/tuple [31, 25] + - !!python/tuple [1, 12] + - !!python/tuple [28, 12] + - !!python/tuple [29, 29] + - !!python/tuple [27, 14] + - !!python/tuple [18, 11] + - !!python/tuple [14, 30] + - !!python/tuple [15, 11] + - !!python/tuple [23, 10] + - !!python/tuple [15, 10] + - !!python/tuple [15, 1] + - !!python/tuple [12, 18] + - !!python/tuple [24, 6] + - !!python/tuple [27, 25] + - !!python/tuple [24, 5] + - !!python/tuple [6, 3] + - !!python/tuple [25, 29] + - !!python/tuple [8, 28] + - !!python/tuple [0, 23] + - !!python/tuple [11, 16] + - !!python/tuple [19, 27] + - !!python/tuple [11, 22] + - !!python/tuple [30, 14] + - !!python/tuple [19, 24] + - !!python/tuple [19, 11] + - !!python/tuple [10, 8] + - !!python/tuple [2, 23] + - !!python/tuple [11, 21] + - !!python/tuple [31, 13] + - !!python/tuple [23, 28] + - !!python/tuple [19, 6] + - !!python/tuple [17, 1] + - !!python/tuple [0, 9] + - !!python/tuple [2, 16] + - !!python/tuple [21, 2] + - !!python/tuple [23, 3] + - !!python/tuple [26, 0] + - !!python/tuple [18, 5] + - !!python/tuple [19, 3] + - !!python/tuple [24, 4] + - !!python/tuple [29, 16] + - !!python/tuple [8, 21] + - !!python/tuple [13, 3] + - !!python/tuple [10, 1] + - !!python/tuple [19, 1] + - !!python/tuple [11, 27] + - !!python/tuple [9, 4] + - !!python/tuple [0, 12] + - !!python/tuple [21, 11] + - !!python/tuple [14, 9] + - !!python/tuple [2, 11] + - !!python/tuple [29, 8] + - !!python/tuple [10, 21] + - !!python/tuple [12, 29] + - !!python/tuple [9, 24] + - !!python/tuple [16, 13] + - !!python/tuple [1, 30] + - !!python/tuple [1, 9] + - !!python/tuple [0, 20] + - !!python/tuple [13, 28] + - !!python/tuple [15, 5] + - !!python/tuple [17, 8] + - !!python/tuple [23, 17] + - !!python/tuple [9, 13] + - !!python/tuple [30, 0] + - !!python/tuple [23, 9] + - !!python/tuple [25, 22] + - !!python/tuple [31, 29] + - !!python/tuple [3, 12] + - !!python/tuple [22, 19] + - !!python/tuple [18, 15] + - !!python/tuple [24, 19] + - !!python/tuple [18, 25] + - !!python/tuple [9, 21] + - !!python/tuple [28, 28] + - !!python/tuple [28, 14] + - !!python/tuple [19, 17] + - !!python/tuple [26, 28] + - !!python/tuple [21, 1] + - !!python/tuple [6, 10] + - !!python/tuple [20, 10] + - !!python/tuple [3, 10] + - !!python/tuple [26, 15] + - !!python/tuple [2, 31] + - !!python/tuple [23, 26] + - !!python/tuple [30, 18] + - !!python/tuple [13, 18] + - !!python/tuple [17, 6] + - !!python/tuple [28, 7] + - !!python/tuple [21, 7] + - !!python/tuple [17, 9] + - !!python/tuple [27, 24] + - !!python/tuple [12, 13] + - !!python/tuple [6, 6] + - !!python/tuple [3, 3] + - !!python/tuple [31, 14] + - !!python/tuple [23, 20] + - !!python/tuple [19, 0] + - !!python/tuple [19, 10] + - !!python/tuple [30, 5] + - !!python/tuple [6, 4] + - !!python/tuple [29, 17] + - !!python/tuple [9, 22] + - !!python/tuple [9, 14] + - !!python/tuple [1, 23] + - !!python/tuple [18, 18] + - !!python/tuple [20, 28] + - !!python/tuple [18, 0] + - !!python/tuple [10, 28] + - !!python/tuple [8, 24] + - !!python/tuple [22, 9] + - !!python/tuple [6, 2] + - !!python/tuple [29, 18] + - !!python/tuple [28, 11] + - !!python/tuple [30, 16] + - !!python/tuple [8, 22] + - !!python/tuple [21, 6] + - !!python/tuple [17, 22] + - !!python/tuple [16, 16] + - !!python/tuple [13, 6] + - !!python/tuple [18, 29] + - !!python/tuple [30, 20] + - !!python/tuple [24, 2] + - !!python/tuple [4, 10] + - !!python/tuple [20, 30] + - !!python/tuple [26, 29] + - !!python/tuple [3, 17] + - !!python/tuple [10, 19] + - !!python/tuple [20, 29] + - !!python/tuple [31, 4] + - !!python/tuple [4, 11] + - !!python/tuple [14, 1] + - !!python/tuple [22, 27] + - !!python/tuple [5, 20] + - !!python/tuple [20, 24] + - !!python/tuple [5, 6] + - !!python/tuple [13, 4] + - !!python/tuple [7, 7] + - !!python/tuple [8, 6] + - !!python/tuple [11, 7] + - !!python/tuple [21, 21] + - !!python/tuple [21, 24] + - !!python/tuple [20, 11] + - !!python/tuple [28, 4] + - !!python/tuple [29, 4] + - !!python/tuple [14, 10] + - !!python/tuple [31, 7] + - !!python/tuple [14, 28] + - !!python/tuple [7, 6] + - !!python/tuple [2, 15] + - !!python/tuple [24, 14] + - !!python/tuple [22, 4] + - !!python/tuple [2, 0] + - !!python/tuple [12, 22] + - !!python/tuple [20, 19] + - !!python/tuple [1, 25] + - !!python/tuple [23, 24] + - !!python/tuple [15, 17] + - !!python/tuple [14, 3] + - !!python/tuple [25, 30] + - !!python/tuple [9, 7] + - !!python/tuple [6, 15] + - !!python/tuple [1, 0] + - !!python/tuple [7, 2] + - !!python/tuple [7, 16] + - !!python/tuple [0, 0] + - !!python/tuple [8, 7] + - !!python/tuple [6, 24] + - !!python/tuple [30, 27] + - !!python/tuple [27, 6] + - !!python/tuple [14, 19] + - !!python/tuple [27, 0] + - !!python/tuple [31, 17] + - !!python/tuple [20, 6] + - !!python/tuple [9, 27] + - !!python/tuple [28, 25] + - !!python/tuple [8, 5] + - !!python/tuple [21, 9] + - !!python/tuple [26, 8] + - !!python/tuple [14, 27] + - !!python/tuple [15, 15] + - !!python/tuple [19, 23] + - !!python/tuple [22, 12] + - !!python/tuple [25, 23] + - !!python/tuple [11, 24] + - !!python/tuple [3, 18] + - !!python/tuple [19, 12] + - !!python/tuple [5, 27] + - !!python/tuple [15, 26] + - !!python/tuple [20, 18] + - !!python/tuple [29, 13] + - !!python/tuple [31, 30] + - !!python/tuple [18, 28] + - !!python/tuple [7, 26] + - !!python/tuple [20, 1] + - !!python/tuple [17, 2] + - !!python/tuple [30, 3] + - !!python/tuple [12, 17] + - !!python/tuple [0, 27] + - !!python/tuple [3, 26] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex93.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex93.yaml new file mode 100644 index 0000000..55c7578 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex93.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [20, 16] + name: agent0 + start: [28, 15] +- goal: [12, 30] + name: agent1 + start: [31, 28] +- goal: [18, 14] + name: agent2 + start: [0, 21] +- goal: [23, 20] + name: agent3 + start: [9, 29] +- goal: [6, 20] + name: agent4 + start: [1, 20] +- goal: [23, 9] + name: agent5 + start: [27, 23] +- goal: [5, 0] + name: agent6 + start: [6, 26] +- goal: [12, 18] + name: agent7 + start: [2, 3] +- goal: [6, 22] + name: agent8 + start: [29, 31] +- goal: [20, 3] + name: agent9 + start: [7, 10] +- goal: [6, 24] + name: agent10 + start: [28, 1] +- goal: [23, 31] + name: agent11 + start: [20, 9] +- goal: [2, 13] + name: agent12 + start: [17, 23] +- goal: [1, 4] + name: agent13 + start: [12, 18] +- goal: [26, 6] + name: agent14 + start: [21, 8] +- goal: [30, 24] + name: agent15 + start: [22, 24] +- goal: [11, 26] + name: agent16 + start: [24, 11] +- goal: [28, 18] + name: agent17 + start: [1, 11] +- goal: [13, 19] + name: agent18 + start: [0, 25] +- goal: [19, 22] + name: agent19 + start: [0, 20] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [21, 23] + - !!python/tuple [28, 27] + - !!python/tuple [10, 10] + - !!python/tuple [4, 2] + - !!python/tuple [25, 26] + - !!python/tuple [29, 24] + - !!python/tuple [25, 8] + - !!python/tuple [7, 3] + - !!python/tuple [24, 7] + - !!python/tuple [3, 2] + - !!python/tuple [26, 1] + - !!python/tuple [13, 29] + - !!python/tuple [6, 14] + - !!python/tuple [27, 24] + - !!python/tuple [19, 28] + - !!python/tuple [1, 16] + - !!python/tuple [2, 12] + - !!python/tuple [28, 30] + - !!python/tuple [19, 6] + - !!python/tuple [12, 29] + - !!python/tuple [22, 7] + - !!python/tuple [12, 1] + - !!python/tuple [7, 8] + - !!python/tuple [10, 16] + - !!python/tuple [19, 7] + - !!python/tuple [27, 19] + - !!python/tuple [18, 9] + - !!python/tuple [5, 13] + - !!python/tuple [9, 14] + - !!python/tuple [26, 16] + - !!python/tuple [20, 29] + - !!python/tuple [15, 24] + - !!python/tuple [4, 24] + - !!python/tuple [17, 12] + - !!python/tuple [13, 27] + - !!python/tuple [12, 7] + - !!python/tuple [22, 25] + - !!python/tuple [7, 31] + - !!python/tuple [23, 29] + - !!python/tuple [17, 3] + - !!python/tuple [11, 15] + - !!python/tuple [25, 23] + - !!python/tuple [31, 24] + - !!python/tuple [22, 28] + - !!python/tuple [10, 7] + - !!python/tuple [17, 18] + - !!python/tuple [1, 15] + - !!python/tuple [3, 30] + - !!python/tuple [24, 24] + - !!python/tuple [0, 17] + - !!python/tuple [22, 0] + - !!python/tuple [5, 1] + - !!python/tuple [15, 21] + - !!python/tuple [9, 27] + - !!python/tuple [18, 17] + - !!python/tuple [8, 14] + - !!python/tuple [5, 31] + - !!python/tuple [29, 27] + - !!python/tuple [9, 3] + - !!python/tuple [10, 8] + - !!python/tuple [20, 4] + - !!python/tuple [17, 30] + - !!python/tuple [17, 22] + - !!python/tuple [26, 13] + - !!python/tuple [30, 15] + - !!python/tuple [14, 23] + - !!python/tuple [2, 21] + - !!python/tuple [7, 19] + - !!python/tuple [1, 18] + - !!python/tuple [15, 2] + - !!python/tuple [13, 2] + - !!python/tuple [1, 1] + - !!python/tuple [20, 7] + - !!python/tuple [18, 6] + - !!python/tuple [30, 12] + - !!python/tuple [1, 27] + - !!python/tuple [11, 17] + - !!python/tuple [8, 16] + - !!python/tuple [9, 2] + - !!python/tuple [6, 16] + - !!python/tuple [12, 19] + - !!python/tuple [19, 15] + - !!python/tuple [6, 12] + - !!python/tuple [27, 6] + - !!python/tuple [10, 9] + - !!python/tuple [18, 23] + - !!python/tuple [26, 18] + - !!python/tuple [26, 20] + - !!python/tuple [8, 21] + - !!python/tuple [23, 15] + - !!python/tuple [13, 11] + - !!python/tuple [31, 8] + - !!python/tuple [4, 29] + - !!python/tuple [20, 20] + - !!python/tuple [23, 22] + - !!python/tuple [9, 9] + - !!python/tuple [30, 6] + - !!python/tuple [9, 0] + - !!python/tuple [6, 8] + - !!python/tuple [14, 17] + - !!python/tuple [18, 28] + - !!python/tuple [15, 4] + - !!python/tuple [29, 18] + - !!python/tuple [22, 9] + - !!python/tuple [26, 3] + - !!python/tuple [26, 24] + - !!python/tuple [3, 12] + - !!python/tuple [20, 15] + - !!python/tuple [23, 30] + - !!python/tuple [8, 8] + - !!python/tuple [5, 16] + - !!python/tuple [14, 16] + - !!python/tuple [8, 17] + - !!python/tuple [17, 28] + - !!python/tuple [12, 16] + - !!python/tuple [21, 30] + - !!python/tuple [16, 17] + - !!python/tuple [16, 12] + - !!python/tuple [9, 26] + - !!python/tuple [7, 30] + - !!python/tuple [6, 17] + - !!python/tuple [14, 31] + - !!python/tuple [8, 22] + - !!python/tuple [25, 12] + - !!python/tuple [24, 8] + - !!python/tuple [6, 13] + - !!python/tuple [6, 3] + - !!python/tuple [23, 18] + - !!python/tuple [3, 14] + - !!python/tuple [9, 18] + - !!python/tuple [13, 20] + - !!python/tuple [2, 25] + - !!python/tuple [25, 7] + - !!python/tuple [5, 14] + - !!python/tuple [29, 16] + - !!python/tuple [0, 14] + - !!python/tuple [6, 10] + - !!python/tuple [24, 25] + - !!python/tuple [19, 1] + - !!python/tuple [3, 10] + - !!python/tuple [20, 10] + - !!python/tuple [1, 6] + - !!python/tuple [0, 31] + - !!python/tuple [3, 1] + - !!python/tuple [28, 22] + - !!python/tuple [25, 25] + - !!python/tuple [1, 12] + - !!python/tuple [4, 1] + - !!python/tuple [22, 6] + - !!python/tuple [16, 24] + - !!python/tuple [8, 20] + - !!python/tuple [2, 20] + - !!python/tuple [27, 27] + - !!python/tuple [30, 13] + - !!python/tuple [0, 8] + - !!python/tuple [23, 11] + - !!python/tuple [4, 8] + - !!python/tuple [14, 14] + - !!python/tuple [26, 7] + - !!python/tuple [0, 15] + - !!python/tuple [17, 5] + - !!python/tuple [8, 15] + - !!python/tuple [10, 11] + - !!python/tuple [29, 6] + - !!python/tuple [9, 20] + - !!python/tuple [21, 31] + - !!python/tuple [6, 11] + - !!python/tuple [25, 14] + - !!python/tuple [12, 4] + - !!python/tuple [2, 15] + - !!python/tuple [14, 8] + - !!python/tuple [3, 7] + - !!python/tuple [18, 31] + - !!python/tuple [5, 27] + - !!python/tuple [7, 29] + - !!python/tuple [7, 0] + - !!python/tuple [16, 7] + - !!python/tuple [29, 30] + - !!python/tuple [7, 4] + - !!python/tuple [10, 13] + - !!python/tuple [26, 25] + - !!python/tuple [17, 4] + - !!python/tuple [29, 17] + - !!python/tuple [26, 26] + - !!python/tuple [27, 22] + - !!python/tuple [16, 30] + - !!python/tuple [14, 6] + - !!python/tuple [14, 4] + - !!python/tuple [28, 0] + - !!python/tuple [26, 9] + - !!python/tuple [25, 24] + - !!python/tuple [10, 28] + - !!python/tuple [23, 28] + - !!python/tuple [16, 20] + - !!python/tuple [9, 6] + - !!python/tuple [9, 23] + - !!python/tuple [4, 4] + - !!python/tuple [4, 17] + - !!python/tuple [1, 13] + - !!python/tuple [2, 6] + - !!python/tuple [20, 2] + - !!python/tuple [0, 11] + - !!python/tuple [18, 18] + - !!python/tuple [4, 0] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex94.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex94.yaml new file mode 100644 index 0000000..8ae2dfb --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex94.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [10, 6] + name: agent0 + start: [25, 25] +- goal: [5, 6] + name: agent1 + start: [27, 24] +- goal: [10, 7] + name: agent2 + start: [24, 27] +- goal: [28, 28] + name: agent3 + start: [23, 21] +- goal: [9, 19] + name: agent4 + start: [4, 26] +- goal: [8, 26] + name: agent5 + start: [1, 31] +- goal: [25, 27] + name: agent6 + start: [8, 16] +- goal: [24, 29] + name: agent7 + start: [15, 30] +- goal: [26, 0] + name: agent8 + start: [0, 8] +- goal: [26, 13] + name: agent9 + start: [7, 15] +- goal: [6, 5] + name: agent10 + start: [7, 5] +- goal: [17, 23] + name: agent11 + start: [0, 27] +- goal: [15, 11] + name: agent12 + start: [0, 20] +- goal: [1, 23] + name: agent13 + start: [15, 13] +- goal: [31, 9] + name: agent14 + start: [11, 14] +- goal: [3, 5] + name: agent15 + start: [25, 12] +- goal: [19, 17] + name: agent16 + start: [5, 30] +- goal: [30, 15] + name: agent17 + start: [28, 9] +- goal: [6, 2] + name: agent18 + start: [21, 22] +- goal: [2, 3] + name: agent19 + start: [17, 13] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [27, 1] + - !!python/tuple [0, 21] + - !!python/tuple [29, 6] + - !!python/tuple [21, 31] + - !!python/tuple [3, 0] + - !!python/tuple [15, 8] + - !!python/tuple [2, 7] + - !!python/tuple [2, 5] + - !!python/tuple [5, 23] + - !!python/tuple [22, 15] + - !!python/tuple [4, 5] + - !!python/tuple [9, 20] + - !!python/tuple [26, 19] + - !!python/tuple [12, 3] + - !!python/tuple [14, 8] + - !!python/tuple [9, 22] + - !!python/tuple [31, 17] + - !!python/tuple [27, 26] + - !!python/tuple [20, 22] + - !!python/tuple [15, 6] + - !!python/tuple [16, 27] + - !!python/tuple [7, 20] + - !!python/tuple [25, 18] + - !!python/tuple [13, 4] + - !!python/tuple [22, 16] + - !!python/tuple [22, 23] + - !!python/tuple [15, 16] + - !!python/tuple [29, 27] + - !!python/tuple [7, 24] + - !!python/tuple [22, 18] + - !!python/tuple [8, 30] + - !!python/tuple [1, 26] + - !!python/tuple [14, 22] + - !!python/tuple [27, 14] + - !!python/tuple [0, 11] + - !!python/tuple [31, 0] + - !!python/tuple [31, 18] + - !!python/tuple [15, 7] + - !!python/tuple [21, 30] + - !!python/tuple [22, 3] + - !!python/tuple [16, 4] + - !!python/tuple [24, 24] + - !!python/tuple [12, 22] + - !!python/tuple [0, 24] + - !!python/tuple [19, 26] + - !!python/tuple [24, 18] + - !!python/tuple [29, 29] + - !!python/tuple [3, 17] + - !!python/tuple [28, 11] + - !!python/tuple [25, 14] + - !!python/tuple [1, 4] + - !!python/tuple [23, 12] + - !!python/tuple [28, 23] + - !!python/tuple [26, 7] + - !!python/tuple [4, 6] + - !!python/tuple [14, 19] + - !!python/tuple [27, 16] + - !!python/tuple [6, 14] + - !!python/tuple [9, 5] + - !!python/tuple [12, 25] + - !!python/tuple [20, 14] + - !!python/tuple [27, 12] + - !!python/tuple [28, 14] + - !!python/tuple [9, 24] + - !!python/tuple [11, 22] + - !!python/tuple [0, 2] + - !!python/tuple [9, 15] + - !!python/tuple [31, 13] + - !!python/tuple [26, 10] + - !!python/tuple [15, 10] + - !!python/tuple [5, 13] + - !!python/tuple [17, 16] + - !!python/tuple [2, 12] + - !!python/tuple [4, 21] + - !!python/tuple [17, 3] + - !!python/tuple [26, 18] + - !!python/tuple [31, 21] + - !!python/tuple [5, 1] + - !!python/tuple [20, 1] + - !!python/tuple [6, 26] + - !!python/tuple [30, 22] + - !!python/tuple [3, 22] + - !!python/tuple [23, 20] + - !!python/tuple [19, 19] + - !!python/tuple [23, 5] + - !!python/tuple [20, 5] + - !!python/tuple [21, 3] + - !!python/tuple [7, 2] + - !!python/tuple [20, 27] + - !!python/tuple [18, 12] + - !!python/tuple [8, 3] + - !!python/tuple [21, 15] + - !!python/tuple [1, 12] + - !!python/tuple [13, 26] + - !!python/tuple [18, 5] + - !!python/tuple [22, 10] + - !!python/tuple [22, 17] + - !!python/tuple [16, 29] + - !!python/tuple [1, 0] + - !!python/tuple [3, 2] + - !!python/tuple [7, 30] + - !!python/tuple [19, 3] + - !!python/tuple [13, 24] + - !!python/tuple [3, 20] + - !!python/tuple [16, 0] + - !!python/tuple [18, 14] + - !!python/tuple [10, 20] + - !!python/tuple [10, 30] + - !!python/tuple [31, 4] + - !!python/tuple [15, 31] + - !!python/tuple [13, 30] + - !!python/tuple [11, 5] + - !!python/tuple [25, 2] + - !!python/tuple [19, 28] + - !!python/tuple [24, 0] + - !!python/tuple [3, 11] + - !!python/tuple [0, 3] + - !!python/tuple [30, 9] + - !!python/tuple [20, 13] + - !!python/tuple [15, 27] + - !!python/tuple [23, 19] + - !!python/tuple [17, 2] + - !!python/tuple [11, 27] + - !!python/tuple [12, 26] + - !!python/tuple [4, 18] + - !!python/tuple [29, 1] + - !!python/tuple [4, 8] + - !!python/tuple [23, 25] + - !!python/tuple [31, 20] + - !!python/tuple [29, 2] + - !!python/tuple [20, 30] + - !!python/tuple [26, 17] + - !!python/tuple [19, 8] + - !!python/tuple [28, 24] + - !!python/tuple [16, 13] + - !!python/tuple [22, 9] + - !!python/tuple [12, 7] + - !!python/tuple [6, 1] + - !!python/tuple [13, 11] + - !!python/tuple [27, 11] + - !!python/tuple [17, 26] + - !!python/tuple [16, 17] + - !!python/tuple [28, 31] + - !!python/tuple [0, 25] + - !!python/tuple [20, 20] + - !!python/tuple [23, 2] + - !!python/tuple [3, 23] + - !!python/tuple [27, 25] + - !!python/tuple [3, 9] + - !!python/tuple [30, 20] + - !!python/tuple [5, 24] + - !!python/tuple [5, 5] + - !!python/tuple [24, 19] + - !!python/tuple [21, 23] + - !!python/tuple [28, 19] + - !!python/tuple [18, 0] + - !!python/tuple [18, 4] + - !!python/tuple [22, 0] + - !!python/tuple [17, 10] + - !!python/tuple [16, 19] + - !!python/tuple [20, 10] + - !!python/tuple [31, 10] + - !!python/tuple [22, 28] + - !!python/tuple [6, 9] + - !!python/tuple [6, 11] + - !!python/tuple [26, 8] + - !!python/tuple [17, 11] + - !!python/tuple [4, 0] + - !!python/tuple [29, 23] + - !!python/tuple [24, 31] + - !!python/tuple [24, 23] + - !!python/tuple [18, 28] + - !!python/tuple [14, 21] + - !!python/tuple [4, 1] + - !!python/tuple [30, 2] + - !!python/tuple [5, 10] + - !!python/tuple [19, 27] + - !!python/tuple [12, 10] + - !!python/tuple [5, 25] + - !!python/tuple [23, 10] + - !!python/tuple [12, 13] + - !!python/tuple [20, 9] + - !!python/tuple [1, 20] + - !!python/tuple [10, 17] + - !!python/tuple [4, 4] + - !!python/tuple [30, 21] + - !!python/tuple [23, 27] + - !!python/tuple [4, 7] + - !!python/tuple [1, 21] + - !!python/tuple [27, 15] + - !!python/tuple [31, 11] + - !!python/tuple [5, 9] + - !!python/tuple [12, 14] + - !!python/tuple [9, 1] + - !!python/tuple [27, 5] + - !!python/tuple [14, 0] + - !!python/tuple [15, 29] + - !!python/tuple [4, 3] + - !!python/tuple [24, 5] + - !!python/tuple [24, 16] + - !!python/tuple [11, 28] + - !!python/tuple [13, 0] + - !!python/tuple [19, 7] + - !!python/tuple [9, 25] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex95.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex95.yaml new file mode 100644 index 0000000..7706668 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex95.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [10, 24] + name: agent0 + start: [6, 5] +- goal: [2, 11] + name: agent1 + start: [3, 11] +- goal: [17, 27] + name: agent2 + start: [17, 21] +- goal: [19, 9] + name: agent3 + start: [6, 4] +- goal: [21, 7] + name: agent4 + start: [28, 31] +- goal: [15, 26] + name: agent5 + start: [22, 10] +- goal: [13, 25] + name: agent6 + start: [19, 21] +- goal: [25, 24] + name: agent7 + start: [29, 23] +- goal: [16, 14] + name: agent8 + start: [0, 11] +- goal: [24, 26] + name: agent9 + start: [23, 28] +- goal: [2, 2] + name: agent10 + start: [14, 8] +- goal: [29, 10] + name: agent11 + start: [15, 2] +- goal: [24, 8] + name: agent12 + start: [14, 24] +- goal: [22, 21] + name: agent13 + start: [2, 1] +- goal: [8, 31] + name: agent14 + start: [17, 17] +- goal: [3, 19] + name: agent15 + start: [23, 19] +- goal: [13, 15] + name: agent16 + start: [6, 10] +- goal: [13, 14] + name: agent17 + start: [13, 10] +- goal: [27, 7] + name: agent18 + start: [30, 25] +- goal: [2, 7] + name: agent19 + start: [1, 28] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [17, 26] + - !!python/tuple [31, 22] + - !!python/tuple [7, 10] + - !!python/tuple [1, 22] + - !!python/tuple [17, 12] + - !!python/tuple [19, 16] + - !!python/tuple [5, 23] + - !!python/tuple [11, 24] + - !!python/tuple [2, 6] + - !!python/tuple [0, 6] + - !!python/tuple [25, 27] + - !!python/tuple [29, 16] + - !!python/tuple [12, 6] + - !!python/tuple [4, 19] + - !!python/tuple [16, 19] + - !!python/tuple [20, 21] + - !!python/tuple [1, 14] + - !!python/tuple [2, 8] + - !!python/tuple [21, 0] + - !!python/tuple [6, 18] + - !!python/tuple [17, 10] + - !!python/tuple [22, 31] + - !!python/tuple [16, 16] + - !!python/tuple [19, 27] + - !!python/tuple [29, 0] + - !!python/tuple [25, 19] + - !!python/tuple [11, 26] + - !!python/tuple [22, 18] + - !!python/tuple [4, 26] + - !!python/tuple [18, 3] + - !!python/tuple [0, 25] + - !!python/tuple [15, 30] + - !!python/tuple [14, 17] + - !!python/tuple [9, 5] + - !!python/tuple [29, 18] + - !!python/tuple [17, 5] + - !!python/tuple [8, 9] + - !!python/tuple [3, 4] + - !!python/tuple [11, 21] + - !!python/tuple [4, 4] + - !!python/tuple [13, 1] + - !!python/tuple [19, 20] + - !!python/tuple [24, 19] + - !!python/tuple [8, 18] + - !!python/tuple [16, 10] + - !!python/tuple [8, 15] + - !!python/tuple [19, 19] + - !!python/tuple [29, 24] + - !!python/tuple [18, 18] + - !!python/tuple [16, 27] + - !!python/tuple [3, 29] + - !!python/tuple [30, 3] + - !!python/tuple [19, 13] + - !!python/tuple [1, 13] + - !!python/tuple [29, 12] + - !!python/tuple [13, 11] + - !!python/tuple [7, 27] + - !!python/tuple [5, 10] + - !!python/tuple [31, 28] + - !!python/tuple [16, 30] + - !!python/tuple [30, 22] + - !!python/tuple [6, 13] + - !!python/tuple [19, 6] + - !!python/tuple [25, 5] + - !!python/tuple [3, 14] + - !!python/tuple [22, 8] + - !!python/tuple [10, 28] + - !!python/tuple [27, 15] + - !!python/tuple [13, 12] + - !!python/tuple [22, 22] + - !!python/tuple [18, 10] + - !!python/tuple [21, 22] + - !!python/tuple [27, 8] + - !!python/tuple [23, 27] + - !!python/tuple [14, 14] + - !!python/tuple [26, 20] + - !!python/tuple [17, 3] + - !!python/tuple [6, 27] + - 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[24, 7] + - !!python/tuple [23, 13] + - !!python/tuple [27, 9] + - !!python/tuple [25, 0] + - !!python/tuple [10, 29] + - !!python/tuple [11, 12] + - !!python/tuple [4, 11] + - !!python/tuple [3, 5] + - !!python/tuple [8, 14] + - !!python/tuple [6, 31] + - !!python/tuple [27, 17] + - !!python/tuple [8, 23] + - !!python/tuple [23, 24] + - !!python/tuple [14, 12] + - !!python/tuple [8, 0] + - !!python/tuple [11, 17] + - !!python/tuple [10, 5] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex96.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex96.yaml new file mode 100644 index 0000000..d74fe22 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex96.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [1, 3] + name: agent0 + start: [18, 24] +- goal: [19, 4] + name: agent1 + start: [9, 13] +- goal: [7, 1] + name: agent2 + start: [4, 17] +- goal: [28, 11] + name: agent3 + start: [9, 22] +- goal: [27, 24] + name: agent4 + start: [5, 8] +- goal: [31, 16] + name: agent5 + start: [22, 24] +- goal: [9, 3] + name: agent6 + start: [27, 30] +- goal: [14, 16] + name: agent7 + start: [15, 22] +- goal: [13, 27] + name: agent8 + start: [24, 1] +- goal: [4, 25] + name: agent9 + start: [17, 1] +- goal: [25, 22] + name: agent10 + start: [14, 11] +- goal: [7, 3] + name: agent11 + start: [5, 5] +- goal: [6, 9] + name: agent12 + start: [11, 3] +- goal: [16, 23] + name: agent13 + start: [6, 3] +- goal: [15, 19] + name: agent14 + start: [0, 26] +- goal: [29, 2] + name: agent15 + start: [19, 12] +- goal: [30, 9] + name: agent16 + start: [27, 17] +- goal: [31, 1] + name: agent17 + start: [28, 29] +- goal: [31, 9] + name: agent18 + start: [0, 14] +- goal: [25, 4] + name: agent19 + start: [20, 8] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [24, 20] + - !!python/tuple [14, 19] + - !!python/tuple [7, 9] + - !!python/tuple [30, 10] + - !!python/tuple [22, 0] + - 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6] + - !!python/tuple [23, 16] + - !!python/tuple [28, 24] + - !!python/tuple [13, 16] + - !!python/tuple [8, 16] + - !!python/tuple [24, 8] + - !!python/tuple [26, 29] + - !!python/tuple [10, 10] + - !!python/tuple [6, 21] + - !!python/tuple [14, 4] + - !!python/tuple [4, 31] + - !!python/tuple [2, 26] + - !!python/tuple [24, 28] + - !!python/tuple [28, 18] + - !!python/tuple [0, 10] + - !!python/tuple [18, 9] + - !!python/tuple [21, 12] + - !!python/tuple [2, 7] + - !!python/tuple [3, 0] + - !!python/tuple [23, 29] + - !!python/tuple [2, 27] + - !!python/tuple [18, 2] + - !!python/tuple [21, 17] + - !!python/tuple [19, 29] + - !!python/tuple [29, 18] + - !!python/tuple [23, 13] + - !!python/tuple [27, 1] + - !!python/tuple [28, 14] + - !!python/tuple [0, 2] + - !!python/tuple [4, 5] + - !!python/tuple [8, 19] + - !!python/tuple [11, 6] + - !!python/tuple [18, 21] + - !!python/tuple [19, 27] + - !!python/tuple [12, 3] + - !!python/tuple [15, 31] + - !!python/tuple [16, 7] + - !!python/tuple [19, 20] + - !!python/tuple [29, 6] + - !!python/tuple [22, 21] + - !!python/tuple [25, 0] + - !!python/tuple [25, 3] + - !!python/tuple [0, 30] + - !!python/tuple [27, 4] + - !!python/tuple [9, 31] + - !!python/tuple [30, 6] + - !!python/tuple [6, 27] + - !!python/tuple [8, 1] + - !!python/tuple [21, 28] + - !!python/tuple [27, 22] + - !!python/tuple [14, 24] + - !!python/tuple [18, 26] + - !!python/tuple [7, 28] + - !!python/tuple [26, 19] + - !!python/tuple [13, 31] + - !!python/tuple [27, 14] + - !!python/tuple [7, 23] + - !!python/tuple [16, 25] + - !!python/tuple [6, 7] + - !!python/tuple [28, 6] + - !!python/tuple [22, 14] + - !!python/tuple [27, 6] + - !!python/tuple [27, 12] + - !!python/tuple [1, 11] + - !!python/tuple [21, 8] + - !!python/tuple [13, 14] + - !!python/tuple [1, 12] + - !!python/tuple [14, 31] + - !!python/tuple [0, 20] + - !!python/tuple [18, 3] + - !!python/tuple [22, 11] + - !!python/tuple [20, 14] + - !!python/tuple [13, 29] + - !!python/tuple [24, 21] + - !!python/tuple [15, 8] + - !!python/tuple [24, 15] + - !!python/tuple [22, 27] + - !!python/tuple [5, 30] + - !!python/tuple [14, 10] + - !!python/tuple [18, 13] + - !!python/tuple [11, 18] + - !!python/tuple [30, 4] + - !!python/tuple [11, 9] + - !!python/tuple [11, 15] + - !!python/tuple [7, 27] + - !!python/tuple [4, 1] + - !!python/tuple [3, 13] + - !!python/tuple [19, 28] + - !!python/tuple [13, 8] + - !!python/tuple [15, 9] + - !!python/tuple [28, 20] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex97.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex97.yaml new file mode 100644 index 0000000..e32eca1 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex97.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [24, 22] + name: agent0 + start: [22, 4] +- goal: [14, 29] + name: agent1 + start: [8, 3] +- goal: [27, 13] + name: agent2 + start: [14, 18] +- goal: [16, 23] + name: agent3 + start: [16, 14] +- goal: [31, 20] + name: agent4 + start: [4, 8] +- goal: [4, 5] + name: agent5 + start: [24, 3] +- goal: [3, 24] + name: agent6 + start: [20, 29] +- goal: [8, 24] + name: agent7 + start: [13, 25] +- goal: [14, 5] + name: agent8 + start: [22, 8] +- goal: [9, 17] + name: agent9 + start: [13, 21] +- goal: [15, 25] + name: agent10 + start: [30, 18] +- goal: [14, 22] + name: agent11 + start: [0, 13] +- goal: [17, 3] + name: agent12 + start: [30, 20] +- goal: [18, 15] + name: agent13 + start: [31, 21] +- goal: [23, 20] + name: agent14 + start: [26, 13] +- goal: [21, 11] + name: agent15 + start: [27, 11] +- goal: [11, 15] + name: agent16 + start: [21, 3] +- goal: [7, 1] + name: agent17 + start: [7, 19] +- goal: [29, 0] + name: agent18 + start: [3, 11] +- goal: [3, 30] + name: agent19 + start: [19, 26] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [0, 20] + - !!python/tuple [13, 3] + - !!python/tuple [18, 25] + - !!python/tuple [2, 16] + - !!python/tuple [17, 30] + - !!python/tuple [26, 7] + - !!python/tuple [4, 0] + - !!python/tuple [9, 16] + - !!python/tuple [27, 0] + - !!python/tuple [29, 12] + - !!python/tuple [9, 1] + - !!python/tuple [30, 31] + - !!python/tuple [21, 22] + - !!python/tuple [26, 8] + - !!python/tuple [12, 12] + - !!python/tuple [31, 10] + - !!python/tuple [7, 10] + - !!python/tuple [26, 15] + - !!python/tuple [19, 5] + - !!python/tuple [15, 14] + - !!python/tuple [6, 0] + - !!python/tuple [29, 30] + - !!python/tuple [9, 21] + - !!python/tuple [15, 4] + - !!python/tuple [22, 15] + - !!python/tuple [17, 17] + - !!python/tuple [25, 28] + - !!python/tuple [15, 29] + - !!python/tuple [4, 19] + - !!python/tuple [9, 27] + - !!python/tuple [11, 5] + - !!python/tuple [18, 12] + - !!python/tuple [29, 29] + - !!python/tuple [31, 22] + - !!python/tuple [13, 6] + - !!python/tuple [2, 30] + - !!python/tuple [7, 23] + - !!python/tuple [19, 1] + - !!python/tuple [16, 16] + - !!python/tuple [14, 6] + - !!python/tuple [14, 25] + - !!python/tuple [8, 31] + - !!python/tuple [29, 22] + - !!python/tuple [23, 16] + - !!python/tuple [3, 25] + - !!python/tuple [27, 22] + - !!python/tuple [31, 2] + - !!python/tuple [29, 20] + - !!python/tuple [2, 28] + - !!python/tuple [25, 7] + - !!python/tuple [28, 29] + - !!python/tuple [1, 9] + - !!python/tuple [17, 25] + - !!python/tuple [11, 31] + - !!python/tuple [20, 9] + - !!python/tuple [18, 0] + - !!python/tuple [1, 31] + - !!python/tuple [24, 13] + - !!python/tuple [24, 30] + - !!python/tuple [2, 4] + - !!python/tuple [1, 26] + - !!python/tuple [1, 15] + - !!python/tuple [0, 18] + - !!python/tuple [16, 7] + - !!python/tuple [7, 7] + - !!python/tuple [24, 2] + - !!python/tuple [12, 24] + - !!python/tuple [28, 27] + - !!python/tuple [21, 25] + - !!python/tuple [10, 10] + - !!python/tuple [12, 13] + - !!python/tuple [27, 15] + - !!python/tuple [0, 24] + - !!python/tuple [0, 10] + - !!python/tuple [25, 1] + - !!python/tuple [6, 17] + - !!python/tuple [20, 3] + - !!python/tuple [23, 1] + - !!python/tuple [4, 14] + - !!python/tuple [31, 26] + - !!python/tuple [9, 6] + - !!python/tuple [25, 16] + - !!python/tuple [14, 4] + - !!python/tuple [17, 13] + - !!python/tuple [31, 29] + - !!python/tuple [24, 10] + - !!python/tuple [22, 9] + - !!python/tuple [0, 5] + - !!python/tuple [13, 7] + - !!python/tuple [8, 11] + - !!python/tuple [2, 0] + - !!python/tuple [10, 11] + - !!python/tuple [13, 13] + - !!python/tuple [8, 23] + - !!python/tuple [16, 20] + - !!python/tuple [30, 15] + - !!python/tuple [1, 6] + - !!python/tuple [17, 19] + - !!python/tuple [6, 7] + - !!python/tuple [1, 14] + - !!python/tuple [16, 19] + - !!python/tuple [28, 22] + - !!python/tuple [26, 24] + - !!python/tuple [15, 11] + - !!python/tuple [18, 28] + - !!python/tuple [18, 21] + - !!python/tuple [7, 30] + - !!python/tuple [31, 28] + - !!python/tuple [16, 6] + - !!python/tuple [11, 11] + - !!python/tuple [31, 6] + - !!python/tuple [22, 24] + - !!python/tuple [21, 0] + - !!python/tuple [31, 12] + - !!python/tuple [14, 27] + - !!python/tuple [28, 26] + - !!python/tuple [3, 6] + - !!python/tuple [26, 26] + - !!python/tuple [31, 15] + - !!python/tuple [10, 0] + - !!python/tuple [9, 14] + - !!python/tuple [4, 25] + - !!python/tuple [21, 13] + - !!python/tuple [22, 17] + - !!python/tuple [14, 20] + - !!python/tuple [11, 30] + - !!python/tuple [11, 12] + - !!python/tuple [16, 30] + - !!python/tuple [23, 5] + - !!python/tuple [28, 15] + - !!python/tuple [8, 25] + - !!python/tuple [20, 25] + - !!python/tuple [11, 24] + - !!python/tuple [28, 11] + - !!python/tuple [10, 29] + - !!python/tuple [9, 9] + - !!python/tuple [12, 3] + - !!python/tuple [11, 6] + - !!python/tuple [10, 24] + - !!python/tuple [30, 16] + - !!python/tuple [12, 28] + - !!python/tuple [6, 19] + - !!python/tuple [10, 5] + - !!python/tuple [27, 18] + - !!python/tuple [5, 8] + - !!python/tuple [24, 27] + - !!python/tuple [15, 20] + - !!python/tuple [2, 11] + - !!python/tuple [13, 5] + - !!python/tuple [3, 28] + - !!python/tuple [5, 4] + - !!python/tuple [8, 9] + - !!python/tuple [30, 30] + - !!python/tuple [27, 25] + - !!python/tuple [1, 20] + - !!python/tuple [9, 12] + - !!python/tuple [29, 25] + - !!python/tuple [0, 8] + - !!python/tuple [8, 30] + - !!python/tuple [30, 2] + - !!python/tuple [25, 20] + - !!python/tuple [17, 22] + - !!python/tuple [10, 25] + - !!python/tuple [1, 30] + - !!python/tuple [20, 28] + - !!python/tuple [28, 31] + - !!python/tuple [0, 28] + - !!python/tuple [4, 23] + - !!python/tuple [15, 19] + - !!python/tuple [12, 31] + - !!python/tuple [5, 21] + - !!python/tuple [23, 4] + - !!python/tuple [9, 22] + - !!python/tuple [31, 5] + - !!python/tuple [20, 6] + - !!python/tuple [24, 17] + - !!python/tuple [7, 22] + - !!python/tuple [25, 11] + - !!python/tuple [1, 27] + - !!python/tuple [27, 19] + - !!python/tuple [12, 1] + - !!python/tuple [26, 6] + - !!python/tuple [7, 12] + - !!python/tuple [14, 26] + - !!python/tuple [14, 11] + - !!python/tuple [28, 0] + - !!python/tuple [17, 8] + - !!python/tuple [25, 25] + - !!python/tuple [17, 4] + - !!python/tuple [9, 18] + - !!python/tuple [17, 20] + - !!python/tuple [18, 9] + - !!python/tuple [30, 25] + - !!python/tuple [14, 14] + - !!python/tuple [15, 30] + - !!python/tuple [24, 25] + - !!python/tuple [1, 11] + - !!python/tuple [31, 3] + - !!python/tuple [8, 5] + - !!python/tuple [2, 15] + - !!python/tuple [8, 20] + - !!python/tuple [6, 13] + - !!python/tuple [23, 26] + - !!python/tuple [26, 4] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex98.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex98.yaml new file mode 100644 index 0000000..1fd421e --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex98.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [18, 17] + name: agent0 + start: [18, 8] +- goal: [3, 26] + name: agent1 + start: [8, 31] +- goal: [16, 28] + name: agent2 + start: [3, 17] +- goal: [13, 15] + name: agent3 + start: [15, 6] +- goal: [15, 20] + name: agent4 + start: [3, 15] +- goal: [5, 21] + name: agent5 + start: [22, 11] +- goal: [7, 16] + name: agent6 + start: [27, 14] +- goal: [26, 29] + name: agent7 + start: [30, 9] +- goal: [2, 23] + name: agent8 + start: [25, 3] +- goal: [10, 4] + name: agent9 + start: [0, 31] +- goal: [3, 12] + name: agent10 + start: [9, 0] +- goal: [31, 1] + name: agent11 + start: [19, 7] +- goal: [13, 22] + name: agent12 + start: [9, 7] +- goal: [26, 20] + name: agent13 + start: [13, 28] +- goal: [0, 8] + name: agent14 + start: [10, 10] +- goal: [3, 7] + name: agent15 + start: [13, 27] +- goal: [4, 9] + name: agent16 + start: [27, 5] +- goal: [8, 29] + name: agent17 + start: [20, 8] +- goal: [3, 17] + name: agent18 + start: [25, 22] +- goal: [24, 31] + name: agent19 + start: [26, 31] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [27, 1] + - !!python/tuple [10, 27] + - !!python/tuple [28, 17] + - !!python/tuple [10, 25] + - !!python/tuple [2, 5] + - !!python/tuple [24, 18] + - !!python/tuple [24, 22] + - !!python/tuple [10, 5] + - !!python/tuple [19, 2] + - !!python/tuple [18, 18] + - !!python/tuple [29, 11] + - !!python/tuple [23, 5] + - !!python/tuple [31, 14] + - !!python/tuple [8, 5] + - !!python/tuple [15, 29] + - !!python/tuple [2, 13] + - !!python/tuple [6, 17] + - !!python/tuple [24, 29] + - !!python/tuple [14, 22] + - !!python/tuple [13, 2] + - !!python/tuple [6, 25] + - !!python/tuple [27, 12] + - !!python/tuple [13, 11] + - !!python/tuple [29, 18] + - !!python/tuple [22, 27] + - !!python/tuple [16, 18] + - !!python/tuple [16, 7] + - !!python/tuple [3, 6] + - !!python/tuple [11, 9] + - !!python/tuple [9, 5] + - !!python/tuple [11, 2] + - !!python/tuple [17, 25] + - !!python/tuple [10, 6] + - !!python/tuple [1, 31] + - !!python/tuple [20, 3] + - !!python/tuple [18, 20] + - !!python/tuple [5, 5] + - !!python/tuple [7, 9] + - !!python/tuple [1, 6] + - !!python/tuple [11, 14] + - !!python/tuple [15, 4] + - !!python/tuple [28, 8] + - !!python/tuple [1, 10] + - !!python/tuple [0, 23] + - !!python/tuple [18, 22] + - !!python/tuple [15, 31] + - !!python/tuple [16, 4] + - !!python/tuple [19, 15] + - !!python/tuple [6, 3] + - !!python/tuple [11, 21] + - !!python/tuple [0, 24] + - !!python/tuple [11, 22] + - !!python/tuple [16, 21] + - !!python/tuple [10, 7] + - !!python/tuple [1, 29] + - !!python/tuple [10, 11] + - !!python/tuple [4, 11] + - !!python/tuple [24, 28] + - !!python/tuple [8, 17] + - !!python/tuple [12, 19] + - !!python/tuple [17, 29] + - !!python/tuple [15, 30] + - !!python/tuple [28, 28] + - !!python/tuple [28, 5] + - !!python/tuple [0, 25] + - !!python/tuple [25, 2] + - !!python/tuple [13, 9] + - !!python/tuple [25, 4] + - !!python/tuple [31, 16] + - !!python/tuple [5, 13] + - !!python/tuple [1, 16] + - !!python/tuple [0, 2] + - !!python/tuple [1, 1] + - !!python/tuple [29, 12] + - !!python/tuple [31, 27] + - !!python/tuple [13, 1] + - !!python/tuple [25, 20] + - !!python/tuple [3, 24] + - !!python/tuple [30, 10] + - !!python/tuple [13, 29] + - !!python/tuple [24, 9] + - !!python/tuple [21, 19] + - !!python/tuple [30, 11] + - !!python/tuple [19, 26] + - !!python/tuple [11, 18] + - !!python/tuple [24, 4] + - !!python/tuple [9, 23] + - !!python/tuple [12, 0] + - !!python/tuple [7, 8] + - !!python/tuple [9, 1] + - !!python/tuple [13, 12] + - !!python/tuple [3, 30] + - !!python/tuple [9, 28] + - !!python/tuple [6, 27] + - !!python/tuple [21, 16] + - !!python/tuple [25, 1] + - !!python/tuple [22, 23] + - !!python/tuple [3, 23] + - !!python/tuple [27, 28] + - !!python/tuple [20, 17] + - !!python/tuple [6, 12] + - !!python/tuple [24, 23] + - !!python/tuple [10, 22] + - !!python/tuple [4, 6] + - !!python/tuple [21, 17] + - !!python/tuple [28, 2] + - !!python/tuple [12, 26] + - !!python/tuple [12, 7] + - !!python/tuple [31, 6] + - !!python/tuple [23, 22] + - !!python/tuple [17, 21] + - !!python/tuple [18, 11] + - !!python/tuple [26, 14] + - !!python/tuple [7, 2] + - !!python/tuple [20, 31] + - !!python/tuple [18, 0] + - !!python/tuple [19, 23] + - !!python/tuple [25, 17] + - !!python/tuple [5, 28] + - !!python/tuple [11, 25] + - !!python/tuple [11, 1] + - !!python/tuple [22, 14] + - !!python/tuple [28, 26] + - !!python/tuple [5, 17] + - !!python/tuple [5, 18] + - !!python/tuple [9, 18] + - !!python/tuple [17, 19] + - !!python/tuple [18, 2] + - !!python/tuple [23, 29] + - !!python/tuple [24, 20] + - !!python/tuple [8, 23] + - !!python/tuple [17, 15] + - !!python/tuple [4, 17] + - !!python/tuple [17, 26] + - !!python/tuple [2, 21] + - !!python/tuple [17, 30] + - !!python/tuple [31, 7] + - !!python/tuple [10, 9] + - !!python/tuple [0, 20] + - !!python/tuple [6, 9] + - !!python/tuple [6, 30] + - !!python/tuple [21, 4] + - !!python/tuple [8, 14] + - !!python/tuple [20, 1] + - !!python/tuple [19, 6] + - !!python/tuple [14, 18] + - !!python/tuple [11, 30] + - !!python/tuple [10, 29] + - !!python/tuple [10, 2] + - !!python/tuple [21, 6] + - !!python/tuple [3, 25] + - !!python/tuple [27, 19] + - !!python/tuple [25, 21] + - !!python/tuple [4, 12] + - !!python/tuple [17, 13] + - !!python/tuple [5, 9] + - !!python/tuple [9, 24] + - !!python/tuple [1, 18] + - !!python/tuple [12, 1] + - !!python/tuple [0, 9] + - !!python/tuple [31, 10] + - !!python/tuple [20, 9] + - !!python/tuple [21, 7] + - !!python/tuple [17, 20] + - !!python/tuple [20, 15] + - !!python/tuple [14, 31] + - !!python/tuple [16, 6] + - !!python/tuple [3, 3] + - !!python/tuple [25, 8] + - !!python/tuple [28, 30] + - !!python/tuple [29, 3] + - !!python/tuple [26, 1] + - !!python/tuple [20, 4] + - !!python/tuple [8, 19] + - !!python/tuple [16, 22] + - !!python/tuple [1, 13] + - !!python/tuple [17, 5] + - !!python/tuple [16, 14] + - !!python/tuple [19, 28] + - !!python/tuple [17, 0] + - !!python/tuple [23, 19] + - !!python/tuple [15, 18] + - !!python/tuple [20, 19] + - !!python/tuple [12, 22] + - !!python/tuple [23, 23] + - !!python/tuple [12, 16] + - !!python/tuple [4, 1] + - !!python/tuple [30, 31] + - !!python/tuple [22, 28] + - !!python/tuple [27, 7] + - !!python/tuple [21, 27] + - !!python/tuple [20, 13] + - !!python/tuple [5, 25] + - !!python/tuple [14, 1] + - !!python/tuple [8, 13] + - !!python/tuple [31, 17] + - !!python/tuple [11, 24] + - !!python/tuple [24, 6] + - !!python/tuple [29, 21] + - !!python/tuple [26, 2] + - !!python/tuple [30, 14] + - !!python/tuple [31, 2] + - !!python/tuple [16, 2] + - !!python/tuple [20, 27] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex99.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex99.yaml new file mode 100644 index 0000000..7ec4925 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents20_ex99.yaml @@ -0,0 +1,268 @@ +agents: +- goal: [26, 7] + name: agent0 + start: [7, 31] +- goal: [26, 25] + name: agent1 + start: [15, 4] +- goal: [17, 9] + name: agent2 + start: [0, 23] +- goal: [18, 3] + name: agent3 + start: [21, 17] +- goal: [10, 1] + name: agent4 + start: [11, 21] +- goal: [3, 18] + name: agent5 + start: [12, 11] +- goal: [10, 24] + name: agent6 + start: [8, 11] +- goal: [4, 8] + name: agent7 + start: [17, 6] +- goal: [21, 16] + name: agent8 + start: [30, 27] +- goal: [19, 26] + name: agent9 + start: [11, 24] +- goal: [18, 6] + name: agent10 + start: [5, 31] +- goal: [24, 27] + name: agent11 + start: [10, 25] +- goal: [26, 28] + name: agent12 + start: [22, 19] +- goal: [12, 19] + name: agent13 + start: [3, 22] +- goal: [1, 4] + name: agent14 + start: [22, 17] +- goal: [28, 25] + name: agent15 + start: [20, 22] +- goal: [0, 5] + name: agent16 + start: [13, 20] +- goal: [6, 30] + name: agent17 + start: [5, 14] +- goal: [27, 18] + name: agent18 + start: [6, 4] +- goal: [29, 19] + name: agent19 + start: [2, 3] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [14, 18] + - !!python/tuple [18, 19] + - !!python/tuple [11, 31] + - !!python/tuple [21, 6] + - !!python/tuple [10, 10] + - !!python/tuple [7, 21] + - !!python/tuple [20, 13] + - !!python/tuple [11, 1] + - !!python/tuple [28, 8] + - !!python/tuple [12, 27] + - !!python/tuple [28, 31] + - !!python/tuple [8, 6] + - !!python/tuple [23, 1] + - !!python/tuple [7, 16] + - !!python/tuple [3, 26] + - !!python/tuple [19, 16] + - !!python/tuple [31, 18] + - !!python/tuple [1, 29] + - !!python/tuple [10, 12] + - !!python/tuple [29, 6] + - !!python/tuple [18, 22] + - !!python/tuple [0, 0] + - !!python/tuple [11, 9] + - !!python/tuple [26, 31] + - !!python/tuple [28, 7] + - !!python/tuple [29, 18] + - !!python/tuple [7, 8] + - !!python/tuple [13, 14] + - !!python/tuple [19, 11] + - !!python/tuple [14, 23] + - !!python/tuple [24, 3] + - !!python/tuple [10, 6] + - !!python/tuple [8, 3] + - !!python/tuple [16, 13] + - !!python/tuple [26, 15] + - !!python/tuple [17, 22] + - !!python/tuple [24, 9] + - !!python/tuple [14, 7] + - !!python/tuple [2, 23] + - !!python/tuple [28, 28] + - !!python/tuple [5, 19] + - !!python/tuple [11, 6] + - !!python/tuple [27, 2] + - !!python/tuple [10, 26] + - !!python/tuple [15, 1] + - !!python/tuple [21, 23] + - !!python/tuple [28, 24] + - !!python/tuple [7, 20] + - !!python/tuple [28, 0] + - !!python/tuple [12, 9] + - !!python/tuple [22, 21] + - !!python/tuple [3, 30] + - !!python/tuple [11, 29] + - !!python/tuple [11, 18] + - !!python/tuple [4, 28] + - !!python/tuple [21, 9] + - !!python/tuple [25, 18] + - !!python/tuple [14, 8] + - !!python/tuple [27, 5] + - !!python/tuple [17, 24] + - !!python/tuple [23, 10] + - !!python/tuple [24, 17] + - !!python/tuple [15, 23] + - !!python/tuple [7, 10] + - !!python/tuple [26, 4] + - !!python/tuple [6, 22] + - !!python/tuple [11, 30] + - !!python/tuple [25, 15] + - !!python/tuple [24, 25] + - !!python/tuple [27, 12] + - !!python/tuple [4, 26] + - !!python/tuple [18, 9] + - !!python/tuple [22, 28] + - !!python/tuple [6, 15] + - !!python/tuple [26, 6] + - !!python/tuple [27, 24] + - !!python/tuple [13, 27] + - !!python/tuple [22, 1] + - !!python/tuple [5, 25] + - !!python/tuple [3, 9] + - !!python/tuple [10, 20] + - !!python/tuple [14, 15] + - !!python/tuple [21, 1] + - !!python/tuple [29, 26] + - !!python/tuple [20, 1] + - !!python/tuple [0, 9] + - !!python/tuple [30, 7] + - !!python/tuple [15, 26] + - !!python/tuple [14, 24] + - !!python/tuple [13, 21] + - !!python/tuple [27, 9] + - !!python/tuple [22, 13] + - !!python/tuple [23, 22] + - !!python/tuple [15, 7] + - !!python/tuple [6, 0] + - !!python/tuple [6, 5] + - !!python/tuple [6, 23] + - !!python/tuple [29, 23] + - !!python/tuple [1, 18] + - !!python/tuple [29, 4] + - !!python/tuple [2, 25] + - !!python/tuple [29, 29] + - !!python/tuple [13, 2] + - !!python/tuple [25, 19] + - !!python/tuple [23, 16] + - !!python/tuple [10, 11] + - !!python/tuple [29, 5] + - !!python/tuple [7, 15] + - !!python/tuple [5, 21] + - !!python/tuple [31, 1] + - !!python/tuple [28, 17] + - !!python/tuple [25, 6] + - !!python/tuple [25, 10] + - !!python/tuple [0, 6] + - !!python/tuple [4, 11] + - !!python/tuple [16, 11] + - !!python/tuple [20, 28] + - !!python/tuple [16, 22] + - !!python/tuple [20, 10] + - !!python/tuple [17, 23] + - !!python/tuple [1, 22] + - !!python/tuple [15, 14] + - !!python/tuple [20, 11] + - !!python/tuple [31, 17] + - !!python/tuple [2, 2] + - !!python/tuple [20, 12] + - !!python/tuple [11, 12] + - !!python/tuple [16, 31] + - !!python/tuple [12, 6] + - !!python/tuple [25, 16] + - !!python/tuple [23, 5] + - !!python/tuple [20, 25] + - !!python/tuple [4, 7] + - !!python/tuple [13, 1] + - !!python/tuple [5, 6] + - !!python/tuple [28, 4] + - !!python/tuple [15, 3] + - !!python/tuple [30, 4] + - !!python/tuple [2, 17] + - !!python/tuple [2, 27] + - !!python/tuple [10, 18] + - !!python/tuple [20, 7] + - !!python/tuple [30, 31] + - !!python/tuple [24, 2] + - !!python/tuple [12, 8] + - !!python/tuple [26, 13] + - !!python/tuple [19, 20] + - !!python/tuple [1, 19] + - !!python/tuple [28, 23] + - !!python/tuple [19, 0] + - !!python/tuple [8, 23] + - !!python/tuple [17, 0] + - !!python/tuple [31, 8] + - !!python/tuple [0, 21] + - !!python/tuple [27, 26] + - !!python/tuple [31, 4] + - !!python/tuple [20, 17] + - !!python/tuple [8, 30] + - !!python/tuple [27, 8] + - !!python/tuple [18, 21] + - !!python/tuple [4, 18] + - !!python/tuple [18, 23] + - !!python/tuple [26, 27] + - !!python/tuple [27, 13] + - !!python/tuple [0, 24] + - !!python/tuple [31, 2] + - !!python/tuple [12, 3] + - !!python/tuple [6, 31] + - !!python/tuple [14, 21] + - !!python/tuple [10, 8] + - !!python/tuple [11, 4] + - !!python/tuple [21, 0] + - !!python/tuple [2, 15] + - !!python/tuple [3, 8] + - !!python/tuple [20, 4] + - !!python/tuple [16, 8] + - !!python/tuple [26, 18] + - !!python/tuple [29, 16] + - !!python/tuple [24, 10] + - !!python/tuple [9, 10] + - !!python/tuple [9, 19] + - !!python/tuple [24, 14] + - !!python/tuple [7, 7] + - !!python/tuple [14, 5] + - !!python/tuple [0, 22] + - !!python/tuple [4, 4] + - !!python/tuple [28, 22] + - !!python/tuple [4, 16] + - !!python/tuple [18, 8] + - !!python/tuple [31, 26] + - !!python/tuple [24, 22] + - !!python/tuple [9, 25] + - !!python/tuple [19, 31] + - !!python/tuple [16, 18] + - !!python/tuple [22, 27] + - !!python/tuple [2, 9] + - !!python/tuple [27, 11] + - !!python/tuple [25, 1] + - !!python/tuple [26, 19] + - !!python/tuple [25, 2] + - !!python/tuple [0, 31] + - !!python/tuple [19, 2] + - !!python/tuple [31, 19] + - !!python/tuple [7, 11] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex0.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex0.yaml new file mode 100644 index 0000000..18a9d74 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex0.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [25, 18] + name: agent0 + start: [12, 6] +- goal: [0, 18] + name: agent1 + start: [8, 6] +- goal: [19, 26] + name: agent2 + start: [7, 13] +- goal: [18, 6] + name: agent3 + start: [31, 16] +- goal: [11, 12] + name: agent4 + start: [19, 0] +- goal: [12, 28] + name: agent5 + start: [6, 25] +- goal: [26, 5] + name: agent6 + start: [30, 11] +- goal: [29, 13] + name: agent7 + start: [18, 18] +- goal: [16, 26] + name: agent8 + start: [10, 21] +- goal: [8, 16] + name: agent9 + start: [23, 21] +- goal: [29, 12] + name: agent10 + start: [23, 3] +- goal: [15, 28] + name: agent11 + start: [19, 9] +- goal: [2, 12] + name: agent12 + start: [0, 12] +- goal: [0, 16] + name: agent13 + start: [6, 16] +- goal: [0, 24] + name: agent14 + start: [6, 21] +- goal: [26, 22] + name: agent15 + start: [2, 5] +- goal: [8, 9] + name: agent16 + start: [4, 8] +- goal: [19, 10] + name: agent17 + start: [5, 19] +- goal: [6, 31] + name: agent18 + start: [5, 22] +- goal: [11, 3] + name: agent19 + start: [3, 9] +- goal: [25, 25] + name: agent20 + start: [31, 21] +- goal: [25, 3] + name: agent21 + start: [3, 1] +- goal: [3, 17] + name: agent22 + start: [26, 16] +- goal: [25, 2] + name: agent23 + start: [9, 30] +- goal: [30, 28] + name: agent24 + start: [30, 16] +- goal: [1, 4] + name: agent25 + start: [1, 3] +- goal: [31, 10] + name: agent26 + start: [27, 7] +- goal: [19, 25] + name: agent27 + start: [25, 30] +- goal: [28, 9] + name: agent28 + start: [0, 18] +- goal: [18, 31] + name: agent29 + start: [27, 28] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [15, 3] + - !!python/tuple [17, 30] + - !!python/tuple [15, 5] + - !!python/tuple [5, 14] + - !!python/tuple [20, 30] + - !!python/tuple [22, 2] + - !!python/tuple [17, 1] + - !!python/tuple [26, 17] + - !!python/tuple [23, 1] + - !!python/tuple [29, 0] + - !!python/tuple [10, 16] + - !!python/tuple [26, 9] + - !!python/tuple [8, 12] + - !!python/tuple [5, 13] + - !!python/tuple [23, 13] + - !!python/tuple [8, 1] + - !!python/tuple [4, 9] + - !!python/tuple [23, 7] + - !!python/tuple [24, 25] + - !!python/tuple [10, 4] + - !!python/tuple [1, 7] + - !!python/tuple [1, 15] + - !!python/tuple [26, 18] + - !!python/tuple [28, 30] + - !!python/tuple [6, 7] + - !!python/tuple [12, 8] + - !!python/tuple [12, 22] + - !!python/tuple [21, 26] + - !!python/tuple [15, 12] + - !!python/tuple [0, 27] + - !!python/tuple [3, 27] + - !!python/tuple [17, 28] + - !!python/tuple [22, 10] + - !!python/tuple [21, 18] + - !!python/tuple [8, 23] + - !!python/tuple [16, 15] + - !!python/tuple [1, 20] + - !!python/tuple [7, 17] + - !!python/tuple [20, 15] + - !!python/tuple [23, 14] + - !!python/tuple [28, 14] + - !!python/tuple [1, 9] + - !!python/tuple [7, 19] + - !!python/tuple [30, 0] + - !!python/tuple [11, 22] + - !!python/tuple [17, 22] + - !!python/tuple [29, 11] + - !!python/tuple [7, 20] + - !!python/tuple [31, 1] + - !!python/tuple [24, 28] + - !!python/tuple [7, 28] + - !!python/tuple [13, 11] + - !!python/tuple [13, 7] + - !!python/tuple [7, 14] + - !!python/tuple [21, 8] + - !!python/tuple [23, 16] + - !!python/tuple [28, 28] + - !!python/tuple [6, 14] + - !!python/tuple [20, 22] + - !!python/tuple [28, 24] + - !!python/tuple [19, 23] + - !!python/tuple [1, 25] + - !!python/tuple [4, 29] + - !!python/tuple [5, 17] + - !!python/tuple [15, 16] + - !!python/tuple [1, 22] + - !!python/tuple [25, 11] + - !!python/tuple [29, 7] + - !!python/tuple [7, 8] + - !!python/tuple [5, 25] + - !!python/tuple [21, 28] + - !!python/tuple [21, 4] + - !!python/tuple [17, 31] + - !!python/tuple [18, 16] + - !!python/tuple [1, 2] + - !!python/tuple [24, 7] + - !!python/tuple [28, 25] + - !!python/tuple [20, 9] + - !!python/tuple [30, 30] + - !!python/tuple [9, 9] + - !!python/tuple [11, 21] + - !!python/tuple [28, 3] + - !!python/tuple [1, 26] + - !!python/tuple [22, 3] + - !!python/tuple [31, 0] + - !!python/tuple [5, 9] + - !!python/tuple [17, 14] + - !!python/tuple [29, 6] + - !!python/tuple [0, 10] + - !!python/tuple [16, 0] + - !!python/tuple [1, 1] + - !!python/tuple [4, 17] + - !!python/tuple [5, 1] + - !!python/tuple [24, 24] + - !!python/tuple [30, 15] + - !!python/tuple [4, 12] + - !!python/tuple [4, 24] + - !!python/tuple [25, 0] + - !!python/tuple [21, 23] + - !!python/tuple [24, 21] + - !!python/tuple [25, 12] + - !!python/tuple [5, 18] + - !!python/tuple [7, 31] + - !!python/tuple [4, 25] + - !!python/tuple [19, 1] + - !!python/tuple [1, 14] + - !!python/tuple [10, 26] + - !!python/tuple [17, 21] + - !!python/tuple [1, 17] + - !!python/tuple [24, 0] + - !!python/tuple [14, 14] + - !!python/tuple [11, 23] + - !!python/tuple [7, 15] + - !!python/tuple [11, 15] + - !!python/tuple [19, 17] + - !!python/tuple [11, 2] + - !!python/tuple [6, 22] + - !!python/tuple [5, 3] + - !!python/tuple [1, 6] + - !!python/tuple [18, 14] + - !!python/tuple [3, 26] + - !!python/tuple [13, 12] + - !!python/tuple [2, 29] + - !!python/tuple [17, 15] + - !!python/tuple [1, 18] + - !!python/tuple [29, 16] + - !!python/tuple [1, 10] + - !!python/tuple [1, 30] + - !!python/tuple [20, 1] + - !!python/tuple [1, 21] + - !!python/tuple [2, 17] + - !!python/tuple [8, 28] + - !!python/tuple [8, 14] + - !!python/tuple [22, 6] + - !!python/tuple [20, 21] + - !!python/tuple [9, 4] + - !!python/tuple [2, 28] + - !!python/tuple [18, 30] + - !!python/tuple [10, 19] + - !!python/tuple [31, 25] + - !!python/tuple [3, 5] + - !!python/tuple [20, 18] + - !!python/tuple [0, 7] + - !!python/tuple [15, 29] + - !!python/tuple [14, 7] + - !!python/tuple [19, 20] + - !!python/tuple [11, 19] + - !!python/tuple [18, 29] + - !!python/tuple [21, 10] + - !!python/tuple [21, 14] + - !!python/tuple [26, 30] + - !!python/tuple [30, 25] + - !!python/tuple [29, 17] + - !!python/tuple [21, 31] + - !!python/tuple [21, 30] + - !!python/tuple [8, 25] + - !!python/tuple [2, 20] + - !!python/tuple [28, 16] + - !!python/tuple [24, 26] + - !!python/tuple [22, 15] + - !!python/tuple [17, 11] + - !!python/tuple [18, 21] + - !!python/tuple [28, 29] + - !!python/tuple [0, 31] + - !!python/tuple [27, 8] + - !!python/tuple [19, 27] + - !!python/tuple [0, 11] + - !!python/tuple [11, 11] + - !!python/tuple [15, 17] + - !!python/tuple [23, 25] + - !!python/tuple [21, 20] + - !!python/tuple [2, 13] + - !!python/tuple [0, 26] + - !!python/tuple [31, 3] + - !!python/tuple [24, 6] + - !!python/tuple [17, 9] + - !!python/tuple [27, 10] + - !!python/tuple [10, 15] + - !!python/tuple [30, 13] + - !!python/tuple [13, 29] + - !!python/tuple [5, 20] + - !!python/tuple [10, 29] + - !!python/tuple [24, 19] + - !!python/tuple [30, 12] + - !!python/tuple [0, 20] + - !!python/tuple [3, 2] + - !!python/tuple [24, 9] + - !!python/tuple [14, 23] + - !!python/tuple [5, 24] + - !!python/tuple [27, 6] + - !!python/tuple [17, 24] + - !!python/tuple [11, 25] + - !!python/tuple [26, 23] + - !!python/tuple [13, 19] + - !!python/tuple [21, 25] + - !!python/tuple [8, 21] + - !!python/tuple [16, 19] + - !!python/tuple [8, 8] + - !!python/tuple [30, 9] + - !!python/tuple [6, 4] + - !!python/tuple [4, 21] + - !!python/tuple [7, 23] + - !!python/tuple [19, 22] + - !!python/tuple [16, 31] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex1.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex1.yaml new file mode 100644 index 0000000..3a5c50b --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex1.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [21, 30] + name: agent0 + start: [3, 2] +- goal: [15, 28] + name: agent1 + start: [18, 23] +- goal: [27, 11] + name: agent2 + start: [24, 31] +- goal: [10, 2] + name: agent3 + start: [10, 26] +- goal: [25, 29] + name: agent4 + start: [4, 27] +- goal: [6, 15] + name: agent5 + start: [15, 29] +- goal: [29, 15] + name: agent6 + start: [10, 14] +- goal: [27, 24] + name: agent7 + start: [6, 2] +- goal: [5, 6] + name: agent8 + start: [18, 17] +- goal: [5, 4] + name: agent9 + start: [4, 26] +- goal: [19, 12] + name: agent10 + start: [13, 13] +- goal: [3, 15] + name: agent11 + start: [28, 1] +- goal: [31, 18] + name: agent12 + start: [26, 26] +- goal: [16, 25] + name: agent13 + start: [27, 24] +- goal: [0, 8] + name: agent14 + start: [21, 1] +- goal: [11, 4] + name: agent15 + start: [23, 5] +- goal: [30, 14] + name: agent16 + start: [19, 18] +- goal: [20, 12] + name: agent17 + start: [14, 31] +- goal: [27, 17] + name: agent18 + start: [24, 28] +- goal: [25, 10] + name: agent19 + start: [31, 9] +- goal: [15, 18] + name: agent20 + start: [3, 28] +- goal: [11, 1] + name: agent21 + start: [13, 5] +- goal: [0, 28] + name: agent22 + start: [0, 16] +- goal: [20, 23] + name: agent23 + start: [27, 23] +- goal: [0, 18] + name: agent24 + start: [14, 20] +- goal: [30, 13] + name: agent25 + start: [2, 21] +- goal: [14, 18] + name: agent26 + start: [13, 23] +- goal: [24, 15] + name: agent27 + start: [16, 22] +- goal: [14, 31] + name: agent28 + start: [31, 27] +- goal: [3, 18] + name: agent29 + start: [1, 17] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [16, 0] + - !!python/tuple [17, 3] + - !!python/tuple [7, 5] + - !!python/tuple [27, 21] + - !!python/tuple [25, 9] + - !!python/tuple [23, 22] + - !!python/tuple [5, 1] + - !!python/tuple [1, 28] + - !!python/tuple [24, 13] + - !!python/tuple [28, 24] + - !!python/tuple [2, 18] + - !!python/tuple [25, 8] + - !!python/tuple [11, 25] + - !!python/tuple [18, 10] + - !!python/tuple [2, 5] + - !!python/tuple [4, 20] + - !!python/tuple [29, 23] + - !!python/tuple [8, 17] + - !!python/tuple [1, 21] + - !!python/tuple [29, 13] + - !!python/tuple [11, 27] + - !!python/tuple [26, 28] + - !!python/tuple [17, 26] + - !!python/tuple [7, 15] + - !!python/tuple [29, 0] + - !!python/tuple [7, 8] + - !!python/tuple [19, 5] + - !!python/tuple [28, 17] + - !!python/tuple [9, 9] + - !!python/tuple [7, 11] + - !!python/tuple [24, 26] + - !!python/tuple [19, 30] + - !!python/tuple [24, 29] + - !!python/tuple [21, 31] + - !!python/tuple [19, 29] + - !!python/tuple [3, 12] + - !!python/tuple [18, 26] + - !!python/tuple [5, 10] + - !!python/tuple [6, 10] + - !!python/tuple [19, 8] + - !!python/tuple [9, 27] + - !!python/tuple [30, 20] + - !!python/tuple [18, 31] + - !!python/tuple [30, 28] + - !!python/tuple [0, 2] + - !!python/tuple [27, 29] + - !!python/tuple [24, 1] + - !!python/tuple [30, 5] + - !!python/tuple [4, 16] + - !!python/tuple [5, 2] + - !!python/tuple [8, 22] + - !!python/tuple [5, 21] + - !!python/tuple [1, 20] + - !!python/tuple [15, 3] + - !!python/tuple [16, 9] + - !!python/tuple [10, 27] + - !!python/tuple [3, 17] + - !!python/tuple [21, 19] + - !!python/tuple [18, 8] + - !!python/tuple [23, 11] + - !!python/tuple [5, 19] + - !!python/tuple [19, 3] + - !!python/tuple [3, 14] + - !!python/tuple [12, 12] + - !!python/tuple [20, 14] + - !!python/tuple [5, 5] + - !!python/tuple [25, 22] + - !!python/tuple [2, 17] + - !!python/tuple [4, 0] + - !!python/tuple [12, 13] + - !!python/tuple [13, 3] + - !!python/tuple [23, 4] + - !!python/tuple [24, 18] + - !!python/tuple [1, 5] + - !!python/tuple [6, 4] + - !!python/tuple [2, 28] + - !!python/tuple [12, 5] + - !!python/tuple [9, 10] + - !!python/tuple [18, 25] + - !!python/tuple [26, 5] + - !!python/tuple [25, 11] + - !!python/tuple [31, 5] + - !!python/tuple [6, 24] + - !!python/tuple [1, 19] + - !!python/tuple [5, 20] + - !!python/tuple [9, 0] + - !!python/tuple [26, 4] + - !!python/tuple [27, 26] + - !!python/tuple [0, 3] + - !!python/tuple [5, 26] + - !!python/tuple [3, 20] + - !!python/tuple [5, 9] + - !!python/tuple [6, 18] + - !!python/tuple [21, 14] + - !!python/tuple [25, 14] + - !!python/tuple [14, 11] + - !!python/tuple [15, 26] + - !!python/tuple [23, 1] + - !!python/tuple [17, 18] + - !!python/tuple [20, 1] + - !!python/tuple [14, 13] + - !!python/tuple [30, 9] + - !!python/tuple [20, 8] + - !!python/tuple [20, 21] + - !!python/tuple [12, 28] + - !!python/tuple [26, 3] + - !!python/tuple [27, 15] + - !!python/tuple [25, 13] + - !!python/tuple [9, 21] + - !!python/tuple [2, 31] + - !!python/tuple [1, 30] + - !!python/tuple [4, 29] + - !!python/tuple [12, 7] + - !!python/tuple [13, 14] + - !!python/tuple [11, 13] + - !!python/tuple [15, 10] + - !!python/tuple [17, 28] + - !!python/tuple [23, 19] + - !!python/tuple [3, 6] + - !!python/tuple [8, 23] + - !!python/tuple [13, 17] + - !!python/tuple [27, 31] + - !!python/tuple [12, 14] + - !!python/tuple [9, 28] + - !!python/tuple [23, 7] + - !!python/tuple [21, 6] + - !!python/tuple [25, 15] + - !!python/tuple [27, 7] + - !!python/tuple [14, 1] + - !!python/tuple [9, 24] + - !!python/tuple [22, 17] + - !!python/tuple [29, 29] + - !!python/tuple [23, 8] + - !!python/tuple [28, 21] + - !!python/tuple [24, 27] + - !!python/tuple [4, 25] + - !!python/tuple [28, 20] + - !!python/tuple [31, 1] + - !!python/tuple [30, 26] + - !!python/tuple [23, 24] + - !!python/tuple [17, 14] + - !!python/tuple [21, 2] + - !!python/tuple [15, 9] + - !!python/tuple [14, 3] + - !!python/tuple [10, 4] + - !!python/tuple [26, 13] + - !!python/tuple [7, 27] + - !!python/tuple [8, 18] + - !!python/tuple [22, 25] + - !!python/tuple [4, 21] + - !!python/tuple [26, 23] + - !!python/tuple [15, 2] + - !!python/tuple [23, 16] + - !!python/tuple [12, 30] + - !!python/tuple [10, 11] + - !!python/tuple [19, 31] + - !!python/tuple [1, 31] + - !!python/tuple [30, 11] + - !!python/tuple [8, 30] + - !!python/tuple [30, 2] + - !!python/tuple [25, 26] + - !!python/tuple [12, 10] + - !!python/tuple [0, 26] + - !!python/tuple [2, 15] + - !!python/tuple [13, 20] + - !!python/tuple [11, 23] + - !!python/tuple [10, 17] + - !!python/tuple [31, 6] + - !!python/tuple [17, 15] + - !!python/tuple [26, 2] + - !!python/tuple [27, 4] + - !!python/tuple [11, 20] + - !!python/tuple [11, 7] + - !!python/tuple [7, 28] + - !!python/tuple [30, 10] + - !!python/tuple [31, 23] + - !!python/tuple [11, 5] + - !!python/tuple [21, 8] + - !!python/tuple [31, 28] + - !!python/tuple [27, 0] + - !!python/tuple [30, 16] + - !!python/tuple [22, 20] + - !!python/tuple [16, 26] + - !!python/tuple [29, 26] + - !!python/tuple [29, 7] + - !!python/tuple [19, 11] + - !!python/tuple [7, 14] + - !!python/tuple [10, 16] + - !!python/tuple [17, 4] + - !!python/tuple [2, 1] + - !!python/tuple [2, 24] + - !!python/tuple [7, 0] + - !!python/tuple [2, 4] + - !!python/tuple [19, 19] + - !!python/tuple [13, 22] + - !!python/tuple [20, 15] + - !!python/tuple [1, 15] + - !!python/tuple [0, 0] + - !!python/tuple [20, 0] + - !!python/tuple [11, 29] + - !!python/tuple [23, 23] + - !!python/tuple [8, 21] + - !!python/tuple [19, 13] + - !!python/tuple [13, 30] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex10.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex10.yaml new file mode 100644 index 0000000..6051a45 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex10.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [26, 24] + name: agent0 + start: [26, 1] +- goal: [25, 19] + name: agent1 + start: [27, 19] +- goal: [15, 17] + name: agent2 + start: [14, 1] +- goal: [12, 19] + name: agent3 + start: [11, 2] +- goal: [19, 29] + name: agent4 + start: [22, 25] +- goal: [30, 20] + name: agent5 + start: [27, 12] +- goal: [3, 12] + name: agent6 + start: [16, 22] +- goal: [21, 26] + name: agent7 + start: [17, 22] +- goal: [7, 1] + name: agent8 + start: [21, 24] +- goal: [6, 11] + name: agent9 + start: [19, 8] +- goal: [9, 9] + name: agent10 + start: [29, 28] +- goal: [31, 1] + name: agent11 + start: [19, 23] +- goal: [11, 16] + name: agent12 + start: [27, 30] +- goal: [22, 9] + name: agent13 + start: [20, 15] +- goal: [14, 19] + name: agent14 + start: [0, 24] +- goal: [2, 10] + name: agent15 + start: [26, 18] +- goal: [2, 31] + name: agent16 + start: [18, 28] +- goal: [1, 18] + name: agent17 + start: [2, 2] +- goal: [30, 13] + name: agent18 + start: [27, 21] +- goal: [27, 10] + name: agent19 + start: [30, 3] +- goal: [18, 10] + name: agent20 + start: [18, 13] +- goal: [14, 29] + name: agent21 + start: [14, 29] +- goal: [24, 17] + name: agent22 + start: [8, 31] +- goal: [14, 3] + name: agent23 + start: [14, 31] +- goal: [24, 0] + name: agent24 + start: [23, 5] +- goal: [25, 21] + name: agent25 + start: [29, 18] +- goal: [19, 24] + name: agent26 + start: [23, 20] +- goal: [31, 13] + name: agent27 + start: [6, 23] +- goal: [26, 18] + name: agent28 + start: [3, 23] +- goal: [4, 12] + name: agent29 + start: [26, 13] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [26, 26] + - !!python/tuple [5, 9] + - !!python/tuple [12, 3] + - !!python/tuple [19, 11] + - !!python/tuple [13, 12] + - !!python/tuple [2, 22] + - !!python/tuple [9, 26] + - !!python/tuple [26, 6] + - !!python/tuple [24, 29] + - !!python/tuple [2, 5] + - !!python/tuple [7, 4] + - !!python/tuple [15, 2] + - !!python/tuple [2, 7] + - !!python/tuple [17, 12] + - !!python/tuple [8, 9] + - !!python/tuple [27, 13] + - !!python/tuple [31, 14] + - !!python/tuple [20, 19] + - !!python/tuple [7, 31] + - !!python/tuple [22, 4] + - !!python/tuple [16, 13] + - !!python/tuple [29, 21] + - !!python/tuple [8, 11] + - !!python/tuple [22, 20] + - !!python/tuple [5, 1] + - !!python/tuple [10, 4] + - !!python/tuple [14, 26] + - !!python/tuple [7, 15] + - !!python/tuple [12, 18] + - !!python/tuple [17, 11] + - !!python/tuple [6, 19] + - !!python/tuple [1, 26] + - !!python/tuple [4, 0] + - !!python/tuple [20, 13] + - !!python/tuple [14, 27] + - !!python/tuple [19, 7] + - !!python/tuple [30, 27] + - !!python/tuple [29, 1] + - !!python/tuple [29, 6] + - !!python/tuple [8, 15] + - !!python/tuple [5, 10] + - !!python/tuple [24, 21] + - !!python/tuple [27, 24] + - !!python/tuple [0, 27] + - !!python/tuple [2, 24] + - !!python/tuple [24, 15] + - !!python/tuple [6, 9] + - !!python/tuple [2, 27] + - !!python/tuple [12, 11] + - !!python/tuple [21, 8] + - !!python/tuple [11, 17] + - !!python/tuple [26, 29] + - !!python/tuple [2, 11] + - !!python/tuple [30, 19] + - !!python/tuple [18, 0] + - !!python/tuple [9, 22] + - !!python/tuple [11, 0] + - !!python/tuple [26, 27] + - !!python/tuple [31, 10] + - !!python/tuple [16, 0] + - !!python/tuple [8, 25] + - !!python/tuple [7, 2] + - !!python/tuple [28, 7] + - !!python/tuple [8, 28] + - !!python/tuple [3, 21] + - !!python/tuple [26, 30] + - !!python/tuple [0, 14] + - !!python/tuple [29, 29] + - !!python/tuple [14, 9] + - !!python/tuple [21, 10] + - !!python/tuple [24, 19] + - !!python/tuple [23, 31] + - !!python/tuple [5, 31] + - !!python/tuple [30, 31] + - !!python/tuple [3, 8] + - !!python/tuple [13, 11] + - !!python/tuple [19, 14] + - !!python/tuple [20, 10] + - !!python/tuple [0, 0] + - !!python/tuple [1, 30] + - !!python/tuple [25, 10] + - !!python/tuple [3, 14] + - !!python/tuple [0, 22] + - !!python/tuple [19, 2] + - !!python/tuple [12, 14] + - !!python/tuple [31, 6] + - !!python/tuple [11, 3] + - !!python/tuple [16, 1] + - !!python/tuple [23, 2] + - !!python/tuple [9, 27] + - !!python/tuple [15, 4] + - !!python/tuple [12, 20] + - !!python/tuple [26, 0] + - !!python/tuple [18, 21] + - !!python/tuple [21, 22] + - !!python/tuple [5, 2] + - !!python/tuple [5, 13] + - !!python/tuple [6, 22] + - !!python/tuple [15, 6] + - !!python/tuple [19, 19] + - !!python/tuple [3, 22] + - !!python/tuple [3, 17] + - !!python/tuple [10, 12] + - !!python/tuple [16, 24] + - !!python/tuple [1, 11] + - !!python/tuple [6, 30] + - !!python/tuple [16, 6] + - !!python/tuple [26, 19] + - !!python/tuple [7, 20] + - !!python/tuple [5, 20] + - !!python/tuple [26, 11] + - !!python/tuple [12, 28] + - !!python/tuple [28, 0] + - !!python/tuple [28, 31] + - !!python/tuple [23, 27] + - !!python/tuple [24, 13] + - !!python/tuple [2, 23] + - !!python/tuple [4, 1] + - !!python/tuple [9, 14] + - !!python/tuple [20, 5] + - !!python/tuple [17, 23] + - !!python/tuple [0, 1] + - !!python/tuple [28, 17] + - !!python/tuple [21, 9] + - !!python/tuple [28, 30] + - !!python/tuple [18, 9] + - !!python/tuple [11, 30] + - !!python/tuple [30, 24] + - !!python/tuple [0, 12] + - !!python/tuple [10, 23] + - !!python/tuple [8, 20] + - !!python/tuple [16, 2] + - !!python/tuple [23, 28] + - !!python/tuple [16, 8] + - !!python/tuple [31, 26] + - !!python/tuple [7, 7] + - !!python/tuple [23, 29] + - !!python/tuple [19, 25] + - !!python/tuple [15, 8] + - !!python/tuple [6, 0] + - !!python/tuple [25, 16] + - !!python/tuple [6, 31] + - !!python/tuple [7, 18] + - !!python/tuple [18, 27] + - !!python/tuple [24, 27] + - !!python/tuple [9, 31] + - !!python/tuple [20, 27] + - !!python/tuple [15, 1] + - !!python/tuple [20, 11] + - !!python/tuple [20, 31] + - !!python/tuple [25, 25] + - !!python/tuple [19, 3] + - !!python/tuple [4, 23] + - !!python/tuple [24, 2] + - !!python/tuple [4, 30] + - !!python/tuple [22, 1] + - !!python/tuple [25, 14] + - !!python/tuple [19, 31] + - !!python/tuple [23, 4] + - !!python/tuple [31, 27] + - !!python/tuple [24, 16] + - !!python/tuple [25, 5] + - !!python/tuple [28, 4] + - !!python/tuple [31, 4] + - !!python/tuple [28, 13] + - !!python/tuple [21, 31] + - !!python/tuple [18, 12] + - !!python/tuple [31, 22] + - !!python/tuple [30, 4] + - !!python/tuple [28, 20] + - !!python/tuple [23, 8] + - !!python/tuple [27, 11] + - !!python/tuple [9, 18] + - !!python/tuple [31, 25] + - !!python/tuple [18, 11] + - !!python/tuple [14, 6] + - !!python/tuple [23, 14] + - !!python/tuple [14, 5] + - !!python/tuple [0, 9] + - !!python/tuple [0, 18] + - !!python/tuple [31, 19] + - !!python/tuple [22, 21] + - !!python/tuple [6, 17] + - !!python/tuple [29, 14] + - !!python/tuple [25, 31] + - !!python/tuple [12, 24] + - !!python/tuple [27, 2] + - !!python/tuple [26, 17] + - !!python/tuple [3, 13] + - !!python/tuple [11, 29] + - !!python/tuple [17, 10] + - !!python/tuple [1, 28] + - !!python/tuple [5, 11] + - !!python/tuple [3, 15] + - !!python/tuple [29, 22] + - !!python/tuple [21, 16] + - !!python/tuple [22, 18] + - !!python/tuple [19, 13] + - !!python/tuple [29, 0] + - !!python/tuple [31, 29] + - !!python/tuple [23, 13] + - !!python/tuple [30, 2] + - !!python/tuple [12, 23] + - !!python/tuple [31, 0] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex11.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex11.yaml new file mode 100644 index 0000000..b2d7219 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex11.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [8, 5] + name: agent0 + start: [31, 23] +- goal: [24, 24] + name: agent1 + start: [17, 23] +- goal: [29, 3] + name: agent2 + start: [5, 4] +- goal: [8, 15] + name: agent3 + start: [10, 22] +- goal: [5, 24] + name: agent4 + start: [21, 21] +- goal: [25, 3] + name: agent5 + start: [1, 17] +- goal: [29, 11] + name: agent6 + start: [19, 3] +- goal: [15, 31] + name: agent7 + start: [14, 29] +- goal: [0, 5] + name: agent8 + start: [12, 21] +- goal: [23, 27] + name: agent9 + start: [17, 19] +- goal: [11, 6] + name: agent10 + start: [17, 7] +- goal: [16, 14] + name: agent11 + start: [24, 28] +- goal: [11, 11] + name: agent12 + start: [3, 9] +- goal: [31, 14] + name: agent13 + start: [28, 9] +- goal: [16, 12] + name: agent14 + start: [31, 19] +- goal: [14, 30] + name: agent15 + start: [23, 6] +- goal: [29, 15] + name: agent16 + start: [25, 0] +- goal: [14, 19] + name: agent17 + start: [26, 16] +- goal: [19, 26] + name: agent18 + start: [3, 6] +- goal: [31, 6] + name: agent19 + start: [18, 1] +- goal: [11, 8] + name: agent20 + start: [17, 3] +- goal: [29, 29] + name: agent21 + start: [21, 24] +- goal: [20, 7] + name: agent22 + start: [20, 7] +- goal: [5, 25] + name: agent23 + start: [5, 11] +- goal: [30, 27] + name: agent24 + start: [3, 0] +- goal: [22, 24] + name: agent25 + start: [16, 12] +- goal: [18, 8] + name: agent26 + start: [17, 29] +- goal: [3, 29] + name: agent27 + start: [15, 22] +- goal: [20, 23] + name: agent28 + start: [18, 8] +- goal: [0, 0] + name: agent29 + start: [17, 21] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [24, 0] + - !!python/tuple [22, 14] + - !!python/tuple [24, 30] + - !!python/tuple [12, 5] + - !!python/tuple [27, 26] + - !!python/tuple [3, 27] + - !!python/tuple [3, 5] + - !!python/tuple [12, 23] + - !!python/tuple [13, 24] + - !!python/tuple [20, 6] + - !!python/tuple [7, 29] + - !!python/tuple [17, 28] + - !!python/tuple [11, 29] + - !!python/tuple [25, 13] + - !!python/tuple [2, 29] + - !!python/tuple [26, 6] + - !!python/tuple [28, 30] + - !!python/tuple [12, 28] + - !!python/tuple [11, 26] + - !!python/tuple [12, 22] + - !!python/tuple [9, 1] + - !!python/tuple [19, 31] + - !!python/tuple [16, 30] + - !!python/tuple [27, 25] + - !!python/tuple [30, 6] + - !!python/tuple [24, 25] + - !!python/tuple [6, 21] + - !!python/tuple [4, 29] + - !!python/tuple [5, 5] + - !!python/tuple [6, 7] + - !!python/tuple [4, 15] + - !!python/tuple [6, 20] + - !!python/tuple [9, 12] + - !!python/tuple [23, 10] + - !!python/tuple [13, 13] + - !!python/tuple [10, 29] + - !!python/tuple [1, 8] + - !!python/tuple [13, 9] + - !!python/tuple [18, 21] + - !!python/tuple [10, 20] + - !!python/tuple [9, 29] + - !!python/tuple [3, 17] + - !!python/tuple [25, 17] + - !!python/tuple [13, 19] + - !!python/tuple [24, 6] + - !!python/tuple [6, 19] + - !!python/tuple [3, 28] + - !!python/tuple [13, 31] + - !!python/tuple [26, 25] + - !!python/tuple [2, 18] + - !!python/tuple [15, 27] + - !!python/tuple [29, 21] + - !!python/tuple [16, 11] + - !!python/tuple [4, 18] + - !!python/tuple [30, 5] + - !!python/tuple [24, 22] + - !!python/tuple [27, 10] + - !!python/tuple [20, 20] + - !!python/tuple [3, 20] + - !!python/tuple [1, 26] + - !!python/tuple [24, 14] + - !!python/tuple [3, 26] + - !!python/tuple [25, 28] + - !!python/tuple [18, 24] + - !!python/tuple [8, 1] + - !!python/tuple [2, 12] + - !!python/tuple [20, 12] + - !!python/tuple [10, 15] + - !!python/tuple [20, 5] + - !!python/tuple [1, 4] + - !!python/tuple [0, 27] + - !!python/tuple [9, 28] + - !!python/tuple [26, 7] + - !!python/tuple [3, 22] + - !!python/tuple [6, 15] + - !!python/tuple [14, 15] + - !!python/tuple [15, 3] + - !!python/tuple [10, 5] + - !!python/tuple [27, 29] + - !!python/tuple [31, 0] + - !!python/tuple [26, 20] + - !!python/tuple [15, 11] + - !!python/tuple [19, 19] + - !!python/tuple [26, 23] + - !!python/tuple [2, 19] + - !!python/tuple [18, 29] + - !!python/tuple [19, 0] + - !!python/tuple [5, 17] + - !!python/tuple [31, 5] + - !!python/tuple [14, 12] + - !!python/tuple [23, 11] + - !!python/tuple [27, 12] + - !!python/tuple [30, 30] + - !!python/tuple [24, 9] + - !!python/tuple [30, 14] + - !!python/tuple [11, 28] + - !!python/tuple [12, 18] + - !!python/tuple [18, 12] + - !!python/tuple [17, 30] + - !!python/tuple [30, 25] + - !!python/tuple [10, 27] + - !!python/tuple [12, 15] + - !!python/tuple [29, 6] + - !!python/tuple [21, 18] + - !!python/tuple [27, 11] + - !!python/tuple [9, 15] + - !!python/tuple [28, 25] + - !!python/tuple [16, 7] + - !!python/tuple [5, 22] + - !!python/tuple [14, 1] + - !!python/tuple [30, 29] + - !!python/tuple [16, 23] + - !!python/tuple [24, 1] + - !!python/tuple [2, 17] + - !!python/tuple [25, 18] + - !!python/tuple [16, 18] + - !!python/tuple [0, 25] + - !!python/tuple [2, 31] + - !!python/tuple [30, 11] + - !!python/tuple [9, 19] + - !!python/tuple [7, 12] + - !!python/tuple [8, 22] + - !!python/tuple [21, 17] + - !!python/tuple [4, 19] + - !!python/tuple [28, 23] + - !!python/tuple [12, 2] + - !!python/tuple [1, 3] + - !!python/tuple [11, 21] + - !!python/tuple [12, 11] + - !!python/tuple [10, 3] + - !!python/tuple [0, 3] + - !!python/tuple [29, 22] + - !!python/tuple [3, 31] + - !!python/tuple [25, 10] + - !!python/tuple [5, 28] + - !!python/tuple [27, 28] + - !!python/tuple [8, 6] + - !!python/tuple [4, 4] + - !!python/tuple [13, 29] + - !!python/tuple [15, 25] + - !!python/tuple [28, 17] + - !!python/tuple [1, 7] + - !!python/tuple [18, 7] + - !!python/tuple [8, 20] + - !!python/tuple [1, 31] + - !!python/tuple [9, 8] + - !!python/tuple [28, 24] + - !!python/tuple [16, 3] + - !!python/tuple [9, 16] + - !!python/tuple [19, 13] + - !!python/tuple [0, 13] + - !!python/tuple [1, 28] + - !!python/tuple [27, 8] + - !!python/tuple [28, 31] + - !!python/tuple [26, 2] + - !!python/tuple [6, 5] + - !!python/tuple [25, 20] + - !!python/tuple [18, 28] + - !!python/tuple [31, 22] + - !!python/tuple [3, 2] + - !!python/tuple [11, 9] + - !!python/tuple [12, 8] + - !!python/tuple [1, 2] + - !!python/tuple [20, 0] + - !!python/tuple [23, 9] + - !!python/tuple [31, 29] + - !!python/tuple [4, 5] + - !!python/tuple [7, 15] + - !!python/tuple [8, 11] + - !!python/tuple [19, 28] + - !!python/tuple [2, 21] + - !!python/tuple [20, 16] + - !!python/tuple [22, 9] + - !!python/tuple [1, 22] + - !!python/tuple [17, 24] + - !!python/tuple [13, 30] + - !!python/tuple [5, 9] + - !!python/tuple [24, 27] + - !!python/tuple [18, 11] + - !!python/tuple [23, 18] + - !!python/tuple [24, 13] + - !!python/tuple [5, 23] + - !!python/tuple [29, 20] + - !!python/tuple [27, 15] + - !!python/tuple [19, 15] + - !!python/tuple [31, 20] + - !!python/tuple [8, 29] + - !!python/tuple [16, 10] + - !!python/tuple [14, 31] + - !!python/tuple [14, 14] + - !!python/tuple [21, 23] + - !!python/tuple [1, 20] + - !!python/tuple [15, 15] + - !!python/tuple [27, 21] + - !!python/tuple [15, 24] + - !!python/tuple [15, 23] + - !!python/tuple [31, 21] + - !!python/tuple [5, 19] + - !!python/tuple [1, 27] + - !!python/tuple [21, 2] + - !!python/tuple [18, 22] + - !!python/tuple [25, 29] + - !!python/tuple [1, 23] + - !!python/tuple [30, 1] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex12.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex12.yaml new file mode 100644 index 0000000..f73ec3a --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex12.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [19, 23] + name: agent0 + start: [29, 18] +- goal: [21, 27] + name: agent1 + start: [11, 22] +- goal: [28, 30] + name: agent2 + start: [30, 11] +- goal: [18, 20] + name: agent3 + start: [17, 29] +- goal: [30, 1] + name: agent4 + start: [5, 18] +- goal: [30, 12] + name: agent5 + start: [5, 9] +- goal: [15, 11] + name: agent6 + start: [17, 14] +- goal: [3, 14] + name: agent7 + start: [24, 14] +- goal: [6, 7] + name: agent8 + start: [21, 26] +- goal: [9, 15] + name: agent9 + start: [9, 8] +- goal: [6, 15] + name: agent10 + start: [29, 29] +- goal: [14, 21] + name: agent11 + start: [3, 14] +- goal: [9, 23] + name: agent12 + start: [18, 20] +- goal: [21, 3] + name: agent13 + start: [14, 25] +- goal: [17, 14] + name: agent14 + start: [15, 21] +- goal: [18, 1] + name: agent15 + start: [3, 28] +- goal: [3, 13] + name: agent16 + start: [10, 2] +- goal: [2, 12] + name: agent17 + start: [1, 24] +- goal: [28, 16] + name: agent18 + start: [13, 3] +- goal: [18, 12] + name: agent19 + start: [3, 23] +- goal: [16, 20] + name: agent20 + start: [7, 16] +- goal: [3, 30] + name: agent21 + start: [24, 18] +- goal: [6, 27] + name: agent22 + start: [6, 14] +- goal: [28, 24] + name: agent23 + start: [19, 21] +- goal: [2, 29] + name: agent24 + start: [10, 22] +- goal: [28, 26] + name: agent25 + start: [26, 29] +- goal: [22, 7] + name: agent26 + start: [10, 20] +- goal: [3, 7] + name: agent27 + start: [2, 31] +- goal: [14, 24] + name: agent28 + start: [18, 11] +- goal: [21, 17] + name: agent29 + start: [31, 16] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [8, 23] + - !!python/tuple [9, 14] + - !!python/tuple [30, 7] + - !!python/tuple [4, 11] + - !!python/tuple [9, 5] + - !!python/tuple [0, 23] + - !!python/tuple [15, 28] + - !!python/tuple [25, 21] + - !!python/tuple [0, 8] + - !!python/tuple [24, 27] + - !!python/tuple [1, 16] + - !!python/tuple [10, 31] + - !!python/tuple [12, 28] + - !!python/tuple [13, 11] + - !!python/tuple [9, 12] + - !!python/tuple [19, 5] + - !!python/tuple [10, 29] + - !!python/tuple [27, 27] + - !!python/tuple [9, 11] + - !!python/tuple [18, 31] + - !!python/tuple [6, 11] + - !!python/tuple [11, 14] + - !!python/tuple [16, 10] + - !!python/tuple [29, 10] + - !!python/tuple [3, 9] + - !!python/tuple [9, 25] + - !!python/tuple [6, 17] + - !!python/tuple [27, 25] + - !!python/tuple [19, 10] + - !!python/tuple [7, 20] + - !!python/tuple [20, 17] + - !!python/tuple [1, 4] + - !!python/tuple [30, 8] + - !!python/tuple [3, 11] + - !!python/tuple [17, 3] + - !!python/tuple [2, 30] + - !!python/tuple [17, 12] + - !!python/tuple [21, 25] + - !!python/tuple [14, 19] + - !!python/tuple [7, 18] + - !!python/tuple [17, 13] + - !!python/tuple [4, 2] + - !!python/tuple [22, 13] + - !!python/tuple [9, 6] + - !!python/tuple [20, 5] + - !!python/tuple [6, 2] + - !!python/tuple [12, 12] + - !!python/tuple [10, 16] + - !!python/tuple [13, 30] + - !!python/tuple [31, 17] + - !!python/tuple [4, 23] + - !!python/tuple [31, 24] + - !!python/tuple [2, 0] + - !!python/tuple [6, 23] + - !!python/tuple [9, 18] + - !!python/tuple [16, 31] + - !!python/tuple [27, 18] + - !!python/tuple [11, 18] + - !!python/tuple [16, 16] + - !!python/tuple [12, 10] + - !!python/tuple [7, 26] + - !!python/tuple [9, 13] + - !!python/tuple [4, 27] + - !!python/tuple [9, 9] + - !!python/tuple [19, 15] + - !!python/tuple [20, 8] + - !!python/tuple [31, 3] + - !!python/tuple [29, 13] + - !!python/tuple [20, 0] + - !!python/tuple [19, 16] + - !!python/tuple [29, 16] + - !!python/tuple [14, 15] + - !!python/tuple [2, 6] + - !!python/tuple [9, 24] + - !!python/tuple [1, 18] + - !!python/tuple [7, 23] + - !!python/tuple [13, 14] + - !!python/tuple [0, 20] + - !!python/tuple [25, 19] + - !!python/tuple [16, 11] + - !!python/tuple [17, 6] + - !!python/tuple [18, 23] + - !!python/tuple [1, 11] + - !!python/tuple [1, 25] + - !!python/tuple [6, 18] + - !!python/tuple [24, 24] + - !!python/tuple [16, 3] + - !!python/tuple [3, 16] + - !!python/tuple [0, 15] + - !!python/tuple [29, 7] + - !!python/tuple [29, 28] + - !!python/tuple [30, 0] + - !!python/tuple [15, 0] + - !!python/tuple [7, 0] + - !!python/tuple [26, 16] + - !!python/tuple [22, 26] + - !!python/tuple [10, 21] + - !!python/tuple [24, 2] + - !!python/tuple [18, 10] + - !!python/tuple [18, 24] + - !!python/tuple [26, 8] + - !!python/tuple [18, 14] + - !!python/tuple [8, 15] + - !!python/tuple [20, 20] + - !!python/tuple [28, 20] + - !!python/tuple [11, 4] + - !!python/tuple [7, 28] + - !!python/tuple [18, 7] + - !!python/tuple [10, 1] + - !!python/tuple [0, 31] + - !!python/tuple [24, 19] + - !!python/tuple [10, 3] + - !!python/tuple [3, 21] + - !!python/tuple [6, 4] + - !!python/tuple [18, 0] + - !!python/tuple [2, 27] + - !!python/tuple [8, 7] + - !!python/tuple [26, 23] + - !!python/tuple [22, 16] + - !!python/tuple [0, 4] + - !!python/tuple [20, 25] + - !!python/tuple [25, 13] + - !!python/tuple [30, 15] + - !!python/tuple [22, 9] + - !!python/tuple [2, 15] + - !!python/tuple [30, 4] + - !!python/tuple [11, 30] + - !!python/tuple [10, 5] + - !!python/tuple [27, 31] + - !!python/tuple [11, 10] + - !!python/tuple [25, 25] + - !!python/tuple [13, 29] + - !!python/tuple [12, 21] + - !!python/tuple [8, 13] + - !!python/tuple [26, 27] + - !!python/tuple [10, 9] + - !!python/tuple [0, 3] + - !!python/tuple [12, 3] + - !!python/tuple [27, 23] + - !!python/tuple [16, 6] + - !!python/tuple [20, 11] + - !!python/tuple [15, 29] + - !!python/tuple [9, 21] + - !!python/tuple [14, 3] + - !!python/tuple [28, 3] + - !!python/tuple [0, 2] + - !!python/tuple [24, 12] + - !!python/tuple [0, 17] + - !!python/tuple [23, 30] + - !!python/tuple [16, 4] + - !!python/tuple [12, 14] + - !!python/tuple [8, 10] + - !!python/tuple [30, 25] + - !!python/tuple [19, 30] + - !!python/tuple [1, 20] + - !!python/tuple [31, 28] + - !!python/tuple [21, 30] + - !!python/tuple [10, 0] + - !!python/tuple [5, 25] + - !!python/tuple [29, 30] + - !!python/tuple [30, 10] + - !!python/tuple [26, 12] + - !!python/tuple [6, 25] + - !!python/tuple [13, 6] + - !!python/tuple [28, 4] + - !!python/tuple [2, 25] + - !!python/tuple [7, 13] + - !!python/tuple [19, 20] + - !!python/tuple [22, 30] + - !!python/tuple [15, 7] + - !!python/tuple [26, 19] + - !!python/tuple [3, 29] + - !!python/tuple [10, 18] + - !!python/tuple [5, 20] + - !!python/tuple [19, 17] + - !!python/tuple [6, 22] + - !!python/tuple [23, 9] + - !!python/tuple [18, 27] + - !!python/tuple [2, 16] + - !!python/tuple [8, 11] + - !!python/tuple [31, 20] + - !!python/tuple [14, 23] + - !!python/tuple [16, 25] + - !!python/tuple [17, 17] + - !!python/tuple [14, 22] + - !!python/tuple [13, 18] + - !!python/tuple [7, 3] + - !!python/tuple [4, 12] + - !!python/tuple [24, 3] + - !!python/tuple [23, 28] + - !!python/tuple [12, 7] + - !!python/tuple [2, 26] + - !!python/tuple [22, 5] + - !!python/tuple [27, 29] + - !!python/tuple [1, 9] + - !!python/tuple [23, 1] + - !!python/tuple [30, 21] + - !!python/tuple [21, 31] + - !!python/tuple [14, 30] + - !!python/tuple [3, 26] + - !!python/tuple [30, 28] + - !!python/tuple [29, 2] + - !!python/tuple [8, 22] + - !!python/tuple [15, 4] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex13.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex13.yaml new file mode 100644 index 0000000..e42799f --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex13.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [4, 12] + name: agent0 + start: [7, 7] +- goal: [3, 30] + name: agent1 + start: [1, 15] +- goal: [31, 1] + name: agent2 + start: [18, 18] +- goal: [27, 12] + name: agent3 + start: [4, 12] +- goal: [13, 31] + name: agent4 + start: [2, 7] +- goal: [12, 17] + name: agent5 + start: [9, 3] +- goal: [17, 13] + name: agent6 + start: [15, 20] +- goal: [23, 21] + name: agent7 + start: [25, 2] +- goal: [25, 25] + name: agent8 + start: [5, 2] +- goal: [5, 12] + name: agent9 + start: [4, 25] +- goal: [4, 4] + name: agent10 + start: [15, 31] +- goal: [20, 9] + name: agent11 + start: [22, 6] +- goal: [15, 25] + name: agent12 + start: [24, 27] +- goal: [29, 25] + name: agent13 + start: [18, 1] +- goal: [24, 19] + name: agent14 + start: [14, 22] +- goal: [2, 6] + name: agent15 + start: [22, 13] +- goal: [15, 17] + name: agent16 + start: [0, 31] +- goal: [27, 13] + name: agent17 + start: [11, 30] +- goal: [19, 19] + name: agent18 + start: [15, 11] +- goal: [30, 20] + name: agent19 + start: [11, 22] +- goal: [26, 12] + name: agent20 + start: [7, 17] +- goal: [1, 23] + name: agent21 + start: [16, 7] +- goal: [10, 0] + name: agent22 + start: [5, 24] +- goal: [22, 2] + name: agent23 + start: [0, 28] +- goal: [21, 24] + name: agent24 + start: [25, 14] +- goal: [1, 4] + name: agent25 + start: [18, 30] +- goal: [8, 0] + name: agent26 + start: [11, 17] +- goal: [16, 4] + name: agent27 + start: [5, 22] +- goal: [30, 26] + name: agent28 + start: [17, 1] +- goal: [11, 20] + name: agent29 + start: [26, 16] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [18, 19] + - !!python/tuple [7, 8] + - !!python/tuple [27, 11] + - !!python/tuple [13, 8] + - !!python/tuple [11, 6] + - !!python/tuple [25, 15] + - !!python/tuple [0, 18] + - !!python/tuple [20, 19] + - !!python/tuple [5, 23] + - !!python/tuple [10, 5] + - !!python/tuple [14, 21] + - !!python/tuple [7, 15] + - !!python/tuple [9, 30] + - !!python/tuple [15, 1] + - !!python/tuple [23, 1] + - !!python/tuple [3, 7] + - !!python/tuple [21, 17] + - !!python/tuple [14, 3] + - !!python/tuple [12, 31] + - !!python/tuple [22, 19] + - !!python/tuple [8, 8] + - !!python/tuple [1, 12] + - !!python/tuple [12, 0] + - !!python/tuple [19, 18] + - !!python/tuple [5, 1] + - !!python/tuple [29, 5] + - !!python/tuple [21, 25] + - !!python/tuple [20, 30] + - !!python/tuple [16, 29] + - !!python/tuple [24, 4] + - !!python/tuple [6, 30] + - !!python/tuple [16, 16] + - !!python/tuple [30, 31] + - !!python/tuple [25, 29] + - !!python/tuple [6, 24] + - !!python/tuple [13, 18] + - !!python/tuple [9, 8] + - !!python/tuple [12, 8] + - !!python/tuple [29, 17] + - !!python/tuple [16, 1] + - !!python/tuple [28, 0] + - !!python/tuple [30, 21] + - !!python/tuple [8, 25] + - !!python/tuple [26, 5] + - !!python/tuple [5, 21] + - !!python/tuple [18, 28] + - !!python/tuple [4, 6] + - !!python/tuple [16, 28] + - !!python/tuple [30, 23] + - !!python/tuple [3, 29] + - !!python/tuple [16, 31] + - !!python/tuple [2, 18] + - !!python/tuple [22, 26] + - !!python/tuple [31, 6] + - !!python/tuple [28, 10] + - !!python/tuple [16, 21] + - !!python/tuple [10, 12] + - !!python/tuple [22, 10] + - !!python/tuple [31, 15] + - !!python/tuple [20, 21] + - !!python/tuple [25, 30] + - !!python/tuple [17, 29] + - !!python/tuple [1, 25] + - !!python/tuple [9, 14] + - !!python/tuple [4, 20] + - !!python/tuple [2, 1] + - !!python/tuple [10, 16] + - !!python/tuple [26, 9] + - !!python/tuple [20, 17] + - !!python/tuple [11, 15] + - !!python/tuple [2, 19] + - !!python/tuple [2, 8] + - !!python/tuple [12, 28] + - !!python/tuple [1, 21] + - !!python/tuple [31, 9] + - !!python/tuple [19, 24] + - !!python/tuple [24, 0] + - !!python/tuple [16, 5] + - !!python/tuple [23, 30] + - !!python/tuple [3, 2] + - !!python/tuple [3, 0] + - !!python/tuple [10, 17] + - !!python/tuple [14, 28] + - !!python/tuple [21, 11] + - !!python/tuple [14, 7] + - !!python/tuple [20, 24] + - !!python/tuple [22, 28] + - !!python/tuple [14, 10] + - !!python/tuple [23, 4] + - !!python/tuple [24, 17] + - !!python/tuple [0, 1] + - !!python/tuple [11, 18] + - !!python/tuple [24, 22] + - !!python/tuple [21, 21] + - !!python/tuple [29, 1] + - !!python/tuple [4, 29] + - !!python/tuple [26, 15] + - !!python/tuple [24, 16] + - !!python/tuple [31, 21] + - !!python/tuple [13, 22] + - !!python/tuple [23, 15] + - !!python/tuple [29, 18] + - !!python/tuple [20, 28] + - !!python/tuple [27, 5] + - !!python/tuple [31, 23] + - !!python/tuple [11, 16] + - !!python/tuple [31, 22] + - !!python/tuple [0, 4] + - !!python/tuple [30, 5] + - !!python/tuple [10, 21] + - !!python/tuple [31, 31] + - !!python/tuple [17, 14] + - !!python/tuple [22, 5] + - !!python/tuple [14, 2] + - !!python/tuple [24, 8] + - !!python/tuple [30, 12] + - !!python/tuple [0, 16] + - !!python/tuple [31, 27] + - !!python/tuple [22, 4] + - !!python/tuple [28, 4] + - !!python/tuple [7, 6] + - !!python/tuple [26, 31] + - !!python/tuple [18, 24] + - !!python/tuple [1, 13] + - !!python/tuple [6, 26] + - !!python/tuple [5, 3] + - !!python/tuple [29, 6] + - !!python/tuple [0, 7] + - !!python/tuple [6, 14] + - !!python/tuple [17, 25] + - !!python/tuple [28, 23] + - !!python/tuple [24, 9] + - !!python/tuple [0, 9] + - !!python/tuple [4, 2] + - !!python/tuple [20, 2] + - !!python/tuple [25, 16] + - !!python/tuple [14, 25] + - !!python/tuple [11, 4] + - !!python/tuple [20, 4] + - !!python/tuple [10, 2] + - !!python/tuple [12, 11] + - !!python/tuple [19, 23] + - !!python/tuple [25, 3] + - !!python/tuple [13, 10] + - !!python/tuple [11, 1] + - !!python/tuple [20, 18] + - !!python/tuple [28, 27] + - !!python/tuple [2, 4] + - !!python/tuple [0, 13] + - !!python/tuple [8, 12] + - !!python/tuple [9, 31] + - !!python/tuple [27, 15] + - !!python/tuple [15, 0] + - !!python/tuple [20, 8] + - !!python/tuple [23, 26] + - !!python/tuple [8, 15] + - !!python/tuple [16, 9] + - !!python/tuple [17, 5] + - !!python/tuple [15, 9] + - !!python/tuple [2, 16] + - !!python/tuple [5, 31] + - !!python/tuple [29, 3] + - !!python/tuple [24, 31] + - !!python/tuple [21, 8] + - !!python/tuple [9, 27] + - !!python/tuple [11, 13] + - !!python/tuple [0, 0] + - !!python/tuple [20, 7] + - !!python/tuple [4, 17] + - !!python/tuple [21, 15] + - !!python/tuple [22, 29] + - !!python/tuple [11, 8] + - !!python/tuple [14, 20] + - !!python/tuple [26, 27] + - !!python/tuple [11, 9] + - !!python/tuple [4, 16] + - !!python/tuple [24, 14] + - !!python/tuple [22, 1] + - !!python/tuple [18, 23] + - !!python/tuple [21, 29] + - !!python/tuple [22, 25] + - !!python/tuple [9, 18] + - !!python/tuple [26, 14] + - !!python/tuple [9, 16] + - !!python/tuple [10, 14] + - !!python/tuple [9, 21] + - !!python/tuple [0, 15] + - !!python/tuple [3, 10] + - !!python/tuple [10, 29] + - !!python/tuple [21, 9] + - !!python/tuple [27, 24] + - !!python/tuple [0, 29] + - !!python/tuple [3, 6] + - !!python/tuple [29, 19] + - !!python/tuple [24, 10] + - !!python/tuple [24, 30] + - !!python/tuple [21, 19] + - !!python/tuple [7, 3] + - !!python/tuple [17, 20] + - !!python/tuple [1, 6] + - !!python/tuple [30, 19] + - !!python/tuple [0, 26] + - !!python/tuple [8, 10] + - !!python/tuple [12, 3] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex14.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex14.yaml new file mode 100644 index 0000000..a897f40 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex14.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [28, 15] + name: agent0 + start: [6, 27] +- goal: [25, 31] + name: agent1 + start: [5, 11] +- goal: [26, 5] + name: agent2 + start: [24, 25] +- goal: [29, 3] + name: agent3 + start: [18, 8] +- goal: [28, 14] + name: agent4 + start: [16, 2] +- goal: [9, 19] + name: agent5 + start: [16, 7] +- goal: [28, 17] + name: agent6 + start: [28, 19] +- goal: [28, 9] + name: agent7 + start: [2, 18] +- goal: [20, 25] + name: agent8 + start: [29, 31] +- goal: [16, 16] + name: agent9 + start: [27, 30] +- goal: [20, 23] + name: agent10 + start: [0, 22] +- goal: [5, 26] + name: agent11 + start: [14, 27] +- goal: [7, 26] + name: agent12 + start: [10, 11] +- goal: [25, 14] + name: agent13 + start: [2, 14] +- goal: [6, 4] + name: agent14 + start: [31, 8] +- goal: [6, 0] + name: agent15 + start: [4, 28] +- goal: [5, 16] + name: agent16 + start: [3, 25] +- goal: [6, 2] + name: agent17 + start: [11, 18] +- goal: [0, 21] + name: agent18 + start: [6, 28] +- goal: [3, 20] + name: agent19 + start: [2, 5] +- goal: [14, 7] + name: agent20 + start: [17, 13] +- goal: [30, 4] + name: agent21 + start: [12, 14] +- goal: [30, 6] + name: agent22 + start: [6, 6] +- goal: [28, 18] + name: agent23 + start: [29, 21] +- goal: [6, 28] + name: agent24 + start: [31, 3] +- goal: [10, 31] + name: agent25 + start: [10, 24] +- goal: [2, 10] + name: agent26 + start: [17, 17] +- goal: [8, 0] + name: agent27 + start: [14, 1] +- goal: [9, 30] + name: agent28 + start: [18, 24] +- goal: [21, 7] + name: agent29 + start: [19, 3] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [21, 9] + - !!python/tuple [17, 24] + - !!python/tuple [31, 17] + - !!python/tuple [28, 23] + - !!python/tuple [29, 8] + - !!python/tuple [3, 10] + - !!python/tuple [16, 15] + - !!python/tuple [25, 12] + - !!python/tuple [18, 10] + - !!python/tuple [6, 25] + - !!python/tuple [25, 10] + - !!python/tuple [16, 21] + - !!python/tuple [15, 24] + - !!python/tuple [23, 13] + - !!python/tuple [1, 24] + - !!python/tuple [19, 14] + - !!python/tuple [26, 20] + - !!python/tuple [10, 18] + - !!python/tuple [15, 13] + - !!python/tuple [20, 26] + - !!python/tuple [23, 19] + - !!python/tuple [27, 26] + - !!python/tuple [10, 0] + - !!python/tuple [20, 18] + - !!python/tuple [10, 4] + - !!python/tuple [24, 21] + - !!python/tuple [15, 31] + - !!python/tuple [1, 9] + - !!python/tuple [12, 7] + - !!python/tuple [16, 1] + - !!python/tuple [15, 1] + - !!python/tuple [26, 22] + - !!python/tuple [23, 3] + - !!python/tuple [28, 6] + - !!python/tuple [2, 22] + - !!python/tuple [27, 9] + - !!python/tuple [1, 7] + - !!python/tuple [23, 6] + - !!python/tuple [19, 9] + - !!python/tuple [20, 24] + - !!python/tuple [12, 30] + - !!python/tuple [18, 1] + - !!python/tuple [10, 21] + - !!python/tuple [2, 12] + - !!python/tuple [22, 17] + - !!python/tuple [17, 25] + - !!python/tuple [31, 9] + - !!python/tuple [26, 8] + - !!python/tuple [22, 3] + - !!python/tuple [17, 12] + - !!python/tuple [13, 6] + - !!python/tuple [9, 28] + - !!python/tuple [30, 26] + - !!python/tuple [18, 12] + - !!python/tuple [16, 22] + - !!python/tuple [23, 23] + - !!python/tuple [27, 3] + - !!python/tuple [18, 17] + - !!python/tuple [27, 8] + - !!python/tuple [2, 16] + - !!python/tuple [24, 0] + - !!python/tuple [19, 4] + - !!python/tuple [4, 13] + - !!python/tuple [3, 15] + - !!python/tuple [26, 18] + - !!python/tuple [8, 10] + - !!python/tuple [4, 12] + - !!python/tuple [18, 4] + - !!python/tuple [11, 2] + - !!python/tuple [27, 4] + - !!python/tuple [21, 15] + - !!python/tuple [30, 0] + - !!python/tuple [26, 27] + - !!python/tuple [3, 27] + - !!python/tuple [0, 12] + - !!python/tuple [7, 21] + - !!python/tuple [21, 17] + - !!python/tuple [8, 6] + - !!python/tuple [11, 19] + - !!python/tuple [31, 0] + - !!python/tuple [30, 2] + - !!python/tuple [15, 3] + - !!python/tuple [29, 13] + - !!python/tuple [27, 1] + - !!python/tuple [14, 23] + - !!python/tuple [8, 9] + - !!python/tuple [6, 19] + - !!python/tuple [16, 0] + - !!python/tuple [16, 25] + - !!python/tuple [14, 6] + - !!python/tuple [28, 10] + - !!python/tuple [30, 10] + - !!python/tuple [9, 8] + - !!python/tuple [1, 31] + - !!python/tuple [11, 24] + - !!python/tuple [25, 3] + - !!python/tuple [21, 18] + - !!python/tuple [5, 18] + - !!python/tuple [6, 8] + - !!python/tuple [9, 0] + - !!python/tuple [11, 6] + - !!python/tuple [14, 12] + - !!python/tuple [20, 11] + - !!python/tuple [20, 29] + - !!python/tuple [19, 23] + - !!python/tuple [18, 6] + - !!python/tuple [29, 24] + - !!python/tuple [24, 29] + - !!python/tuple [11, 5] + - !!python/tuple [28, 7] + - !!python/tuple [22, 0] + - !!python/tuple [0, 10] + - !!python/tuple [14, 30] + - !!python/tuple [6, 9] + - !!python/tuple [5, 15] + - !!python/tuple [13, 5] + - !!python/tuple [17, 7] + - !!python/tuple [29, 6] + - !!python/tuple [21, 8] + - !!python/tuple [11, 16] + - !!python/tuple [22, 22] + - !!python/tuple [29, 28] + - !!python/tuple [13, 25] + - !!python/tuple [2, 2] + - !!python/tuple [25, 24] + - !!python/tuple [26, 24] + - !!python/tuple [2, 9] + - !!python/tuple [21, 23] + - !!python/tuple [29, 18] + - !!python/tuple [4, 6] + - !!python/tuple [10, 1] + - !!python/tuple [3, 4] + - !!python/tuple [15, 12] + - !!python/tuple [5, 21] + - !!python/tuple [9, 20] + - !!python/tuple [13, 23] + - !!python/tuple [24, 28] + - !!python/tuple [16, 24] + - !!python/tuple [14, 14] + - !!python/tuple [28, 2] + - !!python/tuple [10, 8] + - !!python/tuple [1, 25] + - !!python/tuple [23, 9] + - !!python/tuple [25, 4] + - !!python/tuple [5, 2] + - !!python/tuple [22, 8] + - !!python/tuple [0, 7] + - !!python/tuple [27, 13] + - !!python/tuple [25, 9] + - !!python/tuple [13, 14] + - !!python/tuple [28, 27] + - !!python/tuple [8, 14] + - !!python/tuple [28, 0] + - !!python/tuple [22, 16] + - !!python/tuple [28, 21] + - !!python/tuple [4, 0] + - !!python/tuple [30, 11] + - !!python/tuple [17, 23] + - !!python/tuple [14, 5] + - !!python/tuple [13, 29] + - !!python/tuple [16, 18] + - !!python/tuple [31, 7] + - !!python/tuple [26, 6] + - !!python/tuple [5, 28] + - !!python/tuple [31, 4] + - !!python/tuple [23, 20] + - !!python/tuple [8, 24] + - !!python/tuple [2, 19] + - !!python/tuple [0, 26] + - !!python/tuple [23, 17] + - !!python/tuple [10, 19] + - !!python/tuple [30, 23] + - !!python/tuple [17, 4] + - !!python/tuple [0, 27] + - !!python/tuple [10, 2] + - !!python/tuple [12, 16] + - !!python/tuple [18, 16] + - !!python/tuple [20, 0] + - !!python/tuple [10, 30] + - !!python/tuple [20, 2] + - !!python/tuple [3, 12] + - !!python/tuple [19, 31] + - !!python/tuple [6, 30] + - !!python/tuple [24, 6] + - !!python/tuple [18, 5] + - !!python/tuple [13, 26] + - !!python/tuple [18, 9] + - !!python/tuple [28, 29] + - !!python/tuple [18, 28] + - !!python/tuple [14, 9] + - !!python/tuple [0, 1] + - !!python/tuple [18, 22] + - !!python/tuple [6, 17] + - !!python/tuple [3, 3] + - !!python/tuple [22, 9] + - !!python/tuple [1, 15] + - !!python/tuple [5, 23] + - !!python/tuple [6, 1] + - !!python/tuple [2, 23] + - !!python/tuple [19, 10] + - !!python/tuple [4, 15] + - !!python/tuple [29, 16] + - !!python/tuple [16, 5] + - !!python/tuple [9, 25] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex15.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex15.yaml new file mode 100644 index 0000000..0e1c5d4 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex15.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [18, 26] + name: agent0 + start: [16, 15] +- goal: [26, 6] + name: agent1 + start: [29, 0] +- goal: [14, 14] + name: agent2 + start: [24, 19] +- goal: [28, 30] + name: agent3 + start: [16, 27] +- goal: [27, 13] + name: agent4 + start: [22, 5] +- goal: [18, 24] + name: agent5 + start: [22, 25] +- goal: [1, 15] + name: agent6 + start: [5, 29] +- goal: [19, 21] + name: agent7 + start: [18, 2] +- goal: [25, 13] + name: agent8 + start: [13, 22] +- goal: [19, 27] + name: agent9 + start: [1, 27] +- goal: [31, 8] + name: agent10 + start: [6, 15] +- goal: [8, 23] + name: agent11 + start: [2, 29] +- goal: [0, 16] + name: agent12 + start: [25, 14] +- goal: [2, 5] + name: agent13 + start: [20, 16] +- goal: [18, 1] + name: agent14 + start: [19, 12] +- goal: [22, 29] + name: agent15 + start: [12, 7] +- goal: [19, 11] + name: agent16 + start: [15, 17] +- goal: [5, 18] + name: agent17 + start: [19, 22] +- goal: [30, 7] + name: agent18 + start: [11, 10] +- goal: [26, 7] + name: agent19 + start: [26, 17] +- goal: [20, 3] + name: agent20 + start: [28, 16] +- goal: [21, 12] + name: agent21 + start: [8, 2] +- goal: [20, 23] + name: agent22 + start: [15, 15] +- goal: [11, 6] + name: agent23 + start: [28, 27] +- goal: [14, 8] + name: agent24 + start: [12, 23] +- goal: [1, 20] + name: agent25 + start: [21, 25] +- goal: [16, 29] + name: agent26 + start: [21, 0] +- goal: [4, 31] + name: agent27 + start: [30, 30] +- goal: [16, 23] + name: agent28 + start: [7, 11] +- goal: [14, 13] + name: agent29 + start: [22, 13] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [27, 26] + - !!python/tuple [20, 29] + - !!python/tuple [21, 5] + - !!python/tuple [31, 28] + - !!python/tuple [31, 31] + - !!python/tuple [20, 6] + - !!python/tuple [11, 17] + - !!python/tuple [16, 2] + - !!python/tuple [31, 27] + - !!python/tuple [25, 2] + - !!python/tuple [27, 28] + - !!python/tuple [2, 1] + - !!python/tuple [2, 21] + - !!python/tuple [5, 31] + - !!python/tuple [8, 17] + - !!python/tuple [28, 19] + - !!python/tuple [31, 20] + - !!python/tuple [23, 19] + - !!python/tuple [2, 10] + - !!python/tuple [24, 1] + - !!python/tuple [11, 15] + - !!python/tuple [1, 3] + - !!python/tuple [21, 9] + - !!python/tuple [5, 10] + - !!python/tuple [13, 24] + - !!python/tuple [4, 9] + - !!python/tuple [11, 25] + - !!python/tuple [15, 19] + - !!python/tuple [22, 24] + - !!python/tuple [15, 18] + - !!python/tuple [3, 27] + - !!python/tuple [26, 15] + - !!python/tuple [0, 6] + - !!python/tuple [17, 5] + - !!python/tuple [6, 19] + - !!python/tuple [31, 1] + - !!python/tuple [3, 22] + - !!python/tuple [9, 7] + - !!python/tuple [20, 7] + - !!python/tuple [17, 25] + - !!python/tuple [25, 8] + - !!python/tuple [8, 8] + - !!python/tuple [5, 23] + - !!python/tuple [23, 26] + - !!python/tuple [18, 4] + - !!python/tuple [5, 3] + - !!python/tuple [2, 24] + - !!python/tuple [8, 6] + - !!python/tuple [2, 7] + - !!python/tuple [24, 16] + - !!python/tuple [17, 3] + - !!python/tuple [25, 18] + - !!python/tuple [29, 10] + - !!python/tuple [19, 25] + - !!python/tuple [15, 9] + - !!python/tuple [25, 19] + - !!python/tuple [10, 29] + - !!python/tuple [13, 29] + - !!python/tuple [11, 12] + - !!python/tuple [8, 7] + - !!python/tuple [0, 7] + - !!python/tuple [10, 20] + - !!python/tuple [31, 9] + - !!python/tuple [18, 21] + - !!python/tuple [21, 7] + - !!python/tuple [20, 26] + - !!python/tuple [1, 10] + - !!python/tuple [2, 14] + - !!python/tuple [13, 27] + - !!python/tuple [22, 26] + - !!python/tuple [27, 11] + - !!python/tuple [25, 11] + - !!python/tuple [2, 0] + - !!python/tuple [7, 10] + - !!python/tuple [16, 21] + - !!python/tuple [27, 23] + - !!python/tuple [9, 26] + - !!python/tuple [1, 12] + - !!python/tuple [16, 18] + - !!python/tuple [9, 8] + - !!python/tuple [13, 17] + - !!python/tuple [15, 23] + - !!python/tuple [18, 29] + - !!python/tuple [10, 7] + - !!python/tuple [21, 14] + - !!python/tuple [22, 17] + - !!python/tuple [30, 27] + - !!python/tuple [21, 24] + - !!python/tuple [6, 22] + - !!python/tuple [22, 30] + - !!python/tuple [30, 29] + - !!python/tuple [9, 27] + - !!python/tuple [6, 16] + - !!python/tuple [3, 0] + - !!python/tuple [10, 4] + - !!python/tuple [29, 14] + - !!python/tuple [6, 30] + - !!python/tuple [18, 12] + - !!python/tuple [28, 21] + - !!python/tuple [0, 18] + - !!python/tuple [8, 3] + - !!python/tuple [30, 19] + - !!python/tuple [25, 25] + - !!python/tuple [29, 16] + - !!python/tuple [10, 8] + - !!python/tuple [1, 16] + - !!python/tuple [21, 11] + - !!python/tuple [13, 23] + - !!python/tuple [25, 4] + - !!python/tuple [22, 1] + - !!python/tuple [9, 12] + - !!python/tuple [22, 4] + - !!python/tuple [3, 14] + - !!python/tuple [13, 19] + - !!python/tuple [26, 5] + - !!python/tuple [31, 21] + - !!python/tuple [17, 11] + - !!python/tuple [6, 18] + - !!python/tuple [18, 13] + - !!python/tuple [24, 29] + - !!python/tuple [4, 28] + - !!python/tuple [30, 15] + - !!python/tuple [16, 4] + - !!python/tuple [8, 22] + - !!python/tuple [24, 27] + - !!python/tuple [2, 17] + - !!python/tuple [14, 10] + - !!python/tuple [21, 26] + - !!python/tuple [0, 2] + - !!python/tuple [19, 8] + - !!python/tuple [9, 4] + - !!python/tuple [21, 10] + - !!python/tuple [27, 6] + - !!python/tuple [30, 4] + - !!python/tuple [18, 30] + - !!python/tuple [26, 23] + - !!python/tuple [30, 1] + - !!python/tuple [6, 1] + - !!python/tuple [28, 24] + - !!python/tuple [9, 20] + - !!python/tuple [26, 28] + - !!python/tuple [9, 16] + - !!python/tuple [5, 8] + - !!python/tuple [28, 5] + - !!python/tuple [31, 10] + - !!python/tuple [30, 12] + - !!python/tuple [2, 23] + - !!python/tuple [21, 19] + - !!python/tuple [24, 18] + - !!python/tuple [4, 19] + - !!python/tuple [13, 30] + - !!python/tuple [1, 23] + - !!python/tuple [14, 18] + - !!python/tuple [8, 18] + - !!python/tuple [17, 8] + - !!python/tuple [13, 21] + - !!python/tuple [9, 3] + - !!python/tuple [20, 1] + - !!python/tuple [1, 7] + - !!python/tuple [30, 5] + - !!python/tuple [4, 5] + - !!python/tuple [23, 16] + - !!python/tuple [12, 21] + - !!python/tuple [6, 24] + - !!python/tuple [14, 3] + - !!python/tuple [8, 24] + - !!python/tuple [17, 26] + - !!python/tuple [14, 29] + - !!python/tuple [4, 20] + - !!python/tuple [9, 19] + - !!python/tuple [12, 17] + - !!python/tuple [15, 13] + - !!python/tuple [1, 18] + - !!python/tuple [25, 23] + - !!python/tuple [11, 0] + - !!python/tuple [15, 11] + - !!python/tuple [7, 18] + - !!python/tuple [17, 10] + - !!python/tuple [4, 30] + - !!python/tuple [25, 0] + - !!python/tuple [26, 19] + - !!python/tuple [18, 18] + - !!python/tuple [7, 16] + - !!python/tuple [14, 2] + - !!python/tuple [16, 10] + - !!python/tuple [3, 5] + - !!python/tuple [27, 12] + - !!python/tuple [28, 28] + - !!python/tuple [0, 22] + - !!python/tuple [24, 12] + - !!python/tuple [12, 14] + - !!python/tuple [9, 9] + - !!python/tuple [0, 12] + - !!python/tuple [11, 5] + - !!python/tuple [15, 16] + - !!python/tuple [31, 3] + - !!python/tuple [31, 30] + - !!python/tuple [18, 16] + - !!python/tuple [25, 15] + - !!python/tuple [6, 28] + - !!python/tuple [18, 10] + - !!python/tuple [6, 6] + - !!python/tuple [25, 29] + - !!python/tuple [15, 26] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex16.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex16.yaml new file mode 100644 index 0000000..6a1b10b --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex16.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [4, 1] + name: agent0 + start: [5, 4] +- goal: [12, 30] + name: agent1 + start: [15, 26] +- goal: [30, 8] + name: agent2 + start: [3, 11] +- goal: [29, 25] + name: agent3 + start: [17, 1] +- goal: [8, 4] + name: agent4 + start: [6, 11] +- goal: [14, 18] + name: agent5 + start: [13, 11] +- goal: [23, 24] + name: agent6 + start: [5, 16] +- goal: [15, 14] + name: agent7 + start: [5, 1] +- goal: [24, 29] + name: agent8 + start: [10, 19] +- goal: [23, 16] + name: agent9 + start: [17, 15] +- goal: [2, 10] + name: agent10 + start: [20, 9] +- goal: [29, 20] + name: agent11 + start: [3, 7] +- goal: [12, 21] + name: agent12 + start: [28, 26] +- goal: [22, 31] + name: agent13 + start: [20, 18] +- goal: [18, 5] + name: agent14 + start: [11, 24] +- goal: [10, 8] + name: agent15 + start: [14, 31] +- goal: [1, 20] + name: agent16 + start: [19, 15] +- goal: [26, 19] + name: agent17 + start: [25, 2] +- goal: [21, 27] + name: agent18 + start: [9, 12] +- goal: [29, 11] + name: agent19 + start: [27, 1] +- goal: [17, 15] + name: agent20 + start: [10, 29] +- goal: [2, 23] + name: agent21 + start: [21, 0] +- goal: [20, 2] + name: agent22 + start: [12, 20] +- goal: [9, 9] + name: agent23 + start: [17, 13] +- goal: [6, 16] + name: agent24 + start: [14, 22] +- goal: [25, 23] + name: agent25 + start: [11, 3] +- goal: [20, 27] + name: agent26 + start: [11, 7] +- goal: [31, 5] + name: agent27 + start: [13, 22] +- goal: [5, 11] + name: agent28 + start: [7, 4] +- goal: [1, 5] + name: agent29 + start: [6, 13] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [29, 18] + - !!python/tuple [24, 3] + - !!python/tuple [3, 4] + - !!python/tuple [26, 2] + - !!python/tuple [28, 21] + - !!python/tuple [26, 11] + - !!python/tuple [18, 16] + - !!python/tuple [31, 18] + - !!python/tuple [10, 23] + - !!python/tuple [14, 5] + - !!python/tuple [26, 16] + - !!python/tuple [24, 14] + - !!python/tuple [24, 18] + - !!python/tuple [21, 14] + - !!python/tuple [22, 15] + - !!python/tuple [18, 3] + - !!python/tuple [15, 21] + - !!python/tuple [30, 14] + - !!python/tuple [19, 8] + - !!python/tuple [6, 23] + - !!python/tuple [16, 1] + - !!python/tuple [17, 0] + - !!python/tuple [22, 22] + - !!python/tuple [23, 1] + - !!python/tuple [28, 28] + - !!python/tuple [20, 16] + - !!python/tuple [20, 11] + - !!python/tuple [29, 30] + - !!python/tuple [31, 23] + - !!python/tuple [25, 0] + - !!python/tuple [14, 2] + - !!python/tuple [13, 31] + - !!python/tuple [20, 28] + - !!python/tuple [13, 18] + - !!python/tuple [9, 7] + - !!python/tuple [4, 5] + - !!python/tuple [11, 18] + - !!python/tuple [4, 27] + - !!python/tuple [31, 21] + - !!python/tuple [20, 24] + - !!python/tuple [13, 30] + - !!python/tuple [29, 4] + - !!python/tuple [7, 11] + - !!python/tuple [9, 14] + - !!python/tuple [3, 28] + - !!python/tuple [4, 15] + - !!python/tuple [26, 14] + - !!python/tuple [18, 26] + - !!python/tuple [11, 4] + - !!python/tuple [2, 21] + - !!python/tuple [19, 23] + - !!python/tuple [24, 16] + - !!python/tuple [8, 11] + - !!python/tuple [25, 28] + - !!python/tuple [23, 9] + - !!python/tuple [19, 10] + - !!python/tuple [1, 31] + - !!python/tuple [13, 25] + - !!python/tuple [6, 1] + - !!python/tuple [24, 22] + - !!python/tuple [13, 10] + - !!python/tuple [22, 17] + - !!python/tuple [6, 4] + - !!python/tuple [28, 31] + - !!python/tuple [26, 1] + - !!python/tuple [11, 17] + - !!python/tuple [4, 8] + - !!python/tuple [30, 30] + - !!python/tuple [5, 26] + - !!python/tuple [21, 30] + - !!python/tuple [22, 12] + - !!python/tuple [18, 4] + - !!python/tuple [5, 7] + - !!python/tuple [29, 10] + - !!python/tuple [22, 23] + - !!python/tuple [20, 0] + - !!python/tuple [2, 9] + - !!python/tuple [22, 24] + - !!python/tuple [30, 6] + - !!python/tuple [12, 29] + - !!python/tuple [8, 14] + - !!python/tuple [13, 17] + - !!python/tuple [7, 3] + - !!python/tuple [7, 15] + - !!python/tuple [26, 3] + - !!python/tuple [17, 31] + - !!python/tuple [7, 10] + - !!python/tuple [14, 9] + - !!python/tuple [23, 26] + - !!python/tuple [6, 2] + - !!python/tuple [10, 18] + - !!python/tuple [1, 14] + - !!python/tuple [10, 27] + - !!python/tuple [30, 0] + - !!python/tuple [7, 23] + - !!python/tuple [7, 17] + - !!python/tuple [19, 20] + - !!python/tuple [15, 24] + - !!python/tuple [27, 13] + - !!python/tuple [7, 13] + - !!python/tuple [12, 11] + - !!python/tuple [17, 10] + - !!python/tuple [27, 30] + - !!python/tuple [9, 22] + - !!python/tuple [10, 6] + - !!python/tuple [12, 14] + - !!python/tuple [19, 2] + - !!python/tuple [11, 25] + - !!python/tuple [23, 7] + - !!python/tuple [18, 19] + - !!python/tuple [21, 22] + - !!python/tuple [9, 8] + - !!python/tuple [24, 8] + - !!python/tuple [0, 22] + - !!python/tuple [15, 12] + - !!python/tuple [23, 3] + - !!python/tuple [23, 18] + - !!python/tuple [6, 17] + - !!python/tuple [22, 14] + - !!python/tuple [30, 18] + - !!python/tuple [1, 17] + - !!python/tuple [12, 19] + - !!python/tuple [10, 25] + - !!python/tuple [13, 27] + - !!python/tuple [13, 9] + - !!python/tuple [10, 9] + - !!python/tuple [28, 23] + - !!python/tuple [13, 14] + - !!python/tuple [9, 19] + - !!python/tuple [20, 12] + - !!python/tuple [15, 29] + - !!python/tuple [28, 3] + - !!python/tuple [20, 4] + - !!python/tuple [28, 6] + - !!python/tuple [4, 28] + - !!python/tuple [9, 20] + - !!python/tuple [27, 16] + - !!python/tuple [15, 16] + - !!python/tuple [0, 5] + - !!python/tuple [29, 2] + - !!python/tuple [13, 24] + - !!python/tuple [24, 24] + - !!python/tuple [27, 3] + - !!python/tuple [27, 22] + - !!python/tuple [31, 7] + - !!python/tuple [21, 6] + - !!python/tuple [22, 3] + - !!python/tuple [26, 0] + - !!python/tuple [4, 22] + - !!python/tuple [21, 19] + - !!python/tuple [24, 17] + - !!python/tuple [25, 29] + - !!python/tuple [0, 17] + - !!python/tuple [1, 7] + - !!python/tuple [23, 30] + - !!python/tuple [27, 9] + - !!python/tuple [27, 27] + - !!python/tuple [18, 2] + - !!python/tuple [8, 16] + - !!python/tuple [0, 16] + - !!python/tuple [1, 25] + - !!python/tuple [16, 6] + - !!python/tuple [29, 28] + - !!python/tuple [8, 17] + - !!python/tuple [23, 23] + - !!python/tuple [28, 15] + - !!python/tuple [5, 18] + - !!python/tuple [28, 29] + - !!python/tuple [5, 28] + - !!python/tuple [1, 22] + - !!python/tuple [31, 1] + - !!python/tuple [21, 2] + - !!python/tuple [2, 17] + - !!python/tuple [5, 14] + - !!python/tuple [8, 3] + - !!python/tuple [20, 21] + - !!python/tuple [25, 4] + - !!python/tuple [14, 28] + - !!python/tuple [9, 17] + - !!python/tuple [18, 30] + - !!python/tuple [11, 31] + - !!python/tuple [13, 2] + - !!python/tuple [24, 13] + - !!python/tuple [13, 16] + - !!python/tuple [25, 21] + - !!python/tuple [9, 15] + - !!python/tuple [17, 30] + - !!python/tuple [5, 30] + - !!python/tuple [16, 23] + - !!python/tuple [16, 5] + - !!python/tuple [19, 26] + - !!python/tuple [27, 10] + - !!python/tuple [26, 27] + - !!python/tuple [9, 27] + - !!python/tuple [25, 20] + - !!python/tuple [14, 11] + - !!python/tuple [17, 20] + - !!python/tuple [5, 3] + - !!python/tuple [11, 14] + - !!python/tuple [31, 31] + - !!python/tuple [29, 19] + - !!python/tuple [28, 20] + - !!python/tuple [26, 23] + - !!python/tuple [25, 7] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex17.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex17.yaml new file mode 100644 index 0000000..6acd158 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex17.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [10, 26] + name: agent0 + start: [31, 9] +- goal: [11, 13] + name: agent1 + start: [15, 16] +- goal: [26, 23] + name: agent2 + start: [7, 18] +- goal: [17, 31] + name: agent3 + start: [4, 11] +- goal: [14, 3] + name: agent4 + start: [4, 14] +- goal: [31, 4] + name: agent5 + start: [22, 23] +- goal: [27, 20] + name: agent6 + start: [28, 12] +- goal: [22, 29] + name: agent7 + start: [28, 13] +- goal: [26, 6] + name: agent8 + start: [17, 0] +- goal: [11, 8] + name: agent9 + start: [24, 26] +- goal: [31, 0] + name: agent10 + start: [16, 29] +- goal: [19, 23] + name: agent11 + start: [25, 0] +- goal: [27, 7] + name: agent12 + start: [28, 3] +- goal: [21, 1] + name: agent13 + start: [26, 27] +- goal: [20, 29] + name: agent14 + start: [12, 8] +- goal: [27, 14] + name: agent15 + start: [22, 1] +- goal: [9, 10] + name: agent16 + start: [13, 31] +- goal: [9, 22] + name: agent17 + start: [25, 14] +- goal: [3, 20] + name: agent18 + start: [25, 11] +- goal: [8, 20] + name: agent19 + start: [8, 7] +- goal: [13, 3] + name: agent20 + start: [15, 14] +- goal: [13, 10] + name: agent21 + start: [12, 10] +- goal: [9, 1] + name: agent22 + start: [24, 28] +- goal: [25, 17] + name: agent23 + start: [1, 1] +- goal: [31, 14] + name: agent24 + start: [8, 25] +- goal: [15, 15] + name: agent25 + start: [31, 26] +- goal: [4, 28] + name: agent26 + start: [25, 3] +- goal: [12, 25] + name: agent27 + start: [3, 28] +- goal: [19, 8] + name: agent28 + start: [5, 13] +- goal: [20, 28] + name: agent29 + start: [23, 0] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [3, 1] + - !!python/tuple [12, 21] + - !!python/tuple [2, 1] + - !!python/tuple [28, 15] + - !!python/tuple [16, 12] + - !!python/tuple [13, 5] + - !!python/tuple [28, 29] + - !!python/tuple [7, 12] + - !!python/tuple [5, 5] + - !!python/tuple [26, 7] + - !!python/tuple [14, 27] + - !!python/tuple [5, 25] + - !!python/tuple [25, 19] + - !!python/tuple [17, 14] + - !!python/tuple [0, 7] + - !!python/tuple [24, 24] + - !!python/tuple [5, 21] + - !!python/tuple [28, 16] + - !!python/tuple [18, 25] + - !!python/tuple [22, 11] + - !!python/tuple [30, 21] + - !!python/tuple [0, 8] + - !!python/tuple [22, 19] + - !!python/tuple [2, 15] + - !!python/tuple [24, 25] + - !!python/tuple [28, 11] + - !!python/tuple [13, 20] + - !!python/tuple [19, 18] + - !!python/tuple [5, 6] + - !!python/tuple [28, 21] + - !!python/tuple [4, 0] + - !!python/tuple [13, 30] + - !!python/tuple [17, 10] + - !!python/tuple [25, 31] + - !!python/tuple [3, 2] + - !!python/tuple [8, 23] + - !!python/tuple [21, 18] + - !!python/tuple [31, 7] + - !!python/tuple [28, 27] + - !!python/tuple [31, 23] + - !!python/tuple [30, 15] + - !!python/tuple [29, 5] + - !!python/tuple [17, 12] + - !!python/tuple [15, 27] + - !!python/tuple [23, 4] + - !!python/tuple [1, 17] + - !!python/tuple [6, 18] + - !!python/tuple [31, 18] + - !!python/tuple [25, 29] + - !!python/tuple [19, 5] + - !!python/tuple [18, 8] + - !!python/tuple [12, 14] + - !!python/tuple [28, 6] + - !!python/tuple [8, 6] + - !!python/tuple [17, 9] + - !!python/tuple [26, 22] + - !!python/tuple [8, 14] + - !!python/tuple [1, 30] + - !!python/tuple [18, 4] + - !!python/tuple [5, 19] + - !!python/tuple [4, 24] + - !!python/tuple [8, 1] + - !!python/tuple [2, 0] + - !!python/tuple [18, 29] + - !!python/tuple [20, 4] + - !!python/tuple [5, 9] + - !!python/tuple [9, 23] + - !!python/tuple [15, 2] + - !!python/tuple [4, 10] + - !!python/tuple [15, 4] + - !!python/tuple [24, 30] + - !!python/tuple [1, 7] + - !!python/tuple [1, 21] + - !!python/tuple [20, 7] + - !!python/tuple [31, 2] + - !!python/tuple [9, 7] + - !!python/tuple [10, 29] + - !!python/tuple [3, 15] + - !!python/tuple [6, 25] + - !!python/tuple [6, 3] + - !!python/tuple [22, 9] + - !!python/tuple [11, 0] + - !!python/tuple [25, 2] + - !!python/tuple [17, 4] + - !!python/tuple [26, 29] + - !!python/tuple [24, 18] + - !!python/tuple [23, 15] + - !!python/tuple [7, 9] + - !!python/tuple [20, 15] + - !!python/tuple [8, 17] + - !!python/tuple [23, 30] + - !!python/tuple [10, 5] + - !!python/tuple [30, 13] + - !!python/tuple [10, 28] + - !!python/tuple [27, 29] + - !!python/tuple [6, 10] + - !!python/tuple [13, 29] + - !!python/tuple [5, 4] + - !!python/tuple [23, 8] + - !!python/tuple [21, 10] + - !!python/tuple [6, 14] + - !!python/tuple [16, 6] + - !!python/tuple [28, 7] + - !!python/tuple [8, 26] + - !!python/tuple [9, 5] + - !!python/tuple [25, 18] + - !!python/tuple [27, 13] + - !!python/tuple [30, 28] + - !!python/tuple [21, 5] + - !!python/tuple [20, 12] + - !!python/tuple [7, 10] + - !!python/tuple [20, 22] + - !!python/tuple [0, 18] + - !!python/tuple [28, 30] + - !!python/tuple [24, 5] + - !!python/tuple [19, 3] + - !!python/tuple [10, 14] + - !!python/tuple [23, 14] + - !!python/tuple [16, 23] + - !!python/tuple [4, 9] + - !!python/tuple [1, 28] + - !!python/tuple [7, 29] + - !!python/tuple [24, 7] + - !!python/tuple [1, 6] + - !!python/tuple [21, 4] + - !!python/tuple [3, 31] + - !!python/tuple [17, 19] + - !!python/tuple [0, 3] + - !!python/tuple [24, 9] + - !!python/tuple [6, 16] + - !!python/tuple [1, 18] + - !!python/tuple [16, 17] + - !!python/tuple [9, 3] + - !!python/tuple [14, 28] + - !!python/tuple [20, 26] + - !!python/tuple [4, 1] + - !!python/tuple [14, 31] + - !!python/tuple [26, 20] + - !!python/tuple [14, 21] + - !!python/tuple [31, 16] + - !!python/tuple [24, 10] + - !!python/tuple [10, 23] + - !!python/tuple [26, 9] + - !!python/tuple [13, 7] + - !!python/tuple [19, 24] + - !!python/tuple [10, 13] + - !!python/tuple [12, 27] + - !!python/tuple [6, 22] + - !!python/tuple [24, 15] + - !!python/tuple [17, 8] + - !!python/tuple [17, 3] + - !!python/tuple [26, 8] + - !!python/tuple [7, 24] + - !!python/tuple [2, 19] + - !!python/tuple [11, 20] + - !!python/tuple [9, 28] + - !!python/tuple [7, 5] + - !!python/tuple [21, 22] + - !!python/tuple [11, 15] + - !!python/tuple [18, 26] + - !!python/tuple [0, 26] + - !!python/tuple [10, 7] + - !!python/tuple [30, 19] + - !!python/tuple [23, 11] + - !!python/tuple [1, 31] + - !!python/tuple [27, 10] + - !!python/tuple [28, 26] + - !!python/tuple [5, 18] + - !!python/tuple [29, 28] + - !!python/tuple [9, 4] + - !!python/tuple [29, 15] + - !!python/tuple [5, 1] + - !!python/tuple [22, 8] + - !!python/tuple [25, 13] + - !!python/tuple [20, 20] + - !!python/tuple [23, 5] + - !!python/tuple [7, 27] + - !!python/tuple [25, 5] + - !!python/tuple [21, 7] + - !!python/tuple [4, 2] + - !!python/tuple [16, 2] + - !!python/tuple [10, 19] + - !!python/tuple [19, 21] + - !!python/tuple [26, 0] + - !!python/tuple [22, 6] + - !!python/tuple [25, 8] + - !!python/tuple [18, 10] + - !!python/tuple [0, 13] + - !!python/tuple [11, 16] + - !!python/tuple [31, 22] + - !!python/tuple [16, 5] + - !!python/tuple [13, 1] + - !!python/tuple [16, 27] + - !!python/tuple [18, 18] + - !!python/tuple [3, 18] + - !!python/tuple [19, 16] + - !!python/tuple [22, 18] + - !!python/tuple [25, 30] + - !!python/tuple [17, 15] + - !!python/tuple [23, 29] + - !!python/tuple [15, 13] + - !!python/tuple [30, 29] + - !!python/tuple [9, 12] + - !!python/tuple [16, 3] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex18.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex18.yaml new file mode 100644 index 0000000..04d3c66 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex18.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [22, 19] + name: agent0 + start: [12, 25] +- goal: [19, 4] + name: agent1 + start: [14, 3] +- goal: [29, 13] + name: agent2 + start: [29, 29] +- goal: [24, 10] + name: agent3 + start: [31, 10] +- goal: [18, 24] + name: agent4 + start: [7, 0] +- goal: [23, 10] + name: agent5 + start: [19, 22] +- goal: [26, 27] + name: agent6 + start: [15, 15] +- goal: [2, 14] + name: agent7 + start: [24, 18] +- goal: [13, 29] + name: agent8 + start: [1, 28] +- goal: [13, 20] + name: agent9 + start: [12, 0] +- goal: [9, 1] + name: agent10 + start: [28, 6] +- goal: [15, 23] + name: agent11 + start: [4, 7] +- goal: [8, 24] + name: agent12 + start: [16, 24] +- goal: [12, 11] + name: agent13 + start: [10, 20] +- goal: [6, 22] + name: agent14 + start: [12, 20] +- goal: [27, 8] + name: agent15 + start: [31, 14] +- goal: [17, 14] + name: agent16 + start: [11, 25] +- goal: [21, 20] + name: agent17 + start: [17, 17] +- goal: [7, 4] + name: agent18 + start: [25, 24] +- goal: [8, 29] + name: agent19 + start: [14, 17] +- goal: [28, 31] + name: agent20 + start: [11, 2] +- goal: [6, 14] + name: agent21 + start: [3, 14] +- goal: [0, 17] + name: agent22 + start: [28, 2] +- goal: [8, 2] + name: agent23 + start: [15, 24] +- goal: [22, 18] + name: agent24 + start: [8, 28] +- goal: [31, 18] + name: agent25 + start: [17, 26] +- goal: [25, 14] + name: agent26 + start: [8, 2] +- goal: [1, 21] + name: agent27 + start: [6, 28] +- goal: [30, 11] + name: agent28 + start: [24, 8] +- goal: [10, 12] + name: agent29 + start: [29, 13] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [5, 14] + - !!python/tuple [26, 11] + - !!python/tuple [8, 12] + - !!python/tuple [21, 8] + - !!python/tuple [1, 24] + - !!python/tuple [7, 1] + - !!python/tuple [6, 21] + - !!python/tuple [31, 0] + - !!python/tuple [17, 18] + - !!python/tuple [18, 8] + - !!python/tuple [26, 12] + - !!python/tuple [3, 11] + - !!python/tuple [31, 23] + - !!python/tuple [2, 19] + - !!python/tuple [22, 13] + - !!python/tuple [15, 21] + - !!python/tuple [27, 21] + - !!python/tuple [4, 10] + - !!python/tuple [13, 2] + - !!python/tuple [2, 20] + - !!python/tuple [15, 5] + - !!python/tuple [15, 25] + - !!python/tuple [21, 18] + - !!python/tuple [30, 13] + - !!python/tuple [6, 20] + - !!python/tuple [22, 25] + - !!python/tuple [5, 18] + - !!python/tuple [0, 13] + - !!python/tuple [9, 28] + - !!python/tuple [1, 15] + - !!python/tuple [18, 3] + - !!python/tuple [27, 2] + - !!python/tuple [6, 23] + - !!python/tuple [13, 25] + - !!python/tuple [27, 18] + - !!python/tuple [17, 16] + - !!python/tuple [21, 26] + - !!python/tuple [28, 23] + - !!python/tuple [23, 22] + - !!python/tuple [7, 18] + - !!python/tuple [5, 19] + - !!python/tuple [26, 7] + - !!python/tuple [16, 15] + - !!python/tuple [26, 31] + - !!python/tuple [27, 10] + - !!python/tuple [27, 28] + - !!python/tuple [19, 21] + - !!python/tuple [8, 4] + - !!python/tuple [25, 13] + - !!python/tuple [4, 2] + - !!python/tuple [11, 0] + - !!python/tuple [18, 14] + - !!python/tuple [28, 9] + - !!python/tuple [9, 7] + - !!python/tuple [0, 18] + - !!python/tuple [2, 6] + - !!python/tuple [26, 22] + - !!python/tuple [6, 16] + - !!python/tuple [24, 12] + - !!python/tuple [10, 11] + - !!python/tuple [20, 0] + - !!python/tuple [12, 2] + - !!python/tuple [0, 3] + - !!python/tuple [6, 19] + - !!python/tuple [11, 11] + - !!python/tuple [19, 24] + - !!python/tuple [0, 14] + - !!python/tuple [3, 20] + - !!python/tuple [25, 29] + - !!python/tuple [9, 21] + - !!python/tuple [20, 22] + - !!python/tuple [15, 2] + - !!python/tuple [4, 22] + - !!python/tuple [28, 4] + - !!python/tuple [29, 19] + - !!python/tuple [17, 31] + - !!python/tuple [1, 14] + - !!python/tuple [24, 6] + - !!python/tuple [18, 2] + - !!python/tuple [17, 1] + - !!python/tuple [16, 12] + - !!python/tuple [30, 8] + - !!python/tuple [4, 15] + - !!python/tuple [27, 22] + - !!python/tuple [7, 21] + - !!python/tuple [3, 6] + - !!python/tuple [6, 11] + - !!python/tuple [6, 9] + - !!python/tuple [28, 19] + - !!python/tuple [13, 15] + - !!python/tuple [21, 6] + - !!python/tuple [2, 7] + - !!python/tuple [21, 29] + - !!python/tuple [30, 0] + - !!python/tuple [28, 1] + - !!python/tuple [15, 13] + - !!python/tuple [21, 9] + - !!python/tuple [26, 9] + - !!python/tuple [2, 24] + - !!python/tuple [22, 3] + - !!python/tuple [18, 5] + - !!python/tuple [29, 3] + - !!python/tuple [2, 13] + - !!python/tuple [3, 8] + - !!python/tuple [23, 20] + - !!python/tuple [31, 6] + - !!python/tuple [29, 25] + - !!python/tuple [0, 7] + - !!python/tuple [7, 27] + - !!python/tuple [14, 22] + - !!python/tuple [29, 14] + - !!python/tuple [10, 21] + - !!python/tuple [30, 10] + - !!python/tuple [18, 16] + - !!python/tuple [20, 4] + - !!python/tuple [3, 7] + - !!python/tuple [19, 23] + - !!python/tuple [25, 25] + - !!python/tuple [25, 23] + - !!python/tuple [12, 28] + - !!python/tuple [11, 29] + - !!python/tuple [15, 11] + - !!python/tuple [13, 9] + - !!python/tuple [27, 9] + - !!python/tuple [22, 6] + - !!python/tuple [3, 2] + - !!python/tuple [3, 4] + - !!python/tuple [18, 17] + - !!python/tuple [25, 5] + - !!python/tuple [13, 0] + - !!python/tuple [4, 30] + - !!python/tuple [19, 26] + - !!python/tuple [20, 5] + - !!python/tuple [8, 22] + - !!python/tuple [19, 10] + - !!python/tuple [21, 22] + - !!python/tuple [13, 24] + - !!python/tuple [21, 17] + - !!python/tuple [10, 6] + - !!python/tuple [22, 29] + - !!python/tuple [29, 18] + - !!python/tuple [6, 26] + - !!python/tuple [26, 25] + - !!python/tuple [16, 9] + - !!python/tuple [14, 18] + - !!python/tuple [16, 6] + - !!python/tuple [20, 20] + - !!python/tuple [1, 8] + - !!python/tuple [5, 27] + - !!python/tuple [23, 28] + - !!python/tuple [13, 18] + - !!python/tuple [25, 20] + - !!python/tuple [2, 30] + - !!python/tuple [25, 17] + - !!python/tuple [25, 22] + - !!python/tuple [10, 30] + - !!python/tuple [27, 19] + - !!python/tuple [15, 31] + - !!python/tuple [25, 0] + - !!python/tuple [11, 26] + - !!python/tuple [7, 12] + - !!python/tuple [14, 0] + - !!python/tuple [15, 26] + - !!python/tuple [5, 17] + - !!python/tuple [0, 6] + - !!python/tuple [3, 31] + - !!python/tuple [3, 18] + - !!python/tuple [4, 8] + - !!python/tuple [23, 16] + - !!python/tuple [8, 20] + - !!python/tuple [28, 7] + - !!python/tuple [0, 25] + - !!python/tuple [1, 9] + - !!python/tuple [29, 20] + - !!python/tuple [26, 19] + - !!python/tuple [25, 10] + - !!python/tuple [24, 3] + - !!python/tuple [7, 28] + - !!python/tuple [13, 22] + - !!python/tuple [20, 7] + - !!python/tuple [12, 4] + - !!python/tuple [21, 30] + - !!python/tuple [1, 31] + - !!python/tuple [7, 19] + - !!python/tuple [28, 26] + - !!python/tuple [5, 23] + - !!python/tuple [27, 17] + - !!python/tuple [23, 18] + - !!python/tuple [15, 16] + - !!python/tuple [26, 24] + - !!python/tuple [6, 25] + - !!python/tuple [12, 30] + - !!python/tuple [2, 12] + - !!python/tuple [9, 26] + - !!python/tuple [3, 13] + - !!python/tuple [27, 20] + - !!python/tuple [10, 14] + - !!python/tuple [5, 5] + - !!python/tuple [11, 12] + - !!python/tuple [0, 0] + - !!python/tuple [20, 30] + - !!python/tuple [14, 1] + - !!python/tuple [9, 20] + - !!python/tuple [16, 10] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex19.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex19.yaml new file mode 100644 index 0000000..ec72739 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex19.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [7, 4] + name: agent0 + start: [23, 20] +- goal: [29, 7] + name: agent1 + start: [18, 0] +- goal: [2, 18] + name: agent2 + start: [13, 10] +- goal: [4, 27] + name: agent3 + start: [19, 28] +- goal: [15, 22] + name: agent4 + start: [25, 11] +- goal: [26, 19] + name: agent5 + start: [15, 16] +- goal: [17, 8] + name: agent6 + start: [17, 9] +- goal: [8, 10] + name: agent7 + start: [28, 19] +- goal: [26, 21] + name: agent8 + start: [29, 6] +- goal: [10, 30] + name: agent9 + start: [1, 11] +- goal: [27, 11] + name: agent10 + start: [31, 20] +- goal: [8, 7] + name: agent11 + start: [4, 31] +- goal: [15, 13] + name: agent12 + start: [20, 0] +- goal: [4, 25] + name: agent13 + start: [3, 15] +- goal: [21, 6] + name: agent14 + start: [5, 16] +- goal: [23, 12] + name: agent15 + start: [1, 3] +- goal: [21, 7] + name: agent16 + start: [17, 21] +- goal: [24, 7] + name: agent17 + start: [1, 26] +- goal: [1, 14] + name: agent18 + start: [29, 27] +- goal: [30, 7] + name: agent19 + start: [8, 18] +- goal: [6, 16] + name: agent20 + start: [23, 13] +- goal: [0, 24] + name: agent21 + start: [5, 31] +- goal: [21, 11] + name: agent22 + start: [25, 27] +- goal: [28, 13] + name: agent23 + start: [28, 4] +- goal: [5, 10] + name: agent24 + start: [10, 23] +- goal: [3, 9] + name: agent25 + start: [6, 22] +- goal: [22, 18] + name: agent26 + start: [5, 19] +- goal: [13, 8] + name: agent27 + start: [18, 5] +- goal: [19, 15] + name: agent28 + start: [6, 17] +- goal: [14, 31] + name: agent29 + start: [16, 22] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [4, 11] + - !!python/tuple [1, 24] + - !!python/tuple [16, 30] + - !!python/tuple [8, 25] + - !!python/tuple [3, 12] + - !!python/tuple [15, 7] + - !!python/tuple [6, 23] + - !!python/tuple [12, 1] + - !!python/tuple [18, 21] + - !!python/tuple [25, 25] + - !!python/tuple [17, 6] + - !!python/tuple [9, 22] + - !!python/tuple [22, 16] + - !!python/tuple [28, 15] + - !!python/tuple [4, 16] + - !!python/tuple [17, 4] + - !!python/tuple [30, 31] + - !!python/tuple [14, 15] + - !!python/tuple [22, 17] + - !!python/tuple [9, 2] + - !!python/tuple [29, 22] + - !!python/tuple [17, 29] + - !!python/tuple [29, 31] + - !!python/tuple [29, 3] + - !!python/tuple [28, 18] + - !!python/tuple [25, 2] + - !!python/tuple [22, 1] + - !!python/tuple [31, 21] + - !!python/tuple [14, 17] + - !!python/tuple [11, 23] + - !!python/tuple [18, 7] + - !!python/tuple [1, 28] + - !!python/tuple [5, 6] + - !!python/tuple [10, 18] + - !!python/tuple [8, 31] + - !!python/tuple [29, 9] + - !!python/tuple [23, 10] + - !!python/tuple [10, 14] + - !!python/tuple [14, 14] + - !!python/tuple [14, 2] + - !!python/tuple [1, 25] + - !!python/tuple [29, 4] + - !!python/tuple [5, 12] + - !!python/tuple [3, 16] + - !!python/tuple [13, 5] + - !!python/tuple [26, 27] + - !!python/tuple [28, 25] + - !!python/tuple [29, 11] + - !!python/tuple [2, 15] + - !!python/tuple [6, 3] + - !!python/tuple [12, 16] + - !!python/tuple [18, 2] + - !!python/tuple [2, 28] + - !!python/tuple [9, 28] + - !!python/tuple [7, 19] + - !!python/tuple [13, 9] + - !!python/tuple [14, 6] + - !!python/tuple [14, 4] + - !!python/tuple [29, 25] + - !!python/tuple [14, 7] + - !!python/tuple [24, 19] + - !!python/tuple [29, 19] + - !!python/tuple [12, 2] + - !!python/tuple [8, 23] + - !!python/tuple [15, 14] + - !!python/tuple [18, 24] + - !!python/tuple [5, 21] + - !!python/tuple [8, 26] + - !!python/tuple [12, 18] + - !!python/tuple [3, 8] + - !!python/tuple [18, 15] + - !!python/tuple [21, 25] + - !!python/tuple [8, 1] + - !!python/tuple [5, 2] + - !!python/tuple [11, 15] + - !!python/tuple [2, 24] + - !!python/tuple [3, 11] + - !!python/tuple [10, 1] + - !!python/tuple [30, 4] + - !!python/tuple [20, 12] + - !!python/tuple [23, 30] + - !!python/tuple [24, 25] + - !!python/tuple [6, 20] + - !!python/tuple [4, 24] + - !!python/tuple [22, 12] + - !!python/tuple [13, 27] + - !!python/tuple [15, 5] + - !!python/tuple [26, 6] + - !!python/tuple [24, 20] + - !!python/tuple [9, 12] + - !!python/tuple [30, 29] + - !!python/tuple [23, 21] + - !!python/tuple [0, 5] + - !!python/tuple [19, 0] + - !!python/tuple [26, 29] + - !!python/tuple [0, 1] + - !!python/tuple [30, 12] + - !!python/tuple [11, 21] + - !!python/tuple [26, 2] + - !!python/tuple [22, 6] + - !!python/tuple [4, 14] + - !!python/tuple [16, 14] + - !!python/tuple [18, 19] + - !!python/tuple [9, 31] + - !!python/tuple [27, 3] + - !!python/tuple [27, 13] + - !!python/tuple [4, 21] + - !!python/tuple [23, 16] + - !!python/tuple [6, 6] + - !!python/tuple [5, 26] + - !!python/tuple [30, 0] + - !!python/tuple [27, 30] + - !!python/tuple [5, 13] + - !!python/tuple [12, 28] + - !!python/tuple [2, 22] + - !!python/tuple [28, 10] + - !!python/tuple [26, 30] + - !!python/tuple [27, 31] + - !!python/tuple [22, 26] + - !!python/tuple [14, 13] + - !!python/tuple [21, 15] + - !!python/tuple [8, 15] + - !!python/tuple [12, 21] + - !!python/tuple [16, 8] + - !!python/tuple [2, 27] + - !!python/tuple [26, 4] + - !!python/tuple [26, 0] + - !!python/tuple [8, 0] + - !!python/tuple [27, 0] + - !!python/tuple [24, 22] + - !!python/tuple [22, 23] + - !!python/tuple [9, 30] + - !!python/tuple [21, 28] + - !!python/tuple [2, 21] + - !!python/tuple [29, 5] + - !!python/tuple [11, 28] + - !!python/tuple [20, 7] + - !!python/tuple [2, 17] + - !!python/tuple [10, 17] + - !!python/tuple [6, 10] + - !!python/tuple [3, 25] + - !!python/tuple [17, 15] + - !!python/tuple [21, 10] + - !!python/tuple [8, 16] + - !!python/tuple [22, 31] + - !!python/tuple [11, 30] + - !!python/tuple [22, 3] + - !!python/tuple [2, 6] + - !!python/tuple [20, 14] + - !!python/tuple [23, 1] + - !!python/tuple [18, 31] + - !!python/tuple [28, 26] + - !!python/tuple [22, 2] + - !!python/tuple [12, 4] + - !!python/tuple [14, 12] + - !!python/tuple [15, 23] + - !!python/tuple [11, 18] + - !!python/tuple [25, 3] + - !!python/tuple [3, 1] + - !!python/tuple [19, 9] + - !!python/tuple [19, 19] + - !!python/tuple [26, 10] + - !!python/tuple [7, 20] + - !!python/tuple [3, 30] + - !!python/tuple [21, 21] + - !!python/tuple [6, 12] + - !!python/tuple [17, 23] + - !!python/tuple [13, 30] + - !!python/tuple [26, 9] + - !!python/tuple [26, 13] + - !!python/tuple [20, 13] + - !!python/tuple [11, 5] + - !!python/tuple [18, 20] + - !!python/tuple [24, 4] + - !!python/tuple [18, 16] + - !!python/tuple [23, 4] + - !!python/tuple [17, 24] + - !!python/tuple [10, 7] + - !!python/tuple [1, 30] + - !!python/tuple [25, 9] + - !!python/tuple [19, 26] + - !!python/tuple [0, 9] + - !!python/tuple [25, 21] + - !!python/tuple [21, 4] + - !!python/tuple [27, 17] + - !!python/tuple [5, 30] + - !!python/tuple [13, 6] + - !!python/tuple [1, 5] + - !!python/tuple [23, 24] + - !!python/tuple [10, 25] + - !!python/tuple [8, 11] + - !!python/tuple [18, 3] + - !!python/tuple [16, 24] + - !!python/tuple [5, 8] + - !!python/tuple [10, 3] + - !!python/tuple [12, 5] + - !!python/tuple [21, 12] + - !!python/tuple [15, 10] + - !!python/tuple [17, 10] + - !!python/tuple [29, 1] + - !!python/tuple [30, 23] + - !!python/tuple [30, 22] + - !!python/tuple [6, 29] + - !!python/tuple [19, 25] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex2.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex2.yaml new file mode 100644 index 0000000..ab56ac5 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex2.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [8, 19] + name: agent0 + start: [0, 22] +- goal: [30, 6] + name: agent1 + start: [30, 30] +- goal: [13, 16] + name: agent2 + start: [4, 20] +- goal: [26, 2] + name: agent3 + start: [20, 13] +- goal: [23, 22] + name: agent4 + start: [1, 21] +- goal: [17, 12] + name: agent5 + start: [30, 14] +- goal: [20, 9] + name: agent6 + start: [5, 7] +- goal: [26, 27] + name: agent7 + start: [3, 13] +- goal: [6, 16] + name: agent8 + start: [12, 9] +- goal: [29, 10] + name: agent9 + start: [3, 21] +- goal: [12, 12] + name: agent10 + start: [11, 21] +- goal: [27, 24] + name: agent11 + start: [4, 3] +- goal: [30, 20] + name: agent12 + start: [18, 24] +- goal: [0, 31] + name: agent13 + start: [6, 9] +- goal: [31, 7] + name: agent14 + start: [0, 21] +- goal: [30, 5] + name: agent15 + start: [18, 20] +- goal: [27, 17] + name: agent16 + start: [16, 8] +- goal: [11, 15] + name: agent17 + start: [14, 16] +- goal: [23, 17] + name: agent18 + start: [21, 19] +- goal: [22, 9] + name: agent19 + start: [4, 17] +- goal: [26, 15] + name: agent20 + start: [5, 1] +- goal: [25, 21] + name: agent21 + start: [17, 8] +- goal: [25, 4] + name: agent22 + start: [0, 16] +- goal: [18, 18] + name: agent23 + start: [13, 27] +- goal: [6, 7] + name: agent24 + start: [21, 15] +- goal: [10, 17] + name: agent25 + start: [24, 26] +- goal: [0, 22] + name: agent26 + start: [19, 10] +- goal: [21, 2] + name: agent27 + start: [14, 26] +- goal: [28, 15] + name: agent28 + start: [14, 22] +- goal: [27, 21] + name: agent29 + start: [31, 1] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [30, 9] + - !!python/tuple [28, 26] + - !!python/tuple [28, 20] + - !!python/tuple [29, 3] + - !!python/tuple [14, 15] + - !!python/tuple [16, 4] + - !!python/tuple [13, 1] + - !!python/tuple [29, 30] + - !!python/tuple [0, 24] + - !!python/tuple [17, 18] + - !!python/tuple [27, 19] + - !!python/tuple [14, 19] + - !!python/tuple [21, 0] + - !!python/tuple [23, 6] + - !!python/tuple [21, 24] + - !!python/tuple [3, 18] + - !!python/tuple [10, 3] + - !!python/tuple [10, 10] + - !!python/tuple [16, 17] + - !!python/tuple [9, 10] + - !!python/tuple [25, 25] + - !!python/tuple [15, 6] + - !!python/tuple [23, 31] + - !!python/tuple [21, 27] + - !!python/tuple [25, 12] + - !!python/tuple [6, 3] + - !!python/tuple [21, 1] + - !!python/tuple [8, 1] + - !!python/tuple [7, 8] + - !!python/tuple [27, 5] + - !!python/tuple [14, 12] + - !!python/tuple [6, 10] + - !!python/tuple [2, 17] + - !!python/tuple [14, 11] + - !!python/tuple [7, 19] + - !!python/tuple [9, 23] + - !!python/tuple [16, 23] + - !!python/tuple [3, 0] + - !!python/tuple [21, 18] + - !!python/tuple [24, 5] + - !!python/tuple [17, 23] + - !!python/tuple [13, 2] + - !!python/tuple [20, 14] + - !!python/tuple [1, 29] + - !!python/tuple [4, 10] + - !!python/tuple [16, 22] + - !!python/tuple [15, 15] + - !!python/tuple [14, 6] + - !!python/tuple [1, 22] + - !!python/tuple [1, 17] + - !!python/tuple [26, 8] + - !!python/tuple [20, 1] + - !!python/tuple [2, 31] + - !!python/tuple [19, 30] + - !!python/tuple [17, 11] + - !!python/tuple [16, 9] + - !!python/tuple [19, 28] + - !!python/tuple [18, 28] + - !!python/tuple [1, 5] + - !!python/tuple [13, 29] + - !!python/tuple [29, 26] + - !!python/tuple [8, 2] + - !!python/tuple [20, 3] + - !!python/tuple [11, 30] + - !!python/tuple [23, 19] + - !!python/tuple [0, 15] + - !!python/tuple [2, 14] + - !!python/tuple [0, 19] + - !!python/tuple [17, 10] + - !!python/tuple [10, 14] + - !!python/tuple [0, 30] + - !!python/tuple [21, 21] + - !!python/tuple [7, 5] + - !!python/tuple [1, 20] + - !!python/tuple [15, 23] + - !!python/tuple [30, 21] + - !!python/tuple [10, 26] + - !!python/tuple [14, 13] + - !!python/tuple [31, 31] + - !!python/tuple [30, 28] + - !!python/tuple [18, 23] + - !!python/tuple [10, 7] + - !!python/tuple [24, 1] + - !!python/tuple [26, 16] + - !!python/tuple [22, 5] + - !!python/tuple [5, 4] + - !!python/tuple [4, 15] + - !!python/tuple [25, 20] + - !!python/tuple [8, 17] + - !!python/tuple [3, 23] + - !!python/tuple [12, 7] + - !!python/tuple [12, 13] + - !!python/tuple [17, 24] + - !!python/tuple [21, 25] + - !!python/tuple [20, 10] + - !!python/tuple [17, 2] + - !!python/tuple [15, 1] + - !!python/tuple [0, 4] + - !!python/tuple [1, 10] + - !!python/tuple [25, 24] + - !!python/tuple [21, 17] + - !!python/tuple [4, 29] + - !!python/tuple [9, 24] + - !!python/tuple [10, 12] + - !!python/tuple [11, 23] + - !!python/tuple [12, 16] + - !!python/tuple [15, 10] + - !!python/tuple [7, 9] + - !!python/tuple [20, 20] + - !!python/tuple [19, 7] + - !!python/tuple [29, 13] + - !!python/tuple [6, 14] + - !!python/tuple [16, 20] + - !!python/tuple [18, 17] + - !!python/tuple [28, 24] + - !!python/tuple [10, 31] + - !!python/tuple [3, 30] + - !!python/tuple [13, 9] + - !!python/tuple [12, 2] + - !!python/tuple [12, 25] + - !!python/tuple [6, 27] + - !!python/tuple [22, 25] + - !!python/tuple [30, 18] + - !!python/tuple [0, 29] + - !!python/tuple [30, 15] + - !!python/tuple [30, 25] + - !!python/tuple [9, 28] + - !!python/tuple [14, 29] + - !!python/tuple [13, 7] + - !!python/tuple [3, 25] + - !!python/tuple [24, 30] + - !!python/tuple [16, 26] + - !!python/tuple [4, 27] + - !!python/tuple [26, 24] + - !!python/tuple [11, 12] + - !!python/tuple [7, 12] + - !!python/tuple [15, 9] + - !!python/tuple [20, 19] + - !!python/tuple [25, 1] + - !!python/tuple [8, 5] + - !!python/tuple [19, 16] + - !!python/tuple [10, 4] + - !!python/tuple [31, 22] + - !!python/tuple [10, 16] + - !!python/tuple [13, 0] + - !!python/tuple [13, 17] + - !!python/tuple [9, 15] + - !!python/tuple [20, 31] + - !!python/tuple [20, 30] + - !!python/tuple [15, 28] + - !!python/tuple [6, 31] + - !!python/tuple [29, 2] + - !!python/tuple [5, 19] + - !!python/tuple [1, 24] + - !!python/tuple [16, 15] + - !!python/tuple [24, 6] + - !!python/tuple [4, 6] + - !!python/tuple [11, 22] + - !!python/tuple [20, 0] + - !!python/tuple [0, 0] + - !!python/tuple [5, 31] + - !!python/tuple [7, 2] + - !!python/tuple [30, 12] + - !!python/tuple [4, 2] + - !!python/tuple [6, 23] + - !!python/tuple [9, 18] + - !!python/tuple [12, 23] + - !!python/tuple [27, 22] + - !!python/tuple [24, 16] + - !!python/tuple [22, 7] + - !!python/tuple [0, 9] + - !!python/tuple [20, 29] + - !!python/tuple [16, 10] + - !!python/tuple [19, 20] + - !!python/tuple [24, 31] + - !!python/tuple [31, 17] + - !!python/tuple [22, 8] + - !!python/tuple [26, 17] + - !!python/tuple [14, 1] + - !!python/tuple [4, 7] + - !!python/tuple [31, 21] + - !!python/tuple [11, 31] + - !!python/tuple [7, 6] + - !!python/tuple [14, 3] + - !!python/tuple [0, 11] + - !!python/tuple [9, 5] + - !!python/tuple [3, 19] + - !!python/tuple [14, 9] + - !!python/tuple [18, 0] + - !!python/tuple [15, 20] + - !!python/tuple [17, 14] + - !!python/tuple [2, 19] + - !!python/tuple [18, 6] + - !!python/tuple [22, 30] + - !!python/tuple [31, 6] + - !!python/tuple [23, 7] + - !!python/tuple [29, 14] + - !!python/tuple [19, 21] + - !!python/tuple [12, 0] + - !!python/tuple [27, 12] + - !!python/tuple [25, 18] + - !!python/tuple [5, 24] + - !!python/tuple [23, 2] + - !!python/tuple [28, 19] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex20.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex20.yaml new file mode 100644 index 0000000..81503ba --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex20.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [6, 8] + name: agent0 + start: [12, 11] +- goal: [12, 10] + name: agent1 + start: [6, 29] +- goal: [9, 16] + name: agent2 + start: [25, 3] +- goal: [28, 10] + name: agent3 + start: [27, 14] +- goal: [3, 29] + name: agent4 + start: [15, 3] +- goal: [20, 31] + name: agent5 + start: [29, 5] +- goal: [22, 20] + name: agent6 + start: [7, 14] +- goal: [3, 9] + name: agent7 + start: [28, 25] +- goal: [12, 18] + name: agent8 + start: [11, 30] +- goal: [23, 6] + name: agent9 + start: [6, 3] +- goal: [7, 15] + name: agent10 + start: [30, 22] +- goal: [7, 5] + name: agent11 + start: [26, 4] +- goal: [16, 25] + name: agent12 + start: [0, 5] +- goal: [11, 18] + name: agent13 + start: [10, 26] +- goal: [0, 5] + name: agent14 + start: [8, 7] +- goal: [8, 31] + name: agent15 + start: [23, 20] +- goal: [7, 27] + name: agent16 + start: [20, 26] +- goal: [17, 31] + name: agent17 + start: [29, 11] +- goal: [16, 21] + name: agent18 + start: [11, 23] +- goal: [5, 5] + name: agent19 + start: [5, 11] +- goal: [12, 26] + name: agent20 + start: [17, 29] +- goal: [16, 27] + name: agent21 + start: [27, 19] +- goal: [14, 3] + name: agent22 + start: [5, 16] +- goal: [4, 0] + name: agent23 + start: [3, 9] +- goal: [17, 30] + name: agent24 + start: [3, 17] +- goal: [5, 1] + name: agent25 + start: [29, 26] +- goal: [19, 19] + name: agent26 + start: [24, 20] +- goal: [15, 1] + name: agent27 + start: [3, 10] +- goal: [17, 22] + name: agent28 + start: [16, 6] +- goal: [27, 13] + name: agent29 + start: [10, 25] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [8, 24] + - !!python/tuple [31, 3] + - !!python/tuple [1, 2] + - !!python/tuple [31, 0] + - !!python/tuple [28, 9] + - !!python/tuple [20, 5] + - !!python/tuple [29, 17] + - !!python/tuple [16, 9] + - !!python/tuple [18, 12] + - !!python/tuple [15, 7] + - !!python/tuple [3, 7] + - !!python/tuple [7, 17] + - !!python/tuple [17, 25] + - !!python/tuple [23, 16] + - !!python/tuple [28, 4] + - !!python/tuple [18, 3] + - !!python/tuple [2, 16] + - !!python/tuple [11, 0] + - !!python/tuple [14, 6] + - !!python/tuple [25, 25] + - !!python/tuple [18, 11] + - !!python/tuple [13, 20] + - !!python/tuple [28, 3] + - !!python/tuple [4, 29] + - !!python/tuple [10, 14] + - !!python/tuple [7, 30] + - !!python/tuple [7, 25] + - !!python/tuple [27, 20] + - !!python/tuple [18, 6] + - !!python/tuple [20, 13] + - !!python/tuple [31, 1] + - !!python/tuple [12, 9] + - !!python/tuple [27, 6] + - !!python/tuple [25, 31] + - !!python/tuple [29, 30] + - !!python/tuple [5, 6] + - !!python/tuple [13, 4] + - !!python/tuple [6, 26] + - !!python/tuple [26, 27] + - !!python/tuple [28, 22] + - !!python/tuple [25, 6] + - !!python/tuple [4, 15] + - !!python/tuple [2, 23] + - !!python/tuple [29, 3] + - !!python/tuple [14, 21] + - !!python/tuple [4, 2] + - !!python/tuple [29, 28] + - !!python/tuple [1, 11] + - !!python/tuple [25, 15] + - !!python/tuple [9, 24] + - !!python/tuple [13, 10] + - !!python/tuple [20, 24] + - !!python/tuple [7, 0] + - !!python/tuple [11, 6] + - !!python/tuple [27, 27] + - !!python/tuple [0, 22] + - !!python/tuple [22, 27] + - !!python/tuple [12, 28] + - !!python/tuple [15, 14] + - !!python/tuple [27, 21] + - !!python/tuple [0, 30] + - !!python/tuple [19, 22] + - !!python/tuple [24, 2] + - !!python/tuple [11, 13] + - !!python/tuple [9, 29] + - !!python/tuple [31, 30] + - !!python/tuple [2, 30] + - !!python/tuple [31, 18] + - !!python/tuple [23, 9] + - !!python/tuple [13, 8] + - !!python/tuple [7, 20] + - !!python/tuple [16, 5] + - !!python/tuple [17, 28] + - !!python/tuple [1, 26] + - !!python/tuple [11, 10] + - !!python/tuple [28, 0] + - !!python/tuple [10, 2] + - !!python/tuple [13, 24] + - !!python/tuple [26, 5] + - !!python/tuple [31, 5] + - !!python/tuple [22, 19] + - !!python/tuple [31, 29] + - !!python/tuple [14, 31] + - !!python/tuple [18, 10] + - !!python/tuple [16, 8] + - !!python/tuple [30, 23] + - !!python/tuple [13, 0] + - !!python/tuple [7, 7] + - !!python/tuple [4, 6] + - !!python/tuple [13, 7] + - !!python/tuple [5, 17] + - !!python/tuple [10, 28] + - !!python/tuple [27, 31] + - !!python/tuple [6, 0] + - !!python/tuple [29, 20] + - !!python/tuple [8, 11] + - !!python/tuple [5, 28] + - !!python/tuple [0, 16] + - !!python/tuple [15, 13] + - !!python/tuple [0, 19] + - !!python/tuple [23, 24] + - !!python/tuple [2, 19] + - !!python/tuple [30, 19] + - !!python/tuple [28, 2] + - !!python/tuple [6, 18] + - !!python/tuple [5, 24] + - !!python/tuple [26, 23] + - !!python/tuple [15, 16] + - !!python/tuple [19, 21] + - !!python/tuple [24, 5] + - !!python/tuple [30, 26] + - !!python/tuple [9, 26] + - !!python/tuple [31, 23] + - !!python/tuple [13, 21] + - !!python/tuple [13, 23] + - !!python/tuple [7, 31] + - !!python/tuple [3, 22] + - !!python/tuple [4, 23] + - !!python/tuple [2, 3] + - !!python/tuple [0, 29] + - !!python/tuple [25, 8] + - !!python/tuple [31, 21] + - !!python/tuple [6, 14] + - !!python/tuple [26, 2] + - !!python/tuple [22, 2] + - !!python/tuple [9, 25] + - !!python/tuple [23, 3] + - !!python/tuple [31, 4] + - !!python/tuple [2, 12] + - !!python/tuple [0, 3] + - !!python/tuple [24, 0] + - !!python/tuple [19, 1] + - !!python/tuple [12, 19] + - !!python/tuple [19, 31] + - !!python/tuple [15, 20] + - !!python/tuple [2, 20] + - !!python/tuple [17, 18] + - !!python/tuple [4, 12] + - !!python/tuple [1, 24] + - !!python/tuple [3, 8] + - !!python/tuple [13, 16] + - !!python/tuple [21, 17] + - !!python/tuple [25, 23] + - !!python/tuple [21, 15] + - !!python/tuple [13, 19] + - !!python/tuple [5, 12] + - !!python/tuple [26, 14] + - !!python/tuple [4, 19] + - !!python/tuple [12, 20] + - !!python/tuple [6, 6] + - !!python/tuple [26, 28] + - !!python/tuple [19, 23] + - !!python/tuple [1, 19] + - !!python/tuple [29, 13] + - !!python/tuple [29, 21] + - !!python/tuple [21, 11] + - !!python/tuple [27, 17] + - !!python/tuple [13, 1] + - !!python/tuple [2, 13] + - !!python/tuple [28, 18] + - !!python/tuple [18, 28] + - !!python/tuple [20, 21] + - !!python/tuple [6, 13] + - !!python/tuple [26, 1] + - !!python/tuple [5, 22] + - !!python/tuple [10, 12] + - !!python/tuple [20, 6] + - !!python/tuple [28, 16] + - !!python/tuple [18, 24] + - !!python/tuple [30, 24] + - !!python/tuple [31, 7] + - !!python/tuple [1, 27] + - !!python/tuple [30, 17] + - !!python/tuple [12, 1] + - !!python/tuple [2, 2] + - !!python/tuple [25, 16] + - !!python/tuple [27, 23] + - !!python/tuple [15, 19] + - !!python/tuple [17, 7] + - !!python/tuple [1, 25] + - !!python/tuple [23, 23] + - !!python/tuple [28, 6] + - !!python/tuple [3, 14] + - !!python/tuple [14, 4] + - !!python/tuple [0, 4] + - !!python/tuple [19, 7] + - !!python/tuple [12, 29] + - !!python/tuple [6, 9] + - !!python/tuple [26, 21] + - !!python/tuple [21, 10] + - !!python/tuple [17, 15] + - !!python/tuple [8, 28] + - !!python/tuple [11, 4] + - !!python/tuple [29, 27] + - !!python/tuple [11, 20] + - !!python/tuple [24, 21] + - !!python/tuple [26, 7] + - !!python/tuple [24, 6] + - !!python/tuple [11, 29] + - !!python/tuple [11, 1] + - !!python/tuple [9, 19] + - !!python/tuple [27, 16] + - !!python/tuple [11, 24] + - !!python/tuple [16, 20] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex21.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex21.yaml new file mode 100644 index 0000000..16ccfa0 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex21.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [30, 3] + name: agent0 + start: [26, 29] +- goal: [22, 28] + name: agent1 + start: [0, 14] +- goal: [29, 20] + name: agent2 + start: [7, 7] +- goal: [18, 4] + name: agent3 + start: [31, 16] +- goal: [14, 3] + name: agent4 + start: [1, 12] +- goal: [9, 23] + name: agent5 + start: [27, 12] +- goal: [2, 2] + name: agent6 + start: [6, 2] +- goal: [19, 21] + name: agent7 + start: [14, 31] +- goal: [7, 15] + name: agent8 + start: [10, 4] +- goal: [18, 20] + name: agent9 + start: [25, 26] +- goal: [21, 3] + name: agent10 + start: [16, 0] +- goal: [0, 17] + name: agent11 + start: [13, 28] +- goal: [8, 10] + name: agent12 + start: [4, 5] +- goal: [7, 9] + name: agent13 + start: [4, 2] +- goal: [5, 13] + name: agent14 + start: [10, 9] +- goal: [4, 19] + name: agent15 + start: [23, 0] +- goal: [13, 3] + name: agent16 + start: [15, 18] +- goal: [12, 0] + name: agent17 + start: [17, 30] +- goal: [25, 26] + name: agent18 + start: [1, 28] +- goal: [22, 25] + name: agent19 + start: [21, 10] +- goal: [21, 14] + name: agent20 + start: [1, 14] +- goal: [7, 21] + name: agent21 + start: [9, 19] +- goal: [28, 24] + name: agent22 + start: [1, 13] +- goal: [12, 13] + name: agent23 + start: [13, 17] +- goal: [3, 20] + name: agent24 + start: [15, 23] +- goal: [23, 5] + name: agent25 + start: [6, 5] +- goal: [3, 1] + name: agent26 + start: [18, 20] +- goal: [10, 24] + name: agent27 + start: [6, 15] +- goal: [23, 20] + name: agent28 + start: [6, 16] +- goal: [30, 28] + name: agent29 + start: [16, 24] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [8, 8] + - !!python/tuple [23, 15] + - !!python/tuple [27, 27] + - !!python/tuple [13, 1] + - !!python/tuple [26, 3] + - !!python/tuple [17, 9] + - !!python/tuple [3, 26] + - !!python/tuple [15, 19] + - !!python/tuple [13, 7] + - !!python/tuple [22, 4] + - !!python/tuple [21, 20] + - !!python/tuple [28, 3] + - !!python/tuple [17, 5] + - !!python/tuple [21, 8] + - !!python/tuple [27, 2] + - !!python/tuple [26, 14] + - !!python/tuple [18, 31] + - !!python/tuple [12, 28] + - !!python/tuple [11, 14] + - !!python/tuple [12, 16] + - !!python/tuple [2, 10] + - !!python/tuple [16, 15] + - !!python/tuple [10, 17] + - !!python/tuple [7, 10] + - !!python/tuple [8, 25] + - !!python/tuple [1, 21] + - !!python/tuple [29, 0] + - !!python/tuple [1, 1] + - !!python/tuple [28, 31] + - !!python/tuple [21, 29] + - !!python/tuple [29, 3] + - !!python/tuple [12, 18] + - !!python/tuple [20, 27] + - !!python/tuple [24, 5] + - !!python/tuple [17, 24] + - !!python/tuple [25, 13] + - !!python/tuple [17, 23] + - !!python/tuple [20, 2] + - !!python/tuple [26, 1] + - !!python/tuple [18, 6] + - !!python/tuple [22, 31] + - !!python/tuple [0, 8] + - !!python/tuple [19, 31] + - !!python/tuple [23, 12] + - !!python/tuple [30, 27] + - !!python/tuple [22, 15] + - !!python/tuple [29, 22] + - !!python/tuple [16, 21] + - !!python/tuple [14, 16] + - !!python/tuple [25, 4] + - !!python/tuple [0, 3] + - !!python/tuple [14, 21] + - !!python/tuple [16, 14] + - !!python/tuple [9, 4] + - !!python/tuple [11, 20] + - !!python/tuple [11, 3] + - !!python/tuple [26, 24] + - !!python/tuple [25, 29] + - !!python/tuple [22, 17] + - !!python/tuple [3, 15] + - !!python/tuple [22, 5] + - !!python/tuple [14, 29] + - !!python/tuple [12, 30] + - !!python/tuple [17, 19] + - !!python/tuple [22, 18] + - !!python/tuple [14, 1] + - !!python/tuple [9, 10] + - !!python/tuple [30, 13] + - !!python/tuple [28, 26] + - !!python/tuple [7, 4] + - !!python/tuple [9, 17] + - !!python/tuple [19, 4] + - !!python/tuple [9, 7] + - !!python/tuple [5, 6] + - !!python/tuple [24, 23] + - !!python/tuple [20, 6] + - !!python/tuple [25, 2] + - !!python/tuple [10, 28] + - !!python/tuple [4, 16] + - !!python/tuple [19, 6] + - !!python/tuple [3, 3] + - !!python/tuple [7, 29] + - !!python/tuple [5, 18] + - !!python/tuple [9, 26] + - !!python/tuple [2, 12] + - !!python/tuple [8, 19] + - !!python/tuple [24, 12] + - !!python/tuple [21, 4] + - !!python/tuple [24, 13] + - !!python/tuple [17, 28] + - !!python/tuple [30, 10] + - !!python/tuple [21, 26] + - !!python/tuple [15, 27] + - !!python/tuple [9, 3] + - !!python/tuple [27, 18] + - !!python/tuple [25, 30] + - !!python/tuple [16, 29] + - !!python/tuple [3, 24] + - !!python/tuple [18, 11] + - !!python/tuple [25, 1] + - !!python/tuple [2, 30] + - !!python/tuple [23, 26] + - !!python/tuple [16, 20] + - !!python/tuple [3, 30] + - !!python/tuple [0, 23] + - !!python/tuple [5, 14] + - !!python/tuple [21, 9] + - !!python/tuple [8, 14] + - !!python/tuple [31, 19] + - !!python/tuple [20, 26] + - !!python/tuple [0, 31] + - !!python/tuple [18, 16] + - !!python/tuple [5, 10] + - !!python/tuple [17, 8] + - !!python/tuple [22, 29] + - !!python/tuple [4, 1] + - !!python/tuple [16, 5] + - !!python/tuple [27, 3] + - !!python/tuple [10, 31] + - !!python/tuple [10, 15] + - !!python/tuple [5, 0] + - !!python/tuple [20, 3] + - !!python/tuple [23, 27] + - !!python/tuple [13, 20] + - !!python/tuple [3, 2] + - !!python/tuple [21, 13] + - !!python/tuple [19, 3] + - !!python/tuple [26, 5] + - !!python/tuple [27, 10] + - !!python/tuple [8, 2] + - !!python/tuple [2, 14] + - !!python/tuple [20, 29] + - !!python/tuple [19, 30] + - !!python/tuple [14, 23] + - !!python/tuple [20, 1] + - !!python/tuple [15, 24] + - !!python/tuple [17, 13] + - !!python/tuple [23, 9] + - !!python/tuple [7, 30] + - !!python/tuple [6, 22] + - !!python/tuple [7, 1] + - !!python/tuple [12, 10] + - !!python/tuple [16, 9] + - !!python/tuple [11, 30] + - !!python/tuple [17, 17] + - !!python/tuple [24, 31] + - !!python/tuple [2, 6] + - !!python/tuple [19, 22] + - !!python/tuple [23, 24] + - !!python/tuple [21, 28] + - !!python/tuple [27, 29] + - !!python/tuple [16, 10] + - !!python/tuple [29, 2] + - !!python/tuple [8, 6] + - !!python/tuple [24, 4] + - !!python/tuple [21, 1] + - !!python/tuple [25, 16] + - !!python/tuple [2, 8] + - !!python/tuple [21, 15] + - !!python/tuple [16, 3] + - !!python/tuple [17, 18] + - !!python/tuple [5, 19] + - !!python/tuple [22, 22] + - !!python/tuple [12, 31] + - !!python/tuple [19, 27] + - !!python/tuple [4, 12] + - !!python/tuple [18, 7] + - !!python/tuple [20, 23] + - !!python/tuple [22, 27] + - !!python/tuple [25, 8] + - !!python/tuple [27, 19] + - !!python/tuple [8, 9] + - !!python/tuple [21, 30] + - !!python/tuple [5, 22] + - !!python/tuple [15, 26] + - !!python/tuple [2, 23] + - !!python/tuple [30, 5] + - !!python/tuple [6, 19] + - !!python/tuple [12, 26] + - !!python/tuple [30, 2] + - !!python/tuple [13, 29] + - !!python/tuple [6, 6] + - !!python/tuple [3, 11] + - !!python/tuple [6, 10] + - !!python/tuple [8, 23] + - !!python/tuple [18, 15] + - !!python/tuple [31, 10] + - !!python/tuple [14, 27] + - !!python/tuple [24, 9] + - !!python/tuple [23, 29] + - !!python/tuple [3, 18] + - !!python/tuple [2, 0] + - !!python/tuple [30, 25] + - !!python/tuple [28, 9] + - !!python/tuple [5, 17] + - !!python/tuple [3, 0] + - !!python/tuple [11, 1] + - !!python/tuple [26, 9] + - !!python/tuple [2, 24] + - !!python/tuple [17, 4] + - !!python/tuple [9, 24] + - !!python/tuple [25, 20] + - !!python/tuple [27, 8] + - !!python/tuple [22, 2] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex22.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex22.yaml new file mode 100644 index 0000000..cc6fbe1 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex22.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [11, 17] + name: agent0 + start: [31, 23] +- goal: [21, 19] + name: agent1 + start: [12, 27] +- goal: [6, 13] + name: agent2 + start: [12, 10] +- goal: [5, 29] + name: agent3 + start: [24, 28] +- goal: [11, 9] + name: agent4 + start: [15, 26] +- goal: [3, 3] + name: agent5 + start: [25, 17] +- goal: [10, 27] + name: agent6 + start: [27, 0] +- goal: [11, 20] + name: agent7 + start: [5, 5] +- goal: [21, 25] + name: agent8 + start: [25, 6] +- goal: [29, 15] + name: agent9 + start: [22, 2] +- goal: [21, 31] + name: agent10 + start: [0, 27] +- goal: [25, 19] + name: agent11 + start: [13, 30] +- goal: [0, 22] + name: agent12 + start: [28, 27] +- goal: [6, 27] + name: agent13 + start: [18, 12] +- goal: [8, 27] + name: agent14 + start: [11, 13] +- goal: [20, 1] + name: agent15 + start: [9, 4] +- goal: [5, 30] + name: agent16 + start: [1, 29] +- goal: [24, 1] + name: agent17 + start: [10, 23] +- goal: [18, 14] + name: agent18 + start: [29, 8] +- goal: [0, 27] + name: agent19 + start: [3, 25] +- goal: [0, 0] + name: agent20 + start: [25, 2] +- goal: [20, 24] + name: agent21 + start: [27, 25] +- goal: [29, 16] + name: agent22 + start: [27, 29] +- goal: [25, 26] + name: agent23 + start: [25, 18] +- goal: [31, 24] + name: agent24 + start: [20, 14] +- goal: [25, 2] + name: agent25 + start: [13, 13] +- goal: [16, 22] + name: agent26 + start: [30, 28] +- goal: [7, 0] + name: agent27 + start: [8, 20] +- goal: [6, 7] + name: agent28 + start: [7, 29] +- goal: [28, 18] + name: agent29 + start: [3, 11] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [2, 2] + - !!python/tuple [2, 8] + - !!python/tuple [14, 0] + - !!python/tuple [27, 18] + - !!python/tuple [6, 21] + - !!python/tuple [26, 3] + - !!python/tuple [0, 28] + - !!python/tuple [4, 15] + - !!python/tuple [14, 16] + - !!python/tuple [13, 7] + - !!python/tuple [8, 14] + - !!python/tuple [8, 21] + - !!python/tuple [22, 30] + - !!python/tuple [28, 6] + - !!python/tuple [4, 19] + - !!python/tuple [2, 29] + - !!python/tuple [6, 15] + - !!python/tuple [12, 22] + - !!python/tuple [22, 5] + - !!python/tuple [3, 22] + - !!python/tuple [13, 24] + - !!python/tuple [2, 4] + - !!python/tuple [16, 4] + - !!python/tuple [9, 22] + - !!python/tuple [10, 26] + - !!python/tuple [22, 22] + - !!python/tuple [15, 7] + - !!python/tuple [7, 23] + - !!python/tuple [3, 18] + - !!python/tuple [26, 27] + - !!python/tuple [25, 16] + - !!python/tuple [11, 26] + - !!python/tuple [29, 27] + - !!python/tuple [19, 27] + - !!python/tuple [30, 25] + - !!python/tuple [23, 25] + - !!python/tuple [15, 4] + - !!python/tuple [24, 17] + - !!python/tuple [26, 20] + - !!python/tuple [6, 8] + - !!python/tuple [6, 6] + - !!python/tuple [13, 3] + - !!python/tuple [30, 2] + - !!python/tuple [26, 11] + - !!python/tuple [19, 14] + - !!python/tuple [29, 22] + - !!python/tuple [27, 13] + - !!python/tuple [25, 20] + - !!python/tuple [28, 23] + - !!python/tuple [22, 29] + - !!python/tuple [8, 3] + - !!python/tuple [7, 16] + - !!python/tuple [14, 4] + - !!python/tuple [26, 6] + - !!python/tuple [21, 4] + - !!python/tuple [17, 24] + - !!python/tuple [24, 27] + - !!python/tuple [28, 14] + - !!python/tuple [28, 0] + - !!python/tuple [8, 17] + - !!python/tuple [18, 17] + - !!python/tuple [1, 28] + - !!python/tuple [14, 6] + - !!python/tuple [7, 15] + - !!python/tuple [14, 22] + - !!python/tuple [16, 15] + - !!python/tuple [6, 16] + - !!python/tuple [19, 4] + - !!python/tuple [19, 21] + - !!python/tuple [15, 25] + - !!python/tuple [5, 8] + - !!python/tuple [19, 15] + - !!python/tuple [8, 8] + - !!python/tuple [29, 18] + - !!python/tuple [16, 12] + - !!python/tuple [20, 31] + - !!python/tuple [22, 7] + - !!python/tuple [1, 27] + - !!python/tuple [11, 12] + - !!python/tuple [15, 9] + - !!python/tuple [6, 24] + - !!python/tuple [28, 30] + - !!python/tuple [17, 27] + - !!python/tuple [17, 12] + - !!python/tuple [30, 31] + - !!python/tuple [5, 20] + - !!python/tuple [31, 29] + - !!python/tuple [23, 12] + - !!python/tuple [21, 11] + - !!python/tuple [21, 21] + - !!python/tuple [14, 19] + - !!python/tuple [31, 16] + - !!python/tuple [5, 3] + - !!python/tuple [10, 13] + - !!python/tuple [0, 2] + - !!python/tuple [22, 8] + - !!python/tuple [13, 26] + - !!python/tuple [11, 1] + - !!python/tuple [3, 29] + - !!python/tuple [15, 18] + - !!python/tuple [20, 11] + - !!python/tuple [20, 17] + - !!python/tuple [19, 2] + - !!python/tuple [22, 18] + - !!python/tuple [0, 3] + - !!python/tuple [12, 24] + - !!python/tuple [14, 7] + - !!python/tuple [9, 5] + - !!python/tuple [24, 12] + - !!python/tuple [18, 31] + - !!python/tuple [4, 16] + - !!python/tuple [26, 17] + - !!python/tuple [28, 16] + - !!python/tuple [4, 11] + - !!python/tuple [12, 18] + - !!python/tuple [27, 17] + - !!python/tuple [0, 24] + - !!python/tuple [3, 13] + - !!python/tuple [20, 6] + - !!python/tuple [8, 13] + - !!python/tuple [29, 20] + - !!python/tuple [15, 30] + - !!python/tuple [15, 31] + - !!python/tuple [19, 7] + - !!python/tuple [24, 7] + - !!python/tuple [26, 8] + - !!python/tuple [17, 4] + - !!python/tuple [1, 17] + - !!python/tuple [7, 10] + - !!python/tuple [12, 5] + - !!python/tuple [24, 11] + - !!python/tuple [21, 16] + - !!python/tuple [8, 22] + - !!python/tuple [16, 31] + - !!python/tuple [11, 27] + - !!python/tuple [20, 25] + - !!python/tuple [23, 3] + - !!python/tuple [13, 8] + - !!python/tuple [26, 10] + - !!python/tuple [30, 14] + - !!python/tuple [2, 15] + - !!python/tuple [29, 2] + - !!python/tuple [0, 4] + - !!python/tuple [21, 7] + - !!python/tuple [27, 30] + - !!python/tuple [24, 16] + - !!python/tuple [18, 13] + - !!python/tuple [28, 4] + - !!python/tuple [10, 29] + - !!python/tuple [22, 6] + - !!python/tuple [29, 9] + - !!python/tuple [9, 31] + - !!python/tuple [30, 22] + - !!python/tuple [30, 24] + - !!python/tuple [5, 17] + - !!python/tuple [25, 12] + - !!python/tuple [14, 15] + - !!python/tuple [18, 10] + - !!python/tuple [17, 3] + - !!python/tuple [10, 28] + - !!python/tuple [5, 7] + - !!python/tuple [31, 9] + - !!python/tuple [13, 31] + - !!python/tuple [21, 0] + - !!python/tuple [27, 7] + - !!python/tuple [16, 10] + - !!python/tuple [0, 10] + - !!python/tuple [26, 13] + - !!python/tuple [0, 15] + - !!python/tuple [7, 2] + - !!python/tuple [29, 17] + - !!python/tuple [22, 1] + - !!python/tuple [13, 18] + - !!python/tuple [12, 4] + - !!python/tuple [3, 17] + - !!python/tuple [5, 25] + - !!python/tuple [21, 14] + - !!python/tuple [20, 3] + - !!python/tuple [0, 18] + - !!python/tuple [13, 2] + - !!python/tuple [3, 20] + - !!python/tuple [3, 4] + - !!python/tuple [14, 8] + - !!python/tuple [27, 19] + - !!python/tuple [3, 7] + - !!python/tuple [27, 9] + - !!python/tuple [20, 12] + - !!python/tuple [30, 11] + - !!python/tuple [5, 11] + - !!python/tuple [21, 3] + - !!python/tuple [0, 7] + - !!python/tuple [14, 31] + - !!python/tuple [7, 20] + - !!python/tuple [29, 25] + - !!python/tuple [11, 18] + - !!python/tuple [21, 8] + - !!python/tuple [10, 6] + - !!python/tuple [27, 26] + - !!python/tuple [30, 17] + - !!python/tuple [23, 20] + - !!python/tuple [10, 20] + - !!python/tuple [20, 27] + - !!python/tuple [5, 16] + - !!python/tuple [10, 5] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex23.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex23.yaml new file mode 100644 index 0000000..7a31fad --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex23.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [17, 6] + name: agent0 + start: [13, 1] +- goal: [11, 30] + name: agent1 + start: [15, 19] +- goal: [22, 31] + name: agent2 + start: [3, 19] +- goal: [10, 5] + name: agent3 + start: [21, 27] +- goal: [6, 18] + name: agent4 + start: [10, 5] +- goal: [29, 17] + name: agent5 + start: [2, 9] +- goal: [17, 8] + name: agent6 + start: [7, 28] +- goal: [1, 12] + name: agent7 + start: [7, 2] +- goal: [27, 17] + name: agent8 + start: [0, 19] +- goal: [13, 5] + name: agent9 + start: [13, 3] +- goal: [4, 16] + name: agent10 + start: [15, 12] +- goal: [5, 1] + name: agent11 + start: [7, 22] +- goal: [16, 29] + name: agent12 + start: [18, 13] +- goal: [4, 12] + name: agent13 + start: [1, 24] +- goal: [10, 21] + name: agent14 + start: [14, 1] +- goal: [18, 13] + name: agent15 + start: [26, 19] +- goal: [7, 20] + name: agent16 + start: [30, 5] +- goal: [22, 24] + name: agent17 + start: [13, 26] +- goal: [25, 26] + name: agent18 + start: [1, 19] +- goal: [13, 29] + name: agent19 + start: [7, 15] +- goal: [10, 27] + name: agent20 + start: [23, 20] +- goal: [4, 29] + name: agent21 + start: [12, 26] +- goal: [8, 3] + name: agent22 + start: [13, 28] +- goal: [17, 26] + name: agent23 + start: [3, 11] +- goal: [21, 11] + name: agent24 + start: [5, 12] +- goal: [27, 6] + name: agent25 + start: [20, 26] +- goal: [6, 25] + name: agent26 + start: [30, 14] +- goal: [17, 5] + name: agent27 + start: [12, 17] +- goal: [15, 2] + name: agent28 + start: [24, 28] +- goal: [31, 3] + name: agent29 + start: [4, 10] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [6, 23] + - !!python/tuple [11, 25] + - !!python/tuple [19, 27] + - !!python/tuple [13, 27] + - !!python/tuple [11, 21] + - !!python/tuple [7, 19] + - !!python/tuple [17, 4] + - !!python/tuple [11, 28] + - !!python/tuple [23, 16] + - !!python/tuple [5, 10] + - !!python/tuple [19, 31] + - !!python/tuple [1, 20] + - !!python/tuple [4, 25] + - !!python/tuple [15, 29] + - !!python/tuple [4, 28] + - !!python/tuple [21, 24] + - !!python/tuple [29, 14] + - !!python/tuple [15, 5] + - !!python/tuple [10, 3] + - !!python/tuple [26, 6] + - !!python/tuple [17, 18] + - !!python/tuple [25, 13] + - !!python/tuple [24, 20] + - !!python/tuple [22, 11] + - !!python/tuple [29, 1] + - !!python/tuple [7, 0] + - !!python/tuple [27, 9] + - !!python/tuple [20, 10] + - !!python/tuple [10, 10] + - !!python/tuple [29, 21] + - !!python/tuple [18, 30] + - !!python/tuple [2, 18] + - !!python/tuple [4, 20] + - !!python/tuple [0, 1] + - !!python/tuple [3, 1] + - !!python/tuple [20, 29] + - !!python/tuple [24, 0] + - !!python/tuple [12, 27] + - !!python/tuple [23, 1] + - !!python/tuple [5, 17] + - !!python/tuple [19, 11] + - !!python/tuple [15, 0] + - !!python/tuple [7, 25] + - !!python/tuple [15, 13] + - !!python/tuple [21, 22] + - !!python/tuple [7, 7] + - !!python/tuple [19, 26] + - !!python/tuple [11, 6] + - !!python/tuple [20, 23] + - !!python/tuple [19, 19] + - !!python/tuple [27, 3] + - !!python/tuple [30, 25] + - !!python/tuple [5, 13] + - !!python/tuple [24, 13] + - !!python/tuple [27, 1] + - !!python/tuple [12, 18] + - !!python/tuple [26, 24] + - !!python/tuple [29, 12] + - !!python/tuple [22, 21] + - !!python/tuple [7, 1] + - !!python/tuple [23, 12] + - !!python/tuple [4, 21] + - !!python/tuple [10, 22] + - !!python/tuple [31, 0] + - !!python/tuple [15, 3] + - !!python/tuple [26, 27] + - !!python/tuple [30, 8] + - !!python/tuple [15, 4] + - !!python/tuple [22, 16] + - !!python/tuple [9, 17] + - !!python/tuple [12, 4] + - !!python/tuple [18, 5] + - !!python/tuple [7, 8] + - !!python/tuple [25, 6] + - !!python/tuple [1, 17] + - !!python/tuple [28, 23] + - !!python/tuple [3, 26] + - !!python/tuple [5, 25] + - !!python/tuple [9, 10] + - !!python/tuple [9, 15] + - !!python/tuple [9, 21] + - !!python/tuple [19, 3] + - !!python/tuple [2, 23] + - !!python/tuple [18, 18] + - !!python/tuple [9, 20] + - !!python/tuple [23, 18] + - !!python/tuple [1, 9] + - !!python/tuple [21, 26] + - !!python/tuple [21, 9] + - !!python/tuple [8, 29] + - !!python/tuple [26, 31] + - !!python/tuple [17, 10] + - !!python/tuple [28, 27] + - !!python/tuple [30, 13] + - !!python/tuple [26, 17] + - !!python/tuple [26, 4] + - !!python/tuple [9, 29] + - !!python/tuple [12, 29] + - !!python/tuple [14, 9] + - !!python/tuple [3, 8] + - !!python/tuple [19, 29] + - !!python/tuple [7, 31] + - !!python/tuple [20, 19] + - !!python/tuple [2, 11] + - !!python/tuple [29, 5] + - !!python/tuple [31, 2] + - !!python/tuple [20, 27] + - !!python/tuple [10, 14] + - !!python/tuple [22, 4] + - !!python/tuple [5, 18] + - !!python/tuple [6, 7] + - !!python/tuple [5, 3] + - !!python/tuple [14, 25] + - !!python/tuple [18, 31] + - !!python/tuple [24, 8] + - !!python/tuple [3, 12] + - !!python/tuple [24, 25] + - !!python/tuple [17, 11] + - !!python/tuple [8, 8] + - !!python/tuple [30, 11] + - !!python/tuple [26, 8] + - !!python/tuple [29, 23] + - !!python/tuple [12, 5] + - !!python/tuple [28, 28] + - !!python/tuple [4, 15] + - !!python/tuple [17, 15] + - !!python/tuple [31, 23] + - !!python/tuple [2, 0] + - !!python/tuple [7, 13] + - !!python/tuple [23, 19] + - !!python/tuple [4, 0] + - !!python/tuple [1, 8] + - !!python/tuple [5, 23] + - !!python/tuple [25, 1] + - !!python/tuple [25, 10] + - !!python/tuple [29, 8] + - !!python/tuple [22, 2] + - !!python/tuple [5, 28] + - !!python/tuple [13, 12] + - !!python/tuple [1, 10] + - !!python/tuple [8, 4] + - !!python/tuple [22, 1] + - !!python/tuple [3, 31] + - !!python/tuple [28, 21] + - !!python/tuple [11, 15] + - !!python/tuple [2, 17] + - !!python/tuple [3, 25] + - !!python/tuple [1, 18] + - !!python/tuple [12, 16] + - !!python/tuple [29, 4] + - !!python/tuple [4, 6] + - !!python/tuple [14, 13] + - !!python/tuple [5, 4] + - !!python/tuple [17, 25] + - !!python/tuple [18, 22] + - !!python/tuple [27, 18] + - !!python/tuple [25, 7] + - !!python/tuple [27, 22] + - !!python/tuple [11, 17] + - !!python/tuple [15, 14] + - !!python/tuple [5, 15] + - !!python/tuple [4, 19] + - !!python/tuple [17, 12] + - !!python/tuple [13, 19] + - !!python/tuple [9, 1] + - !!python/tuple [6, 28] + - !!python/tuple [5, 29] + - !!python/tuple [4, 7] + - !!python/tuple [2, 16] + - !!python/tuple [10, 26] + - !!python/tuple [22, 23] + - !!python/tuple [23, 31] + - !!python/tuple [18, 23] + - !!python/tuple [22, 7] + - !!python/tuple [28, 0] + - !!python/tuple [23, 26] + - !!python/tuple [20, 3] + - !!python/tuple [22, 26] + - !!python/tuple [2, 7] + - !!python/tuple [16, 13] + - !!python/tuple [17, 2] + - !!python/tuple [7, 5] + - !!python/tuple [18, 8] + - !!python/tuple [24, 16] + - !!python/tuple [13, 11] + - !!python/tuple [19, 14] + - !!python/tuple [6, 8] + - !!python/tuple [10, 16] + - !!python/tuple [0, 31] + - !!python/tuple [13, 18] + - !!python/tuple [19, 22] + - !!python/tuple [31, 20] + - !!python/tuple [5, 19] + - !!python/tuple [12, 2] + - !!python/tuple [3, 24] + - !!python/tuple [9, 0] + - !!python/tuple [26, 2] + - !!python/tuple [14, 3] + - !!python/tuple [27, 30] + - !!python/tuple [8, 27] + - !!python/tuple [19, 4] + - !!python/tuple [16, 21] + - !!python/tuple [27, 12] + - !!python/tuple [30, 4] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex24.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex24.yaml new file mode 100644 index 0000000..452c5d8 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex24.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [14, 30] + name: agent0 + start: [29, 18] +- goal: [23, 1] + name: agent1 + start: [20, 7] +- goal: [31, 20] + name: agent2 + start: [22, 19] +- goal: [29, 23] + name: agent3 + start: [14, 1] +- goal: [31, 10] + name: agent4 + start: [29, 20] +- goal: [2, 14] + name: agent5 + start: [28, 1] +- goal: [30, 4] + name: agent6 + start: [7, 2] +- goal: [28, 26] + name: agent7 + start: [6, 27] +- goal: [4, 10] + name: agent8 + start: [25, 11] +- goal: [27, 15] + name: agent9 + start: [5, 7] +- goal: [1, 16] + name: agent10 + start: [21, 31] +- goal: [9, 28] + name: agent11 + start: [27, 24] +- goal: [2, 16] + name: agent12 + start: [20, 12] +- goal: [6, 13] + name: agent13 + start: [10, 30] +- goal: [2, 25] + name: agent14 + start: [27, 10] +- goal: [23, 30] + name: agent15 + start: [1, 15] +- goal: [11, 28] + name: agent16 + start: [5, 20] +- goal: [3, 4] + name: agent17 + start: [20, 13] +- goal: [12, 24] + name: agent18 + start: [19, 13] +- goal: [0, 10] + name: agent19 + start: [31, 17] +- goal: [14, 6] + name: agent20 + start: [26, 0] +- goal: [8, 20] + name: agent21 + start: [7, 3] +- goal: [15, 10] + name: agent22 + start: [31, 23] +- goal: [19, 1] + name: agent23 + start: [19, 25] +- goal: [21, 16] + name: agent24 + start: [14, 6] +- goal: [22, 0] + name: agent25 + start: [14, 5] +- goal: [27, 17] + name: agent26 + start: [25, 10] +- goal: [14, 3] + name: agent27 + start: [23, 3] +- goal: [8, 10] + name: agent28 + start: [0, 24] +- goal: [7, 7] + name: agent29 + start: [0, 25] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [25, 22] + - !!python/tuple [16, 20] + - !!python/tuple [26, 22] + - !!python/tuple [21, 22] + - !!python/tuple [16, 19] + - !!python/tuple [10, 15] + - !!python/tuple [30, 14] + - !!python/tuple [26, 28] + - !!python/tuple [6, 25] + - !!python/tuple [15, 27] + - !!python/tuple [18, 16] + - !!python/tuple [12, 20] + - !!python/tuple [4, 1] + - !!python/tuple [9, 11] + - !!python/tuple [6, 4] + - !!python/tuple [24, 17] + - !!python/tuple [27, 22] + - !!python/tuple [8, 24] + - !!python/tuple [26, 19] + - !!python/tuple [11, 30] + - !!python/tuple [19, 9] + - !!python/tuple [5, 21] + - !!python/tuple [6, 8] + - !!python/tuple [29, 21] + - !!python/tuple [22, 9] + - !!python/tuple [25, 24] + - !!python/tuple [17, 21] + - !!python/tuple [9, 31] + - !!python/tuple [30, 21] + - !!python/tuple [8, 8] + - !!python/tuple [20, 15] + - !!python/tuple [24, 27] + - !!python/tuple [13, 27] + - !!python/tuple [11, 31] + - !!python/tuple [2, 12] + - !!python/tuple [28, 3] + - !!python/tuple [23, 8] + - !!python/tuple [27, 3] + - !!python/tuple [1, 20] + - !!python/tuple [21, 17] + - !!python/tuple [4, 17] + - !!python/tuple [14, 29] + - !!python/tuple [31, 29] + - !!python/tuple [17, 23] + - !!python/tuple [0, 21] + - !!python/tuple [18, 18] + - !!python/tuple [28, 13] + - !!python/tuple [0, 14] + - !!python/tuple [18, 12] + - !!python/tuple [16, 27] + - !!python/tuple [5, 1] + - !!python/tuple [14, 0] + - !!python/tuple [31, 13] + - !!python/tuple [14, 11] + - !!python/tuple [21, 12] + - !!python/tuple [20, 20] + - !!python/tuple [5, 27] + - !!python/tuple [1, 29] + - !!python/tuple [12, 5] + - !!python/tuple [27, 23] + - !!python/tuple [12, 14] + - !!python/tuple [5, 24] + - !!python/tuple [7, 30] + - !!python/tuple [3, 13] + - !!python/tuple [19, 26] + - !!python/tuple [29, 8] + - !!python/tuple [11, 17] + - !!python/tuple [4, 24] + - !!python/tuple [24, 11] + - !!python/tuple [7, 31] + - !!python/tuple [13, 22] + - !!python/tuple [12, 9] + - !!python/tuple [7, 28] + - !!python/tuple [15, 13] + - !!python/tuple [24, 20] + - !!python/tuple [18, 1] + - !!python/tuple [26, 4] + - !!python/tuple [28, 20] + - !!python/tuple [24, 30] + - !!python/tuple [7, 4] + - !!python/tuple [1, 31] + - !!python/tuple [2, 5] + - !!python/tuple [17, 1] + - !!python/tuple [6, 6] + - !!python/tuple [3, 30] + - !!python/tuple [31, 30] + - !!python/tuple [18, 29] + - !!python/tuple [20, 17] + - !!python/tuple [29, 24] + - !!python/tuple [24, 22] + - !!python/tuple [22, 25] + - !!python/tuple [18, 21] + - !!python/tuple [19, 29] + - !!python/tuple [31, 21] + - !!python/tuple [29, 28] + - !!python/tuple [27, 20] + - !!python/tuple [7, 20] + - !!python/tuple [20, 11] + - !!python/tuple [15, 21] + - !!python/tuple [7, 17] + - !!python/tuple [16, 2] + - !!python/tuple [8, 1] + - !!python/tuple [30, 27] + - !!python/tuple [1, 14] + - !!python/tuple [12, 7] + - !!python/tuple [2, 15] + - !!python/tuple [5, 17] + - !!python/tuple [9, 7] + - !!python/tuple [15, 2] + - !!python/tuple [7, 12] + - !!python/tuple [26, 5] + - !!python/tuple [9, 4] + - !!python/tuple [12, 25] + - !!python/tuple [22, 6] + - !!python/tuple [7, 21] + - !!python/tuple [18, 6] + - !!python/tuple [17, 6] + - !!python/tuple [15, 22] + - !!python/tuple [11, 25] + - !!python/tuple [6, 31] + - !!python/tuple [26, 30] + - !!python/tuple [22, 23] + - !!python/tuple [23, 4] + - !!python/tuple [25, 13] + - !!python/tuple [27, 19] + - !!python/tuple [7, 5] + - !!python/tuple [29, 31] + - !!python/tuple [16, 22] + - !!python/tuple [30, 25] + - !!python/tuple [25, 7] + - !!python/tuple [17, 7] + - !!python/tuple [0, 28] + - !!python/tuple [16, 16] + - !!python/tuple [19, 15] + - !!python/tuple [8, 30] + - !!python/tuple [25, 14] + - !!python/tuple [26, 24] + - !!python/tuple [13, 25] + - !!python/tuple [22, 26] + - !!python/tuple [4, 11] + - !!python/tuple [14, 16] + - !!python/tuple [29, 27] + - !!python/tuple [28, 21] + - !!python/tuple [10, 25] + - !!python/tuple [16, 5] + - !!python/tuple [23, 27] + - !!python/tuple [20, 0] + - !!python/tuple [29, 22] + - !!python/tuple [14, 9] + - !!python/tuple [24, 14] + - !!python/tuple [27, 13] + - !!python/tuple [13, 18] + - !!python/tuple [18, 24] + - !!python/tuple [15, 18] + - !!python/tuple [4, 31] + - !!python/tuple [14, 26] + - !!python/tuple [27, 30] + - !!python/tuple [31, 15] + - !!python/tuple [11, 23] + - !!python/tuple [9, 16] + - !!python/tuple [15, 24] + - !!python/tuple [6, 17] + - !!python/tuple [0, 31] + - !!python/tuple [15, 4] + - !!python/tuple [2, 28] + - !!python/tuple [11, 29] + - !!python/tuple [0, 6] + - !!python/tuple [18, 22] + - !!python/tuple [9, 23] + - !!python/tuple [7, 29] + - !!python/tuple [29, 16] + - !!python/tuple [6, 7] + - !!python/tuple [16, 10] + - !!python/tuple [6, 24] + - !!python/tuple [18, 28] + - !!python/tuple [25, 5] + - !!python/tuple [10, 22] + - !!python/tuple [6, 23] + - !!python/tuple [9, 10] + - !!python/tuple [21, 20] + - !!python/tuple [8, 3] + - !!python/tuple [3, 9] + - !!python/tuple [28, 5] + - !!python/tuple [17, 25] + - !!python/tuple [3, 7] + - !!python/tuple [28, 9] + - !!python/tuple [10, 9] + - !!python/tuple [26, 8] + - !!python/tuple [0, 26] + - !!python/tuple [21, 19] + - !!python/tuple [23, 11] + - !!python/tuple [11, 15] + - !!python/tuple [10, 17] + - !!python/tuple [23, 7] + - !!python/tuple [29, 29] + - !!python/tuple [26, 2] + - !!python/tuple [4, 21] + - !!python/tuple [17, 13] + - !!python/tuple [30, 24] + - !!python/tuple [4, 22] + - !!python/tuple [13, 3] + - !!python/tuple [29, 11] + - !!python/tuple [10, 4] + - !!python/tuple [14, 4] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex25.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex25.yaml new file mode 100644 index 0000000..c90c58c --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex25.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [3, 2] + name: agent0 + start: [15, 26] +- goal: [28, 21] + name: agent1 + start: [2, 26] +- goal: [19, 11] + name: agent2 + start: [7, 11] +- goal: [3, 27] + name: agent3 + start: [27, 29] +- goal: [25, 24] + name: agent4 + start: [25, 10] +- goal: [30, 25] + name: agent5 + start: [22, 4] +- goal: [17, 11] + name: agent6 + start: [11, 10] +- goal: [24, 11] + name: agent7 + start: [12, 14] +- goal: [9, 3] + name: agent8 + start: [26, 3] +- goal: [7, 16] + name: agent9 + start: [26, 27] +- goal: [14, 25] + name: agent10 + start: [24, 30] +- goal: [29, 3] + name: agent11 + start: [28, 30] +- goal: [1, 28] + name: agent12 + start: [11, 23] +- goal: [24, 25] + name: agent13 + start: [3, 23] +- goal: [25, 13] + name: agent14 + start: [29, 28] +- goal: [12, 22] + name: agent15 + start: [29, 18] +- goal: [16, 14] + name: agent16 + start: [31, 29] +- goal: [6, 24] + name: agent17 + start: [14, 9] +- goal: [10, 10] + name: agent18 + start: [27, 30] +- goal: [29, 0] + name: agent19 + start: [6, 5] +- goal: [4, 6] + name: agent20 + start: [24, 23] +- goal: [29, 10] + name: agent21 + start: [7, 4] +- goal: [17, 2] + name: agent22 + start: [9, 17] +- goal: [31, 29] + name: agent23 + start: [28, 21] +- goal: [5, 17] + name: agent24 + start: [8, 31] +- goal: [17, 26] + name: agent25 + start: [23, 7] +- goal: [18, 27] + name: agent26 + start: [25, 0] +- goal: [23, 18] + name: agent27 + start: [5, 28] +- goal: [1, 31] + name: agent28 + start: [9, 30] +- goal: [14, 9] + name: agent29 + start: [3, 8] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [16, 13] + - !!python/tuple [16, 18] + - !!python/tuple [5, 1] + - !!python/tuple [20, 9] + - !!python/tuple [13, 17] + - !!python/tuple [13, 14] + - !!python/tuple [2, 21] + - !!python/tuple [6, 7] + - !!python/tuple [14, 23] + - !!python/tuple [30, 17] + - !!python/tuple [15, 9] + - !!python/tuple [22, 2] + - !!python/tuple [16, 10] + - !!python/tuple [26, 25] + - !!python/tuple [3, 30] + - !!python/tuple [9, 8] + - !!python/tuple [29, 24] + - !!python/tuple [18, 13] + - !!python/tuple [24, 12] + - !!python/tuple [27, 13] + - !!python/tuple [0, 21] + - !!python/tuple [17, 1] + - !!python/tuple [10, 25] + - !!python/tuple [10, 30] + - !!python/tuple [19, 1] + - !!python/tuple [22, 16] + - !!python/tuple [30, 21] + - !!python/tuple [10, 23] + - !!python/tuple [12, 27] + - !!python/tuple [18, 3] + - !!python/tuple [1, 20] + - !!python/tuple [11, 22] + - !!python/tuple [28, 9] + - !!python/tuple [4, 20] + - !!python/tuple [25, 4] + - !!python/tuple [12, 26] + - !!python/tuple [17, 24] + - !!python/tuple [29, 17] + - !!python/tuple [14, 24] + - !!python/tuple [19, 0] + - !!python/tuple [24, 27] + - !!python/tuple [19, 29] + - !!python/tuple [27, 19] + - !!python/tuple [0, 16] + - !!python/tuple [21, 11] + - !!python/tuple [6, 11] + - !!python/tuple [2, 7] + - !!python/tuple [28, 0] + - !!python/tuple [15, 5] + - !!python/tuple [26, 21] + - !!python/tuple [2, 9] + - !!python/tuple [9, 4] + - !!python/tuple [29, 27] + - !!python/tuple [13, 20] + - !!python/tuple [24, 28] + - !!python/tuple [25, 18] + - !!python/tuple [31, 18] + - !!python/tuple [27, 9] + - !!python/tuple [22, 7] + - !!python/tuple [12, 18] + - !!python/tuple [10, 26] + - !!python/tuple [4, 11] + - !!python/tuple [4, 2] + - !!python/tuple [25, 23] + - !!python/tuple [19, 28] + - !!python/tuple [31, 14] + - !!python/tuple [17, 21] + - !!python/tuple [14, 6] + - !!python/tuple [5, 30] + - !!python/tuple [9, 18] + - !!python/tuple [30, 28] + - !!python/tuple [23, 30] + - !!python/tuple [4, 9] + - !!python/tuple [0, 20] + - !!python/tuple [8, 26] + - !!python/tuple [1, 15] + - !!python/tuple [17, 4] + - !!python/tuple [17, 29] + - !!python/tuple [0, 27] + - !!python/tuple [21, 8] + - !!python/tuple [3, 26] + - !!python/tuple [18, 25] + - !!python/tuple [15, 19] + - !!python/tuple [7, 20] + - !!python/tuple [23, 25] + - !!python/tuple [7, 22] + - !!python/tuple [29, 29] + - !!python/tuple [19, 8] + - !!python/tuple [29, 23] + - !!python/tuple [17, 28] + - !!python/tuple [15, 30] + - !!python/tuple [11, 26] + - !!python/tuple [12, 10] + - !!python/tuple [12, 24] + - !!python/tuple [30, 30] + - !!python/tuple [0, 9] + - !!python/tuple [18, 17] + - !!python/tuple [22, 18] + - !!python/tuple [19, 10] + - !!python/tuple [20, 1] + - !!python/tuple [25, 14] + - !!python/tuple [12, 3] + - !!python/tuple [25, 27] + - !!python/tuple [26, 8] + - !!python/tuple [1, 7] + - !!python/tuple [21, 18] + - !!python/tuple [24, 18] + - !!python/tuple [7, 8] + - !!python/tuple [30, 12] + - !!python/tuple [26, 10] + - !!python/tuple [4, 29] + - !!python/tuple [20, 18] + - !!python/tuple [15, 8] + - !!python/tuple [27, 18] + - !!python/tuple [30, 22] + - !!python/tuple [5, 12] + - !!python/tuple [30, 26] + - !!python/tuple [27, 10] + - !!python/tuple [4, 15] + - !!python/tuple [2, 2] + - !!python/tuple [8, 19] + - !!python/tuple [24, 5] + - !!python/tuple [2, 3] + - !!python/tuple [2, 29] + - !!python/tuple [15, 7] + - !!python/tuple [30, 14] + - !!python/tuple [2, 31] + - !!python/tuple [21, 12] + - !!python/tuple [12, 0] + - !!python/tuple [17, 12] + - !!python/tuple [25, 30] + - !!python/tuple [18, 19] + - !!python/tuple [31, 2] + - !!python/tuple [0, 0] + - !!python/tuple [21, 23] + - !!python/tuple [14, 22] + - !!python/tuple [4, 14] + - !!python/tuple [24, 14] + - !!python/tuple [26, 29] + - !!python/tuple [24, 15] + - !!python/tuple [1, 4] + - !!python/tuple [6, 18] + - !!python/tuple [11, 1] + - !!python/tuple [10, 16] + - !!python/tuple [4, 5] + - !!python/tuple [2, 16] + - !!python/tuple [22, 23] + - !!python/tuple [16, 30] + - !!python/tuple [12, 1] + - !!python/tuple [13, 28] + - !!python/tuple [29, 16] + - !!python/tuple [2, 28] + - !!python/tuple [13, 29] + - !!python/tuple [25, 12] + - !!python/tuple [15, 18] + - !!python/tuple [16, 8] + - !!python/tuple [9, 13] + - !!python/tuple [5, 27] + - !!python/tuple [19, 19] + - !!python/tuple [20, 13] + - !!python/tuple [30, 4] + - !!python/tuple [28, 5] + - !!python/tuple [17, 8] + - !!python/tuple [25, 3] + - !!python/tuple [13, 22] + - !!python/tuple [0, 8] + - !!python/tuple [14, 18] + - !!python/tuple [10, 5] + - !!python/tuple [3, 10] + - !!python/tuple [9, 6] + - !!python/tuple [16, 16] + - !!python/tuple [28, 13] + - !!python/tuple [3, 21] + - !!python/tuple [4, 19] + - !!python/tuple [31, 31] + - !!python/tuple [19, 24] + - !!python/tuple [8, 1] + - !!python/tuple [14, 29] + - !!python/tuple [30, 0] + - !!python/tuple [20, 26] + - !!python/tuple [20, 15] + - !!python/tuple [29, 14] + - !!python/tuple [27, 24] + - !!python/tuple [25, 19] + - !!python/tuple [18, 28] + - !!python/tuple [1, 30] + - !!python/tuple [23, 16] + - !!python/tuple [9, 26] + - !!python/tuple [7, 9] + - !!python/tuple [28, 4] + - !!python/tuple [11, 20] + - !!python/tuple [23, 3] + - !!python/tuple [27, 11] + - !!python/tuple [13, 4] + - !!python/tuple [10, 7] + - !!python/tuple [12, 8] + - !!python/tuple [13, 24] + - !!python/tuple [26, 11] + - !!python/tuple [31, 5] + - !!python/tuple [29, 31] + - !!python/tuple [18, 21] + - !!python/tuple [14, 20] + - !!python/tuple [10, 1] + - !!python/tuple [16, 26] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex26.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex26.yaml new file mode 100644 index 0000000..1c21d09 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex26.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [27, 30] + name: agent0 + start: [25, 31] +- goal: [23, 3] + name: agent1 + start: [16, 6] +- goal: [11, 13] + name: agent2 + start: [7, 4] +- goal: [28, 7] + name: agent3 + start: [26, 19] +- goal: [4, 17] + name: agent4 + start: [20, 28] +- goal: [21, 1] + name: agent5 + start: [9, 4] +- goal: [18, 13] + name: agent6 + start: [31, 22] +- goal: [10, 30] + name: agent7 + start: [11, 19] +- goal: [31, 2] + name: agent8 + start: [13, 17] +- goal: [5, 7] + name: agent9 + start: [29, 6] +- goal: [29, 26] + name: agent10 + start: [30, 18] +- goal: [21, 14] + name: agent11 + start: [31, 2] +- goal: [25, 26] + name: agent12 + start: [28, 31] +- goal: [0, 4] + name: agent13 + start: [27, 8] +- goal: [8, 25] + name: agent14 + start: [22, 19] +- goal: [30, 31] + name: agent15 + start: [5, 25] +- goal: [3, 2] + name: agent16 + start: [11, 14] +- goal: [24, 24] + name: agent17 + start: [11, 27] +- goal: [29, 8] + name: agent18 + start: [18, 24] +- goal: [4, 12] + name: agent19 + start: [15, 9] +- goal: [26, 28] + name: agent20 + start: [0, 25] +- goal: [19, 15] + name: agent21 + start: [30, 26] +- goal: [13, 26] + name: agent22 + start: [9, 10] +- goal: [14, 24] + name: agent23 + start: [12, 14] +- goal: [14, 19] + name: agent24 + start: [15, 6] +- goal: [26, 1] + name: agent25 + start: [18, 10] +- goal: [26, 15] + name: agent26 + start: [7, 19] +- goal: [8, 12] + name: agent27 + start: [7, 10] +- goal: [9, 18] + name: agent28 + start: [18, 14] +- goal: [3, 25] + name: agent29 + start: [22, 26] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [26, 11] + - !!python/tuple [10, 31] + - !!python/tuple [7, 27] + - !!python/tuple [18, 15] + - !!python/tuple [27, 4] + - !!python/tuple [9, 13] + - !!python/tuple [5, 24] + - !!python/tuple [20, 8] + - !!python/tuple [15, 28] + - !!python/tuple [13, 2] + - !!python/tuple [8, 23] + - !!python/tuple [13, 12] + - !!python/tuple [4, 25] + - !!python/tuple [2, 26] + - !!python/tuple [25, 21] + - !!python/tuple [20, 5] + - !!python/tuple [13, 28] + - !!python/tuple [10, 0] + - !!python/tuple [29, 24] + - !!python/tuple [8, 27] + - !!python/tuple [17, 15] + - !!python/tuple [4, 15] + - !!python/tuple [13, 19] + - !!python/tuple [1, 26] + - !!python/tuple [19, 2] + - !!python/tuple [24, 2] + - !!python/tuple [16, 2] + - !!python/tuple [15, 24] + - !!python/tuple [15, 23] + - !!python/tuple [28, 3] + - !!python/tuple [14, 11] + - !!python/tuple [28, 10] + - !!python/tuple [10, 29] + - !!python/tuple [15, 27] + - !!python/tuple [16, 11] + - !!python/tuple [4, 3] + - !!python/tuple [17, 22] + - !!python/tuple [17, 24] + - !!python/tuple [10, 14] + - !!python/tuple [24, 28] + - !!python/tuple [25, 24] + - !!python/tuple [11, 8] + - !!python/tuple [20, 4] + - !!python/tuple [16, 5] + - !!python/tuple [27, 13] + - !!python/tuple [7, 3] + - !!python/tuple [0, 26] + - !!python/tuple [23, 5] + - !!python/tuple [6, 7] + - !!python/tuple [18, 12] + - !!python/tuple [22, 27] + - !!python/tuple [22, 1] + - !!python/tuple [10, 12] + - !!python/tuple [25, 16] + - !!python/tuple [12, 25] + - !!python/tuple [18, 3] + - !!python/tuple [25, 7] + - !!python/tuple [10, 23] + - !!python/tuple [25, 20] + - !!python/tuple [3, 4] + - !!python/tuple [12, 9] + - !!python/tuple [11, 12] + - !!python/tuple [25, 14] + - !!python/tuple [27, 21] + - !!python/tuple [0, 22] + - !!python/tuple [28, 15] + - !!python/tuple [31, 31] + - !!python/tuple [19, 17] + - !!python/tuple [11, 28] + - !!python/tuple [17, 27] + - !!python/tuple [23, 25] + - !!python/tuple [19, 23] + - !!python/tuple [5, 22] + - !!python/tuple [25, 12] + - !!python/tuple [27, 7] + - !!python/tuple [30, 21] + - !!python/tuple [2, 19] + - !!python/tuple [29, 4] + - !!python/tuple [16, 22] + - !!python/tuple [0, 0] + - !!python/tuple [6, 13] + - !!python/tuple [11, 22] + - !!python/tuple [9, 24] + - !!python/tuple [10, 8] + - !!python/tuple [24, 21] + - !!python/tuple [15, 21] + - !!python/tuple [26, 22] + - !!python/tuple [13, 3] + - !!python/tuple [24, 18] + - !!python/tuple [6, 18] + - !!python/tuple [0, 21] + - !!python/tuple [20, 12] + - !!python/tuple [21, 4] + - !!python/tuple [8, 21] + - !!python/tuple [0, 19] + - !!python/tuple [3, 30] + - !!python/tuple [29, 25] + - !!python/tuple [12, 17] + - !!python/tuple [12, 19] + - !!python/tuple [24, 27] + - !!python/tuple [2, 22] + - !!python/tuple [21, 20] + - !!python/tuple [14, 15] + - !!python/tuple [26, 13] + - !!python/tuple [17, 25] + - !!python/tuple [31, 9] + - !!python/tuple [0, 1] + - !!python/tuple [19, 11] + - !!python/tuple [8, 6] + - !!python/tuple [27, 1] + - !!python/tuple [11, 20] + - !!python/tuple [19, 8] + - !!python/tuple [22, 13] + - !!python/tuple [24, 23] + - !!python/tuple [12, 26] + - !!python/tuple [6, 0] + - !!python/tuple [26, 5] + - !!python/tuple [21, 11] + - !!python/tuple [25, 18] + - !!python/tuple [1, 15] + - !!python/tuple [6, 11] + - !!python/tuple [25, 19] + - !!python/tuple [15, 31] + - !!python/tuple [5, 13] + - !!python/tuple [12, 18] + - !!python/tuple [23, 31] + - !!python/tuple [23, 8] + - !!python/tuple [28, 24] + - !!python/tuple [31, 1] + - !!python/tuple [14, 22] + - !!python/tuple [31, 3] + - !!python/tuple [22, 14] + - !!python/tuple [16, 7] + - !!python/tuple [27, 14] + - !!python/tuple [7, 31] + - !!python/tuple [6, 26] + - !!python/tuple [20, 31] + - !!python/tuple [19, 16] + - !!python/tuple [23, 13] + - !!python/tuple [30, 5] + - !!python/tuple [0, 23] + - !!python/tuple [7, 22] + - !!python/tuple [26, 14] + - !!python/tuple [11, 31] + - !!python/tuple [0, 20] + - !!python/tuple [23, 21] + - !!python/tuple [0, 8] + - !!python/tuple [10, 18] + - !!python/tuple [4, 28] + - !!python/tuple [0, 9] + - !!python/tuple [16, 30] + - !!python/tuple [24, 16] + - !!python/tuple [24, 3] + - !!python/tuple [21, 5] + - !!python/tuple [7, 14] + - !!python/tuple [10, 21] + - !!python/tuple [29, 18] + - !!python/tuple [10, 26] + - !!python/tuple [27, 15] + - !!python/tuple [4, 18] + - !!python/tuple [8, 28] + - !!python/tuple [22, 22] + - !!python/tuple [18, 30] + - !!python/tuple [10, 5] + - !!python/tuple [6, 8] + - !!python/tuple [2, 21] + - !!python/tuple [15, 5] + - !!python/tuple [18, 18] + - !!python/tuple [21, 16] + - !!python/tuple [5, 17] + - !!python/tuple [5, 15] + - !!python/tuple [29, 1] + - !!python/tuple [29, 29] + - !!python/tuple [7, 5] + - !!python/tuple [20, 19] + - !!python/tuple [8, 17] + - !!python/tuple [10, 24] + - !!python/tuple [16, 1] + - !!python/tuple [8, 10] + - !!python/tuple [11, 18] + - !!python/tuple [4, 13] + - !!python/tuple [19, 9] + - !!python/tuple [28, 17] + - !!python/tuple [8, 8] + - !!python/tuple [17, 4] + - !!python/tuple [4, 7] + - !!python/tuple [4, 10] + - !!python/tuple [18, 19] + - !!python/tuple [13, 4] + - !!python/tuple [16, 17] + - !!python/tuple [24, 19] + - !!python/tuple [20, 13] + - !!python/tuple [10, 10] + - !!python/tuple [31, 14] + - !!python/tuple [13, 0] + - !!python/tuple [1, 23] + - !!python/tuple [12, 15] + - !!python/tuple [25, 25] + - !!python/tuple [14, 16] + - !!python/tuple [15, 14] + - !!python/tuple [19, 12] + - !!python/tuple [9, 14] + - !!python/tuple [9, 6] + - !!python/tuple [27, 5] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex27.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex27.yaml new file mode 100644 index 0000000..5b93865 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex27.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [31, 9] + name: agent0 + start: [30, 14] +- goal: [6, 9] + name: agent1 + start: [9, 10] +- goal: [24, 14] + name: agent2 + start: [18, 0] +- goal: [25, 12] + name: agent3 + start: [2, 16] +- goal: [19, 26] + name: agent4 + start: [31, 15] +- goal: [13, 5] + name: agent5 + start: [19, 6] +- goal: [22, 3] + name: agent6 + start: [17, 29] +- goal: [24, 26] + name: agent7 + start: [4, 23] +- goal: [10, 10] + name: agent8 + start: [18, 10] +- goal: [31, 27] + name: agent9 + start: [30, 27] +- goal: [28, 8] + name: agent10 + start: [21, 0] +- goal: [8, 1] + name: agent11 + start: [22, 9] +- goal: [6, 0] + name: agent12 + start: [24, 29] +- goal: [29, 22] + name: agent13 + start: [22, 26] +- goal: [9, 15] + name: agent14 + start: [27, 19] +- goal: [3, 29] + name: agent15 + start: [10, 0] +- goal: [21, 5] + name: agent16 + start: [14, 24] +- goal: [14, 24] + name: agent17 + start: [11, 6] +- goal: [13, 26] + name: agent18 + start: [30, 1] +- goal: [26, 6] + name: agent19 + start: [30, 0] +- goal: [24, 15] + name: agent20 + start: [15, 20] +- goal: [15, 8] + name: agent21 + start: [21, 7] +- goal: [26, 24] + name: agent22 + start: [8, 3] +- goal: [11, 31] + name: agent23 + start: [29, 20] +- goal: [9, 16] + name: agent24 + start: [16, 26] +- goal: [13, 10] + name: agent25 + start: [14, 18] +- goal: [22, 16] + name: agent26 + start: [6, 23] +- goal: [12, 17] + name: agent27 + start: [22, 21] +- goal: [30, 18] + name: agent28 + start: [25, 3] +- goal: [17, 3] + name: agent29 + start: [31, 8] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [24, 31] + - !!python/tuple [22, 10] + - !!python/tuple [8, 21] + - !!python/tuple [21, 4] + - !!python/tuple [16, 21] + - !!python/tuple [17, 14] + - !!python/tuple [25, 6] + - !!python/tuple [7, 14] + - !!python/tuple [22, 12] + - !!python/tuple [27, 31] + - !!python/tuple [18, 30] + - !!python/tuple [23, 11] + - !!python/tuple [21, 30] + - !!python/tuple [15, 28] + - !!python/tuple [3, 9] + - !!python/tuple [27, 24] + - !!python/tuple [20, 11] + - !!python/tuple [15, 16] + - !!python/tuple [7, 23] + - !!python/tuple [14, 8] + - !!python/tuple [13, 27] + - !!python/tuple [8, 20] + - !!python/tuple [28, 24] + - !!python/tuple [31, 3] + - !!python/tuple [23, 21] + - !!python/tuple [28, 1] + - !!python/tuple [6, 14] + - !!python/tuple [1, 24] + - !!python/tuple [4, 18] + - !!python/tuple [22, 4] + - !!python/tuple [1, 10] + - !!python/tuple [20, 9] + - !!python/tuple [2, 9] + - !!python/tuple [31, 10] + - !!python/tuple [20, 30] + - !!python/tuple [17, 1] + - !!python/tuple [0, 15] + - !!python/tuple [10, 31] + - !!python/tuple [14, 26] + - !!python/tuple [29, 25] + - !!python/tuple [26, 25] + - !!python/tuple [19, 21] + - !!python/tuple [28, 19] + - !!python/tuple [16, 5] + - !!python/tuple [20, 0] + - !!python/tuple [22, 11] + - !!python/tuple [28, 23] + - !!python/tuple [28, 7] + - !!python/tuple [24, 6] + - !!python/tuple [18, 29] + - !!python/tuple [20, 24] + - !!python/tuple [2, 21] + - !!python/tuple [15, 3] + - !!python/tuple [16, 24] + - !!python/tuple [30, 9] + - !!python/tuple [11, 5] + - !!python/tuple [5, 30] + - !!python/tuple [3, 13] + - !!python/tuple [20, 1] + - !!python/tuple [14, 2] + - !!python/tuple [24, 13] + - !!python/tuple [23, 5] + - !!python/tuple [18, 1] + - !!python/tuple [2, 11] + - !!python/tuple [16, 29] + - !!python/tuple [31, 17] + - !!python/tuple [6, 18] + - !!python/tuple [8, 2] + - !!python/tuple [25, 25] + - !!python/tuple [17, 18] + - !!python/tuple [17, 27] + - !!python/tuple [9, 14] + - !!python/tuple [30, 21] + - !!python/tuple [18, 6] + - !!python/tuple [1, 20] + - !!python/tuple [2, 19] + - !!python/tuple [9, 18] + - !!python/tuple [22, 1] + - !!python/tuple [8, 27] + - !!python/tuple [12, 30] + - !!python/tuple [9, 2] + - !!python/tuple [16, 18] + - !!python/tuple [11, 18] + - !!python/tuple [7, 29] + - !!python/tuple [25, 1] + - !!python/tuple [30, 22] + - !!python/tuple [2, 23] + - !!python/tuple [27, 4] + - !!python/tuple [20, 12] + - !!python/tuple [12, 16] + - !!python/tuple [26, 8] + - !!python/tuple [5, 8] + - !!python/tuple [30, 8] + - !!python/tuple [5, 25] + - !!python/tuple [12, 28] + - !!python/tuple [7, 27] + - !!python/tuple [17, 30] + - !!python/tuple [6, 11] + - !!python/tuple [9, 25] + - !!python/tuple [0, 17] + - !!python/tuple [0, 14] + - !!python/tuple [12, 5] + - !!python/tuple [4, 25] + - !!python/tuple [16, 13] + - !!python/tuple [28, 9] + - !!python/tuple [16, 3] + - !!python/tuple [3, 18] + - !!python/tuple [14, 15] + - !!python/tuple [31, 0] + - !!python/tuple [28, 30] + - !!python/tuple [2, 17] + - !!python/tuple [11, 29] + - !!python/tuple [13, 11] + - !!python/tuple [21, 17] + - !!python/tuple [16, 30] + - !!python/tuple [13, 20] + - !!python/tuple [10, 28] + - !!python/tuple [17, 22] + - !!python/tuple [26, 30] + - !!python/tuple [21, 3] + - !!python/tuple [22, 23] + - !!python/tuple [28, 28] + - !!python/tuple [9, 11] + - !!python/tuple [6, 19] + - !!python/tuple [24, 8] + - !!python/tuple [18, 8] + - !!python/tuple [26, 18] + - !!python/tuple [21, 21] + - !!python/tuple [1, 3] + - !!python/tuple [3, 8] + - !!python/tuple [18, 2] + - !!python/tuple [22, 31] + - !!python/tuple [27, 17] + - !!python/tuple [28, 15] + - !!python/tuple [23, 4] + - !!python/tuple [18, 20] + - !!python/tuple [29, 0] + - !!python/tuple [7, 18] + - !!python/tuple [1, 2] + - !!python/tuple [30, 26] + - !!python/tuple [26, 3] + - !!python/tuple [10, 12] + - !!python/tuple [7, 8] + - !!python/tuple [11, 4] + - !!python/tuple [25, 11] + - !!python/tuple [23, 20] + - !!python/tuple [1, 15] + - !!python/tuple [27, 16] + - !!python/tuple [1, 31] + - !!python/tuple [21, 29] + - !!python/tuple [23, 6] + - !!python/tuple [26, 13] + - !!python/tuple [29, 30] + - !!python/tuple [22, 14] + - !!python/tuple [19, 9] + - !!python/tuple [27, 8] + - !!python/tuple [27, 25] + - !!python/tuple [23, 10] + - !!python/tuple [6, 10] + - !!python/tuple [4, 24] + - !!python/tuple [28, 5] + - !!python/tuple [6, 15] + - !!python/tuple [9, 29] + - !!python/tuple [3, 23] + - !!python/tuple [31, 2] + - !!python/tuple [8, 31] + - !!python/tuple [8, 9] + - !!python/tuple [17, 23] + - !!python/tuple [17, 6] + - !!python/tuple [6, 30] + - !!python/tuple [13, 4] + - !!python/tuple [12, 4] + - !!python/tuple [6, 1] + - !!python/tuple [20, 28] + - !!python/tuple [29, 31] + - !!python/tuple [1, 27] + - !!python/tuple [2, 27] + - !!python/tuple [4, 30] + - !!python/tuple [2, 30] + - !!python/tuple [23, 27] + - !!python/tuple [20, 8] + - !!python/tuple [12, 6] + - !!python/tuple [1, 7] + - !!python/tuple [24, 12] + - !!python/tuple [19, 31] + - !!python/tuple [0, 6] + - !!python/tuple [24, 22] + - !!python/tuple [25, 23] + - !!python/tuple [7, 12] + - !!python/tuple [7, 11] + - !!python/tuple [29, 2] + - !!python/tuple [29, 11] + - !!python/tuple [27, 12] + - !!python/tuple [7, 3] + - !!python/tuple [16, 8] + - !!python/tuple [21, 12] + - !!python/tuple [18, 22] + - !!python/tuple [1, 5] + - !!python/tuple [20, 4] + - !!python/tuple [29, 29] + - !!python/tuple [17, 5] + - !!python/tuple [10, 6] + - !!python/tuple [22, 24] + - !!python/tuple [5, 21] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex28.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex28.yaml new file mode 100644 index 0000000..7a4b41b --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex28.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [0, 15] + name: agent0 + start: [11, 10] +- goal: [20, 21] + name: agent1 + start: [30, 16] +- goal: [5, 26] + name: agent2 + start: [24, 15] +- goal: [16, 7] + name: agent3 + start: [27, 6] +- goal: [21, 2] + name: agent4 + start: [21, 0] +- goal: [14, 11] + name: agent5 + start: [19, 9] +- goal: [15, 7] + name: agent6 + start: [20, 26] +- goal: [21, 24] + name: agent7 + start: [15, 24] +- goal: [29, 7] + name: agent8 + start: [27, 10] +- goal: [10, 24] + name: agent9 + start: [24, 29] +- goal: [3, 5] + name: agent10 + start: [24, 18] +- goal: [20, 19] + name: agent11 + start: [14, 30] +- goal: [8, 13] + name: agent12 + start: [4, 22] +- goal: [24, 15] + name: agent13 + start: [2, 15] +- goal: [6, 14] + name: agent14 + start: [9, 5] +- goal: [14, 13] + name: agent15 + start: [29, 17] +- goal: [26, 28] + name: agent16 + start: [1, 6] +- goal: [25, 29] + name: agent17 + start: [1, 12] +- goal: [12, 5] + name: agent18 + start: [5, 18] +- goal: [4, 10] + name: agent19 + start: [6, 15] +- goal: [8, 19] + name: agent20 + start: [25, 5] +- goal: [10, 8] + name: agent21 + start: [8, 1] +- goal: [24, 0] + name: agent22 + start: [31, 10] +- goal: [4, 7] + name: agent23 + start: [22, 15] +- goal: [5, 12] + name: agent24 + start: [29, 19] +- goal: [0, 24] + name: agent25 + start: [15, 22] +- goal: [19, 29] + name: agent26 + start: [3, 11] +- goal: [29, 31] + name: agent27 + start: [15, 13] +- goal: [16, 24] + name: agent28 + start: [7, 26] +- goal: [6, 1] + name: agent29 + start: [21, 29] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [20, 17] + - !!python/tuple [0, 22] + - !!python/tuple [28, 28] + - !!python/tuple [0, 23] + - !!python/tuple [25, 7] + - !!python/tuple [25, 11] + - !!python/tuple [6, 8] + - !!python/tuple [28, 8] + - !!python/tuple [29, 30] + - !!python/tuple [7, 24] + - !!python/tuple [27, 29] + - !!python/tuple [11, 31] + - !!python/tuple [18, 14] + - !!python/tuple [26, 20] + - !!python/tuple [29, 28] + - !!python/tuple [3, 2] + - !!python/tuple [17, 9] + - !!python/tuple [21, 27] + - !!python/tuple [25, 23] + - !!python/tuple [1, 9] + - !!python/tuple [11, 6] + - !!python/tuple [21, 22] + - !!python/tuple [8, 31] + - !!python/tuple [23, 20] + - !!python/tuple [24, 24] + - !!python/tuple [4, 16] + - !!python/tuple [15, 18] + - !!python/tuple [25, 28] + - !!python/tuple [16, 12] + - !!python/tuple [1, 27] + - !!python/tuple [4, 17] + - !!python/tuple [17, 27] + - !!python/tuple [17, 7] + - !!python/tuple [18, 6] + - !!python/tuple [6, 16] + - !!python/tuple [16, 31] + - !!python/tuple [20, 2] + - !!python/tuple [22, 3] + - !!python/tuple [10, 18] + - !!python/tuple [19, 30] + - !!python/tuple [23, 6] + - !!python/tuple [21, 4] + - !!python/tuple [10, 14] + - !!python/tuple [8, 9] + - !!python/tuple [14, 7] + - !!python/tuple [3, 18] + - !!python/tuple [10, 30] + - !!python/tuple [22, 8] + - !!python/tuple [28, 4] + - !!python/tuple [14, 8] + - !!python/tuple [24, 30] + - !!python/tuple [25, 13] + - !!python/tuple [8, 29] + - !!python/tuple [20, 15] + - !!python/tuple [10, 4] + - !!python/tuple [18, 16] + - !!python/tuple [31, 20] + - !!python/tuple [5, 11] + - !!python/tuple [25, 31] + - !!python/tuple [2, 26] + - !!python/tuple [24, 27] + - !!python/tuple [13, 20] + - !!python/tuple [17, 13] + - !!python/tuple [7, 3] + - !!python/tuple [26, 24] + - !!python/tuple [21, 18] + - !!python/tuple [9, 23] + - !!python/tuple [24, 7] + - !!python/tuple [30, 5] + - !!python/tuple [15, 20] + - !!python/tuple [24, 1] + - !!python/tuple [6, 27] + - !!python/tuple [15, 29] + - !!python/tuple [30, 4] + - !!python/tuple [30, 19] + - !!python/tuple [12, 9] + - !!python/tuple [30, 24] + - !!python/tuple [8, 15] + - !!python/tuple [26, 25] + - !!python/tuple [29, 5] + - !!python/tuple [1, 0] + - !!python/tuple [23, 9] + - !!python/tuple [12, 27] + - !!python/tuple [7, 4] + - !!python/tuple [18, 24] + - !!python/tuple [28, 25] + - !!python/tuple [23, 16] + - !!python/tuple [25, 10] + - !!python/tuple [29, 9] + - !!python/tuple [4, 5] + - !!python/tuple [12, 14] + - !!python/tuple [23, 15] + - !!python/tuple [26, 27] + - !!python/tuple [25, 17] + - !!python/tuple [2, 30] + - !!python/tuple [21, 16] + - !!python/tuple [22, 30] + - !!python/tuple [19, 16] + - !!python/tuple [14, 26] + - !!python/tuple [4, 30] + - !!python/tuple [14, 21] + - !!python/tuple [10, 27] + - !!python/tuple [15, 3] + - !!python/tuple [1, 29] + - !!python/tuple [5, 21] + - !!python/tuple [18, 0] + - !!python/tuple [3, 12] + - !!python/tuple [6, 19] + - !!python/tuple [7, 27] + - !!python/tuple [14, 16] + - !!python/tuple [12, 18] + - !!python/tuple [3, 25] + - !!python/tuple [3, 27] + - !!python/tuple [28, 24] + - !!python/tuple [30, 26] + - !!python/tuple [30, 14] + - !!python/tuple [4, 19] + - !!python/tuple [5, 16] + - !!python/tuple [5, 30] + - !!python/tuple [14, 28] + - !!python/tuple [11, 1] + - !!python/tuple [29, 4] + - !!python/tuple [12, 28] + - !!python/tuple [13, 25] + - !!python/tuple [0, 25] + - !!python/tuple [27, 12] + - !!python/tuple [15, 28] + - !!python/tuple [25, 24] + - !!python/tuple [17, 23] + - !!python/tuple [7, 7] + - !!python/tuple [12, 3] + - !!python/tuple [17, 20] + - !!python/tuple [21, 17] + - !!python/tuple [19, 6] + - !!python/tuple [22, 4] + - !!python/tuple [8, 24] + - !!python/tuple [22, 7] + - !!python/tuple [0, 8] + - !!python/tuple [19, 8] + - !!python/tuple [0, 16] + - !!python/tuple [14, 5] + - !!python/tuple [13, 6] + - !!python/tuple [21, 6] + - !!python/tuple [23, 4] + - !!python/tuple [13, 9] + - !!python/tuple [7, 30] + - !!python/tuple [26, 22] + - !!python/tuple [17, 8] + - !!python/tuple [29, 0] + - !!python/tuple [11, 29] + - !!python/tuple [28, 20] + - !!python/tuple [28, 13] + - !!python/tuple [7, 16] + - !!python/tuple [9, 18] + - !!python/tuple [22, 17] + - !!python/tuple [17, 25] + - !!python/tuple [23, 3] + - !!python/tuple [10, 12] + - !!python/tuple [0, 19] + - !!python/tuple [13, 26] + - !!python/tuple [26, 8] + - !!python/tuple [13, 1] + - !!python/tuple [6, 22] + - !!python/tuple [0, 7] + - !!python/tuple [5, 7] + - !!python/tuple [15, 2] + - !!python/tuple [2, 3] + - !!python/tuple [30, 0] + - !!python/tuple [13, 4] + - !!python/tuple [23, 30] + - !!python/tuple [0, 12] + - !!python/tuple [29, 24] + - !!python/tuple [4, 8] + - !!python/tuple [21, 14] + - !!python/tuple [28, 1] + - !!python/tuple [30, 7] + - !!python/tuple [26, 29] + - !!python/tuple [4, 31] + - !!python/tuple [25, 16] + - !!python/tuple [8, 25] + - !!python/tuple [25, 3] + - !!python/tuple [21, 31] + - !!python/tuple [9, 30] + - !!python/tuple [8, 12] + - !!python/tuple [24, 6] + - !!python/tuple [25, 15] + - !!python/tuple [23, 10] + - !!python/tuple [24, 8] + - !!python/tuple [25, 25] + - !!python/tuple [11, 17] + - !!python/tuple [0, 5] + - !!python/tuple [13, 8] + - !!python/tuple [17, 15] + - !!python/tuple [9, 1] + - !!python/tuple [11, 14] + - !!python/tuple [8, 22] + - !!python/tuple [4, 6] + - !!python/tuple [25, 1] + - !!python/tuple [17, 14] + - !!python/tuple [12, 21] + - !!python/tuple [22, 6] + - !!python/tuple [3, 22] + - !!python/tuple [2, 21] + - !!python/tuple [11, 12] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex29.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex29.yaml new file mode 100644 index 0000000..c905d63 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex29.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [15, 24] + name: agent0 + start: [26, 1] +- goal: [0, 29] + name: agent1 + start: [5, 1] +- goal: [11, 4] + name: agent2 + start: [8, 20] +- goal: [29, 27] + name: agent3 + start: [0, 24] +- goal: [24, 22] + name: agent4 + start: [18, 3] +- goal: [29, 22] + name: agent5 + start: [28, 13] +- goal: [28, 0] + name: agent6 + start: [9, 9] +- goal: [23, 14] + name: agent7 + start: [18, 1] +- goal: [5, 28] + name: agent8 + start: [31, 4] +- goal: [28, 29] + name: agent9 + start: [13, 3] +- goal: [17, 31] + name: agent10 + start: [2, 30] +- goal: [12, 11] + name: agent11 + start: [16, 3] +- goal: [29, 31] + name: agent12 + start: [14, 0] +- goal: [29, 18] + name: agent13 + start: [11, 29] +- goal: [5, 12] + name: agent14 + start: [4, 11] +- goal: [11, 5] + name: agent15 + start: [15, 10] +- goal: [13, 1] + name: agent16 + start: [29, 31] +- goal: [8, 2] + name: agent17 + start: [7, 26] +- goal: [11, 8] + name: agent18 + start: [19, 13] +- goal: [14, 10] + name: agent19 + start: [14, 19] +- goal: [18, 8] + name: agent20 + start: [26, 19] +- goal: [24, 17] + name: agent21 + start: [7, 0] +- goal: [14, 24] + name: agent22 + start: [3, 4] +- goal: [18, 4] + name: agent23 + start: [13, 22] +- goal: [7, 20] + name: agent24 + start: [23, 19] +- goal: [24, 8] + name: agent25 + start: [27, 17] +- goal: [23, 5] + name: agent26 + start: [22, 21] +- goal: [3, 22] + name: agent27 + start: [15, 27] +- goal: [6, 27] + name: agent28 + start: [6, 7] +- goal: [31, 30] + name: agent29 + start: [20, 15] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [28, 27] + - !!python/tuple [9, 21] + - !!python/tuple [0, 21] + - !!python/tuple [7, 31] + - !!python/tuple [7, 25] + - !!python/tuple [21, 9] + - !!python/tuple [23, 9] + - !!python/tuple [9, 13] + - !!python/tuple [7, 16] + - !!python/tuple [15, 16] + - !!python/tuple [10, 24] + - !!python/tuple [25, 25] + - !!python/tuple [28, 22] + - !!python/tuple [11, 13] + - !!python/tuple [11, 28] + - !!python/tuple [6, 18] + - !!python/tuple [16, 21] + - !!python/tuple [18, 17] + - !!python/tuple [28, 28] + - !!python/tuple [4, 24] + - !!python/tuple [19, 12] + - !!python/tuple [6, 6] + - !!python/tuple [2, 13] + - !!python/tuple [6, 4] + - !!python/tuple [27, 23] + - !!python/tuple [8, 26] + - !!python/tuple [1, 30] + - !!python/tuple [15, 22] + - !!python/tuple [14, 23] + - !!python/tuple [27, 3] + - !!python/tuple [12, 26] + - !!python/tuple [27, 18] + - !!python/tuple [15, 17] + - !!python/tuple [19, 20] + - !!python/tuple [5, 22] + - !!python/tuple [29, 14] + - !!python/tuple [22, 9] + - !!python/tuple [20, 4] + - !!python/tuple [1, 19] + - !!python/tuple [9, 23] + - !!python/tuple [19, 30] + - !!python/tuple [3, 5] + - !!python/tuple [17, 29] + - !!python/tuple [1, 8] + - !!python/tuple [15, 0] + - !!python/tuple [20, 7] + - !!python/tuple [1, 15] + - !!python/tuple [22, 27] + - !!python/tuple [20, 13] + - !!python/tuple [22, 17] + - !!python/tuple [27, 31] + - !!python/tuple [16, 25] + - !!python/tuple [18, 6] + - !!python/tuple [8, 0] + - !!python/tuple [13, 2] + - !!python/tuple [6, 25] + - !!python/tuple [12, 22] + - !!python/tuple [15, 20] + - !!python/tuple [30, 22] + - !!python/tuple [21, 6] + - !!python/tuple [1, 21] + - !!python/tuple [21, 23] + - !!python/tuple [12, 23] + - !!python/tuple [19, 9] + - !!python/tuple [18, 19] + - !!python/tuple [14, 15] + - !!python/tuple [5, 6] + - !!python/tuple [27, 7] + - !!python/tuple [1, 13] + - !!python/tuple [12, 6] + - !!python/tuple [24, 19] + - !!python/tuple [13, 18] + - !!python/tuple [18, 7] + - !!python/tuple [19, 2] + - !!python/tuple [4, 29] + - !!python/tuple [30, 6] + - !!python/tuple [10, 4] + - !!python/tuple [19, 10] + - !!python/tuple [0, 10] + - !!python/tuple [29, 15] + - !!python/tuple [1, 12] + - !!python/tuple [2, 7] + - !!python/tuple [21, 25] + - !!python/tuple [4, 7] + - !!python/tuple [5, 25] + - !!python/tuple [2, 29] + - !!python/tuple [25, 18] + - !!python/tuple [26, 31] + - !!python/tuple [8, 13] + - !!python/tuple [24, 26] + - !!python/tuple [29, 16] + - !!python/tuple [0, 16] + - !!python/tuple [18, 23] + - !!python/tuple [16, 2] + - !!python/tuple [9, 22] + - !!python/tuple [17, 21] + - !!python/tuple [21, 4] + - !!python/tuple [27, 30] + - !!python/tuple [27, 5] + - !!python/tuple [30, 29] + - !!python/tuple [28, 23] + - !!python/tuple [29, 25] + - !!python/tuple [28, 20] + - !!python/tuple [6, 0] + - !!python/tuple [0, 4] + - !!python/tuple [25, 22] + - !!python/tuple [17, 18] + - !!python/tuple [1, 29] + - !!python/tuple [26, 17] + - !!python/tuple [29, 24] + - !!python/tuple [10, 18] + - !!python/tuple [30, 31] + - !!python/tuple [30, 17] + - !!python/tuple [16, 16] + - !!python/tuple [14, 14] + - !!python/tuple [11, 2] + - !!python/tuple [0, 13] + - !!python/tuple [22, 11] + - !!python/tuple [6, 10] + - !!python/tuple [2, 2] + - !!python/tuple [11, 27] + - !!python/tuple [28, 18] + - !!python/tuple [18, 20] + - !!python/tuple [28, 2] + - !!python/tuple [14, 25] + - !!python/tuple [17, 9] + - !!python/tuple [4, 30] + - !!python/tuple [0, 2] + - !!python/tuple [10, 11] + - !!python/tuple [13, 13] + - !!python/tuple [14, 30] + - !!python/tuple [23, 7] + - !!python/tuple [6, 26] + - !!python/tuple [24, 23] + - !!python/tuple [24, 24] + - !!python/tuple [24, 15] + - !!python/tuple [1, 27] + - !!python/tuple [15, 3] + - !!python/tuple [22, 26] + - !!python/tuple [9, 19] + - !!python/tuple [25, 12] + - !!python/tuple [13, 23] + - !!python/tuple [22, 2] + - !!python/tuple [1, 1] + - !!python/tuple [12, 2] + - !!python/tuple [17, 10] + - !!python/tuple [21, 29] + - !!python/tuple [20, 18] + - !!python/tuple [4, 27] + - !!python/tuple [2, 4] + - !!python/tuple [16, 19] + - !!python/tuple [23, 1] + - !!python/tuple [5, 5] + - !!python/tuple [0, 9] + - !!python/tuple [19, 22] + - !!python/tuple [15, 15] + - !!python/tuple [30, 24] + - !!python/tuple [1, 18] + - !!python/tuple [13, 25] + - !!python/tuple [3, 25] + - !!python/tuple [26, 0] + - !!python/tuple [9, 25] + - !!python/tuple [3, 2] + - !!python/tuple [2, 16] + - !!python/tuple [7, 18] + - !!python/tuple [7, 2] + - !!python/tuple [30, 10] + - !!python/tuple [6, 9] + - !!python/tuple [19, 4] + - !!python/tuple [12, 27] + - !!python/tuple [31, 23] + - !!python/tuple [3, 9] + - !!python/tuple [21, 20] + - !!python/tuple [18, 26] + - !!python/tuple [29, 10] + - !!python/tuple [12, 30] + - !!python/tuple [19, 31] + - !!python/tuple [16, 31] + - !!python/tuple [20, 16] + - !!python/tuple [29, 5] + - !!python/tuple [28, 26] + - !!python/tuple [7, 17] + - !!python/tuple [8, 21] + - !!python/tuple [31, 25] + - !!python/tuple [29, 3] + - !!python/tuple [8, 5] + - !!python/tuple [4, 28] + - !!python/tuple [27, 10] + - !!python/tuple [27, 28] + - !!python/tuple [1, 4] + - !!python/tuple [3, 7] + - !!python/tuple [20, 11] + - !!python/tuple [29, 19] + - !!python/tuple [12, 18] + - !!python/tuple [31, 10] + - !!python/tuple [24, 16] + - !!python/tuple [26, 4] + - !!python/tuple [17, 26] + - !!python/tuple [1, 16] + - !!python/tuple [2, 28] + - !!python/tuple [6, 3] + - !!python/tuple [21, 28] + - !!python/tuple [0, 17] + - !!python/tuple [28, 21] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex3.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex3.yaml new file mode 100644 index 0000000..25330aa --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex3.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [20, 1] + name: agent0 + start: [23, 24] +- goal: [4, 20] + name: agent1 + start: [12, 23] +- goal: [8, 8] + name: agent2 + start: [11, 14] +- goal: [19, 16] + name: agent3 + start: [28, 10] +- goal: [5, 8] + name: agent4 + start: [15, 6] +- goal: [1, 31] + name: agent5 + start: [24, 15] +- goal: [18, 6] + name: agent6 + start: [0, 18] +- goal: [6, 1] + name: agent7 + start: [7, 6] +- goal: [4, 25] + name: agent8 + start: [24, 19] +- goal: [7, 20] + name: agent9 + start: [22, 12] +- goal: [5, 29] + name: agent10 + start: [21, 2] +- goal: [15, 1] + name: agent11 + start: [1, 11] +- goal: [13, 8] + name: agent12 + start: [9, 18] +- goal: [25, 1] + name: agent13 + start: [3, 16] +- goal: [7, 24] + name: agent14 + start: [14, 29] +- goal: [29, 16] + name: agent15 + start: [0, 3] +- goal: [11, 4] + name: agent16 + start: [7, 19] +- goal: [7, 15] + name: agent17 + start: [1, 15] +- goal: [6, 23] + name: agent18 + start: [25, 5] +- goal: [3, 12] + name: agent19 + start: [31, 14] +- goal: [23, 2] + name: agent20 + start: [18, 3] +- goal: [23, 31] + name: agent21 + start: [25, 2] +- goal: [10, 17] + name: agent22 + start: [14, 0] +- goal: [18, 24] + name: agent23 + start: [6, 25] +- goal: [17, 18] + name: agent24 + start: [1, 3] +- goal: [20, 26] + name: agent25 + start: [28, 7] +- goal: [0, 10] + name: agent26 + start: [22, 18] +- goal: [23, 27] + name: agent27 + start: [21, 31] +- goal: [6, 20] + name: agent28 + start: [21, 29] +- goal: [5, 12] + name: agent29 + start: [5, 28] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [20, 6] + - !!python/tuple [3, 15] + - !!python/tuple [15, 14] + - !!python/tuple [27, 15] + - !!python/tuple [14, 30] + - !!python/tuple [17, 24] + - !!python/tuple [10, 19] + - !!python/tuple [19, 25] + - !!python/tuple [11, 12] + - !!python/tuple [10, 1] + - !!python/tuple [0, 0] + - !!python/tuple [5, 24] + - !!python/tuple [24, 14] + - !!python/tuple [28, 11] + - !!python/tuple [6, 6] + - !!python/tuple [24, 9] + - !!python/tuple [14, 31] + - !!python/tuple [13, 30] + - !!python/tuple [31, 15] + - !!python/tuple [25, 8] + - !!python/tuple [20, 15] + - !!python/tuple [26, 13] + - !!python/tuple [26, 14] + - !!python/tuple [30, 11] + - !!python/tuple [22, 24] + - !!python/tuple [28, 27] + - !!python/tuple [15, 7] + - !!python/tuple [16, 30] + - !!python/tuple [10, 13] + - !!python/tuple [19, 15] + - !!python/tuple [0, 2] + - !!python/tuple [15, 5] + - !!python/tuple [27, 7] + - !!python/tuple [6, 24] + - !!python/tuple [13, 20] + - !!python/tuple [4, 27] + - !!python/tuple [6, 18] + - !!python/tuple [1, 14] + - !!python/tuple [16, 21] + - !!python/tuple [22, 17] + - !!python/tuple [18, 16] + - !!python/tuple [22, 8] + - !!python/tuple [2, 2] + - !!python/tuple [20, 17] + - !!python/tuple [4, 16] + - !!python/tuple [10, 10] + - !!python/tuple [30, 23] + - !!python/tuple [22, 28] + - !!python/tuple [16, 16] + - !!python/tuple [21, 18] + - !!python/tuple [15, 27] + - !!python/tuple [27, 21] + - !!python/tuple [16, 4] + - !!python/tuple [24, 24] + - !!python/tuple [27, 26] + - !!python/tuple [9, 9] + - !!python/tuple [28, 3] + - !!python/tuple [5, 11] + - !!python/tuple [13, 2] + - !!python/tuple [12, 25] + - !!python/tuple [31, 9] + - !!python/tuple [28, 25] + - !!python/tuple [4, 31] + - !!python/tuple [2, 6] + - !!python/tuple [18, 2] + - !!python/tuple [23, 11] + - !!python/tuple [16, 29] + - !!python/tuple [23, 25] + - !!python/tuple [4, 4] + - !!python/tuple [22, 4] + - !!python/tuple [16, 2] + - 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[24, 1] + - !!python/tuple [12, 9] + - !!python/tuple [2, 3] + - !!python/tuple [2, 27] + - !!python/tuple [1, 21] + - !!python/tuple [15, 10] + - !!python/tuple [21, 26] + - !!python/tuple [16, 22] + - !!python/tuple [20, 24] + - !!python/tuple [10, 27] + - !!python/tuple [20, 28] + - !!python/tuple [16, 18] + - !!python/tuple [10, 15] + - !!python/tuple [0, 28] + - !!python/tuple [12, 30] + - !!python/tuple [21, 11] + - !!python/tuple [0, 31] + - !!python/tuple [12, 19] + - !!python/tuple [5, 9] + - !!python/tuple [12, 7] + - !!python/tuple [17, 11] + - !!python/tuple [5, 22] + - !!python/tuple [8, 15] + - !!python/tuple [6, 3] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex30.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex30.yaml new file mode 100644 index 0000000..39d93d4 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex30.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [16, 21] + name: agent0 + start: [6, 7] +- goal: [0, 4] + name: agent1 + start: [4, 7] +- goal: [1, 29] + name: agent2 + start: [21, 7] +- goal: [21, 5] + name: agent3 + start: [30, 15] +- goal: [16, 8] + name: agent4 + start: [25, 17] +- goal: [6, 17] + name: agent5 + start: [9, 0] +- goal: [23, 26] + name: agent6 + start: [31, 7] +- goal: [9, 1] + name: agent7 + start: [30, 2] +- goal: [4, 18] + name: agent8 + start: [12, 5] +- goal: [12, 7] + name: agent9 + start: [15, 8] +- goal: [17, 5] + name: agent10 + start: [18, 30] +- goal: [6, 13] + name: agent11 + start: [8, 18] +- goal: [16, 28] + name: agent12 + start: [17, 5] +- goal: [13, 30] + name: agent13 + start: [11, 13] +- goal: [20, 25] + name: agent14 + start: [7, 7] +- goal: [28, 22] + name: agent15 + start: [2, 14] +- goal: [24, 18] + name: agent16 + start: [16, 31] +- goal: [29, 2] + name: agent17 + start: [17, 20] +- goal: [6, 2] + name: agent18 + start: [25, 19] +- goal: [13, 1] + name: agent19 + start: [14, 25] +- goal: [1, 15] + name: agent20 + start: [5, 9] +- goal: [12, 9] + name: agent21 + start: [29, 22] +- goal: [24, 26] + name: agent22 + start: [13, 29] +- goal: [19, 13] + name: agent23 + start: [22, 25] +- goal: [6, 20] + name: agent24 + start: [7, 6] +- goal: [26, 19] + name: agent25 + start: [28, 30] +- goal: [27, 1] + name: agent26 + start: [5, 18] +- goal: [24, 30] + name: agent27 + start: [31, 0] +- goal: [19, 5] + name: agent28 + start: [29, 9] +- goal: [20, 29] + name: agent29 + start: [18, 8] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [7, 2] + - !!python/tuple [15, 24] + - !!python/tuple [5, 31] + - !!python/tuple [1, 16] + - !!python/tuple [8, 7] + - !!python/tuple [30, 20] + - !!python/tuple [26, 13] + - !!python/tuple [9, 24] + - !!python/tuple [23, 9] + - !!python/tuple [26, 17] + - !!python/tuple [16, 29] + - !!python/tuple [10, 15] + - !!python/tuple [27, 19] + - !!python/tuple [18, 7] + - !!python/tuple [3, 11] + - !!python/tuple [14, 5] + - !!python/tuple [16, 23] + - !!python/tuple [16, 30] + - !!python/tuple [21, 29] + - !!python/tuple [10, 11] + - !!python/tuple [18, 14] + - !!python/tuple [31, 28] + - !!python/tuple [11, 16] + - !!python/tuple [12, 6] + - !!python/tuple [13, 5] + - !!python/tuple [23, 28] + - !!python/tuple [18, 31] + - !!python/tuple [7, 13] + - !!python/tuple [3, 16] + - !!python/tuple [27, 4] + - !!python/tuple [6, 15] + - !!python/tuple [1, 20] + - !!python/tuple [28, 0] + - !!python/tuple [15, 15] + - !!python/tuple [27, 31] + - !!python/tuple [15, 10] + - !!python/tuple [26, 15] + - !!python/tuple [19, 19] + - !!python/tuple [19, 11] + - !!python/tuple [15, 11] + - !!python/tuple [15, 3] + - !!python/tuple [27, 11] + - !!python/tuple [3, 0] + - !!python/tuple [14, 14] + - !!python/tuple [5, 21] + - !!python/tuple [9, 4] + - !!python/tuple [14, 24] + - !!python/tuple [1, 27] + - !!python/tuple [17, 17] + - !!python/tuple [0, 1] + - !!python/tuple [1, 6] + - !!python/tuple [2, 13] + - !!python/tuple [19, 25] + - !!python/tuple [29, 26] + - !!python/tuple [4, 30] + - !!python/tuple [11, 22] + - !!python/tuple [7, 21] + - !!python/tuple [3, 22] + - !!python/tuple [26, 30] + - !!python/tuple [27, 18] + - !!python/tuple [10, 1] + - !!python/tuple [21, 28] + - !!python/tuple [25, 18] + - !!python/tuple [3, 15] + - !!python/tuple [11, 26] + - !!python/tuple [6, 26] + - !!python/tuple [3, 27] + - !!python/tuple [26, 31] + - !!python/tuple [11, 27] + - !!python/tuple [6, 28] + - !!python/tuple [27, 7] + - !!python/tuple [17, 8] + - !!python/tuple [8, 29] + - !!python/tuple [28, 31] + - !!python/tuple [13, 25] + - !!python/tuple [26, 24] + - !!python/tuple [12, 1] + - !!python/tuple [11, 14] + - !!python/tuple [19, 14] + - !!python/tuple [13, 31] + - !!python/tuple [12, 12] + - !!python/tuple [31, 31] + - !!python/tuple [25, 9] + - !!python/tuple [1, 1] + - !!python/tuple [10, 7] + - !!python/tuple [10, 3] + - !!python/tuple [0, 3] + - !!python/tuple [27, 26] + - 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!!python/tuple [30, 19] + - !!python/tuple [8, 14] + - !!python/tuple [7, 1] + - !!python/tuple [12, 8] + - !!python/tuple [23, 19] + - !!python/tuple [8, 6] + - !!python/tuple [8, 25] + - !!python/tuple [11, 20] + - !!python/tuple [26, 12] + - !!python/tuple [4, 28] + - !!python/tuple [18, 23] + - !!python/tuple [14, 3] + - !!python/tuple [11, 9] + - !!python/tuple [7, 10] + - !!python/tuple [24, 27] + - !!python/tuple [5, 14] + - !!python/tuple [12, 14] + - !!python/tuple [15, 28] + - !!python/tuple [17, 25] + - !!python/tuple [24, 5] + - !!python/tuple [17, 27] + - !!python/tuple [24, 10] + - !!python/tuple [2, 5] + - !!python/tuple [6, 3] + - !!python/tuple [2, 22] + - !!python/tuple [10, 12] + - !!python/tuple [17, 22] + - !!python/tuple [2, 30] + - !!python/tuple [8, 11] + - !!python/tuple [18, 6] + - !!python/tuple [7, 27] + - !!python/tuple [9, 22] + - !!python/tuple [24, 15] + - !!python/tuple [9, 5] + - !!python/tuple [30, 24] + - !!python/tuple [23, 22] + - !!python/tuple [6, 1] + - !!python/tuple [16, 1] + - !!python/tuple [15, 14] + - !!python/tuple [27, 9] + - !!python/tuple [31, 12] + - !!python/tuple [10, 29] + - !!python/tuple [28, 21] + - !!python/tuple [17, 3] + - !!python/tuple [17, 4] + - !!python/tuple [18, 10] + - !!python/tuple [25, 23] + - !!python/tuple [3, 13] + - !!python/tuple [25, 28] + - !!python/tuple [23, 16] + - !!python/tuple [29, 5] + - !!python/tuple [26, 9] + - !!python/tuple [5, 29] + - !!python/tuple [24, 19] + - !!python/tuple [29, 21] + - !!python/tuple [21, 26] + - !!python/tuple [16, 14] + - !!python/tuple [3, 1] + - !!python/tuple [18, 27] + - !!python/tuple [18, 11] + - !!python/tuple [19, 28] + - !!python/tuple [27, 8] + - !!python/tuple [18, 15] + - !!python/tuple [13, 23] + - !!python/tuple [6, 14] + - !!python/tuple [22, 8] + - !!python/tuple [18, 1] + - !!python/tuple [23, 27] + - !!python/tuple [26, 18] + - !!python/tuple [1, 31] + - !!python/tuple [23, 23] + - !!python/tuple [17, 14] + - !!python/tuple [26, 14] + - !!python/tuple [16, 25] + - !!python/tuple [1, 17] + - !!python/tuple [21, 31] + - !!python/tuple [13, 26] + - !!python/tuple [15, 19] + - !!python/tuple [22, 14] + - !!python/tuple [31, 5] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex31.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex31.yaml new file mode 100644 index 0000000..f251b53 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex31.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [4, 18] + name: agent0 + start: [0, 0] +- goal: [23, 29] + name: agent1 + start: [5, 31] +- goal: [24, 18] + name: agent2 + start: [1, 25] +- goal: [26, 22] + name: agent3 + start: [16, 5] +- goal: [21, 29] + name: agent4 + start: [1, 18] +- goal: [17, 7] + name: agent5 + start: [13, 10] +- goal: [17, 25] + name: agent6 + start: [22, 21] +- goal: [11, 21] + name: agent7 + start: [5, 28] +- goal: [23, 21] + name: agent8 + start: [25, 17] +- goal: [0, 25] + name: agent9 + start: [30, 10] +- goal: [14, 1] + name: agent10 + start: [15, 7] +- goal: [1, 17] + name: agent11 + start: [20, 8] +- goal: [24, 27] + name: agent12 + start: [13, 15] +- goal: [5, 1] + name: agent13 + start: [14, 11] +- goal: [16, 12] + name: agent14 + start: [4, 0] +- goal: [7, 14] + name: agent15 + start: [21, 28] +- goal: [10, 22] + name: agent16 + start: [9, 3] +- goal: [0, 31] + name: agent17 + start: [7, 20] +- goal: [20, 12] + name: agent18 + start: [31, 20] +- goal: [24, 30] + name: agent19 + start: [9, 8] +- goal: [14, 27] + name: agent20 + start: [12, 15] +- goal: [29, 6] + name: agent21 + start: [8, 29] +- goal: [27, 23] + name: agent22 + start: [8, 31] +- goal: [29, 18] + name: agent23 + start: [18, 4] +- goal: [21, 2] + name: agent24 + start: [30, 2] +- goal: [24, 7] + name: agent25 + start: [28, 22] +- goal: [8, 1] + name: agent26 + start: [15, 19] +- goal: [21, 31] + name: agent27 + start: [8, 24] +- goal: [26, 12] + name: agent28 + start: [20, 0] +- goal: [25, 13] + name: agent29 + start: [18, 29] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [25, 14] + - !!python/tuple [15, 26] + - !!python/tuple [16, 24] + - !!python/tuple [29, 21] + - !!python/tuple [0, 12] + - !!python/tuple [7, 16] + - !!python/tuple [2, 8] + - !!python/tuple [6, 12] + - !!python/tuple [5, 23] + - !!python/tuple [29, 31] + - !!python/tuple [24, 1] + - !!python/tuple [10, 12] + - !!python/tuple [11, 28] + - !!python/tuple [9, 17] + - !!python/tuple [31, 5] + - !!python/tuple [23, 22] + - !!python/tuple [7, 2] + - !!python/tuple [31, 21] + - !!python/tuple [15, 5] + - !!python/tuple [5, 14] + - !!python/tuple [20, 2] + - !!python/tuple [3, 7] + - !!python/tuple [3, 17] + - !!python/tuple [19, 9] + - !!python/tuple [15, 17] + - !!python/tuple [9, 24] + - !!python/tuple [26, 13] + - !!python/tuple [6, 2] + - !!python/tuple [24, 28] + - !!python/tuple [22, 29] + - !!python/tuple [30, 19] + - !!python/tuple [29, 22] + - 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[16, 4] + - !!python/tuple [11, 14] + - !!python/tuple [27, 4] + - !!python/tuple [1, 16] + - !!python/tuple [25, 5] + - !!python/tuple [21, 24] + - !!python/tuple [22, 13] + - !!python/tuple [5, 11] + - !!python/tuple [21, 9] + - !!python/tuple [19, 5] + - !!python/tuple [15, 25] + - !!python/tuple [13, 9] + - !!python/tuple [1, 14] + - !!python/tuple [21, 10] + - !!python/tuple [17, 23] + - !!python/tuple [3, 24] + - !!python/tuple [9, 26] + - !!python/tuple [30, 6] + - !!python/tuple [9, 10] + - !!python/tuple [15, 8] + - !!python/tuple [3, 27] + - !!python/tuple [18, 28] + - !!python/tuple [2, 10] + - !!python/tuple [3, 18] + - !!python/tuple [19, 24] + - !!python/tuple [30, 24] + - !!python/tuple [21, 20] + - !!python/tuple [31, 19] + - !!python/tuple [31, 0] + - !!python/tuple [31, 3] + - !!python/tuple [6, 11] + - !!python/tuple [0, 23] + - !!python/tuple [18, 11] + - !!python/tuple [11, 18] + - !!python/tuple [25, 2] + - !!python/tuple [9, 15] + - !!python/tuple [11, 2] + - !!python/tuple [17, 14] + - !!python/tuple [7, 11] + - !!python/tuple [24, 9] + - !!python/tuple [16, 8] + - !!python/tuple [29, 5] + - !!python/tuple [10, 13] + - !!python/tuple [5, 29] + - !!python/tuple [1, 4] + - !!python/tuple [9, 23] + - !!python/tuple [22, 18] + - !!python/tuple [23, 10] + - !!python/tuple [22, 22] + - !!python/tuple [11, 9] + - !!python/tuple [18, 23] + - !!python/tuple [6, 13] + - !!python/tuple [16, 3] + - !!python/tuple [8, 8] + - !!python/tuple [14, 21] + - !!python/tuple [31, 22] + - !!python/tuple [19, 2] + - !!python/tuple [7, 13] + - !!python/tuple [27, 8] + - !!python/tuple [15, 24] + - !!python/tuple [19, 23] + - !!python/tuple [19, 31] + - !!python/tuple [1, 24] + - !!python/tuple [29, 14] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex32.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex32.yaml new file mode 100644 index 0000000..2f62865 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex32.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [27, 10] + name: agent0 + start: [19, 10] +- goal: [27, 12] + name: agent1 + start: [29, 4] +- goal: [31, 6] + name: agent2 + start: [30, 20] +- goal: [28, 0] + name: agent3 + start: [19, 20] +- goal: [23, 24] + name: agent4 + start: [10, 3] +- goal: [8, 1] + name: agent5 + start: [13, 25] +- goal: [8, 30] + name: agent6 + start: [6, 11] +- goal: [19, 22] + name: agent7 + start: [5, 11] +- goal: [23, 13] + name: agent8 + start: [8, 10] +- goal: [19, 7] + name: agent9 + start: [13, 13] +- goal: [4, 24] + name: agent10 + start: [28, 18] +- goal: [14, 14] + name: agent11 + start: [12, 26] +- goal: [29, 27] + name: agent12 + start: [16, 12] +- goal: [27, 25] + name: agent13 + start: [13, 29] +- goal: [20, 16] + name: agent14 + start: [17, 4] +- goal: [18, 0] + name: agent15 + start: [20, 13] +- goal: [28, 26] + name: agent16 + start: [24, 21] +- goal: [10, 16] + name: agent17 + start: [19, 25] +- goal: [12, 5] + name: agent18 + start: [10, 23] +- goal: [28, 8] + name: agent19 + start: [2, 12] +- goal: [23, 28] + name: agent20 + start: [12, 25] +- goal: [23, 3] + name: agent21 + start: [10, 2] +- goal: [14, 3] + name: agent22 + start: [20, 5] +- goal: [8, 31] + name: agent23 + start: [30, 4] +- goal: [3, 20] + name: agent24 + start: [14, 19] +- goal: [23, 7] + name: agent25 + start: [28, 1] +- goal: [0, 0] + name: agent26 + start: [15, 24] +- goal: [22, 24] + name: agent27 + start: [22, 26] +- goal: [10, 26] + name: agent28 + start: [20, 0] +- goal: [19, 2] + name: agent29 + start: [18, 21] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [13, 22] + - !!python/tuple [8, 20] + - !!python/tuple [24, 8] + - !!python/tuple [3, 24] + - !!python/tuple [17, 9] + - !!python/tuple [14, 1] + - !!python/tuple [20, 1] + - !!python/tuple [17, 13] + - !!python/tuple [16, 11] + - !!python/tuple [8, 3] + - !!python/tuple [23, 6] + - !!python/tuple [11, 17] + - !!python/tuple [12, 11] + - !!python/tuple [27, 8] + - !!python/tuple [2, 24] + - !!python/tuple [3, 17] + - !!python/tuple [18, 6] + - !!python/tuple [26, 4] + - !!python/tuple [25, 7] + - !!python/tuple [23, 20] + - !!python/tuple [16, 9] + - !!python/tuple [4, 21] + - !!python/tuple [16, 24] + - !!python/tuple [3, 13] + - !!python/tuple [28, 11] + - !!python/tuple [29, 24] + - !!python/tuple [3, 16] + - !!python/tuple [18, 7] + - !!python/tuple [31, 9] + - !!python/tuple [28, 20] + - !!python/tuple [4, 0] + - !!python/tuple [8, 22] + - !!python/tuple [13, 20] + - !!python/tuple [7, 8] + - !!python/tuple [29, 11] + - !!python/tuple [28, 14] + - !!python/tuple [17, 31] + - !!python/tuple [13, 31] + - !!python/tuple [7, 25] + - !!python/tuple [9, 20] + - !!python/tuple [16, 16] + - !!python/tuple [6, 3] + - !!python/tuple [9, 12] + - !!python/tuple [27, 15] + - !!python/tuple [6, 1] + - !!python/tuple [16, 7] + - !!python/tuple [26, 21] + - !!python/tuple [9, 11] + - !!python/tuple [12, 18] + - !!python/tuple [1, 29] + - !!python/tuple [31, 12] + - !!python/tuple [6, 17] + - !!python/tuple [14, 13] + - !!python/tuple [14, 12] + - !!python/tuple [6, 10] + - !!python/tuple [22, 11] + - !!python/tuple [31, 29] + - !!python/tuple [29, 26] + - !!python/tuple [31, 15] + - !!python/tuple [8, 6] + - !!python/tuple [12, 20] + - !!python/tuple [1, 30] + - !!python/tuple [7, 2] + - !!python/tuple [5, 23] + - !!python/tuple [14, 18] + - !!python/tuple [20, 31] + - !!python/tuple [31, 13] + - !!python/tuple [4, 19] + - !!python/tuple [17, 3] + - !!python/tuple [2, 25] + - !!python/tuple [27, 17] + - !!python/tuple [11, 28] + - !!python/tuple [2, 7] + - !!python/tuple [10, 31] + - !!python/tuple [27, 5] + - !!python/tuple [2, 22] + - !!python/tuple [12, 14] + - !!python/tuple [2, 14] + - !!python/tuple [19, 27] + - !!python/tuple [13, 1] + - !!python/tuple [2, 28] + - !!python/tuple [13, 8] + - !!python/tuple [17, 2] + - !!python/tuple [14, 6] + - !!python/tuple [27, 27] + - !!python/tuple [7, 16] + - !!python/tuple [22, 16] + - !!python/tuple [7, 26] + - !!python/tuple [8, 0] + - !!python/tuple [16, 14] + - !!python/tuple [28, 19] + - !!python/tuple [9, 19] + - !!python/tuple [3, 5] + - !!python/tuple [28, 3] + - !!python/tuple [9, 8] + - !!python/tuple [0, 3] + - !!python/tuple [4, 11] + - !!python/tuple [20, 17] + - !!python/tuple [9, 9] + - !!python/tuple [29, 18] + - !!python/tuple [7, 28] + - !!python/tuple [7, 24] + - !!python/tuple [30, 15] + - !!python/tuple [6, 15] + - !!python/tuple [20, 29] + - !!python/tuple [11, 14] + - !!python/tuple [3, 1] + - !!python/tuple [25, 0] + - !!python/tuple [12, 23] + - !!python/tuple [27, 18] + - !!python/tuple [14, 22] + - !!python/tuple [21, 8] + - !!python/tuple [22, 19] + - !!python/tuple [7, 11] + - !!python/tuple [1, 27] + - !!python/tuple [24, 20] + - !!python/tuple [27, 28] + - !!python/tuple [15, 22] + - !!python/tuple [22, 1] + - !!python/tuple [27, 11] + - !!python/tuple [30, 30] + - !!python/tuple [11, 0] + - !!python/tuple [7, 19] + - !!python/tuple [26, 11] + - !!python/tuple [10, 29] + - !!python/tuple [22, 10] + - !!python/tuple [13, 17] + - !!python/tuple [15, 27] + - !!python/tuple [3, 23] + - !!python/tuple [4, 6] + - !!python/tuple [11, 29] + - !!python/tuple [15, 8] + - !!python/tuple [25, 6] + - !!python/tuple [28, 23] + - !!python/tuple [25, 30] + - !!python/tuple [3, 9] + - !!python/tuple [26, 2] + - !!python/tuple [11, 23] + - !!python/tuple [6, 5] + - !!python/tuple [30, 24] + - !!python/tuple [22, 21] + - !!python/tuple [14, 5] + - !!python/tuple [1, 14] + - !!python/tuple [24, 14] + - !!python/tuple [26, 22] + - !!python/tuple [17, 7] + - !!python/tuple [24, 28] + - !!python/tuple [24, 18] + - !!python/tuple [3, 25] + - !!python/tuple [29, 25] + - !!python/tuple [17, 6] + - !!python/tuple [30, 7] + - !!python/tuple [7, 6] + - !!python/tuple [24, 4] + - !!python/tuple [26, 31] + - !!python/tuple [31, 14] + - !!python/tuple [13, 6] + - !!python/tuple [5, 7] + - !!python/tuple [18, 31] + - !!python/tuple [27, 26] + - !!python/tuple [8, 28] + - !!python/tuple [16, 30] + - !!python/tuple [6, 12] + - !!python/tuple [26, 9] + - !!python/tuple [1, 28] + - !!python/tuple [19, 28] + - !!python/tuple [8, 27] + - !!python/tuple [25, 31] + - !!python/tuple [20, 2] + - !!python/tuple [28, 13] + - !!python/tuple [7, 27] + - !!python/tuple [2, 0] + - !!python/tuple [22, 2] + - !!python/tuple [8, 2] + - !!python/tuple [26, 28] + - !!python/tuple [26, 20] + - !!python/tuple [17, 19] + - !!python/tuple [2, 21] + - !!python/tuple [22, 15] + - !!python/tuple [23, 23] + - !!python/tuple [25, 2] + - !!python/tuple [28, 29] + - !!python/tuple [0, 27] + - !!python/tuple [22, 0] + - !!python/tuple [21, 12] + - !!python/tuple [13, 4] + - !!python/tuple [10, 22] + - !!python/tuple [0, 7] + - !!python/tuple [6, 6] + - !!python/tuple [3, 31] + - !!python/tuple [4, 10] + - !!python/tuple [29, 9] + - !!python/tuple [26, 15] + - !!python/tuple [3, 29] + - !!python/tuple [24, 27] + - !!python/tuple [1, 20] + - !!python/tuple [12, 31] + - !!python/tuple [27, 4] + - !!python/tuple [25, 3] + - !!python/tuple [6, 14] + - !!python/tuple [2, 20] + - !!python/tuple [27, 13] + - !!python/tuple [20, 15] + - !!python/tuple [31, 18] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex33.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex33.yaml new file mode 100644 index 0000000..1975c6c --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex33.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [8, 29] + name: agent0 + start: [3, 11] +- goal: [0, 12] + name: agent1 + start: [11, 25] +- goal: [31, 6] + name: agent2 + start: [6, 24] +- goal: [20, 12] + name: agent3 + start: [25, 18] +- goal: [6, 1] + name: agent4 + start: [18, 17] +- goal: [7, 1] + name: agent5 + start: [6, 22] +- goal: [22, 25] + name: agent6 + start: [4, 0] +- goal: [11, 26] + name: agent7 + start: [26, 22] +- goal: [26, 12] + name: agent8 + start: [26, 25] +- goal: [19, 15] + name: agent9 + start: [10, 28] +- goal: [9, 28] + name: agent10 + start: [23, 13] +- goal: [17, 15] + name: agent11 + start: [31, 30] +- goal: [18, 27] + name: agent12 + start: [9, 0] +- goal: [23, 31] + name: agent13 + start: [25, 6] +- goal: [31, 3] + name: agent14 + start: [4, 22] +- goal: [9, 0] + name: agent15 + start: [31, 23] +- goal: [7, 6] + name: agent16 + start: [14, 10] +- goal: [24, 16] + name: agent17 + start: [18, 11] +- goal: [13, 27] + name: agent18 + start: [20, 26] +- goal: [6, 15] + name: agent19 + start: [10, 7] +- goal: [29, 3] + name: agent20 + start: [19, 25] +- goal: [28, 7] + name: agent21 + start: [26, 20] +- goal: [18, 8] + name: agent22 + start: [8, 14] +- goal: [15, 30] + name: agent23 + start: [29, 16] +- goal: [5, 21] + name: agent24 + start: [20, 3] +- goal: [26, 18] + name: agent25 + start: [15, 17] +- goal: [10, 18] + name: agent26 + start: [25, 21] +- goal: [8, 4] + name: agent27 + start: [22, 0] +- goal: [15, 19] + name: agent28 + start: [2, 24] +- goal: [11, 19] + name: agent29 + start: [12, 8] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [26, 10] + - !!python/tuple [5, 4] + - !!python/tuple [17, 18] + - !!python/tuple [17, 31] + - !!python/tuple [3, 7] + - !!python/tuple [29, 15] + - !!python/tuple [18, 29] + - !!python/tuple [11, 9] + - !!python/tuple [18, 25] + - !!python/tuple [4, 1] + - !!python/tuple [13, 29] + - !!python/tuple [11, 17] + - !!python/tuple [12, 13] + - !!python/tuple [25, 2] + - !!python/tuple [15, 3] + - !!python/tuple [14, 6] + - !!python/tuple [7, 18] + - !!python/tuple [11, 4] + - !!python/tuple [14, 19] + - !!python/tuple [22, 5] + - !!python/tuple [2, 4] + - !!python/tuple [25, 16] + - !!python/tuple [5, 29] + - !!python/tuple [4, 31] + - !!python/tuple [22, 14] + - !!python/tuple [29, 0] + - !!python/tuple [30, 16] + - !!python/tuple [11, 12] + - !!python/tuple [9, 2] + - !!python/tuple [9, 11] + - !!python/tuple [5, 13] + - !!python/tuple [3, 9] + - !!python/tuple [16, 30] + - !!python/tuple [21, 27] + - !!python/tuple [27, 20] + - !!python/tuple [1, 24] + - !!python/tuple [29, 18] + - !!python/tuple [22, 9] + - !!python/tuple [22, 17] + - !!python/tuple [19, 27] + - !!python/tuple [24, 10] + - !!python/tuple [21, 2] + - !!python/tuple [23, 18] + - !!python/tuple [27, 18] + - !!python/tuple [25, 3] + - !!python/tuple [19, 2] + - !!python/tuple [27, 21] + - !!python/tuple [24, 0] + - !!python/tuple [20, 15] + - !!python/tuple [12, 9] + - !!python/tuple [9, 17] + - !!python/tuple [30, 26] + - !!python/tuple [13, 25] + - !!python/tuple [30, 9] + - !!python/tuple [3, 12] + - !!python/tuple [1, 19] + - !!python/tuple [13, 15] + - !!python/tuple [3, 22] + - !!python/tuple [0, 29] + - !!python/tuple [8, 19] + - !!python/tuple [12, 23] + - !!python/tuple [19, 11] + - !!python/tuple [5, 7] + - !!python/tuple [23, 22] + - !!python/tuple [24, 31] + - !!python/tuple [18, 9] + - !!python/tuple [27, 31] + - !!python/tuple [21, 26] + - !!python/tuple [19, 31] + - !!python/tuple [24, 27] + - !!python/tuple [6, 31] + - !!python/tuple [17, 19] + - !!python/tuple [28, 5] + - !!python/tuple [16, 8] + - !!python/tuple [16, 7] + - !!python/tuple [31, 29] + - !!python/tuple [16, 28] + - !!python/tuple [21, 24] + - !!python/tuple [16, 21] + - !!python/tuple [23, 20] + - !!python/tuple [4, 19] + - !!python/tuple [16, 24] + - !!python/tuple [20, 0] + - !!python/tuple [7, 10] + - !!python/tuple [24, 4] + - !!python/tuple [25, 27] + - !!python/tuple [12, 21] + - !!python/tuple [21, 25] + - !!python/tuple [25, 7] + - !!python/tuple [30, 7] + - !!python/tuple [8, 5] + - !!python/tuple [7, 14] + - !!python/tuple [2, 8] + - !!python/tuple [9, 13] + - !!python/tuple [6, 0] + - !!python/tuple [9, 10] + - !!python/tuple [27, 1] + - !!python/tuple [14, 21] + - !!python/tuple [3, 20] + - !!python/tuple [17, 9] + - !!python/tuple [31, 9] + - !!python/tuple [5, 8] + - !!python/tuple [10, 21] + - !!python/tuple [23, 27] + - !!python/tuple [7, 21] + - !!python/tuple [12, 19] + - !!python/tuple [29, 11] + - !!python/tuple [11, 14] + - !!python/tuple [14, 18] + - !!python/tuple [5, 31] + - !!python/tuple [29, 5] + - !!python/tuple [27, 9] + - !!python/tuple [30, 15] + - !!python/tuple [26, 23] + - !!python/tuple [22, 7] + - !!python/tuple [6, 17] + - !!python/tuple [10, 15] + - !!python/tuple [19, 24] + - !!python/tuple [12, 2] + - !!python/tuple [24, 8] + - !!python/tuple [11, 31] + - !!python/tuple [17, 4] + - !!python/tuple [3, 6] + - !!python/tuple [25, 20] + - !!python/tuple [18, 14] + - !!python/tuple [31, 21] + - !!python/tuple [17, 21] + - !!python/tuple [3, 2] + - !!python/tuple [29, 14] + - !!python/tuple [15, 1] + - !!python/tuple [23, 24] + - !!python/tuple [19, 16] + - !!python/tuple [6, 6] + - !!python/tuple [26, 2] + - !!python/tuple [16, 12] + - !!python/tuple [14, 25] + - !!python/tuple [6, 16] + - !!python/tuple [17, 0] + - !!python/tuple [26, 15] + - !!python/tuple [0, 31] + - !!python/tuple [17, 28] + - !!python/tuple [18, 7] + - !!python/tuple [10, 0] + - !!python/tuple [29, 20] + - !!python/tuple [26, 1] + - !!python/tuple [13, 14] + - !!python/tuple [17, 12] + - !!python/tuple [8, 0] + - !!python/tuple [31, 24] + - !!python/tuple [11, 24] + - !!python/tuple [20, 10] + - !!python/tuple [23, 12] + - !!python/tuple [27, 14] + - !!python/tuple [11, 5] + - !!python/tuple [14, 5] + - !!python/tuple [23, 25] + - !!python/tuple [2, 17] + - !!python/tuple [5, 15] + - !!python/tuple [4, 7] + - !!python/tuple [21, 14] + - !!python/tuple [30, 4] + - !!python/tuple [20, 8] + - !!python/tuple [30, 21] + - !!python/tuple [18, 4] + - !!python/tuple [29, 29] + - !!python/tuple [19, 30] + - !!python/tuple [1, 10] + - !!python/tuple [20, 17] + - !!python/tuple [6, 13] + - !!python/tuple [10, 20] + - !!python/tuple [1, 9] + - !!python/tuple [22, 24] + - !!python/tuple [5, 27] + - !!python/tuple [24, 30] + - !!python/tuple [16, 6] + - !!python/tuple [14, 24] + - !!python/tuple [30, 0] + - !!python/tuple [26, 9] + - !!python/tuple [30, 20] + - !!python/tuple [4, 18] + - !!python/tuple [21, 8] + - !!python/tuple [4, 12] + - !!python/tuple [14, 15] + - !!python/tuple [23, 7] + - !!python/tuple [5, 17] + - !!python/tuple [13, 4] + - !!python/tuple [15, 24] + - !!python/tuple [15, 31] + - !!python/tuple [30, 30] + - !!python/tuple [8, 27] + - !!python/tuple [9, 3] + - !!python/tuple [1, 16] + - !!python/tuple [12, 18] + - !!python/tuple [28, 19] + - !!python/tuple [14, 23] + - !!python/tuple [29, 26] + - !!python/tuple [6, 4] + - !!python/tuple [24, 26] + - !!python/tuple [17, 22] + - !!python/tuple [27, 29] + - !!python/tuple [7, 13] + - !!python/tuple [13, 20] + - !!python/tuple [17, 6] + - !!python/tuple [5, 22] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex34.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex34.yaml new file mode 100644 index 0000000..c6a0b14 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex34.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [11, 0] + name: agent0 + start: [11, 7] +- goal: [0, 12] + name: agent1 + start: [15, 12] +- goal: [3, 16] + name: agent2 + start: [25, 1] +- goal: [2, 28] + name: agent3 + start: [23, 11] +- goal: [15, 8] + name: agent4 + start: [0, 14] +- goal: [5, 25] + name: agent5 + start: [6, 16] +- goal: [21, 27] + name: agent6 + start: [14, 24] +- goal: [30, 31] + name: agent7 + start: [14, 9] +- goal: [22, 30] + name: agent8 + start: [16, 20] +- goal: [3, 12] + name: agent9 + start: [0, 18] +- goal: [2, 11] + name: agent10 + start: [8, 17] +- goal: [18, 3] + name: agent11 + start: [17, 10] +- goal: [29, 9] + name: agent12 + start: [21, 31] +- goal: [18, 25] + name: agent13 + start: [15, 1] +- goal: [26, 29] + name: agent14 + start: [29, 21] +- goal: [2, 30] + name: agent15 + start: [26, 21] +- goal: [29, 8] + name: agent16 + start: [0, 2] +- goal: [7, 30] + name: agent17 + start: [30, 19] +- goal: [29, 13] + name: agent18 + start: [30, 15] +- goal: [14, 27] + name: agent19 + start: [23, 17] +- goal: [21, 3] + name: agent20 + start: [4, 3] +- goal: [26, 2] + name: agent21 + start: [6, 23] +- goal: [6, 16] + name: agent22 + start: [31, 12] +- goal: [28, 2] + name: agent23 + start: [8, 5] +- goal: [7, 16] + name: agent24 + start: [3, 25] +- goal: [28, 31] + name: agent25 + start: [12, 1] +- goal: [3, 17] + name: agent26 + start: [8, 25] +- goal: [15, 10] + name: agent27 + start: [24, 18] +- goal: [4, 25] + name: agent28 + start: [20, 11] +- goal: [6, 4] + name: agent29 + start: [14, 26] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [7, 22] + - !!python/tuple [28, 27] + - !!python/tuple [13, 13] + - !!python/tuple [4, 13] + - !!python/tuple [25, 11] + - !!python/tuple [24, 25] + - !!python/tuple [30, 21] + - !!python/tuple [1, 13] + - !!python/tuple [4, 5] + - !!python/tuple [22, 29] + - !!python/tuple [17, 7] + - !!python/tuple [1, 27] + - !!python/tuple [22, 23] + - !!python/tuple [1, 2] + - !!python/tuple [18, 6] + - !!python/tuple [22, 12] + - !!python/tuple [19, 3] + - !!python/tuple [22, 4] + - !!python/tuple [15, 18] + - !!python/tuple [17, 8] + - !!python/tuple [13, 11] + - !!python/tuple [20, 13] + - !!python/tuple [9, 29] + - !!python/tuple [17, 21] + - !!python/tuple [18, 27] + - !!python/tuple [29, 1] + - !!python/tuple [16, 24] + - !!python/tuple [19, 7] + - !!python/tuple [0, 5] + - !!python/tuple [26, 15] + - !!python/tuple [27, 21] + - !!python/tuple [15, 31] + - !!python/tuple [23, 0] + - !!python/tuple [7, 19] + - !!python/tuple [31, 15] + - !!python/tuple [4, 10] + - !!python/tuple [10, 23] + - !!python/tuple [25, 30] + - !!python/tuple [0, 11] + - !!python/tuple [2, 4] + - !!python/tuple [18, 30] + - !!python/tuple [18, 19] + - !!python/tuple [4, 2] + - !!python/tuple [28, 5] + - !!python/tuple [18, 0] + - !!python/tuple [14, 18] + - !!python/tuple [20, 17] + - !!python/tuple [30, 3] + - !!python/tuple [25, 19] + - !!python/tuple [31, 2] + - !!python/tuple [1, 29] + - !!python/tuple [16, 26] + - !!python/tuple [1, 22] + - !!python/tuple [13, 8] + - !!python/tuple [4, 20] + - !!python/tuple [7, 25] + - !!python/tuple [19, 19] + - !!python/tuple [26, 12] + - !!python/tuple [8, 3] + - !!python/tuple [25, 14] + - !!python/tuple [2, 5] + - !!python/tuple [3, 23] + - !!python/tuple [0, 21] + - !!python/tuple [26, 24] + - !!python/tuple [29, 27] + - !!python/tuple [28, 23] + - !!python/tuple [21, 8] + - !!python/tuple [31, 21] + - !!python/tuple [1, 6] + - !!python/tuple [4, 28] + - !!python/tuple [24, 31] + - !!python/tuple [21, 15] + - !!python/tuple [9, 25] + - !!python/tuple [13, 30] + - !!python/tuple [15, 29] + - !!python/tuple [21, 13] + - !!python/tuple [13, 17] + - !!python/tuple [19, 14] + - !!python/tuple [24, 19] + - !!python/tuple [29, 28] + - !!python/tuple [3, 10] + - !!python/tuple [11, 1] + - !!python/tuple [19, 20] + - !!python/tuple [9, 30] + - !!python/tuple [25, 28] + - !!python/tuple [12, 14] + - !!python/tuple [20, 1] + - !!python/tuple [10, 15] + - !!python/tuple [13, 15] + - !!python/tuple [25, 12] + - !!python/tuple [19, 30] + - !!python/tuple [31, 23] + - !!python/tuple [8, 6] + - !!python/tuple [4, 31] + - !!python/tuple [13, 22] + - !!python/tuple [9, 18] + - !!python/tuple [24, 7] + - !!python/tuple [12, 23] + - !!python/tuple [26, 6] + - !!python/tuple [7, 2] + - !!python/tuple [16, 13] + - !!python/tuple [10, 14] + - !!python/tuple [13, 26] + - !!python/tuple [29, 25] + - !!python/tuple [6, 28] + - !!python/tuple [5, 15] + - !!python/tuple [12, 12] + - !!python/tuple [17, 31] + - !!python/tuple [31, 25] + - !!python/tuple [11, 4] + - !!python/tuple [28, 3] + - !!python/tuple [25, 27] + - !!python/tuple [21, 1] + - !!python/tuple [3, 9] + - !!python/tuple [7, 0] + - !!python/tuple [16, 15] + - !!python/tuple [19, 12] + - !!python/tuple [19, 16] + - !!python/tuple [3, 20] + - !!python/tuple [23, 19] + - !!python/tuple [3, 30] + - !!python/tuple [15, 17] + - !!python/tuple [12, 0] + - !!python/tuple [23, 30] + - !!python/tuple [21, 19] + - !!python/tuple [13, 2] + - !!python/tuple [5, 9] + - !!python/tuple [17, 9] + - !!python/tuple [2, 17] + - !!python/tuple [23, 22] + - !!python/tuple [22, 5] + - !!python/tuple [21, 26] + - !!python/tuple [18, 22] + - !!python/tuple [20, 0] + - !!python/tuple [2, 6] + - !!python/tuple [26, 7] + - !!python/tuple [22, 15] + - !!python/tuple [3, 28] + - !!python/tuple [19, 25] + - !!python/tuple [16, 4] + - !!python/tuple [27, 19] + - !!python/tuple [27, 6] + - !!python/tuple [26, 3] + - !!python/tuple [13, 28] + - !!python/tuple [27, 23] + - !!python/tuple [10, 31] + - !!python/tuple [23, 23] + - !!python/tuple [11, 27] + - !!python/tuple [12, 3] + - !!python/tuple [16, 12] + - !!python/tuple [0, 15] + - !!python/tuple [19, 28] + - !!python/tuple [17, 18] + - !!python/tuple [21, 9] + - !!python/tuple [22, 24] + - !!python/tuple [13, 7] + - !!python/tuple [2, 19] + - !!python/tuple [12, 16] + - !!python/tuple [14, 2] + - !!python/tuple [9, 26] + - !!python/tuple [14, 15] + - !!python/tuple [4, 21] + - !!python/tuple [6, 6] + - !!python/tuple [7, 3] + - !!python/tuple [9, 24] + - !!python/tuple [9, 1] + - !!python/tuple [30, 0] + - !!python/tuple [20, 8] + - !!python/tuple [20, 16] + - !!python/tuple [4, 26] + - !!python/tuple [29, 14] + - !!python/tuple [24, 2] + - !!python/tuple [26, 8] + - !!python/tuple [2, 1] + - !!python/tuple [24, 22] + - !!python/tuple [15, 9] + - !!python/tuple [30, 11] + - !!python/tuple [14, 7] + - !!python/tuple [3, 26] + - !!python/tuple [0, 7] + - !!python/tuple [9, 3] + - !!python/tuple [29, 30] + - !!python/tuple [0, 13] + - !!python/tuple [4, 30] + - !!python/tuple [22, 28] + - !!python/tuple [29, 18] + - !!python/tuple [18, 5] + - !!python/tuple [24, 28] + - !!python/tuple [23, 10] + - !!python/tuple [27, 17] + - !!python/tuple [16, 1] + - !!python/tuple [20, 9] + - !!python/tuple [2, 10] + - !!python/tuple [24, 6] + - !!python/tuple [18, 24] + - !!python/tuple [13, 4] + - !!python/tuple [6, 1] + - !!python/tuple [17, 24] + - !!python/tuple [3, 22] + - !!python/tuple [21, 30] + - !!python/tuple [16, 29] + - !!python/tuple [24, 5] + - !!python/tuple [19, 6] + - !!python/tuple [17, 11] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex35.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex35.yaml new file mode 100644 index 0000000..78c6fc7 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex35.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [3, 25] + name: agent0 + start: [19, 9] +- goal: [8, 4] + name: agent1 + start: [31, 15] +- goal: [14, 18] + name: agent2 + start: [2, 7] +- goal: [9, 21] + name: agent3 + start: [14, 14] +- goal: [1, 17] + name: agent4 + start: [8, 5] +- goal: [14, 20] + name: agent5 + start: [0, 9] +- goal: [30, 5] + name: agent6 + start: [7, 19] +- goal: [13, 5] + name: agent7 + start: [3, 23] +- goal: [9, 8] + name: agent8 + start: [21, 20] +- goal: [25, 11] + name: agent9 + start: [4, 11] +- goal: [30, 4] + name: agent10 + start: [30, 4] +- goal: [20, 30] + name: agent11 + start: [2, 12] +- goal: [1, 3] + name: agent12 + start: [13, 4] +- goal: [19, 21] + name: agent13 + start: [14, 3] +- goal: [7, 15] + name: agent14 + start: [29, 10] +- goal: [21, 8] + name: agent15 + start: [16, 2] +- goal: [17, 30] + name: agent16 + start: [30, 17] +- goal: [13, 18] + name: agent17 + start: [19, 30] +- goal: [2, 21] + name: agent18 + start: [27, 7] +- goal: [22, 1] + name: agent19 + start: [16, 4] +- goal: [21, 30] + name: agent20 + start: [19, 13] +- goal: [16, 13] + name: agent21 + start: [18, 15] +- goal: [31, 13] + name: agent22 + start: [21, 25] +- goal: [27, 0] + name: agent23 + start: [26, 15] +- goal: [29, 0] + name: agent24 + start: [16, 0] +- goal: [29, 25] + name: agent25 + start: [7, 31] +- goal: [1, 10] + name: agent26 + start: [11, 29] +- goal: [11, 19] + name: agent27 + start: [8, 11] +- goal: [29, 11] + name: agent28 + start: [10, 3] +- goal: [22, 30] + name: agent29 + start: [2, 4] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [31, 17] + - !!python/tuple [2, 8] + - !!python/tuple [24, 11] + - !!python/tuple [25, 7] + - !!python/tuple [28, 19] + - !!python/tuple [23, 13] + - !!python/tuple [28, 4] + - !!python/tuple [13, 24] + - !!python/tuple [9, 9] + - !!python/tuple [6, 13] + - !!python/tuple [15, 18] + - !!python/tuple [18, 8] + - !!python/tuple [19, 17] + - !!python/tuple [20, 9] + - !!python/tuple [10, 16] + - !!python/tuple [30, 14] + - !!python/tuple [4, 17] + - !!python/tuple [8, 31] + - !!python/tuple [19, 1] + - !!python/tuple [24, 21] + - !!python/tuple [13, 9] + - !!python/tuple [19, 20] + - !!python/tuple [21, 21] + - !!python/tuple [14, 4] + - !!python/tuple [10, 8] + - !!python/tuple [13, 28] + - !!python/tuple [26, 28] + - !!python/tuple [19, 4] + - !!python/tuple [15, 4] + - !!python/tuple [11, 3] + - !!python/tuple [12, 0] + - !!python/tuple [29, 21] + - !!python/tuple [14, 2] + - !!python/tuple [3, 26] + - !!python/tuple [0, 19] + - !!python/tuple [27, 22] + - !!python/tuple [23, 4] + - !!python/tuple [21, 29] + - !!python/tuple [23, 15] + - !!python/tuple [7, 16] + - !!python/tuple [8, 18] + - !!python/tuple [29, 29] + - !!python/tuple [9, 31] + - !!python/tuple [30, 2] + - !!python/tuple [1, 31] + - !!python/tuple [24, 2] + - !!python/tuple [22, 19] + - !!python/tuple [14, 17] + - !!python/tuple [23, 10] + - !!python/tuple [20, 28] + - !!python/tuple [5, 9] + - !!python/tuple [6, 15] + - !!python/tuple [30, 29] + - !!python/tuple [19, 24] + - !!python/tuple [22, 10] + - !!python/tuple [0, 13] + - !!python/tuple [12, 20] + - !!python/tuple [12, 17] + - !!python/tuple [5, 29] + - !!python/tuple [4, 14] + - !!python/tuple [28, 2] + - !!python/tuple [25, 5] + - !!python/tuple [16, 20] + - !!python/tuple [31, 3] + - !!python/tuple [13, 20] + - !!python/tuple [19, 25] + - !!python/tuple [21, 26] + - !!python/tuple [19, 0] + - !!python/tuple [12, 10] + - !!python/tuple [2, 1] + - !!python/tuple [3, 30] + - !!python/tuple [27, 19] + - !!python/tuple [20, 20] + - !!python/tuple [18, 27] + - !!python/tuple [12, 13] + - !!python/tuple [23, 7] + - !!python/tuple [0, 7] + - !!python/tuple [20, 3] + - !!python/tuple [0, 0] + - !!python/tuple [10, 20] + - !!python/tuple [25, 3] + - !!python/tuple [1, 5] + - !!python/tuple [23, 8] + - !!python/tuple [0, 4] + - !!python/tuple [0, 17] + - !!python/tuple [8, 25] + - !!python/tuple [22, 25] + - !!python/tuple [24, 0] + - !!python/tuple [30, 13] + - !!python/tuple [29, 6] + - !!python/tuple [23, 30] + - !!python/tuple [18, 12] + - !!python/tuple [20, 14] + - !!python/tuple [30, 26] + - !!python/tuple [7, 21] + - !!python/tuple [9, 1] + - !!python/tuple [2, 19] + - !!python/tuple [26, 24] + - !!python/tuple [18, 26] + - !!python/tuple [19, 29] + - !!python/tuple [12, 8] + - !!python/tuple [11, 5] + - !!python/tuple [13, 31] + - !!python/tuple [3, 28] + - !!python/tuple [21, 24] + - !!python/tuple [6, 3] + - !!python/tuple [1, 11] + - !!python/tuple [3, 6] + - !!python/tuple [7, 8] + - !!python/tuple [13, 23] + - !!python/tuple [10, 10] + - !!python/tuple [21, 18] + - !!python/tuple [3, 5] + - !!python/tuple [16, 10] + - !!python/tuple [14, 26] + - !!python/tuple [31, 30] + - !!python/tuple [31, 2] + - !!python/tuple [17, 15] + - !!python/tuple [28, 24] + - !!python/tuple [29, 30] + - !!python/tuple [0, 25] + - !!python/tuple [16, 7] + - !!python/tuple [16, 24] + - !!python/tuple [7, 20] + - !!python/tuple [31, 9] + - !!python/tuple [18, 17] + - !!python/tuple [12, 21] + - !!python/tuple [13, 10] + - !!python/tuple [0, 18] + - !!python/tuple [9, 24] + - !!python/tuple [20, 26] + - !!python/tuple [16, 17] + - !!python/tuple [10, 0] + - !!python/tuple [23, 25] + - !!python/tuple [7, 30] + - !!python/tuple [25, 25] + - !!python/tuple [11, 12] + - !!python/tuple [27, 24] + - !!python/tuple [10, 21] + - !!python/tuple [4, 25] + - !!python/tuple [15, 2] + - !!python/tuple [10, 27] + - !!python/tuple [15, 17] + - !!python/tuple [15, 12] + - !!python/tuple [18, 6] + - !!python/tuple [0, 1] + - !!python/tuple [17, 7] + - !!python/tuple [17, 4] + - !!python/tuple [7, 12] + - !!python/tuple [14, 11] + - !!python/tuple [15, 19] + - !!python/tuple [8, 9] + - !!python/tuple [17, 22] + - !!python/tuple [17, 24] + - !!python/tuple [29, 4] + - !!python/tuple [12, 9] + - !!python/tuple [4, 5] + - !!python/tuple [3, 4] + - !!python/tuple [11, 18] + - !!python/tuple [26, 3] + - !!python/tuple [31, 20] + - !!python/tuple [30, 0] + - !!python/tuple [27, 27] + - !!python/tuple [17, 20] + - !!python/tuple [12, 14] + - !!python/tuple [2, 22] + - !!python/tuple [2, 10] + - !!python/tuple [27, 30] + - !!python/tuple [19, 14] + - !!python/tuple [21, 7] + - !!python/tuple [17, 1] + - !!python/tuple [17, 8] + - !!python/tuple [26, 12] + - !!python/tuple [16, 23] + - !!python/tuple [31, 12] + - !!python/tuple [11, 16] + - !!python/tuple [3, 20] + - !!python/tuple [29, 13] + - !!python/tuple [0, 12] + - !!python/tuple [26, 27] + - !!python/tuple [19, 11] + - !!python/tuple [5, 30] + - !!python/tuple [3, 22] + - !!python/tuple [6, 0] + - !!python/tuple [17, 9] + - !!python/tuple [14, 9] + - !!python/tuple [15, 0] + - !!python/tuple [0, 22] + - !!python/tuple [21, 19] + - !!python/tuple [8, 23] + - !!python/tuple [8, 0] + - !!python/tuple [4, 4] + - !!python/tuple [28, 28] + - !!python/tuple [16, 27] + - !!python/tuple [10, 23] + - !!python/tuple [25, 15] + - !!python/tuple [27, 10] + - !!python/tuple [15, 20] + - !!python/tuple [24, 9] + - !!python/tuple [8, 13] + - !!python/tuple [18, 28] + - !!python/tuple [27, 29] + - !!python/tuple [15, 13] + - !!python/tuple [11, 20] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex36.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex36.yaml new file mode 100644 index 0000000..7ba285d --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex36.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [16, 22] + name: agent0 + start: [12, 12] +- goal: [21, 31] + name: agent1 + start: [20, 14] +- goal: [28, 12] + name: agent2 + start: [20, 17] +- goal: [4, 30] + name: agent3 + start: [0, 23] +- goal: [2, 6] + name: agent4 + start: [1, 12] +- goal: [30, 25] + name: agent5 + start: [14, 6] +- goal: [13, 8] + name: agent6 + start: [23, 20] +- goal: [21, 0] + name: agent7 + start: [15, 2] +- goal: [28, 7] + name: agent8 + start: [9, 0] +- goal: [6, 10] + name: agent9 + start: [30, 26] +- goal: [30, 9] + name: agent10 + start: [10, 2] +- goal: [16, 29] + name: agent11 + start: [21, 10] +- goal: [0, 23] + name: agent12 + start: [6, 23] +- goal: [12, 5] + name: agent13 + start: [7, 20] +- goal: [12, 10] + name: agent14 + start: [8, 24] +- goal: [6, 2] + name: agent15 + start: [17, 8] +- goal: [21, 25] + name: agent16 + start: [16, 8] +- goal: [30, 16] + name: agent17 + start: [10, 31] +- goal: [0, 18] + name: agent18 + start: [29, 15] +- goal: [11, 3] + name: agent19 + start: [9, 2] +- goal: [26, 9] + name: agent20 + start: [23, 14] +- goal: [21, 6] + name: agent21 + start: [6, 13] +- goal: [0, 2] + name: agent22 + start: [21, 0] +- goal: [9, 7] + name: agent23 + start: [25, 12] +- goal: [26, 21] + name: agent24 + start: [2, 4] +- goal: [20, 0] + name: agent25 + start: [5, 30] +- goal: [20, 7] + name: agent26 + start: [15, 22] +- goal: [2, 30] + name: agent27 + start: [4, 13] +- goal: [19, 18] + name: agent28 + start: [8, 14] +- goal: [24, 12] + name: agent29 + start: [19, 12] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [13, 29] + - !!python/tuple [13, 28] + - !!python/tuple [3, 2] + - !!python/tuple [24, 0] + - !!python/tuple [15, 9] + - !!python/tuple [3, 3] + - !!python/tuple [2, 18] + - !!python/tuple [21, 14] + - !!python/tuple [4, 1] + - !!python/tuple [20, 21] + - !!python/tuple [0, 12] + - !!python/tuple [11, 7] + - !!python/tuple [27, 16] + - !!python/tuple [13, 5] + - !!python/tuple [13, 10] + - !!python/tuple [18, 11] + - !!python/tuple [28, 25] + - !!python/tuple [20, 31] + - !!python/tuple [7, 1] + - !!python/tuple [6, 12] + - !!python/tuple [28, 22] + - !!python/tuple [9, 22] + - !!python/tuple [7, 30] + - !!python/tuple [5, 24] + - !!python/tuple [27, 20] + - !!python/tuple [1, 20] + - !!python/tuple [29, 21] + - !!python/tuple [10, 17] + - !!python/tuple [8, 20] + - !!python/tuple [23, 7] + - !!python/tuple [14, 4] + - !!python/tuple [22, 13] + - !!python/tuple [1, 31] + - !!python/tuple [31, 30] + - !!python/tuple [15, 1] + - !!python/tuple [22, 30] + - !!python/tuple [12, 9] + - !!python/tuple [1, 14] + - !!python/tuple [24, 1] + - !!python/tuple [0, 22] + - !!python/tuple [25, 6] + - !!python/tuple [13, 31] + - !!python/tuple [0, 30] + - !!python/tuple [9, 12] + - !!python/tuple [19, 31] + - !!python/tuple [24, 10] + - !!python/tuple [7, 27] + - !!python/tuple [9, 3] + - !!python/tuple [14, 31] + - !!python/tuple [13, 2] + - !!python/tuple [19, 3] + - !!python/tuple [16, 20] + - !!python/tuple [11, 26] + - !!python/tuple [10, 9] + - !!python/tuple [17, 14] + - !!python/tuple [31, 1] + - !!python/tuple [22, 25] + - !!python/tuple [16, 17] + - !!python/tuple [6, 1] + - !!python/tuple [17, 18] + - !!python/tuple [23, 5] + - !!python/tuple [6, 15] + - !!python/tuple [5, 28] + - !!python/tuple [3, 26] + - !!python/tuple [23, 26] + - !!python/tuple [26, 28] + - !!python/tuple [28, 0] + - !!python/tuple [25, 31] + - !!python/tuple [31, 16] + - !!python/tuple [28, 2] + - !!python/tuple [15, 0] + - !!python/tuple [23, 17] + - !!python/tuple [9, 29] + - !!python/tuple [9, 8] + - !!python/tuple [0, 10] + - !!python/tuple [2, 10] + - 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!!python/tuple [28, 3] + - !!python/tuple [29, 3] + - !!python/tuple [18, 25] + - !!python/tuple [31, 0] + - !!python/tuple [4, 3] + - !!python/tuple [27, 15] + - !!python/tuple [9, 24] + - !!python/tuple [8, 11] + - !!python/tuple [13, 4] + - !!python/tuple [31, 15] + - !!python/tuple [29, 8] + - !!python/tuple [27, 26] + - !!python/tuple [4, 6] + - !!python/tuple [27, 27] + - !!python/tuple [19, 27] + - !!python/tuple [31, 3] + - !!python/tuple [13, 14] + - !!python/tuple [23, 19] + - !!python/tuple [18, 12] + - !!python/tuple [22, 16] + - !!python/tuple [8, 8] + - !!python/tuple [5, 7] + - !!python/tuple [8, 31] + - !!python/tuple [26, 17] + - !!python/tuple [11, 27] + - !!python/tuple [10, 14] + - !!python/tuple [29, 5] + - !!python/tuple [15, 19] + - !!python/tuple [29, 6] + - !!python/tuple [25, 9] + - !!python/tuple [25, 0] + - !!python/tuple [6, 9] + - !!python/tuple [17, 28] + - !!python/tuple [13, 9] + - !!python/tuple [13, 1] + - !!python/tuple [14, 22] + - !!python/tuple [11, 6] + - !!python/tuple [19, 7] + - !!python/tuple [29, 10] + - !!python/tuple [15, 7] + - !!python/tuple [31, 20] + - !!python/tuple [18, 14] + - !!python/tuple [24, 19] + - !!python/tuple [6, 30] + - !!python/tuple [17, 19] + - !!python/tuple [0, 31] + - !!python/tuple [18, 18] + - !!python/tuple [23, 27] + - !!python/tuple [14, 23] + - !!python/tuple [10, 30] + - !!python/tuple [29, 31] + - !!python/tuple [15, 18] + - !!python/tuple [4, 22] + - !!python/tuple [2, 8] + - !!python/tuple [20, 15] + - !!python/tuple [16, 25] + - !!python/tuple [1, 22] + - !!python/tuple [16, 28] + - !!python/tuple [27, 31] + - !!python/tuple [29, 18] + - !!python/tuple [6, 31] + - !!python/tuple [29, 13] + - !!python/tuple [23, 0] + - !!python/tuple [0, 15] + - !!python/tuple [5, 0] + - !!python/tuple [6, 17] + - !!python/tuple [23, 6] + - !!python/tuple [3, 13] + - !!python/tuple [11, 25] + - !!python/tuple [31, 14] + - !!python/tuple [10, 1] + - !!python/tuple [10, 23] + - !!python/tuple [30, 13] + - !!python/tuple [26, 1] + - !!python/tuple [31, 5] + - !!python/tuple [30, 24] + - !!python/tuple [17, 13] + - !!python/tuple [23, 28] + - !!python/tuple [17, 22] + - !!python/tuple [29, 24] + - !!python/tuple [30, 1] + - !!python/tuple [2, 14] + - !!python/tuple [13, 24] + - !!python/tuple [5, 1] + - !!python/tuple [6, 18] + - !!python/tuple [19, 1] + - !!python/tuple [9, 14] + - !!python/tuple [2, 16] + - !!python/tuple [16, 10] + - !!python/tuple [8, 19] + - !!python/tuple [26, 20] + - !!python/tuple [30, 21] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex37.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex37.yaml new file mode 100644 index 0000000..a7ce862 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex37.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [29, 17] + name: agent0 + start: [24, 25] +- goal: [14, 25] + name: agent1 + start: [11, 28] +- goal: [25, 28] + name: agent2 + start: [11, 2] +- goal: [31, 14] + name: agent3 + start: [20, 20] +- goal: [31, 15] + name: agent4 + start: [18, 7] +- goal: [27, 12] + name: agent5 + start: [24, 6] +- goal: [1, 21] + name: agent6 + start: [11, 12] +- goal: [10, 30] + name: agent7 + start: [14, 22] +- goal: [19, 15] + name: agent8 + start: [3, 27] +- goal: [27, 27] + name: agent9 + start: [1, 8] +- goal: [3, 22] + name: agent10 + start: [24, 12] +- goal: [7, 27] + name: agent11 + start: [18, 20] +- goal: [5, 14] + name: agent12 + start: [23, 19] +- goal: [8, 24] + name: agent13 + start: [11, 5] +- goal: [31, 23] + name: agent14 + start: [29, 23] +- goal: [16, 13] + name: agent15 + start: [8, 24] +- goal: [10, 25] + name: agent16 + start: [23, 18] +- goal: [5, 24] + name: agent17 + start: [27, 9] +- goal: [30, 30] + name: agent18 + start: [11, 18] +- goal: [0, 8] + name: agent19 + start: [14, 28] +- goal: [29, 28] + name: agent20 + start: [26, 10] +- goal: [6, 3] + name: agent21 + start: [13, 27] +- goal: [24, 11] + name: agent22 + start: [25, 14] +- goal: [14, 23] + name: agent23 + start: [3, 6] +- goal: [17, 10] + name: agent24 + start: [3, 10] +- goal: [6, 7] + name: agent25 + start: [12, 0] +- goal: [16, 18] + name: agent26 + start: [0, 27] +- goal: [24, 6] + name: agent27 + start: [4, 24] +- goal: [14, 15] + name: agent28 + start: [11, 11] +- goal: [11, 28] + name: agent29 + start: [18, 17] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [30, 8] + - !!python/tuple [16, 16] + - !!python/tuple [15, 19] + - !!python/tuple [18, 0] + - !!python/tuple [28, 19] + - !!python/tuple [8, 10] + - !!python/tuple [21, 5] + - !!python/tuple [11, 24] + - !!python/tuple [28, 17] + - !!python/tuple [27, 26] + - !!python/tuple [23, 22] + - !!python/tuple [9, 0] + - !!python/tuple [5, 20] + - !!python/tuple [15, 6] + - !!python/tuple [11, 15] + - !!python/tuple [30, 18] + - !!python/tuple [23, 9] + - !!python/tuple [29, 21] + - !!python/tuple [0, 13] + - !!python/tuple [5, 10] + - !!python/tuple [16, 26] + - !!python/tuple [16, 11] + - !!python/tuple [3, 13] + - !!python/tuple [24, 15] + - !!python/tuple [22, 14] + - !!python/tuple [3, 29] + - !!python/tuple [6, 19] + - !!python/tuple [26, 25] + - !!python/tuple [17, 21] + - !!python/tuple [31, 27] + - !!python/tuple [18, 8] + - !!python/tuple [21, 30] + - !!python/tuple [14, 30] + - !!python/tuple [15, 13] + - !!python/tuple [22, 1] + - !!python/tuple [4, 9] + - !!python/tuple [22, 17] + - !!python/tuple [14, 24] + - !!python/tuple [30, 15] + - !!python/tuple [14, 17] + - !!python/tuple [31, 21] + - !!python/tuple [13, 21] + - !!python/tuple [15, 22] + - !!python/tuple [15, 18] + - !!python/tuple [7, 14] + - !!python/tuple [27, 3] + - !!python/tuple [22, 18] + - !!python/tuple [3, 14] + - !!python/tuple [16, 17] + - !!python/tuple [0, 9] + - !!python/tuple [17, 13] + - !!python/tuple [1, 0] + - !!python/tuple [23, 25] + - !!python/tuple [8, 1] + - !!python/tuple [1, 14] + - !!python/tuple [14, 12] + - !!python/tuple [15, 21] + - !!python/tuple [6, 24] + - !!python/tuple [11, 30] + - !!python/tuple [13, 4] + - !!python/tuple [7, 4] + - !!python/tuple [23, 27] + - !!python/tuple [25, 8] + - !!python/tuple [21, 4] + - !!python/tuple [23, 0] + - !!python/tuple [12, 10] + - !!python/tuple [8, 30] + - !!python/tuple [23, 20] + - !!python/tuple [18, 28] + - !!python/tuple [19, 14] + - !!python/tuple [21, 23] + - !!python/tuple [9, 15] + - !!python/tuple [25, 4] + - !!python/tuple [3, 31] + - !!python/tuple [4, 31] + - !!python/tuple [15, 3] + - !!python/tuple [31, 6] + - !!python/tuple [7, 0] + - !!python/tuple [13, 5] + - !!python/tuple [18, 5] + - !!python/tuple [12, 29] + - !!python/tuple [20, 14] + - !!python/tuple [13, 7] + - !!python/tuple [9, 14] + - !!python/tuple [1, 22] + - !!python/tuple [17, 6] + - !!python/tuple [19, 10] + - !!python/tuple [9, 1] + - !!python/tuple [5, 15] + - !!python/tuple [3, 19] + - !!python/tuple [25, 21] + - !!python/tuple [30, 26] + - !!python/tuple [16, 19] + - !!python/tuple [6, 14] + - !!python/tuple [6, 22] + - !!python/tuple [13, 18] + - !!python/tuple [11, 21] + - !!python/tuple [7, 9] + - !!python/tuple [28, 9] + - !!python/tuple [21, 11] + - !!python/tuple [22, 23] + - !!python/tuple [11, 14] + - !!python/tuple [31, 13] + - !!python/tuple [25, 3] + - !!python/tuple [10, 21] + - !!python/tuple [30, 28] + - !!python/tuple [7, 30] + - !!python/tuple [20, 18] + - !!python/tuple [10, 14] + - !!python/tuple [1, 19] + - !!python/tuple [25, 12] + - !!python/tuple [21, 20] + - !!python/tuple [11, 8] + - !!python/tuple [2, 6] + - !!python/tuple [0, 25] + - !!python/tuple [9, 6] + - !!python/tuple [28, 6] + - !!python/tuple [28, 0] + - !!python/tuple [28, 30] + - !!python/tuple [3, 17] + - !!python/tuple [21, 3] + - !!python/tuple [25, 5] + - !!python/tuple [31, 5] + - !!python/tuple [31, 1] + - !!python/tuple [7, 21] + - !!python/tuple [16, 22] + - !!python/tuple [8, 19] + - !!python/tuple [5, 25] + - !!python/tuple [9, 30] + - !!python/tuple [18, 6] + - !!python/tuple [17, 29] + - !!python/tuple [24, 26] + - !!python/tuple [9, 27] + - !!python/tuple [10, 7] + - !!python/tuple [30, 3] + - !!python/tuple [28, 7] + - !!python/tuple [16, 21] + - !!python/tuple [30, 10] + - !!python/tuple [22, 5] + - !!python/tuple [22, 26] + - !!python/tuple [0, 31] + - !!python/tuple [29, 22] + - !!python/tuple [20, 21] + - !!python/tuple [8, 25] + - !!python/tuple [10, 31] + - !!python/tuple [12, 6] + - !!python/tuple [31, 2] + - !!python/tuple [6, 26] + - !!python/tuple [28, 2] + - !!python/tuple [26, 14] + - !!python/tuple [28, 1] + - !!python/tuple [21, 28] + - !!python/tuple [0, 16] + - !!python/tuple [5, 28] + - !!python/tuple [12, 7] + - !!python/tuple [20, 1] + - !!python/tuple [24, 2] + - !!python/tuple [10, 18] + - !!python/tuple [7, 7] + - !!python/tuple [31, 8] + - !!python/tuple [31, 10] + - !!python/tuple [5, 31] + - !!python/tuple [21, 0] + - !!python/tuple [19, 24] + - !!python/tuple [14, 19] + - !!python/tuple [11, 29] + - !!python/tuple [25, 25] + - !!python/tuple [3, 21] + - !!python/tuple [13, 26] + - !!python/tuple [22, 10] + - !!python/tuple [9, 23] + - !!python/tuple [21, 22] + - !!python/tuple [30, 0] + - !!python/tuple [31, 20] + - !!python/tuple [2, 19] + - !!python/tuple [26, 9] + - !!python/tuple [15, 11] + - !!python/tuple [7, 23] + - !!python/tuple [15, 10] + - !!python/tuple [14, 31] + - !!python/tuple [23, 23] + - !!python/tuple [8, 13] + - !!python/tuple [2, 15] + - !!python/tuple [20, 8] + - !!python/tuple [22, 16] + - !!python/tuple [26, 6] + - !!python/tuple [1, 2] + - !!python/tuple [26, 2] + - !!python/tuple [24, 16] + - !!python/tuple [31, 22] + - !!python/tuple [29, 13] + - !!python/tuple [13, 2] + - !!python/tuple [31, 4] + - !!python/tuple [10, 16] + - !!python/tuple [30, 9] + - !!python/tuple [2, 25] + - !!python/tuple [24, 19] + - !!python/tuple [5, 2] + - !!python/tuple [28, 5] + - !!python/tuple [27, 29] + - !!python/tuple [21, 29] + - !!python/tuple [26, 18] + - !!python/tuple [21, 31] + - !!python/tuple [12, 11] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex38.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex38.yaml new file mode 100644 index 0000000..cfebaea --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex38.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [16, 6] + name: agent0 + start: [5, 5] +- goal: [19, 4] + name: agent1 + start: [29, 26] +- goal: [22, 12] + name: agent2 + start: [27, 2] +- goal: [17, 5] + name: agent3 + start: [31, 3] +- goal: [11, 16] + name: agent4 + start: [3, 3] +- goal: [16, 22] + name: agent5 + start: [6, 16] +- goal: [26, 13] + name: agent6 + start: [2, 29] +- goal: [17, 27] + name: agent7 + start: [30, 5] +- goal: [23, 26] + name: agent8 + start: [9, 2] +- goal: [26, 7] + name: agent9 + start: [4, 8] +- goal: [10, 20] + name: agent10 + start: [13, 16] +- goal: [0, 29] + name: agent11 + start: [26, 17] +- goal: [28, 25] + name: agent12 + start: [2, 24] +- goal: [5, 10] + name: agent13 + start: [5, 7] +- goal: [16, 19] + name: agent14 + start: [6, 28] +- goal: [25, 27] + name: agent15 + start: [28, 18] +- goal: [26, 4] + name: agent16 + start: [10, 4] +- goal: [20, 21] + name: agent17 + start: [3, 18] +- goal: [14, 27] + name: agent18 + start: [10, 24] +- goal: [18, 16] + name: agent19 + start: [19, 19] +- goal: [27, 15] + name: agent20 + start: [17, 22] +- goal: [7, 2] + name: agent21 + start: [10, 9] +- goal: [18, 3] + name: agent22 + start: [1, 15] +- goal: [2, 6] + name: agent23 + start: [8, 28] +- goal: [22, 3] + name: agent24 + start: [26, 8] +- goal: [3, 7] + name: agent25 + start: [29, 27] +- goal: [29, 17] + name: agent26 + start: [13, 14] +- goal: [20, 31] + name: agent27 + start: [7, 26] +- goal: [12, 19] + name: agent28 + start: [8, 12] +- goal: [12, 26] + name: agent29 + start: [5, 10] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [25, 0] + - !!python/tuple [1, 19] + - !!python/tuple [4, 27] + - !!python/tuple [28, 30] + - !!python/tuple [26, 30] + - !!python/tuple [4, 21] + - !!python/tuple [11, 13] + - !!python/tuple [30, 7] + - !!python/tuple [24, 6] + - !!python/tuple [16, 5] + - !!python/tuple [21, 29] + - !!python/tuple [1, 13] + - !!python/tuple [26, 26] + - !!python/tuple [2, 15] + - !!python/tuple [15, 30] + - !!python/tuple [4, 12] + - !!python/tuple [2, 18] + - !!python/tuple [14, 5] + - !!python/tuple [11, 5] + - !!python/tuple [5, 30] + - !!python/tuple [13, 1] + - !!python/tuple [19, 0] + - !!python/tuple [0, 16] + - !!python/tuple [29, 7] + - !!python/tuple [12, 29] + - !!python/tuple [21, 23] + - !!python/tuple [31, 16] + - !!python/tuple [12, 30] + - !!python/tuple [10, 2] + - !!python/tuple [3, 6] + - !!python/tuple [23, 21] + - !!python/tuple [5, 19] + - !!python/tuple [30, 24] + - !!python/tuple [17, 1] + - !!python/tuple [20, 19] + - !!python/tuple [15, 3] + - !!python/tuple [5, 20] + - !!python/tuple [2, 1] + - !!python/tuple [30, 18] + - !!python/tuple [24, 31] + - !!python/tuple [1, 7] + - !!python/tuple [0, 22] + - !!python/tuple [22, 2] + - !!python/tuple [11, 24] + - !!python/tuple [8, 20] + - !!python/tuple [1, 29] + - !!python/tuple [1, 28] + - !!python/tuple [16, 1] + - !!python/tuple [16, 16] + - !!python/tuple [9, 19] + - !!python/tuple [14, 14] + - !!python/tuple [30, 20] + - !!python/tuple [12, 20] + - !!python/tuple [30, 28] + - !!python/tuple [14, 10] + - !!python/tuple [31, 22] + - !!python/tuple [9, 5] + - !!python/tuple [24, 18] + - !!python/tuple [12, 24] + - !!python/tuple [12, 9] + - !!python/tuple [27, 7] + - !!python/tuple [26, 18] + - !!python/tuple [29, 20] + - !!python/tuple [6, 30] + - !!python/tuple [9, 30] + - !!python/tuple [3, 20] + - !!python/tuple [9, 28] + - !!python/tuple [18, 10] + - !!python/tuple [0, 19] + - !!python/tuple [14, 31] + - !!python/tuple [19, 18] + - !!python/tuple [12, 18] + - !!python/tuple [12, 27] + - !!python/tuple [19, 23] + - !!python/tuple [30, 23] + - !!python/tuple [23, 31] + - !!python/tuple [18, 30] + - !!python/tuple [26, 23] + - !!python/tuple [15, 12] + - !!python/tuple [6, 11] + - !!python/tuple [4, 23] + - !!python/tuple [9, 9] + - !!python/tuple [19, 28] + - !!python/tuple [2, 30] + - !!python/tuple [0, 15] + - !!python/tuple [6, 24] + - !!python/tuple [27, 11] + - !!python/tuple [10, 18] + - !!python/tuple [31, 10] + - !!python/tuple [14, 1] + - !!python/tuple [1, 27] + - !!python/tuple [24, 17] + - !!python/tuple [21, 20] + - !!python/tuple [15, 27] + - !!python/tuple [13, 27] + - !!python/tuple [6, 1] + - !!python/tuple [25, 19] + - !!python/tuple [8, 14] + - !!python/tuple [18, 2] + - !!python/tuple [25, 18] + - !!python/tuple [22, 23] + - !!python/tuple [28, 19] + - !!python/tuple [6, 22] + - !!python/tuple [6, 0] + - !!python/tuple [20, 13] + - !!python/tuple [3, 30] + - !!python/tuple [15, 15] + - !!python/tuple [28, 17] + - !!python/tuple [13, 0] + - !!python/tuple [23, 27] + - !!python/tuple [10, 25] + - !!python/tuple [16, 10] + - !!python/tuple [5, 18] + - !!python/tuple [29, 0] + - !!python/tuple [3, 0] + - !!python/tuple [5, 16] + - !!python/tuple [26, 16] + - !!python/tuple [21, 6] + - !!python/tuple [25, 26] + - !!python/tuple [8, 11] + - !!python/tuple [23, 0] + - !!python/tuple [17, 13] + - !!python/tuple [26, 3] + - !!python/tuple [25, 25] + - !!python/tuple [24, 3] + - !!python/tuple [2, 5] + - !!python/tuple [26, 24] + - !!python/tuple [31, 26] + - !!python/tuple [7, 0] + - !!python/tuple [15, 22] + - !!python/tuple [7, 14] + - !!python/tuple [7, 16] + - !!python/tuple [6, 18] + - !!python/tuple [20, 2] + - !!python/tuple [10, 28] + - !!python/tuple [1, 22] + - !!python/tuple [27, 18] + - !!python/tuple [23, 6] + - !!python/tuple [22, 13] + - !!python/tuple [18, 13] + - !!python/tuple [7, 28] + - !!python/tuple [14, 2] + - !!python/tuple [21, 16] + - !!python/tuple [6, 5] + - !!python/tuple [22, 22] + - !!python/tuple [29, 30] + - !!python/tuple [31, 18] + - !!python/tuple [28, 5] + - !!python/tuple [3, 9] + - !!python/tuple [18, 24] + - !!python/tuple [20, 4] + - !!python/tuple [21, 31] + - !!python/tuple [23, 24] + - !!python/tuple [11, 2] + - !!python/tuple [26, 19] + - !!python/tuple [1, 10] + - !!python/tuple [2, 31] + - !!python/tuple [10, 0] + - !!python/tuple [0, 23] + - !!python/tuple [31, 2] + - !!python/tuple [1, 9] + - !!python/tuple [24, 4] + - !!python/tuple [15, 11] + - !!python/tuple [14, 18] + - !!python/tuple [13, 25] + - !!python/tuple [28, 31] + - !!python/tuple [7, 23] + - !!python/tuple [30, 6] + - !!python/tuple [21, 12] + - !!python/tuple [31, 31] + - !!python/tuple [7, 29] + - !!python/tuple [6, 2] + - !!python/tuple [26, 28] + - !!python/tuple [23, 28] + - !!python/tuple [9, 3] + - !!python/tuple [9, 31] + - !!python/tuple [24, 5] + - !!python/tuple [2, 7] + - !!python/tuple [27, 13] + - !!python/tuple [18, 1] + - !!python/tuple [27, 28] + - !!python/tuple [12, 21] + - !!python/tuple [29, 25] + - !!python/tuple [8, 23] + - !!python/tuple [13, 19] + - !!python/tuple [24, 28] + - !!python/tuple [21, 3] + - !!python/tuple [23, 7] + - !!python/tuple [17, 29] + - !!python/tuple [27, 19] + - !!python/tuple [20, 18] + - !!python/tuple [7, 5] + - !!python/tuple [18, 0] + - !!python/tuple [29, 31] + - !!python/tuple [19, 20] + - !!python/tuple [19, 2] + - !!python/tuple [8, 13] + - !!python/tuple [1, 21] + - !!python/tuple [27, 20] + - !!python/tuple [31, 15] + - !!python/tuple [22, 0] + - !!python/tuple [5, 26] + - !!python/tuple [30, 25] + - !!python/tuple [29, 29] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex39.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex39.yaml new file mode 100644 index 0000000..2c7411a --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex39.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [1, 26] + name: agent0 + start: [28, 23] +- goal: [3, 4] + name: agent1 + start: [26, 4] +- goal: [17, 25] + name: agent2 + start: [5, 22] +- goal: [6, 9] + name: agent3 + start: [0, 1] +- goal: [18, 9] + name: agent4 + start: [1, 4] +- goal: [17, 19] + name: agent5 + start: [14, 9] +- goal: [14, 29] + name: agent6 + start: [14, 14] +- goal: [19, 26] + name: agent7 + start: [16, 20] +- goal: [13, 7] + name: agent8 + start: [20, 31] +- goal: [16, 20] + name: agent9 + start: [15, 30] +- goal: [9, 26] + name: agent10 + start: [22, 21] +- goal: [29, 12] + name: agent11 + start: [14, 5] +- goal: [6, 7] + name: agent12 + start: [8, 10] +- goal: [10, 0] + name: agent13 + start: [23, 8] +- goal: [31, 23] + name: agent14 + start: [23, 7] +- goal: [2, 31] + name: agent15 + start: [8, 5] +- goal: [18, 10] + name: agent16 + start: [13, 28] +- goal: [11, 12] + name: agent17 + start: [7, 13] +- goal: [13, 1] + name: agent18 + start: [4, 27] +- goal: [28, 29] + name: agent19 + start: [21, 30] +- goal: [28, 20] + name: agent20 + start: [22, 10] +- goal: [31, 12] + name: agent21 + start: [12, 10] +- goal: [17, 11] + name: agent22 + start: [22, 15] +- goal: [4, 8] + name: agent23 + start: [16, 19] +- goal: [4, 12] + name: agent24 + start: [31, 16] +- goal: [13, 5] + name: agent25 + start: [24, 0] +- goal: [19, 23] + name: agent26 + start: [29, 10] +- goal: [31, 16] + name: agent27 + start: [17, 8] +- goal: [14, 28] + name: agent28 + start: [21, 6] +- goal: [27, 9] + name: agent29 + start: [19, 28] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [4, 13] + - !!python/tuple [20, 1] + - !!python/tuple [11, 8] + - !!python/tuple [0, 5] + - !!python/tuple [14, 17] + - !!python/tuple [31, 25] + - !!python/tuple [26, 24] + - !!python/tuple [2, 12] + - !!python/tuple [24, 5] + - !!python/tuple [8, 21] + - !!python/tuple [5, 10] + - !!python/tuple [19, 24] + - !!python/tuple [18, 17] + - !!python/tuple [15, 9] + - !!python/tuple [18, 22] + - !!python/tuple [0, 24] + - !!python/tuple [1, 8] + - !!python/tuple [31, 29] + - !!python/tuple [13, 0] + - !!python/tuple [25, 21] + - !!python/tuple [19, 12] + - !!python/tuple [11, 4] + - !!python/tuple [9, 22] + - !!python/tuple [1, 16] + - !!python/tuple [29, 14] + - !!python/tuple [30, 25] + - !!python/tuple [3, 2] + - !!python/tuple [6, 17] + - !!python/tuple [15, 15] + - !!python/tuple [31, 8] + - !!python/tuple [30, 26] + - !!python/tuple [6, 14] + - !!python/tuple [8, 2] + - !!python/tuple [6, 10] + - !!python/tuple [16, 1] + - !!python/tuple [8, 29] + - !!python/tuple [14, 13] + - !!python/tuple [4, 24] + - !!python/tuple [7, 17] + - !!python/tuple [30, 21] + - !!python/tuple [1, 30] + - !!python/tuple [2, 16] + - !!python/tuple [31, 20] + - !!python/tuple [8, 22] + - !!python/tuple [13, 15] + - !!python/tuple [21, 26] + - !!python/tuple [22, 17] + - !!python/tuple [12, 28] + - !!python/tuple [0, 12] + - !!python/tuple [6, 30] + - !!python/tuple [11, 26] + - !!python/tuple [12, 19] + - !!python/tuple [30, 23] + - !!python/tuple [26, 31] + - !!python/tuple [28, 10] + - !!python/tuple [25, 0] + - !!python/tuple [16, 17] + - !!python/tuple [2, 26] + - !!python/tuple [9, 8] + - !!python/tuple [15, 12] + - !!python/tuple [0, 4] + - !!python/tuple [9, 14] + - !!python/tuple [1, 10] + - !!python/tuple [10, 7] + - !!python/tuple [17, 28] + - !!python/tuple [6, 31] + - !!python/tuple [25, 26] + - !!python/tuple [27, 23] + - !!python/tuple [28, 30] + - !!python/tuple [8, 4] + - !!python/tuple [18, 31] + - !!python/tuple [24, 21] + - !!python/tuple [14, 15] + - !!python/tuple [10, 10] + - !!python/tuple [23, 25] + - !!python/tuple [0, 17] + - !!python/tuple [8, 7] + - !!python/tuple [28, 22] + - !!python/tuple [10, 21] + - !!python/tuple [10, 17] + - !!python/tuple [31, 19] + - !!python/tuple [5, 31] + - !!python/tuple [0, 13] + - !!python/tuple [23, 29] + - !!python/tuple [20, 25] + - !!python/tuple [5, 16] + - !!python/tuple [26, 23] + - !!python/tuple [16, 18] + - !!python/tuple [0, 20] + - !!python/tuple [14, 27] + - !!python/tuple [0, 18] + - !!python/tuple [26, 17] + - !!python/tuple [8, 0] + - !!python/tuple [12, 31] + - !!python/tuple [11, 0] + - !!python/tuple [27, 15] + - !!python/tuple [23, 20] + - !!python/tuple [0, 26] + - !!python/tuple [9, 11] + - !!python/tuple [9, 1] + - !!python/tuple [4, 15] + - !!python/tuple [21, 18] + - !!python/tuple [14, 31] + - !!python/tuple [2, 13] + - !!python/tuple [8, 23] + - !!python/tuple [3, 14] + - !!python/tuple [19, 9] + - !!python/tuple [2, 4] + - !!python/tuple [26, 19] + - !!python/tuple [20, 17] + - !!python/tuple [31, 24] + - !!python/tuple [30, 30] + - !!python/tuple [1, 23] + - !!python/tuple [0, 19] + - !!python/tuple [25, 4] + - !!python/tuple [0, 3] + - !!python/tuple [9, 7] + - !!python/tuple [29, 7] + - !!python/tuple [11, 27] + - !!python/tuple [17, 9] + - !!python/tuple [19, 31] + - !!python/tuple [0, 28] + - !!python/tuple [22, 14] + - !!python/tuple [20, 10] + - !!python/tuple [3, 31] + - !!python/tuple [8, 30] + - !!python/tuple [22, 26] + - !!python/tuple [29, 30] + - !!python/tuple [14, 22] + - !!python/tuple [2, 1] + - !!python/tuple [24, 18] + - !!python/tuple [21, 16] + - !!python/tuple [1, 9] + - !!python/tuple [11, 18] + - !!python/tuple [5, 17] + - !!python/tuple [12, 29] + - !!python/tuple [1, 24] + - !!python/tuple [22, 6] + - !!python/tuple [21, 29] + - !!python/tuple [21, 12] + - !!python/tuple [12, 2] + - !!python/tuple [27, 18] + - !!python/tuple [5, 15] + - !!python/tuple [25, 29] + - !!python/tuple [21, 23] + - !!python/tuple [20, 0] + - !!python/tuple [8, 13] + - !!python/tuple [21, 9] + - !!python/tuple [13, 18] + - !!python/tuple [10, 12] + - !!python/tuple [21, 7] + - !!python/tuple [10, 5] + - !!python/tuple [29, 3] + - !!python/tuple [3, 15] + - !!python/tuple [28, 0] + - !!python/tuple [24, 12] + - !!python/tuple [20, 13] + - !!python/tuple [31, 0] + - !!python/tuple [16, 7] + - !!python/tuple [9, 13] + - !!python/tuple [28, 3] + - !!python/tuple [10, 29] + - !!python/tuple [26, 27] + - !!python/tuple [15, 20] + - !!python/tuple [7, 22] + - !!python/tuple [3, 9] + - !!python/tuple [15, 17] + - !!python/tuple [18, 13] + - !!python/tuple [25, 18] + - !!python/tuple [16, 26] + - !!python/tuple [5, 8] + - !!python/tuple [16, 24] + - !!python/tuple [27, 4] + - !!python/tuple [15, 29] + - !!python/tuple [28, 11] + - !!python/tuple [17, 2] + - !!python/tuple [4, 31] + - !!python/tuple [10, 20] + - !!python/tuple [7, 19] + - !!python/tuple [3, 11] + - !!python/tuple [5, 14] + - !!python/tuple [24, 13] + - !!python/tuple [28, 19] + - !!python/tuple [6, 11] + - !!python/tuple [4, 21] + - !!python/tuple [5, 21] + - !!python/tuple [22, 19] + - !!python/tuple [3, 24] + - !!python/tuple [12, 24] + - !!python/tuple [22, 11] + - !!python/tuple [1, 28] + - !!python/tuple [9, 28] + - !!python/tuple [12, 12] + - !!python/tuple [12, 1] + - !!python/tuple [10, 23] + - !!python/tuple [2, 2] + - !!python/tuple [0, 30] + - !!python/tuple [20, 2] + - !!python/tuple [23, 11] + - !!python/tuple [22, 3] + - !!python/tuple [16, 30] + - !!python/tuple [18, 24] + - !!python/tuple [8, 19] + - !!python/tuple [20, 24] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex4.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex4.yaml new file mode 100644 index 0000000..0673922 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex4.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [1, 3] + name: agent0 + start: [28, 10] +- goal: [19, 31] + name: agent1 + start: [16, 16] +- goal: [12, 3] + name: agent2 + start: [24, 22] +- goal: [30, 3] + name: agent3 + start: [20, 14] +- goal: [13, 27] + name: agent4 + start: [5, 7] +- goal: [20, 21] + name: agent5 + start: [8, 19] +- goal: [22, 29] + name: agent6 + start: [12, 31] +- goal: [11, 15] + name: agent7 + start: [1, 12] +- goal: [27, 20] + name: agent8 + start: [30, 5] +- goal: [16, 15] + name: agent9 + start: [28, 11] +- goal: [5, 23] + name: agent10 + start: [15, 21] +- goal: [11, 16] + name: agent11 + start: [30, 27] +- goal: [29, 20] + name: agent12 + start: [19, 1] +- goal: [30, 22] + name: agent13 + start: [20, 28] +- goal: [13, 12] + name: agent14 + start: [9, 27] +- goal: [26, 15] + name: agent15 + start: [27, 8] +- goal: [4, 24] + name: agent16 + start: [25, 26] +- goal: [2, 26] + name: agent17 + start: [29, 8] +- goal: [30, 5] + name: agent18 + start: [13, 19] +- goal: [9, 18] + name: agent19 + start: [1, 2] +- goal: [19, 0] + name: agent20 + start: [3, 12] +- goal: [0, 22] + name: agent21 + start: [5, 6] +- goal: [30, 12] + name: agent22 + start: [13, 30] +- goal: [1, 11] + name: agent23 + start: [14, 24] +- goal: [13, 29] + name: agent24 + start: [11, 26] +- goal: [26, 4] + name: agent25 + start: [27, 20] +- goal: [10, 22] + name: agent26 + start: [11, 14] +- goal: [14, 5] + name: agent27 + start: [5, 30] +- goal: [14, 7] + name: agent28 + start: [1, 24] +- goal: [1, 25] + name: agent29 + start: [16, 23] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [10, 10] + - !!python/tuple [26, 9] + - !!python/tuple [1, 29] + - !!python/tuple [31, 5] + - !!python/tuple [14, 22] + - !!python/tuple [20, 7] + - !!python/tuple [4, 20] + - !!python/tuple [18, 2] + - !!python/tuple [21, 9] + - !!python/tuple [18, 3] + - !!python/tuple [15, 22] + - !!python/tuple [8, 16] + - !!python/tuple [21, 2] + - !!python/tuple [30, 13] + - !!python/tuple [24, 8] + - !!python/tuple [18, 1] + - !!python/tuple [24, 23] + - !!python/tuple [5, 13] + - !!python/tuple [26, 11] + - !!python/tuple [18, 23] + - !!python/tuple [0, 15] + - !!python/tuple [0, 7] + - !!python/tuple [26, 0] + - !!python/tuple [23, 17] + - !!python/tuple [11, 29] + - !!python/tuple [6, 2] + - !!python/tuple [14, 28] + - !!python/tuple [31, 31] + - !!python/tuple [31, 29] + - !!python/tuple [9, 26] + - !!python/tuple [1, 7] + - !!python/tuple [1, 6] + - !!python/tuple [11, 1] + - !!python/tuple [26, 16] + - !!python/tuple [2, 28] + - !!python/tuple [16, 7] + - !!python/tuple [6, 7] + - !!python/tuple [29, 14] + - !!python/tuple [15, 11] + - !!python/tuple [31, 27] + - !!python/tuple [11, 23] + - !!python/tuple [24, 9] + - !!python/tuple [30, 30] + - !!python/tuple [31, 11] + - !!python/tuple [22, 6] + - !!python/tuple [25, 22] + - !!python/tuple [27, 14] + - !!python/tuple [4, 6] + - !!python/tuple [23, 29] + - !!python/tuple [19, 18] + - !!python/tuple [20, 18] + - !!python/tuple [20, 15] + - !!python/tuple [21, 31] + - !!python/tuple [27, 26] + - !!python/tuple [21, 13] + - !!python/tuple [5, 21] + - !!python/tuple [28, 2] + - !!python/tuple [1, 30] + - !!python/tuple [22, 7] + - !!python/tuple [1, 23] + - !!python/tuple [29, 2] + - !!python/tuple [19, 3] + - !!python/tuple [26, 19] + - !!python/tuple [19, 24] + - !!python/tuple [27, 25] + - !!python/tuple [19, 20] + - !!python/tuple [8, 26] + - !!python/tuple [18, 11] + - !!python/tuple [12, 19] + - !!python/tuple [3, 11] + - !!python/tuple [22, 31] + - !!python/tuple [4, 17] + - !!python/tuple [14, 20] + - !!python/tuple [26, 25] + - !!python/tuple [20, 10] + - !!python/tuple [19, 13] + - !!python/tuple [3, 23] + - !!python/tuple [6, 17] + - !!python/tuple [30, 11] + - !!python/tuple [12, 12] + - !!python/tuple [2, 10] + - !!python/tuple [2, 6] + - !!python/tuple [13, 25] + - !!python/tuple [3, 27] + - !!python/tuple [17, 9] + - !!python/tuple [22, 25] + - !!python/tuple [19, 10] + - !!python/tuple [3, 28] + - !!python/tuple [27, 4] + - !!python/tuple [11, 5] + - !!python/tuple [15, 2] + - !!python/tuple [16, 18] + - !!python/tuple [26, 13] + - !!python/tuple [2, 0] + - !!python/tuple [19, 7] + - !!python/tuple [22, 10] + - !!python/tuple [13, 21] + - !!python/tuple [26, 30] + - !!python/tuple [22, 2] + - !!python/tuple [13, 31] + - !!python/tuple [25, 27] + - !!python/tuple [10, 23] + - !!python/tuple [0, 4] + - !!python/tuple [30, 8] + - !!python/tuple [12, 7] + - !!python/tuple [18, 21] + - !!python/tuple [22, 16] + - !!python/tuple [1, 4] + - !!python/tuple [8, 30] + - !!python/tuple [3, 5] + - !!python/tuple [12, 10] + - !!python/tuple [8, 14] + - !!python/tuple [21, 25] + - !!python/tuple [18, 22] + - !!python/tuple [2, 20] + - !!python/tuple [25, 29] + - !!python/tuple [4, 2] + - !!python/tuple [20, 8] + - !!python/tuple [22, 30] + - !!python/tuple [5, 5] + - !!python/tuple [29, 4] + - !!python/tuple [24, 28] + - !!python/tuple [7, 27] + - !!python/tuple [16, 4] + - !!python/tuple [7, 23] + - !!python/tuple [3, 30] + - !!python/tuple [30, 19] + - !!python/tuple [9, 3] + - !!python/tuple [11, 13] + - !!python/tuple [28, 24] + - !!python/tuple [7, 0] + - !!python/tuple [26, 10] + - !!python/tuple [27, 0] + - !!python/tuple [3, 21] + - !!python/tuple [23, 10] + - !!python/tuple [27, 3] + - !!python/tuple [22, 24] + - !!python/tuple [29, 13] + - !!python/tuple [18, 17] + - !!python/tuple [19, 11] + - !!python/tuple [13, 3] + - !!python/tuple [0, 5] + - !!python/tuple [1, 5] + - !!python/tuple [24, 29] + - !!python/tuple [26, 31] + - !!python/tuple [2, 8] + - !!python/tuple [30, 21] + - !!python/tuple [6, 30] + - !!python/tuple [15, 18] + - !!python/tuple [16, 28] + - !!python/tuple [2, 23] + - !!python/tuple [2, 9] + - !!python/tuple [1, 22] + - !!python/tuple [22, 27] + - !!python/tuple [6, 31] + - !!python/tuple [31, 18] + - !!python/tuple [14, 12] + - !!python/tuple [23, 5] + - !!python/tuple [23, 12] + - !!python/tuple [8, 10] + - !!python/tuple [23, 2] + - !!python/tuple [3, 4] + - !!python/tuple [9, 29] + - !!python/tuple [18, 18] + - !!python/tuple [9, 0] + - !!python/tuple [26, 24] + - !!python/tuple [24, 14] + - !!python/tuple [14, 27] + - !!python/tuple [16, 8] + - !!python/tuple [25, 19] + - !!python/tuple [20, 31] + - !!python/tuple [4, 8] + - !!python/tuple [13, 15] + - !!python/tuple [17, 11] + - !!python/tuple [31, 6] + - !!python/tuple [27, 9] + - !!python/tuple [25, 6] + - !!python/tuple [9, 23] + - !!python/tuple [31, 7] + - !!python/tuple [9, 31] + - !!python/tuple [25, 4] + - !!python/tuple [22, 28] + - !!python/tuple [26, 3] + - !!python/tuple [21, 11] + - !!python/tuple [30, 16] + - !!python/tuple [20, 6] + - !!python/tuple [18, 27] + - !!python/tuple [16, 27] + - !!python/tuple [21, 6] + - !!python/tuple [14, 4] + - !!python/tuple [1, 1] + - !!python/tuple [0, 2] + - !!python/tuple [18, 15] + - !!python/tuple [24, 17] + - !!python/tuple [23, 24] + - !!python/tuple [18, 25] + - !!python/tuple [12, 4] + - !!python/tuple [10, 21] + - !!python/tuple [31, 14] + - !!python/tuple [28, 26] + - !!python/tuple [9, 7] + - !!python/tuple [22, 18] + - !!python/tuple [31, 13] + - !!python/tuple [23, 18] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex40.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex40.yaml new file mode 100644 index 0000000..786c153 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex40.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [20, 27] + name: agent0 + start: [28, 19] +- goal: [21, 18] + name: agent1 + start: [4, 21] +- goal: [16, 18] + name: agent2 + start: [29, 0] +- goal: [30, 0] + name: agent3 + start: [8, 8] +- goal: [2, 26] + name: agent4 + start: [20, 30] +- goal: [25, 3] + name: agent5 + start: [4, 17] +- goal: [4, 3] + name: agent6 + start: [18, 29] +- goal: [31, 21] + name: agent7 + start: [0, 3] +- goal: [2, 22] + name: agent8 + start: [5, 4] +- goal: [14, 11] + name: agent9 + start: [17, 4] +- goal: [5, 15] + name: agent10 + start: [29, 22] +- goal: [28, 22] + name: agent11 + start: [27, 21] +- goal: [8, 5] + name: agent12 + start: [29, 21] +- goal: [28, 12] + name: agent13 + start: [0, 23] +- goal: [10, 13] + name: agent14 + start: [13, 21] +- goal: [7, 5] + name: agent15 + start: [31, 23] +- goal: [14, 29] + name: agent16 + start: [21, 14] +- goal: [9, 14] + name: agent17 + start: [16, 5] +- goal: [24, 30] + name: agent18 + start: [13, 7] +- goal: [9, 27] + name: agent19 + start: [17, 6] +- goal: [18, 19] + name: agent20 + start: [19, 8] +- goal: [1, 19] + name: agent21 + start: [25, 0] +- goal: [30, 1] + name: agent22 + start: [30, 25] +- goal: [22, 9] + name: agent23 + start: [11, 24] +- goal: [26, 11] + name: agent24 + start: [2, 7] +- goal: [1, 16] + name: agent25 + start: [8, 0] +- goal: [29, 17] + name: agent26 + start: [15, 25] +- goal: [1, 23] + name: agent27 + start: [18, 28] +- goal: [7, 28] + name: agent28 + start: [19, 20] +- goal: [17, 14] + name: agent29 + start: [24, 20] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [0, 12] + - !!python/tuple [3, 21] + - !!python/tuple [30, 14] + - !!python/tuple [12, 2] + - !!python/tuple [15, 13] + - !!python/tuple [8, 27] + - !!python/tuple [27, 16] + - !!python/tuple [19, 26] + - !!python/tuple [21, 12] + - !!python/tuple [3, 25] + - !!python/tuple [12, 16] + - !!python/tuple [16, 8] + - !!python/tuple [3, 13] + - !!python/tuple [5, 25] + - !!python/tuple [10, 28] + - !!python/tuple [2, 4] + - !!python/tuple [22, 23] + - !!python/tuple [2, 18] + - !!python/tuple [23, 20] + - !!python/tuple [25, 23] + - !!python/tuple [11, 19] + - !!python/tuple [16, 1] + - !!python/tuple [28, 21] + - !!python/tuple [11, 26] + - !!python/tuple [24, 8] + - !!python/tuple [8, 13] + - !!python/tuple [24, 12] + - !!python/tuple [13, 5] + - !!python/tuple [22, 12] + - !!python/tuple [3, 6] + - !!python/tuple [5, 13] + - !!python/tuple [11, 12] + - !!python/tuple [12, 13] + - !!python/tuple [17, 27] + - !!python/tuple [29, 28] + - !!python/tuple [0, 7] + - !!python/tuple [26, 10] + - !!python/tuple [22, 10] + - !!python/tuple [23, 15] + - !!python/tuple [29, 6] + - !!python/tuple [11, 27] + - !!python/tuple [26, 27] + - !!python/tuple [11, 9] + - !!python/tuple [31, 17] + - !!python/tuple [3, 20] + - !!python/tuple [9, 28] + - !!python/tuple [19, 12] + - !!python/tuple [1, 12] + - !!python/tuple [2, 10] + - !!python/tuple [31, 25] + - !!python/tuple [0, 5] + - !!python/tuple [10, 14] + - !!python/tuple [9, 31] + - !!python/tuple [31, 5] + - !!python/tuple [16, 20] + - !!python/tuple [13, 26] + - !!python/tuple [10, 30] + - !!python/tuple [5, 11] + - !!python/tuple [8, 11] + - !!python/tuple [19, 23] + - !!python/tuple [28, 27] + - !!python/tuple [4, 26] + - !!python/tuple [11, 16] + - !!python/tuple [5, 3] + - !!python/tuple [7, 9] + - !!python/tuple [0, 22] + - !!python/tuple [10, 2] + - !!python/tuple [26, 12] + - !!python/tuple [26, 25] + - !!python/tuple [10, 1] + - !!python/tuple [7, 6] + - !!python/tuple [23, 1] + - !!python/tuple [18, 1] + - !!python/tuple [1, 25] + - !!python/tuple [25, 28] + - !!python/tuple [0, 20] + - !!python/tuple [15, 18] + - !!python/tuple [4, 5] + - !!python/tuple [11, 0] + - !!python/tuple [26, 21] + - !!python/tuple [28, 7] + - !!python/tuple [20, 25] + - !!python/tuple [5, 30] + - !!python/tuple [30, 10] + - !!python/tuple [21, 26] + - !!python/tuple [2, 2] + - !!python/tuple [6, 21] + - !!python/tuple [19, 13] + - !!python/tuple [27, 5] + - !!python/tuple [7, 8] + - !!python/tuple [26, 18] + - !!python/tuple [28, 17] + - !!python/tuple [30, 11] + - !!python/tuple [10, 9] + - !!python/tuple [5, 19] + - !!python/tuple [16, 4] + - !!python/tuple [22, 29] + - !!python/tuple [2, 29] + - !!python/tuple [26, 7] + - !!python/tuple [22, 21] + - !!python/tuple [6, 14] + - !!python/tuple [11, 30] + - !!python/tuple [19, 19] + - !!python/tuple [7, 18] + - !!python/tuple [18, 12] + - !!python/tuple [8, 16] + - !!python/tuple [31, 11] + - !!python/tuple [28, 16] + - !!python/tuple [13, 4] + - !!python/tuple [23, 6] + - !!python/tuple [19, 2] + - !!python/tuple [23, 23] + - !!python/tuple [12, 5] + - !!python/tuple [29, 9] + - !!python/tuple [29, 27] + - !!python/tuple [26, 23] + - !!python/tuple [20, 7] + - !!python/tuple [14, 21] + - !!python/tuple [15, 0] + - !!python/tuple [14, 25] + - !!python/tuple [1, 28] + - !!python/tuple [22, 28] + - !!python/tuple [24, 6] + - !!python/tuple [13, 12] + - !!python/tuple [28, 25] + - !!python/tuple [14, 19] + - !!python/tuple [21, 31] + - !!python/tuple [13, 20] + - !!python/tuple [28, 1] + - !!python/tuple [21, 30] + - !!python/tuple [19, 7] + - !!python/tuple [6, 15] + - !!python/tuple [27, 20] + - !!python/tuple [26, 1] + - !!python/tuple [17, 20] + - !!python/tuple [19, 28] + - !!python/tuple [17, 8] + - !!python/tuple [5, 31] + - !!python/tuple [8, 28] + - !!python/tuple [25, 29] + - !!python/tuple [23, 25] + - !!python/tuple [31, 3] + - !!python/tuple [3, 17] + - !!python/tuple [4, 18] + - !!python/tuple [11, 2] + - !!python/tuple [8, 14] + - !!python/tuple [12, 24] + - !!python/tuple [14, 3] + - !!python/tuple [17, 26] + - !!python/tuple [29, 5] + - !!python/tuple [2, 19] + - !!python/tuple [6, 23] + - !!python/tuple [6, 20] + - !!python/tuple [4, 19] + - !!python/tuple [2, 20] + - !!python/tuple [27, 31] + - !!python/tuple [24, 23] + - !!python/tuple [14, 28] + - !!python/tuple [12, 7] + - !!python/tuple [16, 0] + - !!python/tuple [21, 1] + - !!python/tuple [4, 20] + - !!python/tuple [8, 25] + - !!python/tuple [14, 12] + - !!python/tuple [3, 1] + - !!python/tuple [7, 22] + - !!python/tuple [27, 24] + - !!python/tuple [25, 25] + - !!python/tuple [21, 8] + - !!python/tuple [1, 1] + - !!python/tuple [30, 30] + - !!python/tuple [7, 25] + - !!python/tuple [20, 4] + - !!python/tuple [23, 22] + - !!python/tuple [9, 21] + - !!python/tuple [2, 30] + - !!python/tuple [10, 25] + - !!python/tuple [14, 17] + - !!python/tuple [24, 25] + - !!python/tuple [11, 14] + - !!python/tuple [7, 0] + - !!python/tuple [22, 2] + - !!python/tuple [1, 18] + - !!python/tuple [26, 22] + - !!python/tuple [9, 3] + - !!python/tuple [12, 23] + - !!python/tuple [5, 18] + - !!python/tuple [6, 24] + - !!python/tuple [27, 23] + - !!python/tuple [9, 23] + - !!python/tuple [15, 19] + - !!python/tuple [23, 18] + - !!python/tuple [17, 15] + - !!python/tuple [15, 16] + - !!python/tuple [6, 0] + - !!python/tuple [24, 13] + - !!python/tuple [25, 31] + - !!python/tuple [6, 28] + - !!python/tuple [17, 19] + - !!python/tuple [4, 2] + - !!python/tuple [0, 2] + - !!python/tuple [18, 3] + - !!python/tuple [22, 1] + - !!python/tuple [7, 14] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex41.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex41.yaml new file mode 100644 index 0000000..b538510 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex41.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [12, 1] + name: agent0 + start: [29, 29] +- goal: [4, 4] + name: agent1 + start: [9, 26] +- goal: [15, 28] + name: agent2 + start: [15, 23] +- goal: [12, 25] + name: agent3 + start: [6, 23] +- goal: [1, 4] + name: agent4 + start: [5, 30] +- goal: [0, 27] + name: agent5 + start: [19, 9] +- goal: [4, 1] + name: agent6 + start: [28, 26] +- goal: [6, 29] + name: agent7 + start: [19, 18] +- goal: [25, 17] + name: agent8 + start: [3, 11] +- goal: [24, 3] + name: agent9 + start: [11, 10] +- goal: [12, 29] + name: agent10 + start: [13, 12] +- goal: [1, 23] + name: agent11 + start: [17, 31] +- goal: [7, 14] + name: agent12 + start: [22, 20] +- goal: [27, 31] + name: agent13 + start: [8, 8] +- goal: [14, 2] + name: agent14 + start: [3, 29] +- goal: [25, 30] + name: agent15 + start: [20, 7] +- goal: [25, 21] + name: agent16 + start: [30, 26] +- goal: [30, 28] + name: agent17 + start: [6, 0] +- goal: [27, 4] + name: agent18 + start: [21, 2] +- goal: [7, 20] + name: agent19 + start: [3, 3] +- goal: [14, 31] + name: agent20 + start: [7, 19] +- goal: [5, 13] + name: agent21 + start: [2, 23] +- goal: [16, 24] + name: agent22 + start: [30, 16] +- goal: [29, 26] + name: agent23 + start: [29, 11] +- goal: [26, 4] + name: agent24 + start: [4, 30] +- goal: [8, 5] + name: agent25 + start: [22, 15] +- goal: [12, 26] + name: agent26 + start: [29, 28] +- goal: [20, 10] + name: agent27 + start: [29, 24] +- goal: [21, 14] + name: agent28 + start: [31, 25] +- goal: [23, 7] + name: agent29 + start: [9, 10] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [14, 24] + - !!python/tuple [19, 17] + - !!python/tuple [12, 2] + - !!python/tuple [2, 20] + - !!python/tuple [22, 27] + - !!python/tuple [29, 21] + - !!python/tuple [9, 9] + - !!python/tuple [9, 31] + - !!python/tuple [2, 29] + - !!python/tuple [16, 8] + - !!python/tuple [15, 29] + - !!python/tuple [14, 18] + - !!python/tuple [27, 28] + - !!python/tuple [15, 6] + - !!python/tuple [4, 24] + - !!python/tuple [18, 5] + - !!python/tuple [30, 9] + - !!python/tuple [30, 27] + - !!python/tuple [7, 21] + - !!python/tuple [5, 23] + - !!python/tuple [30, 19] + - !!python/tuple [2, 22] + - !!python/tuple [19, 12] + - !!python/tuple [5, 3] + - !!python/tuple [11, 13] + - !!python/tuple [0, 14] + - !!python/tuple [15, 25] + - !!python/tuple [18, 22] + - !!python/tuple [10, 1] + - !!python/tuple [4, 19] + - !!python/tuple [17, 25] + - !!python/tuple [15, 26] + - !!python/tuple [0, 22] + - !!python/tuple [23, 30] + - !!python/tuple [10, 20] + - !!python/tuple [30, 4] + - !!python/tuple [20, 31] + - !!python/tuple [0, 11] + - !!python/tuple [29, 0] + - !!python/tuple [21, 31] + - !!python/tuple [17, 10] + - !!python/tuple [0, 0] + - !!python/tuple [17, 1] + - !!python/tuple [24, 18] + - !!python/tuple [14, 9] + - !!python/tuple [30, 0] + - !!python/tuple [6, 7] + - !!python/tuple [31, 26] + - !!python/tuple [10, 21] + - !!python/tuple [24, 26] + - !!python/tuple [5, 6] + - !!python/tuple [14, 8] + - !!python/tuple [8, 7] + - !!python/tuple [13, 26] + - !!python/tuple [2, 14] + - !!python/tuple [15, 30] + - !!python/tuple [4, 11] + - !!python/tuple [25, 10] + - !!python/tuple [14, 19] + - !!python/tuple [20, 3] + - !!python/tuple [26, 24] + - !!python/tuple [26, 8] + - !!python/tuple [3, 12] + - !!python/tuple [28, 20] + - !!python/tuple [8, 1] + - !!python/tuple [25, 13] + - !!python/tuple [15, 13] + - !!python/tuple [13, 16] + - !!python/tuple [18, 11] + - !!python/tuple [9, 30] + - !!python/tuple [4, 0] + - !!python/tuple [16, 10] + - !!python/tuple [0, 6] + - !!python/tuple [4, 22] + - !!python/tuple [20, 26] + - !!python/tuple [11, 19] + - !!python/tuple [27, 2] + - !!python/tuple [7, 15] + - !!python/tuple [12, 20] + - !!python/tuple [15, 1] + - !!python/tuple [10, 28] + - !!python/tuple [30, 11] + - !!python/tuple [1, 3] + - !!python/tuple [5, 12] + - !!python/tuple [7, 1] + - !!python/tuple [3, 25] + - !!python/tuple [26, 31] + - !!python/tuple [6, 11] + - !!python/tuple [16, 4] + - !!python/tuple [18, 9] + - !!python/tuple [24, 30] + - !!python/tuple [13, 3] + - !!python/tuple [0, 18] + - !!python/tuple [21, 17] + - !!python/tuple [8, 25] + - !!python/tuple [15, 22] + - !!python/tuple [15, 21] + - !!python/tuple [26, 26] + - !!python/tuple [29, 27] + - !!python/tuple [8, 20] + - !!python/tuple [7, 4] + - !!python/tuple [13, 27] + - !!python/tuple [2, 18] + - !!python/tuple [26, 18] + - !!python/tuple [15, 11] + - !!python/tuple [22, 17] + - !!python/tuple [15, 4] + - !!python/tuple [10, 29] + - !!python/tuple [20, 13] + - !!python/tuple [23, 8] + - !!python/tuple [3, 27] + - !!python/tuple [28, 2] + - !!python/tuple [28, 1] + - !!python/tuple [31, 23] + - !!python/tuple [8, 31] + - !!python/tuple [29, 19] + - !!python/tuple [20, 21] + - !!python/tuple [5, 26] + - !!python/tuple [21, 19] + - !!python/tuple [11, 14] + - !!python/tuple [5, 4] + - !!python/tuple [21, 11] + - !!python/tuple [4, 10] + - !!python/tuple [9, 25] + - !!python/tuple [12, 27] + - !!python/tuple [6, 1] + - !!python/tuple [19, 19] + - !!python/tuple [1, 11] + - !!python/tuple [0, 1] + - !!python/tuple [5, 20] + - !!python/tuple [12, 23] + - !!python/tuple [5, 25] + - !!python/tuple [15, 16] + - !!python/tuple [25, 19] + - !!python/tuple [16, 17] + - !!python/tuple [21, 20] + - !!python/tuple [16, 21] + - !!python/tuple [20, 9] + - !!python/tuple [1, 18] + - !!python/tuple [26, 30] + - !!python/tuple [23, 1] + - !!python/tuple [13, 2] + - !!python/tuple [23, 20] + - !!python/tuple [7, 30] + - !!python/tuple [12, 30] + - !!python/tuple [10, 22] + - !!python/tuple [21, 9] + - !!python/tuple [0, 13] + - !!python/tuple [20, 23] + - !!python/tuple [7, 5] + - !!python/tuple [31, 10] + - !!python/tuple [11, 0] + - !!python/tuple [28, 29] + - !!python/tuple [5, 21] + - !!python/tuple [21, 25] + - !!python/tuple [19, 11] + - !!python/tuple [6, 15] + - !!python/tuple [26, 7] + - !!python/tuple [11, 22] + - !!python/tuple [28, 13] + - !!python/tuple [18, 7] + - !!python/tuple [4, 31] + - !!python/tuple [30, 10] + - !!python/tuple [31, 15] + - !!python/tuple [22, 24] + - !!python/tuple [5, 18] + - !!python/tuple [12, 10] + - !!python/tuple [18, 14] + - !!python/tuple [16, 29] + - !!python/tuple [11, 31] + - !!python/tuple [29, 3] + - !!python/tuple [6, 24] + - !!python/tuple [12, 18] + - !!python/tuple [30, 14] + - !!python/tuple [15, 8] + - !!python/tuple [19, 13] + - !!python/tuple [3, 20] + - !!python/tuple [23, 23] + - !!python/tuple [18, 26] + - !!python/tuple [1, 5] + - !!python/tuple [13, 21] + - !!python/tuple [2, 3] + - !!python/tuple [14, 26] + - !!python/tuple [5, 22] + - !!python/tuple [27, 15] + - !!python/tuple [26, 15] + - !!python/tuple [2, 12] + - !!python/tuple [3, 15] + - !!python/tuple [25, 29] + - !!python/tuple [28, 27] + - !!python/tuple [21, 27] + - !!python/tuple [10, 2] + - !!python/tuple [14, 1] + - !!python/tuple [12, 0] + - !!python/tuple [3, 18] + - !!python/tuple [7, 10] + - !!python/tuple [25, 22] + - !!python/tuple [24, 19] + - !!python/tuple [23, 9] + - !!python/tuple [8, 19] + - !!python/tuple [11, 4] + - !!python/tuple [30, 31] + - !!python/tuple [27, 17] + - !!python/tuple [15, 31] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex42.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex42.yaml new file mode 100644 index 0000000..b213a0f --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex42.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [26, 25] + name: agent0 + start: [22, 6] +- goal: [6, 18] + name: agent1 + start: [3, 27] +- goal: [24, 23] + name: agent2 + start: [14, 6] +- goal: [12, 27] + name: agent3 + start: [15, 2] +- goal: [15, 3] + name: agent4 + start: [13, 3] +- goal: [1, 5] + name: agent5 + start: [17, 12] +- goal: [0, 8] + name: agent6 + start: [18, 4] +- goal: [4, 16] + name: agent7 + start: [23, 14] +- goal: [14, 2] + name: agent8 + start: [27, 28] +- goal: [24, 31] + name: agent9 + start: [15, 16] +- goal: [3, 27] + name: agent10 + start: [24, 9] +- goal: [25, 16] + name: agent11 + start: [27, 10] +- goal: [10, 1] + name: agent12 + start: [20, 13] +- goal: [14, 0] + name: agent13 + start: [23, 1] +- goal: [6, 24] + name: agent14 + start: [2, 26] +- goal: [29, 17] + name: agent15 + start: [17, 25] +- goal: [19, 19] + name: agent16 + start: [29, 29] +- goal: [24, 21] + name: agent17 + start: [12, 17] +- goal: [8, 26] + name: agent18 + start: [24, 17] +- goal: [2, 15] + name: agent19 + start: [4, 16] +- goal: [24, 2] + name: agent20 + start: [18, 18] +- goal: [7, 19] + name: agent21 + start: [16, 30] +- goal: [28, 12] + name: agent22 + start: [23, 25] +- goal: [29, 31] + name: agent23 + start: [21, 16] +- goal: [3, 0] + name: agent24 + start: [2, 27] +- goal: [9, 15] + name: agent25 + start: [8, 11] +- goal: [31, 24] + name: agent26 + start: [31, 17] +- goal: [18, 29] + name: agent27 + start: [22, 20] +- goal: [27, 12] + name: agent28 + start: [10, 1] +- goal: [30, 11] + name: agent29 + start: [24, 21] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [18, 10] + - !!python/tuple [18, 12] + - !!python/tuple [23, 13] + - !!python/tuple [8, 30] + - !!python/tuple [17, 1] + - !!python/tuple [30, 19] + - !!python/tuple [19, 1] + - !!python/tuple [16, 24] + - !!python/tuple [23, 3] + - !!python/tuple [6, 5] + - !!python/tuple [7, 20] + - !!python/tuple [31, 31] + - !!python/tuple [1, 21] + - !!python/tuple [15, 18] + - !!python/tuple [21, 8] + - !!python/tuple [17, 30] + - !!python/tuple [0, 13] + - !!python/tuple [13, 12] + - !!python/tuple [25, 1] + - !!python/tuple [3, 13] + - !!python/tuple [25, 13] + - !!python/tuple [11, 27] + - !!python/tuple [7, 21] + - !!python/tuple [6, 29] + - !!python/tuple [16, 25] + - !!python/tuple [15, 5] + - !!python/tuple [13, 2] + - !!python/tuple [28, 25] + - !!python/tuple [26, 30] + - !!python/tuple [17, 2] + - !!python/tuple [8, 24] + - !!python/tuple [7, 27] + - !!python/tuple [19, 4] + - !!python/tuple [6, 25] + - !!python/tuple [12, 31] + - !!python/tuple [19, 22] + - !!python/tuple [18, 15] + - !!python/tuple [17, 16] + - !!python/tuple [23, 31] + - !!python/tuple [26, 6] + - !!python/tuple [2, 6] + - !!python/tuple [21, 24] + - !!python/tuple [5, 19] + - !!python/tuple [29, 12] + - !!python/tuple [1, 30] + - !!python/tuple [9, 19] + - !!python/tuple [14, 13] + - !!python/tuple [1, 7] + - !!python/tuple [15, 20] + - !!python/tuple [2, 14] + - !!python/tuple [9, 1] + - !!python/tuple [30, 10] + - !!python/tuple [8, 19] + - !!python/tuple [1, 25] + - !!python/tuple [2, 11] + - !!python/tuple [25, 5] + - !!python/tuple [7, 23] + - !!python/tuple [31, 13] + - !!python/tuple [22, 11] + - !!python/tuple [0, 26] + - !!python/tuple [21, 7] + - !!python/tuple [30, 23] + - !!python/tuple [26, 9] + - !!python/tuple [18, 22] + - !!python/tuple [8, 22] + - !!python/tuple [12, 1] + - !!python/tuple [11, 17] + - !!python/tuple [8, 20] + - !!python/tuple [5, 30] + - !!python/tuple [3, 14] + - !!python/tuple [31, 21] + - !!python/tuple [25, 0] + - !!python/tuple [17, 10] + - !!python/tuple [25, 12] + - !!python/tuple [20, 1] + - !!python/tuple [15, 0] + - !!python/tuple [4, 23] + - !!python/tuple [27, 29] + - !!python/tuple [15, 29] + - !!python/tuple [28, 26] + - !!python/tuple [6, 9] + - !!python/tuple [3, 1] + - !!python/tuple [4, 29] + - !!python/tuple [2, 4] + - !!python/tuple [0, 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!!python/tuple [29, 0] + - !!python/tuple [13, 18] + - !!python/tuple [10, 8] + - !!python/tuple [20, 20] + - !!python/tuple [1, 15] + - !!python/tuple [19, 18] + - !!python/tuple [1, 2] + - !!python/tuple [4, 22] + - !!python/tuple [22, 13] + - !!python/tuple [9, 16] + - !!python/tuple [13, 29] + - !!python/tuple [3, 31] + - !!python/tuple [29, 24] + - !!python/tuple [8, 9] + - !!python/tuple [22, 29] + - !!python/tuple [29, 9] + - !!python/tuple [10, 25] + - !!python/tuple [10, 5] + - !!python/tuple [12, 11] + - !!python/tuple [9, 21] + - !!python/tuple [29, 2] + - !!python/tuple [19, 3] + - !!python/tuple [19, 7] + - !!python/tuple [27, 1] + - !!python/tuple [16, 11] + - !!python/tuple [27, 11] + - !!python/tuple [13, 9] + - !!python/tuple [0, 0] + - !!python/tuple [28, 6] + - !!python/tuple [19, 10] + - !!python/tuple [11, 8] + - !!python/tuple [7, 6] + - !!python/tuple [19, 6] + - !!python/tuple [5, 25] + - !!python/tuple [25, 30] + - !!python/tuple [26, 28] + - !!python/tuple [29, 22] + - !!python/tuple [10, 17] + - !!python/tuple [22, 7] + - !!python/tuple [17, 27] + - !!python/tuple [5, 10] + - !!python/tuple [28, 14] + - !!python/tuple [0, 20] + - !!python/tuple [23, 12] + - !!python/tuple [18, 13] + - !!python/tuple [25, 18] + - !!python/tuple [4, 21] + - !!python/tuple [24, 16] + - !!python/tuple [15, 21] + - !!python/tuple [0, 11] + - !!python/tuple [5, 7] + - !!python/tuple [30, 18] + - !!python/tuple [19, 23] + - !!python/tuple [4, 6] + - !!python/tuple [4, 10] + - !!python/tuple [12, 16] + - !!python/tuple [2, 17] + - !!python/tuple [31, 14] + - !!python/tuple [10, 18] + - !!python/tuple [7, 5] + - !!python/tuple [15, 26] + - !!python/tuple [8, 0] + - !!python/tuple [27, 2] + - !!python/tuple [18, 19] + - !!python/tuple [0, 10] + - !!python/tuple [16, 31] + - !!python/tuple [14, 30] + - !!python/tuple [10, 31] + - !!python/tuple [17, 7] + - !!python/tuple [12, 7] + - !!python/tuple [16, 2] + - !!python/tuple [24, 19] + - !!python/tuple [8, 27] + - !!python/tuple [14, 23] + - !!python/tuple [10, 28] + - !!python/tuple [7, 1] + - !!python/tuple [18, 3] + - !!python/tuple [8, 5] + - !!python/tuple [14, 22] + - !!python/tuple [28, 20] + - !!python/tuple [2, 18] + - !!python/tuple [2, 3] + - !!python/tuple [4, 5] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex43.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex43.yaml new file mode 100644 index 0000000..e83f69b --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex43.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [20, 25] + name: agent0 + start: [8, 5] +- goal: [2, 9] + name: agent1 + start: [27, 17] +- goal: [12, 22] + name: agent2 + start: [24, 31] +- goal: [30, 23] + name: agent3 + start: [23, 1] +- goal: [19, 11] + name: agent4 + start: [24, 27] +- goal: [4, 24] + name: agent5 + start: [23, 17] +- goal: [22, 12] + name: agent6 + start: [21, 18] +- goal: [21, 0] + name: agent7 + start: [9, 23] +- goal: [29, 12] + name: agent8 + start: [19, 17] +- goal: [8, 2] + name: agent9 + start: [6, 13] +- goal: [11, 1] + name: agent10 + start: [12, 10] +- goal: [17, 19] + name: agent11 + start: [9, 16] +- goal: [22, 1] + name: agent12 + start: [10, 19] +- goal: [22, 11] + name: agent13 + start: [2, 10] +- goal: [17, 22] + name: agent14 + start: [1, 0] +- goal: [19, 20] + name: agent15 + start: [28, 18] +- goal: [18, 5] + name: agent16 + start: [2, 31] +- goal: [23, 12] + name: agent17 + start: [12, 19] +- goal: [27, 4] + name: agent18 + start: [13, 23] +- goal: [6, 13] + name: agent19 + start: [12, 15] +- goal: [10, 24] + name: agent20 + start: [26, 2] +- goal: [6, 21] + name: agent21 + start: [9, 6] +- goal: [6, 17] + name: agent22 + start: [26, 23] +- goal: [20, 18] + name: agent23 + start: [25, 10] +- goal: [4, 1] + name: agent24 + start: [22, 27] +- goal: [2, 8] + name: agent25 + start: [8, 15] +- goal: [18, 17] + name: agent26 + start: [6, 19] +- goal: [14, 12] + name: agent27 + start: [19, 4] +- goal: [9, 4] + name: agent28 + start: [5, 14] +- goal: [20, 22] + name: agent29 + start: [20, 28] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [11, 15] + - !!python/tuple [3, 2] + - !!python/tuple [17, 7] + - !!python/tuple [9, 21] + - !!python/tuple [17, 24] + - !!python/tuple [13, 13] + - !!python/tuple [24, 6] + - !!python/tuple [16, 29] + - !!python/tuple [2, 0] + - !!python/tuple [0, 27] + - !!python/tuple [27, 3] + - !!python/tuple [14, 28] + - !!python/tuple [7, 15] + - !!python/tuple [12, 28] + - !!python/tuple [16, 5] + - !!python/tuple [1, 3] + - !!python/tuple [23, 21] + - !!python/tuple [2, 25] + - !!python/tuple [7, 23] + - !!python/tuple [9, 25] + - !!python/tuple [29, 4] + - !!python/tuple [12, 25] + - !!python/tuple [18, 19] + - !!python/tuple [5, 29] + - !!python/tuple [18, 10] + - !!python/tuple [12, 2] + - !!python/tuple [5, 6] + - !!python/tuple [16, 25] + - !!python/tuple [3, 18] + - !!python/tuple [9, 3] + - !!python/tuple [1, 25] + - !!python/tuple [23, 6] + - !!python/tuple [31, 24] + - !!python/tuple [29, 25] + - !!python/tuple [24, 10] + - !!python/tuple [5, 22] + - !!python/tuple [27, 6] + - !!python/tuple [28, 26] + - !!python/tuple [13, 2] + - !!python/tuple [14, 20] + - !!python/tuple [5, 5] + - !!python/tuple [6, 6] + - !!python/tuple [6, 29] + - !!python/tuple [3, 28] + - !!python/tuple [24, 16] + - !!python/tuple [1, 7] + - !!python/tuple [26, 28] + - !!python/tuple [31, 9] + - !!python/tuple [28, 15] + - !!python/tuple [3, 29] + - !!python/tuple [0, 21] + - !!python/tuple [24, 4] + - !!python/tuple [28, 9] + - !!python/tuple [14, 18] + - !!python/tuple [29, 10] + - !!python/tuple [31, 19] + - !!python/tuple [21, 28] + - !!python/tuple [2, 20] + - !!python/tuple [16, 16] + - !!python/tuple [27, 5] + - !!python/tuple [16, 17] + - !!python/tuple [24, 23] + - !!python/tuple [1, 21] + - !!python/tuple [10, 4] + - !!python/tuple [19, 23] + - !!python/tuple [18, 14] + - !!python/tuple [28, 8] + - !!python/tuple [19, 26] + - !!python/tuple [6, 25] + - !!python/tuple [5, 3] + - !!python/tuple [30, 15] + - !!python/tuple [10, 0] + - !!python/tuple [21, 25] + - !!python/tuple [13, 30] + - !!python/tuple [22, 29] + - !!python/tuple [16, 14] + - !!python/tuple [22, 18] + - !!python/tuple [21, 23] + - !!python/tuple [6, 10] + - !!python/tuple [29, 9] + - !!python/tuple [25, 5] + - !!python/tuple [31, 16] + - !!python/tuple [9, 31] + - !!python/tuple [0, 31] + - !!python/tuple [0, 18] + - !!python/tuple [15, 4] + - !!python/tuple [21, 13] + - !!python/tuple [11, 3] + - !!python/tuple [4, 17] + - !!python/tuple [31, 7] + - !!python/tuple [22, 21] + - !!python/tuple [17, 0] + - !!python/tuple [22, 30] + - !!python/tuple [10, 28] + - !!python/tuple [2, 27] + - !!python/tuple [0, 8] + - !!python/tuple [30, 6] + - !!python/tuple [17, 9] + - !!python/tuple [26, 14] + - !!python/tuple [31, 28] + - !!python/tuple [3, 26] + - !!python/tuple [17, 20] + - !!python/tuple [10, 6] + - !!python/tuple [14, 23] + - !!python/tuple [15, 10] + - !!python/tuple [14, 22] + - !!python/tuple [31, 3] + - !!python/tuple [7, 30] + - !!python/tuple [23, 31] + - !!python/tuple [29, 24] + - !!python/tuple [10, 1] + - !!python/tuple [3, 15] + - !!python/tuple [16, 28] + - !!python/tuple [31, 27] + - !!python/tuple [13, 31] + - !!python/tuple [30, 5] + - !!python/tuple [1, 31] + - !!python/tuple [23, 13] + - !!python/tuple [25, 24] + - !!python/tuple [29, 5] + - !!python/tuple [28, 17] + - !!python/tuple [24, 8] + - !!python/tuple [3, 11] + - !!python/tuple [2, 21] + - !!python/tuple [10, 13] + - !!python/tuple [17, 26] + - !!python/tuple [13, 6] + - !!python/tuple [21, 7] + - !!python/tuple [16, 21] + - !!python/tuple [24, 26] + - !!python/tuple [28, 5] + - !!python/tuple [13, 18] + - !!python/tuple [10, 20] + - !!python/tuple [28, 21] + - !!python/tuple [21, 15] + - !!python/tuple [20, 10] + - !!python/tuple [8, 28] + - !!python/tuple [3, 10] + - !!python/tuple [26, 16] + - !!python/tuple [26, 20] + - !!python/tuple [12, 11] + - !!python/tuple [30, 25] + - !!python/tuple [25, 22] + - !!python/tuple [15, 8] + - !!python/tuple [22, 14] + - !!python/tuple [19, 6] + - !!python/tuple [12, 8] + - !!python/tuple [16, 30] + - !!python/tuple [27, 12] + - !!python/tuple [29, 26] + - !!python/tuple [15, 16] + - !!python/tuple [6, 14] + - !!python/tuple [16, 11] + - !!python/tuple [20, 26] + - !!python/tuple [19, 14] + - !!python/tuple [13, 21] + - !!python/tuple [4, 10] + - !!python/tuple [23, 28] + - !!python/tuple [8, 7] + - !!python/tuple [8, 8] + - !!python/tuple [1, 23] + - !!python/tuple [18, 28] + - !!python/tuple [8, 11] + - !!python/tuple [12, 21] + - !!python/tuple [6, 18] + - !!python/tuple [29, 2] + - !!python/tuple [9, 18] + - !!python/tuple [9, 17] + - !!python/tuple [0, 2] + - !!python/tuple [12, 29] + - !!python/tuple [18, 11] + - !!python/tuple [0, 17] + - !!python/tuple [9, 10] + - !!python/tuple [23, 24] + - !!python/tuple [18, 18] + - !!python/tuple [21, 24] + - !!python/tuple [27, 7] + - !!python/tuple [7, 2] + - !!python/tuple [11, 14] + - !!python/tuple [10, 14] + - !!python/tuple [0, 4] + - !!python/tuple [16, 12] + - !!python/tuple [21, 1] + - !!python/tuple [31, 22] + - !!python/tuple [23, 23] + - !!python/tuple [30, 9] + - !!python/tuple [3, 17] + - !!python/tuple [29, 21] + - !!python/tuple [20, 23] + - !!python/tuple [7, 4] + - !!python/tuple [27, 27] + - !!python/tuple [6, 5] + - !!python/tuple [7, 1] + - !!python/tuple [4, 27] + - !!python/tuple [12, 16] + - !!python/tuple [11, 21] + - !!python/tuple [21, 3] + - !!python/tuple [27, 22] + - !!python/tuple [1, 20] + - !!python/tuple [1, 4] + - !!python/tuple [25, 15] + - !!python/tuple [27, 14] + - !!python/tuple [7, 11] + - !!python/tuple [26, 4] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex44.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex44.yaml new file mode 100644 index 0000000..b09dabc --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex44.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [3, 21] + name: agent0 + start: [20, 14] +- goal: [0, 11] + name: agent1 + start: [11, 11] +- goal: [17, 5] + name: agent2 + start: [3, 0] +- goal: [1, 8] + name: agent3 + start: [1, 12] +- goal: [20, 12] + name: agent4 + start: [11, 7] +- goal: [18, 30] + name: agent5 + start: [19, 8] +- goal: [5, 0] + name: agent6 + start: [17, 3] +- goal: [5, 19] + name: agent7 + start: [27, 16] +- goal: [26, 16] + name: agent8 + start: [19, 31] +- goal: [17, 4] + name: agent9 + start: [12, 8] +- goal: [20, 27] + name: agent10 + start: [20, 30] +- goal: [31, 15] + name: agent11 + start: [15, 19] +- goal: [13, 5] + name: agent12 + start: [6, 23] +- goal: [11, 21] + name: agent13 + start: [31, 6] +- goal: [26, 4] + name: agent14 + start: [15, 30] +- goal: [3, 14] + name: agent15 + start: [16, 31] +- goal: [19, 7] + name: agent16 + start: [20, 2] +- goal: [17, 29] + name: agent17 + start: [11, 14] +- goal: [9, 14] + name: agent18 + start: [8, 20] +- goal: [30, 3] + name: agent19 + start: [17, 6] +- goal: [14, 29] + name: agent20 + start: [12, 15] +- goal: [25, 8] + name: agent21 + start: [14, 19] +- goal: [21, 5] + name: agent22 + start: [24, 22] +- goal: [31, 21] + name: agent23 + start: [20, 10] +- goal: [20, 4] + name: agent24 + start: [2, 0] +- goal: [26, 14] + name: agent25 + start: [12, 22] +- goal: [11, 15] + name: agent26 + start: [20, 17] +- goal: [10, 23] + name: agent27 + start: [8, 18] +- goal: [15, 13] + name: agent28 + start: [27, 1] +- goal: [31, 3] + name: agent29 + start: [12, 11] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [23, 17] + - !!python/tuple [10, 17] + - !!python/tuple [3, 4] + - !!python/tuple [28, 27] + - !!python/tuple [31, 2] + - !!python/tuple [26, 26] + - !!python/tuple [22, 21] + - !!python/tuple [22, 11] + - !!python/tuple [29, 19] + - !!python/tuple [0, 12] + - !!python/tuple [0, 26] + - !!python/tuple [10, 12] + - !!python/tuple [23, 18] + - !!python/tuple [18, 18] + - !!python/tuple [29, 7] + - !!python/tuple [1, 27] + - !!python/tuple [8, 10] + - !!python/tuple [16, 30] + - !!python/tuple [20, 16] + - !!python/tuple [26, 3] + - !!python/tuple [18, 13] + - !!python/tuple [14, 25] + - !!python/tuple [20, 5] + - !!python/tuple [1, 20] + - !!python/tuple [29, 18] + - !!python/tuple [29, 5] + - !!python/tuple [22, 20] + - !!python/tuple [20, 23] + - !!python/tuple [30, 9] + - !!python/tuple [11, 1] + - !!python/tuple [15, 27] + - !!python/tuple [3, 29] + - !!python/tuple [28, 25] + - !!python/tuple [4, 27] + - !!python/tuple [23, 12] + - !!python/tuple [26, 8] + - !!python/tuple [27, 9] + - !!python/tuple [22, 23] + - !!python/tuple [16, 1] + - !!python/tuple [10, 19] + - !!python/tuple [13, 12] + - !!python/tuple [29, 8] + - !!python/tuple [8, 0] + - !!python/tuple [18, 2] + - !!python/tuple [17, 31] + - !!python/tuple [0, 27] + - !!python/tuple [20, 19] + - !!python/tuple [9, 16] + - !!python/tuple [4, 8] + - !!python/tuple [24, 20] + - !!python/tuple [2, 6] + - !!python/tuple [29, 1] + - !!python/tuple [2, 2] + - !!python/tuple [14, 20] + - !!python/tuple [20, 6] + - !!python/tuple [21, 28] + - !!python/tuple [29, 21] + - !!python/tuple [8, 7] + - !!python/tuple [4, 15] + - !!python/tuple [23, 8] + - !!python/tuple [28, 6] + - !!python/tuple [13, 23] + - !!python/tuple [26, 13] + - !!python/tuple [3, 16] + - !!python/tuple [18, 10] + - !!python/tuple [2, 10] + - !!python/tuple [1, 17] + - !!python/tuple [30, 22] + - !!python/tuple [6, 25] + - !!python/tuple [28, 28] + - !!python/tuple [23, 24] + - !!python/tuple [12, 27] + - !!python/tuple [12, 19] + - !!python/tuple [14, 0] + - !!python/tuple [25, 16] + - !!python/tuple [27, 8] + - !!python/tuple [10, 14] + - !!python/tuple [13, 10] + - !!python/tuple [9, 7] + - !!python/tuple [26, 6] + - !!python/tuple [21, 16] + - !!python/tuple [14, 26] + - !!python/tuple [5, 28] + - !!python/tuple [23, 1] + - !!python/tuple [2, 7] + - !!python/tuple [0, 7] + - !!python/tuple [27, 2] + - !!python/tuple [16, 2] + - !!python/tuple [4, 6] + - !!python/tuple [9, 0] + - !!python/tuple [8, 15] + - !!python/tuple [8, 6] + - !!python/tuple [23, 29] + - !!python/tuple [16, 21] + - !!python/tuple [24, 5] + - !!python/tuple [24, 15] + - !!python/tuple [15, 6] + - !!python/tuple [1, 18] + - !!python/tuple [4, 25] + - !!python/tuple [10, 9] + - !!python/tuple [8, 4] + - !!python/tuple [16, 4] + - !!python/tuple [7, 11] + - !!python/tuple [6, 16] + - !!python/tuple [1, 6] + - !!python/tuple [0, 28] + - !!python/tuple [1, 24] + - !!python/tuple [21, 8] + - !!python/tuple [3, 15] + - !!python/tuple [10, 22] + - !!python/tuple [21, 15] + - !!python/tuple [6, 14] + - !!python/tuple [5, 1] + - !!python/tuple [15, 28] + - !!python/tuple [23, 19] + - !!python/tuple [0, 25] + - !!python/tuple [11, 26] + - !!python/tuple [13, 25] + - !!python/tuple [8, 29] + - !!python/tuple [17, 2] + - !!python/tuple [23, 14] + - !!python/tuple [6, 17] + - !!python/tuple [16, 17] + - !!python/tuple [27, 28] + - !!python/tuple [26, 24] + - !!python/tuple [13, 18] + - !!python/tuple [25, 5] + - !!python/tuple [28, 11] + - !!python/tuple [0, 20] + - !!python/tuple [0, 5] + - !!python/tuple [7, 23] + - !!python/tuple [10, 30] + - !!python/tuple [16, 12] + - !!python/tuple [28, 5] + - !!python/tuple [10, 2] + - !!python/tuple [24, 18] + - !!python/tuple [21, 19] + - !!python/tuple [19, 29] + - !!python/tuple [8, 28] + - !!python/tuple [21, 3] + - !!python/tuple [31, 23] + - !!python/tuple [16, 10] + - !!python/tuple [23, 9] + - !!python/tuple [24, 25] + - !!python/tuple [24, 13] + - !!python/tuple [10, 10] + - !!python/tuple [4, 17] + - !!python/tuple [28, 17] + - !!python/tuple [30, 26] + - !!python/tuple [30, 1] + - !!python/tuple [27, 0] + - !!python/tuple [18, 5] + - !!python/tuple [29, 27] + - !!python/tuple [1, 19] + - !!python/tuple [28, 18] + - !!python/tuple [20, 21] + - !!python/tuple [0, 2] + - !!python/tuple [29, 9] + - !!python/tuple [3, 8] + - !!python/tuple [4, 9] + - !!python/tuple [8, 25] + - !!python/tuple [5, 17] + - !!python/tuple [26, 19] + - !!python/tuple [25, 13] + - !!python/tuple [18, 25] + - !!python/tuple [28, 4] + - !!python/tuple [21, 4] + - !!python/tuple [23, 30] + - !!python/tuple [7, 28] + - !!python/tuple [26, 28] + - !!python/tuple [0, 22] + - !!python/tuple [10, 8] + - !!python/tuple [7, 0] + - !!python/tuple [10, 7] + - !!python/tuple [6, 10] + - !!python/tuple [6, 28] + - !!python/tuple [21, 22] + - !!python/tuple [30, 25] + - !!python/tuple [13, 30] + - !!python/tuple [20, 26] + - !!python/tuple [27, 3] + - !!python/tuple [25, 3] + - !!python/tuple [4, 24] + - !!python/tuple [11, 2] + - !!python/tuple [10, 4] + - !!python/tuple [8, 8] + - !!python/tuple [14, 5] + - !!python/tuple [1, 1] + - !!python/tuple [5, 21] + - !!python/tuple [0, 16] + - !!python/tuple [26, 31] + - !!python/tuple [21, 1] + - !!python/tuple [17, 16] + - !!python/tuple [22, 6] + - !!python/tuple [29, 24] + - !!python/tuple [20, 7] + - !!python/tuple [1, 14] + - !!python/tuple [23, 5] + - !!python/tuple [19, 19] + - !!python/tuple [26, 22] + - !!python/tuple [25, 12] + - !!python/tuple [4, 7] + - !!python/tuple [11, 12] + - !!python/tuple [20, 3] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex45.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex45.yaml new file mode 100644 index 0000000..48ad101 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex45.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [22, 7] + name: agent0 + start: [23, 0] +- goal: [26, 4] + name: agent1 + start: [13, 26] +- goal: [30, 8] + name: agent2 + start: [18, 21] +- goal: [7, 28] + name: agent3 + start: [1, 3] +- goal: [9, 4] + name: agent4 + start: [24, 26] +- goal: [29, 21] + name: agent5 + start: [12, 11] +- goal: [0, 1] + name: agent6 + start: [30, 3] +- goal: [17, 14] + name: agent7 + start: [9, 14] +- goal: [15, 19] + name: agent8 + start: [22, 15] +- goal: [23, 20] + name: agent9 + start: [10, 9] +- goal: [25, 15] + name: agent10 + start: [12, 6] +- goal: [20, 18] + name: agent11 + start: [27, 8] +- goal: [7, 10] + name: agent12 + start: [27, 29] +- goal: [31, 24] + name: agent13 + start: [13, 14] +- goal: [0, 30] + name: agent14 + start: [22, 2] +- goal: [27, 8] + name: agent15 + start: [1, 24] +- goal: [13, 13] + name: agent16 + start: [2, 20] +- goal: [4, 18] + name: agent17 + start: [15, 0] +- goal: [6, 22] + name: agent18 + start: [12, 8] +- goal: [5, 0] + name: agent19 + start: [4, 8] +- goal: [5, 10] + name: agent20 + start: [22, 26] +- goal: [10, 25] + name: agent21 + start: [4, 21] +- goal: [24, 30] + name: agent22 + start: [6, 29] +- goal: [1, 17] + name: agent23 + start: [8, 13] +- goal: [21, 7] + name: agent24 + start: [2, 23] +- goal: [3, 4] + name: agent25 + start: [0, 13] +- goal: [29, 29] + name: agent26 + start: [27, 24] +- goal: [0, 29] + name: agent27 + start: [19, 29] +- goal: [15, 15] + name: agent28 + start: [31, 22] +- goal: [31, 28] + name: agent29 + start: [22, 18] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [14, 24] + - !!python/tuple [9, 21] + - !!python/tuple [19, 27] + - !!python/tuple [20, 0] + - !!python/tuple [31, 9] + - !!python/tuple [24, 11] + - !!python/tuple [18, 15] + - !!python/tuple [13, 3] + - !!python/tuple [7, 23] + - !!python/tuple [24, 8] + - !!python/tuple [11, 18] + - !!python/tuple [3, 11] + - !!python/tuple [17, 5] + - !!python/tuple [2, 9] + - !!python/tuple [25, 25] + - !!python/tuple [25, 28] + - !!python/tuple [6, 9] + - !!python/tuple [20, 25] + - !!python/tuple [3, 29] + - !!python/tuple [16, 13] + - !!python/tuple [19, 20] + - !!python/tuple [10, 3] + - !!python/tuple [25, 12] + - !!python/tuple [15, 27] + - !!python/tuple [17, 26] + - !!python/tuple [30, 14] + - !!python/tuple [19, 15] + - !!python/tuple [15, 22] + - !!python/tuple [31, 6] + - !!python/tuple [7, 24] + - !!python/tuple [21, 11] + - !!python/tuple [24, 31] + - !!python/tuple [10, 26] + - !!python/tuple [14, 5] + - !!python/tuple [8, 2] + - !!python/tuple [12, 31] + - !!python/tuple [4, 12] + - !!python/tuple [10, 23] + - !!python/tuple [30, 20] + - !!python/tuple [6, 23] + - !!python/tuple [13, 27] + - !!python/tuple [8, 31] + - !!python/tuple [22, 0] + - !!python/tuple [19, 13] + - !!python/tuple [22, 21] + - !!python/tuple [31, 13] + - !!python/tuple [11, 7] + - !!python/tuple [20, 9] + - !!python/tuple [20, 6] + - !!python/tuple [20, 28] + - !!python/tuple [7, 3] + - !!python/tuple [4, 27] + - !!python/tuple [30, 18] + - !!python/tuple [11, 10] + - !!python/tuple [10, 1] + - !!python/tuple [17, 8] + - !!python/tuple [8, 27] + - !!python/tuple [2, 24] + - !!python/tuple [9, 15] + - !!python/tuple [13, 20] + - !!python/tuple [31, 23] + - !!python/tuple [28, 11] + - !!python/tuple [28, 8] + - !!python/tuple [6, 8] + - !!python/tuple [13, 21] + - !!python/tuple [5, 5] + - !!python/tuple [9, 8] + - !!python/tuple [4, 29] + - !!python/tuple [22, 23] + - !!python/tuple [20, 1] + - !!python/tuple [14, 23] + - !!python/tuple [25, 20] + - !!python/tuple [19, 12] + - !!python/tuple [24, 0] + - !!python/tuple [16, 21] + - !!python/tuple [10, 24] + - !!python/tuple [5, 3] + - !!python/tuple [25, 7] + - !!python/tuple [0, 15] + - !!python/tuple [30, 9] + - !!python/tuple [31, 25] + - !!python/tuple [13, 11] + - !!python/tuple [13, 4] + - !!python/tuple [28, 30] + - !!python/tuple [21, 12] + - !!python/tuple [29, 10] + - !!python/tuple [22, 29] + - !!python/tuple [4, 17] + - !!python/tuple [8, 29] + - !!python/tuple [25, 4] + - !!python/tuple [27, 5] + - !!python/tuple [3, 12] + - !!python/tuple [4, 9] + - !!python/tuple [31, 14] + - !!python/tuple [7, 1] + - !!python/tuple [22, 22] + - !!python/tuple [17, 10] + - !!python/tuple [16, 20] + - !!python/tuple [21, 15] + - !!python/tuple [28, 4] + - !!python/tuple [30, 17] + - !!python/tuple [5, 6] + - !!python/tuple [22, 10] + - !!python/tuple [11, 27] + - !!python/tuple [0, 20] + - !!python/tuple [23, 7] + - !!python/tuple [25, 3] + - !!python/tuple [0, 27] + - !!python/tuple [18, 14] + - !!python/tuple [29, 15] + - !!python/tuple [4, 4] + - !!python/tuple [22, 4] + - !!python/tuple [21, 26] + - !!python/tuple [9, 11] + - !!python/tuple [22, 8] + - !!python/tuple [15, 8] + - !!python/tuple [11, 0] + - !!python/tuple [3, 1] + - !!python/tuple [29, 6] + - !!python/tuple [26, 1] + - !!python/tuple [9, 22] + - !!python/tuple [27, 30] + - !!python/tuple [28, 17] + - !!python/tuple [31, 20] + - !!python/tuple [0, 10] + - !!python/tuple [15, 6] + - !!python/tuple [18, 3] + - !!python/tuple [4, 22] + - !!python/tuple [15, 25] + - !!python/tuple [17, 15] + - !!python/tuple [11, 21] + - !!python/tuple [0, 22] + - !!python/tuple [5, 29] + - !!python/tuple [26, 13] + - !!python/tuple [13, 16] + - !!python/tuple [27, 14] + - !!python/tuple [8, 15] + - !!python/tuple [26, 25] + - !!python/tuple [11, 23] + - !!python/tuple [16, 2] + - !!python/tuple [19, 5] + - !!python/tuple [13, 19] + - !!python/tuple [16, 24] + - !!python/tuple [24, 24] + - !!python/tuple [21, 16] + - !!python/tuple [27, 6] + - !!python/tuple [30, 31] + - !!python/tuple [26, 5] + - !!python/tuple [7, 20] + - !!python/tuple [0, 11] + - !!python/tuple [16, 0] + - !!python/tuple [10, 7] + - !!python/tuple [17, 22] + - !!python/tuple [3, 13] + - !!python/tuple [15, 17] + - !!python/tuple [26, 31] + - !!python/tuple [0, 25] + - !!python/tuple [8, 24] + - !!python/tuple [21, 21] + - !!python/tuple [2, 30] + - !!python/tuple [31, 17] + - !!python/tuple [26, 20] + - !!python/tuple [17, 11] + - !!python/tuple [2, 16] + - !!python/tuple [6, 7] + - !!python/tuple [14, 0] + - !!python/tuple [28, 3] + - !!python/tuple [28, 10] + - !!python/tuple [11, 19] + - !!python/tuple [17, 24] + - !!python/tuple [21, 3] + - !!python/tuple [7, 7] + - !!python/tuple [27, 9] + - !!python/tuple [6, 10] + - !!python/tuple [18, 13] + - !!python/tuple [12, 3] + - !!python/tuple [22, 11] + - !!python/tuple [12, 18] + - !!python/tuple [7, 11] + - !!python/tuple [19, 25] + - !!python/tuple [1, 6] + - !!python/tuple [11, 12] + - !!python/tuple [12, 21] + - !!python/tuple [2, 4] + - !!python/tuple [5, 15] + - !!python/tuple [9, 2] + - !!python/tuple [9, 30] + - !!python/tuple [16, 11] + - !!python/tuple [14, 17] + - !!python/tuple [14, 14] + - !!python/tuple [8, 10] + - !!python/tuple [21, 29] + - !!python/tuple [24, 3] + - !!python/tuple [10, 4] + - !!python/tuple [16, 3] + - !!python/tuple [30, 19] + - !!python/tuple [0, 8] + - !!python/tuple [8, 19] + - !!python/tuple [3, 8] + - !!python/tuple [1, 8] + - !!python/tuple [5, 16] + - !!python/tuple [26, 0] + - !!python/tuple [23, 10] + - !!python/tuple [13, 18] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex46.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex46.yaml new file mode 100644 index 0000000..2902595 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex46.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [12, 23] + name: agent0 + start: [19, 31] +- goal: [12, 27] + name: agent1 + start: [10, 1] +- goal: [4, 22] + name: agent2 + start: [19, 2] +- goal: [3, 1] + name: agent3 + start: [22, 27] +- goal: [1, 11] + name: agent4 + start: [31, 12] +- goal: [8, 25] + name: agent5 + start: [24, 9] +- goal: [30, 18] + name: agent6 + start: [20, 4] +- goal: [2, 22] + name: agent7 + start: [9, 29] +- goal: [9, 11] + name: agent8 + start: [2, 22] +- goal: [12, 25] + name: agent9 + start: [16, 19] +- goal: [14, 15] + name: agent10 + start: [3, 14] +- goal: [18, 12] + name: agent11 + start: [5, 19] +- goal: [1, 16] + name: agent12 + start: [6, 30] +- goal: [2, 12] + name: agent13 + start: [22, 30] +- goal: [29, 20] + name: agent14 + start: [18, 23] +- goal: [8, 31] + name: agent15 + start: [19, 14] +- goal: [12, 5] + name: agent16 + start: [28, 16] +- goal: [0, 26] + name: agent17 + start: [25, 8] +- goal: [1, 2] + name: agent18 + start: [13, 17] +- goal: [29, 29] + name: agent19 + start: [9, 11] +- goal: [4, 18] + name: agent20 + start: [10, 20] +- goal: [20, 28] + name: agent21 + start: [0, 25] +- goal: [26, 8] + name: agent22 + start: [26, 29] +- goal: [28, 8] + name: agent23 + start: [13, 16] +- goal: [30, 19] + name: agent24 + start: [20, 12] +- goal: [1, 13] + name: agent25 + start: [7, 15] +- goal: [17, 7] + name: agent26 + start: [24, 0] +- goal: [20, 10] + name: agent27 + start: [11, 6] +- goal: [2, 24] + name: agent28 + start: [23, 18] +- goal: [13, 3] + name: agent29 + start: [9, 6] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [25, 4] + - !!python/tuple [26, 18] + - !!python/tuple [29, 4] + - !!python/tuple [18, 19] + - !!python/tuple [16, 27] + - !!python/tuple [8, 22] + - !!python/tuple [23, 6] + - !!python/tuple [11, 17] + - !!python/tuple [20, 13] + - !!python/tuple [17, 8] + - !!python/tuple [15, 23] + - !!python/tuple [30, 21] + - !!python/tuple [18, 0] + - !!python/tuple [5, 29] + - !!python/tuple [16, 22] + - !!python/tuple [2, 23] + - !!python/tuple [26, 26] + - !!python/tuple [2, 5] + - !!python/tuple [17, 0] + - !!python/tuple [3, 12] + - !!python/tuple [11, 29] + - !!python/tuple [23, 11] + - !!python/tuple [12, 26] + - !!python/tuple [16, 16] + - !!python/tuple [24, 22] + - !!python/tuple [8, 27] + - !!python/tuple [10, 2] + - !!python/tuple [8, 30] + - !!python/tuple [3, 10] + - !!python/tuple [23, 22] + - !!python/tuple [7, 21] + - !!python/tuple [19, 19] + - !!python/tuple [7, 19] + - !!python/tuple [19, 26] + - !!python/tuple [21, 11] + - !!python/tuple [25, 30] + - !!python/tuple [4, 9] + - !!python/tuple [16, 18] + - !!python/tuple [8, 18] + - !!python/tuple [31, 17] + - !!python/tuple [16, 12] + - !!python/tuple [3, 11] + - !!python/tuple [11, 23] + - !!python/tuple [1, 22] + - !!python/tuple [29, 30] + - !!python/tuple [25, 1] + - !!python/tuple [24, 11] + - !!python/tuple [2, 0] + - !!python/tuple [31, 21] + - !!python/tuple [20, 7] + - !!python/tuple [22, 8] + - !!python/tuple [1, 31] + - !!python/tuple [28, 13] + - !!python/tuple [12, 28] + - !!python/tuple [14, 7] + - !!python/tuple [20, 8] + - !!python/tuple [0, 22] + - !!python/tuple [14, 14] + - !!python/tuple [27, 24] + - !!python/tuple [4, 21] + - !!python/tuple [27, 17] + - !!python/tuple [8, 14] + - !!python/tuple [30, 13] + - !!python/tuple [2, 4] + - !!python/tuple [21, 10] + - !!python/tuple [20, 16] + - !!python/tuple [0, 11] + - !!python/tuple [3, 26] + - !!python/tuple [27, 10] + - !!python/tuple [3, 5] + - !!python/tuple [13, 22] + - !!python/tuple [0, 4] + - !!python/tuple [28, 6] + - !!python/tuple [18, 27] + - !!python/tuple [3, 24] + - !!python/tuple [4, 29] + - !!python/tuple [18, 15] + - !!python/tuple [24, 29] + - !!python/tuple [18, 4] + - !!python/tuple [25, 29] + - !!python/tuple [29, 5] + - !!python/tuple [17, 30] + - !!python/tuple [5, 12] + - !!python/tuple [11, 25] + - !!python/tuple [31, 8] + - !!python/tuple [7, 22] + - !!python/tuple [8, 11] + - !!python/tuple [8, 28] + - !!python/tuple [20, 30] + - !!python/tuple [20, 25] + - !!python/tuple [1, 21] + - !!python/tuple [15, 19] + - !!python/tuple [15, 29] + - !!python/tuple [21, 31] + - !!python/tuple [3, 9] + - !!python/tuple [16, 9] + - !!python/tuple [15, 24] + - !!python/tuple [30, 12] + - !!python/tuple [7, 17] + - !!python/tuple [2, 10] + - !!python/tuple [8, 23] + - !!python/tuple [31, 22] + - !!python/tuple [22, 2] + - !!python/tuple [13, 11] + - !!python/tuple [2, 27] + - !!python/tuple [21, 3] + - !!python/tuple [8, 26] + - !!python/tuple [22, 18] + - !!python/tuple [30, 9] + - !!python/tuple [11, 7] + - !!python/tuple [7, 12] + - !!python/tuple [2, 6] + - !!python/tuple [31, 27] + - !!python/tuple [15, 0] + - !!python/tuple [11, 4] + - !!python/tuple [4, 3] + - !!python/tuple [25, 19] + - !!python/tuple [23, 26] + - !!python/tuple [14, 31] + - !!python/tuple [14, 1] + - !!python/tuple [9, 3] + - !!python/tuple [24, 2] + - !!python/tuple [11, 0] + - !!python/tuple [5, 8] + - !!python/tuple [26, 14] + - !!python/tuple [15, 8] + - !!python/tuple [16, 4] + - !!python/tuple [26, 3] + - !!python/tuple [30, 11] + - !!python/tuple [24, 14] + - !!python/tuple [6, 6] + - !!python/tuple [25, 24] + - !!python/tuple [8, 29] + - !!python/tuple [17, 18] + - !!python/tuple [7, 26] + - !!python/tuple [16, 29] + - !!python/tuple [31, 26] + - !!python/tuple [4, 2] + - !!python/tuple [12, 31] + - !!python/tuple [19, 28] + - !!python/tuple [5, 5] + - !!python/tuple [15, 2] + - !!python/tuple [13, 23] + - !!python/tuple [7, 4] + - !!python/tuple [10, 18] + - !!python/tuple [0, 1] + - !!python/tuple [6, 20] + - !!python/tuple [11, 31] + - !!python/tuple [12, 30] + - !!python/tuple [28, 7] + - !!python/tuple [1, 15] + - !!python/tuple [17, 5] + - !!python/tuple [24, 25] + - !!python/tuple [27, 4] + - !!python/tuple [19, 25] + - !!python/tuple [26, 1] + - !!python/tuple [20, 1] + - !!python/tuple [1, 5] + - !!python/tuple [22, 26] + - !!python/tuple [30, 2] + - !!python/tuple [0, 14] + - !!python/tuple [27, 11] + - !!python/tuple [20, 24] + - !!python/tuple [27, 15] + - !!python/tuple [17, 14] + - !!python/tuple [27, 31] + - !!python/tuple [11, 14] + - !!python/tuple [12, 11] + - !!python/tuple [0, 17] + - !!python/tuple [25, 27] + - !!python/tuple [16, 5] + - !!python/tuple [9, 27] + - !!python/tuple [19, 5] + - !!python/tuple [11, 18] + - !!python/tuple [16, 14] + - !!python/tuple [14, 25] + - !!python/tuple [9, 13] + - !!python/tuple [3, 21] + - !!python/tuple [5, 4] + - !!python/tuple [3, 17] + - !!python/tuple [21, 16] + - !!python/tuple [5, 20] + - !!python/tuple [12, 4] + - !!python/tuple [11, 30] + - !!python/tuple [13, 4] + - !!python/tuple [8, 1] + - !!python/tuple [3, 4] + - !!python/tuple [9, 1] + - !!python/tuple [5, 2] + - !!python/tuple [18, 22] + - !!python/tuple [21, 12] + - !!python/tuple [31, 3] + - !!python/tuple [10, 5] + - !!python/tuple [21, 2] + - !!python/tuple [28, 27] + - !!python/tuple [5, 1] + - !!python/tuple [1, 27] + - !!python/tuple [29, 9] + - !!python/tuple [25, 9] + - !!python/tuple [4, 26] + - !!python/tuple [29, 23] + - !!python/tuple [11, 10] + - !!python/tuple [21, 22] + - !!python/tuple [30, 0] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex47.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex47.yaml new file mode 100644 index 0000000..3279771 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex47.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [3, 20] + name: agent0 + start: [27, 16] +- goal: [23, 10] + name: agent1 + start: [24, 3] +- goal: [11, 5] + name: agent2 + start: [21, 31] +- goal: [16, 9] + name: agent3 + start: [13, 3] +- goal: [17, 2] + name: agent4 + start: [19, 17] +- goal: [0, 20] + name: agent5 + start: [24, 5] +- goal: [26, 20] + name: agent6 + start: [16, 7] +- goal: [27, 8] + name: agent7 + start: [10, 10] +- goal: [19, 24] + name: agent8 + start: [31, 31] +- goal: [14, 22] + name: agent9 + start: [8, 29] +- goal: [15, 19] + name: agent10 + start: [31, 26] +- goal: [9, 16] + name: agent11 + start: [20, 14] +- goal: [24, 15] + name: agent12 + start: [6, 18] +- goal: [26, 9] + name: agent13 + start: [6, 7] +- goal: [25, 27] + name: agent14 + start: [26, 1] +- goal: [18, 2] + name: agent15 + start: [9, 0] +- goal: [31, 30] + name: agent16 + start: [21, 9] +- goal: [10, 29] + name: agent17 + start: [17, 4] +- goal: [21, 3] + name: agent18 + start: [3, 0] +- goal: [15, 26] + name: agent19 + start: [31, 2] +- goal: [17, 1] + name: agent20 + start: [8, 24] +- goal: [21, 22] + name: agent21 + start: [1, 6] +- goal: [22, 18] + name: agent22 + start: [27, 19] +- goal: [11, 16] + name: agent23 + start: [14, 3] +- goal: [25, 15] + name: agent24 + start: [10, 30] +- goal: [26, 5] + name: agent25 + start: [16, 17] +- goal: [19, 16] + name: agent26 + start: [26, 4] +- goal: [10, 9] + name: agent27 + start: [27, 5] +- goal: [25, 8] + name: agent28 + start: [24, 12] +- goal: [8, 4] + name: agent29 + start: [0, 10] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [22, 25] + - !!python/tuple [31, 1] + - !!python/tuple [6, 14] + - !!python/tuple [0, 13] + - !!python/tuple [18, 0] + - !!python/tuple [19, 29] + - !!python/tuple [6, 31] + - !!python/tuple [23, 26] + - !!python/tuple [31, 10] + - !!python/tuple [12, 4] + - !!python/tuple [14, 15] + - !!python/tuple [13, 25] + - !!python/tuple [25, 4] + - !!python/tuple [21, 2] + - !!python/tuple [17, 23] + - !!python/tuple [1, 5] + - !!python/tuple [1, 12] + - !!python/tuple [8, 12] + - !!python/tuple [23, 20] + - !!python/tuple [21, 18] + - !!python/tuple [10, 22] + - !!python/tuple [28, 8] + - !!python/tuple [10, 15] + - !!python/tuple [3, 5] + - !!python/tuple [2, 28] + - !!python/tuple [19, 0] + - !!python/tuple [26, 12] + - !!python/tuple [24, 16] + - !!python/tuple [13, 11] + - !!python/tuple [2, 26] + - !!python/tuple [7, 20] + - !!python/tuple [2, 10] + - !!python/tuple [7, 2] + - !!python/tuple [18, 21] + - !!python/tuple [12, 30] + - !!python/tuple [28, 13] + - !!python/tuple [24, 25] + - !!python/tuple [25, 7] + - !!python/tuple [25, 23] + - !!python/tuple [30, 20] + - !!python/tuple [10, 20] + - !!python/tuple [27, 26] + - !!python/tuple [11, 30] + - !!python/tuple [17, 17] + - !!python/tuple [11, 14] + - !!python/tuple [15, 5] + - !!python/tuple [16, 0] + - !!python/tuple [6, 26] + - !!python/tuple [2, 20] + - !!python/tuple [13, 21] + - !!python/tuple [28, 3] + - !!python/tuple [13, 17] + - !!python/tuple [21, 6] + - !!python/tuple [20, 23] + - !!python/tuple [30, 5] + - !!python/tuple [10, 11] + - !!python/tuple [2, 7] + - !!python/tuple [5, 30] + - !!python/tuple [19, 9] + - !!python/tuple [21, 29] + - !!python/tuple [0, 23] + - !!python/tuple [18, 27] + - !!python/tuple [2, 19] + - !!python/tuple [1, 17] + - !!python/tuple [2, 16] + - !!python/tuple [23, 18] + - !!python/tuple [29, 22] + - !!python/tuple [29, 31] + - !!python/tuple [29, 23] + - !!python/tuple [5, 17] + - !!python/tuple [26, 18] + - !!python/tuple [12, 10] + - !!python/tuple [20, 2] + - !!python/tuple [2, 23] + - !!python/tuple [25, 31] + - !!python/tuple [26, 24] + - !!python/tuple [20, 29] + - !!python/tuple [13, 30] + - !!python/tuple [7, 16] + - !!python/tuple [21, 26] + - !!python/tuple [5, 18] + - !!python/tuple [28, 12] + - !!python/tuple [3, 31] + - !!python/tuple [23, 22] + - !!python/tuple [0, 0] + - !!python/tuple [7, 3] + - !!python/tuple [13, 1] + - !!python/tuple [7, 15] + - !!python/tuple [8, 23] + - !!python/tuple [15, 9] + - !!python/tuple [7, 24] + - !!python/tuple [17, 10] + - !!python/tuple [14, 13] + - !!python/tuple [22, 4] + - !!python/tuple [2, 13] + - !!python/tuple [0, 26] + - !!python/tuple [29, 1] + - !!python/tuple [18, 28] + - !!python/tuple [11, 6] + - !!python/tuple [26, 0] + - !!python/tuple [30, 22] + - !!python/tuple [23, 3] + - !!python/tuple [15, 11] + - !!python/tuple [31, 29] + - !!python/tuple [26, 19] + - !!python/tuple [9, 12] + - !!python/tuple [24, 10] + - !!python/tuple [9, 13] + - !!python/tuple [28, 9] + - !!python/tuple [0, 7] + - !!python/tuple [13, 9] + - !!python/tuple [29, 16] + - !!python/tuple [23, 8] + - !!python/tuple [4, 17] + - !!python/tuple [2, 22] + - !!python/tuple [27, 23] + - !!python/tuple [3, 13] + - !!python/tuple [21, 5] + - !!python/tuple [6, 5] + - !!python/tuple [16, 5] + - !!python/tuple [26, 21] + - !!python/tuple [29, 12] + - !!python/tuple [26, 25] + - !!python/tuple [11, 15] + - !!python/tuple [23, 7] + - !!python/tuple [28, 2] + - !!python/tuple [18, 26] + - !!python/tuple [11, 7] + - !!python/tuple [9, 30] + - !!python/tuple [20, 13] + - !!python/tuple [17, 13] + - !!python/tuple [5, 11] + - !!python/tuple [22, 23] + - !!python/tuple [17, 9] + - !!python/tuple [29, 7] + - !!python/tuple [31, 17] + - !!python/tuple [14, 7] + - !!python/tuple [20, 4] + - !!python/tuple [9, 11] + - !!python/tuple [23, 24] + - !!python/tuple [18, 24] + - !!python/tuple [9, 29] + - !!python/tuple [4, 7] + - !!python/tuple [3, 1] + - !!python/tuple [12, 15] + - !!python/tuple [18, 3] + - !!python/tuple [0, 31] + - !!python/tuple [6, 23] + - !!python/tuple [17, 29] + - !!python/tuple [11, 27] + - !!python/tuple [5, 31] + - !!python/tuple [19, 20] + - !!python/tuple [3, 30] + - !!python/tuple [2, 30] + - !!python/tuple [1, 25] + - !!python/tuple [1, 19] + - !!python/tuple [16, 27] + - !!python/tuple [0, 9] + - !!python/tuple [19, 13] + - !!python/tuple [5, 28] + - !!python/tuple [28, 15] + - !!python/tuple [0, 16] + - !!python/tuple [30, 23] + - !!python/tuple [15, 17] + - !!python/tuple [23, 23] + - !!python/tuple [16, 4] + - !!python/tuple [1, 30] + - !!python/tuple [9, 2] + - !!python/tuple [22, 9] + - !!python/tuple [23, 2] + - !!python/tuple [6, 24] + - !!python/tuple [28, 18] + - !!python/tuple [11, 0] + - !!python/tuple [31, 20] + - !!python/tuple [18, 13] + - !!python/tuple [19, 8] + - !!python/tuple [24, 11] + - !!python/tuple [26, 23] + - !!python/tuple [27, 10] + - !!python/tuple [4, 13] + - !!python/tuple [13, 15] + - !!python/tuple [17, 26] + - !!python/tuple [18, 25] + - !!python/tuple [1, 9] + - !!python/tuple [25, 30] + - !!python/tuple [0, 5] + - !!python/tuple [21, 15] + - !!python/tuple [2, 24] + - !!python/tuple [22, 5] + - !!python/tuple [3, 9] + - !!python/tuple [30, 14] + - !!python/tuple [4, 31] + - !!python/tuple [3, 15] + - !!python/tuple [22, 0] + - !!python/tuple [31, 16] + - !!python/tuple [31, 9] + - !!python/tuple [14, 8] + - !!python/tuple [0, 6] + - !!python/tuple [26, 17] + - !!python/tuple [25, 16] + - !!python/tuple [12, 23] + - !!python/tuple [1, 10] + - !!python/tuple [6, 6] + - !!python/tuple [15, 6] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex48.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex48.yaml new file mode 100644 index 0000000..9c673ab --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex48.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [26, 10] + name: agent0 + start: [17, 26] +- goal: [16, 1] + name: agent1 + start: [30, 8] +- goal: [13, 0] + name: agent2 + start: [1, 17] +- goal: [18, 16] + name: agent3 + start: [3, 30] +- goal: [6, 17] + name: agent4 + start: [28, 14] +- goal: [24, 18] + name: agent5 + start: [29, 7] +- goal: [25, 9] + name: agent6 + start: [6, 13] +- goal: [14, 30] + name: agent7 + start: [0, 29] +- goal: [13, 2] + name: agent8 + start: [8, 8] +- goal: [4, 6] + name: agent9 + start: [5, 28] +- goal: [25, 0] + name: agent10 + start: [23, 29] +- goal: [29, 17] + name: agent11 + start: [29, 17] +- goal: [21, 14] + name: agent12 + start: [1, 23] +- goal: [11, 15] + name: agent13 + start: [4, 0] +- goal: [24, 8] + name: agent14 + start: [20, 20] +- goal: [24, 21] + name: agent15 + start: [0, 1] +- goal: [15, 10] + name: agent16 + start: [26, 7] +- goal: [4, 25] + name: agent17 + start: [19, 13] +- goal: [3, 23] + name: agent18 + start: [22, 2] +- goal: [15, 7] + name: agent19 + start: [7, 1] +- goal: [3, 27] + name: agent20 + start: [31, 28] +- goal: [26, 18] + name: agent21 + start: [16, 0] +- goal: [5, 4] + name: agent22 + start: [6, 7] +- goal: [15, 31] + name: agent23 + start: [7, 11] +- goal: [9, 24] + name: agent24 + start: [17, 16] +- goal: [7, 26] + name: agent25 + start: [22, 11] +- goal: [19, 6] + name: agent26 + start: [26, 28] +- goal: [10, 23] + name: agent27 + start: [23, 31] +- goal: [17, 11] + name: agent28 + start: [12, 31] +- goal: [6, 16] + name: agent29 + start: [1, 19] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [31, 4] + - !!python/tuple [25, 12] + - !!python/tuple [15, 13] + - !!python/tuple [22, 14] + - !!python/tuple [22, 18] + - !!python/tuple [0, 15] + - !!python/tuple [7, 27] + - !!python/tuple [7, 17] + - !!python/tuple [22, 15] + - !!python/tuple [18, 2] + - !!python/tuple [27, 20] + - !!python/tuple [24, 11] + - !!python/tuple [22, 7] + - !!python/tuple [12, 12] + - !!python/tuple [9, 1] + - !!python/tuple [18, 10] + - !!python/tuple [24, 7] + - !!python/tuple [31, 19] + - !!python/tuple [14, 9] + - !!python/tuple [28, 0] + - !!python/tuple [30, 30] + - !!python/tuple [0, 5] + - !!python/tuple [24, 1] + - !!python/tuple [2, 4] + - !!python/tuple [17, 0] + - !!python/tuple [16, 28] + - !!python/tuple [13, 27] + - !!python/tuple [18, 17] + - !!python/tuple [29, 13] + - !!python/tuple [8, 4] + - !!python/tuple [27, 31] + - !!python/tuple [31, 5] + - !!python/tuple [1, 28] + - !!python/tuple [2, 27] + - !!python/tuple [6, 2] + - !!python/tuple [8, 9] + - !!python/tuple [17, 27] + - !!python/tuple [4, 3] + - !!python/tuple [17, 4] + - !!python/tuple [6, 22] + - !!python/tuple [21, 13] + - !!python/tuple [18, 12] + - !!python/tuple [24, 10] + - !!python/tuple [9, 17] + - !!python/tuple [20, 19] + - !!python/tuple [6, 31] + - !!python/tuple [0, 27] + - !!python/tuple [27, 4] + - !!python/tuple [2, 0] + - !!python/tuple [2, 16] + - !!python/tuple [20, 27] + - !!python/tuple [8, 3] + - !!python/tuple [18, 6] + - !!python/tuple [3, 18] + - !!python/tuple [30, 2] + - !!python/tuple [18, 14] + - !!python/tuple [26, 25] + - !!python/tuple [20, 11] + - !!python/tuple [20, 13] + - !!python/tuple [0, 25] + - !!python/tuple [2, 21] + - !!python/tuple [6, 9] + - !!python/tuple [28, 29] + - !!python/tuple [15, 11] + - !!python/tuple [5, 9] + - !!python/tuple [1, 0] + - !!python/tuple [7, 10] + - !!python/tuple [22, 26] + - !!python/tuple [25, 8] + - !!python/tuple [30, 16] + - !!python/tuple [0, 14] + - !!python/tuple [0, 26] + - !!python/tuple [9, 5] + - !!python/tuple [29, 24] + - !!python/tuple [19, 8] + - !!python/tuple [15, 9] + - !!python/tuple [8, 20] + - !!python/tuple [9, 11] + - !!python/tuple [25, 17] + - !!python/tuple [14, 4] + - !!python/tuple [27, 10] + - !!python/tuple [6, 4] + - !!python/tuple [16, 29] + - !!python/tuple [19, 1] + - !!python/tuple [2, 24] + - !!python/tuple [27, 6] + - !!python/tuple [28, 18] + - !!python/tuple [6, 29] + - !!python/tuple [13, 31] + - !!python/tuple [8, 5] + - !!python/tuple [24, 2] + - !!python/tuple [5, 15] + - !!python/tuple [26, 30] + - !!python/tuple [17, 29] + - !!python/tuple [31, 26] + - !!python/tuple [22, 5] + - !!python/tuple [6, 12] + - !!python/tuple [22, 23] + - !!python/tuple [20, 21] + - !!python/tuple [14, 12] + - !!python/tuple [7, 22] + - !!python/tuple [11, 7] + - !!python/tuple [24, 29] + - !!python/tuple [17, 10] + - !!python/tuple [11, 26] + - !!python/tuple [9, 28] + - !!python/tuple [30, 18] + - !!python/tuple [2, 29] + - !!python/tuple [22, 27] + - !!python/tuple [4, 27] + - !!python/tuple [12, 22] + - !!python/tuple [10, 10] + - !!python/tuple [15, 23] + - !!python/tuple [27, 2] + - !!python/tuple [1, 11] + - !!python/tuple [20, 1] + - !!python/tuple [24, 20] + - !!python/tuple [23, 15] + - !!python/tuple [3, 13] + - !!python/tuple [7, 30] + - !!python/tuple [7, 6] + - !!python/tuple [11, 21] + - !!python/tuple [25, 29] + - !!python/tuple [0, 20] + - !!python/tuple [25, 1] + - !!python/tuple [23, 27] + - !!python/tuple [30, 7] + - !!python/tuple [0, 6] + - !!python/tuple [9, 22] + - !!python/tuple [20, 15] + - !!python/tuple [22, 8] + - !!python/tuple [17, 6] + - !!python/tuple [19, 30] + - !!python/tuple [21, 25] + - !!python/tuple [8, 27] + - !!python/tuple [17, 21] + - !!python/tuple [25, 14] + - !!python/tuple [20, 2] + - !!python/tuple [11, 4] + - !!python/tuple [11, 3] + - !!python/tuple [16, 2] + - !!python/tuple [31, 3] + - !!python/tuple [29, 19] + - !!python/tuple [8, 22] + - !!python/tuple [26, 22] + - !!python/tuple [0, 11] + - !!python/tuple [5, 5] + - !!python/tuple [6, 27] + - !!python/tuple [15, 24] + - !!python/tuple [23, 19] + - !!python/tuple [30, 25] + - !!python/tuple [5, 1] + - !!python/tuple [9, 9] + - !!python/tuple [14, 26] + - !!python/tuple [0, 22] + - !!python/tuple [14, 18] + - !!python/tuple [29, 23] + - !!python/tuple [26, 27] + - !!python/tuple [28, 21] + - !!python/tuple [0, 28] + - !!python/tuple [1, 29] + - !!python/tuple [25, 2] + - !!python/tuple [2, 2] + - !!python/tuple [8, 28] + - !!python/tuple [6, 24] + - !!python/tuple [23, 16] + - !!python/tuple [13, 9] + - !!python/tuple [10, 12] + - !!python/tuple [19, 31] + - !!python/tuple [6, 1] + - !!python/tuple [30, 5] + - !!python/tuple [7, 24] + - !!python/tuple [28, 19] + - !!python/tuple [6, 25] + - !!python/tuple [1, 1] + - !!python/tuple [15, 1] + - !!python/tuple [2, 31] + - !!python/tuple [23, 14] + - !!python/tuple [29, 15] + - !!python/tuple [21, 8] + - !!python/tuple [15, 18] + - !!python/tuple [28, 5] + - !!python/tuple [21, 21] + - !!python/tuple [5, 11] + - !!python/tuple [9, 13] + - !!python/tuple [16, 19] + - !!python/tuple [27, 14] + - !!python/tuple [28, 15] + - !!python/tuple [27, 29] + - !!python/tuple [31, 16] + - !!python/tuple [5, 10] + - !!python/tuple [17, 1] + - !!python/tuple [24, 30] + - !!python/tuple [21, 12] + - !!python/tuple [10, 3] + - !!python/tuple [29, 21] + - !!python/tuple [20, 28] + - !!python/tuple [29, 28] + - !!python/tuple [12, 6] + - !!python/tuple [21, 24] + - !!python/tuple [9, 23] + - !!python/tuple [15, 19] + - !!python/tuple [28, 12] + - !!python/tuple [30, 3] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex49.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex49.yaml new file mode 100644 index 0000000..9406535 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex49.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [6, 6] + name: agent0 + start: [0, 22] +- goal: [15, 22] + name: agent1 + start: [4, 4] +- goal: [30, 9] + name: agent2 + start: [29, 18] +- goal: [20, 30] + name: agent3 + start: [28, 18] +- goal: [14, 3] + name: agent4 + start: [5, 8] +- goal: [11, 29] + name: agent5 + start: [30, 1] +- goal: [27, 7] + name: agent6 + start: [31, 10] +- goal: [10, 16] + name: agent7 + start: [3, 25] +- goal: [14, 20] + name: agent8 + start: [23, 24] +- goal: [1, 16] + name: agent9 + start: [7, 29] +- goal: [29, 12] + name: agent10 + start: [3, 17] +- goal: [13, 20] + name: agent11 + start: [15, 21] +- goal: [9, 30] + name: agent12 + start: [11, 15] +- goal: [16, 10] + name: agent13 + start: [3, 19] +- goal: [14, 17] + name: agent14 + start: [18, 7] +- goal: [23, 6] + name: agent15 + start: [7, 6] +- goal: [12, 28] + name: agent16 + start: [16, 17] +- goal: [31, 29] + name: agent17 + start: [3, 30] +- goal: [5, 31] + name: agent18 + start: [21, 13] +- goal: [29, 24] + name: agent19 + start: [15, 5] +- goal: [26, 17] + name: agent20 + start: [14, 18] +- goal: [4, 25] + name: agent21 + start: [0, 15] +- goal: [18, 7] + name: agent22 + start: [25, 21] +- goal: [21, 9] + name: agent23 + start: [20, 16] +- goal: [26, 23] + name: agent24 + start: [30, 8] +- goal: [17, 18] + name: agent25 + start: [19, 10] +- goal: [20, 25] + name: agent26 + start: [25, 4] +- goal: [23, 19] + name: agent27 + start: [21, 12] +- goal: [1, 23] + name: agent28 + start: [14, 12] +- goal: [24, 11] + name: agent29 + start: [23, 11] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [2, 16] + - !!python/tuple [14, 4] + - !!python/tuple [10, 24] + - !!python/tuple [1, 17] + - !!python/tuple [7, 15] + - !!python/tuple [25, 25] + - !!python/tuple [1, 15] + - !!python/tuple [10, 26] + - !!python/tuple [3, 18] + - !!python/tuple [3, 10] + - !!python/tuple [6, 17] + - !!python/tuple [0, 11] + - !!python/tuple [2, 4] + - !!python/tuple [19, 5] + - !!python/tuple [18, 20] + - !!python/tuple [24, 1] + - !!python/tuple [22, 12] + - !!python/tuple [7, 3] + - !!python/tuple [9, 7] + - !!python/tuple [16, 6] + - !!python/tuple [24, 20] + - !!python/tuple [26, 7] + - !!python/tuple [2, 28] + - !!python/tuple [1, 24] + - !!python/tuple [8, 16] + - !!python/tuple [12, 9] + - !!python/tuple [2, 23] + - !!python/tuple [8, 26] + - !!python/tuple [4, 23] + - !!python/tuple [19, 15] + - !!python/tuple [15, 3] + - !!python/tuple [30, 25] + - !!python/tuple [24, 26] + - !!python/tuple [25, 9] + - !!python/tuple [29, 20] + - !!python/tuple [15, 18] + - !!python/tuple [11, 6] + - !!python/tuple [15, 23] + - !!python/tuple [6, 29] + - !!python/tuple [29, 28] + - !!python/tuple [16, 23] + - !!python/tuple [6, 13] + - !!python/tuple [5, 14] + - !!python/tuple [0, 5] + - !!python/tuple [19, 9] + - !!python/tuple [22, 16] + - !!python/tuple [8, 28] + - !!python/tuple [25, 31] + - !!python/tuple [8, 19] + - !!python/tuple [6, 10] + - !!python/tuple [4, 2] + - !!python/tuple [9, 28] + - !!python/tuple [0, 30] + - !!python/tuple [14, 7] + - !!python/tuple [31, 2] + - !!python/tuple [11, 26] + - !!python/tuple [3, 16] + - !!python/tuple [4, 30] + - !!python/tuple [22, 3] + - !!python/tuple [19, 19] + - !!python/tuple [2, 22] + - !!python/tuple [28, 11] + - !!python/tuple [19, 23] + - !!python/tuple [16, 21] + - !!python/tuple [27, 23] + - !!python/tuple [15, 17] + - !!python/tuple [20, 21] + - !!python/tuple [12, 0] + - !!python/tuple [27, 1] + - !!python/tuple [29, 14] + - !!python/tuple [22, 6] + - !!python/tuple [18, 30] + - !!python/tuple [25, 18] + - !!python/tuple [11, 19] + - !!python/tuple [25, 11] + - !!python/tuple [30, 18] + - !!python/tuple [29, 27] + - !!python/tuple [29, 5] + - !!python/tuple [22, 14] + - !!python/tuple [30, 26] + - !!python/tuple [6, 21] + - !!python/tuple [27, 5] + - !!python/tuple [28, 25] + - !!python/tuple [27, 9] + - !!python/tuple [4, 14] + - !!python/tuple [1, 6] + - !!python/tuple [28, 28] + - !!python/tuple [12, 21] + - !!python/tuple [14, 0] + - !!python/tuple [11, 2] + - !!python/tuple [29, 26] + - !!python/tuple [31, 31] + - !!python/tuple [29, 17] + - !!python/tuple [13, 14] + - !!python/tuple [31, 1] + - !!python/tuple [16, 3] + - !!python/tuple [22, 7] + - !!python/tuple [21, 0] + - !!python/tuple [21, 6] + - !!python/tuple [18, 18] + - !!python/tuple [7, 20] + - !!python/tuple [26, 19] + - !!python/tuple [2, 7] + - !!python/tuple [6, 15] + - !!python/tuple [27, 0] + - !!python/tuple [6, 27] + - !!python/tuple [5, 0] + - !!python/tuple [24, 3] + - !!python/tuple [19, 17] + - !!python/tuple [23, 12] + - !!python/tuple [24, 22] + - !!python/tuple [1, 1] + - !!python/tuple [26, 18] + - !!python/tuple [15, 8] + - !!python/tuple [18, 8] + - !!python/tuple [9, 5] + - !!python/tuple [22, 10] + - !!python/tuple [2, 11] + - !!python/tuple [4, 6] + - !!python/tuple [29, 11] + - !!python/tuple [8, 14] + - !!python/tuple [11, 7] + - !!python/tuple [1, 31] + - !!python/tuple [13, 19] + - !!python/tuple [5, 26] + - !!python/tuple [17, 30] + - !!python/tuple [12, 29] + - !!python/tuple [13, 13] + - !!python/tuple [23, 14] + - !!python/tuple [18, 21] + - !!python/tuple [8, 29] + - !!python/tuple [26, 21] + - !!python/tuple [13, 25] + - !!python/tuple [20, 22] + - !!python/tuple [17, 31] + - !!python/tuple [19, 18] + - !!python/tuple [10, 27] + - !!python/tuple [15, 14] + - !!python/tuple [31, 3] + - !!python/tuple [12, 3] + - !!python/tuple [0, 28] + - !!python/tuple [17, 3] + - !!python/tuple [26, 2] + - !!python/tuple [0, 20] + - !!python/tuple [0, 8] + - !!python/tuple [19, 28] + - !!python/tuple [28, 5] + - !!python/tuple [9, 24] + - !!python/tuple [17, 6] + - !!python/tuple [18, 6] + - !!python/tuple [17, 26] + - !!python/tuple [29, 10] + - !!python/tuple [28, 19] + - !!python/tuple [16, 9] + - !!python/tuple [14, 30] + - !!python/tuple [20, 24] + - !!python/tuple [24, 30] + - !!python/tuple [21, 30] + - !!python/tuple [19, 13] + - !!python/tuple [17, 22] + - !!python/tuple [8, 0] + - !!python/tuple [25, 10] + - !!python/tuple [29, 0] + - !!python/tuple [16, 14] + - !!python/tuple [25, 16] + - !!python/tuple [18, 1] + - !!python/tuple [13, 21] + - !!python/tuple [15, 24] + - !!python/tuple [31, 0] + - !!python/tuple [2, 19] + - !!python/tuple [28, 4] + - !!python/tuple [13, 3] + - !!python/tuple [18, 0] + - !!python/tuple [21, 24] + - !!python/tuple [11, 31] + - !!python/tuple [29, 8] + - !!python/tuple [2, 14] + - !!python/tuple [21, 22] + - !!python/tuple [17, 28] + - !!python/tuple [6, 24] + - !!python/tuple [15, 2] + - !!python/tuple [18, 5] + - !!python/tuple [24, 16] + - !!python/tuple [3, 3] + - !!python/tuple [27, 2] + - !!python/tuple [0, 27] + - !!python/tuple [13, 1] + - !!python/tuple [25, 29] + - !!python/tuple [9, 9] + - !!python/tuple [11, 22] + - !!python/tuple [31, 24] + - !!python/tuple [13, 28] + - !!python/tuple [31, 5] + - !!python/tuple [3, 31] + - !!python/tuple [4, 1] + - !!python/tuple [21, 27] + - !!python/tuple [10, 13] + - !!python/tuple [23, 8] + - !!python/tuple [13, 16] + - !!python/tuple [3, 1] + - !!python/tuple [7, 27] + - !!python/tuple [17, 20] + - !!python/tuple [7, 22] + - !!python/tuple [26, 9] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex5.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex5.yaml new file mode 100644 index 0000000..59ec029 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex5.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [28, 11] + name: agent0 + start: [11, 16] +- goal: [31, 14] + name: agent1 + start: [26, 1] +- goal: [30, 13] + name: agent2 + start: [15, 6] +- goal: [17, 31] + name: agent3 + start: [30, 13] +- goal: [24, 17] + name: agent4 + start: [11, 22] +- goal: [19, 13] + name: agent5 + start: [5, 26] +- goal: [11, 25] + name: agent6 + start: [11, 30] +- goal: [8, 3] + name: agent7 + start: [19, 12] +- goal: [25, 12] + name: agent8 + start: [18, 31] +- goal: [8, 26] + name: agent9 + start: [6, 21] +- goal: [8, 22] + name: agent10 + start: [15, 22] +- goal: [26, 10] + name: agent11 + start: [20, 26] +- goal: [24, 25] + name: agent12 + start: [31, 5] +- goal: [12, 20] + name: agent13 + start: [19, 19] +- goal: [17, 15] + name: agent14 + start: [3, 12] +- goal: [9, 8] + name: agent15 + start: [22, 7] +- goal: [10, 0] + name: agent16 + start: [12, 9] +- goal: [0, 8] + name: agent17 + start: [29, 2] +- goal: [19, 5] + name: agent18 + start: [3, 9] +- goal: [9, 31] + name: agent19 + start: [31, 8] +- goal: [10, 9] + name: agent20 + start: [3, 26] +- goal: [15, 9] + name: agent21 + start: [2, 21] +- goal: [14, 8] + name: agent22 + start: [18, 14] +- goal: [13, 18] + name: agent23 + start: [16, 5] +- goal: [21, 12] + name: agent24 + start: [14, 19] +- goal: [0, 13] + name: agent25 + start: [1, 23] +- goal: [7, 16] + name: agent26 + start: [21, 12] +- goal: [4, 17] + name: agent27 + start: [12, 27] +- goal: [3, 27] + name: agent28 + start: [7, 2] +- goal: [27, 29] + name: agent29 + start: [16, 30] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [23, 15] + - !!python/tuple [24, 27] + - !!python/tuple [29, 11] + - !!python/tuple [0, 27] + - !!python/tuple [16, 1] + - !!python/tuple [14, 10] + - !!python/tuple [3, 28] + - !!python/tuple [9, 28] + - !!python/tuple [15, 1] + - !!python/tuple [22, 22] + - !!python/tuple [21, 25] + - !!python/tuple [3, 7] + - !!python/tuple [5, 2] + - !!python/tuple [30, 6] + - !!python/tuple [23, 8] + - !!python/tuple [0, 25] + - !!python/tuple [13, 11] + - !!python/tuple [17, 4] + - !!python/tuple [10, 3] + - !!python/tuple [18, 2] + - !!python/tuple [29, 9] + - !!python/tuple [21, 7] + - !!python/tuple [1, 31] + - !!python/tuple [28, 19] + - !!python/tuple [25, 29] + - !!python/tuple [19, 0] + - !!python/tuple [21, 10] + - !!python/tuple [0, 2] + - !!python/tuple [3, 4] + - !!python/tuple [26, 16] + - !!python/tuple [25, 3] + - !!python/tuple [7, 6] + - !!python/tuple [31, 24] + - !!python/tuple [29, 20] + - !!python/tuple [10, 10] + - !!python/tuple [31, 23] + - !!python/tuple [7, 8] + - !!python/tuple [21, 20] + - !!python/tuple [3, 5] + - !!python/tuple [6, 22] + - !!python/tuple [26, 12] + - !!python/tuple [11, 17] + - !!python/tuple [9, 21] + - !!python/tuple [6, 25] + - !!python/tuple [15, 25] + - !!python/tuple [26, 9] + - !!python/tuple [29, 18] + - !!python/tuple [4, 29] + - !!python/tuple [5, 28] + - !!python/tuple [12, 12] + - !!python/tuple [13, 27] + - !!python/tuple [31, 16] + - !!python/tuple [13, 30] + - !!python/tuple [31, 18] + - !!python/tuple [30, 19] + - !!python/tuple [21, 8] + - !!python/tuple [12, 25] + - !!python/tuple [10, 18] + - !!python/tuple [4, 22] + - !!python/tuple [18, 25] + - !!python/tuple [20, 1] + - !!python/tuple [27, 14] + - !!python/tuple [13, 8] + - !!python/tuple [23, 2] + - !!python/tuple [1, 27] + - !!python/tuple [20, 19] + - !!python/tuple [16, 15] + - !!python/tuple [29, 25] + - !!python/tuple [22, 10] + - !!python/tuple [14, 13] + - !!python/tuple [27, 24] + - !!python/tuple [31, 2] + - !!python/tuple [5, 24] + - !!python/tuple [8, 27] + - !!python/tuple [8, 13] + - !!python/tuple [21, 6] + - !!python/tuple [2, 12] + - !!python/tuple [22, 12] + - !!python/tuple [7, 14] + - !!python/tuple [27, 2] + - !!python/tuple [17, 25] + - !!python/tuple [18, 11] + - !!python/tuple [18, 1] + - !!python/tuple [0, 29] + - !!python/tuple [27, 9] + - !!python/tuple [27, 8] + - !!python/tuple [24, 8] + - !!python/tuple [0, 17] + - !!python/tuple [23, 13] + - !!python/tuple [29, 17] + - !!python/tuple [4, 6] + - !!python/tuple [17, 17] + - !!python/tuple [26, 2] + - !!python/tuple [0, 12] + - !!python/tuple [9, 13] + - !!python/tuple [18, 17] + - !!python/tuple [30, 8] + - !!python/tuple [31, 13] + - !!python/tuple [28, 8] + - !!python/tuple [27, 27] + - !!python/tuple [9, 20] + - !!python/tuple [26, 4] + - !!python/tuple [30, 16] + - !!python/tuple [23, 28] + - !!python/tuple [10, 13] + - !!python/tuple [8, 10] + - !!python/tuple [26, 28] + - !!python/tuple [25, 0] + - !!python/tuple [17, 9] + - !!python/tuple [9, 18] + - !!python/tuple [6, 12] + - !!python/tuple [12, 15] + - !!python/tuple [8, 9] + - !!python/tuple [10, 20] + - !!python/tuple [22, 27] + - !!python/tuple [2, 20] + - !!python/tuple [19, 28] + - !!python/tuple [1, 10] + - !!python/tuple [6, 24] + - !!python/tuple [27, 12] + - !!python/tuple [2, 10] + - !!python/tuple [0, 30] + - !!python/tuple [21, 27] + - !!python/tuple [19, 15] + - !!python/tuple [19, 23] + - !!python/tuple [7, 0] + - !!python/tuple [13, 3] + - !!python/tuple [18, 10] + - !!python/tuple [22, 17] + - !!python/tuple [29, 24] + - !!python/tuple [23, 30] + - !!python/tuple [30, 27] + - !!python/tuple [18, 28] + - !!python/tuple [14, 16] + - !!python/tuple [4, 30] + - !!python/tuple [13, 9] + - !!python/tuple [23, 3] + - !!python/tuple [3, 21] + - !!python/tuple [29, 12] + - !!python/tuple [18, 9] + - !!python/tuple [10, 19] + - !!python/tuple [6, 18] + - !!python/tuple [22, 18] + - !!python/tuple [20, 18] + - !!python/tuple [23, 20] + - !!python/tuple [5, 15] + - !!python/tuple [24, 14] + - !!python/tuple [11, 15] + - !!python/tuple [13, 4] + - !!python/tuple [8, 23] + - !!python/tuple [8, 12] + - !!python/tuple [31, 1] + - !!python/tuple [0, 19] + - !!python/tuple [20, 5] + - !!python/tuple [15, 3] + - !!python/tuple [18, 30] + - !!python/tuple [15, 26] + - !!python/tuple [26, 19] + - !!python/tuple [13, 14] + - !!python/tuple [8, 20] + - !!python/tuple [20, 12] + - !!python/tuple [27, 25] + - !!python/tuple [23, 26] + - !!python/tuple [5, 16] + - !!python/tuple [17, 0] + - !!python/tuple [21, 22] + - !!python/tuple [15, 2] + - !!python/tuple [12, 6] + - !!python/tuple [20, 13] + - !!python/tuple [0, 3] + - !!python/tuple [24, 22] + - !!python/tuple [7, 31] + - !!python/tuple [25, 21] + - !!python/tuple [30, 30] + - !!python/tuple [30, 4] + - !!python/tuple [22, 25] + - !!python/tuple [5, 6] + - !!python/tuple [31, 3] + - !!python/tuple [2, 4] + - !!python/tuple [2, 5] + - !!python/tuple [15, 12] + - !!python/tuple [18, 15] + - !!python/tuple [14, 3] + - !!python/tuple [12, 28] + - !!python/tuple [24, 12] + - !!python/tuple [7, 1] + - !!python/tuple [6, 30] + - !!python/tuple [29, 16] + - !!python/tuple [17, 11] + - !!python/tuple [30, 0] + - !!python/tuple [1, 18] + - !!python/tuple [16, 22] + - !!python/tuple [31, 30] + - !!python/tuple [25, 4] + - !!python/tuple [23, 10] + - !!python/tuple [20, 4] + - !!python/tuple [11, 2] + - !!python/tuple [9, 0] + - !!python/tuple [13, 28] + - !!python/tuple [27, 6] + - !!python/tuple [19, 22] + - !!python/tuple [6, 13] + - !!python/tuple [0, 15] + - !!python/tuple [26, 30] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex50.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex50.yaml new file mode 100644 index 0000000..ba7e26b --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex50.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [27, 4] + name: agent0 + start: [14, 7] +- goal: [17, 4] + name: agent1 + start: [22, 20] +- goal: [30, 16] + name: agent2 + start: [9, 7] +- goal: [25, 14] + name: agent3 + start: [10, 5] +- goal: [24, 23] + name: agent4 + start: [2, 7] +- goal: [12, 1] + name: agent5 + start: [13, 15] +- goal: [23, 17] + name: agent6 + start: [9, 3] +- goal: [2, 31] + name: agent7 + start: [4, 13] +- goal: [30, 20] + name: agent8 + start: [10, 7] +- goal: [23, 27] + name: agent9 + start: [29, 16] +- goal: [16, 7] + name: agent10 + start: [26, 10] +- goal: [10, 13] + name: agent11 + start: [16, 23] +- goal: [10, 25] + name: agent12 + start: [22, 30] +- goal: [20, 25] + name: agent13 + start: [19, 10] +- goal: [17, 1] + name: agent14 + start: [0, 8] +- goal: [24, 22] + name: agent15 + start: [19, 25] +- goal: [15, 2] + name: agent16 + start: [17, 21] +- goal: [21, 17] + name: agent17 + start: [17, 7] +- goal: [2, 15] + name: agent18 + start: [7, 6] +- goal: [10, 19] + name: agent19 + start: [9, 6] +- goal: [29, 4] + name: agent20 + start: [13, 31] +- goal: [30, 6] + name: agent21 + start: [2, 9] +- goal: [2, 5] + name: agent22 + start: [26, 7] +- goal: [16, 25] + name: agent23 + start: [27, 16] +- goal: [20, 8] + name: agent24 + start: [20, 18] +- goal: [17, 14] + name: agent25 + start: [2, 28] +- goal: [24, 2] + name: agent26 + start: [19, 22] +- goal: [17, 11] + name: agent27 + start: [21, 26] +- goal: [26, 1] + name: agent28 + start: [21, 18] +- goal: [0, 30] + name: agent29 + start: [29, 12] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [6, 4] + - !!python/tuple [11, 2] + - !!python/tuple [6, 6] + - !!python/tuple [4, 31] + - !!python/tuple [24, 29] + - !!python/tuple [31, 16] + - !!python/tuple [11, 23] + - !!python/tuple [13, 20] + - !!python/tuple [30, 29] + - !!python/tuple [1, 24] + - !!python/tuple [24, 14] + - !!python/tuple [14, 12] + - !!python/tuple [3, 17] + - !!python/tuple [7, 9] + - !!python/tuple [12, 23] + - !!python/tuple [15, 12] + - !!python/tuple [28, 24] + - !!python/tuple [1, 11] + - !!python/tuple [31, 21] + - !!python/tuple [2, 14] + - !!python/tuple [21, 15] + - !!python/tuple [16, 5] + - !!python/tuple [5, 14] + - !!python/tuple [18, 1] + - !!python/tuple [21, 10] + - !!python/tuple [13, 5] + - !!python/tuple [31, 28] + - !!python/tuple [7, 18] + - !!python/tuple [8, 9] + - !!python/tuple [17, 18] + - !!python/tuple [18, 5] + - !!python/tuple [16, 12] + - !!python/tuple [16, 8] + - !!python/tuple [12, 24] + - !!python/tuple [10, 4] + - !!python/tuple [13, 22] + - !!python/tuple [15, 28] + - !!python/tuple [8, 10] + - !!python/tuple [30, 1] + - !!python/tuple [27, 23] + - !!python/tuple [28, 2] + - !!python/tuple [18, 22] + - !!python/tuple [19, 11] + - !!python/tuple [19, 2] + - !!python/tuple [30, 5] + - !!python/tuple [14, 1] + - !!python/tuple [21, 16] + - !!python/tuple [9, 16] + - !!python/tuple [29, 5] + - !!python/tuple [18, 30] + - !!python/tuple [2, 29] + - !!python/tuple [20, 15] + - !!python/tuple [8, 30] + - !!python/tuple [20, 13] + - !!python/tuple [12, 4] + - !!python/tuple [9, 4] + - !!python/tuple [3, 18] + - !!python/tuple [21, 29] + - !!python/tuple [12, 18] + - !!python/tuple [29, 6] + - !!python/tuple [13, 11] + - !!python/tuple [27, 18] + - !!python/tuple [26, 28] + - !!python/tuple [13, 0] + - !!python/tuple [1, 2] + - !!python/tuple [15, 27] + - !!python/tuple [23, 29] + - !!python/tuple [15, 30] + - !!python/tuple [28, 27] + - !!python/tuple [24, 9] + - !!python/tuple [1, 30] + - !!python/tuple [6, 3] + - !!python/tuple [14, 8] + - !!python/tuple [12, 22] + - !!python/tuple [24, 30] + - !!python/tuple [4, 11] + - !!python/tuple [16, 20] + - !!python/tuple [2, 11] + - !!python/tuple [30, 21] + - !!python/tuple [28, 17] + - !!python/tuple [31, 25] + - !!python/tuple [27, 27] + - !!python/tuple [1, 9] + - !!python/tuple [13, 13] + - !!python/tuple [4, 21] + - !!python/tuple [21, 25] + - !!python/tuple [3, 19] + - !!python/tuple [4, 2] + - !!python/tuple [18, 12] + - !!python/tuple [24, 26] + - !!python/tuple [4, 0] + - !!python/tuple [24, 18] + - !!python/tuple [24, 15] + - !!python/tuple [25, 11] + - !!python/tuple [18, 15] + - !!python/tuple [4, 26] + - !!python/tuple [8, 19] + - !!python/tuple [3, 15] + - !!python/tuple [29, 8] + - !!python/tuple [22, 4] + - !!python/tuple [29, 25] + - !!python/tuple [26, 12] + - !!python/tuple [11, 24] + - !!python/tuple [19, 20] + - !!python/tuple [12, 12] + - !!python/tuple [26, 13] + - !!python/tuple [16, 30] + - !!python/tuple [23, 3] + - !!python/tuple [9, 29] + - !!python/tuple [24, 24] + - !!python/tuple [31, 31] + - !!python/tuple [13, 17] + - !!python/tuple [26, 17] + - !!python/tuple [5, 8] + - !!python/tuple [5, 9] + - !!python/tuple [11, 20] + - !!python/tuple [4, 19] + - !!python/tuple [1, 3] + - !!python/tuple [9, 1] + - !!python/tuple [19, 0] + - !!python/tuple [4, 10] + - !!python/tuple [6, 27] + - !!python/tuple [1, 0] + - !!python/tuple [1, 6] + - !!python/tuple [10, 11] + - !!python/tuple [10, 0] + - !!python/tuple [6, 31] + - !!python/tuple [16, 17] + - !!python/tuple [10, 9] + - !!python/tuple [19, 9] + - !!python/tuple [30, 27] + - !!python/tuple [21, 19] + - !!python/tuple [23, 2] + - !!python/tuple [27, 12] + - !!python/tuple [20, 2] + - !!python/tuple [11, 22] + - !!python/tuple [14, 28] + - !!python/tuple [30, 7] + - !!python/tuple [13, 26] + - !!python/tuple [7, 25] + - !!python/tuple [6, 24] + - !!python/tuple [18, 18] + - !!python/tuple [27, 14] + - !!python/tuple [1, 20] + - !!python/tuple [28, 26] + - !!python/tuple [6, 30] + - !!python/tuple [27, 3] + - !!python/tuple [19, 17] + - !!python/tuple [23, 23] + - !!python/tuple [26, 24] + - !!python/tuple [15, 14] + - !!python/tuple [5, 15] + - !!python/tuple [24, 0] + - !!python/tuple [13, 10] + - !!python/tuple [7, 5] + - !!python/tuple [15, 15] + - !!python/tuple [19, 23] + - !!python/tuple [4, 3] + - !!python/tuple [5, 6] + - !!python/tuple [24, 5] + - !!python/tuple [30, 17] + - !!python/tuple [22, 31] + - !!python/tuple [18, 29] + - !!python/tuple [30, 13] + - !!python/tuple [17, 20] + - !!python/tuple [11, 18] + - !!python/tuple [12, 9] + - !!python/tuple [10, 22] + - !!python/tuple [5, 22] + - !!python/tuple [28, 0] + - !!python/tuple [22, 11] + - !!python/tuple [12, 16] + - !!python/tuple [12, 26] + - !!python/tuple [25, 25] + - !!python/tuple [11, 0] + - !!python/tuple [12, 6] + - !!python/tuple [22, 21] + - !!python/tuple [8, 18] + - !!python/tuple [9, 22] + - !!python/tuple [24, 27] + - !!python/tuple [22, 8] + - !!python/tuple [25, 20] + - !!python/tuple [12, 29] + - !!python/tuple [25, 6] + - !!python/tuple [19, 31] + - !!python/tuple [28, 19] + - !!python/tuple [0, 1] + - !!python/tuple [10, 16] + - !!python/tuple [29, 9] + - !!python/tuple [19, 26] + - !!python/tuple [26, 30] + - !!python/tuple [30, 9] + - !!python/tuple [28, 12] + - !!python/tuple [4, 9] + - !!python/tuple [7, 30] + - !!python/tuple [8, 6] + - !!python/tuple [26, 23] + - !!python/tuple [22, 24] + - !!python/tuple [23, 20] + - !!python/tuple [9, 5] + - !!python/tuple [19, 27] + - !!python/tuple [27, 7] + - !!python/tuple [9, 12] + - !!python/tuple [3, 21] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex51.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex51.yaml new file mode 100644 index 0000000..f040eea --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex51.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [23, 20] + name: agent0 + start: [29, 13] +- goal: [5, 13] + name: agent1 + start: [20, 24] +- goal: [9, 14] + name: agent2 + start: [2, 23] +- goal: [29, 17] + name: agent3 + start: [28, 7] +- goal: [31, 23] + name: agent4 + start: [21, 15] +- goal: [21, 1] + name: agent5 + start: [27, 19] +- goal: [9, 7] + name: agent6 + start: [11, 13] +- goal: [31, 31] + name: agent7 + start: [1, 3] +- goal: [24, 3] + name: agent8 + start: [25, 10] +- goal: [25, 7] + name: agent9 + start: [15, 22] +- goal: [22, 29] + name: agent10 + start: [15, 18] +- goal: [11, 24] + name: agent11 + start: [25, 1] +- goal: [8, 28] + name: agent12 + start: [10, 29] +- goal: [17, 17] + name: agent13 + start: [24, 25] +- goal: [12, 5] + name: agent14 + start: [25, 31] +- goal: [6, 12] + name: agent15 + start: [1, 7] +- goal: [28, 6] + name: agent16 + start: [21, 20] +- goal: [27, 14] + name: agent17 + start: [31, 28] +- goal: [11, 2] + name: agent18 + start: [9, 24] +- goal: [8, 2] + name: agent19 + start: [7, 9] +- goal: [7, 1] + name: agent20 + start: [22, 3] +- goal: [9, 10] + name: agent21 + start: [1, 20] +- goal: [2, 27] + name: agent22 + start: [19, 11] +- goal: [6, 18] + name: agent23 + start: [14, 19] +- goal: [7, 19] + name: agent24 + start: [13, 10] +- goal: [27, 1] + name: agent25 + start: [28, 11] +- goal: [1, 29] + name: agent26 + start: [29, 12] +- goal: [14, 13] + name: agent27 + start: [23, 10] +- goal: [14, 17] + name: agent28 + start: [14, 24] +- goal: [2, 4] + name: agent29 + start: [19, 30] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [17, 4] + - !!python/tuple [17, 6] + - !!python/tuple [5, 19] + - !!python/tuple [8, 10] + - !!python/tuple [25, 22] + - !!python/tuple [10, 31] + - !!python/tuple [12, 15] + - !!python/tuple [13, 24] + - !!python/tuple [13, 28] + - !!python/tuple [29, 25] + - !!python/tuple [4, 0] + - !!python/tuple [8, 22] + - !!python/tuple [15, 26] + - !!python/tuple [11, 25] + - !!python/tuple [17, 27] + - !!python/tuple [27, 5] + - !!python/tuple [14, 15] + - !!python/tuple [1, 24] + - !!python/tuple [9, 12] + - !!python/tuple [24, 20] + - !!python/tuple [26, 10] + - !!python/tuple [29, 7] + - !!python/tuple [7, 15] + - !!python/tuple [18, 7] + - !!python/tuple [19, 27] + - !!python/tuple [0, 22] + - !!python/tuple [13, 29] + - !!python/tuple [28, 13] + - !!python/tuple [30, 21] + - !!python/tuple [8, 21] + - !!python/tuple [8, 0] + - !!python/tuple [29, 27] + - !!python/tuple [25, 9] + - !!python/tuple [4, 4] + - !!python/tuple [24, 26] + - !!python/tuple [15, 15] + - !!python/tuple [7, 6] + - !!python/tuple [26, 4] + - !!python/tuple [16, 19] + - !!python/tuple [4, 17] + - !!python/tuple [28, 24] + - !!python/tuple [27, 21] + - !!python/tuple [10, 8] + - !!python/tuple [9, 22] + - !!python/tuple [19, 12] + - !!python/tuple [30, 23] + - !!python/tuple [0, 25] + - !!python/tuple [9, 1] + - !!python/tuple [6, 31] + - !!python/tuple [19, 8] + - !!python/tuple [1, 0] + - !!python/tuple [8, 30] + - !!python/tuple [25, 6] + - !!python/tuple [3, 4] + - !!python/tuple [1, 13] + - !!python/tuple [26, 8] + - !!python/tuple [21, 12] + - !!python/tuple [30, 10] + - !!python/tuple [31, 26] + - !!python/tuple [22, 30] + - !!python/tuple [18, 0] + - !!python/tuple [11, 30] + - !!python/tuple [31, 7] + - !!python/tuple [22, 13] + - !!python/tuple [29, 30] + - !!python/tuple [19, 20] + - !!python/tuple [15, 23] + - !!python/tuple [30, 22] + - !!python/tuple [22, 15] + - !!python/tuple [13, 20] + - !!python/tuple [26, 23] + - !!python/tuple [14, 9] + - !!python/tuple [24, 30] + - !!python/tuple [8, 17] + - !!python/tuple [3, 22] + - !!python/tuple [18, 19] + - !!python/tuple [4, 7] + - !!python/tuple [18, 2] + - !!python/tuple [23, 15] + - !!python/tuple [28, 29] + - !!python/tuple [9, 23] + - !!python/tuple [31, 5] + - !!python/tuple [31, 25] + - !!python/tuple [5, 2] + - !!python/tuple [13, 15] + - !!python/tuple [4, 12] + - !!python/tuple [4, 25] + - !!python/tuple [31, 14] + - !!python/tuple [29, 18] + - !!python/tuple [15, 10] + - !!python/tuple [30, 4] + - !!python/tuple [17, 18] + - !!python/tuple [0, 26] + - !!python/tuple [18, 22] + - !!python/tuple [27, 17] + - !!python/tuple [12, 8] + - !!python/tuple [19, 22] + - !!python/tuple [24, 1] + - !!python/tuple [7, 30] + - !!python/tuple [26, 13] + - !!python/tuple [11, 27] + - !!python/tuple [10, 15] + - !!python/tuple [29, 23] + - !!python/tuple [22, 19] + - !!python/tuple [16, 28] + - !!python/tuple [14, 3] + - !!python/tuple [4, 5] + - !!python/tuple [19, 28] + - !!python/tuple [8, 11] + - !!python/tuple [21, 29] + - !!python/tuple [27, 6] + - !!python/tuple [26, 7] + - !!python/tuple [11, 28] + - !!python/tuple [1, 4] + - !!python/tuple [24, 27] + - !!python/tuple [16, 13] + - !!python/tuple [14, 18] + - !!python/tuple [1, 30] + - !!python/tuple [15, 7] + - !!python/tuple [15, 28] + - !!python/tuple [21, 10] + - !!python/tuple [16, 14] + - !!python/tuple [28, 21] + - !!python/tuple [18, 31] + - !!python/tuple [0, 14] + - !!python/tuple [31, 8] + - !!python/tuple [20, 9] + - !!python/tuple [10, 26] + - !!python/tuple [0, 13] + - !!python/tuple [10, 25] + - !!python/tuple [19, 0] + - !!python/tuple [19, 19] + - !!python/tuple [29, 0] + - !!python/tuple [20, 17] + - !!python/tuple [20, 3] + - !!python/tuple [13, 30] + - !!python/tuple [3, 1] + - !!python/tuple [5, 25] + - !!python/tuple [8, 29] + - !!python/tuple [24, 11] + - !!python/tuple [24, 12] + - !!python/tuple [3, 28] + - !!python/tuple [23, 2] + - !!python/tuple [26, 2] + - !!python/tuple [6, 11] + - !!python/tuple [12, 29] + - !!python/tuple [25, 24] + - !!python/tuple [26, 5] + - !!python/tuple [25, 12] + - !!python/tuple [6, 21] + - !!python/tuple [6, 6] + - !!python/tuple [4, 27] + - !!python/tuple [29, 21] + - !!python/tuple [2, 30] + - !!python/tuple [8, 1] + - !!python/tuple [19, 17] + - !!python/tuple [9, 3] + - !!python/tuple [7, 8] + - !!python/tuple [13, 14] + - !!python/tuple [4, 10] + - !!python/tuple [1, 14] + - !!python/tuple [26, 18] + - !!python/tuple [8, 6] + - !!python/tuple [21, 6] + - !!python/tuple [18, 13] + - !!python/tuple [28, 22] + - !!python/tuple [20, 28] + - !!python/tuple [11, 9] + - !!python/tuple [12, 19] + - !!python/tuple [20, 14] + - !!python/tuple [27, 18] + - !!python/tuple [4, 29] + - !!python/tuple [15, 17] + - !!python/tuple [23, 0] + - !!python/tuple [10, 12] + - !!python/tuple [13, 27] + - !!python/tuple [30, 30] + - !!python/tuple [21, 31] + - !!python/tuple [22, 0] + - !!python/tuple [28, 31] + - !!python/tuple [3, 23] + - !!python/tuple [24, 7] + - !!python/tuple [25, 23] + - !!python/tuple [30, 20] + - !!python/tuple [29, 9] + - !!python/tuple [25, 3] + - !!python/tuple [11, 16] + - !!python/tuple [27, 16] + - !!python/tuple [27, 11] + - !!python/tuple [14, 1] + - !!python/tuple [2, 31] + - !!python/tuple [8, 15] + - !!python/tuple [20, 19] + - !!python/tuple [7, 2] + - !!python/tuple [5, 3] + - !!python/tuple [14, 22] + - !!python/tuple [17, 29] + - !!python/tuple [7, 10] + - !!python/tuple [16, 1] + - !!python/tuple [23, 9] + - !!python/tuple [20, 18] + - !!python/tuple [17, 19] + - !!python/tuple [5, 22] + - !!python/tuple [22, 21] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex52.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex52.yaml new file mode 100644 index 0000000..86a19df --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex52.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [11, 6] + name: agent0 + start: [9, 21] +- goal: [8, 6] + name: agent1 + start: [12, 3] +- goal: [28, 9] + name: agent2 + start: [2, 14] +- goal: [15, 2] + name: agent3 + start: [29, 22] +- goal: [3, 26] + name: agent4 + start: [9, 28] +- goal: [6, 24] + name: agent5 + start: [21, 26] +- goal: [14, 7] + name: agent6 + start: [17, 7] +- goal: [0, 10] + name: agent7 + start: [4, 20] +- goal: [15, 1] + name: agent8 + start: [18, 11] +- goal: [0, 13] + name: agent9 + start: [29, 4] +- goal: [30, 20] + name: agent10 + start: [16, 31] +- goal: [18, 29] + name: agent11 + start: [28, 16] +- goal: [26, 11] + name: agent12 + start: [17, 0] +- goal: [4, 15] + name: agent13 + start: [3, 6] +- goal: [8, 23] + name: agent14 + start: [4, 3] +- goal: [19, 14] + name: agent15 + start: [2, 11] +- goal: [14, 26] + name: agent16 + start: [12, 21] +- goal: [22, 4] + name: agent17 + start: [11, 17] +- goal: [2, 14] + name: agent18 + start: [25, 11] +- goal: [14, 18] + name: agent19 + start: [29, 29] +- goal: [30, 3] + name: agent20 + start: [14, 23] +- goal: [12, 25] + name: agent21 + start: [5, 1] +- goal: [31, 26] + name: agent22 + start: [11, 28] +- goal: [21, 31] + name: agent23 + start: [4, 6] +- goal: [18, 16] + name: agent24 + start: [13, 23] +- goal: [26, 2] + name: agent25 + start: [20, 20] +- goal: [8, 20] + name: agent26 + start: [8, 5] +- goal: [22, 20] + name: agent27 + start: [22, 8] +- goal: [4, 3] + name: agent28 + start: [23, 24] +- goal: [10, 19] + name: agent29 + start: [27, 3] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [30, 27] + - !!python/tuple [1, 15] + - !!python/tuple [12, 0] + - !!python/tuple [3, 29] + - !!python/tuple [22, 9] + - !!python/tuple [29, 11] + - !!python/tuple [1, 2] + - !!python/tuple [2, 9] + - !!python/tuple [13, 15] + - !!python/tuple [13, 11] + - !!python/tuple [17, 8] + - !!python/tuple [30, 22] + - !!python/tuple [11, 4] + - !!python/tuple [0, 18] + - !!python/tuple [22, 10] + - !!python/tuple [21, 15] + - !!python/tuple [8, 13] + - !!python/tuple [28, 6] + - !!python/tuple [16, 14] + - !!python/tuple [24, 15] + - !!python/tuple [9, 25] + - !!python/tuple [18, 10] + - !!python/tuple [31, 21] + - !!python/tuple [10, 14] + - !!python/tuple [24, 27] + - !!python/tuple [25, 13] + - !!python/tuple [30, 19] + - !!python/tuple [24, 10] + - !!python/tuple [29, 30] + - !!python/tuple [17, 21] + - !!python/tuple [21, 11] + - !!python/tuple [21, 4] + - !!python/tuple [23, 8] + - !!python/tuple [30, 4] + - !!python/tuple [17, 16] + - !!python/tuple [17, 20] + - !!python/tuple [30, 10] + - !!python/tuple [17, 11] + - !!python/tuple [10, 21] + - !!python/tuple [2, 28] + - !!python/tuple [3, 18] + - !!python/tuple [7, 6] + - !!python/tuple [21, 7] + - !!python/tuple [26, 1] + - !!python/tuple [1, 28] + - !!python/tuple [11, 11] + - !!python/tuple [15, 29] + - !!python/tuple [8, 1] + - !!python/tuple [27, 9] + - !!python/tuple [29, 28] + - !!python/tuple [27, 4] + - !!python/tuple [15, 16] + - !!python/tuple [22, 19] + - !!python/tuple [5, 30] + - !!python/tuple [10, 6] + - !!python/tuple [2, 22] + - !!python/tuple [8, 14] + - !!python/tuple [29, 19] + - !!python/tuple [11, 2] + - !!python/tuple [21, 6] + - !!python/tuple [2, 1] + - !!python/tuple [8, 9] + - !!python/tuple [26, 30] + - !!python/tuple [15, 12] + - !!python/tuple [4, 0] + - !!python/tuple [29, 1] + - !!python/tuple [24, 7] + - !!python/tuple [18, 21] + - !!python/tuple [6, 31] + - !!python/tuple [13, 20] + - !!python/tuple [16, 26] + - !!python/tuple [20, 3] + - !!python/tuple [9, 18] + - !!python/tuple [11, 29] + - !!python/tuple [8, 29] + - !!python/tuple [1, 18] + - !!python/tuple [8, 3] + - !!python/tuple [2, 30] + - !!python/tuple [21, 18] + - !!python/tuple [15, 7] + - !!python/tuple [13, 21] + - !!python/tuple [28, 2] + - !!python/tuple [21, 10] + - !!python/tuple [13, 12] + - !!python/tuple [2, 23] + - !!python/tuple [8, 30] + - !!python/tuple [24, 12] + - !!python/tuple [8, 21] + - !!python/tuple [20, 12] + - !!python/tuple [19, 28] + - !!python/tuple [17, 12] + - !!python/tuple [26, 24] + - !!python/tuple [15, 0] + - !!python/tuple [16, 16] + - !!python/tuple [29, 16] + - !!python/tuple [20, 23] + - !!python/tuple [15, 19] + - !!python/tuple [11, 5] + - !!python/tuple [16, 4] + - !!python/tuple [19, 9] + - !!python/tuple [5, 7] + - !!python/tuple [4, 18] + - !!python/tuple [10, 31] + - !!python/tuple [29, 26] + - !!python/tuple [19, 20] + - !!python/tuple [16, 28] + - !!python/tuple [20, 28] + - !!python/tuple [6, 26] + - !!python/tuple [12, 6] + - !!python/tuple [30, 13] + - !!python/tuple [26, 23] + - !!python/tuple [24, 9] + - !!python/tuple [0, 23] + - !!python/tuple [27, 10] + - !!python/tuple [6, 28] + - !!python/tuple [3, 0] + - !!python/tuple [3, 30] + - !!python/tuple [2, 24] + - !!python/tuple [10, 25] + - !!python/tuple [10, 13] + - !!python/tuple [9, 8] + - !!python/tuple [21, 9] + - !!python/tuple [5, 25] + - !!python/tuple [16, 24] + - !!python/tuple [19, 23] + - !!python/tuple [10, 3] + - !!python/tuple [27, 1] + - !!python/tuple [22, 3] + - !!python/tuple [1, 29] + - !!python/tuple [27, 26] + - !!python/tuple [0, 9] + - !!python/tuple [27, 25] + - !!python/tuple [1, 6] + - !!python/tuple [1, 4] + - !!python/tuple [31, 27] + - !!python/tuple [4, 24] + - !!python/tuple [11, 24] + - !!python/tuple [27, 27] + - !!python/tuple [5, 12] + - !!python/tuple [17, 10] + - !!python/tuple [11, 25] + - !!python/tuple [18, 25] + - !!python/tuple [15, 18] + - !!python/tuple [5, 16] + - !!python/tuple [2, 13] + - !!python/tuple [25, 20] + - !!python/tuple [8, 8] + - !!python/tuple [5, 5] + - !!python/tuple [9, 6] + - !!python/tuple [18, 20] + - !!python/tuple [19, 0] + - !!python/tuple [25, 27] + - !!python/tuple [30, 11] + - !!python/tuple [23, 6] + - !!python/tuple [9, 31] + - !!python/tuple [14, 14] + - !!python/tuple [0, 16] + - !!python/tuple [25, 5] + - !!python/tuple [14, 13] + - !!python/tuple [4, 11] + - !!python/tuple [7, 28] + - !!python/tuple [27, 2] + - !!python/tuple [6, 6] + - !!python/tuple [13, 9] + - !!python/tuple [24, 5] + - !!python/tuple [26, 12] + - !!python/tuple [0, 2] + - !!python/tuple [24, 19] + - !!python/tuple [29, 25] + - !!python/tuple [7, 20] + - !!python/tuple [13, 3] + - !!python/tuple [27, 17] + - !!python/tuple [11, 31] + - !!python/tuple [6, 19] + - !!python/tuple [18, 14] + - !!python/tuple [25, 1] + - !!python/tuple [19, 3] + - !!python/tuple [11, 27] + - !!python/tuple [14, 5] + - !!python/tuple [8, 28] + - !!python/tuple [12, 9] + - !!python/tuple [25, 29] + - !!python/tuple [11, 3] + - !!python/tuple [26, 19] + - !!python/tuple [10, 7] + - !!python/tuple [6, 13] + - !!python/tuple [25, 16] + - !!python/tuple [1, 24] + - !!python/tuple [8, 22] + - !!python/tuple [22, 29] + - !!python/tuple [3, 1] + - !!python/tuple [25, 28] + - !!python/tuple [3, 19] + - !!python/tuple [19, 16] + - !!python/tuple [27, 7] + - !!python/tuple [21, 5] + - !!python/tuple [9, 0] + - !!python/tuple [10, 16] + - !!python/tuple [6, 25] + - !!python/tuple [26, 27] + - !!python/tuple [4, 5] + - !!python/tuple [26, 8] + - !!python/tuple [5, 22] + - !!python/tuple [15, 13] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex53.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex53.yaml new file mode 100644 index 0000000..bbfe0b6 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex53.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [10, 7] + name: agent0 + start: [24, 31] +- goal: [25, 14] + name: agent1 + start: [4, 0] +- goal: [26, 11] + name: agent2 + start: [17, 17] +- goal: [28, 10] + name: agent3 + start: [9, 20] +- goal: [19, 5] + name: agent4 + start: [9, 17] +- goal: [31, 2] + name: agent5 + start: [25, 14] +- goal: [23, 20] + name: agent6 + start: [11, 3] +- goal: [9, 31] + name: agent7 + start: [24, 25] +- goal: [18, 0] + name: agent8 + start: [20, 3] +- goal: [27, 29] + name: agent9 + start: [14, 3] +- goal: [0, 9] + name: agent10 + start: [10, 17] +- goal: [4, 27] + name: agent11 + start: [0, 13] +- goal: [12, 10] + name: agent12 + start: [1, 0] +- goal: [6, 25] + name: agent13 + start: [21, 5] +- goal: [16, 13] + name: agent14 + start: [24, 14] +- goal: [4, 25] + name: agent15 + start: [15, 18] +- goal: [12, 18] + name: agent16 + start: [13, 2] +- goal: [12, 19] + name: agent17 + start: [27, 27] +- goal: [16, 2] + name: agent18 + start: [5, 25] +- goal: [29, 10] + name: agent19 + start: [8, 15] +- goal: [20, 25] + name: agent20 + start: [18, 5] +- goal: [21, 5] + name: agent21 + start: [20, 29] +- goal: [14, 8] + name: agent22 + start: [5, 27] +- goal: [13, 9] + name: agent23 + start: [30, 31] +- goal: [9, 18] + name: agent24 + start: [6, 23] +- goal: [15, 11] + name: agent25 + start: [21, 16] +- goal: [28, 4] + name: agent26 + start: [23, 10] +- goal: [31, 29] + name: agent27 + start: [20, 23] +- goal: [7, 21] + name: agent28 + start: [21, 11] +- goal: [28, 20] + name: agent29 + start: [22, 6] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [24, 12] + - !!python/tuple [25, 19] + - !!python/tuple [9, 24] + - !!python/tuple [24, 22] + - !!python/tuple [14, 9] + - !!python/tuple [27, 21] + - !!python/tuple [13, 0] + - !!python/tuple [14, 5] + - !!python/tuple [7, 25] + - !!python/tuple [20, 30] + - !!python/tuple [25, 28] + - !!python/tuple [8, 17] + - !!python/tuple [1, 24] + - !!python/tuple [13, 14] + - !!python/tuple [24, 8] + - !!python/tuple [18, 6] + - !!python/tuple [31, 1] + - !!python/tuple [3, 24] + - !!python/tuple [25, 30] + - !!python/tuple [6, 14] + - !!python/tuple [30, 21] + - !!python/tuple [10, 9] + - !!python/tuple [29, 22] + - !!python/tuple [3, 28] + - !!python/tuple [14, 30] + - !!python/tuple [0, 30] + - !!python/tuple [21, 17] + - !!python/tuple [19, 15] + - !!python/tuple [16, 16] + - !!python/tuple [29, 8] + - !!python/tuple [1, 17] + - !!python/tuple [21, 27] + - !!python/tuple [6, 17] + - !!python/tuple [27, 30] + - !!python/tuple [21, 15] + - !!python/tuple [29, 26] + - !!python/tuple [0, 6] + - !!python/tuple [3, 25] + - !!python/tuple [10, 1] + - !!python/tuple [23, 15] + - !!python/tuple [30, 16] + - !!python/tuple [16, 18] + - !!python/tuple [9, 6] + - !!python/tuple [25, 10] + - !!python/tuple [7, 16] + - !!python/tuple [18, 19] + - !!python/tuple [8, 27] + - !!python/tuple [11, 23] + - !!python/tuple [8, 7] + - !!python/tuple [3, 2] + - !!python/tuple [5, 4] + - !!python/tuple [8, 12] + - !!python/tuple [3, 4] + - !!python/tuple [15, 28] + - !!python/tuple [10, 30] + - !!python/tuple [5, 13] + - !!python/tuple [21, 18] + - !!python/tuple [0, 20] + - !!python/tuple [23, 9] + - !!python/tuple [9, 28] + - !!python/tuple [12, 22] + - !!python/tuple [4, 21] + - !!python/tuple [12, 30] + - !!python/tuple [7, 15] + - !!python/tuple [1, 12] + - !!python/tuple [15, 17] + - !!python/tuple [25, 11] + - !!python/tuple [29, 13] + - !!python/tuple [31, 27] + - !!python/tuple [15, 30] + - !!python/tuple [25, 4] + - !!python/tuple [9, 8] + - !!python/tuple [14, 18] + - !!python/tuple [27, 17] + - !!python/tuple [3, 11] + - !!python/tuple [1, 30] + - !!python/tuple [10, 13] + - !!python/tuple [2, 3] + - !!python/tuple [30, 1] + - !!python/tuple [13, 30] + - !!python/tuple [3, 27] + - !!python/tuple [27, 3] + - !!python/tuple [14, 15] + - !!python/tuple [4, 22] + - !!python/tuple [10, 26] + - !!python/tuple [28, 0] + - !!python/tuple [3, 12] + - !!python/tuple [6, 10] + - !!python/tuple [19, 19] + - !!python/tuple [2, 26] + - !!python/tuple [19, 23] + - !!python/tuple [26, 30] + - !!python/tuple [18, 4] + - !!python/tuple [12, 17] + - !!python/tuple [22, 1] + - !!python/tuple [14, 20] + - !!python/tuple [12, 24] + - !!python/tuple [11, 4] + - !!python/tuple [11, 16] + - !!python/tuple [26, 14] + - !!python/tuple [24, 23] + - !!python/tuple [26, 12] + - !!python/tuple [14, 10] + - !!python/tuple [14, 16] + - !!python/tuple [24, 4] + - !!python/tuple [17, 5] + - !!python/tuple [1, 6] + - !!python/tuple [4, 20] + - !!python/tuple [15, 7] + - !!python/tuple [15, 26] + - !!python/tuple [16, 27] + - !!python/tuple [1, 21] + - !!python/tuple [21, 20] + - !!python/tuple [25, 24] + - !!python/tuple [18, 28] + - !!python/tuple [18, 10] + - !!python/tuple [19, 0] + - !!python/tuple [28, 5] + - !!python/tuple [24, 30] + - !!python/tuple [28, 30] + - !!python/tuple [13, 1] + - !!python/tuple [1, 28] + - !!python/tuple [22, 0] + - !!python/tuple [9, 3] + - !!python/tuple [22, 18] + - !!python/tuple [31, 4] + - !!python/tuple [14, 28] + - !!python/tuple [20, 31] + - !!python/tuple [17, 8] + - !!python/tuple [20, 5] + - !!python/tuple [27, 8] + - !!python/tuple [16, 7] + - !!python/tuple [27, 2] + - !!python/tuple [15, 1] + - !!python/tuple [23, 25] + - !!python/tuple [14, 27] + - !!python/tuple [10, 14] + - !!python/tuple [6, 29] + - !!python/tuple [20, 19] + - !!python/tuple [23, 8] + - !!python/tuple [1, 18] + - !!python/tuple [13, 7] + - !!python/tuple [27, 1] + - !!python/tuple [27, 23] + - !!python/tuple [7, 10] + - !!python/tuple [23, 7] + - !!python/tuple [23, 31] + - !!python/tuple [10, 23] + - !!python/tuple [20, 11] + - !!python/tuple [24, 13] + - !!python/tuple [0, 16] + - !!python/tuple [11, 5] + - !!python/tuple [1, 31] + - !!python/tuple [3, 21] + - !!python/tuple [17, 13] + - !!python/tuple [23, 23] + - !!python/tuple [28, 23] + - !!python/tuple [19, 11] + - !!python/tuple [0, 7] + - !!python/tuple [27, 28] + - !!python/tuple [14, 11] + - !!python/tuple [21, 12] + - !!python/tuple [7, 4] + - !!python/tuple [16, 25] + - !!python/tuple [13, 20] + - !!python/tuple [3, 26] + - !!python/tuple [11, 11] + - !!python/tuple [12, 26] + - !!python/tuple [22, 7] + - !!python/tuple [29, 1] + - !!python/tuple [22, 20] + - !!python/tuple [7, 23] + - !!python/tuple [19, 8] + - !!python/tuple [17, 28] + - !!python/tuple [31, 6] + - !!python/tuple [26, 6] + - !!python/tuple [0, 10] + - !!python/tuple [8, 9] + - !!python/tuple [24, 1] + - !!python/tuple [15, 23] + - !!python/tuple [4, 14] + - !!python/tuple [17, 21] + - !!python/tuple [12, 7] + - !!python/tuple [25, 29] + - !!python/tuple [4, 28] + - !!python/tuple [31, 14] + - !!python/tuple [19, 22] + - !!python/tuple [31, 31] + - !!python/tuple [24, 9] + - !!python/tuple [3, 15] + - !!python/tuple [31, 20] + - !!python/tuple [31, 23] + - !!python/tuple [9, 22] + - !!python/tuple [22, 28] + - !!python/tuple [30, 9] + - !!python/tuple [3, 22] + - !!python/tuple [25, 7] + - !!python/tuple [18, 16] + - !!python/tuple [3, 9] + - !!python/tuple [3, 14] + - !!python/tuple [27, 24] + - !!python/tuple [28, 22] + - !!python/tuple [26, 7] + - !!python/tuple [16, 31] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex54.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex54.yaml new file mode 100644 index 0000000..d39ac6a --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex54.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [12, 31] + name: agent0 + start: [1, 17] +- goal: [29, 4] + name: agent1 + start: [29, 23] +- goal: [10, 4] + name: agent2 + start: [21, 27] +- goal: [20, 17] + name: agent3 + start: [4, 22] +- goal: [19, 13] + name: agent4 + start: [12, 25] +- goal: [16, 11] + name: agent5 + start: [20, 30] +- goal: [7, 6] + name: agent6 + start: [16, 20] +- goal: [16, 26] + name: agent7 + start: [22, 10] +- goal: [16, 12] + name: agent8 + start: [3, 14] +- goal: [6, 12] + name: agent9 + start: [19, 13] +- goal: [2, 7] + name: agent10 + start: [12, 20] +- goal: [14, 22] + name: agent11 + start: [7, 16] +- goal: [10, 29] + name: agent12 + start: [9, 10] +- goal: [31, 30] + name: agent13 + start: [3, 21] +- goal: [28, 16] + name: agent14 + start: [3, 3] +- goal: [12, 5] + name: agent15 + start: [4, 17] +- goal: [19, 31] + name: agent16 + start: [1, 14] +- goal: [20, 25] + name: agent17 + start: [22, 26] +- goal: [7, 13] + name: agent18 + start: [14, 12] +- goal: [30, 11] + name: agent19 + start: [5, 9] +- goal: [14, 25] + name: agent20 + start: [5, 23] +- goal: [23, 10] + name: agent21 + start: [16, 19] +- goal: [29, 17] + name: agent22 + start: [31, 15] +- goal: [19, 14] + name: agent23 + start: [17, 29] +- goal: [8, 1] + name: agent24 + start: [9, 22] +- goal: [21, 22] + name: agent25 + start: [21, 19] +- goal: [3, 11] + name: agent26 + start: [26, 26] +- goal: [21, 15] + name: agent27 + start: [24, 4] +- goal: [2, 31] + name: agent28 + start: [30, 0] +- goal: [31, 13] + name: agent29 + start: [21, 11] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [19, 28] + - !!python/tuple [30, 22] + - !!python/tuple [26, 5] + - !!python/tuple [22, 20] + - !!python/tuple [19, 22] + - !!python/tuple [8, 26] + - !!python/tuple [12, 14] + - !!python/tuple [7, 15] + - !!python/tuple [9, 28] + - !!python/tuple [2, 1] + - !!python/tuple [31, 8] + - !!python/tuple [27, 2] + - !!python/tuple [20, 27] + - !!python/tuple [19, 5] + - !!python/tuple [8, 7] + - !!python/tuple [4, 15] + - !!python/tuple [1, 26] + - !!python/tuple [17, 7] + - !!python/tuple [29, 21] + - !!python/tuple [8, 30] + - !!python/tuple [10, 9] + - !!python/tuple [13, 25] + - !!python/tuple [16, 0] + - !!python/tuple [1, 13] + - !!python/tuple [3, 17] + - !!python/tuple [8, 5] + - !!python/tuple [8, 8] + - !!python/tuple [11, 18] + - !!python/tuple [15, 17] + - !!python/tuple [30, 14] + - !!python/tuple [0, 23] + - !!python/tuple [16, 16] + - !!python/tuple [20, 4] + - !!python/tuple [23, 25] + - !!python/tuple [2, 14] + - !!python/tuple [19, 29] + - !!python/tuple [4, 24] + - !!python/tuple [2, 11] + - !!python/tuple [27, 25] + - !!python/tuple [11, 6] + - !!python/tuple [26, 10] + - !!python/tuple [30, 16] + - !!python/tuple [7, 2] + - !!python/tuple [2, 6] + - !!python/tuple [4, 13] + - !!python/tuple [19, 4] + - !!python/tuple [4, 14] + - !!python/tuple [19, 2] + - !!python/tuple [18, 6] + - !!python/tuple [27, 22] + - !!python/tuple [31, 25] + - !!python/tuple [14, 15] + - !!python/tuple [9, 18] + - !!python/tuple [2, 17] + - !!python/tuple [13, 30] + - !!python/tuple [18, 24] + - !!python/tuple [19, 19] + - !!python/tuple [13, 6] + - !!python/tuple [15, 27] + - !!python/tuple [22, 24] + - !!python/tuple [13, 16] + - !!python/tuple [5, 7] + - !!python/tuple [11, 13] + - !!python/tuple [7, 10] + - !!python/tuple [16, 9] + - !!python/tuple [11, 15] + - !!python/tuple [27, 7] + - !!python/tuple [21, 13] + - !!python/tuple [21, 28] + - !!python/tuple [30, 27] + - !!python/tuple [10, 16] + - !!python/tuple [24, 18] + - !!python/tuple [21, 23] + - !!python/tuple [16, 29] + - !!python/tuple [17, 15] + - !!python/tuple [0, 20] + - !!python/tuple [23, 19] + - !!python/tuple [16, 1] + - !!python/tuple [7, 26] + - !!python/tuple [13, 23] + - !!python/tuple [8, 23] + - !!python/tuple [1, 4] + - !!python/tuple [29, 7] + - !!python/tuple [24, 28] + - !!python/tuple [27, 26] + - !!python/tuple [2, 24] + - !!python/tuple [12, 28] + - !!python/tuple [30, 25] + - !!python/tuple [11, 0] + - !!python/tuple [28, 28] + - !!python/tuple [17, 4] + - !!python/tuple [4, 28] + - !!python/tuple [5, 18] + - !!python/tuple [0, 11] + - !!python/tuple [15, 31] + - !!python/tuple [9, 4] + - !!python/tuple [24, 14] + - !!python/tuple [7, 29] + - !!python/tuple [23, 28] + - !!python/tuple [18, 10] + - !!python/tuple [18, 27] + - !!python/tuple [9, 15] + - !!python/tuple [0, 18] + - !!python/tuple [17, 11] + - !!python/tuple [21, 5] + - !!python/tuple [7, 28] + - !!python/tuple [26, 2] + - !!python/tuple [18, 0] + - !!python/tuple [13, 22] + - !!python/tuple [3, 20] + - !!python/tuple [26, 7] + - !!python/tuple [30, 8] + - !!python/tuple [3, 15] + - !!python/tuple [12, 9] + - !!python/tuple [23, 13] + - !!python/tuple [9, 24] + - !!python/tuple [11, 28] + - !!python/tuple [21, 25] + - !!python/tuple [31, 1] + - !!python/tuple [13, 1] + - !!python/tuple [22, 12] + - !!python/tuple [1, 9] + - !!python/tuple [8, 21] + - !!python/tuple [27, 14] + - !!python/tuple [17, 10] + - !!python/tuple [30, 1] + - !!python/tuple [14, 9] + - !!python/tuple [13, 20] + - !!python/tuple [11, 10] + - !!python/tuple [16, 22] + - !!python/tuple [17, 14] + - !!python/tuple [26, 31] + - !!python/tuple [15, 9] + - !!python/tuple [24, 26] + - !!python/tuple [20, 22] + - !!python/tuple [6, 22] + - !!python/tuple [1, 5] + - !!python/tuple [25, 27] + - !!python/tuple [10, 10] + - !!python/tuple [16, 27] + - !!python/tuple [19, 18] + - !!python/tuple [25, 5] + - !!python/tuple [30, 18] + - !!python/tuple [30, 4] + - !!python/tuple [8, 14] + - !!python/tuple [11, 26] + - !!python/tuple [23, 0] + - !!python/tuple [9, 23] + - !!python/tuple [30, 13] + - !!python/tuple [31, 22] + - !!python/tuple [10, 25] + - !!python/tuple [22, 17] + - !!python/tuple [22, 22] + - !!python/tuple [0, 2] + - !!python/tuple [15, 16] + - !!python/tuple [22, 0] + - !!python/tuple [23, 30] + - !!python/tuple [6, 28] + - !!python/tuple [29, 25] + - !!python/tuple [5, 12] + - !!python/tuple [18, 3] + - !!python/tuple [8, 9] + - !!python/tuple [23, 6] + - !!python/tuple [9, 1] + - !!python/tuple [13, 3] + - !!python/tuple [12, 4] + - !!python/tuple [5, 13] + - !!python/tuple [4, 3] + - !!python/tuple [16, 28] + - !!python/tuple [25, 17] + - !!python/tuple [7, 4] + - !!python/tuple [10, 2] + - !!python/tuple [22, 6] + - !!python/tuple [15, 13] + - !!python/tuple [7, 22] + - !!python/tuple [29, 19] + - !!python/tuple [8, 3] + - !!python/tuple [22, 25] + - !!python/tuple [9, 16] + - !!python/tuple [9, 19] + - !!python/tuple [27, 19] + - !!python/tuple [26, 6] + - !!python/tuple [24, 16] + - !!python/tuple [3, 8] + - !!python/tuple [28, 31] + - !!python/tuple [24, 13] + - !!python/tuple [17, 2] + - !!python/tuple [24, 17] + - !!python/tuple [31, 17] + - !!python/tuple [28, 29] + - !!python/tuple [0, 21] + - !!python/tuple [15, 15] + - !!python/tuple [28, 24] + - !!python/tuple [16, 23] + - !!python/tuple [3, 30] + - !!python/tuple [12, 0] + - !!python/tuple [16, 18] + - !!python/tuple [14, 18] + - !!python/tuple [16, 6] + - !!python/tuple [14, 29] + - !!python/tuple [6, 24] + - !!python/tuple [31, 4] + - !!python/tuple [29, 9] + - !!python/tuple [29, 16] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex55.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex55.yaml new file mode 100644 index 0000000..c53042c --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex55.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [4, 29] + name: agent0 + start: [26, 31] +- goal: [1, 0] + name: agent1 + start: [17, 18] +- goal: [21, 5] + name: agent2 + start: [27, 5] +- goal: [3, 24] + name: agent3 + start: [15, 31] +- goal: [16, 0] + name: agent4 + start: [24, 22] +- goal: [5, 20] + name: agent5 + start: [28, 21] +- goal: [18, 10] + name: agent6 + start: [21, 28] +- goal: [3, 6] + name: agent7 + start: [30, 19] +- goal: [7, 26] + name: agent8 + start: [5, 1] +- goal: [13, 18] + name: agent9 + start: [15, 25] +- goal: [5, 22] + name: agent10 + start: [11, 14] +- goal: [13, 29] + name: agent11 + start: [9, 30] +- goal: [7, 3] + name: agent12 + start: [2, 21] +- goal: [7, 9] + name: agent13 + start: [13, 28] +- goal: [7, 12] + name: agent14 + start: [27, 14] +- goal: [6, 26] + name: agent15 + start: [7, 21] +- goal: [28, 17] + name: agent16 + start: [29, 29] +- goal: [15, 4] + name: agent17 + start: [22, 14] +- goal: [22, 3] + name: agent18 + start: [29, 10] +- goal: [1, 2] + name: agent19 + start: [15, 6] +- goal: [10, 26] + name: agent20 + start: [31, 11] +- goal: [18, 21] + name: agent21 + start: [2, 31] +- goal: [5, 10] + name: agent22 + start: [14, 15] +- goal: [20, 4] + name: agent23 + start: [13, 17] +- goal: [2, 26] + name: agent24 + start: [15, 0] +- goal: [18, 7] + name: agent25 + start: [31, 24] +- goal: [24, 28] + name: agent26 + start: [7, 15] +- goal: [29, 25] + name: agent27 + start: [28, 31] +- goal: [1, 18] + name: agent28 + start: [11, 22] +- goal: [11, 15] + name: agent29 + start: [26, 16] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [6, 11] + - !!python/tuple [31, 15] + - !!python/tuple [19, 10] + - !!python/tuple [15, 23] + - !!python/tuple [28, 5] + - !!python/tuple [22, 19] + - !!python/tuple [29, 14] + - !!python/tuple [20, 31] + - !!python/tuple [16, 11] + - !!python/tuple [24, 0] + - !!python/tuple [4, 31] + - !!python/tuple [23, 11] + - !!python/tuple [12, 25] + - !!python/tuple [3, 10] + - !!python/tuple [9, 29] + - !!python/tuple [18, 13] + - !!python/tuple [13, 1] + - !!python/tuple [30, 13] + - !!python/tuple [19, 20] + - !!python/tuple [15, 17] + - !!python/tuple [6, 3] + - !!python/tuple [8, 23] + - !!python/tuple [22, 16] + - !!python/tuple [12, 11] + - !!python/tuple [15, 7] + - !!python/tuple [20, 28] + - !!python/tuple [7, 13] + - !!python/tuple [17, 13] + - !!python/tuple [15, 22] + - !!python/tuple [11, 18] + - !!python/tuple [27, 0] + - !!python/tuple [23, 9] + - !!python/tuple [11, 21] + - !!python/tuple [2, 7] + - !!python/tuple [16, 24] + - !!python/tuple [6, 24] + - !!python/tuple [3, 13] + - !!python/tuple [27, 28] + - !!python/tuple [26, 20] + - !!python/tuple [1, 1] + - !!python/tuple [24, 12] + - !!python/tuple [9, 20] + - !!python/tuple [13, 4] + - !!python/tuple [21, 29] + - !!python/tuple [20, 17] + - !!python/tuple [14, 2] + - !!python/tuple [25, 12] + - !!python/tuple [8, 30] + - !!python/tuple [29, 9] + - !!python/tuple [24, 16] + - !!python/tuple [5, 28] + - !!python/tuple [11, 28] + - !!python/tuple [24, 8] + - !!python/tuple [7, 6] + - !!python/tuple [21, 31] + - !!python/tuple [29, 6] + - !!python/tuple [28, 11] + - !!python/tuple [28, 13] + - !!python/tuple [23, 20] + - !!python/tuple [1, 6] + - !!python/tuple [27, 6] + - !!python/tuple [31, 28] + - !!python/tuple [15, 10] + - !!python/tuple [8, 5] + - !!python/tuple [11, 10] + - !!python/tuple [21, 0] + - !!python/tuple [3, 25] + - !!python/tuple [19, 27] + - !!python/tuple [23, 27] + - !!python/tuple [2, 17] + - !!python/tuple [27, 29] + - !!python/tuple [31, 10] + - !!python/tuple [25, 15] + - !!python/tuple [27, 27] + - !!python/tuple [2, 27] + - !!python/tuple [2, 28] + - !!python/tuple [13, 6] + - !!python/tuple [24, 6] + - !!python/tuple [19, 31] + - !!python/tuple [25, 20] + - !!python/tuple [10, 23] + - !!python/tuple [30, 6] + - !!python/tuple [21, 7] + - !!python/tuple [4, 27] + - !!python/tuple [14, 27] + - !!python/tuple [3, 17] + - !!python/tuple [17, 7] + - !!python/tuple [24, 30] + - !!python/tuple [10, 9] + - !!python/tuple [5, 19] + - !!python/tuple [17, 22] + - !!python/tuple [0, 18] + - !!python/tuple [24, 11] + - !!python/tuple [26, 6] + - !!python/tuple [19, 26] + - !!python/tuple [9, 23] + - !!python/tuple [11, 3] + - !!python/tuple [19, 12] + - !!python/tuple [18, 28] + - !!python/tuple [19, 25] + - !!python/tuple [13, 20] + - !!python/tuple [22, 0] + - !!python/tuple [21, 24] + - !!python/tuple [28, 8] + - !!python/tuple [9, 12] + - !!python/tuple [21, 26] + - !!python/tuple [11, 1] + - !!python/tuple [1, 25] + - !!python/tuple [18, 18] + - !!python/tuple [28, 4] + - !!python/tuple [29, 23] + - !!python/tuple [6, 2] + - !!python/tuple [21, 3] + - !!python/tuple [0, 5] + - !!python/tuple [0, 22] + - !!python/tuple [18, 26] + - !!python/tuple [7, 18] + - !!python/tuple [4, 12] + - !!python/tuple [21, 6] + - !!python/tuple [16, 3] + - !!python/tuple [15, 8] + - !!python/tuple [31, 21] + - !!python/tuple [0, 4] + - !!python/tuple [9, 10] + - !!python/tuple [23, 25] + - !!python/tuple [10, 25] + - !!python/tuple [17, 25] + - !!python/tuple [1, 9] + - !!python/tuple [28, 3] + - !!python/tuple [14, 9] + - !!python/tuple [1, 31] + - !!python/tuple [29, 12] + - !!python/tuple [0, 1] + - !!python/tuple [31, 20] + - !!python/tuple [14, 7] + - !!python/tuple [0, 30] + - !!python/tuple [8, 10] + - !!python/tuple [11, 11] + - !!python/tuple [19, 14] + - !!python/tuple [20, 10] + - !!python/tuple [29, 28] + - !!python/tuple [11, 16] + - !!python/tuple [2, 25] + - !!python/tuple [29, 3] + - !!python/tuple [20, 1] + - !!python/tuple [29, 13] + - !!python/tuple [13, 12] + - !!python/tuple [22, 21] + - !!python/tuple [12, 17] + - !!python/tuple [19, 28] + - !!python/tuple [21, 22] + - !!python/tuple [23, 17] + - !!python/tuple [27, 1] + - !!python/tuple [4, 10] + - !!python/tuple [27, 21] + - !!python/tuple [0, 15] + - !!python/tuple [27, 20] + - !!python/tuple [27, 11] + - !!python/tuple [23, 8] + - !!python/tuple [29, 24] + - !!python/tuple [4, 19] + - !!python/tuple [20, 7] + - !!python/tuple [17, 20] + - !!python/tuple [31, 23] + - !!python/tuple [6, 4] + - !!python/tuple [19, 6] + - !!python/tuple [29, 17] + - !!python/tuple [4, 21] + - !!python/tuple [0, 24] + - !!python/tuple [11, 4] + - !!python/tuple [10, 13] + - !!python/tuple [9, 2] + - !!python/tuple [8, 9] + - !!python/tuple [18, 9] + - !!python/tuple [6, 8] + - !!python/tuple [12, 10] + - !!python/tuple [22, 8] + - !!python/tuple [10, 14] + - !!python/tuple [16, 2] + - !!python/tuple [5, 0] + - !!python/tuple [8, 12] + - !!python/tuple [19, 7] + - !!python/tuple [23, 0] + - !!python/tuple [24, 24] + - !!python/tuple [31, 31] + - !!python/tuple [1, 7] + - !!python/tuple [7, 10] + - !!python/tuple [14, 30] + - !!python/tuple [10, 29] + - !!python/tuple [9, 3] + - !!python/tuple [2, 16] + - !!python/tuple [2, 30] + - !!python/tuple [22, 15] + - !!python/tuple [10, 22] + - !!python/tuple [3, 29] + - !!python/tuple [14, 18] + - !!python/tuple [11, 9] + - !!python/tuple [25, 27] + - !!python/tuple [5, 26] + - !!python/tuple [19, 4] + - !!python/tuple [26, 18] + - !!python/tuple [2, 13] + - !!python/tuple [8, 25] + - !!python/tuple [14, 21] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex56.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex56.yaml new file mode 100644 index 0000000..d2d24eb --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex56.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [7, 7] + name: agent0 + start: [1, 22] +- goal: [25, 5] + name: agent1 + start: [15, 31] +- goal: [29, 15] + name: agent2 + start: [2, 29] +- goal: [9, 20] + name: agent3 + start: [0, 0] +- goal: [27, 14] + name: agent4 + start: [30, 8] +- goal: [23, 25] + name: agent5 + start: [18, 0] +- goal: [27, 2] + name: agent6 + start: [0, 7] +- goal: [6, 5] + name: agent7 + start: [7, 23] +- goal: [23, 30] + name: agent8 + start: [25, 4] +- goal: [2, 9] + name: agent9 + start: [11, 20] +- goal: [1, 8] + name: agent10 + start: [21, 26] +- goal: [17, 7] + name: agent11 + start: [4, 10] +- goal: [9, 13] + name: agent12 + start: [28, 5] +- goal: [24, 7] + name: agent13 + start: [24, 29] +- goal: [10, 7] + name: agent14 + start: [12, 5] +- goal: [12, 4] + name: agent15 + start: [10, 8] +- goal: [28, 7] + name: agent16 + start: [29, 13] +- goal: [10, 3] + name: agent17 + start: [6, 12] +- goal: [18, 25] + name: agent18 + start: [5, 6] +- goal: [12, 24] + name: agent19 + start: [9, 1] +- goal: [7, 20] + name: agent20 + start: [8, 5] +- goal: [5, 28] + name: agent21 + start: [30, 11] +- goal: [21, 29] + name: agent22 + start: [21, 31] +- goal: [18, 12] + name: agent23 + start: [31, 22] +- goal: [17, 19] + name: agent24 + start: [14, 11] +- goal: [23, 6] + name: agent25 + start: [13, 20] +- goal: [6, 7] + name: agent26 + start: [4, 4] +- goal: [18, 14] + name: agent27 + start: [31, 18] +- goal: [2, 20] + name: agent28 + start: [20, 18] +- goal: [10, 5] + name: agent29 + start: [28, 26] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [6, 23] + - !!python/tuple [4, 29] + - !!python/tuple [18, 4] + - !!python/tuple [17, 18] + - !!python/tuple [14, 20] + - !!python/tuple [24, 17] + - !!python/tuple [20, 22] + - !!python/tuple [8, 16] + - !!python/tuple [15, 7] + - !!python/tuple [16, 22] + - !!python/tuple [30, 23] + - !!python/tuple [2, 7] + - !!python/tuple [7, 16] + - !!python/tuple [10, 9] + - !!python/tuple [10, 26] + - !!python/tuple [9, 10] + - !!python/tuple [2, 12] + - !!python/tuple [3, 17] + - !!python/tuple [21, 9] + - !!python/tuple [16, 1] + - !!python/tuple [7, 11] + - !!python/tuple [18, 26] + - !!python/tuple [16, 4] + - !!python/tuple [16, 8] + - !!python/tuple [12, 22] + - !!python/tuple [18, 24] + - !!python/tuple [26, 22] + - !!python/tuple [8, 11] + - !!python/tuple [20, 30] + - !!python/tuple [17, 1] + - !!python/tuple [18, 15] + - !!python/tuple [2, 13] + - !!python/tuple [15, 0] + - !!python/tuple [20, 0] + - !!python/tuple [29, 17] + - !!python/tuple [31, 7] + - !!python/tuple [11, 18] + - !!python/tuple [31, 16] + - !!python/tuple [13, 25] + - !!python/tuple [5, 4] + - !!python/tuple [26, 25] + - !!python/tuple [25, 21] + - !!python/tuple [30, 19] + - !!python/tuple [1, 31] + - !!python/tuple [5, 26] + - !!python/tuple [4, 27] + - !!python/tuple [0, 8] + - !!python/tuple [17, 6] + - !!python/tuple [22, 26] + - !!python/tuple [30, 9] + - !!python/tuple [25, 3] + - !!python/tuple [1, 25] + - !!python/tuple [12, 20] + - !!python/tuple [20, 4] + - !!python/tuple [1, 2] + - !!python/tuple [18, 28] + - !!python/tuple [28, 8] + - !!python/tuple [3, 20] + - !!python/tuple [22, 15] + - !!python/tuple [5, 25] + - !!python/tuple [24, 26] + - !!python/tuple [5, 21] + - !!python/tuple [26, 6] + - !!python/tuple [25, 19] + - !!python/tuple [14, 19] + - !!python/tuple [4, 21] + - !!python/tuple [3, 4] + - !!python/tuple [0, 25] + - !!python/tuple [18, 6] + - !!python/tuple [12, 0] + - !!python/tuple [26, 15] + - !!python/tuple [14, 4] + - !!python/tuple [4, 17] + - !!python/tuple [19, 15] + - !!python/tuple [13, 19] + - !!python/tuple [13, 6] + - !!python/tuple [3, 15] + - !!python/tuple [22, 5] + - !!python/tuple [30, 28] + - !!python/tuple [26, 4] + - !!python/tuple [17, 21] + - !!python/tuple [11, 16] + - !!python/tuple [26, 17] + - !!python/tuple [5, 7] + - !!python/tuple [30, 4] + - !!python/tuple [27, 17] + - !!python/tuple [28, 13] + - !!python/tuple [23, 17] + - !!python/tuple [9, 12] + - !!python/tuple [0, 3] + - !!python/tuple [26, 1] + - !!python/tuple [31, 23] + - !!python/tuple [2, 27] + - !!python/tuple [14, 27] + - !!python/tuple [20, 12] + - !!python/tuple [0, 22] + - !!python/tuple [11, 10] + - !!python/tuple [22, 1] + - !!python/tuple [20, 14] + - !!python/tuple [4, 26] + - !!python/tuple [31, 12] + - !!python/tuple [10, 30] + - !!python/tuple [0, 29] + - !!python/tuple [2, 24] + - !!python/tuple [15, 16] + - !!python/tuple [8, 26] + - !!python/tuple [1, 26] + - !!python/tuple [14, 8] + - !!python/tuple [26, 16] + - !!python/tuple [31, 19] + - !!python/tuple [1, 23] + - !!python/tuple [26, 8] + - !!python/tuple [18, 16] + - !!python/tuple [29, 25] + - !!python/tuple [6, 20] + - !!python/tuple [10, 19] + - !!python/tuple [8, 19] + - !!python/tuple [26, 19] + - !!python/tuple [24, 9] + - !!python/tuple [24, 1] + - !!python/tuple [3, 16] + - !!python/tuple [11, 6] + - !!python/tuple [6, 22] + - !!python/tuple [30, 12] + - !!python/tuple [18, 22] + - !!python/tuple [16, 13] + - !!python/tuple [5, 5] + - !!python/tuple [29, 19] + - !!python/tuple [0, 10] + - !!python/tuple [15, 20] + - !!python/tuple [8, 8] + - !!python/tuple [19, 27] + - !!python/tuple [19, 16] + - !!python/tuple [4, 14] + - !!python/tuple [7, 25] + - !!python/tuple [15, 8] + - !!python/tuple [6, 10] + - !!python/tuple [30, 3] + - !!python/tuple [8, 1] + - !!python/tuple [7, 2] + - !!python/tuple [28, 4] + - !!python/tuple [18, 19] + - !!python/tuple [25, 22] + - !!python/tuple [26, 10] + - !!python/tuple [30, 21] + - !!python/tuple [12, 11] + - !!python/tuple [22, 2] + - !!python/tuple [25, 27] + - !!python/tuple [3, 5] + - !!python/tuple [14, 18] + - !!python/tuple [4, 16] + - !!python/tuple [1, 9] + - !!python/tuple [5, 0] + - !!python/tuple [22, 24] + - !!python/tuple [13, 1] + - !!python/tuple [9, 26] + - !!python/tuple [27, 10] + - !!python/tuple [26, 30] + - !!python/tuple [3, 14] + - !!python/tuple [30, 6] + - !!python/tuple [4, 30] + - !!python/tuple [18, 8] + - !!python/tuple [30, 13] + - !!python/tuple [29, 18] + - !!python/tuple [7, 8] + - !!python/tuple [16, 2] + - !!python/tuple [25, 13] + - !!python/tuple [11, 8] + - !!python/tuple [9, 14] + - !!python/tuple [28, 24] + - !!python/tuple [12, 12] + - !!python/tuple [0, 26] + - !!python/tuple [30, 18] + - !!python/tuple [17, 10] + - !!python/tuple [7, 30] + - !!python/tuple [23, 7] + - !!python/tuple [18, 23] + - !!python/tuple [7, 6] + - !!python/tuple [4, 1] + - !!python/tuple [7, 9] + - !!python/tuple [5, 24] + - !!python/tuple [30, 25] + - !!python/tuple [8, 22] + - !!python/tuple [0, 18] + - !!python/tuple [16, 12] + - !!python/tuple [3, 6] + - !!python/tuple [27, 1] + - !!python/tuple [21, 14] + - !!python/tuple [14, 24] + - !!python/tuple [13, 26] + - !!python/tuple [9, 27] + - !!python/tuple [9, 21] + - !!python/tuple [29, 20] + - !!python/tuple [25, 2] + - !!python/tuple [7, 29] + - !!python/tuple [11, 2] + - !!python/tuple [26, 5] + - !!python/tuple [16, 30] + - !!python/tuple [16, 6] + - !!python/tuple [6, 8] + - !!python/tuple [0, 24] + - !!python/tuple [1, 0] + - !!python/tuple [21, 16] + - !!python/tuple [19, 21] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex57.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex57.yaml new file mode 100644 index 0000000..d8b9492 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex57.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [22, 11] + name: agent0 + start: [6, 30] +- goal: [17, 15] + name: agent1 + start: [7, 10] +- goal: [8, 30] + name: agent2 + start: [11, 23] +- goal: [2, 12] + name: agent3 + start: [12, 29] +- goal: [21, 12] + name: agent4 + start: [2, 19] +- goal: [19, 8] + name: agent5 + start: [3, 23] +- goal: [12, 9] + name: agent6 + start: [13, 19] +- goal: [5, 30] + name: agent7 + start: [3, 25] +- goal: [9, 14] + name: agent8 + start: [2, 28] +- goal: [7, 12] + name: agent9 + start: [18, 12] +- goal: [30, 19] + name: agent10 + start: [17, 13] +- goal: [17, 21] + name: agent11 + start: [11, 18] +- goal: [9, 12] + name: agent12 + start: [17, 16] +- goal: [19, 30] + name: agent13 + start: [3, 15] +- goal: [7, 0] + name: agent14 + start: [14, 30] +- goal: [1, 14] + name: agent15 + start: [12, 11] +- goal: [2, 19] + name: agent16 + start: [9, 25] +- goal: [9, 31] + name: agent17 + start: [24, 2] +- goal: [12, 10] + name: agent18 + start: [30, 30] +- goal: [15, 18] + name: agent19 + start: [0, 30] +- goal: [23, 25] + name: agent20 + start: [24, 19] +- goal: [14, 5] + name: agent21 + start: [16, 22] +- goal: [24, 2] + name: agent22 + start: [9, 6] +- goal: [21, 25] + name: agent23 + start: [18, 28] +- goal: [20, 16] + name: agent24 + start: [16, 18] +- goal: [30, 10] + name: agent25 + start: [13, 13] +- goal: [12, 15] + name: agent26 + start: [7, 2] +- goal: [4, 10] + name: agent27 + start: [25, 24] +- goal: [1, 2] + name: agent28 + start: [1, 28] +- goal: [26, 18] + name: agent29 + start: [0, 25] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [6, 6] + - !!python/tuple [29, 31] + - !!python/tuple [4, 19] + - !!python/tuple [4, 1] + - !!python/tuple [0, 11] + - !!python/tuple [28, 2] + - !!python/tuple [2, 7] + - !!python/tuple [5, 21] + - !!python/tuple [30, 14] + - !!python/tuple [14, 22] + - !!python/tuple [2, 15] + - !!python/tuple [22, 24] + - !!python/tuple [25, 4] + - !!python/tuple [16, 19] + - !!python/tuple [23, 10] + - !!python/tuple [17, 19] + - !!python/tuple [21, 3] + - !!python/tuple [22, 9] + - !!python/tuple [1, 24] + - !!python/tuple [6, 27] + - !!python/tuple [22, 15] + - !!python/tuple [2, 2] + - !!python/tuple [27, 6] + - !!python/tuple [14, 26] + - !!python/tuple [22, 22] + - !!python/tuple [16, 26] + - !!python/tuple [29, 11] + - !!python/tuple [9, 4] + - !!python/tuple [29, 23] + - !!python/tuple [23, 5] + - !!python/tuple [16, 21] + - !!python/tuple [3, 28] + - !!python/tuple [30, 24] + - !!python/tuple [16, 9] + - !!python/tuple [17, 6] + - !!python/tuple [1, 3] + - !!python/tuple [2, 27] + - !!python/tuple [6, 11] + - !!python/tuple [30, 23] + - !!python/tuple [19, 1] + - !!python/tuple [26, 21] + - !!python/tuple [4, 20] + - !!python/tuple [5, 1] + - !!python/tuple [20, 10] + - !!python/tuple [31, 28] + - !!python/tuple [6, 14] + - !!python/tuple [7, 1] + - !!python/tuple [31, 1] + - !!python/tuple [2, 17] + - !!python/tuple [31, 21] + - !!python/tuple [25, 27] + - !!python/tuple [25, 29] + - !!python/tuple [17, 10] + - !!python/tuple [21, 7] + - !!python/tuple [26, 3] + - !!python/tuple [29, 9] + - !!python/tuple [19, 17] + - !!python/tuple [7, 26] + - !!python/tuple [11, 9] + - !!python/tuple [18, 14] + - !!python/tuple [25, 23] + - !!python/tuple [9, 10] + - !!python/tuple [18, 10] + - !!python/tuple [26, 9] + - !!python/tuple [3, 3] + - !!python/tuple [26, 24] + - !!python/tuple [16, 27] + - !!python/tuple [13, 23] + - !!python/tuple [31, 2] + - !!python/tuple [9, 15] + - !!python/tuple [30, 8] + - !!python/tuple [11, 2] + - !!python/tuple [24, 18] + - !!python/tuple [27, 21] + - !!python/tuple [14, 13] + - !!python/tuple [0, 1] + - !!python/tuple [27, 17] + - !!python/tuple [14, 20] + - !!python/tuple [11, 15] + - !!python/tuple [14, 10] + - !!python/tuple [8, 4] + - !!python/tuple [0, 21] + - !!python/tuple [19, 19] + - !!python/tuple [24, 23] + - !!python/tuple [12, 27] + - !!python/tuple [30, 20] + - !!python/tuple [4, 30] + - !!python/tuple [15, 10] + - !!python/tuple [19, 31] + - !!python/tuple [28, 15] + - !!python/tuple [6, 19] + - !!python/tuple [13, 20] + - !!python/tuple [9, 18] + - !!python/tuple [24, 9] + - !!python/tuple [12, 24] + - !!python/tuple [10, 13] + - !!python/tuple [3, 27] + - !!python/tuple [27, 10] + - !!python/tuple [24, 8] + - !!python/tuple [5, 8] + - !!python/tuple [30, 29] + - !!python/tuple [30, 22] + - !!python/tuple [8, 29] + - !!python/tuple [8, 19] + - !!python/tuple [25, 21] + - !!python/tuple [14, 28] + - !!python/tuple [26, 4] + - !!python/tuple [29, 20] + - !!python/tuple [10, 30] + - !!python/tuple [13, 25] + - !!python/tuple [4, 25] + - !!python/tuple [25, 9] + - !!python/tuple [20, 15] + - !!python/tuple [21, 22] + - !!python/tuple [23, 12] + - !!python/tuple [20, 3] + - !!python/tuple [2, 6] + - !!python/tuple [8, 21] + - !!python/tuple [5, 9] + - !!python/tuple [9, 7] + - !!python/tuple [7, 20] + - !!python/tuple [14, 0] + - !!python/tuple [15, 24] + - !!python/tuple [18, 22] + - !!python/tuple [17, 3] + - !!python/tuple [23, 27] + - !!python/tuple [4, 11] + - !!python/tuple [27, 13] + - !!python/tuple [22, 14] + - !!python/tuple [31, 6] + - !!python/tuple [24, 0] + - !!python/tuple [15, 30] + - !!python/tuple [29, 6] + - !!python/tuple [16, 28] + - !!python/tuple [8, 14] + - !!python/tuple [10, 20] + - !!python/tuple [29, 12] + - !!python/tuple [8, 31] + - !!python/tuple [5, 4] + - !!python/tuple [17, 29] + - !!python/tuple [7, 22] + - !!python/tuple [3, 19] + - !!python/tuple [14, 6] + - !!python/tuple [27, 27] + - !!python/tuple [6, 2] + - !!python/tuple [19, 15] + - !!python/tuple [8, 18] + - !!python/tuple [27, 24] + - !!python/tuple [28, 17] + - !!python/tuple [21, 17] + - !!python/tuple [13, 14] + - !!python/tuple [7, 27] + - !!python/tuple [24, 29] + - !!python/tuple [27, 19] + - !!python/tuple [10, 0] + - !!python/tuple [11, 0] + - !!python/tuple [6, 4] + - !!python/tuple [13, 16] + - !!python/tuple [12, 7] + - !!python/tuple [0, 10] + - !!python/tuple [26, 30] + - !!python/tuple [21, 19] + - !!python/tuple [6, 26] + - !!python/tuple [20, 8] + - !!python/tuple [26, 31] + - !!python/tuple [22, 18] + - !!python/tuple [8, 5] + - !!python/tuple [26, 28] + - !!python/tuple [12, 23] + - !!python/tuple [5, 11] + - !!python/tuple [18, 6] + - !!python/tuple [22, 29] + - !!python/tuple [29, 18] + - !!python/tuple [21, 31] + - !!python/tuple [31, 25] + - !!python/tuple [28, 14] + - !!python/tuple [3, 30] + - !!python/tuple [20, 6] + - !!python/tuple [26, 19] + - !!python/tuple [11, 22] + - !!python/tuple [3, 11] + - !!python/tuple [7, 21] + - !!python/tuple [3, 29] + - !!python/tuple [18, 16] + - !!python/tuple [1, 31] + - !!python/tuple [10, 11] + - !!python/tuple [27, 3] + - !!python/tuple [15, 8] + - !!python/tuple [1, 5] + - !!python/tuple [15, 0] + - !!python/tuple [20, 26] + - !!python/tuple [3, 14] + - !!python/tuple [13, 31] + - !!python/tuple [20, 30] + - !!python/tuple [15, 11] + - !!python/tuple [2, 1] + - !!python/tuple [23, 9] + - !!python/tuple [4, 3] + - !!python/tuple [17, 18] + - !!python/tuple [0, 14] + - !!python/tuple [31, 9] + - !!python/tuple [4, 15] + - !!python/tuple [11, 29] + - !!python/tuple [19, 21] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex58.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex58.yaml new file mode 100644 index 0000000..0dfe63a --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex58.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [30, 24] + name: agent0 + start: [13, 22] +- goal: [27, 19] + name: agent1 + start: [0, 25] +- goal: [9, 5] + name: agent2 + start: [11, 18] +- goal: [24, 9] + name: agent3 + start: [31, 3] +- goal: [23, 26] + name: agent4 + start: [0, 0] +- goal: [19, 10] + name: agent5 + start: [28, 21] +- goal: [2, 3] + name: agent6 + start: [14, 20] +- goal: [15, 22] + name: agent7 + start: [17, 5] +- goal: [2, 7] + name: agent8 + start: [21, 29] +- goal: [8, 8] + name: agent9 + start: [19, 21] +- goal: [20, 10] + name: agent10 + start: [3, 1] +- goal: [19, 29] + name: agent11 + start: [9, 19] +- goal: [21, 29] + name: agent12 + start: [14, 19] +- goal: [14, 17] + name: agent13 + start: [31, 12] +- goal: [25, 26] + name: agent14 + start: [0, 12] +- goal: [9, 25] + name: agent15 + start: [26, 8] +- goal: [24, 21] + name: agent16 + start: [24, 19] +- goal: [25, 3] + name: agent17 + start: [21, 11] +- goal: [1, 5] + name: agent18 + start: [10, 30] +- goal: [3, 29] + name: agent19 + start: [15, 31] +- goal: [0, 3] + name: agent20 + start: [27, 19] +- goal: [28, 4] + name: agent21 + start: [20, 26] +- goal: [14, 22] + name: agent22 + start: [26, 0] +- goal: [11, 0] + name: agent23 + start: [14, 5] +- goal: [6, 6] + name: agent24 + start: [14, 25] +- goal: [7, 3] + name: agent25 + start: [23, 17] +- goal: [30, 18] + name: agent26 + start: [0, 10] +- goal: [16, 1] + name: agent27 + start: [22, 13] +- goal: [20, 24] + name: agent28 + start: [30, 5] +- goal: [11, 14] + name: agent29 + start: [19, 16] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [25, 1] + - !!python/tuple [7, 23] + - !!python/tuple [12, 14] + - !!python/tuple [29, 2] + - !!python/tuple [24, 5] + - !!python/tuple [27, 7] + - !!python/tuple [27, 24] + - !!python/tuple [21, 21] + - !!python/tuple [8, 0] + - !!python/tuple [11, 27] + - !!python/tuple [11, 20] + - !!python/tuple [18, 16] + - !!python/tuple [17, 27] + - !!python/tuple [5, 10] + - !!python/tuple [20, 12] + - !!python/tuple [16, 0] + - !!python/tuple [23, 1] + - !!python/tuple [18, 29] + - !!python/tuple [25, 16] + - !!python/tuple [23, 21] + - !!python/tuple [25, 5] + - !!python/tuple [11, 21] + - !!python/tuple [19, 24] + - !!python/tuple [3, 21] + - !!python/tuple [2, 25] + - !!python/tuple [27, 13] + - !!python/tuple [3, 8] + - !!python/tuple [14, 28] + - !!python/tuple [10, 24] + - !!python/tuple [15, 25] + - !!python/tuple [19, 22] + - !!python/tuple [2, 26] + - !!python/tuple [5, 29] + - !!python/tuple [28, 11] + - !!python/tuple [13, 18] + - !!python/tuple [4, 0] + - !!python/tuple [17, 9] + - !!python/tuple [15, 28] + - !!python/tuple [28, 17] + - !!python/tuple [7, 14] + - !!python/tuple [14, 24] + - !!python/tuple [8, 16] + - !!python/tuple [29, 4] + - !!python/tuple [19, 13] + - !!python/tuple [20, 2] + - !!python/tuple [0, 27] + - !!python/tuple [22, 6] + - !!python/tuple [31, 2] + - !!python/tuple [26, 7] + - !!python/tuple [22, 24] + - !!python/tuple [27, 2] + - !!python/tuple [8, 13] + - !!python/tuple [25, 18] + - !!python/tuple [0, 31] + - !!python/tuple [4, 31] + - !!python/tuple [17, 10] + - !!python/tuple [19, 0] + - !!python/tuple [15, 27] + - !!python/tuple [22, 28] + - !!python/tuple [26, 6] + - !!python/tuple [6, 18] + - !!python/tuple [22, 20] + - !!python/tuple [15, 10] + - !!python/tuple [8, 28] + - !!python/tuple [19, 11] + - !!python/tuple [27, 5] + - !!python/tuple [7, 27] + - !!python/tuple [12, 2] + - !!python/tuple [7, 29] + - !!python/tuple [23, 24] + - !!python/tuple [20, 11] + - !!python/tuple [9, 18] + - !!python/tuple [21, 7] + - !!python/tuple [30, 30] + - !!python/tuple [25, 27] + - !!python/tuple [30, 17] + - !!python/tuple [20, 22] + - !!python/tuple [29, 11] + - !!python/tuple [20, 20] + - !!python/tuple [25, 6] + - !!python/tuple [21, 5] + - !!python/tuple [17, 17] + - !!python/tuple [4, 3] + - !!python/tuple [28, 2] + - !!python/tuple [6, 29] + - !!python/tuple [30, 8] + - !!python/tuple [5, 18] + - !!python/tuple [10, 0] + - !!python/tuple [1, 13] + - !!python/tuple [27, 1] + - !!python/tuple [25, 19] + - !!python/tuple [24, 24] + - !!python/tuple [24, 23] + - !!python/tuple [4, 2] + - !!python/tuple [4, 6] + - !!python/tuple [21, 4] + - !!python/tuple [12, 23] + - !!python/tuple [26, 28] + - !!python/tuple [10, 2] + - !!python/tuple [4, 4] + - !!python/tuple [18, 13] + - !!python/tuple [11, 17] + - !!python/tuple [16, 10] + - !!python/tuple [27, 8] + - !!python/tuple [16, 15] + - !!python/tuple [22, 27] + - !!python/tuple [29, 25] + - !!python/tuple [15, 24] + - !!python/tuple [14, 6] + - !!python/tuple [8, 6] + - !!python/tuple [23, 25] + - !!python/tuple [22, 14] + - !!python/tuple [6, 5] + - !!python/tuple [31, 14] + - !!python/tuple [17, 20] + - !!python/tuple [18, 23] + - !!python/tuple [16, 6] + - !!python/tuple [26, 22] + - !!python/tuple [26, 18] + - !!python/tuple [1, 14] + - !!python/tuple [11, 15] + - !!python/tuple [28, 29] + - !!python/tuple [17, 13] + - !!python/tuple [3, 25] + - !!python/tuple [15, 16] + - !!python/tuple [3, 0] + - !!python/tuple [2, 23] + - !!python/tuple [15, 4] + - !!python/tuple [22, 23] + - !!python/tuple [11, 1] + - !!python/tuple [14, 16] + - !!python/tuple [31, 1] + - !!python/tuple [27, 9] + - !!python/tuple [25, 2] + - !!python/tuple [23, 31] + - !!python/tuple [11, 10] + - !!python/tuple [5, 4] + - !!python/tuple [14, 11] + - !!python/tuple [16, 30] + - !!python/tuple [17, 22] + - !!python/tuple [7, 8] + - !!python/tuple [0, 23] + - !!python/tuple [8, 27] + - !!python/tuple [10, 6] + - !!python/tuple [27, 0] + - !!python/tuple [7, 24] + - !!python/tuple [15, 3] + - !!python/tuple [17, 24] + - !!python/tuple [10, 7] + - !!python/tuple [21, 31] + - !!python/tuple [16, 31] + - !!python/tuple [27, 31] + - !!python/tuple [16, 3] + - !!python/tuple [9, 24] + - !!python/tuple [0, 20] + - !!python/tuple [4, 25] + - !!python/tuple [1, 17] + - !!python/tuple [9, 27] + - !!python/tuple [16, 4] + - !!python/tuple [30, 12] + - !!python/tuple [8, 20] + - !!python/tuple [30, 26] + - !!python/tuple [5, 19] + - !!python/tuple [18, 15] + - !!python/tuple [26, 24] + - !!python/tuple [6, 23] + - !!python/tuple [25, 21] + - !!python/tuple [6, 17] + - !!python/tuple [11, 25] + - !!python/tuple [24, 30] + - !!python/tuple [18, 28] + - !!python/tuple [19, 17] + - !!python/tuple [19, 30] + - !!python/tuple [29, 26] + - !!python/tuple [23, 4] + - !!python/tuple [7, 15] + - !!python/tuple [11, 7] + - !!python/tuple [9, 26] + - !!python/tuple [8, 5] + - !!python/tuple [5, 30] + - !!python/tuple [10, 20] + - !!python/tuple [23, 13] + - !!python/tuple [21, 3] + - !!python/tuple [11, 3] + - !!python/tuple [30, 28] + - !!python/tuple [10, 23] + - !!python/tuple [24, 7] + - !!python/tuple [13, 21] + - !!python/tuple [16, 26] + - !!python/tuple [31, 19] + - !!python/tuple [20, 18] + - !!python/tuple [1, 12] + - !!python/tuple [20, 14] + - !!python/tuple [25, 9] + - !!python/tuple [4, 23] + - !!python/tuple [2, 9] + - !!python/tuple [22, 9] + - !!python/tuple [10, 17] + - !!python/tuple [29, 12] + - !!python/tuple [17, 26] + - !!python/tuple [19, 23] + - !!python/tuple [4, 19] + - !!python/tuple [7, 22] + - !!python/tuple [15, 15] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex59.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex59.yaml new file mode 100644 index 0000000..fef83e5 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex59.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [12, 14] + name: agent0 + start: [31, 27] +- goal: [5, 24] + name: agent1 + start: [6, 25] +- goal: [8, 16] + name: agent2 + start: [25, 25] +- goal: [16, 14] + name: agent3 + start: [12, 1] +- goal: [28, 12] + name: agent4 + start: [25, 12] +- goal: [8, 8] + name: agent5 + start: [20, 15] +- goal: [12, 1] + name: agent6 + start: [6, 9] +- goal: [5, 3] + name: agent7 + start: [5, 21] +- goal: [13, 5] + name: agent8 + start: [15, 29] +- goal: [12, 29] + name: agent9 + start: [13, 24] +- goal: [16, 17] + name: agent10 + start: [27, 25] +- goal: [19, 30] + name: agent11 + start: [8, 23] +- goal: [7, 3] + name: agent12 + start: [25, 26] +- goal: [30, 22] + name: agent13 + start: [26, 17] +- goal: [18, 31] + name: agent14 + start: [19, 18] +- goal: [31, 16] + name: agent15 + start: [1, 21] +- goal: [12, 20] + name: agent16 + start: [6, 12] +- goal: [26, 5] + name: agent17 + start: [10, 5] +- goal: [3, 3] + name: agent18 + start: [25, 18] +- goal: [9, 5] + name: agent19 + start: [31, 8] +- goal: [11, 6] + name: agent20 + start: [15, 1] +- goal: [18, 10] + name: agent21 + start: [16, 26] +- goal: [11, 1] + name: agent22 + start: [31, 29] +- goal: [22, 27] + name: agent23 + start: [26, 18] +- goal: [31, 2] + name: agent24 + start: [15, 6] +- goal: [1, 7] + name: agent25 + start: [16, 22] +- goal: [9, 14] + name: agent26 + start: [21, 17] +- goal: [3, 6] + name: agent27 + start: [18, 14] +- goal: [21, 14] + name: agent28 + start: [31, 1] +- goal: [7, 24] + name: agent29 + start: [10, 11] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [23, 1] + - !!python/tuple [25, 24] + - !!python/tuple [20, 24] + - !!python/tuple [31, 0] + - !!python/tuple [17, 20] + - !!python/tuple [9, 23] + - !!python/tuple [31, 10] + - !!python/tuple [2, 28] + - !!python/tuple [30, 16] + - !!python/tuple [11, 31] + - !!python/tuple [6, 22] + - !!python/tuple [3, 30] + - !!python/tuple [2, 15] + - !!python/tuple [14, 16] + - !!python/tuple [18, 16] + - !!python/tuple [20, 26] + - !!python/tuple [5, 2] + - !!python/tuple [21, 13] + - !!python/tuple [17, 9] + - !!python/tuple [20, 4] + - !!python/tuple [29, 30] + - !!python/tuple [30, 5] + - !!python/tuple [29, 10] + - !!python/tuple [16, 10] + - !!python/tuple [2, 27] + - !!python/tuple [30, 11] + - !!python/tuple [25, 3] + - !!python/tuple [22, 21] + - !!python/tuple [2, 29] + - !!python/tuple [20, 31] + - !!python/tuple [5, 31] + - !!python/tuple [2, 18] + - !!python/tuple [11, 22] + - !!python/tuple [12, 23] + - !!python/tuple [7, 4] + - !!python/tuple [10, 0] + - !!python/tuple [8, 26] + - !!python/tuple [1, 31] + - !!python/tuple [12, 6] + - !!python/tuple [23, 8] + - !!python/tuple [8, 3] + - !!python/tuple [20, 6] + - !!python/tuple [11, 19] + - !!python/tuple [11, 16] + - !!python/tuple [16, 19] + - !!python/tuple [3, 0] + - !!python/tuple [28, 1] + - !!python/tuple [5, 10] + - !!python/tuple [29, 6] + - !!python/tuple [20, 28] + - !!python/tuple [9, 22] + - !!python/tuple [7, 8] + - !!python/tuple [6, 18] + - !!python/tuple [21, 23] + - !!python/tuple [22, 6] + - !!python/tuple [1, 4] + - !!python/tuple [1, 29] + - !!python/tuple [15, 23] + - !!python/tuple [3, 29] + - !!python/tuple [10, 7] + - !!python/tuple [6, 6] + - !!python/tuple [31, 13] + - !!python/tuple [1, 30] + - !!python/tuple [3, 21] + - !!python/tuple [12, 31] + - !!python/tuple [27, 15] + - !!python/tuple [23, 16] + - !!python/tuple [24, 5] + - !!python/tuple [2, 10] + - !!python/tuple [17, 12] + - !!python/tuple [31, 18] + - !!python/tuple [6, 3] + - !!python/tuple [15, 16] + - !!python/tuple [2, 12] + - !!python/tuple [17, 23] + - !!python/tuple [23, 4] + - !!python/tuple [29, 11] + - !!python/tuple [23, 22] + - !!python/tuple [5, 9] + - !!python/tuple [13, 14] + - !!python/tuple [25, 30] + - !!python/tuple [12, 12] + - !!python/tuple [30, 9] + - !!python/tuple [21, 30] + - !!python/tuple [16, 2] + - !!python/tuple [15, 3] + - !!python/tuple [24, 19] + - !!python/tuple [22, 24] + - !!python/tuple [31, 15] + - !!python/tuple [1, 19] + - !!python/tuple [14, 9] + - !!python/tuple [14, 19] + - !!python/tuple [31, 25] + - !!python/tuple [18, 19] + - !!python/tuple [5, 17] + - !!python/tuple [21, 12] + - !!python/tuple [17, 29] + - !!python/tuple [6, 21] + - !!python/tuple [21, 31] + - !!python/tuple [5, 6] + - !!python/tuple [7, 31] + - !!python/tuple [9, 19] + - !!python/tuple [6, 2] + - !!python/tuple [25, 23] + - !!python/tuple [18, 4] + - !!python/tuple [13, 29] + - !!python/tuple [4, 13] + - !!python/tuple [20, 25] + - !!python/tuple [16, 13] + - !!python/tuple [29, 12] + - !!python/tuple [12, 13] + - !!python/tuple [8, 17] + - !!python/tuple [28, 7] + - !!python/tuple [24, 26] + - !!python/tuple [27, 29] + - !!python/tuple [24, 4] + - !!python/tuple [19, 16] + - !!python/tuple [11, 30] + - !!python/tuple [1, 16] + - !!python/tuple [21, 9] + - !!python/tuple [28, 23] + - !!python/tuple [2, 22] + - !!python/tuple [18, 13] + - !!python/tuple [4, 21] + - !!python/tuple [3, 25] + - !!python/tuple [19, 31] + - !!python/tuple [9, 31] + - !!python/tuple [9, 0] + - !!python/tuple [21, 22] + - !!python/tuple [15, 15] + - !!python/tuple [10, 29] + - !!python/tuple [1, 26] + - !!python/tuple [1, 15] + - !!python/tuple [28, 31] + - !!python/tuple [0, 6] + - !!python/tuple [11, 21] + - !!python/tuple [20, 11] + - !!python/tuple [4, 7] + - !!python/tuple [4, 26] + - !!python/tuple [13, 4] + - !!python/tuple [30, 23] + - !!python/tuple [26, 3] + - !!python/tuple [4, 11] + - !!python/tuple [23, 9] + - !!python/tuple [17, 15] + - !!python/tuple [9, 15] + - !!python/tuple [22, 25] + - !!python/tuple [4, 15] + - !!python/tuple [25, 31] + - !!python/tuple [25, 14] + - !!python/tuple [22, 20] + - !!python/tuple [11, 12] + - !!python/tuple [7, 16] + - !!python/tuple [28, 29] + - !!python/tuple [30, 13] + - !!python/tuple [4, 18] + - !!python/tuple [16, 1] + - !!python/tuple [3, 17] + - !!python/tuple [3, 2] + - !!python/tuple [10, 1] + - !!python/tuple [4, 9] + - !!python/tuple [16, 25] + - !!python/tuple [31, 30] + - !!python/tuple [11, 5] + - !!python/tuple [24, 23] + - !!python/tuple [29, 31] + - !!python/tuple [2, 16] + - !!python/tuple [13, 19] + - !!python/tuple [14, 8] + - !!python/tuple [25, 1] + - !!python/tuple [1, 27] + - !!python/tuple [28, 0] + - !!python/tuple [0, 19] + - !!python/tuple [0, 14] + - !!python/tuple [12, 9] + - !!python/tuple [14, 4] + - !!python/tuple [22, 13] + - !!python/tuple [0, 13] + - !!python/tuple [30, 2] + - !!python/tuple [7, 20] + - !!python/tuple [2, 2] + - !!python/tuple [31, 9] + - !!python/tuple [26, 8] + - !!python/tuple [29, 21] + - !!python/tuple [2, 24] + - !!python/tuple [13, 17] + - !!python/tuple [0, 28] + - !!python/tuple [8, 21] + - !!python/tuple [15, 28] + - !!python/tuple [19, 8] + - !!python/tuple [0, 12] + - !!python/tuple [2, 11] + - !!python/tuple [12, 26] + - !!python/tuple [21, 11] + - !!python/tuple [11, 17] + - !!python/tuple [11, 28] + - !!python/tuple [12, 28] + - !!python/tuple [6, 16] + - !!python/tuple [25, 29] + - !!python/tuple [15, 26] + - !!python/tuple [2, 8] + - !!python/tuple [4, 30] + - !!python/tuple [27, 23] + - !!python/tuple [23, 30] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex6.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex6.yaml new file mode 100644 index 0000000..8148643 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex6.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [8, 27] + name: agent0 + start: [11, 9] +- goal: [4, 11] + name: agent1 + start: [26, 22] +- goal: [0, 5] + name: agent2 + start: [25, 8] +- goal: [8, 20] + name: agent3 + start: [16, 29] +- goal: [24, 0] + name: agent4 + start: [21, 25] +- goal: [31, 5] + name: agent5 + start: [10, 31] +- goal: [26, 16] + name: agent6 + start: [22, 9] +- goal: [11, 13] + name: agent7 + start: [4, 16] +- goal: [28, 31] + name: agent8 + start: [15, 4] +- goal: [5, 27] + name: agent9 + start: [8, 22] +- goal: [28, 18] + name: agent10 + start: [11, 22] +- goal: [27, 29] + name: agent11 + start: [1, 13] +- goal: [6, 26] + name: agent12 + start: [0, 0] +- goal: [16, 1] + name: agent13 + start: [27, 31] +- goal: [17, 2] + name: agent14 + start: [19, 13] +- goal: [17, 15] + name: agent15 + start: [8, 3] +- goal: [21, 18] + name: agent16 + start: [1, 21] +- goal: [9, 30] + name: agent17 + start: [7, 17] +- goal: [16, 31] + name: agent18 + start: [13, 3] +- goal: [5, 30] + name: agent19 + start: [10, 23] +- goal: [9, 31] + name: agent20 + start: [4, 21] +- goal: [7, 16] + name: agent21 + start: [3, 16] +- goal: [0, 19] + name: agent22 + start: [17, 0] +- goal: [28, 16] + name: agent23 + start: [3, 2] +- goal: [6, 28] + name: agent24 + start: [24, 15] +- goal: [12, 6] + name: agent25 + start: [27, 12] +- goal: [29, 19] + name: agent26 + start: [23, 19] +- goal: [2, 21] + name: agent27 + start: [12, 5] +- goal: [26, 1] + name: agent28 + start: [14, 11] +- goal: [29, 11] + name: agent29 + start: [8, 15] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [0, 24] + - !!python/tuple [31, 25] + - !!python/tuple [21, 20] + - !!python/tuple [6, 0] + - !!python/tuple [18, 13] + - !!python/tuple [23, 26] + - !!python/tuple [12, 28] + - !!python/tuple [15, 12] + - !!python/tuple [27, 24] + - !!python/tuple [11, 0] + - !!python/tuple [30, 0] + - !!python/tuple [22, 6] + - !!python/tuple [9, 0] + - !!python/tuple [4, 0] + - !!python/tuple [27, 9] + - !!python/tuple [4, 24] + - !!python/tuple [10, 17] + - !!python/tuple [18, 29] + - !!python/tuple [17, 6] + - !!python/tuple [21, 7] + - !!python/tuple [31, 12] + - !!python/tuple [10, 18] + - !!python/tuple [24, 25] + - !!python/tuple [12, 31] + - !!python/tuple [9, 15] + - !!python/tuple [28, 4] + - !!python/tuple [14, 18] + - !!python/tuple [16, 9] + - !!python/tuple [12, 13] + - !!python/tuple [16, 27] + - !!python/tuple [19, 7] + - !!python/tuple [12, 30] + - !!python/tuple [1, 14] + - !!python/tuple [25, 4] + - !!python/tuple [14, 13] + - !!python/tuple [21, 11] + - !!python/tuple [13, 14] + - !!python/tuple [30, 31] + - !!python/tuple [8, 13] + - !!python/tuple [16, 30] + - !!python/tuple [30, 24] + - !!python/tuple [19, 25] + - !!python/tuple [23, 17] + - !!python/tuple [2, 3] + - !!python/tuple [16, 8] + - !!python/tuple [1, 0] + - !!python/tuple [1, 26] + - !!python/tuple [27, 18] + - !!python/tuple [31, 19] + - !!python/tuple [14, 10] + - !!python/tuple [3, 3] + - !!python/tuple [10, 25] + - !!python/tuple [26, 23] + - !!python/tuple [5, 7] + - !!python/tuple [19, 28] + - !!python/tuple [28, 30] + - !!python/tuple [0, 30] + - !!python/tuple [31, 15] + - !!python/tuple [30, 27] + - !!python/tuple [10, 30] + - !!python/tuple [5, 14] + - !!python/tuple [22, 2] + - !!python/tuple [27, 22] + - !!python/tuple [24, 17] + - !!python/tuple [24, 23] + - !!python/tuple [5, 1] + - !!python/tuple [5, 19] + - !!python/tuple [31, 4] + - !!python/tuple [4, 7] + - !!python/tuple [22, 4] + - !!python/tuple [15, 31] + - !!python/tuple [30, 29] + - !!python/tuple [20, 7] + - !!python/tuple [15, 24] + - !!python/tuple [15, 28] + - !!python/tuple [19, 24] + - !!python/tuple [7, 5] + - !!python/tuple [9, 5] + - !!python/tuple [19, 11] + - !!python/tuple [31, 28] + - !!python/tuple [6, 22] + - !!python/tuple [15, 6] + - !!python/tuple [7, 12] + - !!python/tuple [12, 4] + - !!python/tuple [26, 3] + - !!python/tuple [2, 10] + - !!python/tuple [23, 3] + - !!python/tuple [5, 2] + - !!python/tuple [11, 30] + - !!python/tuple [13, 17] + - !!python/tuple [10, 21] + - !!python/tuple [31, 29] + - !!python/tuple [30, 8] + - !!python/tuple [21, 23] + - !!python/tuple [31, 6] + - !!python/tuple [4, 5] + - !!python/tuple [28, 9] + - !!python/tuple [9, 22] + - !!python/tuple [13, 20] + - !!python/tuple [7, 15] + - !!python/tuple [31, 22] + - !!python/tuple [20, 21] + - !!python/tuple [6, 1] + - !!python/tuple [10, 9] + - !!python/tuple [5, 22] + - !!python/tuple [18, 7] + - !!python/tuple [30, 3] + - !!python/tuple [9, 13] + - !!python/tuple [20, 14] + - !!python/tuple [12, 15] + - !!python/tuple [1, 6] + - !!python/tuple [28, 19] + - !!python/tuple [7, 22] + - !!python/tuple [7, 4] + - !!python/tuple [21, 5] + - !!python/tuple [7, 20] + - !!python/tuple [26, 9] + - !!python/tuple [13, 18] + - !!python/tuple [9, 8] + - !!python/tuple [0, 10] + - !!python/tuple [10, 1] + - !!python/tuple [26, 2] + - !!python/tuple [11, 16] + - !!python/tuple [21, 27] + - !!python/tuple [10, 24] + - !!python/tuple [24, 19] + - !!python/tuple [5, 11] + - !!python/tuple [14, 1] + - !!python/tuple [26, 15] + - !!python/tuple [7, 21] + - !!python/tuple [22, 8] + - !!python/tuple [2, 7] + - !!python/tuple [17, 11] + - !!python/tuple [26, 12] + - !!python/tuple [21, 24] + - !!python/tuple [6, 11] + - !!python/tuple [19, 9] + - !!python/tuple [3, 15] + - !!python/tuple [23, 7] + - !!python/tuple [7, 7] + - !!python/tuple [17, 8] + - !!python/tuple [5, 25] + - !!python/tuple [6, 21] + - !!python/tuple [25, 23] + - !!python/tuple [16, 5] + - !!python/tuple [31, 14] + - !!python/tuple [16, 17] + - !!python/tuple [19, 3] + - !!python/tuple [6, 9] + - !!python/tuple [30, 21] + - !!python/tuple [17, 17] + - !!python/tuple [16, 10] + - !!python/tuple [21, 26] + - !!python/tuple [14, 6] + - !!python/tuple [14, 28] + - !!python/tuple [30, 28] + - !!python/tuple [3, 22] + - !!python/tuple [3, 14] + - !!python/tuple [27, 4] + - !!python/tuple [14, 25] + - !!python/tuple [7, 3] + - !!python/tuple [23, 13] + - !!python/tuple [7, 6] + - !!python/tuple [26, 8] + - !!python/tuple [20, 9] + - !!python/tuple [30, 23] + - !!python/tuple [15, 29] + - !!python/tuple [13, 1] + - !!python/tuple [5, 21] + - !!python/tuple [18, 15] + - !!python/tuple [8, 6] + - !!python/tuple [10, 8] + - !!python/tuple [31, 9] + - !!python/tuple [28, 8] + - !!python/tuple [7, 23] + - !!python/tuple [29, 16] + - !!python/tuple [21, 10] + - !!python/tuple [12, 7] + - !!python/tuple [21, 19] + - !!python/tuple [9, 4] + - !!python/tuple [28, 20] + - !!python/tuple [23, 31] + - !!python/tuple [13, 25] + - !!python/tuple [12, 11] + - !!python/tuple [9, 18] + - !!python/tuple [30, 16] + - !!python/tuple [26, 21] + - !!python/tuple [29, 20] + - !!python/tuple [14, 27] + - !!python/tuple [12, 16] + - !!python/tuple [4, 29] + - !!python/tuple [17, 4] + - !!python/tuple [20, 29] + - !!python/tuple [25, 13] + - !!python/tuple [0, 3] + - !!python/tuple [20, 18] + - !!python/tuple [4, 12] + - !!python/tuple [10, 27] + - !!python/tuple [16, 16] + - !!python/tuple [10, 12] + - !!python/tuple [6, 14] + - !!python/tuple [11, 4] + - !!python/tuple [24, 6] + - !!python/tuple [7, 8] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex60.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex60.yaml new file mode 100644 index 0000000..f2b136d --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex60.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [30, 12] + name: agent0 + start: [15, 6] +- goal: [5, 3] + name: agent1 + start: [19, 14] +- goal: [13, 8] + name: agent2 + start: [27, 24] +- goal: [12, 15] + name: agent3 + start: [11, 17] +- goal: [18, 28] + name: agent4 + start: [20, 23] +- goal: [11, 9] + name: agent5 + start: [19, 4] +- goal: [9, 16] + name: agent6 + start: [20, 10] +- goal: [28, 12] + name: agent7 + start: [14, 0] +- goal: [0, 8] + name: agent8 + start: [11, 31] +- goal: [30, 21] + name: agent9 + start: [26, 1] +- goal: [28, 14] + name: agent10 + start: [12, 21] +- goal: [23, 18] + name: agent11 + start: [4, 29] +- goal: [22, 4] + name: agent12 + start: [3, 24] +- goal: [31, 21] + name: agent13 + start: [31, 1] +- goal: [23, 16] + name: agent14 + start: [21, 20] +- goal: [31, 16] + name: agent15 + start: [16, 17] +- goal: [26, 12] + name: agent16 + start: [31, 19] +- goal: [30, 8] + name: agent17 + start: [21, 21] +- goal: [1, 7] + name: agent18 + start: [7, 23] +- goal: [31, 10] + name: agent19 + start: [23, 1] +- goal: [15, 5] + name: agent20 + start: [13, 5] +- goal: [8, 30] + name: agent21 + start: [20, 9] +- goal: [29, 16] + name: agent22 + start: [27, 3] +- goal: [13, 23] + name: agent23 + start: [20, 24] +- goal: [22, 0] + name: agent24 + start: [21, 22] +- goal: [2, 22] + name: agent25 + start: [25, 26] +- goal: [29, 8] + name: agent26 + start: [7, 16] +- goal: [9, 6] + name: agent27 + start: [6, 23] +- goal: [5, 8] + name: agent28 + start: [28, 27] +- goal: [22, 11] + name: agent29 + start: [0, 29] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [23, 7] + - !!python/tuple [16, 6] + - !!python/tuple [8, 3] + - !!python/tuple [10, 10] + - !!python/tuple [8, 10] + - !!python/tuple [5, 5] + - !!python/tuple [3, 8] + - !!python/tuple [19, 19] + - !!python/tuple [23, 22] + - !!python/tuple [29, 6] + - !!python/tuple [31, 0] + - !!python/tuple [10, 28] + - !!python/tuple [8, 14] + - !!python/tuple [24, 4] + - !!python/tuple [4, 21] + - !!python/tuple [25, 24] + - !!python/tuple [20, 29] + - !!python/tuple [27, 16] + - !!python/tuple [21, 23] + - !!python/tuple [16, 9] + - !!python/tuple [3, 28] + - !!python/tuple [3, 22] + - !!python/tuple [11, 11] + - !!python/tuple [13, 7] + - !!python/tuple [29, 23] + - !!python/tuple [12, 13] + - !!python/tuple [18, 5] + - !!python/tuple [9, 8] + - !!python/tuple [18, 1] + - !!python/tuple [7, 9] + - !!python/tuple [25, 27] + - !!python/tuple [14, 23] + - !!python/tuple [22, 17] + - !!python/tuple [5, 24] + - !!python/tuple [3, 0] + - !!python/tuple [7, 6] + - !!python/tuple [29, 22] + - !!python/tuple [1, 2] + - !!python/tuple [29, 18] + - !!python/tuple [21, 24] + - !!python/tuple [31, 17] + - !!python/tuple [19, 17] + - !!python/tuple [7, 4] + - !!python/tuple [30, 16] + - !!python/tuple [14, 20] + - !!python/tuple [29, 21] + - !!python/tuple [4, 8] + - !!python/tuple [23, 11] + - !!python/tuple [2, 14] + - !!python/tuple [2, 4] + - !!python/tuple [24, 17] + - !!python/tuple [10, 29] + - !!python/tuple [30, 4] + - !!python/tuple [2, 24] + - !!python/tuple [1, 21] + - !!python/tuple [10, 16] + - !!python/tuple [5, 19] + - !!python/tuple [31, 28] + - !!python/tuple [13, 11] + - !!python/tuple [14, 28] + - !!python/tuple [24, 11] + - !!python/tuple [22, 15] + - !!python/tuple [27, 25] + - !!python/tuple [22, 1] + - !!python/tuple [22, 31] + - !!python/tuple [11, 6] + - !!python/tuple [2, 21] + - !!python/tuple [13, 20] + - !!python/tuple [19, 26] + - !!python/tuple [20, 25] + - !!python/tuple [17, 20] + - !!python/tuple [21, 27] + - !!python/tuple [11, 4] + - !!python/tuple [15, 18] + - !!python/tuple [28, 6] + - !!python/tuple [8, 26] + - !!python/tuple [14, 2] + - !!python/tuple [22, 10] + - !!python/tuple [9, 31] + - !!python/tuple [29, 30] + - !!python/tuple [23, 3] + - !!python/tuple [14, 18] + - !!python/tuple [3, 2] + - !!python/tuple [7, 7] + - !!python/tuple [26, 24] + - !!python/tuple [18, 7] + - !!python/tuple [21, 29] + - !!python/tuple [17, 7] + - !!python/tuple [15, 13] + - !!python/tuple [16, 24] + - !!python/tuple [22, 7] + - !!python/tuple [30, 27] + - !!python/tuple [18, 30] + - !!python/tuple [9, 7] + - !!python/tuple [10, 11] + - !!python/tuple [18, 2] + - !!python/tuple [17, 26] + - !!python/tuple [25, 8] + - !!python/tuple [15, 30] + - !!python/tuple [2, 15] + - !!python/tuple [30, 25] + - !!python/tuple [24, 12] + - !!python/tuple [17, 2] + - !!python/tuple [26, 18] + - !!python/tuple [19, 22] + - !!python/tuple [16, 10] + - !!python/tuple [4, 24] + - !!python/tuple [15, 8] + - !!python/tuple [8, 15] + - !!python/tuple [11, 14] + - !!python/tuple [22, 9] + - !!python/tuple [20, 26] + - !!python/tuple [20, 27] + - !!python/tuple [15, 12] + - !!python/tuple [30, 17] + - !!python/tuple [31, 29] + - !!python/tuple [20, 4] + - !!python/tuple [7, 8] + - !!python/tuple [20, 0] + - !!python/tuple [10, 7] + - !!python/tuple [0, 1] + - !!python/tuple [27, 29] + - !!python/tuple [21, 17] + - !!python/tuple [1, 26] + - !!python/tuple [10, 14] + - !!python/tuple [4, 15] + - !!python/tuple [26, 17] + - !!python/tuple [7, 30] + - !!python/tuple [30, 0] + - !!python/tuple [21, 11] + - !!python/tuple [2, 27] + - !!python/tuple [5, 1] + - !!python/tuple [12, 5] + - !!python/tuple [19, 11] + - !!python/tuple [0, 13] + - !!python/tuple [2, 12] + - !!python/tuple [16, 21] + - !!python/tuple [13, 13] + - !!python/tuple [12, 29] + - !!python/tuple [6, 24] + - !!python/tuple [21, 25] + - !!python/tuple [3, 6] + - !!python/tuple [28, 10] + - !!python/tuple [26, 27] + - !!python/tuple [22, 18] + - !!python/tuple [25, 31] + - !!python/tuple [25, 16] + - !!python/tuple [14, 25] + - !!python/tuple [16, 29] + - !!python/tuple [10, 27] + - !!python/tuple [25, 5] + - !!python/tuple [17, 8] + - !!python/tuple [2, 1] + - !!python/tuple [28, 24] + - !!python/tuple [9, 9] + - !!python/tuple [8, 22] + - !!python/tuple [29, 0] + - !!python/tuple [24, 28] + - !!python/tuple [1, 4] + - !!python/tuple [8, 31] + - !!python/tuple [14, 26] + - !!python/tuple [27, 19] + - !!python/tuple [27, 9] + - !!python/tuple [1, 6] + - !!python/tuple [30, 9] + - !!python/tuple [5, 30] + - !!python/tuple [28, 7] + - !!python/tuple [13, 25] + - !!python/tuple [22, 24] + - !!python/tuple [4, 26] + - !!python/tuple [29, 9] + - !!python/tuple [30, 22] + - !!python/tuple [13, 16] + - !!python/tuple [8, 8] + - !!python/tuple [30, 6] + - !!python/tuple [28, 22] + - !!python/tuple [8, 24] + - !!python/tuple [11, 16] + - !!python/tuple [6, 14] + - !!python/tuple [27, 18] + - !!python/tuple [25, 4] + - !!python/tuple [15, 20] + - !!python/tuple [19, 28] + - !!python/tuple [29, 10] + - !!python/tuple [22, 30] + - !!python/tuple [30, 13] + - !!python/tuple [8, 1] + - !!python/tuple [0, 27] + - !!python/tuple [5, 25] + - !!python/tuple [7, 29] + - !!python/tuple [30, 26] + - !!python/tuple [12, 30] + - !!python/tuple [8, 9] + - !!python/tuple [6, 5] + - !!python/tuple [31, 7] + - !!python/tuple [9, 19] + - !!python/tuple [0, 16] + - !!python/tuple [20, 11] + - !!python/tuple [3, 7] + - !!python/tuple [18, 3] + - !!python/tuple [25, 30] + - !!python/tuple [27, 11] + - !!python/tuple [5, 16] + - !!python/tuple [25, 10] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex61.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex61.yaml new file mode 100644 index 0000000..9beb02f --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex61.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [13, 0] + name: agent0 + start: [23, 2] +- goal: [16, 4] + name: agent1 + start: [17, 22] +- goal: [15, 11] + name: agent2 + start: [26, 28] +- goal: [7, 23] + name: agent3 + start: [11, 29] +- goal: [30, 23] + name: agent4 + start: [8, 18] +- goal: [28, 19] + name: agent5 + start: [2, 25] +- goal: [26, 7] + name: agent6 + start: [6, 5] +- goal: [25, 16] + name: agent7 + start: [2, 2] +- goal: [12, 19] + name: agent8 + start: [11, 14] +- goal: [20, 20] + name: agent9 + start: [15, 25] +- goal: [30, 13] + name: agent10 + start: [13, 7] +- goal: [8, 0] + name: agent11 + start: [24, 27] +- goal: [8, 2] + name: agent12 + start: [28, 24] +- goal: [2, 2] + name: agent13 + start: [15, 12] +- goal: [22, 28] + name: agent14 + start: [8, 19] +- goal: [31, 27] + name: agent15 + start: [22, 11] +- goal: [20, 14] + name: agent16 + start: [10, 16] +- goal: [8, 4] + name: agent17 + start: [26, 10] +- goal: [18, 8] + name: agent18 + start: [9, 23] +- goal: [26, 12] + name: agent19 + start: [26, 0] +- goal: [2, 21] + name: agent20 + start: [9, 28] +- goal: [11, 31] + name: agent21 + start: [6, 16] +- goal: [19, 17] + name: agent22 + start: [21, 9] +- goal: [18, 22] + name: agent23 + start: [26, 26] +- goal: [26, 2] + name: agent24 + start: [8, 24] +- goal: [15, 13] + name: agent25 + start: [26, 8] +- goal: [24, 24] + name: agent26 + start: [8, 31] +- goal: [8, 12] + name: agent27 + start: [5, 1] +- goal: [6, 2] + name: agent28 + start: [30, 17] +- goal: [12, 14] + name: agent29 + start: [13, 16] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [16, 9] + - !!python/tuple [15, 16] + - !!python/tuple [17, 23] + - !!python/tuple [19, 29] + - !!python/tuple [18, 6] + - !!python/tuple [27, 1] + - !!python/tuple [18, 1] + - !!python/tuple [19, 27] + - !!python/tuple [15, 9] + - !!python/tuple [28, 30] + - !!python/tuple [1, 25] + - !!python/tuple [24, 30] + - !!python/tuple [10, 25] + - !!python/tuple [6, 18] + - !!python/tuple [24, 14] + - !!python/tuple [0, 16] + - !!python/tuple [7, 27] + - !!python/tuple [22, 13] + - !!python/tuple [26, 20] + - !!python/tuple [0, 12] + - !!python/tuple [23, 22] + - !!python/tuple [20, 24] + - !!python/tuple [21, 5] + - !!python/tuple [23, 28] + - !!python/tuple [19, 8] + - !!python/tuple [7, 10] + - !!python/tuple [13, 30] + - !!python/tuple [1, 21] + - !!python/tuple [28, 7] + - !!python/tuple [16, 13] + - !!python/tuple [2, 18] + - !!python/tuple [3, 4] + - !!python/tuple [12, 20] + - !!python/tuple [24, 4] + - !!python/tuple [3, 23] + - !!python/tuple [1, 7] + - !!python/tuple [19, 21] + - !!python/tuple [20, 10] + - !!python/tuple [17, 16] + - !!python/tuple [23, 27] + - !!python/tuple [6, 0] + - !!python/tuple [15, 30] + - !!python/tuple [22, 25] + - !!python/tuple [8, 14] + - !!python/tuple [31, 5] + - !!python/tuple [5, 2] + - !!python/tuple [7, 30] + - !!python/tuple [6, 31] + - !!python/tuple [18, 10] + - !!python/tuple [10, 30] + - !!python/tuple [29, 13] + - !!python/tuple [28, 20] + - !!python/tuple [3, 17] + - !!python/tuple [17, 19] + - !!python/tuple [7, 28] + - !!python/tuple [12, 9] + - !!python/tuple [5, 4] + - !!python/tuple [16, 18] + - !!python/tuple [25, 6] + - !!python/tuple [0, 24] + - !!python/tuple [15, 15] + - !!python/tuple [22, 18] + - !!python/tuple [8, 7] + - !!python/tuple [3, 13] + - !!python/tuple [0, 18] + - !!python/tuple [0, 3] + - !!python/tuple [19, 11] + - !!python/tuple [10, 2] + - !!python/tuple [23, 17] + - !!python/tuple [29, 10] + - !!python/tuple [1, 18] + - !!python/tuple [28, 31] + - !!python/tuple [0, 9] + - !!python/tuple [3, 14] + - !!python/tuple [23, 11] + - !!python/tuple [16, 26] + - !!python/tuple [9, 26] + - !!python/tuple [26, 16] + - !!python/tuple [15, 6] + - !!python/tuple [12, 16] + - !!python/tuple [10, 5] + - !!python/tuple [6, 9] + - !!python/tuple [7, 9] + - !!python/tuple [8, 16] + - !!python/tuple [22, 23] + - !!python/tuple [20, 0] + - !!python/tuple [21, 25] + - !!python/tuple [15, 10] + - !!python/tuple [31, 19] + - !!python/tuple [18, 14] + - !!python/tuple [12, 5] + - !!python/tuple [10, 15] + - !!python/tuple [13, 1] + - !!python/tuple [19, 16] + - !!python/tuple [10, 23] + - !!python/tuple [17, 30] + - !!python/tuple [15, 4] + - !!python/tuple [7, 8] + - !!python/tuple [1, 13] + - !!python/tuple [21, 0] + - !!python/tuple [9, 22] + - !!python/tuple [5, 7] + - !!python/tuple [6, 13] + - !!python/tuple [4, 16] + - !!python/tuple [30, 1] + - !!python/tuple [3, 31] + - !!python/tuple [19, 7] + - !!python/tuple [26, 27] + - !!python/tuple [25, 10] + - !!python/tuple [30, 11] + - !!python/tuple [3, 2] + - !!python/tuple [20, 6] + - !!python/tuple [24, 13] + - !!python/tuple [11, 26] + - !!python/tuple [0, 19] + - !!python/tuple [3, 28] + - !!python/tuple [16, 19] + - !!python/tuple [13, 21] + - !!python/tuple [7, 11] + - !!python/tuple [10, 4] + - !!python/tuple [27, 2] + - !!python/tuple [12, 29] + - !!python/tuple [28, 17] + - !!python/tuple [5, 12] + - !!python/tuple [22, 1] + - !!python/tuple [11, 6] + - !!python/tuple [11, 25] + - !!python/tuple [1, 8] + - !!python/tuple [11, 9] + - !!python/tuple [21, 21] + - !!python/tuple [13, 24] + - !!python/tuple [14, 5] + - !!python/tuple [5, 13] + - !!python/tuple [10, 28] + - !!python/tuple [17, 6] + - !!python/tuple [18, 4] + - !!python/tuple [5, 5] + - !!python/tuple [5, 26] + - !!python/tuple [22, 22] + - !!python/tuple [25, 14] + - !!python/tuple [2, 6] + - !!python/tuple [28, 18] + - !!python/tuple [3, 8] + - !!python/tuple [27, 24] + - !!python/tuple [13, 6] + - !!python/tuple [2, 1] + - !!python/tuple [9, 5] + - !!python/tuple [10, 19] + - !!python/tuple [9, 2] + - !!python/tuple [8, 5] + - !!python/tuple [29, 8] + - !!python/tuple [17, 10] + - !!python/tuple [27, 18] + - !!python/tuple [27, 8] + - !!python/tuple [17, 18] + - !!python/tuple [23, 13] + - !!python/tuple [29, 14] + - !!python/tuple [10, 3] + - !!python/tuple [13, 13] + - !!python/tuple [17, 7] + - !!python/tuple [14, 25] + - !!python/tuple [29, 28] + - !!python/tuple [1, 17] + - !!python/tuple [1, 16] + - !!python/tuple [22, 15] + - !!python/tuple [18, 26] + - !!python/tuple [12, 13] + - !!python/tuple [18, 30] + - !!python/tuple [19, 14] + - !!python/tuple [6, 20] + - !!python/tuple [1, 23] + - !!python/tuple [5, 21] + - !!python/tuple [2, 28] + - !!python/tuple [20, 7] + - !!python/tuple [11, 3] + - !!python/tuple [6, 8] + - !!python/tuple [13, 11] + - !!python/tuple [6, 30] + - !!python/tuple [27, 23] + - !!python/tuple [27, 14] + - !!python/tuple [4, 3] + - !!python/tuple [9, 29] + - !!python/tuple [10, 1] + - !!python/tuple [17, 26] + - !!python/tuple [27, 10] + - !!python/tuple [25, 12] + - !!python/tuple [3, 16] + - !!python/tuple [16, 11] + - !!python/tuple [14, 2] + - !!python/tuple [5, 25] + - !!python/tuple [0, 22] + - !!python/tuple [31, 11] + - !!python/tuple [21, 29] + - !!python/tuple [9, 13] + - !!python/tuple [29, 6] + - !!python/tuple [24, 20] + - !!python/tuple [1, 20] + - !!python/tuple [27, 15] + - !!python/tuple [29, 9] + - !!python/tuple [22, 3] + - !!python/tuple [20, 31] + - !!python/tuple [23, 5] + - !!python/tuple [5, 30] + - !!python/tuple [0, 11] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex62.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex62.yaml new file mode 100644 index 0000000..db37e20 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex62.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [25, 29] + name: agent0 + start: [14, 24] +- goal: [7, 30] + name: agent1 + start: [20, 9] +- goal: [19, 18] + name: agent2 + start: [13, 30] +- goal: [16, 6] + name: agent3 + start: [1, 5] +- goal: [12, 31] + name: agent4 + start: [5, 15] +- goal: [10, 16] + name: agent5 + start: [8, 11] +- goal: [7, 29] + name: agent6 + start: [3, 22] +- goal: [3, 25] + name: agent7 + start: [26, 5] +- goal: [4, 30] + name: agent8 + start: [31, 12] +- goal: [3, 30] + name: agent9 + start: [4, 21] +- goal: [22, 0] + name: agent10 + start: [7, 14] +- goal: [26, 21] + name: agent11 + start: [0, 6] +- goal: [7, 23] + name: agent12 + start: [17, 11] +- goal: [18, 13] + name: agent13 + start: [27, 15] +- goal: [28, 0] + name: agent14 + start: [14, 30] +- goal: [17, 10] + name: agent15 + start: [6, 7] +- goal: [17, 22] + name: agent16 + start: [28, 18] +- goal: [20, 8] + name: agent17 + start: [9, 18] +- goal: [3, 7] + name: agent18 + start: [10, 6] +- goal: [29, 4] + name: agent19 + start: [5, 19] +- goal: [8, 26] + name: agent20 + start: [29, 4] +- goal: [12, 25] + name: agent21 + start: [27, 3] +- goal: [16, 27] + name: agent22 + start: [7, 29] +- goal: [5, 8] + name: agent23 + start: [13, 25] +- goal: [25, 11] + name: agent24 + start: [23, 13] +- goal: [23, 12] + name: agent25 + start: [5, 17] +- goal: [6, 2] + name: agent26 + start: [2, 2] +- goal: [30, 6] + name: agent27 + start: [12, 14] +- goal: [14, 13] + name: agent28 + start: [29, 29] +- goal: [3, 26] + name: agent29 + start: [15, 31] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [26, 20] + - !!python/tuple [8, 13] + - !!python/tuple [28, 1] + - !!python/tuple [29, 24] + - !!python/tuple [10, 17] + - !!python/tuple [25, 25] + - !!python/tuple [16, 30] + - !!python/tuple [25, 13] + - !!python/tuple [25, 23] + - !!python/tuple [7, 2] + - !!python/tuple [27, 28] + - !!python/tuple [23, 16] + - !!python/tuple [6, 10] + - !!python/tuple [6, 20] + - !!python/tuple [16, 15] + - !!python/tuple [30, 30] + - !!python/tuple [13, 24] + - !!python/tuple [8, 21] + - !!python/tuple [11, 2] + - !!python/tuple [18, 16] + - !!python/tuple [17, 31] + - !!python/tuple [8, 16] + - !!python/tuple [14, 12] + - !!python/tuple [11, 20] + - !!python/tuple [27, 30] + - !!python/tuple [19, 26] + - !!python/tuple [8, 29] + - !!python/tuple [27, 8] + - !!python/tuple [27, 2] + - !!python/tuple [27, 23] + - !!python/tuple [20, 0] + - !!python/tuple [23, 26] + - !!python/tuple [0, 24] + - !!python/tuple [18, 14] + - !!python/tuple [22, 17] + - !!python/tuple [22, 12] + - !!python/tuple [10, 21] + - !!python/tuple [3, 0] + - !!python/tuple [24, 15] + - !!python/tuple [25, 0] + - !!python/tuple [27, 24] + - !!python/tuple [15, 29] + - !!python/tuple [14, 25] + - !!python/tuple [23, 1] + - !!python/tuple [10, 11] + - !!python/tuple [31, 5] + - !!python/tuple [29, 23] + - !!python/tuple [1, 16] + - !!python/tuple [28, 4] + - !!python/tuple [27, 17] + - !!python/tuple [12, 8] + - !!python/tuple [16, 4] + - !!python/tuple [2, 12] + - !!python/tuple [19, 19] + - !!python/tuple [17, 28] + - !!python/tuple [13, 31] + - !!python/tuple [8, 30] + - !!python/tuple [5, 1] + - !!python/tuple [29, 28] + - !!python/tuple [8, 15] + - !!python/tuple [2, 7] + - !!python/tuple [8, 31] + - !!python/tuple [7, 22] + - !!python/tuple [31, 15] + - !!python/tuple [7, 27] + - !!python/tuple [31, 8] + - !!python/tuple [18, 15] + - !!python/tuple [1, 15] + - !!python/tuple [28, 28] + - !!python/tuple [28, 16] + - !!python/tuple [6, 11] + - !!python/tuple [17, 2] + - !!python/tuple [14, 22] + - !!python/tuple [25, 24] + - !!python/tuple [19, 25] + - !!python/tuple [9, 8] + - !!python/tuple [20, 18] + - !!python/tuple [7, 10] + - !!python/tuple [0, 9] + - !!python/tuple [29, 15] + - !!python/tuple [28, 23] + - !!python/tuple [2, 29] + - !!python/tuple [26, 13] + - !!python/tuple [4, 25] + - !!python/tuple [25, 8] + - !!python/tuple [20, 16] + - !!python/tuple [12, 15] + - !!python/tuple [12, 17] + - !!python/tuple [30, 29] + - !!python/tuple [13, 6] + - !!python/tuple [31, 0] + - !!python/tuple [4, 0] + - !!python/tuple [24, 8] + - !!python/tuple [29, 19] + - !!python/tuple [1, 20] + - !!python/tuple [22, 10] + - !!python/tuple [25, 12] + - !!python/tuple [28, 25] + - !!python/tuple [23, 2] + - !!python/tuple [23, 8] + - !!python/tuple [1, 6] + - !!python/tuple [16, 0] + - !!python/tuple [12, 12] + - !!python/tuple [21, 21] + - !!python/tuple [28, 7] + - !!python/tuple [12, 6] + - !!python/tuple [15, 10] + - !!python/tuple [1, 14] + - !!python/tuple [15, 6] + - !!python/tuple [28, 17] + - !!python/tuple [11, 10] + - !!python/tuple [26, 28] + - !!python/tuple [4, 7] + - !!python/tuple [6, 3] + - !!python/tuple [24, 29] + - !!python/tuple [3, 10] + - !!python/tuple [19, 1] + - !!python/tuple [4, 24] + - !!python/tuple [23, 27] + - !!python/tuple [10, 0] + - !!python/tuple [5, 3] + - !!python/tuple [30, 11] + - !!python/tuple [22, 9] + - !!python/tuple [1, 4] + - !!python/tuple [5, 6] + - !!python/tuple [12, 11] + - !!python/tuple [16, 8] + - !!python/tuple [28, 2] + - !!python/tuple [21, 17] + - !!python/tuple [0, 10] + - !!python/tuple [20, 28] + - !!python/tuple [23, 5] + - !!python/tuple [18, 19] + - !!python/tuple [31, 7] + - !!python/tuple [9, 29] + - !!python/tuple [11, 3] + - !!python/tuple [22, 4] + - !!python/tuple [7, 4] + - !!python/tuple [24, 21] + - !!python/tuple [6, 15] + - !!python/tuple [25, 2] + - !!python/tuple [20, 20] + - !!python/tuple [25, 1] + - !!python/tuple [3, 12] + - !!python/tuple [11, 4] + - !!python/tuple [24, 19] + - !!python/tuple [18, 9] + - !!python/tuple [2, 31] + - !!python/tuple [8, 5] + - !!python/tuple [25, 6] + - !!python/tuple [3, 21] + - !!python/tuple [0, 3] + - !!python/tuple [10, 18] + - !!python/tuple [3, 2] + - !!python/tuple [4, 13] + - !!python/tuple [24, 31] + - !!python/tuple [31, 16] + - !!python/tuple [10, 14] + - !!python/tuple [24, 28] + - !!python/tuple [19, 27] + - !!python/tuple [14, 29] + - !!python/tuple [18, 1] + - !!python/tuple [10, 27] + - !!python/tuple [26, 23] + - !!python/tuple [0, 20] + - !!python/tuple [28, 6] + - !!python/tuple [16, 19] + - !!python/tuple [5, 29] + - !!python/tuple [7, 3] + - !!python/tuple [29, 16] + - !!python/tuple [28, 20] + - !!python/tuple [30, 1] + - !!python/tuple [10, 1] + - !!python/tuple [8, 14] + - !!python/tuple [27, 20] + - !!python/tuple [12, 0] + - !!python/tuple [20, 23] + - !!python/tuple [21, 11] + - !!python/tuple [5, 14] + - !!python/tuple [14, 26] + - !!python/tuple [11, 21] + - !!python/tuple [24, 13] + - !!python/tuple [18, 6] + - !!python/tuple [2, 23] + - !!python/tuple [7, 17] + - !!python/tuple [8, 1] + - !!python/tuple [31, 22] + - !!python/tuple [27, 14] + - !!python/tuple [14, 2] + - !!python/tuple [11, 6] + - !!python/tuple [11, 22] + - !!python/tuple [13, 11] + - !!python/tuple [31, 1] + - !!python/tuple [15, 15] + - !!python/tuple [1, 1] + - !!python/tuple [2, 20] + - !!python/tuple [15, 17] + - !!python/tuple [26, 17] + - !!python/tuple [28, 10] + - !!python/tuple [10, 25] + - !!python/tuple [17, 9] + - !!python/tuple [24, 10] + - !!python/tuple [17, 13] + - !!python/tuple [7, 28] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex63.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex63.yaml new file mode 100644 index 0000000..9ca00cc --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex63.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [24, 29] + name: agent0 + start: [28, 26] +- goal: [28, 31] + name: agent1 + start: [6, 0] +- goal: [30, 25] + name: agent2 + start: [23, 22] +- goal: [10, 13] + name: agent3 + start: [6, 4] +- goal: [12, 1] + name: agent4 + start: [26, 28] +- goal: [3, 3] + name: agent5 + start: [19, 20] +- goal: [29, 21] + name: agent6 + start: [7, 18] +- goal: [25, 1] + name: agent7 + start: [4, 28] +- goal: [21, 16] + name: agent8 + start: [3, 2] +- goal: [1, 28] + name: agent9 + start: [8, 18] +- goal: [1, 21] + name: agent10 + start: [27, 12] +- goal: [4, 14] + name: agent11 + start: [9, 0] +- goal: [12, 2] + name: agent12 + start: [9, 31] +- goal: [4, 30] + name: agent13 + start: [17, 19] +- goal: [1, 24] + name: agent14 + start: [16, 9] +- goal: [24, 18] + name: agent15 + start: [15, 17] +- goal: [5, 10] + name: agent16 + start: [0, 26] +- goal: [6, 25] + name: agent17 + start: [25, 24] +- goal: [18, 5] + name: agent18 + start: [3, 21] +- goal: [14, 10] + name: agent19 + start: [0, 28] +- goal: [11, 9] + name: agent20 + start: [8, 31] +- goal: [17, 21] + name: agent21 + start: [5, 27] +- goal: [15, 8] + name: agent22 + start: [17, 22] +- goal: [6, 5] + name: agent23 + start: [27, 0] +- goal: [30, 26] + name: agent24 + start: [11, 10] +- goal: [7, 5] + name: agent25 + start: [18, 23] +- goal: [12, 15] + name: agent26 + start: [18, 20] +- goal: [0, 23] + name: agent27 + start: [26, 21] +- goal: [21, 30] + name: agent28 + start: [13, 11] +- goal: [11, 3] + name: agent29 + start: [29, 6] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [31, 30] + - !!python/tuple [2, 9] + - !!python/tuple [10, 14] + - !!python/tuple [14, 12] + - !!python/tuple [17, 29] + - !!python/tuple [23, 27] + - !!python/tuple [3, 30] + - !!python/tuple [29, 26] + - !!python/tuple [20, 25] + - !!python/tuple [28, 23] + - !!python/tuple [6, 7] + - !!python/tuple [22, 20] + - !!python/tuple [2, 5] + - !!python/tuple [22, 6] + - !!python/tuple [27, 8] + - !!python/tuple [14, 5] + - !!python/tuple [21, 21] + - !!python/tuple [3, 11] + - !!python/tuple [29, 31] + - !!python/tuple [26, 14] + - !!python/tuple [6, 29] + - !!python/tuple [30, 24] + - !!python/tuple [13, 25] + - !!python/tuple [16, 23] + - !!python/tuple [29, 8] + - !!python/tuple [14, 14] + - !!python/tuple [21, 9] + - !!python/tuple [16, 8] + - !!python/tuple [13, 30] + - !!python/tuple [31, 0] + - !!python/tuple [18, 8] + - !!python/tuple [7, 21] + - !!python/tuple [27, 19] + - !!python/tuple [18, 26] + - !!python/tuple [11, 13] + - !!python/tuple [7, 19] + - !!python/tuple [4, 17] + - !!python/tuple [25, 6] + - !!python/tuple [8, 25] + - !!python/tuple [3, 18] + - !!python/tuple [12, 7] + - !!python/tuple [2, 0] + - !!python/tuple [2, 18] + - !!python/tuple [9, 14] + - !!python/tuple [24, 0] + - !!python/tuple [6, 30] + - !!python/tuple [24, 14] + - !!python/tuple [15, 7] + - !!python/tuple [6, 2] + - !!python/tuple [15, 0] + - !!python/tuple [6, 12] + - !!python/tuple [12, 14] + - !!python/tuple [5, 4] + - !!python/tuple [11, 16] + - !!python/tuple [22, 11] + - !!python/tuple [22, 14] + - !!python/tuple [22, 30] + - !!python/tuple [8, 28] + - !!python/tuple [21, 3] + - !!python/tuple [29, 18] + - !!python/tuple [12, 3] + - !!python/tuple [14, 22] + - !!python/tuple [9, 9] + - !!python/tuple [2, 8] + - !!python/tuple [16, 29] + - !!python/tuple [0, 16] + - !!python/tuple [26, 12] + - !!python/tuple [13, 1] + - !!python/tuple [14, 17] + - !!python/tuple [7, 30] + - !!python/tuple [29, 25] + - !!python/tuple [2, 1] + - !!python/tuple [16, 25] + - !!python/tuple [6, 22] + - !!python/tuple [11, 31] + - !!python/tuple [21, 25] + - !!python/tuple [14, 4] + - !!python/tuple [0, 20] + - !!python/tuple [0, 8] + - !!python/tuple [2, 12] + - !!python/tuple [31, 3] + - !!python/tuple [24, 21] + - !!python/tuple [23, 3] + - !!python/tuple [20, 13] + - !!python/tuple [17, 16] + - !!python/tuple [1, 7] + - !!python/tuple [13, 2] + - !!python/tuple [10, 18] + - !!python/tuple [23, 26] + - !!python/tuple [23, 10] + - !!python/tuple [14, 26] + - !!python/tuple [4, 16] + - !!python/tuple [25, 0] + - !!python/tuple [17, 11] + - !!python/tuple [31, 15] + - !!python/tuple [4, 21] + - !!python/tuple [25, 30] + - !!python/tuple [8, 30] + - !!python/tuple [30, 17] + - !!python/tuple [17, 6] + - !!python/tuple [15, 31] + - !!python/tuple [7, 28] + - !!python/tuple [11, 30] + - !!python/tuple [28, 5] + - !!python/tuple [13, 18] + - !!python/tuple [19, 1] + - !!python/tuple [31, 29] + - !!python/tuple [14, 23] + - !!python/tuple [10, 23] + - !!python/tuple [12, 4] + - !!python/tuple [26, 1] + - !!python/tuple [23, 25] + - !!python/tuple [24, 15] + - !!python/tuple [11, 0] + - !!python/tuple [2, 6] + - !!python/tuple [27, 14] + - !!python/tuple [22, 10] + - !!python/tuple [25, 12] + - !!python/tuple [15, 25] + - !!python/tuple [24, 11] + - !!python/tuple [2, 22] + - !!python/tuple [15, 10] + - !!python/tuple [0, 5] + - !!python/tuple [28, 1] + - !!python/tuple [21, 8] + - !!python/tuple [6, 27] + - !!python/tuple [2, 28] + - !!python/tuple [27, 25] + - !!python/tuple [19, 17] + - !!python/tuple [25, 7] + - !!python/tuple [26, 0] + - !!python/tuple [5, 24] + - !!python/tuple [8, 16] + - !!python/tuple [4, 22] + - !!python/tuple [5, 9] + - !!python/tuple [0, 19] + - !!python/tuple [9, 5] + - !!python/tuple [11, 2] + - !!python/tuple [26, 20] + - !!python/tuple [18, 12] + - !!python/tuple [28, 21] + - !!python/tuple [24, 13] + - !!python/tuple [23, 17] + - !!python/tuple [13, 17] + - !!python/tuple [19, 8] + - !!python/tuple [12, 19] + - !!python/tuple [14, 28] + - !!python/tuple [24, 30] + - !!python/tuple [30, 15] + - !!python/tuple [18, 31] + - !!python/tuple [15, 23] + - !!python/tuple [3, 13] + - !!python/tuple [0, 25] + - !!python/tuple [10, 12] + - !!python/tuple [30, 16] + - !!python/tuple [12, 29] + - !!python/tuple [29, 9] + - !!python/tuple [5, 22] + - !!python/tuple [30, 4] + - !!python/tuple [2, 23] + - !!python/tuple [0, 15] + - !!python/tuple [25, 28] + - !!python/tuple [30, 7] + - !!python/tuple [17, 9] + - !!python/tuple [30, 11] + - !!python/tuple [0, 6] + - !!python/tuple [12, 20] + - !!python/tuple [24, 16] + - !!python/tuple [0, 27] + - !!python/tuple [14, 21] + - !!python/tuple [12, 17] + - !!python/tuple [2, 21] + - !!python/tuple [31, 2] + - !!python/tuple [1, 17] + - !!python/tuple [22, 28] + - !!python/tuple [0, 31] + - !!python/tuple [20, 9] + - !!python/tuple [14, 20] + - !!python/tuple [5, 14] + - !!python/tuple [11, 22] + - !!python/tuple [4, 31] + - !!python/tuple [15, 29] + - !!python/tuple [13, 4] + - !!python/tuple [16, 28] + - !!python/tuple [23, 4] + - !!python/tuple [12, 24] + - !!python/tuple [27, 1] + - !!python/tuple [11, 7] + - !!python/tuple [17, 8] + - !!python/tuple [11, 4] + - !!python/tuple [12, 8] + - !!python/tuple [24, 25] + - !!python/tuple [25, 25] + - !!python/tuple [1, 25] + - !!python/tuple [24, 20] + - !!python/tuple [28, 16] + - !!python/tuple [23, 12] + - !!python/tuple [17, 10] + - !!python/tuple [6, 8] + - !!python/tuple [19, 16] + - !!python/tuple [20, 18] + - !!python/tuple [9, 6] + - !!python/tuple [23, 31] + - !!python/tuple [16, 27] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex64.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex64.yaml new file mode 100644 index 0000000..a9380ee --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex64.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [14, 21] + name: agent0 + start: [1, 7] +- goal: [10, 20] + name: agent1 + start: [25, 5] +- goal: [14, 2] + name: agent2 + start: [19, 31] +- goal: [8, 0] + name: agent3 + start: [24, 3] +- goal: [27, 30] + name: agent4 + start: [19, 27] +- goal: [13, 12] + name: agent5 + start: [15, 21] +- goal: [11, 7] + name: agent6 + start: [14, 24] +- goal: [14, 11] + name: agent7 + start: [13, 28] +- goal: [21, 24] + name: agent8 + start: [19, 11] +- goal: [5, 16] + name: agent9 + start: [0, 11] +- goal: [4, 12] + name: agent10 + start: [27, 20] +- goal: [28, 4] + name: agent11 + start: [14, 15] +- goal: [0, 1] + name: agent12 + start: [30, 7] +- goal: [21, 13] + name: agent13 + start: [29, 17] +- goal: [8, 5] + name: agent14 + start: [28, 20] +- goal: [27, 17] + name: agent15 + start: [24, 19] +- goal: [17, 20] + name: agent16 + start: [13, 13] +- goal: [4, 4] + name: agent17 + start: [23, 2] +- goal: [9, 9] + name: agent18 + start: [11, 9] +- goal: [19, 14] + name: agent19 + start: [28, 3] +- goal: [1, 8] + name: agent20 + start: [5, 21] +- goal: [1, 10] + name: agent21 + start: [27, 3] +- goal: [8, 29] + name: agent22 + start: [5, 28] +- goal: [19, 11] + name: agent23 + start: [9, 5] +- goal: [0, 28] + name: agent24 + start: [28, 27] +- goal: [1, 11] + name: agent25 + start: [8, 13] +- goal: [4, 0] + name: agent26 + start: [18, 5] +- goal: [25, 19] + name: agent27 + start: [19, 14] +- goal: [8, 14] + name: agent28 + start: [28, 26] +- goal: [0, 5] + name: agent29 + start: [25, 17] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [7, 14] + - !!python/tuple [22, 8] + - !!python/tuple [27, 15] + - !!python/tuple [29, 29] + - !!python/tuple [17, 8] + - !!python/tuple [23, 0] + - !!python/tuple [30, 14] + - !!python/tuple [6, 25] + - !!python/tuple [21, 23] + - !!python/tuple [5, 1] + - !!python/tuple [29, 11] + - !!python/tuple [27, 19] + - !!python/tuple [13, 4] + - !!python/tuple [25, 25] + - !!python/tuple [20, 11] + - !!python/tuple [3, 3] + - !!python/tuple [13, 9] + - !!python/tuple [11, 17] + - !!python/tuple [0, 17] + - !!python/tuple [25, 6] + - !!python/tuple [20, 14] + - !!python/tuple [19, 5] + - !!python/tuple [13, 27] + - !!python/tuple [13, 23] + - !!python/tuple [19, 13] + - !!python/tuple [7, 26] + - !!python/tuple [9, 27] + - !!python/tuple [22, 15] + - !!python/tuple [15, 30] + - !!python/tuple [14, 16] + - !!python/tuple [10, 3] + - !!python/tuple [23, 27] + - !!python/tuple [6, 15] + - !!python/tuple [21, 9] + - !!python/tuple [16, 10] + - !!python/tuple [4, 31] + - !!python/tuple [7, 12] + - !!python/tuple [28, 7] + - !!python/tuple [28, 0] + - !!python/tuple [15, 27] + - !!python/tuple [4, 26] + - !!python/tuple [27, 12] + - !!python/tuple [20, 12] + - !!python/tuple [11, 4] + - !!python/tuple [4, 18] + - !!python/tuple [10, 5] + - !!python/tuple [16, 29] + - !!python/tuple [27, 25] + - !!python/tuple [15, 9] + - !!python/tuple [13, 17] + - !!python/tuple [12, 30] + - !!python/tuple [24, 13] + - !!python/tuple [3, 2] + - !!python/tuple [23, 10] + - !!python/tuple [30, 21] + - !!python/tuple [17, 19] + - !!python/tuple [23, 17] + - !!python/tuple [4, 14] + - !!python/tuple [3, 16] + - !!python/tuple [26, 20] + - !!python/tuple [21, 31] + - !!python/tuple [16, 11] + - !!python/tuple [19, 16] + - !!python/tuple [18, 31] + - !!python/tuple [6, 28] + - !!python/tuple [24, 25] + - !!python/tuple [23, 8] + - !!python/tuple [8, 23] + - !!python/tuple [17, 9] + - !!python/tuple [10, 23] + - !!python/tuple [6, 9] + - !!python/tuple [11, 21] + - !!python/tuple [31, 9] + - !!python/tuple [16, 4] + - !!python/tuple [25, 11] + - !!python/tuple [29, 27] + - !!python/tuple [17, 22] + - !!python/tuple [2, 3] + - !!python/tuple [5, 15] + - !!python/tuple [3, 7] + - !!python/tuple [21, 25] + - !!python/tuple [24, 11] + - !!python/tuple [18, 23] + - !!python/tuple [11, 28] + - !!python/tuple [31, 2] + - !!python/tuple [30, 18] + - !!python/tuple [29, 19] + - !!python/tuple [8, 10] + - !!python/tuple [28, 22] + - !!python/tuple [23, 9] + - !!python/tuple [19, 10] + - !!python/tuple [30, 16] + - !!python/tuple [7, 4] + - !!python/tuple [15, 31] + - !!python/tuple [7, 25] + - !!python/tuple [9, 6] + - !!python/tuple [24, 21] + - !!python/tuple [4, 11] + - !!python/tuple [26, 2] + - !!python/tuple [31, 0] + - !!python/tuple [17, 30] + - !!python/tuple [8, 7] + - !!python/tuple [17, 13] + - !!python/tuple [20, 24] + - !!python/tuple [2, 6] + - !!python/tuple [8, 9] + - !!python/tuple [23, 16] + - !!python/tuple [11, 22] + - !!python/tuple [27, 2] + - !!python/tuple [8, 11] + - !!python/tuple [24, 2] + - !!python/tuple [25, 26] + - !!python/tuple [22, 11] + - !!python/tuple [17, 12] + - !!python/tuple [6, 13] + - !!python/tuple [16, 23] + - !!python/tuple [1, 1] + - !!python/tuple [0, 23] + - !!python/tuple [0, 26] + - !!python/tuple [9, 19] + - !!python/tuple [27, 29] + - !!python/tuple [7, 13] + - !!python/tuple [12, 4] + - !!python/tuple [10, 26] + - !!python/tuple [29, 31] + - !!python/tuple [7, 10] + - !!python/tuple [11, 10] + - !!python/tuple [31, 10] + - !!python/tuple [5, 13] + - !!python/tuple [31, 11] + - !!python/tuple [2, 21] + - !!python/tuple [26, 1] + - !!python/tuple [13, 2] + - !!python/tuple [17, 21] + - !!python/tuple [30, 11] + - !!python/tuple [17, 7] + - !!python/tuple [31, 22] + - !!python/tuple [19, 23] + - !!python/tuple [17, 28] + - !!python/tuple [13, 15] + - !!python/tuple [12, 19] + - !!python/tuple [22, 25] + - !!python/tuple [13, 18] + - !!python/tuple [31, 29] + - !!python/tuple [24, 14] + - !!python/tuple [4, 24] + - !!python/tuple [19, 3] + - !!python/tuple [21, 11] + - !!python/tuple [11, 18] + - !!python/tuple [7, 27] + - !!python/tuple [6, 5] + - !!python/tuple [5, 20] + - !!python/tuple [12, 23] + - !!python/tuple [9, 30] + - !!python/tuple [6, 20] + - !!python/tuple [15, 29] + - !!python/tuple [24, 26] + - !!python/tuple [24, 7] + - !!python/tuple [18, 6] + - !!python/tuple [7, 17] + - !!python/tuple [21, 5] + - !!python/tuple [6, 8] + - !!python/tuple [11, 6] + - !!python/tuple [20, 7] + - !!python/tuple [16, 2] + - !!python/tuple [17, 1] + - !!python/tuple [5, 4] + - !!python/tuple [25, 8] + - !!python/tuple [26, 5] + - !!python/tuple [23, 13] + - !!python/tuple [17, 23] + - !!python/tuple [9, 2] + - !!python/tuple [28, 23] + - !!python/tuple [21, 6] + - !!python/tuple [7, 19] + - !!python/tuple [27, 24] + - !!python/tuple [15, 0] + - !!python/tuple [30, 25] + - !!python/tuple [28, 16] + - !!python/tuple [19, 15] + - !!python/tuple [10, 16] + - !!python/tuple [27, 0] + - !!python/tuple [30, 1] + - !!python/tuple [22, 7] + - !!python/tuple [11, 0] + - !!python/tuple [23, 12] + - !!python/tuple [17, 6] + - !!python/tuple [19, 0] + - !!python/tuple [26, 0] + - !!python/tuple [3, 11] + - !!python/tuple [29, 8] + - !!python/tuple [8, 3] + - !!python/tuple [0, 18] + - !!python/tuple [0, 19] + - !!python/tuple [16, 22] + - !!python/tuple [28, 29] + - !!python/tuple [28, 18] + - !!python/tuple [25, 10] + - !!python/tuple [12, 9] + - !!python/tuple [15, 3] + - !!python/tuple [7, 29] + - !!python/tuple [18, 9] + - !!python/tuple [1, 12] + - !!python/tuple [21, 0] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex65.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex65.yaml new file mode 100644 index 0000000..e7fbea3 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex65.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [11, 3] + name: agent0 + start: [28, 0] +- goal: [9, 29] + name: agent1 + start: [31, 31] +- goal: [11, 4] + name: agent2 + start: [5, 30] +- goal: [30, 23] + name: agent3 + start: [28, 13] +- goal: [6, 8] + name: agent4 + start: [0, 7] +- goal: [15, 31] + name: agent5 + start: [13, 25] +- goal: [20, 14] + name: agent6 + start: [5, 31] +- goal: [18, 10] + name: agent7 + start: [0, 26] +- goal: [19, 26] + name: agent8 + start: [15, 10] +- goal: [11, 10] + name: agent9 + start: [31, 20] +- goal: [9, 17] + name: agent10 + start: [30, 12] +- goal: [15, 27] + name: agent11 + start: [27, 19] +- goal: [2, 7] + name: agent12 + start: [19, 23] +- goal: [24, 8] + name: agent13 + start: [20, 4] +- goal: [3, 20] + name: agent14 + start: [2, 6] +- goal: [12, 19] + name: agent15 + start: [30, 24] +- goal: [2, 31] + name: agent16 + start: [30, 25] +- goal: [26, 3] + name: agent17 + start: [2, 24] +- goal: [6, 0] + name: agent18 + start: [14, 18] +- goal: [31, 0] + name: agent19 + start: [30, 3] +- goal: [8, 16] + name: agent20 + start: [8, 5] +- goal: [22, 17] + name: agent21 + start: [2, 17] +- goal: [1, 20] + name: agent22 + start: [0, 17] +- goal: [9, 6] + name: agent23 + start: [5, 5] +- goal: [17, 29] + name: agent24 + start: [11, 4] +- goal: [13, 25] + name: agent25 + start: [2, 30] +- goal: [8, 6] + name: agent26 + start: [7, 15] +- goal: [8, 25] + name: agent27 + start: [25, 2] +- goal: [7, 15] + name: agent28 + start: [11, 23] +- goal: [22, 18] + name: agent29 + start: [6, 8] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [18, 20] + - !!python/tuple [1, 12] + - !!python/tuple [9, 15] + - !!python/tuple [3, 7] + - !!python/tuple [6, 5] + - !!python/tuple [30, 30] + - !!python/tuple [20, 7] + - !!python/tuple [8, 20] + - !!python/tuple [16, 26] + - !!python/tuple [28, 28] + - !!python/tuple [5, 18] + - !!python/tuple [9, 30] + - !!python/tuple [13, 24] + - !!python/tuple [10, 4] + - !!python/tuple [3, 2] + - !!python/tuple [23, 28] + - !!python/tuple [26, 2] + - !!python/tuple [25, 18] + - !!python/tuple [12, 17] + - !!python/tuple [13, 15] + - !!python/tuple [9, 14] + - !!python/tuple [23, 13] + - !!python/tuple [3, 6] + - !!python/tuple [9, 23] + - !!python/tuple [17, 1] + - !!python/tuple [16, 28] + - !!python/tuple [28, 9] + - !!python/tuple [6, 27] + - !!python/tuple [7, 21] + - !!python/tuple [18, 22] + - !!python/tuple [0, 31] + - !!python/tuple [7, 7] + - !!python/tuple [1, 23] + - !!python/tuple [20, 31] + - !!python/tuple [1, 13] + - !!python/tuple [29, 24] + - !!python/tuple [7, 27] + - !!python/tuple [11, 6] + - !!python/tuple [1, 1] + - !!python/tuple [5, 27] + - !!python/tuple [20, 0] + - !!python/tuple [30, 4] + - !!python/tuple [23, 29] + - !!python/tuple [13, 8] + - !!python/tuple [24, 27] + - !!python/tuple [11, 31] + - !!python/tuple [8, 11] + - !!python/tuple [22, 6] + - !!python/tuple [1, 18] + - !!python/tuple [5, 1] + - !!python/tuple [28, 7] + - !!python/tuple [28, 25] + - !!python/tuple [28, 2] + - !!python/tuple [12, 30] + - !!python/tuple [27, 10] + - !!python/tuple [25, 9] + - !!python/tuple [13, 30] + - !!python/tuple [28, 5] + - !!python/tuple [13, 10] + - !!python/tuple [0, 21] + - !!python/tuple [12, 1] + - !!python/tuple [6, 1] + - !!python/tuple [14, 15] + - !!python/tuple [6, 9] + - !!python/tuple [3, 28] + - !!python/tuple [15, 23] + - !!python/tuple [3, 26] + - !!python/tuple [29, 25] + - !!python/tuple [1, 3] + - !!python/tuple [10, 7] + - !!python/tuple [29, 19] + - !!python/tuple [7, 22] + - !!python/tuple [10, 6] + - !!python/tuple [25, 15] + - !!python/tuple [5, 29] + - !!python/tuple [17, 24] + - !!python/tuple [3, 4] + - !!python/tuple [1, 10] + - !!python/tuple [31, 10] + - !!python/tuple [26, 25] + - !!python/tuple [31, 27] + - !!python/tuple [18, 9] + - !!python/tuple [24, 14] + - !!python/tuple [12, 7] + - !!python/tuple [2, 27] + - !!python/tuple [20, 11] + - !!python/tuple [11, 21] + - !!python/tuple [1, 22] + - !!python/tuple [4, 10] + - !!python/tuple [28, 6] + - !!python/tuple [30, 15] + - !!python/tuple [3, 0] + - !!python/tuple [24, 4] + - !!python/tuple [16, 29] + - !!python/tuple [25, 31] + - !!python/tuple [3, 23] + - !!python/tuple [21, 10] + - !!python/tuple [21, 6] + - !!python/tuple [15, 14] + - !!python/tuple [27, 9] + - !!python/tuple [19, 3] + - !!python/tuple [29, 14] + - !!python/tuple [21, 4] + - !!python/tuple [6, 19] + - !!python/tuple [29, 29] + - !!python/tuple [9, 27] + - !!python/tuple [20, 10] + - !!python/tuple [20, 12] + - !!python/tuple [25, 6] + - !!python/tuple [0, 9] + - !!python/tuple [27, 22] + - !!python/tuple [10, 24] + - !!python/tuple [10, 8] + - !!python/tuple [18, 6] + - !!python/tuple [28, 21] + - !!python/tuple [22, 29] + - !!python/tuple [4, 23] + - !!python/tuple [22, 1] + - !!python/tuple [30, 6] + - !!python/tuple [27, 25] + - !!python/tuple [9, 28] + - !!python/tuple [8, 17] + - !!python/tuple [23, 17] + - !!python/tuple [3, 24] + - !!python/tuple [26, 29] + - !!python/tuple [20, 27] + - !!python/tuple [25, 4] + - !!python/tuple [19, 11] + - !!python/tuple [10, 30] + - !!python/tuple [11, 27] + - !!python/tuple [21, 1] + - !!python/tuple [2, 15] + - !!python/tuple [1, 0] + - !!python/tuple [4, 11] + - !!python/tuple [15, 7] + - !!python/tuple [7, 26] + - !!python/tuple [8, 30] + - !!python/tuple [12, 29] + - !!python/tuple [12, 15] + - !!python/tuple [25, 13] + - !!python/tuple [12, 11] + - !!python/tuple [15, 11] + - !!python/tuple [29, 22] + - !!python/tuple [21, 14] + - !!python/tuple [12, 20] + - !!python/tuple [4, 14] + - !!python/tuple [26, 20] + - !!python/tuple [20, 16] + - !!python/tuple [18, 2] + - !!python/tuple [18, 12] + - !!python/tuple [28, 22] + - !!python/tuple [13, 19] + - !!python/tuple [2, 19] + - !!python/tuple [28, 1] + - !!python/tuple [19, 18] + - !!python/tuple [28, 14] + - !!python/tuple [24, 26] + - !!python/tuple [24, 11] + - !!python/tuple [18, 29] + - !!python/tuple [28, 11] + - !!python/tuple [4, 5] + - !!python/tuple [11, 25] + - !!python/tuple [9, 18] + - !!python/tuple [23, 14] + - !!python/tuple [16, 30] + - !!python/tuple [12, 6] + - !!python/tuple [12, 16] + - !!python/tuple [31, 3] + - !!python/tuple [21, 11] + - !!python/tuple [4, 26] + - !!python/tuple [9, 31] + - !!python/tuple [10, 25] + - !!python/tuple [25, 11] + - !!python/tuple [17, 20] + - !!python/tuple [20, 9] + - !!python/tuple [26, 10] + - !!python/tuple [1, 7] + - !!python/tuple [0, 5] + - !!python/tuple [3, 15] + - !!python/tuple [4, 15] + - !!python/tuple [3, 3] + - !!python/tuple [7, 2] + - !!python/tuple [14, 30] + - !!python/tuple [25, 17] + - !!python/tuple [11, 11] + - !!python/tuple [8, 12] + - !!python/tuple [30, 11] + - !!python/tuple [30, 13] + - !!python/tuple [22, 31] + - !!python/tuple [22, 14] + - !!python/tuple [5, 15] + - !!python/tuple [31, 30] + - !!python/tuple [11, 1] + - !!python/tuple [14, 25] + - !!python/tuple [12, 0] + - !!python/tuple [18, 13] + - !!python/tuple [6, 31] + - !!python/tuple [15, 24] + - !!python/tuple [26, 12] + - !!python/tuple [26, 26] + - !!python/tuple [13, 21] + - !!python/tuple [11, 20] + - !!python/tuple [5, 26] + - !!python/tuple [28, 18] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex66.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex66.yaml new file mode 100644 index 0000000..f24307d --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex66.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [12, 1] + name: agent0 + start: [25, 23] +- goal: [21, 22] + name: agent1 + start: [8, 25] +- goal: [5, 17] + name: agent2 + start: [19, 18] +- goal: [27, 15] + name: agent3 + start: [15, 13] +- goal: [18, 12] + name: agent4 + start: [0, 12] +- goal: [5, 19] + name: agent5 + start: [9, 18] +- goal: [22, 25] + name: agent6 + start: [0, 9] +- goal: [30, 27] + name: agent7 + start: [30, 31] +- goal: [13, 19] + name: agent8 + start: [16, 29] +- goal: [30, 24] + name: agent9 + start: [8, 24] +- goal: [18, 6] + name: agent10 + start: [12, 15] +- goal: [5, 7] + name: agent11 + start: [21, 19] +- goal: [13, 21] + name: agent12 + start: [21, 20] +- goal: [15, 14] + name: agent13 + start: [7, 5] +- goal: [16, 2] + name: agent14 + start: [10, 9] +- goal: [25, 26] + name: agent15 + start: [8, 23] +- goal: [21, 6] + name: agent16 + start: [25, 11] +- goal: [14, 12] + name: agent17 + start: [3, 4] +- goal: [27, 18] + name: agent18 + start: [3, 19] +- goal: [17, 17] + name: agent19 + start: [4, 14] +- goal: [23, 25] + name: agent20 + start: [24, 11] +- goal: [1, 23] + name: agent21 + start: [14, 15] +- goal: [31, 25] + name: agent22 + start: [16, 2] +- goal: [21, 2] + name: agent23 + start: [4, 0] +- goal: [30, 25] + name: agent24 + start: [18, 31] +- goal: [8, 22] + name: agent25 + start: [30, 9] +- goal: [23, 17] + name: agent26 + start: [14, 3] +- goal: [18, 17] + name: agent27 + start: [29, 20] +- goal: [14, 28] + name: agent28 + start: [15, 19] +- goal: [7, 12] + name: agent29 + start: [28, 2] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [2, 7] + - !!python/tuple [0, 13] + - !!python/tuple [22, 24] + - !!python/tuple [27, 31] + - !!python/tuple [6, 10] + - !!python/tuple [23, 21] + - !!python/tuple [10, 2] + - !!python/tuple [15, 22] + - !!python/tuple [26, 18] + - !!python/tuple [8, 7] + - !!python/tuple [28, 13] + - !!python/tuple [26, 19] + - !!python/tuple [1, 4] + - !!python/tuple [3, 1] + - !!python/tuple [2, 4] + - !!python/tuple [19, 23] + - !!python/tuple [2, 31] + - !!python/tuple [5, 13] + - !!python/tuple [9, 29] + - !!python/tuple [12, 18] + - !!python/tuple [11, 21] + - !!python/tuple [24, 10] + - !!python/tuple [8, 12] + - !!python/tuple [2, 20] + - !!python/tuple [25, 3] + - !!python/tuple [25, 2] + - !!python/tuple [19, 14] + - !!python/tuple [16, 3] + - !!python/tuple [21, 30] + - !!python/tuple [15, 28] + - !!python/tuple [1, 16] + - !!python/tuple [24, 23] + - !!python/tuple [17, 27] + - !!python/tuple [9, 1] + - !!python/tuple [23, 3] + - !!python/tuple [21, 13] + - !!python/tuple [30, 18] + - !!python/tuple [26, 6] + - !!python/tuple [5, 2] + - !!python/tuple [29, 29] + - !!python/tuple [10, 18] + - !!python/tuple [1, 9] + - !!python/tuple [3, 17] + - !!python/tuple [22, 4] + - !!python/tuple [26, 10] + - !!python/tuple [20, 25] + - !!python/tuple [30, 26] + - !!python/tuple [14, 6] + - !!python/tuple [25, 28] + - !!python/tuple [4, 4] + - !!python/tuple [22, 28] + - !!python/tuple [19, 19] + - !!python/tuple [13, 11] + - !!python/tuple [15, 30] + - !!python/tuple [13, 6] + - !!python/tuple [12, 23] + - !!python/tuple [7, 31] + - !!python/tuple [4, 7] + - !!python/tuple [7, 3] + - !!python/tuple [29, 0] + - !!python/tuple [1, 7] + - !!python/tuple [10, 31] + - !!python/tuple [10, 3] + - !!python/tuple [17, 3] + - !!python/tuple [14, 13] + - !!python/tuple [1, 20] + - !!python/tuple [4, 15] + - !!python/tuple [9, 17] + - !!python/tuple [8, 18] + - !!python/tuple [27, 20] + - !!python/tuple [27, 13] + - !!python/tuple [29, 6] + - !!python/tuple [25, 10] + - !!python/tuple [6, 24] + - !!python/tuple [2, 9] + - !!python/tuple [4, 21] + - !!python/tuple [0, 15] + - !!python/tuple [18, 5] + - !!python/tuple [0, 2] + - !!python/tuple [3, 11] + - !!python/tuple [3, 21] + - !!python/tuple [7, 11] + - !!python/tuple [19, 13] + - !!python/tuple [9, 10] + - !!python/tuple [2, 22] + - !!python/tuple [30, 8] + - !!python/tuple [23, 30] + - !!python/tuple [26, 9] + - !!python/tuple [18, 9] + - !!python/tuple [23, 29] + - !!python/tuple [11, 12] + - !!python/tuple [12, 17] + - !!python/tuple [29, 24] + - !!python/tuple [2, 0] + - !!python/tuple [20, 15] + - !!python/tuple [5, 8] + - !!python/tuple [9, 5] + - !!python/tuple [8, 11] + - !!python/tuple [8, 6] + - !!python/tuple [22, 11] + - !!python/tuple [17, 26] + - !!python/tuple [26, 5] + - !!python/tuple [26, 21] + - !!python/tuple [5, 22] + - !!python/tuple [18, 7] + - !!python/tuple [18, 20] + - !!python/tuple [28, 30] + - !!python/tuple [15, 24] + - !!python/tuple [16, 19] + - !!python/tuple [7, 19] + - !!python/tuple [17, 21] + - !!python/tuple [13, 28] + - !!python/tuple [21, 26] + - !!python/tuple [17, 7] + - !!python/tuple [7, 15] + - !!python/tuple [27, 29] + - !!python/tuple [25, 15] + - !!python/tuple [6, 5] + - !!python/tuple [30, 5] + - !!python/tuple [0, 24] + - !!python/tuple [16, 18] + - !!python/tuple [30, 7] + - !!python/tuple [3, 25] + - !!python/tuple [11, 3] + - !!python/tuple [7, 18] + - !!python/tuple [2, 19] + - !!python/tuple [14, 27] + - !!python/tuple [15, 25] + - !!python/tuple [13, 12] + - !!python/tuple [20, 30] + - !!python/tuple [7, 8] + - !!python/tuple [31, 29] + - !!python/tuple [26, 23] + - !!python/tuple [27, 21] + - !!python/tuple [18, 1] + - !!python/tuple [6, 8] + - !!python/tuple [27, 12] + - !!python/tuple [24, 20] + - !!python/tuple [18, 16] + - !!python/tuple [8, 27] + - !!python/tuple [7, 2] + - !!python/tuple [8, 13] + - !!python/tuple [4, 2] + - !!python/tuple [12, 24] + - !!python/tuple [9, 14] + - !!python/tuple [13, 2] + - !!python/tuple [24, 9] + - !!python/tuple [13, 29] + - !!python/tuple [3, 30] + - !!python/tuple [23, 14] + - !!python/tuple [21, 16] + - !!python/tuple [27, 14] + - !!python/tuple [5, 31] + - !!python/tuple [10, 27] + - !!python/tuple [29, 10] + - !!python/tuple [10, 28] + - !!python/tuple [12, 0] + - !!python/tuple [30, 10] + - !!python/tuple [7, 27] + - !!python/tuple [14, 18] + - !!python/tuple [0, 0] + - !!python/tuple [14, 1] + - !!python/tuple [29, 16] + - !!python/tuple [28, 22] + - !!python/tuple [11, 15] + - !!python/tuple [28, 24] + - !!python/tuple [4, 3] + - !!python/tuple [5, 23] + - !!python/tuple [15, 4] + - !!python/tuple [3, 12] + - !!python/tuple [14, 5] + - !!python/tuple [4, 16] + - !!python/tuple [6, 11] + - !!python/tuple [26, 3] + - !!python/tuple [21, 10] + - !!python/tuple [8, 29] + - !!python/tuple [3, 5] + - !!python/tuple [27, 0] + - !!python/tuple [1, 18] + - !!python/tuple [5, 11] + - !!python/tuple [30, 3] + - !!python/tuple [12, 16] + - !!python/tuple [23, 20] + - !!python/tuple [17, 14] + - !!python/tuple [16, 11] + - !!python/tuple [6, 16] + - !!python/tuple [3, 6] + - !!python/tuple [18, 3] + - !!python/tuple [17, 31] + - !!python/tuple [12, 20] + - !!python/tuple [20, 23] + - !!python/tuple [4, 22] + - !!python/tuple [13, 9] + - !!python/tuple [31, 14] + - !!python/tuple [6, 19] + - !!python/tuple [24, 27] + - !!python/tuple [28, 6] + - !!python/tuple [12, 7] + - !!python/tuple [7, 1] + - !!python/tuple [13, 14] + - !!python/tuple [22, 14] + - !!python/tuple [19, 30] + - !!python/tuple [30, 21] + - !!python/tuple [12, 3] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex67.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex67.yaml new file mode 100644 index 0000000..1bd8d48 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex67.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [9, 27] + name: agent0 + start: [16, 18] +- goal: [18, 5] + name: agent1 + start: [11, 19] +- goal: [28, 29] + name: agent2 + start: [8, 14] +- goal: [25, 29] + name: agent3 + start: [27, 20] +- goal: [4, 11] + name: agent4 + start: [25, 24] +- goal: [10, 9] + name: agent5 + start: [21, 27] +- goal: [7, 9] + name: agent6 + start: [14, 30] +- goal: [9, 22] + name: agent7 + start: [15, 28] +- goal: [31, 15] + name: agent8 + start: [25, 29] +- goal: [0, 8] + name: agent9 + start: [6, 0] +- goal: [26, 19] + name: agent10 + start: [24, 2] +- goal: [13, 2] + name: agent11 + start: [31, 8] +- goal: [4, 29] + name: agent12 + start: [7, 3] +- goal: [16, 9] + name: agent13 + start: [13, 19] +- goal: [3, 13] + name: agent14 + start: [25, 18] +- goal: [27, 12] + name: agent15 + start: [31, 5] +- goal: [10, 12] + name: agent16 + start: [16, 7] +- goal: [14, 11] + name: agent17 + start: [6, 19] +- goal: [24, 26] + name: agent18 + start: [10, 30] +- goal: [17, 30] + name: agent19 + start: [28, 13] +- goal: [0, 11] + name: agent20 + start: [18, 5] +- goal: [31, 30] + name: agent21 + start: [22, 28] +- goal: [11, 17] + name: agent22 + start: [10, 17] +- goal: [22, 7] + name: agent23 + start: [11, 15] +- goal: [6, 19] + name: agent24 + start: [30, 4] +- goal: [24, 8] + name: agent25 + start: [9, 4] +- goal: [6, 9] + name: agent26 + start: [30, 5] +- goal: [18, 23] + name: agent27 + start: [12, 27] +- goal: [8, 6] + name: agent28 + start: [11, 9] +- goal: [21, 6] + name: agent29 + start: [27, 30] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [13, 11] + - !!python/tuple [29, 21] + - !!python/tuple [0, 17] + - !!python/tuple [12, 25] + - !!python/tuple [24, 19] + - !!python/tuple [9, 5] + - !!python/tuple [11, 22] + - !!python/tuple [20, 2] + - !!python/tuple [5, 9] + - !!python/tuple [30, 9] + - !!python/tuple [28, 3] + - !!python/tuple [22, 31] + - !!python/tuple [13, 4] + - !!python/tuple [29, 10] + - !!python/tuple [11, 2] + - !!python/tuple [31, 3] + - !!python/tuple [20, 3] + - !!python/tuple [20, 4] + - !!python/tuple [10, 20] + - !!python/tuple [8, 4] + - !!python/tuple [0, 10] + - !!python/tuple [21, 2] + - !!python/tuple [11, 23] + - !!python/tuple [5, 29] + - !!python/tuple [27, 11] + - !!python/tuple [16, 20] + - !!python/tuple [19, 4] + - !!python/tuple [18, 14] + - !!python/tuple [22, 0] + - !!python/tuple [11, 1] + - !!python/tuple [12, 20] + - !!python/tuple [3, 28] + - !!python/tuple [3, 1] + - !!python/tuple [13, 1] + - !!python/tuple [23, 15] + - !!python/tuple [23, 3] + - !!python/tuple [21, 30] + - !!python/tuple [18, 7] + - !!python/tuple [23, 17] + - !!python/tuple [1, 6] + - !!python/tuple [20, 12] + - !!python/tuple [17, 18] + - !!python/tuple [31, 28] + - !!python/tuple [26, 17] + - !!python/tuple [11, 20] + - !!python/tuple [7, 19] + - !!python/tuple [11, 6] + - !!python/tuple [3, 3] + - !!python/tuple [29, 29] + - !!python/tuple [23, 30] + - !!python/tuple [1, 7] + - !!python/tuple [10, 1] + - !!python/tuple [23, 12] + - !!python/tuple [23, 11] + - !!python/tuple [29, 3] + - !!python/tuple [22, 22] + - !!python/tuple [10, 13] + - !!python/tuple [22, 21] + - !!python/tuple [19, 27] + - !!python/tuple [6, 18] + - !!python/tuple [13, 24] + - !!python/tuple [13, 22] + - !!python/tuple [7, 7] + - !!python/tuple [13, 29] + - !!python/tuple [12, 12] + - !!python/tuple [10, 31] + - !!python/tuple [19, 29] + - !!python/tuple [29, 26] + - !!python/tuple [28, 27] + - !!python/tuple [20, 16] + - !!python/tuple [16, 21] + - !!python/tuple [22, 29] + - !!python/tuple [26, 23] + - !!python/tuple [15, 29] + - !!python/tuple [31, 13] + - !!python/tuple [15, 10] + - !!python/tuple [22, 8] + - !!python/tuple [10, 21] + - !!python/tuple [31, 22] + - !!python/tuple [14, 9] + - !!python/tuple [17, 5] + - !!python/tuple [29, 11] + - !!python/tuple [18, 11] + - !!python/tuple [3, 19] + - !!python/tuple [31, 7] + - !!python/tuple [6, 17] + - !!python/tuple [30, 24] + - !!python/tuple [26, 12] + - !!python/tuple [17, 23] + - !!python/tuple [10, 10] + - !!python/tuple [15, 16] + - !!python/tuple [15, 18] + - !!python/tuple [12, 18] + - !!python/tuple [28, 24] + - !!python/tuple [0, 6] + - !!python/tuple [29, 19] + - !!python/tuple [22, 15] + - !!python/tuple [3, 0] + - !!python/tuple [4, 9] + - !!python/tuple [5, 23] + - !!python/tuple [21, 25] + - !!python/tuple [2, 1] + - !!python/tuple [1, 31] + - !!python/tuple [25, 0] + - !!python/tuple [17, 17] + - !!python/tuple [1, 9] + - !!python/tuple [13, 8] + - !!python/tuple [29, 17] + - !!python/tuple [21, 24] + - !!python/tuple [26, 20] + - !!python/tuple [14, 29] + - !!python/tuple [4, 1] + - !!python/tuple [18, 1] + - !!python/tuple [8, 30] + - !!python/tuple [27, 23] + - !!python/tuple [20, 19] + - !!python/tuple [12, 15] + - !!python/tuple [21, 7] + - !!python/tuple [14, 26] + - !!python/tuple [6, 7] + - !!python/tuple [24, 15] + - !!python/tuple [12, 10] + - !!python/tuple [9, 6] + - !!python/tuple [18, 12] + - !!python/tuple [4, 28] + - !!python/tuple [27, 2] + - !!python/tuple [18, 24] + - !!python/tuple [14, 5] + - !!python/tuple [3, 2] + - !!python/tuple [25, 19] + - !!python/tuple [25, 14] + - !!python/tuple [6, 16] + - !!python/tuple [17, 22] + - !!python/tuple [16, 16] + - !!python/tuple [11, 4] + - !!python/tuple [31, 9] + - !!python/tuple [20, 9] + - !!python/tuple [19, 13] + - !!python/tuple [26, 31] + - !!python/tuple [27, 17] + - !!python/tuple [16, 0] + - !!python/tuple [8, 22] + - !!python/tuple [25, 8] + - !!python/tuple [3, 9] + - !!python/tuple [15, 8] + - !!python/tuple [29, 5] + - !!python/tuple [29, 16] + - !!python/tuple [8, 7] + - !!python/tuple [24, 21] + - !!python/tuple [22, 16] + - !!python/tuple [21, 18] + - !!python/tuple [8, 0] + - !!python/tuple [9, 13] + - !!python/tuple [4, 12] + - !!python/tuple [17, 12] + - !!python/tuple [14, 21] + - !!python/tuple [19, 15] + - !!python/tuple [24, 20] + - !!python/tuple [2, 22] + - !!python/tuple [18, 17] + - !!python/tuple [25, 26] + - !!python/tuple [9, 31] + - !!python/tuple [12, 28] + - !!python/tuple [4, 3] + - !!python/tuple [0, 21] + - !!python/tuple [29, 24] + - !!python/tuple [2, 23] + - !!python/tuple [14, 7] + - !!python/tuple [4, 27] + - !!python/tuple [4, 14] + - !!python/tuple [3, 24] + - !!python/tuple [18, 10] + - !!python/tuple [23, 14] + - !!python/tuple [7, 23] + - !!python/tuple [24, 1] + - !!python/tuple [28, 20] + - !!python/tuple [18, 4] + - !!python/tuple [27, 19] + - !!python/tuple [2, 9] + - !!python/tuple [5, 19] + - !!python/tuple [4, 2] + - !!python/tuple [20, 17] + - !!python/tuple [11, 26] + - !!python/tuple [24, 3] + - !!python/tuple [14, 22] + - !!python/tuple [29, 15] + - !!python/tuple [17, 27] + - !!python/tuple [6, 23] + - !!python/tuple [17, 25] + - !!python/tuple [20, 7] + - !!python/tuple [9, 19] + - !!python/tuple [24, 29] + - !!python/tuple [25, 21] + - !!python/tuple [5, 31] + - !!python/tuple [14, 3] + - !!python/tuple [4, 6] + - !!python/tuple [20, 13] + - !!python/tuple [14, 8] + - !!python/tuple [19, 3] + - !!python/tuple [10, 16] + - !!python/tuple [27, 1] + - !!python/tuple [6, 28] + - !!python/tuple [12, 11] + - !!python/tuple [9, 10] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex68.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex68.yaml new file mode 100644 index 0000000..a4a4510 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex68.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [2, 18] + name: agent0 + start: [10, 6] +- goal: [13, 11] + name: agent1 + start: [20, 4] +- goal: [16, 9] + name: agent2 + start: [9, 0] +- goal: [14, 0] + name: agent3 + start: [17, 8] +- goal: [25, 11] + name: agent4 + start: [5, 13] +- goal: [6, 31] + name: agent5 + start: [30, 27] +- goal: [11, 25] + name: agent6 + start: [13, 10] +- goal: [15, 21] + name: agent7 + start: [29, 19] +- goal: [3, 15] + name: agent8 + start: [12, 0] +- goal: [14, 31] + name: agent9 + start: [10, 15] +- goal: [26, 20] + name: agent10 + start: [24, 17] +- goal: [15, 24] + name: agent11 + start: [13, 6] +- goal: [0, 0] + name: agent12 + start: [6, 10] +- goal: [6, 21] + name: agent13 + start: [26, 8] +- goal: [22, 3] + name: agent14 + start: [11, 20] +- goal: [12, 28] + name: agent15 + start: [20, 26] +- goal: [28, 29] + name: agent16 + start: [20, 5] +- goal: [14, 13] + name: agent17 + start: [6, 31] +- goal: [27, 27] + name: agent18 + start: [0, 26] +- goal: [1, 18] + name: agent19 + start: [13, 0] +- goal: [27, 24] + name: agent20 + start: [8, 3] +- goal: [8, 1] + name: agent21 + start: [29, 12] +- goal: [2, 7] + name: agent22 + start: [7, 13] +- goal: [5, 11] + name: agent23 + start: [18, 15] +- goal: [9, 23] + name: agent24 + start: [23, 20] +- goal: [31, 31] + name: agent25 + start: [12, 6] +- goal: [5, 10] + name: agent26 + start: [30, 31] +- goal: [9, 13] + name: agent27 + start: [11, 25] +- goal: [2, 5] + name: agent28 + start: [15, 7] +- goal: [4, 19] + name: agent29 + start: [9, 25] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [9, 6] + - !!python/tuple [1, 26] + - !!python/tuple [31, 30] + - !!python/tuple [31, 20] + - !!python/tuple [7, 15] + - !!python/tuple [23, 31] + - !!python/tuple [23, 8] + - !!python/tuple [24, 28] + - !!python/tuple [12, 5] + - !!python/tuple [14, 6] + - !!python/tuple [21, 31] + - !!python/tuple [14, 16] + - !!python/tuple [22, 28] + - !!python/tuple [3, 2] + - !!python/tuple [0, 28] + - !!python/tuple [24, 10] + - !!python/tuple [18, 22] + - !!python/tuple [11, 6] + - !!python/tuple [10, 13] + - !!python/tuple [19, 15] + - !!python/tuple [8, 20] + - !!python/tuple [23, 14] + - !!python/tuple [23, 27] + - !!python/tuple [6, 20] + - !!python/tuple [31, 7] + - !!python/tuple [18, 19] + - !!python/tuple [23, 30] + - !!python/tuple [20, 11] + - !!python/tuple [16, 18] + - !!python/tuple [16, 3] + - !!python/tuple [4, 3] + - !!python/tuple [12, 27] + - !!python/tuple [29, 18] + - !!python/tuple [14, 9] + - !!python/tuple [15, 18] + - !!python/tuple [22, 29] + - !!python/tuple [29, 28] + - !!python/tuple [30, 13] + - !!python/tuple [9, 16] + - !!python/tuple [2, 15] + - !!python/tuple [30, 24] + - !!python/tuple [3, 12] + - !!python/tuple [11, 9] + - !!python/tuple [28, 25] + - !!python/tuple [5, 4] + - !!python/tuple [22, 16] + - !!python/tuple [0, 30] + - !!python/tuple [22, 14] + - !!python/tuple [4, 21] + - !!python/tuple [25, 6] + - !!python/tuple [25, 15] + - !!python/tuple [11, 8] + - !!python/tuple [0, 17] + - !!python/tuple [24, 2] + - !!python/tuple [24, 31] + - !!python/tuple [27, 3] + - !!python/tuple [11, 29] + - !!python/tuple [22, 1] + - !!python/tuple [27, 17] + - !!python/tuple [26, 10] + - !!python/tuple [22, 7] + - !!python/tuple [27, 20] + - !!python/tuple [18, 11] + - !!python/tuple [4, 31] + - !!python/tuple [15, 9] + - !!python/tuple [5, 14] + - !!python/tuple [29, 24] + - !!python/tuple [14, 21] + - !!python/tuple [23, 28] + - !!python/tuple [0, 11] + - !!python/tuple [17, 4] + - !!python/tuple [5, 18] + - !!python/tuple [12, 4] + - !!python/tuple [10, 1] + - !!python/tuple [31, 5] + - !!python/tuple [30, 3] + - !!python/tuple [2, 1] + - !!python/tuple [19, 10] + - !!python/tuple [15, 0] + - !!python/tuple [2, 12] + - !!python/tuple [3, 5] + - !!python/tuple [14, 7] + - !!python/tuple [7, 10] + - !!python/tuple [8, 7] + - !!python/tuple [4, 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!!python/tuple [12, 20] + - !!python/tuple [7, 23] + - !!python/tuple [28, 2] + - !!python/tuple [6, 18] + - !!python/tuple [9, 10] + - !!python/tuple [22, 15] + - !!python/tuple [4, 22] + - !!python/tuple [27, 10] + - !!python/tuple [15, 25] + - !!python/tuple [5, 6] + - !!python/tuple [7, 11] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex69.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex69.yaml new file mode 100644 index 0000000..b8c4dd2 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex69.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [31, 18] + name: agent0 + start: [22, 14] +- goal: [3, 2] + name: agent1 + start: [6, 12] +- goal: [1, 24] + name: agent2 + start: [2, 29] +- goal: [27, 23] + name: agent3 + start: [5, 21] +- goal: [5, 11] + name: agent4 + start: [15, 21] +- goal: [6, 28] + name: agent5 + start: [16, 9] +- goal: [17, 15] + name: agent6 + start: [20, 7] +- goal: [26, 3] + name: agent7 + start: [9, 5] +- goal: [8, 5] + name: agent8 + start: [15, 11] +- goal: [14, 3] + name: agent9 + start: [10, 19] +- goal: [31, 13] + name: agent10 + start: [24, 2] +- goal: [4, 6] + name: agent11 + start: [8, 23] +- goal: [3, 17] + name: agent12 + start: [12, 14] +- goal: [23, 1] + name: agent13 + start: [25, 6] +- goal: [3, 8] + name: agent14 + start: [16, 19] +- goal: [27, 30] + name: agent15 + start: [6, 10] +- goal: [27, 29] + name: agent16 + start: [4, 5] +- goal: [18, 1] + name: agent17 + start: [13, 18] +- goal: [29, 6] + name: agent18 + start: [31, 1] +- goal: [28, 8] + name: agent19 + start: [21, 14] +- goal: [24, 2] + name: agent20 + start: [8, 7] +- goal: [24, 23] + name: agent21 + start: [6, 15] +- goal: [21, 22] + name: agent22 + start: [28, 27] +- goal: [1, 8] + name: agent23 + start: [12, 3] +- goal: [22, 13] + name: agent24 + start: [16, 25] +- goal: [29, 7] + name: agent25 + start: [27, 25] +- goal: [26, 4] + name: agent26 + start: [11, 8] +- goal: [8, 0] + name: agent27 + start: [5, 27] +- goal: [7, 18] + name: agent28 + start: [18, 27] +- goal: [22, 16] + name: agent29 + start: [4, 12] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [2, 4] + - !!python/tuple [15, 7] + - !!python/tuple [20, 30] + - !!python/tuple [21, 29] + - !!python/tuple [8, 28] + - !!python/tuple [0, 22] + - !!python/tuple [19, 29] + - !!python/tuple [28, 28] + - !!python/tuple [21, 15] + - !!python/tuple [18, 16] + - !!python/tuple [1, 20] + - !!python/tuple [17, 18] + - !!python/tuple [12, 28] + - !!python/tuple [26, 26] + - !!python/tuple [28, 12] + - !!python/tuple [0, 11] + - !!python/tuple [30, 24] + - !!python/tuple [13, 23] + - !!python/tuple [20, 24] + - !!python/tuple [1, 12] + - !!python/tuple [11, 4] + - !!python/tuple [29, 22] + - !!python/tuple [7, 22] + - !!python/tuple [9, 24] + - !!python/tuple [26, 12] + - !!python/tuple [4, 18] + - !!python/tuple [28, 25] + - !!python/tuple [15, 9] + - !!python/tuple 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[30, 10] + - !!python/tuple [28, 11] + - !!python/tuple [11, 25] + - !!python/tuple [9, 21] + - !!python/tuple [21, 5] + - !!python/tuple [14, 24] + - !!python/tuple [26, 27] + - !!python/tuple [5, 15] + - !!python/tuple [25, 27] + - !!python/tuple [12, 1] + - !!python/tuple [26, 18] + - !!python/tuple [30, 23] + - !!python/tuple [3, 20] + - !!python/tuple [19, 14] + - !!python/tuple [2, 17] + - !!python/tuple [24, 8] + - !!python/tuple [22, 10] + - !!python/tuple [7, 2] + - !!python/tuple [7, 13] + - !!python/tuple [23, 31] + - !!python/tuple [18, 0] + - !!python/tuple [31, 29] + - !!python/tuple [7, 20] + - !!python/tuple [3, 7] + - !!python/tuple [26, 16] + - !!python/tuple [6, 20] + - !!python/tuple [11, 14] + - !!python/tuple [18, 19] + - !!python/tuple [9, 30] + - !!python/tuple [28, 15] + - !!python/tuple [1, 19] + - !!python/tuple [18, 24] + - !!python/tuple [22, 17] + - !!python/tuple [5, 2] + - !!python/tuple [22, 29] + - !!python/tuple [10, 2] + - !!python/tuple [27, 5] + - !!python/tuple [5, 5] + - !!python/tuple [5, 20] + - !!python/tuple [9, 13] + - !!python/tuple [25, 19] + - !!python/tuple [10, 4] + - !!python/tuple [20, 0] + - !!python/tuple [10, 14] + - !!python/tuple [27, 18] + - !!python/tuple [9, 10] + - !!python/tuple [10, 9] + - !!python/tuple [11, 26] + - !!python/tuple [6, 26] + - !!python/tuple [21, 1] + - !!python/tuple [26, 20] + - !!python/tuple [1, 14] + - !!python/tuple [5, 30] + - !!python/tuple [18, 3] + - !!python/tuple [14, 19] + - !!python/tuple [30, 17] + - !!python/tuple [20, 9] + - !!python/tuple [26, 30] + - !!python/tuple [25, 0] + - !!python/tuple [31, 9] + - !!python/tuple [7, 21] + - !!python/tuple [13, 31] + - !!python/tuple [19, 30] + - !!python/tuple [27, 2] + - !!python/tuple [24, 27] + - !!python/tuple [9, 14] + - !!python/tuple [23, 20] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex7.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex7.yaml new file mode 100644 index 0000000..63d9221 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex7.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [18, 8] + name: agent0 + start: [5, 21] +- goal: [15, 13] + name: agent1 + start: [29, 29] +- goal: [0, 10] + name: agent2 + start: [4, 31] +- goal: [4, 9] + name: agent3 + start: [2, 0] +- goal: [3, 29] + name: agent4 + start: [26, 1] +- goal: [14, 25] + name: agent5 + start: [25, 21] +- goal: [25, 8] + name: agent6 + start: [19, 18] +- goal: [1, 6] + name: agent7 + start: [29, 4] +- goal: [29, 2] + name: agent8 + start: [9, 9] +- goal: [19, 10] + name: agent9 + start: [9, 28] +- goal: [19, 20] + name: agent10 + start: [16, 18] +- goal: [9, 3] + name: agent11 + start: [6, 17] +- goal: [20, 21] + name: agent12 + start: [21, 1] +- goal: [4, 22] + name: agent13 + start: [11, 25] +- goal: [21, 5] + name: agent14 + start: [30, 5] +- goal: [5, 11] + name: agent15 + start: [16, 12] +- goal: [19, 25] + name: agent16 + start: [29, 5] +- goal: [6, 23] + name: agent17 + start: [11, 16] +- goal: [20, 20] + name: agent18 + start: [23, 3] +- goal: [4, 15] + name: agent19 + start: [22, 5] +- goal: [2, 4] + name: agent20 + start: [14, 17] +- goal: [14, 28] + name: agent21 + start: [27, 23] +- goal: [22, 30] + name: agent22 + start: [13, 5] +- goal: [1, 30] + name: agent23 + start: [22, 27] +- goal: [18, 24] + name: agent24 + start: [17, 28] +- goal: [14, 13] + name: agent25 + start: [0, 27] +- goal: [17, 11] + name: agent26 + start: [24, 24] +- goal: [9, 20] + name: agent27 + start: [13, 9] +- goal: [24, 23] + name: agent28 + start: [21, 19] +- goal: [31, 31] + name: agent29 + start: [15, 0] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [22, 10] + - !!python/tuple [8, 0] + - !!python/tuple [23, 13] + - !!python/tuple [12, 16] + - !!python/tuple [17, 30] + - !!python/tuple [11, 30] + - !!python/tuple [7, 14] + - !!python/tuple [0, 19] + - !!python/tuple [7, 7] + - !!python/tuple [28, 6] + - !!python/tuple [24, 30] + - !!python/tuple [30, 29] + - !!python/tuple [1, 13] + - !!python/tuple [27, 30] + - !!python/tuple [7, 21] + - !!python/tuple [27, 6] + - !!python/tuple [3, 21] + - !!python/tuple [17, 5] + - !!python/tuple [9, 10] + - !!python/tuple [8, 20] + - !!python/tuple [18, 17] + - !!python/tuple [18, 22] + - !!python/tuple [8, 4] + - !!python/tuple [12, 23] + - !!python/tuple [16, 9] + - !!python/tuple [11, 31] + - !!python/tuple [28, 22] + - !!python/tuple [23, 29] + - !!python/tuple [0, 17] + - !!python/tuple [27, 10] + - !!python/tuple [19, 28] + - !!python/tuple [23, 20] + - !!python/tuple [23, 30] + - !!python/tuple [14, 26] + - !!python/tuple [1, 27] + - !!python/tuple [11, 2] + - !!python/tuple [25, 27] + - !!python/tuple [13, 14] + - !!python/tuple [31, 24] + - !!python/tuple [16, 7] + - !!python/tuple [5, 10] + - !!python/tuple [6, 16] + - !!python/tuple [31, 21] + - 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!!python/tuple [23, 16] + - !!python/tuple [10, 9] + - !!python/tuple [15, 25] + - !!python/tuple [14, 19] + - !!python/tuple [4, 25] + - !!python/tuple [28, 21] + - !!python/tuple [18, 29] + - !!python/tuple [28, 13] + - !!python/tuple [26, 7] + - !!python/tuple [25, 16] + - !!python/tuple [28, 9] + - !!python/tuple [18, 3] + - !!python/tuple [13, 26] + - !!python/tuple [3, 1] + - !!python/tuple [21, 6] + - !!python/tuple [25, 0] + - !!python/tuple [14, 0] + - !!python/tuple [2, 12] + - !!python/tuple [12, 3] + - !!python/tuple [19, 21] + - !!python/tuple [0, 8] + - !!python/tuple [9, 12] + - !!python/tuple [14, 4] + - !!python/tuple [13, 6] + - !!python/tuple [16, 10] + - !!python/tuple [12, 20] + - !!python/tuple [26, 0] + - !!python/tuple [9, 26] + - !!python/tuple [12, 29] + - !!python/tuple [10, 24] + - !!python/tuple [23, 12] + - !!python/tuple [24, 15] + - !!python/tuple [9, 16] + - !!python/tuple [17, 29] + - !!python/tuple [24, 3] + - !!python/tuple [11, 1] + - !!python/tuple [28, 3] + - !!python/tuple [3, 14] + - !!python/tuple [15, 5] + - !!python/tuple [16, 21] + - !!python/tuple [26, 28] + - !!python/tuple [27, 15] + - !!python/tuple [20, 17] + - !!python/tuple [16, 20] + - !!python/tuple [27, 0] + - !!python/tuple [21, 0] + - !!python/tuple [4, 28] + - !!python/tuple [13, 4] + - !!python/tuple [21, 2] + - !!python/tuple [23, 11] + - !!python/tuple [30, 4] + - !!python/tuple [21, 9] + - !!python/tuple [24, 25] + - !!python/tuple [25, 18] + - !!python/tuple [17, 6] + - !!python/tuple [21, 15] + - !!python/tuple [21, 12] + - !!python/tuple [18, 4] + - !!python/tuple [11, 21] + - !!python/tuple [27, 11] + - !!python/tuple [2, 30] + - !!python/tuple [8, 27] + - !!python/tuple [30, 3] + - !!python/tuple [12, 5] + - !!python/tuple [26, 10] + - !!python/tuple [4, 10] + - !!python/tuple [24, 11] + - !!python/tuple [6, 22] + - !!python/tuple [22, 15] + - !!python/tuple [17, 1] + - !!python/tuple [28, 25] + - !!python/tuple [1, 17] + - !!python/tuple [31, 12] + - !!python/tuple [24, 4] + - !!python/tuple [7, 26] + - !!python/tuple [6, 11] + - !!python/tuple [6, 26] + - !!python/tuple [8, 25] + - !!python/tuple [17, 27] + - !!python/tuple [18, 0] + - !!python/tuple [7, 8] + - !!python/tuple [24, 10] + - !!python/tuple [22, 25] + - !!python/tuple [23, 10] + - !!python/tuple [28, 7] + - !!python/tuple [28, 20] + - !!python/tuple [19, 26] + - !!python/tuple [8, 31] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex70.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex70.yaml new file mode 100644 index 0000000..c3254e1 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex70.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [21, 17] + name: agent0 + start: [10, 21] +- goal: [13, 11] + name: agent1 + start: [27, 5] +- goal: [30, 11] + name: agent2 + start: [23, 15] +- goal: [31, 22] + name: agent3 + start: [24, 21] +- goal: [9, 27] + name: agent4 + start: [2, 22] +- goal: [1, 25] + name: agent5 + start: [26, 10] +- goal: [12, 4] + name: agent6 + start: [11, 27] +- goal: [29, 25] + name: agent7 + start: [24, 18] +- goal: [25, 15] + name: agent8 + start: [26, 2] +- goal: [14, 17] + name: agent9 + start: [22, 17] +- goal: [3, 1] + name: agent10 + start: [14, 6] +- goal: [30, 17] + name: agent11 + start: [7, 30] +- goal: [10, 17] + name: agent12 + start: [18, 22] +- goal: [21, 19] + name: agent13 + start: [24, 13] +- goal: [23, 1] + name: agent14 + start: [21, 20] +- goal: [21, 27] + name: agent15 + start: [9, 6] +- goal: [27, 28] + name: agent16 + start: [15, 13] +- goal: [19, 12] + name: agent17 + start: [27, 18] +- goal: [1, 8] + name: agent18 + start: [9, 7] +- goal: [11, 29] + name: agent19 + start: [28, 12] +- goal: [22, 13] + name: agent20 + start: [9, 16] +- goal: [4, 3] + name: agent21 + start: [16, 17] +- goal: [4, 0] + name: agent22 + start: [1, 30] +- goal: [30, 25] + name: agent23 + start: [12, 11] +- goal: [20, 7] + name: agent24 + start: [22, 31] +- goal: [16, 21] + name: agent25 + start: [26, 25] +- goal: [25, 22] + name: agent26 + start: [29, 14] +- goal: [7, 11] + name: agent27 + start: [4, 1] +- goal: [20, 31] + name: agent28 + start: [7, 20] +- goal: [23, 2] + name: agent29 + start: [10, 16] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [1, 11] + - !!python/tuple [22, 16] + - !!python/tuple [12, 12] + - !!python/tuple [14, 24] + - !!python/tuple [31, 7] + - !!python/tuple [2, 30] + - !!python/tuple [15, 17] + - !!python/tuple [3, 31] + - !!python/tuple [28, 14] + - !!python/tuple [2, 31] + - !!python/tuple [13, 27] + - !!python/tuple [6, 5] + - !!python/tuple [24, 16] + - !!python/tuple [15, 29] + - !!python/tuple [24, 2] + - !!python/tuple [12, 16] + - !!python/tuple [15, 21] + - !!python/tuple [20, 29] + - !!python/tuple [30, 0] + - !!python/tuple [19, 24] + - !!python/tuple [1, 14] + - !!python/tuple [14, 14] + - !!python/tuple [21, 11] + - !!python/tuple [29, 0] + - !!python/tuple [20, 9] + - !!python/tuple [3, 12] + - !!python/tuple [13, 2] + - !!python/tuple [23, 30] + - !!python/tuple [31, 20] + - !!python/tuple [16, 10] + - !!python/tuple [14, 13] + - !!python/tuple [17, 11] + - !!python/tuple [26, 14] + - !!python/tuple [15, 28] + - !!python/tuple [14, 7] + - !!python/tuple [15, 31] + - !!python/tuple [6, 23] + - !!python/tuple [6, 26] + - !!python/tuple [0, 1] + - !!python/tuple [25, 29] + - !!python/tuple [17, 13] + - !!python/tuple [13, 14] + - !!python/tuple [22, 8] + - !!python/tuple [21, 13] + - !!python/tuple [14, 1] + - !!python/tuple [30, 27] + - !!python/tuple [17, 14] + - !!python/tuple [31, 13] + - !!python/tuple [8, 5] + - !!python/tuple [24, 26] + - !!python/tuple [19, 1] + - !!python/tuple [23, 27] + - !!python/tuple [7, 25] + - !!python/tuple [8, 6] + - !!python/tuple [31, 26] + - !!python/tuple [9, 23] + - !!python/tuple [26, 1] + - !!python/tuple [0, 13] + - !!python/tuple [17, 26] + - !!python/tuple [20, 24] + - !!python/tuple [31, 8] + - !!python/tuple [24, 8] + - !!python/tuple [14, 31] + - !!python/tuple [15, 2] + - !!python/tuple [25, 14] + - !!python/tuple [15, 12] + - !!python/tuple [1, 28] + - !!python/tuple [13, 13] + - !!python/tuple [6, 13] + - !!python/tuple [31, 18] + - !!python/tuple [7, 13] + - !!python/tuple [19, 15] + - !!python/tuple [27, 17] + - !!python/tuple [25, 21] + - !!python/tuple [0, 2] + - !!python/tuple [11, 1] + - !!python/tuple [30, 16] + - !!python/tuple [5, 6] + - !!python/tuple [0, 28] + - !!python/tuple [16, 15] + - !!python/tuple [2, 13] + - !!python/tuple [1, 6] + - !!python/tuple [26, 11] + - !!python/tuple [9, 20] + - !!python/tuple [18, 14] + - !!python/tuple [31, 31] + - !!python/tuple [30, 24] + - !!python/tuple [26, 26] + - !!python/tuple [6, 10] + - !!python/tuple [20, 20] + - !!python/tuple [15, 10] + - !!python/tuple [15, 23] + - !!python/tuple [24, 4] + - !!python/tuple [19, 22] + - !!python/tuple [14, 19] + - !!python/tuple [7, 15] + - !!python/tuple [6, 31] + - !!python/tuple [27, 21] + - !!python/tuple [4, 6] + - !!python/tuple [0, 23] + - !!python/tuple [3, 19] + - !!python/tuple [15, 9] + - !!python/tuple [28, 28] + - !!python/tuple [16, 16] + - !!python/tuple [25, 18] + - !!python/tuple [24, 28] + - !!python/tuple [27, 9] + - !!python/tuple [6, 16] + - !!python/tuple [2, 14] + - !!python/tuple [4, 12] + - !!python/tuple [20, 12] + - !!python/tuple [8, 12] + - !!python/tuple [6, 17] + - !!python/tuple [2, 8] + - !!python/tuple [28, 23] + - !!python/tuple [22, 9] + - !!python/tuple [0, 24] + - !!python/tuple [4, 11] + - !!python/tuple [25, 20] + - !!python/tuple [6, 25] + - !!python/tuple [8, 19] + - !!python/tuple [21, 24] + - !!python/tuple [6, 7] + - !!python/tuple [25, 9] + - !!python/tuple [17, 10] + - !!python/tuple [8, 23] + - !!python/tuple [15, 18] + - !!python/tuple [18, 6] + - !!python/tuple [25, 27] + - !!python/tuple [3, 8] + - !!python/tuple [12, 9] + - !!python/tuple [20, 6] + - !!python/tuple [30, 8] + - !!python/tuple [8, 11] + - !!python/tuple [23, 4] + - !!python/tuple [10, 7] + - !!python/tuple [16, 8] + - !!python/tuple [14, 16] + - !!python/tuple [18, 1] + - !!python/tuple [17, 21] + - !!python/tuple [8, 20] + - !!python/tuple [21, 3] + - !!python/tuple [18, 18] + - !!python/tuple [14, 4] + - !!python/tuple [3, 28] + - !!python/tuple [20, 4] + - !!python/tuple [24, 15] + - !!python/tuple [13, 31] + - !!python/tuple [1, 19] + - !!python/tuple [12, 10] + - !!python/tuple [3, 30] + - !!python/tuple [14, 28] + - !!python/tuple [6, 19] + - !!python/tuple [29, 20] + - !!python/tuple [19, 8] + - !!python/tuple [12, 3] + - !!python/tuple [1, 27] + - !!python/tuple [13, 20] + - !!python/tuple [22, 23] + - !!python/tuple [23, 13] + - !!python/tuple [17, 2] + - !!python/tuple [31, 4] + - !!python/tuple [9, 24] + - !!python/tuple [16, 26] + - !!python/tuple [2, 11] + - !!python/tuple [0, 12] + - !!python/tuple [19, 26] + - !!python/tuple [18, 0] + - !!python/tuple [22, 18] + - !!python/tuple [21, 9] + - !!python/tuple [14, 2] + - !!python/tuple [13, 29] + - !!python/tuple [19, 2] + - !!python/tuple [19, 14] + - !!python/tuple [28, 22] + - !!python/tuple [16, 20] + - !!python/tuple [15, 6] + - !!python/tuple [8, 16] + - !!python/tuple [29, 12] + - !!python/tuple [19, 11] + - !!python/tuple [21, 10] + - !!python/tuple [21, 5] + - !!python/tuple [26, 12] + - !!python/tuple [31, 1] + - !!python/tuple [0, 0] + - !!python/tuple [28, 10] + - !!python/tuple [20, 27] + - !!python/tuple [2, 9] + - !!python/tuple [19, 18] + - !!python/tuple [24, 10] + - !!python/tuple [22, 1] + - !!python/tuple [22, 27] + - !!python/tuple [3, 13] + - !!python/tuple [12, 23] + - !!python/tuple [0, 15] + - !!python/tuple [10, 14] + - !!python/tuple [8, 31] + - !!python/tuple [25, 11] + - !!python/tuple [26, 9] + - !!python/tuple [22, 4] + - !!python/tuple [2, 20] + - !!python/tuple [28, 0] + - !!python/tuple [31, 23] + - !!python/tuple [19, 27] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex71.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex71.yaml new file mode 100644 index 0000000..d970de4 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex71.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [12, 16] + name: agent0 + start: [30, 18] +- goal: [13, 30] + name: agent1 + start: [5, 20] +- goal: [4, 14] + name: agent2 + start: [9, 4] +- goal: [10, 17] + name: agent3 + start: [26, 30] +- goal: [28, 19] + name: agent4 + start: [23, 14] +- goal: [12, 2] + name: agent5 + start: [21, 6] +- goal: [29, 18] + name: agent6 + start: [19, 12] +- goal: [10, 7] + name: agent7 + start: [8, 6] +- goal: [5, 21] + name: agent8 + start: [17, 27] +- goal: [5, 13] + name: agent9 + start: [9, 2] +- goal: [27, 26] + name: agent10 + start: [23, 8] +- goal: [24, 26] + name: agent11 + start: [21, 17] +- goal: [1, 16] + name: agent12 + start: [12, 18] +- goal: [15, 10] + name: agent13 + start: [18, 7] +- goal: [22, 22] + name: agent14 + start: [1, 0] +- goal: [26, 25] + name: agent15 + start: [26, 5] +- goal: [25, 11] + name: agent16 + start: [11, 29] +- goal: [15, 30] + name: agent17 + start: [12, 25] +- goal: [28, 18] + name: agent18 + start: [30, 15] +- goal: [14, 31] + name: agent19 + start: [9, 5] +- goal: [12, 9] + name: agent20 + start: [19, 28] +- goal: [16, 6] + name: agent21 + start: [11, 9] +- goal: [20, 23] + name: agent22 + start: [23, 25] +- goal: [2, 14] + name: agent23 + start: [31, 16] +- goal: [30, 26] + name: agent24 + start: [24, 22] +- goal: [14, 9] + name: agent25 + start: [7, 12] +- goal: [7, 11] + name: agent26 + start: [4, 31] +- goal: [24, 11] + name: agent27 + start: [12, 30] +- goal: [1, 24] + name: agent28 + start: [11, 15] +- goal: [15, 18] + name: agent29 + start: [3, 23] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [7, 26] + - !!python/tuple [31, 12] + - !!python/tuple [0, 10] + - !!python/tuple [16, 22] + - !!python/tuple [14, 16] + - !!python/tuple [24, 17] + - !!python/tuple [6, 2] + - !!python/tuple [10, 10] + - !!python/tuple [15, 13] + - !!python/tuple [27, 14] + - !!python/tuple [25, 8] + - !!python/tuple [3, 24] + - !!python/tuple [8, 5] + - !!python/tuple [3, 30] + - !!python/tuple [8, 23] + - !!python/tuple [28, 22] + - !!python/tuple [12, 12] + - !!python/tuple [1, 3] + - !!python/tuple [12, 23] + - !!python/tuple [6, 12] + - !!python/tuple [0, 8] + - !!python/tuple [21, 27] + - !!python/tuple [20, 25] + - !!python/tuple [17, 13] + - !!python/tuple [15, 15] + - !!python/tuple [22, 27] + - !!python/tuple [15, 26] + - !!python/tuple [1, 6] + - !!python/tuple [20, 9] + - !!python/tuple [29, 11] + - !!python/tuple [23, 6] + - !!python/tuple [14, 26] + - !!python/tuple [9, 27] + - !!python/tuple [8, 27] + - !!python/tuple [8, 2] + - !!python/tuple [20, 22] + - !!python/tuple [3, 13] + - !!python/tuple [3, 14] + - !!python/tuple [6, 10] + - !!python/tuple [28, 17] + - !!python/tuple [2, 6] + - !!python/tuple [23, 29] + - !!python/tuple [16, 30] + - !!python/tuple [23, 7] + - !!python/tuple [7, 27] + - !!python/tuple [20, 11] + - !!python/tuple [6, 0] + - !!python/tuple [29, 22] + - !!python/tuple [12, 15] + - !!python/tuple [25, 19] + - !!python/tuple [22, 4] + - !!python/tuple [29, 1] + - !!python/tuple [8, 9] + - !!python/tuple [27, 1] + - !!python/tuple [15, 2] + - !!python/tuple [7, 5] + - !!python/tuple [26, 22] + - !!python/tuple [26, 27] + - !!python/tuple [8, 7] + - !!python/tuple [16, 0] + - !!python/tuple [19, 27] + - !!python/tuple [14, 1] + - !!python/tuple [21, 25] + - !!python/tuple [25, 12] + - !!python/tuple [13, 0] + - !!python/tuple [14, 5] + - !!python/tuple [28, 25] + - !!python/tuple [15, 0] + - !!python/tuple [17, 9] + - !!python/tuple [23, 30] + - !!python/tuple [30, 2] + - !!python/tuple [20, 16] + - !!python/tuple [4, 22] + - !!python/tuple [30, 5] + - !!python/tuple [3, 11] + - !!python/tuple [16, 9] + - !!python/tuple [8, 0] + - !!python/tuple [6, 16] + - !!python/tuple [23, 23] + - !!python/tuple [11, 22] + - !!python/tuple [29, 10] + - !!python/tuple [11, 5] + - !!python/tuple [14, 28] + - !!python/tuple [19, 29] + - !!python/tuple [28, 14] + - !!python/tuple [19, 14] + - !!python/tuple [11, 12] + - !!python/tuple [22, 21] + - !!python/tuple [30, 10] + - !!python/tuple [30, 7] + - !!python/tuple [3, 1] + - !!python/tuple [1, 14] + - !!python/tuple [1, 22] + - !!python/tuple [28, 12] + - !!python/tuple [24, 14] + - !!python/tuple [25, 0] + - !!python/tuple [25, 10] + - !!python/tuple [29, 13] + - !!python/tuple [7, 16] + - !!python/tuple [22, 12] + - !!python/tuple [0, 11] + - !!python/tuple [17, 5] + - !!python/tuple [16, 11] + - !!python/tuple [18, 24] + - !!python/tuple [3, 3] + - !!python/tuple [6, 1] + - !!python/tuple [4, 5] + - !!python/tuple [18, 10] + - !!python/tuple [13, 23] + - !!python/tuple [16, 12] + - !!python/tuple [9, 21] + - !!python/tuple [31, 8] + - !!python/tuple [9, 25] + - !!python/tuple [15, 27] + - !!python/tuple [21, 10] + - !!python/tuple [23, 26] + - !!python/tuple [1, 25] + - !!python/tuple [4, 24] + - !!python/tuple [2, 27] + - !!python/tuple [21, 23] + - !!python/tuple [30, 21] + - !!python/tuple [4, 30] + - !!python/tuple [16, 21] + - !!python/tuple [21, 12] + - !!python/tuple [26, 2] + - !!python/tuple [26, 10] + - !!python/tuple [0, 4] + - !!python/tuple [9, 26] + - !!python/tuple [26, 6] + - !!python/tuple [6, 15] + - !!python/tuple [30, 12] + - !!python/tuple [29, 2] + - !!python/tuple [30, 6] + - !!python/tuple [23, 17] + - !!python/tuple [9, 30] + - !!python/tuple [7, 20] + - !!python/tuple [15, 3] + - !!python/tuple [3, 16] + - !!python/tuple [23, 27] + - !!python/tuple [5, 26] + - !!python/tuple [15, 7] + - !!python/tuple [21, 18] + - !!python/tuple [8, 18] + - !!python/tuple [31, 3] + - !!python/tuple [25, 3] + - !!python/tuple [10, 12] + - !!python/tuple [20, 30] + - !!python/tuple [18, 26] + - !!python/tuple [15, 11] + - !!python/tuple [1, 15] + - !!python/tuple [26, 28] + - !!python/tuple [16, 8] + - !!python/tuple [28, 30] + - !!python/tuple [23, 11] + - !!python/tuple [15, 24] + - !!python/tuple [4, 20] + - !!python/tuple [17, 16] + - !!python/tuple [25, 21] + - !!python/tuple [12, 22] + - !!python/tuple [0, 0] + - !!python/tuple [25, 9] + - !!python/tuple [0, 12] + - !!python/tuple [29, 15] + - !!python/tuple [3, 29] + - !!python/tuple [21, 16] + - !!python/tuple [29, 6] + - !!python/tuple [31, 29] + - !!python/tuple [0, 25] + - !!python/tuple [7, 13] + - !!python/tuple [2, 17] + - !!python/tuple [2, 21] + - !!python/tuple [16, 26] + - !!python/tuple [6, 31] + - !!python/tuple [5, 25] + - !!python/tuple [5, 19] + - !!python/tuple [24, 5] + - !!python/tuple [30, 14] + - !!python/tuple [2, 13] + - !!python/tuple [22, 0] + - !!python/tuple [11, 18] + - !!python/tuple [29, 20] + - !!python/tuple [8, 4] + - !!python/tuple [22, 30] + - !!python/tuple [28, 27] + - !!python/tuple [28, 29] + - !!python/tuple [21, 3] + - !!python/tuple [16, 31] + - !!python/tuple [3, 20] + - !!python/tuple [7, 6] + - !!python/tuple [26, 3] + - !!python/tuple [15, 9] + - !!python/tuple [8, 30] + - !!python/tuple [21, 19] + - !!python/tuple [13, 25] + - !!python/tuple [9, 17] + - !!python/tuple [25, 18] + - !!python/tuple [21, 15] + - !!python/tuple [24, 24] + - !!python/tuple [4, 26] + - !!python/tuple [3, 19] + - !!python/tuple [30, 28] + - !!python/tuple [25, 2] + - !!python/tuple [7, 30] + - !!python/tuple [2, 7] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex72.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex72.yaml new file mode 100644 index 0000000..498e758 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex72.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [30, 8] + name: agent0 + start: [14, 21] +- goal: [28, 19] + name: agent1 + start: [22, 25] +- goal: [1, 20] + name: agent2 + start: [31, 31] +- goal: [20, 10] + name: agent3 + start: [13, 10] +- goal: [18, 16] + name: agent4 + start: [27, 7] +- goal: [16, 17] + name: agent5 + start: [12, 1] +- goal: [15, 9] + name: agent6 + start: [4, 21] +- goal: [10, 6] + name: agent7 + start: [19, 6] +- goal: [26, 11] + name: agent8 + start: [18, 2] +- goal: [15, 1] + name: agent9 + start: [20, 4] +- goal: [8, 9] + name: agent10 + start: [9, 24] +- goal: [0, 21] + name: agent11 + start: [1, 29] +- goal: [31, 2] + name: agent12 + start: [12, 25] +- goal: [30, 13] + name: agent13 + start: [7, 5] +- goal: [17, 23] + name: agent14 + start: [13, 8] +- goal: [23, 1] + name: agent15 + start: [22, 8] +- goal: [4, 7] + name: agent16 + start: [1, 1] +- goal: [27, 11] + name: agent17 + start: [15, 8] +- goal: [18, 1] + name: agent18 + start: [26, 28] +- goal: [11, 0] + name: agent19 + start: [5, 0] +- goal: [5, 13] + name: agent20 + start: [30, 29] +- goal: [26, 16] + name: agent21 + start: [14, 17] +- goal: [26, 4] + name: agent22 + start: [11, 31] +- goal: [25, 1] + name: agent23 + start: [12, 20] +- goal: [2, 23] + name: agent24 + start: [14, 29] +- goal: [15, 0] + name: agent25 + start: [4, 11] +- goal: [31, 28] + name: agent26 + start: [0, 7] +- goal: [12, 20] + name: agent27 + start: [3, 16] +- goal: [3, 25] + name: agent28 + start: [23, 12] +- goal: [15, 13] + name: agent29 + start: [9, 3] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [5, 5] + - !!python/tuple [20, 22] + - !!python/tuple [2, 16] + - !!python/tuple [15, 18] + - !!python/tuple [16, 13] + - !!python/tuple [4, 25] + - !!python/tuple [29, 2] + - !!python/tuple [25, 28] + - !!python/tuple [23, 13] + - !!python/tuple [24, 9] + - !!python/tuple [16, 24] + - !!python/tuple [12, 17] + - !!python/tuple [29, 19] + - !!python/tuple [4, 9] + - !!python/tuple [21, 8] + - !!python/tuple [11, 4] + - !!python/tuple [14, 10] + - !!python/tuple [6, 9] + - !!python/tuple [6, 16] + - !!python/tuple [31, 23] + - !!python/tuple [6, 4] + - !!python/tuple [0, 0] + - !!python/tuple [2, 5] + - !!python/tuple [22, 2] + - !!python/tuple [6, 17] + - !!python/tuple [19, 23] + - !!python/tuple [14, 27] + - !!python/tuple [19, 17] + - !!python/tuple [27, 17] + - !!python/tuple [19, 22] + - !!python/tuple [7, 24] + - !!python/tuple [24, 26] + - !!python/tuple [7, 26] + - !!python/tuple [9, 26] + - !!python/tuple [12, 16] + - !!python/tuple [21, 11] + - !!python/tuple [18, 31] + - !!python/tuple [13, 12] + - !!python/tuple [17, 11] + - !!python/tuple [1, 6] + - !!python/tuple [2, 30] + - !!python/tuple [27, 12] + - !!python/tuple [21, 5] + - !!python/tuple [15, 19] + - !!python/tuple [11, 22] + - !!python/tuple [5, 21] + - !!python/tuple [2, 17] + - !!python/tuple [30, 1] + - !!python/tuple [8, 8] + - !!python/tuple [3, 27] + - !!python/tuple [28, 27] + - !!python/tuple [9, 1] + - !!python/tuple [9, 19] + - !!python/tuple [25, 27] + - !!python/tuple [29, 5] + - !!python/tuple [7, 9] + - !!python/tuple [22, 13] + - !!python/tuple [15, 4] + - !!python/tuple [20, 9] + - !!python/tuple [12, 13] + - !!python/tuple [18, 0] + - !!python/tuple [30, 7] + - !!python/tuple [22, 27] + - !!python/tuple [22, 14] + - !!python/tuple [25, 12] + - !!python/tuple [18, 19] + - !!python/tuple [0, 3] + - !!python/tuple [21, 16] + - !!python/tuple [30, 20] + - !!python/tuple [14, 16] + - !!python/tuple [21, 23] + - !!python/tuple [17, 18] + - !!python/tuple [31, 17] + - !!python/tuple [5, 20] + - !!python/tuple [25, 13] + - !!python/tuple [12, 29] + - !!python/tuple [24, 19] + - !!python/tuple [17, 9] + - !!python/tuple [4, 27] + - !!python/tuple [21, 17] + - !!python/tuple [15, 15] + - !!python/tuple [30, 25] + - !!python/tuple [31, 22] + - !!python/tuple [7, 30] + - !!python/tuple [1, 23] + - !!python/tuple [5, 14] + - !!python/tuple [27, 19] + - !!python/tuple [1, 10] + - !!python/tuple [13, 26] + - !!python/tuple [29, 28] + - !!python/tuple [3, 2] + - !!python/tuple [22, 26] + - !!python/tuple [27, 15] + - !!python/tuple [14, 9] + - !!python/tuple [28, 4] + - !!python/tuple [19, 18] + - !!python/tuple [17, 27] + - !!python/tuple [20, 19] + - !!python/tuple [6, 30] + - !!python/tuple [11, 3] + - !!python/tuple [24, 20] + - !!python/tuple [11, 28] + - !!python/tuple [4, 14] + - !!python/tuple [18, 14] + - !!python/tuple [9, 5] + - !!python/tuple [0, 23] + - !!python/tuple [30, 10] + - !!python/tuple [1, 30] + - !!python/tuple [29, 27] + - !!python/tuple [25, 11] + - !!python/tuple [9, 14] + - !!python/tuple [22, 6] + - !!python/tuple [27, 28] + - !!python/tuple [1, 16] + - !!python/tuple [26, 31] + - !!python/tuple [7, 22] + - !!python/tuple [24, 29] + - !!python/tuple [6, 5] + - !!python/tuple [6, 1] + - !!python/tuple [28, 28] + - !!python/tuple [25, 21] + - !!python/tuple [28, 24] + - !!python/tuple [7, 2] + - !!python/tuple [4, 8] + - !!python/tuple [13, 23] + - !!python/tuple [31, 19] + - !!python/tuple [2, 19] + - !!python/tuple [30, 16] + - !!python/tuple [8, 20] + - !!python/tuple [25, 5] + - !!python/tuple [17, 13] + - !!python/tuple [23, 20] + - !!python/tuple [31, 8] + - !!python/tuple [21, 31] + - !!python/tuple [10, 28] + - !!python/tuple [5, 22] + - !!python/tuple [17, 5] + - !!python/tuple [2, 11] + - !!python/tuple [8, 13] + - !!python/tuple [5, 31] + - !!python/tuple [0, 27] + - !!python/tuple [28, 1] + - !!python/tuple [20, 20] + - !!python/tuple [20, 3] + - !!python/tuple [5, 25] + - !!python/tuple [7, 23] + - !!python/tuple [0, 29] + - !!python/tuple [6, 13] + - !!python/tuple [21, 27] + - !!python/tuple [1, 9] + - !!python/tuple [15, 22] + - !!python/tuple [21, 4] + - !!python/tuple [16, 21] + - !!python/tuple [22, 7] + - !!python/tuple [6, 31] + - !!python/tuple [10, 3] + - !!python/tuple [2, 27] + - !!python/tuple [21, 10] + - !!python/tuple [25, 2] + - !!python/tuple [2, 2] + - !!python/tuple [1, 3] + - !!python/tuple [23, 17] + - !!python/tuple [22, 0] + - !!python/tuple [12, 3] + - !!python/tuple [1, 5] + - !!python/tuple [26, 19] + - !!python/tuple [27, 16] + - !!python/tuple [7, 12] + - !!python/tuple [2, 13] + - !!python/tuple [8, 7] + - !!python/tuple [12, 28] + - !!python/tuple [20, 14] + - !!python/tuple [21, 13] + - !!python/tuple [28, 14] + - !!python/tuple [25, 14] + - !!python/tuple [0, 6] + - !!python/tuple [20, 2] + - !!python/tuple [16, 25] + - !!python/tuple [19, 30] + - !!python/tuple [18, 12] + - !!python/tuple [29, 22] + - !!python/tuple [28, 17] + - !!python/tuple [31, 20] + - !!python/tuple [23, 16] + - !!python/tuple [13, 31] + - !!python/tuple [27, 27] + - !!python/tuple [28, 2] + - !!python/tuple [13, 13] + - !!python/tuple [23, 15] + - !!python/tuple [6, 26] + - !!python/tuple [24, 4] + - !!python/tuple [18, 25] + - !!python/tuple [31, 13] + - !!python/tuple [27, 21] + - !!python/tuple [20, 8] + - !!python/tuple [8, 21] + - !!python/tuple [10, 21] + - !!python/tuple [28, 15] + - !!python/tuple [16, 2] + - !!python/tuple [6, 24] + - !!python/tuple [13, 17] + - !!python/tuple [5, 30] + - !!python/tuple [16, 29] + - !!python/tuple [30, 3] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex73.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex73.yaml new file mode 100644 index 0000000..abd3901 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex73.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [14, 9] + name: agent0 + start: [19, 23] +- goal: [10, 2] + name: agent1 + start: [29, 10] +- goal: [22, 1] + name: agent2 + start: [18, 21] +- goal: [20, 12] + name: agent3 + start: [26, 1] +- goal: [20, 10] + name: agent4 + start: [22, 0] +- goal: [7, 24] + name: agent5 + start: [17, 19] +- goal: [15, 20] + name: agent6 + start: [20, 2] +- goal: [13, 7] + name: agent7 + start: [26, 10] +- goal: [15, 2] + name: agent8 + start: [21, 23] +- goal: [19, 13] + name: agent9 + start: [0, 17] +- goal: [1, 29] + name: agent10 + start: [16, 14] +- goal: [17, 2] + name: agent11 + start: [19, 9] +- goal: [20, 16] + name: agent12 + start: [13, 27] +- goal: [23, 22] + name: agent13 + start: [16, 5] +- goal: [14, 10] + name: agent14 + start: [9, 29] +- goal: [13, 16] + name: agent15 + start: [16, 26] +- goal: [2, 23] + name: agent16 + start: [17, 1] +- goal: [28, 29] + name: agent17 + start: [13, 31] +- goal: [8, 20] + name: agent18 + start: [11, 8] +- goal: [17, 13] + name: agent19 + start: [1, 31] +- goal: [6, 13] + name: agent20 + start: [8, 14] +- goal: [31, 9] + name: agent21 + start: [12, 15] +- goal: [31, 8] + name: agent22 + start: [2, 19] +- goal: [11, 28] + name: agent23 + start: [15, 15] +- goal: [27, 23] + name: agent24 + start: [1, 12] +- goal: [10, 4] + name: agent25 + start: [11, 21] +- goal: [27, 7] + name: agent26 + start: [13, 29] +- goal: [0, 2] + name: agent27 + start: [10, 11] +- goal: [4, 25] + name: agent28 + start: [12, 14] +- goal: [24, 17] + name: agent29 + start: [18, 26] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [13, 5] + - !!python/tuple [7, 26] + - !!python/tuple [8, 4] + - !!python/tuple [18, 8] + - !!python/tuple [1, 0] + - !!python/tuple [2, 14] + - !!python/tuple [1, 5] + - !!python/tuple [16, 27] + - !!python/tuple [2, 6] + - !!python/tuple [25, 20] + - !!python/tuple [9, 7] + - !!python/tuple [29, 12] + - !!python/tuple [30, 25] + - !!python/tuple [30, 24] + - !!python/tuple [24, 20] + - !!python/tuple [9, 16] + - !!python/tuple [13, 17] + - !!python/tuple [12, 22] + - !!python/tuple [17, 0] + - !!python/tuple [21, 1] + - !!python/tuple [1, 17] + - !!python/tuple [23, 3] + - !!python/tuple [19, 14] + - !!python/tuple [22, 11] + - !!python/tuple [29, 3] + - !!python/tuple [2, 29] + - !!python/tuple [3, 9] + - !!python/tuple [25, 5] + - !!python/tuple [8, 3] + - !!python/tuple [16, 11] + - !!python/tuple [13, 19] + - !!python/tuple [8, 23] + - !!python/tuple [21, 22] + - !!python/tuple [15, 26] + - !!python/tuple [16, 16] + - !!python/tuple [30, 6] + - !!python/tuple [2, 11] + - !!python/tuple [3, 21] + - !!python/tuple [5, 6] + - !!python/tuple [29, 24] + - !!python/tuple [7, 12] + - !!python/tuple [24, 4] + - !!python/tuple [3, 25] + - !!python/tuple [30, 29] + - !!python/tuple [30, 22] + - !!python/tuple [1, 18] + - !!python/tuple [19, 30] + - !!python/tuple [0, 5] + - !!python/tuple [25, 12] + - !!python/tuple [24, 9] + - !!python/tuple [0, 24] + - !!python/tuple [14, 5] + - !!python/tuple [3, 16] + - !!python/tuple [3, 1] + - !!python/tuple [25, 4] + - !!python/tuple [22, 4] + - !!python/tuple [15, 1] + - !!python/tuple [10, 20] + - !!python/tuple [27, 8] + - !!python/tuple [25, 28] + - !!python/tuple [16, 2] + - !!python/tuple [7, 6] + - !!python/tuple [29, 19] + - !!python/tuple [17, 25] + - !!python/tuple [9, 12] + - !!python/tuple [28, 13] + - !!python/tuple [21, 25] + - !!python/tuple [24, 0] + - !!python/tuple [16, 21] + - !!python/tuple [29, 16] + - !!python/tuple [11, 6] + - !!python/tuple [7, 19] + - !!python/tuple [5, 0] + - !!python/tuple [8, 27] + - !!python/tuple [4, 20] + - !!python/tuple [24, 24] + - !!python/tuple [2, 17] + - !!python/tuple [6, 17] + - !!python/tuple [19, 26] + - !!python/tuple [19, 0] + - !!python/tuple [20, 19] + - !!python/tuple [17, 20] + - !!python/tuple [31, 2] + - !!python/tuple [6, 30] + - !!python/tuple [29, 6] + - !!python/tuple [8, 10] + - !!python/tuple [20, 6] + - !!python/tuple [9, 25] + - !!python/tuple [7, 23] + - !!python/tuple [4, 29] + - !!python/tuple [24, 22] + - !!python/tuple [20, 22] + - !!python/tuple [31, 23] + - !!python/tuple [9, 26] + - !!python/tuple [12, 3] + - !!python/tuple [1, 14] + - !!python/tuple [3, 23] + - !!python/tuple [6, 14] + - !!python/tuple [26, 9] + - !!python/tuple [27, 1] + - !!python/tuple [25, 11] + - !!python/tuple [25, 6] + - !!python/tuple [25, 10] + - !!python/tuple [22, 30] + - !!python/tuple [16, 25] + - !!python/tuple [23, 30] + - !!python/tuple [8, 7] + - !!python/tuple [0, 22] + - !!python/tuple [2, 21] + - !!python/tuple [9, 13] + - !!python/tuple [27, 29] + - !!python/tuple [0, 8] + - !!python/tuple [18, 11] + - !!python/tuple [19, 19] + - !!python/tuple [1, 1] + - !!python/tuple [4, 30] + - !!python/tuple [6, 0] + - !!python/tuple [1, 25] + - !!python/tuple [14, 30] + - !!python/tuple [9, 10] + - !!python/tuple [21, 19] + - !!python/tuple [31, 26] + - !!python/tuple [3, 7] + - !!python/tuple [6, 19] + - !!python/tuple [7, 14] + - !!python/tuple [8, 1] + - !!python/tuple [20, 18] + - !!python/tuple [26, 30] + - !!python/tuple [26, 13] + - !!python/tuple [6, 12] + - !!python/tuple [3, 5] + - !!python/tuple [29, 25] + - !!python/tuple [5, 21] + - !!python/tuple [22, 13] + - !!python/tuple [3, 6] + - !!python/tuple [17, 4] + - !!python/tuple [15, 3] + - !!python/tuple [14, 29] + - !!python/tuple [8, 2] + - !!python/tuple [30, 19] + - !!python/tuple [5, 2] + - !!python/tuple [19, 7] + - !!python/tuple [29, 27] + - !!python/tuple [13, 1] + - !!python/tuple [31, 18] + - !!python/tuple [31, 30] + - !!python/tuple [9, 19] + - !!python/tuple [5, 30] + - !!python/tuple [16, 0] + - !!python/tuple [0, 23] + - !!python/tuple [26, 12] + - !!python/tuple [3, 26] + - !!python/tuple [25, 1] + - !!python/tuple [1, 7] + - !!python/tuple [17, 15] + - !!python/tuple [24, 12] + - !!python/tuple [24, 10] + - !!python/tuple [30, 28] + - !!python/tuple [1, 16] + - !!python/tuple [4, 0] + - !!python/tuple [13, 20] + - !!python/tuple [2, 24] + - !!python/tuple [20, 0] + - !!python/tuple [31, 15] + - !!python/tuple [19, 15] + - !!python/tuple [26, 2] + - !!python/tuple [13, 9] + - !!python/tuple [24, 26] + - !!python/tuple [19, 12] + - !!python/tuple [8, 22] + - !!python/tuple [22, 17] + - !!python/tuple [12, 11] + - !!python/tuple [28, 1] + - !!python/tuple [22, 29] + - !!python/tuple [4, 15] + - !!python/tuple [22, 22] + - !!python/tuple [27, 18] + - !!python/tuple [6, 7] + - !!python/tuple [31, 19] + - !!python/tuple [19, 2] + - !!python/tuple [9, 31] + - !!python/tuple [28, 28] + - !!python/tuple [26, 7] + - !!python/tuple [6, 20] + - !!python/tuple [27, 11] + - !!python/tuple [17, 29] + - !!python/tuple [11, 2] + - !!python/tuple [12, 23] + - !!python/tuple [18, 18] + - !!python/tuple [21, 24] + - !!python/tuple [27, 28] + - !!python/tuple [28, 17] + - !!python/tuple [4, 16] + - !!python/tuple [10, 19] + - !!python/tuple [8, 6] + - !!python/tuple [0, 9] + - !!python/tuple [23, 25] + - !!python/tuple [31, 11] + - !!python/tuple [10, 16] + - !!python/tuple [8, 21] + - !!python/tuple [10, 13] + - !!python/tuple [21, 16] + - !!python/tuple [17, 28] + - !!python/tuple [30, 12] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex74.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex74.yaml new file mode 100644 index 0000000..19bcb33 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex74.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [9, 24] + name: agent0 + start: [5, 13] +- goal: [2, 14] + name: agent1 + start: [10, 22] +- goal: [24, 28] + name: agent2 + start: [21, 21] +- goal: [19, 9] + name: agent3 + start: [25, 28] +- goal: [5, 16] + name: agent4 + start: [13, 5] +- goal: [19, 2] + name: agent5 + start: [21, 9] +- goal: [11, 26] + name: agent6 + start: [18, 1] +- goal: [29, 19] + name: agent7 + start: [22, 0] +- goal: [25, 24] + name: agent8 + start: [28, 2] +- goal: [13, 5] + name: agent9 + start: [22, 21] +- goal: [2, 27] + name: agent10 + start: [19, 18] +- goal: [5, 13] + name: agent11 + start: [31, 16] +- goal: [4, 1] + name: agent12 + start: [29, 21] +- goal: [12, 23] + name: agent13 + start: [3, 14] +- goal: [5, 24] + name: agent14 + start: [7, 31] +- goal: [4, 17] + name: agent15 + start: [11, 29] +- goal: [0, 27] + name: agent16 + start: [1, 12] +- goal: [14, 21] + name: agent17 + start: [4, 21] +- goal: [6, 4] + name: agent18 + start: [9, 5] +- goal: [27, 14] + name: agent19 + start: [24, 12] +- goal: [27, 1] + name: agent20 + start: [20, 30] +- goal: [6, 10] + name: agent21 + start: [4, 4] +- goal: [7, 8] + name: agent22 + start: [15, 17] +- goal: [11, 18] + name: agent23 + start: [26, 23] +- goal: [28, 26] + name: agent24 + start: [3, 27] +- goal: [7, 24] + name: agent25 + start: [19, 27] +- goal: [14, 29] + name: agent26 + start: [4, 17] +- goal: [5, 1] + name: agent27 + start: [12, 4] +- goal: [21, 30] + name: agent28 + start: [11, 19] +- goal: [0, 28] + name: agent29 + start: [16, 0] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [7, 13] + - !!python/tuple [29, 29] + - !!python/tuple [3, 1] + - !!python/tuple [8, 13] + - !!python/tuple [7, 27] + - !!python/tuple [20, 18] + - !!python/tuple [19, 20] + - !!python/tuple [26, 16] + - !!python/tuple [0, 29] + - !!python/tuple [18, 0] + - !!python/tuple [22, 8] + - !!python/tuple [18, 19] + - !!python/tuple [7, 21] + - !!python/tuple [4, 16] + - !!python/tuple [12, 5] + - !!python/tuple [27, 25] + - !!python/tuple [5, 25] + - !!python/tuple [25, 4] + - !!python/tuple [31, 6] + - !!python/tuple [21, 7] + - !!python/tuple [16, 14] + - !!python/tuple [14, 9] + - !!python/tuple [18, 17] + - !!python/tuple [10, 25] + - !!python/tuple [29, 13] + - !!python/tuple [17, 22] + - !!python/tuple [3, 28] + - !!python/tuple [4, 5] + - !!python/tuple [8, 15] + - !!python/tuple [27, 20] + - !!python/tuple [23, 24] + - !!python/tuple [19, 14] + - !!python/tuple [9, 18] + - !!python/tuple [25, 6] + - !!python/tuple [23, 16] + - !!python/tuple [11, 13] + - !!python/tuple [22, 14] + - !!python/tuple [3, 7] + - !!python/tuple [28, 24] + - !!python/tuple [7, 5] + - !!python/tuple [2, 13] + - !!python/tuple [23, 12] + - !!python/tuple [8, 8] + - !!python/tuple [27, 17] + - !!python/tuple [21, 18] + - !!python/tuple [20, 28] + - !!python/tuple [15, 25] + - !!python/tuple [9, 16] + - !!python/tuple [3, 21] + - !!python/tuple [20, 10] + - !!python/tuple [22, 13] + - !!python/tuple [29, 18] + - !!python/tuple [8, 19] + - !!python/tuple [18, 29] + - !!python/tuple [15, 3] + - !!python/tuple [10, 29] + - !!python/tuple [30, 29] + - !!python/tuple [6, 20] + - !!python/tuple [11, 15] + - !!python/tuple [10, 17] + - !!python/tuple [5, 0] + - !!python/tuple [13, 6] + - !!python/tuple [28, 18] + - !!python/tuple [15, 30] + - !!python/tuple [16, 1] + - !!python/tuple [4, 20] + - !!python/tuple [19, 4] + - !!python/tuple [2, 30] + - !!python/tuple [14, 10] + - !!python/tuple [3, 9] + - !!python/tuple [6, 8] + - !!python/tuple [6, 7] + - !!python/tuple [6, 18] + - !!python/tuple [4, 0] + - !!python/tuple [26, 2] + - !!python/tuple [18, 14] + - !!python/tuple [13, 2] + - !!python/tuple [1, 17] + - !!python/tuple [11, 9] + - !!python/tuple [8, 9] + - !!python/tuple [0, 0] + - !!python/tuple [2, 5] + - !!python/tuple [26, 9] + - !!python/tuple [20, 31] + - !!python/tuple [7, 23] + - !!python/tuple [0, 31] + - !!python/tuple [22, 1] + - !!python/tuple [6, 2] + - !!python/tuple [5, 27] + - !!python/tuple [23, 14] + - !!python/tuple [24, 11] + - !!python/tuple [17, 29] + - !!python/tuple [6, 24] + - !!python/tuple [13, 3] + - !!python/tuple [0, 26] + - !!python/tuple [17, 23] + - !!python/tuple [25, 13] + - !!python/tuple [20, 3] + - !!python/tuple [14, 18] + - !!python/tuple [18, 27] + - !!python/tuple [28, 5] + - !!python/tuple [15, 23] + - !!python/tuple [23, 27] + - !!python/tuple [14, 1] + - !!python/tuple [7, 2] + - !!python/tuple [26, 27] + - !!python/tuple [30, 21] + - !!python/tuple [15, 12] + - !!python/tuple [11, 8] + - !!python/tuple [28, 9] + - !!python/tuple [28, 23] + - !!python/tuple [24, 5] + - !!python/tuple [25, 26] + - !!python/tuple [1, 5] + - !!python/tuple [31, 29] + - !!python/tuple [31, 10] + - !!python/tuple [11, 27] + - !!python/tuple [11, 6] + - !!python/tuple [16, 22] + - !!python/tuple [15, 2] + - !!python/tuple [28, 8] + - !!python/tuple [22, 11] + - !!python/tuple [20, 11] + - !!python/tuple [13, 7] + - !!python/tuple [30, 20] + - !!python/tuple [25, 30] + - !!python/tuple [5, 21] + - !!python/tuple [30, 9] + - !!python/tuple [9, 21] + - !!python/tuple [19, 21] + - !!python/tuple [18, 6] + - !!python/tuple [10, 31] + - !!python/tuple [10, 9] + - !!python/tuple [15, 11] + - !!python/tuple [6, 6] + - !!python/tuple [7, 26] + - !!python/tuple [29, 5] + - !!python/tuple [5, 12] + - !!python/tuple [27, 10] + - !!python/tuple [16, 29] + - !!python/tuple [14, 27] + - !!python/tuple [6, 26] + - !!python/tuple [28, 11] + - !!python/tuple [3, 10] + - !!python/tuple [5, 23] + - !!python/tuple [17, 5] + - !!python/tuple [7, 17] + - !!python/tuple [1, 2] + - !!python/tuple [6, 25] + - !!python/tuple [17, 31] + - !!python/tuple [23, 29] + - !!python/tuple [21, 8] + - !!python/tuple [28, 25] + - !!python/tuple [18, 25] + - !!python/tuple [12, 1] + - !!python/tuple [5, 14] + - !!python/tuple [13, 0] + - !!python/tuple [26, 5] + - !!python/tuple [5, 8] + - !!python/tuple [17, 17] + - !!python/tuple [13, 23] + - !!python/tuple [2, 28] + - !!python/tuple [27, 29] + - !!python/tuple [28, 7] + - !!python/tuple [13, 18] + - !!python/tuple [19, 10] + - !!python/tuple [19, 31] + - !!python/tuple [31, 22] + - !!python/tuple [13, 20] + - !!python/tuple [19, 28] + - !!python/tuple [5, 7] + - !!python/tuple [27, 13] + - !!python/tuple [8, 20] + - !!python/tuple [4, 19] + - !!python/tuple [19, 26] + - !!python/tuple [15, 15] + - !!python/tuple [14, 16] + - !!python/tuple [12, 21] + - !!python/tuple [13, 21] + - !!python/tuple [23, 31] + - !!python/tuple [5, 5] + - !!python/tuple [25, 11] + - !!python/tuple [18, 31] + - !!python/tuple [10, 4] + - !!python/tuple [16, 4] + - !!python/tuple [16, 19] + - !!python/tuple [2, 2] + - !!python/tuple [8, 18] + - !!python/tuple [24, 1] + - !!python/tuple [0, 21] + - !!python/tuple [12, 11] + - !!python/tuple [10, 1] + - !!python/tuple [12, 7] + - !!python/tuple [16, 28] + - !!python/tuple [22, 19] + - !!python/tuple [30, 1] + - !!python/tuple [14, 5] + - !!python/tuple [10, 8] + - !!python/tuple [17, 25] + - !!python/tuple [30, 18] + - !!python/tuple [6, 30] + - !!python/tuple [3, 3] + - !!python/tuple [23, 6] + - !!python/tuple [10, 30] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex75.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex75.yaml new file mode 100644 index 0000000..f7bb696 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex75.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [11, 6] + name: agent0 + start: [5, 22] +- goal: [25, 10] + name: agent1 + start: [2, 9] +- goal: [27, 13] + name: agent2 + start: [31, 25] +- goal: [20, 9] + name: agent3 + start: [18, 5] +- goal: [10, 15] + name: agent4 + start: [6, 25] +- goal: [9, 17] + name: agent5 + start: [17, 22] +- goal: [1, 16] + name: agent6 + start: [6, 6] +- goal: [19, 27] + name: agent7 + start: [22, 5] +- goal: [8, 19] + name: agent8 + start: [27, 2] +- goal: [4, 13] + name: agent9 + start: [0, 18] +- goal: [16, 4] + name: agent10 + start: [24, 15] +- goal: [18, 8] + name: agent11 + start: [15, 11] +- goal: [26, 16] + name: agent12 + start: [25, 14] +- goal: [25, 30] + name: agent13 + start: [11, 0] +- goal: [12, 15] + name: agent14 + start: [2, 24] +- goal: [20, 30] + name: agent15 + start: [30, 31] +- goal: [24, 1] + name: agent16 + start: [26, 18] +- goal: [31, 27] + name: agent17 + start: [16, 18] +- goal: [14, 20] + name: agent18 + start: [30, 0] +- goal: [27, 12] + name: agent19 + start: [12, 16] +- goal: [9, 4] + name: agent20 + start: [24, 1] +- goal: [13, 29] + name: agent21 + start: [13, 16] +- goal: [2, 12] + name: agent22 + start: [27, 22] +- goal: [25, 14] + name: agent23 + start: [3, 26] +- goal: [20, 22] + name: agent24 + start: [8, 27] +- goal: [18, 23] + name: agent25 + start: [25, 27] +- goal: [27, 26] + name: agent26 + start: [1, 25] +- goal: [26, 5] + name: agent27 + start: [27, 9] +- goal: [10, 18] + name: agent28 + start: [28, 5] +- goal: [29, 21] + name: agent29 + start: [9, 5] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [29, 0] + - !!python/tuple [28, 21] + - !!python/tuple [17, 20] + - !!python/tuple [30, 1] + - !!python/tuple [31, 9] + - !!python/tuple [16, 24] + - !!python/tuple [2, 0] + - !!python/tuple [28, 14] + - !!python/tuple [14, 7] + - !!python/tuple [20, 1] + - !!python/tuple [18, 28] + - !!python/tuple [23, 29] + - !!python/tuple [12, 11] + - !!python/tuple [4, 0] + - !!python/tuple [8, 28] + - !!python/tuple [24, 29] + - !!python/tuple [25, 9] + - !!python/tuple [30, 14] + - !!python/tuple [14, 21] + - !!python/tuple [28, 22] + - !!python/tuple [16, 25] + - !!python/tuple [29, 10] + - !!python/tuple [23, 2] + - !!python/tuple [8, 16] + - !!python/tuple [18, 19] + - !!python/tuple [19, 15] + - !!python/tuple [23, 30] + - !!python/tuple [11, 22] + - !!python/tuple [12, 6] + - !!python/tuple [12, 23] + - !!python/tuple [13, 19] + - !!python/tuple [15, 26] + - !!python/tuple [6, 31] + - !!python/tuple [20, 13] + - !!python/tuple [22, 16] + - !!python/tuple [5, 14] + - !!python/tuple [17, 3] + - !!python/tuple [13, 0] + - !!python/tuple [23, 4] + - !!python/tuple [23, 11] + - !!python/tuple [7, 28] + - !!python/tuple [12, 21] + - !!python/tuple [15, 12] + - !!python/tuple [28, 28] + - !!python/tuple [29, 31] + - !!python/tuple [19, 30] + - !!python/tuple [27, 21] + - !!python/tuple [10, 8] + - !!python/tuple [27, 0] + - !!python/tuple [16, 23] + - !!python/tuple [14, 4] + - !!python/tuple [16, 15] + - !!python/tuple [4, 19] + - !!python/tuple [3, 19] + - !!python/tuple [12, 17] + - !!python/tuple [24, 7] + - !!python/tuple [6, 3] + - !!python/tuple [20, 24] + - !!python/tuple [25, 31] + - !!python/tuple [13, 31] + - !!python/tuple [13, 17] + - !!python/tuple [22, 26] + - !!python/tuple [7, 0] + - !!python/tuple [22, 10] + - !!python/tuple [15, 22] + - !!python/tuple [26, 9] + - !!python/tuple [21, 27] + - !!python/tuple [7, 2] + - !!python/tuple [8, 21] + - !!python/tuple [5, 6] + - !!python/tuple [2, 11] + - !!python/tuple [15, 7] + - !!python/tuple [3, 22] + - !!python/tuple [23, 9] + - !!python/tuple [26, 3] + - !!python/tuple [2, 31] + - !!python/tuple [18, 21] + - !!python/tuple [11, 8] + - !!python/tuple [10, 2] + - !!python/tuple [15, 25] + - !!python/tuple [31, 28] + - !!python/tuple [6, 21] + - !!python/tuple [14, 25] + - !!python/tuple [11, 11] + - !!python/tuple [4, 22] + - !!python/tuple [18, 31] + - !!python/tuple [10, 20] + - !!python/tuple [13, 30] + - !!python/tuple [27, 3] + - !!python/tuple [30, 5] + - !!python/tuple [3, 8] + - !!python/tuple [17, 17] + - !!python/tuple [15, 30] + - !!python/tuple [27, 4] + - !!python/tuple [16, 21] + - !!python/tuple [25, 18] + - !!python/tuple [5, 3] + - !!python/tuple [9, 19] + - !!python/tuple [0, 3] + - !!python/tuple [0, 12] + - !!python/tuple [1, 12] + - !!python/tuple [27, 5] + - !!python/tuple [9, 26] + - !!python/tuple [2, 30] + - !!python/tuple [12, 10] + - !!python/tuple [16, 0] + - !!python/tuple [27, 24] + - !!python/tuple [24, 26] + - !!python/tuple [27, 25] + - !!python/tuple [29, 13] + - !!python/tuple [9, 31] + - !!python/tuple [26, 27] + - !!python/tuple [24, 18] + - !!python/tuple [31, 12] + - !!python/tuple [17, 13] + - !!python/tuple [2, 26] + - !!python/tuple [14, 15] + - !!python/tuple [10, 1] + - !!python/tuple [7, 21] + - !!python/tuple [12, 19] + - !!python/tuple [18, 25] + - !!python/tuple [24, 24] + - !!python/tuple [16, 19] + - !!python/tuple [11, 29] + - !!python/tuple [15, 2] + - !!python/tuple [12, 4] + - !!python/tuple [13, 15] + - !!python/tuple [30, 8] + - !!python/tuple [18, 7] + - !!python/tuple [23, 0] + - !!python/tuple [16, 22] + - !!python/tuple [7, 13] + - !!python/tuple [12, 7] + - !!python/tuple [9, 24] + - !!python/tuple [15, 10] + - !!python/tuple [24, 12] + - !!python/tuple [1, 28] + - !!python/tuple [20, 12] + - !!python/tuple [13, 5] + - !!python/tuple [18, 14] + - !!python/tuple [6, 19] + - !!python/tuple [24, 6] + - !!python/tuple [25, 8] + - !!python/tuple [22, 17] + - !!python/tuple [14, 19] + - !!python/tuple [20, 25] + - !!python/tuple [4, 31] + - !!python/tuple [3, 29] + - !!python/tuple [24, 17] + - !!python/tuple [8, 6] + - !!python/tuple [4, 15] + - !!python/tuple [22, 25] + - !!python/tuple [26, 14] + - !!python/tuple [26, 24] + - !!python/tuple [16, 11] + - !!python/tuple [12, 1] + - !!python/tuple [26, 2] + - !!python/tuple [24, 13] + - !!python/tuple [17, 7] + - !!python/tuple [8, 9] + - !!python/tuple [3, 5] + - !!python/tuple [14, 2] + - !!python/tuple [17, 12] + - !!python/tuple [17, 15] + - !!python/tuple [14, 24] + - !!python/tuple [28, 0] + - !!python/tuple [18, 16] + - !!python/tuple [22, 2] + - !!python/tuple [11, 23] + - !!python/tuple [3, 30] + - !!python/tuple [7, 31] + - !!python/tuple [11, 13] + - !!python/tuple [13, 3] + - !!python/tuple [28, 12] + - !!python/tuple [6, 0] + - !!python/tuple [23, 21] + - !!python/tuple [30, 18] + - !!python/tuple [0, 15] + - !!python/tuple [29, 27] + - !!python/tuple [30, 6] + - !!python/tuple [24, 14] + - !!python/tuple [16, 17] + - !!python/tuple [20, 19] + - !!python/tuple [20, 27] + - !!python/tuple [1, 30] + - !!python/tuple [20, 14] + - !!python/tuple [13, 18] + - !!python/tuple [20, 29] + - !!python/tuple [18, 4] + - !!python/tuple [18, 18] + - !!python/tuple [26, 19] + - !!python/tuple [0, 14] + - !!python/tuple [24, 16] + - !!python/tuple [12, 29] + - !!python/tuple [3, 10] + - !!python/tuple [9, 1] + - !!python/tuple [17, 31] + - !!python/tuple [6, 5] + - !!python/tuple [17, 29] + - !!python/tuple [25, 21] + - !!python/tuple [7, 19] + - !!python/tuple [2, 14] + - !!python/tuple [15, 0] + - !!python/tuple [10, 7] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex76.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex76.yaml new file mode 100644 index 0000000..d1ae5e6 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex76.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [22, 27] + name: agent0 + start: [28, 28] +- goal: [11, 16] + name: agent1 + start: [4, 30] +- goal: [5, 27] + name: agent2 + start: [4, 13] +- goal: [4, 5] + name: agent3 + start: [4, 17] +- goal: [27, 10] + name: agent4 + start: [6, 21] +- goal: [6, 5] + name: agent5 + start: [23, 3] +- goal: [1, 11] + name: agent6 + start: [21, 30] +- goal: [18, 19] + name: agent7 + start: [31, 24] +- goal: [4, 22] + name: agent8 + start: [6, 10] +- goal: [20, 23] + name: agent9 + start: [14, 30] +- goal: [21, 14] + name: agent10 + start: [22, 21] +- goal: [14, 29] + name: agent11 + start: [13, 20] +- goal: [21, 31] + name: agent12 + start: [29, 25] +- goal: [0, 11] + name: agent13 + start: [12, 1] +- goal: [26, 6] + name: agent14 + start: [31, 13] +- goal: [31, 11] + name: agent15 + start: [9, 28] +- goal: [6, 25] + name: agent16 + start: [19, 26] +- goal: [12, 24] + name: agent17 + start: [1, 3] +- goal: [8, 23] + name: agent18 + start: [0, 7] +- goal: [21, 9] + name: agent19 + start: [18, 25] +- goal: [4, 31] + name: agent20 + start: [30, 16] +- goal: [30, 30] + name: agent21 + start: [30, 25] +- goal: [24, 25] + name: agent22 + start: [15, 31] +- goal: [20, 7] + name: agent23 + start: [10, 7] +- goal: [22, 1] + name: agent24 + start: [4, 16] +- goal: [31, 21] + name: agent25 + start: [27, 26] +- goal: [31, 24] + name: agent26 + start: [14, 7] +- goal: [13, 20] + name: agent27 + start: [28, 30] +- goal: [2, 30] + name: agent28 + start: [1, 20] +- goal: [28, 0] + name: agent29 + start: [31, 1] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [14, 17] + - !!python/tuple [27, 21] + - !!python/tuple [5, 4] + - !!python/tuple [18, 23] + - !!python/tuple [8, 30] + - !!python/tuple [25, 14] + - !!python/tuple [11, 10] + - !!python/tuple [31, 12] + - !!python/tuple [20, 6] + - !!python/tuple [23, 10] + - !!python/tuple [6, 13] + - !!python/tuple [25, 9] + - !!python/tuple [16, 8] + - !!python/tuple [20, 2] + - !!python/tuple [0, 1] + - !!python/tuple [5, 16] + - !!python/tuple [23, 25] + - !!python/tuple [23, 0] + - !!python/tuple [3, 9] + - !!python/tuple [30, 6] + - !!python/tuple [28, 12] + - !!python/tuple [16, 25] + - !!python/tuple [1, 4] + - !!python/tuple [13, 10] + - !!python/tuple [7, 15] + - !!python/tuple [19, 3] + - !!python/tuple [3, 10] + - !!python/tuple [11, 4] + - !!python/tuple [19, 16] + - !!python/tuple [28, 13] + - !!python/tuple [21, 21] + - !!python/tuple [11, 6] + - !!python/tuple [17, 14] + - !!python/tuple [27, 15] + - !!python/tuple [13, 21] + - !!python/tuple [14, 2] + - !!python/tuple [13, 7] + - !!python/tuple [19, 20] + - !!python/tuple [10, 6] + - !!python/tuple [0, 8] + - !!python/tuple [6, 7] + - !!python/tuple [26, 2] + - !!python/tuple [20, 0] + - !!python/tuple [31, 16] + - !!python/tuple [2, 27] + - !!python/tuple [3, 31] + - !!python/tuple [2, 25] + - !!python/tuple [8, 9] + - !!python/tuple [31, 10] + - !!python/tuple [5, 0] + - !!python/tuple [15, 13] + - !!python/tuple [27, 9] + - !!python/tuple [18, 18] + - !!python/tuple [29, 17] + - !!python/tuple [25, 2] + - !!python/tuple [1, 1] + - !!python/tuple [3, 3] + - !!python/tuple [31, 6] + - !!python/tuple [26, 3] + - !!python/tuple [17, 17] + - !!python/tuple [8, 10] + - !!python/tuple [23, 7] + - !!python/tuple [13, 16] + - !!python/tuple [8, 19] + - !!python/tuple [20, 13] + - !!python/tuple [20, 3] + - !!python/tuple [18, 24] + - !!python/tuple [12, 18] + - !!python/tuple [20, 5] + - !!python/tuple [18, 17] + - !!python/tuple [2, 9] + - !!python/tuple [11, 29] + - !!python/tuple [5, 1] + - !!python/tuple [3, 19] + - !!python/tuple [13, 28] + - !!python/tuple [11, 1] + - !!python/tuple [22, 0] + - !!python/tuple [22, 6] + - !!python/tuple [24, 2] + - !!python/tuple [13, 2] + - !!python/tuple [9, 3] + - !!python/tuple [9, 2] + - !!python/tuple [1, 16] + - !!python/tuple [16, 26] + - !!python/tuple [3, 22] + - !!python/tuple [6, 20] + - !!python/tuple [2, 16] + - !!python/tuple [16, 31] + - !!python/tuple [21, 1] + - !!python/tuple [26, 17] + - !!python/tuple [19, 27] + - !!python/tuple [4, 21] + - !!python/tuple [15, 30] + - !!python/tuple [15, 8] + - !!python/tuple [27, 2] + - !!python/tuple [0, 25] + - !!python/tuple [15, 21] + - !!python/tuple [12, 23] + - !!python/tuple [17, 31] + - !!python/tuple [5, 10] + - !!python/tuple [14, 14] + - !!python/tuple [24, 18] + - !!python/tuple [22, 31] + - !!python/tuple [25, 11] + - !!python/tuple [6, 1] + - !!python/tuple [28, 21] + - !!python/tuple [6, 3] + - !!python/tuple [3, 8] + - !!python/tuple [5, 3] + - !!python/tuple [5, 11] + - !!python/tuple [23, 1] + - !!python/tuple [6, 18] + - !!python/tuple [28, 27] + - !!python/tuple [12, 14] + - !!python/tuple [0, 6] + - !!python/tuple [30, 27] + - !!python/tuple [21, 16] + - !!python/tuple [3, 28] + - !!python/tuple [16, 12] + - !!python/tuple [23, 5] + - !!python/tuple [20, 9] + - !!python/tuple [5, 30] + - !!python/tuple [8, 17] + - !!python/tuple [0, 19] + - !!python/tuple [12, 8] + - !!python/tuple [14, 4] + - !!python/tuple [14, 25] + - !!python/tuple [2, 4] + - !!python/tuple [30, 4] + - !!python/tuple [26, 30] + - !!python/tuple [11, 3] + - !!python/tuple [13, 5] + - !!python/tuple [2, 28] + - !!python/tuple [31, 30] + - !!python/tuple [0, 13] + - !!python/tuple [23, 6] + - !!python/tuple [31, 15] + - !!python/tuple [25, 27] + - !!python/tuple [21, 24] + - !!python/tuple [15, 10] + - !!python/tuple [10, 12] + - !!python/tuple [18, 29] + - !!python/tuple [17, 9] + - !!python/tuple [16, 22] + - !!python/tuple [17, 19] + - !!python/tuple [11, 2] + - !!python/tuple [7, 27] + - !!python/tuple [28, 6] + - !!python/tuple [28, 10] + - !!python/tuple [18, 1] + - !!python/tuple [18, 31] + - !!python/tuple [2, 5] + - !!python/tuple [20, 10] + - !!python/tuple [28, 5] + - !!python/tuple [5, 21] + - !!python/tuple [10, 13] + - !!python/tuple [24, 12] + - !!python/tuple [7, 24] + - !!python/tuple [0, 30] + - !!python/tuple [13, 19] + - !!python/tuple [0, 24] + - !!python/tuple [27, 11] + - !!python/tuple [11, 9] + - !!python/tuple [26, 15] + - !!python/tuple [1, 15] + - !!python/tuple [25, 21] + - !!python/tuple [14, 16] + - !!python/tuple [14, 18] + - !!python/tuple [8, 5] + - !!python/tuple [17, 12] + - !!python/tuple [12, 17] + - !!python/tuple [23, 18] + - !!python/tuple [24, 15] + - !!python/tuple [27, 12] + - !!python/tuple [25, 10] + - !!python/tuple [7, 21] + - !!python/tuple [19, 24] + - !!python/tuple [12, 30] + - !!python/tuple [19, 18] + - !!python/tuple [4, 0] + - !!python/tuple [31, 17] + - !!python/tuple [22, 25] + - !!python/tuple [11, 17] + - !!python/tuple [16, 15] + - !!python/tuple [20, 31] + - !!python/tuple [27, 29] + - !!python/tuple [18, 8] + - !!python/tuple [26, 14] + - !!python/tuple [3, 30] + - !!python/tuple [2, 13] + - !!python/tuple [0, 28] + - !!python/tuple [0, 2] + - !!python/tuple [24, 24] + - !!python/tuple [29, 6] + - !!python/tuple [13, 6] + - !!python/tuple [28, 8] + - !!python/tuple [9, 0] + - !!python/tuple [9, 21] + - !!python/tuple [20, 8] + - !!python/tuple [28, 1] + - !!python/tuple [26, 0] + - !!python/tuple [15, 24] + - !!python/tuple [24, 21] + - !!python/tuple [15, 12] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex77.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex77.yaml new file mode 100644 index 0000000..205da7b --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex77.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [17, 26] + name: agent0 + start: [19, 21] +- goal: [11, 22] + name: agent1 + start: [7, 22] +- goal: [19, 1] + name: agent2 + start: [24, 11] +- goal: [23, 18] + name: agent3 + start: [9, 7] +- goal: [29, 18] + name: agent4 + start: [20, 18] +- goal: [2, 31] + name: agent5 + start: [23, 4] +- goal: [24, 19] + name: agent6 + start: [28, 30] +- goal: [29, 22] + name: agent7 + start: [23, 30] +- goal: [26, 10] + name: agent8 + start: [15, 19] +- goal: [29, 8] + name: agent9 + start: [31, 12] +- goal: [31, 0] + name: agent10 + start: [10, 15] +- goal: [31, 14] + name: agent11 + start: [24, 14] +- goal: [5, 17] + name: agent12 + start: [4, 28] +- goal: [13, 31] + name: agent13 + start: [26, 5] +- goal: [22, 5] + name: agent14 + start: [31, 24] +- goal: [26, 1] + name: agent15 + start: [29, 5] +- goal: [11, 8] + name: agent16 + start: [0, 14] +- goal: [22, 16] + name: agent17 + start: [5, 29] +- goal: [1, 31] + name: agent18 + start: [24, 21] +- goal: [29, 9] + name: agent19 + start: [13, 4] +- goal: [27, 14] + name: agent20 + start: [23, 17] +- goal: [20, 28] + name: agent21 + start: [16, 6] +- goal: [24, 0] + name: agent22 + start: [7, 28] +- goal: [16, 14] + name: agent23 + start: [21, 7] +- goal: [21, 29] + name: agent24 + start: [13, 28] +- goal: [16, 21] + name: agent25 + start: [5, 2] +- goal: [18, 11] + name: agent26 + start: [5, 15] +- goal: [26, 26] + name: agent27 + start: [24, 12] +- goal: [20, 30] + name: agent28 + start: [15, 18] +- goal: [0, 21] + name: agent29 + start: [8, 16] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [16, 18] + - !!python/tuple [14, 15] + - !!python/tuple [5, 30] + - !!python/tuple [30, 12] + - !!python/tuple [25, 15] + - !!python/tuple [22, 20] + - !!python/tuple [18, 10] + - !!python/tuple [27, 8] + - !!python/tuple [17, 8] + - !!python/tuple [0, 31] + - !!python/tuple [1, 23] + - !!python/tuple [14, 21] + - !!python/tuple [26, 13] + - !!python/tuple [16, 16] + - !!python/tuple [30, 2] + - !!python/tuple [7, 26] + - !!python/tuple [2, 22] + - !!python/tuple [6, 5] + - !!python/tuple [27, 9] + - !!python/tuple [30, 20] + - !!python/tuple [27, 13] + - !!python/tuple [11, 11] + - !!python/tuple [7, 2] + - !!python/tuple [30, 3] + - !!python/tuple [10, 1] + - !!python/tuple [31, 25] + - !!python/tuple [27, 19] + - !!python/tuple [22, 13] + - !!python/tuple [26, 9] + - !!python/tuple [11, 14] + - !!python/tuple [13, 25] + - !!python/tuple [25, 17] + - !!python/tuple [31, 5] + - !!python/tuple [18, 7] + - !!python/tuple [29, 24] + - !!python/tuple [13, 26] + - !!python/tuple [12, 2] + - !!python/tuple [9, 10] + - !!python/tuple [27, 11] + - !!python/tuple [7, 0] + - !!python/tuple [2, 5] + - !!python/tuple [3, 21] + - !!python/tuple [7, 21] + - !!python/tuple [30, 21] + - !!python/tuple [27, 23] + - !!python/tuple [14, 26] + - !!python/tuple [22, 19] + - !!python/tuple [8, 8] + - !!python/tuple [31, 26] + - !!python/tuple [21, 9] + - !!python/tuple [20, 29] + - !!python/tuple [24, 18] + - !!python/tuple [13, 3] + - !!python/tuple [11, 20] + - !!python/tuple [19, 6] + - !!python/tuple [12, 25] + - !!python/tuple [2, 25] + - !!python/tuple [14, 16] + - !!python/tuple [13, 23] + - !!python/tuple [11, 13] + - !!python/tuple [11, 28] + - !!python/tuple [18, 31] + - !!python/tuple [5, 24] + - !!python/tuple [22, 14] + - !!python/tuple [11, 2] + - !!python/tuple [8, 30] + - !!python/tuple [13, 21] + - !!python/tuple [23, 29] + - !!python/tuple [16, 26] + - !!python/tuple [12, 4] + - !!python/tuple [7, 15] + - !!python/tuple [26, 6] + - !!python/tuple [30, 19] + - !!python/tuple [22, 21] + - !!python/tuple [7, 1] + - !!python/tuple [11, 4] + - !!python/tuple [14, 0] + - !!python/tuple [26, 3] + - !!python/tuple [30, 14] + - !!python/tuple [21, 2] + - !!python/tuple [1, 6] + - !!python/tuple [31, 31] + - !!python/tuple [18, 14] + - !!python/tuple [12, 31] + - !!python/tuple [10, 3] + - !!python/tuple [20, 21] + - !!python/tuple [20, 26] + - !!python/tuple [7, 12] + - !!python/tuple [29, 11] + - !!python/tuple [0, 0] + - !!python/tuple [5, 11] + - !!python/tuple [18, 26] + - !!python/tuple [30, 29] + - !!python/tuple [28, 2] + - !!python/tuple [10, 20] + - !!python/tuple [24, 9] + - !!python/tuple [29, 16] + - !!python/tuple [13, 15] + - !!python/tuple [25, 18] + - !!python/tuple [0, 5] + - !!python/tuple [20, 19] + - !!python/tuple [25, 1] + - !!python/tuple [9, 4] + - !!python/tuple [21, 27] + - !!python/tuple [18, 18] + - !!python/tuple [18, 4] + - !!python/tuple [17, 21] + - !!python/tuple [19, 30] + - !!python/tuple [2, 23] + - !!python/tuple [22, 18] + - !!python/tuple [26, 18] + - !!python/tuple [16, 11] + - !!python/tuple [15, 16] + - !!python/tuple [21, 31] + - !!python/tuple [24, 1] + - !!python/tuple [16, 30] + - !!python/tuple [30, 30] + - !!python/tuple [24, 25] + - !!python/tuple [12, 1] + - !!python/tuple [3, 23] + - !!python/tuple [11, 27] + - !!python/tuple [31, 4] + - !!python/tuple [10, 28] + - !!python/tuple [16, 4] + - !!python/tuple [29, 20] + - !!python/tuple [9, 6] + - !!python/tuple [4, 12] + - !!python/tuple [9, 20] + - !!python/tuple [29, 28] + - !!python/tuple [0, 27] + - !!python/tuple [13, 29] + - !!python/tuple [27, 21] + - !!python/tuple [12, 28] + - !!python/tuple [14, 31] + - !!python/tuple [3, 27] + - !!python/tuple [22, 22] + - !!python/tuple [25, 3] + - !!python/tuple [8, 28] + - !!python/tuple [8, 23] + - !!python/tuple [29, 15] + - !!python/tuple [8, 7] + - !!python/tuple [25, 24] + - !!python/tuple [18, 1] + - !!python/tuple [3, 11] + - !!python/tuple [2, 13] + - !!python/tuple [9, 16] + - !!python/tuple [20, 14] + - !!python/tuple [5, 14] + - !!python/tuple [17, 7] + - !!python/tuple [31, 11] + - !!python/tuple [6, 24] + - !!python/tuple [12, 5] + - !!python/tuple [18, 6] + - !!python/tuple [30, 11] + - !!python/tuple [28, 15] + - !!python/tuple [19, 24] + - !!python/tuple [4, 20] + - !!python/tuple [18, 22] + - !!python/tuple [23, 16] + - !!python/tuple [14, 2] + - !!python/tuple [29, 23] + - !!python/tuple [22, 26] + - !!python/tuple [15, 23] + - !!python/tuple [1, 18] + - !!python/tuple [16, 1] + - !!python/tuple [25, 19] + - !!python/tuple [7, 4] + - !!python/tuple [13, 6] + - !!python/tuple [7, 23] + - !!python/tuple [2, 14] + - !!python/tuple [15, 20] + - !!python/tuple [23, 24] + - !!python/tuple [13, 13] + - !!python/tuple [26, 14] + - !!python/tuple [6, 28] + - !!python/tuple [12, 22] + - !!python/tuple [19, 2] + - !!python/tuple [22, 28] + - !!python/tuple [18, 23] + - !!python/tuple [26, 0] + - !!python/tuple [29, 1] + - !!python/tuple [17, 16] + - !!python/tuple [6, 19] + - !!python/tuple [17, 24] + - !!python/tuple [29, 17] + - !!python/tuple [2, 3] + - !!python/tuple [17, 27] + - !!python/tuple [6, 17] + - !!python/tuple [26, 19] + - !!python/tuple [9, 22] + - !!python/tuple [23, 23] + - !!python/tuple [28, 29] + - !!python/tuple [7, 25] + - !!python/tuple [12, 27] + - !!python/tuple [25, 16] + - !!python/tuple [9, 26] + - !!python/tuple [3, 29] + - !!python/tuple [26, 7] + - !!python/tuple [9, 15] + - !!python/tuple [0, 11] + - !!python/tuple [25, 30] + - !!python/tuple [27, 29] + - !!python/tuple [22, 17] + - !!python/tuple [18, 8] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex78.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex78.yaml new file mode 100644 index 0000000..c9d0478 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex78.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [16, 13] + name: agent0 + start: [18, 8] +- goal: [29, 9] + name: agent1 + start: [28, 10] +- goal: [1, 30] + name: agent2 + start: [27, 15] +- goal: [26, 30] + name: agent3 + start: [12, 30] +- goal: [2, 21] + name: agent4 + start: [6, 31] +- goal: [23, 10] + name: agent5 + start: [28, 22] +- goal: [30, 18] + name: agent6 + start: [1, 8] +- goal: [30, 20] + name: agent7 + start: [15, 22] +- goal: [6, 11] + name: agent8 + start: [12, 26] +- goal: [22, 13] + name: agent9 + start: [4, 22] +- goal: [30, 13] + name: agent10 + start: [6, 16] +- goal: [1, 2] + name: agent11 + start: [30, 13] +- goal: [17, 3] + name: agent12 + start: [3, 0] +- goal: [0, 15] + name: agent13 + start: [6, 20] +- goal: [20, 16] + name: agent14 + start: [24, 28] +- goal: [7, 20] + name: agent15 + start: [2, 23] +- goal: [6, 20] + name: agent16 + start: [17, 11] +- goal: [4, 4] + name: agent17 + start: [1, 5] +- goal: [19, 11] + name: agent18 + start: [24, 4] +- goal: [28, 8] + name: agent19 + start: [7, 28] +- goal: [6, 25] + name: agent20 + start: [13, 28] +- goal: [7, 16] + name: agent21 + start: [7, 0] +- goal: [11, 26] + name: agent22 + start: [1, 15] +- goal: [14, 15] + name: agent23 + start: [9, 5] +- goal: [13, 27] + name: agent24 + start: [6, 8] +- goal: [26, 29] + name: agent25 + start: [17, 4] +- goal: [25, 15] + name: agent26 + start: [18, 4] +- goal: [9, 31] + name: agent27 + start: [25, 18] +- goal: [18, 18] + name: agent28 + start: [26, 31] +- goal: [28, 28] + name: agent29 + start: [18, 27] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [28, 1] + - !!python/tuple [29, 16] + - !!python/tuple [27, 8] + - !!python/tuple [5, 8] + - !!python/tuple [13, 16] + - !!python/tuple [15, 27] + - !!python/tuple [3, 9] + - !!python/tuple [15, 0] + - !!python/tuple [22, 25] + - !!python/tuple [7, 19] + - !!python/tuple [20, 29] + - !!python/tuple [25, 21] + - !!python/tuple [14, 10] + - !!python/tuple [14, 8] + - !!python/tuple [9, 1] + - !!python/tuple [17, 8] + - !!python/tuple [30, 15] + - !!python/tuple [24, 11] + - !!python/tuple [1, 7] + - !!python/tuple [10, 12] + - !!python/tuple [15, 3] + - !!python/tuple [19, 20] + - !!python/tuple [11, 22] + - !!python/tuple [26, 18] + - !!python/tuple [1, 16] + - !!python/tuple [2, 25] + - !!python/tuple [14, 19] + - !!python/tuple [15, 16] + - !!python/tuple [20, 6] + - !!python/tuple [11, 8] + - !!python/tuple [23, 14] + - !!python/tuple [29, 0] + - !!python/tuple [9, 20] + - !!python/tuple [16, 15] + - !!python/tuple [7, 2] + - !!python/tuple [3, 20] + - !!python/tuple [30, 21] + - !!python/tuple [3, 17] + - !!python/tuple [18, 5] + - !!python/tuple [24, 6] + - !!python/tuple [4, 14] + - !!python/tuple [7, 21] + - !!python/tuple [29, 28] + - !!python/tuple [13, 5] + - !!python/tuple [28, 16] + - !!python/tuple [21, 15] + - !!python/tuple [31, 28] + - !!python/tuple [22, 26] + - !!python/tuple [0, 0] + - !!python/tuple [3, 7] + - !!python/tuple [13, 25] + - !!python/tuple [25, 6] + - !!python/tuple [1, 12] + - !!python/tuple [26, 17] + - !!python/tuple [20, 19] + - !!python/tuple [24, 13] + - !!python/tuple [16, 2] + - !!python/tuple [31, 9] + - !!python/tuple [3, 12] + - !!python/tuple [22, 19] + - !!python/tuple [31, 30] + - !!python/tuple [0, 25] + - !!python/tuple [2, 10] + - !!python/tuple [20, 22] + - !!python/tuple [6, 7] + - !!python/tuple [18, 19] + - !!python/tuple [28, 25] + - !!python/tuple [27, 18] + - !!python/tuple [5, 5] + - !!python/tuple [21, 16] + - !!python/tuple [3, 19] + - !!python/tuple [2, 14] + - !!python/tuple [17, 21] + - !!python/tuple [6, 21] + - !!python/tuple [15, 19] + - !!python/tuple [23, 20] + - !!python/tuple [29, 5] + - !!python/tuple [27, 0] + - !!python/tuple [21, 11] + - !!python/tuple [0, 23] + - !!python/tuple [12, 15] + - !!python/tuple [13, 12] + - !!python/tuple [7, 10] + - !!python/tuple [20, 12] + - !!python/tuple [30, 10] + - !!python/tuple [31, 2] + - !!python/tuple [0, 1] + - !!python/tuple [14, 9] + - !!python/tuple [10, 31] + - !!python/tuple [11, 28] + - !!python/tuple [14, 6] + - !!python/tuple [21, 22] + - !!python/tuple [19, 1] + - !!python/tuple [13, 3] + - !!python/tuple [30, 6] + - !!python/tuple [29, 26] + - !!python/tuple [11, 11] + - !!python/tuple [10, 13] + - !!python/tuple [27, 31] + - !!python/tuple [18, 11] + - !!python/tuple [25, 9] + - !!python/tuple [2, 4] + - !!python/tuple [13, 22] + - !!python/tuple [5, 13] + - !!python/tuple [31, 21] + - !!python/tuple [16, 11] + - !!python/tuple [10, 17] + - !!python/tuple [0, 9] + - !!python/tuple [20, 23] + - !!python/tuple [29, 31] + - !!python/tuple [8, 2] + - !!python/tuple [0, 18] + - !!python/tuple [17, 26] + - !!python/tuple [7, 5] + - !!python/tuple [21, 0] + - !!python/tuple [2, 31] + - !!python/tuple [5, 7] + - !!python/tuple [8, 14] + - !!python/tuple [18, 6] + - !!python/tuple [10, 20] + - !!python/tuple [25, 7] + - !!python/tuple [21, 13] + - !!python/tuple [15, 5] + - !!python/tuple [3, 11] + - !!python/tuple [5, 15] + - !!python/tuple [4, 9] + - !!python/tuple [14, 20] + - !!python/tuple [21, 3] + - !!python/tuple [9, 2] + - !!python/tuple [3, 18] + - !!python/tuple [13, 10] + - !!python/tuple [11, 4] + - !!python/tuple [2, 11] + - !!python/tuple [12, 5] + - !!python/tuple [0, 17] + - !!python/tuple [25, 3] + - !!python/tuple [8, 30] + - !!python/tuple [16, 10] + - !!python/tuple [0, 24] + - !!python/tuple [24, 3] + - !!python/tuple [20, 1] + - !!python/tuple [19, 15] + - !!python/tuple [5, 30] + - !!python/tuple [8, 29] + - !!python/tuple [20, 25] + - !!python/tuple [24, 8] + - !!python/tuple [5, 0] + - !!python/tuple [2, 0] + - !!python/tuple [30, 2] + - !!python/tuple [21, 28] + - !!python/tuple [20, 21] + - !!python/tuple [19, 31] + - !!python/tuple [17, 29] + - !!python/tuple [15, 13] + - !!python/tuple [23, 2] + - !!python/tuple [6, 23] + - !!python/tuple [24, 18] + - !!python/tuple [26, 14] + - !!python/tuple [13, 21] + - !!python/tuple [21, 7] + - !!python/tuple [12, 14] + - !!python/tuple [6, 30] + - !!python/tuple [22, 17] + - !!python/tuple [15, 7] + - !!python/tuple [11, 24] + - !!python/tuple [21, 21] + - !!python/tuple [6, 29] + - !!python/tuple [19, 27] + - !!python/tuple [9, 28] + - !!python/tuple [5, 31] + - !!python/tuple [9, 21] + - !!python/tuple [4, 2] + - !!python/tuple [9, 4] + - !!python/tuple [29, 1] + - !!python/tuple [6, 6] + - !!python/tuple [10, 9] + - !!python/tuple [15, 2] + - !!python/tuple [16, 30] + - !!python/tuple [30, 8] + - !!python/tuple [14, 25] + - !!python/tuple [23, 29] + - !!python/tuple [15, 12] + - !!python/tuple [2, 15] + - !!python/tuple [31, 6] + - !!python/tuple [5, 10] + - !!python/tuple [24, 0] + - !!python/tuple [29, 25] + - !!python/tuple [4, 19] + - !!python/tuple [4, 12] + - !!python/tuple [28, 9] + - !!python/tuple [22, 11] + - !!python/tuple [8, 20] + - !!python/tuple [5, 21] + - !!python/tuple [31, 0] + - !!python/tuple [23, 31] + - !!python/tuple [3, 14] + - !!python/tuple [8, 15] + - !!python/tuple [4, 15] + - !!python/tuple [4, 3] + - !!python/tuple [25, 11] + - !!python/tuple [18, 13] + - !!python/tuple [29, 3] + - !!python/tuple [2, 7] + - !!python/tuple [20, 2] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex79.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex79.yaml new file mode 100644 index 0000000..8b293ee --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex79.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [11, 6] + name: agent0 + start: [21, 29] +- goal: [22, 7] + name: agent1 + start: [26, 28] +- goal: [31, 11] + name: agent2 + start: [30, 3] +- goal: [9, 5] + name: agent3 + start: [14, 24] +- goal: [19, 8] + name: agent4 + start: [23, 26] +- goal: [8, 1] + name: agent5 + start: [14, 31] +- goal: [14, 24] + name: agent6 + start: [25, 25] +- goal: [12, 11] + name: agent7 + start: [25, 16] +- goal: [27, 10] + name: agent8 + start: [0, 24] +- goal: [20, 0] + name: agent9 + start: [7, 3] +- goal: [4, 31] + name: agent10 + start: [5, 17] +- goal: [10, 30] + name: agent11 + start: [17, 28] +- goal: [0, 29] + name: agent12 + start: [18, 31] +- goal: [8, 30] + name: agent13 + start: [12, 12] +- goal: [18, 12] + name: agent14 + start: [27, 2] +- goal: [18, 19] + name: agent15 + start: [20, 30] +- goal: [16, 13] + name: agent16 + start: [2, 31] +- goal: [22, 17] + name: agent17 + start: [22, 20] +- goal: [14, 2] + name: agent18 + start: [5, 11] +- goal: [3, 21] + name: agent19 + start: [2, 2] +- goal: [29, 0] + name: agent20 + start: [11, 30] +- goal: [9, 3] + name: agent21 + start: [3, 31] +- goal: [22, 2] + name: agent22 + start: [25, 23] +- goal: [13, 8] + name: agent23 + start: [9, 17] +- goal: [28, 28] + name: agent24 + start: [18, 17] +- goal: [21, 0] + name: agent25 + start: [4, 9] +- goal: [9, 1] + name: agent26 + start: [5, 23] +- goal: [5, 26] + name: agent27 + start: [31, 1] +- goal: [30, 23] + name: agent28 + start: [30, 5] +- goal: [11, 10] + name: agent29 + start: [20, 0] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [26, 26] + - !!python/tuple [14, 26] + - !!python/tuple [21, 30] + - !!python/tuple [28, 25] + - !!python/tuple [24, 18] + - !!python/tuple [21, 31] + - !!python/tuple [14, 14] + - !!python/tuple [30, 22] + - !!python/tuple [0, 5] + - !!python/tuple [23, 22] + - !!python/tuple [9, 21] + - !!python/tuple [23, 17] + - !!python/tuple [10, 20] + - !!python/tuple [26, 27] + - !!python/tuple [9, 6] + - !!python/tuple [4, 3] + - !!python/tuple [27, 13] + - !!python/tuple [1, 17] + - !!python/tuple [29, 4] + - !!python/tuple [12, 25] + - !!python/tuple [16, 20] + - !!python/tuple [22, 11] + - !!python/tuple [15, 23] + - !!python/tuple [20, 21] + - !!python/tuple [3, 3] + - !!python/tuple [14, 23] + - !!python/tuple [25, 7] + - !!python/tuple [6, 8] + - !!python/tuple [12, 1] + - !!python/tuple [31, 25] + - !!python/tuple [18, 18] + - !!python/tuple [3, 7] + - !!python/tuple [5, 9] + - !!python/tuple [4, 4] + - !!python/tuple [25, 4] + - !!python/tuple [15, 3] + - !!python/tuple [7, 17] + - !!python/tuple [24, 25] + - !!python/tuple [16, 1] + - !!python/tuple [10, 8] + - !!python/tuple [6, 3] + - !!python/tuple [16, 14] + - !!python/tuple [18, 11] + - !!python/tuple [10, 7] + - !!python/tuple [17, 4] + - !!python/tuple [9, 24] + - !!python/tuple [11, 1] + - !!python/tuple [22, 27] + - !!python/tuple [7, 15] + - !!python/tuple [2, 6] + - !!python/tuple [28, 9] + - !!python/tuple [12, 20] + - !!python/tuple [13, 10] + - !!python/tuple [8, 17] + - !!python/tuple [28, 12] + - !!python/tuple [25, 22] + - !!python/tuple [1, 15] + - !!python/tuple [23, 2] + - !!python/tuple [23, 15] + - !!python/tuple [1, 22] + - !!python/tuple [16, 7] + - !!python/tuple [11, 11] + - !!python/tuple [28, 27] + - !!python/tuple [14, 15] + - !!python/tuple [2, 17] + - !!python/tuple [19, 1] + - !!python/tuple [31, 27] + - !!python/tuple [30, 25] + - !!python/tuple [19, 14] + - !!python/tuple [5, 7] + - !!python/tuple [3, 17] + - !!python/tuple [18, 28] + - !!python/tuple [6, 19] + - !!python/tuple [6, 14] + - !!python/tuple [15, 1] + - !!python/tuple [8, 31] + - !!python/tuple [25, 19] + - !!python/tuple [24, 12] + - !!python/tuple [11, 14] + - !!python/tuple [0, 2] + - !!python/tuple [1, 29] + - !!python/tuple [19, 28] + - !!python/tuple [28, 21] + - !!python/tuple [19, 31] + - !!python/tuple [27, 8] + - !!python/tuple [6, 15] + - !!python/tuple [31, 7] + - !!python/tuple [12, 15] + - !!python/tuple [12, 10] + - !!python/tuple [27, 7] + - !!python/tuple [13, 9] + - !!python/tuple [30, 11] + - !!python/tuple [13, 5] + - !!python/tuple [13, 6] + - !!python/tuple [2, 12] + - !!python/tuple [7, 14] + - !!python/tuple [1, 10] + - !!python/tuple [13, 26] + - !!python/tuple [2, 24] + - !!python/tuple [9, 23] + - !!python/tuple [11, 28] + - !!python/tuple [31, 16] + - !!python/tuple [9, 22] + - !!python/tuple [22, 8] + - !!python/tuple [22, 1] + - !!python/tuple [24, 28] + - !!python/tuple [9, 12] + - !!python/tuple [23, 27] + - !!python/tuple [24, 2] + - !!python/tuple [24, 21] + - !!python/tuple [30, 14] + - !!python/tuple [11, 13] + - !!python/tuple [9, 29] + - !!python/tuple [7, 24] + - !!python/tuple [11, 4] + - !!python/tuple [22, 23] + - !!python/tuple [8, 10] + - !!python/tuple [17, 29] + - !!python/tuple [1, 19] + - !!python/tuple [3, 16] + - !!python/tuple [20, 5] + - !!python/tuple [22, 5] + - !!python/tuple [5, 10] + - !!python/tuple [1, 3] + - !!python/tuple [5, 25] + - !!python/tuple [19, 23] + - !!python/tuple [27, 14] + - !!python/tuple [7, 0] + - !!python/tuple [26, 21] + - !!python/tuple [2, 7] + - !!python/tuple [12, 4] + - !!python/tuple [22, 31] + - !!python/tuple [23, 6] + - !!python/tuple [2, 22] + - !!python/tuple [17, 16] + - !!python/tuple [30, 20] + - !!python/tuple [31, 13] + - !!python/tuple [27, 15] + - !!python/tuple [20, 14] + - !!python/tuple [18, 25] + - !!python/tuple [20, 11] + - !!python/tuple [23, 23] + - !!python/tuple [12, 17] + - !!python/tuple [13, 13] + - !!python/tuple [4, 6] + - !!python/tuple [14, 16] + - !!python/tuple [27, 26] + - !!python/tuple [14, 10] + - !!python/tuple [9, 30] + - !!python/tuple [5, 15] + - !!python/tuple [0, 22] + - !!python/tuple [29, 19] + - !!python/tuple [12, 9] + - !!python/tuple [11, 29] + - !!python/tuple [4, 2] + - !!python/tuple [14, 13] + - !!python/tuple [10, 27] + - !!python/tuple [10, 5] + - !!python/tuple [23, 24] + - !!python/tuple [7, 19] + - !!python/tuple [15, 17] + - !!python/tuple [20, 26] + - !!python/tuple [1, 25] + - !!python/tuple [17, 13] + - !!python/tuple [27, 24] + - !!python/tuple [6, 9] + - !!python/tuple [27, 11] + - !!python/tuple [4, 25] + - !!python/tuple [0, 6] + - !!python/tuple [7, 29] + - !!python/tuple [30, 13] + - !!python/tuple [8, 20] + - !!python/tuple [9, 14] + - !!python/tuple [21, 18] + - !!python/tuple [3, 25] + - !!python/tuple [12, 26] + - !!python/tuple [0, 1] + - !!python/tuple [22, 24] + - !!python/tuple [14, 30] + - !!python/tuple [4, 27] + - !!python/tuple [8, 22] + - !!python/tuple [18, 8] + - !!python/tuple [19, 12] + - !!python/tuple [31, 15] + - !!python/tuple [9, 13] + - !!python/tuple [5, 28] + - !!python/tuple [8, 25] + - !!python/tuple [3, 0] + - !!python/tuple [29, 21] + - !!python/tuple [15, 7] + - !!python/tuple [20, 1] + - !!python/tuple [6, 22] + - !!python/tuple [31, 21] + - !!python/tuple [8, 2] + - !!python/tuple [4, 0] + - !!python/tuple [3, 24] + - !!python/tuple [19, 11] + - !!python/tuple [23, 30] + - !!python/tuple [26, 22] + - !!python/tuple [16, 11] + - !!python/tuple [10, 12] + - !!python/tuple [27, 22] + - !!python/tuple [31, 8] + - !!python/tuple [22, 15] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex8.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex8.yaml new file mode 100644 index 0000000..2bd4960 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex8.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [5, 19] + name: agent0 + start: [8, 8] +- goal: [15, 29] + name: agent1 + start: [12, 7] +- goal: [2, 28] + name: agent2 + start: [17, 5] +- goal: [22, 15] + name: agent3 + start: [19, 24] +- goal: [17, 11] + name: agent4 + start: [31, 5] +- goal: [1, 26] + name: agent5 + start: [31, 9] +- goal: [30, 14] + name: agent6 + start: [2, 30] +- goal: [4, 4] + name: agent7 + start: [6, 25] +- goal: [15, 21] + name: agent8 + start: [16, 6] +- goal: [14, 27] + name: agent9 + start: [28, 26] +- goal: [18, 11] + name: agent10 + start: [9, 4] +- goal: [10, 14] + name: agent11 + start: [20, 4] +- goal: [14, 0] + name: agent12 + start: [16, 2] +- goal: [28, 8] + name: agent13 + start: [16, 10] +- goal: [23, 24] + name: agent14 + start: [19, 20] +- goal: [6, 13] + name: agent15 + start: [14, 0] +- goal: [26, 6] + name: agent16 + start: [21, 9] +- goal: [12, 3] + name: agent17 + start: [5, 30] +- goal: [4, 10] + name: agent18 + start: [15, 14] +- goal: [20, 26] + name: agent19 + start: [27, 2] +- goal: [20, 17] + name: agent20 + start: [16, 30] +- goal: [10, 12] + name: agent21 + start: [18, 4] +- goal: [5, 17] + name: agent22 + start: [10, 0] +- goal: [30, 18] + name: agent23 + start: [7, 30] +- goal: [30, 26] + name: agent24 + start: [17, 30] +- goal: [19, 10] + name: agent25 + start: [3, 8] +- goal: [3, 8] + name: agent26 + start: [22, 4] +- goal: [26, 1] + name: agent27 + start: [18, 22] +- goal: [25, 26] + name: agent28 + start: [4, 18] +- goal: [18, 5] + name: agent29 + start: [28, 0] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [7, 2] + - !!python/tuple [15, 26] + - !!python/tuple [15, 25] + - !!python/tuple [7, 9] + - !!python/tuple [6, 15] + - !!python/tuple [9, 3] + - !!python/tuple [23, 2] + - !!python/tuple [26, 7] + - !!python/tuple [11, 24] + - !!python/tuple [19, 4] + - !!python/tuple [8, 12] + - !!python/tuple [23, 31] + - !!python/tuple [13, 24] + - !!python/tuple [18, 9] + - !!python/tuple [10, 7] + - !!python/tuple [2, 16] + - !!python/tuple [19, 11] + - !!python/tuple [1, 12] + - !!python/tuple [11, 21] + - !!python/tuple [6, 4] + - !!python/tuple [30, 23] + - !!python/tuple [4, 9] + - !!python/tuple [27, 19] + - !!python/tuple [9, 0] + - !!python/tuple [28, 28] + - !!python/tuple [30, 22] + - !!python/tuple [1, 24] + - !!python/tuple [7, 24] + - !!python/tuple [21, 7] + - !!python/tuple [1, 31] + - !!python/tuple [28, 17] + - !!python/tuple [8, 10] + - !!python/tuple [22, 25] + - !!python/tuple [18, 12] + - !!python/tuple [5, 10] + - !!python/tuple [29, 17] + - !!python/tuple [31, 4] + - !!python/tuple [11, 4] + - !!python/tuple [31, 31] + - !!python/tuple [30, 3] + - !!python/tuple [17, 12] + - !!python/tuple [10, 28] + - !!python/tuple [0, 9] + - !!python/tuple [7, 8] + - !!python/tuple [6, 24] + - !!python/tuple [28, 9] + - !!python/tuple [21, 0] + - !!python/tuple [4, 3] + - !!python/tuple [24, 18] + - !!python/tuple [18, 18] + - !!python/tuple [29, 21] + - !!python/tuple [13, 3] + - !!python/tuple [9, 20] + - !!python/tuple [9, 10] + - !!python/tuple [4, 16] + - !!python/tuple [0, 8] + - !!python/tuple [7, 10] + - !!python/tuple [11, 12] + - !!python/tuple [16, 13] + - !!python/tuple [17, 15] + - !!python/tuple [26, 30] + - !!python/tuple [13, 11] + - !!python/tuple [24, 11] + - !!python/tuple [18, 2] + - !!python/tuple [17, 0] + - !!python/tuple [8, 11] + - !!python/tuple [15, 28] + - !!python/tuple [15, 1] + - !!python/tuple [22, 13] + - !!python/tuple [5, 2] + - !!python/tuple [13, 30] + - !!python/tuple [24, 28] + - !!python/tuple [23, 6] + - !!python/tuple [3, 11] + - !!python/tuple [9, 12] + - !!python/tuple [3, 17] + - !!python/tuple [28, 29] + - !!python/tuple [1, 22] + - !!python/tuple [30, 28] + - !!python/tuple [19, 3] + - !!python/tuple [31, 1] + - !!python/tuple [28, 5] + - !!python/tuple [6, 26] + - !!python/tuple [15, 2] + - !!python/tuple [30, 8] + - !!python/tuple [15, 31] + - !!python/tuple [13, 29] + - !!python/tuple [8, 15] + - !!python/tuple [17, 17] + - !!python/tuple [31, 24] + - !!python/tuple [29, 6] + - !!python/tuple [0, 2] + - !!python/tuple [23, 26] + - !!python/tuple [4, 17] + - !!python/tuple [23, 17] + - !!python/tuple [16, 7] + - !!python/tuple [3, 16] + - !!python/tuple [14, 28] + - !!python/tuple [13, 9] + - !!python/tuple [17, 18] + - !!python/tuple [14, 17] + - !!python/tuple [8, 14] + - !!python/tuple [31, 28] + - !!python/tuple [29, 26] + - !!python/tuple [20, 9] + - !!python/tuple [25, 25] + - !!python/tuple [13, 18] + - !!python/tuple [8, 23] + - !!python/tuple [5, 13] + - !!python/tuple [28, 14] + - !!python/tuple [4, 7] + - !!python/tuple [18, 16] + - !!python/tuple [2, 15] + - !!python/tuple [3, 20] + - !!python/tuple [6, 9] + - !!python/tuple [4, 29] + - !!python/tuple [25, 13] + - !!python/tuple [26, 23] + - !!python/tuple [27, 13] + - !!python/tuple [26, 22] + - !!python/tuple [18, 29] + - !!python/tuple [31, 0] + - !!python/tuple [17, 21] + - !!python/tuple [31, 23] + - !!python/tuple [18, 1] + - !!python/tuple [17, 2] + - !!python/tuple [26, 15] + - !!python/tuple [8, 22] + - !!python/tuple [30, 10] + - !!python/tuple [23, 7] + - !!python/tuple [0, 29] + - !!python/tuple [1, 1] + - !!python/tuple [12, 15] + - !!python/tuple [5, 12] + - !!python/tuple [30, 25] + - !!python/tuple [22, 11] + - !!python/tuple [25, 7] + - !!python/tuple [7, 16] + - !!python/tuple [26, 5] + - !!python/tuple [22, 24] + - !!python/tuple [19, 9] + - !!python/tuple [3, 10] + - !!python/tuple [12, 8] + - !!python/tuple [1, 25] + - !!python/tuple [11, 27] + - !!python/tuple [25, 31] + - !!python/tuple [2, 27] + - !!python/tuple [8, 21] + - !!python/tuple [22, 8] + - !!python/tuple [22, 5] + - !!python/tuple [2, 23] + - !!python/tuple [0, 14] + - !!python/tuple [2, 4] + - !!python/tuple [0, 12] + - !!python/tuple [18, 15] + - !!python/tuple [27, 15] + - !!python/tuple [6, 7] + - !!python/tuple [5, 24] + - !!python/tuple [25, 22] + - !!python/tuple [29, 0] + - !!python/tuple [6, 1] + - !!python/tuple [28, 23] + - !!python/tuple [22, 6] + - !!python/tuple [20, 8] + - !!python/tuple [12, 10] + - !!python/tuple [9, 18] + - !!python/tuple [23, 20] + - !!python/tuple [9, 25] + - !!python/tuple [7, 18] + - !!python/tuple [7, 11] + - !!python/tuple [11, 20] + - !!python/tuple [22, 9] + - !!python/tuple [16, 11] + - !!python/tuple [16, 8] + - !!python/tuple [30, 21] + - !!python/tuple [1, 30] + - !!python/tuple [24, 16] + - !!python/tuple [10, 30] + - !!python/tuple [10, 15] + - !!python/tuple [28, 6] + - !!python/tuple [24, 31] + - !!python/tuple [20, 13] + - !!python/tuple [28, 13] + - !!python/tuple [3, 6] + - !!python/tuple [13, 25] + - !!python/tuple [6, 27] + - !!python/tuple [4, 24] + - !!python/tuple [18, 10] + - !!python/tuple [29, 24] + - !!python/tuple [19, 7] + - !!python/tuple [27, 30] + - !!python/tuple [21, 29] + - !!python/tuple [15, 8] + - !!python/tuple [13, 23] + - !!python/tuple [15, 4] + - !!python/tuple [25, 5] + - !!python/tuple [21, 20] + - !!python/tuple [0, 20] + - !!python/tuple [11, 17] + - !!python/tuple [31, 25] + - !!python/tuple [5, 28] + - !!python/tuple [7, 7] + - !!python/tuple [10, 24] + - !!python/tuple [27, 4] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex80.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex80.yaml new file mode 100644 index 0000000..d7bdd49 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex80.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [18, 9] + name: agent0 + start: [28, 31] +- goal: [31, 28] + name: agent1 + start: [5, 7] +- goal: [5, 29] + name: agent2 + start: [29, 9] +- goal: [4, 8] + name: agent3 + start: [14, 25] +- goal: [18, 31] + name: agent4 + start: [8, 3] +- goal: [25, 9] + name: agent5 + start: [20, 21] +- goal: [9, 15] + name: agent6 + start: [18, 6] +- goal: [7, 3] + name: agent7 + start: [26, 10] +- goal: [0, 14] + name: agent8 + start: [7, 25] +- goal: [18, 11] + name: agent9 + start: [14, 16] +- goal: [22, 12] + name: agent10 + start: [31, 26] +- goal: [5, 10] + name: agent11 + start: [8, 29] +- goal: [16, 24] + name: agent12 + start: [18, 0] +- goal: [28, 27] + name: agent13 + start: [29, 22] +- goal: [9, 13] + name: agent14 + start: [4, 29] +- goal: [31, 6] + name: agent15 + start: [22, 25] +- goal: [11, 23] + name: agent16 + start: [17, 28] +- goal: [16, 3] + name: agent17 + start: [12, 1] +- goal: [6, 2] + name: agent18 + start: [24, 9] +- goal: [17, 23] + name: agent19 + start: [1, 22] +- goal: [16, 2] + name: agent20 + start: [8, 19] +- goal: [8, 5] + name: agent21 + start: [3, 13] +- goal: [27, 9] + name: agent22 + start: [29, 5] +- goal: [27, 3] + name: agent23 + start: [28, 22] +- goal: [24, 21] + name: agent24 + start: [8, 25] +- goal: [14, 23] + name: agent25 + start: [1, 21] +- goal: [21, 10] + name: agent26 + start: [29, 27] +- goal: [5, 4] + name: agent27 + start: [22, 14] +- goal: [4, 0] + name: agent28 + start: [28, 0] +- goal: [20, 11] + name: agent29 + start: [22, 8] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [26, 2] + - !!python/tuple [8, 22] + - !!python/tuple [0, 21] + - !!python/tuple [28, 18] + - !!python/tuple [21, 2] + - !!python/tuple [16, 19] + - !!python/tuple [19, 13] + - !!python/tuple [7, 29] + - !!python/tuple [27, 17] + - !!python/tuple [7, 14] + - !!python/tuple [8, 1] + - !!python/tuple [17, 10] + - !!python/tuple [22, 9] + - !!python/tuple [22, 20] + - !!python/tuple [9, 27] + - !!python/tuple [13, 29] + - !!python/tuple [19, 25] + - !!python/tuple [23, 6] + - !!python/tuple [6, 16] + - !!python/tuple [24, 1] + - !!python/tuple [21, 0] + - !!python/tuple [1, 6] + - !!python/tuple [19, 26] + - !!python/tuple [5, 13] + - !!python/tuple [31, 8] + - !!python/tuple [31, 17] + - !!python/tuple [5, 31] + - !!python/tuple [27, 18] + - !!python/tuple [15, 2] + - !!python/tuple [27, 1] + - !!python/tuple [7, 11] + - !!python/tuple [19, 15] + - !!python/tuple [16, 17] + - !!python/tuple [11, 10] + - !!python/tuple [19, 11] + - !!python/tuple [29, 25] + - !!python/tuple [9, 12] + - !!python/tuple [13, 19] + - !!python/tuple [13, 22] + - !!python/tuple [24, 26] + - !!python/tuple [17, 16] + - !!python/tuple [1, 7] + - !!python/tuple [6, 19] + - !!python/tuple [13, 8] + - !!python/tuple [11, 30] + - !!python/tuple [19, 21] + - !!python/tuple [21, 21] + - !!python/tuple [28, 23] + - !!python/tuple [10, 6] + - !!python/tuple [20, 8] + - !!python/tuple [19, 27] + - !!python/tuple [3, 19] + - !!python/tuple [29, 12] + - !!python/tuple [1, 11] + - !!python/tuple [21, 24] + - !!python/tuple [10, 23] + - !!python/tuple [11, 26] + - !!python/tuple [21, 29] + - !!python/tuple [13, 21] + - !!python/tuple [0, 18] + - !!python/tuple [1, 16] + - !!python/tuple [4, 6] + - !!python/tuple [0, 31] + - !!python/tuple [4, 7] + - !!python/tuple [14, 30] + - !!python/tuple [29, 20] + - !!python/tuple [6, 15] + - !!python/tuple [23, 24] + - !!python/tuple [15, 29] + - !!python/tuple [10, 19] + - !!python/tuple [27, 24] + - !!python/tuple [21, 22] + - !!python/tuple [7, 31] + - !!python/tuple [10, 4] + - !!python/tuple [4, 2] + - !!python/tuple [7, 4] + - !!python/tuple [25, 7] + - !!python/tuple [10, 31] + - !!python/tuple [14, 6] + - !!python/tuple [10, 18] + - !!python/tuple [6, 25] + - !!python/tuple [23, 15] + - !!python/tuple [21, 23] + - !!python/tuple [22, 23] + - !!python/tuple [2, 18] + - !!python/tuple [20, 19] + - !!python/tuple [5, 22] + - !!python/tuple [31, 19] + - !!python/tuple [22, 26] + - !!python/tuple [13, 14] + - !!python/tuple [31, 5] + - !!python/tuple [27, 5] + - !!python/tuple [1, 31] + - !!python/tuple [11, 5] + - !!python/tuple [4, 27] + - !!python/tuple [7, 8] + - !!python/tuple [18, 14] + - !!python/tuple [25, 27] + - !!python/tuple [3, 9] + - !!python/tuple [28, 15] + - !!python/tuple [25, 29] + - !!python/tuple [16, 10] + - !!python/tuple [31, 20] + - !!python/tuple [0, 25] + - !!python/tuple [9, 8] + - !!python/tuple [29, 4] + - !!python/tuple [22, 28] + - !!python/tuple [15, 22] + - !!python/tuple [4, 1] + - !!python/tuple [6, 23] + - !!python/tuple [4, 17] + - !!python/tuple [19, 8] + - !!python/tuple [21, 15] + - !!python/tuple [16, 7] + - !!python/tuple [4, 14] + - !!python/tuple [2, 1] + - !!python/tuple [22, 6] + - !!python/tuple [13, 25] + - !!python/tuple [21, 14] + - !!python/tuple [28, 8] + - !!python/tuple [16, 28] + - !!python/tuple [17, 4] + - !!python/tuple [4, 3] + - !!python/tuple [4, 5] + - !!python/tuple [12, 2] + - !!python/tuple [19, 19] + - !!python/tuple [23, 4] + - !!python/tuple [30, 8] + - !!python/tuple [28, 6] + - !!python/tuple [17, 17] + - !!python/tuple [15, 7] + - !!python/tuple [27, 6] + - !!python/tuple [2, 31] + - !!python/tuple [18, 26] + - !!python/tuple [10, 5] + - !!python/tuple [1, 12] + - !!python/tuple [3, 29] + - !!python/tuple [25, 23] + - !!python/tuple [29, 7] + - !!python/tuple [21, 13] + - !!python/tuple [28, 28] + - !!python/tuple [26, 28] + - !!python/tuple [6, 22] + - !!python/tuple [17, 3] + - !!python/tuple [12, 16] + - !!python/tuple [15, 24] + - !!python/tuple [20, 24] + - !!python/tuple [29, 19] + - !!python/tuple [6, 21] + - !!python/tuple [31, 12] + - !!python/tuple [12, 15] + - !!python/tuple [24, 12] + - !!python/tuple [0, 28] + - !!python/tuple [12, 3] + - !!python/tuple [9, 3] + - !!python/tuple [8, 10] + - !!python/tuple [3, 21] + - !!python/tuple [12, 20] + - !!python/tuple [27, 27] + - !!python/tuple [0, 6] + - !!python/tuple [29, 11] + - !!python/tuple [2, 17] + - !!python/tuple [25, 17] + - !!python/tuple [2, 2] + - !!python/tuple [16, 23] + - !!python/tuple [17, 25] + - !!python/tuple [20, 6] + - !!python/tuple [13, 31] + - !!python/tuple [30, 4] + - !!python/tuple [23, 26] + - !!python/tuple [14, 0] + - !!python/tuple [20, 7] + - !!python/tuple [24, 31] + - !!python/tuple [3, 28] + - !!python/tuple [21, 20] + - !!python/tuple [18, 16] + - !!python/tuple [19, 17] + - !!python/tuple [23, 3] + - !!python/tuple [13, 17] + - !!python/tuple [19, 18] + - !!python/tuple [25, 3] + - !!python/tuple [5, 21] + - !!python/tuple [27, 20] + - !!python/tuple [11, 16] + - !!python/tuple [2, 5] + - !!python/tuple [24, 23] + - !!python/tuple [27, 30] + - !!python/tuple [29, 13] + - !!python/tuple [5, 18] + - !!python/tuple [30, 19] + - !!python/tuple [3, 5] + - !!python/tuple [15, 9] + - !!python/tuple [29, 29] + - !!python/tuple [2, 9] + - !!python/tuple [18, 24] + - !!python/tuple [25, 21] + - !!python/tuple [26, 15] + - !!python/tuple [31, 2] + - !!python/tuple [28, 14] + - !!python/tuple [8, 26] + - !!python/tuple [23, 11] + - !!python/tuple [28, 30] + - !!python/tuple [30, 12] + - !!python/tuple [25, 14] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex81.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex81.yaml new file mode 100644 index 0000000..451271f --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex81.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [17, 29] + name: agent0 + start: [25, 2] +- goal: [11, 17] + name: agent1 + start: [0, 12] +- goal: [11, 0] + name: agent2 + start: [8, 7] +- goal: [7, 26] + name: agent3 + start: [15, 19] +- goal: [9, 14] + name: agent4 + start: [0, 8] +- goal: [22, 15] + name: agent5 + start: [7, 19] +- goal: [14, 18] + name: agent6 + start: [2, 4] +- goal: [26, 21] + name: agent7 + start: [27, 0] +- goal: [18, 8] + name: agent8 + start: [24, 23] +- goal: [26, 9] + name: agent9 + start: [3, 29] +- goal: [14, 2] + name: agent10 + start: [5, 20] +- goal: [11, 28] + name: agent11 + start: [31, 22] +- goal: [20, 1] + name: agent12 + start: [19, 10] +- goal: [0, 30] + name: agent13 + start: [16, 4] +- goal: [16, 10] + name: agent14 + start: [27, 4] +- goal: [8, 6] + name: agent15 + start: [27, 22] +- goal: [31, 5] + name: agent16 + start: [30, 29] +- goal: [25, 1] + name: agent17 + start: [6, 19] +- goal: [31, 22] + name: agent18 + start: [21, 17] +- goal: [16, 26] + name: agent19 + start: [17, 16] +- goal: [1, 29] + name: agent20 + start: [1, 23] +- goal: [27, 21] + name: agent21 + start: [18, 19] +- goal: [19, 18] + name: agent22 + start: [31, 29] +- goal: [29, 6] + name: agent23 + start: [3, 9] +- goal: [2, 18] + name: agent24 + start: [19, 24] +- goal: [6, 27] + name: agent25 + start: [0, 31] +- goal: [25, 10] + name: agent26 + start: [28, 29] +- goal: [23, 3] + name: agent27 + start: [21, 6] +- goal: [20, 9] + name: agent28 + start: [2, 11] +- goal: [7, 17] + name: agent29 + start: [2, 17] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [31, 23] + - !!python/tuple [2, 16] + - !!python/tuple [7, 2] + - !!python/tuple [31, 9] + - !!python/tuple [4, 16] + - !!python/tuple [29, 22] + - !!python/tuple [26, 23] + - !!python/tuple [10, 3] + - !!python/tuple [23, 11] + - !!python/tuple [15, 28] + - !!python/tuple [9, 15] + - !!python/tuple [14, 11] + - !!python/tuple [15, 20] + - !!python/tuple [4, 9] + - !!python/tuple [12, 12] + - !!python/tuple [5, 28] + - !!python/tuple [8, 12] + - !!python/tuple [23, 24] + - !!python/tuple [1, 25] + - !!python/tuple [9, 19] + - !!python/tuple [5, 31] + - !!python/tuple [6, 14] + - !!python/tuple [6, 9] + - !!python/tuple [10, 20] + - !!python/tuple [13, 20] + - !!python/tuple [19, 12] + - !!python/tuple [8, 11] + - !!python/tuple [13, 26] + - !!python/tuple [18, 14] + - !!python/tuple [21, 18] + - !!python/tuple [29, 29] + - !!python/tuple [2, 15] + - !!python/tuple [2, 14] + - !!python/tuple [4, 3] + - !!python/tuple [5, 2] + - !!python/tuple [3, 2] + - !!python/tuple [0, 11] + - !!python/tuple [24, 29] + - !!python/tuple [3, 15] + - !!python/tuple [20, 14] + - !!python/tuple [14, 0] + - !!python/tuple [6, 8] + - !!python/tuple [10, 6] + - !!python/tuple [18, 30] + - !!python/tuple [22, 2] + - !!python/tuple [16, 22] + - !!python/tuple [21, 8] + - !!python/tuple [5, 3] + - !!python/tuple [5, 11] + - !!python/tuple [2, 1] + - !!python/tuple [30, 16] + - !!python/tuple [18, 13] + - !!python/tuple [17, 9] + - !!python/tuple [5, 26] + - !!python/tuple [19, 20] + - !!python/tuple [8, 0] + - !!python/tuple [20, 8] + - !!python/tuple [22, 25] + - !!python/tuple [13, 9] + - !!python/tuple [7, 30] + - !!python/tuple [7, 27] + - !!python/tuple [12, 7] + - !!python/tuple [13, 14] + - !!python/tuple [13, 11] + - !!python/tuple [2, 31] + - !!python/tuple [31, 17] + - !!python/tuple [21, 29] + - !!python/tuple [19, 15] + - !!python/tuple [13, 28] + - !!python/tuple [28, 31] + - !!python/tuple [15, 10] + - !!python/tuple [29, 25] + - !!python/tuple [16, 19] + - !!python/tuple [17, 11] + - !!python/tuple [14, 3] + - !!python/tuple [2, 13] + - !!python/tuple [3, 0] + - !!python/tuple [26, 29] + - !!python/tuple [8, 29] + - !!python/tuple [9, 7] + - !!python/tuple [13, 4] + - !!python/tuple [30, 5] + - !!python/tuple [21, 7] + - !!python/tuple [8, 27] + - !!python/tuple [19, 14] + - !!python/tuple [23, 25] + - !!python/tuple [24, 15] + - !!python/tuple [30, 24] + - !!python/tuple [5, 21] + - !!python/tuple [17, 24] + - !!python/tuple [13, 19] + - !!python/tuple [23, 12] + - !!python/tuple [31, 30] + - !!python/tuple [7, 4] + - !!python/tuple [28, 2] + - !!python/tuple [27, 29] + - !!python/tuple [19, 28] + - !!python/tuple [2, 21] + - !!python/tuple [13, 10] + - !!python/tuple [0, 9] + - !!python/tuple [6, 4] + - !!python/tuple [21, 10] + - !!python/tuple [30, 20] + - !!python/tuple [3, 28] + - !!python/tuple [4, 30] + - !!python/tuple [7, 29] + - !!python/tuple [19, 16] + - !!python/tuple [8, 2] + - !!python/tuple [3, 26] + - !!python/tuple [13, 6] + - !!python/tuple [19, 5] + - !!python/tuple [31, 2] + - !!python/tuple [15, 30] + - !!python/tuple [23, 21] + - !!python/tuple [21, 0] + - !!python/tuple [19, 26] + - !!python/tuple [20, 19] + - !!python/tuple [22, 30] + - !!python/tuple [16, 25] + - !!python/tuple [10, 11] + - !!python/tuple [10, 30] + - !!python/tuple [31, 20] + - !!python/tuple [15, 11] + - !!python/tuple [23, 5] + - !!python/tuple [26, 28] + - !!python/tuple [11, 14] + - !!python/tuple [15, 15] + - !!python/tuple [26, 19] + - !!python/tuple [3, 5] + - !!python/tuple [26, 18] + - !!python/tuple [0, 21] + - !!python/tuple [2, 3] + - !!python/tuple [21, 22] + - !!python/tuple [13, 0] + - !!python/tuple [4, 19] + - !!python/tuple [14, 24] + - !!python/tuple [17, 10] + - !!python/tuple [1, 16] + - !!python/tuple [17, 7] + - !!python/tuple [3, 22] + - !!python/tuple [19, 7] + - !!python/tuple [21, 21] + - !!python/tuple [8, 30] + - !!python/tuple [27, 28] + - !!python/tuple [24, 28] + - !!python/tuple [3, 24] + - !!python/tuple [9, 2] + - !!python/tuple [15, 8] + - !!python/tuple [9, 20] + - !!python/tuple [9, 3] + - !!python/tuple [12, 31] + - !!python/tuple [13, 15] + - !!python/tuple [28, 8] + - !!python/tuple [2, 27] + - !!python/tuple [8, 20] + - !!python/tuple [25, 28] + - !!python/tuple [21, 27] + - !!python/tuple [23, 0] + - !!python/tuple [22, 21] + - !!python/tuple [4, 2] + - !!python/tuple [19, 0] + - !!python/tuple [2, 24] + - !!python/tuple [25, 12] + - !!python/tuple [14, 1] + - !!python/tuple [5, 0] + - !!python/tuple [29, 17] + - !!python/tuple [22, 9] + - !!python/tuple [28, 30] + - !!python/tuple [8, 21] + - !!python/tuple [24, 1] + - !!python/tuple [17, 31] + - !!python/tuple [4, 26] + - !!python/tuple [19, 11] + - !!python/tuple [18, 9] + - !!python/tuple [27, 9] + - !!python/tuple [23, 15] + - !!python/tuple [27, 15] + - !!python/tuple [22, 8] + - !!python/tuple [3, 16] + - !!python/tuple [4, 22] + - !!python/tuple [21, 9] + - !!python/tuple [25, 9] + - !!python/tuple [17, 3] + - !!python/tuple [15, 9] + - !!python/tuple [1, 26] + - !!python/tuple [7, 0] + - !!python/tuple [28, 3] + - !!python/tuple [12, 9] + - !!python/tuple [7, 15] + - !!python/tuple [16, 24] + - !!python/tuple [5, 5] + - !!python/tuple [22, 18] + - !!python/tuple [6, 13] + - !!python/tuple [3, 21] + - !!python/tuple [12, 1] + - !!python/tuple [5, 29] + - !!python/tuple [21, 5] + - !!python/tuple [10, 27] + - !!python/tuple [11, 22] + - !!python/tuple [7, 16] + - !!python/tuple [9, 9] + - !!python/tuple [27, 30] + - !!python/tuple [19, 13] + - !!python/tuple [30, 30] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex82.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex82.yaml new file mode 100644 index 0000000..e2c5751 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex82.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [17, 14] + name: agent0 + start: [4, 16] +- goal: [16, 21] + name: agent1 + start: [20, 7] +- goal: [23, 26] + name: agent2 + start: [14, 3] +- goal: [11, 31] + name: agent3 + start: [30, 28] +- goal: [0, 29] + name: agent4 + start: [0, 28] +- goal: [11, 28] + name: agent5 + start: [31, 23] +- goal: [13, 22] + name: agent6 + start: [12, 4] +- goal: [3, 13] + name: agent7 + start: [30, 18] +- goal: [18, 2] + name: agent8 + start: [24, 9] +- goal: [19, 18] + name: agent9 + start: [25, 5] +- goal: [5, 28] + name: agent10 + start: [4, 0] +- goal: [10, 21] + name: agent11 + start: [1, 6] +- goal: [7, 8] + name: agent12 + start: [31, 12] +- goal: [9, 5] + name: agent13 + start: [27, 12] +- goal: [14, 31] + name: agent14 + start: [26, 6] +- goal: [20, 23] + name: agent15 + start: [23, 15] +- goal: [3, 18] + name: agent16 + start: [14, 7] +- goal: [23, 25] + name: agent17 + start: [30, 14] +- goal: [30, 10] + name: agent18 + start: [14, 13] +- goal: [14, 27] + name: agent19 + start: [16, 29] +- goal: [12, 5] + name: agent20 + start: [26, 16] +- goal: [14, 13] + name: agent21 + start: [4, 20] +- goal: [26, 19] + name: agent22 + start: [12, 9] +- goal: [8, 5] + name: agent23 + start: [30, 10] +- goal: [12, 27] + name: agent24 + start: [18, 11] +- goal: [6, 26] + name: agent25 + start: [10, 7] +- goal: [0, 3] + name: agent26 + start: [18, 15] +- goal: [26, 27] + name: agent27 + start: [17, 15] +- goal: [8, 0] + name: agent28 + start: [20, 23] +- goal: [23, 10] + name: agent29 + start: [18, 25] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [24, 20] + - !!python/tuple [31, 3] + - !!python/tuple [6, 2] + - !!python/tuple [3, 25] + - !!python/tuple [23, 29] + - !!python/tuple [30, 16] + - !!python/tuple [17, 3] + - !!python/tuple [25, 4] + - !!python/tuple [31, 15] + - !!python/tuple [9, 15] + - !!python/tuple [0, 8] + - !!python/tuple [2, 26] + - !!python/tuple [22, 15] + - !!python/tuple [10, 12] + - !!python/tuple [6, 23] + - !!python/tuple [24, 18] + - !!python/tuple [9, 16] + - !!python/tuple [23, 27] + - !!python/tuple [17, 9] + - !!python/tuple [20, 22] + - !!python/tuple [6, 6] + - !!python/tuple [19, 14] + - !!python/tuple [16, 19] + - !!python/tuple [11, 22] + - !!python/tuple [21, 5] + - !!python/tuple [24, 28] + - !!python/tuple [11, 17] + - !!python/tuple [25, 14] + - !!python/tuple [8, 13] + - !!python/tuple [12, 21] + - !!python/tuple [26, 3] + - !!python/tuple [20, 26] + - !!python/tuple [5, 22] + - !!python/tuple [8, 4] + - !!python/tuple [4, 6] + - !!python/tuple [1, 25] + - !!python/tuple [21, 1] + - !!python/tuple [20, 28] + - !!python/tuple [7, 5] + - !!python/tuple [19, 7] + - !!python/tuple [20, 5] + - !!python/tuple [13, 20] + - !!python/tuple [29, 13] + - !!python/tuple [1, 9] + - !!python/tuple [29, 8] + - !!python/tuple [26, 9] + - !!python/tuple [16, 20] + - !!python/tuple [2, 24] + - !!python/tuple [26, 22] + - !!python/tuple [4, 19] + - !!python/tuple [19, 11] + - !!python/tuple [4, 17] + - !!python/tuple [17, 18] + - !!python/tuple [0, 10] + - !!python/tuple [1, 2] + - !!python/tuple [31, 18] + - !!python/tuple [20, 19] + - !!python/tuple [26, 15] + - !!python/tuple [29, 2] + - !!python/tuple [11, 19] + - !!python/tuple [2, 15] + - !!python/tuple [8, 10] + - !!python/tuple [25, 12] + - !!python/tuple [25, 13] + - !!python/tuple [22, 31] + - !!python/tuple [11, 6] + - !!python/tuple [12, 10] + - !!python/tuple [7, 16] + - !!python/tuple [30, 5] + - !!python/tuple [0, 9] + - !!python/tuple [1, 28] + - !!python/tuple [7, 17] + - !!python/tuple [29, 12] + - !!python/tuple [10, 23] + - !!python/tuple [19, 23] + - !!python/tuple [1, 1] + - !!python/tuple [6, 16] + - !!python/tuple [16, 18] + - !!python/tuple [21, 16] + - !!python/tuple [14, 25] + - !!python/tuple [30, 17] + - !!python/tuple [17, 30] + - !!python/tuple [21, 27] + - !!python/tuple [4, 18] + - !!python/tuple [18, 26] + - !!python/tuple [10, 6] + - !!python/tuple [8, 28] + - !!python/tuple [23, 19] + - !!python/tuple [25, 21] + - !!python/tuple [19, 9] + - !!python/tuple [6, 1] + - !!python/tuple [22, 3] + - !!python/tuple [26, 18] + - !!python/tuple [13, 29] + - !!python/tuple [30, 1] + - !!python/tuple [29, 24] + - !!python/tuple [10, 5] + - !!python/tuple [26, 8] + - !!python/tuple [5, 23] + - !!python/tuple [25, 29] + - !!python/tuple [11, 20] + - !!python/tuple [29, 16] + - !!python/tuple [7, 2] + - !!python/tuple [29, 6] + - !!python/tuple [22, 25] + - !!python/tuple [19, 12] + - !!python/tuple [27, 15] + - !!python/tuple [31, 1] + - !!python/tuple [30, 3] + - !!python/tuple [8, 31] + - !!python/tuple [23, 17] + - !!python/tuple [27, 25] + - !!python/tuple [30, 8] + - !!python/tuple [25, 23] + - !!python/tuple [18, 4] + - !!python/tuple [7, 11] + - !!python/tuple [8, 2] + - !!python/tuple [24, 7] + - !!python/tuple [17, 24] + - !!python/tuple [9, 14] + - !!python/tuple [5, 25] + - !!python/tuple [21, 31] + - !!python/tuple [4, 26] + - !!python/tuple [15, 0] + - !!python/tuple [29, 3] + - !!python/tuple [8, 15] + - !!python/tuple [7, 25] + - !!python/tuple [21, 4] + - !!python/tuple [16, 30] + - !!python/tuple [13, 28] + - !!python/tuple [31, 5] + - !!python/tuple [24, 11] + - !!python/tuple [22, 21] + - !!python/tuple [29, 19] + - !!python/tuple [0, 30] + - !!python/tuple [27, 29] + - !!python/tuple [28, 24] + - !!python/tuple [22, 2] + - !!python/tuple [20, 25] + - !!python/tuple [27, 9] + - !!python/tuple [8, 3] + - !!python/tuple [5, 20] + - !!python/tuple [11, 14] + - !!python/tuple [28, 21] + - !!python/tuple [6, 10] + - !!python/tuple [13, 23] + - !!python/tuple [1, 12] + - !!python/tuple [5, 4] + - !!python/tuple [22, 14] + - !!python/tuple [21, 10] + - !!python/tuple [31, 6] + - !!python/tuple [4, 12] + - !!python/tuple [29, 0] + - !!python/tuple [0, 23] + - !!python/tuple [29, 1] + - !!python/tuple [16, 14] + - !!python/tuple [14, 1] + - !!python/tuple [9, 23] + - !!python/tuple [23, 23] + - !!python/tuple [6, 12] + - !!python/tuple [3, 26] + - !!python/tuple [10, 27] + - !!python/tuple [12, 18] + - !!python/tuple [28, 18] + - !!python/tuple [7, 24] + - !!python/tuple [18, 16] + - !!python/tuple [13, 9] + - !!python/tuple [2, 16] + - !!python/tuple [29, 27] + - !!python/tuple [10, 1] + - !!python/tuple [29, 11] + - !!python/tuple [31, 11] + - !!python/tuple [0, 20] + - !!python/tuple [3, 7] + - !!python/tuple [25, 16] + - !!python/tuple [29, 15] + - !!python/tuple [31, 17] + - !!python/tuple [26, 10] + - !!python/tuple [26, 7] + - !!python/tuple [26, 28] + - !!python/tuple [20, 3] + - !!python/tuple [26, 25] + - !!python/tuple [0, 22] + - !!python/tuple [18, 17] + - !!python/tuple [15, 24] + - !!python/tuple [11, 26] + - !!python/tuple [0, 17] + - !!python/tuple [11, 4] + - !!python/tuple [31, 13] + - !!python/tuple [28, 30] + - !!python/tuple [20, 16] + - !!python/tuple [11, 15] + - !!python/tuple [15, 21] + - !!python/tuple [10, 4] + - !!python/tuple [22, 22] + - !!python/tuple [2, 28] + - !!python/tuple [2, 29] + - !!python/tuple [27, 28] + - !!python/tuple [17, 10] + - !!python/tuple [31, 10] + - !!python/tuple [26, 30] + - !!python/tuple [22, 30] + - !!python/tuple [20, 8] + - !!python/tuple [28, 31] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex83.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex83.yaml new file mode 100644 index 0000000..720e1ba --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex83.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [19, 23] + name: agent0 + start: [24, 17] +- goal: [25, 4] + name: agent1 + start: [25, 27] +- goal: [8, 14] + name: agent2 + start: [24, 31] +- goal: [4, 24] + name: agent3 + start: [1, 15] +- goal: [2, 15] + name: agent4 + start: [31, 6] +- goal: [21, 19] + name: agent5 + start: [1, 11] +- goal: [25, 3] + name: agent6 + start: [23, 15] +- goal: [7, 23] + name: agent7 + start: [31, 7] +- goal: [21, 29] + name: agent8 + start: [23, 11] +- goal: [19, 0] + name: agent9 + start: [18, 1] +- goal: [28, 27] + name: agent10 + start: [8, 28] +- goal: [14, 31] + name: agent11 + start: [26, 12] +- goal: [8, 19] + name: agent12 + start: [12, 11] +- goal: [18, 13] + name: agent13 + start: [13, 1] +- goal: [19, 29] + name: agent14 + start: [29, 13] +- goal: [4, 23] + name: agent15 + start: [23, 30] +- goal: [13, 26] + name: agent16 + start: [10, 29] +- goal: [10, 20] + name: agent17 + start: [19, 14] +- goal: [20, 1] + name: agent18 + start: [22, 8] +- goal: [11, 12] + name: agent19 + start: [26, 31] +- goal: [21, 7] + name: agent20 + start: [6, 0] +- goal: [17, 16] + name: agent21 + start: [7, 6] +- goal: [27, 22] + name: agent22 + start: [7, 0] +- goal: [18, 6] + name: agent23 + start: [6, 23] +- goal: [11, 9] + name: agent24 + start: [20, 15] +- goal: [1, 2] + name: agent25 + start: [18, 21] +- goal: [17, 22] + name: agent26 + start: [25, 12] +- goal: [25, 1] + name: agent27 + start: [28, 11] +- goal: [30, 17] + name: agent28 + start: [18, 7] +- goal: [15, 18] + name: agent29 + start: [16, 13] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [17, 10] + - !!python/tuple [22, 13] + - !!python/tuple [14, 18] + - !!python/tuple [1, 8] + - !!python/tuple [29, 4] + - !!python/tuple [3, 8] + - !!python/tuple [7, 2] + - !!python/tuple [24, 19] + - !!python/tuple [31, 30] + - !!python/tuple [8, 27] + - !!python/tuple [13, 30] + - !!python/tuple [3, 29] + - !!python/tuple [9, 0] + - !!python/tuple [14, 14] + - !!python/tuple [21, 15] + - !!python/tuple [2, 12] + - !!python/tuple [0, 20] + - !!python/tuple [0, 6] + - !!python/tuple [27, 1] + - !!python/tuple [10, 1] + - !!python/tuple [19, 20] + - !!python/tuple [20, 28] + - !!python/tuple [11, 8] + - !!python/tuple [28, 28] + - !!python/tuple [2, 19] + - !!python/tuple [31, 26] + - !!python/tuple [22, 24] + - !!python/tuple [23, 19] + - !!python/tuple [7, 13] + - !!python/tuple [28, 25] + - !!python/tuple [28, 3] + - !!python/tuple [15, 27] + - !!python/tuple [5, 20] + - !!python/tuple [1, 26] + - !!python/tuple [29, 20] + - !!python/tuple [4, 20] + - !!python/tuple [29, 17] + - !!python/tuple [14, 21] + - !!python/tuple [6, 13] + - !!python/tuple [27, 16] + - !!python/tuple [6, 21] + - !!python/tuple [6, 9] + - !!python/tuple [14, 20] + - !!python/tuple [12, 20] + - !!python/tuple [12, 25] + - !!python/tuple [17, 25] + - !!python/tuple [29, 12] + - !!python/tuple [4, 26] + - !!python/tuple [5, 26] + - !!python/tuple [31, 20] + - !!python/tuple [7, 25] + - !!python/tuple [23, 22] + - !!python/tuple [8, 12] + - !!python/tuple [16, 18] + - !!python/tuple [25, 26] + - !!python/tuple [27, 3] + - !!python/tuple [8, 2] + - !!python/tuple [18, 10] + - !!python/tuple [31, 28] + - !!python/tuple [14, 9] + - !!python/tuple [12, 9] + - !!python/tuple [10, 6] + - !!python/tuple [22, 19] + - !!python/tuple [28, 24] + - !!python/tuple [0, 8] + - !!python/tuple [28, 9] + - !!python/tuple [31, 23] + - !!python/tuple [12, 23] + - !!python/tuple [1, 12] + - !!python/tuple [0, 29] + - !!python/tuple [18, 25] + - !!python/tuple [27, 8] + - !!python/tuple [25, 21] + - !!python/tuple [7, 31] + - !!python/tuple [27, 5] + - !!python/tuple [15, 0] + - !!python/tuple [8, 26] + - !!python/tuple [23, 27] + - !!python/tuple [16, 4] + - !!python/tuple [7, 17] + - !!python/tuple [27, 17] + - !!python/tuple [23, 20] + - !!python/tuple [20, 10] + - !!python/tuple [3, 25] + - !!python/tuple [10, 26] + - !!python/tuple [23, 1] + - !!python/tuple [13, 27] + - !!python/tuple [26, 30] + - !!python/tuple [1, 23] + - !!python/tuple [6, 17] + - !!python/tuple [14, 11] + - !!python/tuple [19, 12] + - !!python/tuple [28, 1] + - !!python/tuple [0, 19] + - !!python/tuple [12, 17] + - !!python/tuple [2, 27] + - !!python/tuple [5, 16] + - !!python/tuple [25, 29] + - !!python/tuple [22, 23] + - !!python/tuple [15, 1] + - !!python/tuple [27, 12] + - !!python/tuple [21, 13] + - !!python/tuple [16, 3] + - !!python/tuple [28, 4] + - !!python/tuple [0, 2] + - !!python/tuple [2, 6] + - !!python/tuple [26, 20] + - !!python/tuple [23, 18] + - !!python/tuple [27, 18] + - !!python/tuple [26, 1] + - !!python/tuple [31, 2] + - !!python/tuple [29, 29] + - !!python/tuple [30, 18] + - !!python/tuple [18, 26] + - !!python/tuple [14, 7] + - !!python/tuple [6, 30] + - !!python/tuple [21, 4] + - !!python/tuple [4, 6] + - !!python/tuple [18, 4] + - !!python/tuple [23, 16] + - !!python/tuple [28, 17] + - !!python/tuple [17, 6] + - !!python/tuple [4, 14] + - !!python/tuple [26, 21] + - !!python/tuple [12, 13] + - !!python/tuple [16, 21] + - !!python/tuple [10, 15] + - !!python/tuple [31, 15] + - !!python/tuple [7, 1] + - !!python/tuple [13, 0] + - !!python/tuple [15, 17] + - !!python/tuple [19, 26] + - !!python/tuple [13, 29] + - !!python/tuple [4, 31] + - !!python/tuple [27, 31] + - !!python/tuple [14, 2] + - !!python/tuple [8, 0] + - !!python/tuple [19, 24] + - !!python/tuple [6, 11] + - !!python/tuple [27, 20] + - !!python/tuple [11, 30] + - !!python/tuple [24, 30] + - !!python/tuple [17, 0] + - !!python/tuple [17, 24] + - !!python/tuple [7, 27] + - !!python/tuple [29, 0] + - !!python/tuple [5, 28] + - !!python/tuple [15, 26] + - !!python/tuple [10, 11] + - !!python/tuple [24, 26] + - !!python/tuple [24, 4] + - !!python/tuple [21, 20] + - !!python/tuple [12, 15] + - !!python/tuple [1, 13] + - !!python/tuple [26, 2] + - !!python/tuple [19, 31] + - !!python/tuple [18, 15] + - !!python/tuple [9, 1] + - !!python/tuple [15, 3] + - !!python/tuple [17, 8] + - !!python/tuple [23, 25] + - !!python/tuple [12, 31] + - !!python/tuple [7, 14] + - !!python/tuple [3, 1] + - !!python/tuple [25, 28] + - !!python/tuple [21, 8] + - !!python/tuple [16, 14] + - !!python/tuple [12, 7] + - !!python/tuple [18, 14] + - !!python/tuple [5, 29] + - !!python/tuple [21, 10] + - !!python/tuple [8, 22] + - !!python/tuple [0, 18] + - !!python/tuple [22, 28] + - !!python/tuple [8, 3] + - !!python/tuple [22, 9] + - !!python/tuple [1, 27] + - !!python/tuple [16, 5] + - !!python/tuple [15, 20] + - !!python/tuple [14, 30] + - !!python/tuple [30, 10] + - !!python/tuple [15, 23] + - !!python/tuple [9, 30] + - !!python/tuple [5, 30] + - !!python/tuple [0, 1] + - !!python/tuple [20, 20] + - !!python/tuple [20, 26] + - !!python/tuple [1, 5] + - !!python/tuple [9, 9] + - !!python/tuple [3, 17] + - !!python/tuple [2, 4] + - !!python/tuple [20, 9] + - !!python/tuple [14, 26] + - !!python/tuple [7, 11] + - !!python/tuple [25, 14] + - !!python/tuple [5, 24] + - !!python/tuple [1, 3] + - !!python/tuple [9, 3] + - !!python/tuple [30, 25] + - !!python/tuple [9, 27] + - !!python/tuple [6, 26] + - !!python/tuple [11, 1] + - !!python/tuple [22, 14] + - !!python/tuple [10, 18] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex84.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex84.yaml new file mode 100644 index 0000000..4cfee09 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex84.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [20, 27] + name: agent0 + start: [23, 14] +- goal: [19, 6] + name: agent1 + start: [25, 6] +- goal: [5, 18] + name: agent2 + start: [21, 17] +- goal: [9, 30] + name: agent3 + start: [10, 2] +- goal: [18, 6] + name: agent4 + start: [14, 25] +- goal: [13, 20] + name: agent5 + start: [27, 16] +- goal: [17, 17] + name: agent6 + start: [6, 26] +- goal: [16, 15] + name: agent7 + start: [12, 31] +- goal: [14, 11] + name: agent8 + start: [6, 0] +- goal: [27, 12] + name: agent9 + start: [4, 29] +- goal: [8, 31] + name: agent10 + start: [13, 31] +- goal: [12, 19] + name: agent11 + start: [22, 2] +- goal: [16, 7] + name: agent12 + start: [30, 28] +- goal: [4, 14] + name: agent13 + start: [12, 16] +- goal: [5, 12] + name: agent14 + start: [22, 25] +- goal: [13, 3] + name: agent15 + start: [17, 5] +- goal: [4, 20] + name: agent16 + start: [7, 31] +- goal: [20, 6] + name: agent17 + start: [21, 21] +- goal: [21, 6] + name: agent18 + start: [6, 29] +- goal: [28, 0] + name: agent19 + start: [17, 18] +- goal: [25, 28] + name: agent20 + start: [10, 10] +- goal: [9, 28] + name: agent21 + start: [18, 24] +- goal: [29, 2] + name: agent22 + start: [4, 9] +- goal: [6, 2] + name: agent23 + start: [27, 5] +- goal: [15, 16] + name: agent24 + start: [3, 17] +- goal: [4, 11] + name: agent25 + start: [23, 8] +- goal: [12, 23] + name: agent26 + start: [23, 23] +- goal: [13, 7] + name: agent27 + start: [26, 3] +- goal: [23, 30] + name: agent28 + start: [19, 1] +- goal: [6, 25] + name: agent29 + start: [30, 19] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [27, 2] + - !!python/tuple [16, 24] + - !!python/tuple [21, 30] + - !!python/tuple [0, 1] + - !!python/tuple [27, 20] + - !!python/tuple [17, 13] + - !!python/tuple [28, 21] + - !!python/tuple [27, 10] + - !!python/tuple [18, 11] + - !!python/tuple [23, 19] + - !!python/tuple [24, 28] + - !!python/tuple [18, 22] + - !!python/tuple [31, 23] + - !!python/tuple [19, 3] + - !!python/tuple [13, 5] + - !!python/tuple [13, 21] + - !!python/tuple [14, 10] + - !!python/tuple [23, 4] + - !!python/tuple [28, 8] + - !!python/tuple [8, 13] + - !!python/tuple [29, 11] + - !!python/tuple [1, 1] + - !!python/tuple [9, 25] + - !!python/tuple [17, 14] + - !!python/tuple [6, 9] + - !!python/tuple [10, 23] + - !!python/tuple [16, 3] + - !!python/tuple [16, 23] + - !!python/tuple [13, 26] + - !!python/tuple [3, 2] + - !!python/tuple [17, 15] + - !!python/tuple [24, 12] + - !!python/tuple [25, 27] + - !!python/tuple [16, 14] + - !!python/tuple [22, 0] + - !!python/tuple [24, 30] + - !!python/tuple [23, 28] + - !!python/tuple [22, 28] + - !!python/tuple [4, 12] + - !!python/tuple [9, 6] + - !!python/tuple [24, 17] + - !!python/tuple [19, 27] + - !!python/tuple [19, 18] + - !!python/tuple [15, 6] + - !!python/tuple [11, 29] + - !!python/tuple [19, 31] + - !!python/tuple [27, 11] + - !!python/tuple [20, 14] + - !!python/tuple [2, 17] + - !!python/tuple [8, 5] + - !!python/tuple [30, 22] + - !!python/tuple [6, 11] + - !!python/tuple [24, 16] + - !!python/tuple [31, 15] + - !!python/tuple [24, 31] + - !!python/tuple [22, 29] + - !!python/tuple [22, 9] + - !!python/tuple [3, 13] + - !!python/tuple [4, 30] + - !!python/tuple [26, 9] + - !!python/tuple [29, 5] + - !!python/tuple [18, 29] + - !!python/tuple [1, 8] + - !!python/tuple [5, 28] + - !!python/tuple [12, 9] + - !!python/tuple [19, 29] + - !!python/tuple [20, 9] + - !!python/tuple [7, 11] + - !!python/tuple [13, 28] + - !!python/tuple [7, 29] + - !!python/tuple [6, 19] + - !!python/tuple [9, 24] + - !!python/tuple [4, 3] + - !!python/tuple [31, 5] + - !!python/tuple [19, 2] + - !!python/tuple [31, 14] + - !!python/tuple [10, 6] + - !!python/tuple [30, 16] + - !!python/tuple [5, 17] + - !!python/tuple [6, 31] + - !!python/tuple [0, 24] + - !!python/tuple [8, 17] + - !!python/tuple [23, 27] + - !!python/tuple [14, 30] + - !!python/tuple [6, 10] + - !!python/tuple [30, 1] + - !!python/tuple [6, 23] + - !!python/tuple [10, 0] + - !!python/tuple [19, 10] + - !!python/tuple [26, 26] + - !!python/tuple [0, 6] + - !!python/tuple [31, 3] + - !!python/tuple [19, 26] + - !!python/tuple [5, 13] + - !!python/tuple [25, 30] + - !!python/tuple [11, 14] + - !!python/tuple [11, 19] + - !!python/tuple [28, 2] + - !!python/tuple [30, 3] + - !!python/tuple [1, 3] + - !!python/tuple [29, 15] + - !!python/tuple [7, 27] + - !!python/tuple [3, 20] + - !!python/tuple [30, 23] + - !!python/tuple [31, 21] + - !!python/tuple [14, 31] + - !!python/tuple [15, 7] + - !!python/tuple [22, 8] + - !!python/tuple [30, 20] + - !!python/tuple [0, 4] + - !!python/tuple [1, 23] + - !!python/tuple [24, 23] + - !!python/tuple [16, 27] + - !!python/tuple [22, 6] + - !!python/tuple [14, 24] + - !!python/tuple [16, 8] + - !!python/tuple [6, 7] + - !!python/tuple [29, 14] + - !!python/tuple [31, 7] + - !!python/tuple [27, 19] + - !!python/tuple [18, 26] + - !!python/tuple [3, 14] + - !!python/tuple [2, 27] + - !!python/tuple [15, 30] + - !!python/tuple [6, 6] + - !!python/tuple [3, 4] + - !!python/tuple [23, 5] + - !!python/tuple [27, 0] + - !!python/tuple [21, 8] + - !!python/tuple [12, 17] + - !!python/tuple [13, 4] + - !!python/tuple [2, 13] + - !!python/tuple [10, 8] + - !!python/tuple [23, 31] + - !!python/tuple [13, 16] + - !!python/tuple [6, 27] + - !!python/tuple [30, 4] + - !!python/tuple [0, 30] + - !!python/tuple [28, 1] + - !!python/tuple [19, 19] + - !!python/tuple [29, 4] + - !!python/tuple [16, 12] + - !!python/tuple [1, 5] + - !!python/tuple [0, 31] + - !!python/tuple [31, 28] + - !!python/tuple [6, 8] + - !!python/tuple [14, 8] + - !!python/tuple [13, 9] + - !!python/tuple [17, 26] + - !!python/tuple [29, 25] + - !!python/tuple [16, 9] + - !!python/tuple [26, 27] + - !!python/tuple [4, 17] + - !!python/tuple [30, 29] + - !!python/tuple [28, 19] + - !!python/tuple [4, 19] + - !!python/tuple [23, 22] + - !!python/tuple [4, 10] + - !!python/tuple [24, 18] + - !!python/tuple [17, 25] + - !!python/tuple [7, 19] + - !!python/tuple [2, 15] + - !!python/tuple [7, 21] + - !!python/tuple [26, 5] + - !!python/tuple [24, 10] + - !!python/tuple [20, 21] + - !!python/tuple [8, 4] + - !!python/tuple [0, 22] + - !!python/tuple [2, 31] + - !!python/tuple [9, 4] + - !!python/tuple [12, 15] + - !!python/tuple [7, 9] + - !!python/tuple [6, 21] + - !!python/tuple [21, 4] + - !!python/tuple [19, 23] + - !!python/tuple [14, 7] + - !!python/tuple [13, 12] + - !!python/tuple [10, 29] + - !!python/tuple [28, 31] + - !!python/tuple [1, 18] + - !!python/tuple [5, 31] + - !!python/tuple [30, 31] + - !!python/tuple [8, 27] + - !!python/tuple [26, 24] + - !!python/tuple [8, 1] + - !!python/tuple [24, 6] + - !!python/tuple [12, 25] + - !!python/tuple [29, 8] + - !!python/tuple [15, 26] + - !!python/tuple [20, 3] + - !!python/tuple [19, 22] + - !!python/tuple [0, 10] + - !!python/tuple [20, 22] + - !!python/tuple [19, 17] + - !!python/tuple [18, 2] + - !!python/tuple [0, 16] + - !!python/tuple [6, 12] + - !!python/tuple [22, 23] + - !!python/tuple [16, 2] + - !!python/tuple [2, 12] + - !!python/tuple [19, 5] + - !!python/tuple [6, 13] + - !!python/tuple [6, 1] + - !!python/tuple [30, 25] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex85.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex85.yaml new file mode 100644 index 0000000..5079024 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex85.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [30, 7] + name: agent0 + start: [27, 25] +- goal: [5, 8] + name: agent1 + start: [8, 23] +- goal: [15, 3] + name: agent2 + start: [12, 22] +- goal: [17, 17] + name: agent3 + start: [27, 29] +- goal: [28, 26] + name: agent4 + start: [3, 18] +- goal: [31, 16] + name: agent5 + start: [4, 3] +- goal: [9, 4] + name: agent6 + start: [6, 4] +- goal: [17, 10] + name: agent7 + start: [3, 10] +- goal: [0, 0] + name: agent8 + start: [4, 17] +- goal: [10, 6] + name: agent9 + start: [8, 9] +- goal: [14, 21] + name: agent10 + start: [22, 16] +- goal: [26, 10] + name: agent11 + start: [10, 16] +- goal: [31, 22] + name: agent12 + start: [0, 21] +- goal: [29, 17] + name: agent13 + start: [14, 8] +- goal: [13, 4] + name: agent14 + start: [15, 3] +- goal: [21, 26] + name: agent15 + start: [20, 2] +- goal: [8, 22] + name: agent16 + start: [6, 21] +- goal: [11, 23] + name: agent17 + start: [1, 25] +- goal: [11, 7] + name: agent18 + start: [26, 30] +- goal: [8, 12] + name: agent19 + start: [24, 24] +- goal: [0, 17] + name: agent20 + start: [1, 1] +- goal: [10, 12] + name: agent21 + start: [2, 22] +- goal: [21, 11] + name: agent22 + start: [16, 8] +- goal: [6, 26] + name: agent23 + start: [5, 21] +- goal: [7, 10] + name: agent24 + start: [24, 13] +- goal: [20, 17] + name: agent25 + start: [13, 19] +- goal: [25, 15] + name: agent26 + start: [3, 19] +- goal: [5, 7] + name: agent27 + start: [8, 29] +- goal: [12, 27] + name: agent28 + start: [9, 10] +- goal: [16, 3] + name: agent29 + start: [22, 22] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [7, 22] + - !!python/tuple [9, 6] + - !!python/tuple [10, 15] + - !!python/tuple [27, 6] + - !!python/tuple [31, 15] + - !!python/tuple [4, 12] + - !!python/tuple [31, 28] + - !!python/tuple [23, 29] + - !!python/tuple [3, 15] + - !!python/tuple [18, 15] + - !!python/tuple [20, 26] + - !!python/tuple [11, 14] + - !!python/tuple [0, 9] + - !!python/tuple [11, 9] + - !!python/tuple [0, 19] + - !!python/tuple [21, 2] + - !!python/tuple [13, 18] + - !!python/tuple [9, 3] + - !!python/tuple [14, 2] + - !!python/tuple [24, 20] + - !!python/tuple [8, 17] + - !!python/tuple [23, 20] + - !!python/tuple [10, 18] + - !!python/tuple [26, 9] + - !!python/tuple [6, 6] + - !!python/tuple [1, 4] + - !!python/tuple [23, 7] + - !!python/tuple [24, 28] + - !!python/tuple [1, 31] + - !!python/tuple [31, 29] + - !!python/tuple [17, 0] + - !!python/tuple [3, 17] + - !!python/tuple [11, 17] + - !!python/tuple [22, 19] + - !!python/tuple [0, 28] + - !!python/tuple [26, 20] + - !!python/tuple [25, 16] + - !!python/tuple [20, 4] + - !!python/tuple [24, 4] + - !!python/tuple [3, 25] + - !!python/tuple [26, 0] + - !!python/tuple [6, 20] + - !!python/tuple [19, 29] + - !!python/tuple [16, 5] + - !!python/tuple [25, 31] + - !!python/tuple [14, 23] + - !!python/tuple [10, 21] + - !!python/tuple [20, 27] + - !!python/tuple [24, 31] + - !!python/tuple [20, 15] + - !!python/tuple [29, 2] + - !!python/tuple [2, 9] + - !!python/tuple [1, 6] + - !!python/tuple [19, 5] + - !!python/tuple [19, 16] + - !!python/tuple [4, 14] + - !!python/tuple [31, 12] + - !!python/tuple [17, 6] + - !!python/tuple [9, 21] + - !!python/tuple [12, 20] + - !!python/tuple [10, 7] + - !!python/tuple [19, 19] + - !!python/tuple [20, 29] + - !!python/tuple [16, 1] + - !!python/tuple [23, 11] + - !!python/tuple [21, 10] + - !!python/tuple [1, 27] + - !!python/tuple [8, 21] + - !!python/tuple [7, 4] + - !!python/tuple [21, 0] + - !!python/tuple [26, 27] + - !!python/tuple [20, 24] + - !!python/tuple [14, 30] + - !!python/tuple [10, 24] + - !!python/tuple [21, 1] + - !!python/tuple [5, 16] + - !!python/tuple [12, 2] + - !!python/tuple [18, 9] + - !!python/tuple [18, 24] + - !!python/tuple [4, 20] + - !!python/tuple [5, 5] + - !!python/tuple [12, 24] + - !!python/tuple [15, 22] + - !!python/tuple [7, 18] + - !!python/tuple [30, 28] + - !!python/tuple [11, 13] + - !!python/tuple [29, 14] + - !!python/tuple [22, 10] + - !!python/tuple [29, 21] + - !!python/tuple [13, 1] + - !!python/tuple [5, 31] + - !!python/tuple [8, 20] + - !!python/tuple [26, 6] + - !!python/tuple [16, 6] + - !!python/tuple [8, 19] + - !!python/tuple [12, 30] + - !!python/tuple [12, 21] + - !!python/tuple [12, 31] + - !!python/tuple [24, 29] + - !!python/tuple [30, 12] + - !!python/tuple [5, 9] + - !!python/tuple [30, 5] + - !!python/tuple [28, 31] + - !!python/tuple [14, 29] + - !!python/tuple [14, 19] + - !!python/tuple [30, 24] + - !!python/tuple [12, 11] + - !!python/tuple [1, 28] + - !!python/tuple [19, 22] + - !!python/tuple [15, 24] + - !!python/tuple [17, 16] + - !!python/tuple [15, 23] + - !!python/tuple [22, 29] + - !!python/tuple [11, 27] + - !!python/tuple [6, 13] + - !!python/tuple [4, 11] + - !!python/tuple [21, 30] + - !!python/tuple [16, 12] + - !!python/tuple [15, 5] + - !!python/tuple [17, 14] + - !!python/tuple [17, 21] + - !!python/tuple [2, 12] + - !!python/tuple [11, 26] + - !!python/tuple [28, 6] + - !!python/tuple [18, 1] + - !!python/tuple [3, 29] + - !!python/tuple [28, 22] + - !!python/tuple [13, 24] + - !!python/tuple [16, 4] + - !!python/tuple [29, 29] + - !!python/tuple [20, 10] + - !!python/tuple [18, 21] + - !!python/tuple [13, 7] + - !!python/tuple [30, 14] + - !!python/tuple [30, 4] + - !!python/tuple [26, 14] + - !!python/tuple [7, 6] + - !!python/tuple [13, 6] + - !!python/tuple [1, 21] + - !!python/tuple [4, 10] + - !!python/tuple [18, 3] + - !!python/tuple [25, 7] + - !!python/tuple [25, 8] + - !!python/tuple [17, 12] + - !!python/tuple [20, 16] + - !!python/tuple [9, 14] + - !!python/tuple [9, 26] + - !!python/tuple [23, 27] + - !!python/tuple [6, 5] + - !!python/tuple [20, 23] + - !!python/tuple [25, 5] + - !!python/tuple [30, 6] + - !!python/tuple [11, 0] + - !!python/tuple [11, 29] + - !!python/tuple [0, 30] + - !!python/tuple [4, 5] + - !!python/tuple [15, 17] + - !!python/tuple [19, 10] + - !!python/tuple [4, 0] + - !!python/tuple [16, 17] + - !!python/tuple [27, 23] + - !!python/tuple [5, 24] + - !!python/tuple [17, 19] + - !!python/tuple [6, 28] + - !!python/tuple [29, 23] + - !!python/tuple [17, 11] + - !!python/tuple [28, 1] + - !!python/tuple [7, 11] + - !!python/tuple [20, 28] + - !!python/tuple [19, 1] + - !!python/tuple [2, 25] + - !!python/tuple [4, 29] + - !!python/tuple [6, 30] + - !!python/tuple [5, 25] + - !!python/tuple [23, 30] + - !!python/tuple [0, 14] + - !!python/tuple [27, 7] + - !!python/tuple [26, 29] + - !!python/tuple [3, 4] + - !!python/tuple [29, 16] + - !!python/tuple [7, 25] + - !!python/tuple [22, 13] + - !!python/tuple [25, 1] + - !!python/tuple [23, 23] + - !!python/tuple [19, 25] + - !!python/tuple [15, 19] + - !!python/tuple [24, 18] + - !!python/tuple [4, 8] + - !!python/tuple [23, 9] + - !!python/tuple [7, 19] + - !!python/tuple [21, 29] + - !!python/tuple [0, 16] + - !!python/tuple [7, 14] + - !!python/tuple [9, 20] + - !!python/tuple [31, 30] + - !!python/tuple [22, 21] + - !!python/tuple [4, 18] + - !!python/tuple [14, 13] + - !!python/tuple [23, 5] + - !!python/tuple [17, 13] + - !!python/tuple [25, 14] + - !!python/tuple [30, 3] + - !!python/tuple [31, 8] + - !!python/tuple [24, 8] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex86.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex86.yaml new file mode 100644 index 0000000..40b89c9 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex86.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [19, 26] + name: agent0 + start: [4, 6] +- goal: [0, 5] + name: agent1 + start: [3, 5] +- goal: [15, 31] + name: agent2 + start: [6, 26] +- goal: [27, 8] + name: agent3 + start: [20, 16] +- goal: [14, 23] + name: agent4 + start: [11, 5] +- goal: [21, 26] + name: agent5 + start: [17, 14] +- goal: [20, 11] + name: agent6 + start: [6, 20] +- goal: [0, 21] + name: agent7 + start: [5, 25] +- goal: [17, 1] + name: agent8 + start: [25, 28] +- goal: [12, 2] + name: agent9 + start: [31, 11] +- goal: [20, 23] + name: agent10 + start: [5, 28] +- goal: [0, 29] + name: agent11 + start: [3, 15] +- goal: [24, 25] + name: agent12 + start: [16, 12] +- goal: [11, 16] + name: agent13 + start: [2, 22] +- goal: [3, 24] + name: agent14 + start: [7, 27] +- goal: [23, 0] + name: agent15 + start: [4, 18] +- goal: [26, 6] + name: agent16 + start: [18, 12] +- goal: [4, 14] + name: agent17 + start: [2, 21] +- goal: [13, 16] + name: agent18 + start: [24, 17] +- goal: [0, 11] + name: agent19 + start: [0, 1] +- goal: [7, 14] + name: agent20 + start: [15, 2] +- goal: [30, 2] + name: agent21 + start: [1, 24] +- goal: [28, 9] + name: agent22 + start: [13, 24] +- goal: [19, 31] + name: agent23 + start: [14, 11] +- goal: [3, 14] + name: agent24 + start: [1, 10] +- goal: [10, 31] + name: agent25 + start: [16, 29] +- goal: [7, 17] + name: agent26 + start: [26, 27] +- goal: [28, 27] + name: agent27 + start: [4, 29] +- goal: [2, 31] + name: agent28 + start: [8, 9] +- goal: [22, 29] + name: agent29 + start: [20, 29] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [5, 18] + - !!python/tuple [21, 11] + - !!python/tuple [16, 20] + - !!python/tuple [8, 7] + - !!python/tuple [29, 12] + - !!python/tuple [26, 18] + - !!python/tuple [8, 13] + - !!python/tuple [14, 1] + - !!python/tuple [23, 28] + - !!python/tuple [24, 30] + - !!python/tuple [14, 28] + - !!python/tuple [1, 23] + - !!python/tuple [5, 8] + - !!python/tuple [30, 14] + - !!python/tuple [22, 26] + - !!python/tuple [28, 2] + - !!python/tuple [4, 31] + - !!python/tuple [23, 22] + - !!python/tuple [5, 30] + - !!python/tuple [27, 2] + - !!python/tuple [4, 20] + - !!python/tuple [28, 15] + - !!python/tuple [13, 7] + - !!python/tuple [17, 3] + - !!python/tuple [14, 19] + - !!python/tuple [5, 16] + - !!python/tuple [2, 13] + - !!python/tuple [14, 8] + - !!python/tuple [30, 22] + - !!python/tuple [19, 7] + - !!python/tuple [4, 17] + - !!python/tuple [8, 10] + - !!python/tuple [22, 9] + - !!python/tuple [14, 18] + - !!python/tuple [28, 31] + - !!python/tuple [31, 21] + - !!python/tuple [24, 7] + - !!python/tuple [27, 19] + - !!python/tuple [14, 24] + - !!python/tuple [4, 22] + - !!python/tuple [20, 18] + - !!python/tuple [15, 28] + - !!python/tuple [15, 24] + - !!python/tuple [26, 17] + - !!python/tuple [19, 2] + - !!python/tuple [20, 13] + - !!python/tuple [11, 4] + - !!python/tuple [26, 3] + - !!python/tuple [26, 5] + - !!python/tuple [30, 5] + - !!python/tuple [4, 4] + - !!python/tuple [25, 15] + - !!python/tuple [18, 4] + - !!python/tuple [29, 23] + - !!python/tuple [2, 15] + - !!python/tuple [4, 26] + - !!python/tuple [0, 4] + - !!python/tuple [9, 31] + - !!python/tuple [10, 21] + - !!python/tuple [9, 23] + - !!python/tuple [7, 5] + - !!python/tuple [7, 0] + - !!python/tuple [11, 8] + - !!python/tuple [22, 17] + - !!python/tuple [22, 0] + - !!python/tuple [4, 19] + - !!python/tuple [17, 31] + - !!python/tuple [24, 13] + - !!python/tuple [25, 19] + - !!python/tuple [17, 29] + - !!python/tuple [13, 18] + - !!python/tuple [10, 26] + - !!python/tuple [22, 28] + - !!python/tuple [28, 29] + - !!python/tuple [31, 9] + - !!python/tuple [2, 14] + - !!python/tuple [20, 6] + - !!python/tuple [24, 8] + - !!python/tuple [10, 0] + - !!python/tuple [22, 16] + - !!python/tuple [30, 7] + - !!python/tuple [7, 29] + - !!python/tuple [11, 31] + - !!python/tuple [10, 2] + - !!python/tuple [5, 23] + - !!python/tuple [20, 3] + - !!python/tuple [14, 20] + - !!python/tuple [23, 25] + - !!python/tuple [25, 27] + - !!python/tuple [20, 30] + - !!python/tuple [8, 18] + - !!python/tuple [27, 18] + - !!python/tuple [14, 2] + - !!python/tuple [9, 29] + - !!python/tuple [15, 14] + - !!python/tuple [14, 15] + - !!python/tuple [8, 21] + - !!python/tuple [16, 8] + - !!python/tuple [15, 21] + - !!python/tuple [15, 7] + - !!python/tuple [12, 25] + - !!python/tuple [10, 23] + - !!python/tuple [1, 26] + - !!python/tuple [3, 6] + - !!python/tuple [9, 22] + - !!python/tuple [8, 20] + - !!python/tuple [1, 18] + - !!python/tuple [16, 5] + - !!python/tuple [6, 19] + - !!python/tuple [27, 26] + - !!python/tuple [1, 6] + - !!python/tuple [12, 1] + - !!python/tuple [11, 6] + - !!python/tuple [2, 5] + - !!python/tuple [2, 30] + - !!python/tuple [2, 12] + - !!python/tuple [4, 16] + - !!python/tuple [20, 21] + - !!python/tuple [13, 5] + - !!python/tuple [26, 21] + - !!python/tuple [11, 20] + - !!python/tuple [22, 13] + - !!python/tuple [22, 3] + - !!python/tuple [1, 13] + - !!python/tuple [10, 4] + - !!python/tuple [26, 9] + - !!python/tuple [21, 25] + - !!python/tuple [23, 11] + - !!python/tuple [28, 26] + - !!python/tuple [16, 30] + - !!python/tuple [31, 30] + - !!python/tuple [28, 24] + - !!python/tuple [30, 11] + - !!python/tuple [25, 21] + - !!python/tuple [20, 4] + - !!python/tuple [27, 7] + - !!python/tuple [15, 13] + - !!python/tuple [3, 4] + - !!python/tuple [6, 5] + - !!python/tuple [22, 18] + - !!python/tuple [18, 16] + - !!python/tuple [28, 17] + - !!python/tuple [13, 26] + - !!python/tuple [8, 25] + - !!python/tuple [22, 12] + - !!python/tuple [6, 3] + - !!python/tuple [19, 17] + - !!python/tuple [14, 0] + - !!python/tuple [15, 5] + - !!python/tuple [0, 20] + - !!python/tuple [19, 18] + - !!python/tuple [12, 8] + - !!python/tuple [8, 30] + - !!python/tuple [2, 24] + - !!python/tuple [31, 6] + - !!python/tuple [0, 6] + - !!python/tuple [0, 28] + - !!python/tuple [27, 27] + - !!python/tuple [14, 22] + - !!python/tuple [30, 31] + - !!python/tuple [26, 2] + - !!python/tuple [16, 19] + - !!python/tuple [7, 7] + - !!python/tuple [3, 9] + - !!python/tuple [9, 2] + - !!python/tuple [1, 11] + - !!python/tuple [12, 27] + - !!python/tuple [24, 26] + - !!python/tuple [21, 9] + - !!python/tuple [16, 17] + - !!python/tuple [17, 30] + - !!python/tuple [22, 4] + - !!python/tuple [10, 17] + - !!python/tuple [14, 4] + - !!python/tuple [6, 12] + - !!python/tuple [8, 31] + - !!python/tuple [29, 26] + - !!python/tuple [27, 31] + - !!python/tuple [22, 19] + - !!python/tuple [0, 8] + - !!python/tuple [21, 2] + - !!python/tuple [21, 12] + - !!python/tuple [16, 16] + - !!python/tuple [12, 13] + - !!python/tuple [6, 27] + - !!python/tuple [21, 4] + - !!python/tuple [17, 17] + - !!python/tuple [7, 11] + - !!python/tuple [3, 10] + - !!python/tuple [16, 15] + - !!python/tuple [23, 19] + - !!python/tuple [7, 1] + - !!python/tuple [20, 7] + - !!python/tuple [29, 14] + - !!python/tuple [28, 8] + - !!python/tuple [24, 28] + - !!python/tuple [22, 5] + - !!python/tuple [31, 5] + - !!python/tuple [1, 30] + - !!python/tuple [23, 14] + - !!python/tuple [11, 19] + - !!python/tuple [8, 28] + - !!python/tuple [30, 17] + - !!python/tuple [1, 28] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex87.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex87.yaml new file mode 100644 index 0000000..3fd69ba --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex87.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [27, 29] + name: agent0 + start: [26, 14] +- goal: [10, 10] + name: agent1 + start: [31, 18] +- goal: [0, 8] + name: agent2 + start: [13, 19] +- goal: [26, 14] + name: agent3 + start: [1, 9] +- goal: [18, 16] + name: agent4 + start: [17, 22] +- goal: [28, 9] + name: agent5 + start: [18, 24] +- goal: [1, 13] + name: agent6 + start: [9, 11] +- goal: [28, 13] + name: agent7 + start: [23, 8] +- goal: [10, 13] + name: agent8 + start: [0, 21] +- goal: [13, 28] + name: agent9 + start: [28, 20] +- goal: [9, 11] + name: agent10 + start: [13, 13] +- goal: [5, 3] + name: agent11 + start: [9, 18] +- goal: [21, 5] + name: agent12 + start: [4, 29] +- goal: [7, 24] + name: agent13 + start: [28, 29] +- goal: [10, 30] + name: agent14 + start: [16, 24] +- goal: [16, 9] + name: agent15 + start: [17, 18] +- goal: [20, 24] + name: agent16 + start: [18, 6] +- goal: [8, 4] + name: agent17 + start: [23, 23] +- goal: [17, 21] + name: agent18 + start: [4, 31] +- goal: [0, 22] + name: agent19 + start: [14, 1] +- goal: [7, 23] + name: agent20 + start: [24, 30] +- goal: [30, 22] + name: agent21 + start: [12, 17] +- goal: [26, 19] + name: agent22 + start: [1, 21] +- goal: [8, 19] + name: agent23 + start: [3, 19] +- goal: [26, 3] + name: agent24 + start: [23, 9] +- goal: [0, 13] + name: agent25 + start: [6, 12] +- goal: [11, 30] + name: agent26 + start: [15, 10] +- goal: [6, 29] + name: agent27 + start: [2, 23] +- goal: [19, 25] + name: agent28 + start: [26, 24] +- goal: [13, 3] + name: agent29 + start: [5, 25] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [25, 21] + - !!python/tuple [28, 17] + - !!python/tuple [1, 15] + - !!python/tuple [3, 5] + - !!python/tuple [6, 31] + - !!python/tuple [24, 5] + - !!python/tuple [7, 28] + - !!python/tuple [9, 29] + - !!python/tuple [17, 16] + - !!python/tuple [11, 1] + - !!python/tuple [21, 13] + - !!python/tuple [28, 26] + - !!python/tuple [27, 9] + - !!python/tuple [31, 21] + - !!python/tuple [4, 20] + - !!python/tuple [11, 4] + - !!python/tuple [30, 16] + - !!python/tuple [17, 26] + - !!python/tuple [10, 12] + - !!python/tuple [21, 15] + - !!python/tuple [14, 23] + - !!python/tuple [20, 5] + - !!python/tuple [18, 23] + - !!python/tuple [12, 10] + - !!python/tuple [13, 14] + - !!python/tuple [20, 19] + - !!python/tuple [24, 18] + - !!python/tuple [14, 3] + - !!python/tuple [7, 31] + - !!python/tuple [10, 31] + - !!python/tuple [14, 20] + - !!python/tuple [4, 25] + - !!python/tuple [7, 8] + - !!python/tuple [24, 31] + - !!python/tuple [21, 26] + - !!python/tuple [4, 12] + - !!python/tuple [20, 16] + - !!python/tuple [29, 30] + - !!python/tuple [27, 18] + - !!python/tuple [15, 2] + - !!python/tuple [22, 6] + - !!python/tuple [14, 21] + - !!python/tuple [5, 5] + - !!python/tuple [7, 17] + - !!python/tuple [12, 8] + - !!python/tuple [16, 12] + - !!python/tuple [18, 14] + - !!python/tuple [26, 7] + - !!python/tuple [7, 20] + - !!python/tuple [1, 3] + - !!python/tuple [26, 11] + - !!python/tuple [7, 13] + - !!python/tuple [6, 7] + - !!python/tuple [17, 0] + - !!python/tuple [30, 31] + - !!python/tuple [31, 30] + - !!python/tuple [29, 28] + - !!python/tuple [20, 21] + - !!python/tuple [26, 15] + - !!python/tuple [10, 0] + - !!python/tuple [19, 28] + - !!python/tuple [31, 15] + - !!python/tuple [13, 10] + - !!python/tuple [21, 4] + - !!python/tuple [15, 1] + - !!python/tuple [7, 19] + - !!python/tuple [24, 22] + - !!python/tuple [8, 2] + - !!python/tuple [8, 0] + - !!python/tuple [7, 5] + - !!python/tuple [11, 7] + - !!python/tuple [10, 16] + - !!python/tuple [30, 10] + - !!python/tuple [12, 22] + - !!python/tuple [24, 25] + - !!python/tuple [28, 2] + - !!python/tuple [19, 23] + - !!python/tuple [8, 18] + - !!python/tuple [27, 26] + - !!python/tuple [17, 15] + - !!python/tuple [27, 8] + - !!python/tuple [12, 31] + - !!python/tuple [21, 25] + - !!python/tuple [8, 28] + - !!python/tuple [3, 29] + - !!python/tuple [14, 4] + - !!python/tuple [23, 7] + - !!python/tuple [4, 24] + - !!python/tuple [8, 12] + - !!python/tuple [24, 16] + - !!python/tuple [8, 3] + - !!python/tuple [10, 29] + - !!python/tuple [17, 10] + - !!python/tuple [23, 13] + - !!python/tuple [10, 1] + - !!python/tuple [30, 8] + - !!python/tuple [24, 28] + - !!python/tuple [10, 28] + - !!python/tuple [17, 24] + - !!python/tuple [11, 29] + - !!python/tuple [5, 18] + - !!python/tuple [14, 16] + - !!python/tuple [4, 7] + - !!python/tuple [10, 24] + - !!python/tuple [19, 4] + - !!python/tuple [8, 13] + - !!python/tuple [13, 9] + - !!python/tuple [26, 23] + - !!python/tuple [31, 2] + - !!python/tuple [17, 14] + - !!python/tuple [23, 11] + - !!python/tuple [2, 14] + - !!python/tuple [10, 9] + - !!python/tuple [2, 13] + - !!python/tuple [14, 18] + - !!python/tuple [14, 19] + - !!python/tuple [2, 27] + - !!python/tuple [23, 31] + - !!python/tuple [4, 28] + - !!python/tuple [21, 19] + - !!python/tuple [8, 1] + - !!python/tuple [25, 3] + - !!python/tuple [22, 16] + - !!python/tuple [9, 25] + - !!python/tuple [19, 11] + - !!python/tuple [27, 27] + - !!python/tuple [16, 3] + - !!python/tuple [8, 16] + - !!python/tuple [4, 10] + - !!python/tuple [25, 23] + - !!python/tuple [4, 18] + - !!python/tuple [8, 14] + - !!python/tuple [1, 24] + - !!python/tuple [2, 3] + - !!python/tuple [30, 15] + - !!python/tuple [24, 8] + - !!python/tuple [10, 25] + - !!python/tuple [4, 19] + - !!python/tuple [29, 31] + - !!python/tuple [13, 4] + - !!python/tuple [23, 16] + - !!python/tuple [22, 1] + - !!python/tuple [9, 4] + - !!python/tuple [22, 26] + - !!python/tuple [23, 10] + - !!python/tuple [6, 10] + - !!python/tuple [11, 14] + - !!python/tuple [0, 28] + - !!python/tuple [24, 19] + - !!python/tuple [22, 22] + - !!python/tuple [6, 18] + - !!python/tuple [15, 17] + - !!python/tuple [20, 8] + - !!python/tuple [13, 24] + - !!python/tuple [31, 11] + - !!python/tuple [19, 16] + - !!python/tuple [26, 27] + - !!python/tuple [2, 31] + - !!python/tuple [27, 23] + - !!python/tuple [2, 2] + - !!python/tuple [13, 7] + - !!python/tuple [0, 20] + - !!python/tuple [27, 22] + - !!python/tuple [9, 23] + - !!python/tuple [15, 30] + - !!python/tuple [14, 31] + - !!python/tuple [17, 7] + - !!python/tuple [20, 29] + - !!python/tuple [7, 6] + - !!python/tuple [18, 19] + - !!python/tuple [25, 7] + - !!python/tuple [5, 30] + - !!python/tuple [12, 14] + - !!python/tuple [2, 30] + - !!python/tuple [18, 2] + - !!python/tuple [22, 30] + - !!python/tuple [24, 21] + - !!python/tuple [7, 2] + - !!python/tuple [29, 10] + - !!python/tuple [22, 4] + - !!python/tuple [17, 19] + - !!python/tuple [22, 9] + - !!python/tuple [1, 18] + - !!python/tuple [29, 0] + - !!python/tuple [25, 16] + - !!python/tuple [29, 4] + - !!python/tuple [25, 9] + - !!python/tuple [23, 22] + - !!python/tuple [2, 18] + - !!python/tuple [5, 6] + - !!python/tuple [20, 6] + - !!python/tuple [14, 22] + - !!python/tuple [26, 22] + - !!python/tuple [26, 6] + - !!python/tuple [1, 17] + - !!python/tuple [25, 18] + - !!python/tuple [14, 11] + - !!python/tuple [25, 8] + - !!python/tuple [30, 7] + - !!python/tuple [21, 17] + - !!python/tuple [20, 1] + - !!python/tuple [9, 22] + - !!python/tuple [12, 11] + - !!python/tuple [21, 27] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex88.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex88.yaml new file mode 100644 index 0000000..7c588a3 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex88.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [4, 18] + name: agent0 + start: [8, 30] +- goal: [29, 4] + name: agent1 + start: [20, 30] +- goal: [5, 4] + name: agent2 + start: [13, 11] +- goal: [19, 6] + name: agent3 + start: [27, 20] +- goal: [14, 21] + name: agent4 + start: [24, 23] +- goal: [9, 14] + name: agent5 + start: [3, 0] +- goal: [15, 25] + name: agent6 + start: [2, 19] +- goal: [13, 9] + name: agent7 + start: [23, 8] +- goal: [29, 11] + name: agent8 + start: [10, 11] +- goal: [8, 23] + name: agent9 + start: [19, 14] +- goal: [20, 23] + name: agent10 + start: [22, 26] +- goal: [20, 17] + name: agent11 + start: [28, 13] +- goal: [19, 29] + name: agent12 + start: [0, 13] +- goal: [12, 27] + name: agent13 + start: [17, 9] +- goal: [6, 29] + name: agent14 + start: [24, 30] +- goal: [12, 30] + name: agent15 + start: [27, 9] +- goal: [8, 0] + name: agent16 + start: [6, 24] +- goal: [7, 16] + name: agent17 + start: [4, 18] +- goal: [7, 3] + name: agent18 + start: [11, 16] +- goal: [17, 5] + name: agent19 + start: [21, 12] +- goal: [9, 0] + name: agent20 + start: [6, 5] +- goal: [8, 30] + name: agent21 + start: [12, 5] +- goal: [26, 17] + name: agent22 + start: [19, 6] +- goal: [6, 22] + name: agent23 + start: [22, 12] +- goal: [15, 19] + name: agent24 + start: [7, 2] +- goal: [1, 4] + name: agent25 + start: [2, 4] +- goal: [5, 14] + name: agent26 + start: [26, 17] +- goal: [31, 5] + name: agent27 + start: [14, 11] +- goal: [22, 18] + name: agent28 + start: [17, 0] +- goal: [26, 21] + name: agent29 + start: [19, 23] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [25, 3] + - !!python/tuple [11, 13] + - !!python/tuple [30, 8] + - !!python/tuple [3, 25] + - !!python/tuple [18, 6] + - !!python/tuple [22, 7] + - !!python/tuple [11, 19] + - !!python/tuple [27, 2] + - !!python/tuple [7, 9] + - !!python/tuple [28, 29] + - !!python/tuple [26, 20] + - !!python/tuple [11, 4] + - !!python/tuple [1, 19] + - !!python/tuple [15, 26] + - !!python/tuple [1, 1] + - !!python/tuple [9, 19] + - !!python/tuple [13, 12] + - !!python/tuple [10, 22] + - !!python/tuple [12, 0] + - !!python/tuple [11, 1] + - !!python/tuple [16, 30] + - !!python/tuple [2, 18] + - !!python/tuple [6, 8] + - !!python/tuple [5, 0] + - !!python/tuple [1, 16] + - !!python/tuple [25, 5] + - !!python/tuple [0, 9] + - !!python/tuple [3, 14] + - !!python/tuple [4, 30] + - !!python/tuple [17, 19] + - !!python/tuple [18, 22] + - !!python/tuple [9, 12] + - !!python/tuple [14, 9] + - !!python/tuple [29, 18] + - !!python/tuple [17, 31] + - !!python/tuple [28, 1] + - !!python/tuple [7, 8] + - !!python/tuple [16, 13] + - !!python/tuple [2, 10] + - !!python/tuple [9, 17] + - !!python/tuple [10, 5] + - !!python/tuple [22, 20] + - !!python/tuple [10, 9] + - !!python/tuple [9, 23] + - !!python/tuple [14, 13] + - !!python/tuple [27, 18] + - !!python/tuple [31, 31] + - !!python/tuple [21, 25] + - !!python/tuple [1, 24] + - !!python/tuple [3, 22] + - !!python/tuple [19, 1] + - !!python/tuple [1, 6] + - !!python/tuple [17, 1] + - !!python/tuple [24, 26] + - !!python/tuple [31, 30] + - !!python/tuple [5, 11] + - !!python/tuple [17, 28] + - !!python/tuple [22, 13] + - !!python/tuple [6, 30] + - !!python/tuple [27, 28] + - !!python/tuple [14, 20] + - !!python/tuple [30, 20] + - !!python/tuple [28, 2] + - !!python/tuple [6, 15] + - !!python/tuple [23, 22] + - !!python/tuple [26, 0] + - !!python/tuple [14, 0] + - !!python/tuple [23, 2] + - !!python/tuple [20, 29] + - !!python/tuple [12, 22] + - !!python/tuple [23, 10] + - !!python/tuple [13, 13] + - !!python/tuple [15, 3] + - !!python/tuple [25, 17] + - !!python/tuple [31, 29] + - !!python/tuple [12, 6] + - !!python/tuple [26, 18] + - !!python/tuple [25, 21] + - !!python/tuple [16, 7] + - !!python/tuple [23, 31] + - !!python/tuple [5, 15] + - !!python/tuple [22, 30] + - !!python/tuple [18, 3] + - !!python/tuple [25, 23] + - !!python/tuple [13, 14] + - !!python/tuple [18, 8] + - !!python/tuple [9, 16] + - !!python/tuple [0, 27] + - !!python/tuple [25, 9] + - !!python/tuple [25, 6] + - !!python/tuple [14, 7] + - !!python/tuple [15, 14] + - !!python/tuple [27, 22] + - !!python/tuple [8, 31] + - !!python/tuple [4, 23] + - !!python/tuple [21, 14] + - !!python/tuple [17, 4] + - !!python/tuple [14, 29] + - !!python/tuple [31, 22] + - !!python/tuple [10, 23] + - !!python/tuple [26, 19] + - !!python/tuple [6, 18] + - !!python/tuple [13, 4] + - !!python/tuple [13, 8] + - !!python/tuple [28, 6] + - !!python/tuple [31, 2] + - !!python/tuple [25, 15] + - !!python/tuple [18, 14] + - !!python/tuple [0, 2] + - !!python/tuple [21, 6] + - !!python/tuple [24, 5] + - !!python/tuple [14, 28] + - !!python/tuple [21, 27] + - !!python/tuple [21, 2] + - !!python/tuple [4, 11] + - !!python/tuple [3, 7] + - !!python/tuple [0, 15] + - !!python/tuple [5, 20] + - !!python/tuple [18, 15] + - !!python/tuple [22, 8] + - !!python/tuple [11, 8] + - !!python/tuple [10, 29] + - !!python/tuple [19, 22] + - !!python/tuple [7, 27] + - !!python/tuple [3, 18] + - !!python/tuple [18, 20] + - !!python/tuple [2, 5] + - !!python/tuple [2, 31] + - !!python/tuple [17, 3] + - !!python/tuple [17, 6] + - !!python/tuple [30, 22] + - !!python/tuple [22, 17] + - !!python/tuple [7, 23] + - !!python/tuple [18, 1] + - !!python/tuple [17, 17] + - !!python/tuple [24, 6] + - !!python/tuple [15, 27] + - !!python/tuple [30, 5] + - !!python/tuple [16, 25] + - !!python/tuple [23, 23] + - !!python/tuple [21, 0] + - !!python/tuple [31, 3] + - !!python/tuple [3, 5] + - !!python/tuple [23, 6] + - !!python/tuple [13, 20] + - !!python/tuple [15, 11] + - !!python/tuple [27, 8] + - !!python/tuple [17, 25] + - !!python/tuple [3, 12] + - !!python/tuple [21, 4] + - !!python/tuple [23, 21] + - !!python/tuple [9, 4] + - !!python/tuple [14, 24] + - !!python/tuple [25, 14] + - !!python/tuple [27, 25] + - !!python/tuple [27, 15] + - !!python/tuple [31, 17] + - !!python/tuple [7, 28] + - !!python/tuple [4, 6] + - !!python/tuple [14, 12] + - !!python/tuple [28, 17] + - !!python/tuple [24, 25] + - !!python/tuple [10, 18] + - !!python/tuple [0, 23] + - !!python/tuple [29, 10] + - !!python/tuple [31, 7] + - !!python/tuple [25, 31] + - !!python/tuple [13, 24] + - !!python/tuple [28, 5] + - !!python/tuple [13, 1] + - !!python/tuple [9, 11] + - !!python/tuple [26, 22] + - !!python/tuple [23, 3] + - !!python/tuple [3, 3] + - !!python/tuple [14, 5] + - !!python/tuple [31, 23] + - !!python/tuple [25, 16] + - !!python/tuple [24, 14] + - !!python/tuple [3, 15] + - !!python/tuple [2, 29] + - !!python/tuple [16, 27] + - !!python/tuple [19, 26] + - !!python/tuple [8, 4] + - !!python/tuple [4, 20] + - !!python/tuple [17, 12] + - !!python/tuple [13, 31] + - !!python/tuple [9, 24] + - !!python/tuple [19, 28] + - !!python/tuple [20, 15] + - !!python/tuple [17, 15] + - !!python/tuple [1, 20] + - !!python/tuple [29, 16] + - !!python/tuple [14, 1] + - !!python/tuple [2, 17] + - !!python/tuple [28, 26] + - !!python/tuple [25, 8] + - !!python/tuple [24, 19] + - !!python/tuple [26, 12] + - !!python/tuple [11, 17] + - !!python/tuple [8, 12] + - !!python/tuple [29, 26] + - !!python/tuple [25, 1] + - !!python/tuple [31, 13] + - !!python/tuple [16, 22] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex89.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex89.yaml new file mode 100644 index 0000000..d852d04 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex89.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [3, 5] + name: agent0 + start: [19, 6] +- goal: [17, 22] + name: agent1 + start: [2, 14] +- goal: [16, 9] + name: agent2 + start: [22, 12] +- goal: [16, 14] + name: agent3 + start: [31, 10] +- goal: [25, 30] + name: agent4 + start: [30, 3] +- goal: [22, 9] + name: agent5 + start: [26, 5] +- goal: [6, 18] + name: agent6 + start: [30, 20] +- goal: [14, 1] + name: agent7 + start: [20, 7] +- goal: [15, 24] + name: agent8 + start: [22, 1] +- goal: [25, 5] + name: agent9 + start: [29, 23] +- goal: [0, 12] + name: agent10 + start: [20, 3] +- goal: [13, 31] + name: agent11 + start: [15, 30] +- goal: [25, 4] + name: agent12 + start: [14, 14] +- goal: [10, 9] + name: agent13 + start: [26, 17] +- goal: [17, 10] + name: agent14 + start: [18, 16] +- goal: [14, 12] + name: agent15 + start: [18, 17] +- goal: [23, 5] + name: agent16 + start: [7, 27] +- goal: [5, 5] + name: agent17 + start: [24, 19] +- goal: [25, 27] + name: agent18 + start: [29, 3] +- goal: [4, 23] + name: agent19 + start: [18, 12] +- goal: [8, 5] + name: agent20 + start: [17, 22] +- goal: [20, 31] + name: agent21 + start: [13, 3] +- goal: [0, 3] + name: agent22 + start: [24, 0] +- goal: [0, 18] + name: agent23 + start: [12, 12] +- goal: [20, 9] + name: agent24 + start: [6, 12] +- goal: [3, 25] + name: agent25 + start: [30, 15] +- goal: [17, 23] + name: agent26 + start: [10, 22] +- goal: [5, 15] + name: agent27 + start: [31, 23] +- goal: [6, 20] + name: agent28 + start: [1, 28] +- goal: [23, 9] + name: agent29 + start: [18, 4] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [26, 6] + - !!python/tuple [2, 3] + - !!python/tuple [29, 24] + - !!python/tuple [9, 12] + - !!python/tuple [11, 10] + - !!python/tuple [3, 21] + - !!python/tuple [30, 1] + - !!python/tuple [0, 20] + - !!python/tuple [27, 6] + - !!python/tuple [5, 0] + - !!python/tuple [14, 29] + - !!python/tuple [20, 27] + - !!python/tuple [22, 27] + - !!python/tuple [19, 4] + - !!python/tuple [17, 12] + - !!python/tuple [15, 13] + - !!python/tuple [6, 9] + - !!python/tuple [10, 6] + - !!python/tuple [10, 21] + - !!python/tuple [4, 28] + - !!python/tuple [11, 25] + - !!python/tuple [22, 5] + - !!python/tuple [2, 1] + - !!python/tuple [7, 1] + - !!python/tuple [21, 18] + - !!python/tuple [25, 15] + - !!python/tuple [16, 12] + - !!python/tuple [15, 21] + - !!python/tuple [16, 5] + - !!python/tuple [6, 27] + - !!python/tuple [15, 19] + - !!python/tuple [13, 16] + - !!python/tuple [2, 25] + - !!python/tuple [6, 10] + - !!python/tuple [3, 24] + - !!python/tuple [30, 17] + - !!python/tuple [5, 18] + - !!python/tuple [18, 27] + - !!python/tuple [14, 26] + - !!python/tuple [29, 17] + - !!python/tuple [6, 26] + - !!python/tuple [31, 16] + - !!python/tuple [23, 6] + - !!python/tuple [7, 7] + - !!python/tuple [2, 4] + - !!python/tuple [9, 15] + - !!python/tuple [19, 24] + - !!python/tuple [7, 21] + - !!python/tuple [8, 12] + - !!python/tuple [9, 21] + - !!python/tuple [8, 20] + - !!python/tuple [29, 21] + - !!python/tuple [6, 21] + - !!python/tuple [4, 14] + - !!python/tuple [9, 1] + - !!python/tuple [14, 20] + - !!python/tuple [30, 2] + - !!python/tuple [28, 24] + - !!python/tuple [6, 5] + - !!python/tuple [12, 21] + - !!python/tuple [29, 13] + - !!python/tuple [24, 22] + - !!python/tuple [14, 16] + - !!python/tuple [5, 28] + - !!python/tuple [13, 1] + - !!python/tuple [28, 17] + - !!python/tuple [3, 27] + - !!python/tuple [18, 19] + - !!python/tuple [3, 20] + - !!python/tuple [9, 17] + - !!python/tuple [21, 5] + - !!python/tuple [21, 8] + - !!python/tuple [2, 11] + - !!python/tuple [30, 9] + - !!python/tuple [5, 3] + - !!python/tuple [18, 31] + - !!python/tuple [1, 25] + - !!python/tuple [7, 22] + - !!python/tuple [7, 19] + - !!python/tuple [29, 30] + - !!python/tuple [0, 28] + - !!python/tuple [8, 21] + - !!python/tuple [25, 17] + - !!python/tuple [15, 2] + - !!python/tuple [19, 30] + - !!python/tuple [19, 23] + - !!python/tuple [24, 2] + - !!python/tuple [13, 11] + - !!python/tuple [26, 30] + - !!python/tuple [0, 26] + - !!python/tuple [4, 25] + - !!python/tuple [7, 6] + - !!python/tuple [9, 27] + - !!python/tuple [27, 14] + - !!python/tuple [20, 15] + - !!python/tuple [4, 0] + - !!python/tuple [22, 8] + - !!python/tuple [6, 0] + - !!python/tuple [12, 30] + - !!python/tuple [31, 5] + - !!python/tuple [31, 31] + - !!python/tuple [9, 4] + - !!python/tuple [12, 17] + - !!python/tuple [28, 14] + - !!python/tuple [3, 8] + - !!python/tuple [8, 4] + - !!python/tuple [12, 2] + - !!python/tuple [23, 26] + - !!python/tuple [8, 7] + - !!python/tuple [0, 30] + - !!python/tuple [30, 21] + - !!python/tuple [4, 22] + - !!python/tuple [21, 22] + - !!python/tuple [22, 31] + - !!python/tuple [25, 11] + - !!python/tuple [19, 3] + - !!python/tuple [18, 21] + - !!python/tuple [19, 20] + - !!python/tuple [22, 24] + - !!python/tuple [25, 7] + - !!python/tuple [21, 19] + - !!python/tuple [5, 1] + - !!python/tuple [2, 17] + - !!python/tuple [24, 28] + - !!python/tuple [15, 14] + - !!python/tuple [12, 4] + - !!python/tuple [4, 8] + - !!python/tuple [28, 30] + - !!python/tuple [27, 1] + - !!python/tuple [2, 19] + - !!python/tuple [3, 0] + - !!python/tuple [14, 9] + - !!python/tuple [21, 31] + - !!python/tuple [19, 27] + - !!python/tuple [27, 25] + - !!python/tuple [27, 7] + - !!python/tuple [25, 2] + - !!python/tuple [20, 16] + - !!python/tuple [27, 22] + - !!python/tuple [13, 24] + - !!python/tuple [5, 19] + - !!python/tuple [27, 10] + - !!python/tuple [2, 15] + - !!python/tuple [9, 23] + - !!python/tuple [28, 4] + - !!python/tuple [11, 26] + - !!python/tuple [20, 17] + - !!python/tuple [8, 10] + - !!python/tuple [7, 29] + - !!python/tuple [14, 24] + - !!python/tuple [27, 0] + - !!python/tuple [15, 23] + - !!python/tuple [31, 4] + - !!python/tuple [19, 13] + - !!python/tuple [21, 7] + - !!python/tuple [22, 22] + - !!python/tuple [22, 14] + - !!python/tuple [10, 26] + - !!python/tuple [26, 13] + - !!python/tuple [12, 26] + - !!python/tuple [9, 31] + - !!python/tuple [17, 2] + - !!python/tuple [24, 3] + - !!python/tuple [10, 8] + - !!python/tuple [31, 18] + - !!python/tuple [28, 28] + - !!python/tuple [8, 15] + - !!python/tuple [24, 26] + - !!python/tuple [28, 22] + - !!python/tuple [12, 13] + - !!python/tuple [21, 28] + - !!python/tuple [9, 28] + - !!python/tuple [20, 20] + - !!python/tuple [16, 31] + - !!python/tuple [2, 18] + - !!python/tuple [31, 29] + - !!python/tuple [10, 0] + - !!python/tuple [23, 13] + - !!python/tuple [22, 20] + - !!python/tuple [15, 26] + - !!python/tuple [29, 5] + - !!python/tuple [19, 7] + - !!python/tuple [3, 2] + - !!python/tuple [22, 25] + - !!python/tuple [14, 5] + - !!python/tuple [3, 11] + - !!python/tuple [18, 18] + - !!python/tuple [0, 4] + - !!python/tuple [12, 1] + - !!python/tuple [26, 16] + - !!python/tuple [18, 1] + - !!python/tuple [3, 19] + - !!python/tuple [13, 22] + - !!python/tuple [2, 6] + - !!python/tuple [9, 3] + - !!python/tuple [23, 30] + - !!python/tuple [9, 20] + - !!python/tuple [2, 28] + - !!python/tuple [2, 31] + - !!python/tuple [7, 20] + - !!python/tuple [23, 20] + - !!python/tuple [17, 30] + - !!python/tuple [22, 26] + - !!python/tuple [27, 12] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex9.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex9.yaml new file mode 100644 index 0000000..31db6f1 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex9.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [1, 28] + name: agent0 + start: [20, 14] +- goal: [19, 25] + name: agent1 + start: [26, 10] +- goal: [15, 14] + name: agent2 + start: [21, 10] +- goal: [30, 17] + name: agent3 + start: [18, 10] +- goal: [15, 4] + name: agent4 + start: [7, 9] +- goal: [8, 21] + name: agent5 + start: [6, 13] +- goal: [25, 12] + name: agent6 + start: [3, 15] +- goal: [25, 24] + name: agent7 + start: [15, 20] +- goal: [15, 17] + name: agent8 + start: [20, 13] +- goal: [4, 22] + name: agent9 + start: [30, 20] +- goal: [21, 13] + name: agent10 + start: [17, 25] +- goal: [28, 26] + name: agent11 + start: [6, 5] +- goal: [31, 13] + name: agent12 + start: [27, 24] +- goal: [0, 5] + name: agent13 + start: [29, 9] +- goal: [30, 8] + name: agent14 + start: [17, 3] +- goal: [25, 20] + name: agent15 + start: [20, 21] +- goal: [7, 16] + name: agent16 + start: [24, 1] +- goal: [17, 3] + name: agent17 + start: [24, 11] +- goal: [8, 13] + name: agent18 + start: [18, 23] +- goal: [4, 4] + name: agent19 + start: [8, 22] +- goal: [5, 14] + name: agent20 + start: [15, 14] +- goal: [15, 5] + name: agent21 + start: [28, 21] +- goal: [18, 13] + name: agent22 + start: [18, 11] +- goal: [13, 18] + name: agent23 + start: [25, 29] +- goal: [12, 18] + name: agent24 + start: [6, 20] +- goal: [18, 12] + name: agent25 + start: [10, 31] +- goal: [0, 29] + name: agent26 + start: [2, 23] +- goal: [28, 15] + name: agent27 + start: [20, 29] +- goal: [16, 0] + name: agent28 + start: [23, 28] +- goal: [23, 13] + name: agent29 + start: [10, 30] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [13, 11] + - !!python/tuple [27, 16] + - !!python/tuple [19, 16] + - !!python/tuple [12, 30] + - !!python/tuple [26, 28] + - !!python/tuple [31, 4] + - !!python/tuple [15, 24] + - !!python/tuple [22, 16] + - !!python/tuple [28, 3] + - !!python/tuple [11, 9] + - !!python/tuple [7, 21] + - !!python/tuple [7, 17] + - !!python/tuple [30, 5] + - !!python/tuple [31, 11] + - !!python/tuple [30, 31] + - !!python/tuple [29, 2] + - !!python/tuple [2, 30] + - !!python/tuple [28, 16] + - !!python/tuple [16, 8] + - !!python/tuple [0, 27] + - !!python/tuple [18, 16] + - !!python/tuple [18, 14] + - !!python/tuple [0, 20] + - !!python/tuple [25, 4] + - !!python/tuple [31, 0] + - !!python/tuple [27, 2] + - !!python/tuple [9, 18] + - !!python/tuple [12, 25] + - !!python/tuple [11, 14] + - !!python/tuple [25, 11] + - !!python/tuple [15, 31] + - !!python/tuple [0, 7] + - !!python/tuple [10, 10] + - !!python/tuple [16, 2] + - !!python/tuple [18, 3] + - !!python/tuple [23, 5] + - !!python/tuple [13, 8] + - !!python/tuple [15, 26] + - !!python/tuple [30, 1] + - !!python/tuple [5, 19] + - !!python/tuple [29, 6] + - !!python/tuple [26, 4] + - !!python/tuple [18, 20] + - !!python/tuple [18, 24] + - !!python/tuple [31, 28] + - !!python/tuple [9, 5] + - !!python/tuple [7, 6] + - !!python/tuple [30, 3] + - !!python/tuple [22, 19] + - !!python/tuple [7, 27] + - !!python/tuple [26, 5] + - !!python/tuple [29, 12] + - !!python/tuple [29, 10] + - !!python/tuple [31, 25] + - !!python/tuple [6, 14] + - !!python/tuple [26, 13] + - !!python/tuple [8, 31] + - !!python/tuple [28, 10] + - !!python/tuple [17, 21] + - !!python/tuple [21, 26] + - !!python/tuple [28, 14] + - !!python/tuple [18, 30] + - !!python/tuple [4, 9] + - !!python/tuple [19, 23] + - !!python/tuple [11, 19] + - !!python/tuple [6, 21] + - !!python/tuple [9, 7] + - !!python/tuple [21, 24] + - !!python/tuple [4, 14] + - !!python/tuple [1, 21] + - !!python/tuple [30, 13] + - !!python/tuple [18, 17] + - !!python/tuple [14, 7] + - !!python/tuple [23, 27] + - !!python/tuple [28, 19] + - !!python/tuple [5, 1] + - !!python/tuple [28, 0] + - !!python/tuple [20, 30] + - !!python/tuple [19, 7] + - !!python/tuple [2, 10] + - !!python/tuple [6, 19] + - !!python/tuple [12, 4] + - !!python/tuple [20, 0] + - !!python/tuple [19, 14] + - !!python/tuple [29, 0] + - !!python/tuple [30, 22] + - !!python/tuple [6, 26] + - !!python/tuple [21, 7] + - !!python/tuple [2, 1] + - !!python/tuple [9, 26] + - !!python/tuple [19, 21] + - !!python/tuple [19, 10] + - !!python/tuple [9, 13] + - !!python/tuple [1, 26] + - !!python/tuple [6, 0] + - !!python/tuple [20, 18] + - !!python/tuple [11, 29] + - !!python/tuple [12, 20] + - !!python/tuple [5, 31] + - !!python/tuple [22, 28] + - !!python/tuple [11, 25] + - !!python/tuple [12, 29] + - !!python/tuple [10, 19] + - !!python/tuple [5, 8] + - !!python/tuple [21, 23] + - !!python/tuple [23, 2] + - !!python/tuple [25, 30] + - !!python/tuple [25, 17] + - !!python/tuple [20, 8] + - !!python/tuple [18, 18] + - !!python/tuple [26, 6] + - !!python/tuple [21, 19] + - !!python/tuple [29, 7] + - !!python/tuple [3, 8] + - !!python/tuple [24, 15] + - !!python/tuple [8, 17] + - !!python/tuple [1, 23] + - !!python/tuple [10, 22] + - !!python/tuple [30, 6] + - !!python/tuple [24, 9] + - !!python/tuple [19, 5] + - !!python/tuple [15, 9] + - !!python/tuple [7, 31] + - !!python/tuple [4, 16] + - !!python/tuple [28, 4] + - !!python/tuple [29, 30] + - !!python/tuple [19, 22] + - !!python/tuple [11, 2] + - !!python/tuple [14, 15] + - !!python/tuple [14, 30] + - !!python/tuple [28, 12] + - !!python/tuple [16, 1] + - !!python/tuple [29, 19] + - !!python/tuple [2, 0] + - !!python/tuple [22, 3] + - !!python/tuple [9, 22] + - !!python/tuple [16, 15] + - !!python/tuple [31, 21] + - !!python/tuple [3, 2] + - !!python/tuple [30, 28] + - !!python/tuple [20, 5] + - !!python/tuple [8, 28] + - !!python/tuple [14, 27] + - !!python/tuple [1, 9] + - !!python/tuple [22, 22] + - !!python/tuple [19, 12] + - !!python/tuple [31, 5] + - !!python/tuple [27, 6] + - !!python/tuple [30, 27] + - !!python/tuple [18, 1] + - !!python/tuple [27, 14] + - !!python/tuple [20, 31] + - !!python/tuple [3, 5] + - !!python/tuple [11, 11] + - !!python/tuple [11, 15] + - !!python/tuple [6, 4] + - !!python/tuple [9, 23] + - !!python/tuple [12, 17] + - !!python/tuple [25, 2] + - !!python/tuple [27, 20] + - !!python/tuple [30, 9] + - !!python/tuple [1, 31] + - !!python/tuple [12, 2] + - !!python/tuple [22, 23] + - !!python/tuple [29, 22] + - !!python/tuple [1, 4] + - !!python/tuple [6, 6] + - !!python/tuple [20, 24] + - !!python/tuple [31, 17] + - !!python/tuple [17, 8] + - !!python/tuple [22, 7] + - !!python/tuple [14, 8] + - !!python/tuple [0, 3] + - !!python/tuple [4, 15] + - !!python/tuple [17, 7] + - !!python/tuple [10, 17] + - !!python/tuple [7, 5] + - !!python/tuple [16, 14] + - !!python/tuple [15, 10] + - !!python/tuple [12, 19] + - !!python/tuple [14, 2] + - !!python/tuple [2, 17] + - !!python/tuple [14, 14] + - !!python/tuple [24, 26] + - !!python/tuple [9, 2] + - !!python/tuple [8, 30] + - !!python/tuple [17, 20] + - !!python/tuple [2, 19] + - !!python/tuple [17, 27] + - !!python/tuple [1, 15] + - !!python/tuple [23, 16] + - !!python/tuple [29, 14] + - !!python/tuple [12, 11] + - !!python/tuple [4, 2] + - !!python/tuple [6, 15] + - !!python/tuple [23, 1] + - !!python/tuple [14, 28] + - !!python/tuple [26, 25] + - !!python/tuple [21, 5] + - !!python/tuple [21, 8] + - !!python/tuple [26, 0] + - !!python/tuple [14, 19] + - !!python/tuple [14, 29] + - !!python/tuple [24, 24] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex90.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex90.yaml new file mode 100644 index 0000000..eb5f5ed --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex90.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [4, 2] + name: agent0 + start: [3, 27] +- goal: [6, 13] + name: agent1 + start: [21, 12] +- goal: [10, 13] + name: agent2 + start: [6, 7] +- goal: [7, 0] + name: agent3 + start: [11, 24] +- goal: [7, 29] + name: agent4 + start: [17, 4] +- goal: [30, 20] + name: agent5 + start: [13, 14] +- goal: [17, 26] + name: agent6 + start: [19, 11] +- goal: [13, 29] + name: agent7 + start: [31, 27] +- goal: [18, 4] + name: agent8 + start: [5, 1] +- goal: [11, 17] + name: agent9 + start: [23, 31] +- goal: [27, 14] + name: agent10 + start: [25, 17] +- goal: [11, 22] + name: agent11 + start: [15, 26] +- goal: [22, 27] + name: agent12 + start: [9, 10] +- goal: [16, 2] + name: agent13 + start: [18, 7] +- goal: [12, 19] + name: agent14 + start: [8, 27] +- goal: [15, 15] + name: agent15 + start: [28, 0] +- goal: [28, 3] + name: agent16 + start: [8, 16] +- goal: [4, 23] + name: agent17 + start: [12, 4] +- goal: [23, 31] + name: agent18 + start: [18, 5] +- goal: [18, 16] + name: agent19 + start: [18, 12] +- goal: [24, 17] + name: agent20 + start: [22, 14] +- goal: [26, 17] + name: agent21 + start: [27, 23] +- goal: [19, 19] + name: agent22 + start: [5, 14] +- goal: [29, 30] + name: agent23 + start: [29, 1] +- goal: [18, 10] + name: agent24 + start: [19, 25] +- goal: [9, 11] + name: agent25 + start: [8, 11] +- goal: [18, 12] + name: agent26 + start: [7, 7] +- goal: [6, 17] + name: agent27 + start: [11, 10] +- goal: [22, 24] + name: agent28 + start: [29, 8] +- goal: [18, 25] + name: agent29 + start: [19, 15] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [2, 12] + - !!python/tuple [28, 23] + - !!python/tuple [13, 25] + - !!python/tuple [12, 2] + - !!python/tuple [7, 24] + - !!python/tuple [30, 8] + - !!python/tuple [15, 23] + - !!python/tuple [22, 15] + - !!python/tuple [6, 4] + - !!python/tuple [28, 9] + - !!python/tuple [17, 6] + - !!python/tuple [13, 22] + - !!python/tuple [12, 17] + - !!python/tuple [26, 28] + - !!python/tuple [17, 15] + - !!python/tuple [7, 25] + - !!python/tuple [7, 26] + - !!python/tuple [2, 7] + - !!python/tuple [31, 3] + - !!python/tuple [28, 14] + - !!python/tuple [18, 8] + - !!python/tuple [6, 26] + - !!python/tuple [10, 26] + - !!python/tuple [6, 23] + - !!python/tuple [19, 10] + - !!python/tuple [24, 21] + - !!python/tuple [3, 1] + - !!python/tuple [17, 31] + - !!python/tuple [31, 19] + - !!python/tuple [25, 6] + - !!python/tuple [19, 29] + - !!python/tuple [7, 12] + - !!python/tuple [14, 0] + - !!python/tuple [3, 8] + - !!python/tuple [16, 27] + - !!python/tuple [7, 16] + - !!python/tuple [4, 19] + - !!python/tuple [28, 15] + - !!python/tuple [2, 15] + - !!python/tuple [9, 4] + - !!python/tuple [28, 5] + - !!python/tuple [20, 29] + - !!python/tuple [28, 6] + - !!python/tuple [21, 2] + - !!python/tuple [5, 20] + - !!python/tuple [1, 30] + - !!python/tuple [30, 15] + - !!python/tuple [5, 11] + - !!python/tuple [17, 30] + - !!python/tuple [17, 0] + - !!python/tuple [31, 7] + - !!python/tuple [26, 24] + - !!python/tuple [4, 20] + - !!python/tuple [20, 4] + - !!python/tuple [28, 27] + - !!python/tuple [25, 7] + - !!python/tuple [4, 5] + - !!python/tuple [28, 18] + - !!python/tuple [16, 22] + - !!python/tuple [24, 11] + - !!python/tuple [10, 31] + - !!python/tuple [2, 11] + - !!python/tuple [19, 21] + - !!python/tuple [3, 22] + - !!python/tuple [30, 3] + - !!python/tuple [13, 10] + - !!python/tuple [3, 21] + - !!python/tuple [29, 23] + - !!python/tuple [11, 3] + - !!python/tuple [15, 12] + - !!python/tuple [3, 30] + - !!python/tuple [26, 27] + - !!python/tuple [6, 27] + - !!python/tuple [29, 28] + - !!python/tuple [20, 23] + - !!python/tuple [12, 21] + - !!python/tuple [9, 22] + - !!python/tuple [18, 15] + - !!python/tuple [11, 12] + - !!python/tuple [22, 19] + - !!python/tuple [16, 30] + - !!python/tuple [13, 3] + - !!python/tuple [14, 17] + - !!python/tuple [28, 21] + - !!python/tuple [27, 29] + - !!python/tuple [23, 4] + - !!python/tuple [30, 12] + - !!python/tuple [18, 27] + - !!python/tuple [13, 6] + - !!python/tuple [12, 11] + - !!python/tuple [16, 1] + - !!python/tuple [13, 26] + - !!python/tuple [29, 0] + - !!python/tuple [30, 10] + - !!python/tuple [8, 24] + - !!python/tuple [12, 9] + - !!python/tuple [11, 9] + - !!python/tuple [8, 8] + - !!python/tuple [13, 16] + - !!python/tuple [22, 10] + - !!python/tuple [21, 26] + - !!python/tuple [15, 4] + - !!python/tuple [31, 13] + - !!python/tuple [7, 9] + - !!python/tuple [22, 17] + - !!python/tuple [10, 4] + - !!python/tuple [25, 25] + - !!python/tuple [12, 8] + - !!python/tuple [24, 7] + - !!python/tuple [25, 20] + - !!python/tuple [14, 31] + - !!python/tuple [20, 22] + - !!python/tuple [0, 9] + - !!python/tuple [10, 14] + - !!python/tuple [2, 25] + - !!python/tuple [8, 4] + - !!python/tuple [19, 3] + - !!python/tuple [7, 4] + - !!python/tuple [17, 16] + - !!python/tuple [25, 29] + - !!python/tuple [18, 30] + - !!python/tuple [28, 2] + - !!python/tuple [0, 2] + - !!python/tuple [25, 5] + - !!python/tuple [27, 11] + - !!python/tuple [11, 20] + - !!python/tuple [15, 13] + - !!python/tuple [29, 11] + - !!python/tuple [6, 21] + - !!python/tuple [27, 22] + - !!python/tuple [12, 27] + - !!python/tuple [25, 31] + - !!python/tuple [24, 22] + - !!python/tuple [4, 1] + - !!python/tuple [26, 30] + - !!python/tuple [28, 20] + - !!python/tuple [1, 16] + - !!python/tuple [31, 22] + - !!python/tuple [25, 11] + - !!python/tuple [1, 11] + - !!python/tuple [27, 10] + - !!python/tuple [8, 28] + - !!python/tuple [26, 25] + - !!python/tuple [29, 25] + - !!python/tuple [22, 23] + - !!python/tuple [17, 5] + - !!python/tuple [30, 16] + - !!python/tuple [6, 25] + - !!python/tuple [29, 20] + - !!python/tuple [14, 16] + - !!python/tuple [16, 18] + - !!python/tuple [29, 22] + - !!python/tuple [23, 0] + - !!python/tuple [1, 28] + - !!python/tuple [17, 20] + - !!python/tuple [23, 12] + - !!python/tuple [3, 29] + - !!python/tuple [28, 17] + - !!python/tuple [28, 13] + - !!python/tuple [12, 16] + - !!python/tuple [19, 23] + - !!python/tuple [31, 1] + - !!python/tuple [26, 29] + - !!python/tuple [5, 22] + - !!python/tuple [29, 13] + - !!python/tuple [23, 6] + - !!python/tuple [17, 18] + - !!python/tuple [26, 3] + - !!python/tuple [7, 5] + - !!python/tuple [8, 2] + - !!python/tuple [18, 14] + - !!python/tuple [15, 0] + - !!python/tuple [8, 1] + - !!python/tuple [12, 28] + - !!python/tuple [5, 9] + - !!python/tuple [4, 28] + - !!python/tuple [4, 0] + - !!python/tuple [26, 8] + - !!python/tuple [1, 1] + - !!python/tuple [22, 12] + - !!python/tuple [6, 28] + - !!python/tuple [24, 4] + - !!python/tuple [5, 15] + - !!python/tuple [14, 11] + - !!python/tuple [25, 19] + - !!python/tuple [18, 22] + - !!python/tuple [1, 24] + - !!python/tuple [14, 27] + - !!python/tuple [2, 31] + - !!python/tuple [23, 1] + - !!python/tuple [9, 19] + - !!python/tuple [10, 6] + - !!python/tuple [22, 20] + - !!python/tuple [27, 2] + - !!python/tuple [19, 28] + - !!python/tuple [1, 29] + - !!python/tuple [24, 30] + - !!python/tuple [2, 28] + - !!python/tuple [26, 11] + - !!python/tuple [25, 0] + - !!python/tuple [30, 22] + - !!python/tuple [7, 30] + - !!python/tuple [15, 24] + - !!python/tuple [4, 15] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex91.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex91.yaml new file mode 100644 index 0000000..7712ef3 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex91.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [8, 31] + name: agent0 + start: [6, 19] +- goal: [6, 21] + name: agent1 + start: [14, 22] +- goal: [0, 2] + name: agent2 + start: [4, 15] +- goal: [11, 5] + name: agent3 + start: [26, 4] +- goal: [9, 2] + name: agent4 + start: [24, 28] +- goal: [27, 26] + name: agent5 + start: [18, 3] +- goal: [1, 14] + name: agent6 + start: [10, 30] +- goal: [21, 9] + name: agent7 + start: [22, 14] +- goal: [29, 4] + name: agent8 + start: [17, 28] +- goal: [11, 14] + name: agent9 + start: [23, 30] +- goal: [30, 21] + name: agent10 + start: [8, 31] +- goal: [14, 13] + name: agent11 + start: [10, 7] +- goal: [8, 13] + name: agent12 + start: [11, 2] +- goal: [6, 6] + name: agent13 + start: [31, 26] +- goal: [14, 21] + name: agent14 + start: [21, 23] +- goal: [6, 30] + name: agent15 + start: [24, 21] +- goal: [3, 7] + name: agent16 + start: [7, 5] +- goal: [1, 20] + name: agent17 + start: [7, 19] +- goal: [10, 19] + name: agent18 + start: [12, 5] +- goal: [13, 9] + name: agent19 + start: [23, 7] +- goal: [21, 31] + name: agent20 + start: [29, 8] +- goal: [1, 8] + name: agent21 + start: [16, 25] +- goal: [11, 11] + name: agent22 + start: [30, 7] +- goal: [23, 0] + name: agent23 + start: [19, 12] +- goal: [0, 29] + name: agent24 + start: [27, 23] +- goal: [23, 13] + name: agent25 + start: [0, 6] +- goal: [27, 12] + name: agent26 + start: [19, 31] +- goal: [8, 2] + name: agent27 + start: [27, 14] +- goal: [22, 0] + name: agent28 + start: [30, 27] +- goal: [13, 31] + name: agent29 + start: [11, 14] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [26, 29] + - !!python/tuple [18, 9] + - !!python/tuple [9, 29] + - !!python/tuple [5, 24] + - !!python/tuple [19, 11] + - !!python/tuple [13, 21] + - !!python/tuple [15, 20] + - !!python/tuple [1, 6] + - !!python/tuple [29, 14] + - !!python/tuple [16, 17] + - !!python/tuple [28, 10] + - !!python/tuple [28, 30] + - !!python/tuple [11, 1] + - !!python/tuple [22, 26] + - !!python/tuple [0, 12] + - !!python/tuple [27, 27] + - !!python/tuple [14, 20] + - !!python/tuple [15, 23] + - !!python/tuple [12, 17] + - !!python/tuple [23, 5] + - !!python/tuple [12, 24] + - !!python/tuple [4, 28] + - !!python/tuple [31, 29] + - !!python/tuple [26, 23] + - !!python/tuple [4, 13] + - !!python/tuple [15, 9] + - !!python/tuple [9, 7] + - !!python/tuple [14, 16] + - !!python/tuple [3, 19] + - !!python/tuple [7, 23] + - !!python/tuple [31, 0] + - !!python/tuple [17, 9] + - !!python/tuple [15, 29] + - !!python/tuple [19, 27] + - !!python/tuple [0, 22] + - !!python/tuple [23, 10] + - !!python/tuple [1, 23] + - !!python/tuple [14, 26] + - !!python/tuple [28, 1] + - !!python/tuple [18, 19] + - !!python/tuple [28, 11] + - !!python/tuple [26, 2] + - !!python/tuple [25, 1] + - !!python/tuple [10, 9] + - !!python/tuple [26, 30] + - !!python/tuple [20, 16] + - !!python/tuple [19, 30] + - !!python/tuple [1, 31] + - !!python/tuple [26, 8] + - !!python/tuple [9, 9] + - !!python/tuple [4, 29] + - !!python/tuple [16, 8] + - !!python/tuple [14, 24] + - !!python/tuple [29, 26] + - !!python/tuple [2, 11] + - !!python/tuple [16, 20] + - !!python/tuple [28, 14] + - !!python/tuple [3, 8] + - !!python/tuple [13, 13] + - !!python/tuple [31, 3] + - !!python/tuple [30, 3] + - !!python/tuple [9, 4] + - !!python/tuple [5, 7] + - !!python/tuple [8, 10] + - !!python/tuple [16, 0] + - !!python/tuple [22, 20] + - !!python/tuple [18, 23] + - !!python/tuple [0, 30] + - !!python/tuple [20, 4] + - !!python/tuple [14, 5] + - !!python/tuple [24, 10] + - !!python/tuple [7, 0] + - !!python/tuple [0, 27] + - !!python/tuple [20, 6] + - !!python/tuple [2, 12] + - !!python/tuple [17, 14] + - !!python/tuple [29, 10] + - !!python/tuple [21, 10] + - !!python/tuple [7, 15] + - !!python/tuple [17, 6] + - !!python/tuple [18, 24] + - !!python/tuple [10, 2] + - !!python/tuple [11, 28] + - !!python/tuple [28, 23] + - !!python/tuple [27, 31] + - !!python/tuple [22, 27] + - !!python/tuple [20, 17] + - !!python/tuple [29, 22] + - !!python/tuple [3, 23] + - !!python/tuple [21, 5] + - !!python/tuple [4, 2] + - !!python/tuple [22, 28] + - !!python/tuple [10, 26] + - !!python/tuple [24, 23] + - !!python/tuple [31, 21] + - !!python/tuple [18, 26] + - !!python/tuple [5, 23] + - !!python/tuple [21, 24] + - !!python/tuple [11, 24] + - !!python/tuple [27, 7] + - !!python/tuple [30, 28] + - !!python/tuple [21, 4] + - !!python/tuple [1, 25] + - !!python/tuple [15, 30] + - !!python/tuple [26, 15] + - !!python/tuple [19, 0] + - !!python/tuple [1, 15] + - !!python/tuple [2, 15] + - !!python/tuple [28, 15] + - !!python/tuple [31, 11] + - !!python/tuple [31, 20] + - !!python/tuple [21, 26] + - !!python/tuple [22, 21] + - !!python/tuple [27, 4] + - !!python/tuple [5, 14] + - !!python/tuple [24, 20] + - !!python/tuple [30, 16] + - !!python/tuple [16, 31] + - !!python/tuple [3, 11] + - !!python/tuple [5, 4] + - !!python/tuple [9, 16] + - !!python/tuple [10, 16] + - !!python/tuple [15, 2] + - !!python/tuple [31, 31] + - !!python/tuple [11, 31] + - !!python/tuple [13, 4] + - !!python/tuple [11, 26] + - !!python/tuple [25, 20] + - !!python/tuple [1, 24] + - !!python/tuple [25, 21] + - !!python/tuple [3, 17] + - !!python/tuple [18, 21] + - !!python/tuple [8, 23] + - !!python/tuple [31, 28] + - !!python/tuple [14, 1] + - !!python/tuple [28, 17] + - !!python/tuple [23, 9] + - !!python/tuple [28, 25] + - !!python/tuple [20, 29] + - !!python/tuple [29, 24] + - !!python/tuple [0, 3] + - !!python/tuple [9, 11] + - !!python/tuple [28, 5] + - !!python/tuple [31, 1] + - !!python/tuple [9, 22] + - !!python/tuple [21, 16] + - !!python/tuple [8, 27] + - !!python/tuple [24, 13] + - !!python/tuple [24, 16] + - !!python/tuple [28, 27] + - !!python/tuple [25, 12] + - !!python/tuple [8, 0] + - !!python/tuple [8, 19] + - !!python/tuple [12, 9] + - !!python/tuple [8, 26] + - !!python/tuple [7, 29] + - !!python/tuple [4, 25] + - !!python/tuple [2, 21] + - !!python/tuple [14, 6] + - !!python/tuple [18, 17] + - !!python/tuple [8, 4] + - !!python/tuple [12, 20] + - !!python/tuple [21, 0] + - !!python/tuple [14, 23] + - !!python/tuple [24, 26] + - !!python/tuple [26, 25] + - !!python/tuple [2, 16] + - !!python/tuple [17, 19] + - !!python/tuple [4, 30] + - !!python/tuple [10, 11] + - !!python/tuple [12, 2] + - !!python/tuple [12, 10] + - !!python/tuple [26, 11] + - !!python/tuple [24, 4] + - !!python/tuple [26, 3] + - !!python/tuple [0, 0] + - !!python/tuple [28, 13] + - !!python/tuple [9, 18] + - !!python/tuple [14, 30] + - !!python/tuple [25, 6] + - !!python/tuple [15, 3] + - !!python/tuple [1, 12] + - !!python/tuple [18, 1] + - !!python/tuple [11, 27] + - !!python/tuple [16, 13] + - !!python/tuple [16, 30] + - !!python/tuple [20, 5] + - !!python/tuple [6, 26] + - !!python/tuple [27, 25] + - !!python/tuple [26, 13] + - !!python/tuple [26, 31] + - !!python/tuple [29, 7] + - !!python/tuple [16, 10] + - !!python/tuple [2, 18] + - !!python/tuple [8, 5] + - !!python/tuple [2, 24] + - !!python/tuple [28, 26] + - !!python/tuple [18, 29] + - !!python/tuple [12, 19] + - !!python/tuple [10, 8] + - !!python/tuple [7, 4] + - !!python/tuple [15, 8] + - !!python/tuple [13, 17] + - !!python/tuple [17, 0] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex92.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex92.yaml new file mode 100644 index 0000000..0d7e474 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex92.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [23, 29] + name: agent0 + start: [1, 13] +- goal: [28, 25] + name: agent1 + start: [26, 7] +- goal: [17, 20] + name: agent2 + start: [5, 25] +- goal: [28, 27] + name: agent3 + start: [16, 19] +- goal: [15, 7] + name: agent4 + start: [2, 28] +- goal: [19, 1] + name: agent5 + start: [3, 2] +- goal: [28, 18] + name: agent6 + start: [8, 19] +- goal: [14, 27] + name: agent7 + start: [1, 26] +- goal: [26, 3] + name: agent8 + start: [0, 19] +- goal: [10, 31] + name: agent9 + start: [29, 0] +- goal: [30, 0] + name: agent10 + start: [16, 25] +- goal: [22, 24] + name: agent11 + start: [6, 7] +- goal: [23, 19] + name: agent12 + start: [11, 29] +- goal: [30, 13] + name: agent13 + start: [5, 12] +- goal: [6, 26] + name: agent14 + start: [22, 2] +- goal: [30, 7] + name: agent15 + start: [2, 3] +- goal: [26, 25] + name: agent16 + start: [1, 24] +- goal: [9, 27] + name: agent17 + start: [26, 2] +- goal: [29, 8] + name: agent18 + start: [20, 29] +- goal: [11, 4] + name: agent19 + start: [8, 26] +- goal: [5, 22] + name: agent20 + start: [20, 19] +- goal: [11, 23] + name: agent21 + start: [17, 8] +- goal: [25, 12] + name: agent22 + start: [14, 27] +- goal: [3, 6] + name: agent23 + start: [22, 7] +- goal: [30, 24] + name: agent24 + start: [20, 4] +- goal: [18, 11] + name: agent25 + start: [30, 14] +- goal: [4, 12] + name: agent26 + start: [13, 9] +- goal: [31, 16] + name: agent27 + start: [11, 2] +- goal: [0, 19] + name: agent28 + start: [17, 5] +- goal: [18, 19] + name: agent29 + start: [27, 2] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [0, 20] + - !!python/tuple [6, 25] + - !!python/tuple [3, 8] + - !!python/tuple [14, 0] + - !!python/tuple [17, 31] + - !!python/tuple [15, 14] + - !!python/tuple [14, 11] + - !!python/tuple [6, 20] + - !!python/tuple [19, 18] + - !!python/tuple [4, 19] + - !!python/tuple [14, 13] + - !!python/tuple [27, 0] + - !!python/tuple [21, 10] + - !!python/tuple [11, 15] + - !!python/tuple [29, 26] + - !!python/tuple [18, 12] + - !!python/tuple [10, 7] + - !!python/tuple [18, 15] + - !!python/tuple [17, 21] + - !!python/tuple [2, 21] + - !!python/tuple [1, 3] + - !!python/tuple [4, 31] + - !!python/tuple [11, 13] + - !!python/tuple [11, 0] + - !!python/tuple [19, 3] + - !!python/tuple [3, 7] + - !!python/tuple [5, 21] + - !!python/tuple [29, 28] + - !!python/tuple [9, 13] + - !!python/tuple [21, 27] + - !!python/tuple [16, 5] + - !!python/tuple [11, 25] + - !!python/tuple [10, 15] + - !!python/tuple [16, 22] + - !!python/tuple [31, 12] + - !!python/tuple [12, 15] + - !!python/tuple [30, 5] + - !!python/tuple [21, 0] + - !!python/tuple [18, 0] + - !!python/tuple [21, 21] + - !!python/tuple [25, 26] + - !!python/tuple [13, 7] + - !!python/tuple [8, 16] + - !!python/tuple [20, 30] + - !!python/tuple [7, 15] + - !!python/tuple [26, 10] + - !!python/tuple [14, 4] + - !!python/tuple [4, 6] + - !!python/tuple [13, 2] + - !!python/tuple [8, 31] + - !!python/tuple [19, 10] + - !!python/tuple [21, 13] + - !!python/tuple [25, 24] + - !!python/tuple [4, 11] + - !!python/tuple [28, 30] + - !!python/tuple [1, 11] + - !!python/tuple [27, 21] + - !!python/tuple [2, 17] + - !!python/tuple [1, 12] + - !!python/tuple [25, 15] + - !!python/tuple [4, 16] + - !!python/tuple [18, 31] + - !!python/tuple [1, 14] + - !!python/tuple [17, 1] + - !!python/tuple [17, 11] + - !!python/tuple [7, 19] + - !!python/tuple [13, 27] + - !!python/tuple [4, 20] + - !!python/tuple [18, 6] + - !!python/tuple [23, 27] + - !!python/tuple [28, 2] + - !!python/tuple [14, 3] + - !!python/tuple [24, 21] + - !!python/tuple [15, 0] + - !!python/tuple [20, 24] + - !!python/tuple [8, 20] + - !!python/tuple [26, 9] + - !!python/tuple [9, 6] + - !!python/tuple [20, 25] + - !!python/tuple [20, 23] + - !!python/tuple [15, 16] + - !!python/tuple [19, 30] + - !!python/tuple [4, 4] + - !!python/tuple [8, 29] + - !!python/tuple [22, 31] + - !!python/tuple [27, 5] + - !!python/tuple [21, 12] + - !!python/tuple [14, 28] + - !!python/tuple [0, 31] + - !!python/tuple [21, 23] + - !!python/tuple [24, 7] + - !!python/tuple [23, 21] + - !!python/tuple [13, 19] + - !!python/tuple [3, 12] + - !!python/tuple [8, 1] + - !!python/tuple [19, 22] + - !!python/tuple [31, 23] + - !!python/tuple [19, 19] + - !!python/tuple [23, 22] + - !!python/tuple [0, 10] + - !!python/tuple [5, 5] + - !!python/tuple [10, 26] + - !!python/tuple [18, 21] + - !!python/tuple [30, 8] + - !!python/tuple [12, 30] + - !!python/tuple [22, 16] + - !!python/tuple [6, 21] + - !!python/tuple [11, 7] + - !!python/tuple [31, 29] + - !!python/tuple [29, 15] + - !!python/tuple [2, 5] + - !!python/tuple [26, 13] + - !!python/tuple [20, 27] + - !!python/tuple [1, 5] + - !!python/tuple [26, 11] + - !!python/tuple [25, 11] + - !!python/tuple [18, 5] + - !!python/tuple [11, 3] + - !!python/tuple [2, 2] + - !!python/tuple [26, 24] + - !!python/tuple [6, 24] + - !!python/tuple [22, 18] + - !!python/tuple [11, 11] + - !!python/tuple [18, 16] + - !!python/tuple [9, 30] + - !!python/tuple [11, 12] + - !!python/tuple [19, 24] + - !!python/tuple [26, 6] + - !!python/tuple [22, 0] + - !!python/tuple [18, 7] + - !!python/tuple [26, 23] + - !!python/tuple [20, 3] + - !!python/tuple [20, 14] + - !!python/tuple [11, 20] + - !!python/tuple [24, 25] + - !!python/tuple [16, 3] + - !!python/tuple [25, 19] + - !!python/tuple [19, 27] + - !!python/tuple [3, 4] + - !!python/tuple [13, 4] + - !!python/tuple [7, 27] + - !!python/tuple [29, 17] + - !!python/tuple [1, 4] + - !!python/tuple [29, 23] + - !!python/tuple [4, 7] + - !!python/tuple [7, 4] + - !!python/tuple [2, 18] + - !!python/tuple [5, 30] + - !!python/tuple [25, 18] + - !!python/tuple [4, 10] + - !!python/tuple [14, 26] + - !!python/tuple [16, 23] + - !!python/tuple [31, 11] + - !!python/tuple [13, 14] + - !!python/tuple [5, 29] + - !!python/tuple [16, 14] + - !!python/tuple [1, 30] + - !!python/tuple [10, 2] + - !!python/tuple [6, 11] + - !!python/tuple [0, 0] + - !!python/tuple [11, 30] + - !!python/tuple [30, 21] + - !!python/tuple [23, 13] + - !!python/tuple [19, 9] + - !!python/tuple [13, 12] + - !!python/tuple [1, 20] + - !!python/tuple [13, 25] + - !!python/tuple [22, 3] + - !!python/tuple [31, 6] + - !!python/tuple [28, 21] + - !!python/tuple [5, 2] + - !!python/tuple [21, 5] + - !!python/tuple [3, 26] + - !!python/tuple [23, 12] + - !!python/tuple [17, 18] + - !!python/tuple [3, 13] + - !!python/tuple [26, 22] + - !!python/tuple [7, 22] + - !!python/tuple [26, 21] + - !!python/tuple [19, 2] + - !!python/tuple [10, 24] + - !!python/tuple [6, 15] + - !!python/tuple [18, 27] + - !!python/tuple [20, 28] + - !!python/tuple [25, 5] + - !!python/tuple [6, 29] + - !!python/tuple [14, 25] + - !!python/tuple [14, 30] + - !!python/tuple [28, 24] + - !!python/tuple [27, 14] + - !!python/tuple [30, 9] + - !!python/tuple [19, 28] + - !!python/tuple [11, 1] + - !!python/tuple [5, 23] + - !!python/tuple [12, 31] + - !!python/tuple [31, 5] + - !!python/tuple [8, 9] + - !!python/tuple [7, 20] + - !!python/tuple [3, 20] + - !!python/tuple [22, 27] + - !!python/tuple [27, 17] + - !!python/tuple [9, 24] + - !!python/tuple [7, 26] + - !!python/tuple [28, 4] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex93.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex93.yaml new file mode 100644 index 0000000..494cf3a --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex93.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [5, 8] + name: agent0 + start: [8, 25] +- goal: [19, 14] + name: agent1 + start: [14, 16] +- goal: [24, 10] + name: agent2 + start: [12, 5] +- goal: [28, 6] + name: agent3 + start: [2, 28] +- goal: [6, 9] + name: agent4 + start: [29, 16] +- goal: [20, 20] + name: agent5 + start: [31, 24] +- goal: [5, 0] + name: agent6 + start: [14, 25] +- goal: [3, 7] + name: agent7 + start: [28, 13] +- goal: [6, 8] + name: agent8 + start: [27, 22] +- goal: [19, 15] + name: agent9 + start: [23, 9] +- goal: [19, 11] + name: agent10 + start: [7, 7] +- goal: [25, 14] + name: agent11 + start: [0, 30] +- goal: [0, 10] + name: agent12 + start: [11, 8] +- goal: [9, 30] + name: agent13 + start: [2, 2] +- goal: [15, 22] + name: agent14 + start: [17, 10] +- goal: [4, 7] + name: agent15 + start: [5, 10] +- goal: [14, 5] + name: agent16 + start: [21, 5] +- goal: [4, 16] + name: agent17 + start: [18, 2] +- goal: [8, 11] + name: agent18 + start: [4, 23] +- goal: [23, 0] + name: agent19 + start: [0, 10] +- goal: [3, 0] + name: agent20 + start: [6, 30] +- goal: [4, 8] + name: agent21 + start: [0, 15] +- goal: [26, 31] + name: agent22 + start: [10, 13] +- goal: [1, 18] + name: agent23 + start: [2, 15] +- goal: [3, 25] + name: agent24 + start: [14, 24] +- goal: [30, 7] + name: agent25 + start: [25, 22] +- goal: [16, 23] + name: agent26 + start: [23, 29] +- goal: [14, 22] + name: agent27 + start: [9, 10] +- goal: [16, 6] + name: agent28 + start: [23, 21] +- goal: [8, 18] + name: agent29 + start: [28, 22] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [6, 26] + - !!python/tuple [6, 16] + - !!python/tuple [20, 7] + - !!python/tuple [8, 2] + - !!python/tuple [4, 20] + - !!python/tuple [1, 12] + - !!python/tuple [0, 23] + - !!python/tuple [12, 11] + - !!python/tuple [24, 1] + - !!python/tuple [7, 14] + - !!python/tuple [20, 22] + - !!python/tuple [14, 28] + - !!python/tuple [17, 13] + - !!python/tuple [2, 27] + - !!python/tuple [22, 8] + - !!python/tuple [9, 11] + - !!python/tuple [3, 12] + - !!python/tuple [26, 2] + - !!python/tuple [3, 17] + - !!python/tuple [23, 6] + - !!python/tuple [15, 19] + - !!python/tuple [17, 2] + - !!python/tuple [22, 6] + - !!python/tuple [27, 8] + - !!python/tuple [10, 23] + - !!python/tuple [20, 17] + - !!python/tuple [21, 19] + - !!python/tuple [2, 20] + - !!python/tuple [25, 7] + - !!python/tuple [23, 5] + - !!python/tuple [3, 28] + - !!python/tuple [16, 16] + - !!python/tuple [12, 30] + - !!python/tuple [31, 18] + - !!python/tuple [15, 25] + - !!python/tuple [27, 19] + - !!python/tuple [12, 16] + - !!python/tuple [20, 18] + - !!python/tuple [11, 15] + - !!python/tuple [9, 31] + - !!python/tuple [11, 1] + - !!python/tuple [23, 22] + - !!python/tuple [22, 4] + - !!python/tuple [7, 23] + - !!python/tuple [11, 12] + - !!python/tuple [8, 29] + - !!python/tuple [11, 6] + - !!python/tuple [4, 17] + - !!python/tuple [23, 17] + - !!python/tuple [25, 9] + - !!python/tuple [25, 15] + - !!python/tuple [18, 8] + - !!python/tuple [4, 31] + - !!python/tuple [13, 5] + - !!python/tuple [12, 21] + - !!python/tuple [6, 21] + - !!python/tuple [29, 5] + - !!python/tuple [11, 25] + - !!python/tuple [22, 9] + - !!python/tuple [0, 18] + - !!python/tuple [19, 1] + - !!python/tuple [27, 26] + - !!python/tuple [31, 26] + - !!python/tuple [27, 3] + - !!python/tuple [12, 2] + - !!python/tuple [21, 0] + - !!python/tuple [11, 23] + - !!python/tuple [11, 30] + - !!python/tuple [29, 25] + - !!python/tuple [15, 13] + - !!python/tuple [26, 18] + - !!python/tuple [27, 20] + - !!python/tuple [19, 10] + - !!python/tuple [24, 14] + - !!python/tuple [29, 30] + - !!python/tuple [4, 1] + - !!python/tuple [9, 14] + - !!python/tuple [1, 25] + - !!python/tuple [28, 1] + - !!python/tuple [18, 17] + - !!python/tuple [23, 1] + - !!python/tuple [7, 15] + - 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[18, 31] + - !!python/tuple [14, 0] + - !!python/tuple [12, 14] + - !!python/tuple [9, 18] + - !!python/tuple [22, 27] + - !!python/tuple [26, 23] + - !!python/tuple [0, 14] + - !!python/tuple [6, 24] + - !!python/tuple [20, 11] + - !!python/tuple [8, 6] + - !!python/tuple [16, 7] + - !!python/tuple [10, 8] + - !!python/tuple [0, 0] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex94.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex94.yaml new file mode 100644 index 0000000..c168de2 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex94.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [2, 4] + name: agent0 + start: [9, 17] +- goal: [17, 5] + name: agent1 + start: [17, 0] +- goal: [2, 24] + name: agent2 + start: [5, 28] +- goal: [10, 20] + name: agent3 + start: [6, 0] +- goal: [22, 21] + name: agent4 + start: [7, 17] +- goal: [8, 14] + name: agent5 + start: [25, 15] +- goal: [5, 17] + name: agent6 + start: [23, 19] +- goal: [24, 10] + name: agent7 + start: [4, 28] +- goal: [0, 17] + name: agent8 + start: [27, 4] +- goal: [8, 4] + name: agent9 + start: [26, 11] +- goal: [16, 29] + name: agent10 + start: [11, 24] +- goal: [30, 3] + name: agent11 + start: [0, 18] +- goal: [27, 8] + name: agent12 + start: [20, 9] +- goal: [11, 0] + name: agent13 + start: [24, 8] +- goal: [10, 23] + name: agent14 + start: [12, 5] +- goal: [3, 12] + name: agent15 + start: [12, 9] +- goal: [5, 12] + name: agent16 + start: [6, 8] +- goal: [20, 17] + name: agent17 + start: [17, 16] +- goal: [2, 0] + name: agent18 + start: [25, 7] +- goal: [17, 25] + name: agent19 + start: [3, 13] +- goal: [30, 24] + name: agent20 + start: [23, 22] +- goal: [24, 3] + name: agent21 + start: [30, 29] +- goal: [20, 13] + name: agent22 + start: [26, 24] +- goal: [7, 15] + name: agent23 + start: [2, 27] +- goal: [12, 19] + name: agent24 + start: [18, 11] +- goal: [1, 20] + name: agent25 + start: [7, 7] +- goal: [15, 10] + name: agent26 + start: [30, 31] +- goal: [3, 29] + name: agent27 + start: [25, 18] +- goal: [21, 6] + name: agent28 + start: [26, 5] +- goal: [16, 24] + name: agent29 + start: [17, 7] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [24, 17] + - !!python/tuple [19, 8] + - !!python/tuple [2, 20] + - !!python/tuple [9, 29] + - !!python/tuple [2, 18] + - !!python/tuple [11, 25] + - !!python/tuple [24, 13] + - !!python/tuple [28, 9] + - !!python/tuple [15, 3] + - !!python/tuple [19, 22] + - !!python/tuple [2, 5] + - !!python/tuple [23, 20] + - !!python/tuple [10, 28] + - !!python/tuple [28, 25] + - !!python/tuple [13, 25] + - !!python/tuple [9, 13] + - !!python/tuple [14, 4] + - !!python/tuple [13, 30] + - !!python/tuple [12, 11] + - !!python/tuple [12, 0] + - !!python/tuple [19, 25] + - !!python/tuple [14, 11] + - !!python/tuple [28, 7] + - !!python/tuple [26, 4] + - !!python/tuple [4, 17] + - !!python/tuple [25, 20] + - !!python/tuple [22, 30] + - !!python/tuple [11, 12] + - !!python/tuple [25, 6] + - !!python/tuple [29, 0] + - !!python/tuple [23, 2] + - !!python/tuple [12, 15] + - !!python/tuple [27, 15] + - !!python/tuple [10, 24] + - !!python/tuple [2, 12] + - !!python/tuple [0, 21] + - !!python/tuple [3, 26] + - !!python/tuple [7, 16] + - !!python/tuple [14, 28] + - !!python/tuple [10, 12] + - !!python/tuple [24, 0] + - !!python/tuple [12, 2] + - !!python/tuple [15, 25] + - !!python/tuple [7, 9] + - !!python/tuple [28, 15] + - !!python/tuple [9, 8] + - !!python/tuple [8, 26] + - !!python/tuple [14, 13] + - !!python/tuple [2, 31] + - !!python/tuple [28, 26] + - !!python/tuple [29, 7] + - !!python/tuple [21, 21] + - !!python/tuple [23, 12] + - !!python/tuple [15, 22] + - !!python/tuple [18, 15] + - !!python/tuple [16, 26] + - !!python/tuple [7, 22] + - !!python/tuple [19, 31] + - !!python/tuple [11, 5] + - !!python/tuple [13, 17] + - !!python/tuple [23, 24] + - !!python/tuple [1, 15] + - !!python/tuple [16, 15] + - 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!!python/tuple [19, 1] + - !!python/tuple [0, 14] + - !!python/tuple [17, 8] + - !!python/tuple [25, 27] + - !!python/tuple [31, 9] + - !!python/tuple [14, 1] + - !!python/tuple [22, 3] + - !!python/tuple [11, 1] + - !!python/tuple [21, 22] + - !!python/tuple [1, 30] + - !!python/tuple [28, 6] + - !!python/tuple [29, 2] + - !!python/tuple [14, 17] + - !!python/tuple [31, 23] + - !!python/tuple [24, 29] + - !!python/tuple [7, 27] + - !!python/tuple [2, 21] + - !!python/tuple [30, 9] + - !!python/tuple [16, 27] + - !!python/tuple [8, 13] + - !!python/tuple [30, 30] + - !!python/tuple [29, 27] + - !!python/tuple [27, 29] + - !!python/tuple [14, 24] + - !!python/tuple [4, 10] + - !!python/tuple [5, 1] + - !!python/tuple [31, 18] + - !!python/tuple [30, 23] + - !!python/tuple [27, 0] + - !!python/tuple [31, 13] + - !!python/tuple [8, 7] + - !!python/tuple [31, 30] + - !!python/tuple [19, 20] + - !!python/tuple [23, 23] + - !!python/tuple [19, 2] + - !!python/tuple [21, 24] + - !!python/tuple [21, 28] + - !!python/tuple [3, 3] + - !!python/tuple [8, 22] + - !!python/tuple [22, 19] + - !!python/tuple [28, 24] + - !!python/tuple [31, 12] + - !!python/tuple [3, 20] + - !!python/tuple [18, 31] + - !!python/tuple [25, 11] + - !!python/tuple [10, 6] + - !!python/tuple [29, 24] + - !!python/tuple [5, 18] + - !!python/tuple [10, 8] + - !!python/tuple [10, 5] + - !!python/tuple [3, 5] + - !!python/tuple [28, 3] + - !!python/tuple [24, 5] + - !!python/tuple [7, 0] + - !!python/tuple [1, 13] + - !!python/tuple [25, 8] + - !!python/tuple [31, 6] + - !!python/tuple [1, 23] + - !!python/tuple [6, 28] + - !!python/tuple [6, 16] + - !!python/tuple [7, 24] + - !!python/tuple [29, 4] + - !!python/tuple [25, 23] + - !!python/tuple [31, 2] + - !!python/tuple [26, 27] + - !!python/tuple [12, 26] + - !!python/tuple [15, 2] + - !!python/tuple [23, 14] + - !!python/tuple [31, 31] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex95.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex95.yaml new file mode 100644 index 0000000..4188ac0 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex95.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [14, 5] + name: agent0 + start: [2, 19] +- goal: [9, 25] + name: agent1 + start: [26, 31] +- goal: [25, 7] + name: agent2 + start: [31, 26] +- goal: [19, 17] + name: agent3 + start: [22, 6] +- goal: [5, 29] + name: agent4 + start: [22, 17] +- goal: [12, 22] + name: agent5 + start: [5, 18] +- goal: [7, 3] + name: agent6 + start: [4, 13] +- goal: [19, 11] + name: agent7 + start: [17, 21] +- goal: [16, 3] + name: agent8 + start: [31, 4] +- goal: [3, 30] + name: agent9 + start: [16, 21] +- goal: [14, 25] + name: agent10 + start: [22, 4] +- goal: [9, 27] + name: agent11 + start: [23, 9] +- goal: [2, 27] + name: agent12 + start: [18, 25] +- goal: [30, 14] + name: agent13 + start: [9, 15] +- goal: [20, 24] + name: agent14 + start: [12, 4] +- goal: [21, 25] + name: agent15 + start: [29, 17] +- goal: [9, 26] + name: agent16 + start: [9, 22] +- goal: [25, 27] + name: agent17 + start: [7, 13] +- goal: [3, 23] + name: agent18 + start: [4, 30] +- goal: [30, 0] + name: agent19 + start: [23, 6] +- goal: [11, 22] + name: agent20 + start: [13, 15] +- goal: [8, 22] + name: agent21 + start: [20, 21] +- goal: [4, 25] + name: agent22 + start: [28, 23] +- goal: [8, 26] + name: agent23 + start: [9, 8] +- goal: [5, 25] + name: agent24 + start: [26, 5] +- goal: [23, 3] + name: agent25 + start: [17, 19] +- goal: [0, 14] + name: agent26 + start: [13, 9] +- goal: [1, 17] + name: agent27 + start: [3, 5] +- goal: [7, 15] + name: agent28 + start: [16, 0] +- goal: [4, 28] + name: agent29 + start: [17, 6] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [29, 3] + - !!python/tuple [22, 12] + - !!python/tuple [22, 26] + - !!python/tuple [2, 21] + - !!python/tuple [17, 7] + - !!python/tuple [22, 24] + - !!python/tuple [16, 26] + - !!python/tuple [30, 6] + - !!python/tuple [4, 10] + - !!python/tuple [28, 26] + - !!python/tuple [11, 15] + - !!python/tuple [21, 0] + - !!python/tuple [5, 11] + - !!python/tuple [2, 23] + - !!python/tuple [21, 23] + - !!python/tuple [19, 7] + - !!python/tuple [12, 15] + - !!python/tuple [17, 23] + - !!python/tuple [20, 27] + - !!python/tuple [0, 10] + - !!python/tuple [27, 25] + - !!python/tuple [0, 4] + - !!python/tuple [25, 10] + - !!python/tuple [27, 2] + - !!python/tuple [15, 0] + - !!python/tuple [13, 31] + - !!python/tuple [20, 14] + - !!python/tuple [25, 4] + - !!python/tuple [1, 29] + - !!python/tuple [6, 2] + - !!python/tuple [13, 29] + - !!python/tuple [27, 6] + - !!python/tuple [28, 19] + - !!python/tuple [3, 18] + - !!python/tuple [10, 3] + - !!python/tuple [29, 18] + - !!python/tuple [27, 19] + - !!python/tuple [21, 15] + - !!python/tuple [31, 14] + - !!python/tuple [21, 22] + - !!python/tuple [2, 18] + - !!python/tuple [28, 0] + - !!python/tuple [13, 21] + - 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!!python/tuple [31, 24] + - !!python/tuple [17, 20] + - !!python/tuple [0, 31] + - !!python/tuple [12, 6] + - !!python/tuple [22, 8] + - !!python/tuple [12, 30] + - !!python/tuple [7, 6] + - !!python/tuple [31, 3] + - !!python/tuple [18, 29] + - !!python/tuple [30, 5] + - !!python/tuple [30, 31] + - !!python/tuple [1, 3] + - !!python/tuple [23, 12] + - !!python/tuple [12, 2] + - !!python/tuple [15, 18] + - !!python/tuple [13, 22] + - !!python/tuple [2, 28] + - !!python/tuple [27, 12] + - !!python/tuple [8, 24] + - !!python/tuple [15, 19] + - !!python/tuple [18, 10] + - !!python/tuple [23, 1] + - !!python/tuple [18, 4] + - !!python/tuple [30, 20] + - !!python/tuple [16, 13] + - !!python/tuple [19, 3] + - !!python/tuple [30, 3] + - !!python/tuple [25, 14] + - !!python/tuple [26, 17] + - !!python/tuple [6, 16] + - !!python/tuple [31, 17] + - !!python/tuple [0, 11] + - !!python/tuple [9, 0] + - !!python/tuple [25, 5] + - !!python/tuple [16, 16] + - !!python/tuple [31, 13] + - !!python/tuple [6, 24] + - !!python/tuple [7, 28] + - !!python/tuple [7, 18] + - !!python/tuple [14, 20] + - !!python/tuple [23, 19] + - !!python/tuple [11, 23] + - !!python/tuple [18, 1] + - !!python/tuple [28, 31] + - !!python/tuple [23, 7] + - !!python/tuple [15, 2] + - !!python/tuple [21, 14] + - !!python/tuple [2, 20] + - !!python/tuple [24, 30] + - !!python/tuple [24, 25] + - !!python/tuple [2, 22] + - !!python/tuple [4, 21] + - !!python/tuple [11, 7] + - !!python/tuple [26, 12] + - !!python/tuple [19, 18] + - !!python/tuple [16, 19] + - !!python/tuple [21, 4] + - !!python/tuple [1, 25] + - !!python/tuple [25, 30] + - !!python/tuple [17, 29] + - !!python/tuple [22, 28] + - !!python/tuple [0, 15] + - !!python/tuple [3, 6] + - !!python/tuple [8, 6] + - !!python/tuple [6, 11] + - !!python/tuple [25, 19] + - !!python/tuple [10, 30] + - !!python/tuple [23, 0] + - !!python/tuple [29, 30] + - !!python/tuple [18, 6] + - !!python/tuple [26, 29] + - !!python/tuple [27, 13] + - !!python/tuple [31, 19] + - !!python/tuple [4, 11] + - !!python/tuple [23, 11] + - !!python/tuple [30, 23] + - !!python/tuple [7, 2] + - !!python/tuple [11, 16] + - !!python/tuple [1, 5] + - !!python/tuple [9, 20] + - !!python/tuple [30, 4] + - !!python/tuple [1, 15] + - !!python/tuple [28, 28] + - !!python/tuple [25, 18] + - !!python/tuple [10, 13] + - !!python/tuple [6, 29] + - !!python/tuple [21, 3] + - !!python/tuple [25, 28] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex96.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex96.yaml new file mode 100644 index 0000000..aa0091a --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex96.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [30, 10] + name: agent0 + start: [25, 28] +- goal: [20, 28] + name: agent1 + start: [8, 25] +- goal: [5, 30] + name: agent2 + start: [19, 2] +- goal: [18, 23] + name: agent3 + start: [2, 30] +- goal: [23, 22] + name: agent4 + start: [5, 15] +- goal: [1, 29] + name: agent5 + start: [21, 2] +- goal: [3, 13] + name: agent6 + start: [1, 13] +- goal: [28, 24] + name: agent7 + start: [7, 3] +- goal: [6, 3] + name: agent8 + start: [17, 13] +- goal: [3, 29] + name: agent9 + start: [18, 21] +- goal: [14, 22] + name: agent10 + start: [18, 7] +- goal: [25, 15] + name: agent11 + start: [24, 27] +- goal: [26, 11] + name: agent12 + start: [7, 20] +- goal: [21, 7] + name: agent13 + start: [17, 30] +- goal: [3, 18] + name: agent14 + start: [10, 8] +- goal: [26, 6] + name: agent15 + start: [16, 8] +- goal: [13, 24] + name: agent16 + start: [4, 8] +- goal: [30, 13] + name: agent17 + start: [21, 9] +- goal: [1, 28] + name: agent18 + start: [0, 4] +- goal: [21, 22] + name: agent19 + start: [8, 24] +- goal: [18, 10] + name: agent20 + start: [30, 4] +- goal: [17, 16] + name: agent21 + start: [31, 23] +- goal: [1, 5] + name: agent22 + start: [24, 30] +- goal: [14, 27] + name: agent23 + start: [30, 24] +- goal: [14, 18] + name: agent24 + start: [21, 13] +- goal: [20, 21] + name: agent25 + start: [11, 25] +- goal: [25, 11] + name: agent26 + start: [10, 15] +- goal: [1, 13] + name: agent27 + start: [1, 18] +- goal: [18, 17] + name: agent28 + start: [27, 18] +- goal: [10, 13] + name: agent29 + start: [25, 7] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [9, 5] + - !!python/tuple [30, 19] + - !!python/tuple [21, 25] + - !!python/tuple [20, 18] + - !!python/tuple [14, 19] + - !!python/tuple [28, 29] + - !!python/tuple [5, 7] + - !!python/tuple [10, 24] + - !!python/tuple [8, 13] + - !!python/tuple [14, 20] + - !!python/tuple [29, 16] + - !!python/tuple [16, 28] + - !!python/tuple [27, 31] + - !!python/tuple [29, 29] + - !!python/tuple [2, 2] + - !!python/tuple [2, 25] + - !!python/tuple [3, 17] + - !!python/tuple [19, 18] + - !!python/tuple [25, 21] + - !!python/tuple [16, 29] + - !!python/tuple [22, 0] + - !!python/tuple [4, 4] + - !!python/tuple [4, 23] + - !!python/tuple [24, 17] + - !!python/tuple [2, 22] + - !!python/tuple [0, 23] + - !!python/tuple [21, 23] + - !!python/tuple [26, 25] + - !!python/tuple [12, 10] + - !!python/tuple [24, 16] + - !!python/tuple [28, 17] + - !!python/tuple [13, 1] + - !!python/tuple [28, 1] + - !!python/tuple [15, 23] + - !!python/tuple [23, 2] + - !!python/tuple [28, 15] + - !!python/tuple [27, 26] + - !!python/tuple [31, 15] + - !!python/tuple [26, 7] + - !!python/tuple [5, 1] + - !!python/tuple [7, 14] + - !!python/tuple [3, 26] + - !!python/tuple [14, 1] + - !!python/tuple [19, 11] + - !!python/tuple [0, 16] + - !!python/tuple [20, 14] + - !!python/tuple [19, 24] + - !!python/tuple [29, 26] + - !!python/tuple [25, 1] + - !!python/tuple [28, 25] + - !!python/tuple [20, 27] + - !!python/tuple [19, 4] + - !!python/tuple [1, 16] + - !!python/tuple [11, 22] + - !!python/tuple [18, 15] + - !!python/tuple [7, 22] + - !!python/tuple [13, 19] + - !!python/tuple [20, 16] + - !!python/tuple [8, 6] + - !!python/tuple [20, 22] + - !!python/tuple [15, 25] + - !!python/tuple [25, 18] + - !!python/tuple [21, 15] + - !!python/tuple [27, 11] + - !!python/tuple [19, 25] + - !!python/tuple [9, 21] + - !!python/tuple [28, 2] + - !!python/tuple [6, 24] + - !!python/tuple [15, 13] + - !!python/tuple [17, 9] + - !!python/tuple [3, 0] + - !!python/tuple [28, 31] + - !!python/tuple [3, 24] + - !!python/tuple [16, 22] + - !!python/tuple [8, 3] + - !!python/tuple [1, 10] + - !!python/tuple [25, 23] + - !!python/tuple [10, 22] + - !!python/tuple [12, 1] + - !!python/tuple [28, 19] + - !!python/tuple [24, 25] + - !!python/tuple [10, 5] + - !!python/tuple [5, 14] + - !!python/tuple [26, 28] + - !!python/tuple [20, 0] + - !!python/tuple [0, 5] + - !!python/tuple [3, 31] + - !!python/tuple [14, 28] + - !!python/tuple [8, 19] + - !!python/tuple [7, 6] + - !!python/tuple [10, 11] + - !!python/tuple [6, 29] + - !!python/tuple [1, 3] + - !!python/tuple [2, 7] + - !!python/tuple [17, 24] + - !!python/tuple [9, 20] + - !!python/tuple [6, 17] + - !!python/tuple [12, 19] + - !!python/tuple [12, 20] + - !!python/tuple [19, 17] + - !!python/tuple [23, 28] + - !!python/tuple [12, 28] + - !!python/tuple [0, 17] + - !!python/tuple [6, 16] + - !!python/tuple [30, 12] + - !!python/tuple [14, 0] + - !!python/tuple [17, 26] + - !!python/tuple [24, 22] + - !!python/tuple [12, 22] + - !!python/tuple [17, 31] + - !!python/tuple [2, 11] + - !!python/tuple [9, 29] + - !!python/tuple [29, 30] + - !!python/tuple [5, 21] + - !!python/tuple [8, 21] + - !!python/tuple [3, 16] + - !!python/tuple [9, 1] + - !!python/tuple [27, 5] + - !!python/tuple [28, 20] + - !!python/tuple [18, 0] + - !!python/tuple [28, 27] + - !!python/tuple [2, 0] + - !!python/tuple [15, 24] + - !!python/tuple [17, 25] + - !!python/tuple [9, 14] + - !!python/tuple [4, 15] + - !!python/tuple [12, 31] + - !!python/tuple [4, 12] + - !!python/tuple [11, 31] + - !!python/tuple [20, 23] + - !!python/tuple [23, 18] + - !!python/tuple [25, 31] + - !!python/tuple [7, 13] + - !!python/tuple [2, 24] + - !!python/tuple [24, 3] + - !!python/tuple [13, 13] + - !!python/tuple [24, 6] + - !!python/tuple [18, 12] + - !!python/tuple [16, 15] + - !!python/tuple [29, 17] + - !!python/tuple [5, 29] + - !!python/tuple [25, 16] + - !!python/tuple [9, 26] + - !!python/tuple [4, 21] + - !!python/tuple [22, 6] + - !!python/tuple [30, 16] + - !!python/tuple [19, 21] + - !!python/tuple [19, 0] + - !!python/tuple [19, 13] + - !!python/tuple [22, 13] + - !!python/tuple [9, 7] + - !!python/tuple [11, 14] + - !!python/tuple [15, 4] + - !!python/tuple [29, 4] + - !!python/tuple [6, 27] + - !!python/tuple [14, 30] + - !!python/tuple [4, 25] + - !!python/tuple [23, 11] + - !!python/tuple [16, 1] + - !!python/tuple [15, 31] + - !!python/tuple [24, 18] + - !!python/tuple [16, 5] + - !!python/tuple [0, 13] + - !!python/tuple [3, 28] + - !!python/tuple [5, 24] + - !!python/tuple [12, 24] + - !!python/tuple [13, 2] + - !!python/tuple [16, 2] + - !!python/tuple [11, 28] + - !!python/tuple [16, 11] + - !!python/tuple [30, 14] + - !!python/tuple [7, 29] + - !!python/tuple [15, 3] + - !!python/tuple [28, 10] + - !!python/tuple [7, 18] + - !!python/tuple [17, 4] + - !!python/tuple [9, 13] + - !!python/tuple [24, 7] + - !!python/tuple [25, 30] + - !!python/tuple [24, 14] + - !!python/tuple [16, 4] + - !!python/tuple [6, 31] + - !!python/tuple [11, 26] + - !!python/tuple [9, 30] + - !!python/tuple [12, 13] + - !!python/tuple [3, 19] + - !!python/tuple [14, 26] + - !!python/tuple [11, 7] + - !!python/tuple [11, 13] + - !!python/tuple [0, 2] + - !!python/tuple [22, 31] + - !!python/tuple [30, 17] + - !!python/tuple [1, 20] + - !!python/tuple [0, 30] + - !!python/tuple [16, 31] + - !!python/tuple [1, 19] + - !!python/tuple [23, 19] + - !!python/tuple [8, 15] + - !!python/tuple [23, 4] + - !!python/tuple [7, 24] + - !!python/tuple [20, 20] + - !!python/tuple [2, 12] + - !!python/tuple [26, 13] + - !!python/tuple [0, 14] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex97.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex97.yaml new file mode 100644 index 0000000..ff9caac --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex97.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [28, 30] + name: agent0 + start: [3, 29] +- goal: [21, 7] + name: agent1 + start: [28, 18] +- goal: [0, 2] + name: agent2 + start: [16, 9] +- goal: [28, 27] + name: agent3 + start: [28, 5] +- goal: [18, 29] + name: agent4 + start: [30, 31] +- goal: [15, 26] + name: agent5 + start: [2, 10] +- goal: [14, 23] + name: agent6 + start: [15, 22] +- goal: [18, 6] + name: agent7 + start: [12, 19] +- goal: [14, 28] + name: agent8 + start: [12, 18] +- goal: [30, 8] + name: agent9 + start: [0, 9] +- goal: [7, 10] + name: agent10 + start: [25, 10] +- goal: [30, 28] + name: agent11 + start: [28, 22] +- goal: [11, 10] + name: agent12 + start: [12, 28] +- goal: [0, 5] + name: agent13 + start: [26, 30] +- goal: [4, 24] + name: agent14 + start: [29, 23] +- goal: [8, 5] + name: agent15 + start: [8, 5] +- goal: [13, 3] + name: agent16 + start: [22, 5] +- goal: [22, 17] + name: agent17 + start: [11, 20] +- goal: [8, 1] + name: agent18 + start: [16, 11] +- goal: [26, 16] + name: agent19 + start: [31, 5] +- goal: [29, 4] + name: agent20 + start: [30, 11] +- goal: [8, 9] + name: agent21 + start: [28, 10] +- goal: [6, 13] + name: agent22 + start: [24, 25] +- goal: [16, 10] + name: agent23 + start: [0, 29] +- goal: [26, 2] + name: agent24 + start: [12, 6] +- goal: [19, 26] + name: agent25 + start: [8, 9] +- goal: [16, 12] + name: agent26 + start: [29, 19] +- goal: [8, 25] + name: agent27 + start: [0, 13] +- goal: [11, 18] + name: agent28 + start: [19, 27] +- goal: [23, 23] + name: agent29 + start: [25, 12] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [9, 22] + - !!python/tuple [14, 18] + - !!python/tuple [23, 18] + - !!python/tuple [21, 3] + - !!python/tuple [1, 30] + - !!python/tuple [27, 20] + - !!python/tuple [30, 0] + - !!python/tuple [5, 15] + - !!python/tuple [13, 13] + - !!python/tuple [16, 7] + - !!python/tuple [20, 6] + - !!python/tuple [3, 23] + - !!python/tuple [2, 16] + - !!python/tuple [5, 13] + - !!python/tuple [25, 9] + - !!python/tuple [28, 6] + - !!python/tuple [0, 19] + - !!python/tuple [4, 27] + - !!python/tuple [9, 26] + - !!python/tuple [10, 24] + - !!python/tuple [26, 14] + - !!python/tuple [22, 12] + - !!python/tuple [2, 20] + - !!python/tuple [29, 12] + - !!python/tuple [30, 17] + - !!python/tuple [18, 8] + - !!python/tuple [5, 10] + - !!python/tuple [25, 19] + - !!python/tuple [29, 16] + - !!python/tuple [23, 15] + - !!python/tuple [8, 21] + - !!python/tuple [24, 21] + - !!python/tuple [26, 6] + - !!python/tuple [30, 10] + - !!python/tuple [2, 7] + - !!python/tuple [3, 0] + - !!python/tuple [19, 23] + - !!python/tuple [11, 21] + - !!python/tuple [10, 22] + - !!python/tuple [19, 31] + - !!python/tuple [29, 6] + - !!python/tuple [7, 17] + - !!python/tuple [13, 4] + - !!python/tuple [12, 27] + - !!python/tuple [2, 28] + - !!python/tuple [31, 1] + - !!python/tuple [17, 20] + - !!python/tuple [2, 21] + - !!python/tuple [0, 4] + - !!python/tuple [13, 23] + - !!python/tuple [15, 4] + - !!python/tuple [4, 30] + - !!python/tuple [5, 23] + - !!python/tuple [0, 21] + - !!python/tuple [12, 10] + - !!python/tuple [22, 31] + - !!python/tuple [29, 5] + - !!python/tuple [23, 2] + - !!python/tuple [4, 5] + - !!python/tuple [3, 31] + - !!python/tuple [30, 6] + - !!python/tuple [11, 16] + - !!python/tuple [8, 2] + - !!python/tuple [8, 26] + - !!python/tuple [23, 22] + - !!python/tuple [21, 10] + - !!python/tuple [14, 12] + - !!python/tuple [8, 31] + - !!python/tuple [4, 2] + - !!python/tuple [17, 27] + - !!python/tuple [24, 8] + - !!python/tuple [27, 26] + - !!python/tuple [22, 13] + - !!python/tuple [7, 8] + - !!python/tuple [15, 9] + - !!python/tuple [5, 18] + - !!python/tuple [0, 31] + - !!python/tuple [31, 4] + - !!python/tuple [18, 21] + - !!python/tuple [17, 15] + - !!python/tuple [11, 24] + - !!python/tuple [12, 22] + - !!python/tuple [24, 12] + - !!python/tuple [5, 19] + - !!python/tuple [19, 3] + - !!python/tuple [0, 0] + - !!python/tuple [18, 10] + - !!python/tuple [13, 16] + - !!python/tuple [14, 4] + - !!python/tuple [31, 20] + - !!python/tuple [14, 6] + - !!python/tuple [30, 24] + - !!python/tuple [11, 17] + - !!python/tuple [6, 11] + - !!python/tuple [14, 14] + - !!python/tuple [2, 12] + - !!python/tuple [5, 21] + - !!python/tuple [3, 3] + - !!python/tuple [25, 15] + - !!python/tuple [13, 27] + - !!python/tuple [9, 21] + - !!python/tuple [15, 14] + - !!python/tuple [12, 3] + - !!python/tuple [25, 0] + - !!python/tuple [9, 17] + - !!python/tuple [9, 6] + - !!python/tuple [13, 19] + - !!python/tuple [27, 1] + - !!python/tuple [18, 2] + - !!python/tuple [3, 21] + - !!python/tuple [5, 25] + - !!python/tuple [14, 24] + - !!python/tuple [8, 16] + - !!python/tuple [28, 16] + - !!python/tuple [10, 11] + - !!python/tuple [21, 8] + - !!python/tuple [31, 25] + - !!python/tuple [13, 30] + - !!python/tuple [30, 21] + - !!python/tuple [9, 18] + - !!python/tuple [8, 3] + - !!python/tuple [17, 19] + - !!python/tuple [12, 29] + - !!python/tuple [17, 16] + - !!python/tuple [31, 0] + - !!python/tuple [29, 28] + - !!python/tuple [29, 20] + - !!python/tuple [2, 11] + - !!python/tuple [18, 12] + - !!python/tuple [31, 19] + - !!python/tuple [1, 18] + - !!python/tuple [15, 13] + - !!python/tuple [4, 31] + - !!python/tuple [19, 29] + - !!python/tuple [6, 8] + - !!python/tuple [0, 30] + - !!python/tuple [7, 31] + - !!python/tuple [23, 24] + - !!python/tuple [13, 6] + - !!python/tuple [27, 31] + - !!python/tuple [24, 18] + - !!python/tuple [23, 12] + - !!python/tuple [7, 6] + - !!python/tuple [9, 4] + - !!python/tuple [6, 22] + - !!python/tuple [17, 18] + - !!python/tuple [19, 19] + - !!python/tuple [7, 16] + - !!python/tuple [5, 30] + - !!python/tuple [26, 19] + - !!python/tuple [27, 19] + - !!python/tuple [12, 25] + - !!python/tuple [17, 13] + - !!python/tuple [18, 13] + - !!python/tuple [6, 30] + - !!python/tuple [7, 1] + - !!python/tuple [29, 9] + - !!python/tuple [24, 13] + - !!python/tuple [15, 1] + - !!python/tuple [6, 24] + - !!python/tuple [29, 26] + - !!python/tuple [11, 13] + - !!python/tuple [2, 4] + - !!python/tuple [14, 11] + - !!python/tuple [19, 8] + - !!python/tuple [14, 30] + - !!python/tuple [30, 18] + - !!python/tuple [30, 22] + - !!python/tuple [22, 22] + - !!python/tuple [30, 26] + - !!python/tuple [2, 1] + - !!python/tuple [23, 10] + - !!python/tuple [5, 5] + - !!python/tuple [7, 19] + - !!python/tuple [6, 21] + - !!python/tuple [5, 3] + - !!python/tuple [19, 28] + - !!python/tuple [16, 1] + - !!python/tuple [1, 24] + - !!python/tuple [28, 25] + - !!python/tuple [2, 25] + - !!python/tuple [28, 17] + - !!python/tuple [12, 0] + - !!python/tuple [15, 19] + - !!python/tuple [24, 29] + - !!python/tuple [31, 28] + - !!python/tuple [29, 17] + - !!python/tuple [7, 14] + - !!python/tuple [27, 4] + - !!python/tuple [18, 19] + - !!python/tuple [1, 21] + - !!python/tuple [17, 31] + - !!python/tuple [24, 0] + - !!python/tuple [14, 10] + - !!python/tuple [16, 17] + - !!python/tuple [10, 21] + - !!python/tuple [16, 16] + - !!python/tuple [0, 17] + - !!python/tuple [24, 2] + - !!python/tuple [11, 29] + - !!python/tuple [26, 1] + - !!python/tuple [14, 8] + - !!python/tuple [1, 13] + - !!python/tuple [2, 0] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex98.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex98.yaml new file mode 100644 index 0000000..07e0085 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex98.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [14, 0] + name: agent0 + start: [9, 18] +- goal: [22, 4] + name: agent1 + start: [19, 26] +- goal: [22, 3] + name: agent2 + start: [30, 9] +- goal: [22, 5] + name: agent3 + start: [5, 15] +- goal: [29, 22] + name: agent4 + start: [10, 11] +- goal: [30, 4] + name: agent5 + start: [15, 6] +- goal: [25, 30] + name: agent6 + start: [5, 25] +- goal: [24, 5] + name: agent7 + start: [15, 28] +- goal: [30, 19] + name: agent8 + start: [6, 31] +- goal: [7, 0] + name: agent9 + start: [28, 13] +- goal: [4, 30] + name: agent10 + start: [27, 20] +- goal: [27, 9] + name: agent11 + start: [15, 7] +- goal: [17, 25] + name: agent12 + start: [2, 31] +- goal: [10, 0] + name: agent13 + start: [3, 16] +- goal: [9, 16] + name: agent14 + start: [26, 1] +- goal: [1, 9] + name: agent15 + start: [6, 0] +- goal: [28, 12] + name: agent16 + start: [18, 16] +- goal: [16, 9] + name: agent17 + start: [11, 11] +- goal: [11, 6] + name: agent18 + start: [8, 8] +- goal: [24, 18] + name: agent19 + start: [19, 23] +- goal: [15, 27] + name: agent20 + start: [11, 20] +- goal: [2, 8] + name: agent21 + start: [22, 12] +- goal: [1, 1] + name: agent22 + start: [10, 23] +- goal: [17, 0] + name: agent23 + start: [6, 9] +- goal: [9, 9] + name: agent24 + start: [20, 13] +- goal: [4, 28] + name: agent25 + start: [0, 30] +- goal: [14, 27] + name: agent26 + start: [17, 21] +- goal: [27, 5] + name: agent27 + start: [7, 25] +- goal: [11, 28] + name: agent28 + start: [24, 13] +- goal: [21, 29] + name: agent29 + start: [16, 9] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [20, 26] + - !!python/tuple [5, 13] + - !!python/tuple [9, 19] + - !!python/tuple [4, 7] + - !!python/tuple [1, 19] + - !!python/tuple [21, 17] + - !!python/tuple [13, 3] + - !!python/tuple [13, 30] + - !!python/tuple [17, 13] + - !!python/tuple [10, 14] + - !!python/tuple [9, 22] + - !!python/tuple [11, 17] + - !!python/tuple [2, 6] + - !!python/tuple [29, 10] + - !!python/tuple [25, 3] + - !!python/tuple [9, 25] + - !!python/tuple [30, 17] + - !!python/tuple [12, 23] + - !!python/tuple [17, 7] + - !!python/tuple [22, 16] + - !!python/tuple [29, 29] + - !!python/tuple [13, 31] + - !!python/tuple [13, 0] + - !!python/tuple [0, 17] + - !!python/tuple [2, 20] + - !!python/tuple [19, 14] + - !!python/tuple [16, 17] + - !!python/tuple [14, 6] + - !!python/tuple [16, 7] + - !!python/tuple [26, 28] + - !!python/tuple [0, 7] + - !!python/tuple [29, 14] + - !!python/tuple [25, 6] + - !!python/tuple [8, 19] + - !!python/tuple [17, 2] + - !!python/tuple [9, 15] + - !!python/tuple [27, 7] + - !!python/tuple [7, 6] + - !!python/tuple [8, 16] + - !!python/tuple [14, 2] + - !!python/tuple [21, 6] + - !!python/tuple [27, 31] + - !!python/tuple [2, 16] + - !!python/tuple [12, 31] + - !!python/tuple [10, 4] + - !!python/tuple [21, 9] + - !!python/tuple [25, 20] + - !!python/tuple [23, 10] + - !!python/tuple [12, 8] + - !!python/tuple [20, 11] + - !!python/tuple [17, 16] + - !!python/tuple [4, 25] + - !!python/tuple [5, 16] + - !!python/tuple [24, 30] + - !!python/tuple [30, 14] + - !!python/tuple [2, 19] + - !!python/tuple [13, 18] + - !!python/tuple [14, 30] + - !!python/tuple [26, 24] + - !!python/tuple [0, 18] + - !!python/tuple [30, 16] + - !!python/tuple [9, 3] + - !!python/tuple [28, 20] + - !!python/tuple [13, 7] + - !!python/tuple [19, 0] + - !!python/tuple [2, 0] + - !!python/tuple [5, 3] + - !!python/tuple [14, 1] + - !!python/tuple [23, 27] + - !!python/tuple [21, 25] + - !!python/tuple [17, 31] + - !!python/tuple [29, 23] + - !!python/tuple [16, 15] + - !!python/tuple [17, 30] + - !!python/tuple [10, 18] + - !!python/tuple [16, 4] + - !!python/tuple [9, 17] + - !!python/tuple [20, 30] + - !!python/tuple [2, 10] + - !!python/tuple [25, 25] + - !!python/tuple [26, 11] + - !!python/tuple [13, 8] + - !!python/tuple [11, 19] + - !!python/tuple [28, 28] + - !!python/tuple [23, 6] + - !!python/tuple [1, 3] + - !!python/tuple [12, 9] + - !!python/tuple [13, 16] + - !!python/tuple [27, 18] + - !!python/tuple [14, 4] + - !!python/tuple [27, 6] + - !!python/tuple [11, 24] + - !!python/tuple [3, 23] + - !!python/tuple [20, 10] + - !!python/tuple [28, 7] + - !!python/tuple [6, 29] + - !!python/tuple [6, 28] + - !!python/tuple [23, 31] + - !!python/tuple [26, 5] + - !!python/tuple [15, 2] + - !!python/tuple [6, 22] + - !!python/tuple [23, 15] + - !!python/tuple [22, 8] + - !!python/tuple [26, 13] + - !!python/tuple [24, 12] + - !!python/tuple [22, 20] + - !!python/tuple [29, 12] + - !!python/tuple [19, 13] + - !!python/tuple [7, 24] + - !!python/tuple [13, 13] + - !!python/tuple [16, 22] + - !!python/tuple [26, 27] + - !!python/tuple [2, 30] + - !!python/tuple [23, 29] + - !!python/tuple [16, 1] + - !!python/tuple [17, 5] + - !!python/tuple [31, 29] + - !!python/tuple [8, 0] + - !!python/tuple [2, 1] + - !!python/tuple [10, 7] + - !!python/tuple [21, 27] + - !!python/tuple [18, 17] + - !!python/tuple [3, 4] + - !!python/tuple [28, 11] + - !!python/tuple [3, 26] + - !!python/tuple [19, 21] + - !!python/tuple [3, 11] + - !!python/tuple [10, 31] + - !!python/tuple [3, 14] + - !!python/tuple [31, 22] + - !!python/tuple [1, 24] + - !!python/tuple [0, 6] + - !!python/tuple [25, 5] + - !!python/tuple [8, 9] + - !!python/tuple [19, 10] + - !!python/tuple [13, 23] + - !!python/tuple [7, 31] + - !!python/tuple [18, 25] + - !!python/tuple [25, 21] + - !!python/tuple [30, 31] + - !!python/tuple [18, 0] + - !!python/tuple [29, 9] + - !!python/tuple [17, 27] + - !!python/tuple [11, 23] + - !!python/tuple [7, 23] + - !!python/tuple [3, 3] + - !!python/tuple [12, 19] + - !!python/tuple [26, 31] + - !!python/tuple [22, 25] + - !!python/tuple [6, 6] + - !!python/tuple [31, 20] + - !!python/tuple [27, 3] + - !!python/tuple [25, 1] + - !!python/tuple [19, 8] + - !!python/tuple [9, 14] + - !!python/tuple [7, 26] + - !!python/tuple [2, 9] + - !!python/tuple [15, 14] + - !!python/tuple [29, 6] + - !!python/tuple [27, 14] + - !!python/tuple [30, 2] + - !!python/tuple [11, 26] + - !!python/tuple [31, 2] + - !!python/tuple [20, 23] + - !!python/tuple [4, 4] + - !!python/tuple [0, 15] + - !!python/tuple [26, 19] + - !!python/tuple [0, 13] + - !!python/tuple [24, 1] + - !!python/tuple [3, 8] + - !!python/tuple [15, 5] + - !!python/tuple [30, 0] + - !!python/tuple [2, 17] + - !!python/tuple [11, 5] + - !!python/tuple [19, 4] + - !!python/tuple [30, 3] + - !!python/tuple [18, 14] + - !!python/tuple [5, 24] + - !!python/tuple [5, 28] + - !!python/tuple [6, 11] + - !!python/tuple [27, 17] + - !!python/tuple [8, 25] + - !!python/tuple [19, 24] + - !!python/tuple [12, 16] + - !!python/tuple [25, 18] + - !!python/tuple [20, 18] + - !!python/tuple [5, 2] + - !!python/tuple [16, 20] + - !!python/tuple [12, 25] + - !!python/tuple [28, 24] + - !!python/tuple [9, 6] + - !!python/tuple [29, 3] + - !!python/tuple [2, 23] + - !!python/tuple [3, 20] + - !!python/tuple [2, 12] + - !!python/tuple [1, 28] + - !!python/tuple [28, 19] + - !!python/tuple [30, 18] + - !!python/tuple [15, 30] + - !!python/tuple [25, 7] + - !!python/tuple [10, 27] + - !!python/tuple [10, 13] + - !!python/tuple [16, 14] + - !!python/tuple [20, 7] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex99.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex99.yaml new file mode 100644 index 0000000..82d8154 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents30_ex99.yaml @@ -0,0 +1,298 @@ +agents: +- goal: [5, 27] + name: agent0 + start: [12, 27] +- goal: [6, 2] + name: agent1 + start: [16, 8] +- goal: [29, 8] + name: agent2 + start: [8, 24] +- goal: [20, 18] + name: agent3 + start: [4, 11] +- goal: [23, 13] + name: agent4 + start: [18, 2] +- goal: [23, 4] + name: agent5 + start: [10, 5] +- goal: [15, 11] + name: agent6 + start: [2, 17] +- goal: [6, 19] + name: agent7 + start: [13, 4] +- goal: [20, 28] + name: agent8 + start: [27, 27] +- goal: [13, 9] + name: agent9 + start: [13, 6] +- goal: [15, 2] + name: agent10 + start: [21, 17] +- goal: [7, 24] + name: agent11 + start: [0, 19] +- goal: [9, 24] + name: agent12 + start: [26, 20] +- goal: [28, 18] + name: agent13 + start: [28, 6] +- goal: [18, 15] + name: agent14 + start: [7, 6] +- goal: [27, 16] + name: agent15 + start: [30, 13] +- goal: [5, 7] + name: agent16 + start: [3, 12] +- goal: [10, 0] + name: agent17 + start: [30, 3] +- goal: [31, 31] + name: agent18 + start: [25, 25] +- goal: [0, 10] + name: agent19 + start: [1, 20] +- goal: [23, 6] + name: agent20 + start: [13, 19] +- goal: [29, 15] + name: agent21 + start: [6, 24] +- goal: [26, 7] + name: agent22 + start: [5, 25] +- goal: [13, 14] + name: agent23 + start: [2, 11] +- goal: [23, 23] + name: agent24 + start: [2, 21] +- goal: [11, 12] + name: agent25 + start: [13, 9] +- goal: [13, 25] + name: agent26 + start: [12, 2] +- goal: [1, 19] + name: agent27 + start: [7, 2] +- goal: [16, 24] + name: agent28 + start: [20, 15] +- goal: [2, 28] + name: agent29 + start: [26, 4] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [21, 8] + - !!python/tuple [20, 6] + - !!python/tuple [7, 11] + - !!python/tuple [16, 13] + - !!python/tuple [0, 23] + - !!python/tuple [17, 24] + - !!python/tuple [12, 6] + - !!python/tuple [9, 5] + - !!python/tuple [6, 14] + - !!python/tuple [17, 23] + - !!python/tuple [24, 22] + - !!python/tuple [6, 10] + - !!python/tuple [15, 19] + - !!python/tuple [25, 18] + - !!python/tuple [15, 8] + - !!python/tuple [8, 25] + - !!python/tuple [10, 20] + - !!python/tuple [3, 29] + - !!python/tuple [25, 12] + - !!python/tuple [31, 28] + - !!python/tuple [27, 4] + - !!python/tuple [31, 25] + - !!python/tuple [0, 31] + - !!python/tuple [0, 4] + - !!python/tuple [8, 17] + - !!python/tuple [10, 16] + - !!python/tuple [1, 5] + - !!python/tuple [7, 7] + - !!python/tuple [20, 23] + - !!python/tuple [27, 24] + - !!python/tuple [5, 12] + - !!python/tuple [5, 21] + - !!python/tuple [1, 8] + - !!python/tuple [11, 7] + - !!python/tuple [8, 8] + - !!python/tuple [14, 4] + - !!python/tuple [6, 16] + - !!python/tuple [30, 29] + - !!python/tuple [28, 3] + - !!python/tuple [30, 17] + - !!python/tuple [24, 2] + - !!python/tuple [9, 9] + - !!python/tuple [31, 12] + - !!python/tuple [4, 14] + - !!python/tuple [0, 17] + - !!python/tuple [8, 0] + - !!python/tuple [23, 22] + - !!python/tuple [14, 25] + - !!python/tuple [15, 3] + - !!python/tuple [23, 18] + - !!python/tuple [27, 22] + - !!python/tuple [8, 4] + - !!python/tuple [16, 10] + - !!python/tuple [17, 28] + - !!python/tuple [23, 20] + - !!python/tuple [8, 2] + - !!python/tuple [24, 12] + - !!python/tuple [19, 27] + - !!python/tuple [23, 5] + - !!python/tuple [20, 22] + - !!python/tuple [1, 23] + - !!python/tuple [26, 30] + - !!python/tuple [25, 0] + - !!python/tuple [18, 14] + - !!python/tuple [22, 18] + - !!python/tuple [1, 16] + - !!python/tuple [15, 18] + - !!python/tuple [20, 25] + - !!python/tuple [15, 4] + - !!python/tuple [5, 6] + - !!python/tuple [21, 29] + - !!python/tuple [23, 7] + - !!python/tuple [20, 10] + - !!python/tuple [28, 19] + - !!python/tuple [25, 27] + - !!python/tuple [24, 4] + - !!python/tuple [18, 10] + - !!python/tuple [3, 5] + - !!python/tuple [3, 18] + - !!python/tuple [27, 29] + - !!python/tuple [15, 6] + - !!python/tuple [14, 5] + - !!python/tuple [31, 3] + - !!python/tuple [19, 24] + - !!python/tuple [30, 21] + - !!python/tuple [28, 13] + - !!python/tuple [20, 14] + - !!python/tuple [18, 8] + - !!python/tuple [23, 15] + - !!python/tuple [0, 0] + - !!python/tuple [10, 12] + - !!python/tuple [15, 16] + - !!python/tuple [7, 4] + - !!python/tuple [17, 17] + - !!python/tuple [16, 5] + - !!python/tuple [21, 7] + - !!python/tuple [21, 1] + - !!python/tuple [27, 1] + - !!python/tuple [8, 20] + - !!python/tuple [25, 4] + - !!python/tuple [17, 18] + - !!python/tuple [10, 25] + - !!python/tuple [22, 25] + - !!python/tuple [2, 2] + - !!python/tuple [3, 2] + - !!python/tuple [20, 1] + - !!python/tuple [0, 26] + - !!python/tuple [18, 19] + - !!python/tuple [29, 1] + - !!python/tuple [3, 11] + - !!python/tuple [3, 21] + - !!python/tuple [7, 22] + - !!python/tuple [10, 2] + - !!python/tuple [11, 23] + - !!python/tuple [4, 3] + - !!python/tuple [11, 31] + - !!python/tuple [28, 10] + - !!python/tuple [2, 3] + - !!python/tuple [17, 13] + - !!python/tuple [8, 19] + - !!python/tuple [24, 21] + - !!python/tuple [30, 6] + - !!python/tuple [23, 0] + - !!python/tuple [3, 19] + - !!python/tuple [19, 30] + - !!python/tuple [28, 7] + - !!python/tuple [4, 12] + - !!python/tuple [27, 12] + - !!python/tuple [19, 19] + - !!python/tuple [17, 12] + - !!python/tuple [24, 18] + - !!python/tuple [17, 19] + - !!python/tuple [16, 26] + - !!python/tuple [29, 13] + - !!python/tuple [27, 2] + - !!python/tuple [12, 31] + - !!python/tuple [19, 29] + - !!python/tuple [30, 26] + - !!python/tuple [2, 23] + - !!python/tuple [28, 9] + - !!python/tuple [19, 20] + - !!python/tuple [6, 26] + - !!python/tuple [6, 13] + - !!python/tuple [15, 25] + - !!python/tuple [15, 29] + - !!python/tuple [12, 24] + - !!python/tuple [9, 4] + - !!python/tuple [26, 1] + - !!python/tuple [31, 1] + - !!python/tuple [29, 18] + - !!python/tuple [30, 30] + - !!python/tuple [16, 4] + - !!python/tuple [1, 30] + - !!python/tuple [9, 8] + - !!python/tuple [11, 25] + - !!python/tuple [7, 1] + - !!python/tuple [16, 29] + - !!python/tuple [1, 1] + - !!python/tuple [11, 9] + - !!python/tuple [30, 25] + - !!python/tuple [13, 7] + - !!python/tuple [31, 8] + - !!python/tuple [6, 7] + - !!python/tuple [23, 30] + - !!python/tuple [5, 0] + - !!python/tuple [14, 20] + - !!python/tuple [2, 4] + - !!python/tuple [15, 12] + - !!python/tuple [19, 8] + - !!python/tuple [0, 27] + - !!python/tuple [16, 16] + - !!python/tuple [9, 2] + - !!python/tuple [21, 15] + - !!python/tuple [22, 0] + - !!python/tuple [24, 31] + - !!python/tuple [10, 24] + - !!python/tuple [16, 28] + - !!python/tuple [2, 7] + - !!python/tuple [23, 1] + - !!python/tuple [15, 7] + - !!python/tuple [28, 2] + - !!python/tuple [8, 26] + - !!python/tuple [21, 20] + - !!python/tuple [11, 15] + - !!python/tuple [8, 13] + - !!python/tuple [8, 21] + - !!python/tuple [17, 6] + - !!python/tuple [28, 12] + - !!python/tuple [27, 31] + - !!python/tuple [12, 8] + - !!python/tuple [6, 22] + - !!python/tuple [28, 22] + - !!python/tuple [18, 7] + - !!python/tuple [25, 7] + - !!python/tuple [25, 24] + - !!python/tuple [8, 12] + - !!python/tuple [25, 2] + - !!python/tuple [8, 18] + - !!python/tuple [30, 1] + - !!python/tuple [18, 24] + - !!python/tuple [10, 19] + - !!python/tuple [14, 0] + - !!python/tuple [17, 10] + - !!python/tuple [21, 11] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex0.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex0.yaml new file mode 100644 index 0000000..3e4a173 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex0.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [11, 11] + name: agent0 + start: [31, 11] +- goal: [7, 10] + name: agent1 + start: [4, 21] +- goal: [8, 15] + name: agent2 + start: [1, 13] +- goal: [21, 23] + name: agent3 + start: [11, 17] +- goal: [20, 8] + name: agent4 + start: [27, 13] +- goal: [21, 7] + name: agent5 + start: [21, 9] +- goal: [9, 10] + name: agent6 + start: [26, 11] +- goal: [27, 25] + name: agent7 + start: [17, 30] +- goal: [25, 31] + name: agent8 + start: [8, 6] +- goal: [27, 31] + name: agent9 + start: [20, 10] +- goal: [20, 23] + name: agent10 + start: [25, 5] +- goal: [14, 4] + name: agent11 + start: [22, 19] +- goal: [8, 30] + name: agent12 + start: [22, 20] +- goal: [12, 20] + name: agent13 + start: [28, 19] +- goal: [10, 21] + name: agent14 + start: [14, 14] +- goal: [29, 0] + name: agent15 + start: [0, 19] +- goal: [21, 21] + name: agent16 + start: [26, 13] +- goal: [8, 7] + name: agent17 + start: [7, 23] +- goal: [27, 26] + name: agent18 + start: [3, 4] +- goal: [11, 13] + name: agent19 + start: [10, 2] +- goal: [30, 20] + name: agent20 + start: [9, 27] +- goal: [16, 19] + name: agent21 + start: [24, 7] +- goal: [7, 9] + name: agent22 + start: [18, 30] +- goal: [15, 29] + name: agent23 + start: [17, 8] +- goal: [7, 21] + name: agent24 + start: [1, 25] +- goal: [0, 21] + name: agent25 + start: [9, 17] +- goal: [16, 26] + name: agent26 + start: [29, 8] +- goal: [16, 30] + name: agent27 + start: [0, 14] +- goal: [5, 26] + name: agent28 + start: [14, 4] +- goal: [24, 2] + name: agent29 + start: [27, 26] +- goal: [21, 31] + name: agent30 + start: [29, 3] +- goal: [20, 27] + name: agent31 + start: [17, 2] +- goal: [5, 21] + name: agent32 + start: [28, 6] +- goal: [10, 8] + name: agent33 + start: [21, 24] +- goal: [2, 20] + name: agent34 + start: [18, 28] +- goal: [23, 0] + name: agent35 + start: [12, 10] +- goal: [25, 1] + name: agent36 + start: [23, 17] +- goal: [23, 16] + name: agent37 + start: [19, 0] +- goal: [18, 23] + name: agent38 + start: [20, 30] +- goal: [12, 11] + name: agent39 + start: [3, 21] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [24, 31] + - !!python/tuple [17, 3] + - !!python/tuple [22, 24] + - !!python/tuple [13, 28] + - !!python/tuple [1, 22] + - !!python/tuple [21, 13] + - !!python/tuple [31, 4] + - !!python/tuple [29, 5] + - !!python/tuple [13, 9] + - !!python/tuple [31, 19] + - !!python/tuple [2, 24] + - !!python/tuple [15, 31] + - !!python/tuple [12, 14] + - !!python/tuple [5, 30] + - !!python/tuple [19, 4] + - !!python/tuple [18, 22] + - !!python/tuple [11, 27] + - !!python/tuple [30, 2] + - !!python/tuple [20, 6] + - !!python/tuple [11, 31] + - !!python/tuple [25, 10] + - !!python/tuple [1, 10] + - !!python/tuple [20, 7] + - !!python/tuple [21, 22] + - !!python/tuple [15, 2] + - !!python/tuple [12, 0] + - !!python/tuple [22, 13] + - !!python/tuple [17, 25] + - !!python/tuple [1, 14] + - !!python/tuple [0, 10] + - !!python/tuple [22, 9] + - !!python/tuple [20, 26] + - !!python/tuple [15, 19] + - !!python/tuple [18, 31] + - !!python/tuple [16, 7] + - !!python/tuple [13, 3] + - !!python/tuple [2, 28] + - !!python/tuple [6, 1] + - !!python/tuple [10, 23] + - !!python/tuple [31, 21] + - !!python/tuple [12, 16] + - !!python/tuple [4, 9] + - !!python/tuple [5, 9] + - !!python/tuple [30, 26] + - !!python/tuple [17, 19] + - !!python/tuple [13, 7] + - !!python/tuple [21, 17] + - !!python/tuple [7, 18] + - !!python/tuple [0, 12] + - !!python/tuple [5, 3] + - !!python/tuple [3, 0] + - !!python/tuple [15, 13] + - !!python/tuple [10, 22] + - !!python/tuple [0, 25] + - !!python/tuple [23, 21] + - !!python/tuple [19, 10] + - !!python/tuple [27, 1] + - !!python/tuple [21, 16] + - !!python/tuple [6, 14] + - !!python/tuple [30, 12] + - !!python/tuple [22, 16] + - !!python/tuple [30, 25] + - !!python/tuple [20, 12] + - !!python/tuple [5, 19] + - !!python/tuple [8, 19] + - !!python/tuple [9, 19] + - !!python/tuple [0, 16] + - !!python/tuple [13, 2] + - !!python/tuple [19, 18] + - !!python/tuple [14, 3] + - !!python/tuple [12, 15] + - !!python/tuple [19, 12] + - !!python/tuple [9, 8] + - !!python/tuple [4, 1] + - !!python/tuple [27, 3] + - !!python/tuple [16, 29] + - !!python/tuple [16, 16] + - !!python/tuple [29, 27] + - !!python/tuple [2, 30] + - !!python/tuple [25, 19] + - !!python/tuple [31, 23] + - !!python/tuple [23, 2] + - !!python/tuple [10, 14] + - !!python/tuple [23, 9] + - !!python/tuple [23, 18] + - !!python/tuple [24, 30] + - !!python/tuple [29, 31] + - !!python/tuple [13, 17] + - !!python/tuple [18, 0] + - !!python/tuple [29, 13] + - !!python/tuple [11, 14] + - !!python/tuple [8, 31] + - !!python/tuple [7, 14] + - !!python/tuple [7, 7] + - !!python/tuple [4, 17] + - !!python/tuple [2, 14] + - !!python/tuple [29, 25] + - !!python/tuple [15, 14] + - !!python/tuple [9, 4] + - !!python/tuple [29, 17] + - !!python/tuple [29, 11] + - !!python/tuple [4, 0] + - !!python/tuple [20, 28] + - !!python/tuple [20, 3] + - !!python/tuple [12, 18] + - !!python/tuple [5, 0] + - !!python/tuple [21, 8] + - !!python/tuple [28, 10] + - !!python/tuple [11, 7] + - !!python/tuple [0, 29] + - !!python/tuple [26, 31] + - !!python/tuple [11, 6] + - !!python/tuple [1, 15] + - !!python/tuple [4, 23] + - !!python/tuple [20, 5] + - !!python/tuple [2, 2] + - !!python/tuple [2, 8] + - !!python/tuple [14, 2] + - !!python/tuple [26, 2] + - !!python/tuple [0, 23] + - !!python/tuple [20, 15] + - !!python/tuple [1, 29] + - !!python/tuple [13, 29] + - !!python/tuple [0, 17] + - !!python/tuple [1, 8] + - !!python/tuple [28, 15] + - !!python/tuple [17, 4] + - !!python/tuple [3, 27] + - !!python/tuple [14, 10] + - !!python/tuple [15, 16] + - !!python/tuple [15, 27] + - !!python/tuple [26, 7] + - !!python/tuple [22, 21] + - !!python/tuple [24, 10] + - !!python/tuple [13, 11] + - !!python/tuple [4, 10] + - !!python/tuple [24, 24] + - !!python/tuple [25, 23] + - !!python/tuple [6, 30] + - !!python/tuple [4, 8] + - !!python/tuple [0, 18] + - !!python/tuple [12, 13] + - !!python/tuple [31, 20] + - !!python/tuple [1, 28] + - !!python/tuple [29, 7] + - !!python/tuple [14, 5] + - !!python/tuple [11, 29] + - !!python/tuple [31, 27] + - !!python/tuple [22, 22] + - !!python/tuple [26, 5] + - !!python/tuple [12, 22] + - !!python/tuple [29, 4] + - !!python/tuple [21, 5] + - !!python/tuple [19, 6] + - !!python/tuple [9, 9] + - !!python/tuple [2, 6] + - !!python/tuple [5, 6] + - !!python/tuple [10, 7] + - !!python/tuple [2, 10] + - !!python/tuple [5, 7] + - !!python/tuple [28, 16] + - !!python/tuple [0, 26] + - !!python/tuple [19, 28] + - !!python/tuple [14, 15] + - !!python/tuple [5, 18] + - !!python/tuple [2, 7] + - !!python/tuple [28, 4] + - !!python/tuple [19, 25] + - !!python/tuple [12, 1] + - !!python/tuple [27, 22] + - !!python/tuple [21, 6] + - !!python/tuple [0, 1] + - !!python/tuple [21, 28] + - !!python/tuple [17, 22] + - !!python/tuple [23, 3] + - !!python/tuple [7, 26] + - !!python/tuple [10, 17] + - !!python/tuple [15, 25] + - !!python/tuple [28, 23] + - !!python/tuple [23, 20] + - !!python/tuple [19, 13] + - !!python/tuple [11, 12] + - !!python/tuple [13, 10] + - !!python/tuple [9, 15] + - !!python/tuple [2, 12] + - !!python/tuple [6, 21] + - !!python/tuple [6, 15] + - !!python/tuple [6, 9] + - !!python/tuple [19, 30] + - !!python/tuple [28, 2] + - !!python/tuple [0, 31] + - !!python/tuple [24, 6] + - !!python/tuple [3, 10] + - !!python/tuple [7, 25] + - !!python/tuple [14, 23] + - !!python/tuple [17, 14] + - !!python/tuple [8, 8] + - !!python/tuple [13, 4] + - !!python/tuple [2, 18] + - !!python/tuple [27, 0] + - !!python/tuple [2, 13] + - !!python/tuple [5, 29] + - !!python/tuple [18, 9] + - !!python/tuple [31, 8] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex1.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex1.yaml new file mode 100644 index 0000000..b2f39c1 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex1.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [28, 3] + name: agent0 + start: [0, 11] +- goal: [12, 17] + name: agent1 + start: [31, 19] +- goal: [4, 5] + name: agent2 + start: [17, 13] +- goal: [28, 6] + name: agent3 + start: [26, 8] +- goal: [7, 17] + name: agent4 + start: [0, 24] +- goal: [9, 18] + name: agent5 + start: [8, 14] +- goal: [14, 23] + name: agent6 + start: [20, 11] +- goal: [3, 20] + name: agent7 + start: [20, 17] +- goal: [19, 26] + name: agent8 + start: [4, 21] +- goal: [27, 27] + name: agent9 + start: [30, 14] +- goal: [13, 3] + name: agent10 + start: [2, 21] +- goal: [26, 26] + name: agent11 + start: [14, 29] +- goal: [14, 1] + name: agent12 + start: [24, 30] +- goal: [15, 23] + name: agent13 + start: [10, 2] +- goal: [18, 29] + name: agent14 + start: [2, 19] +- goal: [4, 20] + name: agent15 + start: [25, 26] +- goal: [11, 20] + name: agent16 + start: [7, 28] +- goal: [0, 22] + name: agent17 + start: [1, 12] +- goal: [23, 20] + name: agent18 + start: [19, 2] +- goal: [19, 9] + name: agent19 + start: [23, 31] +- goal: [2, 31] + name: agent20 + start: [23, 0] +- goal: [28, 29] + name: agent21 + start: [29, 16] +- goal: [13, 4] + name: agent22 + start: [31, 1] +- goal: [7, 30] + name: agent23 + start: [5, 20] +- goal: [31, 8] + name: agent24 + start: [27, 25] +- goal: [14, 6] + name: agent25 + start: [6, 19] +- goal: [8, 9] + name: agent26 + start: [31, 22] +- goal: [0, 24] + name: agent27 + start: [0, 17] +- goal: [13, 11] + name: agent28 + start: [10, 0] +- goal: [17, 30] + name: agent29 + start: [15, 20] +- goal: [0, 19] + name: agent30 + start: [16, 8] +- goal: [28, 9] + name: agent31 + start: [13, 2] +- goal: [14, 5] + name: agent32 + start: [5, 2] +- goal: [23, 0] + name: agent33 + start: [29, 10] +- goal: [4, 6] + name: agent34 + start: [22, 23] +- goal: [20, 0] + name: agent35 + start: [20, 4] +- goal: [0, 8] + name: agent36 + start: [26, 27] +- goal: [14, 30] + name: agent37 + start: [8, 6] +- goal: [22, 1] + name: agent38 + start: [18, 28] +- goal: [16, 15] + name: agent39 + start: [1, 6] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [27, 2] + - !!python/tuple [31, 4] + - !!python/tuple [14, 2] + - !!python/tuple [3, 7] + - !!python/tuple [20, 8] + - !!python/tuple [31, 26] + - !!python/tuple [12, 2] + - !!python/tuple [22, 2] + - !!python/tuple [21, 17] + - !!python/tuple [3, 23] + - !!python/tuple [4, 13] + - !!python/tuple [28, 20] + - !!python/tuple [18, 23] + - !!python/tuple [11, 24] + - !!python/tuple [28, 11] + - !!python/tuple [21, 7] + - !!python/tuple [17, 6] + - !!python/tuple [19, 20] + - !!python/tuple [23, 27] + - !!python/tuple [27, 30] + - !!python/tuple [9, 23] + - !!python/tuple [19, 6] + - !!python/tuple [14, 9] + - !!python/tuple [20, 25] + - !!python/tuple [4, 1] + - !!python/tuple [21, 26] + - !!python/tuple [20, 31] + - !!python/tuple [5, 21] + - !!python/tuple [2, 30] + - !!python/tuple [14, 0] + - !!python/tuple [26, 12] + - !!python/tuple [17, 3] + - !!python/tuple [7, 29] + - !!python/tuple [28, 28] + - !!python/tuple [4, 24] + - !!python/tuple [11, 11] + - !!python/tuple [8, 16] + - !!python/tuple [17, 12] + - !!python/tuple [13, 23] + - !!python/tuple [1, 9] + - !!python/tuple [25, 29] + - !!python/tuple [24, 2] + - !!python/tuple [20, 14] + - !!python/tuple [31, 6] + - !!python/tuple [15, 19] + - !!python/tuple [17, 25] + - !!python/tuple [16, 22] + - !!python/tuple [9, 17] + - !!python/tuple [19, 12] + - !!python/tuple [6, 11] + - !!python/tuple [17, 1] + - !!python/tuple [30, 31] + - !!python/tuple [7, 12] + - !!python/tuple [27, 4] + - !!python/tuple [16, 9] + - !!python/tuple [19, 23] + - !!python/tuple [21, 14] + - !!python/tuple [2, 16] + - !!python/tuple [17, 11] + - !!python/tuple [24, 16] + - !!python/tuple [28, 13] + - !!python/tuple [24, 5] + - !!python/tuple [30, 18] + - !!python/tuple [16, 24] + - !!python/tuple [16, 0] + - !!python/tuple [17, 10] + - !!python/tuple [30, 25] + - !!python/tuple [11, 25] + - !!python/tuple [29, 27] + - !!python/tuple [0, 27] + - !!python/tuple [22, 21] + - !!python/tuple [27, 24] + - !!python/tuple [21, 2] + - !!python/tuple [5, 13] + - !!python/tuple [30, 29] + - !!python/tuple [21, 6] + - !!python/tuple [25, 22] + - !!python/tuple [24, 28] + - !!python/tuple [15, 9] + - !!python/tuple [21, 30] + - !!python/tuple [1, 20] + - !!python/tuple [3, 21] + - !!python/tuple [27, 3] + - !!python/tuple [4, 2] + - !!python/tuple [12, 23] + - !!python/tuple [27, 8] + - !!python/tuple [30, 23] + - !!python/tuple [27, 31] + - !!python/tuple [27, 1] + - !!python/tuple [31, 25] + - !!python/tuple [31, 7] + - !!python/tuple [2, 20] + - !!python/tuple [16, 14] + - !!python/tuple [31, 15] + - !!python/tuple [16, 29] + - !!python/tuple [25, 30] + - !!python/tuple [31, 13] + - !!python/tuple [27, 9] + - !!python/tuple [22, 0] + - !!python/tuple [0, 7] + - !!python/tuple [24, 25] + - !!python/tuple [16, 5] + - !!python/tuple [29, 21] + - !!python/tuple [28, 14] + - !!python/tuple [1, 3] + - !!python/tuple [25, 18] + - !!python/tuple [30, 4] + - !!python/tuple [15, 4] + - !!python/tuple [26, 20] + - !!python/tuple [2, 15] + - !!python/tuple [19, 31] + - !!python/tuple [8, 28] + - !!python/tuple [30, 12] + - !!python/tuple [14, 17] + - !!python/tuple [13, 22] + - !!python/tuple [13, 16] + - !!python/tuple [5, 23] + - !!python/tuple [29, 15] + - !!python/tuple [6, 1] + - !!python/tuple [21, 31] + - !!python/tuple [19, 5] + - !!python/tuple [6, 0] + - !!python/tuple [23, 10] + - !!python/tuple [1, 13] + - !!python/tuple [19, 16] + - !!python/tuple [14, 11] + - !!python/tuple [5, 11] + - !!python/tuple [14, 12] + - !!python/tuple [28, 4] + - !!python/tuple [4, 31] + - !!python/tuple [1, 5] + - !!python/tuple [26, 31] + - !!python/tuple [13, 9] + - !!python/tuple [31, 0] + - !!python/tuple [3, 26] + - !!python/tuple [19, 27] + - !!python/tuple [10, 12] + - !!python/tuple [6, 26] + - !!python/tuple [10, 23] + - !!python/tuple [29, 7] + - !!python/tuple [22, 6] + - !!python/tuple [21, 15] + - !!python/tuple [6, 4] + - !!python/tuple [29, 11] + - !!python/tuple [22, 7] + - !!python/tuple [18, 6] + - !!python/tuple [18, 0] + - !!python/tuple [0, 14] + - !!python/tuple [23, 23] + - !!python/tuple [7, 20] + - !!python/tuple [22, 8] + - !!python/tuple [27, 16] + - !!python/tuple [11, 30] + - !!python/tuple [15, 2] + - !!python/tuple [4, 11] + - !!python/tuple [21, 12] + - !!python/tuple [22, 26] + - !!python/tuple [6, 28] + - !!python/tuple [13, 31] + - !!python/tuple [6, 27] + - !!python/tuple [9, 1] + - !!python/tuple [23, 7] + - !!python/tuple [16, 6] + - !!python/tuple [26, 21] + - !!python/tuple [21, 22] + - !!python/tuple [6, 23] + - !!python/tuple [28, 17] + - !!python/tuple [11, 14] + - !!python/tuple [25, 23] + - !!python/tuple [21, 20] + - !!python/tuple [25, 5] + - !!python/tuple [7, 26] + - !!python/tuple [5, 19] + - !!python/tuple [29, 22] + - !!python/tuple [17, 31] + - !!python/tuple [15, 22] + - !!python/tuple [21, 9] + - !!python/tuple [19, 14] + - !!python/tuple [30, 24] + - !!python/tuple [21, 18] + - !!python/tuple [10, 18] + - !!python/tuple [17, 21] + - !!python/tuple [24, 4] + - !!python/tuple [20, 21] + - !!python/tuple [19, 3] + - !!python/tuple [3, 17] + - !!python/tuple [23, 14] + - !!python/tuple [23, 29] + - !!python/tuple [15, 7] + - !!python/tuple [28, 0] + - !!python/tuple [13, 30] + - !!python/tuple [6, 2] + - !!python/tuple [18, 12] + - !!python/tuple [26, 1] + - !!python/tuple [3, 31] + - !!python/tuple [10, 29] + - !!python/tuple [11, 28] + - !!python/tuple [0, 10] + - !!python/tuple [25, 31] + - !!python/tuple [2, 3] + - !!python/tuple [3, 15] + - !!python/tuple [8, 21] + - !!python/tuple [7, 19] + - !!python/tuple [12, 11] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex10.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex10.yaml new file mode 100644 index 0000000..a5462f7 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex10.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [22, 30] + name: agent0 + start: [3, 21] +- goal: [31, 25] + name: agent1 + start: [23, 26] +- goal: [5, 29] + name: agent2 + start: [12, 4] +- goal: [26, 10] + name: agent3 + start: [1, 29] +- goal: [3, 2] + name: agent4 + start: [31, 24] +- goal: [4, 26] + name: agent5 + start: [11, 31] +- goal: [0, 10] + name: agent6 + start: [4, 17] +- goal: [31, 17] + name: agent7 + start: [15, 27] +- goal: [23, 21] + name: agent8 + start: [9, 25] +- goal: [22, 14] + name: agent9 + start: [12, 3] +- goal: [19, 19] + name: agent10 + start: [10, 16] +- goal: [12, 13] + name: agent11 + start: [30, 28] +- goal: [26, 31] + name: agent12 + start: [3, 2] +- goal: [5, 2] + name: agent13 + start: [28, 25] +- goal: [15, 10] + name: agent14 + start: [3, 4] +- goal: [28, 27] + name: agent15 + start: [5, 21] +- goal: [4, 22] + name: agent16 + start: [7, 5] +- goal: [24, 30] + name: agent17 + start: [6, 0] +- goal: [25, 30] + name: agent18 + start: [9, 5] +- goal: [25, 23] + name: agent19 + start: [19, 8] +- goal: [17, 24] + name: agent20 + start: [24, 7] +- goal: [14, 31] + name: agent21 + start: [17, 27] +- goal: [16, 26] + name: agent22 + start: [9, 4] +- goal: [2, 0] + name: agent23 + start: [8, 0] +- goal: [23, 19] + name: agent24 + start: [7, 28] +- goal: [25, 7] + name: agent25 + start: [3, 0] +- goal: [25, 24] + name: agent26 + start: [23, 20] +- goal: [24, 12] + name: agent27 + start: [2, 11] +- goal: [20, 29] + name: agent28 + start: [29, 27] +- goal: [8, 7] + name: agent29 + start: [2, 22] +- goal: [11, 11] + name: agent30 + start: [29, 4] +- goal: [20, 26] + name: agent31 + start: [26, 6] +- goal: [5, 14] + name: agent32 + start: [22, 29] +- goal: [27, 24] + name: agent33 + start: [15, 28] +- goal: [31, 24] + name: agent34 + start: [28, 24] +- goal: [4, 5] + name: agent35 + start: [2, 6] +- goal: [23, 5] + name: agent36 + start: [19, 5] +- goal: [0, 28] + name: agent37 + start: [27, 30] +- goal: [19, 23] + name: agent38 + start: [28, 30] +- goal: [18, 5] + name: agent39 + start: [16, 19] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [25, 22] + - !!python/tuple [8, 31] + - !!python/tuple [28, 11] + - !!python/tuple [17, 2] + - !!python/tuple [10, 15] + - !!python/tuple [25, 1] + - !!python/tuple [21, 8] + - !!python/tuple [5, 8] + - !!python/tuple [27, 22] + - !!python/tuple [19, 6] + - !!python/tuple [1, 8] + - !!python/tuple [26, 1] + - !!python/tuple [14, 15] + - !!python/tuple [1, 18] + - !!python/tuple [26, 8] + - !!python/tuple [24, 16] + - !!python/tuple [27, 3] + - !!python/tuple [19, 9] + - !!python/tuple [31, 1] + - !!python/tuple [10, 18] + - !!python/tuple [13, 22] + - !!python/tuple [30, 6] + - !!python/tuple [23, 1] + - !!python/tuple [7, 23] + - !!python/tuple [25, 12] + - !!python/tuple [23, 11] + - !!python/tuple [23, 22] + - !!python/tuple [22, 28] + - !!python/tuple [15, 9] + - !!python/tuple [14, 25] + - !!python/tuple [17, 23] + - !!python/tuple [27, 2] + - !!python/tuple [19, 29] + - !!python/tuple [25, 27] + - !!python/tuple [2, 9] + - !!python/tuple [3, 22] + - !!python/tuple [16, 29] + - !!python/tuple [13, 30] + - !!python/tuple [6, 3] + - !!python/tuple [1, 5] + - !!python/tuple [29, 20] + - !!python/tuple [18, 29] + - !!python/tuple [8, 15] + - !!python/tuple [8, 22] + - !!python/tuple [27, 13] + - !!python/tuple [7, 14] + - !!python/tuple [29, 17] + - !!python/tuple [5, 25] + - !!python/tuple [7, 30] + - !!python/tuple [25, 18] + - !!python/tuple [25, 26] + - !!python/tuple [17, 1] + - !!python/tuple [31, 29] + - !!python/tuple [30, 23] + - !!python/tuple [5, 28] + - !!python/tuple [11, 12] + - !!python/tuple [9, 16] + - !!python/tuple [26, 5] + - !!python/tuple [5, 0] + - !!python/tuple [23, 2] + - !!python/tuple [14, 8] + - !!python/tuple [5, 24] + - !!python/tuple [4, 15] + - !!python/tuple [23, 17] + - !!python/tuple [28, 21] + - !!python/tuple [13, 3] + - !!python/tuple [1, 3] + - !!python/tuple [11, 14] + - !!python/tuple [26, 7] + - !!python/tuple [24, 24] + - !!python/tuple [5, 12] + - !!python/tuple [27, 25] + - !!python/tuple [30, 27] + - !!python/tuple [22, 21] + - !!python/tuple [0, 0] + - !!python/tuple [25, 25] + - !!python/tuple [6, 20] + - !!python/tuple [11, 4] + - !!python/tuple [25, 6] + - !!python/tuple [21, 7] + - !!python/tuple [28, 13] + - !!python/tuple [18, 22] + - !!python/tuple [19, 14] + - !!python/tuple [5, 15] + - !!python/tuple [24, 27] + - !!python/tuple [24, 25] + - !!python/tuple [25, 14] + - !!python/tuple [12, 10] + - !!python/tuple [24, 29] + - !!python/tuple [6, 21] + - !!python/tuple [13, 8] + - !!python/tuple [30, 15] + - !!python/tuple [19, 1] + - !!python/tuple [12, 27] + - !!python/tuple [15, 20] + - !!python/tuple [26, 30] + - !!python/tuple [29, 10] + - !!python/tuple [19, 22] + - !!python/tuple [15, 22] + - !!python/tuple [14, 10] + - !!python/tuple [8, 20] + - !!python/tuple [21, 15] + - !!python/tuple [20, 25] + - !!python/tuple [1, 2] + - !!python/tuple [17, 6] + - !!python/tuple [22, 26] + - !!python/tuple [27, 14] + - !!python/tuple [16, 23] + - !!python/tuple [15, 3] + - !!python/tuple [15, 16] + - !!python/tuple [21, 21] + - !!python/tuple [3, 23] + - !!python/tuple [11, 17] + - !!python/tuple [2, 25] + - !!python/tuple [28, 23] + - !!python/tuple [4, 14] + - !!python/tuple [8, 23] + - !!python/tuple [11, 19] + - !!python/tuple [0, 9] + - !!python/tuple [3, 13] + - !!python/tuple [10, 12] + - !!python/tuple [20, 8] + - !!python/tuple [22, 31] + - !!python/tuple [31, 3] + - !!python/tuple [28, 12] + - !!python/tuple [10, 11] + - !!python/tuple [13, 0] + - !!python/tuple [2, 31] + - !!python/tuple [29, 26] + - !!python/tuple [2, 30] + - !!python/tuple [2, 8] + - !!python/tuple [22, 27] + - !!python/tuple [7, 2] + - !!python/tuple [5, 26] + - !!python/tuple [25, 20] + - !!python/tuple [14, 7] + - !!python/tuple [7, 3] + - !!python/tuple [7, 22] + - !!python/tuple [21, 14] + - !!python/tuple [9, 14] + - !!python/tuple [19, 13] + - !!python/tuple [15, 4] + - !!python/tuple [17, 15] + - !!python/tuple [18, 9] + - !!python/tuple [2, 14] + - !!python/tuple [7, 0] + - !!python/tuple [13, 27] + - !!python/tuple [2, 26] + - !!python/tuple [13, 31] + - !!python/tuple [24, 17] + - !!python/tuple [23, 9] + - !!python/tuple [22, 20] + - !!python/tuple [1, 25] + - !!python/tuple [30, 11] + - !!python/tuple [7, 10] + - !!python/tuple [22, 6] + - !!python/tuple [24, 21] + - !!python/tuple [13, 18] + - !!python/tuple [29, 16] + - !!python/tuple [6, 24] + - !!python/tuple [22, 25] + - !!python/tuple [0, 24] + - !!python/tuple [11, 27] + - !!python/tuple [12, 24] + - !!python/tuple [26, 29] + - !!python/tuple [18, 13] + - !!python/tuple [11, 29] + - !!python/tuple [30, 12] + - !!python/tuple [31, 27] + - !!python/tuple [7, 25] + - !!python/tuple [0, 3] + - !!python/tuple [8, 29] + - !!python/tuple [15, 5] + - !!python/tuple [31, 20] + - !!python/tuple [21, 11] + - !!python/tuple [12, 23] + - !!python/tuple [16, 9] + - !!python/tuple [18, 28] + - !!python/tuple [14, 26] + - !!python/tuple [5, 20] + - !!python/tuple [10, 19] + - !!python/tuple [8, 16] + - !!python/tuple [28, 7] + - !!python/tuple [21, 26] + - !!python/tuple [19, 28] + - !!python/tuple [5, 10] + - !!python/tuple [21, 31] + - !!python/tuple [18, 31] + - !!python/tuple [2, 24] + - !!python/tuple [26, 14] + - !!python/tuple [29, 2] + - !!python/tuple [15, 2] + - !!python/tuple [20, 4] + - !!python/tuple [13, 2] + - !!python/tuple [17, 30] + - !!python/tuple [12, 7] + - !!python/tuple [8, 30] + - !!python/tuple [31, 30] + - !!python/tuple [14, 13] + - !!python/tuple [2, 3] + - !!python/tuple [12, 9] + - !!python/tuple [31, 19] + - !!python/tuple [18, 30] + - !!python/tuple [8, 24] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex11.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex11.yaml new file mode 100644 index 0000000..955def4 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex11.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [13, 24] + name: agent0 + start: [3, 7] +- goal: [8, 0] + name: agent1 + start: [5, 16] +- goal: [5, 20] + name: agent2 + start: [31, 6] +- goal: [19, 31] + name: agent3 + start: [16, 7] +- goal: [29, 1] + name: agent4 + start: [24, 2] +- goal: [25, 24] + name: agent5 + start: [26, 5] +- goal: [22, 8] + name: agent6 + start: [28, 14] +- goal: [8, 11] + name: agent7 + start: [26, 7] +- goal: [2, 24] + name: agent8 + start: [4, 31] +- goal: [18, 24] + name: agent9 + start: [23, 12] +- goal: [27, 7] + name: agent10 + start: [0, 4] +- goal: [6, 19] + name: agent11 + start: [3, 19] +- goal: [20, 13] + name: agent12 + start: [30, 11] +- goal: [10, 23] + name: agent13 + start: [10, 3] +- goal: [19, 18] + name: agent14 + start: [26, 6] +- goal: [23, 6] + name: agent15 + start: [28, 5] +- goal: [6, 30] + name: agent16 + start: [18, 29] +- goal: [19, 25] + name: agent17 + start: [4, 0] +- goal: [21, 2] + name: agent18 + start: [30, 7] +- goal: [9, 5] + name: agent19 + start: [11, 15] +- goal: [14, 3] + name: agent20 + start: [8, 20] +- goal: [31, 0] + name: agent21 + start: [15, 31] +- goal: [23, 13] + name: agent22 + start: [2, 26] +- goal: [10, 2] + name: agent23 + start: [30, 20] +- goal: [1, 24] + name: agent24 + start: [19, 29] +- goal: [5, 13] + name: agent25 + start: [12, 14] +- goal: [31, 20] + name: agent26 + start: [31, 15] +- goal: [11, 14] + name: agent27 + start: [26, 11] +- goal: [12, 17] + name: agent28 + start: [12, 4] +- goal: [22, 18] + name: agent29 + start: [25, 0] +- goal: [25, 29] + name: agent30 + start: [4, 11] +- goal: [31, 3] + name: agent31 + start: [8, 27] +- goal: [18, 19] + name: agent32 + start: [30, 9] +- goal: [12, 22] + name: agent33 + start: [24, 26] +- goal: [3, 7] + name: agent34 + start: [15, 4] +- goal: [26, 15] + name: agent35 + start: [1, 13] +- goal: [14, 22] + name: agent36 + start: [22, 4] +- goal: [17, 9] + name: agent37 + start: [0, 25] +- goal: [9, 1] + name: agent38 + start: [2, 7] +- goal: [15, 28] + name: agent39 + start: [28, 20] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [1, 1] + - !!python/tuple [3, 24] + - !!python/tuple [17, 14] + - !!python/tuple [30, 1] + - !!python/tuple [10, 29] + - !!python/tuple [30, 2] + - !!python/tuple [0, 30] + - !!python/tuple [4, 17] + - !!python/tuple [12, 31] + - !!python/tuple [30, 23] + - !!python/tuple [29, 25] + - !!python/tuple [7, 31] + - !!python/tuple [24, 17] + - !!python/tuple [27, 16] + - !!python/tuple [6, 25] + - !!python/tuple [5, 28] + - !!python/tuple [26, 4] + - !!python/tuple [2, 6] + - !!python/tuple [26, 14] + - !!python/tuple [9, 30] + - !!python/tuple [27, 6] + - !!python/tuple [3, 5] + - !!python/tuple [1, 31] + - !!python/tuple [14, 28] + - !!python/tuple [28, 15] + - !!python/tuple [11, 1] + - !!python/tuple [19, 21] + - !!python/tuple [31, 24] + - !!python/tuple [17, 22] + - !!python/tuple [31, 21] + - !!python/tuple [8, 4] + - !!python/tuple [29, 14] + - !!python/tuple [15, 30] + - !!python/tuple [12, 0] + - !!python/tuple [22, 29] + - !!python/tuple [4, 5] + - !!python/tuple [23, 26] + - !!python/tuple [11, 13] + - !!python/tuple [9, 16] + - !!python/tuple [13, 2] + - !!python/tuple [21, 26] + - !!python/tuple [26, 13] + - !!python/tuple [8, 23] + - !!python/tuple [28, 8] + - !!python/tuple [29, 7] + - !!python/tuple [11, 20] + - !!python/tuple [2, 9] + - !!python/tuple [13, 26] + - !!python/tuple [8, 16] + - !!python/tuple [11, 16] + - !!python/tuple [27, 1] + - !!python/tuple [1, 21] + - !!python/tuple [9, 3] + - !!python/tuple [18, 8] + - !!python/tuple [7, 27] + - !!python/tuple [4, 14] + - !!python/tuple [23, 4] + - !!python/tuple [25, 6] + - !!python/tuple [3, 2] + - !!python/tuple [9, 20] + - !!python/tuple [13, 17] + - !!python/tuple [3, 30] + - !!python/tuple [15, 10] + - !!python/tuple [27, 29] + - !!python/tuple [9, 12] + - !!python/tuple [13, 23] + - !!python/tuple [1, 22] + - !!python/tuple [19, 15] + - !!python/tuple [1, 18] + - !!python/tuple [30, 0] + - !!python/tuple [25, 15] + - !!python/tuple [23, 25] + - !!python/tuple [8, 15] + - !!python/tuple [17, 21] + - !!python/tuple [6, 21] + - !!python/tuple [30, 29] + - !!python/tuple [24, 9] + - !!python/tuple [3, 10] + - !!python/tuple [12, 2] + - !!python/tuple [30, 21] + - !!python/tuple [18, 21] + - !!python/tuple [6, 7] + - !!python/tuple [0, 5] + - !!python/tuple [20, 30] + - !!python/tuple [12, 5] + - !!python/tuple [28, 10] + - !!python/tuple [8, 30] + - !!python/tuple [30, 28] + - !!python/tuple [13, 14] + - !!python/tuple [13, 6] + - !!python/tuple [29, 29] + - !!python/tuple [13, 31] + - !!python/tuple [30, 12] + - !!python/tuple [22, 1] + - !!python/tuple [6, 20] + - !!python/tuple [28, 0] + - !!python/tuple [31, 31] + - !!python/tuple [11, 7] + - !!python/tuple [12, 23] + - !!python/tuple [28, 26] + - !!python/tuple [30, 18] + - !!python/tuple [24, 25] + - !!python/tuple [24, 31] + - !!python/tuple [0, 29] + - !!python/tuple [26, 19] + - !!python/tuple [28, 22] + - !!python/tuple [14, 17] + - !!python/tuple [17, 11] + - !!python/tuple [14, 13] + - !!python/tuple [27, 25] + - !!python/tuple [20, 28] + - !!python/tuple [7, 28] + - !!python/tuple [4, 18] + - !!python/tuple [17, 5] + - !!python/tuple [28, 28] + - !!python/tuple [18, 14] + - !!python/tuple [28, 4] + - !!python/tuple [14, 4] + - !!python/tuple [18, 7] + - !!python/tuple [16, 10] + - !!python/tuple [24, 16] + - !!python/tuple [7, 17] + - !!python/tuple [11, 23] + - !!python/tuple [6, 12] + - !!python/tuple [22, 5] + - !!python/tuple [30, 31] + - !!python/tuple [8, 3] + - !!python/tuple [19, 5] + - !!python/tuple [17, 0] + - !!python/tuple [21, 8] + - !!python/tuple [14, 7] + - !!python/tuple [2, 10] + - !!python/tuple [22, 23] + - !!python/tuple [18, 28] + - !!python/tuple [6, 18] + - !!python/tuple [18, 9] + - !!python/tuple [4, 7] + - !!python/tuple [29, 4] + - !!python/tuple [2, 1] + - !!python/tuple [7, 4] + - !!python/tuple [9, 31] + - !!python/tuple [20, 19] + - !!python/tuple [27, 19] + - !!python/tuple [26, 25] + - !!python/tuple [6, 2] + - !!python/tuple [7, 19] + - !!python/tuple [1, 14] + - !!python/tuple [4, 24] + - !!python/tuple [23, 14] + - !!python/tuple [3, 18] + - !!python/tuple [19, 28] + - !!python/tuple [31, 7] + - !!python/tuple [9, 19] + - !!python/tuple [7, 0] + - !!python/tuple [2, 2] + - !!python/tuple [22, 15] + - !!python/tuple [7, 3] + - !!python/tuple [31, 30] + - !!python/tuple [13, 22] + - !!python/tuple [1, 30] + - !!python/tuple [16, 0] + - !!python/tuple [24, 28] + - !!python/tuple [21, 1] + - !!python/tuple [1, 26] + - !!python/tuple [20, 14] + - !!python/tuple [1, 7] + - !!python/tuple [24, 15] + - !!python/tuple [31, 12] + - !!python/tuple [29, 21] + - !!python/tuple [16, 31] + - !!python/tuple [11, 0] + - !!python/tuple [9, 23] + - !!python/tuple [20, 18] + - !!python/tuple [5, 18] + - !!python/tuple [0, 12] + - !!python/tuple [26, 0] + - !!python/tuple [3, 12] + - !!python/tuple [31, 22] + - !!python/tuple [10, 9] + - !!python/tuple [10, 1] + - !!python/tuple [20, 3] + - !!python/tuple [3, 3] + - !!python/tuple [2, 11] + - !!python/tuple [24, 3] + - !!python/tuple [0, 6] + - !!python/tuple [25, 3] + - !!python/tuple [23, 22] + - !!python/tuple [11, 11] + - !!python/tuple [26, 10] + - !!python/tuple [29, 8] + - !!python/tuple [18, 30] + - !!python/tuple [15, 2] + - !!python/tuple [28, 12] + - !!python/tuple [5, 0] + - !!python/tuple [14, 12] + - !!python/tuple [11, 10] + - !!python/tuple [16, 4] + - !!python/tuple [19, 14] + - !!python/tuple [27, 24] + - !!python/tuple [15, 6] + - !!python/tuple [5, 23] + - !!python/tuple [12, 15] + - !!python/tuple [1, 5] + - !!python/tuple [28, 23] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex12.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex12.yaml new file mode 100644 index 0000000..9bdf9f7 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex12.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [22, 12] + name: agent0 + start: [9, 8] +- goal: [8, 11] + name: agent1 + start: [22, 16] +- goal: [6, 6] + name: agent2 + start: [26, 2] +- goal: [18, 20] + name: agent3 + start: [25, 7] +- goal: [1, 12] + name: agent4 + start: [1, 16] +- goal: [15, 9] + name: agent5 + start: [0, 9] +- goal: [5, 25] + name: agent6 + start: [20, 18] +- goal: [5, 30] + name: agent7 + start: [11, 21] +- goal: [24, 16] + name: agent8 + start: [4, 9] +- goal: [9, 26] + name: agent9 + start: [2, 13] +- goal: [22, 2] + name: agent10 + start: [0, 15] +- goal: [2, 5] + name: agent11 + start: [18, 6] +- goal: [29, 12] + name: agent12 + start: [0, 11] +- goal: [6, 8] + name: agent13 + start: [18, 2] +- goal: [28, 22] + name: agent14 + start: [21, 26] +- goal: [9, 22] + name: agent15 + start: [3, 26] +- goal: [4, 28] + name: agent16 + start: [2, 25] +- goal: [30, 31] + name: agent17 + start: [20, 7] +- goal: [17, 1] + name: agent18 + start: [17, 1] +- goal: [0, 16] + name: agent19 + start: [10, 19] +- goal: [23, 4] + name: agent20 + start: [20, 5] +- goal: [28, 13] + name: agent21 + start: [12, 13] +- goal: [18, 6] + name: agent22 + start: [20, 0] +- goal: [12, 17] + name: agent23 + start: [17, 27] +- goal: [20, 7] + name: agent24 + start: [6, 17] +- goal: [15, 20] + name: agent25 + start: [7, 18] +- goal: [7, 13] + name: agent26 + start: [25, 12] +- goal: [13, 10] + name: agent27 + start: [5, 22] +- goal: [29, 29] + name: agent28 + start: [0, 8] +- goal: [10, 16] + name: agent29 + start: [4, 2] +- goal: [29, 4] + name: agent30 + start: [5, 15] +- goal: [12, 27] + name: agent31 + start: [20, 14] +- goal: [25, 31] + name: agent32 + start: [5, 29] +- goal: [0, 27] + name: agent33 + start: [9, 22] +- goal: [18, 25] + name: agent34 + start: [17, 11] +- goal: [31, 11] + name: agent35 + start: [9, 16] +- goal: [27, 12] + name: agent36 + start: [0, 19] +- goal: [10, 11] + name: agent37 + start: [12, 27] +- goal: [15, 0] + name: agent38 + start: [13, 22] +- goal: [3, 28] + name: agent39 + start: [2, 19] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [19, 3] + - !!python/tuple [22, 18] + - !!python/tuple [26, 16] + - !!python/tuple [4, 19] + - !!python/tuple [19, 14] + - !!python/tuple [14, 15] + - !!python/tuple [25, 21] + - !!python/tuple [24, 6] + - !!python/tuple [7, 20] + - !!python/tuple [23, 5] + - !!python/tuple [10, 18] + - !!python/tuple [25, 5] + - !!python/tuple [19, 22] + - !!python/tuple [21, 11] + - !!python/tuple [10, 6] + - !!python/tuple [7, 5] + - !!python/tuple [14, 9] + - !!python/tuple [11, 27] + - !!python/tuple [18, 16] + - !!python/tuple [30, 11] + - !!python/tuple [18, 21] + - !!python/tuple [7, 30] + - !!python/tuple [31, 18] + - !!python/tuple [27, 17] + - !!python/tuple [7, 23] + - !!python/tuple [26, 3] + - !!python/tuple [18, 29] + - !!python/tuple [19, 18] + - !!python/tuple [8, 29] + - !!python/tuple [13, 15] + - !!python/tuple [7, 27] + - !!python/tuple [6, 9] + - !!python/tuple [24, 8] + - !!python/tuple [14, 20] + - !!python/tuple [14, 7] + - !!python/tuple [14, 4] + - !!python/tuple [22, 4] + - !!python/tuple [6, 5] + - !!python/tuple [11, 24] + - !!python/tuple [1, 4] + - !!python/tuple [13, 0] + - !!python/tuple [0, 6] + - !!python/tuple [11, 23] + - !!python/tuple [12, 1] + - !!python/tuple [30, 15] + - !!python/tuple [26, 13] + - !!python/tuple [15, 5] + - !!python/tuple [23, 3] + - !!python/tuple [16, 26] + - !!python/tuple [28, 30] + - !!python/tuple [16, 19] + - !!python/tuple [25, 4] + - !!python/tuple [30, 8] + - !!python/tuple [22, 21] + - !!python/tuple [7, 16] + - !!python/tuple [27, 2] + - !!python/tuple [26, 0] + - !!python/tuple [27, 3] + - !!python/tuple [18, 23] + - !!python/tuple [11, 4] + - !!python/tuple [1, 19] + - !!python/tuple [20, 15] + - !!python/tuple [31, 1] + - !!python/tuple [24, 14] + - !!python/tuple [3, 8] + - !!python/tuple [25, 17] + - !!python/tuple [2, 0] + - !!python/tuple [28, 11] + - !!python/tuple [20, 8] + - !!python/tuple [29, 20] + - !!python/tuple [30, 5] + - !!python/tuple [22, 31] + - !!python/tuple [4, 13] + - !!python/tuple [0, 23] + - !!python/tuple [9, 11] + - !!python/tuple [13, 4] + - !!python/tuple [13, 21] + - !!python/tuple [18, 26] + - !!python/tuple [1, 28] + - !!python/tuple [20, 20] + - !!python/tuple [9, 30] + - !!python/tuple [9, 19] + - !!python/tuple [2, 2] + - !!python/tuple [15, 11] + - !!python/tuple [5, 18] + - !!python/tuple [0, 13] + - !!python/tuple [15, 8] + - !!python/tuple [2, 4] + - !!python/tuple [21, 0] + - !!python/tuple [11, 26] + - !!python/tuple [23, 24] + - !!python/tuple [30, 9] + - !!python/tuple [5, 4] + - !!python/tuple [20, 19] + - !!python/tuple [30, 13] + - !!python/tuple [18, 17] + - !!python/tuple [23, 31] + - !!python/tuple [1, 10] + - !!python/tuple [4, 8] + - !!python/tuple [2, 30] + - !!python/tuple [31, 30] + - !!python/tuple [12, 21] + - !!python/tuple [30, 12] + - !!python/tuple [15, 29] + - !!python/tuple [19, 21] + - !!python/tuple [17, 25] + - !!python/tuple [31, 22] + - !!python/tuple [18, 27] + - !!python/tuple [5, 24] + - !!python/tuple [8, 9] + - !!python/tuple [29, 9] + - !!python/tuple [13, 28] + - !!python/tuple [0, 18] + - !!python/tuple [1, 27] + - !!python/tuple [7, 21] + - !!python/tuple [22, 25] + - !!python/tuple [17, 5] + - !!python/tuple [11, 25] + - !!python/tuple [20, 24] + - !!python/tuple [23, 21] + - !!python/tuple [9, 17] + - !!python/tuple [19, 6] + - !!python/tuple [31, 10] + - !!python/tuple [25, 19] + - !!python/tuple [17, 30] + - !!python/tuple [26, 8] + - !!python/tuple [24, 15] + - !!python/tuple [5, 13] + - !!python/tuple [30, 16] + - !!python/tuple [13, 29] + - !!python/tuple [18, 30] + - !!python/tuple [25, 9] + - !!python/tuple [31, 20] + - !!python/tuple [10, 3] + - !!python/tuple [9, 3] + - !!python/tuple [10, 2] + - !!python/tuple [2, 18] + - !!python/tuple [4, 27] + - !!python/tuple [4, 23] + - !!python/tuple [6, 4] + - !!python/tuple [22, 11] + - !!python/tuple [19, 24] + - !!python/tuple [27, 29] + - !!python/tuple [23, 30] + - !!python/tuple [21, 7] + - !!python/tuple [29, 2] + - !!python/tuple [6, 28] + - !!python/tuple [12, 18] + - !!python/tuple [28, 16] + - !!python/tuple [2, 16] + - !!python/tuple [30, 26] + - !!python/tuple [3, 27] + - !!python/tuple [30, 19] + - !!python/tuple [13, 13] + - !!python/tuple [23, 22] + - !!python/tuple [28, 1] + - !!python/tuple [3, 13] + - !!python/tuple [9, 21] + - !!python/tuple [4, 3] + - !!python/tuple [26, 25] + - !!python/tuple [5, 23] + - !!python/tuple [19, 9] + - !!python/tuple [23, 6] + - !!python/tuple [21, 17] + - !!python/tuple [22, 26] + - !!python/tuple [22, 23] + - !!python/tuple [4, 15] + - !!python/tuple [13, 16] + - !!python/tuple [17, 21] + - !!python/tuple [1, 18] + - !!python/tuple [15, 18] + - !!python/tuple [6, 19] + - !!python/tuple [19, 15] + - !!python/tuple [5, 12] + - !!python/tuple [11, 10] + - !!python/tuple [29, 13] + - !!python/tuple [21, 15] + - !!python/tuple [10, 21] + - !!python/tuple [21, 3] + - !!python/tuple [8, 12] + - !!python/tuple [17, 0] + - !!python/tuple [27, 13] + - !!python/tuple [2, 20] + - !!python/tuple [21, 21] + - !!python/tuple [15, 17] + - !!python/tuple [0, 21] + - !!python/tuple [18, 24] + - !!python/tuple [22, 8] + - !!python/tuple [14, 3] + - !!python/tuple [23, 28] + - !!python/tuple [10, 23] + - !!python/tuple [6, 13] + - !!python/tuple [14, 27] + - !!python/tuple [20, 9] + - !!python/tuple [23, 27] + - !!python/tuple [8, 3] + - !!python/tuple [8, 18] + - !!python/tuple [21, 24] + - !!python/tuple [3, 16] + - !!python/tuple [21, 31] + - !!python/tuple [16, 20] + - !!python/tuple [20, 6] + - !!python/tuple [6, 12] + - !!python/tuple [1, 0] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex13.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex13.yaml new file mode 100644 index 0000000..d219111 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex13.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [28, 18] + name: agent0 + start: [8, 31] +- goal: [28, 29] + name: agent1 + start: [13, 10] +- goal: [10, 21] + name: agent2 + start: [2, 16] +- goal: [2, 20] + name: agent3 + start: [30, 5] +- goal: [24, 17] + name: agent4 + start: [15, 21] +- goal: [21, 25] + name: agent5 + start: [6, 20] +- goal: [2, 9] + name: agent6 + start: [3, 23] +- goal: [7, 20] + name: agent7 + start: [20, 9] +- goal: [2, 8] + name: agent8 + start: [31, 12] +- goal: [10, 17] + name: agent9 + start: [19, 23] +- goal: [19, 12] + name: agent10 + start: [31, 4] +- goal: [30, 23] + name: agent11 + start: [31, 6] +- goal: [7, 19] + name: agent12 + start: [12, 25] +- goal: [22, 4] + name: agent13 + start: [24, 14] +- goal: [1, 10] + name: agent14 + start: [29, 30] +- goal: [26, 25] + name: agent15 + start: [10, 4] +- goal: [8, 10] + name: agent16 + start: [0, 11] +- goal: [14, 1] + name: agent17 + start: [28, 0] +- goal: [24, 7] + name: agent18 + start: [9, 26] +- goal: [11, 18] + name: agent19 + start: [27, 10] +- goal: [10, 28] + name: agent20 + start: [17, 5] +- goal: [2, 11] + name: agent21 + start: [8, 8] +- goal: [22, 28] + name: agent22 + start: [26, 17] +- goal: [14, 17] + name: agent23 + start: [7, 29] +- goal: [19, 1] + name: agent24 + start: [27, 18] +- goal: [23, 11] + name: agent25 + start: [26, 26] +- goal: [7, 0] + name: agent26 + start: [18, 10] +- goal: [8, 9] + name: agent27 + start: [1, 30] +- goal: [30, 31] + name: agent28 + start: [25, 26] +- goal: [9, 19] + name: agent29 + start: [13, 28] +- goal: [3, 19] + name: agent30 + start: [0, 15] +- goal: [4, 28] + name: agent31 + start: [28, 9] +- goal: [14, 23] + name: agent32 + start: [14, 11] +- goal: [25, 16] + name: agent33 + start: [14, 20] +- goal: [26, 21] + name: agent34 + start: [7, 28] +- goal: [0, 4] + name: agent35 + start: [16, 23] +- goal: [27, 3] + name: agent36 + start: [27, 7] +- goal: [27, 17] + name: agent37 + start: [10, 26] +- goal: [12, 2] + name: agent38 + start: [28, 23] +- goal: [20, 12] + name: agent39 + start: [29, 1] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [31, 24] + - !!python/tuple [0, 0] + - !!python/tuple [11, 13] + - !!python/tuple [6, 10] + - !!python/tuple [31, 1] + - !!python/tuple [9, 21] + - !!python/tuple [8, 6] + - !!python/tuple [30, 25] + - !!python/tuple [2, 5] + - !!python/tuple [28, 22] + - !!python/tuple [4, 2] + - !!python/tuple [17, 3] + - !!python/tuple [12, 29] + - !!python/tuple [27, 22] + - !!python/tuple [6, 14] + - !!python/tuple [3, 26] + - !!python/tuple [6, 21] + - !!python/tuple [9, 18] + - !!python/tuple [6, 15] + - !!python/tuple [2, 14] + - !!python/tuple [27, 12] + - !!python/tuple [24, 24] + - !!python/tuple [8, 3] + - !!python/tuple [10, 14] + - !!python/tuple [24, 10] + - !!python/tuple [25, 9] + - !!python/tuple [3, 6] + - !!python/tuple [12, 19] + - !!python/tuple [28, 6] + - !!python/tuple [22, 24] + - !!python/tuple [4, 19] + - !!python/tuple [28, 26] + - !!python/tuple [21, 21] + - !!python/tuple [23, 15] + - !!python/tuple [25, 3] + - !!python/tuple [5, 5] + - !!python/tuple [23, 7] + - !!python/tuple [23, 25] + - !!python/tuple [29, 6] + - !!python/tuple [20, 31] + - !!python/tuple [26, 24] + - !!python/tuple [19, 10] + - !!python/tuple [24, 5] + - !!python/tuple [28, 11] + - !!python/tuple [18, 3] + - !!python/tuple [15, 30] + - !!python/tuple [28, 20] + - !!python/tuple [1, 19] + - !!python/tuple [23, 17] + - !!python/tuple [29, 7] + - !!python/tuple [19, 16] + - !!python/tuple [24, 1] + - !!python/tuple [15, 31] + - !!python/tuple [9, 14] + - !!python/tuple [10, 11] + - !!python/tuple [25, 22] + - !!python/tuple [5, 6] + - !!python/tuple [18, 7] + - !!python/tuple [5, 24] + - !!python/tuple [0, 18] + - !!python/tuple [20, 0] + - !!python/tuple [28, 4] + - !!python/tuple [29, 3] + - !!python/tuple [2, 13] + - !!python/tuple [4, 9] + - !!python/tuple [28, 10] + - !!python/tuple [10, 25] + - !!python/tuple [18, 29] + - !!python/tuple [1, 21] + - !!python/tuple [26, 1] + - !!python/tuple [21, 20] + - !!python/tuple [19, 11] + - !!python/tuple [20, 4] + - !!python/tuple [1, 29] + - !!python/tuple [1, 31] + - !!python/tuple [20, 30] + - !!python/tuple [22, 8] + - !!python/tuple [25, 25] + - !!python/tuple [4, 18] + - !!python/tuple [11, 8] + - !!python/tuple [15, 6] + - !!python/tuple [27, 15] + - !!python/tuple [12, 17] + - !!python/tuple [23, 0] + - !!python/tuple [25, 21] + - !!python/tuple [5, 28] + - !!python/tuple [16, 15] + - !!python/tuple [23, 19] + - !!python/tuple [3, 2] + - !!python/tuple [21, 31] + - !!python/tuple [12, 21] + - !!python/tuple [11, 31] + - !!python/tuple [21, 16] + - !!python/tuple [31, 19] + - !!python/tuple [1, 25] + - !!python/tuple [5, 30] + - !!python/tuple [22, 0] + - !!python/tuple [16, 13] + - !!python/tuple [5, 7] + - !!python/tuple [18, 28] + - !!python/tuple [9, 4] + - !!python/tuple [16, 25] + - !!python/tuple [24, 21] + - !!python/tuple [18, 6] + - !!python/tuple [10, 24] + - !!python/tuple [2, 4] + - !!python/tuple [18, 17] + - !!python/tuple [16, 9] + - !!python/tuple [30, 18] + - !!python/tuple [17, 6] + - !!python/tuple [31, 15] + - !!python/tuple [3, 29] + - !!python/tuple [31, 18] + - !!python/tuple [22, 18] + - !!python/tuple [3, 16] + - !!python/tuple [19, 24] + - !!python/tuple [1, 9] + - !!python/tuple [9, 6] + - !!python/tuple [17, 7] + - !!python/tuple [8, 18] + - !!python/tuple [17, 1] + - !!python/tuple [10, 18] + - !!python/tuple [10, 3] + - !!python/tuple [0, 30] + - !!python/tuple [30, 30] + - !!python/tuple [12, 28] + - !!python/tuple [9, 24] + - !!python/tuple [9, 15] + - !!python/tuple [6, 4] + - !!python/tuple [9, 17] + - !!python/tuple [27, 31] + - !!python/tuple [5, 12] + - !!python/tuple [11, 29] + - !!python/tuple [5, 10] + - !!python/tuple [4, 4] + - !!python/tuple [26, 4] + - !!python/tuple [28, 28] + - !!python/tuple [19, 30] + - !!python/tuple [27, 25] + - !!python/tuple [19, 21] + - !!python/tuple [2, 17] + - !!python/tuple [14, 9] + - !!python/tuple [12, 24] + - !!python/tuple [10, 16] + - !!python/tuple [6, 25] + - !!python/tuple [7, 13] + - !!python/tuple [21, 9] + - !!python/tuple [11, 26] + - !!python/tuple [23, 29] + - !!python/tuple [11, 0] + - !!python/tuple [13, 7] + - !!python/tuple [17, 12] + - !!python/tuple [20, 7] + - !!python/tuple [17, 16] + - !!python/tuple [29, 17] + - !!python/tuple [30, 20] + - !!python/tuple [31, 25] + - !!python/tuple [13, 14] + - !!python/tuple [31, 9] + - !!python/tuple [29, 31] + - !!python/tuple [15, 17] + - !!python/tuple [6, 11] + - !!python/tuple [21, 30] + - !!python/tuple [18, 5] + - !!python/tuple [22, 12] + - !!python/tuple [7, 25] + - !!python/tuple [19, 18] + - !!python/tuple [15, 9] + - !!python/tuple [5, 21] + - !!python/tuple [13, 5] + - !!python/tuple [0, 13] + - !!python/tuple [25, 19] + - !!python/tuple [9, 12] + - !!python/tuple [19, 8] + - !!python/tuple [31, 20] + - !!python/tuple [17, 19] + - !!python/tuple [15, 18] + - !!python/tuple [17, 2] + - !!python/tuple [3, 18] + - !!python/tuple [26, 7] + - !!python/tuple [13, 1] + - !!python/tuple [15, 5] + - !!python/tuple [16, 28] + - !!python/tuple [14, 7] + - !!python/tuple [29, 15] + - !!python/tuple [4, 17] + - !!python/tuple [16, 16] + - !!python/tuple [18, 0] + - !!python/tuple [18, 24] + - !!python/tuple [22, 15] + - !!python/tuple [11, 12] + - !!python/tuple [10, 19] + - !!python/tuple [6, 5] + - !!python/tuple [2, 25] + - !!python/tuple [23, 23] + - !!python/tuple [8, 2] + - !!python/tuple [1, 1] + - !!python/tuple [30, 26] + - !!python/tuple [20, 11] + - !!python/tuple [29, 23] + - !!python/tuple [14, 2] + - !!python/tuple [0, 12] + - !!python/tuple [30, 21] + - !!python/tuple [23, 31] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex14.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex14.yaml new file mode 100644 index 0000000..0aca1f0 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex14.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [15, 16] + name: agent0 + start: [19, 2] +- goal: [17, 10] + name: agent1 + start: [28, 26] +- goal: [31, 10] + name: agent2 + start: [5, 15] +- goal: [1, 8] + name: agent3 + start: [16, 28] +- goal: [29, 19] + name: agent4 + start: [18, 20] +- goal: [8, 9] + name: agent5 + start: [16, 18] +- goal: [29, 31] + name: agent6 + start: [16, 8] +- goal: [22, 28] + name: agent7 + start: [1, 13] +- goal: [11, 4] + name: agent8 + start: [14, 30] +- goal: [21, 20] + name: agent9 + start: [28, 8] +- goal: [18, 21] + name: agent10 + start: [15, 24] +- goal: [15, 4] + name: agent11 + start: [2, 16] +- goal: [15, 24] + name: agent12 + start: [9, 15] +- goal: [27, 16] + name: agent13 + start: [0, 28] +- goal: [15, 7] + name: agent14 + start: [12, 15] +- goal: [30, 12] + name: agent15 + start: [0, 15] +- goal: [13, 10] + name: agent16 + start: [6, 27] +- goal: [26, 16] + name: agent17 + start: [21, 17] +- goal: [17, 19] + name: agent18 + start: [18, 18] +- goal: [3, 28] + name: agent19 + start: [7, 9] +- goal: [29, 2] + name: agent20 + start: [4, 10] +- goal: [14, 12] + name: agent21 + start: [17, 5] +- goal: [12, 5] + name: agent22 + start: [20, 23] +- goal: [20, 31] + name: agent23 + start: [8, 18] +- goal: [17, 27] + name: agent24 + start: [18, 3] +- goal: [23, 20] + name: agent25 + start: [2, 22] +- goal: [13, 6] + name: agent26 + start: [4, 9] +- goal: [7, 13] + name: agent27 + start: [23, 26] +- goal: [20, 17] + name: agent28 + start: [23, 23] +- goal: [8, 3] + name: agent29 + start: [12, 27] +- goal: [18, 29] + name: agent30 + start: [17, 11] +- goal: [16, 15] + name: agent31 + start: [12, 13] +- goal: [19, 29] + name: agent32 + start: [9, 9] +- goal: [8, 30] + name: agent33 + start: [23, 3] +- goal: [24, 0] + name: agent34 + start: [21, 31] +- goal: [12, 2] + name: agent35 + start: [29, 26] +- goal: [10, 21] + name: agent36 + start: [0, 3] +- goal: [14, 4] + name: agent37 + start: [29, 27] +- goal: [4, 12] + name: agent38 + start: [20, 9] +- goal: [4, 28] + name: agent39 + start: [25, 28] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [3, 1] + - !!python/tuple [31, 30] + - !!python/tuple [25, 2] + - !!python/tuple [12, 7] + - !!python/tuple [6, 24] + - !!python/tuple [30, 16] + - !!python/tuple [7, 19] + - !!python/tuple [17, 16] + - !!python/tuple [28, 27] + - !!python/tuple [27, 21] + - !!python/tuple [0, 29] + - !!python/tuple [31, 26] + - !!python/tuple [10, 1] + - !!python/tuple [28, 22] + - !!python/tuple [15, 17] + - !!python/tuple [1, 30] + - !!python/tuple [24, 26] + - !!python/tuple [13, 9] + - !!python/tuple [28, 24] + - !!python/tuple [28, 11] + - !!python/tuple [2, 5] + - !!python/tuple [10, 2] + - !!python/tuple [30, 0] + - !!python/tuple [1, 27] + - !!python/tuple [26, 11] + - !!python/tuple [5, 13] + - !!python/tuple [2, 4] + - !!python/tuple [23, 22] + - !!python/tuple [0, 21] + - !!python/tuple [4, 20] + - !!python/tuple [11, 31] + - !!python/tuple [3, 6] + - !!python/tuple [7, 15] + - !!python/tuple [11, 3] + - !!python/tuple [31, 29] + - !!python/tuple [2, 2] + - !!python/tuple [26, 24] + - !!python/tuple [0, 13] + - !!python/tuple [7, 23] + - !!python/tuple [15, 2] + - !!python/tuple [29, 28] + - !!python/tuple [28, 18] + - !!python/tuple [30, 28] + - !!python/tuple [3, 21] + - !!python/tuple [13, 12] + - !!python/tuple [30, 29] + - !!python/tuple [27, 23] + - !!python/tuple [29, 8] + - !!python/tuple [6, 23] + - !!python/tuple [22, 30] + - !!python/tuple [17, 31] + - !!python/tuple [22, 29] + - !!python/tuple [5, 22] + - !!python/tuple [19, 28] + - !!python/tuple [26, 3] + - !!python/tuple [18, 12] + - !!python/tuple [3, 5] + - !!python/tuple [9, 5] + - !!python/tuple [31, 2] + - !!python/tuple [16, 5] + - !!python/tuple [19, 8] + - !!python/tuple [22, 16] + - !!python/tuple [30, 5] + - !!python/tuple [18, 5] + - !!python/tuple [24, 10] + - !!python/tuple [1, 22] + - !!python/tuple [14, 21] + - !!python/tuple [11, 7] + - !!python/tuple [9, 26] + - !!python/tuple [9, 31] + - !!python/tuple [24, 7] + - !!python/tuple [18, 22] + - !!python/tuple [27, 30] + - !!python/tuple [8, 23] + - !!python/tuple [8, 7] + - !!python/tuple [10, 29] + - !!python/tuple [2, 10] + - !!python/tuple [20, 4] + - !!python/tuple [19, 31] + - !!python/tuple [10, 8] + - !!python/tuple [4, 6] + - !!python/tuple [7, 8] + - !!python/tuple [26, 19] + - !!python/tuple [17, 22] + - !!python/tuple [5, 16] + - !!python/tuple [4, 4] + - !!python/tuple [4, 2] + - !!python/tuple [27, 12] + - !!python/tuple [20, 6] + - !!python/tuple [16, 31] + - !!python/tuple [0, 4] + - !!python/tuple [26, 4] + - !!python/tuple [2, 8] + - !!python/tuple [8, 24] + - !!python/tuple [5, 10] + - !!python/tuple [25, 13] + - !!python/tuple [14, 24] + - !!python/tuple [13, 3] + - !!python/tuple [31, 31] + - !!python/tuple [14, 17] + - !!python/tuple [1, 10] + - !!python/tuple [16, 20] + - !!python/tuple [20, 3] + - !!python/tuple [7, 2] + - !!python/tuple [10, 0] + - !!python/tuple [22, 2] + - !!python/tuple [10, 25] + - !!python/tuple [29, 9] + - !!python/tuple [30, 26] + - !!python/tuple [19, 24] + - !!python/tuple [27, 27] + - !!python/tuple [13, 15] + - !!python/tuple [2, 30] + - !!python/tuple [8, 17] + - !!python/tuple [31, 9] + - !!python/tuple [22, 0] + - !!python/tuple [27, 18] + - !!python/tuple [29, 11] + - !!python/tuple [2, 3] + - !!python/tuple [4, 8] + - !!python/tuple [1, 20] + - !!python/tuple [9, 19] + - !!python/tuple [25, 19] + - !!python/tuple [20, 29] + - !!python/tuple [17, 26] + - !!python/tuple [26, 14] + - !!python/tuple [24, 8] + - !!python/tuple [16, 23] + - !!python/tuple [9, 18] + - !!python/tuple [20, 24] + - !!python/tuple [12, 29] + - !!python/tuple [22, 27] + - !!python/tuple [25, 30] + - !!python/tuple [17, 25] + - !!python/tuple [6, 14] + - !!python/tuple [25, 1] + - !!python/tuple [14, 0] + - !!python/tuple [13, 17] + - !!python/tuple [3, 8] + - !!python/tuple [18, 7] + - !!python/tuple [19, 6] + - !!python/tuple [26, 26] + - !!python/tuple [22, 13] + - !!python/tuple [19, 13] + - !!python/tuple [19, 20] + - !!python/tuple [26, 23] + - !!python/tuple [6, 2] + - !!python/tuple [25, 22] + - !!python/tuple [25, 16] + - !!python/tuple [3, 25] + - !!python/tuple [10, 14] + - !!python/tuple [27, 22] + - !!python/tuple [7, 1] + - !!python/tuple [9, 12] + - !!python/tuple [17, 21] + - !!python/tuple [6, 8] + - !!python/tuple [9, 11] + - !!python/tuple [22, 5] + - !!python/tuple [3, 30] + - !!python/tuple [16, 22] + - !!python/tuple [14, 31] + - !!python/tuple [6, 16] + - !!python/tuple [16, 10] + - !!python/tuple [20, 25] + - !!python/tuple [26, 25] + - !!python/tuple [20, 11] + - !!python/tuple [30, 17] + - !!python/tuple [20, 10] + - !!python/tuple [8, 15] + - !!python/tuple [14, 7] + - !!python/tuple [28, 30] + - !!python/tuple [23, 0] + - !!python/tuple [25, 6] + - !!python/tuple [5, 31] + - !!python/tuple [27, 19] + - !!python/tuple [13, 21] + - !!python/tuple [14, 22] + - !!python/tuple [12, 4] + - !!python/tuple [0, 17] + - !!python/tuple [17, 14] + - !!python/tuple [8, 27] + - !!python/tuple [9, 1] + - !!python/tuple [31, 19] + - !!python/tuple [8, 20] + - !!python/tuple [24, 1] + - !!python/tuple [5, 2] + - !!python/tuple [23, 4] + - !!python/tuple [21, 13] + - !!python/tuple [7, 22] + - !!python/tuple [31, 14] + - !!python/tuple [10, 11] + - !!python/tuple [31, 23] + - !!python/tuple [0, 23] + - !!python/tuple [2, 19] + - !!python/tuple [26, 2] + - !!python/tuple [12, 6] + - !!python/tuple [7, 30] + - !!python/tuple [14, 29] + - !!python/tuple [30, 10] + - !!python/tuple [1, 18] + - !!python/tuple [3, 2] + - !!python/tuple [22, 20] + - !!python/tuple [27, 13] + - !!python/tuple [30, 21] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex15.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex15.yaml new file mode 100644 index 0000000..acce761 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex15.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [17, 8] + name: agent0 + start: [26, 15] +- goal: [30, 19] + name: agent1 + start: [17, 15] +- goal: [24, 28] + name: agent2 + start: [28, 26] +- goal: [14, 6] + name: agent3 + start: [4, 9] +- goal: [25, 21] + name: agent4 + start: [29, 22] +- goal: [10, 30] + name: agent5 + start: [14, 10] +- goal: [16, 27] + name: agent6 + start: [28, 8] +- goal: [29, 17] + name: agent7 + start: [7, 7] +- goal: [3, 10] + name: agent8 + start: [22, 6] +- goal: [9, 29] + name: agent9 + start: [9, 10] +- goal: [11, 5] + name: agent10 + start: [25, 22] +- goal: [17, 18] + name: agent11 + start: [28, 28] +- goal: [6, 6] + name: agent12 + start: [0, 21] +- goal: [4, 20] + name: agent13 + start: [11, 28] +- goal: [11, 20] + name: agent14 + start: [14, 11] +- goal: [9, 15] + name: agent15 + start: [3, 26] +- goal: [6, 30] + name: agent16 + start: [27, 29] +- goal: [25, 8] + name: agent17 + start: [29, 19] +- goal: [4, 18] + name: agent18 + start: [7, 14] +- goal: [30, 29] + name: agent19 + start: [21, 3] +- goal: [16, 25] + name: agent20 + start: [7, 11] +- goal: [30, 7] + name: agent21 + start: [24, 22] +- goal: [23, 23] + name: agent22 + start: [17, 27] +- goal: [15, 29] + name: agent23 + start: [19, 10] +- goal: [28, 13] + name: agent24 + start: [9, 12] +- goal: [16, 17] + name: agent25 + start: [1, 21] +- goal: [16, 5] + name: agent26 + start: [10, 24] +- goal: [12, 24] + name: agent27 + start: [8, 15] +- goal: [28, 10] + name: agent28 + start: [0, 9] +- goal: [25, 31] + name: agent29 + start: [10, 30] +- goal: [29, 19] + name: agent30 + start: [17, 21] +- goal: [2, 8] + name: agent31 + start: [30, 5] +- goal: [6, 25] + name: agent32 + start: [23, 4] +- goal: [14, 2] + name: agent33 + start: [12, 28] +- goal: [30, 26] + name: agent34 + start: [3, 0] +- goal: [2, 24] + name: agent35 + start: [24, 14] +- goal: [2, 13] + name: agent36 + start: [7, 25] +- goal: [8, 29] + name: agent37 + start: [13, 29] +- goal: [23, 18] + name: agent38 + start: [18, 1] +- goal: [12, 17] + name: agent39 + start: [3, 6] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [13, 28] + - !!python/tuple [13, 8] + - !!python/tuple [22, 16] + - !!python/tuple [10, 29] + - !!python/tuple [31, 27] + - !!python/tuple [1, 6] + - !!python/tuple [7, 5] + - !!python/tuple [5, 7] + - !!python/tuple [10, 6] + - !!python/tuple [13, 11] + - !!python/tuple [17, 24] + - !!python/tuple [9, 7] + - !!python/tuple [24, 29] + - !!python/tuple [0, 14] + - !!python/tuple [30, 24] + - !!python/tuple [12, 21] + - !!python/tuple [26, 17] + - !!python/tuple [21, 23] + - !!python/tuple [11, 27] + - !!python/tuple [26, 23] + - !!python/tuple [18, 10] + - !!python/tuple [15, 30] + - !!python/tuple [5, 10] + - !!python/tuple [12, 10] + - !!python/tuple [25, 19] + - !!python/tuple [17, 31] + - !!python/tuple [20, 2] + - !!python/tuple [9, 19] + - !!python/tuple [6, 15] + - !!python/tuple [15, 16] + - !!python/tuple [17, 30] + - !!python/tuple [25, 14] + - !!python/tuple [18, 8] + - !!python/tuple [17, 10] + - !!python/tuple [23, 6] + - !!python/tuple [4, 6] + - !!python/tuple [12, 27] + - !!python/tuple [17, 12] + - !!python/tuple [22, 27] + - !!python/tuple [20, 23] + - !!python/tuple [8, 9] + - !!python/tuple [9, 8] + - !!python/tuple [20, 12] + - !!python/tuple [22, 2] + - !!python/tuple [27, 20] + - !!python/tuple [7, 29] + - !!python/tuple [15, 12] + - !!python/tuple [6, 29] + - !!python/tuple [13, 12] + - !!python/tuple [14, 7] + - !!python/tuple [8, 3] + - !!python/tuple [9, 0] + - !!python/tuple [16, 6] + - !!python/tuple [16, 26] + - !!python/tuple [20, 18] + - !!python/tuple [28, 24] + - !!python/tuple [16, 3] + - !!python/tuple [7, 31] + - !!python/tuple [1, 19] + - !!python/tuple [9, 23] + - !!python/tuple [9, 26] + - !!python/tuple [28, 20] + - !!python/tuple [10, 9] + - !!python/tuple [20, 0] + - !!python/tuple [10, 16] + - !!python/tuple [9, 24] + - !!python/tuple [29, 14] + - !!python/tuple [20, 20] + - !!python/tuple [21, 28] + - !!python/tuple [1, 27] + - !!python/tuple [15, 0] + - !!python/tuple [27, 4] + - !!python/tuple [13, 24] + - !!python/tuple [26, 9] + - !!python/tuple [21, 29] + - !!python/tuple [12, 1] + - !!python/tuple [28, 5] + - !!python/tuple [3, 9] + - !!python/tuple [7, 20] + - !!python/tuple [3, 14] + - !!python/tuple [24, 2] + - !!python/tuple [30, 31] + - !!python/tuple [10, 2] + - !!python/tuple [2, 26] + - !!python/tuple [23, 2] + - !!python/tuple [3, 1] + - !!python/tuple [11, 21] + - !!python/tuple [30, 8] + - !!python/tuple [8, 26] + - !!python/tuple [5, 21] + - !!python/tuple [26, 13] + - !!python/tuple [26, 0] + - !!python/tuple [9, 13] + - !!python/tuple [26, 20] + - !!python/tuple [30, 23] + - !!python/tuple [25, 12] + - !!python/tuple [14, 17] + - !!python/tuple [15, 1] + - !!python/tuple [29, 24] + - !!python/tuple [14, 31] + - !!python/tuple [19, 7] + - !!python/tuple [0, 7] + - !!python/tuple [30, 6] + - !!python/tuple [24, 9] + - !!python/tuple [19, 26] + - !!python/tuple [1, 11] + - !!python/tuple [23, 28] + - !!python/tuple [22, 28] + - !!python/tuple [24, 7] + - !!python/tuple [14, 30] + - !!python/tuple [26, 24] + - !!python/tuple [9, 28] + - !!python/tuple [23, 0] + - !!python/tuple [28, 0] + - !!python/tuple [30, 15] + - !!python/tuple [22, 31] + - !!python/tuple [2, 1] + - !!python/tuple [23, 14] + - !!python/tuple [13, 10] + - !!python/tuple [13, 15] + - !!python/tuple [25, 6] + - !!python/tuple [23, 24] + - !!python/tuple [24, 1] + - !!python/tuple [22, 15] + - !!python/tuple [10, 17] + - !!python/tuple [27, 22] + - !!python/tuple [20, 26] + - !!python/tuple [18, 30] + - !!python/tuple [29, 9] + - !!python/tuple [28, 4] + - !!python/tuple [6, 2] + - !!python/tuple [14, 27] + - !!python/tuple [1, 13] + - !!python/tuple [6, 1] + - !!python/tuple [2, 9] + - !!python/tuple [0, 3] + - !!python/tuple [9, 25] + - !!python/tuple [19, 22] + - !!python/tuple [19, 15] + - !!python/tuple [17, 11] + - !!python/tuple [30, 30] + - !!python/tuple [14, 19] + - !!python/tuple [3, 23] + - !!python/tuple [17, 4] + - !!python/tuple [21, 21] + - !!python/tuple [30, 10] + - !!python/tuple [5, 5] + - !!python/tuple [27, 3] + - !!python/tuple [17, 6] + - !!python/tuple [27, 9] + - !!python/tuple [2, 20] + - !!python/tuple [7, 30] + - !!python/tuple [4, 24] + - !!python/tuple [25, 30] + - !!python/tuple [4, 16] + - !!python/tuple [17, 26] + - !!python/tuple [31, 10] + - !!python/tuple [31, 19] + - !!python/tuple [11, 23] + - !!python/tuple [19, 20] + - !!python/tuple [19, 0] + - !!python/tuple [22, 1] + - !!python/tuple [3, 20] + - !!python/tuple [15, 17] + - !!python/tuple [0, 0] + - !!python/tuple [11, 11] + - !!python/tuple [9, 22] + - !!python/tuple [16, 18] + - !!python/tuple [24, 15] + - !!python/tuple [24, 18] + - !!python/tuple [0, 2] + - !!python/tuple [17, 5] + - !!python/tuple [12, 4] + - !!python/tuple [4, 8] + - !!python/tuple [4, 2] + - !!python/tuple [27, 19] + - !!python/tuple [7, 13] + - !!python/tuple [20, 8] + - !!python/tuple [23, 1] + - !!python/tuple [15, 7] + - !!python/tuple [5, 18] + - !!python/tuple [7, 4] + - !!python/tuple [21, 27] + - !!python/tuple [25, 2] + - !!python/tuple [6, 27] + - !!python/tuple [6, 20] + - !!python/tuple [22, 23] + - !!python/tuple [6, 7] + - !!python/tuple [22, 3] + - !!python/tuple [23, 29] + - !!python/tuple [8, 12] + - !!python/tuple [10, 19] + - !!python/tuple [27, 12] + - !!python/tuple [23, 21] + - !!python/tuple [20, 25] + - !!python/tuple [29, 29] + - !!python/tuple [1, 26] + - !!python/tuple [1, 12] + - !!python/tuple [8, 30] + - !!python/tuple [15, 14] + - !!python/tuple [4, 12] + - !!python/tuple [7, 27] + - !!python/tuple [8, 14] + - !!python/tuple [22, 22] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex16.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex16.yaml new file mode 100644 index 0000000..a7bfacf --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex16.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [29, 0] + name: agent0 + start: [15, 12] +- goal: [21, 28] + name: agent1 + start: [6, 23] +- goal: [27, 21] + name: agent2 + start: [6, 7] +- goal: [4, 31] + name: agent3 + start: [24, 18] +- goal: [5, 17] + name: agent4 + start: [3, 7] +- goal: [12, 10] + name: agent5 + start: [3, 15] +- goal: [15, 8] + name: agent6 + start: [19, 14] +- goal: [7, 8] + name: agent7 + start: [23, 0] +- goal: [30, 14] + name: agent8 + start: [10, 5] +- goal: [6, 9] + name: agent9 + start: [16, 21] +- goal: [23, 1] + name: agent10 + start: [15, 3] +- goal: [21, 6] + name: agent11 + start: [29, 23] +- goal: [14, 10] + name: agent12 + start: [15, 24] +- goal: [24, 10] + name: agent13 + start: [3, 18] +- goal: [8, 26] + name: agent14 + start: [28, 18] +- goal: [14, 9] + name: agent15 + start: [1, 19] +- goal: [24, 14] + name: agent16 + start: [11, 7] +- goal: [2, 29] + name: agent17 + start: [3, 1] +- goal: [3, 0] + name: agent18 + start: [3, 5] +- goal: [7, 20] + name: agent19 + start: [3, 0] +- goal: [13, 20] + name: agent20 + start: [12, 6] +- goal: [13, 8] + name: agent21 + start: [28, 13] +- goal: [31, 25] + name: agent22 + start: [22, 17] +- goal: [24, 22] + name: agent23 + start: [1, 18] +- goal: [9, 5] + name: agent24 + start: [24, 21] +- goal: [6, 10] + name: agent25 + start: [13, 18] +- goal: [25, 8] + name: agent26 + start: [14, 21] +- goal: [17, 17] + name: agent27 + start: [30, 14] +- goal: [11, 26] + name: agent28 + start: [5, 27] +- goal: [29, 31] + name: agent29 + start: [13, 27] +- goal: [26, 1] + name: agent30 + start: [13, 31] +- goal: [5, 19] + name: agent31 + start: [8, 24] +- goal: [21, 26] + name: agent32 + start: [0, 17] +- goal: [1, 10] + name: agent33 + start: [23, 23] +- goal: [31, 8] + name: agent34 + start: [28, 1] +- goal: [16, 4] + name: agent35 + start: [20, 9] +- goal: [8, 9] + name: agent36 + start: [28, 19] +- goal: [8, 14] + name: agent37 + start: [11, 27] +- goal: [22, 14] + name: agent38 + start: [28, 25] +- goal: [29, 24] + name: agent39 + start: [1, 2] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [6, 27] + - !!python/tuple [19, 31] + - !!python/tuple [9, 30] + - !!python/tuple [2, 31] + - !!python/tuple [0, 19] + - !!python/tuple [9, 10] + - !!python/tuple [9, 18] + - !!python/tuple [10, 23] + - !!python/tuple [17, 12] + - !!python/tuple [5, 30] + - !!python/tuple [31, 10] + - !!python/tuple [6, 19] + - !!python/tuple [6, 2] + - !!python/tuple [27, 15] + - !!python/tuple [26, 7] + - !!python/tuple [10, 31] + - !!python/tuple [19, 24] + - !!python/tuple [1, 13] + - !!python/tuple [9, 12] + - !!python/tuple [18, 18] + - !!python/tuple [19, 22] + - !!python/tuple [31, 20] + - !!python/tuple [12, 9] + - !!python/tuple [3, 28] + - !!python/tuple [13, 16] + - !!python/tuple [18, 23] + - !!python/tuple [7, 18] + - !!python/tuple [8, 6] + - !!python/tuple [30, 7] + - !!python/tuple [25, 27] + - !!python/tuple [30, 22] + - !!python/tuple [25, 12] + - !!python/tuple [30, 26] + - !!python/tuple [16, 22] + - !!python/tuple [13, 13] + - !!python/tuple [10, 14] + - !!python/tuple [30, 9] + - !!python/tuple [27, 26] + - !!python/tuple [7, 28] + - !!python/tuple [2, 18] + - !!python/tuple [24, 15] + - !!python/tuple [0, 6] + - !!python/tuple [24, 5] + - !!python/tuple [15, 16] + - !!python/tuple [26, 11] + - !!python/tuple [28, 22] + - !!python/tuple [7, 6] + - !!python/tuple [9, 6] + - !!python/tuple [3, 24] + - !!python/tuple [12, 8] + - !!python/tuple [15, 2] + - !!python/tuple [23, 29] + - !!python/tuple [22, 12] + - !!python/tuple [24, 25] + - !!python/tuple [8, 5] + - !!python/tuple [6, 3] + - !!python/tuple [18, 9] + - !!python/tuple [24, 4] + - !!python/tuple [26, 31] + - !!python/tuple [22, 4] + - !!python/tuple [26, 21] + - !!python/tuple [23, 20] + - !!python/tuple [20, 1] + - !!python/tuple [5, 9] + - !!python/tuple [29, 18] + - !!python/tuple [9, 23] + - !!python/tuple [12, 29] + - !!python/tuple [24, 9] + - !!python/tuple [31, 27] + - !!python/tuple [13, 15] + - !!python/tuple [4, 20] + - !!python/tuple [22, 24] + - !!python/tuple [13, 17] + - !!python/tuple [2, 2] + - !!python/tuple [23, 18] + - !!python/tuple [17, 8] + - !!python/tuple [17, 21] + - !!python/tuple [7, 9] + - !!python/tuple [28, 14] + - !!python/tuple [12, 31] + - !!python/tuple [7, 10] + - !!python/tuple [8, 4] + - !!python/tuple [30, 21] + - !!python/tuple [30, 15] + - !!python/tuple [12, 26] + - !!python/tuple [18, 16] + - !!python/tuple [10, 3] + - !!python/tuple [4, 1] + - !!python/tuple [5, 4] + - !!python/tuple [1, 24] + - !!python/tuple [12, 5] + - !!python/tuple [30, 30] + - !!python/tuple [23, 5] + - !!python/tuple [29, 5] + - !!python/tuple [26, 24] + - !!python/tuple [11, 18] + - !!python/tuple [13, 1] + - !!python/tuple [26, 18] + - !!python/tuple [23, 2] + - !!python/tuple [21, 7] + - !!python/tuple [31, 3] + - !!python/tuple [4, 4] + - !!python/tuple [23, 3] + - !!python/tuple [12, 7] + - !!python/tuple [9, 4] + - !!python/tuple [26, 25] + - !!python/tuple [9, 13] + - !!python/tuple [2, 5] + - !!python/tuple [3, 26] + - !!python/tuple [2, 27] + - !!python/tuple [30, 10] + - !!python/tuple [16, 14] + - !!python/tuple [5, 2] + - !!python/tuple [1, 3] + - !!python/tuple [28, 0] + - !!python/tuple [16, 18] + - !!python/tuple [1, 30] + - !!python/tuple [26, 15] + - !!python/tuple [27, 13] + - !!python/tuple [14, 25] + - !!python/tuple [17, 5] + - !!python/tuple [28, 6] + - !!python/tuple [11, 24] + - !!python/tuple [29, 4] + - !!python/tuple [14, 27] + - !!python/tuple [21, 17] + - !!python/tuple [10, 20] + - !!python/tuple [22, 6] + - !!python/tuple [11, 20] + - !!python/tuple [10, 25] + - !!python/tuple [31, 6] + - !!python/tuple [27, 24] + - !!python/tuple [31, 24] + - !!python/tuple [15, 15] + - !!python/tuple [12, 25] + - !!python/tuple [19, 15] + - !!python/tuple [3, 6] + - !!python/tuple [1, 14] + - !!python/tuple [16, 24] + - !!python/tuple [20, 14] + - !!python/tuple [19, 1] + - !!python/tuple [11, 6] + - !!python/tuple [31, 21] + - !!python/tuple [18, 0] + - !!python/tuple [18, 29] + - !!python/tuple [13, 7] + - !!python/tuple [19, 20] + - !!python/tuple [9, 17] + - !!python/tuple [13, 12] + - !!python/tuple [16, 11] + - !!python/tuple [11, 22] + - !!python/tuple [14, 4] + - !!python/tuple [16, 31] + - !!python/tuple [20, 28] + - !!python/tuple [18, 20] + - !!python/tuple [15, 31] + - !!python/tuple [6, 20] + - !!python/tuple [3, 14] + - !!python/tuple [27, 14] + - !!python/tuple [23, 17] + - !!python/tuple [16, 6] + - !!python/tuple [20, 12] + - !!python/tuple [7, 23] + - !!python/tuple [31, 0] + - !!python/tuple [5, 1] + - !!python/tuple [0, 26] + - !!python/tuple [10, 1] + - !!python/tuple [23, 30] + - !!python/tuple [1, 17] + - !!python/tuple [0, 8] + - !!python/tuple [24, 8] + - !!python/tuple [22, 3] + - !!python/tuple [14, 3] + - !!python/tuple [18, 19] + - !!python/tuple [27, 29] + - !!python/tuple [4, 3] + - !!python/tuple [19, 17] + - !!python/tuple [8, 2] + - !!python/tuple [21, 21] + - !!python/tuple [26, 28] + - !!python/tuple [4, 0] + - !!python/tuple [4, 2] + - !!python/tuple [13, 24] + - !!python/tuple [24, 23] + - !!python/tuple [14, 8] + - !!python/tuple [31, 1] + - !!python/tuple [18, 8] + - !!python/tuple [20, 23] + - !!python/tuple [29, 12] + - !!python/tuple [4, 26] + - !!python/tuple [10, 9] + - !!python/tuple [27, 17] + - !!python/tuple [2, 6] + - !!python/tuple [12, 18] + - !!python/tuple [12, 2] + - !!python/tuple [26, 19] + - !!python/tuple [2, 26] + - !!python/tuple [1, 20] + - !!python/tuple [25, 5] + - !!python/tuple [21, 13] + - !!python/tuple [4, 6] + - !!python/tuple [27, 10] + - !!python/tuple [13, 4] + - !!python/tuple [26, 0] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex17.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex17.yaml new file mode 100644 index 0000000..15da2c4 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex17.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [18, 12] + name: agent0 + start: [1, 15] +- goal: [19, 0] + name: agent1 + start: [20, 6] +- goal: [2, 3] + name: agent2 + start: [7, 13] +- goal: [5, 9] + name: agent3 + start: [9, 6] +- goal: [25, 7] + name: agent4 + start: [29, 24] +- goal: [31, 18] + name: agent5 + start: [14, 31] +- goal: [24, 11] + name: agent6 + start: [13, 29] +- goal: [8, 17] + name: agent7 + start: [27, 18] +- goal: [3, 31] + name: agent8 + start: [5, 12] +- goal: [9, 1] + name: agent9 + start: [17, 11] +- goal: [11, 5] + name: agent10 + start: [19, 27] +- goal: [24, 18] + name: agent11 + start: [13, 23] +- goal: [22, 10] + name: agent12 + start: [8, 21] +- goal: [14, 5] + name: agent13 + start: [1, 12] +- goal: [12, 15] + name: agent14 + start: [4, 25] +- goal: [25, 5] + name: agent15 + start: [10, 28] +- goal: [11, 1] + name: agent16 + start: [18, 29] +- goal: [26, 1] + name: agent17 + start: [14, 10] +- goal: [11, 28] + name: agent18 + start: [14, 8] +- goal: [3, 14] + name: agent19 + start: [17, 19] +- goal: [24, 20] + name: agent20 + start: [7, 28] +- goal: [20, 2] + name: agent21 + start: [6, 6] +- goal: [15, 17] + name: agent22 + start: [9, 25] +- goal: [18, 31] + name: agent23 + start: [26, 19] +- goal: [5, 28] + name: agent24 + start: [4, 11] +- goal: [2, 29] + name: agent25 + start: [30, 23] +- goal: [27, 18] + name: agent26 + start: [30, 11] +- goal: [12, 6] + name: agent27 + start: [29, 9] +- goal: [17, 11] + name: agent28 + start: [13, 26] +- goal: [16, 17] + name: agent29 + start: [14, 6] +- goal: [21, 29] + name: agent30 + start: [30, 16] +- goal: [14, 31] + name: agent31 + start: [15, 19] +- goal: [22, 5] + name: agent32 + start: [11, 0] +- goal: [12, 5] + name: agent33 + start: [15, 15] +- goal: [28, 13] + name: agent34 + start: [31, 8] +- goal: [3, 21] + name: agent35 + start: [25, 12] +- goal: [14, 18] + name: agent36 + start: [11, 9] +- goal: [22, 11] + name: agent37 + start: [12, 5] +- goal: [29, 22] + name: agent38 + start: [30, 17] +- goal: [7, 19] + name: agent39 + start: [15, 7] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [29, 1] + - !!python/tuple [18, 10] + - !!python/tuple [28, 19] + - !!python/tuple [13, 27] + - !!python/tuple [13, 15] + - !!python/tuple [0, 19] + - !!python/tuple [7, 18] + - !!python/tuple [26, 23] + - !!python/tuple [18, 0] + - !!python/tuple [13, 8] + - !!python/tuple [9, 30] + - !!python/tuple [7, 8] + - !!python/tuple [16, 12] + - !!python/tuple [4, 30] + - !!python/tuple [4, 31] + - !!python/tuple [15, 18] + - !!python/tuple [13, 28] + - !!python/tuple [25, 4] + - !!python/tuple [25, 21] + - !!python/tuple [3, 8] + - !!python/tuple [23, 27] + - !!python/tuple [0, 4] + - !!python/tuple [1, 19] + - !!python/tuple [11, 11] + - !!python/tuple [3, 6] + - !!python/tuple [1, 6] + - !!python/tuple [18, 26] + - !!python/tuple [24, 21] + - !!python/tuple [19, 16] + - !!python/tuple [20, 28] + - !!python/tuple [1, 13] + - !!python/tuple [1, 2] + - !!python/tuple [8, 28] + - !!python/tuple [26, 20] + - !!python/tuple [12, 29] + - !!python/tuple [27, 21] + - !!python/tuple [21, 21] + - !!python/tuple [22, 1] + - !!python/tuple [16, 16] + - !!python/tuple [9, 0] + - !!python/tuple [5, 0] + - !!python/tuple [3, 26] + - !!python/tuple [18, 16] + - !!python/tuple [23, 18] + - !!python/tuple [2, 19] + - !!python/tuple [4, 12] + - !!python/tuple [27, 7] + - !!python/tuple [4, 13] + - !!python/tuple [14, 9] + - !!python/tuple [22, 16] + - !!python/tuple [21, 8] + - !!python/tuple [7, 17] + - !!python/tuple [24, 12] + - !!python/tuple [26, 14] + - !!python/tuple [4, 28] + - !!python/tuple [4, 5] + - !!python/tuple [14, 19] + - !!python/tuple [2, 10] + - !!python/tuple [23, 16] + - !!python/tuple [29, 10] + - !!python/tuple [21, 1] + - !!python/tuple [27, 6] + - !!python/tuple [17, 24] + - !!python/tuple [30, 19] + - !!python/tuple [17, 30] + - !!python/tuple [4, 2] + - !!python/tuple [0, 3] + - !!python/tuple [18, 19] + - !!python/tuple [12, 31] + - !!python/tuple [20, 30] + - !!python/tuple [10, 25] + - !!python/tuple [0, 13] + - !!python/tuple [12, 13] + - !!python/tuple [3, 10] + - !!python/tuple [17, 20] + - !!python/tuple [18, 4] + - !!python/tuple [21, 31] + - !!python/tuple [9, 31] + - !!python/tuple [18, 30] + - !!python/tuple [14, 23] + - !!python/tuple [11, 17] + - !!python/tuple [8, 3] + - !!python/tuple [12, 27] + - !!python/tuple [16, 1] + - !!python/tuple [2, 5] + - !!python/tuple [4, 18] + - !!python/tuple [16, 24] + - !!python/tuple [25, 27] + - !!python/tuple [27, 30] + - !!python/tuple [7, 31] + - !!python/tuple [4, 23] + - !!python/tuple [16, 3] + - !!python/tuple [24, 15] + - !!python/tuple [19, 23] + - !!python/tuple [9, 16] + - !!python/tuple [17, 26] + - !!python/tuple [18, 28] + - !!python/tuple [14, 14] + - !!python/tuple [25, 26] + - !!python/tuple [15, 1] + - !!python/tuple [16, 14] + - !!python/tuple [27, 0] + - !!python/tuple [29, 27] + - !!python/tuple [7, 20] + - !!python/tuple [25, 15] + - !!python/tuple [24, 25] + - !!python/tuple [13, 9] + - !!python/tuple [19, 31] + - !!python/tuple [12, 18] + - !!python/tuple [10, 4] + - !!python/tuple [25, 2] + - !!python/tuple [17, 2] + - !!python/tuple [20, 19] + - !!python/tuple [28, 21] + - !!python/tuple [13, 18] + - !!python/tuple [27, 16] + - !!python/tuple [2, 9] + - !!python/tuple [12, 21] + - !!python/tuple [0, 12] + - !!python/tuple [12, 25] + - !!python/tuple [5, 17] + - !!python/tuple [5, 27] + - !!python/tuple [11, 10] + - !!python/tuple [19, 25] + - !!python/tuple [14, 24] + - !!python/tuple [31, 14] + - !!python/tuple [22, 12] + - !!python/tuple [22, 2] + - !!python/tuple [14, 21] + - !!python/tuple [21, 30] + - !!python/tuple [29, 28] + - !!python/tuple [16, 21] + - !!python/tuple [23, 31] + - !!python/tuple [3, 24] + - !!python/tuple [29, 26] + - !!python/tuple [12, 26] + - !!python/tuple [3, 7] + - !!python/tuple [15, 27] + - !!python/tuple [18, 20] + - !!python/tuple [28, 17] + - !!python/tuple [23, 1] + - !!python/tuple [1, 10] + - !!python/tuple [27, 20] + - !!python/tuple [6, 31] + - !!python/tuple [22, 20] + - !!python/tuple [9, 5] + - !!python/tuple [21, 7] + - !!python/tuple [0, 21] + - !!python/tuple [12, 12] + - !!python/tuple [10, 14] + - !!python/tuple [24, 1] + - !!python/tuple [1, 26] + - !!python/tuple [25, 6] + - !!python/tuple [31, 9] + - !!python/tuple [20, 25] + - !!python/tuple [14, 12] + - !!python/tuple [22, 23] + - !!python/tuple [9, 15] + - !!python/tuple [12, 17] + - !!python/tuple [3, 13] + - !!python/tuple [5, 5] + - !!python/tuple [3, 16] + - !!python/tuple [24, 30] + - !!python/tuple [7, 16] + - !!python/tuple [8, 5] + - !!python/tuple [2, 17] + - !!python/tuple [27, 15] + - !!python/tuple [10, 0] + - !!python/tuple [22, 8] + - !!python/tuple [21, 27] + - !!python/tuple [8, 0] + - !!python/tuple [16, 22] + - !!python/tuple [29, 15] + - !!python/tuple [20, 10] + - !!python/tuple [26, 31] + - !!python/tuple [20, 23] + - !!python/tuple [20, 16] + - !!python/tuple [8, 13] + - !!python/tuple [29, 21] + - !!python/tuple [9, 18] + - !!python/tuple [19, 2] + - !!python/tuple [14, 29] + - !!python/tuple [1, 3] + - !!python/tuple [10, 13] + - !!python/tuple [4, 22] + - !!python/tuple [16, 10] + - !!python/tuple [5, 14] + - !!python/tuple [18, 7] + - !!python/tuple [15, 6] + - !!python/tuple [24, 17] + - !!python/tuple [28, 5] + - !!python/tuple [11, 19] + - !!python/tuple [18, 21] + - !!python/tuple [0, 8] + - !!python/tuple [26, 7] + - !!python/tuple [15, 31] + - !!python/tuple [1, 7] + - !!python/tuple [23, 23] + - !!python/tuple [22, 7] + - !!python/tuple [12, 7] + - !!python/tuple [7, 5] + - !!python/tuple [11, 22] + - !!python/tuple [5, 10] + - !!python/tuple [15, 14] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex18.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex18.yaml new file mode 100644 index 0000000..c5d17bb --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex18.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [14, 5] + name: agent0 + start: [28, 22] +- goal: [17, 12] + name: agent1 + start: [2, 15] +- goal: [1, 5] + name: agent2 + start: [9, 8] +- goal: [18, 6] + name: agent3 + start: [4, 7] +- goal: [28, 7] + name: agent4 + start: [2, 1] +- goal: [17, 14] + name: agent5 + start: [11, 2] +- goal: [28, 16] + name: agent6 + start: [12, 31] +- goal: [20, 24] + name: agent7 + start: [29, 28] +- goal: [26, 23] + name: agent8 + start: [14, 26] +- goal: [5, 30] + name: agent9 + start: [8, 4] +- goal: [2, 23] + name: agent10 + start: [23, 6] +- goal: [21, 14] + name: agent11 + start: [1, 6] +- goal: [28, 23] + name: agent12 + start: [21, 4] +- goal: [11, 0] + name: agent13 + start: [25, 19] +- goal: [16, 10] + name: agent14 + start: [27, 2] +- goal: [24, 24] + name: agent15 + start: [22, 9] +- goal: [12, 2] + name: agent16 + start: [0, 27] +- goal: [28, 4] + name: agent17 + start: [13, 16] +- goal: [21, 27] + name: agent18 + start: [17, 24] +- goal: [22, 10] + name: agent19 + start: [3, 7] +- goal: [16, 15] + name: agent20 + start: [22, 20] +- goal: [0, 18] + name: agent21 + start: [18, 11] +- goal: [8, 20] + name: agent22 + start: [28, 23] +- goal: [28, 22] + name: agent23 + start: [3, 22] +- goal: [16, 1] + name: agent24 + start: [24, 15] +- goal: [26, 26] + name: agent25 + start: [22, 15] +- goal: [5, 24] + name: agent26 + start: [17, 11] +- goal: [17, 26] + name: agent27 + start: [31, 16] +- goal: [16, 27] + name: agent28 + start: [11, 22] +- goal: [24, 25] + name: agent29 + start: [0, 28] +- goal: [2, 7] + name: agent30 + start: [13, 11] +- goal: [5, 20] + name: agent31 + start: [26, 27] +- goal: [23, 31] + name: agent32 + start: [15, 29] +- goal: [13, 9] + name: agent33 + start: [16, 27] +- goal: [1, 8] + name: agent34 + start: [27, 10] +- goal: [10, 8] + name: agent35 + start: [17, 17] +- goal: [29, 22] + name: agent36 + start: [22, 5] +- goal: [3, 29] + name: agent37 + start: [18, 20] +- goal: [12, 21] + name: agent38 + start: [12, 20] +- goal: [27, 24] + name: agent39 + start: [26, 12] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [11, 8] + - !!python/tuple [24, 10] + - !!python/tuple [26, 10] + - !!python/tuple [9, 15] + - !!python/tuple [19, 29] + - !!python/tuple [12, 3] + - !!python/tuple [7, 30] + - !!python/tuple [30, 29] + - !!python/tuple [12, 24] + - !!python/tuple [1, 26] + - !!python/tuple [24, 23] + - !!python/tuple [9, 18] + - !!python/tuple [29, 5] + - !!python/tuple [10, 28] + - !!python/tuple [11, 7] + - !!python/tuple [30, 7] + - !!python/tuple [3, 26] + - !!python/tuple [2, 2] + - !!python/tuple [18, 10] + - !!python/tuple [17, 10] + - !!python/tuple [27, 11] + - !!python/tuple [6, 29] + - !!python/tuple [6, 31] + - !!python/tuple [8, 12] + - !!python/tuple [16, 5] + - !!python/tuple [21, 6] + - !!python/tuple [1, 23] + - !!python/tuple [22, 2] + - !!python/tuple [30, 28] + - !!python/tuple [27, 18] + - !!python/tuple [19, 25] + - !!python/tuple [19, 31] + - !!python/tuple [21, 16] + - !!python/tuple [3, 31] + - !!python/tuple [21, 11] + - !!python/tuple [24, 0] + - !!python/tuple [22, 31] + - !!python/tuple [26, 31] + - !!python/tuple [8, 5] + - !!python/tuple [28, 24] + - !!python/tuple [2, 8] + - !!python/tuple [3, 23] + - !!python/tuple [8, 25] + - !!python/tuple [21, 30] + - !!python/tuple [19, 9] + - !!python/tuple [2, 20] + - !!python/tuple [7, 14] + - !!python/tuple [12, 28] + - !!python/tuple [5, 10] + - !!python/tuple [0, 2] + - !!python/tuple [25, 14] + - !!python/tuple [30, 11] + - !!python/tuple [6, 27] + - !!python/tuple [25, 24] + - !!python/tuple [20, 6] + - !!python/tuple [5, 7] + - !!python/tuple [31, 19] + - !!python/tuple [0, 24] + - !!python/tuple [10, 23] + - !!python/tuple [23, 9] + - !!python/tuple [28, 26] + - !!python/tuple [29, 29] + - !!python/tuple [8, 2] + - !!python/tuple [23, 23] + - !!python/tuple [6, 7] + - !!python/tuple [0, 10] + - !!python/tuple [6, 2] + - !!python/tuple [16, 30] + - !!python/tuple [14, 9] + - !!python/tuple [30, 0] + - !!python/tuple [20, 31] + - !!python/tuple [27, 4] + - !!python/tuple [6, 4] + - !!python/tuple [9, 30] + - !!python/tuple [30, 30] + - !!python/tuple [17, 3] + - !!python/tuple [17, 25] + - !!python/tuple [20, 14] + - !!python/tuple [21, 7] + - !!python/tuple [0, 16] + - !!python/tuple [13, 24] + - !!python/tuple [15, 5] + - !!python/tuple [14, 11] + - !!python/tuple [2, 6] + - !!python/tuple [5, 13] + - !!python/tuple [22, 19] + - !!python/tuple [0, 22] + - !!python/tuple [15, 11] + - !!python/tuple [26, 4] + - !!python/tuple [17, 21] + - !!python/tuple [0, 14] + - !!python/tuple [22, 17] + - !!python/tuple [28, 0] + - !!python/tuple [29, 13] + - !!python/tuple [8, 9] + - !!python/tuple [14, 13] + - !!python/tuple [4, 0] + - !!python/tuple [15, 31] + - !!python/tuple [0, 29] + - !!python/tuple [22, 4] + - !!python/tuple [12, 10] + - !!python/tuple [11, 30] + - !!python/tuple [9, 17] + - !!python/tuple [24, 30] + - !!python/tuple [27, 25] + - !!python/tuple [28, 29] + - !!python/tuple [0, 31] + - !!python/tuple [12, 27] + - !!python/tuple [24, 13] + - !!python/tuple [13, 19] + - !!python/tuple [30, 25] + - !!python/tuple [4, 26] + - !!python/tuple [2, 19] + - !!python/tuple [3, 6] + - !!python/tuple [23, 8] + - !!python/tuple [3, 27] + - !!python/tuple [23, 17] + - !!python/tuple [18, 24] + - !!python/tuple [17, 9] + - !!python/tuple [6, 9] + - !!python/tuple [21, 8] + - !!python/tuple [31, 21] + - !!python/tuple [9, 13] + - !!python/tuple [2, 22] + - !!python/tuple [28, 12] + - !!python/tuple [27, 5] + - !!python/tuple [17, 5] + - !!python/tuple [0, 8] + - !!python/tuple [17, 6] + - !!python/tuple [14, 27] + - !!python/tuple [27, 22] + - !!python/tuple [5, 8] + - !!python/tuple [30, 10] + - !!python/tuple [15, 28] + - !!python/tuple [31, 9] + - !!python/tuple [19, 6] + - !!python/tuple [1, 29] + - !!python/tuple [18, 16] + - !!python/tuple [19, 28] + - !!python/tuple [5, 27] + - !!python/tuple [9, 28] + - !!python/tuple [4, 28] + - !!python/tuple [4, 1] + - !!python/tuple [27, 31] + - !!python/tuple [8, 22] + - !!python/tuple [11, 29] + - !!python/tuple [9, 31] + - !!python/tuple [27, 8] + - !!python/tuple [16, 0] + - !!python/tuple [10, 27] + - !!python/tuple [14, 1] + - !!python/tuple [22, 28] + - !!python/tuple [15, 25] + - !!python/tuple [20, 19] + - !!python/tuple [5, 9] + - !!python/tuple [27, 26] + - !!python/tuple [29, 0] + - !!python/tuple [12, 8] + - !!python/tuple [0, 15] + - !!python/tuple [4, 20] + - !!python/tuple [15, 7] + - !!python/tuple [24, 28] + - !!python/tuple [30, 6] + - !!python/tuple [6, 19] + - !!python/tuple [13, 29] + - !!python/tuple [29, 9] + - !!python/tuple [19, 24] + - !!python/tuple [21, 3] + - !!python/tuple [7, 24] + - !!python/tuple [19, 18] + - !!python/tuple [25, 9] + - !!python/tuple [24, 16] + - !!python/tuple [21, 10] + - !!python/tuple [29, 6] + - !!python/tuple [20, 30] + - !!python/tuple [4, 13] + - !!python/tuple [7, 6] + - !!python/tuple [18, 14] + - !!python/tuple [25, 31] + - !!python/tuple [27, 0] + - !!python/tuple [20, 20] + - !!python/tuple [30, 24] + - !!python/tuple [19, 14] + - !!python/tuple [0, 9] + - !!python/tuple [31, 30] + - !!python/tuple [26, 28] + - !!python/tuple [26, 21] + - !!python/tuple [28, 6] + - !!python/tuple [9, 0] + - !!python/tuple [8, 31] + - !!python/tuple [0, 6] + - !!python/tuple [2, 11] + - !!python/tuple [6, 28] + - !!python/tuple [15, 27] + - !!python/tuple [29, 20] + - !!python/tuple [16, 9] + - !!python/tuple [14, 2] + - !!python/tuple [14, 30] + - !!python/tuple [15, 26] + - !!python/tuple [9, 7] + - !!python/tuple [20, 8] + - !!python/tuple [15, 21] + - !!python/tuple [12, 5] + - !!python/tuple [3, 4] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex19.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex19.yaml new file mode 100644 index 0000000..7ad4f8c --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex19.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [25, 17] + name: agent0 + start: [26, 7] +- goal: [24, 30] + name: agent1 + start: [4, 25] +- goal: [3, 19] + name: agent2 + start: [23, 4] +- goal: [18, 8] + name: agent3 + start: [8, 6] +- goal: [18, 13] + name: agent4 + start: [20, 13] +- goal: [21, 1] + name: agent5 + start: [23, 15] +- goal: [26, 7] + name: agent6 + start: [17, 11] +- goal: [22, 24] + name: agent7 + start: [16, 2] +- goal: [27, 18] + name: agent8 + start: [29, 1] +- goal: [13, 7] + name: agent9 + start: [11, 11] +- goal: [24, 16] + name: agent10 + start: [22, 11] +- goal: [19, 3] + name: agent11 + start: [1, 1] +- goal: [24, 15] + name: agent12 + start: [16, 21] +- goal: [22, 27] + name: agent13 + start: [27, 8] +- goal: [3, 16] + name: agent14 + start: [10, 23] +- goal: [14, 22] + name: agent15 + start: [4, 20] +- goal: [13, 0] + name: agent16 + start: [8, 17] +- goal: [12, 10] + name: agent17 + start: [29, 14] +- goal: [10, 25] + name: agent18 + start: [2, 14] +- goal: [29, 24] + name: agent19 + start: [30, 8] +- goal: [4, 22] + name: agent20 + start: [26, 11] +- goal: [28, 11] + name: agent21 + start: [27, 31] +- goal: [22, 31] + name: agent22 + start: [0, 19] +- goal: [1, 13] + name: agent23 + start: [24, 29] +- goal: [21, 8] + name: agent24 + start: [6, 20] +- goal: [17, 16] + name: agent25 + start: [15, 29] +- goal: [28, 23] + name: agent26 + start: [2, 31] +- goal: [22, 26] + name: agent27 + start: [12, 13] +- goal: [19, 23] + name: agent28 + start: [19, 7] +- goal: [11, 12] + name: agent29 + start: [20, 14] +- goal: [8, 27] + name: agent30 + start: [30, 13] +- goal: [20, 3] + name: agent31 + start: [10, 3] +- goal: [25, 4] + name: agent32 + start: [13, 23] +- goal: [2, 26] + name: agent33 + start: [6, 31] +- goal: [22, 17] + name: agent34 + start: [4, 21] +- goal: [11, 29] + name: agent35 + start: [2, 26] +- goal: [20, 17] + name: agent36 + start: [25, 5] +- goal: [4, 16] + name: agent37 + start: [18, 27] +- goal: [14, 18] + name: agent38 + start: [13, 17] +- goal: [7, 13] + name: agent39 + start: [29, 16] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [5, 8] + - !!python/tuple [23, 22] + - !!python/tuple [4, 17] + - !!python/tuple [4, 15] + - !!python/tuple [25, 31] + - !!python/tuple [12, 30] + - !!python/tuple [3, 15] + - !!python/tuple [7, 9] + - !!python/tuple [14, 11] + - !!python/tuple [6, 11] + - !!python/tuple [20, 0] + - !!python/tuple [25, 6] + - !!python/tuple [22, 18] + - !!python/tuple [5, 7] + - !!python/tuple [31, 24] + - !!python/tuple [5, 11] + - !!python/tuple [15, 14] + - !!python/tuple [23, 30] + - !!python/tuple [20, 28] + - !!python/tuple [11, 6] + - !!python/tuple [29, 30] + - !!python/tuple [19, 16] + - !!python/tuple [17, 13] + - !!python/tuple [4, 30] + - !!python/tuple [25, 14] + - !!python/tuple [28, 14] + - !!python/tuple [24, 4] + - !!python/tuple [27, 7] + - !!python/tuple [1, 31] + - !!python/tuple [6, 0] + - !!python/tuple [2, 20] + - !!python/tuple [3, 2] + - !!python/tuple [0, 30] + - !!python/tuple [18, 5] + - !!python/tuple [8, 21] + - !!python/tuple [31, 17] + - !!python/tuple [9, 14] + - !!python/tuple [20, 18] + - !!python/tuple [19, 27] + - !!python/tuple [12, 16] + - !!python/tuple [24, 7] + - !!python/tuple [14, 13] + - !!python/tuple [21, 24] + - !!python/tuple [25, 26] + - !!python/tuple [20, 5] + - !!python/tuple [10, 4] + - !!python/tuple [1, 26] + - !!python/tuple [20, 2] + - !!python/tuple [10, 28] + - !!python/tuple [31, 10] + - !!python/tuple [31, 1] + - !!python/tuple [13, 14] + - !!python/tuple [1, 27] + - !!python/tuple [9, 6] + - !!python/tuple [31, 16] + - !!python/tuple [6, 27] + - !!python/tuple [2, 6] + - !!python/tuple [15, 31] + - !!python/tuple [18, 18] + - !!python/tuple [15, 19] + - !!python/tuple [8, 25] + - !!python/tuple [0, 12] + - !!python/tuple [21, 22] + - !!python/tuple [16, 22] + - !!python/tuple [4, 11] + - !!python/tuple [29, 20] + - !!python/tuple [7, 26] + - !!python/tuple [14, 7] + - !!python/tuple [30, 29] + - !!python/tuple [22, 9] + - !!python/tuple [6, 30] + - !!python/tuple [28, 8] + - !!python/tuple [21, 15] + - !!python/tuple [7, 8] + - !!python/tuple [14, 14] + - !!python/tuple [4, 3] + - !!python/tuple [21, 31] + - !!python/tuple [22, 23] + - !!python/tuple [13, 19] + - !!python/tuple [0, 2] + - !!python/tuple [23, 0] + - !!python/tuple [25, 23] + - !!python/tuple [9, 11] + - !!python/tuple [26, 8] + - !!python/tuple [1, 25] + - !!python/tuple [18, 1] + - !!python/tuple [5, 30] + - !!python/tuple [6, 21] + - !!python/tuple [0, 0] + - !!python/tuple [19, 2] + - !!python/tuple [0, 13] + - !!python/tuple [18, 20] + - !!python/tuple [10, 11] + - !!python/tuple [1, 22] + - !!python/tuple [26, 17] + - !!python/tuple [21, 4] + - !!python/tuple [20, 29] + - !!python/tuple [21, 19] + - !!python/tuple [25, 12] + - !!python/tuple [2, 18] + - !!python/tuple [10, 2] + - !!python/tuple [15, 1] + - !!python/tuple [17, 19] + - !!python/tuple [12, 29] + - !!python/tuple [23, 5] + - !!python/tuple [30, 19] + - !!python/tuple [15, 22] + - !!python/tuple [10, 14] + - !!python/tuple [19, 28] + - !!python/tuple [3, 18] + - !!python/tuple [17, 6] + - !!python/tuple [15, 6] + - !!python/tuple [30, 6] + - !!python/tuple [21, 28] + - !!python/tuple [12, 6] + - !!python/tuple [12, 11] + - !!python/tuple [12, 3] + - !!python/tuple [8, 29] + - !!python/tuple [17, 9] + - !!python/tuple [30, 17] + - !!python/tuple [29, 4] + - !!python/tuple [7, 31] + - !!python/tuple [11, 20] + - !!python/tuple [10, 24] + - !!python/tuple [27, 10] + - !!python/tuple [4, 0] + - !!python/tuple [16, 25] + - !!python/tuple [15, 10] + - !!python/tuple [4, 4] + - !!python/tuple [30, 21] + - !!python/tuple [15, 21] + - !!python/tuple [15, 23] + - !!python/tuple [11, 4] + - !!python/tuple [4, 26] + - !!python/tuple [5, 4] + - !!python/tuple [7, 25] + - !!python/tuple [4, 27] + - !!python/tuple [23, 11] + - !!python/tuple [27, 17] + - !!python/tuple [23, 20] + - !!python/tuple [6, 1] + - !!python/tuple [10, 30] + - !!python/tuple [3, 1] + - !!python/tuple [27, 6] + - !!python/tuple [7, 30] + - !!python/tuple [6, 14] + - !!python/tuple [30, 4] + - !!python/tuple [1, 20] + - !!python/tuple [9, 2] + - !!python/tuple [12, 15] + - !!python/tuple [11, 3] + - !!python/tuple [20, 22] + - !!python/tuple [0, 27] + - !!python/tuple [10, 27] + - !!python/tuple [9, 9] + - !!python/tuple [12, 31] + - !!python/tuple [28, 1] + - !!python/tuple [6, 26] + - !!python/tuple [16, 10] + - !!python/tuple [27, 13] + - !!python/tuple [7, 28] + - !!python/tuple [7, 23] + - !!python/tuple [18, 29] + - !!python/tuple [30, 31] + - !!python/tuple [13, 29] + - !!python/tuple [7, 0] + - !!python/tuple [7, 14] + - !!python/tuple [17, 14] + - !!python/tuple [12, 8] + - !!python/tuple [31, 13] + - !!python/tuple [13, 15] + - !!python/tuple [0, 29] + - !!python/tuple [26, 4] + - !!python/tuple [30, 30] + - !!python/tuple [16, 4] + - !!python/tuple [27, 12] + - !!python/tuple [27, 28] + - !!python/tuple [8, 11] + - !!python/tuple [1, 10] + - !!python/tuple [0, 15] + - !!python/tuple [25, 3] + - !!python/tuple [19, 22] + - !!python/tuple [6, 12] + - !!python/tuple [17, 7] + - !!python/tuple [1, 17] + - !!python/tuple [27, 22] + - !!python/tuple [31, 19] + - !!python/tuple [8, 19] + - !!python/tuple [23, 29] + - !!python/tuple [26, 31] + - !!python/tuple [10, 0] + - !!python/tuple [11, 22] + - !!python/tuple [30, 9] + - !!python/tuple [4, 1] + - !!python/tuple [1, 28] + - !!python/tuple [26, 27] + - !!python/tuple [26, 0] + - !!python/tuple [26, 22] + - !!python/tuple [18, 0] + - !!python/tuple [21, 27] + - !!python/tuple [9, 17] + - !!python/tuple [7, 21] + - !!python/tuple [22, 20] + - !!python/tuple [11, 17] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex2.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex2.yaml new file mode 100644 index 0000000..81fec31 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex2.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [11, 21] + name: agent0 + start: [18, 0] +- goal: [1, 0] + name: agent1 + start: [22, 11] +- goal: [30, 23] + name: agent2 + start: [23, 12] +- goal: [21, 5] + name: agent3 + start: [15, 20] +- goal: [1, 15] + name: agent4 + start: [10, 13] +- goal: [15, 7] + name: agent5 + start: [8, 1] +- goal: [26, 31] + name: agent6 + start: [15, 5] +- goal: [3, 2] + name: agent7 + start: [9, 5] +- goal: [5, 24] + name: agent8 + start: [3, 23] +- goal: [31, 23] + name: agent9 + start: [11, 11] +- goal: [8, 7] + name: agent10 + start: [30, 29] +- goal: [20, 18] + name: agent11 + start: [10, 31] +- goal: [8, 25] + name: agent12 + start: [19, 15] +- goal: [18, 0] + name: agent13 + start: [15, 18] +- goal: [28, 5] + name: agent14 + start: [4, 2] +- goal: [10, 8] + name: agent15 + start: [10, 18] +- goal: [30, 14] + name: agent16 + start: [14, 26] +- goal: [18, 13] + name: agent17 + start: [17, 0] +- goal: [22, 24] + name: agent18 + start: [28, 26] +- goal: [10, 18] + name: agent19 + start: [12, 19] +- goal: [5, 30] + name: agent20 + start: [29, 20] +- goal: [5, 16] + name: agent21 + start: [31, 13] +- goal: [3, 24] + name: agent22 + start: [20, 17] +- goal: [14, 24] + name: agent23 + start: [26, 16] +- goal: [10, 30] + name: agent24 + start: [18, 1] +- goal: [6, 21] + name: agent25 + start: [2, 7] +- goal: [24, 15] + name: agent26 + start: [21, 5] +- goal: [13, 24] + name: agent27 + start: [16, 29] +- goal: [19, 23] + name: agent28 + start: [2, 21] +- goal: [7, 12] + name: agent29 + start: [27, 0] +- goal: [23, 26] + name: agent30 + start: [19, 6] +- goal: [6, 4] + name: agent31 + start: [4, 31] +- goal: [7, 21] + name: agent32 + start: [12, 20] +- goal: [31, 4] + name: agent33 + start: [31, 4] +- goal: [5, 10] + name: agent34 + start: [25, 27] +- goal: [22, 8] + name: agent35 + start: [26, 27] +- goal: [2, 28] + name: agent36 + start: [15, 7] +- goal: [13, 14] + name: agent37 + start: [6, 11] +- goal: [20, 6] + name: agent38 + start: [9, 20] +- goal: [14, 21] + name: agent39 + start: [28, 8] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [13, 4] + - !!python/tuple [30, 22] + - !!python/tuple [15, 24] + - !!python/tuple [9, 30] + - !!python/tuple [19, 2] + - !!python/tuple [19, 1] + - !!python/tuple [25, 8] + - !!python/tuple [5, 9] + - !!python/tuple [6, 8] + - !!python/tuple [3, 15] + - !!python/tuple [17, 22] + - !!python/tuple [2, 6] + - !!python/tuple [18, 15] + - !!python/tuple [18, 3] + - !!python/tuple [17, 13] + - !!python/tuple [17, 31] + - !!python/tuple [2, 1] + - !!python/tuple [2, 19] + - !!python/tuple [10, 1] + - !!python/tuple [5, 17] + - !!python/tuple [31, 22] + - !!python/tuple [29, 9] + - !!python/tuple [22, 10] + - !!python/tuple [21, 30] + - !!python/tuple [13, 25] + - !!python/tuple [11, 30] + - !!python/tuple [13, 18] + - !!python/tuple [19, 29] + - !!python/tuple [22, 2] + - !!python/tuple [26, 10] + - !!python/tuple [24, 30] + - !!python/tuple [28, 19] + - !!python/tuple [17, 7] + - !!python/tuple [13, 19] + - !!python/tuple [27, 15] + - !!python/tuple [7, 20] + - !!python/tuple [28, 17] + - !!python/tuple [9, 25] + - !!python/tuple [20, 25] + - !!python/tuple [11, 1] + - !!python/tuple [0, 7] + - !!python/tuple [16, 11] + - !!python/tuple [10, 15] + - !!python/tuple [25, 31] + - !!python/tuple [8, 12] + - !!python/tuple [28, 23] + - !!python/tuple [18, 4] + - !!python/tuple [14, 12] + - !!python/tuple [4, 26] + - !!python/tuple [1, 5] + - !!python/tuple [31, 7] + - !!python/tuple [24, 1] + - !!python/tuple [14, 25] + - !!python/tuple [23, 16] + - !!python/tuple [1, 25] + - !!python/tuple [1, 22] + - !!python/tuple [0, 13] + - !!python/tuple [29, 2] + - !!python/tuple [19, 3] + - !!python/tuple [1, 11] + - !!python/tuple [8, 13] + - !!python/tuple [17, 17] + - !!python/tuple [27, 20] + - !!python/tuple [12, 4] + - !!python/tuple [17, 19] + - !!python/tuple [4, 21] + - !!python/tuple [21, 7] + - !!python/tuple [24, 12] + - !!python/tuple [16, 23] + - !!python/tuple [23, 27] + - !!python/tuple [25, 26] + - !!python/tuple [6, 14] + - !!python/tuple [14, 20] + - !!python/tuple [18, 23] + - !!python/tuple [11, 0] + - !!python/tuple [2, 4] + - !!python/tuple [15, 17] + - !!python/tuple [15, 31] + - !!python/tuple [22, 28] + - !!python/tuple [2, 3] + - !!python/tuple [18, 8] + - !!python/tuple [16, 19] + - !!python/tuple [1, 31] + - !!python/tuple [1, 16] + - !!python/tuple [7, 31] + - !!python/tuple [4, 23] + - !!python/tuple [28, 31] + - !!python/tuple [16, 17] + - !!python/tuple [21, 29] + - !!python/tuple [17, 3] + - !!python/tuple [2, 13] + - !!python/tuple [31, 11] + - !!python/tuple [28, 9] + - !!python/tuple [28, 25] + - !!python/tuple [22, 6] + - !!python/tuple [1, 7] + - !!python/tuple [7, 29] + - !!python/tuple [7, 0] + - !!python/tuple [6, 22] + - !!python/tuple [28, 0] + - !!python/tuple [10, 3] + - !!python/tuple [0, 21] + - !!python/tuple [15, 29] + - !!python/tuple [20, 28] + - !!python/tuple [19, 18] + - !!python/tuple [13, 5] + - !!python/tuple [0, 29] + - !!python/tuple [28, 29] + - !!python/tuple [14, 13] + - !!python/tuple [17, 27] + - !!python/tuple [13, 12] + - !!python/tuple [22, 22] + - !!python/tuple [14, 31] + - !!python/tuple [24, 14] + - !!python/tuple [20, 15] + - !!python/tuple [0, 23] + - !!python/tuple [24, 24] + - !!python/tuple [13, 20] + - !!python/tuple [8, 10] + - !!python/tuple [15, 9] + - !!python/tuple [5, 11] + - !!python/tuple [15, 3] + - !!python/tuple [24, 11] + - !!python/tuple [19, 30] + - !!python/tuple [24, 29] + - !!python/tuple [21, 21] + - !!python/tuple [11, 16] + - !!python/tuple [18, 6] + - !!python/tuple [5, 21] + - !!python/tuple [24, 10] + - !!python/tuple [28, 27] + - !!python/tuple [16, 6] + - !!python/tuple [9, 10] + - !!python/tuple [9, 3] + - !!python/tuple [28, 4] + - !!python/tuple [4, 13] + - !!python/tuple [27, 2] + - !!python/tuple [30, 15] + - !!python/tuple [19, 5] + - !!python/tuple [21, 24] + - !!python/tuple [13, 28] + - !!python/tuple [0, 22] + - !!python/tuple [29, 21] + - !!python/tuple [13, 29] + - !!python/tuple [2, 16] + - !!python/tuple [7, 8] + - !!python/tuple [8, 8] + - !!python/tuple [3, 5] + - !!python/tuple [7, 27] + - !!python/tuple [29, 5] + - !!python/tuple [10, 17] + - !!python/tuple [18, 28] + - !!python/tuple [27, 27] + - !!python/tuple [17, 14] + - !!python/tuple [21, 16] + - !!python/tuple [23, 4] + - !!python/tuple [3, 21] + - !!python/tuple [20, 13] + - !!python/tuple [20, 30] + - !!python/tuple [27, 21] + - !!python/tuple [24, 25] + - !!python/tuple [8, 0] + - !!python/tuple [1, 28] + - !!python/tuple [1, 10] + - !!python/tuple [26, 5] + - !!python/tuple [31, 14] + - !!python/tuple [9, 26] + - !!python/tuple [12, 18] + - !!python/tuple [10, 11] + - !!python/tuple [10, 26] + - !!python/tuple [1, 4] + - !!python/tuple [0, 9] + - !!python/tuple [15, 13] + - !!python/tuple [19, 28] + - !!python/tuple [26, 0] + - !!python/tuple [17, 29] + - !!python/tuple [3, 20] + - !!python/tuple [30, 9] + - !!python/tuple [4, 18] + - !!python/tuple [17, 15] + - !!python/tuple [19, 26] + - !!python/tuple [16, 1] + - !!python/tuple [4, 24] + - !!python/tuple [8, 31] + - !!python/tuple [0, 5] + - !!python/tuple [24, 20] + - !!python/tuple [20, 22] + - !!python/tuple [24, 4] + - !!python/tuple [12, 11] + - !!python/tuple [11, 8] + - !!python/tuple [6, 19] + - !!python/tuple [12, 3] + - !!python/tuple [16, 22] + - !!python/tuple [8, 2] + - !!python/tuple [25, 0] + - !!python/tuple [27, 17] + - !!python/tuple [4, 1] + - !!python/tuple [23, 20] + - !!python/tuple [10, 19] + - !!python/tuple [5, 27] + - !!python/tuple [2, 0] + - !!python/tuple [16, 10] + - !!python/tuple [11, 22] + - !!python/tuple [7, 15] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex20.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex20.yaml new file mode 100644 index 0000000..be8ac38 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex20.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [16, 31] + name: agent0 + start: [30, 21] +- goal: [8, 16] + name: agent1 + start: [18, 28] +- goal: [28, 29] + name: agent2 + start: [19, 16] +- goal: [20, 14] + name: agent3 + start: [0, 10] +- goal: [1, 6] + name: agent4 + start: [13, 5] +- goal: [15, 24] + name: agent5 + start: [20, 25] +- goal: [7, 21] + name: agent6 + start: [28, 23] +- goal: [28, 1] + name: agent7 + start: [23, 11] +- goal: [6, 18] + name: agent8 + start: [12, 22] +- goal: [30, 17] + name: agent9 + start: [11, 4] +- goal: [6, 15] + name: agent10 + start: [29, 23] +- goal: [5, 4] + name: agent11 + start: [26, 12] +- goal: [27, 2] + name: agent12 + start: [26, 11] +- goal: [17, 7] + name: agent13 + start: [17, 9] +- goal: [5, 23] + name: agent14 + start: [14, 10] +- goal: [20, 1] + name: agent15 + start: [14, 14] +- goal: [18, 3] + name: agent16 + start: [28, 31] +- goal: [13, 13] + name: agent17 + start: [24, 22] +- goal: [8, 11] + name: agent18 + start: [11, 0] +- goal: [1, 21] + name: agent19 + start: [19, 20] +- goal: [1, 20] + name: agent20 + start: [11, 29] +- goal: [5, 11] + name: agent21 + start: [30, 11] +- goal: [6, 26] + name: agent22 + start: [23, 10] +- goal: [22, 19] + name: agent23 + start: [2, 7] +- goal: [12, 21] + name: agent24 + start: [5, 0] +- goal: [28, 0] + name: agent25 + start: [19, 25] +- goal: [6, 10] + name: agent26 + start: [16, 7] +- goal: [9, 8] + name: agent27 + start: [14, 7] +- goal: [31, 19] + name: agent28 + start: [31, 28] +- goal: [12, 5] + name: agent29 + start: [14, 28] +- goal: [26, 31] + name: agent30 + start: [26, 30] +- goal: [22, 30] + name: agent31 + start: [31, 19] +- goal: [6, 3] + name: agent32 + start: [3, 27] +- goal: [0, 28] + name: agent33 + start: [17, 1] +- goal: [7, 7] + name: agent34 + start: [6, 31] +- goal: [0, 30] + name: agent35 + start: [13, 2] +- goal: [31, 20] + name: agent36 + start: [7, 14] +- goal: [17, 29] + name: agent37 + start: [1, 14] +- goal: [21, 15] + name: agent38 + start: [13, 26] +- goal: [9, 12] + name: agent39 + start: [23, 6] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [5, 7] + - !!python/tuple [16, 28] + - !!python/tuple [19, 22] + - !!python/tuple [1, 18] + - !!python/tuple [10, 24] + - !!python/tuple [20, 5] + - !!python/tuple [22, 14] + - !!python/tuple [18, 16] + - !!python/tuple [12, 18] + - !!python/tuple [3, 26] + - !!python/tuple [8, 23] + - !!python/tuple [3, 13] + - !!python/tuple [20, 30] + - !!python/tuple [28, 21] + - !!python/tuple [20, 17] + - !!python/tuple [3, 8] + - !!python/tuple [20, 10] + - !!python/tuple [25, 27] + - !!python/tuple [19, 6] + - !!python/tuple [3, 20] + - !!python/tuple [3, 5] + - !!python/tuple [30, 0] + - !!python/tuple [21, 26] + - !!python/tuple [13, 20] + - !!python/tuple [27, 14] + - !!python/tuple [5, 22] + - !!python/tuple [30, 2] + - !!python/tuple [29, 25] + - !!python/tuple [10, 12] + - !!python/tuple [23, 20] + - !!python/tuple [4, 13] + - !!python/tuple [5, 2] + - !!python/tuple [29, 10] + - !!python/tuple [17, 30] + - !!python/tuple [23, 24] + - !!python/tuple [25, 14] + - !!python/tuple [8, 22] + - !!python/tuple [9, 29] + - !!python/tuple [21, 9] + - !!python/tuple [0, 27] + - !!python/tuple [4, 5] + - !!python/tuple [6, 30] + - !!python/tuple [1, 19] + - !!python/tuple [2, 21] + - !!python/tuple [4, 26] + - !!python/tuple [11, 30] + - !!python/tuple [9, 17] + - !!python/tuple [17, 26] + - !!python/tuple [14, 4] + - !!python/tuple [24, 21] + - !!python/tuple [2, 11] + - !!python/tuple [15, 27] + - !!python/tuple [23, 29] + - !!python/tuple [29, 27] + - !!python/tuple [1, 27] + - !!python/tuple [30, 7] + - !!python/tuple [0, 18] + - !!python/tuple [6, 19] + - !!python/tuple [11, 15] + - !!python/tuple [29, 31] + - !!python/tuple [2, 10] + - !!python/tuple [18, 6] + - !!python/tuple [16, 13] + - !!python/tuple [29, 14] + - !!python/tuple [25, 29] + - !!python/tuple [0, 15] + - !!python/tuple [19, 26] + - !!python/tuple [20, 31] + - !!python/tuple [20, 9] + - !!python/tuple [28, 15] + - !!python/tuple [17, 21] + - !!python/tuple [6, 5] + - !!python/tuple [26, 26] + - !!python/tuple [0, 8] + - !!python/tuple [30, 22] + - !!python/tuple [22, 5] + - !!python/tuple [9, 1] + - !!python/tuple [23, 18] + - !!python/tuple [23, 14] + - !!python/tuple [29, 6] + - !!python/tuple [6, 8] + - !!python/tuple [2, 18] + - !!python/tuple [21, 17] + - !!python/tuple [0, 26] + - !!python/tuple [23, 19] + - !!python/tuple [23, 22] + - !!python/tuple [0, 1] + - !!python/tuple [9, 31] + - !!python/tuple [6, 29] + - !!python/tuple [7, 19] + - !!python/tuple [13, 12] + - !!python/tuple [2, 23] + - !!python/tuple [18, 4] + - !!python/tuple [5, 30] + - !!python/tuple [24, 23] + - !!python/tuple [7, 17] + - !!python/tuple [29, 7] + - !!python/tuple [20, 28] + - !!python/tuple [23, 13] + - !!python/tuple [2, 24] + - !!python/tuple [11, 9] + - !!python/tuple [11, 28] + - !!python/tuple [3, 7] + - !!python/tuple [20, 18] + - !!python/tuple [18, 7] + - !!python/tuple [0, 29] + - !!python/tuple [15, 9] + - !!python/tuple [28, 30] + - !!python/tuple [21, 25] + - !!python/tuple [26, 9] + - !!python/tuple [3, 17] + - !!python/tuple [9, 0] + - !!python/tuple [24, 13] + - !!python/tuple [23, 3] + - !!python/tuple [1, 30] + - !!python/tuple [28, 5] + - !!python/tuple [15, 10] + - !!python/tuple [17, 13] + - !!python/tuple [17, 6] + - !!python/tuple [1, 2] + - !!python/tuple [7, 13] + - !!python/tuple [18, 21] + - !!python/tuple [16, 26] + - !!python/tuple [14, 30] + - !!python/tuple [26, 5] + - !!python/tuple [12, 31] + - !!python/tuple [9, 2] + - !!python/tuple [16, 20] + - !!python/tuple [18, 8] + - !!python/tuple [25, 12] + - !!python/tuple [3, 28] + - !!python/tuple [7, 28] + - !!python/tuple [8, 30] + - !!python/tuple [15, 22] + - !!python/tuple [29, 29] + - !!python/tuple [26, 14] + - !!python/tuple [4, 29] + - !!python/tuple [21, 4] + - !!python/tuple [14, 2] + - !!python/tuple [25, 28] + - !!python/tuple [16, 3] + - !!python/tuple [27, 7] + - !!python/tuple [10, 10] + - !!python/tuple [22, 1] + - !!python/tuple [8, 25] + - !!python/tuple [5, 1] + - !!python/tuple [25, 0] + - !!python/tuple [5, 31] + - !!python/tuple [6, 20] + - !!python/tuple [28, 28] + - !!python/tuple [12, 10] + - !!python/tuple [11, 20] + - !!python/tuple [9, 30] + - !!python/tuple [17, 17] + - !!python/tuple [16, 4] + - !!python/tuple [28, 10] + - !!python/tuple [6, 13] + - !!python/tuple [15, 15] + - !!python/tuple [18, 24] + - !!python/tuple [12, 6] + - !!python/tuple [16, 12] + - !!python/tuple [12, 2] + - !!python/tuple [20, 20] + - !!python/tuple [3, 0] + - !!python/tuple [13, 21] + - !!python/tuple [13, 1] + - !!python/tuple [7, 27] + - !!python/tuple [19, 10] + - !!python/tuple [7, 26] + - !!python/tuple [10, 17] + - !!python/tuple [9, 5] + - !!python/tuple [25, 21] + - !!python/tuple [14, 1] + - !!python/tuple [15, 21] + - !!python/tuple [29, 2] + - !!python/tuple [0, 5] + - !!python/tuple [21, 27] + - !!python/tuple [10, 2] + - !!python/tuple [13, 24] + - !!python/tuple [24, 28] + - !!python/tuple [4, 10] + - !!python/tuple [0, 22] + - !!python/tuple [12, 29] + - !!python/tuple [21, 16] + - !!python/tuple [12, 27] + - !!python/tuple [18, 22] + - !!python/tuple [6, 14] + - !!python/tuple [24, 30] + - !!python/tuple [1, 17] + - !!python/tuple [18, 17] + - !!python/tuple [25, 25] + - !!python/tuple [23, 8] + - !!python/tuple [25, 26] + - !!python/tuple [14, 17] + - !!python/tuple [7, 0] + - !!python/tuple [22, 16] + - !!python/tuple [28, 3] + - !!python/tuple [18, 15] + - !!python/tuple [22, 21] + - !!python/tuple [21, 31] + - !!python/tuple [22, 10] + - !!python/tuple [9, 6] + - !!python/tuple [27, 30] + - !!python/tuple [11, 21] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex21.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex21.yaml new file mode 100644 index 0000000..f93af7e --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex21.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [17, 28] + name: agent0 + start: [3, 16] +- goal: [8, 2] + name: agent1 + start: [5, 27] +- goal: [4, 28] + name: agent2 + start: [24, 11] +- goal: [22, 29] + name: agent3 + start: [1, 16] +- goal: [11, 30] + name: agent4 + start: [29, 22] +- goal: [8, 20] + name: agent5 + start: [5, 6] +- goal: [14, 0] + name: agent6 + start: [2, 5] +- goal: [26, 19] + name: agent7 + start: [30, 26] +- goal: [0, 10] + name: agent8 + start: [21, 10] +- goal: [4, 2] + name: agent9 + start: [29, 16] +- goal: [8, 7] + name: agent10 + start: [14, 0] +- goal: [20, 31] + name: agent11 + start: [24, 24] +- goal: [14, 22] + name: agent12 + start: [10, 14] +- goal: [2, 2] + name: agent13 + start: [31, 12] +- goal: [16, 25] + name: agent14 + start: [3, 11] +- goal: [9, 9] + name: agent15 + start: [26, 22] +- goal: [22, 31] + name: agent16 + start: [25, 6] +- goal: [30, 20] + name: agent17 + start: [17, 1] +- goal: [14, 21] + name: agent18 + start: [6, 21] +- goal: [6, 17] + name: agent19 + start: [5, 23] +- goal: [29, 2] + name: agent20 + start: [19, 18] +- goal: [29, 21] + name: agent21 + start: [9, 26] +- goal: [3, 14] + name: agent22 + start: [13, 30] +- goal: [2, 3] + name: agent23 + start: [16, 0] +- goal: [22, 2] + name: agent24 + start: [20, 2] +- goal: [13, 26] + name: agent25 + start: [22, 9] +- goal: [1, 19] + name: agent26 + start: [12, 20] +- goal: [2, 11] + name: agent27 + start: [5, 11] +- goal: [4, 22] + name: agent28 + start: [28, 0] +- goal: [4, 7] + name: agent29 + start: [13, 19] +- goal: [16, 18] + name: agent30 + start: [23, 27] +- goal: [31, 28] + name: agent31 + start: [21, 12] +- goal: [22, 21] + name: agent32 + start: [26, 30] +- goal: [21, 28] + name: agent33 + start: [24, 10] +- goal: [4, 17] + name: agent34 + start: [20, 1] +- goal: [30, 1] + name: agent35 + start: [19, 14] +- goal: [6, 7] + name: agent36 + start: [4, 26] +- goal: [31, 17] + name: agent37 + start: [3, 17] +- goal: [13, 14] + name: agent38 + start: [7, 18] +- goal: [17, 23] + name: agent39 + start: [18, 17] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [17, 19] + - !!python/tuple [21, 22] + - !!python/tuple [2, 14] + - !!python/tuple [8, 19] + - !!python/tuple [18, 8] + - !!python/tuple [25, 26] + - !!python/tuple [28, 29] + - !!python/tuple [3, 22] + - !!python/tuple [17, 30] + - !!python/tuple [13, 16] + - !!python/tuple [2, 6] + - !!python/tuple [13, 20] + - !!python/tuple [24, 6] + - !!python/tuple [25, 16] + - !!python/tuple [7, 6] + - !!python/tuple [0, 6] + - !!python/tuple [6, 19] + - !!python/tuple [9, 18] + - !!python/tuple [9, 20] + - !!python/tuple [6, 22] + - !!python/tuple [14, 15] + - !!python/tuple [10, 29] + - !!python/tuple [12, 23] + - !!python/tuple [3, 25] + - !!python/tuple [12, 18] + - !!python/tuple [20, 20] + - !!python/tuple [13, 7] + - !!python/tuple [2, 28] + - !!python/tuple [28, 25] + - !!python/tuple [0, 5] + - !!python/tuple [18, 12] + - !!python/tuple [9, 7] + - !!python/tuple [7, 21] + - !!python/tuple [7, 12] + - !!python/tuple [26, 5] + - !!python/tuple [2, 25] + - !!python/tuple [19, 30] + - !!python/tuple [20, 15] + - !!python/tuple [14, 5] + - !!python/tuple [7, 0] + - !!python/tuple [28, 10] + - !!python/tuple [15, 27] + - !!python/tuple [18, 26] + - !!python/tuple [29, 19] + - !!python/tuple [11, 28] + - !!python/tuple [15, 29] + - !!python/tuple [24, 29] + - !!python/tuple [20, 28] + - !!python/tuple [17, 16] + - !!python/tuple [12, 2] + - !!python/tuple [28, 19] + - !!python/tuple [22, 5] + - !!python/tuple [18, 23] + - !!python/tuple [17, 11] + - !!python/tuple [20, 7] + - !!python/tuple [29, 24] + - !!python/tuple [4, 25] + - !!python/tuple [18, 30] + - !!python/tuple [17, 29] + - !!python/tuple [8, 31] + - !!python/tuple [30, 17] + - !!python/tuple [16, 5] + - !!python/tuple [19, 16] + - !!python/tuple [30, 4] + - !!python/tuple [12, 30] + - !!python/tuple [11, 13] + - !!python/tuple [8, 14] + - !!python/tuple [9, 29] + - !!python/tuple [10, 26] + - !!python/tuple [31, 16] + - !!python/tuple [31, 1] + - !!python/tuple [2, 18] + - !!python/tuple [15, 17] + - !!python/tuple [5, 26] + - !!python/tuple [0, 11] + - !!python/tuple [15, 8] + - !!python/tuple [4, 3] + - !!python/tuple [23, 15] + - !!python/tuple [24, 31] + - !!python/tuple [13, 3] + - !!python/tuple [25, 3] + - !!python/tuple [4, 19] + - !!python/tuple [21, 29] + - !!python/tuple [17, 6] + - !!python/tuple [9, 27] + - !!python/tuple [3, 13] + - !!python/tuple [22, 23] + - !!python/tuple [27, 30] + - !!python/tuple [28, 8] + - !!python/tuple [7, 31] + - !!python/tuple [13, 9] + - !!python/tuple [9, 23] + - !!python/tuple [12, 15] + - !!python/tuple [24, 28] + - !!python/tuple [24, 14] + - !!python/tuple [11, 22] + - !!python/tuple [11, 2] + - !!python/tuple [0, 30] + - !!python/tuple [7, 26] + - !!python/tuple [10, 31] + - !!python/tuple [0, 31] + - !!python/tuple [2, 0] + - !!python/tuple [19, 25] + - !!python/tuple [3, 31] + - !!python/tuple [21, 26] + - !!python/tuple [10, 3] + - !!python/tuple [16, 10] + - !!python/tuple [6, 11] + - !!python/tuple [20, 27] + - !!python/tuple [22, 28] + - !!python/tuple [22, 24] + - !!python/tuple [4, 30] + - !!python/tuple [15, 10] + - !!python/tuple [4, 8] + - !!python/tuple [16, 1] + - !!python/tuple [18, 18] + - !!python/tuple [10, 20] + - !!python/tuple [23, 19] + - !!python/tuple [3, 12] + - !!python/tuple [28, 15] + - !!python/tuple [11, 25] + - !!python/tuple [23, 25] + - !!python/tuple [26, 17] + - !!python/tuple [20, 29] + - !!python/tuple [17, 25] + - !!python/tuple [14, 23] + - !!python/tuple [24, 3] + - !!python/tuple [30, 22] + - !!python/tuple [14, 13] + - !!python/tuple [15, 13] + - !!python/tuple [15, 15] + - !!python/tuple [14, 7] + - !!python/tuple [16, 2] + - !!python/tuple [8, 24] + - !!python/tuple [28, 11] + - !!python/tuple [4, 31] + - !!python/tuple [21, 8] + - !!python/tuple [31, 11] + - !!python/tuple [28, 23] + - !!python/tuple [26, 23] + - !!python/tuple [21, 6] + - !!python/tuple [27, 2] + - !!python/tuple [12, 28] + - !!python/tuple [15, 26] + - !!python/tuple [23, 17] + - !!python/tuple [5, 5] + - !!python/tuple [28, 12] + - !!python/tuple [7, 20] + - !!python/tuple [15, 4] + - !!python/tuple [20, 4] + - !!python/tuple [9, 15] + - !!python/tuple [7, 3] + - !!python/tuple [8, 25] + - !!python/tuple [18, 20] + - !!python/tuple [15, 7] + - !!python/tuple [16, 7] + - !!python/tuple [6, 16] + - !!python/tuple [21, 25] + - !!python/tuple [10, 1] + - !!python/tuple [9, 1] + - !!python/tuple [24, 23] + - !!python/tuple [19, 15] + - !!python/tuple [10, 25] + - !!python/tuple [15, 3] + - !!python/tuple [30, 29] + - !!python/tuple [16, 13] + - !!python/tuple [23, 28] + - !!python/tuple [18, 15] + - !!python/tuple [18, 11] + - !!python/tuple [23, 5] + - !!python/tuple [28, 3] + - !!python/tuple [14, 14] + - !!python/tuple [6, 13] + - !!python/tuple [11, 31] + - !!python/tuple [15, 28] + - !!python/tuple [4, 13] + - !!python/tuple [1, 17] + - !!python/tuple [25, 17] + - !!python/tuple [19, 12] + - !!python/tuple [26, 0] + - !!python/tuple [8, 16] + - !!python/tuple [23, 6] + - !!python/tuple [29, 0] + - !!python/tuple [27, 27] + - !!python/tuple [23, 10] + - !!python/tuple [18, 14] + - !!python/tuple [17, 12] + - !!python/tuple [9, 30] + - !!python/tuple [9, 6] + - !!python/tuple [20, 23] + - !!python/tuple [14, 25] + - !!python/tuple [5, 7] + - !!python/tuple [8, 9] + - !!python/tuple [19, 8] + - !!python/tuple [2, 21] + - !!python/tuple [2, 31] + - !!python/tuple [26, 25] + - !!python/tuple [4, 20] + - !!python/tuple [5, 31] + - !!python/tuple [12, 6] + - !!python/tuple [11, 16] + - !!python/tuple [17, 10] + - !!python/tuple [21, 5] + - !!python/tuple [31, 20] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex22.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex22.yaml new file mode 100644 index 0000000..814a54b --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex22.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [23, 0] + name: agent0 + start: [20, 30] +- goal: [25, 29] + name: agent1 + start: [21, 5] +- goal: [0, 5] + name: agent2 + start: [11, 1] +- goal: [30, 9] + name: agent3 + start: [15, 15] +- goal: [25, 14] + name: agent4 + start: [28, 24] +- goal: [12, 11] + name: agent5 + start: [30, 4] +- goal: [21, 0] + name: agent6 + start: [8, 21] +- goal: [18, 18] + name: agent7 + start: [7, 2] +- goal: [14, 8] + name: agent8 + start: [5, 5] +- goal: [7, 15] + name: agent9 + start: [3, 25] +- goal: [2, 17] + name: agent10 + start: [7, 4] +- goal: [29, 9] + name: agent11 + start: [10, 2] +- goal: [22, 24] + name: agent12 + start: [21, 30] +- goal: [23, 29] + name: agent13 + start: [24, 14] +- goal: [3, 1] + name: agent14 + start: [16, 5] +- goal: [12, 3] + name: agent15 + start: [22, 27] +- goal: [3, 19] + name: agent16 + start: [29, 8] +- goal: [4, 12] + name: agent17 + start: [14, 10] +- goal: [14, 10] + name: agent18 + start: [3, 2] +- goal: [15, 31] + name: agent19 + start: [22, 22] +- goal: [16, 5] + name: agent20 + start: [24, 27] +- goal: [2, 10] + name: agent21 + start: [1, 1] +- goal: [4, 27] + name: agent22 + start: [4, 18] +- goal: [14, 22] + name: agent23 + start: [28, 2] +- goal: [0, 21] + name: agent24 + start: [10, 5] +- goal: [29, 3] + name: agent25 + start: [23, 0] +- goal: [13, 29] + name: agent26 + start: [9, 5] +- goal: [17, 9] + name: agent27 + start: [28, 0] +- goal: [22, 18] + name: agent28 + start: [3, 15] +- goal: [27, 21] + name: agent29 + start: [1, 18] +- goal: [31, 19] + name: agent30 + start: [22, 7] +- goal: [1, 29] + name: agent31 + start: [26, 1] +- goal: [27, 7] + name: agent32 + start: [28, 3] +- goal: [14, 1] + name: agent33 + start: [25, 10] +- goal: [20, 8] + name: agent34 + start: [20, 23] +- goal: [1, 0] + name: agent35 + start: [0, 25] +- goal: [19, 27] + name: agent36 + start: [11, 4] +- goal: [19, 21] + name: agent37 + start: [0, 14] +- goal: [7, 4] + name: agent38 + start: [9, 27] +- goal: [11, 30] + name: agent39 + start: [19, 19] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [21, 8] + - !!python/tuple [12, 16] + - !!python/tuple [17, 10] + - !!python/tuple [10, 13] + - !!python/tuple [18, 14] + - !!python/tuple [12, 30] + - !!python/tuple [16, 24] + - !!python/tuple [12, 8] + - !!python/tuple [7, 5] + - !!python/tuple [30, 8] + - !!python/tuple [9, 24] + - !!python/tuple [6, 25] + - !!python/tuple [4, 4] + - !!python/tuple [22, 2] + - !!python/tuple [13, 30] + - !!python/tuple [25, 30] + - !!python/tuple [4, 16] + - !!python/tuple [31, 25] + - !!python/tuple [8, 20] + - !!python/tuple [24, 16] + - !!python/tuple [8, 26] + - !!python/tuple [14, 6] + - !!python/tuple [12, 7] + - !!python/tuple [24, 7] + - !!python/tuple [21, 22] + - !!python/tuple [28, 10] + - !!python/tuple [0, 6] + - !!python/tuple [0, 29] + - !!python/tuple [6, 18] + - !!python/tuple [9, 22] + - !!python/tuple [15, 0] + - !!python/tuple [20, 2] + - !!python/tuple [26, 10] + - !!python/tuple [23, 6] + - !!python/tuple [17, 2] + - !!python/tuple [31, 7] + - !!python/tuple [25, 18] + - !!python/tuple [0, 10] + - !!python/tuple [14, 0] + - !!python/tuple [26, 26] + - !!python/tuple [18, 15] + - !!python/tuple [20, 12] + - !!python/tuple [24, 21] + - !!python/tuple [12, 29] + - !!python/tuple [25, 22] + - !!python/tuple [31, 20] + - !!python/tuple [5, 29] + - !!python/tuple [13, 20] + - !!python/tuple [28, 12] + - !!python/tuple [12, 14] + - !!python/tuple [30, 18] + - !!python/tuple [0, 11] + - !!python/tuple [11, 5] + - !!python/tuple [5, 8] + - !!python/tuple [8, 11] + - !!python/tuple [6, 19] + - !!python/tuple [6, 26] + - !!python/tuple [5, 6] + - !!python/tuple [14, 31] + - !!python/tuple [19, 5] + - !!python/tuple [0, 20] + - !!python/tuple [20, 29] + - !!python/tuple [5, 22] + - !!python/tuple [25, 6] + - !!python/tuple [31, 31] + - !!python/tuple [30, 0] + - !!python/tuple [13, 27] + - !!python/tuple [24, 28] + - !!python/tuple [2, 1] + - !!python/tuple [28, 4] + - !!python/tuple [29, 25] + - !!python/tuple [25, 20] + - !!python/tuple [19, 25] + - !!python/tuple [3, 4] + - !!python/tuple [31, 18] + - !!python/tuple [31, 24] + - !!python/tuple [1, 16] + - !!python/tuple [9, 2] + - !!python/tuple [30, 31] + - !!python/tuple [25, 17] + - !!python/tuple [18, 0] + - !!python/tuple [15, 18] + - !!python/tuple [10, 8] + - !!python/tuple [2, 25] + - !!python/tuple [31, 4] + - !!python/tuple [17, 25] + - !!python/tuple [8, 14] + - !!python/tuple [20, 20] + - !!python/tuple [29, 16] + - !!python/tuple [25, 27] + - !!python/tuple [10, 24] + - !!python/tuple [0, 13] + - !!python/tuple [20, 6] + - !!python/tuple [12, 27] + - !!python/tuple [23, 20] + - !!python/tuple [16, 9] + - !!python/tuple [30, 1] + - !!python/tuple [15, 26] + - !!python/tuple [16, 6] + - !!python/tuple [5, 4] + - !!python/tuple [2, 11] + - !!python/tuple [18, 7] + - !!python/tuple [16, 3] + - !!python/tuple [8, 15] + - !!python/tuple [18, 28] + - !!python/tuple [16, 14] + - !!python/tuple [3, 23] + - !!python/tuple [2, 28] + - !!python/tuple [21, 23] + - !!python/tuple [28, 22] + - !!python/tuple [22, 23] + - !!python/tuple [15, 13] + - !!python/tuple [20, 16] + - !!python/tuple [12, 10] + - !!python/tuple [15, 21] + - !!python/tuple [20, 1] + - !!python/tuple [9, 11] + - !!python/tuple [14, 21] + - !!python/tuple [0, 0] + - !!python/tuple [14, 2] + - !!python/tuple [18, 26] + - !!python/tuple [20, 5] + - !!python/tuple [24, 22] + - !!python/tuple [6, 20] + - !!python/tuple [8, 7] + - !!python/tuple [22, 9] + - !!python/tuple [7, 8] + - !!python/tuple [24, 30] + - !!python/tuple [13, 5] + - !!python/tuple [25, 12] + - !!python/tuple [30, 11] + - !!python/tuple [4, 31] + - !!python/tuple [30, 24] + - !!python/tuple [29, 22] + - !!python/tuple [10, 14] + - !!python/tuple [21, 16] + - !!python/tuple [16, 23] + - !!python/tuple [5, 7] + - !!python/tuple [8, 19] + - !!python/tuple [10, 16] + - !!python/tuple [23, 25] + - !!python/tuple [4, 21] + - !!python/tuple [27, 2] + - !!python/tuple [29, 2] + - !!python/tuple [14, 30] + - !!python/tuple [5, 13] + - !!python/tuple [27, 17] + - !!python/tuple [2, 20] + - !!python/tuple [4, 5] + - !!python/tuple [26, 9] + - !!python/tuple [31, 27] + - !!python/tuple [4, 14] + - !!python/tuple [7, 13] + - !!python/tuple [20, 28] + - !!python/tuple [0, 12] + - !!python/tuple [12, 19] + - !!python/tuple [30, 10] + - !!python/tuple [5, 20] + - !!python/tuple [3, 27] + - !!python/tuple [27, 25] + - !!python/tuple [13, 22] + - !!python/tuple [16, 13] + - !!python/tuple [27, 16] + - !!python/tuple [21, 7] + - !!python/tuple [6, 2] + - !!python/tuple [18, 21] + - !!python/tuple [28, 17] + - !!python/tuple [1, 27] + - !!python/tuple [6, 27] + - !!python/tuple [4, 29] + - !!python/tuple [30, 25] + - !!python/tuple [6, 6] + - !!python/tuple [26, 14] + - !!python/tuple [31, 22] + - !!python/tuple [7, 27] + - !!python/tuple [7, 25] + - !!python/tuple [15, 4] + - !!python/tuple [21, 6] + - !!python/tuple [20, 15] + - !!python/tuple [16, 2] + - !!python/tuple [5, 24] + - !!python/tuple [26, 16] + - !!python/tuple [27, 27] + - !!python/tuple [9, 1] + - !!python/tuple [0, 28] + - !!python/tuple [10, 27] + - !!python/tuple [19, 7] + - !!python/tuple [23, 21] + - !!python/tuple [26, 21] + - !!python/tuple [19, 1] + - !!python/tuple [6, 21] + - !!python/tuple [17, 20] + - !!python/tuple [30, 2] + - !!python/tuple [23, 17] + - !!python/tuple [3, 11] + - !!python/tuple [13, 3] + - !!python/tuple [6, 15] + - !!python/tuple [15, 11] + - !!python/tuple [13, 21] + - !!python/tuple [2, 24] + - !!python/tuple [16, 8] + - !!python/tuple [9, 28] + - !!python/tuple [21, 11] + - !!python/tuple [22, 4] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex23.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex23.yaml new file mode 100644 index 0000000..e55857a --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex23.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [3, 16] + name: agent0 + start: [18, 22] +- goal: [7, 22] + name: agent1 + start: [0, 24] +- goal: [26, 8] + name: agent2 + start: [26, 10] +- goal: [6, 24] + name: agent3 + start: [13, 0] +- goal: [9, 27] + name: agent4 + start: [3, 13] +- goal: [10, 7] + name: agent5 + start: [17, 0] +- goal: [18, 29] + name: agent6 + start: [11, 4] +- goal: [29, 31] + name: agent7 + start: [18, 20] +- goal: [2, 4] + name: agent8 + start: [5, 17] +- goal: [24, 21] + name: agent9 + start: [17, 23] +- goal: [1, 7] + name: agent10 + start: [27, 20] +- goal: [31, 27] + name: agent11 + start: [11, 29] +- goal: [11, 22] + name: agent12 + start: [12, 1] +- goal: [30, 20] + name: agent13 + start: [22, 11] +- goal: [17, 6] + name: agent14 + start: [16, 21] +- goal: [18, 15] + name: agent15 + start: [2, 31] +- goal: [2, 23] + name: agent16 + start: [7, 20] +- goal: [11, 27] + name: agent17 + start: [10, 29] +- goal: [3, 4] + name: agent18 + start: [23, 25] +- goal: [10, 5] + name: agent19 + start: [9, 23] +- goal: [23, 2] + name: agent20 + start: [27, 24] +- goal: [8, 8] + name: agent21 + start: [12, 24] +- goal: [27, 3] + name: agent22 + start: [2, 13] +- goal: [15, 21] + name: agent23 + start: [2, 29] +- goal: [20, 28] + name: agent24 + start: [15, 18] +- goal: [3, 2] + name: agent25 + start: [27, 13] +- goal: [28, 4] + name: agent26 + start: [1, 26] +- goal: [8, 26] + name: agent27 + start: [8, 29] +- goal: [18, 5] + name: agent28 + start: [3, 6] +- goal: [11, 30] + name: agent29 + start: [8, 8] +- goal: [8, 16] + name: agent30 + start: [13, 7] +- goal: [24, 7] + name: agent31 + start: [24, 25] +- goal: [6, 30] + name: agent32 + start: [19, 12] +- goal: [26, 18] + name: agent33 + start: [23, 24] +- goal: [9, 4] + name: agent34 + start: [2, 8] +- goal: [29, 28] + name: agent35 + start: [4, 0] +- goal: [7, 6] + name: agent36 + start: [25, 13] +- goal: [20, 18] + name: agent37 + start: [14, 29] +- goal: [3, 17] + name: agent38 + start: [18, 6] +- goal: [18, 30] + name: agent39 + start: [21, 13] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [6, 23] + - !!python/tuple [6, 18] + - !!python/tuple [9, 28] + - !!python/tuple [19, 19] + - !!python/tuple [29, 30] + - !!python/tuple [21, 23] + - !!python/tuple [10, 12] + - !!python/tuple [22, 31] + - !!python/tuple [15, 22] + - !!python/tuple [16, 26] + - !!python/tuple [10, 27] + - !!python/tuple [4, 10] + - !!python/tuple [28, 9] + - !!python/tuple [7, 27] + - !!python/tuple [1, 9] + - !!python/tuple [6, 14] + - !!python/tuple [4, 29] + - !!python/tuple [9, 25] + - !!python/tuple [12, 11] + - !!python/tuple [10, 9] + - !!python/tuple [10, 0] + - !!python/tuple [10, 2] + - !!python/tuple [16, 11] + - !!python/tuple [25, 2] + - !!python/tuple [10, 15] + - !!python/tuple [4, 4] + - !!python/tuple [28, 17] + - !!python/tuple [18, 4] + - !!python/tuple [28, 3] + - !!python/tuple [27, 1] + - !!python/tuple [23, 3] + - !!python/tuple [30, 5] + - !!python/tuple [29, 21] + - !!python/tuple [11, 26] + - !!python/tuple [27, 8] + - !!python/tuple [14, 18] + - !!python/tuple [12, 5] + - !!python/tuple [20, 10] + - !!python/tuple [11, 14] + - !!python/tuple [17, 22] + - !!python/tuple [2, 11] + - !!python/tuple [25, 24] + - !!python/tuple [17, 26] + - !!python/tuple [14, 13] + - !!python/tuple [3, 12] + - !!python/tuple [23, 28] + - !!python/tuple [31, 9] + - !!python/tuple [20, 20] + - !!python/tuple [25, 22] + - !!python/tuple [24, 6] + - !!python/tuple [31, 16] + - !!python/tuple [19, 29] + - !!python/tuple [11, 17] + - !!python/tuple [30, 2] + - !!python/tuple [6, 28] + - !!python/tuple [9, 21] + - !!python/tuple [25, 18] + - !!python/tuple [3, 27] + - !!python/tuple [31, 23] + - !!python/tuple [25, 3] + - !!python/tuple [11, 6] + - !!python/tuple [28, 16] + - !!python/tuple [29, 5] + - !!python/tuple [3, 20] + - !!python/tuple [13, 24] + - !!python/tuple [18, 25] + - !!python/tuple [11, 3] + - !!python/tuple [29, 22] + - !!python/tuple [5, 26] + - !!python/tuple [4, 24] + - !!python/tuple [3, 22] + - !!python/tuple [3, 8] + - !!python/tuple [8, 20] + - !!python/tuple [7, 21] + - !!python/tuple [13, 19] + - !!python/tuple [24, 2] + - !!python/tuple [22, 19] + - !!python/tuple [30, 12] + - !!python/tuple [17, 15] + - !!python/tuple [3, 28] + - !!python/tuple [30, 30] + - !!python/tuple [5, 7] + - !!python/tuple [22, 2] + - !!python/tuple [27, 17] + - !!python/tuple [6, 27] + - !!python/tuple [30, 14] + - !!python/tuple [8, 10] + - !!python/tuple [14, 15] + - !!python/tuple [24, 29] + - !!python/tuple [31, 6] + - !!python/tuple [22, 26] + - !!python/tuple [23, 31] + - !!python/tuple [15, 11] + - !!python/tuple [3, 7] + - !!python/tuple [31, 12] + - !!python/tuple [1, 30] + - !!python/tuple [16, 7] + - !!python/tuple [15, 4] + - !!python/tuple [5, 22] + - !!python/tuple [11, 19] + - !!python/tuple [9, 10] + - !!python/tuple [26, 24] + - !!python/tuple [6, 5] + - !!python/tuple [6, 9] + - !!python/tuple [18, 7] + - !!python/tuple [23, 21] + - !!python/tuple [31, 24] + - !!python/tuple [22, 15] + - !!python/tuple [21, 5] + - !!python/tuple [4, 23] + - !!python/tuple [16, 9] + - !!python/tuple [12, 17] + - !!python/tuple [28, 10] + - !!python/tuple [23, 19] + - !!python/tuple [7, 7] + - !!python/tuple [4, 9] + - !!python/tuple [1, 20] + - !!python/tuple [25, 21] + - !!python/tuple [27, 7] + - !!python/tuple [10, 14] + - !!python/tuple [12, 28] + - !!python/tuple [0, 9] + - !!python/tuple [18, 27] + - !!python/tuple [30, 28] + - !!python/tuple [23, 10] + - !!python/tuple [27, 9] + - !!python/tuple [7, 12] + - !!python/tuple [24, 17] + - !!python/tuple [29, 7] + - !!python/tuple [16, 30] + - !!python/tuple [27, 25] + - !!python/tuple [21, 19] + - !!python/tuple [10, 22] + - !!python/tuple [23, 13] + - !!python/tuple [19, 16] + - !!python/tuple [24, 20] + - !!python/tuple [18, 9] + - !!python/tuple [20, 2] + - !!python/tuple [23, 20] + - !!python/tuple [10, 6] + - !!python/tuple [26, 23] + - !!python/tuple [7, 16] + - !!python/tuple [1, 10] + - !!python/tuple [0, 21] + - !!python/tuple [2, 24] + - !!python/tuple [31, 20] + - !!python/tuple [22, 14] + - !!python/tuple [26, 20] + - !!python/tuple [0, 16] + - !!python/tuple [28, 18] + - !!python/tuple [12, 7] + - !!python/tuple [18, 28] + - !!python/tuple [15, 13] + - !!python/tuple [31, 30] + - !!python/tuple [0, 15] + - !!python/tuple [19, 8] + - !!python/tuple [20, 14] + - !!python/tuple [12, 30] + - !!python/tuple [5, 9] + - !!python/tuple [9, 3] + - !!python/tuple [9, 26] + - !!python/tuple [23, 30] + - !!python/tuple [15, 8] + - !!python/tuple [0, 28] + - !!python/tuple [11, 21] + - !!python/tuple [9, 14] + - !!python/tuple [15, 27] + - !!python/tuple [16, 6] + - !!python/tuple [20, 16] + - !!python/tuple [28, 26] + - !!python/tuple [21, 7] + - !!python/tuple [28, 25] + - !!python/tuple [16, 18] + - !!python/tuple [30, 19] + - !!python/tuple [3, 5] + - !!python/tuple [2, 28] + - !!python/tuple [15, 6] + - !!python/tuple [11, 23] + - !!python/tuple [8, 0] + - !!python/tuple [13, 16] + - !!python/tuple [29, 19] + - !!python/tuple [25, 27] + - !!python/tuple [8, 24] + - !!python/tuple [24, 4] + - !!python/tuple [10, 4] + - !!python/tuple [0, 18] + - !!python/tuple [15, 24] + - !!python/tuple [4, 20] + - !!python/tuple [8, 22] + - !!python/tuple [23, 22] + - !!python/tuple [22, 7] + - !!python/tuple [11, 16] + - !!python/tuple [31, 22] + - !!python/tuple [26, 26] + - !!python/tuple [2, 3] + - !!python/tuple [26, 16] + - !!python/tuple [21, 1] + - !!python/tuple [24, 12] + - !!python/tuple [13, 23] + - !!python/tuple [31, 2] + - !!python/tuple [15, 31] + - !!python/tuple [15, 23] + - !!python/tuple [5, 29] + - !!python/tuple [5, 0] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex24.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex24.yaml new file mode 100644 index 0000000..54359a4 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex24.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [12, 31] + name: agent0 + start: [3, 25] +- goal: [23, 1] + name: agent1 + start: [22, 8] +- goal: [29, 19] + name: agent2 + start: [6, 22] +- goal: [9, 8] + name: agent3 + start: [22, 4] +- goal: [2, 13] + name: agent4 + start: [9, 15] +- goal: [0, 18] + name: agent5 + start: [11, 5] +- goal: [3, 1] + name: agent6 + start: [26, 5] +- goal: [13, 18] + name: agent7 + start: [29, 19] +- goal: [1, 10] + name: agent8 + start: [31, 15] +- goal: [12, 25] + name: agent9 + start: [9, 7] +- goal: [27, 15] + name: agent10 + start: [20, 16] +- goal: [28, 0] + name: agent11 + start: [27, 13] +- goal: [11, 30] + name: agent12 + start: [14, 5] +- goal: [18, 9] + name: agent13 + start: [12, 17] +- goal: [24, 3] + name: agent14 + start: [8, 30] +- goal: [10, 20] + name: agent15 + start: [12, 23] +- goal: [4, 6] + name: agent16 + start: [0, 0] +- goal: [28, 16] + name: agent17 + start: [8, 20] +- goal: [11, 28] + name: agent18 + start: [23, 24] +- goal: [2, 16] + name: agent19 + start: [13, 28] +- goal: [23, 18] + name: agent20 + start: [8, 8] +- goal: [0, 3] + name: agent21 + start: [22, 10] +- goal: [3, 16] + name: agent22 + start: [18, 10] +- goal: [5, 4] + name: agent23 + start: [4, 31] +- goal: [3, 29] + name: agent24 + start: [13, 12] +- goal: [12, 7] + name: agent25 + start: [16, 31] +- goal: [21, 21] + name: agent26 + start: [24, 22] +- goal: [20, 31] + name: agent27 + start: [13, 18] +- goal: [23, 30] + name: agent28 + start: [17, 2] +- goal: [30, 22] + name: agent29 + start: [17, 10] +- goal: [10, 28] + name: agent30 + start: [5, 7] +- goal: [28, 23] + name: agent31 + start: [4, 26] +- goal: [18, 7] + name: agent32 + start: [9, 22] +- goal: [11, 13] + name: agent33 + start: [25, 4] +- goal: [26, 1] + name: agent34 + start: [24, 1] +- goal: [30, 9] + name: agent35 + start: [29, 12] +- goal: [24, 26] + name: agent36 + start: [16, 29] +- goal: [9, 2] + name: agent37 + start: [13, 24] +- goal: [21, 2] + name: agent38 + start: [15, 10] +- goal: [20, 23] + name: agent39 + start: [9, 4] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [22, 15] + - !!python/tuple [18, 16] + - !!python/tuple [12, 28] + - !!python/tuple [10, 1] + - !!python/tuple [21, 14] + - !!python/tuple [29, 5] + - !!python/tuple [11, 10] + - !!python/tuple [27, 4] + - !!python/tuple [6, 23] + - !!python/tuple [1, 17] + - !!python/tuple [28, 9] + - !!python/tuple [19, 0] + - !!python/tuple [1, 6] + - !!python/tuple [23, 11] + - !!python/tuple [6, 11] + - !!python/tuple [1, 24] + - !!python/tuple [13, 1] + - !!python/tuple [20, 12] + - !!python/tuple [31, 29] + - !!python/tuple [11, 22] + - !!python/tuple [15, 17] + - !!python/tuple [2, 18] + - !!python/tuple [30, 25] + - !!python/tuple [7, 28] + - !!python/tuple [10, 8] + - !!python/tuple [4, 17] + - !!python/tuple [19, 21] + - !!python/tuple [28, 3] + - !!python/tuple [8, 15] + - !!python/tuple [1, 18] + - !!python/tuple [26, 26] + - !!python/tuple [16, 28] + - !!python/tuple [31, 7] + - !!python/tuple [19, 14] + - !!python/tuple [30, 17] + - !!python/tuple [9, 29] + - !!python/tuple [4, 4] + - !!python/tuple [5, 24] + - !!python/tuple [25, 30] + - !!python/tuple [15, 12] + - !!python/tuple [15, 19] + - !!python/tuple [29, 16] + - !!python/tuple [26, 7] + - !!python/tuple [27, 28] + - !!python/tuple [21, 31] + - !!python/tuple [18, 18] + - !!python/tuple [28, 7] + - !!python/tuple [3, 28] + - !!python/tuple [17, 24] + - !!python/tuple [6, 8] + - !!python/tuple [1, 12] + - !!python/tuple [26, 4] + - !!python/tuple [6, 4] + - !!python/tuple [11, 7] + - !!python/tuple [3, 17] + - !!python/tuple [12, 26] + - !!python/tuple [1, 25] + - !!python/tuple [30, 4] + - !!python/tuple [6, 28] + - !!python/tuple [10, 27] + - !!python/tuple [3, 20] + - !!python/tuple [2, 6] + - !!python/tuple [31, 25] + - !!python/tuple [11, 15] + - !!python/tuple [25, 9] + - !!python/tuple [21, 13] + - !!python/tuple [24, 7] + - !!python/tuple [27, 14] + - !!python/tuple [30, 28] + - !!python/tuple [13, 3] + - !!python/tuple [26, 17] + - !!python/tuple [5, 30] + - !!python/tuple [5, 25] + - !!python/tuple [18, 26] + - !!python/tuple [9, 3] + - !!python/tuple [19, 5] + - !!python/tuple [11, 25] + - !!python/tuple [5, 19] + - !!python/tuple [31, 16] + - !!python/tuple [12, 14] + - !!python/tuple [12, 24] + - !!python/tuple [6, 17] + - !!python/tuple [17, 27] + - !!python/tuple [18, 21] + - !!python/tuple [25, 2] + - !!python/tuple [23, 10] + - !!python/tuple [13, 30] + - !!python/tuple [19, 20] + - !!python/tuple [18, 12] + - !!python/tuple [30, 16] + - !!python/tuple [5, 1] + - !!python/tuple [0, 16] + - !!python/tuple [31, 2] + - !!python/tuple [20, 20] + - !!python/tuple [5, 15] + - !!python/tuple [19, 11] + - !!python/tuple [24, 29] + - !!python/tuple [21, 3] + - !!python/tuple [2, 8] + - !!python/tuple [0, 11] + - !!python/tuple [17, 23] + - !!python/tuple [9, 10] + - !!python/tuple [20, 9] + - !!python/tuple [16, 0] + - !!python/tuple [16, 5] + - !!python/tuple [21, 7] + - !!python/tuple [17, 6] + - !!python/tuple [28, 28] + - !!python/tuple [5, 20] + - !!python/tuple [15, 16] + - !!python/tuple [23, 31] + - !!python/tuple [21, 11] + - !!python/tuple [3, 8] + - !!python/tuple [7, 2] + - !!python/tuple [15, 0] + - !!python/tuple [7, 3] + - !!python/tuple [3, 2] + - !!python/tuple [28, 5] + - !!python/tuple [31, 14] + - !!python/tuple [22, 24] + - !!python/tuple [28, 21] + - !!python/tuple [28, 30] + - !!python/tuple [4, 11] + - !!python/tuple [30, 2] + - !!python/tuple [27, 18] + - !!python/tuple [9, 1] + - !!python/tuple [29, 1] + - !!python/tuple [28, 29] + - !!python/tuple [22, 13] + - !!python/tuple [4, 25] + - !!python/tuple [1, 14] + - !!python/tuple [7, 30] + - !!python/tuple [2, 11] + - !!python/tuple [8, 11] + - !!python/tuple [24, 18] + - !!python/tuple [5, 14] + - !!python/tuple [12, 21] + - !!python/tuple [3, 15] + - !!python/tuple [7, 20] + - !!python/tuple [30, 5] + - !!python/tuple [24, 16] + - !!python/tuple [19, 22] + - !!python/tuple [6, 13] + - !!python/tuple [21, 25] + - !!python/tuple [29, 15] + - !!python/tuple [15, 22] + - !!python/tuple [7, 27] + - !!python/tuple [25, 15] + - !!python/tuple [10, 12] + - !!python/tuple [26, 23] + - !!python/tuple [10, 30] + - !!python/tuple [20, 17] + - !!python/tuple [27, 7] + - !!python/tuple [27, 25] + - !!python/tuple [0, 15] + - !!python/tuple [30, 19] + - !!python/tuple [21, 15] + - !!python/tuple [26, 19] + - !!python/tuple [8, 29] + - !!python/tuple [13, 26] + - !!python/tuple [26, 10] + - !!python/tuple [16, 15] + - !!python/tuple [7, 1] + - !!python/tuple [31, 4] + - !!python/tuple [25, 29] + - !!python/tuple [28, 4] + - !!python/tuple [4, 12] + - !!python/tuple [15, 1] + - !!python/tuple [7, 12] + - !!python/tuple [8, 24] + - !!python/tuple [29, 22] + - !!python/tuple [21, 1] + - !!python/tuple [15, 11] + - !!python/tuple [3, 9] + - !!python/tuple [12, 5] + - !!python/tuple [0, 30] + - !!python/tuple [6, 25] + - !!python/tuple [23, 29] + - !!python/tuple [20, 27] + - !!python/tuple [21, 19] + - !!python/tuple [3, 10] + - !!python/tuple [16, 11] + - !!python/tuple [6, 18] + - !!python/tuple [1, 27] + - !!python/tuple [25, 25] + - !!python/tuple [4, 28] + - !!python/tuple [0, 13] + - !!python/tuple [4, 30] + - !!python/tuple [3, 5] + - !!python/tuple [8, 1] + - !!python/tuple [19, 13] + - !!python/tuple [4, 15] + - !!python/tuple [17, 25] + - !!python/tuple [23, 19] + - !!python/tuple [15, 20] + - !!python/tuple [25, 22] + - !!python/tuple [30, 10] + - !!python/tuple [1, 15] + - !!python/tuple [18, 25] + - !!python/tuple [13, 8] + - !!python/tuple [18, 0] + - !!python/tuple [10, 16] + - !!python/tuple [29, 30] + - !!python/tuple [29, 2] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex25.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex25.yaml new file mode 100644 index 0000000..06f8964 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex25.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [21, 10] + name: agent0 + start: [14, 30] +- goal: [19, 30] + name: agent1 + start: [26, 14] +- goal: [29, 25] + name: agent2 + start: [21, 4] +- goal: [16, 10] + name: agent3 + start: [4, 21] +- goal: [7, 15] + name: agent4 + start: [0, 29] +- goal: [17, 24] + name: agent5 + start: [29, 5] +- goal: [18, 17] + name: agent6 + start: [29, 16] +- goal: [1, 7] + name: agent7 + start: [23, 15] +- goal: [17, 0] + name: agent8 + start: [17, 26] +- goal: [19, 25] + name: agent9 + start: [5, 9] +- goal: [14, 27] + name: agent10 + start: [21, 9] +- goal: [20, 6] + name: agent11 + start: [13, 16] +- goal: [27, 6] + name: agent12 + start: [5, 6] +- goal: [7, 16] + name: agent13 + start: [12, 12] +- goal: [15, 26] + name: agent14 + start: [15, 2] +- goal: [2, 28] + name: agent15 + start: [29, 0] +- goal: [13, 4] + name: agent16 + start: [29, 9] +- goal: [20, 14] + name: agent17 + start: [9, 14] +- goal: [20, 25] + name: agent18 + start: [28, 17] +- goal: [26, 27] + name: agent19 + start: [31, 6] +- goal: [16, 19] + name: agent20 + start: [18, 8] +- goal: [16, 29] + name: agent21 + start: [16, 21] +- goal: [29, 5] + name: agent22 + start: [30, 11] +- goal: [18, 30] + name: agent23 + start: [2, 25] +- goal: [23, 14] + name: agent24 + start: [21, 28] +- goal: [28, 13] + name: agent25 + start: [20, 19] +- goal: [23, 6] + name: agent26 + start: [12, 10] +- goal: [0, 3] + name: agent27 + start: [23, 21] +- goal: [10, 2] + name: agent28 + start: [0, 10] +- goal: [22, 15] + name: agent29 + start: [18, 28] +- goal: [6, 8] + name: agent30 + start: [5, 19] +- goal: [24, 17] + name: agent31 + start: [21, 20] +- goal: [15, 13] + name: agent32 + start: [9, 0] +- goal: [25, 7] + name: agent33 + start: [6, 28] +- goal: [12, 26] + name: agent34 + start: [7, 22] +- goal: [13, 13] + name: agent35 + start: [30, 30] +- goal: [24, 15] + name: agent36 + start: [2, 19] +- goal: [8, 23] + name: agent37 + start: [1, 27] +- goal: [26, 18] + name: agent38 + start: [24, 2] +- goal: [22, 22] + name: agent39 + start: [4, 19] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [11, 22] + - !!python/tuple [2, 23] + - !!python/tuple [26, 16] + - !!python/tuple [27, 1] + - !!python/tuple [14, 4] + - !!python/tuple [20, 9] + - !!python/tuple [11, 7] + - !!python/tuple [20, 8] + - !!python/tuple [30, 21] + - !!python/tuple [31, 12] + - !!python/tuple [27, 29] + - !!python/tuple [30, 20] + - !!python/tuple [3, 16] + - !!python/tuple [9, 22] + - !!python/tuple [3, 3] + - !!python/tuple [18, 24] + - !!python/tuple [9, 5] + - !!python/tuple [12, 13] + - !!python/tuple [3, 30] + - !!python/tuple [23, 24] + - !!python/tuple [30, 19] + - !!python/tuple [19, 20] + - !!python/tuple [31, 20] + - !!python/tuple [8, 17] + - !!python/tuple [9, 7] + - !!python/tuple [8, 7] + - !!python/tuple [19, 7] + - !!python/tuple [3, 8] + - !!python/tuple [29, 14] + - !!python/tuple [20, 18] + - !!python/tuple [10, 20] + - !!python/tuple [23, 29] + - !!python/tuple [25, 16] + - !!python/tuple [28, 16] + - !!python/tuple [23, 13] + - !!python/tuple [11, 10] + - !!python/tuple [6, 30] + - !!python/tuple [12, 7] + - !!python/tuple [27, 28] + - !!python/tuple [21, 2] + - !!python/tuple [11, 5] + - !!python/tuple [20, 1] + - !!python/tuple [0, 20] + - !!python/tuple [10, 29] + - !!python/tuple [20, 17] + - !!python/tuple [1, 14] + - !!python/tuple [6, 17] + - !!python/tuple [27, 5] + - !!python/tuple [31, 21] + - !!python/tuple [23, 7] + - !!python/tuple [14, 21] + - !!python/tuple [26, 22] + - !!python/tuple [19, 13] + - !!python/tuple [10, 11] + - !!python/tuple [9, 13] + - !!python/tuple [7, 25] + - !!python/tuple [28, 31] + - !!python/tuple [28, 30] + - !!python/tuple [25, 17] + - !!python/tuple [24, 10] + - !!python/tuple [14, 26] + - !!python/tuple [16, 15] + - !!python/tuple [23, 8] + - !!python/tuple [28, 2] + - !!python/tuple [30, 2] + - !!python/tuple [27, 16] + - !!python/tuple [7, 14] + - !!python/tuple [11, 30] + - !!python/tuple [31, 8] + - !!python/tuple [1, 6] + - !!python/tuple [8, 27] + - !!python/tuple [18, 15] + - !!python/tuple [9, 8] + - !!python/tuple [12, 23] + - !!python/tuple [7, 8] + - !!python/tuple [25, 15] + - !!python/tuple [17, 28] + - !!python/tuple [9, 18] + - !!python/tuple [22, 29] + - !!python/tuple [7, 31] + - !!python/tuple [12, 6] + - !!python/tuple [18, 14] + - !!python/tuple [1, 15] + - !!python/tuple [6, 9] + - !!python/tuple [17, 29] + - !!python/tuple [1, 19] + - !!python/tuple [9, 6] + - !!python/tuple [21, 26] + - !!python/tuple [13, 3] + - !!python/tuple [29, 7] + - !!python/tuple [13, 7] + - !!python/tuple [26, 4] + - !!python/tuple [26, 26] + - !!python/tuple [1, 21] + - !!python/tuple [8, 26] + - !!python/tuple [7, 11] + - !!python/tuple [31, 26] + - !!python/tuple [13, 29] + - !!python/tuple [3, 15] + - !!python/tuple [30, 24] + - !!python/tuple [15, 4] + - !!python/tuple [10, 27] + - !!python/tuple [12, 28] + - !!python/tuple [17, 4] + - !!python/tuple [22, 4] + - !!python/tuple [10, 0] + - !!python/tuple [0, 24] + - !!python/tuple [12, 18] + - !!python/tuple [19, 23] + - !!python/tuple [0, 30] + - !!python/tuple [21, 17] + - !!python/tuple [1, 31] + - !!python/tuple [5, 4] + - !!python/tuple [11, 8] + - !!python/tuple [17, 14] + - !!python/tuple [17, 16] + - !!python/tuple [30, 29] + - !!python/tuple [10, 18] + - !!python/tuple [2, 7] + - !!python/tuple [6, 7] + - !!python/tuple [11, 1] + - !!python/tuple [6, 23] + - !!python/tuple [15, 1] + - !!python/tuple [6, 24] + - !!python/tuple [9, 12] + - !!python/tuple [30, 5] + - !!python/tuple [8, 3] + - !!python/tuple [17, 20] + - !!python/tuple [28, 12] + - !!python/tuple [25, 22] + - !!python/tuple [13, 30] + - !!python/tuple [24, 1] + - !!python/tuple [30, 13] + - !!python/tuple [24, 8] + - !!python/tuple [1, 25] + - !!python/tuple [8, 20] + - !!python/tuple [1, 2] + - !!python/tuple [13, 18] + - !!python/tuple [6, 6] + - !!python/tuple [7, 5] + - !!python/tuple [7, 13] + - !!python/tuple [23, 22] + - !!python/tuple [8, 21] + - !!python/tuple [23, 2] + - !!python/tuple [4, 1] + - !!python/tuple [5, 2] + - !!python/tuple [2, 12] + - !!python/tuple [5, 0] + - !!python/tuple [11, 12] + - !!python/tuple [7, 0] + - !!python/tuple [5, 15] + - !!python/tuple [29, 19] + - !!python/tuple [26, 28] + - !!python/tuple [12, 4] + - !!python/tuple [16, 20] + - !!python/tuple [31, 14] + - !!python/tuple [11, 13] + - !!python/tuple [22, 8] + - !!python/tuple [11, 19] + - !!python/tuple [27, 22] + - !!python/tuple [4, 28] + - !!python/tuple [12, 8] + - !!python/tuple [3, 7] + - !!python/tuple [5, 14] + - !!python/tuple [9, 26] + - !!python/tuple [15, 3] + - !!python/tuple [25, 8] + - !!python/tuple [10, 5] + - !!python/tuple [14, 29] + - !!python/tuple [23, 0] + - !!python/tuple [0, 14] + - !!python/tuple [31, 29] + - !!python/tuple [24, 16] + - !!python/tuple [18, 27] + - !!python/tuple [0, 18] + - !!python/tuple [25, 21] + - !!python/tuple [2, 14] + - !!python/tuple [3, 28] + - !!python/tuple [26, 13] + - !!python/tuple [23, 17] + - !!python/tuple [19, 6] + - !!python/tuple [12, 2] + - !!python/tuple [14, 18] + - !!python/tuple [2, 3] + - !!python/tuple [21, 3] + - !!python/tuple [1, 23] + - !!python/tuple [11, 18] + - !!python/tuple [25, 18] + - !!python/tuple [22, 12] + - !!python/tuple [0, 26] + - !!python/tuple [18, 9] + - !!python/tuple [26, 15] + - !!python/tuple [5, 7] + - !!python/tuple [15, 6] + - !!python/tuple [5, 13] + - !!python/tuple [31, 4] + - !!python/tuple [15, 0] + - !!python/tuple [6, 2] + - !!python/tuple [16, 25] + - !!python/tuple [11, 28] + - !!python/tuple [25, 6] + - !!python/tuple [1, 30] + - !!python/tuple [6, 25] + - !!python/tuple [0, 12] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex26.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex26.yaml new file mode 100644 index 0000000..7df85e5 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex26.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [22, 15] + name: agent0 + start: [17, 14] +- goal: [11, 24] + name: agent1 + start: [24, 17] +- goal: [26, 28] + name: agent2 + start: [17, 7] +- goal: [18, 28] + name: agent3 + start: [31, 22] +- goal: [17, 15] + name: agent4 + start: [10, 20] +- goal: [24, 29] + name: agent5 + start: [11, 15] +- goal: [2, 14] + name: agent6 + start: [2, 28] +- goal: [9, 28] + name: agent7 + start: [26, 30] +- goal: [29, 22] + name: agent8 + start: [8, 2] +- goal: [22, 25] + name: agent9 + start: [30, 5] +- goal: [0, 2] + name: agent10 + start: [16, 17] +- goal: [17, 16] + name: agent11 + start: [27, 4] +- goal: [12, 14] + name: agent12 + start: [11, 29] +- goal: [3, 27] + name: agent13 + start: [20, 10] +- goal: [3, 21] + name: agent14 + start: [18, 21] +- goal: [17, 24] + name: agent15 + start: [4, 29] +- goal: [19, 10] + name: agent16 + start: [26, 16] +- goal: [30, 8] + name: agent17 + start: [21, 6] +- goal: [28, 9] + name: agent18 + start: [3, 31] +- goal: [23, 14] + name: agent19 + start: [29, 5] +- goal: [12, 3] + name: agent20 + start: [9, 16] +- goal: [4, 12] + name: agent21 + start: [9, 1] +- goal: [0, 13] + name: agent22 + start: [16, 29] +- goal: [30, 5] + name: agent23 + start: [12, 31] +- goal: [20, 6] + name: agent24 + start: [16, 12] +- goal: [20, 11] + name: agent25 + start: [2, 6] +- goal: [0, 26] + name: agent26 + start: [3, 10] +- goal: [14, 23] + name: agent27 + start: [31, 10] +- goal: [31, 4] + name: agent28 + start: [11, 24] +- goal: [15, 27] + name: agent29 + start: [29, 6] +- goal: [1, 27] + name: agent30 + start: [10, 25] +- goal: [15, 6] + name: agent31 + start: [31, 27] +- goal: [2, 16] + name: agent32 + start: [12, 23] +- goal: [24, 8] + name: agent33 + start: [3, 8] +- goal: [5, 9] + name: agent34 + start: [1, 30] +- goal: [11, 1] + name: agent35 + start: [26, 28] +- goal: [26, 29] + name: agent36 + start: [2, 0] +- goal: [26, 30] + name: agent37 + start: [18, 23] +- goal: [13, 13] + name: agent38 + start: [2, 21] +- goal: [21, 29] + name: agent39 + start: [5, 11] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [13, 4] + - !!python/tuple [5, 0] + - !!python/tuple [31, 23] + - !!python/tuple [7, 30] + - !!python/tuple [0, 19] + - !!python/tuple [9, 26] + - !!python/tuple [15, 4] + - !!python/tuple [2, 17] + - !!python/tuple [11, 7] + - !!python/tuple [10, 19] + - !!python/tuple [4, 28] + - !!python/tuple [27, 3] + - !!python/tuple [15, 12] + - !!python/tuple [22, 3] + - !!python/tuple [17, 22] + - !!python/tuple [31, 12] + - !!python/tuple [2, 1] + - !!python/tuple [22, 5] + - !!python/tuple [7, 7] + - !!python/tuple [2, 29] + - !!python/tuple [11, 19] + - !!python/tuple [0, 20] + - !!python/tuple [20, 1] + - !!python/tuple [25, 28] + - !!python/tuple [9, 12] + - !!python/tuple [13, 10] + - !!python/tuple [8, 14] + - !!python/tuple [15, 29] + - !!python/tuple [16, 22] + - !!python/tuple [6, 25] + - !!python/tuple [16, 30] + - !!python/tuple [8, 8] + - !!python/tuple [28, 31] + - !!python/tuple [29, 9] + - !!python/tuple [12, 22] + - !!python/tuple [3, 25] + - !!python/tuple [14, 17] + - !!python/tuple [8, 7] + - !!python/tuple [31, 18] + - !!python/tuple [18, 25] + - !!python/tuple [21, 12] + - !!python/tuple [11, 20] + - !!python/tuple [25, 11] + - !!python/tuple [26, 23] + - !!python/tuple [24, 30] + - !!python/tuple [28, 1] + - !!python/tuple [1, 14] + - !!python/tuple [8, 18] + - !!python/tuple [19, 9] + - !!python/tuple [19, 22] + - !!python/tuple [23, 0] + - !!python/tuple [15, 13] + - !!python/tuple [19, 0] + - !!python/tuple [30, 12] + - !!python/tuple [24, 4] + - !!python/tuple [24, 0] + - !!python/tuple [3, 3] + - !!python/tuple [23, 23] + - !!python/tuple [0, 25] + - !!python/tuple [22, 16] + - !!python/tuple [2, 22] + - !!python/tuple [26, 5] + - !!python/tuple [16, 25] + - !!python/tuple [12, 17] + - !!python/tuple [25, 1] + - !!python/tuple [9, 20] + - !!python/tuple [13, 25] + - !!python/tuple [1, 19] + - !!python/tuple [29, 14] + - !!python/tuple [27, 27] + - !!python/tuple [17, 17] + - !!python/tuple [1, 6] + - !!python/tuple [22, 18] + - !!python/tuple [13, 29] + - !!python/tuple [7, 8] + - !!python/tuple [1, 22] + - !!python/tuple [23, 27] + - !!python/tuple [7, 16] + - !!python/tuple [25, 15] + - !!python/tuple [27, 18] + - !!python/tuple [22, 27] + - !!python/tuple [26, 15] + - !!python/tuple [8, 10] + - !!python/tuple [24, 13] + - !!python/tuple [7, 29] + - !!python/tuple [16, 2] + - !!python/tuple [0, 9] + - !!python/tuple [0, 29] + - !!python/tuple [28, 25] + - !!python/tuple [24, 14] + - !!python/tuple [0, 17] + - !!python/tuple [14, 27] + - !!python/tuple [15, 1] + - !!python/tuple [3, 19] + - !!python/tuple [14, 22] + - !!python/tuple [30, 21] + - !!python/tuple [21, 27] + - !!python/tuple [14, 18] + - !!python/tuple [3, 22] + - !!python/tuple [21, 26] + - !!python/tuple [21, 2] + - !!python/tuple [23, 26] + - !!python/tuple [0, 21] + - !!python/tuple [0, 0] + - !!python/tuple [6, 17] + - !!python/tuple [23, 5] + - !!python/tuple [4, 30] + - !!python/tuple [25, 20] + - !!python/tuple [5, 21] + - !!python/tuple [4, 18] + - !!python/tuple [24, 28] + - !!python/tuple [14, 0] + - !!python/tuple [14, 9] + - !!python/tuple [0, 5] + - !!python/tuple [27, 23] + - !!python/tuple [5, 19] + - !!python/tuple [24, 9] + - !!python/tuple [23, 25] + - !!python/tuple [23, 12] + - !!python/tuple [11, 17] + - !!python/tuple [4, 10] + - !!python/tuple [6, 18] + - !!python/tuple [26, 11] + - !!python/tuple [19, 31] + - !!python/tuple [4, 15] + - !!python/tuple [24, 10] + - !!python/tuple [18, 14] + - !!python/tuple [6, 16] + - !!python/tuple [30, 31] + - !!python/tuple [26, 0] + - !!python/tuple [5, 12] + - !!python/tuple [7, 11] + - !!python/tuple [13, 26] + - !!python/tuple [11, 11] + - !!python/tuple [27, 20] + - !!python/tuple [30, 24] + - !!python/tuple [14, 1] + - !!python/tuple [6, 8] + - !!python/tuple [17, 26] + - !!python/tuple [23, 11] + - !!python/tuple [3, 6] + - !!python/tuple [28, 12] + - !!python/tuple [13, 21] + - !!python/tuple [2, 10] + - !!python/tuple [6, 24] + - !!python/tuple [1, 12] + - !!python/tuple [4, 2] + - !!python/tuple [23, 22] + - !!python/tuple [6, 27] + - !!python/tuple [19, 12] + - !!python/tuple [24, 24] + - !!python/tuple [19, 25] + - !!python/tuple [8, 23] + - !!python/tuple [30, 29] + - !!python/tuple [8, 17] + - !!python/tuple [12, 9] + - !!python/tuple [20, 18] + - !!python/tuple [9, 6] + - !!python/tuple [7, 20] + - !!python/tuple [22, 23] + - !!python/tuple [29, 30] + - !!python/tuple [26, 22] + - !!python/tuple [12, 20] + - !!python/tuple [5, 31] + - !!python/tuple [16, 10] + - !!python/tuple [24, 11] + - !!python/tuple [1, 13] + - !!python/tuple [7, 4] + - !!python/tuple [12, 29] + - !!python/tuple [9, 11] + - !!python/tuple [22, 10] + - !!python/tuple [6, 14] + - !!python/tuple [15, 17] + - !!python/tuple [11, 8] + - !!python/tuple [5, 6] + - !!python/tuple [22, 28] + - !!python/tuple [0, 3] + - !!python/tuple [20, 30] + - !!python/tuple [9, 5] + - !!python/tuple [6, 20] + - !!python/tuple [14, 6] + - !!python/tuple [6, 29] + - !!python/tuple [31, 15] + - !!python/tuple [28, 28] + - !!python/tuple [21, 22] + - !!python/tuple [24, 12] + - !!python/tuple [3, 12] + - !!python/tuple [22, 12] + - !!python/tuple [3, 5] + - !!python/tuple [5, 26] + - !!python/tuple [11, 22] + - !!python/tuple [26, 12] + - !!python/tuple [25, 17] + - !!python/tuple [27, 15] + - !!python/tuple [16, 4] + - !!python/tuple [31, 0] + - !!python/tuple [13, 12] + - !!python/tuple [29, 2] + - !!python/tuple [1, 8] + - !!python/tuple [22, 0] + - !!python/tuple [5, 24] + - !!python/tuple [4, 23] + - !!python/tuple [14, 28] + - !!python/tuple [0, 8] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex27.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex27.yaml new file mode 100644 index 0000000..9c5a36f --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex27.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [1, 6] + name: agent0 + start: [0, 23] +- goal: [8, 2] + name: agent1 + start: [8, 26] +- goal: [8, 8] + name: agent2 + start: [8, 22] +- goal: [4, 5] + name: agent3 + start: [31, 16] +- goal: [21, 30] + name: agent4 + start: [5, 4] +- goal: [21, 5] + name: agent5 + start: [17, 10] +- goal: [11, 20] + name: agent6 + start: [21, 28] +- goal: [12, 27] + name: agent7 + start: [16, 15] +- goal: [19, 4] + name: agent8 + start: [10, 13] +- goal: [11, 8] + name: agent9 + start: [18, 16] +- goal: [11, 27] + name: agent10 + start: [5, 21] +- goal: [11, 21] + name: agent11 + start: [11, 18] +- goal: [13, 10] + name: agent12 + start: [12, 16] +- goal: [3, 19] + name: agent13 + start: [5, 24] +- goal: [31, 17] + name: agent14 + start: [13, 10] +- goal: [10, 12] + name: agent15 + start: [8, 13] +- goal: [13, 12] + name: agent16 + start: [2, 14] +- goal: [14, 26] + name: agent17 + start: [7, 16] +- goal: [26, 2] + name: agent18 + start: [8, 12] +- goal: [14, 3] + name: agent19 + start: [3, 4] +- goal: [18, 29] + name: agent20 + start: [25, 7] +- goal: [8, 20] + name: agent21 + start: [19, 20] +- goal: [13, 2] + name: agent22 + start: [21, 11] +- goal: [19, 27] + name: agent23 + start: [10, 12] +- goal: [17, 31] + name: agent24 + start: [30, 27] +- goal: [0, 3] + name: agent25 + start: [1, 29] +- goal: [20, 25] + name: agent26 + start: [22, 18] +- goal: [13, 22] + name: agent27 + start: [9, 3] +- goal: [23, 22] + name: agent28 + start: [13, 24] +- goal: [17, 22] + name: agent29 + start: [6, 30] +- goal: [5, 14] + name: agent30 + start: [6, 21] +- goal: [12, 23] + name: agent31 + start: [17, 31] +- goal: [3, 15] + name: agent32 + start: [0, 3] +- goal: [2, 6] + name: agent33 + start: [27, 13] +- goal: [4, 12] + name: agent34 + start: [21, 24] +- goal: [2, 7] + name: agent35 + start: [0, 21] +- goal: [29, 1] + name: agent36 + start: [16, 30] +- goal: [31, 28] + name: agent37 + start: [5, 26] +- goal: [13, 24] + name: agent38 + start: [5, 1] +- goal: [4, 18] + name: agent39 + start: [18, 5] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [31, 6] + - !!python/tuple [23, 12] + - !!python/tuple [22, 10] + - !!python/tuple [19, 1] + - !!python/tuple [17, 15] + - !!python/tuple [7, 25] + - !!python/tuple [24, 9] + - !!python/tuple [31, 1] + - !!python/tuple [29, 10] + - !!python/tuple [15, 7] + - !!python/tuple [2, 21] + - !!python/tuple [30, 2] + - !!python/tuple [19, 11] + - !!python/tuple [0, 29] + - !!python/tuple [29, 14] + - !!python/tuple [2, 3] + - !!python/tuple [27, 9] + - !!python/tuple [30, 11] + - !!python/tuple [1, 7] + - !!python/tuple [29, 22] + - !!python/tuple [9, 7] + - !!python/tuple [18, 23] + - !!python/tuple [16, 28] + - !!python/tuple [17, 21] + - !!python/tuple [2, 2] + - !!python/tuple [26, 0] + - !!python/tuple [13, 17] + - !!python/tuple [19, 10] + - !!python/tuple [24, 5] + - !!python/tuple [9, 11] + - !!python/tuple [9, 1] + - !!python/tuple [4, 19] + - !!python/tuple [17, 5] + - !!python/tuple [10, 16] + - !!python/tuple [25, 27] + - !!python/tuple [18, 22] + - !!python/tuple [31, 9] + - !!python/tuple [20, 15] + - !!python/tuple [28, 29] + - !!python/tuple [22, 30] + - !!python/tuple [4, 14] + - !!python/tuple [21, 13] + - !!python/tuple [4, 16] + - !!python/tuple [12, 14] + - !!python/tuple [30, 20] + - !!python/tuple [31, 26] + - !!python/tuple [18, 24] + - !!python/tuple [18, 30] + - !!python/tuple [12, 24] + - !!python/tuple [0, 24] + - !!python/tuple [12, 8] + - !!python/tuple [21, 21] + - !!python/tuple [19, 26] + - !!python/tuple [15, 2] + - !!python/tuple [27, 28] + - !!python/tuple [18, 3] + - !!python/tuple [25, 18] + - !!python/tuple [20, 9] + - !!python/tuple [4, 27] + - !!python/tuple [3, 18] + - !!python/tuple [18, 11] + - !!python/tuple [24, 21] + - !!python/tuple [16, 1] + - !!python/tuple [4, 20] + - !!python/tuple [8, 21] + - !!python/tuple [31, 13] + - !!python/tuple [13, 19] + - !!python/tuple [8, 24] + - !!python/tuple [13, 9] + - !!python/tuple [13, 23] + - !!python/tuple [20, 2] + - !!python/tuple [25, 8] + - !!python/tuple [2, 18] + - !!python/tuple [24, 31] + - !!python/tuple [12, 29] + - !!python/tuple [2, 8] + - !!python/tuple [11, 24] + - !!python/tuple [8, 28] + - !!python/tuple [19, 21] + - !!python/tuple [19, 31] + - !!python/tuple [17, 4] + - !!python/tuple [29, 12] + - !!python/tuple [29, 20] + - !!python/tuple [11, 3] + - !!python/tuple [17, 13] + - !!python/tuple [6, 5] + - !!python/tuple [27, 23] + - !!python/tuple [9, 15] + - !!python/tuple [19, 30] + - !!python/tuple [18, 20] + - !!python/tuple [13, 13] + - !!python/tuple [24, 29] + - !!python/tuple [5, 9] + - !!python/tuple [22, 19] + - !!python/tuple [29, 28] + - !!python/tuple [4, 4] + - !!python/tuple [27, 18] + - !!python/tuple [10, 25] + - !!python/tuple [18, 15] + - !!python/tuple [8, 23] + - !!python/tuple [20, 17] + - !!python/tuple [15, 4] + - !!python/tuple [9, 26] + - !!python/tuple [1, 0] + - !!python/tuple [24, 8] + - !!python/tuple [12, 18] + - !!python/tuple [11, 6] + - !!python/tuple [30, 18] + - !!python/tuple [0, 4] + - !!python/tuple [26, 5] + - !!python/tuple [28, 17] + - !!python/tuple [28, 30] + - !!python/tuple [0, 20] + - !!python/tuple [2, 22] + - !!python/tuple [4, 1] + - !!python/tuple [16, 14] + - !!python/tuple [6, 23] + - !!python/tuple [4, 25] + - !!python/tuple [5, 12] + - !!python/tuple [20, 8] + - !!python/tuple [6, 12] + - !!python/tuple [17, 28] + - !!python/tuple [14, 21] + - !!python/tuple [9, 22] + - !!python/tuple [9, 13] + - !!python/tuple [4, 31] + - !!python/tuple [13, 27] + - !!python/tuple [18, 21] + - !!python/tuple [25, 31] + - !!python/tuple [19, 2] + - !!python/tuple [0, 0] + - !!python/tuple [12, 12] + - !!python/tuple [7, 3] + - !!python/tuple [31, 24] + - !!python/tuple [14, 12] + - !!python/tuple [22, 21] + - !!python/tuple [20, 28] + - !!python/tuple [29, 19] + - !!python/tuple [31, 0] + - !!python/tuple [25, 26] + - !!python/tuple [19, 23] + - !!python/tuple [17, 1] + - !!python/tuple [9, 6] + - !!python/tuple [30, 1] + - !!python/tuple [29, 8] + - !!python/tuple [19, 6] + - !!python/tuple [6, 0] + - !!python/tuple [1, 5] + - !!python/tuple [14, 18] + - !!python/tuple [28, 24] + - !!python/tuple [19, 19] + - !!python/tuple [30, 0] + - !!python/tuple [26, 26] + - !!python/tuple [1, 21] + - !!python/tuple [3, 5] + - !!python/tuple [11, 0] + - !!python/tuple [6, 13] + - !!python/tuple [27, 25] + - !!python/tuple [26, 14] + - !!python/tuple [10, 7] + - !!python/tuple [13, 4] + - !!python/tuple [5, 17] + - !!python/tuple [6, 17] + - !!python/tuple [16, 6] + - !!python/tuple [23, 1] + - !!python/tuple [3, 10] + - !!python/tuple [8, 4] + - !!python/tuple [28, 7] + - !!python/tuple [31, 19] + - !!python/tuple [24, 22] + - !!python/tuple [19, 22] + - !!python/tuple [18, 27] + - !!python/tuple [12, 5] + - !!python/tuple [30, 26] + - !!python/tuple [16, 12] + - !!python/tuple [0, 12] + - !!python/tuple [14, 7] + - !!python/tuple [27, 19] + - !!python/tuple [6, 16] + - !!python/tuple [9, 16] + - !!python/tuple [8, 14] + - !!python/tuple [10, 5] + - !!python/tuple [10, 24] + - !!python/tuple [12, 30] + - !!python/tuple [10, 4] + - !!python/tuple [20, 1] + - !!python/tuple [7, 15] + - !!python/tuple [4, 15] + - !!python/tuple [14, 27] + - !!python/tuple [30, 14] + - !!python/tuple [3, 21] + - !!python/tuple [5, 7] + - !!python/tuple [23, 19] + - !!python/tuple [28, 9] + - !!python/tuple [31, 7] + - !!python/tuple [14, 20] + - !!python/tuple [24, 15] + - !!python/tuple [15, 27] + - !!python/tuple [31, 21] + - !!python/tuple [24, 18] + - !!python/tuple [30, 13] + - !!python/tuple [1, 30] + - !!python/tuple [7, 31] + - !!python/tuple [16, 10] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex28.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex28.yaml new file mode 100644 index 0000000..70bbf25 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex28.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [16, 3] + name: agent0 + start: [15, 22] +- goal: [21, 2] + name: agent1 + start: [26, 31] +- goal: [19, 0] + name: agent2 + start: [7, 10] +- goal: [13, 25] + name: agent3 + start: [20, 10] +- goal: [30, 17] + name: agent4 + start: [23, 31] +- goal: [15, 19] + name: agent5 + start: [13, 6] +- goal: [2, 13] + name: agent6 + start: [16, 3] +- goal: [24, 21] + name: agent7 + start: [10, 28] +- goal: [22, 20] + name: agent8 + start: [0, 9] +- goal: [9, 3] + name: agent9 + start: [5, 1] +- goal: [19, 1] + name: agent10 + start: [21, 14] +- goal: [19, 27] + name: agent11 + start: [24, 13] +- goal: [27, 11] + name: agent12 + start: [19, 29] +- goal: [14, 6] + name: agent13 + start: [9, 9] +- goal: [3, 0] + name: agent14 + start: [0, 31] +- goal: [31, 21] + name: agent15 + start: [5, 11] +- goal: [28, 0] + name: agent16 + start: [25, 21] +- goal: [19, 18] + name: agent17 + start: [24, 22] +- goal: [15, 29] + name: agent18 + start: [23, 17] +- goal: [10, 10] + name: agent19 + start: [24, 3] +- goal: [27, 25] + name: agent20 + start: [3, 30] +- goal: [6, 2] + name: agent21 + start: [29, 25] +- goal: [8, 27] + name: agent22 + start: [21, 6] +- goal: [4, 10] + name: agent23 + start: [17, 22] +- goal: [4, 7] + name: agent24 + start: [23, 26] +- goal: [12, 1] + name: agent25 + start: [19, 11] +- goal: [1, 2] + name: agent26 + start: [9, 21] +- goal: [30, 12] + name: agent27 + start: [28, 9] +- goal: [18, 28] + name: agent28 + start: [29, 17] +- goal: [1, 21] + name: agent29 + start: [27, 18] +- goal: [5, 6] + name: agent30 + start: [12, 29] +- goal: [26, 21] + name: agent31 + start: [24, 16] +- goal: [31, 7] + name: agent32 + start: [19, 30] +- goal: [4, 2] + name: agent33 + start: [12, 20] +- goal: [24, 15] + name: agent34 + start: [26, 30] +- goal: [10, 8] + name: agent35 + start: [27, 8] +- goal: [2, 19] + name: agent36 + start: [28, 26] +- goal: [20, 17] + name: agent37 + start: [4, 21] +- goal: [11, 16] + name: agent38 + start: [21, 28] +- goal: [19, 15] + name: agent39 + start: [14, 22] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [23, 16] + - !!python/tuple [16, 0] + - !!python/tuple [30, 24] + - !!python/tuple [4, 5] + - !!python/tuple [19, 13] + - !!python/tuple [10, 16] + - !!python/tuple [10, 26] + - !!python/tuple [24, 18] + - !!python/tuple [22, 17] + - !!python/tuple [2, 16] + - !!python/tuple [10, 2] + - !!python/tuple [16, 26] + - !!python/tuple [10, 22] + - !!python/tuple [18, 25] + - !!python/tuple [18, 4] + - !!python/tuple [16, 17] + - !!python/tuple [6, 18] + - !!python/tuple [28, 16] + - !!python/tuple [11, 25] + - !!python/tuple [10, 12] + - !!python/tuple [19, 12] + - !!python/tuple [9, 13] + - !!python/tuple [16, 31] + - !!python/tuple [30, 3] + - !!python/tuple [13, 29] + - !!python/tuple [17, 8] + - !!python/tuple [14, 9] + - !!python/tuple [22, 23] + - !!python/tuple [11, 29] + - !!python/tuple [29, 10] + - !!python/tuple [26, 18] + - !!python/tuple [18, 17] + - !!python/tuple [4, 1] + - !!python/tuple [21, 16] + - !!python/tuple [26, 29] + - !!python/tuple [12, 10] + - !!python/tuple [29, 6] + - !!python/tuple [29, 12] + - !!python/tuple [12, 13] + - !!python/tuple [1, 22] + - !!python/tuple [7, 22] + - !!python/tuple [23, 14] + - !!python/tuple [5, 27] + - !!python/tuple [17, 23] + - !!python/tuple [25, 31] + - !!python/tuple [22, 31] + - !!python/tuple [12, 15] + - !!python/tuple [2, 7] + - !!python/tuple [9, 29] + - !!python/tuple [23, 19] + - !!python/tuple [12, 11] + - !!python/tuple [8, 4] + - !!python/tuple [18, 6] + - !!python/tuple [1, 4] + - !!python/tuple [0, 29] + - !!python/tuple [21, 30] + - !!python/tuple [12, 26] + - !!python/tuple [12, 25] + - !!python/tuple [1, 1] + - !!python/tuple [6, 1] + - !!python/tuple [21, 10] + - !!python/tuple [17, 2] + - !!python/tuple [5, 26] + - !!python/tuple [2, 21] + - !!python/tuple [14, 18] + - !!python/tuple [15, 11] + - !!python/tuple [28, 6] + - !!python/tuple [10, 7] + - !!python/tuple [28, 12] + - !!python/tuple [9, 17] + - !!python/tuple [26, 11] + - !!python/tuple [25, 13] + - !!python/tuple [10, 0] + - !!python/tuple [18, 13] + - !!python/tuple [25, 0] + - !!python/tuple [25, 1] + - !!python/tuple [26, 19] + - !!python/tuple [4, 20] + - !!python/tuple [26, 8] + - !!python/tuple [2, 3] + - !!python/tuple [1, 18] + - !!python/tuple [7, 13] + - !!python/tuple [25, 30] + - !!python/tuple [22, 14] + - !!python/tuple [11, 9] + - !!python/tuple [23, 11] + - !!python/tuple [21, 31] + - !!python/tuple [31, 20] + - !!python/tuple [26, 15] + - !!python/tuple [25, 4] + - !!python/tuple [17, 29] + - !!python/tuple [22, 12] + - !!python/tuple [22, 27] + - !!python/tuple [15, 12] + - !!python/tuple [9, 16] + - !!python/tuple [9, 11] + - !!python/tuple [29, 23] + - !!python/tuple [7, 12] + - !!python/tuple [7, 1] + - !!python/tuple [7, 8] + - !!python/tuple [31, 23] + - !!python/tuple [18, 11] + - !!python/tuple [6, 8] + - !!python/tuple [13, 28] + - !!python/tuple [5, 20] + - !!python/tuple [28, 14] + - !!python/tuple [25, 9] + - !!python/tuple [30, 5] + - !!python/tuple [0, 12] + - !!python/tuple [11, 7] + - !!python/tuple [0, 20] + - !!python/tuple [25, 3] + - !!python/tuple [13, 7] + - !!python/tuple [28, 21] + - !!python/tuple [20, 21] + - !!python/tuple [30, 13] + - !!python/tuple [4, 13] + - !!python/tuple [17, 11] + - !!python/tuple [30, 31] + - !!python/tuple [17, 7] + - !!python/tuple [17, 9] + - !!python/tuple [2, 12] + - !!python/tuple [15, 13] + - !!python/tuple [17, 21] + - !!python/tuple [18, 12] + - !!python/tuple [29, 16] + - !!python/tuple [21, 25] + - !!python/tuple [6, 6] + - !!python/tuple [27, 31] + - !!python/tuple [7, 23] + - !!python/tuple [10, 21] + - !!python/tuple [7, 11] + - !!python/tuple [12, 28] + - !!python/tuple [16, 7] + - !!python/tuple [10, 29] + - !!python/tuple [30, 26] + - !!python/tuple [30, 23] + - !!python/tuple [20, 11] + - !!python/tuple [8, 31] + - !!python/tuple [10, 17] + - !!python/tuple [9, 2] + - !!python/tuple [1, 15] + - !!python/tuple [3, 14] + - !!python/tuple [10, 14] + - !!python/tuple [6, 15] + - !!python/tuple [9, 14] + - !!python/tuple [10, 3] + - !!python/tuple [27, 23] + - !!python/tuple [20, 19] + - !!python/tuple [28, 25] + - !!python/tuple [23, 24] + - !!python/tuple [2, 0] + - !!python/tuple [15, 4] + - !!python/tuple [21, 18] + - !!python/tuple [26, 13] + - !!python/tuple [17, 13] + - !!python/tuple [16, 10] + - !!python/tuple [30, 27] + - !!python/tuple [16, 19] + - !!python/tuple [13, 9] + - !!python/tuple [11, 26] + - !!python/tuple [9, 25] + - !!python/tuple [19, 20] + - !!python/tuple [14, 16] + - !!python/tuple [28, 24] + - !!python/tuple [28, 8] + - !!python/tuple [19, 5] + - !!python/tuple [15, 3] + - !!python/tuple [22, 30] + - !!python/tuple [28, 19] + - !!python/tuple [1, 12] + - !!python/tuple [0, 13] + - !!python/tuple [20, 18] + - !!python/tuple [15, 7] + - !!python/tuple [31, 19] + - !!python/tuple [14, 2] + - !!python/tuple [4, 30] + - !!python/tuple [20, 8] + - !!python/tuple [11, 28] + - !!python/tuple [23, 28] + - !!python/tuple [16, 22] + - !!python/tuple [29, 18] + - !!python/tuple [30, 0] + - !!python/tuple [1, 9] + - !!python/tuple [14, 25] + - !!python/tuple [3, 16] + - !!python/tuple [26, 28] + - !!python/tuple [7, 7] + - !!python/tuple [26, 1] + - !!python/tuple [24, 4] + - !!python/tuple [9, 7] + - !!python/tuple [8, 21] + - !!python/tuple [6, 22] + - !!python/tuple [15, 14] + - !!python/tuple [19, 9] + - !!python/tuple [29, 0] + - !!python/tuple [24, 14] + - !!python/tuple [27, 15] + - !!python/tuple [28, 4] + - !!python/tuple [23, 22] + - !!python/tuple [15, 31] + - !!python/tuple [31, 30] + - !!python/tuple [20, 22] + - !!python/tuple [11, 19] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex29.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex29.yaml new file mode 100644 index 0000000..5241b47 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex29.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [21, 1] + name: agent0 + start: [6, 1] +- goal: [12, 24] + name: agent1 + start: [10, 4] +- goal: [21, 27] + name: agent2 + start: [23, 22] +- goal: [26, 10] + name: agent3 + start: [11, 20] +- goal: [5, 13] + name: agent4 + start: [22, 28] +- goal: [30, 19] + name: agent5 + start: [23, 10] +- goal: [23, 27] + name: agent6 + start: [17, 6] +- goal: [29, 3] + name: agent7 + start: [11, 30] +- goal: [22, 11] + name: agent8 + start: [12, 24] +- goal: [18, 5] + name: agent9 + start: [23, 14] +- goal: [22, 8] + name: agent10 + start: [21, 30] +- goal: [28, 12] + name: agent11 + start: [22, 7] +- goal: [9, 24] + name: agent12 + start: [16, 14] +- goal: [3, 0] + name: agent13 + start: [26, 22] +- goal: [30, 22] + name: agent14 + start: [21, 11] +- goal: [25, 5] + name: agent15 + start: [7, 18] +- goal: [27, 31] + name: agent16 + start: [6, 5] +- goal: [23, 26] + name: agent17 + start: [3, 11] +- goal: [25, 16] + name: agent18 + start: [19, 18] +- goal: [1, 1] + name: agent19 + start: [24, 27] +- goal: [10, 23] + name: agent20 + start: [9, 13] +- goal: [16, 15] + name: agent21 + start: [8, 18] +- goal: [22, 26] + name: agent22 + start: [10, 0] +- goal: [20, 5] + name: agent23 + start: [2, 8] +- goal: [31, 3] + name: agent24 + start: [11, 19] +- goal: [5, 21] + name: agent25 + start: [4, 21] +- goal: [24, 14] + name: agent26 + start: [29, 27] +- goal: [18, 19] + name: agent27 + start: [27, 3] +- goal: [13, 8] + name: agent28 + start: [27, 8] +- goal: [16, 18] + name: agent29 + start: [20, 29] +- goal: [24, 26] + name: agent30 + start: [6, 22] +- goal: [9, 13] + name: agent31 + start: [10, 25] +- goal: [1, 24] + name: agent32 + start: [20, 25] +- goal: [19, 3] + name: agent33 + start: [28, 26] +- goal: [5, 0] + name: agent34 + start: [1, 14] +- goal: [11, 17] + name: agent35 + start: [30, 25] +- goal: [12, 23] + name: agent36 + start: [1, 24] +- goal: [2, 13] + name: agent37 + start: [24, 21] +- goal: [20, 3] + name: agent38 + start: [21, 19] +- goal: [19, 25] + name: agent39 + start: [14, 28] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [28, 11] + - !!python/tuple [8, 30] + - !!python/tuple [5, 17] + - !!python/tuple [4, 7] + - !!python/tuple [23, 20] + - !!python/tuple [15, 18] + - !!python/tuple [4, 15] + - !!python/tuple [14, 22] + - !!python/tuple [7, 26] + - !!python/tuple [21, 14] + - !!python/tuple [20, 8] + - !!python/tuple [18, 13] + - !!python/tuple [23, 21] + - !!python/tuple [19, 4] + - !!python/tuple [0, 14] + - !!python/tuple [29, 12] + - !!python/tuple [12, 25] + - !!python/tuple [25, 1] + - !!python/tuple [0, 18] + - !!python/tuple [15, 19] + - !!python/tuple [30, 24] + - !!python/tuple [18, 27] + - !!python/tuple [30, 28] + - !!python/tuple [4, 2] + - !!python/tuple [16, 8] + - !!python/tuple [11, 8] + - !!python/tuple [26, 17] + - !!python/tuple [15, 28] + - !!python/tuple [20, 16] + - !!python/tuple [17, 28] + - !!python/tuple [1, 25] + - !!python/tuple [25, 4] + - !!python/tuple [10, 10] + - !!python/tuple [1, 8] + - !!python/tuple [24, 31] + - !!python/tuple [2, 7] + - !!python/tuple [15, 22] + - !!python/tuple [17, 12] + - !!python/tuple [24, 18] + - !!python/tuple [16, 7] + - !!python/tuple [24, 4] + - !!python/tuple [11, 1] + - !!python/tuple [4, 19] + - !!python/tuple [16, 22] + - !!python/tuple [6, 25] + - !!python/tuple [26, 4] + - !!python/tuple [7, 3] + - !!python/tuple [8, 9] + - !!python/tuple [29, 30] + - !!python/tuple [10, 21] + - !!python/tuple [30, 5] + - !!python/tuple [4, 13] + - !!python/tuple [8, 31] + - !!python/tuple [29, 2] + - !!python/tuple [11, 25] + - !!python/tuple [3, 26] + - !!python/tuple [12, 15] + - !!python/tuple [8, 0] + - !!python/tuple [9, 30] + - !!python/tuple [18, 8] + - !!python/tuple [26, 14] + - !!python/tuple [13, 1] + - !!python/tuple [13, 23] + - !!python/tuple [9, 16] + - !!python/tuple [5, 26] + - !!python/tuple [3, 1] + - !!python/tuple [21, 29] + - !!python/tuple [31, 19] + - !!python/tuple [15, 31] + - !!python/tuple [13, 31] + - !!python/tuple [2, 14] + - !!python/tuple [28, 10] + - !!python/tuple [30, 16] + - !!python/tuple [15, 1] + - !!python/tuple [10, 24] + - !!python/tuple [6, 27] + - !!python/tuple [19, 8] + - !!python/tuple [23, 23] + - !!python/tuple [2, 18] + - !!python/tuple [0, 29] + - !!python/tuple [15, 29] + - !!python/tuple [3, 30] + - !!python/tuple [8, 10] + - !!python/tuple [8, 15] + - !!python/tuple [31, 30] + - !!python/tuple [3, 21] + - !!python/tuple [31, 7] + - !!python/tuple [8, 16] + - !!python/tuple [1, 2] + - !!python/tuple [24, 24] + - !!python/tuple [30, 20] + - !!python/tuple [18, 4] + - !!python/tuple [9, 23] + - !!python/tuple [9, 8] + - !!python/tuple [1, 11] + - !!python/tuple [20, 11] + - !!python/tuple [24, 23] + - !!python/tuple [6, 23] + - !!python/tuple [26, 13] + - !!python/tuple [17, 3] + - !!python/tuple [11, 21] + - !!python/tuple [5, 19] + - !!python/tuple [1, 13] + - !!python/tuple [22, 4] + - !!python/tuple [2, 5] + - !!python/tuple [20, 14] + - !!python/tuple [2, 4] + - !!python/tuple [6, 28] + - !!python/tuple [1, 21] + - !!python/tuple [20, 26] + - !!python/tuple [5, 16] + - !!python/tuple [0, 27] + - !!python/tuple [30, 4] + - !!python/tuple [11, 28] + - !!python/tuple [11, 15] + - !!python/tuple [30, 18] + - !!python/tuple [26, 20] + - !!python/tuple [10, 2] + - !!python/tuple [14, 16] + - !!python/tuple [6, 21] + - !!python/tuple [10, 20] + - !!python/tuple [4, 9] + - !!python/tuple [19, 29] + - !!python/tuple [15, 25] + - !!python/tuple [24, 11] + - !!python/tuple [9, 0] + - !!python/tuple [12, 13] + - !!python/tuple [26, 31] + - !!python/tuple [21, 17] + - !!python/tuple [5, 11] + - !!python/tuple [4, 30] + - !!python/tuple [19, 11] + - !!python/tuple [3, 12] + - !!python/tuple [3, 10] + - !!python/tuple [13, 12] + - !!python/tuple [12, 30] + - !!python/tuple [30, 2] + - !!python/tuple [21, 15] + - !!python/tuple [12, 18] + - !!python/tuple [2, 29] + - !!python/tuple [7, 21] + - !!python/tuple [3, 13] + - !!python/tuple [17, 20] + - !!python/tuple [2, 6] + - !!python/tuple [12, 7] + - !!python/tuple [11, 31] + - !!python/tuple [22, 30] + - !!python/tuple [8, 25] + - !!python/tuple [19, 23] + - !!python/tuple [26, 23] + - !!python/tuple [14, 21] + - !!python/tuple [4, 5] + - !!python/tuple [31, 11] + - !!python/tuple [20, 4] + - !!python/tuple [4, 26] + - !!python/tuple [18, 14] + - !!python/tuple [2, 30] + - !!python/tuple [15, 17] + - !!python/tuple [16, 23] + - !!python/tuple [23, 16] + - !!python/tuple [15, 0] + - !!python/tuple [24, 29] + - !!python/tuple [27, 21] + - !!python/tuple [25, 18] + - !!python/tuple [16, 21] + - !!python/tuple [25, 23] + - !!python/tuple [24, 1] + - !!python/tuple [1, 19] + - !!python/tuple [22, 22] + - !!python/tuple [22, 27] + - !!python/tuple [16, 1] + - !!python/tuple [20, 12] + - !!python/tuple [13, 29] + - !!python/tuple [28, 29] + - !!python/tuple [2, 10] + - !!python/tuple [27, 4] + - !!python/tuple [9, 26] + - !!python/tuple [10, 3] + - !!python/tuple [25, 7] + - !!python/tuple [5, 10] + - !!python/tuple [2, 28] + - !!python/tuple [30, 17] + - !!python/tuple [2, 16] + - !!python/tuple [10, 17] + - !!python/tuple [5, 1] + - !!python/tuple [17, 24] + - !!python/tuple [25, 20] + - !!python/tuple [31, 17] + - !!python/tuple [2, 3] + - !!python/tuple [14, 7] + - !!python/tuple [21, 25] + - !!python/tuple [27, 2] + - !!python/tuple [4, 22] + - !!python/tuple [22, 23] + - !!python/tuple [1, 20] + - !!python/tuple [0, 16] + - !!python/tuple [28, 13] + - !!python/tuple [21, 28] + - !!python/tuple [23, 13] + - !!python/tuple [26, 7] + - !!python/tuple [31, 13] + - !!python/tuple [1, 10] + - !!python/tuple [17, 17] + - !!python/tuple [1, 26] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex3.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex3.yaml new file mode 100644 index 0000000..8705934 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex3.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [5, 9] + name: agent0 + start: [21, 27] +- goal: [29, 15] + name: agent1 + start: [5, 15] +- goal: [25, 16] + name: agent2 + start: [5, 21] +- goal: [25, 8] + name: agent3 + start: [22, 9] +- goal: [12, 21] + name: agent4 + start: [21, 29] +- goal: [21, 28] + name: agent5 + start: [22, 2] +- goal: [7, 24] + name: agent6 + start: [14, 18] +- goal: [28, 23] + name: agent7 + start: [20, 9] +- goal: [16, 28] + name: agent8 + start: [30, 14] +- goal: [28, 22] + name: agent9 + start: [15, 14] +- goal: [9, 12] + name: agent10 + start: [0, 15] +- goal: [12, 3] + name: agent11 + start: [6, 27] +- goal: [2, 28] + name: agent12 + start: [26, 12] +- goal: [4, 9] + name: agent13 + start: [25, 8] +- goal: [14, 12] + name: agent14 + start: [1, 20] +- goal: [23, 2] + name: agent15 + start: [15, 0] +- goal: [7, 20] + name: agent16 + start: [4, 17] +- goal: [18, 29] + name: agent17 + start: [3, 9] +- goal: [2, 8] + name: agent18 + start: [7, 27] +- goal: [29, 7] + name: agent19 + start: [15, 13] +- goal: [0, 17] + name: agent20 + start: [24, 1] +- goal: [14, 0] + name: agent21 + start: [14, 13] +- goal: [17, 23] + name: agent22 + start: [18, 18] +- goal: [19, 25] + name: agent23 + start: [27, 2] +- goal: [30, 11] + name: agent24 + start: [9, 18] +- goal: [23, 28] + name: agent25 + start: [29, 3] +- goal: [30, 5] + name: agent26 + start: [21, 6] +- goal: [3, 0] + name: agent27 + start: [31, 29] +- goal: [9, 6] + name: agent28 + start: [3, 28] +- goal: [10, 5] + name: agent29 + start: [4, 27] +- goal: [1, 15] + name: agent30 + start: [14, 2] +- goal: [16, 7] + name: agent31 + start: [25, 15] +- goal: [12, 15] + name: agent32 + start: [6, 3] +- goal: [7, 31] + name: agent33 + start: [6, 4] +- goal: [2, 24] + name: agent34 + start: [12, 18] +- goal: [19, 26] + name: agent35 + start: [11, 21] +- goal: [13, 4] + name: agent36 + start: [3, 4] +- goal: [30, 15] + name: agent37 + start: [9, 11] +- goal: [30, 1] + name: agent38 + start: [14, 6] +- goal: [14, 25] + name: agent39 + start: [23, 19] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [18, 4] + - !!python/tuple [7, 21] + - !!python/tuple [8, 24] + - !!python/tuple [30, 22] + - !!python/tuple [7, 28] + - !!python/tuple [22, 7] + - !!python/tuple [10, 17] + - !!python/tuple [14, 10] + - !!python/tuple [23, 31] + - !!python/tuple [1, 30] + - !!python/tuple [6, 14] + - !!python/tuple [26, 6] + - !!python/tuple [26, 9] + - !!python/tuple [13, 5] + - !!python/tuple [1, 6] + - !!python/tuple [23, 12] + - !!python/tuple [29, 4] + - !!python/tuple [12, 1] + - !!python/tuple [8, 27] + - !!python/tuple [20, 22] + - !!python/tuple [3, 12] + - !!python/tuple [16, 6] + - !!python/tuple [24, 3] + - !!python/tuple [14, 30] + - !!python/tuple [24, 23] + - !!python/tuple [10, 14] + - !!python/tuple [18, 8] + - !!python/tuple [20, 26] + - !!python/tuple [2, 6] + - !!python/tuple [5, 23] + - !!python/tuple [8, 13] + - !!python/tuple [14, 19] + - !!python/tuple [26, 19] + - !!python/tuple [31, 18] + - !!python/tuple [9, 23] + - !!python/tuple [8, 30] + - !!python/tuple [18, 17] + - !!python/tuple [12, 17] + - !!python/tuple [6, 28] + - !!python/tuple [9, 7] + - !!python/tuple [25, 3] + - !!python/tuple [31, 21] + - !!python/tuple [30, 30] + - !!python/tuple [22, 11] + - !!python/tuple [20, 30] + - !!python/tuple [17, 10] + - !!python/tuple [5, 1] + - !!python/tuple [0, 13] + - !!python/tuple [5, 5] + - !!python/tuple [4, 25] + - !!python/tuple [18, 6] + - !!python/tuple [28, 31] + - !!python/tuple [31, 1] + - !!python/tuple [11, 28] + - !!python/tuple [5, 10] + - !!python/tuple [0, 1] + - !!python/tuple [12, 25] + - !!python/tuple [20, 5] + - !!python/tuple [0, 9] + - !!python/tuple [11, 29] + - !!python/tuple [6, 8] + - !!python/tuple [22, 25] + - !!python/tuple [15, 15] + - !!python/tuple [2, 22] + - !!python/tuple [31, 15] + - !!python/tuple [19, 19] + - !!python/tuple [4, 29] + - !!python/tuple [28, 16] + - !!python/tuple [11, 4] + - !!python/tuple [4, 31] + - !!python/tuple [15, 1] + - !!python/tuple [7, 12] + - !!python/tuple [17, 28] + - !!python/tuple [21, 31] + - !!python/tuple [18, 15] + - !!python/tuple [17, 25] + - !!python/tuple [19, 17] + - !!python/tuple [1, 25] + - !!python/tuple [10, 0] + - !!python/tuple [19, 9] + - !!python/tuple [26, 28] + - !!python/tuple [9, 8] + - !!python/tuple [23, 27] + - !!python/tuple [8, 9] + - !!python/tuple [0, 4] + - !!python/tuple [30, 3] + - !!python/tuple [31, 4] + - !!python/tuple [25, 6] + - !!python/tuple [8, 4] + - !!python/tuple [25, 22] + - !!python/tuple [27, 7] + - !!python/tuple [7, 3] + - !!python/tuple [21, 1] + - !!python/tuple [21, 25] + - !!python/tuple [2, 5] + - !!python/tuple [28, 30] + - !!python/tuple [25, 29] + - !!python/tuple [25, 18] + - !!python/tuple [18, 2] + - !!python/tuple [3, 29] + - !!python/tuple [0, 22] + - !!python/tuple [5, 14] + - !!python/tuple [25, 2] + - !!python/tuple [18, 14] + - !!python/tuple [1, 18] + - !!python/tuple [3, 22] + - !!python/tuple [19, 21] + - !!python/tuple [26, 7] + - !!python/tuple [11, 14] + - !!python/tuple [7, 0] + - !!python/tuple [17, 20] + - !!python/tuple [19, 15] + - !!python/tuple [17, 14] + - !!python/tuple [4, 14] + - !!python/tuple [21, 23] + - !!python/tuple [7, 16] + - !!python/tuple [10, 15] + - !!python/tuple [24, 9] + - !!python/tuple [28, 10] + - !!python/tuple [12, 10] + - !!python/tuple [23, 21] + - !!python/tuple [18, 26] + - !!python/tuple [31, 30] + - !!python/tuple [17, 16] + - !!python/tuple [23, 20] + - !!python/tuple [17, 31] + - !!python/tuple [19, 6] + - !!python/tuple [0, 19] + - !!python/tuple [14, 20] + - !!python/tuple [12, 16] + - !!python/tuple [9, 25] + - !!python/tuple [1, 26] + - !!python/tuple [14, 29] + - !!python/tuple [11, 24] + - !!python/tuple [23, 6] + - !!python/tuple [9, 4] + - !!python/tuple [7, 8] + - !!python/tuple [23, 3] + - !!python/tuple [6, 0] + - !!python/tuple [20, 28] + - !!python/tuple [7, 15] + - !!python/tuple [1, 7] + - !!python/tuple [3, 1] + - !!python/tuple [13, 22] + - !!python/tuple [10, 27] + - !!python/tuple [22, 29] + - !!python/tuple [13, 27] + - !!python/tuple [22, 10] + - !!python/tuple [22, 31] + - !!python/tuple [15, 9] + - !!python/tuple [24, 19] + - !!python/tuple [0, 16] + - !!python/tuple [25, 21] + - !!python/tuple [16, 2] + - !!python/tuple [12, 28] + - !!python/tuple [27, 6] + - !!python/tuple [0, 27] + - !!python/tuple [24, 15] + - !!python/tuple [19, 8] + - !!python/tuple [18, 22] + - !!python/tuple [10, 20] + - !!python/tuple [1, 27] + - !!python/tuple [22, 13] + - !!python/tuple [26, 29] + - !!python/tuple [3, 8] + - !!python/tuple [11, 1] + - !!python/tuple [5, 31] + - !!python/tuple [4, 5] + - !!python/tuple [7, 2] + - !!python/tuple [6, 24] + - !!python/tuple [19, 2] + - !!python/tuple [12, 23] + - !!python/tuple [25, 4] + - !!python/tuple [29, 26] + - !!python/tuple [5, 29] + - !!python/tuple [3, 14] + - !!python/tuple [19, 10] + - !!python/tuple [4, 12] + - !!python/tuple [8, 25] + - !!python/tuple [10, 7] + - !!python/tuple [22, 15] + - !!python/tuple [28, 20] + - !!python/tuple [26, 13] + - !!python/tuple [23, 14] + - !!python/tuple [18, 20] + - !!python/tuple [7, 17] + - !!python/tuple [24, 18] + - !!python/tuple [18, 19] + - !!python/tuple [10, 3] + - !!python/tuple [31, 25] + - !!python/tuple [28, 13] + - !!python/tuple [30, 16] + - !!python/tuple [17, 8] + - !!python/tuple [30, 0] + - !!python/tuple [4, 18] + - !!python/tuple [0, 2] + - !!python/tuple [17, 30] + - !!python/tuple [26, 16] + - !!python/tuple [5, 28] + - !!python/tuple [11, 19] + - !!python/tuple [12, 24] + - !!python/tuple [16, 16] + - !!python/tuple [26, 8] + - !!python/tuple [30, 13] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex30.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex30.yaml new file mode 100644 index 0000000..500e55d --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex30.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [10, 28] + name: agent0 + start: [20, 11] +- goal: [28, 5] + name: agent1 + start: [9, 2] +- goal: [0, 2] + name: agent2 + start: [7, 13] +- goal: [17, 9] + name: agent3 + start: [27, 5] +- goal: [20, 4] + name: agent4 + start: [8, 1] +- goal: [14, 1] + name: agent5 + start: [21, 20] +- goal: [22, 29] + name: agent6 + start: [1, 13] +- goal: [17, 16] + name: agent7 + start: [0, 3] +- goal: [25, 16] + name: agent8 + start: [26, 10] +- goal: [0, 24] + name: agent9 + start: [24, 17] +- goal: [24, 6] + name: agent10 + start: [27, 15] +- goal: [31, 3] + name: agent11 + start: [27, 3] +- goal: [15, 22] + name: agent12 + start: [15, 20] +- goal: [0, 20] + name: agent13 + start: [29, 21] +- goal: [5, 31] + name: agent14 + start: [2, 17] +- goal: [8, 1] + name: agent15 + start: [11, 7] +- goal: [6, 27] + name: agent16 + start: [13, 4] +- goal: [17, 24] + name: agent17 + start: [12, 31] +- goal: [7, 10] + name: agent18 + start: [13, 8] +- goal: [6, 26] + name: agent19 + start: [3, 30] +- goal: [14, 0] + name: agent20 + start: [4, 10] +- goal: [15, 5] + name: agent21 + start: [19, 18] +- goal: [22, 14] + name: agent22 + start: [23, 1] +- goal: [6, 28] + name: agent23 + start: [5, 20] +- goal: [24, 18] + name: agent24 + start: [22, 19] +- goal: [24, 22] + name: agent25 + start: [1, 11] +- goal: [1, 22] + name: agent26 + start: [31, 11] +- goal: [29, 1] + name: agent27 + start: [8, 24] +- goal: [5, 0] + name: agent28 + start: [0, 21] +- goal: [17, 15] + name: agent29 + start: [3, 20] +- goal: [26, 23] + name: agent30 + start: [8, 26] +- goal: [15, 21] + name: agent31 + start: [7, 10] +- goal: [9, 31] + name: agent32 + start: [21, 29] +- goal: [6, 12] + name: agent33 + start: [9, 18] +- goal: [29, 17] + name: agent34 + start: [3, 23] +- goal: [16, 31] + name: agent35 + start: [11, 25] +- goal: [16, 7] + name: agent36 + start: [24, 12] +- goal: [5, 4] + name: agent37 + start: [5, 18] +- goal: [13, 17] + name: agent38 + start: [27, 27] +- goal: [30, 24] + name: agent39 + start: [17, 15] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [18, 6] + - !!python/tuple [3, 27] + - !!python/tuple [11, 13] + - !!python/tuple [25, 12] + - !!python/tuple [23, 19] + - !!python/tuple [13, 16] + - !!python/tuple [19, 4] + - !!python/tuple [10, 12] + - !!python/tuple [4, 18] + - !!python/tuple [26, 31] + - !!python/tuple [2, 7] + - !!python/tuple [5, 23] + - !!python/tuple [30, 20] + - !!python/tuple [29, 23] + - !!python/tuple [25, 7] + - !!python/tuple [0, 16] + - !!python/tuple [14, 29] + - !!python/tuple [10, 23] + - !!python/tuple [20, 13] + - !!python/tuple [6, 18] + - !!python/tuple [0, 13] + - !!python/tuple [7, 12] + - !!python/tuple [24, 10] + - !!python/tuple [17, 14] + - !!python/tuple [9, 7] + - !!python/tuple [2, 2] + - !!python/tuple [21, 15] + - !!python/tuple [5, 26] + - !!python/tuple [1, 20] + - !!python/tuple [22, 30] + - !!python/tuple [24, 16] + - !!python/tuple [7, 29] + - !!python/tuple [10, 27] + - !!python/tuple [1, 8] + - !!python/tuple [30, 12] + - !!python/tuple [2, 30] + - !!python/tuple [30, 0] + - !!python/tuple [29, 2] + - !!python/tuple [7, 21] + - !!python/tuple [27, 8] + - !!python/tuple [31, 8] + - !!python/tuple [30, 6] + - !!python/tuple [13, 2] + - !!python/tuple [29, 27] + - !!python/tuple [31, 1] + - !!python/tuple [1, 7] + - !!python/tuple [12, 29] + - !!python/tuple [31, 6] + - !!python/tuple [18, 23] + - !!python/tuple [4, 14] + - !!python/tuple [20, 15] + - !!python/tuple [12, 30] + - !!python/tuple [14, 12] + - !!python/tuple [14, 23] + - !!python/tuple [8, 14] + - !!python/tuple [3, 13] + - !!python/tuple [12, 26] + - !!python/tuple [27, 17] + - !!python/tuple [12, 11] + - !!python/tuple [11, 31] + - !!python/tuple [14, 8] + - !!python/tuple [26, 20] + - !!python/tuple [14, 26] + - !!python/tuple [22, 27] + - !!python/tuple [7, 11] + - !!python/tuple [25, 22] + - !!python/tuple [3, 7] + - !!python/tuple [2, 19] + - !!python/tuple [27, 20] + - !!python/tuple [12, 2] + - !!python/tuple [8, 7] + - !!python/tuple [23, 24] + - !!python/tuple [19, 19] + - !!python/tuple [28, 31] + - !!python/tuple [0, 4] + - !!python/tuple [31, 20] + - !!python/tuple [16, 24] + - !!python/tuple [28, 26] + - !!python/tuple [31, 2] + - !!python/tuple [11, 28] + - !!python/tuple [31, 24] + - !!python/tuple [15, 7] + - !!python/tuple [7, 27] + - !!python/tuple [28, 9] + - !!python/tuple [21, 11] + - !!python/tuple [27, 14] + - !!python/tuple [21, 17] + - !!python/tuple [27, 1] + - !!python/tuple [0, 14] + - !!python/tuple [23, 11] + - !!python/tuple [22, 28] + - !!python/tuple [11, 5] + - !!python/tuple [8, 5] + - !!python/tuple [6, 4] + - !!python/tuple [3, 4] + - !!python/tuple [19, 11] + - !!python/tuple [23, 7] + - !!python/tuple [24, 8] + - !!python/tuple [30, 2] + - !!python/tuple [17, 3] + - !!python/tuple [22, 4] + - !!python/tuple [17, 1] + - !!python/tuple [10, 25] + - !!python/tuple [10, 26] + - !!python/tuple [31, 17] + - !!python/tuple [10, 17] + - !!python/tuple [4, 22] + - !!python/tuple [18, 5] + - !!python/tuple [6, 25] + - !!python/tuple [30, 7] + - !!python/tuple [9, 30] + - !!python/tuple [13, 13] + - !!python/tuple [4, 23] + - !!python/tuple [17, 22] + - !!python/tuple [19, 28] + - !!python/tuple [26, 4] + - !!python/tuple [3, 29] + - !!python/tuple [31, 26] + - !!python/tuple [28, 3] + - !!python/tuple [14, 9] + - !!python/tuple [19, 29] + - !!python/tuple [24, 27] + - !!python/tuple [15, 10] + - !!python/tuple [23, 15] + - !!python/tuple [7, 4] + - !!python/tuple [1, 28] + - !!python/tuple [21, 26] + - !!python/tuple [4, 29] + - !!python/tuple [12, 4] + - !!python/tuple [24, 26] + - !!python/tuple [13, 6] + - !!python/tuple [25, 15] + - !!python/tuple [15, 27] + - !!python/tuple [27, 21] + - !!python/tuple [9, 16] + - !!python/tuple [4, 6] + - !!python/tuple [9, 11] + - !!python/tuple [20, 5] + - !!python/tuple [19, 27] + - !!python/tuple [21, 8] + - !!python/tuple [5, 6] + - !!python/tuple [24, 3] + - !!python/tuple [16, 9] + - !!python/tuple [15, 2] + - !!python/tuple [18, 25] + - !!python/tuple [26, 15] + - !!python/tuple [29, 3] + - !!python/tuple [16, 15] + - !!python/tuple [11, 0] + - !!python/tuple [22, 6] + - !!python/tuple [14, 6] + - !!python/tuple [29, 13] + - !!python/tuple [6, 11] + - !!python/tuple [5, 3] + - !!python/tuple [20, 19] + - !!python/tuple [28, 25] + - !!python/tuple [10, 1] + - !!python/tuple [30, 18] + - !!python/tuple [26, 22] + - !!python/tuple [14, 3] + - !!python/tuple [29, 10] + - !!python/tuple [1, 31] + - !!python/tuple [11, 11] + - !!python/tuple [11, 8] + - !!python/tuple [13, 25] + - !!python/tuple [26, 25] + - !!python/tuple [15, 9] + - !!python/tuple [10, 31] + - !!python/tuple [21, 14] + - !!python/tuple [20, 7] + - !!python/tuple [10, 11] + - !!python/tuple [16, 4] + - !!python/tuple [29, 4] + - !!python/tuple [27, 7] + - !!python/tuple [25, 2] + - !!python/tuple [17, 12] + - !!python/tuple [22, 25] + - !!python/tuple [2, 21] + - !!python/tuple [6, 19] + - !!python/tuple [9, 24] + - !!python/tuple [14, 2] + - !!python/tuple [12, 21] + - !!python/tuple [30, 29] + - !!python/tuple [24, 23] + - !!python/tuple [19, 3] + - !!python/tuple [21, 1] + - !!python/tuple [10, 14] + - !!python/tuple [7, 6] + - !!python/tuple [16, 6] + - !!python/tuple [31, 27] + - !!python/tuple [6, 29] + - !!python/tuple [22, 23] + - !!python/tuple [28, 16] + - !!python/tuple [16, 26] + - !!python/tuple [23, 21] + - !!python/tuple [0, 6] + - !!python/tuple [4, 4] + - !!python/tuple [25, 6] + - !!python/tuple [12, 7] + - !!python/tuple [12, 12] + - !!python/tuple [1, 12] + - !!python/tuple [18, 10] + - !!python/tuple [18, 13] + - !!python/tuple [6, 23] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex31.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex31.yaml new file mode 100644 index 0000000..71e355e --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex31.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [17, 27] + name: agent0 + start: [2, 15] +- goal: [22, 28] + name: agent1 + start: [19, 20] +- goal: [12, 13] + name: agent2 + start: [16, 26] +- goal: [26, 13] + name: agent3 + start: [28, 27] +- goal: [8, 7] + name: agent4 + start: [16, 29] +- goal: [2, 31] + name: agent5 + start: [9, 7] +- goal: [8, 29] + name: agent6 + start: [29, 15] +- goal: [21, 17] + name: agent7 + start: [11, 15] +- goal: [13, 5] + name: agent8 + start: [30, 14] +- goal: [31, 3] + name: agent9 + start: [19, 10] +- goal: [10, 7] + name: agent10 + start: [23, 22] +- goal: [29, 3] + name: agent11 + start: [12, 25] +- goal: [21, 14] + name: agent12 + start: [29, 12] +- goal: [15, 25] + name: agent13 + start: [16, 15] +- goal: [7, 6] + name: agent14 + start: [12, 14] +- goal: [23, 15] + name: agent15 + start: [8, 7] +- goal: [28, 22] + name: agent16 + start: [3, 3] +- goal: [8, 20] + name: agent17 + start: [29, 9] +- goal: [26, 7] + name: agent18 + start: [10, 24] +- goal: [10, 3] + name: agent19 + start: [21, 5] +- goal: [18, 14] + name: agent20 + start: [8, 11] +- goal: [15, 5] + name: agent21 + start: [5, 16] +- goal: [31, 8] + name: agent22 + start: [21, 31] +- goal: [6, 14] + name: agent23 + start: [29, 30] +- goal: [31, 30] + name: agent24 + start: [6, 24] +- goal: [21, 22] + name: agent25 + start: [14, 6] +- goal: [18, 16] + name: agent26 + start: [28, 29] +- goal: [9, 16] + name: agent27 + start: [10, 4] +- goal: [26, 22] + name: agent28 + start: [9, 17] +- goal: [22, 15] + name: agent29 + start: [25, 10] +- goal: [4, 13] + name: agent30 + start: [21, 1] +- goal: [25, 21] + name: agent31 + start: [4, 30] +- goal: [10, 15] + name: agent32 + start: [5, 25] +- goal: [24, 4] + name: agent33 + start: [17, 1] +- goal: [6, 17] + name: agent34 + start: [27, 21] +- goal: [9, 11] + name: agent35 + start: [5, 29] +- goal: [0, 13] + name: agent36 + start: [3, 31] +- goal: [26, 0] + name: agent37 + start: [0, 13] +- goal: [27, 3] + name: agent38 + start: [7, 5] +- goal: [19, 9] + name: agent39 + start: [8, 15] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [30, 23] + - !!python/tuple [5, 23] + - !!python/tuple [25, 20] + - !!python/tuple [27, 16] + - !!python/tuple [20, 30] + - !!python/tuple [2, 21] + - !!python/tuple [4, 15] + - !!python/tuple [4, 12] + - !!python/tuple [1, 27] + - !!python/tuple [6, 3] + - !!python/tuple [5, 13] + - !!python/tuple [11, 23] + - !!python/tuple [1, 30] + - !!python/tuple [17, 13] + - !!python/tuple [17, 23] + - !!python/tuple [18, 29] + - !!python/tuple [27, 6] + - !!python/tuple [9, 1] + - !!python/tuple [17, 9] + - !!python/tuple [16, 20] + - !!python/tuple [30, 12] + - !!python/tuple [26, 9] + - !!python/tuple [7, 7] + - !!python/tuple [2, 4] + - !!python/tuple [28, 17] + - !!python/tuple [0, 1] + - !!python/tuple [10, 29] + - !!python/tuple [27, 0] + - !!python/tuple [4, 14] + - !!python/tuple [15, 2] + - !!python/tuple [9, 21] + - !!python/tuple [28, 31] + - !!python/tuple [0, 12] + - !!python/tuple [15, 18] + - !!python/tuple [20, 5] + - !!python/tuple [25, 9] + - !!python/tuple [24, 14] + - !!python/tuple [11, 0] + - !!python/tuple [18, 7] + - !!python/tuple [14, 30] + - !!python/tuple [19, 22] + - !!python/tuple [20, 24] + - !!python/tuple [4, 11] + - !!python/tuple [20, 11] + - !!python/tuple [24, 15] + - !!python/tuple [8, 23] + - !!python/tuple [19, 27] + - !!python/tuple [15, 4] + - !!python/tuple [25, 11] + - !!python/tuple [6, 11] + - !!python/tuple [29, 19] + - !!python/tuple [31, 6] + - !!python/tuple [1, 28] + - !!python/tuple [23, 19] + - !!python/tuple [13, 12] + - !!python/tuple [14, 20] + - !!python/tuple [11, 9] + - !!python/tuple [7, 20] + - !!python/tuple [22, 21] + - !!python/tuple [18, 10] + - !!python/tuple [17, 11] + - !!python/tuple [28, 7] + - !!python/tuple [25, 22] + - !!python/tuple [27, 25] + - !!python/tuple [31, 7] + - !!python/tuple [25, 13] + - !!python/tuple [6, 28] + - !!python/tuple [4, 1] + - !!python/tuple [3, 23] + - !!python/tuple [28, 18] + - !!python/tuple [0, 30] + - !!python/tuple [30, 4] + - !!python/tuple [1, 26] + - !!python/tuple [20, 21] + - !!python/tuple [9, 22] + - !!python/tuple [13, 6] + - !!python/tuple [4, 7] + - !!python/tuple [17, 2] + - !!python/tuple [22, 22] + - !!python/tuple [5, 7] + - !!python/tuple [8, 3] + - !!python/tuple [27, 18] + - !!python/tuple [26, 17] + - !!python/tuple [4, 21] + - !!python/tuple [28, 16] + - !!python/tuple [11, 18] + - !!python/tuple [27, 13] + - !!python/tuple [26, 4] + - !!python/tuple [14, 13] + - !!python/tuple [9, 24] + - !!python/tuple [11, 31] + - !!python/tuple [17, 12] + - !!python/tuple [22, 13] + - !!python/tuple [6, 16] + - !!python/tuple [0, 23] + - !!python/tuple [7, 14] + - !!python/tuple [26, 26] + - !!python/tuple [17, 30] + - !!python/tuple [22, 14] + - !!python/tuple [9, 3] + - !!python/tuple [24, 5] + - !!python/tuple [19, 7] + - !!python/tuple [23, 11] + - !!python/tuple [0, 0] + - !!python/tuple [12, 15] + - !!python/tuple [1, 5] + - !!python/tuple [17, 19] + - !!python/tuple [26, 11] + - !!python/tuple [24, 8] + - !!python/tuple [24, 11] + - !!python/tuple [24, 7] + - !!python/tuple [3, 1] + - !!python/tuple [20, 31] + - !!python/tuple [1, 23] + - !!python/tuple [28, 25] + - !!python/tuple [13, 30] + - !!python/tuple [8, 18] + - !!python/tuple [3, 22] + - !!python/tuple [1, 14] + - !!python/tuple [9, 15] + - !!python/tuple [6, 8] + - !!python/tuple [15, 0] + - !!python/tuple [23, 3] + - !!python/tuple [21, 7] + - !!python/tuple [22, 9] + - !!python/tuple [15, 14] + - !!python/tuple [2, 8] + - !!python/tuple [13, 17] + - !!python/tuple [12, 2] + - !!python/tuple [2, 3] + - !!python/tuple [6, 25] + - !!python/tuple [0, 31] + - !!python/tuple [4, 16] + - !!python/tuple [18, 26] + - !!python/tuple [19, 13] + - !!python/tuple [4, 19] + - !!python/tuple [30, 16] + - !!python/tuple [22, 6] + - !!python/tuple [6, 29] + - !!python/tuple [8, 27] + - !!python/tuple [10, 23] + - !!python/tuple [2, 5] + - !!python/tuple [14, 18] + - !!python/tuple [16, 25] + - !!python/tuple [17, 24] + - !!python/tuple [8, 5] + - !!python/tuple [12, 20] + - !!python/tuple [5, 3] + - !!python/tuple [2, 30] + - !!python/tuple [28, 12] + - !!python/tuple [29, 29] + - !!python/tuple [11, 11] + - !!python/tuple [17, 3] + - !!python/tuple [31, 21] + - !!python/tuple [13, 24] + - !!python/tuple [25, 1] + - !!python/tuple [7, 18] + - !!python/tuple [19, 29] + - !!python/tuple [17, 0] + - !!python/tuple [14, 11] + - !!python/tuple [15, 6] + - !!python/tuple [14, 2] + - !!python/tuple [27, 14] + - !!python/tuple [29, 1] + - !!python/tuple [12, 9] + - !!python/tuple [28, 14] + - !!python/tuple [1, 19] + - !!python/tuple [8, 8] + - !!python/tuple [14, 4] + - !!python/tuple [29, 23] + - !!python/tuple [24, 12] + - !!python/tuple [4, 26] + - !!python/tuple [11, 25] + - !!python/tuple [8, 24] + - !!python/tuple [16, 8] + - !!python/tuple [12, 1] + - !!python/tuple [10, 26] + - !!python/tuple [11, 29] + - !!python/tuple [26, 31] + - !!python/tuple [11, 19] + - !!python/tuple [30, 9] + - !!python/tuple [25, 6] + - !!python/tuple [9, 6] + - !!python/tuple [22, 4] + - !!python/tuple [30, 1] + - !!python/tuple [9, 5] + - !!python/tuple [5, 15] + - !!python/tuple [13, 31] + - !!python/tuple [3, 4] + - !!python/tuple [2, 29] + - !!python/tuple [24, 18] + - !!python/tuple [7, 21] + - !!python/tuple [20, 26] + - !!python/tuple [18, 23] + - !!python/tuple [22, 27] + - !!python/tuple [2, 2] + - !!python/tuple [5, 27] + - !!python/tuple [1, 11] + - !!python/tuple [9, 10] + - !!python/tuple [4, 10] + - !!python/tuple [7, 8] + - !!python/tuple [29, 4] + - !!python/tuple [25, 26] + - !!python/tuple [1, 2] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex32.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex32.yaml new file mode 100644 index 0000000..330e6f6 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex32.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [4, 27] + name: agent0 + start: [27, 1] +- goal: [14, 21] + name: agent1 + start: [26, 12] +- goal: [1, 28] + name: agent2 + start: [16, 29] +- goal: [19, 26] + name: agent3 + start: [25, 21] +- goal: [15, 8] + name: agent4 + start: [25, 27] +- goal: [28, 25] + name: agent5 + start: [8, 24] +- goal: [17, 14] + name: agent6 + start: [26, 17] +- goal: [14, 28] + name: agent7 + start: [7, 1] +- goal: [28, 21] + name: agent8 + start: [7, 15] +- goal: [30, 17] + name: agent9 + start: [9, 16] +- goal: [25, 30] + name: agent10 + start: [26, 14] +- goal: [22, 31] + name: agent11 + start: [23, 26] +- goal: [26, 18] + name: agent12 + start: [10, 27] +- goal: [1, 31] + name: agent13 + start: [22, 14] +- goal: [5, 29] + name: agent14 + start: [31, 13] +- goal: [1, 27] + name: agent15 + start: [0, 26] +- goal: [3, 24] + name: agent16 + start: [0, 9] +- goal: [17, 21] + name: agent17 + start: [31, 8] +- goal: [7, 8] + name: agent18 + start: [20, 8] +- goal: [2, 7] + name: agent19 + start: [12, 0] +- goal: [12, 9] + name: agent20 + start: [10, 18] +- goal: [9, 23] + name: agent21 + start: [20, 13] +- goal: [17, 16] + name: agent22 + start: [15, 10] +- goal: [17, 31] + name: agent23 + start: [26, 29] +- goal: [7, 27] + name: agent24 + start: [31, 10] +- goal: [31, 5] + name: agent25 + start: [14, 12] +- goal: [1, 23] + name: agent26 + start: [26, 0] +- goal: [24, 8] + name: agent27 + start: [17, 14] +- goal: [14, 13] + name: agent28 + start: [20, 12] +- goal: [18, 24] + name: agent29 + start: [0, 5] +- goal: [17, 28] + name: agent30 + start: [16, 0] +- goal: [13, 14] + name: agent31 + start: [23, 22] +- goal: [3, 23] + name: agent32 + start: [8, 21] +- goal: [0, 22] + name: agent33 + start: [6, 22] +- goal: [23, 3] + name: agent34 + start: [1, 1] +- goal: [19, 22] + name: agent35 + start: [14, 15] +- goal: [0, 4] + name: agent36 + start: [23, 16] +- goal: [0, 7] + name: agent37 + start: [1, 19] +- goal: [20, 7] + name: agent38 + start: [31, 22] +- goal: [16, 26] + name: agent39 + start: [10, 17] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [27, 6] + - !!python/tuple [14, 22] + - !!python/tuple [5, 30] + - !!python/tuple [5, 25] + - !!python/tuple [27, 8] + - !!python/tuple [5, 23] + - !!python/tuple [9, 8] + - !!python/tuple [10, 8] + - !!python/tuple [18, 17] + - !!python/tuple [2, 13] + - !!python/tuple [5, 20] + - !!python/tuple [18, 31] + - !!python/tuple [24, 28] + - !!python/tuple [6, 27] + - !!python/tuple [19, 2] + - !!python/tuple [24, 18] + - !!python/tuple [19, 18] + - !!python/tuple [6, 20] + - !!python/tuple [28, 7] + - !!python/tuple [2, 4] + - !!python/tuple [23, 11] + - !!python/tuple [3, 2] + - !!python/tuple [26, 26] + - !!python/tuple [5, 4] + - !!python/tuple [6, 25] + - !!python/tuple [4, 11] + - !!python/tuple [7, 30] + - !!python/tuple [12, 10] + - !!python/tuple [17, 5] + - !!python/tuple [8, 0] + - !!python/tuple [20, 10] + - !!python/tuple [28, 11] + - !!python/tuple [23, 29] + - !!python/tuple [20, 4] + - !!python/tuple [28, 18] + - !!python/tuple [21, 22] + - !!python/tuple [25, 13] + - !!python/tuple [2, 30] + - !!python/tuple [1, 10] + - !!python/tuple [24, 31] + - !!python/tuple [18, 22] + - !!python/tuple [8, 30] + - !!python/tuple [25, 26] + - !!python/tuple [19, 7] + - !!python/tuple [8, 7] + - !!python/tuple [7, 4] + - !!python/tuple [30, 31] + - !!python/tuple [3, 14] + - !!python/tuple [18, 27] + - !!python/tuple [0, 2] + - !!python/tuple [12, 19] + - !!python/tuple [10, 15] + - !!python/tuple [3, 20] + - !!python/tuple [29, 19] + - !!python/tuple [20, 14] + - !!python/tuple [21, 21] + - !!python/tuple [26, 9] + - !!python/tuple [27, 15] + - !!python/tuple [2, 27] + - !!python/tuple [18, 11] + - !!python/tuple [20, 24] + - !!python/tuple [15, 15] + - !!python/tuple [21, 20] + - !!python/tuple [9, 21] + - !!python/tuple [5, 8] + - !!python/tuple [22, 2] + - !!python/tuple [14, 18] + - !!python/tuple [22, 12] + - !!python/tuple [23, 4] + - !!python/tuple [30, 30] + - !!python/tuple [4, 31] + - !!python/tuple [7, 22] + - !!python/tuple [14, 27] + - !!python/tuple [23, 9] + - !!python/tuple [31, 20] + - !!python/tuple [14, 9] + - !!python/tuple [1, 30] + - !!python/tuple [19, 21] + - !!python/tuple [2, 2] + - !!python/tuple [22, 1] + - !!python/tuple [22, 21] + - !!python/tuple [28, 31] + - !!python/tuple [0, 13] + - !!python/tuple [7, 6] + - !!python/tuple [19, 25] + - !!python/tuple [21, 3] + - !!python/tuple [9, 27] + - !!python/tuple [30, 15] + - !!python/tuple [4, 12] + - !!python/tuple [28, 10] + - !!python/tuple [2, 24] + - !!python/tuple [23, 30] + - !!python/tuple [16, 15] + - !!python/tuple [1, 26] + - !!python/tuple [3, 6] + - !!python/tuple [27, 10] + - !!python/tuple [21, 2] + - !!python/tuple [26, 19] + - !!python/tuple [4, 29] + - !!python/tuple [18, 30] + - !!python/tuple [13, 13] + - !!python/tuple [1, 17] + - !!python/tuple [12, 20] + - !!python/tuple [5, 15] + - !!python/tuple [15, 17] + - !!python/tuple [25, 4] + - !!python/tuple [26, 28] + - !!python/tuple [1, 4] + - !!python/tuple [17, 9] + - !!python/tuple [25, 2] + - !!python/tuple [10, 11] + - !!python/tuple [31, 12] + - !!python/tuple [13, 17] + - !!python/tuple [24, 2] + - !!python/tuple [6, 3] + - !!python/tuple [3, 8] + - !!python/tuple [21, 19] + - !!python/tuple [13, 29] + - !!python/tuple [3, 19] + - !!python/tuple [15, 12] + - !!python/tuple [6, 19] + - !!python/tuple [28, 0] + - !!python/tuple [11, 20] + - !!python/tuple [23, 6] + - !!python/tuple [24, 10] + - !!python/tuple [28, 27] + - !!python/tuple [12, 15] + - !!python/tuple [31, 15] + - !!python/tuple [16, 6] + - !!python/tuple [26, 20] + - !!python/tuple [12, 17] + - !!python/tuple [29, 0] + - !!python/tuple [19, 1] + - !!python/tuple [13, 28] + - !!python/tuple [12, 3] + - !!python/tuple [25, 29] + - !!python/tuple [24, 23] + - !!python/tuple [19, 28] + - !!python/tuple [9, 28] + - !!python/tuple [1, 14] + - !!python/tuple [20, 16] + - !!python/tuple [2, 23] + - !!python/tuple [19, 5] + - !!python/tuple [2, 15] + - !!python/tuple [7, 25] + - !!python/tuple [25, 5] + - !!python/tuple [12, 1] + - !!python/tuple [22, 10] + - !!python/tuple [18, 18] + - !!python/tuple [6, 8] + - !!python/tuple [7, 7] + - !!python/tuple [9, 12] + - !!python/tuple [22, 5] + - !!python/tuple [30, 1] + - !!python/tuple [12, 6] + - !!python/tuple [11, 17] + - !!python/tuple [11, 14] + - !!python/tuple [25, 9] + - !!python/tuple [17, 26] + - !!python/tuple [13, 2] + - !!python/tuple [19, 8] + - !!python/tuple [5, 11] + - !!python/tuple [9, 0] + - !!python/tuple [7, 29] + - !!python/tuple [9, 11] + - !!python/tuple [4, 14] + - !!python/tuple [12, 13] + - !!python/tuple [3, 3] + - !!python/tuple [30, 21] + - !!python/tuple [3, 16] + - !!python/tuple [12, 23] + - !!python/tuple [1, 11] + - !!python/tuple [11, 25] + - !!python/tuple [5, 10] + - !!python/tuple [30, 13] + - !!python/tuple [0, 21] + - !!python/tuple [30, 23] + - !!python/tuple [17, 22] + - !!python/tuple [11, 24] + - !!python/tuple [9, 22] + - !!python/tuple [11, 3] + - !!python/tuple [2, 9] + - !!python/tuple [5, 9] + - !!python/tuple [30, 6] + - !!python/tuple [13, 19] + - !!python/tuple [27, 22] + - !!python/tuple [22, 17] + - !!python/tuple [4, 30] + - !!python/tuple [30, 0] + - !!python/tuple [1, 3] + - !!python/tuple [21, 7] + - !!python/tuple [18, 19] + - !!python/tuple [21, 27] + - !!python/tuple [31, 29] + - !!python/tuple [20, 5] + - !!python/tuple [25, 19] + - !!python/tuple [21, 28] + - !!python/tuple [16, 9] + - !!python/tuple [3, 11] + - !!python/tuple [5, 24] + - !!python/tuple [22, 7] + - !!python/tuple [1, 13] + - !!python/tuple [29, 30] + - !!python/tuple [29, 8] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex33.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex33.yaml new file mode 100644 index 0000000..6162f43 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex33.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [5, 11] + name: agent0 + start: [21, 13] +- goal: [17, 24] + name: agent1 + start: [26, 30] +- goal: [0, 7] + name: agent2 + start: [17, 26] +- goal: [16, 4] + name: agent3 + start: [2, 28] +- goal: [20, 22] + name: agent4 + start: [22, 24] +- goal: [27, 13] + name: agent5 + start: [22, 4] +- goal: [19, 3] + name: agent6 + start: [13, 27] +- goal: [29, 14] + name: agent7 + start: [23, 0] +- goal: [1, 2] + name: agent8 + start: [1, 29] +- goal: [30, 23] + name: agent9 + start: [22, 9] +- goal: [30, 24] + name: agent10 + start: [26, 27] +- goal: [1, 3] + name: agent11 + start: [8, 16] +- goal: [4, 12] + name: agent12 + start: [14, 10] +- goal: [31, 26] + name: agent13 + start: [29, 24] +- goal: [2, 8] + name: agent14 + start: [16, 21] +- goal: [26, 6] + name: agent15 + start: [8, 31] +- goal: [12, 29] + name: agent16 + start: [25, 7] +- goal: [29, 1] + name: agent17 + start: [6, 17] +- goal: [15, 24] + name: agent18 + start: [13, 9] +- goal: [4, 7] + name: agent19 + start: [24, 9] +- goal: [8, 27] + name: agent20 + start: [17, 31] +- goal: [15, 13] + name: agent21 + start: [26, 2] +- goal: [31, 22] + name: agent22 + start: [15, 6] +- goal: [22, 30] + name: agent23 + start: [9, 1] +- goal: [27, 1] + name: agent24 + start: [0, 31] +- goal: [10, 28] + name: agent25 + start: [27, 13] +- goal: [3, 24] + name: agent26 + start: [7, 30] +- goal: [6, 25] + name: agent27 + start: [20, 25] +- goal: [9, 12] + name: agent28 + start: [10, 2] +- goal: [12, 31] + name: agent29 + start: [31, 5] +- goal: [12, 8] + name: agent30 + start: [27, 27] +- goal: [15, 11] + name: agent31 + start: [0, 2] +- goal: [24, 31] + name: agent32 + start: [22, 26] +- goal: [24, 10] + name: agent33 + start: [24, 18] +- goal: [13, 4] + name: agent34 + start: [19, 3] +- goal: [23, 18] + name: agent35 + start: [25, 2] +- goal: [9, 1] + name: agent36 + start: [19, 11] +- goal: [10, 14] + name: agent37 + start: [9, 27] +- goal: [15, 2] + name: agent38 + start: [7, 29] +- goal: [22, 4] + name: agent39 + start: [2, 0] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [12, 20] + - !!python/tuple [12, 13] + - !!python/tuple [23, 26] + - !!python/tuple [26, 8] + - !!python/tuple [4, 20] + - !!python/tuple [18, 27] + - !!python/tuple [4, 25] + - !!python/tuple [30, 31] + - !!python/tuple [6, 29] + - !!python/tuple [28, 25] + - !!python/tuple [6, 30] + - !!python/tuple [7, 18] + - !!python/tuple [19, 7] + - !!python/tuple [19, 14] + - !!python/tuple [25, 4] + - !!python/tuple [11, 28] + - !!python/tuple [5, 17] + - !!python/tuple [22, 7] + - !!python/tuple [28, 10] + - !!python/tuple [27, 15] + - !!python/tuple [5, 4] + - !!python/tuple [18, 19] + - !!python/tuple [25, 26] + - !!python/tuple [5, 25] + - !!python/tuple [3, 17] + - !!python/tuple [11, 17] + - !!python/tuple [12, 5] + - !!python/tuple [19, 19] + - !!python/tuple [16, 17] + - !!python/tuple [3, 10] + - !!python/tuple [0, 29] + - !!python/tuple [9, 20] + - !!python/tuple [6, 20] + - !!python/tuple [11, 31] + - !!python/tuple [28, 13] + - !!python/tuple [25, 21] + - !!python/tuple [11, 9] + - !!python/tuple [21, 4] + - !!python/tuple [16, 10] + - !!python/tuple [1, 23] + - !!python/tuple [31, 20] + - !!python/tuple [8, 23] + - !!python/tuple [2, 12] + - !!python/tuple [1, 31] + - !!python/tuple [5, 5] + - !!python/tuple [11, 25] + - !!python/tuple [22, 17] + - !!python/tuple [6, 10] + - !!python/tuple [18, 0] + - !!python/tuple [4, 18] + - !!python/tuple [3, 15] + - !!python/tuple [14, 28] + - !!python/tuple [29, 21] + - !!python/tuple [18, 22] + - !!python/tuple [15, 30] + - !!python/tuple [22, 19] + - !!python/tuple [13, 31] + - !!python/tuple [27, 18] + - !!python/tuple [5, 30] + - !!python/tuple [10, 16] + - !!python/tuple [28, 22] + - !!python/tuple [18, 9] + - !!python/tuple [26, 25] + - !!python/tuple [5, 2] + - !!python/tuple [4, 16] + - !!python/tuple [27, 20] + - !!python/tuple [3, 16] + - !!python/tuple [18, 13] + - !!python/tuple [18, 3] + - !!python/tuple [18, 26] + - !!python/tuple [23, 8] + - !!python/tuple [2, 1] + - !!python/tuple [13, 16] + - !!python/tuple [1, 8] + - !!python/tuple [14, 5] + - !!python/tuple [26, 20] + - !!python/tuple [2, 16] + - !!python/tuple [21, 20] + - !!python/tuple [2, 2] + - !!python/tuple [20, 27] + - !!python/tuple [16, 7] + - !!python/tuple [16, 8] + - !!python/tuple [18, 10] + - !!python/tuple [20, 14] + - !!python/tuple [29, 6] + - !!python/tuple [14, 30] + - !!python/tuple [23, 3] + - !!python/tuple [21, 25] + - !!python/tuple [9, 6] + - !!python/tuple [19, 15] + - !!python/tuple [22, 29] + - !!python/tuple [5, 10] + - !!python/tuple [18, 18] + - !!python/tuple [29, 29] + - !!python/tuple [12, 15] + - !!python/tuple [21, 23] + - !!python/tuple [8, 19] + - !!python/tuple [5, 14] + - !!python/tuple [17, 28] + - !!python/tuple [1, 19] + - !!python/tuple [1, 13] + - !!python/tuple [25, 11] + - !!python/tuple [22, 11] + - !!python/tuple [15, 12] + - !!python/tuple [0, 10] + - !!python/tuple [0, 6] + - !!python/tuple [22, 14] + - !!python/tuple [15, 17] + - !!python/tuple [15, 29] + - !!python/tuple [8, 6] + - !!python/tuple [13, 20] + - !!python/tuple [28, 23] + - !!python/tuple [30, 1] + - !!python/tuple [2, 26] + - !!python/tuple [14, 31] + - !!python/tuple [7, 10] + - !!python/tuple [10, 1] + - !!python/tuple [5, 27] + - !!python/tuple [27, 8] + - !!python/tuple [9, 7] + - !!python/tuple [1, 5] + - !!python/tuple [10, 12] + - !!python/tuple [0, 19] + - !!python/tuple [18, 25] + - !!python/tuple [7, 0] + - !!python/tuple [18, 17] + - !!python/tuple [13, 22] + - !!python/tuple [10, 17] + - !!python/tuple [3, 14] + - !!python/tuple [26, 28] + - !!python/tuple [29, 4] + - !!python/tuple [2, 21] + - !!python/tuple [30, 10] + - !!python/tuple [28, 31] + - !!python/tuple [24, 5] + - !!python/tuple [22, 23] + - !!python/tuple [10, 6] + - !!python/tuple [0, 9] + - !!python/tuple [30, 21] + - !!python/tuple [3, 23] + - !!python/tuple [26, 19] + - !!python/tuple [29, 25] + - !!python/tuple [7, 3] + - !!python/tuple [18, 8] + - !!python/tuple [14, 16] + - !!python/tuple [14, 6] + - !!python/tuple [30, 0] + - !!python/tuple [17, 15] + - !!python/tuple [13, 29] + - !!python/tuple [12, 7] + - !!python/tuple [7, 5] + - !!python/tuple [13, 17] + - !!python/tuple [25, 16] + - !!python/tuple [15, 19] + - !!python/tuple [1, 10] + - !!python/tuple [1, 12] + - !!python/tuple [21, 30] + - !!python/tuple [31, 31] + - !!python/tuple [24, 15] + - !!python/tuple [10, 27] + - !!python/tuple [16, 13] + - !!python/tuple [7, 23] + - !!python/tuple [10, 11] + - !!python/tuple [7, 2] + - !!python/tuple [7, 20] + - !!python/tuple [26, 17] + - !!python/tuple [4, 4] + - !!python/tuple [4, 3] + - !!python/tuple [4, 1] + - !!python/tuple [13, 26] + - !!python/tuple [25, 19] + - !!python/tuple [26, 22] + - !!python/tuple [4, 17] + - !!python/tuple [21, 7] + - !!python/tuple [1, 24] + - !!python/tuple [26, 12] + - !!python/tuple [14, 1] + - !!python/tuple [10, 25] + - !!python/tuple [7, 4] + - !!python/tuple [20, 21] + - !!python/tuple [4, 2] + - !!python/tuple [29, 10] + - !!python/tuple [26, 4] + - !!python/tuple [2, 23] + - !!python/tuple [31, 1] + - !!python/tuple [2, 9] + - !!python/tuple [4, 24] + - !!python/tuple [2, 24] + - !!python/tuple [11, 0] + - !!python/tuple [4, 13] + - !!python/tuple [13, 7] + - !!python/tuple [16, 14] + - !!python/tuple [8, 0] + - !!python/tuple [29, 31] + - !!python/tuple [17, 1] + - !!python/tuple [20, 6] + - !!python/tuple [0, 4] + - !!python/tuple [8, 7] + - !!python/tuple [25, 25] + - !!python/tuple [30, 18] + - !!python/tuple [8, 20] + - !!python/tuple [17, 3] + - !!python/tuple [25, 10] + - !!python/tuple [16, 25] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex34.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex34.yaml new file mode 100644 index 0000000..3f44e17 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex34.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [17, 31] + name: agent0 + start: [0, 26] +- goal: [30, 8] + name: agent1 + start: [15, 15] +- goal: [12, 9] + name: agent2 + start: [11, 29] +- goal: [24, 30] + name: agent3 + start: [27, 7] +- goal: [8, 15] + name: agent4 + start: [5, 20] +- goal: [25, 17] + name: agent5 + start: [8, 16] +- goal: [16, 16] + name: agent6 + start: [26, 1] +- goal: [6, 17] + name: agent7 + start: [24, 17] +- goal: [28, 22] + name: agent8 + start: [2, 21] +- goal: [4, 26] + name: agent9 + start: [8, 3] +- goal: [20, 16] + name: agent10 + start: [13, 19] +- goal: [8, 6] + name: agent11 + start: [1, 3] +- goal: [4, 18] + name: agent12 + start: [12, 2] +- goal: [23, 24] + name: agent13 + start: [28, 10] +- goal: [6, 26] + name: agent14 + start: [0, 7] +- goal: [14, 31] + name: agent15 + start: [19, 20] +- goal: [31, 28] + name: agent16 + start: [26, 7] +- goal: [26, 19] + name: agent17 + start: [8, 9] +- goal: [16, 6] + name: agent18 + start: [14, 27] +- goal: [18, 16] + name: agent19 + start: [7, 23] +- goal: [1, 27] + name: agent20 + start: [2, 18] +- goal: [20, 24] + name: agent21 + start: [30, 22] +- goal: [22, 9] + name: agent22 + start: [31, 10] +- goal: [5, 5] + name: agent23 + start: [12, 19] +- goal: [4, 0] + name: agent24 + start: [26, 20] +- goal: [0, 26] + name: agent25 + start: [18, 31] +- goal: [23, 20] + name: agent26 + start: [15, 14] +- goal: [13, 15] + name: agent27 + start: [10, 8] +- goal: [0, 12] + name: agent28 + start: [2, 23] +- goal: [30, 13] + name: agent29 + start: [21, 19] +- goal: [19, 6] + name: agent30 + start: [11, 5] +- goal: [22, 12] + name: agent31 + start: [23, 25] +- goal: [7, 0] + name: agent32 + start: [21, 21] +- goal: [30, 14] + name: agent33 + start: [1, 5] +- goal: [23, 19] + name: agent34 + start: [31, 29] +- goal: [6, 9] + name: agent35 + start: [29, 7] +- goal: [17, 15] + name: agent36 + start: [28, 7] +- goal: [13, 7] + name: agent37 + start: [22, 8] +- goal: [29, 26] + name: agent38 + start: [10, 25] +- goal: [1, 21] + name: agent39 + start: [17, 16] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [1, 16] + - !!python/tuple [18, 18] + - !!python/tuple [19, 8] + - !!python/tuple [3, 14] + - !!python/tuple [7, 15] + - !!python/tuple [11, 6] + - !!python/tuple [26, 26] + - !!python/tuple [3, 13] + - !!python/tuple [15, 6] + - !!python/tuple [10, 5] + - !!python/tuple [24, 27] + - !!python/tuple [17, 29] + - !!python/tuple [31, 22] + - !!python/tuple [26, 28] + - !!python/tuple [30, 21] + - !!python/tuple [21, 22] + - !!python/tuple [27, 5] + - !!python/tuple [29, 18] + - !!python/tuple [1, 18] + - !!python/tuple [14, 21] + - !!python/tuple [23, 10] + - !!python/tuple [3, 6] + - !!python/tuple [26, 0] + - !!python/tuple [20, 13] + - !!python/tuple [10, 21] + - !!python/tuple [11, 8] + - !!python/tuple [13, 3] + - !!python/tuple [4, 23] + - !!python/tuple [2, 7] + - !!python/tuple [28, 13] + - !!python/tuple [14, 4] + - !!python/tuple [15, 7] + - !!python/tuple [5, 25] + - !!python/tuple [6, 6] + - !!python/tuple [12, 17] + - !!python/tuple [23, 26] + - !!python/tuple [3, 26] + - !!python/tuple [30, 19] + - !!python/tuple [9, 31] + - !!python/tuple [28, 29] + - !!python/tuple [30, 6] + - !!python/tuple [14, 14] + - !!python/tuple [4, 9] + - !!python/tuple [21, 27] + - !!python/tuple [8, 13] + - !!python/tuple [10, 14] + - !!python/tuple [15, 29] + - !!python/tuple [31, 25] + - !!python/tuple [16, 23] + - !!python/tuple [29, 22] + - !!python/tuple [17, 20] + - !!python/tuple [31, 13] + - !!python/tuple [15, 22] + - !!python/tuple [1, 8] + - !!python/tuple [16, 9] + - !!python/tuple [13, 14] + - !!python/tuple [29, 8] + - !!python/tuple [27, 6] + - !!python/tuple [23, 28] + - !!python/tuple [8, 7] + - !!python/tuple [8, 26] + - !!python/tuple [31, 27] + - !!python/tuple [6, 5] + - !!python/tuple [4, 25] + - !!python/tuple [3, 28] + - !!python/tuple [27, 20] + - !!python/tuple [3, 8] + - !!python/tuple [9, 4] + - !!python/tuple [11, 28] + - !!python/tuple [25, 6] + - !!python/tuple [7, 31] + - !!python/tuple [31, 7] + - !!python/tuple [19, 13] + - !!python/tuple [17, 4] + - !!python/tuple [4, 22] + - !!python/tuple [13, 26] + - !!python/tuple [17, 17] + - !!python/tuple [6, 21] + - !!python/tuple [13, 10] + - !!python/tuple [11, 16] + - !!python/tuple [13, 21] + - !!python/tuple [25, 3] + - !!python/tuple [18, 0] + - !!python/tuple [5, 31] + - !!python/tuple [20, 22] + - !!python/tuple [1, 2] + - !!python/tuple [1, 10] + - !!python/tuple [21, 2] + - !!python/tuple [6, 29] + - !!python/tuple [14, 22] + - !!python/tuple [21, 7] + - !!python/tuple [18, 22] + - !!python/tuple [5, 0] + - !!python/tuple [31, 0] + - !!python/tuple [6, 27] + - !!python/tuple [25, 30] + - !!python/tuple [13, 13] + - !!python/tuple [2, 30] + - !!python/tuple [21, 24] + - !!python/tuple [19, 2] + - !!python/tuple [11, 12] + - !!python/tuple [31, 26] + - !!python/tuple [17, 6] + - !!python/tuple [18, 9] + - !!python/tuple [22, 20] + - !!python/tuple [21, 26] + - !!python/tuple [12, 16] + - !!python/tuple [18, 17] + - !!python/tuple [9, 19] + - !!python/tuple [2, 3] + - !!python/tuple [3, 9] + - !!python/tuple [2, 29] + - !!python/tuple [7, 29] + - !!python/tuple [24, 4] + - !!python/tuple [0, 31] + - !!python/tuple [7, 17] + - !!python/tuple [9, 6] + - !!python/tuple [6, 28] + - !!python/tuple [29, 21] + - !!python/tuple [13, 23] + - !!python/tuple [7, 10] + - !!python/tuple [2, 26] + - !!python/tuple [29, 9] + - !!python/tuple [26, 12] + - !!python/tuple [30, 27] + - !!python/tuple [1, 6] + - !!python/tuple [16, 13] + - !!python/tuple [8, 31] + - !!python/tuple [7, 24] + - !!python/tuple [28, 14] + - !!python/tuple [16, 28] + - !!python/tuple [26, 9] + - !!python/tuple [0, 25] + - !!python/tuple [22, 7] + - !!python/tuple [0, 18] + - !!python/tuple [2, 22] + - !!python/tuple [8, 29] + - !!python/tuple [12, 13] + - !!python/tuple [2, 5] + - !!python/tuple [9, 29] + - !!python/tuple [0, 20] + - !!python/tuple [23, 16] + - !!python/tuple [17, 3] + - !!python/tuple [22, 16] + - !!python/tuple [4, 15] + - !!python/tuple [18, 5] + - !!python/tuple [17, 7] + - !!python/tuple [29, 25] + - !!python/tuple [10, 22] + - !!python/tuple [29, 27] + - !!python/tuple [31, 2] + - !!python/tuple [24, 19] + - !!python/tuple [5, 14] + - !!python/tuple [19, 4] + - !!python/tuple [25, 31] + - !!python/tuple [26, 23] + - !!python/tuple [16, 2] + - !!python/tuple [22, 0] + - !!python/tuple [25, 22] + - !!python/tuple [23, 11] + - !!python/tuple [13, 0] + - !!python/tuple [1, 7] + - !!python/tuple [9, 16] + - !!python/tuple [30, 17] + - !!python/tuple [26, 27] + - !!python/tuple [20, 5] + - !!python/tuple [13, 4] + - !!python/tuple [24, 11] + - !!python/tuple [6, 11] + - !!python/tuple [2, 20] + - !!python/tuple [20, 19] + - !!python/tuple [22, 3] + - !!python/tuple [15, 23] + - !!python/tuple [23, 6] + - !!python/tuple [16, 21] + - !!python/tuple [5, 13] + - !!python/tuple [28, 28] + - !!python/tuple [7, 25] + - !!python/tuple [9, 1] + - !!python/tuple [7, 28] + - !!python/tuple [5, 1] + - !!python/tuple [22, 14] + - !!python/tuple [8, 22] + - !!python/tuple [17, 25] + - !!python/tuple [11, 17] + - !!python/tuple [24, 29] + - !!python/tuple [3, 27] + - !!python/tuple [0, 17] + - !!python/tuple [14, 19] + - !!python/tuple [1, 25] + - !!python/tuple [9, 5] + - !!python/tuple [27, 19] + - !!python/tuple [6, 18] + - !!python/tuple [16, 31] + - !!python/tuple [7, 21] + - !!python/tuple [22, 27] + - !!python/tuple [27, 30] + - !!python/tuple [9, 23] + - !!python/tuple [31, 14] + - !!python/tuple [10, 30] + - !!python/tuple [18, 4] + - !!python/tuple [21, 20] + - !!python/tuple [17, 2] + - !!python/tuple [10, 18] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex35.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex35.yaml new file mode 100644 index 0000000..822a756 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex35.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [18, 2] + name: agent0 + start: [23, 9] +- goal: [21, 27] + name: agent1 + start: [2, 7] +- goal: [26, 27] + name: agent2 + start: [9, 29] +- goal: [7, 7] + name: agent3 + start: [1, 3] +- goal: [8, 30] + name: agent4 + start: [0, 11] +- goal: [19, 13] + name: agent5 + start: [1, 22] +- goal: [22, 22] + name: agent6 + start: [30, 3] +- goal: [5, 17] + name: agent7 + start: [15, 22] +- goal: [3, 25] + name: agent8 + start: [22, 24] +- goal: [22, 0] + name: agent9 + start: [31, 11] +- goal: [0, 9] + name: agent10 + start: [7, 1] +- goal: [26, 4] + name: agent11 + start: [24, 17] +- goal: [25, 6] + name: agent12 + start: [3, 6] +- goal: [17, 4] + name: agent13 + start: [25, 31] +- goal: [8, 18] + name: agent14 + start: [0, 28] +- goal: [17, 24] + name: agent15 + start: [4, 31] +- goal: [3, 15] + name: agent16 + start: [12, 24] +- goal: [19, 11] + name: agent17 + start: [20, 29] +- goal: [5, 2] + name: agent18 + start: [1, 13] +- goal: [28, 4] + name: agent19 + start: [8, 19] +- goal: [25, 17] + name: agent20 + start: [4, 10] +- goal: [11, 13] + name: agent21 + start: [12, 8] +- goal: [18, 26] + name: agent22 + start: [27, 25] +- goal: [23, 24] + name: agent23 + start: [16, 6] +- goal: [19, 22] + name: agent24 + start: [15, 2] +- goal: [1, 30] + name: agent25 + start: [28, 1] +- goal: [14, 22] + name: agent26 + start: [16, 19] +- goal: [0, 20] + name: agent27 + start: [27, 17] +- goal: [2, 29] + name: agent28 + start: [21, 18] +- goal: [5, 16] + name: agent29 + start: [7, 11] +- goal: [15, 20] + name: agent30 + start: [12, 12] +- goal: [31, 17] + name: agent31 + start: [22, 20] +- goal: [4, 8] + name: agent32 + start: [2, 1] +- goal: [31, 8] + name: agent33 + start: [31, 25] +- goal: [12, 15] + name: agent34 + start: [18, 14] +- goal: [16, 31] + name: agent35 + start: [0, 10] +- goal: [7, 12] + name: agent36 + start: [20, 31] +- goal: [15, 18] + name: agent37 + start: [12, 7] +- goal: [6, 7] + name: agent38 + start: [24, 31] +- goal: [6, 24] + name: agent39 + start: [6, 21] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [10, 11] + - !!python/tuple [27, 31] + - !!python/tuple [7, 9] + - !!python/tuple [9, 16] + - !!python/tuple [24, 30] + - !!python/tuple [20, 14] + - !!python/tuple [21, 17] + - !!python/tuple [12, 18] + - !!python/tuple [15, 13] + - !!python/tuple [16, 29] + - !!python/tuple [4, 23] + - !!python/tuple [3, 22] + - !!python/tuple [30, 19] + - !!python/tuple [7, 30] + - !!python/tuple [10, 3] + - !!python/tuple [12, 28] + - !!python/tuple [3, 21] + - !!python/tuple [14, 16] + - !!python/tuple [7, 31] + - !!python/tuple [1, 23] + - !!python/tuple [21, 26] + - !!python/tuple [7, 25] + - !!python/tuple [4, 22] + - !!python/tuple [12, 11] + - !!python/tuple [12, 26] + - !!python/tuple [26, 7] + - !!python/tuple [23, 1] + - !!python/tuple [6, 25] + - !!python/tuple [29, 30] + - !!python/tuple [13, 30] + - !!python/tuple [1, 31] + - !!python/tuple [21, 16] + - !!python/tuple [9, 28] + - !!python/tuple [17, 9] + - !!python/tuple [10, 24] + - !!python/tuple [25, 22] + - !!python/tuple [6, 8] + - !!python/tuple [18, 21] + - !!python/tuple [21, 2] + - !!python/tuple [7, 0] + - !!python/tuple [31, 2] + - !!python/tuple [13, 26] + - !!python/tuple [11, 25] + - !!python/tuple [26, 6] + - !!python/tuple [5, 30] + - !!python/tuple [2, 2] + - !!python/tuple [14, 10] + - !!python/tuple [28, 18] + - !!python/tuple [1, 20] + - !!python/tuple [30, 23] + - !!python/tuple [4, 20] + - !!python/tuple [22, 4] + - !!python/tuple [17, 13] + - !!python/tuple [14, 20] + - !!python/tuple [7, 28] + - !!python/tuple [7, 21] + - !!python/tuple [6, 27] + - !!python/tuple [30, 24] + - !!python/tuple [19, 14] + - !!python/tuple [24, 4] + - !!python/tuple [13, 29] + - !!python/tuple [31, 28] + - !!python/tuple [10, 19] + - !!python/tuple [14, 0] + - !!python/tuple [17, 12] + - !!python/tuple [12, 10] + - !!python/tuple [16, 18] + - !!python/tuple [10, 7] + - !!python/tuple [14, 19] + - !!python/tuple [23, 5] + - !!python/tuple [28, 27] + - !!python/tuple [31, 4] + - !!python/tuple [31, 5] + - !!python/tuple [17, 28] + - !!python/tuple [14, 31] + - !!python/tuple [19, 27] + - !!python/tuple [6, 30] + - !!python/tuple [15, 29] + - !!python/tuple [6, 20] + - !!python/tuple [29, 12] + - !!python/tuple [10, 27] + - !!python/tuple [15, 1] + - !!python/tuple [29, 3] + - !!python/tuple [9, 12] + - !!python/tuple [12, 25] + - !!python/tuple [29, 1] + - !!python/tuple [27, 8] + - !!python/tuple [3, 16] + - !!python/tuple [4, 19] + - !!python/tuple [26, 3] + - !!python/tuple [21, 13] + - !!python/tuple [20, 0] + - !!python/tuple [7, 18] + - !!python/tuple [27, 10] + - !!python/tuple [9, 26] + - !!python/tuple [18, 18] + - !!python/tuple [16, 0] + - !!python/tuple [26, 23] + - !!python/tuple [15, 16] + - !!python/tuple [28, 20] + - !!python/tuple [4, 13] + - !!python/tuple [15, 6] + - !!python/tuple [13, 27] + - !!python/tuple [25, 2] + - !!python/tuple [13, 12] + - !!python/tuple [24, 6] + - !!python/tuple [19, 17] + - !!python/tuple [30, 5] + - !!python/tuple [1, 17] + - !!python/tuple [19, 10] + - !!python/tuple [8, 6] + - !!python/tuple [28, 6] + - !!python/tuple [26, 1] + - !!python/tuple [5, 31] + - !!python/tuple [13, 20] + - !!python/tuple [28, 17] + - !!python/tuple [19, 20] + - !!python/tuple [8, 4] + - !!python/tuple [10, 10] + - !!python/tuple [7, 17] + - !!python/tuple [3, 27] + - !!python/tuple [27, 23] + - !!python/tuple [16, 28] + - !!python/tuple [17, 3] + - !!python/tuple [26, 5] + - !!python/tuple [26, 29] + - !!python/tuple [10, 20] + - !!python/tuple [16, 13] + - !!python/tuple [17, 1] + - !!python/tuple [20, 5] + - !!python/tuple [17, 21] + - !!python/tuple [18, 22] + - !!python/tuple [2, 12] + - !!python/tuple [11, 26] + - !!python/tuple [15, 23] + - !!python/tuple [22, 29] + - !!python/tuple [0, 25] + - !!python/tuple [0, 1] + - !!python/tuple [18, 7] + - !!python/tuple [15, 19] + - !!python/tuple [11, 3] + - !!python/tuple [30, 22] + - !!python/tuple [11, 23] + - !!python/tuple [30, 15] + - !!python/tuple [1, 2] + - !!python/tuple [25, 1] + - !!python/tuple [5, 0] + - !!python/tuple [9, 17] + - !!python/tuple [19, 3] + - !!python/tuple [14, 3] + - !!python/tuple [20, 18] + - !!python/tuple [30, 12] + - !!python/tuple [5, 24] + - !!python/tuple [19, 2] + - !!python/tuple [3, 23] + - !!python/tuple [8, 23] + - !!python/tuple [2, 16] + - !!python/tuple [2, 23] + - !!python/tuple [14, 26] + - !!python/tuple [14, 29] + - !!python/tuple [20, 7] + - !!python/tuple [27, 30] + - !!python/tuple [7, 15] + - !!python/tuple [26, 18] + - !!python/tuple [14, 28] + - !!python/tuple [29, 4] + - !!python/tuple [19, 23] + - !!python/tuple [9, 0] + - !!python/tuple [26, 28] + - !!python/tuple [26, 21] + - !!python/tuple [18, 4] + - !!python/tuple [0, 22] + - !!python/tuple [3, 30] + - !!python/tuple [22, 16] + - !!python/tuple [5, 14] + - !!python/tuple [16, 20] + - !!python/tuple [23, 18] + - !!python/tuple [24, 20] + - !!python/tuple [17, 11] + - !!python/tuple [5, 6] + - !!python/tuple [4, 12] + - !!python/tuple [31, 24] + - !!python/tuple [26, 24] + - !!python/tuple [9, 23] + - !!python/tuple [22, 30] + - !!python/tuple [29, 11] + - !!python/tuple [8, 17] + - !!python/tuple [10, 22] + - !!python/tuple [25, 28] + - !!python/tuple [14, 15] + - !!python/tuple [1, 18] + - !!python/tuple [13, 10] + - !!python/tuple [1, 25] + - !!python/tuple [11, 1] + - !!python/tuple [31, 10] + - !!python/tuple [18, 12] + - !!python/tuple [10, 29] + - !!python/tuple [12, 16] + - !!python/tuple [2, 19] + - !!python/tuple [7, 27] + - !!python/tuple [10, 21] + - !!python/tuple [23, 29] + - !!python/tuple [12, 27] + - !!python/tuple [18, 1] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex36.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex36.yaml new file mode 100644 index 0000000..e8ffdb5 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex36.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [30, 25] + name: agent0 + start: [31, 21] +- goal: [3, 18] + name: agent1 + start: [7, 10] +- goal: [10, 14] + name: agent2 + start: [6, 3] +- goal: [9, 0] + name: agent3 + start: [11, 16] +- goal: [3, 9] + name: agent4 + start: [26, 5] +- goal: [0, 9] + name: agent5 + start: [25, 29] +- goal: [18, 3] + name: agent6 + start: [7, 1] +- goal: [17, 18] + name: agent7 + start: [9, 30] +- goal: [12, 20] + name: agent8 + start: [1, 21] +- goal: [14, 10] + name: agent9 + start: [25, 9] +- goal: [14, 20] + name: agent10 + start: [13, 25] +- goal: [21, 14] + name: agent11 + start: [30, 7] +- goal: [9, 20] + name: agent12 + start: [7, 27] +- goal: [16, 14] + name: agent13 + start: [25, 19] +- goal: [1, 12] + name: agent14 + start: [17, 30] +- goal: [14, 4] + name: agent15 + start: [2, 27] +- goal: [27, 28] + name: agent16 + start: [12, 26] +- goal: [22, 17] + name: agent17 + start: [16, 26] +- goal: [2, 3] + name: agent18 + start: [3, 18] +- goal: [19, 26] + name: agent19 + start: [11, 15] +- goal: [1, 0] + name: agent20 + start: [15, 15] +- goal: [8, 3] + name: agent21 + start: [28, 30] +- goal: [3, 22] + name: agent22 + start: [28, 21] +- goal: [5, 29] + name: agent23 + start: [13, 31] +- goal: [12, 8] + name: agent24 + start: [0, 24] +- goal: [3, 19] + name: agent25 + start: [29, 30] +- goal: [23, 31] + name: agent26 + start: [30, 22] +- goal: [6, 0] + name: agent27 + start: [10, 4] +- goal: [7, 15] + name: agent28 + start: [18, 8] +- goal: [5, 15] + name: agent29 + start: [19, 12] +- goal: [6, 4] + name: agent30 + start: [17, 2] +- goal: [22, 0] + name: agent31 + start: [16, 18] +- goal: [20, 17] + name: agent32 + start: [18, 14] +- goal: [20, 16] + name: agent33 + start: [20, 16] +- goal: [21, 0] + name: agent34 + start: [8, 1] +- goal: [23, 12] + name: agent35 + start: [4, 6] +- goal: [28, 16] + name: agent36 + start: [31, 27] +- goal: [31, 18] + name: agent37 + start: [12, 10] +- goal: [22, 27] + name: agent38 + start: [29, 28] +- goal: [6, 1] + name: agent39 + start: [0, 10] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [9, 25] + - !!python/tuple [1, 1] + - !!python/tuple [24, 25] + - !!python/tuple [17, 4] + - !!python/tuple [29, 3] + - !!python/tuple [20, 10] + - !!python/tuple [22, 5] + - !!python/tuple [7, 23] + - !!python/tuple [31, 9] + - !!python/tuple [17, 23] + - !!python/tuple [18, 4] + - !!python/tuple [3, 4] + - !!python/tuple [31, 13] + - !!python/tuple [11, 13] + - !!python/tuple [10, 27] + - !!python/tuple [31, 28] + - !!python/tuple [5, 20] + - !!python/tuple [26, 1] + - !!python/tuple [12, 21] + - !!python/tuple [25, 18] + - !!python/tuple [24, 20] + - !!python/tuple [18, 20] + - !!python/tuple [8, 16] + - !!python/tuple [18, 6] + - !!python/tuple [10, 29] + - !!python/tuple [7, 19] + - !!python/tuple [8, 27] + - !!python/tuple [11, 0] + - !!python/tuple [14, 17] + - !!python/tuple [29, 26] + - !!python/tuple [13, 5] + - !!python/tuple [19, 1] + - !!python/tuple [11, 28] + - !!python/tuple [3, 26] + - !!python/tuple [9, 27] + - !!python/tuple [29, 13] + - !!python/tuple [0, 18] + - !!python/tuple [17, 13] + - !!python/tuple [30, 8] + - !!python/tuple [12, 18] + - !!python/tuple [29, 8] + - !!python/tuple [21, 31] + - !!python/tuple [28, 13] + - !!python/tuple [23, 2] + - !!python/tuple [1, 10] + - !!python/tuple [29, 0] + - !!python/tuple [5, 24] + - !!python/tuple [17, 28] + - !!python/tuple [0, 1] + - !!python/tuple [25, 24] + - !!python/tuple [12, 4] + - !!python/tuple [4, 1] + - !!python/tuple [31, 29] + - !!python/tuple [8, 9] + - !!python/tuple [24, 31] + - !!python/tuple [14, 13] + - !!python/tuple [24, 9] + - !!python/tuple [9, 17] + - !!python/tuple [30, 18] + - !!python/tuple [14, 7] + - !!python/tuple [22, 15] + - !!python/tuple [26, 11] + - !!python/tuple [28, 5] + - !!python/tuple [29, 11] + - !!python/tuple [6, 20] + - !!python/tuple [19, 23] + - !!python/tuple [3, 17] + - !!python/tuple [24, 11] + - !!python/tuple [11, 25] + - !!python/tuple [19, 21] + - !!python/tuple [2, 29] + - !!python/tuple [7, 25] + - !!python/tuple [30, 17] + - !!python/tuple [10, 1] + - !!python/tuple [17, 27] + - !!python/tuple [6, 22] + - !!python/tuple [17, 6] + - !!python/tuple [22, 26] + - !!python/tuple [24, 7] + - !!python/tuple [30, 28] + - !!python/tuple [6, 27] + - !!python/tuple [8, 5] + - !!python/tuple [31, 23] + - !!python/tuple [22, 6] + - !!python/tuple [14, 24] + - !!python/tuple [26, 6] + - !!python/tuple [6, 11] + - !!python/tuple [13, 1] + - !!python/tuple [17, 24] + - !!python/tuple [23, 17] + - !!python/tuple [15, 22] + - !!python/tuple [21, 3] + - !!python/tuple [9, 19] + - !!python/tuple [26, 22] + - !!python/tuple [15, 29] + - !!python/tuple [29, 15] + - !!python/tuple [25, 5] + - !!python/tuple [12, 11] + - !!python/tuple [21, 23] + - !!python/tuple [22, 22] + - !!python/tuple [26, 12] + - !!python/tuple [9, 23] + - !!python/tuple [28, 25] + - !!python/tuple [22, 10] + - !!python/tuple [17, 15] + - !!python/tuple [6, 31] + - !!python/tuple [9, 31] + - !!python/tuple [28, 10] + - !!python/tuple [12, 19] + - !!python/tuple [19, 14] + - !!python/tuple [10, 10] + - !!python/tuple [18, 24] + - !!python/tuple [17, 29] + - !!python/tuple [3, 15] + - !!python/tuple [7, 28] + - !!python/tuple [3, 24] + - !!python/tuple [11, 21] + - !!python/tuple [28, 20] + - !!python/tuple [20, 22] + - !!python/tuple [19, 17] + - !!python/tuple [30, 20] + - !!python/tuple [18, 22] + - !!python/tuple [13, 18] + - !!python/tuple [21, 7] + - !!python/tuple [10, 18] + - !!python/tuple [20, 12] + - !!python/tuple [29, 24] + - !!python/tuple [25, 4] + - !!python/tuple [2, 11] + - !!python/tuple [6, 17] + - !!python/tuple [31, 31] + - !!python/tuple [15, 12] + - !!python/tuple [25, 28] + - !!python/tuple [8, 17] + - !!python/tuple [1, 18] + - !!python/tuple [14, 14] + - !!python/tuple [13, 28] + - !!python/tuple [8, 28] + - !!python/tuple [13, 22] + - !!python/tuple [17, 25] + - !!python/tuple [2, 22] + - !!python/tuple [20, 5] + - !!python/tuple [0, 27] + - !!python/tuple [5, 12] + - !!python/tuple [4, 25] + - !!python/tuple [10, 15] + - !!python/tuple [23, 6] + - !!python/tuple [3, 5] + - !!python/tuple [18, 30] + - !!python/tuple [19, 16] + - !!python/tuple [0, 3] + - !!python/tuple [3, 8] + - !!python/tuple [21, 12] + - !!python/tuple [31, 14] + - !!python/tuple [1, 20] + - !!python/tuple [17, 19] + - !!python/tuple [1, 24] + - !!python/tuple [14, 31] + - !!python/tuple [30, 26] + - !!python/tuple [31, 7] + - !!python/tuple [20, 20] + - !!python/tuple [22, 7] + - !!python/tuple [2, 14] + - !!python/tuple [3, 1] + - !!python/tuple [26, 17] + - !!python/tuple [25, 22] + - !!python/tuple [9, 6] + - !!python/tuple [17, 16] + - !!python/tuple [12, 0] + - !!python/tuple [9, 28] + - !!python/tuple [15, 4] + - !!python/tuple [14, 9] + - !!python/tuple [20, 21] + - !!python/tuple [29, 5] + - !!python/tuple [20, 3] + - !!python/tuple [19, 18] + - !!python/tuple [25, 10] + - !!python/tuple [23, 10] + - !!python/tuple [12, 15] + - !!python/tuple [30, 12] + - !!python/tuple [30, 5] + - !!python/tuple [13, 23] + - !!python/tuple [22, 16] + - !!python/tuple [19, 15] + - !!python/tuple [0, 13] + - !!python/tuple [25, 14] + - !!python/tuple [30, 6] + - !!python/tuple [5, 2] + - !!python/tuple [27, 13] + - !!python/tuple [17, 9] + - !!python/tuple [26, 26] + - !!python/tuple [31, 17] + - !!python/tuple [20, 27] + - !!python/tuple [6, 14] + - !!python/tuple [31, 30] + - !!python/tuple [12, 23] + - !!python/tuple [16, 7] + - !!python/tuple [7, 0] + - !!python/tuple [8, 13] + - !!python/tuple [24, 22] + - !!python/tuple [16, 3] + - !!python/tuple [27, 30] + - !!python/tuple [19, 9] + - !!python/tuple [7, 8] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex37.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex37.yaml new file mode 100644 index 0000000..c4cf022 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex37.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [25, 8] + name: agent0 + start: [23, 29] +- goal: [31, 10] + name: agent1 + start: [6, 25] +- goal: [31, 22] + name: agent2 + start: [22, 31] +- goal: [8, 12] + name: agent3 + start: [5, 21] +- goal: [14, 8] + name: agent4 + start: [31, 29] +- goal: [4, 27] + name: agent5 + start: [2, 11] +- goal: [1, 30] + name: agent6 + start: [6, 22] +- goal: [16, 22] + name: agent7 + start: [22, 9] +- goal: [3, 6] + name: agent8 + start: [22, 7] +- goal: [9, 24] + name: agent9 + start: [23, 3] +- goal: [8, 24] + name: agent10 + start: [29, 16] +- goal: [20, 8] + name: agent11 + start: [20, 15] +- goal: [29, 27] + name: agent12 + start: [9, 21] +- goal: [4, 28] + name: agent13 + start: [3, 29] +- goal: [19, 12] + name: agent14 + start: [3, 4] +- goal: [5, 1] + name: agent15 + start: [5, 3] +- goal: [29, 2] + name: agent16 + start: [6, 11] +- goal: [20, 2] + name: agent17 + start: [3, 10] +- goal: [0, 1] + name: agent18 + start: [10, 31] +- goal: [1, 9] + name: agent19 + start: [28, 8] +- goal: [10, 13] + name: agent20 + start: [16, 24] +- goal: [23, 19] + name: agent21 + start: [22, 3] +- goal: [6, 12] + name: agent22 + start: [28, 5] +- goal: [3, 4] + name: agent23 + start: [24, 31] +- goal: [21, 24] + name: agent24 + start: [26, 2] +- goal: [12, 19] + name: agent25 + start: [22, 12] +- goal: [17, 18] + name: agent26 + start: [1, 15] +- goal: [5, 11] + name: agent27 + start: [28, 28] +- goal: [1, 17] + name: agent28 + start: [21, 6] +- goal: [7, 1] + name: agent29 + start: [0, 2] +- goal: [13, 21] + name: agent30 + start: [26, 4] +- goal: [27, 21] + name: agent31 + start: [4, 14] +- goal: [18, 9] + name: agent32 + start: [14, 8] +- goal: [16, 11] + name: agent33 + start: [30, 24] +- goal: [1, 10] + name: agent34 + start: [12, 29] +- goal: [16, 17] + name: agent35 + start: [5, 2] +- goal: [31, 20] + name: agent36 + start: [10, 1] +- goal: [30, 9] + name: agent37 + start: [6, 15] +- goal: [1, 13] + name: agent38 + start: [12, 21] +- goal: [18, 10] + name: agent39 + start: [24, 19] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [12, 22] + - !!python/tuple [10, 17] + - !!python/tuple [1, 16] + - !!python/tuple [27, 2] + - !!python/tuple [20, 3] + - !!python/tuple [22, 15] + - !!python/tuple [15, 12] + - !!python/tuple [12, 25] + - !!python/tuple [0, 22] + - !!python/tuple [13, 25] + - !!python/tuple [8, 23] + - !!python/tuple [28, 3] + - !!python/tuple [1, 24] + - !!python/tuple [16, 19] + - !!python/tuple [10, 20] + - !!python/tuple [1, 0] + - !!python/tuple [6, 2] + - !!python/tuple [8, 25] + - !!python/tuple [5, 4] + - !!python/tuple [0, 28] + - !!python/tuple [30, 2] + - !!python/tuple [28, 15] + - !!python/tuple [31, 21] + - !!python/tuple [9, 1] + - !!python/tuple [10, 28] + - !!python/tuple [2, 14] + - !!python/tuple [21, 21] + - !!python/tuple [6, 14] + - !!python/tuple [7, 14] + - !!python/tuple [28, 9] + - !!python/tuple [31, 11] + - !!python/tuple [24, 11] + - !!python/tuple [14, 23] + - !!python/tuple [25, 9] + - !!python/tuple [5, 23] + - !!python/tuple [21, 29] + - !!python/tuple [8, 8] + - !!python/tuple [8, 3] + - !!python/tuple [4, 20] + - !!python/tuple [6, 19] + - !!python/tuple [13, 3] + - !!python/tuple [18, 12] + - !!python/tuple [13, 9] + - !!python/tuple [15, 18] + - !!python/tuple [9, 30] + - !!python/tuple [3, 8] + - !!python/tuple [11, 7] + - !!python/tuple [4, 5] + - !!python/tuple [10, 3] + - !!python/tuple [11, 13] + - !!python/tuple [25, 18] + - !!python/tuple [30, 7] + - !!python/tuple [15, 27] + - !!python/tuple [16, 31] + - !!python/tuple [21, 15] + - !!python/tuple [21, 28] + - !!python/tuple [10, 10] + - !!python/tuple [21, 20] + - !!python/tuple [16, 3] + - !!python/tuple [8, 6] + - !!python/tuple [23, 1] + - !!python/tuple [26, 7] + - !!python/tuple [27, 10] + - !!python/tuple [8, 0] + - !!python/tuple [24, 28] + - !!python/tuple [8, 2] + - !!python/tuple [25, 14] + - !!python/tuple [7, 25] + - !!python/tuple [17, 30] + - !!python/tuple [16, 0] + - !!python/tuple [0, 10] + - !!python/tuple [14, 26] + - !!python/tuple [11, 28] + - !!python/tuple [24, 22] + - !!python/tuple [5, 6] + - !!python/tuple [28, 27] + - !!python/tuple [2, 2] + - !!python/tuple [25, 20] + - !!python/tuple [27, 26] + - !!python/tuple [25, 5] + - !!python/tuple [10, 27] + - !!python/tuple [10, 29] + - !!python/tuple [2, 28] + - !!python/tuple [29, 31] + - !!python/tuple [14, 18] + - !!python/tuple [31, 1] + - !!python/tuple [17, 22] + - !!python/tuple [12, 13] + - !!python/tuple [26, 16] + - !!python/tuple [2, 10] + - !!python/tuple [6, 24] + - !!python/tuple [14, 30] + - !!python/tuple [30, 1] + - !!python/tuple [16, 20] + - !!python/tuple [22, 22] + - !!python/tuple [27, 27] + - !!python/tuple [22, 0] + - !!python/tuple [16, 5] + - !!python/tuple [24, 3] + - !!python/tuple [17, 21] + - !!python/tuple [11, 17] + - !!python/tuple [13, 14] + - !!python/tuple [2, 19] + - !!python/tuple [4, 21] + - !!python/tuple [29, 0] + - !!python/tuple [26, 9] + - !!python/tuple [15, 26] + - !!python/tuple [11, 25] + - !!python/tuple [16, 8] + - !!python/tuple [10, 4] + - !!python/tuple [2, 6] + - !!python/tuple [5, 8] + - !!python/tuple [4, 31] + - !!python/tuple [14, 17] + - !!python/tuple [17, 28] + - !!python/tuple [30, 4] + - !!python/tuple [21, 5] + - !!python/tuple [1, 20] + - !!python/tuple [24, 1] + - !!python/tuple [19, 4] + - !!python/tuple [19, 6] + - !!python/tuple [12, 16] + - !!python/tuple [31, 24] + - !!python/tuple [28, 20] + - !!python/tuple [7, 23] + - !!python/tuple [17, 29] + - !!python/tuple [6, 18] + - !!python/tuple [18, 27] + - !!python/tuple [0, 27] + - !!python/tuple [1, 21] + - !!python/tuple [22, 27] + - !!python/tuple [22, 8] + - !!python/tuple [16, 2] + - !!python/tuple [1, 19] + - !!python/tuple [8, 19] + - !!python/tuple [25, 23] + - !!python/tuple [31, 4] + - !!python/tuple [28, 16] + - !!python/tuple [10, 25] + - !!python/tuple [10, 19] + - !!python/tuple [15, 28] + - !!python/tuple [11, 22] + - !!python/tuple [7, 18] + - !!python/tuple [8, 10] + - !!python/tuple [27, 8] + - !!python/tuple [20, 18] + - !!python/tuple [0, 9] + - !!python/tuple [29, 3] + - !!python/tuple [15, 10] + - !!python/tuple [2, 15] + - !!python/tuple [21, 31] + - !!python/tuple [27, 31] + - !!python/tuple [12, 30] + - !!python/tuple [14, 13] + - !!python/tuple [18, 1] + - !!python/tuple [8, 7] + - !!python/tuple [29, 11] + - !!python/tuple [4, 9] + - !!python/tuple [21, 7] + - !!python/tuple [18, 8] + - !!python/tuple [6, 9] + - !!python/tuple [21, 8] + - !!python/tuple [5, 9] + - !!python/tuple [26, 10] + - !!python/tuple [7, 10] + - !!python/tuple [14, 20] + - !!python/tuple [29, 7] + - !!python/tuple [17, 25] + - !!python/tuple [21, 14] + - !!python/tuple [26, 29] + - !!python/tuple [22, 20] + - !!python/tuple [27, 30] + - !!python/tuple [10, 6] + - !!python/tuple [19, 14] + - !!python/tuple [31, 23] + - !!python/tuple [12, 3] + - !!python/tuple [19, 0] + - !!python/tuple [6, 10] + - !!python/tuple [8, 15] + - !!python/tuple [22, 30] + - !!python/tuple [31, 3] + - !!python/tuple [28, 4] + - !!python/tuple [29, 10] + - !!python/tuple [17, 10] + - !!python/tuple [30, 13] + - !!python/tuple [15, 15] + - !!python/tuple [15, 25] + - !!python/tuple [1, 8] + - !!python/tuple [24, 29] + - !!python/tuple [28, 11] + - !!python/tuple [30, 30] + - !!python/tuple [30, 25] + - !!python/tuple [5, 22] + - !!python/tuple [5, 5] + - !!python/tuple [31, 14] + - !!python/tuple [20, 14] + - !!python/tuple [28, 6] + - !!python/tuple [15, 4] + - !!python/tuple [17, 14] + - !!python/tuple [20, 0] + - !!python/tuple [10, 15] + - !!python/tuple [13, 12] + - !!python/tuple [27, 6] + - !!python/tuple [7, 0] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex38.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex38.yaml new file mode 100644 index 0000000..8dedf39 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex38.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [5, 0] + name: agent0 + start: [0, 13] +- goal: [5, 2] + name: agent1 + start: [10, 29] +- goal: [3, 16] + name: agent2 + start: [24, 28] +- goal: [12, 8] + name: agent3 + start: [12, 27] +- goal: [23, 8] + name: agent4 + start: [25, 28] +- goal: [10, 18] + name: agent5 + start: [1, 7] +- goal: [16, 19] + name: agent6 + start: [13, 13] +- goal: [3, 24] + name: agent7 + start: [31, 30] +- goal: [28, 13] + name: agent8 + start: [26, 27] +- goal: [8, 23] + name: agent9 + start: [10, 17] +- goal: [25, 25] + name: agent10 + start: [11, 26] +- goal: [10, 14] + name: agent11 + start: [17, 13] +- goal: [27, 14] + name: agent12 + start: [7, 2] +- goal: [5, 19] + name: agent13 + start: [25, 24] +- goal: [7, 20] + name: agent14 + start: [22, 28] +- goal: [0, 15] + name: agent15 + start: [10, 25] +- goal: [29, 18] + name: agent16 + start: [27, 30] +- goal: [13, 13] + name: agent17 + start: [12, 2] +- goal: [16, 12] + name: agent18 + start: [13, 15] +- goal: [31, 29] + name: agent19 + start: [16, 13] +- goal: [15, 23] + name: agent20 + start: [31, 11] +- goal: [7, 18] + name: agent21 + start: [2, 26] +- goal: [8, 13] + name: agent22 + start: [2, 24] +- goal: [10, 2] + name: agent23 + start: [27, 12] +- goal: [3, 15] + name: agent24 + start: [16, 7] +- goal: [11, 30] + name: agent25 + start: [13, 14] +- goal: [3, 17] + name: agent26 + start: [0, 23] +- goal: [4, 12] + name: agent27 + start: [20, 8] +- goal: [13, 6] + name: agent28 + start: [26, 1] +- goal: [24, 12] + name: agent29 + start: [30, 22] +- goal: [11, 25] + name: agent30 + start: [29, 31] +- goal: [0, 0] + name: agent31 + start: [22, 16] +- goal: [15, 27] + name: agent32 + start: [6, 23] +- goal: [10, 19] + name: agent33 + start: [11, 1] +- goal: [20, 12] + name: agent34 + start: [19, 4] +- goal: [22, 5] + name: agent35 + start: [4, 30] +- goal: [12, 16] + name: agent36 + start: [26, 0] +- goal: [10, 15] + name: agent37 + start: [5, 19] +- goal: [27, 15] + name: agent38 + start: [25, 10] +- goal: [9, 1] + name: agent39 + start: [3, 3] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [13, 22] + - !!python/tuple [21, 9] + - !!python/tuple [20, 0] + - !!python/tuple [15, 9] + - !!python/tuple [31, 7] + - !!python/tuple [2, 23] + - !!python/tuple [3, 0] + - !!python/tuple [27, 24] + - !!python/tuple [18, 18] + - !!python/tuple [21, 5] + - !!python/tuple [16, 10] + - !!python/tuple [12, 0] + - !!python/tuple [24, 25] + - !!python/tuple [13, 24] + - !!python/tuple [1, 4] + - !!python/tuple [24, 5] + - !!python/tuple [18, 16] + - !!python/tuple [4, 27] + - !!python/tuple [1, 22] + - !!python/tuple [25, 1] + - !!python/tuple [16, 1] + - !!python/tuple [1, 25] + - !!python/tuple [1, 20] + - !!python/tuple [4, 16] + - !!python/tuple [2, 10] + - !!python/tuple [9, 29] + - !!python/tuple [23, 20] + - !!python/tuple [25, 26] + - !!python/tuple [30, 29] + - !!python/tuple [13, 18] + - !!python/tuple [26, 3] + - !!python/tuple [31, 27] + - !!python/tuple [30, 11] + - !!python/tuple [29, 6] + - !!python/tuple [19, 9] + - !!python/tuple [4, 6] + - !!python/tuple [21, 17] + - !!python/tuple [12, 22] + - !!python/tuple [25, 11] + - !!python/tuple [6, 9] + - !!python/tuple [16, 25] + - !!python/tuple [20, 27] + - !!python/tuple [25, 30] + - !!python/tuple [14, 24] + - !!python/tuple [30, 17] + - !!python/tuple [3, 13] + - !!python/tuple [7, 26] + - !!python/tuple [15, 13] + - !!python/tuple [15, 26] + - !!python/tuple [9, 23] + - !!python/tuple [3, 20] + - !!python/tuple [3, 29] + - !!python/tuple [22, 11] + - !!python/tuple [10, 11] + - !!python/tuple [17, 0] + - !!python/tuple [4, 31] + - !!python/tuple [27, 7] + - !!python/tuple [3, 5] + - !!python/tuple [12, 1] + - !!python/tuple [29, 5] + - !!python/tuple [9, 12] + - !!python/tuple [25, 31] + - !!python/tuple [9, 26] + - !!python/tuple [30, 3] + - !!python/tuple [10, 28] + - !!python/tuple [8, 19] + - !!python/tuple [12, 24] + - !!python/tuple [8, 6] + - !!python/tuple [28, 17] + - !!python/tuple [1, 30] + - !!python/tuple [12, 4] + - !!python/tuple [23, 7] + - !!python/tuple [27, 18] + - !!python/tuple [19, 12] + - !!python/tuple [11, 2] + - !!python/tuple [8, 31] + - !!python/tuple [30, 1] + - !!python/tuple [21, 24] + - !!python/tuple [3, 14] + - !!python/tuple [9, 11] + - !!python/tuple [5, 16] + - !!python/tuple [0, 12] + - !!python/tuple [24, 9] + - !!python/tuple [15, 28] + - !!python/tuple [17, 21] + - !!python/tuple [12, 14] + - !!python/tuple [27, 9] + - !!python/tuple [6, 20] + - !!python/tuple [26, 22] + - !!python/tuple [13, 3] + - !!python/tuple [23, 21] + - !!python/tuple [19, 29] + - !!python/tuple [1, 29] + - !!python/tuple [11, 27] + - !!python/tuple [1, 15] + - !!python/tuple [12, 20] + - !!python/tuple [23, 11] + - !!python/tuple [27, 3] + - !!python/tuple [21, 27] + - !!python/tuple [10, 1] + - !!python/tuple [31, 4] + - !!python/tuple [20, 7] + - !!python/tuple [26, 10] + - !!python/tuple [22, 26] + - !!python/tuple [29, 9] + - !!python/tuple [24, 20] + - !!python/tuple [17, 28] + - !!python/tuple [28, 2] + - !!python/tuple [18, 6] + - !!python/tuple [4, 0] + - !!python/tuple [21, 0] + - !!python/tuple [25, 19] + - !!python/tuple [11, 9] + - !!python/tuple [18, 23] + - !!python/tuple [22, 17] + - !!python/tuple [15, 2] + - !!python/tuple [29, 8] + - !!python/tuple [25, 15] + - !!python/tuple [30, 19] + - !!python/tuple [15, 4] + - !!python/tuple [21, 21] + - !!python/tuple [27, 8] + - !!python/tuple [28, 18] + - !!python/tuple [16, 4] + - !!python/tuple [6, 29] + - !!python/tuple [18, 7] + - !!python/tuple [7, 22] + - !!python/tuple [31, 19] + - !!python/tuple [15, 20] + - !!python/tuple [4, 11] + - !!python/tuple [17, 6] + - !!python/tuple [20, 10] + - !!python/tuple [23, 14] + - !!python/tuple [19, 24] + - !!python/tuple [10, 22] + - !!python/tuple [19, 17] + - !!python/tuple [12, 5] + - !!python/tuple [10, 27] + - !!python/tuple [9, 19] + - !!python/tuple [23, 12] + - !!python/tuple [8, 1] + - !!python/tuple [23, 0] + - !!python/tuple [21, 22] + - !!python/tuple [2, 21] + - !!python/tuple [24, 29] + - !!python/tuple [11, 16] + - !!python/tuple [5, 4] + - !!python/tuple [1, 27] + - !!python/tuple [25, 14] + - !!python/tuple [8, 30] + - !!python/tuple [4, 29] + - !!python/tuple [30, 30] + - !!python/tuple [9, 4] + - !!python/tuple [16, 17] + - !!python/tuple [14, 29] + - !!python/tuple [29, 23] + - !!python/tuple [12, 12] + - !!python/tuple [26, 21] + - !!python/tuple [25, 27] + - !!python/tuple [14, 31] + - !!python/tuple [23, 6] + - !!python/tuple [5, 18] + - !!python/tuple [8, 14] + - !!python/tuple [11, 10] + - !!python/tuple [1, 10] + - !!python/tuple [7, 3] + - !!python/tuple [20, 9] + - !!python/tuple [16, 21] + - !!python/tuple [1, 0] + - !!python/tuple [20, 11] + - !!python/tuple [24, 3] + - !!python/tuple [25, 22] + - !!python/tuple [11, 3] + - !!python/tuple [31, 17] + - !!python/tuple [3, 2] + - !!python/tuple [0, 30] + - !!python/tuple [12, 30] + - !!python/tuple [25, 6] + - !!python/tuple [29, 26] + - !!python/tuple [9, 31] + - !!python/tuple [15, 15] + - !!python/tuple [6, 2] + - !!python/tuple [0, 26] + - !!python/tuple [13, 10] + - !!python/tuple [8, 5] + - !!python/tuple [10, 8] + - !!python/tuple [10, 9] + - !!python/tuple [3, 1] + - !!python/tuple [31, 6] + - !!python/tuple [14, 20] + - !!python/tuple [5, 12] + - !!python/tuple [9, 28] + - !!python/tuple [20, 3] + - !!python/tuple [8, 28] + - !!python/tuple [24, 4] + - !!python/tuple [30, 25] + - !!python/tuple [15, 6] + - !!python/tuple [20, 26] + - !!python/tuple [7, 14] + - !!python/tuple [7, 31] + - !!python/tuple [30, 15] + - !!python/tuple [9, 18] + - !!python/tuple [9, 8] + - !!python/tuple [1, 11] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex39.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex39.yaml new file mode 100644 index 0000000..2bcd8df --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex39.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [21, 8] + name: agent0 + start: [3, 13] +- goal: [5, 7] + name: agent1 + start: [11, 23] +- goal: [19, 30] + name: agent2 + start: [4, 10] +- goal: [20, 19] + name: agent3 + start: [31, 23] +- goal: [23, 14] + name: agent4 + start: [20, 31] +- goal: [13, 30] + name: agent5 + start: [20, 24] +- goal: [15, 12] + name: agent6 + start: [18, 15] +- goal: [18, 2] + name: agent7 + start: [11, 14] +- goal: [29, 24] + name: agent8 + start: [1, 1] +- goal: [13, 22] + name: agent9 + start: [6, 14] +- goal: [28, 20] + name: agent10 + start: [9, 23] +- goal: [10, 19] + name: agent11 + start: [27, 3] +- goal: [16, 7] + name: agent12 + start: [30, 8] +- goal: [27, 8] + name: agent13 + start: [15, 28] +- goal: [5, 30] + name: agent14 + start: [9, 12] +- goal: [2, 7] + name: agent15 + start: [0, 18] +- goal: [9, 8] + name: agent16 + start: [11, 17] +- goal: [4, 3] + name: agent17 + start: [15, 6] +- goal: [12, 18] + name: agent18 + start: [10, 30] +- goal: [8, 7] + name: agent19 + start: [0, 8] +- goal: [24, 16] + name: agent20 + start: [12, 15] +- goal: [10, 27] + name: agent21 + start: [21, 28] +- goal: [7, 2] + name: agent22 + start: [17, 3] +- goal: [30, 3] + name: agent23 + start: [23, 9] +- goal: [1, 8] + name: agent24 + start: [22, 30] +- goal: [11, 31] + name: agent25 + start: [9, 8] +- goal: [30, 31] + name: agent26 + start: [24, 24] +- goal: [31, 10] + name: agent27 + start: [25, 21] +- goal: [0, 23] + name: agent28 + start: [28, 17] +- goal: [0, 17] + name: agent29 + start: [24, 16] +- goal: [4, 21] + name: agent30 + start: [8, 22] +- goal: [26, 15] + name: agent31 + start: [15, 3] +- goal: [14, 8] + name: agent32 + start: [26, 18] +- goal: [5, 2] + name: agent33 + start: [0, 31] +- goal: [14, 7] + name: agent34 + start: [29, 2] +- goal: [9, 31] + name: agent35 + start: [20, 13] +- goal: [6, 20] + name: agent36 + start: [8, 28] +- goal: [16, 1] + name: agent37 + start: [0, 14] +- goal: [30, 26] + name: agent38 + start: [30, 9] +- goal: [13, 13] + name: agent39 + start: [13, 22] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [8, 4] + - !!python/tuple [10, 8] + - !!python/tuple [29, 5] + - !!python/tuple [31, 16] + - !!python/tuple [18, 29] + - !!python/tuple [11, 0] + - !!python/tuple [9, 21] + - !!python/tuple [3, 16] + - !!python/tuple [7, 7] + - !!python/tuple [2, 14] + - !!python/tuple [13, 24] + - !!python/tuple [17, 8] + - !!python/tuple [8, 14] + - !!python/tuple [30, 10] + - !!python/tuple [31, 14] + - !!python/tuple [22, 31] + - !!python/tuple [28, 6] + - !!python/tuple [28, 19] + - !!python/tuple [17, 23] + - !!python/tuple [3, 20] + - !!python/tuple [6, 25] + - !!python/tuple [11, 16] + - !!python/tuple [27, 28] + - !!python/tuple [31, 17] + - !!python/tuple [30, 17] + - !!python/tuple [19, 17] + - !!python/tuple [2, 4] + - !!python/tuple [24, 4] + - !!python/tuple [13, 12] + - !!python/tuple [19, 20] + - !!python/tuple [21, 25] + - !!python/tuple [28, 13] + - !!python/tuple [10, 2] + - !!python/tuple [21, 0] + - !!python/tuple [11, 20] + - !!python/tuple [28, 27] + - !!python/tuple [4, 20] + - !!python/tuple [9, 15] + - !!python/tuple [20, 8] + - !!python/tuple [7, 15] + - !!python/tuple [31, 20] + - !!python/tuple [24, 18] + - !!python/tuple [3, 0] + - !!python/tuple [27, 16] + - !!python/tuple [26, 0] + - !!python/tuple [11, 6] + - !!python/tuple [16, 9] + - !!python/tuple [25, 20] + - !!python/tuple [27, 27] + - !!python/tuple [9, 25] + - !!python/tuple [7, 22] + - !!python/tuple [21, 13] + - !!python/tuple [21, 29] + - !!python/tuple [26, 7] + - !!python/tuple [14, 25] + - !!python/tuple [20, 21] + - !!python/tuple [12, 2] + - !!python/tuple [15, 20] + - !!python/tuple [20, 22] + - !!python/tuple [26, 3] + - !!python/tuple [16, 10] + - !!python/tuple [16, 30] + - !!python/tuple [1, 11] + - !!python/tuple [28, 2] + - !!python/tuple [18, 0] + - !!python/tuple [9, 28] + - !!python/tuple [24, 8] + - !!python/tuple [26, 2] + - !!python/tuple [2, 5] + - !!python/tuple [25, 8] + - !!python/tuple [13, 1] + - !!python/tuple [9, 4] + - !!python/tuple [17, 7] + - !!python/tuple [24, 21] + - !!python/tuple [16, 28] + - !!python/tuple [16, 23] + - !!python/tuple [19, 14] + - !!python/tuple [2, 11] + - !!python/tuple [9, 1] + - !!python/tuple [4, 27] + - !!python/tuple [31, 22] + - !!python/tuple [27, 11] + - !!python/tuple [23, 7] + - !!python/tuple [19, 11] + - !!python/tuple [15, 0] + - !!python/tuple [25, 10] + - !!python/tuple [28, 7] + - !!python/tuple [22, 15] + - !!python/tuple [16, 19] + - !!python/tuple [18, 3] + - !!python/tuple [8, 13] + - !!python/tuple [19, 25] + - !!python/tuple [10, 18] + - !!python/tuple [27, 29] + - !!python/tuple [2, 0] + - !!python/tuple [12, 11] + - !!python/tuple [14, 23] + - !!python/tuple [28, 29] + - !!python/tuple [1, 7] + - !!python/tuple [14, 29] + - !!python/tuple [3, 26] + - !!python/tuple [13, 26] + - !!python/tuple [22, 12] + - !!python/tuple [16, 20] + - !!python/tuple [30, 12] + - !!python/tuple [26, 14] + - !!python/tuple [28, 18] + - !!python/tuple [1, 13] + - !!python/tuple [21, 21] + - !!python/tuple [9, 19] + - !!python/tuple [22, 13] + - !!python/tuple [21, 19] + - !!python/tuple [14, 24] + - !!python/tuple [27, 24] + - !!python/tuple [26, 23] + - !!python/tuple [6, 24] + - !!python/tuple [8, 31] + - !!python/tuple [16, 12] + - !!python/tuple [1, 31] + - !!python/tuple [23, 6] + - !!python/tuple [20, 0] + - !!python/tuple [21, 6] + - !!python/tuple [17, 13] + - !!python/tuple [30, 20] + - !!python/tuple [2, 12] + - !!python/tuple [14, 27] + - !!python/tuple [26, 27] + - !!python/tuple [8, 27] + - !!python/tuple [24, 29] + - !!python/tuple [30, 15] + - !!python/tuple [5, 28] + - !!python/tuple [4, 6] + - !!python/tuple [25, 11] + - !!python/tuple [2, 8] + - !!python/tuple [2, 3] + - !!python/tuple [24, 11] + - !!python/tuple [15, 8] + - !!python/tuple [24, 7] + - !!python/tuple [14, 19] + - !!python/tuple [19, 8] + - !!python/tuple [31, 7] + - !!python/tuple [1, 25] + - !!python/tuple [18, 13] + - !!python/tuple [10, 0] + - !!python/tuple [0, 6] + - !!python/tuple [12, 8] + - !!python/tuple [29, 9] + - !!python/tuple [22, 19] + - !!python/tuple [4, 5] + - !!python/tuple [16, 14] + - !!python/tuple [0, 5] + - !!python/tuple [22, 0] + - !!python/tuple [8, 18] + - !!python/tuple [14, 0] + - !!python/tuple [20, 16] + - !!python/tuple [12, 6] + - !!python/tuple [13, 20] + - !!python/tuple [12, 1] + - !!python/tuple [10, 4] + - !!python/tuple [0, 20] + - !!python/tuple [4, 29] + - !!python/tuple [17, 5] + - !!python/tuple [27, 14] + - !!python/tuple [23, 2] + - !!python/tuple [26, 24] + - !!python/tuple [15, 23] + - !!python/tuple [3, 3] + - !!python/tuple [20, 18] + - !!python/tuple [6, 2] + - !!python/tuple [15, 21] + - !!python/tuple [29, 13] + - !!python/tuple [13, 31] + - !!python/tuple [18, 12] + - !!python/tuple [18, 24] + - !!python/tuple [28, 26] + - !!python/tuple [17, 30] + - !!python/tuple [10, 28] + - !!python/tuple [29, 12] + - !!python/tuple [11, 24] + - !!python/tuple [4, 0] + - !!python/tuple [18, 4] + - !!python/tuple [13, 29] + - !!python/tuple [16, 31] + - !!python/tuple [13, 21] + - !!python/tuple [2, 9] + - !!python/tuple [31, 21] + - !!python/tuple [14, 16] + - !!python/tuple [14, 11] + - !!python/tuple [8, 30] + - !!python/tuple [28, 21] + - !!python/tuple [1, 24] + - !!python/tuple [24, 20] + - !!python/tuple [7, 21] + - !!python/tuple [23, 17] + - !!python/tuple [12, 10] + - !!python/tuple [17, 17] + - !!python/tuple [29, 30] + - !!python/tuple [29, 20] + - !!python/tuple [26, 28] + - !!python/tuple [23, 13] + - !!python/tuple [1, 26] + - !!python/tuple [7, 4] + - !!python/tuple [31, 1] + - !!python/tuple [18, 1] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex4.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex4.yaml new file mode 100644 index 0000000..a0de749 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex4.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [7, 21] + name: agent0 + start: [7, 12] +- goal: [28, 22] + name: agent1 + start: [11, 22] +- goal: [26, 31] + name: agent2 + start: [27, 22] +- goal: [8, 25] + name: agent3 + start: [26, 16] +- goal: [28, 15] + name: agent4 + start: [29, 19] +- goal: [29, 17] + name: agent5 + start: [24, 17] +- goal: [27, 13] + name: agent6 + start: [20, 7] +- goal: [24, 7] + name: agent7 + start: [10, 6] +- goal: [20, 14] + name: agent8 + start: [28, 24] +- goal: [23, 16] + name: agent9 + start: [24, 23] +- goal: [13, 28] + name: agent10 + start: [26, 23] +- goal: [0, 5] + name: agent11 + start: [15, 1] +- goal: [0, 6] + name: agent12 + start: [2, 6] +- goal: [5, 25] + name: agent13 + start: [27, 0] +- goal: [22, 29] + name: agent14 + start: [27, 3] +- goal: [14, 1] + name: agent15 + start: [3, 15] +- goal: [13, 15] + name: agent16 + start: [30, 18] +- goal: [9, 28] + name: agent17 + start: [28, 6] +- goal: [6, 4] + name: agent18 + start: [30, 1] +- goal: [7, 26] + name: agent19 + start: [31, 18] +- goal: [18, 24] + name: agent20 + start: [28, 17] +- goal: [12, 15] + name: agent21 + start: [11, 10] +- goal: [0, 10] + name: agent22 + start: [30, 23] +- goal: [31, 16] + name: agent23 + start: [22, 1] +- goal: [20, 23] + name: agent24 + start: [31, 27] +- goal: [21, 14] + name: agent25 + start: [20, 20] +- goal: [4, 0] + name: agent26 + start: [4, 16] +- goal: [14, 16] + name: agent27 + start: [2, 10] +- goal: [19, 16] + name: agent28 + start: [29, 9] +- goal: [17, 8] + name: agent29 + start: [10, 17] +- goal: [23, 20] + name: agent30 + start: [27, 11] +- goal: [30, 13] + name: agent31 + start: [5, 31] +- goal: [4, 11] + name: agent32 + start: [30, 20] +- goal: [10, 24] + name: agent33 + start: [0, 9] +- goal: [10, 1] + name: agent34 + start: [27, 26] +- goal: [18, 15] + name: agent35 + start: [16, 10] +- goal: [10, 12] + name: agent36 + start: [29, 2] +- goal: [6, 16] + name: agent37 + start: [11, 16] +- goal: [5, 7] + name: agent38 + start: [10, 12] +- goal: [2, 0] + name: agent39 + start: [20, 30] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [30, 4] + - !!python/tuple [29, 5] + - !!python/tuple [12, 9] + - !!python/tuple [4, 25] + - !!python/tuple [6, 2] + - !!python/tuple [4, 24] + - !!python/tuple [28, 5] + - !!python/tuple [17, 18] + - !!python/tuple [7, 9] + - !!python/tuple [31, 21] + - !!python/tuple [5, 5] + - !!python/tuple [26, 25] + - !!python/tuple [27, 5] + - !!python/tuple [4, 20] + - !!python/tuple [14, 28] + - !!python/tuple [17, 26] + - !!python/tuple [31, 28] + - !!python/tuple [26, 15] + - !!python/tuple [10, 2] + - !!python/tuple [18, 18] + - !!python/tuple [2, 3] + - !!python/tuple [2, 18] + - !!python/tuple [12, 31] + - !!python/tuple [26, 8] + - !!python/tuple [14, 6] + - !!python/tuple [23, 10] + - !!python/tuple [18, 23] + - !!python/tuple [14, 31] + - !!python/tuple [21, 24] + - !!python/tuple [16, 15] + - !!python/tuple [19, 2] + - !!python/tuple [29, 21] + - !!python/tuple [27, 15] + - !!python/tuple [30, 19] + - !!python/tuple [28, 31] + - !!python/tuple [8, 19] + - !!python/tuple [0, 31] + - !!python/tuple [14, 20] + - !!python/tuple [22, 0] + - !!python/tuple [29, 20] + - !!python/tuple [21, 20] + - !!python/tuple [11, 29] + - !!python/tuple [11, 18] + - !!python/tuple [9, 3] + - !!python/tuple [9, 26] + - !!python/tuple [19, 15] + - !!python/tuple [26, 6] + - !!python/tuple [20, 25] + - !!python/tuple [0, 1] + - !!python/tuple [20, 5] + - !!python/tuple [17, 22] + - !!python/tuple [27, 27] + - !!python/tuple [4, 15] + - !!python/tuple [0, 18] + - !!python/tuple [8, 0] + - !!python/tuple [13, 18] + - !!python/tuple [26, 19] + - !!python/tuple [21, 13] + - !!python/tuple [28, 9] + - !!python/tuple [16, 0] + - !!python/tuple [10, 25] + - !!python/tuple [28, 30] + - !!python/tuple [17, 29] + - !!python/tuple [10, 20] + - !!python/tuple [3, 6] + - !!python/tuple [12, 1] + - !!python/tuple [30, 27] + - !!python/tuple [9, 12] + - !!python/tuple [4, 14] + - !!python/tuple [0, 21] + - !!python/tuple [2, 26] + - !!python/tuple [1, 18] + - !!python/tuple [2, 11] + - !!python/tuple [9, 23] + - !!python/tuple [15, 21] + - !!python/tuple [5, 29] + - !!python/tuple [28, 7] + - !!python/tuple [9, 14] + - !!python/tuple [3, 2] + - !!python/tuple [28, 1] + - !!python/tuple [3, 7] + - !!python/tuple [1, 3] + - !!python/tuple [24, 21] + - !!python/tuple [22, 5] + - !!python/tuple [1, 2] + - !!python/tuple [5, 16] + - !!python/tuple [25, 28] + - !!python/tuple [24, 22] + - !!python/tuple [27, 2] + - !!python/tuple [14, 14] + - !!python/tuple [17, 3] + - !!python/tuple [27, 18] + - !!python/tuple [19, 31] + - !!python/tuple [17, 5] + - !!python/tuple [21, 5] + - !!python/tuple [10, 11] + - !!python/tuple [6, 3] + - !!python/tuple [10, 7] + - !!python/tuple [2, 25] + - !!python/tuple [26, 13] + - !!python/tuple [15, 0] + - !!python/tuple [25, 3] + - !!python/tuple [21, 16] + - !!python/tuple [16, 13] + - !!python/tuple [15, 15] + - !!python/tuple [2, 17] + - !!python/tuple [8, 26] + - !!python/tuple [30, 6] + - !!python/tuple [13, 24] + - !!python/tuple [23, 21] + - !!python/tuple [9, 25] + - !!python/tuple [21, 7] + - !!python/tuple [31, 0] + - !!python/tuple [14, 2] + - !!python/tuple [13, 0] + - !!python/tuple [9, 18] + - !!python/tuple [31, 7] + - !!python/tuple [13, 10] + - !!python/tuple [16, 31] + - !!python/tuple [21, 11] + - !!python/tuple [21, 31] + - !!python/tuple [19, 5] + - !!python/tuple [6, 9] + - !!python/tuple [3, 28] + - !!python/tuple [25, 20] + - !!python/tuple [25, 15] + - !!python/tuple [5, 26] + - !!python/tuple [26, 0] + - !!python/tuple [3, 20] + - !!python/tuple [7, 28] + - !!python/tuple [14, 11] + - !!python/tuple [14, 18] + - !!python/tuple [31, 5] + - !!python/tuple [24, 19] + - !!python/tuple [24, 10] + - !!python/tuple [7, 8] + - !!python/tuple [9, 9] + - !!python/tuple [20, 2] + - !!python/tuple [2, 20] + - !!python/tuple [23, 4] + - !!python/tuple [20, 4] + - !!python/tuple [12, 17] + - !!python/tuple [11, 23] + - !!python/tuple [29, 8] + - !!python/tuple [28, 29] + - !!python/tuple [8, 7] + - !!python/tuple [17, 12] + - !!python/tuple [19, 10] + - !!python/tuple [0, 26] + - !!python/tuple [12, 18] + - !!python/tuple [6, 15] + - !!python/tuple [27, 8] + - !!python/tuple [27, 25] + - !!python/tuple [22, 19] + - !!python/tuple [9, 16] + - !!python/tuple [30, 30] + - !!python/tuple [24, 0] + - !!python/tuple [5, 10] + - !!python/tuple [17, 19] + - !!python/tuple [7, 30] + - !!python/tuple [29, 13] + - !!python/tuple [14, 3] + - !!python/tuple [13, 8] + - !!python/tuple [20, 28] + - !!python/tuple [12, 23] + - !!python/tuple [15, 10] + - !!python/tuple [20, 21] + - !!python/tuple [10, 10] + - !!python/tuple [28, 8] + - !!python/tuple [25, 22] + - !!python/tuple [18, 27] + - !!python/tuple [19, 29] + - !!python/tuple [15, 13] + - !!python/tuple [14, 29] + - !!python/tuple [30, 15] + - !!python/tuple [1, 14] + - !!python/tuple [20, 9] + - !!python/tuple [20, 0] + - !!python/tuple [25, 19] + - !!python/tuple [0, 28] + - !!python/tuple [15, 26] + - !!python/tuple [1, 20] + - !!python/tuple [12, 10] + - !!python/tuple [4, 7] + - !!python/tuple [10, 15] + - !!python/tuple [28, 27] + - !!python/tuple [26, 10] + - !!python/tuple [19, 17] + - !!python/tuple [0, 2] + - !!python/tuple [26, 14] + - !!python/tuple [3, 14] + - !!python/tuple [14, 13] + - !!python/tuple [19, 25] + - !!python/tuple [5, 3] + - !!python/tuple [22, 31] + - !!python/tuple [10, 21] + - !!python/tuple [16, 22] + - !!python/tuple [9, 2] + - !!python/tuple [22, 16] + - !!python/tuple [16, 9] + - !!python/tuple [19, 3] + - !!python/tuple [2, 16] + - !!python/tuple [4, 26] + - !!python/tuple [25, 14] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex40.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex40.yaml new file mode 100644 index 0000000..275cce1 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex40.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [12, 17] + name: agent0 + start: [22, 23] +- goal: [25, 1] + name: agent1 + start: [1, 6] +- goal: [8, 28] + name: agent2 + start: [6, 17] +- goal: [27, 21] + name: agent3 + start: [1, 11] +- goal: [3, 30] + name: agent4 + start: [6, 15] +- goal: [8, 9] + name: agent5 + start: [25, 23] +- goal: [10, 2] + name: agent6 + start: [3, 29] +- goal: [26, 7] + name: agent7 + start: [0, 29] +- goal: [8, 19] + name: agent8 + start: [31, 4] +- goal: [3, 10] + name: agent9 + start: [18, 9] +- goal: [5, 17] + name: agent10 + start: [27, 11] +- goal: [12, 12] + name: agent11 + start: [2, 23] +- goal: [19, 20] + name: agent12 + start: [19, 8] +- goal: [17, 19] + name: agent13 + start: [25, 21] +- goal: [17, 7] + name: agent14 + start: [2, 12] +- goal: [7, 24] + name: agent15 + start: [23, 24] +- goal: [6, 17] + name: agent16 + start: [11, 1] +- goal: [4, 30] + name: agent17 + start: [23, 16] +- goal: [13, 27] + name: agent18 + start: [26, 20] +- goal: [21, 31] + name: agent19 + start: [4, 29] +- goal: [24, 26] + name: agent20 + start: [10, 31] +- goal: [14, 29] + name: agent21 + start: [22, 29] +- goal: [27, 20] + name: agent22 + start: [23, 18] +- goal: [15, 27] + name: agent23 + start: [7, 7] +- goal: [3, 5] + name: agent24 + start: [24, 1] +- goal: [20, 11] + name: agent25 + start: [5, 9] +- goal: [25, 28] + name: agent26 + start: [25, 12] +- goal: [9, 9] + name: agent27 + start: [7, 18] +- goal: [5, 30] + name: agent28 + start: [5, 5] +- goal: [31, 2] + name: agent29 + start: [16, 21] +- goal: [17, 3] + name: agent30 + start: [14, 12] +- goal: [28, 28] + name: agent31 + start: [17, 1] +- goal: [26, 9] + name: agent32 + start: [12, 11] +- goal: [11, 30] + name: agent33 + start: [19, 31] +- goal: [13, 26] + name: agent34 + start: [8, 26] +- goal: [28, 30] + name: agent35 + start: [6, 8] +- goal: [5, 2] + name: agent36 + start: [28, 4] +- goal: [26, 29] + name: agent37 + start: [25, 18] +- goal: [10, 31] + name: agent38 + start: [22, 30] +- goal: [23, 20] + name: agent39 + start: [18, 16] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [31, 22] + - !!python/tuple [27, 17] + - !!python/tuple [15, 0] + - !!python/tuple [4, 9] + - !!python/tuple [15, 9] + - !!python/tuple [22, 3] + - !!python/tuple [8, 23] + - !!python/tuple [15, 2] + - !!python/tuple [8, 21] + - !!python/tuple [25, 0] + - !!python/tuple [7, 31] + - !!python/tuple [17, 2] + - !!python/tuple [25, 4] + - !!python/tuple [0, 13] + - !!python/tuple [30, 18] + - !!python/tuple [18, 28] + - !!python/tuple [27, 24] + - !!python/tuple [21, 19] + - !!python/tuple [12, 3] + - !!python/tuple [25, 20] + - !!python/tuple [24, 30] + - !!python/tuple [31, 7] + - !!python/tuple [14, 10] + - !!python/tuple [24, 19] + - !!python/tuple [10, 28] + - !!python/tuple [16, 27] + - !!python/tuple [4, 21] + - !!python/tuple [6, 20] + - !!python/tuple [27, 29] + - !!python/tuple [17, 4] + - !!python/tuple [15, 10] + - !!python/tuple [1, 13] + - !!python/tuple [23, 31] + - !!python/tuple [14, 7] + - !!python/tuple [29, 3] + - !!python/tuple [26, 31] + - !!python/tuple [3, 0] + - !!python/tuple [7, 10] + - !!python/tuple [27, 5] + - !!python/tuple [14, 18] + - !!python/tuple [16, 31] + - !!python/tuple [7, 20] + - !!python/tuple [2, 14] + - !!python/tuple [29, 20] + - !!python/tuple [12, 4] + - !!python/tuple [30, 23] + - !!python/tuple [17, 29] + - !!python/tuple [6, 9] + - !!python/tuple [23, 15] + - !!python/tuple [2, 24] + - !!python/tuple [1, 2] + - !!python/tuple [16, 25] + - !!python/tuple [26, 10] + - !!python/tuple [12, 9] + - !!python/tuple [17, 20] + - !!python/tuple [6, 29] + - !!python/tuple [11, 19] + - !!python/tuple [20, 21] + - !!python/tuple [2, 20] + - !!python/tuple [7, 3] + - !!python/tuple [25, 15] + - !!python/tuple [28, 18] + - !!python/tuple [3, 20] + - !!python/tuple [12, 26] + - !!python/tuple [2, 1] + - !!python/tuple [13, 21] + - !!python/tuple [30, 24] + - !!python/tuple [21, 6] + - !!python/tuple [26, 12] + - !!python/tuple [20, 26] + - !!python/tuple [27, 15] + - !!python/tuple [3, 22] + - !!python/tuple [28, 1] + - !!python/tuple [26, 4] + - !!python/tuple [28, 23] + - !!python/tuple [31, 20] + - !!python/tuple [2, 30] + - !!python/tuple [15, 6] + - !!python/tuple [2, 9] + - !!python/tuple [10, 3] + - !!python/tuple [20, 23] + - !!python/tuple [5, 22] + - !!python/tuple [28, 10] + - !!python/tuple [4, 10] + - !!python/tuple [4, 13] + - !!python/tuple [20, 15] + - !!python/tuple [24, 4] + - !!python/tuple [0, 0] + - !!python/tuple [14, 26] + - !!python/tuple [17, 5] + - !!python/tuple [0, 21] + - !!python/tuple [12, 16] + - !!python/tuple [23, 7] + - !!python/tuple [14, 16] + - !!python/tuple [15, 19] + - !!python/tuple [3, 27] + - !!python/tuple [24, 25] + - !!python/tuple [7, 15] + - !!python/tuple [20, 5] + - !!python/tuple [21, 29] + - !!python/tuple [16, 14] + - !!python/tuple [21, 22] + - !!python/tuple [12, 24] + - !!python/tuple [4, 18] + - !!python/tuple [15, 5] + - !!python/tuple [11, 11] + - !!python/tuple [30, 3] + - !!python/tuple [18, 8] + - !!python/tuple [14, 11] + - !!python/tuple [16, 6] + - !!python/tuple [11, 10] + - !!python/tuple [12, 27] + - !!python/tuple [12, 5] + - !!python/tuple [31, 31] + - !!python/tuple [22, 19] + - !!python/tuple [22, 2] + - !!python/tuple [23, 22] + - !!python/tuple [27, 18] + - !!python/tuple [14, 8] + - !!python/tuple [29, 4] + - !!python/tuple [5, 10] + - !!python/tuple [11, 0] + - !!python/tuple [25, 9] + - !!python/tuple [9, 2] + - !!python/tuple [21, 4] + - !!python/tuple [14, 24] + - !!python/tuple [7, 19] + - !!python/tuple [0, 25] + - !!python/tuple [17, 6] + - !!python/tuple [14, 17] + - !!python/tuple [30, 16] + - !!python/tuple [23, 8] + - !!python/tuple [28, 15] + - !!python/tuple [4, 12] + - !!python/tuple [13, 4] + - !!python/tuple [2, 16] + - !!python/tuple [31, 23] + - !!python/tuple [27, 3] + - !!python/tuple [8, 30] + - !!python/tuple [25, 13] + - !!python/tuple [8, 14] + - !!python/tuple [22, 27] + - !!python/tuple [31, 19] + - !!python/tuple [8, 3] + - !!python/tuple [8, 12] + - !!python/tuple [13, 22] + - !!python/tuple [22, 12] + - !!python/tuple [13, 5] + - !!python/tuple [1, 7] + - !!python/tuple [28, 11] + - !!python/tuple [11, 9] + - !!python/tuple [24, 18] + - !!python/tuple [16, 28] + - !!python/tuple [28, 22] + - !!python/tuple [31, 29] + - !!python/tuple [10, 0] + - !!python/tuple [11, 28] + - !!python/tuple [13, 10] + - !!python/tuple [25, 6] + - !!python/tuple [16, 13] + - !!python/tuple [2, 6] + - !!python/tuple [26, 28] + - !!python/tuple [7, 5] + - !!python/tuple [4, 25] + - !!python/tuple [24, 17] + - !!python/tuple [3, 9] + - !!python/tuple [27, 31] + - !!python/tuple [30, 9] + - !!python/tuple [19, 21] + - !!python/tuple [22, 9] + - !!python/tuple [10, 4] + - !!python/tuple [19, 1] + - !!python/tuple [1, 23] + - !!python/tuple [29, 9] + - !!python/tuple [31, 15] + - !!python/tuple [18, 19] + - !!python/tuple [31, 1] + - !!python/tuple [10, 8] + - !!python/tuple [10, 14] + - !!python/tuple [7, 14] + - !!python/tuple [6, 13] + - !!python/tuple [6, 23] + - !!python/tuple [21, 27] + - !!python/tuple [2, 2] + - !!python/tuple [9, 14] + - !!python/tuple [8, 10] + - !!python/tuple [5, 19] + - !!python/tuple [9, 21] + - !!python/tuple [24, 22] + - !!python/tuple [0, 17] + - !!python/tuple [14, 19] + - !!python/tuple [14, 14] + - !!python/tuple [8, 2] + - !!python/tuple [19, 5] + - !!python/tuple [4, 31] + - !!python/tuple [10, 12] + - !!python/tuple [19, 4] + - !!python/tuple [5, 21] + - !!python/tuple [19, 19] + - !!python/tuple [17, 30] + - !!python/tuple [2, 11] + - !!python/tuple [23, 21] + - !!python/tuple [1, 12] + - !!python/tuple [16, 7] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex41.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex41.yaml new file mode 100644 index 0000000..fda491d --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex41.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [30, 1] + name: agent0 + start: [23, 10] +- goal: [24, 10] + name: agent1 + start: [5, 27] +- goal: [13, 25] + name: agent2 + start: [19, 30] +- goal: [25, 28] + name: agent3 + start: [2, 20] +- goal: [2, 12] + name: agent4 + start: [19, 27] +- goal: [29, 21] + name: agent5 + start: [31, 17] +- goal: [5, 9] + name: agent6 + start: [9, 11] +- goal: [30, 22] + name: agent7 + start: [6, 5] +- goal: [23, 14] + name: agent8 + start: [28, 26] +- goal: [6, 27] + name: agent9 + start: [18, 26] +- goal: [27, 6] + name: agent10 + start: [19, 19] +- goal: [19, 10] + name: agent11 + start: [0, 21] +- goal: [8, 30] + name: agent12 + start: [10, 30] +- goal: [1, 9] + name: agent13 + start: [28, 1] +- goal: [11, 6] + name: agent14 + start: [17, 29] +- goal: [17, 30] + name: agent15 + start: [22, 12] +- goal: [1, 4] + name: agent16 + start: [1, 22] +- goal: [10, 26] + name: agent17 + start: [15, 27] +- goal: [12, 23] + name: agent18 + start: [15, 19] +- goal: [25, 13] + name: agent19 + start: [10, 22] +- goal: [17, 4] + name: agent20 + start: [20, 8] +- goal: [28, 25] + name: agent21 + start: [6, 23] +- goal: [17, 25] + name: agent22 + start: [20, 0] +- goal: [24, 7] + name: agent23 + start: [2, 10] +- goal: [2, 21] + name: agent24 + start: [13, 17] +- goal: [16, 3] + name: agent25 + start: [9, 25] +- goal: [31, 5] + name: agent26 + start: [0, 19] +- goal: [7, 15] + name: agent27 + start: [26, 10] +- goal: [31, 3] + name: agent28 + start: [27, 26] +- goal: [21, 23] + name: agent29 + start: [16, 15] +- goal: [20, 15] + name: agent30 + start: [10, 25] +- goal: [31, 22] + name: agent31 + start: [22, 21] +- goal: [30, 30] + name: agent32 + start: [11, 31] +- goal: [11, 17] + name: agent33 + start: [13, 25] +- goal: [2, 25] + name: agent34 + start: [11, 17] +- goal: [12, 3] + name: agent35 + start: [6, 15] +- goal: [20, 26] + name: agent36 + start: [0, 10] +- goal: [9, 20] + name: agent37 + start: [23, 6] +- goal: [15, 31] + name: agent38 + start: [18, 19] +- goal: [25, 2] + name: agent39 + start: [8, 8] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [4, 5] + - !!python/tuple [0, 7] + - !!python/tuple [14, 20] + - !!python/tuple [29, 6] + - !!python/tuple [22, 18] + - !!python/tuple [29, 9] + - !!python/tuple [0, 30] + - !!python/tuple [27, 22] + - !!python/tuple [20, 7] + - !!python/tuple [11, 12] + - !!python/tuple [26, 2] + - !!python/tuple [22, 4] + - !!python/tuple [29, 15] + - !!python/tuple [19, 25] + - !!python/tuple [24, 11] + - !!python/tuple [17, 10] + - !!python/tuple [1, 18] + - !!python/tuple [9, 30] + - !!python/tuple [2, 5] + - !!python/tuple [19, 6] + - !!python/tuple [3, 7] + - !!python/tuple [26, 22] + - !!python/tuple [9, 15] + - !!python/tuple [21, 24] + - !!python/tuple [21, 20] + - !!python/tuple [3, 31] + - !!python/tuple [18, 31] + - !!python/tuple [17, 28] + - !!python/tuple [11, 27] + - !!python/tuple [31, 11] + - !!python/tuple [16, 2] + - !!python/tuple [1, 1] + - !!python/tuple [25, 5] + - !!python/tuple [5, 19] + - !!python/tuple [8, 15] + - !!python/tuple [10, 18] + - !!python/tuple [27, 23] + - !!python/tuple [27, 21] + - !!python/tuple [25, 1] + - !!python/tuple [24, 27] + - !!python/tuple [20, 21] + - !!python/tuple [8, 4] + - !!python/tuple [22, 8] + - !!python/tuple [19, 2] + - !!python/tuple [3, 13] + - !!python/tuple [23, 4] + - !!python/tuple [10, 29] + - !!python/tuple [27, 3] + - !!python/tuple [27, 16] + - !!python/tuple [8, 5] + - !!python/tuple [14, 25] + - !!python/tuple [22, 29] + - !!python/tuple [24, 26] + - !!python/tuple [10, 19] + - !!python/tuple [27, 20] + - !!python/tuple [11, 15] + - !!python/tuple [7, 22] + - !!python/tuple [14, 31] + - !!python/tuple [5, 30] + - !!python/tuple [21, 28] + - !!python/tuple [22, 26] + - !!python/tuple [5, 13] + - !!python/tuple [2, 27] + - !!python/tuple [3, 20] + - !!python/tuple [5, 0] + - !!python/tuple [21, 1] + - !!python/tuple [16, 29] + - !!python/tuple [4, 30] + - !!python/tuple [11, 0] + - !!python/tuple [5, 3] + - !!python/tuple [11, 8] + - !!python/tuple [17, 0] + - !!python/tuple [24, 16] + - !!python/tuple [26, 0] + - !!python/tuple [1, 14] + - !!python/tuple [14, 6] + - !!python/tuple [31, 20] + - !!python/tuple [22, 5] + - !!python/tuple [23, 29] + - !!python/tuple [11, 7] + - !!python/tuple [15, 4] + - !!python/tuple [19, 18] + - !!python/tuple [23, 25] + - !!python/tuple [23, 13] + - !!python/tuple [26, 12] + - !!python/tuple [10, 4] + - !!python/tuple [7, 8] + - !!python/tuple [2, 3] + - !!python/tuple [27, 13] + - !!python/tuple [24, 8] + - !!python/tuple [5, 21] + - !!python/tuple [22, 24] + - !!python/tuple [20, 12] + - !!python/tuple [13, 19] + - !!python/tuple [14, 18] + - !!python/tuple [3, 24] + - !!python/tuple [4, 29] + - !!python/tuple [4, 2] + - !!python/tuple [9, 10] + - !!python/tuple [30, 12] + - !!python/tuple [19, 12] + - !!python/tuple [28, 23] + - !!python/tuple [25, 22] + - !!python/tuple [24, 9] + - !!python/tuple [8, 31] + - !!python/tuple [29, 4] + - !!python/tuple [14, 1] + - !!python/tuple [15, 22] + - !!python/tuple [5, 16] + - !!python/tuple [0, 18] + - !!python/tuple [29, 11] + - !!python/tuple [16, 6] + - !!python/tuple [5, 25] + - !!python/tuple [6, 2] + - !!python/tuple [25, 7] + - !!python/tuple [24, 2] + - !!python/tuple [24, 14] + - !!python/tuple [13, 27] + - !!python/tuple [11, 19] + - !!python/tuple [2, 6] + - !!python/tuple [4, 1] + - !!python/tuple [31, 13] + - !!python/tuple [24, 22] + - !!python/tuple [10, 28] + - !!python/tuple [16, 1] + - !!python/tuple [0, 29] + - !!python/tuple [9, 1] + - !!python/tuple [0, 14] + - !!python/tuple [26, 16] + - !!python/tuple [12, 19] + - !!python/tuple [30, 15] + - !!python/tuple [3, 4] + - !!python/tuple [3, 0] + - !!python/tuple [18, 24] + - !!python/tuple [30, 13] + - !!python/tuple [16, 7] + - !!python/tuple [18, 4] + - !!python/tuple [2, 26] + - !!python/tuple [7, 25] + - !!python/tuple [16, 30] + - !!python/tuple [24, 20] + - !!python/tuple [23, 11] + - !!python/tuple [16, 16] + - !!python/tuple [23, 21] + - !!python/tuple [11, 13] + - !!python/tuple [31, 23] + - !!python/tuple [12, 13] + - !!python/tuple [25, 29] + - !!python/tuple [4, 23] + - !!python/tuple [4, 8] + - !!python/tuple [4, 11] + - !!python/tuple [30, 29] + - !!python/tuple [13, 26] + - !!python/tuple [2, 8] + - !!python/tuple [12, 5] + - !!python/tuple [26, 14] + - !!python/tuple [8, 20] + - !!python/tuple [12, 24] + - !!python/tuple [14, 5] + - !!python/tuple [9, 24] + - !!python/tuple [29, 14] + - !!python/tuple [14, 16] + - !!python/tuple [18, 11] + - !!python/tuple [6, 20] + - !!python/tuple [16, 13] + - !!python/tuple [23, 27] + - !!python/tuple [7, 4] + - !!python/tuple [22, 11] + - !!python/tuple [27, 29] + - !!python/tuple [13, 1] + - !!python/tuple [22, 28] + - !!python/tuple [6, 19] + - !!python/tuple [0, 11] + - !!python/tuple [23, 1] + - !!python/tuple [1, 16] + - !!python/tuple [29, 13] + - !!python/tuple [10, 3] + - !!python/tuple [15, 25] + - !!python/tuple [8, 27] + - !!python/tuple [29, 31] + - !!python/tuple [19, 26] + - !!python/tuple [14, 19] + - !!python/tuple [25, 15] + - !!python/tuple [29, 12] + - !!python/tuple [25, 9] + - !!python/tuple [22, 7] + - !!python/tuple [21, 0] + - !!python/tuple [22, 16] + - !!python/tuple [28, 6] + - !!python/tuple [7, 13] + - !!python/tuple [11, 11] + - !!python/tuple [13, 14] + - !!python/tuple [10, 0] + - !!python/tuple [13, 6] + - !!python/tuple [2, 29] + - !!python/tuple [8, 10] + - !!python/tuple [6, 25] + - !!python/tuple [25, 26] + - !!python/tuple [17, 26] + - !!python/tuple [0, 26] + - !!python/tuple [21, 22] + - !!python/tuple [27, 19] + - !!python/tuple [12, 0] + - !!python/tuple [24, 30] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex42.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex42.yaml new file mode 100644 index 0000000..cf6d9ed --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex42.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [0, 7] + name: agent0 + start: [31, 8] +- goal: [4, 14] + name: agent1 + start: [6, 10] +- goal: [7, 10] + name: agent2 + start: [10, 14] +- goal: [11, 20] + name: agent3 + start: [25, 1] +- goal: [12, 0] + name: agent4 + start: [21, 5] +- goal: [18, 14] + name: agent5 + start: [18, 9] +- goal: [9, 23] + name: agent6 + start: [1, 29] +- goal: [31, 6] + name: agent7 + start: [15, 7] +- goal: [11, 19] + name: agent8 + start: [10, 16] +- goal: [18, 28] + name: agent9 + start: [5, 18] +- goal: [23, 2] + name: agent10 + start: [19, 20] +- goal: [10, 16] + name: agent11 + start: [2, 7] +- goal: [20, 29] + name: agent12 + start: [31, 15] +- goal: [18, 6] + name: agent13 + start: [28, 24] +- goal: [16, 19] + name: agent14 + start: [29, 19] +- goal: [23, 16] + name: agent15 + start: [15, 28] +- goal: [5, 9] + name: agent16 + start: [26, 30] +- goal: [23, 3] + name: agent17 + start: [2, 21] +- goal: [2, 1] + name: agent18 + start: [23, 5] +- goal: [13, 1] + name: agent19 + start: [27, 1] +- goal: [28, 25] + name: agent20 + start: [14, 15] +- goal: [26, 10] + name: agent21 + start: [6, 1] +- goal: [17, 19] + name: agent22 + start: [15, 5] +- goal: [26, 18] + name: agent23 + start: [29, 9] +- goal: [5, 28] + name: agent24 + start: [3, 0] +- goal: [22, 16] + name: agent25 + start: [2, 19] +- goal: [18, 25] + name: agent26 + start: [3, 5] +- goal: [1, 17] + name: agent27 + start: [11, 31] +- goal: [21, 14] + name: agent28 + start: [6, 30] +- goal: [1, 23] + name: agent29 + start: [29, 4] +- goal: [1, 3] + name: agent30 + start: [24, 1] +- goal: [24, 3] + name: agent31 + start: [3, 11] +- goal: [0, 0] + name: agent32 + start: [30, 18] +- goal: [26, 13] + name: agent33 + start: [16, 1] +- goal: [30, 13] + name: agent34 + start: [0, 22] +- goal: [7, 5] + name: agent35 + start: [14, 8] +- goal: [24, 19] + name: agent36 + start: [5, 27] +- goal: [12, 8] + name: agent37 + start: [27, 20] +- goal: [2, 12] + name: agent38 + start: [29, 12] +- goal: [16, 6] + name: agent39 + start: [8, 6] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [15, 8] + - !!python/tuple [17, 28] + - !!python/tuple [28, 13] + - !!python/tuple [31, 1] + - !!python/tuple [22, 30] + - !!python/tuple [3, 2] + - !!python/tuple [10, 23] + - !!python/tuple [11, 9] + - !!python/tuple [29, 31] + - !!python/tuple [24, 0] + - !!python/tuple [23, 9] + - !!python/tuple [0, 11] + - !!python/tuple [19, 17] + - !!python/tuple [10, 7] + - !!python/tuple [10, 15] + - !!python/tuple [13, 4] + - !!python/tuple [15, 20] + - !!python/tuple [10, 19] + - !!python/tuple [26, 8] + - !!python/tuple [21, 30] + - !!python/tuple [22, 31] + - !!python/tuple [22, 28] + - !!python/tuple [8, 22] + - !!python/tuple [12, 27] + - !!python/tuple [27, 5] + - !!python/tuple [1, 26] + - !!python/tuple [22, 13] + - !!python/tuple [1, 0] + - !!python/tuple [5, 3] + - !!python/tuple [19, 31] + - !!python/tuple [4, 27] + - !!python/tuple [1, 27] + - !!python/tuple [20, 23] + - !!python/tuple [1, 18] + - !!python/tuple [12, 16] + - !!python/tuple [16, 29] + - !!python/tuple [17, 24] + - !!python/tuple [27, 29] + - !!python/tuple [10, 6] + - !!python/tuple [7, 2] + - !!python/tuple [24, 24] + - !!python/tuple [20, 22] + - !!python/tuple [8, 19] + - !!python/tuple [14, 5] + - !!python/tuple [20, 12] + - !!python/tuple [27, 17] + - !!python/tuple [25, 28] + - !!python/tuple [4, 3] + - !!python/tuple [20, 26] + - !!python/tuple [23, 4] + - !!python/tuple [16, 15] + - !!python/tuple [17, 12] + - !!python/tuple [5, 25] + - !!python/tuple [7, 1] + - !!python/tuple [13, 24] + - !!python/tuple [18, 3] + - !!python/tuple [15, 16] + - !!python/tuple [14, 21] + - !!python/tuple [9, 8] + - !!python/tuple [30, 8] + - !!python/tuple [25, 19] + - !!python/tuple [20, 8] + - !!python/tuple [5, 30] + - !!python/tuple [30, 12] + - !!python/tuple [6, 25] + - !!python/tuple [22, 7] + - !!python/tuple [30, 22] + - !!python/tuple [5, 5] + - !!python/tuple [23, 11] + - !!python/tuple [24, 28] + - !!python/tuple [29, 1] + - !!python/tuple [12, 26] + - !!python/tuple [25, 22] + - !!python/tuple [18, 12] + - !!python/tuple [4, 22] + - !!python/tuple [28, 28] + - !!python/tuple [10, 4] + - !!python/tuple [4, 21] + - !!python/tuple [9, 13] + - !!python/tuple [21, 22] + - !!python/tuple [24, 6] + - !!python/tuple [26, 11] + - !!python/tuple [10, 1] + - !!python/tuple [22, 20] + - !!python/tuple [22, 23] + - !!python/tuple [2, 3] + - !!python/tuple [28, 0] + - !!python/tuple [11, 4] + - !!python/tuple [20, 20] + - !!python/tuple [16, 11] + - !!python/tuple [28, 20] + - !!python/tuple [1, 28] + - !!python/tuple [15, 17] + - !!python/tuple [10, 26] + - !!python/tuple [15, 11] + - !!python/tuple [0, 5] + - !!python/tuple [3, 28] + - !!python/tuple [27, 6] + - !!python/tuple [5, 0] + - !!python/tuple [9, 27] + - !!python/tuple [15, 9] + - !!python/tuple [25, 26] + - !!python/tuple [24, 9] + - !!python/tuple [28, 6] + - !!python/tuple [21, 17] + - !!python/tuple [14, 12] + - !!python/tuple [14, 20] + - !!python/tuple [5, 21] + - !!python/tuple [10, 18] + - !!python/tuple [15, 27] + - !!python/tuple [24, 18] + - !!python/tuple [9, 11] + - !!python/tuple [13, 8] + - !!python/tuple [30, 26] + - !!python/tuple [4, 0] + - !!python/tuple [4, 20] + - !!python/tuple [30, 23] + - !!python/tuple [24, 22] + - !!python/tuple [6, 5] + - !!python/tuple [15, 1] + - !!python/tuple [28, 8] + - !!python/tuple [15, 25] + - !!python/tuple [12, 28] + - !!python/tuple [16, 7] + - !!python/tuple [29, 23] + - !!python/tuple [27, 13] + - !!python/tuple [2, 17] + - !!python/tuple [10, 27] + - !!python/tuple [22, 17] + - !!python/tuple [9, 6] + - !!python/tuple [22, 26] + - !!python/tuple [21, 11] + - !!python/tuple [26, 1] + - !!python/tuple [4, 31] + - !!python/tuple [30, 30] + - !!python/tuple [22, 24] + - !!python/tuple [1, 25] + - !!python/tuple [16, 18] + - !!python/tuple [8, 14] + - !!python/tuple [17, 1] + - !!python/tuple [2, 23] + - !!python/tuple [9, 21] + - !!python/tuple [16, 3] + - !!python/tuple [8, 29] + - !!python/tuple [24, 15] + - !!python/tuple [22, 18] + - !!python/tuple [25, 18] + - !!python/tuple [23, 13] + - !!python/tuple [27, 4] + - !!python/tuple [0, 28] + - !!python/tuple [23, 27] + - !!python/tuple [20, 1] + - !!python/tuple [1, 21] + - !!python/tuple [12, 13] + - !!python/tuple [21, 12] + - !!python/tuple [10, 10] + - !!python/tuple [7, 29] + - !!python/tuple [20, 24] + - !!python/tuple [14, 22] + - !!python/tuple [13, 26] + - !!python/tuple [14, 6] + - !!python/tuple [18, 19] + - !!python/tuple [19, 19] + - !!python/tuple [17, 27] + - !!python/tuple [5, 1] + - !!python/tuple [21, 23] + - !!python/tuple [26, 16] + - !!python/tuple [29, 3] + - !!python/tuple [6, 2] + - !!python/tuple [7, 8] + - !!python/tuple [19, 26] + - !!python/tuple [17, 10] + - !!python/tuple [19, 10] + - !!python/tuple [15, 23] + - !!python/tuple [15, 19] + - !!python/tuple [28, 17] + - !!python/tuple [29, 14] + - !!python/tuple [27, 28] + - !!python/tuple [27, 12] + - !!python/tuple [29, 5] + - !!python/tuple [6, 23] + - !!python/tuple [29, 26] + - !!python/tuple [26, 5] + - !!python/tuple [31, 3] + - !!python/tuple [25, 3] + - !!python/tuple [31, 5] + - !!python/tuple [10, 13] + - !!python/tuple [22, 21] + - !!python/tuple [3, 27] + - !!python/tuple [14, 30] + - !!python/tuple [9, 19] + - !!python/tuple [29, 0] + - !!python/tuple [22, 8] + - !!python/tuple [28, 18] + - !!python/tuple [10, 12] + - !!python/tuple [7, 16] + - !!python/tuple [17, 18] + - !!python/tuple [28, 2] + - !!python/tuple [15, 21] + - !!python/tuple [30, 28] + - !!python/tuple [10, 8] + - !!python/tuple [12, 21] + - !!python/tuple [30, 17] + - !!python/tuple [8, 24] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex43.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex43.yaml new file mode 100644 index 0000000..eaab006 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex43.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [8, 10] + name: agent0 + start: [29, 27] +- goal: [7, 26] + name: agent1 + start: [12, 5] +- goal: [22, 10] + name: agent2 + start: [21, 2] +- goal: [7, 29] + name: agent3 + start: [31, 11] +- goal: [19, 20] + name: agent4 + start: [26, 3] +- goal: [21, 24] + name: agent5 + start: [18, 15] +- goal: [24, 29] + name: agent6 + start: [22, 12] +- goal: [3, 21] + name: agent7 + start: [26, 25] +- goal: [29, 29] + name: agent8 + start: [12, 28] +- goal: [13, 8] + name: agent9 + start: [18, 17] +- goal: [31, 17] + name: agent10 + start: [4, 20] +- goal: [29, 28] + name: agent11 + start: [4, 4] +- goal: [26, 9] + name: agent12 + start: [9, 22] +- goal: [22, 20] + name: agent13 + start: [1, 25] +- goal: [15, 0] + name: agent14 + start: [9, 1] +- goal: [13, 31] + name: agent15 + start: [23, 16] +- goal: [15, 4] + name: agent16 + start: [18, 24] +- goal: [19, 21] + name: agent17 + start: [5, 18] +- goal: [21, 22] + name: agent18 + start: [27, 31] +- goal: [21, 30] + name: agent19 + start: [11, 6] +- goal: [30, 22] + name: agent20 + start: [25, 10] +- goal: [13, 11] + name: agent21 + start: [22, 28] +- goal: [19, 1] + name: agent22 + start: [22, 26] +- goal: [1, 30] + name: agent23 + start: [14, 22] +- goal: [13, 15] + name: agent24 + start: [10, 27] +- goal: [27, 7] + name: agent25 + start: [1, 7] +- goal: [5, 5] + name: agent26 + start: [9, 28] +- goal: [28, 18] + name: agent27 + start: [23, 1] +- goal: [7, 19] + name: agent28 + start: [3, 11] +- goal: [30, 4] + name: agent29 + start: [17, 28] +- goal: [8, 15] + name: agent30 + start: [1, 24] +- goal: [7, 22] + name: agent31 + start: [19, 1] +- goal: [12, 20] + name: agent32 + start: [16, 13] +- goal: [14, 29] + name: agent33 + start: [17, 22] +- goal: [3, 25] + name: agent34 + start: [0, 2] +- goal: [10, 19] + name: agent35 + start: [4, 5] +- goal: [13, 1] + name: agent36 + start: [19, 28] +- goal: [2, 19] + name: agent37 + start: [29, 1] +- goal: [6, 12] + name: agent38 + start: [4, 27] +- goal: [13, 28] + name: agent39 + start: [29, 14] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [31, 29] + - !!python/tuple [31, 13] + - !!python/tuple [13, 29] + - !!python/tuple [19, 17] + - !!python/tuple [15, 8] + - !!python/tuple [28, 21] + - !!python/tuple [4, 8] + - !!python/tuple [21, 8] + - !!python/tuple [10, 17] + - !!python/tuple [1, 2] + - !!python/tuple [22, 22] + - !!python/tuple [29, 10] + - !!python/tuple [11, 29] + - !!python/tuple [7, 20] + - !!python/tuple [10, 6] + - !!python/tuple [30, 17] + - !!python/tuple [28, 4] + - !!python/tuple [16, 20] + - !!python/tuple [10, 20] + - !!python/tuple [14, 27] + - !!python/tuple [19, 23] + - !!python/tuple [1, 16] + - !!python/tuple [17, 25] + - !!python/tuple [19, 25] + - !!python/tuple [31, 21] + - !!python/tuple [30, 0] + - !!python/tuple [31, 7] + - !!python/tuple [21, 17] + - !!python/tuple [24, 4] + - !!python/tuple [30, 7] + - !!python/tuple [0, 30] + - !!python/tuple [1, 15] + - !!python/tuple [20, 4] + - !!python/tuple [10, 12] + - !!python/tuple [20, 13] + - !!python/tuple [31, 27] + - !!python/tuple [17, 0] + - !!python/tuple [6, 6] + - !!python/tuple [26, 10] + - !!python/tuple [0, 19] + - !!python/tuple [23, 25] + - !!python/tuple [5, 8] + - !!python/tuple [20, 9] + - !!python/tuple [29, 3] + - !!python/tuple [9, 23] + - !!python/tuple [13, 26] + - !!python/tuple [19, 2] + - !!python/tuple [12, 11] + - !!python/tuple [28, 5] + - !!python/tuple [18, 5] + - !!python/tuple [29, 5] + - !!python/tuple [6, 23] + - !!python/tuple [22, 23] + - !!python/tuple [22, 7] + - !!python/tuple [25, 20] + - !!python/tuple [8, 26] + - !!python/tuple [3, 27] + - !!python/tuple [14, 15] + - !!python/tuple [6, 17] + - !!python/tuple [13, 3] + - !!python/tuple [20, 28] + - !!python/tuple [24, 13] + - !!python/tuple [15, 21] + - !!python/tuple [26, 18] + - !!python/tuple [19, 16] + - !!python/tuple [16, 22] + - !!python/tuple [12, 10] + - !!python/tuple [2, 17] + - !!python/tuple [1, 6] + - !!python/tuple [22, 27] + - !!python/tuple [5, 21] + - !!python/tuple [5, 22] + - !!python/tuple [25, 26] + - !!python/tuple [13, 23] + - !!python/tuple [1, 27] + - !!python/tuple [23, 4] + - !!python/tuple [6, 30] + - !!python/tuple [12, 13] + - !!python/tuple [18, 21] + - !!python/tuple [11, 26] + - !!python/tuple [9, 13] + - !!python/tuple [8, 17] + - !!python/tuple [25, 7] + - !!python/tuple [9, 10] + - !!python/tuple [0, 24] + - !!python/tuple [10, 5] + - !!python/tuple [9, 24] + - !!python/tuple [0, 27] + - !!python/tuple [13, 25] + - !!python/tuple [18, 29] + - !!python/tuple [0, 12] + - !!python/tuple [0, 23] + - !!python/tuple [28, 24] + - !!python/tuple [25, 31] + - !!python/tuple [31, 14] + - !!python/tuple [30, 1] + - !!python/tuple [31, 0] + - !!python/tuple [4, 11] + - !!python/tuple [24, 27] + - !!python/tuple [12, 12] + - !!python/tuple [19, 29] + - !!python/tuple [23, 28] + - !!python/tuple [20, 8] + - !!python/tuple [23, 12] + - !!python/tuple [17, 2] + - !!python/tuple [15, 26] + - !!python/tuple [23, 23] + - !!python/tuple [4, 22] + - !!python/tuple [0, 5] + - !!python/tuple [1, 8] + - !!python/tuple [9, 27] + - !!python/tuple [13, 19] + - !!python/tuple [22, 1] + - !!python/tuple [15, 1] + - !!python/tuple [26, 21] + - !!python/tuple [0, 17] + - !!python/tuple [24, 26] + - !!python/tuple [10, 24] + - !!python/tuple [22, 0] + - !!python/tuple [12, 19] + - !!python/tuple [8, 4] + - !!python/tuple [2, 29] + - !!python/tuple [27, 25] + - !!python/tuple [18, 23] + - !!python/tuple [26, 27] + - !!python/tuple [11, 1] + - !!python/tuple [13, 5] + - !!python/tuple [3, 22] + - !!python/tuple [3, 30] + - !!python/tuple [23, 2] + - !!python/tuple [4, 18] + - !!python/tuple [15, 7] + - !!python/tuple [27, 20] + - !!python/tuple [17, 20] + - !!python/tuple [21, 28] + - !!python/tuple [27, 10] + - !!python/tuple [5, 30] + - !!python/tuple [2, 24] + - !!python/tuple [23, 15] + - !!python/tuple [6, 31] + - !!python/tuple [29, 25] + - !!python/tuple [7, 9] + - !!python/tuple [24, 9] + - !!python/tuple [27, 16] + - !!python/tuple [9, 8] + - !!python/tuple [10, 30] + - !!python/tuple [11, 31] + - !!python/tuple [26, 20] + - !!python/tuple [26, 4] + - !!python/tuple [18, 13] + - !!python/tuple [2, 21] + - !!python/tuple [1, 23] + - !!python/tuple [0, 31] + - !!python/tuple [28, 22] + - !!python/tuple [26, 1] + - !!python/tuple [8, 24] + - !!python/tuple [15, 9] + - !!python/tuple [7, 23] + - !!python/tuple [26, 8] + - !!python/tuple [16, 25] + - !!python/tuple [23, 31] + - !!python/tuple [6, 7] + - !!python/tuple [24, 12] + - !!python/tuple [12, 21] + - !!python/tuple [22, 17] + - !!python/tuple [21, 13] + - !!python/tuple [20, 5] + - !!python/tuple [23, 24] + - !!python/tuple [24, 23] + - !!python/tuple [20, 7] + - !!python/tuple [27, 28] + - !!python/tuple [2, 28] + - !!python/tuple [13, 21] + - !!python/tuple [21, 1] + - !!python/tuple [25, 23] + - !!python/tuple [22, 11] + - !!python/tuple [29, 20] + - !!python/tuple [4, 10] + - !!python/tuple [29, 9] + - !!python/tuple [3, 26] + - !!python/tuple [15, 15] + - !!python/tuple [20, 30] + - !!python/tuple [28, 30] + - !!python/tuple [8, 12] + - !!python/tuple [23, 8] + - !!python/tuple [19, 14] + - !!python/tuple [9, 17] + - !!python/tuple [5, 25] + - !!python/tuple [16, 28] + - !!python/tuple [28, 26] + - !!python/tuple [26, 24] + - !!python/tuple [14, 18] + - !!python/tuple [9, 30] + - !!python/tuple [14, 7] + - !!python/tuple [10, 7] + - !!python/tuple [20, 31] + - !!python/tuple [25, 22] + - !!python/tuple [6, 29] + - !!python/tuple [26, 23] + - !!python/tuple [27, 18] + - !!python/tuple [4, 3] + - !!python/tuple [11, 8] + - !!python/tuple [22, 24] + - !!python/tuple [12, 7] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex44.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex44.yaml new file mode 100644 index 0000000..ed900f0 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex44.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [8, 8] + name: agent0 + start: [22, 11] +- goal: [6, 23] + name: agent1 + start: [6, 2] +- goal: [9, 29] + name: agent2 + start: [17, 18] +- goal: [24, 24] + name: agent3 + start: [3, 24] +- goal: [27, 12] + name: agent4 + start: [24, 16] +- goal: [3, 12] + name: agent5 + start: [12, 7] +- goal: [18, 0] + name: agent6 + start: [16, 4] +- goal: [12, 17] + name: agent7 + start: [16, 31] +- goal: [15, 22] + name: agent8 + start: [30, 26] +- goal: [16, 29] + name: agent9 + start: [14, 25] +- goal: [17, 1] + name: agent10 + start: [17, 27] +- goal: [5, 1] + name: agent11 + start: [29, 4] +- goal: [14, 18] + name: agent12 + start: [2, 15] +- goal: [25, 2] + name: agent13 + start: [27, 19] +- goal: [10, 12] + name: agent14 + start: [27, 6] +- goal: [6, 29] + name: agent15 + start: [10, 0] +- goal: [21, 12] + name: agent16 + start: [1, 27] +- goal: [11, 1] + name: agent17 + start: [7, 29] +- goal: [20, 16] + name: agent18 + start: [9, 30] +- goal: [31, 20] + name: agent19 + start: [30, 31] +- goal: [7, 26] + name: agent20 + start: [22, 9] +- goal: [21, 25] + name: agent21 + start: [24, 29] +- goal: [14, 2] + name: agent22 + start: [29, 3] +- goal: [5, 14] + name: agent23 + start: [28, 21] +- goal: [10, 4] + name: agent24 + start: [7, 3] +- goal: [7, 25] + name: agent25 + start: [5, 14] +- goal: [27, 5] + name: agent26 + start: [13, 14] +- goal: [15, 8] + name: agent27 + start: [6, 29] +- goal: [5, 24] + name: agent28 + start: [7, 6] +- goal: [13, 1] + name: agent29 + start: [25, 18] +- goal: [31, 29] + name: agent30 + start: [31, 9] +- goal: [5, 0] + name: agent31 + start: [27, 25] +- goal: [14, 10] + name: agent32 + start: [22, 24] +- goal: [16, 0] + name: agent33 + start: [28, 10] +- goal: [29, 2] + name: agent34 + start: [3, 23] +- goal: [18, 29] + name: agent35 + start: [21, 14] +- goal: [4, 25] + name: agent36 + start: [27, 14] +- goal: [21, 9] + name: agent37 + start: [17, 8] +- goal: [6, 27] + name: agent38 + start: [15, 4] +- goal: [4, 23] + name: agent39 + start: [23, 2] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [20, 14] + - !!python/tuple [23, 20] + - !!python/tuple [20, 25] + - !!python/tuple [30, 11] + - !!python/tuple [15, 27] + - !!python/tuple [27, 20] + - !!python/tuple [0, 24] + - !!python/tuple [19, 6] + - !!python/tuple [15, 5] + - !!python/tuple [23, 18] + - !!python/tuple [16, 13] + - !!python/tuple [15, 29] + - !!python/tuple [12, 25] + - !!python/tuple [14, 29] + - !!python/tuple [20, 7] + - !!python/tuple [27, 9] + - !!python/tuple [5, 13] + - !!python/tuple [18, 27] + - !!python/tuple [2, 10] + - !!python/tuple [14, 6] + - !!python/tuple [25, 0] + - !!python/tuple [5, 2] + - !!python/tuple [24, 8] + - !!python/tuple [19, 3] + - !!python/tuple [6, 15] + - !!python/tuple [27, 8] + - !!python/tuple [11, 12] + - !!python/tuple [29, 0] + - !!python/tuple [26, 5] + - !!python/tuple [12, 3] + - !!python/tuple [0, 29] + - !!python/tuple [11, 13] + - !!python/tuple [17, 21] + - !!python/tuple [20, 10] + - !!python/tuple [20, 23] + - !!python/tuple [18, 23] + - !!python/tuple [26, 20] + - !!python/tuple [4, 19] + - !!python/tuple [11, 31] + - !!python/tuple [9, 25] + - !!python/tuple [29, 5] + - !!python/tuple [4, 15] + - !!python/tuple [23, 24] + - !!python/tuple [3, 10] + - !!python/tuple [18, 1] + - !!python/tuple [19, 27] + - !!python/tuple [19, 1] + - !!python/tuple [17, 11] + - !!python/tuple [22, 31] + - !!python/tuple [11, 10] + - !!python/tuple [8, 9] + - !!python/tuple [27, 1] + - !!python/tuple [14, 24] + - !!python/tuple [11, 30] + - !!python/tuple [24, 31] + - !!python/tuple [7, 19] + - !!python/tuple [0, 21] + - !!python/tuple [14, 17] + - !!python/tuple [16, 10] + - !!python/tuple [28, 30] + - !!python/tuple [4, 10] + - !!python/tuple [2, 11] + - !!python/tuple [3, 13] + - !!python/tuple [4, 30] + - !!python/tuple [0, 31] + - !!python/tuple [16, 30] + - !!python/tuple [26, 30] + - !!python/tuple [1, 1] + - !!python/tuple [24, 10] + - !!python/tuple [30, 4] + - !!python/tuple [7, 28] + - !!python/tuple [0, 16] + - !!python/tuple [16, 6] + - !!python/tuple [7, 15] + - !!python/tuple [26, 22] + - !!python/tuple [4, 3] + - !!python/tuple [9, 0] + - !!python/tuple [9, 23] + - !!python/tuple [23, 27] + - !!python/tuple [1, 5] + - !!python/tuple [3, 4] + - !!python/tuple [18, 15] + - !!python/tuple [27, 10] + - !!python/tuple [27, 26] + - !!python/tuple [30, 10] + - !!python/tuple [10, 25] + - !!python/tuple [23, 22] + - !!python/tuple [3, 16] + - !!python/tuple [28, 6] + - !!python/tuple [8, 12] + - !!python/tuple [26, 23] + - !!python/tuple [14, 14] + - !!python/tuple [10, 6] + - !!python/tuple [31, 1] + - !!python/tuple [31, 19] + - !!python/tuple [13, 5] + - !!python/tuple [23, 25] + - !!python/tuple [13, 26] + - !!python/tuple [6, 1] + - !!python/tuple [13, 16] + - !!python/tuple [4, 4] + - !!python/tuple [18, 2] + - !!python/tuple [19, 7] + - !!python/tuple [23, 21] + - !!python/tuple [2, 1] + - !!python/tuple [17, 29] + - !!python/tuple [24, 15] + - !!python/tuple [2, 2] + - !!python/tuple [0, 10] + - !!python/tuple [16, 27] + - !!python/tuple [21, 27] + - !!python/tuple [23, 16] + - !!python/tuple [22, 29] + - !!python/tuple [12, 13] + - !!python/tuple [8, 27] + - !!python/tuple [29, 6] + - !!python/tuple [15, 9] + - !!python/tuple [12, 1] + - !!python/tuple [14, 12] + - !!python/tuple [29, 28] + - !!python/tuple [5, 28] + - !!python/tuple [31, 5] + - !!python/tuple [28, 23] + - !!python/tuple [29, 14] + - !!python/tuple [22, 13] + - !!python/tuple [2, 0] + - !!python/tuple [17, 0] + - !!python/tuple [27, 31] + - !!python/tuple [18, 3] + - !!python/tuple [25, 22] + - !!python/tuple [11, 22] + - !!python/tuple [23, 0] + - !!python/tuple [8, 5] + - !!python/tuple [31, 27] + - !!python/tuple [31, 2] + - !!python/tuple [3, 11] + - !!python/tuple [18, 19] + - !!python/tuple [19, 19] + - !!python/tuple [1, 6] + - !!python/tuple [16, 9] + - !!python/tuple [10, 5] + - !!python/tuple [13, 10] + - !!python/tuple [16, 21] + - !!python/tuple [30, 23] + - !!python/tuple [24, 7] + - !!python/tuple [23, 1] + - !!python/tuple [3, 29] + - !!python/tuple [25, 8] + - !!python/tuple [1, 17] + - !!python/tuple [19, 4] + - !!python/tuple [21, 29] + - !!python/tuple [20, 26] + - !!python/tuple [24, 2] + - !!python/tuple [11, 5] + - !!python/tuple [19, 13] + - !!python/tuple [15, 1] + - !!python/tuple [15, 6] + - !!python/tuple [16, 24] + - !!python/tuple [13, 27] + - !!python/tuple [8, 11] + - !!python/tuple [26, 2] + - !!python/tuple [26, 7] + - !!python/tuple [7, 5] + - !!python/tuple [13, 15] + - !!python/tuple [6, 16] + - !!python/tuple [19, 18] + - !!python/tuple [3, 3] + - !!python/tuple [5, 26] + - !!python/tuple [31, 31] + - !!python/tuple [19, 8] + - !!python/tuple [26, 25] + - !!python/tuple [3, 27] + - !!python/tuple [23, 28] + - !!python/tuple [17, 7] + - !!python/tuple [11, 0] + - !!python/tuple [15, 10] + - !!python/tuple [27, 30] + - !!python/tuple [21, 6] + - !!python/tuple [14, 19] + - !!python/tuple [2, 12] + - !!python/tuple [31, 12] + - !!python/tuple [8, 25] + - !!python/tuple [4, 29] + - !!python/tuple [10, 10] + - !!python/tuple [19, 29] + - !!python/tuple [0, 22] + - !!python/tuple [9, 4] + - !!python/tuple [13, 11] + - !!python/tuple [6, 3] + - !!python/tuple [6, 26] + - !!python/tuple [2, 23] + - !!python/tuple [17, 28] + - !!python/tuple [2, 20] + - !!python/tuple [9, 5] + - !!python/tuple [3, 26] + - !!python/tuple [14, 22] + - !!python/tuple [16, 14] + - !!python/tuple [8, 13] + - !!python/tuple [28, 18] + - !!python/tuple [28, 5] + - !!python/tuple [11, 16] + - !!python/tuple [1, 0] + - !!python/tuple [5, 31] + - !!python/tuple [25, 23] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex45.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex45.yaml new file mode 100644 index 0000000..242da26 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex45.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [4, 23] + name: agent0 + start: [23, 5] +- goal: [1, 15] + name: agent1 + start: [30, 25] +- goal: [0, 4] + name: agent2 + start: [27, 6] +- goal: [5, 21] + name: agent3 + start: [12, 1] +- goal: [10, 28] + name: agent4 + start: [9, 6] +- goal: [30, 22] + name: agent5 + start: [31, 16] +- goal: [30, 2] + name: agent6 + start: [19, 3] +- goal: [1, 0] + name: agent7 + start: [26, 9] +- goal: [19, 21] + name: agent8 + start: [7, 0] +- goal: [26, 19] + name: agent9 + start: [13, 29] +- goal: [16, 26] + name: agent10 + start: [19, 13] +- goal: [2, 27] + name: agent11 + start: [1, 15] +- goal: [22, 10] + name: agent12 + start: [3, 16] +- goal: [17, 0] + name: agent13 + start: [28, 0] +- goal: [31, 29] + name: agent14 + start: [28, 5] +- goal: [28, 15] + name: agent15 + start: [23, 4] +- goal: [24, 23] + name: agent16 + start: [19, 1] +- goal: [0, 18] + name: agent17 + start: [20, 24] +- goal: [21, 16] + name: agent18 + start: [31, 17] +- goal: [29, 18] + name: agent19 + start: [10, 17] +- goal: [24, 25] + name: agent20 + start: [19, 21] +- goal: [14, 17] + name: agent21 + start: [10, 3] +- goal: [27, 18] + name: agent22 + start: [0, 15] +- goal: [19, 2] + name: agent23 + start: [21, 1] +- goal: [24, 6] + name: agent24 + start: [17, 27] +- goal: [23, 31] + name: agent25 + start: [26, 30] +- goal: [31, 13] + name: agent26 + start: [29, 6] +- goal: [2, 29] + name: agent27 + start: [5, 17] +- goal: [8, 20] + name: agent28 + start: [6, 23] +- goal: [16, 21] + name: agent29 + start: [11, 17] +- goal: [12, 29] + name: agent30 + start: [13, 21] +- goal: [21, 24] + name: agent31 + start: [25, 14] +- goal: [1, 6] + name: agent32 + start: [27, 27] +- goal: [11, 4] + name: agent33 + start: [27, 1] +- goal: [8, 3] + name: agent34 + start: [14, 27] +- goal: [8, 28] + name: agent35 + start: [22, 14] +- goal: [3, 31] + name: agent36 + start: [3, 23] +- goal: [7, 26] + name: agent37 + start: [4, 15] +- goal: [0, 17] + name: agent38 + start: [20, 30] +- goal: [5, 10] + name: agent39 + start: [27, 14] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [13, 26] + - !!python/tuple [2, 9] + - !!python/tuple [26, 0] + - !!python/tuple [20, 27] + - !!python/tuple [5, 20] + - !!python/tuple [10, 11] + - !!python/tuple [26, 29] + - !!python/tuple [17, 17] + - !!python/tuple [6, 10] + - !!python/tuple [8, 27] + - !!python/tuple [16, 27] + - !!python/tuple [25, 26] + - !!python/tuple [26, 22] + - !!python/tuple [1, 17] + - !!python/tuple [4, 14] + - !!python/tuple [0, 1] + - !!python/tuple [20, 1] + - !!python/tuple [12, 26] + - !!python/tuple [1, 5] + - !!python/tuple [31, 21] + - !!python/tuple [22, 6] + - !!python/tuple [2, 11] + - !!python/tuple [29, 2] + - !!python/tuple [4, 21] + - !!python/tuple [27, 0] + - !!python/tuple [14, 19] + - !!python/tuple [0, 3] + - !!python/tuple [25, 13] + - !!python/tuple [9, 31] + - !!python/tuple [4, 19] + - !!python/tuple [27, 22] + - !!python/tuple [5, 25] + - !!python/tuple [6, 21] + - !!python/tuple [12, 13] + - !!python/tuple [19, 12] + - !!python/tuple [18, 21] + - !!python/tuple [20, 13] + - !!python/tuple [7, 5] + - !!python/tuple [9, 8] + - !!python/tuple [27, 28] + - !!python/tuple [9, 3] + - !!python/tuple [28, 20] + - !!python/tuple [22, 19] + - !!python/tuple [20, 31] + - !!python/tuple [15, 31] + - !!python/tuple [0, 22] + - !!python/tuple [22, 8] + - !!python/tuple [10, 1] + - !!python/tuple [28, 1] + - !!python/tuple [3, 17] + - !!python/tuple [2, 30] + - !!python/tuple [4, 5] + - !!python/tuple [3, 10] + - !!python/tuple [13, 11] + - !!python/tuple [8, 9] + - !!python/tuple [10, 30] + - !!python/tuple [4, 2] + - !!python/tuple [9, 0] + - !!python/tuple [20, 20] + - !!python/tuple [13, 7] + - !!python/tuple [8, 13] + - !!python/tuple [9, 19] + - !!python/tuple [4, 28] + - !!python/tuple [16, 3] + - !!python/tuple [11, 20] + - !!python/tuple [21, 15] + - !!python/tuple [19, 28] + - !!python/tuple [3, 5] + - !!python/tuple [16, 29] + - !!python/tuple [13, 14] + - !!python/tuple [30, 11] + - !!python/tuple [3, 7] + - !!python/tuple [6, 4] + - !!python/tuple [22, 28] + - !!python/tuple [9, 12] + - !!python/tuple [28, 7] + - !!python/tuple [24, 17] + - !!python/tuple [27, 5] + - !!python/tuple [24, 2] + - !!python/tuple [4, 9] + - !!python/tuple [14, 8] + - !!python/tuple [26, 23] + - !!python/tuple [24, 24] + - !!python/tuple [2, 16] + - !!python/tuple [25, 8] + - !!python/tuple [29, 14] + - !!python/tuple [18, 28] + - !!python/tuple [30, 12] + - !!python/tuple [24, 0] + - !!python/tuple [29, 17] + - !!python/tuple [5, 0] + - !!python/tuple [26, 31] + - !!python/tuple [2, 31] + - !!python/tuple [10, 23] + - !!python/tuple [23, 7] + - !!python/tuple [31, 31] + - !!python/tuple [4, 1] + - !!python/tuple [11, 14] + - !!python/tuple [16, 22] + - !!python/tuple [15, 23] + - !!python/tuple [24, 1] + - !!python/tuple [11, 26] + - !!python/tuple [14, 23] + - !!python/tuple [11, 7] + - !!python/tuple [31, 10] + - !!python/tuple [21, 23] + - !!python/tuple [10, 14] + - !!python/tuple [6, 13] + - !!python/tuple [20, 0] + - !!python/tuple [14, 4] + - !!python/tuple [27, 3] + - !!python/tuple [2, 17] + - !!python/tuple [20, 17] + - !!python/tuple [11, 12] + - !!python/tuple [27, 17] + - !!python/tuple [31, 2] + - !!python/tuple [2, 4] + - !!python/tuple [17, 19] + - !!python/tuple [16, 9] + - !!python/tuple [1, 22] + - !!python/tuple [14, 12] + - !!python/tuple [21, 5] + - !!python/tuple [19, 27] + - !!python/tuple [20, 29] + - !!python/tuple [22, 24] + - !!python/tuple [0, 24] + - !!python/tuple [0, 16] + - !!python/tuple [29, 9] + - !!python/tuple [6, 19] + - !!python/tuple [8, 18] + - !!python/tuple [23, 29] + - !!python/tuple [28, 31] + - !!python/tuple [2, 24] + - !!python/tuple [0, 31] + - !!python/tuple [28, 11] + - !!python/tuple [1, 27] + - !!python/tuple [9, 5] + - !!python/tuple [16, 25] + - !!python/tuple [28, 27] + - !!python/tuple [24, 20] + - !!python/tuple [24, 4] + - !!python/tuple [7, 17] + - !!python/tuple [30, 26] + - !!python/tuple [31, 30] + - !!python/tuple [5, 6] + - !!python/tuple [4, 20] + - !!python/tuple [11, 1] + - !!python/tuple [12, 15] + - !!python/tuple [18, 16] + - !!python/tuple [11, 27] + - !!python/tuple [25, 29] + - !!python/tuple [20, 18] + - !!python/tuple [14, 13] + - !!python/tuple [12, 8] + - !!python/tuple [5, 2] + - !!python/tuple [10, 21] + - !!python/tuple [24, 12] + - !!python/tuple [11, 25] + - !!python/tuple [12, 27] + - !!python/tuple [29, 4] + - !!python/tuple [11, 3] + - !!python/tuple [13, 10] + - !!python/tuple [4, 6] + - !!python/tuple [15, 24] + - !!python/tuple [16, 8] + - !!python/tuple [22, 27] + - !!python/tuple [19, 24] + - !!python/tuple [9, 23] + - !!python/tuple [24, 26] + - !!python/tuple [21, 20] + - !!python/tuple [25, 10] + - !!python/tuple [14, 26] + - !!python/tuple [26, 26] + - !!python/tuple [5, 12] + - !!python/tuple [12, 21] + - !!python/tuple [4, 8] + - !!python/tuple [14, 28] + - !!python/tuple [30, 4] + - !!python/tuple [29, 3] + - !!python/tuple [20, 21] + - !!python/tuple [13, 12] + - !!python/tuple [15, 17] + - !!python/tuple [1, 12] + - !!python/tuple [8, 25] + - !!python/tuple [29, 5] + - !!python/tuple [14, 2] + - !!python/tuple [28, 13] + - !!python/tuple [23, 19] + - !!python/tuple [2, 21] + - !!python/tuple [13, 5] + - !!python/tuple [31, 20] + - !!python/tuple [4, 18] + - !!python/tuple [0, 20] + - !!python/tuple [11, 10] + - !!python/tuple [3, 18] + - !!python/tuple [5, 14] + - !!python/tuple [20, 8] + - !!python/tuple [1, 25] + - !!python/tuple [13, 25] + - !!python/tuple [26, 2] + - !!python/tuple [0, 23] + - !!python/tuple [16, 6] + - !!python/tuple [6, 26] + - !!python/tuple [13, 2] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex46.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex46.yaml new file mode 100644 index 0000000..b437fd8 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex46.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [31, 20] + name: agent0 + start: [24, 4] +- goal: [9, 1] + name: agent1 + start: [19, 28] +- goal: [19, 26] + name: agent2 + start: [18, 12] +- goal: [10, 20] + name: agent3 + start: [9, 0] +- goal: [1, 29] + name: agent4 + start: [15, 16] +- goal: [11, 23] + name: agent5 + start: [20, 21] +- goal: [11, 11] + name: agent6 + start: [29, 12] +- goal: [30, 0] + name: agent7 + start: [20, 9] +- goal: [8, 6] + name: agent8 + start: [9, 19] +- goal: [9, 14] + name: agent9 + start: [12, 10] +- goal: [4, 0] + name: agent10 + start: [8, 23] +- goal: [6, 26] + name: agent11 + start: [22, 11] +- goal: [24, 18] + name: agent12 + start: [28, 17] +- goal: [22, 15] + name: agent13 + start: [3, 27] +- goal: [25, 2] + name: agent14 + start: [15, 1] +- goal: [16, 20] + name: agent15 + start: [14, 3] +- goal: [28, 6] + name: agent16 + start: [27, 0] +- goal: [29, 16] + name: agent17 + start: [26, 2] +- goal: [22, 2] + name: agent18 + start: [3, 28] +- goal: [21, 3] + name: agent19 + start: [10, 9] +- goal: [10, 8] + name: agent20 + start: [11, 9] +- goal: [20, 30] + name: agent21 + start: [15, 3] +- goal: [13, 11] + name: agent22 + start: [15, 2] +- goal: [16, 2] + name: agent23 + start: [4, 23] +- goal: [20, 10] + name: agent24 + start: [25, 1] +- goal: [15, 3] + name: agent25 + start: [9, 3] +- goal: [12, 9] + name: agent26 + start: [16, 22] +- goal: [13, 12] + name: agent27 + start: [9, 28] +- goal: [26, 12] + name: agent28 + start: [24, 20] +- goal: [30, 15] + name: agent29 + start: [21, 0] +- goal: [24, 9] + name: agent30 + start: [7, 18] +- goal: [0, 23] + name: agent31 + start: [28, 6] +- goal: [2, 23] + name: agent32 + start: [29, 7] +- goal: [25, 16] + name: agent33 + start: [9, 11] +- goal: [22, 5] + name: agent34 + start: [12, 7] +- goal: [24, 10] + name: agent35 + start: [0, 23] +- goal: [6, 27] + name: agent36 + start: [26, 13] +- goal: [21, 28] + name: agent37 + start: [29, 5] +- goal: [6, 14] + name: agent38 + start: [14, 21] +- goal: [29, 22] + name: agent39 + start: [31, 8] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [5, 2] + - !!python/tuple [2, 21] + - !!python/tuple [24, 28] + - !!python/tuple [29, 9] + - !!python/tuple [9, 18] + - !!python/tuple [14, 12] + - !!python/tuple [4, 17] + - !!python/tuple [27, 21] + - !!python/tuple [10, 16] + - !!python/tuple [10, 29] + - !!python/tuple [10, 24] + - !!python/tuple [0, 24] + - !!python/tuple [5, 30] + - !!python/tuple [10, 7] + - !!python/tuple [31, 19] + - !!python/tuple [2, 28] + - !!python/tuple [22, 7] + - !!python/tuple [24, 13] + - !!python/tuple [0, 26] + - !!python/tuple [21, 12] + - !!python/tuple [9, 16] + - !!python/tuple [14, 13] + - !!python/tuple [30, 9] + - !!python/tuple [23, 27] + - !!python/tuple [27, 1] + - !!python/tuple [27, 10] + - !!python/tuple [6, 13] + - !!python/tuple [2, 25] + - !!python/tuple [14, 31] + - !!python/tuple [16, 23] + - !!python/tuple [8, 25] + - !!python/tuple [10, 26] + - !!python/tuple [13, 5] + - !!python/tuple [22, 3] + - !!python/tuple [23, 14] + - !!python/tuple [17, 14] + - !!python/tuple [3, 3] + - !!python/tuple [22, 27] + - !!python/tuple [18, 28] + - !!python/tuple [2, 8] + - !!python/tuple [7, 8] + - !!python/tuple [30, 17] + - !!python/tuple [1, 19] + - !!python/tuple [14, 7] + - !!python/tuple [5, 10] + - !!python/tuple [16, 30] + - !!python/tuple [18, 19] + - !!python/tuple [6, 3] + - !!python/tuple [30, 31] + - !!python/tuple [28, 30] + - !!python/tuple [23, 22] + - !!python/tuple [27, 14] + - !!python/tuple [23, 5] + - !!python/tuple [2, 4] + - !!python/tuple [20, 7] + - !!python/tuple [3, 8] + - !!python/tuple [6, 23] + - !!python/tuple [22, 4] + - !!python/tuple [31, 24] + - !!python/tuple [28, 24] + - !!python/tuple [20, 24] + - !!python/tuple [5, 31] + - !!python/tuple [6, 31] + - !!python/tuple [5, 15] + - !!python/tuple [30, 23] + - !!python/tuple [17, 22] + - !!python/tuple [11, 3] + - !!python/tuple [26, 29] + - !!python/tuple [20, 6] + - !!python/tuple [19, 21] + - !!python/tuple [22, 18] + - !!python/tuple [23, 20] + - !!python/tuple [7, 31] + - !!python/tuple [1, 7] + - !!python/tuple [21, 15] + - !!python/tuple [2, 11] + - !!python/tuple [22, 1] + - !!python/tuple [13, 28] + - !!python/tuple [3, 7] + - !!python/tuple [20, 4] + - !!python/tuple [27, 27] + - !!python/tuple [13, 6] + - !!python/tuple [7, 22] + - !!python/tuple [19, 27] + - !!python/tuple [10, 12] + - !!python/tuple [11, 29] + - !!python/tuple [30, 18] + - !!python/tuple [5, 3] + - !!python/tuple [12, 27] + - !!python/tuple [0, 15] + - !!python/tuple [7, 12] + - !!python/tuple [9, 23] + - !!python/tuple [10, 15] + - !!python/tuple [1, 30] + - !!python/tuple [3, 25] + - !!python/tuple [15, 17] + - !!python/tuple [0, 8] + - !!python/tuple [26, 1] + - !!python/tuple [31, 9] + - !!python/tuple [24, 27] + - !!python/tuple [27, 17] + - !!python/tuple [23, 23] + - !!python/tuple [13, 18] + - !!python/tuple [26, 4] + - !!python/tuple [4, 30] + - !!python/tuple [10, 0] + - !!python/tuple [17, 2] + - !!python/tuple [26, 22] + - !!python/tuple [16, 26] + - !!python/tuple [13, 19] + - !!python/tuple [4, 16] + - !!python/tuple [14, 1] + - !!python/tuple [12, 31] + - !!python/tuple [20, 2] + - !!python/tuple [21, 1] + - !!python/tuple [3, 11] + - !!python/tuple [27, 18] + - !!python/tuple [7, 11] + - !!python/tuple [8, 5] + - !!python/tuple [31, 21] + - !!python/tuple [5, 21] + - !!python/tuple [31, 27] + - !!python/tuple [3, 30] + - !!python/tuple [16, 29] + - !!python/tuple [23, 18] + - !!python/tuple [24, 17] + - !!python/tuple [15, 21] + - !!python/tuple [14, 25] + - !!python/tuple [7, 17] + - !!python/tuple [25, 26] + - !!python/tuple [19, 11] + - !!python/tuple [23, 19] + - !!python/tuple [5, 20] + - !!python/tuple [10, 11] + - !!python/tuple [28, 26] + - !!python/tuple [1, 2] + - !!python/tuple [27, 7] + - !!python/tuple [28, 15] + - !!python/tuple [11, 17] + - !!python/tuple [21, 22] + - !!python/tuple [27, 13] + - !!python/tuple [18, 30] + - !!python/tuple [11, 13] + - !!python/tuple [7, 24] + - !!python/tuple [4, 6] + - !!python/tuple [0, 25] + - !!python/tuple [19, 23] + - !!python/tuple [31, 6] + - !!python/tuple [28, 14] + - !!python/tuple [1, 22] + - !!python/tuple [25, 17] + - !!python/tuple [8, 15] + - !!python/tuple [6, 4] + - !!python/tuple [5, 22] + - !!python/tuple [29, 28] + - !!python/tuple [8, 24] + - !!python/tuple [20, 25] + - !!python/tuple [15, 4] + - !!python/tuple [26, 14] + - !!python/tuple [22, 21] + - !!python/tuple [0, 14] + - !!python/tuple [1, 20] + - !!python/tuple [0, 12] + - !!python/tuple [12, 0] + - !!python/tuple [23, 9] + - !!python/tuple [5, 19] + - !!python/tuple [15, 8] + - !!python/tuple [13, 1] + - !!python/tuple [16, 24] + - !!python/tuple [25, 18] + - !!python/tuple [27, 29] + - !!python/tuple [28, 27] + - !!python/tuple [7, 20] + - !!python/tuple [24, 5] + - !!python/tuple [3, 9] + - !!python/tuple [10, 10] + - !!python/tuple [5, 14] + - !!python/tuple [28, 21] + - !!python/tuple [0, 28] + - !!python/tuple [12, 1] + - !!python/tuple [0, 7] + - !!python/tuple [0, 5] + - !!python/tuple [23, 24] + - !!python/tuple [30, 4] + - !!python/tuple [5, 27] + - !!python/tuple [29, 30] + - !!python/tuple [15, 0] + - !!python/tuple [11, 26] + - !!python/tuple [4, 7] + - !!python/tuple [4, 18] + - !!python/tuple [19, 14] + - !!python/tuple [13, 3] + - !!python/tuple [24, 30] + - !!python/tuple [2, 29] + - !!python/tuple [30, 2] + - !!python/tuple [9, 29] + - !!python/tuple [18, 20] + - !!python/tuple [4, 8] + - !!python/tuple [27, 5] + - !!python/tuple [24, 29] + - !!python/tuple [5, 9] + - !!python/tuple [24, 8] + - !!python/tuple [10, 30] + - !!python/tuple [12, 20] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex47.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex47.yaml new file mode 100644 index 0000000..01607ea --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex47.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [14, 25] + name: agent0 + start: [31, 12] +- goal: [3, 22] + name: agent1 + start: [23, 29] +- goal: [11, 23] + name: agent2 + start: [15, 4] +- goal: [19, 14] + name: agent3 + start: [10, 9] +- goal: [11, 1] + name: agent4 + start: [3, 30] +- goal: [20, 28] + name: agent5 + start: [9, 0] +- goal: [5, 25] + name: agent6 + start: [6, 16] +- goal: [6, 31] + name: agent7 + start: [11, 16] +- goal: [8, 8] + name: agent8 + start: [16, 13] +- goal: [26, 29] + name: agent9 + start: [9, 18] +- goal: [27, 15] + name: agent10 + start: [16, 11] +- goal: [18, 14] + name: agent11 + start: [3, 28] +- goal: [0, 9] + name: agent12 + start: [27, 4] +- goal: [24, 9] + name: agent13 + start: [9, 9] +- goal: [21, 25] + name: agent14 + start: [18, 1] +- goal: [15, 3] + name: agent15 + start: [8, 26] +- goal: [4, 13] + name: agent16 + start: [15, 29] +- goal: [7, 28] + name: agent17 + start: [14, 22] +- goal: [24, 13] + name: agent18 + start: [21, 17] +- goal: [19, 8] + name: agent19 + start: [29, 5] +- goal: [25, 25] + name: agent20 + start: [30, 21] +- goal: [7, 1] + name: agent21 + start: [17, 3] +- goal: [4, 21] + name: agent22 + start: [13, 4] +- goal: [0, 8] + name: agent23 + start: [20, 17] +- goal: [0, 27] + name: agent24 + start: [30, 10] +- goal: [5, 9] + name: agent25 + start: [1, 27] +- goal: [16, 16] + name: agent26 + start: [2, 25] +- goal: [24, 15] + name: agent27 + start: [0, 28] +- goal: [28, 16] + name: agent28 + start: [14, 9] +- goal: [28, 6] + name: agent29 + start: [9, 29] +- goal: [2, 19] + name: agent30 + start: [25, 17] +- goal: [14, 1] + name: agent31 + start: [5, 2] +- goal: [15, 24] + name: agent32 + start: [23, 24] +- goal: [23, 7] + name: agent33 + start: [1, 24] +- goal: [21, 3] + name: agent34 + start: [20, 19] +- goal: [30, 27] + name: agent35 + start: [26, 18] +- goal: [11, 8] + name: agent36 + start: [25, 1] +- goal: [20, 24] + name: agent37 + start: [24, 10] +- goal: [13, 3] + name: agent38 + start: [24, 9] +- goal: [7, 9] + name: agent39 + start: [14, 10] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [22, 7] + - !!python/tuple [25, 6] + - !!python/tuple [1, 18] + - !!python/tuple [31, 24] + - !!python/tuple [17, 10] + - !!python/tuple [14, 26] + - !!python/tuple [12, 26] + - !!python/tuple [24, 12] + - !!python/tuple [7, 15] + - !!python/tuple [14, 2] + - !!python/tuple [14, 28] + - !!python/tuple [18, 15] + - !!python/tuple [16, 27] + - !!python/tuple [15, 11] + - !!python/tuple [18, 30] + - !!python/tuple [19, 30] + - !!python/tuple [3, 20] + - !!python/tuple [16, 28] + - !!python/tuple [30, 20] + - !!python/tuple [15, 23] + - !!python/tuple [4, 30] + - !!python/tuple [23, 19] + - !!python/tuple [12, 18] + - !!python/tuple [11, 9] + - !!python/tuple [1, 25] + - !!python/tuple [0, 31] + - !!python/tuple [2, 7] + - !!python/tuple [1, 5] + - !!python/tuple [17, 13] + - !!python/tuple [26, 28] + - !!python/tuple [7, 25] + - !!python/tuple [5, 13] + - !!python/tuple [20, 4] + - !!python/tuple [4, 11] + - !!python/tuple [16, 15] + - !!python/tuple [26, 31] + - !!python/tuple [16, 30] + - !!python/tuple [22, 6] + - !!python/tuple [7, 22] + - !!python/tuple [25, 9] + - !!python/tuple [4, 12] + - !!python/tuple [11, 17] + - !!python/tuple [15, 20] + - !!python/tuple [13, 30] + - !!python/tuple [28, 28] + - !!python/tuple [28, 2] + - !!python/tuple [25, 2] + - !!python/tuple [4, 0] + - !!python/tuple [30, 29] + - !!python/tuple [20, 7] + - !!python/tuple [11, 19] + - !!python/tuple [14, 29] + - !!python/tuple [13, 9] + - !!python/tuple [14, 20] + - !!python/tuple [4, 3] + - !!python/tuple [18, 10] + - !!python/tuple [22, 9] + - !!python/tuple [4, 25] + - !!python/tuple [28, 15] + - !!python/tuple [26, 7] + - !!python/tuple [31, 29] + - !!python/tuple [28, 23] + - !!python/tuple [27, 16] + - !!python/tuple [8, 2] + - !!python/tuple [16, 5] + - !!python/tuple [29, 21] + - !!python/tuple [0, 18] + - !!python/tuple [24, 8] + - !!python/tuple [13, 8] + - !!python/tuple [30, 30] + - !!python/tuple [17, 17] + - !!python/tuple [26, 9] + - !!python/tuple [14, 8] + - !!python/tuple [22, 16] + - !!python/tuple [22, 26] + - !!python/tuple [9, 16] + - !!python/tuple [28, 10] + - !!python/tuple [7, 2] + - !!python/tuple [15, 27] + - !!python/tuple [21, 8] + - !!python/tuple [9, 26] + - !!python/tuple [8, 19] + - !!python/tuple [24, 26] + - !!python/tuple [19, 16] + - !!python/tuple [1, 16] + - !!python/tuple [21, 5] + - !!python/tuple [7, 30] + - !!python/tuple [19, 10] + - !!python/tuple [2, 24] + - !!python/tuple [4, 4] + - !!python/tuple [17, 23] + - !!python/tuple [19, 12] + - !!python/tuple [8, 20] + - !!python/tuple [13, 31] + - !!python/tuple [31, 1] + - !!python/tuple [4, 27] + - !!python/tuple [6, 30] + - !!python/tuple [23, 15] + - !!python/tuple [11, 5] + - !!python/tuple [21, 30] + - !!python/tuple [14, 7] + - !!python/tuple [13, 15] + - !!python/tuple [13, 16] + - !!python/tuple [14, 17] + - !!python/tuple [15, 13] + - !!python/tuple [29, 28] + - !!python/tuple [17, 7] + - !!python/tuple [10, 18] + - !!python/tuple [31, 0] + - !!python/tuple [3, 0] + - !!python/tuple [27, 22] + - !!python/tuple [2, 26] + - !!python/tuple [16, 14] + - !!python/tuple [24, 17] + - !!python/tuple [25, 14] + - !!python/tuple [25, 3] + - !!python/tuple [7, 26] + - !!python/tuple [26, 20] + - !!python/tuple [16, 8] + - !!python/tuple [0, 3] + - !!python/tuple [3, 1] + - !!python/tuple [25, 23] + - !!python/tuple [29, 0] + - !!python/tuple [12, 15] + - !!python/tuple [16, 9] + - !!python/tuple [21, 24] + - !!python/tuple [6, 3] + - !!python/tuple [23, 8] + - !!python/tuple [16, 22] + - !!python/tuple [4, 9] + - !!python/tuple [22, 22] + - !!python/tuple [21, 14] + - !!python/tuple [3, 26] + - !!python/tuple [11, 26] + - !!python/tuple [19, 4] + - !!python/tuple [5, 3] + - !!python/tuple [25, 12] + - !!python/tuple [17, 22] + - !!python/tuple [4, 10] + - !!python/tuple [19, 1] + - !!python/tuple [20, 6] + - !!python/tuple [6, 15] + - !!python/tuple [1, 21] + - !!python/tuple [12, 25] + - !!python/tuple [12, 13] + - !!python/tuple [28, 27] + - !!python/tuple [18, 25] + - !!python/tuple [15, 28] + - !!python/tuple [8, 13] + - !!python/tuple [1, 20] + - !!python/tuple [16, 1] + - !!python/tuple [27, 8] + - !!python/tuple [6, 12] + - !!python/tuple [5, 31] + - !!python/tuple [5, 0] + - !!python/tuple [30, 18] + - !!python/tuple [16, 17] + - !!python/tuple [19, 5] + - !!python/tuple [25, 28] + - !!python/tuple [24, 7] + - !!python/tuple [17, 4] + - !!python/tuple [0, 22] + - !!python/tuple [1, 22] + - !!python/tuple [9, 19] + - !!python/tuple [1, 30] + - !!python/tuple [14, 21] + - !!python/tuple [3, 15] + - !!python/tuple [7, 3] + - !!python/tuple [2, 21] + - !!python/tuple [18, 6] + - !!python/tuple [7, 21] + - !!python/tuple [9, 12] + - !!python/tuple [10, 10] + - !!python/tuple [10, 7] + - !!python/tuple [10, 29] + - !!python/tuple [2, 11] + - !!python/tuple [6, 22] + - !!python/tuple [23, 11] + - !!python/tuple [20, 16] + - !!python/tuple [12, 3] + - !!python/tuple [29, 4] + - !!python/tuple [19, 28] + - !!python/tuple [4, 26] + - !!python/tuple [6, 26] + - !!python/tuple [23, 23] + - !!python/tuple [25, 15] + - !!python/tuple [21, 26] + - !!python/tuple [5, 14] + - !!python/tuple [5, 21] + - !!python/tuple [23, 17] + - !!python/tuple [6, 10] + - !!python/tuple [30, 8] + - !!python/tuple [30, 3] + - !!python/tuple [10, 25] + - !!python/tuple [22, 10] + - !!python/tuple [22, 8] + - !!python/tuple [30, 9] + - !!python/tuple [0, 24] + - !!python/tuple [31, 21] + - !!python/tuple [6, 8] + - !!python/tuple [12, 16] + - !!python/tuple [9, 5] + - !!python/tuple [28, 26] + - !!python/tuple [15, 15] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex48.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex48.yaml new file mode 100644 index 0000000..e555058 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex48.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [13, 7] + name: agent0 + start: [6, 1] +- goal: [28, 22] + name: agent1 + start: [5, 29] +- goal: [16, 1] + name: agent2 + start: [11, 14] +- goal: [3, 16] + name: agent3 + start: [26, 15] +- goal: [18, 19] + name: agent4 + start: [27, 0] +- goal: [8, 2] + name: agent5 + start: [24, 30] +- goal: [7, 13] + name: agent6 + start: [16, 3] +- goal: [10, 5] + name: agent7 + start: [27, 25] +- goal: [29, 16] + name: agent8 + start: [17, 23] +- goal: [26, 29] + name: agent9 + start: [18, 17] +- goal: [31, 30] + name: agent10 + start: [1, 18] +- goal: [11, 31] + name: agent11 + start: [21, 21] +- goal: [9, 25] + name: agent12 + start: [27, 14] +- goal: [21, 17] + name: agent13 + start: [12, 5] +- goal: [29, 22] + name: agent14 + start: [12, 10] +- goal: [8, 3] + name: agent15 + start: [27, 8] +- goal: [26, 10] + name: agent16 + start: [9, 1] +- goal: [11, 18] + name: agent17 + start: [15, 12] +- goal: [22, 1] + name: agent18 + start: [11, 22] +- goal: [24, 11] + name: agent19 + start: [1, 27] +- goal: [4, 8] + name: agent20 + start: [17, 14] +- goal: [24, 8] + name: agent21 + start: [23, 9] +- goal: [11, 13] + name: agent22 + start: [3, 8] +- goal: [28, 15] + name: agent23 + start: [28, 25] +- goal: [21, 0] + name: agent24 + start: [12, 30] +- goal: [24, 19] + name: agent25 + start: [27, 23] +- goal: [22, 10] + name: agent26 + start: [13, 24] +- goal: [31, 8] + name: agent27 + start: [19, 26] +- goal: [11, 5] + name: agent28 + start: [0, 21] +- goal: [29, 0] + name: agent29 + start: [23, 30] +- goal: [25, 8] + name: agent30 + start: [29, 10] +- goal: [20, 16] + name: agent31 + start: [10, 5] +- goal: [6, 27] + name: agent32 + start: [14, 14] +- goal: [11, 7] + name: agent33 + start: [30, 13] +- goal: [7, 4] + name: agent34 + start: [26, 24] +- goal: [28, 3] + name: agent35 + start: [19, 16] +- goal: [17, 22] + name: agent36 + start: [0, 18] +- goal: [20, 20] + name: agent37 + start: [23, 0] +- goal: [25, 25] + name: agent38 + start: [12, 28] +- goal: [0, 18] + name: agent39 + start: [14, 25] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [23, 3] + - !!python/tuple [3, 28] + - !!python/tuple [20, 5] + - !!python/tuple [1, 14] + - !!python/tuple [14, 28] + - !!python/tuple [22, 14] + - !!python/tuple [4, 3] + - !!python/tuple [6, 3] + - !!python/tuple [10, 14] + - !!python/tuple [10, 26] + - !!python/tuple [14, 12] + - !!python/tuple [2, 6] + - !!python/tuple [2, 30] + - !!python/tuple [21, 10] + - !!python/tuple [22, 15] + - !!python/tuple [15, 20] + - !!python/tuple [9, 15] + - !!python/tuple [21, 6] + - !!python/tuple [30, 6] + - !!python/tuple [4, 31] + - !!python/tuple [29, 28] + - !!python/tuple [10, 24] + - !!python/tuple [1, 8] + - !!python/tuple [15, 0] + - !!python/tuple [4, 5] + - !!python/tuple [3, 3] + - !!python/tuple [11, 27] + - !!python/tuple [20, 25] + - !!python/tuple [14, 2] + - !!python/tuple [3, 12] + - !!python/tuple [25, 6] + - !!python/tuple [19, 21] + - !!python/tuple [26, 21] + - !!python/tuple [30, 31] + - !!python/tuple [26, 7] + - !!python/tuple [16, 17] + - !!python/tuple [16, 18] + - !!python/tuple [10, 29] + - !!python/tuple [28, 1] + - !!python/tuple [14, 21] + - !!python/tuple [13, 9] + - !!python/tuple [9, 18] + - !!python/tuple [19, 23] + - !!python/tuple [1, 9] + - !!python/tuple [21, 28] + - !!python/tuple [14, 20] + - !!python/tuple [15, 18] + - !!python/tuple [24, 23] + - !!python/tuple [16, 31] + - !!python/tuple [1, 20] + - !!python/tuple [22, 30] + - !!python/tuple [18, 26] + - !!python/tuple [27, 13] + - !!python/tuple [3, 18] + - !!python/tuple [28, 12] + - !!python/tuple [14, 29] + - !!python/tuple [19, 25] + - !!python/tuple [30, 30] + - !!python/tuple [11, 8] + - !!python/tuple [3, 14] + - !!python/tuple [9, 14] + - !!python/tuple [26, 6] + - !!python/tuple [8, 15] + - !!python/tuple [25, 19] + - !!python/tuple [15, 29] + - !!python/tuple [15, 26] + - !!python/tuple [1, 2] + - !!python/tuple [14, 19] + - !!python/tuple [29, 3] + - !!python/tuple [16, 27] + - !!python/tuple [30, 22] + - !!python/tuple [20, 17] + - !!python/tuple [29, 29] + - !!python/tuple [25, 11] + - !!python/tuple [4, 17] + - !!python/tuple [26, 28] + - !!python/tuple [27, 5] + - !!python/tuple [28, 8] + - !!python/tuple [17, 27] + - !!python/tuple [7, 3] + - !!python/tuple [20, 15] + - !!python/tuple [14, 0] + - !!python/tuple [15, 15] + - !!python/tuple [28, 26] + - !!python/tuple [15, 21] + - !!python/tuple [28, 5] + - !!python/tuple [8, 10] + - !!python/tuple [14, 24] + - !!python/tuple [8, 20] + - !!python/tuple [2, 12] + - !!python/tuple [3, 13] + - !!python/tuple [29, 30] + - !!python/tuple [12, 26] + - !!python/tuple [14, 22] + - !!python/tuple [30, 15] + - !!python/tuple [29, 13] + - !!python/tuple [27, 19] + - !!python/tuple [15, 25] + - !!python/tuple [0, 31] + - !!python/tuple [27, 2] + - !!python/tuple [4, 23] + - !!python/tuple [6, 12] + - !!python/tuple [15, 17] + - !!python/tuple [22, 19] + - !!python/tuple [1, 21] + - !!python/tuple [10, 31] + - !!python/tuple [3, 22] + - !!python/tuple [6, 16] + - !!python/tuple [17, 25] + - !!python/tuple [11, 12] + - !!python/tuple [26, 3] + - !!python/tuple [0, 7] + - !!python/tuple [0, 12] + - !!python/tuple [29, 24] + - !!python/tuple [17, 7] + - !!python/tuple [11, 16] + - !!python/tuple [4, 7] + - !!python/tuple [24, 12] + - !!python/tuple [8, 8] + - !!python/tuple [25, 13] + - !!python/tuple [18, 10] + - !!python/tuple [26, 27] + - !!python/tuple [1, 4] + - !!python/tuple [19, 6] + - !!python/tuple [19, 31] + - !!python/tuple [6, 28] + - !!python/tuple [22, 9] + - !!python/tuple [22, 0] + - !!python/tuple [31, 16] + - !!python/tuple [18, 18] + - !!python/tuple [12, 29] + - !!python/tuple [15, 10] + - !!python/tuple [14, 1] + - !!python/tuple [5, 23] + - !!python/tuple [15, 3] + - !!python/tuple [20, 3] + - !!python/tuple [0, 0] + - !!python/tuple [19, 28] + - !!python/tuple [21, 26] + - !!python/tuple [0, 15] + - !!python/tuple [23, 17] + - !!python/tuple [2, 19] + - !!python/tuple [5, 27] + - !!python/tuple [12, 20] + - !!python/tuple [16, 16] + - !!python/tuple [30, 21] + - !!python/tuple [8, 17] + - !!python/tuple [14, 16] + - !!python/tuple [19, 4] + - !!python/tuple [10, 27] + - !!python/tuple [6, 13] + - !!python/tuple [15, 13] + - !!python/tuple [10, 30] + - !!python/tuple [22, 23] + - !!python/tuple [26, 4] + - !!python/tuple [17, 31] + - !!python/tuple [12, 7] + - !!python/tuple [21, 12] + - !!python/tuple [25, 31] + - !!python/tuple [14, 15] + - !!python/tuple [20, 28] + - !!python/tuple [6, 6] + - !!python/tuple [0, 22] + - !!python/tuple [25, 5] + - !!python/tuple [15, 2] + - !!python/tuple [21, 27] + - !!python/tuple [10, 0] + - !!python/tuple [31, 31] + - !!python/tuple [7, 30] + - !!python/tuple [1, 3] + - !!python/tuple [8, 18] + - !!python/tuple [24, 7] + - !!python/tuple [11, 20] + - !!python/tuple [6, 4] + - !!python/tuple [31, 25] + - !!python/tuple [2, 3] + - !!python/tuple [28, 2] + - !!python/tuple [1, 1] + - !!python/tuple [13, 18] + - !!python/tuple [4, 24] + - !!python/tuple [25, 1] + - !!python/tuple [23, 5] + - !!python/tuple [31, 14] + - !!python/tuple [6, 17] + - !!python/tuple [4, 10] + - !!python/tuple [12, 2] + - !!python/tuple [16, 12] + - !!python/tuple [10, 7] + - !!python/tuple [20, 13] + - !!python/tuple [17, 28] + - !!python/tuple [25, 15] + - !!python/tuple [10, 3] + - !!python/tuple [17, 24] + - !!python/tuple [12, 17] + - !!python/tuple [22, 8] + - !!python/tuple [28, 18] + - !!python/tuple [29, 6] + - !!python/tuple [13, 10] + - !!python/tuple [18, 11] + - !!python/tuple [17, 3] + - !!python/tuple [2, 31] + - !!python/tuple [1, 16] + - !!python/tuple [13, 11] + - !!python/tuple [27, 4] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex49.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex49.yaml new file mode 100644 index 0000000..b66814c --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex49.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [19, 9] + name: agent0 + start: [22, 29] +- goal: [8, 24] + name: agent1 + start: [27, 21] +- goal: [19, 17] + name: agent2 + start: [1, 17] +- goal: [29, 11] + name: agent3 + start: [27, 18] +- goal: [21, 7] + name: agent4 + start: [12, 10] +- goal: [2, 5] + name: agent5 + start: [29, 7] +- goal: [28, 25] + name: agent6 + start: [22, 28] +- goal: [21, 30] + name: agent7 + start: [12, 22] +- goal: [23, 21] + name: agent8 + start: [28, 23] +- goal: [13, 14] + name: agent9 + start: [0, 26] +- goal: [21, 10] + name: agent10 + start: [19, 0] +- goal: [10, 26] + name: agent11 + start: [24, 11] +- goal: [10, 18] + name: agent12 + start: [30, 2] +- goal: [3, 31] + name: agent13 + start: [24, 12] +- goal: [17, 24] + name: agent14 + start: [20, 17] +- goal: [0, 2] + name: agent15 + start: [10, 31] +- goal: [10, 5] + name: agent16 + start: [3, 14] +- goal: [25, 7] + name: agent17 + start: [0, 29] +- goal: [25, 26] + name: agent18 + start: [5, 31] +- goal: [22, 3] + name: agent19 + start: [3, 5] +- goal: [4, 2] + name: agent20 + start: [1, 11] +- goal: [0, 17] + name: agent21 + start: [0, 12] +- goal: [5, 29] + name: agent22 + start: [3, 29] +- goal: [12, 19] + name: agent23 + start: [28, 4] +- goal: [20, 31] + name: agent24 + start: [0, 11] +- goal: [7, 30] + name: agent25 + start: [31, 14] +- goal: [29, 31] + name: agent26 + start: [14, 17] +- goal: [21, 3] + name: agent27 + start: [24, 24] +- goal: [4, 26] + name: agent28 + start: [11, 1] +- goal: [11, 30] + name: agent29 + start: [15, 4] +- goal: [5, 20] + name: agent30 + start: [0, 6] +- goal: [20, 27] + name: agent31 + start: [17, 22] +- goal: [10, 8] + name: agent32 + start: [28, 5] +- goal: [21, 5] + name: agent33 + start: [21, 10] +- goal: [6, 4] + name: agent34 + start: [11, 22] +- goal: [26, 23] + name: agent35 + start: [23, 20] +- goal: [19, 30] + name: agent36 + start: [20, 0] +- goal: [17, 11] + name: agent37 + start: [22, 14] +- goal: [15, 17] + name: agent38 + start: [13, 5] +- goal: [4, 8] + name: agent39 + start: [15, 7] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [3, 13] + - !!python/tuple [25, 13] + - !!python/tuple [0, 9] + - !!python/tuple [12, 7] + - !!python/tuple [17, 31] + - !!python/tuple [7, 15] + - !!python/tuple [8, 23] + - !!python/tuple [0, 3] + - !!python/tuple [19, 16] + - !!python/tuple [18, 9] + - !!python/tuple [16, 16] + - !!python/tuple [21, 24] + - !!python/tuple [31, 1] + - !!python/tuple [1, 23] + - !!python/tuple [31, 17] + - !!python/tuple [0, 20] + - !!python/tuple [23, 12] + - !!python/tuple [22, 21] + - !!python/tuple [31, 7] + - !!python/tuple [1, 20] + - !!python/tuple [8, 2] + - !!python/tuple [23, 0] + - !!python/tuple [13, 20] + - !!python/tuple [26, 31] + - !!python/tuple [21, 25] + - !!python/tuple [3, 6] + - !!python/tuple [26, 16] + - !!python/tuple [21, 23] + - !!python/tuple [31, 6] + - !!python/tuple [5, 5] + - !!python/tuple [9, 20] + - !!python/tuple [13, 21] + - !!python/tuple [29, 24] + - !!python/tuple [14, 2] + - !!python/tuple [13, 10] + - !!python/tuple [9, 1] + - !!python/tuple [12, 18] + - !!python/tuple [16, 14] + - !!python/tuple [7, 2] + - !!python/tuple [30, 6] + - !!python/tuple [22, 6] + - !!python/tuple [13, 19] + - !!python/tuple [19, 21] + - !!python/tuple [16, 2] + - !!python/tuple [8, 0] + - !!python/tuple [2, 17] + - !!python/tuple [20, 16] + - !!python/tuple [2, 23] + - !!python/tuple [22, 24] + - !!python/tuple [2, 12] + - !!python/tuple [10, 17] + - !!python/tuple [8, 11] + - !!python/tuple [24, 14] + - !!python/tuple [26, 0] + - !!python/tuple [30, 14] + - !!python/tuple [29, 26] + - !!python/tuple [15, 1] + - !!python/tuple [31, 18] + - !!python/tuple [27, 13] + - !!python/tuple [23, 26] + - !!python/tuple [8, 1] + - !!python/tuple [9, 11] + - !!python/tuple [29, 25] + - !!python/tuple [21, 17] + - !!python/tuple [31, 3] + - !!python/tuple [22, 25] + - !!python/tuple [27, 10] + - !!python/tuple [28, 0] + - !!python/tuple [13, 9] + - !!python/tuple [20, 10] + - !!python/tuple [25, 16] + - !!python/tuple [24, 16] + - !!python/tuple [13, 3] + - !!python/tuple [22, 26] + - !!python/tuple [3, 25] + - !!python/tuple [22, 22] + - !!python/tuple [15, 15] + - !!python/tuple [1, 26] + - !!python/tuple [19, 22] + - !!python/tuple [8, 28] + - !!python/tuple [20, 23] + - !!python/tuple [24, 0] + - !!python/tuple [26, 6] + - !!python/tuple [21, 29] + - !!python/tuple [18, 24] + - !!python/tuple [30, 13] + - !!python/tuple [8, 14] + - !!python/tuple [3, 20] + - !!python/tuple [4, 17] + - !!python/tuple [6, 17] + - !!python/tuple [26, 25] + - !!python/tuple [16, 8] + - !!python/tuple [16, 12] + - !!python/tuple [31, 2] + - !!python/tuple [13, 16] + - !!python/tuple [31, 5] + - !!python/tuple [19, 24] + - !!python/tuple [6, 31] + - !!python/tuple [29, 12] + - !!python/tuple [4, 6] + - !!python/tuple [27, 9] + - !!python/tuple [24, 27] + - !!python/tuple [1, 24] + - !!python/tuple [24, 1] + - !!python/tuple [25, 24] + - !!python/tuple [17, 10] + - !!python/tuple [15, 18] + - !!python/tuple [10, 7] + - !!python/tuple [5, 19] + - !!python/tuple [22, 31] + - !!python/tuple [28, 1] + - !!python/tuple [26, 26] + - !!python/tuple [12, 5] + - !!python/tuple [31, 16] + - !!python/tuple [19, 2] + - !!python/tuple [18, 12] + - !!python/tuple [29, 3] + - !!python/tuple [31, 31] + - !!python/tuple [3, 27] + - !!python/tuple [16, 27] + - !!python/tuple [9, 13] + - !!python/tuple [24, 23] + - !!python/tuple [24, 20] + - !!python/tuple [21, 4] + - !!python/tuple [31, 26] + - !!python/tuple [4, 22] + - !!python/tuple [22, 20] + - !!python/tuple [7, 5] + - !!python/tuple [0, 25] + - !!python/tuple [2, 22] + - !!python/tuple [2, 19] + - !!python/tuple [19, 11] + - !!python/tuple [12, 26] + - !!python/tuple [23, 24] + - !!python/tuple [19, 6] + - !!python/tuple [14, 22] + - !!python/tuple [15, 20] + - !!python/tuple [22, 17] + - !!python/tuple [21, 8] + - !!python/tuple [22, 0] + - !!python/tuple [25, 4] + - !!python/tuple [22, 19] + - !!python/tuple [12, 9] + - !!python/tuple [20, 5] + - !!python/tuple [10, 12] + - !!python/tuple [31, 24] + - !!python/tuple [20, 24] + - !!python/tuple [6, 18] + - !!python/tuple [17, 28] + - !!python/tuple [15, 29] + - !!python/tuple [31, 8] + - !!python/tuple [25, 12] + - !!python/tuple [18, 1] + - !!python/tuple [22, 10] + - !!python/tuple [24, 21] + - !!python/tuple [24, 3] + - !!python/tuple [0, 30] + - !!python/tuple [13, 22] + - !!python/tuple [19, 27] + - !!python/tuple [1, 29] + - !!python/tuple [3, 1] + - !!python/tuple [15, 14] + - !!python/tuple [1, 10] + - !!python/tuple [27, 19] + - !!python/tuple [23, 5] + - !!python/tuple [27, 14] + - !!python/tuple [26, 22] + - !!python/tuple [21, 16] + - !!python/tuple [12, 6] + - !!python/tuple [23, 31] + - !!python/tuple [28, 11] + - !!python/tuple [14, 6] + - !!python/tuple [1, 15] + - !!python/tuple [10, 6] + - !!python/tuple [1, 21] + - !!python/tuple [11, 14] + - !!python/tuple [17, 18] + - !!python/tuple [1, 30] + - !!python/tuple [13, 13] + - !!python/tuple [0, 13] + - !!python/tuple [8, 19] + - !!python/tuple [22, 23] + - !!python/tuple [14, 12] + - !!python/tuple [8, 29] + - !!python/tuple [18, 14] + - !!python/tuple [6, 30] + - !!python/tuple [0, 21] + - !!python/tuple [16, 25] + - !!python/tuple [2, 29] + - !!python/tuple [4, 18] + - !!python/tuple [10, 30] + - !!python/tuple [17, 14] + - !!python/tuple [21, 11] + - !!python/tuple [28, 14] + - !!python/tuple [25, 2] + - !!python/tuple [26, 24] + - !!python/tuple [25, 8] + - !!python/tuple [7, 17] + - !!python/tuple [20, 4] + - !!python/tuple [1, 2] + - !!python/tuple [2, 28] + - !!python/tuple [10, 28] + - !!python/tuple [16, 7] + - !!python/tuple [26, 15] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex5.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex5.yaml new file mode 100644 index 0000000..bba86d5 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex5.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [3, 14] + name: agent0 + start: [23, 23] +- goal: [9, 25] + name: agent1 + start: [11, 4] +- goal: [3, 18] + name: agent2 + start: [7, 4] +- goal: [28, 15] + name: agent3 + start: [24, 22] +- goal: [15, 0] + name: agent4 + start: [25, 9] +- goal: [2, 12] + name: agent5 + start: [23, 5] +- goal: [2, 10] + name: agent6 + start: [29, 3] +- goal: [17, 9] + name: agent7 + start: [31, 31] +- goal: [4, 1] + name: agent8 + start: [30, 1] +- goal: [19, 27] + name: agent9 + start: [2, 7] +- goal: [8, 5] + name: agent10 + start: [22, 22] +- goal: [27, 14] + name: agent11 + start: [6, 17] +- goal: [22, 13] + name: agent12 + start: [27, 20] +- goal: [18, 22] + name: agent13 + start: [17, 3] +- goal: [24, 7] + name: agent14 + start: [25, 20] +- goal: [7, 21] + name: agent15 + start: [18, 19] +- goal: [17, 17] + name: agent16 + start: [29, 15] +- goal: [14, 25] + name: agent17 + start: [2, 5] +- goal: [27, 11] + name: agent18 + start: [3, 28] +- goal: [28, 18] + name: agent19 + start: [6, 8] +- goal: [5, 8] + name: agent20 + start: [3, 31] +- goal: [28, 29] + name: agent21 + start: [28, 29] +- goal: [10, 15] + name: agent22 + start: [11, 20] +- goal: [4, 5] + name: agent23 + start: [21, 8] +- goal: [0, 27] + name: agent24 + start: [17, 6] +- goal: [30, 30] + name: agent25 + start: [22, 31] +- goal: [13, 14] + name: agent26 + start: [18, 4] +- goal: [18, 15] + name: agent27 + start: [22, 7] +- goal: [22, 19] + name: agent28 + start: [5, 28] +- goal: [5, 6] + name: agent29 + start: [10, 23] +- goal: [5, 24] + name: agent30 + start: [15, 29] +- goal: [13, 31] + name: agent31 + start: [23, 21] +- goal: [10, 6] + name: agent32 + start: [30, 25] +- goal: [3, 29] + name: agent33 + start: [29, 28] +- goal: [13, 9] + name: agent34 + start: [23, 13] +- goal: [11, 4] + name: agent35 + start: [27, 9] +- goal: [17, 15] + name: agent36 + start: [27, 22] +- goal: [31, 19] + name: agent37 + start: [24, 30] +- goal: [12, 4] + name: agent38 + start: [9, 6] +- goal: [0, 4] + name: agent39 + start: [28, 0] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [29, 7] + - !!python/tuple [5, 23] + - !!python/tuple [14, 21] + - !!python/tuple [0, 19] + - !!python/tuple [4, 24] + - !!python/tuple [13, 23] + - !!python/tuple [0, 6] + - !!python/tuple [26, 30] + - !!python/tuple [14, 13] + - !!python/tuple [12, 21] + - !!python/tuple [14, 30] + - !!python/tuple [23, 3] + - !!python/tuple [14, 3] + - !!python/tuple [17, 1] + - !!python/tuple [16, 4] + - !!python/tuple [23, 1] + - !!python/tuple [14, 16] + - !!python/tuple [17, 27] + - !!python/tuple [14, 12] + - !!python/tuple [24, 16] + - !!python/tuple [8, 4] + - !!python/tuple [28, 19] + - !!python/tuple [4, 17] + - !!python/tuple [18, 29] + - !!python/tuple [26, 16] + - !!python/tuple [8, 28] + - !!python/tuple [1, 29] + - !!python/tuple [24, 0] + - !!python/tuple [26, 28] + - !!python/tuple [2, 15] + - !!python/tuple [13, 16] + - !!python/tuple [27, 3] + - !!python/tuple [3, 11] + - !!python/tuple [27, 13] + - !!python/tuple [25, 17] + - !!python/tuple [2, 27] + - !!python/tuple [9, 28] + - !!python/tuple [1, 20] + - !!python/tuple [31, 24] + - !!python/tuple [13, 1] + - !!python/tuple [21, 22] + - !!python/tuple [9, 4] + - !!python/tuple [16, 3] + - !!python/tuple [20, 15] + - !!python/tuple [13, 30] + - !!python/tuple [31, 15] + - !!python/tuple [12, 26] + - !!python/tuple [5, 3] + - !!python/tuple [10, 17] + - !!python/tuple [26, 5] + - !!python/tuple [1, 11] + - !!python/tuple [10, 5] + - !!python/tuple [5, 20] + - !!python/tuple [29, 16] + - !!python/tuple [5, 13] + - !!python/tuple [22, 9] + - !!python/tuple [8, 9] + - !!python/tuple [7, 16] + - !!python/tuple [30, 23] + - !!python/tuple [11, 1] + - !!python/tuple [13, 4] + - !!python/tuple [16, 23] + - !!python/tuple [25, 23] + - !!python/tuple [3, 10] + - !!python/tuple [1, 8] + - !!python/tuple [3, 9] + - !!python/tuple [10, 9] + - !!python/tuple [13, 19] + - !!python/tuple [0, 25] + - !!python/tuple [5, 27] + - !!python/tuple [4, 23] + - !!python/tuple [28, 6] + - !!python/tuple [12, 10] + - !!python/tuple [14, 4] + - !!python/tuple [16, 31] + - !!python/tuple [21, 30] + - !!python/tuple [1, 14] + - !!python/tuple [5, 10] + - !!python/tuple [25, 2] + - !!python/tuple [8, 27] + - !!python/tuple [24, 28] + - !!python/tuple [20, 23] + - !!python/tuple [9, 8] + - !!python/tuple [24, 4] + - !!python/tuple [3, 7] + - !!python/tuple [14, 23] + - !!python/tuple [13, 6] + - !!python/tuple [18, 0] + - !!python/tuple [2, 30] + - !!python/tuple [25, 22] + - !!python/tuple [0, 28] + - !!python/tuple [8, 26] + - !!python/tuple [3, 20] + - !!python/tuple [9, 13] + - !!python/tuple [12, 7] + - !!python/tuple [6, 13] + - !!python/tuple [6, 9] + - !!python/tuple [26, 2] + - !!python/tuple [27, 19] + - !!python/tuple [30, 31] + - !!python/tuple [7, 30] + - !!python/tuple [27, 18] + - !!python/tuple [29, 0] + - !!python/tuple [14, 22] + - !!python/tuple [8, 16] + - !!python/tuple [9, 26] + - !!python/tuple [11, 27] + - !!python/tuple [25, 13] + - !!python/tuple [21, 7] + - !!python/tuple [15, 19] + - !!python/tuple [2, 21] + - !!python/tuple [3, 1] + - !!python/tuple [1, 24] + - !!python/tuple [24, 8] + - !!python/tuple [20, 24] + - !!python/tuple [26, 13] + - !!python/tuple [2, 8] + - !!python/tuple [1, 17] + - !!python/tuple [11, 24] + - !!python/tuple [19, 24] + - !!python/tuple [10, 1] + - !!python/tuple [19, 2] + - !!python/tuple [27, 6] + - !!python/tuple [0, 31] + - !!python/tuple [22, 15] + - !!python/tuple [28, 11] + - !!python/tuple [10, 8] + - !!python/tuple [10, 26] + - !!python/tuple [19, 3] + - !!python/tuple [18, 21] + - !!python/tuple [11, 31] + - !!python/tuple [2, 31] + - !!python/tuple [4, 9] + - !!python/tuple [22, 3] + - !!python/tuple [20, 19] + - !!python/tuple [6, 20] + - !!python/tuple [28, 7] + - !!python/tuple [14, 28] + - !!python/tuple [26, 19] + - !!python/tuple [28, 3] + - !!python/tuple [28, 20] + - !!python/tuple [23, 24] + - !!python/tuple [23, 12] + - !!python/tuple [8, 18] + - !!python/tuple [5, 29] + - !!python/tuple [26, 3] + - !!python/tuple [10, 2] + - !!python/tuple [29, 26] + - !!python/tuple [22, 17] + - !!python/tuple [22, 21] + - !!python/tuple [4, 2] + - !!python/tuple [9, 0] + - !!python/tuple [13, 18] + - !!python/tuple [4, 18] + - !!python/tuple [19, 1] + - !!python/tuple [27, 1] + - !!python/tuple [5, 1] + - !!python/tuple [9, 19] + - !!python/tuple [7, 2] + - !!python/tuple [20, 18] + - !!python/tuple [7, 6] + - !!python/tuple [31, 21] + - !!python/tuple [25, 28] + - !!python/tuple [25, 6] + - !!python/tuple [7, 22] + - !!python/tuple [6, 21] + - !!python/tuple [10, 18] + - !!python/tuple [20, 25] + - !!python/tuple [1, 28] + - !!python/tuple [10, 4] + - !!python/tuple [14, 7] + - !!python/tuple [10, 0] + - !!python/tuple [20, 20] + - !!python/tuple [24, 21] + - !!python/tuple [14, 19] + - !!python/tuple [29, 11] + - !!python/tuple [3, 21] + - !!python/tuple [13, 5] + - !!python/tuple [6, 30] + - !!python/tuple [9, 16] + - !!python/tuple [18, 25] + - !!python/tuple [14, 29] + - !!python/tuple [8, 31] + - !!python/tuple [2, 13] + - !!python/tuple [26, 10] + - !!python/tuple [29, 19] + - !!python/tuple [10, 10] + - !!python/tuple [18, 9] + - !!python/tuple [31, 14] + - !!python/tuple [11, 26] + - !!python/tuple [20, 17] + - !!python/tuple [11, 17] + - !!python/tuple [2, 22] + - !!python/tuple [31, 28] + - !!python/tuple [15, 2] + - !!python/tuple [19, 19] + - !!python/tuple [10, 11] + - !!python/tuple [29, 22] + - !!python/tuple [0, 12] + - !!python/tuple [5, 30] + - !!python/tuple [16, 27] + - !!python/tuple [19, 0] + - !!python/tuple [27, 28] + - !!python/tuple [0, 18] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex50.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex50.yaml new file mode 100644 index 0000000..e6e2580 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex50.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [12, 19] + name: agent0 + start: [13, 26] +- goal: [20, 7] + name: agent1 + start: [15, 12] +- goal: [9, 22] + name: agent2 + start: [28, 2] +- goal: [28, 3] + name: agent3 + start: [26, 22] +- goal: [22, 20] + name: agent4 + start: [25, 5] +- goal: [25, 22] + name: agent5 + start: [9, 24] +- goal: [16, 24] + name: agent6 + start: [3, 23] +- goal: [7, 3] + name: agent7 + start: [19, 13] +- goal: [19, 27] + name: agent8 + start: [2, 2] +- goal: [18, 0] + name: agent9 + start: [16, 21] +- goal: [18, 19] + name: agent10 + start: [12, 19] +- goal: [1, 11] + name: agent11 + start: [24, 17] +- goal: [19, 18] + name: agent12 + start: [12, 9] +- goal: [24, 7] + name: agent13 + start: [6, 2] +- goal: [27, 1] + name: agent14 + start: [11, 27] +- goal: [17, 28] + name: agent15 + start: [1, 16] +- goal: [19, 12] + name: agent16 + start: [20, 18] +- goal: [26, 17] + name: agent17 + start: [14, 12] +- goal: [28, 15] + name: agent18 + start: [0, 14] +- goal: [2, 7] + name: agent19 + start: [25, 17] +- goal: [24, 18] + name: agent20 + start: [5, 2] +- goal: [12, 10] + name: agent21 + start: [8, 3] +- goal: [30, 16] + name: agent22 + start: [3, 4] +- goal: [26, 16] + name: agent23 + start: [1, 13] +- goal: [29, 12] + name: agent24 + start: [26, 5] +- goal: [20, 8] + name: agent25 + start: [5, 3] +- goal: [25, 31] + name: agent26 + start: [3, 12] +- goal: [14, 0] + name: agent27 + start: [17, 18] +- goal: [20, 26] + name: agent28 + start: [9, 27] +- goal: [27, 16] + name: agent29 + start: [15, 31] +- goal: [18, 23] + name: agent30 + start: [9, 22] +- goal: [19, 9] + name: agent31 + start: [1, 18] +- goal: [11, 17] + name: agent32 + start: [19, 12] +- goal: [9, 16] + name: agent33 + start: [14, 24] +- goal: [18, 10] + name: agent34 + start: [9, 29] +- goal: [10, 10] + name: agent35 + start: [11, 22] +- goal: [19, 19] + name: agent36 + start: [23, 7] +- goal: [7, 17] + name: agent37 + start: [22, 11] +- goal: [25, 29] + name: agent38 + start: [24, 12] +- goal: [8, 1] + name: agent39 + start: [28, 21] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [23, 2] + - !!python/tuple [8, 25] + - !!python/tuple [17, 16] + - !!python/tuple [6, 4] + - !!python/tuple [1, 19] + - !!python/tuple [7, 31] + - !!python/tuple [21, 15] + - !!python/tuple [24, 8] + - !!python/tuple [8, 20] + - !!python/tuple [23, 29] + - !!python/tuple [10, 24] + - !!python/tuple [2, 13] + - !!python/tuple [3, 22] + - !!python/tuple [19, 14] + - !!python/tuple [19, 25] + - !!python/tuple [16, 10] + - !!python/tuple [23, 8] + - !!python/tuple [14, 30] + - !!python/tuple [2, 25] + - !!python/tuple [30, 23] + - !!python/tuple [5, 21] + - !!python/tuple [14, 5] + - !!python/tuple [28, 30] + - !!python/tuple [8, 2] + - !!python/tuple [14, 19] + - !!python/tuple [3, 15] + - !!python/tuple [10, 7] + - !!python/tuple [24, 6] + - !!python/tuple [4, 13] + - !!python/tuple [8, 27] + - !!python/tuple [27, 22] + - !!python/tuple [17, 4] + - !!python/tuple [30, 28] + - !!python/tuple [26, 13] + - !!python/tuple [25, 7] + - !!python/tuple [12, 5] + - !!python/tuple [9, 14] + - !!python/tuple [6, 10] + - !!python/tuple [24, 20] + - !!python/tuple [12, 22] + - !!python/tuple [22, 4] + - !!python/tuple [23, 12] + - !!python/tuple [14, 15] + - !!python/tuple [21, 2] + - !!python/tuple [29, 10] + - !!python/tuple [17, 13] + - !!python/tuple [17, 31] + - !!python/tuple [6, 13] + - !!python/tuple [5, 9] + - !!python/tuple [12, 2] + - !!python/tuple [0, 19] + - !!python/tuple [0, 20] + - !!python/tuple [8, 18] + - !!python/tuple [20, 17] + - !!python/tuple [6, 20] + - !!python/tuple [26, 25] + - !!python/tuple [24, 2] + - !!python/tuple [14, 26] + - !!python/tuple [0, 25] + - !!python/tuple [27, 7] + - !!python/tuple [8, 14] + - !!python/tuple [26, 15] + - !!python/tuple [20, 21] + - !!python/tuple [25, 21] + - !!python/tuple [7, 2] + - !!python/tuple [1, 10] + - !!python/tuple [13, 6] + - !!python/tuple [31, 22] + - !!python/tuple [14, 9] + - !!python/tuple [28, 27] + - !!python/tuple [14, 13] + - !!python/tuple [25, 27] + - !!python/tuple [17, 19] + - !!python/tuple [15, 28] + - !!python/tuple [7, 13] + - !!python/tuple [29, 15] + - !!python/tuple [6, 21] + - !!python/tuple [12, 20] + - !!python/tuple [13, 24] + - !!python/tuple [8, 9] + - !!python/tuple [19, 3] + - !!python/tuple [15, 11] + - !!python/tuple [4, 19] + - !!python/tuple [21, 13] + - !!python/tuple [2, 9] + - !!python/tuple [10, 12] + - !!python/tuple [23, 27] + - !!python/tuple [21, 19] + - !!python/tuple [1, 8] + - !!python/tuple [21, 10] + - !!python/tuple [11, 4] + - !!python/tuple [31, 3] + - !!python/tuple [16, 27] + - !!python/tuple [30, 15] + - !!python/tuple [22, 28] + - !!python/tuple [5, 16] + - !!python/tuple [11, 2] + - !!python/tuple [3, 3] + - !!python/tuple [5, 22] + - !!python/tuple [5, 15] + - !!python/tuple [25, 1] + - !!python/tuple [15, 21] + - !!python/tuple [2, 29] + - !!python/tuple [22, 29] + - !!python/tuple [27, 3] + - !!python/tuple [10, 4] + - !!python/tuple [4, 17] + - !!python/tuple [11, 30] + - !!python/tuple [18, 4] + - !!python/tuple [0, 8] + - !!python/tuple [10, 27] + - !!python/tuple [12, 7] + - !!python/tuple [2, 19] + - !!python/tuple [28, 13] + - !!python/tuple [20, 3] + - !!python/tuple [0, 28] + - !!python/tuple [31, 20] + - !!python/tuple [5, 30] + - !!python/tuple [29, 18] + - !!python/tuple [9, 28] + - !!python/tuple [19, 20] + - !!python/tuple [16, 28] + - !!python/tuple [2, 12] + - !!python/tuple [27, 0] + - !!python/tuple [10, 28] + - !!python/tuple [24, 19] + - !!python/tuple [1, 2] + - !!python/tuple [18, 16] + - !!python/tuple [12, 23] + - !!python/tuple [5, 23] + - !!python/tuple [16, 25] + - !!python/tuple [12, 30] + - !!python/tuple [2, 28] + - !!python/tuple [12, 29] + - !!python/tuple [0, 4] + - !!python/tuple [24, 4] + - !!python/tuple [16, 23] + - !!python/tuple [19, 22] + - !!python/tuple [19, 28] + - !!python/tuple [30, 3] + - !!python/tuple [24, 25] + - !!python/tuple [11, 21] + - !!python/tuple [18, 9] + - !!python/tuple [25, 18] + - !!python/tuple [4, 31] + - !!python/tuple [10, 30] + - !!python/tuple [19, 21] + - !!python/tuple [11, 19] + - !!python/tuple [24, 29] + - !!python/tuple [23, 24] + - !!python/tuple [17, 8] + - !!python/tuple [10, 9] + - !!python/tuple [6, 7] + - !!python/tuple [14, 8] + - !!python/tuple [21, 25] + - !!python/tuple [21, 17] + - !!python/tuple [19, 16] + - !!python/tuple [1, 17] + - !!python/tuple [15, 20] + - !!python/tuple [0, 18] + - !!python/tuple [6, 15] + - !!python/tuple [25, 30] + - !!python/tuple [22, 21] + - !!python/tuple [31, 17] + - !!python/tuple [30, 20] + - !!python/tuple [16, 7] + - !!python/tuple [28, 19] + - !!python/tuple [10, 21] + - !!python/tuple [6, 26] + - !!python/tuple [31, 13] + - !!python/tuple [1, 3] + - !!python/tuple [11, 5] + - !!python/tuple [10, 3] + - !!python/tuple [23, 18] + - !!python/tuple [23, 25] + - !!python/tuple [16, 6] + - !!python/tuple [18, 7] + - !!python/tuple [14, 27] + - !!python/tuple [23, 22] + - !!python/tuple [24, 31] + - !!python/tuple [9, 23] + - !!python/tuple [27, 8] + - !!python/tuple [11, 3] + - !!python/tuple [7, 27] + - !!python/tuple [8, 5] + - !!python/tuple [12, 8] + - !!python/tuple [12, 31] + - !!python/tuple [5, 5] + - !!python/tuple [22, 18] + - !!python/tuple [23, 26] + - !!python/tuple [16, 19] + - !!python/tuple [16, 9] + - !!python/tuple [11, 23] + - !!python/tuple [24, 16] + - !!python/tuple [1, 12] + - !!python/tuple [26, 23] + - !!python/tuple [19, 8] + - !!python/tuple [15, 15] + - !!python/tuple [23, 23] + - !!python/tuple [22, 12] + - !!python/tuple [25, 16] + - !!python/tuple [18, 11] + - !!python/tuple [11, 12] + - !!python/tuple [19, 15] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex51.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex51.yaml new file mode 100644 index 0000000..75f79f8 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex51.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [3, 23] + name: agent0 + start: [9, 26] +- goal: [10, 28] + name: agent1 + start: [9, 3] +- goal: [17, 28] + name: agent2 + start: [16, 10] +- goal: [1, 14] + name: agent3 + start: [26, 29] +- goal: [14, 6] + name: agent4 + start: [9, 7] +- goal: [12, 21] + name: agent5 + start: [10, 30] +- goal: [31, 27] + name: agent6 + start: [7, 0] +- goal: [15, 18] + name: agent7 + start: [12, 21] +- goal: [24, 4] + name: agent8 + start: [22, 8] +- goal: [4, 25] + name: agent9 + start: [22, 6] +- goal: [13, 31] + name: agent10 + start: [29, 30] +- goal: [20, 19] + name: agent11 + start: [28, 11] +- goal: [8, 16] + name: agent12 + start: [4, 11] +- goal: [29, 21] + name: agent13 + start: [12, 5] +- goal: [17, 25] + name: agent14 + start: [23, 17] +- goal: [21, 21] + name: agent15 + start: [0, 26] +- goal: [12, 15] + name: agent16 + start: [5, 9] +- goal: [24, 18] + name: agent17 + start: [27, 22] +- goal: [12, 1] + name: agent18 + start: [22, 23] +- goal: [26, 23] + name: agent19 + start: [12, 20] +- goal: [31, 1] + name: agent20 + start: [8, 8] +- goal: [22, 7] + name: agent21 + start: [19, 11] +- goal: [23, 31] + name: agent22 + start: [4, 25] +- goal: [5, 29] + name: agent23 + start: [29, 6] +- goal: [24, 28] + name: agent24 + start: [5, 30] +- goal: [28, 14] + name: agent25 + start: [4, 16] +- goal: [27, 19] + name: agent26 + start: [19, 19] +- goal: [27, 29] + name: agent27 + start: [14, 7] +- goal: [21, 2] + name: agent28 + start: [5, 25] +- goal: [24, 7] + name: agent29 + start: [21, 8] +- goal: [4, 8] + name: agent30 + start: [20, 22] +- goal: [0, 27] + name: agent31 + start: [4, 5] +- goal: [16, 29] + name: agent32 + start: [31, 17] +- goal: [19, 15] + name: agent33 + start: [18, 8] +- goal: [9, 28] + name: agent34 + start: [2, 8] +- goal: [19, 6] + name: agent35 + start: [0, 4] +- goal: [30, 21] + name: agent36 + start: [5, 20] +- goal: [2, 2] + name: agent37 + start: [20, 14] +- goal: [7, 22] + name: agent38 + start: [15, 26] +- goal: [6, 2] + name: agent39 + start: [27, 25] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [2, 17] + - !!python/tuple [30, 4] + - !!python/tuple [9, 16] + - !!python/tuple [9, 31] + - !!python/tuple [26, 12] + - !!python/tuple [10, 4] + - !!python/tuple [15, 25] + - !!python/tuple [30, 10] + - !!python/tuple [26, 22] + - !!python/tuple [0, 30] + - !!python/tuple [23, 11] + - !!python/tuple [26, 17] + - !!python/tuple [19, 18] + - !!python/tuple [11, 14] + - !!python/tuple [3, 5] + - !!python/tuple [19, 31] + - !!python/tuple [28, 2] + - !!python/tuple [30, 0] + - !!python/tuple [4, 27] + - !!python/tuple [2, 31] + - !!python/tuple [5, 18] + - !!python/tuple [20, 18] + - !!python/tuple [11, 11] + - !!python/tuple [30, 16] + - !!python/tuple [10, 24] + - !!python/tuple [2, 27] + - !!python/tuple [30, 12] + - !!python/tuple [17, 16] + - !!python/tuple [21, 31] + - !!python/tuple [19, 20] + - !!python/tuple [19, 17] + - !!python/tuple [7, 18] + - !!python/tuple [12, 2] + - !!python/tuple [24, 3] + - !!python/tuple [22, 30] + - !!python/tuple [0, 20] + - !!python/tuple [2, 5] + - !!python/tuple [15, 31] + - !!python/tuple [10, 31] + - !!python/tuple [25, 29] + - !!python/tuple [12, 19] + - !!python/tuple [20, 11] + - !!python/tuple [3, 12] + - !!python/tuple [9, 0] + - !!python/tuple [29, 13] + - !!python/tuple [27, 0] + - !!python/tuple [23, 14] + - !!python/tuple [9, 14] + - !!python/tuple [2, 30] + - !!python/tuple [26, 24] + - !!python/tuple [22, 10] + - !!python/tuple [15, 20] + - !!python/tuple [3, 18] + - !!python/tuple [6, 5] + - !!python/tuple [1, 21] + - !!python/tuple [11, 1] + - !!python/tuple [22, 16] + - !!python/tuple [10, 20] + - !!python/tuple [13, 15] + - !!python/tuple [27, 21] + - !!python/tuple [1, 22] + - !!python/tuple [1, 24] + - !!python/tuple [16, 15] + - !!python/tuple [28, 31] + - !!python/tuple [9, 23] + - !!python/tuple [2, 23] + - !!python/tuple [23, 5] + - !!python/tuple [6, 15] + - !!python/tuple [25, 16] + - !!python/tuple [3, 24] + - !!python/tuple [8, 5] + - !!python/tuple [10, 25] + - !!python/tuple [8, 7] + - !!python/tuple [13, 10] + - !!python/tuple [20, 29] + - !!python/tuple [16, 3] + - !!python/tuple [2, 6] + - !!python/tuple [3, 10] + - !!python/tuple [1, 6] + - !!python/tuple [21, 24] + - !!python/tuple [22, 11] + - !!python/tuple [17, 2] + - !!python/tuple [24, 15] + - !!python/tuple [23, 10] + - !!python/tuple [0, 8] + - !!python/tuple [27, 5] + - !!python/tuple [7, 20] + - !!python/tuple [2, 4] + - !!python/tuple [12, 11] + - !!python/tuple [21, 7] + - !!python/tuple [25, 21] + - !!python/tuple [5, 3] + - !!python/tuple [9, 15] + - !!python/tuple [17, 31] + - !!python/tuple [28, 5] + - !!python/tuple [4, 26] + - !!python/tuple [14, 18] + - !!python/tuple [4, 12] + - !!python/tuple [19, 24] + - !!python/tuple [9, 19] + - !!python/tuple [12, 13] + - !!python/tuple [6, 21] + - !!python/tuple [8, 18] + - !!python/tuple [11, 27] + - !!python/tuple [6, 20] + - !!python/tuple [7, 30] + - !!python/tuple [25, 22] + - !!python/tuple [17, 17] + - !!python/tuple [20, 21] + - !!python/tuple [3, 6] + - !!python/tuple [21, 14] + - !!python/tuple [31, 3] + - !!python/tuple [30, 13] + - !!python/tuple [12, 8] + - !!python/tuple [26, 16] + - !!python/tuple [22, 1] + - !!python/tuple [6, 3] + - !!python/tuple [26, 0] + - !!python/tuple [11, 19] + - !!python/tuple [4, 4] + - !!python/tuple [27, 12] + - !!python/tuple [4, 29] + - !!python/tuple [8, 3] + - !!python/tuple [28, 20] + - !!python/tuple [13, 27] + - !!python/tuple [8, 4] + - !!python/tuple [10, 6] + - !!python/tuple [18, 16] + - !!python/tuple [25, 12] + - !!python/tuple [20, 31] + - !!python/tuple [15, 10] + - !!python/tuple [7, 8] + - !!python/tuple [22, 31] + - !!python/tuple [1, 1] + - !!python/tuple [29, 19] + - !!python/tuple [3, 25] + - !!python/tuple [5, 10] + - !!python/tuple [17, 12] + - !!python/tuple [3, 2] + - !!python/tuple [11, 5] + - !!python/tuple [28, 24] + - !!python/tuple [22, 27] + - !!python/tuple [11, 30] + - !!python/tuple [6, 4] + - !!python/tuple [5, 24] + - !!python/tuple [20, 24] + - !!python/tuple [11, 29] + - !!python/tuple [19, 25] + - !!python/tuple [22, 26] + - !!python/tuple [1, 19] + - !!python/tuple [21, 11] + - !!python/tuple [12, 28] + - !!python/tuple [8, 15] + - !!python/tuple [15, 13] + - !!python/tuple [22, 28] + - !!python/tuple [22, 25] + - !!python/tuple [6, 10] + - !!python/tuple [3, 16] + - !!python/tuple [4, 7] + - !!python/tuple [7, 3] + - !!python/tuple [13, 24] + - !!python/tuple [8, 11] + - !!python/tuple [11, 0] + - !!python/tuple [1, 16] + - !!python/tuple [1, 20] + - !!python/tuple [4, 31] + - !!python/tuple [26, 15] + - !!python/tuple [24, 1] + - !!python/tuple [11, 28] + - !!python/tuple [28, 16] + - !!python/tuple [11, 23] + - !!python/tuple [1, 8] + - !!python/tuple [27, 4] + - !!python/tuple [17, 6] + - !!python/tuple [15, 4] + - !!python/tuple [21, 0] + - !!python/tuple [24, 17] + - !!python/tuple [15, 6] + - !!python/tuple [28, 3] + - !!python/tuple [29, 10] + - !!python/tuple [6, 27] + - !!python/tuple [10, 3] + - !!python/tuple [9, 25] + - !!python/tuple [23, 13] + - !!python/tuple [11, 25] + - !!python/tuple [13, 19] + - !!python/tuple [4, 21] + - !!python/tuple [15, 2] + - !!python/tuple [8, 28] + - !!python/tuple [2, 3] + - !!python/tuple [7, 19] + - !!python/tuple [8, 14] + - !!python/tuple [20, 20] + - !!python/tuple [16, 7] + - !!python/tuple [9, 27] + - !!python/tuple [7, 24] + - !!python/tuple [14, 15] + - !!python/tuple [5, 23] + - !!python/tuple [5, 31] + - !!python/tuple [18, 7] + - !!python/tuple [3, 22] + - !!python/tuple [15, 3] + - !!python/tuple [26, 20] + - !!python/tuple [23, 25] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex52.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex52.yaml new file mode 100644 index 0000000..b2097da --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex52.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [13, 3] + name: agent0 + start: [22, 27] +- goal: [17, 4] + name: agent1 + start: [28, 6] +- goal: [3, 1] + name: agent2 + start: [31, 23] +- goal: [1, 17] + name: agent3 + start: [10, 19] +- goal: [9, 4] + name: agent4 + start: [14, 2] +- goal: [1, 29] + name: agent5 + start: [6, 24] +- goal: [26, 12] + name: agent6 + start: [9, 10] +- goal: [30, 29] + name: agent7 + start: [28, 31] +- goal: [20, 6] + name: agent8 + start: [16, 27] +- goal: [7, 14] + name: agent9 + start: [6, 1] +- goal: [11, 21] + name: agent10 + start: [5, 26] +- goal: [18, 22] + name: agent11 + start: [7, 13] +- goal: [5, 3] + name: agent12 + start: [26, 15] +- goal: [8, 11] + name: agent13 + start: [29, 18] +- goal: [20, 8] + name: agent14 + start: [9, 0] +- goal: [23, 9] + name: agent15 + start: [31, 21] +- goal: [9, 18] + name: agent16 + start: [17, 30] +- goal: [28, 19] + name: agent17 + start: [4, 14] +- goal: [0, 5] + name: agent18 + start: [26, 19] +- goal: [14, 18] + name: agent19 + start: [18, 24] +- goal: [14, 15] + name: agent20 + start: [1, 5] +- goal: [28, 25] + name: agent21 + start: [26, 7] +- goal: [19, 21] + name: agent22 + start: [26, 14] +- goal: [7, 28] + name: agent23 + start: [25, 3] +- goal: [13, 24] + name: agent24 + start: [20, 31] +- goal: [14, 10] + name: agent25 + start: [8, 0] +- goal: [18, 24] + name: agent26 + start: [30, 19] +- goal: [4, 1] + name: agent27 + start: [5, 9] +- goal: [25, 6] + name: agent28 + start: [9, 28] +- goal: [28, 26] + name: agent29 + start: [10, 9] +- goal: [13, 20] + name: agent30 + start: [2, 18] +- goal: [10, 22] + name: agent31 + start: [9, 11] +- goal: [30, 28] + name: agent32 + start: [8, 31] +- goal: [12, 15] + name: agent33 + start: [30, 3] +- goal: [30, 16] + name: agent34 + start: [30, 9] +- goal: [27, 21] + name: agent35 + start: [2, 23] +- goal: [30, 19] + name: agent36 + start: [15, 18] +- goal: [1, 3] + name: agent37 + start: [8, 17] +- goal: [11, 31] + name: agent38 + start: [19, 15] +- goal: [21, 26] + name: agent39 + start: [12, 8] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [15, 22] + - !!python/tuple [21, 11] + - !!python/tuple [16, 18] + - !!python/tuple [31, 25] + - !!python/tuple [12, 11] + - !!python/tuple [25, 18] + - !!python/tuple [23, 13] + - !!python/tuple [29, 14] + - !!python/tuple [28, 28] + - !!python/tuple [31, 11] + - !!python/tuple [27, 0] + - !!python/tuple [5, 7] + - !!python/tuple [10, 5] + - !!python/tuple [12, 25] + - !!python/tuple [21, 10] + - !!python/tuple [28, 2] + - !!python/tuple [7, 27] + - !!python/tuple [21, 29] + - !!python/tuple [31, 22] + - !!python/tuple [28, 9] + - !!python/tuple [11, 9] + - !!python/tuple [10, 28] + - !!python/tuple [25, 19] + - !!python/tuple [18, 9] + - !!python/tuple [27, 1] + - !!python/tuple [6, 16] + - !!python/tuple [3, 19] + - !!python/tuple [27, 24] + - !!python/tuple [7, 21] + - !!python/tuple [16, 15] + - !!python/tuple [23, 10] + - !!python/tuple [8, 14] + - !!python/tuple [17, 1] + - !!python/tuple [13, 16] + - !!python/tuple [5, 2] + - !!python/tuple [3, 16] + - !!python/tuple [25, 26] + - !!python/tuple [17, 22] + - !!python/tuple [15, 31] + - !!python/tuple [31, 3] + - !!python/tuple [17, 29] + - !!python/tuple [27, 28] + - !!python/tuple [21, 20] + - !!python/tuple [26, 29] + - !!python/tuple [26, 25] + - !!python/tuple [2, 3] + - !!python/tuple [22, 15] + - !!python/tuple [24, 2] + - !!python/tuple [21, 13] + - !!python/tuple [26, 4] + - !!python/tuple [5, 17] + - !!python/tuple [9, 6] + - !!python/tuple [6, 2] + - !!python/tuple [4, 17] + - !!python/tuple [24, 21] + - !!python/tuple [24, 12] + - !!python/tuple [2, 15] + - !!python/tuple [30, 22] + - !!python/tuple [1, 28] + - !!python/tuple [13, 31] + - !!python/tuple [20, 28] + - !!python/tuple [15, 26] + - !!python/tuple [0, 8] + - !!python/tuple [16, 19] + - !!python/tuple [4, 25] + - !!python/tuple [12, 22] + - !!python/tuple [1, 31] + - !!python/tuple [4, 3] + - !!python/tuple [27, 15] + - !!python/tuple [12, 28] + - !!python/tuple [29, 31] + - !!python/tuple [28, 30] + - !!python/tuple [7, 24] + - !!python/tuple [13, 8] + - !!python/tuple [12, 24] + - !!python/tuple [21, 3] + - !!python/tuple [5, 24] + - !!python/tuple [13, 19] + - !!python/tuple [4, 24] + - !!python/tuple [18, 25] + - !!python/tuple [27, 8] + - !!python/tuple [25, 15] + - !!python/tuple [9, 29] + - !!python/tuple [20, 21] + - !!python/tuple [15, 20] + - !!python/tuple [22, 18] + - !!python/tuple [25, 7] + - !!python/tuple [26, 10] + - !!python/tuple [20, 27] + - !!python/tuple [26, 13] + - !!python/tuple [0, 26] + - !!python/tuple [9, 5] + - !!python/tuple [0, 15] + - !!python/tuple [28, 20] + - !!python/tuple [18, 10] + - !!python/tuple [2, 22] + - !!python/tuple [18, 19] + - !!python/tuple [22, 26] + - !!python/tuple [18, 14] + - !!python/tuple [16, 2] + - !!python/tuple [11, 2] + - !!python/tuple [7, 20] + - !!python/tuple [7, 12] + - !!python/tuple [25, 31] + - !!python/tuple [6, 11] + - !!python/tuple [1, 11] + - !!python/tuple [17, 18] + - !!python/tuple [5, 30] + - !!python/tuple [13, 15] + - !!python/tuple [22, 11] + - !!python/tuple [20, 0] + - !!python/tuple [0, 13] + - !!python/tuple [7, 31] + - !!python/tuple [27, 30] + - !!python/tuple [4, 13] + - !!python/tuple [17, 20] + - !!python/tuple [3, 31] + - !!python/tuple [24, 31] + - !!python/tuple [25, 8] + - !!python/tuple [21, 17] + - !!python/tuple [2, 4] + - !!python/tuple [31, 6] + - !!python/tuple [7, 7] + - !!python/tuple [21, 30] + - !!python/tuple [5, 22] + - !!python/tuple [3, 13] + - !!python/tuple [0, 3] + - !!python/tuple [12, 23] + - !!python/tuple [11, 8] + - !!python/tuple [23, 1] + - !!python/tuple [5, 29] + - !!python/tuple [1, 4] + - !!python/tuple [31, 31] + - !!python/tuple [27, 23] + - !!python/tuple [12, 31] + - !!python/tuple [4, 21] + - !!python/tuple [13, 29] + - !!python/tuple [10, 0] + - !!python/tuple [12, 10] + - !!python/tuple [14, 23] + - !!python/tuple [5, 12] + - !!python/tuple [14, 17] + - !!python/tuple [18, 23] + - !!python/tuple [29, 4] + - !!python/tuple [0, 29] + - !!python/tuple [16, 3] + - !!python/tuple [18, 28] + - !!python/tuple [4, 11] + - !!python/tuple [24, 15] + - !!python/tuple [25, 14] + - !!python/tuple [23, 19] + - !!python/tuple [25, 13] + - !!python/tuple [24, 3] + - !!python/tuple [22, 16] + - !!python/tuple [11, 5] + - !!python/tuple [15, 2] + - !!python/tuple [15, 9] + - !!python/tuple [7, 2] + - !!python/tuple [3, 29] + - !!python/tuple [5, 23] + - !!python/tuple [28, 1] + - !!python/tuple [13, 6] + - !!python/tuple [19, 24] + - !!python/tuple [4, 8] + - !!python/tuple [5, 1] + - !!python/tuple [27, 12] + - !!python/tuple [18, 26] + - !!python/tuple [10, 20] + - !!python/tuple [9, 30] + - !!python/tuple [6, 3] + - !!python/tuple [22, 4] + - !!python/tuple [10, 2] + - !!python/tuple [23, 6] + - !!python/tuple [11, 3] + - !!python/tuple [14, 3] + - !!python/tuple [21, 2] + - !!python/tuple [0, 25] + - !!python/tuple [9, 9] + - !!python/tuple [31, 8] + - !!python/tuple [19, 23] + - !!python/tuple [7, 5] + - !!python/tuple [20, 10] + - !!python/tuple [18, 0] + - !!python/tuple [3, 26] + - !!python/tuple [6, 4] + - !!python/tuple [9, 19] + - !!python/tuple [7, 15] + - !!python/tuple [11, 12] + - !!python/tuple [11, 25] + - !!python/tuple [1, 23] + - !!python/tuple [18, 30] + - !!python/tuple [9, 8] + - !!python/tuple [17, 17] + - !!python/tuple [3, 12] + - !!python/tuple [1, 25] + - !!python/tuple [15, 13] + - !!python/tuple [1, 30] + - !!python/tuple [31, 10] + - !!python/tuple [26, 9] + - !!python/tuple [7, 6] + - !!python/tuple [13, 4] + - !!python/tuple [30, 17] + - !!python/tuple [14, 31] + - !!python/tuple [9, 12] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex53.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex53.yaml new file mode 100644 index 0000000..c8bae13 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex53.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [4, 8] + name: agent0 + start: [24, 24] +- goal: [19, 14] + name: agent1 + start: [7, 2] +- goal: [27, 12] + name: agent2 + start: [13, 19] +- goal: [30, 9] + name: agent3 + start: [2, 24] +- goal: [26, 30] + name: agent4 + start: [3, 30] +- goal: [20, 9] + name: agent5 + start: [14, 2] +- goal: [21, 25] + name: agent6 + start: [30, 3] +- goal: [31, 1] + name: agent7 + start: [25, 19] +- goal: [28, 17] + name: agent8 + start: [23, 20] +- goal: [14, 5] + name: agent9 + start: [0, 16] +- goal: [1, 28] + name: agent10 + start: [0, 12] +- goal: [14, 19] + name: agent11 + start: [21, 23] +- goal: [25, 20] + name: agent12 + start: [18, 14] +- goal: [17, 26] + name: agent13 + start: [28, 24] +- goal: [16, 23] + name: agent14 + start: [23, 27] +- goal: [3, 0] + name: agent15 + start: [6, 4] +- goal: [10, 6] + name: agent16 + start: [1, 29] +- goal: [29, 24] + name: agent17 + start: [17, 26] +- goal: [31, 17] + name: agent18 + start: [27, 24] +- goal: [2, 0] + name: agent19 + start: [15, 17] +- goal: [25, 23] + name: agent20 + start: [30, 20] +- goal: [11, 23] + name: agent21 + start: [18, 28] +- goal: [8, 14] + name: agent22 + start: [27, 0] +- goal: [17, 10] + name: agent23 + start: [23, 25] +- goal: [19, 3] + name: agent24 + start: [22, 5] +- goal: [28, 18] + name: agent25 + start: [20, 15] +- goal: [15, 0] + name: agent26 + start: [0, 0] +- goal: [23, 29] + name: agent27 + start: [11, 5] +- goal: [26, 10] + name: agent28 + start: [27, 12] +- goal: [30, 7] + name: agent29 + start: [12, 26] +- goal: [25, 8] + name: agent30 + start: [20, 13] +- goal: [23, 10] + name: agent31 + start: [23, 6] +- goal: [22, 16] + name: agent32 + start: [8, 14] +- goal: [0, 9] + name: agent33 + start: [17, 27] +- goal: [13, 30] + name: agent34 + start: [22, 31] +- goal: [23, 25] + name: agent35 + start: [5, 11] +- goal: [8, 8] + name: agent36 + start: [19, 13] +- goal: [8, 1] + name: agent37 + start: [15, 6] +- goal: [5, 27] + name: agent38 + start: [8, 29] +- goal: [0, 27] + name: agent39 + start: [20, 30] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [9, 28] + - !!python/tuple [18, 23] + - !!python/tuple [4, 25] + - !!python/tuple [27, 26] + - !!python/tuple [29, 4] + - !!python/tuple [7, 28] + - !!python/tuple [19, 30] + - !!python/tuple [28, 4] + - !!python/tuple [1, 10] + - !!python/tuple [22, 23] + - !!python/tuple [1, 15] + - !!python/tuple [14, 22] + - !!python/tuple [21, 19] + - !!python/tuple [15, 26] + - !!python/tuple [27, 2] + - !!python/tuple [24, 20] + - !!python/tuple [19, 17] + - !!python/tuple [24, 5] + - !!python/tuple [5, 31] + - !!python/tuple [15, 8] + - !!python/tuple [9, 5] + - !!python/tuple [15, 30] + - !!python/tuple [5, 12] + - !!python/tuple [30, 13] + - !!python/tuple [5, 9] + - !!python/tuple [2, 19] + - !!python/tuple [29, 29] + - !!python/tuple [14, 3] + - !!python/tuple [17, 9] + - !!python/tuple [23, 21] + - !!python/tuple [0, 28] + - !!python/tuple [31, 7] + - !!python/tuple [11, 27] + - !!python/tuple [10, 30] + - !!python/tuple [16, 22] + - !!python/tuple [24, 9] + - !!python/tuple [29, 21] + - !!python/tuple [26, 29] + - !!python/tuple [26, 1] + - !!python/tuple [8, 11] + - !!python/tuple [15, 3] + - !!python/tuple [10, 19] + - !!python/tuple [19, 2] + - !!python/tuple [12, 13] + - !!python/tuple [6, 19] + - !!python/tuple [24, 10] + - !!python/tuple [22, 8] + - !!python/tuple [24, 16] + - !!python/tuple [5, 3] + - !!python/tuple [24, 30] + - !!python/tuple [21, 28] + - !!python/tuple [2, 23] + - !!python/tuple [16, 18] + - !!python/tuple [19, 0] + - !!python/tuple [19, 4] + - !!python/tuple [11, 7] + - !!python/tuple [28, 29] + - !!python/tuple [30, 29] + - !!python/tuple [14, 10] + - !!python/tuple [5, 26] + - !!python/tuple [20, 16] + - !!python/tuple [23, 13] + - !!python/tuple [15, 11] + - !!python/tuple [13, 15] + - !!python/tuple [10, 13] + - !!python/tuple [24, 31] + - !!python/tuple [4, 0] + - !!python/tuple [22, 12] + - !!python/tuple [20, 4] + - !!python/tuple [11, 4] + - !!python/tuple [2, 12] + - !!python/tuple [8, 5] + - !!python/tuple [9, 3] + - !!python/tuple [2, 22] + - !!python/tuple [13, 6] + - !!python/tuple [30, 23] + - !!python/tuple [3, 26] + - !!python/tuple [16, 13] + - !!python/tuple [11, 30] + - !!python/tuple [11, 3] + - !!python/tuple [9, 15] + - !!python/tuple [8, 22] + - !!python/tuple [29, 6] + - !!python/tuple [13, 25] + - !!python/tuple [17, 22] + - !!python/tuple [31, 29] + - !!python/tuple [3, 12] + - !!python/tuple [9, 30] + - !!python/tuple [11, 9] + - !!python/tuple [12, 31] + - !!python/tuple [11, 12] + - !!python/tuple [25, 10] + - !!python/tuple [7, 14] + - !!python/tuple [8, 17] + - !!python/tuple [22, 2] + - !!python/tuple [17, 29] + - !!python/tuple [3, 6] + - !!python/tuple [15, 19] + - !!python/tuple [28, 15] + - !!python/tuple [31, 16] + - !!python/tuple [13, 17] + - !!python/tuple [0, 25] + - !!python/tuple [19, 16] + - !!python/tuple [9, 26] + - !!python/tuple [30, 11] + - !!python/tuple [19, 23] + - !!python/tuple [23, 18] + - !!python/tuple [12, 25] + - !!python/tuple [25, 1] + - !!python/tuple [27, 8] + - !!python/tuple [15, 2] + - !!python/tuple [13, 14] + - !!python/tuple [17, 19] + - !!python/tuple [21, 2] + - !!python/tuple [23, 26] + - !!python/tuple [2, 4] + - !!python/tuple [10, 2] + - !!python/tuple [12, 21] + - !!python/tuple [24, 2] + - !!python/tuple [27, 5] + - !!python/tuple [14, 16] + - !!python/tuple [15, 16] + - !!python/tuple [1, 18] + - !!python/tuple [19, 7] + - !!python/tuple [3, 18] + - !!python/tuple [9, 8] + - !!python/tuple [5, 6] + - !!python/tuple [11, 29] + - !!python/tuple [16, 12] + - !!python/tuple [28, 21] + - !!python/tuple [26, 20] + - !!python/tuple [9, 18] + - !!python/tuple [15, 15] + - !!python/tuple [5, 13] + - !!python/tuple [9, 14] + - !!python/tuple [31, 12] + - !!python/tuple [4, 26] + - !!python/tuple [3, 23] + - !!python/tuple [25, 26] + - !!python/tuple [18, 4] + - !!python/tuple [12, 29] + - !!python/tuple [9, 22] + - !!python/tuple [5, 1] + - !!python/tuple [4, 17] + - !!python/tuple [15, 9] + - !!python/tuple [10, 27] + - !!python/tuple [30, 21] + - !!python/tuple [3, 22] + - !!python/tuple [9, 16] + - !!python/tuple [13, 20] + - !!python/tuple [14, 7] + - !!python/tuple [5, 14] + - !!python/tuple [12, 8] + - !!python/tuple [9, 6] + - !!python/tuple [0, 30] + - !!python/tuple [31, 25] + - !!python/tuple [31, 13] + - !!python/tuple [10, 17] + - !!python/tuple [15, 14] + - !!python/tuple [26, 6] + - !!python/tuple [2, 16] + - !!python/tuple [22, 21] + - !!python/tuple [8, 0] + - !!python/tuple [20, 27] + - !!python/tuple [16, 27] + - !!python/tuple [3, 19] + - !!python/tuple [4, 22] + - !!python/tuple [29, 11] + - !!python/tuple [8, 13] + - !!python/tuple [27, 1] + - !!python/tuple [6, 7] + - !!python/tuple [11, 17] + - !!python/tuple [19, 6] + - !!python/tuple [0, 19] + - !!python/tuple [15, 18] + - !!python/tuple [22, 19] + - !!python/tuple [29, 9] + - !!python/tuple [8, 16] + - !!python/tuple [29, 1] + - !!python/tuple [22, 0] + - !!python/tuple [30, 15] + - !!python/tuple [22, 26] + - !!python/tuple [9, 0] + - !!python/tuple [18, 6] + - !!python/tuple [7, 26] + - !!python/tuple [4, 9] + - !!python/tuple [31, 2] + - !!python/tuple [19, 24] + - !!python/tuple [10, 24] + - !!python/tuple [14, 30] + - !!python/tuple [13, 9] + - !!python/tuple [30, 5] + - !!python/tuple [17, 12] + - !!python/tuple [12, 15] + - !!python/tuple [27, 4] + - !!python/tuple [29, 8] + - !!python/tuple [0, 8] + - !!python/tuple [2, 28] + - !!python/tuple [10, 3] + - !!python/tuple [24, 19] + - !!python/tuple [21, 6] + - !!python/tuple [31, 27] + - !!python/tuple [22, 13] + - !!python/tuple [7, 11] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex54.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex54.yaml new file mode 100644 index 0000000..11474a7 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex54.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [26, 17] + name: agent0 + start: [16, 19] +- goal: [29, 23] + name: agent1 + start: [18, 15] +- goal: [7, 5] + name: agent2 + start: [13, 25] +- goal: [11, 15] + name: agent3 + start: [8, 11] +- goal: [28, 18] + name: agent4 + start: [23, 6] +- goal: [22, 2] + name: agent5 + start: [12, 6] +- goal: [19, 17] + name: agent6 + start: [22, 23] +- goal: [9, 1] + name: agent7 + start: [13, 13] +- goal: [23, 29] + name: agent8 + start: [24, 30] +- goal: [14, 21] + name: agent9 + start: [21, 21] +- goal: [12, 14] + name: agent10 + start: [26, 29] +- goal: [10, 21] + name: agent11 + start: [2, 25] +- goal: [26, 24] + name: agent12 + start: [14, 26] +- goal: [4, 2] + name: agent13 + start: [26, 13] +- goal: [10, 9] + name: agent14 + start: [20, 25] +- goal: [13, 7] + name: agent15 + start: [21, 27] +- goal: [16, 22] + name: agent16 + start: [26, 0] +- goal: [5, 19] + name: agent17 + start: [31, 7] +- goal: [24, 2] + name: agent18 + start: [18, 31] +- goal: [18, 7] + name: agent19 + start: [0, 0] +- goal: [7, 23] + name: agent20 + start: [26, 25] +- goal: [16, 31] + name: agent21 + start: [23, 1] +- goal: [29, 9] + name: agent22 + start: [10, 30] +- goal: [1, 26] + name: agent23 + start: [9, 28] +- goal: [24, 22] + name: agent24 + start: [3, 13] +- goal: [1, 7] + name: agent25 + start: [8, 3] +- goal: [19, 12] + name: agent26 + start: [15, 6] +- goal: [15, 24] + name: agent27 + start: [7, 28] +- goal: [7, 19] + name: agent28 + start: [15, 16] +- goal: [24, 28] + name: agent29 + start: [14, 21] +- goal: [28, 22] + name: agent30 + start: [2, 10] +- goal: [16, 24] + name: agent31 + start: [15, 24] +- goal: [20, 18] + name: agent32 + start: [11, 20] +- goal: [8, 19] + name: agent33 + start: [31, 21] +- goal: [18, 26] + name: agent34 + start: [3, 21] +- goal: [29, 26] + name: agent35 + start: [2, 17] +- goal: [18, 24] + name: agent36 + start: [4, 22] +- goal: [3, 19] + name: agent37 + start: [4, 23] +- goal: [0, 27] + name: agent38 + start: [27, 11] +- goal: [11, 2] + name: agent39 + start: [22, 27] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [7, 16] + - !!python/tuple [14, 25] + - !!python/tuple [30, 17] + - !!python/tuple [20, 14] + - !!python/tuple [14, 8] + - !!python/tuple [4, 24] + - !!python/tuple [0, 30] + - !!python/tuple [21, 10] + - !!python/tuple [25, 8] + - !!python/tuple [31, 11] + - !!python/tuple [13, 28] + - !!python/tuple [12, 17] + - !!python/tuple [24, 17] + - !!python/tuple [22, 30] + - !!python/tuple [13, 6] + - !!python/tuple [1, 5] + - !!python/tuple [1, 30] + - !!python/tuple [12, 11] + - !!python/tuple [3, 23] + - !!python/tuple [21, 14] + - !!python/tuple [22, 9] + - !!python/tuple [13, 27] + - !!python/tuple [26, 8] + - !!python/tuple [16, 2] + - !!python/tuple [16, 26] + - !!python/tuple [26, 30] + - !!python/tuple [30, 8] + - !!python/tuple [8, 28] + - !!python/tuple [0, 4] + - !!python/tuple [14, 23] + - !!python/tuple [28, 31] + - !!python/tuple [3, 12] + - !!python/tuple [13, 20] + - !!python/tuple [25, 17] + - !!python/tuple [8, 26] + - !!python/tuple [14, 12] + - !!python/tuple [16, 20] + - !!python/tuple [13, 19] + - !!python/tuple [14, 29] + - !!python/tuple [23, 8] + - !!python/tuple [19, 3] + - !!python/tuple [14, 6] + - !!python/tuple [19, 26] + - !!python/tuple [7, 12] + - !!python/tuple [2, 14] + - !!python/tuple [19, 25] + - !!python/tuple [5, 30] + - !!python/tuple [31, 5] + - !!python/tuple [16, 23] + - !!python/tuple [5, 8] + - !!python/tuple [4, 1] + - !!python/tuple [18, 19] + - !!python/tuple [24, 12] + - !!python/tuple [7, 18] + - !!python/tuple [10, 14] + - !!python/tuple [27, 22] + - !!python/tuple [19, 13] + - !!python/tuple [24, 3] + - !!python/tuple [14, 30] + - !!python/tuple [31, 29] + - !!python/tuple [31, 0] + - !!python/tuple [6, 20] + - !!python/tuple [4, 9] + - !!python/tuple [5, 2] + - !!python/tuple [29, 31] + - !!python/tuple [18, 29] + - !!python/tuple [2, 31] + - !!python/tuple [2, 30] + - !!python/tuple [6, 12] + - !!python/tuple [29, 27] + - !!python/tuple [11, 19] + - !!python/tuple [26, 4] + - !!python/tuple [9, 16] + - !!python/tuple [14, 24] + - !!python/tuple [8, 29] + - !!python/tuple [18, 18] + - !!python/tuple [28, 16] + - !!python/tuple [19, 18] + - !!python/tuple [30, 15] + - !!python/tuple [24, 31] + - !!python/tuple [8, 27] + - !!python/tuple [11, 21] + - !!python/tuple [11, 4] + - !!python/tuple [3, 29] + - !!python/tuple [0, 5] + - !!python/tuple [27, 21] + - !!python/tuple [7, 26] + - !!python/tuple [11, 28] + - !!python/tuple [19, 30] + - !!python/tuple [25, 11] + - !!python/tuple [22, 11] + - !!python/tuple [12, 1] + - !!python/tuple [26, 2] + - !!python/tuple [10, 23] + - !!python/tuple [28, 30] + - !!python/tuple [5, 17] + - !!python/tuple [21, 8] + - !!python/tuple [10, 28] + - !!python/tuple [1, 21] + - !!python/tuple [18, 2] + - !!python/tuple [23, 13] + - !!python/tuple [4, 10] + - !!python/tuple [22, 17] + - !!python/tuple [3, 5] + - !!python/tuple [28, 23] + - !!python/tuple [21, 3] + - !!python/tuple [17, 30] + - !!python/tuple [22, 21] + - !!python/tuple [8, 31] + - !!python/tuple [2, 11] + - !!python/tuple [22, 29] + - !!python/tuple [0, 6] + - !!python/tuple [3, 27] + - !!python/tuple [31, 8] + - !!python/tuple [28, 25] + - !!python/tuple [31, 27] + - !!python/tuple [23, 19] + - !!python/tuple [18, 11] + - !!python/tuple [9, 17] + - !!python/tuple [13, 4] + - !!python/tuple [20, 12] + - !!python/tuple [6, 8] + - !!python/tuple [13, 31] + - !!python/tuple [4, 6] + - !!python/tuple [26, 18] + - !!python/tuple [14, 15] + - !!python/tuple [15, 10] + - !!python/tuple [7, 6] + - !!python/tuple [28, 1] + - !!python/tuple [24, 14] + - !!python/tuple [26, 19] + - !!python/tuple [26, 7] + - !!python/tuple [14, 19] + - !!python/tuple [31, 31] + - !!python/tuple [3, 3] + - !!python/tuple [16, 6] + - !!python/tuple [31, 22] + - !!python/tuple [24, 11] + - !!python/tuple [30, 18] + - !!python/tuple [23, 21] + - !!python/tuple [27, 30] + - !!python/tuple [31, 25] + - !!python/tuple [9, 24] + - !!python/tuple [10, 20] + - !!python/tuple [14, 13] + - !!python/tuple [6, 31] + - !!python/tuple [3, 25] + - !!python/tuple [25, 14] + - !!python/tuple [16, 21] + - !!python/tuple [9, 10] + - !!python/tuple [29, 19] + - !!python/tuple [16, 8] + - !!python/tuple [22, 1] + - !!python/tuple [14, 22] + - !!python/tuple [23, 26] + - !!python/tuple [6, 13] + - !!python/tuple [9, 13] + - !!python/tuple [5, 12] + - !!python/tuple [13, 23] + - !!python/tuple [16, 10] + - !!python/tuple [31, 19] + - !!python/tuple [2, 12] + - !!python/tuple [31, 17] + - !!python/tuple [2, 29] + - !!python/tuple [17, 0] + - !!python/tuple [9, 12] + - !!python/tuple [3, 31] + - !!python/tuple [20, 30] + - !!python/tuple [0, 22] + - !!python/tuple [6, 22] + - !!python/tuple [12, 5] + - !!python/tuple [5, 11] + - !!python/tuple [16, 16] + - !!python/tuple [14, 3] + - !!python/tuple [0, 20] + - !!python/tuple [27, 23] + - !!python/tuple [9, 21] + - !!python/tuple [30, 26] + - !!python/tuple [31, 15] + - !!python/tuple [0, 28] + - !!python/tuple [1, 0] + - !!python/tuple [19, 19] + - !!python/tuple [26, 9] + - !!python/tuple [10, 29] + - !!python/tuple [2, 6] + - !!python/tuple [31, 1] + - !!python/tuple [13, 11] + - !!python/tuple [29, 11] + - !!python/tuple [13, 9] + - !!python/tuple [8, 25] + - !!python/tuple [5, 1] + - !!python/tuple [21, 30] + - !!python/tuple [29, 15] + - !!python/tuple [17, 10] + - !!python/tuple [12, 24] + - !!python/tuple [4, 28] + - !!python/tuple [2, 26] + - !!python/tuple [25, 22] + - !!python/tuple [13, 15] + - !!python/tuple [4, 27] + - !!python/tuple [7, 10] + - !!python/tuple [10, 2] + - !!python/tuple [12, 3] + - !!python/tuple [9, 31] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex55.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex55.yaml new file mode 100644 index 0000000..4b7f34a --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex55.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [31, 18] + name: agent0 + start: [21, 29] +- goal: [14, 16] + name: agent1 + start: [30, 13] +- goal: [21, 0] + name: agent2 + start: [24, 0] +- goal: [7, 16] + name: agent3 + start: [25, 6] +- goal: [16, 28] + name: agent4 + start: [14, 30] +- goal: [14, 7] + name: agent5 + start: [0, 12] +- goal: [4, 31] + name: agent6 + start: [22, 5] +- goal: [13, 25] + name: agent7 + start: [21, 3] +- goal: [30, 6] + name: agent8 + start: [14, 12] +- goal: [7, 25] + name: agent9 + start: [23, 8] +- goal: [31, 31] + name: agent10 + start: [9, 10] +- goal: [31, 23] + name: agent11 + start: [22, 15] +- goal: [6, 5] + name: agent12 + start: [15, 30] +- goal: [21, 9] + name: agent13 + start: [24, 15] +- goal: [3, 14] + name: agent14 + start: [16, 20] +- goal: [9, 20] + name: agent15 + start: [27, 12] +- goal: [16, 4] + name: agent16 + start: [17, 23] +- goal: [14, 25] + name: agent17 + start: [19, 21] +- goal: [30, 21] + name: agent18 + start: [18, 28] +- goal: [24, 11] + name: agent19 + start: [8, 6] +- goal: [20, 22] + name: agent20 + start: [8, 1] +- goal: [18, 3] + name: agent21 + start: [5, 30] +- goal: [2, 23] + name: agent22 + start: [8, 24] +- goal: [1, 20] + name: agent23 + start: [16, 21] +- goal: [12, 22] + name: agent24 + start: [17, 2] +- goal: [9, 14] + name: agent25 + start: [24, 14] +- goal: [5, 29] + name: agent26 + start: [2, 21] +- goal: [28, 1] + name: agent27 + start: [29, 10] +- goal: [12, 3] + name: agent28 + start: [5, 16] +- goal: [28, 24] + name: agent29 + start: [11, 9] +- goal: [15, 19] + name: agent30 + start: [31, 16] +- goal: [13, 22] + name: agent31 + start: [9, 15] +- goal: [18, 11] + name: agent32 + start: [30, 27] +- goal: [28, 10] + name: agent33 + start: [22, 23] +- goal: [13, 23] + name: agent34 + start: [9, 25] +- goal: [6, 23] + name: agent35 + start: [2, 10] +- goal: [18, 16] + name: agent36 + start: [15, 0] +- goal: [19, 11] + name: agent37 + start: [11, 29] +- goal: [22, 20] + name: agent38 + start: [4, 10] +- goal: [6, 25] + name: agent39 + start: [6, 26] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [10, 4] + - !!python/tuple [1, 8] + - !!python/tuple [27, 13] + - !!python/tuple [17, 29] + - !!python/tuple [17, 27] + - !!python/tuple [16, 8] + - !!python/tuple [3, 16] + - !!python/tuple [31, 22] + - !!python/tuple [21, 31] + - !!python/tuple [21, 4] + - !!python/tuple [18, 21] + - !!python/tuple [5, 13] + - !!python/tuple [2, 20] + - !!python/tuple [20, 27] + - !!python/tuple [2, 15] + - !!python/tuple [9, 0] + - !!python/tuple [22, 14] + - !!python/tuple [5, 28] + - !!python/tuple [17, 17] + - !!python/tuple [1, 25] + - !!python/tuple [18, 14] + - !!python/tuple [1, 23] + - !!python/tuple [16, 25] + - !!python/tuple [17, 8] + - !!python/tuple [30, 22] + - !!python/tuple [14, 28] + - !!python/tuple [21, 24] + - !!python/tuple [21, 13] + - !!python/tuple [10, 15] + - !!python/tuple [5, 9] + - !!python/tuple [30, 12] + - !!python/tuple [0, 17] + - !!python/tuple [26, 20] + - !!python/tuple [15, 6] + - !!python/tuple [24, 22] + - !!python/tuple [29, 4] + - !!python/tuple [19, 5] + - !!python/tuple [25, 22] + - !!python/tuple [26, 14] + - !!python/tuple [23, 28] + - !!python/tuple [31, 0] + - !!python/tuple [28, 21] + - !!python/tuple [13, 24] + - !!python/tuple [22, 3] + - !!python/tuple [30, 29] + - !!python/tuple [18, 15] + - !!python/tuple [19, 2] + - !!python/tuple [16, 19] + - !!python/tuple [25, 29] + - !!python/tuple [4, 7] + - !!python/tuple [21, 2] + - !!python/tuple [20, 4] + - !!python/tuple [17, 11] + - !!python/tuple [2, 3] + - !!python/tuple [7, 22] + - !!python/tuple [28, 31] + - !!python/tuple [6, 11] + - !!python/tuple [13, 6] + - !!python/tuple [4, 20] + - !!python/tuple [2, 22] + - !!python/tuple [10, 29] + - !!python/tuple [24, 23] + - !!python/tuple [22, 26] + - !!python/tuple [1, 17] + - !!python/tuple [11, 0] + - !!python/tuple [12, 21] + - !!python/tuple [21, 19] + - !!python/tuple [23, 23] + - !!python/tuple [18, 19] + - !!python/tuple [6, 0] + - !!python/tuple [25, 15] + - !!python/tuple [2, 6] + - !!python/tuple [10, 10] + - !!python/tuple [1, 2] + - !!python/tuple [19, 25] + - !!python/tuple [2, 13] + - !!python/tuple [26, 15] + - !!python/tuple [4, 29] + - !!python/tuple [23, 15] + - !!python/tuple [15, 1] + - !!python/tuple [2, 26] + - !!python/tuple [22, 31] + - !!python/tuple [4, 13] + - !!python/tuple [19, 0] + - !!python/tuple [24, 10] + - !!python/tuple [8, 2] + - !!python/tuple [12, 8] + - !!python/tuple [5, 24] + - !!python/tuple [27, 24] + - !!python/tuple [27, 16] + - !!python/tuple [11, 21] + - !!python/tuple [2, 28] + - !!python/tuple [2, 30] + - !!python/tuple [1, 4] + - !!python/tuple [15, 16] + - !!python/tuple [11, 12] + - !!python/tuple [23, 14] + - !!python/tuple [11, 20] + - !!python/tuple [28, 16] + - !!python/tuple [28, 3] + - !!python/tuple [15, 4] + - !!python/tuple [1, 1] + - !!python/tuple [16, 11] + - !!python/tuple [29, 13] + - !!python/tuple [5, 5] + - !!python/tuple [6, 7] + - !!python/tuple [28, 11] + - !!python/tuple [28, 9] + - !!python/tuple [19, 10] + - !!python/tuple [0, 11] + - !!python/tuple [3, 19] + - !!python/tuple [6, 21] + - !!python/tuple [31, 27] + - !!python/tuple [31, 17] + - !!python/tuple [0, 25] + - !!python/tuple [16, 5] + - !!python/tuple [16, 23] + - !!python/tuple [0, 8] + - !!python/tuple [3, 4] + - !!python/tuple [14, 10] + - !!python/tuple [5, 7] + - !!python/tuple [18, 31] + - !!python/tuple [16, 15] + - !!python/tuple [25, 18] + - !!python/tuple [27, 22] + - !!python/tuple [16, 26] + - !!python/tuple [5, 21] + - !!python/tuple [24, 19] + - !!python/tuple [6, 29] + - !!python/tuple [22, 22] + - !!python/tuple [9, 3] + - !!python/tuple [28, 18] + - !!python/tuple [8, 16] + - !!python/tuple [7, 26] + - !!python/tuple [13, 31] + - !!python/tuple [2, 14] + - !!python/tuple [4, 12] + - !!python/tuple [11, 10] + - !!python/tuple [4, 19] + - !!python/tuple [30, 3] + - !!python/tuple [14, 13] + - !!python/tuple [14, 6] + - !!python/tuple [27, 10] + - !!python/tuple [15, 8] + - !!python/tuple [19, 14] + - !!python/tuple [14, 24] + - !!python/tuple [25, 0] + - !!python/tuple [7, 11] + - !!python/tuple [17, 14] + - !!python/tuple [4, 30] + - !!python/tuple [21, 7] + - !!python/tuple [9, 8] + - !!python/tuple [27, 1] + - !!python/tuple [30, 9] + - !!python/tuple [13, 1] + - !!python/tuple [21, 26] + - !!python/tuple [28, 8] + - !!python/tuple [23, 20] + - !!python/tuple [6, 31] + - !!python/tuple [1, 26] + - !!python/tuple [16, 30] + - !!python/tuple [30, 30] + - !!python/tuple [13, 12] + - !!python/tuple [6, 19] + - !!python/tuple [12, 0] + - !!python/tuple [20, 19] + - !!python/tuple [3, 26] + - !!python/tuple [15, 31] + - !!python/tuple [23, 12] + - !!python/tuple [9, 30] + - !!python/tuple [28, 28] + - !!python/tuple [10, 7] + - !!python/tuple [7, 19] + - !!python/tuple [0, 21] + - !!python/tuple [30, 4] + - !!python/tuple [16, 13] + - !!python/tuple [7, 6] + - !!python/tuple [24, 20] + - !!python/tuple [10, 8] + - !!python/tuple [9, 19] + - !!python/tuple [0, 16] + - !!python/tuple [15, 14] + - !!python/tuple [0, 22] + - !!python/tuple [21, 14] + - !!python/tuple [13, 8] + - !!python/tuple [0, 2] + - !!python/tuple [13, 5] + - !!python/tuple [30, 10] + - !!python/tuple [28, 26] + - !!python/tuple [17, 7] + - !!python/tuple [14, 8] + - !!python/tuple [27, 0] + - !!python/tuple [0, 10] + - !!python/tuple [25, 30] + - !!python/tuple [2, 31] + - !!python/tuple [17, 16] + - !!python/tuple [9, 4] + - !!python/tuple [7, 5] + - !!python/tuple [26, 7] + - !!python/tuple [0, 26] + - !!python/tuple [4, 15] + - !!python/tuple [23, 9] + - !!python/tuple [15, 24] + - !!python/tuple [9, 6] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex56.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex56.yaml new file mode 100644 index 0000000..b40f921 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex56.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [3, 0] + name: agent0 + start: [31, 1] +- goal: [4, 29] + name: agent1 + start: [16, 22] +- goal: [7, 30] + name: agent2 + start: [10, 4] +- goal: [2, 28] + name: agent3 + start: [26, 31] +- goal: [1, 6] + name: agent4 + start: [12, 31] +- goal: [28, 3] + name: agent5 + start: [7, 16] +- goal: [18, 4] + name: agent6 + start: [19, 12] +- goal: [25, 11] + name: agent7 + start: [27, 12] +- goal: [14, 12] + name: agent8 + start: [10, 8] +- goal: [3, 1] + name: agent9 + start: [10, 16] +- goal: [22, 25] + name: agent10 + start: [4, 0] +- goal: [9, 5] + name: agent11 + start: [31, 23] +- goal: [5, 11] + name: agent12 + start: [25, 1] +- goal: [10, 20] + name: agent13 + start: [18, 13] +- goal: [22, 20] + name: agent14 + start: [1, 26] +- goal: [6, 3] + name: agent15 + start: [15, 27] +- goal: [21, 17] + name: agent16 + start: [11, 17] +- goal: [26, 17] + name: agent17 + start: [4, 20] +- goal: [28, 22] + name: agent18 + start: [27, 7] +- goal: [4, 31] + name: agent19 + start: [30, 7] +- goal: [23, 14] + name: agent20 + start: [25, 4] +- goal: [4, 28] + name: agent21 + start: [12, 11] +- goal: [27, 13] + name: agent22 + start: [15, 5] +- goal: [13, 21] + name: agent23 + start: [8, 12] +- goal: [0, 4] + name: agent24 + start: [1, 29] +- goal: [3, 11] + name: agent25 + start: [10, 30] +- goal: [23, 31] + name: agent26 + start: [6, 4] +- goal: [25, 23] + name: agent27 + start: [4, 13] +- goal: [12, 22] + name: agent28 + start: [6, 26] +- goal: [4, 7] + name: agent29 + start: [27, 17] +- goal: [11, 18] + name: agent30 + start: [6, 11] +- goal: [5, 24] + name: agent31 + start: [31, 15] +- goal: [23, 23] + name: agent32 + start: [11, 16] +- goal: [13, 10] + name: agent33 + start: [26, 9] +- goal: [8, 14] + name: agent34 + start: [31, 21] +- goal: [10, 19] + name: agent35 + start: [18, 4] +- goal: [6, 20] + name: agent36 + start: [6, 15] +- goal: [2, 4] + name: agent37 + start: [24, 9] +- goal: [5, 29] + name: agent38 + start: [18, 29] +- goal: [15, 1] + name: agent39 + start: [30, 21] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [2, 7] + - !!python/tuple [15, 28] + - !!python/tuple [16, 1] + - !!python/tuple [3, 4] + - !!python/tuple [31, 22] + - !!python/tuple [21, 22] + - !!python/tuple [30, 4] + - !!python/tuple [24, 27] + - !!python/tuple [22, 18] + - !!python/tuple [10, 10] + - !!python/tuple [27, 19] + - !!python/tuple [13, 2] + - !!python/tuple [2, 0] + - !!python/tuple [24, 30] + - !!python/tuple [19, 1] + - !!python/tuple [29, 11] + - !!python/tuple [7, 25] + - !!python/tuple [6, 13] + - !!python/tuple [24, 28] + - !!python/tuple [31, 30] + - !!python/tuple [30, 5] + - !!python/tuple [30, 18] + - !!python/tuple [29, 27] + - !!python/tuple [25, 15] + - !!python/tuple [0, 28] + - !!python/tuple [28, 12] + - !!python/tuple [16, 9] + - !!python/tuple [2, 2] + - !!python/tuple [26, 5] + - !!python/tuple [23, 0] + - !!python/tuple [9, 1] + - !!python/tuple [16, 18] + - !!python/tuple [20, 28] + - !!python/tuple [6, 17] + - !!python/tuple [13, 27] + - !!python/tuple [2, 21] + - !!python/tuple [8, 22] + - !!python/tuple [1, 2] + - !!python/tuple [25, 5] + - !!python/tuple [11, 20] + - !!python/tuple [15, 17] + - !!python/tuple [15, 13] + - !!python/tuple [10, 1] + - !!python/tuple [16, 29] + - !!python/tuple [30, 8] + - !!python/tuple [10, 7] + - !!python/tuple [29, 17] + - !!python/tuple [19, 7] + - !!python/tuple [10, 28] + - !!python/tuple [26, 22] + - !!python/tuple [0, 19] + - !!python/tuple [19, 31] + - !!python/tuple [22, 31] + - !!python/tuple [4, 9] + - !!python/tuple [18, 10] + - !!python/tuple [28, 29] + - !!python/tuple [4, 1] + - !!python/tuple [15, 30] + - !!python/tuple [23, 22] + - !!python/tuple [1, 11] + - !!python/tuple [18, 24] + - !!python/tuple [8, 16] + - !!python/tuple [17, 18] + - !!python/tuple [30, 0] + - !!python/tuple [28, 24] + - !!python/tuple [7, 4] + - !!python/tuple [14, 24] + - !!python/tuple [2, 23] + - !!python/tuple [17, 4] + - !!python/tuple [15, 6] + - !!python/tuple [19, 21] + - !!python/tuple [9, 24] + - !!python/tuple [5, 26] + - !!python/tuple [17, 23] + - !!python/tuple [14, 0] + - !!python/tuple [14, 19] + - !!python/tuple [12, 19] + - !!python/tuple [25, 14] + - !!python/tuple [14, 23] + - !!python/tuple [22, 26] + - !!python/tuple [11, 3] + - !!python/tuple [18, 21] + - !!python/tuple [4, 17] + - !!python/tuple [5, 20] + - !!python/tuple [9, 12] + - !!python/tuple [17, 21] + - !!python/tuple [13, 15] + - !!python/tuple [3, 2] + - !!python/tuple [4, 25] + - !!python/tuple [19, 25] + - !!python/tuple [27, 25] + - !!python/tuple [13, 16] + - !!python/tuple [13, 7] + - !!python/tuple [12, 3] + - !!python/tuple [16, 20] + - !!python/tuple [15, 29] + - !!python/tuple [9, 31] + - !!python/tuple [18, 22] + - !!python/tuple [23, 29] + - !!python/tuple [7, 10] + - !!python/tuple [12, 25] + - !!python/tuple [20, 26] + - !!python/tuple [14, 31] + - !!python/tuple [10, 31] + - !!python/tuple [30, 28] + - !!python/tuple [1, 24] + - !!python/tuple [11, 14] + - !!python/tuple [29, 4] + - !!python/tuple [29, 0] + - !!python/tuple [5, 12] + - !!python/tuple [5, 8] + - !!python/tuple [29, 6] + - !!python/tuple [6, 23] + - !!python/tuple [8, 25] + - !!python/tuple [2, 3] + - !!python/tuple [15, 11] + - !!python/tuple [27, 30] + - !!python/tuple [18, 20] + - !!python/tuple [19, 29] + - !!python/tuple [4, 18] + - !!python/tuple [21, 6] + - !!python/tuple [0, 8] + - !!python/tuple [25, 29] + - !!python/tuple [20, 12] + - !!python/tuple [2, 5] + - !!python/tuple [3, 3] + - !!python/tuple [12, 16] + - !!python/tuple [3, 8] + - !!python/tuple [31, 3] + - !!python/tuple [12, 2] + - !!python/tuple [10, 5] + - !!python/tuple [18, 17] + - !!python/tuple [23, 12] + - !!python/tuple [10, 6] + - !!python/tuple [0, 3] + - !!python/tuple [22, 0] + - !!python/tuple [21, 2] + - !!python/tuple [29, 30] + - !!python/tuple [11, 8] + - !!python/tuple [6, 31] + - !!python/tuple [10, 3] + - !!python/tuple [20, 19] + - !!python/tuple [7, 2] + - !!python/tuple [1, 31] + - !!python/tuple [2, 8] + - !!python/tuple [25, 10] + - !!python/tuple [20, 11] + - !!python/tuple [4, 6] + - !!python/tuple [15, 25] + - !!python/tuple [9, 16] + - !!python/tuple [20, 20] + - !!python/tuple [12, 1] + - !!python/tuple [31, 18] + - !!python/tuple [6, 30] + - !!python/tuple [17, 27] + - !!python/tuple [2, 27] + - !!python/tuple [17, 13] + - !!python/tuple [0, 26] + - !!python/tuple [24, 18] + - !!python/tuple [12, 27] + - !!python/tuple [25, 3] + - !!python/tuple [14, 10] + - !!python/tuple [31, 17] + - !!python/tuple [16, 3] + - !!python/tuple [2, 6] + - !!python/tuple [14, 6] + - !!python/tuple [26, 16] + - !!python/tuple [13, 31] + - !!python/tuple [24, 10] + - !!python/tuple [25, 25] + - !!python/tuple [4, 27] + - !!python/tuple [4, 24] + - !!python/tuple [28, 27] + - !!python/tuple [24, 3] + - !!python/tuple [9, 17] + - !!python/tuple [19, 26] + - !!python/tuple [16, 17] + - !!python/tuple [20, 15] + - !!python/tuple [29, 5] + - !!python/tuple [17, 14] + - !!python/tuple [27, 4] + - !!python/tuple [18, 9] + - !!python/tuple [1, 22] + - !!python/tuple [4, 14] + - !!python/tuple [24, 16] + - !!python/tuple [17, 10] + - !!python/tuple [24, 14] + - !!python/tuple [21, 16] + - !!python/tuple [21, 25] + - !!python/tuple [24, 21] + - !!python/tuple [29, 28] + - !!python/tuple [12, 26] + - !!python/tuple [14, 11] + - !!python/tuple [14, 28] + - !!python/tuple [30, 3] + - !!python/tuple [10, 0] + - !!python/tuple [16, 8] + - !!python/tuple [26, 15] + - !!python/tuple [24, 31] + - !!python/tuple [26, 24] + - !!python/tuple [1, 30] + - !!python/tuple [15, 10] + - !!python/tuple [17, 1] + - !!python/tuple [20, 31] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex57.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex57.yaml new file mode 100644 index 0000000..c1a8584 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex57.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [7, 7] + name: agent0 + start: [4, 21] +- goal: [3, 26] + name: agent1 + start: [6, 20] +- goal: [20, 1] + name: agent2 + start: [9, 1] +- goal: [19, 13] + name: agent3 + start: [1, 12] +- goal: [1, 3] + name: agent4 + start: [28, 8] +- goal: [15, 26] + name: agent5 + start: [4, 26] +- goal: [20, 20] + name: agent6 + start: [14, 17] +- goal: [23, 12] + name: agent7 + start: [13, 9] +- goal: [15, 14] + name: agent8 + start: [3, 4] +- goal: [14, 5] + name: agent9 + start: [0, 2] +- goal: [14, 18] + name: agent10 + start: [26, 1] +- goal: [22, 25] + name: agent11 + start: [21, 18] +- goal: [13, 14] + name: agent12 + start: [23, 29] +- goal: [18, 7] + name: agent13 + start: [29, 9] +- goal: [22, 4] + name: agent14 + start: [24, 30] +- goal: [13, 5] + name: agent15 + start: [20, 22] +- goal: [26, 20] + name: agent16 + start: [18, 14] +- goal: [22, 28] + name: agent17 + start: [25, 20] +- goal: [31, 21] + name: agent18 + start: [31, 25] +- goal: [0, 24] + name: agent19 + start: [9, 30] +- goal: [9, 8] + name: agent20 + start: [1, 23] +- goal: [12, 0] + name: agent21 + start: [3, 17] +- goal: [23, 2] + name: agent22 + start: [0, 24] +- goal: [21, 19] + name: agent23 + start: [28, 28] +- goal: [19, 22] + name: agent24 + start: [24, 18] +- goal: [29, 28] + name: agent25 + start: [4, 24] +- goal: [14, 19] + name: agent26 + start: [3, 1] +- goal: [12, 30] + name: agent27 + start: [2, 25] +- goal: [8, 15] + name: agent28 + start: [26, 18] +- goal: [13, 7] + name: agent29 + start: [26, 29] +- goal: [7, 22] + name: agent30 + start: [10, 11] +- goal: [16, 26] + name: agent31 + start: [31, 29] +- goal: [25, 6] + name: agent32 + start: [30, 30] +- goal: [25, 14] + name: agent33 + start: [28, 21] +- goal: [0, 5] + name: agent34 + start: [0, 26] +- goal: [13, 8] + name: agent35 + start: [1, 27] +- goal: [26, 27] + name: agent36 + start: [9, 16] +- goal: [5, 1] + name: agent37 + start: [30, 12] +- goal: [17, 15] + name: agent38 + start: [7, 15] +- goal: [11, 16] + name: agent39 + start: [4, 18] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [30, 21] + - !!python/tuple [12, 14] + - !!python/tuple [14, 6] + - !!python/tuple [6, 1] + - !!python/tuple [28, 19] + - !!python/tuple [24, 12] + - !!python/tuple [25, 24] + - !!python/tuple [18, 17] + - !!python/tuple [27, 11] + - !!python/tuple [15, 17] + - !!python/tuple [16, 31] + - !!python/tuple [13, 19] + - !!python/tuple [12, 3] + - !!python/tuple [19, 6] + - !!python/tuple [24, 28] + - !!python/tuple [2, 28] + - !!python/tuple [27, 1] + - !!python/tuple [30, 5] + - !!python/tuple [18, 16] + - !!python/tuple [21, 21] + - !!python/tuple [18, 23] + - !!python/tuple [1, 19] + - !!python/tuple [6, 25] + - !!python/tuple [25, 9] + - !!python/tuple [12, 4] + - !!python/tuple [24, 24] + - !!python/tuple [0, 18] + - !!python/tuple [30, 29] + - !!python/tuple [2, 27] + - !!python/tuple [1, 6] + - !!python/tuple [7, 5] + - !!python/tuple [24, 1] + - !!python/tuple [6, 11] + - !!python/tuple [21, 27] + - !!python/tuple [8, 7] + - !!python/tuple [1, 26] + - !!python/tuple [23, 5] + - !!python/tuple [10, 19] + - !!python/tuple [25, 13] + - !!python/tuple [6, 8] + - !!python/tuple [12, 26] + - !!python/tuple [3, 24] + - !!python/tuple [28, 16] + - !!python/tuple [29, 8] + - !!python/tuple [8, 20] + - !!python/tuple [9, 22] + - !!python/tuple [2, 15] + - !!python/tuple [2, 21] + - !!python/tuple [28, 15] + - !!python/tuple [14, 8] + - !!python/tuple [31, 26] + - !!python/tuple [12, 19] + - !!python/tuple [26, 5] + - !!python/tuple [23, 26] + - !!python/tuple [4, 11] + - !!python/tuple [21, 0] + - !!python/tuple [14, 10] + - !!python/tuple [4, 9] + - !!python/tuple [7, 1] + - !!python/tuple [12, 31] + - !!python/tuple [27, 21] + - !!python/tuple [20, 28] + - !!python/tuple [4, 3] + - !!python/tuple [25, 8] + - !!python/tuple [20, 10] + - !!python/tuple [12, 8] + - !!python/tuple [10, 5] + - !!python/tuple [13, 20] + - !!python/tuple [13, 25] + - !!python/tuple [20, 8] + - !!python/tuple [18, 9] + - !!python/tuple [6, 22] + - !!python/tuple [5, 27] + - !!python/tuple [11, 12] + - !!python/tuple [25, 30] + - !!python/tuple [21, 7] + - !!python/tuple [19, 14] + - !!python/tuple [22, 29] + - !!python/tuple [1, 8] + - !!python/tuple [30, 7] + - !!python/tuple [18, 26] + - !!python/tuple [16, 20] + - !!python/tuple [14, 3] + - !!python/tuple [25, 4] + - !!python/tuple [10, 25] + - !!python/tuple [13, 1] + - !!python/tuple [4, 0] + - !!python/tuple [9, 12] + - !!python/tuple [30, 14] + - !!python/tuple [21, 28] + - !!python/tuple [16, 13] + - !!python/tuple [8, 13] + - !!python/tuple [1, 28] + - !!python/tuple [15, 5] + - !!python/tuple [18, 18] + - !!python/tuple [23, 22] + - !!python/tuple [14, 30] + - !!python/tuple [11, 19] + - !!python/tuple [17, 25] + - !!python/tuple [27, 30] + - !!python/tuple [27, 31] + - !!python/tuple [5, 2] + - !!python/tuple [15, 4] + - !!python/tuple [0, 19] + - !!python/tuple [6, 6] + - !!python/tuple [17, 28] + - !!python/tuple [21, 8] + - !!python/tuple [26, 4] + - !!python/tuple [15, 31] + - !!python/tuple [10, 9] + - !!python/tuple [14, 20] + - !!python/tuple [18, 13] + - !!python/tuple [22, 21] + - !!python/tuple [25, 31] + - !!python/tuple [13, 30] + - !!python/tuple [28, 30] + - !!python/tuple [12, 17] + - !!python/tuple [8, 2] + - !!python/tuple [16, 21] + - !!python/tuple [19, 10] + - !!python/tuple [27, 20] + - !!python/tuple [19, 23] + - !!python/tuple [8, 21] + - !!python/tuple [6, 9] + - !!python/tuple [15, 29] + - !!python/tuple [8, 31] + - !!python/tuple [19, 29] + - !!python/tuple [28, 0] + - !!python/tuple [24, 15] + - !!python/tuple [0, 30] + - !!python/tuple [31, 30] + - !!python/tuple [15, 15] + - !!python/tuple [1, 24] + - !!python/tuple [27, 17] + - !!python/tuple [14, 27] + - !!python/tuple [14, 31] + - !!python/tuple [19, 5] + - !!python/tuple [26, 14] + - !!python/tuple [24, 20] + - !!python/tuple [15, 0] + - !!python/tuple [10, 10] + - !!python/tuple [14, 2] + - !!python/tuple [23, 19] + - !!python/tuple [15, 7] + - !!python/tuple [7, 25] + - !!python/tuple [31, 4] + - !!python/tuple [5, 11] + - !!python/tuple [25, 17] + - !!python/tuple [12, 11] + - !!python/tuple [21, 12] + - !!python/tuple [5, 8] + - !!python/tuple [28, 11] + - !!python/tuple [1, 9] + - !!python/tuple [20, 3] + - !!python/tuple [20, 6] + - !!python/tuple [22, 16] + - !!python/tuple [16, 8] + - !!python/tuple [2, 16] + - !!python/tuple [5, 6] + - !!python/tuple [6, 19] + - !!python/tuple [15, 3] + - !!python/tuple [1, 30] + - !!python/tuple [19, 30] + - !!python/tuple [12, 13] + - !!python/tuple [24, 31] + - !!python/tuple [1, 10] + - !!python/tuple [16, 24] + - !!python/tuple [26, 17] + - !!python/tuple [14, 22] + - !!python/tuple [13, 12] + - !!python/tuple [15, 6] + - !!python/tuple [29, 25] + - !!python/tuple [10, 26] + - !!python/tuple [19, 27] + - !!python/tuple [17, 21] + - !!python/tuple [21, 2] + - !!python/tuple [18, 25] + - !!python/tuple [15, 11] + - !!python/tuple [4, 28] + - !!python/tuple [26, 15] + - !!python/tuple [3, 30] + - !!python/tuple [3, 7] + - !!python/tuple [29, 18] + - !!python/tuple [3, 29] + - !!python/tuple [1, 1] + - !!python/tuple [6, 15] + - !!python/tuple [2, 3] + - !!python/tuple [25, 7] + - !!python/tuple [7, 28] + - !!python/tuple [19, 21] + - !!python/tuple [14, 25] + - !!python/tuple [8, 26] + - !!python/tuple [25, 19] + - !!python/tuple [26, 22] + - !!python/tuple [27, 4] + - !!python/tuple [25, 11] + - !!python/tuple [18, 2] + - !!python/tuple [16, 23] + - !!python/tuple [14, 16] + - !!python/tuple [25, 28] + - !!python/tuple [31, 6] + - !!python/tuple [21, 16] + - !!python/tuple [13, 0] + - !!python/tuple [23, 17] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex58.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex58.yaml new file mode 100644 index 0000000..b2d6505 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex58.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [15, 2] + name: agent0 + start: [2, 20] +- goal: [13, 9] + name: agent1 + start: [7, 17] +- goal: [10, 7] + name: agent2 + start: [5, 23] +- goal: [24, 25] + name: agent3 + start: [1, 13] +- goal: [15, 24] + name: agent4 + start: [20, 2] +- goal: [5, 13] + name: agent5 + start: [31, 20] +- goal: [3, 3] + name: agent6 + start: [10, 3] +- goal: [6, 31] + name: agent7 + start: [18, 7] +- goal: [8, 9] + name: agent8 + start: [4, 17] +- goal: [24, 30] + name: agent9 + start: [9, 15] +- goal: [25, 3] + name: agent10 + start: [25, 28] +- goal: [13, 17] + name: agent11 + start: [12, 21] +- goal: [23, 25] + name: agent12 + start: [6, 31] +- goal: [13, 18] + name: agent13 + start: [3, 27] +- goal: [7, 9] + name: agent14 + start: [28, 10] +- goal: [8, 7] + name: agent15 + start: [24, 4] +- goal: [15, 12] + name: agent16 + start: [0, 30] +- goal: [11, 11] + name: agent17 + start: [19, 10] +- goal: [3, 17] + name: agent18 + start: [14, 23] +- goal: [15, 20] + name: agent19 + start: [22, 5] +- goal: [0, 5] + name: agent20 + start: [17, 30] +- goal: [13, 1] + name: agent21 + start: [12, 20] +- goal: [0, 10] + name: agent22 + start: [14, 6] +- goal: [22, 28] + name: agent23 + start: [0, 2] +- goal: [12, 28] + name: agent24 + start: [6, 16] +- goal: [0, 3] + name: agent25 + start: [5, 7] +- goal: [10, 8] + name: agent26 + start: [21, 8] +- goal: [23, 6] + name: agent27 + start: [29, 23] +- goal: [29, 11] + name: agent28 + start: [6, 9] +- goal: [18, 18] + name: agent29 + start: [3, 2] +- goal: [10, 22] + name: agent30 + start: [10, 2] +- goal: [6, 13] + name: agent31 + start: [27, 18] +- goal: [18, 29] + name: agent32 + start: [9, 19] +- goal: [22, 3] + name: agent33 + start: [4, 25] +- goal: [3, 2] + name: agent34 + start: [1, 23] +- goal: [21, 29] + name: agent35 + start: [14, 16] +- goal: [19, 21] + name: agent36 + start: [8, 20] +- goal: [28, 16] + name: agent37 + start: [0, 4] +- goal: [25, 20] + name: agent38 + start: [10, 26] +- goal: [3, 27] + name: agent39 + start: [8, 17] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [16, 29] + - !!python/tuple [3, 13] + - !!python/tuple [2, 15] + - !!python/tuple [29, 7] + - !!python/tuple [26, 27] + - !!python/tuple [22, 29] + - !!python/tuple [8, 1] + - !!python/tuple [9, 29] + - !!python/tuple [28, 14] + - !!python/tuple [9, 8] + - !!python/tuple [20, 8] + - !!python/tuple [23, 18] + - !!python/tuple [7, 0] + - !!python/tuple [18, 13] + - !!python/tuple [19, 16] + - !!python/tuple [7, 22] + - !!python/tuple [14, 29] + - !!python/tuple [14, 21] + - !!python/tuple [1, 14] + - !!python/tuple [8, 0] + - !!python/tuple [28, 23] + - !!python/tuple [19, 3] + - !!python/tuple [27, 2] + - !!python/tuple [31, 24] + - !!python/tuple [23, 20] + - !!python/tuple [9, 30] + - !!python/tuple [15, 19] + - !!python/tuple [6, 1] + - !!python/tuple [13, 16] + - !!python/tuple [12, 6] + - !!python/tuple [23, 27] + - !!python/tuple [13, 27] + - !!python/tuple [5, 26] + - !!python/tuple [5, 21] + - !!python/tuple [24, 5] + - !!python/tuple [4, 15] + - !!python/tuple [18, 22] + - !!python/tuple [11, 25] + - !!python/tuple [13, 22] + - !!python/tuple [26, 18] + - !!python/tuple [27, 12] + - !!python/tuple [31, 12] + - !!python/tuple [20, 23] + - !!python/tuple [8, 8] + - !!python/tuple [30, 25] + - !!python/tuple [8, 6] + - !!python/tuple [4, 0] + - !!python/tuple [19, 30] + - !!python/tuple [11, 24] + - !!python/tuple [20, 16] + - !!python/tuple [16, 17] + - !!python/tuple [3, 23] + - !!python/tuple [23, 11] + - !!python/tuple [15, 25] + - !!python/tuple [2, 30] + - !!python/tuple [28, 9] + - !!python/tuple [29, 19] + - !!python/tuple [25, 25] + - !!python/tuple [22, 8] + - !!python/tuple [14, 9] + - !!python/tuple [15, 18] + - !!python/tuple [27, 25] + - !!python/tuple [9, 12] + - !!python/tuple [19, 15] + - !!python/tuple [6, 2] + - !!python/tuple [10, 18] + - !!python/tuple [25, 11] + - !!python/tuple [11, 18] + - !!python/tuple [4, 30] + - !!python/tuple [15, 27] + - !!python/tuple [16, 5] + - !!python/tuple [20, 30] + - !!python/tuple [4, 2] + - !!python/tuple [20, 17] + - !!python/tuple [14, 30] + - !!python/tuple [16, 4] + - !!python/tuple [30, 5] + - !!python/tuple [3, 11] + - !!python/tuple [29, 3] + - !!python/tuple [28, 24] + - !!python/tuple [24, 0] + - !!python/tuple [12, 13] + - !!python/tuple [16, 12] + - !!python/tuple [8, 31] + - !!python/tuple [15, 30] + - !!python/tuple [15, 22] + - !!python/tuple [0, 12] + - !!python/tuple [15, 6] + - !!python/tuple [6, 11] + - !!python/tuple [31, 8] + - !!python/tuple [7, 19] + - !!python/tuple [3, 20] + - !!python/tuple [23, 19] + - !!python/tuple [31, 23] + - !!python/tuple [13, 26] + - !!python/tuple [1, 5] + - !!python/tuple [30, 18] + - !!python/tuple [20, 7] + - !!python/tuple [21, 30] + - !!python/tuple [2, 25] + - !!python/tuple [30, 30] + - !!python/tuple [16, 30] + - !!python/tuple [26, 14] + - !!python/tuple [19, 0] + - !!python/tuple [1, 1] + - !!python/tuple [10, 0] + - !!python/tuple [17, 9] + - !!python/tuple [2, 16] + - !!python/tuple [4, 26] + - !!python/tuple [15, 9] + - !!python/tuple [14, 24] + - !!python/tuple [17, 22] + - !!python/tuple [3, 29] + - !!python/tuple [19, 8] + - !!python/tuple [9, 13] + - !!python/tuple [12, 4] + - !!python/tuple [17, 31] + - !!python/tuple [31, 3] + - !!python/tuple [0, 23] + - !!python/tuple [26, 23] + - !!python/tuple [11, 0] + - !!python/tuple [31, 7] + - !!python/tuple [20, 6] + - !!python/tuple [31, 17] + - !!python/tuple [30, 3] + - !!python/tuple [11, 22] + - !!python/tuple [25, 15] + - !!python/tuple [7, 18] + - !!python/tuple [25, 7] + - !!python/tuple [13, 21] + - !!python/tuple [26, 3] + - !!python/tuple [5, 2] + - !!python/tuple [9, 18] + - !!python/tuple [1, 8] + - !!python/tuple [2, 11] + - !!python/tuple [18, 30] + - !!python/tuple [24, 26] + - !!python/tuple [15, 23] + - !!python/tuple [21, 18] + - !!python/tuple [21, 22] + - !!python/tuple [12, 1] + - !!python/tuple [10, 10] + - !!python/tuple [10, 31] + - !!python/tuple [13, 14] + - !!python/tuple [14, 3] + - !!python/tuple [20, 28] + - !!python/tuple [6, 10] + - !!python/tuple [4, 24] + - !!python/tuple [3, 19] + - !!python/tuple [6, 8] + - !!python/tuple [22, 19] + - !!python/tuple [7, 28] + - !!python/tuple [4, 23] + - !!python/tuple [24, 18] + - !!python/tuple [16, 18] + - !!python/tuple [12, 18] + - !!python/tuple [1, 15] + - !!python/tuple [7, 6] + - !!python/tuple [25, 10] + - !!python/tuple [2, 28] + - !!python/tuple [22, 9] + - !!python/tuple [31, 10] + - !!python/tuple [3, 25] + - !!python/tuple [25, 21] + - !!python/tuple [6, 0] + - !!python/tuple [29, 6] + - !!python/tuple [26, 15] + - !!python/tuple [7, 7] + - !!python/tuple [16, 16] + - !!python/tuple [5, 27] + - !!python/tuple [18, 26] + - !!python/tuple [10, 6] + - !!python/tuple [4, 9] + - !!python/tuple [26, 17] + - !!python/tuple [0, 21] + - !!python/tuple [25, 14] + - !!python/tuple [22, 2] + - !!python/tuple [1, 25] + - !!python/tuple [11, 30] + - !!python/tuple [8, 18] + - !!python/tuple [1, 18] + - !!python/tuple [1, 7] + - !!python/tuple [7, 1] + - !!python/tuple [3, 31] + - !!python/tuple [24, 22] + - !!python/tuple [15, 16] + - !!python/tuple [2, 8] + - !!python/tuple [8, 14] + - !!python/tuple [26, 8] + - !!python/tuple [13, 4] + - !!python/tuple [26, 10] + - !!python/tuple [6, 5] + - !!python/tuple [2, 13] + - !!python/tuple [17, 19] + - !!python/tuple [24, 2] + - !!python/tuple [23, 3] + - !!python/tuple [31, 11] + - !!python/tuple [27, 31] + - !!python/tuple [8, 27] + - !!python/tuple [21, 5] + - !!python/tuple [0, 20] + - !!python/tuple [11, 7] + - !!python/tuple [26, 0] + - !!python/tuple [13, 2] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex59.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex59.yaml new file mode 100644 index 0000000..cf6f875 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex59.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [20, 30] + name: agent0 + start: [21, 7] +- goal: [28, 19] + name: agent1 + start: [11, 28] +- goal: [29, 6] + name: agent2 + start: [2, 27] +- goal: [8, 21] + name: agent3 + start: [5, 15] +- goal: [25, 8] + name: agent4 + start: [24, 22] +- goal: [23, 3] + name: agent5 + start: [3, 18] +- goal: [31, 11] + name: agent6 + start: [2, 28] +- goal: [20, 3] + name: agent7 + start: [16, 5] +- goal: [10, 18] + name: agent8 + start: [30, 8] +- goal: [31, 17] + name: agent9 + start: [10, 14] +- goal: [2, 11] + name: agent10 + start: [4, 28] +- goal: [11, 27] + name: agent11 + start: [14, 6] +- goal: [20, 23] + name: agent12 + start: [26, 26] +- goal: [5, 9] + name: agent13 + start: [12, 21] +- goal: [24, 21] + name: agent14 + start: [14, 22] +- goal: [13, 22] + name: agent15 + start: [3, 12] +- goal: [10, 5] + name: agent16 + start: [16, 28] +- goal: [20, 13] + name: agent17 + start: [21, 1] +- goal: [19, 5] + name: agent18 + start: [26, 0] +- goal: [24, 6] + name: agent19 + start: [16, 20] +- goal: [24, 29] + name: agent20 + start: [9, 25] +- goal: [9, 31] + name: agent21 + start: [12, 28] +- goal: [13, 9] + name: agent22 + start: [13, 0] +- goal: [11, 15] + name: agent23 + start: [19, 26] +- goal: [31, 6] + name: agent24 + start: [11, 0] +- goal: [0, 22] + name: agent25 + start: [28, 25] +- goal: [28, 15] + name: agent26 + start: [9, 9] +- goal: [29, 13] + name: agent27 + start: [15, 28] +- goal: [5, 13] + name: agent28 + start: [6, 3] +- goal: [31, 30] + name: agent29 + start: [1, 12] +- goal: [0, 23] + name: agent30 + start: [16, 24] +- goal: [6, 13] + name: agent31 + start: [21, 28] +- goal: [5, 31] + name: agent32 + start: [28, 19] +- goal: [8, 9] + name: agent33 + start: [26, 21] +- goal: [20, 5] + name: agent34 + start: [3, 19] +- goal: [16, 29] + name: agent35 + start: [28, 26] +- goal: [8, 4] + name: agent36 + start: [21, 13] +- goal: [14, 13] + name: agent37 + start: [14, 13] +- goal: [6, 28] + name: agent38 + start: [23, 22] +- goal: [19, 21] + name: agent39 + start: [0, 30] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [7, 21] + - !!python/tuple [5, 7] + - !!python/tuple [29, 3] + - !!python/tuple [27, 8] + - !!python/tuple [1, 21] + - !!python/tuple [8, 16] + - !!python/tuple [7, 12] + - !!python/tuple [25, 21] + - !!python/tuple [28, 22] + - !!python/tuple [15, 24] + - !!python/tuple [21, 22] + - !!python/tuple [5, 25] + - !!python/tuple [20, 22] + - !!python/tuple [0, 20] + - !!python/tuple [17, 29] + - !!python/tuple [22, 24] + - !!python/tuple [15, 3] + - !!python/tuple [27, 27] + - !!python/tuple [27, 9] + - !!python/tuple [11, 30] + - !!python/tuple [20, 0] + - !!python/tuple [17, 6] + - !!python/tuple [12, 0] + - !!python/tuple [25, 6] + - !!python/tuple [23, 2] + - !!python/tuple [15, 4] + - !!python/tuple [30, 1] + - !!python/tuple [28, 11] + - !!python/tuple [10, 30] + - !!python/tuple [24, 5] + - !!python/tuple [21, 20] + - !!python/tuple [12, 23] + - !!python/tuple [7, 14] + - !!python/tuple [14, 11] + - !!python/tuple [18, 3] + - !!python/tuple [4, 15] + - !!python/tuple [22, 17] + - !!python/tuple [25, 30] + - !!python/tuple [0, 8] + - !!python/tuple [7, 22] + - !!python/tuple [30, 2] + - !!python/tuple [15, 22] + - !!python/tuple [27, 11] + - !!python/tuple [31, 4] + - !!python/tuple [16, 12] + - !!python/tuple [12, 18] + - !!python/tuple [5, 18] + - !!python/tuple [22, 1] + - !!python/tuple [21, 30] + - !!python/tuple [24, 20] + - !!python/tuple [24, 19] + - !!python/tuple [13, 30] + - !!python/tuple [30, 3] + - !!python/tuple [10, 17] + - !!python/tuple [26, 30] + - !!python/tuple [11, 22] + - !!python/tuple [27, 16] + - !!python/tuple [3, 7] + - !!python/tuple [11, 29] + - !!python/tuple [1, 4] + - !!python/tuple [30, 0] + - !!python/tuple [30, 13] + - !!python/tuple [19, 28] + - !!python/tuple [4, 6] + - !!python/tuple [21, 9] + - !!python/tuple [4, 14] + - !!python/tuple [5, 11] + - !!python/tuple [12, 27] + - !!python/tuple [4, 20] + - !!python/tuple [12, 15] + - !!python/tuple [16, 14] + - !!python/tuple [19, 2] + - !!python/tuple [9, 28] + - !!python/tuple [21, 3] + - !!python/tuple [1, 30] + - !!python/tuple [26, 2] + - !!python/tuple [7, 9] + - !!python/tuple [29, 8] + - !!python/tuple [23, 9] + - !!python/tuple [25, 3] + - !!python/tuple [21, 26] + - !!python/tuple [12, 10] + - !!python/tuple [30, 4] + - !!python/tuple [30, 11] + - !!python/tuple [27, 14] + - !!python/tuple [9, 2] + - !!python/tuple [1, 8] + - !!python/tuple [13, 12] + - !!python/tuple [7, 1] + - !!python/tuple [23, 14] + - !!python/tuple [17, 20] + - !!python/tuple [23, 7] + - !!python/tuple [26, 20] + - !!python/tuple [25, 26] + - !!python/tuple [28, 6] + - !!python/tuple [28, 29] + - !!python/tuple [24, 3] + - !!python/tuple [12, 4] + - !!python/tuple [4, 19] + - !!python/tuple [16, 10] + - !!python/tuple [13, 6] + - !!python/tuple [16, 7] + - !!python/tuple [26, 28] + - !!python/tuple [9, 1] + - !!python/tuple [30, 26] + - !!python/tuple [15, 18] + - !!python/tuple [13, 16] + - !!python/tuple [21, 2] + - !!python/tuple [26, 5] + - !!python/tuple [8, 6] + - !!python/tuple [27, 10] + - !!python/tuple [10, 11] + - !!python/tuple [22, 31] + - !!python/tuple [14, 17] + - !!python/tuple [14, 20] + - !!python/tuple [12, 14] + - !!python/tuple [30, 14] + - !!python/tuple [25, 16] + - !!python/tuple [11, 9] + - !!python/tuple [0, 29] + - !!python/tuple [0, 11] + - !!python/tuple [19, 7] + - !!python/tuple [6, 5] + - !!python/tuple [21, 14] + - !!python/tuple [2, 30] + - !!python/tuple [12, 7] + - !!python/tuple [20, 6] + - !!python/tuple [9, 13] + - !!python/tuple [29, 23] + - !!python/tuple [4, 31] + - !!python/tuple [25, 17] + - !!python/tuple [24, 28] + - !!python/tuple [22, 0] + - !!python/tuple [21, 23] + - !!python/tuple [18, 21] + - !!python/tuple [27, 28] + - !!python/tuple [7, 30] + - !!python/tuple [4, 9] + - !!python/tuple [21, 5] + - !!python/tuple [15, 14] + - !!python/tuple [30, 9] + - !!python/tuple [20, 26] + - !!python/tuple [4, 21] + - !!python/tuple [11, 25] + - !!python/tuple [10, 9] + - !!python/tuple [27, 29] + - !!python/tuple [21, 4] + - !!python/tuple [7, 27] + - !!python/tuple [16, 3] + - !!python/tuple [26, 23] + - !!python/tuple [26, 8] + - !!python/tuple [29, 28] + - !!python/tuple [28, 1] + - !!python/tuple [12, 26] + - !!python/tuple [14, 7] + - !!python/tuple [9, 6] + - !!python/tuple [9, 7] + - !!python/tuple [28, 8] + - !!python/tuple [24, 0] + - !!python/tuple [0, 25] + - !!python/tuple [29, 1] + - !!python/tuple [14, 21] + - !!python/tuple [4, 10] + - !!python/tuple [23, 20] + - !!python/tuple [22, 25] + - !!python/tuple [10, 31] + - !!python/tuple [7, 29] + - !!python/tuple [6, 8] + - !!python/tuple [21, 18] + - !!python/tuple [22, 12] + - !!python/tuple [24, 23] + - !!python/tuple [15, 6] + - !!python/tuple [29, 25] + - !!python/tuple [20, 20] + - !!python/tuple [29, 4] + - !!python/tuple [8, 22] + - !!python/tuple [1, 1] + - !!python/tuple [25, 27] + - !!python/tuple [30, 28] + - !!python/tuple [18, 4] + - !!python/tuple [29, 22] + - !!python/tuple [23, 27] + - !!python/tuple [19, 27] + - !!python/tuple [10, 12] + - !!python/tuple [14, 1] + - !!python/tuple [28, 2] + - !!python/tuple [10, 21] + - !!python/tuple [31, 19] + - !!python/tuple [14, 15] + - !!python/tuple [7, 20] + - !!python/tuple [24, 11] + - !!python/tuple [5, 16] + - !!python/tuple [22, 5] + - !!python/tuple [17, 31] + - !!python/tuple [10, 26] + - !!python/tuple [21, 29] + - !!python/tuple [15, 20] + - !!python/tuple [12, 20] + - !!python/tuple [3, 11] + - !!python/tuple [23, 16] + - !!python/tuple [23, 0] + - !!python/tuple [18, 5] + - !!python/tuple [7, 15] + - !!python/tuple [10, 28] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex6.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex6.yaml new file mode 100644 index 0000000..61bd64b --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex6.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [7, 24] + name: agent0 + start: [10, 27] +- goal: [27, 29] + name: agent1 + start: [25, 12] +- goal: [7, 12] + name: agent2 + start: [20, 20] +- goal: [29, 27] + name: agent3 + start: [31, 13] +- goal: [22, 3] + name: agent4 + start: [18, 24] +- goal: [7, 10] + name: agent5 + start: [30, 8] +- goal: [12, 22] + name: agent6 + start: [24, 11] +- goal: [2, 28] + name: agent7 + start: [5, 5] +- goal: [21, 13] + name: agent8 + start: [5, 2] +- goal: [22, 0] + name: agent9 + start: [17, 13] +- goal: [30, 30] + name: agent10 + start: [10, 22] +- goal: [23, 19] + name: agent11 + start: [17, 12] +- goal: [24, 22] + name: agent12 + start: [25, 2] +- goal: [25, 16] + name: agent13 + start: [15, 27] +- goal: [6, 26] + name: agent14 + start: [25, 18] +- goal: [1, 15] + name: agent15 + start: [10, 15] +- goal: [17, 8] + name: agent16 + start: [10, 12] +- goal: [26, 19] + name: agent17 + start: [1, 30] +- goal: [23, 12] + name: agent18 + start: [24, 26] +- goal: [9, 21] + name: agent19 + start: [2, 30] +- goal: [16, 25] + name: agent20 + start: [26, 6] +- goal: [6, 21] + name: agent21 + start: [18, 17] +- goal: [10, 25] + name: agent22 + start: [13, 14] +- goal: [1, 13] + name: agent23 + start: [31, 8] +- goal: [11, 9] + name: agent24 + start: [1, 18] +- goal: [15, 18] + name: agent25 + start: [1, 2] +- goal: [7, 26] + name: agent26 + start: [16, 26] +- goal: [9, 10] + name: agent27 + start: [4, 23] +- goal: [11, 1] + name: agent28 + start: [10, 24] +- goal: [7, 30] + name: agent29 + start: [14, 19] +- goal: [29, 26] + name: agent30 + start: [10, 19] +- goal: [7, 27] + name: agent31 + start: [2, 19] +- goal: [5, 7] + name: agent32 + start: [5, 21] +- goal: [16, 24] + name: agent33 + start: [17, 4] +- goal: [27, 9] + name: agent34 + start: [1, 14] +- goal: [2, 10] + name: agent35 + start: [2, 5] +- goal: [1, 30] + name: agent36 + start: [22, 9] +- goal: [21, 11] + name: agent37 + start: [23, 9] +- goal: [29, 1] + name: agent38 + start: [15, 2] +- goal: [13, 1] + name: agent39 + start: [27, 18] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [23, 28] + - !!python/tuple [20, 29] + - !!python/tuple [21, 30] + - !!python/tuple [19, 10] + - !!python/tuple [21, 10] + - !!python/tuple [0, 5] + - !!python/tuple [1, 6] + - !!python/tuple [17, 23] + - !!python/tuple [13, 0] + - !!python/tuple [30, 25] + - !!python/tuple [23, 7] + - !!python/tuple [12, 3] + - !!python/tuple [25, 29] + - !!python/tuple [21, 24] + - !!python/tuple [13, 8] + - !!python/tuple [5, 18] + - !!python/tuple [30, 17] + - !!python/tuple [3, 26] + - !!python/tuple [12, 2] + - !!python/tuple [6, 31] + - !!python/tuple [1, 28] + - !!python/tuple [1, 8] + - !!python/tuple [0, 19] + - !!python/tuple [21, 8] + - !!python/tuple [27, 7] + - !!python/tuple [25, 14] + - !!python/tuple [26, 28] + - !!python/tuple [1, 11] + - !!python/tuple [17, 6] + - !!python/tuple [9, 28] + - !!python/tuple [30, 14] + - !!python/tuple [16, 5] + - !!python/tuple [10, 28] + - !!python/tuple [1, 10] + - !!python/tuple [7, 14] + - !!python/tuple [12, 23] + - !!python/tuple [19, 4] + - !!python/tuple [22, 31] + - !!python/tuple [0, 10] + - !!python/tuple [3, 5] + - !!python/tuple [26, 13] + - !!python/tuple [7, 15] + - !!python/tuple [2, 3] + - !!python/tuple [16, 20] + - !!python/tuple [23, 29] + - !!python/tuple [6, 15] + - !!python/tuple [24, 20] + - !!python/tuple [5, 3] + - !!python/tuple [5, 19] + - !!python/tuple [17, 25] + - !!python/tuple [7, 16] + - !!python/tuple [13, 15] + - !!python/tuple [16, 23] + - !!python/tuple [8, 24] + - !!python/tuple [16, 21] + - !!python/tuple [1, 31] + - !!python/tuple [27, 28] + - !!python/tuple [23, 20] + - !!python/tuple [5, 31] + - !!python/tuple [30, 29] + - !!python/tuple [26, 20] + - !!python/tuple [13, 6] + - !!python/tuple [14, 20] + - !!python/tuple [26, 17] + - !!python/tuple [12, 15] + - !!python/tuple [4, 26] + - !!python/tuple [5, 15] + - !!python/tuple [14, 23] + - !!python/tuple [24, 10] + - !!python/tuple [21, 19] + - !!python/tuple [1, 17] + - !!python/tuple [8, 23] + - !!python/tuple [18, 2] + - !!python/tuple [14, 6] + - !!python/tuple [23, 31] + - !!python/tuple [10, 9] + - !!python/tuple [0, 28] + - !!python/tuple [30, 31] + - !!python/tuple [12, 18] + - !!python/tuple [6, 11] + - !!python/tuple [14, 29] + - !!python/tuple [22, 5] + - !!python/tuple [26, 24] + - !!python/tuple [18, 0] + - !!python/tuple [28, 13] + - !!python/tuple [24, 25] + - !!python/tuple [27, 3] + - !!python/tuple [14, 3] + - !!python/tuple [24, 21] + - !!python/tuple [3, 31] + - !!python/tuple [0, 27] + - !!python/tuple [1, 29] + - !!python/tuple [21, 31] + - !!python/tuple [2, 22] + - !!python/tuple [7, 20] + - !!python/tuple [14, 22] + - !!python/tuple [5, 9] + - !!python/tuple [7, 19] + - !!python/tuple [23, 30] + - !!python/tuple [27, 26] + - !!python/tuple [31, 12] + - !!python/tuple [19, 5] + - !!python/tuple [13, 18] + - !!python/tuple [6, 30] + - !!python/tuple [23, 27] + - !!python/tuple [3, 12] + - !!python/tuple [10, 18] + - !!python/tuple [4, 31] + - !!python/tuple [0, 31] + - !!python/tuple [9, 24] + - !!python/tuple [30, 5] + - !!python/tuple [8, 13] + - !!python/tuple [20, 3] + - !!python/tuple [13, 30] + - !!python/tuple [24, 1] + - !!python/tuple [26, 7] + - !!python/tuple [5, 25] + - !!python/tuple [14, 14] + - !!python/tuple [7, 2] + - !!python/tuple [17, 9] + - !!python/tuple [7, 18] + - !!python/tuple [30, 3] + - !!python/tuple [24, 14] + - !!python/tuple [7, 28] + - !!python/tuple [1, 22] + - !!python/tuple [4, 15] + - !!python/tuple [11, 29] + - !!python/tuple [11, 13] + - !!python/tuple [6, 9] + - !!python/tuple [9, 31] + - !!python/tuple [29, 4] + - !!python/tuple [9, 6] + - !!python/tuple [11, 12] + - !!python/tuple [16, 22] + - !!python/tuple [0, 8] + - !!python/tuple [13, 10] + - !!python/tuple [21, 18] + - !!python/tuple [8, 19] + - !!python/tuple [26, 3] + - !!python/tuple [0, 24] + - !!python/tuple [22, 2] + - !!python/tuple [30, 2] + - !!python/tuple [29, 14] + - !!python/tuple [31, 27] + - !!python/tuple [29, 8] + - !!python/tuple [4, 0] + - !!python/tuple [26, 2] + - !!python/tuple [16, 1] + - !!python/tuple [19, 6] + - !!python/tuple [5, 17] + - !!python/tuple [29, 28] + - !!python/tuple [12, 8] + - !!python/tuple [17, 15] + - !!python/tuple [19, 20] + - !!python/tuple [16, 12] + - !!python/tuple [17, 22] + - !!python/tuple [7, 13] + - !!python/tuple [19, 11] + - !!python/tuple [12, 5] + - !!python/tuple [17, 27] + - !!python/tuple [9, 14] + - !!python/tuple [18, 1] + - !!python/tuple [21, 6] + - !!python/tuple [20, 7] + - !!python/tuple [20, 4] + - !!python/tuple [9, 11] + - !!python/tuple [3, 15] + - !!python/tuple [22, 28] + - !!python/tuple [13, 17] + - !!python/tuple [13, 16] + - !!python/tuple [8, 20] + - !!python/tuple [31, 2] + - !!python/tuple [11, 5] + - !!python/tuple [12, 26] + - !!python/tuple [5, 28] + - !!python/tuple [20, 17] + - !!python/tuple [27, 11] + - !!python/tuple [26, 29] + - !!python/tuple [8, 28] + - !!python/tuple [15, 10] + - !!python/tuple [24, 5] + - !!python/tuple [29, 11] + - !!python/tuple [15, 0] + - !!python/tuple [10, 30] + - !!python/tuple [28, 28] + - !!python/tuple [3, 14] + - !!python/tuple [16, 19] + - !!python/tuple [17, 31] + - !!python/tuple [19, 1] + - !!python/tuple [12, 24] + - !!python/tuple [6, 22] + - !!python/tuple [8, 15] + - !!python/tuple [30, 1] + - !!python/tuple [17, 7] + - !!python/tuple [19, 13] + - !!python/tuple [21, 21] + - !!python/tuple [20, 19] + - !!python/tuple [20, 18] + - !!python/tuple [15, 5] + - !!python/tuple [6, 4] + - !!python/tuple [3, 17] + - !!python/tuple [5, 23] + - !!python/tuple [3, 21] + - !!python/tuple [20, 16] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex60.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex60.yaml new file mode 100644 index 0000000..6f5d590 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex60.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [8, 11] + name: agent0 + start: [0, 27] +- goal: [9, 10] + name: agent1 + start: [16, 31] +- goal: [22, 26] + name: agent2 + start: [4, 23] +- goal: [14, 5] + name: agent3 + start: [1, 1] +- goal: [18, 2] + name: agent4 + start: [13, 15] +- goal: [30, 17] + name: agent5 + start: [25, 22] +- goal: [27, 12] + name: agent6 + start: [31, 24] +- goal: [27, 30] + name: agent7 + start: [31, 28] +- goal: [8, 4] + name: agent8 + start: [10, 1] +- goal: [2, 11] + name: agent9 + start: [13, 21] +- goal: [28, 23] + name: agent10 + start: [4, 27] +- goal: [1, 11] + name: agent11 + start: [11, 18] +- goal: [13, 23] + name: agent12 + start: [31, 29] +- goal: [29, 12] + name: agent13 + start: [6, 25] +- goal: [16, 1] + name: agent14 + start: [0, 26] +- goal: [13, 22] + name: agent15 + start: [2, 21] +- goal: [15, 1] + name: agent16 + start: [20, 20] +- goal: [10, 23] + name: agent17 + start: [30, 10] +- goal: [6, 13] + name: agent18 + start: [15, 11] +- goal: [22, 16] + name: agent19 + start: [1, 0] +- goal: [18, 13] + name: agent20 + start: [17, 22] +- goal: [27, 15] + name: agent21 + start: [6, 5] +- goal: [23, 7] + name: agent22 + start: [10, 10] +- goal: [5, 5] + name: agent23 + start: [12, 15] +- goal: [18, 30] + name: agent24 + start: [1, 25] +- goal: [30, 13] + name: agent25 + start: [19, 0] +- goal: [6, 25] + name: agent26 + start: [17, 20] +- goal: [24, 12] + name: agent27 + start: [5, 16] +- goal: [10, 16] + name: agent28 + start: [24, 18] +- goal: [10, 26] + name: agent29 + start: [15, 16] +- goal: [13, 7] + name: agent30 + start: [7, 31] +- goal: [24, 13] + name: agent31 + start: [9, 16] +- goal: [0, 27] + name: agent32 + start: [13, 26] +- goal: [13, 16] + name: agent33 + start: [8, 18] +- goal: [22, 8] + name: agent34 + start: [21, 13] +- goal: [10, 25] + name: agent35 + start: [3, 16] +- goal: [2, 30] + name: agent36 + start: [4, 16] +- goal: [31, 26] + name: agent37 + start: [11, 11] +- goal: [31, 28] + name: agent38 + start: [23, 29] +- goal: [8, 19] + name: agent39 + start: [5, 5] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [10, 29] + - !!python/tuple [14, 6] + - !!python/tuple [11, 6] + - !!python/tuple [29, 30] + - !!python/tuple [12, 16] + - !!python/tuple [1, 10] + - !!python/tuple [22, 23] + - !!python/tuple [9, 1] + - !!python/tuple [10, 31] + - !!python/tuple [15, 12] + - !!python/tuple [13, 27] + - !!python/tuple [31, 23] + - !!python/tuple [12, 29] + - !!python/tuple [19, 17] + - !!python/tuple [27, 24] + - !!python/tuple [24, 23] + - !!python/tuple [6, 16] + - !!python/tuple [16, 20] + - !!python/tuple [11, 5] + - !!python/tuple [26, 14] + - !!python/tuple [31, 6] + - !!python/tuple [31, 3] + - !!python/tuple [12, 24] + - !!python/tuple [29, 10] + - !!python/tuple [25, 29] + - !!python/tuple [31, 30] + - !!python/tuple [3, 22] + - !!python/tuple [1, 29] + - !!python/tuple [4, 6] + - !!python/tuple [1, 2] + - !!python/tuple [7, 7] + - !!python/tuple [30, 29] + - !!python/tuple [23, 8] + - !!python/tuple [0, 21] + - !!python/tuple [5, 9] + - !!python/tuple [22, 0] + - !!python/tuple [22, 31] + - !!python/tuple [15, 20] + - !!python/tuple [11, 15] + - !!python/tuple [25, 23] + - !!python/tuple [17, 30] + - !!python/tuple [27, 29] + - !!python/tuple [20, 22] + - !!python/tuple [17, 18] + - !!python/tuple [9, 20] + - !!python/tuple [24, 6] + - !!python/tuple [25, 11] + - !!python/tuple [19, 5] + - !!python/tuple [17, 5] + - !!python/tuple [26, 15] + - !!python/tuple [20, 5] + - !!python/tuple [17, 11] + - !!python/tuple [29, 17] + - !!python/tuple [7, 21] + - !!python/tuple [9, 17] + - !!python/tuple [28, 8] + - !!python/tuple [20, 19] + - !!python/tuple [21, 14] + - !!python/tuple [17, 19] + - !!python/tuple [28, 11] + - !!python/tuple [20, 26] + - !!python/tuple [2, 8] + - !!python/tuple [9, 27] + - !!python/tuple [4, 22] + - !!python/tuple [20, 16] + - !!python/tuple [2, 9] + - !!python/tuple [0, 17] + - !!python/tuple [27, 20] + - !!python/tuple [7, 14] + - !!python/tuple [13, 28] + - !!python/tuple [11, 19] + - !!python/tuple [8, 21] + - !!python/tuple [11, 0] + - !!python/tuple [16, 14] + - !!python/tuple [15, 5] + - !!python/tuple [19, 2] + - !!python/tuple [3, 24] + - !!python/tuple [30, 12] + - !!python/tuple [6, 22] + - !!python/tuple [7, 4] + - !!python/tuple [26, 1] + - !!python/tuple [6, 8] + - !!python/tuple [14, 2] + - !!python/tuple [2, 29] + - !!python/tuple [12, 6] + - !!python/tuple [5, 19] + - !!python/tuple [18, 24] + - !!python/tuple [15, 21] + - !!python/tuple [10, 2] + - !!python/tuple [30, 6] + - !!python/tuple [12, 14] + - !!python/tuple [23, 1] + - !!python/tuple [4, 5] + - !!python/tuple [12, 19] + - !!python/tuple [19, 31] + - !!python/tuple [26, 20] + - !!python/tuple [0, 18] + - !!python/tuple [17, 16] + - !!python/tuple [3, 30] + - !!python/tuple [20, 1] + - !!python/tuple [11, 4] + - !!python/tuple [26, 17] + - !!python/tuple [6, 3] + - !!python/tuple [0, 11] + - !!python/tuple [19, 7] + - !!python/tuple [9, 12] + - !!python/tuple [17, 27] + - !!python/tuple [30, 8] + - !!python/tuple [3, 1] + - !!python/tuple [18, 9] + - !!python/tuple [0, 5] + - !!python/tuple [14, 17] + - !!python/tuple [1, 15] + - !!python/tuple [1, 27] + - !!python/tuple [24, 8] + - !!python/tuple [7, 10] + - !!python/tuple [3, 26] + - !!python/tuple [14, 26] + - !!python/tuple [17, 24] + - !!python/tuple [1, 21] + - !!python/tuple [21, 4] + - !!python/tuple [25, 0] + - !!python/tuple [26, 27] + - !!python/tuple [12, 11] + - !!python/tuple [14, 10] + - !!python/tuple [1, 14] + - !!python/tuple [2, 5] + - !!python/tuple [1, 8] + - !!python/tuple [29, 18] + - !!python/tuple [26, 28] + - !!python/tuple [9, 18] + - !!python/tuple [7, 13] + - !!python/tuple [7, 8] + - !!python/tuple [24, 31] + - !!python/tuple [21, 23] + - !!python/tuple [29, 21] + - !!python/tuple [15, 10] + - !!python/tuple [7, 15] + - !!python/tuple [28, 17] + - !!python/tuple [26, 8] + - !!python/tuple [10, 6] + - !!python/tuple [26, 9] + - !!python/tuple [31, 17] + - !!python/tuple [11, 29] + - !!python/tuple [27, 0] + - !!python/tuple [15, 0] + - !!python/tuple [6, 4] + - !!python/tuple [22, 29] + - !!python/tuple [20, 27] + - !!python/tuple [0, 6] + - !!python/tuple [28, 0] + - !!python/tuple [8, 8] + - !!python/tuple [22, 20] + - !!python/tuple [5, 22] + - !!python/tuple [25, 8] + - !!python/tuple [13, 19] + - !!python/tuple [18, 10] + - !!python/tuple [20, 21] + - !!python/tuple [21, 9] + - !!python/tuple [2, 12] + - !!python/tuple [13, 11] + - !!python/tuple [21, 17] + - !!python/tuple [30, 3] + - !!python/tuple [27, 27] + - !!python/tuple [14, 25] + - !!python/tuple [3, 14] + - !!python/tuple [21, 12] + - !!python/tuple [21, 25] + - !!python/tuple [4, 25] + - !!python/tuple [12, 30] + - !!python/tuple [15, 30] + - !!python/tuple [21, 10] + - !!python/tuple [1, 30] + - !!python/tuple [31, 12] + - !!python/tuple [28, 24] + - !!python/tuple [20, 12] + - !!python/tuple [28, 6] + - !!python/tuple [27, 28] + - !!python/tuple [23, 19] + - !!python/tuple [14, 29] + - !!python/tuple [18, 3] + - !!python/tuple [24, 3] + - !!python/tuple [0, 1] + - !!python/tuple [14, 21] + - !!python/tuple [1, 31] + - !!python/tuple [16, 6] + - !!python/tuple [14, 28] + - !!python/tuple [12, 18] + - !!python/tuple [19, 27] + - !!python/tuple [16, 8] + - !!python/tuple [26, 29] + - !!python/tuple [4, 29] + - !!python/tuple [20, 24] + - !!python/tuple [9, 21] + - !!python/tuple [28, 25] + - !!python/tuple [29, 22] + - !!python/tuple [18, 27] + - !!python/tuple [11, 17] + - !!python/tuple [9, 14] + - !!python/tuple [1, 19] + - !!python/tuple [23, 13] + - !!python/tuple [23, 5] + - !!python/tuple [31, 13] + - !!python/tuple [19, 10] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex61.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex61.yaml new file mode 100644 index 0000000..f308c04 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex61.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [23, 23] + name: agent0 + start: [22, 2] +- goal: [7, 8] + name: agent1 + start: [24, 26] +- goal: [12, 13] + name: agent2 + start: [13, 3] +- goal: [5, 23] + name: agent3 + start: [12, 2] +- goal: [4, 14] + name: agent4 + start: [2, 28] +- goal: [3, 24] + name: agent5 + start: [4, 29] +- goal: [24, 24] + name: agent6 + start: [30, 7] +- goal: [8, 10] + name: agent7 + start: [18, 5] +- goal: [7, 2] + name: agent8 + start: [9, 18] +- goal: [8, 6] + name: agent9 + start: [31, 19] +- goal: [13, 0] + name: agent10 + start: [22, 13] +- goal: [12, 8] + name: agent11 + start: [23, 2] +- goal: [29, 22] + name: agent12 + start: [27, 5] +- goal: [9, 19] + name: agent13 + start: [0, 26] +- goal: [14, 5] + name: agent14 + start: [15, 30] +- goal: [5, 2] + name: agent15 + start: [25, 30] +- goal: [7, 30] + name: agent16 + start: [27, 9] +- goal: [19, 4] + name: agent17 + start: [12, 1] +- goal: [29, 6] + name: agent18 + start: [22, 31] +- goal: [12, 18] + name: agent19 + start: [10, 28] +- goal: [3, 28] + name: agent20 + start: [10, 27] +- goal: [23, 8] + name: agent21 + start: [24, 20] +- goal: [22, 16] + name: agent22 + start: [22, 24] +- goal: [20, 22] + name: agent23 + start: [11, 31] +- goal: [17, 13] + name: agent24 + start: [22, 11] +- goal: [16, 27] + name: agent25 + start: [27, 13] +- goal: [11, 18] + name: agent26 + start: [11, 3] +- goal: [22, 31] + name: agent27 + start: [3, 15] +- goal: [18, 30] + name: agent28 + start: [28, 22] +- goal: [29, 8] + name: agent29 + start: [13, 20] +- goal: [29, 31] + name: agent30 + start: [29, 10] +- goal: [0, 29] + name: agent31 + start: [17, 30] +- goal: [5, 11] + name: agent32 + start: [28, 1] +- goal: [18, 3] + name: agent33 + start: [15, 26] +- goal: [5, 14] + name: agent34 + start: [5, 30] +- goal: [9, 26] + name: agent35 + start: [10, 24] +- goal: [10, 7] + name: agent36 + start: [9, 21] +- goal: [31, 1] + name: agent37 + start: [2, 22] +- goal: [11, 14] + name: agent38 + start: [25, 2] +- goal: [20, 31] + name: agent39 + start: [29, 1] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [16, 8] + - !!python/tuple [17, 25] + - !!python/tuple [27, 24] + - !!python/tuple [1, 22] + - !!python/tuple [29, 4] + - !!python/tuple [12, 23] + - !!python/tuple [29, 18] + - !!python/tuple [30, 6] + - !!python/tuple [31, 25] + - !!python/tuple [13, 1] + - !!python/tuple [1, 10] + - !!python/tuple [20, 25] + - !!python/tuple [25, 31] + - !!python/tuple [25, 19] + - !!python/tuple [25, 11] + - !!python/tuple [3, 26] + - !!python/tuple [9, 8] + - !!python/tuple [0, 23] + - !!python/tuple [11, 2] + - !!python/tuple [21, 9] + - !!python/tuple [23, 11] + - !!python/tuple [20, 26] + - !!python/tuple [23, 4] + - !!python/tuple [8, 23] + - !!python/tuple [27, 8] + - !!python/tuple [5, 5] + - !!python/tuple [25, 5] + - !!python/tuple [9, 25] + - !!python/tuple [25, 22] + - !!python/tuple [20, 2] + - !!python/tuple [18, 29] + - !!python/tuple [19, 1] + - !!python/tuple [11, 22] + - !!python/tuple [30, 18] + - !!python/tuple [7, 23] + - !!python/tuple [5, 21] + - !!python/tuple [31, 2] + - !!python/tuple [11, 11] + - !!python/tuple [30, 25] + - !!python/tuple [19, 0] + - !!python/tuple [11, 28] + - !!python/tuple [1, 24] + - !!python/tuple [13, 24] + - !!python/tuple [21, 24] + - !!python/tuple [17, 21] + - !!python/tuple [22, 29] + - !!python/tuple [12, 22] + - !!python/tuple [28, 26] + - !!python/tuple [28, 14] + - !!python/tuple [27, 16] + - !!python/tuple [31, 26] + - !!python/tuple [14, 15] + - !!python/tuple [31, 15] + - !!python/tuple [26, 20] + - !!python/tuple [1, 18] + - !!python/tuple [3, 25] + - !!python/tuple [1, 12] + - !!python/tuple [31, 17] + - !!python/tuple [3, 6] + - !!python/tuple [1, 26] + - !!python/tuple [4, 15] + - !!python/tuple [13, 28] + - !!python/tuple [27, 19] + - !!python/tuple [31, 8] + - !!python/tuple [10, 2] + - !!python/tuple [3, 31] + - !!python/tuple [30, 31] + - !!python/tuple [0, 0] + - !!python/tuple [7, 31] + - !!python/tuple [4, 4] + - !!python/tuple [14, 0] + - !!python/tuple [6, 8] + - !!python/tuple [29, 7] + - !!python/tuple [12, 20] + - !!python/tuple [11, 6] + - !!python/tuple [27, 4] + - !!python/tuple [3, 11] + - !!python/tuple [6, 15] + - !!python/tuple [26, 18] + - !!python/tuple [17, 6] + - !!python/tuple [8, 20] + - !!python/tuple [9, 15] + - !!python/tuple [23, 28] + - !!python/tuple [28, 5] + - !!python/tuple [18, 24] + - !!python/tuple [0, 4] + - !!python/tuple [31, 11] + - !!python/tuple [9, 28] + - !!python/tuple [21, 27] + - !!python/tuple [21, 18] + - !!python/tuple [17, 27] + - !!python/tuple [18, 20] + - !!python/tuple [0, 17] + - !!python/tuple [17, 12] + - !!python/tuple [19, 21] + - !!python/tuple [18, 9] + - !!python/tuple [15, 23] + - !!python/tuple [18, 15] + - !!python/tuple [14, 10] + - !!python/tuple [12, 25] + - !!python/tuple [20, 24] + - !!python/tuple [22, 5] + - !!python/tuple [0, 25] + - !!python/tuple [26, 7] + - !!python/tuple [15, 3] + - !!python/tuple [29, 25] + - !!python/tuple [31, 22] + - !!python/tuple [23, 0] + - !!python/tuple [5, 12] + - !!python/tuple [3, 18] + - !!python/tuple [5, 6] + - !!python/tuple [20, 7] + - !!python/tuple [20, 9] + - !!python/tuple [1, 2] + - !!python/tuple [15, 15] + - !!python/tuple [5, 15] + - !!python/tuple [6, 6] + - !!python/tuple [9, 29] + - !!python/tuple [0, 18] + - !!python/tuple [3, 7] + - !!python/tuple [24, 16] + - !!python/tuple [4, 1] + - !!python/tuple [10, 23] + - !!python/tuple [24, 22] + - !!python/tuple [31, 0] + - !!python/tuple [6, 19] + - !!python/tuple [28, 11] + - !!python/tuple [25, 12] + - !!python/tuple [16, 16] + - !!python/tuple [22, 14] + - !!python/tuple [9, 16] + - !!python/tuple [18, 12] + - !!python/tuple [2, 25] + - !!python/tuple [24, 18] + - !!python/tuple [4, 22] + - !!python/tuple [22, 21] + - !!python/tuple [10, 16] + - !!python/tuple [5, 3] + - !!python/tuple [12, 27] + - !!python/tuple [23, 21] + - !!python/tuple [31, 13] + - !!python/tuple [20, 15] + - !!python/tuple [13, 25] + - !!python/tuple [25, 8] + - !!python/tuple [4, 0] + - !!python/tuple [21, 31] + - !!python/tuple [10, 30] + - !!python/tuple [21, 23] + - !!python/tuple [4, 25] + - !!python/tuple [25, 6] + - !!python/tuple [8, 3] + - !!python/tuple [21, 3] + - !!python/tuple [17, 17] + - !!python/tuple [21, 29] + - !!python/tuple [8, 28] + - !!python/tuple [1, 7] + - !!python/tuple [29, 12] + - !!python/tuple [0, 7] + - !!python/tuple [11, 4] + - !!python/tuple [3, 20] + - !!python/tuple [5, 27] + - !!python/tuple [26, 21] + - !!python/tuple [12, 5] + - !!python/tuple [16, 24] + - !!python/tuple [4, 31] + - !!python/tuple [16, 6] + - !!python/tuple [4, 5] + - !!python/tuple [26, 16] + - !!python/tuple [13, 6] + - !!python/tuple [18, 8] + - !!python/tuple [16, 23] + - !!python/tuple [16, 18] + - !!python/tuple [3, 29] + - !!python/tuple [29, 3] + - !!python/tuple [21, 16] + - !!python/tuple [16, 10] + - !!python/tuple [27, 25] + - !!python/tuple [17, 1] + - !!python/tuple [18, 17] + - !!python/tuple [28, 18] + - !!python/tuple [13, 30] + - !!python/tuple [22, 8] + - !!python/tuple [15, 25] + - !!python/tuple [4, 2] + - !!python/tuple [0, 13] + - !!python/tuple [11, 5] + - !!python/tuple [2, 17] + - !!python/tuple [24, 10] + - !!python/tuple [16, 29] + - !!python/tuple [7, 3] + - !!python/tuple [11, 9] + - !!python/tuple [15, 5] + - !!python/tuple [9, 3] + - !!python/tuple [5, 1] + - !!python/tuple [25, 1] + - !!python/tuple [13, 26] + - !!python/tuple [24, 30] + - !!python/tuple [3, 17] + - !!python/tuple [30, 16] + - !!python/tuple [7, 28] + - !!python/tuple [7, 20] + - !!python/tuple [2, 10] + - !!python/tuple [9, 6] + - !!python/tuple [31, 3] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex62.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex62.yaml new file mode 100644 index 0000000..592ab0d --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex62.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [18, 14] + name: agent0 + start: [26, 28] +- goal: [11, 22] + name: agent1 + start: [12, 31] +- goal: [19, 31] + name: agent2 + start: [19, 5] +- goal: [5, 12] + name: agent3 + start: [30, 18] +- goal: [6, 14] + name: agent4 + start: [25, 1] +- goal: [28, 21] + name: agent5 + start: [7, 20] +- goal: [10, 30] + name: agent6 + start: [28, 22] +- goal: [1, 10] + name: agent7 + start: [12, 14] +- goal: [14, 27] + name: agent8 + start: [1, 11] +- goal: [24, 0] + name: agent9 + start: [9, 16] +- goal: [2, 0] + name: agent10 + start: [4, 2] +- goal: [26, 9] + name: agent11 + start: [24, 25] +- goal: [6, 2] + name: agent12 + start: [31, 15] +- goal: [11, 20] + name: agent13 + start: [7, 24] +- goal: [31, 17] + name: agent14 + start: [12, 15] +- goal: [4, 13] + name: agent15 + start: [18, 18] +- goal: [1, 13] + name: agent16 + start: [3, 16] +- goal: [17, 6] + name: agent17 + start: [30, 25] +- goal: [13, 18] + name: agent18 + start: [10, 0] +- goal: [19, 18] + name: agent19 + start: [6, 22] +- goal: [21, 25] + name: agent20 + start: [27, 1] +- goal: [11, 10] + name: agent21 + start: [19, 1] +- goal: [31, 29] + name: agent22 + start: [1, 24] +- goal: [3, 17] + name: agent23 + start: [27, 15] +- goal: [1, 5] + name: agent24 + start: [23, 22] +- goal: [21, 8] + name: agent25 + start: [0, 6] +- goal: [23, 11] + name: agent26 + start: [10, 14] +- goal: [29, 4] + name: agent27 + start: [28, 10] +- goal: [16, 21] + name: agent28 + start: [21, 27] +- goal: [30, 20] + name: agent29 + start: [22, 30] +- goal: [18, 23] + name: agent30 + start: [26, 23] +- goal: [10, 28] + name: agent31 + start: [26, 13] +- goal: [2, 25] + name: agent32 + start: [8, 27] +- goal: [24, 18] + name: agent33 + start: [10, 11] +- goal: [23, 24] + name: agent34 + start: [29, 27] +- goal: [21, 15] + name: agent35 + start: [6, 2] +- goal: [16, 14] + name: agent36 + start: [21, 23] +- goal: [27, 19] + name: agent37 + start: [17, 14] +- goal: [28, 13] + name: agent38 + start: [19, 24] +- goal: [3, 0] + name: agent39 + start: [12, 2] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [0, 4] + - !!python/tuple [20, 12] + - !!python/tuple [11, 2] + - !!python/tuple [18, 5] + - !!python/tuple [7, 0] + - !!python/tuple [12, 25] + - !!python/tuple [14, 12] + - !!python/tuple [4, 15] + - !!python/tuple [18, 7] + - !!python/tuple [16, 5] + - !!python/tuple [7, 4] + - !!python/tuple [24, 13] + - !!python/tuple [12, 30] + - !!python/tuple [3, 13] + - !!python/tuple [25, 13] + - !!python/tuple [30, 8] + - !!python/tuple [19, 3] + - !!python/tuple [16, 27] + - !!python/tuple [24, 10] + - !!python/tuple [26, 25] + - !!python/tuple [14, 21] + - !!python/tuple [6, 27] + - !!python/tuple [7, 14] + - !!python/tuple [15, 2] + - !!python/tuple [18, 21] + - !!python/tuple [11, 19] + - !!python/tuple [0, 28] + - !!python/tuple [12, 11] + - !!python/tuple [22, 4] + - !!python/tuple [7, 26] + - !!python/tuple [27, 29] + - !!python/tuple [15, 25] + - !!python/tuple [11, 14] + - !!python/tuple [24, 4] + - !!python/tuple [11, 21] + - !!python/tuple [26, 18] + - !!python/tuple [21, 14] + - !!python/tuple [6, 12] + - !!python/tuple [1, 1] + - !!python/tuple [25, 10] + - !!python/tuple [19, 22] + - !!python/tuple [7, 9] + - !!python/tuple [31, 26] + - !!python/tuple [19, 19] + - !!python/tuple [25, 19] + - !!python/tuple [31, 2] + - !!python/tuple [30, 6] + - !!python/tuple [27, 17] + - !!python/tuple [0, 5] + - !!python/tuple [16, 7] + - !!python/tuple [11, 31] + - !!python/tuple [4, 16] + - !!python/tuple [21, 3] + - !!python/tuple [3, 7] + - !!python/tuple [9, 25] + - !!python/tuple [18, 6] + - !!python/tuple [6, 4] + - !!python/tuple [3, 27] + - !!python/tuple [8, 23] + - !!python/tuple [20, 25] + - !!python/tuple [11, 30] + - !!python/tuple [12, 10] + - !!python/tuple [4, 1] + - !!python/tuple [2, 28] + - !!python/tuple [18, 12] + - !!python/tuple [1, 3] + - !!python/tuple [28, 4] + - !!python/tuple [14, 22] + - !!python/tuple [8, 16] + - !!python/tuple [28, 24] + - !!python/tuple [26, 6] + - !!python/tuple [29, 17] + - !!python/tuple [23, 23] + - !!python/tuple [15, 28] + - !!python/tuple [23, 2] + - !!python/tuple [6, 24] + - !!python/tuple [8, 13] + - !!python/tuple [24, 28] + - !!python/tuple [0, 27] + - !!python/tuple [7, 25] + - !!python/tuple [18, 13] + - !!python/tuple [23, 1] + - !!python/tuple [3, 19] + - !!python/tuple [0, 26] + - !!python/tuple [3, 10] + - !!python/tuple [7, 21] + - !!python/tuple [27, 27] + - !!python/tuple [16, 24] + - !!python/tuple [27, 22] + - !!python/tuple [12, 9] + - !!python/tuple [17, 15] + - !!python/tuple [18, 10] + - !!python/tuple [21, 11] + - !!python/tuple [15, 17] + - !!python/tuple [7, 3] + - !!python/tuple [11, 0] + - !!python/tuple [4, 7] + - !!python/tuple [0, 18] + - !!python/tuple [11, 13] + - !!python/tuple [26, 0] + - !!python/tuple [24, 23] + - !!python/tuple [16, 26] + - !!python/tuple [11, 17] + - !!python/tuple [17, 10] + - !!python/tuple [22, 9] + - !!python/tuple [4, 12] + - !!python/tuple [2, 26] + - !!python/tuple [15, 4] + - !!python/tuple [4, 0] + - !!python/tuple [31, 0] + - !!python/tuple [24, 11] + - !!python/tuple [14, 11] + - !!python/tuple [9, 14] + - !!python/tuple [31, 16] + - !!python/tuple [31, 30] + - !!python/tuple [24, 12] + - !!python/tuple [13, 30] + - !!python/tuple [26, 29] + - !!python/tuple [10, 16] + - !!python/tuple [30, 16] + - !!python/tuple [29, 5] + - !!python/tuple [5, 10] + - !!python/tuple [23, 6] + - !!python/tuple [14, 25] + - !!python/tuple [27, 10] + - !!python/tuple [13, 22] + - !!python/tuple [6, 10] + - !!python/tuple [19, 29] + - !!python/tuple [6, 13] + - !!python/tuple [20, 20] + - !!python/tuple [19, 15] + - !!python/tuple [24, 7] + - !!python/tuple [17, 17] + - !!python/tuple [21, 2] + - !!python/tuple [10, 5] + - !!python/tuple [17, 29] + - !!python/tuple [27, 0] + - !!python/tuple [31, 25] + - !!python/tuple [18, 31] + - !!python/tuple [6, 7] + - !!python/tuple [22, 8] + - !!python/tuple [8, 25] + - !!python/tuple [5, 16] + - !!python/tuple [25, 17] + - !!python/tuple [13, 0] + - !!python/tuple [20, 24] + - !!python/tuple [11, 4] + - !!python/tuple [7, 7] + - !!python/tuple [0, 29] + - !!python/tuple [2, 13] + - !!python/tuple [30, 3] + - !!python/tuple [24, 27] + - !!python/tuple [31, 13] + - !!python/tuple [9, 27] + - !!python/tuple [11, 5] + - !!python/tuple [20, 23] + - !!python/tuple [3, 22] + - !!python/tuple [11, 3] + - !!python/tuple [2, 24] + - !!python/tuple [26, 14] + - !!python/tuple [8, 22] + - !!python/tuple [16, 25] + - !!python/tuple [10, 26] + - !!python/tuple [13, 17] + - !!python/tuple [10, 8] + - !!python/tuple [0, 0] + - !!python/tuple [5, 31] + - !!python/tuple [29, 25] + - !!python/tuple [10, 12] + - !!python/tuple [30, 0] + - !!python/tuple [25, 5] + - !!python/tuple [5, 18] + - !!python/tuple [22, 20] + - !!python/tuple [1, 12] + - !!python/tuple [2, 7] + - !!python/tuple [3, 29] + - !!python/tuple [21, 24] + - !!python/tuple [4, 8] + - !!python/tuple [27, 24] + - !!python/tuple [16, 20] + - !!python/tuple [25, 24] + - !!python/tuple [14, 9] + - !!python/tuple [14, 4] + - !!python/tuple [27, 14] + - !!python/tuple [7, 28] + - !!python/tuple [20, 31] + - !!python/tuple [8, 5] + - !!python/tuple [29, 7] + - !!python/tuple [6, 31] + - !!python/tuple [28, 5] + - !!python/tuple [26, 8] + - !!python/tuple [17, 11] + - !!python/tuple [21, 17] + - !!python/tuple [25, 12] + - !!python/tuple [16, 28] + - !!python/tuple [26, 15] + - !!python/tuple [5, 26] + - !!python/tuple [27, 30] + - !!python/tuple [25, 11] + - !!python/tuple [19, 6] + - !!python/tuple [20, 27] + - !!python/tuple [7, 23] + - !!python/tuple [28, 2] + - !!python/tuple [6, 0] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex63.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex63.yaml new file mode 100644 index 0000000..4e0eb31 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex63.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [1, 24] + name: agent0 + start: [10, 1] +- goal: [29, 11] + name: agent1 + start: [4, 4] +- goal: [1, 10] + name: agent2 + start: [22, 27] +- goal: [3, 0] + name: agent3 + start: [25, 8] +- goal: [29, 6] + name: agent4 + start: [25, 1] +- goal: [13, 16] + name: agent5 + start: [17, 2] +- goal: [0, 23] + name: agent6 + start: [27, 7] +- goal: [8, 12] + name: agent7 + start: [31, 27] +- goal: [13, 23] + name: agent8 + start: [5, 1] +- goal: [14, 14] + name: agent9 + start: [13, 29] +- goal: [27, 31] + name: agent10 + start: [2, 5] +- goal: [19, 22] + name: agent11 + start: [16, 22] +- goal: [10, 20] + name: agent12 + start: [23, 13] +- goal: [26, 27] + name: agent13 + start: [29, 28] +- goal: [29, 21] + name: agent14 + start: [0, 5] +- goal: [15, 5] + name: agent15 + start: [31, 0] +- goal: [25, 17] + name: agent16 + start: [9, 16] +- goal: [25, 10] + name: agent17 + start: [28, 21] +- goal: [6, 29] + name: agent18 + start: [0, 25] +- goal: [24, 16] + name: agent19 + start: [29, 18] +- goal: [8, 27] + name: agent20 + start: [30, 2] +- goal: [23, 14] + name: agent21 + start: [12, 31] +- goal: [28, 16] + name: agent22 + start: [21, 1] +- goal: [29, 29] + name: agent23 + start: [0, 4] +- goal: [24, 4] + name: agent24 + start: [22, 6] +- goal: [20, 9] + name: agent25 + start: [29, 29] +- goal: [11, 20] + name: agent26 + start: [15, 27] +- goal: [13, 28] + name: agent27 + start: [11, 16] +- goal: [22, 7] + name: agent28 + start: [27, 17] +- goal: [0, 5] + name: agent29 + start: [0, 13] +- goal: [27, 19] + name: agent30 + start: [21, 6] +- goal: [17, 10] + name: agent31 + start: [8, 23] +- goal: [23, 22] + name: agent32 + start: [16, 20] +- goal: [14, 7] + name: agent33 + start: [14, 28] +- goal: [0, 26] + name: agent34 + start: [23, 30] +- goal: [18, 0] + name: agent35 + start: [1, 31] +- goal: [14, 18] + name: agent36 + start: [23, 18] +- goal: [18, 27] + name: agent37 + start: [23, 31] +- goal: [14, 22] + name: agent38 + start: [29, 12] +- goal: [27, 8] + name: agent39 + start: [14, 7] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [15, 23] + - !!python/tuple [6, 24] + - !!python/tuple [21, 22] + - !!python/tuple [15, 17] + - !!python/tuple [26, 6] + - !!python/tuple [7, 19] + - !!python/tuple [11, 30] + - !!python/tuple [1, 30] + - !!python/tuple [15, 6] + - !!python/tuple [13, 17] + - !!python/tuple [13, 15] + - !!python/tuple [2, 18] + - !!python/tuple [8, 29] + - !!python/tuple [27, 21] + - !!python/tuple [25, 13] + - !!python/tuple [6, 23] + - !!python/tuple [12, 29] + - !!python/tuple [6, 8] + - !!python/tuple [20, 10] + - !!python/tuple [17, 16] + - !!python/tuple [19, 18] + - !!python/tuple [12, 8] + - !!python/tuple [17, 0] + - !!python/tuple [13, 3] + - !!python/tuple [20, 15] + - !!python/tuple [27, 5] + - !!python/tuple [30, 6] + - !!python/tuple [11, 8] + - !!python/tuple [20, 21] + - !!python/tuple [6, 1] + - !!python/tuple [17, 12] + - !!python/tuple [18, 11] + - !!python/tuple [17, 13] + - !!python/tuple [12, 20] + - !!python/tuple [9, 31] + - !!python/tuple [5, 6] + - !!python/tuple [11, 28] + - !!python/tuple [18, 30] + - !!python/tuple [15, 9] + - !!python/tuple [4, 19] + - !!python/tuple [4, 20] + - !!python/tuple [12, 7] + - !!python/tuple [28, 20] + - !!python/tuple [26, 10] + - !!python/tuple [5, 14] + - !!python/tuple [9, 14] + - !!python/tuple [26, 16] + - !!python/tuple [27, 11] + - !!python/tuple [20, 16] + - !!python/tuple [8, 10] + - !!python/tuple [6, 18] + - !!python/tuple [20, 19] + - !!python/tuple [10, 24] + - !!python/tuple [23, 25] + - !!python/tuple [24, 15] + - !!python/tuple [17, 3] + - !!python/tuple [29, 27] + - !!python/tuple [7, 7] + - !!python/tuple [31, 29] + - !!python/tuple [9, 27] + - !!python/tuple [11, 3] + - !!python/tuple [20, 14] + - !!python/tuple [5, 23] + - !!python/tuple [26, 13] + - !!python/tuple [16, 10] + - !!python/tuple [7, 25] + - !!python/tuple [19, 8] + - !!python/tuple [13, 11] + - !!python/tuple [13, 21] + - !!python/tuple [0, 3] + - !!python/tuple [31, 15] + - !!python/tuple [26, 22] + - !!python/tuple [23, 10] + - !!python/tuple [21, 12] + - !!python/tuple [12, 22] + - !!python/tuple [15, 2] + - !!python/tuple [20, 26] + - !!python/tuple [19, 11] + - !!python/tuple [19, 25] + - !!python/tuple [23, 11] + - !!python/tuple [20, 13] + - !!python/tuple [11, 4] + - !!python/tuple [23, 21] + - !!python/tuple [17, 31] + - !!python/tuple [5, 15] + - !!python/tuple [6, 27] + - !!python/tuple [18, 6] + - !!python/tuple [27, 10] + - !!python/tuple [7, 18] + - !!python/tuple [13, 14] + - !!python/tuple [2, 11] + - !!python/tuple [27, 0] + - !!python/tuple [16, 8] + - !!python/tuple [3, 6] + - !!python/tuple [21, 28] + - !!python/tuple [3, 11] + - !!python/tuple [21, 18] + - !!python/tuple [0, 14] + - !!python/tuple [5, 27] + - !!python/tuple [26, 11] + - !!python/tuple [2, 6] + - !!python/tuple [31, 14] + - !!python/tuple [20, 11] + - !!python/tuple [6, 3] + - !!python/tuple [15, 20] + - !!python/tuple [21, 14] + - !!python/tuple [7, 11] + - !!python/tuple [31, 24] + - !!python/tuple [5, 29] + - !!python/tuple [9, 1] + - !!python/tuple [1, 21] + - !!python/tuple [30, 17] + - !!python/tuple [9, 9] + - !!python/tuple [9, 8] + - !!python/tuple [4, 28] + - !!python/tuple [10, 29] + - !!python/tuple [18, 5] + - !!python/tuple [15, 21] + - !!python/tuple [12, 27] + - !!python/tuple [24, 17] + - !!python/tuple [1, 9] + - !!python/tuple [29, 23] + - !!python/tuple [30, 4] + - !!python/tuple [22, 0] + - !!python/tuple [3, 16] + - !!python/tuple [22, 20] + - !!python/tuple [7, 26] + - !!python/tuple [2, 31] + - !!python/tuple [12, 28] + - !!python/tuple [9, 2] + - !!python/tuple [28, 29] + - !!python/tuple [12, 2] + - !!python/tuple [21, 30] + - !!python/tuple [6, 31] + - !!python/tuple [2, 25] + - !!python/tuple [10, 10] + - !!python/tuple [28, 19] + - !!python/tuple [2, 3] + - !!python/tuple [4, 1] + - !!python/tuple [28, 25] + - !!python/tuple [10, 21] + - !!python/tuple [1, 4] + - !!python/tuple [10, 11] + - !!python/tuple [16, 14] + - !!python/tuple [8, 19] + - !!python/tuple [5, 10] + - !!python/tuple [4, 18] + - !!python/tuple [28, 12] + - !!python/tuple [11, 17] + - !!python/tuple [4, 29] + - !!python/tuple [24, 1] + - !!python/tuple [3, 14] + - !!python/tuple [16, 26] + - !!python/tuple [27, 20] + - !!python/tuple [17, 24] + - !!python/tuple [23, 15] + - !!python/tuple [27, 9] + - !!python/tuple [4, 24] + - !!python/tuple [5, 20] + - !!python/tuple [0, 10] + - !!python/tuple [20, 28] + - !!python/tuple [8, 0] + - !!python/tuple [3, 24] + - !!python/tuple [16, 23] + - !!python/tuple [25, 0] + - !!python/tuple [1, 28] + - !!python/tuple [7, 8] + - !!python/tuple [18, 19] + - !!python/tuple [8, 22] + - !!python/tuple [24, 22] + - !!python/tuple [24, 25] + - !!python/tuple [25, 20] + - !!python/tuple [15, 1] + - !!python/tuple [23, 4] + - !!python/tuple [22, 18] + - !!python/tuple [9, 13] + - !!python/tuple [1, 14] + - !!python/tuple [24, 26] + - !!python/tuple [23, 0] + - !!python/tuple [27, 30] + - !!python/tuple [14, 25] + - !!python/tuple [31, 17] + - !!python/tuple [6, 9] + - !!python/tuple [28, 1] + - !!python/tuple [15, 28] + - !!python/tuple [30, 16] + - !!python/tuple [2, 27] + - !!python/tuple [21, 26] + - !!python/tuple [2, 15] + - !!python/tuple [3, 3] + - !!python/tuple [18, 7] + - !!python/tuple [12, 5] + - !!python/tuple [10, 9] + - !!python/tuple [11, 2] + - !!python/tuple [30, 30] + - !!python/tuple [5, 11] + - !!python/tuple [17, 6] + - !!python/tuple [29, 4] + - !!python/tuple [23, 2] + - !!python/tuple [8, 21] + - !!python/tuple [2, 28] + - !!python/tuple [28, 31] + - !!python/tuple [6, 14] + - !!python/tuple [18, 16] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex64.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex64.yaml new file mode 100644 index 0000000..191d61a --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex64.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [6, 4] + name: agent0 + start: [6, 18] +- goal: [26, 28] + name: agent1 + start: [8, 28] +- goal: [30, 15] + name: agent2 + start: [16, 7] +- goal: [4, 25] + name: agent3 + start: [1, 18] +- goal: [14, 18] + name: agent4 + start: [2, 31] +- goal: [7, 6] + name: agent5 + start: [10, 21] +- goal: [0, 19] + name: agent6 + start: [16, 12] +- goal: [31, 6] + name: agent7 + start: [29, 9] +- goal: [8, 16] + name: agent8 + start: [24, 22] +- goal: [16, 23] + name: agent9 + start: [1, 17] +- goal: [8, 24] + name: agent10 + start: [21, 21] +- goal: [17, 7] + name: agent11 + start: [31, 13] +- goal: [6, 6] + name: agent12 + start: [17, 21] +- goal: [25, 28] + name: agent13 + start: [19, 30] +- goal: [12, 16] + name: agent14 + start: [15, 1] +- goal: [3, 0] + name: agent15 + start: [4, 10] +- goal: [22, 13] + name: agent16 + start: [5, 9] +- goal: [9, 2] + name: agent17 + start: [23, 6] +- goal: [13, 10] + name: agent18 + start: [30, 19] +- goal: [7, 11] + name: agent19 + start: [23, 1] +- goal: [13, 19] + name: agent20 + start: [6, 17] +- goal: [27, 28] + name: agent21 + start: [2, 6] +- goal: [6, 0] + name: agent22 + start: [27, 26] +- goal: [28, 17] + name: agent23 + start: [8, 14] +- goal: [28, 27] + name: agent24 + start: [19, 16] +- goal: [2, 8] + name: agent25 + start: [31, 9] +- goal: [1, 18] + name: agent26 + start: [31, 21] +- goal: [3, 21] + name: agent27 + start: [18, 10] +- goal: [15, 17] + name: agent28 + start: [1, 22] +- goal: [15, 14] + name: agent29 + start: [19, 14] +- goal: [13, 12] + name: agent30 + start: [29, 8] +- goal: [27, 31] + name: agent31 + start: [15, 11] +- goal: [14, 7] + name: agent32 + start: [17, 24] +- goal: [23, 2] + name: agent33 + start: [19, 9] +- goal: [17, 11] + name: agent34 + start: [21, 15] +- goal: [30, 0] + name: agent35 + start: [17, 12] +- goal: [23, 17] + name: agent36 + start: [27, 23] +- goal: [28, 11] + name: agent37 + start: [18, 22] +- goal: [13, 28] + name: agent38 + start: [24, 29] +- goal: [17, 12] + name: agent39 + start: [2, 12] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [16, 17] + - !!python/tuple [25, 14] + - !!python/tuple [2, 24] + - !!python/tuple [6, 7] + - !!python/tuple [13, 26] + - !!python/tuple [1, 29] + - !!python/tuple [4, 23] + - !!python/tuple [2, 15] + - !!python/tuple [25, 22] + - !!python/tuple [13, 18] + - !!python/tuple [10, 0] + - !!python/tuple [1, 6] + - !!python/tuple [12, 7] + - !!python/tuple [8, 22] + - !!python/tuple [8, 21] + - !!python/tuple [23, 19] + - !!python/tuple [29, 13] + - !!python/tuple [7, 8] + - !!python/tuple [27, 27] + - !!python/tuple [28, 24] + - !!python/tuple [15, 23] + - !!python/tuple [30, 4] + - !!python/tuple [13, 17] + - !!python/tuple [6, 19] + - !!python/tuple [15, 24] + - !!python/tuple [13, 9] + - !!python/tuple [13, 11] + - !!python/tuple [28, 5] + - !!python/tuple [5, 22] + - !!python/tuple [19, 15] + - !!python/tuple [26, 22] + - !!python/tuple [14, 8] + - !!python/tuple [20, 11] + - !!python/tuple [26, 30] + - !!python/tuple [23, 10] + - !!python/tuple [8, 19] + - !!python/tuple [5, 3] + - !!python/tuple [1, 3] + - !!python/tuple [12, 12] + - !!python/tuple [19, 25] + - !!python/tuple [16, 16] + - !!python/tuple [9, 9] + - !!python/tuple [20, 17] + - !!python/tuple [25, 24] + - !!python/tuple [30, 7] + - !!python/tuple [7, 29] + - !!python/tuple [25, 17] + - !!python/tuple [18, 2] + - !!python/tuple [4, 0] + - !!python/tuple [31, 4] + - !!python/tuple [25, 0] + - !!python/tuple [18, 6] + - !!python/tuple [7, 7] + - !!python/tuple [11, 17] + - !!python/tuple [23, 31] + - !!python/tuple [25, 6] + - !!python/tuple [7, 1] + - !!python/tuple [27, 4] + - !!python/tuple [29, 0] + - !!python/tuple [2, 4] + - !!python/tuple [11, 31] + - !!python/tuple [21, 13] + - !!python/tuple [1, 21] + - !!python/tuple [23, 26] + - !!python/tuple [23, 25] + - !!python/tuple [21, 26] + - !!python/tuple [3, 22] + - !!python/tuple [26, 26] + - !!python/tuple [23, 23] + - !!python/tuple [0, 18] + - !!python/tuple [7, 21] + - !!python/tuple [0, 20] + - !!python/tuple [26, 13] + - !!python/tuple [13, 31] + - !!python/tuple [9, 31] + - !!python/tuple [27, 11] + - !!python/tuple [6, 24] + - !!python/tuple [6, 21] + - !!python/tuple [12, 4] + - !!python/tuple [9, 25] + - !!python/tuple [27, 13] + - !!python/tuple [2, 5] + - !!python/tuple [17, 22] + - !!python/tuple [4, 5] + - !!python/tuple [10, 28] + - !!python/tuple [31, 7] + - !!python/tuple [19, 26] + - !!python/tuple [24, 30] + - !!python/tuple [0, 7] + - !!python/tuple [17, 29] + - !!python/tuple [2, 27] + - !!python/tuple [11, 28] + - !!python/tuple [13, 2] + - !!python/tuple [8, 25] + - !!python/tuple [31, 0] + - !!python/tuple [4, 7] + - !!python/tuple [23, 18] + - !!python/tuple [27, 2] + - !!python/tuple [2, 20] + - !!python/tuple [19, 0] + - !!python/tuple [1, 2] + - !!python/tuple [5, 21] + - !!python/tuple [6, 14] + - !!python/tuple [31, 15] + - !!python/tuple [6, 16] + - !!python/tuple [3, 26] + - !!python/tuple [9, 11] + - !!python/tuple [9, 28] + - !!python/tuple [31, 1] + - !!python/tuple [16, 10] + - !!python/tuple [29, 25] + - !!python/tuple [18, 7] + - !!python/tuple [0, 1] + - !!python/tuple [26, 11] + - !!python/tuple [27, 20] + - !!python/tuple [14, 16] + - !!python/tuple [0, 22] + - !!python/tuple [30, 11] + - !!python/tuple [24, 6] + - !!python/tuple [0, 17] + - !!python/tuple [29, 6] + - !!python/tuple [1, 1] + - !!python/tuple [25, 12] + - !!python/tuple [7, 27] + - !!python/tuple [31, 28] + - !!python/tuple [31, 19] + - !!python/tuple [29, 19] + - !!python/tuple [31, 25] + - !!python/tuple [12, 26] + - !!python/tuple [9, 29] + - !!python/tuple [1, 27] + - !!python/tuple [22, 12] + - !!python/tuple [31, 26] + - !!python/tuple [8, 6] + - !!python/tuple [23, 13] + - !!python/tuple [23, 29] + - !!python/tuple [5, 23] + - !!python/tuple [22, 7] + - !!python/tuple [7, 10] + - !!python/tuple [21, 2] + - !!python/tuple [18, 20] + - !!python/tuple [24, 15] + - !!python/tuple [2, 14] + - !!python/tuple [3, 17] + - !!python/tuple [10, 31] + - !!python/tuple [0, 16] + - !!python/tuple [14, 26] + - !!python/tuple [23, 16] + - !!python/tuple [30, 12] + - !!python/tuple [25, 27] + - !!python/tuple [24, 13] + - !!python/tuple [13, 16] + - !!python/tuple [12, 29] + - !!python/tuple [24, 0] + - !!python/tuple [16, 29] + - !!python/tuple [5, 26] + - !!python/tuple [22, 23] + - !!python/tuple [20, 23] + - !!python/tuple [18, 18] + - !!python/tuple [18, 11] + - !!python/tuple [14, 22] + - !!python/tuple [26, 6] + - !!python/tuple [23, 22] + - !!python/tuple [5, 11] + - !!python/tuple [4, 31] + - !!python/tuple [14, 19] + - !!python/tuple [27, 1] + - !!python/tuple [12, 28] + - !!python/tuple [11, 8] + - !!python/tuple [7, 22] + - !!python/tuple [20, 5] + - !!python/tuple [4, 27] + - !!python/tuple [13, 20] + - !!python/tuple [19, 27] + - !!python/tuple [7, 15] + - !!python/tuple [5, 18] + - !!python/tuple [22, 27] + - !!python/tuple [10, 5] + - !!python/tuple [15, 8] + - !!python/tuple [11, 26] + - !!python/tuple [18, 3] + - !!python/tuple [9, 10] + - !!python/tuple [31, 3] + - !!python/tuple [4, 8] + - !!python/tuple [30, 22] + - !!python/tuple [19, 24] + - !!python/tuple [1, 9] + - !!python/tuple [16, 14] + - !!python/tuple [3, 3] + - !!python/tuple [8, 8] + - !!python/tuple [25, 1] + - !!python/tuple [3, 28] + - !!python/tuple [0, 0] + - !!python/tuple [25, 16] + - !!python/tuple [18, 4] + - !!python/tuple [28, 16] + - !!python/tuple [8, 15] + - !!python/tuple [18, 9] + - !!python/tuple [21, 7] + - !!python/tuple [23, 7] + - !!python/tuple [21, 4] + - !!python/tuple [22, 2] + - !!python/tuple [3, 1] + - !!python/tuple [30, 30] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex65.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex65.yaml new file mode 100644 index 0000000..edbccbe --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex65.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [20, 8] + name: agent0 + start: [26, 2] +- goal: [17, 5] + name: agent1 + start: [24, 22] +- goal: [16, 28] + name: agent2 + start: [17, 15] +- goal: [2, 0] + name: agent3 + start: [15, 13] +- goal: [13, 31] + name: agent4 + start: [11, 7] +- goal: [12, 22] + name: agent5 + start: [29, 16] +- goal: [11, 23] + name: agent6 + start: [11, 5] +- goal: [3, 29] + name: agent7 + start: [24, 15] +- goal: [26, 5] + name: agent8 + start: [3, 16] +- goal: [2, 1] + name: agent9 + start: [26, 1] +- goal: [15, 10] + name: agent10 + start: [23, 6] +- goal: [5, 0] + name: agent11 + start: [3, 13] +- goal: [23, 20] + name: agent12 + start: [28, 14] +- goal: [23, 24] + name: agent13 + start: [8, 9] +- goal: [30, 24] + name: agent14 + start: [3, 26] +- goal: [5, 8] + name: agent15 + start: [26, 3] +- goal: [8, 19] + name: agent16 + start: [6, 16] +- goal: [0, 1] + name: agent17 + start: [19, 18] +- goal: [30, 5] + name: agent18 + start: [13, 5] +- goal: [22, 1] + name: agent19 + start: [2, 28] +- goal: [26, 18] + name: agent20 + start: [21, 2] +- goal: [1, 24] + name: agent21 + start: [1, 1] +- goal: [26, 31] + name: agent22 + start: [9, 2] +- goal: [29, 16] + name: agent23 + start: [16, 17] +- goal: [1, 16] + name: agent24 + start: [14, 28] +- goal: [21, 27] + name: agent25 + start: [0, 18] +- goal: [22, 3] + name: agent26 + start: [30, 23] +- goal: [28, 25] + name: agent27 + start: [13, 27] +- goal: [19, 4] + name: agent28 + start: [19, 19] +- goal: [6, 29] + name: agent29 + start: [1, 16] +- goal: [17, 19] + name: agent30 + start: [1, 7] +- goal: [25, 17] + name: agent31 + start: [25, 29] +- goal: [18, 25] + name: agent32 + start: [27, 10] +- goal: [30, 16] + name: agent33 + start: [7, 25] +- goal: [12, 0] + name: agent34 + start: [28, 10] +- goal: [24, 17] + name: agent35 + start: [5, 12] +- goal: [24, 3] + name: agent36 + start: [20, 17] +- goal: [29, 0] + name: agent37 + start: [12, 14] +- goal: [11, 10] + name: agent38 + start: [4, 21] +- goal: [13, 1] + name: agent39 + start: [4, 4] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [14, 29] + - !!python/tuple [9, 31] + - !!python/tuple [29, 22] + - !!python/tuple [12, 27] + - !!python/tuple [26, 23] + - !!python/tuple [21, 11] + - !!python/tuple [25, 0] + - !!python/tuple [11, 6] + - !!python/tuple [26, 6] + - !!python/tuple [21, 12] + - !!python/tuple [23, 11] + - !!python/tuple [9, 9] + - !!python/tuple [7, 17] + - !!python/tuple [23, 29] + - !!python/tuple [16, 22] + - !!python/tuple [25, 21] + - !!python/tuple [12, 30] + - !!python/tuple [9, 0] + - !!python/tuple [1, 23] + - !!python/tuple [27, 1] + - !!python/tuple [25, 22] + - !!python/tuple [2, 14] + - !!python/tuple [6, 6] + - !!python/tuple [17, 12] + - !!python/tuple [10, 19] + - !!python/tuple [31, 5] + - !!python/tuple [19, 24] + - !!python/tuple [14, 30] + - !!python/tuple [7, 6] + - !!python/tuple [11, 31] + - !!python/tuple [30, 17] + - !!python/tuple [30, 28] + - !!python/tuple [30, 13] + - !!python/tuple [5, 30] + - !!python/tuple [16, 16] + - !!python/tuple [14, 16] + - !!python/tuple [9, 1] + - !!python/tuple [25, 20] + - !!python/tuple [11, 19] + - !!python/tuple [27, 6] + - !!python/tuple [25, 9] + - !!python/tuple [20, 12] + - !!python/tuple [13, 23] + - !!python/tuple [18, 31] + - !!python/tuple [26, 11] + - !!python/tuple [6, 25] + - !!python/tuple [0, 8] + - !!python/tuple [31, 6] + - !!python/tuple [1, 2] + - !!python/tuple [27, 14] + - !!python/tuple [21, 19] + - !!python/tuple [31, 13] + - !!python/tuple [28, 4] + - !!python/tuple [8, 3] + - !!python/tuple [7, 19] + - !!python/tuple [10, 2] + - !!python/tuple [24, 8] + - !!python/tuple [23, 17] + - !!python/tuple [12, 8] + - !!python/tuple [3, 27] + - !!python/tuple [27, 0] + - !!python/tuple [4, 10] + - !!python/tuple [0, 26] + - !!python/tuple [6, 27] + - !!python/tuple [10, 23] + - !!python/tuple [31, 16] + - !!python/tuple [21, 13] + - !!python/tuple [0, 23] + - !!python/tuple [18, 16] + - !!python/tuple [4, 16] + - !!python/tuple [22, 6] + - !!python/tuple [26, 8] + - !!python/tuple [24, 31] + - !!python/tuple [2, 5] + - !!python/tuple [10, 5] + - !!python/tuple [3, 15] + - !!python/tuple [12, 12] + - !!python/tuple [15, 8] + - !!python/tuple [12, 15] + - !!python/tuple [0, 6] + - !!python/tuple [4, 8] + - !!python/tuple [23, 18] + - !!python/tuple [28, 22] + - !!python/tuple [22, 25] + - !!python/tuple [8, 26] + - !!python/tuple [7, 10] + - !!python/tuple [15, 29] + - !!python/tuple [13, 22] + - !!python/tuple [31, 14] + - !!python/tuple [18, 14] + - !!python/tuple [27, 25] + - !!python/tuple [29, 12] + - !!python/tuple [1, 21] + - !!python/tuple [24, 4] + - !!python/tuple [13, 3] + - !!python/tuple [11, 13] + - !!python/tuple [2, 10] + - !!python/tuple [27, 17] + - !!python/tuple [8, 15] + - !!python/tuple [22, 11] + - !!python/tuple [30, 12] + - !!python/tuple [26, 4] + - !!python/tuple [22, 10] + - !!python/tuple [8, 17] + - !!python/tuple [9, 14] + - !!python/tuple [23, 28] + - !!python/tuple [1, 25] + - !!python/tuple [6, 19] + - !!python/tuple [6, 20] + - !!python/tuple [3, 3] + - !!python/tuple [28, 15] + - !!python/tuple [10, 12] + - !!python/tuple [14, 1] + - !!python/tuple [3, 19] + - !!python/tuple [3, 5] + - !!python/tuple [7, 9] + - !!python/tuple [4, 2] + - !!python/tuple [7, 3] + - !!python/tuple [29, 30] + - !!python/tuple [4, 3] + - !!python/tuple [26, 14] + - !!python/tuple [31, 18] + - !!python/tuple [12, 20] + - !!python/tuple [11, 1] + - !!python/tuple [1, 20] + - !!python/tuple [0, 9] + - !!python/tuple [18, 22] + - !!python/tuple [13, 17] + - !!python/tuple [17, 27] + - !!python/tuple [27, 31] + - !!python/tuple [14, 7] + - !!python/tuple [21, 7] + - !!python/tuple [24, 30] + - !!python/tuple [0, 22] + - !!python/tuple [17, 28] + - !!python/tuple [25, 10] + - !!python/tuple [10, 16] + - !!python/tuple [23, 14] + - !!python/tuple [19, 7] + - !!python/tuple [28, 13] + - !!python/tuple [15, 2] + - !!python/tuple [0, 30] + - !!python/tuple [2, 11] + - !!python/tuple [8, 11] + - !!python/tuple [18, 30] + - !!python/tuple [24, 24] + - !!python/tuple [9, 24] + - !!python/tuple [10, 7] + - !!python/tuple [31, 31] + - !!python/tuple [6, 23] + - !!python/tuple [23, 16] + - !!python/tuple [23, 15] + - !!python/tuple [23, 4] + - !!python/tuple [22, 0] + - !!python/tuple [20, 23] + - !!python/tuple [13, 29] + - !!python/tuple [21, 9] + - !!python/tuple [11, 30] + - !!python/tuple [0, 21] + - !!python/tuple [5, 24] + - !!python/tuple [25, 13] + - !!python/tuple [27, 22] + - !!python/tuple [24, 5] + - !!python/tuple [18, 1] + - !!python/tuple [22, 14] + - !!python/tuple [27, 9] + - !!python/tuple [13, 26] + - !!python/tuple [19, 14] + - !!python/tuple [25, 7] + - !!python/tuple [24, 19] + - !!python/tuple [4, 18] + - !!python/tuple [28, 12] + - !!python/tuple [18, 12] + - !!python/tuple [12, 21] + - !!python/tuple [3, 12] + - !!python/tuple [30, 0] + - !!python/tuple [29, 4] + - !!python/tuple [27, 21] + - !!python/tuple [11, 2] + - !!python/tuple [28, 2] + - !!python/tuple [8, 6] + - !!python/tuple [25, 14] + - !!python/tuple [13, 10] + - !!python/tuple [24, 1] + - !!python/tuple [1, 31] + - !!python/tuple [4, 5] + - !!python/tuple [5, 2] + - !!python/tuple [19, 26] + - !!python/tuple [31, 28] + - !!python/tuple [14, 17] + - !!python/tuple [2, 12] + - !!python/tuple [27, 23] + - !!python/tuple [7, 13] + - !!python/tuple [25, 25] + - !!python/tuple [29, 20] + - !!python/tuple [6, 15] + - !!python/tuple [19, 6] + - !!python/tuple [9, 16] + - !!python/tuple [20, 3] + - !!python/tuple [15, 11] + - !!python/tuple [2, 30] + - !!python/tuple [8, 24] + - !!python/tuple [12, 2] + - !!python/tuple [7, 0] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex66.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex66.yaml new file mode 100644 index 0000000..a7cf582 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex66.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [7, 26] + name: agent0 + start: [1, 18] +- goal: [6, 24] + name: agent1 + start: [20, 13] +- goal: [25, 25] + name: agent2 + start: [15, 15] +- goal: [16, 17] + name: agent3 + start: [8, 6] +- goal: [20, 8] + name: agent4 + start: [24, 11] +- goal: [24, 31] + name: agent5 + start: [18, 12] +- goal: [27, 25] + name: agent6 + start: [26, 1] +- goal: [27, 31] + name: agent7 + start: [24, 25] +- goal: [13, 25] + name: agent8 + start: [16, 25] +- goal: [15, 31] + name: agent9 + start: [5, 26] +- goal: [25, 22] + name: agent10 + start: [24, 4] +- goal: [8, 18] + name: agent11 + start: [23, 9] +- goal: [19, 25] + name: agent12 + start: [3, 31] +- goal: [6, 29] + name: agent13 + start: [27, 28] +- goal: [3, 2] + name: agent14 + start: [7, 25] +- goal: [26, 24] + name: agent15 + start: [25, 13] +- goal: [24, 14] + name: agent16 + start: [23, 23] +- goal: [11, 29] + name: agent17 + start: [28, 2] +- goal: [29, 5] + name: agent18 + start: [1, 15] +- goal: [14, 12] + name: agent19 + start: [8, 5] +- goal: [5, 21] + name: agent20 + start: [29, 11] +- goal: [2, 25] + name: agent21 + start: [2, 22] +- goal: [13, 31] + name: agent22 + start: [7, 18] +- goal: [19, 29] + name: agent23 + start: [23, 7] +- goal: [29, 1] + name: agent24 + start: [24, 7] +- goal: [0, 21] + name: agent25 + start: [5, 12] +- goal: [25, 7] + name: agent26 + start: [3, 12] +- goal: [13, 4] + name: agent27 + start: [29, 29] +- goal: [17, 21] + name: agent28 + start: [16, 17] +- goal: [13, 17] + name: agent29 + start: [16, 1] +- goal: [27, 24] + name: agent30 + start: [25, 2] +- goal: [3, 19] + name: agent31 + start: [20, 19] +- goal: [8, 10] + name: agent32 + start: [31, 27] +- goal: [12, 3] + name: agent33 + start: [2, 10] +- goal: [8, 11] + name: agent34 + start: [22, 29] +- goal: [4, 29] + name: agent35 + start: [24, 14] +- goal: [22, 17] + name: agent36 + start: [25, 20] +- goal: [19, 22] + name: agent37 + start: [5, 14] +- goal: [26, 30] + name: agent38 + start: [4, 12] +- goal: [3, 22] + name: agent39 + start: [19, 25] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [0, 15] + - !!python/tuple [12, 4] + - !!python/tuple [14, 30] + - !!python/tuple [5, 7] + - !!python/tuple [18, 27] + - !!python/tuple [27, 1] + - !!python/tuple [16, 22] + - !!python/tuple [21, 29] + - !!python/tuple [21, 10] + - !!python/tuple [7, 29] + - !!python/tuple [2, 13] + - !!python/tuple [21, 30] + - !!python/tuple [6, 2] + - !!python/tuple [11, 0] + - !!python/tuple [12, 13] + - !!python/tuple [19, 13] + - !!python/tuple [2, 2] + - !!python/tuple [25, 14] + - !!python/tuple [0, 0] + - !!python/tuple [12, 2] + - !!python/tuple [26, 0] + - !!python/tuple [25, 0] + - !!python/tuple [26, 6] + - !!python/tuple [20, 14] + - !!python/tuple [27, 26] + - !!python/tuple [4, 27] + - !!python/tuple [19, 18] + - !!python/tuple [15, 12] + - !!python/tuple [21, 7] + - !!python/tuple [30, 19] + - !!python/tuple [10, 6] + - !!python/tuple [31, 3] + - !!python/tuple [21, 5] + - !!python/tuple [9, 26] + - !!python/tuple [15, 21] + - !!python/tuple [20, 21] + - !!python/tuple [7, 24] + - !!python/tuple [15, 2] + - !!python/tuple [17, 17] + - !!python/tuple [28, 6] + - !!python/tuple [11, 17] + - !!python/tuple [10, 23] + - !!python/tuple [4, 10] + - !!python/tuple [12, 16] + - !!python/tuple [29, 19] + - !!python/tuple [29, 6] + - !!python/tuple [30, 23] + - !!python/tuple [6, 23] + - !!python/tuple [23, 20] + - !!python/tuple [18, 10] + - !!python/tuple [17, 29] + - !!python/tuple [4, 14] + - !!python/tuple [16, 23] + - !!python/tuple [31, 24] + - !!python/tuple [5, 10] + - !!python/tuple [0, 25] + - !!python/tuple [23, 2] + - !!python/tuple [16, 21] + - !!python/tuple [31, 11] + - !!python/tuple [4, 17] + - !!python/tuple [1, 21] + - !!python/tuple [8, 15] + - !!python/tuple [6, 12] + - !!python/tuple [10, 22] + - !!python/tuple [19, 19] + - !!python/tuple [21, 2] + - !!python/tuple [9, 22] + - !!python/tuple [20, 3] + - !!python/tuple [21, 6] + - !!python/tuple [23, 6] + - !!python/tuple [8, 26] + - !!python/tuple [19, 5] + - !!python/tuple [1, 29] + - !!python/tuple [28, 4] + - !!python/tuple [14, 28] + - !!python/tuple [24, 1] + - !!python/tuple [6, 26] + - !!python/tuple [7, 14] + - !!python/tuple [18, 14] + - !!python/tuple [24, 0] + - !!python/tuple [1, 23] + - !!python/tuple [15, 0] + - !!python/tuple [4, 13] + - !!python/tuple [9, 6] + - !!python/tuple [14, 9] + - !!python/tuple [2, 6] + - !!python/tuple [4, 16] + - !!python/tuple [5, 24] + - !!python/tuple [28, 13] + - !!python/tuple [26, 4] + - !!python/tuple [0, 14] + - !!python/tuple [11, 5] + - !!python/tuple [8, 29] + - !!python/tuple [29, 17] + - !!python/tuple [22, 9] + - !!python/tuple [6, 5] + - !!python/tuple [23, 21] + - !!python/tuple [10, 28] + - !!python/tuple [2, 7] + - !!python/tuple [9, 18] + - !!python/tuple [24, 5] + - !!python/tuple [0, 7] + - !!python/tuple [4, 23] + - !!python/tuple [23, 27] + - !!python/tuple [11, 20] + - !!python/tuple [8, 9] + - !!python/tuple [24, 3] + - !!python/tuple [30, 6] + - !!python/tuple [8, 31] + - !!python/tuple [8, 19] + - !!python/tuple [14, 29] + - !!python/tuple [26, 3] + - !!python/tuple [15, 23] + - !!python/tuple [27, 30] + - !!python/tuple [2, 17] + - !!python/tuple [21, 16] + - !!python/tuple [14, 20] + - !!python/tuple [27, 11] + - !!python/tuple [3, 10] + - !!python/tuple [7, 6] + - !!python/tuple [6, 7] + - !!python/tuple [19, 21] + - !!python/tuple [6, 1] + - !!python/tuple [26, 25] + - !!python/tuple [20, 31] + - !!python/tuple [4, 26] + - !!python/tuple [2, 24] + - !!python/tuple [7, 10] + - !!python/tuple [31, 17] + - !!python/tuple [17, 28] + - !!python/tuple [25, 1] + - !!python/tuple [0, 22] + - !!python/tuple [20, 30] + - !!python/tuple [9, 13] + - !!python/tuple [8, 23] + - !!python/tuple [22, 13] + - !!python/tuple [0, 4] + - !!python/tuple [1, 5] + - !!python/tuple [25, 27] + - !!python/tuple [18, 18] + - !!python/tuple [7, 13] + - !!python/tuple [13, 9] + - !!python/tuple [10, 2] + - !!python/tuple [14, 26] + - !!python/tuple [22, 0] + - !!python/tuple [22, 20] + - !!python/tuple [26, 26] + - !!python/tuple [8, 28] + - !!python/tuple [20, 2] + - !!python/tuple [13, 2] + - !!python/tuple [14, 19] + - !!python/tuple [28, 19] + - !!python/tuple [17, 0] + - !!python/tuple [10, 20] + - !!python/tuple [22, 19] + - !!python/tuple [14, 6] + - !!python/tuple [18, 17] + - !!python/tuple [11, 22] + - !!python/tuple [15, 29] + - !!python/tuple [18, 21] + - !!python/tuple [8, 13] + - !!python/tuple [29, 2] + - !!python/tuple [23, 4] + - !!python/tuple [8, 27] + - !!python/tuple [17, 15] + - !!python/tuple [5, 23] + - !!python/tuple [1, 4] + - !!python/tuple [8, 24] + - !!python/tuple [25, 10] + - !!python/tuple [11, 8] + - !!python/tuple [31, 14] + - !!python/tuple [2, 21] + - !!python/tuple [27, 22] + - !!python/tuple [30, 31] + - !!python/tuple [21, 28] + - !!python/tuple [3, 14] + - !!python/tuple [6, 18] + - !!python/tuple [6, 8] + - !!python/tuple [10, 7] + - !!python/tuple [5, 31] + - !!python/tuple [30, 13] + - !!python/tuple [26, 5] + - !!python/tuple [27, 19] + - !!python/tuple [30, 26] + - !!python/tuple [20, 17] + - !!python/tuple [25, 18] + - !!python/tuple [22, 2] + - !!python/tuple [3, 23] + - !!python/tuple [8, 2] + - !!python/tuple [19, 17] + - !!python/tuple [11, 30] + - !!python/tuple [11, 1] + - !!python/tuple [24, 19] + - !!python/tuple [7, 15] + - !!python/tuple [6, 27] + - !!python/tuple [23, 5] + - !!python/tuple [9, 24] + - !!python/tuple [7, 8] + - !!python/tuple [2, 15] + - !!python/tuple [2, 31] + - !!python/tuple [10, 30] + - !!python/tuple [30, 4] + - !!python/tuple [28, 3] + - !!python/tuple [11, 31] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex67.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex67.yaml new file mode 100644 index 0000000..303ef36 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex67.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [29, 16] + name: agent0 + start: [23, 18] +- goal: [24, 14] + name: agent1 + start: [19, 26] +- goal: [21, 22] + name: agent2 + start: [19, 22] +- goal: [20, 2] + name: agent3 + start: [17, 21] +- goal: [12, 7] + name: agent4 + start: [15, 30] +- goal: [12, 17] + name: agent5 + start: [6, 1] +- goal: [11, 29] + name: agent6 + start: [10, 9] +- goal: [9, 22] + name: agent7 + start: [3, 25] +- goal: [31, 15] + name: agent8 + start: [22, 27] +- goal: [24, 28] + name: agent9 + start: [12, 6] +- goal: [31, 3] + name: agent10 + start: [10, 15] +- goal: [24, 7] + name: agent11 + start: [27, 27] +- goal: [16, 4] + name: agent12 + start: [2, 20] +- goal: [0, 19] + name: agent13 + start: [21, 14] +- goal: [15, 28] + name: agent14 + start: [17, 27] +- goal: [6, 18] + name: agent15 + start: [19, 28] +- goal: [1, 30] + name: agent16 + start: [13, 23] +- goal: [3, 8] + name: agent17 + start: [5, 24] +- goal: [12, 5] + name: agent18 + start: [30, 29] +- goal: [25, 19] + name: agent19 + start: [9, 31] +- goal: [28, 19] + name: agent20 + start: [14, 7] +- goal: [31, 1] + name: agent21 + start: [11, 19] +- goal: [28, 15] + name: agent22 + start: [31, 13] +- goal: [20, 10] + name: agent23 + start: [15, 22] +- goal: [16, 23] + name: agent24 + start: [25, 8] +- goal: [22, 26] + name: agent25 + start: [7, 14] +- goal: [26, 7] + name: agent26 + start: [21, 26] +- goal: [30, 20] + name: agent27 + start: [4, 10] +- goal: [1, 0] + name: agent28 + start: [11, 9] +- goal: [9, 3] + name: agent29 + start: [24, 22] +- goal: [31, 24] + name: agent30 + start: [14, 19] +- goal: [6, 2] + name: agent31 + start: [5, 1] +- goal: [4, 24] + name: agent32 + start: [25, 1] +- goal: [15, 12] + name: agent33 + start: [9, 12] +- goal: [3, 20] + name: agent34 + start: [10, 16] +- goal: [27, 7] + name: agent35 + start: [8, 24] +- goal: [14, 1] + name: agent36 + start: [26, 3] +- goal: [7, 2] + name: agent37 + start: [28, 31] +- goal: [16, 30] + name: agent38 + start: [26, 5] +- goal: [9, 4] + name: agent39 + start: [6, 10] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [14, 4] + - !!python/tuple [30, 30] + - !!python/tuple [9, 21] + - !!python/tuple [29, 8] + - !!python/tuple [30, 28] + - !!python/tuple [13, 1] + - !!python/tuple [15, 13] + - !!python/tuple [19, 12] + - !!python/tuple [2, 9] + - !!python/tuple [26, 15] + - !!python/tuple [3, 28] + - !!python/tuple [11, 26] + - !!python/tuple [26, 13] + - !!python/tuple [31, 18] + - !!python/tuple [8, 9] + - !!python/tuple [18, 24] + - !!python/tuple [2, 22] + - !!python/tuple [29, 22] + - !!python/tuple [6, 12] + - !!python/tuple [31, 12] + - !!python/tuple [27, 24] + - !!python/tuple [14, 15] + - !!python/tuple [8, 29] + - !!python/tuple [20, 29] + - !!python/tuple [29, 9] + - !!python/tuple [0, 4] + - !!python/tuple [31, 14] + - !!python/tuple [7, 15] + - !!python/tuple [5, 10] + - !!python/tuple [20, 1] + - !!python/tuple [30, 18] + - !!python/tuple [19, 18] + - !!python/tuple [15, 17] + - !!python/tuple [10, 23] + - !!python/tuple [14, 12] + - !!python/tuple [26, 6] + - !!python/tuple [27, 5] + - !!python/tuple [9, 26] + - !!python/tuple [2, 13] + - !!python/tuple [1, 26] + - !!python/tuple [30, 8] + - !!python/tuple [31, 27] + - !!python/tuple [0, 29] + - !!python/tuple [23, 5] + - !!python/tuple [4, 0] + - !!python/tuple [13, 26] + - !!python/tuple [5, 13] + - !!python/tuple [9, 18] + - !!python/tuple [7, 8] + - !!python/tuple [5, 28] + - !!python/tuple [13, 24] + - !!python/tuple [28, 14] + - !!python/tuple [23, 29] + - !!python/tuple [0, 20] + - !!python/tuple [19, 17] + - !!python/tuple [24, 29] + - !!python/tuple [16, 17] + - !!python/tuple [3, 27] + - !!python/tuple [14, 25] + - !!python/tuple [23, 20] + - !!python/tuple [23, 31] + - !!python/tuple [0, 0] + - !!python/tuple [25, 29] + - !!python/tuple [8, 27] + - !!python/tuple [3, 3] + - !!python/tuple [29, 29] + - !!python/tuple [26, 4] + - !!python/tuple [5, 31] + - !!python/tuple [0, 30] + - !!python/tuple [13, 4] + - !!python/tuple [11, 18] + - !!python/tuple [4, 3] + - !!python/tuple [7, 29] + - !!python/tuple [18, 20] + - !!python/tuple [14, 10] + - !!python/tuple [5, 20] + - !!python/tuple [21, 4] + - !!python/tuple [27, 23] + - !!python/tuple [9, 8] + - !!python/tuple [28, 21] + - !!python/tuple [13, 0] + - !!python/tuple [7, 19] + - !!python/tuple [20, 8] + - !!python/tuple [19, 11] + - !!python/tuple [20, 20] + - !!python/tuple [7, 6] + - !!python/tuple [24, 19] + - !!python/tuple [1, 22] + - !!python/tuple [24, 9] + - !!python/tuple [13, 25] + - !!python/tuple [14, 30] + - !!python/tuple [16, 14] + - !!python/tuple [21, 18] + - !!python/tuple [16, 25] + - !!python/tuple [4, 13] + - !!python/tuple [1, 14] + - !!python/tuple [12, 20] + - !!python/tuple [25, 31] + - !!python/tuple [3, 26] + - !!python/tuple [8, 16] + - !!python/tuple [20, 3] + - !!python/tuple [22, 29] + - !!python/tuple [26, 9] + - !!python/tuple [4, 23] + - !!python/tuple [24, 13] + - !!python/tuple [19, 2] + - !!python/tuple [6, 27] + - !!python/tuple [5, 25] + - !!python/tuple [1, 29] + - !!python/tuple [9, 14] + - !!python/tuple [14, 6] + - !!python/tuple [11, 4] + - !!python/tuple [11, 11] + - !!python/tuple [18, 2] + - !!python/tuple [11, 8] + - !!python/tuple [4, 1] + - !!python/tuple [0, 25] + - !!python/tuple [2, 7] + - !!python/tuple [6, 4] + - !!python/tuple [12, 9] + - !!python/tuple [21, 19] + - !!python/tuple [0, 8] + - !!python/tuple [4, 5] + - !!python/tuple [31, 26] + - !!python/tuple [0, 16] + - !!python/tuple [26, 16] + - !!python/tuple [21, 20] + - !!python/tuple [6, 17] + - !!python/tuple [28, 18] + - !!python/tuple [11, 5] + - !!python/tuple [21, 12] + - !!python/tuple [7, 28] + - !!python/tuple [22, 11] + - !!python/tuple [26, 20] + - !!python/tuple [10, 20] + - !!python/tuple [19, 1] + - !!python/tuple [4, 14] + - !!python/tuple [18, 21] + - !!python/tuple [27, 20] + - !!python/tuple [20, 26] + - !!python/tuple [19, 21] + - !!python/tuple [0, 9] + - !!python/tuple [27, 12] + - !!python/tuple [9, 15] + - !!python/tuple [28, 0] + - !!python/tuple [13, 12] + - !!python/tuple [10, 1] + - !!python/tuple [2, 23] + - !!python/tuple [29, 27] + - !!python/tuple [27, 30] + - !!python/tuple [23, 9] + - !!python/tuple [26, 11] + - !!python/tuple [25, 26] + - !!python/tuple [27, 18] + - !!python/tuple [31, 11] + - !!python/tuple [5, 16] + - !!python/tuple [7, 4] + - !!python/tuple [27, 10] + - !!python/tuple [27, 6] + - !!python/tuple [15, 16] + - !!python/tuple [10, 22] + - !!python/tuple [2, 11] + - !!python/tuple [9, 11] + - !!python/tuple [17, 8] + - !!python/tuple [15, 8] + - !!python/tuple [9, 13] + - !!python/tuple [22, 8] + - !!python/tuple [23, 19] + - !!python/tuple [28, 24] + - !!python/tuple [0, 21] + - !!python/tuple [13, 31] + - !!python/tuple [13, 7] + - !!python/tuple [5, 15] + - !!python/tuple [2, 19] + - !!python/tuple [23, 7] + - !!python/tuple [11, 30] + - !!python/tuple [17, 12] + - !!python/tuple [12, 8] + - !!python/tuple [20, 31] + - !!python/tuple [20, 12] + - !!python/tuple [1, 24] + - !!python/tuple [31, 23] + - !!python/tuple [22, 1] + - !!python/tuple [2, 3] + - !!python/tuple [14, 20] + - !!python/tuple [17, 23] + - !!python/tuple [19, 23] + - !!python/tuple [19, 14] + - !!python/tuple [3, 24] + - !!python/tuple [28, 7] + - !!python/tuple [11, 15] + - !!python/tuple [12, 24] + - !!python/tuple [30, 25] + - !!python/tuple [25, 4] + - !!python/tuple [7, 11] + - !!python/tuple [22, 19] + - !!python/tuple [10, 24] + - !!python/tuple [5, 7] + - !!python/tuple [2, 0] + - !!python/tuple [0, 3] + - !!python/tuple [9, 17] + - !!python/tuple [24, 6] + - !!python/tuple [29, 10] + - !!python/tuple [25, 9] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex68.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex68.yaml new file mode 100644 index 0000000..db06b29 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex68.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [6, 24] + name: agent0 + start: [31, 1] +- goal: [2, 24] + name: agent1 + start: [12, 27] +- goal: [9, 4] + name: agent2 + start: [26, 1] +- goal: [29, 18] + name: agent3 + start: [19, 0] +- goal: [29, 27] + name: agent4 + start: [14, 20] +- goal: [8, 21] + name: agent5 + start: [7, 0] +- goal: [0, 5] + name: agent6 + start: [11, 5] +- goal: [12, 12] + name: agent7 + start: [3, 2] +- goal: [9, 5] + name: agent8 + start: [17, 23] +- goal: [19, 26] + name: agent9 + start: [12, 12] +- goal: [24, 29] + name: agent10 + start: [18, 28] +- goal: [11, 26] + name: agent11 + start: [1, 20] +- goal: [16, 6] + name: agent12 + start: [18, 2] +- goal: [22, 13] + name: agent13 + start: [2, 14] +- goal: [16, 1] + name: agent14 + start: [3, 0] +- goal: [9, 23] + name: agent15 + start: [29, 11] +- goal: [6, 15] + name: agent16 + start: [0, 8] +- goal: [4, 8] + name: agent17 + start: [31, 0] +- goal: [1, 29] + name: agent18 + start: [13, 11] +- goal: [5, 2] + name: agent19 + start: [5, 19] +- goal: [19, 5] + name: agent20 + start: [24, 3] +- goal: [29, 14] + name: agent21 + start: [7, 14] +- goal: [20, 7] + name: agent22 + start: [22, 12] +- goal: [4, 12] + name: agent23 + start: [25, 22] +- goal: [18, 10] + name: agent24 + start: [17, 15] +- goal: [21, 13] + name: agent25 + start: [8, 5] +- goal: [20, 9] + name: agent26 + start: [13, 0] +- goal: [22, 12] + name: agent27 + start: [17, 7] +- goal: [30, 14] + name: agent28 + start: [6, 23] +- goal: [5, 7] + name: agent29 + start: [30, 6] +- goal: [7, 9] + name: agent30 + start: [8, 16] +- goal: [31, 6] + name: agent31 + start: [30, 17] +- goal: [8, 4] + name: agent32 + start: [4, 27] +- goal: [30, 18] + name: agent33 + start: [9, 24] +- goal: [19, 10] + name: agent34 + start: [10, 27] +- goal: [23, 1] + name: agent35 + start: [9, 29] +- goal: [15, 29] + name: agent36 + start: [13, 15] +- goal: [31, 15] + name: agent37 + start: [21, 14] +- goal: [20, 3] + name: agent38 + start: [30, 19] +- goal: [7, 1] + name: agent39 + start: [11, 10] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [19, 16] + - !!python/tuple [9, 17] + - !!python/tuple [18, 25] + - !!python/tuple [6, 0] + - !!python/tuple [24, 31] + - !!python/tuple [29, 26] + - !!python/tuple [31, 11] + - !!python/tuple [19, 13] + - !!python/tuple [28, 12] + - !!python/tuple [5, 12] + - !!python/tuple [12, 25] + - !!python/tuple [10, 4] + - !!python/tuple [2, 21] + - !!python/tuple [25, 18] + - !!python/tuple [22, 8] + - !!python/tuple [6, 6] + - !!python/tuple [18, 31] + - !!python/tuple [11, 31] + - !!python/tuple [24, 2] + - !!python/tuple [20, 6] + - !!python/tuple [23, 27] + - !!python/tuple [9, 2] + - !!python/tuple [16, 31] + - !!python/tuple [17, 9] + - !!python/tuple [12, 28] + - !!python/tuple [16, 22] + - !!python/tuple [3, 4] + - !!python/tuple [24, 27] + - !!python/tuple [22, 14] + - !!python/tuple [13, 17] + - !!python/tuple [9, 16] + - !!python/tuple [10, 22] + - !!python/tuple [26, 13] + - !!python/tuple [6, 10] + - !!python/tuple [24, 24] + - !!python/tuple [14, 12] + - !!python/tuple [30, 26] + - !!python/tuple [23, 19] + - !!python/tuple [12, 6] + - !!python/tuple [10, 13] + - !!python/tuple [9, 28] + - !!python/tuple [16, 3] + - !!python/tuple [31, 26] + - !!python/tuple [22, 9] + - !!python/tuple [3, 19] + - !!python/tuple [1, 22] + - !!python/tuple [7, 31] + - !!python/tuple [9, 27] + - !!python/tuple [3, 27] + - !!python/tuple [9, 8] + - !!python/tuple [11, 24] + - !!python/tuple [16, 26] + - !!python/tuple [6, 5] + - !!python/tuple [31, 5] + - !!python/tuple [20, 21] + - !!python/tuple [15, 23] + - !!python/tuple [10, 31] + - !!python/tuple [22, 6] + - !!python/tuple [28, 31] + - !!python/tuple [23, 16] + - !!python/tuple [10, 19] + - !!python/tuple [27, 5] + - !!python/tuple [27, 22] + - !!python/tuple [29, 12] + - !!python/tuple [29, 17] + - !!python/tuple [14, 2] + - !!python/tuple [31, 13] + - !!python/tuple [27, 7] + - !!python/tuple [10, 1] + - !!python/tuple [0, 12] + - !!python/tuple [30, 25] + - !!python/tuple [29, 31] + - !!python/tuple [23, 17] + - !!python/tuple [7, 4] + - !!python/tuple [7, 13] + - !!python/tuple [26, 31] + - !!python/tuple [17, 14] + - !!python/tuple [18, 3] + - !!python/tuple [0, 21] + - !!python/tuple [16, 28] + - !!python/tuple [19, 30] + - !!python/tuple [25, 11] + - !!python/tuple [0, 3] + - !!python/tuple [8, 24] + - !!python/tuple [10, 29] + - !!python/tuple [2, 9] + - !!python/tuple [2, 2] + - !!python/tuple [28, 7] + - !!python/tuple [17, 10] + - !!python/tuple [13, 21] + - !!python/tuple [27, 11] + - !!python/tuple [31, 24] + - !!python/tuple [3, 1] + - !!python/tuple [19, 25] + - !!python/tuple [10, 16] + - !!python/tuple [17, 3] + - !!python/tuple [6, 20] + - !!python/tuple [16, 15] + - !!python/tuple [23, 0] + - !!python/tuple [19, 28] + - !!python/tuple [3, 14] + - !!python/tuple [14, 7] + - !!python/tuple [0, 13] + - !!python/tuple [20, 22] + - !!python/tuple [1, 6] + - !!python/tuple [18, 7] + - !!python/tuple [11, 16] + - !!python/tuple [26, 28] + - !!python/tuple [31, 10] + - !!python/tuple [4, 1] + - !!python/tuple [8, 8] + - !!python/tuple [29, 1] + - !!python/tuple [18, 27] + - !!python/tuple [7, 10] + - !!python/tuple [13, 24] + - !!python/tuple [21, 15] + - !!python/tuple [25, 10] + - !!python/tuple [30, 21] + - !!python/tuple [31, 25] + - !!python/tuple [2, 11] + - !!python/tuple [13, 14] + - !!python/tuple [23, 29] + - !!python/tuple [4, 23] + - !!python/tuple [7, 8] + - !!python/tuple [8, 27] + - !!python/tuple [3, 5] + - !!python/tuple [3, 30] + - !!python/tuple [3, 26] + - !!python/tuple [12, 2] + - !!python/tuple [12, 0] + - !!python/tuple [14, 25] + - !!python/tuple [8, 0] + - !!python/tuple [30, 15] + - !!python/tuple [29, 28] + - !!python/tuple [4, 22] + - !!python/tuple [2, 5] + - !!python/tuple [16, 21] + - !!python/tuple [27, 24] + - !!python/tuple [13, 2] + - !!python/tuple [24, 18] + - !!python/tuple [9, 19] + - !!python/tuple [12, 11] + - !!python/tuple [24, 8] + - !!python/tuple [30, 5] + - !!python/tuple [18, 15] + - !!python/tuple [17, 12] + - !!python/tuple [14, 18] + - !!python/tuple [24, 13] + - !!python/tuple [11, 2] + - !!python/tuple [2, 18] + - !!python/tuple [28, 3] + - !!python/tuple [1, 4] + - !!python/tuple [27, 10] + - !!python/tuple [26, 27] + - !!python/tuple [6, 22] + - !!python/tuple [26, 18] + - !!python/tuple [3, 11] + - !!python/tuple [25, 16] + - !!python/tuple [8, 1] + - !!python/tuple [8, 15] + - !!python/tuple [30, 28] + - !!python/tuple [13, 1] + - !!python/tuple [5, 6] + - !!python/tuple [9, 13] + - !!python/tuple [18, 8] + - !!python/tuple [15, 1] + - !!python/tuple [19, 2] + - !!python/tuple [14, 9] + - !!python/tuple [21, 18] + - !!python/tuple [2, 25] + - !!python/tuple [27, 20] + - !!python/tuple [20, 17] + - !!python/tuple [7, 29] + - !!python/tuple [9, 18] + - !!python/tuple [27, 1] + - !!python/tuple [26, 29] + - !!python/tuple [0, 15] + - !!python/tuple [21, 17] + - !!python/tuple [6, 11] + - !!python/tuple [1, 12] + - !!python/tuple [25, 0] + - !!python/tuple [13, 31] + - !!python/tuple [21, 19] + - !!python/tuple [5, 25] + - !!python/tuple [1, 11] + - !!python/tuple [24, 22] + - !!python/tuple [18, 21] + - !!python/tuple [30, 2] + - !!python/tuple [17, 24] + - !!python/tuple [5, 23] + - !!python/tuple [14, 23] + - !!python/tuple [5, 18] + - !!python/tuple [25, 7] + - !!python/tuple [2, 1] + - !!python/tuple [26, 7] + - !!python/tuple [30, 7] + - !!python/tuple [8, 25] + - !!python/tuple [19, 7] + - !!python/tuple [3, 23] + - !!python/tuple [24, 17] + - !!python/tuple [30, 9] + - !!python/tuple [31, 18] + - !!python/tuple [14, 4] + - !!python/tuple [15, 5] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex69.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex69.yaml new file mode 100644 index 0000000..53c0f9c --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex69.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [28, 31] + name: agent0 + start: [16, 16] +- goal: [13, 15] + name: agent1 + start: [4, 13] +- goal: [16, 28] + name: agent2 + start: [10, 23] +- goal: [15, 8] + name: agent3 + start: [11, 19] +- goal: [10, 21] + name: agent4 + start: [14, 29] +- goal: [3, 24] + name: agent5 + start: [30, 2] +- goal: [23, 21] + name: agent6 + start: [10, 12] +- goal: [29, 8] + name: agent7 + start: [7, 26] +- goal: [18, 17] + name: agent8 + start: [19, 9] +- goal: [2, 30] + name: agent9 + start: [12, 26] +- goal: [8, 1] + name: agent10 + start: [31, 0] +- goal: [24, 20] + name: agent11 + start: [0, 1] +- goal: [31, 8] + name: agent12 + start: [16, 15] +- goal: [15, 13] + name: agent13 + start: [4, 29] +- goal: [13, 26] + name: agent14 + start: [15, 22] +- goal: [14, 15] + name: agent15 + start: [13, 26] +- goal: [9, 5] + name: agent16 + start: [0, 11] +- goal: [0, 26] + name: agent17 + start: [16, 26] +- goal: [12, 19] + name: agent18 + start: [30, 15] +- goal: [11, 4] + name: agent19 + start: [4, 9] +- goal: [13, 9] + name: agent20 + start: [27, 30] +- goal: [27, 2] + name: agent21 + start: [21, 9] +- goal: [14, 7] + name: agent22 + start: [28, 2] +- goal: [26, 19] + name: agent23 + start: [2, 6] +- goal: [9, 17] + name: agent24 + start: [6, 2] +- goal: [17, 16] + name: agent25 + start: [18, 14] +- goal: [30, 24] + name: agent26 + start: [13, 10] +- goal: [4, 16] + name: agent27 + start: [10, 20] +- goal: [18, 5] + name: agent28 + start: [10, 0] +- goal: [26, 12] + name: agent29 + start: [26, 2] +- goal: [2, 7] + name: agent30 + start: [2, 12] +- goal: [8, 22] + name: agent31 + start: [15, 27] +- goal: [15, 24] + name: agent32 + start: [22, 21] +- goal: [18, 30] + name: agent33 + start: [20, 5] +- goal: [29, 11] + name: agent34 + start: [4, 19] +- goal: [24, 12] + name: agent35 + start: [26, 4] +- goal: [13, 19] + name: agent36 + start: [5, 29] +- goal: [24, 21] + name: agent37 + start: [26, 0] +- goal: [25, 27] + name: agent38 + start: [9, 28] +- goal: [1, 12] + name: agent39 + start: [18, 27] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [4, 11] + - !!python/tuple [21, 18] + - !!python/tuple [11, 22] + - !!python/tuple [28, 12] + - !!python/tuple [5, 6] + - !!python/tuple [23, 11] + - !!python/tuple [10, 7] + - !!python/tuple [1, 30] + - !!python/tuple [2, 18] + - !!python/tuple [12, 6] + - !!python/tuple [3, 14] + - !!python/tuple [25, 29] + - !!python/tuple [10, 24] + - !!python/tuple [13, 27] + - !!python/tuple [3, 11] + - !!python/tuple [17, 12] + - !!python/tuple [15, 17] + - !!python/tuple [26, 31] + - !!python/tuple [10, 2] + - !!python/tuple [30, 27] + - !!python/tuple [28, 27] + - !!python/tuple [20, 16] + - !!python/tuple [22, 25] + - !!python/tuple [4, 12] + - !!python/tuple [4, 5] + - !!python/tuple [11, 14] + - !!python/tuple [2, 28] + - !!python/tuple [14, 19] + - !!python/tuple [26, 18] + - !!python/tuple [31, 14] + - !!python/tuple [4, 22] + - !!python/tuple [13, 28] + - !!python/tuple [28, 5] + - !!python/tuple [14, 28] + - !!python/tuple [20, 15] + - !!python/tuple [7, 7] + - !!python/tuple [27, 10] + - !!python/tuple [25, 12] + - !!python/tuple [7, 11] + - !!python/tuple [18, 28] + - !!python/tuple [1, 17] + - !!python/tuple [10, 11] + - !!python/tuple [6, 14] + - !!python/tuple [23, 10] + - !!python/tuple [20, 30] + - !!python/tuple [18, 26] + - !!python/tuple [4, 27] + - !!python/tuple [2, 21] + - !!python/tuple [13, 3] + - !!python/tuple [19, 20] + - !!python/tuple [8, 24] + - !!python/tuple [13, 22] + - !!python/tuple [28, 9] + - !!python/tuple [17, 6] + - !!python/tuple [2, 24] + - !!python/tuple [9, 29] + - !!python/tuple [10, 31] + - !!python/tuple [26, 24] + - !!python/tuple [11, 6] + - !!python/tuple [28, 0] + - !!python/tuple [14, 17] + - !!python/tuple [18, 8] + - !!python/tuple [24, 0] + - !!python/tuple [13, 24] + - !!python/tuple [2, 10] + - !!python/tuple [22, 26] + - !!python/tuple [26, 23] + - !!python/tuple [19, 15] + - !!python/tuple [12, 30] + - !!python/tuple [12, 2] + - !!python/tuple [0, 27] + - !!python/tuple [2, 11] + - !!python/tuple [3, 15] + - !!python/tuple [26, 16] + - !!python/tuple [18, 0] + - !!python/tuple [6, 12] + - !!python/tuple [2, 20] + - !!python/tuple [8, 12] + - !!python/tuple [17, 3] + - !!python/tuple [28, 1] + - !!python/tuple [0, 17] + - !!python/tuple [19, 8] + - !!python/tuple [31, 12] + - !!python/tuple [22, 17] + - !!python/tuple [10, 8] + - !!python/tuple [9, 10] + - !!python/tuple [14, 13] + - !!python/tuple [7, 29] + - !!python/tuple [26, 10] + - !!python/tuple [2, 22] + - !!python/tuple [27, 31] + - !!python/tuple [29, 20] + - !!python/tuple [16, 12] + - !!python/tuple [26, 8] + - !!python/tuple [26, 1] + - !!python/tuple [23, 30] + - !!python/tuple [5, 14] + - !!python/tuple [30, 19] + - !!python/tuple [2, 3] + - !!python/tuple [18, 6] + - !!python/tuple [27, 29] + - !!python/tuple [21, 10] + - !!python/tuple [28, 15] + - !!python/tuple [16, 1] + - !!python/tuple [21, 1] + - !!python/tuple [8, 2] + - !!python/tuple [31, 27] + - !!python/tuple [1, 8] + - !!python/tuple [1, 26] + - !!python/tuple [23, 25] + - !!python/tuple [30, 26] + - !!python/tuple [25, 7] + - !!python/tuple [8, 21] + - !!python/tuple [15, 29] + - !!python/tuple [8, 28] + - !!python/tuple [12, 20] + - !!python/tuple [11, 28] + - !!python/tuple [2, 15] + - !!python/tuple [10, 5] + - !!python/tuple [2, 27] + - !!python/tuple [3, 29] + - !!python/tuple [15, 21] + - !!python/tuple [20, 13] + - !!python/tuple [30, 14] + - !!python/tuple [19, 28] + - !!python/tuple [21, 15] + - !!python/tuple [11, 24] + - !!python/tuple [9, 6] + - !!python/tuple [17, 9] + - !!python/tuple [17, 21] + - !!python/tuple [7, 1] + - !!python/tuple [4, 28] + - !!python/tuple [19, 14] + - !!python/tuple [6, 1] + - !!python/tuple [1, 29] + - !!python/tuple [10, 30] + - !!python/tuple [0, 5] + - !!python/tuple [30, 17] + - !!python/tuple [10, 6] + - !!python/tuple [26, 15] + - !!python/tuple [6, 17] + - !!python/tuple [21, 23] + - !!python/tuple [20, 29] + - !!python/tuple [30, 0] + - !!python/tuple [5, 9] + - !!python/tuple [20, 3] + - !!python/tuple [4, 21] + - !!python/tuple [25, 17] + - !!python/tuple [30, 13] + - !!python/tuple [20, 26] + - !!python/tuple [13, 11] + - !!python/tuple [17, 23] + - !!python/tuple [27, 18] + - !!python/tuple [30, 30] + - !!python/tuple [29, 6] + - !!python/tuple [19, 4] + - !!python/tuple [22, 28] + - !!python/tuple [8, 7] + - !!python/tuple [17, 28] + - !!python/tuple [0, 14] + - !!python/tuple [7, 24] + - !!python/tuple [5, 12] + - !!python/tuple [24, 4] + - !!python/tuple [3, 22] + - !!python/tuple [0, 8] + - !!python/tuple [11, 29] + - !!python/tuple [20, 27] + - !!python/tuple [16, 22] + - !!python/tuple [10, 3] + - !!python/tuple [7, 28] + - !!python/tuple [5, 4] + - !!python/tuple [2, 31] + - !!python/tuple [22, 20] + - !!python/tuple [8, 26] + - !!python/tuple [29, 24] + - !!python/tuple [29, 4] + - !!python/tuple [6, 19] + - !!python/tuple [29, 1] + - !!python/tuple [7, 3] + - !!python/tuple [9, 23] + - !!python/tuple [0, 30] + - !!python/tuple [11, 7] + - !!python/tuple [28, 28] + - !!python/tuple [16, 29] + - !!python/tuple [0, 31] + - !!python/tuple [31, 21] + - !!python/tuple [26, 22] + - !!python/tuple [26, 11] + - !!python/tuple [3, 8] + - !!python/tuple [25, 28] + - !!python/tuple [7, 8] + - !!python/tuple [18, 4] + - !!python/tuple [30, 28] + - !!python/tuple [21, 22] + - !!python/tuple [28, 22] + - !!python/tuple [21, 27] + - !!python/tuple [2, 19] + - !!python/tuple [30, 22] + - !!python/tuple [18, 9] + - !!python/tuple [10, 25] + - !!python/tuple [23, 4] + - !!python/tuple [14, 6] + - !!python/tuple [14, 22] + - !!python/tuple [14, 18] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex7.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex7.yaml new file mode 100644 index 0000000..c599963 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex7.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [18, 8] + name: agent0 + start: [0, 22] +- goal: [14, 28] + name: agent1 + start: [24, 1] +- goal: [30, 29] + name: agent2 + start: [23, 20] +- goal: [3, 0] + name: agent3 + start: [10, 20] +- goal: [20, 19] + name: agent4 + start: [4, 21] +- goal: [9, 28] + name: agent5 + start: [17, 26] +- goal: [7, 21] + name: agent6 + start: [28, 29] +- goal: [0, 18] + name: agent7 + start: [26, 6] +- goal: [29, 17] + name: agent8 + start: [14, 25] +- goal: [22, 31] + name: agent9 + start: [28, 7] +- goal: [27, 0] + name: agent10 + start: [9, 29] +- goal: [8, 9] + name: agent11 + start: [1, 14] +- goal: [10, 5] + name: agent12 + start: [9, 3] +- goal: [12, 6] + name: agent13 + start: [23, 23] +- goal: [5, 13] + name: agent14 + start: [29, 16] +- goal: [8, 29] + name: agent15 + start: [24, 14] +- goal: [13, 13] + name: agent16 + start: [13, 15] +- goal: [16, 8] + name: agent17 + start: [9, 26] +- goal: [16, 21] + name: agent18 + start: [0, 26] +- goal: [24, 24] + name: agent19 + start: [7, 3] +- goal: [11, 13] + name: agent20 + start: [28, 3] +- goal: [17, 31] + name: agent21 + start: [0, 2] +- goal: [5, 29] + name: agent22 + start: [25, 9] +- goal: [19, 18] + name: agent23 + start: [1, 29] +- goal: [2, 13] + name: agent24 + start: [16, 8] +- goal: [3, 20] + name: agent25 + start: [17, 21] +- goal: [7, 1] + name: agent26 + start: [1, 30] +- goal: [9, 31] + name: agent27 + start: [11, 6] +- goal: [9, 20] + name: agent28 + start: [5, 14] +- goal: [10, 20] + name: agent29 + start: [3, 21] +- goal: [8, 12] + name: agent30 + start: [0, 17] +- goal: [4, 6] + name: agent31 + start: [25, 17] +- goal: [1, 2] + name: agent32 + start: [22, 17] +- goal: [15, 11] + name: agent33 + start: [7, 5] +- goal: [7, 7] + name: agent34 + start: [16, 4] +- goal: [14, 9] + name: agent35 + start: [24, 18] +- goal: [23, 1] + name: agent36 + start: [4, 13] +- goal: [19, 25] + name: agent37 + start: [25, 6] +- goal: [6, 22] + name: agent38 + start: [18, 16] +- goal: [0, 24] + name: agent39 + start: [12, 9] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [23, 25] + - !!python/tuple [11, 15] + - !!python/tuple [10, 7] + - !!python/tuple [6, 5] + - !!python/tuple [13, 20] + - !!python/tuple [16, 23] + - !!python/tuple [15, 31] + - !!python/tuple [23, 17] + - !!python/tuple [11, 7] + - !!python/tuple [4, 17] + - !!python/tuple [12, 23] + - !!python/tuple [30, 27] + - !!python/tuple [24, 11] + - !!python/tuple [25, 16] + - !!python/tuple [22, 10] + - !!python/tuple [8, 2] + - !!python/tuple [27, 12] + - !!python/tuple [28, 22] + - !!python/tuple [4, 7] + - !!python/tuple [8, 1] + - !!python/tuple [26, 29] + - !!python/tuple [27, 15] + - !!python/tuple [10, 4] + - !!python/tuple [14, 19] + - !!python/tuple [25, 26] + - !!python/tuple [5, 31] + - !!python/tuple [11, 5] + - !!python/tuple [17, 2] + - !!python/tuple [6, 9] + - !!python/tuple [13, 1] + - !!python/tuple [13, 31] + - !!python/tuple [27, 4] + - !!python/tuple [26, 25] + - !!python/tuple [1, 0] + - !!python/tuple [12, 16] + - !!python/tuple [24, 2] + - !!python/tuple [5, 22] + - !!python/tuple [26, 0] + - !!python/tuple [12, 17] + - !!python/tuple [6, 20] + - !!python/tuple [7, 24] + - !!python/tuple [14, 7] + - !!python/tuple [17, 11] + - !!python/tuple [4, 3] + - !!python/tuple [18, 10] + - !!python/tuple [22, 5] + - !!python/tuple [2, 23] + - !!python/tuple [1, 8] + - !!python/tuple [14, 23] + - !!python/tuple [12, 8] + - !!python/tuple [6, 7] + - !!python/tuple [14, 18] + - !!python/tuple [9, 17] + - !!python/tuple [0, 23] + - !!python/tuple [11, 27] + - !!python/tuple [21, 5] + - !!python/tuple [0, 21] + - !!python/tuple [16, 29] + - !!python/tuple [0, 31] + - !!python/tuple [12, 15] + - !!python/tuple [26, 21] + - !!python/tuple [15, 26] + - !!python/tuple [8, 5] + - !!python/tuple [9, 21] + - !!python/tuple [23, 24] + - !!python/tuple [19, 7] + - !!python/tuple [1, 31] + - !!python/tuple [30, 3] + - !!python/tuple [7, 10] + - !!python/tuple [18, 6] + - !!python/tuple [12, 20] + - !!python/tuple [19, 22] + - !!python/tuple [29, 8] + - !!python/tuple [19, 0] + - !!python/tuple [8, 11] + - !!python/tuple [17, 5] + - !!python/tuple [6, 0] + - !!python/tuple [24, 6] + - !!python/tuple [14, 2] + - !!python/tuple [18, 26] + - !!python/tuple [13, 3] + - !!python/tuple [13, 12] + - !!python/tuple [19, 9] + - !!python/tuple [7, 28] + - !!python/tuple [26, 11] + - !!python/tuple [7, 15] + - !!python/tuple [11, 11] + - !!python/tuple [0, 19] + - !!python/tuple [8, 3] + - !!python/tuple [17, 18] + - !!python/tuple [23, 22] + - !!python/tuple [19, 28] + - !!python/tuple [21, 1] + - !!python/tuple [26, 12] + - !!python/tuple [24, 31] + - !!python/tuple [11, 28] + - !!python/tuple [9, 19] + - !!python/tuple [22, 12] + - !!python/tuple [13, 21] + - !!python/tuple [31, 15] + - !!python/tuple [6, 21] + - !!python/tuple [22, 8] + - !!python/tuple [9, 2] + - !!python/tuple [3, 12] + - !!python/tuple [8, 0] + - !!python/tuple [24, 25] + - !!python/tuple [11, 14] + - !!python/tuple [20, 17] + - !!python/tuple [2, 29] + - !!python/tuple [31, 27] + - !!python/tuple [13, 22] + - !!python/tuple [20, 1] + - !!python/tuple [20, 16] + - !!python/tuple [8, 27] + - !!python/tuple [0, 9] + - !!python/tuple [16, 6] + - !!python/tuple [17, 4] + - !!python/tuple [7, 16] + - !!python/tuple [1, 27] + - !!python/tuple [28, 8] + - !!python/tuple [28, 28] + - !!python/tuple [25, 28] + - !!python/tuple [30, 2] + - !!python/tuple [26, 15] + - !!python/tuple [28, 6] + - !!python/tuple [18, 18] + - !!python/tuple [14, 0] + - !!python/tuple [5, 10] + - !!python/tuple [15, 0] + - !!python/tuple [31, 8] + - !!python/tuple [31, 4] + - !!python/tuple [30, 30] + - !!python/tuple [28, 5] + - !!python/tuple [0, 4] + - !!python/tuple [29, 7] + - !!python/tuple [27, 27] + - !!python/tuple [31, 19] + - !!python/tuple [16, 28] + - !!python/tuple [19, 6] + - !!python/tuple [6, 30] + - !!python/tuple [8, 28] + - !!python/tuple [14, 8] + - !!python/tuple [11, 17] + - !!python/tuple [18, 19] + - !!python/tuple [8, 22] + - !!python/tuple [24, 0] + - !!python/tuple [23, 8] + - !!python/tuple [24, 5] + - !!python/tuple [30, 11] + - !!python/tuple [18, 0] + - !!python/tuple [29, 11] + - !!python/tuple [16, 26] + - !!python/tuple [18, 23] + - !!python/tuple [19, 10] + - !!python/tuple [7, 20] + - !!python/tuple [25, 0] + - !!python/tuple [31, 28] + - !!python/tuple [8, 20] + - !!python/tuple [24, 7] + - !!python/tuple [13, 28] + - !!python/tuple [5, 9] + - !!python/tuple [31, 7] + - !!python/tuple [22, 2] + - !!python/tuple [0, 14] + - !!python/tuple [9, 25] + - !!python/tuple [16, 30] + - !!python/tuple [21, 6] + - !!python/tuple [0, 13] + - !!python/tuple [1, 17] + - !!python/tuple [3, 23] + - !!python/tuple [2, 19] + - !!python/tuple [21, 17] + - !!python/tuple [29, 27] + - !!python/tuple [4, 18] + - !!python/tuple [26, 26] + - !!python/tuple [7, 19] + - !!python/tuple [4, 10] + - !!python/tuple [4, 24] + - !!python/tuple [21, 4] + - !!python/tuple [10, 9] + - !!python/tuple [29, 6] + - !!python/tuple [13, 24] + - !!python/tuple [4, 31] + - !!python/tuple [17, 1] + - !!python/tuple [3, 11] + - !!python/tuple [13, 10] + - !!python/tuple [6, 23] + - !!python/tuple [21, 30] + - !!python/tuple [21, 22] + - !!python/tuple [6, 25] + - !!python/tuple [9, 16] + - !!python/tuple [13, 30] + - !!python/tuple [25, 4] + - !!python/tuple [23, 2] + - !!python/tuple [27, 22] + - !!python/tuple [28, 2] + - !!python/tuple [5, 0] + - !!python/tuple [20, 3] + - !!python/tuple [26, 7] + - !!python/tuple [21, 20] + - !!python/tuple [9, 1] + - !!python/tuple [23, 11] + - !!python/tuple [13, 0] + - !!python/tuple [10, 17] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex70.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex70.yaml new file mode 100644 index 0000000..e108687 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex70.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [1, 31] + name: agent0 + start: [10, 20] +- goal: [9, 8] + name: agent1 + start: [15, 12] +- goal: [24, 7] + name: agent2 + start: [17, 18] +- goal: [12, 23] + name: agent3 + start: [19, 27] +- goal: [8, 10] + name: agent4 + start: [15, 27] +- goal: [17, 19] + name: agent5 + start: [9, 2] +- goal: [3, 20] + name: agent6 + start: [6, 19] +- goal: [14, 17] + name: agent7 + start: [10, 0] +- goal: [22, 10] + name: agent8 + start: [8, 16] +- goal: [29, 5] + name: agent9 + start: [15, 30] +- goal: [31, 19] + name: agent10 + start: [1, 10] +- goal: [6, 22] + name: agent11 + start: [28, 28] +- goal: [5, 22] + name: agent12 + start: [24, 2] +- goal: [6, 29] + name: agent13 + start: [6, 9] +- goal: [3, 0] + name: agent14 + start: [3, 0] +- goal: [27, 17] + name: agent15 + start: [26, 16] +- goal: [5, 3] + name: agent16 + start: [15, 10] +- goal: [13, 5] + name: agent17 + start: [2, 2] +- goal: [29, 15] + name: agent18 + start: [8, 8] +- goal: [12, 11] + name: agent19 + start: [1, 3] +- goal: [14, 6] + name: agent20 + start: [21, 6] +- goal: [23, 8] + name: agent21 + start: [7, 17] +- goal: [3, 23] + name: agent22 + start: [4, 6] +- goal: [16, 25] + name: agent23 + start: [25, 14] +- goal: [25, 18] + name: agent24 + start: [11, 13] +- goal: [19, 4] + name: agent25 + start: [30, 22] +- goal: [25, 9] + name: agent26 + start: [11, 12] +- goal: [10, 13] + name: agent27 + start: [25, 0] +- goal: [25, 15] + name: agent28 + start: [18, 9] +- goal: [20, 30] + name: agent29 + start: [13, 4] +- goal: [11, 17] + name: agent30 + start: [16, 24] +- goal: [18, 21] + name: agent31 + start: [30, 17] +- goal: [12, 13] + name: agent32 + start: [21, 25] +- goal: [29, 0] + name: agent33 + start: [22, 14] +- goal: [15, 29] + name: agent34 + start: [14, 14] +- goal: [8, 5] + name: agent35 + start: [27, 6] +- goal: [13, 0] + name: agent36 + start: [17, 29] +- goal: [11, 13] + name: agent37 + start: [12, 15] +- goal: [31, 30] + name: agent38 + start: [17, 30] +- goal: [6, 1] + name: agent39 + start: [9, 15] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [8, 6] + - !!python/tuple [20, 27] + - !!python/tuple [6, 23] + - !!python/tuple [28, 16] + - !!python/tuple [20, 4] + - !!python/tuple [26, 21] + - !!python/tuple [16, 31] + - !!python/tuple [24, 0] + - !!python/tuple [4, 28] + - !!python/tuple [31, 17] + - !!python/tuple [9, 27] + - !!python/tuple [19, 11] + - !!python/tuple [8, 3] + - !!python/tuple [25, 29] + - !!python/tuple [22, 22] + - !!python/tuple [12, 7] + - !!python/tuple [20, 19] + - !!python/tuple [1, 16] + - !!python/tuple [15, 9] + - !!python/tuple [10, 24] + - !!python/tuple [8, 23] + - !!python/tuple [22, 28] + - !!python/tuple [16, 3] + - !!python/tuple [7, 13] + - !!python/tuple [14, 21] + - !!python/tuple [8, 13] + - !!python/tuple [29, 7] + - !!python/tuple [7, 0] + - !!python/tuple [29, 29] + - !!python/tuple [5, 28] + - !!python/tuple [8, 17] + - !!python/tuple [24, 20] + - !!python/tuple [11, 18] + - !!python/tuple [4, 4] + - !!python/tuple [14, 13] + - !!python/tuple [9, 13] + - !!python/tuple [29, 3] + - !!python/tuple [0, 10] + - !!python/tuple [17, 15] + - !!python/tuple [20, 22] + - !!python/tuple [7, 21] + - !!python/tuple [26, 7] + - !!python/tuple [7, 20] + - !!python/tuple [31, 8] + - !!python/tuple [0, 12] + - !!python/tuple [19, 25] + - !!python/tuple [12, 20] + - !!python/tuple [3, 2] + - !!python/tuple [31, 6] + - !!python/tuple [19, 12] + - !!python/tuple [27, 12] + - !!python/tuple [18, 4] + - !!python/tuple [2, 16] + - !!python/tuple [19, 17] + - !!python/tuple [6, 25] + - !!python/tuple [25, 10] + - !!python/tuple [7, 7] + - !!python/tuple [6, 15] + - !!python/tuple [21, 2] + - !!python/tuple [22, 19] + - !!python/tuple [0, 19] + - !!python/tuple [24, 18] + - !!python/tuple [16, 5] + - !!python/tuple [21, 8] + - !!python/tuple [4, 1] + - !!python/tuple [1, 23] + - !!python/tuple [18, 29] + - !!python/tuple [4, 9] + - !!python/tuple [6, 8] + - !!python/tuple [20, 16] + - !!python/tuple [23, 6] + - !!python/tuple [17, 21] + - !!python/tuple [28, 1] + - !!python/tuple [24, 6] + - !!python/tuple [6, 27] + - !!python/tuple [1, 27] + - !!python/tuple [18, 16] + - !!python/tuple [17, 31] + - !!python/tuple [1, 13] + - !!python/tuple [23, 5] + - !!python/tuple [11, 10] + - !!python/tuple [9, 26] + - !!python/tuple [22, 18] + - !!python/tuple [7, 6] + - !!python/tuple [4, 12] + - !!python/tuple [2, 27] + - !!python/tuple [27, 15] + - !!python/tuple [24, 19] + - !!python/tuple [9, 22] + - !!python/tuple [21, 21] + - !!python/tuple [23, 11] + - !!python/tuple [20, 12] + - !!python/tuple [24, 30] + - !!python/tuple [6, 28] + - !!python/tuple [5, 14] + - !!python/tuple [16, 12] + - !!python/tuple [9, 17] + - !!python/tuple [19, 13] + - !!python/tuple [13, 1] + - !!python/tuple [14, 5] + - !!python/tuple [10, 1] + - !!python/tuple [0, 28] + - !!python/tuple [7, 5] + - !!python/tuple [6, 7] + - !!python/tuple [31, 2] + - !!python/tuple [30, 14] + - !!python/tuple [20, 2] + - !!python/tuple [18, 22] + - !!python/tuple [23, 29] + - !!python/tuple [0, 2] + - !!python/tuple [13, 26] + - !!python/tuple [28, 6] + - !!python/tuple [23, 31] + - !!python/tuple [14, 19] + - !!python/tuple [7, 1] + - !!python/tuple [11, 25] + - !!python/tuple [12, 26] + - !!python/tuple [30, 11] + - !!python/tuple [21, 10] + - !!python/tuple [26, 0] + - !!python/tuple [10, 7] + - !!python/tuple [29, 25] + - !!python/tuple [18, 0] + - !!python/tuple [30, 20] + - !!python/tuple [27, 22] + - !!python/tuple [19, 3] + - !!python/tuple [4, 0] + - !!python/tuple [24, 13] + - !!python/tuple [15, 28] + - !!python/tuple [10, 16] + - !!python/tuple [30, 10] + - !!python/tuple [0, 17] + - !!python/tuple [17, 23] + - !!python/tuple [15, 15] + - !!python/tuple [14, 30] + - !!python/tuple [20, 8] + - !!python/tuple [26, 30] + - !!python/tuple [7, 25] + - !!python/tuple [2, 1] + - !!python/tuple [12, 6] + - !!python/tuple [5, 15] + - !!python/tuple [31, 10] + - !!python/tuple [24, 14] + - !!python/tuple [16, 28] + - !!python/tuple [31, 21] + - !!python/tuple [29, 6] + - !!python/tuple [24, 22] + - !!python/tuple [18, 6] + - !!python/tuple [14, 8] + - !!python/tuple [22, 3] + - !!python/tuple [12, 28] + - !!python/tuple [17, 6] + - !!python/tuple [31, 24] + - !!python/tuple [26, 28] + - !!python/tuple [4, 24] + - !!python/tuple [9, 30] + - !!python/tuple [30, 6] + - !!python/tuple [23, 20] + - !!python/tuple [4, 8] + - !!python/tuple [29, 9] + - !!python/tuple [11, 29] + - !!python/tuple [7, 26] + - !!python/tuple [31, 27] + - !!python/tuple [30, 7] + - !!python/tuple [20, 7] + - !!python/tuple [5, 29] + - !!python/tuple [21, 11] + - !!python/tuple [5, 10] + - !!python/tuple [22, 25] + - !!python/tuple [3, 6] + - !!python/tuple [21, 4] + - !!python/tuple [13, 17] + - !!python/tuple [11, 30] + - !!python/tuple [20, 24] + - !!python/tuple [28, 2] + - !!python/tuple [15, 19] + - !!python/tuple [25, 11] + - !!python/tuple [27, 11] + - !!python/tuple [25, 21] + - !!python/tuple [20, 6] + - !!python/tuple [8, 0] + - !!python/tuple [6, 17] + - !!python/tuple [16, 29] + - !!python/tuple [16, 6] + - !!python/tuple [31, 18] + - !!python/tuple [9, 6] + - !!python/tuple [23, 15] + - !!python/tuple [20, 23] + - !!python/tuple [29, 12] + - !!python/tuple [18, 20] + - !!python/tuple [1, 24] + - !!python/tuple [2, 30] + - !!python/tuple [10, 6] + - !!python/tuple [21, 20] + - !!python/tuple [10, 28] + - !!python/tuple [3, 3] + - !!python/tuple [30, 13] + - !!python/tuple [21, 7] + - !!python/tuple [7, 22] + - !!python/tuple [29, 4] + - !!python/tuple [0, 7] + - !!python/tuple [28, 17] + - !!python/tuple [11, 3] + - !!python/tuple [19, 14] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex71.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex71.yaml new file mode 100644 index 0000000..9e83b61 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex71.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [21, 1] + name: agent0 + start: [7, 4] +- goal: [22, 0] + name: agent1 + start: [5, 23] +- goal: [12, 19] + name: agent2 + start: [2, 25] +- goal: [1, 30] + name: agent3 + start: [25, 24] +- goal: [17, 25] + name: agent4 + start: [3, 26] +- goal: [25, 26] + name: agent5 + start: [30, 21] +- goal: [18, 0] + name: agent6 + start: [21, 21] +- goal: [14, 3] + name: agent7 + start: [7, 12] +- goal: [12, 27] + name: agent8 + start: [21, 18] +- goal: [17, 2] + name: agent9 + start: [16, 14] +- goal: [11, 3] + name: agent10 + start: [7, 23] +- goal: [5, 26] + name: agent11 + start: [25, 1] +- goal: [23, 20] + name: agent12 + start: [4, 17] +- goal: [1, 7] + name: agent13 + start: [13, 20] +- goal: [15, 13] + name: agent14 + start: [11, 1] +- goal: [3, 11] + name: agent15 + start: [9, 0] +- goal: [3, 7] + name: agent16 + start: [14, 27] +- goal: [18, 21] + name: agent17 + start: [21, 13] +- goal: [5, 30] + name: agent18 + start: [28, 1] +- goal: [29, 19] + name: agent19 + start: [22, 15] +- goal: [8, 13] + name: agent20 + start: [27, 11] +- goal: [19, 8] + name: agent21 + start: [17, 25] +- goal: [19, 15] + name: agent22 + start: [6, 3] +- goal: [12, 10] + name: agent23 + start: [6, 29] +- goal: [22, 29] + name: agent24 + start: [16, 8] +- goal: [27, 23] + name: agent25 + start: [13, 4] +- goal: [0, 29] + name: agent26 + start: [17, 5] +- goal: [13, 29] + name: agent27 + start: [9, 31] +- goal: [20, 18] + name: agent28 + start: [1, 25] +- goal: [24, 9] + name: agent29 + start: [29, 10] +- goal: [23, 4] + name: agent30 + start: [18, 4] +- goal: [4, 21] + name: agent31 + start: [6, 23] +- goal: [14, 16] + name: agent32 + start: [12, 28] +- goal: [6, 8] + name: agent33 + start: [4, 8] +- goal: [12, 8] + name: agent34 + start: [29, 18] +- goal: [14, 2] + name: agent35 + start: [8, 19] +- goal: [28, 18] + name: agent36 + start: [7, 29] +- goal: [24, 2] + name: agent37 + start: [6, 14] +- goal: [2, 10] + name: agent38 + start: [29, 19] +- goal: [0, 13] + name: agent39 + start: [21, 8] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [15, 3] + - !!python/tuple [16, 0] + - !!python/tuple [3, 19] + - !!python/tuple [30, 16] + - !!python/tuple [20, 22] + - !!python/tuple [11, 19] + - !!python/tuple [17, 18] + - !!python/tuple [12, 22] + - !!python/tuple [23, 3] + - !!python/tuple [9, 28] + - !!python/tuple [3, 25] + - !!python/tuple [13, 23] + - !!python/tuple [12, 20] + - !!python/tuple [30, 3] + - !!python/tuple [4, 2] + - !!python/tuple [4, 16] + - !!python/tuple [8, 30] + - !!python/tuple [23, 28] + - !!python/tuple [21, 24] + - !!python/tuple [30, 9] + - !!python/tuple [30, 20] + - !!python/tuple [0, 27] + - !!python/tuple [10, 9] + - !!python/tuple [14, 21] + - !!python/tuple [4, 12] + - !!python/tuple [2, 31] + - !!python/tuple [31, 13] + - !!python/tuple [27, 31] + - !!python/tuple [31, 8] + - !!python/tuple [26, 3] + - !!python/tuple [14, 6] + - !!python/tuple [11, 7] + - !!python/tuple [17, 30] + - !!python/tuple [14, 12] + - !!python/tuple [23, 31] + - !!python/tuple [29, 23] + - !!python/tuple [8, 10] + - !!python/tuple [3, 5] + - !!python/tuple [12, 26] + - !!python/tuple [15, 18] + - !!python/tuple [9, 4] + - !!python/tuple [18, 2] + - !!python/tuple [21, 26] + - !!python/tuple [3, 15] + - !!python/tuple [0, 20] + - !!python/tuple [21, 9] + - !!python/tuple [4, 26] + - !!python/tuple [20, 31] + - !!python/tuple [27, 14] + - !!python/tuple [18, 29] + - !!python/tuple [18, 25] + - !!python/tuple [18, 17] + - !!python/tuple [29, 26] + - !!python/tuple [18, 16] + - !!python/tuple [21, 19] + - !!python/tuple [12, 14] + - !!python/tuple [22, 24] + - !!python/tuple [31, 6] + - !!python/tuple [28, 19] + - !!python/tuple [20, 16] + - !!python/tuple [27, 1] + - !!python/tuple [5, 31] + - !!python/tuple [23, 8] + - !!python/tuple [31, 3] + - !!python/tuple [12, 25] + - !!python/tuple [12, 13] + - !!python/tuple [23, 29] + - !!python/tuple [23, 22] + - !!python/tuple [23, 23] + - !!python/tuple [17, 13] + - !!python/tuple [6, 11] + - !!python/tuple [28, 23] + - !!python/tuple [2, 8] + - !!python/tuple [21, 20] + - !!python/tuple [27, 22] + - !!python/tuple [15, 5] + - !!python/tuple [6, 15] + - !!python/tuple [6, 31] + - !!python/tuple [20, 24] + - !!python/tuple [31, 25] + - !!python/tuple [8, 12] + - !!python/tuple [19, 27] + - !!python/tuple [26, 27] + - !!python/tuple [13, 6] + - !!python/tuple [21, 0] + - !!python/tuple [16, 11] + - !!python/tuple [29, 15] + - !!python/tuple [28, 28] + - !!python/tuple [0, 11] + - !!python/tuple [1, 16] + - !!python/tuple [25, 3] + - !!python/tuple [16, 27] + - !!python/tuple [8, 2] + - !!python/tuple [16, 1] + - !!python/tuple [25, 6] + - !!python/tuple [24, 13] + - !!python/tuple [28, 3] + - !!python/tuple [0, 22] + - !!python/tuple [4, 20] + - !!python/tuple [23, 21] + - !!python/tuple [15, 23] + - !!python/tuple [24, 0] + - !!python/tuple [2, 21] + - !!python/tuple [21, 3] + - !!python/tuple [29, 7] + - !!python/tuple [7, 25] + - !!python/tuple [23, 19] + - !!python/tuple [27, 21] + - !!python/tuple [12, 29] + - !!python/tuple [13, 14] + - !!python/tuple [27, 16] + - !!python/tuple [20, 1] + - !!python/tuple [20, 20] + - !!python/tuple [29, 2] + - !!python/tuple [28, 30] + - !!python/tuple [18, 14] + - !!python/tuple [23, 0] + - !!python/tuple [4, 9] + - !!python/tuple [14, 1] + - !!python/tuple [18, 31] + - !!python/tuple [1, 13] + - !!python/tuple [29, 8] + - !!python/tuple [7, 7] + - !!python/tuple [25, 10] + - !!python/tuple [1, 15] + - !!python/tuple [22, 7] + - !!python/tuple [31, 27] + - !!python/tuple [9, 9] + - !!python/tuple [5, 28] + - !!python/tuple [8, 4] + - !!python/tuple [11, 10] + - !!python/tuple [11, 25] + - !!python/tuple [6, 0] + - !!python/tuple [25, 28] + - !!python/tuple [2, 30] + - !!python/tuple [13, 18] + - !!python/tuple [28, 10] + - !!python/tuple [29, 9] + - !!python/tuple [17, 3] + - !!python/tuple [9, 24] + - !!python/tuple [1, 14] + - !!python/tuple [10, 6] + - !!python/tuple [7, 26] + - !!python/tuple [20, 5] + - !!python/tuple [21, 29] + - !!python/tuple [20, 14] + - !!python/tuple [1, 24] + - !!python/tuple [21, 25] + - !!python/tuple [17, 19] + - !!python/tuple [9, 20] + - !!python/tuple [20, 7] + - !!python/tuple [27, 26] + - !!python/tuple [0, 30] + - !!python/tuple [13, 0] + - !!python/tuple [4, 28] + - !!python/tuple [10, 22] + - !!python/tuple [25, 0] + - !!python/tuple [19, 20] + - !!python/tuple [15, 9] + - !!python/tuple [20, 26] + - !!python/tuple [26, 2] + - !!python/tuple [7, 19] + - !!python/tuple [2, 7] + - !!python/tuple [9, 10] + - !!python/tuple [25, 23] + - !!python/tuple [16, 2] + - !!python/tuple [16, 4] + - !!python/tuple [22, 26] + - !!python/tuple [7, 27] + - !!python/tuple [11, 29] + - !!python/tuple [7, 5] + - !!python/tuple [30, 13] + - !!python/tuple [28, 8] + - !!python/tuple [2, 15] + - !!python/tuple [27, 20] + - !!python/tuple [5, 4] + - !!python/tuple [6, 20] + - !!python/tuple [16, 9] + - !!python/tuple [8, 17] + - !!python/tuple [28, 27] + - !!python/tuple [12, 16] + - !!python/tuple [23, 2] + - !!python/tuple [4, 27] + - !!python/tuple [0, 26] + - !!python/tuple [23, 10] + - !!python/tuple [0, 12] + - !!python/tuple [0, 25] + - !!python/tuple [3, 10] + - !!python/tuple [0, 6] + - !!python/tuple [4, 5] + - !!python/tuple [6, 13] + - !!python/tuple [25, 21] + - !!python/tuple [14, 8] + - !!python/tuple [27, 25] + - !!python/tuple [4, 1] + - !!python/tuple [19, 12] + - !!python/tuple [6, 7] + - !!python/tuple [28, 21] + - !!python/tuple [12, 15] + - !!python/tuple [0, 23] + - !!python/tuple [14, 14] + - !!python/tuple [17, 6] + - !!python/tuple [24, 19] + - !!python/tuple [9, 18] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex72.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex72.yaml new file mode 100644 index 0000000..3278c3c --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex72.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [27, 7] + name: agent0 + start: [16, 8] +- goal: [31, 16] + name: agent1 + start: [11, 7] +- goal: [17, 22] + name: agent2 + start: [5, 0] +- goal: [13, 17] + name: agent3 + start: [1, 29] +- goal: [3, 25] + name: agent4 + start: [24, 26] +- goal: [15, 22] + name: agent5 + start: [0, 6] +- goal: [12, 19] + name: agent6 + start: [16, 16] +- goal: [20, 25] + name: agent7 + start: [20, 9] +- goal: [21, 14] + name: agent8 + start: [17, 16] +- goal: [21, 0] + name: agent9 + start: [17, 9] +- goal: [9, 27] + name: agent10 + start: [5, 17] +- goal: [10, 1] + name: agent11 + start: [31, 10] +- goal: [19, 13] + name: agent12 + start: [18, 18] +- goal: [7, 13] + name: agent13 + start: [7, 23] +- goal: [19, 26] + name: agent14 + start: [26, 3] +- goal: [30, 10] + name: agent15 + start: [13, 13] +- goal: [21, 19] + name: agent16 + start: [16, 25] +- goal: [11, 28] + name: agent17 + start: [17, 23] +- goal: [12, 1] + name: agent18 + start: [8, 24] +- goal: [5, 16] + name: agent19 + start: [21, 18] +- goal: [1, 21] + name: agent20 + start: [28, 7] +- goal: [13, 5] + name: agent21 + start: [10, 14] +- goal: [12, 16] + name: agent22 + start: [29, 5] +- goal: [21, 12] + name: agent23 + start: [30, 26] +- goal: [15, 10] + name: agent24 + start: [16, 30] +- goal: [21, 23] + name: agent25 + start: [23, 16] +- goal: [4, 7] + name: agent26 + start: [31, 2] +- goal: [28, 7] + name: agent27 + start: [10, 15] +- goal: [15, 30] + name: agent28 + start: [24, 25] +- goal: [3, 20] + name: agent29 + start: [0, 26] +- goal: [7, 10] + name: agent30 + start: [22, 8] +- goal: [12, 29] + name: agent31 + start: [7, 13] +- goal: [21, 29] + name: agent32 + start: [0, 5] +- goal: [22, 14] + name: agent33 + start: [4, 1] +- goal: [5, 3] + name: agent34 + start: [4, 21] +- goal: [30, 17] + name: agent35 + start: [2, 6] +- goal: [3, 22] + name: agent36 + start: [5, 14] +- goal: [30, 29] + name: agent37 + start: [9, 3] +- goal: [10, 21] + name: agent38 + start: [2, 26] +- goal: [18, 26] + name: agent39 + start: [11, 17] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [29, 21] + - !!python/tuple [10, 20] + - !!python/tuple [29, 25] + - !!python/tuple [23, 12] + - !!python/tuple [30, 19] + - !!python/tuple [20, 10] + - !!python/tuple [28, 8] + - !!python/tuple [1, 2] + - !!python/tuple [10, 3] + - !!python/tuple [16, 12] + - !!python/tuple [31, 15] + - !!python/tuple [1, 27] + - !!python/tuple [11, 10] + - !!python/tuple [1, 17] + - !!python/tuple [24, 23] + - !!python/tuple [25, 30] + - !!python/tuple [14, 17] + - !!python/tuple [6, 30] + - !!python/tuple [13, 14] + - !!python/tuple [20, 28] + - !!python/tuple [10, 28] + - !!python/tuple [30, 12] + - !!python/tuple [20, 1] + - !!python/tuple [17, 6] + - !!python/tuple [31, 6] + - !!python/tuple [23, 15] + - !!python/tuple [15, 31] + - !!python/tuple [3, 9] + - !!python/tuple [9, 0] + - !!python/tuple [8, 27] + - !!python/tuple [9, 14] + - !!python/tuple [19, 24] + - !!python/tuple [20, 20] + - !!python/tuple [4, 8] + - !!python/tuple [8, 13] + - !!python/tuple [0, 25] + - !!python/tuple [3, 7] + - !!python/tuple [27, 31] + - !!python/tuple [12, 0] + - !!python/tuple [29, 10] + - !!python/tuple [3, 0] + - !!python/tuple [1, 0] + - !!python/tuple [5, 28] + - !!python/tuple [0, 23] + - !!python/tuple [10, 17] + - !!python/tuple [11, 27] + - !!python/tuple [1, 24] + - !!python/tuple [31, 27] + - !!python/tuple [23, 20] + - !!python/tuple [9, 8] + - !!python/tuple [14, 18] + - !!python/tuple [12, 23] + - !!python/tuple [17, 13] + - !!python/tuple [4, 4] + - !!python/tuple [22, 13] + - !!python/tuple [5, 1] + - !!python/tuple [12, 31] + - !!python/tuple [15, 13] + - !!python/tuple [3, 3] + - !!python/tuple [28, 29] + - !!python/tuple [11, 1] + - !!python/tuple [6, 12] + - !!python/tuple [6, 8] + - !!python/tuple [1, 12] + - !!python/tuple [15, 9] + - !!python/tuple [5, 25] + - !!python/tuple [3, 11] + - !!python/tuple [30, 14] + - !!python/tuple [24, 29] + - !!python/tuple [7, 6] + - !!python/tuple [19, 10] + - !!python/tuple [27, 12] + - !!python/tuple [6, 4] + - !!python/tuple [24, 7] + - !!python/tuple [16, 31] + - !!python/tuple [22, 31] + - !!python/tuple [28, 28] + - !!python/tuple [1, 13] + - !!python/tuple [27, 21] + - !!python/tuple [14, 11] + - !!python/tuple [23, 31] + - !!python/tuple [26, 27] + - !!python/tuple [23, 2] + - !!python/tuple [5, 19] + - !!python/tuple [18, 0] + - !!python/tuple [5, 12] + - !!python/tuple [9, 21] + - !!python/tuple [11, 21] + - !!python/tuple [3, 29] + - !!python/tuple [0, 16] + - !!python/tuple [31, 17] + - !!python/tuple [0, 31] + - !!python/tuple [19, 15] + - !!python/tuple [7, 2] + - !!python/tuple [14, 16] + - !!python/tuple [18, 21] + - !!python/tuple [26, 21] + - !!python/tuple [15, 27] + - !!python/tuple [22, 0] + - !!python/tuple [25, 13] + - !!python/tuple [18, 15] + - !!python/tuple [28, 4] + - !!python/tuple [18, 16] + - !!python/tuple [21, 13] + - !!python/tuple [22, 29] + - !!python/tuple [0, 12] + - !!python/tuple [29, 28] + - !!python/tuple [27, 23] + - !!python/tuple [16, 4] + - !!python/tuple [11, 22] + - !!python/tuple [30, 6] + - !!python/tuple [15, 5] + - !!python/tuple [2, 1] + - !!python/tuple [13, 19] + - !!python/tuple [10, 30] + - !!python/tuple [0, 2] + - !!python/tuple [19, 1] + - !!python/tuple [27, 6] + - !!python/tuple [3, 27] + - !!python/tuple [31, 4] + - !!python/tuple [24, 0] + - !!python/tuple [16, 10] + - !!python/tuple [14, 6] + - !!python/tuple [30, 13] + - !!python/tuple [1, 7] + - !!python/tuple [0, 8] + - !!python/tuple [16, 0] + - !!python/tuple [29, 24] + - !!python/tuple [15, 14] + - !!python/tuple [3, 18] + - !!python/tuple [2, 15] + - !!python/tuple [9, 4] + - !!python/tuple [7, 4] + - !!python/tuple [17, 11] + - !!python/tuple [13, 6] + - !!python/tuple [30, 15] + - !!python/tuple [24, 6] + - !!python/tuple [11, 18] + - !!python/tuple [18, 12] + - !!python/tuple [26, 28] + - !!python/tuple [20, 15] + - !!python/tuple [13, 16] + - !!python/tuple [13, 11] + - !!python/tuple [18, 3] + - !!python/tuple [25, 19] + - !!python/tuple [31, 29] + - !!python/tuple [21, 28] + - !!python/tuple [26, 13] + - !!python/tuple [21, 2] + - !!python/tuple [3, 5] + - !!python/tuple [28, 17] + - !!python/tuple [26, 15] + - !!python/tuple [9, 5] + - !!python/tuple [9, 24] + - !!python/tuple [20, 3] + - !!python/tuple [10, 29] + - !!python/tuple [4, 13] + - !!python/tuple [1, 14] + - !!python/tuple [25, 24] + - !!python/tuple [26, 5] + - !!python/tuple [4, 10] + - !!python/tuple [6, 16] + - !!python/tuple [14, 21] + - !!python/tuple [29, 31] + - !!python/tuple [13, 22] + - !!python/tuple [17, 28] + - !!python/tuple [13, 20] + - !!python/tuple [15, 28] + - !!python/tuple [30, 5] + - !!python/tuple [24, 3] + - !!python/tuple [29, 8] + - !!python/tuple [20, 18] + - !!python/tuple [14, 4] + - !!python/tuple [27, 30] + - !!python/tuple [0, 10] + - !!python/tuple [29, 12] + - !!python/tuple [14, 24] + - !!python/tuple [31, 0] + - !!python/tuple [5, 8] + - !!python/tuple [11, 30] + - !!python/tuple [31, 24] + - !!python/tuple [3, 8] + - !!python/tuple [3, 13] + - !!python/tuple [3, 30] + - !!python/tuple [4, 11] + - !!python/tuple [9, 9] + - !!python/tuple [23, 13] + - !!python/tuple [29, 20] + - !!python/tuple [4, 28] + - !!python/tuple [2, 24] + - !!python/tuple [25, 22] + - !!python/tuple [13, 10] + - !!python/tuple [5, 5] + - !!python/tuple [27, 13] + - !!python/tuple [11, 23] + - !!python/tuple [19, 0] + - !!python/tuple [4, 5] + - !!python/tuple [12, 4] + - !!python/tuple [30, 7] + - !!python/tuple [4, 31] + - !!python/tuple [5, 10] + - !!python/tuple [9, 31] + - !!python/tuple [23, 8] + - !!python/tuple [14, 7] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex73.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex73.yaml new file mode 100644 index 0000000..c470604 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex73.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [18, 4] + name: agent0 + start: [12, 22] +- goal: [6, 7] + name: agent1 + start: [0, 20] +- goal: [11, 9] + name: agent2 + start: [4, 12] +- goal: [1, 11] + name: agent3 + start: [0, 7] +- goal: [1, 29] + name: agent4 + start: [12, 10] +- goal: [24, 30] + name: agent5 + start: [17, 24] +- goal: [6, 9] + name: agent6 + start: [25, 19] +- goal: [23, 7] + name: agent7 + start: [20, 15] +- goal: [0, 30] + name: agent8 + start: [21, 13] +- goal: [5, 23] + name: agent9 + start: [14, 12] +- goal: [3, 16] + name: agent10 + start: [10, 8] +- goal: [10, 11] + name: agent11 + start: [18, 0] +- goal: [2, 18] + name: agent12 + start: [2, 19] +- goal: [3, 1] + name: agent13 + start: [15, 2] +- goal: [19, 23] + name: agent14 + start: [5, 9] +- goal: [30, 13] + name: agent15 + start: [17, 8] +- goal: [17, 15] + name: agent16 + start: [22, 20] +- goal: [9, 17] + name: agent17 + start: [11, 27] +- goal: [17, 6] + name: agent18 + start: [7, 6] +- goal: [20, 6] + name: agent19 + start: [17, 3] +- goal: [19, 9] + name: agent20 + start: [11, 26] +- goal: [12, 31] + name: agent21 + start: [2, 0] +- goal: [6, 29] + name: agent22 + start: [12, 25] +- goal: [19, 4] + name: agent23 + start: [18, 20] +- goal: [12, 7] + name: agent24 + start: [22, 0] +- goal: [24, 29] + name: agent25 + start: [1, 19] +- goal: [6, 3] + name: agent26 + start: [13, 23] +- goal: [2, 20] + name: agent27 + start: [17, 27] +- goal: [29, 22] + name: agent28 + start: [31, 0] +- goal: [21, 6] + name: agent29 + start: [22, 2] +- goal: [7, 24] + name: agent30 + start: [26, 0] +- goal: [0, 0] + name: agent31 + start: [20, 30] +- goal: [11, 21] + name: agent32 + start: [17, 31] +- goal: [5, 25] + name: agent33 + start: [5, 7] +- goal: [7, 28] + name: agent34 + start: [24, 30] +- goal: [13, 28] + name: agent35 + start: [16, 19] +- goal: [9, 19] + name: agent36 + start: [28, 21] +- goal: [18, 2] + name: agent37 + start: [11, 22] +- goal: [17, 11] + name: agent38 + start: [18, 25] +- goal: [22, 7] + name: agent39 + start: [27, 3] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [28, 24] + - !!python/tuple [21, 14] + - !!python/tuple [14, 31] + - !!python/tuple [23, 4] + - !!python/tuple [23, 12] + - !!python/tuple [10, 9] + - !!python/tuple [10, 16] + - !!python/tuple [2, 5] + - !!python/tuple [19, 19] + - !!python/tuple [14, 22] + - !!python/tuple [12, 3] + - !!python/tuple [0, 18] + - !!python/tuple [1, 18] + - !!python/tuple [24, 21] + - !!python/tuple [8, 10] + - !!python/tuple [24, 6] + - !!python/tuple [2, 23] + - !!python/tuple [7, 17] + - !!python/tuple [10, 26] + - !!python/tuple [28, 2] + - !!python/tuple [16, 23] + - !!python/tuple [3, 4] + - !!python/tuple [29, 5] + - !!python/tuple [13, 1] + - !!python/tuple [24, 19] + - !!python/tuple [26, 13] + - !!python/tuple [18, 29] + - !!python/tuple [30, 8] + - !!python/tuple [6, 20] + - !!python/tuple [6, 21] + - !!python/tuple [5, 4] + - !!python/tuple [23, 18] + - !!python/tuple [20, 9] + - !!python/tuple [29, 30] + - !!python/tuple [5, 27] + - !!python/tuple [4, 30] + - !!python/tuple [0, 10] + - !!python/tuple [10, 4] + - !!python/tuple [28, 10] + - !!python/tuple [19, 12] + - !!python/tuple [25, 14] + - !!python/tuple [26, 18] + - !!python/tuple [30, 6] + - !!python/tuple [28, 12] + - !!python/tuple [14, 20] + - !!python/tuple [16, 3] + - !!python/tuple [30, 23] + - !!python/tuple [21, 8] + - !!python/tuple [1, 8] + - !!python/tuple [14, 28] + - !!python/tuple [12, 19] + - !!python/tuple [18, 18] + - !!python/tuple [16, 28] + - !!python/tuple [4, 16] + - !!python/tuple [17, 22] + - !!python/tuple [3, 5] + - !!python/tuple [29, 11] + - !!python/tuple [3, 2] + - !!python/tuple [31, 26] + - !!python/tuple [19, 16] + - !!python/tuple [19, 11] + - !!python/tuple [27, 28] + - !!python/tuple [25, 2] + - !!python/tuple [6, 12] + - !!python/tuple [27, 11] + - !!python/tuple [11, 18] + - !!python/tuple [14, 13] + - !!python/tuple [1, 12] + - !!python/tuple [16, 7] + - !!python/tuple [14, 7] + - !!python/tuple [19, 15] + - !!python/tuple [5, 3] + - !!python/tuple [20, 1] + - !!python/tuple [9, 9] + - !!python/tuple [18, 31] + - !!python/tuple [16, 5] + - !!python/tuple [12, 20] + - !!python/tuple [31, 20] + - !!python/tuple [3, 25] + - !!python/tuple [18, 17] + - !!python/tuple [26, 26] + - !!python/tuple [13, 21] + - !!python/tuple [1, 2] + - !!python/tuple [29, 8] + - !!python/tuple [24, 28] + - !!python/tuple [13, 10] + - !!python/tuple [4, 14] + - !!python/tuple [26, 15] + - !!python/tuple [14, 5] + - !!python/tuple [15, 0] + - !!python/tuple [7, 29] + - !!python/tuple [20, 17] + - !!python/tuple [1, 14] + - !!python/tuple [9, 27] + - !!python/tuple [31, 18] + - !!python/tuple [0, 13] + - !!python/tuple [4, 23] + - !!python/tuple [8, 13] + - !!python/tuple [0, 21] + - !!python/tuple [3, 30] + - !!python/tuple [0, 24] + - !!python/tuple [17, 14] + - !!python/tuple [15, 10] + - !!python/tuple [6, 17] + - !!python/tuple [15, 26] + - !!python/tuple [19, 26] + - !!python/tuple [5, 14] + - !!python/tuple [12, 23] + - !!python/tuple [1, 24] + - !!python/tuple [24, 7] + - !!python/tuple [20, 18] + - !!python/tuple [31, 28] + - !!python/tuple [12, 4] + - !!python/tuple [6, 27] + - !!python/tuple [9, 8] + - !!python/tuple [12, 13] + - !!python/tuple [6, 2] + - !!python/tuple [28, 1] + - !!python/tuple [27, 13] + - !!python/tuple [25, 13] + - !!python/tuple [16, 18] + - !!python/tuple [1, 31] + - !!python/tuple [29, 25] + - !!python/tuple [21, 27] + - !!python/tuple [8, 22] + - !!python/tuple [24, 4] + - !!python/tuple [20, 21] + - !!python/tuple [20, 27] + - !!python/tuple [2, 16] + - !!python/tuple [12, 8] + - !!python/tuple [24, 20] + - !!python/tuple [2, 11] + - !!python/tuple [20, 24] + - !!python/tuple [13, 27] + - !!python/tuple [27, 14] + - !!python/tuple [13, 4] + - !!python/tuple [8, 27] + - !!python/tuple [31, 7] + - !!python/tuple [1, 21] + - !!python/tuple [15, 27] + - !!python/tuple [10, 14] + - !!python/tuple [21, 18] + - !!python/tuple [16, 1] + - !!python/tuple [11, 4] + - !!python/tuple [19, 22] + - !!python/tuple [15, 21] + - !!python/tuple [23, 21] + - !!python/tuple [18, 23] + - !!python/tuple [25, 30] + - !!python/tuple [24, 18] + - !!python/tuple [28, 30] + - !!python/tuple [19, 29] + - !!python/tuple [18, 22] + - !!python/tuple [15, 22] + - !!python/tuple [6, 22] + - !!python/tuple [29, 17] + - !!python/tuple [28, 6] + - !!python/tuple [21, 1] + - !!python/tuple [2, 27] + - !!python/tuple [4, 3] + - !!python/tuple [11, 13] + - !!python/tuple [18, 6] + - !!python/tuple [13, 9] + - !!python/tuple [7, 11] + - !!python/tuple [5, 5] + - !!python/tuple [28, 17] + - !!python/tuple [14, 26] + - !!python/tuple [2, 15] + - !!python/tuple [28, 31] + - !!python/tuple [23, 30] + - !!python/tuple [6, 0] + - !!python/tuple [0, 31] + - !!python/tuple [6, 6] + - !!python/tuple [9, 12] + - !!python/tuple [28, 19] + - !!python/tuple [1, 13] + - !!python/tuple [22, 11] + - !!python/tuple [9, 22] + - !!python/tuple [21, 26] + - !!python/tuple [26, 23] + - !!python/tuple [30, 29] + - !!python/tuple [21, 19] + - !!python/tuple [19, 25] + - !!python/tuple [5, 8] + - !!python/tuple [0, 5] + - !!python/tuple [8, 14] + - !!python/tuple [23, 9] + - !!python/tuple [18, 19] + - !!python/tuple [31, 9] + - !!python/tuple [29, 15] + - !!python/tuple [20, 29] + - !!python/tuple [20, 28] + - !!python/tuple [28, 3] + - !!python/tuple [25, 20] + - !!python/tuple [22, 5] + - !!python/tuple [22, 29] + - !!python/tuple [11, 28] + - !!python/tuple [8, 19] + - !!python/tuple [26, 1] + - !!python/tuple [14, 15] + - !!python/tuple [5, 20] + - !!python/tuple [31, 5] + - !!python/tuple [11, 24] + - !!python/tuple [27, 30] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex74.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex74.yaml new file mode 100644 index 0000000..441a3d3 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex74.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [27, 27] + name: agent0 + start: [30, 24] +- goal: [6, 29] + name: agent1 + start: [6, 27] +- goal: [15, 10] + name: agent2 + start: [10, 26] +- goal: [5, 16] + name: agent3 + start: [27, 15] +- goal: [18, 19] + name: agent4 + start: [10, 7] +- goal: [31, 7] + name: agent5 + start: [9, 6] +- goal: [12, 30] + name: agent6 + start: [12, 7] +- goal: [29, 10] + name: agent7 + start: [9, 28] +- goal: [19, 3] + name: agent8 + start: [8, 6] +- goal: [12, 10] + name: agent9 + start: [9, 2] +- goal: [15, 16] + name: agent10 + start: [13, 14] +- goal: [18, 12] + name: agent11 + start: [30, 23] +- goal: [23, 5] + name: agent12 + start: [6, 12] +- goal: [30, 5] + name: agent13 + start: [19, 6] +- goal: [18, 16] + name: agent14 + start: [14, 16] +- goal: [11, 21] + name: agent15 + start: [8, 31] +- goal: [31, 0] + name: agent16 + start: [3, 4] +- goal: [28, 7] + name: agent17 + start: [29, 8] +- goal: [27, 14] + name: agent18 + start: [17, 13] +- goal: [4, 11] + name: agent19 + start: [28, 25] +- goal: [26, 22] + name: agent20 + start: [11, 29] +- goal: [23, 10] + name: agent21 + start: [22, 2] +- goal: [6, 17] + name: agent22 + start: [7, 25] +- goal: [25, 16] + name: agent23 + start: [0, 17] +- goal: [15, 1] + name: agent24 + start: [25, 29] +- goal: [28, 11] + name: agent25 + start: [20, 27] +- goal: [22, 7] + name: agent26 + start: [23, 26] +- goal: [26, 17] + name: agent27 + start: [12, 26] +- goal: [28, 15] + name: agent28 + start: [18, 25] +- goal: [0, 5] + name: agent29 + start: [13, 1] +- goal: [23, 7] + name: agent30 + start: [9, 16] +- goal: [28, 29] + name: agent31 + start: [1, 2] +- goal: [28, 4] + name: agent32 + start: [20, 12] +- goal: [14, 10] + name: agent33 + start: [23, 1] +- goal: [3, 8] + name: agent34 + start: [28, 11] +- goal: [28, 26] + name: agent35 + start: [0, 16] +- goal: [8, 9] + name: agent36 + start: [27, 6] +- goal: [31, 23] + name: agent37 + start: [15, 5] +- goal: [6, 4] + name: agent38 + start: [18, 2] +- goal: [22, 21] + name: agent39 + start: [20, 30] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [31, 9] + - !!python/tuple [23, 27] + - !!python/tuple [7, 24] + - !!python/tuple [21, 28] + - !!python/tuple [16, 27] + - !!python/tuple [4, 1] + - !!python/tuple [4, 28] + - !!python/tuple [8, 1] + - !!python/tuple [31, 2] + - !!python/tuple [8, 7] + - !!python/tuple [9, 17] + - !!python/tuple [16, 0] + - !!python/tuple [21, 24] + - !!python/tuple [26, 3] + - !!python/tuple [14, 22] + - !!python/tuple [16, 26] + - !!python/tuple [30, 12] + - !!python/tuple [14, 8] + - !!python/tuple [18, 31] + - !!python/tuple [2, 31] + - !!python/tuple [12, 23] + - !!python/tuple [15, 18] + - !!python/tuple [26, 14] + - !!python/tuple [5, 11] + - !!python/tuple [23, 23] + - !!python/tuple [29, 25] + - !!python/tuple [11, 31] + - !!python/tuple [10, 21] + - !!python/tuple [9, 4] + - !!python/tuple [23, 18] + - !!python/tuple [17, 16] + - !!python/tuple [14, 13] + - !!python/tuple [17, 14] + - !!python/tuple [23, 13] + - !!python/tuple [18, 15] + - !!python/tuple [24, 17] + - !!python/tuple [22, 15] + - !!python/tuple [22, 17] + - !!python/tuple [23, 22] + - !!python/tuple [5, 6] + - !!python/tuple [3, 5] + - !!python/tuple [13, 24] + - !!python/tuple [15, 23] + - !!python/tuple [7, 19] + - !!python/tuple [20, 15] + - !!python/tuple [16, 4] + - !!python/tuple [7, 28] + - !!python/tuple [22, 26] + - !!python/tuple [5, 7] + - !!python/tuple [12, 9] + - !!python/tuple [14, 17] + - !!python/tuple [0, 4] + - !!python/tuple [16, 28] + - !!python/tuple [19, 13] + - !!python/tuple [11, 22] + - !!python/tuple [26, 27] + - !!python/tuple [1, 19] + - !!python/tuple [18, 5] + - !!python/tuple [2, 27] + - !!python/tuple [24, 23] + - !!python/tuple [3, 3] + - !!python/tuple [11, 17] + - !!python/tuple [25, 24] + - !!python/tuple [20, 16] + - !!python/tuple [7, 20] + - !!python/tuple [19, 9] + - !!python/tuple [24, 22] + - !!python/tuple [24, 21] + - !!python/tuple [4, 26] + - !!python/tuple [1, 15] + - !!python/tuple [11, 7] + - !!python/tuple [24, 13] + - !!python/tuple [3, 10] + - !!python/tuple [23, 12] + - !!python/tuple [24, 11] + - !!python/tuple [4, 7] + - !!python/tuple [3, 6] + - !!python/tuple [1, 16] + - !!python/tuple [6, 13] + - !!python/tuple [23, 29] + - !!python/tuple [0, 26] + - !!python/tuple [1, 30] + - !!python/tuple [29, 12] + - !!python/tuple [12, 0] + - !!python/tuple [15, 20] + - !!python/tuple [8, 14] + - !!python/tuple [19, 14] + - !!python/tuple [31, 1] + - !!python/tuple [3, 21] + - !!python/tuple [8, 18] + - !!python/tuple [29, 23] + - !!python/tuple [1, 12] + - !!python/tuple [27, 9] + - !!python/tuple [9, 30] + - !!python/tuple [19, 23] + - !!python/tuple [13, 7] + - !!python/tuple [21, 11] + - !!python/tuple [29, 13] + - !!python/tuple [25, 10] + - !!python/tuple [0, 24] + - !!python/tuple [26, 12] + - !!python/tuple [30, 31] + - !!python/tuple [0, 29] + - !!python/tuple [16, 14] + - !!python/tuple [29, 2] + - !!python/tuple [29, 30] + - !!python/tuple [7, 1] + - !!python/tuple [30, 13] + - !!python/tuple [7, 29] + - !!python/tuple [1, 8] + - !!python/tuple [15, 4] + - !!python/tuple [10, 9] + - !!python/tuple [0, 15] + - !!python/tuple [11, 11] + - !!python/tuple [29, 7] + - !!python/tuple [9, 27] + - !!python/tuple [4, 5] + - !!python/tuple [25, 14] + - !!python/tuple [15, 25] + - !!python/tuple [0, 11] + - !!python/tuple [19, 31] + - !!python/tuple [2, 17] + - !!python/tuple [20, 17] + - !!python/tuple [27, 18] + - !!python/tuple [0, 14] + - !!python/tuple [23, 16] + - !!python/tuple [15, 22] + - !!python/tuple [17, 28] + - !!python/tuple [30, 11] + - !!python/tuple [28, 5] + - !!python/tuple [14, 25] + - !!python/tuple [25, 31] + - !!python/tuple [25, 5] + - !!python/tuple [26, 21] + - !!python/tuple [29, 18] + - !!python/tuple [24, 10] + - !!python/tuple [2, 8] + - !!python/tuple [3, 9] + - !!python/tuple [11, 28] + - !!python/tuple [12, 11] + - !!python/tuple [23, 28] + - !!python/tuple [10, 1] + - !!python/tuple [25, 26] + - !!python/tuple [6, 24] + - !!python/tuple [1, 23] + - !!python/tuple [0, 1] + - !!python/tuple [23, 9] + - !!python/tuple [0, 30] + - !!python/tuple [29, 14] + - !!python/tuple [10, 19] + - !!python/tuple [13, 0] + - !!python/tuple [13, 6] + - !!python/tuple [7, 30] + - !!python/tuple [16, 17] + - !!python/tuple [30, 21] + - !!python/tuple [0, 27] + - !!python/tuple [19, 0] + - !!python/tuple [0, 2] + - !!python/tuple [2, 4] + - !!python/tuple [12, 4] + - !!python/tuple [23, 17] + - !!python/tuple [7, 10] + - !!python/tuple [25, 18] + - !!python/tuple [19, 4] + - !!python/tuple [27, 0] + - !!python/tuple [17, 12] + - !!python/tuple [5, 0] + - !!python/tuple [8, 22] + - !!python/tuple [4, 29] + - !!python/tuple [10, 2] + - !!python/tuple [25, 7] + - !!python/tuple [8, 0] + - !!python/tuple [14, 18] + - !!python/tuple [18, 7] + - !!python/tuple [14, 14] + - !!python/tuple [24, 24] + - !!python/tuple [19, 12] + - !!python/tuple [8, 21] + - !!python/tuple [6, 1] + - !!python/tuple [25, 8] + - !!python/tuple [29, 26] + - !!python/tuple [21, 5] + - !!python/tuple [26, 2] + - !!python/tuple [24, 15] + - !!python/tuple [19, 26] + - !!python/tuple [24, 19] + - !!python/tuple [10, 4] + - !!python/tuple [31, 15] + - !!python/tuple [17, 23] + - !!python/tuple [25, 9] + - !!python/tuple [22, 23] + - !!python/tuple [24, 30] + - !!python/tuple [26, 28] + - !!python/tuple [23, 31] + - !!python/tuple [4, 27] + - !!python/tuple [16, 2] + - !!python/tuple [24, 9] + - !!python/tuple [16, 15] + - !!python/tuple [18, 17] + - !!python/tuple [31, 4] + - !!python/tuple [10, 11] + - !!python/tuple [17, 21] + - !!python/tuple [3, 24] + - !!python/tuple [22, 29] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex75.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex75.yaml new file mode 100644 index 0000000..9eaeda4 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex75.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [21, 1] + name: agent0 + start: [3, 15] +- goal: [21, 26] + name: agent1 + start: [31, 4] +- goal: [31, 21] + name: agent2 + start: [15, 30] +- goal: [18, 11] + name: agent3 + start: [23, 19] +- goal: [1, 0] + name: agent4 + start: [0, 8] +- goal: [13, 19] + name: agent5 + start: [6, 6] +- goal: [20, 8] + name: agent6 + start: [9, 28] +- goal: [22, 25] + name: agent7 + start: [13, 2] +- goal: [6, 26] + name: agent8 + start: [30, 19] +- goal: [28, 5] + name: agent9 + start: [3, 2] +- goal: [22, 8] + name: agent10 + start: [0, 26] +- goal: [10, 11] + name: agent11 + start: [16, 8] +- goal: [13, 16] + name: agent12 + start: [31, 31] +- goal: [3, 25] + name: agent13 + start: [20, 31] +- goal: [20, 17] + name: agent14 + start: [10, 2] +- goal: [11, 13] + name: agent15 + start: [23, 7] +- goal: [30, 10] + name: agent16 + start: [21, 22] +- goal: [0, 31] + name: agent17 + start: [21, 29] +- goal: [20, 21] + name: agent18 + start: [1, 3] +- goal: [13, 23] + name: agent19 + start: [17, 5] +- goal: [20, 19] + name: agent20 + start: [30, 3] +- goal: [9, 2] + name: agent21 + start: [3, 19] +- goal: [5, 4] + name: agent22 + start: [4, 31] +- goal: [26, 29] + name: agent23 + start: [21, 20] +- goal: [3, 13] + name: agent24 + start: [2, 15] +- goal: [10, 7] + name: agent25 + start: [31, 14] +- goal: [14, 23] + name: agent26 + start: [6, 20] +- goal: [23, 23] + name: agent27 + start: [12, 14] +- goal: [22, 17] + name: agent28 + start: [2, 20] +- goal: [8, 25] + name: agent29 + start: [11, 23] +- goal: [6, 22] + name: agent30 + start: [29, 1] +- goal: [21, 7] + name: agent31 + start: [18, 2] +- goal: [18, 15] + name: agent32 + start: [19, 20] +- goal: [18, 28] + name: agent33 + start: [11, 6] +- goal: [20, 6] + name: agent34 + start: [18, 5] +- goal: [8, 24] + name: agent35 + start: [14, 22] +- goal: [0, 26] + name: agent36 + start: [11, 11] +- goal: [9, 25] + name: agent37 + start: [22, 28] +- goal: [24, 9] + name: agent38 + start: [24, 26] +- goal: [27, 27] + name: agent39 + start: [21, 1] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [15, 8] + - !!python/tuple [0, 22] + - !!python/tuple [15, 22] + - !!python/tuple [10, 18] + - !!python/tuple [7, 1] + - !!python/tuple [3, 23] + - !!python/tuple [18, 10] + - !!python/tuple [4, 23] + - !!python/tuple [27, 20] + - !!python/tuple [11, 9] + - !!python/tuple [14, 1] + - !!python/tuple [6, 4] + - !!python/tuple [4, 6] + - !!python/tuple [17, 11] + - !!python/tuple [4, 15] + - !!python/tuple [9, 16] + - !!python/tuple [30, 1] + - !!python/tuple [26, 25] + - !!python/tuple [24, 19] + - !!python/tuple [0, 30] + - !!python/tuple [28, 2] + - !!python/tuple [30, 30] + - !!python/tuple [12, 27] + - !!python/tuple [4, 22] + - !!python/tuple [7, 3] + - !!python/tuple [9, 3] + - !!python/tuple [20, 0] + - !!python/tuple [17, 8] + - !!python/tuple [20, 7] + - !!python/tuple [7, 12] + - !!python/tuple [21, 17] + - !!python/tuple [7, 14] + - !!python/tuple [29, 20] + - !!python/tuple [20, 29] + - !!python/tuple [6, 28] + - !!python/tuple [0, 10] + - !!python/tuple [5, 6] + - !!python/tuple [12, 6] + - !!python/tuple [31, 13] + - !!python/tuple [2, 5] + - !!python/tuple [8, 31] + - !!python/tuple [25, 27] + - !!python/tuple [6, 27] + - !!python/tuple [18, 0] + - !!python/tuple [17, 7] + - !!python/tuple [1, 9] + - !!python/tuple [21, 31] + - !!python/tuple [27, 14] + - !!python/tuple [1, 11] + - !!python/tuple [4, 24] + - !!python/tuple [14, 15] + - !!python/tuple [23, 22] + - !!python/tuple [23, 1] + - !!python/tuple [10, 10] + - !!python/tuple [13, 18] + - !!python/tuple [8, 29] + - !!python/tuple [10, 22] + - !!python/tuple [16, 16] + - !!python/tuple [8, 16] + - !!python/tuple [31, 20] + - !!python/tuple [21, 28] + - !!python/tuple [13, 13] + - !!python/tuple [18, 13] + - !!python/tuple [11, 15] + - !!python/tuple [24, 22] + - !!python/tuple [9, 17] + - !!python/tuple [10, 17] + - !!python/tuple [18, 18] + - !!python/tuple [7, 22] + - !!python/tuple [12, 7] + - !!python/tuple [14, 18] + - !!python/tuple [15, 4] + - !!python/tuple [17, 13] + - !!python/tuple [8, 14] + - !!python/tuple [15, 13] + - !!python/tuple [28, 11] + - !!python/tuple [31, 27] + - !!python/tuple [27, 18] + - !!python/tuple [30, 7] + - !!python/tuple [0, 27] + - !!python/tuple [9, 22] + - !!python/tuple [2, 24] + - !!python/tuple [30, 18] + - !!python/tuple [20, 15] + - !!python/tuple [28, 25] + - !!python/tuple [16, 23] + - !!python/tuple [6, 31] + - !!python/tuple [23, 28] + - !!python/tuple [10, 30] + - !!python/tuple [20, 18] + - !!python/tuple [29, 12] + - !!python/tuple [3, 30] + - !!python/tuple [19, 7] + - !!python/tuple [14, 17] + - !!python/tuple [24, 3] + - !!python/tuple [29, 8] + - !!python/tuple [8, 12] + - !!python/tuple [4, 0] + - !!python/tuple [20, 14] + - !!python/tuple [28, 10] + - !!python/tuple [9, 15] + - !!python/tuple [22, 23] + - !!python/tuple [6, 24] + - !!python/tuple [18, 14] + - !!python/tuple [9, 29] + - !!python/tuple [16, 26] + - !!python/tuple [20, 13] + - !!python/tuple [11, 28] + - !!python/tuple [17, 4] + - !!python/tuple [30, 31] + - !!python/tuple [2, 2] + - !!python/tuple [22, 7] + - !!python/tuple [14, 3] + - !!python/tuple [14, 19] + - !!python/tuple [16, 6] + - !!python/tuple [14, 16] + - !!python/tuple [28, 27] + - !!python/tuple [15, 20] + - !!python/tuple [17, 0] + - !!python/tuple [6, 2] + - !!python/tuple [5, 29] + - !!python/tuple [26, 15] + - !!python/tuple [3, 28] + - !!python/tuple [7, 13] + - !!python/tuple [26, 18] + - !!python/tuple [13, 7] + - !!python/tuple [14, 28] + - !!python/tuple [9, 7] + - !!python/tuple [4, 27] + - !!python/tuple [24, 15] + - !!python/tuple [31, 5] + - !!python/tuple [17, 15] + - !!python/tuple [28, 13] + - !!python/tuple [5, 16] + - !!python/tuple [2, 7] + - !!python/tuple [30, 22] + - !!python/tuple [20, 20] + - !!python/tuple [14, 12] + - !!python/tuple [12, 3] + - !!python/tuple [25, 0] + - !!python/tuple [2, 30] + - !!python/tuple [31, 22] + - !!python/tuple [30, 17] + - !!python/tuple [6, 30] + - !!python/tuple [22, 24] + - !!python/tuple [7, 30] + - !!python/tuple [27, 10] + - !!python/tuple [30, 0] + - !!python/tuple [22, 30] + - !!python/tuple [22, 4] + - !!python/tuple [12, 0] + - !!python/tuple [16, 24] + - !!python/tuple [23, 26] + - !!python/tuple [7, 2] + - !!python/tuple [13, 26] + - !!python/tuple [27, 24] + - !!python/tuple [24, 21] + - !!python/tuple [22, 5] + - !!python/tuple [24, 6] + - !!python/tuple [25, 29] + - !!python/tuple [10, 24] + - !!python/tuple [20, 1] + - !!python/tuple [12, 8] + - !!python/tuple [20, 28] + - !!python/tuple [7, 17] + - !!python/tuple [28, 17] + - !!python/tuple [7, 10] + - !!python/tuple [19, 27] + - !!python/tuple [26, 13] + - !!python/tuple [2, 28] + - !!python/tuple [12, 15] + - !!python/tuple [26, 9] + - !!python/tuple [31, 25] + - !!python/tuple [4, 1] + - !!python/tuple [5, 21] + - !!python/tuple [26, 19] + - !!python/tuple [19, 6] + - !!python/tuple [24, 17] + - !!python/tuple [9, 8] + - !!python/tuple [21, 27] + - !!python/tuple [29, 27] + - !!python/tuple [8, 2] + - !!python/tuple [12, 10] + - !!python/tuple [1, 13] + - !!python/tuple [13, 1] + - !!python/tuple [7, 29] + - !!python/tuple [6, 14] + - !!python/tuple [15, 11] + - !!python/tuple [8, 21] + - !!python/tuple [6, 9] + - !!python/tuple [5, 19] + - !!python/tuple [26, 28] + - !!python/tuple [30, 20] + - !!python/tuple [8, 30] + - !!python/tuple [21, 15] + - !!python/tuple [26, 21] + - !!python/tuple [3, 22] + - !!python/tuple [24, 0] + - !!python/tuple [7, 25] + - !!python/tuple [7, 16] + - !!python/tuple [3, 14] + - !!python/tuple [13, 30] + - !!python/tuple [15, 10] + - !!python/tuple [2, 10] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex76.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex76.yaml new file mode 100644 index 0000000..2a0eb9f --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex76.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [12, 4] + name: agent0 + start: [9, 3] +- goal: [3, 2] + name: agent1 + start: [6, 27] +- goal: [18, 17] + name: agent2 + start: [26, 5] +- goal: [23, 19] + name: agent3 + start: [15, 6] +- goal: [9, 6] + name: agent4 + start: [4, 3] +- goal: [24, 0] + name: agent5 + start: [15, 24] +- goal: [27, 30] + name: agent6 + start: [20, 4] +- goal: [20, 23] + name: agent7 + start: [19, 3] +- goal: [28, 14] + name: agent8 + start: [26, 15] +- goal: [29, 16] + name: agent9 + start: [1, 9] +- goal: [3, 8] + name: agent10 + start: [24, 5] +- goal: [31, 29] + name: agent11 + start: [20, 1] +- goal: [29, 5] + name: agent12 + start: [12, 22] +- goal: [2, 21] + name: agent13 + start: [2, 5] +- goal: [4, 13] + name: agent14 + start: [6, 28] +- goal: [22, 8] + name: agent15 + start: [21, 27] +- goal: [20, 4] + name: agent16 + start: [8, 26] +- goal: [20, 20] + name: agent17 + start: [8, 25] +- goal: [21, 27] + name: agent18 + start: [17, 8] +- goal: [3, 24] + name: agent19 + start: [25, 30] +- goal: [11, 20] + name: agent20 + start: [10, 16] +- goal: [4, 23] + name: agent21 + start: [19, 12] +- goal: [28, 25] + name: agent22 + start: [2, 10] +- goal: [29, 23] + name: agent23 + start: [0, 13] +- goal: [17, 20] + name: agent24 + start: [21, 2] +- goal: [17, 19] + name: agent25 + start: [25, 9] +- goal: [29, 24] + name: agent26 + start: [6, 17] +- goal: [31, 27] + name: agent27 + start: [7, 9] +- goal: [5, 20] + name: agent28 + start: [23, 29] +- goal: [0, 23] + name: agent29 + start: [9, 16] +- goal: [20, 10] + name: agent30 + start: [25, 3] +- goal: [11, 26] + name: agent31 + start: [21, 10] +- goal: [16, 20] + name: agent32 + start: [25, 28] +- goal: [28, 30] + name: agent33 + start: [29, 7] +- goal: [27, 1] + name: agent34 + start: [18, 1] +- goal: [20, 3] + name: agent35 + start: [5, 15] +- goal: [7, 0] + name: agent36 + start: [1, 20] +- goal: [19, 28] + name: agent37 + start: [3, 1] +- goal: [14, 2] + name: agent38 + start: [2, 20] +- goal: [6, 29] + name: agent39 + start: [10, 4] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [15, 20] + - !!python/tuple [11, 11] + - !!python/tuple [17, 31] + - !!python/tuple [0, 10] + - !!python/tuple [9, 9] + - !!python/tuple [13, 19] + - !!python/tuple [5, 9] + - !!python/tuple [5, 29] + - !!python/tuple [24, 2] + - !!python/tuple [17, 21] + - !!python/tuple [24, 21] + - !!python/tuple [30, 30] + - !!python/tuple [8, 31] + - !!python/tuple [0, 3] + - !!python/tuple [15, 0] + - !!python/tuple [1, 24] + - !!python/tuple [16, 15] + - !!python/tuple [19, 21] + - !!python/tuple [1, 25] + - !!python/tuple [11, 9] + - !!python/tuple [19, 20] + - !!python/tuple [3, 27] + - !!python/tuple [30, 6] + - !!python/tuple [2, 29] + - !!python/tuple [31, 11] + - !!python/tuple [8, 5] + - !!python/tuple [10, 5] + - !!python/tuple [12, 0] + - !!python/tuple [0, 31] + - !!python/tuple [19, 1] + - !!python/tuple [17, 16] + - !!python/tuple [25, 12] + - !!python/tuple [10, 31] + - !!python/tuple [18, 0] + - !!python/tuple [1, 30] + - !!python/tuple [17, 15] + - !!python/tuple [27, 25] + - !!python/tuple [17, 4] + - !!python/tuple [17, 9] + - !!python/tuple [18, 31] + - !!python/tuple [24, 23] + - !!python/tuple [10, 3] + - !!python/tuple [13, 7] + - !!python/tuple [14, 24] + - !!python/tuple [10, 30] + - !!python/tuple [23, 9] + - !!python/tuple [1, 15] + - !!python/tuple [7, 20] + - !!python/tuple [29, 27] + - !!python/tuple [17, 18] + - !!python/tuple [1, 31] + - !!python/tuple [26, 30] + - !!python/tuple [25, 7] + - !!python/tuple [29, 12] + - !!python/tuple [28, 21] + - !!python/tuple [11, 30] + - !!python/tuple [24, 1] + - !!python/tuple [6, 24] + - !!python/tuple [17, 23] + - !!python/tuple [20, 29] + - !!python/tuple [31, 13] + - !!python/tuple [6, 19] + - !!python/tuple [3, 30] + - !!python/tuple [19, 6] + - !!python/tuple [30, 3] + - !!python/tuple [0, 29] + - !!python/tuple [17, 7] + - !!python/tuple [26, 9] + - !!python/tuple [12, 25] + - !!python/tuple [2, 7] + - !!python/tuple [7, 10] + - !!python/tuple [11, 28] + - !!python/tuple [16, 24] + - !!python/tuple [11, 15] + - !!python/tuple [15, 27] + - !!python/tuple [19, 18] + - !!python/tuple [20, 7] + - !!python/tuple [21, 14] + - !!python/tuple [17, 12] + - !!python/tuple [19, 2] + - !!python/tuple [27, 11] + - !!python/tuple [20, 30] + - !!python/tuple [18, 18] + - !!python/tuple [11, 31] + - !!python/tuple [25, 23] + - !!python/tuple [22, 24] + - !!python/tuple [3, 17] + - !!python/tuple [3, 4] + - !!python/tuple [5, 11] + - !!python/tuple [3, 19] + - !!python/tuple [30, 14] + - !!python/tuple [26, 26] + - !!python/tuple [10, 9] + - !!python/tuple [24, 4] + - !!python/tuple [10, 19] + - !!python/tuple [19, 8] + - !!python/tuple [30, 5] + - !!python/tuple [14, 20] + - !!python/tuple [0, 28] + - !!python/tuple [31, 0] + - !!python/tuple [12, 6] + - !!python/tuple [7, 3] + - !!python/tuple [26, 11] + - !!python/tuple [21, 31] + - !!python/tuple [26, 31] + - !!python/tuple [18, 22] + - !!python/tuple [28, 22] + - !!python/tuple [15, 22] + - !!python/tuple [20, 17] + - !!python/tuple [21, 11] + - !!python/tuple [15, 12] + - !!python/tuple [1, 1] + - !!python/tuple [18, 5] + - !!python/tuple [23, 6] + - !!python/tuple [4, 10] + - !!python/tuple [20, 26] + - !!python/tuple [6, 20] + - !!python/tuple [17, 27] + - !!python/tuple [19, 4] + - !!python/tuple [14, 6] + - !!python/tuple [28, 16] + - !!python/tuple [23, 14] + - !!python/tuple [11, 0] + - !!python/tuple [7, 15] + - !!python/tuple [12, 19] + - !!python/tuple [19, 19] + - !!python/tuple [21, 0] + - !!python/tuple [21, 22] + - !!python/tuple [30, 21] + - !!python/tuple [16, 30] + - !!python/tuple [5, 26] + - !!python/tuple [12, 1] + - !!python/tuple [1, 14] + - !!python/tuple [11, 13] + - !!python/tuple [13, 27] + - !!python/tuple [23, 5] + - !!python/tuple [15, 5] + - !!python/tuple [18, 28] + - !!python/tuple [24, 15] + - !!python/tuple [24, 24] + - !!python/tuple [25, 26] + - !!python/tuple [2, 28] + - !!python/tuple [12, 2] + - !!python/tuple [5, 5] + - !!python/tuple [16, 1] + - !!python/tuple [30, 8] + - !!python/tuple [26, 8] + - !!python/tuple [0, 2] + - !!python/tuple [13, 18] + - !!python/tuple [20, 15] + - !!python/tuple [8, 10] + - !!python/tuple [9, 5] + - !!python/tuple [25, 6] + - !!python/tuple [9, 24] + - !!python/tuple [14, 3] + - !!python/tuple [15, 7] + - !!python/tuple [0, 8] + - !!python/tuple [25, 21] + - !!python/tuple [25, 10] + - !!python/tuple [26, 16] + - !!python/tuple [5, 6] + - !!python/tuple [26, 13] + - !!python/tuple [10, 21] + - !!python/tuple [5, 10] + - !!python/tuple [21, 18] + - !!python/tuple [14, 5] + - !!python/tuple [22, 18] + - !!python/tuple [7, 28] + - !!python/tuple [2, 31] + - !!python/tuple [3, 28] + - !!python/tuple [14, 13] + - !!python/tuple [17, 17] + - !!python/tuple [18, 11] + - !!python/tuple [26, 0] + - !!python/tuple [4, 4] + - !!python/tuple [25, 1] + - !!python/tuple [4, 26] + - !!python/tuple [22, 30] + - !!python/tuple [27, 19] + - !!python/tuple [13, 1] + - !!python/tuple [2, 18] + - !!python/tuple [13, 30] + - !!python/tuple [19, 0] + - !!python/tuple [24, 3] + - !!python/tuple [19, 30] + - !!python/tuple [4, 12] + - !!python/tuple [3, 31] + - !!python/tuple [15, 15] + - !!python/tuple [31, 1] + - !!python/tuple [19, 24] + - !!python/tuple [25, 13] + - !!python/tuple [3, 10] + - !!python/tuple [27, 18] + - !!python/tuple [2, 13] + - !!python/tuple [20, 8] + - !!python/tuple [28, 28] + - !!python/tuple [16, 31] + - !!python/tuple [10, 17] + - !!python/tuple [16, 12] + - !!python/tuple [17, 13] + - !!python/tuple [29, 21] + - !!python/tuple [9, 20] + - !!python/tuple [30, 12] + - !!python/tuple [27, 31] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex77.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex77.yaml new file mode 100644 index 0000000..17e0c38 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex77.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [30, 12] + name: agent0 + start: [11, 18] +- goal: [21, 24] + name: agent1 + start: [23, 29] +- goal: [19, 0] + name: agent2 + start: [4, 4] +- goal: [5, 28] + name: agent3 + start: [3, 22] +- goal: [30, 14] + name: agent4 + start: [4, 20] +- goal: [30, 11] + name: agent5 + start: [11, 19] +- goal: [6, 9] + name: agent6 + start: [11, 4] +- goal: [19, 2] + name: agent7 + start: [22, 13] +- goal: [15, 7] + name: agent8 + start: [27, 10] +- goal: [11, 25] + name: agent9 + start: [3, 9] +- goal: [0, 5] + name: agent10 + start: [3, 0] +- goal: [11, 10] + name: agent11 + start: [30, 31] +- goal: [19, 4] + name: agent12 + start: [16, 10] +- goal: [3, 14] + name: agent13 + start: [18, 20] +- goal: [28, 18] + name: agent14 + start: [30, 23] +- goal: [2, 24] + name: agent15 + start: [5, 17] +- goal: [16, 3] + name: agent16 + start: [1, 21] +- goal: [20, 30] + name: agent17 + start: [20, 23] +- goal: [21, 4] + name: agent18 + start: [31, 29] +- goal: [14, 8] + name: agent19 + start: [14, 21] +- goal: [3, 23] + name: agent20 + start: [25, 23] +- goal: [19, 15] + name: agent21 + start: [19, 24] +- goal: [10, 20] + name: agent22 + start: [25, 26] +- goal: [24, 27] + name: agent23 + start: [14, 11] +- goal: [12, 28] + name: agent24 + start: [25, 2] +- goal: [27, 31] + name: agent25 + start: [4, 5] +- goal: [20, 19] + name: agent26 + start: [31, 9] +- goal: [24, 21] + name: agent27 + start: [26, 17] +- goal: [3, 7] + name: agent28 + start: [15, 28] +- goal: [11, 18] + name: agent29 + start: [24, 25] +- goal: [28, 27] + name: agent30 + start: [12, 12] +- goal: [26, 4] + name: agent31 + start: [7, 4] +- goal: [26, 13] + name: agent32 + start: [14, 22] +- goal: [27, 14] + name: agent33 + start: [31, 13] +- goal: [20, 16] + name: agent34 + start: [5, 23] +- goal: [2, 0] + name: agent35 + start: [11, 12] +- goal: [14, 18] + name: agent36 + start: [22, 15] +- goal: [1, 8] + name: agent37 + start: [12, 28] +- goal: [12, 15] + name: agent38 + start: [20, 6] +- goal: [30, 25] + name: agent39 + start: [25, 4] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [5, 20] + - !!python/tuple [25, 24] + - !!python/tuple [9, 21] + - !!python/tuple [1, 15] + - !!python/tuple [12, 0] + - !!python/tuple [18, 25] + - !!python/tuple [21, 9] + - !!python/tuple [11, 26] + - !!python/tuple [15, 31] + - !!python/tuple [14, 6] + - !!python/tuple [13, 27] + - !!python/tuple [22, 30] + - !!python/tuple [4, 7] + - !!python/tuple [15, 18] + - !!python/tuple [16, 2] + - !!python/tuple [14, 12] + - !!python/tuple [7, 17] + - !!python/tuple [24, 8] + - !!python/tuple [2, 2] + - !!python/tuple [30, 30] + - !!python/tuple [29, 4] + - !!python/tuple [30, 6] + - !!python/tuple [6, 6] + - !!python/tuple [25, 17] + - !!python/tuple [20, 3] + - !!python/tuple [29, 14] + - !!python/tuple [0, 16] + - !!python/tuple [21, 13] + - !!python/tuple [2, 1] + - !!python/tuple [6, 30] + - !!python/tuple [7, 7] + - !!python/tuple [10, 3] + - !!python/tuple [24, 31] + - !!python/tuple [6, 8] + - !!python/tuple [20, 7] + - !!python/tuple [0, 12] + - !!python/tuple [7, 11] + - !!python/tuple [10, 31] + - !!python/tuple [16, 9] + - !!python/tuple [21, 28] + - !!python/tuple [25, 14] + - !!python/tuple [10, 11] + - !!python/tuple [6, 2] + - !!python/tuple [20, 24] + - !!python/tuple [0, 0] + - !!python/tuple [24, 7] + - !!python/tuple [24, 15] + - !!python/tuple [19, 30] + - !!python/tuple [12, 9] + - !!python/tuple [12, 22] + - !!python/tuple [12, 1] + - !!python/tuple [30, 29] + - !!python/tuple [9, 28] + - !!python/tuple [5, 14] + - !!python/tuple [3, 13] + - !!python/tuple [27, 29] + - !!python/tuple [9, 8] + - !!python/tuple [17, 15] + - !!python/tuple [1, 20] + - !!python/tuple [25, 1] + - !!python/tuple [11, 14] + - !!python/tuple [9, 9] + - !!python/tuple [13, 17] + - !!python/tuple [24, 26] + - !!python/tuple [14, 3] + - !!python/tuple [2, 7] + - !!python/tuple [27, 20] + - !!python/tuple [14, 4] + - !!python/tuple [9, 19] + - !!python/tuple [20, 26] + - !!python/tuple [22, 11] + - !!python/tuple [22, 20] + - !!python/tuple [16, 16] + - !!python/tuple [5, 31] + - !!python/tuple [6, 3] + - !!python/tuple [3, 30] + - !!python/tuple [15, 14] + - !!python/tuple [2, 30] + - !!python/tuple [6, 28] + - !!python/tuple [15, 4] + - !!python/tuple [5, 16] + - !!python/tuple [27, 5] + - !!python/tuple [9, 27] + - !!python/tuple [23, 18] + - !!python/tuple [10, 0] + - !!python/tuple [5, 13] + - !!python/tuple [22, 22] + - !!python/tuple [14, 0] + - !!python/tuple [31, 27] + - !!python/tuple [7, 10] + - !!python/tuple [25, 31] + - !!python/tuple [6, 29] + - !!python/tuple [6, 7] + - !!python/tuple [24, 1] + - !!python/tuple [28, 15] + - !!python/tuple [16, 27] + - !!python/tuple [28, 14] + - !!python/tuple [3, 18] + - !!python/tuple [19, 28] + - !!python/tuple [15, 30] + - !!python/tuple [27, 24] + - !!python/tuple [23, 28] + - !!python/tuple [8, 14] + - !!python/tuple [11, 1] + - !!python/tuple [25, 8] + - !!python/tuple [10, 10] + - !!python/tuple [14, 24] + - !!python/tuple [1, 10] + - !!python/tuple [0, 28] + - !!python/tuple [8, 21] + - !!python/tuple [1, 3] + - !!python/tuple [26, 25] + - !!python/tuple [21, 14] + - !!python/tuple [3, 16] + - !!python/tuple [13, 16] + - !!python/tuple [30, 13] + - !!python/tuple [20, 0] + - !!python/tuple [16, 4] + - !!python/tuple [22, 19] + - !!python/tuple [10, 18] + - !!python/tuple [16, 5] + - !!python/tuple [26, 0] + - !!python/tuple [4, 23] + - !!python/tuple [29, 15] + - !!python/tuple [25, 5] + - !!python/tuple [16, 12] + - !!python/tuple [1, 4] + - !!python/tuple [5, 18] + - !!python/tuple [6, 0] + - !!python/tuple [25, 16] + - !!python/tuple [14, 23] + - !!python/tuple [0, 18] + - !!python/tuple [22, 14] + - !!python/tuple [25, 27] + - !!python/tuple [28, 0] + - !!python/tuple [1, 13] + - !!python/tuple [25, 19] + - !!python/tuple [13, 10] + - !!python/tuple [29, 13] + - !!python/tuple [17, 10] + - !!python/tuple [15, 6] + - !!python/tuple [13, 15] + - !!python/tuple [14, 29] + - !!python/tuple [23, 4] + - !!python/tuple [3, 24] + - !!python/tuple [21, 8] + - !!python/tuple [11, 15] + - !!python/tuple [19, 18] + - !!python/tuple [23, 30] + - !!python/tuple [23, 6] + - !!python/tuple [18, 17] + - !!python/tuple [7, 28] + - !!python/tuple [8, 12] + - !!python/tuple [6, 10] + - !!python/tuple [24, 11] + - !!python/tuple [7, 2] + - !!python/tuple [18, 2] + - !!python/tuple [21, 29] + - !!python/tuple [13, 18] + - !!python/tuple [10, 6] + - !!python/tuple [31, 0] + - !!python/tuple [13, 5] + - !!python/tuple [23, 15] + - !!python/tuple [7, 9] + - !!python/tuple [11, 24] + - !!python/tuple [17, 12] + - !!python/tuple [11, 3] + - !!python/tuple [21, 27] + - !!python/tuple [18, 27] + - !!python/tuple [23, 31] + - !!python/tuple [21, 23] + - !!python/tuple [4, 29] + - !!python/tuple [19, 12] + - !!python/tuple [13, 1] + - !!python/tuple [9, 13] + - !!python/tuple [12, 3] + - !!python/tuple [3, 6] + - !!python/tuple [19, 31] + - !!python/tuple [19, 20] + - !!python/tuple [8, 13] + - !!python/tuple [8, 4] + - !!python/tuple [24, 12] + - !!python/tuple [17, 28] + - !!python/tuple [22, 17] + - !!python/tuple [18, 21] + - !!python/tuple [29, 0] + - !!python/tuple [8, 19] + - !!python/tuple [9, 30] + - !!python/tuple [8, 17] + - !!python/tuple [9, 0] + - !!python/tuple [31, 16] + - !!python/tuple [5, 22] + - !!python/tuple [26, 30] + - !!python/tuple [29, 27] + - !!python/tuple [6, 27] + - !!python/tuple [9, 29] + - !!python/tuple [10, 13] + - !!python/tuple [31, 26] + - !!python/tuple [3, 28] + - !!python/tuple [6, 12] + - !!python/tuple [27, 0] + - !!python/tuple [26, 29] + - !!python/tuple [27, 25] + - !!python/tuple [16, 13] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex78.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex78.yaml new file mode 100644 index 0000000..8a4c275 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex78.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [7, 28] + name: agent0 + start: [24, 15] +- goal: [31, 8] + name: agent1 + start: [8, 27] +- goal: [18, 5] + name: agent2 + start: [19, 30] +- goal: [17, 29] + name: agent3 + start: [5, 22] +- goal: [7, 26] + name: agent4 + start: [29, 29] +- goal: [12, 31] + name: agent5 + start: [27, 1] +- goal: [6, 25] + name: agent6 + start: [1, 5] +- goal: [20, 14] + name: agent7 + start: [29, 24] +- goal: [1, 9] + name: agent8 + start: [4, 12] +- goal: [25, 3] + name: agent9 + start: [16, 27] +- goal: [25, 30] + name: agent10 + start: [8, 29] +- goal: [1, 3] + name: agent11 + start: [31, 18] +- goal: [19, 29] + name: agent12 + start: [26, 1] +- goal: [29, 6] + name: agent13 + start: [23, 29] +- goal: [7, 13] + name: agent14 + start: [21, 10] +- goal: [3, 4] + name: agent15 + start: [28, 31] +- goal: [21, 17] + name: agent16 + start: [3, 7] +- goal: [16, 27] + name: agent17 + start: [22, 28] +- goal: [27, 8] + name: agent18 + start: [24, 29] +- goal: [16, 16] + name: agent19 + start: [18, 2] +- goal: [19, 1] + name: agent20 + start: [0, 4] +- goal: [25, 13] + name: agent21 + start: [10, 21] +- goal: [22, 12] + name: agent22 + start: [17, 26] +- goal: [27, 1] + name: agent23 + start: [16, 10] +- goal: [28, 28] + name: agent24 + start: [2, 3] +- goal: [14, 28] + name: agent25 + start: [30, 26] +- goal: [4, 2] + name: agent26 + start: [2, 2] +- goal: [16, 22] + name: agent27 + start: [25, 30] +- goal: [24, 7] + name: agent28 + start: [10, 16] +- goal: [13, 9] + name: agent29 + start: [14, 27] +- goal: [0, 23] + name: agent30 + start: [1, 17] +- goal: [3, 2] + name: agent31 + start: [4, 31] +- goal: [13, 21] + name: agent32 + start: [11, 0] +- goal: [16, 2] + name: agent33 + start: [3, 18] +- goal: [6, 28] + name: agent34 + start: [24, 23] +- goal: [23, 10] + name: agent35 + start: [5, 25] +- goal: [5, 24] + name: agent36 + start: [5, 30] +- goal: [8, 7] + name: agent37 + start: [16, 15] +- goal: [4, 24] + name: agent38 + start: [26, 13] +- goal: [13, 20] + name: agent39 + start: [28, 26] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [15, 13] + - !!python/tuple [11, 1] + - !!python/tuple [4, 7] + - !!python/tuple [14, 4] + - !!python/tuple [0, 15] + - !!python/tuple [13, 25] + - !!python/tuple [26, 23] + - !!python/tuple [10, 13] + - !!python/tuple [25, 9] + - !!python/tuple [28, 20] + - !!python/tuple [10, 27] + - !!python/tuple [20, 19] + - !!python/tuple [2, 17] + - !!python/tuple [12, 21] + - !!python/tuple [6, 30] + - !!python/tuple [19, 28] + - !!python/tuple [14, 23] + - !!python/tuple [20, 13] + - !!python/tuple [26, 16] + - !!python/tuple [24, 30] + - !!python/tuple [28, 6] + - !!python/tuple [20, 4] + - !!python/tuple [14, 15] + - !!python/tuple [20, 16] + - !!python/tuple [8, 8] + - !!python/tuple [29, 1] + - !!python/tuple [0, 28] + - !!python/tuple [15, 25] + - !!python/tuple [18, 30] + - !!python/tuple [29, 4] + - !!python/tuple [18, 8] + - !!python/tuple [15, 5] + - !!python/tuple [0, 31] + - !!python/tuple [2, 11] + - !!python/tuple [16, 9] + - !!python/tuple [20, 11] + - !!python/tuple [15, 28] + - !!python/tuple [14, 12] + - !!python/tuple [14, 14] + - !!python/tuple [12, 20] + - !!python/tuple [30, 28] + - !!python/tuple [2, 30] + - !!python/tuple [13, 12] + - !!python/tuple [29, 17] + - !!python/tuple [30, 22] + - !!python/tuple [31, 26] + - !!python/tuple [27, 21] + - !!python/tuple [3, 25] + - !!python/tuple [5, 31] + - !!python/tuple [1, 6] + - !!python/tuple [4, 1] + - !!python/tuple [30, 11] + - !!python/tuple [25, 8] + - !!python/tuple [11, 17] + - !!python/tuple [9, 9] + - !!python/tuple [27, 11] + - !!python/tuple [17, 6] + - !!python/tuple [12, 5] + - !!python/tuple [3, 20] + - !!python/tuple [13, 22] + - !!python/tuple [19, 23] + - !!python/tuple [22, 8] + - !!python/tuple [18, 1] + - !!python/tuple [17, 12] + - !!python/tuple [28, 15] + - !!python/tuple [30, 2] + - !!python/tuple [19, 6] + - !!python/tuple [13, 14] + - !!python/tuple [10, 28] + - !!python/tuple [18, 19] + - !!python/tuple [14, 18] + - !!python/tuple [8, 12] + - !!python/tuple [6, 11] + - !!python/tuple [21, 20] + - !!python/tuple [1, 16] + - !!python/tuple [23, 22] + - !!python/tuple [28, 4] + - !!python/tuple [5, 20] + - !!python/tuple [11, 4] + - !!python/tuple [24, 12] + - !!python/tuple [22, 11] + - !!python/tuple [21, 15] + - !!python/tuple [8, 20] + - !!python/tuple [18, 13] + - !!python/tuple [9, 17] + - !!python/tuple [7, 6] + - !!python/tuple [10, 11] + - !!python/tuple [2, 0] + - !!python/tuple [16, 23] + - !!python/tuple [3, 11] + - !!python/tuple [25, 27] + - !!python/tuple [22, 25] + - !!python/tuple [4, 25] + - !!python/tuple [31, 3] + - !!python/tuple [25, 15] + - !!python/tuple [30, 17] + - !!python/tuple [27, 18] + - !!python/tuple [12, 25] + - !!python/tuple [28, 5] + - !!python/tuple [17, 23] + - !!python/tuple [20, 27] + - !!python/tuple [18, 11] + - !!python/tuple [10, 15] + - !!python/tuple [25, 6] + - !!python/tuple [11, 27] + - !!python/tuple [0, 14] + - !!python/tuple [27, 4] + - !!python/tuple [30, 18] + - !!python/tuple [2, 10] + - !!python/tuple [13, 3] + - !!python/tuple [7, 19] + - !!python/tuple [17, 25] + - !!python/tuple [31, 15] + - !!python/tuple [5, 3] + - !!python/tuple [20, 10] + - !!python/tuple [24, 31] + - !!python/tuple [0, 30] + - !!python/tuple [22, 15] + - !!python/tuple [1, 8] + - !!python/tuple [29, 23] + - !!python/tuple [10, 10] + - !!python/tuple [2, 28] + - !!python/tuple [13, 31] + - !!python/tuple [15, 14] + - !!python/tuple [5, 15] + - !!python/tuple [28, 7] + - !!python/tuple [9, 15] + - !!python/tuple [23, 18] + - !!python/tuple [20, 29] + - !!python/tuple [16, 4] + - !!python/tuple [18, 18] + - !!python/tuple [9, 5] + - !!python/tuple [7, 27] + - !!python/tuple [4, 18] + - !!python/tuple [0, 16] + - !!python/tuple [5, 12] + - !!python/tuple [25, 12] + - !!python/tuple [29, 28] + - !!python/tuple [19, 8] + - !!python/tuple [0, 1] + - !!python/tuple [29, 14] + - !!python/tuple [1, 24] + - !!python/tuple [23, 16] + - !!python/tuple [23, 27] + - !!python/tuple [15, 19] + - !!python/tuple [12, 16] + - !!python/tuple [28, 23] + - !!python/tuple [4, 5] + - !!python/tuple [21, 28] + - !!python/tuple [9, 0] + - !!python/tuple [19, 25] + - !!python/tuple [2, 18] + - !!python/tuple [4, 23] + - !!python/tuple [9, 21] + - !!python/tuple [15, 24] + - !!python/tuple [28, 10] + - !!python/tuple [9, 10] + - !!python/tuple [3, 12] + - !!python/tuple [25, 18] + - !!python/tuple [28, 14] + - !!python/tuple [16, 1] + - !!python/tuple [24, 14] + - !!python/tuple [1, 10] + - !!python/tuple [18, 16] + - !!python/tuple [16, 31] + - !!python/tuple [14, 20] + - !!python/tuple [30, 15] + - !!python/tuple [19, 17] + - !!python/tuple [7, 0] + - !!python/tuple [5, 5] + - !!python/tuple [4, 11] + - !!python/tuple [5, 10] + - !!python/tuple [31, 12] + - !!python/tuple [15, 17] + - !!python/tuple [19, 10] + - !!python/tuple [17, 14] + - !!python/tuple [7, 21] + - !!python/tuple [28, 1] + - !!python/tuple [25, 22] + - !!python/tuple [19, 3] + - !!python/tuple [9, 6] + - !!python/tuple [0, 13] + - !!python/tuple [4, 27] + - !!python/tuple [16, 6] + - !!python/tuple [12, 22] + - !!python/tuple [17, 30] + - !!python/tuple [19, 2] + - !!python/tuple [23, 8] + - !!python/tuple [7, 20] + - !!python/tuple [5, 23] + - !!python/tuple [12, 6] + - !!python/tuple [7, 16] + - !!python/tuple [4, 15] + - !!python/tuple [1, 31] + - !!python/tuple [23, 13] + - !!python/tuple [2, 9] + - !!python/tuple [11, 9] + - !!python/tuple [8, 22] + - !!python/tuple [24, 0] + - !!python/tuple [27, 29] + - !!python/tuple [31, 17] + - !!python/tuple [21, 6] + - !!python/tuple [14, 29] + - !!python/tuple [7, 17] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex79.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex79.yaml new file mode 100644 index 0000000..ea45d52 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex79.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [11, 0] + name: agent0 + start: [31, 2] +- goal: [11, 23] + name: agent1 + start: [1, 21] +- goal: [26, 7] + name: agent2 + start: [14, 3] +- goal: [18, 29] + name: agent3 + start: [6, 18] +- goal: [27, 22] + name: agent4 + start: [4, 10] +- goal: [8, 30] + name: agent5 + start: [21, 31] +- goal: [14, 29] + name: agent6 + start: [13, 25] +- goal: [9, 9] + name: agent7 + start: [31, 25] +- goal: [21, 23] + name: agent8 + start: [4, 30] +- goal: [1, 12] + name: agent9 + start: [28, 27] +- goal: [9, 23] + name: agent10 + start: [3, 3] +- goal: [7, 29] + name: agent11 + start: [20, 12] +- goal: [24, 8] + name: agent12 + start: [17, 31] +- goal: [19, 3] + name: agent13 + start: [1, 24] +- goal: [4, 23] + name: agent14 + start: [22, 15] +- goal: [10, 25] + name: agent15 + start: [20, 26] +- goal: [21, 10] + name: agent16 + start: [28, 24] +- goal: [31, 17] + name: agent17 + start: [30, 17] +- goal: [15, 12] + name: agent18 + start: [31, 28] +- goal: [25, 28] + name: agent19 + start: [5, 4] +- goal: [19, 18] + name: agent20 + start: [3, 25] +- goal: [8, 11] + name: agent21 + start: [29, 27] +- goal: [14, 20] + name: agent22 + start: [26, 11] +- goal: [12, 24] + name: agent23 + start: [21, 25] +- goal: [26, 8] + name: agent24 + start: [19, 15] +- goal: [17, 7] + name: agent25 + start: [10, 2] +- goal: [7, 18] + name: agent26 + start: [6, 11] +- goal: [22, 25] + name: agent27 + start: [9, 1] +- goal: [20, 0] + name: agent28 + start: [12, 9] +- goal: [12, 3] + name: agent29 + start: [16, 23] +- goal: [22, 8] + name: agent30 + start: [12, 1] +- goal: [7, 25] + name: agent31 + start: [11, 2] +- goal: [21, 12] + name: agent32 + start: [4, 0] +- goal: [7, 13] + name: agent33 + start: [3, 7] +- goal: [13, 19] + name: agent34 + start: [10, 1] +- goal: [14, 8] + name: agent35 + start: [8, 11] +- goal: [17, 1] + name: agent36 + start: [8, 0] +- goal: [20, 20] + name: agent37 + start: [29, 11] +- goal: [23, 4] + name: agent38 + start: [0, 29] +- goal: [14, 3] + name: agent39 + start: [8, 21] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [7, 26] + - !!python/tuple [16, 31] + - !!python/tuple [26, 19] + - !!python/tuple [14, 15] + - !!python/tuple [29, 17] + - !!python/tuple [17, 28] + - !!python/tuple [19, 19] + - !!python/tuple [8, 18] + - !!python/tuple [23, 7] + - !!python/tuple [15, 21] + - !!python/tuple [28, 0] + - !!python/tuple [24, 14] + - !!python/tuple [20, 24] + - !!python/tuple [12, 12] + - !!python/tuple [24, 5] + - !!python/tuple [3, 9] + - !!python/tuple [11, 16] + - !!python/tuple [3, 23] + - !!python/tuple [29, 13] + - !!python/tuple [29, 1] + - !!python/tuple [16, 3] + - !!python/tuple [5, 31] + - !!python/tuple [0, 22] + - !!python/tuple [5, 0] + - !!python/tuple [8, 7] + - !!python/tuple [29, 24] + - !!python/tuple [17, 17] + - !!python/tuple [16, 12] + - !!python/tuple [23, 23] + - !!python/tuple [26, 14] + - !!python/tuple [22, 3] + - !!python/tuple [29, 16] + - !!python/tuple [12, 15] + - !!python/tuple [22, 6] + - !!python/tuple [21, 18] + - !!python/tuple [16, 6] + - !!python/tuple [21, 21] + - !!python/tuple [15, 0] + - !!python/tuple [27, 17] + - !!python/tuple [20, 11] + - !!python/tuple [27, 24] + - !!python/tuple [11, 21] + - !!python/tuple [10, 6] + - !!python/tuple [20, 27] + - !!python/tuple [15, 19] + - !!python/tuple [6, 24] + - !!python/tuple [0, 9] + - !!python/tuple [16, 26] + - !!python/tuple [23, 31] + - !!python/tuple [10, 23] + - !!python/tuple [1, 3] + - !!python/tuple [6, 30] + - !!python/tuple [17, 8] + - !!python/tuple [6, 15] + - !!python/tuple [15, 8] + - !!python/tuple [25, 16] + - !!python/tuple [5, 5] + - !!python/tuple [10, 16] + - !!python/tuple [0, 4] + - !!python/tuple [18, 30] + - !!python/tuple [20, 28] + - !!python/tuple [11, 14] + - !!python/tuple [10, 26] + - !!python/tuple [24, 12] + - !!python/tuple [18, 17] + - !!python/tuple [24, 18] + - !!python/tuple [6, 16] + - !!python/tuple [13, 1] + - !!python/tuple [17, 19] + - !!python/tuple [5, 16] + - !!python/tuple [9, 26] + - !!python/tuple [28, 18] + - !!python/tuple [3, 17] + - !!python/tuple [21, 6] + - !!python/tuple [21, 30] + - !!python/tuple [19, 13] + - !!python/tuple [25, 3] + - !!python/tuple [30, 1] + - !!python/tuple [28, 12] + - !!python/tuple [12, 2] + - !!python/tuple [9, 13] + - !!python/tuple [10, 4] + - !!python/tuple [25, 27] + - !!python/tuple [29, 5] + - !!python/tuple [2, 4] + - !!python/tuple [3, 31] + - !!python/tuple [26, 5] + - !!python/tuple [23, 28] + - !!python/tuple [27, 13] + - !!python/tuple [13, 14] + - !!python/tuple [29, 21] + - !!python/tuple [8, 23] + - !!python/tuple [4, 19] + - !!python/tuple [14, 22] + - !!python/tuple [17, 13] + - !!python/tuple [1, 16] + - !!python/tuple [1, 4] + - !!python/tuple [16, 0] + - !!python/tuple [11, 12] + - !!python/tuple [2, 17] + - !!python/tuple [28, 5] + - !!python/tuple [15, 15] + - !!python/tuple [23, 10] + - !!python/tuple [26, 16] + - !!python/tuple [28, 19] + - !!python/tuple [18, 10] + - !!python/tuple [9, 31] + - !!python/tuple [4, 25] + - !!python/tuple [23, 11] + - !!python/tuple [11, 31] + - !!python/tuple [30, 6] + - !!python/tuple [27, 25] + - !!python/tuple [27, 28] + - !!python/tuple [21, 17] + - !!python/tuple [2, 14] + - !!python/tuple [7, 6] + - !!python/tuple [20, 21] + - !!python/tuple [24, 26] + - !!python/tuple [17, 5] + - !!python/tuple [24, 15] + - !!python/tuple [14, 21] + - !!python/tuple [0, 13] + - !!python/tuple [22, 26] + - !!python/tuple [18, 16] + - !!python/tuple [30, 7] + - !!python/tuple [20, 7] + - !!python/tuple [26, 4] + - !!python/tuple [20, 9] + - !!python/tuple [15, 24] + - !!python/tuple [30, 3] + - !!python/tuple [27, 11] + - !!python/tuple [7, 24] + - !!python/tuple [5, 27] + - !!python/tuple [6, 19] + - !!python/tuple [15, 31] + - !!python/tuple [27, 2] + - !!python/tuple [18, 15] + - !!python/tuple [16, 15] + - !!python/tuple [8, 26] + - !!python/tuple [25, 17] + - !!python/tuple [23, 15] + - !!python/tuple [30, 31] + - !!python/tuple [19, 22] + - !!python/tuple [2, 6] + - !!python/tuple [16, 14] + - !!python/tuple [0, 17] + - !!python/tuple [28, 1] + - !!python/tuple [12, 20] + - !!python/tuple [5, 2] + - !!python/tuple [27, 7] + - !!python/tuple [17, 27] + - !!python/tuple [26, 17] + - !!python/tuple [17, 24] + - !!python/tuple [8, 5] + - !!python/tuple [27, 26] + - !!python/tuple [11, 30] + - !!python/tuple [18, 28] + - !!python/tuple [3, 20] + - !!python/tuple [20, 3] + - !!python/tuple [21, 7] + - !!python/tuple [30, 9] + - !!python/tuple [25, 4] + - !!python/tuple [19, 29] + - !!python/tuple [3, 15] + - !!python/tuple [19, 26] + - !!python/tuple [19, 10] + - !!python/tuple [16, 8] + - !!python/tuple [18, 21] + - !!python/tuple [16, 24] + - !!python/tuple [0, 14] + - !!python/tuple [0, 5] + - !!python/tuple [14, 19] + - !!python/tuple [7, 4] + - !!python/tuple [29, 10] + - !!python/tuple [23, 6] + - !!python/tuple [15, 2] + - !!python/tuple [1, 9] + - !!python/tuple [7, 19] + - !!python/tuple [20, 19] + - !!python/tuple [29, 8] + - !!python/tuple [16, 9] + - !!python/tuple [1, 6] + - !!python/tuple [25, 13] + - !!python/tuple [31, 22] + - !!python/tuple [8, 25] + - !!python/tuple [15, 5] + - !!python/tuple [29, 0] + - !!python/tuple [28, 25] + - !!python/tuple [24, 23] + - !!python/tuple [11, 6] + - !!python/tuple [8, 31] + - !!python/tuple [29, 31] + - !!python/tuple [17, 0] + - !!python/tuple [29, 18] + - !!python/tuple [29, 29] + - !!python/tuple [14, 18] + - !!python/tuple [21, 11] + - !!python/tuple [23, 12] + - !!python/tuple [2, 27] + - !!python/tuple [18, 9] + - !!python/tuple [13, 3] + - !!python/tuple [29, 3] + - !!python/tuple [16, 17] + - !!python/tuple [16, 18] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex8.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex8.yaml new file mode 100644 index 0000000..f16b76c --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex8.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [5, 23] + name: agent0 + start: [6, 20] +- goal: [25, 31] + name: agent1 + start: [24, 11] +- goal: [2, 21] + name: agent2 + start: [19, 8] +- goal: [12, 1] + name: agent3 + start: [26, 17] +- goal: [30, 10] + name: agent4 + start: [22, 16] +- goal: [19, 10] + name: agent5 + start: [11, 2] +- goal: [13, 29] + name: agent6 + start: [10, 7] +- goal: [1, 3] + name: agent7 + start: [26, 12] +- goal: [16, 30] + name: agent8 + start: [1, 8] +- goal: [8, 9] + name: agent9 + start: [8, 17] +- goal: [16, 21] + name: agent10 + start: [23, 26] +- goal: [5, 8] + name: agent11 + start: [8, 2] +- goal: [13, 23] + name: agent12 + start: [17, 0] +- goal: [14, 20] + name: agent13 + start: [30, 27] +- goal: [26, 5] + name: agent14 + start: [1, 25] +- goal: [4, 12] + name: agent15 + start: [11, 3] +- goal: [16, 13] + name: agent16 + start: [23, 14] +- goal: [26, 2] + name: agent17 + start: [30, 29] +- goal: [19, 13] + name: agent18 + start: [26, 10] +- goal: [11, 16] + name: agent19 + start: [31, 0] +- goal: [22, 17] + name: agent20 + start: [29, 23] +- goal: [31, 6] + name: agent21 + start: [29, 30] +- goal: [6, 14] + name: agent22 + start: [2, 26] +- goal: [14, 18] + name: agent23 + start: [10, 21] +- goal: [13, 4] + name: agent24 + start: [24, 31] +- goal: [2, 10] + name: agent25 + start: [16, 26] +- goal: [1, 29] + name: agent26 + start: [19, 3] +- goal: [4, 9] + name: agent27 + start: [7, 10] +- goal: [5, 6] + name: agent28 + start: [12, 15] +- goal: [10, 2] + name: agent29 + start: [15, 7] +- goal: [5, 1] + name: agent30 + start: [17, 13] +- goal: [5, 16] + name: agent31 + start: [30, 9] +- goal: [0, 29] + name: agent32 + start: [5, 20] +- goal: [23, 23] + name: agent33 + start: [22, 24] +- goal: [23, 12] + name: agent34 + start: [24, 13] +- goal: [1, 12] + name: agent35 + start: [23, 8] +- goal: [6, 6] + name: agent36 + start: [19, 1] +- goal: [18, 21] + name: agent37 + start: [3, 27] +- goal: [12, 29] + name: agent38 + start: [24, 0] +- goal: [1, 13] + name: agent39 + start: [11, 30] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [6, 15] + - !!python/tuple [0, 11] + - !!python/tuple [9, 5] + - !!python/tuple [15, 16] + - !!python/tuple [5, 27] + - !!python/tuple [0, 5] + - !!python/tuple [28, 11] + - !!python/tuple [12, 21] + - !!python/tuple [12, 26] + - !!python/tuple [9, 16] + - !!python/tuple [7, 21] + - !!python/tuple [17, 5] + - !!python/tuple [14, 23] + - !!python/tuple [29, 31] + - !!python/tuple [19, 31] + - !!python/tuple [10, 9] + - !!python/tuple [26, 25] + - !!python/tuple [26, 14] + - !!python/tuple [18, 27] + - !!python/tuple [8, 4] + - !!python/tuple [6, 24] + - !!python/tuple [28, 26] + - !!python/tuple [23, 31] + - !!python/tuple [14, 11] + - !!python/tuple [26, 26] + - !!python/tuple [3, 24] + - !!python/tuple [21, 31] + - !!python/tuple [8, 5] + - !!python/tuple [23, 18] + - !!python/tuple [22, 1] + - !!python/tuple [23, 9] + - !!python/tuple [12, 22] + - !!python/tuple [1, 21] + - !!python/tuple [8, 10] + - !!python/tuple [12, 28] + - !!python/tuple [21, 28] + - !!python/tuple [28, 16] + - !!python/tuple [21, 17] + - !!python/tuple [21, 2] + - !!python/tuple [31, 26] + - !!python/tuple [0, 23] + - !!python/tuple [4, 28] + - !!python/tuple [17, 26] + - !!python/tuple [18, 18] + - !!python/tuple [5, 2] + - !!python/tuple [4, 2] + - !!python/tuple [30, 5] + - !!python/tuple [1, 1] + - !!python/tuple [14, 3] + - !!python/tuple [25, 24] + - !!python/tuple [6, 26] + - !!python/tuple [9, 26] + - !!python/tuple [19, 22] + - !!python/tuple [25, 17] + - !!python/tuple [26, 31] + - !!python/tuple [14, 24] + - !!python/tuple [7, 4] + - !!python/tuple [5, 15] + - !!python/tuple [23, 24] + - !!python/tuple [7, 11] + - !!python/tuple [26, 21] + - !!python/tuple [11, 5] + - !!python/tuple [22, 28] + - !!python/tuple [2, 28] + - !!python/tuple [11, 25] + - !!python/tuple [7, 16] + - !!python/tuple [24, 2] + - !!python/tuple [3, 31] + - !!python/tuple [24, 10] + - !!python/tuple [27, 31] + - !!python/tuple [31, 20] + - !!python/tuple [9, 7] + - !!python/tuple [2, 9] + - !!python/tuple [23, 15] + - !!python/tuple [9, 2] + - !!python/tuple [25, 14] + - !!python/tuple [3, 28] + - !!python/tuple [27, 6] + - !!python/tuple [18, 10] + - !!python/tuple [8, 22] + - !!python/tuple [28, 15] + - !!python/tuple [5, 11] + - !!python/tuple [21, 0] + - !!python/tuple [8, 13] + - !!python/tuple [25, 7] + - !!python/tuple [24, 1] + - !!python/tuple [30, 22] + - !!python/tuple [15, 15] + - !!python/tuple [29, 10] + - !!python/tuple [10, 26] + - !!python/tuple [1, 30] + - !!python/tuple [11, 24] + - !!python/tuple [23, 17] + - !!python/tuple [29, 5] + - !!python/tuple [18, 9] + - !!python/tuple [27, 26] + - !!python/tuple [21, 29] + - !!python/tuple [26, 16] + - !!python/tuple [12, 0] + - !!python/tuple [13, 12] + - !!python/tuple [11, 28] + - !!python/tuple [22, 31] + - !!python/tuple [4, 24] + - !!python/tuple [17, 17] + - !!python/tuple [20, 20] + - !!python/tuple [27, 13] + - !!python/tuple [15, 26] + - !!python/tuple [29, 22] + - !!python/tuple [13, 30] + - !!python/tuple [23, 25] + - !!python/tuple [0, 3] + - !!python/tuple [21, 13] + - !!python/tuple [17, 21] + - !!python/tuple [15, 4] + - !!python/tuple [30, 13] + - !!python/tuple [26, 9] + - !!python/tuple [4, 29] + - !!python/tuple [20, 2] + - !!python/tuple [17, 18] + - !!python/tuple [1, 5] + - !!python/tuple [18, 23] + - !!python/tuple [18, 7] + - !!python/tuple [19, 18] + - !!python/tuple [2, 8] + - !!python/tuple [22, 13] + - !!python/tuple [29, 16] + - !!python/tuple [7, 30] + - !!python/tuple [3, 21] + - !!python/tuple [19, 9] + - !!python/tuple [27, 12] + - !!python/tuple [31, 27] + - !!python/tuple [26, 15] + - !!python/tuple [27, 17] + - !!python/tuple [1, 10] + - !!python/tuple [23, 30] + - !!python/tuple [28, 19] + - !!python/tuple [14, 27] + - !!python/tuple [2, 18] + - !!python/tuple [13, 11] + - !!python/tuple [25, 9] + - !!python/tuple [13, 3] + - !!python/tuple [27, 27] + - !!python/tuple [13, 10] + - !!python/tuple [6, 12] + - !!python/tuple [7, 29] + - !!python/tuple [25, 19] + - !!python/tuple [22, 27] + - !!python/tuple [14, 2] + - !!python/tuple [2, 0] + - !!python/tuple [6, 11] + - !!python/tuple [13, 13] + - !!python/tuple [17, 25] + - !!python/tuple [17, 3] + - !!python/tuple [28, 8] + - !!python/tuple [6, 19] + - !!python/tuple [18, 24] + - !!python/tuple [2, 19] + - !!python/tuple [5, 25] + - !!python/tuple [31, 9] + - !!python/tuple [12, 5] + - !!python/tuple [7, 15] + - !!python/tuple [15, 29] + - !!python/tuple [12, 3] + - !!python/tuple [28, 7] + - !!python/tuple [14, 7] + - !!python/tuple [16, 3] + - !!python/tuple [3, 1] + - !!python/tuple [8, 8] + - !!python/tuple [25, 21] + - !!python/tuple [25, 1] + - !!python/tuple [11, 6] + - !!python/tuple [28, 23] + - !!python/tuple [12, 10] + - !!python/tuple [10, 24] + - !!python/tuple [11, 4] + - !!python/tuple [6, 4] + - !!python/tuple [14, 31] + - !!python/tuple [20, 4] + - !!python/tuple [0, 14] + - !!python/tuple [6, 0] + - !!python/tuple [0, 31] + - !!python/tuple [9, 6] + - !!python/tuple [1, 18] + - !!python/tuple [29, 4] + - !!python/tuple [6, 31] + - !!python/tuple [17, 20] + - !!python/tuple [18, 29] + - !!python/tuple [22, 18] + - !!python/tuple [21, 27] + - !!python/tuple [25, 18] + - !!python/tuple [10, 6] + - !!python/tuple [17, 28] + - !!python/tuple [2, 6] + - !!python/tuple [17, 22] + - !!python/tuple [13, 31] + - !!python/tuple [8, 25] + - !!python/tuple [14, 12] + - !!python/tuple [18, 12] + - !!python/tuple [5, 24] + - !!python/tuple [6, 28] + - !!python/tuple [19, 15] + - !!python/tuple [23, 4] + - !!python/tuple [24, 14] + - !!python/tuple [2, 13] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex80.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex80.yaml new file mode 100644 index 0000000..bafbc50 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex80.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [24, 13] + name: agent0 + start: [28, 4] +- goal: [21, 15] + name: agent1 + start: [12, 18] +- goal: [17, 26] + name: agent2 + start: [29, 31] +- goal: [4, 6] + name: agent3 + start: [16, 17] +- goal: [6, 14] + name: agent4 + start: [22, 17] +- goal: [14, 2] + name: agent5 + start: [3, 27] +- goal: [28, 3] + name: agent6 + start: [0, 7] +- goal: [16, 17] + name: agent7 + start: [6, 30] +- goal: [17, 2] + name: agent8 + start: [19, 28] +- goal: [9, 19] + name: agent9 + start: [4, 21] +- goal: [25, 20] + name: agent10 + start: [7, 14] +- goal: [3, 19] + name: agent11 + start: [26, 15] +- goal: [9, 23] + name: agent12 + start: [9, 19] +- goal: [6, 1] + name: agent13 + start: [29, 30] +- goal: [31, 1] + name: agent14 + start: [18, 11] +- goal: [20, 0] + name: agent15 + start: [29, 11] +- goal: [6, 23] + name: agent16 + start: [0, 0] +- goal: [23, 27] + name: agent17 + start: [11, 3] +- goal: [29, 29] + name: agent18 + start: [6, 28] +- goal: [25, 14] + name: agent19 + start: [29, 14] +- goal: [16, 27] + name: agent20 + start: [10, 23] +- goal: [10, 28] + name: agent21 + start: [27, 6] +- goal: [8, 4] + name: agent22 + start: [17, 17] +- goal: [23, 9] + name: agent23 + start: [23, 7] +- goal: [19, 20] + name: agent24 + start: [9, 22] +- goal: [9, 2] + name: agent25 + start: [10, 15] +- goal: [7, 1] + name: agent26 + start: [1, 16] +- goal: [29, 7] + name: agent27 + start: [22, 25] +- goal: [11, 28] + name: agent28 + start: [23, 13] +- goal: [19, 28] + name: agent29 + start: [8, 27] +- goal: [3, 23] + name: agent30 + start: [14, 20] +- goal: [22, 9] + name: agent31 + start: [16, 21] +- goal: [31, 29] + name: agent32 + start: [11, 13] +- goal: [16, 2] + name: agent33 + start: [6, 31] +- goal: [23, 18] + name: agent34 + start: [2, 6] +- goal: [15, 15] + name: agent35 + start: [14, 31] +- goal: [9, 17] + name: agent36 + start: [10, 3] +- goal: [31, 7] + name: agent37 + start: [19, 19] +- goal: [18, 5] + name: agent38 + start: [6, 11] +- goal: [15, 20] + name: agent39 + start: [9, 11] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [21, 27] + - !!python/tuple [4, 31] + - !!python/tuple [11, 25] + - !!python/tuple [2, 22] + - !!python/tuple [15, 24] + - !!python/tuple [28, 23] + - !!python/tuple [23, 6] + - !!python/tuple [5, 29] + - !!python/tuple [25, 11] + - !!python/tuple [13, 14] + - !!python/tuple [12, 23] + - !!python/tuple [4, 24] + - !!python/tuple [24, 1] + - !!python/tuple [19, 17] + - !!python/tuple [3, 26] + - !!python/tuple [12, 26] + - !!python/tuple [25, 13] + - !!python/tuple [4, 28] + - !!python/tuple [31, 27] + - !!python/tuple [3, 0] + - !!python/tuple [17, 21] + - !!python/tuple [24, 12] + - !!python/tuple [29, 23] + - !!python/tuple [25, 17] + - !!python/tuple [22, 4] + - !!python/tuple [14, 22] + - !!python/tuple [24, 9] + - !!python/tuple [20, 3] + - !!python/tuple [30, 17] + - !!python/tuple [29, 6] + - !!python/tuple [16, 6] + - !!python/tuple [28, 9] + - !!python/tuple [24, 28] + - !!python/tuple [13, 11] + - !!python/tuple [6, 9] + - !!python/tuple [0, 25] + - !!python/tuple [28, 31] + - !!python/tuple [19, 7] + - !!python/tuple [6, 3] + - !!python/tuple [24, 21] + - !!python/tuple [22, 8] + - !!python/tuple [27, 21] + - !!python/tuple [20, 30] + - !!python/tuple [8, 22] + - !!python/tuple [10, 0] + - !!python/tuple [21, 8] + - !!python/tuple [11, 7] + - !!python/tuple [28, 7] + - !!python/tuple [15, 7] + - !!python/tuple [26, 29] + - !!python/tuple [20, 14] + - !!python/tuple [3, 18] + - !!python/tuple [5, 19] + - !!python/tuple [8, 28] + - !!python/tuple [15, 9] + - !!python/tuple [17, 1] + - !!python/tuple [28, 6] + - !!python/tuple [7, 22] + - !!python/tuple [22, 6] + - !!python/tuple [25, 30] + - !!python/tuple [22, 10] + - !!python/tuple [14, 17] + - !!python/tuple [22, 13] + - !!python/tuple [15, 29] + - !!python/tuple [5, 22] + - !!python/tuple [3, 15] + - !!python/tuple [16, 26] + - !!python/tuple [0, 5] + - !!python/tuple [11, 31] + - !!python/tuple [10, 31] + - !!python/tuple [22, 19] + - !!python/tuple [11, 21] + - !!python/tuple [24, 25] + - !!python/tuple [4, 14] + - !!python/tuple [24, 27] + - !!python/tuple [4, 4] + - !!python/tuple [23, 25] + - !!python/tuple [15, 6] + - !!python/tuple [2, 17] + - !!python/tuple [9, 18] + - !!python/tuple [21, 2] + - !!python/tuple [28, 13] + - !!python/tuple [0, 3] + - !!python/tuple [21, 28] + - !!python/tuple [31, 24] + - !!python/tuple [18, 29] + - !!python/tuple [21, 21] + - !!python/tuple [8, 21] + - !!python/tuple [17, 14] + - !!python/tuple [26, 11] + - !!python/tuple [23, 17] + - !!python/tuple [28, 11] + - !!python/tuple [19, 22] + - !!python/tuple [15, 31] + - !!python/tuple [9, 1] + - !!python/tuple [31, 4] + - !!python/tuple [17, 6] + - !!python/tuple [21, 18] + - !!python/tuple [19, 2] + - !!python/tuple [12, 15] + - !!python/tuple [1, 25] + - !!python/tuple [3, 24] + - !!python/tuple [4, 23] + - !!python/tuple [16, 7] + - !!python/tuple [9, 12] + - !!python/tuple [8, 12] + - !!python/tuple [12, 20] + - !!python/tuple [13, 0] + - !!python/tuple [12, 6] + - !!python/tuple [26, 30] + - !!python/tuple [21, 19] + - !!python/tuple [5, 1] + - !!python/tuple [14, 4] + - !!python/tuple [10, 1] + - !!python/tuple [31, 31] + - !!python/tuple [27, 23] + - !!python/tuple [27, 26] + - !!python/tuple [17, 18] + - !!python/tuple [31, 19] + - !!python/tuple [8, 9] + - !!python/tuple [8, 1] + - !!python/tuple [0, 6] + - !!python/tuple [9, 9] + - !!python/tuple [24, 3] + - !!python/tuple [30, 0] + - !!python/tuple [2, 11] + - !!python/tuple [4, 27] + - !!python/tuple [16, 23] + - !!python/tuple [15, 0] + - !!python/tuple [3, 12] + - !!python/tuple [15, 3] + - !!python/tuple [24, 17] + - !!python/tuple [30, 2] + - !!python/tuple [8, 20] + - !!python/tuple [21, 30] + - !!python/tuple [26, 1] + - !!python/tuple [23, 20] + - !!python/tuple [8, 13] + - !!python/tuple [29, 13] + - !!python/tuple [18, 0] + - !!python/tuple [12, 2] + - !!python/tuple [18, 15] + - !!python/tuple [5, 16] + - !!python/tuple [9, 27] + - !!python/tuple [4, 20] + - !!python/tuple [12, 24] + - !!python/tuple [2, 30] + - !!python/tuple [26, 28] + - !!python/tuple [15, 13] + - !!python/tuple [18, 4] + - !!python/tuple [6, 4] + - !!python/tuple [27, 5] + - !!python/tuple [6, 6] + - !!python/tuple [16, 22] + - !!python/tuple [11, 12] + - !!python/tuple [22, 11] + - !!python/tuple [6, 26] + - !!python/tuple [30, 22] + - !!python/tuple [22, 31] + - !!python/tuple [16, 19] + - !!python/tuple [26, 10] + - !!python/tuple [22, 3] + - !!python/tuple [2, 1] + - !!python/tuple [8, 16] + - !!python/tuple [26, 17] + - !!python/tuple [10, 21] + - !!python/tuple [21, 14] + - !!python/tuple [21, 23] + - !!python/tuple [25, 26] + - !!python/tuple [20, 16] + - !!python/tuple [22, 1] + - !!python/tuple [20, 25] + - !!python/tuple [24, 30] + - !!python/tuple [22, 15] + - !!python/tuple [4, 22] + - !!python/tuple [16, 20] + - !!python/tuple [26, 18] + - !!python/tuple [20, 24] + - !!python/tuple [26, 21] + - !!python/tuple [16, 5] + - !!python/tuple [28, 29] + - !!python/tuple [18, 24] + - !!python/tuple [13, 25] + - !!python/tuple [30, 23] + - !!python/tuple [19, 31] + - !!python/tuple [17, 30] + - !!python/tuple [4, 29] + - !!python/tuple [3, 9] + - !!python/tuple [1, 22] + - !!python/tuple [6, 21] + - !!python/tuple [14, 11] + - !!python/tuple [19, 11] + - !!python/tuple [27, 30] + - !!python/tuple [25, 25] + - !!python/tuple [12, 11] + - !!python/tuple [20, 5] + - !!python/tuple [30, 19] + - !!python/tuple [11, 29] + - !!python/tuple [9, 0] + - !!python/tuple [2, 9] + - !!python/tuple [14, 5] + - !!python/tuple [23, 0] + - !!python/tuple [7, 16] + - !!python/tuple [16, 18] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex81.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex81.yaml new file mode 100644 index 0000000..f577eb5 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex81.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [11, 20] + name: agent0 + start: [17, 21] +- goal: [31, 31] + name: agent1 + start: [24, 8] +- goal: [11, 6] + name: agent2 + start: [19, 13] +- goal: [5, 13] + name: agent3 + start: [8, 26] +- goal: [23, 25] + name: agent4 + start: [4, 15] +- goal: [24, 1] + name: agent5 + start: [23, 6] +- goal: [10, 4] + name: agent6 + start: [21, 23] +- goal: [23, 30] + name: agent7 + start: [13, 5] +- goal: [10, 16] + name: agent8 + start: [14, 26] +- goal: [28, 19] + name: agent9 + start: [8, 4] +- goal: [23, 20] + name: agent10 + start: [8, 23] +- goal: [22, 8] + name: agent11 + start: [3, 24] +- goal: [11, 13] + name: agent12 + start: [23, 26] +- goal: [7, 15] + name: agent13 + start: [6, 6] +- goal: [27, 9] + name: agent14 + start: [19, 27] +- goal: [8, 1] + name: agent15 + start: [7, 27] +- goal: [9, 29] + name: agent16 + start: [4, 22] +- goal: [8, 20] + name: agent17 + start: [23, 10] +- goal: [7, 12] + name: agent18 + start: [29, 13] +- goal: [24, 21] + name: agent19 + start: [0, 19] +- goal: [29, 11] + name: agent20 + start: [27, 2] +- goal: [12, 24] + name: agent21 + start: [6, 26] +- goal: [22, 28] + name: agent22 + start: [15, 6] +- goal: [12, 6] + name: agent23 + start: [25, 14] +- goal: [2, 11] + name: agent24 + start: [22, 28] +- goal: [10, 17] + name: agent25 + start: [7, 9] +- goal: [13, 26] + name: agent26 + start: [12, 3] +- goal: [5, 12] + name: agent27 + start: [25, 29] +- goal: [24, 8] + name: agent28 + start: [26, 2] +- goal: [23, 18] + name: agent29 + start: [21, 17] +- goal: [25, 12] + name: agent30 + start: [28, 15] +- goal: [11, 18] + name: agent31 + start: [1, 12] +- goal: [11, 2] + name: agent32 + start: [26, 24] +- goal: [13, 8] + name: agent33 + start: [29, 18] +- goal: [11, 16] + name: agent34 + start: [14, 20] +- goal: [14, 21] + name: agent35 + start: [21, 31] +- goal: [27, 2] + name: agent36 + start: [18, 26] +- goal: [5, 8] + name: agent37 + start: [6, 22] +- goal: [29, 7] + name: agent38 + start: [13, 21] +- goal: [19, 22] + name: agent39 + start: [21, 29] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [6, 15] + - !!python/tuple [14, 28] + - !!python/tuple [9, 0] + - !!python/tuple [28, 26] + - !!python/tuple [8, 15] + - !!python/tuple [10, 19] + - !!python/tuple [23, 17] + - !!python/tuple [20, 27] + - !!python/tuple [17, 14] + - !!python/tuple [31, 5] + - !!python/tuple [29, 23] + - !!python/tuple [26, 12] + - !!python/tuple [6, 23] + - !!python/tuple [8, 17] + - !!python/tuple [3, 23] + - !!python/tuple [9, 1] + - !!python/tuple [15, 31] + - !!python/tuple [0, 10] + - !!python/tuple [20, 18] + - !!python/tuple [15, 1] + - !!python/tuple [31, 6] + - !!python/tuple [18, 24] + - !!python/tuple [8, 25] + - !!python/tuple [6, 19] + - !!python/tuple [30, 22] + - !!python/tuple [4, 12] + - !!python/tuple [0, 18] + - !!python/tuple [5, 24] + - !!python/tuple [13, 30] + - !!python/tuple [29, 17] + - !!python/tuple [12, 26] + - !!python/tuple [19, 23] + - !!python/tuple [17, 30] + - !!python/tuple [21, 30] + - !!python/tuple [14, 27] + - !!python/tuple [0, 13] + - !!python/tuple [4, 9] + - !!python/tuple [31, 4] + - !!python/tuple [1, 5] + - !!python/tuple [25, 19] + - !!python/tuple [24, 15] + - !!python/tuple [22, 0] + - !!python/tuple [13, 29] + - !!python/tuple [4, 19] + - !!python/tuple [28, 24] + - !!python/tuple [11, 10] + - !!python/tuple [6, 8] + - !!python/tuple [15, 30] + - !!python/tuple [18, 25] + - !!python/tuple [17, 5] + - !!python/tuple [12, 10] + - !!python/tuple [30, 9] + - !!python/tuple [29, 12] + - !!python/tuple [15, 28] + - !!python/tuple [25, 6] + - !!python/tuple [25, 9] + - !!python/tuple [28, 22] + - !!python/tuple [12, 14] + - !!python/tuple [24, 22] + - !!python/tuple [5, 22] + - !!python/tuple [22, 22] + - !!python/tuple [8, 13] + - !!python/tuple [18, 21] + - !!python/tuple [14, 31] + - !!python/tuple [18, 28] + - !!python/tuple [14, 13] + - !!python/tuple [15, 19] + - !!python/tuple [31, 0] + - !!python/tuple [29, 20] + - !!python/tuple [16, 19] + - !!python/tuple [7, 11] + - !!python/tuple [2, 0] + - !!python/tuple [29, 30] + - !!python/tuple [14, 15] + - !!python/tuple [1, 31] + - !!python/tuple [6, 29] + - !!python/tuple [3, 5] + - !!python/tuple [7, 18] + - !!python/tuple [5, 5] + - !!python/tuple [26, 18] + - !!python/tuple [20, 30] + - !!python/tuple [17, 10] + - !!python/tuple [0, 26] + - !!python/tuple [24, 5] + - !!python/tuple [23, 7] + - !!python/tuple [24, 7] + - !!python/tuple [24, 18] + - !!python/tuple [11, 11] + - !!python/tuple [7, 7] + - !!python/tuple [3, 27] + - !!python/tuple [23, 3] + - !!python/tuple [18, 31] + - !!python/tuple [20, 3] + - !!python/tuple [1, 16] + - !!python/tuple [9, 25] + - !!python/tuple [10, 2] + - !!python/tuple [26, 31] + - !!python/tuple [1, 23] + - !!python/tuple [2, 5] + - !!python/tuple [30, 23] + - !!python/tuple [29, 14] + - !!python/tuple [31, 20] + - !!python/tuple [24, 10] + - !!python/tuple [5, 21] + - !!python/tuple [10, 6] + - !!python/tuple [4, 26] + - !!python/tuple [3, 18] + - !!python/tuple [7, 8] + - !!python/tuple [29, 10] + - !!python/tuple [15, 9] + - !!python/tuple [20, 19] + - !!python/tuple [4, 18] + - !!python/tuple [18, 4] + - !!python/tuple [17, 15] + - !!python/tuple [3, 21] + - !!python/tuple [31, 28] + - !!python/tuple [27, 27] + - !!python/tuple [5, 7] + - !!python/tuple [2, 15] + - !!python/tuple [26, 7] + - !!python/tuple [31, 13] + - !!python/tuple [16, 13] + - !!python/tuple [3, 1] + - !!python/tuple [0, 4] + - !!python/tuple [12, 21] + - !!python/tuple [3, 30] + - !!python/tuple [4, 20] + - !!python/tuple [15, 22] + - !!python/tuple [1, 25] + - !!python/tuple [10, 1] + - !!python/tuple [22, 13] + - !!python/tuple [26, 28] + - !!python/tuple [0, 31] + - !!python/tuple [4, 28] + - !!python/tuple [12, 0] + - !!python/tuple [12, 5] + - !!python/tuple [24, 23] + - !!python/tuple [30, 21] + - !!python/tuple [12, 16] + - !!python/tuple [11, 30] + - !!python/tuple [20, 26] + - !!python/tuple [8, 16] + - !!python/tuple [13, 2] + - !!python/tuple [16, 31] + - !!python/tuple [10, 3] + - !!python/tuple [30, 20] + - !!python/tuple [9, 4] + - !!python/tuple [28, 20] + - !!python/tuple [19, 24] + - !!python/tuple [26, 17] + - !!python/tuple [14, 6] + - !!python/tuple [17, 26] + - !!python/tuple [7, 4] + - !!python/tuple [3, 29] + - !!python/tuple [12, 1] + - !!python/tuple [7, 31] + - !!python/tuple [20, 25] + - !!python/tuple [31, 15] + - !!python/tuple [25, 8] + - !!python/tuple [22, 18] + - !!python/tuple [10, 11] + - !!python/tuple [2, 6] + - !!python/tuple [22, 7] + - !!python/tuple [6, 27] + - !!python/tuple [12, 27] + - !!python/tuple [12, 30] + - !!python/tuple [12, 20] + - !!python/tuple [19, 20] + - !!python/tuple [16, 22] + - !!python/tuple [11, 15] + - !!python/tuple [0, 27] + - !!python/tuple [30, 12] + - !!python/tuple [27, 18] + - !!python/tuple [1, 17] + - !!python/tuple [0, 5] + - !!python/tuple [26, 19] + - !!python/tuple [1, 9] + - !!python/tuple [26, 23] + - !!python/tuple [13, 20] + - !!python/tuple [11, 23] + - !!python/tuple [6, 16] + - !!python/tuple [31, 9] + - !!python/tuple [26, 16] + - !!python/tuple [28, 0] + - !!python/tuple [3, 2] + - !!python/tuple [28, 9] + - !!python/tuple [25, 21] + - !!python/tuple [28, 18] + - !!python/tuple [21, 28] + - !!python/tuple [4, 6] + - !!python/tuple [2, 25] + - !!python/tuple [18, 27] + - !!python/tuple [17, 31] + - !!python/tuple [19, 18] + - !!python/tuple [1, 11] + - !!python/tuple [18, 6] + - !!python/tuple [30, 19] + - !!python/tuple [16, 29] + - !!python/tuple [31, 29] + - !!python/tuple [24, 31] + - !!python/tuple [22, 29] + - !!python/tuple [7, 5] + - !!python/tuple [17, 23] + - !!python/tuple [24, 14] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex82.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex82.yaml new file mode 100644 index 0000000..6213ccd --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex82.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [22, 10] + name: agent0 + start: [2, 0] +- goal: [18, 21] + name: agent1 + start: [14, 17] +- goal: [15, 25] + name: agent2 + start: [25, 29] +- goal: [4, 14] + name: agent3 + start: [5, 5] +- goal: [24, 12] + name: agent4 + start: [31, 2] +- goal: [25, 10] + name: agent5 + start: [14, 9] +- goal: [6, 11] + name: agent6 + start: [30, 24] +- goal: [31, 23] + name: agent7 + start: [30, 20] +- goal: [25, 31] + name: agent8 + start: [5, 3] +- goal: [16, 6] + name: agent9 + start: [11, 29] +- goal: [8, 4] + name: agent10 + start: [13, 0] +- goal: [14, 17] + name: agent11 + start: [2, 10] +- goal: [20, 31] + name: agent12 + start: [14, 7] +- goal: [5, 30] + name: agent13 + start: [10, 5] +- goal: [13, 2] + name: agent14 + start: [11, 24] +- goal: [28, 11] + name: agent15 + start: [25, 19] +- goal: [19, 9] + name: agent16 + start: [1, 31] +- goal: [18, 30] + name: agent17 + start: [27, 6] +- goal: [17, 30] + name: agent18 + start: [22, 22] +- goal: [24, 17] + name: agent19 + start: [6, 20] +- goal: [24, 28] + name: agent20 + start: [2, 31] +- goal: [22, 24] + name: agent21 + start: [6, 11] +- goal: [31, 24] + name: agent22 + start: [27, 5] +- goal: [20, 6] + name: agent23 + start: [0, 7] +- goal: [17, 2] + name: agent24 + start: [10, 13] +- goal: [6, 3] + name: agent25 + start: [24, 29] +- goal: [11, 1] + name: agent26 + start: [1, 20] +- goal: [27, 14] + name: agent27 + start: [8, 10] +- goal: [11, 0] + name: agent28 + start: [10, 27] +- goal: [18, 25] + name: agent29 + start: [13, 24] +- goal: [10, 17] + name: agent30 + start: [26, 14] +- goal: [17, 31] + name: agent31 + start: [17, 26] +- goal: [1, 31] + name: agent32 + start: [13, 29] +- goal: [18, 31] + name: agent33 + start: [3, 14] +- goal: [7, 27] + name: agent34 + start: [28, 5] +- goal: [10, 11] + name: agent35 + start: [7, 24] +- goal: [24, 19] + name: agent36 + start: [5, 18] +- goal: [1, 6] + name: agent37 + start: [23, 18] +- goal: [8, 16] + name: agent38 + start: [8, 20] +- goal: [10, 15] + name: agent39 + start: [0, 31] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [7, 21] + - !!python/tuple [18, 7] + - !!python/tuple [25, 12] + - !!python/tuple [6, 13] + - !!python/tuple [26, 5] + - !!python/tuple [20, 24] + - !!python/tuple [8, 22] + - !!python/tuple [7, 17] + - !!python/tuple [11, 15] + - !!python/tuple [14, 6] + - !!python/tuple [0, 19] + - !!python/tuple [29, 23] + - !!python/tuple [7, 11] + - !!python/tuple [1, 12] + - !!python/tuple [24, 27] + - !!python/tuple [15, 29] + - !!python/tuple [2, 23] + - !!python/tuple [8, 25] + - !!python/tuple [3, 26] + - !!python/tuple [28, 23] + - !!python/tuple [21, 17] + - !!python/tuple [21, 19] + - !!python/tuple [24, 11] + - !!python/tuple [25, 2] + - !!python/tuple [18, 5] + - !!python/tuple [30, 11] + - !!python/tuple [17, 22] + - !!python/tuple [22, 1] + - !!python/tuple [2, 8] + - !!python/tuple [31, 0] + - !!python/tuple [19, 10] + - !!python/tuple [6, 9] + - !!python/tuple [29, 20] + - !!python/tuple [8, 19] + - !!python/tuple [16, 4] + - !!python/tuple [22, 7] + - !!python/tuple [12, 10] + - !!python/tuple [0, 29] + - !!python/tuple [14, 8] + - !!python/tuple [2, 3] + - !!python/tuple [13, 27] + - !!python/tuple [14, 29] + - !!python/tuple [8, 2] + - !!python/tuple [16, 10] + - !!python/tuple [21, 12] + - !!python/tuple [9, 14] + - !!python/tuple [15, 8] + - !!python/tuple [10, 3] + - !!python/tuple [14, 15] + - !!python/tuple [16, 24] + - !!python/tuple [30, 30] + - !!python/tuple [30, 5] + - !!python/tuple [23, 29] + - !!python/tuple [9, 4] + - !!python/tuple [12, 4] + - !!python/tuple [3, 17] + - !!python/tuple [12, 31] + - !!python/tuple [24, 15] + - !!python/tuple [20, 26] + - !!python/tuple [3, 7] + - !!python/tuple [0, 25] + - !!python/tuple [29, 14] + - !!python/tuple [1, 24] + - !!python/tuple [11, 5] + - !!python/tuple [19, 26] + - !!python/tuple [18, 17] + - !!python/tuple [30, 12] + - !!python/tuple [14, 2] + - !!python/tuple [17, 4] + - !!python/tuple [26, 31] + - !!python/tuple [26, 25] + - !!python/tuple [15, 26] + - !!python/tuple [15, 9] + - !!python/tuple [12, 13] + - !!python/tuple [4, 13] + - !!python/tuple [8, 13] + - !!python/tuple [6, 14] + - !!python/tuple [25, 26] + - !!python/tuple [3, 1] + - !!python/tuple [4, 5] + - !!python/tuple [5, 11] + - !!python/tuple [23, 1] + - !!python/tuple [2, 6] + - !!python/tuple [16, 17] + - !!python/tuple [13, 21] + - !!python/tuple [30, 29] + - !!python/tuple [26, 30] + - !!python/tuple [18, 19] + - !!python/tuple [17, 25] + - !!python/tuple [9, 13] + - !!python/tuple [7, 22] + - !!python/tuple [14, 20] + - !!python/tuple [17, 16] + - !!python/tuple [2, 7] + - !!python/tuple [28, 9] + - !!python/tuple [28, 31] + - !!python/tuple [31, 4] + - !!python/tuple [11, 7] + - !!python/tuple [5, 26] + - !!python/tuple [1, 19] + - !!python/tuple [0, 20] + - !!python/tuple [27, 20] + - !!python/tuple [14, 31] + - !!python/tuple [28, 14] + - !!python/tuple [9, 22] + - !!python/tuple [25, 9] + - !!python/tuple [30, 28] + - !!python/tuple [26, 27] + - !!python/tuple [23, 2] + - !!python/tuple [21, 30] + - !!python/tuple [10, 14] + - !!python/tuple [11, 30] + - !!python/tuple [2, 9] + - !!python/tuple [6, 25] + - !!python/tuple [24, 5] + - !!python/tuple [27, 7] + - !!python/tuple [2, 1] + - !!python/tuple [12, 0] + - !!python/tuple [13, 13] + - !!python/tuple [2, 16] + - !!python/tuple [18, 14] + - !!python/tuple [16, 18] + - !!python/tuple [28, 1] + - !!python/tuple [16, 28] + - !!python/tuple [17, 14] + - !!python/tuple [10, 31] + - !!python/tuple [30, 26] + - !!python/tuple [4, 9] + - !!python/tuple [25, 17] + - !!python/tuple [7, 13] + - !!python/tuple [26, 29] + - !!python/tuple [21, 21] + - !!python/tuple [18, 12] + - !!python/tuple [11, 17] + - !!python/tuple [20, 18] + - !!python/tuple [22, 31] + - !!python/tuple [10, 1] + - !!python/tuple [27, 28] + - !!python/tuple [10, 7] + - !!python/tuple [28, 6] + - !!python/tuple [11, 3] + - !!python/tuple [26, 19] + - !!python/tuple [17, 6] + - !!python/tuple [25, 20] + - !!python/tuple [13, 28] + - !!python/tuple [19, 0] + - !!python/tuple [21, 13] + - !!python/tuple [22, 6] + - !!python/tuple [0, 18] + - !!python/tuple [14, 18] + - !!python/tuple [2, 27] + - !!python/tuple [4, 23] + - !!python/tuple [4, 18] + - !!python/tuple [5, 1] + - !!python/tuple [17, 15] + - !!python/tuple [15, 31] + - !!python/tuple [0, 6] + - !!python/tuple [6, 7] + - !!python/tuple [24, 31] + - !!python/tuple [9, 28] + - !!python/tuple [21, 6] + - !!python/tuple [24, 3] + - !!python/tuple [9, 26] + - !!python/tuple [1, 11] + - !!python/tuple [28, 2] + - !!python/tuple [28, 12] + - !!python/tuple [22, 26] + - !!python/tuple [2, 25] + - !!python/tuple [27, 12] + - !!python/tuple [5, 28] + - !!python/tuple [18, 1] + - !!python/tuple [8, 27] + - !!python/tuple [6, 4] + - !!python/tuple [2, 26] + - !!python/tuple [13, 4] + - !!python/tuple [13, 23] + - !!python/tuple [23, 16] + - !!python/tuple [27, 25] + - !!python/tuple [2, 20] + - !!python/tuple [11, 11] + - !!python/tuple [11, 27] + - !!python/tuple [15, 6] + - !!python/tuple [20, 2] + - !!python/tuple [22, 9] + - !!python/tuple [16, 26] + - !!python/tuple [31, 28] + - !!python/tuple [31, 29] + - !!python/tuple [15, 17] + - !!python/tuple [5, 20] + - !!python/tuple [9, 17] + - !!python/tuple [31, 17] + - !!python/tuple [26, 3] + - !!python/tuple [19, 18] + - !!python/tuple [23, 11] + - !!python/tuple [3, 25] + - !!python/tuple [3, 27] + - !!python/tuple [0, 14] + - !!python/tuple [19, 27] + - !!python/tuple [28, 3] + - !!python/tuple [21, 1] + - !!python/tuple [9, 1] + - !!python/tuple [26, 16] + - !!python/tuple [5, 4] + - !!python/tuple [0, 11] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex83.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex83.yaml new file mode 100644 index 0000000..82f5c60 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex83.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [2, 14] + name: agent0 + start: [0, 22] +- goal: [19, 9] + name: agent1 + start: [2, 21] +- goal: [10, 23] + name: agent2 + start: [9, 4] +- goal: [10, 9] + name: agent3 + start: [14, 23] +- goal: [29, 2] + name: agent4 + start: [5, 25] +- goal: [9, 24] + name: agent5 + start: [4, 5] +- goal: [23, 15] + name: agent6 + start: [30, 3] +- goal: [1, 5] + name: agent7 + start: [19, 16] +- goal: [20, 19] + name: agent8 + start: [6, 20] +- goal: [3, 17] + name: agent9 + start: [2, 11] +- goal: [21, 31] + name: agent10 + start: [8, 14] +- goal: [2, 7] + name: agent11 + start: [7, 10] +- goal: [11, 27] + name: agent12 + start: [4, 9] +- goal: [11, 29] + name: agent13 + start: [26, 31] +- goal: [19, 11] + name: agent14 + start: [12, 7] +- goal: [16, 30] + name: agent15 + start: [15, 1] +- goal: [6, 0] + name: agent16 + start: [21, 18] +- goal: [11, 11] + name: agent17 + start: [28, 5] +- goal: [21, 19] + name: agent18 + start: [30, 21] +- goal: [29, 1] + name: agent19 + start: [25, 3] +- goal: [2, 27] + name: agent20 + start: [21, 22] +- goal: [8, 19] + name: agent21 + start: [29, 14] +- goal: [16, 5] + name: agent22 + start: [30, 27] +- goal: [0, 19] + name: agent23 + start: [1, 19] +- goal: [30, 17] + name: agent24 + start: [4, 14] +- goal: [12, 4] + name: agent25 + start: [3, 9] +- goal: [22, 31] + name: agent26 + start: [9, 1] +- goal: [0, 27] + name: agent27 + start: [24, 13] +- goal: [8, 25] + name: agent28 + start: [3, 11] +- goal: [15, 20] + name: agent29 + start: [12, 30] +- goal: [13, 17] + name: agent30 + start: [8, 16] +- goal: [6, 6] + name: agent31 + start: [27, 14] +- goal: [16, 17] + name: agent32 + start: [16, 12] +- goal: [4, 1] + name: agent33 + start: [24, 5] +- goal: [20, 9] + name: agent34 + start: [1, 18] +- goal: [29, 20] + name: agent35 + start: [15, 4] +- goal: [2, 6] + name: agent36 + start: [24, 31] +- goal: [15, 1] + name: agent37 + start: [26, 24] +- goal: [27, 6] + name: agent38 + start: [8, 26] +- goal: [21, 24] + name: agent39 + start: [23, 23] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [1, 29] + - !!python/tuple [3, 19] + - !!python/tuple [13, 23] + - !!python/tuple [27, 17] + - !!python/tuple [14, 20] + - !!python/tuple [18, 19] + - !!python/tuple [31, 16] + - !!python/tuple [9, 8] + - !!python/tuple [30, 25] + - !!python/tuple [4, 0] + - !!python/tuple [8, 18] + - !!python/tuple [2, 10] + - !!python/tuple [27, 2] + - !!python/tuple [11, 21] + - !!python/tuple [9, 28] + - !!python/tuple [0, 29] + - !!python/tuple [4, 8] + - !!python/tuple [31, 12] + - !!python/tuple [3, 27] + - !!python/tuple [8, 24] + - !!python/tuple [18, 3] + - !!python/tuple [2, 24] + - !!python/tuple [0, 10] + - !!python/tuple [12, 18] + - !!python/tuple [12, 2] + - !!python/tuple [28, 13] + - !!python/tuple [8, 13] + - !!python/tuple [9, 30] + - !!python/tuple [28, 21] + - !!python/tuple [13, 8] + - !!python/tuple [24, 16] + - !!python/tuple [24, 10] + - !!python/tuple [27, 21] + - !!python/tuple [10, 31] + - !!python/tuple [4, 30] + - !!python/tuple [8, 7] + - !!python/tuple [20, 25] + - !!python/tuple [5, 29] + - !!python/tuple [20, 30] + - !!python/tuple [17, 25] + - !!python/tuple [17, 22] + - !!python/tuple [23, 14] + - !!python/tuple [20, 12] + - !!python/tuple [10, 6] + - !!python/tuple [9, 5] + - !!python/tuple [30, 4] + - !!python/tuple [3, 31] + - !!python/tuple [10, 22] + - !!python/tuple [8, 11] + - !!python/tuple [18, 13] + - !!python/tuple [27, 20] + - !!python/tuple [30, 18] + - !!python/tuple [3, 25] + - !!python/tuple [14, 7] + - !!python/tuple [20, 24] + - !!python/tuple [6, 24] + - !!python/tuple [9, 0] + - !!python/tuple [14, 8] + - !!python/tuple [22, 11] + - !!python/tuple [9, 20] + - !!python/tuple [18, 12] + - !!python/tuple [20, 5] + - !!python/tuple [24, 1] + - !!python/tuple [12, 11] + - !!python/tuple [25, 12] + - !!python/tuple [21, 8] + - !!python/tuple [30, 2] + - !!python/tuple [18, 17] + - !!python/tuple [17, 12] + - !!python/tuple [6, 4] + - !!python/tuple [23, 25] + - !!python/tuple [18, 16] + - !!python/tuple [4, 25] + - !!python/tuple [26, 27] + - !!python/tuple [10, 20] + - !!python/tuple [1, 20] + - !!python/tuple [11, 9] + - !!python/tuple [28, 18] + - !!python/tuple [28, 31] + - !!python/tuple [21, 2] + - !!python/tuple [24, 25] + - !!python/tuple [28, 24] + - !!python/tuple [21, 10] + - !!python/tuple [27, 12] + - !!python/tuple [31, 25] + - !!python/tuple [19, 27] + - !!python/tuple [26, 19] + - !!python/tuple [10, 29] + - !!python/tuple [26, 4] + - !!python/tuple [31, 19] + - !!python/tuple [10, 7] + - !!python/tuple [22, 28] + - !!python/tuple [0, 20] + - !!python/tuple [10, 15] + - !!python/tuple [25, 11] + - !!python/tuple [23, 18] + - !!python/tuple [0, 5] + - !!python/tuple [24, 21] + - !!python/tuple [28, 25] + - !!python/tuple [16, 22] + - !!python/tuple [1, 26] + - !!python/tuple [23, 8] + - !!python/tuple [29, 30] + - !!python/tuple [16, 13] + - !!python/tuple [17, 14] + - !!python/tuple [5, 27] + - !!python/tuple [23, 16] + - !!python/tuple [1, 1] + - !!python/tuple [12, 13] + - !!python/tuple [16, 0] + - !!python/tuple [30, 16] + - !!python/tuple [21, 5] + - !!python/tuple [28, 6] + - !!python/tuple [31, 27] + - !!python/tuple [21, 3] + - !!python/tuple [25, 19] + - !!python/tuple [26, 5] + - !!python/tuple [11, 22] + - !!python/tuple [8, 8] + - !!python/tuple [2, 12] + - !!python/tuple [28, 20] + - !!python/tuple [7, 12] + - !!python/tuple [31, 18] + - !!python/tuple [25, 5] + - !!python/tuple [19, 17] + - !!python/tuple [21, 16] + - !!python/tuple [22, 5] + - !!python/tuple [15, 12] + - !!python/tuple [13, 29] + - !!python/tuple [20, 4] + - !!python/tuple [10, 26] + - !!python/tuple [12, 8] + - !!python/tuple [12, 12] + - !!python/tuple [7, 6] + - !!python/tuple [13, 19] + - !!python/tuple [18, 29] + - !!python/tuple [4, 24] + - !!python/tuple [0, 3] + - !!python/tuple [22, 29] + - !!python/tuple [18, 30] + - !!python/tuple [15, 31] + - !!python/tuple [17, 6] + - !!python/tuple [26, 12] + - !!python/tuple [17, 11] + - !!python/tuple [4, 28] + - !!python/tuple [6, 16] + - !!python/tuple [27, 27] + - !!python/tuple [15, 19] + - !!python/tuple [10, 10] + - !!python/tuple [26, 26] + - !!python/tuple [19, 22] + - !!python/tuple [8, 12] + - !!python/tuple [9, 27] + - !!python/tuple [26, 13] + - !!python/tuple [0, 25] + - !!python/tuple [11, 0] + - !!python/tuple [31, 9] + - !!python/tuple [23, 29] + - !!python/tuple [29, 21] + - !!python/tuple [13, 25] + - !!python/tuple [11, 28] + - !!python/tuple [27, 4] + - !!python/tuple [10, 8] + - !!python/tuple [16, 2] + - !!python/tuple [24, 30] + - !!python/tuple [10, 3] + - !!python/tuple [18, 21] + - !!python/tuple [27, 18] + - !!python/tuple [17, 16] + - !!python/tuple [16, 24] + - !!python/tuple [2, 1] + - !!python/tuple [30, 22] + - !!python/tuple [3, 6] + - !!python/tuple [28, 17] + - !!python/tuple [12, 31] + - !!python/tuple [8, 5] + - !!python/tuple [5, 4] + - !!python/tuple [20, 6] + - !!python/tuple [13, 15] + - !!python/tuple [20, 23] + - !!python/tuple [0, 24] + - !!python/tuple [7, 8] + - !!python/tuple [22, 8] + - !!python/tuple [19, 28] + - !!python/tuple [25, 2] + - !!python/tuple [5, 16] + - !!python/tuple [3, 24] + - !!python/tuple [21, 7] + - !!python/tuple [1, 30] + - !!python/tuple [1, 4] + - !!python/tuple [8, 30] + - !!python/tuple [5, 23] + - !!python/tuple [23, 19] + - !!python/tuple [8, 17] + - !!python/tuple [13, 21] + - !!python/tuple [11, 17] + - !!python/tuple [7, 29] + - !!python/tuple [27, 30] + - !!python/tuple [19, 14] + - !!python/tuple [12, 29] + - !!python/tuple [20, 8] + - !!python/tuple [24, 20] + - !!python/tuple [23, 26] + - !!python/tuple [11, 23] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex84.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex84.yaml new file mode 100644 index 0000000..25dcc15 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex84.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [5, 13] + name: agent0 + start: [12, 13] +- goal: [27, 29] + name: agent1 + start: [10, 25] +- goal: [26, 4] + name: agent2 + start: [5, 21] +- goal: [2, 30] + name: agent3 + start: [4, 19] +- goal: [21, 7] + name: agent4 + start: [8, 2] +- goal: [31, 8] + name: agent5 + start: [15, 28] +- goal: [23, 5] + name: agent6 + start: [16, 4] +- goal: [30, 21] + name: agent7 + start: [4, 4] +- goal: [12, 26] + name: agent8 + start: [27, 30] +- goal: [12, 25] + name: agent9 + start: [7, 12] +- goal: [21, 19] + name: agent10 + start: [30, 23] +- goal: [12, 17] + name: agent11 + start: [25, 11] +- goal: [12, 9] + name: agent12 + start: [7, 1] +- goal: [8, 5] + name: agent13 + start: [28, 14] +- goal: [26, 6] + name: agent14 + start: [28, 3] +- goal: [28, 29] + name: agent15 + start: [0, 16] +- goal: [30, 8] + name: agent16 + start: [5, 27] +- goal: [3, 15] + name: agent17 + start: [2, 2] +- goal: [5, 0] + name: agent18 + start: [30, 30] +- goal: [2, 17] + name: agent19 + start: [14, 23] +- goal: [27, 17] + name: agent20 + start: [8, 6] +- goal: [25, 5] + name: agent21 + start: [27, 5] +- goal: [29, 31] + name: agent22 + start: [9, 15] +- goal: [29, 2] + name: agent23 + start: [13, 18] +- goal: [31, 27] + name: agent24 + start: [30, 8] +- goal: [17, 9] + name: agent25 + start: [1, 1] +- goal: [1, 3] + name: agent26 + start: [30, 4] +- goal: [10, 17] + name: agent27 + start: [29, 6] +- goal: [14, 31] + name: agent28 + start: [25, 28] +- goal: [12, 5] + name: agent29 + start: [23, 5] +- goal: [9, 11] + name: agent30 + start: [5, 12] +- goal: [27, 13] + name: agent31 + start: [6, 10] +- goal: [19, 6] + name: agent32 + start: [29, 30] +- goal: [20, 24] + name: agent33 + start: [3, 16] +- goal: [23, 28] + name: agent34 + start: [13, 28] +- goal: [1, 14] + name: agent35 + start: [20, 2] +- goal: [30, 30] + name: agent36 + start: [12, 5] +- goal: [18, 26] + name: agent37 + start: [3, 18] +- goal: [11, 11] + name: agent38 + start: [30, 9] +- goal: [17, 8] + name: agent39 + start: [7, 21] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [1, 0] + - !!python/tuple [11, 20] + - !!python/tuple [14, 0] + - !!python/tuple [10, 14] + - !!python/tuple [12, 22] + - !!python/tuple [25, 17] + - !!python/tuple [27, 12] + - !!python/tuple [7, 22] + - !!python/tuple [12, 7] + - !!python/tuple [16, 27] + - !!python/tuple [0, 28] + - !!python/tuple [15, 18] + - !!python/tuple [14, 16] + - !!python/tuple [21, 26] + - !!python/tuple [17, 6] + - !!python/tuple [29, 27] + - !!python/tuple [30, 10] + - !!python/tuple [27, 18] + - !!python/tuple [24, 5] + - !!python/tuple [24, 23] + - !!python/tuple [13, 9] + - !!python/tuple [30, 3] + - !!python/tuple [25, 10] + - !!python/tuple [20, 4] + - !!python/tuple [1, 27] + - !!python/tuple [12, 15] + - !!python/tuple [23, 6] + - !!python/tuple [6, 13] + - !!python/tuple [29, 12] + - !!python/tuple [21, 29] + - !!python/tuple [1, 26] + - !!python/tuple [12, 6] + - !!python/tuple [22, 18] + - !!python/tuple [8, 19] + - !!python/tuple [4, 18] + - !!python/tuple [19, 20] + - !!python/tuple [28, 4] + - !!python/tuple [31, 22] + - !!python/tuple [17, 25] + - !!python/tuple [2, 9] + - !!python/tuple [4, 24] + - !!python/tuple [4, 3] + - !!python/tuple [2, 10] + - !!python/tuple [23, 9] + - !!python/tuple [12, 0] + - !!python/tuple [22, 3] + - !!python/tuple [11, 0] + - !!python/tuple [0, 2] + - !!python/tuple [19, 28] + - !!python/tuple [26, 25] + - !!python/tuple [25, 18] + - !!python/tuple [28, 19] + - !!python/tuple [5, 15] + - !!python/tuple [22, 31] + - !!python/tuple [5, 23] + - !!python/tuple [22, 14] + - !!python/tuple [23, 24] + - !!python/tuple [8, 11] + - !!python/tuple [27, 20] + - !!python/tuple [4, 9] + - !!python/tuple [21, 5] + - !!python/tuple [19, 16] + - !!python/tuple [7, 14] + - !!python/tuple [15, 17] + - !!python/tuple [15, 2] + - !!python/tuple [29, 29] + - !!python/tuple [16, 25] + - !!python/tuple [26, 23] + - !!python/tuple [21, 18] + - !!python/tuple [16, 21] + - !!python/tuple [23, 25] + - !!python/tuple [23, 27] + - !!python/tuple [19, 1] + - !!python/tuple [12, 14] + - !!python/tuple [11, 31] + - !!python/tuple [2, 7] + - !!python/tuple [19, 19] + - !!python/tuple [23, 2] + - !!python/tuple [17, 3] + - !!python/tuple [18, 11] + - !!python/tuple [24, 14] + - !!python/tuple [19, 10] + - !!python/tuple [14, 10] + - !!python/tuple [19, 25] + - !!python/tuple [8, 13] + - !!python/tuple [19, 24] + - !!python/tuple [3, 9] + - !!python/tuple [16, 18] + - !!python/tuple [22, 21] + - !!python/tuple [28, 27] + - !!python/tuple [9, 31] + - !!python/tuple [18, 10] + - !!python/tuple [18, 6] + - !!python/tuple [1, 15] + - !!python/tuple [23, 8] + - !!python/tuple [9, 28] + - !!python/tuple [21, 23] + - !!python/tuple [13, 23] + - !!python/tuple [8, 17] + - !!python/tuple [12, 20] + - !!python/tuple [18, 21] + - !!python/tuple [8, 21] + - !!python/tuple [3, 2] + - !!python/tuple [10, 16] + - !!python/tuple [28, 17] + - !!python/tuple [28, 23] + - !!python/tuple [5, 10] + - !!python/tuple [6, 22] + - !!python/tuple [30, 24] + - !!python/tuple [9, 13] + - !!python/tuple [30, 25] + - !!python/tuple [19, 13] + - !!python/tuple [16, 22] + - !!python/tuple [20, 29] + - !!python/tuple [3, 6] + - !!python/tuple [7, 3] + - !!python/tuple [19, 22] + - !!python/tuple [23, 17] + - !!python/tuple [17, 16] + - !!python/tuple [5, 26] + - !!python/tuple [25, 29] + - !!python/tuple [26, 5] + - !!python/tuple [29, 0] + - !!python/tuple [5, 28] + - !!python/tuple [30, 7] + - !!python/tuple [29, 4] + - !!python/tuple [13, 27] + - !!python/tuple [25, 3] + - !!python/tuple [8, 29] + - !!python/tuple [3, 8] + - !!python/tuple [14, 3] + - !!python/tuple [30, 6] + - !!python/tuple [0, 26] + - !!python/tuple [4, 27] + - !!python/tuple [29, 14] + - !!python/tuple [15, 26] + - !!python/tuple [0, 19] + - !!python/tuple [10, 24] + - !!python/tuple [7, 9] + - !!python/tuple [7, 7] + - !!python/tuple [5, 24] + - !!python/tuple [11, 18] + - !!python/tuple [24, 29] + - !!python/tuple [16, 24] + - !!python/tuple [16, 9] + - !!python/tuple [19, 29] + - !!python/tuple [2, 0] + - !!python/tuple [6, 2] + - !!python/tuple [25, 8] + - !!python/tuple [18, 5] + - !!python/tuple [26, 3] + - !!python/tuple [17, 0] + - !!python/tuple [10, 10] + - !!python/tuple [2, 23] + - !!python/tuple [3, 10] + - !!python/tuple [16, 13] + - !!python/tuple [6, 7] + - !!python/tuple [10, 8] + - !!python/tuple [27, 1] + - !!python/tuple [30, 17] + - !!python/tuple [23, 10] + - !!python/tuple [25, 7] + - !!python/tuple [6, 24] + - !!python/tuple [11, 24] + - !!python/tuple [17, 10] + - !!python/tuple [10, 30] + - !!python/tuple [1, 6] + - !!python/tuple [8, 22] + - !!python/tuple [3, 12] + - !!python/tuple [17, 21] + - !!python/tuple [9, 27] + - !!python/tuple [29, 10] + - !!python/tuple [11, 14] + - !!python/tuple [25, 1] + - !!python/tuple [22, 7] + - !!python/tuple [9, 21] + - !!python/tuple [13, 3] + - !!python/tuple [27, 7] + - !!python/tuple [10, 20] + - !!python/tuple [15, 1] + - !!python/tuple [26, 9] + - !!python/tuple [23, 7] + - !!python/tuple [16, 28] + - !!python/tuple [4, 12] + - !!python/tuple [2, 4] + - !!python/tuple [28, 30] + - !!python/tuple [8, 18] + - !!python/tuple [8, 1] + - !!python/tuple [18, 7] + - !!python/tuple [6, 29] + - !!python/tuple [9, 30] + - !!python/tuple [19, 14] + - !!python/tuple [31, 29] + - !!python/tuple [10, 15] + - !!python/tuple [21, 24] + - !!python/tuple [20, 25] + - !!python/tuple [18, 16] + - !!python/tuple [15, 31] + - !!python/tuple [23, 26] + - !!python/tuple [13, 1] + - !!python/tuple [7, 26] + - !!python/tuple [25, 30] + - !!python/tuple [1, 21] + - !!python/tuple [1, 24] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex85.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex85.yaml new file mode 100644 index 0000000..be5a825 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex85.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [5, 19] + name: agent0 + start: [11, 2] +- goal: [17, 30] + name: agent1 + start: [5, 7] +- goal: [15, 11] + name: agent2 + start: [7, 14] +- goal: [8, 23] + name: agent3 + start: [23, 9] +- goal: [8, 27] + name: agent4 + start: [15, 19] +- goal: [20, 10] + name: agent5 + start: [10, 22] +- goal: [12, 15] + name: agent6 + start: [21, 3] +- goal: [28, 21] + name: agent7 + start: [25, 20] +- goal: [12, 8] + name: agent8 + start: [4, 26] +- goal: [2, 5] + name: agent9 + start: [9, 15] +- goal: [5, 31] + name: agent10 + start: [17, 5] +- goal: [10, 22] + name: agent11 + start: [29, 23] +- goal: [26, 14] + name: agent12 + start: [19, 5] +- goal: [14, 14] + name: agent13 + start: [16, 4] +- goal: [15, 16] + name: agent14 + start: [4, 30] +- goal: [0, 3] + name: agent15 + start: [19, 21] +- goal: [20, 26] + name: agent16 + start: [18, 22] +- goal: [30, 18] + name: agent17 + start: [0, 22] +- goal: [1, 16] + name: agent18 + start: [17, 20] +- goal: [14, 8] + name: agent19 + start: [31, 7] +- goal: [18, 16] + name: agent20 + start: [3, 22] +- goal: [22, 22] + name: agent21 + start: [6, 15] +- goal: [11, 27] + name: agent22 + start: [5, 31] +- goal: [22, 19] + name: agent23 + start: [7, 22] +- goal: [26, 3] + name: agent24 + start: [0, 4] +- goal: [7, 22] + name: agent25 + start: [26, 2] +- goal: [2, 13] + name: agent26 + start: [14, 11] +- goal: [27, 28] + name: agent27 + start: [12, 7] +- goal: [2, 16] + name: agent28 + start: [27, 13] +- goal: [7, 25] + name: agent29 + start: [22, 4] +- goal: [16, 21] + name: agent30 + start: [10, 16] +- goal: [24, 10] + name: agent31 + start: [2, 30] +- goal: [19, 9] + name: agent32 + start: [25, 22] +- goal: [30, 16] + name: agent33 + start: [14, 25] +- goal: [10, 17] + name: agent34 + start: [27, 18] +- goal: [24, 8] + name: agent35 + start: [27, 15] +- goal: [15, 9] + name: agent36 + start: [20, 11] +- goal: [10, 12] + name: agent37 + start: [12, 30] +- goal: [14, 12] + name: agent38 + start: [24, 12] +- goal: [31, 18] + name: agent39 + start: [2, 22] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [1, 30] + - !!python/tuple [2, 31] + - !!python/tuple [0, 9] + - !!python/tuple [17, 17] + - !!python/tuple [1, 2] + - !!python/tuple [17, 25] + - !!python/tuple [1, 4] + - !!python/tuple [5, 30] + - !!python/tuple [27, 30] + - !!python/tuple [21, 31] + - !!python/tuple [31, 2] + - !!python/tuple [11, 24] + - !!python/tuple [5, 11] + - !!python/tuple [16, 3] + - !!python/tuple [10, 5] + - !!python/tuple [14, 20] + - !!python/tuple [5, 10] + - !!python/tuple [15, 21] + - !!python/tuple [14, 28] + - !!python/tuple [12, 11] + - !!python/tuple [18, 9] + - !!python/tuple [23, 2] + - !!python/tuple [16, 23] + - !!python/tuple [11, 5] + - !!python/tuple [0, 14] + - !!python/tuple [10, 3] + - !!python/tuple [23, 16] + - !!python/tuple [27, 31] + - !!python/tuple [9, 20] + - !!python/tuple [4, 17] + - !!python/tuple [17, 3] + - !!python/tuple [9, 10] + - !!python/tuple [12, 25] + - !!python/tuple [25, 12] + - !!python/tuple [31, 13] + - !!python/tuple [11, 21] + - !!python/tuple [13, 0] + - !!python/tuple [25, 13] + - !!python/tuple [12, 6] + - !!python/tuple [10, 19] + - !!python/tuple [2, 3] + - !!python/tuple [15, 29] + - !!python/tuple [10, 31] + - !!python/tuple [31, 24] + - !!python/tuple [8, 1] + - !!python/tuple [6, 18] + - !!python/tuple [26, 29] + - !!python/tuple [23, 0] + - !!python/tuple [28, 15] + - !!python/tuple [30, 4] + - !!python/tuple [5, 12] + - !!python/tuple [27, 26] + - !!python/tuple [26, 10] + - !!python/tuple [3, 9] + - !!python/tuple [8, 4] + - !!python/tuple [16, 13] + - !!python/tuple [24, 9] + - !!python/tuple [3, 7] + - !!python/tuple [6, 2] + - !!python/tuple [3, 31] + - !!python/tuple [19, 17] + - !!python/tuple [17, 18] + - !!python/tuple [4, 24] + - !!python/tuple [28, 10] + - !!python/tuple [22, 16] + - !!python/tuple [31, 12] + - !!python/tuple [18, 12] + - !!python/tuple [11, 29] + - !!python/tuple [27, 2] + - !!python/tuple [30, 29] + - !!python/tuple [9, 12] + - !!python/tuple [20, 14] + - !!python/tuple [20, 31] + - !!python/tuple [12, 26] + - !!python/tuple [5, 28] + - !!python/tuple [16, 17] + - !!python/tuple [2, 4] + - !!python/tuple [29, 1] + - !!python/tuple [3, 0] + - !!python/tuple [6, 17] + - !!python/tuple [15, 5] + - !!python/tuple [4, 13] + - !!python/tuple [13, 7] + - !!python/tuple [21, 19] + - !!python/tuple [23, 25] + - !!python/tuple [31, 22] + - !!python/tuple [22, 20] + - !!python/tuple [14, 6] + - !!python/tuple [5, 8] + - !!python/tuple [10, 10] + - !!python/tuple [23, 28] + - !!python/tuple [25, 28] + - !!python/tuple [10, 7] + - !!python/tuple [8, 21] + - !!python/tuple [1, 31] + - !!python/tuple [11, 23] + - !!python/tuple [13, 2] + - !!python/tuple [29, 11] + - !!python/tuple [10, 6] + - !!python/tuple [8, 10] + - !!python/tuple [2, 27] + - !!python/tuple [21, 15] + - !!python/tuple [4, 22] + - !!python/tuple [5, 13] + - !!python/tuple [16, 8] + - !!python/tuple [26, 1] + - !!python/tuple [30, 9] + - !!python/tuple [4, 27] + - !!python/tuple [0, 31] + - !!python/tuple [28, 13] + - !!python/tuple [10, 28] + - !!python/tuple [28, 16] + - !!python/tuple [12, 1] + - !!python/tuple [6, 1] + - !!python/tuple [0, 8] + - !!python/tuple [19, 23] + - !!python/tuple [19, 3] + - !!python/tuple [10, 20] + - !!python/tuple [5, 14] + - !!python/tuple [18, 2] + - !!python/tuple [26, 19] + - !!python/tuple [31, 21] + - !!python/tuple [8, 24] + - !!python/tuple [23, 11] + - !!python/tuple [6, 31] + - !!python/tuple [26, 8] + - !!python/tuple [28, 24] + - !!python/tuple [17, 22] + - !!python/tuple [2, 7] + - !!python/tuple [15, 3] + - !!python/tuple [11, 0] + - !!python/tuple [17, 8] + - !!python/tuple [19, 31] + - !!python/tuple [30, 7] + - !!python/tuple [13, 30] + - !!python/tuple [19, 2] + - !!python/tuple [4, 28] + - !!python/tuple [24, 22] + - !!python/tuple [27, 3] + - !!python/tuple [28, 11] + - !!python/tuple [0, 5] + - !!python/tuple [16, 18] + - !!python/tuple [1, 19] + - !!python/tuple [0, 24] + - !!python/tuple [30, 12] + - !!python/tuple [10, 2] + - !!python/tuple [3, 24] + - !!python/tuple [4, 18] + - !!python/tuple [31, 16] + - !!python/tuple [2, 8] + - !!python/tuple [22, 15] + - !!python/tuple [11, 22] + - !!python/tuple [24, 26] + - !!python/tuple [4, 23] + - !!python/tuple [5, 16] + - !!python/tuple [9, 27] + - !!python/tuple [11, 26] + - !!python/tuple [11, 8] + - !!python/tuple [9, 22] + - !!python/tuple [12, 16] + - !!python/tuple [20, 20] + - !!python/tuple [15, 28] + - !!python/tuple [11, 18] + - !!python/tuple [29, 24] + - !!python/tuple [23, 23] + - !!python/tuple [19, 8] + - !!python/tuple [30, 6] + - !!python/tuple [29, 2] + - !!python/tuple [6, 4] + - !!python/tuple [15, 24] + - !!python/tuple [20, 30] + - !!python/tuple [24, 19] + - !!python/tuple [26, 26] + - !!python/tuple [21, 2] + - !!python/tuple [1, 5] + - !!python/tuple [6, 19] + - !!python/tuple [3, 8] + - !!python/tuple [3, 30] + - !!python/tuple [11, 19] + - !!python/tuple [19, 27] + - !!python/tuple [6, 27] + - !!python/tuple [24, 15] + - !!python/tuple [2, 2] + - !!python/tuple [26, 18] + - !!python/tuple [29, 21] + - !!python/tuple [11, 10] + - !!python/tuple [21, 4] + - !!python/tuple [14, 24] + - !!python/tuple [6, 8] + - !!python/tuple [7, 17] + - !!python/tuple [30, 17] + - !!python/tuple [7, 27] + - !!python/tuple [20, 4] + - !!python/tuple [20, 27] + - !!python/tuple [17, 16] + - !!python/tuple [18, 6] + - !!python/tuple [29, 19] + - !!python/tuple [4, 21] + - !!python/tuple [23, 29] + - !!python/tuple [15, 27] + - !!python/tuple [27, 8] + - !!python/tuple [5, 21] + - !!python/tuple [0, 21] + - !!python/tuple [0, 7] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex86.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex86.yaml new file mode 100644 index 0000000..c68e195 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex86.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [16, 29] + name: agent0 + start: [0, 18] +- goal: [17, 14] + name: agent1 + start: [12, 1] +- goal: [2, 4] + name: agent2 + start: [25, 26] +- goal: [26, 16] + name: agent3 + start: [29, 6] +- goal: [7, 25] + name: agent4 + start: [7, 20] +- goal: [25, 25] + name: agent5 + start: [18, 11] +- goal: [16, 0] + name: agent6 + start: [28, 2] +- goal: [27, 9] + name: agent7 + start: [6, 30] +- goal: [5, 29] + name: agent8 + start: [25, 23] +- goal: [21, 13] + name: agent9 + start: [5, 8] +- goal: [6, 22] + name: agent10 + start: [7, 17] +- goal: [7, 8] + name: agent11 + start: [4, 24] +- goal: [29, 21] + name: agent12 + start: [19, 0] +- goal: [24, 8] + name: agent13 + start: [18, 3] +- goal: [6, 28] + name: agent14 + start: [1, 3] +- goal: [27, 10] + name: agent15 + start: [16, 3] +- goal: [5, 24] + name: agent16 + start: [21, 6] +- goal: [24, 10] + name: agent17 + start: [5, 6] +- goal: [22, 3] + name: agent18 + start: [28, 5] +- goal: [8, 25] + name: agent19 + start: [12, 19] +- goal: [13, 10] + name: agent20 + start: [14, 22] +- goal: [12, 25] + name: agent21 + start: [6, 31] +- goal: [5, 28] + name: agent22 + start: [3, 25] +- goal: [8, 30] + name: agent23 + start: [26, 24] +- goal: [24, 1] + name: agent24 + start: [15, 22] +- goal: [20, 4] + name: agent25 + start: [8, 15] +- goal: [21, 2] + name: agent26 + start: [21, 5] +- goal: [6, 25] + name: agent27 + start: [7, 7] +- goal: [3, 13] + name: agent28 + start: [29, 3] +- goal: [15, 25] + name: agent29 + start: [9, 14] +- goal: [9, 27] + name: agent30 + start: [24, 7] +- goal: [18, 31] + name: agent31 + start: [2, 31] +- goal: [3, 6] + name: agent32 + start: [30, 21] +- goal: [30, 5] + name: agent33 + start: [20, 16] +- goal: [27, 5] + name: agent34 + start: [17, 23] +- goal: [10, 18] + name: agent35 + start: [23, 12] +- goal: [24, 7] + name: agent36 + start: [31, 0] +- goal: [2, 26] + name: agent37 + start: [10, 30] +- goal: [13, 2] + name: agent38 + start: [26, 6] +- goal: [11, 18] + name: agent39 + start: [31, 29] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [27, 1] + - !!python/tuple [22, 25] + - !!python/tuple [28, 29] + - !!python/tuple [10, 11] + - !!python/tuple [24, 31] + - !!python/tuple [8, 21] + - !!python/tuple [1, 4] + - !!python/tuple [25, 5] + - !!python/tuple [28, 26] + - !!python/tuple [23, 30] + - !!python/tuple [12, 17] + - !!python/tuple [14, 14] + - !!python/tuple [31, 7] + - !!python/tuple [7, 6] + - !!python/tuple [29, 17] + - !!python/tuple [24, 30] + - !!python/tuple [9, 5] + - !!python/tuple [9, 18] + - !!python/tuple [18, 26] + - !!python/tuple [4, 19] + - !!python/tuple [25, 15] + - !!python/tuple [6, 10] + - !!python/tuple [3, 14] + - !!python/tuple [30, 1] + - !!python/tuple [4, 20] + - !!python/tuple [1, 6] + - !!python/tuple [15, 26] + - !!python/tuple [2, 7] + - !!python/tuple [21, 15] + - !!python/tuple [22, 28] + - !!python/tuple [20, 1] + - !!python/tuple [1, 29] + - !!python/tuple [6, 15] + - !!python/tuple [17, 15] + - !!python/tuple [23, 11] + - !!python/tuple [14, 9] + - !!python/tuple [15, 16] + - !!python/tuple [26, 17] + - !!python/tuple [14, 23] + - !!python/tuple [26, 20] + - !!python/tuple [8, 24] + - !!python/tuple [31, 2] + - !!python/tuple [12, 22] + - !!python/tuple [16, 1] + - !!python/tuple [6, 16] + - !!python/tuple [7, 19] + - !!python/tuple [4, 31] + - !!python/tuple [11, 23] + - !!python/tuple [19, 8] + - !!python/tuple [30, 18] + - !!python/tuple [10, 8] + - !!python/tuple [0, 19] + - !!python/tuple [4, 15] + - !!python/tuple [11, 26] + - !!python/tuple [28, 31] + - !!python/tuple [20, 22] + - !!python/tuple [21, 26] + - !!python/tuple [5, 25] + - !!python/tuple [0, 15] + - !!python/tuple [2, 6] + - !!python/tuple [26, 11] + - !!python/tuple [30, 10] + - !!python/tuple [11, 29] + - !!python/tuple [0, 9] + - !!python/tuple [30, 20] + - !!python/tuple [10, 1] + - !!python/tuple [31, 23] + - !!python/tuple [16, 4] + - !!python/tuple [28, 22] + - !!python/tuple [21, 0] + - !!python/tuple [20, 9] + - !!python/tuple [29, 24] + - !!python/tuple [6, 4] + - !!python/tuple [2, 17] + - !!python/tuple [14, 30] + - !!python/tuple [14, 5] + - !!python/tuple [23, 19] + - !!python/tuple [4, 16] + - !!python/tuple [14, 28] + - !!python/tuple [10, 9] + - !!python/tuple [20, 21] + - !!python/tuple [18, 22] + - !!python/tuple [31, 18] + - !!python/tuple [5, 1] + - !!python/tuple [0, 2] + - !!python/tuple [6, 7] + - !!python/tuple [31, 1] + - !!python/tuple [13, 16] + - !!python/tuple [15, 0] + - !!python/tuple [1, 8] + - !!python/tuple [11, 1] + - !!python/tuple [19, 15] + - !!python/tuple [18, 2] + - !!python/tuple [7, 28] + - !!python/tuple [5, 31] + - !!python/tuple [11, 13] + - !!python/tuple [9, 15] + - !!python/tuple [0, 10] + - !!python/tuple [1, 26] + - !!python/tuple [28, 4] + - !!python/tuple [30, 4] + - !!python/tuple [23, 27] + - !!python/tuple [24, 15] + - !!python/tuple [25, 12] + - !!python/tuple [1, 0] + - !!python/tuple [0, 3] + - !!python/tuple [26, 15] + - !!python/tuple [15, 15] + - !!python/tuple [6, 14] + - !!python/tuple [30, 8] + - !!python/tuple [1, 9] + - !!python/tuple [3, 23] + - !!python/tuple [13, 30] + - !!python/tuple [16, 12] + - !!python/tuple [12, 4] + - !!python/tuple [28, 14] + - !!python/tuple [17, 7] + - !!python/tuple [23, 5] + - !!python/tuple [20, 18] + - !!python/tuple [4, 30] + - !!python/tuple [18, 13] + - !!python/tuple [2, 0] + - !!python/tuple [7, 18] + - !!python/tuple [27, 23] + - !!python/tuple [19, 25] + - !!python/tuple [28, 27] + - !!python/tuple [25, 17] + - !!python/tuple [28, 10] + - !!python/tuple [14, 31] + - !!python/tuple [16, 13] + - !!python/tuple [22, 26] + - !!python/tuple [8, 14] + - !!python/tuple [3, 26] + - !!python/tuple [16, 26] + - !!python/tuple [13, 29] + - !!python/tuple [15, 31] + - !!python/tuple [27, 13] + - !!python/tuple [31, 30] + - !!python/tuple [1, 13] + - !!python/tuple [11, 17] + - !!python/tuple [23, 24] + - !!python/tuple [12, 23] + - !!python/tuple [29, 9] + - !!python/tuple [4, 4] + - !!python/tuple [24, 25] + - !!python/tuple [28, 11] + - !!python/tuple [23, 4] + - !!python/tuple [10, 14] + - !!python/tuple [6, 2] + - !!python/tuple [0, 6] + - !!python/tuple [13, 3] + - !!python/tuple [17, 31] + - !!python/tuple [2, 5] + - !!python/tuple [14, 26] + - !!python/tuple [5, 20] + - !!python/tuple [23, 13] + - !!python/tuple [31, 11] + - !!python/tuple [10, 26] + - !!python/tuple [24, 14] + - !!python/tuple [2, 10] + - !!python/tuple [23, 14] + - !!python/tuple [24, 28] + - !!python/tuple [11, 28] + - !!python/tuple [26, 0] + - !!python/tuple [13, 9] + - !!python/tuple [4, 23] + - !!python/tuple [12, 8] + - !!python/tuple [13, 31] + - !!python/tuple [15, 12] + - !!python/tuple [25, 1] + - !!python/tuple [13, 23] + - !!python/tuple [9, 6] + - !!python/tuple [31, 16] + - !!python/tuple [29, 31] + - !!python/tuple [3, 22] + - !!python/tuple [20, 31] + - !!python/tuple [7, 22] + - !!python/tuple [1, 25] + - !!python/tuple [30, 24] + - !!python/tuple [7, 1] + - !!python/tuple [17, 1] + - !!python/tuple [31, 14] + - !!python/tuple [30, 15] + - !!python/tuple [9, 3] + - !!python/tuple [19, 30] + - !!python/tuple [20, 25] + - !!python/tuple [12, 7] + - !!python/tuple [10, 25] + - !!python/tuple [1, 11] + - !!python/tuple [4, 18] + - !!python/tuple [0, 17] + - !!python/tuple [26, 28] + - !!python/tuple [7, 13] + - !!python/tuple [10, 29] + - !!python/tuple [10, 20] + - !!python/tuple [4, 0] + - !!python/tuple [21, 31] + - !!python/tuple [31, 10] + - !!python/tuple [4, 28] + - !!python/tuple [20, 0] + - !!python/tuple [25, 7] + - !!python/tuple [5, 3] + - !!python/tuple [17, 27] + - !!python/tuple [27, 31] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex87.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex87.yaml new file mode 100644 index 0000000..ddef7ff --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex87.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [8, 22] + name: agent0 + start: [3, 10] +- goal: [30, 8] + name: agent1 + start: [28, 16] +- goal: [4, 24] + name: agent2 + start: [19, 7] +- goal: [19, 19] + name: agent3 + start: [13, 29] +- goal: [5, 19] + name: agent4 + start: [11, 31] +- goal: [8, 5] + name: agent5 + start: [12, 30] +- goal: [0, 18] + name: agent6 + start: [23, 18] +- goal: [18, 0] + name: agent7 + start: [24, 28] +- goal: [11, 17] + name: agent8 + start: [7, 17] +- goal: [24, 1] + name: agent9 + start: [1, 1] +- goal: [4, 8] + name: agent10 + start: [28, 19] +- goal: [21, 10] + name: agent11 + start: [20, 30] +- goal: [22, 1] + name: agent12 + start: [11, 26] +- goal: [19, 23] + name: agent13 + start: [12, 21] +- goal: [6, 3] + name: agent14 + start: [25, 27] +- goal: [0, 9] + name: agent15 + start: [11, 0] +- goal: [3, 7] + name: agent16 + start: [6, 25] +- goal: [14, 4] + name: agent17 + start: [5, 13] +- goal: [28, 2] + name: agent18 + start: [7, 20] +- goal: [16, 21] + name: agent19 + start: [25, 5] +- goal: [11, 25] + name: agent20 + start: [19, 9] +- goal: [13, 23] + name: agent21 + start: [25, 28] +- goal: [28, 16] + name: agent22 + start: [28, 29] +- goal: [4, 2] + name: agent23 + start: [5, 4] +- goal: [4, 14] + name: agent24 + start: [7, 23] +- goal: [2, 31] + name: agent25 + start: [29, 3] +- goal: [25, 25] + name: agent26 + start: [23, 27] +- goal: [28, 11] + name: agent27 + start: [24, 17] +- goal: [28, 5] + name: agent28 + start: [16, 7] +- goal: [10, 6] + name: agent29 + start: [7, 21] +- goal: [27, 9] + name: agent30 + start: [13, 18] +- goal: [9, 22] + name: agent31 + start: [29, 24] +- goal: [31, 24] + name: agent32 + start: [14, 0] +- goal: [22, 13] + name: agent33 + start: [2, 31] +- goal: [2, 2] + name: agent34 + start: [20, 31] +- goal: [13, 16] + name: agent35 + start: [23, 29] +- goal: [29, 16] + name: agent36 + start: [21, 8] +- goal: [13, 28] + name: agent37 + start: [20, 19] +- goal: [14, 22] + name: agent38 + start: [9, 10] +- goal: [28, 22] + name: agent39 + start: [6, 0] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [17, 21] + - !!python/tuple [25, 1] + - !!python/tuple [28, 26] + - !!python/tuple [7, 16] + - !!python/tuple [0, 17] + - !!python/tuple [31, 0] + - !!python/tuple [16, 22] + - !!python/tuple [21, 18] + - !!python/tuple [26, 9] + - !!python/tuple [25, 11] + - !!python/tuple [27, 4] + - !!python/tuple [9, 29] + - !!python/tuple [9, 20] + - !!python/tuple [7, 13] + - !!python/tuple [21, 11] + - !!python/tuple [21, 14] + - !!python/tuple [10, 20] + - !!python/tuple [23, 25] + - !!python/tuple [9, 14] + - !!python/tuple [15, 14] + - !!python/tuple [8, 17] + - !!python/tuple [12, 6] + - !!python/tuple [4, 6] + - !!python/tuple [15, 7] + - !!python/tuple [8, 10] + - !!python/tuple [2, 1] + - !!python/tuple [22, 12] + - !!python/tuple [2, 0] + - !!python/tuple [6, 4] + - !!python/tuple [3, 19] + - !!python/tuple [13, 22] + - !!python/tuple [30, 30] + - !!python/tuple [27, 24] + - !!python/tuple [15, 20] + - !!python/tuple [23, 12] + - !!python/tuple [1, 14] + - !!python/tuple [23, 6] + - !!python/tuple [9, 18] + - !!python/tuple [13, 19] + - !!python/tuple [16, 16] + - !!python/tuple [28, 12] + - !!python/tuple [7, 15] + - !!python/tuple [2, 11] + - !!python/tuple [19, 18] + - !!python/tuple [1, 9] + - !!python/tuple [7, 11] + - !!python/tuple [8, 16] + - !!python/tuple [11, 22] + - !!python/tuple [30, 28] + - !!python/tuple [8, 31] + - !!python/tuple [4, 19] + - !!python/tuple [23, 21] + - !!python/tuple [22, 9] + - !!python/tuple [21, 23] + - !!python/tuple [27, 31] + - !!python/tuple [5, 18] + - !!python/tuple [5, 25] + - !!python/tuple [19, 6] + - !!python/tuple [31, 4] + - !!python/tuple [18, 22] + - !!python/tuple [3, 23] + - !!python/tuple [15, 0] + - !!python/tuple [15, 1] + - !!python/tuple [13, 20] + - !!python/tuple [10, 29] + - !!python/tuple [27, 26] + - !!python/tuple [29, 30] + - !!python/tuple [8, 24] + - !!python/tuple [15, 2] + - !!python/tuple [13, 7] + - !!python/tuple [17, 2] + - !!python/tuple [21, 22] + - !!python/tuple [11, 27] + - !!python/tuple [11, 15] + - !!python/tuple [14, 14] + - !!python/tuple [21, 13] + - !!python/tuple [14, 31] + - !!python/tuple [6, 15] + - !!python/tuple [12, 19] + - !!python/tuple [21, 30] + - !!python/tuple [6, 20] + - !!python/tuple [26, 31] + - !!python/tuple [11, 9] + - !!python/tuple [12, 23] + - !!python/tuple [28, 20] + - !!python/tuple [2, 21] + - !!python/tuple [19, 31] + - !!python/tuple [3, 24] + - !!python/tuple [15, 6] + - !!python/tuple [17, 5] + - !!python/tuple [17, 4] + - !!python/tuple [0, 10] + - !!python/tuple [22, 23] + - !!python/tuple [26, 15] + - !!python/tuple [10, 22] + - !!python/tuple [4, 17] + - !!python/tuple [7, 9] + - !!python/tuple [23, 3] + - !!python/tuple [31, 20] + - !!python/tuple [2, 27] + - !!python/tuple [1, 22] + - !!python/tuple [0, 28] + - !!python/tuple [7, 18] + - !!python/tuple [26, 22] + - !!python/tuple [15, 27] + - !!python/tuple [6, 24] + - !!python/tuple [11, 20] + - !!python/tuple [18, 7] + - !!python/tuple [28, 3] + - !!python/tuple [30, 1] + - !!python/tuple [24, 8] + - !!python/tuple [0, 3] + - !!python/tuple [29, 9] + - !!python/tuple [13, 5] + - !!python/tuple [5, 22] + - !!python/tuple [20, 24] + - !!python/tuple [25, 18] + - !!python/tuple [31, 16] + - !!python/tuple [4, 31] + - !!python/tuple [22, 17] + - !!python/tuple [15, 13] + - !!python/tuple [20, 1] + - !!python/tuple [24, 30] + - !!python/tuple [20, 22] + - !!python/tuple [17, 12] + - !!python/tuple [10, 2] + - !!python/tuple [12, 26] + - !!python/tuple [17, 8] + - !!python/tuple [0, 26] + - !!python/tuple [31, 9] + - !!python/tuple [16, 15] + - !!python/tuple [30, 0] + - !!python/tuple [6, 10] + - !!python/tuple [8, 14] + - !!python/tuple [1, 30] + - !!python/tuple [1, 28] + - !!python/tuple [11, 3] + - !!python/tuple [3, 3] + - !!python/tuple [5, 7] + - !!python/tuple [9, 2] + - !!python/tuple [9, 6] + - !!python/tuple [30, 16] + - !!python/tuple [17, 25] + - !!python/tuple [12, 25] + - !!python/tuple [23, 28] + - !!python/tuple [24, 20] + - !!python/tuple [11, 18] + - !!python/tuple [23, 0] + - !!python/tuple [19, 4] + - !!python/tuple [14, 23] + - !!python/tuple [4, 25] + - !!python/tuple [15, 26] + - !!python/tuple [30, 27] + - !!python/tuple [24, 26] + - !!python/tuple [12, 14] + - !!python/tuple [0, 1] + - !!python/tuple [12, 20] + - !!python/tuple [21, 29] + - !!python/tuple [10, 17] + - !!python/tuple [9, 25] + - !!python/tuple [1, 8] + - !!python/tuple [18, 11] + - !!python/tuple [22, 3] + - !!python/tuple [24, 24] + - !!python/tuple [28, 31] + - !!python/tuple [31, 13] + - !!python/tuple [23, 9] + - !!python/tuple [0, 29] + - !!python/tuple [26, 23] + - !!python/tuple [30, 12] + - !!python/tuple [0, 16] + - !!python/tuple [2, 25] + - !!python/tuple [6, 5] + - !!python/tuple [11, 11] + - !!python/tuple [12, 10] + - !!python/tuple [12, 16] + - !!python/tuple [19, 16] + - !!python/tuple [10, 30] + - !!python/tuple [22, 5] + - !!python/tuple [17, 13] + - !!python/tuple [7, 3] + - !!python/tuple [20, 2] + - !!python/tuple [4, 0] + - !!python/tuple [3, 21] + - !!python/tuple [11, 21] + - !!python/tuple [8, 29] + - !!python/tuple [9, 19] + - !!python/tuple [30, 25] + - !!python/tuple [30, 17] + - !!python/tuple [11, 19] + - !!python/tuple [2, 24] + - !!python/tuple [22, 4] + - !!python/tuple [19, 28] + - !!python/tuple [9, 12] + - !!python/tuple [29, 0] + - !!python/tuple [16, 25] + - !!python/tuple [3, 9] + - !!python/tuple [25, 15] + - !!python/tuple [5, 20] + - !!python/tuple [25, 10] + - !!python/tuple [31, 28] + - !!python/tuple [27, 23] + - !!python/tuple [24, 2] + - !!python/tuple [26, 1] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex88.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex88.yaml new file mode 100644 index 0000000..3397aab --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex88.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [13, 13] + name: agent0 + start: [4, 6] +- goal: [0, 14] + name: agent1 + start: [26, 9] +- goal: [22, 3] + name: agent2 + start: [0, 0] +- goal: [23, 9] + name: agent3 + start: [30, 21] +- goal: [17, 28] + name: agent4 + start: [13, 4] +- goal: [2, 18] + name: agent5 + start: [22, 0] +- goal: [17, 6] + name: agent6 + start: [21, 21] +- goal: [2, 25] + name: agent7 + start: [14, 19] +- goal: [3, 5] + name: agent8 + start: [16, 28] +- goal: [14, 27] + name: agent9 + start: [0, 14] +- goal: [5, 0] + name: agent10 + start: [2, 12] +- goal: [14, 17] + name: agent11 + start: [18, 25] +- goal: [26, 25] + name: agent12 + start: [0, 2] +- goal: [19, 16] + name: agent13 + start: [6, 15] +- goal: [28, 30] + name: agent14 + start: [6, 24] +- goal: [0, 21] + name: agent15 + start: [20, 5] +- goal: [22, 18] + name: agent16 + start: [12, 16] +- goal: [9, 10] + name: agent17 + start: [5, 30] +- goal: [31, 21] + name: agent18 + start: [31, 15] +- goal: [24, 15] + name: agent19 + start: [29, 25] +- goal: [20, 25] + name: agent20 + start: [24, 24] +- goal: [4, 21] + name: agent21 + start: [20, 3] +- goal: [2, 28] + name: agent22 + start: [23, 19] +- goal: [16, 15] + name: agent23 + start: [5, 20] +- goal: [3, 19] + name: agent24 + start: [0, 28] +- goal: [28, 24] + name: agent25 + start: [2, 26] +- goal: [21, 7] + name: agent26 + start: [22, 1] +- goal: [14, 4] + name: agent27 + start: [13, 28] +- goal: [6, 29] + name: agent28 + start: [3, 9] +- goal: [23, 15] + name: agent29 + start: [19, 15] +- goal: [0, 25] + name: agent30 + start: [10, 8] +- goal: [13, 21] + name: agent31 + start: [12, 30] +- goal: [16, 26] + name: agent32 + start: [15, 8] +- goal: [0, 15] + name: agent33 + start: [15, 21] +- goal: [22, 27] + name: agent34 + start: [22, 31] +- goal: [19, 31] + name: agent35 + start: [21, 26] +- goal: [5, 20] + name: agent36 + start: [28, 7] +- goal: [24, 20] + name: agent37 + start: [1, 2] +- goal: [18, 18] + name: agent38 + start: [25, 17] +- goal: [6, 23] + name: agent39 + start: [26, 10] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [29, 29] + - !!python/tuple [19, 10] + - !!python/tuple [13, 6] + - !!python/tuple [8, 18] + - !!python/tuple [18, 7] + - !!python/tuple [21, 27] + - !!python/tuple [19, 29] + - !!python/tuple [1, 11] + - !!python/tuple [18, 0] + - !!python/tuple [30, 26] + - !!python/tuple [13, 27] + - !!python/tuple [15, 5] + - !!python/tuple [3, 2] + - !!python/tuple [23, 26] + - !!python/tuple [9, 14] + - !!python/tuple [27, 16] + - !!python/tuple [14, 9] + - !!python/tuple [28, 17] + - !!python/tuple [30, 29] + - !!python/tuple [26, 28] + - !!python/tuple [11, 12] + - !!python/tuple [18, 19] + - !!python/tuple [12, 4] + - !!python/tuple [24, 10] + - !!python/tuple [29, 16] + - !!python/tuple [8, 10] + - !!python/tuple [24, 8] + - !!python/tuple [19, 13] + - !!python/tuple [22, 19] + - !!python/tuple [30, 5] + - !!python/tuple [11, 10] + - !!python/tuple [25, 19] + - !!python/tuple [29, 26] + - !!python/tuple [11, 29] + - !!python/tuple [7, 2] + - !!python/tuple [2, 5] + - !!python/tuple [25, 13] + - !!python/tuple [1, 28] + - !!python/tuple [5, 29] + - !!python/tuple [25, 26] + - !!python/tuple [0, 3] + - !!python/tuple [18, 4] + - !!python/tuple [15, 13] + - !!python/tuple [31, 16] + - !!python/tuple [10, 18] + - !!python/tuple [27, 29] + - !!python/tuple [5, 21] + - !!python/tuple [31, 3] + - !!python/tuple [8, 23] + - !!python/tuple [25, 30] + - !!python/tuple [23, 0] + - !!python/tuple [20, 19] + - !!python/tuple [9, 4] + - !!python/tuple [17, 31] + - !!python/tuple [24, 1] + - !!python/tuple [21, 19] + - !!python/tuple [27, 12] + - !!python/tuple [10, 9] + - !!python/tuple [10, 29] + - !!python/tuple [3, 26] + - !!python/tuple [30, 31] + - !!python/tuple [7, 27] + - !!python/tuple [17, 16] + - !!python/tuple [22, 9] + - !!python/tuple [5, 7] + - !!python/tuple [15, 31] + - !!python/tuple [12, 22] + - !!python/tuple [0, 27] + - !!python/tuple [13, 25] + - !!python/tuple [27, 2] + - !!python/tuple [18, 1] + - !!python/tuple [22, 24] + - !!python/tuple [14, 25] + - !!python/tuple [0, 5] + - !!python/tuple [13, 22] + - !!python/tuple [3, 3] + - !!python/tuple [18, 29] + - !!python/tuple [21, 20] + - !!python/tuple [24, 19] + - !!python/tuple [4, 0] + - !!python/tuple [7, 6] + - !!python/tuple [21, 13] + - !!python/tuple [30, 24] + - !!python/tuple [11, 24] + - !!python/tuple [4, 12] + - !!python/tuple [16, 13] + - !!python/tuple [3, 14] + - !!python/tuple [14, 0] + - !!python/tuple [21, 8] + - !!python/tuple [6, 14] + - !!python/tuple [2, 6] + - !!python/tuple [10, 3] + - !!python/tuple [1, 3] + - !!python/tuple [22, 28] + - !!python/tuple [6, 5] + - !!python/tuple [24, 11] + - !!python/tuple [5, 27] + - !!python/tuple [24, 25] + - !!python/tuple [30, 17] + - !!python/tuple [9, 29] + - !!python/tuple [7, 29] + - !!python/tuple [24, 4] + - !!python/tuple [20, 23] + - !!python/tuple [0, 10] + - !!python/tuple [13, 8] + - !!python/tuple [28, 10] + - !!python/tuple [4, 29] + - !!python/tuple [22, 10] + - !!python/tuple [27, 23] + - !!python/tuple [20, 10] + - !!python/tuple [4, 31] + - !!python/tuple [21, 24] + - !!python/tuple [5, 26] + - !!python/tuple [30, 23] + - !!python/tuple [31, 27] + - !!python/tuple [18, 12] + - !!python/tuple [31, 8] + - !!python/tuple [8, 9] + - !!python/tuple [31, 20] + - !!python/tuple [25, 2] + - !!python/tuple [31, 4] + - !!python/tuple [6, 25] + - !!python/tuple [28, 0] + - !!python/tuple [1, 15] + - !!python/tuple [8, 0] + - !!python/tuple [17, 11] + - !!python/tuple [23, 8] + - !!python/tuple [19, 5] + - !!python/tuple [17, 2] + - !!python/tuple [17, 0] + - !!python/tuple [9, 20] + - !!python/tuple [24, 28] + - !!python/tuple [23, 24] + - !!python/tuple [26, 19] + - !!python/tuple [25, 11] + - !!python/tuple [31, 13] + - !!python/tuple [10, 24] + - !!python/tuple [29, 3] + - !!python/tuple [29, 8] + - !!python/tuple [3, 17] + - !!python/tuple [26, 31] + - !!python/tuple [19, 4] + - !!python/tuple [14, 22] + - !!python/tuple [13, 2] + - !!python/tuple [4, 15] + - !!python/tuple [6, 2] + - !!python/tuple [8, 16] + - !!python/tuple [22, 22] + - !!python/tuple [24, 31] + - !!python/tuple [17, 9] + - !!python/tuple [27, 0] + - !!python/tuple [10, 17] + - !!python/tuple [20, 6] + - !!python/tuple [27, 6] + - !!python/tuple [15, 18] + - !!python/tuple [17, 21] + - !!python/tuple [0, 18] + - !!python/tuple [16, 19] + - !!python/tuple [25, 29] + - !!python/tuple [2, 20] + - !!python/tuple [11, 22] + - !!python/tuple [0, 8] + - !!python/tuple [20, 1] + - !!python/tuple [17, 15] + - !!python/tuple [10, 5] + - !!python/tuple [9, 0] + - !!python/tuple [6, 17] + - !!python/tuple [5, 17] + - !!python/tuple [21, 22] + - !!python/tuple [9, 5] + - !!python/tuple [11, 4] + - !!python/tuple [2, 19] + - !!python/tuple [27, 30] + - !!python/tuple [7, 19] + - !!python/tuple [29, 5] + - !!python/tuple [5, 10] + - !!python/tuple [28, 31] + - !!python/tuple [10, 0] + - !!python/tuple [2, 4] + - !!python/tuple [10, 26] + - !!python/tuple [18, 8] + - !!python/tuple [7, 18] + - !!python/tuple [16, 5] + - !!python/tuple [29, 18] + - !!python/tuple [25, 22] + - !!python/tuple [14, 16] + - !!python/tuple [26, 24] + - !!python/tuple [6, 6] + - !!python/tuple [27, 18] + - !!python/tuple [17, 18] + - !!python/tuple [10, 20] + - !!python/tuple [10, 19] + - !!python/tuple [24, 14] + - !!python/tuple [30, 1] + - !!python/tuple [7, 10] + - !!python/tuple [20, 12] + - !!python/tuple [31, 30] + - !!python/tuple [1, 22] + - !!python/tuple [14, 18] + - !!python/tuple [7, 20] + - !!python/tuple [26, 4] + - !!python/tuple [12, 7] + - !!python/tuple [12, 5] + - !!python/tuple [30, 7] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex89.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex89.yaml new file mode 100644 index 0000000..0388998 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex89.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [6, 0] + name: agent0 + start: [24, 5] +- goal: [3, 20] + name: agent1 + start: [12, 25] +- goal: [1, 8] + name: agent2 + start: [15, 27] +- goal: [2, 8] + name: agent3 + start: [9, 20] +- goal: [18, 28] + name: agent4 + start: [19, 15] +- goal: [30, 20] + name: agent5 + start: [18, 14] +- goal: [25, 15] + name: agent6 + start: [28, 13] +- goal: [31, 26] + name: agent7 + start: [30, 24] +- goal: [23, 15] + name: agent8 + start: [0, 13] +- goal: [12, 2] + name: agent9 + start: [30, 5] +- goal: [27, 4] + name: agent10 + start: [5, 25] +- goal: [23, 5] + name: agent11 + start: [15, 4] +- goal: [11, 27] + name: agent12 + start: [30, 19] +- goal: [14, 9] + name: agent13 + start: [19, 6] +- goal: [17, 29] + name: agent14 + start: [31, 9] +- goal: [11, 18] + name: agent15 + start: [14, 4] +- goal: [7, 8] + name: agent16 + start: [22, 26] +- goal: [4, 23] + name: agent17 + start: [19, 12] +- goal: [17, 18] + name: agent18 + start: [0, 21] +- goal: [9, 18] + name: agent19 + start: [2, 26] +- goal: [12, 9] + name: agent20 + start: [22, 1] +- goal: [11, 16] + name: agent21 + start: [27, 25] +- goal: [9, 10] + name: agent22 + start: [10, 9] +- goal: [22, 26] + name: agent23 + start: [7, 26] +- goal: [27, 20] + name: agent24 + start: [3, 27] +- goal: [20, 15] + name: agent25 + start: [8, 16] +- goal: [1, 29] + name: agent26 + start: [7, 27] +- goal: [15, 19] + name: agent27 + start: [25, 10] +- goal: [28, 24] + name: agent28 + start: [29, 13] +- goal: [9, 6] + name: agent29 + start: [21, 30] +- goal: [26, 30] + name: agent30 + start: [2, 0] +- goal: [7, 7] + name: agent31 + start: [12, 30] +- goal: [16, 3] + name: agent32 + start: [9, 25] +- goal: [8, 9] + name: agent33 + start: [21, 8] +- goal: [31, 3] + name: agent34 + start: [25, 24] +- goal: [24, 27] + name: agent35 + start: [18, 29] +- goal: [8, 6] + name: agent36 + start: [7, 29] +- goal: [19, 28] + name: agent37 + start: [28, 10] +- goal: [26, 27] + name: agent38 + start: [20, 4] +- goal: [30, 19] + name: agent39 + start: [22, 27] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [4, 12] + - !!python/tuple [3, 1] + - !!python/tuple [9, 31] + - !!python/tuple [14, 6] + - !!python/tuple [6, 11] + - !!python/tuple [18, 12] + - !!python/tuple [15, 17] + - !!python/tuple [5, 26] + - !!python/tuple [14, 1] + - !!python/tuple [31, 0] + - !!python/tuple [21, 21] + - !!python/tuple [31, 8] + - !!python/tuple [1, 14] + - !!python/tuple [26, 17] + - !!python/tuple [5, 0] + - !!python/tuple [14, 10] + - !!python/tuple [16, 4] + - !!python/tuple [4, 11] + - !!python/tuple [0, 11] + - !!python/tuple [23, 13] + - !!python/tuple [8, 5] + - !!python/tuple [26, 29] + - !!python/tuple [0, 6] + - !!python/tuple [3, 22] + - !!python/tuple [10, 3] + - !!python/tuple [14, 11] + - !!python/tuple [11, 28] + - !!python/tuple [0, 20] + - !!python/tuple [26, 20] + - !!python/tuple [2, 9] + - !!python/tuple [19, 2] + - !!python/tuple [23, 24] + - !!python/tuple [15, 25] + - !!python/tuple [1, 26] + - !!python/tuple [6, 24] + - !!python/tuple [20, 21] + - !!python/tuple [27, 8] + - !!python/tuple [13, 23] + - !!python/tuple [30, 17] + - !!python/tuple [4, 1] + - !!python/tuple [26, 3] + - !!python/tuple [7, 1] + - !!python/tuple [3, 15] + - !!python/tuple [18, 7] + - !!python/tuple [21, 26] + - !!python/tuple [11, 11] + - !!python/tuple [3, 30] + - !!python/tuple [25, 5] + - !!python/tuple [22, 31] + - !!python/tuple [24, 1] + - !!python/tuple [5, 16] + - !!python/tuple [8, 28] + - !!python/tuple [2, 15] + - !!python/tuple [1, 18] + - !!python/tuple [18, 6] + - !!python/tuple [27, 19] + - !!python/tuple [7, 30] + - !!python/tuple [0, 15] + - !!python/tuple [18, 25] + - !!python/tuple [25, 30] + - !!python/tuple [0, 4] + - !!python/tuple [28, 0] + - !!python/tuple [23, 9] + - !!python/tuple [13, 13] + - !!python/tuple [11, 17] + - !!python/tuple [29, 12] + - !!python/tuple [2, 19] + - !!python/tuple [7, 20] + - !!python/tuple [8, 14] + - !!python/tuple [12, 26] + - !!python/tuple [13, 18] + - !!python/tuple [7, 18] + - !!python/tuple [26, 16] + - !!python/tuple [30, 8] + - !!python/tuple [8, 21] + - !!python/tuple [17, 19] + - !!python/tuple [13, 29] + - !!python/tuple [2, 27] + - !!python/tuple [11, 10] + - !!python/tuple [21, 29] + - !!python/tuple [15, 11] + - !!python/tuple [13, 22] + - !!python/tuple [20, 1] + - !!python/tuple [6, 12] + - !!python/tuple [14, 28] + - !!python/tuple [3, 3] + - !!python/tuple [20, 3] + - !!python/tuple [13, 6] + - !!python/tuple [27, 18] + - !!python/tuple [8, 30] + - !!python/tuple [17, 8] + - !!python/tuple [17, 13] + - !!python/tuple [23, 0] + - !!python/tuple [25, 26] + - !!python/tuple [10, 25] + - !!python/tuple [31, 15] + - !!python/tuple [4, 28] + - !!python/tuple [24, 12] + - !!python/tuple [7, 0] + - !!python/tuple [10, 7] + - !!python/tuple [10, 4] + - !!python/tuple [4, 14] + - !!python/tuple [13, 2] + - !!python/tuple [20, 2] + - !!python/tuple [13, 31] + - !!python/tuple [13, 20] + - !!python/tuple [24, 9] + - !!python/tuple [3, 12] + - !!python/tuple [28, 19] + - !!python/tuple [8, 4] + - !!python/tuple [31, 25] + - !!python/tuple [0, 26] + - !!python/tuple [29, 28] + - !!python/tuple [3, 26] + - !!python/tuple [8, 18] + - !!python/tuple [21, 23] + - !!python/tuple [25, 16] + - !!python/tuple [31, 4] + - !!python/tuple [8, 11] + - !!python/tuple [15, 14] + - !!python/tuple [10, 16] + - !!python/tuple [31, 24] + - !!python/tuple [29, 2] + - !!python/tuple [9, 29] + - !!python/tuple [4, 10] + - !!python/tuple [24, 16] + - !!python/tuple [3, 25] + - !!python/tuple [20, 29] + - !!python/tuple [11, 24] + - !!python/tuple [1, 2] + - !!python/tuple [22, 28] + - !!python/tuple [26, 7] + - !!python/tuple [6, 4] + - !!python/tuple [26, 11] + - !!python/tuple [6, 5] + - !!python/tuple [2, 29] + - !!python/tuple [30, 15] + - !!python/tuple [0, 3] + - !!python/tuple [12, 1] + - !!python/tuple [17, 24] + - !!python/tuple [9, 9] + - !!python/tuple [5, 7] + - !!python/tuple [7, 14] + - !!python/tuple [22, 22] + - !!python/tuple [19, 16] + - !!python/tuple [11, 13] + - !!python/tuple [19, 8] + - !!python/tuple [5, 12] + - !!python/tuple [15, 15] + - !!python/tuple [2, 17] + - !!python/tuple [2, 6] + - !!python/tuple [12, 23] + - !!python/tuple [8, 22] + - !!python/tuple [15, 13] + - !!python/tuple [1, 12] + - !!python/tuple [27, 27] + - !!python/tuple [25, 12] + - !!python/tuple [26, 10] + - !!python/tuple [14, 19] + - !!python/tuple [28, 1] + - !!python/tuple [21, 24] + - !!python/tuple [3, 17] + - !!python/tuple [27, 29] + - !!python/tuple [5, 2] + - !!python/tuple [4, 21] + - !!python/tuple [8, 3] + - !!python/tuple [7, 31] + - !!python/tuple [30, 1] + - !!python/tuple [25, 27] + - !!python/tuple [27, 11] + - !!python/tuple [19, 4] + - !!python/tuple [6, 13] + - !!python/tuple [30, 14] + - !!python/tuple [19, 14] + - !!python/tuple [1, 16] + - !!python/tuple [20, 12] + - !!python/tuple [1, 17] + - !!python/tuple [24, 31] + - !!python/tuple [11, 26] + - !!python/tuple [25, 7] + - !!python/tuple [3, 7] + - !!python/tuple [14, 27] + - !!python/tuple [23, 25] + - !!python/tuple [16, 18] + - !!python/tuple [17, 31] + - !!python/tuple [18, 24] + - !!python/tuple [20, 31] + - !!python/tuple [1, 5] + - !!python/tuple [15, 28] + - !!python/tuple [31, 1] + - !!python/tuple [18, 21] + - !!python/tuple [16, 2] + - !!python/tuple [10, 23] + - !!python/tuple [3, 18] + - !!python/tuple [28, 23] + - !!python/tuple [10, 26] + - !!python/tuple [24, 15] + - !!python/tuple [26, 21] + - !!python/tuple [25, 11] + - !!python/tuple [8, 19] + - !!python/tuple [19, 3] + - !!python/tuple [8, 13] + - !!python/tuple [23, 4] + - !!python/tuple [17, 23] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex9.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex9.yaml new file mode 100644 index 0000000..fbd0f2e --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex9.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [0, 31] + name: agent0 + start: [25, 16] +- goal: [8, 26] + name: agent1 + start: [1, 17] +- goal: [24, 18] + name: agent2 + start: [19, 25] +- goal: [28, 23] + name: agent3 + start: [30, 15] +- goal: [6, 13] + name: agent4 + start: [7, 4] +- goal: [15, 12] + name: agent5 + start: [1, 7] +- goal: [21, 3] + name: agent6 + start: [5, 6] +- goal: [15, 23] + name: agent7 + start: [28, 24] +- goal: [5, 21] + name: agent8 + start: [23, 25] +- goal: [30, 20] + name: agent9 + start: [17, 0] +- goal: [21, 17] + name: agent10 + start: [12, 14] +- goal: [10, 8] + name: agent11 + start: [25, 21] +- goal: [25, 23] + name: agent12 + start: [30, 14] +- goal: [29, 31] + name: agent13 + start: [18, 1] +- goal: [19, 10] + name: agent14 + start: [15, 11] +- goal: [31, 27] + name: agent15 + start: [14, 10] +- goal: [18, 29] + name: agent16 + start: [15, 22] +- goal: [3, 25] + name: agent17 + start: [15, 21] +- goal: [12, 31] + name: agent18 + start: [3, 24] +- goal: [14, 21] + name: agent19 + start: [9, 22] +- goal: [10, 10] + name: agent20 + start: [13, 2] +- goal: [8, 11] + name: agent21 + start: [14, 20] +- goal: [18, 21] + name: agent22 + start: [6, 24] +- goal: [4, 13] + name: agent23 + start: [15, 15] +- goal: [0, 10] + name: agent24 + start: [11, 1] +- goal: [16, 18] + name: agent25 + start: [22, 9] +- goal: [5, 9] + name: agent26 + start: [26, 23] +- goal: [27, 10] + name: agent27 + start: [16, 2] +- goal: [19, 3] + name: agent28 + start: [5, 9] +- goal: [5, 15] + name: agent29 + start: [24, 27] +- goal: [12, 22] + name: agent30 + start: [22, 16] +- goal: [10, 2] + name: agent31 + start: [13, 21] +- goal: [1, 21] + name: agent32 + start: [6, 16] +- goal: [9, 6] + name: agent33 + start: [31, 31] +- goal: [4, 14] + name: agent34 + start: [14, 17] +- goal: [17, 8] + name: agent35 + start: [1, 5] +- goal: [24, 17] + name: agent36 + start: [13, 20] +- goal: [31, 28] + name: agent37 + start: [8, 16] +- goal: [8, 5] + name: agent38 + start: [22, 8] +- goal: [26, 8] + name: agent39 + start: [0, 31] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [15, 27] + - !!python/tuple [27, 21] + - !!python/tuple [13, 6] + - !!python/tuple [23, 6] + - !!python/tuple [19, 15] + - !!python/tuple [12, 25] + - !!python/tuple [7, 2] + - !!python/tuple [8, 21] + - !!python/tuple [6, 18] + - !!python/tuple [29, 14] + - !!python/tuple [25, 30] + - !!python/tuple [27, 16] + - !!python/tuple [16, 11] + - !!python/tuple [19, 9] + - !!python/tuple [17, 31] + - !!python/tuple [26, 0] + - !!python/tuple [6, 8] + - !!python/tuple [9, 17] + - !!python/tuple [2, 4] + - !!python/tuple [26, 4] + - !!python/tuple [20, 12] + - !!python/tuple [13, 10] + - !!python/tuple [7, 5] + - !!python/tuple [28, 8] + - !!python/tuple [11, 16] + - !!python/tuple [30, 21] + - !!python/tuple [28, 26] + - !!python/tuple [12, 16] + - !!python/tuple [26, 22] + - !!python/tuple [8, 17] + - !!python/tuple [7, 1] + - !!python/tuple [7, 20] + - !!python/tuple [23, 20] + - !!python/tuple [0, 2] + - !!python/tuple [9, 11] + - !!python/tuple [13, 26] + - !!python/tuple [1, 18] + - !!python/tuple [30, 13] + - !!python/tuple [12, 10] + - !!python/tuple [23, 22] + - !!python/tuple [9, 27] + - !!python/tuple [22, 6] + - !!python/tuple [9, 4] + - !!python/tuple [20, 6] + - !!python/tuple [10, 24] + - !!python/tuple [24, 24] + - !!python/tuple [11, 5] + - !!python/tuple [7, 15] + - !!python/tuple [20, 0] + - !!python/tuple [10, 17] + - !!python/tuple [18, 23] + - !!python/tuple [31, 9] + - !!python/tuple [23, 0] + - !!python/tuple [12, 23] + - !!python/tuple [28, 5] + - !!python/tuple [29, 21] + - !!python/tuple [16, 30] + - !!python/tuple [18, 12] + - !!python/tuple [31, 24] + - !!python/tuple [5, 7] + - !!python/tuple [3, 29] + - !!python/tuple [6, 14] + - !!python/tuple [0, 18] + - !!python/tuple [5, 8] + - !!python/tuple [12, 1] + - !!python/tuple [27, 23] + - !!python/tuple [13, 13] + - !!python/tuple [5, 31] + - !!python/tuple [4, 28] + - !!python/tuple [1, 8] + - !!python/tuple [28, 20] + - !!python/tuple [30, 25] + - !!python/tuple [25, 12] + - !!python/tuple [21, 18] + - !!python/tuple [21, 0] + - !!python/tuple [29, 29] + - !!python/tuple [20, 8] + - !!python/tuple [15, 29] + - !!python/tuple [20, 31] + - !!python/tuple [7, 23] + - !!python/tuple [12, 20] + - !!python/tuple [24, 30] + - !!python/tuple [11, 28] + - !!python/tuple [8, 9] + - !!python/tuple [22, 2] + - !!python/tuple [9, 15] + - !!python/tuple [8, 18] + - !!python/tuple [1, 24] + - !!python/tuple [2, 10] + - !!python/tuple [27, 7] + - !!python/tuple [0, 21] + - !!python/tuple [18, 5] + - !!python/tuple [13, 25] + - !!python/tuple [4, 11] + - !!python/tuple [1, 4] + - !!python/tuple [8, 8] + - !!python/tuple [28, 29] + - !!python/tuple [3, 30] + - !!python/tuple [30, 12] + - !!python/tuple [30, 5] + - !!python/tuple [16, 22] + - !!python/tuple [26, 29] + - !!python/tuple [10, 22] + - !!python/tuple [22, 30] + - !!python/tuple [26, 7] + - !!python/tuple [28, 0] + - !!python/tuple [12, 24] + - !!python/tuple [4, 2] + - !!python/tuple [23, 2] + - !!python/tuple [18, 22] + - !!python/tuple [6, 30] + - !!python/tuple [30, 28] + - !!python/tuple [9, 13] + - !!python/tuple [8, 0] + - !!python/tuple [18, 10] + - !!python/tuple [21, 20] + - !!python/tuple [5, 3] + - !!python/tuple [23, 16] + - !!python/tuple [16, 20] + - !!python/tuple [5, 20] + - !!python/tuple [26, 5] + - !!python/tuple [14, 0] + - !!python/tuple [25, 2] + - !!python/tuple [23, 17] + - !!python/tuple [20, 13] + - !!python/tuple [30, 19] + - !!python/tuple [4, 18] + - !!python/tuple [12, 13] + - !!python/tuple [31, 11] + - !!python/tuple [18, 8] + - !!python/tuple [31, 23] + - !!python/tuple [8, 30] + - !!python/tuple [2, 19] + - !!python/tuple [8, 3] + - !!python/tuple [6, 3] + - !!python/tuple [31, 15] + - !!python/tuple [23, 14] + - !!python/tuple [8, 7] + - !!python/tuple [30, 31] + - !!python/tuple [15, 26] + - !!python/tuple [25, 8] + - !!python/tuple [23, 31] + - !!python/tuple [22, 5] + - !!python/tuple [0, 3] + - !!python/tuple [16, 9] + - !!python/tuple [4, 6] + - !!python/tuple [15, 6] + - !!python/tuple [19, 4] + - !!python/tuple [20, 21] + - !!python/tuple [3, 1] + - !!python/tuple [13, 24] + - !!python/tuple [1, 9] + - !!python/tuple [21, 21] + - !!python/tuple [22, 24] + - !!python/tuple [6, 9] + - !!python/tuple [25, 13] + - !!python/tuple [7, 9] + - !!python/tuple [11, 15] + - !!python/tuple [2, 9] + - !!python/tuple [3, 4] + - !!python/tuple [18, 6] + - !!python/tuple [19, 8] + - !!python/tuple [10, 19] + - !!python/tuple [30, 1] + - !!python/tuple [8, 13] + - !!python/tuple [22, 10] + - !!python/tuple [31, 0] + - !!python/tuple [12, 27] + - !!python/tuple [28, 18] + - !!python/tuple [29, 9] + - !!python/tuple [18, 14] + - !!python/tuple [26, 21] + - !!python/tuple [19, 26] + - !!python/tuple [18, 30] + - !!python/tuple [26, 14] + - !!python/tuple [12, 8] + - !!python/tuple [19, 28] + - !!python/tuple [8, 4] + - !!python/tuple [5, 1] + - !!python/tuple [12, 19] + - !!python/tuple [14, 24] + - !!python/tuple [3, 8] + - !!python/tuple [4, 12] + - !!python/tuple [16, 6] + - !!python/tuple [25, 0] + - !!python/tuple [19, 5] + - !!python/tuple [21, 16] + - !!python/tuple [2, 21] + - !!python/tuple [5, 11] + - !!python/tuple [4, 4] + - !!python/tuple [18, 18] + - !!python/tuple [14, 26] + - !!python/tuple [8, 1] + - !!python/tuple [22, 7] + - !!python/tuple [16, 17] + - !!python/tuple [26, 3] + - !!python/tuple [7, 19] + - !!python/tuple [9, 2] + - !!python/tuple [2, 31] + - !!python/tuple [23, 28] + - !!python/tuple [15, 31] + - !!python/tuple [3, 28] + - !!python/tuple [16, 0] + - !!python/tuple [12, 5] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex90.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex90.yaml new file mode 100644 index 0000000..158a004 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex90.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [5, 8] + name: agent0 + start: [21, 17] +- goal: [27, 1] + name: agent1 + start: [16, 18] +- goal: [20, 17] + name: agent2 + start: [5, 25] +- goal: [26, 23] + name: agent3 + start: [21, 29] +- goal: [1, 9] + name: agent4 + start: [19, 29] +- goal: [31, 20] + name: agent5 + start: [2, 23] +- goal: [5, 9] + name: agent6 + start: [1, 11] +- goal: [29, 31] + name: agent7 + start: [2, 24] +- goal: [0, 0] + name: agent8 + start: [27, 3] +- goal: [24, 19] + name: agent9 + start: [2, 13] +- goal: [14, 8] + name: agent10 + start: [28, 29] +- goal: [28, 12] + name: agent11 + start: [21, 15] +- goal: [29, 29] + name: agent12 + start: [6, 27] +- goal: [4, 1] + name: agent13 + start: [27, 12] +- goal: [21, 9] + name: agent14 + start: [10, 27] +- goal: [19, 13] + name: agent15 + start: [30, 4] +- goal: [3, 16] + name: agent16 + start: [24, 17] +- goal: [12, 7] + name: agent17 + start: [8, 30] +- goal: [7, 28] + name: agent18 + start: [8, 21] +- goal: [12, 10] + name: agent19 + start: [13, 19] +- goal: [31, 6] + name: agent20 + start: [25, 7] +- goal: [21, 20] + name: agent21 + start: [11, 28] +- goal: [25, 30] + name: agent22 + start: [21, 16] +- goal: [7, 26] + name: agent23 + start: [22, 25] +- goal: [3, 12] + name: agent24 + start: [24, 8] +- goal: [22, 24] + name: agent25 + start: [14, 16] +- goal: [25, 15] + name: agent26 + start: [13, 8] +- goal: [31, 23] + name: agent27 + start: [17, 31] +- goal: [16, 30] + name: agent28 + start: [6, 15] +- goal: [19, 16] + name: agent29 + start: [10, 19] +- goal: [16, 1] + name: agent30 + start: [21, 3] +- goal: [2, 8] + name: agent31 + start: [28, 1] +- goal: [12, 6] + name: agent32 + start: [7, 30] +- goal: [4, 5] + name: agent33 + start: [23, 11] +- goal: [19, 22] + name: agent34 + start: [17, 2] +- goal: [11, 24] + name: agent35 + start: [4, 20] +- goal: [15, 29] + name: agent36 + start: [15, 29] +- goal: [12, 14] + name: agent37 + start: [15, 19] +- goal: [4, 30] + name: agent38 + start: [11, 16] +- goal: [0, 23] + name: agent39 + start: [22, 24] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [15, 16] + - !!python/tuple [9, 3] + - !!python/tuple [11, 8] + - !!python/tuple [28, 16] + - !!python/tuple [2, 21] + - !!python/tuple [29, 12] + - !!python/tuple [31, 27] + - !!python/tuple [22, 9] + - !!python/tuple [0, 10] + - !!python/tuple [26, 11] + - !!python/tuple [31, 26] + - !!python/tuple [2, 18] + - !!python/tuple [13, 0] + - !!python/tuple [18, 30] + - !!python/tuple [28, 0] + - !!python/tuple [25, 25] + - !!python/tuple [18, 24] + - !!python/tuple [1, 24] + - !!python/tuple [25, 13] + - !!python/tuple [17, 6] + - !!python/tuple [12, 4] + - !!python/tuple [26, 29] + - !!python/tuple [7, 10] + - !!python/tuple [13, 4] + - !!python/tuple [12, 9] + - !!python/tuple [19, 17] + - !!python/tuple [19, 11] + - !!python/tuple [0, 7] + - !!python/tuple [25, 8] + - !!python/tuple [2, 11] + - !!python/tuple [0, 16] + - !!python/tuple [3, 8] + - !!python/tuple [21, 28] + - !!python/tuple [4, 12] + - !!python/tuple [2, 16] + - !!python/tuple [8, 27] + - !!python/tuple [9, 6] + - !!python/tuple [8, 22] + - !!python/tuple [18, 2] + - !!python/tuple [30, 23] + - !!python/tuple [19, 23] + - !!python/tuple [5, 0] + - !!python/tuple [29, 4] + - !!python/tuple [22, 2] + - !!python/tuple [20, 20] + - !!python/tuple [4, 3] + - !!python/tuple [10, 4] + - !!python/tuple [17, 14] + - !!python/tuple [13, 18] + - !!python/tuple [29, 28] + - !!python/tuple [30, 12] + - !!python/tuple [19, 14] + - !!python/tuple [15, 1] + - !!python/tuple [1, 26] + - !!python/tuple [5, 11] + - !!python/tuple [13, 22] + - !!python/tuple [18, 9] + - !!python/tuple [7, 2] + - !!python/tuple [1, 4] + - !!python/tuple [13, 10] + - !!python/tuple [26, 19] + - !!python/tuple [22, 20] + - !!python/tuple [7, 6] + - !!python/tuple [2, 2] + - !!python/tuple [30, 20] + - !!python/tuple [16, 31] + - !!python/tuple [9, 15] + - !!python/tuple [21, 13] + - !!python/tuple [0, 20] + - !!python/tuple [15, 2] + - !!python/tuple [19, 0] + - !!python/tuple [20, 31] + - !!python/tuple [25, 21] + - !!python/tuple [16, 19] + - !!python/tuple [13, 17] + - !!python/tuple [24, 22] + - !!python/tuple [19, 5] + - !!python/tuple [22, 17] + - !!python/tuple [15, 18] + - !!python/tuple [11, 21] + - !!python/tuple [9, 25] + - !!python/tuple [15, 13] + - !!python/tuple [23, 14] + - !!python/tuple [16, 4] + - !!python/tuple [18, 18] + - !!python/tuple [14, 19] + - !!python/tuple [12, 30] + - !!python/tuple [31, 30] + - !!python/tuple [17, 28] + - !!python/tuple [4, 2] + - !!python/tuple [3, 15] + - !!python/tuple [27, 0] + - !!python/tuple [27, 5] + - !!python/tuple [8, 13] + - !!python/tuple [25, 14] + - !!python/tuple [2, 22] + - !!python/tuple [20, 27] + - !!python/tuple [8, 8] + - !!python/tuple [24, 0] + - !!python/tuple [15, 27] + - !!python/tuple [4, 15] + - !!python/tuple [0, 9] + - !!python/tuple [21, 26] + - !!python/tuple [11, 7] + - !!python/tuple [14, 4] + - !!python/tuple [1, 22] + - !!python/tuple [27, 7] + - !!python/tuple [19, 19] + - !!python/tuple [31, 3] + - !!python/tuple [25, 31] + - !!python/tuple [8, 16] + - !!python/tuple [2, 9] + - !!python/tuple [16, 17] + - !!python/tuple [0, 18] + - !!python/tuple [17, 15] + - !!python/tuple [6, 9] + - !!python/tuple [14, 11] + - !!python/tuple [13, 13] + - !!python/tuple [10, 6] + - !!python/tuple [1, 10] + - !!python/tuple [15, 30] + - !!python/tuple [1, 14] + - !!python/tuple [26, 17] + - !!python/tuple [16, 0] + - !!python/tuple [11, 19] + - !!python/tuple [17, 16] + - !!python/tuple [3, 31] + - !!python/tuple [14, 25] + - !!python/tuple [21, 11] + - !!python/tuple [13, 23] + - !!python/tuple [6, 4] + - !!python/tuple [26, 10] + - !!python/tuple [23, 21] + - !!python/tuple [1, 17] + - !!python/tuple [7, 22] + - !!python/tuple [15, 31] + - !!python/tuple [12, 25] + - !!python/tuple [30, 24] + - !!python/tuple [21, 27] + - !!python/tuple [24, 1] + - !!python/tuple [29, 15] + - !!python/tuple [1, 15] + - !!python/tuple [10, 2] + - !!python/tuple [30, 6] + - !!python/tuple [22, 15] + - !!python/tuple [24, 12] + - !!python/tuple [30, 21] + - !!python/tuple [8, 0] + - !!python/tuple [8, 10] + - !!python/tuple [31, 2] + - !!python/tuple [6, 7] + - !!python/tuple [8, 11] + - !!python/tuple [17, 3] + - !!python/tuple [31, 18] + - !!python/tuple [5, 20] + - !!python/tuple [17, 4] + - !!python/tuple [10, 8] + - !!python/tuple [12, 21] + - !!python/tuple [21, 23] + - !!python/tuple [19, 27] + - !!python/tuple [17, 1] + - !!python/tuple [11, 2] + - !!python/tuple [16, 6] + - !!python/tuple [2, 26] + - !!python/tuple [14, 22] + - !!python/tuple [16, 9] + - !!python/tuple [5, 18] + - !!python/tuple [20, 24] + - !!python/tuple [9, 17] + - !!python/tuple [10, 31] + - !!python/tuple [10, 13] + - !!python/tuple [9, 0] + - !!python/tuple [9, 14] + - !!python/tuple [16, 8] + - !!python/tuple [31, 19] + - !!python/tuple [3, 21] + - !!python/tuple [8, 17] + - !!python/tuple [11, 17] + - !!python/tuple [22, 10] + - !!python/tuple [16, 11] + - !!python/tuple [13, 21] + - !!python/tuple [31, 16] + - !!python/tuple [28, 6] + - !!python/tuple [10, 16] + - !!python/tuple [7, 29] + - !!python/tuple [9, 27] + - !!python/tuple [30, 19] + - !!python/tuple [12, 20] + - !!python/tuple [18, 31] + - !!python/tuple [21, 21] + - !!python/tuple [21, 31] + - !!python/tuple [5, 15] + - !!python/tuple [5, 6] + - !!python/tuple [18, 5] + - !!python/tuple [27, 2] + - !!python/tuple [20, 15] + - !!python/tuple [28, 22] + - !!python/tuple [24, 11] + - !!python/tuple [3, 7] + - !!python/tuple [27, 23] + - !!python/tuple [25, 29] + - !!python/tuple [6, 19] + - !!python/tuple [8, 24] + - !!python/tuple [22, 6] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex91.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex91.yaml new file mode 100644 index 0000000..bc8ea82 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex91.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [15, 23] + name: agent0 + start: [13, 19] +- goal: [13, 19] + name: agent1 + start: [13, 14] +- goal: [0, 18] + name: agent2 + start: [15, 17] +- goal: [14, 31] + name: agent3 + start: [21, 4] +- goal: [13, 11] + name: agent4 + start: [13, 1] +- goal: [12, 4] + name: agent5 + start: [5, 6] +- goal: [30, 27] + name: agent6 + start: [2, 2] +- goal: [8, 9] + name: agent7 + start: [29, 15] +- goal: [24, 15] + name: agent8 + start: [3, 17] +- goal: [19, 6] + name: agent9 + start: [30, 17] +- goal: [8, 14] + name: agent10 + start: [29, 22] +- goal: [25, 27] + name: agent11 + start: [28, 16] +- goal: [28, 5] + name: agent12 + start: [7, 18] +- goal: [20, 29] + name: agent13 + start: [9, 29] +- goal: [6, 21] + name: agent14 + start: [3, 12] +- goal: [22, 18] + name: agent15 + start: [4, 12] +- goal: [5, 20] + name: agent16 + start: [28, 22] +- goal: [14, 23] + name: agent17 + start: [11, 25] +- goal: [9, 20] + name: agent18 + start: [10, 7] +- goal: [25, 11] + name: agent19 + start: [25, 21] +- goal: [2, 1] + name: agent20 + start: [5, 24] +- goal: [17, 13] + name: agent21 + start: [25, 7] +- goal: [18, 29] + name: agent22 + start: [13, 27] +- goal: [10, 2] + name: agent23 + start: [1, 22] +- goal: [12, 3] + name: agent24 + start: [0, 21] +- goal: [9, 19] + name: agent25 + start: [0, 27] +- goal: [20, 2] + name: agent26 + start: [10, 17] +- goal: [28, 30] + name: agent27 + start: [26, 13] +- goal: [17, 12] + name: agent28 + start: [17, 11] +- goal: [23, 20] + name: agent29 + start: [17, 10] +- goal: [3, 24] + name: agent30 + start: [7, 25] +- goal: [15, 22] + name: agent31 + start: [9, 30] +- goal: [14, 14] + name: agent32 + start: [2, 12] +- goal: [4, 27] + name: agent33 + start: [18, 20] +- goal: [29, 0] + name: agent34 + start: [21, 14] +- goal: [4, 8] + name: agent35 + start: [22, 29] +- goal: [7, 14] + name: agent36 + start: [29, 11] +- goal: [14, 9] + name: agent37 + start: [26, 3] +- goal: [6, 29] + name: agent38 + start: [14, 12] +- goal: [18, 12] + name: agent39 + start: [5, 15] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [22, 27] + - !!python/tuple [1, 6] + - !!python/tuple [26, 10] + - !!python/tuple [23, 13] + - !!python/tuple [23, 0] + - !!python/tuple [1, 4] + - !!python/tuple [19, 26] + - !!python/tuple [11, 6] + - !!python/tuple [26, 25] + - !!python/tuple [28, 15] + - !!python/tuple [20, 4] + - !!python/tuple [10, 16] + - !!python/tuple [17, 7] + - !!python/tuple [17, 21] + - !!python/tuple [21, 3] + - !!python/tuple [30, 6] + - !!python/tuple [6, 17] + - !!python/tuple [19, 1] + - !!python/tuple [7, 17] + - !!python/tuple [6, 26] + - !!python/tuple [16, 19] + - !!python/tuple [18, 22] + - !!python/tuple [11, 13] + - !!python/tuple [5, 28] + - !!python/tuple [19, 16] + - !!python/tuple [30, 5] + - !!python/tuple [25, 6] + - !!python/tuple [6, 10] + - !!python/tuple [14, 20] + - !!python/tuple [8, 12] + - !!python/tuple [19, 17] + - !!python/tuple [9, 4] + - !!python/tuple [17, 16] + - !!python/tuple [0, 11] + - !!python/tuple [23, 30] + - !!python/tuple [2, 11] + - !!python/tuple [21, 26] + - !!python/tuple [20, 19] + - !!python/tuple [17, 23] + - !!python/tuple [26, 8] + - !!python/tuple [7, 3] + - !!python/tuple [24, 26] + - !!python/tuple [18, 23] + - !!python/tuple [28, 2] + - !!python/tuple [5, 1] + - !!python/tuple [22, 22] + - !!python/tuple [19, 8] + - !!python/tuple [22, 13] + - !!python/tuple [9, 26] + - !!python/tuple [3, 11] + - !!python/tuple [10, 22] + - !!python/tuple [1, 19] + - !!python/tuple [1, 31] + - !!python/tuple [12, 29] + - !!python/tuple [11, 26] + - !!python/tuple [28, 14] + - !!python/tuple [23, 18] + - !!python/tuple [18, 11] + - !!python/tuple [20, 14] + - !!python/tuple [27, 22] + - !!python/tuple [12, 24] + - !!python/tuple [28, 21] + - !!python/tuple [10, 0] + - !!python/tuple [9, 18] + - !!python/tuple [24, 6] + - !!python/tuple [30, 23] + - !!python/tuple [8, 23] + - !!python/tuple [25, 25] + - !!python/tuple [7, 27] + - !!python/tuple [2, 15] + - !!python/tuple [16, 5] + - !!python/tuple [27, 28] + - !!python/tuple [2, 18] + - !!python/tuple [5, 2] + - !!python/tuple [18, 21] + - !!python/tuple [30, 3] + - !!python/tuple [19, 12] + - !!python/tuple [1, 7] + - !!python/tuple [21, 18] + - !!python/tuple [29, 27] + - !!python/tuple [16, 22] + - !!python/tuple [11, 9] + - !!python/tuple [23, 2] + - !!python/tuple [3, 15] + - !!python/tuple [11, 14] + - !!python/tuple [11, 12] + - !!python/tuple [10, 5] + - !!python/tuple [15, 6] + - !!python/tuple [28, 3] + - !!python/tuple [15, 13] + - !!python/tuple [29, 23] + - !!python/tuple [25, 10] + - !!python/tuple [9, 15] + - !!python/tuple [16, 10] + - !!python/tuple [16, 13] + - !!python/tuple [3, 0] + - !!python/tuple [20, 6] + - !!python/tuple [26, 11] + - !!python/tuple [13, 26] + - !!python/tuple [9, 13] + - !!python/tuple [27, 4] + - !!python/tuple [15, 30] + - !!python/tuple [28, 31] + - !!python/tuple [22, 19] + - !!python/tuple [24, 16] + - !!python/tuple [27, 3] + - !!python/tuple [4, 26] + - !!python/tuple [20, 12] + - !!python/tuple [13, 21] + - !!python/tuple [15, 7] + - !!python/tuple [18, 14] + - !!python/tuple [2, 10] + - !!python/tuple [3, 4] + - !!python/tuple [13, 0] + - !!python/tuple [21, 13] + - !!python/tuple [12, 19] + - !!python/tuple [30, 7] + - !!python/tuple [5, 27] + - !!python/tuple [29, 16] + - !!python/tuple [6, 27] + - !!python/tuple [10, 8] + - !!python/tuple [9, 27] + - !!python/tuple [26, 26] + - !!python/tuple [27, 15] + - !!python/tuple [14, 24] + - !!python/tuple [2, 24] + - !!python/tuple [18, 5] + - !!python/tuple [10, 3] + - !!python/tuple [24, 9] + - !!python/tuple [7, 15] + - !!python/tuple [7, 16] + - !!python/tuple [10, 20] + - !!python/tuple [0, 16] + - !!python/tuple [28, 25] + - !!python/tuple [23, 28] + - !!python/tuple [21, 6] + - !!python/tuple [22, 5] + - !!python/tuple [4, 6] + - !!python/tuple [0, 5] + - !!python/tuple [19, 11] + - !!python/tuple [0, 26] + - !!python/tuple [30, 4] + - !!python/tuple [11, 15] + - !!python/tuple [29, 3] + - !!python/tuple [20, 18] + - !!python/tuple [25, 13] + - !!python/tuple [2, 4] + - !!python/tuple [16, 3] + - !!python/tuple [12, 15] + - !!python/tuple [17, 19] + - !!python/tuple [10, 12] + - !!python/tuple [5, 14] + - !!python/tuple [25, 19] + - !!python/tuple [26, 15] + - !!python/tuple [25, 30] + - !!python/tuple [14, 27] + - !!python/tuple [22, 1] + - !!python/tuple [5, 0] + - !!python/tuple [20, 5] + - !!python/tuple [27, 27] + - !!python/tuple [24, 24] + - !!python/tuple [1, 10] + - !!python/tuple [3, 16] + - !!python/tuple [25, 14] + - !!python/tuple [6, 8] + - !!python/tuple [17, 5] + - !!python/tuple [7, 2] + - !!python/tuple [28, 4] + - !!python/tuple [0, 25] + - !!python/tuple [7, 6] + - !!python/tuple [22, 25] + - !!python/tuple [3, 14] + - !!python/tuple [3, 20] + - !!python/tuple [28, 9] + - !!python/tuple [22, 2] + - !!python/tuple [19, 9] + - !!python/tuple [4, 22] + - !!python/tuple [13, 20] + - !!python/tuple [31, 28] + - !!python/tuple [6, 30] + - !!python/tuple [7, 13] + - !!python/tuple [8, 22] + - !!python/tuple [5, 17] + - !!python/tuple [12, 11] + - !!python/tuple [23, 23] + - !!python/tuple [19, 29] + - !!python/tuple [0, 12] + - !!python/tuple [0, 28] + - !!python/tuple [0, 9] + - !!python/tuple [15, 14] + - !!python/tuple [4, 9] + - !!python/tuple [5, 13] + - !!python/tuple [19, 31] + - !!python/tuple [26, 18] + - !!python/tuple [12, 25] + - !!python/tuple [21, 21] + - !!python/tuple [24, 14] + - !!python/tuple [1, 2] + - !!python/tuple [2, 28] + - !!python/tuple [21, 19] + - !!python/tuple [15, 15] + - !!python/tuple [10, 13] + - !!python/tuple [25, 8] + - !!python/tuple [25, 17] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex92.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex92.yaml new file mode 100644 index 0000000..4bb46d5 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex92.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [17, 12] + name: agent0 + start: [20, 19] +- goal: [2, 25] + name: agent1 + start: [9, 29] +- goal: [8, 31] + name: agent2 + start: [26, 19] +- goal: [16, 16] + name: agent3 + start: [22, 23] +- goal: [11, 17] + name: agent4 + start: [4, 18] +- goal: [15, 17] + name: agent5 + start: [8, 1] +- goal: [1, 28] + name: agent6 + start: [30, 0] +- goal: [18, 30] + name: agent7 + start: [29, 30] +- goal: [4, 27] + name: agent8 + start: [27, 19] +- goal: [8, 7] + name: agent9 + start: [23, 18] +- goal: [19, 13] + name: agent10 + start: [30, 31] +- goal: [19, 0] + name: agent11 + start: [12, 27] +- goal: [27, 3] + name: agent12 + start: [30, 4] +- goal: [8, 15] + name: agent13 + start: [20, 22] +- goal: [16, 20] + name: agent14 + start: [5, 25] +- goal: [31, 0] + name: agent15 + start: [30, 5] +- goal: [24, 21] + name: agent16 + start: [21, 23] +- goal: [19, 9] + name: agent17 + start: [11, 22] +- goal: [3, 24] + name: agent18 + start: [18, 12] +- goal: [24, 14] + name: agent19 + start: [20, 6] +- goal: [27, 10] + name: agent20 + start: [16, 17] +- goal: [7, 5] + name: agent21 + start: [11, 13] +- goal: [0, 26] + name: agent22 + start: [24, 19] +- goal: [8, 30] + name: agent23 + start: [18, 30] +- goal: [0, 6] + name: agent24 + start: [31, 15] +- goal: [23, 17] + name: agent25 + start: [23, 22] +- goal: [30, 18] + name: agent26 + start: [12, 0] +- goal: [29, 3] + name: agent27 + start: [28, 19] +- goal: [25, 30] + name: agent28 + start: [16, 11] +- goal: [4, 3] + name: agent29 + start: [4, 0] +- goal: [8, 0] + name: agent30 + start: [1, 8] +- goal: [9, 12] + name: agent31 + start: [4, 13] +- goal: [10, 28] + name: agent32 + start: [18, 8] +- goal: [17, 25] + name: agent33 + start: [0, 6] +- goal: [20, 5] + name: agent34 + start: [2, 17] +- goal: [5, 14] + name: agent35 + start: [12, 24] +- goal: [19, 18] + name: agent36 + start: [20, 10] +- goal: [10, 14] + name: agent37 + start: [17, 12] +- goal: [11, 24] + name: agent38 + start: [8, 21] +- goal: [2, 7] + name: agent39 + start: [13, 8] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [11, 29] + - !!python/tuple [0, 12] + - !!python/tuple [21, 12] + - !!python/tuple [22, 27] + - !!python/tuple [15, 10] + - !!python/tuple [4, 24] + - !!python/tuple [13, 1] + - !!python/tuple [8, 20] + - !!python/tuple [30, 21] + - !!python/tuple [5, 27] + - !!python/tuple [26, 0] + - !!python/tuple [27, 24] + - !!python/tuple [21, 31] + - !!python/tuple [6, 16] + - !!python/tuple [21, 20] + - !!python/tuple [27, 1] + - !!python/tuple [0, 21] + - !!python/tuple [2, 23] + - !!python/tuple [11, 21] + - !!python/tuple [18, 22] + - !!python/tuple [3, 17] + - !!python/tuple [0, 20] + - !!python/tuple [24, 8] + - !!python/tuple [14, 19] + - !!python/tuple [23, 3] + - !!python/tuple [29, 6] + - !!python/tuple [15, 31] + - !!python/tuple [26, 18] + - !!python/tuple [31, 20] + - !!python/tuple [0, 15] + - !!python/tuple [31, 2] + - !!python/tuple [29, 27] + - !!python/tuple [20, 18] + - !!python/tuple [21, 19] + - !!python/tuple [9, 7] + - !!python/tuple [2, 15] + - !!python/tuple [11, 16] + - !!python/tuple [25, 12] + - !!python/tuple [6, 14] + - !!python/tuple [12, 12] + - !!python/tuple [3, 12] + - !!python/tuple [26, 8] + - !!python/tuple [23, 11] + - !!python/tuple [1, 6] + - !!python/tuple [16, 7] + - !!python/tuple [25, 19] + - !!python/tuple [3, 22] + - !!python/tuple [5, 20] + - !!python/tuple [28, 14] + - !!python/tuple [18, 5] + - !!python/tuple [9, 27] + - !!python/tuple [12, 28] + - !!python/tuple [8, 24] + - !!python/tuple [19, 28] + - !!python/tuple [6, 1] + - !!python/tuple [22, 2] + - !!python/tuple [1, 2] + - !!python/tuple [20, 16] + - !!python/tuple [22, 24] + - !!python/tuple [24, 25] + - !!python/tuple [19, 19] + - !!python/tuple [24, 13] + - !!python/tuple [9, 24] + - !!python/tuple [23, 10] + - !!python/tuple [1, 26] + - !!python/tuple [4, 10] + - !!python/tuple [6, 29] + - !!python/tuple [17, 19] + - !!python/tuple [16, 3] + - !!python/tuple [29, 4] + - !!python/tuple [23, 19] + - !!python/tuple [23, 14] + - !!python/tuple [23, 27] + - !!python/tuple [15, 11] + - !!python/tuple [22, 1] + - !!python/tuple [1, 14] + - !!python/tuple [22, 22] + - !!python/tuple [10, 11] + - !!python/tuple [21, 16] + - !!python/tuple [27, 9] + - !!python/tuple [26, 23] + - !!python/tuple [23, 4] + - !!python/tuple [11, 26] + - !!python/tuple [8, 8] + - !!python/tuple [5, 29] + - !!python/tuple [29, 12] + - !!python/tuple [10, 15] + - !!python/tuple [16, 5] + - !!python/tuple [18, 21] + - !!python/tuple [20, 8] + - !!python/tuple [28, 4] + - !!python/tuple [15, 19] + - !!python/tuple [19, 23] + - !!python/tuple [13, 23] + - !!python/tuple [6, 27] + - !!python/tuple [28, 28] + - !!python/tuple [2, 19] + - !!python/tuple [11, 28] + - !!python/tuple [23, 0] + - !!python/tuple [23, 28] + - !!python/tuple [1, 23] + - !!python/tuple [14, 12] + - !!python/tuple [29, 17] + - !!python/tuple [25, 9] + - !!python/tuple [19, 6] + - !!python/tuple [29, 14] + - !!python/tuple [8, 28] + - !!python/tuple [28, 5] + - !!python/tuple [13, 12] + - !!python/tuple [10, 23] + - !!python/tuple [6, 0] + - !!python/tuple [12, 5] + - !!python/tuple [22, 16] + - !!python/tuple [1, 5] + - !!python/tuple [2, 30] + - !!python/tuple [15, 22] + - !!python/tuple [30, 20] + - !!python/tuple [26, 10] + - !!python/tuple [0, 2] + - !!python/tuple [10, 29] + - !!python/tuple [3, 25] + - !!python/tuple [23, 15] + - !!python/tuple [8, 10] + - !!python/tuple [1, 9] + - !!python/tuple [22, 26] + - !!python/tuple [8, 2] + - !!python/tuple [12, 25] + - !!python/tuple [14, 31] + - !!python/tuple [12, 6] + - !!python/tuple [7, 6] + - !!python/tuple [5, 26] + - !!python/tuple [12, 19] + - !!python/tuple [14, 23] + - !!python/tuple [13, 17] + - !!python/tuple [16, 2] + - !!python/tuple [6, 30] + - !!python/tuple [11, 7] + - !!python/tuple [2, 12] + - !!python/tuple [14, 22] + - !!python/tuple [11, 12] + - !!python/tuple [10, 30] + - !!python/tuple [12, 21] + - !!python/tuple [2, 2] + - !!python/tuple [25, 31] + - !!python/tuple [21, 3] + - !!python/tuple [1, 4] + - !!python/tuple [9, 5] + - !!python/tuple [23, 9] + - !!python/tuple [1, 20] + - !!python/tuple [30, 8] + - !!python/tuple [4, 4] + - !!python/tuple [16, 12] + - !!python/tuple [11, 4] + - !!python/tuple [1, 16] + - !!python/tuple [4, 20] + - !!python/tuple [21, 11] + - !!python/tuple [0, 4] + - !!python/tuple [7, 13] + - !!python/tuple [17, 31] + - !!python/tuple [4, 12] + - !!python/tuple [19, 14] + - !!python/tuple [12, 29] + - !!python/tuple [4, 2] + - !!python/tuple [28, 18] + - !!python/tuple [15, 30] + - !!python/tuple [4, 17] + - !!python/tuple [31, 3] + - !!python/tuple [14, 26] + - !!python/tuple [0, 14] + - !!python/tuple [17, 5] + - !!python/tuple [5, 22] + - !!python/tuple [11, 8] + - !!python/tuple [31, 8] + - !!python/tuple [4, 23] + - !!python/tuple [16, 19] + - !!python/tuple [30, 28] + - !!python/tuple [9, 10] + - !!python/tuple [10, 10] + - !!python/tuple [8, 3] + - !!python/tuple [26, 25] + - !!python/tuple [8, 9] + - !!python/tuple [7, 1] + - !!python/tuple [2, 5] + - !!python/tuple [28, 24] + - !!python/tuple [11, 3] + - !!python/tuple [16, 31] + - !!python/tuple [24, 20] + - !!python/tuple [6, 2] + - !!python/tuple [22, 4] + - !!python/tuple [26, 29] + - !!python/tuple [26, 16] + - !!python/tuple [10, 13] + - !!python/tuple [18, 19] + - !!python/tuple [31, 12] + - !!python/tuple [2, 18] + - !!python/tuple [0, 3] + - !!python/tuple [22, 9] + - !!python/tuple [24, 3] + - !!python/tuple [1, 30] + - !!python/tuple [17, 2] + - !!python/tuple [4, 6] + - !!python/tuple [21, 9] + - !!python/tuple [13, 10] + - !!python/tuple [5, 23] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex93.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex93.yaml new file mode 100644 index 0000000..f52c064 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex93.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [31, 9] + name: agent0 + start: [6, 13] +- goal: [16, 27] + name: agent1 + start: [27, 1] +- goal: [29, 4] + name: agent2 + start: [31, 19] +- goal: [4, 30] + name: agent3 + start: [2, 12] +- goal: [7, 21] + name: agent4 + start: [13, 28] +- goal: [2, 21] + name: agent5 + start: [11, 5] +- goal: [14, 14] + name: agent6 + start: [25, 19] +- goal: [14, 19] + name: agent7 + start: [19, 6] +- goal: [15, 15] + name: agent8 + start: [20, 4] +- goal: [8, 7] + name: agent9 + start: [8, 3] +- goal: [21, 14] + name: agent10 + start: [27, 20] +- goal: [29, 10] + name: agent11 + start: [15, 4] +- goal: [16, 2] + name: agent12 + start: [31, 16] +- goal: [30, 3] + name: agent13 + start: [13, 13] +- goal: [13, 30] + name: agent14 + start: [14, 14] +- goal: [7, 20] + name: agent15 + start: [16, 26] +- goal: [5, 31] + name: agent16 + start: [25, 8] +- goal: [4, 20] + name: agent17 + start: [8, 26] +- goal: [16, 9] + name: agent18 + start: [16, 21] +- goal: [25, 6] + name: agent19 + start: [11, 0] +- goal: [6, 29] + name: agent20 + start: [11, 14] +- goal: [16, 18] + name: agent21 + start: [7, 30] +- goal: [23, 24] + name: agent22 + start: [24, 27] +- goal: [17, 3] + name: agent23 + start: [25, 7] +- goal: [19, 2] + name: agent24 + start: [23, 29] +- goal: [17, 29] + name: agent25 + start: [28, 12] +- goal: [13, 18] + name: agent26 + start: [2, 21] +- goal: [19, 11] + name: agent27 + start: [4, 1] +- goal: [15, 21] + name: agent28 + start: [5, 9] +- goal: [21, 31] + name: agent29 + start: [3, 2] +- goal: [0, 31] + name: agent30 + start: [0, 12] +- goal: [22, 1] + name: agent31 + start: [7, 15] +- goal: [6, 22] + name: agent32 + start: [19, 4] +- goal: [11, 31] + name: agent33 + start: [20, 28] +- goal: [11, 16] + name: agent34 + start: [14, 28] +- goal: [14, 12] + name: agent35 + start: [29, 6] +- goal: [4, 3] + name: agent36 + start: [23, 22] +- goal: [11, 10] + name: agent37 + start: [13, 25] +- goal: [18, 12] + name: agent38 + start: [21, 8] +- goal: [18, 16] + name: agent39 + start: [26, 17] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [5, 23] + - !!python/tuple [20, 27] + - !!python/tuple [5, 13] + - !!python/tuple [19, 22] + - !!python/tuple [2, 24] + - !!python/tuple [21, 10] + - !!python/tuple [5, 3] + - !!python/tuple [3, 5] + - !!python/tuple [11, 17] + - !!python/tuple [14, 11] + - !!python/tuple [31, 23] + - !!python/tuple [7, 0] + - !!python/tuple [2, 17] + - !!python/tuple [23, 14] + - !!python/tuple [7, 6] + - !!python/tuple [20, 30] + - !!python/tuple [12, 9] + - !!python/tuple [1, 3] + - !!python/tuple [12, 29] + - !!python/tuple [12, 12] + - !!python/tuple [22, 30] + - !!python/tuple [22, 12] + - !!python/tuple [20, 12] + - !!python/tuple [14, 10] + - !!python/tuple [31, 8] + - !!python/tuple [27, 9] + - !!python/tuple [18, 8] + - !!python/tuple [13, 6] + - !!python/tuple [12, 17] + - !!python/tuple [21, 16] + - !!python/tuple [11, 24] + - !!python/tuple [7, 24] + - !!python/tuple [28, 26] + - !!python/tuple [28, 15] + - !!python/tuple [5, 15] + - !!python/tuple [20, 18] + - !!python/tuple [19, 8] + - !!python/tuple [9, 12] + - !!python/tuple [28, 31] + - !!python/tuple [24, 13] + - !!python/tuple [29, 28] + - !!python/tuple [27, 16] + - !!python/tuple [12, 31] + - !!python/tuple [27, 15] + - !!python/tuple [16, 31] + - !!python/tuple [24, 26] + - !!python/tuple [6, 8] + - !!python/tuple [6, 19] + - !!python/tuple [18, 29] + - !!python/tuple [4, 7] + - !!python/tuple [11, 25] + - !!python/tuple [28, 19] + - !!python/tuple [28, 3] + - !!python/tuple [23, 0] + - !!python/tuple [22, 10] + - !!python/tuple [30, 11] + - !!python/tuple [5, 16] + - !!python/tuple [2, 9] + - !!python/tuple [4, 19] + - !!python/tuple [29, 5] + - !!python/tuple [12, 6] + - !!python/tuple [4, 17] + - !!python/tuple [6, 24] + - !!python/tuple [15, 29] + - !!python/tuple [16, 11] + - !!python/tuple [7, 23] + - !!python/tuple [28, 28] + - !!python/tuple [24, 29] + - !!python/tuple [16, 19] + - !!python/tuple [24, 21] + - !!python/tuple [24, 5] + - !!python/tuple [6, 10] + - !!python/tuple [8, 25] + - !!python/tuple [27, 11] + - !!python/tuple [4, 31] + - !!python/tuple [24, 28] + - !!python/tuple [20, 26] + - !!python/tuple [30, 10] + - !!python/tuple [21, 9] + - !!python/tuple [7, 26] + - !!python/tuple [10, 28] + - !!python/tuple [1, 28] + - !!python/tuple [31, 15] + - !!python/tuple [28, 29] + - !!python/tuple [1, 25] + - !!python/tuple [15, 19] + - !!python/tuple [24, 0] + - !!python/tuple [21, 18] + - !!python/tuple [3, 13] + - !!python/tuple [9, 22] + - !!python/tuple [11, 2] + - !!python/tuple [1, 10] + - !!python/tuple [3, 20] + - !!python/tuple [16, 14] + - !!python/tuple [15, 25] + - !!python/tuple [11, 12] + - !!python/tuple [27, 28] + - !!python/tuple [14, 6] + - !!python/tuple [29, 18] + - !!python/tuple [0, 28] + - !!python/tuple [15, 24] + - !!python/tuple [27, 25] + - !!python/tuple [20, 9] + - !!python/tuple [20, 22] + - !!python/tuple [15, 1] + - !!python/tuple [13, 4] + - !!python/tuple [27, 18] + - !!python/tuple [24, 20] + - !!python/tuple [2, 4] + - !!python/tuple [14, 0] + - !!python/tuple [17, 2] + - !!python/tuple [5, 6] + - !!python/tuple [20, 16] + - !!python/tuple [8, 28] + - !!python/tuple [26, 16] + - !!python/tuple [7, 27] + - !!python/tuple [17, 6] + - !!python/tuple [30, 18] + - !!python/tuple [30, 13] + - !!python/tuple [25, 17] + - !!python/tuple [0, 10] + - !!python/tuple [25, 4] + - !!python/tuple [22, 14] + - !!python/tuple [19, 30] + - !!python/tuple [8, 23] + - !!python/tuple [4, 13] + - !!python/tuple [15, 14] + - !!python/tuple [22, 8] + - !!python/tuple [1, 8] + - !!python/tuple [25, 23] + - !!python/tuple [22, 16] + - !!python/tuple [2, 14] + - !!python/tuple [9, 3] + - !!python/tuple [25, 12] + - !!python/tuple [31, 29] + - !!python/tuple [18, 20] + - !!python/tuple [11, 8] + - !!python/tuple [23, 18] + - !!python/tuple [16, 0] + - !!python/tuple [14, 17] + - !!python/tuple [12, 13] + - !!python/tuple [1, 2] + - !!python/tuple [3, 28] + - !!python/tuple [22, 23] + - !!python/tuple [13, 2] + - !!python/tuple [21, 19] + - !!python/tuple [19, 16] + - !!python/tuple [13, 23] + - !!python/tuple [5, 12] + - !!python/tuple [3, 10] + - !!python/tuple [5, 5] + - !!python/tuple [2, 30] + - !!python/tuple [5, 4] + - !!python/tuple [17, 30] + - !!python/tuple [4, 4] + - !!python/tuple [15, 6] + - !!python/tuple [21, 29] + - !!python/tuple [24, 7] + - !!python/tuple [18, 28] + - !!python/tuple [24, 11] + - !!python/tuple [27, 23] + - !!python/tuple [3, 18] + - !!python/tuple [14, 24] + - !!python/tuple [9, 14] + - !!python/tuple [10, 17] + - !!python/tuple [9, 2] + - !!python/tuple [14, 5] + - !!python/tuple [5, 8] + - !!python/tuple [11, 21] + - !!python/tuple [29, 23] + - !!python/tuple [7, 10] + - !!python/tuple [25, 0] + - !!python/tuple [1, 23] + - !!python/tuple [4, 27] + - !!python/tuple [27, 0] + - !!python/tuple [29, 15] + - !!python/tuple [3, 24] + - !!python/tuple [20, 10] + - !!python/tuple [16, 25] + - !!python/tuple [31, 26] + - !!python/tuple [25, 9] + - !!python/tuple [30, 31] + - !!python/tuple [23, 13] + - !!python/tuple [2, 29] + - !!python/tuple [15, 20] + - !!python/tuple [4, 9] + - !!python/tuple [21, 6] + - !!python/tuple [22, 5] + - !!python/tuple [4, 5] + - !!python/tuple [0, 5] + - !!python/tuple [24, 15] + - !!python/tuple [21, 26] + - !!python/tuple [14, 4] + - !!python/tuple [3, 22] + - !!python/tuple [20, 7] + - !!python/tuple [31, 22] + - !!python/tuple [4, 12] + - !!python/tuple [9, 5] + - !!python/tuple [24, 17] + - !!python/tuple [21, 13] + - !!python/tuple [21, 25] + - !!python/tuple [3, 11] + - !!python/tuple [15, 17] + - !!python/tuple [10, 24] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex94.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex94.yaml new file mode 100644 index 0000000..a2a4666 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex94.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [29, 14] + name: agent0 + start: [0, 21] +- goal: [11, 4] + name: agent1 + start: [14, 14] +- goal: [6, 5] + name: agent2 + start: [11, 30] +- goal: [13, 7] + name: agent3 + start: [31, 25] +- goal: [22, 18] + name: agent4 + start: [29, 2] +- goal: [14, 0] + name: agent5 + start: [6, 10] +- goal: [27, 24] + name: agent6 + start: [20, 20] +- goal: [4, 31] + name: agent7 + start: [30, 25] +- goal: [24, 5] + name: agent8 + start: [1, 18] +- goal: [23, 30] + name: agent9 + start: [8, 20] +- goal: [28, 11] + name: agent10 + start: [26, 3] +- goal: [31, 19] + name: agent11 + start: [7, 31] +- goal: [7, 27] + name: agent12 + start: [17, 6] +- goal: [15, 15] + name: agent13 + start: [24, 31] +- goal: [21, 29] + name: agent14 + start: [17, 10] +- goal: [3, 30] + name: agent15 + start: [3, 7] +- goal: [5, 17] + name: agent16 + start: [19, 18] +- goal: [27, 15] + name: agent17 + start: [9, 22] +- goal: [11, 25] + name: agent18 + start: [17, 18] +- goal: [6, 25] + name: agent19 + start: [5, 13] +- goal: [29, 27] + name: agent20 + start: [26, 14] +- goal: [22, 1] + name: agent21 + start: [3, 21] +- goal: [4, 0] + name: agent22 + start: [14, 19] +- goal: [6, 22] + name: agent23 + start: [21, 8] +- goal: [11, 14] + name: agent24 + start: [12, 19] +- goal: [5, 14] + name: agent25 + start: [4, 15] +- goal: [4, 13] + name: agent26 + start: [5, 22] +- goal: [13, 9] + name: agent27 + start: [10, 14] +- goal: [23, 7] + name: agent28 + start: [24, 28] +- goal: [10, 5] + name: agent29 + start: [22, 12] +- goal: [9, 3] + name: agent30 + start: [0, 9] +- goal: [19, 29] + name: agent31 + start: [31, 29] +- goal: [14, 31] + name: agent32 + start: [13, 2] +- goal: [22, 20] + name: agent33 + start: [5, 5] +- goal: [15, 0] + name: agent34 + start: [17, 17] +- goal: [24, 9] + name: agent35 + start: [4, 10] +- goal: [23, 27] + name: agent36 + start: [26, 5] +- goal: [25, 19] + name: agent37 + start: [20, 28] +- goal: [14, 27] + name: agent38 + start: [16, 20] +- goal: [31, 28] + name: agent39 + start: [5, 23] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [3, 8] + - !!python/tuple [31, 18] + - !!python/tuple [23, 6] + - !!python/tuple [1, 23] + - !!python/tuple [28, 21] + - !!python/tuple [14, 10] + - !!python/tuple [30, 8] + - !!python/tuple [21, 12] + - !!python/tuple [2, 4] + - !!python/tuple [22, 3] + - !!python/tuple [23, 10] + - !!python/tuple [6, 28] + - !!python/tuple [0, 7] + - !!python/tuple [8, 27] + - !!python/tuple [5, 25] + - !!python/tuple [0, 30] + - !!python/tuple [2, 6] + - !!python/tuple [25, 9] + - !!python/tuple [28, 1] + - !!python/tuple [10, 1] + - !!python/tuple [12, 3] + - !!python/tuple [13, 28] + - !!python/tuple [2, 27] + - !!python/tuple [7, 9] + - !!python/tuple [1, 13] + - !!python/tuple [14, 24] + - !!python/tuple [9, 6] + - !!python/tuple [1, 22] + - !!python/tuple [1, 12] + - !!python/tuple [3, 1] + - !!python/tuple [26, 8] + - !!python/tuple [6, 17] + - !!python/tuple [28, 2] + - !!python/tuple [27, 0] + - !!python/tuple [10, 8] + - !!python/tuple [4, 8] + - !!python/tuple [28, 20] + - !!python/tuple [12, 22] + - !!python/tuple [3, 23] + - !!python/tuple [2, 29] + - !!python/tuple [25, 22] + - !!python/tuple [5, 31] + - !!python/tuple [7, 30] + - !!python/tuple [12, 14] + - !!python/tuple [6, 11] + - !!python/tuple [26, 6] + - !!python/tuple [0, 20] + - !!python/tuple [24, 20] + - !!python/tuple [2, 22] + - !!python/tuple [13, 15] + - !!python/tuple [17, 0] + - !!python/tuple [7, 12] + - !!python/tuple [22, 27] + - !!python/tuple [2, 13] + - !!python/tuple [13, 8] + - !!python/tuple [1, 25] + - !!python/tuple [15, 9] + - !!python/tuple [27, 8] + - !!python/tuple [10, 4] + - !!python/tuple [2, 15] + - !!python/tuple [18, 13] + - !!python/tuple [28, 5] + - !!python/tuple [6, 29] + - !!python/tuple [13, 1] + - !!python/tuple [5, 11] + - !!python/tuple [26, 30] + - !!python/tuple [10, 11] + - !!python/tuple [9, 17] + - !!python/tuple [15, 22] + - !!python/tuple [23, 2] + - !!python/tuple [1, 28] + - !!python/tuple [10, 23] + - !!python/tuple [20, 11] + - !!python/tuple [1, 21] + - !!python/tuple [3, 19] + - !!python/tuple [24, 11] + - !!python/tuple [29, 5] + - !!python/tuple [0, 15] + - !!python/tuple [0, 17] + - !!python/tuple [30, 31] + - !!python/tuple [30, 21] + - !!python/tuple [26, 27] + - !!python/tuple [22, 31] + - !!python/tuple [21, 23] + - !!python/tuple [31, 14] + - !!python/tuple [1, 17] + - !!python/tuple [12, 24] + - !!python/tuple [13, 3] + - !!python/tuple [2, 28] + - !!python/tuple [11, 17] + - !!python/tuple [29, 28] + - !!python/tuple [1, 16] + - !!python/tuple [22, 7] + - !!python/tuple [13, 6] + - !!python/tuple [13, 16] + - !!python/tuple [14, 3] + - !!python/tuple [17, 30] + - !!python/tuple [11, 20] + - !!python/tuple [8, 10] + - !!python/tuple [5, 28] + - !!python/tuple [16, 0] + - !!python/tuple [23, 18] + - !!python/tuple [0, 1] + - !!python/tuple [24, 30] + - !!python/tuple [23, 4] + - !!python/tuple [27, 16] + - !!python/tuple [25, 16] + - !!python/tuple [2, 30] + - !!python/tuple [30, 22] + - !!python/tuple [3, 4] + - !!python/tuple [16, 13] + - !!python/tuple [22, 13] + - !!python/tuple [25, 30] + - !!python/tuple [19, 31] + - !!python/tuple [31, 15] + - !!python/tuple [21, 14] + - !!python/tuple [30, 28] + - !!python/tuple [3, 12] + - !!python/tuple [20, 27] + - !!python/tuple [3, 31] + - !!python/tuple [6, 0] + - !!python/tuple [10, 16] + - !!python/tuple [19, 25] + - !!python/tuple [9, 16] + - !!python/tuple [24, 13] + - !!python/tuple [16, 23] + - !!python/tuple [15, 21] + - !!python/tuple [29, 1] + - !!python/tuple [22, 22] + - !!python/tuple [16, 24] + - !!python/tuple [17, 24] + - !!python/tuple [18, 11] + - !!python/tuple [24, 19] + - !!python/tuple [8, 25] + - !!python/tuple [1, 31] + - !!python/tuple [0, 27] + - !!python/tuple [17, 11] + - !!python/tuple [19, 8] + - !!python/tuple [14, 23] + - !!python/tuple [2, 2] + - !!python/tuple [6, 7] + - !!python/tuple [0, 5] + - !!python/tuple [8, 30] + - !!python/tuple [9, 1] + - !!python/tuple [3, 14] + - !!python/tuple [12, 5] + - !!python/tuple [8, 6] + - !!python/tuple [12, 7] + - !!python/tuple [2, 9] + - !!python/tuple [1, 26] + - !!python/tuple [15, 23] + - !!python/tuple [10, 18] + - !!python/tuple [4, 5] + - !!python/tuple [31, 7] + - !!python/tuple [19, 21] + - !!python/tuple [6, 19] + - !!python/tuple [10, 31] + - !!python/tuple [9, 28] + - !!python/tuple [7, 14] + - !!python/tuple [10, 15] + - !!python/tuple [17, 26] + - !!python/tuple [7, 5] + - !!python/tuple [30, 27] + - !!python/tuple [7, 11] + - !!python/tuple [3, 29] + - !!python/tuple [7, 15] + - !!python/tuple [11, 3] + - !!python/tuple [21, 19] + - !!python/tuple [0, 16] + - !!python/tuple [18, 30] + - !!python/tuple [10, 30] + - !!python/tuple [2, 5] + - !!python/tuple [21, 4] + - !!python/tuple [1, 1] + - !!python/tuple [14, 5] + - !!python/tuple [25, 7] + - !!python/tuple [23, 29] + - !!python/tuple [7, 0] + - !!python/tuple [5, 18] + - !!python/tuple [22, 25] + - !!python/tuple [19, 19] + - !!python/tuple [9, 8] + - !!python/tuple [7, 22] + - !!python/tuple [28, 31] + - !!python/tuple [22, 10] + - !!python/tuple [19, 17] + - !!python/tuple [1, 10] + - !!python/tuple [18, 3] + - !!python/tuple [23, 16] + - !!python/tuple [21, 24] + - !!python/tuple [3, 17] + - !!python/tuple [7, 6] + - !!python/tuple [3, 3] + - !!python/tuple [26, 21] + - !!python/tuple [0, 6] + - !!python/tuple [26, 31] + - !!python/tuple [16, 16] + - !!python/tuple [31, 5] + - !!python/tuple [12, 16] + - !!python/tuple [9, 27] + - !!python/tuple [8, 16] + - !!python/tuple [4, 23] + - !!python/tuple [23, 19] + - !!python/tuple [3, 18] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex95.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex95.yaml new file mode 100644 index 0000000..cdb070f --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex95.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [6, 8] + name: agent0 + start: [4, 28] +- goal: [27, 9] + name: agent1 + start: [30, 24] +- goal: [12, 24] + name: agent2 + start: [12, 30] +- goal: [18, 30] + name: agent3 + start: [6, 14] +- goal: [7, 9] + name: agent4 + start: [10, 11] +- goal: [13, 6] + name: agent5 + start: [21, 8] +- goal: [21, 31] + name: agent6 + start: [25, 26] +- goal: [6, 5] + name: agent7 + start: [30, 4] +- goal: [29, 5] + name: agent8 + start: [7, 4] +- goal: [1, 20] + name: agent9 + start: [1, 6] +- goal: [29, 10] + name: agent10 + start: [27, 28] +- goal: [22, 26] + name: agent11 + start: [26, 0] +- goal: [8, 25] + name: agent12 + start: [11, 2] +- goal: [27, 18] + name: agent13 + start: [1, 19] +- goal: [19, 21] + name: agent14 + start: [25, 6] +- goal: [23, 15] + name: agent15 + start: [25, 9] +- goal: [6, 23] + name: agent16 + start: [4, 10] +- goal: [31, 23] + name: agent17 + start: [27, 30] +- goal: [2, 8] + name: agent18 + start: [19, 0] +- goal: [7, 29] + name: agent19 + start: [19, 18] +- goal: [10, 24] + name: agent20 + start: [29, 28] +- goal: [11, 12] + name: agent21 + start: [21, 18] +- goal: [4, 31] + name: agent22 + start: [9, 5] +- goal: [13, 13] + name: agent23 + start: [13, 10] +- goal: [16, 26] + name: agent24 + start: [28, 26] +- goal: [11, 30] + name: agent25 + start: [8, 9] +- goal: [14, 31] + name: agent26 + start: [29, 31] +- goal: [6, 29] + name: agent27 + start: [3, 14] +- goal: [28, 4] + name: agent28 + start: [22, 14] +- goal: [1, 5] + name: agent29 + start: [13, 30] +- goal: [18, 9] + name: agent30 + start: [21, 12] +- goal: [29, 16] + name: agent31 + start: [10, 12] +- goal: [3, 31] + name: agent32 + start: [7, 21] +- goal: [21, 2] + name: agent33 + start: [15, 28] +- goal: [0, 11] + name: agent34 + start: [23, 12] +- goal: [5, 12] + name: agent35 + start: [3, 11] +- goal: [3, 14] + name: agent36 + start: [13, 16] +- goal: [12, 14] + name: agent37 + start: [2, 3] +- goal: [23, 26] + name: agent38 + start: [17, 13] +- goal: [7, 0] + name: agent39 + start: [21, 0] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [8, 18] + - !!python/tuple [17, 7] + - !!python/tuple [16, 19] + - !!python/tuple [20, 26] + - !!python/tuple [9, 10] + - !!python/tuple [20, 3] + - !!python/tuple [20, 25] + - !!python/tuple [31, 30] + - !!python/tuple [24, 3] + - !!python/tuple [18, 0] + - !!python/tuple [24, 17] + - !!python/tuple [6, 21] + - !!python/tuple [3, 22] + - !!python/tuple [7, 18] + - !!python/tuple [25, 0] + - !!python/tuple [30, 0] + - !!python/tuple [5, 7] + - !!python/tuple [24, 1] + - !!python/tuple [17, 1] + - !!python/tuple [14, 27] + - !!python/tuple [27, 24] + - !!python/tuple [22, 5] + - !!python/tuple [26, 13] + - !!python/tuple [22, 3] + - !!python/tuple [13, 17] + - !!python/tuple [20, 18] + - !!python/tuple [23, 1] + - !!python/tuple [3, 18] + - !!python/tuple [7, 17] + - !!python/tuple [2, 18] + - !!python/tuple [26, 14] + - !!python/tuple [2, 1] + - !!python/tuple [6, 25] + - !!python/tuple [1, 27] + - !!python/tuple [27, 19] + - !!python/tuple [9, 4] + - !!python/tuple [4, 16] + - !!python/tuple [13, 7] + - !!python/tuple [4, 27] + - !!python/tuple [21, 26] + - !!python/tuple [19, 31] + - !!python/tuple [26, 2] + - !!python/tuple [12, 15] + - !!python/tuple [2, 20] + - !!python/tuple [10, 15] + - !!python/tuple [17, 27] + - !!python/tuple [12, 0] + - !!python/tuple [31, 6] + - !!python/tuple [31, 29] + - !!python/tuple [19, 5] + - !!python/tuple [8, 24] + - !!python/tuple [12, 12] + - !!python/tuple [23, 21] + - !!python/tuple [0, 23] + - !!python/tuple [1, 1] + - !!python/tuple [2, 16] + - !!python/tuple [21, 9] + - !!python/tuple [28, 14] + - !!python/tuple [14, 18] + - !!python/tuple [26, 6] + - !!python/tuple [27, 27] + - !!python/tuple [7, 7] + - !!python/tuple [21, 7] + - !!python/tuple [22, 6] + - !!python/tuple [26, 3] + - !!python/tuple [21, 17] + - !!python/tuple [20, 9] + - !!python/tuple [13, 18] + - !!python/tuple [5, 15] + - !!python/tuple [16, 25] + - !!python/tuple [20, 22] + - !!python/tuple [26, 11] + - !!python/tuple [1, 14] + - !!python/tuple [8, 3] + - !!python/tuple [11, 15] + - !!python/tuple [28, 29] + - !!python/tuple [13, 8] + - !!python/tuple [28, 5] + - !!python/tuple [30, 22] + - !!python/tuple [21, 21] + - !!python/tuple [0, 31] + - !!python/tuple [11, 31] + - !!python/tuple [9, 16] + - !!python/tuple [6, 30] + - !!python/tuple [31, 9] + - !!python/tuple [12, 26] + - !!python/tuple [27, 20] + - !!python/tuple [14, 29] + - !!python/tuple [26, 17] + - !!python/tuple [16, 30] + - !!python/tuple [13, 9] + - !!python/tuple [5, 21] + - !!python/tuple [5, 26] + - !!python/tuple [22, 11] + - !!python/tuple [29, 17] + - !!python/tuple [29, 15] + - !!python/tuple [2, 25] + - !!python/tuple [19, 4] + - !!python/tuple [31, 0] + - !!python/tuple [5, 19] + - !!python/tuple [20, 21] + - !!python/tuple [10, 27] + - !!python/tuple [2, 29] + - !!python/tuple [20, 10] + - !!python/tuple [16, 22] + - !!python/tuple [16, 2] + - !!python/tuple [22, 13] + - !!python/tuple [3, 17] + - !!python/tuple [15, 20] + - !!python/tuple [20, 7] + - !!python/tuple [17, 3] + - !!python/tuple [22, 12] + - !!python/tuple [4, 3] + - !!python/tuple [17, 0] + - !!python/tuple [20, 4] + - !!python/tuple [25, 14] + - !!python/tuple [16, 8] + - !!python/tuple [20, 12] + - !!python/tuple [26, 7] + - !!python/tuple [19, 27] + - !!python/tuple [23, 18] + - !!python/tuple [24, 28] + - !!python/tuple [25, 21] + - !!python/tuple [13, 25] + - !!python/tuple [26, 30] + - !!python/tuple [2, 14] + - !!python/tuple [15, 3] + - !!python/tuple [27, 12] + - !!python/tuple [18, 2] + - !!python/tuple [8, 12] + - !!python/tuple [29, 27] + - !!python/tuple [30, 7] + - !!python/tuple [17, 21] + - !!python/tuple [15, 7] + - !!python/tuple [14, 5] + - !!python/tuple [3, 9] + - !!python/tuple [19, 9] + - !!python/tuple [29, 2] + - !!python/tuple [15, 30] + - !!python/tuple [29, 13] + - !!python/tuple [23, 5] + - !!python/tuple [1, 15] + - !!python/tuple [1, 4] + - !!python/tuple [23, 4] + - !!python/tuple [30, 25] + - !!python/tuple [6, 28] + - !!python/tuple [14, 6] + - !!python/tuple [19, 12] + - !!python/tuple [31, 5] + - !!python/tuple [23, 3] + - !!python/tuple [19, 7] + - !!python/tuple [13, 29] + - !!python/tuple [23, 19] + - !!python/tuple [3, 28] + - !!python/tuple [14, 19] + - !!python/tuple [24, 19] + - !!python/tuple [12, 19] + - !!python/tuple [7, 3] + - !!python/tuple [4, 13] + - !!python/tuple [2, 5] + - !!python/tuple [14, 15] + - !!python/tuple [16, 13] + - !!python/tuple [22, 23] + - !!python/tuple [19, 2] + - !!python/tuple [10, 25] + - !!python/tuple [13, 1] + - !!python/tuple [30, 2] + - !!python/tuple [13, 31] + - !!python/tuple [8, 26] + - !!python/tuple [9, 25] + - !!python/tuple [28, 19] + - !!python/tuple [14, 1] + - !!python/tuple [5, 22] + - !!python/tuple [14, 21] + - !!python/tuple [25, 4] + - !!python/tuple [6, 2] + - !!python/tuple [23, 25] + - !!python/tuple [18, 25] + - !!python/tuple [18, 21] + - !!python/tuple [29, 20] + - !!python/tuple [16, 0] + - !!python/tuple [5, 20] + - !!python/tuple [22, 25] + - !!python/tuple [1, 13] + - !!python/tuple [20, 11] + - !!python/tuple [7, 6] + - !!python/tuple [23, 2] + - !!python/tuple [28, 22] + - !!python/tuple [16, 24] + - !!python/tuple [0, 2] + - !!python/tuple [3, 26] + - !!python/tuple [4, 23] + - !!python/tuple [12, 25] + - !!python/tuple [2, 24] + - !!python/tuple [4, 29] + - !!python/tuple [21, 13] + - !!python/tuple [6, 15] + - !!python/tuple [1, 29] + - !!python/tuple [15, 27] + - !!python/tuple [9, 27] + - !!python/tuple [6, 11] + - !!python/tuple [18, 31] + - !!python/tuple [5, 4] + - !!python/tuple [28, 16] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex96.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex96.yaml new file mode 100644 index 0000000..f276445 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex96.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [3, 14] + name: agent0 + start: [19, 11] +- goal: [15, 17] + name: agent1 + start: [21, 15] +- goal: [1, 24] + name: agent2 + start: [24, 27] +- goal: [16, 30] + name: agent3 + start: [29, 18] +- goal: [25, 15] + name: agent4 + start: [17, 1] +- goal: [13, 30] + name: agent5 + start: [23, 4] +- goal: [20, 15] + name: agent6 + start: [7, 2] +- goal: [21, 0] + name: agent7 + start: [8, 6] +- goal: [9, 23] + name: agent8 + start: [7, 30] +- goal: [5, 0] + name: agent9 + start: [6, 30] +- goal: [7, 1] + name: agent10 + start: [13, 13] +- goal: [15, 27] + name: agent11 + start: [0, 4] +- goal: [25, 18] + name: agent12 + start: [13, 3] +- goal: [28, 24] + name: agent13 + start: [26, 15] +- goal: [6, 27] + name: agent14 + start: [18, 4] +- goal: [7, 31] + name: agent15 + start: [21, 31] +- goal: [27, 24] + name: agent16 + start: [5, 9] +- goal: [18, 28] + name: agent17 + start: [21, 29] +- goal: [11, 15] + name: agent18 + start: [5, 16] +- goal: [28, 21] + name: agent19 + start: [15, 0] +- goal: [26, 11] + name: agent20 + start: [11, 17] +- goal: [22, 27] + name: agent21 + start: [14, 22] +- goal: [29, 22] + name: agent22 + start: [22, 14] +- goal: [17, 29] + name: agent23 + start: [10, 27] +- goal: [24, 26] + name: agent24 + start: [6, 4] +- goal: [19, 25] + name: agent25 + start: [0, 27] +- goal: [27, 28] + name: agent26 + start: [26, 5] +- goal: [4, 12] + name: agent27 + start: [9, 3] +- goal: [28, 31] + name: agent28 + start: [31, 19] +- goal: [31, 1] + name: agent29 + start: [22, 21] +- goal: [23, 14] + name: agent30 + start: [5, 13] +- goal: [7, 26] + name: agent31 + start: [28, 17] +- goal: [3, 3] + name: agent32 + start: [18, 11] +- goal: [1, 29] + name: agent33 + start: [9, 15] +- goal: [6, 15] + name: agent34 + start: [4, 16] +- goal: [2, 17] + name: agent35 + start: [15, 26] +- goal: [24, 3] + name: agent36 + start: [6, 26] +- goal: [3, 26] + name: agent37 + start: [25, 1] +- goal: [5, 8] + name: agent38 + start: [3, 31] +- goal: [8, 31] + name: agent39 + start: [16, 22] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [4, 1] + - !!python/tuple [30, 23] + - !!python/tuple [17, 18] + - !!python/tuple [31, 27] + - !!python/tuple [22, 11] + - !!python/tuple [26, 19] + - !!python/tuple [8, 13] + - !!python/tuple [13, 2] + - !!python/tuple [19, 2] + - !!python/tuple [24, 28] + - !!python/tuple [20, 31] + - !!python/tuple [18, 21] + - !!python/tuple [28, 18] + - !!python/tuple [12, 15] + - !!python/tuple [27, 16] + - !!python/tuple [16, 24] + - !!python/tuple [29, 5] + - !!python/tuple [28, 5] + - !!python/tuple [30, 28] + - !!python/tuple [19, 31] + - !!python/tuple [28, 12] + - !!python/tuple [20, 8] + - !!python/tuple [16, 27] + - !!python/tuple [16, 19] + - !!python/tuple [28, 7] + - !!python/tuple [10, 22] + - !!python/tuple [0, 24] + - !!python/tuple [12, 4] + - !!python/tuple [25, 28] + - !!python/tuple [29, 14] + - !!python/tuple [25, 3] + - !!python/tuple [14, 19] + - !!python/tuple [12, 14] + - !!python/tuple [8, 20] + - !!python/tuple [5, 23] + - !!python/tuple [7, 24] + - !!python/tuple [7, 16] + - !!python/tuple [17, 24] + - !!python/tuple [9, 29] + - !!python/tuple [28, 11] + - !!python/tuple [24, 22] + - !!python/tuple [30, 10] + - !!python/tuple [23, 29] + - !!python/tuple [5, 22] + - !!python/tuple [1, 26] + - !!python/tuple [29, 25] + - !!python/tuple [27, 14] + - !!python/tuple [25, 8] + - !!python/tuple [30, 18] + - !!python/tuple [31, 4] + - !!python/tuple [13, 10] + - !!python/tuple [5, 25] + - !!python/tuple [0, 22] + - !!python/tuple [10, 23] + - !!python/tuple [23, 0] + - !!python/tuple [10, 7] + - !!python/tuple [26, 16] + - !!python/tuple [10, 29] + - !!python/tuple [27, 22] + - !!python/tuple [30, 5] + - !!python/tuple [5, 6] + - !!python/tuple [8, 28] + - !!python/tuple [30, 29] + - !!python/tuple [16, 14] + - !!python/tuple [10, 21] + - !!python/tuple [19, 3] + - !!python/tuple [18, 14] + - !!python/tuple [1, 4] + - !!python/tuple [1, 3] + - !!python/tuple [16, 26] + - !!python/tuple [29, 1] + - !!python/tuple [2, 16] + - !!python/tuple [8, 4] + - !!python/tuple [7, 15] + - !!python/tuple [25, 29] + - !!python/tuple [2, 22] + - !!python/tuple [11, 19] + - !!python/tuple [6, 13] + - !!python/tuple [30, 2] + - !!python/tuple [0, 0] + - !!python/tuple [19, 4] + - !!python/tuple [8, 7] + - !!python/tuple [16, 6] + - !!python/tuple [20, 20] + - !!python/tuple [4, 25] + - !!python/tuple [23, 11] + - !!python/tuple [30, 20] + - !!python/tuple [2, 2] + - !!python/tuple [4, 18] + - !!python/tuple [17, 3] + - !!python/tuple [6, 31] + - !!python/tuple [14, 0] + - !!python/tuple [0, 9] + - !!python/tuple [14, 28] + - !!python/tuple [19, 14] + - !!python/tuple [2, 20] + - !!python/tuple [9, 12] + - !!python/tuple [2, 4] + - !!python/tuple [18, 20] + - !!python/tuple [4, 30] + - !!python/tuple [29, 4] + - !!python/tuple [7, 10] + - !!python/tuple [10, 20] + - !!python/tuple [8, 14] + - !!python/tuple [28, 30] + - !!python/tuple [15, 10] + - !!python/tuple [14, 13] + - !!python/tuple [5, 15] + - !!python/tuple [5, 27] + - !!python/tuple [20, 11] + - !!python/tuple [25, 21] + - !!python/tuple [15, 2] + - !!python/tuple [27, 13] + - !!python/tuple [20, 29] + - !!python/tuple [14, 24] + - !!python/tuple [19, 22] + - !!python/tuple [12, 29] + - !!python/tuple [5, 29] + - !!python/tuple [0, 26] + - !!python/tuple [31, 16] + - !!python/tuple [23, 3] + - !!python/tuple [1, 31] + - !!python/tuple [1, 18] + - !!python/tuple [3, 6] + - !!python/tuple [3, 11] + - !!python/tuple [3, 18] + - !!python/tuple [23, 25] + - !!python/tuple [21, 19] + - !!python/tuple [17, 13] + - !!python/tuple [25, 30] + - !!python/tuple [12, 11] + - !!python/tuple [15, 11] + - !!python/tuple [10, 30] + - !!python/tuple [26, 28] + - !!python/tuple [16, 15] + - !!python/tuple [17, 14] + - !!python/tuple [27, 5] + - !!python/tuple [28, 4] + - !!python/tuple [2, 29] + - !!python/tuple [17, 19] + - !!python/tuple [27, 9] + - !!python/tuple [29, 20] + - !!python/tuple [22, 17] + - !!python/tuple [26, 14] + - !!python/tuple [30, 31] + - !!python/tuple [12, 16] + - !!python/tuple [20, 3] + - !!python/tuple [2, 1] + - !!python/tuple [2, 28] + - !!python/tuple [0, 19] + - !!python/tuple [17, 6] + - !!python/tuple [0, 2] + - !!python/tuple [11, 30] + - !!python/tuple [10, 26] + - !!python/tuple [15, 13] + - !!python/tuple [9, 10] + - !!python/tuple [22, 19] + - !!python/tuple [12, 18] + - !!python/tuple [8, 5] + - !!python/tuple [1, 2] + - !!python/tuple [3, 0] + - !!python/tuple [30, 7] + - !!python/tuple [19, 0] + - !!python/tuple [31, 24] + - !!python/tuple [2, 11] + - !!python/tuple [17, 15] + - !!python/tuple [31, 12] + - !!python/tuple [19, 18] + - !!python/tuple [24, 31] + - !!python/tuple [6, 3] + - !!python/tuple [9, 11] + - !!python/tuple [24, 25] + - !!python/tuple [16, 12] + - !!python/tuple [17, 11] + - !!python/tuple [0, 15] + - !!python/tuple [8, 23] + - !!python/tuple [7, 11] + - !!python/tuple [12, 1] + - !!python/tuple [6, 16] + - !!python/tuple [14, 6] + - !!python/tuple [27, 17] + - !!python/tuple [9, 6] + - !!python/tuple [0, 30] + - !!python/tuple [13, 0] + - !!python/tuple [6, 25] + - !!python/tuple [10, 6] + - !!python/tuple [31, 5] + - !!python/tuple [26, 13] + - !!python/tuple [21, 26] + - !!python/tuple [11, 22] + - !!python/tuple [30, 8] + - !!python/tuple [22, 22] + - !!python/tuple [23, 16] + - !!python/tuple [1, 23] + - !!python/tuple [13, 19] + - !!python/tuple [23, 2] + - !!python/tuple [12, 0] + - !!python/tuple [19, 13] + - !!python/tuple [22, 15] + - !!python/tuple [20, 2] + - !!python/tuple [20, 10] + - !!python/tuple [22, 0] + - !!python/tuple [1, 7] + - !!python/tuple [27, 31] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex97.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex97.yaml new file mode 100644 index 0000000..5b96687 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex97.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [3, 23] + name: agent0 + start: [12, 15] +- goal: [13, 27] + name: agent1 + start: [1, 6] +- goal: [5, 17] + name: agent2 + start: [5, 26] +- goal: [9, 12] + name: agent3 + start: [21, 23] +- goal: [19, 0] + name: agent4 + start: [16, 3] +- goal: [29, 17] + name: agent5 + start: [28, 25] +- goal: [23, 3] + name: agent6 + start: [16, 16] +- goal: [10, 9] + name: agent7 + start: [7, 3] +- goal: [13, 2] + name: agent8 + start: [13, 7] +- goal: [13, 17] + name: agent9 + start: [18, 18] +- goal: [17, 11] + name: agent10 + start: [6, 23] +- goal: [26, 11] + name: agent11 + start: [15, 28] +- goal: [0, 23] + name: agent12 + start: [31, 31] +- goal: [25, 0] + name: agent13 + start: [0, 17] +- goal: [21, 18] + name: agent14 + start: [12, 3] +- goal: [31, 30] + name: agent15 + start: [18, 24] +- goal: [6, 17] + name: agent16 + start: [13, 4] +- goal: [0, 13] + name: agent17 + start: [24, 2] +- goal: [7, 28] + name: agent18 + start: [26, 20] +- goal: [13, 30] + name: agent19 + start: [10, 27] +- goal: [30, 20] + name: agent20 + start: [11, 10] +- goal: [25, 23] + name: agent21 + start: [12, 6] +- goal: [29, 16] + name: agent22 + start: [2, 23] +- goal: [11, 21] + name: agent23 + start: [12, 9] +- goal: [5, 30] + name: agent24 + start: [17, 9] +- goal: [8, 15] + name: agent25 + start: [7, 28] +- goal: [13, 25] + name: agent26 + start: [15, 1] +- goal: [22, 28] + name: agent27 + start: [21, 12] +- goal: [26, 31] + name: agent28 + start: [13, 20] +- goal: [6, 23] + name: agent29 + start: [25, 20] +- goal: [20, 15] + name: agent30 + start: [4, 20] +- goal: [4, 22] + name: agent31 + start: [2, 8] +- goal: [0, 6] + name: agent32 + start: [28, 9] +- goal: [22, 7] + name: agent33 + start: [6, 19] +- goal: [12, 12] + name: agent34 + start: [0, 6] +- goal: [3, 1] + name: agent35 + start: [15, 18] +- goal: [26, 17] + name: agent36 + start: [1, 4] +- goal: [4, 23] + name: agent37 + start: [2, 10] +- goal: [16, 2] + name: agent38 + start: [1, 21] +- goal: [13, 31] + name: agent39 + start: [25, 26] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [5, 13] + - !!python/tuple [23, 11] + - !!python/tuple [12, 22] + - !!python/tuple [0, 22] + - !!python/tuple [4, 9] + - !!python/tuple [22, 10] + - !!python/tuple [7, 16] + - !!python/tuple [20, 3] + - !!python/tuple [1, 20] + - !!python/tuple [2, 13] + - !!python/tuple [16, 30] + - !!python/tuple [18, 12] + - !!python/tuple [15, 3] + - !!python/tuple [29, 23] + - !!python/tuple [19, 9] + - !!python/tuple [21, 14] + - !!python/tuple [4, 30] + - !!python/tuple [2, 30] + - !!python/tuple [24, 13] + - !!python/tuple [28, 7] + - !!python/tuple [29, 4] + - !!python/tuple [22, 11] + - !!python/tuple [24, 3] + - !!python/tuple [2, 28] + - !!python/tuple [17, 12] + - !!python/tuple [13, 9] + - !!python/tuple [25, 14] + - !!python/tuple [7, 26] + - !!python/tuple [13, 8] + - !!python/tuple [28, 19] + - !!python/tuple [21, 29] + - !!python/tuple [0, 28] + - !!python/tuple [16, 27] + - !!python/tuple [16, 15] + - !!python/tuple [24, 15] + - !!python/tuple [7, 10] + - !!python/tuple [15, 26] + - !!python/tuple [16, 24] + - !!python/tuple [14, 28] + - !!python/tuple [30, 30] + - !!python/tuple [11, 4] + - !!python/tuple [10, 25] + - !!python/tuple [31, 4] + - !!python/tuple [28, 30] + - !!python/tuple [6, 15] + - !!python/tuple [25, 31] + - !!python/tuple [1, 26] + - !!python/tuple [19, 8] + - !!python/tuple [2, 9] + - !!python/tuple [30, 4] + - !!python/tuple [0, 27] + - !!python/tuple [13, 14] + - !!python/tuple [31, 26] + - !!python/tuple [2, 27] + - !!python/tuple [16, 14] + - !!python/tuple [19, 24] + - !!python/tuple [19, 13] + - !!python/tuple [5, 22] + - !!python/tuple [10, 29] + - !!python/tuple [10, 0] + - !!python/tuple [21, 1] + - !!python/tuple [5, 3] + - !!python/tuple [15, 30] + - !!python/tuple [25, 22] + - !!python/tuple [14, 15] + - !!python/tuple [21, 10] + - !!python/tuple [23, 5] + - !!python/tuple [9, 5] + - !!python/tuple [16, 20] + - !!python/tuple [0, 8] + - !!python/tuple [14, 3] + - !!python/tuple [17, 18] + - !!python/tuple [30, 8] + - !!python/tuple [10, 20] + - !!python/tuple [24, 14] + - !!python/tuple [29, 3] + - !!python/tuple [5, 14] + - !!python/tuple [9, 25] + - !!python/tuple [24, 23] + - !!python/tuple [26, 27] + - !!python/tuple [11, 26] + - !!python/tuple [20, 10] + - !!python/tuple [17, 30] + - !!python/tuple [8, 18] + - !!python/tuple [9, 1] + - !!python/tuple [5, 21] + - !!python/tuple [14, 25] + - !!python/tuple [23, 0] + - !!python/tuple [20, 16] + - !!python/tuple [18, 28] + - !!python/tuple [20, 21] + - !!python/tuple [9, 6] + - !!python/tuple [15, 22] + - !!python/tuple [8, 6] + - !!python/tuple [29, 0] + - !!python/tuple [17, 25] + - !!python/tuple [26, 4] + - !!python/tuple [14, 7] + - !!python/tuple [8, 13] + - !!python/tuple [24, 30] + - !!python/tuple [11, 27] + - !!python/tuple [29, 25] + - !!python/tuple [1, 12] + - !!python/tuple [30, 16] + - !!python/tuple [10, 8] + - !!python/tuple [16, 1] + - !!python/tuple [22, 24] + - !!python/tuple [30, 5] + - !!python/tuple [19, 5] + - !!python/tuple [2, 17] + - !!python/tuple [22, 5] + - !!python/tuple [21, 9] + - !!python/tuple [1, 31] + - !!python/tuple [14, 12] + - !!python/tuple [30, 1] + - !!python/tuple [10, 16] + - !!python/tuple [29, 7] + - !!python/tuple [18, 20] + - !!python/tuple [16, 21] + - !!python/tuple [6, 4] + - !!python/tuple [24, 18] + - !!python/tuple [8, 23] + - !!python/tuple [1, 11] + - !!python/tuple [0, 12] + - !!python/tuple [3, 11] + - !!python/tuple [6, 14] + - !!python/tuple [11, 12] + - !!python/tuple [19, 11] + - !!python/tuple [13, 3] + - !!python/tuple [0, 5] + - !!python/tuple [31, 6] + - !!python/tuple [31, 18] + - !!python/tuple [26, 2] + - !!python/tuple [16, 25] + - !!python/tuple [15, 20] + - !!python/tuple [29, 29] + - !!python/tuple [30, 18] + - !!python/tuple [17, 2] + - !!python/tuple [0, 2] + - !!python/tuple [19, 29] + - !!python/tuple [24, 29] + - !!python/tuple [22, 13] + - !!python/tuple [5, 8] + - !!python/tuple [0, 20] + - !!python/tuple [7, 30] + - !!python/tuple [0, 9] + - !!python/tuple [9, 22] + - !!python/tuple [28, 27] + - !!python/tuple [4, 19] + - !!python/tuple [18, 26] + - !!python/tuple [5, 25] + - !!python/tuple [8, 10] + - !!python/tuple [18, 21] + - !!python/tuple [16, 5] + - !!python/tuple [21, 19] + - !!python/tuple [30, 17] + - !!python/tuple [28, 14] + - !!python/tuple [7, 27] + - !!python/tuple [24, 16] + - !!python/tuple [2, 4] + - !!python/tuple [21, 7] + - !!python/tuple [23, 28] + - !!python/tuple [25, 18] + - !!python/tuple [1, 30] + - !!python/tuple [7, 22] + - !!python/tuple [20, 30] + - !!python/tuple [18, 16] + - !!python/tuple [29, 11] + - !!python/tuple [21, 15] + - !!python/tuple [15, 15] + - !!python/tuple [22, 27] + - !!python/tuple [10, 28] + - !!python/tuple [3, 26] + - !!python/tuple [19, 18] + - !!python/tuple [5, 7] + - !!python/tuple [18, 2] + - !!python/tuple [3, 17] + - !!python/tuple [15, 16] + - !!python/tuple [8, 14] + - !!python/tuple [24, 31] + - !!python/tuple [27, 17] + - !!python/tuple [12, 17] + - !!python/tuple [11, 31] + - !!python/tuple [14, 29] + - !!python/tuple [28, 29] + - !!python/tuple [12, 0] + - !!python/tuple [21, 8] + - !!python/tuple [27, 3] + - !!python/tuple [2, 24] + - !!python/tuple [31, 8] + - !!python/tuple [17, 6] + - !!python/tuple [29, 12] + - !!python/tuple [15, 29] + - !!python/tuple [25, 30] + - !!python/tuple [28, 26] + - !!python/tuple [15, 4] + - !!python/tuple [27, 0] + - !!python/tuple [23, 1] + - !!python/tuple [5, 6] + - !!python/tuple [17, 7] + - !!python/tuple [6, 21] + - !!python/tuple [4, 12] + - !!python/tuple [31, 10] + - !!python/tuple [3, 19] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex98.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex98.yaml new file mode 100644 index 0000000..09ac442 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex98.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [7, 4] + name: agent0 + start: [7, 17] +- goal: [22, 30] + name: agent1 + start: [30, 17] +- goal: [17, 23] + name: agent2 + start: [16, 15] +- goal: [16, 30] + name: agent3 + start: [12, 19] +- goal: [29, 24] + name: agent4 + start: [23, 0] +- goal: [30, 23] + name: agent5 + start: [20, 18] +- goal: [7, 24] + name: agent6 + start: [8, 5] +- goal: [22, 14] + name: agent7 + start: [27, 21] +- goal: [12, 26] + name: agent8 + start: [29, 21] +- goal: [20, 30] + name: agent9 + start: [21, 27] +- goal: [26, 10] + name: agent10 + start: [19, 16] +- goal: [15, 26] + name: agent11 + start: [16, 25] +- goal: [22, 8] + name: agent12 + start: [12, 10] +- goal: [15, 18] + name: agent13 + start: [1, 1] +- goal: [15, 22] + name: agent14 + start: [14, 18] +- goal: [5, 5] + name: agent15 + start: [4, 25] +- goal: [17, 25] + name: agent16 + start: [8, 23] +- goal: [21, 23] + name: agent17 + start: [23, 13] +- goal: [7, 14] + name: agent18 + start: [18, 30] +- goal: [15, 4] + name: agent19 + start: [11, 4] +- goal: [29, 5] + name: agent20 + start: [13, 13] +- goal: [10, 13] + name: agent21 + start: [4, 30] +- goal: [19, 20] + name: agent22 + start: [10, 31] +- goal: [2, 5] + name: agent23 + start: [4, 0] +- goal: [8, 14] + name: agent24 + start: [21, 14] +- goal: [19, 8] + name: agent25 + start: [3, 21] +- goal: [25, 10] + name: agent26 + start: [11, 11] +- goal: [10, 23] + name: agent27 + start: [4, 31] +- goal: [27, 1] + name: agent28 + start: [12, 20] +- goal: [5, 11] + name: agent29 + start: [24, 14] +- goal: [16, 29] + name: agent30 + start: [23, 3] +- goal: [20, 16] + name: agent31 + start: [20, 13] +- goal: [20, 25] + name: agent32 + start: [17, 14] +- goal: [5, 0] + name: agent33 + start: [0, 21] +- goal: [17, 3] + name: agent34 + start: [11, 24] +- goal: [10, 4] + name: agent35 + start: [9, 11] +- goal: [4, 14] + name: agent36 + start: [8, 17] +- goal: [26, 2] + name: agent37 + start: [2, 31] +- goal: [29, 23] + name: agent38 + start: [6, 22] +- goal: [17, 12] + name: agent39 + start: [30, 14] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [23, 26] + - !!python/tuple [25, 3] + - !!python/tuple [18, 31] + - !!python/tuple [26, 9] + - !!python/tuple [13, 7] + - !!python/tuple [13, 4] + - !!python/tuple [1, 0] + - !!python/tuple [28, 22] + - !!python/tuple [23, 6] + - !!python/tuple [14, 17] + - !!python/tuple [23, 20] + - !!python/tuple [30, 0] + - !!python/tuple [27, 10] + - !!python/tuple [24, 3] + - !!python/tuple [5, 8] + - !!python/tuple [22, 22] + - !!python/tuple [1, 16] + - !!python/tuple [0, 10] + - !!python/tuple [27, 5] + - !!python/tuple [19, 29] + - !!python/tuple [8, 22] + - !!python/tuple [4, 21] + - !!python/tuple [8, 20] + - !!python/tuple [10, 26] + - !!python/tuple [0, 25] + - !!python/tuple [8, 31] + - !!python/tuple [8, 11] + - !!python/tuple [18, 8] + - !!python/tuple [14, 21] + - !!python/tuple [31, 20] + - !!python/tuple [0, 3] + - !!python/tuple [25, 28] + - !!python/tuple [5, 4] + - !!python/tuple [0, 16] + - !!python/tuple [23, 17] + - !!python/tuple [18, 12] + - !!python/tuple [16, 28] + - !!python/tuple [7, 18] + - !!python/tuple [17, 30] + - !!python/tuple [15, 12] + - !!python/tuple [6, 9] + - !!python/tuple [2, 0] + - !!python/tuple [4, 11] + - !!python/tuple [0, 23] + - !!python/tuple [27, 13] + - !!python/tuple [21, 4] + - !!python/tuple [9, 17] + - !!python/tuple [3, 23] + - !!python/tuple [8, 27] + - !!python/tuple [9, 26] + - !!python/tuple [31, 17] + - !!python/tuple [26, 18] + - !!python/tuple [4, 13] + - !!python/tuple [22, 4] + - !!python/tuple [28, 3] + - !!python/tuple [29, 17] + - !!python/tuple [28, 1] + - !!python/tuple [25, 23] + - !!python/tuple [28, 8] + - !!python/tuple [4, 2] + - !!python/tuple [21, 22] + - !!python/tuple [6, 29] + - !!python/tuple [18, 7] + - !!python/tuple [23, 27] + - !!python/tuple [2, 30] + - !!python/tuple [21, 1] + - !!python/tuple [14, 19] + - !!python/tuple [21, 8] + - !!python/tuple [21, 19] + - !!python/tuple [12, 13] + - !!python/tuple [11, 23] + - !!python/tuple [26, 5] + - !!python/tuple [16, 8] + - !!python/tuple [26, 19] + - !!python/tuple [11, 1] + - !!python/tuple [5, 21] + - !!python/tuple [1, 19] + - !!python/tuple [29, 4] + - !!python/tuple [1, 7] + - !!python/tuple [10, 12] + - !!python/tuple [17, 28] + - !!python/tuple [29, 2] + - !!python/tuple [0, 14] + - !!python/tuple [10, 8] + - !!python/tuple [6, 25] + - !!python/tuple [0, 5] + - !!python/tuple [26, 24] + - !!python/tuple [27, 11] + - !!python/tuple [6, 17] + - !!python/tuple [6, 15] + - !!python/tuple [30, 13] + - !!python/tuple [6, 21] + - !!python/tuple [24, 26] + - !!python/tuple [18, 0] + - !!python/tuple [31, 25] + - !!python/tuple [30, 25] + - !!python/tuple [31, 2] + - !!python/tuple [11, 22] + - !!python/tuple [11, 30] + - !!python/tuple [7, 6] + - !!python/tuple [25, 27] + - !!python/tuple [16, 17] + - !!python/tuple [9, 8] + - !!python/tuple [23, 21] + - !!python/tuple [23, 16] + - !!python/tuple [18, 29] + - !!python/tuple [18, 18] + - !!python/tuple [17, 2] + - !!python/tuple [4, 9] + - !!python/tuple [1, 27] + - !!python/tuple [15, 14] + - !!python/tuple [21, 10] + - !!python/tuple [14, 13] + - !!python/tuple [21, 29] + - !!python/tuple [20, 1] + - !!python/tuple [12, 4] + - !!python/tuple [31, 9] + - !!python/tuple [16, 13] + - !!python/tuple [15, 30] + - !!python/tuple [9, 25] + - !!python/tuple [14, 23] + - !!python/tuple [5, 20] + - !!python/tuple [21, 20] + - !!python/tuple [0, 0] + - !!python/tuple [14, 20] + - !!python/tuple [30, 19] + - !!python/tuple [20, 8] + - !!python/tuple [18, 2] + - !!python/tuple [19, 4] + - !!python/tuple [11, 31] + - !!python/tuple [9, 18] + - !!python/tuple [29, 22] + - !!python/tuple [17, 7] + - !!python/tuple [23, 22] + - !!python/tuple [31, 23] + - !!python/tuple [28, 28] + - !!python/tuple [18, 23] + - !!python/tuple [29, 3] + - !!python/tuple [13, 30] + - !!python/tuple [21, 21] + - !!python/tuple [8, 8] + - !!python/tuple [6, 11] + - !!python/tuple [29, 11] + - !!python/tuple [28, 10] + - !!python/tuple [28, 26] + - !!python/tuple [4, 19] + - !!python/tuple [1, 4] + - !!python/tuple [25, 24] + - !!python/tuple [23, 11] + - !!python/tuple [21, 6] + - !!python/tuple [6, 13] + - !!python/tuple [4, 4] + - !!python/tuple [3, 29] + - !!python/tuple [2, 1] + - !!python/tuple [25, 11] + - !!python/tuple [27, 28] + - !!python/tuple [10, 7] + - !!python/tuple [7, 13] + - !!python/tuple [30, 22] + - !!python/tuple [10, 17] + - !!python/tuple [20, 20] + - !!python/tuple [12, 8] + - !!python/tuple [10, 15] + - !!python/tuple [11, 3] + - !!python/tuple [3, 22] + - !!python/tuple [13, 23] + - !!python/tuple [23, 30] + - !!python/tuple [23, 28] + - !!python/tuple [24, 6] + - !!python/tuple [16, 12] + - !!python/tuple [8, 24] + - !!python/tuple [3, 24] + - !!python/tuple [15, 11] + - !!python/tuple [0, 18] + - !!python/tuple [19, 18] + - !!python/tuple [14, 3] + - !!python/tuple [12, 22] + - !!python/tuple [29, 29] + - !!python/tuple [9, 21] + - !!python/tuple [6, 5] + - !!python/tuple [4, 24] + - !!python/tuple [13, 12] + - !!python/tuple [29, 16] + - !!python/tuple [13, 5] + - !!python/tuple [23, 29] + - !!python/tuple [15, 9] + - !!python/tuple [16, 11] + - !!python/tuple [8, 21] + - !!python/tuple [8, 13] + - !!python/tuple [25, 14] + - !!python/tuple [2, 3] + - !!python/tuple [6, 1] + - !!python/tuple [6, 7] + - !!python/tuple [12, 11] + - !!python/tuple [27, 17] + - !!python/tuple [24, 20] + - !!python/tuple [1, 21] + - !!python/tuple [15, 2] + - !!python/tuple [16, 6] + - !!python/tuple [28, 20] + - !!python/tuple [5, 1] + - !!python/tuple [22, 19] + - !!python/tuple [19, 15] + - !!python/tuple [0, 26] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex99.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex99.yaml new file mode 100644 index 0000000..8e6417d --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents40_ex99.yaml @@ -0,0 +1,328 @@ +agents: +- goal: [8, 16] + name: agent0 + start: [11, 27] +- goal: [19, 2] + name: agent1 + start: [20, 4] +- goal: [21, 28] + name: agent2 + start: [7, 5] +- goal: [22, 21] + name: agent3 + start: [6, 8] +- goal: [31, 16] + name: agent4 + start: [11, 26] +- goal: [29, 19] + name: agent5 + start: [4, 15] +- goal: [26, 25] + name: agent6 + start: [27, 19] +- goal: [29, 22] + name: agent7 + start: [21, 3] +- goal: [9, 30] + name: agent8 + start: [3, 14] +- goal: [5, 27] + name: agent9 + start: [4, 10] +- goal: [12, 28] + name: agent10 + start: [15, 2] +- goal: [16, 0] + name: agent11 + start: [31, 14] +- goal: [31, 7] + name: agent12 + start: [31, 20] +- goal: [11, 14] + name: agent13 + start: [8, 29] +- goal: [20, 18] + name: agent14 + start: [18, 27] +- goal: [27, 6] + name: agent15 + start: [8, 14] +- goal: [24, 13] + name: agent16 + start: [10, 28] +- goal: [16, 20] + name: agent17 + start: [21, 12] +- goal: [3, 24] + name: agent18 + start: [14, 24] +- goal: [8, 25] + name: agent19 + start: [9, 11] +- goal: [20, 6] + name: agent20 + start: [19, 14] +- goal: [2, 26] + name: agent21 + start: [25, 7] +- goal: [30, 29] + name: agent22 + start: [9, 16] +- goal: [11, 15] + name: agent23 + start: [10, 1] +- goal: [25, 16] + name: agent24 + start: [10, 26] +- goal: [14, 23] + name: agent25 + start: [17, 6] +- goal: [26, 22] + name: agent26 + start: [28, 30] +- goal: [22, 2] + name: agent27 + start: [17, 19] +- goal: [17, 30] + name: agent28 + start: [23, 16] +- goal: [18, 19] + name: agent29 + start: [30, 24] +- goal: [26, 28] + name: agent30 + start: [12, 4] +- goal: [28, 2] + name: agent31 + start: [2, 26] +- goal: [22, 11] + name: agent32 + start: [24, 14] +- goal: [14, 27] + name: agent33 + start: [4, 6] +- goal: [22, 14] + name: agent34 + start: [4, 13] +- goal: [7, 3] + name: agent35 + start: [9, 10] +- goal: [21, 0] + name: agent36 + start: [11, 23] +- goal: [2, 6] + name: agent37 + start: [30, 17] +- goal: [7, 1] + name: agent38 + start: [1, 3] +- goal: [14, 10] + name: agent39 + start: [10, 27] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [7, 15] + - !!python/tuple [4, 9] + - !!python/tuple [4, 3] + - !!python/tuple [31, 13] + - !!python/tuple [22, 4] + - !!python/tuple [15, 24] + - !!python/tuple [0, 13] + - !!python/tuple [26, 18] + - !!python/tuple [17, 5] + - !!python/tuple [2, 7] + - !!python/tuple [25, 11] + - !!python/tuple [3, 11] + - !!python/tuple [10, 22] + - !!python/tuple [30, 30] + - !!python/tuple [8, 6] + - !!python/tuple [27, 16] + - !!python/tuple [10, 4] + - !!python/tuple [21, 2] + - !!python/tuple [12, 25] + - !!python/tuple [4, 27] + - !!python/tuple [14, 14] + - !!python/tuple [3, 3] + - !!python/tuple [6, 7] + - !!python/tuple [0, 14] + - !!python/tuple [14, 16] + - !!python/tuple [24, 3] + - !!python/tuple [27, 23] + - !!python/tuple [21, 1] + - !!python/tuple [20, 11] + - !!python/tuple [26, 27] + - !!python/tuple [14, 30] + - !!python/tuple [12, 8] + - !!python/tuple [8, 7] + - !!python/tuple [13, 3] + - !!python/tuple [10, 14] + - !!python/tuple [0, 3] + - !!python/tuple [8, 8] + - !!python/tuple [4, 5] + - !!python/tuple [16, 17] + - !!python/tuple [8, 26] + - !!python/tuple [16, 2] + - !!python/tuple [17, 8] + - !!python/tuple [7, 20] + - !!python/tuple [8, 4] + - !!python/tuple [27, 5] + - !!python/tuple [15, 0] + - !!python/tuple [16, 3] + - !!python/tuple [16, 28] + - !!python/tuple [14, 21] + - !!python/tuple [4, 30] + - !!python/tuple [24, 5] + - !!python/tuple [19, 20] + - !!python/tuple [7, 12] + - !!python/tuple [15, 15] + - !!python/tuple [16, 8] + - !!python/tuple [23, 4] + - !!python/tuple [18, 26] + - !!python/tuple [30, 26] + - !!python/tuple [31, 6] + - !!python/tuple [8, 0] + - !!python/tuple [15, 14] + - !!python/tuple [17, 29] + - !!python/tuple [29, 29] + - !!python/tuple [14, 4] + - !!python/tuple [26, 17] + - !!python/tuple [17, 16] + - !!python/tuple [15, 23] + - !!python/tuple [1, 31] + - !!python/tuple [22, 16] + - !!python/tuple [20, 28] + - !!python/tuple [12, 22] + - !!python/tuple [31, 9] + - !!python/tuple [13, 10] + - !!python/tuple [0, 21] + - !!python/tuple [24, 9] + - !!python/tuple [16, 16] + - !!python/tuple [10, 5] + - !!python/tuple [1, 21] + - !!python/tuple [15, 12] + - !!python/tuple [12, 10] + - !!python/tuple [4, 26] + - !!python/tuple [5, 12] + - !!python/tuple [27, 11] + - !!python/tuple [28, 3] + - !!python/tuple [6, 15] + - !!python/tuple [29, 30] + - !!python/tuple [23, 20] + - !!python/tuple [21, 6] + - !!python/tuple [28, 5] + - !!python/tuple [4, 20] + - !!python/tuple [16, 25] + - !!python/tuple [28, 19] + - !!python/tuple [12, 24] + - !!python/tuple [23, 7] + - !!python/tuple [22, 29] + - !!python/tuple [19, 8] + - !!python/tuple [10, 6] + - !!python/tuple [18, 24] + - !!python/tuple [25, 21] + - !!python/tuple [23, 22] + - !!python/tuple [3, 1] + - !!python/tuple [17, 20] + - !!python/tuple [14, 2] + - !!python/tuple [21, 21] + - !!python/tuple [30, 9] + - !!python/tuple [21, 9] + - !!python/tuple [30, 16] + - !!python/tuple [8, 30] + - !!python/tuple [25, 31] + - !!python/tuple [12, 21] + - !!python/tuple [26, 15] + - !!python/tuple [11, 11] + - !!python/tuple [20, 10] + - !!python/tuple [14, 25] + - !!python/tuple [27, 15] + - !!python/tuple [16, 27] + - !!python/tuple [22, 31] + - !!python/tuple [23, 0] + - !!python/tuple [25, 8] + - !!python/tuple [2, 23] + - !!python/tuple [24, 15] + - !!python/tuple [29, 0] + - !!python/tuple [29, 11] + - !!python/tuple [20, 5] + - !!python/tuple [20, 0] + - !!python/tuple [8, 1] + - !!python/tuple [23, 10] + - !!python/tuple [19, 26] + - !!python/tuple [31, 17] + - !!python/tuple [1, 8] + - !!python/tuple [23, 1] + - !!python/tuple [7, 10] + - !!python/tuple [19, 10] + - !!python/tuple [4, 19] + - !!python/tuple [0, 9] + - !!python/tuple [11, 10] + - !!python/tuple [19, 3] + - !!python/tuple [30, 28] + - !!python/tuple [24, 2] + - !!python/tuple [27, 30] + - !!python/tuple [3, 13] + - !!python/tuple [11, 12] + - !!python/tuple [10, 12] + - !!python/tuple [3, 2] + - !!python/tuple [4, 7] + - !!python/tuple [28, 24] + - !!python/tuple [12, 20] + - !!python/tuple [1, 22] + - !!python/tuple [14, 15] + - !!python/tuple [10, 20] + - !!python/tuple [15, 19] + - !!python/tuple [31, 5] + - !!python/tuple [31, 1] + - !!python/tuple [11, 24] + - !!python/tuple [27, 10] + - !!python/tuple [6, 3] + - !!python/tuple [12, 12] + - !!python/tuple [7, 14] + - !!python/tuple [16, 30] + - !!python/tuple [19, 16] + - !!python/tuple [20, 22] + - !!python/tuple [15, 10] + - !!python/tuple [10, 10] + - !!python/tuple [18, 10] + - !!python/tuple [20, 23] + - !!python/tuple [25, 30] + - !!python/tuple [16, 23] + - !!python/tuple [6, 18] + - !!python/tuple [7, 9] + - !!python/tuple [26, 16] + - !!python/tuple [1, 12] + - !!python/tuple [29, 18] + - !!python/tuple [19, 21] + - !!python/tuple [19, 4] + - !!python/tuple [6, 2] + - !!python/tuple [27, 13] + - !!python/tuple [9, 5] + - !!python/tuple [2, 15] + - !!python/tuple [24, 30] + - !!python/tuple [4, 8] + - !!python/tuple [8, 24] + - !!python/tuple [28, 29] + - !!python/tuple [29, 3] + - !!python/tuple [22, 15] + - !!python/tuple [2, 4] + - !!python/tuple [11, 28] + - !!python/tuple [25, 10] + - !!python/tuple [14, 11] + - !!python/tuple [1, 26] + - !!python/tuple [24, 7] + - !!python/tuple [30, 0] + - !!python/tuple [25, 29] + - !!python/tuple [14, 17] + - !!python/tuple [28, 17] + - !!python/tuple [26, 14] + - !!python/tuple [26, 19] + - !!python/tuple [18, 29] + - !!python/tuple [17, 12] + - !!python/tuple [13, 5] + - !!python/tuple [15, 28] + - !!python/tuple [0, 23] + - !!python/tuple [9, 21] + - !!python/tuple [6, 14] + - !!python/tuple [29, 2] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex0.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex0.yaml new file mode 100644 index 0000000..b3e8a7e --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex0.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [25, 5] + name: agent0 + start: [11, 19] +- goal: [6, 28] + name: agent1 + start: [11, 25] +- goal: [28, 27] + name: agent2 + start: [30, 7] +- goal: [28, 11] + name: agent3 + start: [23, 2] +- goal: [5, 22] + name: agent4 + start: [24, 30] +- goal: [18, 24] + name: agent5 + start: [9, 7] +- goal: [5, 1] + name: agent6 + start: [2, 0] +- goal: [7, 0] + name: agent7 + start: [0, 21] +- goal: [7, 2] + name: agent8 + start: [5, 25] +- goal: [16, 21] + name: agent9 + start: [23, 19] +- goal: [31, 11] + name: agent10 + start: [23, 4] +- goal: [6, 2] + name: agent11 + start: [30, 22] +- goal: [2, 10] + name: agent12 + start: [27, 9] +- goal: [29, 15] + name: agent13 + start: [31, 3] +- goal: [3, 12] + name: agent14 + start: [25, 24] +- goal: [30, 8] + name: agent15 + start: [28, 2] +- goal: [21, 24] + name: agent16 + start: [18, 12] +- goal: [18, 0] + name: agent17 + start: [3, 15] +- goal: [15, 13] + name: agent18 + start: [17, 5] +- goal: [15, 15] + name: agent19 + start: [6, 8] +- goal: [1, 15] + name: agent20 + start: [16, 10] +- goal: [4, 28] + name: agent21 + start: [4, 30] +- goal: [26, 7] + name: agent22 + start: [30, 17] +- goal: [6, 16] + name: agent23 + start: [16, 5] +- goal: [20, 30] + name: agent24 + start: [3, 7] +- goal: [21, 8] + name: agent25 + start: [0, 6] +- goal: [31, 18] + name: agent26 + start: [17, 8] +- goal: [22, 14] + name: agent27 + start: [7, 7] +- goal: [11, 30] + name: agent28 + start: [24, 0] +- goal: [18, 6] + name: agent29 + start: [14, 8] +- goal: [5, 21] + name: agent30 + start: [21, 9] +- goal: [26, 15] + name: agent31 + start: [22, 4] +- goal: [3, 23] + name: agent32 + start: [23, 6] +- goal: [30, 17] + name: agent33 + start: [28, 17] +- goal: [15, 18] + name: agent34 + start: [3, 11] +- goal: [20, 21] + name: agent35 + start: [14, 14] +- goal: [11, 8] + name: agent36 + start: [29, 12] +- goal: [16, 10] + name: agent37 + start: [30, 31] +- goal: [0, 5] + name: agent38 + start: [14, 16] +- goal: [27, 20] + name: agent39 + start: [3, 29] +- goal: [19, 16] + name: agent40 + start: [29, 24] +- goal: [24, 25] + name: agent41 + start: [18, 22] +- goal: [30, 23] + name: agent42 + start: [4, 23] +- goal: [7, 23] + name: agent43 + start: [31, 26] +- goal: [20, 4] + name: agent44 + start: [28, 4] +- goal: [21, 13] + name: agent45 + start: [21, 10] +- goal: [17, 30] + name: agent46 + start: [3, 31] +- goal: [19, 0] + name: agent47 + start: [6, 19] +- goal: [7, 18] + name: agent48 + start: [19, 28] +- goal: [20, 0] + name: agent49 + start: [7, 10] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [27, 16] + - !!python/tuple [28, 10] + - !!python/tuple [30, 5] + - !!python/tuple [2, 26] + - !!python/tuple [16, 6] + - !!python/tuple [22, 20] + - !!python/tuple [0, 14] + - !!python/tuple [18, 7] + - !!python/tuple [27, 17] + - !!python/tuple [7, 16] + - !!python/tuple [21, 1] + - !!python/tuple [9, 0] + - !!python/tuple [19, 23] + - !!python/tuple [4, 1] + - !!python/tuple [5, 11] + - !!python/tuple [21, 21] + - !!python/tuple [17, 13] + - !!python/tuple [27, 2] + - !!python/tuple [7, 27] + - !!python/tuple [14, 18] + - !!python/tuple [30, 12] + - !!python/tuple [12, 21] + - !!python/tuple [26, 25] + - !!python/tuple [20, 18] + - !!python/tuple [13, 20] + - !!python/tuple [30, 28] + - !!python/tuple [12, 8] + - !!python/tuple [17, 10] + - !!python/tuple [9, 25] + - !!python/tuple [2, 7] + - !!python/tuple [25, 23] + - !!python/tuple [12, 17] + - !!python/tuple [29, 20] + - !!python/tuple [0, 11] + - !!python/tuple [25, 17] + - !!python/tuple [30, 13] + - !!python/tuple [2, 28] + - !!python/tuple [25, 21] + - !!python/tuple [11, 22] + - !!python/tuple [12, 18] + - !!python/tuple [15, 21] + - !!python/tuple [0, 9] + - !!python/tuple [20, 12] + - !!python/tuple [18, 16] + - !!python/tuple [0, 29] + - !!python/tuple [12, 24] + - !!python/tuple [19, 4] + - !!python/tuple [4, 7] + - !!python/tuple [14, 15] + - !!python/tuple [7, 15] + - !!python/tuple [31, 31] + - !!python/tuple [22, 17] + - !!python/tuple [26, 18] + - !!python/tuple [17, 24] + - !!python/tuple [11, 28] + - !!python/tuple [20, 13] + - !!python/tuple [6, 26] + - !!python/tuple [26, 10] + - !!python/tuple [3, 19] + - !!python/tuple [12, 19] + - !!python/tuple [14, 24] + - !!python/tuple [11, 5] + - !!python/tuple [16, 11] + - !!python/tuple [24, 23] + - !!python/tuple [27, 12] + - !!python/tuple [18, 10] + - !!python/tuple [15, 14] + - !!python/tuple [12, 31] + - !!python/tuple [16, 8] + - !!python/tuple [16, 0] + - !!python/tuple [21, 17] + - !!python/tuple [14, 22] + - !!python/tuple [15, 6] + - !!python/tuple [21, 2] + - !!python/tuple [12, 14] + - !!python/tuple [9, 26] + - !!python/tuple [5, 10] + - !!python/tuple [18, 9] + - !!python/tuple [20, 19] + - !!python/tuple [6, 9] + - !!python/tuple [24, 20] + - !!python/tuple [10, 26] + - !!python/tuple [28, 29] + - !!python/tuple [19, 14] + - !!python/tuple [7, 22] + - !!python/tuple [9, 22] + - !!python/tuple [19, 30] + - !!python/tuple [30, 3] + - !!python/tuple [19, 9] + - !!python/tuple [6, 31] + - !!python/tuple [11, 29] + - !!python/tuple [8, 9] + - !!python/tuple [23, 29] + - !!python/tuple [23, 20] + - !!python/tuple [25, 7] + - !!python/tuple [19, 10] + - !!python/tuple [6, 0] + - !!python/tuple [13, 19] + - !!python/tuple [3, 4] + - !!python/tuple [31, 15] + - !!python/tuple [14, 9] + - !!python/tuple [26, 1] + - !!python/tuple [3, 20] + - !!python/tuple [6, 30] + - !!python/tuple [29, 30] + - !!python/tuple [6, 22] + - !!python/tuple [3, 10] + - !!python/tuple [8, 25] + - !!python/tuple [10, 24] + - !!python/tuple [18, 27] + - !!python/tuple [20, 8] + - !!python/tuple [24, 14] + - !!python/tuple [31, 8] + - !!python/tuple [28, 6] + - !!python/tuple [8, 26] + - !!python/tuple [24, 24] + - !!python/tuple [19, 27] + - !!python/tuple [16, 25] + - !!python/tuple [2, 8] + - !!python/tuple [19, 2] + - !!python/tuple [10, 11] + - !!python/tuple [9, 19] + - !!python/tuple [14, 29] + - !!python/tuple [26, 23] + - !!python/tuple [19, 20] + - !!python/tuple [10, 3] + - !!python/tuple [5, 28] + - !!python/tuple [2, 14] + - !!python/tuple [28, 14] + - !!python/tuple [12, 15] + - !!python/tuple [13, 10] + - !!python/tuple [1, 17] + - !!python/tuple [17, 3] + - !!python/tuple [10, 30] + - !!python/tuple [0, 24] + - !!python/tuple [24, 19] + - !!python/tuple [31, 5] + - !!python/tuple [10, 9] + - !!python/tuple [13, 11] + - !!python/tuple [24, 17] + - !!python/tuple [0, 17] + - !!python/tuple [21, 14] + - !!python/tuple [26, 22] + - !!python/tuple [5, 2] + - !!python/tuple [3, 0] + - !!python/tuple [22, 5] + - !!python/tuple [16, 13] + - !!python/tuple [24, 22] + - !!python/tuple [29, 25] + - !!python/tuple [6, 17] + - !!python/tuple [2, 23] + - !!python/tuple [26, 14] + - !!python/tuple [3, 9] + - !!python/tuple [23, 16] + - !!python/tuple [29, 9] + - !!python/tuple [23, 18] + - !!python/tuple [25, 14] + - !!python/tuple [4, 4] + - !!python/tuple [16, 7] + - !!python/tuple [6, 3] + - !!python/tuple [3, 22] + - !!python/tuple [28, 16] + - !!python/tuple [11, 16] + - !!python/tuple [4, 5] + - !!python/tuple [18, 1] + - !!python/tuple [1, 11] + - !!python/tuple [21, 0] + - !!python/tuple [29, 26] + - !!python/tuple [20, 24] + - !!python/tuple [27, 23] + - !!python/tuple [14, 10] + - !!python/tuple [7, 11] + - !!python/tuple [19, 29] + - !!python/tuple [12, 30] + - !!python/tuple [15, 25] + - !!python/tuple [13, 8] + - !!python/tuple [5, 6] + - !!python/tuple [12, 26] + - !!python/tuple [12, 22] + - !!python/tuple [7, 20] + - !!python/tuple [31, 23] + - !!python/tuple [15, 9] + - !!python/tuple [7, 8] + - !!python/tuple [19, 8] + - !!python/tuple [28, 0] + - !!python/tuple [5, 23] + - !!python/tuple [24, 3] + - !!python/tuple [2, 19] + - !!python/tuple [0, 28] + - !!python/tuple [26, 11] + - !!python/tuple [11, 26] + - !!python/tuple [9, 4] + - !!python/tuple [15, 28] + - !!python/tuple [27, 22] + - !!python/tuple [22, 18] + - !!python/tuple [14, 13] + - !!python/tuple [25, 28] + - !!python/tuple [22, 12] + - !!python/tuple [28, 9] + - !!python/tuple [27, 30] + - !!python/tuple [11, 13] + - !!python/tuple [23, 11] + - !!python/tuple [14, 26] + - !!python/tuple [15, 20] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex1.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex1.yaml new file mode 100644 index 0000000..ed3a609 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex1.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [5, 7] + name: agent0 + start: [15, 15] +- goal: [1, 17] + name: agent1 + start: [25, 27] +- goal: [2, 8] + name: agent2 + start: [5, 15] +- goal: [27, 7] + name: agent3 + start: [0, 13] +- goal: [2, 18] + name: agent4 + start: [8, 3] +- goal: [26, 17] + name: agent5 + start: [19, 25] +- goal: [7, 28] + name: agent6 + start: [31, 26] +- goal: [6, 16] + name: agent7 + start: [15, 18] +- goal: [17, 27] + name: agent8 + start: [1, 26] +- goal: [22, 9] + name: agent9 + start: [12, 16] +- goal: [7, 21] + name: agent10 + start: [2, 22] +- goal: [6, 17] + name: agent11 + start: [29, 2] +- goal: [7, 6] + name: agent12 + start: [6, 19] +- goal: [28, 21] + name: agent13 + start: [25, 25] +- goal: [17, 31] + name: agent14 + start: [12, 14] +- goal: [10, 7] + name: agent15 + start: [1, 23] +- goal: [16, 5] + name: agent16 + start: [30, 12] +- goal: [22, 31] + name: agent17 + start: [18, 30] +- goal: [29, 18] + name: agent18 + start: [25, 23] +- goal: [5, 25] + name: agent19 + start: [0, 28] +- goal: [7, 8] + name: agent20 + start: [25, 6] +- goal: [10, 10] + name: agent21 + start: [17, 31] +- goal: [26, 20] + name: agent22 + start: [7, 28] +- goal: [31, 21] + name: agent23 + start: [29, 20] +- goal: [5, 31] + name: agent24 + start: [6, 31] +- goal: [18, 6] + name: agent25 + start: [24, 7] +- goal: [25, 29] + name: agent26 + start: [11, 9] +- goal: [14, 15] + name: agent27 + start: [4, 9] +- goal: [24, 10] + name: agent28 + start: [21, 15] +- goal: [28, 12] + name: agent29 + start: [3, 19] +- goal: [14, 31] + name: agent30 + start: [31, 18] +- goal: [1, 10] + name: agent31 + start: [12, 15] +- goal: [17, 1] + name: agent32 + start: [9, 14] +- goal: [4, 27] + name: agent33 + start: [19, 20] +- goal: [15, 15] + name: agent34 + start: [28, 17] +- goal: [30, 21] + name: agent35 + start: [5, 19] +- goal: [30, 25] + name: agent36 + start: [26, 17] +- goal: [10, 15] + name: agent37 + start: [0, 3] +- goal: [18, 4] + name: agent38 + start: [2, 15] +- goal: [0, 28] + name: agent39 + start: [17, 0] +- goal: [3, 19] + name: agent40 + start: [12, 22] +- goal: [18, 5] + name: agent41 + start: [9, 28] +- goal: [27, 12] + name: agent42 + start: [23, 29] +- goal: [22, 6] + name: agent43 + start: [14, 19] +- goal: [20, 6] + name: agent44 + start: [18, 6] +- goal: [31, 22] + name: agent45 + start: [27, 12] +- goal: [28, 26] + name: agent46 + start: [14, 12] +- goal: [24, 5] + name: agent47 + start: [0, 23] +- goal: [30, 18] + name: agent48 + start: [21, 20] +- goal: [12, 31] + name: agent49 + start: [21, 16] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [13, 3] + - !!python/tuple [19, 16] + - !!python/tuple [18, 19] + - !!python/tuple [28, 29] + - !!python/tuple [26, 19] + - !!python/tuple [17, 22] + - !!python/tuple [31, 14] + - !!python/tuple [14, 17] + - !!python/tuple [5, 28] + - !!python/tuple [13, 6] + - !!python/tuple [29, 1] + - !!python/tuple [6, 18] + - !!python/tuple [15, 4] + - !!python/tuple [20, 0] + - !!python/tuple [17, 20] + - !!python/tuple [13, 31] + - !!python/tuple [20, 17] + - !!python/tuple [8, 13] + - !!python/tuple [17, 12] + - !!python/tuple [27, 1] + - !!python/tuple [6, 14] + - !!python/tuple [9, 19] + - !!python/tuple [2, 9] + - !!python/tuple [20, 19] + - !!python/tuple [20, 9] + - !!python/tuple [2, 16] + - !!python/tuple [30, 1] + - !!python/tuple [28, 8] + - !!python/tuple [6, 29] + - !!python/tuple [20, 23] + - !!python/tuple [1, 12] + - !!python/tuple [19, 29] + - !!python/tuple [14, 4] + - !!python/tuple [20, 15] + - !!python/tuple [20, 3] + - !!python/tuple [24, 21] + - !!python/tuple [10, 11] + - !!python/tuple [20, 4] + - !!python/tuple [3, 18] + - !!python/tuple [3, 30] + - !!python/tuple [12, 5] + - !!python/tuple [8, 10] + - !!python/tuple [24, 19] + - !!python/tuple [5, 18] + - !!python/tuple [3, 14] + - !!python/tuple [0, 31] + - !!python/tuple [16, 11] + - !!python/tuple [23, 5] + - !!python/tuple [10, 4] + - !!python/tuple [12, 11] + - !!python/tuple [12, 17] + - !!python/tuple [20, 31] + - !!python/tuple [18, 21] + - !!python/tuple [17, 21] + - !!python/tuple [10, 23] + - !!python/tuple [20, 30] + - !!python/tuple [15, 26] + - !!python/tuple [31, 24] + - !!python/tuple [29, 5] + - !!python/tuple [28, 18] + - !!python/tuple [20, 24] + - !!python/tuple [7, 3] + - !!python/tuple [8, 20] + - !!python/tuple [15, 13] + - !!python/tuple [14, 23] + - !!python/tuple [8, 2] + - !!python/tuple [5, 1] + - !!python/tuple [3, 2] + - !!python/tuple [5, 14] + - !!python/tuple [2, 2] + - !!python/tuple [5, 21] + - !!python/tuple [8, 31] + - !!python/tuple [11, 26] + - !!python/tuple [24, 20] + - !!python/tuple [14, 22] + - !!python/tuple [15, 9] + - !!python/tuple [11, 15] + - !!python/tuple [15, 19] + - !!python/tuple [14, 3] + - !!python/tuple [3, 31] + - !!python/tuple [23, 14] + - !!python/tuple [16, 30] + - !!python/tuple [28, 20] + - !!python/tuple [8, 9] + - !!python/tuple [30, 16] + - !!python/tuple [20, 13] + - !!python/tuple [17, 16] + - !!python/tuple [23, 13] + - !!python/tuple [19, 30] + - !!python/tuple [30, 19] + - !!python/tuple [30, 2] + - !!python/tuple [26, 8] + - !!python/tuple [19, 23] + - !!python/tuple [22, 25] + - !!python/tuple [9, 3] + - !!python/tuple [31, 15] + - !!python/tuple [26, 22] + - !!python/tuple [18, 11] + - !!python/tuple [31, 1] + - !!python/tuple [18, 27] + - !!python/tuple [6, 5] + - !!python/tuple [22, 8] + - !!python/tuple [24, 6] + - !!python/tuple [27, 28] + - !!python/tuple [25, 11] + - !!python/tuple [3, 28] + - !!python/tuple [2, 17] + - !!python/tuple [23, 27] + - !!python/tuple [4, 14] + - !!python/tuple [22, 5] + - !!python/tuple [23, 20] + - !!python/tuple [12, 25] + - !!python/tuple [25, 8] + - !!python/tuple [21, 23] + - !!python/tuple [21, 21] + - !!python/tuple [3, 26] + - !!python/tuple [27, 15] + - !!python/tuple [18, 3] + - !!python/tuple [22, 23] + - !!python/tuple [5, 29] + - !!python/tuple [26, 2] + - !!python/tuple [10, 25] + - !!python/tuple [19, 28] + - !!python/tuple [17, 8] + - !!python/tuple [5, 23] + - !!python/tuple [2, 13] + - !!python/tuple [20, 7] + - !!python/tuple [16, 0] + - !!python/tuple [28, 7] + - !!python/tuple [11, 12] + - !!python/tuple [16, 14] + - !!python/tuple [24, 28] + - !!python/tuple [31, 3] + - !!python/tuple [7, 14] + - !!python/tuple [26, 16] + - !!python/tuple [15, 1] + - !!python/tuple [8, 14] + - !!python/tuple [25, 19] + - !!python/tuple [4, 22] + - !!python/tuple [23, 26] + - !!python/tuple [18, 13] + - !!python/tuple [19, 10] + - !!python/tuple [29, 19] + - !!python/tuple [23, 22] + - !!python/tuple [28, 2] + - !!python/tuple [2, 0] + - !!python/tuple [2, 1] + - !!python/tuple [22, 12] + - !!python/tuple [5, 17] + - !!python/tuple [5, 9] + - !!python/tuple [9, 10] + - !!python/tuple [13, 2] + - !!python/tuple [16, 20] + - !!python/tuple [4, 25] + - !!python/tuple [0, 19] + - !!python/tuple [13, 1] + - !!python/tuple [12, 24] + - !!python/tuple [28, 27] + - !!python/tuple [28, 11] + - !!python/tuple [8, 15] + - !!python/tuple [19, 14] + - !!python/tuple [6, 9] + - !!python/tuple [28, 1] + - !!python/tuple [22, 19] + - !!python/tuple [18, 8] + - !!python/tuple [1, 29] + - !!python/tuple [28, 3] + - !!python/tuple [1, 13] + - !!python/tuple [27, 22] + - !!python/tuple [31, 23] + - !!python/tuple [1, 6] + - !!python/tuple [23, 19] + - !!python/tuple [5, 27] + - !!python/tuple [30, 5] + - !!python/tuple [3, 15] + - !!python/tuple [19, 26] + - !!python/tuple [7, 26] + - !!python/tuple [30, 24] + - !!python/tuple [5, 22] + - !!python/tuple [24, 23] + - !!python/tuple [7, 22] + - !!python/tuple [10, 21] + - !!python/tuple [21, 11] + - !!python/tuple [22, 4] + - !!python/tuple [13, 27] + - !!python/tuple [21, 8] + - !!python/tuple [25, 7] + - !!python/tuple [7, 17] + - !!python/tuple [9, 17] + - !!python/tuple [30, 17] + - !!python/tuple [25, 1] + - !!python/tuple [22, 10] + - !!python/tuple [28, 16] + - !!python/tuple [2, 10] + - !!python/tuple [13, 12] + - !!python/tuple [15, 23] + - !!python/tuple [17, 5] + - !!python/tuple [22, 29] + - !!python/tuple [30, 4] + - !!python/tuple [31, 25] + - !!python/tuple [1, 20] + - !!python/tuple [22, 21] + - !!python/tuple [25, 14] + - !!python/tuple [18, 15] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex10.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex10.yaml new file mode 100644 index 0000000..fe3a014 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex10.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [16, 13] + name: agent0 + start: [30, 20] +- goal: [14, 18] + name: agent1 + start: [14, 16] +- goal: [7, 15] + name: agent2 + start: [24, 10] +- goal: [12, 1] + name: agent3 + start: [24, 13] +- goal: [2, 15] + name: agent4 + start: [24, 11] +- goal: [0, 8] + name: agent5 + start: [7, 7] +- goal: [24, 6] + name: agent6 + start: [28, 14] +- goal: [31, 9] + name: agent7 + start: [30, 1] +- goal: [0, 0] + name: agent8 + start: [19, 11] +- goal: [29, 25] + name: agent9 + start: [3, 28] +- goal: [22, 21] + name: agent10 + start: [0, 4] +- goal: [15, 14] + name: agent11 + start: [8, 8] +- goal: [25, 14] + name: agent12 + start: [31, 17] +- goal: [6, 13] + name: agent13 + start: [3, 17] +- goal: [25, 22] + name: agent14 + start: [14, 3] +- goal: [6, 11] + name: agent15 + start: [26, 4] +- goal: [6, 2] + name: agent16 + start: [26, 1] +- goal: [15, 7] + name: agent17 + start: [6, 28] +- goal: [29, 27] + name: agent18 + start: [17, 25] +- goal: [11, 8] + name: agent19 + start: [23, 9] +- goal: [25, 6] + name: agent20 + start: [27, 15] +- goal: [16, 14] + name: agent21 + start: [11, 12] +- goal: [2, 31] + name: agent22 + start: [3, 14] +- goal: [25, 4] + name: agent23 + start: [16, 13] +- goal: [26, 16] + name: agent24 + start: [16, 14] +- goal: [26, 12] + name: agent25 + start: [20, 25] +- goal: [4, 0] + name: agent26 + start: [13, 5] +- goal: [9, 2] + name: agent27 + start: [9, 21] +- goal: [9, 0] + name: agent28 + start: [6, 16] +- goal: [21, 23] + name: agent29 + start: [18, 29] +- goal: [27, 25] + name: agent30 + start: [2, 23] +- goal: [8, 18] + name: agent31 + start: [8, 13] +- goal: [20, 9] + name: agent32 + start: [8, 10] +- goal: [26, 30] + name: agent33 + start: [19, 22] +- goal: [22, 14] + name: agent34 + start: [21, 17] +- goal: [13, 21] + name: agent35 + start: [24, 2] +- goal: [16, 31] + name: agent36 + start: [29, 12] +- goal: [27, 13] + name: agent37 + start: [10, 11] +- goal: [23, 0] + name: agent38 + start: [4, 11] +- goal: [5, 12] + name: agent39 + start: [6, 8] +- goal: [14, 16] + name: agent40 + start: [28, 27] +- goal: [0, 9] + name: agent41 + start: [15, 17] +- goal: [12, 3] + name: agent42 + start: [12, 10] +- goal: [31, 15] + name: agent43 + start: [21, 16] +- goal: [31, 28] + name: agent44 + start: [7, 29] +- goal: [3, 23] + name: agent45 + start: [23, 6] +- goal: [2, 24] + name: agent46 + start: [19, 7] +- goal: [24, 13] + name: agent47 + start: [19, 28] +- goal: [25, 9] + name: agent48 + start: [21, 7] +- goal: [24, 4] + name: agent49 + start: [17, 2] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [30, 24] + - !!python/tuple [5, 6] + - !!python/tuple [7, 20] + - !!python/tuple [12, 27] + - !!python/tuple [15, 3] + - !!python/tuple [11, 21] + - !!python/tuple [11, 22] + - !!python/tuple [24, 8] + - !!python/tuple [25, 24] + - !!python/tuple [27, 27] + - !!python/tuple [3, 8] + - !!python/tuple [0, 1] + - !!python/tuple [10, 16] + - !!python/tuple [0, 14] + - !!python/tuple [18, 13] + - !!python/tuple [2, 22] + - !!python/tuple [28, 29] + - !!python/tuple [16, 5] + - !!python/tuple [17, 20] + - !!python/tuple [1, 21] + - !!python/tuple [19, 16] + - !!python/tuple [28, 0] + - !!python/tuple [29, 13] + - !!python/tuple [20, 16] + - !!python/tuple [10, 25] + - !!python/tuple [1, 3] + - !!python/tuple [14, 13] + - !!python/tuple [9, 19] + - !!python/tuple [17, 12] + - !!python/tuple [16, 6] + - !!python/tuple [3, 26] + - !!python/tuple [2, 18] + - !!python/tuple [24, 16] + - !!python/tuple [10, 29] + - !!python/tuple [12, 14] + - !!python/tuple [14, 2] + - !!python/tuple [9, 17] + - !!python/tuple [21, 22] + - !!python/tuple [12, 16] + - !!python/tuple [27, 20] + - !!python/tuple [16, 29] + - !!python/tuple [19, 0] + - !!python/tuple [9, 24] + - !!python/tuple [21, 12] + - !!python/tuple [10, 20] + - !!python/tuple [27, 22] + - !!python/tuple [16, 21] + - !!python/tuple [24, 29] + - !!python/tuple [25, 25] + - !!python/tuple [14, 8] + - !!python/tuple [27, 0] + - !!python/tuple [1, 11] + - !!python/tuple [8, 19] + - !!python/tuple [1, 8] + - !!python/tuple [10, 1] + - !!python/tuple [16, 26] + - !!python/tuple [25, 18] + - !!python/tuple [24, 20] + - !!python/tuple [24, 17] + - !!python/tuple [23, 21] + - !!python/tuple [5, 27] + - !!python/tuple [13, 1] + - !!python/tuple [5, 4] + - !!python/tuple [5, 31] + - !!python/tuple [30, 9] + - !!python/tuple [14, 27] + - !!python/tuple [12, 21] + - !!python/tuple [28, 1] + - !!python/tuple [4, 29] + - !!python/tuple [28, 13] + - !!python/tuple [30, 27] + - !!python/tuple [1, 10] + - !!python/tuple [7, 11] + - !!python/tuple [26, 9] + - !!python/tuple [29, 1] + - !!python/tuple [9, 6] + - !!python/tuple [22, 19] + - !!python/tuple [8, 31] + - !!python/tuple [31, 5] + - !!python/tuple [26, 23] + - !!python/tuple [18, 12] + - !!python/tuple [10, 15] + - !!python/tuple [24, 28] + - !!python/tuple [13, 15] + - !!python/tuple [6, 23] + - !!python/tuple [11, 6] + - !!python/tuple [10, 27] + - !!python/tuple [26, 13] + - !!python/tuple [31, 29] + - !!python/tuple [18, 17] + - !!python/tuple [24, 22] + - !!python/tuple [22, 1] + - !!python/tuple [21, 24] + - !!python/tuple [14, 23] + - !!python/tuple [30, 26] + - !!python/tuple [17, 1] + - !!python/tuple [19, 15] + - !!python/tuple [29, 10] + - !!python/tuple [4, 23] + - !!python/tuple [29, 31] + - !!python/tuple [3, 20] + - !!python/tuple [2, 3] + - !!python/tuple [19, 5] + - !!python/tuple [21, 3] + - !!python/tuple [29, 23] + - !!python/tuple [7, 10] + - !!python/tuple [16, 8] + - !!python/tuple [4, 17] + - !!python/tuple [31, 22] + - !!python/tuple [28, 19] + - !!python/tuple [5, 22] + - !!python/tuple [30, 2] + - !!python/tuple [3, 15] + - !!python/tuple [16, 2] + - !!python/tuple [16, 1] + - !!python/tuple [5, 24] + - !!python/tuple [29, 16] + - !!python/tuple [0, 19] + - !!python/tuple [13, 18] + - !!python/tuple [11, 15] + - !!python/tuple [27, 17] + - !!python/tuple [19, 27] + - !!python/tuple [19, 30] + - !!python/tuple [22, 26] + - !!python/tuple [4, 3] + - !!python/tuple [27, 2] + - !!python/tuple [25, 23] + - !!python/tuple [5, 26] + - !!python/tuple [14, 4] + - !!python/tuple [0, 11] + - !!python/tuple [3, 12] + - !!python/tuple [15, 10] + - !!python/tuple [26, 22] + - !!python/tuple [2, 9] + - !!python/tuple [30, 13] + - !!python/tuple [7, 5] + - !!python/tuple [3, 27] + - !!python/tuple [29, 26] + - !!python/tuple [26, 29] + - !!python/tuple [20, 4] + - !!python/tuple [30, 11] + - !!python/tuple [13, 22] + - !!python/tuple [14, 19] + - !!python/tuple [0, 26] + - !!python/tuple [29, 29] + - !!python/tuple [12, 23] + - !!python/tuple [23, 30] + - !!python/tuple [26, 14] + - !!python/tuple [14, 24] + - !!python/tuple [23, 15] + - !!python/tuple [5, 13] + - !!python/tuple [28, 23] + - !!python/tuple [1, 7] + - !!python/tuple [14, 21] + - !!python/tuple [26, 7] + - !!python/tuple [30, 28] + - !!python/tuple [12, 22] + - !!python/tuple [7, 6] + - !!python/tuple [17, 9] + - !!python/tuple [7, 3] + - !!python/tuple [29, 15] + - !!python/tuple [9, 23] + - !!python/tuple [4, 25] + - !!python/tuple [26, 17] + - !!python/tuple [2, 20] + - !!python/tuple [11, 17] + - !!python/tuple [8, 11] + - !!python/tuple [9, 12] + - !!python/tuple [13, 19] + - !!python/tuple [21, 30] + - !!python/tuple [21, 9] + - !!python/tuple [3, 6] + - !!python/tuple [5, 8] + - !!python/tuple [6, 1] + - !!python/tuple [20, 20] + - !!python/tuple [20, 6] + - !!python/tuple [25, 26] + - !!python/tuple [15, 30] + - !!python/tuple [21, 26] + - !!python/tuple [19, 23] + - !!python/tuple [29, 17] + - !!python/tuple [15, 16] + - !!python/tuple [7, 9] + - !!python/tuple [31, 13] + - !!python/tuple [30, 3] + - !!python/tuple [26, 15] + - !!python/tuple [22, 15] + - !!python/tuple [17, 10] + - !!python/tuple [8, 0] + - !!python/tuple [17, 7] + - !!python/tuple [22, 29] + - !!python/tuple [7, 12] + - !!python/tuple [4, 7] + - !!python/tuple [28, 28] + - !!python/tuple [28, 8] + - !!python/tuple [22, 31] + - !!python/tuple [16, 11] + - !!python/tuple [2, 10] + - !!python/tuple [1, 18] + - !!python/tuple [9, 9] + - !!python/tuple [3, 16] + - !!python/tuple [1, 23] + - !!python/tuple [24, 1] + - !!python/tuple [2, 21] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex11.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex11.yaml new file mode 100644 index 0000000..d8586e9 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex11.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [31, 22] + name: agent0 + start: [0, 31] +- goal: [11, 7] + name: agent1 + start: [29, 25] +- goal: [9, 11] + name: agent2 + start: [26, 6] +- goal: [28, 12] + name: agent3 + start: [15, 27] +- goal: [24, 26] + name: agent4 + start: [12, 15] +- goal: [6, 14] + name: agent5 + start: [17, 9] +- goal: [1, 19] + name: agent6 + start: [28, 8] +- goal: [4, 23] + name: agent7 + start: [9, 23] +- goal: [12, 13] + name: agent8 + start: [13, 21] +- goal: [17, 31] + name: agent9 + start: [27, 4] +- goal: [19, 31] + name: agent10 + start: [24, 23] +- goal: [3, 22] + name: agent11 + start: [16, 29] +- goal: [16, 19] + name: agent12 + start: [5, 1] +- goal: [1, 22] + name: agent13 + start: [10, 13] +- goal: [3, 20] + name: agent14 + start: [3, 28] +- goal: [27, 28] + name: agent15 + start: [15, 0] +- goal: [30, 22] + name: agent16 + start: [10, 29] +- goal: [16, 6] + name: agent17 + start: [17, 19] +- goal: [7, 4] + name: agent18 + start: [8, 18] +- goal: [13, 17] + name: agent19 + start: [7, 25] +- goal: [20, 8] + name: agent20 + start: [17, 31] +- goal: [5, 8] + name: agent21 + start: [22, 10] +- goal: [18, 17] + name: agent22 + start: [28, 25] +- goal: [21, 22] + name: agent23 + start: [15, 18] +- goal: [23, 31] + name: agent24 + start: [21, 14] +- goal: [18, 22] + name: agent25 + start: [17, 30] +- goal: [29, 9] + name: agent26 + start: [6, 4] +- goal: [29, 27] + name: agent27 + start: [25, 7] +- goal: [24, 24] + name: agent28 + start: [24, 5] +- goal: [31, 8] + name: agent29 + start: [2, 12] +- goal: [21, 12] + name: agent30 + start: [21, 8] +- goal: [8, 29] + name: agent31 + start: [2, 16] +- goal: [13, 30] + name: agent32 + start: [9, 20] +- goal: [11, 4] + name: agent33 + start: [27, 3] +- goal: [11, 11] + name: agent34 + start: [6, 30] +- goal: [2, 2] + name: agent35 + start: [29, 5] +- goal: [18, 26] + name: agent36 + start: [18, 21] +- goal: [18, 4] + name: agent37 + start: [9, 1] +- goal: [13, 22] + name: agent38 + start: [19, 14] +- goal: [30, 1] + name: agent39 + start: [11, 29] +- goal: [31, 9] + name: agent40 + start: [27, 30] +- goal: [17, 20] + name: agent41 + start: [31, 25] +- goal: [22, 6] + name: agent42 + start: [26, 19] +- goal: [0, 24] + name: agent43 + start: [3, 14] +- goal: [1, 29] + name: agent44 + start: [26, 10] +- goal: [0, 25] + name: agent45 + start: [9, 4] +- goal: [15, 2] + name: agent46 + start: [30, 20] +- goal: [4, 16] + name: agent47 + start: [1, 21] +- goal: [21, 17] + name: agent48 + start: [16, 13] +- goal: [9, 27] + name: agent49 + start: [2, 20] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [10, 30] + - !!python/tuple [19, 3] + - !!python/tuple [24, 10] + - !!python/tuple [22, 1] + - !!python/tuple [4, 3] + - !!python/tuple [18, 6] + - !!python/tuple [17, 17] + - !!python/tuple [30, 7] + - !!python/tuple [5, 14] + - !!python/tuple [1, 30] + - !!python/tuple [20, 31] + - !!python/tuple [28, 20] + - !!python/tuple [22, 21] + - !!python/tuple [8, 23] + - !!python/tuple [19, 11] + - !!python/tuple [4, 20] + - !!python/tuple [8, 3] + - !!python/tuple [4, 28] + - !!python/tuple [23, 3] + - !!python/tuple [4, 14] + - !!python/tuple [26, 7] + - !!python/tuple [13, 8] + - !!python/tuple [31, 15] + - !!python/tuple [4, 4] + - !!python/tuple [4, 2] + - !!python/tuple [17, 1] + - !!python/tuple [8, 5] + - !!python/tuple [28, 28] + - !!python/tuple [19, 5] + - !!python/tuple [24, 15] + - !!python/tuple [6, 29] + - !!python/tuple [23, 0] + - !!python/tuple [12, 30] + - !!python/tuple [17, 22] + - !!python/tuple [26, 18] + - !!python/tuple [3, 9] + - !!python/tuple [23, 11] + - !!python/tuple [0, 9] + - !!python/tuple [3, 27] + - !!python/tuple [31, 23] + - !!python/tuple [0, 0] + - !!python/tuple [27, 17] + - !!python/tuple [14, 13] + - !!python/tuple [26, 31] + - !!python/tuple [28, 27] + - !!python/tuple [22, 13] + - !!python/tuple [11, 12] + - !!python/tuple [12, 3] + - !!python/tuple [23, 26] + - !!python/tuple [12, 23] + - !!python/tuple [9, 13] + - !!python/tuple [15, 3] + - !!python/tuple [22, 20] + - !!python/tuple [28, 3] + - !!python/tuple [26, 27] + - !!python/tuple [18, 13] + - !!python/tuple [0, 15] + - !!python/tuple [19, 1] + - !!python/tuple [3, 10] + - !!python/tuple [5, 25] + - !!python/tuple [24, 12] + - !!python/tuple [7, 15] + - !!python/tuple [17, 11] + - !!python/tuple [27, 0] + - !!python/tuple [7, 27] + - !!python/tuple [2, 5] + - !!python/tuple [21, 29] + - !!python/tuple [9, 22] + - !!python/tuple [17, 10] + - !!python/tuple [13, 20] + - !!python/tuple [15, 5] + - !!python/tuple [7, 26] + - !!python/tuple [8, 13] + - !!python/tuple [14, 15] + - !!python/tuple [17, 7] + - !!python/tuple [9, 7] + - !!python/tuple [13, 9] + - !!python/tuple [20, 26] + - !!python/tuple [15, 9] + - !!python/tuple [13, 13] + - !!python/tuple [16, 31] + - !!python/tuple [18, 7] + - !!python/tuple [12, 9] + - !!python/tuple [27, 20] + - !!python/tuple [14, 24] + - !!python/tuple [9, 9] + - !!python/tuple [27, 8] + - !!python/tuple [17, 13] + - !!python/tuple [21, 20] + - !!python/tuple [27, 15] + - !!python/tuple [28, 6] + - !!python/tuple [28, 9] + - !!python/tuple [10, 22] + - !!python/tuple [20, 2] + - !!python/tuple [23, 20] + - !!python/tuple [11, 28] + - !!python/tuple [3, 24] + - !!python/tuple [15, 11] + - !!python/tuple [3, 1] + - !!python/tuple [26, 11] + - !!python/tuple [22, 27] + - !!python/tuple [7, 11] + - !!python/tuple [29, 4] + - !!python/tuple [25, 16] + - !!python/tuple [22, 15] + - !!python/tuple [21, 13] + - !!python/tuple [14, 16] + - !!python/tuple [6, 19] + - !!python/tuple [2, 3] + - !!python/tuple [13, 25] + - !!python/tuple [26, 9] + - !!python/tuple [15, 23] + - !!python/tuple [16, 3] + - !!python/tuple [6, 1] + - !!python/tuple [25, 21] + - !!python/tuple [12, 22] + - !!python/tuple [31, 6] + - !!python/tuple [12, 27] + - !!python/tuple [31, 18] + - !!python/tuple [1, 16] + - !!python/tuple [24, 22] + - !!python/tuple [17, 24] + - !!python/tuple [2, 15] + - !!python/tuple [5, 16] + - !!python/tuple [7, 8] + - !!python/tuple [16, 2] + - !!python/tuple [4, 26] + - !!python/tuple [18, 30] + - !!python/tuple [12, 26] + - !!python/tuple [9, 5] + - !!python/tuple [2, 29] + - !!python/tuple [6, 10] + - !!python/tuple [14, 25] + - !!python/tuple [11, 22] + - !!python/tuple [21, 31] + - !!python/tuple [0, 22] + - !!python/tuple [23, 4] + - !!python/tuple [23, 14] + - !!python/tuple [14, 29] + - !!python/tuple [3, 13] + - !!python/tuple [8, 14] + - !!python/tuple [17, 2] + - !!python/tuple [26, 24] + - !!python/tuple [13, 19] + - !!python/tuple [6, 17] + - !!python/tuple [19, 26] + - !!python/tuple [16, 4] + - !!python/tuple [21, 24] + - !!python/tuple [3, 7] + - !!python/tuple [25, 28] + - !!python/tuple [23, 16] + - !!python/tuple [0, 30] + - !!python/tuple [14, 22] + - !!python/tuple [31, 20] + - !!python/tuple [27, 23] + - !!python/tuple [12, 4] + - !!python/tuple [20, 7] + - !!python/tuple [30, 30] + - !!python/tuple [30, 24] + - !!python/tuple [4, 19] + - !!python/tuple [12, 11] + - !!python/tuple [27, 12] + - !!python/tuple [27, 5] + - !!python/tuple [25, 30] + - !!python/tuple [16, 0] + - !!python/tuple [12, 29] + - !!python/tuple [25, 11] + - !!python/tuple [30, 14] + - !!python/tuple [14, 1] + - !!python/tuple [25, 25] + - !!python/tuple [1, 10] + - !!python/tuple [0, 21] + - !!python/tuple [6, 28] + - !!python/tuple [19, 17] + - !!python/tuple [22, 23] + - !!python/tuple [25, 19] + - !!python/tuple [17, 27] + - !!python/tuple [16, 22] + - !!python/tuple [31, 12] + - !!python/tuple [23, 28] + - !!python/tuple [8, 19] + - !!python/tuple [19, 0] + - !!python/tuple [21, 30] + - !!python/tuple [3, 25] + - !!python/tuple [6, 23] + - !!python/tuple [26, 15] + - !!python/tuple [15, 25] + - !!python/tuple [28, 1] + - !!python/tuple [6, 2] + - !!python/tuple [1, 5] + - !!python/tuple [30, 0] + - !!python/tuple [18, 5] + - !!python/tuple [24, 21] + - !!python/tuple [5, 4] + - !!python/tuple [10, 7] + - !!python/tuple [18, 19] + - !!python/tuple [24, 20] + - !!python/tuple [5, 3] + - !!python/tuple [4, 1] + - !!python/tuple [8, 1] + - !!python/tuple [31, 2] + - !!python/tuple [9, 6] + - !!python/tuple [6, 15] + - !!python/tuple [5, 6] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex12.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex12.yaml new file mode 100644 index 0000000..0d7ad51 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex12.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [3, 25] + name: agent0 + start: [29, 3] +- goal: [1, 0] + name: agent1 + start: [27, 28] +- goal: [28, 10] + name: agent2 + start: [8, 18] +- goal: [8, 23] + name: agent3 + start: [1, 15] +- goal: [12, 20] + name: agent4 + start: [5, 21] +- goal: [4, 27] + name: agent5 + start: [19, 6] +- goal: [18, 11] + name: agent6 + start: [10, 22] +- goal: [19, 26] + name: agent7 + start: [23, 4] +- goal: [9, 12] + name: agent8 + start: [4, 27] +- goal: [24, 25] + name: agent9 + start: [5, 18] +- goal: [28, 31] + name: agent10 + start: [16, 12] +- goal: [30, 3] + name: agent11 + start: [2, 31] +- goal: [29, 28] + name: agent12 + start: [3, 23] +- goal: [17, 7] + name: agent13 + start: [31, 13] +- goal: [10, 22] + name: agent14 + start: [22, 30] +- goal: [1, 23] + name: agent15 + start: [19, 2] +- goal: [29, 26] + name: agent16 + start: [13, 1] +- goal: [17, 12] + name: agent17 + start: [8, 28] +- goal: [29, 23] + name: agent18 + start: [22, 2] +- goal: [18, 30] + name: agent19 + start: [26, 6] +- goal: [29, 15] + name: agent20 + start: [7, 5] +- goal: [29, 6] + name: agent21 + start: [1, 26] +- goal: [23, 11] + name: agent22 + start: [16, 8] +- goal: [0, 25] + name: agent23 + start: [21, 6] +- goal: [6, 25] + name: agent24 + start: [0, 25] +- goal: [1, 3] + name: agent25 + start: [0, 30] +- goal: [15, 7] + name: agent26 + start: [18, 4] +- goal: [11, 21] + name: agent27 + start: [23, 25] +- goal: [17, 31] + name: agent28 + start: [7, 9] +- goal: [21, 7] + name: agent29 + start: [22, 7] +- goal: [19, 31] + name: agent30 + start: [4, 7] +- goal: [21, 18] + name: agent31 + start: [10, 2] +- goal: [21, 31] + name: agent32 + start: [29, 9] +- goal: [12, 10] + name: agent33 + start: [26, 29] +- goal: [14, 21] + name: agent34 + start: [29, 26] +- goal: [7, 19] + name: agent35 + start: [8, 24] +- goal: [11, 16] + name: agent36 + start: [9, 5] +- goal: [31, 1] + name: agent37 + start: [7, 15] +- goal: [14, 24] + name: agent38 + start: [26, 24] +- goal: [7, 9] + name: agent39 + start: [21, 15] +- goal: [17, 22] + name: agent40 + start: [30, 14] +- goal: [7, 12] + name: agent41 + start: [18, 26] +- goal: [26, 28] + name: agent42 + start: [24, 27] +- goal: [24, 21] + name: agent43 + start: [17, 26] +- goal: [2, 11] + name: agent44 + start: [19, 16] +- goal: [9, 11] + name: agent45 + start: [22, 24] +- goal: [27, 17] + name: agent46 + start: [15, 4] +- goal: [25, 19] + name: agent47 + start: [10, 6] +- goal: [8, 2] + name: agent48 + start: [27, 17] +- goal: [6, 29] + name: agent49 + start: [22, 15] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [19, 21] + - !!python/tuple [14, 10] + - !!python/tuple [31, 31] + - !!python/tuple [18, 0] + - !!python/tuple [21, 25] + - !!python/tuple [15, 31] + - !!python/tuple [10, 14] + - !!python/tuple [19, 10] + - !!python/tuple [1, 17] + - !!python/tuple [2, 10] + - !!python/tuple [18, 13] + - !!python/tuple [16, 10] + - !!python/tuple [22, 22] + - !!python/tuple [8, 13] + - !!python/tuple [29, 0] + - !!python/tuple [29, 21] + - !!python/tuple [20, 3] + - !!python/tuple [16, 17] + - !!python/tuple [8, 27] + - !!python/tuple [15, 23] + - !!python/tuple [17, 3] + - !!python/tuple [4, 26] + - !!python/tuple [7, 29] + - !!python/tuple [15, 29] + - !!python/tuple [0, 17] + - !!python/tuple [0, 2] + - !!python/tuple [27, 24] + - !!python/tuple [24, 2] + - !!python/tuple [9, 13] + - !!python/tuple [12, 8] + - !!python/tuple [14, 1] + - !!python/tuple [3, 7] + - !!python/tuple [4, 16] + - !!python/tuple [5, 31] + - !!python/tuple [9, 1] + - !!python/tuple [4, 22] + - !!python/tuple [3, 20] + - !!python/tuple [30, 8] + - !!python/tuple [24, 17] + - !!python/tuple [28, 13] + - !!python/tuple [29, 29] + - !!python/tuple [30, 22] + - !!python/tuple [31, 9] + - !!python/tuple [22, 25] + - !!python/tuple [8, 3] + - !!python/tuple [16, 6] + - !!python/tuple [30, 17] + - !!python/tuple [18, 5] + - !!python/tuple [27, 23] + - !!python/tuple [0, 13] + - !!python/tuple [4, 11] + - !!python/tuple [15, 26] + - !!python/tuple [6, 13] + - !!python/tuple [0, 8] + - !!python/tuple [14, 31] + - !!python/tuple [31, 23] + - !!python/tuple [23, 28] + - !!python/tuple [11, 20] + - !!python/tuple [24, 1] + - !!python/tuple [27, 31] + - !!python/tuple [19, 9] + - !!python/tuple [9, 3] + - !!python/tuple [16, 14] + - !!python/tuple [25, 1] + - !!python/tuple [0, 27] + - !!python/tuple [27, 26] + - !!python/tuple [24, 15] + - !!python/tuple [10, 17] + - !!python/tuple [18, 20] + - !!python/tuple [6, 18] + - !!python/tuple [15, 18] + - !!python/tuple [26, 25] + - !!python/tuple [30, 26] + - !!python/tuple [24, 9] + - !!python/tuple [3, 4] + - !!python/tuple [15, 25] + - !!python/tuple [20, 16] + - !!python/tuple [21, 4] + - !!python/tuple [26, 17] + - !!python/tuple [19, 0] + - !!python/tuple [25, 4] + - !!python/tuple [28, 18] + - !!python/tuple [12, 2] + - !!python/tuple [22, 5] + - !!python/tuple [30, 4] + - !!python/tuple [14, 22] + - !!python/tuple [1, 6] + - !!python/tuple [6, 2] + - !!python/tuple [2, 25] + - !!python/tuple [21, 26] + - !!python/tuple [20, 25] + - !!python/tuple [25, 8] + - !!python/tuple [11, 5] + - !!python/tuple [25, 20] + - !!python/tuple [25, 10] + - !!python/tuple [10, 25] + - !!python/tuple [27, 9] + - !!python/tuple [4, 10] + - !!python/tuple [21, 5] + - !!python/tuple [11, 15] + - !!python/tuple [22, 27] + - !!python/tuple [4, 2] + - !!python/tuple [20, 6] + - !!python/tuple [17, 24] + - !!python/tuple [23, 2] + - !!python/tuple [20, 0] + - !!python/tuple [13, 21] + - !!python/tuple [22, 19] + - !!python/tuple [10, 10] + - !!python/tuple [23, 6] + - !!python/tuple [21, 20] + - !!python/tuple [12, 22] + - !!python/tuple [26, 2] + - !!python/tuple [19, 24] + - !!python/tuple [8, 22] + - !!python/tuple [2, 19] + - !!python/tuple [30, 21] + - !!python/tuple [31, 24] + - !!python/tuple [13, 6] + - !!python/tuple [20, 14] + - !!python/tuple [29, 20] + - !!python/tuple [24, 24] + - !!python/tuple [8, 26] + - !!python/tuple [6, 9] + - !!python/tuple [15, 9] + - !!python/tuple [26, 3] + - !!python/tuple [28, 29] + - !!python/tuple [17, 8] + - !!python/tuple [2, 13] + - !!python/tuple [27, 10] + - !!python/tuple [20, 24] + - !!python/tuple [7, 16] + - !!python/tuple [20, 7] + - !!python/tuple [23, 8] + - !!python/tuple [23, 9] + - !!python/tuple [15, 0] + - !!python/tuple [12, 13] + - !!python/tuple [26, 13] + - !!python/tuple [9, 16] + - !!python/tuple [5, 16] + - !!python/tuple [27, 12] + - !!python/tuple [26, 20] + - !!python/tuple [11, 9] + - !!python/tuple [2, 5] + - !!python/tuple [31, 17] + - !!python/tuple [31, 20] + - !!python/tuple [15, 22] + - !!python/tuple [14, 13] + - !!python/tuple [27, 3] + - !!python/tuple [25, 17] + - !!python/tuple [22, 12] + - !!python/tuple [6, 19] + - !!python/tuple [12, 1] + - !!python/tuple [23, 1] + - !!python/tuple [23, 20] + - !!python/tuple [19, 20] + - !!python/tuple [17, 27] + - !!python/tuple [0, 5] + - !!python/tuple [9, 20] + - !!python/tuple [2, 8] + - !!python/tuple [27, 6] + - !!python/tuple [16, 11] + - !!python/tuple [1, 5] + - !!python/tuple [12, 3] + - !!python/tuple [22, 11] + - !!python/tuple [0, 1] + - !!python/tuple [24, 29] + - !!python/tuple [21, 22] + - !!python/tuple [31, 3] + - !!python/tuple [4, 29] + - !!python/tuple [23, 7] + - !!python/tuple [1, 10] + - !!python/tuple [5, 12] + - !!python/tuple [5, 15] + - !!python/tuple [4, 20] + - !!python/tuple [16, 13] + - !!python/tuple [20, 12] + - !!python/tuple [18, 23] + - !!python/tuple [16, 15] + - !!python/tuple [14, 14] + - !!python/tuple [10, 15] + - !!python/tuple [1, 24] + - !!python/tuple [13, 25] + - !!python/tuple [25, 23] + - !!python/tuple [8, 4] + - !!python/tuple [12, 28] + - !!python/tuple [5, 30] + - !!python/tuple [15, 12] + - !!python/tuple [22, 29] + - !!python/tuple [11, 29] + - !!python/tuple [0, 3] + - !!python/tuple [8, 5] + - !!python/tuple [23, 0] + - !!python/tuple [23, 16] + - !!python/tuple [2, 27] + - !!python/tuple [4, 9] + - !!python/tuple [10, 3] + - !!python/tuple [9, 18] + - !!python/tuple [16, 26] + - !!python/tuple [21, 30] + - !!python/tuple [28, 6] + - !!python/tuple [4, 19] + - !!python/tuple [21, 0] + - !!python/tuple [16, 29] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex13.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex13.yaml new file mode 100644 index 0000000..3a3e1b2 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex13.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [31, 21] + name: agent0 + start: [26, 1] +- goal: [3, 4] + name: agent1 + start: [1, 7] +- goal: [22, 27] + name: agent2 + start: [25, 13] +- goal: [17, 16] + name: agent3 + start: [21, 5] +- goal: [3, 25] + name: agent4 + start: [19, 5] +- goal: [23, 28] + name: agent5 + start: [24, 19] +- goal: [12, 1] + name: agent6 + start: [4, 8] +- goal: [27, 7] + name: agent7 + start: [27, 3] +- goal: [27, 10] + name: agent8 + start: [13, 4] +- goal: [16, 6] + name: agent9 + start: [11, 5] +- goal: [10, 2] + name: agent10 + start: [23, 10] +- goal: [14, 14] + name: agent11 + start: [5, 15] +- goal: [11, 3] + name: agent12 + start: [5, 22] +- goal: [19, 4] + name: agent13 + start: [7, 3] +- goal: [16, 20] + name: agent14 + start: [0, 20] +- goal: [13, 1] + name: agent15 + start: [25, 11] +- goal: [6, 11] + name: agent16 + start: [12, 10] +- goal: [28, 31] + name: agent17 + start: [14, 0] +- goal: [18, 21] + name: agent18 + start: [31, 11] +- goal: [24, 27] + name: agent19 + start: [12, 29] +- goal: [12, 9] + name: agent20 + start: [14, 27] +- goal: [6, 7] + name: agent21 + start: [21, 12] +- goal: [22, 14] + name: agent22 + start: [4, 30] +- goal: [20, 17] + name: agent23 + start: [9, 26] +- goal: [19, 13] + name: agent24 + start: [28, 15] +- goal: [0, 13] + name: agent25 + start: [26, 3] +- goal: [7, 28] + name: agent26 + start: [1, 23] +- goal: [27, 5] + name: agent27 + start: [12, 30] +- goal: [3, 24] + name: agent28 + start: [28, 30] +- goal: [10, 1] + name: agent29 + start: [15, 27] +- goal: [0, 23] + name: agent30 + start: [4, 14] +- goal: [2, 31] + name: agent31 + start: [22, 5] +- goal: [15, 30] + name: agent32 + start: [8, 16] +- goal: [10, 5] + name: agent33 + start: [11, 9] +- goal: [27, 16] + name: agent34 + start: [28, 1] +- goal: [5, 23] + name: agent35 + start: [24, 24] +- goal: [2, 29] + name: agent36 + start: [17, 26] +- goal: [17, 4] + name: agent37 + start: [28, 22] +- goal: [4, 18] + name: agent38 + start: [12, 5] +- goal: [14, 13] + name: agent39 + start: [6, 25] +- goal: [3, 11] + name: agent40 + start: [27, 11] +- goal: [18, 9] + name: agent41 + start: [18, 25] +- goal: [10, 25] + name: agent42 + start: [22, 19] +- goal: [15, 10] + name: agent43 + start: [26, 27] +- goal: [24, 30] + name: agent44 + start: [16, 22] +- goal: [7, 29] + name: agent45 + start: [29, 9] +- goal: [8, 11] + name: agent46 + start: [28, 17] +- goal: [21, 16] + name: agent47 + start: [12, 12] +- goal: [3, 5] + name: agent48 + start: [8, 13] +- goal: [23, 1] + name: agent49 + start: [2, 29] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [11, 19] + - !!python/tuple [19, 25] + - !!python/tuple [12, 20] + - !!python/tuple [16, 2] + - !!python/tuple [26, 21] + - !!python/tuple [3, 2] + - !!python/tuple [6, 0] + - !!python/tuple [16, 30] + - !!python/tuple [7, 11] + - !!python/tuple [0, 19] + - !!python/tuple [19, 17] + - !!python/tuple [25, 3] + - !!python/tuple [14, 16] + - !!python/tuple [4, 6] + - !!python/tuple [6, 6] + - !!python/tuple [18, 17] + - !!python/tuple [21, 24] + - !!python/tuple [21, 17] + - !!python/tuple [28, 18] + - !!python/tuple [9, 31] + - !!python/tuple [10, 21] + - !!python/tuple [23, 5] + - !!python/tuple [12, 27] + - !!python/tuple [16, 25] + - !!python/tuple [29, 20] + - !!python/tuple [25, 14] + - !!python/tuple [24, 31] + - !!python/tuple [14, 23] + - !!python/tuple [11, 18] + - !!python/tuple [9, 2] + - !!python/tuple [15, 14] + - !!python/tuple [1, 12] + - !!python/tuple [24, 0] + - !!python/tuple [26, 23] + - !!python/tuple [13, 7] + - !!python/tuple [14, 30] + - !!python/tuple [17, 10] + - !!python/tuple [3, 18] + - !!python/tuple [25, 25] + - !!python/tuple [10, 0] + - !!python/tuple [2, 10] + - !!python/tuple [11, 10] + - !!python/tuple [20, 9] + - !!python/tuple [16, 13] + - !!python/tuple [15, 5] + - !!python/tuple [12, 25] + - !!python/tuple [7, 4] + - !!python/tuple [7, 23] + - !!python/tuple [6, 8] + - !!python/tuple [2, 4] + - !!python/tuple [20, 3] + - !!python/tuple [22, 20] + - !!python/tuple [23, 27] + - !!python/tuple [4, 2] + - !!python/tuple [11, 22] + - !!python/tuple [29, 5] + - !!python/tuple [4, 25] + - !!python/tuple [19, 19] + - !!python/tuple [28, 3] + - !!python/tuple [13, 19] + - !!python/tuple [24, 12] + - !!python/tuple [0, 9] + - !!python/tuple [18, 29] + - !!python/tuple [9, 4] + - !!python/tuple [19, 15] + - !!python/tuple [13, 28] + - !!python/tuple [8, 0] + - !!python/tuple [22, 0] + - !!python/tuple [13, 8] + - !!python/tuple [12, 2] + - !!python/tuple [3, 21] + - !!python/tuple [24, 4] + - !!python/tuple [26, 25] + - !!python/tuple [20, 23] + - !!python/tuple [31, 9] + - !!python/tuple [8, 10] + - !!python/tuple [20, 8] + - !!python/tuple [25, 20] + - !!python/tuple [9, 18] + - !!python/tuple [31, 16] + - !!python/tuple [24, 11] + - !!python/tuple [28, 21] + - !!python/tuple [25, 17] + - !!python/tuple [9, 1] + - !!python/tuple [23, 2] + - !!python/tuple [7, 22] + - !!python/tuple [7, 26] + - !!python/tuple [22, 23] + - !!python/tuple [26, 29] + - !!python/tuple [8, 23] + - !!python/tuple [29, 13] + - !!python/tuple [19, 10] + - !!python/tuple [7, 31] + - !!python/tuple [25, 5] + - !!python/tuple [18, 22] + - !!python/tuple [29, 3] + - !!python/tuple [2, 14] + - !!python/tuple [5, 31] + - !!python/tuple [24, 2] + - !!python/tuple [1, 31] + - !!python/tuple [1, 18] + - !!python/tuple [15, 13] + - !!python/tuple [4, 11] + - !!python/tuple [16, 23] + - !!python/tuple [19, 0] + - !!python/tuple [17, 1] + - !!python/tuple [4, 28] + - !!python/tuple [3, 29] + - !!python/tuple [10, 31] + - !!python/tuple [20, 2] + - !!python/tuple [2, 12] + - !!python/tuple [31, 18] + - !!python/tuple [31, 4] + - !!python/tuple [14, 4] + - !!python/tuple [4, 21] + - !!python/tuple [12, 21] + - !!python/tuple [29, 14] + - !!python/tuple [16, 29] + - !!python/tuple [9, 17] + - !!python/tuple [17, 31] + - !!python/tuple [15, 7] + - !!python/tuple [16, 17] + - !!python/tuple [11, 17] + - !!python/tuple [29, 22] + - !!python/tuple [6, 14] + - !!python/tuple [22, 18] + - !!python/tuple [16, 26] + - !!python/tuple [3, 1] + - !!python/tuple [19, 28] + - !!python/tuple [25, 0] + - !!python/tuple [16, 21] + - !!python/tuple [3, 3] + - !!python/tuple [11, 1] + - !!python/tuple [3, 30] + - !!python/tuple [1, 30] + - !!python/tuple [17, 25] + - !!python/tuple [2, 5] + - !!python/tuple [4, 31] + - !!python/tuple [25, 22] + - !!python/tuple [14, 1] + - !!python/tuple [20, 7] + - !!python/tuple [2, 13] + - !!python/tuple [13, 31] + - !!python/tuple [30, 31] + - !!python/tuple [20, 21] + - !!python/tuple [15, 19] + - !!python/tuple [29, 7] + - !!python/tuple [14, 29] + - !!python/tuple [26, 4] + - !!python/tuple [13, 18] + - !!python/tuple [18, 12] + - !!python/tuple [19, 31] + - !!python/tuple [31, 1] + - !!python/tuple [16, 28] + - !!python/tuple [10, 20] + - !!python/tuple [0, 0] + - !!python/tuple [7, 15] + - !!python/tuple [5, 18] + - !!python/tuple [24, 28] + - !!python/tuple [4, 26] + - !!python/tuple [7, 13] + - !!python/tuple [22, 4] + - !!python/tuple [14, 26] + - !!python/tuple [23, 8] + - !!python/tuple [29, 10] + - !!python/tuple [6, 16] + - !!python/tuple [30, 2] + - !!python/tuple [20, 13] + - !!python/tuple [3, 15] + - !!python/tuple [0, 16] + - !!python/tuple [9, 30] + - !!python/tuple [8, 14] + - !!python/tuple [15, 22] + - !!python/tuple [7, 14] + - !!python/tuple [30, 30] + - !!python/tuple [27, 1] + - !!python/tuple [0, 2] + - !!python/tuple [16, 8] + - !!python/tuple [25, 28] + - !!python/tuple [6, 29] + - !!python/tuple [1, 29] + - !!python/tuple [9, 8] + - !!python/tuple [10, 26] + - !!python/tuple [14, 2] + - !!python/tuple [8, 5] + - !!python/tuple [25, 24] + - !!python/tuple [30, 18] + - !!python/tuple [20, 25] + - !!python/tuple [4, 12] + - !!python/tuple [9, 0] + - !!python/tuple [10, 28] + - !!python/tuple [8, 31] + - !!python/tuple [24, 10] + - !!python/tuple [5, 25] + - !!python/tuple [11, 29] + - !!python/tuple [14, 9] + - !!python/tuple [21, 7] + - !!python/tuple [29, 12] + - !!python/tuple [24, 8] + - !!python/tuple [26, 17] + - !!python/tuple [14, 24] + - !!python/tuple [19, 23] + - !!python/tuple [2, 25] + - !!python/tuple [17, 12] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex14.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex14.yaml new file mode 100644 index 0000000..8d22483 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex14.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [25, 10] + name: agent0 + start: [10, 15] +- goal: [30, 19] + name: agent1 + start: [24, 4] +- goal: [7, 25] + name: agent2 + start: [18, 22] +- goal: [5, 9] + name: agent3 + start: [1, 28] +- goal: [6, 8] + name: agent4 + start: [9, 12] +- goal: [27, 27] + name: agent5 + start: [17, 5] +- goal: [27, 16] + name: agent6 + start: [2, 22] +- goal: [21, 2] + name: agent7 + start: [18, 26] +- goal: [17, 13] + name: agent8 + start: [10, 7] +- goal: [0, 13] + name: agent9 + start: [26, 14] +- goal: [16, 27] + name: agent10 + start: [3, 18] +- goal: [16, 5] + name: agent11 + start: [23, 4] +- goal: [7, 31] + name: agent12 + start: [28, 8] +- goal: [24, 7] + name: agent13 + start: [11, 15] +- goal: [3, 31] + name: agent14 + start: [23, 8] +- goal: [10, 28] + name: agent15 + start: [16, 23] +- goal: [16, 13] + name: agent16 + start: [29, 17] +- goal: [1, 23] + name: agent17 + start: [8, 10] +- goal: [2, 24] + name: agent18 + start: [7, 2] +- goal: [24, 9] + name: agent19 + start: [25, 29] +- goal: [4, 31] + name: agent20 + start: [27, 16] +- goal: [8, 0] + name: agent21 + start: [12, 28] +- goal: [23, 27] + name: agent22 + start: [24, 8] +- goal: [12, 17] + name: agent23 + start: [23, 18] +- goal: [10, 12] + name: agent24 + start: [9, 25] +- goal: [26, 19] + name: agent25 + start: [16, 15] +- goal: [28, 2] + name: agent26 + start: [22, 14] +- goal: [6, 17] + name: agent27 + start: [4, 17] +- goal: [16, 25] + name: agent28 + start: [2, 7] +- goal: [8, 7] + name: agent29 + start: [7, 16] +- goal: [23, 7] + name: agent30 + start: [9, 28] +- goal: [27, 30] + name: agent31 + start: [1, 16] +- goal: [4, 6] + name: agent32 + start: [20, 3] +- goal: [11, 9] + name: agent33 + start: [17, 4] +- goal: [21, 23] + name: agent34 + start: [6, 15] +- goal: [16, 8] + name: agent35 + start: [11, 28] +- goal: [18, 6] + name: agent36 + start: [13, 8] +- goal: [11, 19] + name: agent37 + start: [31, 3] +- goal: [30, 5] + name: agent38 + start: [9, 23] +- goal: [29, 26] + name: agent39 + start: [26, 17] +- goal: [0, 7] + name: agent40 + start: [28, 17] +- goal: [3, 22] + name: agent41 + start: [3, 10] +- goal: [18, 21] + name: agent42 + start: [23, 27] +- goal: [14, 16] + name: agent43 + start: [15, 17] +- goal: [29, 24] + name: agent44 + start: [21, 31] +- goal: [28, 17] + name: agent45 + start: [22, 24] +- goal: [1, 6] + name: agent46 + start: [10, 21] +- goal: [5, 22] + name: agent47 + start: [3, 5] +- goal: [12, 7] + name: agent48 + start: [7, 7] +- goal: [30, 16] + name: agent49 + start: [16, 5] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [19, 6] + - !!python/tuple [7, 28] + - !!python/tuple [9, 5] + - !!python/tuple [13, 4] + - !!python/tuple [19, 14] + - !!python/tuple [21, 16] + - !!python/tuple [9, 9] + - !!python/tuple [20, 27] + - !!python/tuple [30, 8] + - !!python/tuple [17, 18] + - !!python/tuple [17, 0] + - !!python/tuple [31, 26] + - !!python/tuple [13, 17] + - !!python/tuple [9, 15] + - !!python/tuple [30, 13] + - !!python/tuple [19, 18] + - !!python/tuple [20, 23] + - !!python/tuple [11, 29] + - !!python/tuple [29, 30] + - !!python/tuple [28, 30] + - !!python/tuple [27, 23] + - !!python/tuple [8, 1] + - !!python/tuple [26, 10] + - !!python/tuple [8, 14] + - !!python/tuple [16, 10] + - !!python/tuple [5, 28] + - !!python/tuple [17, 21] + - !!python/tuple [19, 13] + - !!python/tuple [14, 13] + - !!python/tuple [25, 2] + - !!python/tuple [23, 2] + - !!python/tuple [1, 10] + - !!python/tuple [25, 12] + - !!python/tuple [31, 7] + - !!python/tuple [14, 30] + - !!python/tuple [3, 27] + - !!python/tuple [2, 28] + - !!python/tuple [5, 27] + - !!python/tuple [26, 22] + - !!python/tuple [30, 14] + - !!python/tuple [20, 10] + - !!python/tuple [11, 3] + - !!python/tuple [11, 2] + - !!python/tuple [13, 24] + - !!python/tuple [12, 0] + - !!python/tuple [30, 0] + - !!python/tuple [8, 11] + - !!python/tuple [3, 11] + - !!python/tuple [14, 10] + - !!python/tuple [21, 15] + - !!python/tuple [21, 19] + - !!python/tuple [29, 1] + - !!python/tuple [6, 29] + - !!python/tuple [3, 3] + - !!python/tuple [5, 2] + - !!python/tuple [3, 16] + - !!python/tuple [3, 28] + - !!python/tuple [5, 4] + - !!python/tuple [6, 16] + - !!python/tuple [27, 15] + - !!python/tuple [0, 22] + - !!python/tuple [15, 11] + - !!python/tuple [9, 26] + - !!python/tuple [29, 13] + - !!python/tuple [30, 6] + - !!python/tuple [30, 15] + - !!python/tuple [29, 22] + - !!python/tuple [13, 20] + - !!python/tuple [6, 5] + - !!python/tuple [19, 24] + - !!python/tuple [31, 22] + - !!python/tuple [7, 27] + - !!python/tuple [19, 30] + - !!python/tuple [24, 14] + - !!python/tuple [14, 4] + - !!python/tuple [18, 16] + - !!python/tuple [2, 9] + - !!python/tuple [21, 6] + - !!python/tuple [20, 24] + - !!python/tuple [31, 23] + - !!python/tuple [1, 20] + - !!python/tuple [31, 12] + - !!python/tuple [7, 1] + - !!python/tuple [26, 16] + - !!python/tuple [14, 6] + - !!python/tuple [9, 3] + - !!python/tuple [23, 12] + - !!python/tuple [0, 8] + - !!python/tuple [26, 29] + - !!python/tuple [2, 2] + - !!python/tuple [31, 2] + - !!python/tuple [31, 27] + - !!python/tuple [17, 14] + - !!python/tuple [21, 8] + - !!python/tuple [24, 20] + - !!python/tuple [25, 18] + - !!python/tuple [7, 18] + - !!python/tuple [12, 30] + - !!python/tuple [18, 8] + - !!python/tuple [13, 11] + - !!python/tuple [22, 19] + - !!python/tuple [8, 22] + - !!python/tuple [26, 7] + - !!python/tuple [12, 29] + - !!python/tuple [25, 15] + - !!python/tuple [2, 11] + - !!python/tuple [15, 20] + - !!python/tuple [26, 0] + - !!python/tuple [10, 4] + - !!python/tuple [10, 8] + - !!python/tuple [20, 28] + - !!python/tuple [3, 30] + - !!python/tuple [28, 29] + - !!python/tuple [18, 17] + - !!python/tuple [28, 12] + - !!python/tuple [18, 19] + - !!python/tuple [27, 8] + - !!python/tuple [20, 20] + - !!python/tuple [18, 27] + - !!python/tuple [23, 22] + - !!python/tuple [10, 17] + - !!python/tuple [14, 31] + - !!python/tuple [23, 13] + - !!python/tuple [28, 15] + - !!python/tuple [31, 6] + - !!python/tuple [27, 3] + - !!python/tuple [15, 26] + - !!python/tuple [19, 26] + - !!python/tuple [29, 16] + - !!python/tuple [29, 8] + - !!python/tuple [28, 27] + - !!python/tuple [31, 13] + - !!python/tuple [12, 5] + - !!python/tuple [4, 23] + - !!python/tuple [4, 13] + - !!python/tuple [14, 28] + - !!python/tuple [24, 2] + - !!python/tuple [11, 17] + - !!python/tuple [21, 5] + - !!python/tuple [22, 5] + - !!python/tuple [22, 25] + - !!python/tuple [19, 11] + - !!python/tuple [18, 14] + - !!python/tuple [24, 25] + - !!python/tuple [9, 31] + - !!python/tuple [11, 25] + - !!python/tuple [4, 18] + - !!python/tuple [16, 16] + - !!python/tuple [29, 31] + - !!python/tuple [17, 16] + - !!python/tuple [12, 16] + - !!python/tuple [6, 0] + - !!python/tuple [5, 7] + - !!python/tuple [6, 3] + - !!python/tuple [18, 29] + - !!python/tuple [15, 2] + - !!python/tuple [27, 22] + - !!python/tuple [12, 20] + - !!python/tuple [10, 30] + - !!python/tuple [29, 9] + - !!python/tuple [16, 2] + - !!python/tuple [10, 5] + - !!python/tuple [7, 30] + - !!python/tuple [1, 11] + - !!python/tuple [13, 28] + - !!python/tuple [0, 10] + - !!python/tuple [5, 5] + - !!python/tuple [15, 29] + - !!python/tuple [18, 11] + - !!python/tuple [6, 14] + - !!python/tuple [15, 5] + - !!python/tuple [17, 22] + - !!python/tuple [31, 16] + - !!python/tuple [24, 12] + - !!python/tuple [18, 12] + - !!python/tuple [30, 2] + - !!python/tuple [21, 21] + - !!python/tuple [16, 12] + - !!python/tuple [16, 14] + - !!python/tuple [29, 3] + - !!python/tuple [29, 18] + - !!python/tuple [27, 20] + - !!python/tuple [12, 22] + - !!python/tuple [10, 29] + - !!python/tuple [11, 8] + - !!python/tuple [31, 17] + - !!python/tuple [28, 24] + - !!python/tuple [3, 14] + - !!python/tuple [25, 27] + - !!python/tuple [20, 15] + - !!python/tuple [7, 23] + - !!python/tuple [13, 2] + - !!python/tuple [25, 20] + - !!python/tuple [7, 0] + - !!python/tuple [11, 18] + - !!python/tuple [17, 26] + - !!python/tuple [22, 10] + - !!python/tuple [23, 0] + - !!python/tuple [29, 12] + - !!python/tuple [7, 12] + - !!python/tuple [13, 26] + - !!python/tuple [28, 20] + - !!python/tuple [30, 12] + - !!python/tuple [10, 19] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex15.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex15.yaml new file mode 100644 index 0000000..20e7482 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex15.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [9, 16] + name: agent0 + start: [29, 6] +- goal: [30, 4] + name: agent1 + start: [1, 20] +- goal: [12, 3] + name: agent2 + start: [18, 4] +- goal: [4, 20] + name: agent3 + start: [5, 15] +- goal: [28, 0] + name: agent4 + start: [2, 0] +- goal: [2, 29] + name: agent5 + start: [14, 11] +- goal: [19, 0] + name: agent6 + start: [19, 27] +- goal: [17, 12] + name: agent7 + start: [0, 24] +- goal: [29, 26] + name: agent8 + start: [24, 12] +- goal: [11, 22] + name: agent9 + start: [31, 17] +- goal: [1, 1] + name: agent10 + start: [0, 23] +- goal: [14, 25] + name: agent11 + start: [2, 23] +- goal: [24, 1] + name: agent12 + start: [29, 9] +- goal: [7, 31] + name: agent13 + start: [19, 13] +- goal: [19, 5] + name: agent14 + start: [20, 10] +- goal: [29, 30] + name: agent15 + start: [19, 10] +- goal: [18, 28] + name: agent16 + start: [15, 15] +- goal: [23, 15] + name: agent17 + start: [22, 0] +- goal: [1, 19] + name: agent18 + start: [23, 30] +- goal: [8, 8] + name: agent19 + start: [18, 6] +- goal: [28, 27] + name: agent20 + start: [0, 15] +- goal: [28, 21] + name: agent21 + start: [17, 29] +- goal: [21, 13] + name: agent22 + start: [11, 15] +- goal: [9, 11] + name: agent23 + start: [5, 28] +- goal: [6, 25] + name: agent24 + start: [20, 13] +- goal: [9, 20] + name: agent25 + start: [12, 9] +- goal: [1, 11] + name: agent26 + start: [28, 30] +- goal: [22, 22] + name: agent27 + start: [23, 16] +- goal: [1, 26] + name: agent28 + start: [31, 18] +- goal: [6, 12] + name: agent29 + start: [3, 3] +- goal: [17, 19] + name: agent30 + start: [30, 11] +- goal: [25, 16] + name: agent31 + start: [7, 17] +- goal: [16, 20] + name: agent32 + start: [17, 17] +- goal: [15, 17] + name: agent33 + start: [25, 8] +- goal: [17, 22] + name: agent34 + start: [26, 29] +- goal: [13, 0] + name: agent35 + start: [28, 9] +- goal: [29, 13] + name: agent36 + start: [6, 7] +- goal: [10, 4] + name: agent37 + start: [7, 24] +- goal: [26, 17] + name: agent38 + start: [0, 28] +- goal: [8, 18] + name: agent39 + start: [6, 28] +- goal: [2, 3] + name: agent40 + start: [6, 6] +- goal: [14, 10] + name: agent41 + start: [7, 20] +- goal: [3, 16] + name: agent42 + start: [21, 23] +- goal: [0, 8] + name: agent43 + start: [27, 11] +- goal: [1, 4] + name: agent44 + start: [23, 27] +- goal: [5, 11] + name: agent45 + start: [7, 26] +- goal: [18, 22] + name: agent46 + start: [12, 4] +- goal: [4, 10] + name: agent47 + start: [26, 27] +- goal: [12, 12] + name: agent48 + start: [22, 6] +- goal: [2, 25] + name: agent49 + start: [30, 24] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [0, 16] + - !!python/tuple [12, 7] + - !!python/tuple [13, 31] + - !!python/tuple [6, 29] + - !!python/tuple [23, 25] + - !!python/tuple [26, 20] + - !!python/tuple [3, 28] + - !!python/tuple [30, 20] + - !!python/tuple [21, 5] + - !!python/tuple [21, 22] + - !!python/tuple [25, 14] + - !!python/tuple [23, 26] + - !!python/tuple [12, 25] + - !!python/tuple [30, 14] + - !!python/tuple [26, 14] + - !!python/tuple [16, 24] + - !!python/tuple [21, 6] + - !!python/tuple [12, 0] + - !!python/tuple [10, 24] + - !!python/tuple [5, 8] + - !!python/tuple [8, 7] + - !!python/tuple [10, 21] + - !!python/tuple [24, 6] + - !!python/tuple [4, 16] + - !!python/tuple [12, 31] + - !!python/tuple [5, 9] + - !!python/tuple [29, 2] + - !!python/tuple [4, 23] + - !!python/tuple [11, 16] + - !!python/tuple [25, 15] + - !!python/tuple [21, 9] + - !!python/tuple [13, 22] + - !!python/tuple [23, 4] + - !!python/tuple [3, 14] + - !!python/tuple [8, 24] + - !!python/tuple [28, 11] + - !!python/tuple [1, 5] + - !!python/tuple [2, 19] + - !!python/tuple [31, 8] + - !!python/tuple [14, 22] + - !!python/tuple [6, 30] + - !!python/tuple [5, 3] + - !!python/tuple [1, 2] + - !!python/tuple [14, 7] + - !!python/tuple [13, 26] + - !!python/tuple [20, 17] + - !!python/tuple [8, 11] + - !!python/tuple [20, 24] + - !!python/tuple [29, 8] + - !!python/tuple [7, 9] + - !!python/tuple [8, 4] + - !!python/tuple [24, 5] + - !!python/tuple [27, 3] + - !!python/tuple [30, 16] + - !!python/tuple [8, 14] + - !!python/tuple [28, 1] + - !!python/tuple [21, 12] + - !!python/tuple [20, 7] + - !!python/tuple [2, 20] + - !!python/tuple [8, 13] + - !!python/tuple [1, 27] + - !!python/tuple [6, 9] + - !!python/tuple [19, 12] + - !!python/tuple [30, 18] + - !!python/tuple [7, 25] + - !!python/tuple [11, 18] + - !!python/tuple [9, 21] + - !!python/tuple [19, 9] + - !!python/tuple [11, 14] + - !!python/tuple [4, 29] + - !!python/tuple [10, 12] + - !!python/tuple [5, 20] + - !!python/tuple [25, 9] + - !!python/tuple [17, 27] + - !!python/tuple [5, 24] + - !!python/tuple [8, 3] + - !!python/tuple [27, 22] + - !!python/tuple [6, 14] + - !!python/tuple [9, 29] + - !!python/tuple [8, 25] + - !!python/tuple [13, 28] + - !!python/tuple [2, 4] + - !!python/tuple [21, 14] + - !!python/tuple [17, 3] + - !!python/tuple [15, 22] + - !!python/tuple [28, 28] + - !!python/tuple [18, 11] + - !!python/tuple [20, 9] + - !!python/tuple [15, 9] + - !!python/tuple [30, 28] + - !!python/tuple [5, 0] + - !!python/tuple [26, 21] + - !!python/tuple [13, 12] + - !!python/tuple [28, 24] + - !!python/tuple [2, 13] + - !!python/tuple [9, 2] + - !!python/tuple [2, 18] + - !!python/tuple [0, 31] + - !!python/tuple [7, 18] + - !!python/tuple [18, 13] + - !!python/tuple [23, 29] + - !!python/tuple [13, 2] + - !!python/tuple [10, 18] + - !!python/tuple [0, 26] + - !!python/tuple [26, 3] + - !!python/tuple [31, 7] + - !!python/tuple [12, 11] + - !!python/tuple [7, 27] + - !!python/tuple [21, 7] + - !!python/tuple [28, 26] + - !!python/tuple [5, 5] + - !!python/tuple [30, 26] + - !!python/tuple [19, 24] + - !!python/tuple [20, 25] + - !!python/tuple [3, 18] + - !!python/tuple [30, 6] + - !!python/tuple [7, 12] + - !!python/tuple [21, 10] + - !!python/tuple [13, 27] + - !!python/tuple [27, 28] + - !!python/tuple [15, 6] + - !!python/tuple [8, 22] + - !!python/tuple [27, 30] + - !!python/tuple [13, 24] + - !!python/tuple [30, 17] + - !!python/tuple [27, 19] + - !!python/tuple [24, 29] + - !!python/tuple [22, 19] + - !!python/tuple [0, 7] + - !!python/tuple [7, 22] + - !!python/tuple [24, 3] + - !!python/tuple [31, 26] + - !!python/tuple [31, 28] + - !!python/tuple [1, 15] + - !!python/tuple [18, 19] + - !!python/tuple [21, 18] + - !!python/tuple [23, 31] + - !!python/tuple [15, 16] + - !!python/tuple [17, 26] + - !!python/tuple [16, 13] + - !!python/tuple [19, 28] + - !!python/tuple [27, 5] + - !!python/tuple [25, 6] + - !!python/tuple [20, 31] + - !!python/tuple [28, 6] + - !!python/tuple [29, 28] + - !!python/tuple [25, 11] + - !!python/tuple [17, 7] + - !!python/tuple [21, 2] + - !!python/tuple [12, 16] + - !!python/tuple [11, 4] + - !!python/tuple [31, 29] + - !!python/tuple [14, 30] + - !!python/tuple [11, 21] + - !!python/tuple [5, 31] + - !!python/tuple [20, 20] + - !!python/tuple [11, 12] + - !!python/tuple [8, 29] + - !!python/tuple [7, 14] + - !!python/tuple [6, 8] + - !!python/tuple [23, 20] + - !!python/tuple [26, 1] + - !!python/tuple [9, 10] + - !!python/tuple [24, 10] + - !!python/tuple [22, 11] + - !!python/tuple [5, 27] + - !!python/tuple [13, 21] + - !!python/tuple [9, 14] + - !!python/tuple [1, 18] + - !!python/tuple [30, 23] + - !!python/tuple [14, 19] + - !!python/tuple [4, 0] + - !!python/tuple [21, 28] + - !!python/tuple [3, 8] + - !!python/tuple [4, 18] + - !!python/tuple [6, 20] + - !!python/tuple [13, 19] + - !!python/tuple [10, 8] + - !!python/tuple [31, 10] + - !!python/tuple [22, 23] + - !!python/tuple [19, 26] + - !!python/tuple [12, 19] + - !!python/tuple [6, 15] + - !!python/tuple [20, 5] + - !!python/tuple [6, 4] + - !!python/tuple [18, 5] + - !!python/tuple [31, 24] + - !!python/tuple [9, 23] + - !!python/tuple [14, 12] + - !!python/tuple [21, 25] + - !!python/tuple [3, 23] + - !!python/tuple [8, 19] + - !!python/tuple [31, 21] + - !!python/tuple [24, 9] + - !!python/tuple [0, 3] + - !!python/tuple [21, 27] + - !!python/tuple [5, 18] + - !!python/tuple [30, 22] + - !!python/tuple [26, 28] + - !!python/tuple [26, 9] + - !!python/tuple [20, 8] + - !!python/tuple [22, 12] + - !!python/tuple [15, 21] + - !!python/tuple [8, 31] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex16.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex16.yaml new file mode 100644 index 0000000..c398e2c --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex16.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [31, 8] + name: agent0 + start: [22, 26] +- goal: [28, 29] + name: agent1 + start: [23, 8] +- goal: [15, 31] + name: agent2 + start: [14, 11] +- goal: [30, 26] + name: agent3 + start: [9, 24] +- goal: [13, 24] + name: agent4 + start: [10, 5] +- goal: [22, 7] + name: agent5 + start: [2, 6] +- goal: [27, 23] + name: agent6 + start: [28, 29] +- goal: [24, 15] + name: agent7 + start: [14, 14] +- goal: [18, 11] + name: agent8 + start: [12, 1] +- goal: [8, 17] + name: agent9 + start: [24, 2] +- goal: [19, 10] + name: agent10 + start: [29, 10] +- goal: [11, 14] + name: agent11 + start: [29, 19] +- goal: [19, 18] + name: agent12 + start: [7, 17] +- goal: [18, 3] + name: agent13 + start: [28, 24] +- goal: [30, 7] + name: agent14 + start: [16, 28] +- goal: [17, 6] + name: agent15 + start: [4, 30] +- goal: [9, 22] + name: agent16 + start: [0, 1] +- goal: [31, 4] + name: agent17 + start: [28, 31] +- goal: [7, 1] + name: agent18 + start: [9, 28] +- goal: [5, 23] + name: agent19 + start: [2, 11] +- goal: [4, 27] + name: agent20 + start: [29, 29] +- goal: [16, 20] + name: agent21 + start: [26, 10] +- goal: [19, 30] + name: agent22 + start: [3, 13] +- goal: [9, 27] + name: agent23 + start: [15, 14] +- goal: [11, 12] + name: agent24 + start: [1, 11] +- goal: [4, 29] + name: agent25 + start: [15, 4] +- goal: [25, 0] + name: agent26 + start: [25, 26] +- goal: [27, 8] + name: agent27 + start: [11, 0] +- goal: [20, 3] + name: agent28 + start: [4, 12] +- goal: [20, 29] + name: agent29 + start: [3, 30] +- goal: [17, 27] + name: agent30 + start: [21, 21] +- goal: [15, 13] + name: agent31 + start: [3, 28] +- goal: [11, 20] + name: agent32 + start: [23, 4] +- goal: [9, 26] + name: agent33 + start: [11, 12] +- goal: [17, 25] + name: agent34 + start: [9, 0] +- goal: [24, 30] + name: agent35 + start: [0, 9] +- goal: [25, 21] + name: agent36 + start: [29, 1] +- goal: [20, 25] + name: agent37 + start: [6, 28] +- goal: [12, 30] + name: agent38 + start: [2, 3] +- goal: [23, 30] + name: agent39 + start: [4, 20] +- goal: [5, 12] + name: agent40 + start: [13, 1] +- goal: [24, 6] + name: agent41 + start: [22, 17] +- goal: [20, 26] + name: agent42 + start: [29, 17] +- goal: [21, 2] + name: agent43 + start: [27, 13] +- goal: [30, 20] + name: agent44 + start: [15, 3] +- goal: [28, 16] + name: agent45 + start: [8, 4] +- goal: [9, 23] + name: agent46 + start: [0, 10] +- goal: [15, 23] + name: agent47 + start: [2, 28] +- goal: [4, 15] + name: agent48 + start: [14, 26] +- goal: [17, 18] + name: agent49 + start: [21, 26] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [28, 11] + - !!python/tuple [28, 30] + - !!python/tuple [28, 0] + - !!python/tuple [2, 26] + - !!python/tuple [25, 6] + - !!python/tuple [24, 1] + - !!python/tuple [20, 11] + - !!python/tuple [8, 18] + - !!python/tuple [27, 24] + - !!python/tuple [21, 11] + - !!python/tuple [22, 8] + - !!python/tuple [25, 9] + - !!python/tuple [25, 10] + - !!python/tuple [27, 12] + - !!python/tuple [15, 2] + - !!python/tuple [2, 17] + - !!python/tuple [22, 11] + - !!python/tuple [17, 14] + - !!python/tuple [3, 22] + - !!python/tuple [18, 10] + - !!python/tuple [12, 17] + - !!python/tuple [26, 27] + - !!python/tuple [1, 6] + - !!python/tuple [25, 29] + - !!python/tuple [5, 10] + - !!python/tuple [9, 2] + - !!python/tuple [30, 2] + - !!python/tuple [25, 22] + - !!python/tuple [19, 22] + - !!python/tuple [2, 29] + - !!python/tuple [19, 21] + - !!python/tuple [18, 20] + - !!python/tuple [14, 13] + - !!python/tuple [1, 8] + - !!python/tuple [3, 0] + - !!python/tuple [27, 2] + - !!python/tuple [29, 28] + - !!python/tuple [0, 2] + - !!python/tuple [15, 21] + - !!python/tuple [10, 9] + - !!python/tuple [11, 19] + - !!python/tuple [18, 23] + - !!python/tuple [12, 25] + - !!python/tuple [31, 12] + - !!python/tuple [11, 2] + - !!python/tuple [15, 6] + - !!python/tuple [0, 21] + - !!python/tuple [20, 24] + - !!python/tuple [30, 1] + - !!python/tuple [4, 9] + - !!python/tuple [26, 29] + - !!python/tuple [18, 25] + - !!python/tuple [3, 25] + - !!python/tuple [8, 26] + - !!python/tuple [22, 13] + - !!python/tuple [23, 10] + - !!python/tuple [8, 12] + - !!python/tuple [23, 14] + - !!python/tuple [27, 11] + - !!python/tuple [20, 19] + - !!python/tuple [21, 28] + - !!python/tuple [25, 14] + - !!python/tuple [20, 4] + - !!python/tuple [25, 2] + - !!python/tuple [8, 25] + - !!python/tuple [21, 6] + - !!python/tuple [17, 30] + - !!python/tuple [23, 29] + - !!python/tuple [31, 14] + - !!python/tuple [22, 21] + - !!python/tuple [12, 3] + - !!python/tuple [8, 0] + - !!python/tuple [16, 7] + - !!python/tuple [16, 26] + - !!python/tuple [6, 21] + - !!python/tuple [16, 31] + - !!python/tuple [23, 25] + - !!python/tuple [7, 16] + - !!python/tuple [14, 4] + - !!python/tuple [13, 13] + - !!python/tuple [8, 23] + - !!python/tuple [15, 17] + - !!python/tuple [8, 29] + - !!python/tuple [19, 19] + - !!python/tuple [9, 6] + - !!python/tuple [15, 28] + - !!python/tuple [13, 23] + - !!python/tuple [4, 28] + - !!python/tuple [0, 28] + - !!python/tuple [1, 18] + - !!python/tuple [24, 20] + - !!python/tuple [28, 27] + - !!python/tuple [24, 13] + - !!python/tuple [13, 3] + - !!python/tuple [20, 17] + - !!python/tuple [21, 17] + - !!python/tuple [4, 18] + - !!python/tuple [25, 7] + - !!python/tuple [21, 4] + - !!python/tuple [17, 28] + - !!python/tuple [29, 26] + - !!python/tuple [16, 11] + - !!python/tuple [30, 21] + - !!python/tuple [28, 3] + - !!python/tuple [18, 18] + - !!python/tuple [3, 14] + - !!python/tuple [6, 7] + - !!python/tuple [20, 13] + - !!python/tuple [0, 11] + - !!python/tuple [22, 5] + - !!python/tuple [30, 28] + - !!python/tuple [18, 31] + - !!python/tuple [5, 14] + - !!python/tuple [25, 5] + - !!python/tuple [3, 5] + - !!python/tuple [23, 31] + - !!python/tuple [18, 29] + - !!python/tuple [2, 27] + - !!python/tuple [6, 27] + - !!python/tuple [29, 18] + - !!python/tuple [22, 9] + - !!python/tuple [17, 12] + - !!python/tuple [8, 10] + - !!python/tuple [23, 0] + - !!python/tuple [22, 12] + - !!python/tuple [30, 24] + - !!python/tuple [13, 31] + - !!python/tuple [13, 6] + - !!python/tuple [11, 31] + - !!python/tuple [24, 5] + - !!python/tuple [27, 0] + - !!python/tuple [19, 16] + - !!python/tuple [25, 17] + - !!python/tuple [5, 6] + - !!python/tuple [27, 15] + - !!python/tuple [11, 10] + - !!python/tuple [1, 21] + - !!python/tuple [31, 28] + - !!python/tuple [4, 8] + - !!python/tuple [12, 16] + - !!python/tuple [7, 26] + - !!python/tuple [2, 1] + - !!python/tuple [29, 8] + - !!python/tuple [13, 29] + - !!python/tuple [27, 28] + - !!python/tuple [6, 1] + - !!python/tuple [5, 30] + - !!python/tuple [27, 16] + - !!python/tuple [19, 4] + - !!python/tuple [6, 26] + - !!python/tuple [0, 0] + - !!python/tuple [27, 5] + - !!python/tuple [18, 13] + - !!python/tuple [2, 14] + - !!python/tuple [24, 12] + - !!python/tuple [21, 18] + - !!python/tuple [3, 29] + - !!python/tuple [28, 4] + - !!python/tuple [22, 2] + - !!python/tuple [24, 17] + - !!python/tuple [13, 9] + - !!python/tuple [28, 15] + - !!python/tuple [11, 21] + - !!python/tuple [11, 28] + - !!python/tuple [26, 9] + - !!python/tuple [20, 14] + - !!python/tuple [20, 5] + - !!python/tuple [31, 6] + - !!python/tuple [8, 5] + - !!python/tuple [6, 10] + - !!python/tuple [24, 23] + - !!python/tuple [31, 30] + - !!python/tuple [4, 19] + - !!python/tuple [26, 30] + - !!python/tuple [16, 30] + - !!python/tuple [8, 14] + - !!python/tuple [13, 28] + - !!python/tuple [30, 9] + - !!python/tuple [1, 30] + - !!python/tuple [18, 7] + - !!python/tuple [16, 10] + - !!python/tuple [16, 25] + - !!python/tuple [3, 26] + - !!python/tuple [31, 9] + - !!python/tuple [16, 0] + - !!python/tuple [28, 20] + - !!python/tuple [0, 15] + - !!python/tuple [31, 29] + - !!python/tuple [4, 26] + - !!python/tuple [23, 6] + - !!python/tuple [20, 23] + - !!python/tuple [23, 23] + - !!python/tuple [10, 11] + - !!python/tuple [3, 6] + - !!python/tuple [28, 26] + - !!python/tuple [5, 17] + - !!python/tuple [6, 2] + - !!python/tuple [8, 16] + - !!python/tuple [19, 27] + - !!python/tuple [31, 26] + - !!python/tuple [6, 6] + - !!python/tuple [10, 6] + - !!python/tuple [7, 29] + - !!python/tuple [17, 29] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex17.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex17.yaml new file mode 100644 index 0000000..d1d4cf9 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex17.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [24, 16] + name: agent0 + start: [27, 11] +- goal: [26, 16] + name: agent1 + start: [26, 12] +- goal: [2, 16] + name: agent2 + start: [10, 6] +- goal: [25, 12] + name: agent3 + start: [7, 28] +- goal: [28, 16] + name: agent4 + start: [30, 7] +- goal: [24, 22] + name: agent5 + start: [13, 20] +- goal: [30, 6] + name: agent6 + start: [19, 12] +- goal: [3, 22] + name: agent7 + start: [1, 3] +- goal: [1, 0] + name: agent8 + start: [9, 8] +- goal: [13, 30] + name: agent9 + start: [26, 5] +- goal: [25, 5] + name: agent10 + start: [19, 4] +- goal: [10, 5] + name: agent11 + start: [20, 25] +- goal: [4, 0] + name: agent12 + start: [16, 23] +- goal: [21, 28] + name: agent13 + start: [11, 6] +- goal: [25, 11] + name: agent14 + start: [24, 22] +- goal: [17, 2] + name: agent15 + start: [7, 25] +- goal: [27, 25] + name: agent16 + start: [11, 24] +- goal: [7, 30] + name: agent17 + start: [14, 28] +- goal: [18, 10] + name: agent18 + start: [2, 25] +- goal: [23, 30] + name: agent19 + start: [19, 14] +- goal: [18, 17] + name: agent20 + start: [1, 14] +- goal: [10, 0] + name: agent21 + start: [25, 1] +- goal: [2, 7] + name: agent22 + start: [27, 21] +- goal: [28, 26] + name: agent23 + start: [16, 16] +- goal: [11, 23] + name: agent24 + start: [3, 26] +- goal: [12, 19] + name: agent25 + start: [15, 10] +- goal: [21, 23] + name: agent26 + start: [20, 29] +- goal: [31, 30] + name: agent27 + start: [31, 26] +- goal: [10, 18] + name: agent28 + start: [19, 21] +- goal: [2, 19] + name: agent29 + start: [24, 17] +- goal: [28, 1] + name: agent30 + start: [22, 25] +- goal: [21, 25] + name: agent31 + start: [30, 24] +- goal: [21, 30] + name: agent32 + start: [10, 4] +- goal: [17, 19] + name: agent33 + start: [6, 15] +- goal: [13, 13] + name: agent34 + start: [17, 17] +- goal: [1, 20] + name: agent35 + start: [23, 3] +- goal: [7, 1] + name: agent36 + start: [8, 27] +- goal: [27, 4] + name: agent37 + start: [2, 21] +- goal: [19, 3] + name: agent38 + start: [30, 5] +- goal: [21, 20] + name: agent39 + start: [24, 16] +- goal: [5, 1] + name: agent40 + start: [4, 27] +- goal: [1, 9] + name: agent41 + start: [2, 26] +- goal: [0, 22] + name: agent42 + start: [29, 19] +- goal: [29, 25] + name: agent43 + start: [8, 26] +- goal: [22, 8] + name: agent44 + start: [12, 27] +- goal: [6, 15] + name: agent45 + start: [16, 25] +- goal: [18, 13] + name: agent46 + start: [6, 24] +- goal: [27, 18] + name: agent47 + start: [10, 2] +- goal: [9, 13] + name: agent48 + start: [5, 20] +- goal: [17, 12] + name: agent49 + start: [2, 20] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [24, 4] + - !!python/tuple [4, 19] + - !!python/tuple [1, 2] + - !!python/tuple [9, 16] + - !!python/tuple [13, 24] + - !!python/tuple [7, 24] + - !!python/tuple [4, 25] + - !!python/tuple [27, 10] + - !!python/tuple [15, 0] + - !!python/tuple [19, 17] + - !!python/tuple [6, 6] + - !!python/tuple [29, 16] + - !!python/tuple [20, 5] + - !!python/tuple [9, 20] + - !!python/tuple [27, 22] + - !!python/tuple [21, 13] + - !!python/tuple [31, 1] + - !!python/tuple [14, 15] + - !!python/tuple [5, 12] + - !!python/tuple [4, 3] + - !!python/tuple [3, 11] + - !!python/tuple [7, 29] + - !!python/tuple [14, 1] + - !!python/tuple [14, 25] + - !!python/tuple [18, 3] + - !!python/tuple [0, 12] + - !!python/tuple [25, 6] + - !!python/tuple [13, 19] + - !!python/tuple [12, 6] + - !!python/tuple [13, 21] + - !!python/tuple [16, 18] + - !!python/tuple [7, 4] + - !!python/tuple [19, 28] + - !!python/tuple [29, 10] + - !!python/tuple [16, 6] + - !!python/tuple [11, 26] + - !!python/tuple [19, 13] + - !!python/tuple [24, 21] + - !!python/tuple [23, 11] + - !!python/tuple [26, 26] + - !!python/tuple [28, 2] + - !!python/tuple [5, 21] + - !!python/tuple [17, 28] + - !!python/tuple [31, 18] + - !!python/tuple [25, 28] + - !!python/tuple [27, 13] + - !!python/tuple [11, 4] + - !!python/tuple [4, 17] + - !!python/tuple [25, 18] + - !!python/tuple [29, 27] + - !!python/tuple [26, 3] + - !!python/tuple [19, 22] + - !!python/tuple [12, 10] + - !!python/tuple [30, 11] + - !!python/tuple [31, 23] + - !!python/tuple [8, 2] + - !!python/tuple [31, 13] + - !!python/tuple [23, 16] + - !!python/tuple [30, 3] + - !!python/tuple [30, 27] + - !!python/tuple [26, 9] + - !!python/tuple [5, 31] + - !!python/tuple [4, 18] + - !!python/tuple [22, 24] + - !!python/tuple [13, 3] + - !!python/tuple [7, 5] + - !!python/tuple [27, 3] + - !!python/tuple [11, 28] + - !!python/tuple [23, 12] + - !!python/tuple [10, 17] + - !!python/tuple [9, 19] + - !!python/tuple [11, 30] + - !!python/tuple [12, 23] + - !!python/tuple [17, 0] + - !!python/tuple [20, 24] + - !!python/tuple [1, 29] + - !!python/tuple [20, 19] + - !!python/tuple [19, 15] + - !!python/tuple [18, 12] + - !!python/tuple [1, 24] + - !!python/tuple [10, 8] + - !!python/tuple [23, 9] + - !!python/tuple [31, 7] + - !!python/tuple [4, 7] + - !!python/tuple [1, 5] + - !!python/tuple [1, 1] + - !!python/tuple [20, 2] + - !!python/tuple [9, 21] + - !!python/tuple [3, 3] + - !!python/tuple [30, 29] + - !!python/tuple [6, 28] + - !!python/tuple [14, 6] + - !!python/tuple [9, 9] + - !!python/tuple [1, 7] + - !!python/tuple [9, 30] + - !!python/tuple [5, 16] + - !!python/tuple [25, 2] + - !!python/tuple [23, 27] + - !!python/tuple [9, 22] + - !!python/tuple [31, 25] + - !!python/tuple [18, 14] + - !!python/tuple [19, 29] + - !!python/tuple [29, 7] + - !!python/tuple [5, 13] + - !!python/tuple [29, 6] + - !!python/tuple [4, 11] + - !!python/tuple [31, 9] + - !!python/tuple [16, 22] + - !!python/tuple [4, 29] + - !!python/tuple [3, 0] + - !!python/tuple [10, 1] + - !!python/tuple [30, 28] + - !!python/tuple [22, 2] + - !!python/tuple [27, 16] + - !!python/tuple [30, 12] + - !!python/tuple [17, 22] + - !!python/tuple [20, 16] + - !!python/tuple [17, 8] + - !!python/tuple [20, 3] + - !!python/tuple [26, 15] + - !!python/tuple [28, 11] + - !!python/tuple [25, 29] + - !!python/tuple [7, 0] + - !!python/tuple [6, 13] + - !!python/tuple [14, 14] + - !!python/tuple [15, 17] + - !!python/tuple [6, 29] + - !!python/tuple [24, 10] + - !!python/tuple [9, 15] + - !!python/tuple [4, 21] + - !!python/tuple [25, 9] + - !!python/tuple [6, 21] + - !!python/tuple [23, 23] + - !!python/tuple [26, 24] + - !!python/tuple [24, 23] + - !!python/tuple [24, 13] + - !!python/tuple [18, 31] + - !!python/tuple [0, 19] + - !!python/tuple [28, 19] + - !!python/tuple [6, 12] + - !!python/tuple [0, 20] + - !!python/tuple [11, 10] + - !!python/tuple [25, 3] + - !!python/tuple [16, 30] + - !!python/tuple [15, 9] + - !!python/tuple [0, 25] + - !!python/tuple [12, 17] + - !!python/tuple [10, 10] + - !!python/tuple [5, 23] + - !!python/tuple [5, 7] + - !!python/tuple [11, 3] + - !!python/tuple [13, 26] + - !!python/tuple [21, 16] + - !!python/tuple [9, 28] + - !!python/tuple [22, 4] + - !!python/tuple [25, 8] + - !!python/tuple [2, 5] + - !!python/tuple [0, 14] + - !!python/tuple [8, 4] + - !!python/tuple [5, 25] + - !!python/tuple [1, 16] + - !!python/tuple [31, 11] + - !!python/tuple [23, 19] + - !!python/tuple [19, 31] + - !!python/tuple [22, 0] + - !!python/tuple [16, 24] + - !!python/tuple [26, 27] + - !!python/tuple [20, 31] + - !!python/tuple [15, 25] + - !!python/tuple [9, 29] + - !!python/tuple [11, 31] + - !!python/tuple [23, 7] + - !!python/tuple [26, 14] + - !!python/tuple [15, 8] + - !!python/tuple [24, 8] + - !!python/tuple [12, 4] + - !!python/tuple [22, 3] + - !!python/tuple [25, 14] + - !!python/tuple [15, 12] + - !!python/tuple [28, 25] + - !!python/tuple [13, 27] + - !!python/tuple [22, 28] + - !!python/tuple [0, 28] + - !!python/tuple [2, 18] + - !!python/tuple [20, 21] + - !!python/tuple [12, 13] + - !!python/tuple [14, 13] + - !!python/tuple [11, 22] + - !!python/tuple [6, 4] + - !!python/tuple [14, 29] + - !!python/tuple [4, 4] + - !!python/tuple [0, 26] + - !!python/tuple [19, 0] + - !!python/tuple [14, 3] + - !!python/tuple [22, 5] + - !!python/tuple [31, 19] + - !!python/tuple [28, 27] + - !!python/tuple [21, 31] + - !!python/tuple [15, 21] + - !!python/tuple [5, 8] + - !!python/tuple [13, 16] + - !!python/tuple [30, 30] + - !!python/tuple [12, 28] + - !!python/tuple [21, 10] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex18.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex18.yaml new file mode 100644 index 0000000..4b330c2 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex18.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [19, 8] + name: agent0 + start: [29, 29] +- goal: [2, 30] + name: agent1 + start: [20, 8] +- goal: [2, 12] + name: agent2 + start: [12, 19] +- goal: [9, 8] + name: agent3 + start: [29, 2] +- goal: [1, 14] + name: agent4 + start: [17, 30] +- goal: [26, 8] + name: agent5 + start: [28, 6] +- goal: [17, 19] + name: agent6 + start: [12, 30] +- goal: [4, 4] + name: agent7 + start: [7, 22] +- goal: [3, 17] + name: agent8 + start: [16, 24] +- goal: [18, 12] + name: agent9 + start: [18, 30] +- goal: [2, 31] + name: agent10 + start: [3, 28] +- goal: [17, 18] + name: agent11 + start: [28, 31] +- goal: [15, 5] + name: agent12 + start: [4, 10] +- goal: [5, 4] + name: agent13 + start: [10, 5] +- goal: [22, 2] + name: agent14 + start: [29, 1] +- goal: [22, 16] + name: agent15 + start: [17, 20] +- goal: [30, 22] + name: agent16 + start: [21, 1] +- goal: [21, 29] + name: agent17 + start: [27, 17] +- goal: [16, 1] + name: agent18 + start: [13, 17] +- goal: [25, 9] + name: agent19 + start: [0, 20] +- goal: [31, 19] + name: agent20 + start: [11, 11] +- goal: [14, 21] + name: agent21 + start: [6, 5] +- goal: [11, 11] + name: agent22 + start: [14, 11] +- goal: [10, 6] + name: agent23 + start: [3, 22] +- goal: [19, 6] + name: agent24 + start: [10, 31] +- goal: [15, 21] + name: agent25 + start: [9, 31] +- goal: [15, 16] + name: agent26 + start: [29, 25] +- goal: [15, 18] + name: agent27 + start: [27, 15] +- goal: [18, 7] + name: agent28 + start: [6, 6] +- goal: [1, 23] + name: agent29 + start: [17, 13] +- goal: [9, 6] + name: agent30 + start: [18, 0] +- goal: [14, 20] + name: agent31 + start: [30, 29] +- goal: [30, 3] + name: agent32 + start: [21, 13] +- goal: [14, 23] + name: agent33 + start: [10, 25] +- goal: [12, 17] + name: agent34 + start: [1, 1] +- goal: [22, 11] + name: agent35 + start: [8, 25] +- goal: [26, 3] + name: agent36 + start: [17, 16] +- goal: [18, 17] + name: agent37 + start: [5, 11] +- goal: [8, 11] + name: agent38 + start: [9, 6] +- goal: [20, 6] + name: agent39 + start: [8, 26] +- goal: [30, 30] + name: agent40 + start: [20, 14] +- goal: [25, 10] + name: agent41 + start: [21, 2] +- goal: [17, 15] + name: agent42 + start: [12, 31] +- goal: [6, 3] + name: agent43 + start: [1, 26] +- goal: [25, 24] + name: agent44 + start: [15, 30] +- goal: [11, 5] + name: agent45 + start: [20, 3] +- goal: [2, 16] + name: agent46 + start: [14, 25] +- goal: [13, 14] + name: agent47 + start: [27, 0] +- goal: [23, 6] + name: agent48 + start: [25, 30] +- goal: [17, 31] + name: agent49 + start: [18, 28] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [4, 13] + - !!python/tuple [20, 2] + - !!python/tuple [7, 23] + - !!python/tuple [5, 21] + - !!python/tuple [9, 18] + - !!python/tuple [20, 31] + - !!python/tuple [14, 8] + - !!python/tuple [3, 8] + - !!python/tuple [9, 28] + - !!python/tuple [30, 11] + - !!python/tuple [23, 18] + - !!python/tuple [12, 5] + - !!python/tuple [16, 11] + - !!python/tuple [14, 24] + - !!python/tuple [30, 17] + - !!python/tuple [12, 22] + - !!python/tuple [5, 0] + - !!python/tuple [24, 3] + - !!python/tuple [1, 6] + - !!python/tuple [16, 17] + - !!python/tuple [0, 11] + - !!python/tuple [7, 29] + - !!python/tuple [7, 21] + - !!python/tuple [16, 28] + - !!python/tuple [8, 9] + - !!python/tuple [12, 23] + - !!python/tuple [22, 6] + - !!python/tuple [0, 3] + - !!python/tuple [2, 25] + - !!python/tuple [18, 10] + - !!python/tuple [15, 9] + - !!python/tuple [10, 26] + - !!python/tuple [19, 21] + - !!python/tuple [28, 14] + - !!python/tuple [22, 26] + - !!python/tuple [24, 12] + - !!python/tuple [8, 23] + - !!python/tuple [6, 18] + - !!python/tuple [22, 28] + - !!python/tuple [31, 5] + - !!python/tuple [27, 16] + - !!python/tuple [30, 5] + - !!python/tuple [11, 29] + - !!python/tuple [19, 4] + - !!python/tuple [21, 11] + - !!python/tuple [20, 15] + - !!python/tuple [4, 28] + - !!python/tuple [4, 2] + - !!python/tuple [1, 16] + - !!python/tuple [29, 5] + - !!python/tuple [23, 20] + - !!python/tuple [13, 11] + - !!python/tuple [17, 4] + - !!python/tuple [2, 5] + - !!python/tuple [23, 8] + - !!python/tuple [15, 31] + - !!python/tuple [19, 3] + - !!python/tuple [15, 15] + - !!python/tuple [14, 30] + - !!python/tuple [3, 13] + - !!python/tuple [6, 23] + - !!python/tuple [2, 0] + - !!python/tuple [18, 18] + - !!python/tuple [25, 2] + - !!python/tuple [23, 14] + - !!python/tuple [5, 27] + - !!python/tuple [1, 24] + - !!python/tuple [6, 31] + - !!python/tuple [5, 28] + - !!python/tuple [29, 31] + - !!python/tuple [6, 16] + - !!python/tuple [2, 4] + - !!python/tuple [14, 9] + - !!python/tuple [12, 14] + - !!python/tuple [25, 16] + - !!python/tuple [31, 12] + - !!python/tuple [4, 26] + - !!python/tuple [18, 16] + - !!python/tuple [7, 26] + - !!python/tuple [2, 23] + - !!python/tuple [16, 4] + - !!python/tuple [31, 8] + - !!python/tuple [0, 16] + - !!python/tuple [30, 6] + - !!python/tuple [0, 25] + - !!python/tuple [9, 26] + - !!python/tuple [12, 13] + - !!python/tuple [5, 16] + - !!python/tuple [3, 5] + - !!python/tuple [24, 16] + - !!python/tuple [28, 22] + - !!python/tuple [8, 28] + - !!python/tuple [15, 1] + - !!python/tuple [18, 19] + - !!python/tuple [3, 24] + - !!python/tuple [23, 21] + - !!python/tuple [11, 21] + - !!python/tuple [5, 12] + - !!python/tuple [30, 12] + - !!python/tuple [2, 19] + - !!python/tuple [5, 2] + - !!python/tuple [20, 17] + - !!python/tuple [30, 28] + - !!python/tuple [14, 2] + - !!python/tuple [6, 29] + - !!python/tuple [19, 23] + - !!python/tuple [17, 6] + - !!python/tuple [10, 2] + - !!python/tuple [0, 4] + - !!python/tuple [23, 1] + - !!python/tuple [6, 19] + - !!python/tuple [5, 23] + - !!python/tuple [25, 0] + - !!python/tuple [12, 21] + - !!python/tuple [0, 21] + - !!python/tuple [6, 13] + - !!python/tuple [9, 9] + - !!python/tuple [2, 21] + - !!python/tuple [24, 5] + - !!python/tuple [31, 15] + - !!python/tuple [20, 12] + - !!python/tuple [3, 11] + - !!python/tuple [24, 14] + - !!python/tuple [19, 29] + - !!python/tuple [28, 1] + - !!python/tuple [26, 11] + - !!python/tuple [13, 21] + - !!python/tuple [26, 26] + - !!python/tuple [12, 24] + - !!python/tuple [0, 6] + - !!python/tuple [24, 9] + - !!python/tuple [13, 23] + - !!python/tuple [8, 22] + - !!python/tuple [27, 13] + - !!python/tuple [13, 16] + - !!python/tuple [18, 6] + - !!python/tuple [31, 24] + - !!python/tuple [25, 13] + - !!python/tuple [7, 16] + - !!python/tuple [26, 13] + - !!python/tuple [21, 23] + - !!python/tuple [10, 9] + - !!python/tuple [15, 28] + - !!python/tuple [24, 8] + - !!python/tuple [7, 31] + - !!python/tuple [24, 7] + - !!python/tuple [26, 31] + - !!python/tuple [26, 0] + - !!python/tuple [29, 22] + - !!python/tuple [27, 18] + - !!python/tuple [6, 4] + - !!python/tuple [24, 28] + - !!python/tuple [23, 15] + - !!python/tuple [17, 25] + - !!python/tuple [16, 20] + - !!python/tuple [14, 1] + - !!python/tuple [22, 20] + - !!python/tuple [9, 30] + - !!python/tuple [30, 0] + - !!python/tuple [24, 22] + - !!python/tuple [7, 14] + - !!python/tuple [25, 11] + - !!python/tuple [30, 10] + - !!python/tuple [13, 9] + - !!python/tuple [26, 19] + - !!python/tuple [18, 31] + - !!python/tuple [11, 2] + - !!python/tuple [16, 8] + - !!python/tuple [22, 24] + - !!python/tuple [3, 16] + - !!python/tuple [4, 3] + - !!python/tuple [20, 7] + - !!python/tuple [14, 28] + - !!python/tuple [27, 23] + - !!python/tuple [30, 19] + - !!python/tuple [29, 28] + - !!python/tuple [23, 2] + - !!python/tuple [21, 22] + - !!python/tuple [7, 3] + - !!python/tuple [6, 30] + - !!python/tuple [30, 27] + - !!python/tuple [7, 9] + - !!python/tuple [26, 6] + - !!python/tuple [28, 15] + - !!python/tuple [11, 25] + - !!python/tuple [15, 24] + - !!python/tuple [3, 14] + - !!python/tuple [9, 14] + - !!python/tuple [26, 27] + - !!python/tuple [29, 3] + - !!python/tuple [30, 31] + - !!python/tuple [14, 17] + - !!python/tuple [10, 22] + - !!python/tuple [5, 7] + - !!python/tuple [12, 27] + - !!python/tuple [3, 19] + - !!python/tuple [26, 2] + - !!python/tuple [5, 19] + - !!python/tuple [18, 3] + - !!python/tuple [29, 8] + - !!python/tuple [9, 7] + - !!python/tuple [16, 14] + - !!python/tuple [2, 8] + - !!python/tuple [29, 13] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex19.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex19.yaml new file mode 100644 index 0000000..57bde42 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex19.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [4, 31] + name: agent0 + start: [15, 7] +- goal: [9, 15] + name: agent1 + start: [30, 22] +- goal: [3, 18] + name: agent2 + start: [16, 5] +- goal: [21, 31] + name: agent3 + start: [14, 17] +- goal: [1, 8] + name: agent4 + start: [2, 22] +- goal: [1, 31] + name: agent5 + start: [28, 21] +- goal: [26, 9] + name: agent6 + start: [12, 30] +- goal: [24, 11] + name: agent7 + start: [9, 17] +- goal: [4, 13] + name: agent8 + start: [15, 5] +- goal: [2, 10] + name: agent9 + start: [18, 26] +- goal: [9, 31] + name: agent10 + start: [19, 11] +- goal: [5, 31] + name: agent11 + start: [13, 22] +- goal: [20, 16] + name: agent12 + start: [11, 20] +- goal: [0, 21] + name: agent13 + start: [20, 31] +- goal: [10, 4] + name: agent14 + start: [27, 23] +- goal: [27, 11] + name: agent15 + start: [18, 30] +- goal: [26, 16] + name: agent16 + start: [7, 4] +- goal: [7, 29] + name: agent17 + start: [14, 24] +- goal: [11, 13] + name: agent18 + start: [31, 11] +- goal: [26, 7] + name: agent19 + start: [6, 12] +- goal: [14, 13] + name: agent20 + start: [4, 2] +- goal: [11, 16] + name: agent21 + start: [1, 27] +- goal: [2, 13] + name: agent22 + start: [23, 25] +- goal: [18, 29] + name: agent23 + start: [6, 1] +- goal: [6, 21] + name: agent24 + start: [21, 24] +- goal: [4, 25] + name: agent25 + start: [0, 31] +- goal: [16, 23] + name: agent26 + start: [26, 19] +- goal: [31, 1] + name: agent27 + start: [7, 13] +- goal: [22, 19] + name: agent28 + start: [3, 6] +- goal: [29, 8] + name: agent29 + start: [7, 0] +- goal: [5, 1] + name: agent30 + start: [23, 16] +- goal: [19, 16] + name: agent31 + start: [2, 30] +- goal: [29, 15] + name: agent32 + start: [24, 14] +- goal: [17, 16] + name: agent33 + start: [16, 21] +- goal: [26, 30] + name: agent34 + start: [31, 27] +- goal: [0, 1] + name: agent35 + start: [13, 0] +- goal: [4, 29] + name: agent36 + start: [2, 5] +- goal: [27, 9] + name: agent37 + start: [26, 14] +- goal: [1, 30] + name: agent38 + start: [30, 21] +- goal: [26, 5] + name: agent39 + start: [2, 7] +- goal: [15, 7] + name: agent40 + start: [2, 0] +- goal: [8, 26] + name: agent41 + start: [18, 27] +- goal: [15, 6] + name: agent42 + start: [26, 10] +- goal: [4, 28] + name: agent43 + start: [2, 1] +- goal: [13, 12] + name: agent44 + start: [14, 18] +- goal: [7, 28] + name: agent45 + start: [11, 5] +- goal: [3, 22] + name: agent46 + start: [20, 17] +- goal: [25, 25] + name: agent47 + start: [31, 23] +- goal: [5, 2] + name: agent48 + start: [8, 11] +- goal: [24, 30] + name: agent49 + start: [17, 10] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [31, 5] + - !!python/tuple [3, 11] + - !!python/tuple [12, 29] + - !!python/tuple [27, 25] + - !!python/tuple [20, 10] + - !!python/tuple [7, 18] + - !!python/tuple [20, 19] + - !!python/tuple [27, 7] + - !!python/tuple [11, 7] + - !!python/tuple [31, 15] + - !!python/tuple [19, 7] + - !!python/tuple [9, 30] + - !!python/tuple [17, 11] + - !!python/tuple [3, 1] + - !!python/tuple [17, 2] + - !!python/tuple [25, 16] + - !!python/tuple [15, 21] + - !!python/tuple [0, 11] + - !!python/tuple [11, 25] + - !!python/tuple [6, 17] + - !!python/tuple [24, 23] + - !!python/tuple [3, 21] + - !!python/tuple [21, 14] + - !!python/tuple [11, 14] + - !!python/tuple [1, 14] + - !!python/tuple [17, 18] + - !!python/tuple [4, 30] + - !!python/tuple [22, 12] + - !!python/tuple [4, 8] + - !!python/tuple [10, 5] + - !!python/tuple [12, 19] + - !!python/tuple [31, 6] + - !!python/tuple [23, 8] + - !!python/tuple [4, 12] + - !!python/tuple [16, 29] + - !!python/tuple [0, 25] + - !!python/tuple [3, 25] + - !!python/tuple [8, 27] + - !!python/tuple [18, 19] + - !!python/tuple [27, 30] + - !!python/tuple [28, 0] + - !!python/tuple [31, 3] + - !!python/tuple [17, 23] + - !!python/tuple [26, 12] + - !!python/tuple [15, 17] + - !!python/tuple [27, 31] + - !!python/tuple [14, 10] + - !!python/tuple [27, 1] + - !!python/tuple [16, 19] + - !!python/tuple [1, 26] + - !!python/tuple [10, 28] + - !!python/tuple [15, 4] + - !!python/tuple [28, 18] + - !!python/tuple [16, 31] + - !!python/tuple [19, 27] + - !!python/tuple [21, 10] + - !!python/tuple [8, 22] + - !!python/tuple [5, 27] + - !!python/tuple [8, 18] + - !!python/tuple [0, 23] + - !!python/tuple [25, 8] + - !!python/tuple [23, 24] + - !!python/tuple [29, 24] + - !!python/tuple [19, 6] + - !!python/tuple [12, 17] + - !!python/tuple [13, 21] + - !!python/tuple [1, 15] + - !!python/tuple [27, 12] + - !!python/tuple [3, 8] + - !!python/tuple [12, 2] + - !!python/tuple [2, 18] + - !!python/tuple [29, 2] + - !!python/tuple [4, 11] + - !!python/tuple [26, 24] + - !!python/tuple [10, 3] + - !!python/tuple [12, 8] + - !!python/tuple [15, 11] + - !!python/tuple [6, 15] + - !!python/tuple [8, 3] + - !!python/tuple [15, 13] + - !!python/tuple [31, 29] + - !!python/tuple [7, 27] + - !!python/tuple [26, 29] + - !!python/tuple [24, 4] + - !!python/tuple [11, 10] + - !!python/tuple [13, 14] + - !!python/tuple [11, 11] + - !!python/tuple [25, 0] + - !!python/tuple [7, 22] + - !!python/tuple [17, 20] + - !!python/tuple [19, 1] + - !!python/tuple [25, 17] + - !!python/tuple [9, 19] + - !!python/tuple [9, 6] + - !!python/tuple [7, 15] + - !!python/tuple [24, 2] + - !!python/tuple [7, 23] + - !!python/tuple [6, 6] + - !!python/tuple [20, 22] + - !!python/tuple [26, 28] + - !!python/tuple [19, 9] + - !!python/tuple [15, 14] + - !!python/tuple [6, 4] + - !!python/tuple [27, 24] + - !!python/tuple [19, 26] + - !!python/tuple [13, 13] + - !!python/tuple [28, 11] + - !!python/tuple [18, 18] + - !!python/tuple [29, 17] + - !!python/tuple [1, 3] + - !!python/tuple [15, 18] + - !!python/tuple [18, 9] + - !!python/tuple [8, 29] + - !!python/tuple [21, 15] + - !!python/tuple [19, 12] + - !!python/tuple [28, 15] + - !!python/tuple [7, 25] + - !!python/tuple [29, 18] + - !!python/tuple [1, 12] + - !!python/tuple [29, 21] + - !!python/tuple [27, 29] + - !!python/tuple [21, 21] + - !!python/tuple [23, 20] + - !!python/tuple [24, 24] + - !!python/tuple [12, 27] + - !!python/tuple [13, 11] + - !!python/tuple [13, 6] + - !!python/tuple [19, 22] + - !!python/tuple [22, 15] + - !!python/tuple [5, 22] + - !!python/tuple [13, 23] + - !!python/tuple [7, 14] + - !!python/tuple [3, 30] + - !!python/tuple [25, 28] + - !!python/tuple [19, 21] + - !!python/tuple [13, 29] + - !!python/tuple [5, 18] + - !!python/tuple [9, 0] + - !!python/tuple [8, 10] + - !!python/tuple [1, 7] + - !!python/tuple [1, 22] + - !!python/tuple [30, 13] + - !!python/tuple [2, 24] + - !!python/tuple [27, 8] + - !!python/tuple [4, 14] + - !!python/tuple [15, 16] + - !!python/tuple [3, 29] + - !!python/tuple [22, 29] + - !!python/tuple [28, 29] + - !!python/tuple [0, 13] + - !!python/tuple [21, 4] + - !!python/tuple [16, 8] + - !!python/tuple [18, 11] + - !!python/tuple [16, 4] + - !!python/tuple [19, 18] + - !!python/tuple [0, 28] + - !!python/tuple [0, 0] + - !!python/tuple [18, 31] + - !!python/tuple [16, 24] + - !!python/tuple [27, 22] + - !!python/tuple [11, 30] + - !!python/tuple [18, 23] + - !!python/tuple [1, 25] + - !!python/tuple [17, 3] + - !!python/tuple [0, 19] + - !!python/tuple [3, 17] + - !!python/tuple [17, 8] + - !!python/tuple [9, 11] + - !!python/tuple [5, 14] + - !!python/tuple [24, 25] + - !!python/tuple [30, 27] + - !!python/tuple [17, 27] + - !!python/tuple [1, 5] + - !!python/tuple [15, 2] + - !!python/tuple [31, 16] + - !!python/tuple [3, 24] + - !!python/tuple [14, 1] + - !!python/tuple [19, 13] + - !!python/tuple [20, 2] + - !!python/tuple [3, 7] + - !!python/tuple [11, 23] + - !!python/tuple [27, 17] + - !!python/tuple [26, 0] + - !!python/tuple [1, 9] + - !!python/tuple [3, 26] + - !!python/tuple [26, 17] + - !!python/tuple [26, 6] + - !!python/tuple [4, 3] + - !!python/tuple [16, 26] + - !!python/tuple [14, 8] + - !!python/tuple [22, 0] + - !!python/tuple [20, 18] + - !!python/tuple [13, 20] + - !!python/tuple [13, 2] + - !!python/tuple [31, 0] + - !!python/tuple [18, 13] + - !!python/tuple [30, 18] + - !!python/tuple [10, 25] + - !!python/tuple [26, 18] + - !!python/tuple [23, 21] + - !!python/tuple [17, 25] + - !!python/tuple [30, 0] + - !!python/tuple [0, 10] + - !!python/tuple [6, 18] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex2.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex2.yaml new file mode 100644 index 0000000..7c5b0dd --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex2.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [4, 10] + name: agent0 + start: [25, 10] +- goal: [12, 25] + name: agent1 + start: [6, 4] +- goal: [28, 10] + name: agent2 + start: [10, 25] +- goal: [21, 12] + name: agent3 + start: [18, 6] +- goal: [0, 24] + name: agent4 + start: [22, 24] +- goal: [26, 2] + name: agent5 + start: [18, 16] +- goal: [28, 11] + name: agent6 + start: [11, 6] +- goal: [10, 21] + name: agent7 + start: [17, 6] +- goal: [21, 9] + name: agent8 + start: [11, 12] +- goal: [24, 2] + name: agent9 + start: [28, 11] +- goal: [9, 12] + name: agent10 + start: [24, 29] +- goal: [3, 22] + name: agent11 + start: [24, 19] +- goal: [18, 21] + name: agent12 + start: [13, 15] +- goal: [15, 19] + name: agent13 + start: [24, 3] +- goal: [12, 29] + name: agent14 + start: [4, 31] +- goal: [21, 14] + name: agent15 + start: [4, 13] +- goal: [30, 21] + name: agent16 + start: [7, 23] +- goal: [3, 29] + name: agent17 + start: [24, 11] +- goal: [7, 10] + name: agent18 + start: [5, 12] +- goal: [26, 26] + name: agent19 + start: [16, 14] +- goal: [11, 29] + name: agent20 + start: [3, 31] +- goal: [23, 21] + name: agent21 + start: [16, 13] +- goal: [29, 25] + name: agent22 + start: [6, 23] +- goal: [0, 0] + name: agent23 + start: [1, 2] +- goal: [28, 4] + name: agent24 + start: [31, 26] +- goal: [19, 29] + name: agent25 + start: [17, 17] +- goal: [17, 30] + name: agent26 + start: [16, 19] +- goal: [25, 13] + name: agent27 + start: [10, 21] +- goal: [14, 22] + name: agent28 + start: [11, 4] +- goal: [22, 10] + name: agent29 + start: [21, 26] +- goal: [23, 13] + name: agent30 + start: [21, 25] +- goal: [5, 27] + name: agent31 + start: [7, 22] +- goal: [14, 14] + name: agent32 + start: [10, 7] +- goal: [23, 18] + name: agent33 + start: [29, 17] +- goal: [9, 15] + name: agent34 + start: [4, 23] +- goal: [11, 25] + name: agent35 + start: [9, 15] +- goal: [18, 14] + name: agent36 + start: [0, 24] +- goal: [12, 27] + name: agent37 + start: [18, 1] +- goal: [13, 21] + name: agent38 + start: [7, 18] +- goal: [4, 28] + name: agent39 + start: [25, 28] +- goal: [23, 8] + name: agent40 + start: [3, 15] +- goal: [12, 14] + name: agent41 + start: [1, 0] +- goal: [28, 5] + name: agent42 + start: [31, 6] +- goal: [14, 28] + name: agent43 + start: [15, 2] +- goal: [3, 8] + name: agent44 + start: [20, 17] +- goal: [25, 30] + name: agent45 + start: [13, 27] +- goal: [13, 0] + name: agent46 + start: [23, 13] +- goal: [1, 30] + name: agent47 + start: [10, 11] +- goal: [16, 5] + name: agent48 + start: [12, 13] +- goal: [30, 7] + name: agent49 + start: [25, 30] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [13, 29] + - !!python/tuple [5, 17] + - !!python/tuple [28, 17] + - !!python/tuple [7, 8] + - !!python/tuple [24, 10] + - !!python/tuple [3, 30] + - !!python/tuple [19, 25] + - !!python/tuple [15, 17] + - !!python/tuple [7, 21] + - !!python/tuple [4, 30] + - !!python/tuple [14, 5] + - !!python/tuple [20, 8] + - !!python/tuple [27, 11] + - !!python/tuple [20, 0] + - !!python/tuple [27, 24] + - !!python/tuple [5, 2] + - !!python/tuple [10, 24] + - !!python/tuple [20, 21] + - !!python/tuple [10, 0] + - !!python/tuple [14, 13] + - !!python/tuple [21, 29] + - !!python/tuple [13, 2] + - !!python/tuple [29, 24] + - !!python/tuple [3, 13] + - !!python/tuple [21, 8] + - !!python/tuple [16, 10] + - !!python/tuple [15, 28] + - !!python/tuple [23, 0] + - !!python/tuple [28, 19] + - !!python/tuple [0, 14] + - !!python/tuple [13, 26] + - !!python/tuple [23, 24] + - !!python/tuple [15, 22] + - !!python/tuple [1, 15] + - !!python/tuple [0, 17] + - !!python/tuple [20, 31] + - !!python/tuple [0, 6] + - !!python/tuple [6, 27] + - !!python/tuple [13, 22] + - !!python/tuple [26, 1] + - !!python/tuple [10, 30] + - !!python/tuple [25, 3] + - !!python/tuple [4, 5] + - !!python/tuple [2, 20] + - !!python/tuple [2, 12] + - !!python/tuple [17, 15] + - !!python/tuple [29, 8] + - !!python/tuple [28, 15] + - !!python/tuple [24, 6] + - !!python/tuple [17, 4] + - !!python/tuple [11, 21] + - !!python/tuple [7, 26] + - !!python/tuple [5, 9] + - !!python/tuple [22, 7] + - !!python/tuple [24, 18] + - !!python/tuple [22, 30] + - !!python/tuple [28, 2] + - !!python/tuple [3, 18] + - !!python/tuple [11, 22] + - !!python/tuple [20, 14] + - !!python/tuple [30, 6] + - !!python/tuple [13, 4] + - !!python/tuple [28, 7] + - !!python/tuple [20, 5] + - !!python/tuple [19, 27] + - !!python/tuple [2, 26] + - !!python/tuple [10, 2] + - !!python/tuple [17, 22] + - !!python/tuple [14, 20] + - !!python/tuple [11, 15] + - !!python/tuple [7, 14] + - !!python/tuple [19, 18] + - !!python/tuple [0, 7] + - !!python/tuple [28, 30] + - !!python/tuple [11, 23] + - !!python/tuple [30, 18] + - !!python/tuple [23, 25] + - !!python/tuple [5, 4] + - !!python/tuple [25, 24] + - !!python/tuple [26, 24] + - !!python/tuple [24, 28] + - !!python/tuple [31, 31] + - !!python/tuple [9, 22] + - !!python/tuple [7, 11] + - !!python/tuple [31, 19] + - !!python/tuple [29, 18] + - !!python/tuple [18, 25] + - !!python/tuple [1, 23] + - !!python/tuple [29, 12] + - !!python/tuple [9, 30] + - !!python/tuple [24, 16] + - !!python/tuple [6, 30] + - !!python/tuple [14, 25] + - !!python/tuple [13, 7] + - !!python/tuple [10, 22] + - !!python/tuple [18, 30] + - !!python/tuple [16, 16] + - !!python/tuple [19, 1] + - !!python/tuple [30, 10] + - !!python/tuple [11, 5] + - !!python/tuple [8, 24] + - !!python/tuple [18, 8] + - !!python/tuple [20, 9] + - !!python/tuple [9, 4] + - !!python/tuple [17, 23] + - !!python/tuple [9, 25] + - !!python/tuple [26, 25] + - !!python/tuple [12, 7] + - !!python/tuple [2, 24] + - !!python/tuple [15, 1] + - !!python/tuple [9, 8] + - !!python/tuple [3, 10] + - !!python/tuple [16, 1] + - !!python/tuple [13, 12] + - !!python/tuple [7, 6] + - !!python/tuple [2, 15] + - !!python/tuple [19, 19] + - !!python/tuple [3, 9] + - !!python/tuple [14, 3] + - !!python/tuple [21, 7] + - !!python/tuple [7, 7] + - !!python/tuple [0, 26] + - !!python/tuple [18, 17] + - !!python/tuple [20, 12] + - !!python/tuple [6, 18] + - !!python/tuple [8, 1] + - !!python/tuple [14, 15] + - !!python/tuple [21, 1] + - !!python/tuple [6, 7] + - !!python/tuple [6, 20] + - !!python/tuple [16, 8] + - !!python/tuple [27, 12] + - !!python/tuple [16, 28] + - !!python/tuple [14, 17] + - !!python/tuple [6, 22] + - !!python/tuple [19, 15] + - !!python/tuple [8, 31] + - !!python/tuple [20, 20] + - !!python/tuple [3, 14] + - !!python/tuple [25, 25] + - !!python/tuple [0, 15] + - !!python/tuple [1, 5] + - !!python/tuple [9, 18] + - !!python/tuple [7, 0] + - !!python/tuple [6, 12] + - !!python/tuple [1, 17] + - !!python/tuple [25, 4] + - !!python/tuple [6, 29] + - !!python/tuple [7, 15] + - !!python/tuple [28, 31] + - !!python/tuple [22, 13] + - !!python/tuple [11, 7] + - !!python/tuple [25, 27] + - !!python/tuple [18, 26] + - !!python/tuple [0, 3] + - !!python/tuple [1, 16] + - !!python/tuple [6, 16] + - !!python/tuple [20, 18] + - !!python/tuple [11, 19] + - !!python/tuple [9, 7] + - !!python/tuple [0, 29] + - !!python/tuple [23, 28] + - !!python/tuple [22, 27] + - !!python/tuple [6, 14] + - !!python/tuple [29, 3] + - !!python/tuple [31, 17] + - !!python/tuple [4, 17] + - !!python/tuple [20, 22] + - !!python/tuple [29, 31] + - !!python/tuple [26, 0] + - !!python/tuple [25, 12] + - !!python/tuple [23, 12] + - !!python/tuple [19, 7] + - !!python/tuple [1, 12] + - !!python/tuple [6, 26] + - !!python/tuple [18, 19] + - !!python/tuple [1, 19] + - !!python/tuple [13, 30] + - !!python/tuple [28, 1] + - !!python/tuple [21, 22] + - !!python/tuple [30, 13] + - !!python/tuple [22, 21] + - !!python/tuple [5, 19] + - !!python/tuple [9, 11] + - !!python/tuple [12, 18] + - !!python/tuple [17, 27] + - !!python/tuple [25, 2] + - !!python/tuple [19, 13] + - !!python/tuple [27, 22] + - !!python/tuple [28, 23] + - !!python/tuple [20, 10] + - !!python/tuple [16, 17] + - !!python/tuple [3, 21] + - !!python/tuple [12, 16] + - !!python/tuple [1, 9] + - !!python/tuple [15, 0] + - !!python/tuple [7, 3] + - !!python/tuple [8, 16] + - !!python/tuple [17, 31] + - !!python/tuple [19, 2] + - !!python/tuple [27, 16] + - !!python/tuple [21, 16] + - !!python/tuple [3, 5] + - !!python/tuple [22, 29] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex20.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex20.yaml new file mode 100644 index 0000000..8e320d7 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex20.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [12, 14] + name: agent0 + start: [22, 14] +- goal: [9, 11] + name: agent1 + start: [4, 0] +- goal: [2, 16] + name: agent2 + start: [9, 28] +- goal: [18, 1] + name: agent3 + start: [23, 8] +- goal: [17, 14] + name: agent4 + start: [25, 19] +- goal: [30, 23] + name: agent5 + start: [4, 21] +- goal: [8, 31] + name: agent6 + start: [27, 18] +- goal: [7, 16] + name: agent7 + start: [8, 5] +- goal: [31, 10] + name: agent8 + start: [14, 10] +- goal: [27, 19] + name: agent9 + start: [7, 2] +- goal: [17, 11] + name: agent10 + start: [20, 13] +- goal: [25, 25] + name: agent11 + start: [11, 28] +- goal: [29, 9] + name: agent12 + start: [1, 13] +- goal: [4, 9] + name: agent13 + start: [29, 10] +- goal: [18, 27] + name: agent14 + start: [15, 7] +- goal: [25, 28] + name: agent15 + start: [29, 24] +- goal: [28, 13] + name: agent16 + start: [29, 17] +- goal: [22, 26] + name: agent17 + start: [30, 20] +- goal: [23, 28] + name: agent18 + start: [8, 12] +- goal: [17, 5] + name: agent19 + start: [9, 21] +- goal: [18, 11] + name: agent20 + start: [7, 18] +- goal: [0, 3] + name: agent21 + start: [23, 13] +- goal: [6, 11] + name: agent22 + start: [25, 24] +- goal: [3, 24] + name: agent23 + start: [9, 14] +- goal: [14, 22] + name: agent24 + start: [29, 12] +- goal: [6, 19] + name: agent25 + start: [30, 29] +- goal: [20, 5] + name: agent26 + start: [28, 21] +- goal: [24, 4] + name: agent27 + start: [7, 5] +- goal: [31, 24] + name: agent28 + start: [1, 18] +- goal: [5, 12] + name: agent29 + start: [11, 8] +- goal: [6, 7] + name: agent30 + start: [29, 16] +- goal: [29, 28] + name: agent31 + start: [31, 29] +- goal: [1, 11] + name: agent32 + start: [18, 15] +- goal: [26, 25] + name: agent33 + start: [1, 25] +- goal: [16, 28] + name: agent34 + start: [31, 1] +- goal: [26, 12] + name: agent35 + start: [2, 2] +- goal: [12, 5] + name: agent36 + start: [7, 13] +- goal: [22, 21] + name: agent37 + start: [4, 26] +- goal: [19, 21] + name: agent38 + start: [3, 11] +- goal: [23, 8] + name: agent39 + start: [18, 21] +- goal: [5, 18] + name: agent40 + start: [8, 15] +- goal: [28, 10] + name: agent41 + start: [8, 27] +- goal: [0, 14] + name: agent42 + start: [20, 28] +- goal: [22, 27] + name: agent43 + start: [17, 1] +- goal: [24, 16] + name: agent44 + start: [11, 31] +- goal: [1, 14] + name: agent45 + start: [26, 23] +- goal: [11, 31] + name: agent46 + start: [23, 12] +- goal: [9, 23] + name: agent47 + start: [31, 26] +- goal: [2, 7] + name: agent48 + start: [30, 19] +- goal: [21, 9] + name: agent49 + start: [2, 16] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [9, 8] + - !!python/tuple [14, 9] + - !!python/tuple [25, 30] + - !!python/tuple [21, 4] + - !!python/tuple [22, 4] + - !!python/tuple [13, 22] + - !!python/tuple [27, 3] + - !!python/tuple [4, 13] + - !!python/tuple [8, 2] + - !!python/tuple [9, 16] + - !!python/tuple [5, 30] + - !!python/tuple [14, 25] + - !!python/tuple [24, 5] + - !!python/tuple [13, 0] + - !!python/tuple [22, 7] + - !!python/tuple [19, 1] + - !!python/tuple [30, 15] + - !!python/tuple [7, 22] + - !!python/tuple [20, 15] + - !!python/tuple [19, 3] + - !!python/tuple [7, 9] + - !!python/tuple [12, 29] + - !!python/tuple [28, 1] + - !!python/tuple [9, 22] + - !!python/tuple [0, 9] + - !!python/tuple [6, 4] + - !!python/tuple [28, 12] + - !!python/tuple [14, 2] + - !!python/tuple [0, 0] + - !!python/tuple [24, 14] + - !!python/tuple [17, 3] + - !!python/tuple [23, 24] + - !!python/tuple [11, 25] + - !!python/tuple [12, 26] + - !!python/tuple [24, 20] + - !!python/tuple [3, 25] + - !!python/tuple [15, 18] + - !!python/tuple [17, 2] + - !!python/tuple [29, 13] + - !!python/tuple [16, 29] + - !!python/tuple [26, 0] + - !!python/tuple [3, 8] + - !!python/tuple [12, 22] + - !!python/tuple [27, 0] + - !!python/tuple [15, 4] + - !!python/tuple [26, 5] + - !!python/tuple [24, 13] + - !!python/tuple [6, 8] + - !!python/tuple [29, 19] + - !!python/tuple [14, 21] + - !!python/tuple [26, 30] + - !!python/tuple [24, 31] + - !!python/tuple [20, 22] + - !!python/tuple [1, 5] + - !!python/tuple [19, 27] + - !!python/tuple [27, 6] + - !!python/tuple [1, 2] + - !!python/tuple [7, 11] + - !!python/tuple [17, 9] + - !!python/tuple [12, 9] + - !!python/tuple [6, 28] + - !!python/tuple [27, 29] + - !!python/tuple [11, 10] + - !!python/tuple [30, 5] + - !!python/tuple [3, 7] + - !!python/tuple [21, 15] + - !!python/tuple [20, 7] + - !!python/tuple [20, 14] + - !!python/tuple [17, 18] + - !!python/tuple [28, 22] + - !!python/tuple [19, 17] + - !!python/tuple [14, 16] + - !!python/tuple [21, 12] + - !!python/tuple [25, 1] + - !!python/tuple [15, 29] + - !!python/tuple [26, 19] + - !!python/tuple [18, 12] + - !!python/tuple [1, 22] + - !!python/tuple [18, 22] + - !!python/tuple [15, 27] + - !!python/tuple [14, 5] + - !!python/tuple [25, 11] + - !!python/tuple [8, 28] + - !!python/tuple [10, 25] + - !!python/tuple [7, 6] + - !!python/tuple [24, 30] + - !!python/tuple [10, 0] + - !!python/tuple [2, 0] + - !!python/tuple [23, 30] + - !!python/tuple [8, 10] + - !!python/tuple [28, 5] + - !!python/tuple [18, 23] + - !!python/tuple [12, 4] + - !!python/tuple [15, 0] + - !!python/tuple [25, 13] + - !!python/tuple [5, 17] + - !!python/tuple [17, 31] + - !!python/tuple [19, 28] + - !!python/tuple [9, 7] + - !!python/tuple [21, 10] + - !!python/tuple [24, 26] + - !!python/tuple [4, 19] + - !!python/tuple [26, 8] + - !!python/tuple [2, 15] + - !!python/tuple [12, 2] + - !!python/tuple [25, 21] + - !!python/tuple [30, 9] + - !!python/tuple [25, 16] + - !!python/tuple [4, 23] + - !!python/tuple [12, 15] + - !!python/tuple [18, 17] + - !!python/tuple [6, 14] + - !!python/tuple [2, 24] + - !!python/tuple [24, 17] + - !!python/tuple [17, 17] + - !!python/tuple [9, 0] + - !!python/tuple [23, 18] + - !!python/tuple [9, 19] + - !!python/tuple [20, 23] + - !!python/tuple [26, 7] + - !!python/tuple [21, 21] + - !!python/tuple [18, 19] + - !!python/tuple [13, 26] + - !!python/tuple [4, 18] + - !!python/tuple [23, 4] + - !!python/tuple [24, 18] + - !!python/tuple [10, 2] + - !!python/tuple [25, 8] + - !!python/tuple [4, 4] + - !!python/tuple [26, 11] + - !!python/tuple [24, 11] + - !!python/tuple [6, 10] + - !!python/tuple [23, 15] + - !!python/tuple [12, 20] + - !!python/tuple [13, 4] + - !!python/tuple [30, 28] + - !!python/tuple [27, 24] + - !!python/tuple [22, 30] + - !!python/tuple [2, 26] + - !!python/tuple [15, 20] + - !!python/tuple [0, 29] + - !!python/tuple [24, 12] + - !!python/tuple [8, 26] + - !!python/tuple [7, 20] + - !!python/tuple [30, 12] + - !!python/tuple [13, 21] + - !!python/tuple [13, 17] + - !!python/tuple [6, 26] + - !!python/tuple [31, 28] + - !!python/tuple [1, 26] + - !!python/tuple [5, 15] + - !!python/tuple [13, 19] + - !!python/tuple [14, 4] + - !!python/tuple [22, 10] + - !!python/tuple [6, 17] + - !!python/tuple [7, 24] + - !!python/tuple [0, 27] + - !!python/tuple [29, 0] + - !!python/tuple [30, 3] + - !!python/tuple [17, 21] + - !!python/tuple [28, 24] + - !!python/tuple [11, 4] + - !!python/tuple [27, 12] + - !!python/tuple [1, 16] + - !!python/tuple [5, 26] + - !!python/tuple [18, 29] + - !!python/tuple [23, 27] + - !!python/tuple [2, 22] + - !!python/tuple [28, 0] + - !!python/tuple [12, 11] + - !!python/tuple [20, 29] + - !!python/tuple [11, 21] + - !!python/tuple [25, 6] + - !!python/tuple [15, 17] + - !!python/tuple [24, 19] + - !!python/tuple [1, 21] + - !!python/tuple [4, 15] + - !!python/tuple [12, 13] + - !!python/tuple [22, 0] + - !!python/tuple [27, 20] + - !!python/tuple [9, 27] + - !!python/tuple [24, 21] + - !!python/tuple [4, 16] + - !!python/tuple [14, 24] + - !!python/tuple [16, 20] + - !!python/tuple [18, 13] + - !!python/tuple [19, 4] + - !!python/tuple [3, 15] + - !!python/tuple [21, 23] + - !!python/tuple [26, 16] + - !!python/tuple [8, 14] + - !!python/tuple [21, 20] + - !!python/tuple [27, 23] + - !!python/tuple [8, 7] + - !!python/tuple [27, 26] + - !!python/tuple [28, 6] + - !!python/tuple [12, 12] + - !!python/tuple [25, 9] + - !!python/tuple [24, 7] + - !!python/tuple [30, 11] + - !!python/tuple [3, 2] + - !!python/tuple [3, 17] + - !!python/tuple [3, 20] + - !!python/tuple [11, 5] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex21.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex21.yaml new file mode 100644 index 0000000..ab156b5 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex21.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [7, 27] + name: agent0 + start: [1, 23] +- goal: [7, 20] + name: agent1 + start: [19, 3] +- goal: [14, 26] + name: agent2 + start: [9, 20] +- goal: [11, 25] + name: agent3 + start: [11, 21] +- goal: [8, 31] + name: agent4 + start: [9, 15] +- goal: [21, 11] + name: agent5 + start: [30, 9] +- goal: [21, 31] + name: agent6 + start: [21, 17] +- goal: [10, 8] + name: agent7 + start: [29, 30] +- goal: [3, 13] + name: agent8 + start: [16, 1] +- goal: [22, 1] + name: agent9 + start: [14, 17] +- goal: [29, 12] + name: agent10 + start: [30, 13] +- goal: [12, 20] + name: agent11 + start: [30, 26] +- goal: [14, 12] + name: agent12 + start: [31, 13] +- goal: [6, 14] + name: agent13 + start: [30, 12] +- goal: [14, 15] + name: agent14 + start: [19, 18] +- goal: [25, 0] + name: agent15 + start: [7, 2] +- goal: [29, 21] + name: agent16 + start: [30, 17] +- goal: [5, 8] + name: agent17 + start: [18, 28] +- goal: [15, 23] + name: agent18 + start: [30, 27] +- goal: [0, 18] + name: agent19 + start: [19, 14] +- goal: [24, 28] + name: agent20 + start: [1, 20] +- goal: [22, 14] + name: agent21 + start: [29, 14] +- goal: [16, 13] + name: agent22 + start: [22, 4] +- goal: [28, 21] + name: agent23 + start: [21, 26] +- goal: [11, 27] + name: agent24 + start: [10, 2] +- goal: [0, 26] + name: agent25 + start: [8, 6] +- goal: [24, 23] + name: agent26 + start: [4, 27] +- goal: [20, 21] + name: agent27 + start: [23, 21] +- goal: [19, 21] + name: agent28 + start: [9, 21] +- goal: [6, 26] + name: agent29 + start: [22, 22] +- goal: [9, 10] + name: agent30 + start: [12, 28] +- goal: [25, 10] + name: agent31 + start: [4, 8] +- goal: [28, 1] + name: agent32 + start: [26, 14] +- goal: [20, 14] + name: agent33 + start: [0, 9] +- goal: [10, 17] + name: agent34 + start: [29, 22] +- goal: [12, 9] + name: agent35 + start: [15, 14] +- goal: [14, 10] + name: agent36 + start: [13, 22] +- goal: [19, 23] + name: agent37 + start: [9, 25] +- goal: [16, 22] + name: agent38 + start: [29, 15] +- goal: [4, 17] + name: agent39 + start: [7, 3] +- goal: [16, 1] + name: agent40 + start: [11, 25] +- goal: [24, 15] + name: agent41 + start: [15, 12] +- goal: [7, 31] + name: agent42 + start: [21, 18] +- goal: [24, 26] + name: agent43 + start: [8, 4] +- goal: [23, 24] + name: agent44 + start: [10, 27] +- goal: [5, 28] + name: agent45 + start: [14, 9] +- goal: [14, 8] + name: agent46 + start: [25, 8] +- goal: [0, 14] + name: agent47 + start: [1, 14] +- goal: [11, 26] + name: agent48 + start: [0, 0] +- goal: [30, 24] + name: agent49 + start: [21, 28] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [19, 22] + - !!python/tuple [16, 15] + - !!python/tuple [26, 0] + - !!python/tuple [6, 17] + - !!python/tuple [24, 7] + - !!python/tuple [13, 4] + - !!python/tuple [6, 27] + - !!python/tuple [8, 22] + - !!python/tuple [15, 9] + - !!python/tuple [25, 16] + - !!python/tuple [8, 19] + - !!python/tuple [22, 3] + - !!python/tuple [13, 13] + - !!python/tuple [16, 10] + - !!python/tuple [30, 20] + - !!python/tuple [25, 11] + - !!python/tuple [27, 9] + - !!python/tuple [17, 12] + - !!python/tuple [0, 13] + - !!python/tuple [3, 17] + - !!python/tuple [9, 16] + - !!python/tuple [25, 4] + - !!python/tuple [7, 8] + - !!python/tuple [20, 3] + - !!python/tuple [24, 2] + - !!python/tuple [10, 9] + - !!python/tuple [23, 20] + - !!python/tuple [2, 26] + - !!python/tuple [4, 16] + - !!python/tuple [5, 30] + - !!python/tuple [8, 12] + - !!python/tuple [0, 20] + - !!python/tuple [24, 3] + - !!python/tuple [19, 0] + - !!python/tuple [27, 16] + - !!python/tuple [16, 24] + - !!python/tuple [27, 15] + - !!python/tuple [7, 30] + - !!python/tuple [20, 2] + - !!python/tuple [22, 27] + - !!python/tuple [16, 14] + - !!python/tuple [7, 11] + - !!python/tuple [29, 26] + - !!python/tuple [29, 0] + - !!python/tuple [25, 5] + - !!python/tuple [10, 25] + - !!python/tuple [24, 4] + - !!python/tuple [7, 26] + - !!python/tuple [8, 8] + - !!python/tuple [26, 7] + - !!python/tuple [28, 28] + - !!python/tuple [13, 25] + - !!python/tuple [6, 9] + - !!python/tuple [25, 7] + - !!python/tuple [27, 11] + - !!python/tuple [16, 19] + - !!python/tuple [11, 6] + - !!python/tuple [30, 30] + - !!python/tuple [21, 8] + - !!python/tuple [12, 12] + - !!python/tuple [6, 21] + - !!python/tuple [9, 23] + - !!python/tuple [20, 10] + - !!python/tuple [4, 4] + - !!python/tuple [29, 24] + - !!python/tuple [1, 28] + - !!python/tuple [17, 4] + - !!python/tuple [3, 11] + - !!python/tuple [2, 27] + - !!python/tuple [1, 12] + - !!python/tuple [11, 9] + - !!python/tuple [12, 15] + - !!python/tuple [7, 9] + - !!python/tuple [12, 0] + - !!python/tuple [9, 7] + - !!python/tuple [5, 0] + - !!python/tuple [27, 31] + - !!python/tuple [4, 29] + - !!python/tuple [7, 21] + - !!python/tuple [3, 18] + - !!python/tuple [1, 6] + - !!python/tuple [27, 25] + - !!python/tuple [18, 7] + - !!python/tuple [21, 30] + - !!python/tuple [13, 2] + - !!python/tuple [26, 18] + - !!python/tuple [17, 5] + - !!python/tuple [18, 10] + - !!python/tuple [10, 20] + - !!python/tuple [7, 12] + - !!python/tuple [10, 6] + - !!python/tuple [8, 26] + - !!python/tuple [22, 26] + - !!python/tuple [25, 14] + - !!python/tuple [15, 4] + - !!python/tuple [19, 20] + - !!python/tuple [18, 5] + - !!python/tuple [18, 4] + - !!python/tuple [10, 3] + - !!python/tuple [5, 3] + - !!python/tuple [28, 4] + - !!python/tuple [29, 23] + - !!python/tuple [9, 9] + - !!python/tuple [10, 13] + - !!python/tuple [12, 7] + - !!python/tuple [16, 2] + - !!python/tuple [21, 13] + - !!python/tuple [15, 10] + - !!python/tuple [31, 6] + - !!python/tuple [9, 2] + - !!python/tuple [8, 5] + - !!python/tuple [23, 3] + - !!python/tuple [11, 15] + - !!python/tuple [3, 24] + - !!python/tuple [31, 10] + - !!python/tuple [11, 4] + - !!python/tuple [17, 29] + - !!python/tuple [16, 18] + - !!python/tuple [17, 27] + - !!python/tuple [8, 1] + - !!python/tuple [5, 14] + - !!python/tuple [2, 12] + - !!python/tuple [28, 2] + - !!python/tuple [20, 11] + - !!python/tuple [2, 13] + - !!python/tuple [30, 25] + - !!python/tuple [25, 26] + - !!python/tuple [29, 29] + - !!python/tuple [24, 0] + - !!python/tuple [20, 29] + - !!python/tuple [24, 17] + - !!python/tuple [4, 13] + - !!python/tuple [13, 0] + - !!python/tuple [29, 25] + - !!python/tuple [18, 23] + - !!python/tuple [3, 29] + - !!python/tuple [1, 18] + - !!python/tuple [17, 21] + - !!python/tuple [4, 28] + - !!python/tuple [2, 24] + - !!python/tuple [25, 24] + - !!python/tuple [19, 30] + - !!python/tuple [2, 29] + - !!python/tuple [31, 3] + - !!python/tuple [5, 9] + - !!python/tuple [2, 23] + - !!python/tuple [3, 27] + - !!python/tuple [15, 20] + - !!python/tuple [8, 21] + - !!python/tuple [5, 12] + - !!python/tuple [21, 10] + - !!python/tuple [11, 13] + - !!python/tuple [23, 8] + - !!python/tuple [27, 21] + - !!python/tuple [3, 2] + - !!python/tuple [1, 0] + - !!python/tuple [9, 18] + - !!python/tuple [6, 31] + - !!python/tuple [15, 13] + - !!python/tuple [16, 8] + - !!python/tuple [27, 14] + - !!python/tuple [10, 7] + - !!python/tuple [20, 20] + - !!python/tuple [21, 12] + - !!python/tuple [28, 6] + - !!python/tuple [12, 17] + - !!python/tuple [23, 2] + - !!python/tuple [26, 30] + - !!python/tuple [1, 30] + - !!python/tuple [7, 24] + - !!python/tuple [29, 3] + - !!python/tuple [31, 25] + - !!python/tuple [18, 27] + - !!python/tuple [24, 12] + - !!python/tuple [0, 17] + - !!python/tuple [2, 18] + - !!python/tuple [27, 3] + - !!python/tuple [1, 1] + - !!python/tuple [8, 0] + - !!python/tuple [28, 31] + - !!python/tuple [19, 15] + - !!python/tuple [2, 5] + - !!python/tuple [13, 24] + - !!python/tuple [19, 7] + - !!python/tuple [28, 17] + - !!python/tuple [10, 29] + - !!python/tuple [3, 19] + - !!python/tuple [11, 28] + - !!python/tuple [12, 25] + - !!python/tuple [17, 20] + - !!python/tuple [19, 5] + - !!python/tuple [1, 31] + - !!python/tuple [16, 3] + - !!python/tuple [19, 11] + - !!python/tuple [31, 5] + - !!python/tuple [13, 15] + - !!python/tuple [3, 28] + - !!python/tuple [17, 25] + - !!python/tuple [26, 24] + - !!python/tuple [27, 6] + - !!python/tuple [17, 24] + - !!python/tuple [21, 3] + - !!python/tuple [2, 19] + - !!python/tuple [0, 10] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex22.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex22.yaml new file mode 100644 index 0000000..83a52b8 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex22.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [17, 0] + name: agent0 + start: [21, 29] +- goal: [23, 1] + name: agent1 + start: [15, 19] +- goal: [7, 28] + name: agent2 + start: [31, 27] +- goal: [9, 27] + name: agent3 + start: [7, 16] +- goal: [18, 24] + name: agent4 + start: [18, 2] +- goal: [8, 3] + name: agent5 + start: [11, 6] +- goal: [18, 21] + name: agent6 + start: [12, 15] +- goal: [30, 24] + name: agent7 + start: [30, 10] +- goal: [3, 25] + name: agent8 + start: [30, 22] +- goal: [21, 20] + name: agent9 + start: [13, 10] +- goal: [17, 21] + name: agent10 + start: [3, 5] +- goal: [18, 20] + name: agent11 + start: [23, 9] +- goal: [6, 28] + name: agent12 + start: [24, 10] +- goal: [12, 0] + name: agent13 + start: [2, 18] +- goal: [26, 11] + name: agent14 + start: [26, 22] +- goal: [27, 7] + name: agent15 + start: [16, 10] +- goal: [3, 6] + name: agent16 + start: [19, 18] +- goal: [13, 27] + name: agent17 + start: [10, 23] +- goal: [27, 6] + name: agent18 + start: [24, 28] +- goal: [29, 9] + name: agent19 + start: [27, 27] +- goal: [2, 15] + name: agent20 + start: [14, 25] +- goal: [5, 28] + name: agent21 + start: [18, 19] +- goal: [12, 9] + name: agent22 + start: [13, 21] +- goal: [23, 9] + name: agent23 + start: [16, 27] +- goal: [4, 31] + name: agent24 + start: [26, 9] +- goal: [17, 20] + name: agent25 + start: [2, 1] +- goal: [17, 23] + name: agent26 + start: [22, 14] +- goal: [9, 26] + name: agent27 + start: [18, 12] +- goal: [29, 0] + name: agent28 + start: [23, 22] +- goal: [2, 25] + name: agent29 + start: [3, 0] +- goal: [26, 19] + name: agent30 + start: [5, 4] +- goal: [0, 10] + name: agent31 + start: [14, 13] +- goal: [31, 0] + name: agent32 + start: [23, 0] +- goal: [12, 7] + name: agent33 + start: [31, 7] +- goal: [18, 5] + name: agent34 + start: [14, 4] +- goal: [6, 1] + name: agent35 + start: [6, 8] +- goal: [13, 17] + name: agent36 + start: [11, 17] +- goal: [26, 10] + name: agent37 + start: [4, 0] +- goal: [19, 28] + name: agent38 + start: [27, 28] +- goal: [11, 19] + name: agent39 + start: [23, 24] +- goal: [24, 0] + name: agent40 + start: [16, 16] +- goal: [12, 8] + name: agent41 + start: [31, 30] +- goal: [14, 25] + name: agent42 + start: [16, 9] +- goal: [30, 12] + name: agent43 + start: [20, 19] +- goal: [0, 7] + name: agent44 + start: [25, 9] +- goal: [30, 13] + name: agent45 + start: [13, 28] +- goal: [5, 29] + name: agent46 + start: [21, 24] +- goal: [4, 3] + name: agent47 + start: [12, 10] +- goal: [21, 14] + name: agent48 + start: [29, 25] +- goal: [24, 8] + name: agent49 + start: [26, 0] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [25, 26] + - !!python/tuple [15, 5] + - !!python/tuple [20, 13] + - !!python/tuple [2, 14] + - !!python/tuple [6, 24] + - !!python/tuple [3, 27] + - !!python/tuple [23, 8] + - !!python/tuple [19, 14] + - !!python/tuple [18, 7] + - !!python/tuple [16, 17] + - !!python/tuple [6, 3] + - !!python/tuple [14, 23] + - !!python/tuple [13, 18] + - !!python/tuple [24, 31] + - !!python/tuple [12, 3] + - !!python/tuple [7, 5] + - !!python/tuple [17, 7] + - !!python/tuple [8, 0] + - !!python/tuple [24, 17] + - !!python/tuple [7, 24] + - !!python/tuple [23, 4] + - !!python/tuple [9, 11] + - !!python/tuple [21, 19] + - !!python/tuple [24, 1] + - !!python/tuple [6, 10] + - !!python/tuple [19, 31] + - !!python/tuple [15, 7] + - !!python/tuple [13, 20] + - !!python/tuple [13, 2] + - !!python/tuple [28, 17] + - !!python/tuple [29, 13] + - !!python/tuple [22, 24] + - !!python/tuple [11, 20] + - !!python/tuple [24, 16] + - !!python/tuple [11, 11] + - !!python/tuple [13, 3] + - !!python/tuple [19, 22] + - !!python/tuple [12, 6] + - !!python/tuple [15, 15] + - !!python/tuple [16, 30] + - !!python/tuple [27, 17] + - !!python/tuple [9, 1] + - !!python/tuple [2, 22] + - !!python/tuple [15, 23] + - !!python/tuple [23, 6] + - !!python/tuple [4, 23] + - !!python/tuple [27, 13] + - !!python/tuple [9, 3] + - !!python/tuple [20, 2] + - !!python/tuple [3, 12] + - !!python/tuple [0, 28] + - !!python/tuple [13, 4] + - !!python/tuple [19, 8] + - !!python/tuple [22, 29] + - !!python/tuple [15, 6] + - !!python/tuple [19, 6] + - !!python/tuple [22, 3] + - !!python/tuple [2, 9] + - !!python/tuple [19, 1] + - !!python/tuple [26, 1] + - !!python/tuple [2, 19] + - !!python/tuple [15, 17] + - !!python/tuple [8, 15] + - !!python/tuple [22, 8] + - !!python/tuple [2, 11] + - !!python/tuple [14, 18] + - !!python/tuple [2, 24] + - !!python/tuple [2, 8] + - !!python/tuple [21, 0] + - !!python/tuple [28, 19] + - !!python/tuple [7, 15] + - !!python/tuple [6, 11] + - !!python/tuple [16, 14] + - !!python/tuple [5, 19] + - !!python/tuple [21, 4] + - !!python/tuple [13, 31] + - !!python/tuple [17, 17] + - !!python/tuple [18, 6] + - !!python/tuple [15, 1] + - !!python/tuple [22, 7] + - !!python/tuple [17, 15] + - !!python/tuple [9, 8] + - !!python/tuple [31, 9] + - !!python/tuple [10, 22] + - !!python/tuple [28, 22] + - !!python/tuple [28, 28] + - !!python/tuple [7, 29] + - !!python/tuple [18, 1] + - !!python/tuple [21, 16] + - !!python/tuple [1, 8] + - !!python/tuple [5, 20] + - !!python/tuple [1, 1] + - !!python/tuple [12, 24] + - !!python/tuple [31, 28] + - !!python/tuple [14, 8] + - !!python/tuple [1, 16] + - !!python/tuple [31, 13] + - !!python/tuple [30, 3] + - !!python/tuple [3, 28] + - !!python/tuple [10, 4] + - !!python/tuple [10, 0] + - !!python/tuple [4, 22] + - !!python/tuple [25, 18] + - !!python/tuple [31, 21] + - !!python/tuple [12, 31] + - !!python/tuple [27, 31] + - !!python/tuple [28, 15] + - !!python/tuple [27, 5] + - !!python/tuple [19, 7] + - !!python/tuple [30, 7] + - !!python/tuple [28, 12] + - !!python/tuple [7, 12] + - !!python/tuple [4, 1] + - !!python/tuple [26, 31] + - !!python/tuple [11, 8] + - !!python/tuple [9, 4] + - !!python/tuple [19, 30] + - !!python/tuple [29, 15] + - !!python/tuple [15, 14] + - !!python/tuple [9, 30] + - !!python/tuple [2, 17] + - !!python/tuple [15, 27] + - !!python/tuple [13, 12] + - !!python/tuple [19, 0] + - !!python/tuple [10, 9] + - !!python/tuple [8, 2] + - !!python/tuple [8, 4] + - !!python/tuple [11, 4] + - !!python/tuple [15, 18] + - !!python/tuple [5, 3] + - !!python/tuple [24, 22] + - !!python/tuple [15, 26] + - !!python/tuple [2, 12] + - !!python/tuple [1, 9] + - !!python/tuple [19, 11] + - !!python/tuple [29, 12] + - !!python/tuple [19, 5] + - !!python/tuple [2, 13] + - !!python/tuple [18, 26] + - !!python/tuple [9, 5] + - !!python/tuple [8, 6] + - !!python/tuple [1, 29] + - !!python/tuple [25, 10] + - !!python/tuple [13, 16] + - !!python/tuple [8, 25] + - !!python/tuple [17, 12] + - !!python/tuple [20, 31] + - !!python/tuple [31, 20] + - !!python/tuple [5, 9] + - !!python/tuple [15, 0] + - !!python/tuple [11, 10] + - !!python/tuple [20, 12] + - !!python/tuple [30, 1] + - !!python/tuple [4, 27] + - !!python/tuple [14, 17] + - !!python/tuple [27, 30] + - !!python/tuple [17, 4] + - !!python/tuple [28, 24] + - !!python/tuple [6, 30] + - !!python/tuple [9, 25] + - !!python/tuple [29, 29] + - !!python/tuple [4, 17] + - !!python/tuple [23, 5] + - !!python/tuple [14, 14] + - !!python/tuple [22, 19] + - !!python/tuple [20, 8] + - !!python/tuple [4, 11] + - !!python/tuple [25, 6] + - !!python/tuple [28, 3] + - !!python/tuple [12, 21] + - !!python/tuple [5, 12] + - !!python/tuple [29, 6] + - !!python/tuple [10, 24] + - !!python/tuple [17, 16] + - !!python/tuple [28, 31] + - !!python/tuple [13, 22] + - !!python/tuple [9, 10] + - !!python/tuple [30, 28] + - !!python/tuple [24, 19] + - !!python/tuple [1, 2] + - !!python/tuple [10, 1] + - !!python/tuple [30, 30] + - !!python/tuple [28, 14] + - !!python/tuple [3, 21] + - !!python/tuple [16, 3] + - !!python/tuple [27, 18] + - !!python/tuple [2, 23] + - !!python/tuple [13, 29] + - !!python/tuple [6, 12] + - !!python/tuple [16, 29] + - !!python/tuple [15, 29] + - !!python/tuple [1, 4] + - !!python/tuple [22, 30] + - !!python/tuple [25, 11] + - !!python/tuple [21, 17] + - !!python/tuple [6, 15] + - !!python/tuple [24, 2] + - !!python/tuple [26, 7] + - !!python/tuple [13, 5] + - !!python/tuple [16, 25] + - !!python/tuple [11, 12] + - !!python/tuple [6, 9] + - !!python/tuple [17, 6] + - !!python/tuple [19, 9] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex23.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex23.yaml new file mode 100644 index 0000000..d637137 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex23.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [28, 19] + name: agent0 + start: [18, 1] +- goal: [1, 19] + name: agent1 + start: [15, 2] +- goal: [5, 12] + name: agent2 + start: [12, 30] +- goal: [11, 19] + name: agent3 + start: [23, 16] +- goal: [6, 2] + name: agent4 + start: [27, 27] +- goal: [21, 10] + name: agent5 + start: [11, 14] +- goal: [9, 31] + name: agent6 + start: [12, 20] +- goal: [20, 3] + name: agent7 + start: [25, 6] +- goal: [8, 27] + name: agent8 + start: [2, 17] +- goal: [12, 9] + name: agent9 + start: [18, 9] +- goal: [2, 9] + name: agent10 + start: [5, 27] +- goal: [13, 10] + name: agent11 + start: [30, 25] +- goal: [14, 4] + name: agent12 + start: [5, 2] +- goal: [8, 5] + name: agent13 + start: [2, 4] +- goal: [13, 27] + name: agent14 + start: [24, 1] +- goal: [30, 15] + name: agent15 + start: [5, 19] +- goal: [9, 29] + name: agent16 + start: [28, 30] +- goal: [19, 6] + name: agent17 + start: [10, 28] +- goal: [27, 19] + name: agent18 + start: [30, 4] +- goal: [16, 24] + name: agent19 + start: [1, 5] +- goal: [12, 2] + name: agent20 + start: [2, 27] +- goal: [19, 12] + name: agent21 + start: [5, 0] +- goal: [17, 15] + name: agent22 + start: [16, 29] +- goal: [0, 11] + name: agent23 + start: [16, 19] +- goal: [7, 24] + name: agent24 + start: [27, 14] +- goal: [27, 17] + name: agent25 + start: [31, 15] +- goal: [28, 25] + name: agent26 + start: [1, 19] +- goal: [1, 28] + name: agent27 + start: [8, 3] +- goal: [21, 23] + name: agent28 + start: [2, 22] +- goal: [1, 31] + name: agent29 + start: [31, 3] +- goal: [23, 25] + name: agent30 + start: [26, 8] +- goal: [22, 1] + name: agent31 + start: [6, 4] +- goal: [23, 18] + name: agent32 + start: [12, 10] +- goal: [25, 9] + name: agent33 + start: [14, 19] +- goal: [7, 15] + name: agent34 + start: [28, 5] +- goal: [30, 24] + name: agent35 + start: [21, 7] +- goal: [30, 7] + name: agent36 + start: [31, 20] +- goal: [20, 17] + name: agent37 + start: [25, 9] +- goal: [9, 26] + name: agent38 + start: [14, 21] +- goal: [17, 16] + name: agent39 + start: [8, 12] +- goal: [28, 26] + name: agent40 + start: [18, 13] +- goal: [13, 29] + name: agent41 + start: [21, 19] +- goal: [0, 22] + name: agent42 + start: [14, 4] +- goal: [19, 29] + name: agent43 + start: [28, 12] +- goal: [7, 22] + name: agent44 + start: [7, 24] +- goal: [10, 3] + name: agent45 + start: [13, 7] +- goal: [14, 5] + name: agent46 + start: [24, 24] +- goal: [29, 3] + name: agent47 + start: [15, 6] +- goal: [8, 16] + name: agent48 + start: [1, 9] +- goal: [29, 18] + name: agent49 + start: [4, 14] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [1, 7] + - !!python/tuple [13, 5] + - !!python/tuple [13, 30] + - !!python/tuple [30, 16] + - !!python/tuple [30, 8] + - !!python/tuple [4, 15] + - !!python/tuple [2, 5] + - !!python/tuple [17, 31] + - !!python/tuple [6, 5] + - !!python/tuple [15, 5] + - !!python/tuple [20, 24] + - !!python/tuple [26, 6] + - !!python/tuple [31, 21] + - !!python/tuple [1, 2] + - !!python/tuple [2, 30] + - !!python/tuple [6, 13] + - !!python/tuple [21, 14] + - !!python/tuple [25, 30] + - !!python/tuple [13, 21] + - !!python/tuple [1, 6] + - !!python/tuple [29, 23] + - !!python/tuple [13, 20] + - !!python/tuple [13, 22] + - !!python/tuple [13, 26] + - !!python/tuple [19, 31] + - !!python/tuple [6, 19] + - !!python/tuple [3, 16] + - !!python/tuple [17, 10] + - !!python/tuple [15, 22] + - !!python/tuple [21, 4] + - !!python/tuple [13, 17] + - !!python/tuple [9, 13] + - !!python/tuple [14, 30] + - !!python/tuple [25, 12] + - !!python/tuple [4, 11] + - !!python/tuple [14, 31] + - !!python/tuple [3, 24] + - !!python/tuple [3, 26] + - !!python/tuple [0, 21] + - !!python/tuple [14, 24] + - !!python/tuple [5, 6] + - !!python/tuple [0, 15] + - !!python/tuple [1, 24] + - !!python/tuple [3, 14] + - !!python/tuple [25, 21] + - !!python/tuple [25, 3] + - !!python/tuple [15, 15] + - !!python/tuple [18, 4] + - !!python/tuple [1, 14] + - !!python/tuple [13, 4] + - !!python/tuple [27, 18] + - !!python/tuple [2, 26] + - !!python/tuple [2, 29] + - !!python/tuple [15, 3] + - !!python/tuple [15, 10] + - !!python/tuple [31, 6] + - !!python/tuple [16, 8] + - !!python/tuple [20, 26] + - !!python/tuple [12, 11] + - !!python/tuple [14, 7] + - !!python/tuple [8, 9] + - !!python/tuple [15, 17] + - !!python/tuple [8, 22] + - !!python/tuple [20, 13] + - !!python/tuple [5, 24] + - !!python/tuple [7, 4] + - !!python/tuple [29, 2] + - !!python/tuple [0, 16] + - !!python/tuple [11, 17] + - !!python/tuple [5, 28] + - !!python/tuple [23, 29] + - !!python/tuple [22, 30] + - !!python/tuple [28, 7] + - !!python/tuple [5, 14] + - !!python/tuple [20, 12] + - !!python/tuple [0, 9] + - !!python/tuple [7, 8] + - !!python/tuple [18, 21] + - !!python/tuple [6, 10] + - !!python/tuple [20, 2] + - !!python/tuple [6, 1] + - !!python/tuple [0, 4] + - !!python/tuple [2, 1] + - !!python/tuple [3, 29] + - !!python/tuple [17, 30] + - !!python/tuple [4, 24] + - !!python/tuple [10, 0] + - !!python/tuple [2, 2] + - !!python/tuple [10, 1] + - !!python/tuple [24, 16] + - !!python/tuple [2, 28] + - !!python/tuple [21, 27] + - !!python/tuple [31, 26] + - !!python/tuple [6, 18] + - !!python/tuple [31, 17] + - !!python/tuple [21, 28] + - !!python/tuple [8, 15] + - !!python/tuple [25, 18] + - !!python/tuple [8, 14] + - !!python/tuple [27, 26] + - !!python/tuple [24, 29] + - !!python/tuple [27, 11] + - !!python/tuple [5, 29] + - !!python/tuple [3, 18] + - !!python/tuple [14, 12] + - !!python/tuple [6, 7] + - !!python/tuple [22, 22] + - !!python/tuple [12, 27] + - !!python/tuple [27, 24] + - !!python/tuple [25, 15] + - !!python/tuple [24, 19] + - !!python/tuple [24, 13] + - !!python/tuple [29, 26] + - !!python/tuple [13, 12] + - !!python/tuple [8, 2] + - !!python/tuple [28, 2] + - !!python/tuple [30, 2] + - !!python/tuple [14, 25] + - !!python/tuple [22, 15] + - !!python/tuple [3, 25] + - !!python/tuple [7, 26] + - !!python/tuple [7, 3] + - !!python/tuple [18, 28] + - !!python/tuple [10, 29] + - !!python/tuple [5, 16] + - !!python/tuple [12, 15] + - !!python/tuple [31, 30] + - !!python/tuple [28, 24] + - !!python/tuple [3, 22] + - !!python/tuple [7, 14] + - !!python/tuple [26, 28] + - !!python/tuple [24, 2] + - !!python/tuple [7, 2] + - !!python/tuple [7, 13] + - !!python/tuple [18, 22] + - !!python/tuple [2, 31] + - !!python/tuple [25, 17] + - !!python/tuple [9, 9] + - !!python/tuple [12, 0] + - !!python/tuple [30, 18] + - !!python/tuple [24, 5] + - !!python/tuple [15, 0] + - !!python/tuple [21, 17] + - !!python/tuple [19, 23] + - !!python/tuple [19, 8] + - !!python/tuple [22, 3] + - !!python/tuple [29, 13] + - !!python/tuple [30, 22] + - !!python/tuple [31, 0] + - !!python/tuple [14, 13] + - !!python/tuple [16, 18] + - !!python/tuple [27, 12] + - !!python/tuple [16, 31] + - !!python/tuple [25, 28] + - !!python/tuple [17, 23] + - !!python/tuple [0, 12] + - !!python/tuple [19, 5] + - !!python/tuple [18, 30] + - !!python/tuple [10, 4] + - !!python/tuple [17, 2] + - !!python/tuple [25, 29] + - !!python/tuple [10, 10] + - !!python/tuple [6, 12] + - !!python/tuple [21, 5] + - !!python/tuple [15, 11] + - !!python/tuple [11, 21] + - !!python/tuple [18, 11] + - !!python/tuple [2, 15] + - !!python/tuple [3, 8] + - !!python/tuple [9, 2] + - !!python/tuple [23, 13] + - !!python/tuple [14, 14] + - !!python/tuple [0, 26] + - !!python/tuple [9, 20] + - !!python/tuple [13, 0] + - !!python/tuple [9, 30] + - !!python/tuple [13, 14] + - !!python/tuple [28, 22] + - !!python/tuple [21, 18] + - !!python/tuple [19, 21] + - !!python/tuple [29, 8] + - !!python/tuple [4, 2] + - !!python/tuple [31, 31] + - !!python/tuple [6, 3] + - !!python/tuple [17, 1] + - !!python/tuple [13, 25] + - !!python/tuple [13, 11] + - !!python/tuple [26, 14] + - !!python/tuple [18, 25] + - !!python/tuple [3, 9] + - !!python/tuple [11, 20] + - !!python/tuple [23, 27] + - !!python/tuple [18, 19] + - !!python/tuple [27, 21] + - !!python/tuple [27, 7] + - !!python/tuple [10, 26] + - !!python/tuple [15, 16] + - !!python/tuple [12, 24] + - !!python/tuple [20, 31] + - !!python/tuple [25, 10] + - !!python/tuple [30, 19] + - !!python/tuple [14, 23] + - !!python/tuple [0, 31] + - !!python/tuple [9, 18] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex24.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex24.yaml new file mode 100644 index 0000000..3623501 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex24.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [21, 31] + name: agent0 + start: [23, 7] +- goal: [5, 30] + name: agent1 + start: [27, 15] +- goal: [10, 18] + name: agent2 + start: [29, 4] +- goal: [8, 21] + name: agent3 + start: [19, 25] +- goal: [29, 23] + name: agent4 + start: [21, 13] +- goal: [17, 27] + name: agent5 + start: [3, 15] +- goal: [5, 15] + name: agent6 + start: [16, 5] +- goal: [20, 22] + name: agent7 + start: [19, 29] +- goal: [16, 28] + name: agent8 + start: [6, 25] +- goal: [1, 31] + name: agent9 + start: [29, 16] +- goal: [10, 10] + name: agent10 + start: [27, 2] +- goal: [8, 23] + name: agent11 + start: [17, 28] +- goal: [29, 4] + name: agent12 + start: [18, 10] +- goal: [0, 19] + name: agent13 + start: [16, 20] +- goal: [29, 25] + name: agent14 + start: [2, 8] +- goal: [21, 7] + name: agent15 + start: [23, 1] +- goal: [20, 2] + name: agent16 + start: [24, 8] +- goal: [20, 31] + name: agent17 + start: [30, 15] +- goal: [6, 18] + name: agent18 + start: [13, 1] +- goal: [23, 11] + name: agent19 + start: [18, 2] +- goal: [28, 2] + name: agent20 + start: [4, 22] +- goal: [3, 4] + name: agent21 + start: [22, 4] +- goal: [2, 19] + name: agent22 + start: [21, 21] +- goal: [12, 28] + name: agent23 + start: [12, 12] +- goal: [23, 28] + name: agent24 + start: [29, 9] +- goal: [28, 12] + name: agent25 + start: [28, 5] +- goal: [23, 27] + name: agent26 + start: [4, 16] +- goal: [29, 27] + name: agent27 + start: [18, 8] +- goal: [4, 14] + name: agent28 + start: [11, 11] +- goal: [15, 13] + name: agent29 + start: [1, 15] +- goal: [25, 21] + name: agent30 + start: [3, 12] +- goal: [0, 18] + name: agent31 + start: [7, 3] +- goal: [0, 12] + name: agent32 + start: [3, 16] +- goal: [5, 12] + name: agent33 + start: [15, 10] +- goal: [17, 14] + name: agent34 + start: [10, 5] +- goal: [21, 24] + name: agent35 + start: [10, 21] +- goal: [29, 22] + name: agent36 + start: [27, 11] +- goal: [19, 25] + name: agent37 + start: [30, 14] +- goal: [27, 14] + name: agent38 + start: [1, 19] +- goal: [30, 27] + name: agent39 + start: [28, 3] +- goal: [20, 12] + name: agent40 + start: [20, 16] +- goal: [0, 27] + name: agent41 + start: [19, 0] +- goal: [1, 22] + name: agent42 + start: [12, 30] +- goal: [0, 3] + name: agent43 + start: [14, 25] +- goal: [28, 20] + name: agent44 + start: [26, 14] +- goal: [7, 16] + name: agent45 + start: [24, 15] +- goal: [1, 7] + name: agent46 + start: [19, 14] +- goal: [13, 30] + name: agent47 + start: [19, 12] +- goal: [14, 5] + name: agent48 + start: [12, 31] +- goal: [24, 18] + name: agent49 + start: [30, 5] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [13, 0] + - !!python/tuple [8, 3] + - !!python/tuple [26, 11] + - !!python/tuple [15, 17] + - !!python/tuple [31, 11] + - !!python/tuple [3, 18] + - !!python/tuple [31, 10] + - !!python/tuple [5, 18] + - !!python/tuple [1, 27] + - !!python/tuple [27, 30] + - !!python/tuple [13, 24] + - !!python/tuple [22, 27] + - !!python/tuple [13, 4] + - !!python/tuple [6, 16] + - !!python/tuple [5, 23] + - !!python/tuple [29, 24] + - !!python/tuple [8, 22] + - !!python/tuple [30, 24] + - !!python/tuple [20, 5] + - !!python/tuple [12, 22] + - !!python/tuple [31, 20] + - !!python/tuple [10, 9] + - !!python/tuple [27, 9] + - !!python/tuple [25, 29] + - !!python/tuple [29, 1] + - !!python/tuple [3, 25] + - !!python/tuple [9, 12] + - !!python/tuple [6, 22] + - !!python/tuple [14, 16] + - !!python/tuple [2, 7] + - !!python/tuple [4, 9] + - !!python/tuple [11, 29] + - !!python/tuple [17, 4] + - !!python/tuple [6, 12] + - !!python/tuple [2, 0] + - !!python/tuple [26, 19] + - !!python/tuple [21, 16] + - !!python/tuple [5, 1] + - !!python/tuple [20, 19] + - !!python/tuple [1, 25] + - !!python/tuple [4, 25] + - !!python/tuple [0, 11] + - !!python/tuple [7, 21] + - !!python/tuple [11, 15] + - !!python/tuple [4, 19] + - !!python/tuple [23, 4] + - !!python/tuple [8, 9] + - !!python/tuple [14, 17] + - !!python/tuple [21, 18] + - !!python/tuple [1, 26] + - !!python/tuple [17, 26] + - !!python/tuple [3, 20] + - !!python/tuple [16, 10] + - !!python/tuple [23, 15] + - !!python/tuple [30, 28] + - !!python/tuple [25, 12] + - !!python/tuple [21, 28] + - !!python/tuple [17, 31] + - !!python/tuple [9, 13] + - !!python/tuple [6, 1] + - !!python/tuple [30, 18] + - !!python/tuple [10, 31] + - !!python/tuple [12, 5] + - !!python/tuple [23, 18] + - !!python/tuple [19, 9] + - !!python/tuple [10, 12] + - !!python/tuple [4, 31] + - !!python/tuple [16, 4] + - !!python/tuple [1, 10] + - !!python/tuple [28, 11] + - !!python/tuple [11, 3] + - !!python/tuple [22, 9] + - !!python/tuple [24, 17] + - !!python/tuple [1, 29] + - !!python/tuple [28, 29] + - !!python/tuple [8, 15] + - !!python/tuple [26, 20] + - !!python/tuple [10, 29] + - !!python/tuple [2, 27] + - !!python/tuple [4, 6] + - !!python/tuple [14, 30] + - !!python/tuple [30, 30] + - !!python/tuple [6, 21] + - !!python/tuple [15, 0] + - !!python/tuple [24, 11] + - !!python/tuple [20, 8] + - !!python/tuple [12, 18] + - !!python/tuple [11, 27] + - !!python/tuple [20, 21] + - !!python/tuple [9, 6] + - !!python/tuple [5, 7] + - !!python/tuple [0, 22] + - !!python/tuple [22, 1] + - !!python/tuple [19, 2] + - !!python/tuple [5, 28] + - !!python/tuple [3, 1] + - !!python/tuple [11, 19] + - !!python/tuple [25, 25] + - !!python/tuple [15, 24] + - !!python/tuple [5, 21] + - !!python/tuple [22, 3] + - !!python/tuple [21, 23] + - !!python/tuple [31, 4] + - !!python/tuple [16, 9] + - !!python/tuple [9, 17] + - !!python/tuple [28, 6] + - !!python/tuple [9, 25] + - !!python/tuple [29, 8] + - !!python/tuple [4, 29] + - !!python/tuple [25, 0] + - !!python/tuple [9, 14] + - !!python/tuple [13, 18] + - !!python/tuple [7, 9] + - !!python/tuple [12, 9] + - !!python/tuple [30, 16] + - !!python/tuple [30, 20] + - !!python/tuple [31, 5] + - !!python/tuple [10, 16] + - !!python/tuple [22, 26] + - !!python/tuple [18, 1] + - !!python/tuple [27, 21] + - !!python/tuple [19, 4] + - !!python/tuple [26, 4] + - !!python/tuple [10, 11] + - !!python/tuple [13, 14] + - !!python/tuple [14, 10] + - !!python/tuple [20, 18] + - !!python/tuple [9, 5] + - !!python/tuple [2, 29] + - !!python/tuple [5, 22] + - !!python/tuple [8, 6] + - !!python/tuple [24, 29] + - !!python/tuple [22, 13] + - !!python/tuple [29, 26] + - !!python/tuple [24, 31] + - !!python/tuple [27, 23] + - !!python/tuple [31, 26] + - !!python/tuple [14, 21] + - !!python/tuple [4, 24] + - !!python/tuple [26, 7] + - !!python/tuple [28, 21] + - !!python/tuple [8, 14] + - !!python/tuple [27, 25] + - !!python/tuple [30, 13] + - !!python/tuple [31, 23] + - !!python/tuple [2, 16] + - !!python/tuple [28, 8] + - !!python/tuple [14, 24] + - !!python/tuple [7, 11] + - !!python/tuple [10, 3] + - !!python/tuple [22, 19] + - !!python/tuple [8, 20] + - !!python/tuple [2, 24] + - !!python/tuple [8, 11] + - !!python/tuple [1, 5] + - !!python/tuple [8, 29] + - !!python/tuple [28, 15] + - !!python/tuple [10, 8] + - !!python/tuple [7, 10] + - !!python/tuple [5, 17] + - !!python/tuple [13, 3] + - !!python/tuple [19, 5] + - !!python/tuple [8, 8] + - !!python/tuple [24, 6] + - !!python/tuple [13, 16] + - !!python/tuple [1, 30] + - !!python/tuple [21, 20] + - !!python/tuple [2, 9] + - !!python/tuple [6, 27] + - !!python/tuple [28, 19] + - !!python/tuple [28, 4] + - !!python/tuple [4, 5] + - !!python/tuple [29, 13] + - !!python/tuple [12, 27] + - !!python/tuple [19, 15] + - !!python/tuple [17, 13] + - !!python/tuple [19, 23] + - !!python/tuple [28, 28] + - !!python/tuple [11, 4] + - !!python/tuple [13, 27] + - !!python/tuple [23, 5] + - !!python/tuple [24, 20] + - !!python/tuple [19, 3] + - !!python/tuple [16, 31] + - !!python/tuple [26, 9] + - !!python/tuple [11, 1] + - !!python/tuple [30, 0] + - !!python/tuple [8, 24] + - !!python/tuple [10, 28] + - !!python/tuple [9, 26] + - !!python/tuple [3, 28] + - !!python/tuple [10, 2] + - !!python/tuple [8, 30] + - !!python/tuple [19, 13] + - !!python/tuple [29, 31] + - !!python/tuple [1, 16] + - !!python/tuple [30, 9] + - !!python/tuple [29, 19] + - !!python/tuple [19, 10] + - !!python/tuple [18, 25] + - !!python/tuple [11, 2] + - !!python/tuple [7, 20] + - !!python/tuple [21, 5] + - !!python/tuple [18, 20] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex25.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex25.yaml new file mode 100644 index 0000000..eb8ac93 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex25.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [31, 6] + name: agent0 + start: [25, 5] +- goal: [24, 20] + name: agent1 + start: [16, 26] +- goal: [19, 29] + name: agent2 + start: [6, 23] +- goal: [16, 9] + name: agent3 + start: [23, 22] +- goal: [12, 17] + name: agent4 + start: [3, 10] +- goal: [26, 31] + name: agent5 + start: [18, 23] +- goal: [21, 0] + name: agent6 + start: [2, 21] +- goal: [26, 2] + name: agent7 + start: [27, 1] +- goal: [9, 27] + name: agent8 + start: [22, 15] +- goal: [16, 4] + name: agent9 + start: [5, 0] +- goal: [1, 14] + name: agent10 + start: [10, 15] +- goal: [0, 29] + name: agent11 + start: [9, 15] +- goal: [9, 26] + name: agent12 + start: [7, 16] +- goal: [2, 17] + name: agent13 + start: [5, 16] +- goal: [22, 3] + name: agent14 + start: [22, 0] +- goal: [5, 24] + name: agent15 + start: [16, 27] +- goal: [8, 8] + name: agent16 + start: [13, 21] +- goal: [2, 21] + name: agent17 + start: [25, 16] +- goal: [29, 24] + name: agent18 + start: [9, 16] +- goal: [27, 20] + name: agent19 + start: [27, 8] +- goal: [18, 3] + name: agent20 + start: [20, 21] +- goal: [19, 0] + name: agent21 + start: [15, 6] +- goal: [25, 15] + name: agent22 + start: [2, 7] +- goal: [4, 9] + name: agent23 + start: [2, 23] +- goal: [0, 21] + name: agent24 + start: [18, 13] +- goal: [10, 13] + name: agent25 + start: [31, 18] +- goal: [6, 18] + name: agent26 + start: [26, 0] +- goal: [31, 5] + name: agent27 + start: [28, 8] +- goal: [8, 7] + name: agent28 + start: [22, 26] +- goal: [18, 30] + name: agent29 + start: [20, 29] +- goal: [5, 2] + name: agent30 + start: [4, 15] +- goal: [14, 0] + name: agent31 + start: [13, 20] +- goal: [29, 2] + name: agent32 + start: [8, 18] +- goal: [24, 15] + name: agent33 + start: [21, 6] +- goal: [26, 26] + name: agent34 + start: [0, 26] +- goal: [8, 28] + name: agent35 + start: [28, 20] +- goal: [5, 25] + name: agent36 + start: [27, 0] +- goal: [30, 6] + name: agent37 + start: [27, 30] +- goal: [8, 3] + name: agent38 + start: [20, 28] +- goal: [6, 1] + name: agent39 + start: [0, 10] +- goal: [28, 28] + name: agent40 + start: [8, 3] +- goal: [13, 21] + name: agent41 + start: [1, 24] +- goal: [16, 22] + name: agent42 + start: [27, 2] +- goal: [30, 2] + name: agent43 + start: [28, 16] +- goal: [1, 5] + name: agent44 + start: [19, 20] +- goal: [1, 13] + name: agent45 + start: [8, 27] +- goal: [13, 27] + name: agent46 + start: [11, 24] +- goal: [22, 31] + name: agent47 + start: [26, 14] +- goal: [16, 27] + name: agent48 + start: [25, 4] +- goal: [12, 8] + name: agent49 + start: [21, 18] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [17, 9] + - !!python/tuple [31, 17] + - !!python/tuple [5, 21] + - !!python/tuple [14, 4] + - !!python/tuple [16, 29] + - !!python/tuple [2, 26] + - !!python/tuple [27, 6] + - !!python/tuple [13, 5] + - !!python/tuple [18, 6] + - !!python/tuple [29, 27] + - !!python/tuple [19, 7] + - !!python/tuple [13, 0] + - !!python/tuple [3, 1] + - !!python/tuple [14, 6] + - !!python/tuple [7, 17] + - !!python/tuple [4, 5] + - !!python/tuple [29, 30] + - !!python/tuple [5, 27] + - !!python/tuple [18, 27] + - !!python/tuple [30, 11] + - !!python/tuple [8, 1] + - !!python/tuple [31, 12] + - !!python/tuple [27, 26] + - !!python/tuple [12, 1] + - !!python/tuple [28, 10] + - !!python/tuple [23, 15] + - !!python/tuple [27, 15] + - !!python/tuple [28, 6] + - !!python/tuple [19, 25] + - !!python/tuple [13, 3] + - !!python/tuple [13, 28] + - !!python/tuple [17, 6] + - !!python/tuple [19, 12] + - !!python/tuple [18, 20] + - !!python/tuple [7, 3] + - !!python/tuple [8, 22] + - !!python/tuple [28, 30] + - !!python/tuple [2, 30] + - !!python/tuple [21, 7] + - !!python/tuple [5, 18] + - !!python/tuple [12, 7] + - !!python/tuple [15, 17] + - !!python/tuple [22, 23] + - !!python/tuple [9, 23] + - !!python/tuple [5, 8] + - !!python/tuple [1, 27] + - !!python/tuple [23, 12] + - !!python/tuple [14, 1] + - !!python/tuple [27, 17] + - !!python/tuple [30, 20] + - !!python/tuple [31, 22] + - !!python/tuple [13, 11] + - !!python/tuple [20, 30] + - !!python/tuple [7, 29] + - !!python/tuple [31, 29] + - !!python/tuple [28, 31] + - !!python/tuple [17, 19] + - !!python/tuple [14, 9] + - !!python/tuple [6, 2] + - !!python/tuple [17, 22] + - !!python/tuple [7, 12] + - !!python/tuple [19, 8] + - !!python/tuple [10, 28] + - !!python/tuple [19, 1] + - !!python/tuple [30, 30] + - !!python/tuple [5, 20] + - !!python/tuple [8, 9] + - !!python/tuple [1, 20] + - !!python/tuple [31, 20] + - !!python/tuple [19, 24] + - !!python/tuple [7, 14] + - !!python/tuple [25, 10] + - !!python/tuple [30, 5] + - !!python/tuple [13, 14] + - !!python/tuple [12, 19] + - !!python/tuple [1, 6] + - !!python/tuple [6, 7] + - !!python/tuple [0, 28] + - !!python/tuple [7, 22] + - !!python/tuple [17, 4] + - !!python/tuple [22, 16] + - !!python/tuple [16, 10] + - !!python/tuple [0, 12] + - !!python/tuple [23, 4] + - !!python/tuple [6, 13] + - !!python/tuple [12, 11] + - !!python/tuple [30, 15] + - !!python/tuple [28, 24] + - !!python/tuple [27, 12] + - !!python/tuple [16, 11] + - !!python/tuple [17, 30] + - !!python/tuple [12, 30] + - !!python/tuple [17, 29] + - !!python/tuple [29, 16] + - !!python/tuple [23, 3] + - !!python/tuple [15, 9] + - !!python/tuple [18, 26] + - !!python/tuple [30, 21] + - !!python/tuple [28, 3] + - !!python/tuple [29, 7] + - !!python/tuple [1, 3] + - !!python/tuple [26, 7] + - !!python/tuple [23, 1] + - !!python/tuple [10, 2] + - !!python/tuple [30, 17] + - !!python/tuple [29, 12] + - !!python/tuple [18, 22] + - !!python/tuple [25, 21] + - !!python/tuple [27, 19] + - !!python/tuple [26, 3] + - !!python/tuple [9, 21] + - !!python/tuple [23, 5] + - !!python/tuple [23, 21] + - !!python/tuple [15, 22] + - !!python/tuple [1, 15] + - !!python/tuple [29, 1] + - !!python/tuple [9, 3] + - !!python/tuple [1, 10] + - !!python/tuple [14, 13] + - !!python/tuple [24, 16] + - !!python/tuple [17, 27] + - !!python/tuple [25, 23] + - !!python/tuple [23, 7] + - !!python/tuple [29, 0] + - !!python/tuple [17, 25] + - !!python/tuple [18, 11] + - !!python/tuple [3, 17] + - !!python/tuple [25, 20] + - !!python/tuple [18, 7] + - !!python/tuple [25, 11] + - !!python/tuple [24, 6] + - !!python/tuple [29, 25] + - !!python/tuple [3, 28] + - !!python/tuple [23, 10] + - !!python/tuple [9, 25] + - !!python/tuple [0, 20] + - !!python/tuple [16, 6] + - !!python/tuple [17, 23] + - !!python/tuple [0, 30] + - !!python/tuple [22, 5] + - !!python/tuple [19, 17] + - !!python/tuple [4, 4] + - !!python/tuple [25, 8] + - !!python/tuple [22, 21] + - !!python/tuple [21, 13] + - !!python/tuple [24, 17] + - !!python/tuple [14, 5] + - !!python/tuple [4, 28] + - !!python/tuple [11, 1] + - !!python/tuple [7, 4] + - !!python/tuple [20, 0] + - !!python/tuple [31, 9] + - !!python/tuple [6, 31] + - !!python/tuple [31, 24] + - !!python/tuple [26, 16] + - !!python/tuple [11, 23] + - !!python/tuple [12, 25] + - !!python/tuple [20, 24] + - !!python/tuple [12, 5] + - !!python/tuple [3, 31] + - !!python/tuple [3, 30] + - !!python/tuple [15, 30] + - !!python/tuple [31, 13] + - !!python/tuple [11, 4] + - !!python/tuple [31, 30] + - !!python/tuple [6, 20] + - !!python/tuple [22, 12] + - !!python/tuple [6, 5] + - !!python/tuple [11, 11] + - !!python/tuple [0, 23] + - !!python/tuple [15, 27] + - !!python/tuple [22, 13] + - !!python/tuple [3, 3] + - !!python/tuple [12, 24] + - !!python/tuple [3, 8] + - !!python/tuple [4, 17] + - !!python/tuple [29, 11] + - !!python/tuple [28, 14] + - !!python/tuple [23, 13] + - !!python/tuple [21, 2] + - !!python/tuple [28, 21] + - !!python/tuple [28, 5] + - !!python/tuple [14, 11] + - !!python/tuple [26, 20] + - !!python/tuple [5, 14] + - !!python/tuple [14, 22] + - !!python/tuple [16, 28] + - !!python/tuple [0, 15] + - !!python/tuple [8, 6] + - !!python/tuple [16, 7] + - !!python/tuple [7, 11] + - !!python/tuple [13, 26] + - !!python/tuple [6, 28] + - !!python/tuple [18, 21] + - !!python/tuple [14, 14] + - !!python/tuple [24, 8] + - !!python/tuple [30, 10] + - !!python/tuple [28, 23] + - !!python/tuple [20, 18] + - !!python/tuple [1, 18] + - !!python/tuple [21, 1] + - !!python/tuple [3, 6] + - !!python/tuple [5, 10] + - !!python/tuple [7, 9] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex26.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex26.yaml new file mode 100644 index 0000000..9d0a22f --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex26.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [22, 19] + name: agent0 + start: [28, 2] +- goal: [22, 17] + name: agent1 + start: [3, 26] +- goal: [11, 7] + name: agent2 + start: [8, 4] +- goal: [18, 22] + name: agent3 + start: [9, 19] +- goal: [30, 22] + name: agent4 + start: [26, 22] +- goal: [22, 3] + name: agent5 + start: [3, 0] +- goal: [6, 26] + name: agent6 + start: [10, 0] +- goal: [7, 11] + name: agent7 + start: [0, 26] +- goal: [8, 14] + name: agent8 + start: [5, 22] +- goal: [19, 18] + name: agent9 + start: [5, 9] +- goal: [1, 25] + name: agent10 + start: [6, 6] +- goal: [18, 1] + name: agent11 + start: [12, 3] +- goal: [31, 23] + name: agent12 + start: [27, 28] +- goal: [15, 19] + name: agent13 + start: [29, 2] +- goal: [28, 19] + name: agent14 + start: [30, 8] +- goal: [10, 8] + name: agent15 + start: [3, 6] +- goal: [28, 9] + name: agent16 + start: [18, 12] +- goal: [0, 21] + name: agent17 + start: [16, 10] +- goal: [3, 30] + name: agent18 + start: [23, 1] +- goal: [17, 2] + name: agent19 + start: [25, 10] +- goal: [12, 17] + name: agent20 + start: [0, 27] +- goal: [27, 12] + name: agent21 + start: [6, 4] +- goal: [13, 2] + name: agent22 + start: [19, 28] +- goal: [29, 13] + name: agent23 + start: [25, 13] +- goal: [29, 15] + name: agent24 + start: [30, 15] +- goal: [21, 23] + name: agent25 + start: [19, 2] +- goal: [22, 11] + name: agent26 + start: [24, 30] +- goal: [29, 12] + name: agent27 + start: [24, 20] +- goal: [10, 3] + name: agent28 + start: [6, 11] +- goal: [28, 8] + name: agent29 + start: [10, 31] +- goal: [27, 28] + name: agent30 + start: [19, 21] +- goal: [7, 1] + name: agent31 + start: [15, 9] +- goal: [10, 31] + name: agent32 + start: [17, 16] +- goal: [3, 8] + name: agent33 + start: [28, 23] +- goal: [10, 7] + name: agent34 + start: [4, 27] +- goal: [1, 13] + name: agent35 + start: [17, 3] +- goal: [10, 19] + name: agent36 + start: [21, 23] +- goal: [14, 19] + name: agent37 + start: [24, 13] +- goal: [9, 28] + name: agent38 + start: [8, 21] +- goal: [18, 3] + name: agent39 + start: [8, 10] +- goal: [14, 3] + name: agent40 + start: [15, 15] +- goal: [1, 5] + name: agent41 + start: [31, 2] +- goal: [8, 8] + name: agent42 + start: [4, 3] +- goal: [13, 7] + name: agent43 + start: [10, 24] +- goal: [5, 27] + name: agent44 + start: [23, 10] +- goal: [9, 7] + name: agent45 + start: [21, 19] +- goal: [24, 3] + name: agent46 + start: [8, 24] +- goal: [7, 3] + name: agent47 + start: [7, 14] +- goal: [29, 2] + name: agent48 + start: [12, 22] +- goal: [20, 31] + name: agent49 + start: [29, 19] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [11, 23] + - !!python/tuple [24, 26] + - !!python/tuple [11, 10] + - !!python/tuple [8, 18] + - !!python/tuple [16, 18] + - !!python/tuple [15, 14] + - !!python/tuple [27, 30] + - !!python/tuple [9, 5] + - !!python/tuple [3, 11] + - !!python/tuple [25, 7] + - !!python/tuple [7, 20] + - !!python/tuple [26, 17] + - !!python/tuple [28, 22] + - !!python/tuple [31, 0] + - !!python/tuple [31, 17] + - !!python/tuple [26, 23] + - !!python/tuple [6, 23] + - !!python/tuple [2, 29] + - !!python/tuple [26, 11] + - !!python/tuple [6, 30] + - !!python/tuple [30, 20] + - !!python/tuple [12, 20] + - !!python/tuple [11, 4] + - !!python/tuple [18, 0] + - !!python/tuple [23, 0] + - !!python/tuple [29, 14] + - !!python/tuple [2, 10] + - !!python/tuple [26, 30] + - !!python/tuple [4, 21] + - !!python/tuple [20, 22] + - !!python/tuple [29, 26] + - !!python/tuple [29, 11] + - !!python/tuple [22, 25] + - !!python/tuple [14, 15] + - !!python/tuple [3, 15] + - !!python/tuple [20, 4] + - !!python/tuple [21, 9] + - !!python/tuple [1, 23] + - !!python/tuple [13, 9] + - !!python/tuple [4, 8] + - !!python/tuple [22, 29] + - !!python/tuple [1, 30] + - !!python/tuple [14, 21] + - !!python/tuple [28, 6] + - !!python/tuple [26, 31] + - !!python/tuple [20, 18] + - !!python/tuple [23, 21] + - !!python/tuple [11, 12] + - !!python/tuple [14, 28] + - !!python/tuple [26, 27] + - !!python/tuple [24, 2] + - !!python/tuple [15, 28] + - !!python/tuple [3, 18] + - !!python/tuple [8, 7] + - !!python/tuple [3, 5] + - !!python/tuple [7, 9] + - !!python/tuple [2, 1] + - !!python/tuple [27, 26] + - !!python/tuple [17, 11] + - !!python/tuple [3, 2] + - !!python/tuple [17, 1] + - !!python/tuple [16, 22] + - !!python/tuple [19, 23] + - !!python/tuple [16, 12] + - !!python/tuple [9, 2] + - !!python/tuple [23, 11] + - !!python/tuple [20, 12] + - !!python/tuple [13, 13] + - !!python/tuple [0, 28] + - !!python/tuple [18, 6] + - !!python/tuple [31, 22] + - !!python/tuple [13, 21] + - !!python/tuple [15, 20] + - !!python/tuple [20, 29] + - !!python/tuple [1, 28] + - !!python/tuple [20, 13] + - !!python/tuple [18, 28] + - !!python/tuple [21, 14] + - !!python/tuple [28, 4] + - !!python/tuple [0, 6] + - !!python/tuple [0, 0] + - !!python/tuple [24, 11] + - !!python/tuple [23, 19] + - !!python/tuple [16, 17] + - !!python/tuple [16, 13] + - !!python/tuple [10, 30] + - !!python/tuple [2, 21] + - !!python/tuple [30, 12] + - !!python/tuple [29, 8] + - !!python/tuple [24, 6] + - !!python/tuple [24, 15] + - !!python/tuple [12, 11] + - !!python/tuple [25, 2] + - !!python/tuple [15, 18] + - !!python/tuple [19, 29] + - !!python/tuple [15, 27] + - !!python/tuple [22, 0] + - !!python/tuple [15, 8] + - !!python/tuple [2, 22] + - !!python/tuple [8, 2] + - !!python/tuple [1, 0] + - !!python/tuple [22, 24] + - !!python/tuple [22, 12] + - !!python/tuple [10, 12] + - !!python/tuple [18, 31] + - !!python/tuple [2, 4] + - !!python/tuple [11, 19] + - !!python/tuple [22, 4] + - !!python/tuple [10, 20] + - !!python/tuple [11, 28] + - !!python/tuple [28, 16] + - !!python/tuple [0, 4] + - !!python/tuple [11, 30] + - !!python/tuple [7, 27] + - !!python/tuple [17, 24] + - !!python/tuple [28, 11] + - !!python/tuple [9, 3] + - !!python/tuple [16, 11] + - !!python/tuple [12, 10] + - !!python/tuple [25, 28] + - !!python/tuple [30, 18] + - !!python/tuple [10, 23] + - !!python/tuple [6, 10] + - !!python/tuple [2, 20] + - !!python/tuple [5, 4] + - !!python/tuple [20, 21] + - !!python/tuple [12, 7] + - !!python/tuple [17, 21] + - !!python/tuple [21, 28] + - !!python/tuple [2, 24] + - !!python/tuple [30, 19] + - !!python/tuple [14, 27] + - !!python/tuple [11, 29] + - !!python/tuple [9, 10] + - !!python/tuple [3, 13] + - !!python/tuple [10, 1] + - !!python/tuple [2, 15] + - !!python/tuple [14, 31] + - !!python/tuple [0, 13] + - !!python/tuple [25, 3] + - !!python/tuple [15, 24] + - !!python/tuple [13, 15] + - !!python/tuple [1, 14] + - !!python/tuple [23, 18] + - !!python/tuple [23, 8] + - !!python/tuple [31, 5] + - !!python/tuple [15, 30] + - !!python/tuple [7, 21] + - !!python/tuple [20, 6] + - !!python/tuple [19, 16] + - !!python/tuple [10, 5] + - !!python/tuple [30, 23] + - !!python/tuple [23, 9] + - !!python/tuple [29, 9] + - !!python/tuple [14, 10] + - !!python/tuple [28, 26] + - !!python/tuple [23, 14] + - !!python/tuple [30, 1] + - !!python/tuple [7, 24] + - !!python/tuple [28, 3] + - !!python/tuple [24, 1] + - !!python/tuple [20, 26] + - !!python/tuple [15, 31] + - !!python/tuple [8, 6] + - !!python/tuple [22, 10] + - !!python/tuple [25, 11] + - !!python/tuple [6, 20] + - !!python/tuple [18, 26] + - !!python/tuple [28, 13] + - !!python/tuple [3, 28] + - !!python/tuple [22, 22] + - !!python/tuple [22, 26] + - !!python/tuple [26, 28] + - !!python/tuple [25, 20] + - !!python/tuple [9, 25] + - !!python/tuple [14, 16] + - !!python/tuple [24, 7] + - !!python/tuple [7, 30] + - !!python/tuple [13, 4] + - !!python/tuple [27, 5] + - !!python/tuple [22, 7] + - !!python/tuple [3, 3] + - !!python/tuple [15, 10] + - !!python/tuple [29, 7] + - !!python/tuple [11, 20] + - !!python/tuple [18, 30] + - !!python/tuple [22, 20] + - !!python/tuple [4, 5] + - !!python/tuple [23, 2] + - !!python/tuple [26, 13] + - !!python/tuple [7, 13] + - !!python/tuple [18, 14] + - !!python/tuple [4, 6] + - !!python/tuple [7, 18] + - !!python/tuple [19, 27] + - !!python/tuple [26, 0] + - !!python/tuple [28, 28] + - !!python/tuple [23, 5] + - !!python/tuple [30, 7] + - !!python/tuple [8, 22] + - !!python/tuple [3, 10] + - !!python/tuple [17, 5] + - !!python/tuple [19, 4] + - !!python/tuple [9, 14] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex27.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex27.yaml new file mode 100644 index 0000000..0f7ff6a --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex27.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [10, 27] + name: agent0 + start: [13, 10] +- goal: [20, 5] + name: agent1 + start: [12, 0] +- goal: [7, 19] + name: agent2 + start: [23, 31] +- goal: [13, 20] + name: agent3 + start: [12, 31] +- goal: [25, 14] + name: agent4 + start: [6, 29] +- goal: [27, 30] + name: agent5 + start: [24, 24] +- goal: [23, 31] + name: agent6 + start: [27, 0] +- goal: [3, 25] + name: agent7 + start: [25, 2] +- goal: [11, 12] + name: agent8 + start: [0, 8] +- goal: [10, 0] + name: agent9 + start: [29, 27] +- goal: [16, 22] + name: agent10 + start: [26, 3] +- goal: [24, 1] + name: agent11 + start: [0, 17] +- goal: [10, 30] + name: agent12 + start: [23, 20] +- goal: [13, 24] + name: agent13 + start: [27, 10] +- goal: [19, 1] + name: agent14 + start: [3, 16] +- goal: [6, 0] + name: agent15 + start: [26, 20] +- goal: [15, 18] + name: agent16 + start: [24, 20] +- goal: [12, 24] + name: agent17 + start: [28, 29] +- goal: [23, 29] + name: agent18 + start: [23, 8] +- goal: [3, 16] + name: agent19 + start: [4, 14] +- goal: [11, 28] + name: agent20 + start: [14, 30] +- goal: [18, 7] + name: agent21 + start: [5, 30] +- goal: [15, 29] + name: agent22 + start: [4, 18] +- goal: [2, 16] + name: agent23 + start: [11, 4] +- goal: [2, 11] + name: agent24 + start: [16, 22] +- goal: [8, 11] + name: agent25 + start: [14, 26] +- goal: [30, 15] + name: agent26 + start: [18, 3] +- goal: [30, 3] + name: agent27 + start: [22, 11] +- goal: [16, 5] + name: agent28 + start: [18, 20] +- goal: [4, 5] + name: agent29 + start: [1, 21] +- goal: [13, 27] + name: agent30 + start: [4, 17] +- goal: [4, 9] + name: agent31 + start: [27, 7] +- goal: [15, 2] + name: agent32 + start: [11, 21] +- goal: [7, 4] + name: agent33 + start: [9, 2] +- goal: [30, 26] + name: agent34 + start: [16, 0] +- goal: [28, 6] + name: agent35 + start: [2, 6] +- goal: [23, 8] + name: agent36 + start: [22, 10] +- goal: [11, 29] + name: agent37 + start: [16, 18] +- goal: [9, 15] + name: agent38 + start: [6, 8] +- goal: [28, 13] + name: agent39 + start: [10, 17] +- goal: [7, 1] + name: agent40 + start: [22, 27] +- goal: [14, 18] + name: agent41 + start: [31, 27] +- goal: [24, 20] + name: agent42 + start: [14, 22] +- goal: [31, 7] + name: agent43 + start: [30, 2] +- goal: [17, 23] + name: agent44 + start: [31, 11] +- goal: [20, 27] + name: agent45 + start: [28, 15] +- goal: [15, 5] + name: agent46 + start: [22, 30] +- goal: [5, 25] + name: agent47 + start: [5, 15] +- goal: [23, 20] + name: agent48 + start: [26, 17] +- goal: [9, 16] + name: agent49 + start: [1, 26] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [19, 5] + - !!python/tuple [10, 16] + - !!python/tuple [14, 0] + - !!python/tuple [22, 21] + - !!python/tuple [11, 24] + - !!python/tuple [21, 14] + - !!python/tuple [24, 16] + - !!python/tuple [21, 27] + - !!python/tuple [19, 14] + - !!python/tuple [4, 12] + - !!python/tuple [29, 25] + - !!python/tuple [13, 4] + - !!python/tuple [18, 22] + - !!python/tuple [22, 14] + - !!python/tuple [31, 30] + - !!python/tuple [15, 8] + - !!python/tuple [31, 13] + - !!python/tuple [13, 12] + - !!python/tuple [16, 14] + - !!python/tuple [14, 12] + - !!python/tuple [25, 17] + - !!python/tuple [6, 27] + - !!python/tuple [27, 9] + - !!python/tuple [16, 7] + - !!python/tuple [28, 9] + - !!python/tuple [3, 21] + - !!python/tuple [22, 16] + - !!python/tuple [11, 23] + - !!python/tuple [6, 10] + - !!python/tuple [8, 19] + - !!python/tuple [3, 11] + - !!python/tuple [18, 15] + - !!python/tuple [18, 24] + - !!python/tuple [3, 26] + - !!python/tuple [28, 23] + - !!python/tuple [4, 20] + - !!python/tuple [24, 5] + - !!python/tuple [17, 29] + - !!python/tuple [23, 1] + - !!python/tuple [30, 29] + - !!python/tuple [2, 0] + - !!python/tuple [30, 11] + - !!python/tuple [4, 22] + - !!python/tuple [15, 1] + - !!python/tuple [1, 23] + - !!python/tuple [27, 20] + - !!python/tuple [27, 17] + - !!python/tuple [14, 24] + - !!python/tuple [29, 18] + - !!python/tuple [17, 31] + - !!python/tuple [8, 28] + - !!python/tuple [14, 11] + - !!python/tuple [3, 0] + - !!python/tuple [1, 8] + - !!python/tuple [8, 29] + - !!python/tuple [24, 27] + - !!python/tuple [24, 18] + - !!python/tuple [4, 31] + - !!python/tuple [28, 5] + - !!python/tuple [2, 18] + - !!python/tuple [18, 4] + - !!python/tuple [13, 23] + - !!python/tuple [8, 31] + - !!python/tuple [7, 6] + - !!python/tuple [27, 3] + - !!python/tuple [1, 11] + - !!python/tuple [0, 16] + - !!python/tuple [22, 12] + - !!python/tuple [6, 25] + - !!python/tuple [3, 27] + - !!python/tuple [29, 16] + - !!python/tuple [10, 11] + - !!python/tuple [12, 22] + - !!python/tuple [23, 12] + - !!python/tuple [6, 7] + - !!python/tuple [20, 8] + - !!python/tuple [0, 6] + - !!python/tuple [6, 3] + - !!python/tuple [0, 20] + - !!python/tuple [12, 15] + - !!python/tuple [28, 4] + - !!python/tuple [15, 15] + - !!python/tuple [0, 30] + - !!python/tuple [9, 28] + - !!python/tuple [30, 8] + - !!python/tuple [21, 23] + - !!python/tuple [18, 30] + - !!python/tuple [22, 9] + - !!python/tuple [11, 6] + - !!python/tuple [24, 13] + - !!python/tuple [29, 29] + - !!python/tuple [4, 27] + - !!python/tuple [28, 28] + - !!python/tuple [29, 9] + - !!python/tuple [13, 2] + - !!python/tuple [24, 28] + - !!python/tuple [2, 13] + - !!python/tuple [13, 0] + - !!python/tuple [16, 15] + - !!python/tuple [3, 9] + - !!python/tuple [25, 30] + - !!python/tuple [2, 27] + - !!python/tuple [26, 19] + - !!python/tuple [5, 18] + - !!python/tuple [27, 23] + - !!python/tuple [14, 16] + - !!python/tuple [16, 27] + - !!python/tuple [24, 10] + - !!python/tuple [0, 31] + - !!python/tuple [9, 1] + - !!python/tuple [24, 23] + - !!python/tuple [24, 15] + - !!python/tuple [28, 8] + - !!python/tuple [20, 26] + - !!python/tuple [2, 29] + - !!python/tuple [10, 18] + - !!python/tuple [15, 12] + - !!python/tuple [27, 22] + - !!python/tuple [11, 31] + - !!python/tuple [20, 25] + - !!python/tuple [28, 26] + - !!python/tuple [16, 19] + - !!python/tuple [28, 0] + - !!python/tuple [29, 22] + - !!python/tuple [23, 24] + - !!python/tuple [30, 17] + - !!python/tuple [11, 13] + - !!python/tuple [9, 13] + - !!python/tuple [15, 25] + - !!python/tuple [11, 9] + - !!python/tuple [30, 28] + - !!python/tuple [24, 30] + - !!python/tuple [28, 20] + - !!python/tuple [26, 8] + - !!python/tuple [30, 19] + - !!python/tuple [9, 31] + - !!python/tuple [28, 1] + - !!python/tuple [3, 12] + - !!python/tuple [7, 26] + - !!python/tuple [21, 21] + - !!python/tuple [11, 20] + - !!python/tuple [25, 25] + - !!python/tuple [5, 2] + - !!python/tuple [25, 11] + - !!python/tuple [7, 20] + - !!python/tuple [9, 26] + - !!python/tuple [8, 21] + - !!python/tuple [0, 15] + - !!python/tuple [29, 21] + - !!python/tuple [25, 16] + - !!python/tuple [9, 4] + - !!python/tuple [30, 21] + - !!python/tuple [5, 24] + - !!python/tuple [7, 10] + - !!python/tuple [15, 10] + - !!python/tuple [23, 13] + - !!python/tuple [25, 3] + - !!python/tuple [1, 18] + - !!python/tuple [7, 27] + - !!python/tuple [31, 18] + - !!python/tuple [19, 25] + - !!python/tuple [14, 28] + - !!python/tuple [15, 22] + - !!python/tuple [21, 26] + - !!python/tuple [29, 17] + - !!python/tuple [11, 3] + - !!python/tuple [22, 20] + - !!python/tuple [30, 22] + - !!python/tuple [20, 22] + - !!python/tuple [24, 21] + - !!python/tuple [12, 26] + - !!python/tuple [1, 28] + - !!python/tuple [29, 7] + - !!python/tuple [8, 25] + - !!python/tuple [5, 11] + - !!python/tuple [2, 8] + - !!python/tuple [14, 27] + - !!python/tuple [23, 6] + - !!python/tuple [3, 18] + - !!python/tuple [7, 22] + - !!python/tuple [25, 20] + - !!python/tuple [11, 14] + - !!python/tuple [25, 9] + - !!python/tuple [4, 21] + - !!python/tuple [9, 12] + - !!python/tuple [29, 19] + - !!python/tuple [10, 22] + - !!python/tuple [17, 0] + - !!python/tuple [5, 3] + - !!python/tuple [17, 13] + - !!python/tuple [0, 13] + - !!python/tuple [1, 31] + - !!python/tuple [23, 10] + - !!python/tuple [9, 20] + - !!python/tuple [18, 13] + - !!python/tuple [23, 28] + - !!python/tuple [10, 25] + - !!python/tuple [23, 3] + - !!python/tuple [28, 17] + - !!python/tuple [0, 7] + - !!python/tuple [0, 3] + - !!python/tuple [6, 23] + - !!python/tuple [9, 30] + - !!python/tuple [25, 6] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex28.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex28.yaml new file mode 100644 index 0000000..a814489 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex28.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [12, 11] + name: agent0 + start: [9, 3] +- goal: [16, 7] + name: agent1 + start: [13, 13] +- goal: [10, 30] + name: agent2 + start: [16, 8] +- goal: [11, 16] + name: agent3 + start: [20, 23] +- goal: [14, 21] + name: agent4 + start: [3, 6] +- goal: [21, 11] + name: agent5 + start: [19, 19] +- goal: [2, 15] + name: agent6 + start: [15, 23] +- goal: [30, 15] + name: agent7 + start: [1, 11] +- goal: [1, 19] + name: agent8 + start: [12, 29] +- goal: [27, 19] + name: agent9 + start: [1, 0] +- goal: [7, 23] + name: agent10 + start: [28, 31] +- goal: [25, 22] + name: agent11 + start: [12, 19] +- goal: [23, 8] + name: agent12 + start: [7, 24] +- goal: [16, 24] + name: agent13 + start: [12, 26] +- goal: [0, 13] + name: agent14 + start: [22, 20] +- goal: [27, 27] + name: agent15 + start: [9, 16] +- goal: [12, 10] + name: agent16 + start: [7, 10] +- goal: [20, 31] + name: agent17 + start: [28, 26] +- goal: [13, 12] + name: agent18 + start: [5, 3] +- goal: [31, 19] + name: agent19 + start: [12, 8] +- goal: [19, 5] + name: agent20 + start: [29, 13] +- goal: [27, 2] + name: agent21 + start: [27, 11] +- goal: [16, 4] + name: agent22 + start: [30, 17] +- goal: [10, 12] + name: agent23 + start: [22, 17] +- goal: [15, 20] + name: agent24 + start: [10, 8] +- goal: [0, 16] + name: agent25 + start: [1, 12] +- goal: [18, 2] + name: agent26 + start: [8, 10] +- goal: [8, 26] + name: agent27 + start: [11, 23] +- goal: [22, 17] + name: agent28 + start: [24, 23] +- goal: [23, 10] + name: agent29 + start: [11, 1] +- goal: [4, 27] + name: agent30 + start: [25, 30] +- goal: [19, 3] + name: agent31 + start: [31, 13] +- goal: [2, 23] + name: agent32 + start: [3, 2] +- goal: [24, 17] + name: agent33 + start: [20, 27] +- goal: [31, 30] + name: agent34 + start: [16, 21] +- goal: [2, 11] + name: agent35 + start: [31, 9] +- goal: [21, 7] + name: agent36 + start: [12, 28] +- goal: [22, 12] + name: agent37 + start: [0, 19] +- goal: [4, 3] + name: agent38 + start: [24, 1] +- goal: [6, 13] + name: agent39 + start: [30, 3] +- goal: [1, 16] + name: agent40 + start: [30, 2] +- goal: [30, 5] + name: agent41 + start: [23, 18] +- goal: [9, 26] + name: agent42 + start: [12, 27] +- goal: [15, 27] + name: agent43 + start: [25, 16] +- goal: [24, 22] + name: agent44 + start: [18, 4] +- goal: [4, 25] + name: agent45 + start: [16, 11] +- goal: [15, 7] + name: agent46 + start: [31, 11] +- goal: [2, 3] + name: agent47 + start: [28, 25] +- goal: [26, 29] + name: agent48 + start: [27, 27] +- goal: [11, 2] + name: agent49 + start: [22, 1] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [13, 9] + - !!python/tuple [2, 5] + - !!python/tuple [5, 2] + - !!python/tuple [5, 13] + - !!python/tuple [5, 28] + - !!python/tuple [2, 16] + - !!python/tuple [14, 20] + - !!python/tuple [8, 2] + - !!python/tuple [25, 10] + - !!python/tuple [17, 20] + - !!python/tuple [12, 13] + - !!python/tuple [17, 6] + - !!python/tuple [13, 20] + - !!python/tuple [9, 10] + - !!python/tuple [1, 13] + - !!python/tuple [14, 5] + - !!python/tuple [1, 5] + - !!python/tuple [14, 18] + - !!python/tuple [9, 23] + - !!python/tuple [2, 22] + - !!python/tuple [23, 6] + - !!python/tuple [19, 9] + - !!python/tuple [1, 26] + - !!python/tuple [6, 0] + - !!python/tuple [13, 4] + - !!python/tuple [22, 4] + - !!python/tuple [1, 14] + - !!python/tuple [0, 23] + - !!python/tuple [17, 1] + - !!python/tuple [12, 7] + - !!python/tuple [31, 25] + - !!python/tuple [23, 25] + - !!python/tuple [2, 12] + - !!python/tuple [3, 18] + - !!python/tuple [1, 8] + - !!python/tuple [28, 9] + - !!python/tuple [20, 11] + - !!python/tuple [27, 18] + - !!python/tuple [3, 11] + - !!python/tuple [6, 7] + - !!python/tuple [31, 28] + - !!python/tuple [15, 16] + - !!python/tuple [17, 15] + - !!python/tuple [3, 22] + - !!python/tuple [17, 21] + - !!python/tuple [3, 17] + - !!python/tuple [23, 23] + - !!python/tuple [8, 17] + - !!python/tuple [5, 7] + - !!python/tuple [28, 29] + - !!python/tuple [6, 18] + - !!python/tuple [9, 4] + - !!python/tuple [19, 6] + - !!python/tuple [9, 11] + - !!python/tuple [12, 2] + - !!python/tuple [18, 25] + - !!python/tuple [6, 26] + - !!python/tuple [5, 18] + - !!python/tuple [31, 26] + - !!python/tuple [2, 24] + - !!python/tuple [23, 20] + - !!python/tuple [16, 9] + - !!python/tuple [1, 9] + - !!python/tuple [5, 11] + - !!python/tuple [26, 19] + - !!python/tuple [15, 1] + - !!python/tuple [1, 21] + - !!python/tuple [15, 25] + - !!python/tuple [7, 8] + - !!python/tuple [21, 12] + - !!python/tuple [13, 7] + - !!python/tuple [14, 0] + - !!python/tuple [26, 1] + - !!python/tuple [25, 24] + - !!python/tuple [4, 15] + - !!python/tuple [25, 2] + - !!python/tuple [30, 26] + - !!python/tuple [29, 17] + - !!python/tuple [30, 6] + - !!python/tuple [1, 1] + - !!python/tuple [3, 20] + - !!python/tuple [4, 19] + - !!python/tuple [7, 13] + - !!python/tuple [27, 26] + - !!python/tuple [10, 21] + - !!python/tuple [28, 20] + - !!python/tuple [6, 2] + - !!python/tuple [16, 29] + - !!python/tuple [16, 20] + - !!python/tuple [30, 9] + - !!python/tuple [21, 18] + - !!python/tuple [24, 31] + - !!python/tuple [0, 21] + - !!python/tuple [5, 8] + - !!python/tuple [17, 17] + - !!python/tuple [25, 21] + - !!python/tuple [16, 25] + - !!python/tuple [6, 4] + - !!python/tuple [13, 25] + - !!python/tuple [16, 18] + - !!python/tuple [30, 7] + - !!python/tuple [11, 8] + - !!python/tuple [10, 23] + - !!python/tuple [20, 26] + - !!python/tuple [22, 25] + - !!python/tuple [21, 31] + - !!python/tuple [17, 31] + - !!python/tuple [24, 14] + - !!python/tuple [7, 29] + - !!python/tuple [30, 22] + - !!python/tuple [27, 16] + - !!python/tuple [25, 1] + - !!python/tuple [29, 31] + - !!python/tuple [10, 27] + - !!python/tuple [30, 31] + - !!python/tuple [4, 14] + - !!python/tuple [7, 26] + - !!python/tuple [3, 23] + - !!python/tuple [12, 22] + - !!python/tuple [4, 11] + - !!python/tuple [6, 8] + - !!python/tuple [17, 26] + - !!python/tuple [26, 12] + - !!python/tuple [8, 7] + - !!python/tuple [15, 10] + - !!python/tuple [11, 17] + - !!python/tuple [6, 9] + - !!python/tuple [16, 13] + - !!python/tuple [15, 19] + - !!python/tuple [15, 11] + - !!python/tuple [23, 11] + - !!python/tuple [17, 13] + - !!python/tuple [24, 10] + - !!python/tuple [11, 7] + - !!python/tuple [3, 28] + - !!python/tuple [20, 17] + - !!python/tuple [26, 11] + - !!python/tuple [1, 4] + - !!python/tuple [28, 21] + - !!python/tuple [21, 6] + - !!python/tuple [22, 6] + - !!python/tuple [25, 15] + - !!python/tuple [31, 24] + - !!python/tuple [31, 12] + - !!python/tuple [21, 5] + - !!python/tuple [27, 31] + - !!python/tuple [31, 20] + - !!python/tuple [15, 0] + - !!python/tuple [25, 7] + - !!python/tuple [16, 28] + - !!python/tuple [4, 20] + - !!python/tuple [23, 9] + - !!python/tuple [8, 18] + - !!python/tuple [18, 1] + - !!python/tuple [27, 21] + - !!python/tuple [17, 3] + - !!python/tuple [4, 18] + - !!python/tuple [15, 12] + - !!python/tuple [30, 13] + - !!python/tuple [24, 24] + - !!python/tuple [8, 30] + - !!python/tuple [17, 25] + - !!python/tuple [20, 16] + - !!python/tuple [3, 14] + - !!python/tuple [18, 22] + - !!python/tuple [27, 9] + - !!python/tuple [20, 18] + - !!python/tuple [9, 8] + - !!python/tuple [21, 10] + - !!python/tuple [14, 24] + - !!python/tuple [24, 9] + - !!python/tuple [2, 17] + - !!python/tuple [22, 31] + - !!python/tuple [28, 22] + - !!python/tuple [17, 14] + - !!python/tuple [4, 30] + - !!python/tuple [24, 19] + - !!python/tuple [25, 0] + - !!python/tuple [6, 25] + - !!python/tuple [1, 20] + - !!python/tuple [28, 18] + - !!python/tuple [8, 24] + - !!python/tuple [19, 8] + - !!python/tuple [13, 21] + - !!python/tuple [15, 15] + - !!python/tuple [8, 20] + - !!python/tuple [14, 9] + - !!python/tuple [28, 2] + - !!python/tuple [0, 29] + - !!python/tuple [3, 29] + - !!python/tuple [11, 21] + - !!python/tuple [0, 2] + - !!python/tuple [31, 29] + - !!python/tuple [19, 1] + - !!python/tuple [17, 0] + - !!python/tuple [7, 0] + - !!python/tuple [10, 3] + - !!python/tuple [23, 0] + - !!python/tuple [28, 6] + - !!python/tuple [22, 7] + - !!python/tuple [16, 12] + - !!python/tuple [1, 28] + - !!python/tuple [15, 30] + - !!python/tuple [7, 20] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex29.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex29.yaml new file mode 100644 index 0000000..88b90fc --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex29.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [6, 14] + name: agent0 + start: [18, 15] +- goal: [1, 7] + name: agent1 + start: [22, 29] +- goal: [21, 5] + name: agent2 + start: [7, 2] +- goal: [24, 31] + name: agent3 + start: [7, 18] +- goal: [5, 19] + name: agent4 + start: [11, 19] +- goal: [31, 29] + name: agent5 + start: [31, 9] +- goal: [17, 3] + name: agent6 + start: [13, 14] +- goal: [26, 27] + name: agent7 + start: [2, 21] +- goal: [24, 8] + name: agent8 + start: [8, 27] +- goal: [23, 18] + name: agent9 + start: [0, 2] +- goal: [24, 11] + name: agent10 + start: [30, 23] +- goal: [16, 15] + name: agent11 + start: [7, 20] +- goal: [14, 15] + name: agent12 + start: [29, 18] +- goal: [3, 3] + name: agent13 + start: [4, 29] +- goal: [8, 17] + name: agent14 + start: [0, 20] +- goal: [9, 25] + name: agent15 + start: [31, 10] +- goal: [15, 26] + name: agent16 + start: [22, 26] +- goal: [5, 17] + name: agent17 + start: [5, 8] +- goal: [7, 17] + name: agent18 + start: [6, 5] +- goal: [10, 24] + name: agent19 + start: [25, 30] +- goal: [31, 12] + name: agent20 + start: [1, 5] +- goal: [12, 3] + name: agent21 + start: [9, 7] +- goal: [15, 9] + name: agent22 + start: [9, 3] +- goal: [26, 23] + name: agent23 + start: [18, 21] +- goal: [29, 2] + name: agent24 + start: [26, 24] +- goal: [8, 3] + name: agent25 + start: [18, 3] +- goal: [22, 20] + name: agent26 + start: [20, 13] +- goal: [22, 22] + name: agent27 + start: [7, 9] +- goal: [4, 23] + name: agent28 + start: [5, 1] +- goal: [23, 14] + name: agent29 + start: [18, 1] +- goal: [19, 25] + name: agent30 + start: [16, 20] +- goal: [6, 27] + name: agent31 + start: [12, 20] +- goal: [26, 16] + name: agent32 + start: [22, 22] +- goal: [21, 31] + name: agent33 + start: [27, 27] +- goal: [16, 18] + name: agent34 + start: [6, 15] +- goal: [30, 8] + name: agent35 + start: [24, 16] +- goal: [7, 14] + name: agent36 + start: [20, 28] +- goal: [4, 17] + name: agent37 + start: [17, 13] +- goal: [30, 0] + name: agent38 + start: [1, 18] +- goal: [4, 26] + name: agent39 + start: [28, 14] +- goal: [17, 5] + name: agent40 + start: [14, 29] +- goal: [0, 11] + name: agent41 + start: [14, 0] +- goal: [14, 27] + name: agent42 + start: [19, 31] +- goal: [31, 23] + name: agent43 + start: [1, 14] +- goal: [25, 28] + name: agent44 + start: [27, 3] +- goal: [8, 23] + name: agent45 + start: [11, 13] +- goal: [23, 21] + name: agent46 + start: [8, 16] +- goal: [30, 15] + name: agent47 + start: [6, 13] +- goal: [15, 31] + name: agent48 + start: [22, 14] +- goal: [23, 31] + name: agent49 + start: [24, 24] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [19, 17] + - !!python/tuple [14, 21] + - !!python/tuple [21, 25] + - !!python/tuple [19, 5] + - !!python/tuple [17, 27] + - !!python/tuple [13, 0] + - !!python/tuple [24, 13] + - !!python/tuple [30, 28] + - !!python/tuple [24, 20] + - !!python/tuple [1, 26] + - !!python/tuple [27, 22] + - !!python/tuple [20, 7] + - !!python/tuple [16, 2] + - !!python/tuple [18, 9] + - !!python/tuple [22, 9] + - !!python/tuple [2, 16] + - !!python/tuple [1, 23] + - !!python/tuple [31, 24] + - !!python/tuple [5, 12] + - !!python/tuple [27, 14] + - !!python/tuple [26, 25] + - !!python/tuple [31, 17] + - !!python/tuple [27, 25] + - !!python/tuple [19, 20] + - !!python/tuple [8, 18] + - !!python/tuple [25, 1] + - !!python/tuple [24, 18] + - !!python/tuple [22, 19] + - !!python/tuple [11, 10] + - !!python/tuple [31, 19] + - !!python/tuple [3, 8] + - !!python/tuple [23, 3] + - !!python/tuple [31, 13] + - !!python/tuple [9, 11] + - !!python/tuple [3, 6] + - !!python/tuple [5, 18] + - !!python/tuple [17, 29] + - !!python/tuple [8, 5] + - !!python/tuple [20, 18] + - !!python/tuple [28, 23] + - !!python/tuple [10, 31] + - !!python/tuple [27, 26] + - !!python/tuple [28, 0] + - !!python/tuple [0, 14] + - !!python/tuple [12, 18] + - !!python/tuple [25, 12] + - !!python/tuple [18, 2] + - !!python/tuple [26, 22] + - !!python/tuple [20, 10] + - !!python/tuple [25, 8] + - !!python/tuple [4, 20] + - !!python/tuple [18, 27] + - !!python/tuple [20, 23] + - !!python/tuple [2, 3] + - !!python/tuple [8, 28] + - !!python/tuple [2, 10] + - !!python/tuple [19, 0] + - !!python/tuple [30, 21] + - !!python/tuple [26, 30] + - !!python/tuple [30, 2] + - !!python/tuple [16, 0] + - !!python/tuple [10, 28] + - !!python/tuple [30, 25] + - !!python/tuple [0, 6] + - !!python/tuple [29, 25] + - !!python/tuple [13, 4] + - !!python/tuple [29, 11] + - !!python/tuple [15, 24] + - !!python/tuple [12, 26] + - !!python/tuple [23, 26] + - !!python/tuple [25, 19] + - !!python/tuple [30, 17] + - !!python/tuple [7, 4] + - !!python/tuple [13, 23] + - !!python/tuple [15, 10] + - !!python/tuple [8, 15] + - !!python/tuple [16, 17] + - !!python/tuple [7, 19] + - !!python/tuple [3, 22] + - !!python/tuple [4, 24] + - !!python/tuple [0, 9] + - !!python/tuple [17, 31] + - !!python/tuple [17, 25] + - !!python/tuple [6, 18] + - !!python/tuple [16, 8] + - !!python/tuple [16, 5] + - !!python/tuple [3, 27] + - !!python/tuple [0, 15] + - !!python/tuple [28, 24] + - !!python/tuple [18, 30] + - !!python/tuple [24, 10] + - !!python/tuple [21, 14] + - !!python/tuple [18, 22] + - !!python/tuple [6, 26] + - !!python/tuple [23, 19] + - !!python/tuple [10, 0] + - !!python/tuple [5, 26] + - !!python/tuple [20, 14] + - !!python/tuple [13, 8] + - !!python/tuple [26, 26] + - !!python/tuple [17, 4] + - !!python/tuple [1, 29] + - !!python/tuple [11, 25] + - !!python/tuple [11, 8] + - !!python/tuple [27, 20] + - !!python/tuple [7, 15] + - !!python/tuple [19, 3] + - !!python/tuple [11, 1] + - !!python/tuple [0, 17] + - !!python/tuple [1, 3] + - !!python/tuple [23, 5] + - !!python/tuple [27, 0] + - !!python/tuple [16, 29] + - !!python/tuple [19, 6] + - !!python/tuple [29, 5] + - !!python/tuple [20, 1] + - !!python/tuple [5, 25] + - !!python/tuple [0, 30] + - !!python/tuple [9, 22] + - !!python/tuple [6, 1] + - !!python/tuple [7, 13] + - !!python/tuple [29, 14] + - !!python/tuple [8, 22] + - !!python/tuple [16, 3] + - !!python/tuple [20, 31] + - !!python/tuple [10, 22] + - !!python/tuple [28, 8] + - !!python/tuple [25, 26] + - !!python/tuple [19, 9] + - !!python/tuple [26, 2] + - !!python/tuple [20, 29] + - !!python/tuple [29, 19] + - !!python/tuple [26, 14] + - !!python/tuple [3, 31] + - !!python/tuple [11, 31] + - !!python/tuple [17, 26] + - !!python/tuple [28, 19] + - !!python/tuple [31, 27] + - !!python/tuple [4, 27] + - !!python/tuple [20, 0] + - !!python/tuple [14, 25] + - !!python/tuple [19, 7] + - !!python/tuple [30, 12] + - !!python/tuple [7, 23] + - !!python/tuple [13, 15] + - !!python/tuple [10, 7] + - !!python/tuple [8, 31] + - !!python/tuple [19, 22] + - !!python/tuple [27, 21] + - !!python/tuple [13, 26] + - !!python/tuple [30, 6] + - !!python/tuple [2, 25] + - !!python/tuple [12, 13] + - !!python/tuple [31, 21] + - !!python/tuple [27, 12] + - !!python/tuple [3, 26] + - !!python/tuple [27, 11] + - !!python/tuple [1, 13] + - !!python/tuple [21, 29] + - !!python/tuple [22, 3] + - !!python/tuple [11, 24] + - !!python/tuple [0, 10] + - !!python/tuple [2, 4] + - !!python/tuple [0, 5] + - !!python/tuple [18, 16] + - !!python/tuple [16, 11] + - !!python/tuple [12, 15] + - !!python/tuple [25, 3] + - !!python/tuple [4, 12] + - !!python/tuple [1, 8] + - !!python/tuple [30, 3] + - !!python/tuple [18, 11] + - !!python/tuple [8, 0] + - !!python/tuple [31, 0] + - !!python/tuple [9, 0] + - !!python/tuple [12, 28] + - !!python/tuple [23, 29] + - !!python/tuple [20, 20] + - !!python/tuple [16, 21] + - !!python/tuple [28, 3] + - !!python/tuple [2, 8] + - !!python/tuple [3, 2] + - !!python/tuple [9, 17] + - !!python/tuple [31, 1] + - !!python/tuple [16, 12] + - !!python/tuple [0, 27] + - !!python/tuple [2, 31] + - !!python/tuple [4, 13] + - !!python/tuple [30, 26] + - !!python/tuple [24, 30] + - !!python/tuple [24, 7] + - !!python/tuple [8, 7] + - !!python/tuple [29, 30] + - !!python/tuple [24, 3] + - !!python/tuple [17, 8] + - !!python/tuple [22, 30] + - !!python/tuple [13, 28] + - !!python/tuple [25, 13] + - !!python/tuple [28, 13] + - !!python/tuple [25, 10] + - !!python/tuple [10, 9] + - !!python/tuple [10, 21] + - !!python/tuple [29, 8] + - !!python/tuple [9, 28] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex3.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex3.yaml new file mode 100644 index 0000000..9fab57b --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex3.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [2, 0] + name: agent0 + start: [3, 9] +- goal: [9, 10] + name: agent1 + start: [23, 7] +- goal: [19, 28] + name: agent2 + start: [0, 19] +- goal: [13, 17] + name: agent3 + start: [29, 31] +- goal: [26, 6] + name: agent4 + start: [2, 21] +- goal: [28, 1] + name: agent5 + start: [22, 20] +- goal: [16, 31] + name: agent6 + start: [23, 30] +- goal: [3, 2] + name: agent7 + start: [24, 20] +- goal: [6, 12] + name: agent8 + start: [14, 10] +- goal: [17, 19] + name: agent9 + start: [7, 15] +- goal: [19, 7] + name: agent10 + start: [27, 27] +- goal: [22, 8] + name: agent11 + start: [23, 28] +- goal: [25, 19] + name: agent12 + start: [19, 0] +- goal: [29, 27] + name: agent13 + start: [16, 22] +- goal: [0, 31] + name: agent14 + start: [2, 11] +- goal: [16, 25] + name: agent15 + start: [4, 0] +- goal: [9, 24] + name: agent16 + start: [30, 20] +- goal: [1, 4] + name: agent17 + start: [20, 0] +- goal: [5, 28] + name: agent18 + start: [4, 15] +- goal: [20, 30] + name: agent19 + start: [2, 5] +- goal: [18, 21] + name: agent20 + start: [20, 1] +- goal: [2, 4] + name: agent21 + start: [15, 9] +- goal: [31, 30] + name: agent22 + start: [11, 9] +- goal: [21, 29] + name: agent23 + start: [15, 23] +- goal: [2, 11] + name: agent24 + start: [15, 21] +- goal: [30, 3] + name: agent25 + start: [24, 19] +- goal: [8, 21] + name: agent26 + start: [12, 7] +- goal: [11, 22] + name: agent27 + start: [29, 29] +- goal: [3, 30] + name: agent28 + start: [5, 16] +- goal: [28, 23] + name: agent29 + start: [22, 31] +- goal: [11, 12] + name: agent30 + start: [31, 7] +- goal: [22, 16] + name: agent31 + start: [12, 2] +- goal: [11, 27] + name: agent32 + start: [4, 4] +- goal: [22, 28] + name: agent33 + start: [8, 16] +- goal: [0, 8] + name: agent34 + start: [19, 15] +- goal: [5, 5] + name: agent35 + start: [26, 5] +- goal: [11, 23] + name: agent36 + start: [7, 3] +- goal: [16, 12] + name: agent37 + start: [29, 2] +- goal: [28, 3] + name: agent38 + start: [8, 30] +- goal: [24, 1] + name: agent39 + start: [13, 7] +- goal: [5, 8] + name: agent40 + start: [5, 11] +- goal: [25, 9] + name: agent41 + start: [18, 4] +- goal: [11, 2] + name: agent42 + start: [29, 30] +- goal: [16, 11] + name: agent43 + start: [6, 28] +- goal: [2, 17] + name: agent44 + start: [3, 1] +- goal: [20, 2] + name: agent45 + start: [13, 5] +- goal: [12, 7] + name: agent46 + start: [25, 23] +- goal: [29, 19] + name: agent47 + start: [21, 7] +- goal: [18, 7] + name: agent48 + start: [23, 15] +- goal: [21, 25] + name: agent49 + start: [9, 12] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [23, 4] + - !!python/tuple [6, 14] + - !!python/tuple [29, 22] + - !!python/tuple [28, 4] + - !!python/tuple [5, 29] + - !!python/tuple [13, 1] + - !!python/tuple [6, 8] + - !!python/tuple [25, 28] + - !!python/tuple [15, 15] + - !!python/tuple [23, 10] + - !!python/tuple [28, 27] + - !!python/tuple [17, 21] + - !!python/tuple [29, 10] + - !!python/tuple [30, 4] + - !!python/tuple [21, 1] + - !!python/tuple [28, 10] + - !!python/tuple [31, 3] + - !!python/tuple [18, 29] + - !!python/tuple [18, 17] + - !!python/tuple [17, 23] + - !!python/tuple [2, 1] + - !!python/tuple [8, 10] + - !!python/tuple [13, 0] + - !!python/tuple [27, 20] + - !!python/tuple [30, 24] + - !!python/tuple [8, 4] + - !!python/tuple [4, 10] + - !!python/tuple [6, 22] + - !!python/tuple [11, 31] + - !!python/tuple [5, 6] + - !!python/tuple [31, 8] + - !!python/tuple [8, 15] + - !!python/tuple [6, 7] + - !!python/tuple [19, 22] + - !!python/tuple [17, 1] + - !!python/tuple [12, 15] + - !!python/tuple [3, 23] + - !!python/tuple [31, 11] + - !!python/tuple [1, 0] + - !!python/tuple [15, 12] + - !!python/tuple [4, 9] + - !!python/tuple [19, 5] + - !!python/tuple [11, 16] + - !!python/tuple [10, 20] + - !!python/tuple [6, 17] + - !!python/tuple [21, 6] + - !!python/tuple [8, 20] + - !!python/tuple [14, 1] + - !!python/tuple [12, 11] + - !!python/tuple [8, 9] + - !!python/tuple [1, 28] + - !!python/tuple [26, 0] + - !!python/tuple [19, 18] + - !!python/tuple [20, 10] + - !!python/tuple [23, 12] + - !!python/tuple [6, 26] + - !!python/tuple [15, 13] + - !!python/tuple [17, 16] + - !!python/tuple [26, 9] + - !!python/tuple [8, 5] + - !!python/tuple [12, 24] + - !!python/tuple [21, 19] + - !!python/tuple [30, 18] + - !!python/tuple [13, 22] + - !!python/tuple [27, 0] + - !!python/tuple [0, 26] + - !!python/tuple [2, 24] + - !!python/tuple [15, 26] + - !!python/tuple [15, 6] + - !!python/tuple [20, 22] + - !!python/tuple [30, 0] + - !!python/tuple [30, 30] + - !!python/tuple [2, 8] + - !!python/tuple [11, 29] + - !!python/tuple [10, 9] + - !!python/tuple [13, 12] + - !!python/tuple [4, 8] + - !!python/tuple [27, 31] + - !!python/tuple [26, 12] + - !!python/tuple [13, 15] + - !!python/tuple [3, 11] + - !!python/tuple [9, 17] + - !!python/tuple [31, 19] + - !!python/tuple [8, 14] + - !!python/tuple [31, 17] + - !!python/tuple [25, 11] + - !!python/tuple [20, 24] + - !!python/tuple [22, 10] + - !!python/tuple [9, 27] + - !!python/tuple [23, 18] + - !!python/tuple [15, 31] + - !!python/tuple [30, 8] + - !!python/tuple [14, 23] + - !!python/tuple [16, 1] + - !!python/tuple [27, 22] + - !!python/tuple [7, 0] + - !!python/tuple [9, 14] + - !!python/tuple [19, 16] + - !!python/tuple [18, 22] + - !!python/tuple [24, 31] + - !!python/tuple [11, 10] + - !!python/tuple [27, 9] + - !!python/tuple [14, 4] + - !!python/tuple [5, 24] + - !!python/tuple [30, 5] + - !!python/tuple [14, 2] + - !!python/tuple [7, 5] + - !!python/tuple [18, 15] + - !!python/tuple [25, 30] + - !!python/tuple [1, 16] + - !!python/tuple [30, 13] + - !!python/tuple [23, 24] + - !!python/tuple [6, 31] + - !!python/tuple [6, 21] + - !!python/tuple [28, 31] + - !!python/tuple [29, 0] + - !!python/tuple [14, 26] + - !!python/tuple [13, 2] + - !!python/tuple [13, 11] + - !!python/tuple [1, 7] + - !!python/tuple [0, 11] + - !!python/tuple [12, 6] + - !!python/tuple [30, 19] + - !!python/tuple [24, 2] + - !!python/tuple [27, 5] + - !!python/tuple [8, 28] + - !!python/tuple [18, 3] + - !!python/tuple [21, 15] + - !!python/tuple [10, 1] + - !!python/tuple [12, 13] + - !!python/tuple [12, 25] + - !!python/tuple [2, 18] + - !!python/tuple [22, 22] + - !!python/tuple [11, 18] + - !!python/tuple [25, 5] + - !!python/tuple [21, 20] + - !!python/tuple [30, 16] + - !!python/tuple [24, 10] + - !!python/tuple [4, 17] + - !!python/tuple [25, 6] + - !!python/tuple [27, 23] + - !!python/tuple [13, 6] + - !!python/tuple [29, 11] + - !!python/tuple [16, 26] + - !!python/tuple [29, 21] + - !!python/tuple [9, 4] + - !!python/tuple [20, 8] + - !!python/tuple [8, 2] + - !!python/tuple [21, 24] + - !!python/tuple [19, 23] + - !!python/tuple [12, 20] + - !!python/tuple [10, 28] + - !!python/tuple [18, 26] + - !!python/tuple [17, 7] + - !!python/tuple [0, 22] + - !!python/tuple [10, 23] + - !!python/tuple [11, 5] + - !!python/tuple [5, 12] + - !!python/tuple [7, 31] + - !!python/tuple [12, 16] + - !!python/tuple [27, 15] + - !!python/tuple [19, 4] + - !!python/tuple [12, 1] + - !!python/tuple [14, 25] + - !!python/tuple [17, 13] + - !!python/tuple [21, 0] + - !!python/tuple [31, 5] + - !!python/tuple [24, 6] + - !!python/tuple [18, 23] + - !!python/tuple [27, 8] + - !!python/tuple [17, 3] + - !!python/tuple [15, 0] + - !!python/tuple [19, 13] + - !!python/tuple [24, 8] + - !!python/tuple [24, 30] + - !!python/tuple [28, 6] + - !!python/tuple [9, 8] + - !!python/tuple [29, 9] + - !!python/tuple [18, 18] + - !!python/tuple [31, 29] + - !!python/tuple [23, 0] + - !!python/tuple [5, 14] + - !!python/tuple [19, 19] + - !!python/tuple [3, 7] + - !!python/tuple [7, 25] + - !!python/tuple [16, 8] + - !!python/tuple [17, 29] + - !!python/tuple [12, 9] + - !!python/tuple [13, 25] + - !!python/tuple [9, 29] + - !!python/tuple [12, 3] + - !!python/tuple [26, 29] + - !!python/tuple [14, 18] + - !!python/tuple [0, 23] + - !!python/tuple [1, 25] + - !!python/tuple [15, 25] + - !!python/tuple [5, 1] + - !!python/tuple [28, 13] + - !!python/tuple [11, 21] + - !!python/tuple [10, 29] + - !!python/tuple [5, 20] + - !!python/tuple [11, 17] + - !!python/tuple [7, 10] + - !!python/tuple [8, 1] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex30.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex30.yaml new file mode 100644 index 0000000..7c1b8ab --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex30.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [12, 26] + name: agent0 + start: [28, 21] +- goal: [5, 6] + name: agent1 + start: [17, 6] +- goal: [4, 21] + name: agent2 + start: [24, 8] +- goal: [12, 14] + name: agent3 + start: [7, 28] +- goal: [4, 7] + name: agent4 + start: [26, 9] +- goal: [17, 21] + name: agent5 + start: [21, 6] +- goal: [19, 24] + name: agent6 + start: [12, 26] +- goal: [21, 25] + name: agent7 + start: [19, 19] +- goal: [8, 11] + name: agent8 + start: [21, 29] +- goal: [31, 31] + name: agent9 + start: [11, 24] +- goal: [4, 13] + name: agent10 + start: [2, 23] +- goal: [26, 4] + name: agent11 + start: [5, 27] +- goal: [23, 14] + name: agent12 + start: [24, 1] +- goal: [18, 1] + name: agent13 + start: [7, 31] +- goal: [19, 29] + name: agent14 + start: [9, 22] +- goal: [10, 4] + name: agent15 + start: [14, 6] +- goal: [29, 6] + name: agent16 + start: [19, 11] +- goal: [29, 1] + name: agent17 + start: [16, 16] +- goal: [13, 29] + name: agent18 + start: [10, 31] +- goal: [16, 9] + name: agent19 + start: [0, 2] +- goal: [13, 30] + name: agent20 + start: [21, 11] +- goal: [31, 11] + name: agent21 + start: [13, 23] +- goal: [7, 31] + name: agent22 + start: [20, 18] +- goal: [10, 9] + name: agent23 + start: [14, 28] +- goal: [6, 3] + name: agent24 + start: [20, 13] +- goal: [23, 25] + name: agent25 + start: [1, 2] +- goal: [18, 15] + name: agent26 + start: [19, 24] +- goal: [3, 6] + name: agent27 + start: [4, 13] +- goal: [11, 25] + name: agent28 + start: [4, 29] +- goal: [20, 25] + name: agent29 + start: [17, 8] +- goal: [15, 28] + name: agent30 + start: [17, 16] +- goal: [9, 18] + name: agent31 + start: [16, 11] +- goal: [4, 28] + name: agent32 + start: [16, 9] +- goal: [8, 0] + name: agent33 + start: [6, 26] +- goal: [9, 13] + name: agent34 + start: [0, 21] +- goal: [7, 11] + name: agent35 + start: [4, 12] +- goal: [28, 25] + name: agent36 + start: [13, 10] +- goal: [29, 2] + name: agent37 + start: [5, 12] +- goal: [27, 2] + name: agent38 + start: [24, 22] +- goal: [4, 8] + name: agent39 + start: [8, 28] +- goal: [12, 25] + name: agent40 + start: [27, 18] +- goal: [24, 20] + name: agent41 + start: [21, 5] +- goal: [4, 4] + name: agent42 + start: [3, 0] +- goal: [14, 5] + name: agent43 + start: [28, 0] +- goal: [18, 16] + name: agent44 + start: [22, 4] +- goal: [19, 11] + name: agent45 + start: [27, 15] +- goal: [10, 31] + name: agent46 + start: [0, 27] +- goal: [29, 8] + name: agent47 + start: [7, 23] +- goal: [19, 19] + name: agent48 + start: [27, 28] +- goal: [6, 1] + name: agent49 + start: [5, 30] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [7, 2] + - !!python/tuple [15, 18] + - !!python/tuple [25, 9] + - !!python/tuple [26, 3] + - !!python/tuple [9, 15] + - !!python/tuple [14, 10] + - !!python/tuple [2, 19] + - !!python/tuple [15, 29] + - !!python/tuple [22, 15] + - !!python/tuple [21, 26] + - !!python/tuple [0, 5] + - !!python/tuple [29, 19] + - !!python/tuple [25, 16] + - !!python/tuple [9, 23] + - !!python/tuple [21, 10] + - !!python/tuple [11, 16] + - !!python/tuple [4, 20] + - !!python/tuple [28, 30] + - !!python/tuple [18, 14] + - !!python/tuple [22, 9] + - !!python/tuple [10, 11] + - !!python/tuple [7, 20] + - !!python/tuple [25, 15] + - !!python/tuple [27, 26] + - !!python/tuple [27, 14] + - !!python/tuple [31, 14] + - !!python/tuple [1, 23] + - !!python/tuple [19, 14] + - !!python/tuple [20, 30] + - !!python/tuple [22, 21] + - !!python/tuple [22, 16] + - !!python/tuple [21, 0] + - !!python/tuple [10, 25] + - !!python/tuple [29, 13] + - !!python/tuple [30, 24] + - !!python/tuple [30, 7] + - !!python/tuple [4, 24] + - !!python/tuple [20, 24] + - !!python/tuple [7, 19] + - !!python/tuple [22, 18] + - !!python/tuple [26, 5] + - !!python/tuple [31, 6] + - !!python/tuple [11, 22] + - !!python/tuple [17, 1] + - !!python/tuple [25, 20] + - !!python/tuple [8, 4] + - !!python/tuple [14, 8] + - !!python/tuple [29, 5] + - !!python/tuple [21, 16] + - !!python/tuple [23, 26] + - !!python/tuple [8, 29] + - !!python/tuple [0, 19] + - !!python/tuple [15, 9] + - !!python/tuple [0, 4] + - !!python/tuple [28, 5] + - !!python/tuple [25, 12] + - !!python/tuple [29, 31] + - !!python/tuple [15, 3] + - !!python/tuple [30, 22] + - !!python/tuple [5, 5] + - !!python/tuple [5, 1] + - !!python/tuple [26, 21] + - !!python/tuple [9, 26] + - !!python/tuple [27, 7] + - !!python/tuple [28, 7] + - !!python/tuple [11, 4] + - !!python/tuple [1, 27] + - !!python/tuple [28, 8] + - !!python/tuple [13, 0] + - !!python/tuple [19, 7] + - !!python/tuple [10, 6] + - !!python/tuple [27, 29] + - !!python/tuple [14, 30] + - !!python/tuple [9, 6] + - !!python/tuple [27, 20] + - !!python/tuple [25, 2] + - !!python/tuple [6, 23] + - !!python/tuple [28, 9] + - !!python/tuple [8, 17] + - !!python/tuple [30, 27] + - !!python/tuple [13, 15] + - !!python/tuple [3, 31] + - !!python/tuple [31, 9] + - !!python/tuple [14, 29] + - !!python/tuple [15, 8] + - !!python/tuple [11, 29] + - !!python/tuple [28, 24] + - !!python/tuple [12, 16] + - !!python/tuple [10, 7] + - !!python/tuple [3, 3] + - !!python/tuple [29, 29] + - !!python/tuple [30, 28] + - !!python/tuple [17, 7] + - !!python/tuple [31, 3] + - !!python/tuple [19, 9] + - !!python/tuple [25, 19] + - !!python/tuple [16, 26] + - !!python/tuple [16, 27] + - !!python/tuple [2, 3] + - !!python/tuple [23, 13] + - !!python/tuple [5, 7] + - !!python/tuple [18, 22] + - !!python/tuple [23, 22] + - !!python/tuple [29, 28] + - !!python/tuple [23, 5] + - !!python/tuple [25, 0] + - !!python/tuple [2, 24] + - !!python/tuple [24, 23] + - !!python/tuple [25, 8] + - !!python/tuple [23, 20] + - !!python/tuple [24, 17] + - !!python/tuple [18, 5] + - !!python/tuple [18, 25] + - !!python/tuple [24, 26] + - !!python/tuple [0, 15] + - !!python/tuple [25, 29] + - !!python/tuple [28, 18] + - !!python/tuple [19, 5] + - !!python/tuple [23, 31] + - !!python/tuple [25, 11] + - !!python/tuple [24, 13] + - !!python/tuple [15, 11] + - !!python/tuple [13, 9] + - !!python/tuple [23, 27] + - !!python/tuple [4, 14] + - !!python/tuple [11, 9] + - !!python/tuple [8, 5] + - !!python/tuple [2, 20] + - !!python/tuple [23, 18] + - !!python/tuple [12, 11] + - !!python/tuple [8, 20] + - !!python/tuple [1, 1] + - !!python/tuple [13, 31] + - !!python/tuple [17, 13] + - !!python/tuple [1, 18] + - !!python/tuple [12, 23] + - !!python/tuple [6, 29] + - !!python/tuple [20, 7] + - !!python/tuple [23, 28] + - !!python/tuple [0, 13] + - !!python/tuple [12, 19] + - !!python/tuple [27, 31] + - !!python/tuple [20, 17] + - !!python/tuple [3, 19] + - !!python/tuple [16, 18] + - !!python/tuple [14, 20] + - !!python/tuple [10, 28] + - !!python/tuple [1, 13] + - !!python/tuple [1, 17] + - !!python/tuple [24, 28] + - !!python/tuple [10, 12] + - !!python/tuple [30, 5] + - !!python/tuple [20, 16] + - !!python/tuple [19, 22] + - !!python/tuple [29, 16] + - !!python/tuple [13, 13] + - !!python/tuple [1, 14] + - !!python/tuple [21, 13] + - !!python/tuple [22, 11] + - !!python/tuple [26, 22] + - !!python/tuple [23, 23] + - !!python/tuple [26, 12] + - !!python/tuple [27, 17] + - !!python/tuple [29, 4] + - !!python/tuple [27, 27] + - !!python/tuple [16, 22] + - !!python/tuple [26, 28] + - !!python/tuple [13, 28] + - !!python/tuple [29, 25] + - !!python/tuple [6, 12] + - !!python/tuple [8, 24] + - !!python/tuple [8, 6] + - !!python/tuple [12, 27] + - !!python/tuple [1, 11] + - !!python/tuple [28, 17] + - !!python/tuple [1, 8] + - !!python/tuple [0, 0] + - !!python/tuple [16, 29] + - !!python/tuple [16, 10] + - !!python/tuple [5, 9] + - !!python/tuple [14, 11] + - !!python/tuple [28, 6] + - !!python/tuple [31, 8] + - !!python/tuple [11, 6] + - !!python/tuple [15, 24] + - !!python/tuple [5, 13] + - !!python/tuple [7, 8] + - !!python/tuple [19, 23] + - !!python/tuple [19, 20] + - !!python/tuple [10, 16] + - !!python/tuple [15, 15] + - !!python/tuple [1, 16] + - !!python/tuple [31, 16] + - !!python/tuple [21, 2] + - !!python/tuple [19, 16] + - !!python/tuple [9, 4] + - !!python/tuple [27, 11] + - !!python/tuple [1, 6] + - !!python/tuple [4, 15] + - !!python/tuple [8, 16] + - !!python/tuple [6, 10] + - !!python/tuple [22, 30] + - !!python/tuple [24, 30] + - !!python/tuple [17, 14] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex31.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex31.yaml new file mode 100644 index 0000000..cf6bf80 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex31.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [20, 9] + name: agent0 + start: [18, 10] +- goal: [15, 25] + name: agent1 + start: [6, 6] +- goal: [22, 11] + name: agent2 + start: [21, 5] +- goal: [30, 31] + name: agent3 + start: [18, 23] +- goal: [15, 11] + name: agent4 + start: [24, 8] +- goal: [24, 29] + name: agent5 + start: [24, 0] +- goal: [23, 3] + name: agent6 + start: [2, 11] +- goal: [22, 25] + name: agent7 + start: [24, 9] +- goal: [6, 22] + name: agent8 + start: [21, 28] +- goal: [16, 3] + name: agent9 + start: [8, 3] +- goal: [23, 25] + name: agent10 + start: [7, 8] +- goal: [15, 28] + name: agent11 + start: [26, 30] +- goal: [28, 28] + name: agent12 + start: [11, 20] +- goal: [2, 25] + name: agent13 + start: [5, 29] +- goal: [7, 2] + name: agent14 + start: [5, 21] +- goal: [23, 20] + name: agent15 + start: [3, 29] +- goal: [16, 16] + name: agent16 + start: [8, 16] +- goal: [7, 15] + name: agent17 + start: [31, 9] +- goal: [25, 10] + name: agent18 + start: [22, 30] +- goal: [21, 9] + name: agent19 + start: [23, 18] +- goal: [20, 17] + name: agent20 + start: [2, 13] +- goal: [23, 15] + name: agent21 + start: [3, 19] +- goal: [17, 27] + name: agent22 + start: [23, 10] +- goal: [31, 25] + name: agent23 + start: [31, 14] +- goal: [17, 31] + name: agent24 + start: [22, 13] +- goal: [11, 16] + name: agent25 + start: [17, 17] +- goal: [2, 5] + name: agent26 + start: [16, 27] +- goal: [28, 29] + name: agent27 + start: [28, 10] +- goal: [3, 6] + name: agent28 + start: [10, 19] +- goal: [14, 8] + name: agent29 + start: [27, 7] +- goal: [23, 2] + name: agent30 + start: [11, 28] +- goal: [13, 0] + name: agent31 + start: [13, 6] +- goal: [0, 24] + name: agent32 + start: [25, 15] +- goal: [9, 31] + name: agent33 + start: [28, 8] +- goal: [4, 25] + name: agent34 + start: [17, 21] +- goal: [3, 27] + name: agent35 + start: [0, 10] +- goal: [2, 26] + name: agent36 + start: [2, 24] +- goal: [5, 24] + name: agent37 + start: [31, 25] +- goal: [24, 23] + name: agent38 + start: [29, 1] +- goal: [15, 6] + name: agent39 + start: [31, 11] +- goal: [12, 20] + name: agent40 + start: [11, 9] +- goal: [18, 23] + name: agent41 + start: [20, 29] +- goal: [10, 31] + name: agent42 + start: [9, 17] +- goal: [15, 14] + name: agent43 + start: [1, 31] +- goal: [2, 17] + name: agent44 + start: [21, 8] +- goal: [22, 22] + name: agent45 + start: [23, 25] +- goal: [14, 2] + name: agent46 + start: [24, 23] +- goal: [8, 9] + name: agent47 + start: [16, 3] +- goal: [8, 2] + name: agent48 + start: [7, 26] +- goal: [12, 24] + name: agent49 + start: [14, 2] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [21, 4] + - !!python/tuple [27, 0] + - !!python/tuple [18, 22] + - !!python/tuple [25, 31] + - !!python/tuple [28, 31] + - !!python/tuple [24, 19] + - !!python/tuple [16, 10] + - !!python/tuple [25, 18] + - !!python/tuple [17, 16] + - !!python/tuple [30, 4] + - !!python/tuple [17, 4] + - !!python/tuple [3, 2] + - !!python/tuple [21, 23] + - !!python/tuple [17, 25] + - !!python/tuple [12, 19] + - !!python/tuple [0, 17] + - !!python/tuple [2, 20] + - !!python/tuple [22, 2] + - !!python/tuple [30, 10] + - !!python/tuple [0, 15] + - !!python/tuple [29, 5] + - !!python/tuple [2, 12] + - !!python/tuple [14, 16] + - !!python/tuple [21, 30] + - !!python/tuple [27, 21] + - !!python/tuple [8, 30] + - !!python/tuple [5, 2] + - !!python/tuple [26, 14] + - !!python/tuple [16, 30] + - !!python/tuple [18, 7] + - !!python/tuple [27, 14] + - !!python/tuple [17, 14] + - !!python/tuple [20, 5] + - !!python/tuple [14, 31] + - !!python/tuple [12, 25] + - !!python/tuple [20, 27] + - !!python/tuple [1, 0] + - !!python/tuple [17, 18] + - !!python/tuple [27, 23] + - !!python/tuple [19, 28] + - !!python/tuple [16, 1] + - !!python/tuple [23, 9] + - !!python/tuple [18, 11] + - !!python/tuple [26, 13] + - !!python/tuple [17, 5] + - !!python/tuple [31, 31] + - !!python/tuple [21, 6] + - !!python/tuple [21, 10] + - !!python/tuple [17, 23] + - !!python/tuple [6, 4] + - !!python/tuple [17, 24] + - !!python/tuple [0, 0] + - !!python/tuple [21, 17] + - !!python/tuple [29, 27] + - !!python/tuple [7, 4] + - !!python/tuple [20, 31] + - !!python/tuple [1, 23] + - !!python/tuple [1, 18] + - !!python/tuple [28, 17] + - !!python/tuple [12, 2] + - !!python/tuple [13, 22] + - !!python/tuple [11, 18] + - !!python/tuple [13, 31] + - !!python/tuple [31, 26] + - !!python/tuple [11, 11] + - !!python/tuple [13, 10] + - !!python/tuple [19, 17] + - !!python/tuple [25, 29] + - !!python/tuple [9, 2] + - !!python/tuple [29, 18] + - !!python/tuple [19, 22] + - !!python/tuple [19, 7] + - !!python/tuple [5, 4] + - !!python/tuple [6, 20] + - !!python/tuple [20, 18] + - !!python/tuple [0, 9] + - !!python/tuple [30, 19] + - !!python/tuple [3, 10] + - !!python/tuple [9, 18] + - !!python/tuple [11, 22] + - !!python/tuple [13, 30] + - !!python/tuple [3, 20] + - !!python/tuple [5, 16] + - !!python/tuple [16, 28] + - !!python/tuple [7, 30] + - !!python/tuple [24, 18] + - !!python/tuple [23, 7] + - !!python/tuple [26, 5] + - !!python/tuple [26, 8] + - !!python/tuple [8, 29] + - !!python/tuple [19, 27] + - !!python/tuple [31, 29] + - !!python/tuple [15, 17] + - !!python/tuple [3, 13] + - !!python/tuple [2, 18] + - !!python/tuple [19, 30] + - !!python/tuple [10, 9] + - !!python/tuple [2, 7] + - !!python/tuple [12, 5] + - !!python/tuple [22, 24] + - !!python/tuple [10, 8] + - !!python/tuple [7, 14] + - !!python/tuple [21, 25] + - !!python/tuple [25, 7] + - !!python/tuple [1, 9] + - !!python/tuple [26, 29] + - !!python/tuple [30, 7] + - !!python/tuple [8, 22] + - !!python/tuple [9, 1] + - !!python/tuple [26, 31] + - !!python/tuple [13, 1] + - !!python/tuple [18, 25] + - !!python/tuple [29, 0] + - !!python/tuple [30, 16] + - !!python/tuple [18, 18] + - !!python/tuple [14, 18] + - !!python/tuple [19, 14] + - !!python/tuple [6, 21] + - !!python/tuple [7, 27] + - !!python/tuple [27, 16] + - !!python/tuple [17, 20] + - !!python/tuple [6, 27] + - !!python/tuple [12, 15] + - !!python/tuple [22, 16] + - !!python/tuple [2, 29] + - !!python/tuple [2, 4] + - !!python/tuple [4, 21] + - !!python/tuple [30, 17] + - !!python/tuple [26, 24] + - !!python/tuple [13, 16] + - !!python/tuple [11, 14] + - !!python/tuple [3, 8] + - !!python/tuple [16, 13] + - !!python/tuple [29, 4] + - !!python/tuple [11, 31] + - !!python/tuple [16, 15] + - !!python/tuple [28, 2] + - !!python/tuple [18, 8] + - !!python/tuple [23, 27] + - !!python/tuple [13, 26] + - !!python/tuple [27, 1] + - !!python/tuple [30, 14] + - !!python/tuple [20, 19] + - !!python/tuple [22, 15] + - !!python/tuple [0, 16] + - !!python/tuple [12, 21] + - !!python/tuple [17, 19] + - !!python/tuple [11, 2] + - !!python/tuple [9, 4] + - !!python/tuple [17, 3] + - !!python/tuple [2, 9] + - !!python/tuple [0, 7] + - !!python/tuple [19, 5] + - !!python/tuple [6, 7] + - !!python/tuple [18, 24] + - !!python/tuple [9, 24] + - !!python/tuple [10, 27] + - !!python/tuple [26, 7] + - !!python/tuple [2, 15] + - !!python/tuple [0, 8] + - !!python/tuple [2, 19] + - !!python/tuple [13, 9] + - !!python/tuple [26, 17] + - !!python/tuple [22, 19] + - !!python/tuple [1, 16] + - !!python/tuple [31, 30] + - !!python/tuple [19, 9] + - !!python/tuple [7, 25] + - !!python/tuple [28, 9] + - !!python/tuple [26, 28] + - !!python/tuple [26, 23] + - !!python/tuple [8, 31] + - !!python/tuple [24, 20] + - !!python/tuple [24, 31] + - !!python/tuple [11, 0] + - !!python/tuple [5, 26] + - !!python/tuple [27, 18] + - !!python/tuple [21, 1] + - !!python/tuple [29, 14] + - !!python/tuple [3, 17] + - !!python/tuple [1, 5] + - !!python/tuple [23, 23] + - !!python/tuple [13, 3] + - !!python/tuple [6, 9] + - !!python/tuple [15, 27] + - !!python/tuple [21, 27] + - !!python/tuple [28, 6] + - !!python/tuple [4, 15] + - !!python/tuple [17, 0] + - !!python/tuple [2, 3] + - !!python/tuple [12, 1] + - !!python/tuple [29, 25] + - !!python/tuple [6, 15] + - !!python/tuple [8, 27] + - !!python/tuple [5, 25] + - !!python/tuple [29, 31] + - !!python/tuple [4, 26] + - !!python/tuple [7, 0] + - !!python/tuple [31, 12] + - !!python/tuple [14, 27] + - !!python/tuple [4, 30] + - !!python/tuple [7, 20] + - !!python/tuple [8, 15] + - !!python/tuple [11, 12] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex32.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex32.yaml new file mode 100644 index 0000000..ba11dea --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex32.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [28, 24] + name: agent0 + start: [28, 5] +- goal: [25, 30] + name: agent1 + start: [3, 2] +- goal: [18, 1] + name: agent2 + start: [1, 10] +- goal: [7, 11] + name: agent3 + start: [1, 23] +- goal: [25, 24] + name: agent4 + start: [21, 21] +- goal: [22, 4] + name: agent5 + start: [8, 6] +- goal: [6, 1] + name: agent6 + start: [5, 6] +- goal: [20, 6] + name: agent7 + start: [1, 19] +- goal: [26, 14] + name: agent8 + start: [10, 30] +- goal: [8, 3] + name: agent9 + start: [31, 7] +- goal: [29, 14] + name: agent10 + start: [18, 0] +- goal: [1, 14] + name: agent11 + start: [29, 20] +- goal: [6, 13] + name: agent12 + start: [20, 4] +- goal: [10, 17] + name: agent13 + start: [26, 20] +- goal: [19, 2] + name: agent14 + start: [18, 30] +- goal: [23, 17] + name: agent15 + start: [16, 26] +- goal: [3, 19] + name: agent16 + start: [23, 31] +- goal: [23, 24] + name: agent17 + start: [8, 20] +- goal: [8, 2] + name: agent18 + start: [28, 3] +- goal: [12, 29] + name: agent19 + start: [4, 25] +- goal: [24, 9] + name: agent20 + start: [11, 8] +- goal: [18, 9] + name: agent21 + start: [12, 7] +- goal: [28, 7] + name: agent22 + start: [11, 14] +- goal: [26, 4] + name: agent23 + start: [4, 5] +- goal: [30, 11] + name: agent24 + start: [24, 25] +- goal: [20, 3] + name: agent25 + start: [29, 6] +- goal: [27, 19] + name: agent26 + start: [23, 12] +- goal: [31, 11] + name: agent27 + start: [30, 26] +- goal: [5, 11] + name: agent28 + start: [19, 24] +- goal: [6, 21] + name: agent29 + start: [10, 6] +- goal: [11, 7] + name: agent30 + start: [10, 4] +- goal: [10, 26] + name: agent31 + start: [9, 10] +- goal: [27, 20] + name: agent32 + start: [14, 23] +- goal: [9, 1] + name: agent33 + start: [30, 13] +- goal: [28, 29] + name: agent34 + start: [14, 15] +- goal: [27, 16] + name: agent35 + start: [19, 30] +- goal: [25, 23] + name: agent36 + start: [2, 26] +- goal: [8, 14] + name: agent37 + start: [2, 15] +- goal: [8, 28] + name: agent38 + start: [4, 19] +- goal: [30, 23] + name: agent39 + start: [8, 2] +- goal: [21, 20] + name: agent40 + start: [3, 30] +- goal: [12, 24] + name: agent41 + start: [20, 17] +- goal: [15, 5] + name: agent42 + start: [24, 21] +- goal: [28, 16] + name: agent43 + start: [10, 3] +- goal: [26, 0] + name: agent44 + start: [7, 5] +- goal: [22, 19] + name: agent45 + start: [18, 7] +- goal: [9, 12] + name: agent46 + start: [2, 0] +- goal: [13, 8] + name: agent47 + start: [16, 31] +- goal: [27, 27] + name: agent48 + start: [2, 11] +- goal: [5, 3] + name: agent49 + start: [21, 3] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [24, 18] + - !!python/tuple [28, 4] + - !!python/tuple [2, 3] + - !!python/tuple [7, 31] + - !!python/tuple [6, 26] + - !!python/tuple [24, 20] + - !!python/tuple [25, 15] + - !!python/tuple [4, 12] + - !!python/tuple [16, 21] + - !!python/tuple [26, 3] + - !!python/tuple [7, 18] + - !!python/tuple [3, 10] + - !!python/tuple [5, 21] + - !!python/tuple [26, 24] + - !!python/tuple [4, 27] + - !!python/tuple [6, 11] + - !!python/tuple [17, 11] + - !!python/tuple [10, 21] + - !!python/tuple [3, 6] + - !!python/tuple [23, 30] + - !!python/tuple [27, 28] + - !!python/tuple [26, 18] + - !!python/tuple [3, 20] + - !!python/tuple [3, 12] + - !!python/tuple [9, 22] + - !!python/tuple [10, 13] + - !!python/tuple [9, 21] + - !!python/tuple [8, 7] + - !!python/tuple [16, 12] + - !!python/tuple [8, 10] + - !!python/tuple [31, 9] + - !!python/tuple [21, 24] + - !!python/tuple [24, 23] + - !!python/tuple [20, 0] + - !!python/tuple [0, 4] + - !!python/tuple [22, 11] + - !!python/tuple [6, 3] + - !!python/tuple [9, 5] + - !!python/tuple [15, 23] + - !!python/tuple [23, 28] + - !!python/tuple [20, 23] + - !!python/tuple [13, 27] + - !!python/tuple [30, 31] + - !!python/tuple [31, 17] + - !!python/tuple [18, 15] + - !!python/tuple [27, 1] + - !!python/tuple [19, 31] + - !!python/tuple [29, 28] + - !!python/tuple [15, 13] + - !!python/tuple [28, 23] + - !!python/tuple [11, 29] + - !!python/tuple [24, 31] + - !!python/tuple [17, 3] + - !!python/tuple [26, 21] + - !!python/tuple [13, 24] + - !!python/tuple [0, 5] + - !!python/tuple [14, 17] + - !!python/tuple [3, 14] + - !!python/tuple [4, 9] + - !!python/tuple [17, 2] + - !!python/tuple [15, 25] + - !!python/tuple [7, 19] + - !!python/tuple [13, 5] + - !!python/tuple [9, 8] + - !!python/tuple [5, 20] + - !!python/tuple [8, 23] + - !!python/tuple [30, 1] + - !!python/tuple [7, 30] + - !!python/tuple [4, 14] + - !!python/tuple [5, 13] + - !!python/tuple [11, 20] + - !!python/tuple [16, 29] + - !!python/tuple [12, 22] + - !!python/tuple [7, 9] + - !!python/tuple [7, 24] + - !!python/tuple [9, 28] + - !!python/tuple [9, 13] + - !!python/tuple [4, 31] + - !!python/tuple [18, 20] + - !!python/tuple [16, 24] + - !!python/tuple [0, 30] + - !!python/tuple [10, 19] + - !!python/tuple [17, 9] + - !!python/tuple [30, 30] + - !!python/tuple [13, 0] + - !!python/tuple [8, 29] + - !!python/tuple [1, 16] + - !!python/tuple [5, 5] + - !!python/tuple [23, 26] + - !!python/tuple [0, 14] + - !!python/tuple [31, 25] + - !!python/tuple [6, 10] + - !!python/tuple [21, 19] + - !!python/tuple [16, 3] + - !!python/tuple [2, 7] + - !!python/tuple [11, 2] + - !!python/tuple [1, 6] + - !!python/tuple [15, 9] + - !!python/tuple [17, 31] + - !!python/tuple [4, 13] + - !!python/tuple [16, 15] + - !!python/tuple [8, 12] + - !!python/tuple [6, 22] + - !!python/tuple [12, 6] + - !!python/tuple [11, 17] + - !!python/tuple [20, 18] + - !!python/tuple [11, 30] + - !!python/tuple [1, 28] + - !!python/tuple [23, 21] + - !!python/tuple [31, 19] + - !!python/tuple [23, 11] + - !!python/tuple [29, 31] + - !!python/tuple [8, 1] + - !!python/tuple [5, 31] + - !!python/tuple [24, 16] + - !!python/tuple [18, 21] + - !!python/tuple [23, 19] + - !!python/tuple [1, 3] + - !!python/tuple [4, 1] + - !!python/tuple [24, 17] + - !!python/tuple [30, 3] + - !!python/tuple [14, 27] + - !!python/tuple [2, 12] + - !!python/tuple [1, 17] + - !!python/tuple [13, 2] + - !!python/tuple [31, 22] + - !!python/tuple [13, 13] + - !!python/tuple [24, 12] + - !!python/tuple [8, 30] + - !!python/tuple [30, 14] + - !!python/tuple [28, 12] + - !!python/tuple [7, 6] + - !!python/tuple [12, 0] + - !!python/tuple [15, 3] + - !!python/tuple [1, 18] + - !!python/tuple [1, 1] + - !!python/tuple [15, 8] + - !!python/tuple [13, 26] + - !!python/tuple [10, 25] + - !!python/tuple [5, 26] + - !!python/tuple [6, 23] + - !!python/tuple [25, 6] + - !!python/tuple [9, 17] + - !!python/tuple [10, 28] + - !!python/tuple [31, 3] + - !!python/tuple [6, 30] + - !!python/tuple [25, 13] + - !!python/tuple [3, 25] + - !!python/tuple [3, 28] + - !!python/tuple [25, 4] + - !!python/tuple [21, 11] + - !!python/tuple [13, 6] + - !!python/tuple [7, 10] + - !!python/tuple [18, 11] + - !!python/tuple [21, 25] + - !!python/tuple [27, 15] + - !!python/tuple [6, 24] + - !!python/tuple [0, 2] + - !!python/tuple [23, 9] + - !!python/tuple [4, 15] + - !!python/tuple [26, 29] + - !!python/tuple [4, 26] + - !!python/tuple [19, 20] + - !!python/tuple [0, 18] + - !!python/tuple [20, 2] + - !!python/tuple [23, 25] + - !!python/tuple [19, 18] + - !!python/tuple [0, 1] + - !!python/tuple [2, 13] + - !!python/tuple [18, 16] + - !!python/tuple [3, 22] + - !!python/tuple [3, 21] + - !!python/tuple [29, 26] + - !!python/tuple [22, 15] + - !!python/tuple [19, 7] + - !!python/tuple [12, 30] + - !!python/tuple [27, 23] + - !!python/tuple [0, 28] + - !!python/tuple [3, 13] + - !!python/tuple [2, 23] + - !!python/tuple [29, 17] + - !!python/tuple [23, 10] + - !!python/tuple [20, 24] + - !!python/tuple [24, 7] + - !!python/tuple [15, 0] + - !!python/tuple [6, 15] + - !!python/tuple [16, 10] + - !!python/tuple [16, 16] + - !!python/tuple [29, 4] + - !!python/tuple [8, 15] + - !!python/tuple [22, 20] + - !!python/tuple [23, 7] + - !!python/tuple [11, 27] + - !!python/tuple [14, 31] + - !!python/tuple [9, 16] + - !!python/tuple [20, 10] + - !!python/tuple [23, 1] + - !!python/tuple [23, 18] + - !!python/tuple [27, 22] + - !!python/tuple [21, 2] + - !!python/tuple [31, 20] + - !!python/tuple [21, 23] + - !!python/tuple [11, 5] + - !!python/tuple [29, 5] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex33.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex33.yaml new file mode 100644 index 0000000..03341cc --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex33.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [10, 29] + name: agent0 + start: [14, 12] +- goal: [4, 1] + name: agent1 + start: [22, 0] +- goal: [4, 17] + name: agent2 + start: [15, 22] +- goal: [7, 19] + name: agent3 + start: [1, 27] +- goal: [14, 7] + name: agent4 + start: [18, 9] +- goal: [0, 18] + name: agent5 + start: [27, 25] +- goal: [6, 21] + name: agent6 + start: [16, 22] +- goal: [2, 27] + name: agent7 + start: [10, 8] +- goal: [12, 25] + name: agent8 + start: [16, 4] +- goal: [25, 5] + name: agent9 + start: [7, 20] +- goal: [12, 31] + name: agent10 + start: [5, 0] +- goal: [15, 27] + name: agent11 + start: [10, 21] +- goal: [2, 14] + name: agent12 + start: [28, 15] +- goal: [19, 7] + name: agent13 + start: [9, 8] +- goal: [3, 5] + name: agent14 + start: [30, 18] +- goal: [23, 1] + name: agent15 + start: [15, 8] +- goal: [0, 5] + name: agent16 + start: [14, 10] +- goal: [1, 3] + name: agent17 + start: [25, 22] +- goal: [14, 11] + name: agent18 + start: [1, 31] +- goal: [12, 8] + name: agent19 + start: [12, 20] +- goal: [26, 14] + name: agent20 + start: [0, 23] +- goal: [31, 7] + name: agent21 + start: [2, 13] +- goal: [19, 26] + name: agent22 + start: [11, 19] +- goal: [1, 18] + name: agent23 + start: [25, 28] +- goal: [30, 29] + name: agent24 + start: [1, 17] +- goal: [18, 9] + name: agent25 + start: [19, 18] +- goal: [0, 21] + name: agent26 + start: [18, 27] +- goal: [12, 13] + name: agent27 + start: [27, 8] +- goal: [21, 0] + name: agent28 + start: [2, 0] +- goal: [7, 15] + name: agent29 + start: [6, 0] +- goal: [2, 18] + name: agent30 + start: [12, 24] +- goal: [4, 30] + name: agent31 + start: [27, 1] +- goal: [29, 25] + name: agent32 + start: [2, 4] +- goal: [1, 28] + name: agent33 + start: [3, 24] +- goal: [5, 0] + name: agent34 + start: [2, 12] +- goal: [4, 14] + name: agent35 + start: [31, 0] +- goal: [5, 19] + name: agent36 + start: [15, 30] +- goal: [1, 20] + name: agent37 + start: [11, 24] +- goal: [10, 27] + name: agent38 + start: [23, 13] +- goal: [23, 10] + name: agent39 + start: [0, 24] +- goal: [20, 17] + name: agent40 + start: [17, 6] +- goal: [22, 16] + name: agent41 + start: [11, 16] +- goal: [31, 2] + name: agent42 + start: [22, 17] +- goal: [2, 0] + name: agent43 + start: [1, 23] +- goal: [24, 3] + name: agent44 + start: [26, 3] +- goal: [24, 10] + name: agent45 + start: [8, 31] +- goal: [8, 26] + name: agent46 + start: [2, 17] +- goal: [1, 17] + name: agent47 + start: [29, 20] +- goal: [16, 3] + name: agent48 + start: [8, 5] +- goal: [28, 7] + name: agent49 + start: [22, 19] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [2, 29] + - !!python/tuple [8, 6] + - !!python/tuple [20, 6] + - !!python/tuple [25, 25] + - !!python/tuple [20, 25] + - !!python/tuple [4, 3] + - !!python/tuple [26, 15] + - !!python/tuple [21, 13] + - !!python/tuple [10, 16] + - !!python/tuple [11, 0] + - !!python/tuple [1, 11] + - !!python/tuple [5, 4] + - !!python/tuple [5, 25] + - !!python/tuple [21, 7] + - !!python/tuple [2, 30] + - !!python/tuple [17, 4] + - !!python/tuple [0, 1] + - !!python/tuple [11, 3] + - !!python/tuple [16, 23] + - !!python/tuple [24, 9] + - !!python/tuple [30, 19] + - !!python/tuple [28, 3] + - !!python/tuple [8, 1] + - !!python/tuple [16, 10] + - !!python/tuple [22, 10] + - !!python/tuple [11, 27] + - !!python/tuple [0, 19] + - !!python/tuple [6, 16] + - !!python/tuple [21, 1] + - !!python/tuple [0, 9] + - !!python/tuple [8, 21] + - !!python/tuple [27, 24] + - !!python/tuple [1, 1] + - !!python/tuple [19, 3] + - !!python/tuple [14, 0] + - !!python/tuple [20, 10] + - !!python/tuple [19, 5] + - !!python/tuple [0, 27] + - !!python/tuple [11, 2] + - !!python/tuple [5, 29] + - !!python/tuple [29, 3] + - !!python/tuple [20, 22] + - !!python/tuple [13, 0] + - !!python/tuple [3, 10] + - !!python/tuple [30, 22] + - !!python/tuple [13, 3] + - !!python/tuple [0, 4] + - !!python/tuple [3, 1] + - !!python/tuple [15, 11] + - !!python/tuple [21, 14] + - !!python/tuple [19, 4] + - !!python/tuple [12, 3] + - !!python/tuple [6, 15] + - !!python/tuple [6, 5] + - !!python/tuple [3, 25] + - !!python/tuple [21, 30] + - !!python/tuple [23, 29] + - !!python/tuple [8, 30] + - !!python/tuple [6, 30] + - !!python/tuple [18, 24] + - !!python/tuple [1, 25] + - !!python/tuple [30, 4] + - !!python/tuple [11, 11] + - !!python/tuple [13, 17] + - !!python/tuple [28, 14] + - !!python/tuple [12, 10] + - !!python/tuple [7, 3] + - !!python/tuple [7, 21] + - !!python/tuple [20, 2] + - !!python/tuple [7, 25] + - !!python/tuple [13, 23] + - !!python/tuple [10, 28] + - !!python/tuple [2, 9] + - !!python/tuple [27, 0] + - !!python/tuple [6, 4] + - !!python/tuple [25, 10] + - !!python/tuple [2, 8] + - !!python/tuple [31, 11] + - !!python/tuple [13, 2] + - !!python/tuple [12, 7] + - !!python/tuple [9, 2] + - !!python/tuple [11, 21] + - !!python/tuple [16, 27] + - !!python/tuple [1, 7] + - !!python/tuple [25, 17] + - !!python/tuple [24, 29] + - !!python/tuple [31, 18] + - !!python/tuple [30, 6] + - !!python/tuple [31, 1] + - !!python/tuple [19, 1] + - !!python/tuple [25, 31] + - !!python/tuple [9, 6] + - !!python/tuple [3, 15] + - !!python/tuple [15, 17] + - !!python/tuple [19, 17] + - !!python/tuple [31, 20] + - !!python/tuple [5, 27] + - !!python/tuple [5, 28] + - !!python/tuple [7, 12] + - !!python/tuple [6, 8] + - !!python/tuple [9, 20] + - !!python/tuple [21, 11] + - !!python/tuple [12, 9] + - !!python/tuple [21, 5] + - !!python/tuple [4, 20] + - !!python/tuple [3, 4] + - !!python/tuple [31, 24] + - !!python/tuple [20, 4] + - !!python/tuple [25, 20] + - !!python/tuple [24, 21] + - !!python/tuple [12, 14] + - !!python/tuple [18, 17] + - !!python/tuple [4, 9] + - !!python/tuple [26, 8] + - !!python/tuple [23, 21] + - !!python/tuple [30, 30] + - !!python/tuple [13, 25] + - !!python/tuple [19, 21] + - !!python/tuple [2, 5] + - !!python/tuple [22, 14] + - !!python/tuple [4, 28] + - !!python/tuple [3, 26] + - !!python/tuple [0, 12] + - !!python/tuple [14, 18] + - !!python/tuple [18, 13] + - !!python/tuple [2, 7] + - !!python/tuple [26, 11] + - !!python/tuple [13, 30] + - !!python/tuple [30, 10] + - !!python/tuple [29, 15] + - !!python/tuple [6, 25] + - !!python/tuple [31, 13] + - !!python/tuple [15, 21] + - !!python/tuple [3, 31] + - !!python/tuple [28, 24] + - !!python/tuple [30, 3] + - !!python/tuple [14, 27] + - !!python/tuple [23, 15] + - !!python/tuple [7, 23] + - !!python/tuple [21, 4] + - !!python/tuple [5, 14] + - !!python/tuple [24, 25] + - !!python/tuple [22, 12] + - !!python/tuple [29, 31] + - !!python/tuple [21, 8] + - !!python/tuple [5, 20] + - !!python/tuple [20, 27] + - !!python/tuple [0, 25] + - !!python/tuple [28, 22] + - !!python/tuple [5, 23] + - !!python/tuple [2, 25] + - !!python/tuple [10, 6] + - !!python/tuple [30, 9] + - !!python/tuple [16, 7] + - !!python/tuple [21, 28] + - !!python/tuple [27, 18] + - !!python/tuple [0, 30] + - !!python/tuple [16, 11] + - !!python/tuple [26, 30] + - !!python/tuple [13, 31] + - !!python/tuple [5, 21] + - !!python/tuple [24, 14] + - !!python/tuple [0, 6] + - !!python/tuple [22, 9] + - !!python/tuple [1, 21] + - !!python/tuple [29, 18] + - !!python/tuple [16, 31] + - !!python/tuple [26, 4] + - !!python/tuple [12, 0] + - !!python/tuple [18, 21] + - !!python/tuple [8, 24] + - !!python/tuple [4, 10] + - !!python/tuple [25, 18] + - !!python/tuple [15, 18] + - !!python/tuple [21, 20] + - !!python/tuple [7, 18] + - !!python/tuple [23, 31] + - !!python/tuple [25, 29] + - !!python/tuple [18, 30] + - !!python/tuple [29, 30] + - !!python/tuple [10, 0] + - !!python/tuple [29, 16] + - !!python/tuple [6, 18] + - !!python/tuple [8, 18] + - !!python/tuple [7, 30] + - !!python/tuple [7, 13] + - !!python/tuple [18, 18] + - !!python/tuple [12, 16] + - !!python/tuple [14, 8] + - !!python/tuple [31, 29] + - !!python/tuple [5, 22] + - !!python/tuple [1, 14] + - !!python/tuple [29, 17] + - !!python/tuple [9, 24] + - !!python/tuple [3, 30] + - !!python/tuple [17, 11] + - !!python/tuple [8, 2] + - !!python/tuple [29, 6] + - !!python/tuple [10, 5] + - !!python/tuple [28, 2] + - !!python/tuple [14, 23] + - !!python/tuple [5, 15] + - !!python/tuple [22, 4] + - !!python/tuple [10, 26] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex34.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex34.yaml new file mode 100644 index 0000000..1e093df --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex34.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [0, 19] + name: agent0 + start: [21, 28] +- goal: [8, 17] + name: agent1 + start: [23, 22] +- goal: [5, 4] + name: agent2 + start: [3, 31] +- goal: [18, 13] + name: agent3 + start: [13, 13] +- goal: [29, 17] + name: agent4 + start: [7, 8] +- goal: [15, 12] + name: agent5 + start: [29, 24] +- goal: [26, 3] + name: agent6 + start: [7, 16] +- goal: [28, 23] + name: agent7 + start: [1, 6] +- goal: [27, 20] + name: agent8 + start: [2, 4] +- goal: [10, 22] + name: agent9 + start: [14, 1] +- goal: [1, 19] + name: agent10 + start: [22, 10] +- goal: [19, 13] + name: agent11 + start: [10, 26] +- goal: [15, 11] + name: agent12 + start: [27, 0] +- goal: [6, 0] + name: agent13 + start: [5, 2] +- goal: [24, 22] + name: agent14 + start: [22, 20] +- goal: [13, 9] + name: agent15 + start: [14, 25] +- goal: [20, 5] + name: agent16 + start: [29, 0] +- goal: [12, 17] + name: agent17 + start: [14, 4] +- goal: [10, 20] + name: agent18 + start: [4, 13] +- goal: [19, 9] + name: agent19 + start: [9, 2] +- goal: [30, 10] + name: agent20 + start: [3, 28] +- goal: [22, 18] + name: agent21 + start: [8, 28] +- goal: [2, 12] + name: agent22 + start: [7, 20] +- goal: [2, 23] + name: agent23 + start: [12, 5] +- goal: [7, 3] + name: agent24 + start: [21, 30] +- goal: [1, 25] + name: agent25 + start: [0, 7] +- goal: [18, 5] + name: agent26 + start: [22, 1] +- goal: [31, 27] + name: agent27 + start: [21, 25] +- goal: [25, 12] + name: agent28 + start: [3, 27] +- goal: [13, 19] + name: agent29 + start: [22, 8] +- goal: [21, 29] + name: agent30 + start: [3, 21] +- goal: [28, 24] + name: agent31 + start: [20, 2] +- goal: [7, 7] + name: agent32 + start: [5, 25] +- goal: [29, 13] + name: agent33 + start: [28, 9] +- goal: [5, 5] + name: agent34 + start: [7, 28] +- goal: [29, 21] + name: agent35 + start: [25, 16] +- goal: [23, 15] + name: agent36 + start: [18, 9] +- goal: [28, 26] + name: agent37 + start: [9, 28] +- goal: [27, 29] + name: agent38 + start: [0, 8] +- goal: [12, 25] + name: agent39 + start: [2, 27] +- goal: [20, 24] + name: agent40 + start: [13, 19] +- goal: [19, 24] + name: agent41 + start: [17, 14] +- goal: [0, 0] + name: agent42 + start: [30, 21] +- goal: [11, 30] + name: agent43 + start: [16, 21] +- goal: [12, 13] + name: agent44 + start: [5, 19] +- goal: [7, 29] + name: agent45 + start: [9, 29] +- goal: [13, 0] + name: agent46 + start: [30, 23] +- goal: [23, 21] + name: agent47 + start: [1, 19] +- goal: [20, 14] + name: agent48 + start: [23, 15] +- goal: [0, 20] + name: agent49 + start: [7, 24] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [14, 23] + - !!python/tuple [28, 10] + - !!python/tuple [31, 28] + - !!python/tuple [1, 23] + - !!python/tuple [30, 4] + - !!python/tuple [5, 27] + - !!python/tuple [23, 23] + - !!python/tuple [28, 0] + - !!python/tuple [31, 14] + - !!python/tuple [9, 0] + - !!python/tuple [4, 16] + - !!python/tuple [26, 28] + - !!python/tuple [6, 1] + - !!python/tuple [21, 22] + - !!python/tuple [2, 20] + - !!python/tuple [25, 29] + - !!python/tuple [1, 7] + - !!python/tuple [16, 9] + - !!python/tuple [17, 20] + - !!python/tuple [10, 4] + - !!python/tuple [7, 14] + - !!python/tuple [28, 21] + - !!python/tuple [19, 25] + - !!python/tuple [2, 0] + - !!python/tuple [12, 11] + - !!python/tuple [27, 16] + - !!python/tuple [0, 2] + - !!python/tuple [9, 30] + - !!python/tuple [6, 25] + - !!python/tuple [3, 6] + - !!python/tuple [18, 14] + - !!python/tuple [7, 13] + - !!python/tuple [15, 20] + - !!python/tuple [11, 5] + - !!python/tuple [0, 27] + - !!python/tuple [27, 12] + - !!python/tuple [7, 1] + - !!python/tuple [29, 29] + - !!python/tuple [19, 10] + - !!python/tuple [19, 3] + - !!python/tuple [6, 14] + - !!python/tuple [24, 1] + - !!python/tuple [27, 5] + - !!python/tuple [16, 27] + - !!python/tuple [11, 20] + - !!python/tuple [0, 26] + - !!python/tuple [18, 23] + - !!python/tuple [8, 29] + - !!python/tuple [3, 11] + - !!python/tuple [20, 8] + - !!python/tuple [18, 0] + - !!python/tuple [8, 0] + - !!python/tuple [0, 9] + - !!python/tuple [1, 10] + - !!python/tuple [11, 0] + - !!python/tuple [10, 18] + - !!python/tuple [4, 10] + - !!python/tuple [25, 13] + - !!python/tuple [22, 4] + - !!python/tuple [31, 1] + - !!python/tuple [29, 25] + - !!python/tuple [11, 6] + - !!python/tuple [3, 7] + - !!python/tuple [12, 8] + - !!python/tuple [10, 17] + - !!python/tuple [9, 1] + - !!python/tuple [17, 19] + - !!python/tuple [15, 5] + - !!python/tuple [20, 17] + - !!python/tuple [21, 24] + - !!python/tuple [17, 27] + - !!python/tuple [18, 21] + - !!python/tuple [19, 1] + - !!python/tuple [9, 27] + - !!python/tuple [19, 0] + - !!python/tuple [9, 6] + - !!python/tuple [21, 14] + - !!python/tuple [31, 8] + - !!python/tuple [29, 10] + - !!python/tuple [17, 29] + - !!python/tuple [29, 30] + - !!python/tuple [7, 0] + - !!python/tuple [17, 6] + - !!python/tuple [8, 10] + - !!python/tuple [1, 21] + - !!python/tuple [31, 23] + - !!python/tuple [14, 31] + - !!python/tuple [1, 28] + - !!python/tuple [20, 28] + - !!python/tuple [30, 31] + - 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!!python/tuple [21, 23] + - !!python/tuple [24, 29] + - !!python/tuple [25, 17] + - !!python/tuple [21, 27] + - !!python/tuple [2, 29] + - !!python/tuple [22, 27] + - !!python/tuple [22, 17] + - !!python/tuple [27, 22] + - !!python/tuple [25, 20] + - !!python/tuple [3, 9] + - !!python/tuple [9, 16] + - !!python/tuple [8, 19] + - !!python/tuple [18, 18] + - !!python/tuple [7, 26] + - !!python/tuple [25, 18] + - !!python/tuple [0, 18] + - !!python/tuple [19, 17] + - !!python/tuple [13, 29] + - !!python/tuple [24, 13] + - !!python/tuple [27, 27] + - !!python/tuple [7, 2] + - !!python/tuple [27, 17] + - !!python/tuple [31, 12] + - !!python/tuple [12, 1] + - !!python/tuple [12, 3] + - !!python/tuple [12, 9] + - !!python/tuple [14, 29] + - !!python/tuple [15, 2] + - !!python/tuple [4, 8] + - !!python/tuple [1, 14] + - !!python/tuple [10, 2] + - !!python/tuple [11, 25] + - !!python/tuple [28, 13] + - !!python/tuple [24, 20] + - !!python/tuple [2, 10] + - !!python/tuple [29, 6] + - !!python/tuple [18, 24] + - !!python/tuple [31, 24] + - !!python/tuple [23, 14] + - !!python/tuple [27, 1] + - !!python/tuple [24, 0] + - !!python/tuple [17, 22] + - !!python/tuple [20, 25] + - !!python/tuple [14, 16] + - !!python/tuple [25, 23] + - !!python/tuple [3, 29] + - !!python/tuple [24, 26] + - !!python/tuple [6, 24] + - !!python/tuple [24, 25] + - !!python/tuple [28, 31] + - !!python/tuple [30, 7] + - !!python/tuple [28, 22] + - !!python/tuple [21, 3] + - !!python/tuple [14, 21] + - !!python/tuple [11, 29] + - !!python/tuple [4, 21] + - !!python/tuple [6, 15] + - !!python/tuple [2, 13] + - !!python/tuple [13, 1] + - !!python/tuple [29, 9] + - !!python/tuple [5, 28] + - !!python/tuple [23, 29] + - !!python/tuple [20, 29] + - !!python/tuple [4, 7] + - !!python/tuple [18, 27] + - !!python/tuple [27, 6] + - !!python/tuple [17, 17] + - !!python/tuple [15, 19] + - !!python/tuple [27, 31] + - !!python/tuple [21, 11] + - !!python/tuple [14, 13] + - !!python/tuple [1, 31] + - !!python/tuple [18, 29] + - !!python/tuple [22, 5] + - !!python/tuple [3, 18] + - !!python/tuple [10, 24] + - !!python/tuple [22, 3] + - !!python/tuple [19, 21] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex35.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex35.yaml new file mode 100644 index 0000000..312305b --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex35.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [25, 27] + name: agent0 + start: [4, 30] +- goal: [13, 13] + name: agent1 + start: [27, 8] +- goal: [20, 16] + name: agent2 + start: [20, 5] +- goal: [5, 28] + name: agent3 + start: [10, 19] +- goal: [24, 27] + name: agent4 + start: [11, 6] +- goal: [18, 3] + name: agent5 + start: [10, 11] +- goal: [15, 6] + name: agent6 + start: [11, 4] +- goal: [11, 28] + name: agent7 + start: [3, 11] +- goal: [24, 29] + name: agent8 + start: [22, 13] +- goal: [1, 31] + name: agent9 + start: [22, 1] +- goal: [27, 29] + name: agent10 + start: [0, 21] +- goal: [27, 23] + name: agent11 + start: [30, 30] +- goal: [2, 4] + name: agent12 + start: [28, 27] +- goal: [13, 10] + name: agent13 + start: [28, 7] +- goal: [21, 23] + name: agent14 + start: [27, 10] +- goal: [5, 17] + name: agent15 + start: [18, 14] +- goal: [1, 12] + name: agent16 + start: [5, 25] +- goal: [19, 14] + name: agent17 + start: [13, 6] +- goal: [6, 2] + name: agent18 + start: [20, 24] +- goal: [15, 26] + name: agent19 + start: [15, 20] +- goal: [19, 6] + name: agent20 + start: [12, 6] +- goal: [23, 15] + name: agent21 + start: [27, 29] +- goal: [23, 5] + name: agent22 + start: [18, 23] +- goal: [17, 12] + name: agent23 + start: [0, 30] +- goal: [11, 14] + name: agent24 + start: [7, 3] +- goal: [4, 0] + name: agent25 + start: [24, 30] +- goal: [14, 19] + name: agent26 + start: [17, 27] +- goal: [30, 24] + name: agent27 + start: [23, 21] +- goal: [12, 23] + name: agent28 + start: [11, 31] +- goal: [3, 31] + name: agent29 + start: [7, 18] +- goal: [13, 6] + name: agent30 + start: [2, 25] +- goal: [26, 14] + name: agent31 + start: [15, 7] +- goal: [26, 6] + name: agent32 + start: [17, 21] +- goal: [11, 0] + name: agent33 + start: [3, 20] +- goal: [28, 24] + name: agent34 + start: [8, 9] +- goal: [17, 3] + name: agent35 + start: [11, 16] +- goal: [22, 6] + name: agent36 + start: [31, 5] +- goal: [14, 16] + name: agent37 + start: [10, 20] +- goal: [11, 3] + name: agent38 + start: [22, 19] +- goal: [15, 12] + name: agent39 + start: [7, 8] +- goal: [29, 19] + name: agent40 + start: [22, 31] +- goal: [31, 14] + name: agent41 + start: [5, 18] +- goal: [0, 7] + name: agent42 + start: [29, 9] +- goal: [19, 11] + name: agent43 + start: [26, 17] +- goal: [2, 10] + name: agent44 + start: [23, 0] +- goal: [31, 30] + name: agent45 + start: [7, 9] +- goal: [23, 10] + name: agent46 + start: [2, 14] +- goal: [7, 29] + name: agent47 + start: [10, 10] +- goal: [13, 30] + name: agent48 + start: [30, 8] +- goal: [26, 15] + name: agent49 + start: [5, 14] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [23, 18] + - !!python/tuple [8, 7] + - !!python/tuple [22, 0] + - !!python/tuple [30, 20] + - !!python/tuple [31, 12] + - !!python/tuple [28, 8] + - !!python/tuple [8, 18] + - !!python/tuple [21, 26] + - !!python/tuple [16, 17] + - !!python/tuple [13, 25] + - !!python/tuple [28, 5] + - !!python/tuple [19, 2] + - !!python/tuple [30, 16] + - !!python/tuple [20, 28] + - !!python/tuple [9, 3] + - !!python/tuple [3, 30] + - !!python/tuple [13, 15] + - !!python/tuple [7, 14] + - !!python/tuple [27, 6] + - !!python/tuple [15, 13] + - !!python/tuple [1, 11] + - !!python/tuple [28, 17] + - !!python/tuple [21, 13] + - !!python/tuple [27, 19] + - !!python/tuple [24, 13] + - !!python/tuple [15, 29] + - !!python/tuple [22, 5] + - !!python/tuple [30, 28] + - !!python/tuple [15, 2] + - !!python/tuple [27, 25] + - !!python/tuple [27, 28] + - !!python/tuple [0, 23] + - !!python/tuple [2, 20] + - !!python/tuple [15, 8] + - !!python/tuple [14, 12] + - !!python/tuple [10, 13] + - !!python/tuple [29, 23] + - !!python/tuple [26, 26] + - !!python/tuple [25, 30] + - !!python/tuple [12, 3] + - !!python/tuple [24, 12] + - !!python/tuple [20, 22] + - !!python/tuple [14, 27] + - !!python/tuple [3, 8] + - !!python/tuple [17, 8] + - !!python/tuple [6, 21] + - !!python/tuple [24, 11] + - !!python/tuple [24, 7] + - !!python/tuple [14, 24] + - !!python/tuple [15, 10] + - !!python/tuple [18, 5] + - !!python/tuple [31, 11] + - !!python/tuple [20, 0] + - !!python/tuple [9, 0] + - !!python/tuple [5, 12] + - !!python/tuple [27, 18] + - !!python/tuple [23, 4] + - !!python/tuple [4, 13] + - !!python/tuple [24, 21] + - !!python/tuple [12, 31] + - !!python/tuple [1, 3] + - !!python/tuple [12, 13] + - !!python/tuple [22, 12] + - !!python/tuple [29, 0] + - !!python/tuple [3, 13] + - !!python/tuple [26, 7] + - !!python/tuple [0, 2] + - !!python/tuple [9, 28] + - !!python/tuple [26, 9] + - !!python/tuple [30, 12] + - !!python/tuple [27, 15] + - !!python/tuple [30, 22] + - !!python/tuple [13, 18] + - !!python/tuple [20, 2] + - !!python/tuple [25, 13] + - !!python/tuple [21, 29] + - !!python/tuple [20, 1] + - !!python/tuple [29, 8] + - !!python/tuple [26, 8] + - !!python/tuple [9, 14] + - !!python/tuple [28, 4] + - !!python/tuple [20, 26] + - !!python/tuple [21, 9] + - !!python/tuple [9, 9] + - !!python/tuple [20, 18] + - !!python/tuple [7, 1] + - !!python/tuple [10, 26] + - !!python/tuple [17, 15] + - !!python/tuple [29, 5] + - !!python/tuple [21, 31] + - !!python/tuple [6, 20] + - !!python/tuple [3, 26] + - !!python/tuple [10, 1] + - !!python/tuple [24, 22] + - !!python/tuple [9, 26] + - !!python/tuple [16, 26] + - !!python/tuple [19, 17] + - !!python/tuple [3, 25] + - !!python/tuple [12, 19] + - !!python/tuple [19, 31] + - !!python/tuple [24, 3] + - !!python/tuple [25, 7] + - !!python/tuple [5, 10] + - !!python/tuple [0, 24] + - !!python/tuple [6, 27] + - !!python/tuple [19, 8] + - !!python/tuple [26, 24] + - !!python/tuple [4, 24] + - !!python/tuple [14, 13] + - !!python/tuple [8, 1] + - !!python/tuple [29, 31] + - !!python/tuple [10, 24] + - !!python/tuple [31, 10] + - !!python/tuple [5, 8] + - !!python/tuple [5, 6] + - !!python/tuple [11, 24] + - !!python/tuple [31, 29] + - !!python/tuple [5, 15] + - !!python/tuple [18, 12] + - !!python/tuple [6, 16] + - !!python/tuple [31, 9] + - !!python/tuple [28, 10] + - !!python/tuple [7, 15] + - !!python/tuple [1, 18] + - !!python/tuple [29, 16] + - !!python/tuple [3, 24] + - !!python/tuple [6, 15] + - !!python/tuple [16, 27] + - !!python/tuple [20, 29] + - !!python/tuple [9, 30] + - !!python/tuple [7, 24] + - !!python/tuple [12, 0] + - !!python/tuple [24, 5] + - !!python/tuple [19, 7] + - !!python/tuple [3, 21] + - !!python/tuple [1, 1] + - !!python/tuple [0, 31] + - !!python/tuple [25, 17] + - !!python/tuple [23, 17] + - !!python/tuple [19, 0] + - !!python/tuple [18, 4] + - !!python/tuple [8, 15] + - !!python/tuple [16, 6] + - !!python/tuple [6, 17] + - !!python/tuple [24, 2] + - !!python/tuple [12, 14] + - !!python/tuple [16, 10] + - !!python/tuple [22, 25] + - !!python/tuple [10, 12] + - !!python/tuple [16, 1] + - !!python/tuple [30, 19] + - !!python/tuple [4, 20] + - !!python/tuple [19, 25] + - !!python/tuple [12, 29] + - !!python/tuple [30, 25] + - !!python/tuple [20, 13] + - !!python/tuple [15, 27] + - !!python/tuple [27, 2] + - !!python/tuple [14, 28] + - !!python/tuple [14, 22] + - !!python/tuple [3, 0] + - !!python/tuple [19, 29] + - !!python/tuple [9, 8] + - !!python/tuple [10, 0] + - !!python/tuple [3, 7] + - !!python/tuple [0, 28] + - !!python/tuple [19, 26] + - !!python/tuple [3, 18] + - !!python/tuple [28, 6] + - !!python/tuple [6, 12] + - !!python/tuple [14, 20] + - !!python/tuple [21, 18] + - !!python/tuple [14, 2] + - !!python/tuple [26, 29] + - !!python/tuple [18, 24] + - !!python/tuple [23, 16] + - !!python/tuple [18, 13] + - !!python/tuple [29, 11] + - !!python/tuple [10, 18] + - !!python/tuple [27, 3] + - !!python/tuple [31, 25] + - !!python/tuple [4, 27] + - !!python/tuple [11, 17] + - !!python/tuple [6, 22] + - !!python/tuple [4, 7] + - !!python/tuple [23, 12] + - !!python/tuple [31, 1] + - !!python/tuple [16, 9] + - !!python/tuple [0, 25] + - !!python/tuple [3, 10] + - !!python/tuple [13, 0] + - !!python/tuple [16, 21] + - !!python/tuple [26, 18] + - !!python/tuple [0, 11] + - !!python/tuple [30, 4] + - !!python/tuple [6, 7] + - !!python/tuple [27, 12] + - !!python/tuple [2, 2] + - !!python/tuple [28, 22] + - !!python/tuple [25, 10] + - !!python/tuple [1, 13] + - !!python/tuple [23, 22] + - !!python/tuple [22, 24] + - !!python/tuple [29, 13] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex36.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex36.yaml new file mode 100644 index 0000000..7d1f0e5 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex36.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [27, 20] + name: agent0 + start: [5, 25] +- goal: [12, 10] + name: agent1 + start: [15, 1] +- goal: [15, 4] + name: agent2 + start: [13, 6] +- goal: [4, 3] + name: agent3 + start: [13, 15] +- goal: [15, 10] + name: agent4 + start: [25, 0] +- goal: [14, 29] + name: agent5 + start: [18, 3] +- goal: [29, 17] + name: agent6 + start: [6, 30] +- goal: [25, 21] + name: agent7 + start: [14, 1] +- goal: [26, 11] + name: agent8 + start: [8, 31] +- goal: [20, 25] + name: agent9 + start: [26, 7] +- goal: [29, 7] + name: agent10 + start: [13, 28] +- goal: [7, 30] + name: agent11 + start: [17, 0] +- goal: [20, 20] + name: agent12 + start: [11, 15] +- goal: [12, 3] + name: agent13 + start: [3, 15] +- goal: [11, 3] + name: agent14 + start: [21, 3] +- goal: [13, 28] + name: agent15 + start: [11, 27] +- goal: [21, 21] + name: agent16 + start: [18, 30] +- goal: [7, 15] + name: agent17 + start: [13, 23] +- goal: [24, 31] + name: agent18 + start: [25, 9] +- goal: [3, 31] + name: agent19 + start: [19, 31] +- goal: [16, 5] + name: agent20 + start: [18, 20] +- goal: [12, 19] + name: agent21 + start: [6, 9] +- goal: [11, 20] + name: agent22 + start: [28, 11] +- goal: [18, 17] + name: agent23 + start: [31, 5] +- goal: [14, 30] + name: agent24 + start: [18, 0] +- goal: [7, 23] + name: agent25 + start: [27, 19] +- goal: [22, 1] + name: agent26 + start: [11, 18] +- goal: [6, 29] + name: agent27 + start: [24, 12] +- goal: [6, 3] + name: agent28 + start: [15, 20] +- goal: [29, 14] + name: agent29 + start: [23, 20] +- goal: [31, 22] + name: agent30 + start: [9, 10] +- goal: [4, 25] + name: agent31 + start: [7, 4] +- goal: [18, 31] + name: agent32 + start: [14, 19] +- goal: [27, 9] + name: agent33 + start: [3, 3] +- goal: [20, 4] + name: agent34 + start: [18, 5] +- goal: [30, 21] + name: agent35 + start: [2, 17] +- goal: [13, 7] + name: agent36 + start: [7, 23] +- goal: [27, 0] + name: agent37 + start: [6, 26] +- goal: [26, 8] + name: agent38 + start: [17, 6] +- goal: [27, 6] + name: agent39 + start: [14, 18] +- goal: [27, 3] + name: agent40 + start: [24, 19] +- goal: [20, 23] + name: agent41 + start: [4, 31] +- goal: [17, 18] + name: agent42 + start: [25, 19] +- goal: [1, 29] + name: agent43 + start: [23, 13] +- goal: [8, 23] + name: agent44 + start: [31, 15] +- goal: [13, 22] + name: agent45 + start: [0, 17] +- goal: [16, 13] + name: agent46 + start: [4, 26] +- goal: [11, 21] + name: agent47 + start: [8, 30] +- goal: [0, 7] + name: agent48 + start: [24, 31] +- goal: [1, 16] + name: agent49 + start: [13, 30] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [29, 3] + - !!python/tuple [27, 25] + - !!python/tuple [19, 29] + - !!python/tuple [21, 18] + - !!python/tuple [25, 5] + - !!python/tuple [16, 30] + - !!python/tuple [26, 15] + - !!python/tuple [19, 13] + - !!python/tuple [6, 4] + - !!python/tuple [18, 2] + - !!python/tuple [25, 17] + - !!python/tuple [31, 9] + - !!python/tuple [30, 25] + - !!python/tuple [21, 12] + - !!python/tuple [7, 8] + - !!python/tuple [10, 10] + - !!python/tuple [14, 14] + - !!python/tuple [12, 12] + - !!python/tuple [6, 10] + - !!python/tuple [13, 25] + - !!python/tuple [14, 7] + - !!python/tuple [18, 9] + - !!python/tuple [6, 5] + - !!python/tuple [18, 27] + - !!python/tuple [30, 12] + - !!python/tuple [2, 28] + - !!python/tuple [11, 24] + - !!python/tuple [3, 19] + - !!python/tuple [16, 7] + - !!python/tuple [2, 18] + - !!python/tuple [5, 20] + - !!python/tuple [2, 11] + - !!python/tuple [31, 19] + - !!python/tuple [17, 3] + - !!python/tuple [27, 16] + - !!python/tuple [28, 28] + - !!python/tuple [5, 24] + - !!python/tuple [17, 30] + - !!python/tuple [1, 3] + - !!python/tuple [11, 28] + - !!python/tuple [30, 19] + - !!python/tuple [17, 10] + - !!python/tuple [31, 23] + - !!python/tuple [9, 16] + - !!python/tuple [22, 31] + - !!python/tuple [17, 4] + - !!python/tuple [21, 17] + - !!python/tuple [12, 15] + - !!python/tuple [30, 7] + - !!python/tuple [8, 21] + - !!python/tuple [28, 22] + - !!python/tuple [1, 21] + - !!python/tuple [31, 2] + - !!python/tuple [6, 17] + - !!python/tuple [18, 18] + - !!python/tuple [26, 12] + - !!python/tuple [19, 20] + - !!python/tuple [19, 17] + - !!python/tuple [25, 25] + - !!python/tuple [21, 7] + - !!python/tuple [27, 21] + - !!python/tuple [17, 25] + - !!python/tuple [14, 21] + - !!python/tuple [28, 29] + - !!python/tuple [17, 20] + - !!python/tuple [9, 24] + - !!python/tuple [7, 25] + - !!python/tuple [20, 5] + - !!python/tuple [13, 11] + - !!python/tuple [15, 31] + - !!python/tuple [0, 11] + - !!python/tuple [27, 14] + - !!python/tuple [16, 31] + - !!python/tuple [19, 5] + - !!python/tuple [23, 8] + - !!python/tuple [18, 12] + - !!python/tuple [19, 7] + - !!python/tuple [9, 30] + - !!python/tuple [5, 26] + - !!python/tuple [31, 26] + - !!python/tuple [4, 18] + - !!python/tuple [22, 26] + - !!python/tuple [2, 12] + - !!python/tuple [7, 18] + - !!python/tuple [4, 13] + - !!python/tuple [25, 4] + - !!python/tuple [3, 30] + - !!python/tuple [16, 28] + - !!python/tuple [0, 31] + - !!python/tuple [12, 7] + - !!python/tuple [19, 8] + - !!python/tuple [1, 14] + - !!python/tuple [20, 0] + - !!python/tuple [30, 14] + - !!python/tuple [2, 16] + - !!python/tuple [22, 8] + - !!python/tuple [2, 6] + - !!python/tuple [25, 22] + - !!python/tuple [10, 5] + - !!python/tuple [8, 20] + - !!python/tuple [22, 23] + - !!python/tuple [1, 31] + - !!python/tuple [4, 0] + - !!python/tuple [5, 30] + - !!python/tuple [26, 4] + - !!python/tuple [22, 20] + - !!python/tuple [19, 21] + - !!python/tuple [13, 26] + - !!python/tuple [7, 16] + - !!python/tuple [0, 22] + - !!python/tuple [24, 21] + - !!python/tuple [27, 31] + - !!python/tuple [9, 11] + - !!python/tuple [28, 8] + - !!python/tuple [13, 31] + - !!python/tuple [31, 20] + - !!python/tuple [20, 10] + - !!python/tuple [11, 30] + - !!python/tuple [12, 11] + - !!python/tuple [4, 27] + - !!python/tuple [2, 8] + - !!python/tuple [30, 15] + - !!python/tuple [3, 13] + - !!python/tuple [21, 9] + - !!python/tuple [25, 30] + - !!python/tuple [2, 13] + - !!python/tuple [3, 25] + - !!python/tuple [6, 13] + - !!python/tuple [2, 27] + - !!python/tuple [27, 5] + - !!python/tuple [7, 11] + - !!python/tuple [16, 24] + - !!python/tuple [31, 8] + - !!python/tuple [25, 14] + - !!python/tuple [5, 0] + - !!python/tuple [9, 8] + - !!python/tuple [20, 17] + - !!python/tuple [24, 23] + - !!python/tuple [4, 19] + - !!python/tuple [28, 18] + - !!python/tuple [24, 26] + - !!python/tuple [23, 21] + - !!python/tuple [29, 25] + - !!python/tuple [23, 23] + - !!python/tuple [6, 18] + - !!python/tuple [21, 29] + - !!python/tuple [28, 0] + - !!python/tuple [1, 24] + - !!python/tuple [23, 22] + - !!python/tuple [16, 14] + - !!python/tuple [2, 23] + - !!python/tuple [9, 31] + - !!python/tuple [21, 15] + - !!python/tuple [29, 29] + - !!python/tuple [30, 10] + - !!python/tuple [22, 7] + - !!python/tuple [19, 10] + - !!python/tuple [1, 0] + - !!python/tuple [0, 5] + - !!python/tuple [30, 5] + - !!python/tuple [8, 2] + - !!python/tuple [25, 16] + - !!python/tuple [12, 25] + - !!python/tuple [20, 16] + - !!python/tuple [19, 14] + - !!python/tuple [1, 30] + - !!python/tuple [15, 5] + - !!python/tuple [26, 25] + - !!python/tuple [21, 23] + - !!python/tuple [0, 20] + - !!python/tuple [7, 3] + - !!python/tuple [22, 10] + - !!python/tuple [14, 23] + - !!python/tuple [18, 1] + - !!python/tuple [5, 13] + - !!python/tuple [14, 11] + - !!python/tuple [26, 26] + - !!python/tuple [22, 25] + - !!python/tuple [7, 6] + - !!python/tuple [12, 27] + - !!python/tuple [10, 17] + - !!python/tuple [9, 0] + - !!python/tuple [12, 31] + - !!python/tuple [9, 5] + - !!python/tuple [26, 17] + - !!python/tuple [27, 11] + - !!python/tuple [28, 7] + - !!python/tuple [31, 10] + - !!python/tuple [9, 7] + - !!python/tuple [7, 9] + - !!python/tuple [0, 26] + - !!python/tuple [10, 21] + - !!python/tuple [24, 0] + - !!python/tuple [15, 2] + - !!python/tuple [28, 17] + - !!python/tuple [14, 28] + - !!python/tuple [24, 22] + - !!python/tuple [23, 16] + - !!python/tuple [20, 31] + - !!python/tuple [24, 28] + - !!python/tuple [23, 25] + - !!python/tuple [24, 5] + - !!python/tuple [27, 15] + - !!python/tuple [9, 29] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex37.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex37.yaml new file mode 100644 index 0000000..7b99eb4 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex37.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [26, 0] + name: agent0 + start: [18, 4] +- goal: [10, 20] + name: agent1 + start: [26, 2] +- goal: [8, 4] + name: agent2 + start: [4, 31] +- goal: [2, 27] + name: agent3 + start: [12, 26] +- goal: [7, 19] + name: agent4 + start: [3, 25] +- goal: [31, 6] + name: agent5 + start: [25, 30] +- goal: [19, 28] + name: agent6 + start: [10, 16] +- goal: [22, 14] + name: agent7 + start: [27, 21] +- goal: [8, 31] + name: agent8 + start: [23, 31] +- goal: [12, 14] + name: agent9 + start: [15, 5] +- goal: [14, 23] + name: agent10 + start: [26, 10] +- goal: [27, 14] + name: agent11 + start: [23, 14] +- goal: [24, 12] + name: agent12 + start: [14, 15] +- goal: [22, 21] + name: agent13 + start: [16, 31] +- goal: [2, 8] + name: agent14 + start: [10, 8] +- goal: [25, 11] + name: agent15 + start: [28, 1] +- goal: [22, 27] + name: agent16 + start: [15, 11] +- goal: [5, 23] + name: agent17 + start: [12, 8] +- goal: [14, 20] + name: agent18 + start: [13, 10] +- goal: [10, 16] + name: agent19 + start: [4, 17] +- goal: [22, 0] + name: agent20 + start: [1, 14] +- goal: [14, 4] + name: agent21 + start: [20, 15] +- goal: [0, 2] + name: agent22 + start: [1, 6] +- goal: [24, 31] + name: agent23 + start: [26, 25] +- goal: [30, 20] + name: agent24 + start: [8, 4] +- goal: [2, 15] + name: agent25 + start: [14, 22] +- goal: [7, 28] + name: agent26 + start: [26, 9] +- goal: [7, 15] + name: agent27 + start: [12, 21] +- goal: [18, 28] + name: agent28 + start: [9, 29] +- goal: [2, 3] + name: agent29 + start: [18, 20] +- goal: [7, 16] + name: agent30 + start: [18, 1] +- goal: [16, 22] + name: agent31 + start: [22, 19] +- goal: [15, 27] + name: agent32 + start: [7, 0] +- goal: [15, 8] + name: agent33 + start: [13, 2] +- goal: [20, 23] + name: agent34 + start: [21, 29] +- goal: [29, 9] + name: agent35 + start: [14, 14] +- goal: [8, 20] + name: agent36 + start: [5, 27] +- goal: [0, 24] + name: agent37 + start: [16, 14] +- goal: [19, 2] + name: agent38 + start: [9, 17] +- goal: [5, 0] + name: agent39 + start: [27, 17] +- goal: [21, 11] + name: agent40 + start: [11, 23] +- goal: [9, 17] + name: agent41 + start: [28, 29] +- goal: [0, 20] + name: agent42 + start: [9, 1] +- goal: [13, 9] + name: agent43 + start: [21, 30] +- goal: [0, 25] + name: agent44 + start: [8, 9] +- goal: [16, 14] + name: agent45 + start: [12, 23] +- goal: [14, 24] + name: agent46 + start: [26, 1] +- goal: [26, 27] + name: agent47 + start: [31, 9] +- goal: [11, 17] + name: agent48 + start: [0, 15] +- goal: [22, 23] + name: agent49 + start: [0, 5] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [22, 2] + - !!python/tuple [14, 11] + - !!python/tuple [18, 18] + - !!python/tuple [28, 3] + - !!python/tuple [21, 17] + - !!python/tuple [7, 17] + - !!python/tuple [19, 24] + - !!python/tuple [5, 28] + - !!python/tuple [14, 3] + - !!python/tuple [18, 17] + - !!python/tuple [15, 24] + - !!python/tuple [9, 4] + - !!python/tuple [3, 13] + - !!python/tuple [3, 5] + - !!python/tuple [5, 22] + - !!python/tuple [14, 28] + - !!python/tuple [1, 23] + - !!python/tuple [23, 16] + - !!python/tuple [26, 8] + - !!python/tuple [1, 7] + - !!python/tuple [25, 24] + - !!python/tuple [23, 7] + - !!python/tuple [9, 13] + - !!python/tuple [31, 27] + - !!python/tuple [4, 8] + - !!python/tuple [31, 3] + - !!python/tuple [23, 17] + - !!python/tuple [16, 18] + - !!python/tuple [11, 3] + - !!python/tuple [23, 2] + - !!python/tuple [16, 11] + - !!python/tuple [21, 20] + - !!python/tuple [21, 26] + - !!python/tuple [31, 18] + - !!python/tuple [31, 8] + - !!python/tuple [15, 22] + - !!python/tuple [14, 10] + - !!python/tuple [23, 12] + - !!python/tuple [4, 11] + - !!python/tuple [18, 27] + - !!python/tuple [12, 6] + - !!python/tuple [29, 24] + - !!python/tuple [6, 26] + - !!python/tuple [31, 30] + - !!python/tuple [12, 29] + - !!python/tuple [24, 14] + - !!python/tuple [29, 12] + - !!python/tuple [6, 5] + - !!python/tuple [14, 27] + - !!python/tuple [16, 27] + - !!python/tuple [30, 0] + - !!python/tuple [2, 10] + - !!python/tuple [13, 5] + - !!python/tuple [3, 17] + - !!python/tuple [17, 23] + - !!python/tuple [13, 14] + - !!python/tuple [27, 26] + - !!python/tuple [4, 21] + - !!python/tuple [24, 7] + - !!python/tuple [2, 16] + - !!python/tuple [14, 12] + - !!python/tuple [20, 16] + - !!python/tuple [31, 4] + - !!python/tuple [17, 6] + - !!python/tuple [25, 14] + - !!python/tuple [3, 8] + - !!python/tuple [29, 27] + - !!python/tuple [29, 2] + - !!python/tuple [5, 1] + - !!python/tuple [25, 7] + - !!python/tuple [22, 15] + - !!python/tuple [16, 8] + - !!python/tuple [3, 27] + - !!python/tuple [3, 4] + - !!python/tuple [27, 20] + - !!python/tuple [12, 20] + - !!python/tuple [23, 1] + - !!python/tuple [12, 9] + - !!python/tuple [10, 0] + - !!python/tuple [7, 22] + - !!python/tuple [21, 8] + - !!python/tuple [17, 8] + - !!python/tuple [22, 6] + - !!python/tuple [3, 22] + - !!python/tuple [29, 5] + - !!python/tuple [8, 29] + - !!python/tuple [29, 31] + - !!python/tuple [17, 1] + - !!python/tuple [19, 0] + - !!python/tuple [6, 27] + - !!python/tuple [9, 18] + - !!python/tuple [24, 29] + - !!python/tuple [15, 7] + - !!python/tuple [30, 7] + - !!python/tuple [31, 1] + - !!python/tuple [9, 5] + - !!python/tuple [19, 18] + - !!python/tuple [11, 5] + - !!python/tuple [7, 27] + - !!python/tuple [21, 9] + - !!python/tuple [4, 18] + - !!python/tuple [0, 30] + - !!python/tuple [21, 7] + - !!python/tuple [0, 18] + - !!python/tuple [11, 13] + - !!python/tuple [3, 11] + - !!python/tuple [3, 16] + - !!python/tuple [8, 18] + - !!python/tuple [15, 23] + - !!python/tuple [25, 16] + - !!python/tuple [15, 13] + - !!python/tuple [4, 3] + - !!python/tuple [20, 3] + - !!python/tuple [4, 15] + - !!python/tuple [26, 14] + - !!python/tuple [0, 6] + - !!python/tuple [20, 14] + - !!python/tuple [24, 6] + - !!python/tuple [9, 28] + - !!python/tuple [28, 14] + - !!python/tuple [1, 22] + - !!python/tuple [2, 20] + - !!python/tuple [20, 20] + - !!python/tuple [10, 25] + - !!python/tuple [13, 11] + - !!python/tuple [13, 1] + - !!python/tuple [30, 24] + - !!python/tuple [15, 21] + - !!python/tuple [8, 23] + - !!python/tuple [16, 21] + - !!python/tuple [5, 5] + - !!python/tuple [1, 26] + - !!python/tuple [30, 25] + - !!python/tuple [12, 15] + - !!python/tuple [25, 19] + - !!python/tuple [18, 14] + - !!python/tuple [2, 29] + - !!python/tuple [30, 5] + - !!python/tuple [23, 24] + - !!python/tuple [28, 13] + - !!python/tuple [19, 19] + - !!python/tuple [1, 31] + - !!python/tuple [7, 4] + - !!python/tuple [25, 10] + - !!python/tuple [0, 14] + - !!python/tuple [7, 29] + - !!python/tuple [28, 17] + - !!python/tuple [13, 12] + - !!python/tuple [23, 0] + - !!python/tuple [24, 30] + - !!python/tuple [27, 7] + - !!python/tuple [3, 31] + - !!python/tuple [1, 12] + - !!python/tuple [4, 14] + - !!python/tuple [2, 24] + - !!python/tuple [25, 13] + - !!python/tuple [30, 23] + - !!python/tuple [8, 1] + - !!python/tuple [30, 22] + - !!python/tuple [3, 1] + - !!python/tuple [16, 2] + - !!python/tuple [29, 21] + - !!python/tuple [20, 8] + - !!python/tuple [26, 31] + - !!python/tuple [0, 29] + - !!python/tuple [0, 13] + - !!python/tuple [6, 16] + - !!python/tuple [10, 18] + - !!python/tuple [22, 17] + - !!python/tuple [15, 1] + - !!python/tuple [24, 19] + - !!python/tuple [25, 26] + - !!python/tuple [29, 16] + - !!python/tuple [1, 24] + - !!python/tuple [22, 26] + - !!python/tuple [4, 0] + - !!python/tuple [15, 4] + - !!python/tuple [2, 18] + - !!python/tuple [29, 0] + - !!python/tuple [22, 24] + - !!python/tuple [26, 7] + - !!python/tuple [22, 9] + - !!python/tuple [21, 25] + - !!python/tuple [7, 3] + - !!python/tuple [11, 24] + - !!python/tuple [10, 24] + - !!python/tuple [11, 21] + - !!python/tuple [25, 20] + - !!python/tuple [26, 17] + - !!python/tuple [18, 5] + - !!python/tuple [23, 3] + - !!python/tuple [26, 19] + - !!python/tuple [2, 4] + - !!python/tuple [6, 2] + - !!python/tuple [19, 14] + - !!python/tuple [13, 20] + - !!python/tuple [0, 12] + - !!python/tuple [7, 30] + - !!python/tuple [22, 11] + - !!python/tuple [11, 2] + - !!python/tuple [2, 21] + - !!python/tuple [12, 17] + - !!python/tuple [2, 2] + - !!python/tuple [11, 28] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex38.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex38.yaml new file mode 100644 index 0000000..33ce8bc --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex38.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [11, 4] + name: agent0 + start: [11, 16] +- goal: [26, 22] + name: agent1 + start: [0, 2] +- goal: [24, 17] + name: agent2 + start: [1, 25] +- goal: [19, 26] + name: agent3 + start: [21, 19] +- goal: [3, 15] + name: agent4 + start: [8, 23] +- goal: [7, 31] + name: agent5 + start: [20, 30] +- goal: [23, 8] + name: agent6 + start: [26, 12] +- goal: [14, 22] + name: agent7 + start: [10, 5] +- goal: [4, 16] + name: agent8 + start: [17, 12] +- goal: [7, 8] + name: agent9 + start: [16, 31] +- goal: [17, 16] + name: agent10 + start: [16, 25] +- goal: [8, 12] + name: agent11 + start: [2, 25] +- goal: [16, 22] + name: agent12 + start: [7, 4] +- goal: [26, 3] + name: agent13 + start: [27, 30] +- goal: [26, 6] + name: agent14 + start: [5, 2] +- goal: [11, 30] + name: agent15 + start: [23, 5] +- goal: [19, 11] + name: agent16 + start: [22, 2] +- goal: [6, 7] + name: agent17 + start: [25, 26] +- goal: [7, 14] + name: agent18 + start: [31, 30] +- goal: [24, 4] + name: agent19 + start: [22, 20] +- goal: [25, 19] + name: agent20 + start: [28, 9] +- goal: [0, 27] + name: agent21 + start: [0, 0] +- goal: [2, 14] + name: agent22 + start: [9, 27] +- goal: [4, 7] + name: agent23 + start: [15, 29] +- goal: [19, 9] + name: agent24 + start: [2, 0] +- goal: [25, 28] + name: agent25 + start: [17, 24] +- goal: [9, 2] + name: agent26 + start: [31, 1] +- goal: [20, 6] + name: agent27 + start: [18, 0] +- goal: [2, 21] + name: agent28 + start: [15, 7] +- goal: [8, 6] + name: agent29 + start: [27, 18] +- goal: [25, 18] + name: agent30 + start: [14, 26] +- goal: [8, 22] + name: agent31 + start: [14, 2] +- goal: [10, 26] + name: agent32 + start: [20, 3] +- goal: [20, 19] + name: agent33 + start: [12, 8] +- goal: [8, 0] + name: agent34 + start: [24, 1] +- goal: [19, 22] + name: agent35 + start: [23, 2] +- goal: [13, 31] + name: agent36 + start: [2, 24] +- goal: [11, 20] + name: agent37 + start: [2, 9] +- goal: [26, 2] + name: agent38 + start: [7, 11] +- goal: [3, 20] + name: agent39 + start: [21, 23] +- goal: [30, 17] + name: agent40 + start: [3, 29] +- goal: [4, 21] + name: agent41 + start: [21, 14] +- goal: [6, 9] + name: agent42 + start: [15, 14] +- goal: [29, 3] + name: agent43 + start: [8, 14] +- goal: [14, 21] + name: agent44 + start: [13, 7] +- goal: [19, 12] + name: agent45 + start: [18, 3] +- goal: [18, 21] + name: agent46 + start: [1, 5] +- goal: [27, 1] + name: agent47 + start: [19, 13] +- goal: [19, 8] + name: agent48 + start: [6, 0] +- goal: [5, 6] + name: agent49 + start: [22, 10] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [2, 3] + - !!python/tuple [18, 31] + - !!python/tuple [5, 15] + - !!python/tuple [10, 25] + - !!python/tuple [22, 31] + - !!python/tuple [16, 17] + - !!python/tuple [12, 12] + - !!python/tuple [21, 20] + - !!python/tuple [26, 1] + - !!python/tuple [17, 8] + - !!python/tuple [13, 24] + - !!python/tuple [29, 8] + - !!python/tuple [18, 19] + - !!python/tuple [1, 4] + - !!python/tuple [24, 22] + - !!python/tuple [17, 13] + - !!python/tuple [22, 8] + - !!python/tuple [23, 31] + - !!python/tuple [17, 25] + - !!python/tuple [20, 14] + - !!python/tuple [19, 27] + - !!python/tuple [6, 1] + - !!python/tuple [4, 0] + - !!python/tuple [3, 25] + - !!python/tuple [22, 30] + - !!python/tuple [27, 31] + - !!python/tuple [6, 10] + - !!python/tuple [13, 5] + - !!python/tuple [24, 12] + - !!python/tuple [27, 4] + - !!python/tuple [28, 23] + - !!python/tuple [16, 10] + - !!python/tuple [23, 0] + - !!python/tuple [9, 31] + - !!python/tuple [20, 26] + - !!python/tuple [10, 18] + - !!python/tuple [17, 30] + - !!python/tuple [13, 19] + - !!python/tuple [9, 7] + - !!python/tuple [3, 7] + - !!python/tuple [8, 20] + - !!python/tuple [9, 18] + - !!python/tuple [1, 29] + - !!python/tuple [13, 26] + - !!python/tuple [30, 23] + - !!python/tuple [22, 29] + - !!python/tuple [30, 18] + - !!python/tuple [16, 12] + - !!python/tuple [0, 19] + - !!python/tuple [14, 11] + - !!python/tuple [18, 17] + - !!python/tuple [6, 31] + - !!python/tuple [4, 2] + - !!python/tuple [23, 10] + - !!python/tuple [13, 28] + - !!python/tuple [18, 1] + - !!python/tuple [23, 28] + - !!python/tuple [3, 2] + - !!python/tuple [15, 5] + - !!python/tuple [26, 10] + - !!python/tuple [27, 24] + - !!python/tuple [2, 11] + - !!python/tuple [3, 5] + - !!python/tuple [7, 10] + - !!python/tuple [17, 31] + - !!python/tuple [9, 28] + - !!python/tuple [20, 12] + - !!python/tuple [28, 4] + - !!python/tuple [26, 5] + - !!python/tuple [5, 31] + - !!python/tuple [20, 31] + - !!python/tuple [2, 12] + - !!python/tuple [18, 10] + - !!python/tuple [15, 1] + - !!python/tuple [24, 9] + - !!python/tuple [3, 1] + - !!python/tuple [8, 4] + - !!python/tuple [27, 13] + - !!python/tuple [7, 0] + - !!python/tuple [7, 12] + - !!python/tuple [8, 21] + - !!python/tuple [18, 20] + - !!python/tuple [14, 6] + - !!python/tuple [11, 29] + - !!python/tuple [25, 22] + - !!python/tuple [29, 21] + - !!python/tuple [11, 22] + - !!python/tuple [2, 15] + - !!python/tuple [5, 10] + - !!python/tuple [9, 1] + - !!python/tuple [30, 0] + - !!python/tuple [29, 25] + - !!python/tuple [17, 19] + - !!python/tuple [13, 16] + - !!python/tuple [2, 6] + - !!python/tuple [7, 3] + - !!python/tuple [5, 19] + - !!python/tuple [26, 21] + - !!python/tuple [14, 18] + - !!python/tuple [17, 17] + - !!python/tuple [18, 2] + - !!python/tuple [25, 2] + - !!python/tuple [6, 26] + - !!python/tuple [4, 12] + - !!python/tuple [27, 14] + - !!python/tuple [23, 16] + - !!python/tuple [30, 7] + - !!python/tuple [24, 20] + - !!python/tuple [2, 22] + - !!python/tuple [12, 15] + - !!python/tuple [13, 12] + - !!python/tuple [25, 17] + - !!python/tuple [17, 27] + - !!python/tuple [1, 12] + - !!python/tuple [25, 30] + - !!python/tuple [4, 4] + - !!python/tuple [11, 6] + - !!python/tuple [13, 0] + - !!python/tuple [3, 26] + - !!python/tuple [27, 29] + - !!python/tuple [31, 18] + - !!python/tuple [11, 15] + - !!python/tuple [10, 21] + - !!python/tuple [9, 14] + - !!python/tuple [24, 18] + - !!python/tuple [31, 6] + - !!python/tuple [23, 11] + - !!python/tuple [26, 25] + - !!python/tuple [23, 21] + - !!python/tuple [1, 15] + - !!python/tuple [16, 1] + - !!python/tuple [5, 28] + - !!python/tuple [21, 9] + - !!python/tuple [26, 14] + - !!python/tuple [8, 28] + - !!python/tuple [25, 20] + - !!python/tuple [4, 11] + - !!python/tuple [4, 1] + - !!python/tuple [3, 17] + - !!python/tuple [31, 0] + - !!python/tuple [28, 27] + - !!python/tuple [25, 11] + - !!python/tuple [11, 11] + - !!python/tuple [7, 20] + - !!python/tuple [10, 19] + - !!python/tuple [24, 30] + - !!python/tuple [14, 8] + - !!python/tuple [27, 8] + - !!python/tuple [30, 30] + - !!python/tuple [17, 5] + - !!python/tuple [25, 13] + - !!python/tuple [30, 12] + - !!python/tuple [9, 25] + - !!python/tuple [5, 3] + - !!python/tuple [21, 12] + - !!python/tuple [12, 0] + - !!python/tuple [31, 4] + - !!python/tuple [16, 8] + - !!python/tuple [5, 7] + - !!python/tuple [10, 4] + - !!python/tuple [20, 15] + - !!python/tuple [28, 5] + - !!python/tuple [24, 15] + - !!python/tuple [19, 1] + - !!python/tuple [24, 23] + - !!python/tuple [19, 16] + - !!python/tuple [1, 2] + - !!python/tuple [4, 30] + - !!python/tuple [14, 3] + - !!python/tuple [11, 26] + - !!python/tuple [16, 26] + - !!python/tuple [12, 22] + - !!python/tuple [5, 26] + - !!python/tuple [2, 2] + - !!python/tuple [21, 0] + - !!python/tuple [3, 13] + - !!python/tuple [15, 26] + - !!python/tuple [4, 14] + - !!python/tuple [29, 0] + - !!python/tuple [16, 28] + - !!python/tuple [29, 28] + - !!python/tuple [10, 13] + - !!python/tuple [15, 18] + - !!python/tuple [27, 19] + - !!python/tuple [11, 23] + - !!python/tuple [13, 20] + - !!python/tuple [28, 22] + - !!python/tuple [23, 3] + - !!python/tuple [24, 2] + - !!python/tuple [7, 26] + - !!python/tuple [23, 29] + - !!python/tuple [0, 12] + - !!python/tuple [13, 1] + - !!python/tuple [16, 3] + - !!python/tuple [10, 1] + - !!python/tuple [29, 12] + - !!python/tuple [28, 25] + - !!python/tuple [23, 27] + - !!python/tuple [14, 13] + - !!python/tuple [24, 13] + - !!python/tuple [13, 8] + - !!python/tuple [25, 7] + - !!python/tuple [13, 18] + - !!python/tuple [11, 12] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex39.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex39.yaml new file mode 100644 index 0000000..69721b1 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex39.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [23, 2] + name: agent0 + start: [25, 9] +- goal: [11, 23] + name: agent1 + start: [31, 22] +- goal: [28, 13] + name: agent2 + start: [31, 3] +- goal: [21, 14] + name: agent3 + start: [29, 25] +- goal: [12, 15] + name: agent4 + start: [16, 9] +- goal: [27, 26] + name: agent5 + start: [5, 0] +- goal: [16, 23] + name: agent6 + start: [17, 27] +- goal: [27, 8] + name: agent7 + start: [18, 2] +- goal: [25, 2] + name: agent8 + start: [8, 12] +- goal: [7, 0] + name: agent9 + start: [17, 10] +- goal: [12, 5] + name: agent10 + start: [14, 30] +- goal: [17, 4] + name: agent11 + start: [23, 0] +- goal: [0, 8] + name: agent12 + start: [9, 14] +- goal: [12, 20] + name: agent13 + start: [13, 10] +- goal: [6, 29] + name: agent14 + start: [25, 23] +- goal: [1, 13] + name: agent15 + start: [12, 8] +- goal: [14, 4] + name: agent16 + start: [26, 29] +- goal: [31, 12] + name: agent17 + start: [3, 19] +- goal: [6, 2] + name: agent18 + start: [20, 31] +- goal: [17, 15] + name: agent19 + start: [27, 10] +- goal: [21, 8] + name: agent20 + start: [6, 15] +- goal: [21, 25] + name: agent21 + start: [11, 5] +- goal: [19, 8] + name: agent22 + start: [7, 26] +- goal: [26, 22] + name: agent23 + start: [0, 21] +- goal: [1, 8] + name: agent24 + start: [19, 27] +- goal: [0, 9] + name: agent25 + start: [2, 11] +- goal: [30, 8] + name: agent26 + start: [1, 29] +- goal: [12, 10] + name: agent27 + start: [30, 20] +- goal: [4, 4] + name: agent28 + start: [9, 3] +- goal: [8, 13] + name: agent29 + start: [2, 23] +- goal: [24, 10] + name: agent30 + start: [7, 21] +- goal: [3, 19] + name: agent31 + start: [7, 3] +- goal: [31, 19] + name: agent32 + start: [24, 29] +- goal: [12, 28] + name: agent33 + start: [15, 24] +- goal: [18, 18] + name: agent34 + start: [31, 31] +- goal: [29, 3] + name: agent35 + start: [4, 6] +- goal: [11, 2] + name: agent36 + start: [12, 27] +- goal: [15, 0] + name: agent37 + start: [23, 14] +- goal: [28, 21] + name: agent38 + start: [4, 3] +- goal: [28, 24] + name: agent39 + start: [25, 2] +- goal: [1, 11] + name: agent40 + start: [14, 21] +- goal: [12, 7] + name: agent41 + start: [21, 13] +- goal: [27, 29] + name: agent42 + start: [1, 7] +- goal: [5, 28] + name: agent43 + start: [3, 29] +- goal: [9, 21] + name: agent44 + start: [31, 23] +- goal: [27, 24] + name: agent45 + start: [30, 0] +- goal: [5, 18] + name: agent46 + start: [10, 1] +- goal: [3, 20] + name: agent47 + start: [28, 26] +- goal: [2, 15] + name: agent48 + start: [21, 10] +- goal: [23, 28] + name: agent49 + start: [7, 20] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [8, 25] + - !!python/tuple [29, 13] + - !!python/tuple [5, 16] + - !!python/tuple [10, 30] + - !!python/tuple [16, 0] + - !!python/tuple [17, 11] + - !!python/tuple [23, 29] + - !!python/tuple [2, 19] + - !!python/tuple [12, 30] + - !!python/tuple [30, 19] + - !!python/tuple [15, 3] + - !!python/tuple [15, 19] + - !!python/tuple [18, 31] + - !!python/tuple [29, 14] + - !!python/tuple [0, 27] + - !!python/tuple [26, 24] + - !!python/tuple [25, 29] + - !!python/tuple [31, 10] + - !!python/tuple [8, 23] + - !!python/tuple [9, 22] + - !!python/tuple [9, 27] + - !!python/tuple [29, 4] + - !!python/tuple [7, 14] + - !!python/tuple [9, 20] + - !!python/tuple [27, 28] + - !!python/tuple [26, 9] + - !!python/tuple [27, 7] + - !!python/tuple [15, 9] + - !!python/tuple [29, 12] + - !!python/tuple [14, 12] + - !!python/tuple [15, 11] + - !!python/tuple [6, 8] + - !!python/tuple [18, 6] + - !!python/tuple [31, 28] + - !!python/tuple [22, 20] + - !!python/tuple [28, 11] + - !!python/tuple [31, 2] + - !!python/tuple [26, 20] + - !!python/tuple [11, 14] + - !!python/tuple [14, 6] + - !!python/tuple [16, 26] + - !!python/tuple [27, 25] + - !!python/tuple [27, 12] + - !!python/tuple [27, 22] + - !!python/tuple [14, 28] + - !!python/tuple [12, 31] + - !!python/tuple [8, 28] + - !!python/tuple [14, 14] + - !!python/tuple [12, 25] + - !!python/tuple [13, 14] + - !!python/tuple [25, 3] + - !!python/tuple [12, 0] + - !!python/tuple [4, 26] + - !!python/tuple [16, 31] + - !!python/tuple [2, 6] + - !!python/tuple [6, 21] + - !!python/tuple [24, 15] + - !!python/tuple [5, 19] + - !!python/tuple [16, 30] + - !!python/tuple [5, 20] + - !!python/tuple [29, 17] + - !!python/tuple [21, 1] + - !!python/tuple [22, 10] + - !!python/tuple [23, 30] + - !!python/tuple [19, 2] + - !!python/tuple [16, 4] + - !!python/tuple [7, 1] + - !!python/tuple [3, 23] + - !!python/tuple [23, 10] + - !!python/tuple [11, 31] + - !!python/tuple [26, 23] + - !!python/tuple [3, 12] + - !!python/tuple [17, 26] + - !!python/tuple [30, 4] + - !!python/tuple [27, 11] + - !!python/tuple [7, 28] + - !!python/tuple [0, 6] + - !!python/tuple [17, 20] + - !!python/tuple [0, 18] + - !!python/tuple [12, 24] + - !!python/tuple [8, 19] + - !!python/tuple [23, 27] + - !!python/tuple [28, 6] + - !!python/tuple [16, 22] + - !!python/tuple [3, 3] + - !!python/tuple [20, 30] + - !!python/tuple [13, 7] + - !!python/tuple [28, 10] + - !!python/tuple [26, 25] + - !!python/tuple [0, 29] + - !!python/tuple [13, 12] + - !!python/tuple [5, 13] + - !!python/tuple [5, 29] + - !!python/tuple [16, 25] + - !!python/tuple [22, 2] + - !!python/tuple [27, 15] + - !!python/tuple [18, 15] + - !!python/tuple [26, 21] + - !!python/tuple [0, 20] + - !!python/tuple [20, 13] + - !!python/tuple [20, 18] + - !!python/tuple [20, 1] + - !!python/tuple [11, 20] + - !!python/tuple [16, 8] + - !!python/tuple [18, 19] + - !!python/tuple [15, 14] + - !!python/tuple [28, 1] + - !!python/tuple [16, 29] + - !!python/tuple [16, 17] + - !!python/tuple [3, 9] + - !!python/tuple [18, 16] + - !!python/tuple [20, 4] + - !!python/tuple [26, 10] + - !!python/tuple [14, 11] + - !!python/tuple [7, 31] + - !!python/tuple [2, 21] + - !!python/tuple [31, 21] + - !!python/tuple [3, 30] + - !!python/tuple [15, 15] + - !!python/tuple [23, 4] + - !!python/tuple [27, 16] + - !!python/tuple [4, 30] + - !!python/tuple [14, 25] + - !!python/tuple [30, 31] + - !!python/tuple [27, 5] + - !!python/tuple [7, 7] + - !!python/tuple [13, 4] + - !!python/tuple [1, 6] + - !!python/tuple [30, 3] + - !!python/tuple [16, 1] + - !!python/tuple [23, 24] + - !!python/tuple [14, 13] + - !!python/tuple [13, 21] + - !!python/tuple [2, 4] + - !!python/tuple [6, 1] + - !!python/tuple [10, 8] + - !!python/tuple [2, 30] + - !!python/tuple [17, 16] + - !!python/tuple [21, 15] + - !!python/tuple [10, 26] + - !!python/tuple [11, 16] + - !!python/tuple [4, 25] + - !!python/tuple [16, 10] + - !!python/tuple [26, 12] + - !!python/tuple [29, 20] + - !!python/tuple [4, 18] + - !!python/tuple [28, 20] + - !!python/tuple [19, 22] + - !!python/tuple [13, 28] + - !!python/tuple [13, 16] + - !!python/tuple [10, 27] + - !!python/tuple [5, 9] + - !!python/tuple [15, 26] + - !!python/tuple [21, 3] + - !!python/tuple [13, 24] + - !!python/tuple [31, 7] + - !!python/tuple [15, 27] + - !!python/tuple [6, 11] + - !!python/tuple [16, 13] + - !!python/tuple [9, 9] + - !!python/tuple [30, 23] + - !!python/tuple [23, 5] + - !!python/tuple [22, 0] + - !!python/tuple [0, 16] + - !!python/tuple [7, 27] + - !!python/tuple [15, 6] + - !!python/tuple [28, 7] + - !!python/tuple [14, 10] + - !!python/tuple [22, 26] + - !!python/tuple [29, 26] + - !!python/tuple [10, 9] + - !!python/tuple [25, 25] + - !!python/tuple [18, 0] + - !!python/tuple [2, 18] + - !!python/tuple [0, 15] + - !!python/tuple [29, 18] + - !!python/tuple [9, 5] + - !!python/tuple [16, 12] + - !!python/tuple [29, 0] + - !!python/tuple [1, 31] + - !!python/tuple [16, 3] + - !!python/tuple [10, 4] + - !!python/tuple [28, 28] + - !!python/tuple [30, 10] + - !!python/tuple [14, 15] + - !!python/tuple [25, 11] + - !!python/tuple [10, 0] + - !!python/tuple [2, 3] + - !!python/tuple [6, 6] + - !!python/tuple [10, 13] + - !!python/tuple [22, 29] + - !!python/tuple [8, 5] + - !!python/tuple [20, 5] + - !!python/tuple [8, 16] + - !!python/tuple [29, 8] + - !!python/tuple [21, 29] + - !!python/tuple [3, 22] + - !!python/tuple [5, 11] + - !!python/tuple [1, 18] + - !!python/tuple [19, 6] + - !!python/tuple [10, 19] + - !!python/tuple [30, 15] + - !!python/tuple [4, 9] + - !!python/tuple [30, 17] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex4.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex4.yaml new file mode 100644 index 0000000..59b41ec --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex4.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [2, 9] + name: agent0 + start: [14, 18] +- goal: [29, 5] + name: agent1 + start: [16, 3] +- goal: [30, 21] + name: agent2 + start: [5, 15] +- goal: [20, 13] + name: agent3 + start: [30, 17] +- goal: [1, 31] + name: agent4 + start: [14, 9] +- goal: [31, 15] + name: agent5 + start: [4, 18] +- goal: [9, 22] + name: agent6 + start: [14, 8] +- goal: [2, 16] + name: agent7 + start: [12, 16] +- goal: [3, 28] + name: agent8 + start: [10, 16] +- goal: [0, 27] + name: agent9 + start: [30, 27] +- goal: [4, 30] + name: agent10 + start: [2, 27] +- goal: [23, 3] + name: agent11 + start: [16, 5] +- goal: [26, 1] + name: agent12 + start: [19, 10] +- goal: [22, 15] + name: agent13 + start: [6, 15] +- goal: [4, 18] + name: agent14 + start: [14, 3] +- goal: [6, 25] + name: agent15 + start: [1, 22] +- goal: [12, 9] + name: agent16 + start: [26, 29] +- goal: [8, 5] + name: agent17 + start: [5, 2] +- goal: [28, 17] + name: agent18 + start: [21, 13] +- goal: [30, 9] + name: agent19 + start: [29, 21] +- goal: [8, 0] + name: agent20 + start: [12, 8] +- goal: [2, 7] + name: agent21 + start: [26, 13] +- goal: [8, 27] + name: agent22 + start: [30, 25] +- goal: [9, 26] + name: agent23 + start: [9, 1] +- goal: [23, 7] + name: agent24 + start: [23, 10] +- goal: [7, 25] + name: agent25 + start: [27, 23] +- goal: [23, 27] + name: agent26 + start: [17, 7] +- goal: [16, 7] + name: agent27 + start: [5, 8] +- goal: [24, 4] + name: agent28 + start: [6, 14] +- goal: [11, 12] + name: agent29 + start: [19, 30] +- goal: [19, 12] + name: agent30 + start: [27, 18] +- goal: [23, 10] + name: agent31 + start: [19, 23] +- goal: [3, 17] + name: agent32 + start: [28, 11] +- goal: [1, 24] + name: agent33 + start: [24, 30] +- goal: [21, 7] + name: agent34 + start: [17, 2] +- goal: [1, 20] + name: agent35 + start: [12, 12] +- goal: [23, 28] + name: agent36 + start: [3, 9] +- goal: [5, 26] + name: agent37 + start: [8, 24] +- goal: [2, 24] + name: agent38 + start: [13, 25] +- goal: [27, 12] + name: agent39 + start: [24, 2] +- goal: [27, 30] + name: agent40 + start: [27, 24] +- goal: [4, 3] + name: agent41 + start: [17, 19] +- goal: [27, 20] + name: agent42 + start: [21, 27] +- goal: [19, 2] + name: agent43 + start: [8, 14] +- goal: [28, 1] + name: agent44 + start: [17, 5] +- goal: [14, 0] + name: agent45 + start: [10, 11] +- goal: [25, 2] + name: agent46 + start: [26, 22] +- goal: [6, 4] + name: agent47 + start: [21, 10] +- goal: [6, 28] + name: agent48 + start: [21, 9] +- goal: [1, 16] + name: agent49 + start: [22, 1] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [29, 27] + - !!python/tuple [0, 0] + - !!python/tuple [9, 5] + - !!python/tuple [27, 28] + - !!python/tuple [13, 4] + - !!python/tuple [27, 13] + - !!python/tuple [25, 22] + - !!python/tuple [0, 26] + - !!python/tuple [26, 6] + - !!python/tuple [31, 20] + - !!python/tuple [19, 1] + - !!python/tuple [29, 1] + - !!python/tuple [25, 14] + - !!python/tuple [21, 4] + - !!python/tuple [4, 5] + - !!python/tuple [29, 11] + - !!python/tuple [5, 10] + - !!python/tuple [4, 27] + - !!python/tuple [12, 23] + - !!python/tuple [7, 21] + - !!python/tuple [12, 0] + - !!python/tuple [28, 12] + - !!python/tuple [22, 18] + - !!python/tuple [10, 21] + - !!python/tuple [8, 30] + - !!python/tuple [28, 29] + - !!python/tuple [26, 27] + - !!python/tuple [31, 31] + - !!python/tuple [18, 9] + - !!python/tuple [11, 3] + - !!python/tuple [9, 6] + - !!python/tuple [23, 25] + - !!python/tuple [13, 22] + - !!python/tuple [12, 4] + - !!python/tuple [26, 9] + - !!python/tuple [24, 17] + - !!python/tuple [9, 23] + - !!python/tuple [16, 25] + - !!python/tuple [20, 4] + - !!python/tuple [19, 3] + - !!python/tuple [9, 11] + - !!python/tuple [11, 7] + - !!python/tuple [2, 4] + - !!python/tuple [0, 13] + - !!python/tuple [15, 4] + - !!python/tuple [8, 28] + - !!python/tuple [7, 30] + - !!python/tuple [14, 16] + - !!python/tuple [6, 1] + - !!python/tuple [12, 6] + - !!python/tuple [14, 12] + - !!python/tuple [23, 1] + - !!python/tuple [28, 20] + - !!python/tuple [22, 22] + - !!python/tuple [10, 27] + - !!python/tuple [22, 4] + - !!python/tuple [22, 29] + - !!python/tuple [22, 11] + - !!python/tuple [13, 18] + - !!python/tuple [13, 23] + - !!python/tuple [16, 14] + - !!python/tuple [24, 13] + - !!python/tuple [7, 26] + - !!python/tuple [30, 18] + - !!python/tuple [15, 8] + - !!python/tuple [23, 24] + - !!python/tuple [1, 13] + - !!python/tuple [21, 0] + - !!python/tuple [10, 31] + - !!python/tuple [14, 26] + - !!python/tuple [13, 2] + - !!python/tuple [6, 16] + - !!python/tuple [25, 1] + - !!python/tuple [4, 15] + - !!python/tuple [22, 27] + - !!python/tuple [26, 4] + - !!python/tuple [6, 20] + - !!python/tuple [12, 10] + - !!python/tuple [0, 24] + - !!python/tuple [31, 2] + - !!python/tuple [15, 17] + - !!python/tuple [4, 7] + - !!python/tuple [11, 10] + - !!python/tuple [11, 13] + - !!python/tuple [20, 12] + - !!python/tuple [11, 25] + - !!python/tuple [6, 6] + - !!python/tuple [20, 2] + - !!python/tuple [17, 11] + - !!python/tuple [31, 6] + - !!python/tuple [30, 26] + - !!python/tuple [30, 8] + - !!python/tuple [21, 16] + - !!python/tuple [13, 10] + - !!python/tuple [11, 30] + - !!python/tuple [21, 19] + - !!python/tuple [31, 22] + - !!python/tuple [25, 28] + - !!python/tuple [26, 8] + - !!python/tuple [6, 11] + - !!python/tuple [20, 30] + - !!python/tuple [10, 29] + - !!python/tuple [13, 30] + - !!python/tuple [11, 27] + - !!python/tuple [0, 19] + - !!python/tuple [8, 11] + - !!python/tuple [11, 31] + - !!python/tuple [27, 5] + - !!python/tuple [5, 3] + - !!python/tuple [21, 11] + - !!python/tuple [8, 16] + - !!python/tuple [21, 26] + - !!python/tuple [19, 20] + - !!python/tuple [15, 20] + - !!python/tuple [27, 25] + - !!python/tuple [9, 27] + - !!python/tuple [21, 17] + - !!python/tuple [3, 25] + - !!python/tuple [12, 2] + - !!python/tuple [13, 11] + - !!python/tuple [1, 0] + - !!python/tuple [17, 29] + - !!python/tuple [8, 19] + - !!python/tuple [2, 22] + - !!python/tuple [15, 28] + - !!python/tuple [4, 9] + - !!python/tuple [23, 26] + - !!python/tuple [12, 21] + - !!python/tuple [12, 29] + - !!python/tuple [29, 20] + - !!python/tuple [25, 13] + - !!python/tuple [30, 1] + - !!python/tuple [10, 5] + - !!python/tuple [13, 7] + - !!python/tuple [10, 25] + - !!python/tuple [31, 9] + - !!python/tuple [1, 18] + - !!python/tuple [17, 25] + - !!python/tuple [7, 18] + - !!python/tuple [29, 9] + - !!python/tuple [11, 28] + - !!python/tuple [0, 3] + - !!python/tuple [23, 0] + - !!python/tuple [4, 25] + - !!python/tuple [4, 21] + - !!python/tuple [4, 11] + - !!python/tuple [3, 14] + - !!python/tuple [28, 8] + - !!python/tuple [6, 17] + - !!python/tuple [7, 2] + - !!python/tuple [16, 0] + - !!python/tuple [7, 19] + - !!python/tuple [19, 14] + - !!python/tuple [10, 20] + - !!python/tuple [17, 1] + - !!python/tuple [5, 12] + - !!python/tuple [17, 16] + - !!python/tuple [16, 8] + - !!python/tuple [5, 23] + - !!python/tuple [12, 31] + - !!python/tuple [16, 6] + - !!python/tuple [11, 23] + - !!python/tuple [27, 6] + - !!python/tuple [2, 28] + - !!python/tuple [7, 14] + - !!python/tuple [5, 18] + - !!python/tuple [14, 15] + - !!python/tuple [10, 9] + - !!python/tuple [23, 13] + - !!python/tuple [16, 11] + - !!python/tuple [10, 0] + - !!python/tuple [21, 22] + - !!python/tuple [5, 22] + - !!python/tuple [17, 22] + - !!python/tuple [7, 10] + - !!python/tuple [9, 29] + - !!python/tuple [10, 13] + - !!python/tuple [4, 31] + - !!python/tuple [15, 6] + - !!python/tuple [0, 6] + - !!python/tuple [8, 31] + - !!python/tuple [20, 14] + - !!python/tuple [25, 23] + - !!python/tuple [26, 28] + - !!python/tuple [31, 0] + - !!python/tuple [19, 13] + - !!python/tuple [24, 20] + - !!python/tuple [11, 2] + - !!python/tuple [16, 28] + - !!python/tuple [21, 20] + - !!python/tuple [0, 17] + - !!python/tuple [25, 7] + - !!python/tuple [6, 7] + - !!python/tuple [28, 22] + - !!python/tuple [30, 11] + - !!python/tuple [14, 4] + - !!python/tuple [3, 23] + - !!python/tuple [25, 10] + - !!python/tuple [20, 25] + - !!python/tuple [15, 25] + - !!python/tuple [4, 14] + - !!python/tuple [28, 18] + - !!python/tuple [15, 12] + - !!python/tuple [20, 19] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex40.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex40.yaml new file mode 100644 index 0000000..16d384c --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex40.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [18, 22] + name: agent0 + start: [18, 30] +- goal: [17, 0] + name: agent1 + start: [25, 3] +- goal: [17, 10] + name: agent2 + start: [30, 18] +- goal: [18, 3] + name: agent3 + start: [19, 16] +- goal: [1, 2] + name: agent4 + start: [7, 30] +- goal: [23, 11] + name: agent5 + start: [11, 21] +- goal: [9, 14] + name: agent6 + start: [4, 15] +- goal: [1, 29] + name: agent7 + start: [28, 27] +- goal: [29, 0] + name: agent8 + start: [29, 0] +- goal: [15, 4] + name: agent9 + start: [25, 19] +- goal: [11, 25] + name: agent10 + start: [1, 17] +- goal: [12, 29] + name: agent11 + start: [6, 25] +- goal: [23, 4] + name: agent12 + start: [23, 9] +- goal: [2, 31] + name: agent13 + start: [11, 27] +- goal: [0, 23] + name: agent14 + start: [3, 17] +- goal: [30, 9] + name: agent15 + start: [20, 26] +- goal: [26, 0] + name: agent16 + start: [11, 14] +- goal: [26, 28] + name: agent17 + start: [6, 21] +- goal: [11, 18] + name: agent18 + start: [3, 21] +- goal: [7, 27] + name: agent19 + start: [14, 17] +- goal: [28, 6] + name: agent20 + start: [18, 19] +- goal: [1, 24] + name: agent21 + start: [30, 29] +- goal: [6, 31] + name: agent22 + start: [0, 0] +- goal: [4, 6] + name: agent23 + start: [19, 15] +- goal: [14, 23] + name: agent24 + start: [7, 18] +- goal: [25, 20] + name: agent25 + start: [3, 11] +- goal: [10, 8] + name: agent26 + start: [27, 30] +- goal: [27, 27] + name: agent27 + start: [21, 25] +- goal: [2, 6] + name: agent28 + start: [4, 13] +- goal: [13, 5] + name: agent29 + start: [7, 3] +- goal: [4, 5] + name: agent30 + start: [4, 14] +- goal: [13, 16] + name: agent31 + start: [22, 9] +- goal: [8, 12] + name: agent32 + start: [23, 19] +- goal: [13, 21] + name: agent33 + start: [3, 31] +- goal: [30, 0] + name: agent34 + start: [24, 26] +- goal: [0, 6] + name: agent35 + start: [16, 20] +- goal: [6, 3] + name: agent36 + start: [15, 28] +- goal: [21, 31] + name: agent37 + start: [6, 1] +- goal: [6, 20] + name: agent38 + start: [13, 12] +- goal: [0, 2] + name: agent39 + start: [5, 19] +- goal: [18, 14] + name: agent40 + start: [0, 31] +- goal: [4, 17] + name: agent41 + start: [4, 30] +- goal: [15, 18] + name: agent42 + start: [22, 26] +- goal: [4, 4] + name: agent43 + start: [0, 11] +- goal: [11, 3] + name: agent44 + start: [1, 18] +- goal: [19, 26] + name: agent45 + start: [21, 24] +- goal: [5, 9] + name: agent46 + start: [29, 8] +- goal: [31, 29] + name: agent47 + start: [8, 6] +- goal: [19, 3] + name: agent48 + start: [27, 13] +- goal: [22, 29] + name: agent49 + start: [13, 31] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [29, 25] + - !!python/tuple [12, 14] + - !!python/tuple [12, 0] + - !!python/tuple [25, 5] + - !!python/tuple [30, 4] + - !!python/tuple [27, 24] + - !!python/tuple [23, 0] + - !!python/tuple [4, 29] + - !!python/tuple [10, 16] + - !!python/tuple [6, 30] + - !!python/tuple [16, 6] + - !!python/tuple [16, 8] + - !!python/tuple [17, 2] + - !!python/tuple [19, 11] + - !!python/tuple [11, 10] + - !!python/tuple [26, 19] + - !!python/tuple [22, 11] + - !!python/tuple [11, 23] + - !!python/tuple [24, 25] + - !!python/tuple [11, 0] + - !!python/tuple [30, 6] + - !!python/tuple [28, 3] + - !!python/tuple [16, 27] + - !!python/tuple [5, 5] + - !!python/tuple [9, 10] + - !!python/tuple [4, 7] + - !!python/tuple [14, 15] + - !!python/tuple [24, 12] + - !!python/tuple [22, 13] + - !!python/tuple [25, 2] + - !!python/tuple [0, 30] + - !!python/tuple [29, 18] + - !!python/tuple [20, 25] + - !!python/tuple [8, 23] + - !!python/tuple [18, 10] + - !!python/tuple [8, 2] + - !!python/tuple [30, 3] + - !!python/tuple [4, 23] + - !!python/tuple [19, 29] + - !!python/tuple [19, 18] + - !!python/tuple [12, 4] + - !!python/tuple [16, 16] + - !!python/tuple [27, 29] + - !!python/tuple [9, 20] + - !!python/tuple [19, 20] + - !!python/tuple [19, 17] + - !!python/tuple [3, 4] + - !!python/tuple [3, 14] + - !!python/tuple [23, 18] + - !!python/tuple [14, 0] + - !!python/tuple [5, 24] + - !!python/tuple [8, 19] + - !!python/tuple [29, 3] + - !!python/tuple [0, 9] + - !!python/tuple [14, 12] + - !!python/tuple [4, 20] + - !!python/tuple [15, 24] + - !!python/tuple [24, 5] + - !!python/tuple [8, 11] + - !!python/tuple [2, 21] + - !!python/tuple [9, 16] + - !!python/tuple [28, 10] + - !!python/tuple [10, 14] + - !!python/tuple [9, 12] + - !!python/tuple [6, 5] + - !!python/tuple [19, 0] + - !!python/tuple [26, 12] + - !!python/tuple [11, 1] + - !!python/tuple [2, 12] + - !!python/tuple [10, 10] + - !!python/tuple [8, 24] + - !!python/tuple [18, 31] + - !!python/tuple [15, 30] + - !!python/tuple [2, 11] + - !!python/tuple [24, 19] + - !!python/tuple [16, 4] + - !!python/tuple [0, 17] + - !!python/tuple [5, 23] + - !!python/tuple [17, 23] + - !!python/tuple [2, 22] + - !!python/tuple [29, 11] + - !!python/tuple [24, 15] + - !!python/tuple [16, 3] + - !!python/tuple [30, 23] + - !!python/tuple [6, 16] + - !!python/tuple [7, 19] + - !!python/tuple [10, 30] + - !!python/tuple [27, 17] + - !!python/tuple [5, 3] + - !!python/tuple [27, 19] + - !!python/tuple [15, 23] + - !!python/tuple [12, 17] + - !!python/tuple [15, 10] + - !!python/tuple [13, 25] + - !!python/tuple [21, 1] + - !!python/tuple [16, 9] + - !!python/tuple [22, 15] + - !!python/tuple [20, 31] + - !!python/tuple [16, 28] + - !!python/tuple [17, 19] + - !!python/tuple [28, 0] + - !!python/tuple [13, 6] + - !!python/tuple [25, 12] + - !!python/tuple [14, 11] + - !!python/tuple [8, 31] + - !!python/tuple [2, 17] + - !!python/tuple [19, 27] + - !!python/tuple [2, 16] + - !!python/tuple [7, 8] + - !!python/tuple [12, 13] + - !!python/tuple [14, 21] + - !!python/tuple [4, 1] + - !!python/tuple [24, 8] + - !!python/tuple [21, 28] + - !!python/tuple [11, 13] + - !!python/tuple [25, 28] + - !!python/tuple [0, 27] + - !!python/tuple [6, 2] + - !!python/tuple [4, 8] + - !!python/tuple [9, 8] + - !!python/tuple [28, 1] + - !!python/tuple [20, 9] + - !!python/tuple [14, 13] + - !!python/tuple [21, 15] + - !!python/tuple [31, 26] + - !!python/tuple [19, 31] + - !!python/tuple [6, 4] + - !!python/tuple [14, 14] + - !!python/tuple [22, 24] + - !!python/tuple [12, 21] + - !!python/tuple [3, 5] + - !!python/tuple [25, 30] + - !!python/tuple [5, 31] + - !!python/tuple [16, 12] + - !!python/tuple [3, 10] + - !!python/tuple [16, 7] + - !!python/tuple [1, 15] + - !!python/tuple [27, 10] + - !!python/tuple [6, 17] + - !!python/tuple [5, 21] + - !!python/tuple [13, 23] + - !!python/tuple [13, 29] + - !!python/tuple [9, 23] + - !!python/tuple [7, 23] + - !!python/tuple [15, 5] + - !!python/tuple [24, 17] + - !!python/tuple [17, 8] + - !!python/tuple [31, 23] + - !!python/tuple [23, 15] + - !!python/tuple [13, 30] + - !!python/tuple [20, 21] + - !!python/tuple [10, 24] + - !!python/tuple [13, 15] + - !!python/tuple [23, 5] + - !!python/tuple [29, 10] + - !!python/tuple [6, 11] + - !!python/tuple [21, 4] + - !!python/tuple [18, 2] + - !!python/tuple [21, 3] + - !!python/tuple [27, 6] + - !!python/tuple [1, 26] + - !!python/tuple [19, 9] + - !!python/tuple [29, 17] + - !!python/tuple [3, 23] + - !!python/tuple [2, 15] + - !!python/tuple [13, 1] + - !!python/tuple [22, 18] + - !!python/tuple [30, 28] + - !!python/tuple [16, 31] + - !!python/tuple [10, 19] + - !!python/tuple [29, 26] + - !!python/tuple [3, 27] + - !!python/tuple [8, 9] + - !!python/tuple [13, 3] + - !!python/tuple [12, 30] + - !!python/tuple [11, 22] + - !!python/tuple [31, 22] + - !!python/tuple [25, 6] + - !!python/tuple [17, 29] + - !!python/tuple [30, 27] + - !!python/tuple [9, 28] + - !!python/tuple [22, 10] + - !!python/tuple [26, 17] + - !!python/tuple [2, 25] + - !!python/tuple [21, 6] + - !!python/tuple [18, 20] + - !!python/tuple [4, 12] + - !!python/tuple [18, 7] + - !!python/tuple [7, 7] + - !!python/tuple [1, 13] + - !!python/tuple [20, 13] + - !!python/tuple [21, 8] + - !!python/tuple [8, 22] + - !!python/tuple [16, 22] + - !!python/tuple [0, 8] + - !!python/tuple [12, 3] + - !!python/tuple [16, 30] + - !!python/tuple [17, 6] + - !!python/tuple [1, 25] + - !!python/tuple [22, 19] + - !!python/tuple [16, 19] + - !!python/tuple [22, 20] + - !!python/tuple [25, 9] + - !!python/tuple [13, 0] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex41.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex41.yaml new file mode 100644 index 0000000..0536df0 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex41.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [15, 21] + name: agent0 + start: [31, 30] +- goal: [28, 27] + name: agent1 + start: [16, 22] +- goal: [1, 23] + name: agent2 + start: [16, 11] +- goal: [1, 22] + name: agent3 + start: [20, 18] +- goal: [15, 20] + name: agent4 + start: [26, 25] +- goal: [15, 23] + name: agent5 + start: [21, 22] +- goal: [27, 6] + name: agent6 + start: [9, 27] +- goal: [20, 9] + name: agent7 + start: [22, 0] +- goal: [25, 5] + name: agent8 + start: [21, 19] +- goal: [11, 22] + name: agent9 + start: [13, 12] +- goal: [19, 7] + name: agent10 + start: [1, 27] +- goal: [27, 22] + name: agent11 + start: [15, 14] +- goal: [13, 29] + name: agent12 + start: [31, 31] +- goal: [24, 19] + name: agent13 + start: [5, 30] +- goal: [13, 10] + name: agent14 + start: [13, 23] +- goal: [2, 6] + name: agent15 + start: [2, 10] +- goal: [14, 21] + name: agent16 + start: [9, 19] +- goal: [23, 19] + name: agent17 + start: [14, 21] +- goal: [6, 30] + name: agent18 + start: [15, 17] +- goal: [17, 30] + name: agent19 + start: [24, 8] +- goal: [18, 5] + name: agent20 + start: [12, 28] +- goal: [24, 3] + name: agent21 + start: [20, 24] +- goal: [25, 17] + name: agent22 + start: [29, 2] +- goal: [6, 29] + name: agent23 + start: [13, 10] +- goal: [5, 24] + name: agent24 + start: [13, 31] +- goal: [5, 19] + name: agent25 + start: [16, 29] +- goal: [0, 14] + name: agent26 + start: [6, 18] +- goal: [23, 29] + name: agent27 + start: [31, 28] +- goal: [5, 10] + name: agent28 + start: [23, 11] +- goal: [16, 23] + name: agent29 + start: [8, 29] +- goal: [3, 10] + name: agent30 + start: [8, 23] +- goal: [20, 20] + name: agent31 + start: [23, 7] +- goal: [10, 8] + name: agent32 + start: [26, 11] +- goal: [2, 14] + name: agent33 + start: [7, 18] +- goal: [10, 13] + name: agent34 + start: [19, 8] +- goal: [6, 9] + name: agent35 + start: [19, 4] +- goal: [4, 20] + name: agent36 + start: [18, 15] +- goal: [16, 31] + name: agent37 + start: [2, 12] +- goal: [5, 25] + name: agent38 + start: [25, 12] +- goal: [0, 19] + name: agent39 + start: [19, 7] +- goal: [10, 29] + name: agent40 + start: [26, 14] +- goal: [18, 28] + name: agent41 + start: [30, 10] +- goal: [1, 30] + name: agent42 + start: [25, 14] +- goal: [30, 23] + name: agent43 + start: [11, 17] +- goal: [6, 7] + name: agent44 + start: [9, 13] +- goal: [13, 22] + name: agent45 + start: [26, 29] +- goal: [5, 23] + name: agent46 + start: [7, 20] +- goal: [19, 20] + name: agent47 + start: [18, 13] +- goal: [21, 18] + name: agent48 + start: [30, 12] +- goal: [22, 9] + name: agent49 + start: [18, 20] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [15, 13] + - !!python/tuple [15, 12] + - !!python/tuple [7, 19] + - !!python/tuple [27, 5] + - !!python/tuple [13, 6] + - !!python/tuple [11, 8] + - !!python/tuple [30, 4] + - !!python/tuple [2, 7] + - !!python/tuple [25, 3] + - !!python/tuple [11, 30] + - !!python/tuple [21, 2] + - !!python/tuple [3, 24] + - !!python/tuple [22, 29] + - !!python/tuple [19, 31] + - !!python/tuple [2, 28] + - !!python/tuple [25, 19] + - !!python/tuple [5, 27] + - !!python/tuple [24, 9] + - !!python/tuple [9, 8] + - !!python/tuple [11, 25] + - !!python/tuple [19, 28] + - !!python/tuple [0, 13] + - !!python/tuple [11, 6] + - !!python/tuple [22, 31] + - !!python/tuple [7, 25] + - !!python/tuple [31, 13] + - !!python/tuple [24, 7] + - !!python/tuple [17, 15] + - !!python/tuple [3, 18] + - !!python/tuple [20, 12] + - !!python/tuple [1, 31] + - !!python/tuple [25, 24] + - !!python/tuple [1, 19] + - !!python/tuple [0, 0] + - !!python/tuple [2, 16] + - !!python/tuple [9, 16] + - !!python/tuple [29, 14] + - !!python/tuple [9, 21] + - !!python/tuple [13, 16] + - !!python/tuple [16, 13] + - !!python/tuple [7, 6] + - !!python/tuple [21, 26] + - !!python/tuple [31, 26] + - !!python/tuple [8, 6] + - !!python/tuple [13, 8] + - !!python/tuple [20, 21] + - !!python/tuple [9, 5] + - !!python/tuple [0, 31] + - !!python/tuple [17, 16] + - !!python/tuple [14, 25] + - !!python/tuple [17, 20] + - !!python/tuple [24, 18] + - !!python/tuple [30, 31] + - !!python/tuple [17, 3] + - !!python/tuple [27, 21] + - !!python/tuple [14, 29] + - !!python/tuple [10, 26] + - !!python/tuple [23, 23] + - !!python/tuple [8, 20] + - !!python/tuple [21, 11] + - !!python/tuple [17, 14] + - !!python/tuple [28, 5] + - !!python/tuple [27, 23] + - !!python/tuple [28, 13] + - !!python/tuple [4, 4] + - !!python/tuple [7, 29] + - !!python/tuple [1, 10] + - !!python/tuple [8, 28] + - !!python/tuple [21, 30] + - !!python/tuple [21, 15] + - !!python/tuple [30, 17] + - !!python/tuple [2, 1] + - !!python/tuple [31, 14] + - !!python/tuple [14, 16] + - !!python/tuple [22, 12] + - !!python/tuple [21, 1] + - !!python/tuple [13, 28] + - !!python/tuple [12, 24] + - !!python/tuple [13, 5] + - !!python/tuple [25, 0] + - !!python/tuple [26, 5] + - !!python/tuple [24, 30] + - !!python/tuple [28, 9] + - !!python/tuple [30, 8] + - !!python/tuple [0, 15] + - !!python/tuple [3, 31] + - !!python/tuple [5, 2] + - !!python/tuple [21, 0] + - !!python/tuple [7, 0] + - !!python/tuple [11, 27] + - !!python/tuple [21, 9] + - !!python/tuple [26, 30] + - !!python/tuple [10, 14] + - !!python/tuple [13, 11] + - !!python/tuple [22, 15] + - !!python/tuple [15, 16] + - !!python/tuple [3, 13] + - !!python/tuple [8, 2] + - !!python/tuple [12, 26] + - !!python/tuple [2, 15] + - !!python/tuple [1, 2] + - !!python/tuple [9, 22] + - !!python/tuple [31, 16] + - !!python/tuple [29, 13] + - !!python/tuple [10, 31] + - !!python/tuple [16, 28] + - !!python/tuple [18, 30] + - !!python/tuple [7, 14] + - !!python/tuple [25, 4] + - !!python/tuple [14, 1] + - !!python/tuple [19, 9] + - !!python/tuple [31, 9] + - !!python/tuple [15, 1] + - !!python/tuple [25, 16] + - !!python/tuple [1, 3] + - !!python/tuple [11, 5] + - !!python/tuple [14, 15] + - !!python/tuple [11, 20] + - !!python/tuple [6, 14] + - !!python/tuple [16, 0] + - !!python/tuple [2, 23] + - !!python/tuple [29, 0] + - !!python/tuple [5, 21] + - !!python/tuple [28, 3] + - !!python/tuple [4, 13] + - !!python/tuple [21, 28] + - !!python/tuple [23, 22] + - !!python/tuple [17, 26] + - !!python/tuple [28, 10] + - !!python/tuple [3, 16] + - !!python/tuple [4, 31] + - !!python/tuple [25, 23] + - !!python/tuple [12, 23] + - !!python/tuple [22, 24] + - !!python/tuple [31, 2] + - !!python/tuple [8, 27] + - !!python/tuple [11, 28] + - !!python/tuple [15, 28] + - !!python/tuple [8, 4] + - !!python/tuple [29, 4] + - !!python/tuple [25, 18] + - !!python/tuple [17, 4] + - !!python/tuple [16, 18] + - !!python/tuple [8, 11] + - !!python/tuple [27, 25] + - !!python/tuple [10, 28] + - !!python/tuple [18, 23] + - !!python/tuple [10, 6] + - !!python/tuple [23, 13] + - !!python/tuple [11, 1] + - !!python/tuple [30, 29] + - !!python/tuple [5, 28] + - !!python/tuple [13, 21] + - !!python/tuple [30, 18] + - !!python/tuple [16, 3] + - !!python/tuple [24, 12] + - !!python/tuple [17, 6] + - !!python/tuple [27, 0] + - !!python/tuple [1, 20] + - !!python/tuple [8, 16] + - !!python/tuple [14, 10] + - !!python/tuple [5, 17] + - !!python/tuple [6, 12] + - !!python/tuple [16, 1] + - !!python/tuple [19, 18] + - !!python/tuple [9, 18] + - !!python/tuple [26, 9] + - !!python/tuple [6, 10] + - !!python/tuple [20, 7] + - !!python/tuple [26, 6] + - !!python/tuple [18, 12] + - !!python/tuple [0, 16] + - !!python/tuple [14, 2] + - !!python/tuple [7, 13] + - !!python/tuple [5, 1] + - !!python/tuple [4, 30] + - !!python/tuple [22, 14] + - !!python/tuple [5, 29] + - !!python/tuple [12, 6] + - !!python/tuple [18, 10] + - !!python/tuple [3, 4] + - !!python/tuple [11, 14] + - !!python/tuple [2, 2] + - !!python/tuple [10, 4] + - !!python/tuple [11, 3] + - !!python/tuple [31, 12] + - !!python/tuple [20, 29] + - !!python/tuple [6, 28] + - !!python/tuple [17, 13] + - !!python/tuple [30, 0] + - !!python/tuple [20, 27] + - !!python/tuple [1, 26] + - !!python/tuple [6, 21] + - !!python/tuple [6, 19] + - !!python/tuple [24, 0] + - !!python/tuple [5, 13] + - !!python/tuple [23, 17] + - !!python/tuple [10, 21] + - !!python/tuple [10, 17] + - !!python/tuple [21, 5] + - !!python/tuple [28, 31] + - !!python/tuple [19, 2] + - !!python/tuple [19, 30] + - !!python/tuple [16, 14] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex42.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex42.yaml new file mode 100644 index 0000000..a18df5e --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex42.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [20, 5] + name: agent0 + start: [9, 8] +- goal: [0, 18] + name: agent1 + start: [2, 22] +- goal: [1, 3] + name: agent2 + start: [6, 22] +- goal: [19, 16] + name: agent3 + start: [23, 14] +- goal: [24, 20] + name: agent4 + start: [26, 21] +- goal: [19, 21] + name: agent5 + start: [25, 26] +- goal: [10, 21] + name: agent6 + start: [9, 24] +- goal: [1, 15] + name: agent7 + start: [20, 21] +- goal: [25, 29] + name: agent8 + start: [28, 22] +- goal: [19, 25] + name: agent9 + start: [28, 19] +- goal: [24, 30] + name: agent10 + start: [28, 2] +- goal: [4, 11] + name: agent11 + start: [2, 4] +- goal: [7, 26] + name: agent12 + start: [9, 7] +- goal: [1, 14] + name: agent13 + start: [18, 8] +- goal: [1, 23] + name: agent14 + start: [20, 2] +- goal: [13, 9] + name: agent15 + start: [5, 25] +- goal: [30, 16] + name: agent16 + start: [9, 11] +- goal: [13, 20] + name: agent17 + start: [31, 19] +- goal: [11, 15] + name: agent18 + start: [27, 9] +- goal: [12, 28] + name: agent19 + start: [3, 8] +- goal: [15, 19] + name: agent20 + start: [8, 1] +- goal: [11, 9] + name: agent21 + start: [25, 13] +- goal: [0, 15] + name: agent22 + start: [24, 18] +- goal: [18, 22] + name: agent23 + start: [30, 19] +- goal: [1, 20] + name: agent24 + start: [8, 10] +- goal: [11, 24] + name: agent25 + start: [17, 26] +- goal: [31, 24] + name: agent26 + start: [21, 3] +- goal: [23, 30] + name: agent27 + start: [29, 15] +- goal: [31, 23] + name: agent28 + start: [3, 3] +- goal: [29, 4] + name: agent29 + start: [12, 26] +- goal: [18, 6] + name: agent30 + start: [1, 22] +- goal: [13, 19] + name: agent31 + start: [31, 18] +- goal: [27, 24] + name: agent32 + start: [15, 30] +- goal: [18, 7] + name: agent33 + start: [17, 18] +- goal: [15, 27] + name: agent34 + start: [5, 19] +- goal: [8, 25] + name: agent35 + start: [24, 0] +- goal: [17, 29] + name: agent36 + start: [12, 30] +- goal: [28, 5] + name: agent37 + start: [29, 31] +- goal: [31, 30] + name: agent38 + start: [10, 8] +- goal: [11, 2] + name: agent39 + start: [8, 4] +- goal: [21, 27] + name: agent40 + start: [25, 27] +- goal: [13, 24] + name: agent41 + start: [29, 2] +- goal: [24, 25] + name: agent42 + start: [21, 4] +- goal: [8, 8] + name: agent43 + start: [0, 7] +- goal: [28, 27] + name: agent44 + start: [2, 8] +- goal: [9, 20] + name: agent45 + start: [9, 9] +- goal: [24, 26] + name: agent46 + start: [30, 2] +- goal: [13, 23] + name: agent47 + start: [11, 1] +- goal: [1, 5] + name: agent48 + start: [25, 6] +- goal: [8, 3] + name: agent49 + start: [12, 22] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [20, 8] + - !!python/tuple [30, 22] + - !!python/tuple [23, 16] + - !!python/tuple [2, 25] + - !!python/tuple [5, 18] + - !!python/tuple [28, 7] + - !!python/tuple [0, 3] + - !!python/tuple [25, 2] + - !!python/tuple [15, 3] + - !!python/tuple [13, 10] + - !!python/tuple [7, 4] + - !!python/tuple [3, 15] + - !!python/tuple [31, 16] + - !!python/tuple [29, 17] + - !!python/tuple [31, 1] + - !!python/tuple [19, 15] + - !!python/tuple [0, 20] + - !!python/tuple [22, 15] + - !!python/tuple [2, 29] + - !!python/tuple [16, 4] + - !!python/tuple [6, 23] + - !!python/tuple [8, 17] + - !!python/tuple [27, 20] + - !!python/tuple [0, 28] + - !!python/tuple [25, 0] + - !!python/tuple [9, 25] + - !!python/tuple [31, 13] + - !!python/tuple [14, 13] + - !!python/tuple [25, 17] + - !!python/tuple [11, 28] + - !!python/tuple [10, 17] + - !!python/tuple [21, 0] + - !!python/tuple [9, 29] + - !!python/tuple [3, 14] + - !!python/tuple [20, 15] + - !!python/tuple [20, 22] + - !!python/tuple [14, 5] + - !!python/tuple [21, 12] + - !!python/tuple [12, 31] + - !!python/tuple [7, 3] + - !!python/tuple [1, 31] + - !!python/tuple [26, 30] + - !!python/tuple [25, 3] + - !!python/tuple [15, 31] + - !!python/tuple [22, 24] + - !!python/tuple [10, 9] + - !!python/tuple [6, 15] + - !!python/tuple [1, 16] + - !!python/tuple [0, 24] + - !!python/tuple [16, 9] + - !!python/tuple [16, 18] + - !!python/tuple [4, 13] + - !!python/tuple [28, 3] + - !!python/tuple [14, 2] + - !!python/tuple [5, 21] + - !!python/tuple [25, 20] + - !!python/tuple [20, 10] + - !!python/tuple [9, 23] + - !!python/tuple [19, 27] + - !!python/tuple [22, 30] + - !!python/tuple [4, 18] + - !!python/tuple [23, 9] + - !!python/tuple [23, 22] + - !!python/tuple [12, 12] + - !!python/tuple [27, 0] + - !!python/tuple [16, 12] + - !!python/tuple [9, 13] + - !!python/tuple [12, 0] + - !!python/tuple [22, 18] + - !!python/tuple [4, 3] + - !!python/tuple [8, 20] + - !!python/tuple [3, 7] + - !!python/tuple [11, 13] + - !!python/tuple [20, 23] + - !!python/tuple [4, 7] + - !!python/tuple [27, 26] + - !!python/tuple [27, 1] + - !!python/tuple [11, 29] + - !!python/tuple [18, 1] + - !!python/tuple [10, 12] + - !!python/tuple [26, 1] + - !!python/tuple [9, 16] + - !!python/tuple [28, 0] + - !!python/tuple [3, 24] + - !!python/tuple [0, 5] + - !!python/tuple [12, 14] + - !!python/tuple [22, 28] + - !!python/tuple [23, 21] + - !!python/tuple [22, 9] + - !!python/tuple [26, 25] + - !!python/tuple [21, 17] + - !!python/tuple [28, 9] + - !!python/tuple [19, 6] + - !!python/tuple [27, 18] + - !!python/tuple [29, 26] + - !!python/tuple [0, 29] + - !!python/tuple [10, 15] + - !!python/tuple [20, 25] + - !!python/tuple [3, 20] + - !!python/tuple [6, 5] + - !!python/tuple [1, 26] + - !!python/tuple [13, 3] + - !!python/tuple [9, 12] + - !!python/tuple [14, 23] + - !!python/tuple [13, 4] + - !!python/tuple [24, 31] + - !!python/tuple [7, 5] + - !!python/tuple [25, 11] + - !!python/tuple [31, 2] + - !!python/tuple [15, 8] + - !!python/tuple [0, 12] + - !!python/tuple [24, 10] + - !!python/tuple [5, 10] + - !!python/tuple [21, 15] + - !!python/tuple [19, 3] + - !!python/tuple [23, 10] + - !!python/tuple [31, 6] + - !!python/tuple [13, 16] + - !!python/tuple [10, 25] + - !!python/tuple [18, 9] + - !!python/tuple [17, 23] + - !!python/tuple [2, 15] + - !!python/tuple [6, 25] + - !!python/tuple [23, 6] + - !!python/tuple [8, 24] + - !!python/tuple [23, 11] + - !!python/tuple [17, 12] + - !!python/tuple [18, 3] + - !!python/tuple [26, 22] + - !!python/tuple [26, 17] + - !!python/tuple [21, 24] + - !!python/tuple [28, 10] + - !!python/tuple [0, 6] + - !!python/tuple [17, 10] + - !!python/tuple [26, 13] + - !!python/tuple [23, 18] + - !!python/tuple [28, 26] + - !!python/tuple [0, 16] + - !!python/tuple [19, 0] + - !!python/tuple [28, 31] + - !!python/tuple [7, 11] + - !!python/tuple [10, 20] + - !!python/tuple [2, 27] + - !!python/tuple [19, 26] + - !!python/tuple [31, 3] + - !!python/tuple [31, 22] + - !!python/tuple [30, 13] + - !!python/tuple [15, 12] + - !!python/tuple [15, 25] + - !!python/tuple [19, 28] + - !!python/tuple [24, 13] + - !!python/tuple [19, 8] + - !!python/tuple [7, 2] + - !!python/tuple [3, 11] + - !!python/tuple [23, 27] + - !!python/tuple [25, 1] + - !!python/tuple [18, 12] + - !!python/tuple [29, 18] + - !!python/tuple [9, 21] + - !!python/tuple [9, 1] + - !!python/tuple [17, 15] + - !!python/tuple [17, 20] + - !!python/tuple [13, 12] + - !!python/tuple [27, 27] + - !!python/tuple [31, 26] + - !!python/tuple [1, 24] + - !!python/tuple [27, 29] + - !!python/tuple [20, 14] + - !!python/tuple [26, 29] + - !!python/tuple [1, 7] + - !!python/tuple [14, 16] + - !!python/tuple [16, 8] + - !!python/tuple [14, 21] + - !!python/tuple [1, 4] + - !!python/tuple [25, 21] + - !!python/tuple [4, 9] + - !!python/tuple [5, 17] + - !!python/tuple [17, 9] + - !!python/tuple [8, 9] + - !!python/tuple [30, 30] + - !!python/tuple [15, 6] + - !!python/tuple [2, 13] + - !!python/tuple [31, 21] + - !!python/tuple [9, 22] + - !!python/tuple [28, 25] + - !!python/tuple [21, 21] + - !!python/tuple [30, 0] + - !!python/tuple [13, 29] + - !!python/tuple [0, 13] + - !!python/tuple [16, 11] + - !!python/tuple [2, 3] + - !!python/tuple [5, 4] + - !!python/tuple [4, 27] + - !!python/tuple [7, 16] + - !!python/tuple [8, 13] + - !!python/tuple [3, 18] + - !!python/tuple [24, 16] + - !!python/tuple [5, 30] + - !!python/tuple [22, 23] + - !!python/tuple [6, 12] + - !!python/tuple [15, 9] + - !!python/tuple [28, 21] + - !!python/tuple [16, 20] + - !!python/tuple [15, 10] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex43.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex43.yaml new file mode 100644 index 0000000..e253990 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex43.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [26, 21] + name: agent0 + start: [19, 8] +- goal: [28, 17] + name: agent1 + start: [9, 12] +- goal: [1, 23] + name: agent2 + start: [23, 25] +- goal: [1, 17] + name: agent3 + start: [23, 16] +- goal: [3, 1] + name: agent4 + start: [27, 6] +- goal: [21, 16] + name: agent5 + start: [17, 23] +- goal: [20, 4] + name: agent6 + start: [28, 27] +- goal: [11, 20] + name: agent7 + start: [20, 25] +- goal: [25, 27] + name: agent8 + start: [27, 27] +- goal: [23, 2] + name: agent9 + start: [22, 17] +- goal: [26, 30] + name: agent10 + start: [4, 29] +- goal: [13, 0] + name: agent11 + start: [5, 14] +- goal: [18, 7] + name: agent12 + start: [18, 6] +- goal: [23, 8] + name: agent13 + start: [25, 19] +- goal: [9, 3] + name: agent14 + start: [4, 13] +- goal: [14, 25] + name: agent15 + start: [25, 8] +- goal: [1, 11] + name: agent16 + start: [31, 15] +- goal: [5, 30] + name: agent17 + start: [9, 25] +- goal: [14, 13] + name: agent18 + start: [30, 30] +- goal: [0, 11] + name: agent19 + start: [7, 18] +- goal: [25, 6] + name: agent20 + start: [27, 1] +- goal: [17, 11] + name: agent21 + start: [15, 1] +- goal: [24, 26] + name: agent22 + start: [22, 3] +- goal: [7, 11] + name: agent23 + start: [0, 28] +- goal: [17, 18] + name: agent24 + start: [6, 10] +- goal: [26, 17] + name: agent25 + start: [12, 9] +- goal: [23, 29] + name: agent26 + start: [11, 0] +- goal: [9, 31] + name: agent27 + start: [9, 4] +- goal: [11, 25] + name: agent28 + start: [13, 8] +- goal: [10, 7] + name: agent29 + start: [0, 19] +- goal: [28, 10] + name: agent30 + start: [16, 6] +- goal: [15, 3] + name: agent31 + start: [2, 21] +- goal: [13, 20] + name: agent32 + start: [6, 9] +- goal: [9, 10] + name: agent33 + start: [16, 3] +- goal: [8, 9] + name: agent34 + start: [29, 7] +- goal: [16, 12] + name: agent35 + start: [17, 13] +- goal: [3, 28] + name: agent36 + start: [16, 17] +- goal: [5, 16] + name: agent37 + start: [31, 3] +- goal: [29, 20] + name: agent38 + start: [27, 22] +- goal: [14, 26] + name: agent39 + start: [23, 12] +- goal: [11, 28] + name: agent40 + start: [12, 14] +- goal: [27, 19] + name: agent41 + start: [3, 4] +- goal: [21, 10] + name: agent42 + start: [11, 22] +- goal: [26, 20] + name: agent43 + start: [9, 16] +- goal: [0, 19] + name: agent44 + start: [2, 20] +- goal: [31, 31] + name: agent45 + start: [25, 3] +- goal: [13, 1] + name: agent46 + start: [16, 18] +- goal: [29, 19] + name: agent47 + start: [4, 0] +- goal: [5, 23] + name: agent48 + start: [26, 6] +- goal: [14, 16] + name: agent49 + start: [18, 18] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [28, 3] + - !!python/tuple [3, 12] + - !!python/tuple [10, 5] + - !!python/tuple [3, 26] + - !!python/tuple [29, 30] + - !!python/tuple [3, 29] + - !!python/tuple [4, 19] + - !!python/tuple [10, 15] + - !!python/tuple [13, 13] + - !!python/tuple [14, 21] + - !!python/tuple [23, 13] + - !!python/tuple [11, 17] + - !!python/tuple [28, 6] + - !!python/tuple [5, 29] + - !!python/tuple [31, 12] + - !!python/tuple [17, 16] + - !!python/tuple [29, 4] + - !!python/tuple [20, 1] + - !!python/tuple [1, 28] + - !!python/tuple [27, 13] + - !!python/tuple [28, 15] + - !!python/tuple [2, 31] + - !!python/tuple [20, 26] + - !!python/tuple [13, 12] + - !!python/tuple [17, 20] + - !!python/tuple [30, 7] + - !!python/tuple [19, 4] + - !!python/tuple [11, 19] + - !!python/tuple [18, 15] + - !!python/tuple [9, 19] + - !!python/tuple [6, 29] + - !!python/tuple [4, 4] + - !!python/tuple [27, 5] + - !!python/tuple [9, 0] + - !!python/tuple [3, 2] + - !!python/tuple [29, 5] + - !!python/tuple [19, 15] + - !!python/tuple [21, 6] + - !!python/tuple [19, 16] + - !!python/tuple [10, 26] + - !!python/tuple [8, 30] + - !!python/tuple [4, 26] + - !!python/tuple [0, 4] + - !!python/tuple [25, 17] + - !!python/tuple [1, 15] + - !!python/tuple [31, 6] + - !!python/tuple [14, 3] + - !!python/tuple [6, 27] + - !!python/tuple [15, 29] + - !!python/tuple [20, 6] + - !!python/tuple [26, 4] + - !!python/tuple [8, 4] + - !!python/tuple [29, 24] + - !!python/tuple [0, 31] + - !!python/tuple [19, 26] + - !!python/tuple [4, 20] + - !!python/tuple [15, 19] + - !!python/tuple [22, 11] + - !!python/tuple [29, 13] + - !!python/tuple [17, 3] + - !!python/tuple [10, 17] + - !!python/tuple [24, 18] + - !!python/tuple [12, 3] + - !!python/tuple [6, 18] + - !!python/tuple [5, 27] + - !!python/tuple [23, 4] + - !!python/tuple [14, 7] + - !!python/tuple [15, 9] + - !!python/tuple [0, 2] + - !!python/tuple [1, 26] + - !!python/tuple [31, 26] + - !!python/tuple [26, 25] + - !!python/tuple [14, 18] + - !!python/tuple [14, 0] + - !!python/tuple [0, 21] + - !!python/tuple [12, 24] + - !!python/tuple [6, 30] + - !!python/tuple [22, 19] + - !!python/tuple [13, 14] + - !!python/tuple [3, 27] + - !!python/tuple [25, 7] + - !!python/tuple [17, 0] + - !!python/tuple [30, 10] + - !!python/tuple [11, 3] + - !!python/tuple [16, 19] + - !!python/tuple [11, 8] + - !!python/tuple [25, 31] + - !!python/tuple [7, 12] + - !!python/tuple [6, 22] + - !!python/tuple [16, 8] + - !!python/tuple [5, 25] + - !!python/tuple [10, 10] + - !!python/tuple [8, 22] + - !!python/tuple [27, 3] + - !!python/tuple [15, 14] + - !!python/tuple [24, 16] + - !!python/tuple [14, 6] + - !!python/tuple [28, 9] + - !!python/tuple [2, 29] + - !!python/tuple [1, 6] + - !!python/tuple [9, 23] + - !!python/tuple [5, 31] + - !!python/tuple [13, 23] + - !!python/tuple [14, 2] + - !!python/tuple [11, 29] + - !!python/tuple [12, 1] + - !!python/tuple [16, 13] + - !!python/tuple [26, 0] + - !!python/tuple [25, 26] + - !!python/tuple [31, 20] + - !!python/tuple [15, 13] + - !!python/tuple [9, 14] + - !!python/tuple [5, 10] + - !!python/tuple [5, 28] + - !!python/tuple [31, 9] + - !!python/tuple [0, 25] + - !!python/tuple [23, 17] + - !!python/tuple [18, 13] + - !!python/tuple [24, 4] + - !!python/tuple [23, 18] + - !!python/tuple [1, 10] + - !!python/tuple [10, 27] + - !!python/tuple [14, 22] + - !!python/tuple [30, 23] + - !!python/tuple [11, 9] + - !!python/tuple [8, 29] + - !!python/tuple [29, 27] + - !!python/tuple [12, 6] + - !!python/tuple [31, 4] + - !!python/tuple [14, 24] + - !!python/tuple [8, 23] + - !!python/tuple [10, 0] + - !!python/tuple [8, 20] + - !!python/tuple [31, 21] + - !!python/tuple [19, 22] + - !!python/tuple [3, 25] + - !!python/tuple [18, 21] + - !!python/tuple [19, 1] + - !!python/tuple [5, 20] + - !!python/tuple [4, 1] + - !!python/tuple [21, 14] + - !!python/tuple [24, 27] + - !!python/tuple [24, 5] + - !!python/tuple [2, 23] + - !!python/tuple [31, 17] + - !!python/tuple [0, 6] + - !!python/tuple [27, 23] + - !!python/tuple [6, 20] + - !!python/tuple [21, 7] + - !!python/tuple [20, 8] + - !!python/tuple [10, 3] + - !!python/tuple [5, 5] + - !!python/tuple [7, 16] + - !!python/tuple [14, 9] + - !!python/tuple [23, 11] + - !!python/tuple [10, 16] + - !!python/tuple [21, 15] + - !!python/tuple [31, 22] + - !!python/tuple [14, 5] + - !!python/tuple [2, 12] + - !!python/tuple [30, 24] + - !!python/tuple [14, 27] + - !!python/tuple [28, 13] + - !!python/tuple [8, 3] + - !!python/tuple [8, 12] + - !!python/tuple [24, 19] + - !!python/tuple [7, 22] + - !!python/tuple [24, 22] + - !!python/tuple [7, 19] + - !!python/tuple [1, 9] + - !!python/tuple [29, 18] + - !!python/tuple [30, 2] + - !!python/tuple [24, 3] + - !!python/tuple [16, 25] + - !!python/tuple [12, 4] + - !!python/tuple [20, 2] + - !!python/tuple [30, 6] + - !!python/tuple [20, 0] + - !!python/tuple [16, 15] + - !!python/tuple [21, 19] + - !!python/tuple [30, 20] + - !!python/tuple [30, 14] + - !!python/tuple [30, 28] + - !!python/tuple [25, 1] + - !!python/tuple [3, 7] + - !!python/tuple [19, 31] + - !!python/tuple [15, 25] + - !!python/tuple [12, 12] + - !!python/tuple [2, 10] + - !!python/tuple [9, 15] + - !!python/tuple [17, 26] + - !!python/tuple [28, 28] + - !!python/tuple [30, 21] + - !!python/tuple [26, 31] + - !!python/tuple [26, 10] + - !!python/tuple [4, 3] + - !!python/tuple [28, 22] + - !!python/tuple [12, 16] + - !!python/tuple [15, 7] + - !!python/tuple [16, 20] + - !!python/tuple [20, 9] + - !!python/tuple [21, 18] + - !!python/tuple [22, 16] + - !!python/tuple [3, 3] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex44.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex44.yaml new file mode 100644 index 0000000..2e74249 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex44.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [1, 26] + name: agent0 + start: [5, 8] +- goal: [24, 23] + name: agent1 + start: [6, 1] +- goal: [12, 17] + name: agent2 + start: [17, 3] +- goal: [30, 15] + name: agent3 + start: [16, 8] +- goal: [5, 15] + name: agent4 + start: [31, 28] +- goal: [25, 7] + name: agent5 + start: [27, 21] +- goal: [5, 28] + name: agent6 + start: [9, 19] +- goal: [11, 13] + name: agent7 + start: [31, 4] +- goal: [1, 11] + name: agent8 + start: [14, 24] +- goal: [1, 17] + name: agent9 + start: [28, 23] +- goal: [12, 9] + name: agent10 + start: [13, 21] +- goal: [9, 14] + name: agent11 + start: [20, 30] +- goal: [2, 0] + name: agent12 + start: [9, 23] +- goal: [18, 13] + name: agent13 + start: [13, 26] +- goal: [23, 20] + name: agent14 + start: [3, 5] +- goal: [17, 26] + name: agent15 + start: [16, 17] +- goal: [11, 8] + name: agent16 + start: [11, 25] +- goal: [29, 22] + name: agent17 + start: [8, 16] +- goal: [18, 30] + name: agent18 + start: [14, 23] +- goal: [7, 28] + name: agent19 + start: [13, 30] +- goal: [7, 12] + name: agent20 + start: [10, 12] +- goal: [29, 16] + name: agent21 + start: [24, 14] +- goal: [16, 30] + name: agent22 + start: [20, 2] +- goal: [27, 5] + name: agent23 + start: [3, 4] +- goal: [2, 27] + name: agent24 + start: [23, 24] +- goal: [18, 4] + name: agent25 + start: [8, 19] +- goal: [29, 15] + name: agent26 + start: [10, 7] +- goal: [13, 5] + name: agent27 + start: [5, 22] +- goal: [11, 2] + name: agent28 + start: [21, 16] +- goal: [15, 16] + name: agent29 + start: [14, 17] +- goal: [3, 29] + name: agent30 + start: [12, 1] +- goal: [7, 1] + name: agent31 + start: [5, 11] +- goal: [16, 14] + name: agent32 + start: [7, 20] +- goal: [14, 25] + name: agent33 + start: [4, 31] +- goal: [21, 17] + name: agent34 + start: [15, 5] +- goal: [11, 23] + name: agent35 + start: [14, 25] +- goal: [1, 2] + name: agent36 + start: [18, 10] +- goal: [12, 6] + name: agent37 + start: [16, 30] +- goal: [14, 9] + name: agent38 + start: [5, 24] +- goal: [4, 2] + name: agent39 + start: [14, 10] +- goal: [3, 13] + name: agent40 + start: [8, 21] +- goal: [9, 9] + name: agent41 + start: [10, 28] +- goal: [3, 2] + name: agent42 + start: [13, 12] +- goal: [29, 30] + name: agent43 + start: [20, 15] +- goal: [8, 5] + name: agent44 + start: [26, 31] +- goal: [30, 28] + name: agent45 + start: [28, 20] +- goal: [16, 28] + name: agent46 + start: [19, 8] +- goal: [12, 26] + name: agent47 + start: [22, 16] +- goal: [0, 6] + name: agent48 + start: [30, 4] +- goal: [24, 12] + name: agent49 + start: [4, 10] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [8, 3] + - !!python/tuple [13, 10] + - !!python/tuple [27, 13] + - !!python/tuple [6, 15] + - !!python/tuple [21, 29] + - !!python/tuple [30, 14] + - !!python/tuple [23, 17] + - !!python/tuple [30, 11] + - !!python/tuple [9, 28] + - !!python/tuple [10, 3] + - !!python/tuple [13, 14] + - !!python/tuple [8, 0] + - !!python/tuple [28, 25] + - !!python/tuple [24, 11] + - !!python/tuple [21, 13] + - !!python/tuple [7, 13] + - !!python/tuple [20, 0] + - !!python/tuple [2, 15] + - !!python/tuple [26, 7] + - !!python/tuple [28, 18] + - !!python/tuple [30, 23] + - !!python/tuple [9, 11] + - !!python/tuple [3, 26] + - !!python/tuple [19, 14] + - !!python/tuple [17, 19] + - !!python/tuple [23, 2] + - !!python/tuple [27, 15] + - !!python/tuple [21, 22] + - !!python/tuple [17, 12] + - !!python/tuple [6, 6] + - !!python/tuple [2, 3] + - !!python/tuple [17, 6] + - !!python/tuple [20, 14] + - !!python/tuple [28, 16] + - !!python/tuple [28, 27] + - !!python/tuple [14, 20] + - !!python/tuple [20, 26] + - !!python/tuple [18, 24] + - !!python/tuple [13, 15] + - !!python/tuple [24, 4] + - !!python/tuple [23, 18] + - !!python/tuple [10, 13] + - !!python/tuple [31, 17] + - !!python/tuple [21, 9] + - !!python/tuple [31, 10] + - !!python/tuple [4, 11] + - !!python/tuple [24, 28] + - !!python/tuple [5, 9] + - !!python/tuple [18, 5] + - !!python/tuple [5, 13] + - !!python/tuple [4, 30] + - !!python/tuple [1, 0] + - !!python/tuple [29, 2] + - !!python/tuple [29, 6] + - !!python/tuple [17, 0] + - !!python/tuple [31, 15] + - !!python/tuple [19, 25] + - !!python/tuple [3, 22] + - !!python/tuple [8, 6] + - !!python/tuple [8, 23] + - !!python/tuple [9, 6] + - !!python/tuple [22, 9] + - !!python/tuple [28, 6] + - !!python/tuple [2, 9] + - !!python/tuple [11, 3] + - !!python/tuple [4, 29] + - !!python/tuple [2, 2] + - !!python/tuple [6, 20] + - !!python/tuple [25, 11] + - !!python/tuple [18, 31] + - !!python/tuple [27, 7] + - !!python/tuple [11, 19] + - !!python/tuple [25, 9] + - !!python/tuple [25, 14] + - !!python/tuple [23, 1] + - !!python/tuple [14, 21] + - !!python/tuple [17, 16] + - !!python/tuple [10, 22] + - !!python/tuple [23, 19] + - !!python/tuple [1, 20] + - !!python/tuple [28, 15] + - !!python/tuple [31, 23] + - !!python/tuple [11, 28] + - !!python/tuple [12, 8] + - !!python/tuple [18, 12] + - !!python/tuple [3, 28] + - !!python/tuple [22, 24] + - !!python/tuple [24, 13] + - !!python/tuple [26, 19] + - !!python/tuple [31, 12] + - !!python/tuple [6, 18] + - !!python/tuple [14, 5] + - !!python/tuple [27, 19] + - !!python/tuple [5, 29] + - !!python/tuple [31, 21] + - !!python/tuple [18, 16] + - !!python/tuple [11, 31] + - !!python/tuple [0, 24] + - !!python/tuple [14, 7] + - !!python/tuple [28, 31] + - !!python/tuple [26, 3] + - !!python/tuple [0, 18] + - !!python/tuple [18, 20] + - !!python/tuple [26, 18] + - !!python/tuple [10, 23] + - !!python/tuple [7, 24] + - !!python/tuple [13, 27] + - !!python/tuple [17, 10] + - !!python/tuple [4, 22] + - !!python/tuple [28, 30] + - !!python/tuple [26, 13] + - !!python/tuple [26, 1] + - !!python/tuple [11, 24] + - !!python/tuple [2, 22] + - !!python/tuple [0, 22] + - !!python/tuple [8, 24] + - !!python/tuple [24, 20] + - !!python/tuple [4, 13] + - !!python/tuple [18, 6] + - !!python/tuple [4, 28] + - !!python/tuple [22, 4] + - !!python/tuple [16, 20] + - !!python/tuple [2, 11] + - !!python/tuple [26, 30] + - !!python/tuple [14, 28] + - !!python/tuple [26, 23] + - !!python/tuple [9, 30] + - !!python/tuple [24, 17] + - !!python/tuple [10, 29] + - !!python/tuple [19, 15] + - !!python/tuple [8, 4] + - !!python/tuple [6, 3] + - !!python/tuple [27, 20] + - !!python/tuple [17, 13] + - !!python/tuple [10, 19] + - !!python/tuple [20, 7] + - !!python/tuple [1, 6] + - !!python/tuple [8, 15] + - !!python/tuple [17, 1] + - !!python/tuple [6, 31] + - !!python/tuple [15, 29] + - !!python/tuple [30, 24] + - !!python/tuple [19, 30] + - !!python/tuple [16, 9] + - !!python/tuple [15, 9] + - !!python/tuple [1, 15] + - !!python/tuple [7, 21] + - !!python/tuple [21, 4] + - !!python/tuple [1, 21] + - !!python/tuple [24, 8] + - !!python/tuple [13, 1] + - !!python/tuple [31, 13] + - !!python/tuple [15, 3] + - !!python/tuple [19, 26] + - !!python/tuple [6, 24] + - !!python/tuple [11, 12] + - !!python/tuple [16, 11] + - !!python/tuple [30, 2] + - !!python/tuple [19, 22] + - !!python/tuple [3, 6] + - !!python/tuple [6, 4] + - !!python/tuple [31, 25] + - !!python/tuple [18, 0] + - !!python/tuple [0, 0] + - !!python/tuple [30, 9] + - !!python/tuple [9, 22] + - !!python/tuple [20, 23] + - !!python/tuple [22, 8] + - !!python/tuple [7, 22] + - !!python/tuple [15, 24] + - !!python/tuple [26, 25] + - !!python/tuple [7, 11] + - !!python/tuple [1, 5] + - !!python/tuple [31, 6] + - !!python/tuple [22, 13] + - !!python/tuple [24, 30] + - !!python/tuple [3, 15] + - !!python/tuple [1, 13] + - !!python/tuple [11, 6] + - !!python/tuple [21, 0] + - !!python/tuple [25, 18] + - !!python/tuple [2, 12] + - !!python/tuple [28, 3] + - !!python/tuple [23, 8] + - !!python/tuple [3, 14] + - !!python/tuple [15, 11] + - !!python/tuple [21, 1] + - !!python/tuple [25, 5] + - !!python/tuple [27, 11] + - !!python/tuple [9, 13] + - !!python/tuple [22, 5] + - !!python/tuple [10, 26] + - !!python/tuple [26, 28] + - !!python/tuple [7, 17] + - !!python/tuple [4, 26] + - !!python/tuple [20, 16] + - !!python/tuple [2, 18] + - !!python/tuple [25, 15] + - !!python/tuple [13, 22] + - !!python/tuple [22, 12] + - !!python/tuple [26, 15] + - !!python/tuple [12, 25] + - !!python/tuple [30, 1] + - !!python/tuple [21, 21] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex45.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex45.yaml new file mode 100644 index 0000000..e04cd2c --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex45.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [18, 9] + name: agent0 + start: [31, 8] +- goal: [14, 25] + name: agent1 + start: [25, 8] +- goal: [5, 31] + name: agent2 + start: [14, 28] +- goal: [20, 29] + name: agent3 + start: [8, 21] +- goal: [2, 14] + name: agent4 + start: [23, 12] +- goal: [12, 12] + name: agent5 + start: [0, 23] +- goal: [4, 12] + name: agent6 + start: [0, 31] +- goal: [8, 0] + name: agent7 + start: [15, 19] +- goal: [19, 8] + name: agent8 + start: [23, 24] +- goal: [11, 6] + name: agent9 + start: [20, 16] +- goal: [28, 9] + name: agent10 + start: [3, 0] +- goal: [2, 0] + name: agent11 + start: [4, 7] +- goal: [4, 3] + name: agent12 + start: [31, 19] +- goal: [24, 6] + name: agent13 + start: [24, 5] +- goal: [29, 28] + name: agent14 + start: [15, 10] +- goal: [13, 19] + name: agent15 + start: [13, 18] +- goal: [12, 19] + name: agent16 + start: [2, 4] +- goal: [12, 31] + name: agent17 + start: [13, 31] +- goal: [21, 1] + name: agent18 + start: [16, 30] +- goal: [20, 4] + name: agent19 + start: [6, 24] +- goal: [24, 24] + name: agent20 + start: [14, 20] +- goal: [2, 13] + name: agent21 + start: [15, 2] +- goal: [20, 20] + name: agent22 + start: [0, 21] +- goal: [18, 1] + name: agent23 + start: [17, 9] +- goal: [27, 30] + name: agent24 + start: [15, 11] +- goal: [18, 7] + name: agent25 + start: [29, 28] +- goal: [19, 9] + name: agent26 + start: [13, 8] +- goal: [17, 7] + name: agent27 + start: [6, 22] +- goal: [14, 26] + name: agent28 + start: [14, 6] +- goal: [19, 29] + name: agent29 + start: [21, 31] +- goal: [31, 9] + name: agent30 + start: [18, 9] +- goal: [7, 20] + name: agent31 + start: [1, 13] +- goal: [6, 10] + name: agent32 + start: [21, 21] +- goal: [18, 25] + name: agent33 + start: [7, 0] +- goal: [16, 19] + name: agent34 + start: [13, 12] +- goal: [5, 4] + name: agent35 + start: [22, 25] +- goal: [20, 31] + name: agent36 + start: [1, 28] +- goal: [7, 7] + name: agent37 + start: [1, 26] +- goal: [31, 13] + name: agent38 + start: [28, 9] +- goal: [27, 26] + name: agent39 + start: [30, 30] +- goal: [12, 8] + name: agent40 + start: [31, 29] +- goal: [13, 12] + name: agent41 + start: [23, 27] +- goal: [17, 28] + name: agent42 + start: [4, 31] +- goal: [30, 1] + name: agent43 + start: [6, 19] +- goal: [8, 7] + name: agent44 + start: [22, 13] +- goal: [27, 28] + name: agent45 + start: [30, 6] +- goal: [20, 2] + name: agent46 + start: [11, 9] +- goal: [28, 1] + name: agent47 + start: [1, 12] +- goal: [20, 28] + name: agent48 + start: [27, 3] +- goal: [14, 30] + name: agent49 + start: [5, 23] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [23, 25] + - !!python/tuple [5, 11] + - !!python/tuple [10, 28] + - !!python/tuple [1, 1] + - !!python/tuple [7, 19] + - !!python/tuple [19, 18] + - !!python/tuple [20, 19] + - !!python/tuple [2, 22] + - !!python/tuple [30, 29] + - !!python/tuple [22, 8] + - !!python/tuple [4, 13] + - !!python/tuple [25, 31] + - !!python/tuple [0, 25] + - !!python/tuple [9, 5] + - !!python/tuple [10, 4] + - !!python/tuple [7, 26] + - !!python/tuple [3, 23] + - !!python/tuple [30, 21] + - !!python/tuple [5, 15] + - !!python/tuple [30, 12] + - !!python/tuple [25, 20] + - !!python/tuple [24, 15] + - !!python/tuple [29, 9] + - !!python/tuple [21, 10] + - !!python/tuple [24, 25] + - !!python/tuple [17, 3] + - !!python/tuple [26, 30] + - !!python/tuple [20, 8] + - !!python/tuple [31, 0] + - !!python/tuple [21, 9] + - !!python/tuple [0, 17] + - !!python/tuple [3, 9] + - !!python/tuple [29, 19] + - !!python/tuple [30, 18] + - !!python/tuple [18, 17] + - !!python/tuple [12, 0] + - !!python/tuple [24, 31] + - !!python/tuple [19, 23] + - !!python/tuple [1, 15] + - !!python/tuple [6, 21] + - !!python/tuple [16, 2] + - !!python/tuple [18, 10] + - !!python/tuple [31, 18] + - !!python/tuple [14, 29] + - !!python/tuple [21, 18] + - !!python/tuple [27, 31] + - !!python/tuple [6, 26] + - !!python/tuple [16, 12] + - !!python/tuple [18, 23] + - !!python/tuple [8, 1] + - !!python/tuple [14, 23] + - !!python/tuple [29, 3] + - !!python/tuple [17, 17] + - !!python/tuple [13, 0] + - !!python/tuple [21, 6] + - !!python/tuple [31, 16] + - !!python/tuple [27, 13] + - !!python/tuple [5, 21] + - !!python/tuple [20, 27] + - !!python/tuple [8, 2] + - !!python/tuple [15, 6] + - !!python/tuple [29, 13] + - !!python/tuple [30, 28] + - !!python/tuple [9, 23] + - !!python/tuple [17, 5] + - !!python/tuple [8, 18] + - !!python/tuple [28, 3] + - !!python/tuple [28, 29] + - !!python/tuple [9, 30] + - !!python/tuple [9, 12] + - !!python/tuple [1, 17] + - !!python/tuple [27, 10] + - !!python/tuple [13, 2] + - !!python/tuple [24, 23] + - !!python/tuple [3, 18] + - !!python/tuple [28, 8] + - !!python/tuple [15, 24] + - !!python/tuple [31, 17] + - !!python/tuple [13, 6] + - !!python/tuple [20, 14] + - !!python/tuple [12, 29] + - !!python/tuple [12, 5] + - !!python/tuple [18, 15] + - !!python/tuple [5, 19] + - !!python/tuple [9, 14] + - !!python/tuple [6, 12] + - !!python/tuple [9, 1] + - !!python/tuple [18, 19] + - !!python/tuple [27, 24] + - !!python/tuple [1, 4] + - !!python/tuple [1, 30] + - !!python/tuple [3, 27] + - !!python/tuple [4, 2] + - !!python/tuple [17, 11] + - !!python/tuple [28, 20] + - !!python/tuple [1, 5] + - !!python/tuple [11, 14] + - !!python/tuple [12, 22] + - !!python/tuple [16, 4] + - !!python/tuple [8, 22] + - !!python/tuple [31, 5] + - !!python/tuple [9, 29] + - !!python/tuple [25, 6] + - !!python/tuple [3, 1] + - !!python/tuple [18, 30] + - !!python/tuple [0, 2] + - !!python/tuple [1, 8] + - !!python/tuple [24, 21] + - !!python/tuple [1, 22] + - !!python/tuple [21, 16] + - !!python/tuple [5, 6] + - !!python/tuple [13, 26] + - !!python/tuple [7, 14] + - !!python/tuple [22, 15] + - !!python/tuple [9, 25] + - !!python/tuple [30, 31] + - !!python/tuple [28, 18] + - !!python/tuple [20, 6] + - !!python/tuple [23, 31] + - !!python/tuple [11, 11] + - !!python/tuple [7, 21] + - !!python/tuple [14, 27] + - !!python/tuple [24, 19] + - !!python/tuple [26, 19] + - !!python/tuple [20, 17] + - !!python/tuple [19, 5] + - !!python/tuple [11, 26] + - !!python/tuple [5, 10] + - !!python/tuple [7, 22] + - !!python/tuple [15, 25] + - !!python/tuple [9, 18] + - !!python/tuple [25, 25] + - !!python/tuple [27, 27] + - !!python/tuple [16, 14] + - !!python/tuple [26, 3] + - !!python/tuple [0, 0] + - !!python/tuple [18, 14] + - !!python/tuple [12, 25] + - !!python/tuple [5, 17] + - !!python/tuple [9, 4] + - !!python/tuple [27, 2] + - !!python/tuple [19, 15] + - !!python/tuple [12, 26] + - !!python/tuple [16, 26] + - !!python/tuple [29, 16] + - !!python/tuple [3, 21] + - !!python/tuple [0, 14] + - !!python/tuple [24, 29] + - !!python/tuple [16, 10] + - !!python/tuple [11, 29] + - !!python/tuple [10, 9] + - !!python/tuple [16, 31] + - !!python/tuple [24, 1] + - !!python/tuple [15, 30] + - !!python/tuple [7, 9] + - !!python/tuple [8, 8] + - !!python/tuple [23, 3] + - !!python/tuple [10, 27] + - !!python/tuple [3, 25] + - !!python/tuple [31, 28] + - !!python/tuple [12, 23] + - !!python/tuple [3, 11] + - !!python/tuple [1, 19] + - !!python/tuple [14, 17] + - !!python/tuple [13, 17] + - !!python/tuple [29, 23] + - !!python/tuple [23, 20] + - !!python/tuple [30, 2] + - !!python/tuple [19, 31] + - !!python/tuple [24, 2] + - !!python/tuple [1, 23] + - !!python/tuple [1, 2] + - !!python/tuple [15, 17] + - !!python/tuple [5, 7] + - !!python/tuple [4, 30] + - !!python/tuple [15, 1] + - !!python/tuple [17, 12] + - !!python/tuple [21, 13] + - !!python/tuple [14, 15] + - !!python/tuple [0, 30] + - !!python/tuple [6, 2] + - !!python/tuple [0, 16] + - !!python/tuple [21, 20] + - !!python/tuple [30, 26] + - !!python/tuple [31, 14] + - !!python/tuple [24, 10] + - !!python/tuple [31, 23] + - !!python/tuple [26, 8] + - !!python/tuple [15, 8] + - !!python/tuple [3, 7] + - !!python/tuple [6, 5] + - !!python/tuple [19, 24] + - !!python/tuple [28, 23] + - !!python/tuple [26, 16] + - !!python/tuple [23, 11] + - !!python/tuple [6, 31] + - !!python/tuple [13, 21] + - !!python/tuple [1, 16] + - !!python/tuple [26, 10] + - !!python/tuple [2, 17] + - !!python/tuple [31, 6] + - !!python/tuple [17, 4] + - !!python/tuple [6, 15] + - !!python/tuple [11, 5] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex46.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex46.yaml new file mode 100644 index 0000000..36c97a6 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex46.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [9, 12] + name: agent0 + start: [9, 4] +- goal: [9, 21] + name: agent1 + start: [20, 18] +- goal: [20, 21] + name: agent2 + start: [9, 31] +- goal: [0, 21] + name: agent3 + start: [30, 11] +- goal: [3, 17] + name: agent4 + start: [9, 18] +- goal: [8, 16] + name: agent5 + start: [10, 25] +- goal: [17, 28] + name: agent6 + start: [23, 16] +- goal: [7, 10] + name: agent7 + start: [7, 26] +- goal: [17, 21] + name: agent8 + start: [6, 23] +- goal: [5, 0] + name: agent9 + start: [10, 7] +- goal: [27, 20] + name: agent10 + start: [4, 5] +- goal: [21, 0] + name: agent11 + start: [5, 9] +- goal: [25, 17] + name: agent12 + start: [2, 23] +- goal: [16, 22] + name: agent13 + start: [11, 3] +- goal: [15, 2] + name: agent14 + start: [28, 31] +- goal: [31, 25] + name: agent15 + start: [24, 21] +- goal: [31, 28] + name: agent16 + start: [17, 10] +- goal: [28, 10] + name: agent17 + start: [6, 26] +- goal: [4, 25] + name: agent18 + start: [9, 14] +- goal: [16, 14] + name: agent19 + start: [28, 17] +- goal: [3, 13] + name: agent20 + start: [13, 29] +- goal: [5, 7] + name: agent21 + start: [24, 19] +- goal: [5, 14] + name: agent22 + start: [6, 17] +- goal: [25, 18] + name: agent23 + start: [13, 12] +- goal: [23, 14] + name: agent24 + start: [16, 24] +- goal: [0, 23] + name: agent25 + start: [27, 21] +- goal: [2, 23] + name: agent26 + start: [6, 3] +- goal: [11, 6] + name: agent27 + start: [26, 27] +- goal: [19, 26] + name: agent28 + start: [30, 12] +- goal: [30, 18] + name: agent29 + start: [18, 27] +- goal: [3, 29] + name: agent30 + start: [18, 28] +- goal: [20, 18] + name: agent31 + start: [8, 18] +- goal: [28, 1] + name: agent32 + start: [28, 15] +- goal: [20, 2] + name: agent33 + start: [25, 12] +- goal: [30, 14] + name: agent34 + start: [17, 17] +- goal: [28, 6] + name: agent35 + start: [11, 9] +- goal: [24, 13] + name: agent36 + start: [27, 22] +- goal: [2, 28] + name: agent37 + start: [25, 23] +- goal: [19, 30] + name: agent38 + start: [29, 26] +- goal: [9, 4] + name: agent39 + start: [14, 10] +- goal: [6, 25] + name: agent40 + start: [20, 7] +- goal: [27, 1] + name: agent41 + start: [4, 20] +- goal: [6, 6] + name: agent42 + start: [25, 16] +- goal: [26, 6] + name: agent43 + start: [30, 28] +- goal: [9, 0] + name: agent44 + start: [12, 5] +- goal: [4, 18] + name: agent45 + start: [5, 2] +- goal: [4, 12] + name: agent46 + start: [21, 19] +- goal: [31, 10] + name: agent47 + start: [14, 27] +- goal: [24, 10] + name: agent48 + start: [19, 15] +- goal: [24, 18] + name: agent49 + start: [3, 9] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [20, 26] + - !!python/tuple [4, 27] + - !!python/tuple [9, 19] + - !!python/tuple [18, 17] + - !!python/tuple [5, 18] + - !!python/tuple [4, 22] + - !!python/tuple [14, 15] + - !!python/tuple [10, 22] + - !!python/tuple [25, 6] + - !!python/tuple [0, 11] + - !!python/tuple [24, 26] + - !!python/tuple [26, 1] + - !!python/tuple [0, 29] + - !!python/tuple [7, 5] + - !!python/tuple [12, 29] + - !!python/tuple [12, 17] + - !!python/tuple [24, 25] + - !!python/tuple [4, 14] + - !!python/tuple [25, 7] + - !!python/tuple [26, 26] + - !!python/tuple [16, 27] + - !!python/tuple [8, 8] + - !!python/tuple [16, 10] + - !!python/tuple [18, 23] + - !!python/tuple [14, 23] + - !!python/tuple [0, 4] + - !!python/tuple [30, 6] + - !!python/tuple [3, 10] + - !!python/tuple [9, 9] + - !!python/tuple [15, 28] + - !!python/tuple [29, 12] + - !!python/tuple [23, 23] + - !!python/tuple [10, 2] + - !!python/tuple [29, 25] + - !!python/tuple [3, 19] + - !!python/tuple [0, 1] + - !!python/tuple [18, 13] + - !!python/tuple [3, 1] + - !!python/tuple [18, 6] + - !!python/tuple [10, 4] + - !!python/tuple [8, 12] + - !!python/tuple [27, 11] + - !!python/tuple [5, 8] + - !!python/tuple [12, 25] + - !!python/tuple [8, 13] + - !!python/tuple [7, 9] + - !!python/tuple [8, 7] + - !!python/tuple [28, 16] + - !!python/tuple [1, 6] + - !!python/tuple [17, 13] + - !!python/tuple [30, 30] + - !!python/tuple [29, 6] + - !!python/tuple [19, 5] + - !!python/tuple [13, 23] + - !!python/tuple [20, 6] + - !!python/tuple [6, 1] + - !!python/tuple [28, 24] + - !!python/tuple [5, 11] + - !!python/tuple [13, 19] + - !!python/tuple [28, 3] + - !!python/tuple [26, 31] + - !!python/tuple [23, 17] + - !!python/tuple [8, 25] + - !!python/tuple [22, 3] + - !!python/tuple [1, 27] + - !!python/tuple [8, 29] + - !!python/tuple [3, 15] + - !!python/tuple [22, 17] + - !!python/tuple [4, 26] + - !!python/tuple [4, 1] + - !!python/tuple [14, 19] + - !!python/tuple [4, 15] + - !!python/tuple [11, 23] + - !!python/tuple [29, 23] + - !!python/tuple [8, 2] + - !!python/tuple [2, 9] + - !!python/tuple [15, 17] + - !!python/tuple [13, 16] + - !!python/tuple [11, 1] + - !!python/tuple [27, 3] + - !!python/tuple [8, 6] + - !!python/tuple [22, 6] + - !!python/tuple [28, 8] + - !!python/tuple [6, 10] + - !!python/tuple [17, 26] + - !!python/tuple [20, 17] + - !!python/tuple [25, 8] + - !!python/tuple [27, 10] + - !!python/tuple [18, 22] + - !!python/tuple [31, 29] + - !!python/tuple [19, 3] + - !!python/tuple [9, 29] + - !!python/tuple [1, 12] + - !!python/tuple [22, 10] + - !!python/tuple [10, 6] + - !!python/tuple [21, 9] + - !!python/tuple [1, 8] + - !!python/tuple [16, 2] + - !!python/tuple [11, 31] + - !!python/tuple [31, 17] + - !!python/tuple [9, 10] + - !!python/tuple [16, 15] + - !!python/tuple [0, 9] + - !!python/tuple [15, 13] + - !!python/tuple [22, 14] + - !!python/tuple [3, 2] + - !!python/tuple [19, 17] + - !!python/tuple [17, 18] + - !!python/tuple [18, 14] + - !!python/tuple [30, 19] + - !!python/tuple [30, 26] + - !!python/tuple [10, 28] + - !!python/tuple [20, 28] + - !!python/tuple [17, 12] + - !!python/tuple [3, 0] + - !!python/tuple [16, 19] + - !!python/tuple [27, 25] + - !!python/tuple [26, 17] + - !!python/tuple [16, 4] + - !!python/tuple [12, 12] + - !!python/tuple [20, 29] + - !!python/tuple [17, 9] + - !!python/tuple [0, 20] + - !!python/tuple [29, 7] + - !!python/tuple [20, 25] + - !!python/tuple [19, 13] + - !!python/tuple [29, 18] + - !!python/tuple [11, 25] + - !!python/tuple [4, 3] + - !!python/tuple [21, 6] + - !!python/tuple [13, 4] + - !!python/tuple [11, 30] + - !!python/tuple [28, 11] + - !!python/tuple [29, 9] + - !!python/tuple [27, 19] + - !!python/tuple [2, 16] + - !!python/tuple [27, 23] + - !!python/tuple [16, 20] + - !!python/tuple [19, 9] + - !!python/tuple [28, 2] + - !!python/tuple [0, 28] + - !!python/tuple [1, 13] + - !!python/tuple [23, 24] + - !!python/tuple [6, 30] + - !!python/tuple [12, 20] + - !!python/tuple [17, 20] + - !!python/tuple [14, 11] + - !!python/tuple [31, 30] + - !!python/tuple [7, 21] + - !!python/tuple [26, 13] + - !!python/tuple [13, 25] + - !!python/tuple [16, 11] + - !!python/tuple [20, 9] + - !!python/tuple [18, 1] + - !!python/tuple [5, 31] + - !!python/tuple [5, 29] + - !!python/tuple [21, 27] + - !!python/tuple [1, 31] + - !!python/tuple [12, 24] + - !!python/tuple [10, 26] + - !!python/tuple [15, 15] + - !!python/tuple [8, 24] + - !!python/tuple [3, 23] + - !!python/tuple [5, 15] + - !!python/tuple [0, 5] + - !!python/tuple [9, 1] + - !!python/tuple [29, 4] + - !!python/tuple [22, 8] + - !!python/tuple [6, 14] + - !!python/tuple [24, 6] + - !!python/tuple [3, 14] + - !!python/tuple [16, 5] + - !!python/tuple [15, 26] + - !!python/tuple [10, 13] + - !!python/tuple [14, 9] + - !!python/tuple [29, 15] + - !!python/tuple [3, 20] + - !!python/tuple [7, 14] + - !!python/tuple [17, 29] + - !!python/tuple [21, 11] + - !!python/tuple [9, 2] + - !!python/tuple [25, 30] + - !!python/tuple [5, 19] + - !!python/tuple [0, 2] + - !!python/tuple [2, 2] + - !!python/tuple [29, 17] + - !!python/tuple [27, 17] + - !!python/tuple [20, 16] + - !!python/tuple [27, 7] + - !!python/tuple [14, 13] + - !!python/tuple [22, 2] + - !!python/tuple [26, 5] + - !!python/tuple [26, 25] + - !!python/tuple [5, 20] + - !!python/tuple [22, 7] + - !!python/tuple [0, 16] + - !!python/tuple [4, 30] + - !!python/tuple [11, 18] + - !!python/tuple [21, 28] + - !!python/tuple [12, 28] + - !!python/tuple [2, 5] + - !!python/tuple [15, 4] + - !!python/tuple [25, 20] + - !!python/tuple [21, 15] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex47.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex47.yaml new file mode 100644 index 0000000..4cfb6b8 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex47.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [12, 4] + name: agent0 + start: [31, 8] +- goal: [16, 25] + name: agent1 + start: [26, 17] +- goal: [31, 0] + name: agent2 + start: [17, 31] +- goal: [28, 2] + name: agent3 + start: [17, 22] +- goal: [12, 18] + name: agent4 + start: [11, 13] +- goal: [13, 18] + name: agent5 + start: [23, 10] +- goal: [11, 31] + name: agent6 + start: [28, 9] +- goal: [19, 19] + name: agent7 + start: [22, 30] +- goal: [5, 8] + name: agent8 + start: [7, 22] +- goal: [30, 7] + name: agent9 + start: [26, 3] +- goal: [22, 21] + name: agent10 + start: [21, 19] +- goal: [15, 11] + name: agent11 + start: [1, 13] +- goal: [23, 11] + name: agent12 + start: [23, 31] +- goal: [10, 28] + name: agent13 + start: [1, 9] +- goal: [5, 3] + name: agent14 + start: [30, 24] +- goal: [12, 23] + name: agent15 + start: [18, 21] +- goal: [24, 26] + name: agent16 + start: [13, 31] +- goal: [25, 5] + name: agent17 + start: [5, 8] +- goal: [31, 8] + name: agent18 + start: [12, 28] +- goal: [31, 29] + name: agent19 + start: [9, 8] +- goal: [19, 17] + name: agent20 + start: [6, 5] +- goal: [17, 13] + name: agent21 + start: [25, 7] +- goal: [9, 10] + name: agent22 + start: [11, 26] +- goal: [28, 28] + name: agent23 + start: [13, 28] +- goal: [5, 30] + name: agent24 + start: [25, 14] +- goal: [26, 10] + name: agent25 + start: [10, 10] +- goal: [21, 12] + name: agent26 + start: [24, 14] +- goal: [9, 28] + name: agent27 + start: [7, 4] +- goal: [27, 9] + name: agent28 + start: [1, 2] +- goal: [14, 25] + name: agent29 + start: [27, 26] +- goal: [15, 28] + name: agent30 + start: [28, 16] +- goal: [14, 28] + name: agent31 + start: [17, 28] +- goal: [30, 23] + name: agent32 + start: [27, 3] +- goal: [1, 10] + name: agent33 + start: [20, 2] +- goal: [30, 17] + name: agent34 + start: [27, 6] +- goal: [9, 12] + name: agent35 + start: [19, 16] +- goal: [0, 27] + name: agent36 + start: [28, 30] +- goal: [20, 25] + name: agent37 + start: [16, 10] +- goal: [18, 3] + name: agent38 + start: [14, 17] +- goal: [12, 15] + name: agent39 + start: [30, 8] +- goal: [30, 3] + name: agent40 + start: [0, 24] +- goal: [9, 3] + name: agent41 + start: [17, 21] +- goal: [13, 19] + name: agent42 + start: [0, 28] +- goal: [27, 2] + name: agent43 + start: [10, 28] +- goal: [18, 2] + name: agent44 + start: [11, 19] +- goal: [29, 14] + name: agent45 + start: [6, 7] +- goal: [1, 5] + name: agent46 + start: [2, 22] +- goal: [18, 25] + name: agent47 + start: [6, 6] +- goal: [21, 27] + name: agent48 + start: [13, 19] +- goal: [2, 11] + name: agent49 + start: [13, 7] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [11, 29] + - !!python/tuple [30, 21] + - !!python/tuple [0, 12] + - !!python/tuple [18, 23] + - !!python/tuple [16, 17] + - !!python/tuple [20, 15] + - !!python/tuple [21, 11] + - !!python/tuple [30, 14] + - !!python/tuple [5, 25] + - !!python/tuple [19, 6] + - !!python/tuple [10, 30] + - !!python/tuple [11, 9] + - !!python/tuple [12, 7] + - !!python/tuple [19, 0] + - !!python/tuple [21, 26] + - !!python/tuple [6, 18] + - !!python/tuple [21, 29] + - !!python/tuple [20, 17] + - !!python/tuple [10, 20] + - !!python/tuple [25, 12] + - !!python/tuple [13, 4] + - !!python/tuple [14, 19] + - !!python/tuple [3, 23] + - !!python/tuple [14, 3] + - !!python/tuple [8, 18] + - !!python/tuple [23, 9] + - !!python/tuple [20, 7] + - !!python/tuple [22, 0] + - !!python/tuple [14, 4] + - !!python/tuple [22, 19] + - !!python/tuple [5, 19] + - !!python/tuple [28, 1] + - !!python/tuple [31, 10] + - !!python/tuple [8, 29] + - !!python/tuple [7, 26] + - !!python/tuple [8, 14] + - !!python/tuple [3, 5] + - !!python/tuple [15, 26] + - !!python/tuple [30, 2] + - !!python/tuple [1, 12] + - !!python/tuple [30, 26] + - !!python/tuple [1, 30] + - !!python/tuple [27, 28] + - !!python/tuple [12, 6] + - !!python/tuple [18, 0] + - !!python/tuple [18, 15] + - !!python/tuple [31, 28] + - !!python/tuple [20, 12] + - !!python/tuple [1, 3] + - !!python/tuple [28, 31] + - !!python/tuple [18, 12] + - !!python/tuple [23, 14] + - !!python/tuple [0, 29] + - !!python/tuple [25, 20] + - !!python/tuple [0, 5] + - !!python/tuple [11, 6] + - !!python/tuple [24, 10] + - !!python/tuple [6, 24] + - !!python/tuple [11, 1] + - !!python/tuple [4, 24] + - !!python/tuple [1, 29] + - !!python/tuple [19, 8] + - !!python/tuple [26, 14] + - !!python/tuple [11, 24] + - !!python/tuple [17, 11] + - !!python/tuple [21, 2] + - !!python/tuple [24, 20] + - !!python/tuple [12, 2] + - !!python/tuple [24, 29] + - !!python/tuple [5, 10] + - !!python/tuple [25, 26] + - !!python/tuple [23, 20] + - !!python/tuple [10, 9] + - !!python/tuple [13, 11] + - !!python/tuple [6, 31] + - !!python/tuple [1, 28] + - !!python/tuple [8, 30] + - !!python/tuple [2, 13] + - !!python/tuple [9, 26] + - !!python/tuple [30, 1] + - !!python/tuple [30, 6] + - !!python/tuple [25, 17] + - !!python/tuple [28, 15] + - !!python/tuple [24, 19] + - !!python/tuple [30, 15] + - !!python/tuple [0, 17] + - !!python/tuple [24, 1] + - !!python/tuple [19, 12] + - !!python/tuple [29, 29] + - !!python/tuple [26, 1] + - !!python/tuple [7, 9] + - !!python/tuple [26, 21] + - !!python/tuple [6, 27] + - !!python/tuple [31, 16] + - !!python/tuple [14, 5] + - !!python/tuple [5, 31] + - !!python/tuple [5, 23] + - !!python/tuple [14, 27] + - !!python/tuple [28, 21] + - !!python/tuple [15, 1] + - !!python/tuple [17, 23] + - !!python/tuple [29, 28] + - !!python/tuple [31, 30] + - !!python/tuple [11, 28] + - !!python/tuple [10, 8] + - !!python/tuple [10, 1] + - !!python/tuple [22, 8] + - !!python/tuple [17, 19] + - !!python/tuple [24, 8] + - !!python/tuple [14, 11] + - !!python/tuple [28, 27] + - !!python/tuple [9, 6] + - !!python/tuple [27, 17] + - !!python/tuple [25, 16] + - !!python/tuple [7, 27] + - !!python/tuple [15, 17] + - !!python/tuple [13, 22] + - !!python/tuple [17, 24] + - !!python/tuple [24, 2] + - !!python/tuple [31, 1] + - !!python/tuple [6, 14] + - !!python/tuple [1, 11] + - !!python/tuple [16, 26] + - !!python/tuple [10, 14] + - !!python/tuple [30, 10] + - !!python/tuple [1, 18] + - !!python/tuple [17, 6] + - !!python/tuple [31, 25] + - !!python/tuple [2, 21] + - !!python/tuple [21, 31] + - !!python/tuple [6, 17] + - !!python/tuple [14, 12] + - !!python/tuple [21, 1] + - !!python/tuple [17, 25] + - !!python/tuple [3, 19] + - !!python/tuple [26, 11] + - !!python/tuple [17, 15] + - !!python/tuple [14, 18] + - !!python/tuple [8, 27] + - !!python/tuple [1, 21] + - !!python/tuple [19, 3] + - !!python/tuple [8, 24] + - !!python/tuple [18, 7] + - !!python/tuple [9, 16] + - !!python/tuple [2, 7] + - !!python/tuple [17, 4] + - !!python/tuple [11, 21] + - !!python/tuple [29, 20] + - !!python/tuple [4, 9] + - !!python/tuple [7, 30] + - !!python/tuple [5, 11] + - !!python/tuple [18, 20] + - !!python/tuple [29, 9] + - !!python/tuple [9, 19] + - !!python/tuple [9, 13] + - !!python/tuple [19, 13] + - !!python/tuple [4, 10] + - !!python/tuple [14, 7] + - !!python/tuple [31, 6] + - !!python/tuple [8, 23] + - !!python/tuple [20, 14] + - !!python/tuple [19, 30] + - !!python/tuple [22, 22] + - !!python/tuple [26, 18] + - !!python/tuple [4, 21] + - !!python/tuple [27, 25] + - !!python/tuple [11, 14] + - !!python/tuple [3, 15] + - !!python/tuple [14, 21] + - !!python/tuple [4, 23] + - !!python/tuple [3, 24] + - !!python/tuple [6, 13] + - !!python/tuple [6, 15] + - !!python/tuple [1, 31] + - !!python/tuple [10, 4] + - !!python/tuple [29, 1] + - !!python/tuple [6, 22] + - !!python/tuple [25, 23] + - !!python/tuple [27, 15] + - !!python/tuple [24, 21] + - !!python/tuple [25, 25] + - !!python/tuple [17, 30] + - !!python/tuple [5, 1] + - !!python/tuple [26, 6] + - !!python/tuple [11, 23] + - !!python/tuple [29, 8] + - !!python/tuple [1, 1] + - !!python/tuple [23, 12] + - !!python/tuple [21, 20] + - !!python/tuple [5, 24] + - !!python/tuple [8, 20] + - !!python/tuple [27, 24] + - !!python/tuple [29, 10] + - !!python/tuple [11, 5] + - !!python/tuple [15, 5] + - !!python/tuple [5, 4] + - !!python/tuple [7, 1] + - !!python/tuple [11, 15] + - !!python/tuple [28, 4] + - !!python/tuple [27, 31] + - !!python/tuple [10, 22] + - !!python/tuple [25, 0] + - !!python/tuple [14, 9] + - !!python/tuple [24, 13] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex48.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex48.yaml new file mode 100644 index 0000000..bb1d0a4 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex48.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [18, 29] + name: agent0 + start: [28, 10] +- goal: [1, 25] + name: agent1 + start: [22, 8] +- goal: [13, 7] + name: agent2 + start: [0, 9] +- goal: [31, 18] + name: agent3 + start: [0, 27] +- goal: [21, 19] + name: agent4 + start: [30, 16] +- goal: [6, 18] + name: agent5 + start: [16, 19] +- goal: [9, 10] + name: agent6 + start: [7, 12] +- goal: [30, 0] + name: agent7 + start: [27, 26] +- goal: [9, 28] + name: agent8 + start: [19, 11] +- goal: [30, 5] + name: agent9 + start: [16, 4] +- goal: [25, 14] + name: agent10 + start: [4, 25] +- goal: [0, 14] + name: agent11 + start: [14, 17] +- goal: [2, 3] + name: agent12 + start: [24, 7] +- goal: [20, 27] + name: agent13 + start: [19, 23] +- goal: [23, 21] + name: agent14 + start: [13, 30] +- goal: [11, 6] + name: agent15 + start: [8, 14] +- goal: [23, 23] + name: agent16 + start: [17, 28] +- goal: [11, 2] + name: agent17 + start: [2, 22] +- goal: [18, 18] + name: agent18 + start: [27, 17] +- goal: [5, 23] + name: agent19 + start: [19, 2] +- goal: [11, 9] + name: agent20 + start: [23, 29] +- goal: [14, 15] + name: agent21 + start: [9, 25] +- goal: [11, 30] + name: agent22 + start: [13, 0] +- goal: [31, 10] + name: agent23 + start: [28, 29] +- goal: [28, 1] + name: agent24 + start: [21, 15] +- goal: [20, 16] + name: agent25 + start: [25, 13] +- goal: [12, 28] + name: agent26 + start: [5, 4] +- goal: [31, 29] + name: agent27 + start: [31, 30] +- goal: [3, 16] + name: agent28 + start: [8, 25] +- goal: [17, 25] + name: agent29 + start: [25, 10] +- goal: [29, 14] + name: agent30 + start: [30, 30] +- goal: [24, 9] + name: agent31 + start: [5, 0] +- goal: [0, 12] + name: agent32 + start: [11, 18] +- goal: [1, 12] + name: agent33 + start: [10, 7] +- goal: [16, 30] + name: agent34 + start: [5, 24] +- goal: [26, 16] + name: agent35 + start: [6, 1] +- goal: [31, 9] + name: agent36 + start: [30, 31] +- goal: [13, 27] + name: agent37 + start: [12, 14] +- goal: [8, 28] + name: agent38 + start: [28, 14] +- goal: [0, 15] + name: agent39 + start: [4, 19] +- goal: [5, 25] + name: agent40 + start: [2, 26] +- goal: [6, 24] + name: agent41 + start: [26, 13] +- goal: [24, 14] + name: agent42 + start: [29, 16] +- goal: [16, 16] + name: agent43 + start: [24, 29] +- goal: [18, 4] + name: agent44 + start: [13, 9] +- goal: [19, 23] + name: agent45 + start: [30, 29] +- goal: [31, 19] + name: agent46 + start: [7, 13] +- goal: [19, 0] + name: agent47 + start: [4, 20] +- goal: [5, 6] + name: agent48 + start: [11, 0] +- goal: [24, 0] + name: agent49 + start: [18, 21] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [20, 19] + - !!python/tuple [18, 28] + - !!python/tuple [14, 1] + - !!python/tuple [0, 8] + - !!python/tuple [17, 20] + - !!python/tuple [0, 1] + - !!python/tuple [7, 23] + - !!python/tuple [14, 20] + - !!python/tuple [13, 24] + - !!python/tuple [22, 7] + - !!python/tuple [31, 21] + - !!python/tuple [14, 0] + - !!python/tuple [5, 7] + - !!python/tuple [11, 1] + - !!python/tuple [26, 24] + - !!python/tuple [2, 4] + - !!python/tuple [26, 20] + - !!python/tuple [20, 21] + - !!python/tuple [11, 15] + - !!python/tuple [22, 11] + - !!python/tuple [12, 23] + - !!python/tuple [17, 6] + - !!python/tuple [1, 8] + - !!python/tuple [17, 23] + - !!python/tuple [7, 15] + - !!python/tuple [5, 15] + - !!python/tuple [5, 1] + - !!python/tuple [3, 15] + - !!python/tuple [13, 18] + - !!python/tuple [1, 20] + - !!python/tuple [8, 4] + - !!python/tuple [12, 12] + - !!python/tuple [7, 3] + - !!python/tuple [11, 24] + - !!python/tuple [15, 26] + - !!python/tuple [25, 26] + - !!python/tuple [9, 17] + - !!python/tuple [4, 9] + - !!python/tuple [21, 23] + - !!python/tuple [27, 9] + - !!python/tuple [22, 29] + - !!python/tuple [23, 30] + - !!python/tuple [14, 4] + - !!python/tuple [3, 17] + - !!python/tuple [29, 12] + - !!python/tuple [16, 12] + - !!python/tuple [14, 19] + - !!python/tuple [6, 23] + - !!python/tuple [30, 25] + - !!python/tuple [28, 8] + - !!python/tuple [30, 12] + - !!python/tuple [31, 31] + - !!python/tuple [18, 20] + - !!python/tuple [7, 21] + - !!python/tuple [17, 24] + - !!python/tuple [16, 2] + - !!python/tuple [31, 6] + - !!python/tuple [28, 13] + - !!python/tuple [15, 24] + - !!python/tuple [2, 17] + - !!python/tuple [4, 1] + - !!python/tuple [12, 21] + - !!python/tuple [14, 8] + - !!python/tuple [2, 7] + - !!python/tuple [8, 26] + - !!python/tuple [28, 0] + - !!python/tuple [24, 12] + - !!python/tuple [22, 20] + - !!python/tuple [24, 4] + - !!python/tuple [25, 5] + - !!python/tuple [24, 16] + - !!python/tuple [4, 26] + - !!python/tuple [24, 8] + - !!python/tuple [6, 22] + - !!python/tuple [2, 14] + - !!python/tuple [23, 24] + - !!python/tuple [31, 7] + - !!python/tuple [25, 1] + - !!python/tuple [6, 5] + - !!python/tuple [23, 18] + - !!python/tuple [0, 0] + - !!python/tuple [15, 18] + - !!python/tuple [27, 21] + - !!python/tuple [19, 22] + - !!python/tuple [17, 15] + - !!python/tuple [3, 4] + - !!python/tuple [25, 3] + - !!python/tuple [19, 14] + - !!python/tuple [7, 2] + - !!python/tuple [1, 7] + - !!python/tuple [7, 8] + - !!python/tuple [3, 0] + - !!python/tuple [17, 9] + - !!python/tuple [22, 24] + - !!python/tuple [28, 18] + - !!python/tuple [17, 11] + - !!python/tuple [25, 15] + - !!python/tuple [15, 12] + - !!python/tuple [31, 27] + - !!python/tuple [29, 15] + - !!python/tuple [9, 27] + - !!python/tuple [14, 11] + - !!python/tuple [5, 21] + - !!python/tuple [23, 12] + - !!python/tuple [25, 9] + - !!python/tuple [23, 25] + - !!python/tuple [13, 13] + - !!python/tuple [8, 19] + - !!python/tuple [14, 12] + - !!python/tuple [14, 14] + - !!python/tuple [9, 8] + - !!python/tuple [18, 7] + - !!python/tuple [15, 30] + - !!python/tuple [24, 18] + - !!python/tuple [22, 0] + - !!python/tuple [21, 0] + - !!python/tuple [12, 1] + - !!python/tuple [31, 17] + - !!python/tuple [1, 26] + - !!python/tuple [20, 9] + - !!python/tuple [2, 8] + - !!python/tuple [5, 19] + - !!python/tuple [24, 20] + - !!python/tuple [31, 3] + - !!python/tuple [24, 10] + - !!python/tuple [18, 26] + - !!python/tuple [11, 29] + - !!python/tuple [5, 29] + - !!python/tuple [20, 12] + - !!python/tuple [21, 9] + - !!python/tuple [16, 27] + - !!python/tuple [29, 13] + - !!python/tuple [23, 27] + - !!python/tuple [21, 29] + - !!python/tuple [16, 18] + - !!python/tuple [10, 28] + - !!python/tuple [25, 11] + - !!python/tuple [25, 0] + - !!python/tuple [23, 14] + - !!python/tuple [19, 3] + - !!python/tuple [3, 13] + - !!python/tuple [1, 3] + - !!python/tuple [21, 31] + - !!python/tuple [26, 23] + - !!python/tuple [18, 19] + - !!python/tuple [14, 28] + - !!python/tuple [22, 18] + - !!python/tuple [18, 30] + - !!python/tuple [27, 8] + - !!python/tuple [14, 2] + - !!python/tuple [25, 6] + - !!python/tuple [18, 9] + - !!python/tuple [20, 11] + - !!python/tuple [25, 18] + - !!python/tuple [22, 17] + - !!python/tuple [23, 17] + - !!python/tuple [23, 20] + - !!python/tuple [24, 1] + - !!python/tuple [8, 7] + - !!python/tuple [5, 14] + - !!python/tuple [1, 14] + - !!python/tuple [23, 5] + - !!python/tuple [28, 20] + - !!python/tuple [0, 23] + - !!python/tuple [5, 5] + - !!python/tuple [10, 3] + - !!python/tuple [26, 15] + - !!python/tuple [10, 20] + - !!python/tuple [26, 26] + - !!python/tuple [21, 5] + - !!python/tuple [19, 1] + - !!python/tuple [11, 26] + - !!python/tuple [10, 12] + - !!python/tuple [5, 9] + - !!python/tuple [27, 28] + - !!python/tuple [9, 12] + - !!python/tuple [16, 15] + - !!python/tuple [18, 1] + - !!python/tuple [4, 5] + - !!python/tuple [20, 1] + - !!python/tuple [24, 24] + - !!python/tuple [27, 29] + - !!python/tuple [20, 26] + - !!python/tuple [29, 0] + - !!python/tuple [21, 12] + - !!python/tuple [10, 9] + - !!python/tuple [27, 20] + - !!python/tuple [10, 23] + - !!python/tuple [25, 4] + - !!python/tuple [8, 22] + - !!python/tuple [18, 6] + - !!python/tuple [1, 1] + - !!python/tuple [25, 20] + - !!python/tuple [17, 21] + - !!python/tuple [16, 1] + - !!python/tuple [31, 2] + - !!python/tuple [4, 30] + - !!python/tuple [5, 2] + - !!python/tuple [19, 26] + - !!python/tuple [21, 21] + - !!python/tuple [13, 14] + - !!python/tuple [1, 29] + - !!python/tuple [10, 29] + - !!python/tuple [11, 7] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex49.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex49.yaml new file mode 100644 index 0000000..742e284 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex49.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [10, 24] + name: agent0 + start: [19, 14] +- goal: [25, 30] + name: agent1 + start: [5, 6] +- goal: [27, 11] + name: agent2 + start: [25, 5] +- goal: [23, 4] + name: agent3 + start: [20, 27] +- goal: [6, 13] + name: agent4 + start: [15, 29] +- goal: [2, 26] + name: agent5 + start: [11, 18] +- goal: [21, 22] + name: agent6 + start: [9, 3] +- goal: [24, 1] + name: agent7 + start: [3, 5] +- goal: [25, 29] + name: agent8 + start: [0, 21] +- goal: [29, 4] + name: agent9 + start: [7, 6] +- goal: [13, 12] + name: agent10 + start: [0, 4] +- goal: [20, 15] + name: agent11 + start: [11, 0] +- goal: [31, 4] + name: agent12 + start: [0, 20] +- goal: [30, 17] + name: agent13 + start: [19, 15] +- goal: [15, 22] + name: agent14 + start: [18, 0] +- goal: [30, 29] + name: agent15 + start: [29, 28] +- goal: [30, 19] + name: agent16 + start: [14, 19] +- goal: [17, 23] + name: agent17 + start: [27, 21] +- goal: [8, 22] + name: agent18 + start: [23, 0] +- goal: [0, 15] + name: agent19 + start: [29, 0] +- goal: [29, 28] + name: agent20 + start: [9, 15] +- goal: [22, 26] + name: agent21 + start: [29, 16] +- goal: [16, 27] + name: agent22 + start: [19, 5] +- goal: [16, 21] + name: agent23 + start: [17, 9] +- goal: [9, 21] + name: agent24 + start: [10, 22] +- goal: [24, 23] + name: agent25 + start: [19, 29] +- goal: [8, 5] + name: agent26 + start: [7, 8] +- goal: [25, 7] + name: agent27 + start: [10, 7] +- goal: [31, 16] + name: agent28 + start: [21, 12] +- goal: [21, 30] + name: agent29 + start: [21, 9] +- goal: [27, 3] + name: agent30 + start: [11, 7] +- goal: [4, 9] + name: agent31 + start: [15, 26] +- goal: [31, 10] + name: agent32 + start: [14, 27] +- goal: [2, 15] + name: agent33 + start: [9, 7] +- goal: [4, 17] + name: agent34 + start: [27, 20] +- goal: [26, 27] + name: agent35 + start: [27, 24] +- goal: [3, 5] + name: agent36 + start: [15, 10] +- goal: [20, 2] + name: agent37 + start: [17, 20] +- goal: [16, 6] + name: agent38 + start: [0, 22] +- goal: [10, 16] + name: agent39 + start: [3, 27] +- goal: [14, 31] + name: agent40 + start: [12, 18] +- goal: [10, 20] + name: agent41 + start: [27, 12] +- goal: [18, 17] + name: agent42 + start: [29, 21] +- goal: [9, 27] + name: agent43 + start: [7, 2] +- goal: [31, 20] + name: agent44 + start: [26, 4] +- goal: [22, 28] + name: agent45 + start: [2, 18] +- goal: [17, 29] + name: agent46 + start: [6, 11] +- goal: [18, 6] + name: agent47 + start: [9, 30] +- goal: [17, 12] + name: agent48 + start: [3, 6] +- goal: [29, 13] + name: agent49 + start: [30, 17] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [24, 7] + - !!python/tuple [26, 1] + - !!python/tuple [19, 31] + - !!python/tuple [13, 0] + - !!python/tuple [10, 27] + - !!python/tuple [21, 27] + - !!python/tuple [3, 7] + - !!python/tuple [3, 22] + - !!python/tuple [13, 1] + - !!python/tuple [18, 4] + - !!python/tuple [0, 19] + - !!python/tuple [12, 24] + - !!python/tuple [22, 14] + - !!python/tuple [27, 23] + - !!python/tuple [10, 0] + - !!python/tuple [8, 2] + - !!python/tuple [0, 14] + - !!python/tuple [28, 19] + - !!python/tuple [17, 10] + - !!python/tuple [11, 14] + - !!python/tuple [3, 18] + - !!python/tuple [21, 20] + - !!python/tuple [26, 28] + - !!python/tuple [25, 20] + - !!python/tuple [3, 21] + - !!python/tuple [23, 7] + - !!python/tuple [1, 9] + - !!python/tuple [16, 5] + - !!python/tuple [25, 12] + - !!python/tuple [25, 28] + - !!python/tuple [9, 14] + - !!python/tuple [29, 10] + - !!python/tuple [14, 17] + - !!python/tuple [9, 18] + - !!python/tuple [17, 15] + - !!python/tuple [1, 21] + - !!python/tuple [6, 20] + - !!python/tuple [21, 14] + - !!python/tuple [4, 21] + - !!python/tuple [14, 0] + - !!python/tuple [31, 15] + - !!python/tuple [24, 5] + - !!python/tuple [18, 22] + - !!python/tuple [12, 26] + - !!python/tuple [15, 2] + - !!python/tuple [16, 17] + - !!python/tuple [11, 10] + - !!python/tuple [15, 25] + - !!python/tuple [9, 20] + - !!python/tuple [0, 11] + - !!python/tuple [2, 17] + - !!python/tuple [0, 5] + - !!python/tuple [28, 22] + - !!python/tuple [23, 5] + - !!python/tuple [8, 31] + - !!python/tuple [15, 14] + - !!python/tuple [30, 30] + - !!python/tuple [17, 30] + - !!python/tuple [26, 24] + - !!python/tuple [5, 1] + - !!python/tuple [23, 24] + - !!python/tuple [2, 23] + - !!python/tuple [15, 21] + - !!python/tuple [2, 21] + - !!python/tuple [12, 9] + - !!python/tuple [22, 18] + - !!python/tuple [18, 13] + - !!python/tuple [16, 13] + - !!python/tuple [19, 30] + - !!python/tuple [12, 8] + - !!python/tuple [14, 30] + - !!python/tuple [4, 26] + - !!python/tuple [15, 19] + - !!python/tuple [13, 21] + - !!python/tuple [23, 9] + - !!python/tuple [17, 24] + - !!python/tuple [30, 15] + - !!python/tuple [23, 25] + - !!python/tuple [13, 17] + - !!python/tuple [31, 7] + - !!python/tuple [2, 31] + - !!python/tuple [17, 27] + - !!python/tuple [4, 1] + - !!python/tuple [23, 27] + - !!python/tuple [26, 25] + - !!python/tuple [16, 23] + - !!python/tuple [29, 6] + - !!python/tuple [1, 29] + - !!python/tuple [22, 24] + - !!python/tuple [10, 8] + - !!python/tuple [26, 23] + - !!python/tuple [29, 22] + - !!python/tuple [5, 15] + - !!python/tuple [28, 0] + - !!python/tuple [9, 31] + - !!python/tuple [11, 8] + - !!python/tuple [15, 11] + - !!python/tuple [18, 15] + - !!python/tuple [11, 11] + - !!python/tuple [8, 26] + - !!python/tuple [13, 23] + - !!python/tuple [1, 1] + - !!python/tuple [1, 16] + - !!python/tuple [24, 24] + - !!python/tuple [20, 26] + - !!python/tuple [22, 6] + - !!python/tuple [17, 6] + - !!python/tuple [0, 7] + - !!python/tuple [13, 6] + - !!python/tuple [10, 3] + - !!python/tuple [23, 23] + - !!python/tuple [22, 12] + - !!python/tuple [16, 18] + - !!python/tuple [15, 27] + - !!python/tuple [11, 3] + - !!python/tuple [17, 2] + - !!python/tuple [9, 9] + - !!python/tuple [19, 17] + - !!python/tuple [28, 10] + - !!python/tuple [9, 19] + - !!python/tuple [9, 23] + - !!python/tuple [18, 24] + - !!python/tuple [23, 26] + - !!python/tuple [23, 11] + - !!python/tuple [13, 14] + - !!python/tuple [6, 4] + - !!python/tuple [21, 15] + - !!python/tuple [14, 2] + - !!python/tuple [4, 13] + - !!python/tuple [0, 27] + - !!python/tuple [8, 25] + - !!python/tuple [21, 24] + - !!python/tuple [6, 19] + - !!python/tuple [7, 7] + - !!python/tuple [31, 11] + - !!python/tuple [31, 27] + - !!python/tuple [27, 17] + - !!python/tuple [17, 0] + - !!python/tuple [28, 26] + - !!python/tuple [20, 21] + - !!python/tuple [1, 3] + - !!python/tuple [25, 22] + - !!python/tuple [3, 16] + - !!python/tuple [4, 4] + - !!python/tuple [18, 1] + - !!python/tuple [18, 11] + - !!python/tuple [6, 5] + - !!python/tuple [25, 1] + - !!python/tuple [30, 25] + - !!python/tuple [29, 18] + - !!python/tuple [5, 31] + - !!python/tuple [14, 12] + - !!python/tuple [18, 7] + - !!python/tuple [16, 14] + - !!python/tuple [31, 22] + - !!python/tuple [14, 26] + - !!python/tuple [11, 17] + - !!python/tuple [10, 12] + - !!python/tuple [11, 26] + - !!python/tuple [26, 30] + - !!python/tuple [25, 11] + - !!python/tuple [14, 22] + - !!python/tuple [13, 9] + - !!python/tuple [9, 25] + - !!python/tuple [15, 28] + - !!python/tuple [15, 3] + - !!python/tuple [13, 15] + - !!python/tuple [5, 24] + - !!python/tuple [28, 3] + - !!python/tuple [12, 14] + - !!python/tuple [5, 5] + - !!python/tuple [3, 1] + - !!python/tuple [11, 29] + - !!python/tuple [7, 9] + - !!python/tuple [11, 27] + - !!python/tuple [14, 10] + - !!python/tuple [25, 23] + - !!python/tuple [15, 30] + - !!python/tuple [13, 8] + - !!python/tuple [1, 12] + - !!python/tuple [13, 24] + - !!python/tuple [12, 28] + - !!python/tuple [22, 2] + - !!python/tuple [31, 1] + - !!python/tuple [2, 8] + - !!python/tuple [16, 3] + - !!python/tuple [5, 12] + - !!python/tuple [10, 2] + - !!python/tuple [2, 5] + - !!python/tuple [30, 9] + - !!python/tuple [22, 20] + - !!python/tuple [23, 8] + - !!python/tuple [0, 6] + - !!python/tuple [23, 21] + - !!python/tuple [6, 27] + - !!python/tuple [12, 27] + - !!python/tuple [14, 13] + - !!python/tuple [27, 7] + - !!python/tuple [7, 4] + - !!python/tuple [18, 2] + - !!python/tuple [6, 9] + - !!python/tuple [9, 28] + - !!python/tuple [20, 8] + - !!python/tuple [22, 0] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex5.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex5.yaml new file mode 100644 index 0000000..838d53a --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex5.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [27, 13] + name: agent0 + start: [1, 20] +- goal: [27, 5] + name: agent1 + start: [24, 11] +- goal: [20, 2] + name: agent2 + start: [1, 1] +- goal: [0, 13] + name: agent3 + start: [5, 24] +- goal: [7, 21] + name: agent4 + start: [14, 26] +- goal: [20, 7] + name: agent5 + start: [16, 12] +- goal: [4, 30] + name: agent6 + start: [2, 24] +- goal: [0, 18] + name: agent7 + start: [27, 7] +- goal: [0, 3] + name: agent8 + start: [27, 9] +- goal: [15, 2] + name: agent9 + start: [16, 11] +- goal: [22, 7] + name: agent10 + start: [20, 0] +- goal: [22, 13] + name: agent11 + start: [27, 14] +- goal: [30, 16] + name: agent12 + start: [23, 6] +- goal: [23, 12] + name: agent13 + start: [13, 5] +- goal: [23, 4] + name: agent14 + start: [13, 8] +- goal: [10, 25] + name: agent15 + start: [8, 21] +- goal: [8, 13] + name: agent16 + start: [19, 3] +- goal: [11, 27] + name: agent17 + start: [30, 18] +- goal: [11, 19] + name: agent18 + start: [20, 4] +- goal: [26, 4] + name: agent19 + start: [22, 19] +- goal: [15, 18] + name: agent20 + start: [8, 22] +- goal: [10, 27] + name: agent21 + start: [5, 27] +- goal: [16, 11] + name: agent22 + start: [26, 26] +- goal: [24, 0] + name: agent23 + start: [25, 22] +- goal: [20, 21] + name: agent24 + start: [30, 26] +- goal: [6, 25] + name: agent25 + start: [15, 7] +- goal: [24, 16] + name: agent26 + start: [25, 4] +- goal: [9, 2] + name: agent27 + start: [21, 16] +- goal: [2, 28] + name: agent28 + start: [18, 3] +- goal: [4, 26] + name: agent29 + start: [24, 0] +- goal: [28, 6] + name: agent30 + start: [7, 24] +- goal: [13, 31] + name: agent31 + start: [29, 29] +- goal: [22, 0] + name: agent32 + start: [13, 3] +- goal: [15, 26] + name: agent33 + start: [6, 12] +- goal: [20, 31] + name: agent34 + start: [9, 15] +- goal: [20, 22] + name: agent35 + start: [5, 28] +- goal: [4, 25] + name: agent36 + start: [9, 27] +- goal: [23, 17] + name: agent37 + start: [23, 28] +- goal: [8, 19] + name: agent38 + start: [7, 9] +- goal: [28, 7] + name: agent39 + start: [3, 20] +- goal: [8, 9] + name: agent40 + start: [3, 2] +- goal: [13, 15] + name: agent41 + start: [5, 11] +- goal: [17, 24] + name: agent42 + start: [1, 11] +- goal: [19, 25] + name: agent43 + start: [5, 18] +- goal: [26, 5] + name: agent44 + start: [24, 18] +- goal: [2, 22] + name: agent45 + start: [13, 31] +- goal: [2, 7] + name: agent46 + start: [18, 19] +- goal: [14, 1] + name: agent47 + start: [3, 14] +- goal: [8, 15] + name: agent48 + start: [28, 6] +- goal: [21, 15] + name: agent49 + start: [22, 17] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [23, 19] + - !!python/tuple [24, 29] + - !!python/tuple [23, 22] + - !!python/tuple [2, 5] + - !!python/tuple [26, 16] + - !!python/tuple [19, 28] + - !!python/tuple [0, 4] + - !!python/tuple [1, 24] + - !!python/tuple [9, 29] + - !!python/tuple [14, 21] + - !!python/tuple [30, 29] + - !!python/tuple [23, 11] + - !!python/tuple [22, 15] + - !!python/tuple [16, 3] + - !!python/tuple [25, 29] + - !!python/tuple [14, 27] + - !!python/tuple [17, 8] + - !!python/tuple [6, 0] + - !!python/tuple [3, 10] + - !!python/tuple [10, 31] + - !!python/tuple [26, 18] + - !!python/tuple [24, 4] + - !!python/tuple [18, 31] + - !!python/tuple [26, 29] + - !!python/tuple [10, 6] + - !!python/tuple [13, 19] + - !!python/tuple [4, 27] + - !!python/tuple [30, 8] + - !!python/tuple [23, 1] + - !!python/tuple [29, 4] + - !!python/tuple [20, 8] + - !!python/tuple [18, 5] + - !!python/tuple [1, 27] + - !!python/tuple [0, 24] + - !!python/tuple [11, 21] + - !!python/tuple [25, 16] + - !!python/tuple [31, 10] + - !!python/tuple [1, 4] + - !!python/tuple [21, 0] + - !!python/tuple [3, 30] + - !!python/tuple [31, 31] + - !!python/tuple [20, 18] + - !!python/tuple [14, 8] + - !!python/tuple [21, 25] + - !!python/tuple [2, 4] + - !!python/tuple [8, 1] + - !!python/tuple [5, 7] + - !!python/tuple [14, 13] + - !!python/tuple [27, 1] + - !!python/tuple [19, 20] + - !!python/tuple [21, 10] + - !!python/tuple [20, 19] + - !!python/tuple [3, 3] + - !!python/tuple [6, 1] + - !!python/tuple [19, 14] + - !!python/tuple [9, 20] + - !!python/tuple [27, 27] + - !!python/tuple [22, 27] + - !!python/tuple [13, 1] + - !!python/tuple [3, 15] + - !!python/tuple [17, 4] + - !!python/tuple [6, 22] + - !!python/tuple [22, 14] + - !!python/tuple [1, 16] + - !!python/tuple [29, 22] + - !!python/tuple [18, 13] + - !!python/tuple [29, 12] + - !!python/tuple [19, 21] + - !!python/tuple [19, 8] + - !!python/tuple [11, 14] + - !!python/tuple [24, 20] + - !!python/tuple [14, 7] + - !!python/tuple [13, 20] + - !!python/tuple [19, 1] + - !!python/tuple [31, 4] + - !!python/tuple [12, 17] + - !!python/tuple [14, 15] + - !!python/tuple [14, 23] + - !!python/tuple [29, 2] + - !!python/tuple [30, 13] + - !!python/tuple [5, 3] + - !!python/tuple [30, 9] + - !!python/tuple [7, 26] + - !!python/tuple [1, 14] + - !!python/tuple [5, 13] + - !!python/tuple [23, 29] + - !!python/tuple [19, 5] + - !!python/tuple [23, 23] + - !!python/tuple [29, 18] + - !!python/tuple [21, 29] + - !!python/tuple [15, 29] + - !!python/tuple [8, 16] + - !!python/tuple [5, 12] + - !!python/tuple [2, 2] + - !!python/tuple [18, 1] + - !!python/tuple [3, 17] + - !!python/tuple [11, 24] + - !!python/tuple [10, 16] + - !!python/tuple [29, 31] + - !!python/tuple [27, 23] + - !!python/tuple [16, 17] + - !!python/tuple [0, 25] + - !!python/tuple [18, 30] + - !!python/tuple [12, 20] + - !!python/tuple [29, 17] + - !!python/tuple [15, 14] + - !!python/tuple [11, 0] + - !!python/tuple [25, 15] + - !!python/tuple [30, 22] + - !!python/tuple [11, 28] + - !!python/tuple [12, 28] + - !!python/tuple [15, 15] + - !!python/tuple [0, 12] + - !!python/tuple [5, 23] + - !!python/tuple [16, 4] + - !!python/tuple [20, 3] + - !!python/tuple [3, 9] + - !!python/tuple [23, 15] + - !!python/tuple [17, 19] + - !!python/tuple [29, 11] + - !!python/tuple [15, 5] + - !!python/tuple [16, 18] + - !!python/tuple [31, 22] + - !!python/tuple [12, 22] + - !!python/tuple [17, 13] + - !!python/tuple [5, 17] + - !!python/tuple [16, 20] + - !!python/tuple [15, 31] + - !!python/tuple [6, 26] + - !!python/tuple [12, 25] + - !!python/tuple [11, 2] + - !!python/tuple [9, 17] + - !!python/tuple [16, 29] + - !!python/tuple [19, 17] + - !!python/tuple [12, 1] + - !!python/tuple [0, 20] + - !!python/tuple [22, 23] + - !!python/tuple [15, 13] + - !!python/tuple [22, 8] + - !!python/tuple [3, 11] + - !!python/tuple [29, 19] + - !!python/tuple [12, 19] + - !!python/tuple [9, 9] + - !!python/tuple [3, 25] + - !!python/tuple [12, 18] + - !!python/tuple [8, 27] + - !!python/tuple [31, 12] + - !!python/tuple [24, 30] + - !!python/tuple [30, 17] + - !!python/tuple [24, 31] + - !!python/tuple [7, 15] + - !!python/tuple [25, 28] + - !!python/tuple [10, 19] + - !!python/tuple [10, 1] + - !!python/tuple [21, 17] + - !!python/tuple [18, 8] + - !!python/tuple [12, 8] + - !!python/tuple [4, 15] + - !!python/tuple [2, 31] + - !!python/tuple [7, 22] + - !!python/tuple [3, 18] + - !!python/tuple [26, 28] + - !!python/tuple [5, 30] + - !!python/tuple [15, 20] + - !!python/tuple [12, 15] + - !!python/tuple [4, 7] + - !!python/tuple [29, 21] + - !!python/tuple [31, 13] + - !!python/tuple [18, 27] + - !!python/tuple [22, 11] + - !!python/tuple [28, 11] + - !!python/tuple [27, 24] + - !!python/tuple [2, 21] + - !!python/tuple [7, 2] + - !!python/tuple [20, 20] + - !!python/tuple [21, 31] + - !!python/tuple [8, 26] + - !!python/tuple [21, 24] + - !!python/tuple [28, 25] + - !!python/tuple [5, 8] + - !!python/tuple [1, 8] + - !!python/tuple [12, 29] + - !!python/tuple [25, 9] + - !!python/tuple [9, 13] + - !!python/tuple [0, 10] + - !!python/tuple [6, 18] + - !!python/tuple [9, 23] + - !!python/tuple [27, 18] + - !!python/tuple [2, 13] + - !!python/tuple [16, 28] + - !!python/tuple [24, 7] + - !!python/tuple [22, 25] + - !!python/tuple [2, 16] + - !!python/tuple [30, 10] + - !!python/tuple [13, 2] + - !!python/tuple [23, 14] + - !!python/tuple [28, 30] + - !!python/tuple [3, 6] + - !!python/tuple [20, 15] + - !!python/tuple [21, 8] + - !!python/tuple [31, 17] + - !!python/tuple [14, 14] + - !!python/tuple [16, 15] + - !!python/tuple [7, 28] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex50.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex50.yaml new file mode 100644 index 0000000..623f95b --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex50.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [22, 12] + name: agent0 + start: [6, 25] +- goal: [16, 26] + name: agent1 + start: [28, 16] +- goal: [13, 29] + name: agent2 + start: [12, 2] +- goal: [8, 24] + name: agent3 + start: [6, 2] +- goal: [4, 3] + name: agent4 + start: [12, 25] +- goal: [22, 2] + name: agent5 + start: [1, 5] +- goal: [0, 18] + name: agent6 + start: [12, 27] +- goal: [14, 26] + name: agent7 + start: [24, 9] +- goal: [28, 6] + name: agent8 + start: [25, 14] +- goal: [29, 18] + name: agent9 + start: [12, 31] +- goal: [4, 26] + name: agent10 + start: [15, 20] +- goal: [25, 20] + name: agent11 + start: [2, 16] +- goal: [21, 25] + name: agent12 + start: [1, 15] +- goal: [3, 26] + name: agent13 + start: [11, 7] +- goal: [10, 28] + name: agent14 + start: [15, 30] +- goal: [25, 28] + name: agent15 + start: [15, 17] +- goal: [23, 25] + name: agent16 + start: [10, 20] +- goal: [24, 1] + name: agent17 + start: [18, 4] +- goal: [28, 16] + name: agent18 + start: [28, 25] +- goal: [29, 15] + name: agent19 + start: [25, 18] +- goal: [27, 27] + name: agent20 + start: [8, 19] +- goal: [19, 3] + name: agent21 + start: [5, 2] +- goal: [19, 21] + name: agent22 + start: [18, 21] +- goal: [0, 8] + name: agent23 + start: [11, 0] +- goal: [8, 16] + name: agent24 + start: [1, 19] +- goal: [6, 17] + name: agent25 + start: [28, 1] +- goal: [14, 23] + name: agent26 + start: [11, 20] +- goal: [0, 16] + name: agent27 + start: [22, 18] +- goal: [2, 28] + name: agent28 + start: [17, 11] +- goal: [28, 30] + name: agent29 + start: [9, 9] +- goal: [22, 27] + name: agent30 + start: [4, 10] +- goal: [22, 28] + name: agent31 + start: [26, 20] +- goal: [1, 25] + name: agent32 + start: [28, 10] +- goal: [18, 17] + name: agent33 + start: [30, 15] +- goal: [9, 19] + name: agent34 + start: [3, 13] +- goal: [17, 5] + name: agent35 + start: [12, 18] +- goal: [31, 20] + name: agent36 + start: [4, 3] +- goal: [5, 5] + name: agent37 + start: [27, 29] +- goal: [22, 14] + name: agent38 + start: [17, 27] +- goal: [5, 17] + name: agent39 + start: [1, 27] +- goal: [6, 19] + name: agent40 + start: [25, 15] +- goal: [30, 22] + name: agent41 + start: [13, 8] +- goal: [22, 16] + name: agent42 + start: [14, 25] +- goal: [2, 5] + name: agent43 + start: [28, 13] +- goal: [27, 2] + name: agent44 + start: [0, 14] +- goal: [30, 8] + name: agent45 + start: [2, 27] +- goal: [24, 13] + name: agent46 + start: [27, 2] +- goal: [1, 31] + name: agent47 + start: [15, 15] +- goal: [22, 21] + name: agent48 + start: [3, 20] +- goal: [16, 17] + name: agent49 + start: [8, 4] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [25, 30] + - !!python/tuple [0, 25] + - !!python/tuple [8, 7] + - !!python/tuple [12, 20] + - !!python/tuple [30, 11] + - !!python/tuple [26, 30] + - !!python/tuple [24, 0] + - !!python/tuple [31, 7] + - !!python/tuple [29, 3] + - !!python/tuple [27, 0] + - !!python/tuple [19, 26] + - !!python/tuple [15, 2] + - !!python/tuple [29, 21] + - !!python/tuple [4, 15] + - !!python/tuple [19, 11] + - !!python/tuple [18, 31] + - !!python/tuple [23, 13] + - !!python/tuple [6, 4] + - !!python/tuple [0, 0] + - !!python/tuple [12, 1] + - !!python/tuple [4, 17] + - !!python/tuple [9, 15] + - !!python/tuple [11, 27] + - !!python/tuple [11, 10] + - !!python/tuple [5, 12] + - !!python/tuple [30, 24] + - !!python/tuple [13, 14] + - !!python/tuple [27, 20] + - !!python/tuple [1, 17] + - !!python/tuple [8, 2] + - !!python/tuple [20, 16] + - !!python/tuple [7, 19] + - !!python/tuple [9, 17] + - !!python/tuple [6, 5] + - !!python/tuple [30, 18] + - !!python/tuple [24, 10] + - !!python/tuple [8, 25] + - !!python/tuple [12, 22] + - !!python/tuple [26, 0] + - !!python/tuple [13, 4] + - !!python/tuple [0, 6] + - !!python/tuple [31, 28] + - !!python/tuple [2, 17] + - !!python/tuple [22, 4] + - !!python/tuple [26, 8] + - !!python/tuple [8, 29] + - !!python/tuple [9, 0] + - !!python/tuple [7, 3] + - !!python/tuple [31, 8] + - !!python/tuple [23, 30] + - !!python/tuple [24, 3] + - !!python/tuple [5, 26] + - !!python/tuple [24, 14] + - !!python/tuple [10, 21] + - !!python/tuple [10, 29] + - !!python/tuple [9, 26] + - !!python/tuple [31, 16] + - !!python/tuple [27, 21] + - !!python/tuple [15, 25] + - !!python/tuple [21, 31] + - !!python/tuple [8, 8] + - !!python/tuple [29, 17] + - !!python/tuple [20, 25] + - !!python/tuple [29, 19] + - !!python/tuple [11, 8] + - !!python/tuple [18, 16] + - !!python/tuple [29, 4] + - !!python/tuple [0, 19] + - !!python/tuple [22, 23] + - !!python/tuple [18, 7] + - !!python/tuple [0, 4] + - !!python/tuple [24, 5] + - !!python/tuple [25, 3] + - !!python/tuple [4, 9] + - !!python/tuple [18, 25] + - !!python/tuple [15, 1] + - !!python/tuple [3, 10] + - !!python/tuple [3, 27] + - !!python/tuple [16, 15] + - !!python/tuple [13, 19] + - !!python/tuple [19, 4] + - !!python/tuple [0, 1] + - !!python/tuple [31, 14] + - !!python/tuple [2, 2] + - !!python/tuple [15, 18] + - !!python/tuple [15, 27] + - !!python/tuple [14, 5] + - !!python/tuple [4, 6] + - !!python/tuple [15, 6] + - !!python/tuple [30, 14] + - !!python/tuple [4, 22] + - !!python/tuple [19, 5] + - !!python/tuple [17, 22] + - !!python/tuple [26, 16] + - !!python/tuple [0, 22] + - !!python/tuple [4, 11] + - !!python/tuple [15, 9] + - !!python/tuple [6, 0] + - !!python/tuple [19, 18] + - !!python/tuple [3, 29] + - !!python/tuple [8, 9] + - !!python/tuple [9, 12] + - !!python/tuple [1, 0] + - !!python/tuple [14, 28] + - !!python/tuple [14, 14] + - !!python/tuple [1, 9] + - !!python/tuple [22, 20] + - !!python/tuple [8, 0] + - !!python/tuple [29, 14] + - !!python/tuple [24, 2] + - !!python/tuple [21, 10] + - !!python/tuple [9, 3] + - !!python/tuple [12, 13] + - !!python/tuple [11, 12] + - !!python/tuple [14, 4] + - !!python/tuple [5, 19] + - !!python/tuple [14, 27] + - !!python/tuple [9, 28] + - !!python/tuple [28, 20] + - !!python/tuple [26, 13] + - !!python/tuple [13, 5] + - !!python/tuple [7, 27] + - !!python/tuple [21, 23] + - !!python/tuple [5, 21] + - !!python/tuple [1, 28] + - !!python/tuple [10, 15] + - !!python/tuple [26, 2] + - !!python/tuple [27, 16] + - !!python/tuple [9, 30] + - !!python/tuple [22, 1] + - !!python/tuple [24, 16] + - !!python/tuple [21, 6] + - !!python/tuple [19, 28] + - !!python/tuple [29, 30] + - !!python/tuple [29, 7] + - !!python/tuple [17, 31] + - !!python/tuple [17, 8] + - !!python/tuple [30, 21] + - !!python/tuple [18, 11] + - !!python/tuple [30, 2] + - !!python/tuple [3, 18] + - !!python/tuple [21, 16] + - !!python/tuple [15, 0] + - !!python/tuple [26, 17] + - !!python/tuple [1, 10] + - !!python/tuple [10, 7] + - !!python/tuple [24, 24] + - !!python/tuple [5, 29] + - !!python/tuple [0, 15] + - !!python/tuple [22, 31] + - !!python/tuple [8, 1] + - !!python/tuple [29, 28] + - !!python/tuple [0, 31] + - !!python/tuple [7, 26] + - !!python/tuple [19, 17] + - !!python/tuple [10, 24] + - !!python/tuple [2, 20] + - !!python/tuple [18, 30] + - !!python/tuple [0, 30] + - !!python/tuple [15, 8] + - !!python/tuple [0, 24] + - !!python/tuple [0, 26] + - !!python/tuple [5, 20] + - !!python/tuple [16, 25] + - !!python/tuple [21, 8] + - !!python/tuple [19, 19] + - !!python/tuple [11, 2] + - !!python/tuple [26, 18] + - !!python/tuple [1, 4] + - !!python/tuple [8, 6] + - !!python/tuple [20, 31] + - !!python/tuple [14, 10] + - !!python/tuple [31, 30] + - !!python/tuple [17, 20] + - !!python/tuple [23, 6] + - !!python/tuple [31, 0] + - !!python/tuple [17, 18] + - !!python/tuple [6, 8] + - !!python/tuple [28, 3] + - !!python/tuple [15, 5] + - !!python/tuple [27, 12] + - !!python/tuple [29, 0] + - !!python/tuple [7, 4] + - !!python/tuple [26, 26] + - !!python/tuple [5, 4] + - !!python/tuple [27, 18] + - !!python/tuple [13, 23] + - !!python/tuple [4, 30] + - !!python/tuple [5, 28] + - !!python/tuple [7, 17] + - !!python/tuple [5, 23] + - !!python/tuple [15, 10] + - !!python/tuple [1, 30] + - !!python/tuple [9, 4] + - !!python/tuple [6, 31] + - !!python/tuple [21, 27] + - !!python/tuple [21, 19] + - !!python/tuple [0, 5] + - !!python/tuple [15, 28] + - !!python/tuple [21, 3] + - !!python/tuple [11, 9] + - !!python/tuple [13, 13] + - !!python/tuple [31, 18] + - !!python/tuple [0, 9] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex51.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex51.yaml new file mode 100644 index 0000000..94de857 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex51.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [22, 4] + name: agent0 + start: [25, 9] +- goal: [24, 10] + name: agent1 + start: [18, 16] +- goal: [16, 23] + name: agent2 + start: [13, 5] +- goal: [7, 2] + name: agent3 + start: [8, 4] +- goal: [9, 20] + name: agent4 + start: [21, 11] +- goal: [12, 18] + name: agent5 + start: [24, 3] +- goal: [21, 15] + name: agent6 + start: [13, 10] +- goal: [25, 17] + name: agent7 + start: [10, 14] +- goal: [11, 21] + name: agent8 + start: [6, 18] +- goal: [16, 31] + name: agent9 + start: [0, 15] +- goal: [1, 24] + name: agent10 + start: [12, 28] +- goal: [9, 24] + name: agent11 + start: [11, 12] +- goal: [17, 3] + name: agent12 + start: [22, 15] +- goal: [18, 15] + name: agent13 + start: [1, 28] +- goal: [18, 18] + name: agent14 + start: [9, 9] +- goal: [18, 4] + name: agent15 + start: [0, 7] +- goal: [7, 10] + name: agent16 + start: [0, 10] +- goal: [4, 10] + name: agent17 + start: [26, 26] +- goal: [26, 26] + name: agent18 + start: [24, 22] +- goal: [20, 14] + name: agent19 + start: [6, 5] +- goal: [8, 25] + name: agent20 + start: [3, 15] +- goal: [5, 21] + name: agent21 + start: [31, 15] +- goal: [11, 22] + name: agent22 + start: [23, 24] +- goal: [26, 8] + name: agent23 + start: [17, 20] +- goal: [1, 13] + name: agent24 + start: [28, 5] +- goal: [19, 31] + name: agent25 + start: [28, 14] +- goal: [1, 16] + name: agent26 + start: [26, 21] +- goal: [0, 17] + name: agent27 + start: [19, 30] +- goal: [30, 1] + name: agent28 + start: [25, 26] +- goal: [1, 25] + name: agent29 + start: [13, 1] +- goal: [23, 8] + name: agent30 + start: [17, 1] +- goal: [16, 3] + name: agent31 + start: [30, 9] +- goal: [18, 9] + name: agent32 + start: [6, 22] +- goal: [28, 14] + name: agent33 + start: [17, 12] +- goal: [13, 14] + name: agent34 + start: [26, 1] +- goal: [14, 5] + name: agent35 + start: [4, 0] +- goal: [17, 10] + name: agent36 + start: [12, 7] +- goal: [4, 24] + name: agent37 + start: [31, 30] +- goal: [11, 18] + name: agent38 + start: [2, 20] +- goal: [29, 9] + name: agent39 + start: [21, 10] +- goal: [14, 0] + name: agent40 + start: [26, 31] +- goal: [10, 13] + name: agent41 + start: [4, 4] +- goal: [6, 31] + name: agent42 + start: [0, 17] +- goal: [20, 13] + name: agent43 + start: [23, 26] +- goal: [29, 17] + name: agent44 + start: [20, 23] +- goal: [19, 18] + name: agent45 + start: [3, 17] +- goal: [22, 7] + name: agent46 + start: [7, 20] +- goal: [23, 20] + name: agent47 + start: [27, 27] +- goal: [2, 11] + name: agent48 + start: [5, 4] +- goal: [8, 19] + name: agent49 + start: [10, 31] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [5, 12] + - !!python/tuple [1, 12] + - !!python/tuple [5, 22] + - !!python/tuple [7, 16] + - !!python/tuple [13, 31] + - !!python/tuple [15, 24] + - !!python/tuple [15, 29] + - !!python/tuple [28, 19] + - !!python/tuple [8, 31] + - !!python/tuple [28, 15] + - !!python/tuple [26, 18] + - !!python/tuple [29, 4] + - !!python/tuple [2, 13] + - !!python/tuple [29, 7] + - !!python/tuple [12, 23] + - !!python/tuple [25, 14] + - !!python/tuple [26, 20] + - !!python/tuple [27, 10] + - !!python/tuple [28, 17] + - !!python/tuple [16, 20] + - !!python/tuple [1, 6] + - !!python/tuple [29, 18] + - !!python/tuple [15, 19] + - !!python/tuple [4, 30] + - !!python/tuple [6, 6] + - !!python/tuple [9, 8] + - !!python/tuple [8, 23] + - !!python/tuple [28, 0] + - !!python/tuple [8, 10] + - !!python/tuple [14, 17] + - !!python/tuple [21, 4] + - !!python/tuple [10, 15] + - !!python/tuple [11, 24] + - !!python/tuple [22, 16] + - !!python/tuple [25, 27] + - !!python/tuple [19, 12] + - !!python/tuple [25, 3] + - !!python/tuple [6, 20] + - !!python/tuple [20, 9] + - !!python/tuple [4, 8] + - !!python/tuple [7, 26] + - !!python/tuple [6, 30] + - !!python/tuple [28, 8] + - !!python/tuple [7, 11] + - !!python/tuple [22, 24] + - !!python/tuple [31, 18] + - !!python/tuple [3, 26] + - !!python/tuple [24, 18] + - !!python/tuple [22, 25] + - !!python/tuple [20, 5] + - !!python/tuple [4, 12] + - !!python/tuple [22, 6] + - !!python/tuple [20, 4] + - !!python/tuple [17, 2] + - !!python/tuple [12, 20] + - !!python/tuple [23, 17] + - !!python/tuple [28, 9] + - !!python/tuple [24, 8] + - !!python/tuple [15, 7] + - !!python/tuple [6, 7] + - !!python/tuple [13, 25] + - !!python/tuple [3, 24] + - !!python/tuple [26, 22] + - !!python/tuple [15, 30] + - !!python/tuple [7, 4] + - !!python/tuple [25, 29] + - !!python/tuple [18, 8] + - !!python/tuple [27, 31] + - !!python/tuple [17, 28] + - !!python/tuple [3, 1] + - !!python/tuple [14, 16] + - !!python/tuple [0, 9] + - !!python/tuple [8, 11] + - !!python/tuple [14, 26] + - !!python/tuple [24, 31] + - !!python/tuple [23, 15] + - !!python/tuple [16, 27] + - !!python/tuple [22, 27] + - !!python/tuple [4, 2] + - !!python/tuple [27, 1] + - !!python/tuple [4, 7] + - !!python/tuple [28, 20] + - !!python/tuple [28, 25] + - !!python/tuple [26, 19] + - !!python/tuple [12, 3] + - !!python/tuple [1, 10] + - !!python/tuple [21, 25] + - !!python/tuple [23, 14] + - !!python/tuple [5, 14] + - !!python/tuple [3, 18] + - !!python/tuple [25, 15] + - !!python/tuple [29, 13] + - !!python/tuple [3, 9] + - !!python/tuple [11, 11] + - !!python/tuple [17, 18] + - !!python/tuple [3, 2] + - !!python/tuple [15, 13] + - !!python/tuple [30, 20] + - !!python/tuple [3, 19] + - !!python/tuple [22, 31] + - !!python/tuple [26, 14] + - !!python/tuple [9, 21] + - !!python/tuple [11, 3] + - !!python/tuple [6, 4] + - !!python/tuple [10, 10] + - !!python/tuple [30, 26] + - !!python/tuple [14, 6] + - !!python/tuple [22, 21] + - !!python/tuple [2, 4] + - !!python/tuple [25, 16] + - !!python/tuple [9, 14] + - !!python/tuple [7, 7] + - !!python/tuple [9, 10] + - !!python/tuple [12, 0] + - !!python/tuple [17, 6] + - !!python/tuple [7, 8] + - !!python/tuple [21, 21] + - !!python/tuple [17, 19] + - !!python/tuple [16, 1] + - !!python/tuple [19, 0] + - !!python/tuple [10, 6] + - !!python/tuple [4, 9] + - !!python/tuple [5, 15] + - !!python/tuple [12, 21] + - !!python/tuple [5, 28] + - !!python/tuple [10, 27] + - !!python/tuple [12, 14] + - !!python/tuple [10, 20] + - !!python/tuple [11, 7] + - !!python/tuple [5, 25] + - !!python/tuple [4, 15] + - !!python/tuple [30, 10] + - !!python/tuple [25, 25] + - !!python/tuple [19, 21] + - !!python/tuple [7, 12] + - !!python/tuple [2, 8] + - !!python/tuple [30, 28] + - !!python/tuple [10, 16] + - !!python/tuple [31, 22] + - !!python/tuple [13, 6] + - !!python/tuple [30, 14] + - !!python/tuple [26, 9] + - !!python/tuple [16, 4] + - !!python/tuple [25, 2] + - !!python/tuple [25, 1] + - !!python/tuple [30, 0] + - !!python/tuple [1, 17] + - !!python/tuple [24, 12] + - !!python/tuple [7, 23] + - !!python/tuple [24, 9] + - !!python/tuple [26, 27] + - !!python/tuple [30, 3] + - !!python/tuple [3, 28] + - !!python/tuple [8, 2] + - !!python/tuple [15, 17] + - !!python/tuple [31, 16] + - !!python/tuple [17, 11] + - !!python/tuple [24, 29] + - !!python/tuple [23, 23] + - !!python/tuple [10, 3] + - !!python/tuple [2, 22] + - !!python/tuple [23, 4] + - !!python/tuple [9, 6] + - !!python/tuple [1, 22] + - !!python/tuple [23, 25] + - !!python/tuple [16, 19] + - !!python/tuple [3, 27] + - !!python/tuple [9, 22] + - !!python/tuple [20, 10] + - !!python/tuple [30, 15] + - !!python/tuple [2, 18] + - !!python/tuple [7, 6] + - !!python/tuple [11, 15] + - !!python/tuple [25, 19] + - !!python/tuple [11, 2] + - !!python/tuple [26, 25] + - !!python/tuple [20, 2] + - !!python/tuple [12, 9] + - !!python/tuple [29, 16] + - !!python/tuple [4, 19] + - !!python/tuple [22, 14] + - !!python/tuple [2, 10] + - !!python/tuple [20, 12] + - !!python/tuple [28, 13] + - !!python/tuple [1, 21] + - !!python/tuple [7, 29] + - !!python/tuple [27, 3] + - !!python/tuple [14, 29] + - !!python/tuple [11, 27] + - !!python/tuple [11, 14] + - !!python/tuple [7, 0] + - !!python/tuple [24, 27] + - !!python/tuple [7, 31] + - !!python/tuple [2, 23] + - !!python/tuple [17, 4] + - !!python/tuple [2, 27] + - !!python/tuple [23, 13] + - !!python/tuple [23, 10] + - !!python/tuple [9, 3] + - !!python/tuple [9, 31] + - !!python/tuple [6, 24] + - !!python/tuple [29, 27] + - !!python/tuple [24, 1] + - !!python/tuple [17, 7] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex52.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex52.yaml new file mode 100644 index 0000000..1aa5d89 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex52.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [4, 13] + name: agent0 + start: [20, 12] +- goal: [8, 3] + name: agent1 + start: [0, 25] +- goal: [30, 31] + name: agent2 + start: [21, 28] +- goal: [10, 13] + name: agent3 + start: [27, 22] +- goal: [9, 20] + name: agent4 + start: [28, 1] +- goal: [3, 3] + name: agent5 + start: [14, 17] +- goal: [7, 5] + name: agent6 + start: [25, 15] +- goal: [11, 30] + name: agent7 + start: [21, 30] +- goal: [9, 8] + name: agent8 + start: [23, 30] +- goal: [7, 7] + name: agent9 + start: [0, 15] +- goal: [3, 2] + name: agent10 + start: [26, 1] +- goal: [27, 8] + name: agent11 + start: [20, 16] +- goal: [2, 17] + name: agent12 + start: [6, 7] +- goal: [24, 16] + name: agent13 + start: [3, 12] +- goal: [9, 7] + name: agent14 + start: [12, 9] +- goal: [29, 1] + name: agent15 + start: [8, 6] +- goal: [3, 0] + name: agent16 + start: [21, 11] +- goal: [15, 16] + name: agent17 + start: [26, 29] +- goal: [10, 14] + name: agent18 + start: [4, 31] +- goal: [0, 30] + name: agent19 + start: [29, 24] +- goal: [7, 30] + name: agent20 + start: [10, 7] +- goal: [23, 11] + name: agent21 + start: [24, 20] +- goal: [18, 26] + name: agent22 + start: [7, 13] +- goal: [16, 16] + name: agent23 + start: [21, 17] +- goal: [9, 4] + name: agent24 + start: [8, 20] +- goal: [23, 18] + name: agent25 + start: [11, 23] +- goal: [12, 0] + name: agent26 + start: [20, 17] +- goal: [25, 1] + name: agent27 + start: [17, 29] +- goal: [19, 26] + name: agent28 + start: [11, 11] +- goal: [16, 22] + name: agent29 + start: [12, 18] +- goal: [18, 16] + name: agent30 + start: [29, 30] +- goal: [17, 26] + name: agent31 + start: [13, 13] +- goal: [30, 1] + name: agent32 + start: [9, 25] +- goal: [21, 14] + name: agent33 + start: [7, 3] +- goal: [16, 1] + name: agent34 + start: [29, 20] +- goal: [2, 3] + name: agent35 + start: [7, 15] +- goal: [20, 18] + name: agent36 + start: [16, 25] +- goal: [13, 13] + name: agent37 + start: [2, 27] +- goal: [6, 21] + name: agent38 + start: [23, 28] +- goal: [0, 20] + name: agent39 + start: [22, 14] +- goal: [25, 11] + name: agent40 + start: [4, 19] +- goal: [15, 1] + name: agent41 + start: [22, 3] +- goal: [22, 23] + name: agent42 + start: [13, 7] +- goal: [18, 5] + name: agent43 + start: [30, 11] +- goal: [30, 4] + name: agent44 + start: [0, 28] +- goal: [6, 7] + name: agent45 + start: [30, 26] +- goal: [14, 19] + name: agent46 + start: [21, 6] +- goal: [19, 21] + name: agent47 + start: [31, 7] +- goal: [14, 14] + name: agent48 + start: [29, 1] +- goal: [9, 27] + name: agent49 + start: [28, 13] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [23, 7] + - !!python/tuple [27, 10] + - !!python/tuple [25, 3] + - !!python/tuple [0, 4] + - !!python/tuple [0, 7] + - !!python/tuple [31, 12] + - !!python/tuple [24, 18] + - !!python/tuple [0, 6] + - !!python/tuple [15, 0] + - !!python/tuple [1, 3] + - !!python/tuple [19, 6] + - !!python/tuple [8, 26] + - !!python/tuple [4, 17] + - !!python/tuple [11, 13] + - !!python/tuple [12, 5] + - !!python/tuple [28, 22] + - !!python/tuple [9, 6] + - !!python/tuple [8, 2] + - !!python/tuple [11, 16] + - !!python/tuple [19, 18] + - !!python/tuple [6, 9] + - !!python/tuple [10, 17] + - !!python/tuple [31, 21] + - !!python/tuple [24, 4] + - !!python/tuple [16, 11] + - !!python/tuple [3, 6] + - !!python/tuple [19, 24] + - !!python/tuple [7, 26] + - !!python/tuple [20, 30] + - !!python/tuple [0, 0] + - !!python/tuple [5, 21] + - !!python/tuple [2, 9] + - !!python/tuple [3, 17] + - !!python/tuple [20, 23] + - !!python/tuple [13, 9] + - !!python/tuple [2, 30] + - !!python/tuple [30, 21] + - !!python/tuple [29, 15] + - !!python/tuple [18, 8] + - !!python/tuple [5, 18] + - !!python/tuple [5, 6] + - !!python/tuple [7, 16] + - !!python/tuple [12, 16] + - !!python/tuple [15, 4] + - !!python/tuple [2, 7] + - !!python/tuple [0, 3] + - !!python/tuple [7, 0] + - !!python/tuple [5, 8] + - !!python/tuple [27, 21] + - !!python/tuple [2, 13] + - !!python/tuple [27, 19] + - !!python/tuple [1, 27] + - !!python/tuple [1, 26] + - !!python/tuple [27, 9] + - !!python/tuple [9, 2] + - !!python/tuple [19, 23] + - !!python/tuple [22, 25] + - !!python/tuple [15, 30] + - !!python/tuple [18, 11] + - !!python/tuple [12, 7] + - !!python/tuple [21, 19] + - !!python/tuple [13, 18] + - !!python/tuple [8, 14] + - !!python/tuple [29, 25] + - !!python/tuple [0, 26] + - !!python/tuple [27, 25] + - !!python/tuple [26, 16] + - !!python/tuple [11, 14] + - !!python/tuple [5, 27] + - !!python/tuple [2, 6] + - !!python/tuple [12, 2] + - !!python/tuple [31, 6] + - !!python/tuple [10, 5] + - !!python/tuple [2, 12] + - !!python/tuple [7, 11] + - !!python/tuple [6, 19] + - !!python/tuple [28, 20] + - !!python/tuple [15, 18] + - !!python/tuple [16, 17] + - !!python/tuple [20, 15] + - !!python/tuple [18, 29] + - !!python/tuple [27, 18] + - !!python/tuple [31, 22] + - !!python/tuple [0, 21] + - !!python/tuple [31, 24] + - !!python/tuple [12, 3] + - !!python/tuple [14, 12] + - !!python/tuple [19, 29] + - !!python/tuple [2, 18] + - !!python/tuple [5, 29] + - !!python/tuple [31, 11] + - !!python/tuple [1, 6] + - !!python/tuple [3, 23] + - !!python/tuple [12, 10] + - !!python/tuple [15, 31] + - !!python/tuple [8, 31] + - !!python/tuple [17, 31] + - !!python/tuple [31, 17] + - !!python/tuple [26, 18] + - !!python/tuple [7, 24] + - !!python/tuple [18, 21] + - !!python/tuple [17, 17] + - !!python/tuple [16, 7] + - !!python/tuple [14, 0] + - !!python/tuple [2, 25] + - !!python/tuple [10, 16] + - !!python/tuple [26, 14] + - !!python/tuple [23, 6] + - !!python/tuple [14, 3] + - !!python/tuple [5, 24] + - !!python/tuple [25, 22] + - !!python/tuple [11, 1] + - !!python/tuple [10, 30] + - !!python/tuple [26, 27] + - !!python/tuple [9, 15] + - !!python/tuple [16, 9] + - !!python/tuple [26, 5] + - !!python/tuple [3, 29] + - !!python/tuple [16, 8] + - !!python/tuple [21, 15] + - !!python/tuple [4, 28] + - !!python/tuple [0, 22] + - !!python/tuple [6, 24] + - !!python/tuple [25, 26] + - !!python/tuple [6, 2] + - !!python/tuple [0, 10] + - !!python/tuple [16, 27] + - !!python/tuple [30, 25] + - !!python/tuple [27, 31] + - !!python/tuple [3, 21] + - !!python/tuple [2, 14] + - !!python/tuple [11, 7] + - !!python/tuple [17, 23] + - !!python/tuple [9, 13] + - !!python/tuple [8, 5] + - !!python/tuple [6, 1] + - !!python/tuple [5, 28] + - !!python/tuple [24, 14] + - !!python/tuple [5, 2] + - !!python/tuple [10, 1] + - !!python/tuple [24, 11] + - !!python/tuple [15, 24] + - !!python/tuple [0, 2] + - !!python/tuple [29, 12] + - !!python/tuple [31, 10] + - !!python/tuple [18, 2] + - !!python/tuple [27, 12] + - !!python/tuple [15, 28] + - !!python/tuple [31, 14] + - !!python/tuple [26, 22] + - !!python/tuple [26, 24] + - !!python/tuple [6, 26] + - !!python/tuple [18, 25] + - !!python/tuple [15, 29] + - !!python/tuple [26, 9] + - !!python/tuple [3, 24] + - !!python/tuple [25, 19] + - !!python/tuple [24, 13] + - !!python/tuple [22, 9] + - !!python/tuple [28, 15] + - !!python/tuple [30, 30] + - !!python/tuple [22, 2] + - !!python/tuple [17, 22] + - !!python/tuple [28, 23] + - !!python/tuple [29, 29] + - !!python/tuple [8, 17] + - !!python/tuple [23, 24] + - !!python/tuple [16, 18] + - !!python/tuple [19, 3] + - !!python/tuple [14, 15] + - !!python/tuple [30, 27] + - !!python/tuple [17, 4] + - !!python/tuple [3, 27] + - !!python/tuple [15, 27] + - !!python/tuple [29, 13] + - !!python/tuple [20, 25] + - !!python/tuple [27, 28] + - !!python/tuple [11, 4] + - !!python/tuple [13, 19] + - !!python/tuple [0, 19] + - !!python/tuple [21, 2] + - !!python/tuple [30, 3] + - !!python/tuple [5, 16] + - !!python/tuple [22, 17] + - !!python/tuple [5, 3] + - !!python/tuple [20, 8] + - !!python/tuple [30, 18] + - !!python/tuple [28, 8] + - !!python/tuple [12, 26] + - !!python/tuple [11, 24] + - !!python/tuple [4, 11] + - !!python/tuple [6, 10] + - !!python/tuple [23, 21] + - !!python/tuple [23, 20] + - !!python/tuple [14, 23] + - !!python/tuple [18, 4] + - !!python/tuple [20, 5] + - !!python/tuple [7, 25] + - !!python/tuple [26, 8] + - !!python/tuple [2, 2] + - !!python/tuple [10, 27] + - !!python/tuple [1, 5] + - !!python/tuple [29, 28] + - !!python/tuple [19, 1] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex53.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex53.yaml new file mode 100644 index 0000000..7add051 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex53.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [30, 29] + name: agent0 + start: [17, 16] +- goal: [6, 6] + name: agent1 + start: [11, 28] +- goal: [9, 18] + name: agent2 + start: [27, 14] +- goal: [9, 10] + name: agent3 + start: [31, 28] +- goal: [18, 16] + name: agent4 + start: [26, 17] +- goal: [7, 18] + name: agent5 + start: [13, 12] +- goal: [16, 12] + name: agent6 + start: [5, 17] +- goal: [22, 0] + name: agent7 + start: [25, 29] +- goal: [17, 1] + name: agent8 + start: [0, 7] +- goal: [11, 6] + name: agent9 + start: [13, 15] +- goal: [4, 28] + name: agent10 + start: [30, 7] +- goal: [12, 2] + name: agent11 + start: [19, 11] +- goal: [22, 31] + name: agent12 + start: [6, 9] +- goal: [30, 28] + name: agent13 + start: [11, 4] +- goal: [1, 6] + name: agent14 + start: [16, 23] +- goal: [25, 19] + name: agent15 + start: [23, 21] +- goal: [16, 23] + name: agent16 + start: [29, 9] +- goal: [22, 27] + name: agent17 + start: [13, 0] +- goal: [2, 6] + name: agent18 + start: [26, 13] +- goal: [30, 2] + name: agent19 + start: [21, 25] +- goal: [8, 21] + name: agent20 + start: [6, 6] +- goal: [12, 17] + name: agent21 + start: [4, 13] +- goal: [8, 12] + name: agent22 + start: [0, 9] +- goal: [30, 19] + name: agent23 + start: [9, 2] +- goal: [12, 7] + name: agent24 + start: [0, 11] +- goal: [6, 20] + name: agent25 + start: [21, 31] +- goal: [27, 24] + name: agent26 + start: [31, 13] +- goal: [15, 17] + name: agent27 + start: [17, 24] +- goal: [5, 3] + name: agent28 + start: [27, 27] +- goal: [8, 14] + name: agent29 + start: [30, 19] +- goal: [12, 23] + name: agent30 + start: [14, 0] +- goal: [29, 14] + name: agent31 + start: [12, 4] +- goal: [27, 25] + name: agent32 + start: [10, 3] +- goal: [22, 29] + name: agent33 + start: [27, 24] +- goal: [4, 23] + name: agent34 + start: [19, 15] +- goal: [8, 25] + name: agent35 + start: [11, 29] +- goal: [2, 30] + name: agent36 + start: [22, 14] +- goal: [12, 22] + name: agent37 + start: [4, 3] +- goal: [25, 8] + name: agent38 + start: [6, 19] +- goal: [26, 22] + name: agent39 + start: [16, 30] +- goal: [24, 27] + name: agent40 + start: [10, 19] +- goal: [17, 11] + name: agent41 + start: [3, 12] +- goal: [12, 24] + name: agent42 + start: [19, 17] +- goal: [22, 15] + name: agent43 + start: [6, 18] +- goal: [11, 0] + name: agent44 + start: [6, 11] +- goal: [2, 17] + name: agent45 + start: [23, 2] +- goal: [14, 9] + name: agent46 + start: [4, 0] +- goal: [12, 20] + name: agent47 + start: [24, 10] +- goal: [14, 16] + name: agent48 + start: [14, 23] +- goal: [27, 11] + name: agent49 + start: [18, 19] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [15, 3] + - !!python/tuple [18, 9] + - !!python/tuple [28, 3] + - !!python/tuple [2, 1] + - !!python/tuple [8, 27] + - !!python/tuple [10, 28] + - !!python/tuple [0, 16] + - !!python/tuple [22, 30] + - !!python/tuple [10, 20] + - !!python/tuple [26, 23] + - !!python/tuple [3, 8] + - !!python/tuple [14, 26] + - !!python/tuple [23, 9] + - !!python/tuple [1, 5] + - !!python/tuple [8, 5] + - !!python/tuple [22, 24] + - !!python/tuple [12, 1] + - !!python/tuple [25, 30] + - !!python/tuple [16, 5] + - !!python/tuple [20, 8] + - !!python/tuple [31, 30] + - !!python/tuple [9, 0] + - !!python/tuple [22, 10] + - !!python/tuple [9, 28] + - !!python/tuple [5, 27] + - !!python/tuple [19, 22] + - !!python/tuple [4, 11] + - !!python/tuple [13, 29] + - !!python/tuple [23, 6] + - !!python/tuple [20, 31] + - !!python/tuple [13, 19] + - !!python/tuple [17, 13] + - !!python/tuple [18, 5] + - !!python/tuple [19, 5] + - !!python/tuple [22, 28] + - !!python/tuple [7, 1] + - !!python/tuple [29, 0] + - !!python/tuple [8, 22] + - !!python/tuple [7, 29] + - !!python/tuple [25, 13] + - !!python/tuple [8, 1] + - !!python/tuple [20, 16] + - !!python/tuple [7, 8] + - !!python/tuple [2, 12] + - !!python/tuple [2, 19] + - !!python/tuple [25, 14] + - !!python/tuple [2, 27] + - !!python/tuple [23, 15] + - !!python/tuple [21, 12] + - !!python/tuple [13, 28] + - !!python/tuple [29, 21] + - !!python/tuple [21, 6] + - !!python/tuple [25, 1] + - !!python/tuple [14, 22] + - !!python/tuple [20, 14] + - !!python/tuple [7, 23] + - !!python/tuple [12, 5] + - !!python/tuple [10, 11] + - !!python/tuple [14, 20] + - !!python/tuple [6, 31] + - !!python/tuple [0, 17] + - !!python/tuple [31, 17] + - !!python/tuple [28, 7] + - !!python/tuple [12, 9] + - !!python/tuple [3, 26] + - !!python/tuple [2, 13] + - !!python/tuple [24, 15] + - !!python/tuple [9, 29] + - !!python/tuple [20, 10] + - !!python/tuple [1, 14] + - !!python/tuple [11, 2] + - !!python/tuple [16, 9] + - !!python/tuple [21, 10] + - !!python/tuple [6, 16] + - !!python/tuple [20, 7] + - !!python/tuple [26, 5] + - !!python/tuple [11, 22] + - !!python/tuple [30, 30] + - !!python/tuple [29, 28] + - !!python/tuple [15, 25] + - !!python/tuple [0, 25] + - !!python/tuple [29, 11] + - !!python/tuple [23, 19] + - !!python/tuple [0, 23] + - !!python/tuple [30, 11] + - !!python/tuple [12, 13] + - !!python/tuple [15, 27] + - !!python/tuple [11, 23] + - !!python/tuple [26, 31] + - !!python/tuple [28, 6] + - !!python/tuple [26, 26] + - !!python/tuple [18, 31] + - !!python/tuple [7, 24] + - !!python/tuple [22, 22] + - !!python/tuple [24, 22] + - !!python/tuple [13, 26] + - !!python/tuple [22, 18] + - !!python/tuple [26, 15] + - !!python/tuple [0, 4] + - !!python/tuple [14, 18] + - !!python/tuple [7, 21] + - !!python/tuple [13, 6] + - !!python/tuple [7, 26] + - !!python/tuple [12, 25] + - !!python/tuple [13, 13] + - !!python/tuple [27, 0] + - !!python/tuple [5, 23] + - !!python/tuple [7, 10] + - !!python/tuple [4, 25] + - !!python/tuple [23, 7] + - !!python/tuple [3, 22] + - !!python/tuple [29, 6] + - !!python/tuple [10, 27] + - !!python/tuple [2, 11] + - !!python/tuple [3, 0] + - !!python/tuple [1, 17] + - !!python/tuple [29, 30] + - !!python/tuple [0, 3] + - !!python/tuple [15, 22] + - !!python/tuple [4, 10] + - !!python/tuple [4, 1] + - !!python/tuple [14, 29] + - !!python/tuple [1, 0] + - !!python/tuple [23, 18] + - !!python/tuple [8, 3] + - !!python/tuple [1, 21] + - !!python/tuple [23, 23] + - !!python/tuple [31, 21] + - !!python/tuple [10, 6] + - !!python/tuple [8, 26] + - !!python/tuple [0, 26] + - !!python/tuple [12, 26] + - !!python/tuple [3, 7] + - !!python/tuple [28, 20] + - !!python/tuple [1, 22] + - !!python/tuple [16, 14] + - !!python/tuple [9, 17] + - !!python/tuple [20, 25] + - !!python/tuple [29, 25] + - !!python/tuple [18, 29] + - !!python/tuple [25, 10] + - !!python/tuple [18, 23] + - !!python/tuple [11, 26] + - !!python/tuple [19, 3] + - !!python/tuple [13, 5] + - !!python/tuple [20, 24] + - !!python/tuple [7, 16] + - !!python/tuple [30, 17] + - !!python/tuple [9, 26] + - !!python/tuple [1, 16] + - !!python/tuple [26, 16] + - !!python/tuple [17, 29] + - !!python/tuple [27, 26] + - !!python/tuple [1, 15] + - !!python/tuple [6, 14] + - !!python/tuple [18, 15] + - !!python/tuple [29, 8] + - !!python/tuple [19, 27] + - !!python/tuple [17, 25] + - !!python/tuple [29, 22] + - !!python/tuple [12, 19] + - !!python/tuple [30, 0] + - !!python/tuple [20, 17] + - !!python/tuple [11, 21] + - !!python/tuple [24, 21] + - !!python/tuple [20, 20] + - !!python/tuple [22, 16] + - !!python/tuple [17, 15] + - !!python/tuple [4, 31] + - !!python/tuple [10, 16] + - !!python/tuple [24, 4] + - !!python/tuple [8, 17] + - !!python/tuple [23, 25] + - !!python/tuple [7, 28] + - !!python/tuple [29, 15] + - !!python/tuple [7, 2] + - !!python/tuple [21, 27] + - !!python/tuple [1, 8] + - !!python/tuple [9, 12] + - !!python/tuple [22, 6] + - !!python/tuple [24, 18] + - !!python/tuple [25, 18] + - !!python/tuple [16, 31] + - !!python/tuple [3, 11] + - !!python/tuple [18, 26] + - !!python/tuple [20, 15] + - !!python/tuple [22, 21] + - !!python/tuple [3, 27] + - !!python/tuple [4, 27] + - !!python/tuple [6, 26] + - !!python/tuple [0, 30] + - !!python/tuple [18, 0] + - !!python/tuple [9, 16] + - !!python/tuple [15, 6] + - !!python/tuple [22, 23] + - !!python/tuple [3, 21] + - !!python/tuple [28, 13] + - !!python/tuple [21, 29] + - !!python/tuple [7, 11] + - !!python/tuple [0, 6] + - !!python/tuple [5, 7] + - !!python/tuple [7, 3] + - !!python/tuple [20, 0] + - !!python/tuple [2, 25] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex54.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex54.yaml new file mode 100644 index 0000000..4567888 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex54.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [27, 8] + name: agent0 + start: [21, 12] +- goal: [17, 7] + name: agent1 + start: [18, 27] +- goal: [14, 10] + name: agent2 + start: [1, 29] +- goal: [3, 0] + name: agent3 + start: [5, 12] +- goal: [11, 12] + name: agent4 + start: [6, 6] +- goal: [17, 16] + name: agent5 + start: [21, 13] +- goal: [12, 31] + name: agent6 + start: [25, 21] +- goal: [20, 24] + name: agent7 + start: [6, 24] +- goal: [17, 9] + name: agent8 + start: [8, 21] +- goal: [25, 21] + name: agent9 + start: [15, 2] +- goal: [27, 0] + name: agent10 + start: [17, 31] +- goal: [1, 19] + name: agent11 + start: [14, 14] +- goal: [10, 18] + name: agent12 + start: [0, 24] +- goal: [9, 8] + name: agent13 + start: [22, 26] +- goal: [16, 17] + name: agent14 + start: [28, 26] +- goal: [21, 11] + name: agent15 + start: [30, 25] +- goal: [4, 28] + name: agent16 + start: [0, 28] +- goal: [7, 12] + name: agent17 + start: [18, 3] +- goal: [12, 3] + name: agent18 + start: [17, 8] +- goal: [23, 0] + name: agent19 + start: [17, 6] +- goal: [1, 7] + name: agent20 + start: [2, 27] +- goal: [30, 10] + name: agent21 + start: [30, 12] +- goal: [9, 18] + name: agent22 + start: [23, 9] +- goal: [26, 0] + name: agent23 + start: [1, 16] +- goal: [24, 16] + name: agent24 + start: [15, 15] +- goal: [27, 6] + name: agent25 + start: [9, 18] +- goal: [16, 14] + name: agent26 + start: [2, 18] +- goal: [17, 22] + name: agent27 + start: [21, 1] +- goal: [8, 1] + name: agent28 + start: [2, 7] +- goal: [23, 19] + name: agent29 + start: [0, 29] +- goal: [9, 31] + name: agent30 + start: [24, 17] +- goal: [31, 5] + name: agent31 + start: [13, 30] +- goal: [24, 19] + name: agent32 + start: [21, 31] +- goal: [25, 13] + name: agent33 + start: [3, 25] +- goal: [27, 29] + name: agent34 + start: [18, 15] +- goal: [31, 12] + name: agent35 + start: [12, 10] +- goal: [2, 10] + name: agent36 + start: [10, 4] +- goal: [29, 4] + name: agent37 + start: [3, 17] +- goal: [6, 23] + name: agent38 + start: [16, 18] +- goal: [29, 2] + name: agent39 + start: [4, 1] +- goal: [13, 21] + name: agent40 + start: [14, 15] +- goal: [6, 8] + name: agent41 + start: [31, 28] +- goal: [2, 4] + name: agent42 + start: [13, 25] +- goal: [8, 2] + name: agent43 + start: [12, 11] +- goal: [10, 24] + name: agent44 + start: [8, 30] +- goal: [30, 6] + name: agent45 + start: [29, 26] +- goal: [9, 6] + name: agent46 + start: [10, 19] +- goal: [7, 1] + name: agent47 + start: [31, 7] +- goal: [26, 22] + name: agent48 + start: [26, 13] +- goal: [18, 14] + name: agent49 + start: [7, 21] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [15, 0] + - !!python/tuple [3, 11] + - !!python/tuple [4, 23] + - !!python/tuple [12, 9] + - !!python/tuple [10, 30] + - !!python/tuple [19, 26] + - !!python/tuple [2, 9] + - !!python/tuple [6, 31] + - !!python/tuple [12, 22] + - !!python/tuple [18, 20] + - !!python/tuple [7, 14] + - !!python/tuple [15, 20] + - !!python/tuple [6, 3] + - !!python/tuple [25, 29] + - !!python/tuple [5, 29] + - !!python/tuple [30, 8] + - !!python/tuple [12, 30] + - !!python/tuple [4, 12] + - !!python/tuple [11, 6] + - !!python/tuple [23, 17] + - !!python/tuple [13, 27] + - !!python/tuple [31, 27] + - !!python/tuple [18, 25] + - !!python/tuple [8, 20] + - !!python/tuple [29, 8] + - !!python/tuple [7, 29] + - !!python/tuple [8, 12] + - !!python/tuple [3, 4] + - !!python/tuple [3, 26] + - !!python/tuple [19, 15] + - !!python/tuple [13, 4] + - !!python/tuple [22, 24] + - !!python/tuple [10, 27] + - !!python/tuple [23, 30] + - !!python/tuple [25, 14] + - !!python/tuple [20, 29] + - !!python/tuple [3, 14] + - !!python/tuple [22, 25] + - !!python/tuple [3, 21] + - !!python/tuple [14, 6] + - !!python/tuple [9, 14] + - !!python/tuple [24, 28] + - !!python/tuple [8, 25] + - !!python/tuple [24, 14] + - !!python/tuple [9, 27] + - !!python/tuple [17, 26] + - !!python/tuple [17, 3] + - !!python/tuple [18, 5] + - !!python/tuple [22, 16] + - !!python/tuple [0, 11] + - !!python/tuple [29, 20] + - !!python/tuple [31, 0] + - !!python/tuple [17, 2] + - !!python/tuple [9, 30] + - !!python/tuple [9, 0] + - !!python/tuple [0, 15] + - !!python/tuple [19, 21] + - !!python/tuple [13, 12] + - !!python/tuple [5, 14] + - !!python/tuple [12, 8] + - !!python/tuple [27, 3] + - !!python/tuple [22, 7] + - !!python/tuple [13, 0] + - !!python/tuple [23, 21] + - !!python/tuple [31, 17] + - !!python/tuple [11, 23] + - !!python/tuple [15, 16] + - !!python/tuple [6, 2] + - !!python/tuple [25, 30] + - !!python/tuple [3, 20] + - !!python/tuple [3, 10] + - !!python/tuple [19, 27] + - !!python/tuple [22, 31] + - !!python/tuple [14, 22] + - !!python/tuple [21, 3] + - !!python/tuple [29, 3] + - !!python/tuple [29, 23] + - !!python/tuple [2, 23] + - !!python/tuple [1, 13] + - !!python/tuple [12, 17] + - !!python/tuple [18, 29] + - !!python/tuple [25, 5] + - !!python/tuple [10, 12] + - !!python/tuple [19, 28] + - !!python/tuple [17, 19] + - !!python/tuple [30, 17] + - !!python/tuple [14, 27] + - !!python/tuple [7, 16] + - !!python/tuple [28, 3] + - !!python/tuple [15, 17] + - !!python/tuple [25, 10] + - !!python/tuple [14, 12] + - !!python/tuple [28, 10] + - !!python/tuple [12, 23] + - !!python/tuple [10, 14] + - !!python/tuple [19, 4] + - !!python/tuple [27, 31] + - !!python/tuple [23, 29] + - !!python/tuple [5, 31] + - !!python/tuple [31, 2] + - !!python/tuple [3, 29] + - !!python/tuple [21, 8] + - !!python/tuple [10, 6] + - !!python/tuple [27, 1] + - !!python/tuple [28, 15] + - !!python/tuple [10, 8] + - !!python/tuple [9, 9] + - !!python/tuple [18, 17] + - !!python/tuple [11, 19] + - !!python/tuple [8, 15] + - !!python/tuple [8, 26] + - !!python/tuple [9, 4] + - !!python/tuple [31, 13] + - !!python/tuple [31, 21] + - !!python/tuple [26, 17] + - !!python/tuple [23, 24] + - !!python/tuple [22, 5] + - !!python/tuple [8, 24] + - !!python/tuple [4, 14] + - !!python/tuple [6, 1] + - !!python/tuple [6, 10] + - !!python/tuple [20, 12] + - !!python/tuple [0, 3] + - !!python/tuple [3, 7] + - !!python/tuple [30, 11] + - !!python/tuple [26, 19] + - !!python/tuple [12, 20] + - !!python/tuple [2, 30] + - !!python/tuple [1, 11] + - !!python/tuple [10, 2] + - !!python/tuple [26, 5] + - !!python/tuple [1, 18] + - !!python/tuple [15, 14] + - !!python/tuple [27, 2] + - !!python/tuple [7, 6] + - !!python/tuple [23, 15] + - !!python/tuple [7, 3] + - !!python/tuple [22, 1] + - !!python/tuple [9, 3] + - !!python/tuple [14, 13] + - !!python/tuple [30, 22] + - !!python/tuple [12, 29] + - !!python/tuple [12, 0] + - !!python/tuple [16, 15] + - !!python/tuple [9, 23] + - !!python/tuple [1, 28] + - !!python/tuple [27, 11] + - !!python/tuple [28, 20] + - !!python/tuple [18, 26] + - !!python/tuple [13, 31] + - !!python/tuple [7, 7] + - !!python/tuple [19, 2] + - !!python/tuple [23, 5] + - !!python/tuple [7, 15] + - !!python/tuple [30, 24] + - !!python/tuple [17, 27] + - !!python/tuple [27, 27] + - !!python/tuple [10, 26] + - !!python/tuple [5, 23] + - !!python/tuple [26, 30] + - !!python/tuple [12, 25] + - !!python/tuple [0, 6] + - !!python/tuple [13, 10] + - !!python/tuple [2, 29] + - !!python/tuple [8, 23] + - !!python/tuple [28, 16] + - !!python/tuple [14, 30] + - !!python/tuple [7, 2] + - !!python/tuple [19, 9] + - !!python/tuple [19, 1] + - !!python/tuple [0, 10] + - !!python/tuple [28, 6] + - !!python/tuple [7, 20] + - !!python/tuple [18, 1] + - !!python/tuple [17, 17] + - !!python/tuple [10, 9] + - !!python/tuple [4, 26] + - !!python/tuple [2, 0] + - !!python/tuple [14, 1] + - !!python/tuple [14, 5] + - !!python/tuple [24, 7] + - !!python/tuple [26, 15] + - !!python/tuple [25, 8] + - !!python/tuple [25, 23] + - !!python/tuple [25, 6] + - !!python/tuple [6, 17] + - !!python/tuple [9, 15] + - !!python/tuple [0, 4] + - !!python/tuple [23, 2] + - !!python/tuple [27, 15] + - !!python/tuple [4, 18] + - !!python/tuple [5, 9] + - !!python/tuple [5, 20] + - !!python/tuple [13, 9] + - !!python/tuple [26, 23] + - !!python/tuple [17, 25] + - !!python/tuple [12, 27] + - !!python/tuple [24, 10] + - !!python/tuple [8, 9] + - !!python/tuple [10, 20] + - !!python/tuple [17, 1] + - !!python/tuple [28, 1] + - !!python/tuple [17, 23] + - !!python/tuple [10, 21] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex55.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex55.yaml new file mode 100644 index 0000000..cb4d59a --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex55.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [12, 16] + name: agent0 + start: [25, 2] +- goal: [15, 14] + name: agent1 + start: [21, 25] +- goal: [26, 10] + name: agent2 + start: [14, 14] +- goal: [4, 30] + name: agent3 + start: [3, 14] +- goal: [19, 15] + name: agent4 + start: [7, 12] +- goal: [13, 24] + name: agent5 + start: [16, 20] +- goal: [20, 28] + name: agent6 + start: [6, 2] +- goal: [8, 10] + name: agent7 + start: [11, 2] +- goal: [29, 19] + name: agent8 + start: [3, 24] +- goal: [27, 17] + name: agent9 + start: [12, 17] +- goal: [17, 12] + name: agent10 + start: [9, 22] +- goal: [19, 3] + name: agent11 + start: [29, 19] +- goal: [18, 21] + name: agent12 + start: [1, 30] +- goal: [2, 16] + name: agent13 + start: [18, 20] +- goal: [6, 25] + name: agent14 + start: [26, 2] +- goal: [24, 26] + name: agent15 + start: [24, 16] +- goal: [11, 17] + name: agent16 + start: [19, 13] +- goal: [25, 5] + name: agent17 + start: [13, 28] +- goal: [16, 2] + name: agent18 + start: [28, 10] +- goal: [5, 20] + name: agent19 + start: [22, 9] +- goal: [16, 16] + name: agent20 + start: [9, 30] +- goal: [7, 3] + name: agent21 + start: [11, 8] +- goal: [9, 2] + name: agent22 + start: [3, 11] +- goal: [13, 26] + name: agent23 + start: [15, 21] +- goal: [18, 8] + name: agent24 + start: [24, 6] +- goal: [4, 23] + name: agent25 + start: [2, 10] +- goal: [18, 2] + name: agent26 + start: [1, 24] +- goal: [11, 21] + name: agent27 + start: [22, 2] +- goal: [22, 28] + name: agent28 + start: [11, 28] +- goal: [28, 16] + name: agent29 + start: [29, 25] +- goal: [18, 25] + name: agent30 + start: [16, 17] +- goal: [23, 17] + name: agent31 + start: [0, 22] +- goal: [27, 23] + name: agent32 + start: [1, 8] +- goal: [31, 23] + name: agent33 + start: [31, 10] +- goal: [2, 23] + name: agent34 + start: [31, 18] +- goal: [5, 19] + name: agent35 + start: [2, 29] +- goal: [10, 22] + name: agent36 + start: [18, 13] +- goal: [6, 26] + name: agent37 + start: [24, 18] +- goal: [6, 24] + name: agent38 + start: [0, 30] +- goal: [14, 21] + name: agent39 + start: [30, 3] +- goal: [13, 22] + name: agent40 + start: [21, 14] +- goal: [22, 13] + name: agent41 + start: [23, 26] +- goal: [11, 26] + name: agent42 + start: [23, 20] +- goal: [11, 14] + name: agent43 + start: [20, 20] +- goal: [8, 19] + name: agent44 + start: [12, 7] +- goal: [15, 24] + name: agent45 + start: [28, 28] +- goal: [9, 25] + name: agent46 + start: [26, 8] +- goal: [21, 11] + name: agent47 + start: [11, 18] +- goal: [18, 30] + name: agent48 + start: [4, 11] +- goal: [10, 4] + name: agent49 + start: [27, 22] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [15, 12] + - !!python/tuple [18, 27] + - !!python/tuple [20, 15] + - !!python/tuple [9, 6] + - !!python/tuple [28, 24] + - !!python/tuple [12, 12] + - !!python/tuple [5, 16] + - !!python/tuple [30, 15] + - !!python/tuple [3, 20] + - !!python/tuple [2, 15] + - !!python/tuple [4, 0] + - !!python/tuple [21, 26] + - !!python/tuple [12, 30] + - !!python/tuple [29, 12] + - !!python/tuple [19, 29] + - !!python/tuple [1, 29] + - !!python/tuple [4, 13] + - !!python/tuple [17, 29] + - !!python/tuple [23, 0] + - !!python/tuple [12, 29] + - !!python/tuple [15, 22] + - !!python/tuple [17, 15] + - !!python/tuple [26, 5] + - !!python/tuple [13, 18] + - !!python/tuple [7, 23] + - !!python/tuple [15, 15] + - !!python/tuple [10, 27] + - !!python/tuple [7, 31] + - !!python/tuple [12, 19] + - !!python/tuple [5, 15] + - !!python/tuple [22, 8] + - !!python/tuple [3, 0] + - !!python/tuple [4, 18] + - !!python/tuple [8, 29] + - !!python/tuple [2, 6] + - !!python/tuple [9, 15] + - !!python/tuple [28, 29] + - !!python/tuple [19, 17] + - !!python/tuple [21, 24] + - !!python/tuple [14, 0] + - !!python/tuple [22, 21] + - !!python/tuple [19, 18] + - !!python/tuple [6, 0] + - !!python/tuple [6, 6] + - !!python/tuple [9, 12] + - !!python/tuple [6, 20] + - !!python/tuple [26, 7] + - !!python/tuple [5, 12] + - !!python/tuple [16, 27] + - !!python/tuple [4, 31] + - !!python/tuple [20, 24] + - !!python/tuple [17, 14] + - !!python/tuple [19, 21] + - !!python/tuple [28, 23] + - !!python/tuple [7, 11] + - !!python/tuple [28, 1] + - !!python/tuple [2, 27] + - !!python/tuple [9, 10] + - !!python/tuple [23, 12] + - !!python/tuple [15, 18] + - !!python/tuple [12, 15] + - !!python/tuple [24, 15] + - !!python/tuple [8, 0] + - !!python/tuple [27, 27] + - !!python/tuple [9, 23] + - !!python/tuple [15, 11] + - !!python/tuple [27, 18] + - !!python/tuple [25, 29] + - !!python/tuple [0, 13] + - !!python/tuple [18, 10] + - !!python/tuple [11, 20] + - !!python/tuple [20, 7] + - !!python/tuple [20, 18] + - !!python/tuple [22, 19] + - !!python/tuple [6, 28] + - !!python/tuple [29, 31] + - !!python/tuple [4, 9] + - !!python/tuple [11, 11] + - !!python/tuple [10, 23] + - !!python/tuple [0, 19] + - !!python/tuple [8, 3] + - !!python/tuple [23, 15] + - !!python/tuple [25, 27] + - !!python/tuple [3, 1] + - !!python/tuple [13, 11] + - !!python/tuple [9, 17] + - !!python/tuple [23, 11] + - !!python/tuple [3, 23] + - !!python/tuple [16, 18] + - !!python/tuple [19, 19] + - !!python/tuple [15, 16] + - !!python/tuple [25, 18] + - !!python/tuple [0, 23] + - !!python/tuple [13, 31] + - !!python/tuple [24, 28] + - !!python/tuple [3, 27] + - !!python/tuple [17, 20] + - !!python/tuple [20, 0] + - !!python/tuple [29, 27] + - !!python/tuple [20, 19] + - !!python/tuple [2, 12] + - !!python/tuple [21, 27] + - !!python/tuple [16, 11] + - !!python/tuple [23, 28] + - !!python/tuple [14, 1] + - !!python/tuple [4, 27] + - !!python/tuple [31, 24] + - !!python/tuple [12, 10] + - !!python/tuple [29, 9] + - !!python/tuple [10, 5] + - !!python/tuple [5, 4] + - !!python/tuple [9, 1] + - !!python/tuple [9, 19] + - !!python/tuple [11, 22] + - !!python/tuple [24, 21] + - !!python/tuple [14, 13] + - !!python/tuple [13, 5] + - !!python/tuple [11, 13] + - !!python/tuple [19, 22] + - !!python/tuple [28, 18] + - !!python/tuple [18, 9] + - !!python/tuple [29, 6] + - !!python/tuple [4, 12] + - !!python/tuple [31, 29] + - !!python/tuple [0, 18] + - !!python/tuple [2, 28] + - !!python/tuple [16, 3] + - !!python/tuple [0, 11] + - !!python/tuple [7, 30] + - !!python/tuple [3, 6] + - !!python/tuple [27, 31] + - !!python/tuple [1, 25] + - !!python/tuple [2, 9] + - !!python/tuple [11, 23] + - !!python/tuple [24, 29] + - !!python/tuple [29, 0] + - !!python/tuple [21, 29] + - !!python/tuple [31, 19] + - !!python/tuple [29, 5] + - !!python/tuple [11, 6] + - !!python/tuple [16, 15] + - !!python/tuple [25, 31] + - !!python/tuple [21, 12] + - !!python/tuple [31, 8] + - !!python/tuple [24, 1] + - !!python/tuple [27, 21] + - !!python/tuple [3, 5] + - !!python/tuple [17, 26] + - !!python/tuple [29, 21] + - !!python/tuple [9, 13] + - !!python/tuple [22, 23] + - !!python/tuple [28, 5] + - !!python/tuple [5, 26] + - !!python/tuple [17, 3] + - !!python/tuple [7, 16] + - !!python/tuple [31, 11] + - !!python/tuple [3, 13] + - !!python/tuple [23, 2] + - !!python/tuple [22, 4] + - !!python/tuple [30, 28] + - !!python/tuple [1, 22] + - !!python/tuple [4, 2] + - !!python/tuple [3, 7] + - !!python/tuple [5, 28] + - !!python/tuple [9, 7] + - !!python/tuple [6, 5] + - !!python/tuple [6, 21] + - !!python/tuple [12, 22] + - !!python/tuple [30, 1] + - !!python/tuple [8, 14] + - !!python/tuple [26, 6] + - !!python/tuple [29, 15] + - !!python/tuple [29, 4] + - !!python/tuple [11, 15] + - !!python/tuple [16, 29] + - !!python/tuple [20, 10] + - !!python/tuple [13, 7] + - !!python/tuple [13, 8] + - !!python/tuple [31, 26] + - !!python/tuple [30, 30] + - !!python/tuple [22, 30] + - !!python/tuple [12, 23] + - !!python/tuple [28, 21] + - !!python/tuple [4, 4] + - !!python/tuple [8, 21] + - !!python/tuple [3, 26] + - !!python/tuple [3, 12] + - !!python/tuple [18, 1] + - !!python/tuple [27, 2] + - !!python/tuple [21, 28] + - !!python/tuple [7, 5] + - !!python/tuple [18, 22] + - !!python/tuple [20, 22] + - !!python/tuple [25, 6] + - !!python/tuple [19, 4] + - !!python/tuple [16, 31] + - !!python/tuple [3, 31] + - !!python/tuple [23, 31] + - !!python/tuple [13, 0] + - !!python/tuple [31, 25] + - !!python/tuple [6, 30] + - !!python/tuple [27, 7] + - !!python/tuple [21, 4] + - !!python/tuple [2, 31] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex56.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex56.yaml new file mode 100644 index 0000000..075a25c --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex56.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [23, 7] + name: agent0 + start: [3, 14] +- goal: [8, 16] + name: agent1 + start: [11, 7] +- goal: [24, 5] + name: agent2 + start: [22, 13] +- goal: [7, 11] + name: agent3 + start: [7, 23] +- goal: [29, 14] + name: agent4 + start: [29, 6] +- goal: [7, 8] + name: agent5 + start: [5, 12] +- goal: [1, 11] + name: agent6 + start: [1, 9] +- goal: [20, 19] + name: agent7 + start: [24, 7] +- goal: [15, 20] + name: agent8 + start: [5, 10] +- goal: [7, 24] + name: agent9 + start: [2, 16] +- goal: [1, 10] + name: agent10 + start: [26, 30] +- goal: [21, 16] + name: agent11 + start: [10, 26] +- goal: [0, 9] + name: agent12 + start: [7, 0] +- goal: [1, 31] + name: agent13 + start: [17, 12] +- goal: [15, 9] + name: agent14 + start: [10, 1] +- goal: [13, 8] + name: agent15 + start: [0, 4] +- goal: [3, 16] + name: agent16 + start: [22, 21] +- goal: [22, 7] + name: agent17 + start: [22, 28] +- goal: [0, 27] + name: agent18 + start: [17, 22] +- goal: [13, 24] + name: agent19 + start: [22, 27] +- goal: [19, 8] + name: agent20 + start: [14, 28] +- goal: [10, 19] + name: agent21 + start: [25, 14] +- goal: [24, 0] + name: agent22 + start: [15, 23] +- goal: [30, 15] + name: agent23 + start: [29, 19] +- goal: [14, 10] + name: agent24 + start: [3, 5] +- goal: [12, 2] + name: agent25 + start: [28, 1] +- goal: [15, 29] + name: agent26 + start: [19, 6] +- goal: [12, 8] + name: agent27 + start: [26, 23] +- goal: [11, 12] + name: agent28 + start: [10, 4] +- goal: [15, 4] + name: agent29 + start: [27, 12] +- goal: [27, 8] + name: agent30 + start: [7, 12] +- goal: [14, 6] + name: agent31 + start: [28, 26] +- goal: [5, 2] + name: agent32 + start: [22, 18] +- goal: [24, 16] + name: agent33 + start: [4, 22] +- goal: [19, 27] + name: agent34 + start: [22, 19] +- goal: [19, 25] + name: agent35 + start: [13, 24] +- goal: [12, 29] + name: agent36 + start: [13, 11] +- goal: [30, 9] + name: agent37 + start: [21, 9] +- goal: [28, 23] + name: agent38 + start: [0, 0] +- goal: [9, 14] + name: agent39 + start: [27, 22] +- goal: [25, 28] + name: agent40 + start: [12, 0] +- goal: [1, 26] + name: agent41 + start: [3, 17] +- goal: [13, 1] + name: agent42 + start: [3, 23] +- goal: [31, 7] + name: agent43 + start: [0, 7] +- goal: [3, 5] + name: agent44 + start: [28, 17] +- goal: [9, 2] + name: agent45 + start: [29, 17] +- goal: [27, 3] + name: agent46 + start: [26, 2] +- goal: [26, 14] + name: agent47 + start: [24, 1] +- goal: [17, 14] + name: agent48 + start: [22, 0] +- goal: [2, 4] + name: agent49 + start: [17, 24] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [20, 28] + - !!python/tuple [14, 14] + - !!python/tuple [5, 8] + - !!python/tuple [29, 5] + - !!python/tuple [30, 27] + - !!python/tuple [14, 24] + - !!python/tuple [18, 23] + - !!python/tuple [13, 13] + - !!python/tuple [13, 27] + - !!python/tuple [2, 6] + - !!python/tuple [28, 16] + - !!python/tuple [15, 5] + - !!python/tuple [0, 17] + - !!python/tuple [4, 20] + - !!python/tuple [13, 6] + - !!python/tuple [6, 12] + - !!python/tuple [9, 28] + - !!python/tuple [30, 26] + - !!python/tuple [9, 9] + - !!python/tuple [8, 27] + - !!python/tuple [7, 30] + - !!python/tuple [8, 24] + - !!python/tuple [4, 8] + - !!python/tuple [7, 29] + - !!python/tuple [8, 13] + - !!python/tuple [13, 2] + - !!python/tuple [16, 12] + - !!python/tuple [29, 27] + - !!python/tuple [26, 12] + - !!python/tuple [9, 30] + - !!python/tuple [29, 4] + - !!python/tuple [10, 28] + - !!python/tuple [21, 6] + - !!python/tuple [18, 7] + - !!python/tuple [8, 30] + - !!python/tuple [9, 8] + - !!python/tuple [11, 2] + - !!python/tuple [29, 28] + - !!python/tuple [26, 11] + - !!python/tuple [11, 9] + - !!python/tuple [8, 5] + - !!python/tuple [18, 4] + - !!python/tuple [23, 20] + - !!python/tuple [10, 30] + - !!python/tuple [25, 0] + - !!python/tuple [16, 29] + - !!python/tuple [7, 7] + - !!python/tuple [20, 16] + - !!python/tuple [17, 23] + - !!python/tuple [18, 9] + - !!python/tuple [24, 30] + - !!python/tuple [27, 6] + - !!python/tuple [9, 24] + - !!python/tuple [28, 4] + - !!python/tuple [5, 7] + - !!python/tuple [6, 18] + - !!python/tuple [8, 12] + - !!python/tuple [0, 20] + - !!python/tuple [2, 26] + - !!python/tuple [13, 3] + - !!python/tuple [11, 4] + - !!python/tuple [27, 7] + - !!python/tuple [31, 3] + - !!python/tuple [28, 21] + - !!python/tuple [23, 6] + - !!python/tuple [16, 8] + - !!python/tuple [1, 3] + - !!python/tuple [19, 14] + - !!python/tuple [16, 28] + - !!python/tuple [20, 1] + - !!python/tuple [24, 11] + - !!python/tuple [14, 11] + - !!python/tuple [4, 5] + - !!python/tuple [28, 13] + - !!python/tuple [29, 12] + - !!python/tuple [16, 4] + - !!python/tuple [20, 5] + - !!python/tuple [30, 7] + - !!python/tuple [17, 20] + - !!python/tuple [30, 24] + - !!python/tuple [12, 17] + - !!python/tuple [31, 5] + - !!python/tuple [26, 9] + - !!python/tuple [20, 2] + - !!python/tuple [0, 5] + - !!python/tuple [11, 29] + - !!python/tuple [1, 13] + - !!python/tuple [5, 26] + - !!python/tuple [3, 10] + - !!python/tuple [26, 29] + - !!python/tuple [25, 19] + - !!python/tuple [10, 7] + - !!python/tuple [11, 30] + - !!python/tuple [21, 26] + - !!python/tuple [5, 13] + - !!python/tuple [9, 25] + - !!python/tuple [18, 10] + - !!python/tuple [5, 6] + - !!python/tuple [6, 8] + - !!python/tuple [22, 16] + - !!python/tuple [2, 13] + - !!python/tuple [26, 20] + - !!python/tuple [6, 6] + - !!python/tuple [1, 19] + - !!python/tuple [28, 11] + - !!python/tuple [25, 17] + - !!python/tuple [29, 7] + - !!python/tuple [24, 25] + - !!python/tuple [22, 2] + - !!python/tuple [16, 1] + - !!python/tuple [2, 23] + - !!python/tuple [2, 9] + - !!python/tuple [21, 15] + - !!python/tuple [25, 16] + - !!python/tuple [1, 21] + - !!python/tuple [21, 11] + - !!python/tuple [19, 20] + - !!python/tuple [28, 19] + - !!python/tuple [7, 5] + - !!python/tuple [12, 24] + - !!python/tuple [9, 21] + - !!python/tuple [29, 30] + - !!python/tuple [2, 20] + - !!python/tuple [8, 9] + - !!python/tuple [12, 16] + - !!python/tuple [7, 3] + - !!python/tuple [15, 0] + - !!python/tuple [13, 7] + - !!python/tuple [4, 10] + - !!python/tuple [19, 28] + - !!python/tuple [13, 19] + - !!python/tuple [8, 17] + - !!python/tuple [4, 16] + - !!python/tuple [9, 5] + - !!python/tuple [13, 28] + - !!python/tuple [19, 30] + - !!python/tuple [7, 2] + - !!python/tuple [15, 25] + - !!python/tuple [20, 15] + - !!python/tuple [24, 19] + - !!python/tuple [22, 11] + - !!python/tuple [19, 11] + - !!python/tuple [2, 3] + - !!python/tuple [5, 27] + - !!python/tuple [14, 9] + - !!python/tuple [12, 18] + - !!python/tuple [1, 5] + - !!python/tuple [6, 23] + - !!python/tuple [30, 16] + - !!python/tuple [9, 3] + - !!python/tuple [4, 17] + - !!python/tuple [14, 1] + - !!python/tuple [3, 19] + - !!python/tuple [11, 23] + - !!python/tuple [5, 19] + - !!python/tuple [18, 16] + - !!python/tuple [12, 5] + - !!python/tuple [9, 18] + - !!python/tuple [3, 11] + - !!python/tuple [31, 24] + - !!python/tuple [8, 2] + - !!python/tuple [24, 13] + - !!python/tuple [1, 27] + - !!python/tuple [3, 28] + - !!python/tuple [3, 1] + - !!python/tuple [13, 25] + - !!python/tuple [25, 8] + - !!python/tuple [7, 9] + - !!python/tuple [23, 27] + - !!python/tuple [22, 5] + - !!python/tuple [25, 12] + - !!python/tuple [8, 23] + - !!python/tuple [16, 13] + - !!python/tuple [14, 4] + - !!python/tuple [18, 3] + - !!python/tuple [25, 29] + - !!python/tuple [4, 9] + - !!python/tuple [29, 9] + - !!python/tuple [30, 3] + - !!python/tuple [1, 25] + - !!python/tuple [4, 26] + - !!python/tuple [27, 17] + - !!python/tuple [2, 17] + - !!python/tuple [6, 21] + - !!python/tuple [17, 9] + - !!python/tuple [14, 20] + - !!python/tuple [6, 19] + - !!python/tuple [31, 18] + - !!python/tuple [0, 24] + - !!python/tuple [17, 30] + - !!python/tuple [9, 1] + - !!python/tuple [30, 30] + - !!python/tuple [17, 0] + - !!python/tuple [4, 15] + - !!python/tuple [30, 6] + - !!python/tuple [21, 14] + - !!python/tuple [19, 22] + - !!python/tuple [4, 11] + - !!python/tuple [5, 1] + - !!python/tuple [2, 14] + - !!python/tuple [1, 18] + - !!python/tuple [9, 7] + - !!python/tuple [26, 25] + - !!python/tuple [21, 24] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex57.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex57.yaml new file mode 100644 index 0000000..8d93276 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex57.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [14, 28] + name: agent0 + start: [21, 7] +- goal: [24, 18] + name: agent1 + start: [5, 20] +- goal: [19, 0] + name: agent2 + start: [8, 11] +- goal: [17, 7] + name: agent3 + start: [17, 14] +- goal: [22, 15] + name: agent4 + start: [7, 30] +- goal: [10, 10] + name: agent5 + start: [18, 15] +- goal: [18, 12] + name: agent6 + start: [28, 19] +- goal: [21, 22] + name: agent7 + start: [10, 4] +- goal: [11, 26] + name: agent8 + start: [19, 21] +- goal: [13, 21] + name: agent9 + start: [17, 22] +- goal: [0, 5] + name: agent10 + start: [12, 20] +- goal: [28, 11] + name: agent11 + start: [28, 25] +- goal: [7, 21] + name: agent12 + start: [25, 3] +- goal: [23, 24] + name: agent13 + start: [4, 15] +- goal: [27, 16] + name: agent14 + start: [3, 18] +- goal: [23, 17] + name: agent15 + start: [7, 22] +- goal: [15, 1] + name: agent16 + start: [28, 7] +- goal: [31, 23] + name: agent17 + start: [15, 0] +- goal: [5, 4] + name: agent18 + start: [13, 2] +- goal: [20, 18] + name: agent19 + start: [21, 12] +- goal: [16, 19] + name: agent20 + start: [18, 7] +- goal: [9, 13] + name: agent21 + start: [14, 25] +- goal: [14, 29] + name: agent22 + start: [8, 18] +- goal: [15, 18] + name: agent23 + start: [6, 30] +- goal: [24, 6] + name: agent24 + start: [18, 18] +- goal: [6, 13] + name: agent25 + start: [11, 10] +- goal: [0, 30] + name: agent26 + start: [0, 22] +- goal: [11, 19] + name: agent27 + start: [5, 27] +- goal: [9, 9] + name: agent28 + start: [0, 16] +- goal: [15, 22] + name: agent29 + start: [8, 25] +- goal: [20, 25] + name: agent30 + start: [2, 28] +- goal: [30, 3] + name: agent31 + start: [16, 26] +- goal: [4, 0] + name: agent32 + start: [25, 17] +- goal: [13, 0] + name: agent33 + start: [10, 18] +- goal: [2, 28] + name: agent34 + start: [21, 3] +- goal: [11, 21] + name: agent35 + start: [23, 14] +- goal: [25, 1] + name: agent36 + start: [4, 18] +- goal: [11, 0] + name: agent37 + start: [12, 17] +- goal: [17, 23] + name: agent38 + start: [22, 23] +- goal: [14, 21] + name: agent39 + start: [25, 21] +- goal: [4, 18] + name: agent40 + start: [27, 25] +- goal: [15, 8] + name: agent41 + start: [6, 29] +- goal: [28, 2] + name: agent42 + start: [25, 16] +- goal: [20, 6] + name: agent43 + start: [8, 7] +- goal: [27, 31] + name: agent44 + start: [5, 2] +- goal: [30, 19] + name: agent45 + start: [20, 22] +- goal: [6, 31] + name: agent46 + start: [9, 18] +- goal: [20, 7] + name: agent47 + start: [16, 20] +- goal: [7, 7] + name: agent48 + start: [20, 10] +- goal: [7, 8] + name: agent49 + start: [11, 17] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [7, 24] + - !!python/tuple [13, 20] + - !!python/tuple [12, 19] + - !!python/tuple [21, 26] + - !!python/tuple [27, 18] + - !!python/tuple [28, 9] + - !!python/tuple [28, 17] + - !!python/tuple [5, 13] + - !!python/tuple [23, 10] + - !!python/tuple [6, 12] + - !!python/tuple [5, 30] + - !!python/tuple [21, 31] + - !!python/tuple [4, 21] + - !!python/tuple [27, 2] + - !!python/tuple [14, 24] + - !!python/tuple [6, 21] + - !!python/tuple [2, 11] + - !!python/tuple [9, 12] + - !!python/tuple [11, 2] + - !!python/tuple [0, 12] + - !!python/tuple [14, 1] + - !!python/tuple [24, 13] + - !!python/tuple [20, 19] + - !!python/tuple [28, 3] + - !!python/tuple [12, 21] + - !!python/tuple [17, 8] + - !!python/tuple [13, 11] + - !!python/tuple [15, 9] + - !!python/tuple [20, 17] + - !!python/tuple [5, 1] + - !!python/tuple [16, 12] + - !!python/tuple [24, 7] + - !!python/tuple [23, 19] + - !!python/tuple [30, 8] + - !!python/tuple [11, 5] + - !!python/tuple [3, 13] + - !!python/tuple [22, 4] + - !!python/tuple [22, 19] + - !!python/tuple [12, 11] + - !!python/tuple [1, 8] + - !!python/tuple [25, 8] + - !!python/tuple [31, 13] + - !!python/tuple [15, 6] + - !!python/tuple [2, 23] + - !!python/tuple [12, 25] + - !!python/tuple [12, 22] + - !!python/tuple [27, 15] + - !!python/tuple [26, 27] + - !!python/tuple [2, 1] + - !!python/tuple [14, 8] + - !!python/tuple [14, 11] + - !!python/tuple [24, 28] + - !!python/tuple [9, 1] + - !!python/tuple [16, 4] + - !!python/tuple [19, 20] + - !!python/tuple [0, 26] + - !!python/tuple [2, 24] + - !!python/tuple [28, 23] + - !!python/tuple [20, 13] + - !!python/tuple [29, 15] + - !!python/tuple [30, 4] + - !!python/tuple [15, 25] + - !!python/tuple [23, 15] + - !!python/tuple [18, 30] + - !!python/tuple [30, 27] + - !!python/tuple [8, 23] + - !!python/tuple [9, 7] + - !!python/tuple [27, 3] + - !!python/tuple [18, 21] + - !!python/tuple [24, 15] + - !!python/tuple [8, 16] + - !!python/tuple [28, 6] + - !!python/tuple [22, 30] + - !!python/tuple [21, 9] + - !!python/tuple [9, 16] + - !!python/tuple [5, 25] + - !!python/tuple [25, 13] + - !!python/tuple [22, 2] + - !!python/tuple [1, 4] + - !!python/tuple [6, 1] + - !!python/tuple [26, 9] + - !!python/tuple [2, 10] + - !!python/tuple [21, 5] + - !!python/tuple [24, 8] + - !!python/tuple [27, 17] + - !!python/tuple [1, 15] + - !!python/tuple [30, 12] + - !!python/tuple [16, 14] + - !!python/tuple [13, 3] + - !!python/tuple [20, 14] + - !!python/tuple [24, 9] + - !!python/tuple [26, 8] + - !!python/tuple [29, 16] + - !!python/tuple [29, 10] + - !!python/tuple [23, 0] + - !!python/tuple [31, 31] + - !!python/tuple [30, 31] + - !!python/tuple [10, 28] + - !!python/tuple [2, 2] + - !!python/tuple [19, 3] + - !!python/tuple [9, 29] + - !!python/tuple [22, 24] + - !!python/tuple [30, 14] + - !!python/tuple [15, 11] + - !!python/tuple [29, 19] + - !!python/tuple [31, 20] + - !!python/tuple [20, 16] + - !!python/tuple [18, 19] + - !!python/tuple [0, 9] + - !!python/tuple [30, 9] + - !!python/tuple [3, 7] + - !!python/tuple [10, 3] + - !!python/tuple [23, 20] + - !!python/tuple [17, 12] + - !!python/tuple [22, 25] + - !!python/tuple [14, 22] + - !!python/tuple [23, 21] + - !!python/tuple [6, 5] + - !!python/tuple [24, 17] + - !!python/tuple [27, 9] + - !!python/tuple [26, 16] + - !!python/tuple [25, 26] + - !!python/tuple [2, 19] + - !!python/tuple [11, 30] + - !!python/tuple [4, 25] + - !!python/tuple [14, 4] + - !!python/tuple [15, 5] + - !!python/tuple [7, 31] + - !!python/tuple [25, 19] + - !!python/tuple [30, 25] + - !!python/tuple [18, 25] + - !!python/tuple [11, 11] + - !!python/tuple [27, 1] + - !!python/tuple [15, 31] + - !!python/tuple [15, 27] + - !!python/tuple [30, 13] + - !!python/tuple [15, 17] + - !!python/tuple [15, 21] + - !!python/tuple [2, 27] + - !!python/tuple [27, 29] + - !!python/tuple [7, 1] + - !!python/tuple [20, 8] + - !!python/tuple [0, 31] + - !!python/tuple [9, 10] + - !!python/tuple [26, 31] + - !!python/tuple [19, 10] + - !!python/tuple [29, 27] + - !!python/tuple [9, 5] + - !!python/tuple [7, 18] + - !!python/tuple [31, 14] + - !!python/tuple [1, 27] + - !!python/tuple [11, 31] + - !!python/tuple [31, 0] + - !!python/tuple [17, 9] + - !!python/tuple [4, 4] + - !!python/tuple [7, 3] + - !!python/tuple [21, 20] + - !!python/tuple [18, 5] + - !!python/tuple [4, 31] + - !!python/tuple [23, 1] + - !!python/tuple [8, 15] + - !!python/tuple [3, 29] + - !!python/tuple [10, 6] + - !!python/tuple [8, 28] + - !!python/tuple [18, 28] + - !!python/tuple [1, 2] + - !!python/tuple [16, 25] + - !!python/tuple [24, 27] + - !!python/tuple [4, 10] + - !!python/tuple [16, 1] + - !!python/tuple [12, 5] + - !!python/tuple [5, 21] + - !!python/tuple [9, 8] + - !!python/tuple [21, 23] + - !!python/tuple [15, 14] + - !!python/tuple [8, 30] + - !!python/tuple [9, 3] + - !!python/tuple [0, 25] + - !!python/tuple [5, 22] + - !!python/tuple [18, 22] + - !!python/tuple [22, 1] + - !!python/tuple [26, 1] + - !!python/tuple [27, 26] + - !!python/tuple [12, 28] + - !!python/tuple [22, 21] + - !!python/tuple [9, 28] + - !!python/tuple [19, 31] + - !!python/tuple [25, 22] + - !!python/tuple [19, 15] + - !!python/tuple [20, 15] + - !!python/tuple [23, 18] + - !!python/tuple [15, 10] + - !!python/tuple [12, 13] + - !!python/tuple [23, 31] + - !!python/tuple [11, 24] + - !!python/tuple [27, 27] + - !!python/tuple [1, 18] + - !!python/tuple [23, 7] + - !!python/tuple [7, 16] + - !!python/tuple [15, 7] + - !!python/tuple [3, 4] + - !!python/tuple [7, 0] + - !!python/tuple [15, 30] + - !!python/tuple [2, 17] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex58.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex58.yaml new file mode 100644 index 0000000..63e20b1 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex58.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [1, 22] + name: agent0 + start: [7, 19] +- goal: [13, 14] + name: agent1 + start: [9, 8] +- goal: [2, 22] + name: agent2 + start: [16, 24] +- goal: [26, 12] + name: agent3 + start: [12, 8] +- goal: [2, 8] + name: agent4 + start: [9, 24] +- goal: [1, 7] + name: agent5 + start: [3, 30] +- goal: [21, 11] + name: agent6 + start: [31, 31] +- goal: [14, 24] + name: agent7 + start: [24, 21] +- goal: [19, 15] + name: agent8 + start: [4, 22] +- goal: [7, 19] + name: agent9 + start: [27, 19] +- goal: [13, 25] + name: agent10 + start: [5, 23] +- goal: [26, 25] + name: agent11 + start: [14, 23] +- goal: [14, 17] + name: agent12 + start: [26, 17] +- goal: [8, 8] + name: agent13 + start: [2, 4] +- goal: [5, 1] + name: agent14 + start: [5, 28] +- goal: [16, 21] + name: agent15 + start: [21, 2] +- goal: [15, 4] + name: agent16 + start: [10, 9] +- goal: [17, 0] + name: agent17 + start: [28, 4] +- goal: [1, 27] + name: agent18 + start: [29, 9] +- goal: [22, 22] + name: agent19 + start: [17, 24] +- goal: [0, 13] + name: agent20 + start: [7, 13] +- goal: [23, 9] + name: agent21 + start: [2, 3] +- goal: [9, 13] + name: agent22 + start: [17, 21] +- goal: [16, 27] + name: agent23 + start: [29, 8] +- goal: [29, 10] + name: agent24 + start: [2, 28] +- goal: [6, 22] + name: agent25 + start: [12, 14] +- goal: [9, 23] + name: agent26 + start: [18, 30] +- goal: [21, 25] + name: agent27 + start: [25, 10] +- goal: [20, 9] + name: agent28 + start: [29, 30] +- goal: [5, 13] + name: agent29 + start: [26, 14] +- goal: [26, 18] + name: agent30 + start: [6, 20] +- goal: [6, 16] + name: agent31 + start: [8, 27] +- goal: [8, 25] + name: agent32 + start: [8, 29] +- goal: [14, 20] + name: agent33 + start: [14, 17] +- goal: [11, 0] + name: agent34 + start: [31, 8] +- goal: [12, 19] + name: agent35 + start: [3, 24] +- goal: [10, 4] + name: agent36 + start: [26, 7] +- goal: [4, 16] + name: agent37 + start: [15, 8] +- goal: [19, 21] + name: agent38 + start: [4, 15] +- goal: [21, 10] + name: agent39 + start: [9, 29] +- goal: [2, 10] + name: agent40 + start: [14, 3] +- goal: [18, 10] + name: agent41 + start: [13, 0] +- goal: [29, 21] + name: agent42 + start: [2, 26] +- goal: [12, 0] + name: agent43 + start: [23, 21] +- goal: [8, 5] + name: agent44 + start: [22, 0] +- goal: [4, 21] + name: agent45 + start: [10, 4] +- goal: [23, 20] + name: agent46 + start: [30, 9] +- goal: [27, 19] + name: agent47 + start: [22, 28] +- goal: [20, 25] + name: agent48 + start: [15, 12] +- goal: [8, 27] + name: agent49 + start: [25, 9] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [10, 12] + - !!python/tuple [19, 16] + - !!python/tuple [31, 11] + - !!python/tuple [11, 3] + - !!python/tuple [25, 1] + - !!python/tuple [3, 11] + - !!python/tuple [0, 28] + - !!python/tuple [30, 31] + - !!python/tuple [26, 26] + - !!python/tuple [21, 13] + - !!python/tuple [3, 9] + - !!python/tuple [22, 4] + - !!python/tuple [24, 26] + - !!python/tuple [18, 17] + - !!python/tuple [28, 27] + - !!python/tuple [31, 19] + - !!python/tuple [14, 31] + - !!python/tuple [21, 3] + - !!python/tuple [26, 5] + - !!python/tuple [3, 6] + - !!python/tuple [18, 1] + - !!python/tuple [1, 11] + - !!python/tuple [5, 11] + - !!python/tuple [24, 1] + - !!python/tuple [4, 18] + - !!python/tuple [27, 5] + - !!python/tuple [24, 0] + - !!python/tuple [1, 30] + - !!python/tuple [12, 30] + - !!python/tuple [18, 21] + - !!python/tuple [2, 16] + - !!python/tuple [14, 5] + - !!python/tuple [27, 13] + - !!python/tuple [13, 1] + - !!python/tuple [9, 21] + - !!python/tuple [15, 2] + - !!python/tuple [10, 8] + - !!python/tuple [22, 24] + - !!python/tuple [5, 0] + - !!python/tuple [3, 23] + - !!python/tuple [12, 2] + - !!python/tuple [11, 21] + - !!python/tuple [25, 21] + - !!python/tuple [21, 0] + - !!python/tuple [27, 21] + - !!python/tuple [30, 3] + - !!python/tuple [26, 19] + - !!python/tuple [11, 27] + - !!python/tuple [23, 3] + - !!python/tuple [11, 31] + - !!python/tuple [14, 0] + - !!python/tuple [11, 22] + - !!python/tuple [3, 4] + - !!python/tuple [26, 10] + - !!python/tuple [29, 19] + - !!python/tuple [30, 14] + - !!python/tuple [23, 12] + - !!python/tuple [14, 12] + - !!python/tuple [10, 5] + - !!python/tuple [7, 23] + - !!python/tuple [15, 15] + - !!python/tuple [28, 24] + - !!python/tuple [1, 6] + - !!python/tuple [27, 7] + - !!python/tuple [24, 19] + - !!python/tuple [11, 29] + - !!python/tuple [18, 2] + - !!python/tuple [25, 5] + - !!python/tuple [9, 26] + - !!python/tuple [25, 22] + - !!python/tuple [10, 15] + - !!python/tuple [12, 1] + - !!python/tuple [9, 1] + - !!python/tuple [10, 23] + - !!python/tuple [4, 17] + - !!python/tuple [22, 14] + - !!python/tuple [14, 18] + - !!python/tuple [27, 26] + - !!python/tuple [6, 30] + - !!python/tuple [2, 25] + - !!python/tuple [17, 20] + - !!python/tuple [29, 15] + - !!python/tuple [22, 16] + - !!python/tuple [5, 20] + - !!python/tuple [20, 15] + - !!python/tuple [21, 24] + - !!python/tuple [23, 29] + - !!python/tuple [31, 16] + - !!python/tuple [10, 29] + - !!python/tuple [25, 15] + - !!python/tuple [15, 18] + - !!python/tuple [2, 13] + - !!python/tuple [26, 28] + - !!python/tuple [29, 13] + - !!python/tuple [28, 21] + - !!python/tuple [29, 27] + - !!python/tuple [26, 15] + - !!python/tuple [3, 18] + - !!python/tuple [15, 24] + - !!python/tuple [28, 7] + - !!python/tuple [29, 11] + - !!python/tuple [29, 14] + - !!python/tuple [15, 16] + - !!python/tuple [21, 23] + - !!python/tuple [16, 23] + - !!python/tuple [10, 28] + - !!python/tuple [3, 3] + - !!python/tuple [21, 18] + - !!python/tuple [7, 15] + - !!python/tuple [29, 25] + - !!python/tuple [27, 29] + - !!python/tuple [25, 13] + - !!python/tuple [14, 15] + - !!python/tuple [27, 12] + - !!python/tuple [15, 11] + - !!python/tuple [26, 1] + - !!python/tuple [20, 19] + - !!python/tuple [19, 4] + - !!python/tuple [10, 1] + - !!python/tuple [13, 11] + - !!python/tuple [6, 10] + - !!python/tuple [31, 29] + - !!python/tuple [8, 28] + - !!python/tuple [3, 26] + - !!python/tuple [16, 29] + - !!python/tuple [6, 2] + - !!python/tuple [25, 23] + - !!python/tuple [1, 0] + - !!python/tuple [22, 23] + - !!python/tuple [11, 9] + - !!python/tuple [24, 13] + - !!python/tuple [31, 18] + - !!python/tuple [11, 2] + - !!python/tuple [21, 5] + - !!python/tuple [8, 31] + - !!python/tuple [18, 27] + - !!python/tuple [21, 30] + - !!python/tuple [4, 10] + - !!python/tuple [30, 1] + - !!python/tuple [31, 3] + - !!python/tuple [17, 31] + - !!python/tuple [17, 26] + - !!python/tuple [19, 30] + - !!python/tuple [14, 26] + - !!python/tuple [26, 29] + - !!python/tuple [6, 9] + - !!python/tuple [3, 22] + - !!python/tuple [27, 14] + - !!python/tuple [10, 21] + - !!python/tuple [6, 27] + - !!python/tuple [16, 7] + - !!python/tuple [2, 18] + - !!python/tuple [21, 26] + - !!python/tuple [0, 18] + - !!python/tuple [16, 15] + - !!python/tuple [5, 12] + - !!python/tuple [24, 11] + - !!python/tuple [0, 23] + - !!python/tuple [12, 29] + - !!python/tuple [24, 24] + - !!python/tuple [29, 2] + - !!python/tuple [17, 19] + - !!python/tuple [27, 10] + - !!python/tuple [11, 25] + - !!python/tuple [29, 4] + - !!python/tuple [26, 9] + - !!python/tuple [3, 31] + - !!python/tuple [13, 28] + - !!python/tuple [8, 4] + - !!python/tuple [0, 17] + - !!python/tuple [17, 10] + - !!python/tuple [9, 30] + - !!python/tuple [23, 25] + - !!python/tuple [26, 11] + - !!python/tuple [8, 23] + - !!python/tuple [5, 6] + - !!python/tuple [18, 28] + - !!python/tuple [11, 15] + - !!python/tuple [23, 14] + - !!python/tuple [19, 8] + - !!python/tuple [20, 11] + - !!python/tuple [10, 25] + - !!python/tuple [13, 26] + - !!python/tuple [0, 8] + - !!python/tuple [5, 16] + - !!python/tuple [23, 27] + - !!python/tuple [7, 10] + - !!python/tuple [13, 9] + - !!python/tuple [20, 21] + - !!python/tuple [17, 16] + - !!python/tuple [30, 17] + - !!python/tuple [27, 30] + - !!python/tuple [6, 13] + - !!python/tuple [2, 12] + - !!python/tuple [22, 3] + - !!python/tuple [9, 15] + - !!python/tuple [19, 3] + - !!python/tuple [18, 19] + - !!python/tuple [12, 5] + - !!python/tuple [14, 13] + - !!python/tuple [31, 4] + - !!python/tuple [13, 12] + - !!python/tuple [23, 17] + - !!python/tuple [14, 2] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex59.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex59.yaml new file mode 100644 index 0000000..524ca58 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex59.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [22, 24] + name: agent0 + start: [10, 20] +- goal: [11, 18] + name: agent1 + start: [15, 17] +- goal: [0, 7] + name: agent2 + start: [20, 3] +- goal: [19, 18] + name: agent3 + start: [26, 3] +- goal: [29, 17] + name: agent4 + start: [11, 9] +- goal: [17, 27] + name: agent5 + start: [12, 28] +- goal: [5, 8] + name: agent6 + start: [29, 3] +- goal: [7, 2] + name: agent7 + start: [7, 16] +- goal: [31, 7] + name: agent8 + start: [4, 15] +- goal: [23, 0] + name: agent9 + start: [2, 1] +- goal: [28, 20] + name: agent10 + start: [26, 20] +- goal: [20, 17] + name: agent11 + start: [7, 9] +- goal: [17, 17] + name: agent12 + start: [24, 11] +- goal: [24, 19] + name: agent13 + start: [14, 3] +- goal: [26, 12] + name: agent14 + start: [28, 1] +- goal: [10, 1] + name: agent15 + start: [18, 16] +- goal: [13, 6] + name: agent16 + start: [31, 26] +- goal: [26, 26] + name: agent17 + start: [22, 0] +- goal: [16, 15] + name: agent18 + start: [12, 6] +- goal: [24, 28] + name: agent19 + start: [0, 9] +- goal: [2, 19] + name: agent20 + start: [29, 30] +- goal: [10, 25] + name: agent21 + start: [22, 15] +- goal: [18, 10] + name: agent22 + start: [23, 10] +- goal: [24, 26] + name: agent23 + start: [10, 10] +- goal: [30, 17] + name: agent24 + start: [27, 20] +- goal: [14, 26] + name: agent25 + start: [2, 23] +- goal: [9, 19] + name: agent26 + start: [17, 8] +- goal: [21, 30] + name: agent27 + start: [14, 21] +- goal: [28, 30] + name: agent28 + start: [0, 25] +- goal: [18, 14] + name: agent29 + start: [30, 28] +- goal: [0, 29] + name: agent30 + start: [26, 15] +- goal: [29, 29] + name: agent31 + start: [16, 2] +- goal: [15, 18] + name: agent32 + start: [14, 23] +- goal: [22, 12] + name: agent33 + start: [18, 13] +- goal: [31, 12] + name: agent34 + start: [20, 12] +- goal: [14, 2] + name: agent35 + start: [4, 22] +- goal: [1, 2] + name: agent36 + start: [23, 0] +- goal: [12, 20] + name: agent37 + start: [20, 11] +- goal: [12, 16] + name: agent38 + start: [0, 21] +- goal: [1, 18] + name: agent39 + start: [12, 18] +- goal: [6, 21] + name: agent40 + start: [8, 26] +- goal: [9, 5] + name: agent41 + start: [28, 15] +- goal: [2, 13] + name: agent42 + start: [6, 10] +- goal: [13, 31] + name: agent43 + start: [24, 2] +- goal: [16, 18] + name: agent44 + start: [13, 10] +- goal: [5, 27] + name: agent45 + start: [20, 4] +- goal: [29, 8] + name: agent46 + start: [27, 8] +- goal: [14, 21] + name: agent47 + start: [23, 11] +- goal: [10, 2] + name: agent48 + start: [28, 20] +- goal: [23, 4] + name: agent49 + start: [15, 30] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [12, 21] + - !!python/tuple [2, 2] + - !!python/tuple [3, 8] + - !!python/tuple [26, 11] + - !!python/tuple [15, 31] + - !!python/tuple [3, 17] + - !!python/tuple [1, 16] + - !!python/tuple [11, 4] + - !!python/tuple [16, 27] + - !!python/tuple [23, 18] + - !!python/tuple [25, 6] + - !!python/tuple [19, 16] + - !!python/tuple [17, 4] + - !!python/tuple [25, 13] + - !!python/tuple [4, 11] + - !!python/tuple [17, 21] + - !!python/tuple [30, 8] + - !!python/tuple [28, 25] + - !!python/tuple [1, 11] + - !!python/tuple [7, 21] + - !!python/tuple [7, 18] + - !!python/tuple [14, 17] + - !!python/tuple [26, 17] + - !!python/tuple [24, 10] + - !!python/tuple [5, 26] + - !!python/tuple [4, 12] + - !!python/tuple [15, 29] + - !!python/tuple [22, 5] + - !!python/tuple [19, 3] + - !!python/tuple [16, 13] + - !!python/tuple [8, 2] + - !!python/tuple [20, 0] + - !!python/tuple [2, 7] + - !!python/tuple [5, 25] + - !!python/tuple [8, 23] + - !!python/tuple [25, 31] + - !!python/tuple [22, 16] + - !!python/tuple [15, 27] + - !!python/tuple [27, 4] + - !!python/tuple [5, 0] + - !!python/tuple [14, 20] + - !!python/tuple [14, 9] + - !!python/tuple [28, 22] + - !!python/tuple [14, 7] + - !!python/tuple [19, 21] + - !!python/tuple [28, 16] + - !!python/tuple [11, 5] + - !!python/tuple [5, 31] + - !!python/tuple [30, 2] + - !!python/tuple [20, 8] + - !!python/tuple [4, 26] + - !!python/tuple [22, 4] + - !!python/tuple [11, 16] + - !!python/tuple [30, 14] + - !!python/tuple [30, 19] + - !!python/tuple [21, 19] + - !!python/tuple [18, 7] + - !!python/tuple [18, 2] + - !!python/tuple [12, 1] + - !!python/tuple [9, 0] + - !!python/tuple [27, 6] + - !!python/tuple [3, 13] + - !!python/tuple [23, 26] + - !!python/tuple [9, 23] + - !!python/tuple [7, 17] + - !!python/tuple [11, 21] + - !!python/tuple [31, 19] + - !!python/tuple [27, 18] + - !!python/tuple [6, 22] + - !!python/tuple [6, 29] + - !!python/tuple [2, 25] + - !!python/tuple [27, 29] + - !!python/tuple [24, 9] + - !!python/tuple [15, 1] + - !!python/tuple [12, 11] + - !!python/tuple [0, 17] + - !!python/tuple [10, 4] + - !!python/tuple [3, 28] + - !!python/tuple [3, 21] + - !!python/tuple [8, 13] + - !!python/tuple [21, 27] + - !!python/tuple [10, 13] + - !!python/tuple [27, 2] + - !!python/tuple [18, 27] + - !!python/tuple [8, 15] + - !!python/tuple [11, 23] + - !!python/tuple [27, 0] + - !!python/tuple [29, 16] + - !!python/tuple [25, 25] + - !!python/tuple [3, 19] + - !!python/tuple [4, 20] + - !!python/tuple [1, 15] + - !!python/tuple [29, 5] + - !!python/tuple [22, 13] + - !!python/tuple [11, 11] + - !!python/tuple [3, 22] + - !!python/tuple [15, 20] + - !!python/tuple [21, 26] + - !!python/tuple [22, 17] + - !!python/tuple [2, 15] + - !!python/tuple [22, 31] + - !!python/tuple [9, 22] + - !!python/tuple [24, 0] + - !!python/tuple [18, 31] + - !!python/tuple [26, 31] + - !!python/tuple [0, 10] + - !!python/tuple [22, 3] + - !!python/tuple [2, 21] + - !!python/tuple [23, 6] + - !!python/tuple [0, 22] + - !!python/tuple [25, 5] + - !!python/tuple [19, 30] + - !!python/tuple [7, 1] + - !!python/tuple [14, 8] + - !!python/tuple [0, 15] + - !!python/tuple [17, 15] + - !!python/tuple [17, 31] + - !!python/tuple [25, 0] + - !!python/tuple [1, 22] + - !!python/tuple [5, 23] + - !!python/tuple [25, 15] + - !!python/tuple [18, 21] + - !!python/tuple [23, 22] + - !!python/tuple [1, 6] + - !!python/tuple [13, 22] + - !!python/tuple [17, 22] + - !!python/tuple [10, 14] + - !!python/tuple [5, 14] + - !!python/tuple [16, 19] + - !!python/tuple [11, 0] + - !!python/tuple [16, 26] + - !!python/tuple [18, 6] + - !!python/tuple [5, 3] + - !!python/tuple [24, 16] + - !!python/tuple [13, 23] + - !!python/tuple [5, 7] + - !!python/tuple [30, 1] + - !!python/tuple [15, 21] + - !!python/tuple [29, 21] + - !!python/tuple [24, 31] + - !!python/tuple [18, 15] + - !!python/tuple [19, 29] + - !!python/tuple [25, 9] + - !!python/tuple [28, 14] + - !!python/tuple [13, 26] + - !!python/tuple [25, 19] + - !!python/tuple [25, 26] + - !!python/tuple [27, 28] + - !!python/tuple [8, 27] + - !!python/tuple [9, 12] + - !!python/tuple [0, 0] + - !!python/tuple [21, 31] + - !!python/tuple [17, 12] + - !!python/tuple [5, 6] + - !!python/tuple [27, 12] + - !!python/tuple [18, 30] + - !!python/tuple [1, 14] + - !!python/tuple [16, 1] + - !!python/tuple [18, 9] + - !!python/tuple [14, 13] + - !!python/tuple [7, 27] + - !!python/tuple [8, 4] + - !!python/tuple [17, 24] + - !!python/tuple [10, 0] + - !!python/tuple [7, 26] + - !!python/tuple [7, 15] + - !!python/tuple [27, 27] + - !!python/tuple [13, 16] + - !!python/tuple [14, 19] + - !!python/tuple [23, 9] + - !!python/tuple [25, 2] + - !!python/tuple [6, 4] + - !!python/tuple [22, 20] + - !!python/tuple [27, 15] + - !!python/tuple [26, 0] + - !!python/tuple [8, 19] + - !!python/tuple [26, 5] + - !!python/tuple [27, 7] + - !!python/tuple [5, 28] + - !!python/tuple [26, 19] + - !!python/tuple [30, 25] + - !!python/tuple [21, 28] + - !!python/tuple [3, 30] + - !!python/tuple [8, 12] + - !!python/tuple [13, 11] + - !!python/tuple [5, 16] + - !!python/tuple [24, 4] + - !!python/tuple [13, 24] + - !!python/tuple [8, 9] + - !!python/tuple [26, 1] + - !!python/tuple [22, 14] + - !!python/tuple [3, 4] + - !!python/tuple [13, 12] + - !!python/tuple [29, 24] + - !!python/tuple [4, 8] + - !!python/tuple [5, 30] + - !!python/tuple [20, 6] + - !!python/tuple [20, 30] + - !!python/tuple [16, 14] + - !!python/tuple [0, 19] + - !!python/tuple [24, 24] + - !!python/tuple [19, 11] + - !!python/tuple [25, 16] + - !!python/tuple [1, 0] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex6.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex6.yaml new file mode 100644 index 0000000..2a53164 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex6.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [22, 10] + name: agent0 + start: [28, 17] +- goal: [10, 5] + name: agent1 + start: [23, 30] +- goal: [26, 27] + name: agent2 + start: [16, 22] +- goal: [6, 30] + name: agent3 + start: [20, 3] +- goal: [19, 19] + name: agent4 + start: [9, 21] +- goal: [1, 7] + name: agent5 + start: [13, 27] +- goal: [27, 4] + name: agent6 + start: [4, 5] +- goal: [23, 7] + name: agent7 + start: [14, 28] +- goal: [5, 1] + name: agent8 + start: [29, 0] +- goal: [31, 4] + name: agent9 + start: [29, 22] +- goal: [20, 2] + name: agent10 + start: [30, 19] +- goal: [26, 1] + name: agent11 + start: [1, 20] +- goal: [7, 25] + name: agent12 + start: [21, 8] +- goal: [18, 17] + name: agent13 + start: [26, 29] +- goal: [17, 18] + name: agent14 + start: [26, 23] +- goal: [21, 8] + name: agent15 + start: [1, 31] +- goal: [8, 16] + name: agent16 + start: [12, 15] +- goal: [29, 16] + name: agent17 + start: [31, 28] +- goal: [19, 2] + name: agent18 + start: [26, 6] +- goal: [24, 28] + name: agent19 + start: [23, 6] +- goal: [6, 14] + name: agent20 + start: [20, 2] +- goal: [6, 17] + name: agent21 + start: [6, 18] +- goal: [27, 27] + name: agent22 + start: [3, 13] +- goal: [19, 18] + name: agent23 + start: [23, 20] +- goal: [24, 4] + name: agent24 + start: [22, 8] +- goal: [20, 0] + name: agent25 + start: [15, 9] +- goal: [19, 16] + name: agent26 + start: [5, 17] +- goal: [2, 16] + name: agent27 + start: [7, 15] +- goal: [15, 8] + name: agent28 + start: [0, 8] +- goal: [16, 22] + name: agent29 + start: [29, 10] +- goal: [7, 22] + name: agent30 + start: [14, 19] +- goal: [3, 11] + name: agent31 + start: [3, 30] +- goal: [13, 9] + name: agent32 + start: [13, 25] +- goal: [31, 31] + name: agent33 + start: [14, 9] +- goal: [24, 22] + name: agent34 + start: [2, 14] +- goal: [15, 0] + name: agent35 + start: [17, 8] +- goal: [10, 17] + name: agent36 + start: [11, 17] +- goal: [25, 6] + name: agent37 + start: [21, 9] +- goal: [1, 14] + name: agent38 + start: [29, 17] +- goal: [4, 3] + name: agent39 + start: [4, 31] +- goal: [20, 14] + name: agent40 + start: [23, 1] +- goal: [23, 20] + name: agent41 + start: [6, 22] +- goal: [29, 7] + name: agent42 + start: [21, 15] +- goal: [16, 7] + name: agent43 + start: [0, 27] +- goal: [17, 0] + name: agent44 + start: [9, 15] +- goal: [23, 12] + name: agent45 + start: [12, 8] +- goal: [26, 17] + name: agent46 + start: [27, 13] +- goal: [15, 17] + name: agent47 + start: [25, 0] +- goal: [28, 16] + name: agent48 + start: [26, 10] +- goal: [7, 18] + name: agent49 + start: [22, 31] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [17, 26] + - !!python/tuple [16, 5] + - !!python/tuple [10, 29] + - !!python/tuple [1, 23] + - !!python/tuple [27, 19] + - !!python/tuple [8, 30] + - !!python/tuple [21, 13] + - !!python/tuple [27, 1] + - !!python/tuple [7, 20] + - !!python/tuple [25, 11] + - !!python/tuple [19, 15] + - !!python/tuple [17, 12] + - !!python/tuple [27, 14] + - !!python/tuple [28, 27] + - !!python/tuple [15, 21] + - !!python/tuple [22, 16] + - !!python/tuple [11, 23] + - !!python/tuple [0, 15] + - !!python/tuple [18, 2] + - !!python/tuple [12, 1] + - !!python/tuple [31, 3] + - !!python/tuple [19, 3] + - !!python/tuple [14, 15] + - !!python/tuple [27, 31] + - !!python/tuple [22, 11] + - !!python/tuple [15, 29] + - !!python/tuple [9, 8] + - !!python/tuple [16, 31] + - !!python/tuple [22, 7] + - !!python/tuple [13, 17] + - !!python/tuple [26, 13] + - !!python/tuple [0, 23] + - !!python/tuple [28, 9] + - !!python/tuple [6, 25] + - !!python/tuple [16, 0] + - !!python/tuple [29, 15] + - !!python/tuple [5, 28] + - !!python/tuple [19, 21] + - !!python/tuple [4, 30] + - !!python/tuple [4, 15] + - !!python/tuple [23, 14] + - !!python/tuple [27, 6] + - !!python/tuple [5, 3] + - !!python/tuple [31, 30] + - !!python/tuple [9, 9] + - !!python/tuple [29, 26] + - !!python/tuple [1, 6] + - !!python/tuple [9, 27] + - !!python/tuple [8, 8] + - !!python/tuple [26, 2] + - !!python/tuple [18, 6] + - !!python/tuple [13, 6] + - !!python/tuple [22, 21] + - !!python/tuple [3, 16] + - !!python/tuple [23, 26] + - !!python/tuple [15, 25] + - !!python/tuple [14, 1] + - !!python/tuple [24, 29] + - !!python/tuple [21, 22] + - !!python/tuple [1, 24] + - !!python/tuple [2, 24] + - !!python/tuple [18, 24] + - !!python/tuple [23, 11] + - !!python/tuple [15, 4] + - !!python/tuple [23, 28] + - !!python/tuple [3, 14] + - !!python/tuple [10, 3] + - !!python/tuple [4, 8] + - !!python/tuple [27, 2] + - !!python/tuple [9, 7] + - !!python/tuple [20, 4] + - !!python/tuple [12, 30] + - !!python/tuple [12, 24] + - !!python/tuple [7, 6] + - !!python/tuple [6, 13] + - !!python/tuple [22, 9] + - !!python/tuple [16, 14] + - !!python/tuple [14, 18] + - !!python/tuple [13, 0] + - !!python/tuple [15, 15] + - !!python/tuple [18, 1] + - !!python/tuple [0, 6] + - !!python/tuple [0, 22] + - !!python/tuple [3, 0] + - !!python/tuple [12, 9] + - !!python/tuple [20, 11] + - !!python/tuple [7, 24] + - !!python/tuple [22, 23] + - !!python/tuple [21, 20] + - !!python/tuple [7, 16] + - !!python/tuple [5, 7] + - !!python/tuple [23, 31] + - !!python/tuple [30, 29] + - !!python/tuple [4, 0] + - !!python/tuple [6, 12] + - !!python/tuple [22, 5] + - !!python/tuple [13, 15] + - !!python/tuple [23, 3] + - !!python/tuple [16, 24] + - !!python/tuple [29, 12] + - !!python/tuple [8, 12] + - !!python/tuple [5, 24] + - !!python/tuple [26, 12] + - !!python/tuple [9, 25] + - !!python/tuple [26, 20] + - !!python/tuple [1, 10] + - !!python/tuple [11, 2] + - !!python/tuple [27, 17] + - !!python/tuple [23, 29] + - !!python/tuple [30, 23] + - !!python/tuple [27, 15] + - !!python/tuple [17, 9] + - !!python/tuple [1, 29] + - !!python/tuple [26, 28] + - !!python/tuple [15, 30] + - !!python/tuple [18, 10] + - !!python/tuple [16, 26] + - !!python/tuple [28, 26] + - !!python/tuple [25, 17] + - !!python/tuple [10, 6] + - !!python/tuple [29, 13] + - !!python/tuple [5, 13] + - !!python/tuple [4, 14] + - !!python/tuple [19, 25] + - !!python/tuple [12, 3] + - !!python/tuple [9, 28] + - !!python/tuple [26, 15] + - !!python/tuple [15, 5] + - !!python/tuple [10, 26] + - !!python/tuple [27, 5] + - !!python/tuple [0, 28] + - !!python/tuple [3, 20] + - !!python/tuple [7, 0] + - !!python/tuple [9, 0] + - !!python/tuple [18, 29] + - !!python/tuple [19, 26] + - !!python/tuple [6, 26] + - !!python/tuple [27, 3] + - !!python/tuple [21, 12] + - !!python/tuple [29, 20] + - !!python/tuple [19, 14] + - !!python/tuple [7, 21] + - !!python/tuple [7, 10] + - !!python/tuple [18, 12] + - !!python/tuple [25, 22] + - !!python/tuple [17, 15] + - !!python/tuple [25, 26] + - !!python/tuple [11, 6] + - !!python/tuple [5, 11] + - !!python/tuple [7, 17] + - !!python/tuple [27, 16] + - !!python/tuple [1, 8] + - !!python/tuple [0, 16] + - !!python/tuple [22, 25] + - !!python/tuple [20, 24] + - !!python/tuple [1, 30] + - !!python/tuple [14, 0] + - !!python/tuple [4, 16] + - !!python/tuple [16, 3] + - !!python/tuple [8, 7] + - !!python/tuple [16, 12] + - !!python/tuple [28, 21] + - !!python/tuple [5, 4] + - !!python/tuple [16, 28] + - !!python/tuple [4, 20] + - !!python/tuple [25, 2] + - !!python/tuple [21, 26] + - !!python/tuple [3, 29] + - !!python/tuple [26, 16] + - !!python/tuple [20, 5] + - !!python/tuple [23, 22] + - !!python/tuple [27, 11] + - !!python/tuple [30, 27] + - !!python/tuple [13, 16] + - !!python/tuple [5, 21] + - !!python/tuple [28, 0] + - !!python/tuple [23, 15] + - !!python/tuple [23, 18] + - !!python/tuple [31, 24] + - !!python/tuple [24, 21] + - !!python/tuple [15, 10] + - !!python/tuple [11, 27] + - !!python/tuple [19, 4] + - !!python/tuple [28, 10] + - !!python/tuple [15, 11] + - !!python/tuple [5, 8] + - !!python/tuple [10, 27] + - !!python/tuple [29, 24] + - !!python/tuple [19, 10] + - !!python/tuple [20, 7] + - !!python/tuple [11, 21] + - !!python/tuple [16, 16] + - !!python/tuple [26, 11] + - !!python/tuple [30, 21] + - !!python/tuple [11, 24] + - !!python/tuple [31, 23] + - !!python/tuple [8, 18] + - !!python/tuple [3, 31] + - !!python/tuple [1, 12] + - !!python/tuple [1, 2] + - !!python/tuple [21, 23] + - !!python/tuple [13, 24] + - !!python/tuple [13, 19] + - !!python/tuple [10, 24] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex60.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex60.yaml new file mode 100644 index 0000000..cde597d --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex60.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [20, 22] + name: agent0 + start: [7, 26] +- goal: [19, 7] + name: agent1 + start: [2, 0] +- goal: [23, 24] + name: agent2 + start: [21, 31] +- goal: [16, 26] + name: agent3 + start: [11, 15] +- goal: [5, 9] + name: agent4 + start: [19, 22] +- goal: [20, 25] + name: agent5 + start: [21, 21] +- goal: [16, 3] + name: agent6 + start: [18, 15] +- goal: [9, 0] + name: agent7 + start: [5, 19] +- goal: [8, 16] + name: agent8 + start: [5, 28] +- goal: [30, 20] + name: agent9 + start: [25, 3] +- goal: [15, 25] + name: agent10 + start: [31, 17] +- goal: [0, 30] + name: agent11 + start: [24, 9] +- goal: [8, 5] + name: agent12 + start: [13, 9] +- goal: [11, 31] + name: agent13 + start: [29, 27] +- goal: [23, 31] + name: agent14 + start: [9, 4] +- goal: [13, 13] + name: agent15 + start: [11, 18] +- goal: [27, 14] + name: agent16 + start: [13, 21] +- goal: [19, 26] + name: agent17 + start: [22, 9] +- goal: [4, 6] + name: agent18 + start: [0, 14] +- goal: [20, 18] + name: agent19 + start: [9, 13] +- goal: [22, 0] + name: agent20 + start: [19, 30] +- goal: [8, 17] + name: agent21 + start: [23, 17] +- goal: [24, 2] + name: agent22 + start: [11, 29] +- goal: [31, 13] + name: agent23 + start: [28, 6] +- goal: [28, 11] + name: agent24 + start: [18, 24] +- goal: [31, 3] + name: agent25 + start: [11, 23] +- goal: [31, 1] + name: agent26 + start: [28, 15] +- goal: [7, 29] + name: agent27 + start: [14, 19] +- goal: [31, 16] + name: agent28 + start: [27, 5] +- goal: [18, 24] + name: agent29 + start: [28, 28] +- goal: [27, 6] + name: agent30 + start: [11, 17] +- goal: [21, 7] + name: agent31 + start: [9, 2] +- goal: [1, 26] + name: agent32 + start: [31, 2] +- goal: [13, 17] + name: agent33 + start: [23, 8] +- goal: [10, 20] + name: agent34 + start: [10, 17] +- goal: [4, 28] + name: agent35 + start: [11, 21] +- goal: [13, 12] + name: agent36 + start: [19, 31] +- goal: [3, 22] + name: agent37 + start: [30, 22] +- goal: [4, 1] + name: agent38 + start: [2, 6] +- goal: [1, 21] + name: agent39 + start: [0, 6] +- goal: [24, 31] + name: agent40 + start: [16, 23] +- goal: [24, 8] + name: agent41 + start: [13, 23] +- goal: [26, 15] + name: agent42 + start: [29, 6] +- goal: [17, 28] + name: agent43 + start: [10, 16] +- goal: [9, 1] + name: agent44 + start: [8, 25] +- goal: [2, 29] + name: agent45 + start: [0, 5] +- goal: [28, 0] + name: agent46 + start: [24, 1] +- goal: [30, 21] + name: agent47 + start: [8, 26] +- goal: [16, 6] + name: agent48 + start: [21, 30] +- goal: [13, 1] + name: agent49 + start: [22, 21] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [12, 6] + - !!python/tuple [3, 30] + - !!python/tuple [11, 26] + - !!python/tuple [4, 14] + - !!python/tuple [19, 17] + - !!python/tuple [5, 0] + - !!python/tuple [20, 27] + - !!python/tuple [3, 10] + - !!python/tuple [23, 2] + - !!python/tuple [23, 0] + - !!python/tuple [2, 21] + - !!python/tuple [12, 4] + - !!python/tuple [6, 23] + - !!python/tuple [27, 13] + - !!python/tuple [19, 28] + - !!python/tuple [0, 2] + - !!python/tuple [6, 30] + - !!python/tuple [27, 30] + - !!python/tuple [26, 17] + - !!python/tuple [24, 22] + - !!python/tuple [12, 11] + - !!python/tuple [23, 3] + - !!python/tuple [11, 4] + - !!python/tuple [0, 18] + - !!python/tuple [10, 15] + - !!python/tuple [0, 28] + - !!python/tuple [0, 4] + - !!python/tuple [17, 6] + - !!python/tuple [22, 26] + - !!python/tuple [7, 15] + - !!python/tuple [11, 0] + - !!python/tuple [29, 25] + - !!python/tuple [21, 29] + - !!python/tuple [26, 25] + - !!python/tuple [23, 7] + - !!python/tuple [8, 2] + - !!python/tuple [27, 9] + - !!python/tuple [25, 26] + - !!python/tuple [4, 0] + - !!python/tuple [29, 26] + - !!python/tuple [4, 23] + - !!python/tuple [8, 22] + - !!python/tuple [15, 0] + - !!python/tuple [7, 28] + - !!python/tuple [23, 14] + - !!python/tuple [15, 16] + - !!python/tuple [29, 20] + - !!python/tuple [6, 24] + - !!python/tuple [11, 14] + - !!python/tuple [12, 22] + - !!python/tuple [13, 18] + - !!python/tuple [2, 4] + - !!python/tuple [21, 19] + - !!python/tuple [23, 10] + - !!python/tuple [20, 5] + - !!python/tuple [3, 29] + - !!python/tuple [1, 11] + - !!python/tuple [7, 22] + - !!python/tuple [4, 4] + - !!python/tuple [29, 13] + - !!python/tuple [10, 26] + - !!python/tuple [7, 1] + - !!python/tuple [26, 27] + - !!python/tuple [17, 29] + - !!python/tuple [18, 11] + - !!python/tuple [15, 8] + - !!python/tuple [7, 7] + - !!python/tuple [2, 23] + - !!python/tuple [27, 2] + - !!python/tuple [1, 3] + - !!python/tuple [12, 26] + - !!python/tuple [21, 18] + - !!python/tuple [6, 25] + - !!python/tuple [3, 7] + - !!python/tuple [31, 7] + - !!python/tuple [17, 23] + - !!python/tuple [16, 8] + - !!python/tuple [3, 27] + - !!python/tuple [6, 4] + - !!python/tuple [17, 22] + - !!python/tuple [25, 10] + - !!python/tuple [18, 1] + - !!python/tuple [4, 29] + - !!python/tuple [10, 19] + - !!python/tuple [19, 21] + - !!python/tuple [21, 8] + - !!python/tuple [28, 23] + - !!python/tuple [31, 8] + - !!python/tuple [9, 25] + - !!python/tuple [27, 19] + - !!python/tuple [1, 7] + - !!python/tuple [27, 11] + - !!python/tuple [3, 21] + - !!python/tuple [8, 1] + - !!python/tuple [22, 6] + - !!python/tuple [10, 5] + - !!python/tuple [18, 0] + - !!python/tuple [25, 27] + - !!python/tuple [22, 25] + - !!python/tuple [4, 18] + - !!python/tuple [14, 12] + - !!python/tuple [31, 12] + - !!python/tuple [29, 1] + - !!python/tuple [31, 24] + - !!python/tuple [23, 12] + - !!python/tuple [25, 20] + - !!python/tuple [20, 19] + - !!python/tuple [5, 20] + - !!python/tuple [2, 3] + - !!python/tuple [22, 23] + - !!python/tuple [30, 24] + - !!python/tuple [12, 5] + - !!python/tuple [11, 7] + - !!python/tuple [16, 14] + - !!python/tuple [5, 7] + - !!python/tuple [29, 0] + - !!python/tuple [9, 28] + - !!python/tuple [0, 31] + - !!python/tuple [24, 3] + - !!python/tuple [26, 30] + - !!python/tuple [23, 29] + - !!python/tuple [14, 5] + - !!python/tuple [18, 7] + - !!python/tuple [4, 30] + - !!python/tuple [0, 27] + - !!python/tuple [15, 5] + - !!python/tuple [9, 18] + - !!python/tuple [7, 27] + - !!python/tuple [24, 30] + - !!python/tuple [2, 5] + - !!python/tuple [27, 20] + - !!python/tuple [25, 14] + - !!python/tuple [8, 30] + - !!python/tuple [19, 16] + - !!python/tuple [14, 7] + - !!python/tuple [17, 5] + - !!python/tuple [12, 7] + - !!python/tuple [28, 18] + - !!python/tuple [12, 24] + - !!python/tuple [17, 30] + - !!python/tuple [30, 16] + - !!python/tuple [21, 4] + - !!python/tuple [22, 3] + - !!python/tuple [1, 18] + - !!python/tuple [10, 6] + - !!python/tuple [21, 27] + - !!python/tuple [31, 14] + - !!python/tuple [18, 6] + - !!python/tuple [4, 15] + - !!python/tuple [13, 31] + - !!python/tuple [18, 23] + - !!python/tuple [29, 18] + - !!python/tuple [2, 27] + - !!python/tuple [9, 27] + - !!python/tuple [21, 16] + - !!python/tuple [28, 14] + - !!python/tuple [4, 27] + - !!python/tuple [3, 6] + - !!python/tuple [30, 8] + - !!python/tuple [7, 30] + - !!python/tuple [10, 1] + - !!python/tuple [27, 29] + - !!python/tuple [26, 24] + - !!python/tuple [12, 29] + - !!python/tuple [28, 10] + - !!python/tuple [14, 13] + - !!python/tuple [21, 13] + - !!python/tuple [22, 27] + - !!python/tuple [10, 23] + - !!python/tuple [16, 17] + - !!python/tuple [5, 13] + - !!python/tuple [27, 28] + - !!python/tuple [0, 12] + - !!python/tuple [16, 5] + - !!python/tuple [17, 25] + - !!python/tuple [14, 3] + - !!python/tuple [0, 23] + - !!python/tuple [4, 21] + - !!python/tuple [29, 15] + - !!python/tuple [0, 3] + - !!python/tuple [16, 21] + - !!python/tuple [16, 12] + - !!python/tuple [20, 4] + - !!python/tuple [17, 2] + - !!python/tuple [29, 16] + - !!python/tuple [4, 16] + - !!python/tuple [8, 24] + - !!python/tuple [13, 5] + - !!python/tuple [23, 27] + - !!python/tuple [11, 11] + - !!python/tuple [27, 21] + - !!python/tuple [4, 20] + - !!python/tuple [30, 27] + - !!python/tuple [5, 12] + - !!python/tuple [7, 9] + - !!python/tuple [20, 0] + - !!python/tuple [12, 16] + - !!python/tuple [21, 0] + - !!python/tuple [22, 8] + - !!python/tuple [26, 16] + - !!python/tuple [0, 13] + - !!python/tuple [18, 14] + - !!python/tuple [22, 16] + - !!python/tuple [7, 31] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex61.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex61.yaml new file mode 100644 index 0000000..17e0bee --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex61.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [8, 17] + name: agent0 + start: [13, 0] +- goal: [6, 25] + name: agent1 + start: [26, 30] +- goal: [13, 5] + name: agent2 + start: [15, 10] +- goal: [22, 25] + name: agent3 + start: [30, 26] +- goal: [1, 26] + name: agent4 + start: [12, 28] +- goal: [29, 28] + name: agent5 + start: [27, 10] +- goal: [0, 22] + name: agent6 + start: [13, 26] +- goal: [10, 5] + name: agent7 + start: [5, 8] +- goal: [6, 1] + name: agent8 + start: [13, 11] +- goal: [21, 5] + name: agent9 + start: [1, 31] +- goal: [1, 9] + name: agent10 + start: [24, 25] +- goal: [15, 0] + name: agent11 + start: [11, 2] +- goal: [14, 18] + name: agent12 + start: [4, 1] +- goal: [27, 10] + name: agent13 + start: [13, 20] +- goal: [7, 15] + name: agent14 + start: [15, 4] +- goal: [7, 6] + name: agent15 + start: [4, 21] +- goal: [27, 6] + name: agent16 + start: [24, 5] +- goal: [11, 7] + name: agent17 + start: [11, 1] +- goal: [7, 17] + name: agent18 + start: [31, 28] +- goal: [2, 23] + name: agent19 + start: [0, 14] +- goal: [24, 20] + name: agent20 + start: [11, 3] +- goal: [7, 16] + name: agent21 + start: [2, 31] +- goal: [17, 28] + name: agent22 + start: [19, 23] +- goal: [31, 16] + name: agent23 + start: [21, 19] +- goal: [6, 29] + name: agent24 + start: [16, 9] +- goal: [18, 19] + name: agent25 + start: [23, 13] +- goal: [3, 15] + name: agent26 + start: [12, 1] +- goal: [4, 15] + name: agent27 + start: [17, 7] +- goal: [13, 14] + name: agent28 + start: [27, 1] +- goal: [4, 9] + name: agent29 + start: [27, 20] +- goal: [7, 12] + name: agent30 + start: [3, 30] +- goal: [18, 12] + name: agent31 + start: [12, 23] +- goal: [27, 29] + name: agent32 + start: [6, 20] +- goal: [12, 13] + name: agent33 + start: [18, 6] +- goal: [13, 24] + name: agent34 + start: [16, 14] +- goal: [1, 2] + name: agent35 + start: [9, 21] +- goal: [28, 16] + name: agent36 + start: [30, 28] +- goal: [16, 8] + name: agent37 + start: [31, 18] +- goal: [19, 17] + name: agent38 + start: [12, 29] +- goal: [12, 23] + name: agent39 + start: [12, 17] +- goal: [7, 29] + name: agent40 + start: [27, 15] +- goal: [5, 17] + name: agent41 + start: [18, 16] +- goal: [4, 26] + name: agent42 + start: [3, 18] +- goal: [18, 26] + name: agent43 + start: [17, 28] +- goal: [25, 3] + name: agent44 + start: [20, 5] +- goal: [12, 6] + name: agent45 + start: [20, 15] +- goal: [9, 9] + name: agent46 + start: [22, 9] +- goal: [18, 9] + name: agent47 + start: [3, 11] +- goal: [12, 26] + name: agent48 + start: [4, 15] +- goal: [20, 24] + name: agent49 + start: [27, 30] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [2, 16] + - !!python/tuple [12, 15] + - !!python/tuple [31, 29] + - !!python/tuple [16, 16] + - !!python/tuple [15, 18] + - !!python/tuple [31, 9] + - !!python/tuple [2, 2] + - !!python/tuple [26, 17] + - !!python/tuple [11, 26] + - !!python/tuple [14, 26] + - !!python/tuple [20, 6] + - !!python/tuple [23, 3] + - !!python/tuple [8, 29] + - !!python/tuple [20, 29] + - !!python/tuple [24, 26] + - !!python/tuple [26, 19] + - !!python/tuple [5, 3] + - !!python/tuple [9, 20] + - !!python/tuple [26, 10] + - !!python/tuple [26, 24] + - !!python/tuple [24, 8] + - !!python/tuple [15, 11] + - !!python/tuple [8, 30] + - !!python/tuple [21, 11] + - !!python/tuple [18, 13] + - !!python/tuple [21, 8] + - !!python/tuple [0, 17] + - !!python/tuple [29, 1] + - !!python/tuple [1, 30] + - !!python/tuple [22, 12] + - !!python/tuple [1, 27] + - !!python/tuple [11, 5] + - !!python/tuple [27, 31] + - !!python/tuple [28, 6] + - !!python/tuple [24, 0] + - !!python/tuple [0, 20] + - !!python/tuple [11, 22] + - !!python/tuple [23, 29] + - !!python/tuple [20, 13] + - !!python/tuple [7, 10] + - !!python/tuple [6, 17] + - !!python/tuple [3, 12] + - !!python/tuple [5, 14] + - !!python/tuple [17, 12] + - !!python/tuple [3, 7] + - !!python/tuple [9, 17] + - !!python/tuple [13, 4] + - !!python/tuple [6, 0] + - !!python/tuple [29, 13] + - !!python/tuple [0, 8] + - !!python/tuple [11, 29] + - !!python/tuple [14, 3] + - !!python/tuple [5, 16] + - !!python/tuple [4, 7] + - !!python/tuple [17, 22] + - !!python/tuple [5, 15] + - !!python/tuple [19, 13] + - !!python/tuple [18, 29] + - !!python/tuple [27, 26] + - !!python/tuple [3, 22] + - !!python/tuple [1, 29] + - !!python/tuple [6, 21] + - !!python/tuple [22, 16] + - !!python/tuple [3, 20] + - !!python/tuple [4, 20] + - !!python/tuple [27, 5] + - !!python/tuple [30, 3] + - !!python/tuple [31, 31] + - !!python/tuple [10, 15] + - !!python/tuple [4, 19] + - !!python/tuple [11, 0] + - !!python/tuple [14, 0] + - !!python/tuple [16, 29] + - !!python/tuple [4, 24] + - !!python/tuple [7, 24] + - !!python/tuple [7, 13] + - !!python/tuple [7, 5] + - !!python/tuple [23, 10] + - !!python/tuple [11, 16] + - !!python/tuple [18, 23] + - !!python/tuple [9, 19] + - !!python/tuple [22, 13] + - !!python/tuple [5, 13] + - !!python/tuple [25, 14] + - !!python/tuple [26, 1] + - !!python/tuple [3, 31] + - !!python/tuple [13, 25] + - !!python/tuple [20, 28] + - !!python/tuple [28, 13] + - !!python/tuple [25, 5] + - !!python/tuple [8, 10] + - !!python/tuple [25, 19] + - !!python/tuple [18, 7] + - !!python/tuple [16, 30] + - !!python/tuple [16, 0] + - !!python/tuple [9, 26] + - !!python/tuple [26, 15] + - !!python/tuple [21, 4] + - !!python/tuple [26, 3] + - !!python/tuple [0, 16] + - !!python/tuple [3, 26] + - !!python/tuple [1, 28] + - !!python/tuple [14, 4] + - !!python/tuple [12, 16] + - !!python/tuple [18, 0] + - !!python/tuple [17, 5] + - !!python/tuple [27, 22] + - !!python/tuple [9, 28] + - !!python/tuple [17, 26] + - !!python/tuple [27, 23] + - !!python/tuple [14, 15] + - !!python/tuple [17, 9] + - !!python/tuple [30, 23] + - !!python/tuple [20, 2] + - !!python/tuple [31, 13] + - !!python/tuple [6, 31] + - !!python/tuple [31, 6] + - !!python/tuple [9, 25] + - !!python/tuple [27, 2] + - !!python/tuple [10, 9] + - !!python/tuple [2, 1] + - !!python/tuple [20, 0] + - !!python/tuple [19, 5] + - !!python/tuple [18, 5] + - !!python/tuple [3, 1] + - !!python/tuple [24, 4] + - !!python/tuple [25, 28] + - !!python/tuple [8, 4] + - !!python/tuple [4, 0] + - !!python/tuple [29, 23] + - !!python/tuple [9, 15] + - !!python/tuple [6, 12] + - !!python/tuple [25, 17] + - !!python/tuple [11, 9] + - !!python/tuple [23, 28] + - !!python/tuple [23, 15] + - !!python/tuple [20, 26] + - !!python/tuple [30, 21] + - !!python/tuple [19, 2] + - !!python/tuple [15, 16] + - !!python/tuple [28, 20] + - !!python/tuple [10, 26] + - !!python/tuple [30, 8] + - !!python/tuple [22, 30] + - !!python/tuple [30, 2] + - !!python/tuple [25, 4] + - !!python/tuple [6, 23] + - !!python/tuple [28, 26] + - !!python/tuple [24, 6] + - !!python/tuple [23, 18] + - !!python/tuple [2, 18] + - !!python/tuple [8, 19] + - !!python/tuple [30, 6] + - !!python/tuple [16, 22] + - !!python/tuple [30, 17] + - !!python/tuple [6, 22] + - !!python/tuple [2, 7] + - !!python/tuple [5, 22] + - !!python/tuple [30, 9] + - !!python/tuple [13, 10] + - !!python/tuple [5, 21] + - !!python/tuple [28, 2] + - !!python/tuple [25, 20] + - !!python/tuple [29, 15] + - !!python/tuple [12, 14] + - !!python/tuple [15, 25] + - !!python/tuple [0, 11] + - !!python/tuple [20, 7] + - !!python/tuple [20, 12] + - !!python/tuple [5, 6] + - !!python/tuple [19, 21] + - !!python/tuple [9, 10] + - !!python/tuple [30, 11] + - !!python/tuple [9, 31] + - !!python/tuple [7, 3] + - !!python/tuple [13, 18] + - !!python/tuple [26, 9] + - !!python/tuple [13, 8] + - !!python/tuple [7, 26] + - !!python/tuple [13, 19] + - !!python/tuple [21, 25] + - !!python/tuple [23, 30] + - !!python/tuple [4, 10] + - !!python/tuple [16, 20] + - !!python/tuple [31, 15] + - !!python/tuple [1, 19] + - !!python/tuple [26, 12] + - !!python/tuple [24, 7] + - !!python/tuple [8, 8] + - !!python/tuple [9, 7] + - !!python/tuple [17, 25] + - !!python/tuple [24, 19] + - !!python/tuple [29, 25] + - !!python/tuple [1, 18] + - !!python/tuple [29, 8] + - !!python/tuple [20, 16] + - !!python/tuple [1, 0] + - !!python/tuple [29, 14] + - !!python/tuple [8, 22] + - !!python/tuple [27, 28] + - !!python/tuple [19, 14] + - !!python/tuple [10, 12] + - !!python/tuple [18, 8] + - !!python/tuple [6, 3] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex62.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex62.yaml new file mode 100644 index 0000000..fcfcf0d --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex62.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [11, 5] + name: agent0 + start: [3, 25] +- goal: [5, 17] + name: agent1 + start: [7, 28] +- goal: [12, 10] + name: agent2 + start: [18, 21] +- goal: [6, 11] + name: agent3 + start: [31, 13] +- goal: [15, 13] + name: agent4 + start: [10, 21] +- goal: [24, 23] + name: agent5 + start: [28, 29] +- goal: [1, 12] + name: agent6 + start: [7, 29] +- goal: [20, 24] + name: agent7 + start: [27, 3] +- goal: [11, 28] + name: agent8 + start: [26, 18] +- goal: [7, 0] + name: agent9 + start: [11, 5] +- goal: [16, 4] + name: agent10 + start: [30, 22] +- goal: [2, 2] + name: agent11 + start: [29, 17] +- goal: [3, 20] + name: agent12 + start: [14, 21] +- goal: [13, 9] + name: agent13 + start: [29, 10] +- goal: [19, 0] + name: agent14 + start: [31, 31] +- goal: [12, 11] + name: agent15 + start: [19, 10] +- goal: [12, 24] + name: agent16 + start: [0, 10] +- goal: [29, 14] + name: agent17 + start: [25, 17] +- goal: [17, 0] + name: agent18 + start: [19, 11] +- goal: [4, 15] + name: agent19 + start: [2, 1] +- goal: [5, 1] + name: agent20 + start: [23, 20] +- goal: [23, 27] + name: agent21 + start: [26, 25] +- goal: [2, 29] + name: agent22 + start: [12, 26] +- goal: [20, 17] + name: agent23 + start: [18, 24] +- goal: [6, 13] + name: agent24 + start: [28, 21] +- goal: [27, 3] + name: agent25 + start: [9, 4] +- goal: [0, 24] + name: agent26 + start: [8, 6] +- goal: [30, 14] + name: agent27 + start: [27, 18] +- goal: [18, 28] + name: agent28 + start: [19, 7] +- goal: [27, 19] + name: agent29 + start: [29, 13] +- goal: [13, 24] + name: agent30 + start: [9, 2] +- goal: [28, 18] + name: agent31 + start: [16, 29] +- goal: [16, 1] + name: agent32 + start: [26, 27] +- goal: [26, 14] + name: agent33 + start: [20, 25] +- goal: [19, 30] + name: agent34 + start: [17, 17] +- goal: [1, 10] + name: agent35 + start: [30, 5] +- goal: [22, 9] + name: agent36 + start: [4, 18] +- goal: [25, 16] + name: agent37 + start: [25, 26] +- goal: [28, 14] + name: agent38 + start: [16, 0] +- goal: [4, 25] + name: agent39 + start: [26, 0] +- goal: [14, 19] + name: agent40 + start: [14, 6] +- goal: [27, 21] + name: agent41 + start: [9, 18] +- goal: [14, 6] + name: agent42 + start: [4, 5] +- goal: [25, 12] + name: agent43 + start: [10, 15] +- goal: [4, 30] + name: agent44 + start: [17, 0] +- goal: [14, 8] + name: agent45 + start: [22, 4] +- goal: [16, 22] + name: agent46 + start: [26, 3] +- goal: [8, 31] + name: agent47 + start: [18, 9] +- goal: [20, 2] + name: agent48 + start: [31, 8] +- goal: [28, 0] + name: agent49 + start: [3, 26] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [16, 25] + - !!python/tuple [20, 16] + - !!python/tuple [15, 14] + - !!python/tuple [12, 18] + - !!python/tuple [30, 27] + - !!python/tuple [14, 0] + - !!python/tuple [26, 13] + - !!python/tuple [14, 9] + - !!python/tuple [14, 14] + - !!python/tuple [16, 5] + - !!python/tuple [25, 24] + - !!python/tuple [29, 0] + - !!python/tuple [26, 8] + - !!python/tuple [11, 13] + - !!python/tuple [26, 19] + - !!python/tuple [28, 20] + - !!python/tuple [8, 27] + - !!python/tuple [8, 3] + - !!python/tuple [25, 20] + - !!python/tuple [12, 13] + - !!python/tuple [15, 21] + - !!python/tuple [25, 4] + - !!python/tuple [23, 30] + - !!python/tuple [2, 26] + - !!python/tuple [18, 26] + - !!python/tuple [1, 8] + - !!python/tuple [23, 22] + - !!python/tuple [8, 15] + - !!python/tuple [16, 8] + - !!python/tuple [26, 17] + - !!python/tuple [0, 27] + - !!python/tuple [24, 2] + - !!python/tuple [16, 28] + - !!python/tuple [1, 25] + - !!python/tuple [18, 1] + - !!python/tuple [10, 4] + - !!python/tuple [18, 0] + - !!python/tuple [28, 6] + - !!python/tuple [14, 7] + - !!python/tuple [31, 26] + - !!python/tuple [19, 9] + - !!python/tuple [31, 11] + - !!python/tuple [16, 19] + - !!python/tuple [19, 18] + - !!python/tuple [26, 11] + - !!python/tuple [12, 6] + - !!python/tuple [24, 29] + - !!python/tuple [29, 28] + - !!python/tuple [6, 5] + - !!python/tuple [5, 13] + - !!python/tuple [18, 25] + - !!python/tuple [27, 6] + - !!python/tuple [29, 12] + - !!python/tuple [9, 11] + - !!python/tuple [20, 15] + - !!python/tuple [14, 15] + - !!python/tuple [17, 9] + - !!python/tuple [29, 19] + - !!python/tuple [31, 10] + - !!python/tuple [9, 12] + - !!python/tuple [19, 12] + - !!python/tuple [10, 18] + - !!python/tuple [23, 2] + - !!python/tuple [23, 23] + - !!python/tuple [27, 27] + - !!python/tuple [4, 10] + - !!python/tuple [14, 16] + - !!python/tuple [4, 22] + - !!python/tuple [9, 25] + - !!python/tuple [17, 24] + - !!python/tuple [30, 2] + - !!python/tuple [15, 4] + - !!python/tuple [2, 4] + - !!python/tuple [13, 30] + - !!python/tuple [1, 14] + - !!python/tuple [21, 24] + - !!python/tuple [16, 9] + - !!python/tuple [15, 22] + - !!python/tuple [21, 0] + - !!python/tuple [6, 27] + - !!python/tuple [17, 12] + - !!python/tuple [21, 23] + - !!python/tuple [14, 18] + - !!python/tuple [17, 19] + - !!python/tuple [7, 3] + - !!python/tuple [20, 30] + - !!python/tuple [4, 17] + - !!python/tuple [19, 22] + - !!python/tuple [28, 12] + - !!python/tuple [29, 23] + - !!python/tuple [1, 2] + - !!python/tuple [31, 23] + - !!python/tuple [5, 11] + - !!python/tuple [30, 30] + - !!python/tuple [21, 10] + - !!python/tuple [12, 2] + - !!python/tuple [17, 22] + - !!python/tuple [13, 26] + - !!python/tuple [20, 26] + - !!python/tuple [14, 27] + - !!python/tuple [24, 30] + - !!python/tuple [6, 24] + - !!python/tuple [1, 6] + - !!python/tuple [5, 22] + - !!python/tuple [21, 21] + - !!python/tuple [10, 24] + - !!python/tuple [17, 1] + - !!python/tuple [28, 7] + - !!python/tuple [16, 16] + - !!python/tuple [10, 2] + - !!python/tuple [19, 28] + - !!python/tuple [8, 0] + - !!python/tuple [10, 23] + - !!python/tuple [21, 17] + - !!python/tuple [24, 10] + - !!python/tuple [2, 7] + - !!python/tuple [11, 6] + - !!python/tuple [8, 26] + - !!python/tuple [29, 5] + - !!python/tuple [27, 22] + - !!python/tuple [25, 14] + - !!python/tuple [17, 3] + - !!python/tuple [24, 6] + - !!python/tuple [17, 28] + - !!python/tuple [0, 7] + - !!python/tuple [23, 9] + - !!python/tuple [31, 17] + - !!python/tuple [29, 8] + - !!python/tuple [9, 22] + - !!python/tuple [15, 11] + - !!python/tuple [4, 3] + - !!python/tuple [30, 29] + - !!python/tuple [21, 2] + - !!python/tuple [8, 19] + - !!python/tuple [18, 15] + - !!python/tuple [19, 26] + - !!python/tuple [13, 23] + - !!python/tuple [16, 2] + - !!python/tuple [10, 12] + - !!python/tuple [15, 12] + - !!python/tuple [7, 11] + - !!python/tuple [30, 13] + - !!python/tuple [20, 28] + - !!python/tuple [31, 29] + - !!python/tuple [31, 18] + - !!python/tuple [12, 25] + - !!python/tuple [14, 12] + - !!python/tuple [1, 13] + - !!python/tuple [2, 18] + - !!python/tuple [31, 14] + - !!python/tuple [3, 17] + - !!python/tuple [0, 21] + - !!python/tuple [21, 27] + - !!python/tuple [13, 14] + - !!python/tuple [9, 7] + - !!python/tuple [31, 16] + - !!python/tuple [15, 15] + - !!python/tuple [3, 1] + - !!python/tuple [27, 23] + - !!python/tuple [28, 25] + - !!python/tuple [11, 3] + - !!python/tuple [30, 15] + - !!python/tuple [29, 26] + - !!python/tuple [31, 22] + - !!python/tuple [10, 0] + - !!python/tuple [10, 7] + - !!python/tuple [28, 27] + - !!python/tuple [15, 30] + - !!python/tuple [24, 31] + - !!python/tuple [23, 19] + - !!python/tuple [30, 24] + - !!python/tuple [31, 7] + - !!python/tuple [0, 13] + - !!python/tuple [29, 1] + - !!python/tuple [10, 3] + - !!python/tuple [13, 29] + - !!python/tuple [9, 27] + - !!python/tuple [22, 22] + - !!python/tuple [10, 31] + - !!python/tuple [30, 23] + - !!python/tuple [6, 0] + - !!python/tuple [10, 25] + - !!python/tuple [12, 15] + - !!python/tuple [17, 27] + - !!python/tuple [23, 31] + - !!python/tuple [5, 12] + - !!python/tuple [6, 4] + - !!python/tuple [29, 6] + - !!python/tuple [29, 24] + - !!python/tuple [11, 7] + - !!python/tuple [3, 15] + - !!python/tuple [14, 29] + - !!python/tuple [2, 30] + - !!python/tuple [7, 31] + - !!python/tuple [27, 25] + - !!python/tuple [27, 1] + - !!python/tuple [17, 8] + - !!python/tuple [26, 5] + - !!python/tuple [8, 14] + - !!python/tuple [27, 9] + - !!python/tuple [21, 13] + - !!python/tuple [3, 14] + - !!python/tuple [24, 3] + - !!python/tuple [26, 23] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex63.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex63.yaml new file mode 100644 index 0000000..f96173f --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex63.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [4, 28] + name: agent0 + start: [15, 14] +- goal: [24, 18] + name: agent1 + start: [4, 20] +- goal: [30, 21] + name: agent2 + start: [26, 21] +- goal: [11, 1] + name: agent3 + start: [29, 16] +- goal: [15, 1] + name: agent4 + start: [17, 21] +- goal: [3, 10] + name: agent5 + start: [23, 17] +- goal: [4, 3] + name: agent6 + start: [19, 15] +- goal: [13, 20] + name: agent7 + start: [14, 14] +- goal: [10, 31] + name: agent8 + start: [18, 19] +- goal: [5, 4] + name: agent9 + start: [8, 24] +- goal: [3, 31] + name: agent10 + start: [23, 23] +- goal: [14, 2] + name: agent11 + start: [18, 16] +- goal: [21, 16] + name: agent12 + start: [2, 17] +- goal: [28, 18] + name: agent13 + start: [19, 22] +- goal: [8, 31] + name: agent14 + start: [22, 17] +- goal: [18, 28] + name: agent15 + start: [3, 21] +- goal: [13, 10] + name: agent16 + start: [24, 12] +- goal: [14, 22] + name: agent17 + start: [20, 28] +- goal: [25, 18] + name: agent18 + start: [31, 2] +- goal: [7, 19] + name: agent19 + start: [4, 2] +- goal: [30, 26] + name: agent20 + start: [20, 17] +- goal: [24, 1] + name: agent21 + start: [2, 29] +- goal: [6, 14] + name: agent22 + start: [18, 6] +- goal: [29, 29] + name: agent23 + start: [1, 11] +- goal: [0, 24] + name: agent24 + start: [14, 21] +- goal: [9, 12] + name: agent25 + start: [8, 7] +- goal: [26, 26] + name: agent26 + start: [19, 27] +- goal: [30, 2] + name: agent27 + start: [11, 0] +- goal: [16, 16] + name: agent28 + start: [7, 10] +- goal: [29, 4] + name: agent29 + start: [21, 25] +- goal: [27, 9] + name: agent30 + start: [11, 19] +- goal: [3, 27] + name: agent31 + start: [24, 1] +- goal: [8, 19] + name: agent32 + start: [2, 10] +- goal: [24, 26] + name: agent33 + start: [21, 9] +- goal: [4, 6] + name: agent34 + start: [21, 4] +- goal: [16, 6] + name: agent35 + start: [20, 19] +- goal: [22, 18] + name: agent36 + start: [15, 25] +- goal: [21, 21] + name: agent37 + start: [23, 7] +- goal: [17, 4] + name: agent38 + start: [13, 30] +- goal: [2, 14] + name: agent39 + start: [10, 0] +- goal: [20, 13] + name: agent40 + start: [24, 3] +- goal: [28, 16] + name: agent41 + start: [20, 16] +- goal: [21, 6] + name: agent42 + start: [11, 2] +- goal: [29, 23] + name: agent43 + start: [12, 0] +- goal: [11, 6] + name: agent44 + start: [31, 31] +- goal: [16, 27] + name: agent45 + start: [27, 31] +- goal: [27, 30] + name: agent46 + start: [7, 12] +- goal: [31, 29] + name: agent47 + start: [23, 24] +- goal: [31, 1] + name: agent48 + start: [17, 27] +- goal: [9, 21] + name: agent49 + start: [15, 19] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [23, 31] + - !!python/tuple [1, 14] + - !!python/tuple [8, 1] + - !!python/tuple [11, 15] + - !!python/tuple [2, 25] + - !!python/tuple [31, 30] + - !!python/tuple [21, 7] + - !!python/tuple [0, 4] + - !!python/tuple [20, 11] + - !!python/tuple [31, 9] + - !!python/tuple [29, 2] + - !!python/tuple [26, 14] + - !!python/tuple [9, 4] + - !!python/tuple [2, 3] + - !!python/tuple [29, 25] + - !!python/tuple [7, 2] + - !!python/tuple [26, 19] + - !!python/tuple [17, 2] + - !!python/tuple [12, 6] + - !!python/tuple [24, 24] + - !!python/tuple [5, 14] + - !!python/tuple [18, 29] + - !!python/tuple [25, 30] + - !!python/tuple [2, 31] + - !!python/tuple [6, 6] + - !!python/tuple [18, 10] + - !!python/tuple [9, 31] + - !!python/tuple [7, 24] + - !!python/tuple [2, 23] + - !!python/tuple [11, 27] + - !!python/tuple [13, 27] + - !!python/tuple [16, 12] + - !!python/tuple [5, 25] + - !!python/tuple [28, 10] + - !!python/tuple [14, 16] + - !!python/tuple [15, 17] + - !!python/tuple [20, 2] + - !!python/tuple [17, 3] + - !!python/tuple [6, 25] + - !!python/tuple [5, 6] + - !!python/tuple [16, 15] + - !!python/tuple [22, 20] + - !!python/tuple [3, 15] + - !!python/tuple [0, 16] + - !!python/tuple [27, 1] + - !!python/tuple [22, 28] + - !!python/tuple [28, 22] + - !!python/tuple [30, 8] + - !!python/tuple [9, 11] + - !!python/tuple [4, 7] + - !!python/tuple [29, 10] + - !!python/tuple [12, 14] + - !!python/tuple [2, 24] + - !!python/tuple [11, 26] + - !!python/tuple [15, 16] + - !!python/tuple [28, 17] + - !!python/tuple [29, 1] + - !!python/tuple [14, 19] + - !!python/tuple [22, 22] + - !!python/tuple [10, 6] + - !!python/tuple [13, 6] + - !!python/tuple [23, 29] + - !!python/tuple [24, 23] + - !!python/tuple [19, 29] + - !!python/tuple [20, 23] + - !!python/tuple [14, 7] + - !!python/tuple [15, 15] + - !!python/tuple [21, 0] + - !!python/tuple [12, 4] + - !!python/tuple [31, 26] + - !!python/tuple [30, 23] + - !!python/tuple [3, 23] + - !!python/tuple [3, 6] + - !!python/tuple [24, 29] + - !!python/tuple [24, 15] + - !!python/tuple [19, 25] + - !!python/tuple [2, 13] + - !!python/tuple [18, 2] + - !!python/tuple [25, 8] + - !!python/tuple [6, 17] + - !!python/tuple [21, 13] + - !!python/tuple [24, 20] + - !!python/tuple [20, 8] + - !!python/tuple [8, 3] + - !!python/tuple [12, 9] + - !!python/tuple [28, 28] + - !!python/tuple [29, 22] + - !!python/tuple [30, 4] + - !!python/tuple [14, 13] + - !!python/tuple [21, 20] + - !!python/tuple [8, 8] + - !!python/tuple [23, 16] + - !!python/tuple [27, 12] + - !!python/tuple [6, 20] + - !!python/tuple [18, 5] + - !!python/tuple [5, 31] + - !!python/tuple [3, 4] + - !!python/tuple [30, 18] + - !!python/tuple [11, 25] + - !!python/tuple [28, 4] + - !!python/tuple [31, 15] + - !!python/tuple [0, 20] + - !!python/tuple [30, 28] + - !!python/tuple [25, 27] + - !!python/tuple [11, 18] + - !!python/tuple [14, 8] + - !!python/tuple [3, 7] + - !!python/tuple [11, 10] + - !!python/tuple [10, 11] + - !!python/tuple [12, 28] + - !!python/tuple [28, 29] + - !!python/tuple [20, 10] + - !!python/tuple [0, 17] + - !!python/tuple [17, 26] + - !!python/tuple [24, 4] + - !!python/tuple [26, 31] + - !!python/tuple [3, 19] + - !!python/tuple [7, 13] + - !!python/tuple [8, 22] + - !!python/tuple [26, 22] + - !!python/tuple [23, 9] + - !!python/tuple [20, 29] + - !!python/tuple [30, 1] + - !!python/tuple [14, 3] + - !!python/tuple [23, 19] + - !!python/tuple [28, 26] + - !!python/tuple [12, 30] + - !!python/tuple [0, 26] + - !!python/tuple [28, 31] + - !!python/tuple [18, 31] + - !!python/tuple [2, 20] + - !!python/tuple [8, 2] + - !!python/tuple [31, 7] + - !!python/tuple [4, 0] + - !!python/tuple [1, 22] + - !!python/tuple [7, 21] + - !!python/tuple [11, 22] + - !!python/tuple [10, 17] + - !!python/tuple [21, 19] + - !!python/tuple [0, 19] + - !!python/tuple [18, 4] + - !!python/tuple [28, 14] + - !!python/tuple [20, 0] + - !!python/tuple [1, 13] + - !!python/tuple [13, 1] + - !!python/tuple [13, 28] + - !!python/tuple [4, 8] + - !!python/tuple [28, 1] + - !!python/tuple [17, 12] + - !!python/tuple [9, 22] + - !!python/tuple [26, 1] + - !!python/tuple [21, 8] + - !!python/tuple [14, 5] + - !!python/tuple [28, 6] + - !!python/tuple [29, 7] + - !!python/tuple [23, 8] + - !!python/tuple [27, 22] + - !!python/tuple [17, 9] + - !!python/tuple [1, 3] + - !!python/tuple [1, 7] + - !!python/tuple [2, 11] + - !!python/tuple [15, 26] + - !!python/tuple [5, 5] + - !!python/tuple [29, 3] + - !!python/tuple [18, 26] + - !!python/tuple [27, 7] + - !!python/tuple [9, 26] + - !!python/tuple [7, 6] + - !!python/tuple [19, 4] + - !!python/tuple [10, 13] + - !!python/tuple [5, 8] + - !!python/tuple [4, 16] + - !!python/tuple [16, 0] + - !!python/tuple [3, 1] + - !!python/tuple [6, 2] + - !!python/tuple [11, 5] + - !!python/tuple [26, 24] + - !!python/tuple [31, 21] + - !!python/tuple [1, 17] + - !!python/tuple [11, 23] + - !!python/tuple [27, 28] + - !!python/tuple [6, 9] + - !!python/tuple [21, 28] + - !!python/tuple [1, 9] + - !!python/tuple [26, 9] + - !!python/tuple [10, 14] + - !!python/tuple [22, 3] + - !!python/tuple [21, 30] + - !!python/tuple [26, 7] + - !!python/tuple [2, 18] + - !!python/tuple [8, 30] + - !!python/tuple [11, 28] + - !!python/tuple [12, 1] + - !!python/tuple [2, 21] + - !!python/tuple [26, 29] + - !!python/tuple [7, 17] + - !!python/tuple [8, 21] + - !!python/tuple [19, 31] + - !!python/tuple [22, 10] + - !!python/tuple [8, 5] + - !!python/tuple [9, 23] + - !!python/tuple [27, 24] + - !!python/tuple [19, 10] + - !!python/tuple [15, 2] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex64.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex64.yaml new file mode 100644 index 0000000..663bd9e --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex64.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [15, 29] + name: agent0 + start: [14, 24] +- goal: [20, 12] + name: agent1 + start: [6, 9] +- goal: [20, 26] + name: agent2 + start: [29, 23] +- goal: [24, 20] + name: agent3 + start: [30, 11] +- goal: [11, 23] + name: agent4 + start: [1, 30] +- goal: [3, 21] + name: agent5 + start: [22, 19] +- goal: [1, 28] + name: agent6 + start: [16, 28] +- goal: [28, 7] + name: agent7 + start: [11, 24] +- goal: [29, 19] + name: agent8 + start: [4, 30] +- goal: [14, 1] + name: agent9 + start: [27, 28] +- goal: [3, 12] + name: agent10 + start: [15, 1] +- goal: [29, 4] + name: agent11 + start: [31, 28] +- goal: [13, 14] + name: agent12 + start: [20, 21] +- goal: [3, 27] + name: agent13 + start: [25, 1] +- goal: [25, 24] + name: agent14 + start: [22, 3] +- goal: [23, 3] + name: agent15 + start: [8, 13] +- goal: [7, 13] + name: agent16 + start: [14, 2] +- goal: [18, 18] + name: agent17 + start: [20, 19] +- goal: [5, 9] + name: agent18 + start: [3, 31] +- goal: [6, 18] + name: agent19 + start: [18, 4] +- goal: [4, 18] + name: agent20 + start: [19, 29] +- goal: [11, 10] + name: agent21 + start: [25, 21] +- goal: [23, 28] + name: agent22 + start: [19, 9] +- goal: [28, 10] + name: agent23 + start: [21, 6] +- goal: [5, 3] + name: agent24 + start: [12, 21] +- goal: [11, 16] + name: agent25 + start: [6, 1] +- goal: [18, 11] + name: agent26 + start: [14, 27] +- goal: [13, 3] + name: agent27 + start: [19, 5] +- goal: [9, 17] + name: agent28 + start: [8, 24] +- goal: [27, 9] + name: agent29 + start: [10, 13] +- goal: [14, 29] + name: agent30 + start: [14, 25] +- goal: [15, 6] + name: agent31 + start: [29, 19] +- goal: [6, 25] + name: agent32 + start: [0, 22] +- goal: [8, 24] + name: agent33 + start: [16, 31] +- goal: [23, 6] + name: agent34 + start: [27, 26] +- goal: [25, 16] + name: agent35 + start: [19, 10] +- goal: [11, 5] + name: agent36 + start: [1, 12] +- goal: [14, 26] + name: agent37 + start: [11, 2] +- goal: [24, 27] + name: agent38 + start: [6, 11] +- goal: [29, 27] + name: agent39 + start: [29, 1] +- goal: [18, 28] + name: agent40 + start: [4, 22] +- goal: [21, 13] + name: agent41 + start: [6, 19] +- goal: [28, 8] + name: agent42 + start: [10, 21] +- goal: [27, 26] + name: agent43 + start: [7, 0] +- goal: [3, 20] + name: agent44 + start: [24, 16] +- goal: [27, 4] + name: agent45 + start: [28, 10] +- goal: [3, 23] + name: agent46 + start: [27, 11] +- goal: [9, 25] + name: agent47 + start: [0, 10] +- goal: [18, 22] + name: agent48 + start: [29, 22] +- goal: [8, 30] + name: agent49 + start: [29, 16] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [26, 20] + - !!python/tuple [10, 26] + - !!python/tuple [15, 18] + - !!python/tuple [1, 6] + - !!python/tuple [20, 10] + - !!python/tuple [3, 0] + - !!python/tuple [6, 26] + - !!python/tuple [29, 2] + - !!python/tuple [9, 12] + - !!python/tuple [21, 16] + - !!python/tuple [27, 13] + - !!python/tuple [26, 29] + - !!python/tuple [28, 24] + - !!python/tuple [10, 2] + - !!python/tuple [31, 29] + - !!python/tuple [2, 14] + - !!python/tuple [24, 3] + - !!python/tuple [2, 24] + - !!python/tuple [6, 4] + - !!python/tuple [5, 4] + - !!python/tuple [19, 6] + - !!python/tuple [25, 3] + - !!python/tuple [4, 19] + - !!python/tuple [3, 11] + - !!python/tuple [8, 23] + - !!python/tuple [30, 14] + - !!python/tuple [14, 22] + - !!python/tuple [20, 28] + - !!python/tuple [5, 24] + - !!python/tuple [9, 3] + - !!python/tuple [15, 7] + - !!python/tuple [5, 23] + - !!python/tuple [10, 16] + - !!python/tuple [3, 28] + - !!python/tuple [12, 11] + - !!python/tuple [15, 12] + - !!python/tuple [30, 13] + - !!python/tuple [19, 27] + - !!python/tuple [4, 27] + - !!python/tuple [15, 0] + - !!python/tuple [26, 17] + - !!python/tuple [19, 3] + - !!python/tuple [30, 25] + - !!python/tuple [24, 30] + - !!python/tuple [30, 15] + - !!python/tuple [2, 19] + - !!python/tuple [31, 7] + - !!python/tuple [9, 13] + - !!python/tuple [24, 23] + - !!python/tuple [16, 6] + - !!python/tuple [18, 0] + - !!python/tuple [29, 0] + - !!python/tuple [23, 0] + - !!python/tuple [0, 1] + - !!python/tuple [8, 18] + - !!python/tuple [29, 11] + - !!python/tuple [9, 15] + - !!python/tuple [8, 26] + - !!python/tuple [6, 0] + - !!python/tuple [24, 6] + - !!python/tuple [1, 19] + - !!python/tuple [29, 7] + - !!python/tuple [13, 1] + - !!python/tuple [22, 6] + - !!python/tuple [31, 0] + - !!python/tuple [0, 8] + - !!python/tuple [26, 24] + - !!python/tuple [31, 31] + - !!python/tuple [26, 5] + - !!python/tuple [15, 8] + - !!python/tuple [23, 19] + - !!python/tuple [7, 26] + - !!python/tuple [2, 16] + - !!python/tuple [25, 26] + - !!python/tuple [26, 16] + - !!python/tuple [1, 15] + - !!python/tuple [30, 5] + - !!python/tuple [15, 16] + - !!python/tuple [23, 27] + - !!python/tuple [30, 9] + - !!python/tuple [14, 23] + - !!python/tuple [20, 16] + - !!python/tuple [1, 9] + - !!python/tuple [16, 3] + - !!python/tuple [21, 23] + - !!python/tuple [0, 27] + - !!python/tuple [23, 10] + - !!python/tuple [10, 11] + - !!python/tuple [8, 22] + - !!python/tuple [4, 7] + - !!python/tuple [14, 0] + - !!python/tuple [24, 8] + - !!python/tuple [28, 4] + - !!python/tuple [31, 27] + - !!python/tuple [20, 27] + - !!python/tuple [16, 18] + - !!python/tuple [3, 4] + - !!python/tuple [22, 30] + - !!python/tuple [15, 30] + - !!python/tuple [12, 7] + - !!python/tuple [27, 24] + - !!python/tuple [9, 8] + - !!python/tuple [24, 17] + - !!python/tuple [21, 25] + - !!python/tuple [1, 4] + - !!python/tuple [23, 12] + - !!python/tuple [16, 5] + - !!python/tuple [21, 28] + - !!python/tuple [17, 13] + - !!python/tuple [4, 15] + - !!python/tuple [19, 24] + - !!python/tuple [6, 28] + - !!python/tuple [13, 19] + - !!python/tuple [5, 7] + - !!python/tuple [20, 15] + - !!python/tuple [15, 14] + - !!python/tuple [13, 26] + - !!python/tuple [19, 28] + - !!python/tuple [24, 24] + - !!python/tuple [24, 5] + - !!python/tuple [25, 28] + - !!python/tuple [4, 31] + - !!python/tuple [27, 23] + - !!python/tuple [26, 14] + - !!python/tuple [13, 4] + - !!python/tuple [1, 20] + - !!python/tuple [30, 3] + - !!python/tuple [9, 0] + - !!python/tuple [28, 27] + - !!python/tuple [1, 18] + - !!python/tuple [2, 23] + - !!python/tuple [17, 30] + - !!python/tuple [2, 7] + - !!python/tuple [23, 22] + - !!python/tuple [3, 15] + - !!python/tuple [16, 7] + - !!python/tuple [3, 17] + - !!python/tuple [30, 16] + - !!python/tuple [10, 1] + - !!python/tuple [28, 21] + - !!python/tuple [10, 24] + - !!python/tuple [4, 0] + - !!python/tuple [14, 10] + - !!python/tuple [26, 15] + - !!python/tuple [11, 11] + - !!python/tuple [2, 4] + - !!python/tuple [17, 19] + - !!python/tuple [10, 17] + - !!python/tuple [27, 17] + - !!python/tuple [5, 1] + - !!python/tuple [14, 30] + - !!python/tuple [9, 31] + - !!python/tuple [15, 25] + - !!python/tuple [10, 4] + - !!python/tuple [27, 18] + - !!python/tuple [17, 25] + - !!python/tuple [12, 30] + - !!python/tuple [6, 5] + - !!python/tuple [26, 1] + - !!python/tuple [0, 12] + - !!python/tuple [23, 2] + - !!python/tuple [10, 12] + - !!python/tuple [27, 30] + - !!python/tuple [0, 16] + - !!python/tuple [7, 30] + - !!python/tuple [27, 29] + - !!python/tuple [14, 17] + - !!python/tuple [10, 3] + - !!python/tuple [17, 9] + - !!python/tuple [5, 21] + - !!python/tuple [22, 15] + - !!python/tuple [8, 6] + - !!python/tuple [22, 28] + - !!python/tuple [22, 27] + - !!python/tuple [1, 8] + - !!python/tuple [28, 2] + - !!python/tuple [4, 16] + - !!python/tuple [26, 8] + - !!python/tuple [31, 26] + - !!python/tuple [28, 30] + - !!python/tuple [1, 2] + - !!python/tuple [22, 18] + - !!python/tuple [16, 12] + - !!python/tuple [4, 20] + - !!python/tuple [8, 31] + - !!python/tuple [18, 13] + - !!python/tuple [17, 15] + - !!python/tuple [21, 19] + - !!python/tuple [24, 13] + - !!python/tuple [31, 17] + - !!python/tuple [12, 29] + - !!python/tuple [14, 28] + - !!python/tuple [8, 14] + - !!python/tuple [21, 21] + - !!python/tuple [15, 3] + - !!python/tuple [8, 27] + - !!python/tuple [31, 18] + - !!python/tuple [0, 24] + - !!python/tuple [30, 19] + - !!python/tuple [19, 7] + - !!python/tuple [28, 3] + - !!python/tuple [14, 8] + - !!python/tuple [10, 29] + - !!python/tuple [22, 13] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex65.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex65.yaml new file mode 100644 index 0000000..8d0945c --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex65.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [3, 25] + name: agent0 + start: [30, 23] +- goal: [17, 14] + name: agent1 + start: [19, 15] +- goal: [11, 9] + name: agent2 + start: [0, 4] +- goal: [3, 29] + name: agent3 + start: [24, 7] +- goal: [1, 11] + name: agent4 + start: [17, 13] +- goal: [6, 22] + name: agent5 + start: [25, 23] +- goal: [10, 15] + name: agent6 + start: [20, 11] +- goal: [30, 24] + name: agent7 + start: [1, 6] +- goal: [27, 23] + name: agent8 + start: [27, 19] +- goal: [5, 0] + name: agent9 + start: [28, 11] +- goal: [26, 27] + name: agent10 + start: [19, 30] +- goal: [31, 1] + name: agent11 + start: [2, 7] +- goal: [14, 30] + name: agent12 + start: [21, 6] +- goal: [22, 17] + name: agent13 + start: [3, 11] +- goal: [19, 18] + name: agent14 + start: [12, 24] +- goal: [5, 30] + name: agent15 + start: [29, 10] +- goal: [0, 27] + name: agent16 + start: [15, 14] +- goal: [4, 26] + name: agent17 + start: [28, 15] +- goal: [12, 17] + name: agent18 + start: [0, 31] +- goal: [31, 13] + name: agent19 + start: [15, 20] +- goal: [19, 22] + name: agent20 + start: [10, 10] +- goal: [17, 7] + name: agent21 + start: [15, 1] +- goal: [1, 0] + name: agent22 + start: [5, 0] +- goal: [15, 3] + name: agent23 + start: [28, 20] +- goal: [10, 3] + name: agent24 + start: [18, 7] +- goal: [26, 2] + name: agent25 + start: [22, 1] +- goal: [13, 29] + name: agent26 + start: [22, 24] +- goal: [9, 15] + name: agent27 + start: [18, 4] +- goal: [19, 7] + name: agent28 + start: [3, 6] +- goal: [29, 14] + name: agent29 + start: [15, 24] +- goal: [24, 18] + name: agent30 + start: [1, 1] +- goal: [19, 5] + name: agent31 + start: [1, 27] +- goal: [31, 24] + name: agent32 + start: [28, 5] +- goal: [21, 25] + name: agent33 + start: [26, 3] +- goal: [1, 5] + name: agent34 + start: [30, 13] +- goal: [11, 23] + name: agent35 + start: [23, 24] +- goal: [17, 2] + name: agent36 + start: [17, 8] +- goal: [10, 10] + name: agent37 + start: [31, 1] +- goal: [4, 23] + name: agent38 + start: [17, 21] +- goal: [11, 0] + name: agent39 + start: [27, 20] +- goal: [0, 18] + name: agent40 + start: [13, 8] +- goal: [1, 30] + name: agent41 + start: [15, 19] +- goal: [21, 29] + name: agent42 + start: [16, 14] +- goal: [22, 13] + name: agent43 + start: [9, 3] +- goal: [26, 17] + name: agent44 + start: [3, 7] +- goal: [7, 5] + name: agent45 + start: [5, 26] +- goal: [23, 24] + name: agent46 + start: [25, 2] +- goal: [14, 8] + name: agent47 + start: [1, 23] +- goal: [12, 5] + name: agent48 + start: [11, 6] +- goal: [6, 25] + name: agent49 + start: [8, 30] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [4, 18] + - !!python/tuple [8, 17] + - !!python/tuple [12, 2] + - !!python/tuple [0, 0] + - !!python/tuple [3, 4] + - !!python/tuple [18, 14] + - !!python/tuple [15, 13] + - !!python/tuple [17, 24] + - !!python/tuple [11, 30] + - !!python/tuple [14, 3] + - !!python/tuple [22, 11] + - !!python/tuple [28, 19] + - !!python/tuple [25, 28] + - !!python/tuple [22, 16] + - !!python/tuple [7, 0] + - !!python/tuple [15, 11] + - !!python/tuple [2, 17] + - !!python/tuple [3, 10] + - !!python/tuple [29, 22] + - !!python/tuple [30, 10] + - !!python/tuple [25, 31] + - !!python/tuple [27, 8] + - !!python/tuple [17, 20] + - !!python/tuple [7, 11] + - !!python/tuple [1, 28] + - !!python/tuple [2, 2] + - !!python/tuple [2, 28] + - !!python/tuple [20, 13] + - !!python/tuple [10, 19] + - !!python/tuple [20, 5] + - !!python/tuple [30, 28] + - !!python/tuple [22, 25] + - !!python/tuple [30, 9] + - !!python/tuple [29, 9] + - !!python/tuple [29, 26] + - !!python/tuple [3, 23] + - !!python/tuple [10, 28] + - !!python/tuple [25, 20] + - !!python/tuple [19, 28] + - !!python/tuple [13, 26] + - !!python/tuple [5, 3] + - !!python/tuple [27, 30] + - !!python/tuple [6, 11] + - !!python/tuple [19, 4] + - !!python/tuple [1, 21] + - !!python/tuple [6, 13] + - !!python/tuple [29, 24] + - !!python/tuple [25, 6] + - !!python/tuple [12, 27] + - !!python/tuple [31, 29] + - !!python/tuple [6, 16] + - !!python/tuple [16, 1] + - !!python/tuple [11, 11] + - !!python/tuple [28, 26] + - !!python/tuple [10, 30] + - !!python/tuple [16, 18] + - !!python/tuple [3, 5] + - !!python/tuple [25, 29] + - !!python/tuple [12, 15] + - !!python/tuple [31, 8] + - !!python/tuple [23, 13] + - !!python/tuple [3, 9] + - !!python/tuple [0, 17] + - !!python/tuple [19, 17] + - !!python/tuple [3, 17] + - !!python/tuple [30, 6] + - !!python/tuple [21, 24] + - !!python/tuple [25, 10] + - !!python/tuple [5, 29] + - !!python/tuple [29, 2] + - !!python/tuple [7, 27] + - !!python/tuple [26, 31] + - !!python/tuple [13, 18] + - !!python/tuple [2, 8] + - !!python/tuple [11, 3] + - !!python/tuple [13, 5] + - !!python/tuple [0, 2] + - !!python/tuple [8, 8] + - !!python/tuple [7, 24] + - !!python/tuple [13, 31] + - !!python/tuple [27, 7] + - !!python/tuple [28, 29] + - !!python/tuple [21, 31] + - !!python/tuple [26, 7] + - !!python/tuple [12, 14] + - !!python/tuple [1, 25] + - !!python/tuple [0, 14] + - !!python/tuple [20, 0] + - !!python/tuple [8, 31] + - !!python/tuple [18, 9] + - !!python/tuple [14, 29] + - !!python/tuple [6, 19] + - !!python/tuple [15, 5] + - !!python/tuple [4, 31] + - !!python/tuple [13, 1] + - !!python/tuple [27, 22] + - !!python/tuple [20, 17] + - !!python/tuple [24, 2] + - !!python/tuple [18, 6] + - !!python/tuple [19, 24] + - !!python/tuple [29, 0] + - !!python/tuple [24, 26] + - !!python/tuple [9, 19] + - !!python/tuple [9, 25] + - !!python/tuple [15, 23] + - !!python/tuple [25, 4] + - !!python/tuple [27, 0] + - !!python/tuple [10, 27] + - !!python/tuple [23, 11] + - !!python/tuple [25, 19] + - !!python/tuple [18, 18] + - !!python/tuple [19, 14] + - !!python/tuple [27, 1] + - !!python/tuple [25, 18] + - !!python/tuple [25, 7] + - !!python/tuple [11, 19] + - !!python/tuple [2, 16] + - !!python/tuple [31, 16] + - !!python/tuple [8, 28] + - !!python/tuple [23, 16] + - !!python/tuple [5, 17] + - !!python/tuple [3, 16] + - !!python/tuple [6, 21] + - !!python/tuple [15, 16] + - !!python/tuple [5, 5] + - !!python/tuple [15, 18] + - !!python/tuple [10, 7] + - !!python/tuple [9, 21] + - !!python/tuple [14, 22] + - !!python/tuple [26, 0] + - !!python/tuple [20, 21] + - !!python/tuple [25, 16] + - !!python/tuple [20, 31] + - !!python/tuple [2, 26] + - !!python/tuple [25, 30] + - !!python/tuple [8, 19] + - !!python/tuple [5, 4] + - !!python/tuple [20, 7] + - !!python/tuple [30, 0] + - !!python/tuple [3, 19] + - !!python/tuple [18, 3] + - !!python/tuple [4, 29] + - !!python/tuple [8, 1] + - !!python/tuple [10, 2] + - !!python/tuple [17, 23] + - !!python/tuple [29, 15] + - !!python/tuple [1, 8] + - !!python/tuple [7, 26] + - !!python/tuple [7, 18] + - !!python/tuple [31, 19] + - !!python/tuple [25, 15] + - !!python/tuple [26, 15] + - !!python/tuple [20, 28] + - !!python/tuple [20, 1] + - !!python/tuple [22, 26] + - !!python/tuple [8, 4] + - !!python/tuple [15, 15] + - !!python/tuple [9, 11] + - !!python/tuple [14, 26] + - !!python/tuple [9, 8] + - !!python/tuple [24, 25] + - !!python/tuple [2, 3] + - !!python/tuple [30, 4] + - !!python/tuple [28, 22] + - !!python/tuple [21, 12] + - !!python/tuple [2, 23] + - !!python/tuple [16, 6] + - !!python/tuple [21, 17] + - !!python/tuple [10, 22] + - !!python/tuple [16, 24] + - !!python/tuple [10, 21] + - !!python/tuple [16, 15] + - !!python/tuple [12, 11] + - !!python/tuple [24, 4] + - !!python/tuple [28, 0] + - !!python/tuple [31, 22] + - !!python/tuple [13, 6] + - !!python/tuple [24, 29] + - !!python/tuple [12, 9] + - !!python/tuple [9, 29] + - !!python/tuple [23, 4] + - !!python/tuple [15, 26] + - !!python/tuple [0, 7] + - !!python/tuple [31, 7] + - !!python/tuple [12, 30] + - !!python/tuple [0, 1] + - !!python/tuple [28, 16] + - !!python/tuple [10, 14] + - !!python/tuple [30, 7] + - !!python/tuple [27, 16] + - !!python/tuple [23, 21] + - !!python/tuple [5, 1] + - !!python/tuple [19, 31] + - !!python/tuple [28, 13] + - !!python/tuple [9, 30] + - !!python/tuple [4, 1] + - !!python/tuple [30, 15] + - !!python/tuple [8, 27] + - !!python/tuple [0, 5] + - !!python/tuple [2, 30] + - !!python/tuple [28, 7] + - !!python/tuple [10, 5] + - !!python/tuple [9, 17] + - !!python/tuple [2, 1] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex66.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex66.yaml new file mode 100644 index 0000000..5029c60 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex66.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [27, 20] + name: agent0 + start: [2, 30] +- goal: [19, 1] + name: agent1 + start: [10, 31] +- goal: [13, 22] + name: agent2 + start: [21, 23] +- goal: [27, 1] + name: agent3 + start: [19, 4] +- goal: [19, 23] + name: agent4 + start: [6, 6] +- goal: [5, 6] + name: agent5 + start: [13, 13] +- goal: [27, 16] + name: agent6 + start: [29, 22] +- goal: [20, 16] + name: agent7 + start: [22, 29] +- goal: [11, 1] + name: agent8 + start: [17, 23] +- goal: [6, 31] + name: agent9 + start: [22, 22] +- goal: [25, 29] + name: agent10 + start: [16, 15] +- goal: [6, 6] + name: agent11 + start: [5, 31] +- goal: [16, 0] + name: agent12 + start: [4, 29] +- goal: [28, 19] + name: agent13 + start: [4, 2] +- goal: [26, 11] + name: agent14 + start: [19, 10] +- goal: [25, 14] + name: agent15 + start: [14, 7] +- goal: [30, 27] + name: agent16 + start: [24, 8] +- goal: [14, 6] + name: agent17 + start: [5, 1] +- goal: [26, 5] + name: agent18 + start: [23, 0] +- goal: [28, 15] + name: agent19 + start: [29, 14] +- goal: [1, 4] + name: agent20 + start: [30, 27] +- goal: [13, 16] + name: agent21 + start: [25, 8] +- goal: [6, 21] + name: agent22 + start: [10, 26] +- goal: [28, 8] + name: agent23 + start: [23, 20] +- goal: [8, 19] + name: agent24 + start: [9, 19] +- goal: [13, 1] + name: agent25 + start: [24, 16] +- goal: [21, 29] + name: agent26 + start: [12, 17] +- goal: [15, 30] + name: agent27 + start: [18, 30] +- goal: [13, 9] + name: agent28 + start: [11, 20] +- goal: [30, 15] + name: agent29 + start: [7, 29] +- goal: [1, 0] + name: agent30 + start: [3, 30] +- goal: [29, 22] + name: agent31 + start: [5, 29] +- goal: [11, 18] + name: agent32 + start: [8, 2] +- goal: [7, 9] + name: agent33 + start: [10, 20] +- goal: [8, 2] + name: agent34 + start: [1, 30] +- goal: [12, 19] + name: agent35 + start: [0, 3] +- goal: [11, 4] + name: agent36 + start: [17, 26] +- goal: [17, 29] + name: agent37 + start: [20, 17] +- goal: [2, 10] + name: agent38 + start: [5, 21] +- goal: [21, 7] + name: agent39 + start: [3, 2] +- goal: [23, 2] + name: agent40 + start: [12, 26] +- goal: [20, 26] + name: agent41 + start: [22, 8] +- goal: [9, 9] + name: agent42 + start: [1, 14] +- goal: [30, 23] + name: agent43 + start: [3, 12] +- goal: [3, 4] + name: agent44 + start: [8, 24] +- goal: [16, 31] + name: agent45 + start: [25, 10] +- goal: [0, 0] + name: agent46 + start: [6, 27] +- goal: [6, 11] + name: agent47 + start: [12, 13] +- goal: [2, 31] + name: agent48 + start: [25, 25] +- goal: [14, 22] + name: agent49 + start: [16, 14] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [20, 23] + - !!python/tuple [4, 10] + - !!python/tuple [15, 25] + - !!python/tuple [27, 4] + - !!python/tuple [14, 2] + - !!python/tuple [28, 1] + - !!python/tuple [14, 10] + - !!python/tuple [25, 2] + - !!python/tuple [11, 9] + - !!python/tuple [9, 17] + - !!python/tuple [29, 10] + - !!python/tuple [19, 26] + - !!python/tuple [9, 1] + - !!python/tuple [8, 25] + - !!python/tuple [5, 8] + - !!python/tuple [23, 23] + - !!python/tuple [22, 30] + - !!python/tuple [28, 26] + - !!python/tuple [6, 14] + - !!python/tuple [26, 22] + - !!python/tuple [22, 16] + - !!python/tuple [31, 16] + - !!python/tuple [24, 14] + - !!python/tuple [21, 3] + - !!python/tuple [5, 0] + - !!python/tuple [26, 26] + - !!python/tuple [22, 27] + - !!python/tuple [13, 7] + - !!python/tuple [22, 4] + - !!python/tuple [13, 19] + - !!python/tuple [9, 16] + - !!python/tuple [8, 28] + - !!python/tuple [20, 3] + - !!python/tuple [31, 29] + - !!python/tuple [28, 20] + - !!python/tuple [5, 19] + - !!python/tuple [7, 8] + - !!python/tuple [27, 22] + - !!python/tuple [0, 19] + - !!python/tuple [28, 10] + - !!python/tuple [5, 16] + - !!python/tuple [7, 21] + - !!python/tuple [2, 21] + - !!python/tuple [19, 20] + - !!python/tuple [11, 5] + - !!python/tuple [28, 29] + - !!python/tuple [7, 3] + - !!python/tuple [5, 25] + - !!python/tuple [13, 28] + - !!python/tuple [11, 3] + - !!python/tuple [18, 21] + - !!python/tuple [11, 22] + - !!python/tuple [25, 26] + - !!python/tuple [3, 10] + - !!python/tuple [30, 13] + - !!python/tuple [26, 27] + - !!python/tuple [7, 4] + - !!python/tuple [20, 2] + - !!python/tuple [24, 26] + - !!python/tuple [29, 18] + - !!python/tuple [5, 30] + - !!python/tuple [8, 4] + - !!python/tuple [7, 22] + - !!python/tuple [1, 29] + - !!python/tuple [17, 14] + - !!python/tuple [12, 3] + - !!python/tuple [3, 7] + - !!python/tuple [22, 24] + - !!python/tuple [12, 27] + - !!python/tuple [7, 13] + - !!python/tuple [16, 20] + - !!python/tuple [16, 25] + - !!python/tuple [20, 9] + - !!python/tuple [10, 11] + - !!python/tuple [7, 14] + - !!python/tuple [22, 15] + - !!python/tuple [9, 20] + - !!python/tuple [15, 19] + - !!python/tuple [6, 22] + - !!python/tuple [22, 25] + - !!python/tuple [7, 7] + - !!python/tuple [17, 12] + - !!python/tuple [13, 15] + - !!python/tuple [3, 22] + - !!python/tuple [13, 25] + - !!python/tuple [15, 3] + - !!python/tuple [7, 20] + - !!python/tuple [16, 9] + - !!python/tuple [2, 4] + - !!python/tuple [10, 27] + - !!python/tuple [1, 21] + - !!python/tuple [2, 9] + - !!python/tuple [28, 4] + - !!python/tuple [0, 27] + - !!python/tuple [28, 13] + - !!python/tuple [16, 28] + - !!python/tuple [3, 23] + - !!python/tuple [1, 13] + - !!python/tuple [10, 13] + - !!python/tuple [18, 16] + - !!python/tuple [14, 16] + - !!python/tuple [2, 12] + - !!python/tuple [20, 0] + - !!python/tuple [31, 23] + - !!python/tuple [27, 8] + - !!python/tuple [24, 4] + - !!python/tuple [30, 2] + - !!python/tuple [16, 10] + - !!python/tuple [4, 23] + - !!python/tuple [5, 26] + - !!python/tuple [2, 28] + - !!python/tuple [28, 21] + - !!python/tuple [4, 5] + - !!python/tuple [21, 12] + - !!python/tuple [11, 29] + - !!python/tuple [13, 26] + - !!python/tuple [6, 0] + - !!python/tuple [9, 25] + - !!python/tuple [2, 19] + - !!python/tuple [23, 12] + - !!python/tuple [24, 22] + - !!python/tuple [12, 4] + - !!python/tuple [27, 3] + - !!python/tuple [10, 30] + - !!python/tuple [18, 22] + - !!python/tuple [8, 1] + - !!python/tuple [11, 31] + - !!python/tuple [11, 24] + - !!python/tuple [17, 8] + - !!python/tuple [31, 13] + - !!python/tuple [23, 6] + - !!python/tuple [17, 4] + - !!python/tuple [29, 13] + - !!python/tuple [19, 13] + - !!python/tuple [12, 1] + - !!python/tuple [7, 27] + - !!python/tuple [0, 5] + - !!python/tuple [23, 26] + - !!python/tuple [1, 17] + - !!python/tuple [26, 29] + - !!python/tuple [24, 11] + - !!python/tuple [9, 6] + - !!python/tuple [2, 24] + - !!python/tuple [5, 2] + - !!python/tuple [28, 22] + - !!python/tuple [10, 9] + - !!python/tuple [31, 25] + - !!python/tuple [14, 9] + - !!python/tuple [19, 18] + - !!python/tuple [4, 31] + - !!python/tuple [5, 27] + - !!python/tuple [16, 22] + - !!python/tuple [0, 18] + - !!python/tuple [16, 19] + - !!python/tuple [22, 10] + - !!python/tuple [14, 21] + - !!python/tuple [31, 30] + - !!python/tuple [26, 0] + - !!python/tuple [16, 27] + - !!python/tuple [5, 24] + - !!python/tuple [31, 18] + - !!python/tuple [19, 2] + - !!python/tuple [29, 17] + - !!python/tuple [18, 18] + - !!python/tuple [12, 18] + - !!python/tuple [28, 11] + - !!python/tuple [20, 13] + - !!python/tuple [4, 16] + - !!python/tuple [17, 5] + - !!python/tuple [3, 27] + - !!python/tuple [6, 17] + - !!python/tuple [14, 20] + - !!python/tuple [8, 5] + - !!python/tuple [6, 25] + - !!python/tuple [28, 30] + - !!python/tuple [9, 10] + - !!python/tuple [26, 20] + - !!python/tuple [9, 4] + - !!python/tuple [23, 13] + - !!python/tuple [1, 12] + - !!python/tuple [16, 23] + - !!python/tuple [15, 8] + - !!python/tuple [13, 2] + - !!python/tuple [12, 31] + - !!python/tuple [4, 8] + - !!python/tuple [13, 21] + - !!python/tuple [30, 30] + - !!python/tuple [30, 10] + - !!python/tuple [18, 15] + - !!python/tuple [4, 19] + - !!python/tuple [5, 3] + - !!python/tuple [27, 31] + - !!python/tuple [11, 27] + - !!python/tuple [30, 26] + - !!python/tuple [17, 2] + - !!python/tuple [23, 22] + - !!python/tuple [23, 14] + - !!python/tuple [13, 27] + - !!python/tuple [8, 21] + - !!python/tuple [23, 3] + - !!python/tuple [1, 23] + - !!python/tuple [30, 17] + - !!python/tuple [18, 9] + - !!python/tuple [24, 24] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex67.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex67.yaml new file mode 100644 index 0000000..29cb7dc --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex67.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [30, 15] + name: agent0 + start: [21, 3] +- goal: [23, 28] + name: agent1 + start: [3, 23] +- goal: [1, 10] + name: agent2 + start: [9, 5] +- goal: [10, 28] + name: agent3 + start: [8, 22] +- goal: [15, 0] + name: agent4 + start: [28, 22] +- goal: [9, 22] + name: agent5 + start: [31, 16] +- goal: [28, 12] + name: agent6 + start: [15, 12] +- goal: [4, 20] + name: agent7 + start: [9, 2] +- goal: [27, 14] + name: agent8 + start: [24, 2] +- goal: [17, 14] + name: agent9 + start: [3, 7] +- goal: [17, 22] + name: agent10 + start: [0, 17] +- goal: [30, 8] + name: agent11 + start: [2, 24] +- goal: [31, 23] + name: agent12 + start: [25, 21] +- goal: [28, 7] + name: agent13 + start: [1, 29] +- goal: [12, 27] + name: agent14 + start: [7, 23] +- goal: [7, 1] + name: agent15 + start: [18, 14] +- goal: [9, 6] + name: agent16 + start: [30, 26] +- goal: [0, 14] + name: agent17 + start: [6, 23] +- goal: [21, 2] + name: agent18 + start: [6, 10] +- goal: [14, 7] + name: agent19 + start: [22, 25] +- goal: [27, 28] + name: agent20 + start: [2, 14] +- goal: [10, 16] + name: agent21 + start: [7, 15] +- goal: [18, 0] + name: agent22 + start: [27, 15] +- goal: [8, 18] + name: agent23 + start: [5, 24] +- goal: [4, 8] + name: agent24 + start: [25, 4] +- goal: [8, 9] + name: agent25 + start: [12, 23] +- goal: [6, 29] + name: agent26 + start: [27, 23] +- goal: [15, 22] + name: agent27 + start: [28, 29] +- goal: [29, 31] + name: agent28 + start: [13, 13] +- goal: [15, 19] + name: agent29 + start: [17, 22] +- goal: [8, 15] + name: agent30 + start: [22, 22] +- goal: [25, 21] + name: agent31 + start: [10, 18] +- goal: [5, 6] + name: agent32 + start: [18, 26] +- goal: [16, 30] + name: agent33 + start: [23, 25] +- goal: [22, 13] + name: agent34 + start: [18, 9] +- goal: [8, 5] + name: agent35 + start: [29, 30] +- goal: [11, 1] + name: agent36 + start: [11, 27] +- goal: [6, 7] + name: agent37 + start: [24, 13] +- goal: [24, 15] + name: agent38 + start: [12, 2] +- goal: [21, 7] + name: agent39 + start: [26, 2] +- goal: [21, 8] + name: agent40 + start: [3, 0] +- goal: [30, 21] + name: agent41 + start: [21, 11] +- goal: [1, 21] + name: agent42 + start: [5, 21] +- goal: [14, 21] + name: agent43 + start: [26, 22] +- goal: [21, 23] + name: agent44 + start: [8, 21] +- goal: [29, 8] + name: agent45 + start: [3, 19] +- goal: [8, 14] + name: agent46 + start: [27, 3] +- goal: [26, 27] + name: agent47 + start: [22, 30] +- goal: [15, 12] + name: agent48 + start: [29, 19] +- goal: [31, 11] + name: agent49 + start: [3, 3] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [14, 23] + - !!python/tuple [28, 25] + - !!python/tuple [24, 3] + - !!python/tuple [7, 25] + - !!python/tuple [1, 0] + - !!python/tuple [6, 22] + - !!python/tuple [22, 16] + - !!python/tuple [10, 12] + - !!python/tuple [5, 9] + - !!python/tuple [20, 14] + - !!python/tuple [7, 21] + - !!python/tuple [0, 21] + - !!python/tuple [14, 4] + - !!python/tuple [24, 8] + - !!python/tuple [7, 9] + - !!python/tuple [15, 24] + - !!python/tuple [13, 6] + - !!python/tuple [6, 21] + - !!python/tuple [14, 31] + - !!python/tuple [3, 11] + - !!python/tuple [0, 20] + - !!python/tuple [8, 13] + - !!python/tuple [30, 28] + - !!python/tuple [16, 31] + - !!python/tuple [0, 30] + - !!python/tuple [13, 5] + - !!python/tuple [20, 10] + - !!python/tuple [13, 26] + - !!python/tuple [30, 12] + - !!python/tuple [18, 31] + - !!python/tuple [11, 17] + - !!python/tuple [7, 24] + - !!python/tuple [6, 17] + - !!python/tuple [23, 30] + - !!python/tuple [22, 7] + - !!python/tuple [0, 11] + - !!python/tuple [12, 1] + - !!python/tuple [0, 7] + - !!python/tuple [12, 9] + - !!python/tuple [4, 21] + - !!python/tuple [14, 10] + - !!python/tuple [5, 10] + - !!python/tuple [27, 30] + - !!python/tuple [12, 6] + - !!python/tuple [23, 18] + - !!python/tuple [30, 4] + - !!python/tuple [15, 21] + - !!python/tuple [8, 1] + - !!python/tuple [19, 18] + - !!python/tuple [28, 30] + - !!python/tuple [0, 16] + - !!python/tuple [3, 31] + - !!python/tuple [29, 20] + - !!python/tuple [12, 16] + - !!python/tuple [15, 1] + - !!python/tuple [1, 18] + - !!python/tuple [14, 3] + - !!python/tuple [23, 12] + - !!python/tuple [25, 10] + - !!python/tuple [21, 19] + - !!python/tuple [20, 22] + - !!python/tuple [17, 1] + - !!python/tuple [1, 6] + - !!python/tuple [4, 14] + - !!python/tuple [21, 24] + - !!python/tuple [0, 13] + - !!python/tuple [4, 2] + - !!python/tuple [31, 4] + - !!python/tuple [6, 6] + - !!python/tuple [20, 3] + - !!python/tuple [26, 24] + - !!python/tuple [7, 22] + - !!python/tuple [25, 19] + - !!python/tuple [17, 19] + - !!python/tuple [29, 27] + - !!python/tuple [31, 28] + - !!python/tuple [2, 19] + - !!python/tuple [12, 21] + - !!python/tuple [4, 16] + - !!python/tuple [1, 2] + - !!python/tuple [25, 1] + - !!python/tuple [9, 11] + - !!python/tuple [10, 2] + - !!python/tuple [19, 23] + - !!python/tuple [12, 29] + - !!python/tuple [29, 25] + - !!python/tuple [9, 0] + - !!python/tuple [16, 14] + - !!python/tuple [30, 0] + - !!python/tuple [5, 13] + - !!python/tuple [18, 18] + - !!python/tuple [11, 2] + - !!python/tuple [9, 31] + - !!python/tuple [18, 27] + - !!python/tuple [5, 15] + - !!python/tuple [25, 15] + - !!python/tuple [10, 7] + - !!python/tuple [25, 22] + - !!python/tuple [11, 31] + - !!python/tuple [27, 7] + - !!python/tuple [11, 11] + - !!python/tuple [24, 26] + - !!python/tuple [26, 6] + - !!python/tuple [15, 13] + - !!python/tuple [31, 13] + - !!python/tuple [7, 2] + - !!python/tuple [20, 16] + - !!python/tuple [26, 9] + - !!python/tuple [4, 0] + - !!python/tuple [30, 14] + - !!python/tuple [14, 9] + - !!python/tuple [8, 12] + - !!python/tuple [21, 21] + - !!python/tuple [19, 1] + - !!python/tuple [2, 2] + - !!python/tuple [26, 30] + - !!python/tuple [14, 14] + - !!python/tuple [5, 18] + - !!python/tuple [15, 17] + - !!python/tuple [11, 30] + - !!python/tuple [8, 3] + - !!python/tuple [15, 6] + - !!python/tuple [31, 14] + - !!python/tuple [4, 30] + - !!python/tuple [20, 23] + - !!python/tuple [31, 6] + - !!python/tuple [21, 1] + - !!python/tuple [26, 5] + - !!python/tuple [6, 5] + - !!python/tuple [24, 14] + - !!python/tuple [27, 31] + - !!python/tuple [6, 26] + - !!python/tuple [13, 28] + - !!python/tuple [16, 15] + - !!python/tuple [26, 1] + - !!python/tuple [9, 28] + - !!python/tuple [25, 13] + - !!python/tuple [12, 19] + - !!python/tuple [3, 4] + - !!python/tuple [11, 4] + - !!python/tuple [21, 14] + - !!python/tuple [16, 3] + - !!python/tuple [17, 26] + - !!python/tuple [5, 31] + - !!python/tuple [18, 1] + - !!python/tuple [31, 0] + - !!python/tuple [8, 19] + - !!python/tuple [13, 17] + - !!python/tuple [31, 30] + - !!python/tuple [21, 31] + - !!python/tuple [28, 17] + - !!python/tuple [17, 12] + - !!python/tuple [3, 30] + - !!python/tuple [11, 7] + - !!python/tuple [23, 1] + - !!python/tuple [23, 8] + - !!python/tuple [18, 24] + - !!python/tuple [11, 14] + - !!python/tuple [16, 11] + - !!python/tuple [19, 12] + - !!python/tuple [1, 12] + - !!python/tuple [8, 28] + - !!python/tuple [10, 3] + - !!python/tuple [22, 14] + - !!python/tuple [19, 20] + - !!python/tuple [22, 19] + - !!python/tuple [19, 31] + - !!python/tuple [17, 5] + - !!python/tuple [1, 28] + - !!python/tuple [15, 20] + - !!python/tuple [24, 7] + - !!python/tuple [9, 17] + - !!python/tuple [30, 7] + - !!python/tuple [20, 15] + - !!python/tuple [5, 29] + - !!python/tuple [26, 14] + - !!python/tuple [20, 19] + - !!python/tuple [27, 21] + - !!python/tuple [22, 0] + - !!python/tuple [24, 16] + - !!python/tuple [10, 1] + - !!python/tuple [23, 22] + - !!python/tuple [25, 20] + - !!python/tuple [16, 17] + - !!python/tuple [7, 31] + - !!python/tuple [15, 14] + - !!python/tuple [27, 26] + - !!python/tuple [3, 17] + - !!python/tuple [22, 4] + - !!python/tuple [28, 31] + - !!python/tuple [2, 30] + - !!python/tuple [12, 15] + - !!python/tuple [19, 15] + - !!python/tuple [18, 13] + - !!python/tuple [14, 28] + - !!python/tuple [16, 13] + - !!python/tuple [31, 20] + - !!python/tuple [30, 19] + - !!python/tuple [2, 11] + - !!python/tuple [7, 28] + - !!python/tuple [24, 23] + - !!python/tuple [1, 14] + - !!python/tuple [16, 9] + - !!python/tuple [3, 1] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex68.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex68.yaml new file mode 100644 index 0000000..ef09eaf --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex68.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [31, 24] + name: agent0 + start: [0, 31] +- goal: [0, 2] + name: agent1 + start: [2, 28] +- goal: [27, 17] + name: agent2 + start: [2, 12] +- goal: [19, 11] + name: agent3 + start: [21, 6] +- goal: [3, 30] + name: agent4 + start: [15, 16] +- goal: [24, 26] + name: agent5 + start: [17, 22] +- goal: [26, 25] + name: agent6 + start: [4, 0] +- goal: [20, 19] + name: agent7 + start: [15, 20] +- goal: [29, 15] + name: agent8 + start: [26, 31] +- goal: [23, 29] + name: agent9 + start: [17, 9] +- goal: [23, 1] + name: agent10 + start: [7, 16] +- goal: [25, 19] + name: agent11 + start: [23, 2] +- goal: [31, 16] + name: agent12 + start: [0, 9] +- goal: [22, 11] + name: agent13 + start: [19, 11] +- goal: [1, 12] + name: agent14 + start: [13, 24] +- goal: [12, 26] + name: agent15 + start: [19, 15] +- goal: [14, 18] + name: agent16 + start: [28, 17] +- goal: [11, 6] + name: agent17 + start: [31, 4] +- goal: [19, 22] + name: agent18 + start: [8, 6] +- goal: [18, 8] + name: agent19 + start: [6, 24] +- goal: [27, 23] + name: agent20 + start: [5, 19] +- goal: [12, 5] + name: agent21 + start: [12, 18] +- goal: [1, 5] + name: agent22 + start: [17, 14] +- goal: [26, 21] + name: agent23 + start: [28, 12] +- goal: [27, 3] + name: agent24 + start: [30, 23] +- goal: [24, 9] + name: agent25 + start: [0, 7] +- goal: [0, 6] + name: agent26 + start: [24, 13] +- goal: [7, 26] + name: agent27 + start: [19, 5] +- goal: [15, 26] + name: agent28 + start: [22, 4] +- goal: [28, 13] + name: agent29 + start: [8, 25] +- goal: [27, 7] + name: agent30 + start: [16, 26] +- goal: [5, 8] + name: agent31 + start: [14, 7] +- goal: [26, 10] + name: agent32 + start: [3, 31] +- goal: [19, 29] + name: agent33 + start: [29, 0] +- goal: [19, 16] + name: agent34 + start: [4, 25] +- goal: [15, 13] + name: agent35 + start: [31, 13] +- goal: [12, 4] + name: agent36 + start: [30, 31] +- goal: [4, 4] + name: agent37 + start: [29, 27] +- goal: [22, 25] + name: agent38 + start: [24, 26] +- goal: [3, 21] + name: agent39 + start: [6, 13] +- goal: [22, 18] + name: agent40 + start: [26, 15] +- goal: [22, 5] + name: agent41 + start: [31, 3] +- goal: [22, 7] + name: agent42 + start: [16, 21] +- goal: [28, 0] + name: agent43 + start: [17, 6] +- goal: [21, 3] + name: agent44 + start: [26, 11] +- goal: [25, 12] + name: agent45 + start: [27, 17] +- goal: [9, 7] + name: agent46 + start: [5, 2] +- goal: [13, 25] + name: agent47 + start: [14, 5] +- goal: [15, 24] + name: agent48 + start: [25, 2] +- goal: [17, 24] + name: agent49 + start: [4, 5] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [12, 21] + - !!python/tuple [26, 17] + - !!python/tuple [22, 1] + - !!python/tuple [17, 21] + - !!python/tuple [24, 17] + - !!python/tuple [2, 18] + - !!python/tuple [16, 0] + - !!python/tuple [11, 23] + - !!python/tuple [11, 29] + - !!python/tuple [0, 11] + - !!python/tuple [27, 31] + - !!python/tuple [20, 5] + - !!python/tuple [15, 27] + - !!python/tuple [5, 16] + - !!python/tuple [15, 23] + - !!python/tuple [7, 20] + - !!python/tuple [25, 1] + - !!python/tuple [5, 27] + - !!python/tuple [1, 1] + - !!python/tuple [13, 12] + - !!python/tuple [18, 3] + - !!python/tuple [7, 27] + - !!python/tuple [30, 14] + - !!python/tuple [3, 20] + - !!python/tuple [3, 16] + - !!python/tuple [21, 18] + - !!python/tuple [14, 16] + - !!python/tuple [24, 20] + - !!python/tuple [31, 17] + - !!python/tuple [20, 9] + - !!python/tuple [5, 4] + - !!python/tuple [15, 3] + - !!python/tuple [9, 15] + - !!python/tuple [13, 27] + - !!python/tuple [18, 15] + - !!python/tuple [0, 28] + - !!python/tuple [0, 15] + - !!python/tuple [9, 8] + - !!python/tuple [1, 10] + - !!python/tuple [5, 11] + - !!python/tuple [11, 15] + - !!python/tuple [12, 12] + - !!python/tuple [18, 23] + - !!python/tuple [29, 2] + - !!python/tuple [14, 3] + - !!python/tuple [9, 29] + - !!python/tuple [28, 15] + - !!python/tuple [7, 22] + - !!python/tuple [21, 27] + - !!python/tuple [19, 19] + - !!python/tuple [7, 23] + - !!python/tuple [30, 2] + - !!python/tuple [8, 3] + - !!python/tuple [22, 26] + - !!python/tuple [4, 27] + - !!python/tuple [13, 9] + - !!python/tuple [23, 7] + - !!python/tuple [29, 16] + - !!python/tuple [9, 24] + - !!python/tuple [24, 21] + - !!python/tuple [23, 8] + - !!python/tuple [12, 29] + - !!python/tuple [15, 31] + - !!python/tuple [11, 25] + - !!python/tuple [21, 28] + - !!python/tuple [2, 17] + - !!python/tuple [16, 19] + - !!python/tuple [17, 18] + - !!python/tuple [28, 28] + - !!python/tuple [18, 17] + - !!python/tuple [3, 10] + - !!python/tuple [5, 15] + - !!python/tuple [21, 12] + - !!python/tuple [2, 5] + - !!python/tuple [23, 30] + - !!python/tuple [29, 6] + - !!python/tuple [21, 4] + - !!python/tuple [11, 30] + - !!python/tuple [5, 17] + - !!python/tuple [17, 12] + - !!python/tuple [5, 23] + - !!python/tuple [15, 7] + - !!python/tuple [23, 18] + - !!python/tuple [17, 28] + - !!python/tuple [22, 14] + - !!python/tuple [1, 15] + - !!python/tuple [7, 1] + - !!python/tuple [18, 25] + - !!python/tuple [5, 5] + - !!python/tuple [14, 29] + - !!python/tuple [30, 13] + - !!python/tuple [16, 8] + - !!python/tuple [6, 4] + - !!python/tuple [12, 31] + - !!python/tuple [29, 30] + - !!python/tuple [21, 20] + - !!python/tuple [23, 19] + - !!python/tuple [20, 6] + - !!python/tuple [16, 1] + - !!python/tuple [20, 21] + - !!python/tuple [17, 5] + - !!python/tuple [29, 22] + - !!python/tuple [7, 24] + - !!python/tuple [18, 24] + - !!python/tuple [18, 2] + - !!python/tuple [1, 25] + - !!python/tuple [24, 12] + - !!python/tuple [6, 14] + - !!python/tuple [10, 11] + - !!python/tuple [19, 27] + - !!python/tuple [19, 31] + - !!python/tuple [27, 10] + - !!python/tuple [22, 22] + - !!python/tuple [31, 0] + - !!python/tuple [17, 27] + - !!python/tuple [18, 18] + - !!python/tuple [12, 10] + - !!python/tuple [2, 16] + - !!python/tuple [16, 12] + - !!python/tuple [23, 27] + - !!python/tuple [25, 9] + - !!python/tuple [28, 7] + - !!python/tuple [31, 7] + - !!python/tuple [7, 19] + - !!python/tuple [28, 5] + - !!python/tuple [16, 16] + - !!python/tuple [12, 23] + - !!python/tuple [12, 7] + - !!python/tuple [23, 0] + - !!python/tuple [14, 20] + - !!python/tuple [7, 3] + - !!python/tuple [2, 29] + - !!python/tuple [12, 27] + - !!python/tuple [30, 7] + - !!python/tuple [22, 13] + - !!python/tuple [7, 14] + - !!python/tuple [15, 10] + - !!python/tuple [19, 26] + - !!python/tuple [3, 24] + - !!python/tuple [21, 2] + - !!python/tuple [2, 13] + - !!python/tuple [16, 14] + - !!python/tuple [26, 23] + - !!python/tuple [8, 23] + - !!python/tuple [2, 25] + - !!python/tuple [16, 10] + - !!python/tuple [26, 14] + - !!python/tuple [16, 6] + - !!python/tuple [13, 23] + - !!python/tuple [1, 31] + - !!python/tuple [2, 24] + - !!python/tuple [17, 1] + - !!python/tuple [2, 31] + - !!python/tuple [12, 22] + - !!python/tuple [16, 25] + - !!python/tuple [20, 1] + - !!python/tuple [9, 20] + - !!python/tuple [27, 22] + - !!python/tuple [15, 18] + - !!python/tuple [21, 11] + - !!python/tuple [18, 6] + - !!python/tuple [22, 17] + - !!python/tuple [27, 16] + - !!python/tuple [30, 11] + - !!python/tuple [26, 16] + - !!python/tuple [16, 29] + - !!python/tuple [9, 28] + - !!python/tuple [16, 13] + - !!python/tuple [21, 22] + - !!python/tuple [25, 26] + - !!python/tuple [31, 11] + - !!python/tuple [11, 19] + - !!python/tuple [22, 9] + - !!python/tuple [16, 17] + - !!python/tuple [1, 3] + - !!python/tuple [22, 24] + - !!python/tuple [25, 23] + - !!python/tuple [10, 5] + - !!python/tuple [10, 16] + - !!python/tuple [23, 3] + - !!python/tuple [0, 20] + - !!python/tuple [13, 19] + - !!python/tuple [10, 30] + - !!python/tuple [20, 3] + - !!python/tuple [8, 9] + - !!python/tuple [28, 20] + - !!python/tuple [30, 0] + - !!python/tuple [11, 13] + - !!python/tuple [11, 5] + - !!python/tuple [4, 30] + - !!python/tuple [1, 20] + - !!python/tuple [11, 1] + - !!python/tuple [9, 21] + - !!python/tuple [29, 28] + - !!python/tuple [9, 25] + - !!python/tuple [31, 15] + - !!python/tuple [5, 21] + - !!python/tuple [19, 20] + - !!python/tuple [12, 30] + - !!python/tuple [1, 6] + - !!python/tuple [4, 16] + - !!python/tuple [21, 30] + - !!python/tuple [12, 9] + - !!python/tuple [24, 8] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex69.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex69.yaml new file mode 100644 index 0000000..ea00cf7 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex69.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [28, 21] + name: agent0 + start: [5, 31] +- goal: [8, 29] + name: agent1 + start: [7, 25] +- goal: [8, 9] + name: agent2 + start: [23, 19] +- goal: [9, 10] + name: agent3 + start: [9, 23] +- goal: [2, 4] + name: agent4 + start: [18, 8] +- goal: [2, 7] + name: agent5 + start: [12, 30] +- goal: [10, 27] + name: agent6 + start: [15, 26] +- goal: [14, 23] + name: agent7 + start: [4, 3] +- goal: [22, 26] + name: agent8 + start: [24, 14] +- goal: [23, 6] + name: agent9 + start: [22, 7] +- goal: [19, 0] + name: agent10 + start: [15, 9] +- goal: [31, 19] + name: agent11 + start: [25, 9] +- goal: [8, 2] + name: agent12 + start: [3, 17] +- goal: [3, 25] + name: agent13 + start: [24, 2] +- goal: [23, 18] + name: agent14 + start: [4, 29] +- goal: [15, 13] + name: agent15 + start: [28, 16] +- goal: [24, 0] + name: agent16 + start: [10, 24] +- goal: [28, 20] + name: agent17 + start: [3, 8] +- goal: [20, 8] + name: agent18 + start: [9, 4] +- goal: [27, 16] + name: agent19 + start: [23, 22] +- goal: [25, 14] + name: agent20 + start: [27, 16] +- goal: [18, 21] + name: agent21 + start: [6, 17] +- goal: [23, 3] + name: agent22 + start: [26, 15] +- goal: [31, 10] + name: agent23 + start: [1, 16] +- goal: [13, 3] + name: agent24 + start: [12, 8] +- goal: [12, 13] + name: agent25 + start: [6, 29] +- goal: [30, 22] + name: agent26 + start: [25, 5] +- goal: [11, 20] + name: agent27 + start: [18, 19] +- goal: [25, 26] + name: agent28 + start: [29, 6] +- goal: [29, 5] + name: agent29 + start: [15, 7] +- goal: [28, 31] + name: agent30 + start: [31, 19] +- goal: [10, 12] + name: agent31 + start: [21, 13] +- goal: [30, 18] + name: agent32 + start: [2, 30] +- goal: [9, 3] + name: agent33 + start: [19, 9] +- goal: [24, 2] + name: agent34 + start: [23, 4] +- goal: [0, 15] + name: agent35 + start: [28, 22] +- goal: [0, 27] + name: agent36 + start: [14, 11] +- goal: [3, 2] + name: agent37 + start: [19, 1] +- goal: [0, 29] + name: agent38 + start: [25, 6] +- goal: [26, 4] + name: agent39 + start: [14, 20] +- goal: [29, 7] + name: agent40 + start: [11, 11] +- goal: [28, 0] + name: agent41 + start: [10, 17] +- goal: [24, 22] + name: agent42 + start: [31, 16] +- goal: [15, 5] + name: agent43 + start: [3, 18] +- goal: [26, 22] + name: agent44 + start: [4, 22] +- goal: [9, 29] + name: agent45 + start: [19, 28] +- goal: [24, 13] + name: agent46 + start: [12, 6] +- goal: [31, 4] + name: agent47 + start: [31, 25] +- goal: [28, 11] + name: agent48 + start: [30, 7] +- goal: [22, 30] + name: agent49 + start: [23, 28] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [22, 14] + - !!python/tuple [31, 26] + - !!python/tuple [11, 7] + - !!python/tuple [11, 12] + - !!python/tuple [1, 24] + - !!python/tuple [4, 14] + - !!python/tuple [29, 26] + - !!python/tuple [3, 26] + - !!python/tuple [4, 7] + - !!python/tuple [5, 5] + - !!python/tuple [24, 15] + - !!python/tuple [16, 7] + - !!python/tuple [19, 15] + - !!python/tuple [28, 19] + - !!python/tuple [13, 28] + - !!python/tuple [1, 7] + - !!python/tuple [2, 8] + - !!python/tuple [6, 15] + - !!python/tuple [19, 18] + - !!python/tuple [27, 21] + - !!python/tuple [7, 21] + - !!python/tuple [6, 27] + - !!python/tuple [0, 26] + - !!python/tuple [16, 1] + - !!python/tuple [28, 23] + - !!python/tuple [16, 26] + - !!python/tuple [30, 16] + - !!python/tuple [0, 7] + - !!python/tuple [23, 20] + - !!python/tuple [19, 30] + - !!python/tuple [8, 28] + - !!python/tuple [19, 21] + - !!python/tuple [14, 4] + - !!python/tuple [19, 13] + - !!python/tuple [26, 23] + - !!python/tuple [24, 1] + - !!python/tuple [19, 4] + - !!python/tuple [16, 10] + - !!python/tuple [20, 13] + - !!python/tuple [11, 4] + - !!python/tuple [14, 2] + - !!python/tuple [2, 10] + - !!python/tuple [20, 31] + - !!python/tuple [1, 20] + - !!python/tuple [16, 24] + - !!python/tuple [29, 14] + - !!python/tuple [21, 10] + - !!python/tuple [1, 6] + - !!python/tuple [21, 19] + - !!python/tuple [1, 1] + - !!python/tuple [22, 5] + - !!python/tuple [8, 17] + - !!python/tuple [0, 23] + - !!python/tuple [30, 10] + - !!python/tuple [16, 17] + - !!python/tuple [22, 0] + - !!python/tuple [6, 13] + - !!python/tuple [3, 6] + - !!python/tuple [8, 19] + - !!python/tuple [14, 27] + - !!python/tuple [27, 25] + - !!python/tuple [2, 3] + - !!python/tuple [23, 30] + - !!python/tuple [25, 8] + - !!python/tuple [2, 17] + - !!python/tuple [26, 31] + - !!python/tuple [3, 5] + - !!python/tuple [18, 15] + - !!python/tuple [1, 21] + - !!python/tuple [27, 10] + - !!python/tuple [30, 11] + - !!python/tuple [25, 30] + - !!python/tuple [29, 20] + - !!python/tuple [7, 18] + - !!python/tuple [21, 6] + - !!python/tuple [9, 16] + - !!python/tuple [7, 3] + - !!python/tuple [7, 5] + - !!python/tuple [16, 29] + - !!python/tuple [20, 22] + - !!python/tuple [16, 23] + - !!python/tuple [13, 31] + - !!python/tuple [9, 11] + - !!python/tuple [25, 4] + - !!python/tuple [10, 20] + - !!python/tuple [10, 10] + - !!python/tuple [4, 1] + - !!python/tuple [14, 5] + - !!python/tuple [23, 5] + - !!python/tuple [3, 29] + - !!python/tuple [6, 21] + - !!python/tuple [2, 15] + - !!python/tuple [9, 25] + - !!python/tuple [23, 11] + - !!python/tuple [25, 19] + - !!python/tuple [28, 18] + - !!python/tuple [11, 21] + - !!python/tuple [13, 16] + - !!python/tuple [12, 27] + - !!python/tuple [19, 22] + - !!python/tuple [26, 14] + - !!python/tuple [16, 0] + - !!python/tuple [6, 19] + - !!python/tuple [19, 7] + - !!python/tuple [13, 4] + - !!python/tuple [26, 7] + - !!python/tuple [20, 24] + - !!python/tuple [30, 2] + - !!python/tuple [28, 4] + - !!python/tuple [29, 19] + - !!python/tuple [9, 21] + - !!python/tuple [16, 8] + - !!python/tuple [7, 6] + - !!python/tuple [12, 15] + - !!python/tuple [12, 17] + - !!python/tuple [20, 25] + - !!python/tuple [6, 10] + - !!python/tuple [3, 16] + - !!python/tuple [14, 3] + - !!python/tuple [19, 2] + - !!python/tuple [1, 8] + - !!python/tuple [14, 25] + - !!python/tuple [14, 24] + - !!python/tuple [12, 28] + - !!python/tuple [23, 17] + - !!python/tuple [3, 27] + - !!python/tuple [17, 1] + - !!python/tuple [23, 7] + - !!python/tuple [7, 9] + - !!python/tuple [7, 27] + - !!python/tuple [11, 28] + - !!python/tuple [12, 5] + - !!python/tuple [24, 11] + - !!python/tuple [7, 28] + - !!python/tuple [24, 6] + - !!python/tuple [9, 12] + - !!python/tuple [30, 9] + - !!python/tuple [5, 12] + - !!python/tuple [5, 13] + - !!python/tuple [21, 20] + - !!python/tuple [31, 1] + - !!python/tuple [1, 19] + - !!python/tuple [31, 27] + - !!python/tuple [11, 22] + - !!python/tuple [0, 1] + - !!python/tuple [8, 27] + - !!python/tuple [18, 9] + - !!python/tuple [18, 29] + - !!python/tuple [27, 24] + - !!python/tuple [5, 22] + - !!python/tuple [21, 3] + - !!python/tuple [31, 30] + - !!python/tuple [15, 18] + - !!python/tuple [29, 13] + - !!python/tuple [27, 13] + - !!python/tuple [12, 2] + - !!python/tuple [31, 5] + - !!python/tuple [3, 31] + - !!python/tuple [20, 10] + - !!python/tuple [5, 16] + - !!python/tuple [31, 24] + - !!python/tuple [25, 2] + - !!python/tuple [7, 19] + - !!python/tuple [24, 31] + - !!python/tuple [30, 3] + - !!python/tuple [6, 16] + - !!python/tuple [3, 12] + - !!python/tuple [15, 22] + - !!python/tuple [9, 20] + - !!python/tuple [6, 8] + - !!python/tuple [21, 21] + - !!python/tuple [22, 1] + - !!python/tuple [28, 9] + - !!python/tuple [0, 22] + - !!python/tuple [19, 16] + - !!python/tuple [2, 23] + - !!python/tuple [5, 6] + - !!python/tuple [20, 17] + - !!python/tuple [1, 27] + - !!python/tuple [20, 7] + - !!python/tuple [8, 24] + - !!python/tuple [30, 17] + - !!python/tuple [4, 19] + - !!python/tuple [3, 3] + - !!python/tuple [9, 27] + - !!python/tuple [28, 8] + - !!python/tuple [0, 10] + - !!python/tuple [18, 26] + - !!python/tuple [7, 20] + - !!python/tuple [28, 24] + - !!python/tuple [0, 6] + - !!python/tuple [24, 26] + - !!python/tuple [16, 14] + - !!python/tuple [1, 5] + - !!python/tuple [13, 21] + - !!python/tuple [6, 23] + - !!python/tuple [12, 31] + - !!python/tuple [6, 20] + - !!python/tuple [19, 11] + - !!python/tuple [25, 11] + - !!python/tuple [31, 8] + - !!python/tuple [17, 26] + - !!python/tuple [8, 30] + - !!python/tuple [15, 11] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex7.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex7.yaml new file mode 100644 index 0000000..f03bb37 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex7.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [7, 24] + name: agent0 + start: [21, 25] +- goal: [28, 27] + name: agent1 + start: [21, 20] +- goal: [22, 28] + name: agent2 + start: [29, 14] +- goal: [30, 1] + name: agent3 + start: [14, 9] +- goal: [12, 29] + name: agent4 + start: [10, 2] +- goal: [13, 12] + name: agent5 + start: [28, 30] +- goal: [11, 26] + name: agent6 + start: [4, 20] +- goal: [17, 23] + name: agent7 + start: [3, 2] +- goal: [15, 7] + name: agent8 + start: [31, 28] +- goal: [12, 10] + name: agent9 + start: [31, 4] +- goal: [13, 7] + name: agent10 + start: [16, 19] +- goal: [17, 18] + name: agent11 + start: [29, 1] +- goal: [9, 21] + name: agent12 + start: [9, 29] +- goal: [12, 18] + name: agent13 + start: [14, 20] +- goal: [23, 26] + name: agent14 + start: [1, 20] +- goal: [13, 28] + name: agent15 + start: [26, 4] +- goal: [7, 6] + name: agent16 + start: [17, 29] +- goal: [23, 17] + name: agent17 + start: [3, 11] +- goal: [30, 2] + name: agent18 + start: [14, 26] +- goal: [23, 15] + name: agent19 + start: [25, 9] +- goal: [21, 6] + name: agent20 + start: [6, 31] +- goal: [11, 19] + name: agent21 + start: [23, 5] +- goal: [2, 3] + name: agent22 + start: [16, 20] +- goal: [16, 5] + name: agent23 + start: [2, 30] +- goal: [31, 24] + name: agent24 + start: [25, 21] +- goal: [6, 19] + name: agent25 + start: [17, 9] +- goal: [2, 18] + name: agent26 + start: [25, 18] +- goal: [17, 7] + name: agent27 + start: [24, 12] +- goal: [3, 21] + name: agent28 + start: [14, 21] +- goal: [23, 1] + name: agent29 + start: [1, 16] +- goal: [19, 11] + name: agent30 + start: [23, 27] +- goal: [24, 30] + name: agent31 + start: [20, 28] +- goal: [23, 23] + name: agent32 + start: [21, 9] +- goal: [6, 30] + name: agent33 + start: [16, 30] +- goal: [31, 14] + name: agent34 + start: [26, 30] +- goal: [19, 22] + name: agent35 + start: [26, 12] +- goal: [29, 21] + name: agent36 + start: [6, 2] +- goal: [25, 16] + name: agent37 + start: [14, 24] +- goal: [15, 22] + name: agent38 + start: [27, 31] +- goal: [6, 7] + name: agent39 + start: [13, 28] +- goal: [5, 20] + name: agent40 + start: [24, 0] +- goal: [19, 31] + name: agent41 + start: [8, 18] +- goal: [1, 20] + name: agent42 + start: [16, 31] +- goal: [6, 9] + name: agent43 + start: [0, 25] +- goal: [11, 31] + name: agent44 + start: [27, 10] +- goal: [0, 14] + name: agent45 + start: [1, 25] +- goal: [26, 2] + name: agent46 + start: [31, 2] +- goal: [1, 2] + name: agent47 + start: [12, 7] +- goal: [17, 27] + name: agent48 + start: [12, 0] +- goal: [4, 11] + name: agent49 + start: [6, 23] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [0, 15] + - !!python/tuple [19, 3] + - !!python/tuple [8, 26] + - !!python/tuple [4, 31] + - !!python/tuple [23, 25] + - !!python/tuple [21, 11] + - !!python/tuple [17, 5] + - !!python/tuple [14, 12] + - !!python/tuple [16, 6] + - !!python/tuple [12, 14] + - !!python/tuple [8, 8] + - !!python/tuple [15, 29] + - !!python/tuple [0, 28] + - !!python/tuple [23, 30] + - !!python/tuple [20, 25] + - !!python/tuple [18, 0] + - !!python/tuple [18, 9] + - !!python/tuple [24, 3] + - !!python/tuple [30, 24] + - !!python/tuple [9, 5] + - !!python/tuple [24, 29] + - !!python/tuple [12, 16] + - !!python/tuple [8, 3] + - !!python/tuple [1, 7] + - !!python/tuple [2, 14] + - !!python/tuple [7, 25] + - !!python/tuple [29, 13] + - !!python/tuple [9, 15] + - !!python/tuple [2, 1] + - !!python/tuple [22, 6] + - !!python/tuple [3, 16] + - !!python/tuple [4, 10] + - !!python/tuple [4, 18] + - !!python/tuple [12, 6] + - !!python/tuple [21, 1] + - !!python/tuple [5, 22] + - !!python/tuple [21, 17] + - !!python/tuple [16, 16] + - !!python/tuple [27, 15] + - !!python/tuple [16, 8] + - !!python/tuple [22, 8] + - !!python/tuple [23, 13] + - !!python/tuple [8, 6] + - !!python/tuple [10, 6] + - !!python/tuple [31, 10] + - !!python/tuple [20, 17] + - !!python/tuple [13, 18] + - !!python/tuple [11, 27] + - !!python/tuple [16, 18] + - !!python/tuple [3, 22] + - !!python/tuple [3, 13] + - !!python/tuple [21, 31] + - !!python/tuple [15, 25] + - !!python/tuple [27, 12] + - !!python/tuple [2, 21] + - !!python/tuple [0, 2] + - !!python/tuple [1, 31] + - !!python/tuple [4, 8] + - !!python/tuple [23, 21] + - !!python/tuple [25, 30] + - !!python/tuple [2, 29] + - !!python/tuple [16, 21] + - !!python/tuple [18, 14] + - !!python/tuple [16, 25] + - !!python/tuple [4, 21] + - !!python/tuple [10, 1] + - !!python/tuple [26, 1] + - !!python/tuple [15, 12] + - !!python/tuple [5, 29] + - !!python/tuple [19, 24] + - !!python/tuple [20, 23] + - !!python/tuple [17, 3] + - !!python/tuple [22, 4] + - !!python/tuple [19, 6] + - !!python/tuple [4, 19] + - !!python/tuple [7, 30] + - !!python/tuple [7, 26] + - !!python/tuple [21, 16] + - !!python/tuple [3, 5] + - !!python/tuple [30, 30] + - !!python/tuple [0, 23] + - !!python/tuple [8, 1] + - !!python/tuple [13, 4] + - !!python/tuple [5, 2] + - !!python/tuple [26, 10] + - !!python/tuple [18, 21] + - !!python/tuple [28, 17] + - !!python/tuple [23, 3] + - !!python/tuple [6, 8] + - !!python/tuple [2, 5] + - !!python/tuple [5, 27] + - !!python/tuple [5, 6] + - !!python/tuple [27, 2] + - !!python/tuple [3, 18] + - !!python/tuple [27, 4] + - !!python/tuple [8, 30] + - !!python/tuple [13, 3] + - !!python/tuple [21, 22] + - !!python/tuple [25, 22] + - !!python/tuple [16, 12] + - !!python/tuple [14, 16] + - !!python/tuple [11, 14] + - !!python/tuple [16, 1] + - !!python/tuple [3, 6] + - !!python/tuple [30, 23] + - !!python/tuple [18, 22] + - !!python/tuple [19, 13] + - !!python/tuple [4, 30] + - !!python/tuple [2, 25] + - !!python/tuple [4, 2] + - !!python/tuple [26, 23] + - !!python/tuple [13, 16] + - !!python/tuple [27, 11] + - !!python/tuple [5, 7] + - !!python/tuple [26, 25] + - !!python/tuple [8, 20] + - !!python/tuple [20, 19] + - !!python/tuple [15, 0] + - !!python/tuple [29, 27] + - !!python/tuple [29, 4] + - !!python/tuple [24, 5] + - !!python/tuple [18, 25] + - !!python/tuple [8, 29] + - !!python/tuple [11, 23] + - !!python/tuple [9, 2] + - !!python/tuple [17, 20] + - !!python/tuple [19, 25] + - !!python/tuple [1, 11] + - !!python/tuple [17, 14] + - !!python/tuple [10, 28] + - !!python/tuple [20, 4] + - !!python/tuple [2, 24] + - !!python/tuple [27, 22] + - !!python/tuple [16, 23] + - !!python/tuple [13, 25] + - !!python/tuple [9, 14] + - !!python/tuple [26, 6] + - !!python/tuple [31, 9] + - !!python/tuple [8, 27] + - !!python/tuple [29, 25] + - !!python/tuple [8, 12] + - !!python/tuple [28, 0] + - !!python/tuple [17, 1] + - !!python/tuple [12, 2] + - !!python/tuple [8, 14] + - !!python/tuple [16, 29] + - !!python/tuple [1, 8] + - !!python/tuple [31, 15] + - !!python/tuple [21, 24] + - !!python/tuple [25, 13] + - !!python/tuple [5, 18] + - !!python/tuple [15, 18] + - !!python/tuple [7, 23] + - !!python/tuple [13, 23] + - !!python/tuple [19, 12] + - !!python/tuple [23, 31] + - !!python/tuple [15, 24] + - !!python/tuple [10, 11] + - !!python/tuple [15, 17] + - !!python/tuple [12, 13] + - !!python/tuple [25, 24] + - !!python/tuple [20, 0] + - !!python/tuple [31, 27] + - !!python/tuple [26, 9] + - !!python/tuple [12, 20] + - !!python/tuple [31, 1] + - !!python/tuple [24, 10] + - !!python/tuple [12, 9] + - !!python/tuple [20, 13] + - !!python/tuple [12, 17] + - !!python/tuple [6, 0] + - !!python/tuple [17, 25] + - !!python/tuple [23, 12] + - !!python/tuple [0, 31] + - !!python/tuple [28, 31] + - !!python/tuple [16, 9] + - !!python/tuple [5, 10] + - !!python/tuple [3, 12] + - !!python/tuple [14, 28] + - !!python/tuple [10, 17] + - !!python/tuple [29, 7] + - !!python/tuple [22, 3] + - !!python/tuple [24, 25] + - !!python/tuple [0, 21] + - !!python/tuple [29, 31] + - !!python/tuple [2, 17] + - !!python/tuple [13, 5] + - !!python/tuple [29, 2] + - !!python/tuple [3, 24] + - !!python/tuple [1, 13] + - !!python/tuple [6, 16] + - !!python/tuple [27, 27] + - !!python/tuple [24, 2] + - !!python/tuple [12, 3] + - !!python/tuple [0, 9] + - !!python/tuple [19, 26] + - !!python/tuple [3, 15] + - !!python/tuple [11, 24] + - !!python/tuple [1, 29] + - !!python/tuple [8, 22] + - !!python/tuple [13, 14] + - !!python/tuple [21, 5] + - !!python/tuple [5, 9] + - !!python/tuple [28, 28] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex70.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex70.yaml new file mode 100644 index 0000000..577cbb4 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex70.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [28, 10] + name: agent0 + start: [8, 25] +- goal: [10, 29] + name: agent1 + start: [24, 31] +- goal: [29, 14] + name: agent2 + start: [4, 1] +- goal: [31, 16] + name: agent3 + start: [6, 13] +- goal: [3, 21] + name: agent4 + start: [29, 10] +- goal: [23, 29] + name: agent5 + start: [27, 9] +- goal: [10, 20] + name: agent6 + start: [28, 19] +- goal: [17, 3] + name: agent7 + start: [31, 27] +- goal: [24, 4] + name: agent8 + start: [16, 6] +- goal: [10, 25] + name: agent9 + start: [5, 6] +- goal: [12, 14] + name: agent10 + start: [8, 27] +- goal: [22, 22] + name: agent11 + start: [14, 8] +- goal: [9, 13] + name: agent12 + start: [5, 11] +- goal: [26, 2] + name: agent13 + start: [15, 8] +- goal: [30, 18] + name: agent14 + start: [29, 20] +- goal: [22, 24] + name: agent15 + start: [7, 14] +- goal: [9, 10] + name: agent16 + start: [25, 20] +- goal: [31, 30] + name: agent17 + start: [29, 21] +- goal: [23, 10] + name: agent18 + start: [8, 9] +- goal: [26, 26] + name: agent19 + start: [10, 7] +- goal: [31, 5] + name: agent20 + start: [0, 27] +- goal: [12, 6] + name: agent21 + start: [22, 7] +- goal: [6, 15] + name: agent22 + start: [9, 13] +- goal: [18, 1] + name: agent23 + start: [27, 30] +- goal: [31, 28] + name: agent24 + start: [1, 6] +- goal: [15, 15] + name: agent25 + start: [2, 1] +- goal: [15, 27] + name: agent26 + start: [9, 6] +- goal: [31, 8] + name: agent27 + start: [2, 6] +- goal: [9, 8] + name: agent28 + start: [27, 10] +- goal: [18, 15] + name: agent29 + start: [4, 16] +- goal: [28, 27] + name: agent30 + start: [28, 10] +- goal: [27, 17] + name: agent31 + start: [31, 17] +- goal: [29, 24] + name: agent32 + start: [21, 22] +- goal: [4, 15] + name: agent33 + start: [9, 24] +- goal: [30, 27] + name: agent34 + start: [11, 1] +- goal: [3, 9] + name: agent35 + start: [3, 7] +- goal: [0, 20] + name: agent36 + start: [22, 13] +- goal: [3, 7] + name: agent37 + start: [24, 3] +- goal: [6, 1] + name: agent38 + start: [24, 27] +- goal: [28, 0] + name: agent39 + start: [25, 13] +- goal: [17, 18] + name: agent40 + start: [14, 20] +- goal: [30, 29] + name: agent41 + start: [6, 14] +- goal: [13, 14] + name: agent42 + start: [28, 12] +- goal: [23, 24] + name: agent43 + start: [28, 6] +- goal: [17, 16] + name: agent44 + start: [13, 26] +- goal: [19, 30] + name: agent45 + start: [25, 9] +- goal: [3, 8] + name: agent46 + start: [16, 4] +- goal: [1, 19] + name: agent47 + start: [23, 9] +- goal: [16, 26] + name: agent48 + start: [23, 3] +- goal: [5, 16] + name: agent49 + start: [27, 25] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [10, 18] + - !!python/tuple [10, 8] + - !!python/tuple [24, 6] + - !!python/tuple [8, 3] + - !!python/tuple [6, 5] + - !!python/tuple [27, 28] + - !!python/tuple [15, 6] + - !!python/tuple [26, 20] + - !!python/tuple [14, 23] + - !!python/tuple [5, 22] + - !!python/tuple [12, 30] + - !!python/tuple [29, 29] + - !!python/tuple [8, 26] + - !!python/tuple [31, 18] + - !!python/tuple [7, 18] + - !!python/tuple [9, 25] + - !!python/tuple [15, 3] + - !!python/tuple [27, 29] + - !!python/tuple [20, 18] + - !!python/tuple [8, 8] + - !!python/tuple [15, 11] + - !!python/tuple [27, 31] + - !!python/tuple [28, 22] + - !!python/tuple [14, 29] + - !!python/tuple [12, 1] + - !!python/tuple [9, 18] + - !!python/tuple [28, 30] + - !!python/tuple [3, 24] + - !!python/tuple [27, 3] + - !!python/tuple [10, 12] + - !!python/tuple [31, 29] + - !!python/tuple [0, 23] + - !!python/tuple [13, 17] + - !!python/tuple [12, 29] + - !!python/tuple [21, 28] + - !!python/tuple [22, 11] + - !!python/tuple [31, 6] + - !!python/tuple [16, 1] + - !!python/tuple [3, 0] + - !!python/tuple [10, 26] + - !!python/tuple [18, 31] + - !!python/tuple [23, 15] + - !!python/tuple [10, 31] + - !!python/tuple [17, 10] + - !!python/tuple [5, 30] + - !!python/tuple [14, 15] + - !!python/tuple [30, 24] + - !!python/tuple [7, 0] + - !!python/tuple [21, 23] + - !!python/tuple [6, 8] + - !!python/tuple [21, 2] + - !!python/tuple [22, 28] + - !!python/tuple [24, 24] + - !!python/tuple [18, 30] + - !!python/tuple [24, 13] + - !!python/tuple [26, 28] + - !!python/tuple [1, 18] + - !!python/tuple [28, 15] + - !!python/tuple [15, 9] + - !!python/tuple [16, 11] + - !!python/tuple [11, 9] + - !!python/tuple [15, 2] + - !!python/tuple [19, 13] + - !!python/tuple [25, 4] + - !!python/tuple [17, 5] + - !!python/tuple [14, 18] + - !!python/tuple [30, 6] + - !!python/tuple [7, 24] + - !!python/tuple [4, 25] + - !!python/tuple [6, 20] + - !!python/tuple [1, 9] + - !!python/tuple [16, 29] + - !!python/tuple [19, 10] + - !!python/tuple [30, 16] + - !!python/tuple [9, 26] + - !!python/tuple [5, 9] + - !!python/tuple [12, 11] + - !!python/tuple [22, 15] + - !!python/tuple [15, 19] + - !!python/tuple [25, 10] + - !!python/tuple [27, 15] + - !!python/tuple [24, 26] + - !!python/tuple [22, 20] + - !!python/tuple [2, 7] + - !!python/tuple [25, 30] + - !!python/tuple [1, 29] + - !!python/tuple [5, 7] + - !!python/tuple [9, 17] + - !!python/tuple [15, 0] + - !!python/tuple [1, 15] + - !!python/tuple [29, 25] + - !!python/tuple [28, 13] + - !!python/tuple [7, 9] + - !!python/tuple [6, 22] + - !!python/tuple [4, 10] + - !!python/tuple [15, 23] + - !!python/tuple [29, 23] + - !!python/tuple [18, 5] + - !!python/tuple [22, 21] + - !!python/tuple [7, 11] + - !!python/tuple [2, 31] + - !!python/tuple [16, 17] + - !!python/tuple [27, 2] + - !!python/tuple [17, 17] + - !!python/tuple [20, 23] + - !!python/tuple [18, 12] + - !!python/tuple [7, 5] + - !!python/tuple [27, 13] + - !!python/tuple [0, 22] + - !!python/tuple [3, 3] + - !!python/tuple [20, 19] + - !!python/tuple [30, 0] + - !!python/tuple [23, 30] + - !!python/tuple [5, 1] + - !!python/tuple [11, 29] + - !!python/tuple [20, 15] + - !!python/tuple [20, 12] + - !!python/tuple [9, 22] + - !!python/tuple [19, 24] + - !!python/tuple [12, 23] + - !!python/tuple [12, 27] + - !!python/tuple [23, 28] + - !!python/tuple [19, 29] + - !!python/tuple [0, 19] + - !!python/tuple [2, 25] + - !!python/tuple [18, 4] + - !!python/tuple [24, 30] + - !!python/tuple [31, 14] + - !!python/tuple [16, 19] + - !!python/tuple [15, 30] + - !!python/tuple [26, 21] + - !!python/tuple [19, 20] + - !!python/tuple [31, 1] + - !!python/tuple [1, 10] + - !!python/tuple [13, 6] + - !!python/tuple [31, 3] + - !!python/tuple [0, 6] + - !!python/tuple [4, 5] + - !!python/tuple [25, 25] + - !!python/tuple [27, 12] + - !!python/tuple [22, 25] + - !!python/tuple [29, 28] + - !!python/tuple [29, 16] + - !!python/tuple [4, 23] + - !!python/tuple [7, 27] + - !!python/tuple [21, 14] + - !!python/tuple [23, 18] + - !!python/tuple [16, 25] + - !!python/tuple [3, 18] + - !!python/tuple [20, 5] + - !!python/tuple [20, 3] + - !!python/tuple [3, 14] + - !!python/tuple [21, 8] + - !!python/tuple [18, 6] + - !!python/tuple [0, 30] + - !!python/tuple [13, 19] + - !!python/tuple [21, 20] + - !!python/tuple [30, 4] + - !!python/tuple [8, 17] + - !!python/tuple [25, 22] + - !!python/tuple [0, 14] + - !!python/tuple [19, 19] + - !!python/tuple [22, 31] + - !!python/tuple [8, 11] + - !!python/tuple [25, 21] + - !!python/tuple [5, 8] + - !!python/tuple [16, 18] + - !!python/tuple [13, 27] + - !!python/tuple [28, 8] + - !!python/tuple [26, 16] + - !!python/tuple [0, 28] + - !!python/tuple [12, 10] + - !!python/tuple [13, 9] + - !!python/tuple [19, 21] + - !!python/tuple [10, 28] + - !!python/tuple [11, 5] + - !!python/tuple [6, 31] + - !!python/tuple [19, 18] + - !!python/tuple [8, 31] + - !!python/tuple [22, 1] + - !!python/tuple [26, 24] + - !!python/tuple [10, 2] + - !!python/tuple [22, 17] + - !!python/tuple [2, 30] + - !!python/tuple [14, 21] + - !!python/tuple [27, 4] + - !!python/tuple [10, 30] + - !!python/tuple [0, 25] + - !!python/tuple [15, 31] + - !!python/tuple [5, 26] + - !!python/tuple [22, 30] + - !!python/tuple [3, 15] + - !!python/tuple [26, 0] + - !!python/tuple [27, 1] + - !!python/tuple [26, 9] + - !!python/tuple [6, 28] + - !!python/tuple [29, 2] + - !!python/tuple [18, 22] + - !!python/tuple [31, 25] + - !!python/tuple [15, 1] + - !!python/tuple [9, 2] + - !!python/tuple [30, 20] + - !!python/tuple [11, 22] + - !!python/tuple [8, 18] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex71.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex71.yaml new file mode 100644 index 0000000..09d1dc7 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex71.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [13, 25] + name: agent0 + start: [11, 3] +- goal: [6, 15] + name: agent1 + start: [22, 22] +- goal: [23, 7] + name: agent2 + start: [0, 3] +- goal: [13, 11] + name: agent3 + start: [1, 9] +- goal: [18, 3] + name: agent4 + start: [11, 29] +- goal: [9, 11] + name: agent5 + start: [3, 29] +- goal: [9, 22] + name: agent6 + start: [12, 13] +- goal: [1, 6] + name: agent7 + start: [14, 26] +- goal: [22, 3] + name: agent8 + start: [23, 5] +- goal: [23, 17] + name: agent9 + start: [2, 9] +- goal: [25, 25] + name: agent10 + start: [18, 19] +- goal: [15, 10] + name: agent11 + start: [16, 29] +- goal: [16, 25] + name: agent12 + start: [7, 6] +- goal: [3, 19] + name: agent13 + start: [7, 8] +- goal: [25, 13] + name: agent14 + start: [10, 27] +- goal: [0, 27] + name: agent15 + start: [6, 23] +- goal: [27, 6] + name: agent16 + start: [1, 26] +- goal: [23, 31] + name: agent17 + start: [12, 4] +- goal: [9, 19] + name: agent18 + start: [17, 8] +- goal: [25, 31] + name: agent19 + start: [24, 31] +- goal: [4, 12] + name: agent20 + start: [20, 22] +- goal: [7, 2] + name: agent21 + start: [9, 29] +- goal: [1, 18] + name: agent22 + start: [23, 2] +- goal: [2, 1] + name: agent23 + start: [0, 22] +- goal: [27, 19] + name: agent24 + start: [13, 20] +- goal: [23, 30] + name: agent25 + start: [21, 30] +- goal: [25, 12] + name: agent26 + start: [12, 12] +- goal: [4, 28] + name: agent27 + start: [6, 15] +- goal: [24, 5] + name: agent28 + start: [24, 4] +- goal: [14, 12] + name: agent29 + start: [18, 0] +- goal: [6, 4] + name: agent30 + start: [6, 20] +- goal: [1, 20] + name: agent31 + start: [28, 23] +- goal: [30, 18] + name: agent32 + start: [16, 19] +- goal: [3, 29] + name: agent33 + start: [9, 15] +- goal: [25, 28] + name: agent34 + start: [4, 11] +- goal: [17, 7] + name: agent35 + start: [14, 20] +- goal: [20, 15] + name: agent36 + start: [30, 1] +- goal: [12, 23] + name: agent37 + start: [27, 15] +- goal: [16, 22] + name: agent38 + start: [20, 4] +- goal: [6, 0] + name: agent39 + start: [5, 26] +- goal: [31, 20] + name: agent40 + start: [10, 3] +- goal: [13, 1] + name: agent41 + start: [9, 16] +- goal: [17, 27] + name: agent42 + start: [19, 29] +- goal: [27, 20] + name: agent43 + start: [24, 1] +- goal: [28, 1] + name: agent44 + start: [11, 22] +- goal: [20, 4] + name: agent45 + start: [30, 11] +- goal: [17, 1] + name: agent46 + start: [29, 2] +- goal: [21, 1] + name: agent47 + start: [28, 4] +- goal: [2, 9] + name: agent48 + start: [3, 7] +- goal: [16, 29] + name: agent49 + start: [28, 14] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [13, 21] + - !!python/tuple [26, 7] + - !!python/tuple [1, 19] + - !!python/tuple [19, 17] + - !!python/tuple [2, 8] + - !!python/tuple [4, 3] + - !!python/tuple [6, 18] + - !!python/tuple [17, 2] + - !!python/tuple [26, 4] + - !!python/tuple [22, 28] + - !!python/tuple [29, 30] + - !!python/tuple [27, 2] + - !!python/tuple [23, 13] + - !!python/tuple [16, 7] + - !!python/tuple [25, 30] + - !!python/tuple [3, 30] + - !!python/tuple [24, 27] + - !!python/tuple [17, 9] + - !!python/tuple [16, 10] + - !!python/tuple [12, 0] + - !!python/tuple [14, 28] + - !!python/tuple [4, 4] + - !!python/tuple [27, 0] + - !!python/tuple [9, 3] + - !!python/tuple [23, 21] + - !!python/tuple [23, 12] + - !!python/tuple [4, 19] + - !!python/tuple [5, 29] + - !!python/tuple [25, 8] + - !!python/tuple [16, 15] + - !!python/tuple [8, 6] + - !!python/tuple [1, 0] + - !!python/tuple [17, 24] + - !!python/tuple [7, 16] + - !!python/tuple [6, 28] + - !!python/tuple [24, 25] + - !!python/tuple [3, 21] + - !!python/tuple [0, 6] + - !!python/tuple [24, 30] + - !!python/tuple [31, 0] + - !!python/tuple [4, 15] + - !!python/tuple [25, 23] + - !!python/tuple [5, 11] + - !!python/tuple [23, 18] + - !!python/tuple [27, 24] + - !!python/tuple [1, 23] + - !!python/tuple [28, 5] + - !!python/tuple [12, 2] + - !!python/tuple [7, 9] + - !!python/tuple [19, 16] + - !!python/tuple [30, 2] + - !!python/tuple [8, 31] + - !!python/tuple [24, 26] + - !!python/tuple [7, 27] + - !!python/tuple [5, 6] + - !!python/tuple [19, 3] + - !!python/tuple [21, 4] + - !!python/tuple [1, 24] + - !!python/tuple [8, 22] + - !!python/tuple [1, 1] + - !!python/tuple [28, 19] + - !!python/tuple [13, 16] + - !!python/tuple [15, 27] + - !!python/tuple [31, 3] + - !!python/tuple [21, 6] + - !!python/tuple [1, 14] + - !!python/tuple [19, 13] + - !!python/tuple [29, 0] + - !!python/tuple [19, 20] + - !!python/tuple [11, 1] + - !!python/tuple [21, 22] + - !!python/tuple [14, 15] + - !!python/tuple [31, 27] + - !!python/tuple [0, 9] + - !!python/tuple [14, 30] + - !!python/tuple [9, 8] + - !!python/tuple [28, 22] + - !!python/tuple [11, 23] + - !!python/tuple [14, 16] + - !!python/tuple [22, 0] + - !!python/tuple [19, 7] + - !!python/tuple [7, 26] + - !!python/tuple [1, 13] + - !!python/tuple [29, 22] + - !!python/tuple [31, 31] + - !!python/tuple [21, 0] + - !!python/tuple [2, 23] + - !!python/tuple [29, 11] + - !!python/tuple [0, 1] + - !!python/tuple [29, 5] + - !!python/tuple [29, 8] + - !!python/tuple [8, 25] + - !!python/tuple [10, 14] + - !!python/tuple [19, 9] + - !!python/tuple [29, 13] + - !!python/tuple [6, 8] + - !!python/tuple [7, 20] + - !!python/tuple [16, 3] + - !!python/tuple [13, 27] + - !!python/tuple [15, 0] + - !!python/tuple [5, 24] + - !!python/tuple [29, 7] + - !!python/tuple [11, 15] + - !!python/tuple [31, 29] + - !!python/tuple [11, 12] + - !!python/tuple [11, 30] + - !!python/tuple [26, 0] + - !!python/tuple [12, 15] + - !!python/tuple [31, 11] + - !!python/tuple [2, 18] + - !!python/tuple [3, 24] + - !!python/tuple [6, 21] + - !!python/tuple [13, 0] + - !!python/tuple [16, 17] + - !!python/tuple [5, 4] + - !!python/tuple [17, 10] + - !!python/tuple [5, 20] + - !!python/tuple [23, 3] + - !!python/tuple [18, 16] + - !!python/tuple [3, 14] + - !!python/tuple [14, 1] + - !!python/tuple [13, 13] + - !!python/tuple [13, 26] + - !!python/tuple [28, 12] + - !!python/tuple [21, 13] + - !!python/tuple [4, 22] + - !!python/tuple [8, 12] + - !!python/tuple [23, 29] + - !!python/tuple [1, 16] + - !!python/tuple [8, 0] + - !!python/tuple [2, 0] + - !!python/tuple [25, 0] + - !!python/tuple [30, 7] + - !!python/tuple [3, 8] + - !!python/tuple [25, 26] + - !!python/tuple [31, 25] + - !!python/tuple [29, 27] + - !!python/tuple [7, 13] + - !!python/tuple [22, 29] + - !!python/tuple [8, 20] + - !!python/tuple [23, 8] + - !!python/tuple [17, 19] + - !!python/tuple [21, 23] + - !!python/tuple [8, 13] + - !!python/tuple [11, 19] + - !!python/tuple [27, 18] + - !!python/tuple [17, 17] + - !!python/tuple [30, 26] + - !!python/tuple [22, 25] + - !!python/tuple [25, 15] + - !!python/tuple [12, 19] + - !!python/tuple [5, 30] + - !!python/tuple [6, 25] + - !!python/tuple [26, 17] + - !!python/tuple [7, 28] + - !!python/tuple [9, 12] + - !!python/tuple [18, 27] + - !!python/tuple [14, 9] + - !!python/tuple [26, 8] + - !!python/tuple [24, 17] + - !!python/tuple [16, 21] + - !!python/tuple [11, 20] + - !!python/tuple [24, 24] + - !!python/tuple [14, 11] + - !!python/tuple [24, 9] + - !!python/tuple [21, 3] + - !!python/tuple [6, 5] + - !!python/tuple [21, 26] + - !!python/tuple [27, 9] + - !!python/tuple [18, 18] + - !!python/tuple [7, 21] + - !!python/tuple [2, 28] + - !!python/tuple [0, 11] + - !!python/tuple [9, 30] + - !!python/tuple [26, 2] + - !!python/tuple [24, 29] + - !!python/tuple [17, 13] + - !!python/tuple [17, 21] + - !!python/tuple [31, 18] + - !!python/tuple [18, 11] + - !!python/tuple [13, 5] + - !!python/tuple [24, 20] + - !!python/tuple [28, 28] + - !!python/tuple [5, 28] + - !!python/tuple [0, 2] + - !!python/tuple [20, 18] + - !!python/tuple [5, 22] + - !!python/tuple [13, 7] + - !!python/tuple [22, 1] + - !!python/tuple [23, 27] + - !!python/tuple [18, 26] + - !!python/tuple [18, 25] + - !!python/tuple [16, 1] + - !!python/tuple [28, 30] + - !!python/tuple [15, 14] + - !!python/tuple [23, 4] + - !!python/tuple [24, 16] + - !!python/tuple [15, 18] + - !!python/tuple [11, 28] + - !!python/tuple [1, 25] + - !!python/tuple [22, 4] + - !!python/tuple [10, 1] + - !!python/tuple [20, 1] + - !!python/tuple [10, 8] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex72.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex72.yaml new file mode 100644 index 0000000..eff4f1b --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex72.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [7, 7] + name: agent0 + start: [22, 23] +- goal: [29, 3] + name: agent1 + start: [8, 7] +- goal: [14, 0] + name: agent2 + start: [15, 8] +- goal: [21, 20] + name: agent3 + start: [16, 26] +- goal: [12, 26] + name: agent4 + start: [30, 31] +- goal: [23, 6] + name: agent5 + start: [14, 17] +- goal: [27, 21] + name: agent6 + start: [24, 25] +- goal: [9, 17] + name: agent7 + start: [1, 30] +- goal: [29, 7] + name: agent8 + start: [11, 4] +- goal: [6, 24] + name: agent9 + start: [18, 24] +- goal: [30, 22] + name: agent10 + start: [8, 15] +- goal: [25, 6] + name: agent11 + start: [2, 26] +- goal: [22, 13] + name: agent12 + start: [7, 27] +- goal: [21, 27] + name: agent13 + start: [16, 9] +- goal: [19, 3] + name: agent14 + start: [31, 7] +- goal: [31, 14] + name: agent15 + start: [6, 23] +- goal: [23, 19] + name: agent16 + start: [29, 24] +- goal: [2, 31] + name: agent17 + start: [29, 26] +- goal: [23, 29] + name: agent18 + start: [23, 17] +- goal: [22, 27] + name: agent19 + start: [18, 20] +- goal: [7, 3] + name: agent20 + start: [31, 21] +- goal: [0, 15] + name: agent21 + start: [17, 31] +- goal: [20, 29] + name: agent22 + start: [11, 17] +- goal: [20, 31] + name: agent23 + start: [26, 17] +- goal: [29, 17] + name: agent24 + start: [14, 7] +- goal: [21, 3] + name: agent25 + start: [17, 11] +- goal: [31, 16] + name: agent26 + start: [9, 19] +- goal: [2, 6] + name: agent27 + start: [6, 0] +- goal: [1, 27] + name: agent28 + start: [12, 8] +- goal: [1, 1] + name: agent29 + start: [21, 9] +- goal: [26, 1] + name: agent30 + start: [15, 21] +- goal: [11, 27] + name: agent31 + start: [8, 0] +- goal: [4, 19] + name: agent32 + start: [13, 7] +- goal: [17, 1] + name: agent33 + start: [4, 27] +- goal: [14, 26] + name: agent34 + start: [14, 4] +- goal: [19, 10] + name: agent35 + start: [15, 13] +- goal: [7, 25] + name: agent36 + start: [11, 14] +- goal: [7, 24] + name: agent37 + start: [2, 31] +- goal: [1, 16] + name: agent38 + start: [30, 8] +- goal: [12, 27] + name: agent39 + start: [29, 18] +- goal: [7, 22] + name: agent40 + start: [12, 16] +- goal: [5, 7] + name: agent41 + start: [0, 22] +- goal: [17, 5] + name: agent42 + start: [24, 15] +- goal: [30, 29] + name: agent43 + start: [16, 19] +- goal: [12, 31] + name: agent44 + start: [19, 25] +- goal: [1, 2] + name: agent45 + start: [19, 11] +- goal: [0, 9] + name: agent46 + start: [24, 4] +- goal: [14, 8] + name: agent47 + start: [6, 22] +- goal: [1, 21] + name: agent48 + start: [30, 13] +- goal: [23, 30] + name: agent49 + start: [3, 15] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [3, 20] + - !!python/tuple [0, 5] + - !!python/tuple [25, 25] + - !!python/tuple [1, 7] + - !!python/tuple [17, 22] + - !!python/tuple [4, 15] + - !!python/tuple [8, 8] + - !!python/tuple [7, 4] + - !!python/tuple [26, 19] + - !!python/tuple [30, 21] + - !!python/tuple [27, 29] + - !!python/tuple [6, 9] + - !!python/tuple [11, 11] + - !!python/tuple [21, 31] + - !!python/tuple [2, 15] + - !!python/tuple [17, 14] + - !!python/tuple [6, 8] + - !!python/tuple [0, 7] + - !!python/tuple [15, 6] + - !!python/tuple [27, 18] + - !!python/tuple [30, 16] + - !!python/tuple [17, 20] + - !!python/tuple [13, 27] + - !!python/tuple [18, 25] + - !!python/tuple [17, 24] + - !!python/tuple [0, 28] + - !!python/tuple [16, 0] + - !!python/tuple [17, 25] + - !!python/tuple [20, 13] + - !!python/tuple [22, 2] + - !!python/tuple [16, 16] + - !!python/tuple [0, 3] + - !!python/tuple [2, 0] + - !!python/tuple [27, 0] + - !!python/tuple [7, 2] + - !!python/tuple [30, 11] + - !!python/tuple [14, 1] + - !!python/tuple [15, 31] + - !!python/tuple [23, 18] + - !!python/tuple [14, 28] + - !!python/tuple [30, 2] + - !!python/tuple [28, 14] + - !!python/tuple [29, 31] + - !!python/tuple [28, 24] + - !!python/tuple [25, 10] + - !!python/tuple [28, 7] + - !!python/tuple [13, 29] + - !!python/tuple [31, 1] + - !!python/tuple [22, 22] + - !!python/tuple [29, 6] + - !!python/tuple [10, 29] + - !!python/tuple [15, 9] + - !!python/tuple [10, 17] + - !!python/tuple [19, 8] + - !!python/tuple [30, 28] + - !!python/tuple [6, 21] + - !!python/tuple [25, 4] + - !!python/tuple [14, 16] + - !!python/tuple [9, 18] + - !!python/tuple [31, 18] + - !!python/tuple [25, 14] + - !!python/tuple [14, 3] + - !!python/tuple [21, 18] + - !!python/tuple [10, 8] + - !!python/tuple [16, 15] + - !!python/tuple [6, 25] + - !!python/tuple [17, 18] + - !!python/tuple [0, 12] + - !!python/tuple [11, 5] + - !!python/tuple [23, 15] + - !!python/tuple [13, 25] + - !!python/tuple [22, 17] + - !!python/tuple [11, 13] + - !!python/tuple [22, 15] + - !!python/tuple [9, 4] + - !!python/tuple [23, 21] + - !!python/tuple [13, 19] + - !!python/tuple [10, 7] + - !!python/tuple [15, 19] + - !!python/tuple [17, 4] + - !!python/tuple [2, 11] + - !!python/tuple [20, 27] + - !!python/tuple [2, 10] + - !!python/tuple [18, 16] + - !!python/tuple [10, 14] + - !!python/tuple [27, 13] + - !!python/tuple [29, 9] + - !!python/tuple [2, 17] + - !!python/tuple [25, 16] + - !!python/tuple [28, 8] + - !!python/tuple [14, 2] + - !!python/tuple [31, 6] + - !!python/tuple [16, 23] + - !!python/tuple [7, 30] + - !!python/tuple [25, 19] + - !!python/tuple [1, 6] + - !!python/tuple [26, 20] + - !!python/tuple [19, 5] + - !!python/tuple [7, 6] + - !!python/tuple [14, 11] + - !!python/tuple [15, 7] + - !!python/tuple [13, 12] + - !!python/tuple [8, 21] + - !!python/tuple [25, 24] + - !!python/tuple [31, 19] + - !!python/tuple [29, 19] + - !!python/tuple [0, 11] + - !!python/tuple [18, 26] + - !!python/tuple [3, 17] + - !!python/tuple [4, 12] + - !!python/tuple [2, 28] + - !!python/tuple [16, 4] + - !!python/tuple [18, 17] + - !!python/tuple [14, 24] + - !!python/tuple [10, 16] + - !!python/tuple [28, 16] + - !!python/tuple [3, 30] + - !!python/tuple [18, 5] + - !!python/tuple [18, 27] + - !!python/tuple [3, 23] + - !!python/tuple [9, 2] + - !!python/tuple [7, 14] + - !!python/tuple [20, 30] + - !!python/tuple [6, 2] + - !!python/tuple [11, 1] + - !!python/tuple [20, 4] + - !!python/tuple [18, 10] + - !!python/tuple [19, 21] + - !!python/tuple [27, 24] + - !!python/tuple [0, 14] + - !!python/tuple [24, 30] + - !!python/tuple [25, 26] + - !!python/tuple [26, 23] + - !!python/tuple [5, 9] + - !!python/tuple [13, 13] + - !!python/tuple [14, 31] + - !!python/tuple [25, 11] + - !!python/tuple [26, 4] + - !!python/tuple [5, 12] + - !!python/tuple [19, 7] + - !!python/tuple [29, 29] + - !!python/tuple [13, 24] + - !!python/tuple [19, 16] + - !!python/tuple [10, 21] + - !!python/tuple [19, 1] + - !!python/tuple [16, 31] + - !!python/tuple [15, 17] + - !!python/tuple [16, 21] + - !!python/tuple [11, 18] + - !!python/tuple [20, 16] + - !!python/tuple [23, 28] + - !!python/tuple [19, 30] + - !!python/tuple [8, 23] + - !!python/tuple [31, 17] + - !!python/tuple [24, 1] + - !!python/tuple [9, 5] + - !!python/tuple [8, 28] + - !!python/tuple [6, 19] + - !!python/tuple [14, 13] + - !!python/tuple [17, 7] + - !!python/tuple [22, 0] + - !!python/tuple [22, 20] + - !!python/tuple [23, 12] + - !!python/tuple [12, 3] + - !!python/tuple [31, 4] + - !!python/tuple [17, 12] + - !!python/tuple [11, 23] + - !!python/tuple [2, 4] + - !!python/tuple [2, 5] + - !!python/tuple [1, 11] + - !!python/tuple [7, 5] + - !!python/tuple [16, 10] + - !!python/tuple [25, 30] + - !!python/tuple [7, 28] + - !!python/tuple [20, 9] + - !!python/tuple [29, 21] + - !!python/tuple [3, 26] + - !!python/tuple [19, 19] + - !!python/tuple [0, 21] + - !!python/tuple [6, 5] + - !!python/tuple [23, 24] + - !!python/tuple [0, 16] + - !!python/tuple [3, 10] + - !!python/tuple [2, 18] + - !!python/tuple [23, 5] + - !!python/tuple [21, 26] + - !!python/tuple [9, 11] + - !!python/tuple [12, 28] + - !!python/tuple [25, 23] + - !!python/tuple [2, 2] + - !!python/tuple [13, 16] + - !!python/tuple [2, 29] + - !!python/tuple [9, 20] + - !!python/tuple [25, 20] + - !!python/tuple [31, 31] + - !!python/tuple [5, 30] + - !!python/tuple [19, 23] + - !!python/tuple [20, 11] + - !!python/tuple [13, 23] + - !!python/tuple [16, 2] + - !!python/tuple [4, 9] + - !!python/tuple [13, 17] + - !!python/tuple [7, 15] + - !!python/tuple [20, 24] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex73.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex73.yaml new file mode 100644 index 0000000..bd85435 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex73.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [25, 5] + name: agent0 + start: [31, 21] +- goal: [30, 18] + name: agent1 + start: [7, 28] +- goal: [9, 11] + name: agent2 + start: [28, 27] +- goal: [14, 31] + name: agent3 + start: [4, 26] +- goal: [14, 14] + name: agent4 + start: [13, 23] +- goal: [8, 7] + name: agent5 + start: [31, 11] +- goal: [9, 25] + name: agent6 + start: [0, 20] +- goal: [27, 26] + name: agent7 + start: [29, 31] +- goal: [4, 19] + name: agent8 + start: [7, 15] +- goal: [15, 21] + name: agent9 + start: [3, 30] +- goal: [14, 23] + name: agent10 + start: [0, 3] +- goal: [6, 18] + name: agent11 + start: [10, 7] +- goal: [29, 18] + name: agent12 + start: [20, 31] +- goal: [4, 24] + name: agent13 + start: [17, 18] +- goal: [20, 19] + name: agent14 + start: [14, 8] +- goal: [31, 5] + name: agent15 + start: [13, 3] +- goal: [3, 6] + name: agent16 + start: [19, 26] +- goal: [19, 1] + name: agent17 + start: [27, 28] +- goal: [8, 14] + name: agent18 + start: [18, 10] +- goal: [10, 28] + name: agent19 + start: [13, 8] +- goal: [17, 14] + name: agent20 + start: [11, 5] +- goal: [24, 28] + name: agent21 + start: [20, 28] +- goal: [0, 1] + name: agent22 + start: [26, 0] +- goal: [27, 30] + name: agent23 + start: [25, 23] +- goal: [31, 2] + name: agent24 + start: [25, 2] +- goal: [10, 24] + name: agent25 + start: [8, 21] +- goal: [12, 3] + name: agent26 + start: [12, 19] +- goal: [26, 23] + name: agent27 + start: [2, 5] +- goal: [25, 15] + name: agent28 + start: [26, 21] +- goal: [29, 5] + name: agent29 + start: [11, 23] +- goal: [4, 5] + name: agent30 + start: [30, 28] +- goal: [31, 18] + name: agent31 + start: [0, 10] +- goal: [10, 14] + name: agent32 + start: [14, 20] +- goal: [21, 18] + name: agent33 + start: [20, 17] +- goal: [21, 25] + name: agent34 + start: [16, 11] +- goal: [2, 26] + name: agent35 + start: [11, 8] +- goal: [22, 13] + name: agent36 + start: [14, 29] +- goal: [5, 11] + name: agent37 + start: [25, 13] +- goal: [0, 29] + name: agent38 + start: [21, 20] +- goal: [22, 16] + name: agent39 + start: [9, 5] +- goal: [22, 28] + name: agent40 + start: [25, 24] +- goal: [0, 6] + name: agent41 + start: [4, 4] +- goal: [12, 1] + name: agent42 + start: [9, 18] +- goal: [29, 2] + name: agent43 + start: [0, 19] +- goal: [6, 7] + name: agent44 + start: [9, 10] +- goal: [5, 3] + name: agent45 + start: [1, 19] +- goal: [18, 29] + name: agent46 + start: [30, 9] +- goal: [2, 14] + name: agent47 + start: [1, 22] +- goal: [20, 17] + name: agent48 + start: [1, 26] +- goal: [12, 15] + name: agent49 + start: [7, 26] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [27, 11] + - !!python/tuple [22, 20] + - !!python/tuple [26, 13] + - !!python/tuple [12, 5] + - !!python/tuple [18, 15] + - !!python/tuple [15, 31] + - !!python/tuple [22, 2] + - !!python/tuple [13, 24] + - !!python/tuple [10, 25] + - !!python/tuple [10, 15] + - !!python/tuple [27, 15] + - !!python/tuple [15, 30] + - !!python/tuple [7, 21] + - !!python/tuple [9, 30] + - !!python/tuple [23, 30] + - !!python/tuple [9, 9] + - !!python/tuple [18, 12] + - !!python/tuple [26, 12] + - !!python/tuple [9, 23] + - !!python/tuple [15, 19] + - !!python/tuple [31, 17] + - !!python/tuple [5, 16] + - !!python/tuple [3, 7] + - !!python/tuple [8, 19] + - !!python/tuple [16, 19] + - !!python/tuple [2, 31] + - !!python/tuple [1, 30] + - !!python/tuple [18, 25] + - !!python/tuple [26, 22] + - !!python/tuple [19, 5] + - !!python/tuple [1, 0] + - !!python/tuple [17, 20] + - !!python/tuple [27, 23] + - !!python/tuple [27, 10] + - !!python/tuple [7, 13] + - !!python/tuple [21, 5] + - !!python/tuple [20, 27] + - !!python/tuple [2, 24] + - !!python/tuple [9, 19] + - !!python/tuple [23, 7] + - !!python/tuple [27, 19] + - !!python/tuple [1, 14] + - !!python/tuple [23, 23] + - !!python/tuple [24, 25] + - !!python/tuple [1, 24] + - !!python/tuple [17, 9] + - !!python/tuple [13, 30] + - !!python/tuple [21, 30] + - !!python/tuple [22, 18] + - !!python/tuple [27, 31] + - !!python/tuple [9, 13] + - !!python/tuple [15, 0] + - !!python/tuple [15, 25] + - !!python/tuple [23, 29] + - !!python/tuple [7, 6] + - !!python/tuple [17, 24] + - !!python/tuple [20, 4] + - !!python/tuple [2, 28] + - !!python/tuple [5, 14] + - !!python/tuple [3, 31] + - !!python/tuple [21, 29] + - !!python/tuple [19, 18] + - !!python/tuple [2, 19] + - !!python/tuple [23, 16] + - !!python/tuple [12, 22] + - !!python/tuple [19, 27] + - !!python/tuple [5, 0] + - !!python/tuple [25, 31] + - !!python/tuple [11, 31] + - !!python/tuple [19, 6] + - !!python/tuple [9, 21] + - !!python/tuple [29, 22] + - !!python/tuple [3, 28] + - !!python/tuple [15, 22] + - !!python/tuple [7, 5] + - !!python/tuple [27, 18] + - !!python/tuple [21, 6] + - !!python/tuple [1, 6] + - !!python/tuple [14, 21] + - !!python/tuple [2, 8] + - !!python/tuple [3, 23] + - !!python/tuple [7, 29] + - !!python/tuple [7, 7] + - !!python/tuple [29, 3] + - !!python/tuple [14, 18] + - !!python/tuple [5, 27] + - !!python/tuple [14, 19] + - !!python/tuple [4, 28] + - !!python/tuple [21, 3] + - !!python/tuple [28, 12] + - !!python/tuple [12, 10] + - !!python/tuple [0, 30] + - !!python/tuple [22, 0] + - !!python/tuple [26, 3] + - !!python/tuple [23, 21] + - !!python/tuple [17, 5] + - !!python/tuple [7, 0] + - !!python/tuple [24, 24] + - !!python/tuple [3, 29] + - !!python/tuple [12, 18] + - !!python/tuple [27, 21] + - !!python/tuple [22, 23] + - !!python/tuple [6, 1] + - !!python/tuple [15, 17] + - !!python/tuple [13, 6] + - !!python/tuple [19, 4] + - !!python/tuple [31, 4] + - !!python/tuple [8, 23] + - !!python/tuple [1, 7] + - !!python/tuple [19, 11] + - !!python/tuple [10, 21] + - !!python/tuple [0, 9] + - !!python/tuple [12, 23] + - !!python/tuple [22, 11] + - !!python/tuple [28, 2] + - !!python/tuple [7, 16] + - !!python/tuple [11, 12] + - !!python/tuple [8, 4] + - !!python/tuple [6, 24] + - !!python/tuple [3, 26] + - !!python/tuple [31, 27] + - !!python/tuple [27, 5] + - !!python/tuple [16, 14] + - !!python/tuple [5, 9] + - !!python/tuple [13, 20] + - !!python/tuple [10, 9] + - !!python/tuple [28, 16] + - !!python/tuple [28, 13] + - !!python/tuple [25, 9] + - !!python/tuple [14, 25] + - !!python/tuple [0, 31] + - !!python/tuple [23, 5] + - !!python/tuple [28, 10] + - !!python/tuple [0, 22] + - !!python/tuple [25, 7] + - !!python/tuple [6, 8] + - !!python/tuple [12, 31] + - !!python/tuple [8, 31] + - !!python/tuple [15, 14] + - !!python/tuple [27, 27] + - !!python/tuple [31, 6] + - !!python/tuple [10, 26] + - !!python/tuple [9, 2] + - !!python/tuple [19, 7] + - !!python/tuple [25, 11] + - !!python/tuple [17, 26] + - !!python/tuple [25, 30] + - !!python/tuple [30, 22] + - !!python/tuple [30, 27] + - !!python/tuple [13, 7] + - !!python/tuple [27, 22] + - !!python/tuple [3, 16] + - !!python/tuple [8, 12] + - !!python/tuple [5, 24] + - !!python/tuple [25, 22] + - !!python/tuple [6, 15] + - !!python/tuple [5, 7] + - !!python/tuple [17, 7] + - !!python/tuple [14, 6] + - !!python/tuple [7, 12] + - !!python/tuple [18, 20] + - !!python/tuple [6, 4] + - !!python/tuple [20, 6] + - !!python/tuple [0, 24] + - !!python/tuple [13, 28] + - !!python/tuple [13, 5] + - !!python/tuple [12, 11] + - !!python/tuple [30, 13] + - !!python/tuple [14, 9] + - !!python/tuple [26, 10] + - !!python/tuple [9, 22] + - !!python/tuple [30, 10] + - !!python/tuple [11, 17] + - !!python/tuple [29, 25] + - !!python/tuple [22, 31] + - !!python/tuple [25, 6] + - !!python/tuple [7, 17] + - !!python/tuple [25, 8] + - !!python/tuple [19, 8] + - !!python/tuple [10, 23] + - !!python/tuple [2, 20] + - !!python/tuple [1, 28] + - !!python/tuple [7, 14] + - !!python/tuple [10, 8] + - !!python/tuple [24, 2] + - !!python/tuple [22, 25] + - !!python/tuple [27, 17] + - !!python/tuple [26, 1] + - !!python/tuple [20, 13] + - !!python/tuple [5, 30] + - !!python/tuple [27, 9] + - !!python/tuple [6, 2] + - !!python/tuple [7, 31] + - !!python/tuple [21, 15] + - !!python/tuple [27, 13] + - !!python/tuple [2, 12] + - !!python/tuple [24, 19] + - !!python/tuple [19, 20] + - !!python/tuple [3, 15] + - !!python/tuple [23, 12] + - !!python/tuple [29, 7] + - !!python/tuple [26, 9] + - !!python/tuple [20, 30] + - !!python/tuple [16, 12] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex74.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex74.yaml new file mode 100644 index 0000000..08d73e9 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex74.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [6, 16] + name: agent0 + start: [10, 1] +- goal: [1, 13] + name: agent1 + start: [21, 22] +- goal: [6, 14] + name: agent2 + start: [1, 20] +- goal: [14, 27] + name: agent3 + start: [10, 5] +- goal: [29, 9] + name: agent4 + start: [3, 22] +- goal: [13, 30] + name: agent5 + start: [0, 0] +- goal: [13, 22] + name: agent6 + start: [3, 8] +- goal: [21, 28] + name: agent7 + start: [23, 22] +- goal: [30, 17] + name: agent8 + start: [28, 13] +- goal: [16, 21] + name: agent9 + start: [3, 14] +- goal: [7, 19] + name: agent10 + start: [20, 22] +- goal: [24, 20] + name: agent11 + start: [18, 22] +- goal: [4, 18] + name: agent12 + start: [22, 13] +- goal: [1, 6] + name: agent13 + start: [24, 8] +- goal: [30, 15] + name: agent14 + start: [15, 26] +- goal: [21, 13] + name: agent15 + start: [11, 9] +- goal: [0, 14] + name: agent16 + start: [4, 15] +- goal: [20, 30] + name: agent17 + start: [24, 24] +- goal: [13, 28] + name: agent18 + start: [26, 24] +- goal: [28, 18] + name: agent19 + start: [9, 18] +- goal: [16, 11] + name: agent20 + start: [21, 17] +- goal: [2, 8] + name: agent21 + start: [28, 21] +- goal: [5, 30] + name: agent22 + start: [4, 22] +- goal: [0, 31] + name: agent23 + start: [15, 27] +- goal: [24, 29] + name: agent24 + start: [23, 7] +- goal: [3, 6] + name: agent25 + start: [23, 11] +- goal: [6, 18] + name: agent26 + start: [26, 1] +- goal: [13, 1] + name: agent27 + start: [17, 27] +- goal: [29, 7] + name: agent28 + start: [13, 10] +- goal: [20, 23] + name: agent29 + start: [18, 23] +- goal: [5, 9] + name: agent30 + start: [11, 24] +- goal: [20, 22] + name: agent31 + start: [6, 28] +- goal: [2, 3] + name: agent32 + start: [21, 0] +- goal: [15, 13] + name: agent33 + start: [15, 22] +- goal: [25, 15] + name: agent34 + start: [25, 0] +- goal: [7, 31] + name: agent35 + start: [24, 0] +- goal: [9, 14] + name: agent36 + start: [30, 3] +- goal: [13, 29] + name: agent37 + start: [5, 9] +- goal: [29, 31] + name: agent38 + start: [19, 19] +- goal: [21, 10] + name: agent39 + start: [17, 20] +- goal: [29, 8] + name: agent40 + start: [18, 24] +- goal: [7, 0] + name: agent41 + start: [26, 23] +- goal: [9, 30] + name: agent42 + start: [21, 26] +- goal: [6, 22] + name: agent43 + start: [31, 23] +- goal: [5, 20] + name: agent44 + start: [23, 27] +- goal: [18, 3] + name: agent45 + start: [14, 11] +- goal: [5, 17] + name: agent46 + start: [30, 18] +- goal: [7, 17] + name: agent47 + start: [8, 23] +- goal: [17, 25] + name: agent48 + start: [15, 29] +- goal: [26, 23] + name: agent49 + start: [30, 17] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [8, 30] + - !!python/tuple [17, 7] + - !!python/tuple [24, 12] + - !!python/tuple [4, 4] + - !!python/tuple [20, 26] + - !!python/tuple [23, 18] + - !!python/tuple [6, 3] + - !!python/tuple [27, 25] + - !!python/tuple [18, 21] + - !!python/tuple [31, 28] + - !!python/tuple [30, 11] + - !!python/tuple [29, 22] + - !!python/tuple [23, 30] + - !!python/tuple [8, 15] + - !!python/tuple [30, 20] + - !!python/tuple [31, 21] + - !!python/tuple [21, 19] + - !!python/tuple [25, 21] + - !!python/tuple [30, 2] + - !!python/tuple [0, 23] + - !!python/tuple [27, 27] + - !!python/tuple [11, 7] + - !!python/tuple [24, 9] + - !!python/tuple [20, 19] + - !!python/tuple [16, 27] + - !!python/tuple [15, 5] + - !!python/tuple [4, 9] + - !!python/tuple [19, 29] + - !!python/tuple [20, 27] + - !!python/tuple [3, 17] + - !!python/tuple [11, 19] + - !!python/tuple [7, 21] + - !!python/tuple [22, 20] + - !!python/tuple [16, 22] + - !!python/tuple [29, 6] + - !!python/tuple [19, 13] + - !!python/tuple [29, 1] + - !!python/tuple [31, 31] + - !!python/tuple [31, 5] + - !!python/tuple [6, 26] + - !!python/tuple [10, 29] + - !!python/tuple [24, 1] + - !!python/tuple [12, 18] + - !!python/tuple [10, 11] + - !!python/tuple [4, 16] + - !!python/tuple [2, 17] + - !!python/tuple [11, 18] + - !!python/tuple [16, 9] + - !!python/tuple [7, 9] + - !!python/tuple [3, 12] + - !!python/tuple [23, 0] + - !!python/tuple [20, 28] + - !!python/tuple [20, 17] + - !!python/tuple [13, 0] + - !!python/tuple [10, 22] + - !!python/tuple [17, 29] + - !!python/tuple [5, 27] + - !!python/tuple [30, 7] + - !!python/tuple [12, 11] + - !!python/tuple [9, 23] + - !!python/tuple [17, 22] + - !!python/tuple [29, 26] + - !!python/tuple [22, 15] + - !!python/tuple [1, 30] + - !!python/tuple [28, 16] + - !!python/tuple [14, 20] + - !!python/tuple [9, 15] + - !!python/tuple [0, 29] + - !!python/tuple [19, 31] + - !!python/tuple [4, 24] + - !!python/tuple [21, 8] + - !!python/tuple [28, 6] + - !!python/tuple [9, 2] + - !!python/tuple [23, 17] + - !!python/tuple [22, 23] + - !!python/tuple [3, 15] + - !!python/tuple [17, 8] + - !!python/tuple [18, 15] + - !!python/tuple [11, 13] + - !!python/tuple [4, 29] + - !!python/tuple [28, 8] + - !!python/tuple [24, 4] + - !!python/tuple [21, 20] + - !!python/tuple [17, 21] + - !!python/tuple [8, 21] + - !!python/tuple [20, 8] + - !!python/tuple [8, 28] + - !!python/tuple [26, 11] + - !!python/tuple [1, 1] + - !!python/tuple [24, 2] + - !!python/tuple [9, 9] + - !!python/tuple [2, 15] + - !!python/tuple [9, 10] + - !!python/tuple [7, 5] + - !!python/tuple [27, 28] + - !!python/tuple [8, 10] + - !!python/tuple [28, 25] + - !!python/tuple [1, 22] + - !!python/tuple [11, 17] + - !!python/tuple [25, 27] + - !!python/tuple [16, 1] + - !!python/tuple [26, 8] + - !!python/tuple [10, 21] + - !!python/tuple [24, 30] + - !!python/tuple [27, 4] + - !!python/tuple [3, 25] + - !!python/tuple [26, 29] + - !!python/tuple [2, 13] + - !!python/tuple [14, 24] + - !!python/tuple [15, 17] + - !!python/tuple [0, 3] + - !!python/tuple [23, 3] + - !!python/tuple [3, 29] + - !!python/tuple [7, 30] + - !!python/tuple [15, 4] + - !!python/tuple [10, 31] + - !!python/tuple [14, 31] + - !!python/tuple [5, 15] + - !!python/tuple [23, 14] + - !!python/tuple [31, 3] + - !!python/tuple [14, 9] + - !!python/tuple [14, 7] + - !!python/tuple [20, 16] + - !!python/tuple [19, 10] + - !!python/tuple [1, 14] + - !!python/tuple [29, 18] + - !!python/tuple [16, 4] + - !!python/tuple [11, 14] + - !!python/tuple [5, 18] + - !!python/tuple [27, 20] + - !!python/tuple [16, 10] + - !!python/tuple [27, 1] + - !!python/tuple [30, 1] + - !!python/tuple [28, 26] + - !!python/tuple [3, 30] + - !!python/tuple [13, 7] + - !!python/tuple [28, 30] + - !!python/tuple [20, 5] + - !!python/tuple [0, 13] + - !!python/tuple [11, 26] + - !!python/tuple [19, 8] + - !!python/tuple [8, 24] + - !!python/tuple [12, 23] + - !!python/tuple [17, 11] + - !!python/tuple [4, 23] + - !!python/tuple [15, 15] + - !!python/tuple [15, 10] + - !!python/tuple [15, 31] + - !!python/tuple [1, 16] + - !!python/tuple [28, 15] + - !!python/tuple [2, 25] + - !!python/tuple [18, 14] + - !!python/tuple [14, 4] + - !!python/tuple [11, 21] + - !!python/tuple [12, 0] + - !!python/tuple [31, 25] + - !!python/tuple [4, 10] + - !!python/tuple [20, 4] + - !!python/tuple [12, 12] + - !!python/tuple [30, 31] + - !!python/tuple [10, 0] + - !!python/tuple [24, 13] + - !!python/tuple [14, 1] + - !!python/tuple [27, 21] + - !!python/tuple [1, 24] + - !!python/tuple [25, 29] + - !!python/tuple [0, 6] + - !!python/tuple [7, 14] + - !!python/tuple [15, 19] + - !!python/tuple [11, 6] + - !!python/tuple [19, 6] + - !!python/tuple [31, 15] + - !!python/tuple [15, 28] + - !!python/tuple [13, 5] + - !!python/tuple [18, 4] + - !!python/tuple [4, 0] + - !!python/tuple [31, 13] + - !!python/tuple [1, 11] + - !!python/tuple [26, 31] + - !!python/tuple [24, 18] + - !!python/tuple [31, 6] + - !!python/tuple [7, 11] + - !!python/tuple [6, 15] + - !!python/tuple [7, 3] + - !!python/tuple [0, 7] + - !!python/tuple [4, 31] + - !!python/tuple [17, 16] + - !!python/tuple [12, 3] + - !!python/tuple [6, 17] + - !!python/tuple [22, 9] + - !!python/tuple [31, 0] + - !!python/tuple [20, 3] + - !!python/tuple [17, 6] + - !!python/tuple [23, 8] + - !!python/tuple [31, 7] + - !!python/tuple [6, 23] + - !!python/tuple [3, 1] + - !!python/tuple [6, 1] + - !!python/tuple [8, 6] + - !!python/tuple [0, 28] + - !!python/tuple [29, 0] + - !!python/tuple [6, 8] + - !!python/tuple [5, 14] + - !!python/tuple [24, 15] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex75.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex75.yaml new file mode 100644 index 0000000..cf0ea0d --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex75.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [11, 27] + name: agent0 + start: [6, 11] +- goal: [9, 20] + name: agent1 + start: [28, 15] +- goal: [14, 17] + name: agent2 + start: [3, 1] +- goal: [10, 23] + name: agent3 + start: [29, 11] +- goal: [8, 26] + name: agent4 + start: [5, 21] +- goal: [7, 24] + name: agent5 + start: [18, 29] +- goal: [12, 22] + name: agent6 + start: [17, 28] +- goal: [23, 22] + name: agent7 + start: [21, 19] +- goal: [11, 26] + name: agent8 + start: [17, 1] +- goal: [22, 29] + name: agent9 + start: [23, 11] +- goal: [14, 12] + name: agent10 + start: [17, 23] +- goal: [28, 26] + name: agent11 + start: [18, 11] +- goal: [5, 9] + name: agent12 + start: [24, 0] +- goal: [24, 27] + name: agent13 + start: [23, 24] +- goal: [6, 13] + name: agent14 + start: [17, 12] +- goal: [8, 14] + name: agent15 + start: [30, 23] +- goal: [15, 20] + name: agent16 + start: [14, 6] +- goal: [3, 9] + name: agent17 + start: [11, 25] +- goal: [23, 3] + name: agent18 + start: [12, 17] +- goal: [8, 11] + name: agent19 + start: [8, 30] +- goal: [29, 20] + name: agent20 + start: [11, 29] +- goal: [20, 3] + name: agent21 + start: [0, 22] +- goal: [11, 11] + name: agent22 + start: [25, 17] +- goal: [18, 30] + name: agent23 + start: [10, 8] +- goal: [1, 20] + name: agent24 + start: [14, 7] +- goal: [14, 11] + name: agent25 + start: [0, 31] +- goal: [27, 0] + name: agent26 + start: [24, 31] +- goal: [11, 0] + name: agent27 + start: [4, 31] +- goal: [3, 25] + name: agent28 + start: [24, 21] +- goal: [29, 11] + name: agent29 + start: [3, 12] +- goal: [26, 19] + name: agent30 + start: [30, 10] +- goal: [7, 19] + name: agent31 + start: [13, 0] +- goal: [9, 22] + name: agent32 + start: [2, 13] +- goal: [15, 13] + name: agent33 + start: [29, 27] +- goal: [31, 9] + name: agent34 + start: [11, 14] +- goal: [11, 20] + name: agent35 + start: [30, 4] +- goal: [6, 7] + name: agent36 + start: [15, 20] +- goal: [18, 28] + name: agent37 + start: [28, 29] +- goal: [4, 13] + name: agent38 + start: [1, 14] +- goal: [2, 17] + name: agent39 + start: [12, 0] +- goal: [5, 15] + name: agent40 + start: [26, 7] +- goal: [18, 9] + name: agent41 + start: [11, 2] +- goal: [3, 15] + name: agent42 + start: [15, 13] +- goal: [15, 17] + name: agent43 + start: [23, 30] +- goal: [31, 24] + name: agent44 + start: [18, 13] +- goal: [25, 22] + name: agent45 + start: [23, 9] +- goal: [26, 1] + name: agent46 + start: [10, 22] +- goal: [6, 4] + name: agent47 + start: [9, 0] +- goal: [16, 18] + name: agent48 + start: [24, 20] +- goal: [6, 21] + name: agent49 + start: [30, 16] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [2, 23] + - !!python/tuple [23, 19] + - !!python/tuple [2, 4] + - !!python/tuple [28, 21] + - !!python/tuple [11, 8] + - !!python/tuple [30, 15] + - !!python/tuple [6, 25] + - !!python/tuple [31, 8] + - !!python/tuple [17, 8] + - !!python/tuple [11, 7] + - !!python/tuple [12, 18] + - !!python/tuple [17, 13] + - !!python/tuple [23, 21] + - !!python/tuple [1, 9] + - !!python/tuple [18, 5] + - !!python/tuple [19, 25] + - !!python/tuple [26, 0] + - !!python/tuple [12, 30] + - !!python/tuple [27, 18] + - !!python/tuple [6, 2] + - !!python/tuple [21, 23] + - !!python/tuple [29, 2] + - !!python/tuple [7, 15] + - !!python/tuple [8, 9] + - !!python/tuple [4, 1] + - !!python/tuple [29, 4] + - !!python/tuple [5, 2] + - !!python/tuple [10, 6] + - !!python/tuple [0, 17] + - !!python/tuple [2, 28] + - !!python/tuple [14, 14] + - !!python/tuple [3, 0] + - !!python/tuple [12, 31] + - !!python/tuple [25, 23] + - !!python/tuple [16, 25] + - !!python/tuple [8, 0] + - !!python/tuple [7, 18] + - !!python/tuple [28, 14] + - !!python/tuple [28, 30] + - !!python/tuple [2, 14] + - !!python/tuple [2, 16] + - !!python/tuple [17, 19] + - !!python/tuple [23, 31] + - !!python/tuple [22, 28] + - !!python/tuple [24, 6] + - !!python/tuple [4, 3] + - !!python/tuple [21, 30] + - !!python/tuple [29, 31] + - !!python/tuple [19, 5] + - !!python/tuple [29, 6] + - !!python/tuple [0, 1] + - !!python/tuple [13, 6] + - !!python/tuple [1, 17] + - !!python/tuple [5, 18] + - !!python/tuple [23, 28] + - !!python/tuple [16, 22] + - !!python/tuple [2, 18] + - !!python/tuple [22, 23] + - !!python/tuple [24, 24] + - !!python/tuple [2, 9] + - !!python/tuple [17, 18] + - !!python/tuple [7, 28] + - !!python/tuple [3, 19] + - !!python/tuple [23, 16] + - !!python/tuple [12, 15] + - !!python/tuple [19, 27] + - !!python/tuple [11, 4] + - !!python/tuple [21, 26] + - !!python/tuple [1, 15] + - !!python/tuple [9, 10] + - !!python/tuple [12, 10] + - !!python/tuple [3, 22] + - !!python/tuple [17, 26] + - !!python/tuple [7, 21] + - !!python/tuple [1, 8] + - !!python/tuple [3, 29] + - !!python/tuple [31, 20] + - !!python/tuple [18, 15] + - !!python/tuple [29, 23] + - !!python/tuple [23, 7] + - !!python/tuple [18, 18] + - !!python/tuple [9, 7] + - !!python/tuple [2, 20] + - !!python/tuple [8, 20] + - !!python/tuple [27, 11] + - !!python/tuple [20, 23] + - !!python/tuple [10, 14] + - !!python/tuple [20, 11] + - !!python/tuple [6, 18] + - !!python/tuple [19, 17] + - !!python/tuple [30, 20] + - !!python/tuple [24, 13] + - !!python/tuple [15, 6] + - !!python/tuple [27, 17] + - !!python/tuple [18, 19] + - !!python/tuple [7, 25] + - !!python/tuple [24, 14] + - !!python/tuple [1, 10] + - !!python/tuple [5, 24] + - !!python/tuple [14, 25] + - !!python/tuple [1, 6] + - !!python/tuple [8, 22] + - !!python/tuple [9, 27] + - !!python/tuple [16, 27] + - !!python/tuple [14, 5] + - !!python/tuple [12, 9] + - !!python/tuple [23, 25] + - !!python/tuple [31, 11] + - !!python/tuple [4, 5] + - !!python/tuple [5, 31] + - !!python/tuple [20, 21] + - !!python/tuple [26, 22] + - !!python/tuple [18, 10] + - !!python/tuple [6, 12] + - !!python/tuple [6, 14] + - !!python/tuple [4, 30] + - !!python/tuple [5, 25] + - !!python/tuple [26, 18] + - !!python/tuple [21, 29] + - !!python/tuple [17, 31] + - !!python/tuple [7, 7] + - !!python/tuple [26, 24] + - !!python/tuple [19, 7] + - !!python/tuple [6, 30] + - !!python/tuple [30, 31] + - !!python/tuple [1, 3] + - !!python/tuple [30, 13] + - !!python/tuple [17, 20] + - !!python/tuple [23, 26] + - !!python/tuple [24, 28] + - !!python/tuple [16, 4] + - !!python/tuple [19, 2] + - !!python/tuple [9, 15] + - !!python/tuple [2, 1] + - !!python/tuple [21, 3] + - !!python/tuple [6, 27] + - !!python/tuple [5, 7] + - !!python/tuple [23, 14] + - !!python/tuple [2, 11] + - !!python/tuple [31, 21] + - !!python/tuple [25, 28] + - !!python/tuple [9, 3] + - !!python/tuple [2, 30] + - !!python/tuple [20, 18] + - !!python/tuple [11, 1] + - !!python/tuple [17, 29] + - !!python/tuple [2, 25] + - !!python/tuple [22, 11] + - !!python/tuple [26, 30] + - !!python/tuple [12, 27] + - !!python/tuple [20, 5] + - !!python/tuple [25, 29] + - !!python/tuple [1, 23] + - !!python/tuple [6, 1] + - !!python/tuple [19, 8] + - !!python/tuple [23, 4] + - !!python/tuple [14, 22] + - !!python/tuple [14, 29] + - !!python/tuple [2, 2] + - !!python/tuple [3, 7] + - !!python/tuple [6, 26] + - !!python/tuple [26, 3] + - !!python/tuple [1, 16] + - !!python/tuple [31, 15] + - !!python/tuple [28, 23] + - !!python/tuple [19, 9] + - !!python/tuple [22, 0] + - !!python/tuple [14, 2] + - !!python/tuple [13, 4] + - !!python/tuple [26, 23] + - !!python/tuple [14, 10] + - !!python/tuple [30, 27] + - !!python/tuple [31, 13] + - !!python/tuple [8, 10] + - !!python/tuple [16, 10] + - !!python/tuple [10, 11] + - !!python/tuple [9, 13] + - !!python/tuple [22, 8] + - !!python/tuple [12, 26] + - !!python/tuple [22, 22] + - !!python/tuple [28, 16] + - !!python/tuple [20, 15] + - !!python/tuple [0, 12] + - !!python/tuple [13, 8] + - !!python/tuple [11, 16] + - !!python/tuple [25, 14] + - !!python/tuple [14, 21] + - !!python/tuple [21, 1] + - !!python/tuple [25, 9] + - !!python/tuple [10, 17] + - !!python/tuple [16, 7] + - !!python/tuple [18, 31] + - !!python/tuple [20, 20] + - !!python/tuple [20, 4] + - !!python/tuple [7, 1] + - !!python/tuple [22, 17] + - !!python/tuple [6, 17] + - !!python/tuple [14, 31] + - !!python/tuple [8, 31] + - !!python/tuple [20, 10] + - !!python/tuple [17, 17] + - !!python/tuple [12, 11] + - !!python/tuple [27, 28] + - !!python/tuple [11, 13] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex76.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex76.yaml new file mode 100644 index 0000000..594a9e7 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex76.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [10, 17] + name: agent0 + start: [3, 17] +- goal: [1, 11] + name: agent1 + start: [9, 19] +- goal: [11, 13] + name: agent2 + start: [30, 22] +- goal: [20, 27] + name: agent3 + start: [11, 19] +- goal: [30, 14] + name: agent4 + start: [19, 18] +- goal: [2, 8] + name: agent5 + start: [6, 6] +- goal: [9, 18] + name: agent6 + start: [26, 19] +- goal: [20, 14] + name: agent7 + start: [2, 0] +- goal: [17, 8] + name: agent8 + start: [0, 29] +- goal: [9, 5] + name: agent9 + start: [17, 5] +- goal: [4, 12] + name: agent10 + start: [7, 1] +- goal: [1, 16] + name: agent11 + start: [21, 16] +- goal: [8, 10] + name: agent12 + start: [12, 24] +- goal: [15, 1] + name: agent13 + start: [25, 4] +- goal: [4, 27] + name: agent14 + start: [1, 1] +- goal: [28, 7] + name: agent15 + start: [12, 6] +- goal: [4, 23] + name: agent16 + start: [11, 30] +- goal: [1, 10] + name: agent17 + start: [18, 21] +- goal: [25, 24] + name: agent18 + start: [8, 11] +- goal: [20, 18] + name: agent19 + start: [7, 11] +- goal: [28, 28] + name: agent20 + start: [21, 0] +- goal: [19, 14] + name: agent21 + start: [18, 24] +- goal: [16, 4] + name: agent22 + start: [30, 23] +- goal: [18, 15] + name: agent23 + start: [8, 29] +- goal: [28, 17] + name: agent24 + start: [0, 21] +- goal: [28, 24] + name: agent25 + start: [16, 30] +- goal: [28, 16] + name: agent26 + start: [10, 12] +- goal: [13, 4] + name: agent27 + start: [28, 16] +- goal: [13, 22] + name: agent28 + start: [6, 29] +- goal: [8, 17] + name: agent29 + start: [19, 16] +- goal: [30, 10] + name: agent30 + start: [23, 25] +- goal: [14, 17] + name: agent31 + start: [0, 1] +- goal: [7, 7] + name: agent32 + start: [8, 16] +- goal: [4, 26] + name: agent33 + start: [12, 11] +- goal: [23, 29] + name: agent34 + start: [11, 26] +- goal: [11, 5] + name: agent35 + start: [9, 8] +- goal: [4, 11] + name: agent36 + start: [9, 6] +- goal: [31, 10] + name: agent37 + start: [20, 27] +- goal: [29, 14] + name: agent38 + start: [2, 30] +- goal: [0, 11] + name: agent39 + start: [12, 23] +- goal: [21, 27] + name: agent40 + start: [6, 21] +- goal: [25, 28] + name: agent41 + start: [16, 16] +- goal: [0, 20] + name: agent42 + start: [21, 20] +- goal: [13, 27] + name: agent43 + start: [11, 18] +- goal: [0, 23] + name: agent44 + start: [24, 8] +- goal: [1, 6] + name: agent45 + start: [17, 0] +- goal: [16, 30] + name: agent46 + start: [31, 10] +- goal: [25, 17] + name: agent47 + start: [9, 1] +- goal: [15, 0] + name: agent48 + start: [17, 11] +- goal: [10, 23] + name: agent49 + start: [21, 28] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [31, 2] + - !!python/tuple [4, 0] + - !!python/tuple [8, 1] + - !!python/tuple [25, 5] + - !!python/tuple [23, 2] + - !!python/tuple [15, 14] + - !!python/tuple [20, 5] + - !!python/tuple [17, 22] + - !!python/tuple [30, 20] + - !!python/tuple [5, 5] + - !!python/tuple [18, 23] + - !!python/tuple [20, 3] + - !!python/tuple [29, 24] + - !!python/tuple [13, 8] + - !!python/tuple [5, 3] + - !!python/tuple [14, 20] + - !!python/tuple [23, 8] + - !!python/tuple [15, 28] + - !!python/tuple [24, 20] + - !!python/tuple [3, 26] + - !!python/tuple [27, 27] + - !!python/tuple [10, 6] + - !!python/tuple [13, 11] + - !!python/tuple [30, 13] + - !!python/tuple [3, 4] + - !!python/tuple [27, 14] + - !!python/tuple [30, 12] + - !!python/tuple [2, 5] + - !!python/tuple [23, 20] + - !!python/tuple [17, 4] + - !!python/tuple [21, 9] + - !!python/tuple [7, 0] + - !!python/tuple [11, 7] + - !!python/tuple [15, 18] + - !!python/tuple [11, 29] + - !!python/tuple [4, 25] + - !!python/tuple [29, 5] + - !!python/tuple [21, 3] + - !!python/tuple [27, 19] + - !!python/tuple [19, 15] + - !!python/tuple [7, 6] + - !!python/tuple [28, 22] + - !!python/tuple [2, 28] + - !!python/tuple [29, 19] + - !!python/tuple [23, 5] + - !!python/tuple [3, 7] + - !!python/tuple [19, 10] + - !!python/tuple [8, 8] + - !!python/tuple [8, 18] + - !!python/tuple [12, 20] + - !!python/tuple [12, 4] + - !!python/tuple [17, 9] + - !!python/tuple [19, 6] + - !!python/tuple [29, 17] + - !!python/tuple [20, 10] + - !!python/tuple [30, 18] + - !!python/tuple [22, 25] + - !!python/tuple [19, 17] + - !!python/tuple [1, 5] + - !!python/tuple [14, 27] + - !!python/tuple [1, 24] + - !!python/tuple [19, 20] + - !!python/tuple [24, 6] + - !!python/tuple [27, 5] + - !!python/tuple [1, 27] + - !!python/tuple [5, 26] + - !!python/tuple [4, 17] + - !!python/tuple [1, 0] + - !!python/tuple [11, 23] + - !!python/tuple [24, 12] + - !!python/tuple [29, 16] + - !!python/tuple [16, 7] + - !!python/tuple [2, 23] + - !!python/tuple [23, 31] + - !!python/tuple [27, 9] + - !!python/tuple [12, 8] + - !!python/tuple [8, 14] + - !!python/tuple [29, 12] + - !!python/tuple [20, 19] + - !!python/tuple [7, 25] + - !!python/tuple [19, 26] + - !!python/tuple [12, 28] + - !!python/tuple [14, 16] + - !!python/tuple [7, 17] + - !!python/tuple [9, 14] + - !!python/tuple [12, 31] + - !!python/tuple [5, 2] + - !!python/tuple [22, 20] + - !!python/tuple [31, 22] + - !!python/tuple [7, 12] + - !!python/tuple [4, 6] + - !!python/tuple [16, 20] + - !!python/tuple [4, 21] + - !!python/tuple [18, 16] + - !!python/tuple [11, 11] + - !!python/tuple [28, 10] + - !!python/tuple [20, 9] + - !!python/tuple [18, 9] + - !!python/tuple [17, 6] + - !!python/tuple [19, 30] + - !!python/tuple [16, 31] + - !!python/tuple [21, 11] + - !!python/tuple [25, 7] + - !!python/tuple [25, 16] + - !!python/tuple [5, 30] + - !!python/tuple [12, 21] + - !!python/tuple [28, 1] + - !!python/tuple [1, 8] + - !!python/tuple [28, 0] + - !!python/tuple [6, 12] + - !!python/tuple [14, 8] + - !!python/tuple [9, 0] + - !!python/tuple [31, 30] + - !!python/tuple [10, 8] + - !!python/tuple [1, 12] + - !!python/tuple [15, 24] + - !!python/tuple [28, 31] + - !!python/tuple [9, 28] + - !!python/tuple [10, 30] + - !!python/tuple [14, 18] + - !!python/tuple [24, 11] + - !!python/tuple [7, 30] + - !!python/tuple [23, 23] + - !!python/tuple [0, 28] + - !!python/tuple [15, 9] + - !!python/tuple [18, 18] + - !!python/tuple [16, 9] + - !!python/tuple [28, 23] + - !!python/tuple [29, 13] + - !!python/tuple [15, 25] + - !!python/tuple [4, 2] + - !!python/tuple [26, 5] + - !!python/tuple [1, 7] + - !!python/tuple [25, 11] + - !!python/tuple [31, 15] + - !!python/tuple [19, 31] + - !!python/tuple [15, 27] + - !!python/tuple [15, 15] + - !!python/tuple [20, 7] + - !!python/tuple [5, 15] + - !!python/tuple [29, 9] + - !!python/tuple [9, 17] + - !!python/tuple [24, 13] + - !!python/tuple [14, 2] + - !!python/tuple [20, 23] + - !!python/tuple [31, 19] + - !!python/tuple [2, 3] + - !!python/tuple [12, 30] + - !!python/tuple [26, 12] + - !!python/tuple [5, 24] + - !!python/tuple [3, 20] + - !!python/tuple [19, 7] + - !!python/tuple [21, 29] + - !!python/tuple [26, 6] + - !!python/tuple [25, 2] + - !!python/tuple [9, 13] + - !!python/tuple [16, 19] + - !!python/tuple [29, 3] + - !!python/tuple [23, 27] + - !!python/tuple [9, 24] + - !!python/tuple [22, 21] + - !!python/tuple [30, 15] + - !!python/tuple [3, 3] + - !!python/tuple [22, 0] + - !!python/tuple [6, 14] + - !!python/tuple [22, 7] + - !!python/tuple [2, 7] + - !!python/tuple [28, 27] + - !!python/tuple [8, 12] + - !!python/tuple [28, 18] + - !!python/tuple [30, 30] + - !!python/tuple [19, 0] + - !!python/tuple [5, 27] + - !!python/tuple [17, 7] + - !!python/tuple [11, 8] + - !!python/tuple [31, 13] + - !!python/tuple [1, 22] + - !!python/tuple [31, 28] + - !!python/tuple [15, 6] + - !!python/tuple [29, 15] + - !!python/tuple [17, 23] + - !!python/tuple [24, 16] + - !!python/tuple [14, 6] + - !!python/tuple [28, 11] + - !!python/tuple [31, 8] + - !!python/tuple [24, 17] + - !!python/tuple [24, 3] + - !!python/tuple [18, 7] + - !!python/tuple [10, 2] + - !!python/tuple [14, 0] + - !!python/tuple [5, 23] + - !!python/tuple [3, 0] + - !!python/tuple [8, 30] + - !!python/tuple [29, 1] + - !!python/tuple [17, 19] + - !!python/tuple [15, 11] + - !!python/tuple [22, 17] + - !!python/tuple [8, 2] + - !!python/tuple [31, 6] + - !!python/tuple [21, 14] + - !!python/tuple [6, 15] + - !!python/tuple [10, 29] + - !!python/tuple [15, 22] + - !!python/tuple [5, 25] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex77.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex77.yaml new file mode 100644 index 0000000..f20464d --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex77.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [28, 27] + name: agent0 + start: [20, 14] +- goal: [13, 15] + name: agent1 + start: [24, 25] +- goal: [28, 20] + name: agent2 + start: [17, 6] +- goal: [3, 22] + name: agent3 + start: [27, 29] +- goal: [23, 26] + name: agent4 + start: [17, 28] +- goal: [22, 22] + name: agent5 + start: [14, 10] +- goal: [30, 8] + name: agent6 + start: [3, 25] +- goal: [25, 23] + name: agent7 + start: [28, 11] +- goal: [16, 12] + name: agent8 + start: [12, 25] +- goal: [1, 24] + name: agent9 + start: [1, 20] +- goal: [26, 22] + name: agent10 + start: [19, 6] +- goal: [8, 11] + name: agent11 + start: [29, 11] +- goal: [17, 12] + name: agent12 + start: [0, 28] +- goal: [14, 3] + name: agent13 + start: [31, 12] +- goal: [20, 20] + name: agent14 + start: [4, 15] +- goal: [23, 28] + name: agent15 + start: [26, 5] +- goal: [13, 0] + name: agent16 + start: [10, 26] +- goal: [0, 1] + name: agent17 + start: [20, 0] +- goal: [21, 13] + name: agent18 + start: [7, 25] +- goal: [3, 19] + name: agent19 + start: [13, 15] +- goal: [28, 17] + name: agent20 + start: [2, 21] +- goal: [19, 24] + name: agent21 + start: [21, 13] +- goal: [12, 4] + name: agent22 + start: [18, 18] +- goal: [8, 19] + name: agent23 + start: [14, 12] +- goal: [25, 8] + name: agent24 + start: [6, 12] +- goal: [12, 25] + name: agent25 + start: [4, 5] +- goal: [15, 4] + name: agent26 + start: [30, 19] +- goal: [5, 24] + name: agent27 + start: [17, 22] +- goal: [10, 10] + name: agent28 + start: [8, 13] +- goal: [1, 29] + name: agent29 + start: [27, 24] +- goal: [29, 11] + name: agent30 + start: [23, 28] +- goal: [14, 5] + name: agent31 + start: [9, 10] +- goal: [29, 8] + name: agent32 + start: [10, 0] +- goal: [19, 28] + name: agent33 + start: [15, 28] +- goal: [14, 21] + name: agent34 + start: [31, 0] +- goal: [17, 30] + name: agent35 + start: [23, 6] +- goal: [5, 22] + name: agent36 + start: [25, 23] +- goal: [26, 14] + name: agent37 + start: [21, 18] +- goal: [23, 23] + name: agent38 + start: [19, 28] +- goal: [1, 2] + name: agent39 + start: [20, 17] +- goal: [21, 3] + name: agent40 + start: [11, 30] +- goal: [14, 16] + name: agent41 + start: [24, 4] +- goal: [16, 2] + name: agent42 + start: [27, 10] +- goal: [5, 19] + name: agent43 + start: [22, 16] +- goal: [1, 11] + name: agent44 + start: [18, 2] +- goal: [31, 17] + name: agent45 + start: [3, 8] +- goal: [31, 19] + name: agent46 + start: [0, 17] +- goal: [31, 30] + name: agent47 + start: [9, 4] +- goal: [24, 7] + name: agent48 + start: [14, 7] +- goal: [22, 7] + name: agent49 + start: [10, 21] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [20, 11] + - !!python/tuple [29, 17] + - !!python/tuple [21, 28] + - !!python/tuple [10, 31] + - !!python/tuple [16, 16] + - !!python/tuple [14, 27] + - !!python/tuple [26, 28] + - !!python/tuple [1, 12] + - !!python/tuple [21, 20] + - !!python/tuple [26, 7] + - !!python/tuple [13, 11] + - !!python/tuple [2, 1] + - !!python/tuple [0, 6] + - !!python/tuple [18, 25] + - !!python/tuple [26, 4] + - !!python/tuple [6, 17] + - !!python/tuple [12, 17] + - !!python/tuple [26, 0] + - !!python/tuple [6, 24] + - !!python/tuple [25, 27] + - !!python/tuple [9, 6] + - !!python/tuple [5, 1] + - !!python/tuple [1, 16] + - !!python/tuple [28, 19] + - !!python/tuple [12, 23] + - !!python/tuple [19, 14] + - !!python/tuple [1, 7] + - !!python/tuple [23, 5] + - !!python/tuple [2, 24] + - !!python/tuple [23, 8] + - !!python/tuple [6, 28] + - !!python/tuple [2, 17] + - !!python/tuple [4, 2] + - !!python/tuple [17, 23] + - !!python/tuple [1, 4] + - !!python/tuple [19, 31] + - !!python/tuple [23, 1] + - !!python/tuple [25, 10] + - !!python/tuple [10, 4] + - !!python/tuple [15, 15] + - !!python/tuple [6, 22] + - !!python/tuple [19, 0] + - !!python/tuple [22, 0] + - !!python/tuple [0, 7] + - !!python/tuple [9, 18] + - !!python/tuple [9, 11] + - !!python/tuple [29, 20] + - !!python/tuple [6, 26] + - !!python/tuple [5, 6] + - !!python/tuple [4, 19] + - !!python/tuple [13, 19] + - !!python/tuple [14, 8] + - !!python/tuple [20, 19] + - !!python/tuple [18, 5] + - !!python/tuple [24, 21] + - !!python/tuple [24, 22] + - !!python/tuple [16, 29] + - !!python/tuple [23, 25] + - !!python/tuple [26, 13] + - !!python/tuple [23, 21] + - !!python/tuple [4, 30] + - !!python/tuple [8, 17] + - !!python/tuple [22, 21] + - !!python/tuple [27, 17] + - !!python/tuple [2, 7] + - !!python/tuple [21, 23] + - !!python/tuple [7, 22] + - !!python/tuple [22, 20] + - !!python/tuple [16, 1] + - !!python/tuple [11, 3] + - !!python/tuple [1, 19] + - !!python/tuple [2, 25] + - !!python/tuple [4, 11] + - !!python/tuple [11, 13] + - !!python/tuple [12, 26] + - !!python/tuple [5, 5] + - !!python/tuple [30, 1] + - !!python/tuple [6, 14] + - !!python/tuple [6, 13] + - !!python/tuple [17, 13] + - !!python/tuple [15, 24] + - !!python/tuple [30, 16] + - !!python/tuple [13, 31] + - !!python/tuple [5, 20] + - !!python/tuple [5, 30] + - !!python/tuple [25, 1] + - !!python/tuple [6, 9] + - !!python/tuple [7, 27] + - !!python/tuple [9, 13] + - !!python/tuple [4, 24] + - !!python/tuple [6, 11] + - !!python/tuple [0, 13] + - !!python/tuple [8, 0] + - !!python/tuple [17, 15] + - !!python/tuple [31, 24] + - !!python/tuple [18, 12] + - !!python/tuple [25, 11] + - !!python/tuple [6, 3] + - !!python/tuple [1, 1] + - !!python/tuple [21, 16] + - !!python/tuple [14, 20] + - !!python/tuple [29, 2] + - !!python/tuple [16, 14] + - !!python/tuple [24, 30] + - !!python/tuple [9, 22] + - !!python/tuple [25, 2] + - !!python/tuple [14, 26] + - !!python/tuple [17, 29] + - !!python/tuple [0, 24] + - !!python/tuple [5, 31] + - !!python/tuple [13, 26] + - !!python/tuple [29, 25] + - !!python/tuple [7, 4] + - !!python/tuple [25, 30] + - !!python/tuple [22, 6] + - !!python/tuple [18, 13] + - !!python/tuple [5, 29] + - !!python/tuple [10, 13] + - !!python/tuple [12, 19] + - !!python/tuple [30, 27] + - !!python/tuple [11, 10] + - !!python/tuple [15, 1] + - !!python/tuple [25, 9] + - !!python/tuple [26, 25] + - !!python/tuple [7, 29] + - !!python/tuple [30, 23] + - !!python/tuple [6, 19] + - !!python/tuple [31, 22] + - !!python/tuple [22, 25] + - !!python/tuple [0, 26] + - !!python/tuple [30, 25] + - !!python/tuple [19, 12] + - !!python/tuple [0, 0] + - !!python/tuple [15, 22] + - !!python/tuple [23, 12] + - !!python/tuple [18, 30] + - !!python/tuple [23, 20] + - !!python/tuple [9, 19] + - !!python/tuple [16, 17] + - !!python/tuple [26, 10] + - !!python/tuple [27, 27] + - !!python/tuple [5, 27] + - !!python/tuple [22, 19] + - !!python/tuple [21, 8] + - !!python/tuple [9, 26] + - !!python/tuple [20, 13] + - !!python/tuple [12, 12] + - !!python/tuple [17, 27] + - !!python/tuple [9, 12] + - !!python/tuple [16, 18] + - !!python/tuple [14, 15] + - !!python/tuple [20, 25] + - !!python/tuple [6, 15] + - !!python/tuple [3, 13] + - !!python/tuple [5, 13] + - !!python/tuple [28, 14] + - !!python/tuple [24, 26] + - !!python/tuple [24, 27] + - !!python/tuple [4, 20] + - !!python/tuple [16, 8] + - !!python/tuple [23, 16] + - !!python/tuple [12, 11] + - !!python/tuple [23, 24] + - !!python/tuple [16, 25] + - !!python/tuple [22, 2] + - !!python/tuple [30, 5] + - !!python/tuple [18, 15] + - !!python/tuple [15, 14] + - !!python/tuple [4, 18] + - !!python/tuple [21, 24] + - !!python/tuple [8, 30] + - !!python/tuple [21, 19] + - !!python/tuple [10, 17] + - !!python/tuple [26, 26] + - !!python/tuple [4, 17] + - !!python/tuple [12, 10] + - !!python/tuple [30, 14] + - !!python/tuple [27, 25] + - !!python/tuple [1, 10] + - !!python/tuple [11, 25] + - !!python/tuple [22, 24] + - !!python/tuple [9, 17] + - !!python/tuple [24, 1] + - !!python/tuple [18, 16] + - !!python/tuple [22, 14] + - !!python/tuple [12, 30] + - !!python/tuple [6, 18] + - !!python/tuple [26, 15] + - !!python/tuple [15, 5] + - !!python/tuple [13, 10] + - !!python/tuple [9, 21] + - !!python/tuple [8, 12] + - !!python/tuple [16, 19] + - !!python/tuple [6, 29] + - !!python/tuple [9, 29] + - !!python/tuple [1, 0] + - !!python/tuple [24, 24] + - !!python/tuple [27, 0] + - !!python/tuple [6, 6] + - !!python/tuple [1, 28] + - !!python/tuple [25, 29] + - !!python/tuple [23, 9] + - !!python/tuple [23, 27] + - !!python/tuple [8, 18] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex78.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex78.yaml new file mode 100644 index 0000000..982d4a6 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex78.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [21, 13] + name: agent0 + start: [30, 13] +- goal: [23, 4] + name: agent1 + start: [17, 11] +- goal: [2, 2] + name: agent2 + start: [29, 11] +- goal: [18, 15] + name: agent3 + start: [15, 4] +- goal: [3, 7] + name: agent4 + start: [1, 25] +- goal: [27, 26] + name: agent5 + start: [21, 15] +- goal: [9, 14] + name: agent6 + start: [1, 9] +- goal: [12, 8] + name: agent7 + start: [7, 3] +- goal: [16, 20] + name: agent8 + start: [5, 30] +- goal: [31, 1] + name: agent9 + start: [25, 27] +- goal: [25, 16] + name: agent10 + start: [8, 4] +- goal: [8, 11] + name: agent11 + start: [23, 11] +- goal: [3, 17] + name: agent12 + start: [17, 28] +- goal: [28, 29] + name: agent13 + start: [31, 3] +- goal: [7, 30] + name: agent14 + start: [1, 7] +- goal: [13, 10] + name: agent15 + start: [6, 17] +- goal: [24, 6] + name: agent16 + start: [26, 6] +- goal: [18, 30] + name: agent17 + start: [25, 24] +- goal: [29, 10] + name: agent18 + start: [12, 0] +- goal: [20, 19] + name: agent19 + start: [14, 1] +- goal: [9, 26] + name: agent20 + start: [29, 21] +- goal: [2, 1] + name: agent21 + start: [24, 6] +- goal: [4, 28] + name: agent22 + start: [15, 17] +- goal: [9, 22] + name: agent23 + start: [3, 19] +- goal: [31, 0] + name: agent24 + start: [18, 15] +- goal: [6, 27] + name: agent25 + start: [15, 22] +- goal: [11, 14] + name: agent26 + start: [12, 6] +- goal: [15, 19] + name: agent27 + start: [9, 18] +- goal: [5, 14] + name: agent28 + start: [9, 29] +- goal: [13, 9] + name: agent29 + start: [28, 17] +- goal: [15, 4] + name: agent30 + start: [12, 19] +- goal: [28, 2] + name: agent31 + start: [31, 30] +- goal: [29, 22] + name: agent32 + start: [3, 8] +- goal: [19, 15] + name: agent33 + start: [23, 6] +- goal: [0, 15] + name: agent34 + start: [1, 26] +- goal: [19, 26] + name: agent35 + start: [16, 19] +- goal: [3, 11] + name: agent36 + start: [5, 7] +- goal: [10, 3] + name: agent37 + start: [6, 3] +- goal: [12, 15] + name: agent38 + start: [15, 7] +- goal: [14, 19] + name: agent39 + start: [10, 10] +- goal: [2, 26] + name: agent40 + start: [14, 9] +- goal: [7, 17] + name: agent41 + start: [20, 21] +- goal: [22, 18] + name: agent42 + start: [1, 28] +- goal: [25, 22] + name: agent43 + start: [5, 11] +- goal: [15, 0] + name: agent44 + start: [26, 21] +- goal: [16, 12] + name: agent45 + start: [11, 19] +- goal: [9, 7] + name: agent46 + start: [12, 27] +- goal: [3, 9] + name: agent47 + start: [0, 12] +- goal: [17, 6] + name: agent48 + start: [7, 13] +- goal: [18, 31] + name: agent49 + start: [28, 16] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [7, 23] + - !!python/tuple [27, 8] + - !!python/tuple [12, 10] + - !!python/tuple [30, 21] + - !!python/tuple [24, 10] + - !!python/tuple [1, 23] + - !!python/tuple [12, 14] + - !!python/tuple [14, 5] + - !!python/tuple [23, 12] + - !!python/tuple [29, 3] + - !!python/tuple [23, 31] + - !!python/tuple [19, 2] + - !!python/tuple [22, 15] + - !!python/tuple [27, 6] + - !!python/tuple [30, 28] + - !!python/tuple [7, 27] + - !!python/tuple [27, 18] + - !!python/tuple [31, 5] + - !!python/tuple [30, 26] + - !!python/tuple [17, 7] + - !!python/tuple [24, 9] + - !!python/tuple [12, 20] + - !!python/tuple [29, 31] + - !!python/tuple [14, 6] + - !!python/tuple [22, 0] + - !!python/tuple [26, 2] + - !!python/tuple [27, 5] + - !!python/tuple [12, 23] + - !!python/tuple [12, 22] + - !!python/tuple [31, 25] + - !!python/tuple [1, 4] + - !!python/tuple [5, 16] + - !!python/tuple [8, 19] + - !!python/tuple [17, 30] + - !!python/tuple [23, 20] + - !!python/tuple [27, 14] + - !!python/tuple [18, 8] + - !!python/tuple [30, 9] + - !!python/tuple [23, 9] + - !!python/tuple [16, 1] + - !!python/tuple [13, 7] + - !!python/tuple [24, 7] + - !!python/tuple [13, 21] + - !!python/tuple [3, 1] + - !!python/tuple [16, 17] + - !!python/tuple [12, 25] + - !!python/tuple [10, 15] + - !!python/tuple [16, 7] + - !!python/tuple [21, 12] + - !!python/tuple [16, 16] + - !!python/tuple [5, 18] + - !!python/tuple [23, 23] + - !!python/tuple [28, 4] + - !!python/tuple [0, 11] + - !!python/tuple [31, 31] + - !!python/tuple [27, 30] + - !!python/tuple [21, 11] + - !!python/tuple [16, 31] + - !!python/tuple [30, 25] + - !!python/tuple [2, 13] + - !!python/tuple [25, 2] + - !!python/tuple [18, 4] + - !!python/tuple [2, 12] + - !!python/tuple [27, 4] + - !!python/tuple [31, 27] + - !!python/tuple [25, 9] + - !!python/tuple [17, 31] + - !!python/tuple [22, 26] + - !!python/tuple [17, 14] + - !!python/tuple [23, 3] + - !!python/tuple [10, 9] + - !!python/tuple [21, 21] + - !!python/tuple [16, 18] + - !!python/tuple [24, 15] + - !!python/tuple [5, 28] + - !!python/tuple [19, 24] + - !!python/tuple [11, 6] + - !!python/tuple [28, 6] + - !!python/tuple [8, 27] + - !!python/tuple [26, 4] + - !!python/tuple [14, 29] + - !!python/tuple [0, 20] + - !!python/tuple [18, 0] + - !!python/tuple [22, 31] + - !!python/tuple [12, 21] + - !!python/tuple [2, 24] + - !!python/tuple [6, 5] + - !!python/tuple [6, 26] + - !!python/tuple [19, 10] + - !!python/tuple [23, 5] + - !!python/tuple [25, 20] + - !!python/tuple [11, 17] + - !!python/tuple [22, 12] + - !!python/tuple [4, 14] + - !!python/tuple [24, 3] + - !!python/tuple [21, 0] + - !!python/tuple [8, 18] + - !!python/tuple [25, 4] + - !!python/tuple [27, 27] + - !!python/tuple [15, 20] + - !!python/tuple [20, 9] + - !!python/tuple [19, 17] + - !!python/tuple [15, 6] + - !!python/tuple [30, 3] + - !!python/tuple [16, 26] + - !!python/tuple [25, 3] + - !!python/tuple [8, 22] + - !!python/tuple [5, 15] + - !!python/tuple [23, 25] + - !!python/tuple [25, 15] + - !!python/tuple [8, 1] + - !!python/tuple [14, 12] + - !!python/tuple [23, 1] + - !!python/tuple [22, 16] + - !!python/tuple [9, 0] + - !!python/tuple [10, 1] + - !!python/tuple [30, 22] + - !!python/tuple [0, 29] + - !!python/tuple [8, 15] + - !!python/tuple [3, 13] + - !!python/tuple [19, 13] + - !!python/tuple [21, 28] + - !!python/tuple [5, 21] + - !!python/tuple [23, 24] + - !!python/tuple [29, 15] + - !!python/tuple [18, 1] + - !!python/tuple [17, 13] + - !!python/tuple [27, 16] + - !!python/tuple [18, 3] + - !!python/tuple [28, 10] + - !!python/tuple [0, 14] + - !!python/tuple [21, 22] + - !!python/tuple [22, 13] + - !!python/tuple [26, 19] + - !!python/tuple [11, 13] + - !!python/tuple [30, 4] + - !!python/tuple [6, 29] + - !!python/tuple [4, 11] + - !!python/tuple [7, 16] + - !!python/tuple [4, 9] + - !!python/tuple [20, 22] + - !!python/tuple [13, 19] + - !!python/tuple [30, 23] + - !!python/tuple [18, 16] + - !!python/tuple [7, 26] + - !!python/tuple [9, 4] + - !!python/tuple [25, 17] + - !!python/tuple [13, 23] + - !!python/tuple [6, 19] + - !!python/tuple [1, 27] + - !!python/tuple [7, 10] + - !!python/tuple [13, 2] + - !!python/tuple [10, 27] + - !!python/tuple [26, 8] + - !!python/tuple [20, 29] + - !!python/tuple [3, 10] + - !!python/tuple [9, 8] + - !!python/tuple [11, 7] + - !!python/tuple [27, 2] + - !!python/tuple [16, 30] + - !!python/tuple [19, 28] + - !!python/tuple [4, 13] + - !!python/tuple [1, 17] + - !!python/tuple [24, 17] + - !!python/tuple [25, 18] + - !!python/tuple [15, 5] + - !!python/tuple [0, 16] + - !!python/tuple [10, 29] + - !!python/tuple [30, 20] + - !!python/tuple [21, 20] + - !!python/tuple [5, 23] + - !!python/tuple [19, 22] + - !!python/tuple [28, 8] + - !!python/tuple [1, 19] + - !!python/tuple [11, 10] + - !!python/tuple [5, 27] + - !!python/tuple [2, 0] + - !!python/tuple [11, 1] + - !!python/tuple [18, 25] + - !!python/tuple [13, 12] + - !!python/tuple [28, 14] + - !!python/tuple [28, 26] + - !!python/tuple [14, 17] + - !!python/tuple [22, 1] + - !!python/tuple [21, 30] + - !!python/tuple [7, 21] + - !!python/tuple [10, 20] + - !!python/tuple [22, 20] + - !!python/tuple [14, 4] + - !!python/tuple [22, 27] + - !!python/tuple [10, 31] + - !!python/tuple [4, 31] + - !!python/tuple [13, 28] + - !!python/tuple [10, 12] + - !!python/tuple [7, 29] + - !!python/tuple [6, 9] + - !!python/tuple [23, 0] + - !!python/tuple [12, 3] + - !!python/tuple [19, 14] + - !!python/tuple [13, 17] + - !!python/tuple [28, 20] + - !!python/tuple [14, 28] + - !!python/tuple [27, 24] + - !!python/tuple [20, 2] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex79.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex79.yaml new file mode 100644 index 0000000..6262a36 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex79.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [3, 4] + name: agent0 + start: [18, 3] +- goal: [22, 11] + name: agent1 + start: [23, 19] +- goal: [24, 3] + name: agent2 + start: [31, 13] +- goal: [30, 5] + name: agent3 + start: [26, 26] +- goal: [21, 6] + name: agent4 + start: [0, 3] +- goal: [10, 4] + name: agent5 + start: [22, 21] +- goal: [2, 8] + name: agent6 + start: [14, 22] +- goal: [16, 24] + name: agent7 + start: [16, 11] +- goal: [19, 28] + name: agent8 + start: [6, 26] +- goal: [8, 18] + name: agent9 + start: [15, 9] +- goal: [26, 29] + name: agent10 + start: [11, 13] +- goal: [17, 9] + name: agent11 + start: [27, 15] +- goal: [2, 15] + name: agent12 + start: [26, 10] +- goal: [9, 1] + name: agent13 + start: [0, 10] +- goal: [21, 22] + name: agent14 + start: [20, 31] +- goal: [16, 15] + name: agent15 + start: [14, 10] +- goal: [8, 28] + name: agent16 + start: [10, 14] +- goal: [10, 10] + name: agent17 + start: [1, 0] +- goal: [23, 28] + name: agent18 + start: [10, 26] +- goal: [5, 7] + name: agent19 + start: [6, 22] +- goal: [9, 3] + name: agent20 + start: [3, 8] +- goal: [28, 13] + name: agent21 + start: [3, 28] +- goal: [13, 14] + name: agent22 + start: [14, 28] +- goal: [1, 29] + name: agent23 + start: [30, 24] +- goal: [13, 12] + name: agent24 + start: [25, 4] +- goal: [16, 25] + name: agent25 + start: [22, 13] +- goal: [13, 18] + name: agent26 + start: [28, 19] +- goal: [7, 20] + name: agent27 + start: [20, 28] +- goal: [2, 13] + name: agent28 + start: [3, 26] +- goal: [22, 20] + name: agent29 + start: [3, 6] +- goal: [15, 11] + name: agent30 + start: [19, 21] +- goal: [14, 22] + name: agent31 + start: [13, 27] +- goal: [28, 11] + name: agent32 + start: [16, 23] +- goal: [27, 27] + name: agent33 + start: [27, 13] +- goal: [10, 3] + name: agent34 + start: [15, 17] +- goal: [19, 8] + name: agent35 + start: [27, 14] +- goal: [21, 28] + name: agent36 + start: [29, 12] +- goal: [19, 15] + name: agent37 + start: [15, 19] +- goal: [15, 17] + name: agent38 + start: [10, 2] +- goal: [1, 7] + name: agent39 + start: [28, 28] +- goal: [29, 15] + name: agent40 + start: [20, 27] +- goal: [25, 0] + name: agent41 + start: [28, 29] +- goal: [19, 19] + name: agent42 + start: [31, 22] +- goal: [10, 18] + name: agent43 + start: [1, 1] +- goal: [4, 31] + name: agent44 + start: [19, 7] +- goal: [27, 12] + name: agent45 + start: [6, 30] +- goal: [15, 19] + name: agent46 + start: [20, 11] +- goal: [15, 21] + name: agent47 + start: [30, 13] +- goal: [9, 19] + name: agent48 + start: [12, 17] +- goal: [22, 28] + name: agent49 + start: [20, 13] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [26, 7] + - !!python/tuple [27, 4] + - !!python/tuple [14, 30] + - !!python/tuple [13, 2] + - !!python/tuple [21, 5] + - !!python/tuple [5, 10] + - !!python/tuple [20, 14] + - !!python/tuple [9, 21] + - !!python/tuple [3, 5] + - !!python/tuple [25, 5] + - !!python/tuple [26, 16] + - !!python/tuple [1, 8] + - !!python/tuple [23, 18] + - !!python/tuple [6, 10] + - !!python/tuple [31, 30] + - !!python/tuple [5, 29] + - !!python/tuple [30, 2] + - !!python/tuple [18, 22] + - !!python/tuple [28, 30] + - !!python/tuple [12, 28] + - !!python/tuple [11, 26] + - !!python/tuple [23, 0] + - !!python/tuple [23, 21] + - !!python/tuple [14, 0] + - !!python/tuple [25, 15] + - !!python/tuple [21, 10] + - !!python/tuple [30, 17] + - !!python/tuple [2, 9] + - !!python/tuple [29, 3] + - !!python/tuple [8, 13] + - !!python/tuple [30, 12] + - !!python/tuple [20, 26] + - !!python/tuple [21, 31] + - !!python/tuple [21, 9] + - !!python/tuple [31, 31] + - !!python/tuple [2, 19] + - !!python/tuple [28, 5] + - !!python/tuple [7, 4] + - !!python/tuple [11, 16] + - !!python/tuple [23, 15] + - !!python/tuple [16, 5] + - !!python/tuple [6, 8] + - !!python/tuple [23, 26] + - !!python/tuple [20, 23] + - !!python/tuple [0, 1] + - !!python/tuple [6, 1] + - !!python/tuple [24, 8] + - !!python/tuple [0, 21] + - !!python/tuple [1, 22] + - !!python/tuple [20, 15] + - !!python/tuple [11, 21] + - !!python/tuple [30, 21] + - !!python/tuple [31, 16] + - !!python/tuple [16, 1] + - !!python/tuple [9, 4] + - !!python/tuple [28, 14] + - !!python/tuple [22, 24] + - !!python/tuple [22, 25] + - !!python/tuple [27, 22] + - !!python/tuple [26, 20] + - !!python/tuple [18, 17] + - !!python/tuple [10, 0] + - !!python/tuple [17, 31] + - !!python/tuple [26, 14] + - !!python/tuple [14, 4] + - !!python/tuple [4, 9] + - !!python/tuple [29, 18] + - !!python/tuple [5, 26] + - !!python/tuple [11, 23] + - !!python/tuple [0, 9] + - !!python/tuple [9, 6] + - !!python/tuple [22, 12] + - !!python/tuple [27, 7] + - !!python/tuple [14, 7] + - !!python/tuple [9, 5] + - !!python/tuple [20, 17] + - !!python/tuple [21, 3] + - !!python/tuple [19, 22] + - !!python/tuple [2, 17] + - !!python/tuple [3, 18] + - !!python/tuple [30, 29] + - !!python/tuple [15, 15] + - !!python/tuple [21, 17] + - !!python/tuple [26, 8] + - !!python/tuple [3, 30] + - !!python/tuple [13, 5] + - !!python/tuple [0, 30] + - !!python/tuple [16, 4] + - !!python/tuple [2, 11] + - !!python/tuple [29, 14] + - !!python/tuple [1, 20] + - !!python/tuple [17, 18] + - !!python/tuple [21, 4] + - !!python/tuple [13, 24] + - !!python/tuple [7, 10] + - !!python/tuple [16, 7] + - !!python/tuple [7, 19] + - !!python/tuple [7, 27] + - !!python/tuple [5, 16] + - !!python/tuple [27, 28] + - !!python/tuple [15, 30] + - !!python/tuple [13, 30] + - !!python/tuple [12, 18] + - !!python/tuple [8, 19] + - !!python/tuple [9, 9] + - !!python/tuple [23, 1] + - !!python/tuple [11, 4] + - !!python/tuple [7, 22] + - !!python/tuple [20, 19] + - !!python/tuple [25, 1] + - !!python/tuple [27, 25] + - !!python/tuple [28, 1] + - !!python/tuple [7, 17] + - !!python/tuple [6, 12] + - !!python/tuple [2, 30] + - !!python/tuple [12, 31] + - !!python/tuple [17, 5] + - !!python/tuple [0, 27] + - !!python/tuple [2, 28] + - !!python/tuple [8, 29] + - !!python/tuple [0, 12] + - !!python/tuple [14, 6] + - !!python/tuple [8, 23] + - !!python/tuple [8, 12] + - !!python/tuple [12, 14] + - !!python/tuple [22, 15] + - !!python/tuple [15, 14] + - !!python/tuple [13, 3] + - !!python/tuple [26, 12] + - !!python/tuple [9, 17] + - !!python/tuple [18, 1] + - !!python/tuple [25, 3] + - !!python/tuple [27, 20] + - !!python/tuple [15, 1] + - !!python/tuple [7, 16] + - !!python/tuple [16, 30] + - !!python/tuple [0, 13] + - !!python/tuple [29, 21] + - !!python/tuple [3, 17] + - !!python/tuple [18, 16] + - !!python/tuple [9, 14] + - !!python/tuple [17, 16] + - !!python/tuple [6, 31] + - !!python/tuple [13, 13] + - !!python/tuple [8, 21] + - !!python/tuple [3, 2] + - !!python/tuple [30, 11] + - !!python/tuple [12, 24] + - !!python/tuple [11, 17] + - !!python/tuple [31, 14] + - !!python/tuple [25, 24] + - !!python/tuple [19, 3] + - !!python/tuple [2, 21] + - !!python/tuple [19, 10] + - !!python/tuple [2, 4] + - !!python/tuple [20, 12] + - !!python/tuple [9, 0] + - !!python/tuple [11, 31] + - !!python/tuple [12, 22] + - !!python/tuple [12, 19] + - !!python/tuple [11, 20] + - !!python/tuple [6, 11] + - !!python/tuple [9, 10] + - !!python/tuple [2, 5] + - !!python/tuple [1, 27] + - !!python/tuple [8, 0] + - !!python/tuple [2, 24] + - !!python/tuple [30, 22] + - !!python/tuple [8, 10] + - !!python/tuple [12, 20] + - !!python/tuple [5, 0] + - !!python/tuple [14, 23] + - !!python/tuple [8, 2] + - !!python/tuple [31, 9] + - !!python/tuple [7, 18] + - !!python/tuple [0, 24] + - !!python/tuple [4, 6] + - !!python/tuple [22, 17] + - !!python/tuple [19, 5] + - !!python/tuple [14, 25] + - !!python/tuple [31, 28] + - !!python/tuple [30, 19] + - !!python/tuple [27, 16] + - !!python/tuple [12, 8] + - !!python/tuple [22, 1] + - !!python/tuple [21, 27] + - !!python/tuple [2, 12] + - !!python/tuple [9, 26] + - !!python/tuple [5, 5] + - !!python/tuple [18, 28] + - !!python/tuple [25, 20] + - !!python/tuple [1, 21] + - !!python/tuple [8, 27] + - !!python/tuple [10, 9] + - !!python/tuple [8, 26] + - !!python/tuple [0, 31] + - !!python/tuple [3, 24] + - !!python/tuple [28, 6] + - !!python/tuple [6, 16] + - !!python/tuple [9, 22] + - !!python/tuple [16, 0] + - !!python/tuple [27, 2] + - !!python/tuple [6, 23] + - !!python/tuple [5, 18] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex8.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex8.yaml new file mode 100644 index 0000000..0f1b9d0 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex8.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [31, 29] + name: agent0 + start: [2, 18] +- goal: [8, 22] + name: agent1 + start: [12, 24] +- goal: [26, 2] + name: agent2 + start: [29, 3] +- goal: [27, 28] + name: agent3 + start: [27, 17] +- goal: [3, 23] + name: agent4 + start: [30, 31] +- goal: [22, 13] + name: agent5 + start: [25, 12] +- goal: [11, 20] + name: agent6 + start: [0, 14] +- goal: [17, 8] + name: agent7 + start: [10, 27] +- goal: [22, 12] + name: agent8 + start: [24, 19] +- goal: [20, 26] + name: agent9 + start: [7, 23] +- goal: [6, 2] + name: agent10 + start: [4, 1] +- goal: [5, 4] + name: agent11 + start: [15, 18] +- goal: [5, 28] + name: agent12 + start: [22, 18] +- goal: [13, 18] + name: agent13 + start: [27, 2] +- goal: [15, 4] + name: agent14 + start: [11, 22] +- goal: [16, 5] + name: agent15 + start: [4, 24] +- goal: [28, 9] + name: agent16 + start: [12, 8] +- goal: [0, 30] + name: agent17 + start: [30, 16] +- goal: [1, 28] + name: agent18 + start: [31, 24] +- goal: [0, 0] + name: agent19 + start: [29, 19] +- goal: [12, 10] + name: agent20 + start: [22, 13] +- goal: [25, 19] + name: agent21 + start: [0, 28] +- goal: [19, 10] + name: agent22 + start: [12, 3] +- goal: [2, 0] + name: agent23 + start: [18, 5] +- goal: [12, 13] + name: agent24 + start: [17, 23] +- goal: [27, 26] + name: agent25 + start: [7, 8] +- goal: [28, 15] + name: agent26 + start: [3, 29] +- goal: [15, 22] + name: agent27 + start: [27, 8] +- goal: [1, 3] + name: agent28 + start: [9, 3] +- goal: [12, 7] + name: agent29 + start: [31, 13] +- goal: [8, 18] + name: agent30 + start: [10, 11] +- goal: [4, 5] + name: agent31 + start: [4, 8] +- goal: [29, 0] + name: agent32 + start: [16, 18] +- goal: [26, 22] + name: agent33 + start: [24, 0] +- goal: [3, 8] + name: agent34 + start: [19, 28] +- goal: [22, 6] + name: agent35 + start: [3, 16] +- goal: [23, 27] + name: agent36 + start: [12, 18] +- goal: [27, 11] + name: agent37 + start: [5, 12] +- goal: [16, 17] + name: agent38 + start: [12, 9] +- goal: [18, 11] + name: agent39 + start: [0, 18] +- goal: [16, 28] + name: agent40 + start: [18, 23] +- goal: [13, 22] + name: agent41 + start: [0, 3] +- goal: [30, 31] + name: agent42 + start: [24, 26] +- goal: [25, 28] + name: agent43 + start: [2, 27] +- goal: [25, 10] + name: agent44 + start: [19, 5] +- goal: [29, 24] + name: agent45 + start: [0, 26] +- goal: [21, 19] + name: agent46 + start: [2, 3] +- goal: [19, 3] + name: agent47 + start: [24, 28] +- goal: [2, 21] + name: agent48 + start: [6, 27] +- goal: [27, 3] + name: agent49 + start: [3, 26] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [8, 12] + - !!python/tuple [23, 11] + - !!python/tuple [31, 17] + - !!python/tuple [31, 3] + - !!python/tuple [8, 2] + - !!python/tuple [31, 5] + - !!python/tuple [3, 6] + - !!python/tuple [4, 18] + - !!python/tuple [23, 2] + - !!python/tuple [5, 30] + - !!python/tuple [9, 12] + - !!python/tuple [11, 9] + - !!python/tuple [7, 27] + - !!python/tuple [16, 8] + - !!python/tuple [29, 26] + - !!python/tuple [20, 19] + - !!python/tuple [24, 11] + - !!python/tuple [24, 12] + - !!python/tuple [17, 15] + - !!python/tuple [6, 3] + - !!python/tuple [1, 5] + - !!python/tuple [5, 22] + - !!python/tuple [28, 25] + - !!python/tuple [29, 11] + - !!python/tuple [30, 24] + - !!python/tuple [15, 15] + - !!python/tuple [31, 0] + - !!python/tuple [27, 21] + - !!python/tuple [20, 22] + - !!python/tuple [21, 24] + - !!python/tuple [8, 19] + - !!python/tuple [20, 2] + - !!python/tuple [5, 6] + - !!python/tuple [31, 8] + - !!python/tuple [6, 11] + - !!python/tuple [0, 21] + - !!python/tuple [20, 11] + - !!python/tuple [17, 16] + - !!python/tuple [11, 15] + - !!python/tuple [30, 26] + - !!python/tuple [5, 31] + - !!python/tuple [17, 27] + - !!python/tuple [14, 28] + - !!python/tuple [26, 18] + - !!python/tuple [21, 4] + - !!python/tuple [11, 27] + - !!python/tuple [31, 25] + - !!python/tuple [6, 13] + - !!python/tuple [28, 5] + - !!python/tuple [18, 30] + - !!python/tuple [20, 6] + - !!python/tuple [27, 1] + - !!python/tuple [3, 30] + - !!python/tuple [8, 17] + - !!python/tuple [5, 1] + - !!python/tuple [28, 7] + - !!python/tuple [23, 31] + - !!python/tuple [30, 27] + - !!python/tuple [9, 17] + - !!python/tuple [11, 12] + - !!python/tuple [8, 20] + - !!python/tuple [22, 1] + - !!python/tuple [2, 29] + - !!python/tuple [10, 15] + - !!python/tuple [5, 23] + - !!python/tuple [12, 5] + - !!python/tuple [26, 9] + - !!python/tuple [18, 1] + - !!python/tuple [24, 2] + - !!python/tuple [15, 2] + - !!python/tuple [20, 10] + - !!python/tuple [16, 25] + - !!python/tuple [14, 4] + - !!python/tuple [13, 9] + - !!python/tuple [9, 0] + - !!python/tuple [9, 20] + - !!python/tuple [19, 15] + - !!python/tuple [21, 6] + - !!python/tuple [4, 0] + - !!python/tuple [16, 7] + - !!python/tuple [19, 18] + - !!python/tuple [14, 17] + - !!python/tuple [18, 15] + - !!python/tuple [17, 3] + - !!python/tuple [26, 10] + - !!python/tuple [31, 18] + - !!python/tuple [11, 25] + - !!python/tuple [7, 24] + - !!python/tuple [12, 11] + - !!python/tuple [29, 7] + - !!python/tuple [20, 7] + - !!python/tuple [11, 26] + - !!python/tuple [18, 8] + - !!python/tuple [8, 27] + - !!python/tuple [7, 3] + - !!python/tuple [9, 19] + - !!python/tuple [26, 31] + - !!python/tuple [17, 4] + - !!python/tuple [2, 31] + - !!python/tuple [28, 27] + - !!python/tuple [1, 20] + - !!python/tuple [30, 7] + - !!python/tuple [3, 2] + - !!python/tuple [14, 30] + - !!python/tuple [13, 4] + - !!python/tuple [19, 19] + - !!python/tuple [3, 10] + - !!python/tuple [26, 29] + - !!python/tuple [22, 7] + - !!python/tuple [18, 18] + - !!python/tuple [13, 14] + - !!python/tuple [20, 4] + - !!python/tuple [7, 6] + - !!python/tuple [31, 28] + - !!python/tuple [14, 20] + - !!python/tuple [18, 0] + - !!python/tuple [25, 27] + - !!python/tuple [14, 24] + - !!python/tuple [25, 20] + - !!python/tuple [4, 19] + - !!python/tuple [9, 16] + - !!python/tuple [8, 10] + - !!python/tuple [0, 25] + - !!python/tuple [10, 14] + - !!python/tuple [28, 0] + - !!python/tuple [5, 10] + - !!python/tuple [4, 26] + - !!python/tuple [1, 7] + - !!python/tuple [7, 1] + - !!python/tuple [28, 1] + - !!python/tuple [23, 13] + - !!python/tuple [1, 29] + - !!python/tuple [22, 30] + - !!python/tuple [3, 13] + - !!python/tuple [24, 7] + - !!python/tuple [9, 9] + - !!python/tuple [22, 14] + - !!python/tuple [29, 13] + - !!python/tuple [1, 13] + - !!python/tuple [21, 3] + - !!python/tuple [17, 11] + - !!python/tuple [19, 29] + - !!python/tuple [0, 11] + - !!python/tuple [7, 0] + - !!python/tuple [10, 20] + - !!python/tuple [0, 31] + - !!python/tuple [4, 15] + - !!python/tuple [10, 2] + - !!python/tuple [9, 1] + - !!python/tuple [1, 25] + - !!python/tuple [7, 15] + - !!python/tuple [8, 13] + - !!python/tuple [10, 5] + - !!python/tuple [2, 25] + - !!python/tuple [19, 25] + - !!python/tuple [7, 21] + - !!python/tuple [20, 14] + - !!python/tuple [19, 9] + - !!python/tuple [17, 26] + - !!python/tuple [23, 22] + - !!python/tuple [2, 11] + - !!python/tuple [6, 17] + - !!python/tuple [11, 14] + - !!python/tuple [21, 16] + - !!python/tuple [23, 19] + - !!python/tuple [31, 10] + - !!python/tuple [13, 5] + - !!python/tuple [7, 11] + - !!python/tuple [31, 20] + - !!python/tuple [24, 30] + - !!python/tuple [16, 29] + - !!python/tuple [6, 8] + - !!python/tuple [7, 20] + - !!python/tuple [18, 19] + - !!python/tuple [13, 20] + - !!python/tuple [20, 1] + - !!python/tuple [26, 12] + - !!python/tuple [0, 4] + - !!python/tuple [25, 5] + - !!python/tuple [12, 2] + - !!python/tuple [8, 28] + - !!python/tuple [29, 10] + - !!python/tuple [12, 17] + - !!python/tuple [15, 31] + - !!python/tuple [3, 21] + - !!python/tuple [10, 31] + - !!python/tuple [8, 11] + - !!python/tuple [28, 2] + - !!python/tuple [24, 25] + - !!python/tuple [29, 17] + - !!python/tuple [15, 12] + - !!python/tuple [29, 30] + - !!python/tuple [15, 30] + - !!python/tuple [0, 5] + - !!python/tuple [17, 31] + - !!python/tuple [27, 22] + - !!python/tuple [10, 25] + - !!python/tuple [4, 27] + - !!python/tuple [6, 20] + - !!python/tuple [2, 2] + - !!python/tuple [5, 15] + - !!python/tuple [16, 1] + - !!python/tuple [4, 3] + - !!python/tuple [26, 21] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex80.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex80.yaml new file mode 100644 index 0000000..ff46803 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex80.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [26, 4] + name: agent0 + start: [24, 0] +- goal: [8, 22] + name: agent1 + start: [15, 17] +- goal: [19, 0] + name: agent2 + start: [16, 2] +- goal: [1, 10] + name: agent3 + start: [8, 22] +- goal: [7, 31] + name: agent4 + start: [22, 24] +- goal: [27, 6] + name: agent5 + start: [18, 30] +- goal: [12, 3] + name: agent6 + start: [13, 17] +- goal: [26, 21] + name: agent7 + start: [7, 3] +- goal: [15, 28] + name: agent8 + start: [26, 17] +- goal: [10, 24] + name: agent9 + start: [22, 13] +- goal: [12, 30] + name: agent10 + start: [22, 26] +- goal: [24, 17] + name: agent11 + start: [11, 19] +- goal: [20, 11] + name: agent12 + start: [25, 23] +- goal: [28, 30] + name: agent13 + start: [8, 10] +- goal: [26, 30] + name: agent14 + start: [28, 21] +- goal: [31, 22] + name: agent15 + start: [1, 5] +- goal: [3, 0] + name: agent16 + start: [24, 5] +- goal: [16, 14] + name: agent17 + start: [25, 20] +- goal: [11, 2] + name: agent18 + start: [29, 25] +- goal: [10, 6] + name: agent19 + start: [3, 21] +- goal: [9, 3] + name: agent20 + start: [20, 14] +- goal: [28, 31] + name: agent21 + start: [3, 22] +- goal: [14, 30] + name: agent22 + start: [7, 27] +- goal: [5, 23] + name: agent23 + start: [23, 6] +- goal: [24, 9] + name: agent24 + start: [29, 4] +- goal: [4, 14] + name: agent25 + start: [26, 10] +- goal: [24, 27] + name: agent26 + start: [16, 11] +- goal: [24, 20] + name: agent27 + start: [10, 2] +- goal: [2, 18] + name: agent28 + start: [11, 12] +- goal: [20, 19] + name: agent29 + start: [15, 16] +- goal: [4, 26] + name: agent30 + start: [5, 17] +- goal: [27, 27] + name: agent31 + start: [4, 3] +- goal: [26, 1] + name: agent32 + start: [5, 11] +- goal: [24, 12] + name: agent33 + start: [5, 14] +- goal: [26, 3] + name: agent34 + start: [25, 14] +- goal: [27, 10] + name: agent35 + start: [9, 29] +- goal: [19, 16] + name: agent36 + start: [28, 22] +- goal: [19, 15] + name: agent37 + start: [28, 3] +- goal: [9, 12] + name: agent38 + start: [26, 5] +- goal: [18, 20] + name: agent39 + start: [11, 14] +- goal: [7, 5] + name: agent40 + start: [24, 21] +- goal: [23, 21] + name: agent41 + start: [4, 21] +- goal: [14, 16] + name: agent42 + start: [14, 8] +- goal: [19, 1] + name: agent43 + start: [28, 4] +- goal: [11, 25] + name: agent44 + start: [23, 18] +- goal: [15, 3] + name: agent45 + start: [31, 26] +- goal: [24, 25] + name: agent46 + start: [4, 20] +- goal: [1, 27] + name: agent47 + start: [1, 10] +- goal: [11, 31] + name: agent48 + start: [10, 9] +- goal: [19, 31] + name: agent49 + start: [22, 9] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [7, 23] + - !!python/tuple [18, 10] + - !!python/tuple [21, 9] + - !!python/tuple [24, 2] + - !!python/tuple [14, 29] + - !!python/tuple [12, 29] + - !!python/tuple [12, 19] + - !!python/tuple [22, 10] + - !!python/tuple [16, 13] + - !!python/tuple [23, 26] + - !!python/tuple [14, 13] + - !!python/tuple [29, 6] + - !!python/tuple [1, 14] + - !!python/tuple [31, 1] + - !!python/tuple [4, 18] + - !!python/tuple [29, 14] + - !!python/tuple [20, 6] + - !!python/tuple [10, 10] + - !!python/tuple [14, 19] + - !!python/tuple [8, 1] + - !!python/tuple [26, 29] + - !!python/tuple [20, 29] + - !!python/tuple [9, 4] + - !!python/tuple [31, 8] + - !!python/tuple [28, 15] + - !!python/tuple [27, 0] + - !!python/tuple [19, 17] + - !!python/tuple [26, 25] + - !!python/tuple [26, 13] + - !!python/tuple [30, 30] + - !!python/tuple [19, 3] + - !!python/tuple [24, 29] + - !!python/tuple [26, 16] + - !!python/tuple [20, 1] + - !!python/tuple [25, 0] + - !!python/tuple [4, 7] + - !!python/tuple [6, 10] + - !!python/tuple [28, 1] + - !!python/tuple [15, 23] + - !!python/tuple [5, 15] + - !!python/tuple [17, 10] + - !!python/tuple [8, 21] + - !!python/tuple [4, 5] + - !!python/tuple [17, 18] + - !!python/tuple [25, 24] + - !!python/tuple [29, 30] + - !!python/tuple [7, 16] + - !!python/tuple [1, 16] + - !!python/tuple [24, 4] + - !!python/tuple [2, 29] + - !!python/tuple [11, 21] + - !!python/tuple [14, 22] + - !!python/tuple [4, 17] + - !!python/tuple [17, 4] + - !!python/tuple [28, 23] + - !!python/tuple [27, 30] + - !!python/tuple [1, 9] + - !!python/tuple [6, 29] + - !!python/tuple [15, 31] + - !!python/tuple [21, 13] + - !!python/tuple [12, 24] + - !!python/tuple [4, 30] + - !!python/tuple [21, 25] + - !!python/tuple [29, 1] + - !!python/tuple [0, 18] + - !!python/tuple [20, 25] + - !!python/tuple [21, 1] + - !!python/tuple [15, 14] + - !!python/tuple [18, 22] + - !!python/tuple [6, 27] + - !!python/tuple [1, 8] + - !!python/tuple [15, 9] + - !!python/tuple [29, 7] + - !!python/tuple [2, 21] + - !!python/tuple [31, 27] + - !!python/tuple [21, 6] + - !!python/tuple [15, 2] + - !!python/tuple [6, 6] + - !!python/tuple [28, 12] + - !!python/tuple [0, 15] + - !!python/tuple [21, 29] + - !!python/tuple [31, 11] + - !!python/tuple [3, 6] + - !!python/tuple [21, 22] + - !!python/tuple [22, 22] + - !!python/tuple [2, 0] + - !!python/tuple [19, 6] + - !!python/tuple [16, 26] + - !!python/tuple [18, 13] + - !!python/tuple [19, 29] + - !!python/tuple [0, 29] + - !!python/tuple [25, 6] + - !!python/tuple [30, 6] + - !!python/tuple [31, 23] + - !!python/tuple [2, 10] + - !!python/tuple [0, 3] + - !!python/tuple [2, 4] + - !!python/tuple [23, 11] + - !!python/tuple [24, 16] + - !!python/tuple [5, 9] + - !!python/tuple [11, 15] + - !!python/tuple [19, 5] + - !!python/tuple [0, 16] + - !!python/tuple [16, 23] + - !!python/tuple [7, 11] + - !!python/tuple [4, 29] + - !!python/tuple [7, 25] + - !!python/tuple [9, 23] + - !!python/tuple [7, 4] + - !!python/tuple [30, 25] + - !!python/tuple [10, 4] + - !!python/tuple [25, 3] + - !!python/tuple [21, 19] + - !!python/tuple [24, 7] + - !!python/tuple [1, 19] + - !!python/tuple [22, 15] + - !!python/tuple [13, 21] + - !!python/tuple [29, 13] + - !!python/tuple [0, 26] + - !!python/tuple [1, 28] + - !!python/tuple [27, 25] + - !!python/tuple [25, 10] + - !!python/tuple [21, 16] + - !!python/tuple [14, 28] + - !!python/tuple [3, 19] + - !!python/tuple [5, 26] + - !!python/tuple [3, 24] + - !!python/tuple [2, 23] + - !!python/tuple [19, 8] + - !!python/tuple [20, 22] + - !!python/tuple [0, 24] + - !!python/tuple [5, 1] + - !!python/tuple [21, 3] + - !!python/tuple [27, 28] + - !!python/tuple [5, 29] + - !!python/tuple [23, 20] + - !!python/tuple [6, 1] + - !!python/tuple [20, 27] + - !!python/tuple [7, 22] + - !!python/tuple [9, 16] + - !!python/tuple [2, 28] + - !!python/tuple [13, 10] + - !!python/tuple [1, 25] + - !!python/tuple [21, 11] + - !!python/tuple [1, 17] + - !!python/tuple [6, 18] + - !!python/tuple [28, 27] + - !!python/tuple [0, 31] + - !!python/tuple [14, 18] + - !!python/tuple [0, 12] + - !!python/tuple [13, 11] + - !!python/tuple [11, 26] + - !!python/tuple [15, 8] + - !!python/tuple [22, 28] + - !!python/tuple [27, 23] + - !!python/tuple [26, 26] + - !!python/tuple [0, 27] + - !!python/tuple [8, 28] + - !!python/tuple [22, 30] + - !!python/tuple [1, 15] + - !!python/tuple [7, 28] + - !!python/tuple [0, 25] + - !!python/tuple [0, 9] + - !!python/tuple [13, 28] + - !!python/tuple [3, 17] + - !!python/tuple [15, 29] + - !!python/tuple [20, 16] + - !!python/tuple [18, 28] + - !!python/tuple [21, 15] + - !!python/tuple [7, 18] + - !!python/tuple [3, 18] + - !!python/tuple [5, 25] + - !!python/tuple [15, 4] + - !!python/tuple [12, 27] + - !!python/tuple [30, 29] + - !!python/tuple [12, 23] + - !!python/tuple [12, 25] + - !!python/tuple [0, 28] + - !!python/tuple [28, 14] + - !!python/tuple [1, 2] + - !!python/tuple [16, 31] + - !!python/tuple [11, 4] + - !!python/tuple [1, 22] + - !!python/tuple [17, 24] + - !!python/tuple [31, 28] + - !!python/tuple [28, 18] + - !!python/tuple [2, 8] + - !!python/tuple [31, 6] + - !!python/tuple [30, 23] + - !!python/tuple [31, 2] + - !!python/tuple [26, 11] + - !!python/tuple [3, 12] + - !!python/tuple [3, 3] + - !!python/tuple [6, 4] + - !!python/tuple [24, 24] + - !!python/tuple [13, 26] + - !!python/tuple [30, 12] + - !!python/tuple [29, 0] + - !!python/tuple [28, 13] + - !!python/tuple [13, 22] + - !!python/tuple [3, 28] + - !!python/tuple [11, 29] + - !!python/tuple [19, 25] + - !!python/tuple [27, 17] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex81.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex81.yaml new file mode 100644 index 0000000..c46b1bc --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex81.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [18, 28] + name: agent0 + start: [12, 6] +- goal: [29, 5] + name: agent1 + start: [5, 6] +- goal: [28, 17] + name: agent2 + start: [1, 29] +- goal: [31, 15] + name: agent3 + start: [12, 12] +- goal: [27, 27] + name: agent4 + start: [0, 5] +- goal: [29, 20] + name: agent5 + start: [5, 7] +- goal: [12, 13] + name: agent6 + start: [22, 0] +- goal: [25, 26] + name: agent7 + start: [8, 11] +- goal: [12, 12] + name: agent8 + start: [11, 16] +- goal: [4, 7] + name: agent9 + start: [10, 27] +- goal: [2, 27] + name: agent10 + start: [17, 6] +- goal: [13, 9] + name: agent11 + start: [19, 18] +- goal: [14, 15] + name: agent12 + start: [31, 15] +- goal: [6, 29] + name: agent13 + start: [31, 21] +- goal: [24, 19] + name: agent14 + start: [21, 26] +- goal: [13, 20] + name: agent15 + start: [13, 28] +- goal: [5, 25] + name: agent16 + start: [18, 23] +- goal: [9, 13] + name: agent17 + start: [31, 3] +- goal: [1, 16] + name: agent18 + start: [4, 29] +- goal: [7, 15] + name: agent19 + start: [31, 6] +- goal: [19, 2] + name: agent20 + start: [11, 8] +- goal: [27, 4] + name: agent21 + start: [8, 22] +- goal: [24, 17] + name: agent22 + start: [13, 14] +- goal: [25, 21] + name: agent23 + start: [13, 13] +- goal: [16, 7] + name: agent24 + start: [19, 28] +- goal: [19, 12] + name: agent25 + start: [29, 26] +- goal: [5, 28] + name: agent26 + start: [29, 19] +- goal: [2, 28] + name: agent27 + start: [27, 19] +- goal: [16, 2] + name: agent28 + start: [16, 26] +- goal: [18, 6] + name: agent29 + start: [1, 25] +- goal: [7, 16] + name: agent30 + start: [29, 9] +- goal: [30, 19] + name: agent31 + start: [15, 4] +- goal: [5, 29] + name: agent32 + start: [22, 13] +- goal: [27, 1] + name: agent33 + start: [30, 20] +- goal: [9, 6] + name: agent34 + start: [6, 25] +- goal: [3, 11] + name: agent35 + start: [4, 5] +- goal: [0, 25] + name: agent36 + start: [30, 10] +- goal: [11, 8] + name: agent37 + start: [22, 21] +- goal: [25, 25] + name: agent38 + start: [16, 30] +- goal: [20, 27] + name: agent39 + start: [22, 7] +- goal: [29, 26] + name: agent40 + start: [22, 3] +- goal: [29, 18] + name: agent41 + start: [2, 19] +- goal: [31, 1] + name: agent42 + start: [30, 9] +- goal: [8, 19] + name: agent43 + start: [8, 6] +- goal: [14, 23] + name: agent44 + start: [29, 24] +- goal: [7, 25] + name: agent45 + start: [21, 12] +- goal: [20, 23] + name: agent46 + start: [17, 28] +- goal: [15, 22] + name: agent47 + start: [6, 22] +- goal: [30, 30] + name: agent48 + start: [5, 29] +- goal: [11, 7] + name: agent49 + start: [5, 27] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [7, 20] + - !!python/tuple [3, 21] + - !!python/tuple [18, 12] + - !!python/tuple [25, 24] + - !!python/tuple [0, 23] + - !!python/tuple [20, 10] + - !!python/tuple [2, 2] + - !!python/tuple [0, 31] + - !!python/tuple [18, 15] + - !!python/tuple [7, 3] + - !!python/tuple [25, 1] + - !!python/tuple [8, 23] + - !!python/tuple [21, 8] + - !!python/tuple [15, 14] + - !!python/tuple [17, 23] + - !!python/tuple [26, 10] + - !!python/tuple [11, 6] + - !!python/tuple [10, 14] + - !!python/tuple [31, 12] + - !!python/tuple [0, 6] + - !!python/tuple [3, 18] + - !!python/tuple [27, 16] + - !!python/tuple [11, 23] + - !!python/tuple [19, 6] + - !!python/tuple [16, 22] + - !!python/tuple [26, 12] + - !!python/tuple [24, 31] + - !!python/tuple [14, 5] + - !!python/tuple [11, 29] + - !!python/tuple [27, 2] + - !!python/tuple [8, 12] + - !!python/tuple [6, 0] + - !!python/tuple [13, 16] + - !!python/tuple [2, 26] + - !!python/tuple [12, 11] + - !!python/tuple [7, 13] + - !!python/tuple [30, 31] + - !!python/tuple [28, 25] + - !!python/tuple [8, 5] + - !!python/tuple [18, 16] + - !!python/tuple [30, 16] + - !!python/tuple [22, 20] + - !!python/tuple [11, 13] + - !!python/tuple [10, 15] + - !!python/tuple [4, 27] + - !!python/tuple [0, 24] + - !!python/tuple [1, 24] + - !!python/tuple [10, 21] + - !!python/tuple [8, 15] + - !!python/tuple [9, 9] + - !!python/tuple [20, 22] + - !!python/tuple [21, 16] + - !!python/tuple [14, 17] + - !!python/tuple [25, 28] + - !!python/tuple [10, 31] + - !!python/tuple [7, 17] + - !!python/tuple [22, 5] + - !!python/tuple [14, 20] + - !!python/tuple [9, 29] + - !!python/tuple [26, 1] + - !!python/tuple [3, 4] + - !!python/tuple [27, 21] + - !!python/tuple [25, 10] + - !!python/tuple [4, 28] + - !!python/tuple [19, 29] + - !!python/tuple [25, 31] + - !!python/tuple [20, 6] + - !!python/tuple [0, 13] + - !!python/tuple [24, 18] + - !!python/tuple [5, 24] + - !!python/tuple [8, 9] + - !!python/tuple [18, 5] + - !!python/tuple [27, 6] + - !!python/tuple [23, 27] + - !!python/tuple [2, 30] + - !!python/tuple [12, 24] + - !!python/tuple [3, 19] + - !!python/tuple [7, 4] + - !!python/tuple [9, 25] + - !!python/tuple [23, 28] + - !!python/tuple [21, 18] + - !!python/tuple [23, 20] + - !!python/tuple [30, 28] + - !!python/tuple [10, 13] + - !!python/tuple [16, 28] + - !!python/tuple [2, 18] + - !!python/tuple [29, 17] + - !!python/tuple [23, 11] + - !!python/tuple [15, 26] + - !!python/tuple [19, 9] + - !!python/tuple [19, 24] + - !!python/tuple [7, 0] + - !!python/tuple [29, 23] + - !!python/tuple [10, 22] + - !!python/tuple [12, 27] + - !!python/tuple [17, 21] + - !!python/tuple [17, 12] + - !!python/tuple [4, 12] + - !!python/tuple [3, 23] + - !!python/tuple [31, 13] + - !!python/tuple [19, 21] + - !!python/tuple [8, 4] + - !!python/tuple [5, 8] + - !!python/tuple [3, 27] + - !!python/tuple [28, 11] + - !!python/tuple [0, 3] + - !!python/tuple [28, 16] + - !!python/tuple [13, 0] + - !!python/tuple [29, 12] + - !!python/tuple [15, 16] + - !!python/tuple [1, 21] + - !!python/tuple [24, 22] + - !!python/tuple [0, 19] + - !!python/tuple [15, 25] + - !!python/tuple [16, 27] + - !!python/tuple [23, 0] + - !!python/tuple [27, 28] + - !!python/tuple [29, 15] + - !!python/tuple [3, 5] + - !!python/tuple [31, 8] + - !!python/tuple [4, 26] + - !!python/tuple [21, 29] + - !!python/tuple [7, 18] + - !!python/tuple [21, 28] + - !!python/tuple [28, 2] + - !!python/tuple [30, 23] + - !!python/tuple [4, 2] + - !!python/tuple [21, 15] + - !!python/tuple [11, 22] + - !!python/tuple [31, 18] + - !!python/tuple [3, 16] + - !!python/tuple [28, 27] + - !!python/tuple [9, 4] + - !!python/tuple [3, 2] + - !!python/tuple [16, 31] + - !!python/tuple [14, 26] + - !!python/tuple [26, 19] + - !!python/tuple [10, 19] + - !!python/tuple [18, 25] + - !!python/tuple [6, 21] + - !!python/tuple [5, 19] + - !!python/tuple [18, 3] + - !!python/tuple [20, 30] + - !!python/tuple [21, 27] + - !!python/tuple [15, 2] + - !!python/tuple [19, 8] + - !!python/tuple [10, 1] + - !!python/tuple [4, 10] + - !!python/tuple [16, 24] + - !!python/tuple [5, 31] + - !!python/tuple [10, 5] + - !!python/tuple [26, 7] + - !!python/tuple [22, 9] + - !!python/tuple [4, 16] + - !!python/tuple [4, 21] + - !!python/tuple [24, 7] + - !!python/tuple [5, 23] + - !!python/tuple [28, 22] + - !!python/tuple [0, 22] + - !!python/tuple [21, 10] + - !!python/tuple [7, 27] + - !!python/tuple [14, 2] + - !!python/tuple [5, 20] + - !!python/tuple [26, 21] + - !!python/tuple [19, 1] + - !!python/tuple [18, 19] + - !!python/tuple [16, 23] + - !!python/tuple [28, 28] + - !!python/tuple [19, 22] + - !!python/tuple [23, 7] + - !!python/tuple [15, 28] + - !!python/tuple [30, 18] + - !!python/tuple [8, 27] + - !!python/tuple [12, 19] + - !!python/tuple [21, 13] + - !!python/tuple [4, 3] + - !!python/tuple [30, 12] + - !!python/tuple [21, 25] + - !!python/tuple [2, 13] + - !!python/tuple [0, 29] + - !!python/tuple [31, 17] + - !!python/tuple [16, 10] + - !!python/tuple [19, 31] + - !!python/tuple [29, 31] + - !!python/tuple [4, 17] + - !!python/tuple [0, 18] + - !!python/tuple [8, 28] + - !!python/tuple [30, 11] + - !!python/tuple [13, 5] + - !!python/tuple [8, 21] + - !!python/tuple [15, 15] + - !!python/tuple [3, 25] + - !!python/tuple [17, 19] + - !!python/tuple [23, 4] + - !!python/tuple [12, 9] + - !!python/tuple [24, 15] + - !!python/tuple [3, 9] + - !!python/tuple [9, 30] + - !!python/tuple [25, 4] + - !!python/tuple [26, 29] + - !!python/tuple [31, 26] + - !!python/tuple [1, 18] + - !!python/tuple [8, 16] + - !!python/tuple [18, 29] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex82.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex82.yaml new file mode 100644 index 0000000..0c38c53 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex82.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [30, 28] + name: agent0 + start: [1, 20] +- goal: [26, 8] + name: agent1 + start: [3, 14] +- goal: [14, 19] + name: agent2 + start: [13, 22] +- goal: [24, 9] + name: agent3 + start: [12, 11] +- goal: [6, 2] + name: agent4 + start: [11, 9] +- goal: [14, 14] + name: agent5 + start: [18, 29] +- goal: [16, 27] + name: agent6 + start: [15, 21] +- goal: [26, 31] + name: agent7 + start: [7, 10] +- goal: [5, 5] + name: agent8 + start: [22, 20] +- goal: [22, 25] + name: agent9 + start: [14, 29] +- goal: [13, 3] + name: agent10 + start: [26, 13] +- goal: [17, 15] + name: agent11 + start: [8, 28] +- goal: [17, 25] + name: agent12 + start: [27, 24] +- goal: [12, 0] + name: agent13 + start: [18, 3] +- goal: [24, 28] + name: agent14 + start: [3, 7] +- goal: [2, 28] + name: agent15 + start: [23, 27] +- goal: [14, 26] + name: agent16 + start: [18, 20] +- goal: [22, 11] + name: agent17 + start: [6, 15] +- goal: [10, 5] + name: agent18 + start: [0, 30] +- goal: [11, 6] + name: agent19 + start: [28, 8] +- goal: [18, 6] + name: agent20 + start: [25, 21] +- goal: [18, 10] + name: agent21 + start: [18, 27] +- goal: [7, 19] + name: agent22 + start: [21, 11] +- goal: [7, 4] + name: agent23 + start: [29, 23] +- goal: [12, 4] + name: agent24 + start: [27, 28] +- goal: [6, 18] + name: agent25 + start: [13, 23] +- goal: [29, 9] + name: agent26 + start: [14, 7] +- goal: [31, 28] + name: agent27 + start: [29, 3] +- goal: [3, 5] + name: agent28 + start: [9, 25] +- goal: [20, 6] + name: agent29 + start: [25, 18] +- goal: [27, 16] + name: agent30 + start: [26, 15] +- goal: [1, 16] + name: agent31 + start: [17, 6] +- goal: [4, 24] + name: agent32 + start: [8, 17] +- goal: [26, 9] + name: agent33 + start: [23, 23] +- goal: [7, 0] + name: agent34 + start: [15, 8] +- goal: [24, 30] + name: agent35 + start: [11, 28] +- goal: [23, 9] + name: agent36 + start: [26, 2] +- goal: [28, 15] + name: agent37 + start: [0, 2] +- goal: [28, 13] + name: agent38 + start: [11, 30] +- goal: [0, 30] + name: agent39 + start: [29, 18] +- goal: [18, 24] + name: agent40 + start: [9, 12] +- goal: [26, 0] + name: agent41 + start: [21, 4] +- goal: [8, 1] + name: agent42 + start: [20, 11] +- goal: [13, 7] + name: agent43 + start: [7, 24] +- goal: [8, 6] + name: agent44 + start: [4, 27] +- goal: [22, 22] + name: agent45 + start: [23, 17] +- goal: [30, 16] + name: agent46 + start: [16, 13] +- goal: [4, 31] + name: agent47 + start: [5, 16] +- goal: [7, 2] + name: agent48 + start: [1, 30] +- goal: [7, 11] + name: agent49 + start: [12, 14] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [29, 16] + - !!python/tuple [18, 7] + - !!python/tuple [27, 8] + - !!python/tuple [15, 13] + - !!python/tuple [27, 26] + - !!python/tuple [29, 0] + - !!python/tuple [2, 7] + - !!python/tuple [27, 10] + - !!python/tuple [24, 29] + - !!python/tuple [12, 2] + - !!python/tuple [25, 7] + - !!python/tuple [26, 3] + - !!python/tuple [23, 20] + - !!python/tuple [19, 27] + - !!python/tuple [30, 20] + - !!python/tuple [19, 24] + - !!python/tuple [9, 7] + - !!python/tuple [26, 26] + - !!python/tuple [6, 16] + - !!python/tuple [6, 24] + - !!python/tuple [9, 19] + - !!python/tuple [18, 19] + - !!python/tuple [16, 22] + - !!python/tuple [18, 0] + - !!python/tuple [16, 4] + - !!python/tuple [15, 9] + - !!python/tuple [26, 27] + - !!python/tuple [13, 5] + - !!python/tuple [15, 26] + - !!python/tuple [0, 12] + - !!python/tuple [30, 11] + - !!python/tuple [8, 25] + - !!python/tuple [11, 21] + - !!python/tuple [9, 10] + - !!python/tuple [5, 27] + - !!python/tuple [23, 18] + - !!python/tuple [31, 9] + - !!python/tuple [8, 24] + - !!python/tuple [15, 29] + - !!python/tuple [23, 30] + - !!python/tuple [23, 8] + - !!python/tuple [28, 22] + - !!python/tuple [3, 18] + - !!python/tuple [4, 18] + - !!python/tuple [22, 15] + - !!python/tuple [10, 16] + - !!python/tuple [16, 15] + - !!python/tuple [3, 21] + - !!python/tuple [7, 27] + - !!python/tuple [3, 28] + - !!python/tuple [24, 23] + - !!python/tuple [25, 26] + - !!python/tuple [11, 1] + - !!python/tuple [31, 16] + - !!python/tuple [10, 17] + - !!python/tuple [29, 17] + - !!python/tuple [4, 6] + - !!python/tuple [22, 2] + - !!python/tuple [18, 21] + - !!python/tuple [30, 24] + - !!python/tuple [8, 31] + - !!python/tuple [11, 18] + - !!python/tuple [19, 14] + - !!python/tuple [23, 14] + - !!python/tuple [28, 24] + - !!python/tuple [17, 1] + - !!python/tuple [11, 20] + - !!python/tuple [18, 18] + - !!python/tuple [5, 30] + - !!python/tuple [4, 7] + - !!python/tuple [6, 31] + - !!python/tuple [3, 25] + - !!python/tuple [8, 20] + - !!python/tuple [24, 10] + - !!python/tuple [1, 28] + - !!python/tuple [19, 23] + - !!python/tuple [4, 13] + - !!python/tuple [2, 20] + - !!python/tuple [7, 31] + - !!python/tuple [12, 23] + - !!python/tuple [14, 21] + - !!python/tuple [2, 8] + - !!python/tuple [12, 16] + - !!python/tuple [20, 1] + - !!python/tuple [13, 29] + - !!python/tuple [6, 21] + - !!python/tuple [12, 19] + - !!python/tuple [18, 13] + - !!python/tuple [23, 7] + - !!python/tuple [17, 12] + - !!python/tuple [2, 23] + - !!python/tuple [5, 7] + - !!python/tuple [17, 22] + - !!python/tuple [14, 3] + - !!python/tuple [27, 31] + - !!python/tuple [19, 3] + - !!python/tuple [11, 8] + - !!python/tuple [8, 19] + - !!python/tuple [9, 15] + - !!python/tuple [24, 22] + - !!python/tuple [28, 21] + - !!python/tuple [3, 19] + - !!python/tuple [4, 14] + - !!python/tuple [13, 8] + - !!python/tuple [10, 1] + - !!python/tuple [12, 20] + - !!python/tuple [29, 10] + - !!python/tuple [16, 21] + - !!python/tuple [17, 4] + - !!python/tuple [30, 29] + - !!python/tuple [21, 12] + - !!python/tuple [10, 19] + - !!python/tuple [9, 14] + - !!python/tuple [3, 17] + - !!python/tuple [26, 21] + - !!python/tuple [19, 0] + - !!python/tuple [4, 1] + - !!python/tuple [25, 6] + - !!python/tuple [21, 29] + - !!python/tuple [26, 19] + - !!python/tuple [31, 27] + - !!python/tuple [23, 21] + - !!python/tuple [5, 6] + - !!python/tuple [6, 29] + - !!python/tuple [8, 2] + - !!python/tuple [14, 30] + - !!python/tuple [15, 5] + - !!python/tuple [31, 5] + - !!python/tuple [13, 2] + - !!python/tuple [24, 11] + - !!python/tuple [14, 1] + - !!python/tuple [7, 15] + - !!python/tuple [1, 27] + - !!python/tuple [23, 29] + - !!python/tuple [20, 22] + - !!python/tuple [14, 6] + - !!python/tuple [12, 29] + - !!python/tuple [8, 0] + - !!python/tuple [25, 12] + - !!python/tuple [30, 5] + - !!python/tuple [25, 31] + - !!python/tuple [27, 0] + - !!python/tuple [8, 22] + - !!python/tuple [20, 9] + - !!python/tuple [8, 29] + - !!python/tuple [7, 30] + - !!python/tuple [3, 23] + - !!python/tuple [16, 18] + - !!python/tuple [10, 2] + - !!python/tuple [11, 19] + - !!python/tuple [20, 8] + - !!python/tuple [19, 17] + - !!python/tuple [12, 15] + - !!python/tuple [11, 31] + - !!python/tuple [13, 9] + - !!python/tuple [9, 3] + - !!python/tuple [26, 1] + - !!python/tuple [1, 18] + - !!python/tuple [8, 8] + - !!python/tuple [17, 17] + - !!python/tuple [7, 21] + - !!python/tuple [14, 31] + - !!python/tuple [4, 17] + - !!python/tuple [30, 18] + - !!python/tuple [6, 12] + - !!python/tuple [12, 13] + - !!python/tuple [13, 28] + - !!python/tuple [6, 13] + - !!python/tuple [21, 10] + - !!python/tuple [21, 25] + - !!python/tuple [23, 2] + - !!python/tuple [19, 19] + - !!python/tuple [13, 16] + - !!python/tuple [3, 11] + - !!python/tuple [31, 14] + - !!python/tuple [22, 10] + - !!python/tuple [1, 22] + - !!python/tuple [6, 7] + - !!python/tuple [9, 6] + - !!python/tuple [28, 16] + - !!python/tuple [5, 3] + - !!python/tuple [17, 9] + - !!python/tuple [10, 24] + - !!python/tuple [12, 22] + - !!python/tuple [11, 14] + - !!python/tuple [28, 28] + - !!python/tuple [21, 5] + - !!python/tuple [18, 4] + - !!python/tuple [14, 0] + - !!python/tuple [22, 27] + - !!python/tuple [13, 20] + - !!python/tuple [3, 24] + - !!python/tuple [5, 18] + - !!python/tuple [9, 31] + - !!python/tuple [10, 23] + - !!python/tuple [13, 13] + - !!python/tuple [5, 23] + - !!python/tuple [17, 18] + - !!python/tuple [16, 9] + - !!python/tuple [3, 31] + - !!python/tuple [17, 2] + - !!python/tuple [31, 26] + - !!python/tuple [16, 19] + - !!python/tuple [15, 20] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex83.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex83.yaml new file mode 100644 index 0000000..249a97c --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex83.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [1, 12] + name: agent0 + start: [12, 24] +- goal: [19, 8] + name: agent1 + start: [9, 28] +- goal: [29, 31] + name: agent2 + start: [18, 10] +- goal: [13, 10] + name: agent3 + start: [9, 5] +- goal: [29, 16] + name: agent4 + start: [28, 9] +- goal: [8, 31] + name: agent5 + start: [8, 13] +- goal: [18, 5] + name: agent6 + start: [11, 2] +- goal: [16, 6] + name: agent7 + start: [0, 26] +- goal: [26, 30] + name: agent8 + start: [14, 4] +- goal: [9, 31] + name: agent9 + start: [27, 24] +- goal: [16, 14] + name: agent10 + start: [4, 1] +- goal: [9, 28] + name: agent11 + start: [19, 22] +- goal: [28, 20] + name: agent12 + start: [12, 6] +- goal: [14, 18] + name: agent13 + start: [22, 12] +- goal: [16, 25] + name: agent14 + start: [7, 13] +- goal: [8, 5] + name: agent15 + start: [23, 14] +- goal: [8, 15] + name: agent16 + start: [25, 14] +- goal: [15, 1] + name: agent17 + start: [26, 2] +- goal: [5, 21] + name: agent18 + start: [20, 1] +- goal: [29, 6] + name: agent19 + start: [31, 22] +- goal: [9, 0] + name: agent20 + start: [17, 2] +- goal: [26, 12] + name: agent21 + start: [1, 24] +- goal: [26, 20] + name: agent22 + start: [6, 21] +- goal: [8, 0] + name: agent23 + start: [29, 8] +- goal: [19, 15] + name: agent24 + start: [10, 28] +- goal: [24, 12] + name: agent25 + start: [25, 10] +- goal: [10, 23] + name: agent26 + start: [2, 8] +- goal: [20, 14] + name: agent27 + start: [18, 20] +- goal: [5, 6] + name: agent28 + start: [22, 30] +- goal: [10, 9] + name: agent29 + start: [25, 31] +- goal: [12, 18] + name: agent30 + start: [18, 3] +- goal: [16, 15] + name: agent31 + start: [21, 11] +- goal: [7, 28] + name: agent32 + start: [27, 16] +- goal: [25, 26] + name: agent33 + start: [31, 1] +- goal: [1, 30] + name: agent34 + start: [6, 0] +- goal: [20, 13] + name: agent35 + start: [26, 25] +- goal: [21, 31] + name: agent36 + start: [21, 20] +- goal: [27, 18] + name: agent37 + start: [2, 1] +- goal: [13, 24] + name: agent38 + start: [22, 29] +- goal: [15, 31] + name: agent39 + start: [7, 23] +- goal: [31, 31] + name: agent40 + start: [21, 25] +- goal: [5, 3] + name: agent41 + start: [26, 31] +- goal: [7, 1] + name: agent42 + start: [27, 15] +- goal: [10, 2] + name: agent43 + start: [9, 9] +- goal: [7, 18] + name: agent44 + start: [21, 3] +- goal: [24, 25] + name: agent45 + start: [5, 30] +- goal: [12, 3] + name: agent46 + start: [26, 21] +- goal: [22, 18] + name: agent47 + start: [19, 16] +- goal: [10, 4] + name: agent48 + start: [26, 20] +- goal: [18, 13] + name: agent49 + start: [4, 27] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [21, 13] + - !!python/tuple [14, 3] + - !!python/tuple [2, 9] + - !!python/tuple [14, 29] + - !!python/tuple [28, 10] + - !!python/tuple [12, 29] + - !!python/tuple [9, 30] + - !!python/tuple [11, 7] + - !!python/tuple [3, 13] + - !!python/tuple [16, 31] + - !!python/tuple [30, 1] + - !!python/tuple [17, 26] + - !!python/tuple [8, 8] + - !!python/tuple [30, 10] + - !!python/tuple [14, 12] + - !!python/tuple [14, 24] + - !!python/tuple [22, 31] + - !!python/tuple [25, 27] + - !!python/tuple [4, 28] + - !!python/tuple [31, 20] + - !!python/tuple [3, 1] + - !!python/tuple [22, 28] + - !!python/tuple [28, 12] + - !!python/tuple [7, 0] + - !!python/tuple [3, 4] + - !!python/tuple [15, 11] + - !!python/tuple [7, 11] + - !!python/tuple [4, 31] + - !!python/tuple [29, 0] + - !!python/tuple [30, 19] + - !!python/tuple [21, 8] + - !!python/tuple [23, 22] + - !!python/tuple [16, 2] + - !!python/tuple [13, 12] + - !!python/tuple [24, 3] + - !!python/tuple [10, 19] + - !!python/tuple [11, 24] + - !!python/tuple [1, 27] + - !!python/tuple [30, 31] + - !!python/tuple [1, 10] + - !!python/tuple [12, 17] + - !!python/tuple [19, 25] + - !!python/tuple [20, 2] + - !!python/tuple [6, 29] + - !!python/tuple [26, 13] + - !!python/tuple [9, 1] + - !!python/tuple [16, 5] + - !!python/tuple [31, 0] + - !!python/tuple [15, 16] + - !!python/tuple [22, 15] + - !!python/tuple [12, 25] + - !!python/tuple [5, 8] + - !!python/tuple [24, 24] + - !!python/tuple [2, 11] + - !!python/tuple [1, 9] + - !!python/tuple [14, 10] + - !!python/tuple [9, 26] + - !!python/tuple [26, 28] + - !!python/tuple [3, 14] + - !!python/tuple [1, 5] + - !!python/tuple [30, 26] + - !!python/tuple [20, 30] + - !!python/tuple [22, 5] + - !!python/tuple [16, 27] + - !!python/tuple [2, 31] + - !!python/tuple [25, 19] + - !!python/tuple [4, 17] + - !!python/tuple [5, 24] + - !!python/tuple [24, 11] + - !!python/tuple [0, 27] + - !!python/tuple [27, 2] + - !!python/tuple [5, 2] + - !!python/tuple [15, 19] + - !!python/tuple [5, 1] + - !!python/tuple [0, 20] + - !!python/tuple [31, 21] + - !!python/tuple [22, 27] + - !!python/tuple [6, 15] + - !!python/tuple [20, 29] + - !!python/tuple [18, 25] + - !!python/tuple [2, 21] + - !!python/tuple [28, 22] + - !!python/tuple [9, 25] + - !!python/tuple [5, 18] + - !!python/tuple [27, 22] + - !!python/tuple [7, 17] + - !!python/tuple [23, 18] + - !!python/tuple [7, 9] + - !!python/tuple [16, 0] + - !!python/tuple [6, 20] + - !!python/tuple [13, 2] + - !!python/tuple [12, 15] + - !!python/tuple [27, 30] + - !!python/tuple [23, 3] + - !!python/tuple [28, 18] + - !!python/tuple [6, 25] + - !!python/tuple [3, 3] + - !!python/tuple [2, 2] + - !!python/tuple [8, 21] + - !!python/tuple [18, 30] + - !!python/tuple [14, 27] + - !!python/tuple [15, 2] + - !!python/tuple [9, 21] + - !!python/tuple [3, 12] + - !!python/tuple [10, 1] + - !!python/tuple [17, 3] + - !!python/tuple [11, 5] + - !!python/tuple [28, 25] + - !!python/tuple [17, 13] + - !!python/tuple [28, 4] + - !!python/tuple [3, 8] + - !!python/tuple [9, 2] + - !!python/tuple [10, 17] + - !!python/tuple [22, 9] + - !!python/tuple [16, 26] + - !!python/tuple [6, 1] + - !!python/tuple [2, 0] + - !!python/tuple [5, 11] + - !!python/tuple [15, 20] + - !!python/tuple [2, 16] + - !!python/tuple [23, 8] + - !!python/tuple [0, 1] + - !!python/tuple [18, 22] + - !!python/tuple [3, 21] + - !!python/tuple [8, 10] + - !!python/tuple [21, 9] + - !!python/tuple [0, 0] + - !!python/tuple [18, 23] + - !!python/tuple [23, 31] + - !!python/tuple [30, 3] + - !!python/tuple [16, 10] + - !!python/tuple [9, 18] + - !!python/tuple [9, 19] + - !!python/tuple [10, 14] + - !!python/tuple [7, 22] + - !!python/tuple [7, 30] + - !!python/tuple [3, 27] + - !!python/tuple [16, 12] + - !!python/tuple [17, 21] + - !!python/tuple [25, 9] + - !!python/tuple [10, 31] + - !!python/tuple [29, 15] + - !!python/tuple [27, 1] + - !!python/tuple [18, 6] + - !!python/tuple [26, 27] + - !!python/tuple [23, 29] + - !!python/tuple [4, 23] + - !!python/tuple [11, 18] + - !!python/tuple [13, 26] + - !!python/tuple [21, 30] + - !!python/tuple [13, 31] + - !!python/tuple [3, 0] + - !!python/tuple [20, 22] + - !!python/tuple [25, 6] + - !!python/tuple [6, 30] + - !!python/tuple [19, 1] + - !!python/tuple [3, 16] + - !!python/tuple [12, 11] + - !!python/tuple [15, 9] + - !!python/tuple [26, 11] + - !!python/tuple [1, 19] + - !!python/tuple [12, 8] + - !!python/tuple [2, 22] + - !!python/tuple [6, 8] + - !!python/tuple [15, 6] + - !!python/tuple [6, 13] + - !!python/tuple [2, 17] + - !!python/tuple [27, 20] + - !!python/tuple [13, 22] + - !!python/tuple [18, 28] + - !!python/tuple [3, 24] + - !!python/tuple [31, 7] + - !!python/tuple [4, 29] + - !!python/tuple [31, 17] + - !!python/tuple [8, 12] + - !!python/tuple [7, 7] + - !!python/tuple [13, 30] + - !!python/tuple [29, 30] + - !!python/tuple [0, 12] + - !!python/tuple [7, 21] + - !!python/tuple [11, 22] + - !!python/tuple [24, 5] + - !!python/tuple [14, 21] + - !!python/tuple [26, 22] + - !!python/tuple [3, 25] + - !!python/tuple [22, 25] + - !!python/tuple [22, 6] + - !!python/tuple [24, 1] + - !!python/tuple [28, 15] + - !!python/tuple [21, 26] + - !!python/tuple [28, 17] + - !!python/tuple [13, 5] + - !!python/tuple [14, 7] + - !!python/tuple [5, 23] + - !!python/tuple [14, 6] + - !!python/tuple [20, 0] + - !!python/tuple [29, 2] + - !!python/tuple [13, 19] + - !!python/tuple [7, 10] + - !!python/tuple [27, 31] + - !!python/tuple [5, 29] + - !!python/tuple [16, 22] + - !!python/tuple [13, 1] + - !!python/tuple [6, 14] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex84.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex84.yaml new file mode 100644 index 0000000..38348de --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex84.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [7, 13] + name: agent0 + start: [10, 0] +- goal: [14, 9] + name: agent1 + start: [10, 12] +- goal: [14, 26] + name: agent2 + start: [23, 2] +- goal: [24, 4] + name: agent3 + start: [17, 19] +- goal: [11, 17] + name: agent4 + start: [0, 0] +- goal: [13, 18] + name: agent5 + start: [9, 28] +- goal: [16, 8] + name: agent6 + start: [29, 5] +- goal: [4, 8] + name: agent7 + start: [19, 9] +- goal: [20, 29] + name: agent8 + start: [21, 4] +- goal: [24, 9] + name: agent9 + start: [17, 22] +- goal: [15, 1] + name: agent10 + start: [13, 21] +- goal: [9, 13] + name: agent11 + start: [2, 0] +- goal: [3, 19] + name: agent12 + start: [13, 1] +- goal: [21, 4] + name: agent13 + start: [1, 24] +- goal: [10, 17] + name: agent14 + start: [29, 13] +- goal: [23, 8] + name: agent15 + start: [30, 5] +- goal: [22, 4] + name: agent16 + start: [30, 25] +- goal: [24, 1] + name: agent17 + start: [23, 21] +- goal: [21, 11] + name: agent18 + start: [14, 21] +- goal: [13, 17] + name: agent19 + start: [12, 14] +- goal: [25, 2] + name: agent20 + start: [29, 18] +- goal: [30, 5] + name: agent21 + start: [26, 4] +- goal: [2, 2] + name: agent22 + start: [8, 15] +- goal: [8, 16] + name: agent23 + start: [12, 31] +- goal: [20, 24] + name: agent24 + start: [3, 30] +- goal: [14, 13] + name: agent25 + start: [15, 22] +- goal: [9, 8] + name: agent26 + start: [10, 27] +- goal: [4, 12] + name: agent27 + start: [25, 16] +- goal: [2, 31] + name: agent28 + start: [7, 4] +- goal: [20, 9] + name: agent29 + start: [19, 11] +- goal: [26, 11] + name: agent30 + start: [25, 17] +- goal: [4, 9] + name: agent31 + start: [29, 22] +- goal: [19, 10] + name: agent32 + start: [1, 3] +- goal: [25, 19] + name: agent33 + start: [20, 1] +- goal: [9, 25] + name: agent34 + start: [18, 26] +- goal: [23, 31] + name: agent35 + start: [28, 24] +- goal: [20, 11] + name: agent36 + start: [10, 26] +- goal: [26, 29] + name: agent37 + start: [31, 0] +- goal: [19, 19] + name: agent38 + start: [8, 16] +- goal: [9, 16] + name: agent39 + start: [19, 8] +- goal: [16, 31] + name: agent40 + start: [25, 19] +- goal: [20, 6] + name: agent41 + start: [14, 18] +- goal: [15, 19] + name: agent42 + start: [28, 3] +- goal: [6, 29] + name: agent43 + start: [9, 31] +- goal: [8, 31] + name: agent44 + start: [7, 23] +- goal: [15, 16] + name: agent45 + start: [20, 12] +- goal: [6, 22] + name: agent46 + start: [21, 5] +- goal: [5, 15] + name: agent47 + start: [29, 11] +- goal: [23, 17] + name: agent48 + start: [11, 15] +- goal: [3, 9] + name: agent49 + start: [21, 23] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [23, 18] + - !!python/tuple [19, 0] + - !!python/tuple [15, 10] + - !!python/tuple [20, 0] + - !!python/tuple [30, 1] + - !!python/tuple [19, 7] + - !!python/tuple [27, 29] + - !!python/tuple [2, 29] + - !!python/tuple [17, 25] + - !!python/tuple [31, 21] + - !!python/tuple [23, 15] + - !!python/tuple [16, 11] + - !!python/tuple [21, 15] + - !!python/tuple [12, 5] + - !!python/tuple [7, 12] + - !!python/tuple [19, 6] + - !!python/tuple [12, 6] + - !!python/tuple [4, 3] + - !!python/tuple [0, 16] + - !!python/tuple [19, 28] + - !!python/tuple [20, 22] + - !!python/tuple [6, 25] + - !!python/tuple [3, 22] + - !!python/tuple [27, 31] + - !!python/tuple [29, 25] + - !!python/tuple [2, 11] + - !!python/tuple [28, 5] + - !!python/tuple [21, 19] + - !!python/tuple [23, 9] + - !!python/tuple [13, 2] + - !!python/tuple [0, 1] + - !!python/tuple [29, 3] + - !!python/tuple [20, 16] + - !!python/tuple [31, 5] + - !!python/tuple [5, 1] + - !!python/tuple [0, 4] + - !!python/tuple [1, 18] + - !!python/tuple [15, 26] + - !!python/tuple [6, 23] + - !!python/tuple [16, 18] + - !!python/tuple [9, 14] + - !!python/tuple [16, 4] + - !!python/tuple [12, 25] + - !!python/tuple [7, 3] + - !!python/tuple [28, 18] + - !!python/tuple [4, 4] + - !!python/tuple [13, 10] + - !!python/tuple [10, 13] + - !!python/tuple [4, 2] + - !!python/tuple [14, 11] + - !!python/tuple [23, 14] + - !!python/tuple [16, 19] + - !!python/tuple [3, 23] + - !!python/tuple [24, 20] + - !!python/tuple [15, 3] + - !!python/tuple [1, 9] + - !!python/tuple [19, 20] + - !!python/tuple [29, 9] + - !!python/tuple [14, 8] + - !!python/tuple [8, 4] + - !!python/tuple [31, 6] + - !!python/tuple [31, 14] + - !!python/tuple [1, 17] + - !!python/tuple [14, 0] + - !!python/tuple [19, 26] + - !!python/tuple [12, 28] + - !!python/tuple [11, 23] + - !!python/tuple [8, 30] + - !!python/tuple [30, 15] + - !!python/tuple [21, 6] + - !!python/tuple [23, 4] + - !!python/tuple [10, 23] + - !!python/tuple [29, 31] + - !!python/tuple [9, 4] + - !!python/tuple [24, 10] + - !!python/tuple [19, 1] + - !!python/tuple [20, 20] + - !!python/tuple [29, 16] + - !!python/tuple [3, 8] + - !!python/tuple [18, 6] + - !!python/tuple [30, 11] + - !!python/tuple [24, 2] + - !!python/tuple [21, 30] + - !!python/tuple [24, 3] + - !!python/tuple [13, 5] + - !!python/tuple [19, 25] + - !!python/tuple [14, 6] + - !!python/tuple [28, 27] + - !!python/tuple [13, 14] + - !!python/tuple [21, 21] + - !!python/tuple [1, 27] + - !!python/tuple [12, 11] + - !!python/tuple [20, 23] + - !!python/tuple [25, 26] + - !!python/tuple [31, 19] + - !!python/tuple [7, 24] + - !!python/tuple [0, 28] + - !!python/tuple [26, 15] + - !!python/tuple [27, 25] + - !!python/tuple [5, 11] + - !!python/tuple [14, 12] + - !!python/tuple [31, 20] + - !!python/tuple [8, 23] + - !!python/tuple [13, 3] + - !!python/tuple [7, 15] + - !!python/tuple [20, 15] + - !!python/tuple [28, 11] + - !!python/tuple [14, 28] + - !!python/tuple [29, 24] + - !!python/tuple [27, 0] + - !!python/tuple [2, 20] + - !!python/tuple [7, 27] + - !!python/tuple [20, 17] + - !!python/tuple [14, 1] + - !!python/tuple [8, 21] + - !!python/tuple [6, 6] + - !!python/tuple [6, 13] + - !!python/tuple [14, 7] + - !!python/tuple [31, 15] + - !!python/tuple [17, 11] + - !!python/tuple [22, 23] + - !!python/tuple [22, 10] + - !!python/tuple [2, 24] + - !!python/tuple [28, 26] + - !!python/tuple [4, 19] + - !!python/tuple [16, 21] + - !!python/tuple [9, 2] + - !!python/tuple [29, 4] + - !!python/tuple [9, 9] + - !!python/tuple [14, 19] + - !!python/tuple [3, 17] + - !!python/tuple [24, 30] + - !!python/tuple [15, 13] + - !!python/tuple [1, 11] + - !!python/tuple [30, 16] + - !!python/tuple [6, 7] + - !!python/tuple [26, 12] + - !!python/tuple [6, 4] + - !!python/tuple [28, 9] + - !!python/tuple [11, 4] + - !!python/tuple [31, 8] + - !!python/tuple [7, 26] + - !!python/tuple [25, 10] + - !!python/tuple [24, 23] + - !!python/tuple [6, 31] + - !!python/tuple [25, 24] + - !!python/tuple [9, 7] + - !!python/tuple [11, 26] + - !!python/tuple [18, 28] + - !!python/tuple [31, 31] + - !!python/tuple [0, 5] + - !!python/tuple [26, 24] + - !!python/tuple [29, 15] + - !!python/tuple [17, 27] + - !!python/tuple [21, 14] + - !!python/tuple [1, 21] + - !!python/tuple [0, 12] + - !!python/tuple [13, 4] + - !!python/tuple [25, 5] + - !!python/tuple [28, 25] + - !!python/tuple [10, 30] + - !!python/tuple [19, 18] + - !!python/tuple [8, 8] + - !!python/tuple [3, 28] + - !!python/tuple [17, 10] + - !!python/tuple [6, 5] + - !!python/tuple [25, 27] + - !!python/tuple [31, 25] + - !!python/tuple [26, 13] + - !!python/tuple [11, 25] + - !!python/tuple [13, 31] + - !!python/tuple [25, 11] + - !!python/tuple [11, 30] + - !!python/tuple [3, 20] + - !!python/tuple [24, 27] + - !!python/tuple [18, 25] + - !!python/tuple [25, 12] + - !!python/tuple [27, 19] + - !!python/tuple [16, 26] + - !!python/tuple [27, 28] + - !!python/tuple [15, 0] + - !!python/tuple [25, 25] + - !!python/tuple [23, 7] + - !!python/tuple [13, 12] + - !!python/tuple [1, 1] + - !!python/tuple [28, 1] + - !!python/tuple [19, 2] + - !!python/tuple [11, 10] + - !!python/tuple [22, 22] + - !!python/tuple [30, 21] + - !!python/tuple [31, 11] + - !!python/tuple [6, 19] + - !!python/tuple [23, 5] + - !!python/tuple [16, 12] + - !!python/tuple [31, 10] + - !!python/tuple [27, 18] + - !!python/tuple [10, 31] + - !!python/tuple [26, 27] + - !!python/tuple [27, 16] + - !!python/tuple [19, 31] + - !!python/tuple [13, 24] + - !!python/tuple [28, 15] + - !!python/tuple [25, 0] + - !!python/tuple [1, 22] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex85.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex85.yaml new file mode 100644 index 0000000..cda7509 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex85.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [19, 9] + name: agent0 + start: [5, 8] +- goal: [6, 23] + name: agent1 + start: [17, 15] +- goal: [20, 0] + name: agent2 + start: [6, 1] +- goal: [15, 25] + name: agent3 + start: [16, 29] +- goal: [19, 29] + name: agent4 + start: [24, 13] +- goal: [10, 9] + name: agent5 + start: [27, 10] +- goal: [23, 2] + name: agent6 + start: [28, 7] +- goal: [4, 9] + name: agent7 + start: [7, 11] +- goal: [11, 31] + name: agent8 + start: [26, 12] +- goal: [12, 12] + name: agent9 + start: [29, 11] +- goal: [10, 5] + name: agent10 + start: [15, 6] +- goal: [14, 1] + name: agent11 + start: [18, 15] +- goal: [5, 10] + name: agent12 + start: [30, 25] +- goal: [13, 31] + name: agent13 + start: [21, 21] +- goal: [22, 5] + name: agent14 + start: [20, 7] +- goal: [23, 11] + name: agent15 + start: [19, 25] +- goal: [24, 9] + name: agent16 + start: [12, 27] +- goal: [9, 16] + name: agent17 + start: [17, 20] +- goal: [0, 13] + name: agent18 + start: [23, 26] +- goal: [21, 3] + name: agent19 + start: [31, 21] +- goal: [1, 8] + name: agent20 + start: [27, 29] +- goal: [23, 17] + name: agent21 + start: [24, 26] +- goal: [29, 10] + name: agent22 + start: [0, 13] +- goal: [30, 28] + name: agent23 + start: [16, 5] +- goal: [3, 28] + name: agent24 + start: [0, 14] +- goal: [8, 4] + name: agent25 + start: [27, 20] +- goal: [14, 8] + name: agent26 + start: [11, 23] +- goal: [20, 21] + name: agent27 + start: [23, 1] +- goal: [17, 5] + name: agent28 + start: [19, 9] +- goal: [7, 5] + name: agent29 + start: [11, 26] +- goal: [16, 10] + name: agent30 + start: [31, 20] +- goal: [25, 31] + name: agent31 + start: [30, 29] +- goal: [3, 31] + name: agent32 + start: [5, 26] +- goal: [23, 18] + name: agent33 + start: [13, 7] +- goal: [6, 10] + name: agent34 + start: [11, 4] +- goal: [12, 3] + name: agent35 + start: [11, 31] +- goal: [28, 8] + name: agent36 + start: [13, 13] +- goal: [22, 25] + name: agent37 + start: [7, 25] +- goal: [4, 13] + name: agent38 + start: [2, 24] +- goal: [26, 30] + name: agent39 + start: [4, 16] +- goal: [19, 25] + name: agent40 + start: [22, 27] +- goal: [30, 29] + name: agent41 + start: [5, 10] +- goal: [21, 12] + name: agent42 + start: [14, 28] +- goal: [16, 6] + name: agent43 + start: [0, 6] +- goal: [16, 22] + name: agent44 + start: [31, 3] +- goal: [12, 27] + name: agent45 + start: [21, 25] +- goal: [23, 15] + name: agent46 + start: [10, 8] +- goal: [27, 10] + name: agent47 + start: [29, 15] +- goal: [1, 31] + name: agent48 + start: [25, 9] +- goal: [0, 6] + name: agent49 + start: [3, 23] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [0, 3] + - !!python/tuple [25, 24] + - !!python/tuple [18, 13] + - !!python/tuple [24, 2] + - !!python/tuple [9, 3] + - !!python/tuple [28, 29] + - !!python/tuple [30, 24] + - !!python/tuple [7, 8] + - !!python/tuple [8, 27] + - !!python/tuple [1, 16] + - !!python/tuple [17, 24] + - !!python/tuple [20, 1] + - !!python/tuple [5, 0] + - !!python/tuple [23, 14] + - !!python/tuple [6, 25] + - !!python/tuple [30, 20] + - !!python/tuple [18, 11] + - !!python/tuple [13, 22] + - !!python/tuple [3, 21] + - !!python/tuple [4, 19] + - !!python/tuple [7, 6] + - !!python/tuple [30, 23] + - !!python/tuple [28, 20] + - !!python/tuple [17, 17] + - !!python/tuple [0, 21] + - !!python/tuple [25, 29] + - !!python/tuple [18, 29] + - !!python/tuple [28, 6] + - !!python/tuple [26, 28] + - !!python/tuple [20, 4] + - !!python/tuple [11, 14] + - !!python/tuple [8, 29] + - !!python/tuple [0, 4] + - !!python/tuple [26, 24] + - !!python/tuple [6, 18] + - !!python/tuple [26, 5] + - !!python/tuple [10, 29] + - !!python/tuple [23, 27] + - !!python/tuple [30, 31] + - !!python/tuple [10, 24] + - !!python/tuple [18, 10] + - !!python/tuple [4, 18] + - !!python/tuple [11, 10] + - !!python/tuple [31, 15] + - !!python/tuple [2, 18] + - !!python/tuple [2, 12] + - !!python/tuple [10, 11] + - !!python/tuple [22, 17] + - !!python/tuple [20, 25] + - !!python/tuple [2, 14] + - !!python/tuple [15, 19] + - !!python/tuple [24, 0] + - !!python/tuple [11, 0] + - !!python/tuple [0, 19] + - !!python/tuple [2, 7] + - !!python/tuple [12, 11] + - !!python/tuple [18, 14] + - !!python/tuple [23, 20] + - !!python/tuple [15, 26] + - !!python/tuple [8, 18] + - !!python/tuple [17, 31] + - !!python/tuple [28, 13] + - !!python/tuple [13, 12] + - !!python/tuple [13, 19] + - !!python/tuple [19, 26] + - !!python/tuple [29, 14] + - !!python/tuple [18, 26] + - !!python/tuple [22, 19] + - !!python/tuple [9, 4] + - !!python/tuple [31, 13] + - !!python/tuple [31, 8] + - !!python/tuple [27, 23] + - !!python/tuple [16, 4] + - !!python/tuple [1, 10] + - !!python/tuple [24, 7] + - !!python/tuple [28, 24] + - !!python/tuple [1, 25] + - !!python/tuple [15, 16] + - !!python/tuple [22, 13] + - !!python/tuple [28, 26] + - !!python/tuple [4, 6] + - !!python/tuple [22, 14] + - !!python/tuple [1, 15] + - !!python/tuple [24, 6] + - !!python/tuple [9, 15] + - !!python/tuple [2, 31] + - !!python/tuple [12, 18] + - !!python/tuple [6, 27] + - !!python/tuple [6, 6] + - !!python/tuple [7, 3] + - !!python/tuple [25, 4] + - !!python/tuple [0, 10] + - !!python/tuple [12, 4] + - !!python/tuple [3, 12] + - !!python/tuple [2, 19] + - !!python/tuple [0, 15] + - !!python/tuple [26, 14] + - !!python/tuple [0, 22] + - !!python/tuple [3, 18] + - !!python/tuple [14, 7] + - !!python/tuple [19, 16] + - !!python/tuple [23, 24] + - !!python/tuple [9, 20] + - !!python/tuple [11, 29] + - !!python/tuple [29, 6] + - !!python/tuple [7, 22] + - !!python/tuple [7, 28] + - !!python/tuple [13, 2] + - !!python/tuple [16, 14] + - !!python/tuple [14, 19] + - !!python/tuple [7, 16] + - !!python/tuple [17, 16] + - !!python/tuple [5, 25] + - !!python/tuple [12, 22] + - !!python/tuple [21, 11] + - !!python/tuple [12, 7] + - !!python/tuple [7, 26] + - !!python/tuple [8, 21] + - !!python/tuple [11, 8] + - !!python/tuple [31, 10] + - !!python/tuple [20, 16] + - !!python/tuple [31, 18] + - !!python/tuple [0, 8] + - !!python/tuple [8, 6] + - !!python/tuple [7, 30] + - !!python/tuple [30, 16] + - !!python/tuple [5, 18] + - !!python/tuple [31, 26] + - !!python/tuple [7, 14] + - !!python/tuple [29, 12] + - !!python/tuple [17, 25] + - !!python/tuple [28, 14] + - !!python/tuple [29, 28] + - !!python/tuple [9, 18] + - !!python/tuple [3, 8] + - !!python/tuple [16, 19] + - !!python/tuple [22, 31] + - !!python/tuple [17, 12] + - !!python/tuple [9, 21] + - !!python/tuple [28, 15] + - !!python/tuple [20, 26] + - !!python/tuple [5, 21] + - !!python/tuple [26, 16] + - !!python/tuple [4, 12] + - !!python/tuple [14, 5] + - !!python/tuple [0, 28] + - !!python/tuple [18, 6] + - !!python/tuple [18, 22] + - !!python/tuple [3, 27] + - !!python/tuple [15, 17] + - !!python/tuple [2, 0] + - !!python/tuple [20, 23] + - !!python/tuple [15, 5] + - !!python/tuple [24, 15] + - !!python/tuple [5, 15] + - !!python/tuple [25, 7] + - !!python/tuple [24, 17] + - !!python/tuple [28, 4] + - !!python/tuple [17, 23] + - !!python/tuple [27, 17] + - !!python/tuple [16, 21] + - !!python/tuple [21, 29] + - !!python/tuple [18, 20] + - !!python/tuple [23, 4] + - !!python/tuple [3, 10] + - !!python/tuple [1, 20] + - !!python/tuple [31, 23] + - !!python/tuple [12, 29] + - !!python/tuple [10, 6] + - !!python/tuple [20, 9] + - !!python/tuple [5, 19] + - !!python/tuple [21, 5] + - !!python/tuple [27, 5] + - !!python/tuple [28, 23] + - !!python/tuple [6, 14] + - !!python/tuple [19, 4] + - !!python/tuple [19, 31] + - !!python/tuple [20, 31] + - !!python/tuple [30, 10] + - !!python/tuple [8, 23] + - !!python/tuple [6, 0] + - !!python/tuple [13, 30] + - !!python/tuple [8, 14] + - !!python/tuple [27, 31] + - !!python/tuple [27, 9] + - !!python/tuple [13, 17] + - !!python/tuple [17, 6] + - !!python/tuple [15, 9] + - !!python/tuple [4, 14] + - !!python/tuple [1, 21] + - !!python/tuple [22, 12] + - !!python/tuple [14, 4] + - !!python/tuple [16, 24] + - !!python/tuple [1, 7] + - !!python/tuple [23, 3] + - !!python/tuple [3, 25] + - !!python/tuple [24, 12] + - !!python/tuple [4, 28] + - !!python/tuple [16, 25] + - !!python/tuple [6, 29] + - !!python/tuple [19, 1] + - !!python/tuple [4, 7] + - !!python/tuple [30, 9] + - !!python/tuple [21, 16] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex86.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex86.yaml new file mode 100644 index 0000000..c2b87bb --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex86.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [15, 6] + name: agent0 + start: [22, 30] +- goal: [3, 14] + name: agent1 + start: [6, 13] +- goal: [27, 19] + name: agent2 + start: [21, 28] +- goal: [29, 12] + name: agent3 + start: [4, 20] +- goal: [29, 19] + name: agent4 + start: [9, 12] +- goal: [18, 7] + name: agent5 + start: [10, 7] +- goal: [11, 27] + name: agent6 + start: [27, 4] +- goal: [3, 24] + name: agent7 + start: [11, 4] +- goal: [25, 0] + name: agent8 + start: [15, 14] +- goal: [27, 5] + name: agent9 + start: [24, 6] +- goal: [24, 16] + name: agent10 + start: [12, 25] +- goal: [14, 16] + name: agent11 + start: [5, 15] +- goal: [8, 19] + name: agent12 + start: [1, 19] +- goal: [14, 21] + name: agent13 + start: [15, 19] +- goal: [12, 6] + name: agent14 + start: [15, 17] +- goal: [27, 24] + name: agent15 + start: [30, 12] +- goal: [16, 18] + name: agent16 + start: [23, 3] +- goal: [0, 18] + name: agent17 + start: [30, 9] +- goal: [7, 8] + name: agent18 + start: [17, 17] +- goal: [2, 13] + name: agent19 + start: [12, 20] +- goal: [19, 19] + name: agent20 + start: [5, 0] +- goal: [29, 2] + name: agent21 + start: [24, 16] +- goal: [3, 22] + name: agent22 + start: [20, 25] +- goal: [16, 13] + name: agent23 + start: [9, 2] +- goal: [29, 5] + name: agent24 + start: [31, 8] +- goal: [22, 13] + name: agent25 + start: [27, 31] +- goal: [8, 21] + name: agent26 + start: [11, 3] +- goal: [14, 15] + name: agent27 + start: [30, 11] +- goal: [26, 30] + name: agent28 + start: [16, 21] +- goal: [19, 29] + name: agent29 + start: [27, 10] +- goal: [6, 10] + name: agent30 + start: [11, 22] +- goal: [23, 17] + name: agent31 + start: [17, 25] +- goal: [10, 27] + name: agent32 + start: [20, 31] +- goal: [12, 20] + name: agent33 + start: [17, 18] +- goal: [22, 1] + name: agent34 + start: [12, 29] +- goal: [11, 21] + name: agent35 + start: [17, 0] +- goal: [15, 7] + name: agent36 + start: [13, 2] +- goal: [9, 8] + name: agent37 + start: [18, 4] +- goal: [11, 16] + name: agent38 + start: [6, 25] +- goal: [31, 29] + name: agent39 + start: [8, 11] +- goal: [19, 8] + name: agent40 + start: [10, 14] +- goal: [22, 19] + name: agent41 + start: [1, 6] +- goal: [2, 29] + name: agent42 + start: [24, 5] +- goal: [9, 24] + name: agent43 + start: [21, 12] +- goal: [27, 18] + name: agent44 + start: [28, 29] +- goal: [21, 17] + name: agent45 + start: [27, 1] +- goal: [17, 15] + name: agent46 + start: [5, 23] +- goal: [15, 22] + name: agent47 + start: [2, 21] +- goal: [21, 26] + name: agent48 + start: [28, 9] +- goal: [14, 2] + name: agent49 + start: [4, 12] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [31, 16] + - !!python/tuple [10, 31] + - !!python/tuple [2, 1] + - !!python/tuple [11, 30] + - !!python/tuple [7, 13] + - !!python/tuple [3, 0] + - !!python/tuple [6, 6] + - !!python/tuple [16, 3] + - !!python/tuple [24, 10] + - !!python/tuple [0, 26] + - !!python/tuple [5, 22] + - !!python/tuple [10, 11] + - !!python/tuple [1, 31] + - !!python/tuple [28, 17] + - !!python/tuple [28, 19] + - !!python/tuple [17, 20] + - !!python/tuple [11, 26] + - !!python/tuple [25, 27] + - !!python/tuple [30, 10] + - !!python/tuple [7, 7] + - !!python/tuple [15, 30] + - !!python/tuple [2, 30] + - !!python/tuple [19, 24] + - !!python/tuple [16, 1] + - !!python/tuple [6, 0] + - !!python/tuple [10, 8] + - !!python/tuple [31, 10] + - !!python/tuple [17, 6] + - !!python/tuple [27, 12] + - !!python/tuple [15, 4] + - !!python/tuple [8, 16] + - !!python/tuple [11, 11] + - !!python/tuple [2, 25] + - !!python/tuple [13, 13] + - !!python/tuple [30, 25] + - !!python/tuple [6, 27] + - !!python/tuple [14, 5] + - !!python/tuple [24, 11] + - !!python/tuple [20, 23] + - !!python/tuple [18, 2] + - !!python/tuple [12, 9] + - !!python/tuple [18, 24] + - !!python/tuple [0, 3] + - !!python/tuple [13, 5] + - !!python/tuple [23, 12] + - !!python/tuple [4, 8] + - !!python/tuple [11, 17] + - !!python/tuple [28, 12] + - !!python/tuple [16, 27] + - !!python/tuple [8, 22] + - !!python/tuple [2, 6] + - !!python/tuple [31, 7] + - !!python/tuple [11, 12] + - !!python/tuple [13, 12] + - !!python/tuple [0, 22] + - !!python/tuple [4, 19] + - !!python/tuple [20, 5] + - !!python/tuple [20, 18] + - !!python/tuple [0, 15] + - !!python/tuple [25, 14] + - !!python/tuple [29, 8] + - !!python/tuple [25, 17] + - !!python/tuple [26, 23] + - !!python/tuple [24, 31] + - !!python/tuple [7, 31] + - !!python/tuple [31, 6] + - !!python/tuple [0, 13] + - !!python/tuple [0, 4] + - !!python/tuple [4, 23] + - !!python/tuple [9, 14] + - !!python/tuple [1, 10] + - !!python/tuple [8, 17] + - !!python/tuple [10, 26] + - !!python/tuple [30, 7] + - !!python/tuple [1, 8] + - !!python/tuple [3, 18] + - !!python/tuple [1, 23] + - !!python/tuple [9, 13] + - !!python/tuple [23, 16] + - !!python/tuple [17, 14] + - !!python/tuple [8, 1] + - !!python/tuple [7, 11] + - !!python/tuple [7, 27] + - !!python/tuple [9, 5] + - !!python/tuple [29, 6] + - !!python/tuple [10, 29] + - !!python/tuple [23, 25] + - !!python/tuple [31, 28] + - !!python/tuple [25, 31] + - !!python/tuple [14, 9] + - !!python/tuple [29, 20] + - !!python/tuple [2, 24] + - !!python/tuple [5, 18] + - !!python/tuple [25, 9] + - !!python/tuple [17, 11] + - !!python/tuple [19, 23] + - !!python/tuple [2, 8] + - !!python/tuple [0, 30] + - !!python/tuple [2, 27] + - !!python/tuple [6, 30] + - !!python/tuple [19, 15] + - !!python/tuple [22, 18] + - !!python/tuple [17, 24] + - !!python/tuple [4, 16] + - !!python/tuple [2, 9] + - !!python/tuple [3, 12] + - !!python/tuple [8, 6] + - !!python/tuple [5, 20] + - !!python/tuple [22, 20] + - !!python/tuple [7, 19] + - !!python/tuple [20, 29] + - !!python/tuple [16, 26] + - !!python/tuple [24, 23] + - !!python/tuple [7, 3] + - !!python/tuple [29, 18] + - !!python/tuple [4, 6] + - !!python/tuple [5, 6] + - !!python/tuple [22, 7] + - !!python/tuple [19, 18] + - !!python/tuple [10, 6] + - !!python/tuple [15, 5] + - !!python/tuple [23, 6] + - !!python/tuple [23, 18] + - !!python/tuple [12, 19] + - !!python/tuple [30, 29] + - !!python/tuple [13, 9] + - !!python/tuple [29, 13] + - !!python/tuple [22, 8] + - !!python/tuple [12, 3] + - !!python/tuple [28, 1] + - !!python/tuple [31, 27] + - !!python/tuple [30, 30] + - !!python/tuple [23, 8] + - !!python/tuple [5, 10] + - !!python/tuple [5, 13] + - !!python/tuple [29, 27] + - !!python/tuple [9, 3] + - !!python/tuple [27, 21] + - !!python/tuple [29, 17] + - !!python/tuple [13, 7] + - !!python/tuple [18, 31] + - !!python/tuple [2, 14] + - !!python/tuple [22, 4] + - !!python/tuple [20, 16] + - !!python/tuple [20, 21] + - !!python/tuple [6, 15] + - !!python/tuple [15, 11] + - !!python/tuple [31, 24] + - !!python/tuple [15, 18] + - !!python/tuple [19, 4] + - !!python/tuple [3, 31] + - !!python/tuple [1, 29] + - !!python/tuple [29, 28] + - !!python/tuple [15, 0] + - !!python/tuple [27, 25] + - !!python/tuple [21, 4] + - !!python/tuple [13, 0] + - !!python/tuple [28, 0] + - !!python/tuple [20, 0] + - !!python/tuple [16, 15] + - !!python/tuple [25, 12] + - !!python/tuple [13, 29] + - !!python/tuple [18, 25] + - !!python/tuple [0, 28] + - !!python/tuple [1, 7] + - !!python/tuple [22, 23] + - !!python/tuple [28, 5] + - !!python/tuple [24, 25] + - !!python/tuple [22, 15] + - !!python/tuple [24, 26] + - !!python/tuple [19, 27] + - !!python/tuple [28, 7] + - !!python/tuple [6, 18] + - !!python/tuple [10, 21] + - !!python/tuple [16, 0] + - !!python/tuple [27, 3] + - !!python/tuple [3, 21] + - !!python/tuple [10, 23] + - !!python/tuple [17, 1] + - !!python/tuple [31, 13] + - !!python/tuple [21, 6] + - !!python/tuple [0, 9] + - !!python/tuple [9, 9] + - !!python/tuple [29, 11] + - !!python/tuple [13, 26] + - !!python/tuple [1, 16] + - !!python/tuple [30, 21] + - !!python/tuple [30, 5] + - !!python/tuple [5, 28] + - !!python/tuple [2, 22] + - !!python/tuple [28, 16] + - !!python/tuple [19, 13] + - !!python/tuple [9, 30] + - !!python/tuple [28, 10] + - !!python/tuple [16, 2] + - !!python/tuple [5, 26] + - !!python/tuple [22, 29] + - !!python/tuple [20, 10] + - !!python/tuple [5, 7] + - !!python/tuple [10, 0] + - !!python/tuple [6, 23] + - !!python/tuple [14, 27] + - !!python/tuple [0, 0] + - !!python/tuple [18, 17] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex87.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex87.yaml new file mode 100644 index 0000000..dc6bdaf --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex87.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [0, 23] + name: agent0 + start: [23, 3] +- goal: [29, 25] + name: agent1 + start: [14, 13] +- goal: [16, 25] + name: agent2 + start: [29, 19] +- goal: [28, 4] + name: agent3 + start: [14, 23] +- goal: [15, 25] + name: agent4 + start: [19, 2] +- goal: [31, 16] + name: agent5 + start: [19, 19] +- goal: [7, 13] + name: agent6 + start: [31, 23] +- goal: [28, 19] + name: agent7 + start: [6, 9] +- goal: [25, 14] + name: agent8 + start: [17, 3] +- goal: [2, 4] + name: agent9 + start: [11, 18] +- goal: [20, 1] + name: agent10 + start: [29, 8] +- goal: [28, 1] + name: agent11 + start: [6, 0] +- goal: [2, 29] + name: agent12 + start: [1, 18] +- goal: [9, 0] + name: agent13 + start: [24, 0] +- goal: [14, 30] + name: agent14 + start: [20, 29] +- goal: [21, 31] + name: agent15 + start: [2, 5] +- goal: [7, 31] + name: agent16 + start: [11, 16] +- goal: [12, 7] + name: agent17 + start: [10, 27] +- goal: [1, 26] + name: agent18 + start: [30, 21] +- goal: [27, 21] + name: agent19 + start: [26, 25] +- goal: [16, 28] + name: agent20 + start: [31, 21] +- goal: [30, 25] + name: agent21 + start: [26, 26] +- goal: [20, 13] + name: agent22 + start: [0, 0] +- goal: [12, 28] + name: agent23 + start: [21, 14] +- goal: [4, 9] + name: agent24 + start: [28, 10] +- goal: [15, 2] + name: agent25 + start: [10, 0] +- goal: [6, 1] + name: agent26 + start: [16, 3] +- goal: [19, 25] + name: agent27 + start: [7, 22] +- goal: [24, 11] + name: agent28 + start: [7, 16] +- goal: [24, 28] + name: agent29 + start: [5, 30] +- goal: [17, 21] + name: agent30 + start: [30, 18] +- goal: [14, 3] + name: agent31 + start: [0, 28] +- goal: [15, 24] + name: agent32 + start: [5, 25] +- goal: [7, 14] + name: agent33 + start: [5, 31] +- goal: [2, 21] + name: agent34 + start: [6, 14] +- goal: [7, 27] + name: agent35 + start: [7, 5] +- goal: [14, 10] + name: agent36 + start: [18, 24] +- goal: [4, 20] + name: agent37 + start: [28, 19] +- goal: [13, 15] + name: agent38 + start: [23, 10] +- goal: [24, 22] + name: agent39 + start: [10, 16] +- goal: [0, 3] + name: agent40 + start: [12, 6] +- goal: [6, 31] + name: agent41 + start: [5, 18] +- goal: [17, 11] + name: agent42 + start: [5, 29] +- goal: [19, 30] + name: agent43 + start: [2, 7] +- goal: [15, 22] + name: agent44 + start: [27, 25] +- goal: [29, 22] + name: agent45 + start: [10, 14] +- goal: [27, 30] + name: agent46 + start: [24, 16] +- goal: [19, 23] + name: agent47 + start: [23, 21] +- goal: [13, 25] + name: agent48 + start: [18, 3] +- goal: [20, 23] + name: agent49 + start: [8, 9] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [8, 27] + - !!python/tuple [19, 31] + - !!python/tuple [10, 21] + - !!python/tuple [12, 30] + - !!python/tuple [26, 31] + - !!python/tuple [20, 26] + - !!python/tuple [12, 19] + - !!python/tuple [30, 4] + - !!python/tuple [5, 1] + - !!python/tuple [0, 15] + - !!python/tuple [31, 17] + - !!python/tuple [10, 11] + - !!python/tuple [8, 11] + - !!python/tuple [22, 28] + - !!python/tuple [13, 10] + - !!python/tuple [29, 14] + - !!python/tuple [23, 1] + - !!python/tuple [15, 23] + - !!python/tuple [6, 2] + - !!python/tuple [18, 4] + - !!python/tuple [13, 28] + - !!python/tuple [16, 24] + - !!python/tuple [20, 16] + - !!python/tuple [26, 6] + - !!python/tuple [31, 12] + - !!python/tuple [2, 12] + - !!python/tuple [16, 19] + - !!python/tuple [9, 14] + - !!python/tuple [3, 12] + - !!python/tuple [4, 24] + - !!python/tuple [7, 4] + - !!python/tuple [29, 27] + - !!python/tuple [22, 2] + - !!python/tuple [4, 3] + - !!python/tuple [22, 10] + - !!python/tuple [18, 29] + - !!python/tuple [15, 20] + - !!python/tuple [21, 27] + - !!python/tuple [4, 12] + - !!python/tuple [5, 27] + - !!python/tuple [1, 9] + - !!python/tuple [4, 27] + - !!python/tuple [13, 16] + - !!python/tuple [18, 14] + - !!python/tuple [12, 26] + - !!python/tuple [0, 14] + - !!python/tuple [6, 25] + - !!python/tuple [5, 5] + - !!python/tuple [19, 5] + - !!python/tuple [23, 16] + - !!python/tuple [19, 14] + - !!python/tuple [21, 17] + - !!python/tuple [24, 23] + - !!python/tuple [11, 6] + - !!python/tuple [28, 21] + - !!python/tuple [16, 6] + - !!python/tuple [1, 16] + - !!python/tuple [0, 26] + - !!python/tuple [19, 17] + - !!python/tuple [10, 18] + - !!python/tuple [12, 16] + - !!python/tuple [6, 18] + - !!python/tuple [11, 7] + - !!python/tuple [4, 1] + - !!python/tuple [14, 27] + - !!python/tuple [5, 0] + - !!python/tuple [22, 30] + - !!python/tuple [29, 18] + - !!python/tuple [8, 31] + - !!python/tuple [4, 11] + - !!python/tuple [2, 24] + - !!python/tuple [15, 0] + - !!python/tuple [12, 4] + - !!python/tuple [18, 21] + - !!python/tuple [3, 4] + - !!python/tuple [18, 23] + - !!python/tuple [28, 24] + - !!python/tuple [22, 14] + - !!python/tuple [15, 15] + - !!python/tuple [21, 22] + - !!python/tuple [11, 14] + - !!python/tuple [14, 8] + - !!python/tuple [13, 29] + - !!python/tuple [15, 27] + - !!python/tuple [30, 27] + - !!python/tuple [11, 12] + - !!python/tuple [23, 5] + - !!python/tuple [27, 9] + - !!python/tuple [24, 17] + - !!python/tuple [25, 26] + - !!python/tuple [9, 22] + - !!python/tuple [6, 19] + - !!python/tuple [14, 16] + - !!python/tuple [28, 22] + - !!python/tuple [3, 17] + - !!python/tuple [29, 20] + - !!python/tuple [6, 21] + - !!python/tuple [5, 28] + - !!python/tuple [28, 6] + - !!python/tuple [7, 21] + - !!python/tuple [17, 13] + - !!python/tuple [16, 31] + - !!python/tuple [9, 16] + - !!python/tuple [9, 5] + - !!python/tuple [21, 28] + - !!python/tuple [1, 14] + - !!python/tuple [19, 22] + - !!python/tuple [27, 16] + - !!python/tuple [1, 20] + - !!python/tuple [0, 25] + - !!python/tuple [17, 30] + - !!python/tuple [2, 14] + - !!python/tuple [22, 8] + - !!python/tuple [26, 13] + - !!python/tuple [0, 17] + - !!python/tuple [20, 6] + - !!python/tuple [6, 30] + - !!python/tuple [11, 0] + - !!python/tuple [7, 23] + - !!python/tuple [23, 25] + - !!python/tuple [25, 16] + - !!python/tuple [11, 11] + - !!python/tuple [17, 27] + - !!python/tuple [20, 24] + - !!python/tuple [3, 0] + - !!python/tuple [29, 2] + - !!python/tuple [15, 26] + - !!python/tuple [13, 26] + - !!python/tuple [11, 15] + - !!python/tuple [0, 10] + - !!python/tuple [22, 11] + - !!python/tuple [16, 1] + - !!python/tuple [19, 18] + - !!python/tuple [26, 7] + - !!python/tuple [17, 4] + - !!python/tuple [6, 7] + - !!python/tuple [20, 28] + - !!python/tuple [22, 27] + - !!python/tuple [23, 18] + - !!python/tuple [9, 23] + - !!python/tuple [30, 15] + - !!python/tuple [27, 8] + - !!python/tuple [12, 27] + - !!python/tuple [9, 8] + - !!python/tuple [11, 27] + - !!python/tuple [8, 28] + - !!python/tuple [0, 27] + - !!python/tuple [30, 23] + - !!python/tuple [4, 6] + - !!python/tuple [0, 9] + - !!python/tuple [26, 10] + - !!python/tuple [3, 28] + - !!python/tuple [28, 29] + - !!python/tuple [7, 9] + - !!python/tuple [30, 28] + - !!python/tuple [12, 25] + - !!python/tuple [11, 9] + - !!python/tuple [1, 25] + - !!python/tuple [9, 26] + - !!python/tuple [13, 31] + - !!python/tuple [19, 7] + - !!python/tuple [6, 8] + - !!python/tuple [17, 5] + - !!python/tuple [4, 10] + - !!python/tuple [18, 0] + - !!python/tuple [28, 26] + - !!python/tuple [16, 17] + - !!python/tuple [11, 24] + - !!python/tuple [18, 20] + - !!python/tuple [24, 13] + - !!python/tuple [13, 5] + - !!python/tuple [14, 26] + - !!python/tuple [6, 16] + - !!python/tuple [21, 30] + - !!python/tuple [19, 8] + - !!python/tuple [15, 5] + - !!python/tuple [15, 10] + - !!python/tuple [20, 22] + - !!python/tuple [26, 29] + - !!python/tuple [4, 25] + - !!python/tuple [6, 17] + - !!python/tuple [23, 23] + - !!python/tuple [1, 19] + - !!python/tuple [30, 3] + - !!python/tuple [5, 16] + - !!python/tuple [5, 12] + - !!python/tuple [0, 8] + - !!python/tuple [9, 24] + - !!python/tuple [3, 9] + - !!python/tuple [8, 26] + - !!python/tuple [2, 31] + - !!python/tuple [29, 4] + - !!python/tuple [10, 22] + - !!python/tuple [21, 8] + - !!python/tuple [10, 31] + - !!python/tuple [9, 25] + - !!python/tuple [14, 6] + - !!python/tuple [7, 30] + - !!python/tuple [11, 23] + - !!python/tuple [19, 12] + - !!python/tuple [25, 11] + - !!python/tuple [10, 24] + - !!python/tuple [18, 11] + - !!python/tuple [10, 8] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex88.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex88.yaml new file mode 100644 index 0000000..95e85b2 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex88.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [22, 21] + name: agent0 + start: [15, 0] +- goal: [24, 31] + name: agent1 + start: [29, 11] +- goal: [1, 8] + name: agent2 + start: [28, 2] +- goal: [1, 9] + name: agent3 + start: [19, 20] +- goal: [25, 29] + name: agent4 + start: [6, 27] +- goal: [14, 5] + name: agent5 + start: [29, 16] +- goal: [31, 24] + name: agent6 + start: [17, 20] +- goal: [13, 4] + name: agent7 + start: [16, 31] +- goal: [24, 10] + name: agent8 + start: [30, 24] +- goal: [28, 27] + name: agent9 + start: [26, 17] +- goal: [8, 12] + name: agent10 + start: [17, 8] +- goal: [2, 1] + name: agent11 + start: [16, 28] +- goal: [2, 3] + name: agent12 + start: [11, 21] +- goal: [4, 9] + name: agent13 + start: [11, 17] +- goal: [7, 29] + name: agent14 + start: [22, 22] +- goal: [11, 0] + name: agent15 + start: [5, 22] +- goal: [17, 14] + name: agent16 + start: [27, 17] +- goal: [13, 3] + name: agent17 + start: [6, 14] +- goal: [25, 28] + name: agent18 + start: [19, 1] +- goal: [8, 24] + name: agent19 + start: [30, 26] +- goal: [28, 19] + name: agent20 + start: [30, 20] +- goal: [11, 6] + name: agent21 + start: [25, 27] +- goal: [21, 10] + name: agent22 + start: [30, 4] +- goal: [10, 3] + name: agent23 + start: [18, 3] +- goal: [29, 0] + name: agent24 + start: [24, 29] +- goal: [7, 9] + name: agent25 + start: [14, 30] +- goal: [18, 1] + name: agent26 + start: [14, 28] +- goal: [5, 27] + name: agent27 + start: [0, 29] +- goal: [2, 0] + name: agent28 + start: [7, 21] +- goal: [21, 12] + name: agent29 + start: [13, 10] +- goal: [30, 23] + name: agent30 + start: [2, 9] +- goal: [13, 31] + name: agent31 + start: [11, 13] +- goal: [28, 4] + name: agent32 + start: [25, 29] +- goal: [15, 16] + name: agent33 + start: [20, 5] +- goal: [1, 3] + name: agent34 + start: [8, 8] +- goal: [15, 2] + name: agent35 + start: [10, 4] +- goal: [6, 9] + name: agent36 + start: [3, 26] +- goal: [4, 8] + name: agent37 + start: [28, 16] +- goal: [16, 29] + name: agent38 + start: [15, 14] +- goal: [7, 20] + name: agent39 + start: [4, 14] +- goal: [24, 15] + name: agent40 + start: [28, 25] +- goal: [21, 27] + name: agent41 + start: [9, 21] +- goal: [16, 1] + name: agent42 + start: [25, 2] +- goal: [25, 12] + name: agent43 + start: [1, 5] +- goal: [17, 24] + name: agent44 + start: [26, 14] +- goal: [30, 31] + name: agent45 + start: [21, 6] +- goal: [22, 12] + name: agent46 + start: [15, 11] +- goal: [23, 23] + name: agent47 + start: [24, 5] +- goal: [12, 23] + name: agent48 + start: [4, 12] +- goal: [4, 21] + name: agent49 + start: [28, 20] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [19, 2] + - !!python/tuple [14, 22] + - !!python/tuple [26, 8] + - !!python/tuple [18, 27] + - !!python/tuple [4, 20] + - !!python/tuple [7, 26] + - !!python/tuple [10, 28] + - !!python/tuple [28, 24] + - !!python/tuple [0, 7] + - !!python/tuple [6, 25] + - !!python/tuple [0, 13] + - !!python/tuple [13, 21] + - !!python/tuple [28, 5] + - !!python/tuple [26, 9] + - !!python/tuple [19, 0] + - !!python/tuple [8, 2] + - !!python/tuple [23, 7] + - !!python/tuple [26, 5] + - !!python/tuple [16, 23] + - !!python/tuple [6, 19] + - !!python/tuple [6, 17] + - !!python/tuple [9, 8] + - !!python/tuple [22, 4] + - !!python/tuple [18, 19] + - !!python/tuple [1, 14] + - !!python/tuple [8, 5] + - !!python/tuple [27, 25] + - !!python/tuple [23, 4] + - !!python/tuple [11, 20] + - !!python/tuple [18, 0] + - !!python/tuple [18, 18] + - !!python/tuple [18, 31] + - !!python/tuple [6, 11] + - !!python/tuple [12, 11] + - !!python/tuple [5, 8] + - !!python/tuple [19, 31] + - !!python/tuple [6, 21] + - !!python/tuple [19, 10] + - !!python/tuple [28, 29] + - !!python/tuple [22, 8] + - !!python/tuple [30, 29] + - !!python/tuple [12, 7] + - !!python/tuple [10, 20] + - !!python/tuple [27, 10] + - !!python/tuple [24, 22] + - !!python/tuple [0, 3] + - !!python/tuple [23, 17] + - !!python/tuple [31, 26] + - !!python/tuple [11, 23] + - !!python/tuple [29, 19] + - !!python/tuple [13, 28] + - !!python/tuple [26, 30] + - !!python/tuple [28, 21] + - !!python/tuple [27, 23] + - !!python/tuple [10, 24] + - !!python/tuple [3, 23] + - !!python/tuple [12, 17] + - !!python/tuple [30, 13] + - !!python/tuple [14, 2] + - !!python/tuple [14, 27] + - !!python/tuple [1, 7] + - !!python/tuple [23, 5] + - !!python/tuple [20, 7] + - !!python/tuple [5, 1] + - !!python/tuple [26, 2] + - !!python/tuple [5, 12] + - !!python/tuple [19, 7] + - !!python/tuple [31, 28] + - !!python/tuple [11, 31] + - !!python/tuple [0, 0] + - !!python/tuple [9, 6] + - !!python/tuple [10, 16] + - !!python/tuple [23, 3] + - !!python/tuple [31, 11] + - !!python/tuple [5, 0] + - !!python/tuple [11, 19] + - !!python/tuple [23, 30] + - !!python/tuple [24, 8] + - !!python/tuple [2, 25] + - !!python/tuple [0, 22] + - !!python/tuple [6, 4] + - !!python/tuple [17, 0] + - !!python/tuple [10, 21] + - !!python/tuple [20, 19] + - !!python/tuple [22, 11] + - !!python/tuple [25, 6] + - !!python/tuple [18, 2] + - !!python/tuple [21, 5] + - !!python/tuple [18, 24] + - !!python/tuple [11, 1] + - !!python/tuple [8, 20] + - !!python/tuple [16, 30] + - !!python/tuple [11, 7] + - !!python/tuple [29, 1] + - !!python/tuple [24, 16] + - !!python/tuple [5, 20] + - !!python/tuple [12, 2] + - !!python/tuple [6, 23] + - !!python/tuple [29, 7] + - !!python/tuple [17, 29] + - !!python/tuple [19, 9] + - !!python/tuple [18, 25] + - !!python/tuple [15, 9] + - !!python/tuple [19, 28] + - !!python/tuple [28, 11] + - !!python/tuple [24, 12] + - !!python/tuple [13, 12] + - !!python/tuple [22, 31] + - !!python/tuple [6, 2] + - !!python/tuple [29, 30] + - !!python/tuple [2, 29] + - !!python/tuple [20, 13] + - !!python/tuple [19, 19] + - !!python/tuple [24, 17] + - !!python/tuple [6, 29] + - !!python/tuple [29, 9] + - !!python/tuple [16, 27] + - !!python/tuple [22, 7] + - !!python/tuple [21, 7] + - !!python/tuple [4, 11] + - !!python/tuple [11, 30] + - !!python/tuple [27, 29] + - !!python/tuple [9, 16] + - !!python/tuple [21, 21] + - !!python/tuple [13, 13] + - !!python/tuple [19, 18] + - !!python/tuple [13, 17] + - !!python/tuple [25, 7] + - !!python/tuple [13, 19] + - !!python/tuple [23, 13] + - !!python/tuple [27, 30] + - !!python/tuple [30, 11] + - !!python/tuple [8, 9] + - !!python/tuple [20, 22] + - !!python/tuple [23, 24] + - !!python/tuple [4, 2] + - !!python/tuple [27, 28] + - !!python/tuple [3, 28] + - !!python/tuple [19, 22] + - !!python/tuple [22, 26] + - !!python/tuple [26, 28] + - !!python/tuple [11, 12] + - !!python/tuple [0, 9] + - !!python/tuple [5, 26] + - !!python/tuple [16, 13] + - !!python/tuple [10, 23] + - !!python/tuple [6, 15] + - !!python/tuple [22, 30] + - !!python/tuple [30, 10] + - !!python/tuple [12, 0] + - !!python/tuple [0, 16] + - !!python/tuple [15, 26] + - !!python/tuple [28, 12] + - !!python/tuple [9, 22] + - !!python/tuple [25, 11] + - !!python/tuple [4, 1] + - !!python/tuple [18, 14] + - !!python/tuple [9, 11] + - !!python/tuple [11, 29] + - !!python/tuple [2, 20] + - !!python/tuple [18, 13] + - !!python/tuple [20, 30] + - !!python/tuple [17, 16] + - !!python/tuple [6, 31] + - !!python/tuple [20, 0] + - !!python/tuple [21, 13] + - !!python/tuple [0, 24] + - !!python/tuple [27, 7] + - !!python/tuple [5, 14] + - !!python/tuple [14, 20] + - !!python/tuple [14, 21] + - !!python/tuple [13, 23] + - !!python/tuple [17, 10] + - !!python/tuple [14, 12] + - !!python/tuple [15, 29] + - !!python/tuple [27, 18] + - !!python/tuple [27, 21] + - !!python/tuple [19, 25] + - !!python/tuple [2, 27] + - !!python/tuple [31, 3] + - !!python/tuple [27, 12] + - !!python/tuple [0, 19] + - !!python/tuple [1, 25] + - !!python/tuple [28, 7] + - !!python/tuple [16, 7] + - !!python/tuple [23, 19] + - !!python/tuple [31, 4] + - !!python/tuple [26, 3] + - !!python/tuple [1, 20] + - !!python/tuple [0, 14] + - !!python/tuple [14, 10] + - !!python/tuple [8, 0] + - !!python/tuple [1, 11] + - !!python/tuple [11, 10] + - !!python/tuple [19, 11] + - !!python/tuple [25, 0] + - !!python/tuple [12, 8] + - !!python/tuple [10, 10] + - !!python/tuple [23, 25] + - !!python/tuple [3, 20] + - !!python/tuple [23, 31] + - !!python/tuple [17, 27] + - !!python/tuple [9, 28] + - !!python/tuple [30, 0] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex89.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex89.yaml new file mode 100644 index 0000000..af93d80 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex89.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [24, 5] + name: agent0 + start: [11, 30] +- goal: [18, 2] + name: agent1 + start: [11, 10] +- goal: [14, 24] + name: agent2 + start: [17, 3] +- goal: [15, 11] + name: agent3 + start: [29, 3] +- goal: [20, 6] + name: agent4 + start: [13, 9] +- goal: [17, 9] + name: agent5 + start: [18, 10] +- goal: [28, 24] + name: agent6 + start: [14, 20] +- goal: [6, 23] + name: agent7 + start: [6, 7] +- goal: [28, 4] + name: agent8 + start: [7, 10] +- goal: [16, 3] + name: agent9 + start: [19, 10] +- goal: [9, 8] + name: agent10 + start: [0, 28] +- goal: [17, 5] + name: agent11 + start: [26, 22] +- goal: [22, 6] + name: agent12 + start: [4, 13] +- goal: [8, 17] + name: agent13 + start: [3, 29] +- goal: [1, 23] + name: agent14 + start: [23, 27] +- goal: [18, 10] + name: agent15 + start: [23, 17] +- goal: [17, 18] + name: agent16 + start: [23, 18] +- goal: [16, 10] + name: agent17 + start: [0, 9] +- goal: [22, 11] + name: agent18 + start: [25, 31] +- goal: [4, 15] + name: agent19 + start: [1, 23] +- goal: [7, 25] + name: agent20 + start: [29, 22] +- goal: [18, 8] + name: agent21 + start: [6, 6] +- goal: [31, 7] + name: agent22 + start: [23, 9] +- goal: [1, 4] + name: agent23 + start: [23, 21] +- goal: [1, 3] + name: agent24 + start: [12, 29] +- goal: [28, 17] + name: agent25 + start: [28, 21] +- goal: [7, 9] + name: agent26 + start: [13, 16] +- goal: [26, 14] + name: agent27 + start: [5, 19] +- goal: [14, 15] + name: agent28 + start: [2, 4] +- goal: [19, 15] + name: agent29 + start: [15, 18] +- goal: [3, 0] + name: agent30 + start: [10, 30] +- goal: [26, 23] + name: agent31 + start: [21, 30] +- goal: [4, 28] + name: agent32 + start: [27, 30] +- goal: [30, 26] + name: agent33 + start: [28, 18] +- goal: [20, 16] + name: agent34 + start: [29, 6] +- goal: [26, 10] + name: agent35 + start: [17, 19] +- goal: [13, 7] + name: agent36 + start: [8, 28] +- goal: [29, 15] + name: agent37 + start: [22, 19] +- goal: [23, 12] + name: agent38 + start: [7, 18] +- goal: [24, 14] + name: agent39 + start: [7, 26] +- goal: [0, 5] + name: agent40 + start: [31, 22] +- goal: [18, 28] + name: agent41 + start: [15, 21] +- goal: [23, 23] + name: agent42 + start: [21, 18] +- goal: [6, 29] + name: agent43 + start: [27, 14] +- goal: [20, 5] + name: agent44 + start: [27, 21] +- goal: [29, 22] + name: agent45 + start: [21, 11] +- goal: [9, 14] + name: agent46 + start: [3, 22] +- goal: [7, 19] + name: agent47 + start: [24, 22] +- goal: [28, 27] + name: agent48 + start: [22, 20] +- goal: [5, 29] + name: agent49 + start: [21, 31] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [8, 23] + - !!python/tuple [4, 17] + - !!python/tuple [10, 8] + - !!python/tuple [16, 25] + - !!python/tuple [1, 26] + - !!python/tuple [22, 16] + - !!python/tuple [28, 7] + - !!python/tuple [20, 20] + - !!python/tuple [10, 28] + - !!python/tuple [31, 11] + - !!python/tuple [2, 31] + - !!python/tuple [3, 4] + - !!python/tuple [24, 30] + - !!python/tuple [25, 30] + - !!python/tuple [13, 19] + - !!python/tuple [14, 14] + - !!python/tuple [5, 12] + - !!python/tuple [28, 23] + - !!python/tuple [10, 4] + - !!python/tuple [2, 0] + - !!python/tuple [30, 5] + - !!python/tuple [11, 11] + - !!python/tuple [13, 1] + - !!python/tuple [28, 8] + - !!python/tuple [10, 15] + - !!python/tuple [4, 31] + - !!python/tuple [16, 27] + - !!python/tuple [9, 17] + - !!python/tuple [6, 17] + - !!python/tuple [9, 7] + - !!python/tuple [22, 24] + - !!python/tuple [30, 1] + - !!python/tuple [6, 0] + - !!python/tuple [16, 20] + - !!python/tuple [7, 7] + - !!python/tuple [22, 12] + - !!python/tuple [3, 25] + - !!python/tuple [9, 30] + - !!python/tuple [21, 2] + - !!python/tuple [18, 6] + - !!python/tuple [20, 9] + - !!python/tuple [18, 5] + - !!python/tuple [16, 0] + - !!python/tuple [7, 5] + - !!python/tuple [21, 22] + - !!python/tuple [0, 22] + - !!python/tuple [18, 14] + - !!python/tuple [16, 17] + - !!python/tuple [2, 9] + - !!python/tuple [0, 24] + - !!python/tuple [9, 15] + - !!python/tuple [25, 26] + - !!python/tuple [6, 8] + - !!python/tuple [20, 12] + - !!python/tuple [24, 9] + - !!python/tuple [7, 4] + - !!python/tuple [10, 22] + - !!python/tuple [16, 21] + - !!python/tuple [25, 1] + - !!python/tuple [7, 24] + - !!python/tuple [30, 22] + - !!python/tuple [28, 25] + - !!python/tuple [15, 15] + - !!python/tuple [23, 26] + - !!python/tuple [7, 15] + - !!python/tuple [17, 14] + - !!python/tuple [23, 10] + - !!python/tuple [27, 16] + - !!python/tuple [9, 28] + - !!python/tuple [22, 2] + - !!python/tuple [2, 15] + - !!python/tuple [26, 6] + - !!python/tuple [30, 6] + - !!python/tuple [9, 25] + - !!python/tuple [28, 10] + - !!python/tuple [7, 30] + - !!python/tuple [28, 20] + - !!python/tuple [10, 2] + - !!python/tuple [21, 15] + - !!python/tuple [26, 18] + - !!python/tuple [29, 7] + - !!python/tuple [20, 4] + - !!python/tuple [25, 28] + - !!python/tuple [2, 16] + - !!python/tuple [5, 28] + - !!python/tuple [12, 25] + - !!python/tuple [16, 9] + - !!python/tuple [27, 5] + - !!python/tuple [6, 27] + - !!python/tuple [17, 30] + - !!python/tuple [24, 1] + - !!python/tuple [15, 1] + - !!python/tuple [19, 12] + - !!python/tuple [27, 2] + - !!python/tuple [31, 6] + - !!python/tuple [24, 21] + - !!python/tuple [13, 14] + - !!python/tuple [4, 4] + - !!python/tuple [22, 26] + - !!python/tuple [3, 21] + - !!python/tuple [4, 30] + - !!python/tuple [30, 9] + - !!python/tuple [28, 22] + - !!python/tuple [21, 28] + - !!python/tuple [16, 12] + - !!python/tuple [7, 21] + - !!python/tuple [23, 13] + - !!python/tuple [17, 20] + - !!python/tuple [19, 9] + - !!python/tuple [6, 9] + - !!python/tuple [4, 22] + - !!python/tuple [28, 29] + - !!python/tuple [0, 21] + - !!python/tuple [18, 4] + - !!python/tuple [12, 22] + - !!python/tuple [23, 7] + - !!python/tuple [16, 15] + - !!python/tuple [22, 4] + - !!python/tuple [25, 13] + - !!python/tuple [2, 24] + - !!python/tuple [24, 25] + - !!python/tuple [12, 16] + - !!python/tuple [9, 26] + - !!python/tuple [21, 17] + - !!python/tuple [8, 13] + - !!python/tuple [7, 14] + - !!python/tuple [0, 4] + - !!python/tuple [30, 17] + - !!python/tuple [15, 10] + - !!python/tuple [4, 19] + - !!python/tuple [0, 12] + - !!python/tuple [29, 0] + - !!python/tuple [23, 5] + - !!python/tuple [21, 9] + - !!python/tuple [9, 1] + - !!python/tuple [6, 18] + - !!python/tuple [5, 15] + - !!python/tuple [17, 15] + - !!python/tuple [31, 27] + - !!python/tuple [0, 29] + - !!python/tuple [3, 23] + - !!python/tuple [11, 29] + - !!python/tuple [15, 27] + - !!python/tuple [19, 4] + - !!python/tuple [2, 2] + - !!python/tuple [9, 29] + - !!python/tuple [25, 9] + - !!python/tuple [26, 26] + - !!python/tuple [4, 1] + - !!python/tuple [5, 11] + - !!python/tuple [29, 25] + - !!python/tuple [21, 5] + - !!python/tuple [16, 31] + - !!python/tuple [16, 1] + - !!python/tuple [4, 29] + - !!python/tuple [13, 10] + - !!python/tuple [25, 18] + - !!python/tuple [15, 14] + - !!python/tuple [5, 5] + - !!python/tuple [14, 3] + - !!python/tuple [20, 14] + - !!python/tuple [9, 6] + - !!python/tuple [27, 26] + - !!python/tuple [2, 7] + - !!python/tuple [21, 19] + - !!python/tuple [26, 27] + - !!python/tuple [4, 7] + - !!python/tuple [10, 6] + - !!python/tuple [9, 23] + - !!python/tuple [17, 24] + - !!python/tuple [6, 19] + - !!python/tuple [14, 4] + - !!python/tuple [10, 19] + - !!python/tuple [4, 5] + - !!python/tuple [19, 14] + - !!python/tuple [1, 22] + - !!python/tuple [1, 11] + - !!python/tuple [3, 30] + - !!python/tuple [8, 22] + - !!python/tuple [6, 30] + - !!python/tuple [24, 23] + - !!python/tuple [12, 4] + - !!python/tuple [11, 25] + - !!python/tuple [1, 15] + - !!python/tuple [20, 24] + - !!python/tuple [19, 2] + - !!python/tuple [1, 16] + - !!python/tuple [20, 17] + - !!python/tuple [31, 29] + - !!python/tuple [24, 11] + - !!python/tuple [19, 26] + - !!python/tuple [23, 11] + - !!python/tuple [3, 5] + - !!python/tuple [24, 7] + - !!python/tuple [4, 9] + - !!python/tuple [22, 18] + - !!python/tuple [11, 7] + - !!python/tuple [19, 20] + - !!python/tuple [13, 26] + - !!python/tuple [10, 25] + - !!python/tuple [30, 24] + - !!python/tuple [10, 31] + - !!python/tuple [26, 12] + - !!python/tuple [3, 11] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex9.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex9.yaml new file mode 100644 index 0000000..0c508bd --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex9.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [26, 24] + name: agent0 + start: [19, 13] +- goal: [15, 17] + name: agent1 + start: [13, 28] +- goal: [25, 27] + name: agent2 + start: [9, 1] +- goal: [20, 14] + name: agent3 + start: [21, 9] +- goal: [6, 25] + name: agent4 + start: [26, 24] +- goal: [20, 12] + name: agent5 + start: [27, 25] +- goal: [10, 24] + name: agent6 + start: [21, 30] +- goal: [7, 16] + name: agent7 + start: [1, 17] +- goal: [5, 2] + name: agent8 + start: [15, 28] +- goal: [7, 25] + name: agent9 + start: [24, 22] +- goal: [6, 19] + name: agent10 + start: [18, 8] +- goal: [12, 15] + name: agent11 + start: [4, 2] +- goal: [24, 2] + name: agent12 + start: [22, 30] +- goal: [22, 30] + name: agent13 + start: [26, 25] +- goal: [16, 11] + name: agent14 + start: [11, 17] +- goal: [30, 30] + name: agent15 + start: [11, 16] +- goal: [3, 3] + name: agent16 + start: [29, 6] +- goal: [20, 23] + name: agent17 + start: [9, 5] +- goal: [8, 12] + name: agent18 + start: [0, 9] +- goal: [15, 15] + name: agent19 + start: [31, 3] +- goal: [1, 2] + name: agent20 + start: [8, 18] +- goal: [20, 1] + name: agent21 + start: [13, 13] +- goal: [28, 3] + name: agent22 + start: [5, 27] +- goal: [24, 24] + name: agent23 + start: [3, 16] +- goal: [16, 22] + name: agent24 + start: [28, 14] +- goal: [30, 0] + name: agent25 + start: [23, 20] +- goal: [22, 20] + name: agent26 + start: [14, 18] +- goal: [7, 21] + name: agent27 + start: [11, 10] +- goal: [26, 26] + name: agent28 + start: [4, 21] +- goal: [31, 25] + name: agent29 + start: [19, 16] +- goal: [25, 15] + name: agent30 + start: [4, 24] +- goal: [1, 22] + name: agent31 + start: [23, 21] +- goal: [21, 7] + name: agent32 + start: [10, 28] +- goal: [28, 11] + name: agent33 + start: [3, 6] +- goal: [6, 6] + name: agent34 + start: [12, 31] +- goal: [1, 31] + name: agent35 + start: [20, 26] +- goal: [18, 29] + name: agent36 + start: [20, 25] +- goal: [27, 8] + name: agent37 + start: [21, 7] +- goal: [4, 31] + name: agent38 + start: [7, 10] +- goal: [14, 31] + name: agent39 + start: [0, 15] +- goal: [22, 15] + name: agent40 + start: [17, 12] +- goal: [19, 9] + name: agent41 + start: [17, 18] +- goal: [26, 22] + name: agent42 + start: [18, 20] +- goal: [4, 11] + name: agent43 + start: [26, 15] +- goal: [9, 26] + name: agent44 + start: [2, 3] +- goal: [15, 18] + name: agent45 + start: [22, 28] +- goal: [31, 29] + name: agent46 + start: [0, 23] +- goal: [0, 12] + name: agent47 + start: [1, 7] +- goal: [24, 12] + name: agent48 + start: [18, 3] +- goal: [26, 29] + name: agent49 + start: [16, 28] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [13, 6] + - !!python/tuple [23, 13] + - !!python/tuple [27, 24] + - !!python/tuple [22, 6] + - !!python/tuple [18, 23] + - !!python/tuple [14, 16] + - !!python/tuple [0, 0] + - !!python/tuple [21, 26] + - !!python/tuple [9, 19] + - !!python/tuple [4, 10] + - !!python/tuple [21, 15] + - !!python/tuple [26, 7] + - !!python/tuple [3, 0] + - !!python/tuple [4, 0] + - !!python/tuple [12, 11] + - !!python/tuple [30, 4] + - !!python/tuple [8, 20] + - !!python/tuple [11, 3] + - !!python/tuple [7, 29] + - !!python/tuple [5, 1] + - !!python/tuple [26, 31] + - !!python/tuple [22, 8] + - !!python/tuple [26, 17] + - !!python/tuple [21, 23] + - !!python/tuple [27, 15] + - !!python/tuple [17, 23] + - !!python/tuple [7, 7] + - !!python/tuple [4, 25] + - !!python/tuple [20, 0] + - !!python/tuple [24, 14] + - !!python/tuple [8, 16] + - !!python/tuple [2, 2] + - !!python/tuple [22, 21] + - !!python/tuple [27, 21] + - !!python/tuple [17, 4] + - !!python/tuple [8, 21] + - !!python/tuple [14, 0] + - !!python/tuple [22, 0] + - !!python/tuple [24, 26] + - !!python/tuple [6, 4] + - !!python/tuple [8, 8] + - !!python/tuple [4, 7] + - !!python/tuple [1, 14] + - !!python/tuple [24, 20] + - !!python/tuple [29, 16] + - !!python/tuple [18, 0] + - !!python/tuple [22, 29] + - !!python/tuple [7, 15] + - !!python/tuple [11, 12] + - !!python/tuple [9, 8] + - !!python/tuple [22, 23] + - !!python/tuple [19, 31] + - !!python/tuple [18, 2] + - !!python/tuple [10, 2] + - !!python/tuple [30, 9] + - !!python/tuple [12, 8] + - !!python/tuple [29, 7] + - !!python/tuple [23, 26] + - !!python/tuple [10, 20] + - !!python/tuple [9, 23] + - !!python/tuple [1, 30] + - !!python/tuple [28, 30] + - !!python/tuple [23, 30] + - !!python/tuple [4, 27] + - !!python/tuple [0, 4] + - !!python/tuple [18, 18] + - !!python/tuple [11, 27] + - !!python/tuple [30, 19] + - !!python/tuple [15, 6] + - !!python/tuple [31, 0] + - !!python/tuple [29, 28] + - !!python/tuple [12, 1] + - !!python/tuple [7, 9] + - !!python/tuple [30, 24] + - !!python/tuple [20, 3] + - !!python/tuple [22, 11] + - !!python/tuple [2, 11] + - !!python/tuple [13, 9] + - !!python/tuple [12, 24] + - !!python/tuple [4, 17] + - !!python/tuple [2, 21] + - !!python/tuple [14, 6] + - !!python/tuple [26, 20] + - !!python/tuple [25, 17] + - !!python/tuple [28, 2] + - !!python/tuple [18, 6] + - !!python/tuple [2, 1] + - !!python/tuple [19, 7] + - !!python/tuple [13, 24] + - !!python/tuple [30, 16] + - !!python/tuple [25, 11] + - !!python/tuple [21, 20] + - !!python/tuple [21, 21] + - !!python/tuple [9, 0] + - !!python/tuple [18, 26] + - !!python/tuple [21, 10] + - !!python/tuple [0, 1] + - !!python/tuple [8, 15] + - !!python/tuple [30, 12] + - !!python/tuple [6, 24] + - !!python/tuple [6, 17] + - !!python/tuple [2, 9] + - !!python/tuple [23, 24] + - !!python/tuple [19, 27] + - !!python/tuple [19, 5] + - !!python/tuple [2, 22] + - !!python/tuple [22, 26] + - !!python/tuple [25, 7] + - !!python/tuple [10, 3] + - !!python/tuple [16, 20] + - !!python/tuple [28, 0] + - !!python/tuple [11, 13] + - !!python/tuple [8, 28] + - !!python/tuple [19, 20] + - !!python/tuple [4, 8] + - !!python/tuple [22, 4] + - !!python/tuple [23, 19] + - !!python/tuple [9, 18] + - !!python/tuple [29, 1] + - !!python/tuple [17, 6] + - !!python/tuple [24, 21] + - !!python/tuple [14, 30] + - !!python/tuple [3, 30] + - !!python/tuple [0, 20] + - !!python/tuple [25, 31] + - !!python/tuple [15, 25] + - !!python/tuple [19, 14] + - !!python/tuple [25, 29] + - !!python/tuple [16, 23] + - !!python/tuple [13, 27] + - !!python/tuple [30, 25] + - !!python/tuple [31, 18] + - !!python/tuple [17, 3] + - !!python/tuple [27, 7] + - !!python/tuple [3, 19] + - !!python/tuple [26, 12] + - !!python/tuple [4, 5] + - !!python/tuple [10, 23] + - !!python/tuple [21, 4] + - !!python/tuple [16, 16] + - !!python/tuple [16, 15] + - !!python/tuple [0, 24] + - !!python/tuple [15, 20] + - !!python/tuple [17, 26] + - !!python/tuple [20, 27] + - !!python/tuple [11, 11] + - !!python/tuple [14, 1] + - !!python/tuple [31, 22] + - !!python/tuple [19, 28] + - !!python/tuple [18, 27] + - !!python/tuple [23, 15] + - !!python/tuple [15, 27] + - !!python/tuple [21, 18] + - !!python/tuple [30, 7] + - !!python/tuple [14, 8] + - !!python/tuple [4, 6] + - !!python/tuple [17, 29] + - !!python/tuple [0, 8] + - !!python/tuple [15, 26] + - !!python/tuple [25, 21] + - !!python/tuple [29, 24] + - !!python/tuple [26, 14] + - !!python/tuple [7, 27] + - !!python/tuple [6, 31] + - !!python/tuple [18, 7] + - !!python/tuple [15, 5] + - !!python/tuple [20, 8] + - !!python/tuple [22, 12] + - !!python/tuple [20, 29] + - !!python/tuple [25, 2] + - !!python/tuple [1, 8] + - !!python/tuple [29, 9] + - !!python/tuple [9, 25] + - !!python/tuple [7, 17] + - !!python/tuple [30, 22] + - !!python/tuple [2, 0] + - !!python/tuple [9, 16] + - !!python/tuple [3, 27] + - !!python/tuple [5, 5] + - !!python/tuple [27, 14] + - !!python/tuple [28, 12] + - !!python/tuple [23, 8] + - !!python/tuple [14, 9] + - !!python/tuple [8, 14] + - !!python/tuple [2, 13] + - !!python/tuple [19, 0] + - !!python/tuple [8, 11] + - !!python/tuple [17, 1] + - !!python/tuple [27, 30] + - !!python/tuple [6, 14] + - !!python/tuple [22, 13] + - !!python/tuple [27, 6] + - !!python/tuple [16, 21] + - !!python/tuple [30, 17] + - !!python/tuple [26, 13] + - !!python/tuple [11, 23] + - !!python/tuple [9, 14] + - !!python/tuple [30, 28] + - !!python/tuple [4, 29] + - !!python/tuple [9, 27] + - !!python/tuple [23, 10] + - !!python/tuple [22, 31] + - !!python/tuple [14, 5] + - !!python/tuple [7, 13] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex90.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex90.yaml new file mode 100644 index 0000000..71af20d --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex90.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [8, 31] + name: agent0 + start: [4, 26] +- goal: [18, 13] + name: agent1 + start: [31, 23] +- goal: [8, 10] + name: agent2 + start: [1, 10] +- goal: [20, 26] + name: agent3 + start: [15, 10] +- goal: [22, 18] + name: agent4 + start: [30, 31] +- goal: [31, 15] + name: agent5 + start: [13, 22] +- goal: [18, 24] + name: agent6 + start: [19, 25] +- goal: [27, 0] + name: agent7 + start: [27, 16] +- goal: [14, 30] + name: agent8 + start: [10, 6] +- goal: [18, 1] + name: agent9 + start: [5, 31] +- goal: [1, 25] + name: agent10 + start: [25, 26] +- goal: [5, 18] + name: agent11 + start: [24, 20] +- goal: [15, 19] + name: agent12 + start: [16, 13] +- goal: [8, 7] + name: agent13 + start: [12, 22] +- goal: [24, 0] + name: agent14 + start: [19, 17] +- goal: [10, 11] + name: agent15 + start: [8, 10] +- goal: [16, 8] + name: agent16 + start: [9, 0] +- goal: [20, 17] + name: agent17 + start: [4, 29] +- goal: [0, 15] + name: agent18 + start: [26, 31] +- goal: [3, 22] + name: agent19 + start: [17, 0] +- goal: [1, 14] + name: agent20 + start: [29, 31] +- goal: [21, 1] + name: agent21 + start: [16, 30] +- goal: [17, 27] + name: agent22 + start: [14, 10] +- goal: [15, 30] + name: agent23 + start: [3, 10] +- goal: [25, 24] + name: agent24 + start: [20, 21] +- goal: [28, 2] + name: agent25 + start: [3, 0] +- goal: [9, 11] + name: agent26 + start: [27, 23] +- goal: [14, 19] + name: agent27 + start: [31, 20] +- goal: [30, 12] + name: agent28 + start: [29, 12] +- goal: [19, 3] + name: agent29 + start: [31, 24] +- goal: [16, 25] + name: agent30 + start: [1, 25] +- goal: [6, 6] + name: agent31 + start: [6, 18] +- goal: [30, 14] + name: agent32 + start: [10, 15] +- goal: [25, 11] + name: agent33 + start: [9, 10] +- goal: [3, 25] + name: agent34 + start: [18, 7] +- goal: [20, 19] + name: agent35 + start: [1, 0] +- goal: [31, 9] + name: agent36 + start: [3, 9] +- goal: [20, 1] + name: agent37 + start: [25, 0] +- goal: [17, 15] + name: agent38 + start: [0, 2] +- goal: [19, 19] + name: agent39 + start: [12, 19] +- goal: [25, 22] + name: agent40 + start: [14, 20] +- goal: [16, 9] + name: agent41 + start: [18, 13] +- goal: [9, 0] + name: agent42 + start: [8, 5] +- goal: [14, 7] + name: agent43 + start: [25, 15] +- goal: [19, 28] + name: agent44 + start: [4, 25] +- goal: [27, 17] + name: agent45 + start: [14, 21] +- goal: [29, 15] + name: agent46 + start: [17, 21] +- goal: [27, 1] + name: agent47 + start: [26, 3] +- goal: [22, 6] + name: agent48 + start: [30, 20] +- goal: [16, 21] + name: agent49 + start: [16, 28] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [18, 3] + - !!python/tuple [24, 12] + - !!python/tuple [30, 3] + - !!python/tuple [2, 6] + - !!python/tuple [22, 10] + - !!python/tuple [27, 19] + - !!python/tuple [25, 10] + - !!python/tuple [4, 31] + - !!python/tuple [15, 26] + - !!python/tuple [16, 29] + - !!python/tuple [2, 19] + - !!python/tuple [17, 5] + - !!python/tuple [17, 29] + - !!python/tuple [14, 16] + - !!python/tuple [14, 25] + - !!python/tuple [22, 30] + - !!python/tuple [2, 1] + - !!python/tuple [2, 0] + - !!python/tuple [22, 23] + - !!python/tuple [29, 8] + - !!python/tuple [0, 27] + - !!python/tuple [3, 13] + - !!python/tuple [31, 4] + - !!python/tuple [13, 1] + - !!python/tuple [30, 6] + - !!python/tuple [1, 27] + - !!python/tuple [29, 26] + - !!python/tuple [0, 17] + - !!python/tuple [21, 6] + - !!python/tuple [22, 20] + - !!python/tuple [16, 3] + - !!python/tuple [11, 10] + - !!python/tuple [25, 25] + - !!python/tuple [5, 7] + - !!python/tuple [31, 2] + - !!python/tuple [27, 10] + - !!python/tuple [15, 3] + - !!python/tuple [0, 23] + - !!python/tuple [3, 11] + - !!python/tuple [7, 11] + - !!python/tuple [0, 31] + - !!python/tuple [2, 7] + - !!python/tuple [14, 24] + - !!python/tuple [0, 25] + - !!python/tuple [4, 28] + - !!python/tuple [11, 16] + - !!python/tuple [3, 6] + - !!python/tuple [24, 13] + - !!python/tuple [18, 29] + - !!python/tuple [8, 9] + - !!python/tuple [21, 27] + - !!python/tuple [25, 3] + - !!python/tuple [15, 1] + - !!python/tuple [14, 29] + - !!python/tuple [13, 15] + - !!python/tuple [22, 19] + - !!python/tuple [7, 12] + - !!python/tuple [30, 15] + - !!python/tuple [17, 24] + - !!python/tuple [29, 1] + - !!python/tuple [14, 9] + - !!python/tuple [5, 21] + - !!python/tuple [18, 12] + - !!python/tuple [0, 30] + - !!python/tuple [26, 29] + - !!python/tuple [19, 5] + - !!python/tuple [12, 8] + - !!python/tuple [0, 9] + - !!python/tuple [19, 10] + - !!python/tuple [19, 4] + - !!python/tuple [11, 30] + - !!python/tuple [9, 14] + - !!python/tuple [22, 24] + - !!python/tuple [12, 10] + - !!python/tuple [23, 27] + - !!python/tuple [11, 12] + - !!python/tuple [31, 17] + - !!python/tuple [21, 29] + - !!python/tuple [29, 13] + - !!python/tuple [23, 24] + - !!python/tuple [15, 6] + - !!python/tuple [13, 31] + - !!python/tuple [12, 23] + - !!python/tuple [24, 3] + - !!python/tuple [20, 2] + - !!python/tuple [31, 26] + - !!python/tuple [28, 13] + - !!python/tuple [1, 13] + - !!python/tuple [17, 3] + - !!python/tuple [10, 3] + - !!python/tuple [30, 0] + - !!python/tuple [10, 29] + - !!python/tuple [19, 7] + - !!python/tuple [21, 24] + - !!python/tuple [10, 1] + - !!python/tuple [8, 24] + - !!python/tuple [26, 23] + - !!python/tuple [2, 30] + - !!python/tuple [3, 4] + - !!python/tuple [29, 25] + - !!python/tuple [12, 7] + - !!python/tuple [23, 2] + - !!python/tuple [1, 28] + - !!python/tuple [3, 28] + - !!python/tuple [3, 5] + - !!python/tuple [4, 17] + - !!python/tuple [30, 28] + - !!python/tuple [1, 30] + - !!python/tuple [31, 11] + - !!python/tuple [2, 18] + - !!python/tuple [10, 20] + - !!python/tuple [2, 22] + - !!python/tuple [5, 20] + - !!python/tuple [15, 7] + - !!python/tuple [27, 14] + - !!python/tuple [25, 2] + - !!python/tuple [15, 29] + - !!python/tuple [26, 5] + - !!python/tuple [23, 14] + - !!python/tuple [25, 5] + - !!python/tuple [15, 8] + - !!python/tuple [14, 26] + - !!python/tuple [24, 18] + - !!python/tuple [11, 6] + - !!python/tuple [25, 9] + - !!python/tuple [0, 28] + - !!python/tuple [18, 5] + - !!python/tuple [20, 11] + - !!python/tuple [29, 29] + - !!python/tuple [21, 30] + - !!python/tuple [26, 11] + - !!python/tuple [31, 21] + - !!python/tuple [21, 15] + - !!python/tuple [1, 21] + - !!python/tuple [7, 8] + - !!python/tuple [17, 14] + - !!python/tuple [8, 0] + - !!python/tuple [27, 12] + - !!python/tuple [22, 9] + - !!python/tuple [22, 12] + - !!python/tuple [24, 25] + - !!python/tuple [28, 0] + - !!python/tuple [11, 29] + - !!python/tuple [27, 6] + - !!python/tuple [20, 5] + - !!python/tuple [11, 8] + - !!python/tuple [25, 23] + - !!python/tuple [9, 31] + - !!python/tuple [31, 3] + - !!python/tuple [15, 16] + - !!python/tuple [12, 6] + - !!python/tuple [14, 0] + - !!python/tuple [3, 29] + - !!python/tuple [13, 11] + - !!python/tuple [12, 27] + - !!python/tuple [11, 1] + - !!python/tuple [3, 15] + - !!python/tuple [22, 17] + - !!python/tuple [14, 31] + - !!python/tuple [14, 8] + - !!python/tuple [8, 29] + - !!python/tuple [24, 28] + - !!python/tuple [27, 29] + - !!python/tuple [26, 25] + - !!python/tuple [9, 6] + - !!python/tuple [29, 24] + - !!python/tuple [30, 17] + - !!python/tuple [20, 24] + - !!python/tuple [23, 1] + - !!python/tuple [23, 19] + - !!python/tuple [13, 19] + - !!python/tuple [7, 27] + - !!python/tuple [28, 5] + - !!python/tuple [16, 11] + - !!python/tuple [6, 27] + - !!python/tuple [28, 6] + - !!python/tuple [13, 7] + - !!python/tuple [13, 3] + - !!python/tuple [3, 23] + - !!python/tuple [12, 12] + - !!python/tuple [0, 7] + - !!python/tuple [17, 19] + - !!python/tuple [0, 8] + - !!python/tuple [18, 31] + - !!python/tuple [25, 12] + - !!python/tuple [26, 15] + - !!python/tuple [7, 24] + - !!python/tuple [7, 18] + - !!python/tuple [21, 20] + - !!python/tuple [23, 5] + - !!python/tuple [31, 7] + - !!python/tuple [18, 9] + - !!python/tuple [20, 18] + - !!python/tuple [8, 3] + - !!python/tuple [13, 21] + - !!python/tuple [0, 29] + - !!python/tuple [20, 13] + - !!python/tuple [3, 3] + - !!python/tuple [19, 23] + - !!python/tuple [11, 19] + - !!python/tuple [16, 2] + - !!python/tuple [7, 0] + - !!python/tuple [7, 28] + - !!python/tuple [7, 16] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex91.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex91.yaml new file mode 100644 index 0000000..4faf08e --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex91.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [29, 2] + name: agent0 + start: [21, 1] +- goal: [11, 21] + name: agent1 + start: [19, 15] +- goal: [12, 24] + name: agent2 + start: [30, 19] +- goal: [24, 17] + name: agent3 + start: [18, 5] +- goal: [27, 8] + name: agent4 + start: [5, 30] +- goal: [30, 28] + name: agent5 + start: [12, 4] +- goal: [22, 17] + name: agent6 + start: [17, 9] +- goal: [18, 8] + name: agent7 + start: [17, 1] +- goal: [24, 14] + name: agent8 + start: [9, 30] +- goal: [25, 15] + name: agent9 + start: [23, 9] +- goal: [5, 24] + name: agent10 + start: [9, 0] +- goal: [22, 23] + name: agent11 + start: [0, 26] +- goal: [4, 18] + name: agent12 + start: [31, 9] +- goal: [16, 21] + name: agent13 + start: [10, 21] +- goal: [28, 22] + name: agent14 + start: [0, 1] +- goal: [19, 17] + name: agent15 + start: [3, 22] +- goal: [23, 11] + name: agent16 + start: [30, 24] +- goal: [4, 3] + name: agent17 + start: [8, 12] +- goal: [14, 4] + name: agent18 + start: [7, 30] +- goal: [20, 4] + name: agent19 + start: [2, 30] +- goal: [29, 22] + name: agent20 + start: [12, 6] +- goal: [1, 20] + name: agent21 + start: [6, 5] +- goal: [7, 24] + name: agent22 + start: [4, 29] +- goal: [0, 6] + name: agent23 + start: [18, 8] +- goal: [16, 7] + name: agent24 + start: [9, 23] +- goal: [18, 4] + name: agent25 + start: [3, 8] +- goal: [26, 8] + name: agent26 + start: [26, 21] +- goal: [14, 25] + name: agent27 + start: [1, 0] +- goal: [10, 7] + name: agent28 + start: [28, 2] +- goal: [5, 23] + name: agent29 + start: [21, 11] +- goal: [23, 25] + name: agent30 + start: [3, 4] +- goal: [9, 14] + name: agent31 + start: [14, 24] +- goal: [9, 6] + name: agent32 + start: [23, 20] +- goal: [17, 26] + name: agent33 + start: [1, 11] +- goal: [25, 18] + name: agent34 + start: [23, 30] +- goal: [20, 6] + name: agent35 + start: [1, 28] +- goal: [30, 27] + name: agent36 + start: [17, 14] +- goal: [27, 15] + name: agent37 + start: [17, 21] +- goal: [19, 12] + name: agent38 + start: [8, 15] +- goal: [24, 31] + name: agent39 + start: [8, 28] +- goal: [4, 4] + name: agent40 + start: [13, 26] +- goal: [15, 18] + name: agent41 + start: [13, 5] +- goal: [2, 5] + name: agent42 + start: [7, 19] +- goal: [13, 23] + name: agent43 + start: [30, 5] +- goal: [26, 0] + name: agent44 + start: [22, 20] +- goal: [28, 24] + name: agent45 + start: [10, 9] +- goal: [16, 5] + name: agent46 + start: [1, 8] +- goal: [7, 17] + name: agent47 + start: [3, 27] +- goal: [20, 20] + name: agent48 + start: [16, 21] +- goal: [18, 27] + name: agent49 + start: [4, 28] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [8, 18] + - !!python/tuple [22, 11] + - !!python/tuple [24, 20] + - !!python/tuple [20, 10] + - !!python/tuple [27, 26] + - !!python/tuple [8, 1] + - !!python/tuple [17, 25] + - !!python/tuple [29, 14] + - !!python/tuple [7, 11] + - !!python/tuple [18, 14] + - !!python/tuple [16, 17] + - !!python/tuple [8, 25] + - !!python/tuple [29, 8] + - !!python/tuple [15, 21] + - !!python/tuple [26, 27] + - !!python/tuple [5, 31] + - !!python/tuple [20, 28] + - !!python/tuple [14, 20] + - !!python/tuple [22, 10] + - !!python/tuple [23, 23] + - !!python/tuple [22, 29] + - !!python/tuple [6, 18] + - !!python/tuple [20, 12] + - !!python/tuple [11, 18] + - !!python/tuple [13, 24] + - !!python/tuple [30, 12] + - !!python/tuple [24, 9] + - !!python/tuple [10, 30] + - !!python/tuple [0, 21] + - !!python/tuple [23, 26] + - !!python/tuple [21, 3] + - !!python/tuple [7, 23] + - !!python/tuple [20, 1] + - !!python/tuple [12, 26] + - !!python/tuple [14, 6] + - !!python/tuple [24, 29] + - !!python/tuple [27, 14] + - !!python/tuple [27, 1] + - !!python/tuple [20, 18] + - !!python/tuple [20, 26] + - !!python/tuple [20, 24] + - !!python/tuple [13, 10] + - !!python/tuple [6, 2] + - !!python/tuple [17, 13] + - !!python/tuple [17, 8] + - !!python/tuple [1, 3] + - !!python/tuple [30, 14] + - !!python/tuple [7, 2] + - !!python/tuple [9, 13] + - !!python/tuple [28, 3] + - !!python/tuple [20, 5] + - !!python/tuple [12, 9] + - !!python/tuple [4, 5] + - !!python/tuple [18, 15] + - !!python/tuple [1, 10] + - !!python/tuple [18, 25] + - !!python/tuple [13, 11] + - !!python/tuple [5, 12] + - !!python/tuple [10, 13] + - !!python/tuple [3, 17] + - !!python/tuple [15, 31] + - !!python/tuple [18, 0] + - !!python/tuple [9, 7] + - !!python/tuple [7, 1] + - !!python/tuple [16, 0] + - !!python/tuple [11, 30] + - !!python/tuple [31, 24] + - !!python/tuple [24, 23] + - !!python/tuple [12, 14] + - !!python/tuple [5, 10] + - !!python/tuple [22, 21] + - !!python/tuple [28, 28] + - !!python/tuple [23, 17] + - !!python/tuple [7, 25] + - !!python/tuple [10, 29] + - !!python/tuple [16, 26] + - !!python/tuple [29, 30] + - !!python/tuple [8, 9] + - !!python/tuple [8, 8] + - !!python/tuple [21, 20] + - !!python/tuple [11, 16] + - !!python/tuple [4, 9] + - !!python/tuple [28, 30] + - !!python/tuple [25, 26] + - !!python/tuple [26, 1] + - !!python/tuple [27, 29] + - !!python/tuple [17, 22] + - !!python/tuple [9, 25] + - !!python/tuple [27, 4] + - !!python/tuple [3, 20] + - !!python/tuple [1, 5] + - !!python/tuple [8, 24] + - !!python/tuple [15, 0] + - !!python/tuple [30, 16] + - !!python/tuple [4, 7] + - !!python/tuple [3, 24] + - !!python/tuple [22, 28] + - !!python/tuple [31, 17] + - !!python/tuple [21, 31] + - !!python/tuple [28, 17] + - !!python/tuple [4, 23] + - !!python/tuple [19, 2] + - !!python/tuple [14, 0] + - !!python/tuple [12, 19] + - !!python/tuple [10, 3] + - !!python/tuple [13, 13] + - !!python/tuple [5, 26] + - !!python/tuple [29, 18] + - !!python/tuple [13, 14] + - !!python/tuple [6, 26] + - !!python/tuple [0, 28] + - !!python/tuple [18, 17] + - !!python/tuple [12, 12] + - !!python/tuple [21, 8] + - !!python/tuple [5, 27] + - !!python/tuple [12, 27] + - !!python/tuple [8, 5] + - !!python/tuple [14, 19] + - !!python/tuple [26, 10] + - !!python/tuple [22, 26] + - !!python/tuple [19, 18] + - !!python/tuple [0, 0] + - !!python/tuple [5, 7] + - !!python/tuple [10, 28] + - !!python/tuple [30, 7] + - !!python/tuple [31, 25] + - !!python/tuple [27, 10] + - !!python/tuple [6, 29] + - !!python/tuple [2, 17] + - !!python/tuple [16, 19] + - !!python/tuple [1, 19] + - !!python/tuple [9, 17] + - !!python/tuple [18, 1] + - !!python/tuple [7, 18] + - !!python/tuple [30, 23] + - !!python/tuple [5, 28] + - !!python/tuple [15, 20] + - !!python/tuple [11, 4] + - !!python/tuple [24, 24] + - !!python/tuple [2, 15] + - !!python/tuple [1, 12] + - !!python/tuple [31, 10] + - !!python/tuple [26, 2] + - !!python/tuple [0, 25] + - !!python/tuple [23, 21] + - !!python/tuple [4, 1] + - !!python/tuple [6, 14] + - !!python/tuple [29, 27] + - !!python/tuple [25, 17] + - !!python/tuple [21, 30] + - !!python/tuple [15, 6] + - !!python/tuple [19, 31] + - !!python/tuple [8, 31] + - !!python/tuple [27, 12] + - !!python/tuple [24, 5] + - !!python/tuple [4, 8] + - !!python/tuple [16, 4] + - !!python/tuple [2, 8] + - !!python/tuple [2, 2] + - !!python/tuple [27, 2] + - !!python/tuple [28, 31] + - !!python/tuple [9, 3] + - !!python/tuple [4, 15] + - !!python/tuple [7, 10] + - !!python/tuple [8, 6] + - !!python/tuple [2, 13] + - !!python/tuple [30, 4] + - !!python/tuple [27, 3] + - !!python/tuple [21, 4] + - !!python/tuple [0, 20] + - !!python/tuple [6, 9] + - !!python/tuple [21, 10] + - !!python/tuple [24, 3] + - !!python/tuple [24, 16] + - !!python/tuple [23, 10] + - !!python/tuple [20, 19] + - !!python/tuple [10, 5] + - !!python/tuple [2, 22] + - !!python/tuple [24, 8] + - !!python/tuple [14, 23] + - !!python/tuple [16, 8] + - !!python/tuple [7, 13] + - !!python/tuple [21, 12] + - !!python/tuple [21, 15] + - !!python/tuple [27, 16] + - !!python/tuple [1, 17] + - !!python/tuple [12, 28] + - !!python/tuple [2, 21] + - !!python/tuple [23, 7] + - !!python/tuple [16, 31] + - !!python/tuple [2, 3] + - !!python/tuple [13, 1] + - !!python/tuple [11, 31] + - !!python/tuple [6, 15] + - !!python/tuple [22, 3] + - !!python/tuple [9, 2] + - !!python/tuple [21, 16] + - !!python/tuple [0, 24] + - !!python/tuple [5, 8] + - !!python/tuple [15, 2] + - !!python/tuple [21, 14] + - !!python/tuple [12, 22] + - !!python/tuple [22, 13] + - !!python/tuple [31, 23] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex92.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex92.yaml new file mode 100644 index 0000000..ea4868a --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex92.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [18, 26] + name: agent0 + start: [12, 10] +- goal: [16, 24] + name: agent1 + start: [25, 7] +- goal: [12, 0] + name: agent2 + start: [21, 2] +- goal: [17, 1] + name: agent3 + start: [23, 2] +- goal: [6, 21] + name: agent4 + start: [25, 24] +- goal: [13, 2] + name: agent5 + start: [27, 28] +- goal: [18, 3] + name: agent6 + start: [11, 16] +- goal: [2, 3] + name: agent7 + start: [15, 20] +- goal: [18, 1] + name: agent8 + start: [4, 12] +- goal: [21, 27] + name: agent9 + start: [4, 5] +- goal: [13, 11] + name: agent10 + start: [0, 25] +- goal: [16, 18] + name: agent11 + start: [9, 23] +- goal: [25, 4] + name: agent12 + start: [24, 1] +- goal: [9, 13] + name: agent13 + start: [26, 6] +- goal: [14, 0] + name: agent14 + start: [28, 6] +- goal: [16, 11] + name: agent15 + start: [18, 15] +- goal: [19, 9] + name: agent16 + start: [25, 6] +- goal: [31, 1] + name: agent17 + start: [27, 3] +- goal: [27, 5] + name: agent18 + start: [24, 29] +- goal: [23, 9] + name: agent19 + start: [16, 30] +- goal: [8, 2] + name: agent20 + start: [28, 27] +- goal: [30, 23] + name: agent21 + start: [14, 16] +- goal: [24, 0] + name: agent22 + start: [13, 7] +- goal: [5, 8] + name: agent23 + start: [28, 28] +- goal: [24, 23] + name: agent24 + start: [15, 14] +- goal: [10, 24] + name: agent25 + start: [28, 0] +- goal: [8, 27] + name: agent26 + start: [7, 5] +- goal: [11, 31] + name: agent27 + start: [26, 28] +- goal: [19, 4] + name: agent28 + start: [6, 20] +- goal: [27, 1] + name: agent29 + start: [7, 26] +- goal: [7, 20] + name: agent30 + start: [3, 23] +- goal: [21, 13] + name: agent31 + start: [30, 23] +- goal: [16, 28] + name: agent32 + start: [17, 10] +- goal: [22, 17] + name: agent33 + start: [12, 9] +- goal: [21, 5] + name: agent34 + start: [27, 2] +- goal: [12, 24] + name: agent35 + start: [30, 14] +- goal: [9, 21] + name: agent36 + start: [20, 30] +- goal: [0, 12] + name: agent37 + start: [2, 11] +- goal: [3, 20] + name: agent38 + start: [28, 3] +- goal: [21, 0] + name: agent39 + start: [17, 12] +- goal: [24, 30] + name: agent40 + start: [23, 27] +- goal: [2, 15] + name: agent41 + start: [21, 18] +- goal: [20, 1] + name: agent42 + start: [24, 20] +- goal: [31, 12] + name: agent43 + start: [12, 28] +- goal: [26, 9] + name: agent44 + start: [28, 15] +- goal: [21, 14] + name: agent45 + start: [9, 12] +- goal: [4, 13] + name: agent46 + start: [13, 12] +- goal: [4, 4] + name: agent47 + start: [1, 17] +- goal: [2, 18] + name: agent48 + start: [18, 9] +- goal: [20, 13] + name: agent49 + start: [26, 3] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [7, 23] + - !!python/tuple [1, 1] + - !!python/tuple [1, 31] + - !!python/tuple [4, 16] + - !!python/tuple [0, 22] + - !!python/tuple [20, 2] + - !!python/tuple [20, 28] + - !!python/tuple [27, 30] + - !!python/tuple [13, 20] + - !!python/tuple [14, 20] + - !!python/tuple [15, 19] + - !!python/tuple [28, 21] + - !!python/tuple [16, 1] + - !!python/tuple [20, 24] + - !!python/tuple [31, 20] + - !!python/tuple [12, 22] + - !!python/tuple [29, 14] + - !!python/tuple [26, 16] + - !!python/tuple [18, 18] + - !!python/tuple [6, 31] + - !!python/tuple [17, 0] + - !!python/tuple [26, 17] + - !!python/tuple [13, 4] + - !!python/tuple [0, 13] + - !!python/tuple [11, 1] + - !!python/tuple [23, 29] + - !!python/tuple [1, 13] + - !!python/tuple [0, 0] + - !!python/tuple [25, 10] + - !!python/tuple [13, 28] + - !!python/tuple [22, 2] + - !!python/tuple [24, 10] + - !!python/tuple [22, 6] + - !!python/tuple [18, 2] + - !!python/tuple [27, 15] + - !!python/tuple [0, 1] + - !!python/tuple [10, 2] + - !!python/tuple [29, 23] + - !!python/tuple [15, 15] + - !!python/tuple [30, 19] + - !!python/tuple [2, 9] + - !!python/tuple [27, 23] + - !!python/tuple [8, 25] + - !!python/tuple [30, 29] + - !!python/tuple [28, 13] + - !!python/tuple [4, 14] + - !!python/tuple [31, 10] + - !!python/tuple [3, 26] + - !!python/tuple [3, 30] + - !!python/tuple [16, 6] + - !!python/tuple [5, 5] + - !!python/tuple [10, 25] + - !!python/tuple [13, 29] + - !!python/tuple [26, 19] + - !!python/tuple [1, 3] + - !!python/tuple [0, 2] + - !!python/tuple [29, 2] + - !!python/tuple [31, 11] + - !!python/tuple [28, 20] + - !!python/tuple [17, 17] + - !!python/tuple [2, 6] + - !!python/tuple [11, 14] + - !!python/tuple [8, 4] + - !!python/tuple [14, 21] + - !!python/tuple [25, 0] + - !!python/tuple [24, 22] + - !!python/tuple [2, 2] + - !!python/tuple [20, 19] + - !!python/tuple [10, 30] + - !!python/tuple [9, 29] + - !!python/tuple [0, 21] + - !!python/tuple [25, 14] + - !!python/tuple [20, 10] + - !!python/tuple [12, 12] + - !!python/tuple [24, 18] + - !!python/tuple [21, 30] + - !!python/tuple [8, 9] + - !!python/tuple [21, 29] + - !!python/tuple [6, 19] + - !!python/tuple [21, 11] + - !!python/tuple [12, 20] + - !!python/tuple [5, 0] + - !!python/tuple [19, 10] + - !!python/tuple [29, 3] + - !!python/tuple [10, 26] + - !!python/tuple [26, 22] + - !!python/tuple [1, 30] + - !!python/tuple [13, 30] + - !!python/tuple [8, 20] + - !!python/tuple [14, 2] + - !!python/tuple [14, 26] + - !!python/tuple [18, 28] + - !!python/tuple [19, 12] + - !!python/tuple [6, 4] + - !!python/tuple [15, 12] + - !!python/tuple [26, 7] + - !!python/tuple [27, 24] + - !!python/tuple [6, 26] + - !!python/tuple [4, 20] + - !!python/tuple [14, 13] + - !!python/tuple [23, 8] + - !!python/tuple [1, 11] + - !!python/tuple [23, 18] + - !!python/tuple [22, 8] + - !!python/tuple [12, 29] + - !!python/tuple [16, 14] + - !!python/tuple [31, 27] + - !!python/tuple [30, 6] + - !!python/tuple [19, 18] + - !!python/tuple [5, 25] + - !!python/tuple [18, 29] + - !!python/tuple [4, 18] + - !!python/tuple [11, 17] + - !!python/tuple [16, 4] + - !!python/tuple [28, 24] + - !!python/tuple [15, 9] + - !!python/tuple [14, 28] + - !!python/tuple [10, 10] + - !!python/tuple [17, 28] + - !!python/tuple [26, 21] + - !!python/tuple [4, 0] + - !!python/tuple [4, 2] + - !!python/tuple [28, 14] + - !!python/tuple [25, 3] + - !!python/tuple [25, 22] + - !!python/tuple [8, 16] + - !!python/tuple [17, 3] + - !!python/tuple [25, 1] + - !!python/tuple [25, 18] + - !!python/tuple [7, 0] + - !!python/tuple [28, 10] + - !!python/tuple [14, 30] + - !!python/tuple [9, 25] + - !!python/tuple [26, 13] + - !!python/tuple [18, 0] + - !!python/tuple [10, 13] + - !!python/tuple [11, 0] + - !!python/tuple [11, 26] + - !!python/tuple [21, 15] + - !!python/tuple [24, 17] + - !!python/tuple [15, 5] + - !!python/tuple [27, 12] + - !!python/tuple [29, 20] + - !!python/tuple [29, 19] + - !!python/tuple [8, 29] + - !!python/tuple [22, 10] + - !!python/tuple [7, 14] + - !!python/tuple [10, 5] + - !!python/tuple [22, 28] + - !!python/tuple [12, 1] + - !!python/tuple [25, 25] + - !!python/tuple [6, 14] + - !!python/tuple [6, 11] + - !!python/tuple [14, 10] + - !!python/tuple [12, 26] + - !!python/tuple [24, 13] + - !!python/tuple [19, 16] + - !!python/tuple [23, 21] + - !!python/tuple [12, 23] + - !!python/tuple [29, 29] + - !!python/tuple [9, 24] + - !!python/tuple [9, 30] + - !!python/tuple [2, 25] + - !!python/tuple [19, 20] + - !!python/tuple [24, 26] + - !!python/tuple [9, 5] + - !!python/tuple [11, 24] + - !!python/tuple [4, 26] + - !!python/tuple [24, 5] + - !!python/tuple [26, 8] + - !!python/tuple [4, 8] + - !!python/tuple [27, 29] + - !!python/tuple [24, 14] + - !!python/tuple [11, 7] + - !!python/tuple [14, 12] + - !!python/tuple [19, 22] + - !!python/tuple [16, 25] + - !!python/tuple [17, 16] + - !!python/tuple [31, 8] + - !!python/tuple [23, 23] + - !!python/tuple [15, 7] + - !!python/tuple [16, 3] + - !!python/tuple [30, 16] + - !!python/tuple [25, 21] + - !!python/tuple [29, 11] + - !!python/tuple [25, 16] + - !!python/tuple [21, 19] + - !!python/tuple [28, 26] + - !!python/tuple [9, 16] + - !!python/tuple [4, 3] + - !!python/tuple [29, 0] + - !!python/tuple [24, 25] + - !!python/tuple [18, 25] + - !!python/tuple [16, 22] + - !!python/tuple [22, 21] + - !!python/tuple [25, 19] + - !!python/tuple [8, 1] + - !!python/tuple [17, 15] + - !!python/tuple [1, 5] + - !!python/tuple [7, 30] + - !!python/tuple [22, 11] + - !!python/tuple [28, 19] + - !!python/tuple [13, 17] + - !!python/tuple [17, 18] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex93.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex93.yaml new file mode 100644 index 0000000..a8f36fc --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex93.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [20, 23] + name: agent0 + start: [27, 11] +- goal: [3, 24] + name: agent1 + start: [14, 6] +- goal: [8, 22] + name: agent2 + start: [21, 7] +- goal: [1, 12] + name: agent3 + start: [18, 24] +- goal: [11, 2] + name: agent4 + start: [8, 11] +- goal: [7, 19] + name: agent5 + start: [20, 21] +- goal: [14, 1] + name: agent6 + start: [14, 11] +- goal: [30, 26] + name: agent7 + start: [18, 20] +- goal: [9, 12] + name: agent8 + start: [29, 16] +- goal: [16, 18] + name: agent9 + start: [1, 5] +- goal: [17, 9] + name: agent10 + start: [10, 28] +- goal: [28, 23] + name: agent11 + start: [13, 3] +- goal: [10, 15] + name: agent12 + start: [18, 1] +- goal: [20, 5] + name: agent13 + start: [8, 16] +- goal: [2, 26] + name: agent14 + start: [2, 13] +- goal: [0, 19] + name: agent15 + start: [14, 13] +- goal: [23, 7] + name: agent16 + start: [6, 19] +- goal: [31, 3] + name: agent17 + start: [24, 6] +- goal: [6, 14] + name: agent18 + start: [20, 15] +- goal: [7, 0] + name: agent19 + start: [17, 4] +- goal: [15, 17] + name: agent20 + start: [11, 28] +- goal: [11, 28] + name: agent21 + start: [18, 23] +- goal: [16, 15] + name: agent22 + start: [27, 29] +- goal: [9, 2] + name: agent23 + start: [18, 19] +- goal: [17, 4] + name: agent24 + start: [26, 26] +- goal: [8, 1] + name: agent25 + start: [4, 21] +- goal: [0, 15] + name: agent26 + start: [23, 3] +- goal: [8, 7] + name: agent27 + start: [26, 29] +- goal: [9, 22] + name: agent28 + start: [27, 15] +- goal: [8, 14] + name: agent29 + start: [2, 2] +- goal: [26, 17] + name: agent30 + start: [23, 8] +- goal: [23, 30] + name: agent31 + start: [14, 15] +- goal: [10, 17] + name: agent32 + start: [6, 9] +- goal: [22, 6] + name: agent33 + start: [31, 24] +- goal: [16, 0] + name: agent34 + start: [11, 20] +- goal: [12, 10] + name: agent35 + start: [20, 26] +- goal: [5, 9] + name: agent36 + start: [4, 19] +- goal: [25, 18] + name: agent37 + start: [18, 9] +- goal: [19, 8] + name: agent38 + start: [23, 31] +- goal: [20, 0] + name: agent39 + start: [12, 0] +- goal: [28, 20] + name: agent40 + start: [31, 4] +- goal: [25, 11] + name: agent41 + start: [23, 7] +- goal: [2, 4] + name: agent42 + start: [4, 24] +- goal: [19, 2] + name: agent43 + start: [2, 26] +- goal: [13, 9] + name: agent44 + start: [9, 25] +- goal: [31, 5] + name: agent45 + start: [30, 12] +- goal: [7, 10] + name: agent46 + start: [11, 30] +- goal: [2, 23] + name: agent47 + start: [0, 10] +- goal: [31, 29] + name: agent48 + start: [19, 7] +- goal: [10, 16] + name: agent49 + start: [31, 22] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [4, 2] + - !!python/tuple [10, 11] + - !!python/tuple [22, 10] + - !!python/tuple [31, 20] + - !!python/tuple [12, 23] + - !!python/tuple [25, 14] + - !!python/tuple [24, 16] + - !!python/tuple [0, 27] + - !!python/tuple [6, 7] + - !!python/tuple [15, 20] + - !!python/tuple [4, 17] + - !!python/tuple [31, 0] + - !!python/tuple [21, 18] + - !!python/tuple [21, 28] + - !!python/tuple [7, 23] + - !!python/tuple [20, 14] + - !!python/tuple [7, 27] + - !!python/tuple [7, 5] + - !!python/tuple [2, 1] + - !!python/tuple [5, 1] + - !!python/tuple [9, 15] + - !!python/tuple [4, 1] + - !!python/tuple [26, 20] + - !!python/tuple [2, 7] + - !!python/tuple [22, 9] + - !!python/tuple [26, 8] + - !!python/tuple [18, 8] + - !!python/tuple [9, 1] + - !!python/tuple [25, 10] + - !!python/tuple [18, 2] + - !!python/tuple [29, 14] + - !!python/tuple [27, 24] + - !!python/tuple [0, 25] + - !!python/tuple [28, 24] + - !!python/tuple [14, 18] + - !!python/tuple [30, 2] + - !!python/tuple [23, 13] + - !!python/tuple [21, 29] + - !!python/tuple [23, 19] + - !!python/tuple [20, 11] + - !!python/tuple [9, 18] + - !!python/tuple [22, 16] + - !!python/tuple [28, 5] + - !!python/tuple [19, 16] + - !!python/tuple [20, 29] + - !!python/tuple [1, 9] + - !!python/tuple [23, 22] + - !!python/tuple [7, 15] + - !!python/tuple [9, 26] + - !!python/tuple [7, 26] + - !!python/tuple [15, 7] + - !!python/tuple [27, 6] + - !!python/tuple [19, 20] + - !!python/tuple [11, 3] + - !!python/tuple [27, 25] + - !!python/tuple [17, 16] + - !!python/tuple [6, 25] + - !!python/tuple [22, 20] + - !!python/tuple [4, 31] + - !!python/tuple [17, 18] + - !!python/tuple [12, 26] + - !!python/tuple [1, 17] + - !!python/tuple [0, 24] + - !!python/tuple [4, 7] + - !!python/tuple [0, 28] + - !!python/tuple [15, 19] + - !!python/tuple [16, 20] + - !!python/tuple [8, 5] + - !!python/tuple [11, 26] + - !!python/tuple [15, 29] + - !!python/tuple [30, 23] + - !!python/tuple [22, 17] + - !!python/tuple [5, 26] + - !!python/tuple [26, 28] + - !!python/tuple [5, 12] + - !!python/tuple [31, 12] + - !!python/tuple [21, 26] + - !!python/tuple [6, 12] + - !!python/tuple [3, 8] + - !!python/tuple [30, 10] + - !!python/tuple [14, 31] + - !!python/tuple [21, 2] + - !!python/tuple [22, 1] + - !!python/tuple [6, 2] + - !!python/tuple [25, 13] + - !!python/tuple [26, 1] + - !!python/tuple [10, 10] + - !!python/tuple [5, 15] + - !!python/tuple [17, 26] + - !!python/tuple [17, 6] + - !!python/tuple [0, 12] + - !!python/tuple [13, 11] + - !!python/tuple [30, 21] + - !!python/tuple [23, 10] + - !!python/tuple [6, 23] + - !!python/tuple [31, 17] + - !!python/tuple [6, 28] + - !!python/tuple [25, 27] + - !!python/tuple [25, 24] + - !!python/tuple [18, 6] + - !!python/tuple [8, 4] + - !!python/tuple [2, 17] + - !!python/tuple [9, 3] + - !!python/tuple [31, 1] + - !!python/tuple [30, 20] + - !!python/tuple [26, 9] + - !!python/tuple [20, 7] + - !!python/tuple [10, 21] + - !!python/tuple [21, 20] + - !!python/tuple [9, 19] + - !!python/tuple [11, 29] + - !!python/tuple [28, 9] + - !!python/tuple [14, 17] + - !!python/tuple [4, 28] + - !!python/tuple [27, 27] + - !!python/tuple [4, 12] + - !!python/tuple [4, 5] + - !!python/tuple [2, 12] + - !!python/tuple [29, 26] + - !!python/tuple [22, 18] + - !!python/tuple [8, 28] + - !!python/tuple [12, 24] + - !!python/tuple [27, 23] + - !!python/tuple [19, 6] + - !!python/tuple [7, 29] + - !!python/tuple [13, 5] + - !!python/tuple [4, 3] + - !!python/tuple [10, 3] + - !!python/tuple [10, 1] + - !!python/tuple [15, 30] + - !!python/tuple [6, 13] + - !!python/tuple [15, 28] + - !!python/tuple [18, 13] + - !!python/tuple [20, 28] + - !!python/tuple [2, 20] + - !!python/tuple [11, 15] + - !!python/tuple [11, 0] + - !!python/tuple [15, 16] + - !!python/tuple [13, 13] + - !!python/tuple [26, 24] + - !!python/tuple [17, 3] + - !!python/tuple [2, 14] + - !!python/tuple [2, 25] + - !!python/tuple [23, 12] + - !!python/tuple [15, 15] + - !!python/tuple [11, 4] + - !!python/tuple [28, 25] + - !!python/tuple [23, 9] + - !!python/tuple [23, 0] + - !!python/tuple [22, 30] + - !!python/tuple [12, 13] + - !!python/tuple [28, 11] + - !!python/tuple [14, 10] + - !!python/tuple [2, 22] + - !!python/tuple [9, 27] + - !!python/tuple [21, 3] + - !!python/tuple [1, 14] + - !!python/tuple [3, 17] + - !!python/tuple [4, 22] + - !!python/tuple [30, 17] + - !!python/tuple [13, 28] + - !!python/tuple [10, 27] + - !!python/tuple [31, 8] + - !!python/tuple [19, 18] + - !!python/tuple [11, 22] + - !!python/tuple [27, 12] + - !!python/tuple [21, 23] + - !!python/tuple [9, 16] + - !!python/tuple [12, 28] + - !!python/tuple [23, 11] + - !!python/tuple [5, 2] + - !!python/tuple [30, 6] + - !!python/tuple [24, 8] + - !!python/tuple [14, 27] + - !!python/tuple [3, 11] + - !!python/tuple [16, 27] + - !!python/tuple [3, 15] + - !!python/tuple [31, 27] + - !!python/tuple [29, 8] + - !!python/tuple [8, 2] + - !!python/tuple [29, 31] + - !!python/tuple [19, 28] + - !!python/tuple [5, 23] + - !!python/tuple [9, 7] + - !!python/tuple [26, 18] + - !!python/tuple [24, 28] + - !!python/tuple [1, 21] + - !!python/tuple [10, 25] + - !!python/tuple [1, 11] + - !!python/tuple [8, 24] + - !!python/tuple [1, 7] + - !!python/tuple [21, 5] + - !!python/tuple [24, 13] + - !!python/tuple [21, 13] + - !!python/tuple [0, 17] + - !!python/tuple [30, 16] + - !!python/tuple [1, 31] + - !!python/tuple [30, 29] + - !!python/tuple [27, 9] + - !!python/tuple [19, 31] + - !!python/tuple [13, 6] + - !!python/tuple [13, 0] + - !!python/tuple [9, 8] + - !!python/tuple [15, 0] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex94.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex94.yaml new file mode 100644 index 0000000..7172335 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex94.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [5, 4] + name: agent0 + start: [22, 9] +- goal: [13, 31] + name: agent1 + start: [11, 15] +- goal: [22, 30] + name: agent2 + start: [4, 24] +- goal: [22, 26] + name: agent3 + start: [13, 3] +- goal: [24, 20] + name: agent4 + start: [14, 12] +- goal: [9, 22] + name: agent5 + start: [12, 20] +- goal: [25, 24] + name: agent6 + start: [0, 10] +- goal: [2, 10] + name: agent7 + start: [23, 11] +- goal: [16, 2] + name: agent8 + start: [0, 1] +- goal: [10, 5] + name: agent9 + start: [12, 23] +- goal: [5, 31] + name: agent10 + start: [5, 24] +- goal: [11, 25] + name: agent11 + start: [5, 9] +- goal: [7, 23] + name: agent12 + start: [29, 0] +- goal: [28, 19] + name: agent13 + start: [8, 13] +- goal: [11, 11] + name: agent14 + start: [11, 21] +- goal: [8, 26] + name: agent15 + start: [14, 14] +- goal: [10, 0] + name: agent16 + start: [13, 16] +- goal: [12, 6] + name: agent17 + start: [28, 7] +- goal: [23, 26] + name: agent18 + start: [24, 17] +- goal: [29, 14] + name: agent19 + start: [23, 3] +- goal: [7, 9] + name: agent20 + start: [11, 29] +- goal: [6, 13] + name: agent21 + start: [1, 20] +- goal: [13, 26] + name: agent22 + start: [14, 1] +- goal: [18, 8] + name: agent23 + start: [20, 29] +- goal: [7, 16] + name: agent24 + start: [10, 21] +- goal: [18, 20] + name: agent25 + start: [10, 12] +- goal: [29, 21] + name: agent26 + start: [0, 0] +- goal: [25, 4] + name: agent27 + start: [31, 20] +- goal: [12, 9] + name: agent28 + start: [8, 23] +- goal: [29, 2] + name: agent29 + start: [16, 18] +- goal: [31, 19] + name: agent30 + start: [21, 15] +- goal: [14, 27] + name: agent31 + start: [27, 22] +- goal: [26, 21] + name: agent32 + start: [19, 4] +- goal: [23, 21] + name: agent33 + start: [25, 28] +- goal: [3, 26] + name: agent34 + start: [10, 19] +- goal: [18, 10] + name: agent35 + start: [4, 11] +- goal: [16, 24] + name: agent36 + start: [2, 31] +- goal: [24, 29] + name: agent37 + start: [1, 2] +- goal: [6, 23] + name: agent38 + start: [18, 19] +- goal: [31, 24] + name: agent39 + start: [29, 3] +- goal: [12, 3] + name: agent40 + start: [7, 15] +- goal: [9, 14] + name: agent41 + start: [3, 14] +- goal: [8, 10] + name: agent42 + start: [25, 20] +- goal: [14, 13] + name: agent43 + start: [8, 3] +- goal: [19, 29] + name: agent44 + start: [10, 11] +- goal: [11, 4] + name: agent45 + start: [27, 9] +- goal: [31, 2] + name: agent46 + start: [7, 14] +- goal: [8, 7] + name: agent47 + start: [6, 28] +- goal: [7, 31] + name: agent48 + start: [15, 24] +- goal: [18, 30] + name: agent49 + start: [8, 25] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [1, 4] + - !!python/tuple [10, 25] + - !!python/tuple [26, 18] + - !!python/tuple [9, 2] + - !!python/tuple [3, 29] + - !!python/tuple [30, 27] + - !!python/tuple [22, 0] + - !!python/tuple [0, 26] + - !!python/tuple [15, 31] + - !!python/tuple [4, 2] + - !!python/tuple [18, 1] + - !!python/tuple [2, 12] + - !!python/tuple [9, 5] + - !!python/tuple [28, 2] + - !!python/tuple [0, 27] + - !!python/tuple [9, 19] + - !!python/tuple [31, 12] + - !!python/tuple [28, 18] + - !!python/tuple [8, 21] + - !!python/tuple [14, 4] + - !!python/tuple [17, 6] + - !!python/tuple [25, 12] + - !!python/tuple [10, 7] + - !!python/tuple [15, 11] + - !!python/tuple [1, 7] + - !!python/tuple [12, 8] + - !!python/tuple [2, 22] + - !!python/tuple [6, 31] + - !!python/tuple [28, 21] + - !!python/tuple [24, 3] + - !!python/tuple [13, 15] + - !!python/tuple [24, 21] + - !!python/tuple [28, 31] + - !!python/tuple [8, 8] + - !!python/tuple [19, 24] + - !!python/tuple [9, 1] + - !!python/tuple [14, 7] + - !!python/tuple [30, 16] + - !!python/tuple [15, 13] + - !!python/tuple [9, 0] + - !!python/tuple [31, 9] + - !!python/tuple [5, 12] + - !!python/tuple [6, 24] + - !!python/tuple [1, 6] + - !!python/tuple [22, 1] + - !!python/tuple [0, 12] + - !!python/tuple [9, 11] + - !!python/tuple [9, 3] + - !!python/tuple [14, 24] + - !!python/tuple [8, 27] + - !!python/tuple [25, 30] + - !!python/tuple [10, 26] + - !!python/tuple [8, 2] + - !!python/tuple [20, 23] + - !!python/tuple [10, 27] + - !!python/tuple [9, 29] + - !!python/tuple [13, 24] + - !!python/tuple [6, 18] + - !!python/tuple [13, 18] + - !!python/tuple [14, 8] + - !!python/tuple [3, 28] + - !!python/tuple [15, 10] + - !!python/tuple [23, 23] + - !!python/tuple [25, 29] + - !!python/tuple [24, 15] + - !!python/tuple [5, 17] + - !!python/tuple [27, 10] + - !!python/tuple [20, 14] + - !!python/tuple [8, 15] + - !!python/tuple [25, 3] + - !!python/tuple [31, 30] + - !!python/tuple [17, 12] + - !!python/tuple [10, 28] + - !!python/tuple [8, 4] + - !!python/tuple [7, 20] + - !!python/tuple [16, 20] + - !!python/tuple [2, 3] + - !!python/tuple [6, 5] + - !!python/tuple [17, 13] + - !!python/tuple [10, 23] + - !!python/tuple [3, 3] + - !!python/tuple [28, 9] + - !!python/tuple [11, 22] + - !!python/tuple [18, 21] + - !!python/tuple [26, 26] + - !!python/tuple [6, 17] + - !!python/tuple [23, 27] + - !!python/tuple [5, 27] + - !!python/tuple [31, 23] + - !!python/tuple [8, 12] + - !!python/tuple [29, 10] + - !!python/tuple [14, 3] + - !!python/tuple [16, 21] + - !!python/tuple [5, 26] + - !!python/tuple [22, 25] + - !!python/tuple [7, 28] + - !!python/tuple [17, 9] + - !!python/tuple [20, 8] + - !!python/tuple [11, 7] + - !!python/tuple [23, 29] + - !!python/tuple [11, 8] + - !!python/tuple [29, 11] + - !!python/tuple [9, 16] + - !!python/tuple [22, 8] + - !!python/tuple [6, 20] + - !!python/tuple [10, 31] + - !!python/tuple [13, 9] + - !!python/tuple [7, 25] + - !!python/tuple [29, 1] + - !!python/tuple [0, 4] + - !!python/tuple [18, 17] + - !!python/tuple [19, 25] + - !!python/tuple [27, 4] + - !!python/tuple [3, 2] + - !!python/tuple [31, 7] + - !!python/tuple [30, 12] + - !!python/tuple [2, 19] + - !!python/tuple [21, 29] + - !!python/tuple [1, 10] + - !!python/tuple [12, 22] + - !!python/tuple [30, 29] + - !!python/tuple [3, 6] + - !!python/tuple [3, 8] + - !!python/tuple [5, 19] + - !!python/tuple [21, 2] + - !!python/tuple [2, 13] + - !!python/tuple [16, 12] + - !!python/tuple [25, 6] + - !!python/tuple [3, 12] + - !!python/tuple [19, 11] + - !!python/tuple [27, 12] + - !!python/tuple [13, 27] + - !!python/tuple [22, 12] + - !!python/tuple [26, 25] + - !!python/tuple [20, 26] + - !!python/tuple [16, 9] + - !!python/tuple [12, 4] + - !!python/tuple [16, 0] + - !!python/tuple [13, 2] + - !!python/tuple [21, 12] + - !!python/tuple [3, 13] + - !!python/tuple [31, 18] + - !!python/tuple [5, 11] + - !!python/tuple [0, 5] + - !!python/tuple [17, 23] + - !!python/tuple [26, 11] + - !!python/tuple [21, 11] + - !!python/tuple [27, 1] + - !!python/tuple [12, 10] + - !!python/tuple [17, 14] + - !!python/tuple [26, 3] + - !!python/tuple [26, 4] + - !!python/tuple [5, 14] + - !!python/tuple [13, 20] + - !!python/tuple [14, 0] + - !!python/tuple [0, 15] + - !!python/tuple [24, 31] + - !!python/tuple [26, 19] + - !!python/tuple [20, 18] + - !!python/tuple [9, 27] + - !!python/tuple [18, 25] + - !!python/tuple [21, 17] + - !!python/tuple [13, 30] + - !!python/tuple [31, 11] + - !!python/tuple [20, 15] + - !!python/tuple [16, 1] + - !!python/tuple [1, 31] + - !!python/tuple [18, 3] + - !!python/tuple [13, 22] + - !!python/tuple [27, 13] + - !!python/tuple [11, 31] + - !!python/tuple [28, 26] + - !!python/tuple [24, 23] + - !!python/tuple [13, 6] + - !!python/tuple [7, 5] + - !!python/tuple [19, 30] + - !!python/tuple [4, 21] + - !!python/tuple [15, 18] + - !!python/tuple [2, 30] + - !!python/tuple [30, 22] + - !!python/tuple [22, 4] + - !!python/tuple [0, 13] + - !!python/tuple [21, 14] + - !!python/tuple [26, 16] + - !!python/tuple [12, 26] + - !!python/tuple [17, 1] + - !!python/tuple [19, 8] + - !!python/tuple [25, 9] + - !!python/tuple [25, 14] + - !!python/tuple [21, 13] + - !!python/tuple [20, 30] + - !!python/tuple [23, 7] + - !!python/tuple [21, 5] + - !!python/tuple [20, 11] + - !!python/tuple [4, 29] + - !!python/tuple [5, 8] + - !!python/tuple [10, 16] + - !!python/tuple [1, 13] + - !!python/tuple [30, 6] + - !!python/tuple [15, 28] + - !!python/tuple [11, 14] + - !!python/tuple [5, 23] + - !!python/tuple [20, 9] + - !!python/tuple [6, 30] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex95.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex95.yaml new file mode 100644 index 0000000..7f33520 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex95.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [6, 13] + name: agent0 + start: [28, 20] +- goal: [8, 22] + name: agent1 + start: [15, 3] +- goal: [16, 24] + name: agent2 + start: [19, 2] +- goal: [15, 1] + name: agent3 + start: [7, 28] +- goal: [30, 7] + name: agent4 + start: [30, 28] +- goal: [16, 14] + name: agent5 + start: [2, 22] +- goal: [6, 17] + name: agent6 + start: [3, 25] +- goal: [4, 0] + name: agent7 + start: [2, 7] +- goal: [29, 16] + name: agent8 + start: [10, 23] +- goal: [29, 24] + name: agent9 + start: [7, 15] +- goal: [0, 13] + name: agent10 + start: [1, 17] +- goal: [30, 20] + name: agent11 + start: [1, 13] +- goal: [2, 5] + name: agent12 + start: [5, 12] +- goal: [4, 23] + name: agent13 + start: [18, 0] +- goal: [28, 4] + name: agent14 + start: [28, 9] +- goal: [4, 4] + name: agent15 + start: [5, 29] +- goal: [15, 18] + name: agent16 + start: [16, 10] +- goal: [18, 10] + name: agent17 + start: [30, 16] +- goal: [16, 5] + name: agent18 + start: [18, 9] +- goal: [29, 27] + name: agent19 + start: [17, 20] +- goal: [27, 12] + name: agent20 + start: [26, 2] +- goal: [7, 9] + name: agent21 + start: [22, 21] +- goal: [6, 2] + name: agent22 + start: [17, 14] +- goal: [0, 15] + name: agent23 + start: [17, 22] +- goal: [8, 19] + name: agent24 + start: [24, 19] +- goal: [30, 12] + name: agent25 + start: [19, 10] +- goal: [21, 3] + name: agent26 + start: [29, 12] +- goal: [25, 0] + name: agent27 + start: [11, 2] +- goal: [7, 10] + name: agent28 + start: [30, 30] +- goal: [15, 14] + name: agent29 + start: [17, 29] +- goal: [17, 30] + name: agent30 + start: [5, 24] +- goal: [18, 31] + name: agent31 + start: [6, 13] +- goal: [22, 26] + name: agent32 + start: [9, 9] +- goal: [16, 3] + name: agent33 + start: [9, 7] +- goal: [5, 26] + name: agent34 + start: [0, 17] +- goal: [26, 12] + name: agent35 + start: [13, 17] +- goal: [5, 20] + name: agent36 + start: [11, 12] +- goal: [27, 31] + name: agent37 + start: [25, 18] +- goal: [19, 5] + name: agent38 + start: [26, 15] +- goal: [29, 8] + name: agent39 + start: [29, 4] +- goal: [9, 7] + name: agent40 + start: [27, 2] +- goal: [20, 23] + name: agent41 + start: [13, 21] +- goal: [3, 8] + name: agent42 + start: [19, 29] +- goal: [5, 24] + name: agent43 + start: [26, 9] +- goal: [12, 14] + name: agent44 + start: [11, 1] +- goal: [5, 23] + name: agent45 + start: [6, 9] +- goal: [2, 22] + name: agent46 + start: [22, 15] +- goal: [3, 9] + name: agent47 + start: [9, 8] +- goal: [11, 18] + name: agent48 + start: [5, 20] +- goal: [5, 22] + name: agent49 + start: [17, 18] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [6, 1] + - !!python/tuple [23, 2] + - !!python/tuple [2, 30] + - !!python/tuple [7, 16] + - !!python/tuple [6, 30] + - !!python/tuple [29, 23] + - !!python/tuple [30, 31] + - !!python/tuple [4, 9] + - !!python/tuple [5, 1] + - !!python/tuple [19, 16] + - !!python/tuple [14, 12] + - !!python/tuple [26, 20] + - !!python/tuple [18, 8] + - !!python/tuple [11, 9] + - !!python/tuple [5, 4] + - !!python/tuple [11, 0] + - !!python/tuple [25, 16] + - !!python/tuple [8, 16] + - !!python/tuple [6, 28] + - !!python/tuple [26, 22] + - !!python/tuple [4, 31] + - !!python/tuple [29, 20] + - !!python/tuple [26, 30] + - !!python/tuple [10, 27] + - !!python/tuple [24, 14] + - !!python/tuple [31, 30] + - !!python/tuple [18, 25] + - !!python/tuple [13, 20] + - !!python/tuple [25, 19] + - !!python/tuple [19, 4] + - !!python/tuple [7, 6] + - !!python/tuple [13, 7] + - !!python/tuple [29, 11] + - !!python/tuple [9, 11] + - !!python/tuple [26, 18] + - !!python/tuple [27, 28] + - !!python/tuple [7, 13] + - !!python/tuple [18, 11] + - !!python/tuple [1, 21] + - !!python/tuple [18, 17] + - !!python/tuple [14, 13] + - !!python/tuple [16, 9] + - !!python/tuple [0, 10] + - !!python/tuple [4, 10] + - !!python/tuple [0, 4] + - !!python/tuple [14, 9] + - !!python/tuple [12, 18] + - !!python/tuple [29, 28] + - !!python/tuple [6, 29] + - !!python/tuple [30, 26] + - !!python/tuple [3, 19] + - !!python/tuple [8, 14] + - !!python/tuple [10, 14] + - !!python/tuple [27, 5] + - !!python/tuple [25, 22] + - !!python/tuple [2, 8] + - !!python/tuple [30, 2] + - !!python/tuple [0, 0] + - !!python/tuple [23, 29] + - !!python/tuple [30, 3] + - !!python/tuple [23, 23] + - !!python/tuple [10, 3] + - !!python/tuple [3, 31] + - !!python/tuple [9, 13] + - !!python/tuple [26, 17] + - !!python/tuple [8, 8] + - !!python/tuple [14, 15] + - !!python/tuple [20, 0] + - !!python/tuple [5, 5] + - !!python/tuple [6, 10] + - !!python/tuple [19, 27] + - !!python/tuple [6, 21] + - !!python/tuple [6, 11] + - !!python/tuple [17, 8] + - !!python/tuple [5, 31] + - !!python/tuple [7, 11] + - !!python/tuple [13, 8] + - !!python/tuple [8, 1] + - !!python/tuple [9, 3] + - !!python/tuple [14, 1] + - !!python/tuple [14, 23] + - !!python/tuple [24, 1] + - !!python/tuple [8, 27] + - !!python/tuple [20, 19] + - !!python/tuple [1, 15] + - !!python/tuple [4, 14] + - !!python/tuple [8, 6] + - !!python/tuple [9, 20] + - !!python/tuple [10, 6] + - !!python/tuple [29, 13] + - !!python/tuple [2, 4] + - !!python/tuple [8, 7] + - !!python/tuple [22, 28] + - !!python/tuple [4, 6] + - !!python/tuple [17, 31] + - !!python/tuple [26, 29] + - !!python/tuple [2, 6] + - !!python/tuple [15, 11] + - !!python/tuple [16, 31] + - !!python/tuple [8, 2] + - !!python/tuple [13, 25] + - !!python/tuple [4, 25] + - !!python/tuple [28, 29] + - !!python/tuple [5, 16] + - !!python/tuple [12, 9] + - !!python/tuple [7, 1] + - !!python/tuple [28, 27] + - !!python/tuple [17, 17] + - !!python/tuple [31, 10] + - !!python/tuple [10, 8] + - !!python/tuple [29, 0] + - !!python/tuple [17, 23] + - !!python/tuple [20, 14] + - !!python/tuple [22, 19] + - !!python/tuple [8, 13] + - !!python/tuple [29, 14] + - !!python/tuple [14, 8] + - !!python/tuple [31, 11] + - !!python/tuple [17, 11] + - !!python/tuple [5, 0] + - !!python/tuple [25, 29] + - !!python/tuple [30, 10] + - !!python/tuple [29, 17] + - !!python/tuple [11, 14] + - !!python/tuple [13, 14] + - !!python/tuple [3, 2] + - !!python/tuple [0, 8] + - !!python/tuple [18, 20] + - !!python/tuple [14, 29] + - !!python/tuple [24, 17] + - !!python/tuple [8, 9] + - !!python/tuple [31, 9] + - !!python/tuple [21, 10] + - !!python/tuple [28, 17] + - !!python/tuple [10, 5] + - !!python/tuple [13, 19] + - !!python/tuple [2, 25] + - !!python/tuple [13, 9] + - !!python/tuple [5, 11] + - !!python/tuple [2, 27] + - !!python/tuple [0, 29] + - !!python/tuple [10, 15] + - !!python/tuple [23, 19] + - !!python/tuple [7, 0] + - !!python/tuple [4, 21] + - !!python/tuple [14, 3] + - !!python/tuple [31, 7] + - !!python/tuple [19, 8] + - !!python/tuple [31, 2] + - !!python/tuple [23, 20] + - !!python/tuple [2, 14] + - !!python/tuple [16, 0] + - !!python/tuple [25, 5] + - !!python/tuple [13, 3] + - !!python/tuple [17, 21] + - !!python/tuple [29, 1] + - !!python/tuple [8, 21] + - !!python/tuple [12, 24] + - !!python/tuple [10, 4] + - !!python/tuple [17, 15] + - !!python/tuple [11, 21] + - !!python/tuple [9, 17] + - !!python/tuple [31, 0] + - !!python/tuple [25, 17] + - !!python/tuple [28, 21] + - !!python/tuple [6, 27] + - !!python/tuple [6, 14] + - !!python/tuple [16, 16] + - !!python/tuple [11, 16] + - !!python/tuple [30, 14] + - !!python/tuple [27, 6] + - !!python/tuple [9, 16] + - !!python/tuple [23, 9] + - !!python/tuple [25, 9] + - !!python/tuple [10, 19] + - !!python/tuple [26, 25] + - !!python/tuple [26, 4] + - !!python/tuple [17, 28] + - !!python/tuple [21, 19] + - !!python/tuple [14, 31] + - !!python/tuple [15, 0] + - !!python/tuple [2, 12] + - !!python/tuple [4, 15] + - !!python/tuple [21, 5] + - !!python/tuple [29, 18] + - !!python/tuple [3, 30] + - !!python/tuple [4, 20] + - !!python/tuple [16, 13] + - !!python/tuple [25, 31] + - !!python/tuple [27, 30] + - !!python/tuple [30, 6] + - !!python/tuple [10, 25] + - !!python/tuple [25, 1] + - !!python/tuple [12, 19] + - !!python/tuple [6, 20] + - !!python/tuple [3, 5] + - !!python/tuple [7, 20] + - !!python/tuple [23, 15] + - !!python/tuple [27, 10] + - !!python/tuple [1, 26] + - !!python/tuple [11, 5] + - !!python/tuple [14, 28] + - !!python/tuple [2, 15] + - !!python/tuple [31, 17] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex96.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex96.yaml new file mode 100644 index 0000000..752f4b8 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex96.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [7, 10] + name: agent0 + start: [10, 19] +- goal: [16, 0] + name: agent1 + start: [14, 29] +- goal: [5, 2] + name: agent2 + start: [5, 29] +- goal: [19, 14] + name: agent3 + start: [16, 14] +- goal: [22, 0] + name: agent4 + start: [3, 3] +- goal: [14, 16] + name: agent5 + start: [4, 8] +- goal: [31, 14] + name: agent6 + start: [0, 14] +- goal: [12, 15] + name: agent7 + start: [8, 16] +- goal: [11, 2] + name: agent8 + start: [2, 18] +- goal: [19, 0] + name: agent9 + start: [11, 18] +- goal: [22, 18] + name: agent10 + start: [11, 10] +- goal: [6, 25] + name: agent11 + start: [0, 22] +- goal: [7, 17] + name: agent12 + start: [1, 4] +- goal: [8, 22] + name: agent13 + start: [10, 25] +- goal: [21, 12] + name: agent14 + start: [8, 9] +- goal: [27, 3] + name: agent15 + start: [13, 20] +- goal: [26, 6] + name: agent16 + start: [31, 6] +- goal: [14, 25] + name: agent17 + start: [22, 19] +- goal: [30, 31] + name: agent18 + start: [21, 20] +- goal: [19, 19] + name: agent19 + start: [27, 13] +- goal: [19, 1] + name: agent20 + start: [10, 10] +- goal: [18, 9] + name: agent21 + start: [10, 15] +- goal: [6, 1] + name: agent22 + start: [5, 12] +- goal: [8, 13] + name: agent23 + start: [21, 0] +- goal: [25, 19] + name: agent24 + start: [13, 12] +- goal: [17, 13] + name: agent25 + start: [19, 22] +- goal: [24, 28] + name: agent26 + start: [22, 17] +- goal: [8, 24] + name: agent27 + start: [18, 3] +- goal: [15, 24] + name: agent28 + start: [21, 6] +- goal: [15, 30] + name: agent29 + start: [16, 28] +- goal: [21, 14] + name: agent30 + start: [22, 30] +- goal: [1, 1] + name: agent31 + start: [29, 13] +- goal: [10, 31] + name: agent32 + start: [25, 16] +- goal: [26, 3] + name: agent33 + start: [2, 11] +- goal: [13, 19] + name: agent34 + start: [27, 21] +- goal: [30, 0] + name: agent35 + start: [9, 26] +- goal: [9, 17] + name: agent36 + start: [6, 4] +- goal: [14, 2] + name: agent37 + start: [5, 0] +- goal: [27, 11] + name: agent38 + start: [7, 29] +- goal: [6, 20] + name: agent39 + start: [25, 1] +- goal: [28, 23] + name: agent40 + start: [19, 3] +- goal: [27, 17] + name: agent41 + start: [7, 28] +- goal: [4, 11] + name: agent42 + start: [0, 18] +- goal: [1, 18] + name: agent43 + start: [4, 15] +- goal: [22, 23] + name: agent44 + start: [9, 22] +- goal: [7, 2] + name: agent45 + start: [14, 17] +- goal: [2, 16] + name: agent46 + start: [6, 27] +- goal: [23, 25] + name: agent47 + start: [20, 26] +- goal: [0, 13] + name: agent48 + start: [30, 19] +- goal: [9, 5] + name: agent49 + start: [2, 22] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [11, 7] + - !!python/tuple [9, 10] + - !!python/tuple [9, 4] + - !!python/tuple [18, 16] + - !!python/tuple [28, 27] + - !!python/tuple [24, 31] + - !!python/tuple [29, 3] + - !!python/tuple [2, 28] + - !!python/tuple [26, 30] + - !!python/tuple [31, 21] + - !!python/tuple [31, 5] + - !!python/tuple [21, 16] + - !!python/tuple [20, 5] + - !!python/tuple [18, 1] + - !!python/tuple [13, 24] + - !!python/tuple [16, 10] + - !!python/tuple [4, 28] + - !!python/tuple [21, 3] + - !!python/tuple [9, 11] + - !!python/tuple [30, 12] + - !!python/tuple [24, 27] + - !!python/tuple [23, 5] + - !!python/tuple [31, 31] + - !!python/tuple [17, 28] + - !!python/tuple [16, 25] + - !!python/tuple [31, 4] + - !!python/tuple [11, 8] + - !!python/tuple [4, 31] + - !!python/tuple [4, 5] + - !!python/tuple [19, 16] + - !!python/tuple [8, 25] + - !!python/tuple [29, 31] + - !!python/tuple [12, 30] + - !!python/tuple [18, 12] + - !!python/tuple [25, 21] + - !!python/tuple [31, 22] + - !!python/tuple [4, 17] + - !!python/tuple [29, 12] + - !!python/tuple [19, 18] + - !!python/tuple [30, 27] + - !!python/tuple [21, 22] + - !!python/tuple [3, 26] + - !!python/tuple [0, 24] + - !!python/tuple [29, 7] + - !!python/tuple [26, 14] + - !!python/tuple [15, 18] + - !!python/tuple [21, 21] + - !!python/tuple [28, 20] + - !!python/tuple [9, 29] + - !!python/tuple [10, 21] + - !!python/tuple [11, 24] + - !!python/tuple [18, 15] + - !!python/tuple [27, 26] + - !!python/tuple [20, 22] + - !!python/tuple [4, 21] + - !!python/tuple [8, 4] + - !!python/tuple [30, 21] + - !!python/tuple [2, 0] + - !!python/tuple [28, 0] + - !!python/tuple [17, 31] + - !!python/tuple [22, 27] + - !!python/tuple [28, 25] + - !!python/tuple [13, 17] + - !!python/tuple [26, 8] + - !!python/tuple [25, 0] + - !!python/tuple [14, 23] + - !!python/tuple [3, 13] + - !!python/tuple [24, 7] + - !!python/tuple [7, 31] + - !!python/tuple [5, 31] + - !!python/tuple [7, 0] + - !!python/tuple [28, 3] + - !!python/tuple [12, 24] + - !!python/tuple [24, 25] + - !!python/tuple [14, 24] + - !!python/tuple [23, 13] + - !!python/tuple [24, 29] + - !!python/tuple [31, 16] + - !!python/tuple [2, 1] + - !!python/tuple [8, 15] + - !!python/tuple [27, 15] + - !!python/tuple [28, 7] + - !!python/tuple [20, 13] + - !!python/tuple [19, 6] + - !!python/tuple [25, 17] + - !!python/tuple [10, 4] + - !!python/tuple [8, 19] + - !!python/tuple [28, 9] + - !!python/tuple [24, 26] + - !!python/tuple [20, 3] + - !!python/tuple [30, 23] + - !!python/tuple [0, 28] + - !!python/tuple [30, 7] + - !!python/tuple [29, 26] + - !!python/tuple [15, 15] + - !!python/tuple [20, 30] + - !!python/tuple [16, 24] + - !!python/tuple [31, 0] + - !!python/tuple [23, 26] + - !!python/tuple [31, 29] + - !!python/tuple [28, 14] + - !!python/tuple [25, 2] + - !!python/tuple [8, 28] + - !!python/tuple [30, 6] + - !!python/tuple [12, 3] + - !!python/tuple [12, 2] + - !!python/tuple [18, 13] + - !!python/tuple [19, 20] + - !!python/tuple [15, 1] + - !!python/tuple [1, 30] + - !!python/tuple [28, 22] + - !!python/tuple [14, 6] + - !!python/tuple [14, 28] + - !!python/tuple [15, 0] + - !!python/tuple [26, 22] + - !!python/tuple [24, 16] + - !!python/tuple [7, 26] + - !!python/tuple [23, 12] + - !!python/tuple [19, 30] + - !!python/tuple [2, 24] + - !!python/tuple [1, 24] + - !!python/tuple [13, 8] + - !!python/tuple [4, 14] + - !!python/tuple [18, 7] + - !!python/tuple [16, 8] + - !!python/tuple [24, 2] + - !!python/tuple [20, 9] + - !!python/tuple [12, 1] + - !!python/tuple [16, 13] + - !!python/tuple [26, 18] + - !!python/tuple [16, 22] + - !!python/tuple [5, 14] + - !!python/tuple [21, 26] + - !!python/tuple [7, 22] + - !!python/tuple [9, 27] + - !!python/tuple [24, 9] + - !!python/tuple [13, 21] + - !!python/tuple [22, 12] + - !!python/tuple [0, 30] + - !!python/tuple [18, 5] + - !!python/tuple [29, 23] + - !!python/tuple [23, 1] + - !!python/tuple [5, 25] + - !!python/tuple [9, 8] + - !!python/tuple [24, 8] + - !!python/tuple [26, 28] + - !!python/tuple [23, 23] + - !!python/tuple [17, 21] + - !!python/tuple [18, 0] + - !!python/tuple [0, 4] + - !!python/tuple [6, 10] + - !!python/tuple [29, 20] + - !!python/tuple [21, 7] + - !!python/tuple [1, 9] + - !!python/tuple [25, 20] + - !!python/tuple [9, 16] + - !!python/tuple [2, 4] + - !!python/tuple [26, 9] + - !!python/tuple [26, 7] + - !!python/tuple [11, 27] + - !!python/tuple [13, 9] + - !!python/tuple [14, 12] + - !!python/tuple [6, 6] + - !!python/tuple [27, 29] + - !!python/tuple [24, 4] + - !!python/tuple [29, 5] + - !!python/tuple [8, 5] + - !!python/tuple [28, 10] + - !!python/tuple [21, 31] + - !!python/tuple [3, 30] + - !!python/tuple [0, 7] + - !!python/tuple [7, 13] + - !!python/tuple [11, 5] + - !!python/tuple [10, 8] + - !!python/tuple [26, 1] + - !!python/tuple [14, 19] + - !!python/tuple [2, 29] + - !!python/tuple [1, 29] + - !!python/tuple [18, 27] + - !!python/tuple [20, 14] + - !!python/tuple [14, 21] + - !!python/tuple [5, 4] + - !!python/tuple [12, 16] + - !!python/tuple [19, 31] + - !!python/tuple [6, 24] + - !!python/tuple [19, 12] + - !!python/tuple [9, 24] + - !!python/tuple [5, 18] + - !!python/tuple [31, 11] + - !!python/tuple [4, 12] + - !!python/tuple [16, 19] + - !!python/tuple [13, 14] + - !!python/tuple [2, 20] + - !!python/tuple [14, 0] + - !!python/tuple [29, 22] + - !!python/tuple [0, 17] + - !!python/tuple [21, 17] + - !!python/tuple [4, 2] + - !!python/tuple [0, 26] + - !!python/tuple [20, 29] + - !!python/tuple [1, 15] + - !!python/tuple [5, 15] + - !!python/tuple [10, 29] + - !!python/tuple [30, 22] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex97.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex97.yaml new file mode 100644 index 0000000..49b04a8 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex97.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [26, 28] + name: agent0 + start: [31, 28] +- goal: [16, 5] + name: agent1 + start: [11, 25] +- goal: [16, 21] + name: agent2 + start: [14, 0] +- goal: [11, 27] + name: agent3 + start: [24, 3] +- goal: [5, 20] + name: agent4 + start: [25, 12] +- goal: [20, 1] + name: agent5 + start: [26, 14] +- goal: [22, 12] + name: agent6 + start: [9, 25] +- goal: [15, 29] + name: agent7 + start: [28, 6] +- goal: [24, 9] + name: agent8 + start: [4, 10] +- goal: [9, 23] + name: agent9 + start: [6, 14] +- goal: [29, 17] + name: agent10 + start: [16, 29] +- goal: [5, 2] + name: agent11 + start: [22, 4] +- goal: [28, 27] + name: agent12 + start: [31, 7] +- goal: [9, 26] + name: agent13 + start: [14, 14] +- goal: [18, 31] + name: agent14 + start: [22, 11] +- goal: [24, 3] + name: agent15 + start: [14, 22] +- goal: [31, 22] + name: agent16 + start: [26, 11] +- goal: [4, 5] + name: agent17 + start: [25, 8] +- goal: [31, 4] + name: agent18 + start: [20, 23] +- goal: [21, 3] + name: agent19 + start: [3, 9] +- goal: [31, 28] + name: agent20 + start: [25, 25] +- goal: [17, 3] + name: agent21 + start: [26, 4] +- goal: [26, 29] + name: agent22 + start: [26, 10] +- goal: [16, 7] + name: agent23 + start: [7, 7] +- goal: [20, 11] + name: agent24 + start: [14, 25] +- goal: [25, 25] + name: agent25 + start: [28, 16] +- goal: [2, 23] + name: agent26 + start: [30, 21] +- goal: [19, 27] + name: agent27 + start: [14, 29] +- goal: [13, 10] + name: agent28 + start: [8, 23] +- goal: [31, 15] + name: agent29 + start: [18, 28] +- goal: [9, 16] + name: agent30 + start: [31, 19] +- goal: [23, 2] + name: agent31 + start: [14, 26] +- goal: [10, 30] + name: agent32 + start: [4, 1] +- goal: [27, 5] + name: agent33 + start: [19, 19] +- goal: [0, 11] + name: agent34 + start: [18, 24] +- goal: [18, 6] + name: agent35 + start: [1, 19] +- goal: [25, 0] + name: agent36 + start: [24, 23] +- goal: [10, 29] + name: agent37 + start: [4, 30] +- goal: [2, 22] + name: agent38 + start: [15, 18] +- goal: [27, 10] + name: agent39 + start: [6, 4] +- goal: [18, 5] + name: agent40 + start: [0, 27] +- goal: [6, 19] + name: agent41 + start: [8, 13] +- goal: [30, 25] + name: agent42 + start: [3, 1] +- goal: [5, 1] + name: agent43 + start: [19, 15] +- goal: [12, 19] + name: agent44 + start: [16, 2] +- goal: [11, 7] + name: agent45 + start: [3, 21] +- goal: [25, 22] + name: agent46 + start: [26, 26] +- goal: [24, 21] + name: agent47 + start: [30, 17] +- goal: [30, 28] + name: agent48 + start: [20, 5] +- goal: [23, 30] + name: agent49 + start: [22, 0] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [27, 20] + - !!python/tuple [16, 17] + - !!python/tuple [19, 4] + - !!python/tuple [18, 25] + - !!python/tuple [17, 12] + - !!python/tuple [28, 12] + - !!python/tuple [13, 0] + - !!python/tuple [22, 1] + - !!python/tuple [30, 4] + - !!python/tuple [13, 27] + - !!python/tuple [27, 1] + - !!python/tuple [24, 25] + - !!python/tuple [7, 1] + - !!python/tuple [7, 24] + - !!python/tuple [0, 20] + - !!python/tuple [21, 18] + - !!python/tuple [6, 7] + - !!python/tuple [28, 2] + - !!python/tuple [0, 6] + - !!python/tuple [5, 12] + - !!python/tuple [0, 2] + - !!python/tuple [12, 27] + - !!python/tuple [22, 7] + - !!python/tuple [20, 26] + - !!python/tuple [9, 18] + - !!python/tuple [23, 17] + - !!python/tuple [29, 23] + - !!python/tuple [22, 21] + - !!python/tuple [31, 13] + - !!python/tuple [15, 19] + - !!python/tuple [2, 29] + - !!python/tuple [1, 4] + - !!python/tuple [9, 2] + - !!python/tuple [23, 21] + - !!python/tuple [1, 24] + - !!python/tuple [14, 24] + - !!python/tuple [27, 17] + - !!python/tuple [1, 13] + - !!python/tuple [8, 2] + - !!python/tuple [15, 7] + - !!python/tuple [31, 30] + - !!python/tuple [4, 26] + - !!python/tuple [11, 12] + - !!python/tuple [5, 18] + - !!python/tuple [11, 17] + - !!python/tuple [4, 8] + - !!python/tuple [24, 5] + - !!python/tuple [5, 7] + - !!python/tuple [6, 17] + - !!python/tuple [31, 25] + - !!python/tuple [17, 16] + - !!python/tuple [24, 12] + - !!python/tuple [1, 5] + - !!python/tuple [23, 12] + - !!python/tuple [17, 14] + - !!python/tuple [7, 16] + - !!python/tuple [21, 20] + - !!python/tuple [20, 3] + - !!python/tuple [1, 28] + - !!python/tuple [6, 26] + - !!python/tuple [11, 5] + - !!python/tuple [30, 11] + - !!python/tuple [7, 27] + - !!python/tuple [15, 21] + - !!python/tuple [5, 31] + - !!python/tuple [14, 3] + - !!python/tuple [6, 20] + - !!python/tuple [6, 24] + - !!python/tuple [28, 4] + - !!python/tuple [25, 20] + - !!python/tuple [8, 1] + - !!python/tuple [30, 18] + - !!python/tuple [10, 16] + - !!python/tuple [25, 10] + - !!python/tuple [23, 5] + - !!python/tuple [26, 17] + - !!python/tuple [0, 17] + - !!python/tuple [31, 29] + - !!python/tuple [21, 4] + - !!python/tuple [3, 19] + - !!python/tuple [7, 3] + - !!python/tuple [11, 4] + - !!python/tuple [14, 11] + - !!python/tuple [15, 17] + - !!python/tuple [28, 11] + - !!python/tuple [18, 4] + - !!python/tuple [5, 8] + - !!python/tuple [4, 14] + - !!python/tuple [3, 13] + - !!python/tuple [9, 17] + - !!python/tuple [19, 7] + - !!python/tuple [17, 5] + - !!python/tuple [9, 13] + - !!python/tuple [26, 19] + - !!python/tuple [10, 31] + - !!python/tuple [20, 25] + - !!python/tuple [24, 19] + - !!python/tuple [23, 22] + - !!python/tuple [8, 14] + - !!python/tuple [19, 16] + - !!python/tuple [20, 4] + - !!python/tuple [6, 8] + - !!python/tuple [28, 23] + - !!python/tuple [3, 7] + - !!python/tuple [30, 5] + - !!python/tuple [11, 10] + - !!python/tuple [17, 31] + - !!python/tuple [21, 1] + - !!python/tuple [30, 10] + - !!python/tuple [12, 24] + - !!python/tuple [23, 18] + - !!python/tuple [17, 23] + - !!python/tuple [7, 4] + - !!python/tuple [27, 26] + - !!python/tuple [14, 16] + - !!python/tuple [20, 7] + - !!python/tuple [22, 14] + - !!python/tuple [8, 0] + - !!python/tuple [15, 9] + - !!python/tuple [28, 10] + - !!python/tuple [27, 18] + - !!python/tuple [10, 25] + - !!python/tuple [6, 31] + - !!python/tuple [12, 5] + - !!python/tuple [20, 18] + - !!python/tuple [15, 28] + - !!python/tuple [20, 15] + - !!python/tuple [26, 15] + - !!python/tuple [6, 0] + - !!python/tuple [28, 21] + - !!python/tuple [6, 28] + - !!python/tuple [28, 15] + - !!python/tuple [28, 29] + - !!python/tuple [25, 7] + - !!python/tuple [13, 20] + - !!python/tuple [5, 21] + - !!python/tuple [21, 29] + - !!python/tuple [1, 1] + - !!python/tuple [21, 30] + - !!python/tuple [2, 13] + - !!python/tuple [1, 2] + - !!python/tuple [29, 31] + - !!python/tuple [15, 6] + - !!python/tuple [26, 1] + - !!python/tuple [23, 9] + - !!python/tuple [16, 0] + - !!python/tuple [21, 21] + - !!python/tuple [10, 11] + - !!python/tuple [26, 20] + - !!python/tuple [18, 17] + - !!python/tuple [18, 2] + - !!python/tuple [17, 28] + - !!python/tuple [17, 29] + - !!python/tuple [2, 26] + - !!python/tuple [1, 18] + - !!python/tuple [29, 1] + - !!python/tuple [30, 15] + - !!python/tuple [27, 25] + - !!python/tuple [9, 12] + - !!python/tuple [28, 7] + - !!python/tuple [17, 1] + - !!python/tuple [31, 23] + - !!python/tuple [0, 4] + - !!python/tuple [23, 24] + - !!python/tuple [18, 20] + - !!python/tuple [19, 23] + - !!python/tuple [3, 29] + - !!python/tuple [24, 11] + - !!python/tuple [31, 16] + - !!python/tuple [10, 4] + - !!python/tuple [16, 31] + - !!python/tuple [29, 19] + - !!python/tuple [27, 12] + - !!python/tuple [5, 27] + - !!python/tuple [18, 9] + - !!python/tuple [13, 26] + - !!python/tuple [26, 30] + - !!python/tuple [13, 2] + - !!python/tuple [5, 11] + - !!python/tuple [11, 22] + - !!python/tuple [12, 4] + - !!python/tuple [20, 16] + - !!python/tuple [6, 11] + - !!python/tuple [7, 11] + - !!python/tuple [0, 0] + - !!python/tuple [3, 27] + - !!python/tuple [15, 4] + - !!python/tuple [2, 12] + - !!python/tuple [7, 25] + - !!python/tuple [8, 16] + - !!python/tuple [20, 19] + - !!python/tuple [4, 3] + - !!python/tuple [31, 8] + - !!python/tuple [5, 19] + - !!python/tuple [29, 4] + - !!python/tuple [9, 5] + - !!python/tuple [21, 11] + - !!python/tuple [29, 21] + - !!python/tuple [27, 19] + - !!python/tuple [26, 25] + - !!python/tuple [8, 15] + - !!python/tuple [13, 29] + - !!python/tuple [3, 14] + - !!python/tuple [15, 23] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex98.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex98.yaml new file mode 100644 index 0000000..0ed8e4f --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex98.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [12, 20] + name: agent0 + start: [12, 20] +- goal: [20, 29] + name: agent1 + start: [17, 8] +- goal: [26, 8] + name: agent2 + start: [15, 15] +- goal: [20, 21] + name: agent3 + start: [0, 26] +- goal: [12, 19] + name: agent4 + start: [12, 6] +- goal: [10, 25] + name: agent5 + start: [8, 2] +- goal: [22, 21] + name: agent6 + start: [26, 9] +- goal: [19, 10] + name: agent7 + start: [28, 29] +- goal: [26, 26] + name: agent8 + start: [11, 3] +- goal: [19, 12] + name: agent9 + start: [14, 13] +- goal: [12, 26] + name: agent10 + start: [3, 10] +- goal: [2, 2] + name: agent11 + start: [2, 29] +- goal: [11, 29] + name: agent12 + start: [25, 23] +- goal: [14, 25] + name: agent13 + start: [16, 6] +- goal: [9, 10] + name: agent14 + start: [25, 3] +- goal: [12, 14] + name: agent15 + start: [20, 8] +- goal: [24, 23] + name: agent16 + start: [7, 30] +- goal: [4, 5] + name: agent17 + start: [29, 8] +- goal: [0, 29] + name: agent18 + start: [19, 3] +- goal: [22, 15] + name: agent19 + start: [31, 21] +- goal: [15, 22] + name: agent20 + start: [15, 30] +- goal: [28, 0] + name: agent21 + start: [13, 1] +- goal: [5, 7] + name: agent22 + start: [22, 9] +- goal: [25, 11] + name: agent23 + start: [8, 4] +- goal: [3, 28] + name: agent24 + start: [13, 6] +- goal: [19, 28] + name: agent25 + start: [21, 8] +- goal: [2, 12] + name: agent26 + start: [7, 0] +- goal: [15, 27] + name: agent27 + start: [25, 15] +- goal: [26, 24] + name: agent28 + start: [3, 8] +- goal: [2, 14] + name: agent29 + start: [4, 8] +- goal: [13, 28] + name: agent30 + start: [31, 0] +- goal: [31, 27] + name: agent31 + start: [29, 1] +- goal: [11, 18] + name: agent32 + start: [27, 0] +- goal: [2, 6] + name: agent33 + start: [30, 14] +- goal: [16, 20] + name: agent34 + start: [3, 6] +- goal: [7, 7] + name: agent35 + start: [10, 18] +- goal: [7, 31] + name: agent36 + start: [22, 26] +- goal: [12, 10] + name: agent37 + start: [15, 20] +- goal: [20, 1] + name: agent38 + start: [14, 15] +- goal: [30, 0] + name: agent39 + start: [31, 27] +- goal: [26, 3] + name: agent40 + start: [18, 29] +- goal: [6, 31] + name: agent41 + start: [24, 22] +- goal: [24, 3] + name: agent42 + start: [14, 5] +- goal: [15, 16] + name: agent43 + start: [13, 25] +- goal: [23, 11] + name: agent44 + start: [7, 8] +- goal: [8, 28] + name: agent45 + start: [28, 25] +- goal: [29, 14] + name: agent46 + start: [19, 28] +- goal: [15, 21] + name: agent47 + start: [5, 8] +- goal: [11, 26] + name: agent48 + start: [0, 13] +- goal: [21, 29] + name: agent49 + start: [28, 9] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [5, 9] + - !!python/tuple [7, 22] + - !!python/tuple [3, 22] + - !!python/tuple [16, 11] + - !!python/tuple [3, 1] + - !!python/tuple [3, 27] + - !!python/tuple [25, 30] + - !!python/tuple [29, 19] + - !!python/tuple [4, 22] + - !!python/tuple [16, 3] + - !!python/tuple [17, 9] + - !!python/tuple [19, 6] + - !!python/tuple [31, 14] + - !!python/tuple [16, 16] + - !!python/tuple [10, 0] + - !!python/tuple [26, 2] + - !!python/tuple [11, 5] + - !!python/tuple [2, 9] + - !!python/tuple [27, 30] + - !!python/tuple [2, 31] + - !!python/tuple [19, 0] + - !!python/tuple [11, 10] + - !!python/tuple [3, 30] + - !!python/tuple [13, 18] + - !!python/tuple [22, 10] + - !!python/tuple [9, 25] + - !!python/tuple [28, 1] + - !!python/tuple [4, 26] + - !!python/tuple [12, 24] + - !!python/tuple [7, 11] + - !!python/tuple [7, 5] + - !!python/tuple [3, 11] + - !!python/tuple [4, 18] + - !!python/tuple [10, 22] + - !!python/tuple [4, 16] + - !!python/tuple [6, 11] + - !!python/tuple [3, 13] + - !!python/tuple [20, 19] + - !!python/tuple [0, 23] + - !!python/tuple [31, 11] + - !!python/tuple [8, 5] + - !!python/tuple [13, 3] + - !!python/tuple [10, 28] + - !!python/tuple [11, 9] + - !!python/tuple [20, 3] + - !!python/tuple [17, 17] + - !!python/tuple [23, 2] + - !!python/tuple [30, 9] + - !!python/tuple [19, 18] + - !!python/tuple [12, 27] + - !!python/tuple [16, 30] + - !!python/tuple [30, 18] + - !!python/tuple [3, 16] + - !!python/tuple [9, 15] + - !!python/tuple [28, 14] + - !!python/tuple [29, 0] + - !!python/tuple [23, 8] + - !!python/tuple [7, 27] + - !!python/tuple [31, 26] + - !!python/tuple [1, 28] + - !!python/tuple [5, 25] + - !!python/tuple [18, 20] + - !!python/tuple [3, 2] + - !!python/tuple [7, 3] + - !!python/tuple [14, 1] + - !!python/tuple [13, 16] + - !!python/tuple [21, 19] + - !!python/tuple [14, 6] + - !!python/tuple [5, 24] + - !!python/tuple [17, 31] + - !!python/tuple [10, 16] + - !!python/tuple [31, 12] + - !!python/tuple [2, 13] + - !!python/tuple [17, 26] + - !!python/tuple [18, 23] + - !!python/tuple [17, 12] + - !!python/tuple [12, 23] + - !!python/tuple [5, 28] + - !!python/tuple [6, 20] + - !!python/tuple [26, 12] + - !!python/tuple [9, 22] + - !!python/tuple [20, 9] + - !!python/tuple [24, 6] + - !!python/tuple [7, 9] + - !!python/tuple [3, 4] + - !!python/tuple [25, 14] + - !!python/tuple [27, 19] + - !!python/tuple [14, 8] + - !!python/tuple [20, 12] + - !!python/tuple [9, 13] + - !!python/tuple [18, 14] + - !!python/tuple [7, 26] + - !!python/tuple [30, 4] + - !!python/tuple [24, 11] + - !!python/tuple [11, 19] + - !!python/tuple [7, 4] + - !!python/tuple [8, 21] + - !!python/tuple [22, 2] + - !!python/tuple [24, 19] + - !!python/tuple [17, 21] + - !!python/tuple [24, 5] + - !!python/tuple [31, 30] + - !!python/tuple [25, 17] + - !!python/tuple [26, 30] + - !!python/tuple [21, 20] + - !!python/tuple [24, 15] + - !!python/tuple [1, 25] + - !!python/tuple [0, 14] + - !!python/tuple [21, 28] + - !!python/tuple [15, 18] + - !!python/tuple [8, 3] + - !!python/tuple [30, 7] + - !!python/tuple [27, 8] + - !!python/tuple [16, 21] + - !!python/tuple [9, 16] + - !!python/tuple [10, 8] + - !!python/tuple [10, 2] + - !!python/tuple [22, 4] + - !!python/tuple [6, 7] + - !!python/tuple [26, 0] + - !!python/tuple [22, 29] + - !!python/tuple [31, 22] + - !!python/tuple [15, 12] + - !!python/tuple [12, 11] + - !!python/tuple [15, 1] + - !!python/tuple [2, 16] + - !!python/tuple [0, 8] + - !!python/tuple [12, 17] + - !!python/tuple [8, 10] + - !!python/tuple [4, 12] + - !!python/tuple [30, 2] + - !!python/tuple [2, 28] + - !!python/tuple [5, 5] + - !!python/tuple [18, 3] + - !!python/tuple [28, 16] + - !!python/tuple [30, 30] + - !!python/tuple [4, 21] + - !!python/tuple [21, 27] + - !!python/tuple [23, 17] + - !!python/tuple [5, 30] + - !!python/tuple [31, 6] + - !!python/tuple [24, 31] + - !!python/tuple [16, 31] + - !!python/tuple [25, 0] + - !!python/tuple [4, 7] + - !!python/tuple [28, 17] + - !!python/tuple [21, 7] + - !!python/tuple [30, 16] + - !!python/tuple [18, 9] + - !!python/tuple [30, 23] + - !!python/tuple [13, 23] + - !!python/tuple [5, 21] + - !!python/tuple [18, 27] + - !!python/tuple [9, 27] + - !!python/tuple [9, 30] + - !!python/tuple [26, 7] + - !!python/tuple [15, 14] + - !!python/tuple [16, 12] + - !!python/tuple [21, 17] + - !!python/tuple [9, 29] + - !!python/tuple [13, 29] + - !!python/tuple [31, 7] + - !!python/tuple [10, 15] + - !!python/tuple [25, 25] + - !!python/tuple [27, 15] + - !!python/tuple [18, 30] + - !!python/tuple [31, 17] + - !!python/tuple [21, 16] + - !!python/tuple [18, 6] + - !!python/tuple [17, 29] + - !!python/tuple [4, 0] + - !!python/tuple [30, 10] + - !!python/tuple [2, 3] + - !!python/tuple [27, 26] + - !!python/tuple [6, 9] + - !!python/tuple [20, 15] + - !!python/tuple [19, 9] + - !!python/tuple [24, 7] + - !!python/tuple [1, 29] + - !!python/tuple [15, 19] + - !!python/tuple [26, 19] + - !!python/tuple [10, 27] + - !!python/tuple [18, 11] + - !!python/tuple [1, 24] + - !!python/tuple [8, 16] + - !!python/tuple [13, 31] + - !!python/tuple [16, 17] + - !!python/tuple [10, 10] + - !!python/tuple [29, 23] + - !!python/tuple [13, 7] + - !!python/tuple [4, 3] + - !!python/tuple [11, 14] + - !!python/tuple [12, 15] + - !!python/tuple [18, 8] + - !!python/tuple [18, 25] + - !!python/tuple [5, 15] + - !!python/tuple [16, 15] + - !!python/tuple [24, 30] + - !!python/tuple [16, 8] + - !!python/tuple [29, 17] + - !!python/tuple [18, 18] + - !!python/tuple [20, 6] + - !!python/tuple [9, 31] + - !!python/tuple [26, 27] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex99.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex99.yaml new file mode 100644 index 0000000..ac793cb --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents50_ex99.yaml @@ -0,0 +1,358 @@ +agents: +- goal: [4, 10] + name: agent0 + start: [12, 9] +- goal: [1, 7] + name: agent1 + start: [16, 18] +- goal: [24, 3] + name: agent2 + start: [15, 14] +- goal: [25, 12] + name: agent3 + start: [31, 13] +- goal: [12, 27] + name: agent4 + start: [31, 2] +- goal: [13, 0] + name: agent5 + start: [30, 30] +- goal: [26, 18] + name: agent6 + start: [7, 27] +- goal: [7, 29] + name: agent7 + start: [22, 16] +- goal: [4, 30] + name: agent8 + start: [12, 30] +- goal: [21, 30] + name: agent9 + start: [13, 7] +- goal: [9, 19] + name: agent10 + start: [6, 7] +- goal: [1, 4] + name: agent11 + start: [1, 26] +- goal: [0, 31] + name: agent12 + start: [7, 5] +- goal: [18, 13] + name: agent13 + start: [18, 24] +- goal: [2, 17] + name: agent14 + start: [22, 24] +- goal: [28, 8] + name: agent15 + start: [15, 24] +- goal: [6, 27] + name: agent16 + start: [20, 2] +- goal: [1, 31] + name: agent17 + start: [23, 21] +- goal: [19, 26] + name: agent18 + start: [14, 28] +- goal: [6, 6] + name: agent19 + start: [12, 15] +- goal: [22, 29] + name: agent20 + start: [25, 14] +- goal: [2, 29] + name: agent21 + start: [27, 27] +- goal: [3, 17] + name: agent22 + start: [30, 22] +- goal: [13, 7] + name: agent23 + start: [0, 14] +- goal: [7, 25] + name: agent24 + start: [0, 29] +- goal: [14, 3] + name: agent25 + start: [10, 23] +- goal: [3, 5] + name: agent26 + start: [13, 1] +- goal: [10, 25] + name: agent27 + start: [9, 16] +- goal: [7, 6] + name: agent28 + start: [4, 25] +- goal: [27, 1] + name: agent29 + start: [17, 21] +- goal: [14, 14] + name: agent30 + start: [24, 30] +- goal: [24, 28] + name: agent31 + start: [8, 21] +- goal: [20, 10] + name: agent32 + start: [4, 20] +- goal: [27, 27] + name: agent33 + start: [13, 31] +- goal: [8, 4] + name: agent34 + start: [23, 1] +- goal: [22, 7] + name: agent35 + start: [27, 8] +- goal: [19, 0] + name: agent36 + start: [7, 13] +- goal: [24, 18] + name: agent37 + start: [4, 22] +- goal: [15, 21] + name: agent38 + start: [24, 6] +- goal: [7, 22] + name: agent39 + start: [12, 24] +- goal: [7, 31] + name: agent40 + start: [18, 22] +- goal: [5, 24] + name: agent41 + start: [28, 5] +- goal: [9, 18] + name: agent42 + start: [17, 8] +- goal: [21, 28] + name: agent43 + start: [24, 4] +- goal: [8, 12] + name: agent44 + start: [12, 18] +- goal: [13, 13] + name: agent45 + start: [9, 11] +- goal: [14, 23] + name: agent46 + start: [10, 19] +- goal: [23, 16] + name: agent47 + start: [4, 12] +- goal: [22, 10] + name: agent48 + start: [16, 11] +- goal: [14, 29] + name: agent49 + start: [9, 18] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [30, 12] + - !!python/tuple [25, 4] + - !!python/tuple [21, 20] + - !!python/tuple [15, 5] + - !!python/tuple [9, 5] + - !!python/tuple [13, 24] + - !!python/tuple [11, 1] + - !!python/tuple [9, 4] + - !!python/tuple [6, 0] + - !!python/tuple [11, 25] + - !!python/tuple [13, 28] + - !!python/tuple [31, 25] + - !!python/tuple [13, 17] + - !!python/tuple [0, 21] + - !!python/tuple [1, 14] + - !!python/tuple [0, 11] + - !!python/tuple [20, 4] + - !!python/tuple [18, 0] + - !!python/tuple [13, 16] + - !!python/tuple [1, 29] + - !!python/tuple [31, 18] + - !!python/tuple [10, 3] + - !!python/tuple [31, 3] + - !!python/tuple [15, 11] + - !!python/tuple [15, 15] + - !!python/tuple [20, 8] + - !!python/tuple [18, 17] + - !!python/tuple [23, 29] + - !!python/tuple [12, 7] + - !!python/tuple [15, 6] + - !!python/tuple [23, 24] + - !!python/tuple [17, 11] + - !!python/tuple [14, 5] + - !!python/tuple [17, 18] + - !!python/tuple [16, 16] + - !!python/tuple [28, 13] + - !!python/tuple [3, 29] + - !!python/tuple [19, 15] + - !!python/tuple [5, 3] + - !!python/tuple [0, 4] + - !!python/tuple [29, 16] + - !!python/tuple [24, 27] + - !!python/tuple [16, 9] + - !!python/tuple [1, 24] + - !!python/tuple [11, 28] + - !!python/tuple [27, 22] + - !!python/tuple [4, 16] + - !!python/tuple [13, 21] + - !!python/tuple [8, 24] + - !!python/tuple [12, 20] + - !!python/tuple [4, 7] + - !!python/tuple [2, 20] + - !!python/tuple [2, 5] + - !!python/tuple [13, 14] + - !!python/tuple [24, 31] + - !!python/tuple [17, 28] + - !!python/tuple [2, 10] + - !!python/tuple [10, 16] + - !!python/tuple [16, 1] + - !!python/tuple [28, 2] + - !!python/tuple [4, 17] + - !!python/tuple [23, 0] + - !!python/tuple [23, 9] + - !!python/tuple [7, 2] + - !!python/tuple [10, 8] + - !!python/tuple [8, 26] + - !!python/tuple [20, 11] + - !!python/tuple [16, 23] + - !!python/tuple [20, 27] + - !!python/tuple [13, 25] + - !!python/tuple [7, 14] + - !!python/tuple [12, 22] + - !!python/tuple [2, 0] + - !!python/tuple [5, 2] + - !!python/tuple [18, 7] + - !!python/tuple [25, 22] + - !!python/tuple [12, 31] + - !!python/tuple [6, 9] + - !!python/tuple [7, 28] + - !!python/tuple [15, 2] + - !!python/tuple [16, 10] + - !!python/tuple [20, 23] + - !!python/tuple [9, 27] + - !!python/tuple [13, 22] + - !!python/tuple [3, 16] + - !!python/tuple [16, 26] + - !!python/tuple [8, 19] + - !!python/tuple [30, 2] + - !!python/tuple [10, 11] + - !!python/tuple [25, 31] + - !!python/tuple [26, 13] + - !!python/tuple [30, 23] + - !!python/tuple [9, 25] + - !!python/tuple [11, 13] + - !!python/tuple [1, 22] + - !!python/tuple [22, 21] + - !!python/tuple [28, 27] + - !!python/tuple [19, 19] + - !!python/tuple [25, 25] + - !!python/tuple [15, 20] + - !!python/tuple [19, 20] + - !!python/tuple [2, 16] + - !!python/tuple [8, 27] + - !!python/tuple [21, 21] + - !!python/tuple [0, 27] + - !!python/tuple [16, 29] + - !!python/tuple [29, 3] + - !!python/tuple [11, 20] + - !!python/tuple [14, 22] + - !!python/tuple [6, 29] + - !!python/tuple [26, 19] + - !!python/tuple [16, 5] + - !!python/tuple [27, 30] + - !!python/tuple [7, 12] + - !!python/tuple [3, 28] + - !!python/tuple [15, 22] + - !!python/tuple [20, 22] + - !!python/tuple [8, 6] + - !!python/tuple [21, 22] + - !!python/tuple [9, 29] + - !!python/tuple [27, 13] + - !!python/tuple [12, 14] + - !!python/tuple [8, 28] + - !!python/tuple [4, 29] + - !!python/tuple [9, 31] + - !!python/tuple [24, 20] + - !!python/tuple [21, 15] + - !!python/tuple [2, 2] + - !!python/tuple [20, 14] + - !!python/tuple [20, 21] + - !!python/tuple [20, 30] + - !!python/tuple [20, 0] + - !!python/tuple [8, 25] + - !!python/tuple [20, 25] + - !!python/tuple [9, 10] + - !!python/tuple [13, 27] + - !!python/tuple [17, 6] + - !!python/tuple [1, 5] + - !!python/tuple [3, 6] + - !!python/tuple [4, 23] + - !!python/tuple [9, 12] + - !!python/tuple [25, 17] + - !!python/tuple [5, 30] + - !!python/tuple [30, 7] + - !!python/tuple [29, 6] + - !!python/tuple [23, 15] + - !!python/tuple [19, 10] + - !!python/tuple [15, 8] + - !!python/tuple [30, 20] + - !!python/tuple [30, 6] + - !!python/tuple [10, 31] + - !!python/tuple [17, 30] + - !!python/tuple [26, 3] + - !!python/tuple [1, 28] + - !!python/tuple [22, 4] + - !!python/tuple [29, 31] + - !!python/tuple [21, 0] + - !!python/tuple [22, 30] + - !!python/tuple [17, 12] + - !!python/tuple [13, 26] + - !!python/tuple [31, 12] + - !!python/tuple [24, 24] + - !!python/tuple [29, 4] + - !!python/tuple [26, 0] + - !!python/tuple [11, 6] + - !!python/tuple [11, 23] + - !!python/tuple [30, 24] + - !!python/tuple [28, 18] + - !!python/tuple [31, 8] + - !!python/tuple [11, 10] + - !!python/tuple [8, 18] + - !!python/tuple [19, 11] + - !!python/tuple [8, 9] + - !!python/tuple [2, 13] + - !!python/tuple [0, 6] + - !!python/tuple [0, 16] + - !!python/tuple [10, 1] + - !!python/tuple [31, 0] + - !!python/tuple [18, 25] + - !!python/tuple [28, 16] + - !!python/tuple [23, 27] + - !!python/tuple [19, 30] + - !!python/tuple [4, 18] + - !!python/tuple [4, 21] + - !!python/tuple [15, 30] + - !!python/tuple [18, 20] + - !!python/tuple [27, 0] + - !!python/tuple [5, 11] + - !!python/tuple [10, 10] + - !!python/tuple [0, 26] + - !!python/tuple [11, 2] + - !!python/tuple [27, 29] + - !!python/tuple [19, 4] + - !!python/tuple [21, 31] + - !!python/tuple [1, 15] + - !!python/tuple [3, 30] + - !!python/tuple [19, 2] + - !!python/tuple [22, 5] + - !!python/tuple [12, 26] + - !!python/tuple [30, 11] + - !!python/tuple [10, 27] + - !!python/tuple [2, 14] + - !!python/tuple [23, 17] + - !!python/tuple [23, 23] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex0.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex0.yaml new file mode 100644 index 0000000..9e64f5b --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex0.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [0, 11] + name: agent0 + start: [26, 19] +- goal: [3, 18] + name: agent1 + start: [16, 17] +- goal: [6, 31] + name: agent2 + start: [26, 0] +- goal: [9, 31] + name: agent3 + start: [14, 25] +- goal: [9, 12] + name: agent4 + start: [22, 5] +- goal: [17, 25] + name: agent5 + start: [31, 16] +- goal: [7, 5] + name: agent6 + start: [16, 15] +- goal: [11, 26] + name: agent7 + start: [6, 19] +- goal: [11, 0] + name: agent8 + start: [28, 2] +- goal: [7, 9] + name: agent9 + start: [7, 16] +- goal: [20, 28] + name: agent10 + start: [3, 14] +- goal: [27, 8] + name: agent11 + start: [20, 0] +- goal: [15, 6] + name: agent12 + start: [13, 30] +- goal: [6, 10] + name: agent13 + start: [5, 30] +- goal: [14, 28] + name: agent14 + start: [29, 6] +- goal: [13, 5] + name: agent15 + start: [5, 3] +- goal: [11, 15] + name: agent16 + start: [7, 12] +- goal: [17, 16] + name: agent17 + start: [30, 15] +- goal: [12, 1] + name: agent18 + start: [26, 2] +- goal: [10, 28] + name: agent19 + start: [16, 31] +- goal: [10, 2] + name: agent20 + start: [11, 15] +- goal: [31, 30] + name: agent21 + start: [21, 0] +- goal: [18, 29] + name: agent22 + start: [6, 10] +- goal: [13, 8] + name: agent23 + start: [21, 21] +- goal: [14, 15] + name: agent24 + start: [1, 22] +- goal: [10, 26] + name: agent25 + start: [17, 14] +- goal: [20, 7] + name: agent26 + start: [6, 8] +- goal: [0, 5] + name: agent27 + start: [11, 21] +- goal: [30, 4] + name: agent28 + start: [10, 31] +- goal: [18, 25] + name: agent29 + start: [29, 16] +- goal: [11, 27] + name: agent30 + start: [2, 12] +- goal: [20, 14] + name: agent31 + start: [31, 11] +- goal: [2, 12] + name: agent32 + start: [4, 26] +- goal: [29, 22] + name: agent33 + start: [25, 7] +- goal: [29, 10] + name: agent34 + start: [9, 14] +- goal: [8, 22] + name: agent35 + start: [12, 13] +- goal: [22, 4] + name: agent36 + start: [31, 0] +- goal: [3, 14] + name: agent37 + start: [24, 13] +- goal: [5, 26] + name: agent38 + start: [17, 16] +- goal: [25, 24] + name: agent39 + start: [12, 20] +- goal: [11, 14] + name: agent40 + start: [27, 14] +- goal: [31, 31] + name: agent41 + start: [22, 11] +- goal: [9, 11] + name: agent42 + start: [21, 10] +- goal: [12, 5] + name: agent43 + start: [20, 17] +- goal: [6, 21] + name: agent44 + start: [14, 12] +- goal: [22, 29] + name: agent45 + start: [12, 30] +- goal: [3, 10] + name: agent46 + start: [20, 22] +- goal: [14, 18] + name: agent47 + start: [29, 1] +- goal: [22, 21] + name: agent48 + start: [27, 11] +- goal: [9, 1] + name: agent49 + start: [20, 5] +- goal: [12, 19] + name: agent50 + start: [18, 18] +- goal: [31, 4] + name: agent51 + start: [29, 31] +- goal: [21, 23] + name: agent52 + start: [12, 10] +- goal: [28, 10] + name: agent53 + start: [22, 26] +- goal: [4, 11] + name: agent54 + start: [2, 21] +- goal: [12, 20] + name: agent55 + start: [1, 17] +- goal: [1, 8] + name: agent56 + start: [23, 1] +- goal: [25, 31] + name: agent57 + start: [31, 20] +- goal: [28, 19] + name: agent58 + start: [8, 8] +- goal: [13, 18] + name: agent59 + start: [9, 8] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [2, 23] + - !!python/tuple [27, 24] + - !!python/tuple [0, 13] + - !!python/tuple [13, 2] + - !!python/tuple [11, 19] + - !!python/tuple [15, 18] + - !!python/tuple [28, 29] + - !!python/tuple [15, 31] + - !!python/tuple [31, 5] + - !!python/tuple [23, 16] + - !!python/tuple [18, 15] + - !!python/tuple [19, 12] + - !!python/tuple [12, 16] + - !!python/tuple [27, 25] + - !!python/tuple [30, 11] + - !!python/tuple [15, 27] + - !!python/tuple [25, 29] + - !!python/tuple [24, 10] + - !!python/tuple [13, 16] + - !!python/tuple [23, 5] + - !!python/tuple [2, 25] + - !!python/tuple [1, 24] + - !!python/tuple [6, 4] + - !!python/tuple [4, 28] + - !!python/tuple [15, 8] + - !!python/tuple [31, 29] + - !!python/tuple [0, 1] + - !!python/tuple [12, 18] + - !!python/tuple [12, 26] + - !!python/tuple [12, 21] + - !!python/tuple [17, 9] + - !!python/tuple [0, 26] + - !!python/tuple [8, 5] + - !!python/tuple [1, 23] + - !!python/tuple [21, 31] + - !!python/tuple [4, 3] + - !!python/tuple [8, 14] + - !!python/tuple [6, 13] + - !!python/tuple [26, 27] + - !!python/tuple [18, 24] + - !!python/tuple [24, 18] + - !!python/tuple [20, 24] + - !!python/tuple [15, 7] + - !!python/tuple [6, 23] + - !!python/tuple [24, 17] + - !!python/tuple [12, 3] + - !!python/tuple [15, 1] + - !!python/tuple [16, 14] + - !!python/tuple [28, 7] + - !!python/tuple [18, 10] + - !!python/tuple [8, 18] + - !!python/tuple [28, 13] + - !!python/tuple [8, 28] + - !!python/tuple [1, 6] + - !!python/tuple [4, 30] + - !!python/tuple [21, 9] + - !!python/tuple [3, 20] + - !!python/tuple [29, 9] + - !!python/tuple [14, 19] + - !!python/tuple [6, 22] + - !!python/tuple [3, 29] + - !!python/tuple [31, 26] + - !!python/tuple [25, 13] + - !!python/tuple [26, 9] + - !!python/tuple [22, 0] + - !!python/tuple [3, 13] + - !!python/tuple [9, 25] + - !!python/tuple [4, 31] + - !!python/tuple [19, 27] + - !!python/tuple [6, 27] + - !!python/tuple [17, 23] + - !!python/tuple [8, 12] + - !!python/tuple [5, 6] + - !!python/tuple [11, 23] + - !!python/tuple [11, 22] + - !!python/tuple [22, 30] + - !!python/tuple [14, 10] + - !!python/tuple [16, 12] + - !!python/tuple [30, 3] + - !!python/tuple [6, 3] + - !!python/tuple [26, 23] + - !!python/tuple [4, 29] + - !!python/tuple [9, 17] + - !!python/tuple [4, 16] + - !!python/tuple [15, 22] + - !!python/tuple [13, 21] + - !!python/tuple [19, 22] + - !!python/tuple [21, 8] + - !!python/tuple [22, 23] + - !!python/tuple [2, 18] + - !!python/tuple [16, 11] + - !!python/tuple [0, 16] + - !!python/tuple [29, 28] + - !!python/tuple [27, 28] + - !!python/tuple [16, 16] + - !!python/tuple [23, 15] + - !!python/tuple [7, 29] + - !!python/tuple [7, 24] + - !!python/tuple [22, 27] + - !!python/tuple [8, 7] + - !!python/tuple [30, 24] + - !!python/tuple [24, 2] + - !!python/tuple [1, 9] + - !!python/tuple [18, 22] + - !!python/tuple [2, 19] + - !!python/tuple [18, 27] + - !!python/tuple [21, 30] + - !!python/tuple [1, 5] + - !!python/tuple [26, 6] + - !!python/tuple [31, 22] + - !!python/tuple [21, 3] + - !!python/tuple [17, 15] + - !!python/tuple [17, 1] + - !!python/tuple [4, 1] + - !!python/tuple [18, 31] + - !!python/tuple [2, 16] + - !!python/tuple [31, 25] + - !!python/tuple [24, 30] + - !!python/tuple [16, 10] + - !!python/tuple [27, 27] + - !!python/tuple [31, 18] + - !!python/tuple [5, 11] + - !!python/tuple [6, 11] + - !!python/tuple [17, 3] + - !!python/tuple [25, 30] + - !!python/tuple [12, 12] + - !!python/tuple [3, 8] + - !!python/tuple [9, 4] + - !!python/tuple [6, 20] + - !!python/tuple [11, 28] + - !!python/tuple [7, 3] + - !!python/tuple [28, 3] + - !!python/tuple [11, 25] + - !!python/tuple [23, 12] + - !!python/tuple [31, 6] + - !!python/tuple [3, 27] + - !!python/tuple [4, 8] + - !!python/tuple [4, 19] + - !!python/tuple [15, 3] + - !!python/tuple [3, 3] + - !!python/tuple [1, 25] + - !!python/tuple [19, 21] + - !!python/tuple [0, 14] + - !!python/tuple [27, 31] + - !!python/tuple [29, 13] + - !!python/tuple [11, 3] + - !!python/tuple [29, 7] + - !!python/tuple [27, 1] + - !!python/tuple [14, 23] + - !!python/tuple [17, 30] + - !!python/tuple [8, 16] + - !!python/tuple [7, 15] + - !!python/tuple [9, 3] + - !!python/tuple [23, 22] + - !!python/tuple [24, 22] + - !!python/tuple [14, 16] + - !!python/tuple [19, 14] + - !!python/tuple [2, 26] + - !!python/tuple [19, 0] + - !!python/tuple [13, 14] + - !!python/tuple [10, 16] + - !!python/tuple [0, 23] + - !!python/tuple [12, 7] + - !!python/tuple [10, 0] + - !!python/tuple [18, 23] + - !!python/tuple [28, 14] + - !!python/tuple [4, 4] + - !!python/tuple [16, 28] + - !!python/tuple [12, 22] + - !!python/tuple [0, 7] + - !!python/tuple [13, 24] + - !!python/tuple [23, 28] + - !!python/tuple [22, 8] + - !!python/tuple [2, 8] + - !!python/tuple [7, 2] + - !!python/tuple [26, 11] + - !!python/tuple [16, 8] + - !!python/tuple [9, 13] + - !!python/tuple [5, 9] + - !!python/tuple [7, 28] + - !!python/tuple [8, 26] + - !!python/tuple [2, 30] + - !!python/tuple [24, 24] + - !!python/tuple [23, 27] + - !!python/tuple [14, 24] + - !!python/tuple [26, 21] + - !!python/tuple [14, 0] + - !!python/tuple [5, 2] + - !!python/tuple [12, 14] + - !!python/tuple [6, 1] + - !!python/tuple [5, 31] + - !!python/tuple [21, 27] + - !!python/tuple [13, 25] + - !!python/tuple [6, 29] + - !!python/tuple [18, 16] + - !!python/tuple [30, 1] + - !!python/tuple [19, 2] + - !!python/tuple [13, 22] + - !!python/tuple [2, 2] + - !!python/tuple [6, 25] + - !!python/tuple [3, 9] + - !!python/tuple [20, 18] + - !!python/tuple [27, 7] + - !!python/tuple [5, 22] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex1.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex1.yaml new file mode 100644 index 0000000..8d05f17 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex1.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [9, 27] + name: agent0 + start: [20, 11] +- goal: [0, 26] + name: agent1 + start: [25, 24] +- goal: [16, 8] + name: agent2 + start: [13, 0] +- goal: [27, 13] + name: agent3 + start: [22, 10] +- goal: [0, 19] + name: agent4 + start: [18, 2] +- goal: [11, 14] + name: agent5 + start: [13, 16] +- goal: [7, 4] + name: agent6 + start: [6, 17] +- goal: [2, 2] + name: agent7 + start: [23, 14] +- goal: [3, 8] + name: agent8 + start: [23, 30] +- goal: [0, 6] + name: agent9 + start: [21, 2] +- goal: [8, 13] + name: agent10 + start: [14, 17] +- goal: [13, 10] + name: agent11 + start: [7, 0] +- goal: [29, 28] + name: agent12 + start: [22, 19] +- goal: [4, 24] + name: agent13 + start: [30, 30] +- goal: [11, 21] + name: agent14 + start: [27, 13] +- goal: [22, 18] + name: agent15 + start: [3, 15] +- goal: [1, 19] + name: agent16 + start: [26, 16] +- goal: [9, 7] + name: agent17 + start: [27, 28] +- goal: [17, 29] + name: agent18 + start: [25, 8] +- goal: [10, 20] + name: agent19 + start: [0, 12] +- goal: [29, 2] + name: agent20 + start: [10, 10] +- goal: [23, 7] + name: agent21 + start: [29, 17] +- goal: [11, 3] + name: agent22 + start: [20, 25] +- goal: [25, 19] + name: agent23 + start: [26, 19] +- goal: [14, 20] + name: agent24 + start: [22, 0] +- goal: [24, 21] + name: agent25 + start: [16, 22] +- goal: [1, 0] + name: agent26 + start: [23, 1] +- goal: [29, 14] + name: agent27 + start: [11, 25] +- goal: [7, 10] + name: agent28 + start: [9, 2] +- goal: [0, 15] + name: agent29 + start: [10, 27] +- goal: [20, 11] + name: agent30 + start: [16, 6] +- goal: [30, 4] + name: agent31 + start: [20, 27] +- goal: [25, 1] + name: agent32 + start: [0, 18] +- goal: [2, 29] + name: agent33 + start: [23, 11] +- goal: [21, 10] + name: agent34 + start: [0, 22] +- goal: [14, 12] + name: agent35 + start: [5, 14] +- goal: [21, 3] + name: agent36 + start: [5, 4] +- goal: [29, 10] + name: agent37 + start: [12, 18] +- goal: [1, 22] + name: agent38 + start: [11, 1] +- goal: [26, 27] + name: agent39 + start: [1, 15] +- goal: [27, 5] + name: agent40 + start: [10, 4] +- goal: [3, 11] + name: agent41 + start: [2, 0] +- goal: [29, 13] + name: agent42 + start: [4, 9] +- goal: [13, 12] + name: agent43 + start: [20, 14] +- goal: [12, 10] + name: agent44 + start: [18, 6] +- goal: [19, 21] + name: agent45 + start: [22, 2] +- goal: [4, 19] + name: agent46 + start: [14, 2] +- goal: [8, 31] + name: agent47 + start: [5, 10] +- goal: [0, 28] + name: agent48 + start: [19, 28] +- goal: [27, 7] + name: agent49 + start: [30, 3] +- goal: [12, 31] + name: agent50 + start: [7, 3] +- goal: [0, 20] + name: agent51 + start: [23, 25] +- goal: [10, 24] + name: agent52 + start: [29, 13] +- goal: [10, 26] + name: agent53 + start: [25, 26] +- goal: [19, 5] + name: agent54 + start: [24, 7] +- goal: [9, 4] + name: agent55 + start: [24, 25] +- goal: [12, 20] + name: agent56 + start: [25, 3] +- goal: [19, 29] + name: agent57 + start: [4, 16] +- goal: [0, 31] + name: agent58 + start: [22, 7] +- goal: [3, 0] + name: agent59 + start: [6, 25] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [23, 31] + - !!python/tuple [9, 10] + - !!python/tuple [9, 25] + - !!python/tuple [26, 3] + - !!python/tuple [28, 25] + - !!python/tuple [17, 18] + - !!python/tuple [7, 25] + - !!python/tuple [3, 3] + - !!python/tuple [16, 2] + - !!python/tuple [17, 7] + - !!python/tuple [19, 20] + - !!python/tuple [30, 22] + - !!python/tuple [8, 4] + - !!python/tuple [20, 29] + - !!python/tuple [8, 23] + - !!python/tuple [27, 22] + - !!python/tuple [24, 19] + - !!python/tuple [22, 12] + - !!python/tuple [13, 26] + - !!python/tuple [24, 8] + - !!python/tuple [24, 12] + - !!python/tuple [16, 14] + - !!python/tuple [6, 13] + - !!python/tuple [23, 26] + - !!python/tuple [25, 22] + - !!python/tuple [8, 5] + - !!python/tuple [30, 9] + - !!python/tuple [26, 5] + - !!python/tuple [3, 5] + - !!python/tuple [25, 4] + - !!python/tuple [12, 13] + - !!python/tuple [30, 7] + - !!python/tuple [19, 12] + - !!python/tuple [17, 30] + - !!python/tuple [31, 28] + - !!python/tuple [3, 1] + - !!python/tuple [22, 31] + - !!python/tuple [6, 21] + - !!python/tuple [8, 22] + - !!python/tuple [29, 12] + - !!python/tuple [19, 24] + - !!python/tuple [5, 12] + - !!python/tuple [12, 11] + - !!python/tuple [5, 16] + - !!python/tuple [14, 26] + - !!python/tuple [26, 1] + - !!python/tuple [14, 19] + - !!python/tuple [29, 20] + - !!python/tuple [16, 15] + - !!python/tuple [16, 3] + - !!python/tuple [5, 30] + - !!python/tuple [25, 15] + - !!python/tuple [24, 5] + - !!python/tuple [5, 25] + - !!python/tuple [9, 6] + - !!python/tuple [27, 24] + - !!python/tuple [22, 26] + - !!python/tuple [28, 6] + - !!python/tuple [13, 18] + - !!python/tuple [0, 23] + - !!python/tuple [9, 5] + - !!python/tuple [6, 20] + - !!python/tuple [7, 31] + - !!python/tuple [18, 11] + - !!python/tuple [10, 23] + - !!python/tuple [16, 25] + - !!python/tuple [29, 19] + - !!python/tuple [20, 22] + - !!python/tuple [4, 1] + - !!python/tuple [29, 23] + - !!python/tuple [3, 25] + - !!python/tuple [9, 1] + - !!python/tuple [12, 15] + - !!python/tuple [17, 15] + - !!python/tuple [1, 7] + - !!python/tuple [4, 17] + - !!python/tuple [26, 7] + - !!python/tuple [23, 13] + - !!python/tuple [27, 18] + - !!python/tuple [22, 13] + - !!python/tuple [10, 16] + - !!python/tuple [29, 29] + - !!python/tuple [12, 8] + - !!python/tuple [14, 31] + - !!python/tuple [5, 1] + - !!python/tuple [18, 18] + - !!python/tuple [19, 18] + - !!python/tuple [15, 6] + - !!python/tuple [29, 8] + - !!python/tuple [2, 15] + - !!python/tuple [23, 8] + - !!python/tuple [0, 25] + - !!python/tuple [4, 31] + - !!python/tuple [18, 4] + - !!python/tuple [4, 20] + - !!python/tuple [3, 31] + - !!python/tuple [24, 1] + - !!python/tuple [30, 5] + - !!python/tuple [27, 15] + - !!python/tuple [25, 5] + - !!python/tuple [28, 23] + - !!python/tuple [10, 12] + - !!python/tuple [13, 31] + - !!python/tuple [23, 10] + - !!python/tuple [1, 13] + - !!python/tuple [15, 14] + - !!python/tuple [21, 0] + - !!python/tuple [14, 5] + - !!python/tuple [4, 8] + - !!python/tuple [21, 18] + - !!python/tuple [4, 10] + - !!python/tuple [8, 27] + - !!python/tuple [18, 0] + - !!python/tuple [6, 29] + - !!python/tuple [18, 26] + - !!python/tuple [27, 31] + - !!python/tuple [16, 20] + - !!python/tuple [28, 20] + - !!python/tuple [27, 8] + - !!python/tuple [6, 26] + - !!python/tuple [15, 26] + - !!python/tuple [12, 0] + - !!python/tuple [25, 31] + - !!python/tuple [19, 14] + - !!python/tuple [5, 22] + - !!python/tuple [24, 4] + - !!python/tuple [2, 31] + - !!python/tuple [4, 25] + - !!python/tuple [23, 18] + - !!python/tuple [19, 26] + - !!python/tuple [17, 6] + - !!python/tuple [21, 6] + - !!python/tuple [11, 27] + - !!python/tuple [2, 19] + - !!python/tuple [11, 26] + - !!python/tuple [13, 2] + - !!python/tuple [8, 29] + - !!python/tuple [21, 11] + - !!python/tuple [27, 30] + - !!python/tuple [26, 9] + - !!python/tuple [1, 30] + - !!python/tuple [14, 28] + - !!python/tuple [16, 24] + - !!python/tuple [31, 26] + - !!python/tuple [28, 9] + - !!python/tuple [29, 25] + - !!python/tuple [12, 6] + - !!python/tuple [26, 0] + - !!python/tuple [27, 11] + - !!python/tuple [22, 15] + - !!python/tuple [9, 24] + - !!python/tuple [21, 17] + - !!python/tuple [18, 31] + - !!python/tuple [25, 9] + - !!python/tuple [24, 10] + - !!python/tuple [4, 12] + - !!python/tuple [28, 28] + - !!python/tuple [9, 15] + - !!python/tuple [17, 25] + - !!python/tuple [16, 31] + - !!python/tuple [31, 6] + - !!python/tuple [28, 30] + - !!python/tuple [6, 27] + - !!python/tuple [5, 15] + - !!python/tuple [2, 3] + - !!python/tuple [14, 4] + - !!python/tuple [1, 31] + - !!python/tuple [21, 22] + - !!python/tuple [31, 16] + - !!python/tuple [24, 31] + - !!python/tuple [27, 12] + - !!python/tuple [28, 22] + - !!python/tuple [14, 30] + - !!python/tuple [8, 25] + - !!python/tuple [11, 0] + - !!python/tuple [26, 11] + - !!python/tuple [12, 19] + - !!python/tuple [17, 28] + - !!python/tuple [12, 22] + - !!python/tuple [9, 20] + - !!python/tuple [7, 23] + - !!python/tuple [16, 13] + - !!python/tuple [18, 24] + - !!python/tuple [22, 5] + - !!python/tuple [4, 14] + - !!python/tuple [24, 20] + - !!python/tuple [14, 3] + - !!python/tuple [31, 14] + - !!python/tuple [22, 20] + - !!python/tuple [0, 21] + - !!python/tuple [8, 21] + - !!python/tuple [13, 17] + - !!python/tuple [31, 23] + - !!python/tuple [3, 10] + - !!python/tuple [7, 26] + - !!python/tuple [20, 2] + - !!python/tuple [1, 16] + - !!python/tuple [25, 20] + - !!python/tuple [20, 8] + - !!python/tuple [15, 18] + - !!python/tuple [2, 30] + - !!python/tuple [30, 14] + - !!python/tuple [14, 15] + - !!python/tuple [0, 11] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex10.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex10.yaml new file mode 100644 index 0000000..a8e684f --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex10.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [25, 30] + name: agent0 + start: [22, 10] +- goal: [14, 24] + name: agent1 + start: [29, 26] +- goal: [2, 12] + name: agent2 + start: [4, 9] +- goal: [25, 3] + name: agent3 + start: [21, 22] +- goal: [15, 21] + name: agent4 + start: [11, 7] +- goal: [0, 20] + name: agent5 + start: [16, 16] +- goal: [4, 7] + name: agent6 + start: [0, 3] +- goal: [18, 2] + name: agent7 + start: [23, 9] +- goal: [16, 8] + name: agent8 + start: [24, 12] +- goal: [12, 8] + name: agent9 + start: [27, 9] +- goal: [25, 13] + name: agent10 + start: [10, 7] +- goal: [13, 6] + name: agent11 + start: [19, 18] +- goal: [9, 8] + name: agent12 + start: [6, 20] +- goal: [3, 12] + name: agent13 + start: [22, 6] +- goal: [5, 22] + name: agent14 + start: [24, 20] +- goal: [3, 13] + name: agent15 + start: [11, 11] +- goal: [20, 14] + name: agent16 + start: [21, 11] +- goal: [17, 0] + name: agent17 + start: [13, 6] +- goal: [8, 22] + name: agent18 + start: [17, 1] +- goal: [1, 14] + name: agent19 + start: [22, 2] +- goal: [30, 5] + name: agent20 + start: [11, 31] +- goal: [13, 21] + name: agent21 + start: [24, 2] +- goal: [10, 30] + name: agent22 + start: [26, 20] +- goal: [27, 29] + name: agent23 + start: [27, 23] +- goal: [24, 2] + name: agent24 + start: [3, 3] +- goal: [14, 16] + name: agent25 + start: [19, 9] +- goal: [7, 23] + name: agent26 + start: [13, 15] +- goal: [25, 4] + name: agent27 + start: [24, 7] +- goal: [22, 4] + name: agent28 + start: [14, 11] +- goal: [15, 10] + name: agent29 + start: [5, 15] +- goal: [6, 26] + name: agent30 + start: [13, 18] +- goal: [14, 3] + name: agent31 + start: [8, 1] +- goal: [17, 12] + name: agent32 + start: [1, 8] +- goal: [9, 24] + name: agent33 + start: [4, 14] +- goal: [19, 19] + name: agent34 + start: [0, 11] +- goal: [29, 30] + name: agent35 + start: [1, 9] +- goal: [10, 14] + name: agent36 + start: [20, 31] +- goal: [27, 3] + name: agent37 + start: [12, 31] +- goal: [16, 16] + name: agent38 + start: [18, 7] +- goal: [21, 15] + name: agent39 + start: [12, 27] +- goal: [15, 5] + name: agent40 + start: [1, 30] +- goal: [13, 16] + name: agent41 + start: [19, 5] +- goal: [31, 28] + name: agent42 + start: [21, 13] +- goal: [5, 14] + name: agent43 + start: [23, 20] +- goal: [31, 16] + name: agent44 + start: [31, 4] +- goal: [10, 24] + name: agent45 + start: [24, 6] +- goal: [2, 13] + name: agent46 + start: [31, 28] +- goal: [9, 28] + name: agent47 + start: [28, 15] +- goal: [25, 21] + name: agent48 + start: [28, 18] +- goal: [2, 3] + name: agent49 + start: [14, 8] +- goal: [23, 7] + name: agent50 + start: [16, 2] +- goal: [21, 30] + name: agent51 + start: [16, 21] +- goal: [16, 31] + name: agent52 + start: [27, 22] +- goal: [27, 19] + name: agent53 + start: [6, 13] +- goal: [2, 16] + name: agent54 + start: [9, 16] +- goal: [16, 21] + name: agent55 + start: [20, 9] +- goal: [28, 2] + name: agent56 + start: [30, 5] +- goal: [1, 19] + name: agent57 + start: [2, 13] +- goal: [22, 23] + name: agent58 + start: [26, 6] +- goal: [24, 23] + name: agent59 + start: [5, 21] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [31, 10] + - !!python/tuple [27, 14] + - !!python/tuple [16, 20] + - !!python/tuple [0, 22] + - !!python/tuple [18, 10] + - !!python/tuple [26, 19] + - !!python/tuple [25, 20] + - !!python/tuple [13, 2] + - !!python/tuple [31, 25] + - !!python/tuple [11, 4] + - !!python/tuple [17, 10] + - !!python/tuple [3, 21] + - !!python/tuple [19, 15] + - !!python/tuple [26, 3] + - !!python/tuple [21, 24] + - !!python/tuple [22, 31] + - !!python/tuple [26, 23] + - !!python/tuple [29, 15] + - !!python/tuple [26, 13] + - !!python/tuple [17, 14] + - !!python/tuple [1, 22] + - !!python/tuple [21, 1] + - !!python/tuple [3, 1] + - !!python/tuple [0, 14] + - !!python/tuple [14, 27] + - !!python/tuple [8, 4] + - !!python/tuple [17, 16] + - !!python/tuple [30, 3] + - !!python/tuple [22, 27] + - !!python/tuple [16, 11] + - !!python/tuple [0, 24] + - !!python/tuple [15, 0] + - !!python/tuple [24, 3] + - !!python/tuple [28, 8] + - !!python/tuple [17, 30] + - !!python/tuple [17, 7] + - !!python/tuple [1, 18] + - !!python/tuple [20, 20] + - !!python/tuple [30, 14] + - !!python/tuple [24, 19] + - !!python/tuple [8, 3] + - !!python/tuple [7, 31] + - !!python/tuple [4, 8] + - !!python/tuple [12, 10] + - !!python/tuple [15, 7] + - !!python/tuple [2, 28] + - !!python/tuple [15, 4] + - !!python/tuple [15, 3] + - !!python/tuple [15, 8] + - !!python/tuple [14, 14] + - !!python/tuple [7, 26] + - !!python/tuple [7, 8] + - !!python/tuple [23, 26] + - !!python/tuple [19, 22] + - !!python/tuple [28, 17] + - !!python/tuple [8, 7] + - !!python/tuple [26, 25] + - !!python/tuple [28, 19] + - !!python/tuple [5, 7] + - !!python/tuple [19, 31] + - !!python/tuple [6, 27] + - !!python/tuple [17, 18] + - !!python/tuple [12, 3] + - !!python/tuple [29, 20] + - !!python/tuple [29, 31] + - !!python/tuple [24, 13] + - !!python/tuple [10, 28] + - !!python/tuple [29, 29] + - !!python/tuple [29, 16] + - !!python/tuple [8, 19] + - !!python/tuple [29, 10] + - !!python/tuple [28, 23] + - !!python/tuple [7, 1] + - !!python/tuple [2, 8] + - !!python/tuple [18, 20] + - !!python/tuple [18, 22] + - !!python/tuple [28, 27] + - !!python/tuple [0, 12] + - !!python/tuple [4, 28] + - !!python/tuple [28, 30] + - !!python/tuple [8, 20] + - !!python/tuple [0, 21] + - !!python/tuple [4, 24] + - !!python/tuple [22, 22] + - !!python/tuple [8, 15] + - !!python/tuple [3, 5] + - !!python/tuple [6, 6] + - !!python/tuple [11, 23] + - !!python/tuple [28, 28] + - !!python/tuple [29, 18] + - !!python/tuple [14, 23] + - !!python/tuple [0, 2] + - !!python/tuple [14, 5] + - !!python/tuple [25, 5] + - !!python/tuple [8, 16] + - !!python/tuple [27, 25] + - !!python/tuple [27, 8] + - !!python/tuple [5, 30] + - !!python/tuple [20, 27] + - !!python/tuple [18, 21] + - !!python/tuple [21, 10] + - !!python/tuple [26, 22] + - !!python/tuple [19, 25] + - !!python/tuple [12, 5] + - !!python/tuple [7, 5] + - !!python/tuple [0, 9] + - !!python/tuple [16, 29] + - !!python/tuple [23, 23] + - !!python/tuple [11, 9] + - !!python/tuple [28, 5] + - !!python/tuple [1, 16] + - !!python/tuple [26, 28] + - !!python/tuple [28, 0] + - !!python/tuple [14, 4] + - !!python/tuple [7, 9] + - !!python/tuple [6, 25] + - !!python/tuple [21, 9] + - !!python/tuple [15, 22] + - !!python/tuple [29, 8] + - !!python/tuple [10, 19] + - !!python/tuple [7, 17] + - !!python/tuple [18, 11] + - !!python/tuple [20, 16] + - !!python/tuple [13, 31] + - !!python/tuple [14, 19] + - !!python/tuple [6, 15] + - !!python/tuple [17, 31] + - !!python/tuple [20, 23] + - !!python/tuple [20, 2] + - !!python/tuple [28, 6] + - !!python/tuple [19, 10] + - !!python/tuple [4, 20] + - !!python/tuple [6, 29] + - !!python/tuple [0, 0] + - !!python/tuple [0, 16] + - !!python/tuple [4, 1] + - !!python/tuple [2, 1] + - !!python/tuple [26, 21] + - !!python/tuple [22, 26] + - !!python/tuple [21, 20] + - !!python/tuple [22, 29] + - !!python/tuple [27, 1] + - !!python/tuple [23, 14] + - !!python/tuple [1, 2] + - !!python/tuple [19, 16] + - !!python/tuple [5, 29] + - !!python/tuple [15, 18] + - !!python/tuple [11, 15] + - !!python/tuple [31, 3] + - !!python/tuple [3, 29] + - !!python/tuple [9, 26] + - !!python/tuple [26, 0] + - !!python/tuple [22, 12] + - !!python/tuple [12, 0] + - !!python/tuple [0, 5] + - !!python/tuple [30, 31] + - !!python/tuple [10, 31] + - !!python/tuple [12, 18] + - !!python/tuple [14, 9] + - !!python/tuple [30, 2] + - !!python/tuple [9, 2] + - !!python/tuple [7, 16] + - !!python/tuple [23, 6] + - !!python/tuple [22, 15] + - !!python/tuple [15, 6] + - !!python/tuple [9, 13] + - !!python/tuple [31, 24] + - !!python/tuple [3, 28] + - !!python/tuple [3, 24] + - !!python/tuple [28, 3] + - !!python/tuple [19, 8] + - !!python/tuple [18, 24] + - !!python/tuple [23, 5] + - !!python/tuple [30, 16] + - !!python/tuple [30, 19] + - !!python/tuple [16, 0] + - !!python/tuple [28, 4] + - !!python/tuple [0, 7] + - !!python/tuple [7, 24] + - !!python/tuple [0, 18] + - !!python/tuple [15, 1] + - !!python/tuple [28, 21] + - !!python/tuple [22, 5] + - !!python/tuple [12, 16] + - !!python/tuple [18, 4] + - !!python/tuple [4, 15] + - !!python/tuple [24, 10] + - !!python/tuple [27, 24] + - !!python/tuple [27, 26] + - !!python/tuple [14, 25] + - !!python/tuple [13, 11] + - !!python/tuple [10, 29] + - !!python/tuple [3, 20] + - !!python/tuple [0, 31] + - !!python/tuple [12, 9] + - !!python/tuple [25, 0] + - !!python/tuple [19, 23] + - !!python/tuple [0, 30] + - !!python/tuple [11, 3] + - !!python/tuple [8, 2] + - !!python/tuple [27, 27] + - !!python/tuple [30, 21] + - !!python/tuple [20, 4] + - !!python/tuple [26, 9] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex11.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex11.yaml new file mode 100644 index 0000000..3413e9d --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex11.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [13, 23] + name: agent0 + start: [6, 2] +- goal: [15, 10] + name: agent1 + start: [30, 17] +- goal: [14, 24] + name: agent2 + start: [29, 17] +- goal: [21, 3] + name: agent3 + start: [27, 8] +- goal: [27, 14] + name: agent4 + start: [19, 2] +- goal: [22, 31] + name: agent5 + start: [16, 9] +- goal: [6, 16] + name: agent6 + start: [12, 24] +- goal: [21, 21] + name: agent7 + start: [0, 6] +- goal: [14, 29] + name: agent8 + start: [30, 16] +- goal: [24, 9] + name: agent9 + start: [15, 8] +- goal: [3, 1] + name: agent10 + start: [19, 3] +- goal: [18, 22] + name: agent11 + start: [24, 15] +- goal: [12, 19] + name: agent12 + start: [1, 2] +- goal: [10, 30] + name: agent13 + start: [31, 0] +- goal: [3, 16] + name: agent14 + start: [23, 7] +- goal: [6, 27] + name: agent15 + start: [22, 19] +- goal: [11, 31] + name: agent16 + start: [14, 7] +- goal: [26, 13] + name: agent17 + start: [24, 0] +- goal: [0, 7] + name: agent18 + start: [23, 8] +- goal: [9, 13] + name: agent19 + start: [6, 9] +- goal: [12, 28] + name: agent20 + start: [27, 0] +- goal: [6, 20] + name: agent21 + start: [16, 23] +- goal: [0, 0] + name: agent22 + start: [27, 24] +- goal: [7, 25] + name: agent23 + start: [26, 26] +- goal: [23, 31] + name: agent24 + start: [25, 14] +- goal: [13, 26] + name: agent25 + start: [8, 24] +- goal: [28, 5] + name: agent26 + start: [20, 15] +- goal: [30, 3] + name: agent27 + start: [0, 17] +- goal: [12, 3] + name: agent28 + start: [25, 11] +- goal: [27, 19] + name: agent29 + start: [29, 18] +- goal: [9, 3] + name: agent30 + start: [20, 29] +- goal: [8, 26] + name: agent31 + start: [16, 25] +- goal: [11, 0] + name: agent32 + start: [1, 29] +- goal: [31, 11] + name: agent33 + start: [2, 15] +- goal: [1, 8] + name: agent34 + start: [14, 23] +- goal: [15, 23] + name: agent35 + start: [28, 31] +- goal: [14, 12] + name: agent36 + start: [27, 26] +- goal: [0, 17] + name: agent37 + start: [0, 28] +- goal: [0, 30] + name: agent38 + start: [18, 30] +- goal: [24, 4] + name: agent39 + start: [5, 9] +- goal: [11, 17] + name: agent40 + start: [15, 27] +- goal: [26, 1] + name: agent41 + start: [7, 24] +- goal: [0, 29] + name: agent42 + start: [28, 29] +- goal: [18, 15] + name: agent43 + start: [18, 14] +- goal: [4, 17] + name: agent44 + start: [0, 5] +- goal: [7, 1] + name: agent45 + start: [23, 18] +- goal: [4, 5] + name: agent46 + start: [30, 19] +- goal: [3, 8] + name: agent47 + start: [14, 6] +- goal: [15, 8] + name: agent48 + start: [26, 1] +- goal: [7, 20] + name: agent49 + start: [23, 2] +- goal: [5, 30] + name: agent50 + start: [11, 25] +- goal: [15, 15] + name: agent51 + start: [28, 27] +- goal: [27, 6] + name: agent52 + start: [11, 18] +- goal: [29, 24] + name: agent53 + start: [11, 27] +- goal: [11, 11] + name: agent54 + start: [9, 11] +- goal: [17, 29] + name: agent55 + start: [10, 23] +- goal: [21, 2] + name: agent56 + start: [6, 7] +- goal: [28, 27] + name: agent57 + start: [28, 20] +- goal: [0, 23] + name: agent58 + start: [5, 8] +- goal: [28, 11] + name: agent59 + start: [16, 22] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [26, 31] + - !!python/tuple [19, 1] + - !!python/tuple [2, 30] + - !!python/tuple [13, 10] + - !!python/tuple [1, 4] + - !!python/tuple [21, 6] + - !!python/tuple [20, 14] + - !!python/tuple [8, 23] + - !!python/tuple [12, 7] + - !!python/tuple [19, 30] + - !!python/tuple [16, 4] + - !!python/tuple [26, 23] + - !!python/tuple [25, 22] + - !!python/tuple [28, 1] + - !!python/tuple [25, 20] + - !!python/tuple [27, 21] + - !!python/tuple [30, 5] + - !!python/tuple [5, 3] + - !!python/tuple [25, 24] + - !!python/tuple [20, 9] + - !!python/tuple [7, 18] + - !!python/tuple [4, 28] + - !!python/tuple [14, 2] + - !!python/tuple [4, 27] + - !!python/tuple [13, 20] + - !!python/tuple [4, 29] + - !!python/tuple [11, 16] + - !!python/tuple [23, 23] + - !!python/tuple [8, 7] + - !!python/tuple [25, 21] + - !!python/tuple [3, 26] + - !!python/tuple [0, 26] + - !!python/tuple [20, 20] + - !!python/tuple [22, 25] + - !!python/tuple [7, 31] + - !!python/tuple [23, 24] + - !!python/tuple [4, 16] + - !!python/tuple [28, 18] + - !!python/tuple [24, 1] + - !!python/tuple [8, 16] + - !!python/tuple [28, 28] + - !!python/tuple [31, 7] + - !!python/tuple [2, 10] + - !!python/tuple [26, 6] + - !!python/tuple [20, 21] + - !!python/tuple [19, 12] + - !!python/tuple [29, 26] + - !!python/tuple [20, 10] + - !!python/tuple [30, 25] + - !!python/tuple [12, 27] + - !!python/tuple [26, 9] + - !!python/tuple [7, 5] + - !!python/tuple [7, 21] + - !!python/tuple [17, 10] + - !!python/tuple [2, 24] + - !!python/tuple [10, 12] + - !!python/tuple [5, 16] + - !!python/tuple [1, 26] + - !!python/tuple [9, 14] + - !!python/tuple [6, 6] + - !!python/tuple [18, 6] + - !!python/tuple [3, 11] + - !!python/tuple [12, 23] + - !!python/tuple [14, 14] + - !!python/tuple [7, 27] + - !!python/tuple [24, 19] + - !!python/tuple [9, 15] + - !!python/tuple [16, 20] + - !!python/tuple [20, 17] + - !!python/tuple [2, 11] + - !!python/tuple [9, 2] + - !!python/tuple [7, 13] + - !!python/tuple [5, 20] + - !!python/tuple [14, 4] + - !!python/tuple [20, 12] + - !!python/tuple [22, 28] + - !!python/tuple [17, 6] + - !!python/tuple [17, 15] + - !!python/tuple [8, 28] + - !!python/tuple [4, 6] + - !!python/tuple [1, 22] + - !!python/tuple [10, 16] + - !!python/tuple [9, 31] + - !!python/tuple [27, 11] + - !!python/tuple [6, 15] + - !!python/tuple [30, 24] + - !!python/tuple [13, 5] + - !!python/tuple [13, 17] + - !!python/tuple [5, 22] + - !!python/tuple [18, 21] + - !!python/tuple [15, 11] + - !!python/tuple [17, 17] + - !!python/tuple [30, 23] + - !!python/tuple [26, 16] + - !!python/tuple [25, 25] + - !!python/tuple [9, 20] + - !!python/tuple [28, 16] + - !!python/tuple [27, 18] + - !!python/tuple [10, 4] + - !!python/tuple [9, 12] + - !!python/tuple [18, 12] + - !!python/tuple [19, 7] + - !!python/tuple [17, 12] + - !!python/tuple [5, 24] + - !!python/tuple [12, 8] + - !!python/tuple [16, 3] + - !!python/tuple [27, 16] + - !!python/tuple [4, 7] + - !!python/tuple [4, 4] + - !!python/tuple [19, 22] + - !!python/tuple [16, 7] + - !!python/tuple [5, 31] + - !!python/tuple [22, 15] + - !!python/tuple [0, 3] + - !!python/tuple [2, 17] + - !!python/tuple [28, 9] + - !!python/tuple [22, 12] + - !!python/tuple [26, 29] + - !!python/tuple [26, 8] + - !!python/tuple [12, 4] + - !!python/tuple [22, 2] + - !!python/tuple [20, 3] + - !!python/tuple [2, 1] + - !!python/tuple [13, 22] + - !!python/tuple [24, 12] + - !!python/tuple [8, 6] + - !!python/tuple [21, 25] + - !!python/tuple [10, 22] + - !!python/tuple [16, 27] + - !!python/tuple [29, 5] + - !!python/tuple [20, 1] + - !!python/tuple [16, 24] + - !!python/tuple [0, 27] + - !!python/tuple [22, 23] + - !!python/tuple [13, 11] + - !!python/tuple [13, 8] + - !!python/tuple [18, 5] + - !!python/tuple [5, 7] + - !!python/tuple [21, 19] + - !!python/tuple [18, 18] + - !!python/tuple [19, 13] + - !!python/tuple [29, 29] + - !!python/tuple [10, 1] + - !!python/tuple [18, 11] + - !!python/tuple [8, 17] + - !!python/tuple [24, 27] + - !!python/tuple [20, 31] + - !!python/tuple [8, 25] + - !!python/tuple [22, 1] + - !!python/tuple [26, 28] + - !!python/tuple [12, 25] + - !!python/tuple [26, 5] + - !!python/tuple [1, 17] + - !!python/tuple [22, 11] + - !!python/tuple [14, 22] + - !!python/tuple [16, 18] + - !!python/tuple [31, 13] + - !!python/tuple [27, 13] + - !!python/tuple [20, 0] + - !!python/tuple [9, 27] + - !!python/tuple [8, 14] + - !!python/tuple [22, 9] + - !!python/tuple [15, 20] + - !!python/tuple [24, 22] + - !!python/tuple [10, 17] + - !!python/tuple [1, 9] + - !!python/tuple [26, 24] + - !!python/tuple [19, 24] + - !!python/tuple [24, 28] + - !!python/tuple [1, 15] + - !!python/tuple [20, 26] + - !!python/tuple [30, 27] + - !!python/tuple [12, 16] + - !!python/tuple [8, 2] + - !!python/tuple [8, 19] + - !!python/tuple [17, 20] + - !!python/tuple [26, 21] + - !!python/tuple [11, 2] + - !!python/tuple [5, 17] + - !!python/tuple [5, 1] + - !!python/tuple [10, 5] + - !!python/tuple [16, 2] + - !!python/tuple [2, 29] + - !!python/tuple [26, 15] + - !!python/tuple [8, 8] + - !!python/tuple [20, 11] + - !!python/tuple [5, 27] + - !!python/tuple [16, 11] + - !!python/tuple [28, 2] + - !!python/tuple [21, 23] + - !!python/tuple [18, 9] + - !!python/tuple [3, 30] + - !!python/tuple [25, 12] + - !!python/tuple [7, 22] + - !!python/tuple [9, 22] + - !!python/tuple [0, 20] + - !!python/tuple [16, 12] + - !!python/tuple [11, 1] + - !!python/tuple [23, 12] + - !!python/tuple [20, 13] + - !!python/tuple [11, 5] + - !!python/tuple [2, 6] + - !!python/tuple [7, 23] + - !!python/tuple [31, 2] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex12.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex12.yaml new file mode 100644 index 0000000..41c758d --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex12.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [19, 12] + name: agent0 + start: [23, 15] +- goal: [28, 17] + name: agent1 + start: [22, 31] +- goal: [25, 25] + name: agent2 + start: [22, 3] +- goal: [21, 20] + name: agent3 + start: [24, 15] +- goal: [19, 5] + name: agent4 + start: [17, 12] +- goal: [27, 26] + name: agent5 + start: [25, 11] +- goal: [4, 15] + name: agent6 + start: [10, 9] +- goal: [11, 9] + name: agent7 + start: [31, 5] +- goal: [19, 10] + name: agent8 + start: [30, 8] +- goal: [6, 12] + name: agent9 + start: [27, 31] +- goal: [14, 24] + name: agent10 + start: [26, 18] +- goal: [4, 25] + name: agent11 + start: [16, 11] +- goal: [21, 11] + name: agent12 + start: [15, 9] +- goal: [22, 25] + name: agent13 + start: [27, 6] +- goal: [31, 25] + name: agent14 + start: [31, 31] +- goal: [6, 17] + name: agent15 + start: [0, 31] +- goal: [19, 21] + name: agent16 + start: [8, 19] +- goal: [18, 25] + name: agent17 + start: [5, 23] +- goal: [12, 27] + name: agent18 + start: [29, 15] +- goal: [18, 7] + name: agent19 + start: [9, 20] +- goal: [8, 9] + name: agent20 + start: [24, 29] +- goal: [4, 0] + name: agent21 + start: [11, 8] +- goal: [25, 18] + name: agent22 + start: [24, 0] +- goal: [29, 20] + name: agent23 + start: [9, 18] +- goal: [16, 4] + name: agent24 + start: [28, 31] +- goal: [8, 13] + name: agent25 + start: [6, 16] +- goal: [3, 7] + name: agent26 + start: [0, 18] +- goal: [8, 26] + name: agent27 + start: [15, 12] +- goal: [2, 5] + name: agent28 + start: [29, 30] +- goal: [1, 26] + name: agent29 + start: [9, 28] +- goal: [8, 10] + name: agent30 + start: [2, 11] +- goal: [31, 6] + name: agent31 + start: [23, 26] +- goal: [20, 15] + name: agent32 + start: [28, 30] +- goal: [17, 23] + name: agent33 + start: [23, 16] +- goal: [22, 27] + name: agent34 + start: [30, 21] +- goal: [1, 8] + name: agent35 + start: [13, 10] +- goal: [4, 11] + name: agent36 + start: [16, 9] +- goal: [9, 2] + name: agent37 + start: [23, 5] +- goal: [15, 13] + name: agent38 + start: [29, 28] +- goal: [5, 9] + name: agent39 + start: [9, 11] +- goal: [5, 24] + name: agent40 + start: [28, 29] +- goal: [10, 9] + name: agent41 + start: [23, 13] +- goal: [25, 22] + name: agent42 + start: [24, 31] +- goal: [20, 17] + name: agent43 + start: [16, 23] +- goal: [1, 0] + name: agent44 + start: [22, 17] +- goal: [11, 0] + name: agent45 + start: [16, 4] +- goal: [13, 31] + name: agent46 + start: [11, 26] +- goal: [18, 12] + name: agent47 + start: [19, 23] +- goal: [25, 21] + name: agent48 + start: [23, 28] +- goal: [18, 27] + name: agent49 + start: [6, 28] +- goal: [10, 19] + name: agent50 + start: [29, 19] +- goal: [11, 3] + name: agent51 + start: [12, 19] +- goal: [0, 4] + name: agent52 + start: [30, 27] +- goal: [27, 2] + name: agent53 + start: [23, 7] +- goal: [25, 31] + name: agent54 + start: [19, 2] +- goal: [12, 10] + name: agent55 + start: [5, 1] +- goal: [6, 10] + name: agent56 + start: [29, 27] +- goal: [19, 15] + name: agent57 + start: [24, 19] +- goal: [28, 5] + name: agent58 + start: [20, 15] +- goal: [6, 6] + name: agent59 + start: [12, 18] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [18, 16] + - !!python/tuple [22, 26] + - !!python/tuple [25, 6] + - !!python/tuple [29, 12] + - !!python/tuple [31, 22] + - !!python/tuple [14, 1] + - !!python/tuple [31, 0] + - !!python/tuple [14, 29] + - !!python/tuple [15, 19] + - !!python/tuple [28, 19] + - !!python/tuple [15, 15] + - !!python/tuple [4, 1] + - !!python/tuple [31, 28] + - !!python/tuple [25, 16] + - !!python/tuple [29, 4] + - !!python/tuple [19, 1] + - !!python/tuple [27, 17] + - !!python/tuple [6, 27] + - !!python/tuple [11, 11] + - !!python/tuple [25, 29] + - !!python/tuple [1, 22] + - !!python/tuple [26, 23] + - !!python/tuple [15, 18] + - !!python/tuple [11, 17] + - !!python/tuple [30, 14] + - !!python/tuple [29, 13] + - !!python/tuple [7, 20] + - !!python/tuple [19, 16] + - !!python/tuple [7, 16] + - !!python/tuple [25, 1] + - !!python/tuple [19, 25] + - !!python/tuple [12, 25] + - !!python/tuple [19, 11] + - !!python/tuple [6, 14] + - !!python/tuple [14, 30] + - !!python/tuple [9, 6] + - !!python/tuple [23, 8] + - !!python/tuple [15, 11] + - !!python/tuple [26, 20] + - !!python/tuple [19, 22] + - !!python/tuple [18, 15] + - !!python/tuple [24, 3] + - !!python/tuple [26, 9] + - !!python/tuple [13, 19] + - !!python/tuple [1, 28] + - !!python/tuple [8, 17] + - !!python/tuple [14, 6] + - !!python/tuple [8, 30] + - !!python/tuple [15, 23] + - !!python/tuple [4, 29] + - !!python/tuple [0, 30] + - !!python/tuple [10, 20] + - !!python/tuple [10, 25] + - !!python/tuple [13, 26] + - !!python/tuple [7, 27] + - !!python/tuple [15, 1] + - !!python/tuple [19, 27] + - !!python/tuple [31, 12] + - !!python/tuple [13, 11] + - !!python/tuple [29, 24] + - !!python/tuple [23, 18] + - !!python/tuple [16, 7] + - !!python/tuple [6, 5] + - !!python/tuple [17, 27] + - !!python/tuple [2, 28] + - !!python/tuple [12, 30] + - !!python/tuple [3, 8] + - !!python/tuple [4, 19] + - !!python/tuple [24, 14] + - !!python/tuple [18, 6] + - !!python/tuple [30, 31] + - !!python/tuple [28, 0] + - !!python/tuple [18, 10] + - !!python/tuple [17, 30] + - !!python/tuple [10, 21] + - !!python/tuple [19, 0] + - !!python/tuple [27, 18] + - !!python/tuple [2, 10] + - !!python/tuple [29, 11] + - !!python/tuple [16, 12] + - !!python/tuple [3, 26] + - !!python/tuple [7, 15] + - !!python/tuple [12, 4] + - !!python/tuple [0, 1] + - !!python/tuple [17, 29] + - !!python/tuple [26, 27] + - !!python/tuple [17, 22] + - !!python/tuple [2, 19] + - !!python/tuple [26, 7] + - !!python/tuple [31, 3] + - !!python/tuple [22, 24] + - !!python/tuple [14, 10] + - !!python/tuple [25, 2] + - !!python/tuple [2, 0] + - !!python/tuple [5, 0] + - !!python/tuple [20, 22] + - !!python/tuple [4, 2] + - !!python/tuple [23, 12] + - !!python/tuple [6, 21] + - !!python/tuple [12, 24] + - !!python/tuple [1, 7] + - !!python/tuple [18, 9] + - !!python/tuple [28, 15] + - !!python/tuple [17, 28] + - !!python/tuple [9, 9] + - !!python/tuple [18, 4] + - !!python/tuple [31, 14] + - !!python/tuple [10, 8] + - !!python/tuple [11, 14] + - !!python/tuple [4, 8] + - !!python/tuple [26, 11] + - !!python/tuple [21, 18] + - !!python/tuple [11, 21] + - !!python/tuple [27, 0] + - !!python/tuple [6, 29] + - !!python/tuple [13, 8] + - !!python/tuple [9, 5] + - !!python/tuple [10, 11] + - !!python/tuple [29, 2] + - !!python/tuple [24, 27] + - !!python/tuple [9, 23] + - !!python/tuple [31, 11] + - !!python/tuple [7, 11] + - !!python/tuple [24, 13] + - !!python/tuple [4, 14] + - !!python/tuple [23, 10] + - !!python/tuple [23, 9] + - !!python/tuple [3, 15] + - !!python/tuple [0, 21] + - !!python/tuple [28, 12] + - !!python/tuple [9, 17] + - !!python/tuple [7, 30] + - !!python/tuple [18, 2] + - !!python/tuple [20, 3] + - !!python/tuple [10, 5] + - !!python/tuple [1, 16] + - !!python/tuple [14, 7] + - !!python/tuple [3, 9] + - !!python/tuple [3, 4] + - !!python/tuple [8, 28] + - !!python/tuple [8, 12] + - !!python/tuple [7, 21] + - !!python/tuple [3, 25] + - !!python/tuple [18, 23] + - !!python/tuple [14, 16] + - !!python/tuple [17, 25] + - !!python/tuple [4, 9] + - !!python/tuple [2, 26] + - !!python/tuple [29, 23] + - !!python/tuple [23, 23] + - !!python/tuple [17, 7] + - !!python/tuple [29, 14] + - !!python/tuple [27, 22] + - !!python/tuple [13, 1] + - !!python/tuple [9, 26] + - !!python/tuple [16, 30] + - !!python/tuple [11, 19] + - !!python/tuple [31, 24] + - !!python/tuple [30, 18] + - !!python/tuple [29, 3] + - !!python/tuple [22, 28] + - !!python/tuple [27, 11] + - !!python/tuple [3, 27] + - !!python/tuple [3, 20] + - !!python/tuple [17, 6] + - !!python/tuple [5, 10] + - !!python/tuple [3, 29] + - !!python/tuple [26, 13] + - !!python/tuple [7, 29] + - !!python/tuple [13, 28] + - !!python/tuple [28, 1] + - !!python/tuple [27, 5] + - !!python/tuple [19, 19] + - !!python/tuple [18, 17] + - !!python/tuple [18, 14] + - !!python/tuple [13, 23] + - !!python/tuple [2, 27] + - !!python/tuple [21, 29] + - !!python/tuple [10, 12] + - !!python/tuple [31, 21] + - !!python/tuple [20, 31] + - !!python/tuple [4, 4] + - !!python/tuple [1, 25] + - !!python/tuple [7, 0] + - !!python/tuple [17, 5] + - !!python/tuple [18, 26] + - !!python/tuple [4, 10] + - !!python/tuple [8, 2] + - !!python/tuple [18, 29] + - !!python/tuple [27, 20] + - !!python/tuple [11, 13] + - !!python/tuple [13, 25] + - !!python/tuple [30, 9] + - !!python/tuple [10, 2] + - !!python/tuple [8, 14] + - !!python/tuple [29, 1] + - !!python/tuple [20, 8] + - !!python/tuple [12, 7] + - !!python/tuple [10, 23] + - !!python/tuple [29, 6] + - !!python/tuple [23, 6] + - !!python/tuple [6, 1] + - !!python/tuple [15, 6] + - !!python/tuple [10, 17] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex13.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex13.yaml new file mode 100644 index 0000000..1803b8a --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex13.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [0, 8] + name: agent0 + start: [2, 27] +- goal: [30, 19] + name: agent1 + start: [29, 3] +- goal: [20, 25] + name: agent2 + start: [11, 7] +- goal: [7, 29] + name: agent3 + start: [11, 25] +- goal: [16, 1] + name: agent4 + start: [19, 27] +- goal: [17, 14] + name: agent5 + start: [30, 21] +- goal: [31, 9] + name: agent6 + start: [28, 24] +- goal: [28, 18] + name: agent7 + start: [25, 24] +- goal: [10, 19] + name: agent8 + start: [19, 3] +- goal: [16, 7] + name: agent9 + start: [9, 21] +- goal: [18, 21] + name: agent10 + start: [5, 15] +- goal: [31, 23] + name: agent11 + start: [12, 3] +- goal: [8, 0] + name: agent12 + start: [10, 12] +- goal: [9, 8] + name: agent13 + start: [31, 22] +- goal: [22, 14] + name: agent14 + start: [25, 20] +- goal: [30, 9] + name: agent15 + start: [30, 6] +- goal: [25, 5] + name: agent16 + start: [13, 24] +- goal: [6, 17] + name: agent17 + start: [29, 25] +- goal: [14, 4] + name: agent18 + start: [6, 22] +- goal: [19, 22] + name: agent19 + start: [16, 24] +- goal: [29, 29] + name: agent20 + start: [1, 28] +- goal: [26, 2] + name: agent21 + start: [14, 10] +- goal: [12, 2] + name: agent22 + start: [4, 27] +- goal: [29, 13] + name: agent23 + start: [4, 2] +- goal: [0, 5] + name: agent24 + start: [11, 2] +- goal: [26, 24] + name: agent25 + start: [6, 6] +- goal: [21, 1] + name: agent26 + start: [27, 15] +- goal: [29, 19] + name: agent27 + start: [13, 25] +- goal: [0, 20] + name: agent28 + start: [26, 22] +- goal: [22, 24] + name: agent29 + start: [20, 3] +- goal: [23, 26] + name: agent30 + start: [2, 1] +- goal: [10, 1] + name: agent31 + start: [3, 27] +- goal: [3, 29] + name: agent32 + start: [6, 7] +- goal: [0, 7] + name: agent33 + start: [28, 12] +- goal: [20, 27] + name: agent34 + start: [1, 14] +- goal: [7, 23] + name: agent35 + start: [19, 8] +- goal: [11, 19] + name: agent36 + start: [27, 13] +- goal: [23, 6] + name: agent37 + start: [22, 5] +- goal: [10, 16] + name: agent38 + start: [7, 14] +- goal: [18, 13] + name: agent39 + start: [8, 21] +- goal: [15, 15] + name: agent40 + start: [26, 24] +- goal: [12, 21] + name: agent41 + start: [30, 2] +- goal: [2, 14] + name: agent42 + start: [19, 1] +- goal: [6, 23] + name: agent43 + start: [26, 17] +- goal: [1, 0] + name: agent44 + start: [4, 10] +- goal: [18, 5] + name: agent45 + start: [13, 17] +- goal: [18, 7] + name: agent46 + start: [26, 30] +- goal: [20, 7] + name: agent47 + start: [7, 12] +- goal: [13, 4] + name: agent48 + start: [11, 1] +- goal: [2, 2] + name: agent49 + start: [16, 26] +- goal: [6, 21] + name: agent50 + start: [3, 21] +- goal: [12, 0] + name: agent51 + start: [8, 1] +- goal: [6, 0] + name: agent52 + start: [16, 9] +- goal: [13, 19] + name: agent53 + start: [19, 16] +- goal: [4, 10] + name: agent54 + start: [16, 22] +- goal: [11, 9] + name: agent55 + start: [27, 22] +- goal: [31, 7] + name: agent56 + start: [0, 6] +- goal: [7, 19] + name: agent57 + start: [20, 11] +- goal: [21, 8] + name: agent58 + start: [26, 20] +- goal: [28, 11] + name: agent59 + start: [12, 7] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [28, 13] + - !!python/tuple [2, 21] + - !!python/tuple [26, 19] + - !!python/tuple [30, 18] + - !!python/tuple [22, 17] + - !!python/tuple [4, 16] + - !!python/tuple [8, 29] + - !!python/tuple [27, 2] + - !!python/tuple [7, 28] + - !!python/tuple [9, 24] + - !!python/tuple [24, 30] + - !!python/tuple [0, 13] + - !!python/tuple [7, 10] + - !!python/tuple [31, 13] + - !!python/tuple [31, 30] + - !!python/tuple [5, 13] + - !!python/tuple [6, 3] + - !!python/tuple [4, 29] + - !!python/tuple [19, 15] + - !!python/tuple [3, 22] + - !!python/tuple [31, 10] + - !!python/tuple [8, 26] + - !!python/tuple [27, 23] + - !!python/tuple [16, 6] + - !!python/tuple [9, 5] + - !!python/tuple [5, 23] + - !!python/tuple [27, 0] + - !!python/tuple [6, 28] + - !!python/tuple [17, 2] + - !!python/tuple [12, 16] + - !!python/tuple [10, 7] + - !!python/tuple [21, 6] + - !!python/tuple [18, 18] + - !!python/tuple [1, 30] + - !!python/tuple [13, 11] + - !!python/tuple [19, 23] + - !!python/tuple [9, 10] + - !!python/tuple [4, 11] + - !!python/tuple [29, 10] + - !!python/tuple [4, 26] + - !!python/tuple [28, 0] + - !!python/tuple [20, 23] + - !!python/tuple [2, 28] + - !!python/tuple [24, 11] + - !!python/tuple [27, 25] + - !!python/tuple [6, 27] + - !!python/tuple [24, 24] + - !!python/tuple [19, 20] + - !!python/tuple [22, 12] + - !!python/tuple [17, 6] + - !!python/tuple [21, 28] + - !!python/tuple [28, 16] + - !!python/tuple [28, 15] + - !!python/tuple [1, 13] + - !!python/tuple [4, 5] + - !!python/tuple [15, 18] + - !!python/tuple [11, 29] + - !!python/tuple [14, 11] + - !!python/tuple [4, 20] + - !!python/tuple [11, 12] + - !!python/tuple [3, 15] + - !!python/tuple [31, 2] + - !!python/tuple [11, 24] + - !!python/tuple [21, 3] + - !!python/tuple [24, 12] + - !!python/tuple [9, 26] + - !!python/tuple [29, 23] + - !!python/tuple [28, 17] + - !!python/tuple [7, 16] + - !!python/tuple [5, 0] + - !!python/tuple [10, 24] + - !!python/tuple [26, 4] + - !!python/tuple [8, 16] + - !!python/tuple [2, 13] + - !!python/tuple [4, 12] + - !!python/tuple [23, 30] + - !!python/tuple [20, 0] + - !!python/tuple [28, 30] + - !!python/tuple [10, 3] + - !!python/tuple [0, 15] + - !!python/tuple [17, 28] + - !!python/tuple [4, 30] + - !!python/tuple [29, 22] + - !!python/tuple [7, 8] + - !!python/tuple [15, 11] + - !!python/tuple [6, 14] + - !!python/tuple [16, 13] + - !!python/tuple [16, 17] + - !!python/tuple [15, 29] + - !!python/tuple [23, 28] + - !!python/tuple [6, 12] + - !!python/tuple [25, 13] + - !!python/tuple [15, 23] + - !!python/tuple [1, 8] + - !!python/tuple [26, 13] + - !!python/tuple [20, 31] + - !!python/tuple [15, 19] + - !!python/tuple [17, 21] + - !!python/tuple [6, 8] + - !!python/tuple [2, 5] + - !!python/tuple [13, 15] + - !!python/tuple [7, 18] + - !!python/tuple [30, 26] + - !!python/tuple [27, 28] + - !!python/tuple [17, 24] + - !!python/tuple [5, 27] + - !!python/tuple [16, 23] + - !!python/tuple [0, 28] + - !!python/tuple [15, 30] + - !!python/tuple [15, 27] + - !!python/tuple [26, 18] + - !!python/tuple [9, 7] + - !!python/tuple [23, 22] + - !!python/tuple [20, 4] + - !!python/tuple [21, 18] + - !!python/tuple [24, 8] + - !!python/tuple [20, 18] + - !!python/tuple [10, 2] + - !!python/tuple [9, 29] + - !!python/tuple [0, 31] + - !!python/tuple [8, 18] + - !!python/tuple [16, 0] + - !!python/tuple [12, 12] + - !!python/tuple [17, 10] + - !!python/tuple [7, 27] + - !!python/tuple [16, 4] + - !!python/tuple [8, 3] + - !!python/tuple [26, 25] + - !!python/tuple [21, 14] + - !!python/tuple [15, 14] + - !!python/tuple [16, 11] + - !!python/tuple [10, 8] + - !!python/tuple [14, 12] + - !!python/tuple [21, 4] + - !!python/tuple [17, 12] + - !!python/tuple [25, 28] + - !!python/tuple [15, 8] + - !!python/tuple [16, 31] + - !!python/tuple [20, 16] + - !!python/tuple [17, 20] + - !!python/tuple [4, 6] + - !!python/tuple [30, 14] + - !!python/tuple [26, 14] + - !!python/tuple [13, 21] + - !!python/tuple [25, 26] + - !!python/tuple [25, 16] + - !!python/tuple [22, 6] + - !!python/tuple [9, 22] + - !!python/tuple [15, 6] + - !!python/tuple [15, 0] + - !!python/tuple [2, 11] + - !!python/tuple [3, 13] + - !!python/tuple [9, 2] + - !!python/tuple [2, 9] + - !!python/tuple [8, 10] + - !!python/tuple [17, 26] + - !!python/tuple [25, 11] + - !!python/tuple [4, 4] + - !!python/tuple [14, 24] + - !!python/tuple [16, 27] + - !!python/tuple [29, 5] + - !!python/tuple [20, 15] + - !!python/tuple [8, 20] + - !!python/tuple [30, 0] + - !!python/tuple [28, 9] + - !!python/tuple [13, 1] + - !!python/tuple [23, 7] + - !!python/tuple [16, 25] + - !!python/tuple [11, 3] + - !!python/tuple [18, 16] + - !!python/tuple [15, 16] + - !!python/tuple [1, 20] + - !!python/tuple [24, 18] + - !!python/tuple [28, 10] + - !!python/tuple [7, 17] + - !!python/tuple [11, 13] + - !!python/tuple [22, 25] + - !!python/tuple [19, 5] + - !!python/tuple [24, 13] + - !!python/tuple [17, 11] + - !!python/tuple [27, 5] + - !!python/tuple [14, 6] + - !!python/tuple [0, 18] + - !!python/tuple [31, 5] + - !!python/tuple [0, 3] + - !!python/tuple [3, 8] + - !!python/tuple [8, 4] + - !!python/tuple [2, 6] + - !!python/tuple [3, 30] + - !!python/tuple [16, 16] + - !!python/tuple [24, 3] + - !!python/tuple [4, 15] + - !!python/tuple [25, 30] + - !!python/tuple [17, 31] + - !!python/tuple [1, 10] + - !!python/tuple [5, 10] + - !!python/tuple [2, 23] + - !!python/tuple [12, 4] + - !!python/tuple [9, 20] + - !!python/tuple [24, 28] + - !!python/tuple [9, 25] + - !!python/tuple [23, 12] + - !!python/tuple [31, 1] + - !!python/tuple [13, 7] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex14.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex14.yaml new file mode 100644 index 0000000..a10aa2a --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex14.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [26, 31] + name: agent0 + start: [31, 19] +- goal: [29, 11] + name: agent1 + start: [4, 10] +- goal: [25, 12] + name: agent2 + start: [28, 8] +- goal: [0, 23] + name: agent3 + start: [26, 10] +- goal: [30, 19] + name: agent4 + start: [4, 5] +- goal: [21, 7] + name: agent5 + start: [26, 24] +- goal: [8, 24] + name: agent6 + start: [12, 25] +- goal: [8, 29] + name: agent7 + start: [23, 22] +- goal: [11, 26] + name: agent8 + start: [8, 12] +- goal: [10, 2] + name: agent9 + start: [14, 21] +- goal: [18, 5] + name: agent10 + start: [1, 19] +- goal: [0, 1] + name: agent11 + start: [12, 18] +- goal: [24, 19] + name: agent12 + start: [25, 4] +- goal: [31, 24] + name: agent13 + start: [27, 11] +- goal: [26, 3] + name: agent14 + start: [24, 31] +- goal: [14, 3] + name: agent15 + start: [1, 1] +- goal: [26, 5] + name: agent16 + start: [15, 2] +- goal: [26, 6] + name: agent17 + start: [1, 5] +- goal: [24, 30] + name: agent18 + start: [11, 0] +- goal: [6, 22] + name: agent19 + start: [23, 9] +- goal: [5, 12] + name: agent20 + start: [9, 29] +- goal: [22, 30] + name: agent21 + start: [14, 7] +- goal: [12, 8] + name: agent22 + start: [27, 23] +- goal: [4, 11] + name: agent23 + start: [17, 24] +- goal: [4, 26] + name: agent24 + start: [15, 7] +- goal: [30, 26] + name: agent25 + start: [1, 14] +- goal: [30, 5] + name: agent26 + start: [18, 26] +- goal: [19, 27] + name: agent27 + start: [18, 4] +- goal: [1, 0] + name: agent28 + start: [27, 26] +- goal: [0, 31] + name: agent29 + start: [27, 8] +- goal: [14, 20] + name: agent30 + start: [6, 27] +- goal: [1, 29] + name: agent31 + start: [10, 9] +- goal: [6, 12] + name: agent32 + start: [10, 8] +- goal: [24, 22] + name: agent33 + start: [16, 0] +- goal: [30, 16] + name: agent34 + start: [8, 25] +- goal: [21, 27] + name: agent35 + start: [14, 11] +- goal: [31, 21] + name: agent36 + start: [31, 6] +- goal: [16, 14] + name: agent37 + start: [23, 1] +- goal: [7, 31] + name: agent38 + start: [1, 11] +- goal: [27, 25] + name: agent39 + start: [10, 24] +- goal: [25, 3] + name: agent40 + start: [14, 23] +- goal: [7, 24] + name: agent41 + start: [18, 5] +- goal: [7, 0] + name: agent42 + start: [13, 12] +- goal: [13, 29] + name: agent43 + start: [2, 5] +- goal: [31, 27] + name: agent44 + start: [5, 27] +- goal: [26, 12] + name: agent45 + start: [1, 10] +- goal: [5, 23] + name: agent46 + start: [21, 24] +- goal: [1, 3] + name: agent47 + start: [20, 21] +- goal: [7, 11] + name: agent48 + start: [23, 4] +- goal: [14, 14] + name: agent49 + start: [22, 18] +- goal: [1, 4] + name: agent50 + start: [9, 11] +- goal: [2, 29] + name: agent51 + start: [2, 29] +- goal: [6, 18] + name: agent52 + start: [26, 21] +- goal: [20, 7] + name: agent53 + start: [16, 24] +- goal: [14, 17] + name: agent54 + start: [10, 12] +- goal: [1, 30] + name: agent55 + start: [4, 4] +- goal: [8, 11] + name: agent56 + start: [5, 4] +- goal: [10, 18] + name: agent57 + start: [11, 18] +- goal: [12, 15] + name: agent58 + start: [30, 30] +- goal: [22, 18] + name: agent59 + start: [29, 4] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [23, 13] + - !!python/tuple [4, 3] + - !!python/tuple [11, 8] + - !!python/tuple [31, 9] + - !!python/tuple [4, 28] + - !!python/tuple [21, 18] + - !!python/tuple [8, 2] + - !!python/tuple [22, 21] + - !!python/tuple [0, 25] + - !!python/tuple [3, 16] + - !!python/tuple [10, 7] + - !!python/tuple [21, 17] + - !!python/tuple [9, 4] + - !!python/tuple [22, 8] + - !!python/tuple [2, 17] + - !!python/tuple [28, 23] + - !!python/tuple [23, 24] + - !!python/tuple [1, 22] + - !!python/tuple [20, 26] + - !!python/tuple [8, 28] + - !!python/tuple [24, 29] + - !!python/tuple [0, 3] + - !!python/tuple [3, 26] + - !!python/tuple [17, 15] + - !!python/tuple [23, 28] + - !!python/tuple [4, 1] + - !!python/tuple [25, 1] + - !!python/tuple [3, 9] + - !!python/tuple [31, 8] + - !!python/tuple [22, 13] + - !!python/tuple [1, 20] + - !!python/tuple [13, 21] + - !!python/tuple [27, 5] + - !!python/tuple [13, 20] + - !!python/tuple [30, 25] + - !!python/tuple [25, 14] + - !!python/tuple [0, 15] + - !!python/tuple [27, 0] + - !!python/tuple [7, 2] + - !!python/tuple [16, 27] + - !!python/tuple [20, 18] + - !!python/tuple [24, 9] + - !!python/tuple [3, 18] + - !!python/tuple [24, 10] + - !!python/tuple [11, 31] + - !!python/tuple [12, 2] + - !!python/tuple [11, 4] + - !!python/tuple [9, 30] + - !!python/tuple [0, 8] + - !!python/tuple [8, 9] + - !!python/tuple [14, 19] + - !!python/tuple [9, 20] + - !!python/tuple [4, 12] + - !!python/tuple [21, 16] + - !!python/tuple [17, 26] + - !!python/tuple [11, 16] + - !!python/tuple [11, 17] + - !!python/tuple [29, 26] + - !!python/tuple [30, 27] + - !!python/tuple [7, 4] + - !!python/tuple [18, 16] + - !!python/tuple [24, 4] + - !!python/tuple [22, 22] + - !!python/tuple [28, 6] + - !!python/tuple [10, 19] + - !!python/tuple [17, 27] + - !!python/tuple [14, 4] + - !!python/tuple [11, 1] + - !!python/tuple [26, 13] + - !!python/tuple [29, 5] + - !!python/tuple [15, 27] + - !!python/tuple [22, 17] + - !!python/tuple [9, 8] + - !!python/tuple [13, 18] + - !!python/tuple [23, 25] + - !!python/tuple [19, 16] + - !!python/tuple [13, 2] + - !!python/tuple [0, 10] + - !!python/tuple [16, 15] + - !!python/tuple [29, 19] + - !!python/tuple [7, 12] + - !!python/tuple [13, 13] + - !!python/tuple [13, 8] + - !!python/tuple [9, 12] + - !!python/tuple [9, 24] + - !!python/tuple [15, 30] + - !!python/tuple [16, 1] + - !!python/tuple [15, 28] + - !!python/tuple [19, 11] + - !!python/tuple [11, 15] + - !!python/tuple [29, 14] + - !!python/tuple [22, 27] + - !!python/tuple [26, 1] + - !!python/tuple [18, 7] + - !!python/tuple [7, 16] + - !!python/tuple [4, 8] + - !!python/tuple [20, 0] + - !!python/tuple [13, 27] + - !!python/tuple [11, 29] + - !!python/tuple [7, 30] + - !!python/tuple [19, 28] + - !!python/tuple [16, 30] + - !!python/tuple [21, 13] + - !!python/tuple [17, 19] + - !!python/tuple [11, 12] + - !!python/tuple [30, 15] + - !!python/tuple [20, 30] + - !!python/tuple [24, 3] + - !!python/tuple [6, 26] + - !!python/tuple [9, 17] + - !!python/tuple [20, 25] + - !!python/tuple [22, 6] + - !!python/tuple [21, 10] + - !!python/tuple [10, 29] + - !!python/tuple [1, 9] + - !!python/tuple [19, 1] + - !!python/tuple [28, 18] + - !!python/tuple [5, 21] + - !!python/tuple [22, 28] + - !!python/tuple [23, 17] + - !!python/tuple [22, 7] + - !!python/tuple [5, 16] + - !!python/tuple [6, 5] + - !!python/tuple [30, 23] + - !!python/tuple [12, 30] + - !!python/tuple [31, 31] + - !!python/tuple [23, 29] + - !!python/tuple [9, 13] + - !!python/tuple [17, 6] + - !!python/tuple [2, 1] + - !!python/tuple [3, 5] + - !!python/tuple [16, 13] + - !!python/tuple [24, 17] + - !!python/tuple [23, 0] + - !!python/tuple [4, 27] + - !!python/tuple [29, 24] + - !!python/tuple [6, 20] + - !!python/tuple [2, 3] + - !!python/tuple [5, 31] + - !!python/tuple [0, 16] + - !!python/tuple [2, 22] + - !!python/tuple [20, 13] + - !!python/tuple [7, 14] + - !!python/tuple [5, 10] + - !!python/tuple [10, 22] + - !!python/tuple [12, 27] + - !!python/tuple [28, 12] + - !!python/tuple [23, 15] + - !!python/tuple [18, 14] + - !!python/tuple [25, 30] + - !!python/tuple [0, 29] + - !!python/tuple [28, 28] + - !!python/tuple [18, 18] + - !!python/tuple [22, 12] + - !!python/tuple [26, 25] + - !!python/tuple [30, 0] + - !!python/tuple [28, 29] + - !!python/tuple [15, 10] + - !!python/tuple [13, 26] + - !!python/tuple [22, 4] + - !!python/tuple [9, 23] + - !!python/tuple [16, 8] + - !!python/tuple [29, 15] + - !!python/tuple [6, 25] + - !!python/tuple [10, 16] + - !!python/tuple [12, 5] + - !!python/tuple [15, 26] + - !!python/tuple [7, 8] + - !!python/tuple [17, 1] + - !!python/tuple [20, 12] + - !!python/tuple [8, 10] + - !!python/tuple [27, 19] + - !!python/tuple [5, 0] + - !!python/tuple [31, 11] + - !!python/tuple [11, 9] + - !!python/tuple [29, 20] + - !!python/tuple [22, 20] + - !!python/tuple [24, 2] + - !!python/tuple [28, 3] + - !!python/tuple [24, 16] + - !!python/tuple [12, 9] + - !!python/tuple [28, 0] + - !!python/tuple [14, 16] + - !!python/tuple [19, 22] + - !!python/tuple [24, 28] + - !!python/tuple [7, 25] + - !!python/tuple [0, 18] + - !!python/tuple [19, 5] + - !!python/tuple [10, 15] + - !!python/tuple [26, 8] + - !!python/tuple [11, 25] + - !!python/tuple [9, 22] + - !!python/tuple [20, 1] + - !!python/tuple [2, 23] + - !!python/tuple [10, 31] + - !!python/tuple [3, 31] + - !!python/tuple [22, 29] + - !!python/tuple [21, 22] + - !!python/tuple [30, 8] + - !!python/tuple [15, 4] + - !!python/tuple [22, 9] + - !!python/tuple [1, 18] + - !!python/tuple [5, 18] + - !!python/tuple [2, 20] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex15.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex15.yaml new file mode 100644 index 0000000..42800dc --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex15.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [25, 27] + name: agent0 + start: [11, 8] +- goal: [0, 2] + name: agent1 + start: [26, 1] +- goal: [26, 3] + name: agent2 + start: [9, 3] +- goal: [9, 2] + name: agent3 + start: [26, 17] +- goal: [23, 8] + name: agent4 + start: [28, 20] +- goal: [28, 28] + name: agent5 + start: [6, 9] +- goal: [0, 18] + name: agent6 + start: [16, 14] +- goal: [23, 11] + name: agent7 + start: [22, 26] +- goal: [22, 1] + name: agent8 + start: [22, 21] +- goal: [26, 2] + name: agent9 + start: [22, 7] +- goal: [24, 31] + name: agent10 + start: [5, 25] +- goal: [8, 24] + name: agent11 + start: [26, 13] +- goal: [18, 25] + name: agent12 + start: [8, 4] +- goal: [18, 22] + name: agent13 + start: [4, 15] +- goal: [30, 23] + name: agent14 + start: [9, 30] +- goal: [8, 20] + name: agent15 + start: [9, 11] +- goal: [23, 5] + name: agent16 + start: [24, 13] +- goal: [0, 7] + name: agent17 + start: [0, 18] +- goal: [2, 25] + name: agent18 + start: [5, 23] +- goal: [10, 0] + name: agent19 + start: [4, 8] +- goal: [0, 14] + name: agent20 + start: [22, 20] +- goal: [13, 30] + name: agent21 + start: [16, 19] +- goal: [19, 27] + name: agent22 + start: [0, 28] +- goal: [23, 10] + name: agent23 + start: [13, 19] +- goal: [19, 21] + name: agent24 + start: [13, 2] +- goal: [1, 6] + name: agent25 + start: [28, 25] +- goal: [26, 15] + name: agent26 + start: [7, 23] +- goal: [13, 29] + name: agent27 + start: [15, 22] +- goal: [28, 5] + name: agent28 + start: [17, 4] +- goal: [15, 6] + name: agent29 + start: [20, 3] +- goal: [4, 24] + name: agent30 + start: [14, 19] +- goal: [3, 24] + name: agent31 + start: [28, 6] +- goal: [20, 20] + name: agent32 + start: [1, 13] +- goal: [27, 6] + name: agent33 + start: [12, 9] +- goal: [13, 26] + name: agent34 + start: [5, 21] +- goal: [28, 25] + name: agent35 + start: [27, 9] +- goal: [24, 25] + name: agent36 + start: [16, 27] +- goal: [8, 15] + name: agent37 + start: [11, 5] +- goal: [12, 28] + name: agent38 + start: [1, 7] +- goal: [1, 16] + name: agent39 + start: [14, 25] +- goal: [29, 6] + name: agent40 + start: [0, 16] +- goal: [31, 16] + name: agent41 + start: [5, 9] +- goal: [1, 15] + name: agent42 + start: [29, 1] +- goal: [14, 0] + name: agent43 + start: [30, 15] +- goal: [19, 25] + name: agent44 + start: [30, 20] +- goal: [17, 11] + name: agent45 + start: [19, 27] +- goal: [27, 2] + name: agent46 + start: [22, 4] +- goal: [16, 6] + name: agent47 + start: [31, 14] +- goal: [11, 22] + name: agent48 + start: [4, 9] +- goal: [21, 24] + name: agent49 + start: [20, 19] +- goal: [6, 30] + name: agent50 + start: [28, 8] +- goal: [1, 14] + name: agent51 + start: [10, 7] +- goal: [1, 0] + name: agent52 + start: [31, 24] +- goal: [15, 16] + name: agent53 + start: [27, 19] +- goal: [5, 5] + name: agent54 + start: [30, 24] +- goal: [23, 20] + name: agent55 + start: [21, 31] +- goal: [5, 3] + name: agent56 + start: [11, 17] +- goal: [28, 18] + name: agent57 + start: [17, 8] +- goal: [2, 26] + name: agent58 + start: [8, 0] +- goal: [15, 0] + name: agent59 + start: [25, 3] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [0, 25] + - !!python/tuple [14, 22] + - !!python/tuple [7, 27] + - !!python/tuple [22, 17] + - !!python/tuple [17, 27] + - !!python/tuple [16, 11] + - !!python/tuple [26, 30] + - !!python/tuple [1, 10] + - !!python/tuple [18, 1] + - !!python/tuple [2, 16] + - !!python/tuple [9, 15] + - !!python/tuple [8, 28] + - !!python/tuple [24, 22] + - !!python/tuple [19, 18] + - !!python/tuple [13, 17] + - !!python/tuple [20, 18] + - !!python/tuple [27, 28] + - !!python/tuple [26, 9] + - !!python/tuple [20, 17] + - !!python/tuple [23, 4] + - !!python/tuple [26, 18] + - !!python/tuple [30, 18] + - !!python/tuple [29, 2] + - !!python/tuple [20, 26] + - !!python/tuple [1, 20] + - !!python/tuple [11, 12] + - !!python/tuple [20, 11] + - !!python/tuple [22, 19] + - !!python/tuple [27, 18] + - !!python/tuple [20, 29] + - !!python/tuple [9, 27] + - !!python/tuple [20, 23] + - !!python/tuple [19, 8] + - !!python/tuple [23, 1] + - !!python/tuple [10, 2] + - !!python/tuple [7, 1] + - !!python/tuple [18, 11] + - !!python/tuple [21, 22] + - !!python/tuple [20, 0] + - !!python/tuple [23, 19] + - !!python/tuple [16, 29] + - !!python/tuple [17, 6] + - !!python/tuple [19, 1] + - !!python/tuple [18, 31] + - !!python/tuple [18, 6] + - !!python/tuple [0, 24] + - !!python/tuple [14, 29] + - !!python/tuple [29, 7] + - !!python/tuple [14, 16] + - !!python/tuple [4, 28] + - !!python/tuple [23, 14] + - !!python/tuple [10, 16] + - !!python/tuple [12, 19] + - !!python/tuple [18, 17] + - !!python/tuple [18, 20] + - !!python/tuple [19, 4] + - !!python/tuple [22, 29] + - !!python/tuple [5, 6] + - !!python/tuple [23, 31] + - !!python/tuple [25, 21] + - !!python/tuple [7, 20] + - !!python/tuple [15, 25] + - !!python/tuple [22, 27] + - !!python/tuple [19, 30] + - !!python/tuple [10, 23] + - !!python/tuple [8, 30] + - !!python/tuple [23, 0] + - !!python/tuple [31, 28] + - !!python/tuple [5, 12] + - !!python/tuple [2, 11] + - !!python/tuple [2, 9] + - !!python/tuple [24, 24] + - !!python/tuple [8, 5] + - !!python/tuple [28, 7] + - !!python/tuple [21, 12] + - !!python/tuple [27, 24] + - !!python/tuple [9, 10] + - !!python/tuple [31, 23] + - !!python/tuple [19, 6] + - !!python/tuple [20, 15] + - !!python/tuple [9, 26] + - !!python/tuple [11, 13] + - !!python/tuple [22, 5] + - !!python/tuple [1, 8] + - !!python/tuple [23, 29] + - !!python/tuple [19, 0] + - !!python/tuple [3, 20] + - !!python/tuple [20, 10] + - !!python/tuple [5, 15] + - !!python/tuple [6, 3] + - !!python/tuple [26, 25] + - !!python/tuple [25, 19] + - !!python/tuple [28, 0] + - !!python/tuple [21, 21] + - !!python/tuple [28, 29] + - !!python/tuple [29, 5] + - !!python/tuple [15, 28] + - !!python/tuple [17, 0] + - !!python/tuple [1, 18] + - !!python/tuple [8, 18] + - !!python/tuple [25, 29] + - !!python/tuple [2, 24] + - !!python/tuple [20, 31] + - !!python/tuple [14, 12] + - !!python/tuple [0, 6] + - !!python/tuple [4, 30] + - !!python/tuple [0, 8] + - !!python/tuple [3, 11] + - !!python/tuple [25, 14] + - !!python/tuple [0, 31] + - !!python/tuple [15, 31] + - !!python/tuple [20, 13] + - !!python/tuple [21, 17] + - !!python/tuple [6, 26] + - !!python/tuple [18, 9] + - !!python/tuple [18, 5] + - !!python/tuple [17, 13] + - !!python/tuple [7, 28] + - !!python/tuple [16, 26] + - !!python/tuple [17, 12] + - !!python/tuple [7, 13] + - !!python/tuple [0, 4] + - !!python/tuple [18, 21] + - !!python/tuple [10, 26] + - !!python/tuple [19, 19] + - !!python/tuple [27, 17] + - !!python/tuple [25, 16] + - !!python/tuple [4, 13] + - !!python/tuple [11, 21] + - !!python/tuple [28, 13] + - !!python/tuple [14, 18] + - !!python/tuple [16, 17] + - !!python/tuple [3, 16] + - !!python/tuple [19, 20] + - !!python/tuple [30, 4] + - !!python/tuple [3, 4] + - !!python/tuple [13, 28] + - !!python/tuple [24, 16] + - !!python/tuple [6, 0] + - !!python/tuple [31, 8] + - !!python/tuple [15, 5] + - !!python/tuple [6, 22] + - !!python/tuple [13, 18] + - !!python/tuple [14, 6] + - !!python/tuple [23, 15] + - !!python/tuple [14, 30] + - !!python/tuple [1, 3] + - !!python/tuple [18, 4] + - !!python/tuple [8, 23] + - !!python/tuple [23, 13] + - !!python/tuple [17, 16] + - !!python/tuple [1, 12] + - !!python/tuple [11, 2] + - !!python/tuple [19, 9] + - !!python/tuple [9, 1] + - !!python/tuple [22, 8] + - !!python/tuple [17, 3] + - !!python/tuple [16, 0] + - !!python/tuple [31, 27] + - !!python/tuple [20, 5] + - !!python/tuple [9, 8] + - !!python/tuple [8, 13] + - !!python/tuple [27, 12] + - !!python/tuple [26, 21] + - !!python/tuple [30, 30] + - !!python/tuple [5, 8] + - !!python/tuple [28, 26] + - !!python/tuple [9, 16] + - !!python/tuple [24, 10] + - !!python/tuple [30, 11] + - !!python/tuple [25, 18] + - !!python/tuple [4, 14] + - !!python/tuple [26, 19] + - !!python/tuple [2, 17] + - !!python/tuple [20, 8] + - !!python/tuple [16, 25] + - !!python/tuple [10, 10] + - !!python/tuple [4, 3] + - !!python/tuple [25, 22] + - !!python/tuple [8, 2] + - !!python/tuple [26, 0] + - !!python/tuple [12, 20] + - !!python/tuple [23, 26] + - !!python/tuple [11, 6] + - !!python/tuple [10, 8] + - !!python/tuple [9, 6] + - !!python/tuple [0, 15] + - !!python/tuple [4, 5] + - !!python/tuple [9, 28] + - !!python/tuple [8, 19] + - !!python/tuple [25, 30] + - !!python/tuple [24, 1] + - !!python/tuple [1, 2] + - !!python/tuple [18, 19] + - !!python/tuple [5, 1] + - !!python/tuple [11, 25] + - !!python/tuple [19, 26] + - !!python/tuple [1, 9] + - !!python/tuple [15, 29] + - !!python/tuple [13, 10] + - !!python/tuple [16, 30] + - !!python/tuple [11, 30] + - !!python/tuple [21, 8] + - !!python/tuple [10, 22] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex16.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex16.yaml new file mode 100644 index 0000000..912a6cf --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex16.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [16, 11] + name: agent0 + start: [8, 13] +- goal: [8, 7] + name: agent1 + start: [31, 19] +- goal: [15, 2] + name: agent2 + start: [8, 1] +- goal: [4, 30] + name: agent3 + start: [0, 4] +- goal: [31, 20] + name: agent4 + start: [4, 19] +- goal: [4, 3] + name: agent5 + start: [20, 6] +- goal: [1, 21] + name: agent6 + start: [0, 11] +- goal: [17, 26] + name: agent7 + start: [25, 4] +- goal: [9, 28] + name: agent8 + start: [12, 11] +- goal: [21, 20] + name: agent9 + start: [25, 3] +- goal: [5, 21] + name: agent10 + start: [21, 12] +- goal: [5, 25] + name: agent11 + start: [14, 1] +- goal: [15, 8] + name: agent12 + start: [1, 11] +- goal: [19, 19] + name: agent13 + start: [22, 16] +- goal: [7, 3] + name: agent14 + start: [31, 21] +- goal: [2, 12] + name: agent15 + start: [6, 9] +- goal: [25, 24] + name: agent16 + start: [4, 27] +- goal: [23, 13] + name: agent17 + start: [2, 18] +- goal: [21, 4] + name: agent18 + start: [19, 31] +- goal: [29, 9] + name: agent19 + start: [18, 4] +- goal: [10, 23] + name: agent20 + start: [12, 20] +- goal: [20, 7] + name: agent21 + start: [15, 8] +- goal: [20, 0] + name: agent22 + start: [29, 9] +- goal: [21, 13] + name: agent23 + start: [11, 16] +- goal: [3, 8] + name: agent24 + start: [4, 1] +- goal: [13, 18] + name: agent25 + start: [7, 3] +- goal: [6, 9] + name: agent26 + start: [16, 29] +- goal: [28, 26] + name: agent27 + start: [27, 7] +- goal: [20, 11] + name: agent28 + start: [25, 18] +- goal: [28, 16] + name: agent29 + start: [25, 11] +- goal: [11, 8] + name: agent30 + start: [2, 28] +- goal: [0, 17] + name: agent31 + start: [7, 0] +- goal: [19, 5] + name: agent32 + start: [1, 19] +- goal: [23, 7] + name: agent33 + start: [28, 30] +- goal: [10, 13] + name: agent34 + start: [24, 10] +- goal: [16, 7] + name: agent35 + start: [10, 10] +- goal: [0, 27] + name: agent36 + start: [29, 1] +- goal: [24, 16] + name: agent37 + start: [9, 6] +- goal: [20, 2] + name: agent38 + start: [19, 15] +- goal: [31, 10] + name: agent39 + start: [21, 9] +- goal: [27, 23] + name: agent40 + start: [1, 30] +- goal: [2, 22] + name: agent41 + start: [21, 19] +- goal: [20, 21] + name: agent42 + start: [10, 30] +- goal: [13, 0] + name: agent43 + start: [17, 3] +- goal: [12, 27] + name: agent44 + start: [10, 23] +- goal: [19, 12] + name: agent45 + start: [29, 6] +- goal: [0, 5] + name: agent46 + start: [2, 2] +- goal: [13, 2] + name: agent47 + start: [30, 19] +- goal: [15, 13] + name: agent48 + start: [24, 27] +- goal: [0, 2] + name: agent49 + start: [21, 7] +- goal: [5, 29] + name: agent50 + start: [24, 11] +- goal: [15, 22] + name: agent51 + start: [28, 21] +- goal: [5, 11] + name: agent52 + start: [0, 23] +- goal: [7, 16] + name: agent53 + start: [22, 27] +- goal: [14, 4] + name: agent54 + start: [25, 25] +- goal: [23, 17] + name: agent55 + start: [31, 10] +- goal: [24, 22] + name: agent56 + start: [30, 4] +- goal: [21, 23] + name: agent57 + start: [16, 2] +- goal: [27, 16] + name: agent58 + start: [2, 17] +- goal: [0, 14] + name: agent59 + start: [9, 5] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [15, 1] + - !!python/tuple [2, 31] + - !!python/tuple [3, 30] + - !!python/tuple [4, 9] + - !!python/tuple [16, 3] + - !!python/tuple [7, 23] + - !!python/tuple [9, 3] + - !!python/tuple [3, 10] + - !!python/tuple [20, 17] + - !!python/tuple [29, 3] + - !!python/tuple [4, 31] + - !!python/tuple [6, 30] + - !!python/tuple [19, 30] + - !!python/tuple [24, 6] + - !!python/tuple [4, 16] + - !!python/tuple [27, 17] + - !!python/tuple [10, 17] + - !!python/tuple [23, 16] + - !!python/tuple [1, 26] + - !!python/tuple [1, 10] + - !!python/tuple [5, 18] + - !!python/tuple [3, 20] + - !!python/tuple [0, 8] + - !!python/tuple [17, 8] + - !!python/tuple [10, 14] + - !!python/tuple [6, 20] + - !!python/tuple [19, 18] + - !!python/tuple [16, 1] + - !!python/tuple [21, 22] + - !!python/tuple [8, 14] + - !!python/tuple [11, 27] + - !!python/tuple [0, 31] + - !!python/tuple [21, 11] + - !!python/tuple [17, 11] + - !!python/tuple [9, 30] + - !!python/tuple [23, 11] + - !!python/tuple [24, 29] + - !!python/tuple [16, 21] + - !!python/tuple [29, 18] + - !!python/tuple [4, 15] + - !!python/tuple [5, 27] + - !!python/tuple [4, 25] + - !!python/tuple [23, 24] + - !!python/tuple [22, 3] + - !!python/tuple [5, 9] + - !!python/tuple [23, 8] + - !!python/tuple [2, 15] + - !!python/tuple [26, 18] + - !!python/tuple [9, 16] + - !!python/tuple [2, 3] + - !!python/tuple [2, 5] + - !!python/tuple [31, 6] + - !!python/tuple [12, 18] + - !!python/tuple [17, 25] + - !!python/tuple [12, 3] + - !!python/tuple [30, 30] + - !!python/tuple [15, 12] + - !!python/tuple [17, 22] + - !!python/tuple [8, 9] + - !!python/tuple [26, 2] + - !!python/tuple [17, 16] + - !!python/tuple [13, 5] + - !!python/tuple [12, 4] + - !!python/tuple [0, 9] + - !!python/tuple [19, 17] + - !!python/tuple [26, 22] + - !!python/tuple [31, 7] + - !!python/tuple [23, 25] + - !!python/tuple [9, 31] + - !!python/tuple [25, 0] + - !!python/tuple [10, 8] + - !!python/tuple [6, 26] + - !!python/tuple [7, 10] + - !!python/tuple [13, 24] + - !!python/tuple [20, 9] + - !!python/tuple [4, 23] + - !!python/tuple [23, 21] + - !!python/tuple [24, 13] + - !!python/tuple [2, 11] + - !!python/tuple [22, 15] + - !!python/tuple [30, 23] + - !!python/tuple [3, 6] + - !!python/tuple [29, 17] + - !!python/tuple [15, 27] + - !!python/tuple [16, 31] + - !!python/tuple [1, 7] + - !!python/tuple [22, 23] + - !!python/tuple [29, 20] + - !!python/tuple [2, 30] + - !!python/tuple [31, 23] + - !!python/tuple [14, 30] + - !!python/tuple [14, 22] + - !!python/tuple [4, 10] + - !!python/tuple [23, 12] + - !!python/tuple [14, 19] + - !!python/tuple [12, 7] + - !!python/tuple [6, 4] + - !!python/tuple [20, 12] + - !!python/tuple [6, 11] + - !!python/tuple [5, 24] + - !!python/tuple [4, 5] + - !!python/tuple [23, 1] + - !!python/tuple [0, 16] + - !!python/tuple [25, 19] + - !!python/tuple [5, 31] + - !!python/tuple [27, 25] + - !!python/tuple [19, 3] + - !!python/tuple [9, 12] + - !!python/tuple [31, 30] + - !!python/tuple [3, 16] + - !!python/tuple [30, 22] + - !!python/tuple [30, 2] + - !!python/tuple [31, 28] + - !!python/tuple [20, 13] + - !!python/tuple [3, 29] + - !!python/tuple [15, 9] + - !!python/tuple [21, 8] + - !!python/tuple [8, 20] + - !!python/tuple [13, 6] + - !!python/tuple [4, 8] + - !!python/tuple [12, 21] + - !!python/tuple [27, 11] + - !!python/tuple [1, 2] + - !!python/tuple [5, 2] + - !!python/tuple [30, 7] + - !!python/tuple [5, 23] + - !!python/tuple [31, 24] + - !!python/tuple [7, 25] + - !!python/tuple [20, 23] + - !!python/tuple [9, 14] + - !!python/tuple [12, 9] + - !!python/tuple [11, 12] + - !!python/tuple [1, 24] + - !!python/tuple [18, 21] + - !!python/tuple [15, 14] + - !!python/tuple [3, 15] + - !!python/tuple [22, 25] + - !!python/tuple [8, 18] + - !!python/tuple [23, 2] + - !!python/tuple [23, 31] + - !!python/tuple [16, 19] + - !!python/tuple [8, 29] + - !!python/tuple [13, 8] + - !!python/tuple [23, 15] + - !!python/tuple [18, 18] + - !!python/tuple [4, 14] + - !!python/tuple [12, 17] + - !!python/tuple [13, 7] + - !!python/tuple [6, 22] + - !!python/tuple [24, 0] + - !!python/tuple [21, 10] + - !!python/tuple [14, 28] + - !!python/tuple [16, 28] + - !!python/tuple [3, 2] + - !!python/tuple [11, 25] + - !!python/tuple [3, 5] + - !!python/tuple [25, 17] + - !!python/tuple [9, 8] + - !!python/tuple [19, 27] + - !!python/tuple [20, 31] + - !!python/tuple [14, 26] + - !!python/tuple [31, 9] + - !!python/tuple [17, 28] + - !!python/tuple [25, 15] + - !!python/tuple [6, 17] + - !!python/tuple [7, 19] + - !!python/tuple [18, 15] + - !!python/tuple [30, 9] + - !!python/tuple [18, 22] + - !!python/tuple [17, 1] + - !!python/tuple [3, 13] + - !!python/tuple [14, 21] + - !!python/tuple [19, 25] + - !!python/tuple [28, 5] + - !!python/tuple [26, 15] + - !!python/tuple [7, 9] + - !!python/tuple [2, 16] + - !!python/tuple [19, 21] + - !!python/tuple [22, 29] + - !!python/tuple [26, 29] + - !!python/tuple [18, 20] + - !!python/tuple [8, 5] + - !!python/tuple [7, 29] + - !!python/tuple [19, 14] + - !!python/tuple [17, 23] + - !!python/tuple [10, 5] + - !!python/tuple [30, 0] + - !!python/tuple [13, 9] + - !!python/tuple [27, 19] + - !!python/tuple [4, 0] + - !!python/tuple [30, 17] + - !!python/tuple [0, 12] + - !!python/tuple [14, 12] + - !!python/tuple [30, 12] + - !!python/tuple [26, 17] + - !!python/tuple [24, 21] + - !!python/tuple [16, 30] + - !!python/tuple [24, 20] + - !!python/tuple [22, 19] + - !!python/tuple [11, 19] + - !!python/tuple [22, 1] + - !!python/tuple [15, 31] + - !!python/tuple [10, 19] + - !!python/tuple [4, 4] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex17.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex17.yaml new file mode 100644 index 0000000..013507a --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex17.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [26, 12] + name: agent0 + start: [19, 21] +- goal: [4, 1] + name: agent1 + start: [13, 27] +- goal: [16, 10] + name: agent2 + start: [6, 2] +- goal: [9, 24] + name: agent3 + start: [1, 30] +- goal: [29, 11] + name: agent4 + start: [21, 30] +- goal: [11, 31] + name: agent5 + start: [21, 27] +- goal: [30, 8] + name: agent6 + start: [3, 6] +- goal: [10, 2] + name: agent7 + start: [15, 19] +- goal: [31, 3] + name: agent8 + start: [3, 22] +- goal: [30, 20] + name: agent9 + start: [17, 31] +- goal: [10, 15] + name: agent10 + start: [0, 0] +- goal: [7, 12] + name: agent11 + start: [6, 12] +- goal: [5, 31] + name: agent12 + start: [23, 1] +- goal: [6, 4] + name: agent13 + start: [4, 2] +- goal: [1, 13] + name: agent14 + start: [15, 8] +- goal: [17, 15] + name: agent15 + start: [23, 21] +- goal: [26, 23] + name: agent16 + start: [11, 13] +- goal: [3, 31] + name: agent17 + start: [15, 6] +- goal: [4, 29] + name: agent18 + start: [20, 27] +- goal: [19, 6] + name: agent19 + start: [20, 15] +- goal: [2, 15] + name: agent20 + start: [5, 13] +- goal: [2, 22] + name: agent21 + start: [22, 17] +- goal: [11, 19] + name: agent22 + start: [14, 15] +- goal: [10, 26] + name: agent23 + start: [26, 9] +- goal: [13, 29] + name: agent24 + start: [29, 18] +- goal: [27, 26] + name: agent25 + start: [13, 22] +- goal: [11, 1] + name: agent26 + start: [31, 19] +- goal: [16, 25] + name: agent27 + start: [5, 15] +- goal: [1, 24] + name: agent28 + start: [0, 15] +- goal: [21, 4] + name: agent29 + start: [4, 23] +- goal: [8, 1] + name: agent30 + start: [11, 26] +- goal: [6, 31] + name: agent31 + start: [3, 26] +- goal: [31, 24] + name: agent32 + start: [29, 17] +- goal: [14, 15] + name: agent33 + start: [5, 14] +- goal: [23, 26] + name: agent34 + start: [0, 11] +- goal: [18, 15] + name: agent35 + start: [18, 18] +- goal: [10, 11] + name: agent36 + start: [28, 15] +- goal: [21, 7] + name: agent37 + start: [30, 27] +- goal: [13, 13] + name: agent38 + start: [1, 9] +- goal: [26, 14] + name: agent39 + start: [6, 22] +- goal: [6, 9] + name: agent40 + start: [7, 0] +- goal: [26, 16] + name: agent41 + start: [4, 15] +- goal: [23, 17] + name: agent42 + start: [17, 13] +- goal: [29, 18] + name: agent43 + start: [9, 8] +- goal: [26, 29] + name: agent44 + start: [11, 4] +- goal: [20, 9] + name: agent45 + start: [31, 23] +- goal: [27, 6] + name: agent46 + start: [17, 22] +- goal: [8, 28] + name: agent47 + start: [19, 2] +- goal: [15, 25] + name: agent48 + start: [11, 30] +- goal: [20, 17] + name: agent49 + start: [15, 10] +- goal: [0, 18] + name: agent50 + start: [4, 10] +- goal: [24, 5] + name: agent51 + start: [20, 0] +- goal: [13, 16] + name: agent52 + start: [12, 19] +- goal: [4, 24] + name: agent53 + start: [15, 28] +- goal: [5, 19] + name: agent54 + start: [18, 8] +- goal: [28, 22] + name: agent55 + start: [8, 11] +- goal: [3, 0] + name: agent56 + start: [11, 27] +- goal: [1, 3] + name: agent57 + start: [27, 21] +- goal: [27, 5] + name: agent58 + start: [11, 17] +- goal: [21, 18] + name: agent59 + start: [5, 7] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [13, 8] + - !!python/tuple [22, 21] + - !!python/tuple [15, 27] + - !!python/tuple [2, 6] + - !!python/tuple [23, 7] + - !!python/tuple [13, 24] + - !!python/tuple [8, 27] + - !!python/tuple [7, 9] + - !!python/tuple [11, 7] + - !!python/tuple [28, 13] + - !!python/tuple [12, 22] + - !!python/tuple [25, 20] + - !!python/tuple [0, 25] + - !!python/tuple [18, 25] + - !!python/tuple [28, 29] + - !!python/tuple [2, 19] + - !!python/tuple [21, 12] + - !!python/tuple [1, 16] + - !!python/tuple [9, 17] + - !!python/tuple [20, 24] + - !!python/tuple [27, 0] + - !!python/tuple [25, 30] + - !!python/tuple [27, 11] + - !!python/tuple [9, 29] + - !!python/tuple [14, 12] + - !!python/tuple [18, 0] + - !!python/tuple [25, 4] + - !!python/tuple [27, 8] + - !!python/tuple [18, 24] + - !!python/tuple [1, 2] + - !!python/tuple [14, 26] + - !!python/tuple [31, 20] + - !!python/tuple [31, 8] + - !!python/tuple [16, 0] + - !!python/tuple [18, 22] + - !!python/tuple [10, 13] + - !!python/tuple [18, 5] + - !!python/tuple [7, 28] + - !!python/tuple [28, 18] + - !!python/tuple [13, 20] + - !!python/tuple [28, 25] + - !!python/tuple [26, 24] + - !!python/tuple [28, 8] + - !!python/tuple [28, 10] + - !!python/tuple [19, 23] + - !!python/tuple [28, 14] + - !!python/tuple [12, 14] + - !!python/tuple [12, 31] + - !!python/tuple [2, 23] + - !!python/tuple [18, 12] + - !!python/tuple [6, 23] + - !!python/tuple [24, 7] + - !!python/tuple [24, 12] + - !!python/tuple [8, 24] + - !!python/tuple [30, 9] + - !!python/tuple [17, 25] + - !!python/tuple [12, 17] + - !!python/tuple [15, 2] + - !!python/tuple [5, 9] + - !!python/tuple [17, 17] + - !!python/tuple [11, 10] + - !!python/tuple [6, 25] + - !!python/tuple [2, 28] + - !!python/tuple [11, 0] + - !!python/tuple [23, 3] + - !!python/tuple [21, 16] + - !!python/tuple [19, 30] + - !!python/tuple [4, 7] + - !!python/tuple [3, 27] + - !!python/tuple [9, 28] + - !!python/tuple [6, 11] + - !!python/tuple [18, 27] + - !!python/tuple [9, 16] + - !!python/tuple [31, 0] + - !!python/tuple [16, 3] + - !!python/tuple [6, 19] + - !!python/tuple [29, 26] + - !!python/tuple [15, 18] + - !!python/tuple [1, 29] + - !!python/tuple [14, 25] + - !!python/tuple [18, 21] + - !!python/tuple [17, 8] + - !!python/tuple [0, 23] + - !!python/tuple [4, 16] + - !!python/tuple [5, 10] + - !!python/tuple [30, 4] + - !!python/tuple [4, 9] + - !!python/tuple [23, 6] + - !!python/tuple [18, 30] + - !!python/tuple [30, 31] + - !!python/tuple [31, 22] + - !!python/tuple [22, 18] + - !!python/tuple [4, 11] + - !!python/tuple [12, 24] + - !!python/tuple [29, 12] + - !!python/tuple [7, 7] + - !!python/tuple [22, 24] + - !!python/tuple [23, 23] + - !!python/tuple [23, 0] + - !!python/tuple [26, 26] + - !!python/tuple [30, 5] + - !!python/tuple [20, 5] + - !!python/tuple [3, 7] + - !!python/tuple [19, 14] + - !!python/tuple [20, 28] + - !!python/tuple [12, 29] + - !!python/tuple [23, 30] + - !!python/tuple [10, 22] + - !!python/tuple [28, 26] + - !!python/tuple [0, 24] + - !!python/tuple [16, 6] + - !!python/tuple [0, 26] + - !!python/tuple [9, 11] + - !!python/tuple [27, 24] + - !!python/tuple [2, 21] + - !!python/tuple [18, 26] + - !!python/tuple [30, 28] + - !!python/tuple [10, 18] + - !!python/tuple [16, 14] + - !!python/tuple [4, 4] + - !!python/tuple [4, 19] + - !!python/tuple [25, 27] + - !!python/tuple [29, 31] + - !!python/tuple [21, 21] + - !!python/tuple [16, 13] + - !!python/tuple [28, 7] + - !!python/tuple [10, 19] + - !!python/tuple [0, 19] + - !!python/tuple [27, 9] + - !!python/tuple [21, 15] + - !!python/tuple [0, 20] + - !!python/tuple [12, 20] + - !!python/tuple [7, 5] + - !!python/tuple [24, 29] + - !!python/tuple [10, 8] + - !!python/tuple [15, 29] + - !!python/tuple [12, 1] + - !!python/tuple [21, 20] + - !!python/tuple [19, 20] + - !!python/tuple [10, 31] + - !!python/tuple [24, 3] + - !!python/tuple [5, 18] + - !!python/tuple [30, 14] + - !!python/tuple [21, 25] + - !!python/tuple [15, 12] + - !!python/tuple [23, 29] + - !!python/tuple [2, 3] + - !!python/tuple [5, 17] + - !!python/tuple [18, 13] + - !!python/tuple [28, 9] + - !!python/tuple [7, 14] + - !!python/tuple [3, 17] + - !!python/tuple [13, 18] + - !!python/tuple [1, 19] + - !!python/tuple [24, 21] + - !!python/tuple [9, 21] + - !!python/tuple [2, 10] + - !!python/tuple [11, 29] + - !!python/tuple [18, 6] + - !!python/tuple [13, 11] + - !!python/tuple [12, 15] + - !!python/tuple [7, 1] + - !!python/tuple [8, 10] + - !!python/tuple [27, 17] + - !!python/tuple [23, 9] + - !!python/tuple [2, 8] + - !!python/tuple [18, 11] + - !!python/tuple [9, 27] + - !!python/tuple [3, 1] + - !!python/tuple [1, 4] + - !!python/tuple [23, 12] + - !!python/tuple [25, 2] + - !!python/tuple [29, 21] + - !!python/tuple [27, 25] + - !!python/tuple [30, 16] + - !!python/tuple [14, 7] + - !!python/tuple [9, 1] + - !!python/tuple [14, 27] + - !!python/tuple [19, 11] + - !!python/tuple [30, 7] + - !!python/tuple [3, 11] + - !!python/tuple [0, 2] + - !!python/tuple [12, 16] + - !!python/tuple [24, 10] + - !!python/tuple [12, 30] + - !!python/tuple [21, 17] + - !!python/tuple [30, 30] + - !!python/tuple [21, 10] + - !!python/tuple [31, 12] + - !!python/tuple [7, 24] + - !!python/tuple [9, 6] + - !!python/tuple [10, 24] + - !!python/tuple [3, 23] + - !!python/tuple [21, 2] + - !!python/tuple [29, 10] + - !!python/tuple [24, 30] + - !!python/tuple [24, 20] + - !!python/tuple [11, 2] + - !!python/tuple [14, 6] + - !!python/tuple [13, 1] + - !!python/tuple [23, 24] + - !!python/tuple [20, 11] + - !!python/tuple [23, 2] + - !!python/tuple [6, 28] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex18.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex18.yaml new file mode 100644 index 0000000..6d05d10 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex18.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [7, 5] + name: agent0 + start: [4, 27] +- goal: [14, 23] + name: agent1 + start: [10, 18] +- goal: [19, 0] + name: agent2 + start: [30, 31] +- goal: [26, 29] + name: agent3 + start: [3, 18] +- goal: [22, 9] + name: agent4 + start: [12, 12] +- goal: [16, 24] + name: agent5 + start: [19, 20] +- goal: [19, 20] + name: agent6 + start: [30, 5] +- goal: [14, 5] + name: agent7 + start: [12, 13] +- goal: [0, 13] + name: agent8 + start: [20, 28] +- goal: [9, 31] + name: agent9 + start: [15, 6] +- goal: [29, 25] + name: agent10 + start: [20, 10] +- goal: [24, 23] + name: agent11 + start: [12, 4] +- goal: [6, 25] + name: agent12 + start: [24, 6] +- goal: [4, 6] + name: agent13 + start: [30, 6] +- goal: [19, 23] + name: agent14 + start: [17, 22] +- goal: [13, 6] + name: agent15 + start: [15, 17] +- goal: [29, 15] + name: agent16 + start: [16, 25] +- goal: [3, 3] + name: agent17 + start: [24, 23] +- goal: [14, 20] + name: agent18 + start: [15, 18] +- goal: [28, 29] + name: agent19 + start: [3, 25] +- goal: [7, 30] + name: agent20 + start: [23, 17] +- goal: [8, 21] + name: agent21 + start: [22, 16] +- goal: [25, 29] + name: agent22 + start: [0, 17] +- goal: [28, 12] + name: agent23 + start: [23, 25] +- goal: [2, 28] + name: agent24 + start: [14, 7] +- goal: [14, 31] + name: agent25 + start: [18, 2] +- goal: [19, 30] + name: agent26 + start: [13, 3] +- goal: [21, 28] + name: agent27 + start: [12, 2] +- goal: [29, 2] + name: agent28 + start: [4, 26] +- goal: [22, 6] + name: agent29 + start: [30, 28] +- goal: [24, 26] + name: agent30 + start: [29, 10] +- goal: [24, 11] + name: agent31 + start: [25, 1] +- goal: [3, 23] + name: agent32 + start: [6, 31] +- goal: [7, 16] + name: agent33 + start: [27, 30] +- goal: [15, 21] + name: agent34 + start: [20, 11] +- goal: [7, 24] + name: agent35 + start: [9, 16] +- goal: [19, 7] + name: agent36 + start: [3, 24] +- goal: [17, 7] + name: agent37 + start: [12, 28] +- goal: [16, 11] + name: agent38 + start: [26, 16] +- goal: [16, 19] + name: agent39 + start: [23, 19] +- goal: [23, 12] + name: agent40 + start: [27, 2] +- goal: [27, 29] + name: agent41 + start: [31, 8] +- goal: [10, 31] + name: agent42 + start: [12, 23] +- goal: [11, 0] + name: agent43 + start: [20, 7] +- goal: [0, 6] + name: agent44 + start: [3, 9] +- goal: [24, 13] + name: agent45 + start: [28, 29] +- goal: [21, 22] + name: agent46 + start: [26, 13] +- goal: [29, 24] + name: agent47 + start: [28, 30] +- goal: [14, 4] + name: agent48 + start: [16, 19] +- goal: [0, 7] + name: agent49 + start: [5, 0] +- goal: [22, 28] + name: agent50 + start: [2, 9] +- goal: [21, 27] + name: agent51 + start: [20, 31] +- goal: [0, 12] + name: agent52 + start: [1, 4] +- goal: [8, 2] + name: agent53 + start: [7, 15] +- goal: [23, 7] + name: agent54 + start: [29, 13] +- goal: [20, 9] + name: agent55 + start: [23, 12] +- goal: [27, 21] + name: agent56 + start: [12, 22] +- goal: [5, 1] + name: agent57 + start: [28, 27] +- goal: [31, 21] + name: agent58 + start: [4, 12] +- goal: [8, 19] + name: agent59 + start: [24, 29] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [22, 25] + - !!python/tuple [31, 26] + - !!python/tuple [21, 29] + - !!python/tuple [24, 14] + - !!python/tuple [13, 26] + - !!python/tuple [7, 26] + - !!python/tuple [18, 27] + - !!python/tuple [8, 3] + - !!python/tuple [28, 25] + - !!python/tuple [28, 4] + - !!python/tuple [10, 7] + - !!python/tuple [12, 24] + - !!python/tuple [27, 15] + - !!python/tuple [19, 11] + - !!python/tuple [25, 12] + - !!python/tuple [1, 19] + - !!python/tuple [25, 19] + - !!python/tuple [9, 17] + - !!python/tuple [21, 20] + - !!python/tuple [29, 5] + - !!python/tuple [4, 13] + - !!python/tuple [30, 4] + - !!python/tuple [12, 1] + - !!python/tuple [9, 1] + - !!python/tuple [30, 12] + - !!python/tuple [12, 27] + - !!python/tuple [19, 25] + - !!python/tuple [21, 23] + - !!python/tuple [17, 6] + - !!python/tuple [9, 6] + - !!python/tuple [0, 30] + - !!python/tuple [12, 20] + - !!python/tuple [7, 27] + - !!python/tuple [30, 19] + - !!python/tuple [16, 15] + - !!python/tuple [9, 18] + - !!python/tuple [21, 2] + - !!python/tuple [14, 15] + - !!python/tuple [15, 26] + - !!python/tuple [2, 27] + - !!python/tuple [0, 16] + - !!python/tuple [9, 7] + - !!python/tuple [31, 24] + - !!python/tuple [11, 24] + - !!python/tuple [14, 22] + - !!python/tuple [18, 7] + - !!python/tuple [5, 11] + - !!python/tuple [22, 19] + - !!python/tuple [15, 19] + - !!python/tuple [2, 11] + - !!python/tuple [5, 13] + - !!python/tuple [24, 25] + - !!python/tuple [26, 17] + - !!python/tuple [0, 20] + - !!python/tuple [6, 23] + - !!python/tuple [14, 3] + - !!python/tuple [25, 23] + - !!python/tuple [31, 17] + - !!python/tuple [25, 9] + - !!python/tuple [20, 21] + - !!python/tuple [0, 23] + - !!python/tuple [19, 15] + - !!python/tuple [24, 10] + - !!python/tuple [7, 14] + - !!python/tuple [4, 0] + - !!python/tuple [10, 6] + - !!python/tuple [22, 10] + - !!python/tuple [8, 5] + - !!python/tuple [8, 18] + - !!python/tuple [5, 25] + - !!python/tuple [26, 24] + - !!python/tuple [2, 26] + - !!python/tuple [8, 11] + - !!python/tuple [27, 10] + - !!python/tuple [26, 7] + - !!python/tuple [5, 3] + - !!python/tuple [19, 9] + - !!python/tuple [3, 6] + - !!python/tuple [17, 14] + - !!python/tuple [16, 28] + - !!python/tuple [9, 29] + - !!python/tuple [13, 0] + - !!python/tuple [16, 8] + - !!python/tuple [11, 3] + - !!python/tuple [29, 29] + - !!python/tuple [8, 12] + - !!python/tuple [4, 4] + - !!python/tuple [4, 30] + - !!python/tuple [18, 14] + - !!python/tuple [3, 31] + - !!python/tuple [3, 2] + - !!python/tuple [12, 21] + - !!python/tuple [25, 5] + - !!python/tuple [0, 9] + - !!python/tuple [6, 27] + - !!python/tuple [27, 28] + - !!python/tuple [18, 9] + - !!python/tuple [2, 1] + - !!python/tuple [18, 23] + - !!python/tuple [30, 20] + - !!python/tuple [22, 24] + - !!python/tuple [24, 9] + - !!python/tuple [17, 10] + - !!python/tuple [18, 25] + - !!python/tuple [10, 14] + - !!python/tuple [0, 21] + - !!python/tuple [13, 2] + - !!python/tuple [31, 31] + - !!python/tuple [17, 20] + - !!python/tuple [19, 13] + - !!python/tuple [14, 29] + - !!python/tuple [31, 7] + - !!python/tuple [21, 17] + - !!python/tuple [3, 1] + - !!python/tuple [1, 10] + - !!python/tuple [25, 14] + - !!python/tuple [30, 14] + - !!python/tuple [27, 1] + - !!python/tuple [17, 19] + - !!python/tuple [8, 29] + - !!python/tuple [18, 18] + - !!python/tuple [21, 5] + - !!python/tuple [12, 16] + - !!python/tuple [8, 0] + - !!python/tuple [9, 12] + - !!python/tuple [28, 8] + - !!python/tuple [11, 18] + - !!python/tuple [13, 12] + - !!python/tuple [8, 27] + - !!python/tuple [1, 24] + - !!python/tuple [4, 15] + - !!python/tuple [6, 12] + - !!python/tuple [9, 11] + - !!python/tuple [10, 3] + - !!python/tuple [21, 10] + - !!python/tuple [20, 2] + - !!python/tuple [11, 29] + - !!python/tuple [12, 14] + - !!python/tuple [26, 4] + - !!python/tuple [4, 10] + - !!python/tuple [23, 1] + - !!python/tuple [23, 9] + - !!python/tuple [27, 3] + - !!python/tuple [14, 10] + - !!python/tuple [9, 15] + - !!python/tuple [28, 10] + - !!python/tuple [27, 17] + - !!python/tuple [8, 4] + - !!python/tuple [8, 8] + - !!python/tuple [23, 26] + - !!python/tuple [11, 13] + - !!python/tuple [5, 26] + - !!python/tuple [19, 10] + - !!python/tuple [9, 10] + - !!python/tuple [12, 6] + - !!python/tuple [24, 16] + - !!python/tuple [17, 13] + - !!python/tuple [5, 30] + - !!python/tuple [27, 13] + - !!python/tuple [9, 8] + - !!python/tuple [13, 7] + - !!python/tuple [24, 27] + - !!python/tuple [25, 18] + - !!python/tuple [24, 31] + - !!python/tuple [22, 1] + - !!python/tuple [15, 7] + - !!python/tuple [26, 22] + - !!python/tuple [18, 26] + - !!python/tuple [31, 25] + - !!python/tuple [4, 25] + - !!python/tuple [8, 24] + - !!python/tuple [31, 6] + - !!python/tuple [1, 18] + - !!python/tuple [13, 10] + - !!python/tuple [4, 19] + - !!python/tuple [30, 9] + - !!python/tuple [5, 27] + - !!python/tuple [31, 28] + - !!python/tuple [24, 12] + - !!python/tuple [25, 24] + - !!python/tuple [8, 15] + - !!python/tuple [31, 27] + - !!python/tuple [6, 24] + - !!python/tuple [27, 22] + - !!python/tuple [7, 8] + - !!python/tuple [26, 12] + - !!python/tuple [4, 1] + - !!python/tuple [6, 8] + - !!python/tuple [10, 2] + - !!python/tuple [19, 3] + - !!python/tuple [8, 1] + - !!python/tuple [5, 9] + - !!python/tuple [30, 17] + - !!python/tuple [11, 8] + - !!python/tuple [7, 22] + - !!python/tuple [9, 0] + - !!python/tuple [8, 26] + - !!python/tuple [1, 31] + - !!python/tuple [2, 8] + - !!python/tuple [18, 15] + - !!python/tuple [4, 11] + - !!python/tuple [1, 16] + - !!python/tuple [24, 30] + - !!python/tuple [5, 8] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex19.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex19.yaml new file mode 100644 index 0000000..7300b45 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex19.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [2, 28] + name: agent0 + start: [24, 1] +- goal: [2, 26] + name: agent1 + start: [20, 22] +- goal: [26, 27] + name: agent2 + start: [10, 18] +- goal: [7, 10] + name: agent3 + start: [2, 6] +- goal: [30, 25] + name: agent4 + start: [19, 27] +- goal: [31, 20] + name: agent5 + start: [1, 25] +- goal: [13, 24] + name: agent6 + start: [26, 13] +- goal: [11, 18] + name: agent7 + start: [7, 29] +- goal: [14, 6] + name: agent8 + start: [14, 19] +- goal: [2, 10] + name: agent9 + start: [22, 3] +- goal: [2, 0] + name: agent10 + start: [3, 18] +- goal: [17, 11] + name: agent11 + start: [15, 20] +- goal: [12, 22] + name: agent12 + start: [25, 9] +- goal: [21, 29] + name: agent13 + start: [13, 15] +- goal: [25, 4] + name: agent14 + start: [2, 31] +- goal: [13, 0] + name: agent15 + start: [29, 10] +- goal: [7, 7] + name: agent16 + start: [2, 14] +- goal: [1, 1] + name: agent17 + start: [31, 17] +- goal: [24, 14] + name: agent18 + start: [26, 16] +- goal: [10, 4] + name: agent19 + start: [2, 22] +- goal: [31, 19] + name: agent20 + start: [7, 10] +- goal: [20, 8] + name: agent21 + start: [14, 13] +- goal: [14, 27] + name: agent22 + start: [3, 4] +- goal: [30, 16] + name: agent23 + start: [28, 3] +- goal: [20, 5] + name: agent24 + start: [14, 24] +- goal: [28, 11] + name: agent25 + start: [16, 0] +- goal: [15, 9] + name: agent26 + start: [15, 14] +- goal: [11, 10] + name: agent27 + start: [31, 27] +- goal: [7, 25] + name: agent28 + start: [22, 10] +- goal: [30, 0] + name: agent29 + start: [18, 11] +- goal: [1, 15] + name: agent30 + start: [29, 12] +- goal: [28, 0] + name: agent31 + start: [10, 21] +- goal: [31, 14] + name: agent32 + start: [21, 19] +- goal: [2, 9] + name: agent33 + start: [4, 24] +- goal: [25, 18] + name: agent34 + start: [9, 7] +- goal: [16, 24] + name: agent35 + start: [1, 3] +- goal: [1, 31] + name: agent36 + start: [22, 29] +- goal: [31, 31] + name: agent37 + start: [11, 4] +- goal: [12, 20] + name: agent38 + start: [9, 25] +- goal: [12, 11] + name: agent39 + start: [28, 21] +- goal: [7, 3] + name: agent40 + start: [11, 18] +- goal: [21, 19] + name: agent41 + start: [15, 11] +- goal: [22, 2] + name: agent42 + start: [20, 23] +- goal: [6, 23] + name: agent43 + start: [31, 19] +- goal: [13, 11] + name: agent44 + start: [26, 24] +- goal: [17, 5] + name: agent45 + start: [17, 6] +- goal: [27, 0] + name: agent46 + start: [11, 26] +- goal: [10, 29] + name: agent47 + start: [5, 14] +- goal: [29, 11] + name: agent48 + start: [4, 2] +- goal: [1, 14] + name: agent49 + start: [2, 11] +- goal: [12, 13] + name: agent50 + start: [23, 11] +- goal: [8, 26] + name: agent51 + start: [16, 4] +- goal: [11, 19] + name: agent52 + start: [20, 27] +- goal: [27, 20] + name: agent53 + start: [31, 1] +- goal: [11, 13] + name: agent54 + start: [11, 24] +- goal: [4, 13] + name: agent55 + start: [22, 24] +- goal: [18, 0] + name: agent56 + start: [13, 24] +- goal: [7, 18] + name: agent57 + start: [24, 7] +- goal: [11, 30] + name: agent58 + start: [24, 15] +- goal: [7, 24] + name: agent59 + start: [22, 21] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [19, 15] + - !!python/tuple [10, 9] + - !!python/tuple [2, 7] + - !!python/tuple [20, 17] + - !!python/tuple [0, 5] + - !!python/tuple [1, 23] + - !!python/tuple [18, 15] + - !!python/tuple [8, 17] + - !!python/tuple [2, 3] + - !!python/tuple [3, 12] + - !!python/tuple [25, 14] + - !!python/tuple [9, 21] + - !!python/tuple [13, 1] + - !!python/tuple [29, 30] + - !!python/tuple [15, 0] + - !!python/tuple [27, 28] + - !!python/tuple [30, 21] + - !!python/tuple [9, 11] + - !!python/tuple [27, 11] + - !!python/tuple [27, 22] + - !!python/tuple [5, 22] + - !!python/tuple [29, 20] + - !!python/tuple [26, 23] + - !!python/tuple [17, 16] + - !!python/tuple [5, 21] + - !!python/tuple [8, 22] + - !!python/tuple [21, 10] + - !!python/tuple [19, 26] + - !!python/tuple [22, 1] + - !!python/tuple [1, 6] + - !!python/tuple [19, 11] + - !!python/tuple [9, 24] + - !!python/tuple [16, 16] + - !!python/tuple [11, 12] + - !!python/tuple [10, 24] + - !!python/tuple [5, 25] + - !!python/tuple [6, 8] + - !!python/tuple [1, 18] + - !!python/tuple [25, 21] + - !!python/tuple [6, 12] + - !!python/tuple [9, 31] + - !!python/tuple [5, 6] + - !!python/tuple [16, 19] + - !!python/tuple [14, 17] + - !!python/tuple [4, 26] + - !!python/tuple [3, 14] + - !!python/tuple [20, 15] + - !!python/tuple [21, 17] + - !!python/tuple [26, 7] + - !!python/tuple [7, 15] + - !!python/tuple [18, 17] + - !!python/tuple [0, 27] + - !!python/tuple [21, 1] + - !!python/tuple [26, 4] + - !!python/tuple [15, 19] + - !!python/tuple [5, 23] + - !!python/tuple [24, 18] + - !!python/tuple [22, 23] + - !!python/tuple [0, 31] + - !!python/tuple [11, 16] + - !!python/tuple [19, 22] + - !!python/tuple [2, 15] + - !!python/tuple [10, 5] + - !!python/tuple [10, 12] + - !!python/tuple [9, 5] + - !!python/tuple [24, 16] + - !!python/tuple [17, 23] + - !!python/tuple [10, 27] + - !!python/tuple [28, 25] + - !!python/tuple [16, 25] + - !!python/tuple [21, 24] + - !!python/tuple [2, 21] + - !!python/tuple [28, 9] + - !!python/tuple [31, 16] + - !!python/tuple [18, 27] + - !!python/tuple [31, 26] + - !!python/tuple [0, 13] + - !!python/tuple [18, 8] + - !!python/tuple [0, 22] + - !!python/tuple [22, 16] + - !!python/tuple [12, 8] + - !!python/tuple [20, 31] + - !!python/tuple [12, 7] + - !!python/tuple [1, 2] + - !!python/tuple [28, 22] + - !!python/tuple [9, 8] + - !!python/tuple [8, 23] + - !!python/tuple [1, 12] + - !!python/tuple [14, 16] + - !!python/tuple [5, 18] + - !!python/tuple [6, 5] + - !!python/tuple [7, 5] + - !!python/tuple [18, 6] + - !!python/tuple [7, 11] + - !!python/tuple [8, 5] + - !!python/tuple [25, 8] + - !!python/tuple [17, 10] + - !!python/tuple [27, 3] + - !!python/tuple [23, 3] + - !!python/tuple [25, 12] + - !!python/tuple [25, 23] + - !!python/tuple [28, 10] + - !!python/tuple [1, 30] + - !!python/tuple [23, 4] + - !!python/tuple [12, 12] + - !!python/tuple [1, 17] + - !!python/tuple [13, 20] + - !!python/tuple [10, 14] + - !!python/tuple [5, 9] + - !!python/tuple [21, 21] + - !!python/tuple [28, 31] + - !!python/tuple [4, 18] + - !!python/tuple [25, 0] + - !!python/tuple [17, 7] + - !!python/tuple [20, 11] + - !!python/tuple [31, 22] + - !!python/tuple [5, 16] + - !!python/tuple [24, 29] + - !!python/tuple [24, 8] + - !!python/tuple [10, 8] + - !!python/tuple [13, 2] + - !!python/tuple [10, 17] + - !!python/tuple [3, 5] + - !!python/tuple [5, 26] + - !!python/tuple [15, 30] + - !!python/tuple [29, 1] + - !!python/tuple [15, 8] + - !!python/tuple [18, 25] + - !!python/tuple [9, 16] + - !!python/tuple [1, 9] + - !!python/tuple [18, 9] + - !!python/tuple [13, 26] + - !!python/tuple [31, 29] + - !!python/tuple [20, 9] + - !!python/tuple [5, 17] + - !!python/tuple [1, 21] + - !!python/tuple [29, 23] + - !!python/tuple [25, 31] + - !!python/tuple [25, 11] + - !!python/tuple [29, 27] + - !!python/tuple [28, 12] + - !!python/tuple [13, 19] + - !!python/tuple [13, 17] + - !!python/tuple [2, 27] + - !!python/tuple [15, 1] + - !!python/tuple [10, 19] + - !!python/tuple [14, 26] + - !!python/tuple [21, 13] + - !!python/tuple [10, 11] + - !!python/tuple [2, 23] + - !!python/tuple [4, 8] + - !!python/tuple [15, 7] + - !!python/tuple [3, 25] + - !!python/tuple [11, 15] + - !!python/tuple [16, 7] + - !!python/tuple [23, 25] + - !!python/tuple [7, 20] + - !!python/tuple [23, 21] + - !!python/tuple [27, 30] + - !!python/tuple [24, 20] + - !!python/tuple [29, 22] + - !!python/tuple [21, 4] + - !!python/tuple [6, 27] + - !!python/tuple [21, 14] + - !!python/tuple [26, 14] + - !!python/tuple [18, 21] + - !!python/tuple [26, 19] + - !!python/tuple [17, 22] + - !!python/tuple [23, 0] + - !!python/tuple [3, 2] + - !!python/tuple [1, 27] + - !!python/tuple [4, 20] + - !!python/tuple [5, 31] + - !!python/tuple [29, 9] + - !!python/tuple [14, 5] + - !!python/tuple [6, 28] + - !!python/tuple [25, 13] + - !!python/tuple [12, 2] + - !!python/tuple [25, 27] + - !!python/tuple [4, 16] + - !!python/tuple [8, 13] + - !!python/tuple [27, 8] + - !!python/tuple [4, 23] + - !!python/tuple [16, 27] + - !!python/tuple [26, 21] + - !!python/tuple [23, 29] + - !!python/tuple [24, 31] + - !!python/tuple [22, 6] + - !!python/tuple [25, 28] + - !!python/tuple [12, 3] + - !!python/tuple [6, 2] + - !!python/tuple [3, 16] + - !!python/tuple [25, 16] + - !!python/tuple [7, 14] + - !!python/tuple [14, 1] + - !!python/tuple [10, 10] + - !!python/tuple [9, 19] + - !!python/tuple [31, 13] + - !!python/tuple [2, 2] + - !!python/tuple [9, 2] + - !!python/tuple [14, 25] + - !!python/tuple [13, 5] + - !!python/tuple [15, 10] + - !!python/tuple [9, 20] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex2.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex2.yaml new file mode 100644 index 0000000..954327c --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex2.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [10, 14] + name: agent0 + start: [17, 7] +- goal: [22, 13] + name: agent1 + start: [28, 24] +- goal: [11, 11] + name: agent2 + start: [5, 25] +- goal: [19, 12] + name: agent3 + start: [10, 8] +- goal: [7, 30] + name: agent4 + start: [13, 9] +- goal: [24, 22] + name: agent5 + start: [29, 14] +- goal: [24, 25] + name: agent6 + start: [5, 6] +- goal: [17, 13] + name: agent7 + start: [13, 25] +- goal: [3, 8] + name: agent8 + start: [10, 26] +- goal: [0, 23] + name: agent9 + start: [19, 8] +- goal: [26, 3] + name: agent10 + start: [24, 18] +- goal: [15, 29] + name: agent11 + start: [14, 21] +- goal: [14, 11] + name: agent12 + start: [14, 15] +- goal: [23, 6] + name: agent13 + start: [11, 11] +- goal: [3, 18] + name: agent14 + start: [5, 27] +- goal: [18, 14] + name: agent15 + start: [31, 27] +- goal: [6, 11] + name: agent16 + start: [12, 7] +- goal: [21, 21] + name: agent17 + start: [5, 19] +- goal: [28, 8] + name: agent18 + start: [29, 19] +- goal: [17, 17] + name: agent19 + start: [17, 1] +- goal: [4, 11] + name: agent20 + start: [6, 9] +- goal: [30, 19] + name: agent21 + start: [0, 9] +- goal: [18, 13] + name: agent22 + start: [24, 4] +- goal: [13, 1] + name: agent23 + start: [21, 16] +- goal: [16, 26] + name: agent24 + start: [25, 7] +- goal: [13, 4] + name: agent25 + start: [1, 26] +- goal: [14, 30] + name: agent26 + start: [18, 27] +- goal: [25, 9] + name: agent27 + start: [24, 24] +- goal: [14, 29] + name: agent28 + start: [15, 17] +- goal: [28, 28] + name: agent29 + start: [15, 7] +- goal: [8, 24] + name: agent30 + start: [17, 26] +- goal: [12, 0] + name: agent31 + start: [18, 7] +- goal: [23, 1] + name: agent32 + start: [21, 21] +- goal: [23, 19] + name: agent33 + start: [4, 24] +- goal: [1, 23] + name: agent34 + start: [1, 21] +- goal: [10, 15] + name: agent35 + start: [22, 17] +- goal: [19, 8] + name: agent36 + start: [18, 29] +- goal: [25, 24] + name: agent37 + start: [18, 13] +- goal: [19, 5] + name: agent38 + start: [17, 29] +- goal: [12, 25] + name: agent39 + start: [14, 0] +- goal: [20, 24] + name: agent40 + start: [14, 3] +- goal: [31, 2] + name: agent41 + start: [16, 12] +- goal: [22, 26] + name: agent42 + start: [25, 30] +- goal: [1, 31] + name: agent43 + start: [8, 15] +- goal: [6, 20] + name: agent44 + start: [24, 17] +- goal: [17, 30] + name: agent45 + start: [9, 11] +- goal: [18, 18] + name: agent46 + start: [23, 9] +- goal: [28, 27] + name: agent47 + start: [1, 19] +- goal: [3, 28] + name: agent48 + start: [27, 6] +- goal: [26, 16] + name: agent49 + start: [17, 13] +- goal: [3, 1] + name: agent50 + start: [0, 8] +- goal: [20, 0] + name: agent51 + start: [4, 1] +- goal: [28, 4] + name: agent52 + start: [18, 9] +- goal: [6, 4] + name: agent53 + start: [28, 2] +- goal: [18, 2] + name: agent54 + start: [24, 22] +- goal: [16, 1] + name: agent55 + start: [14, 10] +- goal: [14, 7] + name: agent56 + start: [27, 5] +- goal: [5, 20] + name: agent57 + start: [27, 28] +- goal: [20, 28] + name: agent58 + start: [22, 18] +- goal: [17, 18] + name: agent59 + start: [9, 27] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [31, 29] + - !!python/tuple [21, 13] + - !!python/tuple [14, 14] + - !!python/tuple [23, 3] + - !!python/tuple [27, 30] + - !!python/tuple [15, 11] + - !!python/tuple [13, 6] + - !!python/tuple [1, 29] + - !!python/tuple [16, 17] + - !!python/tuple [28, 20] + - !!python/tuple [19, 30] + - !!python/tuple [7, 23] + - !!python/tuple [31, 22] + - !!python/tuple [16, 3] + - !!python/tuple [5, 8] + - !!python/tuple [5, 4] + - !!python/tuple [1, 15] + - !!python/tuple [28, 15] + - !!python/tuple [18, 30] + - !!python/tuple [20, 30] + - !!python/tuple [12, 22] + - !!python/tuple [6, 13] + - !!python/tuple [29, 3] + - !!python/tuple [3, 14] + - !!python/tuple [6, 22] + - !!python/tuple [19, 28] + - !!python/tuple [16, 13] + - !!python/tuple [18, 28] + - !!python/tuple [11, 0] + - !!python/tuple [12, 3] + - !!python/tuple [9, 12] + - !!python/tuple [20, 9] + - !!python/tuple [3, 22] + - !!python/tuple [8, 13] + - !!python/tuple [22, 6] + - !!python/tuple [15, 12] + - !!python/tuple [8, 1] + - !!python/tuple [16, 31] + - !!python/tuple [22, 3] + - !!python/tuple [0, 7] + - !!python/tuple [10, 1] + - !!python/tuple [24, 13] + - !!python/tuple [24, 10] + - !!python/tuple [9, 2] + - !!python/tuple [4, 8] + - !!python/tuple [14, 5] + - !!python/tuple [2, 23] + - !!python/tuple [7, 18] + - !!python/tuple [17, 16] + - !!python/tuple [27, 31] + - !!python/tuple [4, 30] + - !!python/tuple [4, 29] + - !!python/tuple [20, 11] + - !!python/tuple [23, 20] + - !!python/tuple [30, 2] + - !!python/tuple [11, 20] + - !!python/tuple [0, 26] + - !!python/tuple [12, 27] + - !!python/tuple [5, 14] + - !!python/tuple [2, 25] + - !!python/tuple [4, 3] + - !!python/tuple [23, 4] + - !!python/tuple [6, 3] + - !!python/tuple [29, 23] + - !!python/tuple [9, 0] + - !!python/tuple [22, 25] + - !!python/tuple [9, 6] + - !!python/tuple [1, 6] + - !!python/tuple [8, 29] + - !!python/tuple [17, 20] + - !!python/tuple [22, 19] + - !!python/tuple [25, 2] + - !!python/tuple [1, 13] + - !!python/tuple [18, 10] + - !!python/tuple [21, 27] + - !!python/tuple [9, 29] + - !!python/tuple [22, 1] + - !!python/tuple [19, 24] + - !!python/tuple [14, 19] + - !!python/tuple [9, 16] + - !!python/tuple [11, 25] + - !!python/tuple [25, 8] + - !!python/tuple [8, 0] + - !!python/tuple [11, 17] + - !!python/tuple [12, 17] + - !!python/tuple [20, 10] + - !!python/tuple [21, 14] + - !!python/tuple [5, 5] + - !!python/tuple [21, 5] + - !!python/tuple [18, 19] + - !!python/tuple [31, 16] + - !!python/tuple [11, 4] + - !!python/tuple [10, 30] + - !!python/tuple [11, 31] + - !!python/tuple [22, 23] + - !!python/tuple [19, 23] + - !!python/tuple [18, 15] + - !!python/tuple [9, 23] + - !!python/tuple [2, 1] + - !!python/tuple [2, 18] + - !!python/tuple [10, 7] + - !!python/tuple [29, 6] + - !!python/tuple [0, 25] + - !!python/tuple [19, 16] + - !!python/tuple [1, 4] + - !!python/tuple [13, 5] + - !!python/tuple [18, 8] + - !!python/tuple [26, 28] + - !!python/tuple [27, 18] + - !!python/tuple [20, 6] + - !!python/tuple [3, 23] + - !!python/tuple [6, 12] + - !!python/tuple [29, 18] + - !!python/tuple [21, 25] + - !!python/tuple [3, 13] + - !!python/tuple [14, 24] + - !!python/tuple [26, 26] + - !!python/tuple [19, 1] + - !!python/tuple [0, 13] + - !!python/tuple [15, 22] + - !!python/tuple [25, 31] + - !!python/tuple [0, 15] + - !!python/tuple [24, 0] + - !!python/tuple [8, 14] + - !!python/tuple [8, 19] + - !!python/tuple [7, 7] + - !!python/tuple [26, 31] + - !!python/tuple [11, 6] + - !!python/tuple [31, 30] + - !!python/tuple [28, 31] + - !!python/tuple [18, 21] + - !!python/tuple [21, 24] + - !!python/tuple [11, 28] + - !!python/tuple [27, 11] + - !!python/tuple [3, 5] + - !!python/tuple [0, 17] + - !!python/tuple [23, 27] + - !!python/tuple [28, 23] + - !!python/tuple [13, 17] + - !!python/tuple [29, 25] + - !!python/tuple [19, 17] + - !!python/tuple [10, 17] + - !!python/tuple [7, 0] + - !!python/tuple [28, 3] + - !!python/tuple [0, 0] + - !!python/tuple [18, 17] + - !!python/tuple [21, 18] + - !!python/tuple [16, 29] + - !!python/tuple [13, 18] + - !!python/tuple [2, 27] + - !!python/tuple [15, 27] + - !!python/tuple [21, 3] + - !!python/tuple [0, 27] + - !!python/tuple [14, 12] + - !!python/tuple [12, 6] + - !!python/tuple [21, 1] + - !!python/tuple [13, 14] + - !!python/tuple [19, 0] + - !!python/tuple [11, 15] + - !!python/tuple [21, 8] + - !!python/tuple [7, 8] + - !!python/tuple [9, 28] + - !!python/tuple [22, 28] + - !!python/tuple [12, 14] + - !!python/tuple [0, 31] + - !!python/tuple [10, 3] + - !!python/tuple [26, 19] + - !!python/tuple [9, 21] + - !!python/tuple [9, 14] + - !!python/tuple [26, 15] + - !!python/tuple [16, 9] + - !!python/tuple [8, 4] + - !!python/tuple [2, 31] + - !!python/tuple [30, 1] + - !!python/tuple [26, 9] + - !!python/tuple [25, 27] + - !!python/tuple [23, 21] + - !!python/tuple [6, 23] + - !!python/tuple [4, 27] + - !!python/tuple [6, 0] + - !!python/tuple [18, 25] + - !!python/tuple [17, 31] + - !!python/tuple [9, 13] + - !!python/tuple [17, 19] + - !!python/tuple [17, 0] + - !!python/tuple [15, 6] + - !!python/tuple [4, 20] + - !!python/tuple [25, 23] + - !!python/tuple [8, 16] + - !!python/tuple [1, 0] + - !!python/tuple [2, 0] + - !!python/tuple [24, 19] + - !!python/tuple [4, 0] + - !!python/tuple [16, 24] + - !!python/tuple [7, 9] + - !!python/tuple [23, 7] + - !!python/tuple [30, 15] + - !!python/tuple [8, 27] + - !!python/tuple [26, 4] + - !!python/tuple [16, 15] + - !!python/tuple [19, 13] + - !!python/tuple [5, 22] + - !!python/tuple [2, 15] + - !!python/tuple [2, 19] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex20.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex20.yaml new file mode 100644 index 0000000..65822a8 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex20.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [19, 7] + name: agent0 + start: [9, 16] +- goal: [27, 15] + name: agent1 + start: [28, 4] +- goal: [7, 16] + name: agent2 + start: [0, 4] +- goal: [5, 31] + name: agent3 + start: [26, 5] +- goal: [29, 18] + name: agent4 + start: [4, 29] +- goal: [27, 7] + name: agent5 + start: [20, 24] +- goal: [14, 27] + name: agent6 + start: [30, 20] +- goal: [15, 13] + name: agent7 + start: [16, 8] +- goal: [23, 4] + name: agent8 + start: [22, 2] +- goal: [7, 1] + name: agent9 + start: [22, 30] +- goal: [11, 27] + name: agent10 + start: [7, 23] +- goal: [26, 29] + name: agent11 + start: [8, 18] +- goal: [25, 7] + name: agent12 + start: [10, 15] +- goal: [6, 24] + name: agent13 + start: [8, 10] +- goal: [6, 26] + name: agent14 + start: [31, 31] +- goal: [18, 0] + name: agent15 + start: [30, 11] +- goal: [12, 11] + name: agent16 + start: [22, 7] +- goal: [18, 24] + name: agent17 + start: [17, 4] +- goal: [10, 23] + name: agent18 + start: [15, 8] +- goal: [5, 17] + name: agent19 + start: [24, 18] +- goal: [26, 23] + name: agent20 + start: [5, 31] +- goal: [22, 29] + name: agent21 + start: [11, 14] +- goal: [18, 11] + name: agent22 + start: [11, 8] +- goal: [14, 8] + name: agent23 + start: [23, 9] +- goal: [20, 3] + name: agent24 + start: [6, 25] +- goal: [8, 14] + name: agent25 + start: [2, 16] +- goal: [13, 2] + name: agent26 + start: [28, 17] +- goal: [11, 12] + name: agent27 + start: [24, 30] +- goal: [18, 7] + name: agent28 + start: [24, 4] +- goal: [13, 0] + name: agent29 + start: [9, 29] +- goal: [9, 22] + name: agent30 + start: [6, 11] +- goal: [5, 2] + name: agent31 + start: [13, 11] +- goal: [25, 31] + name: agent32 + start: [18, 13] +- goal: [26, 12] + name: agent33 + start: [2, 7] +- goal: [13, 29] + name: agent34 + start: [18, 7] +- goal: [4, 7] + name: agent35 + start: [26, 22] +- goal: [29, 24] + name: agent36 + start: [26, 8] +- goal: [8, 7] + name: agent37 + start: [24, 5] +- goal: [1, 3] + name: agent38 + start: [3, 6] +- goal: [13, 19] + name: agent39 + start: [7, 18] +- goal: [24, 24] + name: agent40 + start: [28, 29] +- goal: [13, 4] + name: agent41 + start: [25, 12] +- goal: [10, 17] + name: agent42 + start: [28, 27] +- goal: [17, 19] + name: agent43 + start: [11, 17] +- goal: [18, 8] + name: agent44 + start: [0, 27] +- goal: [23, 25] + name: agent45 + start: [28, 28] +- goal: [8, 15] + name: agent46 + start: [11, 22] +- goal: [10, 31] + name: agent47 + start: [1, 14] +- goal: [15, 29] + name: agent48 + start: [1, 30] +- goal: [21, 20] + name: agent49 + start: [13, 16] +- goal: [22, 21] + name: agent50 + start: [1, 24] +- goal: [30, 10] + name: agent51 + start: [4, 0] +- goal: [8, 6] + name: agent52 + start: [12, 1] +- goal: [2, 1] + name: agent53 + start: [3, 3] +- goal: [26, 15] + name: agent54 + start: [1, 15] +- goal: [7, 15] + name: agent55 + start: [13, 7] +- goal: [28, 18] + name: agent56 + start: [27, 9] +- goal: [30, 25] + name: agent57 + start: [8, 21] +- goal: [18, 23] + name: agent58 + start: [21, 30] +- goal: [25, 3] + name: agent59 + start: [2, 3] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [14, 29] + - !!python/tuple [0, 0] + - !!python/tuple [18, 18] + - !!python/tuple [6, 3] + - !!python/tuple [25, 21] + - !!python/tuple [14, 1] + - !!python/tuple [20, 30] + - !!python/tuple [29, 17] + - !!python/tuple [20, 19] + - !!python/tuple [22, 10] + - !!python/tuple [26, 2] + - !!python/tuple [30, 31] + - !!python/tuple [6, 12] + - !!python/tuple [6, 16] + - !!python/tuple [8, 8] + - !!python/tuple [15, 22] + - !!python/tuple [25, 16] + - !!python/tuple [24, 6] + - !!python/tuple [26, 0] + - !!python/tuple [18, 1] + - !!python/tuple [9, 9] + - !!python/tuple [23, 29] + - !!python/tuple [23, 20] + - !!python/tuple [23, 5] + - !!python/tuple [17, 0] + - !!python/tuple [20, 15] + - !!python/tuple [29, 11] + - !!python/tuple [10, 20] + - !!python/tuple [20, 25] + - !!python/tuple [4, 21] + - !!python/tuple [0, 2] + - !!python/tuple [15, 27] + - !!python/tuple [21, 16] + - !!python/tuple [11, 25] + - !!python/tuple [27, 17] + - !!python/tuple [15, 10] + - !!python/tuple [11, 2] + - !!python/tuple [7, 24] + - !!python/tuple [5, 9] + - !!python/tuple [4, 14] + - !!python/tuple [9, 2] + - !!python/tuple [23, 11] + - !!python/tuple [23, 31] + - !!python/tuple [14, 0] + - !!python/tuple [9, 23] + - !!python/tuple [25, 2] + - !!python/tuple [6, 30] + - !!python/tuple [19, 22] + - !!python/tuple [27, 23] + - !!python/tuple [12, 29] + - !!python/tuple [27, 20] + - !!python/tuple [8, 16] + - !!python/tuple [28, 8] + - !!python/tuple [29, 15] + - !!python/tuple [9, 20] + - !!python/tuple [29, 10] + - !!python/tuple [10, 28] + - !!python/tuple [24, 25] + - !!python/tuple [21, 18] + - !!python/tuple [3, 0] + - !!python/tuple [28, 14] + - !!python/tuple [15, 30] + - !!python/tuple [16, 31] + - !!python/tuple [25, 8] + - !!python/tuple [23, 21] + - !!python/tuple [10, 24] + - !!python/tuple [25, 24] + - !!python/tuple [31, 20] + - !!python/tuple [8, 27] + - !!python/tuple [13, 9] + - !!python/tuple [17, 3] + - !!python/tuple [5, 11] + - !!python/tuple [20, 21] + - !!python/tuple [21, 29] + - !!python/tuple [19, 10] + - !!python/tuple [1, 26] + - !!python/tuple [11, 18] + - !!python/tuple [8, 31] + - !!python/tuple [17, 21] + - !!python/tuple [23, 16] + - !!python/tuple [21, 24] + - !!python/tuple [31, 12] + - !!python/tuple [1, 5] + - !!python/tuple [13, 27] + - !!python/tuple [24, 14] + - !!python/tuple [5, 8] + - !!python/tuple [30, 19] + - !!python/tuple [31, 26] + - !!python/tuple [27, 18] + - !!python/tuple [2, 20] + - !!python/tuple [9, 6] + - !!python/tuple [31, 18] + - !!python/tuple [16, 17] + - !!python/tuple [12, 20] + - !!python/tuple [19, 15] + - !!python/tuple [22, 8] + - !!python/tuple [0, 7] + - !!python/tuple [11, 30] + - !!python/tuple [4, 6] + - !!python/tuple [2, 2] + - !!python/tuple [0, 26] + - !!python/tuple [14, 18] + - !!python/tuple [26, 17] + - !!python/tuple [1, 22] + - !!python/tuple [4, 17] + - !!python/tuple [31, 14] + - !!python/tuple [16, 27] + - !!python/tuple [29, 27] + - !!python/tuple [23, 18] + - !!python/tuple [6, 10] + - !!python/tuple [29, 22] + - !!python/tuple [30, 26] + - !!python/tuple [2, 12] + - !!python/tuple [29, 14] + - !!python/tuple [26, 31] + - !!python/tuple [15, 28] + - !!python/tuple [2, 30] + - !!python/tuple [28, 24] + - !!python/tuple [31, 4] + - !!python/tuple [7, 0] + - !!python/tuple [5, 28] + - !!python/tuple [4, 25] + - !!python/tuple [17, 26] + - !!python/tuple [6, 9] + - !!python/tuple [4, 10] + - !!python/tuple [1, 25] + - !!python/tuple [1, 11] + - !!python/tuple [2, 8] + - !!python/tuple [19, 29] + - !!python/tuple [1, 4] + - !!python/tuple [24, 27] + - !!python/tuple [31, 3] + - !!python/tuple [15, 12] + - !!python/tuple [10, 6] + - !!python/tuple [0, 3] + - !!python/tuple [15, 15] + - !!python/tuple [1, 9] + - !!python/tuple [16, 5] + - !!python/tuple [14, 21] + - !!python/tuple [5, 6] + - !!python/tuple [12, 25] + - !!python/tuple [21, 7] + - !!python/tuple [17, 13] + - !!python/tuple [16, 18] + - !!python/tuple [2, 5] + - !!python/tuple [24, 13] + - !!python/tuple [29, 3] + - !!python/tuple [10, 1] + - !!python/tuple [6, 6] + - !!python/tuple [30, 9] + - !!python/tuple [25, 22] + - !!python/tuple [22, 12] + - !!python/tuple [20, 27] + - !!python/tuple [5, 22] + - !!python/tuple [31, 13] + - !!python/tuple [8, 30] + - !!python/tuple [1, 1] + - !!python/tuple [19, 2] + - !!python/tuple [17, 28] + - !!python/tuple [18, 30] + - !!python/tuple [28, 3] + - !!python/tuple [23, 6] + - !!python/tuple [19, 5] + - !!python/tuple [6, 0] + - !!python/tuple [7, 30] + - !!python/tuple [17, 2] + - !!python/tuple [9, 10] + - !!python/tuple [19, 8] + - !!python/tuple [10, 12] + - !!python/tuple [16, 26] + - !!python/tuple [15, 16] + - !!python/tuple [27, 11] + - !!python/tuple [6, 13] + - !!python/tuple [25, 29] + - !!python/tuple [11, 26] + - !!python/tuple [29, 30] + - !!python/tuple [26, 16] + - !!python/tuple [23, 14] + - !!python/tuple [20, 7] + - !!python/tuple [4, 30] + - !!python/tuple [16, 10] + - !!python/tuple [20, 4] + - !!python/tuple [30, 29] + - !!python/tuple [20, 29] + - !!python/tuple [26, 6] + - !!python/tuple [3, 23] + - !!python/tuple [31, 25] + - !!python/tuple [7, 7] + - !!python/tuple [20, 2] + - !!python/tuple [7, 19] + - !!python/tuple [22, 31] + - !!python/tuple [19, 21] + - !!python/tuple [27, 29] + - !!python/tuple [23, 26] + - !!python/tuple [13, 21] + - !!python/tuple [20, 11] + - !!python/tuple [0, 19] + - !!python/tuple [13, 28] + - !!python/tuple [26, 3] + - !!python/tuple [10, 26] + - !!python/tuple [22, 4] + - !!python/tuple [6, 5] + - !!python/tuple [4, 22] + - !!python/tuple [11, 0] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex21.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex21.yaml new file mode 100644 index 0000000..09dfff2 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex21.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [2, 10] + name: agent0 + start: [20, 12] +- goal: [8, 26] + name: agent1 + start: [13, 31] +- goal: [25, 17] + name: agent2 + start: [31, 12] +- goal: [27, 23] + name: agent3 + start: [17, 9] +- goal: [8, 5] + name: agent4 + start: [25, 3] +- goal: [26, 6] + name: agent5 + start: [27, 27] +- goal: [26, 15] + name: agent6 + start: [25, 31] +- goal: [17, 15] + name: agent7 + start: [9, 19] +- goal: [13, 21] + name: agent8 + start: [26, 6] +- goal: [13, 4] + name: agent9 + start: [5, 20] +- goal: [12, 12] + name: agent10 + start: [24, 0] +- goal: [14, 17] + name: agent11 + start: [17, 22] +- goal: [5, 21] + name: agent12 + start: [28, 30] +- goal: [21, 19] + name: agent13 + start: [18, 29] +- goal: [29, 23] + name: agent14 + start: [27, 0] +- goal: [4, 18] + name: agent15 + start: [18, 8] +- goal: [15, 31] + name: agent16 + start: [4, 18] +- goal: [16, 30] + name: agent17 + start: [15, 7] +- goal: [2, 4] + name: agent18 + start: [26, 29] +- goal: [6, 21] + name: agent19 + start: [14, 29] +- goal: [16, 29] + name: agent20 + start: [25, 19] +- goal: [13, 6] + name: agent21 + start: [20, 23] +- goal: [17, 8] + name: agent22 + start: [21, 1] +- goal: [13, 8] + name: agent23 + start: [5, 4] +- goal: [13, 7] + name: agent24 + start: [12, 14] +- goal: [9, 3] + name: agent25 + start: [4, 16] +- goal: [16, 27] + name: agent26 + start: [1, 27] +- goal: [23, 1] + name: agent27 + start: [17, 7] +- goal: [21, 16] + name: agent28 + start: [3, 25] +- goal: [14, 30] + name: agent29 + start: [2, 19] +- goal: [5, 14] + name: agent30 + start: [18, 1] +- goal: [5, 2] + name: agent31 + start: [9, 20] +- goal: [0, 14] + name: agent32 + start: [22, 9] +- goal: [4, 30] + name: agent33 + start: [31, 24] +- goal: [26, 5] + name: agent34 + start: [22, 13] +- goal: [26, 20] + name: agent35 + start: [31, 28] +- goal: [5, 13] + name: agent36 + start: [24, 28] +- goal: [19, 11] + name: agent37 + start: [25, 9] +- goal: [4, 13] + name: agent38 + start: [21, 8] +- goal: [26, 12] + name: agent39 + start: [18, 6] +- goal: [26, 10] + name: agent40 + start: [5, 25] +- goal: [28, 8] + name: agent41 + start: [18, 15] +- goal: [27, 0] + name: agent42 + start: [31, 17] +- goal: [14, 29] + name: agent43 + start: [16, 4] +- goal: [0, 26] + name: agent44 + start: [31, 19] +- goal: [27, 24] + name: agent45 + start: [1, 4] +- goal: [19, 20] + name: agent46 + start: [20, 18] +- goal: [21, 22] + name: agent47 + start: [14, 15] +- goal: [23, 14] + name: agent48 + start: [10, 3] +- goal: [27, 30] + name: agent49 + start: [1, 19] +- goal: [24, 1] + name: agent50 + start: [22, 8] +- goal: [23, 4] + name: agent51 + start: [0, 14] +- goal: [28, 19] + name: agent52 + start: [27, 5] +- goal: [19, 0] + name: agent53 + start: [17, 14] +- goal: [0, 4] + name: agent54 + start: [1, 31] +- goal: [22, 1] + name: agent55 + start: [21, 25] +- goal: [24, 27] + name: agent56 + start: [17, 19] +- goal: [5, 6] + name: agent57 + start: [24, 23] +- goal: [27, 3] + name: agent58 + start: [7, 17] +- goal: [12, 10] + name: agent59 + start: [10, 30] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [4, 23] + - !!python/tuple [17, 26] + - !!python/tuple [30, 16] + - !!python/tuple [30, 3] + - !!python/tuple [21, 30] + - !!python/tuple [20, 7] + - !!python/tuple [19, 8] + - !!python/tuple [7, 12] + - !!python/tuple [30, 14] + - !!python/tuple [3, 3] + - !!python/tuple [15, 14] + - !!python/tuple [7, 10] + - !!python/tuple [6, 6] + - !!python/tuple [31, 26] + - !!python/tuple [10, 29] + - !!python/tuple [13, 26] + - !!python/tuple [10, 23] + - !!python/tuple [15, 20] + - !!python/tuple [5, 18] + - !!python/tuple [16, 12] + - !!python/tuple [18, 25] + - !!python/tuple [20, 21] + - !!python/tuple [31, 30] + - !!python/tuple [15, 24] + - !!python/tuple [27, 31] + - !!python/tuple [19, 26] + - !!python/tuple [31, 6] + - !!python/tuple [6, 15] + - !!python/tuple [3, 17] + - !!python/tuple [25, 10] + - !!python/tuple [18, 19] + - !!python/tuple [4, 7] + - !!python/tuple [10, 1] + - !!python/tuple [31, 5] + - !!python/tuple [3, 20] + - !!python/tuple [26, 21] + - !!python/tuple [23, 31] + - !!python/tuple [20, 14] + - !!python/tuple [8, 16] + - !!python/tuple [7, 3] + - !!python/tuple [29, 1] + - !!python/tuple [21, 18] + - !!python/tuple [0, 21] + - !!python/tuple [6, 12] + - !!python/tuple [23, 8] + - !!python/tuple [6, 16] + - !!python/tuple [6, 23] + - !!python/tuple [20, 8] + - !!python/tuple [24, 24] + - !!python/tuple [4, 15] + - !!python/tuple [20, 17] + - !!python/tuple [17, 2] + - !!python/tuple [26, 4] + - !!python/tuple [15, 16] + - !!python/tuple [14, 25] + - !!python/tuple [7, 27] + - !!python/tuple [27, 12] + - !!python/tuple [5, 3] + - !!python/tuple [27, 28] + - !!python/tuple [11, 3] + - !!python/tuple [2, 15] + - !!python/tuple [19, 28] + - !!python/tuple [10, 24] + - !!python/tuple [26, 31] + - !!python/tuple [20, 28] + - !!python/tuple [23, 28] + - !!python/tuple [9, 22] + - !!python/tuple [21, 15] + - !!python/tuple [21, 12] + - !!python/tuple [9, 28] + - !!python/tuple [2, 9] + - !!python/tuple [0, 5] + - !!python/tuple [3, 9] + - !!python/tuple [16, 22] + - !!python/tuple [12, 0] + - !!python/tuple [14, 26] + - !!python/tuple [27, 19] + - !!python/tuple [19, 27] + - !!python/tuple [20, 16] + - !!python/tuple [18, 26] + - !!python/tuple [29, 5] + - !!python/tuple [5, 17] + - !!python/tuple [30, 22] + - !!python/tuple [24, 7] + - !!python/tuple [21, 23] + - !!python/tuple [11, 8] + - !!python/tuple [25, 25] + - !!python/tuple [16, 31] + - !!python/tuple [26, 9] + - !!python/tuple [0, 30] + - !!python/tuple [11, 1] + - !!python/tuple [10, 20] + - !!python/tuple [19, 5] + - !!python/tuple [2, 30] + - !!python/tuple [6, 26] + - !!python/tuple [26, 16] + - !!python/tuple [16, 26] + - !!python/tuple [0, 29] + - !!python/tuple [31, 21] + - !!python/tuple [10, 5] + - !!python/tuple [23, 23] + - !!python/tuple [24, 12] + - !!python/tuple [22, 19] + - !!python/tuple [27, 13] + - !!python/tuple [19, 24] + - !!python/tuple [2, 13] + - !!python/tuple [11, 19] + - !!python/tuple [13, 25] + - !!python/tuple [5, 16] + - !!python/tuple [11, 21] + - !!python/tuple [12, 7] + - !!python/tuple [10, 0] + - !!python/tuple [11, 10] + - !!python/tuple [3, 30] + - !!python/tuple [25, 23] + - !!python/tuple [11, 30] + - !!python/tuple [13, 15] + - !!python/tuple [22, 29] + - !!python/tuple [7, 20] + - !!python/tuple [27, 11] + - !!python/tuple [22, 25] + - !!python/tuple [17, 4] + - !!python/tuple [9, 25] + - !!python/tuple [26, 25] + - !!python/tuple [2, 31] + - !!python/tuple [3, 13] + - !!python/tuple [19, 13] + - !!python/tuple [13, 19] + - !!python/tuple [24, 14] + - !!python/tuple [9, 18] + - !!python/tuple [7, 24] + - !!python/tuple [24, 4] + - !!python/tuple [29, 10] + - !!python/tuple [12, 22] + - !!python/tuple [27, 25] + - !!python/tuple [23, 22] + - !!python/tuple [7, 6] + - !!python/tuple [15, 4] + - !!python/tuple [0, 9] + - !!python/tuple [29, 31] + - !!python/tuple [12, 16] + - !!python/tuple [14, 21] + - !!python/tuple [3, 7] + - !!python/tuple [22, 24] + - !!python/tuple [17, 20] + - !!python/tuple [12, 27] + - !!python/tuple [5, 11] + - !!python/tuple [10, 7] + - !!python/tuple [10, 10] + - !!python/tuple [18, 24] + - !!python/tuple [22, 12] + - !!python/tuple [19, 21] + - !!python/tuple [8, 31] + - !!python/tuple [7, 9] + - !!python/tuple [13, 3] + - !!python/tuple [15, 30] + - !!python/tuple [28, 17] + - !!python/tuple [28, 6] + - !!python/tuple [29, 8] + - !!python/tuple [9, 12] + - !!python/tuple [2, 24] + - !!python/tuple [14, 13] + - !!python/tuple [26, 18] + - !!python/tuple [30, 1] + - !!python/tuple [31, 3] + - !!python/tuple [6, 19] + - !!python/tuple [27, 20] + - !!python/tuple [20, 10] + - !!python/tuple [23, 21] + - !!python/tuple [9, 23] + - !!python/tuple [12, 3] + - !!python/tuple [14, 1] + - !!python/tuple [1, 0] + - !!python/tuple [24, 25] + - !!python/tuple [19, 14] + - !!python/tuple [28, 16] + - !!python/tuple [16, 19] + - !!python/tuple [8, 1] + - !!python/tuple [27, 21] + - !!python/tuple [8, 10] + - !!python/tuple [5, 15] + - !!python/tuple [29, 26] + - !!python/tuple [12, 19] + - !!python/tuple [23, 5] + - !!python/tuple [9, 10] + - !!python/tuple [6, 1] + - !!python/tuple [22, 27] + - !!python/tuple [22, 22] + - !!python/tuple [23, 25] + - !!python/tuple [12, 31] + - !!python/tuple [31, 22] + - !!python/tuple [30, 19] + - !!python/tuple [30, 18] + - !!python/tuple [14, 18] + - !!python/tuple [27, 29] + - !!python/tuple [11, 22] + - !!python/tuple [11, 6] + - !!python/tuple [4, 10] + - !!python/tuple [19, 31] + - !!python/tuple [13, 10] + - !!python/tuple [30, 9] + - !!python/tuple [10, 12] + - !!python/tuple [16, 1] + - !!python/tuple [18, 14] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex22.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex22.yaml new file mode 100644 index 0000000..247f1ac --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex22.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [28, 9] + name: agent0 + start: [9, 17] +- goal: [10, 5] + name: agent1 + start: [15, 19] +- goal: [6, 30] + name: agent2 + start: [0, 22] +- goal: [25, 28] + name: agent3 + start: [17, 17] +- goal: [23, 15] + name: agent4 + start: [27, 29] +- goal: [14, 24] + name: agent5 + start: [11, 12] +- goal: [1, 11] + name: agent6 + start: [25, 31] +- goal: [14, 4] + name: agent7 + start: [15, 8] +- goal: [19, 11] + name: agent8 + start: [16, 18] +- goal: [10, 27] + name: agent9 + start: [17, 5] +- goal: [16, 15] + name: agent10 + start: [10, 3] +- goal: [5, 28] + name: agent11 + start: [13, 5] +- goal: [2, 31] + name: agent12 + start: [5, 14] +- goal: [28, 15] + name: agent13 + start: [23, 0] +- goal: [25, 1] + name: agent14 + start: [30, 8] +- goal: [2, 22] + name: agent15 + start: [4, 9] +- goal: [12, 9] + name: agent16 + start: [21, 18] +- goal: [7, 15] + name: agent17 + start: [20, 25] +- goal: [26, 31] + name: agent18 + start: [17, 25] +- goal: [18, 12] + name: agent19 + start: [12, 6] +- goal: [17, 15] + name: agent20 + start: [26, 20] +- goal: [5, 7] + name: agent21 + start: [13, 22] +- goal: [12, 30] + name: agent22 + start: [14, 26] +- goal: [5, 2] + name: agent23 + start: [21, 30] +- goal: [28, 14] + name: agent24 + start: [11, 2] +- goal: [2, 24] + name: agent25 + start: [9, 19] +- goal: [9, 17] + name: agent26 + start: [6, 13] +- goal: [7, 19] + name: agent27 + start: [30, 21] +- goal: [5, 17] + name: agent28 + start: [2, 23] +- goal: [13, 27] + name: agent29 + start: [17, 0] +- goal: [3, 2] + name: agent30 + start: [29, 23] +- goal: [8, 25] + name: agent31 + start: [2, 3] +- goal: [20, 25] + name: agent32 + start: [15, 21] +- goal: [1, 0] + name: agent33 + start: [18, 8] +- goal: [18, 18] + name: agent34 + start: [12, 16] +- goal: [10, 18] + name: agent35 + start: [3, 12] +- goal: [23, 13] + name: agent36 + start: [22, 17] +- goal: [29, 21] + name: agent37 + start: [10, 18] +- goal: [24, 14] + name: agent38 + start: [25, 1] +- goal: [14, 0] + name: agent39 + start: [25, 13] +- goal: [19, 20] + name: agent40 + start: [21, 25] +- goal: [13, 5] + name: agent41 + start: [13, 12] +- goal: [27, 14] + name: agent42 + start: [15, 11] +- goal: [10, 16] + name: agent43 + start: [12, 21] +- goal: [14, 14] + name: agent44 + start: [11, 10] +- goal: [3, 27] + name: agent45 + start: [31, 23] +- goal: [31, 24] + name: agent46 + start: [15, 7] +- goal: [31, 0] + name: agent47 + start: [6, 20] +- goal: [15, 19] + name: agent48 + start: [3, 28] +- goal: [22, 18] + name: agent49 + start: [16, 30] +- goal: [16, 22] + name: agent50 + start: [28, 24] +- goal: [5, 26] + name: agent51 + start: [1, 20] +- goal: [15, 11] + name: agent52 + start: [25, 15] +- goal: [22, 5] + name: agent53 + start: [10, 1] +- goal: [24, 8] + name: agent54 + start: [31, 8] +- goal: [22, 24] + name: agent55 + start: [25, 9] +- goal: [12, 31] + name: agent56 + start: [1, 24] +- goal: [15, 4] + name: agent57 + start: [24, 25] +- goal: [11, 27] + name: agent58 + start: [3, 20] +- goal: [0, 9] + name: agent59 + start: [19, 23] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [13, 19] + - !!python/tuple [9, 3] + - !!python/tuple [15, 14] + - !!python/tuple [24, 24] + - !!python/tuple [7, 28] + - !!python/tuple [30, 29] + - !!python/tuple [24, 3] + - !!python/tuple [26, 23] + - !!python/tuple [13, 16] + - !!python/tuple [11, 11] + - !!python/tuple [17, 28] + - !!python/tuple [22, 3] + - !!python/tuple [20, 6] + - !!python/tuple [8, 2] + - !!python/tuple [10, 21] + - !!python/tuple [22, 0] + - !!python/tuple [0, 7] + - !!python/tuple [18, 11] + - !!python/tuple [19, 5] + - !!python/tuple [25, 3] + - !!python/tuple [31, 15] + - !!python/tuple [29, 25] + - !!python/tuple [11, 18] + - !!python/tuple [22, 21] + - !!python/tuple [31, 13] + - !!python/tuple [2, 15] + - !!python/tuple [23, 19] + - !!python/tuple [1, 21] + - !!python/tuple [27, 23] + - !!python/tuple [16, 2] + - !!python/tuple [15, 28] + - !!python/tuple [16, 3] + - !!python/tuple [11, 13] + - !!python/tuple [14, 25] + - !!python/tuple [24, 11] + - !!python/tuple [25, 4] + - !!python/tuple [28, 17] + - !!python/tuple [28, 2] + - !!python/tuple [18, 14] + - !!python/tuple [2, 9] + - !!python/tuple [21, 0] + - !!python/tuple [3, 26] + - !!python/tuple [6, 31] + - !!python/tuple [30, 13] + - !!python/tuple [1, 6] + - !!python/tuple [19, 1] + - !!python/tuple [21, 6] + - !!python/tuple [5, 16] + - !!python/tuple [13, 2] + - !!python/tuple [21, 1] + - !!python/tuple [24, 5] + - !!python/tuple [18, 21] + - !!python/tuple [12, 28] + - !!python/tuple [24, 4] + - !!python/tuple [16, 13] + - !!python/tuple [11, 22] + - !!python/tuple [7, 6] + - !!python/tuple [18, 27] + - !!python/tuple [18, 15] + - !!python/tuple [27, 24] + - !!python/tuple [3, 10] + - !!python/tuple [3, 3] + - !!python/tuple [23, 22] + - !!python/tuple [4, 28] + - !!python/tuple [2, 16] + - !!python/tuple [21, 15] + - !!python/tuple [17, 22] + - !!python/tuple [11, 1] + - !!python/tuple [6, 19] + - !!python/tuple [20, 17] + - !!python/tuple [8, 7] + - !!python/tuple [18, 25] + - !!python/tuple [21, 19] + - !!python/tuple [15, 22] + - !!python/tuple [0, 12] + - !!python/tuple [10, 9] + - !!python/tuple [14, 3] + - !!python/tuple [16, 31] + - !!python/tuple [26, 1] + - !!python/tuple [30, 25] + - !!python/tuple [24, 7] + - !!python/tuple [29, 1] + - !!python/tuple [31, 19] + - !!python/tuple [24, 28] + - !!python/tuple [23, 7] + - !!python/tuple [28, 26] + - !!python/tuple [23, 16] + - !!python/tuple [26, 5] + - !!python/tuple [8, 21] + - !!python/tuple [29, 4] + - !!python/tuple [4, 29] + - !!python/tuple [19, 4] + - !!python/tuple [12, 23] + - !!python/tuple [14, 22] + - !!python/tuple [22, 13] + - !!python/tuple [14, 17] + - !!python/tuple [1, 19] + - !!python/tuple [12, 26] + - !!python/tuple [0, 15] + - !!python/tuple [0, 23] + - !!python/tuple [4, 8] + - !!python/tuple [10, 20] + - !!python/tuple [15, 26] + - !!python/tuple [26, 30] + - !!python/tuple [9, 5] + - !!python/tuple [6, 3] + - !!python/tuple [3, 19] + - !!python/tuple [30, 11] + - !!python/tuple [3, 15] + - !!python/tuple [9, 12] + - !!python/tuple [29, 7] + - !!python/tuple [12, 10] + - !!python/tuple [5, 30] + - !!python/tuple [31, 6] + - !!python/tuple [13, 20] + - !!python/tuple [12, 25] + - !!python/tuple [28, 27] + - !!python/tuple [14, 6] + - !!python/tuple [24, 27] + - !!python/tuple [4, 26] + - !!python/tuple [26, 16] + - !!python/tuple [4, 0] + - !!python/tuple [28, 30] + - !!python/tuple [0, 19] + - !!python/tuple [22, 15] + - !!python/tuple [31, 27] + - !!python/tuple [6, 17] + - !!python/tuple [10, 17] + - !!python/tuple [23, 14] + - !!python/tuple [7, 29] + - !!python/tuple [16, 19] + - !!python/tuple [25, 6] + - !!python/tuple [9, 28] + - !!python/tuple [19, 18] + - !!python/tuple [17, 30] + - !!python/tuple [22, 23] + - !!python/tuple [21, 17] + - !!python/tuple [10, 11] + - !!python/tuple [8, 28] + - !!python/tuple [18, 17] + - !!python/tuple [21, 9] + - !!python/tuple [9, 20] + - !!python/tuple [9, 24] + - !!python/tuple [6, 29] + - !!python/tuple [16, 4] + - !!python/tuple [27, 30] + - !!python/tuple [27, 19] + - !!python/tuple [16, 20] + - !!python/tuple [20, 19] + - !!python/tuple [25, 24] + - !!python/tuple [19, 3] + - !!python/tuple [30, 30] + - !!python/tuple [10, 15] + - !!python/tuple [4, 4] + - !!python/tuple [30, 0] + - !!python/tuple [3, 18] + - !!python/tuple [5, 22] + - !!python/tuple [13, 6] + - !!python/tuple [3, 24] + - !!python/tuple [20, 26] + - !!python/tuple [18, 2] + - !!python/tuple [5, 0] + - !!python/tuple [1, 3] + - !!python/tuple [6, 16] + - !!python/tuple [22, 29] + - !!python/tuple [12, 15] + - !!python/tuple [25, 5] + - !!python/tuple [20, 18] + - !!python/tuple [11, 30] + - !!python/tuple [7, 12] + - !!python/tuple [21, 27] + - !!python/tuple [24, 23] + - !!python/tuple [0, 21] + - !!python/tuple [20, 3] + - !!python/tuple [4, 19] + - !!python/tuple [2, 1] + - !!python/tuple [30, 28] + - !!python/tuple [27, 26] + - !!python/tuple [22, 28] + - !!python/tuple [21, 21] + - !!python/tuple [27, 6] + - !!python/tuple [13, 11] + - !!python/tuple [31, 17] + - !!python/tuple [30, 7] + - !!python/tuple [0, 24] + - !!python/tuple [12, 5] + - !!python/tuple [20, 14] + - !!python/tuple [20, 28] + - !!python/tuple [31, 11] + - !!python/tuple [27, 15] + - !!python/tuple [19, 8] + - !!python/tuple [14, 2] + - !!python/tuple [19, 15] + - !!python/tuple [25, 10] + - !!python/tuple [25, 2] + - !!python/tuple [11, 7] + - !!python/tuple [7, 2] + - !!python/tuple [18, 26] + - !!python/tuple [10, 8] + - !!python/tuple [10, 2] + - !!python/tuple [29, 2] + - !!python/tuple [8, 29] + - !!python/tuple [24, 26] + - !!python/tuple [26, 0] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex23.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex23.yaml new file mode 100644 index 0000000..9896205 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex23.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [19, 0] + name: agent0 + start: [29, 0] +- goal: [23, 1] + name: agent1 + start: [16, 4] +- goal: [25, 0] + name: agent2 + start: [0, 0] +- goal: [7, 11] + name: agent3 + start: [16, 20] +- goal: [5, 16] + name: agent4 + start: [22, 11] +- goal: [2, 17] + name: agent5 + start: [11, 23] +- goal: [20, 10] + name: agent6 + start: [11, 2] +- goal: [12, 4] + name: agent7 + start: [2, 1] +- goal: [12, 5] + name: agent8 + start: [19, 14] +- goal: [3, 27] + name: agent9 + start: [7, 12] +- goal: [8, 4] + name: agent10 + start: [15, 1] +- goal: [23, 9] + name: agent11 + start: [19, 26] +- goal: [22, 13] + name: agent12 + start: [22, 12] +- goal: [29, 13] + name: agent13 + start: [30, 18] +- goal: [13, 28] + name: agent14 + start: [2, 23] +- goal: [6, 17] + name: agent15 + start: [23, 2] +- goal: [26, 17] + name: agent16 + start: [19, 3] +- goal: [28, 21] + name: agent17 + start: [6, 22] +- goal: [22, 17] + name: agent18 + start: [20, 2] +- goal: [12, 11] + name: agent19 + start: [19, 18] +- goal: [24, 27] + name: agent20 + start: [30, 11] +- goal: [15, 21] + name: agent21 + start: [5, 19] +- goal: [20, 31] + name: agent22 + start: [15, 20] +- goal: [2, 26] + name: agent23 + start: [9, 30] +- goal: [2, 7] + name: agent24 + start: [9, 13] +- goal: [28, 13] + name: agent25 + start: [7, 28] +- goal: [7, 8] + name: agent26 + start: [16, 15] +- goal: [23, 13] + name: agent27 + start: [25, 20] +- goal: [12, 17] + name: agent28 + start: [26, 13] +- goal: [26, 27] + name: agent29 + start: [11, 16] +- goal: [19, 27] + name: agent30 + start: [20, 8] +- goal: [15, 2] + name: agent31 + start: [19, 11] +- goal: [11, 25] + name: agent32 + start: [9, 27] +- goal: [26, 22] + name: agent33 + start: [19, 1] +- goal: [24, 14] + name: agent34 + start: [9, 2] +- goal: [2, 16] + name: agent35 + start: [19, 21] +- goal: [17, 25] + name: agent36 + start: [20, 6] +- goal: [31, 13] + name: agent37 + start: [1, 30] +- goal: [22, 21] + name: agent38 + start: [17, 27] +- goal: [19, 16] + name: agent39 + start: [7, 30] +- goal: [22, 12] + name: agent40 + start: [0, 14] +- goal: [3, 20] + name: agent41 + start: [18, 17] +- goal: [22, 20] + name: agent42 + start: [6, 4] +- goal: [2, 4] + name: agent43 + start: [17, 18] +- goal: [29, 6] + name: agent44 + start: [12, 11] +- goal: [16, 29] + name: agent45 + start: [0, 7] +- goal: [22, 14] + name: agent46 + start: [10, 31] +- goal: [5, 25] + name: agent47 + start: [16, 23] +- goal: [4, 17] + name: agent48 + start: [8, 28] +- goal: [16, 23] + name: agent49 + start: [12, 31] +- goal: [3, 9] + name: agent50 + start: [23, 19] +- goal: [8, 11] + name: agent51 + start: [2, 10] +- goal: [0, 27] + name: agent52 + start: [29, 7] +- goal: [29, 9] + name: agent53 + start: [19, 30] +- goal: [17, 2] + name: agent54 + start: [16, 8] +- goal: [15, 29] + name: agent55 + start: [23, 1] +- goal: [18, 26] + name: agent56 + start: [28, 23] +- goal: [12, 18] + name: agent57 + start: [22, 28] +- goal: [22, 18] + name: agent58 + start: [7, 20] +- goal: [13, 19] + name: agent59 + start: [30, 4] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [12, 24] + - !!python/tuple [27, 10] + - !!python/tuple [29, 19] + - !!python/tuple [7, 22] + - !!python/tuple [27, 26] + - !!python/tuple [2, 29] + - !!python/tuple [6, 15] + - !!python/tuple [30, 6] + - !!python/tuple [6, 9] + - !!python/tuple [1, 24] + - !!python/tuple [31, 20] + - !!python/tuple [22, 24] + - !!python/tuple [26, 10] + - !!python/tuple [14, 1] + - !!python/tuple [8, 26] + - !!python/tuple [11, 3] + - !!python/tuple [4, 7] + - !!python/tuple [25, 23] + - !!python/tuple [6, 30] + - !!python/tuple [15, 25] + - !!python/tuple [12, 0] + - !!python/tuple [26, 21] + - !!python/tuple [4, 22] + - !!python/tuple [29, 31] + - !!python/tuple [12, 27] + - !!python/tuple [16, 11] + - !!python/tuple [10, 16] + - !!python/tuple [26, 31] + - !!python/tuple [1, 14] + - !!python/tuple [24, 20] + - !!python/tuple [24, 3] + - !!python/tuple [15, 27] + - !!python/tuple [8, 18] + - !!python/tuple [13, 5] + - !!python/tuple [23, 22] + - !!python/tuple [8, 27] + - !!python/tuple [10, 4] + - !!python/tuple [17, 12] + - !!python/tuple [10, 25] + - !!python/tuple [21, 16] + - !!python/tuple [5, 29] + - !!python/tuple [12, 9] + - !!python/tuple [13, 13] + - !!python/tuple [5, 23] + - !!python/tuple [11, 6] + - !!python/tuple [31, 22] + - !!python/tuple [19, 22] + - !!python/tuple [15, 6] + - !!python/tuple [19, 23] + - !!python/tuple [16, 6] + - !!python/tuple [16, 14] + - !!python/tuple [21, 17] + - !!python/tuple [9, 24] + - !!python/tuple [7, 3] + - !!python/tuple [28, 10] + - !!python/tuple [5, 31] + - !!python/tuple [9, 28] + - !!python/tuple [7, 6] + - !!python/tuple [24, 17] + - !!python/tuple [10, 17] + - !!python/tuple [14, 19] + - !!python/tuple [27, 25] + - !!python/tuple [11, 12] + - !!python/tuple [7, 24] + - !!python/tuple [20, 20] + - !!python/tuple [5, 1] + - !!python/tuple [31, 26] + - !!python/tuple [26, 18] + - !!python/tuple [17, 26] + - !!python/tuple [1, 15] + - !!python/tuple [4, 5] + - !!python/tuple [16, 7] + - !!python/tuple [27, 24] + - !!python/tuple [26, 20] + - !!python/tuple [1, 31] + - !!python/tuple [19, 6] + - !!python/tuple [1, 4] + - !!python/tuple [10, 30] + - !!python/tuple [27, 21] + - !!python/tuple [18, 28] + - !!python/tuple [18, 18] + - !!python/tuple [6, 11] + - !!python/tuple [6, 0] + - !!python/tuple [27, 3] + - !!python/tuple [7, 4] + - !!python/tuple [9, 17] + - !!python/tuple [22, 4] + - !!python/tuple [0, 3] + - !!python/tuple [9, 6] + - !!python/tuple [21, 14] + - !!python/tuple [15, 7] + - !!python/tuple [0, 20] + - !!python/tuple [26, 15] + - !!python/tuple [27, 20] + - !!python/tuple [2, 27] + - !!python/tuple [20, 0] + - !!python/tuple [14, 13] + - !!python/tuple [27, 9] + - !!python/tuple [3, 18] + - !!python/tuple [28, 31] + - !!python/tuple [11, 13] + - !!python/tuple [3, 4] + - !!python/tuple [0, 24] + - !!python/tuple [28, 28] + - !!python/tuple [27, 14] + - !!python/tuple [26, 8] + - !!python/tuple [7, 7] + - !!python/tuple [10, 6] + - !!python/tuple [25, 30] + - !!python/tuple [21, 6] + - !!python/tuple [1, 2] + - !!python/tuple [20, 3] + - !!python/tuple [6, 20] + - !!python/tuple [4, 15] + - !!python/tuple [0, 2] + - !!python/tuple [1, 27] + - !!python/tuple [12, 15] + - !!python/tuple [2, 8] + - !!python/tuple [18, 6] + - !!python/tuple [28, 8] + - !!python/tuple [2, 22] + - !!python/tuple [7, 18] + - !!python/tuple [10, 13] + - !!python/tuple [24, 15] + - !!python/tuple [5, 8] + - !!python/tuple [29, 16] + - !!python/tuple [25, 8] + - !!python/tuple [30, 17] + - !!python/tuple [22, 2] + - !!python/tuple [12, 22] + - !!python/tuple [17, 29] + - !!python/tuple [9, 31] + - !!python/tuple [9, 19] + - !!python/tuple [25, 1] + - !!python/tuple [31, 5] + - !!python/tuple [16, 10] + - !!python/tuple [8, 20] + - !!python/tuple [29, 14] + - !!python/tuple [25, 24] + - !!python/tuple [26, 12] + - !!python/tuple [19, 4] + - !!python/tuple [12, 1] + - !!python/tuple [2, 19] + - !!python/tuple [23, 20] + - !!python/tuple [1, 13] + - !!python/tuple [23, 21] + - !!python/tuple [31, 6] + - !!python/tuple [27, 28] + - !!python/tuple [15, 24] + - !!python/tuple [2, 18] + - !!python/tuple [10, 5] + - !!python/tuple [17, 30] + - !!python/tuple [14, 10] + - !!python/tuple [1, 11] + - !!python/tuple [27, 1] + - !!python/tuple [28, 5] + - !!python/tuple [24, 24] + - !!python/tuple [26, 0] + - !!python/tuple [29, 24] + - !!python/tuple [0, 11] + - !!python/tuple [28, 2] + - !!python/tuple [2, 9] + - !!python/tuple [31, 23] + - !!python/tuple [0, 5] + - !!python/tuple [24, 13] + - !!python/tuple [0, 17] + - !!python/tuple [28, 17] + - !!python/tuple [3, 13] + - !!python/tuple [1, 3] + - !!python/tuple [26, 11] + - !!python/tuple [8, 2] + - !!python/tuple [27, 27] + - !!python/tuple [4, 29] + - !!python/tuple [31, 7] + - !!python/tuple [8, 22] + - !!python/tuple [15, 3] + - !!python/tuple [3, 11] + - !!python/tuple [13, 22] + - !!python/tuple [11, 26] + - !!python/tuple [12, 12] + - !!python/tuple [21, 22] + - !!python/tuple [19, 12] + - !!python/tuple [12, 10] + - !!python/tuple [31, 9] + - !!python/tuple [10, 9] + - !!python/tuple [19, 20] + - !!python/tuple [16, 1] + - !!python/tuple [12, 6] + - !!python/tuple [19, 9] + - !!python/tuple [7, 0] + - !!python/tuple [19, 28] + - !!python/tuple [18, 29] + - !!python/tuple [14, 14] + - !!python/tuple [0, 1] + - !!python/tuple [26, 4] + - !!python/tuple [17, 28] + - !!python/tuple [20, 11] + - !!python/tuple [31, 0] + - !!python/tuple [24, 30] + - !!python/tuple [29, 11] + - !!python/tuple [0, 9] + - !!python/tuple [13, 7] + - !!python/tuple [23, 0] + - !!python/tuple [28, 14] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex24.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex24.yaml new file mode 100644 index 0000000..3bee5f0 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex24.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [7, 17] + name: agent0 + start: [0, 13] +- goal: [9, 26] + name: agent1 + start: [28, 4] +- goal: [17, 10] + name: agent2 + start: [0, 29] +- goal: [18, 11] + name: agent3 + start: [31, 3] +- goal: [18, 23] + name: agent4 + start: [7, 8] +- goal: [7, 24] + name: agent5 + start: [20, 10] +- goal: [12, 17] + name: agent6 + start: [15, 19] +- goal: [28, 26] + name: agent7 + start: [9, 22] +- goal: [16, 25] + name: agent8 + start: [12, 8] +- goal: [11, 15] + name: agent9 + start: [21, 14] +- goal: [10, 12] + name: agent10 + start: [9, 20] +- goal: [26, 21] + name: agent11 + start: [7, 20] +- goal: [11, 24] + name: agent12 + start: [8, 7] +- goal: [18, 22] + name: agent13 + start: [26, 2] +- goal: [20, 30] + name: agent14 + start: [21, 20] +- goal: [24, 19] + name: agent15 + start: [3, 23] +- goal: [25, 27] + name: agent16 + start: [30, 5] +- goal: [13, 5] + name: agent17 + start: [22, 17] +- goal: [16, 19] + name: agent18 + start: [2, 29] +- goal: [0, 7] + name: agent19 + start: [18, 31] +- goal: [15, 2] + name: agent20 + start: [28, 7] +- goal: [6, 11] + name: agent21 + start: [11, 9] +- goal: [16, 15] + name: agent22 + start: [25, 16] +- goal: [9, 14] + name: agent23 + start: [2, 30] +- goal: [6, 4] + name: agent24 + start: [6, 25] +- goal: [30, 14] + name: agent25 + start: [28, 23] +- goal: [7, 22] + name: agent26 + start: [7, 18] +- goal: [21, 6] + name: agent27 + start: [10, 22] +- goal: [11, 14] + name: agent28 + start: [0, 26] +- goal: [23, 23] + name: agent29 + start: [26, 19] +- goal: [16, 0] + name: agent30 + start: [31, 9] +- goal: [23, 26] + name: agent31 + start: [20, 23] +- goal: [1, 3] + name: agent32 + start: [30, 19] +- goal: [29, 18] + name: agent33 + start: [31, 26] +- goal: [17, 13] + name: agent34 + start: [8, 9] +- goal: [1, 0] + name: agent35 + start: [3, 27] +- goal: [9, 20] + name: agent36 + start: [30, 8] +- goal: [2, 19] + name: agent37 + start: [31, 5] +- goal: [27, 24] + name: agent38 + start: [19, 21] +- goal: [3, 7] + name: agent39 + start: [4, 2] +- goal: [12, 24] + name: agent40 + start: [10, 7] +- goal: [22, 27] + name: agent41 + start: [30, 26] +- goal: [27, 7] + name: agent42 + start: [20, 4] +- goal: [12, 4] + name: agent43 + start: [23, 2] +- goal: [26, 12] + name: agent44 + start: [6, 5] +- goal: [17, 31] + name: agent45 + start: [3, 8] +- goal: [18, 17] + name: agent46 + start: [25, 29] +- goal: [25, 17] + name: agent47 + start: [8, 4] +- goal: [8, 13] + name: agent48 + start: [28, 14] +- goal: [26, 7] + name: agent49 + start: [8, 23] +- goal: [20, 4] + name: agent50 + start: [1, 18] +- goal: [13, 15] + name: agent51 + start: [27, 1] +- goal: [6, 6] + name: agent52 + start: [6, 16] +- goal: [0, 17] + name: agent53 + start: [24, 2] +- goal: [15, 19] + name: agent54 + start: [16, 10] +- goal: [8, 23] + name: agent55 + start: [15, 31] +- goal: [31, 21] + name: agent56 + start: [29, 24] +- goal: [4, 23] + name: agent57 + start: [17, 21] +- goal: [14, 19] + name: agent58 + start: [1, 7] +- goal: [30, 18] + name: agent59 + start: [18, 5] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [24, 3] + - !!python/tuple [3, 25] + - !!python/tuple [10, 11] + - !!python/tuple [3, 9] + - !!python/tuple [14, 29] + - !!python/tuple [0, 20] + - !!python/tuple [8, 26] + - !!python/tuple [31, 15] + - !!python/tuple [2, 26] + - !!python/tuple [0, 9] + - !!python/tuple [9, 4] + - !!python/tuple [26, 1] + - !!python/tuple [16, 2] + - !!python/tuple [13, 22] + - !!python/tuple [18, 16] + - !!python/tuple [6, 1] + - !!python/tuple [0, 30] + - !!python/tuple [3, 14] + - !!python/tuple [29, 29] + - !!python/tuple [6, 27] + - !!python/tuple [13, 23] + - !!python/tuple [16, 30] + - !!python/tuple [12, 19] + - !!python/tuple [10, 0] + - !!python/tuple [22, 1] + - !!python/tuple [1, 24] + - !!python/tuple [27, 10] + - !!python/tuple [2, 2] + - !!python/tuple [22, 25] + - !!python/tuple [9, 1] + - !!python/tuple [5, 6] + - !!python/tuple [22, 29] + - !!python/tuple [22, 6] + - !!python/tuple [2, 22] + - !!python/tuple [28, 20] + - !!python/tuple [2, 13] + - !!python/tuple [2, 20] + - !!python/tuple [19, 18] + - !!python/tuple [0, 8] + - !!python/tuple [27, 4] + - !!python/tuple [11, 31] + - !!python/tuple [4, 20] + - !!python/tuple [30, 16] + - !!python/tuple [11, 2] + - !!python/tuple [10, 5] + - !!python/tuple [24, 5] + - !!python/tuple [21, 12] + - !!python/tuple [27, 15] + - !!python/tuple [0, 24] + - !!python/tuple [6, 21] + - !!python/tuple [13, 31] + - !!python/tuple [4, 1] + - !!python/tuple [24, 0] + - !!python/tuple [5, 14] + - !!python/tuple [26, 5] + - !!python/tuple [29, 3] + - !!python/tuple [16, 22] + - !!python/tuple [25, 2] + - !!python/tuple [20, 2] + - !!python/tuple [9, 5] + - !!python/tuple [23, 15] + - !!python/tuple [19, 28] + - !!python/tuple [30, 13] + - !!python/tuple [15, 0] + - !!python/tuple [21, 2] + - !!python/tuple [28, 24] + - !!python/tuple [8, 6] + - !!python/tuple [8, 14] + - !!python/tuple [22, 31] + - !!python/tuple [26, 8] + - !!python/tuple [25, 4] + - !!python/tuple [18, 14] + - !!python/tuple [19, 27] + - !!python/tuple [21, 1] + - !!python/tuple [9, 25] + - !!python/tuple [20, 3] + - !!python/tuple [26, 26] + - !!python/tuple [13, 6] + - !!python/tuple [22, 12] + - !!python/tuple [20, 13] + - !!python/tuple [6, 3] + - !!python/tuple [28, 2] + - !!python/tuple [14, 30] + - !!python/tuple [1, 25] + - !!python/tuple [12, 22] + - !!python/tuple [13, 17] + - !!python/tuple [9, 11] + - !!python/tuple [24, 25] + - !!python/tuple [12, 28] + - !!python/tuple [5, 4] + - !!python/tuple [14, 24] + - !!python/tuple [30, 7] + - !!python/tuple [2, 11] + - !!python/tuple [27, 19] + - !!python/tuple [31, 11] + - !!python/tuple [17, 0] + - !!python/tuple [18, 12] + - !!python/tuple [4, 27] + - !!python/tuple [23, 27] + - !!python/tuple [10, 21] + - !!python/tuple [12, 2] + - !!python/tuple [25, 24] + - !!python/tuple [3, 29] + - !!python/tuple [23, 11] + - !!python/tuple [1, 6] + - !!python/tuple [17, 27] + - !!python/tuple [6, 24] + - !!python/tuple [6, 18] + - !!python/tuple [8, 24] + - !!python/tuple [14, 23] + - !!python/tuple [7, 3] + - !!python/tuple [7, 0] + - !!python/tuple [12, 26] + - !!python/tuple [27, 14] + - !!python/tuple [21, 17] + - !!python/tuple [18, 8] + - !!python/tuple [0, 15] + - !!python/tuple [25, 0] + - !!python/tuple [11, 21] + - !!python/tuple [7, 10] + - !!python/tuple [0, 19] + - !!python/tuple [6, 14] + - !!python/tuple [10, 25] + - !!python/tuple [8, 1] + - !!python/tuple [29, 19] + - !!python/tuple [31, 22] + - !!python/tuple [17, 7] + - !!python/tuple [7, 9] + - !!python/tuple [9, 9] + - !!python/tuple [16, 18] + - !!python/tuple [13, 9] + - !!python/tuple [26, 18] + - !!python/tuple [13, 19] + - !!python/tuple [22, 23] + - !!python/tuple [24, 1] + - !!python/tuple [0, 28] + - !!python/tuple [26, 14] + - !!python/tuple [5, 25] + - !!python/tuple [30, 29] + - !!python/tuple [20, 17] + - !!python/tuple [30, 25] + - !!python/tuple [14, 10] + - !!python/tuple [3, 30] + - !!python/tuple [14, 9] + - !!python/tuple [24, 15] + - !!python/tuple [26, 3] + - !!python/tuple [2, 9] + - !!python/tuple [16, 8] + - !!python/tuple [11, 19] + - !!python/tuple [27, 29] + - !!python/tuple [1, 1] + - !!python/tuple [0, 27] + - !!python/tuple [18, 24] + - !!python/tuple [28, 31] + - !!python/tuple [4, 18] + - !!python/tuple [4, 24] + - !!python/tuple [13, 1] + - !!python/tuple [25, 9] + - !!python/tuple [14, 22] + - !!python/tuple [19, 0] + - !!python/tuple [20, 19] + - !!python/tuple [23, 0] + - !!python/tuple [24, 26] + - !!python/tuple [13, 20] + - !!python/tuple [17, 14] + - !!python/tuple [13, 0] + - !!python/tuple [10, 30] + - !!python/tuple [8, 31] + - !!python/tuple [21, 4] + - !!python/tuple [26, 20] + - !!python/tuple [30, 22] + - !!python/tuple [5, 30] + - !!python/tuple [15, 3] + - !!python/tuple [5, 16] + - !!python/tuple [21, 18] + - !!python/tuple [12, 18] + - !!python/tuple [13, 26] + - !!python/tuple [12, 16] + - !!python/tuple [0, 22] + - !!python/tuple [24, 22] + - !!python/tuple [13, 13] + - !!python/tuple [22, 0] + - !!python/tuple [8, 17] + - !!python/tuple [27, 6] + - !!python/tuple [7, 11] + - !!python/tuple [19, 8] + - !!python/tuple [25, 1] + - !!python/tuple [14, 20] + - !!python/tuple [1, 31] + - !!python/tuple [22, 4] + - !!python/tuple [17, 29] + - !!python/tuple [1, 19] + - !!python/tuple [9, 10] + - !!python/tuple [5, 0] + - !!python/tuple [9, 6] + - !!python/tuple [8, 5] + - !!python/tuple [4, 22] + - !!python/tuple [4, 16] + - !!python/tuple [25, 7] + - !!python/tuple [11, 16] + - !!python/tuple [28, 21] + - !!python/tuple [27, 28] + - !!python/tuple [30, 9] + - !!python/tuple [18, 0] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex25.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex25.yaml new file mode 100644 index 0000000..1ab6b20 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex25.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [14, 19] + name: agent0 + start: [18, 22] +- goal: [0, 19] + name: agent1 + start: [11, 13] +- goal: [29, 10] + name: agent2 + start: [22, 1] +- goal: [6, 24] + name: agent3 + start: [27, 4] +- goal: [2, 4] + name: agent4 + start: [25, 27] +- goal: [7, 9] + name: agent5 + start: [0, 30] +- goal: [15, 22] + name: agent6 + start: [3, 17] +- goal: [22, 1] + name: agent7 + start: [18, 9] +- goal: [9, 4] + name: agent8 + start: [8, 16] +- goal: [8, 16] + name: agent9 + start: [5, 25] +- goal: [13, 11] + name: agent10 + start: [18, 27] +- goal: [26, 5] + name: agent11 + start: [24, 15] +- goal: [11, 13] + name: agent12 + start: [20, 19] +- goal: [1, 7] + name: agent13 + start: [6, 26] +- goal: [5, 9] + name: agent14 + start: [27, 13] +- goal: [10, 26] + name: agent15 + start: [21, 11] +- goal: [16, 25] + name: agent16 + start: [24, 18] +- goal: [27, 28] + name: agent17 + start: [22, 11] +- goal: [9, 13] + name: agent18 + start: [20, 17] +- goal: [11, 8] + name: agent19 + start: [3, 25] +- goal: [3, 11] + name: agent20 + start: [12, 28] +- goal: [28, 11] + name: agent21 + start: [29, 16] +- goal: [16, 28] + name: agent22 + start: [27, 16] +- goal: [8, 6] + name: agent23 + start: [2, 21] +- goal: [2, 25] + name: agent24 + start: [0, 1] +- goal: [29, 4] + name: agent25 + start: [25, 1] +- goal: [0, 21] + name: agent26 + start: [15, 22] +- goal: [27, 30] + name: agent27 + start: [18, 23] +- goal: [3, 28] + name: agent28 + start: [28, 16] +- goal: [17, 14] + name: agent29 + start: [17, 8] +- goal: [9, 3] + name: agent30 + start: [4, 24] +- goal: [12, 23] + name: agent31 + start: [13, 15] +- goal: [21, 14] + name: agent32 + start: [28, 3] +- goal: [5, 18] + name: agent33 + start: [6, 5] +- goal: [25, 14] + name: agent34 + start: [30, 28] +- goal: [24, 0] + name: agent35 + start: [27, 19] +- goal: [6, 0] + name: agent36 + start: [8, 1] +- goal: [12, 20] + name: agent37 + start: [12, 9] +- goal: [14, 30] + name: agent38 + start: [1, 29] +- goal: [1, 29] + name: agent39 + start: [2, 4] +- goal: [4, 24] + name: agent40 + start: [10, 27] +- goal: [29, 20] + name: agent41 + start: [17, 30] +- goal: [9, 22] + name: agent42 + start: [12, 20] +- goal: [18, 28] + name: agent43 + start: [22, 17] +- goal: [4, 11] + name: agent44 + start: [8, 17] +- goal: [5, 3] + name: agent45 + start: [0, 11] +- goal: [12, 11] + name: agent46 + start: [28, 12] +- goal: [25, 8] + name: agent47 + start: [3, 15] +- goal: [26, 3] + name: agent48 + start: [6, 12] +- goal: [17, 16] + name: agent49 + start: [14, 17] +- goal: [28, 6] + name: agent50 + start: [28, 24] +- goal: [30, 3] + name: agent51 + start: [6, 11] +- goal: [22, 21] + name: agent52 + start: [11, 15] +- goal: [10, 17] + name: agent53 + start: [3, 20] +- goal: [0, 3] + name: agent54 + start: [24, 16] +- goal: [17, 4] + name: agent55 + start: [8, 13] +- goal: [17, 21] + name: agent56 + start: [7, 3] +- goal: [13, 28] + name: agent57 + start: [22, 23] +- goal: [25, 28] + name: agent58 + start: [4, 4] +- goal: [0, 0] + name: agent59 + start: [25, 5] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [9, 19] + - !!python/tuple [17, 19] + - !!python/tuple [13, 31] + - !!python/tuple [4, 15] + - !!python/tuple [31, 24] + - !!python/tuple [22, 6] + - !!python/tuple [31, 30] + - !!python/tuple [13, 10] + - !!python/tuple [4, 29] + - !!python/tuple [6, 30] + - !!python/tuple [15, 29] + - !!python/tuple [21, 0] + - !!python/tuple [30, 20] + - !!python/tuple [3, 1] + - !!python/tuple [21, 30] + - !!python/tuple [29, 13] + - !!python/tuple [20, 30] + - !!python/tuple [14, 9] + - !!python/tuple [15, 19] + - !!python/tuple [23, 23] + - !!python/tuple [21, 21] + - !!python/tuple [18, 30] + - !!python/tuple [23, 31] + - !!python/tuple [19, 15] + - !!python/tuple [21, 13] + - !!python/tuple [16, 13] + - !!python/tuple [1, 10] + - !!python/tuple [7, 24] + - !!python/tuple [27, 2] + - !!python/tuple [13, 25] + - !!python/tuple [9, 2] + - !!python/tuple [15, 21] + - !!python/tuple [6, 23] + - !!python/tuple [10, 28] + - !!python/tuple [1, 14] + - !!python/tuple [22, 18] + - !!python/tuple [6, 10] + - !!python/tuple [0, 15] + - !!python/tuple [13, 3] + - !!python/tuple [17, 31] + - !!python/tuple [14, 8] + - !!python/tuple [21, 19] + - !!python/tuple [23, 15] + - !!python/tuple [27, 15] + - !!python/tuple [1, 30] + - !!python/tuple [26, 11] + - !!python/tuple [27, 27] + - !!python/tuple [10, 3] + - !!python/tuple [1, 2] + - !!python/tuple [3, 4] + - !!python/tuple [20, 18] + - !!python/tuple [15, 9] + - !!python/tuple [9, 17] + - !!python/tuple [2, 5] + - !!python/tuple [11, 16] + - !!python/tuple [21, 6] + - !!python/tuple [10, 8] + - !!python/tuple [9, 7] + - !!python/tuple [16, 6] + - !!python/tuple [16, 21] + - !!python/tuple [19, 2] + - !!python/tuple [10, 30] + - !!python/tuple [28, 29] + - !!python/tuple [17, 20] + - !!python/tuple [21, 29] + - !!python/tuple [23, 26] + - !!python/tuple [23, 6] + - !!python/tuple [5, 28] + - !!python/tuple [18, 3] + - !!python/tuple [26, 13] + - !!python/tuple [12, 17] + - !!python/tuple [28, 22] + - !!python/tuple [28, 19] + - !!python/tuple [15, 25] + - !!python/tuple [31, 22] + - !!python/tuple [12, 4] + - !!python/tuple [17, 15] + - !!python/tuple [14, 25] + - !!python/tuple [27, 14] + - !!python/tuple [11, 3] + - !!python/tuple [1, 23] + - !!python/tuple [22, 2] + - !!python/tuple [16, 16] + - !!python/tuple [27, 7] + - !!python/tuple [23, 30] + - !!python/tuple [27, 6] + - !!python/tuple [28, 15] + - !!python/tuple [28, 31] + - !!python/tuple [6, 14] + - !!python/tuple [24, 30] + - !!python/tuple [7, 12] + - !!python/tuple [19, 4] + - !!python/tuple [26, 7] + - !!python/tuple [9, 20] + - !!python/tuple [5, 7] + - !!python/tuple [11, 28] + - !!python/tuple [16, 18] + - !!python/tuple [17, 7] + - !!python/tuple [6, 7] + - !!python/tuple [20, 11] + - !!python/tuple [4, 23] + - !!python/tuple [31, 15] + - !!python/tuple [26, 10] + - !!python/tuple [18, 14] + - !!python/tuple [18, 8] + - !!python/tuple [12, 25] + - !!python/tuple [5, 27] + - !!python/tuple [24, 12] + - !!python/tuple [2, 9] + - !!python/tuple [30, 2] + - !!python/tuple [22, 22] + - !!python/tuple [4, 5] + - !!python/tuple [6, 19] + - !!python/tuple [31, 7] + - !!python/tuple [25, 31] + - !!python/tuple [25, 4] + - !!python/tuple [30, 6] + - !!python/tuple [7, 29] + - !!python/tuple [24, 7] + - !!python/tuple [20, 26] + - !!python/tuple [15, 0] + - !!python/tuple [25, 9] + - !!python/tuple [5, 8] + - !!python/tuple [23, 14] + - !!python/tuple [9, 11] + - !!python/tuple [22, 15] + - !!python/tuple [31, 27] + - !!python/tuple [31, 26] + - !!python/tuple [13, 19] + - !!python/tuple [11, 31] + - !!python/tuple [14, 2] + - !!python/tuple [26, 18] + - !!python/tuple [20, 9] + - !!python/tuple [7, 25] + - !!python/tuple [12, 10] + - !!python/tuple [20, 5] + - !!python/tuple [9, 25] + - !!python/tuple [31, 29] + - !!python/tuple [16, 5] + - !!python/tuple [29, 25] + - !!python/tuple [29, 11] + - !!python/tuple [5, 11] + - !!python/tuple [18, 20] + - !!python/tuple [29, 9] + - !!python/tuple [6, 21] + - !!python/tuple [29, 18] + - !!python/tuple [19, 30] + - !!python/tuple [9, 21] + - !!python/tuple [0, 12] + - !!python/tuple [27, 21] + - !!python/tuple [26, 24] + - !!python/tuple [22, 13] + - !!python/tuple [19, 31] + - !!python/tuple [26, 23] + - !!python/tuple [9, 28] + - !!python/tuple [20, 31] + - !!python/tuple [13, 13] + - !!python/tuple [27, 9] + - !!python/tuple [27, 20] + - !!python/tuple [9, 14] + - !!python/tuple [10, 0] + - !!python/tuple [27, 1] + - !!python/tuple [29, 22] + - !!python/tuple [7, 27] + - !!python/tuple [4, 19] + - !!python/tuple [19, 21] + - !!python/tuple [24, 1] + - !!python/tuple [8, 21] + - !!python/tuple [1, 5] + - !!python/tuple [0, 17] + - !!python/tuple [30, 30] + - !!python/tuple [29, 29] + - !!python/tuple [22, 14] + - !!python/tuple [21, 20] + - !!python/tuple [13, 4] + - !!python/tuple [4, 7] + - !!python/tuple [30, 16] + - !!python/tuple [15, 6] + - !!python/tuple [3, 6] + - !!python/tuple [2, 6] + - !!python/tuple [19, 11] + - !!python/tuple [4, 18] + - !!python/tuple [23, 25] + - !!python/tuple [23, 3] + - !!python/tuple [30, 0] + - !!python/tuple [30, 18] + - !!python/tuple [3, 22] + - !!python/tuple [8, 28] + - !!python/tuple [14, 24] + - !!python/tuple [8, 24] + - !!python/tuple [30, 21] + - !!python/tuple [20, 12] + - !!python/tuple [19, 8] + - !!python/tuple [23, 17] + - !!python/tuple [8, 30] + - !!python/tuple [30, 10] + - !!python/tuple [13, 17] + - !!python/tuple [26, 12] + - !!python/tuple [20, 16] + - !!python/tuple [21, 31] + - !!python/tuple [28, 4] + - !!python/tuple [23, 9] + - !!python/tuple [27, 18] + - !!python/tuple [2, 26] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex26.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex26.yaml new file mode 100644 index 0000000..fb84042 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex26.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [9, 18] + name: agent0 + start: [28, 9] +- goal: [0, 8] + name: agent1 + start: [0, 28] +- goal: [10, 8] + name: agent2 + start: [0, 25] +- goal: [7, 21] + name: agent3 + start: [31, 5] +- goal: [1, 19] + name: agent4 + start: [19, 30] +- goal: [19, 28] + name: agent5 + start: [1, 25] +- goal: [16, 5] + name: agent6 + start: [9, 18] +- goal: [31, 12] + name: agent7 + start: [13, 15] +- goal: [21, 30] + name: agent8 + start: [9, 9] +- goal: [14, 26] + name: agent9 + start: [1, 5] +- goal: [26, 14] + name: agent10 + start: [19, 28] +- goal: [15, 6] + name: agent11 + start: [23, 4] +- goal: [0, 10] + name: agent12 + start: [11, 23] +- goal: [5, 8] + name: agent13 + start: [21, 21] +- goal: [15, 19] + name: agent14 + start: [17, 18] +- goal: [20, 3] + name: agent15 + start: [12, 31] +- goal: [20, 22] + name: agent16 + start: [4, 2] +- goal: [8, 16] + name: agent17 + start: [26, 15] +- goal: [25, 26] + name: agent18 + start: [19, 27] +- goal: [30, 28] + name: agent19 + start: [5, 29] +- goal: [11, 13] + name: agent20 + start: [21, 25] +- goal: [29, 4] + name: agent21 + start: [10, 9] +- goal: [22, 1] + name: agent22 + start: [6, 6] +- goal: [22, 22] + name: agent23 + start: [0, 6] +- goal: [25, 12] + name: agent24 + start: [20, 15] +- goal: [22, 7] + name: agent25 + start: [24, 1] +- goal: [6, 30] + name: agent26 + start: [14, 26] +- goal: [7, 26] + name: agent27 + start: [13, 10] +- goal: [18, 27] + name: agent28 + start: [3, 29] +- goal: [23, 4] + name: agent29 + start: [19, 1] +- goal: [6, 25] + name: agent30 + start: [28, 0] +- goal: [24, 15] + name: agent31 + start: [18, 10] +- goal: [15, 8] + name: agent32 + start: [7, 20] +- goal: [20, 19] + name: agent33 + start: [26, 7] +- goal: [21, 19] + name: agent34 + start: [29, 12] +- goal: [2, 10] + name: agent35 + start: [30, 31] +- goal: [12, 31] + name: agent36 + start: [24, 14] +- goal: [4, 2] + name: agent37 + start: [15, 13] +- goal: [31, 30] + name: agent38 + start: [2, 24] +- goal: [21, 28] + name: agent39 + start: [14, 13] +- goal: [29, 14] + name: agent40 + start: [30, 27] +- goal: [14, 5] + name: agent41 + start: [12, 18] +- goal: [26, 6] + name: agent42 + start: [12, 26] +- goal: [21, 31] + name: agent43 + start: [27, 28] +- goal: [30, 2] + name: agent44 + start: [23, 9] +- goal: [27, 20] + name: agent45 + start: [18, 4] +- goal: [17, 26] + name: agent46 + start: [16, 15] +- goal: [1, 4] + name: agent47 + start: [22, 5] +- goal: [13, 10] + name: agent48 + start: [28, 10] +- goal: [0, 19] + name: agent49 + start: [29, 14] +- goal: [24, 1] + name: agent50 + start: [8, 18] +- goal: [28, 4] + name: agent51 + start: [7, 10] +- goal: [0, 28] + name: agent52 + start: [24, 12] +- goal: [18, 9] + name: agent53 + start: [10, 7] +- goal: [14, 29] + name: agent54 + start: [20, 12] +- goal: [31, 13] + name: agent55 + start: [24, 18] +- goal: [28, 31] + name: agent56 + start: [3, 30] +- goal: [1, 7] + name: agent57 + start: [26, 23] +- goal: [1, 8] + name: agent58 + start: [19, 2] +- goal: [29, 23] + name: agent59 + start: [17, 0] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [7, 8] + - !!python/tuple [26, 2] + - !!python/tuple [14, 22] + - !!python/tuple [15, 1] + - !!python/tuple [17, 4] + - !!python/tuple [11, 24] + - !!python/tuple [8, 9] + - !!python/tuple [9, 11] + - !!python/tuple [31, 17] + - !!python/tuple [26, 0] + - !!python/tuple [4, 24] + - !!python/tuple [11, 4] + - !!python/tuple [3, 17] + - !!python/tuple [26, 1] + - !!python/tuple [10, 21] + - !!python/tuple [16, 10] + - !!python/tuple [16, 18] + - !!python/tuple [14, 12] + - !!python/tuple [20, 21] + - !!python/tuple [4, 9] + - !!python/tuple [28, 30] + - !!python/tuple [29, 22] + - !!python/tuple [12, 22] + - !!python/tuple [11, 20] + - !!python/tuple [4, 14] + - !!python/tuple [30, 6] + - !!python/tuple [31, 31] + - !!python/tuple [14, 17] + - !!python/tuple [18, 22] + - !!python/tuple [9, 14] + - !!python/tuple [28, 16] + - !!python/tuple [30, 22] + - !!python/tuple [24, 26] + - !!python/tuple [13, 24] + - !!python/tuple [1, 16] + - !!python/tuple [9, 24] + - !!python/tuple [8, 30] + - !!python/tuple [23, 21] + - !!python/tuple [4, 0] + - !!python/tuple [18, 2] + - !!python/tuple [20, 24] + - !!python/tuple [9, 3] + - !!python/tuple [18, 16] + - !!python/tuple [13, 9] + - !!python/tuple [6, 10] + - !!python/tuple [1, 22] + - !!python/tuple [21, 16] + - !!python/tuple [19, 20] + - !!python/tuple [3, 24] + - !!python/tuple [10, 24] + - !!python/tuple [0, 5] + - !!python/tuple [25, 28] + - !!python/tuple [19, 3] + - !!python/tuple [3, 22] + - !!python/tuple [8, 20] + - !!python/tuple [30, 5] + - !!python/tuple [2, 4] + - !!python/tuple [27, 4] + - !!python/tuple [17, 11] + - !!python/tuple [0, 1] + - !!python/tuple [2, 3] + - !!python/tuple [30, 0] + - !!python/tuple [2, 5] + - !!python/tuple [30, 11] + - !!python/tuple [2, 15] + - !!python/tuple [11, 29] + - !!python/tuple [0, 14] + - !!python/tuple [31, 28] + - !!python/tuple [24, 16] + - !!python/tuple [14, 14] + - !!python/tuple [13, 31] + - !!python/tuple [8, 8] + - !!python/tuple [19, 10] + - !!python/tuple [8, 0] + - !!python/tuple [25, 10] + - !!python/tuple [6, 4] + - !!python/tuple [28, 3] + - !!python/tuple [26, 3] + - !!python/tuple [24, 7] + - !!python/tuple [16, 20] + - !!python/tuple [30, 21] + - !!python/tuple [29, 3] + - !!python/tuple [18, 6] + - !!python/tuple [13, 27] + - !!python/tuple [3, 7] + - !!python/tuple [23, 30] + - !!python/tuple [25, 18] + - !!python/tuple [11, 7] + - !!python/tuple [0, 13] + - !!python/tuple [7, 31] + - !!python/tuple [4, 16] + - !!python/tuple [22, 15] + - !!python/tuple [19, 11] + - !!python/tuple [10, 10] + - !!python/tuple [18, 5] + - !!python/tuple [5, 22] + - !!python/tuple [19, 8] + - !!python/tuple [9, 16] + - !!python/tuple [4, 31] + - !!python/tuple [8, 23] + - !!python/tuple [12, 6] + - !!python/tuple [21, 26] + - !!python/tuple [11, 14] + - !!python/tuple [17, 6] + - !!python/tuple [10, 22] + - !!python/tuple [22, 11] + - !!python/tuple [19, 6] + - !!python/tuple [8, 1] + - !!python/tuple [6, 18] + - !!python/tuple [19, 5] + - !!python/tuple [16, 0] + - !!python/tuple [13, 28] + - !!python/tuple [24, 3] + - !!python/tuple [28, 24] + - !!python/tuple [11, 30] + - !!python/tuple [27, 31] + - !!python/tuple [29, 11] + - !!python/tuple [29, 7] + - !!python/tuple [29, 24] + - !!python/tuple [24, 17] + - !!python/tuple [3, 8] + - !!python/tuple [30, 4] + - !!python/tuple [28, 7] + - !!python/tuple [25, 6] + - !!python/tuple [31, 24] + - !!python/tuple [29, 21] + - !!python/tuple [6, 15] + - !!python/tuple [15, 12] + - !!python/tuple [10, 30] + - !!python/tuple [23, 2] + - !!python/tuple [20, 2] + - !!python/tuple [30, 19] + - !!python/tuple [27, 3] + - !!python/tuple [16, 28] + - !!python/tuple [18, 23] + - !!python/tuple [17, 14] + - !!python/tuple [11, 26] + - !!python/tuple [8, 24] + - !!python/tuple [6, 24] + - !!python/tuple [8, 14] + - !!python/tuple [1, 30] + - !!python/tuple [22, 14] + - !!python/tuple [2, 26] + - !!python/tuple [25, 17] + - !!python/tuple [17, 20] + - !!python/tuple [27, 9] + - !!python/tuple [20, 11] + - !!python/tuple [17, 17] + - !!python/tuple [13, 18] + - !!python/tuple [21, 18] + - !!python/tuple [13, 17] + - !!python/tuple [22, 3] + - !!python/tuple [26, 22] + - !!python/tuple [3, 28] + - !!python/tuple [30, 23] + - !!python/tuple [25, 11] + - !!python/tuple [4, 22] + - !!python/tuple [25, 8] + - !!python/tuple [26, 19] + - !!python/tuple [8, 26] + - !!python/tuple [31, 11] + - !!python/tuple [29, 27] + - !!python/tuple [25, 29] + - !!python/tuple [29, 18] + - !!python/tuple [29, 30] + - !!python/tuple [24, 8] + - !!python/tuple [6, 5] + - !!python/tuple [5, 28] + - !!python/tuple [25, 25] + - !!python/tuple [16, 6] + - !!python/tuple [3, 6] + - !!python/tuple [6, 11] + - !!python/tuple [8, 29] + - !!python/tuple [31, 20] + - !!python/tuple [21, 14] + - !!python/tuple [24, 11] + - !!python/tuple [15, 24] + - !!python/tuple [18, 28] + - !!python/tuple [6, 28] + - !!python/tuple [30, 3] + - !!python/tuple [4, 26] + - !!python/tuple [30, 14] + - !!python/tuple [23, 10] + - !!python/tuple [19, 12] + - !!python/tuple [2, 23] + - !!python/tuple [31, 15] + - !!python/tuple [3, 21] + - !!python/tuple [20, 10] + - !!python/tuple [7, 13] + - !!python/tuple [16, 27] + - !!python/tuple [8, 31] + - !!python/tuple [22, 18] + - !!python/tuple [1, 14] + - !!python/tuple [17, 15] + - !!python/tuple [21, 12] + - !!python/tuple [13, 23] + - !!python/tuple [5, 4] + - !!python/tuple [26, 28] + - !!python/tuple [11, 3] + - !!python/tuple [13, 13] + - !!python/tuple [3, 1] + - !!python/tuple [9, 27] + - !!python/tuple [14, 15] + - !!python/tuple [2, 18] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex27.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex27.yaml new file mode 100644 index 0000000..b88cac6 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex27.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [29, 21] + name: agent0 + start: [30, 20] +- goal: [4, 28] + name: agent1 + start: [19, 23] +- goal: [20, 31] + name: agent2 + start: [7, 18] +- goal: [22, 12] + name: agent3 + start: [14, 29] +- goal: [7, 0] + name: agent4 + start: [6, 10] +- goal: [23, 23] + name: agent5 + start: [2, 23] +- goal: [2, 29] + name: agent6 + start: [11, 17] +- goal: [29, 13] + name: agent7 + start: [21, 29] +- goal: [4, 24] + name: agent8 + start: [21, 31] +- goal: [28, 23] + name: agent9 + start: [3, 4] +- goal: [3, 3] + name: agent10 + start: [27, 19] +- goal: [29, 23] + name: agent11 + start: [5, 30] +- goal: [2, 7] + name: agent12 + start: [31, 6] +- goal: [10, 11] + name: agent13 + start: [3, 31] +- goal: [17, 0] + name: agent14 + start: [30, 22] +- goal: [22, 2] + name: agent15 + start: [29, 18] +- goal: [1, 10] + name: agent16 + start: [2, 26] +- goal: [19, 15] + name: agent17 + start: [31, 11] +- goal: [30, 14] + name: agent18 + start: [18, 14] +- goal: [19, 18] + name: agent19 + start: [11, 7] +- goal: [7, 7] + name: agent20 + start: [24, 23] +- goal: [0, 7] + name: agent21 + start: [17, 27] +- goal: [15, 13] + name: agent22 + start: [31, 0] +- goal: [24, 1] + name: agent23 + start: [4, 23] +- goal: [25, 28] + name: agent24 + start: [30, 25] +- goal: [19, 31] + name: agent25 + start: [21, 15] +- goal: [21, 8] + name: agent26 + start: [21, 21] +- goal: [24, 10] + name: agent27 + start: [9, 7] +- goal: [7, 29] + name: agent28 + start: [27, 2] +- goal: [22, 22] + name: agent29 + start: [4, 17] +- goal: [2, 15] + name: agent30 + start: [28, 8] +- goal: [8, 21] + name: agent31 + start: [22, 1] +- goal: [10, 23] + name: agent32 + start: [25, 5] +- goal: [29, 26] + name: agent33 + start: [25, 13] +- goal: [8, 24] + name: agent34 + start: [20, 20] +- goal: [26, 25] + name: agent35 + start: [5, 7] +- goal: [31, 12] + name: agent36 + start: [15, 16] +- goal: [8, 28] + name: agent37 + start: [5, 23] +- goal: [10, 0] + name: agent38 + start: [3, 11] +- goal: [14, 11] + name: agent39 + start: [13, 2] +- goal: [3, 14] + name: agent40 + start: [27, 21] +- goal: [3, 15] + name: agent41 + start: [4, 26] +- goal: [12, 28] + name: agent42 + start: [23, 31] +- goal: [18, 12] + name: agent43 + start: [28, 31] +- goal: [30, 7] + name: agent44 + start: [26, 2] +- goal: [13, 21] + name: agent45 + start: [11, 21] +- goal: [28, 6] + name: agent46 + start: [12, 1] +- goal: [25, 7] + name: agent47 + start: [21, 13] +- goal: [1, 24] + name: agent48 + start: [8, 25] +- goal: [21, 0] + name: agent49 + start: [26, 10] +- goal: [10, 29] + name: agent50 + start: [17, 17] +- goal: [3, 5] + name: agent51 + start: [13, 24] +- goal: [8, 14] + name: agent52 + start: [2, 29] +- goal: [24, 29] + name: agent53 + start: [9, 24] +- goal: [29, 15] + name: agent54 + start: [24, 10] +- goal: [25, 14] + name: agent55 + start: [17, 13] +- goal: [25, 23] + name: agent56 + start: [3, 17] +- goal: [2, 17] + name: agent57 + start: [9, 26] +- goal: [28, 24] + name: agent58 + start: [26, 0] +- goal: [31, 17] + name: agent59 + start: [8, 20] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [17, 6] + - !!python/tuple [4, 9] + - !!python/tuple [19, 13] + - !!python/tuple [3, 8] + - !!python/tuple [31, 4] + - !!python/tuple [16, 10] + - !!python/tuple [29, 8] + - !!python/tuple [13, 20] + - !!python/tuple [24, 7] + - !!python/tuple [10, 9] + - !!python/tuple [12, 29] + - !!python/tuple [11, 29] + - !!python/tuple [29, 25] + - !!python/tuple [4, 27] + - !!python/tuple [18, 5] + - !!python/tuple [4, 1] + - !!python/tuple [27, 14] + - !!python/tuple [8, 12] + - !!python/tuple [2, 19] + - !!python/tuple [10, 20] + - !!python/tuple [30, 9] + - !!python/tuple [6, 0] + - !!python/tuple [19, 9] + - !!python/tuple [24, 3] + - !!python/tuple [25, 19] + - !!python/tuple [18, 1] + - !!python/tuple [11, 0] + - !!python/tuple [9, 13] + - !!python/tuple [26, 8] + - !!python/tuple [26, 5] + - !!python/tuple [6, 15] + - !!python/tuple [12, 9] + - !!python/tuple [11, 22] + - !!python/tuple [30, 18] + - !!python/tuple [9, 8] + - !!python/tuple [23, 0] + - !!python/tuple [6, 20] + - !!python/tuple [6, 31] + - !!python/tuple [29, 29] + - !!python/tuple [3, 29] + - !!python/tuple [14, 19] + - !!python/tuple [20, 18] + - !!python/tuple [25, 11] + - !!python/tuple [11, 4] + - !!python/tuple [23, 7] + - !!python/tuple [8, 13] + - !!python/tuple [0, 12] + - !!python/tuple [4, 13] + - !!python/tuple [13, 3] + - !!python/tuple [18, 28] + - !!python/tuple [20, 10] + - !!python/tuple [29, 27] + - !!python/tuple [1, 14] + - !!python/tuple [28, 3] + - !!python/tuple [6, 18] + - !!python/tuple [9, 27] + - !!python/tuple [5, 29] + - !!python/tuple [26, 30] + - !!python/tuple [16, 8] + - !!python/tuple [2, 13] + - !!python/tuple [0, 28] + - !!python/tuple [28, 1] + - !!python/tuple [20, 0] + - !!python/tuple [11, 26] + - !!python/tuple [10, 4] + - !!python/tuple [16, 0] + - !!python/tuple [4, 4] + - !!python/tuple [20, 3] + - !!python/tuple [5, 27] + - !!python/tuple [21, 23] + - !!python/tuple [2, 20] + - !!python/tuple [10, 27] + - !!python/tuple [25, 30] + - !!python/tuple [16, 29] + - !!python/tuple [20, 22] + - !!python/tuple [31, 25] + - !!python/tuple [25, 27] + - !!python/tuple [12, 30] + - !!python/tuple [9, 16] + - !!python/tuple [15, 31] + - !!python/tuple [2, 31] + - !!python/tuple [26, 14] + - !!python/tuple [4, 18] + - !!python/tuple [13, 17] + - !!python/tuple [19, 8] + - !!python/tuple [21, 10] + - !!python/tuple [11, 31] + - !!python/tuple [26, 4] + - !!python/tuple [18, 26] + - !!python/tuple [1, 1] + - !!python/tuple [14, 3] + - !!python/tuple [22, 23] + - !!python/tuple [1, 31] + - !!python/tuple [6, 23] + - !!python/tuple [5, 4] + - !!python/tuple [7, 6] + - !!python/tuple [8, 27] + - !!python/tuple [5, 15] + - !!python/tuple [18, 25] + - !!python/tuple [26, 9] + - !!python/tuple [15, 21] + - !!python/tuple [4, 6] + - !!python/tuple [20, 24] + - !!python/tuple [13, 18] + - !!python/tuple [26, 7] + - !!python/tuple [16, 30] + - !!python/tuple [9, 3] + - !!python/tuple [26, 26] + - !!python/tuple [23, 11] + - !!python/tuple [17, 1] + - !!python/tuple [6, 8] + - !!python/tuple [12, 12] + - !!python/tuple [6, 24] + - !!python/tuple [19, 4] + - !!python/tuple [23, 2] + - !!python/tuple [24, 5] + - !!python/tuple [15, 8] + - !!python/tuple [14, 8] + - !!python/tuple [6, 5] + - !!python/tuple [0, 8] + - !!python/tuple [2, 12] + - !!python/tuple [12, 24] + - !!python/tuple [3, 0] + - !!python/tuple [19, 29] + - !!python/tuple [14, 5] + - !!python/tuple [22, 7] + - !!python/tuple [21, 30] + - !!python/tuple [23, 28] + - !!python/tuple [6, 17] + - !!python/tuple [12, 31] + - !!python/tuple [7, 28] + - !!python/tuple [12, 6] + - !!python/tuple [3, 13] + - !!python/tuple [27, 16] + - !!python/tuple [3, 16] + - !!python/tuple [29, 5] + - !!python/tuple [1, 26] + - !!python/tuple [18, 6] + - !!python/tuple [5, 20] + - !!python/tuple [0, 1] + - !!python/tuple [25, 1] + - !!python/tuple [5, 14] + - !!python/tuple [10, 17] + - !!python/tuple [14, 9] + - !!python/tuple [21, 5] + - !!python/tuple [23, 12] + - !!python/tuple [31, 22] + - !!python/tuple [19, 12] + - !!python/tuple [19, 22] + - !!python/tuple [9, 2] + - !!python/tuple [26, 23] + - !!python/tuple [29, 28] + - !!python/tuple [8, 15] + - !!python/tuple [4, 5] + - !!python/tuple [1, 19] + - !!python/tuple [27, 28] + - !!python/tuple [19, 6] + - !!python/tuple [20, 13] + - !!python/tuple [15, 7] + - !!python/tuple [8, 19] + - !!python/tuple [3, 21] + - !!python/tuple [22, 9] + - !!python/tuple [14, 15] + - !!python/tuple [2, 0] + - !!python/tuple [15, 3] + - !!python/tuple [28, 7] + - !!python/tuple [25, 0] + - !!python/tuple [29, 7] + - !!python/tuple [29, 0] + - !!python/tuple [23, 10] + - !!python/tuple [26, 13] + - !!python/tuple [5, 26] + - !!python/tuple [18, 8] + - !!python/tuple [31, 3] + - !!python/tuple [7, 17] + - !!python/tuple [16, 5] + - !!python/tuple [16, 2] + - !!python/tuple [18, 22] + - !!python/tuple [8, 7] + - !!python/tuple [3, 7] + - !!python/tuple [10, 24] + - !!python/tuple [16, 4] + - !!python/tuple [28, 0] + - !!python/tuple [24, 8] + - !!python/tuple [30, 10] + - !!python/tuple [22, 8] + - !!python/tuple [19, 2] + - !!python/tuple [7, 24] + - !!python/tuple [19, 11] + - !!python/tuple [20, 11] + - !!python/tuple [14, 20] + - !!python/tuple [1, 17] + - !!python/tuple [30, 1] + - !!python/tuple [28, 11] + - !!python/tuple [0, 17] + - !!python/tuple [29, 17] + - !!python/tuple [17, 12] + - !!python/tuple [3, 10] + - !!python/tuple [2, 8] + - !!python/tuple [17, 26] + - !!python/tuple [2, 24] + - !!python/tuple [26, 16] + - !!python/tuple [9, 25] + - !!python/tuple [30, 5] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex28.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex28.yaml new file mode 100644 index 0000000..d94fd9f --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex28.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [0, 4] + name: agent0 + start: [16, 20] +- goal: [1, 1] + name: agent1 + start: [15, 7] +- goal: [11, 2] + name: agent2 + start: [5, 23] +- goal: [0, 23] + name: agent3 + start: [8, 11] +- goal: [11, 20] + name: agent4 + start: [5, 5] +- goal: [20, 15] + name: agent5 + start: [12, 16] +- goal: [13, 27] + name: agent6 + start: [31, 26] +- goal: [19, 25] + name: agent7 + start: [14, 14] +- goal: [18, 12] + name: agent8 + start: [23, 28] +- goal: [27, 15] + name: agent9 + start: [1, 15] +- goal: [3, 8] + name: agent10 + start: [21, 29] +- goal: [8, 25] + name: agent11 + start: [18, 24] +- goal: [7, 6] + name: agent12 + start: [3, 6] +- goal: [11, 21] + name: agent13 + start: [9, 16] +- goal: [10, 5] + name: agent14 + start: [27, 12] +- goal: [12, 16] + name: agent15 + start: [11, 2] +- goal: [19, 11] + name: agent16 + start: [27, 15] +- goal: [19, 27] + name: agent17 + start: [31, 10] +- goal: [10, 18] + name: agent18 + start: [8, 0] +- goal: [13, 23] + name: agent19 + start: [29, 31] +- goal: [2, 17] + name: agent20 + start: [30, 12] +- goal: [20, 8] + name: agent21 + start: [0, 18] +- goal: [10, 10] + name: agent22 + start: [7, 17] +- goal: [9, 11] + name: agent23 + start: [8, 7] +- goal: [8, 10] + name: agent24 + start: [17, 25] +- goal: [26, 7] + name: agent25 + start: [31, 15] +- goal: [19, 29] + name: agent26 + start: [22, 7] +- goal: [15, 31] + name: agent27 + start: [7, 16] +- goal: [9, 16] + name: agent28 + start: [9, 11] +- goal: [16, 25] + name: agent29 + start: [26, 7] +- goal: [0, 13] + name: agent30 + start: [16, 22] +- goal: [3, 26] + name: agent31 + start: [13, 8] +- goal: [13, 10] + name: agent32 + start: [28, 21] +- goal: [22, 15] + name: agent33 + start: [9, 25] +- goal: [1, 16] + name: agent34 + start: [9, 8] +- goal: [15, 17] + name: agent35 + start: [25, 7] +- goal: [13, 31] + name: agent36 + start: [29, 5] +- goal: [20, 22] + name: agent37 + start: [21, 19] +- goal: [4, 13] + name: agent38 + start: [16, 10] +- goal: [23, 17] + name: agent39 + start: [13, 2] +- goal: [23, 8] + name: agent40 + start: [12, 30] +- goal: [23, 4] + name: agent41 + start: [31, 20] +- goal: [8, 28] + name: agent42 + start: [21, 10] +- goal: [27, 17] + name: agent43 + start: [9, 2] +- goal: [25, 7] + name: agent44 + start: [28, 26] +- goal: [27, 23] + name: agent45 + start: [3, 24] +- goal: [8, 24] + name: agent46 + start: [25, 25] +- goal: [14, 2] + name: agent47 + start: [26, 26] +- goal: [2, 19] + name: agent48 + start: [19, 17] +- goal: [29, 27] + name: agent49 + start: [16, 29] +- goal: [13, 5] + name: agent50 + start: [4, 3] +- goal: [1, 29] + name: agent51 + start: [31, 8] +- goal: [24, 9] + name: agent52 + start: [14, 22] +- goal: [28, 8] + name: agent53 + start: [24, 0] +- goal: [1, 28] + name: agent54 + start: [19, 20] +- goal: [15, 11] + name: agent55 + start: [17, 31] +- goal: [10, 2] + name: agent56 + start: [12, 25] +- goal: [22, 7] + name: agent57 + start: [15, 4] +- goal: [24, 6] + name: agent58 + start: [31, 25] +- goal: [13, 6] + name: agent59 + start: [10, 5] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [28, 13] + - !!python/tuple [26, 18] + - !!python/tuple [12, 28] + - !!python/tuple [18, 15] + - !!python/tuple [15, 16] + - !!python/tuple [15, 15] + - !!python/tuple [19, 1] + - !!python/tuple [20, 26] + - !!python/tuple [5, 28] + - !!python/tuple [14, 30] + - !!python/tuple [15, 30] + - !!python/tuple [0, 30] + - !!python/tuple [26, 28] + - !!python/tuple [0, 28] + - !!python/tuple [19, 8] + - !!python/tuple [23, 11] + - !!python/tuple [4, 24] + - !!python/tuple [8, 17] + - !!python/tuple [5, 18] + - !!python/tuple [10, 31] + - !!python/tuple [7, 10] + - !!python/tuple [30, 6] + - !!python/tuple [13, 19] + - !!python/tuple [0, 2] + - !!python/tuple [4, 23] + - !!python/tuple [23, 6] + - !!python/tuple [3, 25] + - !!python/tuple [28, 17] + - !!python/tuple [25, 6] + - !!python/tuple [31, 7] + - !!python/tuple [31, 1] + - !!python/tuple [15, 0] + - !!python/tuple [27, 26] + - !!python/tuple [15, 19] + - !!python/tuple [8, 5] + - !!python/tuple [5, 21] + - !!python/tuple [11, 9] + - !!python/tuple [4, 29] + - !!python/tuple [13, 0] + - !!python/tuple [15, 8] + - !!python/tuple [24, 17] + - !!python/tuple [12, 18] + - !!python/tuple [15, 10] + - !!python/tuple [8, 8] + - !!python/tuple [21, 5] + - !!python/tuple [24, 12] + - !!python/tuple [0, 14] + - !!python/tuple [14, 0] + - !!python/tuple [23, 2] + - !!python/tuple [22, 10] + - !!python/tuple [11, 24] + - !!python/tuple [11, 31] + - !!python/tuple [23, 20] + - !!python/tuple [14, 1] + - !!python/tuple [26, 30] + - !!python/tuple [5, 13] + - !!python/tuple [13, 25] + - !!python/tuple [30, 20] + - !!python/tuple [5, 20] + - !!python/tuple [7, 24] + - !!python/tuple [20, 25] + - !!python/tuple [28, 3] + - !!python/tuple [25, 28] + - !!python/tuple [14, 8] + - !!python/tuple [19, 7] + - !!python/tuple [22, 8] + - !!python/tuple [29, 22] + - !!python/tuple [17, 3] + - !!python/tuple [17, 27] + - !!python/tuple [24, 13] + - !!python/tuple [31, 4] + - !!python/tuple [18, 2] + - !!python/tuple [1, 4] + - !!python/tuple [16, 24] + - !!python/tuple [5, 7] + - !!python/tuple [7, 30] + - !!python/tuple [20, 9] + - !!python/tuple [9, 30] + - !!python/tuple [4, 14] + - !!python/tuple [13, 3] + - !!python/tuple [6, 13] + - !!python/tuple [10, 13] + - !!python/tuple [18, 23] + - !!python/tuple [22, 27] + - !!python/tuple [13, 17] + - !!python/tuple [17, 0] + - !!python/tuple [23, 12] + - !!python/tuple [14, 26] + - !!python/tuple [6, 15] + - !!python/tuple [30, 18] + - !!python/tuple [14, 23] + - !!python/tuple [26, 27] + - !!python/tuple [11, 16] + - !!python/tuple [21, 26] + - !!python/tuple [12, 5] + - !!python/tuple [14, 4] + - !!python/tuple [2, 23] + - !!python/tuple [27, 31] + - !!python/tuple [14, 7] + - !!python/tuple [19, 15] + - !!python/tuple [3, 7] + - !!python/tuple [25, 19] + - !!python/tuple [6, 18] + - !!python/tuple [1, 6] + - !!python/tuple [24, 29] + - !!python/tuple [6, 21] + - !!python/tuple [4, 1] + - !!python/tuple [27, 2] + - !!python/tuple [27, 14] + - !!python/tuple [1, 17] + - !!python/tuple [4, 21] + - !!python/tuple [30, 24] + - !!python/tuple [19, 30] + - !!python/tuple [2, 2] + - !!python/tuple [31, 28] + - !!python/tuple [20, 18] + - !!python/tuple [22, 3] + - !!python/tuple [12, 15] + - !!python/tuple [9, 14] + - !!python/tuple [0, 20] + - !!python/tuple [12, 24] + - !!python/tuple [0, 10] + - !!python/tuple [10, 6] + - !!python/tuple [21, 9] + - !!python/tuple [19, 6] + - !!python/tuple [9, 10] + - !!python/tuple [2, 18] + - !!python/tuple [15, 6] + - !!python/tuple [0, 3] + - !!python/tuple [29, 26] + - !!python/tuple [24, 14] + - !!python/tuple [29, 15] + - !!python/tuple [18, 1] + - !!python/tuple [3, 12] + - !!python/tuple [19, 13] + - !!python/tuple [12, 27] + - !!python/tuple [18, 3] + - !!python/tuple [10, 25] + - !!python/tuple [21, 0] + - !!python/tuple [3, 27] + - !!python/tuple [7, 29] + - !!python/tuple [11, 14] + - !!python/tuple [4, 8] + - !!python/tuple [4, 11] + - !!python/tuple [7, 4] + - !!python/tuple [7, 15] + - !!python/tuple [18, 17] + - !!python/tuple [10, 30] + - !!python/tuple [12, 1] + - !!python/tuple [4, 5] + - !!python/tuple [20, 0] + - !!python/tuple [20, 12] + - !!python/tuple [6, 9] + - !!python/tuple [23, 1] + - !!python/tuple [12, 8] + - !!python/tuple [4, 31] + - !!python/tuple [24, 10] + - !!python/tuple [6, 5] + - !!python/tuple [27, 19] + - !!python/tuple [28, 22] + - !!python/tuple [21, 16] + - !!python/tuple [20, 23] + - !!python/tuple [2, 24] + - !!python/tuple [5, 24] + - !!python/tuple [6, 10] + - !!python/tuple [6, 22] + - !!python/tuple [14, 10] + - !!python/tuple [9, 0] + - !!python/tuple [12, 11] + - !!python/tuple [26, 5] + - !!python/tuple [13, 16] + - !!python/tuple [0, 26] + - !!python/tuple [22, 18] + - !!python/tuple [14, 20] + - !!python/tuple [25, 13] + - !!python/tuple [20, 27] + - !!python/tuple [27, 30] + - !!python/tuple [11, 8] + - !!python/tuple [4, 15] + - !!python/tuple [29, 18] + - !!python/tuple [12, 23] + - !!python/tuple [13, 1] + - !!python/tuple [1, 19] + - !!python/tuple [3, 31] + - !!python/tuple [24, 16] + - !!python/tuple [21, 30] + - !!python/tuple [25, 21] + - !!python/tuple [21, 1] + - !!python/tuple [24, 2] + - !!python/tuple [6, 2] + - !!python/tuple [2, 30] + - !!python/tuple [0, 24] + - !!python/tuple [15, 21] + - !!python/tuple [14, 21] + - !!python/tuple [17, 19] + - !!python/tuple [3, 1] + - !!python/tuple [4, 12] + - !!python/tuple [3, 15] + - !!python/tuple [3, 17] + - !!python/tuple [13, 22] + - !!python/tuple [16, 30] + - !!python/tuple [7, 13] + - !!python/tuple [27, 9] + - !!python/tuple [10, 29] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex29.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex29.yaml new file mode 100644 index 0000000..f241b2d --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex29.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [5, 9] + name: agent0 + start: [5, 5] +- goal: [12, 25] + name: agent1 + start: [11, 31] +- goal: [27, 28] + name: agent2 + start: [7, 16] +- goal: [28, 16] + name: agent3 + start: [13, 14] +- goal: [22, 18] + name: agent4 + start: [1, 21] +- goal: [26, 25] + name: agent5 + start: [21, 30] +- goal: [4, 25] + name: agent6 + start: [0, 18] +- goal: [8, 15] + name: agent7 + start: [26, 28] +- goal: [27, 8] + name: agent8 + start: [10, 29] +- goal: [11, 24] + name: agent9 + start: [20, 1] +- goal: [9, 19] + name: agent10 + start: [0, 21] +- goal: [14, 8] + name: agent11 + start: [31, 26] +- goal: [22, 19] + name: agent12 + start: [9, 1] +- goal: [18, 19] + name: agent13 + start: [18, 31] +- goal: [30, 17] + name: agent14 + start: [27, 24] +- goal: [19, 25] + name: agent15 + start: [23, 13] +- goal: [8, 25] + name: agent16 + start: [30, 14] +- goal: [13, 26] + name: agent17 + start: [19, 25] +- goal: [3, 12] + name: agent18 + start: [12, 20] +- goal: [23, 14] + name: agent19 + start: [24, 26] +- goal: [17, 25] + name: agent20 + start: [13, 18] +- goal: [10, 5] + name: agent21 + start: [22, 8] +- goal: [12, 1] + name: agent22 + start: [21, 5] +- goal: [15, 14] + name: agent23 + start: [27, 19] +- goal: [29, 12] + name: agent24 + start: [19, 23] +- goal: [25, 9] + name: agent25 + start: [20, 25] +- goal: [8, 19] + name: agent26 + start: [16, 21] +- goal: [23, 20] + name: agent27 + start: [4, 30] +- goal: [13, 11] + name: agent28 + start: [17, 31] +- goal: [2, 30] + name: agent29 + start: [20, 9] +- goal: [28, 14] + name: agent30 + start: [16, 29] +- goal: [30, 4] + name: agent31 + start: [20, 11] +- goal: [31, 23] + name: agent32 + start: [3, 30] +- goal: [30, 2] + name: agent33 + start: [29, 26] +- goal: [10, 13] + name: agent34 + start: [24, 13] +- goal: [8, 6] + name: agent35 + start: [31, 0] +- goal: [21, 25] + name: agent36 + start: [25, 25] +- goal: [21, 11] + name: agent37 + start: [13, 3] +- goal: [7, 30] + name: agent38 + start: [23, 24] +- goal: [26, 13] + name: agent39 + start: [9, 30] +- goal: [14, 3] + name: agent40 + start: [5, 25] +- goal: [29, 14] + name: agent41 + start: [19, 2] +- goal: [13, 25] + name: agent42 + start: [26, 23] +- goal: [16, 14] + name: agent43 + start: [5, 17] +- goal: [15, 28] + name: agent44 + start: [1, 6] +- goal: [20, 27] + name: agent45 + start: [24, 4] +- goal: [12, 26] + name: agent46 + start: [24, 9] +- goal: [6, 4] + name: agent47 + start: [25, 4] +- goal: [18, 18] + name: agent48 + start: [2, 2] +- goal: [4, 22] + name: agent49 + start: [17, 10] +- goal: [31, 22] + name: agent50 + start: [12, 3] +- goal: [4, 28] + name: agent51 + start: [26, 18] +- goal: [29, 17] + name: agent52 + start: [20, 31] +- goal: [18, 31] + name: agent53 + start: [22, 3] +- goal: [19, 12] + name: agent54 + start: [24, 0] +- goal: [6, 1] + name: agent55 + start: [20, 20] +- goal: [5, 0] + name: agent56 + start: [11, 5] +- goal: [2, 1] + name: agent57 + start: [2, 5] +- goal: [14, 4] + name: agent58 + start: [15, 15] +- goal: [25, 8] + name: agent59 + start: [24, 24] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [15, 1] + - !!python/tuple [19, 17] + - !!python/tuple [5, 2] + - !!python/tuple [10, 1] + - !!python/tuple [5, 15] + - !!python/tuple [2, 3] + - !!python/tuple [17, 4] + - !!python/tuple [7, 19] + - !!python/tuple [25, 7] + - !!python/tuple [10, 20] + - !!python/tuple [1, 19] + - !!python/tuple [23, 11] + - !!python/tuple [19, 18] + - !!python/tuple [18, 4] + - !!python/tuple [30, 25] + - !!python/tuple [7, 0] + - !!python/tuple [24, 18] + - !!python/tuple [29, 10] + - !!python/tuple [10, 16] + - !!python/tuple [5, 10] + - !!python/tuple [1, 7] + - !!python/tuple [24, 1] + - !!python/tuple [28, 30] + - !!python/tuple [14, 28] + - !!python/tuple [26, 21] + - !!python/tuple [24, 27] + - !!python/tuple [3, 26] + - !!python/tuple [27, 25] + - !!python/tuple [8, 16] + - !!python/tuple [26, 24] + - !!python/tuple [0, 14] + - !!python/tuple [21, 3] + - !!python/tuple [28, 6] + - !!python/tuple [3, 29] + - !!python/tuple [12, 7] + - !!python/tuple [8, 22] + - !!python/tuple [2, 11] + - !!python/tuple [8, 30] + - !!python/tuple [12, 8] + - !!python/tuple [6, 24] + - !!python/tuple [19, 13] + - !!python/tuple [25, 5] + - !!python/tuple [5, 29] + - !!python/tuple [16, 24] + - !!python/tuple [23, 27] + - !!python/tuple [7, 9] + - !!python/tuple [25, 29] + - !!python/tuple [18, 14] + - !!python/tuple [19, 29] + - !!python/tuple [6, 15] + - !!python/tuple [19, 4] + - !!python/tuple [31, 3] + - !!python/tuple [6, 27] + - !!python/tuple [22, 16] + - !!python/tuple [3, 24] + - !!python/tuple [6, 9] + - !!python/tuple [22, 12] + - !!python/tuple [22, 4] + - !!python/tuple [21, 2] + - !!python/tuple [15, 13] + - !!python/tuple [10, 27] + - !!python/tuple [18, 29] + - !!python/tuple [23, 22] + - !!python/tuple [9, 23] + - !!python/tuple [12, 21] + - !!python/tuple [17, 5] + - !!python/tuple [16, 6] + - !!python/tuple [8, 28] + - !!python/tuple [24, 16] + - !!python/tuple [20, 13] + - !!python/tuple [20, 8] + - !!python/tuple [2, 29] + - !!python/tuple [15, 23] + - !!python/tuple [17, 23] + - !!python/tuple [1, 20] + - !!python/tuple [30, 15] + - !!python/tuple [4, 4] + - !!python/tuple [28, 17] + - !!python/tuple [11, 16] + - !!python/tuple [15, 3] + - !!python/tuple [13, 31] + - !!python/tuple [6, 3] + - !!python/tuple [6, 8] + - !!python/tuple [19, 21] + - !!python/tuple [8, 14] + - !!python/tuple [2, 24] + - !!python/tuple [25, 31] + - !!python/tuple [4, 3] + - !!python/tuple [18, 6] + - !!python/tuple [21, 16] + - !!python/tuple [4, 19] + - !!python/tuple [14, 27] + - !!python/tuple [18, 20] + - !!python/tuple [11, 2] + - !!python/tuple [5, 27] + - !!python/tuple [16, 11] + - !!python/tuple [10, 10] + - !!python/tuple [0, 30] + - !!python/tuple [15, 5] + - !!python/tuple [29, 16] + - !!python/tuple [13, 15] + - !!python/tuple [22, 27] + - !!python/tuple [7, 13] + - !!python/tuple [5, 24] + - !!python/tuple [7, 23] + - !!python/tuple [13, 5] + - !!python/tuple [18, 23] + - !!python/tuple [12, 31] + - !!python/tuple [20, 10] + - !!python/tuple [10, 23] + - !!python/tuple [3, 8] + - !!python/tuple [16, 15] + - !!python/tuple [12, 0] + - !!python/tuple [27, 30] + - !!python/tuple [16, 23] + - !!python/tuple [1, 10] + - !!python/tuple [26, 14] + - !!python/tuple [11, 23] + - !!python/tuple [23, 6] + - !!python/tuple [27, 15] + - !!python/tuple [24, 31] + - !!python/tuple [29, 15] + - !!python/tuple [12, 10] + - !!python/tuple [28, 11] + - !!python/tuple [10, 6] + - !!python/tuple [24, 20] + - !!python/tuple [3, 21] + - !!python/tuple [31, 24] + - !!python/tuple [28, 7] + - !!python/tuple [11, 1] + - !!python/tuple [5, 22] + - !!python/tuple [12, 17] + - !!python/tuple [18, 26] + - !!python/tuple [6, 18] + - !!python/tuple [19, 20] + - !!python/tuple [23, 21] + - !!python/tuple [28, 13] + - !!python/tuple [3, 27] + - !!python/tuple [10, 22] + - !!python/tuple [25, 18] + - !!python/tuple [27, 14] + - !!python/tuple [1, 24] + - !!python/tuple [14, 6] + - !!python/tuple [18, 12] + - !!python/tuple [3, 4] + - !!python/tuple [3, 5] + - !!python/tuple [24, 10] + - !!python/tuple [14, 22] + - !!python/tuple [10, 31] + - !!python/tuple [0, 6] + - !!python/tuple [19, 1] + - !!python/tuple [9, 8] + - !!python/tuple [6, 7] + - !!python/tuple [3, 0] + - !!python/tuple [19, 16] + - !!python/tuple [10, 18] + - !!python/tuple [12, 24] + - !!python/tuple [1, 13] + - !!python/tuple [4, 18] + - !!python/tuple [13, 2] + - !!python/tuple [2, 22] + - !!python/tuple [26, 27] + - !!python/tuple [27, 11] + - !!python/tuple [8, 17] + - !!python/tuple [21, 21] + - !!python/tuple [21, 1] + - !!python/tuple [23, 8] + - !!python/tuple [13, 29] + - !!python/tuple [10, 11] + - !!python/tuple [11, 12] + - !!python/tuple [14, 0] + - !!python/tuple [1, 28] + - !!python/tuple [15, 21] + - !!python/tuple [28, 4] + - !!python/tuple [11, 13] + - !!python/tuple [14, 1] + - !!python/tuple [7, 5] + - !!python/tuple [14, 13] + - !!python/tuple [7, 28] + - !!python/tuple [14, 11] + - !!python/tuple [0, 26] + - !!python/tuple [6, 22] + - !!python/tuple [19, 9] + - !!python/tuple [19, 24] + - !!python/tuple [10, 8] + - !!python/tuple [22, 2] + - !!python/tuple [30, 28] + - !!python/tuple [29, 23] + - !!python/tuple [22, 1] + - !!python/tuple [17, 19] + - !!python/tuple [2, 31] + - !!python/tuple [16, 18] + - !!python/tuple [22, 9] + - !!python/tuple [20, 6] + - !!python/tuple [28, 26] + - !!python/tuple [31, 14] + - !!python/tuple [19, 5] + - !!python/tuple [14, 26] + - !!python/tuple [15, 19] + - !!python/tuple [11, 18] + - !!python/tuple [29, 30] + - !!python/tuple [1, 29] + - !!python/tuple [20, 26] + - !!python/tuple [22, 31] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex3.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex3.yaml new file mode 100644 index 0000000..21c6379 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex3.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [3, 28] + name: agent0 + start: [13, 6] +- goal: [12, 13] + name: agent1 + start: [13, 19] +- goal: [26, 14] + name: agent2 + start: [22, 15] +- goal: [10, 30] + name: agent3 + start: [11, 0] +- goal: [16, 5] + name: agent4 + start: [17, 26] +- goal: [22, 1] + name: agent5 + start: [29, 3] +- goal: [10, 15] + name: agent6 + start: [25, 15] +- goal: [28, 17] + name: agent7 + start: [11, 14] +- goal: [22, 24] + name: agent8 + start: [20, 27] +- goal: [4, 15] + name: agent9 + start: [30, 12] +- goal: [21, 16] + name: agent10 + start: [5, 31] +- goal: [5, 27] + name: agent11 + start: [20, 15] +- goal: [9, 2] + name: agent12 + start: [30, 6] +- goal: [26, 3] + name: agent13 + start: [7, 28] +- goal: [30, 20] + name: agent14 + start: [13, 12] +- goal: [21, 2] + name: agent15 + start: [16, 23] +- goal: [13, 28] + name: agent16 + start: [3, 11] +- goal: [16, 15] + name: agent17 + start: [30, 31] +- goal: [20, 23] + name: agent18 + start: [13, 5] +- goal: [25, 3] + name: agent19 + start: [15, 22] +- goal: [1, 20] + name: agent20 + start: [10, 9] +- goal: [30, 15] + name: agent21 + start: [1, 20] +- goal: [7, 11] + name: agent22 + start: [26, 17] +- goal: [28, 7] + name: agent23 + start: [12, 28] +- goal: [29, 24] + name: agent24 + start: [3, 12] +- goal: [23, 24] + name: agent25 + start: [11, 18] +- goal: [21, 21] + name: agent26 + start: [9, 25] +- goal: [17, 7] + name: agent27 + start: [1, 3] +- goal: [11, 8] + name: agent28 + start: [26, 19] +- goal: [29, 9] + name: agent29 + start: [13, 20] +- goal: [5, 2] + name: agent30 + start: [4, 23] +- goal: [9, 15] + name: agent31 + start: [5, 12] +- goal: [14, 13] + name: agent32 + start: [27, 13] +- goal: [1, 27] + name: agent33 + start: [28, 0] +- goal: [13, 27] + name: agent34 + start: [27, 12] +- goal: [26, 4] + name: agent35 + start: [9, 24] +- goal: [10, 1] + name: agent36 + start: [7, 7] +- goal: [6, 31] + name: agent37 + start: [23, 29] +- goal: [22, 14] + name: agent38 + start: [28, 10] +- goal: [22, 19] + name: agent39 + start: [20, 13] +- goal: [0, 29] + name: agent40 + start: [27, 26] +- goal: [28, 29] + name: agent41 + start: [1, 28] +- goal: [16, 18] + name: agent42 + start: [19, 8] +- goal: [21, 6] + name: agent43 + start: [23, 24] +- goal: [20, 20] + name: agent44 + start: [8, 0] +- goal: [2, 21] + name: agent45 + start: [26, 3] +- goal: [4, 28] + name: agent46 + start: [2, 29] +- goal: [2, 3] + name: agent47 + start: [27, 18] +- goal: [22, 9] + name: agent48 + start: [9, 12] +- goal: [12, 31] + name: agent49 + start: [18, 29] +- goal: [18, 31] + name: agent50 + start: [31, 21] +- goal: [19, 14] + name: agent51 + start: [0, 25] +- goal: [29, 1] + name: agent52 + start: [24, 31] +- goal: [9, 18] + name: agent53 + start: [15, 9] +- goal: [28, 9] + name: agent54 + start: [1, 12] +- goal: [31, 30] + name: agent55 + start: [7, 16] +- goal: [4, 21] + name: agent56 + start: [8, 25] +- goal: [11, 20] + name: agent57 + start: [28, 25] +- goal: [3, 16] + name: agent58 + start: [28, 24] +- goal: [30, 21] + name: agent59 + start: [19, 0] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [29, 7] + - !!python/tuple [12, 27] + - !!python/tuple [27, 27] + - !!python/tuple [1, 21] + - !!python/tuple [14, 3] + - !!python/tuple [1, 22] + - !!python/tuple [18, 27] + - !!python/tuple [13, 1] + - !!python/tuple [26, 15] + - !!python/tuple [23, 27] + - !!python/tuple [17, 29] + - !!python/tuple [13, 9] + - !!python/tuple [4, 4] + - !!python/tuple [2, 15] + - !!python/tuple [12, 21] + - !!python/tuple [14, 17] + - !!python/tuple [27, 30] + - !!python/tuple [3, 24] + - !!python/tuple [21, 8] + - !!python/tuple [21, 5] + - !!python/tuple [0, 24] + - !!python/tuple [5, 5] + - !!python/tuple [14, 22] + - !!python/tuple [16, 2] + - !!python/tuple [17, 24] + - !!python/tuple [25, 23] + - !!python/tuple [16, 14] + - !!python/tuple [30, 8] + - !!python/tuple [5, 26] + - !!python/tuple [9, 13] + - !!python/tuple [4, 14] + - !!python/tuple [9, 26] + - !!python/tuple [20, 26] + - !!python/tuple [9, 0] + - !!python/tuple [18, 9] + - !!python/tuple [16, 12] + - !!python/tuple [10, 3] + - !!python/tuple [22, 17] + - !!python/tuple [14, 12] + - !!python/tuple [12, 22] + - !!python/tuple [30, 0] + - !!python/tuple [5, 16] + - !!python/tuple [27, 8] + - !!python/tuple [24, 3] + - !!python/tuple [6, 11] + - !!python/tuple [31, 27] + - !!python/tuple [14, 16] + - !!python/tuple [7, 4] + - !!python/tuple [8, 28] + - !!python/tuple [26, 24] + - !!python/tuple [22, 22] + - !!python/tuple [17, 25] + - !!python/tuple [1, 13] + - !!python/tuple [23, 16] + - !!python/tuple [19, 1] + - !!python/tuple [13, 2] + - !!python/tuple [16, 19] + - !!python/tuple [23, 5] + - !!python/tuple [10, 31] + - !!python/tuple [11, 9] + - !!python/tuple [17, 9] + - !!python/tuple [27, 29] + - !!python/tuple [10, 0] + - !!python/tuple [18, 1] + - !!python/tuple [0, 3] + - !!python/tuple [6, 12] + - !!python/tuple [28, 15] + - !!python/tuple [17, 16] + - !!python/tuple [0, 0] + - !!python/tuple [20, 29] + - !!python/tuple [8, 17] + - !!python/tuple [16, 13] + - !!python/tuple [15, 25] + - !!python/tuple [29, 18] + - !!python/tuple [19, 10] + - !!python/tuple [29, 19] + - !!python/tuple [31, 20] + - !!python/tuple [7, 30] + - !!python/tuple [12, 20] + - !!python/tuple [29, 12] + - !!python/tuple [0, 28] + - !!python/tuple [26, 27] + - !!python/tuple [8, 30] + - !!python/tuple [31, 14] + - !!python/tuple [4, 2] + - !!python/tuple [27, 31] + - !!python/tuple [14, 7] + - !!python/tuple [1, 2] + - !!python/tuple [1, 24] + - !!python/tuple [3, 3] + - !!python/tuple [27, 10] + - !!python/tuple [17, 17] + - !!python/tuple [11, 13] + - !!python/tuple [24, 13] + - !!python/tuple [22, 18] + - !!python/tuple [14, 6] + - !!python/tuple [24, 17] + - !!python/tuple [19, 6] + - !!python/tuple [14, 15] + - !!python/tuple [13, 31] + - !!python/tuple [19, 4] + - !!python/tuple [27, 24] + - !!python/tuple [25, 5] + - !!python/tuple [26, 26] + - !!python/tuple [10, 22] + - !!python/tuple [13, 16] + - !!python/tuple [7, 8] + - !!python/tuple [5, 10] + - !!python/tuple [27, 19] + - !!python/tuple [20, 14] + - !!python/tuple [23, 1] + - !!python/tuple [11, 6] + - !!python/tuple [1, 6] + - !!python/tuple [30, 10] + - !!python/tuple [4, 10] + - !!python/tuple [16, 31] + - !!python/tuple [1, 25] + - !!python/tuple [23, 19] + - !!python/tuple [7, 20] + - !!python/tuple [21, 3] + - !!python/tuple [10, 8] + - !!python/tuple [4, 30] + - !!python/tuple [29, 29] + - !!python/tuple [7, 18] + - !!python/tuple [14, 9] + - !!python/tuple [30, 2] + - !!python/tuple [17, 27] + - !!python/tuple [31, 9] + - !!python/tuple [30, 14] + - !!python/tuple [18, 21] + - !!python/tuple [0, 17] + - !!python/tuple [27, 16] + - !!python/tuple [16, 16] + - !!python/tuple [10, 17] + - !!python/tuple [2, 17] + - !!python/tuple [6, 28] + - !!python/tuple [3, 4] + - !!python/tuple [31, 6] + - !!python/tuple [4, 26] + - !!python/tuple [9, 8] + - !!python/tuple [28, 26] + - !!python/tuple [13, 7] + - !!python/tuple [4, 18] + - !!python/tuple [28, 12] + - !!python/tuple [29, 27] + - !!python/tuple [25, 26] + - !!python/tuple [28, 22] + - !!python/tuple [28, 21] + - !!python/tuple [31, 11] + - !!python/tuple [17, 14] + - !!python/tuple [21, 23] + - !!python/tuple [24, 15] + - !!python/tuple [7, 6] + - !!python/tuple [11, 17] + - !!python/tuple [2, 26] + - !!python/tuple [1, 16] + - !!python/tuple [22, 4] + - !!python/tuple [21, 20] + - !!python/tuple [19, 18] + - !!python/tuple [24, 18] + - !!python/tuple [23, 30] + - !!python/tuple [27, 4] + - !!python/tuple [19, 28] + - !!python/tuple [21, 28] + - !!python/tuple [26, 31] + - !!python/tuple [9, 19] + - !!python/tuple [7, 25] + - !!python/tuple [12, 26] + - !!python/tuple [31, 0] + - !!python/tuple [16, 25] + - !!python/tuple [10, 23] + - !!python/tuple [29, 15] + - !!python/tuple [26, 2] + - !!python/tuple [30, 1] + - !!python/tuple [25, 7] + - !!python/tuple [3, 5] + - !!python/tuple [6, 25] + - !!python/tuple [4, 0] + - !!python/tuple [23, 13] + - !!python/tuple [9, 10] + - !!python/tuple [1, 8] + - !!python/tuple [20, 5] + - !!python/tuple [12, 0] + - !!python/tuple [2, 6] + - !!python/tuple [23, 4] + - !!python/tuple [20, 3] + - !!python/tuple [20, 18] + - !!python/tuple [11, 10] + - !!python/tuple [20, 11] + - !!python/tuple [19, 2] + - !!python/tuple [3, 31] + - !!python/tuple [8, 7] + - !!python/tuple [31, 7] + - !!python/tuple [7, 15] + - !!python/tuple [12, 12] + - !!python/tuple [15, 0] + - !!python/tuple [15, 31] + - !!python/tuple [8, 4] + - !!python/tuple [26, 18] + - !!python/tuple [26, 12] + - !!python/tuple [30, 17] + - !!python/tuple [7, 9] + - !!python/tuple [0, 11] + - !!python/tuple [19, 30] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex30.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex30.yaml new file mode 100644 index 0000000..04e776d --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex30.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [21, 8] + name: agent0 + start: [27, 22] +- goal: [15, 20] + name: agent1 + start: [19, 26] +- goal: [18, 6] + name: agent2 + start: [2, 12] +- goal: [27, 6] + name: agent3 + start: [3, 26] +- goal: [7, 0] + name: agent4 + start: [29, 12] +- goal: [31, 23] + name: agent5 + start: [27, 18] +- goal: [31, 10] + name: agent6 + start: [13, 14] +- goal: [5, 4] + name: agent7 + start: [28, 18] +- goal: [12, 13] + name: agent8 + start: [14, 9] +- goal: [19, 15] + name: agent9 + start: [9, 3] +- goal: [27, 25] + name: agent10 + start: [6, 27] +- goal: [5, 18] + name: agent11 + start: [18, 2] +- goal: [8, 31] + name: agent12 + start: [28, 6] +- goal: [22, 17] + name: agent13 + start: [29, 1] +- goal: [16, 17] + name: agent14 + start: [15, 19] +- goal: [17, 2] + name: agent15 + start: [7, 9] +- goal: [0, 3] + name: agent16 + start: [7, 3] +- goal: [26, 7] + name: agent17 + start: [1, 25] +- goal: [9, 21] + name: agent18 + start: [19, 16] +- goal: [11, 16] + name: agent19 + start: [24, 17] +- goal: [28, 4] + name: agent20 + start: [30, 1] +- goal: [31, 6] + name: agent21 + start: [27, 24] +- goal: [31, 2] + name: agent22 + start: [31, 1] +- goal: [19, 0] + name: agent23 + start: [16, 5] +- goal: [15, 10] + name: agent24 + start: [30, 23] +- goal: [0, 19] + name: agent25 + start: [25, 15] +- goal: [28, 16] + name: agent26 + start: [26, 29] +- goal: [3, 6] + name: agent27 + start: [19, 10] +- goal: [24, 1] + name: agent28 + start: [2, 28] +- goal: [2, 12] + name: agent29 + start: [31, 11] +- goal: [12, 9] + name: agent30 + start: [31, 22] +- goal: [5, 3] + name: agent31 + start: [28, 22] +- goal: [13, 30] + name: agent32 + start: [29, 14] +- goal: [26, 31] + name: agent33 + start: [31, 28] +- goal: [21, 13] + name: agent34 + start: [17, 16] +- goal: [16, 24] + name: agent35 + start: [20, 22] +- goal: [16, 7] + name: agent36 + start: [30, 5] +- goal: [31, 15] + name: agent37 + start: [31, 12] +- goal: [25, 5] + name: agent38 + start: [23, 14] +- goal: [9, 20] + name: agent39 + start: [25, 19] +- goal: [1, 2] + name: agent40 + start: [23, 23] +- goal: [13, 1] + name: agent41 + start: [15, 11] +- goal: [31, 5] + name: agent42 + start: [13, 29] +- goal: [23, 15] + name: agent43 + start: [26, 28] +- goal: [11, 24] + name: agent44 + start: [31, 5] +- goal: [2, 18] + name: agent45 + start: [13, 20] +- goal: [23, 16] + name: agent46 + start: [13, 27] +- goal: [10, 21] + name: agent47 + start: [20, 1] +- goal: [17, 4] + name: agent48 + start: [15, 7] +- goal: [3, 7] + name: agent49 + start: [28, 17] +- goal: [0, 2] + name: agent50 + start: [4, 12] +- goal: [16, 8] + name: agent51 + start: [29, 24] +- goal: [17, 5] + name: agent52 + start: [29, 29] +- goal: [17, 1] + name: agent53 + start: [26, 18] +- goal: [17, 30] + name: agent54 + start: [9, 31] +- goal: [15, 15] + name: agent55 + start: [2, 24] +- goal: [12, 1] + name: agent56 + start: [17, 19] +- goal: [0, 22] + name: agent57 + start: [6, 6] +- goal: [16, 10] + name: agent58 + start: [10, 26] +- goal: [15, 3] + name: agent59 + start: [12, 1] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [19, 7] + - !!python/tuple [2, 20] + - !!python/tuple [21, 24] + - !!python/tuple [14, 23] + - !!python/tuple [19, 30] + - !!python/tuple [0, 10] + - !!python/tuple [8, 19] + - !!python/tuple [0, 20] + - !!python/tuple [6, 28] + - !!python/tuple [8, 14] + - !!python/tuple [9, 1] + - !!python/tuple [29, 2] + - !!python/tuple [31, 19] + - !!python/tuple [22, 19] + - !!python/tuple [29, 17] + - !!python/tuple [12, 29] + - !!python/tuple [27, 31] + - !!python/tuple [20, 9] + - !!python/tuple [15, 18] + - !!python/tuple [27, 15] + - !!python/tuple [19, 11] + - !!python/tuple [4, 25] + - !!python/tuple [0, 23] + - !!python/tuple [24, 6] + - !!python/tuple [26, 30] + - !!python/tuple [0, 14] + - !!python/tuple [7, 25] + - !!python/tuple [23, 25] + - !!python/tuple [17, 24] + - !!python/tuple [21, 6] + - !!python/tuple [10, 20] + - !!python/tuple [4, 21] + - !!python/tuple [0, 31] + - !!python/tuple [26, 22] + - !!python/tuple [2, 16] + - !!python/tuple [11, 6] + - !!python/tuple [13, 19] + - !!python/tuple [5, 2] + - !!python/tuple [17, 28] + - !!python/tuple [21, 9] + - !!python/tuple [5, 13] + - !!python/tuple [23, 7] + - !!python/tuple [15, 22] + - !!python/tuple [6, 12] + - !!python/tuple [19, 31] + - !!python/tuple [19, 3] + - !!python/tuple [23, 4] + - !!python/tuple [3, 5] + - !!python/tuple [16, 12] + - !!python/tuple [2, 8] + - !!python/tuple [11, 23] + - !!python/tuple [15, 0] + - !!python/tuple [4, 7] + - !!python/tuple [31, 17] + - !!python/tuple [18, 1] + - !!python/tuple [5, 30] + - !!python/tuple [9, 30] + - !!python/tuple [21, 4] + - !!python/tuple [17, 10] + - !!python/tuple [19, 6] + - !!python/tuple [22, 6] + - !!python/tuple [22, 1] + - !!python/tuple [28, 13] + - !!python/tuple [0, 6] + - !!python/tuple [22, 23] + - !!python/tuple [28, 1] + - !!python/tuple [26, 8] + - !!python/tuple [24, 5] + - !!python/tuple [24, 27] + - !!python/tuple [2, 3] + - !!python/tuple [15, 29] + - !!python/tuple [20, 14] + - !!python/tuple [16, 1] + - !!python/tuple [22, 22] + - !!python/tuple [30, 10] + - !!python/tuple [12, 17] + - !!python/tuple [2, 10] + - !!python/tuple [22, 18] + - !!python/tuple [3, 29] + - !!python/tuple [10, 12] + - !!python/tuple [22, 5] + - !!python/tuple [10, 27] + - !!python/tuple [4, 6] + - !!python/tuple [27, 5] + - !!python/tuple [9, 28] + - !!python/tuple [8, 24] + - !!python/tuple [27, 9] + - !!python/tuple [7, 7] + - !!python/tuple [1, 26] + - !!python/tuple [12, 20] + - !!python/tuple [30, 22] + - !!python/tuple [2, 25] + - !!python/tuple [2, 0] + - !!python/tuple [3, 10] + - !!python/tuple [25, 16] + - !!python/tuple [7, 16] + - !!python/tuple [8, 2] + - !!python/tuple [9, 12] + - !!python/tuple [29, 8] + - !!python/tuple [16, 2] + - !!python/tuple [20, 0] + - !!python/tuple [27, 27] + - !!python/tuple [22, 3] + - !!python/tuple [3, 27] + - !!python/tuple [11, 0] + - !!python/tuple [22, 7] + - !!python/tuple [16, 14] + - !!python/tuple [8, 1] + - !!python/tuple [0, 21] + - !!python/tuple [28, 9] + - !!python/tuple [14, 29] + - !!python/tuple [22, 20] + - !!python/tuple [8, 10] + - !!python/tuple [7, 27] + - !!python/tuple [4, 29] + - !!python/tuple [22, 12] + - !!python/tuple [1, 4] + - !!python/tuple [29, 6] + - !!python/tuple [28, 5] + - !!python/tuple [2, 23] + - !!python/tuple [0, 15] + - !!python/tuple [16, 16] + - !!python/tuple [28, 26] + - !!python/tuple [9, 29] + - !!python/tuple [12, 23] + - !!python/tuple [19, 14] + - !!python/tuple [13, 17] + - !!python/tuple [18, 8] + - !!python/tuple [1, 20] + - !!python/tuple [20, 16] + - !!python/tuple [0, 17] + - !!python/tuple [25, 20] + - !!python/tuple [6, 22] + - !!python/tuple [14, 3] + - !!python/tuple [21, 31] + - !!python/tuple [26, 16] + - !!python/tuple [21, 21] + - !!python/tuple [7, 22] + - !!python/tuple [2, 14] + - !!python/tuple [6, 20] + - !!python/tuple [20, 17] + - !!python/tuple [16, 13] + - !!python/tuple [26, 21] + - !!python/tuple [21, 2] + - !!python/tuple [2, 17] + - !!python/tuple [30, 3] + - !!python/tuple [26, 0] + - !!python/tuple [2, 30] + - !!python/tuple [23, 27] + - !!python/tuple [3, 23] + - !!python/tuple [3, 2] + - !!python/tuple [22, 21] + - !!python/tuple [8, 28] + - !!python/tuple [13, 12] + - !!python/tuple [1, 27] + - !!python/tuple [19, 12] + - !!python/tuple [6, 7] + - !!python/tuple [24, 12] + - !!python/tuple [26, 14] + - !!python/tuple [7, 13] + - !!python/tuple [25, 9] + - !!python/tuple [28, 2] + - !!python/tuple [24, 22] + - !!python/tuple [30, 16] + - !!python/tuple [17, 23] + - !!python/tuple [20, 4] + - !!python/tuple [11, 1] + - !!python/tuple [29, 16] + - !!python/tuple [24, 21] + - !!python/tuple [23, 0] + - !!python/tuple [1, 7] + - !!python/tuple [20, 11] + - !!python/tuple [23, 12] + - !!python/tuple [21, 16] + - !!python/tuple [0, 7] + - !!python/tuple [30, 18] + - !!python/tuple [7, 31] + - !!python/tuple [26, 20] + - !!python/tuple [15, 24] + - !!python/tuple [21, 10] + - !!python/tuple [19, 8] + - !!python/tuple [2, 22] + - !!python/tuple [28, 27] + - !!python/tuple [27, 30] + - !!python/tuple [16, 26] + - !!python/tuple [0, 13] + - !!python/tuple [18, 26] + - !!python/tuple [6, 15] + - !!python/tuple [18, 29] + - !!python/tuple [3, 4] + - !!python/tuple [31, 29] + - !!python/tuple [25, 23] + - !!python/tuple [31, 24] + - !!python/tuple [0, 16] + - !!python/tuple [29, 22] + - !!python/tuple [15, 21] + - !!python/tuple [16, 29] + - !!python/tuple [18, 15] + - !!python/tuple [8, 23] + - !!python/tuple [0, 11] + - !!python/tuple [31, 26] + - !!python/tuple [18, 27] + - !!python/tuple [11, 25] + - !!python/tuple [4, 5] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex31.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex31.yaml new file mode 100644 index 0000000..e791651 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex31.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [25, 20] + name: agent0 + start: [12, 3] +- goal: [12, 5] + name: agent1 + start: [27, 6] +- goal: [22, 4] + name: agent2 + start: [5, 4] +- goal: [24, 14] + name: agent3 + start: [17, 13] +- goal: [13, 5] + name: agent4 + start: [21, 16] +- goal: [27, 9] + name: agent5 + start: [11, 22] +- goal: [13, 11] + name: agent6 + start: [27, 21] +- goal: [27, 0] + name: agent7 + start: [2, 22] +- goal: [2, 23] + name: agent8 + start: [15, 1] +- goal: [27, 25] + name: agent9 + start: [25, 7] +- goal: [14, 17] + name: agent10 + start: [25, 11] +- goal: [19, 26] + name: agent11 + start: [9, 23] +- goal: [20, 12] + name: agent12 + start: [14, 22] +- goal: [4, 6] + name: agent13 + start: [9, 31] +- goal: [15, 19] + name: agent14 + start: [8, 11] +- goal: [30, 23] + name: agent15 + start: [4, 20] +- goal: [9, 16] + name: agent16 + start: [12, 23] +- goal: [26, 12] + name: agent17 + start: [29, 11] +- goal: [24, 19] + name: agent18 + start: [4, 24] +- goal: [15, 8] + name: agent19 + start: [28, 13] +- goal: [24, 9] + name: agent20 + start: [30, 31] +- goal: [2, 21] + name: agent21 + start: [11, 10] +- goal: [22, 14] + name: agent22 + start: [0, 24] +- goal: [13, 17] + name: agent23 + start: [24, 5] +- goal: [28, 9] + name: agent24 + start: [25, 5] +- goal: [17, 1] + name: agent25 + start: [30, 27] +- goal: [19, 3] + name: agent26 + start: [2, 10] +- goal: [1, 23] + name: agent27 + start: [20, 10] +- goal: [25, 5] + name: agent28 + start: [1, 0] +- goal: [22, 1] + name: agent29 + start: [9, 21] +- goal: [6, 2] + name: agent30 + start: [6, 15] +- goal: [13, 24] + name: agent31 + start: [26, 25] +- goal: [8, 12] + name: agent32 + start: [8, 15] +- goal: [25, 23] + name: agent33 + start: [30, 1] +- goal: [10, 25] + name: agent34 + start: [31, 19] +- goal: [7, 12] + name: agent35 + start: [1, 3] +- goal: [8, 13] + name: agent36 + start: [9, 3] +- goal: [11, 3] + name: agent37 + start: [15, 31] +- goal: [13, 29] + name: agent38 + start: [17, 22] +- goal: [28, 6] + name: agent39 + start: [1, 18] +- goal: [3, 20] + name: agent40 + start: [8, 4] +- goal: [28, 12] + name: agent41 + start: [14, 0] +- goal: [10, 0] + name: agent42 + start: [16, 27] +- goal: [17, 24] + name: agent43 + start: [4, 15] +- goal: [10, 14] + name: agent44 + start: [1, 8] +- goal: [16, 30] + name: agent45 + start: [1, 31] +- goal: [24, 11] + name: agent46 + start: [28, 10] +- goal: [22, 18] + name: agent47 + start: [8, 2] +- goal: [12, 12] + name: agent48 + start: [27, 3] +- goal: [24, 10] + name: agent49 + start: [11, 27] +- goal: [4, 16] + name: agent50 + start: [10, 3] +- goal: [18, 31] + name: agent51 + start: [20, 16] +- goal: [29, 17] + name: agent52 + start: [11, 24] +- goal: [9, 13] + name: agent53 + start: [11, 12] +- goal: [15, 2] + name: agent54 + start: [4, 5] +- goal: [27, 24] + name: agent55 + start: [22, 8] +- goal: [16, 27] + name: agent56 + start: [25, 24] +- goal: [13, 1] + name: agent57 + start: [0, 9] +- goal: [25, 15] + name: agent58 + start: [26, 6] +- goal: [15, 13] + name: agent59 + start: [0, 18] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [1, 28] + - !!python/tuple [5, 1] + - !!python/tuple [0, 7] + - !!python/tuple [0, 4] + - !!python/tuple [0, 14] + - !!python/tuple [0, 15] + - !!python/tuple [28, 24] + - !!python/tuple [23, 3] + - !!python/tuple [18, 11] + - !!python/tuple [7, 0] + - !!python/tuple [24, 2] + - !!python/tuple [15, 6] + - !!python/tuple [29, 20] + - !!python/tuple [3, 22] + - !!python/tuple [5, 19] + - !!python/tuple [13, 13] + - !!python/tuple [25, 0] + - !!python/tuple [5, 20] + - !!python/tuple [26, 10] + - !!python/tuple [23, 11] + - !!python/tuple [31, 25] + - !!python/tuple [6, 26] + - !!python/tuple [19, 6] + - !!python/tuple [9, 27] + - !!python/tuple [18, 4] + - !!python/tuple [5, 24] + - !!python/tuple [5, 22] + - !!python/tuple [9, 4] + - !!python/tuple [11, 6] + - !!python/tuple [31, 1] + - !!python/tuple [25, 19] + - !!python/tuple [10, 26] + - !!python/tuple [17, 29] + - !!python/tuple [10, 16] + - !!python/tuple [8, 24] + - !!python/tuple [16, 18] + - !!python/tuple [22, 22] + - !!python/tuple [10, 10] + - !!python/tuple [6, 6] + - !!python/tuple [27, 17] + - !!python/tuple [23, 31] + - !!python/tuple [15, 23] + - !!python/tuple [0, 21] + - !!python/tuple [30, 20] + - !!python/tuple [31, 29] + - !!python/tuple [14, 25] + - !!python/tuple [1, 27] + - !!python/tuple [24, 29] + - !!python/tuple [27, 14] + - !!python/tuple [7, 14] + - !!python/tuple [2, 24] + - !!python/tuple [12, 31] + - !!python/tuple [20, 5] + - !!python/tuple [22, 3] + - !!python/tuple [2, 8] + - !!python/tuple [28, 26] + - !!python/tuple [14, 21] + - !!python/tuple [7, 21] + - !!python/tuple [17, 5] + - !!python/tuple [7, 23] + - !!python/tuple [0, 5] + - !!python/tuple [1, 6] + - !!python/tuple [16, 24] + - !!python/tuple [5, 25] + - !!python/tuple [8, 14] + - !!python/tuple [16, 6] + - !!python/tuple [7, 9] + - !!python/tuple [15, 17] + - !!python/tuple [17, 31] + - !!python/tuple [0, 3] + - !!python/tuple [11, 17] + - !!python/tuple [3, 29] + - !!python/tuple [19, 2] + - !!python/tuple [24, 20] + - !!python/tuple [23, 25] + - !!python/tuple [12, 7] + - !!python/tuple [16, 17] + - !!python/tuple [14, 9] + - !!python/tuple [0, 11] + - !!python/tuple [18, 19] + - !!python/tuple [11, 25] + - !!python/tuple [7, 25] + - !!python/tuple [3, 12] + - !!python/tuple [18, 1] + - !!python/tuple [14, 2] + - !!python/tuple [14, 10] + - !!python/tuple [30, 3] + - !!python/tuple [12, 16] + - !!python/tuple [25, 1] + - !!python/tuple [4, 23] + - !!python/tuple [6, 1] + - !!python/tuple [5, 26] + - !!python/tuple [7, 31] + - !!python/tuple [19, 4] + - !!python/tuple [10, 24] + - !!python/tuple [15, 29] + - !!python/tuple [18, 25] + - !!python/tuple [2, 29] + - !!python/tuple [31, 9] + - !!python/tuple [3, 6] + - !!python/tuple [8, 9] + - !!python/tuple [22, 0] + - !!python/tuple [28, 30] + - !!python/tuple [18, 18] + - !!python/tuple [2, 13] + - !!python/tuple [26, 29] + - !!python/tuple [17, 18] + - !!python/tuple [17, 3] + - !!python/tuple [19, 12] + - !!python/tuple [26, 19] + - !!python/tuple [31, 15] + - !!python/tuple [27, 10] + - !!python/tuple [0, 28] + - !!python/tuple [23, 17] + - !!python/tuple [30, 7] + - !!python/tuple [10, 6] + - !!python/tuple [10, 31] + - !!python/tuple [23, 30] + - !!python/tuple [12, 11] + - !!python/tuple [17, 15] + - !!python/tuple [31, 13] + - !!python/tuple [28, 20] + - !!python/tuple [21, 31] + - !!python/tuple [3, 13] + - !!python/tuple [21, 21] + - !!python/tuple [25, 22] + - !!python/tuple [13, 4] + - !!python/tuple [16, 22] + - !!python/tuple [13, 6] + - !!python/tuple [22, 13] + - !!python/tuple [22, 12] + - !!python/tuple [25, 6] + - !!python/tuple [12, 10] + - !!python/tuple [1, 4] + - !!python/tuple [0, 25] + - !!python/tuple [2, 7] + - !!python/tuple [10, 11] + - !!python/tuple [3, 8] + - !!python/tuple [15, 26] + - !!python/tuple [10, 18] + - !!python/tuple [23, 20] + - !!python/tuple [8, 16] + - !!python/tuple [3, 17] + - !!python/tuple [12, 17] + - !!python/tuple [24, 8] + - !!python/tuple [3, 15] + - !!python/tuple [23, 5] + - !!python/tuple [17, 16] + - !!python/tuple [6, 20] + - !!python/tuple [5, 12] + - !!python/tuple [26, 31] + - !!python/tuple [15, 7] + - !!python/tuple [6, 8] + - !!python/tuple [26, 1] + - !!python/tuple [31, 16] + - !!python/tuple [25, 13] + - !!python/tuple [2, 6] + - !!python/tuple [17, 23] + - !!python/tuple [2, 25] + - !!python/tuple [27, 12] + - !!python/tuple [8, 30] + - !!python/tuple [10, 22] + - !!python/tuple [8, 29] + - !!python/tuple [26, 2] + - !!python/tuple [26, 15] + - !!python/tuple [16, 12] + - !!python/tuple [18, 29] + - !!python/tuple [3, 3] + - !!python/tuple [13, 18] + - !!python/tuple [19, 20] + - !!python/tuple [3, 24] + - !!python/tuple [1, 7] + - !!python/tuple [19, 18] + - !!python/tuple [13, 23] + - !!python/tuple [1, 19] + - !!python/tuple [31, 10] + - !!python/tuple [10, 23] + - !!python/tuple [22, 11] + - !!python/tuple [15, 4] + - !!python/tuple [30, 12] + - !!python/tuple [27, 20] + - !!python/tuple [13, 8] + - !!python/tuple [7, 17] + - !!python/tuple [27, 19] + - !!python/tuple [3, 5] + - !!python/tuple [17, 21] + - !!python/tuple [9, 20] + - !!python/tuple [13, 2] + - !!python/tuple [18, 9] + - !!python/tuple [20, 31] + - !!python/tuple [12, 29] + - !!python/tuple [12, 24] + - !!python/tuple [17, 9] + - !!python/tuple [28, 11] + - !!python/tuple [29, 30] + - !!python/tuple [4, 14] + - !!python/tuple [15, 0] + - !!python/tuple [3, 9] + - !!python/tuple [13, 16] + - !!python/tuple [2, 1] + - !!python/tuple [15, 3] + - !!python/tuple [28, 5] + - !!python/tuple [16, 5] + - !!python/tuple [21, 6] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex32.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex32.yaml new file mode 100644 index 0000000..cb9d7f3 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex32.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [12, 2] + name: agent0 + start: [31, 11] +- goal: [18, 10] + name: agent1 + start: [17, 23] +- goal: [4, 10] + name: agent2 + start: [6, 22] +- goal: [20, 15] + name: agent3 + start: [16, 19] +- goal: [9, 23] + name: agent4 + start: [5, 5] +- goal: [20, 7] + name: agent5 + start: [30, 17] +- goal: [16, 26] + name: agent6 + start: [19, 0] +- goal: [2, 28] + name: agent7 + start: [6, 18] +- goal: [10, 8] + name: agent8 + start: [16, 9] +- goal: [5, 29] + name: agent9 + start: [31, 3] +- goal: [10, 22] + name: agent10 + start: [5, 13] +- goal: [1, 3] + name: agent11 + start: [3, 28] +- goal: [1, 26] + name: agent12 + start: [16, 2] +- goal: [28, 3] + name: agent13 + start: [5, 12] +- goal: [20, 25] + name: agent14 + start: [13, 24] +- goal: [7, 29] + name: agent15 + start: [8, 31] +- goal: [19, 22] + name: agent16 + start: [9, 12] +- goal: [7, 6] + name: agent17 + start: [13, 4] +- goal: [28, 21] + name: agent18 + start: [28, 19] +- goal: [5, 4] + name: agent19 + start: [30, 21] +- goal: [14, 4] + name: agent20 + start: [14, 5] +- goal: [11, 14] + name: agent21 + start: [29, 16] +- goal: [7, 14] + name: agent22 + start: [14, 13] +- goal: [8, 23] + name: agent23 + start: [4, 19] +- goal: [1, 4] + name: agent24 + start: [13, 27] +- goal: [4, 11] + name: agent25 + start: [3, 7] +- goal: [3, 2] + name: agent26 + start: [5, 8] +- goal: [28, 4] + name: agent27 + start: [18, 31] +- goal: [5, 5] + name: agent28 + start: [13, 30] +- goal: [5, 12] + name: agent29 + start: [18, 1] +- goal: [5, 26] + name: agent30 + start: [4, 15] +- goal: [22, 15] + name: agent31 + start: [21, 10] +- goal: [8, 6] + name: agent32 + start: [26, 9] +- goal: [27, 24] + name: agent33 + start: [30, 24] +- goal: [29, 12] + name: agent34 + start: [13, 22] +- goal: [15, 4] + name: agent35 + start: [19, 30] +- goal: [19, 1] + name: agent36 + start: [25, 26] +- goal: [26, 21] + name: agent37 + start: [27, 2] +- goal: [16, 2] + name: agent38 + start: [17, 4] +- goal: [18, 8] + name: agent39 + start: [25, 14] +- goal: [2, 25] + name: agent40 + start: [24, 8] +- goal: [20, 21] + name: agent41 + start: [14, 4] +- goal: [5, 0] + name: agent42 + start: [23, 28] +- goal: [29, 18] + name: agent43 + start: [25, 10] +- goal: [3, 10] + name: agent44 + start: [1, 7] +- goal: [17, 24] + name: agent45 + start: [6, 11] +- goal: [27, 16] + name: agent46 + start: [8, 22] +- goal: [19, 6] + name: agent47 + start: [14, 7] +- goal: [16, 12] + name: agent48 + start: [5, 6] +- goal: [11, 4] + name: agent49 + start: [8, 17] +- goal: [14, 29] + name: agent50 + start: [5, 20] +- goal: [17, 20] + name: agent51 + start: [11, 9] +- goal: [15, 14] + name: agent52 + start: [1, 22] +- goal: [15, 31] + name: agent53 + start: [8, 14] +- goal: [10, 18] + name: agent54 + start: [8, 6] +- goal: [29, 20] + name: agent55 + start: [11, 30] +- goal: [0, 11] + name: agent56 + start: [8, 26] +- goal: [7, 17] + name: agent57 + start: [28, 5] +- goal: [17, 2] + name: agent58 + start: [0, 30] +- goal: [31, 16] + name: agent59 + start: [12, 13] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [9, 3] + - !!python/tuple [6, 13] + - !!python/tuple [21, 19] + - !!python/tuple [10, 9] + - !!python/tuple [8, 3] + - !!python/tuple [26, 19] + - !!python/tuple [8, 29] + - !!python/tuple [18, 29] + - !!python/tuple [9, 22] + - !!python/tuple [7, 8] + - !!python/tuple [4, 29] + - !!python/tuple [25, 2] + - !!python/tuple [22, 6] + - !!python/tuple [31, 19] + - !!python/tuple [26, 14] + - !!python/tuple [2, 10] + - !!python/tuple [23, 2] + - !!python/tuple [12, 29] + - !!python/tuple [17, 11] + - !!python/tuple [31, 4] + - !!python/tuple [25, 7] + - !!python/tuple [3, 12] + - !!python/tuple [26, 30] + - !!python/tuple [22, 14] + - !!python/tuple [26, 24] + - !!python/tuple [22, 3] + - !!python/tuple [4, 30] + - !!python/tuple [0, 31] + - !!python/tuple [1, 19] + - !!python/tuple [16, 27] + - !!python/tuple [29, 22] + - !!python/tuple [8, 0] + - !!python/tuple [26, 28] + - !!python/tuple [0, 16] + - !!python/tuple [1, 25] + - !!python/tuple [27, 20] + - !!python/tuple [7, 11] + - !!python/tuple [11, 31] + - !!python/tuple [7, 9] + - !!python/tuple [22, 17] + - !!python/tuple [24, 24] + - !!python/tuple [28, 15] + - !!python/tuple [15, 17] + - !!python/tuple [26, 12] + - !!python/tuple [24, 28] + - !!python/tuple [18, 19] + - !!python/tuple [16, 21] + - !!python/tuple [24, 10] + - !!python/tuple [7, 31] + - !!python/tuple [7, 25] + - !!python/tuple [29, 25] + - !!python/tuple [31, 5] + - !!python/tuple [25, 9] + - !!python/tuple [8, 30] + - !!python/tuple [10, 28] + - !!python/tuple [5, 27] + - !!python/tuple [15, 16] + - !!python/tuple [4, 26] + - !!python/tuple [31, 7] + - !!python/tuple [12, 16] + - !!python/tuple [0, 12] + - !!python/tuple [27, 5] + - !!python/tuple [10, 0] + - !!python/tuple [2, 20] + - !!python/tuple [6, 26] + - !!python/tuple [23, 5] + - !!python/tuple [27, 18] + - !!python/tuple [21, 8] + - !!python/tuple [21, 29] + - !!python/tuple [20, 12] + - !!python/tuple [21, 31] + - !!python/tuple [14, 11] + - !!python/tuple [30, 27] + - !!python/tuple [30, 16] + - !!python/tuple [19, 27] + - !!python/tuple [18, 26] + - !!python/tuple [19, 18] + - !!python/tuple [30, 4] + - !!python/tuple [21, 24] + - !!python/tuple [28, 27] + - !!python/tuple [5, 17] + - !!python/tuple [8, 15] + - !!python/tuple [6, 16] + - !!python/tuple [0, 9] + - !!python/tuple [15, 24] + - !!python/tuple [16, 20] + - !!python/tuple [29, 28] + - !!python/tuple [0, 1] + - !!python/tuple [23, 14] + - !!python/tuple [28, 0] + - !!python/tuple [13, 13] + - !!python/tuple [24, 26] + - !!python/tuple [21, 4] + - !!python/tuple [21, 23] + - !!python/tuple [25, 8] + - !!python/tuple [22, 27] + - !!python/tuple [24, 9] + - !!python/tuple [26, 15] + - !!python/tuple [18, 3] + - !!python/tuple [13, 23] + - !!python/tuple [8, 16] + - !!python/tuple [31, 22] + - !!python/tuple [13, 18] + - !!python/tuple [13, 1] + - !!python/tuple [4, 4] + - !!python/tuple [9, 13] + - !!python/tuple [10, 1] + - !!python/tuple [12, 1] + - !!python/tuple [27, 31] + - !!python/tuple [13, 10] + - !!python/tuple [4, 12] + - !!python/tuple [15, 8] + - !!python/tuple [9, 11] + - !!python/tuple [13, 6] + - !!python/tuple [27, 26] + - !!python/tuple [5, 22] + - !!python/tuple [11, 2] + - !!python/tuple [12, 3] + - !!python/tuple [23, 25] + - !!python/tuple [5, 2] + - !!python/tuple [18, 11] + - !!python/tuple [12, 31] + - !!python/tuple [31, 20] + - !!python/tuple [9, 17] + - !!python/tuple [7, 27] + - !!python/tuple [16, 30] + - !!python/tuple [27, 12] + - !!python/tuple [23, 22] + - !!python/tuple [21, 17] + - !!python/tuple [1, 20] + - !!python/tuple [22, 11] + - !!python/tuple [13, 17] + - !!python/tuple [26, 29] + - !!python/tuple [12, 12] + - !!python/tuple [11, 16] + - !!python/tuple [26, 22] + - !!python/tuple [24, 3] + - !!python/tuple [12, 26] + - !!python/tuple [20, 5] + - !!python/tuple [11, 20] + - !!python/tuple [0, 14] + - !!python/tuple [19, 8] + - !!python/tuple [15, 15] + - !!python/tuple [7, 30] + - !!python/tuple [7, 22] + - !!python/tuple [2, 8] + - !!python/tuple [2, 6] + - !!python/tuple [6, 24] + - !!python/tuple [11, 5] + - !!python/tuple [26, 27] + - !!python/tuple [7, 3] + - !!python/tuple [3, 24] + - !!python/tuple [11, 7] + - !!python/tuple [17, 7] + - !!python/tuple [0, 4] + - !!python/tuple [24, 1] + - !!python/tuple [12, 19] + - !!python/tuple [31, 26] + - !!python/tuple [29, 7] + - !!python/tuple [12, 22] + - !!python/tuple [12, 5] + - !!python/tuple [17, 19] + - !!python/tuple [20, 6] + - !!python/tuple [3, 0] + - !!python/tuple [23, 15] + - !!python/tuple [27, 23] + - !!python/tuple [15, 11] + - !!python/tuple [0, 22] + - !!python/tuple [21, 16] + - !!python/tuple [18, 0] + - !!python/tuple [13, 26] + - !!python/tuple [27, 3] + - !!python/tuple [14, 17] + - !!python/tuple [4, 20] + - !!python/tuple [16, 31] + - !!python/tuple [18, 14] + - !!python/tuple [0, 15] + - !!python/tuple [31, 9] + - !!python/tuple [21, 11] + - !!python/tuple [8, 24] + - !!python/tuple [8, 8] + - !!python/tuple [23, 4] + - !!python/tuple [7, 0] + - !!python/tuple [8, 10] + - !!python/tuple [22, 30] + - !!python/tuple [5, 30] + - !!python/tuple [0, 28] + - !!python/tuple [22, 4] + - !!python/tuple [22, 13] + - !!python/tuple [9, 10] + - !!python/tuple [2, 0] + - !!python/tuple [10, 23] + - !!python/tuple [28, 18] + - !!python/tuple [5, 19] + - !!python/tuple [31, 12] + - !!python/tuple [16, 13] + - !!python/tuple [26, 8] + - !!python/tuple [1, 29] + - !!python/tuple [14, 14] + - !!python/tuple [10, 7] + - !!python/tuple [14, 20] + - !!python/tuple [17, 6] + - !!python/tuple [29, 0] + - !!python/tuple [2, 17] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex33.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex33.yaml new file mode 100644 index 0000000..c676611 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex33.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [10, 2] + name: agent0 + start: [10, 8] +- goal: [8, 26] + name: agent1 + start: [4, 28] +- goal: [1, 21] + name: agent2 + start: [9, 1] +- goal: [25, 2] + name: agent3 + start: [11, 23] +- goal: [5, 26] + name: agent4 + start: [19, 21] +- goal: [11, 23] + name: agent5 + start: [10, 25] +- goal: [24, 3] + name: agent6 + start: [13, 24] +- goal: [27, 23] + name: agent7 + start: [12, 0] +- goal: [21, 18] + name: agent8 + start: [19, 30] +- goal: [31, 19] + name: agent9 + start: [2, 28] +- goal: [20, 4] + name: agent10 + start: [22, 16] +- goal: [16, 6] + name: agent11 + start: [0, 9] +- goal: [8, 14] + name: agent12 + start: [12, 28] +- goal: [26, 20] + name: agent13 + start: [14, 0] +- goal: [15, 30] + name: agent14 + start: [20, 0] +- goal: [7, 23] + name: agent15 + start: [25, 6] +- goal: [27, 16] + name: agent16 + start: [12, 30] +- goal: [9, 0] + name: agent17 + start: [31, 18] +- goal: [16, 13] + name: agent18 + start: [20, 11] +- goal: [16, 30] + name: agent19 + start: [4, 8] +- goal: [5, 4] + name: agent20 + start: [29, 17] +- goal: [0, 9] + name: agent21 + start: [9, 10] +- goal: [22, 30] + name: agent22 + start: [22, 20] +- goal: [20, 24] + name: agent23 + start: [3, 18] +- goal: [12, 4] + name: agent24 + start: [13, 7] +- goal: [8, 30] + name: agent25 + start: [11, 14] +- goal: [24, 19] + name: agent26 + start: [27, 17] +- goal: [20, 12] + name: agent27 + start: [20, 4] +- goal: [27, 24] + name: agent28 + start: [27, 0] +- goal: [16, 8] + name: agent29 + start: [0, 24] +- goal: [3, 19] + name: agent30 + start: [8, 9] +- goal: [28, 6] + name: agent31 + start: [9, 24] +- goal: [17, 24] + name: agent32 + start: [17, 26] +- goal: [28, 0] + name: agent33 + start: [12, 22] +- goal: [28, 31] + name: agent34 + start: [16, 12] +- goal: [27, 14] + name: agent35 + start: [27, 19] +- goal: [26, 7] + name: agent36 + start: [31, 28] +- goal: [0, 25] + name: agent37 + start: [1, 26] +- goal: [31, 28] + name: agent38 + start: [29, 26] +- goal: [18, 13] + name: agent39 + start: [28, 11] +- goal: [9, 23] + name: agent40 + start: [8, 29] +- goal: [2, 27] + name: agent41 + start: [27, 3] +- goal: [31, 10] + name: agent42 + start: [14, 22] +- goal: [27, 15] + name: agent43 + start: [28, 8] +- goal: [7, 20] + name: agent44 + start: [7, 21] +- goal: [13, 7] + name: agent45 + start: [17, 11] +- goal: [1, 16] + name: agent46 + start: [15, 27] +- goal: [25, 18] + name: agent47 + start: [2, 7] +- goal: [7, 17] + name: agent48 + start: [30, 13] +- goal: [13, 19] + name: agent49 + start: [17, 20] +- goal: [1, 8] + name: agent50 + start: [15, 18] +- goal: [15, 22] + name: agent51 + start: [29, 14] +- goal: [27, 12] + name: agent52 + start: [31, 15] +- goal: [13, 22] + name: agent53 + start: [8, 23] +- goal: [4, 12] + name: agent54 + start: [24, 19] +- goal: [4, 29] + name: agent55 + start: [10, 29] +- goal: [29, 0] + name: agent56 + start: [20, 19] +- goal: [29, 27] + name: agent57 + start: [6, 20] +- goal: [21, 11] + name: agent58 + start: [11, 8] +- goal: [17, 8] + name: agent59 + start: [10, 16] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [7, 6] + - !!python/tuple [26, 25] + - !!python/tuple [27, 5] + - !!python/tuple [29, 6] + - !!python/tuple [8, 27] + - !!python/tuple [11, 3] + - !!python/tuple [10, 6] + - !!python/tuple [28, 4] + - !!python/tuple [4, 23] + - !!python/tuple [8, 4] + - !!python/tuple [28, 5] + - !!python/tuple [6, 16] + - !!python/tuple [9, 27] + - !!python/tuple [6, 27] + - !!python/tuple [30, 31] + - !!python/tuple [8, 11] + - !!python/tuple [20, 20] + - !!python/tuple [2, 31] + - !!python/tuple [30, 16] + - !!python/tuple [13, 16] + - !!python/tuple [31, 2] + - !!python/tuple [17, 5] + - !!python/tuple [18, 0] + - !!python/tuple [29, 24] + - !!python/tuple [0, 6] + - !!python/tuple [13, 25] + - !!python/tuple [1, 15] + - !!python/tuple [8, 8] + - !!python/tuple [13, 2] + - !!python/tuple [27, 27] + - !!python/tuple [14, 19] + - !!python/tuple [9, 16] + - !!python/tuple [18, 11] + - !!python/tuple [22, 5] + - !!python/tuple [30, 20] + - !!python/tuple [20, 17] + - !!python/tuple [30, 2] + - !!python/tuple [16, 14] + - !!python/tuple [11, 31] + - !!python/tuple [15, 19] + - !!python/tuple [9, 2] + - !!python/tuple [10, 26] + - !!python/tuple [29, 30] + - !!python/tuple [18, 14] + - !!python/tuple [27, 13] + - !!python/tuple [4, 11] + - !!python/tuple [9, 17] + - !!python/tuple [4, 7] + - !!python/tuple [4, 30] + - !!python/tuple [21, 29] + - !!python/tuple [25, 9] + - !!python/tuple [25, 8] + - !!python/tuple [18, 25] + - !!python/tuple [25, 11] + - !!python/tuple [23, 28] + - !!python/tuple [21, 16] + - !!python/tuple [24, 24] + - !!python/tuple [31, 13] + - !!python/tuple [26, 17] + - !!python/tuple [11, 6] + - !!python/tuple [9, 14] + - !!python/tuple [24, 31] + - !!python/tuple [5, 3] + - !!python/tuple [5, 22] + - !!python/tuple [8, 16] + - !!python/tuple [21, 30] + - !!python/tuple [17, 6] + - !!python/tuple [16, 26] + - !!python/tuple [9, 25] + - !!python/tuple [3, 12] + - !!python/tuple [17, 16] + - !!python/tuple [12, 27] + - !!python/tuple [0, 20] + - !!python/tuple [22, 10] + - !!python/tuple [28, 22] + - !!python/tuple [14, 25] + - !!python/tuple [19, 15] + - !!python/tuple [15, 6] + - !!python/tuple [11, 29] + - !!python/tuple [21, 24] + - !!python/tuple [23, 23] + - !!python/tuple [15, 20] + - !!python/tuple [19, 31] + - !!python/tuple [12, 29] + - !!python/tuple [11, 26] + - !!python/tuple [5, 2] + - !!python/tuple [24, 17] + - !!python/tuple [3, 23] + - !!python/tuple [4, 2] + - !!python/tuple [8, 31] + - !!python/tuple [25, 19] + - !!python/tuple [3, 30] + - !!python/tuple [15, 25] + - !!python/tuple [7, 30] + - !!python/tuple [18, 15] + - !!python/tuple [21, 23] + - !!python/tuple [30, 28] + - !!python/tuple [6, 9] + - !!python/tuple [10, 11] + - !!python/tuple [6, 18] + - !!python/tuple [16, 11] + - !!python/tuple [1, 9] + - !!python/tuple [8, 25] + - !!python/tuple [29, 3] + - !!python/tuple [14, 10] + - !!python/tuple [31, 12] + - !!python/tuple [5, 7] + - !!python/tuple [6, 4] + - !!python/tuple [23, 26] + - !!python/tuple [7, 15] + - !!python/tuple [8, 10] + - !!python/tuple [22, 24] + - !!python/tuple [28, 30] + - !!python/tuple [28, 2] + - !!python/tuple [23, 1] + - !!python/tuple [23, 19] + - !!python/tuple [22, 31] + - !!python/tuple [9, 9] + - !!python/tuple [31, 6] + - !!python/tuple [11, 22] + - !!python/tuple [26, 30] + - !!python/tuple [11, 18] + - !!python/tuple [31, 26] + - !!python/tuple [3, 8] + - !!python/tuple [14, 1] + - !!python/tuple [21, 27] + - !!python/tuple [26, 22] + - !!python/tuple [18, 29] + - !!python/tuple [9, 4] + - !!python/tuple [30, 3] + - !!python/tuple [15, 2] + - !!python/tuple [0, 5] + - !!python/tuple [6, 3] + - !!python/tuple [20, 7] + - !!python/tuple [22, 18] + - !!python/tuple [0, 30] + - !!python/tuple [30, 7] + - !!python/tuple [2, 14] + - !!python/tuple [17, 31] + - !!python/tuple [24, 29] + - !!python/tuple [30, 6] + - !!python/tuple [1, 31] + - !!python/tuple [3, 2] + - !!python/tuple [1, 18] + - !!python/tuple [31, 20] + - !!python/tuple [4, 0] + - !!python/tuple [25, 12] + - !!python/tuple [30, 12] + - !!python/tuple [5, 30] + - !!python/tuple [3, 27] + - !!python/tuple [23, 25] + - !!python/tuple [12, 24] + - !!python/tuple [18, 28] + - !!python/tuple [0, 31] + - !!python/tuple [31, 0] + - !!python/tuple [18, 17] + - !!python/tuple [5, 11] + - !!python/tuple [12, 18] + - !!python/tuple [6, 29] + - !!python/tuple [12, 5] + - !!python/tuple [5, 27] + - !!python/tuple [8, 28] + - !!python/tuple [26, 6] + - !!python/tuple [25, 3] + - !!python/tuple [20, 27] + - !!python/tuple [17, 12] + - !!python/tuple [25, 26] + - !!python/tuple [13, 6] + - !!python/tuple [10, 30] + - !!python/tuple [6, 13] + - !!python/tuple [13, 9] + - !!python/tuple [27, 4] + - !!python/tuple [18, 24] + - !!python/tuple [7, 29] + - !!python/tuple [22, 4] + - !!python/tuple [2, 18] + - !!python/tuple [15, 1] + - !!python/tuple [18, 21] + - !!python/tuple [28, 27] + - !!python/tuple [16, 3] + - !!python/tuple [8, 3] + - !!python/tuple [4, 9] + - !!python/tuple [9, 21] + - !!python/tuple [7, 8] + - !!python/tuple [2, 6] + - !!python/tuple [18, 26] + - !!python/tuple [0, 12] + - !!python/tuple [20, 29] + - !!python/tuple [27, 2] + - !!python/tuple [27, 28] + - !!python/tuple [1, 24] + - !!python/tuple [31, 11] + - !!python/tuple [3, 24] + - !!python/tuple [17, 22] + - !!python/tuple [24, 9] + - !!python/tuple [20, 25] + - !!python/tuple [19, 1] + - !!python/tuple [5, 0] + - !!python/tuple [14, 9] + - !!python/tuple [12, 2] + - !!python/tuple [11, 15] + - !!python/tuple [12, 19] + - !!python/tuple [5, 23] + - !!python/tuple [8, 0] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex34.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex34.yaml new file mode 100644 index 0000000..84582c9 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex34.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [30, 25] + name: agent0 + start: [31, 2] +- goal: [30, 27] + name: agent1 + start: [25, 2] +- goal: [17, 24] + name: agent2 + start: [23, 2] +- goal: [2, 25] + name: agent3 + start: [16, 11] +- goal: [11, 30] + name: agent4 + start: [31, 6] +- goal: [28, 13] + name: agent5 + start: [29, 20] +- goal: [16, 5] + name: agent6 + start: [7, 27] +- goal: [18, 31] + name: agent7 + start: [20, 16] +- goal: [31, 23] + name: agent8 + start: [21, 3] +- goal: [2, 3] + name: agent9 + start: [17, 16] +- goal: [23, 19] + name: agent10 + start: [4, 10] +- goal: [25, 0] + name: agent11 + start: [24, 3] +- goal: [2, 29] + name: agent12 + start: [24, 24] +- goal: [10, 29] + name: agent13 + start: [17, 28] +- goal: [24, 13] + name: agent14 + start: [20, 20] +- goal: [22, 10] + name: agent15 + start: [17, 19] +- goal: [23, 24] + name: agent16 + start: [4, 21] +- goal: [25, 21] + name: agent17 + start: [21, 11] +- goal: [9, 12] + name: agent18 + start: [3, 25] +- goal: [29, 19] + name: agent19 + start: [24, 25] +- goal: [23, 14] + name: agent20 + start: [31, 15] +- goal: [21, 18] + name: agent21 + start: [18, 8] +- goal: [3, 16] + name: agent22 + start: [0, 28] +- goal: [30, 22] + name: agent23 + start: [20, 13] +- goal: [1, 0] + name: agent24 + start: [8, 16] +- goal: [5, 26] + name: agent25 + start: [28, 3] +- goal: [3, 20] + name: agent26 + start: [27, 15] +- goal: [12, 18] + name: agent27 + start: [1, 17] +- goal: [16, 29] + name: agent28 + start: [6, 29] +- goal: [26, 18] + name: agent29 + start: [17, 24] +- goal: [11, 6] + name: agent30 + start: [26, 8] +- goal: [26, 16] + name: agent31 + start: [6, 4] +- goal: [18, 10] + name: agent32 + start: [2, 20] +- goal: [23, 30] + name: agent33 + start: [1, 8] +- goal: [15, 11] + name: agent34 + start: [0, 17] +- goal: [26, 26] + name: agent35 + start: [9, 13] +- goal: [1, 25] + name: agent36 + start: [23, 14] +- goal: [9, 3] + name: agent37 + start: [11, 26] +- goal: [15, 22] + name: agent38 + start: [11, 21] +- goal: [18, 0] + name: agent39 + start: [22, 20] +- goal: [31, 21] + name: agent40 + start: [0, 31] +- goal: [20, 17] + name: agent41 + start: [24, 11] +- goal: [28, 5] + name: agent42 + start: [1, 7] +- goal: [13, 27] + name: agent43 + start: [9, 6] +- goal: [5, 27] + name: agent44 + start: [4, 6] +- goal: [30, 3] + name: agent45 + start: [2, 3] +- goal: [7, 9] + name: agent46 + start: [4, 16] +- goal: [17, 7] + name: agent47 + start: [26, 27] +- goal: [22, 20] + name: agent48 + start: [18, 16] +- goal: [15, 27] + name: agent49 + start: [11, 25] +- goal: [7, 21] + name: agent50 + start: [22, 28] +- goal: [0, 14] + name: agent51 + start: [15, 4] +- goal: [5, 10] + name: agent52 + start: [4, 4] +- goal: [20, 0] + name: agent53 + start: [19, 9] +- goal: [13, 2] + name: agent54 + start: [6, 19] +- goal: [22, 3] + name: agent55 + start: [29, 23] +- goal: [10, 26] + name: agent56 + start: [12, 13] +- goal: [27, 2] + name: agent57 + start: [4, 1] +- goal: [26, 29] + name: agent58 + start: [25, 4] +- goal: [14, 7] + name: agent59 + start: [4, 22] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [27, 31] + - !!python/tuple [15, 6] + - !!python/tuple [5, 18] + - !!python/tuple [5, 13] + - !!python/tuple [15, 17] + - !!python/tuple [26, 15] + - !!python/tuple [22, 0] + - !!python/tuple [14, 20] + - !!python/tuple [15, 26] + - !!python/tuple [30, 19] + - !!python/tuple [2, 2] + - !!python/tuple [8, 8] + - !!python/tuple [17, 27] + - !!python/tuple [10, 20] + - !!python/tuple [4, 24] + - !!python/tuple [26, 11] + - !!python/tuple [17, 12] + - !!python/tuple [15, 3] + - !!python/tuple [25, 20] + - !!python/tuple [3, 19] + - !!python/tuple [22, 13] + - !!python/tuple [31, 13] + - !!python/tuple [30, 14] + - !!python/tuple [2, 0] + - !!python/tuple [15, 14] + - !!python/tuple [16, 6] + - !!python/tuple [19, 12] + - !!python/tuple [9, 5] + - !!python/tuple [31, 14] + - !!python/tuple [28, 19] + - !!python/tuple [1, 22] + - !!python/tuple [28, 21] + - !!python/tuple [4, 31] + - !!python/tuple [6, 23] + - !!python/tuple [30, 30] + - !!python/tuple [31, 24] + - !!python/tuple [1, 16] + - !!python/tuple [7, 5] + - !!python/tuple [16, 0] + - !!python/tuple [6, 11] + - !!python/tuple [3, 5] + - !!python/tuple [27, 26] + - !!python/tuple [17, 3] + - !!python/tuple [10, 1] + - !!python/tuple [16, 12] + - !!python/tuple [27, 12] + - !!python/tuple [11, 14] + - !!python/tuple [7, 15] + - !!python/tuple [11, 17] + - !!python/tuple [8, 22] + - !!python/tuple [4, 13] + - !!python/tuple [31, 12] + - !!python/tuple [0, 2] + - !!python/tuple [4, 29] + - !!python/tuple [21, 10] + - !!python/tuple [7, 8] + - !!python/tuple [12, 9] + - !!python/tuple [13, 16] + - !!python/tuple [9, 28] + - !!python/tuple [14, 21] + - !!python/tuple [13, 25] + - !!python/tuple [21, 12] + - !!python/tuple [24, 23] + - !!python/tuple [15, 9] + - !!python/tuple [26, 17] + - !!python/tuple [21, 31] + - !!python/tuple [22, 23] + - !!python/tuple [18, 23] + - !!python/tuple [8, 26] + - !!python/tuple [16, 1] + - !!python/tuple [7, 11] + - !!python/tuple [12, 28] + - !!python/tuple [12, 7] + - !!python/tuple [31, 26] + - !!python/tuple [8, 7] + - !!python/tuple [20, 3] + - !!python/tuple [8, 3] + - !!python/tuple [21, 22] + - !!python/tuple [30, 6] + - !!python/tuple [23, 17] + - !!python/tuple [24, 31] + - !!python/tuple [15, 15] + - !!python/tuple [2, 13] + - !!python/tuple [6, 7] + - !!python/tuple [16, 21] + - !!python/tuple [13, 23] + - !!python/tuple [14, 28] + - !!python/tuple [17, 14] + - !!python/tuple [1, 11] + - !!python/tuple [11, 0] + - !!python/tuple [20, 12] + - !!python/tuple [28, 22] + - !!python/tuple [12, 11] + - !!python/tuple [2, 18] + - !!python/tuple [15, 7] + - !!python/tuple [12, 29] + - !!python/tuple [5, 19] + - !!python/tuple [14, 0] + - !!python/tuple [11, 31] + - !!python/tuple [12, 14] + - !!python/tuple [12, 30] + - !!python/tuple [16, 4] + - !!python/tuple [26, 28] + - !!python/tuple [12, 5] + - !!python/tuple [25, 28] + - !!python/tuple [19, 13] + - !!python/tuple [30, 21] + - !!python/tuple [14, 1] + - !!python/tuple [18, 6] + - !!python/tuple [18, 27] + - !!python/tuple [7, 6] + - !!python/tuple [3, 26] + - !!python/tuple [28, 28] + - !!python/tuple [16, 8] + - !!python/tuple [9, 1] + - !!python/tuple [14, 25] + - !!python/tuple [3, 7] + - !!python/tuple [8, 23] + - !!python/tuple [23, 28] + - !!python/tuple [17, 30] + - !!python/tuple [3, 31] + - !!python/tuple [2, 17] + - !!python/tuple [21, 13] + - !!python/tuple [15, 5] + - !!python/tuple [22, 6] + - !!python/tuple [25, 26] + - !!python/tuple [24, 20] + - !!python/tuple [3, 4] + - !!python/tuple [19, 2] + - !!python/tuple [7, 3] + - !!python/tuple [10, 2] + - !!python/tuple [19, 14] + - !!python/tuple [9, 7] + - !!python/tuple [26, 14] + - !!python/tuple [21, 7] + - !!python/tuple [28, 27] + - !!python/tuple [24, 16] + - !!python/tuple [21, 30] + - !!python/tuple [31, 20] + - !!python/tuple [22, 16] + - !!python/tuple [9, 26] + - !!python/tuple [1, 14] + - !!python/tuple [23, 29] + - !!python/tuple [16, 10] + - !!python/tuple [22, 27] + - !!python/tuple [1, 20] + - !!python/tuple [21, 14] + - !!python/tuple [11, 11] + - !!python/tuple [4, 3] + - !!python/tuple [23, 31] + - !!python/tuple [21, 0] + - !!python/tuple [18, 29] + - !!python/tuple [19, 15] + - !!python/tuple [0, 3] + - !!python/tuple [30, 2] + - !!python/tuple [15, 29] + - !!python/tuple [7, 1] + - !!python/tuple [27, 14] + - !!python/tuple [1, 31] + - !!python/tuple [12, 12] + - !!python/tuple [20, 2] + - !!python/tuple [22, 31] + - !!python/tuple [4, 5] + - !!python/tuple [29, 4] + - !!python/tuple [6, 10] + - !!python/tuple [8, 13] + - !!python/tuple [13, 20] + - !!python/tuple [24, 30] + - !!python/tuple [6, 31] + - !!python/tuple [2, 26] + - !!python/tuple [14, 8] + - !!python/tuple [18, 18] + - !!python/tuple [20, 29] + - !!python/tuple [7, 10] + - !!python/tuple [20, 9] + - !!python/tuple [25, 29] + - !!python/tuple [14, 6] + - !!python/tuple [2, 5] + - !!python/tuple [6, 5] + - !!python/tuple [13, 22] + - !!python/tuple [5, 11] + - !!python/tuple [7, 4] + - !!python/tuple [24, 22] + - !!python/tuple [30, 4] + - !!python/tuple [15, 23] + - !!python/tuple [6, 13] + - !!python/tuple [25, 8] + - !!python/tuple [6, 9] + - !!python/tuple [7, 28] + - !!python/tuple [8, 10] + - !!python/tuple [16, 28] + - !!python/tuple [12, 26] + - !!python/tuple [28, 12] + - !!python/tuple [21, 8] + - !!python/tuple [14, 30] + - !!python/tuple [29, 0] + - !!python/tuple [28, 24] + - !!python/tuple [10, 22] + - !!python/tuple [22, 8] + - !!python/tuple [17, 23] + - !!python/tuple [1, 4] + - !!python/tuple [7, 17] + - !!python/tuple [23, 21] + - !!python/tuple [23, 27] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex35.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex35.yaml new file mode 100644 index 0000000..4065950 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex35.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [19, 2] + name: agent0 + start: [20, 11] +- goal: [3, 20] + name: agent1 + start: [15, 12] +- goal: [0, 16] + name: agent2 + start: [7, 23] +- goal: [11, 19] + name: agent3 + start: [16, 27] +- goal: [23, 27] + name: agent4 + start: [6, 5] +- goal: [18, 13] + name: agent5 + start: [24, 2] +- goal: [24, 14] + name: agent6 + start: [2, 8] +- goal: [6, 19] + name: agent7 + start: [20, 4] +- goal: [31, 18] + name: agent8 + start: [0, 27] +- goal: [7, 21] + name: agent9 + start: [9, 21] +- goal: [21, 16] + name: agent10 + start: [1, 25] +- goal: [9, 14] + name: agent11 + start: [27, 4] +- goal: [17, 25] + name: agent12 + start: [8, 24] +- goal: [15, 28] + name: agent13 + start: [15, 10] +- goal: [19, 23] + name: agent14 + start: [13, 25] +- goal: [7, 11] + name: agent15 + start: [21, 0] +- goal: [16, 2] + name: agent16 + start: [26, 28] +- goal: [16, 19] + name: agent17 + start: [18, 5] +- goal: [16, 21] + name: agent18 + start: [14, 19] +- goal: [27, 12] + name: agent19 + start: [30, 28] +- goal: [22, 17] + name: agent20 + start: [30, 9] +- goal: [3, 18] + name: agent21 + start: [13, 10] +- goal: [20, 19] + name: agent22 + start: [19, 5] +- goal: [24, 3] + name: agent23 + start: [27, 14] +- goal: [24, 19] + name: agent24 + start: [3, 6] +- goal: [31, 19] + name: agent25 + start: [19, 17] +- goal: [15, 6] + name: agent26 + start: [26, 25] +- goal: [11, 7] + name: agent27 + start: [30, 7] +- goal: [20, 2] + name: agent28 + start: [12, 3] +- goal: [28, 0] + name: agent29 + start: [21, 27] +- goal: [26, 17] + name: agent30 + start: [4, 19] +- goal: [4, 7] + name: agent31 + start: [10, 3] +- goal: [28, 20] + name: agent32 + start: [19, 2] +- goal: [14, 12] + name: agent33 + start: [28, 22] +- goal: [7, 16] + name: agent34 + start: [21, 2] +- goal: [4, 11] + name: agent35 + start: [18, 13] +- goal: [20, 11] + name: agent36 + start: [0, 26] +- goal: [25, 5] + name: agent37 + start: [16, 1] +- goal: [7, 0] + name: agent38 + start: [27, 24] +- goal: [20, 12] + name: agent39 + start: [30, 13] +- goal: [2, 12] + name: agent40 + start: [31, 24] +- goal: [17, 4] + name: agent41 + start: [18, 18] +- goal: [8, 8] + name: agent42 + start: [7, 3] +- goal: [15, 8] + name: agent43 + start: [2, 24] +- goal: [2, 0] + name: agent44 + start: [28, 19] +- goal: [12, 12] + name: agent45 + start: [0, 14] +- goal: [26, 13] + name: agent46 + start: [16, 2] +- goal: [18, 5] + name: agent47 + start: [27, 3] +- goal: [28, 5] + name: agent48 + start: [16, 8] +- goal: [14, 22] + name: agent49 + start: [16, 9] +- goal: [28, 6] + name: agent50 + start: [20, 18] +- goal: [0, 21] + name: agent51 + start: [17, 1] +- goal: [19, 19] + name: agent52 + start: [16, 20] +- goal: [22, 22] + name: agent53 + start: [15, 6] +- goal: [25, 2] + name: agent54 + start: [17, 20] +- goal: [8, 12] + name: agent55 + start: [13, 30] +- goal: [19, 6] + name: agent56 + start: [5, 6] +- goal: [20, 24] + name: agent57 + start: [15, 13] +- goal: [30, 15] + name: agent58 + start: [0, 29] +- goal: [18, 14] + name: agent59 + start: [8, 22] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [20, 13] + - !!python/tuple [27, 9] + - !!python/tuple [29, 4] + - !!python/tuple [12, 9] + - !!python/tuple [15, 9] + - !!python/tuple [25, 24] + - !!python/tuple [5, 20] + - !!python/tuple [14, 5] + - !!python/tuple [18, 2] + - !!python/tuple [2, 18] + - !!python/tuple [27, 19] + - !!python/tuple [25, 25] + - !!python/tuple [4, 30] + - !!python/tuple [12, 1] + - !!python/tuple [0, 23] + - !!python/tuple [15, 24] + - !!python/tuple [21, 8] + - !!python/tuple [23, 9] + - !!python/tuple [11, 3] + - !!python/tuple [10, 9] + - !!python/tuple [11, 2] + - !!python/tuple [5, 22] + - !!python/tuple [25, 14] + - !!python/tuple [2, 23] + - !!python/tuple [31, 13] + - !!python/tuple [20, 15] + - !!python/tuple [13, 27] + - !!python/tuple [23, 16] + - !!python/tuple [11, 12] + - !!python/tuple [31, 15] + - !!python/tuple [14, 24] + - !!python/tuple [11, 29] + - !!python/tuple [12, 29] + - !!python/tuple [28, 26] + - !!python/tuple [12, 26] + - !!python/tuple [4, 18] + - !!python/tuple [16, 30] + - !!python/tuple [28, 13] + - !!python/tuple [8, 15] + - !!python/tuple [22, 19] + - !!python/tuple [7, 22] + - !!python/tuple [31, 25] + - !!python/tuple [27, 13] + - !!python/tuple [29, 15] + - !!python/tuple [21, 9] + - !!python/tuple [3, 2] + - !!python/tuple [12, 5] + - !!python/tuple [1, 3] + - !!python/tuple [19, 0] + - !!python/tuple [0, 3] + - !!python/tuple [8, 3] + - !!python/tuple [0, 19] + - !!python/tuple [6, 12] + - !!python/tuple [23, 6] + - !!python/tuple [15, 20] + - !!python/tuple [18, 4] + - !!python/tuple [28, 2] + - !!python/tuple [5, 0] + - !!python/tuple [11, 11] + - !!python/tuple [30, 4] + - !!python/tuple [24, 25] + - !!python/tuple [31, 20] + - !!python/tuple [14, 17] + - !!python/tuple [26, 4] + - !!python/tuple [31, 3] + - !!python/tuple [29, 30] + - !!python/tuple [12, 19] + - !!python/tuple [9, 11] + - !!python/tuple [9, 10] + - !!python/tuple [24, 22] + - !!python/tuple [28, 31] + - !!python/tuple [31, 28] + - !!python/tuple [0, 18] + - !!python/tuple [3, 28] + - !!python/tuple [7, 15] + - !!python/tuple [3, 12] + - !!python/tuple [12, 28] + - !!python/tuple [9, 17] + - !!python/tuple [4, 23] + - !!python/tuple [27, 15] + - !!python/tuple [16, 4] + - !!python/tuple [19, 25] + - !!python/tuple [30, 25] + - !!python/tuple [12, 8] + - !!python/tuple [31, 4] + - !!python/tuple [0, 17] + - !!python/tuple [2, 28] + - !!python/tuple [26, 27] + - !!python/tuple [13, 29] + - !!python/tuple [27, 17] + - !!python/tuple [12, 21] + - !!python/tuple [28, 23] + - !!python/tuple [16, 22] + - !!python/tuple [26, 30] + - !!python/tuple [0, 28] + - !!python/tuple [2, 5] + - !!python/tuple [25, 22] + - !!python/tuple [3, 21] + - !!python/tuple [0, 8] + - !!python/tuple [6, 8] + - !!python/tuple [29, 24] + - !!python/tuple [31, 26] + - !!python/tuple [18, 0] + - !!python/tuple [3, 30] + - !!python/tuple [2, 11] + - !!python/tuple [31, 2] + - !!python/tuple [5, 8] + - !!python/tuple [20, 26] + - !!python/tuple [31, 11] + - !!python/tuple [20, 6] + - !!python/tuple [0, 9] + - !!python/tuple [26, 9] + - !!python/tuple [5, 10] + - !!python/tuple [17, 28] + - !!python/tuple [10, 28] + - !!python/tuple [29, 11] + - !!python/tuple [18, 24] + - !!python/tuple [14, 13] + - !!python/tuple [6, 21] + - !!python/tuple [24, 9] + - !!python/tuple [20, 20] + - !!python/tuple [7, 27] + - !!python/tuple [9, 2] + - !!python/tuple [22, 13] + - !!python/tuple [21, 6] + - !!python/tuple [15, 26] + - !!python/tuple [21, 28] + - !!python/tuple [8, 29] + - !!python/tuple [18, 6] + - !!python/tuple [8, 28] + - !!python/tuple [7, 6] + - !!python/tuple [4, 4] + - !!python/tuple [9, 20] + - !!python/tuple [1, 18] + - !!python/tuple [3, 27] + - !!python/tuple [31, 9] + - !!python/tuple [1, 0] + - !!python/tuple [17, 12] + - !!python/tuple [7, 14] + - !!python/tuple [25, 10] + - !!python/tuple [13, 15] + - !!python/tuple [6, 29] + - !!python/tuple [11, 20] + - !!python/tuple [10, 21] + - !!python/tuple [19, 27] + - !!python/tuple [30, 2] + - !!python/tuple [20, 5] + - !!python/tuple [29, 20] + - !!python/tuple [7, 12] + - !!python/tuple [30, 27] + - !!python/tuple [1, 29] + - !!python/tuple [12, 13] + - !!python/tuple [3, 17] + - !!python/tuple [20, 7] + - !!python/tuple [22, 27] + - !!python/tuple [18, 20] + - !!python/tuple [4, 21] + - !!python/tuple [13, 6] + - !!python/tuple [2, 14] + - !!python/tuple [5, 16] + - !!python/tuple [4, 17] + - !!python/tuple [18, 11] + - !!python/tuple [19, 4] + - !!python/tuple [3, 16] + - !!python/tuple [6, 4] + - !!python/tuple [3, 8] + - !!python/tuple [1, 19] + - !!python/tuple [13, 28] + - !!python/tuple [2, 10] + - !!python/tuple [24, 20] + - !!python/tuple [23, 14] + - !!python/tuple [12, 23] + - !!python/tuple [13, 17] + - !!python/tuple [26, 14] + - !!python/tuple [4, 20] + - !!python/tuple [28, 30] + - !!python/tuple [6, 23] + - !!python/tuple [17, 29] + - !!python/tuple [11, 21] + - !!python/tuple [1, 21] + - !!python/tuple [11, 4] + - !!python/tuple [27, 0] + - !!python/tuple [10, 13] + - !!python/tuple [30, 14] + - !!python/tuple [18, 10] + - !!python/tuple [27, 5] + - !!python/tuple [19, 24] + - !!python/tuple [22, 0] + - !!python/tuple [20, 23] + - !!python/tuple [29, 23] + - !!python/tuple [31, 31] + - !!python/tuple [22, 24] + - !!python/tuple [13, 13] + - !!python/tuple [25, 0] + - !!python/tuple [14, 8] + - !!python/tuple [3, 14] + - !!python/tuple [5, 5] + - !!python/tuple [0, 31] + - !!python/tuple [23, 28] + - !!python/tuple [4, 28] + - !!python/tuple [20, 8] + - !!python/tuple [29, 14] + - !!python/tuple [6, 6] + - !!python/tuple [8, 23] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex36.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex36.yaml new file mode 100644 index 0000000..04e3ea1 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex36.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [25, 11] + name: agent0 + start: [1, 18] +- goal: [30, 5] + name: agent1 + start: [8, 21] +- goal: [27, 29] + name: agent2 + start: [14, 22] +- goal: [26, 11] + name: agent3 + start: [27, 15] +- goal: [26, 6] + name: agent4 + start: [29, 19] +- goal: [19, 9] + name: agent5 + start: [19, 13] +- goal: [21, 14] + name: agent6 + start: [14, 28] +- goal: [5, 31] + name: agent7 + start: [5, 31] +- goal: [21, 8] + name: agent8 + start: [5, 24] +- goal: [3, 12] + name: agent9 + start: [31, 10] +- goal: [7, 9] + name: agent10 + start: [0, 21] +- goal: [30, 28] + name: agent11 + start: [23, 30] +- goal: [14, 12] + name: agent12 + start: [15, 15] +- goal: [13, 0] + name: agent13 + start: [24, 11] +- goal: [5, 16] + name: agent14 + start: [9, 16] +- goal: [1, 25] + name: agent15 + start: [28, 14] +- goal: [27, 4] + name: agent16 + start: [18, 11] +- goal: [7, 27] + name: agent17 + start: [4, 4] +- goal: [2, 20] + name: agent18 + start: [19, 20] +- goal: [29, 3] + name: agent19 + start: [30, 20] +- goal: [22, 5] + name: agent20 + start: [4, 0] +- goal: [30, 3] + name: agent21 + start: [11, 11] +- goal: [9, 28] + name: agent22 + start: [21, 10] +- goal: [1, 21] + name: agent23 + start: [25, 12] +- goal: [9, 27] + name: agent24 + start: [19, 8] +- goal: [7, 22] + name: agent25 + start: [9, 13] +- goal: [1, 19] + name: agent26 + start: [27, 14] +- goal: [20, 7] + name: agent27 + start: [4, 5] +- goal: [16, 13] + name: agent28 + start: [24, 12] +- goal: [26, 19] + name: agent29 + start: [17, 4] +- goal: [17, 12] + name: agent30 + start: [31, 8] +- goal: [4, 17] + name: agent31 + start: [14, 30] +- goal: [8, 12] + name: agent32 + start: [28, 15] +- goal: [0, 17] + name: agent33 + start: [10, 1] +- goal: [3, 29] + name: agent34 + start: [7, 12] +- goal: [10, 13] + name: agent35 + start: [0, 4] +- goal: [14, 31] + name: agent36 + start: [7, 26] +- goal: [17, 0] + name: agent37 + start: [0, 1] +- goal: [13, 28] + name: agent38 + start: [2, 30] +- goal: [9, 7] + name: agent39 + start: [4, 9] +- goal: [11, 0] + name: agent40 + start: [25, 3] +- goal: [12, 8] + name: agent41 + start: [1, 5] +- goal: [20, 3] + name: agent42 + start: [29, 25] +- goal: [23, 13] + name: agent43 + start: [31, 25] +- goal: [6, 20] + name: agent44 + start: [24, 7] +- goal: [18, 26] + name: agent45 + start: [1, 27] +- goal: [26, 28] + name: agent46 + start: [16, 27] +- goal: [31, 21] + name: agent47 + start: [23, 5] +- goal: [26, 30] + name: agent48 + start: [22, 9] +- goal: [10, 9] + name: agent49 + start: [18, 15] +- goal: [18, 31] + name: agent50 + start: [22, 13] +- goal: [15, 16] + name: agent51 + start: [16, 26] +- goal: [22, 3] + name: agent52 + start: [29, 26] +- goal: [11, 10] + name: agent53 + start: [6, 14] +- goal: [19, 19] + name: agent54 + start: [19, 2] +- goal: [9, 4] + name: agent55 + start: [21, 18] +- goal: [7, 28] + name: agent56 + start: [25, 25] +- goal: [10, 20] + name: agent57 + start: [20, 31] +- goal: [24, 18] + name: agent58 + start: [19, 17] +- goal: [16, 18] + name: agent59 + start: [29, 31] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [29, 15] + - !!python/tuple [19, 18] + - !!python/tuple [19, 10] + - !!python/tuple [18, 5] + - !!python/tuple [11, 8] + - !!python/tuple [14, 14] + - !!python/tuple [3, 10] + - !!python/tuple [12, 16] + - !!python/tuple [4, 20] + - !!python/tuple [9, 17] + - !!python/tuple [6, 5] + - !!python/tuple [15, 29] + - !!python/tuple [19, 29] + - !!python/tuple [20, 6] + - !!python/tuple [0, 31] + - !!python/tuple [0, 5] + - !!python/tuple [4, 8] + - !!python/tuple [4, 21] + - !!python/tuple [13, 24] + - !!python/tuple [11, 14] + - !!python/tuple [25, 28] + - !!python/tuple [18, 9] + - !!python/tuple [11, 24] + - !!python/tuple [29, 14] + - !!python/tuple [17, 18] + - !!python/tuple [30, 24] + - !!python/tuple [14, 17] + - !!python/tuple [21, 7] + - !!python/tuple [27, 28] + - !!python/tuple [12, 4] + - !!python/tuple [25, 2] + - !!python/tuple [11, 5] + - !!python/tuple [6, 0] + - !!python/tuple [4, 28] + - !!python/tuple [2, 17] + - !!python/tuple [3, 20] + - !!python/tuple [19, 28] + - !!python/tuple [21, 23] + - !!python/tuple [5, 22] + - !!python/tuple [31, 11] + - !!python/tuple [5, 13] + - !!python/tuple [7, 29] + - !!python/tuple [30, 8] + - !!python/tuple [22, 15] + - !!python/tuple [25, 16] + - !!python/tuple [1, 14] + - !!python/tuple [10, 19] + - !!python/tuple [24, 20] + - !!python/tuple [31, 31] + - !!python/tuple [14, 10] + - !!python/tuple [19, 22] + - !!python/tuple [1, 12] + - !!python/tuple [16, 22] + - !!python/tuple [28, 12] + - !!python/tuple [5, 26] + - !!python/tuple [13, 23] + - !!python/tuple [23, 4] + - !!python/tuple [3, 25] + - !!python/tuple [0, 8] + - !!python/tuple [9, 9] + - !!python/tuple [24, 17] + - !!python/tuple [16, 5] + - !!python/tuple [18, 2] + - !!python/tuple [29, 11] + - !!python/tuple [29, 28] + - !!python/tuple [12, 28] + - !!python/tuple [6, 29] + - !!python/tuple [21, 16] + - !!python/tuple [27, 23] + - !!python/tuple [28, 18] + - !!python/tuple [13, 22] + - !!python/tuple [13, 20] + - !!python/tuple [29, 16] + - !!python/tuple [21, 15] + - !!python/tuple [28, 9] + - !!python/tuple [22, 6] + - !!python/tuple [30, 9] + - !!python/tuple [26, 0] + - !!python/tuple [24, 23] + - !!python/tuple [29, 10] + - !!python/tuple [28, 2] + - !!python/tuple [3, 30] + - !!python/tuple [23, 11] + - !!python/tuple [24, 13] + - !!python/tuple [20, 5] + - !!python/tuple [21, 25] + - !!python/tuple [28, 25] + - !!python/tuple [14, 25] + - !!python/tuple [0, 30] + - !!python/tuple [25, 18] + - !!python/tuple [18, 20] + - !!python/tuple [13, 1] + - !!python/tuple [17, 29] + - !!python/tuple [2, 3] + - !!python/tuple [8, 30] + - !!python/tuple [18, 1] + - !!python/tuple [0, 27] + - !!python/tuple [24, 31] + - !!python/tuple [24, 15] + - !!python/tuple [8, 9] + - !!python/tuple [12, 7] + - !!python/tuple [15, 10] + - !!python/tuple [15, 22] + - !!python/tuple [0, 14] + - !!python/tuple [26, 18] + - !!python/tuple [7, 25] + - !!python/tuple [31, 5] + - !!python/tuple [10, 5] + - !!python/tuple [11, 22] + - !!python/tuple [22, 31] + - !!python/tuple [24, 14] + - !!python/tuple [8, 22] + - !!python/tuple [14, 20] + - !!python/tuple [14, 4] + - !!python/tuple [18, 18] + - !!python/tuple [20, 21] + - !!python/tuple [7, 31] + - !!python/tuple [9, 10] + - !!python/tuple [13, 12] + - !!python/tuple [29, 30] + - !!python/tuple [10, 23] + - !!python/tuple [31, 12] + - !!python/tuple [18, 10] + - !!python/tuple [28, 23] + - !!python/tuple [0, 18] + - !!python/tuple [30, 29] + - !!python/tuple [17, 13] + - !!python/tuple [23, 20] + - !!python/tuple [30, 16] + - !!python/tuple [6, 12] + - !!python/tuple [30, 22] + - !!python/tuple [6, 8] + - !!python/tuple [28, 29] + - !!python/tuple [13, 6] + - !!python/tuple [20, 13] + - !!python/tuple [3, 23] + - !!python/tuple [1, 16] + - !!python/tuple [4, 29] + - !!python/tuple [18, 0] + - !!python/tuple [13, 10] + - !!python/tuple [20, 30] + - !!python/tuple [5, 21] + - !!python/tuple [4, 25] + - !!python/tuple [22, 0] + - !!python/tuple [10, 3] + - !!python/tuple [29, 9] + - !!python/tuple [6, 6] + - !!python/tuple [2, 9] + - !!python/tuple [28, 31] + - !!python/tuple [3, 14] + - !!python/tuple [9, 3] + - !!python/tuple [21, 31] + - !!python/tuple [31, 15] + - !!python/tuple [6, 10] + - !!python/tuple [2, 16] + - !!python/tuple [30, 17] + - !!python/tuple [16, 9] + - !!python/tuple [9, 23] + - !!python/tuple [15, 23] + - !!python/tuple [24, 25] + - !!python/tuple [13, 17] + - !!python/tuple [29, 12] + - !!python/tuple [20, 15] + - !!python/tuple [15, 5] + - !!python/tuple [27, 25] + - !!python/tuple [8, 5] + - !!python/tuple [8, 27] + - !!python/tuple [14, 26] + - !!python/tuple [19, 7] + - !!python/tuple [15, 12] + - !!python/tuple [22, 21] + - !!python/tuple [31, 26] + - !!python/tuple [8, 6] + - !!python/tuple [20, 2] + - !!python/tuple [23, 27] + - !!python/tuple [26, 31] + - !!python/tuple [6, 30] + - !!python/tuple [11, 9] + - !!python/tuple [3, 19] + - !!python/tuple [7, 10] + - !!python/tuple [18, 4] + - !!python/tuple [6, 26] + - !!python/tuple [12, 13] + - !!python/tuple [28, 3] + - !!python/tuple [2, 23] + - !!python/tuple [5, 1] + - !!python/tuple [27, 5] + - !!python/tuple [0, 28] + - !!python/tuple [6, 28] + - !!python/tuple [28, 21] + - !!python/tuple [31, 6] + - !!python/tuple [26, 22] + - !!python/tuple [28, 4] + - !!python/tuple [8, 8] + - !!python/tuple [10, 22] + - !!python/tuple [29, 0] + - !!python/tuple [1, 8] + - !!python/tuple [22, 28] + - !!python/tuple [10, 15] + - !!python/tuple [9, 5] + - !!python/tuple [25, 6] + - !!python/tuple [25, 9] + - !!python/tuple [13, 16] + - !!python/tuple [0, 9] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex37.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex37.yaml new file mode 100644 index 0000000..6aa6f20 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex37.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [1, 0] + name: agent0 + start: [23, 17] +- goal: [4, 12] + name: agent1 + start: [15, 16] +- goal: [4, 4] + name: agent2 + start: [31, 29] +- goal: [3, 24] + name: agent3 + start: [5, 26] +- goal: [24, 2] + name: agent4 + start: [26, 27] +- goal: [1, 17] + name: agent5 + start: [4, 10] +- goal: [22, 28] + name: agent6 + start: [18, 0] +- goal: [11, 13] + name: agent7 + start: [27, 14] +- goal: [22, 8] + name: agent8 + start: [25, 12] +- goal: [3, 5] + name: agent9 + start: [13, 1] +- goal: [27, 16] + name: agent10 + start: [30, 6] +- goal: [21, 6] + name: agent11 + start: [9, 4] +- goal: [2, 25] + name: agent12 + start: [5, 4] +- goal: [27, 4] + name: agent13 + start: [24, 11] +- goal: [8, 30] + name: agent14 + start: [2, 7] +- goal: [21, 7] + name: agent15 + start: [26, 28] +- goal: [5, 13] + name: agent16 + start: [29, 14] +- goal: [30, 18] + name: agent17 + start: [11, 12] +- goal: [7, 2] + name: agent18 + start: [29, 20] +- goal: [21, 9] + name: agent19 + start: [14, 0] +- goal: [9, 19] + name: agent20 + start: [20, 7] +- goal: [21, 10] + name: agent21 + start: [28, 24] +- goal: [29, 22] + name: agent22 + start: [16, 17] +- goal: [1, 4] + name: agent23 + start: [20, 12] +- goal: [18, 23] + name: agent24 + start: [25, 28] +- goal: [12, 30] + name: agent25 + start: [18, 30] +- goal: [31, 6] + name: agent26 + start: [13, 7] +- goal: [15, 0] + name: agent27 + start: [9, 2] +- goal: [6, 9] + name: agent28 + start: [3, 24] +- goal: [12, 28] + name: agent29 + start: [18, 18] +- goal: [29, 10] + name: agent30 + start: [19, 29] +- goal: [13, 15] + name: agent31 + start: [21, 6] +- goal: [21, 15] + name: agent32 + start: [11, 10] +- goal: [14, 9] + name: agent33 + start: [15, 22] +- goal: [14, 31] + name: agent34 + start: [4, 13] +- goal: [31, 2] + name: agent35 + start: [15, 1] +- goal: [25, 15] + name: agent36 + start: [19, 5] +- goal: [22, 10] + name: agent37 + start: [15, 21] +- goal: [22, 0] + name: agent38 + start: [22, 31] +- goal: [2, 21] + name: agent39 + start: [14, 22] +- goal: [5, 8] + name: agent40 + start: [19, 0] +- goal: [5, 21] + name: agent41 + start: [31, 4] +- goal: [29, 19] + name: agent42 + start: [6, 10] +- goal: [12, 11] + name: agent43 + start: [5, 0] +- goal: [10, 0] + name: agent44 + start: [2, 4] +- goal: [20, 29] + name: agent45 + start: [30, 1] +- goal: [31, 23] + name: agent46 + start: [19, 25] +- goal: [27, 29] + name: agent47 + start: [15, 17] +- goal: [29, 14] + name: agent48 + start: [22, 28] +- goal: [15, 26] + name: agent49 + start: [1, 17] +- goal: [19, 22] + name: agent50 + start: [26, 20] +- goal: [8, 21] + name: agent51 + start: [18, 13] +- goal: [22, 7] + name: agent52 + start: [15, 27] +- goal: [21, 18] + name: agent53 + start: [22, 13] +- goal: [16, 25] + name: agent54 + start: [14, 25] +- goal: [24, 10] + name: agent55 + start: [30, 13] +- goal: [28, 8] + name: agent56 + start: [16, 22] +- goal: [15, 9] + name: agent57 + start: [16, 11] +- goal: [8, 23] + name: agent58 + start: [22, 9] +- goal: [6, 19] + name: agent59 + start: [21, 3] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [24, 16] + - !!python/tuple [28, 2] + - !!python/tuple [7, 8] + - !!python/tuple [19, 1] + - !!python/tuple [11, 6] + - !!python/tuple [14, 29] + - !!python/tuple [23, 1] + - !!python/tuple [29, 6] + - !!python/tuple [3, 1] + - !!python/tuple [28, 31] + - !!python/tuple [24, 29] + - !!python/tuple [30, 23] + - !!python/tuple [10, 28] + - !!python/tuple [6, 20] + - !!python/tuple [23, 2] + - !!python/tuple [13, 22] + - !!python/tuple [10, 20] + - !!python/tuple [8, 3] + - !!python/tuple [19, 19] + - !!python/tuple [31, 21] + - !!python/tuple [7, 6] + - !!python/tuple [11, 2] + - !!python/tuple [4, 18] + - !!python/tuple [4, 9] + - !!python/tuple [12, 20] + - !!python/tuple [0, 24] + - !!python/tuple [23, 31] + - !!python/tuple [6, 7] + - !!python/tuple [5, 6] + - !!python/tuple [1, 31] + - !!python/tuple [19, 24] + - !!python/tuple [22, 19] + - !!python/tuple [13, 29] + - !!python/tuple [17, 2] + - !!python/tuple [19, 23] + - !!python/tuple [16, 0] + - !!python/tuple [1, 21] + - !!python/tuple [4, 24] + - !!python/tuple [9, 23] + - !!python/tuple [5, 5] + - !!python/tuple [10, 3] + - !!python/tuple [8, 10] + - !!python/tuple [31, 19] + - !!python/tuple [27, 30] + - !!python/tuple [11, 26] + - !!python/tuple [7, 5] + - !!python/tuple [28, 27] + - !!python/tuple [11, 23] + - !!python/tuple [8, 12] + - !!python/tuple [8, 0] + - !!python/tuple [2, 2] + - !!python/tuple [13, 30] + - !!python/tuple [30, 28] + - !!python/tuple [4, 19] + - !!python/tuple [9, 11] + - !!python/tuple [0, 13] + - !!python/tuple [4, 16] + - !!python/tuple [18, 14] + - !!python/tuple [0, 4] + - !!python/tuple [7, 18] + - !!python/tuple [27, 23] + - !!python/tuple [28, 4] + - !!python/tuple [28, 18] + - !!python/tuple [12, 31] + - !!python/tuple [3, 16] + - !!python/tuple [29, 5] + - !!python/tuple [20, 28] + - !!python/tuple [3, 28] + - !!python/tuple [1, 14] + - !!python/tuple [22, 23] + - !!python/tuple [28, 5] + - !!python/tuple [15, 5] + - !!python/tuple [22, 15] + - !!python/tuple [22, 21] + - !!python/tuple [3, 26] + - !!python/tuple [11, 31] + - !!python/tuple [3, 7] + - !!python/tuple [13, 11] + - !!python/tuple [25, 18] + - !!python/tuple [12, 6] + - !!python/tuple [20, 4] + - !!python/tuple [24, 19] + - !!python/tuple [2, 23] + - !!python/tuple [25, 0] + - !!python/tuple [28, 10] + - !!python/tuple [3, 31] + - !!python/tuple [17, 31] + - !!python/tuple [23, 22] + - !!python/tuple [1, 26] + - !!python/tuple [1, 7] + - !!python/tuple [3, 2] + - !!python/tuple [20, 23] + - !!python/tuple [25, 7] + - !!python/tuple [23, 27] + - !!python/tuple [7, 19] + - !!python/tuple [21, 12] + - !!python/tuple [24, 23] + - !!python/tuple [22, 16] + - !!python/tuple [26, 19] + - !!python/tuple [17, 23] + - !!python/tuple [18, 12] + - !!python/tuple [20, 31] + - !!python/tuple [6, 28] + - !!python/tuple [30, 29] + - !!python/tuple [20, 9] + - !!python/tuple [2, 12] + - !!python/tuple [7, 15] + - !!python/tuple [6, 23] + - !!python/tuple [28, 12] + - !!python/tuple [16, 30] + - !!python/tuple [9, 20] + - !!python/tuple [27, 1] + - !!python/tuple [20, 0] + - !!python/tuple [15, 2] + - !!python/tuple [24, 12] + - !!python/tuple [4, 31] + - !!python/tuple [28, 22] + - !!python/tuple [17, 29] + - !!python/tuple [17, 21] + - !!python/tuple [1, 10] + - !!python/tuple [20, 15] + - !!python/tuple [12, 22] + - !!python/tuple [11, 16] + - !!python/tuple [18, 1] + - !!python/tuple [14, 16] + - !!python/tuple [26, 24] + - !!python/tuple [18, 29] + - !!python/tuple [29, 7] + - !!python/tuple [7, 30] + - !!python/tuple [12, 1] + - !!python/tuple [5, 18] + - !!python/tuple [31, 18] + - !!python/tuple [24, 17] + - !!python/tuple [20, 1] + - !!python/tuple [10, 2] + - !!python/tuple [30, 9] + - !!python/tuple [10, 27] + - !!python/tuple [9, 6] + - !!python/tuple [21, 20] + - !!python/tuple [12, 29] + - !!python/tuple [17, 7] + - !!python/tuple [22, 27] + - !!python/tuple [22, 14] + - !!python/tuple [13, 18] + - !!python/tuple [29, 11] + - !!python/tuple [7, 29] + - !!python/tuple [1, 20] + - !!python/tuple [25, 16] + - !!python/tuple [3, 18] + - !!python/tuple [21, 19] + - !!python/tuple [14, 28] + - !!python/tuple [12, 5] + - !!python/tuple [7, 26] + - !!python/tuple [25, 27] + - !!python/tuple [0, 15] + - !!python/tuple [3, 11] + - !!python/tuple [18, 31] + - !!python/tuple [25, 5] + - !!python/tuple [23, 13] + - !!python/tuple [17, 4] + - !!python/tuple [6, 14] + - !!python/tuple [23, 10] + - !!python/tuple [17, 20] + - !!python/tuple [15, 13] + - !!python/tuple [8, 11] + - !!python/tuple [18, 6] + - !!python/tuple [12, 15] + - !!python/tuple [14, 13] + - !!python/tuple [1, 5] + - !!python/tuple [11, 18] + - !!python/tuple [10, 7] + - !!python/tuple [18, 8] + - !!python/tuple [27, 17] + - !!python/tuple [30, 8] + - !!python/tuple [29, 8] + - !!python/tuple [21, 14] + - !!python/tuple [17, 22] + - !!python/tuple [13, 0] + - !!python/tuple [11, 29] + - !!python/tuple [31, 9] + - !!python/tuple [7, 13] + - !!python/tuple [27, 13] + - !!python/tuple [6, 16] + - !!python/tuple [13, 28] + - !!python/tuple [20, 20] + - !!python/tuple [28, 28] + - !!python/tuple [26, 21] + - !!python/tuple [23, 28] + - !!python/tuple [30, 4] + - !!python/tuple [11, 4] + - !!python/tuple [27, 6] + - !!python/tuple [13, 12] + - !!python/tuple [26, 11] + - !!python/tuple [3, 20] + - !!python/tuple [11, 8] + - !!python/tuple [6, 24] + - !!python/tuple [6, 11] + - !!python/tuple [12, 8] + - !!python/tuple [0, 2] + - !!python/tuple [7, 7] + - !!python/tuple [0, 20] + - !!python/tuple [21, 31] + - !!python/tuple [8, 19] + - !!python/tuple [15, 8] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex38.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex38.yaml new file mode 100644 index 0000000..01768ed --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex38.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [0, 9] + name: agent0 + start: [7, 31] +- goal: [0, 4] + name: agent1 + start: [2, 10] +- goal: [24, 23] + name: agent2 + start: [17, 7] +- goal: [21, 24] + name: agent3 + start: [13, 23] +- goal: [15, 0] + name: agent4 + start: [6, 16] +- goal: [13, 20] + name: agent5 + start: [14, 14] +- goal: [20, 28] + name: agent6 + start: [24, 29] +- goal: [19, 12] + name: agent7 + start: [21, 12] +- goal: [31, 14] + name: agent8 + start: [11, 14] +- goal: [10, 13] + name: agent9 + start: [15, 7] +- goal: [18, 3] + name: agent10 + start: [20, 16] +- goal: [17, 8] + name: agent11 + start: [20, 5] +- goal: [27, 30] + name: agent12 + start: [5, 22] +- goal: [7, 8] + name: agent13 + start: [22, 21] +- goal: [27, 22] + name: agent14 + start: [27, 2] +- goal: [0, 11] + name: agent15 + start: [19, 13] +- goal: [13, 1] + name: agent16 + start: [5, 0] +- goal: [3, 23] + name: agent17 + start: [21, 31] +- goal: [7, 30] + name: agent18 + start: [26, 15] +- goal: [22, 8] + name: agent19 + start: [10, 5] +- goal: [5, 11] + name: agent20 + start: [26, 29] +- goal: [5, 16] + name: agent21 + start: [10, 16] +- goal: [17, 14] + name: agent22 + start: [16, 29] +- goal: [27, 2] + name: agent23 + start: [10, 15] +- goal: [19, 6] + name: agent24 + start: [10, 3] +- goal: [16, 8] + name: agent25 + start: [5, 31] +- goal: [8, 28] + name: agent26 + start: [18, 27] +- goal: [16, 10] + name: agent27 + start: [20, 24] +- goal: [16, 6] + name: agent28 + start: [8, 9] +- goal: [3, 24] + name: agent29 + start: [4, 1] +- goal: [22, 29] + name: agent30 + start: [4, 28] +- goal: [13, 2] + name: agent31 + start: [16, 16] +- goal: [4, 21] + name: agent32 + start: [17, 22] +- goal: [6, 28] + name: agent33 + start: [24, 15] +- goal: [5, 30] + name: agent34 + start: [23, 8] +- goal: [20, 2] + name: agent35 + start: [16, 17] +- goal: [17, 15] + name: agent36 + start: [18, 16] +- goal: [14, 4] + name: agent37 + start: [14, 29] +- goal: [15, 21] + name: agent38 + start: [14, 15] +- goal: [31, 25] + name: agent39 + start: [8, 15] +- goal: [2, 6] + name: agent40 + start: [10, 19] +- goal: [31, 6] + name: agent41 + start: [14, 0] +- goal: [26, 19] + name: agent42 + start: [11, 28] +- goal: [8, 25] + name: agent43 + start: [27, 14] +- goal: [13, 11] + name: agent44 + start: [30, 15] +- goal: [29, 18] + name: agent45 + start: [5, 21] +- goal: [8, 1] + name: agent46 + start: [16, 10] +- goal: [16, 1] + name: agent47 + start: [21, 17] +- goal: [0, 17] + name: agent48 + start: [28, 14] +- goal: [23, 5] + name: agent49 + start: [1, 31] +- goal: [9, 26] + name: agent50 + start: [5, 4] +- goal: [27, 17] + name: agent51 + start: [14, 23] +- goal: [30, 10] + name: agent52 + start: [10, 13] +- goal: [14, 26] + name: agent53 + start: [15, 19] +- goal: [18, 25] + name: agent54 + start: [12, 6] +- goal: [24, 28] + name: agent55 + start: [24, 1] +- goal: [9, 2] + name: agent56 + start: [28, 25] +- goal: [4, 0] + name: agent57 + start: [24, 23] +- goal: [2, 12] + name: agent58 + start: [23, 9] +- goal: [8, 21] + name: agent59 + start: [29, 9] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [28, 9] + - !!python/tuple [18, 8] + - !!python/tuple [18, 12] + - !!python/tuple [9, 28] + - !!python/tuple [15, 25] + - !!python/tuple [19, 21] + - !!python/tuple [15, 15] + - !!python/tuple [16, 3] + - !!python/tuple [17, 1] + - !!python/tuple [24, 30] + - !!python/tuple [5, 24] + - !!python/tuple [9, 9] + - !!python/tuple [21, 3] + - !!python/tuple [7, 19] + - !!python/tuple [13, 21] + - !!python/tuple [15, 24] + - !!python/tuple [26, 27] + - !!python/tuple [10, 14] + - !!python/tuple [12, 27] + - !!python/tuple [11, 12] + - !!python/tuple [18, 6] + - !!python/tuple [26, 3] + - !!python/tuple [26, 0] + - !!python/tuple [10, 21] + - !!python/tuple [20, 17] + - !!python/tuple [31, 29] + - !!python/tuple [8, 14] + - !!python/tuple [12, 23] + - !!python/tuple [12, 21] + - !!python/tuple [3, 17] + - !!python/tuple [30, 5] + - !!python/tuple [27, 3] + - !!python/tuple [12, 30] + - !!python/tuple [12, 14] + - !!python/tuple [3, 13] + - !!python/tuple [31, 3] + - !!python/tuple [12, 15] + - !!python/tuple [22, 9] + - !!python/tuple [9, 24] + - !!python/tuple [25, 3] + - !!python/tuple [18, 7] + - !!python/tuple [16, 21] + - !!python/tuple [30, 16] + - !!python/tuple [23, 10] + - !!python/tuple [24, 24] + - !!python/tuple [16, 9] + - !!python/tuple [4, 11] + - !!python/tuple [23, 20] + - !!python/tuple [24, 26] + - !!python/tuple [29, 31] + - !!python/tuple [23, 19] + - !!python/tuple [4, 30] + - !!python/tuple [14, 31] + - !!python/tuple [4, 2] + - !!python/tuple [0, 8] + - !!python/tuple [13, 22] + - !!python/tuple [5, 9] + - !!python/tuple [24, 6] + - !!python/tuple [21, 25] + - !!python/tuple [17, 25] + - !!python/tuple [28, 27] + - !!python/tuple [28, 19] + - !!python/tuple [22, 23] + - !!python/tuple [14, 24] + - !!python/tuple [27, 16] + - !!python/tuple [2, 3] + - !!python/tuple [7, 2] + - !!python/tuple [5, 1] + - !!python/tuple [14, 12] + - !!python/tuple [18, 26] + - !!python/tuple [13, 9] + - !!python/tuple [24, 22] + - !!python/tuple [0, 18] + - !!python/tuple [8, 8] + - !!python/tuple [31, 15] + - !!python/tuple [18, 1] + - !!python/tuple [24, 13] + - !!python/tuple [22, 26] + - !!python/tuple [28, 24] + - !!python/tuple [29, 30] + - !!python/tuple [15, 9] + - !!python/tuple [25, 28] + - !!python/tuple [15, 17] + - !!python/tuple [3, 12] + - !!python/tuple [25, 4] + - !!python/tuple [22, 18] + - !!python/tuple [27, 31] + - !!python/tuple [10, 22] + - !!python/tuple [9, 6] + - !!python/tuple [10, 23] + - !!python/tuple [29, 21] + - !!python/tuple [21, 2] + - !!python/tuple [18, 30] + - !!python/tuple [4, 22] + - !!python/tuple [22, 2] + - !!python/tuple [0, 26] + - !!python/tuple [23, 14] + - !!python/tuple [13, 15] + - !!python/tuple [26, 8] + - !!python/tuple [8, 26] + - !!python/tuple [29, 11] + - !!python/tuple [23, 28] + - !!python/tuple [14, 3] + - !!python/tuple [26, 30] + - !!python/tuple [21, 23] + - !!python/tuple [8, 27] + - !!python/tuple [3, 29] + - !!python/tuple [30, 3] + - !!python/tuple [24, 7] + - !!python/tuple [23, 4] + - !!python/tuple [24, 20] + - !!python/tuple [12, 9] + - !!python/tuple [30, 6] + - !!python/tuple [4, 25] + - !!python/tuple [10, 7] + - !!python/tuple [12, 16] + - !!python/tuple [7, 14] + - !!python/tuple [17, 19] + - !!python/tuple [11, 17] + - !!python/tuple [29, 8] + - !!python/tuple [11, 21] + - !!python/tuple [9, 1] + - !!python/tuple [11, 11] + - !!python/tuple [21, 14] + - !!python/tuple [26, 23] + - !!python/tuple [20, 25] + - !!python/tuple [5, 3] + - !!python/tuple [6, 8] + - !!python/tuple [17, 24] + - !!python/tuple [21, 13] + - !!python/tuple [4, 14] + - !!python/tuple [24, 21] + - !!python/tuple [1, 9] + - !!python/tuple [10, 27] + - !!python/tuple [15, 28] + - !!python/tuple [0, 7] + - !!python/tuple [30, 18] + - !!python/tuple [30, 22] + - !!python/tuple [7, 9] + - !!python/tuple [7, 4] + - !!python/tuple [30, 25] + - !!python/tuple [3, 2] + - !!python/tuple [17, 30] + - !!python/tuple [0, 31] + - !!python/tuple [7, 3] + - !!python/tuple [7, 11] + - !!python/tuple [30, 31] + - !!python/tuple [17, 13] + - !!python/tuple [20, 27] + - !!python/tuple [0, 27] + - !!python/tuple [3, 14] + - !!python/tuple [24, 16] + - !!python/tuple [5, 8] + - !!python/tuple [7, 21] + - !!python/tuple [21, 6] + - !!python/tuple [10, 0] + - !!python/tuple [1, 8] + - !!python/tuple [19, 29] + - !!python/tuple [13, 19] + - !!python/tuple [13, 17] + - !!python/tuple [6, 5] + - !!python/tuple [5, 13] + - !!python/tuple [4, 17] + - !!python/tuple [19, 2] + - !!python/tuple [29, 14] + - !!python/tuple [11, 26] + - !!python/tuple [31, 23] + - !!python/tuple [9, 30] + - !!python/tuple [22, 27] + - !!python/tuple [29, 20] + - !!python/tuple [18, 23] + - !!python/tuple [31, 30] + - !!python/tuple [23, 18] + - !!python/tuple [14, 6] + - !!python/tuple [3, 3] + - !!python/tuple [3, 25] + - !!python/tuple [21, 27] + - !!python/tuple [14, 20] + - !!python/tuple [15, 4] + - !!python/tuple [23, 2] + - !!python/tuple [20, 1] + - !!python/tuple [31, 2] + - !!python/tuple [3, 11] + - !!python/tuple [13, 14] + - !!python/tuple [18, 0] + - !!python/tuple [22, 12] + - !!python/tuple [12, 25] + - !!python/tuple [6, 11] + - !!python/tuple [8, 6] + - !!python/tuple [18, 11] + - !!python/tuple [7, 1] + - !!python/tuple [15, 10] + - !!python/tuple [6, 18] + - !!python/tuple [7, 24] + - !!python/tuple [13, 8] + - !!python/tuple [0, 23] + - !!python/tuple [9, 3] + - !!python/tuple [19, 17] + - !!python/tuple [7, 13] + - !!python/tuple [21, 11] + - !!python/tuple [25, 31] + - !!python/tuple [16, 20] + - !!python/tuple [16, 15] + - !!python/tuple [23, 1] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex39.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex39.yaml new file mode 100644 index 0000000..a680720 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex39.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [7, 25] + name: agent0 + start: [3, 21] +- goal: [11, 15] + name: agent1 + start: [27, 10] +- goal: [2, 25] + name: agent2 + start: [1, 19] +- goal: [5, 2] + name: agent3 + start: [9, 25] +- goal: [22, 3] + name: agent4 + start: [27, 29] +- goal: [11, 1] + name: agent5 + start: [4, 25] +- goal: [16, 5] + name: agent6 + start: [19, 12] +- goal: [9, 29] + name: agent7 + start: [0, 13] +- goal: [2, 2] + name: agent8 + start: [0, 9] +- goal: [9, 26] + name: agent9 + start: [29, 16] +- goal: [7, 30] + name: agent10 + start: [13, 15] +- goal: [10, 24] + name: agent11 + start: [28, 20] +- goal: [5, 25] + name: agent12 + start: [6, 18] +- goal: [1, 2] + name: agent13 + start: [5, 26] +- goal: [19, 27] + name: agent14 + start: [16, 24] +- goal: [0, 27] + name: agent15 + start: [20, 1] +- goal: [19, 7] + name: agent16 + start: [19, 31] +- goal: [17, 26] + name: agent17 + start: [19, 19] +- goal: [4, 16] + name: agent18 + start: [21, 14] +- goal: [15, 9] + name: agent19 + start: [16, 22] +- goal: [13, 13] + name: agent20 + start: [31, 7] +- goal: [20, 11] + name: agent21 + start: [5, 2] +- goal: [31, 29] + name: agent22 + start: [29, 30] +- goal: [3, 19] + name: agent23 + start: [30, 17] +- goal: [4, 31] + name: agent24 + start: [29, 3] +- goal: [2, 5] + name: agent25 + start: [14, 0] +- goal: [1, 16] + name: agent26 + start: [31, 12] +- goal: [23, 8] + name: agent27 + start: [1, 9] +- goal: [4, 5] + name: agent28 + start: [15, 21] +- goal: [9, 12] + name: agent29 + start: [18, 20] +- goal: [28, 19] + name: agent30 + start: [17, 6] +- goal: [10, 11] + name: agent31 + start: [2, 10] +- goal: [8, 2] + name: agent32 + start: [31, 0] +- goal: [11, 4] + name: agent33 + start: [5, 29] +- goal: [19, 5] + name: agent34 + start: [11, 24] +- goal: [25, 30] + name: agent35 + start: [9, 5] +- goal: [27, 5] + name: agent36 + start: [10, 0] +- goal: [24, 8] + name: agent37 + start: [10, 14] +- goal: [27, 21] + name: agent38 + start: [21, 1] +- goal: [20, 25] + name: agent39 + start: [26, 14] +- goal: [29, 12] + name: agent40 + start: [25, 14] +- goal: [6, 28] + name: agent41 + start: [19, 29] +- goal: [9, 8] + name: agent42 + start: [9, 29] +- goal: [6, 14] + name: agent43 + start: [11, 2] +- goal: [16, 24] + name: agent44 + start: [4, 20] +- goal: [22, 23] + name: agent45 + start: [27, 30] +- goal: [17, 8] + name: agent46 + start: [30, 24] +- goal: [3, 12] + name: agent47 + start: [16, 2] +- goal: [21, 13] + name: agent48 + start: [15, 15] +- goal: [27, 16] + name: agent49 + start: [14, 17] +- goal: [31, 0] + name: agent50 + start: [8, 30] +- goal: [16, 4] + name: agent51 + start: [12, 8] +- goal: [6, 29] + name: agent52 + start: [8, 3] +- goal: [13, 9] + name: agent53 + start: [13, 10] +- goal: [17, 3] + name: agent54 + start: [30, 11] +- goal: [14, 16] + name: agent55 + start: [23, 26] +- goal: [27, 11] + name: agent56 + start: [20, 13] +- goal: [18, 27] + name: agent57 + start: [25, 25] +- goal: [4, 27] + name: agent58 + start: [3, 14] +- goal: [21, 8] + name: agent59 + start: [26, 19] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [1, 24] + - !!python/tuple [5, 1] + - !!python/tuple [12, 31] + - !!python/tuple [3, 25] + - !!python/tuple [0, 17] + - !!python/tuple [9, 30] + - !!python/tuple [8, 6] + - !!python/tuple [12, 22] + - !!python/tuple [16, 12] + - !!python/tuple [7, 21] + - !!python/tuple [14, 20] + - !!python/tuple [15, 24] + - !!python/tuple [3, 18] + - !!python/tuple [15, 25] + - !!python/tuple [18, 15] + - !!python/tuple [15, 4] + - !!python/tuple [30, 12] + - !!python/tuple [17, 18] + - !!python/tuple [27, 8] + - !!python/tuple [30, 19] + - !!python/tuple [4, 4] + - !!python/tuple [27, 28] + - !!python/tuple [17, 23] + - !!python/tuple [5, 11] + - !!python/tuple [10, 17] + - !!python/tuple [11, 10] + - !!python/tuple [13, 17] + - !!python/tuple [19, 15] + - !!python/tuple [14, 18] + - !!python/tuple [15, 16] + - !!python/tuple [18, 6] + - !!python/tuple [23, 11] + - !!python/tuple [18, 28] + - !!python/tuple [9, 20] + - !!python/tuple [0, 3] + - !!python/tuple [20, 22] + - !!python/tuple [17, 5] + - !!python/tuple [4, 9] + - !!python/tuple [12, 20] + - !!python/tuple [20, 23] + - !!python/tuple [9, 22] + - !!python/tuple [14, 6] + - !!python/tuple [0, 31] + - !!python/tuple [22, 15] + - !!python/tuple [10, 16] + - !!python/tuple [20, 9] + - !!python/tuple [9, 1] + - !!python/tuple [9, 9] + - !!python/tuple [2, 13] + - !!python/tuple [30, 10] + - !!python/tuple [29, 18] + - !!python/tuple [6, 8] + - !!python/tuple [1, 5] + - !!python/tuple [11, 19] + - !!python/tuple [12, 3] + - !!python/tuple [1, 11] + - !!python/tuple [10, 5] + - !!python/tuple [28, 2] + - !!python/tuple [11, 18] + - !!python/tuple [14, 10] + - !!python/tuple [7, 11] + - !!python/tuple [26, 12] + - !!python/tuple [10, 26] + - !!python/tuple [7, 10] + - !!python/tuple [10, 1] + - !!python/tuple [17, 15] + - !!python/tuple [14, 30] + - !!python/tuple [1, 23] + - !!python/tuple [24, 20] + - !!python/tuple [11, 28] + - !!python/tuple [14, 9] + - !!python/tuple [21, 11] + - !!python/tuple [24, 0] + - !!python/tuple [31, 28] + - !!python/tuple [8, 14] + - !!python/tuple [2, 29] + - !!python/tuple [18, 31] + - !!python/tuple [28, 3] + - !!python/tuple [24, 6] + - !!python/tuple [16, 14] + - !!python/tuple [27, 22] + - !!python/tuple [21, 18] + - !!python/tuple [25, 11] + - !!python/tuple [30, 8] + - !!python/tuple [27, 6] + - !!python/tuple [13, 16] + - !!python/tuple [14, 15] + - !!python/tuple [22, 28] + - !!python/tuple [23, 21] + - !!python/tuple [21, 21] + - !!python/tuple [7, 26] + - !!python/tuple [25, 23] + - !!python/tuple [31, 4] + - !!python/tuple [8, 0] + - !!python/tuple [28, 31] + - !!python/tuple [20, 26] + - !!python/tuple [10, 2] + - !!python/tuple [20, 7] + - !!python/tuple [7, 12] + - !!python/tuple [13, 21] + - !!python/tuple [24, 12] + - !!python/tuple [19, 4] + - !!python/tuple [18, 23] + - !!python/tuple [5, 0] + - !!python/tuple [3, 10] + - !!python/tuple [23, 15] + - !!python/tuple [28, 16] + - !!python/tuple [1, 20] + - !!python/tuple [19, 8] + - !!python/tuple [25, 4] + - !!python/tuple [12, 23] + - !!python/tuple [5, 8] + - !!python/tuple [3, 8] + - !!python/tuple [4, 7] + - !!python/tuple [2, 21] + - !!python/tuple [17, 1] + - !!python/tuple [26, 29] + - !!python/tuple [6, 22] + - !!python/tuple [5, 23] + - !!python/tuple [21, 6] + - !!python/tuple [15, 10] + - !!python/tuple [28, 14] + - !!python/tuple [26, 26] + - !!python/tuple [6, 12] + - !!python/tuple [29, 25] + - !!python/tuple [23, 0] + - !!python/tuple [20, 8] + - !!python/tuple [21, 10] + - !!python/tuple [25, 24] + - !!python/tuple [13, 22] + - !!python/tuple [31, 14] + - !!python/tuple [7, 0] + - !!python/tuple [17, 16] + - !!python/tuple [7, 1] + - !!python/tuple [12, 16] + - !!python/tuple [6, 9] + - !!python/tuple [21, 12] + - !!python/tuple [18, 8] + - !!python/tuple [25, 2] + - !!python/tuple [15, 13] + - !!python/tuple [1, 13] + - !!python/tuple [21, 26] + - !!python/tuple [21, 30] + - !!python/tuple [28, 24] + - !!python/tuple [10, 12] + - !!python/tuple [27, 20] + - !!python/tuple [20, 18] + - !!python/tuple [3, 20] + - !!python/tuple [22, 12] + - !!python/tuple [22, 0] + - !!python/tuple [18, 11] + - !!python/tuple [27, 14] + - !!python/tuple [24, 16] + - !!python/tuple [21, 16] + - !!python/tuple [3, 30] + - !!python/tuple [1, 7] + - !!python/tuple [10, 30] + - !!python/tuple [25, 16] + - !!python/tuple [11, 12] + - !!python/tuple [24, 29] + - !!python/tuple [12, 19] + - !!python/tuple [24, 24] + - !!python/tuple [3, 5] + - !!python/tuple [10, 27] + - !!python/tuple [28, 23] + - !!python/tuple [15, 27] + - !!python/tuple [26, 20] + - !!python/tuple [29, 0] + - !!python/tuple [0, 1] + - !!python/tuple [4, 30] + - !!python/tuple [22, 27] + - !!python/tuple [5, 3] + - !!python/tuple [15, 7] + - !!python/tuple [6, 2] + - !!python/tuple [5, 17] + - !!python/tuple [27, 9] + - !!python/tuple [26, 17] + - !!python/tuple [5, 15] + - !!python/tuple [23, 9] + - !!python/tuple [18, 3] + - !!python/tuple [26, 4] + - !!python/tuple [12, 17] + - !!python/tuple [22, 19] + - !!python/tuple [17, 31] + - !!python/tuple [24, 21] + - !!python/tuple [17, 29] + - !!python/tuple [30, 18] + - !!python/tuple [0, 29] + - !!python/tuple [27, 18] + - !!python/tuple [0, 14] + - !!python/tuple [27, 1] + - !!python/tuple [13, 2] + - !!python/tuple [22, 20] + - !!python/tuple [11, 3] + - !!python/tuple [5, 24] + - !!python/tuple [0, 4] + - !!python/tuple [0, 28] + - !!python/tuple [14, 13] + - !!python/tuple [2, 11] + - !!python/tuple [13, 14] + - !!python/tuple [12, 21] + - !!python/tuple [24, 23] + - !!python/tuple [30, 14] + - !!python/tuple [23, 5] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex4.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex4.yaml new file mode 100644 index 0000000..5f2b8f3 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex4.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [8, 26] + name: agent0 + start: [19, 18] +- goal: [29, 9] + name: agent1 + start: [17, 20] +- goal: [10, 25] + name: agent2 + start: [18, 4] +- goal: [12, 5] + name: agent3 + start: [8, 11] +- goal: [7, 0] + name: agent4 + start: [7, 13] +- goal: [19, 21] + name: agent5 + start: [18, 24] +- goal: [20, 3] + name: agent6 + start: [11, 25] +- goal: [18, 17] + name: agent7 + start: [21, 26] +- goal: [14, 22] + name: agent8 + start: [12, 21] +- goal: [23, 11] + name: agent9 + start: [9, 27] +- goal: [19, 14] + name: agent10 + start: [18, 17] +- goal: [5, 12] + name: agent11 + start: [6, 29] +- goal: [8, 9] + name: agent12 + start: [16, 20] +- goal: [24, 10] + name: agent13 + start: [13, 11] +- goal: [14, 20] + name: agent14 + start: [30, 13] +- goal: [6, 20] + name: agent15 + start: [25, 26] +- goal: [11, 1] + name: agent16 + start: [4, 26] +- goal: [18, 26] + name: agent17 + start: [24, 0] +- goal: [2, 28] + name: agent18 + start: [9, 25] +- goal: [20, 5] + name: agent19 + start: [2, 20] +- goal: [25, 22] + name: agent20 + start: [12, 15] +- goal: [30, 27] + name: agent21 + start: [4, 4] +- goal: [22, 5] + name: agent22 + start: [21, 3] +- goal: [26, 4] + name: agent23 + start: [29, 3] +- goal: [8, 8] + name: agent24 + start: [2, 21] +- goal: [6, 3] + name: agent25 + start: [31, 27] +- goal: [3, 11] + name: agent26 + start: [28, 6] +- goal: [18, 21] + name: agent27 + start: [8, 28] +- goal: [26, 24] + name: agent28 + start: [6, 8] +- goal: [21, 21] + name: agent29 + start: [2, 1] +- goal: [11, 24] + name: agent30 + start: [20, 9] +- goal: [0, 24] + name: agent31 + start: [10, 31] +- goal: [20, 26] + name: agent32 + start: [4, 14] +- goal: [19, 4] + name: agent33 + start: [25, 22] +- goal: [0, 1] + name: agent34 + start: [21, 16] +- goal: [29, 21] + name: agent35 + start: [31, 21] +- goal: [9, 8] + name: agent36 + start: [30, 23] +- goal: [0, 12] + name: agent37 + start: [26, 13] +- goal: [7, 21] + name: agent38 + start: [31, 16] +- goal: [7, 26] + name: agent39 + start: [18, 29] +- goal: [6, 27] + name: agent40 + start: [14, 7] +- goal: [5, 17] + name: agent41 + start: [20, 29] +- goal: [21, 11] + name: agent42 + start: [17, 29] +- goal: [28, 4] + name: agent43 + start: [16, 26] +- goal: [13, 16] + name: agent44 + start: [27, 5] +- goal: [7, 13] + name: agent45 + start: [4, 17] +- goal: [6, 11] + name: agent46 + start: [28, 16] +- goal: [23, 22] + name: agent47 + start: [16, 30] +- goal: [25, 1] + name: agent48 + start: [13, 13] +- goal: [16, 2] + name: agent49 + start: [21, 13] +- goal: [14, 15] + name: agent50 + start: [30, 31] +- goal: [29, 17] + name: agent51 + start: [19, 29] +- goal: [17, 13] + name: agent52 + start: [0, 30] +- goal: [9, 9] + name: agent53 + start: [14, 1] +- goal: [22, 14] + name: agent54 + start: [31, 9] +- goal: [23, 16] + name: agent55 + start: [25, 8] +- goal: [1, 2] + name: agent56 + start: [8, 16] +- goal: [31, 28] + name: agent57 + start: [30, 5] +- goal: [29, 20] + name: agent58 + start: [5, 1] +- goal: [4, 14] + name: agent59 + start: [22, 7] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [27, 18] + - !!python/tuple [19, 27] + - !!python/tuple [8, 15] + - !!python/tuple [21, 2] + - !!python/tuple [5, 21] + - !!python/tuple [17, 27] + - !!python/tuple [1, 20] + - !!python/tuple [28, 30] + - !!python/tuple [19, 20] + - !!python/tuple [16, 22] + - !!python/tuple [23, 3] + - !!python/tuple [6, 5] + - !!python/tuple [21, 25] + - !!python/tuple [11, 19] + - !!python/tuple [23, 19] + - !!python/tuple [7, 27] + - !!python/tuple [23, 8] + - !!python/tuple [29, 18] + - !!python/tuple [1, 31] + - !!python/tuple [17, 24] + - !!python/tuple [0, 23] + - !!python/tuple [13, 20] + - !!python/tuple [24, 25] + - !!python/tuple [0, 5] + - !!python/tuple [25, 30] + - !!python/tuple [28, 13] + - !!python/tuple [19, 17] + - !!python/tuple [29, 28] + - !!python/tuple [7, 10] + - !!python/tuple [4, 9] + - !!python/tuple [14, 30] + - !!python/tuple [9, 13] + - !!python/tuple [5, 14] + - !!python/tuple [10, 2] + - !!python/tuple [17, 1] + - !!python/tuple [25, 11] + - !!python/tuple [2, 8] + - !!python/tuple [15, 14] + - !!python/tuple [6, 9] + - !!python/tuple [31, 0] + - !!python/tuple [31, 20] + - !!python/tuple [21, 18] + - !!python/tuple [24, 7] + - !!python/tuple [30, 7] + - !!python/tuple [17, 10] + - !!python/tuple [8, 10] + - !!python/tuple [20, 1] + - !!python/tuple [11, 18] + - !!python/tuple [26, 20] + - !!python/tuple [9, 31] + - !!python/tuple [9, 21] + - !!python/tuple [10, 21] + - !!python/tuple [2, 27] + - !!python/tuple [21, 8] + - !!python/tuple [0, 29] + - !!python/tuple [5, 9] + - !!python/tuple [24, 28] + - !!python/tuple [16, 11] + - !!python/tuple [11, 8] + - !!python/tuple [28, 24] + - !!python/tuple [3, 29] + - !!python/tuple [11, 26] + - !!python/tuple [8, 13] + - !!python/tuple [25, 0] + - !!python/tuple [15, 15] + - !!python/tuple [31, 15] + - !!python/tuple [24, 18] + - !!python/tuple [16, 5] + - !!python/tuple [8, 30] + - !!python/tuple [28, 21] + - !!python/tuple [16, 14] + - !!python/tuple [11, 29] + - !!python/tuple [4, 5] + - !!python/tuple [10, 4] + - !!python/tuple [27, 0] + - !!python/tuple [4, 7] + - !!python/tuple [8, 6] + - !!python/tuple [18, 31] + - !!python/tuple [26, 26] + - !!python/tuple [26, 21] + - !!python/tuple [18, 0] + - !!python/tuple [24, 17] + - !!python/tuple [1, 16] + - !!python/tuple [20, 15] + - !!python/tuple [0, 14] + - !!python/tuple [28, 0] + - !!python/tuple [10, 12] + - !!python/tuple [19, 22] + - !!python/tuple [12, 24] + - !!python/tuple [10, 22] + - !!python/tuple [20, 2] + - !!python/tuple [2, 19] + - !!python/tuple [18, 25] + - !!python/tuple [21, 29] + - !!python/tuple [15, 8] + - !!python/tuple [17, 23] + - !!python/tuple [15, 3] + - !!python/tuple [25, 7] + - !!python/tuple [3, 5] + - !!python/tuple [20, 14] + - !!python/tuple [17, 26] + - !!python/tuple [1, 21] + - !!python/tuple [30, 14] + - !!python/tuple [25, 3] + - !!python/tuple [20, 22] + - !!python/tuple [18, 9] + - !!python/tuple [18, 7] + - !!python/tuple [29, 19] + - !!python/tuple [31, 22] + - !!python/tuple [3, 16] + - !!python/tuple [24, 6] + - !!python/tuple [0, 8] + - !!python/tuple [12, 1] + - !!python/tuple [29, 31] + - !!python/tuple [0, 28] + - !!python/tuple [16, 18] + - !!python/tuple [2, 9] + - !!python/tuple [14, 19] + - !!python/tuple [29, 2] + - !!python/tuple [5, 29] + - !!python/tuple [5, 13] + - !!python/tuple [22, 9] + - !!python/tuple [10, 8] + - !!python/tuple [5, 10] + - !!python/tuple [30, 1] + - !!python/tuple [1, 24] + - !!python/tuple [25, 18] + - !!python/tuple [19, 15] + - !!python/tuple [26, 25] + - !!python/tuple [1, 25] + - !!python/tuple [4, 30] + - !!python/tuple [9, 12] + - !!python/tuple [25, 16] + - !!python/tuple [31, 31] + - !!python/tuple [15, 0] + - !!python/tuple [17, 22] + - !!python/tuple [17, 30] + - !!python/tuple [8, 20] + - !!python/tuple [11, 12] + - !!python/tuple [28, 25] + - !!python/tuple [20, 4] + - !!python/tuple [1, 19] + - !!python/tuple [1, 14] + - !!python/tuple [30, 24] + - !!python/tuple [7, 14] + - !!python/tuple [3, 20] + - !!python/tuple [24, 2] + - !!python/tuple [1, 15] + - !!python/tuple [16, 9] + - !!python/tuple [28, 11] + - !!python/tuple [18, 20] + - !!python/tuple [11, 23] + - !!python/tuple [12, 3] + - !!python/tuple [19, 26] + - !!python/tuple [5, 31] + - !!python/tuple [6, 16] + - !!python/tuple [22, 11] + - !!python/tuple [1, 0] + - !!python/tuple [15, 19] + - !!python/tuple [0, 19] + - !!python/tuple [24, 26] + - !!python/tuple [28, 10] + - !!python/tuple [4, 27] + - !!python/tuple [5, 28] + - !!python/tuple [30, 18] + - !!python/tuple [14, 11] + - !!python/tuple [0, 18] + - !!python/tuple [11, 6] + - !!python/tuple [28, 23] + - !!python/tuple [24, 22] + - !!python/tuple [14, 0] + - !!python/tuple [3, 28] + - !!python/tuple [31, 29] + - !!python/tuple [3, 26] + - !!python/tuple [15, 23] + - !!python/tuple [12, 2] + - !!python/tuple [25, 25] + - !!python/tuple [22, 21] + - !!python/tuple [19, 13] + - !!python/tuple [24, 11] + - !!python/tuple [7, 29] + - !!python/tuple [29, 6] + - !!python/tuple [9, 20] + - !!python/tuple [24, 1] + - !!python/tuple [29, 8] + - !!python/tuple [5, 5] + - !!python/tuple [20, 27] + - !!python/tuple [24, 15] + - !!python/tuple [25, 13] + - !!python/tuple [1, 13] + - !!python/tuple [23, 24] + - !!python/tuple [25, 24] + - !!python/tuple [28, 17] + - !!python/tuple [17, 15] + - !!python/tuple [17, 12] + - !!python/tuple [29, 30] + - !!python/tuple [23, 12] + - !!python/tuple [15, 22] + - !!python/tuple [16, 1] + - !!python/tuple [20, 30] + - !!python/tuple [25, 2] + - !!python/tuple [22, 18] + - !!python/tuple [0, 0] + - !!python/tuple [17, 21] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex40.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex40.yaml new file mode 100644 index 0000000..d6b5832 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex40.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [2, 15] + name: agent0 + start: [24, 18] +- goal: [18, 9] + name: agent1 + start: [12, 18] +- goal: [3, 17] + name: agent2 + start: [20, 16] +- goal: [24, 15] + name: agent3 + start: [5, 3] +- goal: [1, 10] + name: agent4 + start: [22, 28] +- goal: [2, 21] + name: agent5 + start: [4, 7] +- goal: [0, 13] + name: agent6 + start: [2, 3] +- goal: [23, 31] + name: agent7 + start: [6, 30] +- goal: [2, 24] + name: agent8 + start: [9, 22] +- goal: [22, 17] + name: agent9 + start: [8, 18] +- goal: [27, 13] + name: agent10 + start: [16, 27] +- goal: [4, 15] + name: agent11 + start: [28, 16] +- goal: [4, 18] + name: agent12 + start: [25, 31] +- goal: [28, 12] + name: agent13 + start: [1, 21] +- goal: [30, 0] + name: agent14 + start: [28, 20] +- goal: [15, 8] + name: agent15 + start: [12, 3] +- goal: [22, 8] + name: agent16 + start: [17, 14] +- goal: [12, 27] + name: agent17 + start: [25, 8] +- goal: [23, 4] + name: agent18 + start: [7, 1] +- goal: [5, 11] + name: agent19 + start: [24, 8] +- goal: [17, 10] + name: agent20 + start: [7, 5] +- goal: [13, 13] + name: agent21 + start: [19, 14] +- goal: [10, 8] + name: agent22 + start: [12, 13] +- goal: [22, 13] + name: agent23 + start: [12, 21] +- goal: [3, 20] + name: agent24 + start: [23, 26] +- goal: [13, 2] + name: agent25 + start: [21, 29] +- goal: [1, 2] + name: agent26 + start: [26, 27] +- goal: [28, 22] + name: agent27 + start: [5, 4] +- goal: [18, 17] + name: agent28 + start: [31, 30] +- goal: [14, 20] + name: agent29 + start: [9, 29] +- goal: [21, 8] + name: agent30 + start: [10, 7] +- goal: [13, 24] + name: agent31 + start: [17, 9] +- goal: [19, 29] + name: agent32 + start: [7, 15] +- goal: [28, 2] + name: agent33 + start: [31, 28] +- goal: [28, 28] + name: agent34 + start: [21, 2] +- goal: [2, 11] + name: agent35 + start: [30, 28] +- goal: [7, 28] + name: agent36 + start: [10, 16] +- goal: [13, 11] + name: agent37 + start: [15, 25] +- goal: [25, 29] + name: agent38 + start: [11, 29] +- goal: [18, 16] + name: agent39 + start: [9, 20] +- goal: [3, 25] + name: agent40 + start: [12, 7] +- goal: [13, 15] + name: agent41 + start: [27, 26] +- goal: [22, 31] + name: agent42 + start: [30, 4] +- goal: [12, 11] + name: agent43 + start: [21, 7] +- goal: [15, 10] + name: agent44 + start: [13, 15] +- goal: [22, 4] + name: agent45 + start: [16, 31] +- goal: [18, 19] + name: agent46 + start: [9, 30] +- goal: [5, 0] + name: agent47 + start: [6, 7] +- goal: [10, 7] + name: agent48 + start: [28, 21] +- goal: [13, 5] + name: agent49 + start: [9, 27] +- goal: [12, 14] + name: agent50 + start: [7, 29] +- goal: [14, 10] + name: agent51 + start: [24, 27] +- goal: [27, 23] + name: agent52 + start: [11, 9] +- goal: [24, 1] + name: agent53 + start: [23, 1] +- goal: [23, 19] + name: agent54 + start: [27, 9] +- goal: [9, 10] + name: agent55 + start: [7, 10] +- goal: [24, 14] + name: agent56 + start: [9, 13] +- goal: [26, 6] + name: agent57 + start: [2, 9] +- goal: [11, 1] + name: agent58 + start: [23, 31] +- goal: [16, 5] + name: agent59 + start: [27, 28] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [20, 30] + - !!python/tuple [11, 21] + - !!python/tuple [17, 4] + - !!python/tuple [3, 30] + - !!python/tuple [27, 17] + - !!python/tuple [1, 25] + - !!python/tuple [12, 24] + - !!python/tuple [12, 2] + - !!python/tuple [11, 2] + - !!python/tuple [13, 23] + - !!python/tuple [17, 5] + - !!python/tuple [4, 26] + - !!python/tuple [26, 19] + - !!python/tuple [14, 3] + - !!python/tuple [18, 23] + - !!python/tuple [10, 28] + - !!python/tuple [14, 4] + - !!python/tuple [18, 3] + - !!python/tuple [30, 27] + - !!python/tuple [16, 21] + - !!python/tuple [27, 5] + - !!python/tuple [4, 6] + - !!python/tuple [16, 4] + - !!python/tuple [14, 26] + - !!python/tuple [23, 16] + - !!python/tuple [25, 2] + - !!python/tuple [17, 27] + - !!python/tuple [30, 6] + - !!python/tuple [24, 31] + - !!python/tuple [29, 7] + - !!python/tuple [25, 14] + - !!python/tuple [1, 30] + - !!python/tuple [18, 2] + - !!python/tuple [27, 30] + - !!python/tuple [28, 14] + - !!python/tuple [15, 2] + - !!python/tuple [1, 22] + - !!python/tuple [30, 7] + - !!python/tuple [4, 16] + - !!python/tuple [24, 4] + - !!python/tuple [1, 23] + - !!python/tuple [14, 1] + - !!python/tuple [21, 25] + - !!python/tuple [29, 26] + - !!python/tuple [5, 23] + - !!python/tuple [27, 7] + - !!python/tuple [30, 18] + - !!python/tuple [9, 12] + - !!python/tuple [29, 6] + - !!python/tuple [4, 12] + - !!python/tuple [11, 15] + - !!python/tuple [3, 6] + - !!python/tuple [3, 29] + - !!python/tuple [0, 11] + - !!python/tuple [19, 6] + - !!python/tuple [8, 29] + - !!python/tuple [5, 6] + - !!python/tuple [23, 24] + - !!python/tuple [17, 31] + - !!python/tuple [7, 27] + - !!python/tuple [21, 12] + - !!python/tuple [3, 23] + - !!python/tuple [19, 18] + - !!python/tuple [30, 2] + - !!python/tuple [26, 20] + - !!python/tuple [25, 1] + - !!python/tuple [29, 23] + - !!python/tuple [9, 26] + - !!python/tuple [29, 28] + - !!python/tuple [9, 0] + - !!python/tuple [5, 10] + - !!python/tuple [0, 20] + - !!python/tuple [20, 29] + - !!python/tuple [10, 22] + - !!python/tuple [17, 22] + - !!python/tuple [4, 2] + - !!python/tuple [18, 24] + - !!python/tuple [30, 14] + - !!python/tuple [6, 18] + - !!python/tuple [3, 26] + - !!python/tuple [20, 31] + - !!python/tuple [4, 13] + - !!python/tuple [19, 1] + - !!python/tuple [20, 9] + - !!python/tuple [6, 12] + - !!python/tuple [0, 14] + - !!python/tuple [22, 5] + - !!python/tuple [8, 14] + - !!python/tuple [10, 2] + - !!python/tuple [25, 3] + - !!python/tuple [18, 6] + - !!python/tuple [14, 0] + - !!python/tuple [25, 22] + - !!python/tuple [15, 3] + - !!python/tuple [31, 8] + - !!python/tuple [12, 1] + - !!python/tuple [17, 26] + - !!python/tuple [13, 29] + - !!python/tuple [4, 29] + - !!python/tuple [28, 4] + - !!python/tuple [22, 12] + - !!python/tuple [13, 0] + - !!python/tuple [19, 19] + - !!python/tuple [8, 11] + - !!python/tuple [21, 19] + - !!python/tuple [7, 7] + - !!python/tuple [3, 19] + - !!python/tuple [10, 6] + - !!python/tuple [27, 8] + - !!python/tuple [0, 9] + - !!python/tuple [17, 13] + - !!python/tuple [14, 2] + - !!python/tuple [28, 11] + - !!python/tuple [25, 27] + - !!python/tuple [0, 27] + - !!python/tuple [0, 0] + - !!python/tuple [14, 18] + - !!python/tuple [14, 27] + - !!python/tuple [3, 27] + - !!python/tuple [15, 29] + - !!python/tuple [13, 19] + - !!python/tuple [18, 10] + - !!python/tuple [19, 5] + - !!python/tuple [20, 7] + - !!python/tuple [20, 26] + - !!python/tuple [0, 10] + - !!python/tuple [1, 15] + - !!python/tuple [17, 30] + - !!python/tuple [28, 24] + - !!python/tuple [9, 7] + - !!python/tuple [21, 21] + - !!python/tuple [8, 25] + - !!python/tuple [9, 11] + - !!python/tuple [11, 13] + - !!python/tuple [24, 10] + - !!python/tuple [28, 25] + - !!python/tuple [17, 2] + - !!python/tuple [11, 23] + - !!python/tuple [28, 29] + - !!python/tuple [2, 10] + - !!python/tuple [4, 8] + - !!python/tuple [16, 9] + - !!python/tuple [24, 19] + - !!python/tuple [27, 1] + - !!python/tuple [8, 6] + - !!python/tuple [23, 8] + - !!python/tuple [27, 14] + - !!python/tuple [11, 16] + - !!python/tuple [25, 11] + - !!python/tuple [19, 3] + - !!python/tuple [31, 12] + - !!python/tuple [31, 4] + - !!python/tuple [25, 10] + - !!python/tuple [29, 1] + - !!python/tuple [1, 31] + - !!python/tuple [31, 15] + - !!python/tuple [7, 11] + - !!python/tuple [2, 5] + - !!python/tuple [26, 22] + - !!python/tuple [14, 25] + - !!python/tuple [16, 23] + - !!python/tuple [24, 28] + - !!python/tuple [26, 9] + - !!python/tuple [18, 13] + - !!python/tuple [21, 16] + - !!python/tuple [7, 24] + - !!python/tuple [5, 29] + - !!python/tuple [1, 18] + - !!python/tuple [22, 7] + - !!python/tuple [31, 29] + - !!python/tuple [14, 5] + - !!python/tuple [29, 9] + - !!python/tuple [23, 11] + - !!python/tuple [10, 25] + - !!python/tuple [21, 4] + - !!python/tuple [6, 23] + - !!python/tuple [20, 19] + - !!python/tuple [13, 27] + - !!python/tuple [12, 23] + - !!python/tuple [28, 27] + - !!python/tuple [10, 3] + - !!python/tuple [12, 31] + - !!python/tuple [21, 15] + - !!python/tuple [30, 16] + - !!python/tuple [29, 0] + - !!python/tuple [16, 1] + - !!python/tuple [21, 14] + - !!python/tuple [21, 20] + - !!python/tuple [27, 29] + - !!python/tuple [4, 0] + - !!python/tuple [9, 14] + - !!python/tuple [26, 28] + - !!python/tuple [15, 9] + - !!python/tuple [6, 20] + - !!python/tuple [30, 24] + - !!python/tuple [5, 21] + - !!python/tuple [15, 22] + - !!python/tuple [4, 11] + - !!python/tuple [3, 22] + - !!python/tuple [28, 23] + - !!python/tuple [23, 10] + - !!python/tuple [11, 26] + - !!python/tuple [6, 27] + - !!python/tuple [14, 30] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex41.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex41.yaml new file mode 100644 index 0000000..9035074 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex41.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [10, 11] + name: agent0 + start: [31, 12] +- goal: [18, 10] + name: agent1 + start: [28, 6] +- goal: [15, 28] + name: agent2 + start: [29, 1] +- goal: [16, 12] + name: agent3 + start: [12, 4] +- goal: [1, 9] + name: agent4 + start: [28, 24] +- goal: [31, 4] + name: agent5 + start: [23, 12] +- goal: [14, 27] + name: agent6 + start: [28, 30] +- goal: [21, 25] + name: agent7 + start: [14, 15] +- goal: [13, 5] + name: agent8 + start: [28, 23] +- goal: [17, 24] + name: agent9 + start: [30, 21] +- goal: [10, 3] + name: agent10 + start: [21, 29] +- goal: [13, 21] + name: agent11 + start: [11, 16] +- goal: [12, 10] + name: agent12 + start: [30, 4] +- goal: [10, 13] + name: agent13 + start: [12, 18] +- goal: [7, 15] + name: agent14 + start: [24, 0] +- goal: [28, 7] + name: agent15 + start: [26, 24] +- goal: [2, 25] + name: agent16 + start: [22, 9] +- goal: [9, 2] + name: agent17 + start: [23, 25] +- goal: [21, 19] + name: agent18 + start: [25, 22] +- goal: [23, 23] + name: agent19 + start: [1, 11] +- goal: [26, 10] + name: agent20 + start: [15, 26] +- goal: [13, 19] + name: agent21 + start: [18, 6] +- goal: [3, 28] + name: agent22 + start: [20, 20] +- goal: [30, 27] + name: agent23 + start: [22, 18] +- goal: [21, 5] + name: agent24 + start: [2, 1] +- goal: [3, 17] + name: agent25 + start: [2, 27] +- goal: [17, 10] + name: agent26 + start: [7, 13] +- goal: [0, 10] + name: agent27 + start: [28, 3] +- goal: [19, 31] + name: agent28 + start: [10, 16] +- goal: [12, 7] + name: agent29 + start: [6, 21] +- goal: [31, 2] + name: agent30 + start: [27, 30] +- goal: [10, 8] + name: agent31 + start: [17, 18] +- goal: [12, 1] + name: agent32 + start: [10, 2] +- goal: [22, 27] + name: agent33 + start: [31, 9] +- goal: [29, 22] + name: agent34 + start: [14, 18] +- goal: [29, 18] + name: agent35 + start: [31, 22] +- goal: [14, 29] + name: agent36 + start: [17, 2] +- goal: [30, 18] + name: agent37 + start: [9, 12] +- goal: [12, 28] + name: agent38 + start: [30, 18] +- goal: [14, 19] + name: agent39 + start: [29, 28] +- goal: [1, 28] + name: agent40 + start: [16, 15] +- goal: [17, 5] + name: agent41 + start: [31, 8] +- goal: [5, 22] + name: agent42 + start: [11, 17] +- goal: [12, 18] + name: agent43 + start: [15, 2] +- goal: [3, 19] + name: agent44 + start: [17, 17] +- goal: [19, 30] + name: agent45 + start: [9, 22] +- goal: [2, 7] + name: agent46 + start: [2, 25] +- goal: [11, 29] + name: agent47 + start: [31, 30] +- goal: [6, 16] + name: agent48 + start: [7, 30] +- goal: [8, 16] + name: agent49 + start: [27, 31] +- goal: [13, 28] + name: agent50 + start: [1, 23] +- goal: [20, 22] + name: agent51 + start: [12, 29] +- goal: [21, 8] + name: agent52 + start: [23, 7] +- goal: [20, 24] + name: agent53 + start: [21, 18] +- goal: [14, 1] + name: agent54 + start: [18, 4] +- goal: [27, 0] + name: agent55 + start: [21, 16] +- goal: [3, 6] + name: agent56 + start: [14, 20] +- goal: [13, 6] + name: agent57 + start: [6, 13] +- goal: [6, 6] + name: agent58 + start: [0, 5] +- goal: [2, 14] + name: agent59 + start: [9, 15] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [25, 15] + - !!python/tuple [20, 18] + - !!python/tuple [13, 27] + - !!python/tuple [7, 7] + - !!python/tuple [8, 17] + - !!python/tuple [28, 15] + - !!python/tuple [27, 20] + - !!python/tuple [21, 21] + - !!python/tuple [4, 11] + - !!python/tuple [16, 0] + - !!python/tuple [18, 30] + - !!python/tuple [30, 9] + - !!python/tuple [18, 9] + - !!python/tuple [7, 19] + - !!python/tuple [29, 26] + - !!python/tuple [4, 21] + - !!python/tuple [16, 17] + - !!python/tuple [25, 4] + - !!python/tuple [18, 18] + - !!python/tuple [5, 23] + - !!python/tuple [2, 26] + - !!python/tuple [18, 28] + - !!python/tuple [29, 23] + - !!python/tuple [24, 1] + - !!python/tuple [13, 9] + - !!python/tuple [24, 23] + - !!python/tuple [0, 21] + - !!python/tuple [28, 21] + - !!python/tuple [15, 4] + - !!python/tuple [5, 7] + - !!python/tuple [13, 22] + - !!python/tuple [9, 26] + - !!python/tuple [29, 17] + - !!python/tuple [30, 28] + - !!python/tuple [25, 20] + - !!python/tuple [2, 24] + - !!python/tuple [6, 27] + - !!python/tuple [2, 0] + - !!python/tuple [15, 7] + - !!python/tuple [30, 26] + - !!python/tuple [0, 13] + - !!python/tuple [9, 14] + - !!python/tuple [28, 14] + - !!python/tuple [30, 20] + - !!python/tuple [28, 4] + - !!python/tuple [30, 0] + - !!python/tuple [31, 14] + - !!python/tuple [24, 2] + - !!python/tuple [31, 28] + - !!python/tuple [5, 28] + - !!python/tuple [8, 23] + - !!python/tuple [2, 9] + - !!python/tuple [25, 5] + - !!python/tuple [21, 6] + - !!python/tuple [16, 8] + - !!python/tuple [1, 19] + - !!python/tuple [28, 11] + - !!python/tuple [4, 27] + - !!python/tuple [30, 31] + - !!python/tuple [20, 17] + - !!python/tuple [22, 30] + - !!python/tuple [0, 28] + - !!python/tuple [17, 1] + - !!python/tuple [17, 28] + - !!python/tuple [30, 11] + - !!python/tuple [8, 26] + - !!python/tuple [0, 22] + - !!python/tuple [9, 31] + - !!python/tuple [29, 21] + - !!python/tuple [21, 4] + - !!python/tuple [21, 30] + - !!python/tuple [21, 11] + - !!python/tuple [17, 21] + - !!python/tuple [5, 11] + - !!python/tuple [22, 11] + - !!python/tuple [25, 8] + - !!python/tuple [13, 0] + - !!python/tuple [1, 22] + - !!python/tuple [24, 30] + - !!python/tuple [19, 7] + - !!python/tuple [0, 31] + - !!python/tuple [7, 6] + - !!python/tuple [18, 11] + - !!python/tuple [23, 16] + - !!python/tuple [15, 20] + - !!python/tuple [5, 6] + - !!python/tuple [23, 14] + - !!python/tuple [14, 31] + - !!python/tuple [26, 30] + - !!python/tuple [24, 7] + - !!python/tuple [25, 26] + - !!python/tuple [11, 28] + - !!python/tuple [26, 31] + - !!python/tuple [16, 2] + - !!python/tuple [25, 27] + - !!python/tuple [27, 29] + - !!python/tuple [16, 3] + - !!python/tuple [12, 13] + - !!python/tuple [12, 0] + - !!python/tuple [10, 31] + - !!python/tuple [29, 5] + - !!python/tuple [27, 8] + - !!python/tuple [14, 0] + - !!python/tuple [7, 10] + - !!python/tuple [10, 6] + - !!python/tuple [27, 19] + - !!python/tuple [31, 15] + - !!python/tuple [3, 14] + - !!python/tuple [1, 30] + - !!python/tuple [23, 13] + - !!python/tuple [8, 2] + - !!python/tuple [5, 12] + - !!python/tuple [4, 10] + - !!python/tuple [16, 24] + - !!python/tuple [20, 14] + - !!python/tuple [7, 28] + - !!python/tuple [11, 9] + - !!python/tuple [17, 25] + - !!python/tuple [15, 16] + - !!python/tuple [19, 16] + - !!python/tuple [20, 8] + - !!python/tuple [12, 26] + - !!python/tuple [17, 15] + - !!python/tuple [24, 5] + - !!python/tuple [30, 8] + - !!python/tuple [22, 12] + - !!python/tuple [26, 18] + - !!python/tuple [1, 29] + - !!python/tuple [5, 20] + - !!python/tuple [0, 29] + - !!python/tuple [3, 15] + - !!python/tuple [29, 29] + - !!python/tuple [15, 19] + - !!python/tuple [3, 24] + - !!python/tuple [9, 4] + - !!python/tuple [3, 27] + - !!python/tuple [21, 7] + - !!python/tuple [19, 3] + - !!python/tuple [12, 15] + - !!python/tuple [25, 7] + - !!python/tuple [19, 1] + - !!python/tuple [17, 4] + - !!python/tuple [25, 1] + - !!python/tuple [20, 9] + - !!python/tuple [26, 19] + - !!python/tuple [5, 0] + - !!python/tuple [6, 2] + - !!python/tuple [7, 17] + - !!python/tuple [8, 18] + - !!python/tuple [24, 12] + - !!python/tuple [3, 20] + - !!python/tuple [22, 15] + - !!python/tuple [22, 23] + - !!python/tuple [24, 6] + - !!python/tuple [25, 25] + - !!python/tuple [25, 19] + - !!python/tuple [0, 30] + - !!python/tuple [23, 20] + - !!python/tuple [6, 9] + - !!python/tuple [9, 5] + - !!python/tuple [19, 0] + - !!python/tuple [14, 22] + - !!python/tuple [1, 18] + - !!python/tuple [3, 21] + - !!python/tuple [16, 1] + - !!python/tuple [2, 2] + - !!python/tuple [29, 13] + - !!python/tuple [7, 25] + - !!python/tuple [11, 1] + - !!python/tuple [3, 2] + - !!python/tuple [15, 8] + - !!python/tuple [3, 16] + - !!python/tuple [10, 12] + - !!python/tuple [19, 5] + - !!python/tuple [1, 14] + - !!python/tuple [23, 31] + - !!python/tuple [24, 3] + - !!python/tuple [3, 8] + - !!python/tuple [28, 31] + - !!python/tuple [3, 25] + - !!python/tuple [7, 12] + - !!python/tuple [17, 22] + - !!python/tuple [26, 27] + - !!python/tuple [11, 4] + - !!python/tuple [21, 17] + - !!python/tuple [6, 20] + - !!python/tuple [18, 25] + - !!python/tuple [21, 2] + - !!python/tuple [15, 0] + - !!python/tuple [14, 10] + - !!python/tuple [19, 12] + - !!python/tuple [11, 5] + - !!python/tuple [27, 3] + - !!python/tuple [13, 30] + - !!python/tuple [28, 25] + - !!python/tuple [11, 15] + - !!python/tuple [20, 12] + - !!python/tuple [4, 18] + - !!python/tuple [14, 8] + - !!python/tuple [6, 7] + - !!python/tuple [31, 31] + - !!python/tuple [18, 22] + - !!python/tuple [26, 1] + - !!python/tuple [24, 16] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex42.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex42.yaml new file mode 100644 index 0000000..1445075 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex42.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [16, 20] + name: agent0 + start: [4, 10] +- goal: [19, 20] + name: agent1 + start: [10, 23] +- goal: [6, 10] + name: agent2 + start: [14, 1] +- goal: [9, 22] + name: agent3 + start: [1, 18] +- goal: [13, 11] + name: agent4 + start: [7, 22] +- goal: [31, 26] + name: agent5 + start: [23, 6] +- goal: [1, 20] + name: agent6 + start: [17, 21] +- goal: [1, 2] + name: agent7 + start: [10, 28] +- goal: [19, 4] + name: agent8 + start: [13, 6] +- goal: [18, 17] + name: agent9 + start: [12, 2] +- goal: [5, 14] + name: agent10 + start: [18, 18] +- goal: [29, 0] + name: agent11 + start: [13, 27] +- goal: [0, 5] + name: agent12 + start: [16, 29] +- goal: [23, 18] + name: agent13 + start: [14, 19] +- goal: [5, 30] + name: agent14 + start: [30, 6] +- goal: [31, 23] + name: agent15 + start: [5, 0] +- goal: [27, 19] + name: agent16 + start: [30, 27] +- goal: [23, 13] + name: agent17 + start: [25, 11] +- goal: [1, 6] + name: agent18 + start: [0, 14] +- goal: [12, 27] + name: agent19 + start: [29, 5] +- goal: [18, 11] + name: agent20 + start: [31, 22] +- goal: [3, 7] + name: agent21 + start: [29, 19] +- goal: [28, 9] + name: agent22 + start: [11, 24] +- goal: [6, 16] + name: agent23 + start: [15, 1] +- goal: [13, 25] + name: agent24 + start: [12, 10] +- goal: [11, 26] + name: agent25 + start: [1, 4] +- goal: [16, 9] + name: agent26 + start: [13, 1] +- goal: [24, 12] + name: agent27 + start: [31, 13] +- goal: [28, 20] + name: agent28 + start: [6, 13] +- goal: [28, 12] + name: agent29 + start: [20, 25] +- goal: [29, 5] + name: agent30 + start: [19, 17] +- goal: [20, 8] + name: agent31 + start: [18, 29] +- goal: [22, 4] + name: agent32 + start: [13, 22] +- goal: [31, 28] + name: agent33 + start: [25, 29] +- goal: [22, 23] + name: agent34 + start: [6, 22] +- goal: [10, 28] + name: agent35 + start: [27, 29] +- goal: [7, 28] + name: agent36 + start: [18, 12] +- goal: [18, 5] + name: agent37 + start: [21, 14] +- goal: [11, 18] + name: agent38 + start: [7, 0] +- goal: [24, 22] + name: agent39 + start: [19, 26] +- goal: [22, 28] + name: agent40 + start: [8, 10] +- goal: [0, 6] + name: agent41 + start: [13, 10] +- goal: [20, 21] + name: agent42 + start: [1, 24] +- goal: [29, 13] + name: agent43 + start: [20, 22] +- goal: [28, 16] + name: agent44 + start: [25, 23] +- goal: [21, 19] + name: agent45 + start: [14, 20] +- goal: [21, 23] + name: agent46 + start: [21, 18] +- goal: [30, 25] + name: agent47 + start: [5, 14] +- goal: [14, 3] + name: agent48 + start: [0, 12] +- goal: [1, 16] + name: agent49 + start: [25, 2] +- goal: [13, 4] + name: agent50 + start: [29, 27] +- goal: [18, 4] + name: agent51 + start: [12, 23] +- goal: [26, 26] + name: agent52 + start: [6, 25] +- goal: [17, 17] + name: agent53 + start: [11, 19] +- goal: [17, 14] + name: agent54 + start: [6, 4] +- goal: [26, 15] + name: agent55 + start: [28, 13] +- goal: [3, 27] + name: agent56 + start: [23, 3] +- goal: [24, 13] + name: agent57 + start: [23, 22] +- goal: [12, 0] + name: agent58 + start: [28, 27] +- goal: [19, 31] + name: agent59 + start: [23, 21] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [6, 12] + - !!python/tuple [25, 24] + - !!python/tuple [0, 2] + - !!python/tuple [11, 9] + - !!python/tuple [9, 11] + - !!python/tuple [11, 21] + - !!python/tuple [15, 26] + - !!python/tuple [23, 24] + - !!python/tuple [6, 19] + - !!python/tuple [15, 22] + - !!python/tuple [19, 29] + - !!python/tuple [1, 5] + - !!python/tuple [6, 5] + - !!python/tuple [8, 16] + - !!python/tuple [29, 4] + - !!python/tuple [8, 3] + - !!python/tuple [1, 23] + - !!python/tuple [24, 4] + - !!python/tuple [5, 13] + - !!python/tuple [1, 14] + - !!python/tuple [25, 6] + - !!python/tuple [27, 6] + - !!python/tuple [7, 10] + - !!python/tuple [26, 25] + - !!python/tuple [15, 18] + - !!python/tuple [20, 27] + - !!python/tuple [19, 3] + - !!python/tuple [26, 29] + - !!python/tuple [25, 9] + - !!python/tuple [29, 15] + - !!python/tuple [0, 8] + - !!python/tuple [0, 4] + - !!python/tuple [3, 21] + - !!python/tuple [5, 21] + - !!python/tuple [5, 10] + - !!python/tuple [7, 4] + - !!python/tuple [13, 31] + - !!python/tuple [12, 19] + - !!python/tuple [7, 3] + - !!python/tuple [22, 26] + - !!python/tuple [5, 26] + - !!python/tuple [23, 5] + - !!python/tuple [21, 13] + - !!python/tuple [29, 30] + - !!python/tuple [3, 6] + - !!python/tuple [21, 6] + - !!python/tuple [11, 3] + - !!python/tuple [4, 21] + - !!python/tuple [12, 20] + - !!python/tuple [7, 30] + - !!python/tuple [28, 3] + - !!python/tuple [17, 0] + - !!python/tuple [8, 19] + - !!python/tuple [17, 31] + - !!python/tuple [10, 24] + - !!python/tuple [21, 1] + - !!python/tuple [11, 13] + - !!python/tuple [17, 20] + - !!python/tuple [20, 13] + - !!python/tuple [15, 24] + - !!python/tuple [10, 13] + - !!python/tuple [25, 8] + - !!python/tuple [17, 19] + - !!python/tuple [6, 9] + - !!python/tuple [12, 12] + - !!python/tuple [22, 16] + - !!python/tuple [14, 30] + - !!python/tuple [22, 11] + - !!python/tuple [31, 15] + - !!python/tuple [4, 23] + - !!python/tuple [12, 8] + - !!python/tuple [8, 30] + - !!python/tuple [30, 13] + - !!python/tuple [0, 9] + - !!python/tuple [26, 11] + - !!python/tuple [9, 7] + - !!python/tuple [4, 5] + - !!python/tuple [26, 28] + - !!python/tuple [5, 5] + - !!python/tuple [16, 4] + - !!python/tuple [10, 29] + - !!python/tuple [27, 15] + - !!python/tuple [8, 31] + - !!python/tuple [5, 18] + - !!python/tuple [3, 29] + - !!python/tuple [0, 22] + - !!python/tuple [3, 18] + - !!python/tuple [26, 6] + - !!python/tuple [24, 0] + - !!python/tuple [19, 11] + - !!python/tuple [8, 15] + - !!python/tuple [13, 20] + - !!python/tuple [3, 1] + - !!python/tuple [24, 15] + - !!python/tuple [4, 7] + - !!python/tuple [0, 0] + - !!python/tuple [29, 16] + - !!python/tuple [25, 10] + - !!python/tuple [25, 4] + - !!python/tuple [27, 11] + - !!python/tuple [0, 30] + - !!python/tuple [5, 22] + - !!python/tuple [25, 18] + - !!python/tuple [10, 7] + - !!python/tuple [16, 21] + - !!python/tuple [11, 23] + - !!python/tuple [13, 24] + - !!python/tuple [20, 0] + - !!python/tuple [8, 8] + - !!python/tuple [27, 4] + - !!python/tuple [21, 17] + - !!python/tuple [9, 24] + - !!python/tuple [8, 13] + - !!python/tuple [25, 26] + - !!python/tuple [7, 31] + - !!python/tuple [8, 6] + - !!python/tuple [31, 9] + - !!python/tuple [15, 15] + - !!python/tuple [9, 28] + - !!python/tuple [2, 10] + - !!python/tuple [8, 5] + - !!python/tuple [1, 17] + - !!python/tuple [14, 26] + - !!python/tuple [15, 5] + - !!python/tuple [15, 25] + - !!python/tuple [26, 30] + - !!python/tuple [11, 28] + - !!python/tuple [23, 12] + - !!python/tuple [16, 18] + - !!python/tuple [21, 29] + - !!python/tuple [30, 3] + - !!python/tuple [25, 15] + - !!python/tuple [4, 25] + - !!python/tuple [20, 3] + - !!python/tuple [21, 26] + - !!python/tuple [14, 22] + - !!python/tuple [20, 20] + - !!python/tuple [20, 15] + - !!python/tuple [3, 0] + - !!python/tuple [22, 30] + - !!python/tuple [8, 4] + - !!python/tuple [10, 16] + - !!python/tuple [5, 23] + - !!python/tuple [26, 20] + - !!python/tuple [3, 15] + - !!python/tuple [9, 10] + - !!python/tuple [16, 17] + - !!python/tuple [10, 1] + - !!python/tuple [6, 18] + - !!python/tuple [5, 16] + - !!python/tuple [4, 11] + - !!python/tuple [3, 10] + - !!python/tuple [17, 29] + - !!python/tuple [27, 28] + - !!python/tuple [7, 16] + - !!python/tuple [3, 16] + - !!python/tuple [9, 23] + - !!python/tuple [22, 6] + - !!python/tuple [0, 21] + - !!python/tuple [31, 16] + - !!python/tuple [13, 12] + - !!python/tuple [24, 7] + - !!python/tuple [10, 4] + - !!python/tuple [16, 22] + - !!python/tuple [6, 31] + - !!python/tuple [2, 18] + - !!python/tuple [11, 6] + - !!python/tuple [25, 13] + - !!python/tuple [3, 12] + - !!python/tuple [16, 5] + - !!python/tuple [12, 9] + - !!python/tuple [15, 2] + - !!python/tuple [1, 25] + - !!python/tuple [15, 6] + - !!python/tuple [17, 13] + - !!python/tuple [12, 29] + - !!python/tuple [10, 3] + - !!python/tuple [17, 3] + - !!python/tuple [30, 12] + - !!python/tuple [19, 1] + - !!python/tuple [2, 2] + - !!python/tuple [22, 25] + - !!python/tuple [3, 14] + - !!python/tuple [4, 13] + - !!python/tuple [13, 26] + - !!python/tuple [24, 24] + - !!python/tuple [8, 28] + - !!python/tuple [1, 15] + - !!python/tuple [29, 18] + - !!python/tuple [9, 18] + - !!python/tuple [8, 23] + - !!python/tuple [17, 7] + - !!python/tuple [13, 23] + - !!python/tuple [14, 21] + - !!python/tuple [10, 18] + - !!python/tuple [30, 1] + - !!python/tuple [28, 10] + - !!python/tuple [12, 7] + - !!python/tuple [13, 14] + - !!python/tuple [0, 23] + - !!python/tuple [19, 23] + - !!python/tuple [22, 29] + - !!python/tuple [7, 15] + - !!python/tuple [18, 3] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex43.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex43.yaml new file mode 100644 index 0000000..8a69516 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex43.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [26, 7] + name: agent0 + start: [4, 1] +- goal: [31, 27] + name: agent1 + start: [8, 28] +- goal: [22, 23] + name: agent2 + start: [31, 17] +- goal: [8, 3] + name: agent3 + start: [4, 3] +- goal: [4, 26] + name: agent4 + start: [1, 23] +- goal: [21, 4] + name: agent5 + start: [8, 1] +- goal: [23, 1] + name: agent6 + start: [27, 20] +- goal: [29, 13] + name: agent7 + start: [31, 30] +- goal: [22, 6] + name: agent8 + start: [13, 9] +- goal: [20, 30] + name: agent9 + start: [31, 11] +- goal: [2, 7] + name: agent10 + start: [4, 4] +- goal: [11, 21] + name: agent11 + start: [21, 28] +- goal: [15, 29] + name: agent12 + start: [12, 5] +- goal: [21, 17] + name: agent13 + start: [15, 11] +- goal: [11, 11] + name: agent14 + start: [7, 5] +- goal: [21, 19] + name: agent15 + start: [14, 25] +- goal: [2, 10] + name: agent16 + start: [17, 1] +- goal: [11, 7] + name: agent17 + start: [23, 28] +- goal: [8, 19] + name: agent18 + start: [0, 3] +- goal: [8, 24] + name: agent19 + start: [25, 14] +- goal: [14, 10] + name: agent20 + start: [22, 13] +- goal: [4, 10] + name: agent21 + start: [1, 27] +- goal: [30, 25] + name: agent22 + start: [7, 22] +- goal: [19, 17] + name: agent23 + start: [11, 8] +- goal: [13, 8] + name: agent24 + start: [0, 26] +- goal: [29, 9] + name: agent25 + start: [17, 2] +- goal: [10, 13] + name: agent26 + start: [28, 5] +- goal: [16, 13] + name: agent27 + start: [5, 6] +- goal: [1, 9] + name: agent28 + start: [28, 10] +- goal: [14, 12] + name: agent29 + start: [2, 23] +- goal: [13, 6] + name: agent30 + start: [26, 16] +- goal: [7, 6] + name: agent31 + start: [25, 7] +- goal: [30, 21] + name: agent32 + start: [24, 12] +- goal: [19, 30] + name: agent33 + start: [16, 23] +- goal: [30, 30] + name: agent34 + start: [11, 30] +- goal: [25, 3] + name: agent35 + start: [14, 26] +- goal: [11, 15] + name: agent36 + start: [4, 19] +- goal: [30, 22] + name: agent37 + start: [7, 14] +- goal: [29, 6] + name: agent38 + start: [6, 20] +- goal: [29, 18] + name: agent39 + start: [2, 26] +- goal: [4, 16] + name: agent40 + start: [21, 21] +- goal: [4, 4] + name: agent41 + start: [5, 23] +- goal: [21, 6] + name: agent42 + start: [16, 15] +- goal: [25, 29] + name: agent43 + start: [16, 24] +- goal: [29, 8] + name: agent44 + start: [10, 10] +- goal: [3, 10] + name: agent45 + start: [17, 17] +- goal: [0, 0] + name: agent46 + start: [7, 23] +- goal: [20, 24] + name: agent47 + start: [0, 24] +- goal: [24, 5] + name: agent48 + start: [7, 6] +- goal: [4, 17] + name: agent49 + start: [24, 13] +- goal: [19, 12] + name: agent50 + start: [9, 27] +- goal: [6, 12] + name: agent51 + start: [23, 10] +- goal: [30, 24] + name: agent52 + start: [5, 10] +- goal: [11, 26] + name: agent53 + start: [28, 12] +- goal: [9, 19] + name: agent54 + start: [14, 11] +- goal: [27, 6] + name: agent55 + start: [7, 0] +- goal: [30, 23] + name: agent56 + start: [26, 2] +- goal: [2, 5] + name: agent57 + start: [13, 2] +- goal: [18, 8] + name: agent58 + start: [31, 23] +- goal: [20, 18] + name: agent59 + start: [6, 22] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [28, 18] + - !!python/tuple [18, 23] + - !!python/tuple [5, 8] + - !!python/tuple [17, 15] + - !!python/tuple [27, 10] + - !!python/tuple [22, 7] + - !!python/tuple [11, 9] + - !!python/tuple [28, 25] + - !!python/tuple [13, 20] + - !!python/tuple [29, 19] + - !!python/tuple [12, 13] + - !!python/tuple [11, 10] + - !!python/tuple [24, 9] + - !!python/tuple [12, 9] + - !!python/tuple [6, 0] + - !!python/tuple [23, 29] + - !!python/tuple [31, 0] + - !!python/tuple [3, 7] + - !!python/tuple [6, 19] + - !!python/tuple [5, 30] + - !!python/tuple [1, 4] + - !!python/tuple [25, 18] + - !!python/tuple [19, 24] + - !!python/tuple [24, 8] + - !!python/tuple [29, 23] + - !!python/tuple [23, 23] + - !!python/tuple [5, 29] + - !!python/tuple [13, 31] + - !!python/tuple [10, 23] + - !!python/tuple [14, 1] + - !!python/tuple [28, 14] + - !!python/tuple [17, 7] + - !!python/tuple [27, 14] + - !!python/tuple [13, 23] + - !!python/tuple [16, 17] + - !!python/tuple [27, 16] + - !!python/tuple [4, 11] + - !!python/tuple [14, 6] + - !!python/tuple [26, 27] + - !!python/tuple [22, 21] + - !!python/tuple [3, 28] + - !!python/tuple [11, 23] + - !!python/tuple [27, 18] + - !!python/tuple [22, 1] + - !!python/tuple [15, 9] + - !!python/tuple [6, 23] + - !!python/tuple [6, 14] + - !!python/tuple [10, 29] + - !!python/tuple [9, 21] + - !!python/tuple [21, 25] + - !!python/tuple [6, 13] + - !!python/tuple [3, 30] + - !!python/tuple [10, 1] + - !!python/tuple [24, 31] + - !!python/tuple [25, 1] + - !!python/tuple [24, 3] + - !!python/tuple [16, 7] + - !!python/tuple [9, 29] + - !!python/tuple [22, 11] + - !!python/tuple [18, 26] + - !!python/tuple [27, 28] + - !!python/tuple [9, 5] + - !!python/tuple [7, 24] + - !!python/tuple [11, 0] + - !!python/tuple [0, 23] + - !!python/tuple [24, 17] + - !!python/tuple [12, 19] + - !!python/tuple [3, 19] + - !!python/tuple [21, 3] + - !!python/tuple [3, 3] + - !!python/tuple [19, 4] + - !!python/tuple [29, 21] + - !!python/tuple [7, 27] + - !!python/tuple [19, 13] + - !!python/tuple [25, 25] + - !!python/tuple [18, 13] + - !!python/tuple [28, 7] + - !!python/tuple [1, 25] + - !!python/tuple [17, 21] + - !!python/tuple [1, 21] + - !!python/tuple [12, 7] + - !!python/tuple [17, 20] + - !!python/tuple [17, 29] + - !!python/tuple [1, 31] + - !!python/tuple [14, 3] + - !!python/tuple [10, 4] + - !!python/tuple [13, 19] + - !!python/tuple [22, 20] + - !!python/tuple [12, 27] + - !!python/tuple [29, 3] + - !!python/tuple [31, 12] + - !!python/tuple [30, 11] + - !!python/tuple [19, 31] + - !!python/tuple [23, 3] + - !!python/tuple [23, 19] + - !!python/tuple [21, 13] + - !!python/tuple [16, 19] + - !!python/tuple [29, 16] + - !!python/tuple [29, 28] + - !!python/tuple [1, 11] + - !!python/tuple [3, 24] + - !!python/tuple [9, 0] + - !!python/tuple [15, 31] + - !!python/tuple [4, 21] + - !!python/tuple [21, 12] + - !!python/tuple [6, 1] + - !!python/tuple [24, 10] + - !!python/tuple [7, 17] + - !!python/tuple [18, 5] + - !!python/tuple [31, 28] + - !!python/tuple [24, 28] + - !!python/tuple [21, 15] + - !!python/tuple [25, 12] + - !!python/tuple [6, 10] + - !!python/tuple [9, 13] + - !!python/tuple [22, 3] + - !!python/tuple [23, 15] + - !!python/tuple [21, 14] + - !!python/tuple [13, 12] + - !!python/tuple [30, 19] + - !!python/tuple [2, 28] + - !!python/tuple [19, 1] + - !!python/tuple [2, 13] + - !!python/tuple [3, 25] + - !!python/tuple [17, 0] + - !!python/tuple [10, 27] + - !!python/tuple [14, 5] + - !!python/tuple [28, 0] + - !!python/tuple [13, 25] + - !!python/tuple [19, 16] + - !!python/tuple [3, 23] + - !!python/tuple [15, 1] + - !!python/tuple [9, 31] + - !!python/tuple [13, 27] + - !!python/tuple [9, 3] + - !!python/tuple [16, 10] + - !!python/tuple [20, 20] + - !!python/tuple [8, 21] + - !!python/tuple [2, 21] + - !!python/tuple [25, 11] + - !!python/tuple [5, 19] + - !!python/tuple [15, 23] + - !!python/tuple [26, 18] + - !!python/tuple [13, 16] + - !!python/tuple [27, 12] + - !!python/tuple [24, 4] + - !!python/tuple [2, 25] + - !!python/tuple [18, 29] + - !!python/tuple [2, 0] + - !!python/tuple [12, 4] + - !!python/tuple [29, 14] + - !!python/tuple [30, 14] + - !!python/tuple [16, 8] + - !!python/tuple [11, 18] + - !!python/tuple [5, 9] + - !!python/tuple [16, 31] + - !!python/tuple [25, 0] + - !!python/tuple [11, 17] + - !!python/tuple [11, 3] + - !!python/tuple [9, 6] + - !!python/tuple [20, 25] + - !!python/tuple [28, 1] + - !!python/tuple [30, 8] + - !!python/tuple [25, 10] + - !!python/tuple [11, 2] + - !!python/tuple [29, 29] + - !!python/tuple [6, 5] + - !!python/tuple [4, 30] + - !!python/tuple [22, 17] + - !!python/tuple [26, 8] + - !!python/tuple [20, 21] + - !!python/tuple [11, 20] + - !!python/tuple [19, 11] + - !!python/tuple [5, 18] + - !!python/tuple [8, 7] + - !!python/tuple [12, 12] + - !!python/tuple [28, 29] + - !!python/tuple [15, 3] + - !!python/tuple [12, 24] + - !!python/tuple [25, 15] + - !!python/tuple [10, 2] + - !!python/tuple [18, 24] + - !!python/tuple [13, 15] + - !!python/tuple [15, 19] + - !!python/tuple [21, 9] + - !!python/tuple [2, 22] + - !!python/tuple [24, 29] + - !!python/tuple [14, 13] + - !!python/tuple [31, 7] + - !!python/tuple [22, 16] + - !!python/tuple [3, 11] + - !!python/tuple [10, 30] + - !!python/tuple [23, 7] + - !!python/tuple [4, 27] + - !!python/tuple [1, 13] + - !!python/tuple [3, 1] + - !!python/tuple [17, 13] + - !!python/tuple [4, 14] + - !!python/tuple [7, 20] + - !!python/tuple [16, 21] + - !!python/tuple [23, 8] + - !!python/tuple [23, 12] + - !!python/tuple [13, 3] + - !!python/tuple [27, 27] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex44.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex44.yaml new file mode 100644 index 0000000..3cb2b56 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex44.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [2, 14] + name: agent0 + start: [5, 11] +- goal: [4, 12] + name: agent1 + start: [1, 5] +- goal: [5, 31] + name: agent2 + start: [3, 29] +- goal: [22, 3] + name: agent3 + start: [17, 24] +- goal: [22, 12] + name: agent4 + start: [6, 2] +- goal: [8, 10] + name: agent5 + start: [31, 14] +- goal: [29, 7] + name: agent6 + start: [14, 0] +- goal: [21, 20] + name: agent7 + start: [21, 17] +- goal: [3, 16] + name: agent8 + start: [20, 24] +- goal: [18, 16] + name: agent9 + start: [23, 10] +- goal: [8, 23] + name: agent10 + start: [29, 21] +- goal: [14, 6] + name: agent11 + start: [10, 21] +- goal: [6, 13] + name: agent12 + start: [31, 22] +- goal: [21, 14] + name: agent13 + start: [23, 12] +- goal: [17, 29] + name: agent14 + start: [24, 4] +- goal: [23, 26] + name: agent15 + start: [11, 29] +- goal: [2, 7] + name: agent16 + start: [25, 12] +- goal: [15, 3] + name: agent17 + start: [20, 29] +- goal: [28, 20] + name: agent18 + start: [20, 13] +- goal: [17, 6] + name: agent19 + start: [4, 2] +- goal: [24, 0] + name: agent20 + start: [26, 26] +- goal: [0, 10] + name: agent21 + start: [20, 7] +- goal: [4, 31] + name: agent22 + start: [10, 20] +- goal: [17, 27] + name: agent23 + start: [20, 28] +- goal: [15, 11] + name: agent24 + start: [0, 21] +- goal: [4, 15] + name: agent25 + start: [22, 22] +- goal: [16, 13] + name: agent26 + start: [4, 5] +- goal: [7, 27] + name: agent27 + start: [2, 2] +- goal: [8, 26] + name: agent28 + start: [18, 12] +- goal: [13, 10] + name: agent29 + start: [11, 10] +- goal: [15, 0] + name: agent30 + start: [20, 11] +- goal: [2, 1] + name: agent31 + start: [20, 0] +- goal: [25, 10] + name: agent32 + start: [26, 15] +- goal: [20, 0] + name: agent33 + start: [17, 0] +- goal: [27, 14] + name: agent34 + start: [11, 7] +- goal: [12, 21] + name: agent35 + start: [0, 16] +- goal: [6, 21] + name: agent36 + start: [27, 5] +- goal: [30, 24] + name: agent37 + start: [2, 17] +- goal: [5, 14] + name: agent38 + start: [12, 4] +- goal: [23, 11] + name: agent39 + start: [1, 9] +- goal: [30, 16] + name: agent40 + start: [5, 2] +- goal: [7, 31] + name: agent41 + start: [4, 7] +- goal: [8, 2] + name: agent42 + start: [24, 22] +- goal: [31, 17] + name: agent43 + start: [27, 4] +- goal: [13, 1] + name: agent44 + start: [30, 16] +- goal: [22, 15] + name: agent45 + start: [21, 29] +- goal: [29, 11] + name: agent46 + start: [3, 21] +- goal: [26, 24] + name: agent47 + start: [17, 11] +- goal: [26, 14] + name: agent48 + start: [21, 22] +- goal: [13, 30] + name: agent49 + start: [17, 14] +- goal: [30, 4] + name: agent50 + start: [24, 23] +- goal: [7, 17] + name: agent51 + start: [25, 22] +- goal: [30, 2] + name: agent52 + start: [28, 9] +- goal: [10, 3] + name: agent53 + start: [27, 3] +- goal: [24, 9] + name: agent54 + start: [23, 14] +- goal: [4, 19] + name: agent55 + start: [28, 10] +- goal: [4, 4] + name: agent56 + start: [11, 15] +- goal: [27, 7] + name: agent57 + start: [14, 24] +- goal: [27, 4] + name: agent58 + start: [3, 9] +- goal: [17, 31] + name: agent59 + start: [13, 11] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [19, 15] + - !!python/tuple [5, 10] + - !!python/tuple [6, 25] + - !!python/tuple [16, 25] + - !!python/tuple [20, 23] + - !!python/tuple [17, 22] + - !!python/tuple [31, 19] + - !!python/tuple [30, 5] + - !!python/tuple [13, 27] + - !!python/tuple [10, 2] + - !!python/tuple [17, 16] + - !!python/tuple [6, 14] + - !!python/tuple [15, 22] + - !!python/tuple [29, 13] + - !!python/tuple [9, 6] + - !!python/tuple [23, 13] + - !!python/tuple [9, 5] + - !!python/tuple [28, 4] + - !!python/tuple [0, 15] + - !!python/tuple [10, 13] + - !!python/tuple [6, 11] + - !!python/tuple [28, 19] + - !!python/tuple [20, 22] + - !!python/tuple [29, 29] + - !!python/tuple [13, 17] + - !!python/tuple [1, 15] + - !!python/tuple [2, 29] + - !!python/tuple [5, 0] + - !!python/tuple [7, 1] + - !!python/tuple [1, 21] + - !!python/tuple [29, 20] + - !!python/tuple [4, 21] + - !!python/tuple [9, 17] + - !!python/tuple [28, 17] + - !!python/tuple [2, 28] + - !!python/tuple [12, 17] + - !!python/tuple [8, 11] + - !!python/tuple [25, 27] + - !!python/tuple [19, 0] + - !!python/tuple [1, 31] + - !!python/tuple [28, 12] + - !!python/tuple [29, 25] + - !!python/tuple [0, 13] + - !!python/tuple [19, 17] + - !!python/tuple [27, 29] + - !!python/tuple [14, 21] + - !!python/tuple [28, 31] + - !!python/tuple [4, 6] + - !!python/tuple [24, 11] + - !!python/tuple [25, 20] + - !!python/tuple [7, 29] + - !!python/tuple [19, 31] + - !!python/tuple [28, 30] + - !!python/tuple [15, 4] + - !!python/tuple [28, 25] + - !!python/tuple [14, 27] + - !!python/tuple [19, 25] + - !!python/tuple [14, 30] + - !!python/tuple [16, 7] + - !!python/tuple [23, 22] + - !!python/tuple [18, 2] + - !!python/tuple [19, 5] + - !!python/tuple [16, 11] + - !!python/tuple [26, 23] + - !!python/tuple [9, 1] + - !!python/tuple [21, 3] + - !!python/tuple [12, 29] + - !!python/tuple [29, 28] + - !!python/tuple [7, 19] + - !!python/tuple [25, 5] + - !!python/tuple [24, 6] + - !!python/tuple [21, 4] + - !!python/tuple [5, 19] + - !!python/tuple [16, 15] + - !!python/tuple [5, 9] + - !!python/tuple [17, 1] + - !!python/tuple [6, 1] + - !!python/tuple [4, 24] + - !!python/tuple [31, 3] + - !!python/tuple [26, 4] + - !!python/tuple [2, 20] + - !!python/tuple [19, 30] + - !!python/tuple [16, 10] + - !!python/tuple [23, 15] + - !!python/tuple [9, 19] + - !!python/tuple [23, 23] + - !!python/tuple [11, 31] + - !!python/tuple [3, 15] + - !!python/tuple [11, 25] + - !!python/tuple [19, 18] + - !!python/tuple [11, 9] + - !!python/tuple [13, 12] + - !!python/tuple [26, 17] + - !!python/tuple [24, 15] + - !!python/tuple [3, 5] + - !!python/tuple [29, 3] + - !!python/tuple [2, 10] + - !!python/tuple [21, 0] + - !!python/tuple [23, 28] + - !!python/tuple [2, 5] + - !!python/tuple [16, 24] + - !!python/tuple [23, 18] + - !!python/tuple [30, 18] + - !!python/tuple [12, 25] + - !!python/tuple [14, 20] + - !!python/tuple [5, 17] + - !!python/tuple [10, 16] + - !!python/tuple [10, 1] + - !!python/tuple [4, 18] + - !!python/tuple [26, 12] + - !!python/tuple [31, 8] + - !!python/tuple [11, 17] + - !!python/tuple [10, 4] + - !!python/tuple [11, 27] + - !!python/tuple [2, 21] + - !!python/tuple [21, 19] + - !!python/tuple [21, 9] + - !!python/tuple [18, 20] + - !!python/tuple [27, 18] + - !!python/tuple [31, 13] + - !!python/tuple [8, 29] + - !!python/tuple [12, 13] + - !!python/tuple [11, 6] + - !!python/tuple [27, 9] + - !!python/tuple [3, 12] + - !!python/tuple [12, 23] + - !!python/tuple [12, 0] + - !!python/tuple [14, 22] + - !!python/tuple [24, 27] + - !!python/tuple [27, 11] + - !!python/tuple [22, 5] + - !!python/tuple [13, 22] + - !!python/tuple [17, 18] + - !!python/tuple [22, 1] + - !!python/tuple [12, 20] + - !!python/tuple [23, 5] + - !!python/tuple [15, 21] + - !!python/tuple [14, 25] + - !!python/tuple [23, 2] + - !!python/tuple [8, 14] + - !!python/tuple [31, 6] + - !!python/tuple [16, 4] + - !!python/tuple [21, 30] + - !!python/tuple [19, 12] + - !!python/tuple [1, 2] + - !!python/tuple [11, 23] + - !!python/tuple [21, 7] + - !!python/tuple [12, 12] + - !!python/tuple [5, 1] + - !!python/tuple [12, 8] + - !!python/tuple [12, 24] + - !!python/tuple [0, 20] + - !!python/tuple [21, 15] + - !!python/tuple [6, 0] + - !!python/tuple [25, 29] + - !!python/tuple [16, 29] + - !!python/tuple [30, 6] + - !!python/tuple [7, 30] + - !!python/tuple [20, 16] + - !!python/tuple [8, 31] + - !!python/tuple [5, 25] + - !!python/tuple [11, 12] + - !!python/tuple [2, 15] + - !!python/tuple [28, 23] + - !!python/tuple [29, 16] + - !!python/tuple [1, 10] + - !!python/tuple [15, 1] + - !!python/tuple [16, 26] + - !!python/tuple [25, 9] + - !!python/tuple [9, 10] + - !!python/tuple [3, 30] + - !!python/tuple [27, 12] + - !!python/tuple [7, 18] + - !!python/tuple [5, 21] + - !!python/tuple [28, 15] + - !!python/tuple [22, 8] + - !!python/tuple [2, 16] + - !!python/tuple [26, 16] + - !!python/tuple [0, 5] + - !!python/tuple [5, 26] + - !!python/tuple [4, 9] + - !!python/tuple [20, 10] + - !!python/tuple [25, 16] + - !!python/tuple [16, 6] + - !!python/tuple [31, 2] + - !!python/tuple [25, 25] + - !!python/tuple [14, 1] + - !!python/tuple [8, 20] + - !!python/tuple [15, 6] + - !!python/tuple [24, 3] + - !!python/tuple [8, 16] + - !!python/tuple [7, 20] + - !!python/tuple [1, 17] + - !!python/tuple [14, 31] + - !!python/tuple [23, 3] + - !!python/tuple [22, 26] + - !!python/tuple [7, 25] + - !!python/tuple [7, 12] + - !!python/tuple [27, 6] + - !!python/tuple [28, 14] + - !!python/tuple [17, 8] + - !!python/tuple [19, 23] + - !!python/tuple [24, 20] + - !!python/tuple [8, 24] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex45.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex45.yaml new file mode 100644 index 0000000..09385de --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex45.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [5, 3] + name: agent0 + start: [31, 7] +- goal: [15, 13] + name: agent1 + start: [17, 19] +- goal: [16, 9] + name: agent2 + start: [21, 27] +- goal: [21, 26] + name: agent3 + start: [19, 3] +- goal: [17, 1] + name: agent4 + start: [13, 16] +- goal: [18, 2] + name: agent5 + start: [29, 19] +- goal: [5, 9] + name: agent6 + start: [13, 18] +- goal: [6, 26] + name: agent7 + start: [30, 15] +- goal: [25, 24] + name: agent8 + start: [25, 0] +- goal: [8, 29] + name: agent9 + start: [2, 22] +- goal: [4, 13] + name: agent10 + start: [31, 21] +- goal: [2, 16] + name: agent11 + start: [11, 21] +- goal: [12, 15] + name: agent12 + start: [27, 26] +- goal: [18, 26] + name: agent13 + start: [19, 7] +- goal: [14, 3] + name: agent14 + start: [8, 27] +- goal: [30, 27] + name: agent15 + start: [17, 26] +- goal: [26, 15] + name: agent16 + start: [10, 28] +- goal: [16, 18] + name: agent17 + start: [10, 25] +- goal: [28, 24] + name: agent18 + start: [21, 14] +- goal: [5, 25] + name: agent19 + start: [24, 4] +- goal: [24, 2] + name: agent20 + start: [27, 11] +- goal: [30, 11] + name: agent21 + start: [26, 6] +- goal: [20, 0] + name: agent22 + start: [3, 25] +- goal: [27, 8] + name: agent23 + start: [26, 21] +- goal: [22, 26] + name: agent24 + start: [26, 3] +- goal: [23, 6] + name: agent25 + start: [30, 8] +- goal: [28, 29] + name: agent26 + start: [12, 17] +- goal: [28, 6] + name: agent27 + start: [20, 20] +- goal: [4, 8] + name: agent28 + start: [9, 21] +- goal: [29, 16] + name: agent29 + start: [6, 26] +- goal: [26, 3] + name: agent30 + start: [11, 12] +- goal: [6, 17] + name: agent31 + start: [29, 22] +- goal: [26, 6] + name: agent32 + start: [25, 15] +- goal: [9, 18] + name: agent33 + start: [26, 0] +- goal: [7, 7] + name: agent34 + start: [21, 26] +- goal: [12, 13] + name: agent35 + start: [16, 19] +- goal: [30, 5] + name: agent36 + start: [11, 8] +- goal: [31, 22] + name: agent37 + start: [19, 28] +- goal: [3, 31] + name: agent38 + start: [24, 12] +- goal: [11, 12] + name: agent39 + start: [4, 31] +- goal: [8, 25] + name: agent40 + start: [30, 13] +- goal: [21, 22] + name: agent41 + start: [4, 25] +- goal: [8, 8] + name: agent42 + start: [9, 20] +- goal: [18, 13] + name: agent43 + start: [13, 3] +- goal: [16, 3] + name: agent44 + start: [1, 4] +- goal: [21, 24] + name: agent45 + start: [8, 24] +- goal: [28, 20] + name: agent46 + start: [4, 29] +- goal: [9, 20] + name: agent47 + start: [24, 20] +- goal: [9, 28] + name: agent48 + start: [2, 14] +- goal: [18, 31] + name: agent49 + start: [24, 9] +- goal: [11, 2] + name: agent50 + start: [21, 30] +- goal: [7, 14] + name: agent51 + start: [8, 15] +- goal: [26, 23] + name: agent52 + start: [14, 6] +- goal: [14, 17] + name: agent53 + start: [11, 2] +- goal: [14, 26] + name: agent54 + start: [0, 11] +- goal: [21, 2] + name: agent55 + start: [31, 14] +- goal: [15, 29] + name: agent56 + start: [22, 2] +- goal: [22, 12] + name: agent57 + start: [0, 1] +- goal: [10, 7] + name: agent58 + start: [27, 31] +- goal: [26, 2] + name: agent59 + start: [27, 22] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [31, 15] + - !!python/tuple [25, 10] + - !!python/tuple [15, 22] + - !!python/tuple [2, 17] + - !!python/tuple [22, 22] + - !!python/tuple [13, 7] + - !!python/tuple [27, 0] + - !!python/tuple [8, 13] + - !!python/tuple [26, 17] + - !!python/tuple [27, 18] + - !!python/tuple [17, 28] + - !!python/tuple [16, 14] + - !!python/tuple [26, 12] + - !!python/tuple [4, 17] + - !!python/tuple [15, 31] + - !!python/tuple [20, 10] + - !!python/tuple [9, 3] + - !!python/tuple [5, 1] + - !!python/tuple [9, 11] + - !!python/tuple [25, 13] + - !!python/tuple [22, 15] + - !!python/tuple [21, 25] + - !!python/tuple [19, 11] + - !!python/tuple [6, 14] + - !!python/tuple [31, 0] + - !!python/tuple [0, 20] + - !!python/tuple [28, 1] + - !!python/tuple [26, 8] + - !!python/tuple [12, 0] + - !!python/tuple [11, 4] + - !!python/tuple [19, 14] + - !!python/tuple [31, 3] + - !!python/tuple [20, 15] + - !!python/tuple [27, 30] + - !!python/tuple [6, 9] + - !!python/tuple [24, 21] + - !!python/tuple [28, 8] + - !!python/tuple [19, 19] + - !!python/tuple [5, 24] + - !!python/tuple [1, 5] + - !!python/tuple [19, 13] + - !!python/tuple [30, 30] + - !!python/tuple [7, 25] + - !!python/tuple [20, 7] + - !!python/tuple [13, 12] + - !!python/tuple [15, 9] + - !!python/tuple [26, 27] + - !!python/tuple [6, 12] + - !!python/tuple [13, 29] + - !!python/tuple [11, 0] + - !!python/tuple [6, 7] + - !!python/tuple [25, 26] + - !!python/tuple [21, 23] + - !!python/tuple [9, 30] + - !!python/tuple [28, 23] + - !!python/tuple [19, 23] + - !!python/tuple [10, 15] + - !!python/tuple [6, 6] + - !!python/tuple [5, 10] + - !!python/tuple [26, 28] + - !!python/tuple [17, 30] + - !!python/tuple [15, 5] + - !!python/tuple [28, 9] + - !!python/tuple [0, 3] + - !!python/tuple [9, 13] + - !!python/tuple [22, 6] + - !!python/tuple [11, 20] + - !!python/tuple [29, 10] + - !!python/tuple [1, 20] + - !!python/tuple [4, 28] + - !!python/tuple [9, 17] + - !!python/tuple [17, 31] + - !!python/tuple [23, 13] + - !!python/tuple [28, 7] + - !!python/tuple [2, 30] + - !!python/tuple [15, 2] + - !!python/tuple [28, 0] + - !!python/tuple [22, 24] + - !!python/tuple [24, 31] + - !!python/tuple [3, 3] + - !!python/tuple [23, 10] + - !!python/tuple [23, 0] + - !!python/tuple [12, 16] + - !!python/tuple [18, 1] + - !!python/tuple [9, 0] + - !!python/tuple [3, 12] + - !!python/tuple [17, 22] + - !!python/tuple [25, 16] + - !!python/tuple [11, 9] + - !!python/tuple [9, 15] + - !!python/tuple [16, 20] + - !!python/tuple [28, 4] + - !!python/tuple [16, 8] + - !!python/tuple [4, 19] + - !!python/tuple [16, 29] + - !!python/tuple [18, 22] + - !!python/tuple [21, 10] + - !!python/tuple [30, 21] + - !!python/tuple [19, 12] + - !!python/tuple [2, 3] + - !!python/tuple [14, 28] + - !!python/tuple [6, 18] + - !!python/tuple [23, 16] + - !!python/tuple [30, 10] + - !!python/tuple [18, 24] + - !!python/tuple [17, 5] + - !!python/tuple [24, 26] + - !!python/tuple [18, 29] + - !!python/tuple [14, 9] + - !!python/tuple [18, 12] + - !!python/tuple [2, 10] + - !!python/tuple [29, 17] + - !!python/tuple [26, 7] + - !!python/tuple [4, 12] + - !!python/tuple [2, 18] + - !!python/tuple [16, 5] + - !!python/tuple [18, 21] + - !!python/tuple [28, 17] + - !!python/tuple [24, 13] + - !!python/tuple [24, 6] + - !!python/tuple [0, 26] + - !!python/tuple [23, 3] + - !!python/tuple [7, 5] + - !!python/tuple [2, 13] + - !!python/tuple [22, 31] + - !!python/tuple [7, 24] + - !!python/tuple [27, 25] + - !!python/tuple [7, 6] + - !!python/tuple [15, 6] + - !!python/tuple [15, 12] + - !!python/tuple [23, 27] + - !!python/tuple [10, 31] + - !!python/tuple [14, 18] + - !!python/tuple [10, 6] + - !!python/tuple [20, 14] + - !!python/tuple [19, 10] + - !!python/tuple [19, 4] + - !!python/tuple [17, 0] + - !!python/tuple [12, 26] + - !!python/tuple [1, 10] + - !!python/tuple [9, 2] + - !!python/tuple [2, 2] + - !!python/tuple [15, 8] + - !!python/tuple [12, 24] + - !!python/tuple [25, 14] + - !!python/tuple [15, 3] + - !!python/tuple [0, 12] + - !!python/tuple [2, 25] + - !!python/tuple [14, 24] + - !!python/tuple [24, 14] + - !!python/tuple [18, 8] + - !!python/tuple [12, 28] + - !!python/tuple [28, 28] + - !!python/tuple [15, 19] + - !!python/tuple [10, 13] + - !!python/tuple [25, 7] + - !!python/tuple [19, 6] + - !!python/tuple [1, 1] + - !!python/tuple [10, 24] + - !!python/tuple [9, 31] + - !!python/tuple [18, 15] + - !!python/tuple [31, 19] + - !!python/tuple [21, 7] + - !!python/tuple [12, 11] + - !!python/tuple [17, 14] + - !!python/tuple [9, 22] + - !!python/tuple [10, 2] + - !!python/tuple [1, 21] + - !!python/tuple [27, 16] + - !!python/tuple [19, 25] + - !!python/tuple [29, 31] + - !!python/tuple [20, 26] + - !!python/tuple [29, 2] + - !!python/tuple [29, 15] + - !!python/tuple [17, 11] + - !!python/tuple [18, 9] + - !!python/tuple [8, 14] + - !!python/tuple [25, 20] + - !!python/tuple [24, 18] + - !!python/tuple [10, 22] + - !!python/tuple [22, 5] + - !!python/tuple [24, 25] + - !!python/tuple [22, 17] + - !!python/tuple [29, 3] + - !!python/tuple [18, 17] + - !!python/tuple [24, 27] + - !!python/tuple [1, 0] + - !!python/tuple [10, 14] + - !!python/tuple [14, 25] + - !!python/tuple [12, 6] + - !!python/tuple [20, 8] + - !!python/tuple [19, 27] + - !!python/tuple [5, 11] + - !!python/tuple [16, 2] + - !!python/tuple [0, 13] + - !!python/tuple [26, 31] + - !!python/tuple [8, 21] + - !!python/tuple [6, 2] + - !!python/tuple [5, 6] + - !!python/tuple [29, 29] + - !!python/tuple [28, 26] + - !!python/tuple [10, 19] + - !!python/tuple [4, 21] + - !!python/tuple [8, 12] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex46.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex46.yaml new file mode 100644 index 0000000..12353df --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex46.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [12, 21] + name: agent0 + start: [12, 10] +- goal: [23, 3] + name: agent1 + start: [5, 29] +- goal: [3, 8] + name: agent2 + start: [3, 2] +- goal: [15, 16] + name: agent3 + start: [12, 24] +- goal: [12, 20] + name: agent4 + start: [17, 30] +- goal: [14, 14] + name: agent5 + start: [30, 30] +- goal: [21, 0] + name: agent6 + start: [29, 9] +- goal: [1, 17] + name: agent7 + start: [24, 11] +- goal: [28, 25] + name: agent8 + start: [16, 24] +- goal: [16, 18] + name: agent9 + start: [31, 25] +- goal: [9, 17] + name: agent10 + start: [1, 9] +- goal: [22, 1] + name: agent11 + start: [17, 27] +- goal: [16, 0] + name: agent12 + start: [29, 17] +- goal: [1, 28] + name: agent13 + start: [5, 4] +- goal: [22, 5] + name: agent14 + start: [22, 6] +- goal: [16, 31] + name: agent15 + start: [7, 18] +- goal: [25, 19] + name: agent16 + start: [15, 1] +- goal: [17, 30] + name: agent17 + start: [6, 19] +- goal: [13, 17] + name: agent18 + start: [5, 13] +- goal: [16, 12] + name: agent19 + start: [26, 23] +- goal: [14, 6] + name: agent20 + start: [10, 12] +- goal: [11, 0] + name: agent21 + start: [26, 22] +- goal: [15, 5] + name: agent22 + start: [4, 14] +- goal: [23, 8] + name: agent23 + start: [13, 10] +- goal: [20, 20] + name: agent24 + start: [16, 18] +- goal: [25, 18] + name: agent25 + start: [9, 21] +- goal: [9, 22] + name: agent26 + start: [24, 5] +- goal: [12, 14] + name: agent27 + start: [28, 4] +- goal: [3, 26] + name: agent28 + start: [9, 18] +- goal: [15, 23] + name: agent29 + start: [13, 19] +- goal: [1, 21] + name: agent30 + start: [21, 25] +- goal: [3, 29] + name: agent31 + start: [4, 9] +- goal: [13, 27] + name: agent32 + start: [12, 16] +- goal: [21, 20] + name: agent33 + start: [18, 27] +- goal: [14, 20] + name: agent34 + start: [29, 14] +- goal: [11, 16] + name: agent35 + start: [23, 20] +- goal: [1, 18] + name: agent36 + start: [5, 9] +- goal: [2, 9] + name: agent37 + start: [5, 25] +- goal: [28, 27] + name: agent38 + start: [1, 11] +- goal: [7, 11] + name: agent39 + start: [26, 5] +- goal: [12, 10] + name: agent40 + start: [11, 23] +- goal: [22, 19] + name: agent41 + start: [12, 19] +- goal: [4, 27] + name: agent42 + start: [15, 11] +- goal: [15, 29] + name: agent43 + start: [31, 24] +- goal: [1, 29] + name: agent44 + start: [6, 13] +- goal: [30, 19] + name: agent45 + start: [1, 16] +- goal: [5, 30] + name: agent46 + start: [12, 27] +- goal: [3, 5] + name: agent47 + start: [7, 14] +- goal: [6, 7] + name: agent48 + start: [31, 3] +- goal: [0, 31] + name: agent49 + start: [15, 2] +- goal: [6, 1] + name: agent50 + start: [25, 26] +- goal: [6, 4] + name: agent51 + start: [27, 0] +- goal: [25, 28] + name: agent52 + start: [0, 20] +- goal: [27, 20] + name: agent53 + start: [2, 3] +- goal: [30, 5] + name: agent54 + start: [0, 10] +- goal: [8, 5] + name: agent55 + start: [28, 28] +- goal: [27, 4] + name: agent56 + start: [1, 24] +- goal: [1, 25] + name: agent57 + start: [7, 30] +- goal: [1, 10] + name: agent58 + start: [19, 12] +- goal: [6, 2] + name: agent59 + start: [29, 30] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [0, 17] + - !!python/tuple [21, 23] + - !!python/tuple [10, 25] + - !!python/tuple [19, 13] + - !!python/tuple [29, 26] + - !!python/tuple [15, 3] + - !!python/tuple [4, 15] + - !!python/tuple [17, 31] + - !!python/tuple [11, 26] + - !!python/tuple [8, 27] + - !!python/tuple [19, 16] + - !!python/tuple [9, 23] + - !!python/tuple [12, 12] + - !!python/tuple [14, 9] + - !!python/tuple [26, 11] + - !!python/tuple [2, 21] + - !!python/tuple [26, 19] + - !!python/tuple [23, 31] + - !!python/tuple [7, 2] + - !!python/tuple [8, 3] + - !!python/tuple [26, 2] + - !!python/tuple [22, 24] + - !!python/tuple [20, 29] + - !!python/tuple [10, 6] + - !!python/tuple [24, 8] + - !!python/tuple [26, 28] + - !!python/tuple [19, 27] + - !!python/tuple [21, 21] + - !!python/tuple [26, 15] + - !!python/tuple [24, 15] + - !!python/tuple [9, 14] + - !!python/tuple [3, 16] + - !!python/tuple [27, 1] + - !!python/tuple [10, 20] + - !!python/tuple [27, 27] + - !!python/tuple [9, 7] + - !!python/tuple [5, 17] + - !!python/tuple [5, 3] + - !!python/tuple [8, 6] + - !!python/tuple [21, 1] + - !!python/tuple [19, 14] + - !!python/tuple [12, 23] + - !!python/tuple [18, 23] + - !!python/tuple [30, 28] + - !!python/tuple [25, 1] + - !!python/tuple [22, 21] + - !!python/tuple [18, 7] + - !!python/tuple [23, 25] + - !!python/tuple [13, 2] + - !!python/tuple [27, 16] + - !!python/tuple [30, 7] + - !!python/tuple [16, 7] + - !!python/tuple [28, 1] + - !!python/tuple [5, 12] + - !!python/tuple [10, 13] + - !!python/tuple [4, 22] + - !!python/tuple [9, 6] + - !!python/tuple [14, 27] + - !!python/tuple [23, 17] + - !!python/tuple [28, 29] + - !!python/tuple [15, 30] + - !!python/tuple [30, 8] + - !!python/tuple [22, 26] + - !!python/tuple [22, 14] + - !!python/tuple [15, 6] + - !!python/tuple [26, 0] + - !!python/tuple [18, 5] + - !!python/tuple [29, 19] + - !!python/tuple [11, 7] + - !!python/tuple [11, 3] + - !!python/tuple [1, 7] + - !!python/tuple [30, 23] + - !!python/tuple [7, 24] + - !!python/tuple [17, 17] + - !!python/tuple [26, 6] + - !!python/tuple [27, 11] + - !!python/tuple [2, 11] + - !!python/tuple [7, 31] + - !!python/tuple [6, 12] + - !!python/tuple [6, 20] + - !!python/tuple [27, 7] + - !!python/tuple [29, 13] + - !!python/tuple [6, 21] + - !!python/tuple [12, 26] + - !!python/tuple [11, 21] + - !!python/tuple [3, 28] + - !!python/tuple [9, 5] + - !!python/tuple [12, 3] + - !!python/tuple [7, 26] + - !!python/tuple [16, 10] + - !!python/tuple [16, 23] + - !!python/tuple [30, 16] + - !!python/tuple [4, 12] + - !!python/tuple [24, 18] + - !!python/tuple [17, 15] + - !!python/tuple [13, 1] + - !!python/tuple [18, 4] + - !!python/tuple [31, 21] + - !!python/tuple [22, 3] + - !!python/tuple [31, 9] + - !!python/tuple [0, 7] + - !!python/tuple [31, 31] + - !!python/tuple [22, 20] + - !!python/tuple [23, 6] + - !!python/tuple [22, 22] + - !!python/tuple [23, 27] + - !!python/tuple [26, 7] + - !!python/tuple [2, 24] + - !!python/tuple [29, 3] + - !!python/tuple [12, 8] + - !!python/tuple [19, 19] + - !!python/tuple [23, 19] + - !!python/tuple [3, 3] + - !!python/tuple [13, 20] + - !!python/tuple [4, 6] + - !!python/tuple [21, 9] + - !!python/tuple [26, 18] + - !!python/tuple [24, 7] + - !!python/tuple [29, 2] + - !!python/tuple [27, 24] + - !!python/tuple [21, 2] + - !!python/tuple [10, 16] + - !!python/tuple [25, 25] + - !!python/tuple [12, 11] + - !!python/tuple [26, 13] + - !!python/tuple [21, 26] + - !!python/tuple [25, 7] + - !!python/tuple [9, 24] + - !!python/tuple [11, 22] + - !!python/tuple [9, 28] + - !!python/tuple [18, 6] + - !!python/tuple [12, 15] + - !!python/tuple [19, 29] + - !!python/tuple [5, 15] + - !!python/tuple [22, 2] + - !!python/tuple [30, 22] + - !!python/tuple [6, 11] + - !!python/tuple [3, 20] + - !!python/tuple [21, 16] + - !!python/tuple [9, 20] + - !!python/tuple [24, 24] + - !!python/tuple [1, 15] + - !!python/tuple [20, 5] + - !!python/tuple [23, 12] + - !!python/tuple [17, 21] + - !!python/tuple [4, 0] + - !!python/tuple [2, 0] + - !!python/tuple [22, 25] + - !!python/tuple [4, 25] + - !!python/tuple [6, 14] + - !!python/tuple [4, 11] + - !!python/tuple [8, 29] + - !!python/tuple [28, 10] + - !!python/tuple [25, 3] + - !!python/tuple [25, 21] + - !!python/tuple [30, 11] + - !!python/tuple [28, 5] + - !!python/tuple [4, 10] + - !!python/tuple [17, 20] + - !!python/tuple [20, 21] + - !!python/tuple [14, 21] + - !!python/tuple [23, 10] + - !!python/tuple [22, 9] + - !!python/tuple [31, 28] + - !!python/tuple [28, 26] + - !!python/tuple [1, 4] + - !!python/tuple [28, 16] + - !!python/tuple [26, 1] + - !!python/tuple [16, 25] + - !!python/tuple [22, 18] + - !!python/tuple [7, 27] + - !!python/tuple [19, 2] + - !!python/tuple [1, 22] + - !!python/tuple [6, 10] + - !!python/tuple [31, 29] + - !!python/tuple [3, 0] + - !!python/tuple [22, 7] + - !!python/tuple [14, 16] + - !!python/tuple [15, 25] + - !!python/tuple [9, 11] + - !!python/tuple [3, 7] + - !!python/tuple [3, 31] + - !!python/tuple [20, 6] + - !!python/tuple [12, 18] + - !!python/tuple [18, 8] + - !!python/tuple [26, 27] + - !!python/tuple [4, 30] + - !!python/tuple [10, 19] + - !!python/tuple [19, 31] + - !!python/tuple [24, 26] + - !!python/tuple [6, 16] + - !!python/tuple [22, 12] + - !!python/tuple [16, 29] + - !!python/tuple [8, 23] + - !!python/tuple [30, 25] + - !!python/tuple [24, 2] + - !!python/tuple [27, 25] + - !!python/tuple [16, 16] + - !!python/tuple [17, 14] + - !!python/tuple [15, 17] + - !!python/tuple [17, 29] + - !!python/tuple [25, 6] + - !!python/tuple [18, 16] + - !!python/tuple [8, 25] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex47.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex47.yaml new file mode 100644 index 0000000..f77b649 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex47.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [5, 11] + name: agent0 + start: [3, 20] +- goal: [3, 3] + name: agent1 + start: [25, 10] +- goal: [30, 27] + name: agent2 + start: [2, 25] +- goal: [14, 9] + name: agent3 + start: [4, 6] +- goal: [28, 4] + name: agent4 + start: [14, 10] +- goal: [23, 12] + name: agent5 + start: [9, 17] +- goal: [14, 4] + name: agent6 + start: [28, 14] +- goal: [16, 23] + name: agent7 + start: [7, 4] +- goal: [19, 27] + name: agent8 + start: [22, 27] +- goal: [22, 4] + name: agent9 + start: [11, 12] +- goal: [26, 18] + name: agent10 + start: [9, 26] +- goal: [19, 13] + name: agent11 + start: [15, 28] +- goal: [21, 1] + name: agent12 + start: [18, 15] +- goal: [28, 8] + name: agent13 + start: [2, 1] +- goal: [14, 6] + name: agent14 + start: [0, 3] +- goal: [25, 12] + name: agent15 + start: [23, 24] +- goal: [8, 11] + name: agent16 + start: [26, 13] +- goal: [28, 16] + name: agent17 + start: [24, 17] +- goal: [26, 26] + name: agent18 + start: [25, 29] +- goal: [8, 4] + name: agent19 + start: [1, 10] +- goal: [0, 11] + name: agent20 + start: [14, 7] +- goal: [25, 31] + name: agent21 + start: [6, 12] +- goal: [19, 14] + name: agent22 + start: [8, 3] +- goal: [8, 0] + name: agent23 + start: [19, 8] +- goal: [16, 29] + name: agent24 + start: [20, 20] +- goal: [26, 8] + name: agent25 + start: [12, 18] +- goal: [1, 0] + name: agent26 + start: [10, 17] +- goal: [4, 1] + name: agent27 + start: [31, 18] +- goal: [12, 18] + name: agent28 + start: [20, 11] +- goal: [24, 14] + name: agent29 + start: [6, 0] +- goal: [26, 12] + name: agent30 + start: [8, 5] +- goal: [9, 16] + name: agent31 + start: [9, 16] +- goal: [22, 6] + name: agent32 + start: [13, 5] +- goal: [28, 0] + name: agent33 + start: [3, 14] +- goal: [8, 3] + name: agent34 + start: [19, 28] +- goal: [1, 9] + name: agent35 + start: [5, 2] +- goal: [14, 2] + name: agent36 + start: [29, 26] +- goal: [16, 20] + name: agent37 + start: [18, 2] +- goal: [12, 28] + name: agent38 + start: [21, 23] +- goal: [28, 5] + name: agent39 + start: [13, 24] +- goal: [24, 29] + name: agent40 + start: [15, 11] +- goal: [18, 19] + name: agent41 + start: [25, 18] +- goal: [13, 2] + name: agent42 + start: [3, 27] +- goal: [11, 27] + name: agent43 + start: [28, 6] +- goal: [19, 21] + name: agent44 + start: [1, 15] +- goal: [14, 29] + name: agent45 + start: [27, 24] +- goal: [15, 24] + name: agent46 + start: [7, 20] +- goal: [7, 15] + name: agent47 + start: [19, 21] +- goal: [25, 0] + name: agent48 + start: [14, 21] +- goal: [5, 15] + name: agent49 + start: [12, 29] +- goal: [23, 19] + name: agent50 + start: [17, 24] +- goal: [15, 22] + name: agent51 + start: [24, 25] +- goal: [3, 21] + name: agent52 + start: [6, 9] +- goal: [30, 9] + name: agent53 + start: [22, 24] +- goal: [21, 22] + name: agent54 + start: [20, 31] +- goal: [23, 29] + name: agent55 + start: [28, 2] +- goal: [3, 30] + name: agent56 + start: [21, 24] +- goal: [17, 24] + name: agent57 + start: [8, 17] +- goal: [6, 19] + name: agent58 + start: [3, 9] +- goal: [18, 18] + name: agent59 + start: [2, 5] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [6, 25] + - !!python/tuple [28, 20] + - !!python/tuple [8, 28] + - !!python/tuple [1, 6] + - !!python/tuple [5, 5] + - !!python/tuple [11, 20] + - !!python/tuple [22, 25] + - !!python/tuple [30, 2] + - !!python/tuple [2, 6] + - !!python/tuple [0, 27] + - !!python/tuple [24, 27] + - !!python/tuple [9, 22] + - !!python/tuple [4, 17] + - !!python/tuple [21, 31] + - !!python/tuple [20, 5] + - !!python/tuple [23, 1] + - !!python/tuple [31, 17] + - !!python/tuple [9, 1] + - !!python/tuple [1, 28] + - !!python/tuple [12, 24] + - !!python/tuple [12, 27] + - !!python/tuple [6, 28] + - !!python/tuple [30, 5] + - !!python/tuple [13, 23] + - !!python/tuple [21, 29] + - !!python/tuple [6, 31] + - !!python/tuple [29, 3] + - !!python/tuple [0, 19] + - !!python/tuple [31, 14] + - !!python/tuple [27, 2] + - !!python/tuple [21, 14] + - !!python/tuple [1, 17] + - !!python/tuple [14, 28] + - !!python/tuple [31, 31] + - !!python/tuple [3, 23] + - !!python/tuple [12, 9] + - !!python/tuple [28, 31] + - !!python/tuple [18, 29] + - !!python/tuple [3, 7] + - !!python/tuple [22, 26] + - !!python/tuple [23, 27] + - !!python/tuple [14, 15] + - !!python/tuple [9, 2] + - !!python/tuple [19, 10] + - !!python/tuple [19, 6] + - !!python/tuple [3, 18] + - !!python/tuple [19, 12] + - !!python/tuple [13, 19] + - !!python/tuple [11, 21] + - !!python/tuple [20, 27] + - !!python/tuple [15, 0] + - !!python/tuple [31, 1] + - !!python/tuple [2, 8] + - !!python/tuple [0, 25] + - !!python/tuple [30, 29] + - !!python/tuple [29, 1] + - !!python/tuple [12, 2] + - !!python/tuple [16, 6] + - !!python/tuple [24, 15] + - !!python/tuple [6, 14] + - !!python/tuple [15, 21] + - !!python/tuple [22, 2] + - !!python/tuple [27, 3] + - !!python/tuple [24, 21] + - !!python/tuple [8, 8] + - !!python/tuple [22, 28] + - !!python/tuple [21, 9] + - !!python/tuple [22, 18] + - !!python/tuple [3, 0] + - !!python/tuple [24, 22] + - !!python/tuple [15, 25] + - !!python/tuple [28, 19] + - !!python/tuple [2, 3] + - !!python/tuple [5, 17] + - !!python/tuple [11, 16] + - !!python/tuple [25, 26] + - !!python/tuple [30, 0] + - !!python/tuple [10, 13] + - !!python/tuple [24, 16] + - !!python/tuple [20, 9] + - !!python/tuple [31, 3] + - !!python/tuple [17, 6] + - !!python/tuple [23, 2] + - !!python/tuple [30, 22] + - !!python/tuple [25, 13] + - !!python/tuple [28, 7] + - !!python/tuple [17, 21] + - !!python/tuple [4, 4] + - !!python/tuple [0, 6] + - !!python/tuple [17, 27] + - !!python/tuple [31, 6] + - !!python/tuple [27, 20] + - !!python/tuple [13, 20] + - !!python/tuple [29, 29] + - !!python/tuple [18, 31] + - !!python/tuple [6, 6] + - !!python/tuple [7, 25] + - !!python/tuple [17, 23] + - !!python/tuple [6, 4] + - !!python/tuple [3, 2] + - !!python/tuple [17, 9] + - !!python/tuple [28, 23] + - !!python/tuple [29, 10] + - !!python/tuple [26, 30] + - !!python/tuple [16, 31] + - !!python/tuple [17, 30] + - !!python/tuple [13, 29] + - !!python/tuple [11, 24] + - !!python/tuple [6, 22] + - !!python/tuple [25, 25] + - !!python/tuple [30, 25] + - !!python/tuple [19, 22] + - !!python/tuple [5, 1] + - !!python/tuple [23, 16] + - !!python/tuple [15, 29] + - !!python/tuple [11, 26] + - !!python/tuple [4, 22] + - !!python/tuple [29, 8] + - !!python/tuple [19, 4] + - !!python/tuple [18, 13] + - !!python/tuple [29, 30] + - !!python/tuple [9, 31] + - !!python/tuple [25, 24] + - !!python/tuple [23, 17] + - !!python/tuple [18, 5] + - !!python/tuple [30, 28] + - !!python/tuple [6, 27] + - !!python/tuple [14, 22] + - !!python/tuple [18, 26] + - !!python/tuple [29, 19] + - !!python/tuple [7, 16] + - !!python/tuple [29, 5] + - !!python/tuple [2, 10] + - !!python/tuple [0, 23] + - !!python/tuple [31, 19] + - !!python/tuple [19, 7] + - !!python/tuple [22, 13] + - !!python/tuple [7, 18] + - !!python/tuple [10, 29] + - !!python/tuple [28, 15] + - !!python/tuple [30, 31] + - !!python/tuple [4, 26] + - !!python/tuple [20, 21] + - !!python/tuple [28, 25] + - !!python/tuple [17, 10] + - !!python/tuple [27, 6] + - !!python/tuple [25, 30] + - !!python/tuple [2, 2] + - !!python/tuple [12, 11] + - !!python/tuple [21, 13] + - !!python/tuple [4, 9] + - !!python/tuple [11, 11] + - !!python/tuple [8, 6] + - !!python/tuple [25, 19] + - !!python/tuple [1, 3] + - !!python/tuple [28, 12] + - !!python/tuple [4, 12] + - !!python/tuple [13, 13] + - !!python/tuple [27, 9] + - !!python/tuple [8, 23] + - !!python/tuple [26, 1] + - !!python/tuple [7, 3] + - !!python/tuple [15, 12] + - !!python/tuple [15, 8] + - !!python/tuple [18, 23] + - !!python/tuple [25, 17] + - !!python/tuple [3, 22] + - !!python/tuple [6, 29] + - !!python/tuple [24, 24] + - !!python/tuple [23, 30] + - !!python/tuple [31, 28] + - !!python/tuple [4, 24] + - !!python/tuple [9, 25] + - !!python/tuple [1, 5] + - !!python/tuple [25, 20] + - !!python/tuple [17, 7] + - !!python/tuple [20, 25] + - !!python/tuple [30, 19] + - !!python/tuple [8, 27] + - !!python/tuple [28, 30] + - !!python/tuple [3, 8] + - !!python/tuple [2, 31] + - !!python/tuple [2, 15] + - !!python/tuple [22, 22] + - !!python/tuple [1, 16] + - !!python/tuple [0, 24] + - !!python/tuple [4, 0] + - !!python/tuple [9, 8] + - !!python/tuple [24, 12] + - !!python/tuple [22, 8] + - !!python/tuple [4, 13] + - !!python/tuple [11, 0] + - !!python/tuple [6, 17] + - !!python/tuple [7, 19] + - !!python/tuple [2, 22] + - !!python/tuple [22, 7] + - !!python/tuple [9, 19] + - !!python/tuple [21, 12] + - !!python/tuple [16, 0] + - !!python/tuple [31, 2] + - !!python/tuple [30, 3] + - !!python/tuple [31, 12] + - !!python/tuple [26, 21] + - !!python/tuple [2, 7] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex48.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex48.yaml new file mode 100644 index 0000000..b0fdc1e --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex48.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [31, 26] + name: agent0 + start: [16, 19] +- goal: [6, 26] + name: agent1 + start: [11, 21] +- goal: [17, 1] + name: agent2 + start: [13, 25] +- goal: [31, 25] + name: agent3 + start: [4, 28] +- goal: [12, 19] + name: agent4 + start: [0, 20] +- goal: [4, 29] + name: agent5 + start: [9, 5] +- goal: [19, 10] + name: agent6 + start: [31, 31] +- goal: [4, 5] + name: agent7 + start: [27, 6] +- goal: [13, 30] + name: agent8 + start: [16, 8] +- goal: [14, 12] + name: agent9 + start: [5, 4] +- goal: [19, 15] + name: agent10 + start: [31, 28] +- goal: [12, 8] + name: agent11 + start: [14, 4] +- goal: [15, 28] + name: agent12 + start: [3, 22] +- goal: [9, 24] + name: agent13 + start: [11, 27] +- goal: [15, 2] + name: agent14 + start: [28, 20] +- goal: [7, 2] + name: agent15 + start: [8, 3] +- goal: [4, 18] + name: agent16 + start: [9, 27] +- goal: [26, 16] + name: agent17 + start: [20, 12] +- goal: [18, 0] + name: agent18 + start: [2, 24] +- goal: [24, 1] + name: agent19 + start: [6, 14] +- goal: [28, 9] + name: agent20 + start: [18, 18] +- goal: [17, 28] + name: agent21 + start: [2, 13] +- goal: [21, 7] + name: agent22 + start: [1, 2] +- goal: [23, 19] + name: agent23 + start: [16, 22] +- goal: [19, 13] + name: agent24 + start: [16, 28] +- goal: [4, 31] + name: agent25 + start: [14, 8] +- goal: [11, 8] + name: agent26 + start: [30, 31] +- goal: [23, 26] + name: agent27 + start: [11, 14] +- goal: [22, 14] + name: agent28 + start: [26, 19] +- goal: [1, 3] + name: agent29 + start: [29, 9] +- goal: [16, 23] + name: agent30 + start: [18, 12] +- goal: [2, 8] + name: agent31 + start: [21, 18] +- goal: [22, 20] + name: agent32 + start: [31, 29] +- goal: [22, 11] + name: agent33 + start: [21, 25] +- goal: [8, 26] + name: agent34 + start: [30, 17] +- goal: [17, 30] + name: agent35 + start: [9, 6] +- goal: [5, 20] + name: agent36 + start: [13, 14] +- goal: [17, 9] + name: agent37 + start: [12, 24] +- goal: [29, 25] + name: agent38 + start: [29, 14] +- goal: [18, 19] + name: agent39 + start: [26, 25] +- goal: [23, 0] + name: agent40 + start: [20, 19] +- goal: [15, 0] + name: agent41 + start: [5, 1] +- goal: [16, 24] + name: agent42 + start: [2, 4] +- goal: [20, 13] + name: agent43 + start: [10, 5] +- goal: [10, 13] + name: agent44 + start: [13, 30] +- goal: [23, 3] + name: agent45 + start: [19, 4] +- goal: [16, 16] + name: agent46 + start: [29, 19] +- goal: [21, 29] + name: agent47 + start: [9, 12] +- goal: [5, 29] + name: agent48 + start: [6, 8] +- goal: [3, 17] + name: agent49 + start: [15, 15] +- goal: [10, 20] + name: agent50 + start: [12, 5] +- goal: [14, 20] + name: agent51 + start: [2, 16] +- goal: [15, 30] + name: agent52 + start: [1, 4] +- goal: [23, 28] + name: agent53 + start: [19, 5] +- goal: [2, 25] + name: agent54 + start: [15, 29] +- goal: [8, 20] + name: agent55 + start: [25, 5] +- goal: [11, 24] + name: agent56 + start: [0, 24] +- goal: [11, 25] + name: agent57 + start: [23, 16] +- goal: [23, 20] + name: agent58 + start: [30, 11] +- goal: [14, 4] + name: agent59 + start: [8, 13] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [3, 31] + - !!python/tuple [31, 5] + - !!python/tuple [14, 15] + - !!python/tuple [27, 20] + - !!python/tuple [10, 11] + - !!python/tuple [11, 31] + - !!python/tuple [6, 11] + - !!python/tuple [3, 30] + - !!python/tuple [3, 9] + - !!python/tuple [0, 31] + - !!python/tuple [30, 6] + - !!python/tuple [20, 14] + - !!python/tuple [22, 12] + - !!python/tuple [21, 5] + - !!python/tuple [28, 2] + - !!python/tuple [25, 20] + - !!python/tuple [2, 2] + - !!python/tuple [24, 15] + - !!python/tuple [15, 25] + - !!python/tuple [26, 24] + - !!python/tuple [21, 2] + - !!python/tuple [5, 17] + - !!python/tuple [31, 23] + - !!python/tuple [27, 0] + - !!python/tuple [16, 20] + - !!python/tuple [8, 21] + - !!python/tuple [17, 5] + - !!python/tuple [22, 16] + - !!python/tuple [28, 17] + - !!python/tuple [9, 31] + - !!python/tuple [2, 6] + - !!python/tuple [29, 1] + - !!python/tuple [1, 12] + - !!python/tuple [7, 27] + - !!python/tuple [1, 14] + - !!python/tuple [14, 2] + - !!python/tuple [18, 25] + - !!python/tuple [14, 22] + - !!python/tuple [2, 26] + - !!python/tuple [27, 16] + - !!python/tuple [24, 20] + - !!python/tuple [15, 16] + - !!python/tuple [30, 18] + - !!python/tuple [21, 14] + - !!python/tuple [21, 22] + - !!python/tuple [24, 12] + - !!python/tuple [29, 5] + - !!python/tuple [4, 2] + - !!python/tuple [8, 18] + - !!python/tuple [17, 17] + - !!python/tuple [14, 25] + - !!python/tuple [10, 16] + - !!python/tuple [30, 4] + - !!python/tuple [27, 1] + - !!python/tuple [27, 31] + - !!python/tuple [5, 16] + - !!python/tuple [25, 0] + - !!python/tuple [0, 17] + - !!python/tuple [9, 21] + - !!python/tuple [15, 5] + - !!python/tuple [28, 25] + - !!python/tuple [30, 2] + - !!python/tuple [14, 14] + - !!python/tuple [2, 1] + - !!python/tuple [13, 1] + - !!python/tuple [6, 2] + - !!python/tuple [19, 27] + - !!python/tuple [8, 8] + - !!python/tuple [14, 29] + - !!python/tuple [1, 23] + - !!python/tuple [17, 0] + - !!python/tuple [29, 23] + - !!python/tuple [20, 24] + - !!python/tuple [15, 3] + - !!python/tuple [20, 7] + - !!python/tuple [1, 24] + - !!python/tuple [11, 11] + - !!python/tuple [7, 13] + - !!python/tuple [22, 4] + - !!python/tuple [5, 25] + - !!python/tuple [9, 28] + - !!python/tuple [0, 1] + - !!python/tuple [3, 0] + - !!python/tuple [18, 23] + - !!python/tuple [18, 31] + - !!python/tuple [13, 22] + - !!python/tuple [1, 20] + - !!python/tuple [8, 19] + - !!python/tuple [13, 27] + - !!python/tuple [17, 11] + - !!python/tuple [8, 25] + - !!python/tuple [15, 20] + - !!python/tuple [2, 21] + - !!python/tuple [26, 27] + - !!python/tuple [9, 30] + - !!python/tuple [30, 22] + - !!python/tuple [14, 30] + - !!python/tuple [21, 6] + - !!python/tuple [1, 21] + - !!python/tuple [7, 11] + - !!python/tuple [12, 25] + - !!python/tuple [13, 26] + - !!python/tuple [27, 7] + - !!python/tuple [21, 27] + - !!python/tuple [28, 14] + - !!python/tuple [31, 3] + - !!python/tuple [25, 22] + - !!python/tuple [2, 22] + - !!python/tuple [10, 8] + - !!python/tuple [31, 16] + - !!python/tuple [17, 29] + - !!python/tuple [17, 3] + - !!python/tuple [4, 10] + - !!python/tuple [25, 8] + - !!python/tuple [0, 6] + - !!python/tuple [9, 29] + - !!python/tuple [11, 0] + - !!python/tuple [12, 23] + - !!python/tuple [6, 4] + - !!python/tuple [18, 21] + - !!python/tuple [8, 4] + - !!python/tuple [20, 23] + - !!python/tuple [8, 10] + - !!python/tuple [5, 12] + - !!python/tuple [17, 12] + - !!python/tuple [25, 14] + - !!python/tuple [28, 10] + - !!python/tuple [11, 1] + - !!python/tuple [13, 10] + - !!python/tuple [22, 23] + - !!python/tuple [7, 22] + - !!python/tuple [23, 29] + - !!python/tuple [0, 22] + - !!python/tuple [19, 2] + - !!python/tuple [18, 5] + - !!python/tuple [6, 25] + - !!python/tuple [26, 17] + - !!python/tuple [30, 13] + - !!python/tuple [23, 9] + - !!python/tuple [4, 30] + - !!python/tuple [8, 7] + - !!python/tuple [4, 19] + - !!python/tuple [12, 14] + - !!python/tuple [23, 2] + - !!python/tuple [11, 20] + - !!python/tuple [11, 26] + - !!python/tuple [25, 21] + - !!python/tuple [31, 8] + - !!python/tuple [5, 28] + - !!python/tuple [30, 30] + - !!python/tuple [31, 21] + - !!python/tuple [2, 5] + - !!python/tuple [7, 8] + - !!python/tuple [24, 31] + - !!python/tuple [18, 7] + - !!python/tuple [21, 24] + - !!python/tuple [12, 10] + - !!python/tuple [1, 25] + - !!python/tuple [28, 4] + - !!python/tuple [6, 1] + - !!python/tuple [22, 29] + - !!python/tuple [24, 3] + - !!python/tuple [19, 30] + - !!python/tuple [1, 13] + - !!python/tuple [21, 17] + - !!python/tuple [28, 1] + - !!python/tuple [10, 28] + - !!python/tuple [17, 7] + - !!python/tuple [17, 31] + - !!python/tuple [6, 27] + - !!python/tuple [4, 13] + - !!python/tuple [17, 6] + - !!python/tuple [12, 26] + - !!python/tuple [26, 15] + - !!python/tuple [16, 1] + - !!python/tuple [15, 8] + - !!python/tuple [3, 11] + - !!python/tuple [25, 31] + - !!python/tuple [3, 1] + - !!python/tuple [11, 18] + - !!python/tuple [18, 11] + - !!python/tuple [26, 21] + - !!python/tuple [31, 17] + - !!python/tuple [29, 21] + - !!python/tuple [18, 1] + - !!python/tuple [20, 18] + - !!python/tuple [2, 9] + - !!python/tuple [23, 24] + - !!python/tuple [9, 25] + - !!python/tuple [6, 9] + - !!python/tuple [7, 28] + - !!python/tuple [13, 12] + - !!python/tuple [20, 10] + - !!python/tuple [9, 20] + - !!python/tuple [7, 12] + - !!python/tuple [2, 0] + - !!python/tuple [19, 19] + - !!python/tuple [27, 8] + - !!python/tuple [13, 9] + - !!python/tuple [23, 10] + - !!python/tuple [10, 31] + - !!python/tuple [6, 28] + - !!python/tuple [18, 6] + - !!python/tuple [12, 6] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex49.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex49.yaml new file mode 100644 index 0000000..c8449f1 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex49.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [26, 16] + name: agent0 + start: [19, 30] +- goal: [27, 9] + name: agent1 + start: [16, 9] +- goal: [20, 30] + name: agent2 + start: [23, 30] +- goal: [18, 17] + name: agent3 + start: [2, 4] +- goal: [24, 12] + name: agent4 + start: [8, 10] +- goal: [19, 14] + name: agent5 + start: [25, 1] +- goal: [8, 23] + name: agent6 + start: [16, 27] +- goal: [28, 0] + name: agent7 + start: [17, 13] +- goal: [17, 11] + name: agent8 + start: [18, 20] +- goal: [12, 29] + name: agent9 + start: [6, 7] +- goal: [21, 6] + name: agent10 + start: [22, 6] +- goal: [29, 28] + name: agent11 + start: [13, 27] +- goal: [22, 27] + name: agent12 + start: [20, 30] +- goal: [15, 11] + name: agent13 + start: [24, 28] +- goal: [22, 23] + name: agent14 + start: [12, 3] +- goal: [5, 5] + name: agent15 + start: [3, 28] +- goal: [31, 13] + name: agent16 + start: [27, 13] +- goal: [31, 0] + name: agent17 + start: [10, 20] +- goal: [5, 30] + name: agent18 + start: [15, 1] +- goal: [15, 2] + name: agent19 + start: [8, 16] +- goal: [4, 5] + name: agent20 + start: [29, 3] +- goal: [2, 28] + name: agent21 + start: [0, 22] +- goal: [4, 14] + name: agent22 + start: [7, 7] +- goal: [26, 30] + name: agent23 + start: [15, 13] +- goal: [24, 21] + name: agent24 + start: [8, 26] +- goal: [13, 29] + name: agent25 + start: [9, 19] +- goal: [14, 26] + name: agent26 + start: [24, 1] +- goal: [0, 3] + name: agent27 + start: [2, 25] +- goal: [10, 15] + name: agent28 + start: [27, 21] +- goal: [6, 27] + name: agent29 + start: [21, 22] +- goal: [20, 2] + name: agent30 + start: [17, 15] +- goal: [20, 23] + name: agent31 + start: [7, 30] +- goal: [11, 23] + name: agent32 + start: [22, 14] +- goal: [10, 21] + name: agent33 + start: [28, 27] +- goal: [7, 1] + name: agent34 + start: [15, 2] +- goal: [2, 16] + name: agent35 + start: [16, 15] +- goal: [19, 11] + name: agent36 + start: [6, 15] +- goal: [3, 2] + name: agent37 + start: [1, 26] +- goal: [25, 23] + name: agent38 + start: [16, 31] +- goal: [4, 15] + name: agent39 + start: [5, 12] +- goal: [16, 30] + name: agent40 + start: [10, 9] +- goal: [4, 8] + name: agent41 + start: [27, 14] +- goal: [9, 29] + name: agent42 + start: [30, 12] +- goal: [12, 7] + name: agent43 + start: [25, 30] +- goal: [20, 29] + name: agent44 + start: [7, 6] +- goal: [0, 16] + name: agent45 + start: [2, 5] +- goal: [16, 14] + name: agent46 + start: [24, 4] +- goal: [10, 3] + name: agent47 + start: [17, 28] +- goal: [23, 27] + name: agent48 + start: [12, 4] +- goal: [26, 3] + name: agent49 + start: [6, 9] +- goal: [1, 21] + name: agent50 + start: [31, 3] +- goal: [29, 13] + name: agent51 + start: [4, 2] +- goal: [14, 21] + name: agent52 + start: [18, 26] +- goal: [0, 28] + name: agent53 + start: [21, 25] +- goal: [2, 24] + name: agent54 + start: [3, 10] +- goal: [7, 13] + name: agent55 + start: [27, 17] +- goal: [23, 1] + name: agent56 + start: [24, 15] +- goal: [25, 28] + name: agent57 + start: [27, 5] +- goal: [31, 16] + name: agent58 + start: [26, 13] +- goal: [12, 8] + name: agent59 + start: [25, 28] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [9, 25] + - !!python/tuple [29, 25] + - !!python/tuple [1, 19] + - !!python/tuple [14, 27] + - !!python/tuple [18, 16] + - !!python/tuple [9, 8] + - !!python/tuple [8, 17] + - !!python/tuple [29, 8] + - !!python/tuple [26, 7] + - !!python/tuple [20, 31] + - !!python/tuple [31, 22] + - !!python/tuple [31, 6] + - !!python/tuple [28, 23] + - !!python/tuple [14, 3] + - !!python/tuple [5, 22] + - !!python/tuple [10, 8] + - !!python/tuple [5, 3] + - !!python/tuple [18, 8] + - !!python/tuple [15, 8] + - !!python/tuple [0, 18] + - !!python/tuple [19, 18] + - !!python/tuple [14, 29] + - !!python/tuple [30, 19] + - !!python/tuple [8, 30] + - !!python/tuple [11, 15] + - !!python/tuple [11, 29] + - !!python/tuple [29, 12] + - !!python/tuple [6, 25] + - !!python/tuple [12, 0] + - !!python/tuple [28, 26] + - !!python/tuple [25, 0] + - !!python/tuple [15, 7] + - !!python/tuple [19, 24] + - !!python/tuple [12, 31] + - !!python/tuple [21, 29] + - !!python/tuple [14, 17] + - !!python/tuple [19, 10] + - !!python/tuple [18, 24] + - !!python/tuple [29, 10] + - !!python/tuple [11, 14] + - !!python/tuple [11, 24] + - !!python/tuple [16, 0] + - !!python/tuple [18, 5] + - !!python/tuple [17, 4] + - !!python/tuple [7, 8] + - !!python/tuple [12, 27] + - !!python/tuple [3, 21] + - !!python/tuple [8, 2] + - !!python/tuple [23, 7] + - !!python/tuple [22, 7] + - !!python/tuple [30, 18] + - !!python/tuple [31, 25] + - !!python/tuple [0, 23] + - !!python/tuple [18, 14] + - !!python/tuple [23, 29] + - !!python/tuple [27, 10] + - !!python/tuple [22, 2] + - !!python/tuple [3, 26] + - !!python/tuple [24, 7] + - !!python/tuple [24, 31] + - !!python/tuple [28, 21] + - !!python/tuple [9, 16] + - !!python/tuple [7, 16] + - !!python/tuple [16, 8] + - !!python/tuple [30, 29] + - !!python/tuple [22, 22] + - !!python/tuple [23, 17] + - !!python/tuple [20, 27] + - !!python/tuple [6, 30] + - !!python/tuple [9, 23] + - !!python/tuple [15, 21] + - !!python/tuple [19, 25] + - !!python/tuple [14, 12] + - !!python/tuple [0, 17] + - !!python/tuple [7, 0] + - !!python/tuple [24, 2] + - !!python/tuple [26, 25] + - !!python/tuple [13, 31] + - !!python/tuple [4, 7] + - !!python/tuple [30, 15] + - !!python/tuple [12, 1] + - !!python/tuple [13, 16] + - !!python/tuple [1, 10] + - !!python/tuple [11, 12] + - !!python/tuple [19, 31] + - !!python/tuple [25, 17] + - !!python/tuple [1, 1] + - !!python/tuple [21, 19] + - !!python/tuple [3, 19] + - !!python/tuple [9, 30] + - !!python/tuple [15, 30] + - !!python/tuple [14, 7] + - !!python/tuple [20, 13] + - !!python/tuple [15, 29] + - !!python/tuple [28, 20] + - !!python/tuple [22, 0] + - !!python/tuple [25, 18] + - !!python/tuple [20, 28] + - !!python/tuple [30, 7] + - !!python/tuple [12, 22] + - !!python/tuple [13, 26] + - !!python/tuple [14, 28] + - !!python/tuple [19, 7] + - !!python/tuple [6, 8] + - !!python/tuple [11, 7] + - !!python/tuple [26, 17] + - !!python/tuple [30, 20] + - !!python/tuple [2, 14] + - !!python/tuple [18, 18] + - !!python/tuple [17, 18] + - !!python/tuple [10, 28] + - !!python/tuple [29, 22] + - !!python/tuple [3, 31] + - !!python/tuple [24, 5] + - !!python/tuple [14, 5] + - !!python/tuple [21, 10] + - !!python/tuple [11, 16] + - !!python/tuple [22, 19] + - !!python/tuple [21, 26] + - !!python/tuple [10, 31] + - !!python/tuple [11, 6] + - !!python/tuple [29, 7] + - !!python/tuple [27, 23] + - !!python/tuple [10, 13] + - !!python/tuple [16, 2] + - !!python/tuple [8, 14] + - !!python/tuple [1, 29] + - !!python/tuple [13, 18] + - !!python/tuple [15, 5] + - !!python/tuple [23, 31] + - !!python/tuple [5, 10] + - !!python/tuple [13, 30] + - !!python/tuple [21, 17] + - !!python/tuple [20, 25] + - !!python/tuple [20, 9] + - !!python/tuple [2, 26] + - !!python/tuple [13, 3] + - !!python/tuple [11, 0] + - !!python/tuple [18, 25] + - !!python/tuple [2, 17] + - !!python/tuple [12, 16] + - !!python/tuple [24, 27] + - !!python/tuple [24, 6] + - !!python/tuple [15, 9] + - !!python/tuple [7, 21] + - !!python/tuple [4, 11] + - !!python/tuple [19, 6] + - !!python/tuple [19, 12] + - !!python/tuple [1, 5] + - !!python/tuple [15, 6] + - !!python/tuple [27, 22] + - !!python/tuple [10, 12] + - !!python/tuple [3, 13] + - !!python/tuple [0, 24] + - !!python/tuple [23, 3] + - !!python/tuple [12, 13] + - !!python/tuple [14, 20] + - !!python/tuple [6, 18] + - !!python/tuple [18, 13] + - !!python/tuple [17, 12] + - !!python/tuple [31, 12] + - !!python/tuple [7, 11] + - !!python/tuple [4, 24] + - !!python/tuple [11, 9] + - !!python/tuple [31, 14] + - !!python/tuple [10, 2] + - !!python/tuple [31, 18] + - !!python/tuple [8, 22] + - !!python/tuple [2, 1] + - !!python/tuple [19, 17] + - !!python/tuple [6, 11] + - !!python/tuple [26, 29] + - !!python/tuple [25, 21] + - !!python/tuple [25, 25] + - !!python/tuple [18, 6] + - !!python/tuple [28, 14] + - !!python/tuple [30, 3] + - !!python/tuple [29, 2] + - !!python/tuple [0, 27] + - !!python/tuple [1, 7] + - !!python/tuple [10, 24] + - !!python/tuple [26, 12] + - !!python/tuple [30, 25] + - !!python/tuple [20, 6] + - !!python/tuple [30, 0] + - !!python/tuple [30, 23] + - !!python/tuple [22, 24] + - !!python/tuple [29, 1] + - !!python/tuple [9, 17] + - !!python/tuple [29, 9] + - !!python/tuple [28, 4] + - !!python/tuple [21, 16] + - !!python/tuple [6, 10] + - !!python/tuple [1, 4] + - !!python/tuple [8, 11] + - !!python/tuple [10, 26] + - !!python/tuple [20, 12] + - !!python/tuple [9, 15] + - !!python/tuple [7, 4] + - !!python/tuple [23, 8] + - !!python/tuple [10, 25] + - !!python/tuple [5, 18] + - !!python/tuple [6, 16] + - !!python/tuple [30, 11] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex5.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex5.yaml new file mode 100644 index 0000000..85a4a93 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex5.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [25, 13] + name: agent0 + start: [7, 18] +- goal: [9, 2] + name: agent1 + start: [26, 9] +- goal: [27, 23] + name: agent2 + start: [15, 29] +- goal: [16, 16] + name: agent3 + start: [8, 29] +- goal: [25, 25] + name: agent4 + start: [18, 23] +- goal: [4, 8] + name: agent5 + start: [28, 0] +- goal: [30, 11] + name: agent6 + start: [3, 10] +- goal: [8, 11] + name: agent7 + start: [18, 26] +- goal: [14, 21] + name: agent8 + start: [22, 8] +- goal: [21, 19] + name: agent9 + start: [21, 11] +- goal: [19, 0] + name: agent10 + start: [10, 12] +- goal: [29, 24] + name: agent11 + start: [17, 9] +- goal: [19, 8] + name: agent12 + start: [26, 14] +- goal: [26, 10] + name: agent13 + start: [9, 16] +- goal: [1, 4] + name: agent14 + start: [9, 10] +- goal: [4, 31] + name: agent15 + start: [4, 11] +- goal: [10, 11] + name: agent16 + start: [16, 27] +- goal: [16, 28] + name: agent17 + start: [8, 31] +- goal: [7, 24] + name: agent18 + start: [26, 23] +- goal: [4, 1] + name: agent19 + start: [16, 7] +- goal: [13, 27] + name: agent20 + start: [12, 27] +- goal: [16, 18] + name: agent21 + start: [20, 5] +- goal: [2, 7] + name: agent22 + start: [2, 10] +- goal: [0, 15] + name: agent23 + start: [2, 21] +- goal: [26, 21] + name: agent24 + start: [19, 23] +- goal: [6, 27] + name: agent25 + start: [5, 22] +- goal: [5, 1] + name: agent26 + start: [23, 28] +- goal: [26, 13] + name: agent27 + start: [3, 27] +- goal: [28, 2] + name: agent28 + start: [3, 9] +- goal: [0, 23] + name: agent29 + start: [25, 14] +- goal: [22, 8] + name: agent30 + start: [0, 23] +- goal: [26, 12] + name: agent31 + start: [22, 2] +- goal: [25, 2] + name: agent32 + start: [7, 22] +- goal: [28, 12] + name: agent33 + start: [23, 0] +- goal: [19, 26] + name: agent34 + start: [20, 24] +- goal: [26, 11] + name: agent35 + start: [20, 26] +- goal: [9, 29] + name: agent36 + start: [16, 19] +- goal: [7, 22] + name: agent37 + start: [19, 17] +- goal: [17, 29] + name: agent38 + start: [17, 8] +- goal: [2, 24] + name: agent39 + start: [22, 19] +- goal: [28, 25] + name: agent40 + start: [5, 30] +- goal: [14, 22] + name: agent41 + start: [12, 10] +- goal: [29, 23] + name: agent42 + start: [21, 4] +- goal: [2, 16] + name: agent43 + start: [0, 20] +- goal: [3, 0] + name: agent44 + start: [16, 3] +- goal: [0, 27] + name: agent45 + start: [15, 1] +- goal: [20, 17] + name: agent46 + start: [13, 12] +- goal: [11, 1] + name: agent47 + start: [5, 7] +- goal: [25, 8] + name: agent48 + start: [2, 29] +- goal: [2, 18] + name: agent49 + start: [29, 9] +- goal: [9, 26] + name: agent50 + start: [7, 0] +- goal: [10, 21] + name: agent51 + start: [17, 1] +- goal: [2, 25] + name: agent52 + start: [21, 29] +- goal: [10, 4] + name: agent53 + start: [13, 27] +- goal: [6, 14] + name: agent54 + start: [28, 30] +- goal: [14, 2] + name: agent55 + start: [11, 9] +- goal: [18, 6] + name: agent56 + start: [15, 4] +- goal: [11, 22] + name: agent57 + start: [3, 6] +- goal: [8, 1] + name: agent58 + start: [19, 2] +- goal: [26, 29] + name: agent59 + start: [22, 9] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [6, 29] + - !!python/tuple [14, 23] + - !!python/tuple [16, 8] + - !!python/tuple [31, 25] + - !!python/tuple [20, 1] + - !!python/tuple [15, 26] + - !!python/tuple [4, 23] + - !!python/tuple [2, 31] + - !!python/tuple [9, 8] + - !!python/tuple [6, 25] + - !!python/tuple [31, 6] + - !!python/tuple [25, 4] + - !!python/tuple [23, 21] + - !!python/tuple [5, 9] + - !!python/tuple [17, 12] + - !!python/tuple [27, 31] + - !!python/tuple [4, 22] + - !!python/tuple [7, 20] + - !!python/tuple [13, 17] + - !!python/tuple [10, 14] + - !!python/tuple [5, 4] + - !!python/tuple [14, 28] + - !!python/tuple [12, 14] + - !!python/tuple [8, 10] + - !!python/tuple [20, 20] + - !!python/tuple [29, 16] + - !!python/tuple [20, 23] + - !!python/tuple [5, 14] + - !!python/tuple [12, 15] + - !!python/tuple [14, 27] + - !!python/tuple [16, 10] + - !!python/tuple [6, 15] + - !!python/tuple [19, 7] + - !!python/tuple [31, 16] + - !!python/tuple [9, 9] + - !!python/tuple [28, 13] + - !!python/tuple [28, 18] + - !!python/tuple [9, 21] + - !!python/tuple [8, 13] + - !!python/tuple [12, 9] + - !!python/tuple [18, 3] + - !!python/tuple [24, 18] + - !!python/tuple [25, 18] + - !!python/tuple [5, 18] + - !!python/tuple [4, 16] + - !!python/tuple [22, 3] + - !!python/tuple [19, 27] + - !!python/tuple [9, 4] + - !!python/tuple [27, 27] + - !!python/tuple [0, 24] + - !!python/tuple [30, 18] + - !!python/tuple [30, 21] + - !!python/tuple [19, 25] + - !!python/tuple [21, 18] + - !!python/tuple [6, 1] + - !!python/tuple [14, 30] + - !!python/tuple [1, 26] + - !!python/tuple [26, 20] + - !!python/tuple [27, 10] + - !!python/tuple [20, 11] + - !!python/tuple [28, 21] + - !!python/tuple [4, 2] + - !!python/tuple [1, 25] + - !!python/tuple [6, 7] + - !!python/tuple [11, 10] + - !!python/tuple [9, 27] + - !!python/tuple [6, 0] + - !!python/tuple [5, 29] + - !!python/tuple [15, 16] + - !!python/tuple [20, 27] + - !!python/tuple [31, 26] + - !!python/tuple [8, 14] + - !!python/tuple [24, 27] + - !!python/tuple [26, 27] + - !!python/tuple [19, 12] + - !!python/tuple [12, 22] + - !!python/tuple [5, 6] + - !!python/tuple [22, 12] + - !!python/tuple [14, 12] + - !!python/tuple [18, 2] + - !!python/tuple [30, 2] + - !!python/tuple [30, 28] + - !!python/tuple [2, 19] + - !!python/tuple [0, 12] + - !!python/tuple [6, 30] + - !!python/tuple [2, 2] + - !!python/tuple [11, 13] + - !!python/tuple [30, 15] + - !!python/tuple [14, 20] + - !!python/tuple [18, 21] + - !!python/tuple [12, 6] + - !!python/tuple [2, 27] + - !!python/tuple [21, 13] + - !!python/tuple [19, 21] + - !!python/tuple [15, 11] + - !!python/tuple [20, 19] + - !!python/tuple [24, 19] + - !!python/tuple [5, 25] + - !!python/tuple [11, 30] + - !!python/tuple [29, 7] + - !!python/tuple [12, 29] + - !!python/tuple [8, 7] + - !!python/tuple [3, 22] + - !!python/tuple [4, 5] + - !!python/tuple [14, 4] + - !!python/tuple [29, 2] + - !!python/tuple [0, 22] + - !!python/tuple [5, 2] + - !!python/tuple [20, 7] + - !!python/tuple [5, 5] + - !!python/tuple [28, 26] + - !!python/tuple [7, 10] + - !!python/tuple [25, 17] + - !!python/tuple [7, 5] + - !!python/tuple [6, 8] + - !!python/tuple [20, 2] + - !!python/tuple [14, 14] + - !!python/tuple [3, 5] + - !!python/tuple [24, 6] + - !!python/tuple [23, 26] + - !!python/tuple [6, 20] + - !!python/tuple [22, 6] + - !!python/tuple [11, 28] + - !!python/tuple [11, 11] + - !!python/tuple [19, 28] + - !!python/tuple [12, 28] + - !!python/tuple [20, 30] + - !!python/tuple [18, 30] + - !!python/tuple [28, 27] + - !!python/tuple [13, 30] + - !!python/tuple [9, 15] + - !!python/tuple [27, 25] + - !!python/tuple [25, 11] + - !!python/tuple [23, 6] + - !!python/tuple [0, 29] + - !!python/tuple [10, 20] + - !!python/tuple [20, 21] + - !!python/tuple [4, 10] + - !!python/tuple [11, 18] + - !!python/tuple [24, 2] + - !!python/tuple [4, 4] + - !!python/tuple [12, 16] + - !!python/tuple [3, 24] + - !!python/tuple [3, 31] + - !!python/tuple [19, 16] + - !!python/tuple [25, 15] + - !!python/tuple [22, 13] + - !!python/tuple [20, 10] + - !!python/tuple [28, 17] + - !!python/tuple [16, 9] + - !!python/tuple [24, 7] + - !!python/tuple [16, 23] + - !!python/tuple [31, 9] + - !!python/tuple [2, 17] + - !!python/tuple [19, 29] + - !!python/tuple [18, 0] + - !!python/tuple [1, 29] + - !!python/tuple [15, 5] + - !!python/tuple [13, 26] + - !!python/tuple [30, 9] + - !!python/tuple [13, 15] + - !!python/tuple [17, 10] + - !!python/tuple [15, 23] + - !!python/tuple [31, 24] + - !!python/tuple [10, 27] + - !!python/tuple [31, 21] + - !!python/tuple [16, 20] + - !!python/tuple [23, 19] + - !!python/tuple [17, 2] + - !!python/tuple [29, 5] + - !!python/tuple [8, 8] + - !!python/tuple [21, 31] + - !!python/tuple [23, 30] + - !!python/tuple [14, 16] + - !!python/tuple [27, 21] + - !!python/tuple [7, 30] + - !!python/tuple [15, 31] + - !!python/tuple [8, 19] + - !!python/tuple [2, 8] + - !!python/tuple [0, 17] + - !!python/tuple [7, 7] + - !!python/tuple [27, 28] + - !!python/tuple [25, 31] + - !!python/tuple [30, 22] + - !!python/tuple [13, 3] + - !!python/tuple [30, 31] + - !!python/tuple [25, 28] + - !!python/tuple [11, 26] + - !!python/tuple [23, 16] + - !!python/tuple [19, 11] + - !!python/tuple [13, 10] + - !!python/tuple [4, 0] + - !!python/tuple [24, 25] + - !!python/tuple [30, 29] + - !!python/tuple [14, 11] + - !!python/tuple [28, 1] + - !!python/tuple [14, 8] + - !!python/tuple [3, 20] + - !!python/tuple [10, 17] + - !!python/tuple [17, 28] + - !!python/tuple [2, 11] + - !!python/tuple [11, 12] + - !!python/tuple [25, 20] + - !!python/tuple [15, 25] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex50.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex50.yaml new file mode 100644 index 0000000..580ae74 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex50.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [2, 17] + name: agent0 + start: [14, 21] +- goal: [24, 30] + name: agent1 + start: [6, 9] +- goal: [27, 20] + name: agent2 + start: [20, 31] +- goal: [6, 10] + name: agent3 + start: [11, 24] +- goal: [3, 25] + name: agent4 + start: [25, 22] +- goal: [24, 13] + name: agent5 + start: [7, 28] +- goal: [1, 19] + name: agent6 + start: [6, 19] +- goal: [11, 15] + name: agent7 + start: [13, 23] +- goal: [2, 3] + name: agent8 + start: [12, 2] +- goal: [25, 13] + name: agent9 + start: [3, 3] +- goal: [16, 30] + name: agent10 + start: [7, 29] +- goal: [16, 15] + name: agent11 + start: [29, 12] +- goal: [20, 14] + name: agent12 + start: [12, 1] +- goal: [3, 22] + name: agent13 + start: [7, 2] +- goal: [30, 8] + name: agent14 + start: [14, 31] +- goal: [11, 19] + name: agent15 + start: [3, 13] +- goal: [21, 5] + name: agent16 + start: [17, 1] +- goal: [0, 29] + name: agent17 + start: [24, 28] +- goal: [26, 0] + name: agent18 + start: [11, 3] +- goal: [18, 22] + name: agent19 + start: [31, 26] +- goal: [24, 2] + name: agent20 + start: [4, 27] +- goal: [31, 31] + name: agent21 + start: [1, 27] +- goal: [8, 10] + name: agent22 + start: [10, 2] +- goal: [15, 5] + name: agent23 + start: [19, 25] +- goal: [16, 26] + name: agent24 + start: [26, 16] +- goal: [17, 4] + name: agent25 + start: [5, 29] +- goal: [7, 23] + name: agent26 + start: [27, 3] +- goal: [17, 27] + name: agent27 + start: [12, 8] +- goal: [24, 20] + name: agent28 + start: [29, 30] +- goal: [27, 30] + name: agent29 + start: [24, 1] +- goal: [25, 10] + name: agent30 + start: [6, 5] +- goal: [29, 0] + name: agent31 + start: [14, 4] +- goal: [2, 13] + name: agent32 + start: [17, 16] +- goal: [13, 22] + name: agent33 + start: [8, 22] +- goal: [18, 27] + name: agent34 + start: [31, 31] +- goal: [11, 8] + name: agent35 + start: [18, 28] +- goal: [14, 31] + name: agent36 + start: [19, 7] +- goal: [5, 14] + name: agent37 + start: [4, 2] +- goal: [26, 25] + name: agent38 + start: [15, 16] +- goal: [24, 23] + name: agent39 + start: [20, 18] +- goal: [0, 17] + name: agent40 + start: [6, 2] +- goal: [18, 21] + name: agent41 + start: [24, 13] +- goal: [30, 15] + name: agent42 + start: [24, 10] +- goal: [29, 1] + name: agent43 + start: [25, 14] +- goal: [4, 16] + name: agent44 + start: [5, 20] +- goal: [8, 20] + name: agent45 + start: [9, 23] +- goal: [24, 21] + name: agent46 + start: [13, 17] +- goal: [12, 21] + name: agent47 + start: [2, 31] +- goal: [9, 17] + name: agent48 + start: [24, 11] +- goal: [30, 14] + name: agent49 + start: [21, 8] +- goal: [4, 15] + name: agent50 + start: [24, 3] +- goal: [18, 19] + name: agent51 + start: [7, 24] +- goal: [7, 27] + name: agent52 + start: [22, 18] +- goal: [29, 24] + name: agent53 + start: [17, 27] +- goal: [31, 25] + name: agent54 + start: [22, 7] +- goal: [17, 29] + name: agent55 + start: [29, 15] +- goal: [6, 31] + name: agent56 + start: [2, 11] +- goal: [15, 22] + name: agent57 + start: [16, 2] +- goal: [2, 16] + name: agent58 + start: [14, 3] +- goal: [5, 6] + name: agent59 + start: [20, 6] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [22, 19] + - !!python/tuple [6, 13] + - !!python/tuple [24, 29] + - !!python/tuple [20, 4] + - !!python/tuple [4, 0] + - !!python/tuple [6, 20] + - !!python/tuple [15, 31] + - !!python/tuple [24, 18] + - !!python/tuple [27, 8] + - !!python/tuple [18, 6] + - !!python/tuple [18, 29] + - !!python/tuple [8, 24] + - !!python/tuple [20, 22] + - !!python/tuple [23, 27] + - !!python/tuple [8, 5] + - !!python/tuple [19, 0] + - !!python/tuple [31, 3] + - !!python/tuple [16, 9] + - !!python/tuple [18, 0] + - !!python/tuple [5, 10] + - !!python/tuple [8, 12] + - !!python/tuple [9, 11] + - !!python/tuple [12, 26] + - !!python/tuple [10, 18] + - !!python/tuple [25, 19] + - !!python/tuple [22, 21] + - !!python/tuple [9, 15] + - !!python/tuple [13, 27] + - !!python/tuple [18, 17] + - !!python/tuple [14, 23] + - !!python/tuple [21, 20] + - !!python/tuple [5, 24] + - !!python/tuple [15, 23] + - !!python/tuple [28, 27] + - !!python/tuple [5, 19] + - !!python/tuple [25, 18] + - !!python/tuple [25, 15] + - !!python/tuple [7, 9] + - !!python/tuple [28, 6] + - !!python/tuple [29, 27] + - !!python/tuple [11, 7] + - !!python/tuple [5, 21] + - !!python/tuple [8, 7] + - !!python/tuple [30, 3] + - !!python/tuple [19, 15] + - !!python/tuple [25, 12] + - !!python/tuple [23, 25] + - !!python/tuple [6, 24] + - !!python/tuple [23, 30] + - !!python/tuple [27, 5] + - !!python/tuple [12, 22] + - !!python/tuple [1, 18] + - !!python/tuple [20, 16] + - !!python/tuple [30, 9] + - !!python/tuple [29, 16] + - !!python/tuple [6, 1] + - !!python/tuple [2, 4] + - !!python/tuple [8, 18] + - !!python/tuple [28, 29] + - !!python/tuple [3, 19] + - !!python/tuple [0, 30] + - !!python/tuple [31, 27] + - !!python/tuple [19, 13] + - !!python/tuple [28, 21] + - !!python/tuple [20, 9] + - !!python/tuple [12, 31] + - !!python/tuple [6, 3] + - !!python/tuple [4, 10] + - !!python/tuple [31, 6] + - !!python/tuple [11, 23] + - !!python/tuple [0, 19] + - !!python/tuple [6, 7] + - !!python/tuple [0, 15] + - !!python/tuple [10, 29] + - !!python/tuple [23, 6] + - !!python/tuple [8, 8] + - !!python/tuple [28, 26] + - !!python/tuple [19, 3] + - !!python/tuple [27, 11] + - !!python/tuple [3, 24] + - !!python/tuple [29, 25] + - !!python/tuple [15, 2] + - !!python/tuple [11, 11] + - !!python/tuple [13, 11] + - !!python/tuple [29, 8] + - !!python/tuple [30, 2] + - !!python/tuple [1, 12] + - !!python/tuple [19, 27] + - !!python/tuple [29, 2] + - !!python/tuple [26, 14] + - !!python/tuple [16, 23] + - !!python/tuple [17, 0] + - !!python/tuple [12, 23] + - !!python/tuple [0, 26] + - !!python/tuple [30, 26] + - !!python/tuple [20, 30] + - !!python/tuple [30, 30] + - !!python/tuple [7, 14] + - !!python/tuple [7, 8] + - !!python/tuple [1, 20] + - !!python/tuple [10, 7] + - !!python/tuple [23, 28] + - !!python/tuple [6, 6] + - !!python/tuple [17, 9] + - !!python/tuple [11, 10] + - !!python/tuple [23, 20] + - !!python/tuple [3, 30] + - !!python/tuple [8, 17] + - !!python/tuple [4, 31] + - !!python/tuple [25, 20] + - !!python/tuple [3, 21] + - !!python/tuple [21, 6] + - !!python/tuple [12, 7] + - !!python/tuple [21, 23] + - !!python/tuple [16, 13] + - !!python/tuple [7, 22] + - !!python/tuple [1, 13] + - !!python/tuple [8, 4] + - !!python/tuple [23, 11] + - !!python/tuple [29, 14] + - !!python/tuple [13, 6] + - !!python/tuple [4, 18] + - !!python/tuple [17, 31] + - !!python/tuple [18, 26] + - !!python/tuple [26, 20] + - !!python/tuple [25, 31] + - !!python/tuple [1, 17] + - !!python/tuple [29, 10] + - !!python/tuple [2, 2] + - !!python/tuple [22, 2] + - !!python/tuple [17, 10] + - !!python/tuple [27, 9] + - !!python/tuple [28, 20] + - !!python/tuple [31, 8] + - !!python/tuple [15, 25] + - !!python/tuple [1, 8] + - !!python/tuple [18, 18] + - !!python/tuple [3, 16] + - !!python/tuple [1, 4] + - !!python/tuple [18, 1] + - !!python/tuple [27, 12] + - !!python/tuple [28, 0] + - !!python/tuple [15, 13] + - !!python/tuple [1, 14] + - !!python/tuple [16, 11] + - !!python/tuple [12, 9] + - !!python/tuple [24, 5] + - !!python/tuple [28, 31] + - !!python/tuple [15, 1] + - !!python/tuple [25, 9] + - !!python/tuple [28, 24] + - !!python/tuple [29, 18] + - !!python/tuple [13, 8] + - !!python/tuple [3, 12] + - !!python/tuple [2, 1] + - !!python/tuple [31, 2] + - !!python/tuple [27, 18] + - !!python/tuple [7, 4] + - !!python/tuple [26, 22] + - !!python/tuple [19, 8] + - !!python/tuple [28, 14] + - !!python/tuple [6, 17] + - !!python/tuple [17, 25] + - !!python/tuple [28, 9] + - !!python/tuple [27, 17] + - !!python/tuple [8, 1] + - !!python/tuple [21, 30] + - !!python/tuple [17, 13] + - !!python/tuple [31, 24] + - !!python/tuple [2, 9] + - !!python/tuple [27, 13] + - !!python/tuple [24, 27] + - !!python/tuple [22, 8] + - !!python/tuple [20, 11] + - !!python/tuple [30, 21] + - !!python/tuple [12, 27] + - !!python/tuple [23, 19] + - !!python/tuple [12, 6] + - !!python/tuple [9, 30] + - !!python/tuple [18, 15] + - !!python/tuple [3, 27] + - !!python/tuple [2, 30] + - !!python/tuple [21, 15] + - !!python/tuple [9, 13] + - !!python/tuple [28, 8] + - !!python/tuple [29, 9] + - !!python/tuple [21, 7] + - !!python/tuple [20, 28] + - !!python/tuple [18, 2] + - !!python/tuple [17, 6] + - !!python/tuple [14, 7] + - !!python/tuple [6, 18] + - !!python/tuple [5, 30] + - !!python/tuple [10, 28] + - !!python/tuple [11, 13] + - !!python/tuple [7, 31] + - !!python/tuple [28, 5] + - !!python/tuple [28, 11] + - !!python/tuple [28, 22] + - !!python/tuple [9, 19] + - !!python/tuple [21, 26] + - !!python/tuple [7, 10] + - !!python/tuple [6, 27] + - !!python/tuple [24, 19] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex51.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex51.yaml new file mode 100644 index 0000000..07bb3e5 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex51.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [18, 20] + name: agent0 + start: [25, 16] +- goal: [14, 10] + name: agent1 + start: [25, 23] +- goal: [10, 31] + name: agent2 + start: [14, 1] +- goal: [6, 10] + name: agent3 + start: [21, 12] +- goal: [26, 4] + name: agent4 + start: [5, 31] +- goal: [26, 31] + name: agent5 + start: [10, 24] +- goal: [11, 31] + name: agent6 + start: [3, 7] +- goal: [2, 26] + name: agent7 + start: [8, 9] +- goal: [12, 14] + name: agent8 + start: [4, 2] +- goal: [2, 10] + name: agent9 + start: [22, 16] +- goal: [4, 6] + name: agent10 + start: [24, 26] +- goal: [23, 29] + name: agent11 + start: [5, 18] +- goal: [22, 29] + name: agent12 + start: [23, 30] +- goal: [14, 2] + name: agent13 + start: [26, 0] +- goal: [13, 7] + name: agent14 + start: [30, 22] +- goal: [6, 7] + name: agent15 + start: [7, 1] +- goal: [23, 3] + name: agent16 + start: [18, 22] +- goal: [4, 25] + name: agent17 + start: [2, 0] +- goal: [30, 22] + name: agent18 + start: [2, 8] +- goal: [21, 1] + name: agent19 + start: [30, 10] +- goal: [22, 28] + name: agent20 + start: [6, 11] +- goal: [12, 13] + name: agent21 + start: [20, 18] +- goal: [1, 5] + name: agent22 + start: [0, 22] +- goal: [12, 5] + name: agent23 + start: [0, 28] +- goal: [24, 20] + name: agent24 + start: [27, 29] +- goal: [3, 24] + name: agent25 + start: [15, 8] +- goal: [9, 8] + name: agent26 + start: [2, 26] +- goal: [20, 5] + name: agent27 + start: [6, 19] +- goal: [8, 3] + name: agent28 + start: [10, 8] +- goal: [5, 2] + name: agent29 + start: [20, 15] +- goal: [2, 29] + name: agent30 + start: [19, 11] +- goal: [30, 29] + name: agent31 + start: [3, 9] +- goal: [5, 10] + name: agent32 + start: [26, 7] +- goal: [0, 26] + name: agent33 + start: [8, 28] +- goal: [6, 4] + name: agent34 + start: [20, 26] +- goal: [18, 10] + name: agent35 + start: [10, 17] +- goal: [10, 22] + name: agent36 + start: [3, 27] +- goal: [22, 8] + name: agent37 + start: [26, 27] +- goal: [4, 4] + name: agent38 + start: [15, 1] +- goal: [15, 22] + name: agent39 + start: [12, 1] +- goal: [18, 13] + name: agent40 + start: [1, 30] +- goal: [10, 4] + name: agent41 + start: [17, 12] +- goal: [17, 20] + name: agent42 + start: [22, 10] +- goal: [3, 3] + name: agent43 + start: [30, 31] +- goal: [16, 17] + name: agent44 + start: [8, 5] +- goal: [9, 14] + name: agent45 + start: [7, 27] +- goal: [8, 1] + name: agent46 + start: [30, 11] +- goal: [17, 8] + name: agent47 + start: [16, 20] +- goal: [29, 1] + name: agent48 + start: [4, 11] +- goal: [21, 17] + name: agent49 + start: [8, 10] +- goal: [18, 9] + name: agent50 + start: [23, 23] +- goal: [6, 13] + name: agent51 + start: [0, 30] +- goal: [1, 8] + name: agent52 + start: [29, 5] +- goal: [8, 6] + name: agent53 + start: [13, 10] +- goal: [3, 19] + name: agent54 + start: [24, 20] +- goal: [10, 7] + name: agent55 + start: [14, 14] +- goal: [27, 4] + name: agent56 + start: [17, 6] +- goal: [11, 29] + name: agent57 + start: [12, 20] +- goal: [16, 30] + name: agent58 + start: [28, 13] +- goal: [28, 12] + name: agent59 + start: [23, 12] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [4, 26] + - !!python/tuple [11, 12] + - !!python/tuple [0, 18] + - !!python/tuple [13, 4] + - !!python/tuple [25, 17] + - !!python/tuple [28, 26] + - !!python/tuple [31, 8] + - !!python/tuple [15, 4] + - !!python/tuple [24, 11] + - !!python/tuple [12, 29] + - !!python/tuple [27, 27] + - !!python/tuple [26, 20] + - !!python/tuple [5, 3] + - !!python/tuple [17, 15] + - !!python/tuple [13, 24] + - !!python/tuple [3, 26] + - !!python/tuple [22, 6] + - !!python/tuple [23, 2] + - !!python/tuple [18, 5] + - !!python/tuple [31, 24] + - !!python/tuple [17, 24] + - !!python/tuple [25, 28] + - !!python/tuple [2, 31] + - !!python/tuple [4, 10] + - !!python/tuple [6, 14] + - !!python/tuple [6, 23] + - !!python/tuple [11, 17] + - !!python/tuple [14, 18] + - !!python/tuple [25, 13] + - !!python/tuple [9, 2] + - !!python/tuple [2, 20] + - !!python/tuple [15, 2] + - !!python/tuple [2, 15] + - !!python/tuple [28, 22] + - !!python/tuple [6, 2] + - !!python/tuple [24, 25] + - !!python/tuple [5, 17] + - !!python/tuple [25, 31] + - !!python/tuple [31, 2] + - !!python/tuple [30, 1] + - !!python/tuple [10, 16] + - !!python/tuple [1, 15] + - !!python/tuple [21, 29] + - !!python/tuple [31, 18] + - !!python/tuple [15, 30] + - !!python/tuple [16, 11] + - !!python/tuple [19, 17] + - !!python/tuple [5, 11] + - !!python/tuple [11, 19] + - !!python/tuple [2, 19] + - !!python/tuple [29, 17] + - !!python/tuple [30, 3] + - !!python/tuple [6, 16] + - !!python/tuple [6, 8] + - !!python/tuple [8, 19] + - !!python/tuple [9, 19] + - !!python/tuple [21, 13] + - !!python/tuple [6, 22] + - !!python/tuple [7, 24] + - !!python/tuple [21, 19] + - !!python/tuple [20, 25] + - !!python/tuple [14, 28] + - !!python/tuple [31, 0] + - !!python/tuple [0, 20] + - !!python/tuple [9, 3] + - !!python/tuple [29, 10] + - !!python/tuple [17, 25] + - !!python/tuple [22, 22] + - !!python/tuple [1, 3] + - !!python/tuple [2, 17] + - !!python/tuple [16, 14] + - !!python/tuple [6, 29] + - !!python/tuple [30, 28] + - !!python/tuple [12, 0] + - !!python/tuple [13, 30] + - !!python/tuple [7, 23] + - !!python/tuple [29, 3] + - !!python/tuple [2, 13] + - !!python/tuple [15, 14] + - !!python/tuple [0, 29] + - !!python/tuple [15, 9] + - !!python/tuple [18, 30] + - !!python/tuple [7, 22] + - !!python/tuple [0, 21] + - !!python/tuple [20, 19] + - !!python/tuple [26, 11] + - !!python/tuple [2, 18] + - !!python/tuple [18, 18] + - !!python/tuple [11, 7] + - !!python/tuple [4, 3] + - !!python/tuple [16, 19] + - !!python/tuple [7, 17] + - !!python/tuple [29, 6] + - !!python/tuple [22, 12] + - !!python/tuple [16, 0] + - !!python/tuple [15, 23] + - !!python/tuple [7, 5] + - !!python/tuple [9, 27] + - !!python/tuple [2, 23] + - !!python/tuple [2, 30] + - !!python/tuple [14, 7] + - !!python/tuple [6, 18] + - !!python/tuple [7, 18] + - !!python/tuple [1, 9] + - !!python/tuple [3, 20] + - !!python/tuple [30, 16] + - !!python/tuple [22, 14] + - !!python/tuple [12, 22] + - !!python/tuple [23, 6] + - !!python/tuple [2, 28] + - !!python/tuple [24, 8] + - !!python/tuple [13, 17] + - !!python/tuple [0, 19] + - !!python/tuple [12, 19] + - !!python/tuple [5, 30] + - !!python/tuple [5, 1] + - !!python/tuple [0, 9] + - !!python/tuple [23, 8] + - !!python/tuple [8, 15] + - !!python/tuple [27, 3] + - !!python/tuple [2, 11] + - !!python/tuple [22, 4] + - !!python/tuple [12, 15] + - !!python/tuple [0, 1] + - !!python/tuple [17, 26] + - !!python/tuple [25, 30] + - !!python/tuple [7, 11] + - !!python/tuple [12, 17] + - !!python/tuple [22, 25] + - !!python/tuple [7, 2] + - !!python/tuple [31, 15] + - !!python/tuple [24, 24] + - !!python/tuple [5, 21] + - !!python/tuple [27, 24] + - !!python/tuple [18, 15] + - !!python/tuple [30, 4] + - !!python/tuple [12, 26] + - !!python/tuple [6, 26] + - !!python/tuple [3, 5] + - !!python/tuple [24, 12] + - !!python/tuple [24, 30] + - !!python/tuple [28, 10] + - !!python/tuple [13, 6] + - !!python/tuple [21, 2] + - !!python/tuple [1, 13] + - !!python/tuple [9, 13] + - !!python/tuple [14, 5] + - !!python/tuple [14, 8] + - !!python/tuple [29, 4] + - !!python/tuple [7, 25] + - !!python/tuple [20, 16] + - !!python/tuple [20, 22] + - !!python/tuple [19, 20] + - !!python/tuple [10, 10] + - !!python/tuple [1, 22] + - !!python/tuple [30, 0] + - !!python/tuple [17, 21] + - !!python/tuple [5, 23] + - !!python/tuple [9, 9] + - !!python/tuple [24, 28] + - !!python/tuple [14, 25] + - !!python/tuple [23, 10] + - !!python/tuple [30, 15] + - !!python/tuple [29, 29] + - !!python/tuple [15, 26] + - !!python/tuple [18, 14] + - !!python/tuple [8, 29] + - !!python/tuple [17, 19] + - !!python/tuple [31, 1] + - !!python/tuple [23, 4] + - !!python/tuple [30, 18] + - !!python/tuple [13, 29] + - !!python/tuple [22, 31] + - !!python/tuple [6, 25] + - !!python/tuple [2, 22] + - !!python/tuple [16, 22] + - !!python/tuple [19, 25] + - !!python/tuple [25, 11] + - !!python/tuple [12, 31] + - !!python/tuple [27, 6] + - !!python/tuple [5, 8] + - !!python/tuple [5, 24] + - !!python/tuple [31, 14] + - !!python/tuple [25, 1] + - !!python/tuple [0, 16] + - !!python/tuple [30, 5] + - !!python/tuple [16, 31] + - !!python/tuple [7, 16] + - !!python/tuple [16, 12] + - !!python/tuple [28, 25] + - !!python/tuple [4, 28] + - !!python/tuple [8, 13] + - !!python/tuple [6, 28] + - !!python/tuple [5, 14] + - !!python/tuple [3, 29] + - !!python/tuple [14, 11] + - !!python/tuple [24, 31] + - !!python/tuple [18, 7] + - !!python/tuple [11, 8] + - !!python/tuple [11, 14] + - !!python/tuple [24, 2] + - !!python/tuple [1, 10] + - !!python/tuple [17, 30] + - !!python/tuple [0, 3] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex52.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex52.yaml new file mode 100644 index 0000000..796e0b4 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex52.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [15, 28] + name: agent0 + start: [0, 5] +- goal: [0, 7] + name: agent1 + start: [20, 27] +- goal: [0, 31] + name: agent2 + start: [5, 13] +- goal: [27, 11] + name: agent3 + start: [29, 5] +- goal: [27, 23] + name: agent4 + start: [2, 17] +- goal: [9, 18] + name: agent5 + start: [2, 2] +- goal: [22, 20] + name: agent6 + start: [14, 13] +- goal: [5, 28] + name: agent7 + start: [16, 30] +- goal: [3, 28] + name: agent8 + start: [14, 2] +- goal: [20, 11] + name: agent9 + start: [12, 7] +- goal: [13, 10] + name: agent10 + start: [30, 1] +- goal: [26, 28] + name: agent11 + start: [2, 19] +- goal: [0, 4] + name: agent12 + start: [6, 20] +- goal: [27, 2] + name: agent13 + start: [9, 15] +- goal: [30, 12] + name: agent14 + start: [0, 6] +- goal: [0, 20] + name: agent15 + start: [18, 8] +- goal: [23, 21] + name: agent16 + start: [19, 5] +- goal: [13, 13] + name: agent17 + start: [17, 28] +- goal: [20, 30] + name: agent18 + start: [20, 2] +- goal: [15, 13] + name: agent19 + start: [11, 23] +- goal: [25, 29] + name: agent20 + start: [20, 15] +- goal: [6, 14] + name: agent21 + start: [17, 18] +- goal: [31, 15] + name: agent22 + start: [16, 24] +- goal: [28, 14] + name: agent23 + start: [28, 22] +- goal: [7, 29] + name: agent24 + start: [8, 16] +- goal: [26, 15] + name: agent25 + start: [25, 4] +- goal: [0, 12] + name: agent26 + start: [31, 16] +- goal: [18, 6] + name: agent27 + start: [7, 25] +- goal: [20, 14] + name: agent28 + start: [9, 11] +- goal: [11, 1] + name: agent29 + start: [1, 19] +- goal: [8, 11] + name: agent30 + start: [17, 29] +- goal: [8, 13] + name: agent31 + start: [11, 8] +- goal: [21, 10] + name: agent32 + start: [13, 1] +- goal: [20, 28] + name: agent33 + start: [5, 25] +- goal: [6, 22] + name: agent34 + start: [21, 1] +- goal: [20, 12] + name: agent35 + start: [28, 19] +- goal: [28, 15] + name: agent36 + start: [9, 0] +- goal: [25, 19] + name: agent37 + start: [17, 26] +- goal: [28, 23] + name: agent38 + start: [22, 3] +- goal: [21, 20] + name: agent39 + start: [20, 22] +- goal: [11, 26] + name: agent40 + start: [0, 12] +- goal: [25, 17] + name: agent41 + start: [23, 30] +- goal: [2, 8] + name: agent42 + start: [31, 15] +- goal: [25, 5] + name: agent43 + start: [19, 6] +- goal: [10, 26] + name: agent44 + start: [22, 20] +- goal: [9, 16] + name: agent45 + start: [24, 9] +- goal: [11, 19] + name: agent46 + start: [2, 30] +- goal: [14, 19] + name: agent47 + start: [29, 8] +- goal: [28, 3] + name: agent48 + start: [11, 13] +- goal: [22, 15] + name: agent49 + start: [8, 12] +- goal: [23, 2] + name: agent50 + start: [29, 28] +- goal: [11, 18] + name: agent51 + start: [25, 30] +- goal: [24, 12] + name: agent52 + start: [18, 20] +- goal: [0, 0] + name: agent53 + start: [17, 2] +- goal: [18, 18] + name: agent54 + start: [23, 1] +- goal: [12, 30] + name: agent55 + start: [2, 1] +- goal: [19, 31] + name: agent56 + start: [14, 25] +- goal: [6, 2] + name: agent57 + start: [12, 27] +- goal: [27, 31] + name: agent58 + start: [25, 0] +- goal: [1, 23] + name: agent59 + start: [31, 8] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [11, 11] + - !!python/tuple [31, 20] + - !!python/tuple [17, 15] + - !!python/tuple [21, 29] + - !!python/tuple [5, 2] + - !!python/tuple [25, 2] + - !!python/tuple [16, 14] + - !!python/tuple [15, 26] + - !!python/tuple [0, 24] + - !!python/tuple [21, 21] + - !!python/tuple [20, 29] + - !!python/tuple [15, 5] + - !!python/tuple [1, 16] + - !!python/tuple [8, 0] + - !!python/tuple [8, 9] + - !!python/tuple [21, 31] + - !!python/tuple [11, 5] + - !!python/tuple [10, 17] + - !!python/tuple [2, 14] + - !!python/tuple [1, 14] + - !!python/tuple [1, 9] + - !!python/tuple [13, 24] + - !!python/tuple [16, 25] + - !!python/tuple [28, 29] + - !!python/tuple [24, 15] + - !!python/tuple [6, 3] + - !!python/tuple [5, 10] + - !!python/tuple [21, 3] + - !!python/tuple [7, 12] + - !!python/tuple [4, 2] + - !!python/tuple [27, 13] + - !!python/tuple [15, 20] + - !!python/tuple [0, 11] + - !!python/tuple [15, 21] + - !!python/tuple [15, 27] + - !!python/tuple [27, 22] + - !!python/tuple [19, 3] + - !!python/tuple [30, 4] + - !!python/tuple [11, 29] + - !!python/tuple [12, 21] + - !!python/tuple [18, 19] + - !!python/tuple [23, 16] + - !!python/tuple [27, 26] + - !!python/tuple [25, 25] + - !!python/tuple [12, 3] + - !!python/tuple [31, 25] + - !!python/tuple [13, 11] + - !!python/tuple [15, 10] + - !!python/tuple [17, 6] + - !!python/tuple [25, 9] + - !!python/tuple [17, 17] + - !!python/tuple [25, 23] + - !!python/tuple [3, 1] + - !!python/tuple [17, 31] + - !!python/tuple [18, 9] + - !!python/tuple [0, 18] + - !!python/tuple [1, 22] + - !!python/tuple [23, 8] + - !!python/tuple [2, 25] + - !!python/tuple [5, 31] + - !!python/tuple [13, 30] + - !!python/tuple [28, 16] + - !!python/tuple [25, 20] + - !!python/tuple [23, 24] + - !!python/tuple [4, 29] + - !!python/tuple [1, 6] + - !!python/tuple [10, 12] + - !!python/tuple [27, 18] + - !!python/tuple [16, 19] + - !!python/tuple [16, 23] + - !!python/tuple [27, 30] + - !!python/tuple [30, 24] + - !!python/tuple [3, 14] + - !!python/tuple [6, 5] + - !!python/tuple [10, 6] + - !!python/tuple [17, 0] + - !!python/tuple [17, 7] + - !!python/tuple [15, 6] + - !!python/tuple [20, 26] + - !!python/tuple [6, 19] + - !!python/tuple [28, 0] + - !!python/tuple [15, 12] + - !!python/tuple [4, 23] + - !!python/tuple [8, 8] + - !!python/tuple [29, 7] + - !!python/tuple [3, 13] + - !!python/tuple [8, 19] + - !!python/tuple [17, 13] + - !!python/tuple [29, 12] + - !!python/tuple [14, 9] + - !!python/tuple [6, 15] + - !!python/tuple [23, 17] + - !!python/tuple [24, 17] + - !!python/tuple [20, 20] + - !!python/tuple [18, 29] + - !!python/tuple [3, 7] + - !!python/tuple [3, 12] + - !!python/tuple [15, 23] + - !!python/tuple [30, 10] + - !!python/tuple [24, 3] + - !!python/tuple [28, 7] + - !!python/tuple [26, 8] + - !!python/tuple [3, 15] + - !!python/tuple [17, 3] + - !!python/tuple [21, 15] + - !!python/tuple [27, 8] + - !!python/tuple [7, 31] + - !!python/tuple [2, 15] + - !!python/tuple [15, 7] + - !!python/tuple [1, 25] + - !!python/tuple [18, 12] + - !!python/tuple [16, 20] + - !!python/tuple [30, 28] + - !!python/tuple [22, 11] + - !!python/tuple [12, 22] + - !!python/tuple [4, 18] + - !!python/tuple [8, 5] + - !!python/tuple [9, 12] + - !!python/tuple [0, 25] + - !!python/tuple [19, 13] + - !!python/tuple [19, 26] + - !!python/tuple [17, 23] + - !!python/tuple [19, 10] + - !!python/tuple [12, 5] + - !!python/tuple [13, 15] + - !!python/tuple [8, 30] + - !!python/tuple [4, 26] + - !!python/tuple [4, 28] + - !!python/tuple [6, 18] + - !!python/tuple [0, 22] + - !!python/tuple [1, 30] + - !!python/tuple [16, 16] + - !!python/tuple [8, 6] + - !!python/tuple [17, 20] + - !!python/tuple [14, 8] + - !!python/tuple [6, 21] + - !!python/tuple [28, 27] + - !!python/tuple [3, 9] + - !!python/tuple [27, 16] + - !!python/tuple [4, 10] + - !!python/tuple [17, 30] + - !!python/tuple [25, 21] + - !!python/tuple [4, 3] + - !!python/tuple [6, 11] + - !!python/tuple [14, 24] + - !!python/tuple [10, 24] + - !!python/tuple [0, 13] + - !!python/tuple [15, 3] + - !!python/tuple [21, 14] + - !!python/tuple [25, 6] + - !!python/tuple [12, 10] + - !!python/tuple [13, 3] + - !!python/tuple [10, 11] + - !!python/tuple [9, 25] + - !!python/tuple [12, 1] + - !!python/tuple [27, 3] + - !!python/tuple [20, 3] + - !!python/tuple [7, 1] + - !!python/tuple [23, 28] + - !!python/tuple [22, 21] + - !!python/tuple [16, 9] + - !!python/tuple [22, 23] + - !!python/tuple [22, 2] + - !!python/tuple [31, 18] + - !!python/tuple [26, 29] + - !!python/tuple [28, 9] + - !!python/tuple [12, 11] + - !!python/tuple [5, 1] + - !!python/tuple [13, 8] + - !!python/tuple [20, 23] + - !!python/tuple [4, 7] + - !!python/tuple [0, 2] + - !!python/tuple [18, 11] + - !!python/tuple [29, 26] + - !!python/tuple [31, 13] + - !!python/tuple [30, 8] + - !!python/tuple [23, 14] + - !!python/tuple [3, 4] + - !!python/tuple [20, 24] + - !!python/tuple [15, 24] + - !!python/tuple [25, 12] + - !!python/tuple [13, 16] + - !!python/tuple [23, 7] + - !!python/tuple [25, 11] + - !!python/tuple [3, 2] + - !!python/tuple [9, 31] + - !!python/tuple [28, 31] + - !!python/tuple [4, 27] + - !!python/tuple [29, 10] + - !!python/tuple [7, 8] + - !!python/tuple [2, 3] + - !!python/tuple [30, 17] + - !!python/tuple [22, 14] + - !!python/tuple [31, 5] + - !!python/tuple [17, 22] + - !!python/tuple [26, 17] + - !!python/tuple [10, 20] + - !!python/tuple [16, 3] + - !!python/tuple [3, 5] + - !!python/tuple [6, 9] + - !!python/tuple [7, 3] + - !!python/tuple [17, 25] + - !!python/tuple [18, 2] + - !!python/tuple [10, 25] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex53.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex53.yaml new file mode 100644 index 0000000..585f5e2 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex53.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [30, 20] + name: agent0 + start: [25, 19] +- goal: [2, 3] + name: agent1 + start: [24, 25] +- goal: [16, 27] + name: agent2 + start: [5, 21] +- goal: [18, 19] + name: agent3 + start: [27, 29] +- goal: [1, 17] + name: agent4 + start: [4, 15] +- goal: [17, 0] + name: agent5 + start: [18, 4] +- goal: [13, 16] + name: agent6 + start: [27, 23] +- goal: [31, 28] + name: agent7 + start: [2, 15] +- goal: [19, 28] + name: agent8 + start: [17, 8] +- goal: [19, 3] + name: agent9 + start: [21, 0] +- goal: [30, 24] + name: agent10 + start: [27, 7] +- goal: [21, 23] + name: agent11 + start: [2, 23] +- goal: [22, 13] + name: agent12 + start: [2, 5] +- goal: [28, 22] + name: agent13 + start: [20, 8] +- goal: [1, 25] + name: agent14 + start: [11, 29] +- goal: [9, 17] + name: agent15 + start: [12, 31] +- goal: [16, 19] + name: agent16 + start: [16, 13] +- goal: [17, 17] + name: agent17 + start: [26, 12] +- goal: [22, 18] + name: agent18 + start: [0, 6] +- goal: [3, 16] + name: agent19 + start: [24, 23] +- goal: [24, 15] + name: agent20 + start: [14, 2] +- goal: [3, 4] + name: agent21 + start: [15, 21] +- goal: [5, 0] + name: agent22 + start: [15, 1] +- goal: [20, 12] + name: agent23 + start: [8, 28] +- goal: [21, 21] + name: agent24 + start: [8, 15] +- goal: [25, 14] + name: agent25 + start: [12, 1] +- goal: [25, 10] + name: agent26 + start: [6, 0] +- goal: [0, 27] + name: agent27 + start: [27, 30] +- goal: [24, 2] + name: agent28 + start: [5, 15] +- goal: [12, 17] + name: agent29 + start: [2, 31] +- goal: [11, 12] + name: agent30 + start: [27, 15] +- goal: [21, 27] + name: agent31 + start: [0, 14] +- goal: [10, 8] + name: agent32 + start: [4, 30] +- goal: [9, 1] + name: agent33 + start: [1, 1] +- goal: [29, 30] + name: agent34 + start: [0, 26] +- goal: [5, 20] + name: agent35 + start: [16, 20] +- goal: [25, 1] + name: agent36 + start: [27, 31] +- goal: [25, 19] + name: agent37 + start: [26, 3] +- goal: [25, 17] + name: agent38 + start: [5, 9] +- goal: [23, 31] + name: agent39 + start: [13, 0] +- goal: [4, 6] + name: agent40 + start: [11, 5] +- goal: [31, 4] + name: agent41 + start: [15, 24] +- goal: [28, 16] + name: agent42 + start: [22, 12] +- goal: [12, 0] + name: agent43 + start: [0, 31] +- goal: [8, 25] + name: agent44 + start: [8, 11] +- goal: [17, 14] + name: agent45 + start: [31, 0] +- goal: [2, 4] + name: agent46 + start: [17, 12] +- goal: [17, 10] + name: agent47 + start: [19, 3] +- goal: [5, 7] + name: agent48 + start: [30, 27] +- goal: [19, 24] + name: agent49 + start: [18, 16] +- goal: [8, 5] + name: agent50 + start: [30, 28] +- goal: [13, 14] + name: agent51 + start: [16, 0] +- goal: [9, 25] + name: agent52 + start: [24, 6] +- goal: [21, 8] + name: agent53 + start: [23, 19] +- goal: [0, 31] + name: agent54 + start: [30, 16] +- goal: [15, 30] + name: agent55 + start: [6, 22] +- goal: [19, 0] + name: agent56 + start: [3, 1] +- goal: [0, 21] + name: agent57 + start: [3, 22] +- goal: [25, 0] + name: agent58 + start: [10, 17] +- goal: [13, 27] + name: agent59 + start: [14, 1] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [18, 9] + - !!python/tuple [13, 28] + - !!python/tuple [16, 4] + - !!python/tuple [5, 23] + - !!python/tuple [16, 11] + - !!python/tuple [19, 10] + - !!python/tuple [17, 15] + - !!python/tuple [31, 29] + - !!python/tuple [6, 30] + - !!python/tuple [4, 25] + - !!python/tuple [7, 15] + - !!python/tuple [16, 17] + - !!python/tuple [21, 26] + - !!python/tuple [10, 23] + - !!python/tuple [19, 29] + - !!python/tuple [15, 20] + - !!python/tuple [1, 18] + - !!python/tuple [29, 21] + - !!python/tuple [25, 12] + - !!python/tuple [4, 12] + - !!python/tuple [6, 18] + - !!python/tuple [19, 18] + - !!python/tuple [14, 30] + - !!python/tuple [10, 1] + - !!python/tuple [21, 1] + - !!python/tuple [6, 19] + - !!python/tuple [21, 13] + - !!python/tuple [20, 16] + - !!python/tuple [0, 16] + - !!python/tuple [6, 31] + - !!python/tuple [2, 9] + - !!python/tuple [10, 4] + - !!python/tuple [29, 29] + - !!python/tuple [7, 12] + - !!python/tuple [4, 10] + - !!python/tuple [9, 26] + - !!python/tuple [25, 6] + - !!python/tuple [13, 19] + - !!python/tuple [13, 1] + - !!python/tuple [9, 31] + - !!python/tuple [16, 10] + - !!python/tuple [15, 13] + - !!python/tuple [8, 19] + - !!python/tuple [13, 9] + - !!python/tuple [16, 14] + - !!python/tuple [17, 25] + - !!python/tuple [9, 7] + - !!python/tuple [19, 27] + - !!python/tuple [25, 20] + - !!python/tuple [23, 27] + - !!python/tuple [7, 28] + - !!python/tuple [15, 17] + - !!python/tuple [16, 31] + - !!python/tuple [26, 7] + - !!python/tuple [3, 28] + - !!python/tuple [29, 10] + - !!python/tuple [28, 9] + - !!python/tuple [20, 5] + - !!python/tuple [14, 12] + - !!python/tuple [17, 20] + - !!python/tuple [9, 15] + - !!python/tuple [8, 2] + - !!python/tuple [20, 15] + - !!python/tuple [19, 6] + - !!python/tuple [3, 15] + - !!python/tuple [8, 17] + - !!python/tuple [29, 0] + - !!python/tuple [20, 24] + - !!python/tuple [18, 5] + - !!python/tuple [23, 12] + - !!python/tuple [20, 31] + - !!python/tuple [1, 16] + - !!python/tuple [29, 9] + - !!python/tuple [6, 13] + - !!python/tuple [15, 9] + - !!python/tuple [8, 21] + - !!python/tuple [23, 0] + - !!python/tuple [3, 14] + - !!python/tuple [6, 10] + - !!python/tuple [13, 20] + - !!python/tuple [0, 28] + - !!python/tuple [31, 26] + - !!python/tuple [26, 18] + - !!python/tuple [28, 13] + - !!python/tuple [20, 3] + - !!python/tuple [21, 15] + - !!python/tuple [23, 20] + - !!python/tuple [6, 15] + - !!python/tuple [23, 2] + - !!python/tuple [14, 27] + - !!python/tuple [20, 2] + - !!python/tuple [5, 24] + - !!python/tuple [16, 3] + - !!python/tuple [9, 3] + - !!python/tuple [14, 23] + - !!python/tuple [30, 11] + - !!python/tuple [19, 5] + - !!python/tuple [22, 10] + - !!python/tuple [1, 30] + - !!python/tuple [20, 19] + - !!python/tuple [10, 5] + - !!python/tuple [6, 12] + - !!python/tuple [1, 22] + - !!python/tuple [23, 7] + - !!python/tuple [20, 4] + - !!python/tuple [7, 23] + - !!python/tuple [7, 14] + - !!python/tuple [14, 28] + - !!python/tuple [18, 17] + - !!python/tuple [22, 26] + - !!python/tuple [14, 11] + - !!python/tuple [10, 0] + - !!python/tuple [24, 10] + - !!python/tuple [13, 3] + - !!python/tuple [5, 1] + - !!python/tuple [22, 4] + - !!python/tuple [29, 1] + - !!python/tuple [5, 18] + - !!python/tuple [25, 28] + - !!python/tuple [16, 29] + - !!python/tuple [27, 6] + - !!python/tuple [4, 8] + - !!python/tuple [13, 23] + - !!python/tuple [3, 21] + - !!python/tuple [6, 26] + - !!python/tuple [14, 4] + - !!python/tuple [24, 17] + - !!python/tuple [3, 10] + - !!python/tuple [14, 16] + - !!python/tuple [13, 25] + - !!python/tuple [3, 20] + - !!python/tuple [15, 3] + - !!python/tuple [30, 1] + - !!python/tuple [7, 29] + - !!python/tuple [1, 29] + - !!python/tuple [20, 17] + - !!python/tuple [3, 0] + - !!python/tuple [7, 2] + - !!python/tuple [31, 14] + - !!python/tuple [17, 31] + - !!python/tuple [10, 6] + - !!python/tuple [26, 20] + - !!python/tuple [7, 4] + - !!python/tuple [15, 12] + - !!python/tuple [10, 21] + - !!python/tuple [22, 14] + - !!python/tuple [16, 2] + - !!python/tuple [7, 27] + - !!python/tuple [7, 31] + - !!python/tuple [16, 18] + - !!python/tuple [2, 7] + - !!python/tuple [24, 20] + - !!python/tuple [2, 28] + - !!python/tuple [18, 8] + - !!python/tuple [29, 25] + - !!python/tuple [25, 5] + - !!python/tuple [25, 31] + - !!python/tuple [28, 20] + - !!python/tuple [22, 20] + - !!python/tuple [11, 9] + - !!python/tuple [26, 25] + - !!python/tuple [25, 8] + - !!python/tuple [3, 23] + - !!python/tuple [11, 6] + - !!python/tuple [17, 9] + - !!python/tuple [9, 29] + - !!python/tuple [0, 20] + - !!python/tuple [20, 30] + - !!python/tuple [31, 15] + - !!python/tuple [22, 15] + - !!python/tuple [7, 24] + - !!python/tuple [1, 26] + - !!python/tuple [23, 29] + - !!python/tuple [9, 4] + - !!python/tuple [6, 14] + - !!python/tuple [4, 19] + - !!python/tuple [2, 18] + - !!python/tuple [13, 22] + - !!python/tuple [10, 12] + - !!python/tuple [20, 23] + - !!python/tuple [27, 22] + - !!python/tuple [11, 17] + - !!python/tuple [19, 15] + - !!python/tuple [7, 0] + - !!python/tuple [12, 4] + - !!python/tuple [10, 25] + - !!python/tuple [5, 22] + - !!python/tuple [14, 17] + - !!python/tuple [5, 28] + - !!python/tuple [29, 19] + - !!python/tuple [31, 27] + - !!python/tuple [9, 23] + - !!python/tuple [22, 6] + - !!python/tuple [25, 9] + - !!python/tuple [15, 26] + - !!python/tuple [11, 13] + - !!python/tuple [18, 25] + - !!python/tuple [14, 7] + - !!python/tuple [7, 11] + - !!python/tuple [18, 20] + - !!python/tuple [3, 12] + - !!python/tuple [25, 26] + - !!python/tuple [23, 25] + - !!python/tuple [9, 21] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex54.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex54.yaml new file mode 100644 index 0000000..56e833c --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex54.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [16, 1] + name: agent0 + start: [8, 14] +- goal: [7, 30] + name: agent1 + start: [12, 1] +- goal: [21, 23] + name: agent2 + start: [20, 13] +- goal: [18, 3] + name: agent3 + start: [9, 19] +- goal: [24, 16] + name: agent4 + start: [28, 7] +- goal: [14, 16] + name: agent5 + start: [24, 6] +- goal: [26, 15] + name: agent6 + start: [5, 3] +- goal: [15, 30] + name: agent7 + start: [26, 8] +- goal: [11, 15] + name: agent8 + start: [1, 29] +- goal: [18, 15] + name: agent9 + start: [4, 20] +- goal: [23, 27] + name: agent10 + start: [24, 28] +- goal: [12, 1] + name: agent11 + start: [0, 29] +- goal: [12, 3] + name: agent12 + start: [14, 28] +- goal: [30, 7] + name: agent13 + start: [19, 24] +- goal: [1, 3] + name: agent14 + start: [11, 13] +- goal: [29, 30] + name: agent15 + start: [18, 3] +- goal: [28, 8] + name: agent16 + start: [7, 29] +- goal: [25, 17] + name: agent17 + start: [18, 24] +- goal: [30, 22] + name: agent18 + start: [26, 23] +- goal: [2, 22] + name: agent19 + start: [22, 20] +- goal: [10, 11] + name: agent20 + start: [9, 3] +- goal: [19, 15] + name: agent21 + start: [2, 13] +- goal: [10, 8] + name: agent22 + start: [4, 25] +- goal: [17, 30] + name: agent23 + start: [8, 29] +- goal: [17, 29] + name: agent24 + start: [9, 1] +- goal: [26, 4] + name: agent25 + start: [26, 4] +- goal: [28, 0] + name: agent26 + start: [8, 26] +- goal: [25, 4] + name: agent27 + start: [0, 2] +- goal: [19, 17] + name: agent28 + start: [17, 0] +- goal: [3, 12] + name: agent29 + start: [19, 25] +- goal: [17, 19] + name: agent30 + start: [29, 22] +- goal: [7, 16] + name: agent31 + start: [30, 2] +- goal: [31, 25] + name: agent32 + start: [2, 10] +- goal: [13, 13] + name: agent33 + start: [16, 26] +- goal: [29, 8] + name: agent34 + start: [6, 8] +- goal: [27, 14] + name: agent35 + start: [10, 11] +- goal: [27, 18] + name: agent36 + start: [9, 29] +- goal: [15, 22] + name: agent37 + start: [9, 8] +- goal: [17, 8] + name: agent38 + start: [21, 13] +- goal: [10, 25] + name: agent39 + start: [25, 27] +- goal: [30, 0] + name: agent40 + start: [25, 2] +- goal: [4, 15] + name: agent41 + start: [4, 3] +- goal: [2, 8] + name: agent42 + start: [1, 11] +- goal: [1, 27] + name: agent43 + start: [20, 11] +- goal: [17, 23] + name: agent44 + start: [2, 15] +- goal: [3, 2] + name: agent45 + start: [6, 1] +- goal: [5, 26] + name: agent46 + start: [21, 12] +- goal: [18, 30] + name: agent47 + start: [6, 7] +- goal: [31, 20] + name: agent48 + start: [7, 26] +- goal: [17, 15] + name: agent49 + start: [24, 12] +- goal: [31, 29] + name: agent50 + start: [13, 11] +- goal: [30, 31] + name: agent51 + start: [28, 19] +- goal: [9, 10] + name: agent52 + start: [2, 16] +- goal: [21, 20] + name: agent53 + start: [0, 23] +- goal: [0, 31] + name: agent54 + start: [8, 2] +- goal: [7, 1] + name: agent55 + start: [19, 29] +- goal: [31, 18] + name: agent56 + start: [4, 11] +- goal: [13, 12] + name: agent57 + start: [21, 29] +- goal: [27, 30] + name: agent58 + start: [11, 18] +- goal: [30, 20] + name: agent59 + start: [12, 4] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [21, 4] + - !!python/tuple [0, 8] + - !!python/tuple [7, 3] + - !!python/tuple [15, 17] + - !!python/tuple [29, 7] + - !!python/tuple [11, 19] + - !!python/tuple [27, 3] + - !!python/tuple [31, 12] + - !!python/tuple [17, 11] + - !!python/tuple [30, 11] + - !!python/tuple [23, 29] + - !!python/tuple [31, 6] + - !!python/tuple [25, 6] + - !!python/tuple [24, 25] + - !!python/tuple [7, 9] + - !!python/tuple [17, 17] + - !!python/tuple [12, 9] + - !!python/tuple [14, 21] + - !!python/tuple [14, 25] + - !!python/tuple [24, 21] + - !!python/tuple [22, 29] + - !!python/tuple [16, 11] + - !!python/tuple [24, 30] + - !!python/tuple [11, 5] + - !!python/tuple [12, 10] + - !!python/tuple [8, 9] + - !!python/tuple [11, 10] + - !!python/tuple [26, 22] + - !!python/tuple [26, 14] + - !!python/tuple [14, 26] + - !!python/tuple [3, 27] + - !!python/tuple [0, 18] + - !!python/tuple [18, 29] + - !!python/tuple [18, 19] + - !!python/tuple [16, 8] + - !!python/tuple [2, 3] + - !!python/tuple [31, 5] + - !!python/tuple [6, 4] + - !!python/tuple [1, 23] + - !!python/tuple [28, 16] + - !!python/tuple [13, 0] + - !!python/tuple [8, 17] + - !!python/tuple [7, 21] + - !!python/tuple [9, 24] + - !!python/tuple [6, 16] + - !!python/tuple [14, 17] + - !!python/tuple [22, 22] + - !!python/tuple [18, 18] + - !!python/tuple [27, 9] + - !!python/tuple [25, 18] + - !!python/tuple [21, 17] + - !!python/tuple [8, 5] + - !!python/tuple [21, 16] + - !!python/tuple [10, 6] + - !!python/tuple [9, 0] + - !!python/tuple [4, 2] + - !!python/tuple [11, 4] + - !!python/tuple [15, 23] + - !!python/tuple [20, 25] + - !!python/tuple [28, 23] + - !!python/tuple [15, 11] + - !!python/tuple [25, 22] + - !!python/tuple [12, 24] + - !!python/tuple [31, 4] + - !!python/tuple [24, 13] + - !!python/tuple [17, 14] + - !!python/tuple [22, 7] + - !!python/tuple [8, 7] + - !!python/tuple [24, 1] + - !!python/tuple [8, 0] + - !!python/tuple [31, 27] + - !!python/tuple [1, 18] + - !!python/tuple [2, 9] + - !!python/tuple [18, 2] + - !!python/tuple [7, 12] + - !!python/tuple [2, 24] + - !!python/tuple [9, 27] + - !!python/tuple [10, 1] + - !!python/tuple [18, 10] + - !!python/tuple [1, 30] + - !!python/tuple [31, 2] + - !!python/tuple [27, 13] + - !!python/tuple [2, 17] + - !!python/tuple [12, 2] + - !!python/tuple [8, 6] + - !!python/tuple [15, 5] + - !!python/tuple [19, 26] + - !!python/tuple [19, 4] + - !!python/tuple [1, 2] + - !!python/tuple [23, 24] + - !!python/tuple [3, 22] + - !!python/tuple [30, 29] + - !!python/tuple [17, 21] + - !!python/tuple [31, 10] + - !!python/tuple [1, 6] + - !!python/tuple [14, 19] + - !!python/tuple [9, 5] + - !!python/tuple [6, 9] + - !!python/tuple [23, 7] + - !!python/tuple [18, 0] + - !!python/tuple [23, 18] + - !!python/tuple [3, 10] + - !!python/tuple [0, 15] + - !!python/tuple [6, 26] + - !!python/tuple [14, 3] + - !!python/tuple [12, 21] + - !!python/tuple [25, 7] + - !!python/tuple [21, 30] + - !!python/tuple [22, 21] + - !!python/tuple [24, 7] + - !!python/tuple [25, 12] + - !!python/tuple [26, 17] + - !!python/tuple [7, 19] + - !!python/tuple [27, 23] + - !!python/tuple [22, 18] + - !!python/tuple [5, 15] + - !!python/tuple [19, 22] + - !!python/tuple [28, 28] + - !!python/tuple [20, 3] + - !!python/tuple [23, 17] + - !!python/tuple [25, 29] + - !!python/tuple [20, 2] + - !!python/tuple [9, 4] + - !!python/tuple [24, 18] + - !!python/tuple [26, 18] + - !!python/tuple [14, 8] + - !!python/tuple [28, 10] + - !!python/tuple [17, 13] + - !!python/tuple [6, 2] + - !!python/tuple [17, 18] + - !!python/tuple [20, 23] + - !!python/tuple [19, 20] + - !!python/tuple [17, 22] + - !!python/tuple [22, 1] + - !!python/tuple [16, 27] + - !!python/tuple [0, 13] + - !!python/tuple [9, 22] + - !!python/tuple [16, 16] + - !!python/tuple [23, 8] + - !!python/tuple [21, 25] + - !!python/tuple [26, 10] + - !!python/tuple [15, 20] + - !!python/tuple [8, 12] + - !!python/tuple [9, 7] + - !!python/tuple [23, 22] + - !!python/tuple [10, 27] + - !!python/tuple [31, 9] + - !!python/tuple [0, 20] + - !!python/tuple [21, 27] + - !!python/tuple [24, 27] + - !!python/tuple [8, 24] + - !!python/tuple [4, 22] + - !!python/tuple [1, 24] + - !!python/tuple [9, 12] + - !!python/tuple [9, 30] + - !!python/tuple [24, 11] + - !!python/tuple [1, 4] + - !!python/tuple [28, 31] + - !!python/tuple [9, 14] + - !!python/tuple [22, 12] + - !!python/tuple [15, 10] + - !!python/tuple [28, 2] + - !!python/tuple [3, 18] + - !!python/tuple [6, 24] + - !!python/tuple [18, 1] + - !!python/tuple [3, 17] + - !!python/tuple [30, 1] + - !!python/tuple [14, 20] + - !!python/tuple [27, 2] + - !!python/tuple [6, 3] + - !!python/tuple [5, 0] + - !!python/tuple [7, 14] + - !!python/tuple [21, 6] + - !!python/tuple [22, 15] + - !!python/tuple [18, 14] + - !!python/tuple [25, 20] + - !!python/tuple [17, 12] + - !!python/tuple [9, 28] + - !!python/tuple [28, 11] + - !!python/tuple [20, 17] + - !!python/tuple [5, 17] + - !!python/tuple [15, 3] + - !!python/tuple [17, 10] + - !!python/tuple [0, 9] + - !!python/tuple [24, 23] + - !!python/tuple [3, 15] + - !!python/tuple [0, 10] + - !!python/tuple [10, 0] + - !!python/tuple [21, 2] + - !!python/tuple [0, 11] + - !!python/tuple [20, 0] + - !!python/tuple [20, 7] + - !!python/tuple [5, 13] + - !!python/tuple [20, 21] + - !!python/tuple [15, 29] + - !!python/tuple [30, 10] + - !!python/tuple [7, 0] + - !!python/tuple [2, 4] + - !!python/tuple [4, 17] + - !!python/tuple [19, 18] + - !!python/tuple [27, 27] + - !!python/tuple [11, 29] + - !!python/tuple [3, 11] + - !!python/tuple [30, 3] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex55.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex55.yaml new file mode 100644 index 0000000..6af6645 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex55.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [6, 3] + name: agent0 + start: [2, 23] +- goal: [6, 15] + name: agent1 + start: [3, 22] +- goal: [4, 2] + name: agent2 + start: [18, 29] +- goal: [12, 22] + name: agent3 + start: [31, 2] +- goal: [10, 15] + name: agent4 + start: [0, 2] +- goal: [22, 14] + name: agent5 + start: [20, 13] +- goal: [4, 21] + name: agent6 + start: [3, 13] +- goal: [13, 17] + name: agent7 + start: [29, 15] +- goal: [23, 26] + name: agent8 + start: [24, 6] +- goal: [29, 21] + name: agent9 + start: [20, 9] +- goal: [27, 31] + name: agent10 + start: [0, 22] +- goal: [31, 31] + name: agent11 + start: [22, 16] +- goal: [13, 5] + name: agent12 + start: [5, 7] +- goal: [18, 26] + name: agent13 + start: [29, 26] +- goal: [30, 10] + name: agent14 + start: [30, 12] +- goal: [16, 14] + name: agent15 + start: [13, 8] +- goal: [6, 14] + name: agent16 + start: [20, 22] +- goal: [30, 28] + name: agent17 + start: [26, 19] +- goal: [19, 6] + name: agent18 + start: [8, 14] +- goal: [14, 23] + name: agent19 + start: [12, 0] +- goal: [20, 6] + name: agent20 + start: [11, 10] +- goal: [15, 18] + name: agent21 + start: [9, 5] +- goal: [21, 16] + name: agent22 + start: [6, 29] +- goal: [30, 29] + name: agent23 + start: [21, 10] +- goal: [25, 2] + name: agent24 + start: [25, 19] +- goal: [28, 8] + name: agent25 + start: [17, 8] +- goal: [31, 1] + name: agent26 + start: [11, 26] +- goal: [16, 3] + name: agent27 + start: [19, 30] +- goal: [22, 26] + name: agent28 + start: [2, 27] +- goal: [23, 24] + name: agent29 + start: [22, 18] +- goal: [27, 17] + name: agent30 + start: [8, 25] +- goal: [4, 27] + name: agent31 + start: [11, 21] +- goal: [29, 23] + name: agent32 + start: [9, 23] +- goal: [12, 3] + name: agent33 + start: [1, 23] +- goal: [21, 12] + name: agent34 + start: [24, 22] +- goal: [5, 23] + name: agent35 + start: [7, 20] +- goal: [24, 25] + name: agent36 + start: [16, 23] +- goal: [20, 28] + name: agent37 + start: [24, 27] +- goal: [7, 11] + name: agent38 + start: [4, 18] +- goal: [2, 29] + name: agent39 + start: [12, 30] +- goal: [24, 12] + name: agent40 + start: [9, 11] +- goal: [22, 31] + name: agent41 + start: [24, 28] +- goal: [20, 1] + name: agent42 + start: [16, 26] +- goal: [25, 7] + name: agent43 + start: [13, 7] +- goal: [31, 15] + name: agent44 + start: [17, 11] +- goal: [23, 31] + name: agent45 + start: [10, 25] +- goal: [23, 13] + name: agent46 + start: [23, 12] +- goal: [29, 31] + name: agent47 + start: [4, 5] +- goal: [7, 7] + name: agent48 + start: [9, 16] +- goal: [29, 25] + name: agent49 + start: [25, 7] +- goal: [26, 7] + name: agent50 + start: [24, 24] +- goal: [26, 30] + name: agent51 + start: [28, 19] +- goal: [7, 18] + name: agent52 + start: [24, 15] +- goal: [7, 22] + name: agent53 + start: [16, 16] +- goal: [25, 5] + name: agent54 + start: [23, 24] +- goal: [9, 18] + name: agent55 + start: [3, 16] +- goal: [16, 28] + name: agent56 + start: [5, 23] +- goal: [29, 14] + name: agent57 + start: [29, 12] +- goal: [14, 9] + name: agent58 + start: [29, 5] +- goal: [13, 13] + name: agent59 + start: [12, 9] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [22, 5] + - !!python/tuple [17, 31] + - !!python/tuple [5, 5] + - !!python/tuple [7, 19] + - !!python/tuple [6, 16] + - !!python/tuple [15, 19] + - !!python/tuple [16, 15] + - !!python/tuple [8, 20] + - !!python/tuple [23, 1] + - !!python/tuple [26, 29] + - !!python/tuple [28, 1] + - !!python/tuple [5, 28] + - !!python/tuple [8, 29] + - !!python/tuple [8, 27] + - !!python/tuple [25, 26] + - !!python/tuple [16, 5] + - !!python/tuple [29, 18] + - !!python/tuple [26, 14] + - !!python/tuple [12, 12] + - !!python/tuple [17, 20] + - !!python/tuple [8, 22] + - !!python/tuple [19, 8] + - !!python/tuple [21, 15] + - !!python/tuple [13, 29] + - !!python/tuple [19, 5] + - !!python/tuple [18, 19] + - !!python/tuple [19, 28] + - !!python/tuple [2, 15] + - !!python/tuple [1, 11] + - !!python/tuple [14, 29] + - !!python/tuple [6, 18] + - !!python/tuple [3, 29] + - !!python/tuple [19, 25] + - !!python/tuple [24, 31] + - !!python/tuple [21, 27] + - !!python/tuple [9, 29] + - !!python/tuple [13, 28] + - !!python/tuple [3, 25] + - !!python/tuple [16, 0] + - !!python/tuple [0, 5] + - !!python/tuple [16, 11] + - !!python/tuple [11, 29] + - !!python/tuple [4, 30] + - !!python/tuple [4, 24] + - !!python/tuple [2, 8] + - !!python/tuple [11, 8] + - !!python/tuple [8, 1] + - !!python/tuple [12, 20] + - !!python/tuple [27, 5] + - !!python/tuple [6, 2] + - !!python/tuple [25, 6] + - !!python/tuple [0, 30] + - !!python/tuple [5, 8] + - !!python/tuple [16, 2] + - !!python/tuple [21, 11] + - !!python/tuple [10, 24] + - !!python/tuple [30, 0] + - !!python/tuple [22, 15] + - !!python/tuple [25, 0] + - !!python/tuple [28, 18] + - !!python/tuple [19, 14] + - !!python/tuple [29, 10] + - !!python/tuple [29, 3] + - !!python/tuple [18, 12] + - !!python/tuple [10, 12] + - !!python/tuple [2, 6] + - !!python/tuple [25, 31] + - !!python/tuple [13, 23] + - !!python/tuple [11, 0] + - !!python/tuple [30, 25] + - !!python/tuple [16, 17] + - !!python/tuple [5, 12] + - !!python/tuple [29, 6] + - !!python/tuple [12, 28] + - !!python/tuple [14, 11] + - !!python/tuple [28, 29] + - !!python/tuple [29, 28] + - !!python/tuple [12, 6] + - !!python/tuple [3, 4] + - !!python/tuple [7, 13] + - !!python/tuple [12, 25] + - !!python/tuple [6, 31] + - !!python/tuple [22, 27] + - !!python/tuple [25, 27] + - !!python/tuple [9, 13] + - !!python/tuple [24, 7] + - !!python/tuple [24, 17] + - !!python/tuple [27, 7] + - !!python/tuple [0, 12] + - !!python/tuple [5, 11] + - !!python/tuple [14, 25] + - !!python/tuple [3, 12] + - !!python/tuple [12, 31] + - !!python/tuple [27, 21] + - !!python/tuple [4, 12] + - !!python/tuple [6, 6] + - !!python/tuple [14, 21] + - !!python/tuple [4, 13] + - !!python/tuple [3, 8] + - !!python/tuple [1, 22] + - !!python/tuple [4, 17] + - !!python/tuple [17, 5] + - !!python/tuple [25, 10] + - !!python/tuple [26, 12] + - !!python/tuple [24, 2] + - !!python/tuple [10, 20] + - !!python/tuple [14, 7] + - !!python/tuple [0, 20] + - !!python/tuple [2, 11] + - !!python/tuple [0, 11] + - !!python/tuple [20, 5] + - !!python/tuple [8, 3] + - !!python/tuple [9, 1] + - !!python/tuple [10, 31] + - !!python/tuple [23, 29] + - !!python/tuple [4, 6] + - !!python/tuple [21, 13] + - !!python/tuple [17, 24] + - !!python/tuple [3, 11] + - !!python/tuple [25, 30] + - !!python/tuple [18, 25] + - !!python/tuple [21, 29] + - !!python/tuple [0, 9] + - !!python/tuple [18, 20] + - !!python/tuple [13, 16] + - !!python/tuple [5, 22] + - !!python/tuple [26, 5] + - !!python/tuple [19, 12] + - !!python/tuple [0, 19] + - !!python/tuple [1, 17] + - !!python/tuple [8, 26] + - !!python/tuple [9, 4] + - !!python/tuple [14, 5] + - !!python/tuple [12, 13] + - !!python/tuple [1, 10] + - !!python/tuple [9, 26] + - !!python/tuple [7, 21] + - !!python/tuple [22, 19] + - !!python/tuple [23, 6] + - !!python/tuple [24, 8] + - !!python/tuple [4, 25] + - !!python/tuple [20, 25] + - !!python/tuple [2, 12] + - !!python/tuple [11, 27] + - !!python/tuple [0, 25] + - !!python/tuple [20, 17] + - !!python/tuple [11, 7] + - !!python/tuple [17, 15] + - !!python/tuple [7, 23] + - !!python/tuple [6, 21] + - !!python/tuple [15, 7] + - !!python/tuple [25, 18] + - !!python/tuple [31, 22] + - !!python/tuple [22, 28] + - !!python/tuple [17, 16] + - !!python/tuple [15, 0] + - !!python/tuple [25, 25] + - !!python/tuple [17, 29] + - !!python/tuple [26, 9] + - !!python/tuple [11, 28] + - !!python/tuple [7, 31] + - !!python/tuple [24, 4] + - !!python/tuple [4, 8] + - !!python/tuple [13, 26] + - !!python/tuple [22, 2] + - !!python/tuple [12, 5] + - !!python/tuple [19, 18] + - !!python/tuple [1, 20] + - !!python/tuple [26, 0] + - !!python/tuple [3, 30] + - !!python/tuple [21, 31] + - !!python/tuple [16, 13] + - !!python/tuple [17, 6] + - !!python/tuple [10, 27] + - !!python/tuple [5, 9] + - !!python/tuple [6, 10] + - !!python/tuple [18, 11] + - !!python/tuple [4, 19] + - !!python/tuple [13, 22] + - !!python/tuple [25, 23] + - !!python/tuple [21, 0] + - !!python/tuple [9, 0] + - !!python/tuple [26, 3] + - !!python/tuple [26, 31] + - !!python/tuple [11, 12] + - !!python/tuple [23, 18] + - !!python/tuple [23, 9] + - !!python/tuple [5, 4] + - !!python/tuple [20, 24] + - !!python/tuple [21, 6] + - !!python/tuple [2, 9] + - !!python/tuple [12, 26] + - !!python/tuple [10, 18] + - !!python/tuple [14, 17] + - !!python/tuple [15, 21] + - !!python/tuple [13, 9] + - !!python/tuple [0, 27] + - !!python/tuple [5, 13] + - !!python/tuple [20, 16] + - !!python/tuple [8, 7] + - !!python/tuple [1, 15] + - !!python/tuple [19, 15] + - !!python/tuple [15, 27] + - !!python/tuple [22, 17] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex56.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex56.yaml new file mode 100644 index 0000000..7c349bd --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex56.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [6, 28] + name: agent0 + start: [4, 0] +- goal: [14, 27] + name: agent1 + start: [8, 21] +- goal: [19, 23] + name: agent2 + start: [23, 6] +- goal: [21, 18] + name: agent3 + start: [9, 21] +- goal: [6, 22] + name: agent4 + start: [28, 12] +- goal: [8, 26] + name: agent5 + start: [13, 20] +- goal: [18, 30] + name: agent6 + start: [10, 9] +- goal: [9, 19] + name: agent7 + start: [19, 13] +- goal: [3, 7] + name: agent8 + start: [4, 26] +- goal: [1, 1] + name: agent9 + start: [16, 2] +- goal: [16, 12] + name: agent10 + start: [28, 31] +- goal: [5, 9] + name: agent11 + start: [21, 4] +- goal: [13, 4] + name: agent12 + start: [1, 25] +- goal: [24, 25] + name: agent13 + start: [16, 19] +- goal: [12, 5] + name: agent14 + start: [20, 27] +- goal: [22, 31] + name: agent15 + start: [4, 25] +- goal: [12, 26] + name: agent16 + start: [16, 16] +- goal: [28, 9] + name: agent17 + start: [14, 9] +- goal: [27, 20] + name: agent18 + start: [25, 7] +- goal: [4, 21] + name: agent19 + start: [11, 22] +- goal: [24, 22] + name: agent20 + start: [19, 20] +- goal: [9, 6] + name: agent21 + start: [4, 11] +- goal: [31, 23] + name: agent22 + start: [21, 15] +- goal: [7, 8] + name: agent23 + start: [22, 27] +- goal: [27, 17] + name: agent24 + start: [18, 12] +- goal: [25, 15] + name: agent25 + start: [20, 2] +- goal: [16, 4] + name: agent26 + start: [16, 9] +- goal: [15, 22] + name: agent27 + start: [21, 21] +- goal: [14, 9] + name: agent28 + start: [7, 24] +- goal: [20, 17] + name: agent29 + start: [7, 26] +- goal: [5, 11] + name: agent30 + start: [1, 24] +- goal: [4, 6] + name: agent31 + start: [19, 19] +- goal: [23, 17] + name: agent32 + start: [2, 12] +- goal: [14, 15] + name: agent33 + start: [9, 22] +- goal: [9, 11] + name: agent34 + start: [9, 24] +- goal: [21, 5] + name: agent35 + start: [12, 31] +- goal: [31, 10] + name: agent36 + start: [8, 12] +- goal: [1, 2] + name: agent37 + start: [18, 30] +- goal: [21, 22] + name: agent38 + start: [3, 6] +- goal: [1, 27] + name: agent39 + start: [13, 25] +- goal: [7, 20] + name: agent40 + start: [31, 28] +- goal: [0, 17] + name: agent41 + start: [22, 19] +- goal: [27, 24] + name: agent42 + start: [27, 24] +- goal: [11, 14] + name: agent43 + start: [12, 14] +- goal: [9, 5] + name: agent44 + start: [0, 7] +- goal: [2, 31] + name: agent45 + start: [14, 25] +- goal: [20, 7] + name: agent46 + start: [31, 27] +- goal: [28, 0] + name: agent47 + start: [16, 21] +- goal: [16, 0] + name: agent48 + start: [26, 27] +- goal: [0, 18] + name: agent49 + start: [8, 22] +- goal: [3, 14] + name: agent50 + start: [3, 0] +- goal: [31, 21] + name: agent51 + start: [16, 3] +- goal: [8, 22] + name: agent52 + start: [25, 11] +- goal: [26, 5] + name: agent53 + start: [2, 31] +- goal: [22, 9] + name: agent54 + start: [7, 9] +- goal: [5, 2] + name: agent55 + start: [20, 7] +- goal: [19, 12] + name: agent56 + start: [17, 0] +- goal: [1, 19] + name: agent57 + start: [17, 14] +- goal: [8, 1] + name: agent58 + start: [3, 20] +- goal: [10, 5] + name: agent59 + start: [20, 17] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [30, 24] + - !!python/tuple [4, 17] + - !!python/tuple [31, 15] + - !!python/tuple [12, 22] + - !!python/tuple [8, 2] + - !!python/tuple [24, 20] + - !!python/tuple [19, 3] + - !!python/tuple [22, 22] + - !!python/tuple [21, 31] + - !!python/tuple [15, 25] + - !!python/tuple [18, 24] + - !!python/tuple [1, 30] + - !!python/tuple [11, 16] + - !!python/tuple [22, 12] + - !!python/tuple [13, 12] + - !!python/tuple [15, 8] + - !!python/tuple [18, 14] + - !!python/tuple [13, 2] + - !!python/tuple [25, 10] + - !!python/tuple [0, 29] + - !!python/tuple [20, 20] + - !!python/tuple [25, 21] + - !!python/tuple [6, 26] + - !!python/tuple [2, 4] + - !!python/tuple [10, 31] + - !!python/tuple [18, 18] + - !!python/tuple [14, 19] + - !!python/tuple [22, 20] + - !!python/tuple [31, 9] + - !!python/tuple [9, 16] + - !!python/tuple [22, 6] + - !!python/tuple [23, 13] + - !!python/tuple [16, 30] + - !!python/tuple [3, 26] + - !!python/tuple [1, 0] + - !!python/tuple [28, 17] + - !!python/tuple [7, 2] + - !!python/tuple [19, 14] + - !!python/tuple [20, 4] + - !!python/tuple [24, 2] + - !!python/tuple [28, 23] + - !!python/tuple [14, 0] + - !!python/tuple [27, 23] + - !!python/tuple [31, 22] + - !!python/tuple [13, 13] + - !!python/tuple [1, 23] + - !!python/tuple [3, 25] + - !!python/tuple [20, 31] + - !!python/tuple [20, 19] + - !!python/tuple [22, 21] + - !!python/tuple [24, 19] + - !!python/tuple [20, 12] + - !!python/tuple [7, 3] + - !!python/tuple [12, 12] + - !!python/tuple [26, 20] + - !!python/tuple [15, 4] + - !!python/tuple [2, 22] + - !!python/tuple [24, 31] + - !!python/tuple [25, 23] + - !!python/tuple [15, 0] + - !!python/tuple [11, 0] + - !!python/tuple [10, 10] + - !!python/tuple [25, 25] + - !!python/tuple [30, 6] + - !!python/tuple [31, 19] + - !!python/tuple [23, 27] + - !!python/tuple [10, 30] + - !!python/tuple [21, 14] + - !!python/tuple [29, 10] + - !!python/tuple [6, 9] + - !!python/tuple [5, 23] + - !!python/tuple [14, 26] + - !!python/tuple [13, 22] + - !!python/tuple [14, 3] + - !!python/tuple [2, 28] + - !!python/tuple [15, 10] + - !!python/tuple [2, 30] + - !!python/tuple [5, 26] + - !!python/tuple [22, 13] + - !!python/tuple [11, 10] + - !!python/tuple [15, 30] + - !!python/tuple [11, 6] + - !!python/tuple [23, 21] + - !!python/tuple [28, 3] + - !!python/tuple [17, 13] + - !!python/tuple [7, 29] + - !!python/tuple [23, 30] + - !!python/tuple [8, 4] + - !!python/tuple [4, 15] + - !!python/tuple [6, 21] + - !!python/tuple [2, 26] + - !!python/tuple [6, 15] + - !!python/tuple [4, 23] + - !!python/tuple [28, 1] + - !!python/tuple [3, 13] + - !!python/tuple [5, 6] + - !!python/tuple [28, 6] + - !!python/tuple [10, 18] + - !!python/tuple [6, 23] + - !!python/tuple [23, 29] + - !!python/tuple [20, 18] + - !!python/tuple [15, 29] + - !!python/tuple [20, 11] + - !!python/tuple [5, 10] + - !!python/tuple [15, 5] + - !!python/tuple [29, 0] + - !!python/tuple [6, 14] + - !!python/tuple [13, 9] + - !!python/tuple [2, 17] + - !!python/tuple [9, 0] + - !!python/tuple [9, 9] + - !!python/tuple [17, 24] + - !!python/tuple [23, 26] + - !!python/tuple [0, 5] + - !!python/tuple [25, 29] + - !!python/tuple [11, 15] + - !!python/tuple [6, 16] + - !!python/tuple [11, 19] + - !!python/tuple [30, 5] + - !!python/tuple [0, 2] + - !!python/tuple [29, 26] + - !!python/tuple [22, 0] + - !!python/tuple [24, 23] + - !!python/tuple [15, 3] + - !!python/tuple [1, 18] + - !!python/tuple [22, 28] + - !!python/tuple [31, 5] + - !!python/tuple [15, 21] + - !!python/tuple [6, 13] + - !!python/tuple [1, 6] + - !!python/tuple [10, 21] + - !!python/tuple [25, 31] + - !!python/tuple [7, 7] + - !!python/tuple [15, 26] + - !!python/tuple [15, 16] + - !!python/tuple [8, 29] + - !!python/tuple [6, 30] + - !!python/tuple [16, 29] + - !!python/tuple [1, 13] + - !!python/tuple [25, 28] + - !!python/tuple [12, 24] + - !!python/tuple [30, 11] + - !!python/tuple [1, 3] + - !!python/tuple [30, 9] + - !!python/tuple [16, 18] + - !!python/tuple [28, 28] + - !!python/tuple [0, 26] + - !!python/tuple [22, 17] + - !!python/tuple [29, 4] + - !!python/tuple [14, 12] + - !!python/tuple [3, 12] + - !!python/tuple [30, 22] + - !!python/tuple [2, 7] + - !!python/tuple [29, 28] + - !!python/tuple [16, 22] + - !!python/tuple [17, 21] + - !!python/tuple [21, 8] + - !!python/tuple [6, 5] + - !!python/tuple [9, 26] + - !!python/tuple [27, 4] + - !!python/tuple [27, 2] + - !!python/tuple [10, 0] + - !!python/tuple [18, 9] + - !!python/tuple [1, 14] + - !!python/tuple [18, 21] + - !!python/tuple [10, 16] + - !!python/tuple [18, 27] + - !!python/tuple [28, 7] + - !!python/tuple [19, 15] + - !!python/tuple [13, 21] + - !!python/tuple [1, 5] + - !!python/tuple [24, 1] + - !!python/tuple [30, 13] + - !!python/tuple [8, 13] + - !!python/tuple [5, 25] + - !!python/tuple [21, 3] + - !!python/tuple [14, 21] + - !!python/tuple [11, 8] + - !!python/tuple [9, 29] + - !!python/tuple [23, 3] + - !!python/tuple [12, 3] + - !!python/tuple [6, 24] + - !!python/tuple [18, 5] + - !!python/tuple [2, 15] + - !!python/tuple [27, 27] + - !!python/tuple [26, 6] + - !!python/tuple [26, 18] + - !!python/tuple [20, 10] + - !!python/tuple [14, 22] + - !!python/tuple [30, 8] + - !!python/tuple [2, 11] + - !!python/tuple [5, 22] + - !!python/tuple [3, 2] + - !!python/tuple [18, 16] + - !!python/tuple [30, 19] + - !!python/tuple [24, 27] + - !!python/tuple [29, 23] + - !!python/tuple [6, 12] + - !!python/tuple [6, 25] + - !!python/tuple [7, 30] + - !!python/tuple [19, 10] + - !!python/tuple [19, 5] + - !!python/tuple [3, 29] + - !!python/tuple [14, 30] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex57.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex57.yaml new file mode 100644 index 0000000..02420d7 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex57.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [30, 10] + name: agent0 + start: [27, 0] +- goal: [9, 24] + name: agent1 + start: [14, 20] +- goal: [26, 1] + name: agent2 + start: [14, 25] +- goal: [0, 19] + name: agent3 + start: [6, 17] +- goal: [19, 27] + name: agent4 + start: [8, 30] +- goal: [0, 1] + name: agent5 + start: [17, 28] +- goal: [27, 1] + name: agent6 + start: [20, 0] +- goal: [8, 5] + name: agent7 + start: [28, 24] +- goal: [5, 24] + name: agent8 + start: [29, 30] +- goal: [7, 3] + name: agent9 + start: [10, 12] +- goal: [30, 11] + name: agent10 + start: [22, 13] +- goal: [23, 22] + name: agent11 + start: [3, 19] +- goal: [5, 0] + name: agent12 + start: [13, 21] +- goal: [22, 26] + name: agent13 + start: [26, 31] +- goal: [3, 11] + name: agent14 + start: [25, 7] +- goal: [21, 29] + name: agent15 + start: [17, 26] +- goal: [11, 0] + name: agent16 + start: [14, 27] +- goal: [10, 18] + name: agent17 + start: [3, 0] +- goal: [5, 19] + name: agent18 + start: [29, 24] +- goal: [12, 22] + name: agent19 + start: [29, 12] +- goal: [19, 18] + name: agent20 + start: [12, 1] +- goal: [6, 23] + name: agent21 + start: [27, 24] +- goal: [6, 24] + name: agent22 + start: [24, 10] +- goal: [16, 21] + name: agent23 + start: [4, 20] +- goal: [6, 2] + name: agent24 + start: [26, 25] +- goal: [31, 24] + name: agent25 + start: [24, 31] +- goal: [1, 30] + name: agent26 + start: [25, 4] +- goal: [25, 25] + name: agent27 + start: [1, 31] +- goal: [1, 2] + name: agent28 + start: [21, 20] +- goal: [3, 15] + name: agent29 + start: [3, 24] +- goal: [15, 2] + name: agent30 + start: [28, 14] +- goal: [17, 28] + name: agent31 + start: [15, 12] +- goal: [12, 26] + name: agent32 + start: [22, 23] +- goal: [3, 18] + name: agent33 + start: [19, 5] +- goal: [25, 3] + name: agent34 + start: [1, 26] +- goal: [19, 11] + name: agent35 + start: [14, 8] +- goal: [13, 14] + name: agent36 + start: [18, 1] +- goal: [2, 5] + name: agent37 + start: [19, 20] +- goal: [7, 8] + name: agent38 + start: [31, 10] +- goal: [22, 23] + name: agent39 + start: [16, 19] +- goal: [8, 26] + name: agent40 + start: [7, 12] +- goal: [8, 12] + name: agent41 + start: [30, 15] +- goal: [20, 27] + name: agent42 + start: [21, 29] +- goal: [13, 13] + name: agent43 + start: [14, 9] +- goal: [24, 30] + name: agent44 + start: [0, 19] +- goal: [6, 3] + name: agent45 + start: [6, 7] +- goal: [27, 30] + name: agent46 + start: [4, 27] +- goal: [15, 9] + name: agent47 + start: [30, 21] +- goal: [9, 28] + name: agent48 + start: [20, 22] +- goal: [27, 7] + name: agent49 + start: [8, 9] +- goal: [19, 13] + name: agent50 + start: [14, 2] +- goal: [10, 11] + name: agent51 + start: [11, 13] +- goal: [9, 1] + name: agent52 + start: [31, 13] +- goal: [6, 22] + name: agent53 + start: [13, 23] +- goal: [9, 22] + name: agent54 + start: [18, 7] +- goal: [23, 8] + name: agent55 + start: [23, 23] +- goal: [22, 31] + name: agent56 + start: [20, 29] +- goal: [21, 24] + name: agent57 + start: [18, 26] +- goal: [5, 17] + name: agent58 + start: [23, 9] +- goal: [27, 31] + name: agent59 + start: [31, 14] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [25, 18] + - !!python/tuple [31, 3] + - !!python/tuple [12, 18] + - !!python/tuple [8, 4] + - !!python/tuple [19, 6] + - !!python/tuple [12, 0] + - !!python/tuple [21, 4] + - !!python/tuple [19, 0] + - !!python/tuple [31, 7] + - !!python/tuple [19, 25] + - !!python/tuple [15, 31] + - !!python/tuple [29, 29] + - !!python/tuple [3, 4] + - !!python/tuple [8, 24] + - !!python/tuple [4, 12] + - !!python/tuple [4, 19] + - !!python/tuple [9, 17] + - !!python/tuple [24, 27] + - !!python/tuple [8, 21] + - !!python/tuple [23, 4] + - !!python/tuple [11, 15] + - !!python/tuple [20, 23] + - !!python/tuple [1, 15] + - !!python/tuple [5, 27] + - !!python/tuple [19, 29] + - !!python/tuple [0, 29] + - !!python/tuple [3, 9] + - !!python/tuple [7, 2] + - !!python/tuple [11, 24] + - !!python/tuple [9, 11] + - !!python/tuple [6, 30] + - !!python/tuple [23, 12] + - !!python/tuple [27, 22] + - !!python/tuple [13, 19] + - !!python/tuple [12, 4] + - !!python/tuple [25, 9] + - !!python/tuple [4, 18] + - !!python/tuple [14, 10] + - !!python/tuple [28, 12] + - !!python/tuple [10, 1] + - !!python/tuple [30, 18] + - !!python/tuple [9, 10] + - !!python/tuple [27, 27] + - !!python/tuple [18, 17] + - !!python/tuple [31, 2] + - !!python/tuple [29, 5] + - !!python/tuple [4, 16] + - !!python/tuple [6, 4] + - !!python/tuple [30, 9] + - !!python/tuple [11, 23] + - !!python/tuple [3, 28] + - !!python/tuple [20, 31] + - !!python/tuple [18, 28] + - !!python/tuple [3, 3] + - !!python/tuple [5, 5] + - !!python/tuple [19, 31] + - !!python/tuple [15, 28] + - !!python/tuple [22, 9] + - !!python/tuple [28, 25] + - !!python/tuple [0, 21] + - !!python/tuple [2, 17] + - !!python/tuple [26, 15] + - !!python/tuple [9, 12] + - !!python/tuple [30, 7] + - !!python/tuple [2, 20] + - !!python/tuple [9, 29] + - !!python/tuple [20, 26] + - !!python/tuple [6, 10] + - !!python/tuple [8, 8] + - !!python/tuple [22, 15] + - !!python/tuple [8, 29] + - !!python/tuple [18, 24] + - !!python/tuple [26, 30] + - !!python/tuple [17, 2] + - !!python/tuple [20, 25] + - !!python/tuple [24, 29] + - !!python/tuple [15, 25] + - !!python/tuple [16, 11] + - !!python/tuple [24, 4] + - !!python/tuple [21, 8] + - !!python/tuple [4, 26] + - !!python/tuple [2, 4] + - !!python/tuple [12, 29] + - !!python/tuple [8, 28] + - !!python/tuple [20, 20] + - !!python/tuple [25, 31] + - !!python/tuple [29, 31] + - !!python/tuple [17, 20] + - !!python/tuple [9, 9] + - !!python/tuple [16, 27] + - !!python/tuple [31, 16] + - !!python/tuple [18, 9] + - !!python/tuple [4, 0] + - !!python/tuple [20, 9] + - !!python/tuple [31, 11] + - !!python/tuple [25, 5] + - !!python/tuple [19, 3] + - !!python/tuple [13, 15] + - !!python/tuple [1, 13] + - !!python/tuple [19, 19] + - !!python/tuple [4, 24] + - !!python/tuple [31, 29] + - !!python/tuple [1, 1] + - !!python/tuple [11, 5] + - !!python/tuple [4, 15] + - !!python/tuple [31, 21] + - !!python/tuple [28, 8] + - !!python/tuple [8, 15] + - !!python/tuple [17, 8] + - !!python/tuple [10, 6] + - !!python/tuple [8, 14] + - !!python/tuple [19, 10] + - !!python/tuple [28, 28] + - !!python/tuple [25, 13] + - !!python/tuple [10, 17] + - !!python/tuple [25, 20] + - !!python/tuple [18, 18] + - !!python/tuple [11, 16] + - !!python/tuple [5, 8] + - !!python/tuple [13, 25] + - !!python/tuple [12, 23] + - !!python/tuple [3, 12] + - !!python/tuple [0, 13] + - !!python/tuple [19, 28] + - !!python/tuple [5, 18] + - !!python/tuple [16, 8] + - !!python/tuple [31, 17] + - !!python/tuple [23, 5] + - !!python/tuple [12, 5] + - !!python/tuple [6, 27] + - !!python/tuple [6, 29] + - !!python/tuple [29, 20] + - !!python/tuple [4, 13] + - !!python/tuple [9, 6] + - !!python/tuple [30, 4] + - !!python/tuple [8, 1] + - !!python/tuple [22, 22] + - !!python/tuple [28, 0] + - !!python/tuple [9, 3] + - !!python/tuple [18, 8] + - !!python/tuple [19, 8] + - !!python/tuple [0, 3] + - !!python/tuple [6, 1] + - !!python/tuple [4, 14] + - !!python/tuple [14, 11] + - !!python/tuple [24, 22] + - !!python/tuple [12, 16] + - !!python/tuple [8, 23] + - !!python/tuple [16, 2] + - !!python/tuple [31, 9] + - !!python/tuple [28, 7] + - !!python/tuple [9, 23] + - !!python/tuple [2, 22] + - !!python/tuple [5, 28] + - !!python/tuple [9, 13] + - !!python/tuple [4, 1] + - !!python/tuple [15, 8] + - !!python/tuple [24, 13] + - !!python/tuple [18, 23] + - !!python/tuple [14, 14] + - !!python/tuple [27, 6] + - !!python/tuple [16, 29] + - !!python/tuple [30, 2] + - !!python/tuple [28, 13] + - !!python/tuple [24, 3] + - !!python/tuple [18, 19] + - !!python/tuple [29, 1] + - !!python/tuple [22, 2] + - !!python/tuple [18, 0] + - !!python/tuple [6, 21] + - !!python/tuple [19, 17] + - !!python/tuple [3, 13] + - !!python/tuple [13, 20] + - !!python/tuple [4, 4] + - !!python/tuple [28, 29] + - !!python/tuple [26, 13] + - !!python/tuple [14, 7] + - !!python/tuple [10, 30] + - !!python/tuple [28, 21] + - !!python/tuple [13, 10] + - !!python/tuple [31, 6] + - !!python/tuple [15, 22] + - !!python/tuple [1, 8] + - !!python/tuple [31, 27] + - !!python/tuple [22, 10] + - !!python/tuple [6, 16] + - !!python/tuple [18, 20] + - !!python/tuple [7, 18] + - !!python/tuple [26, 12] + - !!python/tuple [10, 27] + - !!python/tuple [2, 9] + - !!python/tuple [2, 25] + - !!python/tuple [3, 20] + - !!python/tuple [16, 5] + - !!python/tuple [3, 8] + - !!python/tuple [19, 16] + - !!python/tuple [5, 22] + - !!python/tuple [27, 19] + - !!python/tuple [23, 30] + - !!python/tuple [23, 1] + - !!python/tuple [17, 13] + - !!python/tuple [28, 11] + - !!python/tuple [28, 19] + - !!python/tuple [5, 20] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex58.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex58.yaml new file mode 100644 index 0000000..0df156f --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex58.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [8, 29] + name: agent0 + start: [6, 1] +- goal: [25, 4] + name: agent1 + start: [1, 3] +- goal: [17, 24] + name: agent2 + start: [17, 20] +- goal: [22, 12] + name: agent3 + start: [15, 9] +- goal: [20, 4] + name: agent4 + start: [4, 14] +- goal: [0, 0] + name: agent5 + start: [22, 15] +- goal: [30, 2] + name: agent6 + start: [29, 13] +- goal: [25, 12] + name: agent7 + start: [7, 26] +- goal: [22, 7] + name: agent8 + start: [11, 4] +- goal: [25, 0] + name: agent9 + start: [19, 3] +- goal: [18, 25] + name: agent10 + start: [29, 7] +- goal: [11, 29] + name: agent11 + start: [3, 19] +- goal: [21, 21] + name: agent12 + start: [13, 17] +- goal: [29, 5] + name: agent13 + start: [30, 7] +- goal: [2, 27] + name: agent14 + start: [4, 0] +- goal: [27, 20] + name: agent15 + start: [31, 30] +- goal: [27, 18] + name: agent16 + start: [20, 12] +- goal: [15, 29] + name: agent17 + start: [21, 5] +- goal: [9, 19] + name: agent18 + start: [8, 7] +- goal: [17, 8] + name: agent19 + start: [25, 5] +- goal: [4, 25] + name: agent20 + start: [17, 8] +- goal: [11, 31] + name: agent21 + start: [8, 3] +- goal: [3, 9] + name: agent22 + start: [18, 9] +- goal: [21, 8] + name: agent23 + start: [23, 15] +- goal: [20, 26] + name: agent24 + start: [16, 25] +- goal: [14, 31] + name: agent25 + start: [23, 14] +- goal: [2, 26] + name: agent26 + start: [14, 9] +- goal: [2, 15] + name: agent27 + start: [19, 1] +- goal: [20, 19] + name: agent28 + start: [16, 10] +- goal: [6, 18] + name: agent29 + start: [21, 6] +- goal: [14, 16] + name: agent30 + start: [29, 25] +- goal: [11, 20] + name: agent31 + start: [4, 25] +- goal: [10, 20] + name: agent32 + start: [27, 16] +- goal: [16, 22] + name: agent33 + start: [28, 0] +- goal: [31, 30] + name: agent34 + start: [28, 15] +- goal: [23, 5] + name: agent35 + start: [18, 26] +- goal: [16, 7] + name: agent36 + start: [4, 16] +- goal: [17, 4] + name: agent37 + start: [6, 25] +- goal: [1, 13] + name: agent38 + start: [8, 8] +- goal: [7, 22] + name: agent39 + start: [10, 21] +- goal: [16, 12] + name: agent40 + start: [18, 25] +- goal: [16, 5] + name: agent41 + start: [8, 6] +- goal: [21, 12] + name: agent42 + start: [2, 4] +- goal: [7, 16] + name: agent43 + start: [20, 4] +- goal: [18, 9] + name: agent44 + start: [14, 19] +- goal: [2, 1] + name: agent45 + start: [30, 6] +- goal: [8, 0] + name: agent46 + start: [29, 10] +- goal: [22, 15] + name: agent47 + start: [17, 26] +- goal: [19, 12] + name: agent48 + start: [14, 8] +- goal: [5, 3] + name: agent49 + start: [10, 27] +- goal: [5, 18] + name: agent50 + start: [19, 17] +- goal: [19, 20] + name: agent51 + start: [3, 8] +- goal: [9, 1] + name: agent52 + start: [0, 31] +- goal: [14, 2] + name: agent53 + start: [28, 28] +- goal: [31, 20] + name: agent54 + start: [8, 12] +- goal: [0, 11] + name: agent55 + start: [5, 5] +- goal: [22, 25] + name: agent56 + start: [14, 12] +- goal: [3, 21] + name: agent57 + start: [7, 11] +- goal: [19, 17] + name: agent58 + start: [26, 16] +- goal: [11, 4] + name: agent59 + start: [9, 20] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [23, 7] + - !!python/tuple [23, 6] + - !!python/tuple [11, 11] + - !!python/tuple [25, 10] + - !!python/tuple [30, 9] + - !!python/tuple [3, 10] + - !!python/tuple [27, 11] + - !!python/tuple [7, 27] + - !!python/tuple [25, 30] + - !!python/tuple [6, 16] + - !!python/tuple [4, 6] + - !!python/tuple [8, 31] + - !!python/tuple [24, 3] + - !!python/tuple [18, 24] + - !!python/tuple [18, 19] + - !!python/tuple [10, 17] + - !!python/tuple [12, 27] + - !!python/tuple [0, 8] + - !!python/tuple [1, 30] + - !!python/tuple [0, 22] + - !!python/tuple [1, 15] + - !!python/tuple [28, 19] + - !!python/tuple [7, 9] + - !!python/tuple [26, 6] + - !!python/tuple [2, 2] + - !!python/tuple [2, 28] + - !!python/tuple [28, 8] + - !!python/tuple [8, 27] + - !!python/tuple [14, 27] + - !!python/tuple [28, 5] + - !!python/tuple [0, 20] + - !!python/tuple [6, 20] + - !!python/tuple [13, 24] + - !!python/tuple [18, 3] + - !!python/tuple [24, 12] + - !!python/tuple [7, 29] + - !!python/tuple [5, 31] + - !!python/tuple [20, 15] + - !!python/tuple [12, 23] + - !!python/tuple [2, 24] + - !!python/tuple [5, 16] + - !!python/tuple [7, 0] + - !!python/tuple [15, 7] + - !!python/tuple [27, 6] + - !!python/tuple [1, 8] + - !!python/tuple [17, 2] + - !!python/tuple [27, 15] + - !!python/tuple [15, 11] + - !!python/tuple [17, 17] + - !!python/tuple [12, 31] + - !!python/tuple [14, 14] + - !!python/tuple [4, 1] + - !!python/tuple [27, 19] + - !!python/tuple [2, 10] + - !!python/tuple [11, 0] + - !!python/tuple [3, 22] + - !!python/tuple [23, 12] + - !!python/tuple [22, 9] + - !!python/tuple [19, 29] + - !!python/tuple [31, 3] + - !!python/tuple [18, 18] + - !!python/tuple [18, 16] + - !!python/tuple [18, 22] + - !!python/tuple [16, 23] + - !!python/tuple [21, 19] + - !!python/tuple [20, 6] + - !!python/tuple [10, 0] + - !!python/tuple [30, 8] + - !!python/tuple [27, 29] + - !!python/tuple [15, 15] + - !!python/tuple [24, 7] + - !!python/tuple [12, 18] + - !!python/tuple [11, 21] + - !!python/tuple [18, 8] + - !!python/tuple [0, 4] + - !!python/tuple [31, 27] + - !!python/tuple [4, 28] + - !!python/tuple [13, 30] + - !!python/tuple [25, 7] + - !!python/tuple [4, 17] + - !!python/tuple [28, 2] + - !!python/tuple [4, 11] + - !!python/tuple [15, 14] + - !!python/tuple [8, 23] + - !!python/tuple [8, 5] + - !!python/tuple [12, 21] + - !!python/tuple [13, 29] + - !!python/tuple [18, 6] + - !!python/tuple [16, 2] + - !!python/tuple [1, 10] + - !!python/tuple [27, 31] + - !!python/tuple [5, 10] + - !!python/tuple [12, 4] + - !!python/tuple [10, 24] + - !!python/tuple [29, 0] + - !!python/tuple [30, 4] + - !!python/tuple [1, 6] + - !!python/tuple [2, 17] + - !!python/tuple [15, 5] + - !!python/tuple [3, 14] + - !!python/tuple [15, 22] + - !!python/tuple [1, 28] + - !!python/tuple [10, 14] + - !!python/tuple [26, 23] + - !!python/tuple [2, 14] + - !!python/tuple [6, 17] + - !!python/tuple [25, 2] + - !!python/tuple [20, 1] + - !!python/tuple [17, 27] + - !!python/tuple [27, 23] + - !!python/tuple [18, 23] + - !!python/tuple [8, 9] + - !!python/tuple [7, 8] + - !!python/tuple [9, 12] + - !!python/tuple [20, 25] + - !!python/tuple [5, 21] + - !!python/tuple [5, 7] + - !!python/tuple [20, 31] + - !!python/tuple [20, 14] + - !!python/tuple [11, 7] + - !!python/tuple [26, 18] + - !!python/tuple [0, 29] + - !!python/tuple [29, 6] + - !!python/tuple [12, 28] + - !!python/tuple [8, 24] + - !!python/tuple [8, 20] + - !!python/tuple [1, 12] + - !!python/tuple [25, 18] + - !!python/tuple [20, 2] + - !!python/tuple [23, 24] + - !!python/tuple [19, 30] + - !!python/tuple [31, 17] + - !!python/tuple [10, 19] + - !!python/tuple [21, 24] + - !!python/tuple [22, 11] + - !!python/tuple [9, 6] + - !!python/tuple [29, 30] + - !!python/tuple [29, 27] + - !!python/tuple [23, 21] + - !!python/tuple [27, 28] + - !!python/tuple [23, 26] + - !!python/tuple [16, 19] + - !!python/tuple [17, 18] + - !!python/tuple [28, 17] + - !!python/tuple [7, 7] + - !!python/tuple [11, 30] + - !!python/tuple [16, 18] + - !!python/tuple [13, 20] + - !!python/tuple [24, 18] + - !!python/tuple [6, 19] + - !!python/tuple [21, 31] + - !!python/tuple [16, 30] + - !!python/tuple [9, 18] + - !!python/tuple [4, 13] + - !!python/tuple [28, 16] + - !!python/tuple [24, 1] + - !!python/tuple [8, 19] + - !!python/tuple [9, 22] + - !!python/tuple [1, 22] + - !!python/tuple [23, 31] + - !!python/tuple [6, 31] + - !!python/tuple [14, 4] + - !!python/tuple [12, 5] + - !!python/tuple [13, 26] + - !!python/tuple [6, 5] + - !!python/tuple [19, 9] + - !!python/tuple [14, 15] + - !!python/tuple [9, 4] + - !!python/tuple [13, 6] + - !!python/tuple [21, 11] + - !!python/tuple [30, 23] + - !!python/tuple [31, 29] + - !!python/tuple [23, 9] + - !!python/tuple [28, 27] + - !!python/tuple [5, 6] + - !!python/tuple [20, 11] + - !!python/tuple [17, 5] + - !!python/tuple [6, 27] + - !!python/tuple [10, 6] + - !!python/tuple [25, 21] + - !!python/tuple [31, 12] + - !!python/tuple [12, 22] + - !!python/tuple [15, 10] + - !!python/tuple [3, 15] + - !!python/tuple [29, 20] + - !!python/tuple [3, 17] + - !!python/tuple [19, 14] + - !!python/tuple [14, 28] + - !!python/tuple [5, 22] + - !!python/tuple [23, 2] + - !!python/tuple [16, 0] + - !!python/tuple [12, 3] + - !!python/tuple [22, 4] + - !!python/tuple [4, 30] + - !!python/tuple [30, 21] + - !!python/tuple [28, 13] + - !!python/tuple [25, 16] + - !!python/tuple [8, 4] + - !!python/tuple [8, 13] + - !!python/tuple [0, 7] + - !!python/tuple [2, 23] + - !!python/tuple [23, 1] + - !!python/tuple [12, 25] + - !!python/tuple [7, 2] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex59.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex59.yaml new file mode 100644 index 0000000..b698788 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex59.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [18, 10] + name: agent0 + start: [22, 2] +- goal: [14, 1] + name: agent1 + start: [3, 5] +- goal: [3, 11] + name: agent2 + start: [5, 17] +- goal: [5, 23] + name: agent3 + start: [2, 11] +- goal: [17, 19] + name: agent4 + start: [6, 29] +- goal: [17, 3] + name: agent5 + start: [17, 26] +- goal: [19, 8] + name: agent6 + start: [2, 27] +- goal: [5, 9] + name: agent7 + start: [0, 5] +- goal: [8, 3] + name: agent8 + start: [10, 28] +- goal: [30, 30] + name: agent9 + start: [14, 10] +- goal: [13, 21] + name: agent10 + start: [9, 9] +- goal: [31, 22] + name: agent11 + start: [22, 15] +- goal: [25, 5] + name: agent12 + start: [15, 20] +- goal: [25, 1] + name: agent13 + start: [8, 23] +- goal: [6, 8] + name: agent14 + start: [25, 1] +- goal: [13, 22] + name: agent15 + start: [8, 16] +- goal: [17, 31] + name: agent16 + start: [17, 30] +- goal: [28, 27] + name: agent17 + start: [18, 6] +- goal: [24, 29] + name: agent18 + start: [29, 27] +- goal: [5, 28] + name: agent19 + start: [11, 16] +- goal: [4, 12] + name: agent20 + start: [7, 17] +- goal: [26, 21] + name: agent21 + start: [29, 24] +- goal: [11, 19] + name: agent22 + start: [1, 7] +- goal: [4, 4] + name: agent23 + start: [22, 30] +- goal: [4, 20] + name: agent24 + start: [1, 30] +- goal: [22, 28] + name: agent25 + start: [23, 4] +- goal: [7, 0] + name: agent26 + start: [25, 17] +- goal: [22, 20] + name: agent27 + start: [15, 24] +- goal: [15, 21] + name: agent28 + start: [29, 30] +- goal: [21, 29] + name: agent29 + start: [20, 0] +- goal: [19, 0] + name: agent30 + start: [23, 26] +- goal: [6, 0] + name: agent31 + start: [31, 27] +- goal: [2, 5] + name: agent32 + start: [17, 0] +- goal: [31, 21] + name: agent33 + start: [7, 2] +- goal: [22, 2] + name: agent34 + start: [5, 30] +- goal: [1, 30] + name: agent35 + start: [31, 30] +- goal: [7, 3] + name: agent36 + start: [2, 7] +- goal: [10, 13] + name: agent37 + start: [10, 21] +- goal: [1, 24] + name: agent38 + start: [4, 22] +- goal: [8, 8] + name: agent39 + start: [14, 15] +- goal: [24, 5] + name: agent40 + start: [2, 16] +- goal: [13, 16] + name: agent41 + start: [7, 9] +- goal: [22, 12] + name: agent42 + start: [7, 23] +- goal: [24, 22] + name: agent43 + start: [30, 2] +- goal: [23, 24] + name: agent44 + start: [24, 1] +- goal: [17, 9] + name: agent45 + start: [17, 8] +- goal: [7, 10] + name: agent46 + start: [20, 3] +- goal: [18, 26] + name: agent47 + start: [16, 12] +- goal: [19, 20] + name: agent48 + start: [22, 26] +- goal: [24, 11] + name: agent49 + start: [26, 3] +- goal: [7, 17] + name: agent50 + start: [28, 24] +- goal: [27, 2] + name: agent51 + start: [7, 11] +- goal: [28, 26] + name: agent52 + start: [5, 10] +- goal: [31, 10] + name: agent53 + start: [6, 7] +- goal: [27, 15] + name: agent54 + start: [29, 4] +- goal: [29, 11] + name: agent55 + start: [19, 25] +- goal: [17, 18] + name: agent56 + start: [13, 18] +- goal: [8, 0] + name: agent57 + start: [0, 25] +- goal: [0, 29] + name: agent58 + start: [9, 5] +- goal: [1, 14] + name: agent59 + start: [19, 20] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [20, 22] + - !!python/tuple [26, 4] + - !!python/tuple [16, 13] + - !!python/tuple [9, 25] + - !!python/tuple [6, 17] + - !!python/tuple [18, 7] + - !!python/tuple [23, 0] + - !!python/tuple [15, 30] + - !!python/tuple [19, 6] + - !!python/tuple [17, 11] + - !!python/tuple [14, 30] + - !!python/tuple [0, 17] + - !!python/tuple [19, 31] + - !!python/tuple [5, 5] + - !!python/tuple [15, 5] + - !!python/tuple [29, 1] + - !!python/tuple [23, 5] + - !!python/tuple [19, 17] + - !!python/tuple [10, 9] + - !!python/tuple [31, 12] + - !!python/tuple [3, 18] + - !!python/tuple [20, 26] + - !!python/tuple [29, 26] + - !!python/tuple [11, 7] + - !!python/tuple [10, 10] + - !!python/tuple [23, 11] + - !!python/tuple [25, 25] + - !!python/tuple [6, 10] + - !!python/tuple [31, 11] + - !!python/tuple [25, 27] + - !!python/tuple [1, 19] + - !!python/tuple [4, 11] + - !!python/tuple [20, 15] + - !!python/tuple [14, 6] + - !!python/tuple [0, 10] + - !!python/tuple [26, 14] + - !!python/tuple [13, 20] + - !!python/tuple [18, 13] + - !!python/tuple [29, 21] + - !!python/tuple [5, 15] + - !!python/tuple [22, 9] + - !!python/tuple [4, 29] + - !!python/tuple [25, 18] + - !!python/tuple [24, 18] + - !!python/tuple [2, 10] + - !!python/tuple [16, 3] + - !!python/tuple [8, 15] + - !!python/tuple [3, 29] + - !!python/tuple [22, 27] + - !!python/tuple [28, 9] + - !!python/tuple [23, 12] + - !!python/tuple [29, 16] + - !!python/tuple [2, 13] + - !!python/tuple [25, 24] + - !!python/tuple [18, 16] + - !!python/tuple [13, 23] + - !!python/tuple [23, 31] + - !!python/tuple [10, 23] + - !!python/tuple [27, 1] + - !!python/tuple [20, 21] + - !!python/tuple [22, 0] + - !!python/tuple [21, 9] + - !!python/tuple [25, 9] + - !!python/tuple [10, 1] + - !!python/tuple [22, 19] + - !!python/tuple [12, 8] + - !!python/tuple [29, 10] + - !!python/tuple [3, 19] + - !!python/tuple [9, 23] + - !!python/tuple [1, 9] + - !!python/tuple [15, 12] + - !!python/tuple [30, 21] + - !!python/tuple [23, 1] + - !!python/tuple [1, 13] + - !!python/tuple [22, 17] + - !!python/tuple [3, 27] + - !!python/tuple [2, 9] + - !!python/tuple [1, 26] + - !!python/tuple [22, 5] + - !!python/tuple [4, 0] + - !!python/tuple [7, 4] + - !!python/tuple [24, 27] + - !!python/tuple [22, 13] + - !!python/tuple [7, 29] + - !!python/tuple [10, 31] + - !!python/tuple [13, 11] + - !!python/tuple [9, 15] + - !!python/tuple [22, 3] + - !!python/tuple [17, 17] + - !!python/tuple [31, 19] + - !!python/tuple [22, 10] + - !!python/tuple [29, 14] + - !!python/tuple [13, 27] + - !!python/tuple [1, 17] + - !!python/tuple [27, 31] + - !!python/tuple [12, 6] + - !!python/tuple [6, 19] + - !!python/tuple [7, 15] + - !!python/tuple [4, 16] + - !!python/tuple [31, 24] + - !!python/tuple [30, 25] + - !!python/tuple [25, 0] + - !!python/tuple [21, 10] + - !!python/tuple [18, 30] + - !!python/tuple [26, 27] + - !!python/tuple [14, 0] + - !!python/tuple [30, 9] + - !!python/tuple [3, 2] + - !!python/tuple [22, 4] + - !!python/tuple [21, 21] + - !!python/tuple [24, 19] + - !!python/tuple [1, 12] + - !!python/tuple [6, 27] + - !!python/tuple [11, 4] + - !!python/tuple [24, 31] + - !!python/tuple [6, 9] + - !!python/tuple [13, 25] + - !!python/tuple [2, 20] + - !!python/tuple [19, 4] + - !!python/tuple [9, 22] + - !!python/tuple [9, 8] + - !!python/tuple [18, 19] + - !!python/tuple [23, 25] + - !!python/tuple [12, 11] + - !!python/tuple [30, 18] + - !!python/tuple [14, 22] + - !!python/tuple [10, 8] + - !!python/tuple [11, 26] + - !!python/tuple [16, 27] + - !!python/tuple [28, 6] + - !!python/tuple [9, 31] + - !!python/tuple [17, 28] + - !!python/tuple [0, 13] + - !!python/tuple [2, 18] + - !!python/tuple [8, 12] + - !!python/tuple [21, 3] + - !!python/tuple [16, 16] + - !!python/tuple [8, 4] + - !!python/tuple [25, 19] + - !!python/tuple [27, 6] + - !!python/tuple [10, 18] + - !!python/tuple [8, 1] + - !!python/tuple [10, 4] + - !!python/tuple [6, 31] + - !!python/tuple [29, 15] + - !!python/tuple [7, 8] + - !!python/tuple [11, 11] + - !!python/tuple [31, 31] + - !!python/tuple [25, 29] + - !!python/tuple [7, 6] + - !!python/tuple [31, 15] + - !!python/tuple [1, 0] + - !!python/tuple [17, 22] + - !!python/tuple [1, 23] + - !!python/tuple [1, 3] + - !!python/tuple [31, 0] + - !!python/tuple [0, 26] + - !!python/tuple [15, 15] + - !!python/tuple [0, 7] + - !!python/tuple [7, 31] + - !!python/tuple [27, 13] + - !!python/tuple [14, 5] + - !!python/tuple [27, 0] + - !!python/tuple [23, 7] + - !!python/tuple [24, 3] + - !!python/tuple [30, 29] + - !!python/tuple [24, 28] + - !!python/tuple [17, 12] + - !!python/tuple [6, 22] + - !!python/tuple [15, 0] + - !!python/tuple [15, 2] + - !!python/tuple [27, 11] + - !!python/tuple [0, 19] + - !!python/tuple [19, 1] + - !!python/tuple [16, 18] + - !!python/tuple [6, 28] + - !!python/tuple [16, 0] + - !!python/tuple [12, 24] + - !!python/tuple [22, 31] + - !!python/tuple [31, 16] + - !!python/tuple [3, 23] + - !!python/tuple [16, 25] + - !!python/tuple [3, 14] + - !!python/tuple [5, 27] + - !!python/tuple [11, 22] + - !!python/tuple [4, 8] + - !!python/tuple [9, 19] + - !!python/tuple [25, 7] + - !!python/tuple [24, 20] + - !!python/tuple [21, 18] + - !!python/tuple [14, 25] + - !!python/tuple [28, 23] + - !!python/tuple [16, 7] + - !!python/tuple [26, 26] + - !!python/tuple [5, 2] + - !!python/tuple [6, 23] + - !!python/tuple [23, 10] + - !!python/tuple [3, 24] + - !!python/tuple [1, 16] + - !!python/tuple [25, 11] + - !!python/tuple [16, 26] + - !!python/tuple [10, 30] + - !!python/tuple [3, 20] + - !!python/tuple [21, 24] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex6.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex6.yaml new file mode 100644 index 0000000..b70a8cf --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex6.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [3, 22] + name: agent0 + start: [7, 26] +- goal: [31, 26] + name: agent1 + start: [14, 1] +- goal: [24, 27] + name: agent2 + start: [4, 3] +- goal: [22, 27] + name: agent3 + start: [7, 0] +- goal: [29, 30] + name: agent4 + start: [13, 13] +- goal: [0, 16] + name: agent5 + start: [24, 30] +- goal: [10, 9] + name: agent6 + start: [15, 23] +- goal: [19, 1] + name: agent7 + start: [16, 13] +- goal: [13, 15] + name: agent8 + start: [4, 27] +- goal: [10, 5] + name: agent9 + start: [22, 4] +- goal: [10, 4] + name: agent10 + start: [15, 11] +- goal: [3, 29] + name: agent11 + start: [31, 20] +- goal: [1, 29] + name: agent12 + start: [20, 13] +- goal: [6, 30] + name: agent13 + start: [14, 15] +- goal: [15, 13] + name: agent14 + start: [16, 18] +- goal: [13, 31] + name: agent15 + start: [29, 15] +- goal: [11, 28] + name: agent16 + start: [24, 25] +- goal: [29, 5] + name: agent17 + start: [20, 23] +- goal: [22, 9] + name: agent18 + start: [5, 18] +- goal: [27, 13] + name: agent19 + start: [19, 13] +- goal: [5, 28] + name: agent20 + start: [3, 29] +- goal: [9, 17] + name: agent21 + start: [30, 1] +- goal: [27, 23] + name: agent22 + start: [27, 2] +- goal: [19, 22] + name: agent23 + start: [25, 8] +- goal: [20, 4] + name: agent24 + start: [9, 7] +- goal: [27, 28] + name: agent25 + start: [17, 29] +- goal: [23, 4] + name: agent26 + start: [26, 22] +- goal: [4, 21] + name: agent27 + start: [21, 28] +- goal: [29, 15] + name: agent28 + start: [9, 1] +- goal: [22, 14] + name: agent29 + start: [7, 20] +- goal: [9, 3] + name: agent30 + start: [12, 24] +- goal: [12, 23] + name: agent31 + start: [25, 18] +- goal: [8, 24] + name: agent32 + start: [30, 11] +- goal: [26, 23] + name: agent33 + start: [7, 7] +- goal: [31, 15] + name: agent34 + start: [6, 25] +- goal: [13, 14] + name: agent35 + start: [16, 21] +- goal: [17, 5] + name: agent36 + start: [7, 30] +- goal: [0, 8] + name: agent37 + start: [10, 17] +- goal: [5, 6] + name: agent38 + start: [26, 12] +- goal: [31, 29] + name: agent39 + start: [31, 4] +- goal: [11, 13] + name: agent40 + start: [4, 15] +- goal: [7, 18] + name: agent41 + start: [8, 1] +- goal: [14, 16] + name: agent42 + start: [21, 7] +- goal: [28, 8] + name: agent43 + start: [15, 12] +- goal: [10, 31] + name: agent44 + start: [12, 5] +- goal: [26, 20] + name: agent45 + start: [28, 19] +- goal: [19, 18] + name: agent46 + start: [9, 18] +- goal: [16, 2] + name: agent47 + start: [11, 6] +- goal: [1, 31] + name: agent48 + start: [10, 24] +- goal: [12, 25] + name: agent49 + start: [2, 28] +- goal: [30, 19] + name: agent50 + start: [25, 3] +- goal: [11, 5] + name: agent51 + start: [12, 3] +- goal: [23, 12] + name: agent52 + start: [10, 1] +- goal: [31, 17] + name: agent53 + start: [28, 8] +- goal: [8, 23] + name: agent54 + start: [15, 26] +- goal: [11, 20] + name: agent55 + start: [25, 14] +- goal: [14, 1] + name: agent56 + start: [23, 1] +- goal: [7, 10] + name: agent57 + start: [6, 11] +- goal: [9, 1] + name: agent58 + start: [18, 21] +- goal: [29, 2] + name: agent59 + start: [11, 2] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [1, 15] + - !!python/tuple [23, 19] + - !!python/tuple [22, 31] + - !!python/tuple [1, 28] + - !!python/tuple [16, 5] + - !!python/tuple [19, 7] + - !!python/tuple [19, 3] + - !!python/tuple [0, 28] + - !!python/tuple [11, 16] + - !!python/tuple [2, 7] + - !!python/tuple [29, 12] + - !!python/tuple [12, 0] + - !!python/tuple [12, 21] + - !!python/tuple [30, 6] + - !!python/tuple [15, 22] + - !!python/tuple [15, 29] + - !!python/tuple [30, 2] + - !!python/tuple [11, 4] + - !!python/tuple [3, 7] + - !!python/tuple [6, 12] + - !!python/tuple [31, 5] + - !!python/tuple [22, 28] + - !!python/tuple [4, 29] + - !!python/tuple [31, 11] + - !!python/tuple [19, 17] + - !!python/tuple [26, 21] + - !!python/tuple [5, 29] + - !!python/tuple [6, 4] + - !!python/tuple [28, 16] + - !!python/tuple [8, 5] + - !!python/tuple [3, 5] + - !!python/tuple [3, 19] + - !!python/tuple [7, 14] + - !!python/tuple [30, 12] + - !!python/tuple [29, 11] + - !!python/tuple [3, 18] + - !!python/tuple [12, 4] + - !!python/tuple [31, 7] + - !!python/tuple [4, 18] + - !!python/tuple [27, 22] + - !!python/tuple [0, 5] + - !!python/tuple [18, 17] + - !!python/tuple [26, 15] + - !!python/tuple [22, 26] + - !!python/tuple [10, 21] + - !!python/tuple [6, 14] + - !!python/tuple [30, 23] + - !!python/tuple [17, 24] + - !!python/tuple [26, 10] + - !!python/tuple [26, 26] + - !!python/tuple [20, 24] + - !!python/tuple [7, 22] + - !!python/tuple [6, 26] + - !!python/tuple [25, 27] + - !!python/tuple [23, 30] + - !!python/tuple [17, 1] + - !!python/tuple [11, 14] + - !!python/tuple [0, 17] + - !!python/tuple [16, 9] + - !!python/tuple [13, 3] + - !!python/tuple [12, 12] + - !!python/tuple [11, 1] + - !!python/tuple [9, 4] + - !!python/tuple [4, 28] + - !!python/tuple [21, 21] + - !!python/tuple [17, 30] + - !!python/tuple [6, 22] + - !!python/tuple [20, 7] + - !!python/tuple [31, 8] + - !!python/tuple [31, 23] + - !!python/tuple [18, 28] + - !!python/tuple [28, 22] + - !!python/tuple [12, 16] + - !!python/tuple [2, 11] + - !!python/tuple [30, 29] + - !!python/tuple [7, 13] + - !!python/tuple [22, 10] + - !!python/tuple [26, 28] + - !!python/tuple [28, 26] + - !!python/tuple [20, 15] + - !!python/tuple [17, 27] + - !!python/tuple [17, 11] + - !!python/tuple [30, 22] + - !!python/tuple [27, 20] + - !!python/tuple [0, 14] + - !!python/tuple [5, 4] + - !!python/tuple [25, 12] + - !!python/tuple [25, 11] + - !!python/tuple [10, 19] + - !!python/tuple [26, 9] + - !!python/tuple [28, 13] + - !!python/tuple [26, 31] + - !!python/tuple [9, 0] + - !!python/tuple [18, 20] + - !!python/tuple [3, 24] + - !!python/tuple [31, 31] + - !!python/tuple [12, 22] + - !!python/tuple [24, 21] + - !!python/tuple [25, 30] + - !!python/tuple [5, 7] + - !!python/tuple [8, 11] + - !!python/tuple [22, 0] + - !!python/tuple [30, 30] + - !!python/tuple [23, 31] + - !!python/tuple [26, 7] + - !!python/tuple [30, 21] + - !!python/tuple [25, 7] + - !!python/tuple [31, 18] + - !!python/tuple [30, 26] + - !!python/tuple [17, 14] + - !!python/tuple [5, 5] + - !!python/tuple [9, 16] + - !!python/tuple [27, 14] + - !!python/tuple [31, 3] + - !!python/tuple [15, 18] + - !!python/tuple [28, 18] + - !!python/tuple [28, 27] + - !!python/tuple [19, 19] + - !!python/tuple [19, 10] + - !!python/tuple [8, 0] + - !!python/tuple [22, 23] + - !!python/tuple [17, 10] + - !!python/tuple [18, 19] + - !!python/tuple [30, 31] + - !!python/tuple [17, 23] + - !!python/tuple [19, 14] + - !!python/tuple [13, 27] + - !!python/tuple [14, 20] + - !!python/tuple [11, 12] + - !!python/tuple [26, 27] + - !!python/tuple [13, 11] + - !!python/tuple [28, 1] + - !!python/tuple [15, 14] + - !!python/tuple [15, 4] + - !!python/tuple [0, 27] + - !!python/tuple [20, 19] + - !!python/tuple [21, 30] + - !!python/tuple [29, 14] + - !!python/tuple [25, 23] + - !!python/tuple [19, 25] + - !!python/tuple [17, 21] + - !!python/tuple [16, 14] + - !!python/tuple [1, 9] + - !!python/tuple [24, 10] + - !!python/tuple [19, 20] + - !!python/tuple [8, 6] + - !!python/tuple [17, 17] + - !!python/tuple [12, 17] + - !!python/tuple [7, 16] + - !!python/tuple [17, 26] + - !!python/tuple [13, 0] + - !!python/tuple [18, 4] + - !!python/tuple [18, 13] + - !!python/tuple [25, 26] + - !!python/tuple [25, 4] + - !!python/tuple [29, 4] + - !!python/tuple [1, 8] + - !!python/tuple [24, 22] + - !!python/tuple [17, 25] + - !!python/tuple [9, 10] + - !!python/tuple [30, 16] + - !!python/tuple [24, 1] + - !!python/tuple [26, 17] + - !!python/tuple [16, 10] + - !!python/tuple [20, 29] + - !!python/tuple [13, 25] + - !!python/tuple [15, 0] + - !!python/tuple [2, 9] + - !!python/tuple [14, 10] + - !!python/tuple [9, 6] + - !!python/tuple [15, 25] + - !!python/tuple [6, 24] + - !!python/tuple [24, 15] + - !!python/tuple [4, 8] + - !!python/tuple [23, 28] + - !!python/tuple [7, 12] + - !!python/tuple [8, 18] + - !!python/tuple [18, 14] + - !!python/tuple [0, 12] + - !!python/tuple [11, 7] + - !!python/tuple [30, 13] + - !!python/tuple [19, 15] + - !!python/tuple [29, 20] + - !!python/tuple [28, 28] + - !!python/tuple [21, 29] + - !!python/tuple [8, 4] + - !!python/tuple [0, 13] + - !!python/tuple [12, 30] + - !!python/tuple [16, 4] + - !!python/tuple [13, 12] + - !!python/tuple [23, 26] + - !!python/tuple [13, 16] + - !!python/tuple [1, 27] + - !!python/tuple [8, 2] + - !!python/tuple [17, 15] + - !!python/tuple [27, 1] + - !!python/tuple [4, 11] + - !!python/tuple [28, 17] + - !!python/tuple [31, 1] + - !!python/tuple [5, 11] + - !!python/tuple [16, 27] + - !!python/tuple [9, 8] + - !!python/tuple [27, 4] + - !!python/tuple [11, 24] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex60.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex60.yaml new file mode 100644 index 0000000..c8c6c42 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex60.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [11, 4] + name: agent0 + start: [13, 20] +- goal: [26, 8] + name: agent1 + start: [15, 19] +- goal: [30, 29] + name: agent2 + start: [13, 11] +- goal: [24, 14] + name: agent3 + start: [30, 20] +- goal: [19, 24] + name: agent4 + start: [15, 9] +- goal: [1, 24] + name: agent5 + start: [3, 27] +- goal: [8, 18] + name: agent6 + start: [4, 5] +- goal: [29, 17] + name: agent7 + start: [29, 18] +- goal: [7, 6] + name: agent8 + start: [26, 20] +- goal: [28, 20] + name: agent9 + start: [28, 7] +- goal: [9, 2] + name: agent10 + start: [31, 11] +- goal: [4, 23] + name: agent11 + start: [19, 28] +- goal: [27, 14] + name: agent12 + start: [15, 7] +- goal: [8, 29] + name: agent13 + start: [17, 29] +- goal: [19, 17] + name: agent14 + start: [19, 2] +- goal: [28, 23] + name: agent15 + start: [20, 18] +- goal: [3, 9] + name: agent16 + start: [13, 17] +- goal: [30, 2] + name: agent17 + start: [21, 16] +- goal: [17, 28] + name: agent18 + start: [8, 18] +- goal: [6, 15] + name: agent19 + start: [28, 17] +- goal: [8, 25] + name: agent20 + start: [20, 4] +- goal: [13, 5] + name: agent21 + start: [18, 5] +- goal: [19, 12] + name: agent22 + start: [21, 30] +- goal: [12, 26] + name: agent23 + start: [11, 18] +- goal: [5, 18] + name: agent24 + start: [5, 20] +- goal: [22, 18] + name: agent25 + start: [0, 27] +- goal: [19, 8] + name: agent26 + start: [5, 17] +- goal: [3, 16] + name: agent27 + start: [16, 10] +- goal: [20, 28] + name: agent28 + start: [30, 4] +- goal: [7, 12] + name: agent29 + start: [19, 13] +- goal: [10, 1] + name: agent30 + start: [30, 6] +- goal: [19, 14] + name: agent31 + start: [24, 15] +- goal: [4, 5] + name: agent32 + start: [0, 31] +- goal: [10, 12] + name: agent33 + start: [22, 6] +- goal: [7, 15] + name: agent34 + start: [18, 31] +- goal: [26, 29] + name: agent35 + start: [25, 8] +- goal: [0, 15] + name: agent36 + start: [27, 0] +- goal: [30, 30] + name: agent37 + start: [13, 7] +- goal: [2, 18] + name: agent38 + start: [6, 20] +- goal: [4, 20] + name: agent39 + start: [28, 28] +- goal: [4, 3] + name: agent40 + start: [14, 17] +- goal: [27, 16] + name: agent41 + start: [31, 5] +- goal: [1, 28] + name: agent42 + start: [7, 13] +- goal: [7, 11] + name: agent43 + start: [15, 5] +- goal: [19, 28] + name: agent44 + start: [5, 23] +- goal: [1, 4] + name: agent45 + start: [9, 14] +- goal: [18, 23] + name: agent46 + start: [6, 31] +- goal: [0, 27] + name: agent47 + start: [3, 29] +- goal: [20, 7] + name: agent48 + start: [15, 12] +- goal: [22, 15] + name: agent49 + start: [12, 27] +- goal: [7, 17] + name: agent50 + start: [8, 31] +- goal: [23, 7] + name: agent51 + start: [12, 16] +- goal: [14, 10] + name: agent52 + start: [11, 11] +- goal: [13, 18] + name: agent53 + start: [10, 31] +- goal: [7, 13] + name: agent54 + start: [28, 21] +- goal: [19, 13] + name: agent55 + start: [12, 18] +- goal: [17, 12] + name: agent56 + start: [30, 22] +- goal: [20, 3] + name: agent57 + start: [4, 21] +- goal: [16, 20] + name: agent58 + start: [2, 17] +- goal: [6, 28] + name: agent59 + start: [24, 20] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [12, 6] + - !!python/tuple [5, 5] + - !!python/tuple [1, 23] + - !!python/tuple [6, 6] + - !!python/tuple [1, 25] + - !!python/tuple [4, 9] + - !!python/tuple [27, 23] + - !!python/tuple [7, 29] + - !!python/tuple [28, 2] + - !!python/tuple [29, 14] + - !!python/tuple [1, 14] + - !!python/tuple [5, 9] + - !!python/tuple [24, 18] + - !!python/tuple [4, 6] + - !!python/tuple [12, 23] + - !!python/tuple [25, 19] + - !!python/tuple [27, 9] + - !!python/tuple [1, 13] + - !!python/tuple [21, 0] + - !!python/tuple [1, 26] + - !!python/tuple [24, 5] + - !!python/tuple [21, 27] + - !!python/tuple [8, 17] + - !!python/tuple [22, 25] + - !!python/tuple [16, 12] + - !!python/tuple [0, 4] + - !!python/tuple [7, 8] + - !!python/tuple [8, 16] + - !!python/tuple [20, 8] + - !!python/tuple [27, 25] + - !!python/tuple [27, 13] + - !!python/tuple [2, 16] + - !!python/tuple [1, 22] + - !!python/tuple [12, 9] + - !!python/tuple [13, 29] + - !!python/tuple [10, 2] + - !!python/tuple [15, 21] + - !!python/tuple [30, 31] + - !!python/tuple [30, 18] + - !!python/tuple [31, 23] + - !!python/tuple [20, 21] + - !!python/tuple [17, 2] + - !!python/tuple [12, 29] + - !!python/tuple [0, 18] + - !!python/tuple [25, 14] + - !!python/tuple [17, 8] + - !!python/tuple [21, 24] + - !!python/tuple [8, 0] + - !!python/tuple [19, 23] + - !!python/tuple [4, 12] + - !!python/tuple [13, 21] + - !!python/tuple [15, 3] + - !!python/tuple [27, 4] + - !!python/tuple [4, 11] + - !!python/tuple [23, 2] + - !!python/tuple [10, 9] + - !!python/tuple [28, 24] + - !!python/tuple [12, 31] + - !!python/tuple [2, 1] + - !!python/tuple [21, 15] + - !!python/tuple [29, 9] + - !!python/tuple [28, 27] + - !!python/tuple [25, 4] + - !!python/tuple [18, 9] + - !!python/tuple [31, 13] + - !!python/tuple [21, 10] + - !!python/tuple [13, 13] + - !!python/tuple [10, 4] + - !!python/tuple [25, 30] + - !!python/tuple [3, 3] + - !!python/tuple [30, 14] + - !!python/tuple [2, 12] + - !!python/tuple [12, 11] + - !!python/tuple [14, 28] + - !!python/tuple [14, 23] + - !!python/tuple [7, 22] + - !!python/tuple [17, 26] + - !!python/tuple [9, 18] + - !!python/tuple [31, 31] + - !!python/tuple [12, 5] + - !!python/tuple [8, 2] + - !!python/tuple [17, 6] + - !!python/tuple [23, 19] + - !!python/tuple [21, 13] + - !!python/tuple [15, 24] + - !!python/tuple [15, 22] + - !!python/tuple [8, 11] + - !!python/tuple [22, 26] + - !!python/tuple [24, 2] + - !!python/tuple [24, 30] + - !!python/tuple [29, 26] + - !!python/tuple [25, 15] + - !!python/tuple [13, 10] + - !!python/tuple [9, 28] + - !!python/tuple [21, 23] + - !!python/tuple [8, 12] + - !!python/tuple [2, 19] + - !!python/tuple [18, 7] + - !!python/tuple [31, 3] + - !!python/tuple [24, 6] + - !!python/tuple [1, 10] + - !!python/tuple [2, 14] + - !!python/tuple [27, 6] + - !!python/tuple [26, 5] + - !!python/tuple [6, 9] + - !!python/tuple [7, 30] + - !!python/tuple [16, 9] + - !!python/tuple [7, 9] + - !!python/tuple [24, 0] + - !!python/tuple [29, 25] + - !!python/tuple [27, 5] + - !!python/tuple [24, 1] + - !!python/tuple [18, 0] + - !!python/tuple [28, 22] + - !!python/tuple [14, 19] + - !!python/tuple [19, 26] + - !!python/tuple [12, 14] + - !!python/tuple [27, 11] + - !!python/tuple [15, 16] + - !!python/tuple [4, 19] + - !!python/tuple [7, 25] + - !!python/tuple [5, 27] + - !!python/tuple [4, 2] + - !!python/tuple [17, 15] + - !!python/tuple [21, 2] + - !!python/tuple [22, 29] + - !!python/tuple [29, 28] + - !!python/tuple [5, 12] + - !!python/tuple [28, 18] + - !!python/tuple [23, 18] + - !!python/tuple [13, 19] + - !!python/tuple [30, 5] + - !!python/tuple [1, 20] + - !!python/tuple [27, 10] + - !!python/tuple [14, 9] + - !!python/tuple [26, 30] + - !!python/tuple [13, 0] + - !!python/tuple [26, 26] + - !!python/tuple [27, 8] + - !!python/tuple [0, 1] + - !!python/tuple [27, 17] + - !!python/tuple [24, 9] + - !!python/tuple [4, 16] + - !!python/tuple [18, 10] + - !!python/tuple [27, 3] + - !!python/tuple [18, 13] + - !!python/tuple [13, 16] + - !!python/tuple [5, 13] + - !!python/tuple [27, 27] + - !!python/tuple [31, 22] + - !!python/tuple [18, 14] + - !!python/tuple [12, 7] + - !!python/tuple [9, 27] + - !!python/tuple [27, 31] + - !!python/tuple [2, 26] + - !!python/tuple [20, 30] + - !!python/tuple [30, 27] + - !!python/tuple [1, 18] + - !!python/tuple [26, 1] + - !!python/tuple [25, 23] + - !!python/tuple [6, 25] + - !!python/tuple [21, 1] + - !!python/tuple [14, 20] + - !!python/tuple [26, 27] + - !!python/tuple [1, 3] + - !!python/tuple [13, 14] + - !!python/tuple [12, 28] + - !!python/tuple [3, 30] + - !!python/tuple [7, 10] + - !!python/tuple [0, 24] + - !!python/tuple [10, 28] + - !!python/tuple [28, 9] + - !!python/tuple [8, 13] + - !!python/tuple [24, 16] + - !!python/tuple [29, 27] + - !!python/tuple [3, 17] + - !!python/tuple [5, 24] + - !!python/tuple [11, 0] + - !!python/tuple [25, 2] + - !!python/tuple [30, 16] + - !!python/tuple [4, 29] + - !!python/tuple [7, 4] + - !!python/tuple [6, 16] + - !!python/tuple [0, 17] + - !!python/tuple [9, 7] + - !!python/tuple [25, 13] + - !!python/tuple [24, 24] + - !!python/tuple [20, 2] + - !!python/tuple [22, 23] + - !!python/tuple [2, 7] + - !!python/tuple [12, 4] + - !!python/tuple [28, 14] + - !!python/tuple [3, 21] + - !!python/tuple [6, 4] + - !!python/tuple [20, 16] + - !!python/tuple [18, 4] + - !!python/tuple [0, 8] + - !!python/tuple [16, 0] + - !!python/tuple [6, 22] + - !!python/tuple [0, 14] + - !!python/tuple [5, 30] + - !!python/tuple [16, 17] + - !!python/tuple [10, 18] + - !!python/tuple [10, 6] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex61.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex61.yaml new file mode 100644 index 0000000..79138f0 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex61.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [0, 14] + name: agent0 + start: [5, 21] +- goal: [20, 12] + name: agent1 + start: [28, 29] +- goal: [11, 7] + name: agent2 + start: [16, 17] +- goal: [14, 2] + name: agent3 + start: [19, 22] +- goal: [21, 28] + name: agent4 + start: [3, 20] +- goal: [0, 7] + name: agent5 + start: [15, 14] +- goal: [21, 19] + name: agent6 + start: [3, 19] +- goal: [29, 25] + name: agent7 + start: [22, 14] +- goal: [2, 14] + name: agent8 + start: [23, 9] +- goal: [25, 16] + name: agent9 + start: [2, 28] +- goal: [4, 16] + name: agent10 + start: [26, 17] +- goal: [6, 31] + name: agent11 + start: [27, 22] +- goal: [25, 13] + name: agent12 + start: [4, 18] +- goal: [6, 1] + name: agent13 + start: [25, 12] +- goal: [15, 18] + name: agent14 + start: [11, 3] +- goal: [5, 27] + name: agent15 + start: [4, 19] +- goal: [21, 8] + name: agent16 + start: [31, 23] +- goal: [0, 0] + name: agent17 + start: [21, 25] +- goal: [29, 20] + name: agent18 + start: [14, 10] +- goal: [12, 7] + name: agent19 + start: [31, 27] +- goal: [10, 6] + name: agent20 + start: [6, 18] +- goal: [1, 0] + name: agent21 + start: [8, 29] +- goal: [6, 0] + name: agent22 + start: [15, 17] +- goal: [3, 13] + name: agent23 + start: [24, 17] +- goal: [14, 4] + name: agent24 + start: [16, 6] +- goal: [1, 17] + name: agent25 + start: [0, 0] +- goal: [24, 5] + name: agent26 + start: [19, 30] +- goal: [18, 16] + name: agent27 + start: [25, 25] +- goal: [8, 12] + name: agent28 + start: [22, 16] +- goal: [15, 30] + name: agent29 + start: [24, 18] +- goal: [6, 15] + name: agent30 + start: [7, 28] +- goal: [26, 16] + name: agent31 + start: [10, 20] +- goal: [15, 17] + name: agent32 + start: [2, 0] +- goal: [21, 30] + name: agent33 + start: [2, 18] +- goal: [4, 14] + name: agent34 + start: [12, 29] +- goal: [1, 13] + name: agent35 + start: [28, 28] +- goal: [5, 19] + name: agent36 + start: [29, 17] +- goal: [6, 10] + name: agent37 + start: [14, 4] +- goal: [16, 1] + name: agent38 + start: [26, 24] +- goal: [8, 23] + name: agent39 + start: [22, 28] +- goal: [7, 28] + name: agent40 + start: [0, 1] +- goal: [14, 27] + name: agent41 + start: [29, 20] +- goal: [30, 9] + name: agent42 + start: [2, 16] +- goal: [11, 29] + name: agent43 + start: [17, 12] +- goal: [6, 13] + name: agent44 + start: [23, 28] +- goal: [27, 16] + name: agent45 + start: [19, 0] +- goal: [10, 3] + name: agent46 + start: [22, 4] +- goal: [9, 4] + name: agent47 + start: [19, 19] +- goal: [8, 29] + name: agent48 + start: [31, 14] +- goal: [16, 15] + name: agent49 + start: [17, 21] +- goal: [11, 8] + name: agent50 + start: [1, 17] +- goal: [12, 29] + name: agent51 + start: [6, 26] +- goal: [12, 30] + name: agent52 + start: [9, 17] +- goal: [10, 26] + name: agent53 + start: [30, 15] +- goal: [12, 0] + name: agent54 + start: [10, 8] +- goal: [2, 13] + name: agent55 + start: [7, 12] +- goal: [4, 11] + name: agent56 + start: [22, 21] +- goal: [24, 24] + name: agent57 + start: [3, 0] +- goal: [31, 15] + name: agent58 + start: [31, 13] +- goal: [25, 19] + name: agent59 + start: [10, 7] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [20, 26] + - !!python/tuple [27, 17] + - !!python/tuple [10, 16] + - !!python/tuple [15, 3] + - !!python/tuple [5, 29] + - !!python/tuple [13, 26] + - !!python/tuple [9, 28] + - !!python/tuple [11, 0] + - !!python/tuple [22, 18] + - !!python/tuple [22, 8] + - !!python/tuple [16, 23] + - !!python/tuple [30, 5] + - !!python/tuple [13, 19] + - !!python/tuple [27, 0] + - !!python/tuple [0, 18] + - !!python/tuple [28, 7] + - !!python/tuple [12, 28] + - !!python/tuple [0, 21] + - !!python/tuple [1, 20] + - !!python/tuple [10, 21] + - !!python/tuple [16, 25] + - !!python/tuple [12, 18] + - !!python/tuple [28, 4] + - !!python/tuple [4, 20] + - !!python/tuple [31, 17] + - !!python/tuple [25, 7] + - !!python/tuple [17, 8] + - !!python/tuple [19, 2] + - !!python/tuple [7, 19] + - !!python/tuple [31, 31] + - !!python/tuple [3, 2] + - !!python/tuple [15, 9] + - !!python/tuple [0, 10] + - !!python/tuple [3, 1] + - !!python/tuple [26, 1] + - !!python/tuple [18, 25] + - !!python/tuple [30, 24] + - !!python/tuple [23, 16] + - !!python/tuple [1, 10] + - !!python/tuple [28, 23] + - !!python/tuple [1, 4] + - !!python/tuple [1, 2] + - !!python/tuple [17, 4] + - !!python/tuple [20, 23] + - !!python/tuple [8, 31] + - !!python/tuple [24, 10] + - !!python/tuple [3, 14] + - !!python/tuple [22, 13] + - !!python/tuple [25, 21] + - !!python/tuple [12, 6] + - !!python/tuple [6, 30] + - !!python/tuple [17, 23] + - !!python/tuple [30, 27] + - !!python/tuple [4, 2] + - !!python/tuple [0, 26] + - !!python/tuple [22, 20] + - !!python/tuple [29, 10] + - !!python/tuple [12, 11] + - !!python/tuple [19, 9] + - !!python/tuple [26, 0] + - !!python/tuple [17, 15] + - !!python/tuple [0, 6] + - !!python/tuple [12, 20] + - !!python/tuple [0, 25] + - !!python/tuple [29, 15] + - !!python/tuple [17, 27] + - !!python/tuple [23, 23] + - !!python/tuple [11, 23] + - !!python/tuple [15, 0] + - !!python/tuple [24, 26] + - !!python/tuple [17, 17] + - !!python/tuple [25, 29] + - !!python/tuple [31, 29] + - !!python/tuple [28, 15] + - !!python/tuple [16, 18] + - !!python/tuple [28, 18] + - !!python/tuple [1, 6] + - !!python/tuple [27, 6] + - !!python/tuple [16, 20] + - !!python/tuple [20, 0] + - !!python/tuple [28, 12] + - !!python/tuple [27, 5] + - !!python/tuple [26, 6] + - !!python/tuple [3, 8] + - !!python/tuple [25, 9] + - !!python/tuple [21, 29] + - !!python/tuple [30, 7] + - !!python/tuple [3, 6] + - !!python/tuple [11, 10] + - !!python/tuple [11, 28] + - !!python/tuple [12, 14] + - !!python/tuple [30, 1] + - !!python/tuple [21, 15] + - !!python/tuple [26, 9] + - !!python/tuple [31, 2] + - !!python/tuple [31, 3] + - !!python/tuple [19, 12] + - !!python/tuple [3, 28] + - !!python/tuple [7, 24] + - !!python/tuple [15, 26] + - !!python/tuple [14, 23] + - !!python/tuple [18, 3] + - !!python/tuple [7, 9] + - !!python/tuple [30, 12] + - !!python/tuple [13, 0] + - !!python/tuple [7, 6] + - !!python/tuple [24, 12] + - !!python/tuple [28, 10] + - !!python/tuple [17, 13] + - !!python/tuple [13, 20] + - !!python/tuple [18, 9] + - !!python/tuple [10, 29] + - !!python/tuple [1, 3] + - !!python/tuple [2, 21] + - !!python/tuple [21, 18] + - !!python/tuple [24, 6] + - !!python/tuple [11, 18] + - !!python/tuple [7, 17] + - !!python/tuple [19, 16] + - !!python/tuple [0, 13] + - !!python/tuple [4, 5] + - !!python/tuple [20, 9] + - !!python/tuple [26, 10] + - !!python/tuple [0, 15] + - !!python/tuple [19, 25] + - !!python/tuple [8, 24] + - !!python/tuple [10, 27] + - !!python/tuple [8, 16] + - !!python/tuple [13, 31] + - !!python/tuple [31, 24] + - !!python/tuple [22, 25] + - !!python/tuple [18, 22] + - !!python/tuple [27, 28] + - !!python/tuple [25, 3] + - !!python/tuple [14, 13] + - !!python/tuple [29, 23] + - !!python/tuple [16, 29] + - !!python/tuple [29, 27] + - !!python/tuple [23, 18] + - !!python/tuple [11, 4] + - !!python/tuple [15, 23] + - !!python/tuple [0, 5] + - !!python/tuple [8, 14] + - !!python/tuple [12, 15] + - !!python/tuple [3, 11] + - !!python/tuple [0, 2] + - !!python/tuple [27, 26] + - !!python/tuple [31, 21] + - !!python/tuple [30, 11] + - !!python/tuple [31, 12] + - !!python/tuple [7, 4] + - !!python/tuple [15, 29] + - !!python/tuple [16, 10] + - !!python/tuple [23, 31] + - !!python/tuple [11, 25] + - !!python/tuple [17, 28] + - !!python/tuple [26, 8] + - !!python/tuple [27, 27] + - !!python/tuple [4, 13] + - !!python/tuple [16, 3] + - !!python/tuple [23, 8] + - !!python/tuple [26, 2] + - !!python/tuple [13, 8] + - !!python/tuple [0, 19] + - !!python/tuple [11, 14] + - !!python/tuple [15, 5] + - !!python/tuple [23, 4] + - !!python/tuple [7, 14] + - !!python/tuple [27, 14] + - !!python/tuple [25, 4] + - !!python/tuple [13, 2] + - !!python/tuple [2, 20] + - !!python/tuple [9, 23] + - !!python/tuple [30, 16] + - !!python/tuple [3, 24] + - !!python/tuple [9, 2] + - !!python/tuple [21, 1] + - !!python/tuple [13, 30] + - !!python/tuple [16, 31] + - !!python/tuple [25, 8] + - !!python/tuple [31, 8] + - !!python/tuple [25, 27] + - !!python/tuple [20, 11] + - !!python/tuple [18, 20] + - !!python/tuple [17, 30] + - !!python/tuple [18, 0] + - !!python/tuple [27, 3] + - !!python/tuple [5, 25] + - !!python/tuple [4, 27] + - !!python/tuple [27, 23] + - !!python/tuple [20, 1] + - !!python/tuple [13, 27] + - !!python/tuple [22, 24] + - !!python/tuple [29, 3] + - !!python/tuple [18, 11] + - !!python/tuple [12, 21] + - !!python/tuple [9, 27] + - !!python/tuple [4, 1] + - !!python/tuple [20, 24] + - !!python/tuple [22, 30] + - !!python/tuple [6, 19] + - !!python/tuple [17, 25] + - !!python/tuple [13, 4] + - !!python/tuple [29, 8] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex62.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex62.yaml new file mode 100644 index 0000000..3f9a9e7 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex62.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [29, 4] + name: agent0 + start: [14, 1] +- goal: [7, 16] + name: agent1 + start: [26, 28] +- goal: [13, 20] + name: agent2 + start: [0, 29] +- goal: [5, 25] + name: agent3 + start: [3, 16] +- goal: [27, 25] + name: agent4 + start: [23, 6] +- goal: [2, 21] + name: agent5 + start: [3, 23] +- goal: [17, 16] + name: agent6 + start: [4, 29] +- goal: [31, 16] + name: agent7 + start: [1, 19] +- goal: [20, 14] + name: agent8 + start: [21, 17] +- goal: [10, 16] + name: agent9 + start: [1, 7] +- goal: [12, 11] + name: agent10 + start: [6, 10] +- goal: [17, 13] + name: agent11 + start: [11, 27] +- goal: [0, 19] + name: agent12 + start: [26, 19] +- goal: [25, 12] + name: agent13 + start: [30, 14] +- goal: [25, 30] + name: agent14 + start: [2, 28] +- goal: [27, 20] + name: agent15 + start: [1, 15] +- goal: [13, 30] + name: agent16 + start: [21, 5] +- goal: [20, 24] + name: agent17 + start: [5, 3] +- goal: [29, 12] + name: agent18 + start: [3, 10] +- goal: [20, 16] + name: agent19 + start: [19, 13] +- goal: [31, 26] + name: agent20 + start: [19, 4] +- goal: [25, 15] + name: agent21 + start: [24, 0] +- goal: [2, 8] + name: agent22 + start: [10, 14] +- goal: [10, 1] + name: agent23 + start: [23, 12] +- goal: [11, 14] + name: agent24 + start: [24, 15] +- goal: [3, 23] + name: agent25 + start: [9, 31] +- goal: [25, 28] + name: agent26 + start: [3, 20] +- goal: [6, 14] + name: agent27 + start: [28, 12] +- goal: [20, 13] + name: agent28 + start: [15, 3] +- goal: [22, 25] + name: agent29 + start: [25, 14] +- goal: [24, 15] + name: agent30 + start: [19, 30] +- goal: [23, 2] + name: agent31 + start: [19, 20] +- goal: [22, 4] + name: agent32 + start: [18, 29] +- goal: [12, 24] + name: agent33 + start: [18, 15] +- goal: [17, 4] + name: agent34 + start: [4, 25] +- goal: [31, 5] + name: agent35 + start: [25, 25] +- goal: [29, 10] + name: agent36 + start: [19, 25] +- goal: [7, 20] + name: agent37 + start: [13, 19] +- goal: [26, 17] + name: agent38 + start: [13, 10] +- goal: [28, 9] + name: agent39 + start: [20, 10] +- goal: [16, 24] + name: agent40 + start: [26, 23] +- goal: [0, 15] + name: agent41 + start: [11, 30] +- goal: [1, 21] + name: agent42 + start: [21, 10] +- goal: [25, 22] + name: agent43 + start: [18, 17] +- goal: [19, 23] + name: agent44 + start: [7, 17] +- goal: [9, 31] + name: agent45 + start: [17, 12] +- goal: [0, 18] + name: agent46 + start: [14, 6] +- goal: [10, 3] + name: agent47 + start: [5, 19] +- goal: [3, 14] + name: agent48 + start: [20, 13] +- goal: [5, 0] + name: agent49 + start: [26, 21] +- goal: [21, 17] + name: agent50 + start: [20, 29] +- goal: [14, 31] + name: agent51 + start: [7, 26] +- goal: [25, 10] + name: agent52 + start: [4, 19] +- goal: [9, 11] + name: agent53 + start: [14, 18] +- goal: [14, 22] + name: agent54 + start: [1, 8] +- goal: [19, 15] + name: agent55 + start: [22, 0] +- goal: [5, 16] + name: agent56 + start: [22, 3] +- goal: [23, 25] + name: agent57 + start: [8, 6] +- goal: [24, 24] + name: agent58 + start: [15, 31] +- goal: [15, 23] + name: agent59 + start: [6, 19] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [4, 14] + - !!python/tuple [28, 29] + - !!python/tuple [6, 25] + - !!python/tuple [8, 28] + - !!python/tuple [0, 10] + - !!python/tuple [27, 27] + - !!python/tuple [24, 27] + - !!python/tuple [27, 0] + - !!python/tuple [14, 12] + - !!python/tuple [23, 9] + - !!python/tuple [7, 19] + - !!python/tuple [25, 20] + - !!python/tuple [3, 25] + - !!python/tuple [31, 21] + - !!python/tuple [20, 21] + - !!python/tuple [15, 28] + - !!python/tuple [14, 13] + - !!python/tuple [14, 28] + - !!python/tuple [25, 24] + - !!python/tuple [23, 16] + - !!python/tuple [10, 17] + - !!python/tuple [19, 24] + - !!python/tuple [3, 26] + - !!python/tuple [13, 22] + - !!python/tuple [13, 7] + - !!python/tuple [7, 28] + - !!python/tuple [29, 7] + - !!python/tuple [11, 19] + - !!python/tuple [26, 3] + - !!python/tuple [9, 5] + - !!python/tuple [4, 21] + - !!python/tuple [14, 8] + - !!python/tuple [6, 21] + - !!python/tuple [28, 0] + - !!python/tuple [6, 29] + - !!python/tuple [18, 23] + - !!python/tuple [1, 6] + - !!python/tuple [22, 20] + - !!python/tuple [31, 18] + - !!python/tuple [5, 14] + - !!python/tuple [12, 14] + - !!python/tuple [8, 18] + - !!python/tuple [6, 16] + - !!python/tuple [4, 24] + - !!python/tuple [28, 6] + - !!python/tuple [4, 1] + - !!python/tuple [31, 7] + - !!python/tuple [17, 26] + - !!python/tuple [10, 9] + - !!python/tuple [15, 15] + - !!python/tuple [19, 11] + - !!python/tuple [8, 27] + - !!python/tuple [27, 4] + - !!python/tuple [18, 1] + - !!python/tuple [17, 0] + - !!python/tuple [29, 14] + - !!python/tuple [19, 17] + - !!python/tuple [3, 15] + - !!python/tuple [4, 30] + - !!python/tuple [2, 17] + - !!python/tuple [29, 25] + - !!python/tuple [2, 4] + - !!python/tuple [28, 5] + - !!python/tuple [20, 9] + - !!python/tuple [3, 0] + - !!python/tuple [30, 24] + - !!python/tuple [24, 7] + - !!python/tuple [15, 17] + - !!python/tuple [2, 7] + - !!python/tuple [28, 18] + - !!python/tuple [18, 27] + - !!python/tuple [0, 17] + - !!python/tuple [18, 19] + - !!python/tuple [30, 20] + - !!python/tuple [23, 13] + - !!python/tuple [3, 19] + - !!python/tuple [17, 5] + - !!python/tuple [4, 20] + - !!python/tuple [9, 15] + - !!python/tuple [10, 13] + - !!python/tuple [9, 17] + - !!python/tuple [19, 18] + - !!python/tuple [26, 6] + - !!python/tuple [7, 18] + - !!python/tuple [30, 0] + - !!python/tuple [12, 2] + - !!python/tuple [22, 21] + - !!python/tuple [2, 13] + - !!python/tuple [10, 11] + - !!python/tuple [21, 25] + - !!python/tuple [10, 5] + - !!python/tuple [22, 7] + - !!python/tuple [4, 6] + - !!python/tuple [21, 29] + - !!python/tuple [11, 8] + - !!python/tuple [17, 23] + - !!python/tuple [3, 6] + - !!python/tuple [13, 27] + - !!python/tuple [18, 18] + - !!python/tuple [12, 6] + - !!python/tuple [29, 2] + - !!python/tuple [12, 27] + - !!python/tuple [14, 27] + - !!python/tuple [30, 13] + - !!python/tuple [7, 25] + - !!python/tuple [14, 10] + - !!python/tuple [1, 10] + - !!python/tuple [29, 20] + - !!python/tuple [25, 1] + - !!python/tuple [2, 11] + - !!python/tuple [5, 12] + - !!python/tuple [26, 12] + - !!python/tuple [1, 3] + - !!python/tuple [16, 10] + - !!python/tuple [25, 7] + - !!python/tuple [26, 1] + - !!python/tuple [11, 3] + - !!python/tuple [5, 4] + - !!python/tuple [30, 9] + - !!python/tuple [24, 25] + - !!python/tuple [2, 6] + - !!python/tuple [28, 28] + - !!python/tuple [30, 19] + - !!python/tuple [21, 0] + - !!python/tuple [4, 23] + - !!python/tuple [23, 11] + - !!python/tuple [20, 15] + - !!python/tuple [18, 9] + - !!python/tuple [29, 15] + - !!python/tuple [17, 1] + - !!python/tuple [6, 1] + - !!python/tuple [31, 31] + - !!python/tuple [16, 13] + - !!python/tuple [8, 3] + - !!python/tuple [9, 24] + - !!python/tuple [10, 26] + - !!python/tuple [28, 15] + - !!python/tuple [16, 4] + - !!python/tuple [23, 4] + - !!python/tuple [17, 29] + - !!python/tuple [30, 26] + - !!python/tuple [8, 12] + - !!python/tuple [18, 4] + - !!python/tuple [12, 31] + - !!python/tuple [0, 30] + - !!python/tuple [0, 25] + - !!python/tuple [15, 12] + - !!python/tuple [12, 19] + - !!python/tuple [23, 30] + - !!python/tuple [31, 28] + - !!python/tuple [0, 8] + - !!python/tuple [29, 11] + - !!python/tuple [31, 1] + - !!python/tuple [7, 3] + - !!python/tuple [7, 24] + - !!python/tuple [28, 14] + - !!python/tuple [22, 31] + - !!python/tuple [8, 16] + - !!python/tuple [21, 3] + - !!python/tuple [3, 28] + - !!python/tuple [31, 27] + - !!python/tuple [6, 2] + - !!python/tuple [3, 12] + - !!python/tuple [17, 18] + - !!python/tuple [9, 14] + - !!python/tuple [11, 22] + - !!python/tuple [28, 27] + - !!python/tuple [6, 18] + - !!python/tuple [5, 24] + - !!python/tuple [20, 8] + - !!python/tuple [1, 11] + - !!python/tuple [20, 0] + - !!python/tuple [13, 21] + - !!python/tuple [12, 16] + - !!python/tuple [7, 30] + - !!python/tuple [16, 6] + - !!python/tuple [13, 8] + - !!python/tuple [29, 24] + - !!python/tuple [12, 21] + - !!python/tuple [4, 28] + - !!python/tuple [28, 10] + - !!python/tuple [17, 25] + - !!python/tuple [22, 30] + - !!python/tuple [5, 22] + - !!python/tuple [22, 8] + - !!python/tuple [0, 2] + - !!python/tuple [13, 29] + - !!python/tuple [25, 5] + - !!python/tuple [24, 26] + - !!python/tuple [27, 13] + - !!python/tuple [8, 5] + - !!python/tuple [6, 8] + - !!python/tuple [6, 3] + - !!python/tuple [9, 12] + - !!python/tuple [31, 11] + - !!python/tuple [26, 25] + - !!python/tuple [2, 15] + - !!python/tuple [18, 31] + - !!python/tuple [26, 16] + - !!python/tuple [30, 15] + - !!python/tuple [13, 28] + - !!python/tuple [6, 6] + - !!python/tuple [24, 29] + - !!python/tuple [28, 30] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex63.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex63.yaml new file mode 100644 index 0000000..51c9904 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex63.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [0, 23] + name: agent0 + start: [22, 18] +- goal: [10, 25] + name: agent1 + start: [16, 9] +- goal: [6, 16] + name: agent2 + start: [1, 10] +- goal: [9, 31] + name: agent3 + start: [7, 30] +- goal: [2, 11] + name: agent4 + start: [1, 21] +- goal: [9, 27] + name: agent5 + start: [7, 14] +- goal: [27, 21] + name: agent6 + start: [26, 17] +- goal: [8, 27] + name: agent7 + start: [28, 17] +- goal: [8, 2] + name: agent8 + start: [21, 6] +- goal: [30, 7] + name: agent9 + start: [13, 0] +- goal: [23, 23] + name: agent10 + start: [9, 2] +- goal: [19, 25] + name: agent11 + start: [17, 17] +- goal: [26, 29] + name: agent12 + start: [18, 30] +- goal: [31, 12] + name: agent13 + start: [31, 3] +- goal: [28, 19] + name: agent14 + start: [3, 6] +- goal: [28, 14] + name: agent15 + start: [17, 25] +- goal: [3, 23] + name: agent16 + start: [12, 22] +- goal: [29, 23] + name: agent17 + start: [0, 2] +- goal: [9, 28] + name: agent18 + start: [0, 10] +- goal: [2, 16] + name: agent19 + start: [22, 8] +- goal: [25, 10] + name: agent20 + start: [23, 0] +- goal: [9, 4] + name: agent21 + start: [0, 22] +- goal: [0, 7] + name: agent22 + start: [7, 6] +- goal: [15, 30] + name: agent23 + start: [12, 21] +- goal: [16, 9] + name: agent24 + start: [30, 3] +- goal: [1, 7] + name: agent25 + start: [9, 26] +- goal: [5, 8] + name: agent26 + start: [4, 3] +- goal: [26, 2] + name: agent27 + start: [1, 8] +- goal: [17, 6] + name: agent28 + start: [12, 13] +- goal: [31, 17] + name: agent29 + start: [10, 7] +- goal: [21, 17] + name: agent30 + start: [24, 31] +- goal: [4, 20] + name: agent31 + start: [13, 11] +- goal: [30, 27] + name: agent32 + start: [6, 26] +- goal: [23, 4] + name: agent33 + start: [6, 16] +- goal: [4, 9] + name: agent34 + start: [30, 30] +- goal: [11, 26] + name: agent35 + start: [2, 5] +- goal: [30, 11] + name: agent36 + start: [22, 5] +- goal: [15, 26] + name: agent37 + start: [20, 21] +- goal: [20, 1] + name: agent38 + start: [2, 18] +- goal: [4, 31] + name: agent39 + start: [30, 2] +- goal: [0, 4] + name: agent40 + start: [13, 1] +- goal: [15, 3] + name: agent41 + start: [25, 0] +- goal: [27, 23] + name: agent42 + start: [26, 22] +- goal: [4, 12] + name: agent43 + start: [22, 21] +- goal: [16, 22] + name: agent44 + start: [6, 31] +- goal: [26, 26] + name: agent45 + start: [9, 15] +- goal: [17, 28] + name: agent46 + start: [28, 26] +- goal: [21, 30] + name: agent47 + start: [9, 3] +- goal: [1, 19] + name: agent48 + start: [2, 8] +- goal: [17, 21] + name: agent49 + start: [25, 23] +- goal: [3, 25] + name: agent50 + start: [7, 16] +- goal: [27, 5] + name: agent51 + start: [26, 28] +- goal: [1, 17] + name: agent52 + start: [26, 16] +- goal: [11, 29] + name: agent53 + start: [3, 17] +- goal: [8, 7] + name: agent54 + start: [8, 3] +- goal: [0, 29] + name: agent55 + start: [7, 20] +- goal: [22, 14] + name: agent56 + start: [1, 2] +- goal: [19, 3] + name: agent57 + start: [12, 15] +- goal: [9, 1] + name: agent58 + start: [25, 10] +- goal: [1, 18] + name: agent59 + start: [17, 31] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [19, 1] + - !!python/tuple [5, 0] + - !!python/tuple [29, 1] + - !!python/tuple [14, 5] + - !!python/tuple [18, 7] + - !!python/tuple [7, 25] + - !!python/tuple [13, 19] + - !!python/tuple [9, 9] + - !!python/tuple [23, 19] + - !!python/tuple [16, 8] + - !!python/tuple [4, 27] + - !!python/tuple [23, 20] + - !!python/tuple [28, 29] + - !!python/tuple [18, 31] + - !!python/tuple [8, 28] + - !!python/tuple [9, 11] + - !!python/tuple [23, 29] + - !!python/tuple [22, 2] + - !!python/tuple [23, 31] + - !!python/tuple [4, 25] + - !!python/tuple [7, 23] + - !!python/tuple [10, 22] + - !!python/tuple [14, 3] + - !!python/tuple [1, 23] + - !!python/tuple [13, 14] + - !!python/tuple [26, 3] + - !!python/tuple [30, 12] + - !!python/tuple [18, 21] + - !!python/tuple [5, 25] + - !!python/tuple [17, 4] + - !!python/tuple [27, 0] + - !!python/tuple [28, 30] + - !!python/tuple [2, 2] + - !!python/tuple [3, 12] + - !!python/tuple [25, 4] + - !!python/tuple [10, 14] + - !!python/tuple [20, 3] + - !!python/tuple [7, 2] + - !!python/tuple [5, 2] + - !!python/tuple [2, 26] + - !!python/tuple [19, 8] + - !!python/tuple [3, 5] + - !!python/tuple [3, 4] + - !!python/tuple [3, 3] + - !!python/tuple [2, 20] + - !!python/tuple [11, 14] + - !!python/tuple [22, 11] + - !!python/tuple [24, 10] + - !!python/tuple [13, 5] + - !!python/tuple [30, 17] + - !!python/tuple [12, 0] + - !!python/tuple [22, 0] + - !!python/tuple [18, 20] + - !!python/tuple [13, 9] + - !!python/tuple [4, 22] + - !!python/tuple [10, 9] + - !!python/tuple [8, 9] + - !!python/tuple [25, 17] + - !!python/tuple [14, 8] + - !!python/tuple [20, 20] + - !!python/tuple [23, 18] + - !!python/tuple [15, 11] + - !!python/tuple [16, 23] + - !!python/tuple [2, 21] + - !!python/tuple [16, 26] + - !!python/tuple [31, 2] + - !!python/tuple [5, 28] + - !!python/tuple [1, 0] + - !!python/tuple [0, 15] + - !!python/tuple [21, 3] + - !!python/tuple [19, 10] + - !!python/tuple [30, 1] + - !!python/tuple [27, 27] + - !!python/tuple [16, 11] + - !!python/tuple [13, 27] + - !!python/tuple [11, 23] + - !!python/tuple [9, 25] + - !!python/tuple [6, 2] + - !!python/tuple [15, 22] + - !!python/tuple [29, 28] + - !!python/tuple [13, 22] + - !!python/tuple [16, 12] + - !!python/tuple [31, 20] + - !!python/tuple [12, 5] + - !!python/tuple [5, 15] + - !!python/tuple [4, 23] + - !!python/tuple [27, 19] + - !!python/tuple [2, 23] + - !!python/tuple [29, 14] + - !!python/tuple [8, 21] + - !!python/tuple [0, 18] + - !!python/tuple [29, 2] + - !!python/tuple [28, 7] + - !!python/tuple [15, 8] + - !!python/tuple [21, 28] + - !!python/tuple [6, 0] + - !!python/tuple [28, 13] + - !!python/tuple [6, 14] + - !!python/tuple [13, 4] + - !!python/tuple [15, 0] + - !!python/tuple [16, 10] + - !!python/tuple [17, 19] + - !!python/tuple [10, 6] + - !!python/tuple [28, 31] + - !!python/tuple [28, 27] + - !!python/tuple [7, 1] + - !!python/tuple [7, 0] + - !!python/tuple [0, 27] + - !!python/tuple [7, 7] + - !!python/tuple [24, 22] + - !!python/tuple [1, 20] + - !!python/tuple [0, 21] + - !!python/tuple [8, 16] + - !!python/tuple [10, 10] + - !!python/tuple [22, 1] + - !!python/tuple [16, 7] + - !!python/tuple [30, 31] + - !!python/tuple [15, 7] + - !!python/tuple [10, 1] + - !!python/tuple [18, 9] + - !!python/tuple [7, 13] + - !!python/tuple [8, 8] + - !!python/tuple [18, 17] + - !!python/tuple [9, 10] + - !!python/tuple [18, 1] + - !!python/tuple [14, 19] + - !!python/tuple [7, 17] + - !!python/tuple [26, 0] + - !!python/tuple [17, 0] + - !!python/tuple [20, 7] + - !!python/tuple [1, 27] + - !!python/tuple [24, 23] + - !!python/tuple [18, 13] + - !!python/tuple [14, 27] + - !!python/tuple [9, 20] + - !!python/tuple [23, 10] + - !!python/tuple [17, 8] + - !!python/tuple [3, 22] + - !!python/tuple [3, 8] + - !!python/tuple [8, 29] + - !!python/tuple [17, 2] + - !!python/tuple [24, 8] + - !!python/tuple [5, 27] + - !!python/tuple [21, 24] + - !!python/tuple [8, 25] + - !!python/tuple [16, 1] + - !!python/tuple [10, 13] + - !!python/tuple [4, 1] + - !!python/tuple [2, 19] + - !!python/tuple [1, 6] + - !!python/tuple [22, 31] + - !!python/tuple [23, 28] + - !!python/tuple [29, 6] + - !!python/tuple [14, 1] + - !!python/tuple [13, 30] + - !!python/tuple [0, 3] + - !!python/tuple [28, 10] + - !!python/tuple [18, 12] + - !!python/tuple [8, 6] + - !!python/tuple [6, 24] + - !!python/tuple [14, 18] + - !!python/tuple [4, 10] + - !!python/tuple [31, 23] + - !!python/tuple [20, 25] + - !!python/tuple [2, 6] + - !!python/tuple [26, 7] + - !!python/tuple [19, 31] + - !!python/tuple [5, 4] + - !!python/tuple [30, 29] + - !!python/tuple [11, 24] + - !!python/tuple [31, 31] + - !!python/tuple [20, 29] + - !!python/tuple [31, 27] + - !!python/tuple [29, 26] + - !!python/tuple [10, 28] + - !!python/tuple [13, 12] + - !!python/tuple [11, 18] + - !!python/tuple [12, 19] + - !!python/tuple [22, 20] + - !!python/tuple [0, 9] + - !!python/tuple [7, 31] + - !!python/tuple [24, 30] + - !!python/tuple [27, 10] + - !!python/tuple [20, 10] + - !!python/tuple [21, 5] + - !!python/tuple [25, 2] + - !!python/tuple [5, 10] + - !!python/tuple [14, 31] + - !!python/tuple [11, 12] + - !!python/tuple [20, 0] + - !!python/tuple [21, 14] + - !!python/tuple [24, 7] + - !!python/tuple [13, 2] + - !!python/tuple [11, 6] + - !!python/tuple [1, 1] + - !!python/tuple [7, 19] + - !!python/tuple [31, 19] + - !!python/tuple [25, 22] + - !!python/tuple [5, 13] + - !!python/tuple [19, 0] + - !!python/tuple [13, 25] + - !!python/tuple [3, 27] + - !!python/tuple [14, 29] + - !!python/tuple [15, 21] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex64.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex64.yaml new file mode 100644 index 0000000..305348c --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex64.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [10, 19] + name: agent0 + start: [6, 29] +- goal: [13, 12] + name: agent1 + start: [11, 21] +- goal: [4, 5] + name: agent2 + start: [7, 12] +- goal: [30, 28] + name: agent3 + start: [31, 22] +- goal: [10, 8] + name: agent4 + start: [0, 24] +- goal: [21, 5] + name: agent5 + start: [1, 12] +- goal: [23, 29] + name: agent6 + start: [29, 29] +- goal: [28, 7] + name: agent7 + start: [0, 4] +- goal: [4, 21] + name: agent8 + start: [7, 18] +- goal: [25, 31] + name: agent9 + start: [15, 25] +- goal: [15, 6] + name: agent10 + start: [24, 12] +- goal: [4, 31] + name: agent11 + start: [16, 6] +- goal: [30, 0] + name: agent12 + start: [3, 24] +- goal: [21, 1] + name: agent13 + start: [5, 6] +- goal: [18, 8] + name: agent14 + start: [8, 4] +- goal: [29, 1] + name: agent15 + start: [19, 19] +- goal: [25, 26] + name: agent16 + start: [17, 29] +- goal: [1, 31] + name: agent17 + start: [24, 16] +- goal: [9, 11] + name: agent18 + start: [10, 17] +- goal: [2, 7] + name: agent19 + start: [29, 8] +- goal: [3, 26] + name: agent20 + start: [17, 21] +- goal: [23, 30] + name: agent21 + start: [17, 11] +- goal: [4, 14] + name: agent22 + start: [8, 25] +- goal: [14, 6] + name: agent23 + start: [10, 10] +- goal: [7, 30] + name: agent24 + start: [20, 4] +- goal: [15, 22] + name: agent25 + start: [28, 18] +- goal: [29, 5] + name: agent26 + start: [10, 19] +- goal: [1, 4] + name: agent27 + start: [0, 6] +- goal: [26, 27] + name: agent28 + start: [11, 2] +- goal: [22, 5] + name: agent29 + start: [9, 2] +- goal: [13, 31] + name: agent30 + start: [18, 8] +- goal: [23, 3] + name: agent31 + start: [17, 13] +- goal: [25, 15] + name: agent32 + start: [15, 30] +- goal: [22, 0] + name: agent33 + start: [28, 15] +- goal: [14, 15] + name: agent34 + start: [12, 19] +- goal: [7, 13] + name: agent35 + start: [20, 2] +- goal: [21, 27] + name: agent36 + start: [30, 13] +- goal: [14, 9] + name: agent37 + start: [26, 12] +- goal: [29, 29] + name: agent38 + start: [18, 14] +- goal: [14, 24] + name: agent39 + start: [27, 31] +- goal: [29, 21] + name: agent40 + start: [31, 6] +- goal: [5, 5] + name: agent41 + start: [6, 2] +- goal: [13, 2] + name: agent42 + start: [23, 26] +- goal: [26, 7] + name: agent43 + start: [19, 25] +- goal: [31, 14] + name: agent44 + start: [19, 12] +- goal: [3, 3] + name: agent45 + start: [19, 14] +- goal: [27, 27] + name: agent46 + start: [23, 4] +- goal: [2, 10] + name: agent47 + start: [31, 25] +- goal: [19, 21] + name: agent48 + start: [30, 31] +- goal: [6, 15] + name: agent49 + start: [23, 8] +- goal: [23, 17] + name: agent50 + start: [25, 25] +- goal: [16, 19] + name: agent51 + start: [18, 21] +- goal: [0, 23] + name: agent52 + start: [28, 2] +- goal: [12, 25] + name: agent53 + start: [12, 25] +- goal: [11, 30] + name: agent54 + start: [5, 5] +- goal: [16, 18] + name: agent55 + start: [16, 27] +- goal: [18, 14] + name: agent56 + start: [26, 7] +- goal: [0, 27] + name: agent57 + start: [14, 15] +- goal: [29, 17] + name: agent58 + start: [11, 24] +- goal: [0, 25] + name: agent59 + start: [31, 21] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [13, 14] + - !!python/tuple [20, 28] + - !!python/tuple [12, 26] + - !!python/tuple [15, 0] + - !!python/tuple [24, 24] + - !!python/tuple [23, 11] + - !!python/tuple [27, 7] + - !!python/tuple [14, 18] + - !!python/tuple [25, 29] + - !!python/tuple [16, 24] + - !!python/tuple [14, 10] + - !!python/tuple [30, 1] + - !!python/tuple [15, 7] + - !!python/tuple [20, 27] + - !!python/tuple [18, 31] + - !!python/tuple [3, 9] + - !!python/tuple [15, 3] + - !!python/tuple [12, 27] + - !!python/tuple [12, 28] + - !!python/tuple [28, 4] + - !!python/tuple [22, 30] + - !!python/tuple [22, 29] + - !!python/tuple [13, 1] + - !!python/tuple [17, 25] + - !!python/tuple [20, 20] + - !!python/tuple [26, 31] + - !!python/tuple [14, 8] + - !!python/tuple [27, 14] + - !!python/tuple [22, 25] + - !!python/tuple [21, 23] + - !!python/tuple [16, 17] + - !!python/tuple [11, 19] + - !!python/tuple [18, 25] + - !!python/tuple [15, 29] + - !!python/tuple [11, 16] + - !!python/tuple [10, 15] + - !!python/tuple [10, 1] + - !!python/tuple [18, 6] + - !!python/tuple [20, 0] + - !!python/tuple [15, 14] + - !!python/tuple [7, 4] + - !!python/tuple [10, 0] + - !!python/tuple [18, 15] + - !!python/tuple [4, 0] + - !!python/tuple [1, 1] + - !!python/tuple [31, 12] + - !!python/tuple [12, 7] + - !!python/tuple [11, 20] + - !!python/tuple [31, 8] + - !!python/tuple [29, 23] + - !!python/tuple [1, 23] + - !!python/tuple [18, 9] + - !!python/tuple [19, 10] + - !!python/tuple [25, 24] + - !!python/tuple [29, 7] + - !!python/tuple [4, 6] + - !!python/tuple [25, 11] + - !!python/tuple [12, 30] + - !!python/tuple [10, 13] + - !!python/tuple [4, 25] + - !!python/tuple [12, 3] + - !!python/tuple [15, 11] + - !!python/tuple [26, 28] + - !!python/tuple [6, 31] + - !!python/tuple [12, 15] + - !!python/tuple [25, 30] + - !!python/tuple [8, 1] + - !!python/tuple [0, 5] + - !!python/tuple [6, 1] + - !!python/tuple [21, 14] + - !!python/tuple [28, 6] + - !!python/tuple [2, 29] + - !!python/tuple [21, 22] + - !!python/tuple [5, 18] + - !!python/tuple [23, 21] + - !!python/tuple [27, 0] + - !!python/tuple [14, 22] + - !!python/tuple [20, 26] + - !!python/tuple [28, 31] + - !!python/tuple [21, 11] + - !!python/tuple [9, 19] + - !!python/tuple [21, 20] + - !!python/tuple [5, 24] + - !!python/tuple [27, 16] + - !!python/tuple [11, 0] + - !!python/tuple [31, 27] + - !!python/tuple [9, 29] + - !!python/tuple [9, 24] + - !!python/tuple [14, 20] + - !!python/tuple [7, 22] + - !!python/tuple [24, 29] + - !!python/tuple [1, 13] + - !!python/tuple [22, 26] + - !!python/tuple [3, 25] + - !!python/tuple [14, 3] + - !!python/tuple [19, 23] + - !!python/tuple [8, 2] + - !!python/tuple [0, 29] + - !!python/tuple [17, 19] + - !!python/tuple [12, 11] + - !!python/tuple [0, 0] + - !!python/tuple [22, 16] + - !!python/tuple [5, 12] + - !!python/tuple [9, 25] + - !!python/tuple [15, 26] + - !!python/tuple [24, 2] + - !!python/tuple [29, 19] + - !!python/tuple [9, 10] + - !!python/tuple [4, 10] + - !!python/tuple [1, 28] + - !!python/tuple [17, 22] + - !!python/tuple [0, 28] + - !!python/tuple [16, 22] + - !!python/tuple [20, 29] + - !!python/tuple [24, 7] + - !!python/tuple [4, 22] + - !!python/tuple [14, 0] + - !!python/tuple [4, 15] + - !!python/tuple [28, 11] + - !!python/tuple [31, 1] + - !!python/tuple [25, 9] + - !!python/tuple [24, 10] + - !!python/tuple [26, 29] + - !!python/tuple [3, 17] + - !!python/tuple [19, 15] + - !!python/tuple [29, 20] + - !!python/tuple [4, 23] + - !!python/tuple [26, 3] + - !!python/tuple [30, 11] + - !!python/tuple [22, 2] + - !!python/tuple [8, 10] + - !!python/tuple [6, 13] + - !!python/tuple [7, 3] + - !!python/tuple [29, 4] + - !!python/tuple [20, 8] + - !!python/tuple [1, 19] + - !!python/tuple [12, 12] + - !!python/tuple [13, 17] + - !!python/tuple [5, 0] + - !!python/tuple [21, 13] + - !!python/tuple [11, 8] + - !!python/tuple [11, 12] + - !!python/tuple [8, 28] + - !!python/tuple [0, 8] + - !!python/tuple [8, 23] + - !!python/tuple [10, 24] + - !!python/tuple [24, 8] + - !!python/tuple [15, 20] + - !!python/tuple [15, 21] + - !!python/tuple [21, 28] + - !!python/tuple [21, 12] + - !!python/tuple [16, 29] + - !!python/tuple [17, 20] + - !!python/tuple [25, 16] + - !!python/tuple [25, 8] + - !!python/tuple [14, 2] + - !!python/tuple [30, 4] + - !!python/tuple [3, 8] + - !!python/tuple [27, 5] + - !!python/tuple [28, 23] + - !!python/tuple [0, 1] + - !!python/tuple [5, 23] + - !!python/tuple [22, 8] + - !!python/tuple [20, 6] + - !!python/tuple [13, 8] + - !!python/tuple [27, 9] + - !!python/tuple [21, 9] + - !!python/tuple [19, 5] + - !!python/tuple [28, 16] + - !!python/tuple [23, 9] + - !!python/tuple [31, 11] + - !!python/tuple [4, 28] + - !!python/tuple [1, 27] + - !!python/tuple [8, 0] + - !!python/tuple [23, 31] + - !!python/tuple [21, 30] + - !!python/tuple [23, 19] + - !!python/tuple [0, 31] + - !!python/tuple [5, 15] + - !!python/tuple [5, 26] + - !!python/tuple [11, 10] + - !!python/tuple [1, 0] + - !!python/tuple [0, 11] + - !!python/tuple [23, 1] + - !!python/tuple [10, 26] + - !!python/tuple [6, 16] + - !!python/tuple [27, 6] + - !!python/tuple [22, 24] + - !!python/tuple [3, 30] + - !!python/tuple [20, 23] + - !!python/tuple [1, 8] + - !!python/tuple [24, 23] + - !!python/tuple [23, 23] + - !!python/tuple [17, 31] + - !!python/tuple [0, 16] + - !!python/tuple [19, 20] + - !!python/tuple [7, 17] + - !!python/tuple [28, 13] + - !!python/tuple [25, 14] + - !!python/tuple [12, 14] + - !!python/tuple [6, 10] + - !!python/tuple [5, 17] + - !!python/tuple [16, 25] + - !!python/tuple [19, 30] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex65.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex65.yaml new file mode 100644 index 0000000..d1a1d89 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex65.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [1, 4] + name: agent0 + start: [13, 19] +- goal: [7, 18] + name: agent1 + start: [22, 15] +- goal: [20, 5] + name: agent2 + start: [5, 30] +- goal: [4, 4] + name: agent3 + start: [1, 0] +- goal: [24, 1] + name: agent4 + start: [27, 10] +- goal: [4, 9] + name: agent5 + start: [23, 24] +- goal: [26, 16] + name: agent6 + start: [2, 1] +- goal: [0, 26] + name: agent7 + start: [6, 21] +- goal: [8, 5] + name: agent8 + start: [22, 9] +- goal: [20, 22] + name: agent9 + start: [13, 25] +- goal: [7, 10] + name: agent10 + start: [28, 25] +- goal: [11, 19] + name: agent11 + start: [26, 0] +- goal: [11, 0] + name: agent12 + start: [7, 11] +- goal: [1, 18] + name: agent13 + start: [3, 3] +- goal: [11, 13] + name: agent14 + start: [17, 13] +- goal: [5, 11] + name: agent15 + start: [1, 26] +- goal: [22, 4] + name: agent16 + start: [11, 28] +- goal: [14, 16] + name: agent17 + start: [17, 5] +- goal: [16, 4] + name: agent18 + start: [2, 16] +- goal: [16, 24] + name: agent19 + start: [7, 25] +- goal: [5, 26] + name: agent20 + start: [3, 29] +- goal: [2, 18] + name: agent21 + start: [12, 4] +- goal: [25, 24] + name: agent22 + start: [14, 2] +- goal: [16, 25] + name: agent23 + start: [4, 31] +- goal: [1, 7] + name: agent24 + start: [30, 30] +- goal: [11, 26] + name: agent25 + start: [15, 14] +- goal: [22, 28] + name: agent26 + start: [13, 17] +- goal: [30, 8] + name: agent27 + start: [3, 23] +- goal: [6, 7] + name: agent28 + start: [9, 17] +- goal: [18, 3] + name: agent29 + start: [31, 25] +- goal: [6, 10] + name: agent30 + start: [0, 1] +- goal: [6, 27] + name: agent31 + start: [7, 6] +- goal: [10, 15] + name: agent32 + start: [21, 11] +- goal: [26, 15] + name: agent33 + start: [17, 3] +- goal: [0, 15] + name: agent34 + start: [17, 20] +- goal: [6, 31] + name: agent35 + start: [26, 20] +- goal: [0, 10] + name: agent36 + start: [16, 12] +- goal: [9, 8] + name: agent37 + start: [3, 20] +- goal: [8, 19] + name: agent38 + start: [18, 22] +- goal: [21, 22] + name: agent39 + start: [16, 11] +- goal: [22, 13] + name: agent40 + start: [16, 27] +- goal: [7, 27] + name: agent41 + start: [24, 11] +- goal: [19, 25] + name: agent42 + start: [17, 10] +- goal: [27, 28] + name: agent43 + start: [13, 7] +- goal: [26, 8] + name: agent44 + start: [30, 18] +- goal: [22, 17] + name: agent45 + start: [0, 31] +- goal: [31, 21] + name: agent46 + start: [5, 23] +- goal: [30, 13] + name: agent47 + start: [5, 5] +- goal: [25, 23] + name: agent48 + start: [6, 27] +- goal: [31, 5] + name: agent49 + start: [0, 30] +- goal: [0, 24] + name: agent50 + start: [30, 17] +- goal: [18, 18] + name: agent51 + start: [12, 18] +- goal: [2, 23] + name: agent52 + start: [31, 13] +- goal: [31, 31] + name: agent53 + start: [28, 21] +- goal: [16, 15] + name: agent54 + start: [2, 21] +- goal: [4, 0] + name: agent55 + start: [11, 7] +- goal: [8, 25] + name: agent56 + start: [1, 11] +- goal: [30, 0] + name: agent57 + start: [20, 12] +- goal: [20, 21] + name: agent58 + start: [18, 11] +- goal: [6, 16] + name: agent59 + start: [20, 10] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [4, 13] + - !!python/tuple [11, 10] + - !!python/tuple [31, 17] + - !!python/tuple [4, 22] + - !!python/tuple [22, 14] + - !!python/tuple [9, 27] + - !!python/tuple [20, 2] + - !!python/tuple [11, 31] + - !!python/tuple [13, 26] + - !!python/tuple [26, 22] + - !!python/tuple [14, 14] + - !!python/tuple [27, 3] + - !!python/tuple [10, 4] + - !!python/tuple [5, 16] + - !!python/tuple [22, 5] + - !!python/tuple [14, 9] + - !!python/tuple [11, 27] + - !!python/tuple [15, 8] + - !!python/tuple [25, 2] + - !!python/tuple [1, 17] + - !!python/tuple [26, 31] + - !!python/tuple [30, 15] + - !!python/tuple [15, 4] + - !!python/tuple [20, 26] + - !!python/tuple [16, 6] + - !!python/tuple [0, 27] + - !!python/tuple [4, 29] + - !!python/tuple [20, 30] + - !!python/tuple [30, 16] + - !!python/tuple [1, 27] + - !!python/tuple [14, 27] + - !!python/tuple [7, 14] + - !!python/tuple [18, 29] + - !!python/tuple [14, 20] + - !!python/tuple [8, 21] + - !!python/tuple [29, 15] + - !!python/tuple [28, 27] + - !!python/tuple [11, 8] + - !!python/tuple [6, 6] + - !!python/tuple [0, 11] + - !!python/tuple [24, 28] + - !!python/tuple [14, 21] + - !!python/tuple [17, 25] + - !!python/tuple [7, 0] + - !!python/tuple [9, 19] + - !!python/tuple [2, 25] + - !!python/tuple [29, 10] + - !!python/tuple [21, 17] + - !!python/tuple [27, 14] + - !!python/tuple [6, 14] + - !!python/tuple [8, 17] + - !!python/tuple [26, 23] + - !!python/tuple [3, 15] + - !!python/tuple [15, 16] + - !!python/tuple [31, 30] + - !!python/tuple [4, 16] + - !!python/tuple [17, 27] + - !!python/tuple [18, 24] + - !!python/tuple [17, 28] + - !!python/tuple [23, 6] + - !!python/tuple [15, 25] + - !!python/tuple [14, 18] + - !!python/tuple [1, 5] + - !!python/tuple [25, 15] + - !!python/tuple [24, 23] + - !!python/tuple [9, 31] + - !!python/tuple [30, 26] + - !!python/tuple [5, 12] + - !!python/tuple [21, 13] + - !!python/tuple [19, 23] + - !!python/tuple [8, 18] + - !!python/tuple [10, 18] + - !!python/tuple [10, 11] + - !!python/tuple [3, 30] + - !!python/tuple [13, 22] + - !!python/tuple [18, 12] + - !!python/tuple [11, 3] + - !!python/tuple [18, 14] + - !!python/tuple [11, 14] + - !!python/tuple [15, 3] + - !!python/tuple [25, 7] + - !!python/tuple [11, 9] + - !!python/tuple [29, 17] + - !!python/tuple [26, 26] + - !!python/tuple [23, 27] + - !!python/tuple [0, 3] + - !!python/tuple [3, 17] + - !!python/tuple [14, 30] + - !!python/tuple [23, 22] + - !!python/tuple [6, 4] + - !!python/tuple [24, 25] + - !!python/tuple [28, 14] + - !!python/tuple [15, 24] + - !!python/tuple [11, 30] + - !!python/tuple [19, 4] + - !!python/tuple [1, 16] + - !!python/tuple [29, 30] + - !!python/tuple [6, 2] + - !!python/tuple [8, 27] + - !!python/tuple [16, 13] + - !!python/tuple [29, 0] + - !!python/tuple [16, 14] + - !!python/tuple [25, 20] + - !!python/tuple [22, 1] + - !!python/tuple [26, 30] + - !!python/tuple [0, 0] + - !!python/tuple [1, 31] + - !!python/tuple [24, 2] + - !!python/tuple [17, 23] + - !!python/tuple [10, 7] + - !!python/tuple [1, 6] + - !!python/tuple [15, 6] + - !!python/tuple [21, 23] + - !!python/tuple [12, 30] + - !!python/tuple [28, 3] + - !!python/tuple [22, 2] + - !!python/tuple [8, 1] + - !!python/tuple [18, 23] + - !!python/tuple [6, 12] + - !!python/tuple [31, 24] + - !!python/tuple [5, 14] + - !!python/tuple [16, 28] + - !!python/tuple [12, 31] + - !!python/tuple [2, 14] + - !!python/tuple [7, 29] + - !!python/tuple [23, 13] + - !!python/tuple [23, 20] + - !!python/tuple [18, 21] + - !!python/tuple [5, 24] + - !!python/tuple [18, 2] + - !!python/tuple [11, 6] + - !!python/tuple [4, 18] + - !!python/tuple [2, 27] + - !!python/tuple [25, 30] + - !!python/tuple [7, 20] + - !!python/tuple [20, 31] + - !!python/tuple [12, 12] + - !!python/tuple [3, 12] + - !!python/tuple [13, 2] + - !!python/tuple [19, 15] + - !!python/tuple [10, 22] + - !!python/tuple [13, 4] + - !!python/tuple [7, 31] + - !!python/tuple [21, 25] + - !!python/tuple [16, 2] + - !!python/tuple [28, 9] + - !!python/tuple [22, 27] + - !!python/tuple [28, 22] + - !!python/tuple [0, 5] + - !!python/tuple [19, 0] + - !!python/tuple [13, 10] + - !!python/tuple [21, 9] + - !!python/tuple [30, 20] + - !!python/tuple [20, 4] + - !!python/tuple [6, 11] + - !!python/tuple [10, 25] + - !!python/tuple [9, 24] + - !!python/tuple [3, 16] + - !!python/tuple [26, 14] + - !!python/tuple [19, 29] + - !!python/tuple [6, 24] + - !!python/tuple [27, 20] + - !!python/tuple [21, 10] + - !!python/tuple [19, 24] + - !!python/tuple [28, 4] + - !!python/tuple [6, 17] + - !!python/tuple [8, 26] + - !!python/tuple [15, 18] + - !!python/tuple [17, 15] + - !!python/tuple [9, 14] + - !!python/tuple [23, 0] + - !!python/tuple [11, 22] + - !!python/tuple [9, 4] + - !!python/tuple [13, 24] + - !!python/tuple [22, 7] + - !!python/tuple [19, 12] + - !!python/tuple [20, 16] + - !!python/tuple [24, 12] + - !!python/tuple [27, 19] + - !!python/tuple [8, 14] + - !!python/tuple [8, 4] + - !!python/tuple [9, 11] + - !!python/tuple [5, 25] + - !!python/tuple [24, 5] + - !!python/tuple [23, 19] + - !!python/tuple [11, 15] + - !!python/tuple [9, 10] + - !!python/tuple [16, 10] + - !!python/tuple [1, 20] + - !!python/tuple [27, 23] + - !!python/tuple [10, 9] + - !!python/tuple [22, 8] + - !!python/tuple [25, 4] + - !!python/tuple [29, 20] + - !!python/tuple [26, 25] + - !!python/tuple [3, 5] + - !!python/tuple [31, 20] + - !!python/tuple [17, 16] + - !!python/tuple [8, 11] + - !!python/tuple [30, 25] + - !!python/tuple [23, 18] + - !!python/tuple [29, 12] + - !!python/tuple [30, 22] + - !!python/tuple [4, 11] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex66.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex66.yaml new file mode 100644 index 0000000..9787bf9 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex66.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [4, 19] + name: agent0 + start: [10, 28] +- goal: [0, 13] + name: agent1 + start: [24, 20] +- goal: [30, 5] + name: agent2 + start: [26, 16] +- goal: [31, 1] + name: agent3 + start: [0, 7] +- goal: [9, 13] + name: agent4 + start: [29, 27] +- goal: [12, 28] + name: agent5 + start: [15, 18] +- goal: [29, 3] + name: agent6 + start: [1, 23] +- goal: [3, 13] + name: agent7 + start: [2, 27] +- goal: [30, 25] + name: agent8 + start: [3, 23] +- goal: [14, 12] + name: agent9 + start: [21, 3] +- goal: [11, 18] + name: agent10 + start: [4, 16] +- goal: [18, 30] + name: agent11 + start: [2, 19] +- goal: [7, 17] + name: agent12 + start: [22, 27] +- goal: [23, 14] + name: agent13 + start: [30, 1] +- goal: [14, 8] + name: agent14 + start: [20, 10] +- goal: [31, 18] + name: agent15 + start: [12, 11] +- goal: [11, 6] + name: agent16 + start: [20, 29] +- goal: [24, 23] + name: agent17 + start: [4, 19] +- goal: [9, 22] + name: agent18 + start: [29, 28] +- goal: [30, 6] + name: agent19 + start: [9, 4] +- goal: [15, 6] + name: agent20 + start: [30, 10] +- goal: [15, 12] + name: agent21 + start: [17, 24] +- goal: [1, 25] + name: agent22 + start: [13, 4] +- goal: [5, 17] + name: agent23 + start: [12, 17] +- goal: [26, 0] + name: agent24 + start: [4, 1] +- goal: [7, 23] + name: agent25 + start: [28, 28] +- goal: [14, 9] + name: agent26 + start: [22, 4] +- goal: [27, 26] + name: agent27 + start: [11, 15] +- goal: [4, 20] + name: agent28 + start: [22, 7] +- goal: [30, 14] + name: agent29 + start: [24, 26] +- goal: [12, 16] + name: agent30 + start: [21, 11] +- goal: [29, 20] + name: agent31 + start: [5, 29] +- goal: [13, 2] + name: agent32 + start: [31, 10] +- goal: [14, 7] + name: agent33 + start: [2, 24] +- goal: [9, 12] + name: agent34 + start: [14, 6] +- goal: [27, 8] + name: agent35 + start: [25, 27] +- goal: [21, 11] + name: agent36 + start: [11, 25] +- goal: [22, 14] + name: agent37 + start: [16, 4] +- goal: [0, 18] + name: agent38 + start: [6, 30] +- goal: [3, 24] + name: agent39 + start: [31, 27] +- goal: [16, 24] + name: agent40 + start: [14, 31] +- goal: [25, 1] + name: agent41 + start: [9, 10] +- goal: [28, 12] + name: agent42 + start: [26, 23] +- goal: [16, 20] + name: agent43 + start: [28, 29] +- goal: [12, 21] + name: agent44 + start: [17, 21] +- goal: [28, 29] + name: agent45 + start: [24, 12] +- goal: [31, 21] + name: agent46 + start: [29, 21] +- goal: [2, 8] + name: agent47 + start: [30, 17] +- goal: [28, 10] + name: agent48 + start: [12, 8] +- goal: [13, 20] + name: agent49 + start: [3, 25] +- goal: [29, 15] + name: agent50 + start: [31, 14] +- goal: [21, 29] + name: agent51 + start: [12, 26] +- goal: [22, 0] + name: agent52 + start: [28, 7] +- goal: [6, 18] + name: agent53 + start: [11, 18] +- goal: [0, 24] + name: agent54 + start: [1, 17] +- goal: [28, 18] + name: agent55 + start: [31, 1] +- goal: [3, 27] + name: agent56 + start: [15, 6] +- goal: [6, 17] + name: agent57 + start: [21, 13] +- goal: [12, 31] + name: agent58 + start: [22, 10] +- goal: [14, 6] + name: agent59 + start: [14, 16] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [22, 24] + - !!python/tuple [8, 19] + - !!python/tuple [0, 9] + - !!python/tuple [12, 2] + - !!python/tuple [8, 13] + - !!python/tuple [21, 7] + - !!python/tuple [20, 12] + - !!python/tuple [6, 9] + - !!python/tuple [23, 4] + - !!python/tuple [23, 10] + - !!python/tuple [14, 15] + - !!python/tuple [4, 29] + - !!python/tuple [9, 3] + - !!python/tuple [26, 19] + - !!python/tuple [17, 1] + - !!python/tuple [26, 26] + - !!python/tuple [12, 10] + - !!python/tuple [27, 4] + - !!python/tuple [6, 28] + - !!python/tuple [11, 3] + - !!python/tuple [10, 6] + - !!python/tuple [8, 7] + - !!python/tuple [31, 8] + - !!python/tuple [16, 9] + - !!python/tuple [13, 27] + - !!python/tuple [29, 9] + - !!python/tuple [16, 18] + - !!python/tuple [27, 28] + - !!python/tuple [16, 8] + - !!python/tuple [29, 18] + - !!python/tuple [2, 1] + - !!python/tuple [20, 20] + - !!python/tuple [2, 4] + - !!python/tuple [8, 5] + - !!python/tuple [3, 7] + - !!python/tuple [24, 18] + - !!python/tuple [25, 6] + - !!python/tuple [1, 10] + - !!python/tuple [22, 20] + - !!python/tuple [4, 7] + - !!python/tuple [28, 15] + - !!python/tuple [2, 12] + - !!python/tuple [25, 24] + - !!python/tuple [25, 3] + - !!python/tuple [0, 12] + - !!python/tuple [19, 1] + - !!python/tuple [31, 26] + - !!python/tuple [14, 20] + - !!python/tuple [5, 3] + - !!python/tuple [4, 30] + - !!python/tuple [24, 9] + - !!python/tuple [31, 22] + - !!python/tuple [30, 19] + - !!python/tuple [0, 31] + - !!python/tuple [28, 8] + - !!python/tuple [20, 11] + - !!python/tuple [6, 25] + - !!python/tuple [24, 8] + - !!python/tuple [22, 28] + - !!python/tuple [16, 5] + - !!python/tuple [1, 3] + - !!python/tuple [0, 19] + - !!python/tuple [24, 16] + - !!python/tuple [15, 3] + - !!python/tuple [8, 8] + - !!python/tuple [16, 15] + - !!python/tuple [7, 26] + - !!python/tuple [8, 23] + - !!python/tuple [15, 17] + - !!python/tuple [23, 11] + - !!python/tuple [10, 21] + - !!python/tuple [11, 2] + - !!python/tuple [31, 5] + - !!python/tuple [23, 22] + - !!python/tuple [29, 23] + - !!python/tuple [30, 16] + - !!python/tuple [19, 17] + - !!python/tuple [3, 0] + - !!python/tuple [6, 11] + - !!python/tuple [14, 13] + - !!python/tuple [20, 30] + - !!python/tuple [17, 6] + - !!python/tuple [28, 25] + - !!python/tuple [30, 18] + - !!python/tuple [22, 3] + - !!python/tuple [25, 16] + - !!python/tuple [1, 30] + - !!python/tuple [12, 18] + - !!python/tuple [17, 0] + - !!python/tuple [10, 14] + - !!python/tuple [18, 12] + - !!python/tuple [1, 13] + - !!python/tuple [0, 20] + - !!python/tuple [6, 31] + - !!python/tuple [28, 16] + - !!python/tuple [11, 12] + - !!python/tuple [19, 11] + - !!python/tuple [17, 8] + - !!python/tuple [23, 21] + - !!python/tuple [31, 2] + - !!python/tuple [10, 22] + - !!python/tuple [25, 17] + - !!python/tuple [18, 18] + - !!python/tuple [13, 26] + - !!python/tuple [30, 15] + - !!python/tuple [3, 21] + - !!python/tuple [9, 31] + - !!python/tuple [16, 25] + - !!python/tuple [23, 26] + - !!python/tuple [9, 0] + - !!python/tuple [1, 21] + - !!python/tuple [28, 4] + - !!python/tuple [15, 7] + - !!python/tuple [6, 20] + - !!python/tuple [16, 6] + - !!python/tuple [30, 30] + - !!python/tuple [0, 30] + - !!python/tuple [31, 24] + - !!python/tuple [18, 15] + - !!python/tuple [8, 27] + - !!python/tuple [0, 23] + - !!python/tuple [23, 7] + - !!python/tuple [2, 25] + - !!python/tuple [14, 19] + - !!python/tuple [1, 4] + - !!python/tuple [4, 5] + - !!python/tuple [13, 13] + - !!python/tuple [12, 23] + - !!python/tuple [12, 12] + - !!python/tuple [10, 18] + - !!python/tuple [27, 11] + - !!python/tuple [13, 21] + - !!python/tuple [11, 23] + - !!python/tuple [17, 14] + - !!python/tuple [6, 10] + - !!python/tuple [31, 31] + - !!python/tuple [20, 21] + - !!python/tuple [3, 3] + - !!python/tuple [28, 3] + - !!python/tuple [17, 9] + - !!python/tuple [22, 21] + - !!python/tuple [26, 29] + - !!python/tuple [24, 25] + - !!python/tuple [15, 10] + - !!python/tuple [28, 0] + - !!python/tuple [27, 16] + - !!python/tuple [3, 26] + - !!python/tuple [13, 6] + - !!python/tuple [0, 16] + - !!python/tuple [12, 13] + - !!python/tuple [15, 20] + - !!python/tuple [15, 4] + - !!python/tuple [28, 30] + - !!python/tuple [0, 29] + - !!python/tuple [11, 8] + - !!python/tuple [9, 19] + - !!python/tuple [25, 21] + - !!python/tuple [0, 22] + - !!python/tuple [8, 30] + - !!python/tuple [27, 20] + - !!python/tuple [22, 23] + - !!python/tuple [14, 11] + - !!python/tuple [15, 30] + - !!python/tuple [7, 31] + - !!python/tuple [18, 4] + - !!python/tuple [28, 5] + - !!python/tuple [25, 13] + - !!python/tuple [14, 2] + - !!python/tuple [20, 13] + - !!python/tuple [12, 6] + - !!python/tuple [26, 30] + - !!python/tuple [24, 5] + - !!python/tuple [11, 7] + - !!python/tuple [19, 9] + - !!python/tuple [21, 15] + - !!python/tuple [17, 18] + - !!python/tuple [26, 31] + - !!python/tuple [22, 11] + - !!python/tuple [29, 4] + - !!python/tuple [21, 21] + - !!python/tuple [18, 26] + - !!python/tuple [30, 28] + - !!python/tuple [6, 26] + - !!python/tuple [17, 4] + - !!python/tuple [12, 9] + - !!python/tuple [23, 17] + - !!python/tuple [20, 17] + - !!python/tuple [9, 25] + - !!python/tuple [22, 9] + - !!python/tuple [1, 2] + - !!python/tuple [28, 23] + - !!python/tuple [14, 29] + - !!python/tuple [9, 18] + - !!python/tuple [19, 0] + - !!python/tuple [26, 24] + - !!python/tuple [11, 4] + - !!python/tuple [19, 23] + - !!python/tuple [14, 4] + - !!python/tuple [14, 26] + - !!python/tuple [1, 31] + - !!python/tuple [24, 28] + - !!python/tuple [6, 21] + - !!python/tuple [11, 19] + - !!python/tuple [9, 17] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex67.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex67.yaml new file mode 100644 index 0000000..e2ebdce --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex67.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [12, 25] + name: agent0 + start: [26, 16] +- goal: [5, 18] + name: agent1 + start: [12, 28] +- goal: [25, 16] + name: agent2 + start: [20, 23] +- goal: [5, 8] + name: agent3 + start: [20, 9] +- goal: [31, 1] + name: agent4 + start: [14, 11] +- goal: [8, 23] + name: agent5 + start: [17, 1] +- goal: [0, 18] + name: agent6 + start: [6, 22] +- goal: [6, 15] + name: agent7 + start: [14, 3] +- goal: [31, 17] + name: agent8 + start: [8, 29] +- goal: [23, 5] + name: agent9 + start: [14, 8] +- goal: [1, 29] + name: agent10 + start: [11, 16] +- goal: [8, 4] + name: agent11 + start: [15, 15] +- goal: [3, 16] + name: agent12 + start: [13, 24] +- goal: [22, 7] + name: agent13 + start: [12, 27] +- goal: [12, 21] + name: agent14 + start: [9, 27] +- goal: [11, 31] + name: agent15 + start: [26, 24] +- goal: [8, 22] + name: agent16 + start: [26, 2] +- goal: [20, 13] + name: agent17 + start: [15, 30] +- goal: [1, 31] + name: agent18 + start: [4, 30] +- goal: [3, 2] + name: agent19 + start: [15, 6] +- goal: [20, 4] + name: agent20 + start: [31, 20] +- goal: [31, 27] + name: agent21 + start: [1, 26] +- goal: [18, 1] + name: agent22 + start: [30, 11] +- goal: [26, 6] + name: agent23 + start: [2, 31] +- goal: [21, 30] + name: agent24 + start: [11, 2] +- goal: [30, 24] + name: agent25 + start: [3, 10] +- goal: [18, 0] + name: agent26 + start: [16, 13] +- goal: [1, 26] + name: agent27 + start: [13, 22] +- goal: [3, 22] + name: agent28 + start: [5, 3] +- goal: [17, 20] + name: agent29 + start: [13, 14] +- goal: [23, 3] + name: agent30 + start: [31, 9] +- goal: [9, 15] + name: agent31 + start: [23, 2] +- goal: [21, 22] + name: agent32 + start: [3, 25] +- goal: [31, 3] + name: agent33 + start: [21, 14] +- goal: [22, 27] + name: agent34 + start: [3, 13] +- goal: [17, 1] + name: agent35 + start: [9, 4] +- goal: [17, 9] + name: agent36 + start: [24, 23] +- goal: [13, 2] + name: agent37 + start: [26, 11] +- goal: [18, 25] + name: agent38 + start: [1, 10] +- goal: [16, 7] + name: agent39 + start: [12, 22] +- goal: [22, 2] + name: agent40 + start: [24, 13] +- goal: [24, 9] + name: agent41 + start: [0, 13] +- goal: [3, 26] + name: agent42 + start: [3, 17] +- goal: [11, 13] + name: agent43 + start: [26, 13] +- goal: [21, 5] + name: agent44 + start: [9, 22] +- goal: [17, 8] + name: agent45 + start: [20, 0] +- goal: [16, 14] + name: agent46 + start: [19, 16] +- goal: [22, 3] + name: agent47 + start: [18, 3] +- goal: [21, 0] + name: agent48 + start: [23, 20] +- goal: [17, 29] + name: agent49 + start: [13, 19] +- goal: [27, 11] + name: agent50 + start: [18, 20] +- goal: [10, 17] + name: agent51 + start: [13, 10] +- goal: [6, 24] + name: agent52 + start: [28, 31] +- goal: [12, 5] + name: agent53 + start: [11, 11] +- goal: [13, 13] + name: agent54 + start: [23, 25] +- goal: [3, 10] + name: agent55 + start: [28, 8] +- goal: [14, 3] + name: agent56 + start: [27, 22] +- goal: [6, 23] + name: agent57 + start: [16, 23] +- goal: [2, 19] + name: agent58 + start: [22, 7] +- goal: [11, 6] + name: agent59 + start: [9, 8] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [8, 31] + - !!python/tuple [6, 1] + - !!python/tuple [8, 21] + - !!python/tuple [31, 22] + - !!python/tuple [14, 13] + - !!python/tuple [15, 7] + - !!python/tuple [23, 15] + - !!python/tuple [6, 7] + - !!python/tuple [25, 19] + - !!python/tuple [24, 2] + - !!python/tuple [29, 28] + - !!python/tuple [28, 5] + - !!python/tuple [26, 12] + - !!python/tuple [7, 27] + - !!python/tuple [11, 22] + - !!python/tuple [8, 19] + - !!python/tuple [19, 9] + - !!python/tuple [20, 14] + - !!python/tuple [5, 19] + - !!python/tuple [4, 3] + - !!python/tuple [8, 13] + - !!python/tuple [4, 9] + - !!python/tuple [24, 28] + - !!python/tuple [18, 28] + - !!python/tuple [0, 11] + - !!python/tuple [22, 6] + - !!python/tuple [19, 12] + - !!python/tuple [14, 14] + - !!python/tuple [8, 15] + - !!python/tuple [29, 18] + - !!python/tuple [20, 30] + - !!python/tuple [4, 24] + - !!python/tuple [22, 24] + - !!python/tuple [20, 22] + - !!python/tuple [6, 20] + - !!python/tuple [2, 26] + - !!python/tuple [19, 23] + - !!python/tuple [30, 5] + - !!python/tuple [7, 12] + - !!python/tuple [17, 11] + - !!python/tuple [19, 27] + - !!python/tuple [1, 30] + - !!python/tuple [9, 24] + - !!python/tuple [8, 16] + - !!python/tuple [4, 4] + - !!python/tuple [20, 27] + - !!python/tuple [0, 24] + - !!python/tuple [5, 12] + - !!python/tuple [20, 31] + - !!python/tuple [1, 8] + - !!python/tuple [25, 26] + - !!python/tuple [20, 7] + - !!python/tuple [30, 19] + - !!python/tuple [20, 18] + - !!python/tuple [7, 29] + - !!python/tuple [8, 7] + - !!python/tuple [7, 21] + - !!python/tuple [5, 1] + - !!python/tuple [17, 25] + - !!python/tuple [19, 3] + - !!python/tuple [1, 23] + - !!python/tuple [12, 16] + - !!python/tuple [26, 21] + - !!python/tuple [2, 18] + - !!python/tuple [11, 1] + - !!python/tuple [11, 3] + - !!python/tuple [28, 24] + - !!python/tuple [25, 31] + - !!python/tuple [5, 22] + - !!python/tuple [11, 7] + - !!python/tuple [2, 7] + - !!python/tuple [19, 28] + - !!python/tuple [12, 4] + - !!python/tuple [4, 26] + - !!python/tuple [26, 28] + - !!python/tuple [21, 6] + - !!python/tuple [2, 3] + - !!python/tuple [4, 1] + - !!python/tuple [1, 28] + - !!python/tuple [7, 18] + - !!python/tuple [26, 20] + - !!python/tuple [21, 18] + - !!python/tuple [15, 9] + - !!python/tuple [5, 28] + - !!python/tuple [10, 25] + - !!python/tuple [24, 0] + - !!python/tuple [27, 16] + - !!python/tuple [31, 7] + - !!python/tuple [26, 31] + - !!python/tuple [13, 23] + - !!python/tuple [10, 9] + - !!python/tuple [28, 2] + - !!python/tuple [1, 19] + - !!python/tuple [8, 28] + - !!python/tuple [24, 3] + - !!python/tuple [9, 31] + - !!python/tuple [11, 20] + - !!python/tuple [10, 20] + - !!python/tuple [2, 14] + - !!python/tuple [25, 11] + - !!python/tuple [19, 30] + - !!python/tuple [27, 9] + - !!python/tuple [15, 22] + - !!python/tuple [22, 29] + - !!python/tuple [19, 10] + - !!python/tuple [6, 3] + - !!python/tuple [29, 26] + - !!python/tuple [25, 7] + - !!python/tuple [2, 13] + - !!python/tuple [13, 7] + - !!python/tuple [21, 9] + - !!python/tuple [5, 0] + - !!python/tuple [25, 20] + - !!python/tuple [26, 19] + - !!python/tuple [0, 22] + - !!python/tuple [27, 17] + - !!python/tuple [0, 6] + - !!python/tuple [7, 14] + - !!python/tuple [19, 22] + - !!python/tuple [18, 17] + - !!python/tuple [20, 24] + - !!python/tuple [8, 17] + - !!python/tuple [15, 3] + - !!python/tuple [24, 30] + - !!python/tuple [16, 6] + - !!python/tuple [27, 8] + - !!python/tuple [23, 13] + - !!python/tuple [11, 19] + - !!python/tuple [15, 1] + - !!python/tuple [9, 0] + - !!python/tuple [29, 12] + - !!python/tuple [25, 30] + - !!python/tuple [3, 23] + - !!python/tuple [12, 11] + - !!python/tuple [16, 4] + - !!python/tuple [17, 31] + - !!python/tuple [28, 14] + - !!python/tuple [23, 30] + - !!python/tuple [19, 8] + - !!python/tuple [5, 29] + - !!python/tuple [26, 1] + - !!python/tuple [19, 2] + - !!python/tuple [17, 19] + - !!python/tuple [0, 31] + - !!python/tuple [5, 4] + - !!python/tuple [25, 12] + - !!python/tuple [0, 14] + - !!python/tuple [14, 2] + - !!python/tuple [19, 13] + - !!python/tuple [23, 9] + - !!python/tuple [23, 22] + - !!python/tuple [17, 0] + - !!python/tuple [12, 0] + - !!python/tuple [12, 24] + - !!python/tuple [10, 18] + - !!python/tuple [1, 17] + - !!python/tuple [23, 6] + - !!python/tuple [18, 16] + - !!python/tuple [7, 11] + - !!python/tuple [22, 12] + - !!python/tuple [27, 21] + - !!python/tuple [5, 13] + - !!python/tuple [9, 12] + - !!python/tuple [20, 26] + - !!python/tuple [4, 29] + - !!python/tuple [23, 14] + - !!python/tuple [3, 18] + - !!python/tuple [6, 29] + - !!python/tuple [18, 26] + - !!python/tuple [0, 3] + - !!python/tuple [17, 10] + - !!python/tuple [16, 28] + - !!python/tuple [9, 10] + - !!python/tuple [9, 9] + - !!python/tuple [23, 18] + - !!python/tuple [16, 27] + - !!python/tuple [11, 4] + - !!python/tuple [31, 14] + - !!python/tuple [15, 21] + - !!python/tuple [18, 30] + - !!python/tuple [31, 30] + - !!python/tuple [31, 2] + - !!python/tuple [14, 23] + - !!python/tuple [13, 9] + - !!python/tuple [25, 13] + - !!python/tuple [22, 19] + - !!python/tuple [1, 14] + - !!python/tuple [24, 19] + - !!python/tuple [23, 10] + - !!python/tuple [29, 5] + - !!python/tuple [10, 7] + - !!python/tuple [29, 22] + - !!python/tuple [30, 0] + - !!python/tuple [2, 25] + - !!python/tuple [15, 5] + - !!python/tuple [0, 28] + - !!python/tuple [9, 13] + - !!python/tuple [15, 20] + - !!python/tuple [25, 27] + - !!python/tuple [23, 21] + - !!python/tuple [13, 29] + - !!python/tuple [29, 25] + - !!python/tuple [8, 26] + - !!python/tuple [3, 12] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex68.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex68.yaml new file mode 100644 index 0000000..8f78f91 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex68.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [9, 23] + name: agent0 + start: [3, 20] +- goal: [6, 7] + name: agent1 + start: [4, 4] +- goal: [3, 24] + name: agent2 + start: [13, 8] +- goal: [23, 19] + name: agent3 + start: [6, 30] +- goal: [0, 23] + name: agent4 + start: [26, 8] +- goal: [19, 19] + name: agent5 + start: [0, 13] +- goal: [5, 22] + name: agent6 + start: [1, 15] +- goal: [4, 30] + name: agent7 + start: [17, 14] +- goal: [28, 31] + name: agent8 + start: [28, 3] +- goal: [17, 26] + name: agent9 + start: [27, 6] +- goal: [31, 20] + name: agent10 + start: [4, 25] +- goal: [29, 28] + name: agent11 + start: [3, 11] +- goal: [6, 31] + name: agent12 + start: [9, 22] +- goal: [31, 18] + name: agent13 + start: [29, 7] +- goal: [19, 0] + name: agent14 + start: [24, 6] +- goal: [28, 18] + name: agent15 + start: [16, 27] +- goal: [7, 22] + name: agent16 + start: [20, 0] +- goal: [20, 14] + name: agent17 + start: [4, 6] +- goal: [6, 11] + name: agent18 + start: [14, 23] +- goal: [2, 15] + name: agent19 + start: [30, 15] +- goal: [26, 18] + name: agent20 + start: [12, 28] +- goal: [21, 26] + name: agent21 + start: [17, 22] +- goal: [3, 2] + name: agent22 + start: [29, 6] +- goal: [28, 1] + name: agent23 + start: [23, 18] +- goal: [13, 24] + name: agent24 + start: [30, 18] +- goal: [23, 10] + name: agent25 + start: [24, 0] +- goal: [26, 16] + name: agent26 + start: [29, 29] +- goal: [31, 11] + name: agent27 + start: [6, 7] +- goal: [22, 1] + name: agent28 + start: [25, 23] +- goal: [12, 24] + name: agent29 + start: [18, 29] +- goal: [28, 20] + name: agent30 + start: [12, 29] +- goal: [2, 6] + name: agent31 + start: [9, 4] +- goal: [10, 21] + name: agent32 + start: [1, 7] +- goal: [13, 25] + name: agent33 + start: [21, 16] +- goal: [17, 19] + name: agent34 + start: [29, 28] +- goal: [25, 6] + name: agent35 + start: [20, 5] +- goal: [16, 9] + name: agent36 + start: [17, 1] +- goal: [2, 27] + name: agent37 + start: [7, 23] +- goal: [2, 14] + name: agent38 + start: [11, 12] +- goal: [26, 1] + name: agent39 + start: [16, 26] +- goal: [6, 19] + name: agent40 + start: [20, 14] +- goal: [24, 0] + name: agent41 + start: [17, 31] +- goal: [8, 3] + name: agent42 + start: [3, 9] +- goal: [26, 23] + name: agent43 + start: [6, 18] +- goal: [24, 16] + name: agent44 + start: [9, 12] +- goal: [0, 8] + name: agent45 + start: [31, 28] +- goal: [2, 10] + name: agent46 + start: [2, 14] +- goal: [9, 4] + name: agent47 + start: [25, 21] +- goal: [13, 20] + name: agent48 + start: [21, 28] +- goal: [20, 22] + name: agent49 + start: [15, 18] +- goal: [8, 13] + name: agent50 + start: [12, 20] +- goal: [13, 10] + name: agent51 + start: [19, 1] +- goal: [0, 3] + name: agent52 + start: [28, 21] +- goal: [17, 7] + name: agent53 + start: [31, 15] +- goal: [15, 18] + name: agent54 + start: [4, 11] +- goal: [13, 29] + name: agent55 + start: [30, 24] +- goal: [5, 1] + name: agent56 + start: [16, 20] +- goal: [10, 26] + name: agent57 + start: [7, 5] +- goal: [12, 28] + name: agent58 + start: [26, 26] +- goal: [0, 19] + name: agent59 + start: [9, 8] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [8, 16] + - !!python/tuple [22, 4] + - !!python/tuple [13, 30] + - !!python/tuple [24, 5] + - !!python/tuple [22, 12] + - !!python/tuple [21, 31] + - !!python/tuple [27, 16] + - !!python/tuple [8, 31] + - !!python/tuple [10, 18] + - !!python/tuple [16, 29] + - !!python/tuple [11, 25] + - !!python/tuple [4, 29] + - !!python/tuple [25, 12] + - !!python/tuple [1, 21] + - !!python/tuple [21, 17] + - !!python/tuple [20, 20] + - !!python/tuple [1, 3] + - !!python/tuple [22, 17] + - !!python/tuple [21, 25] + - !!python/tuple [30, 2] + - !!python/tuple [2, 20] + - !!python/tuple [30, 8] + - !!python/tuple [13, 9] + - !!python/tuple [8, 27] + - !!python/tuple [11, 8] + - !!python/tuple [15, 0] + - !!python/tuple [17, 25] + - !!python/tuple [16, 21] + - !!python/tuple [15, 16] + - !!python/tuple [15, 7] + - !!python/tuple [20, 23] + - !!python/tuple [27, 29] + - !!python/tuple [10, 5] + - !!python/tuple [30, 23] + - !!python/tuple [19, 26] + - !!python/tuple [31, 19] + - !!python/tuple [17, 8] + - !!python/tuple [14, 28] + - !!python/tuple [17, 20] + - !!python/tuple [21, 19] + - !!python/tuple [26, 30] + - !!python/tuple [21, 12] + - !!python/tuple [11, 15] + - !!python/tuple [14, 2] + - !!python/tuple [10, 29] + - !!python/tuple [20, 4] + - !!python/tuple [8, 2] + - !!python/tuple [22, 9] + - !!python/tuple [23, 30] + - !!python/tuple [17, 0] + - !!python/tuple [23, 16] + - !!python/tuple [12, 2] + - !!python/tuple [23, 29] + - !!python/tuple [0, 22] + - !!python/tuple [14, 8] + - !!python/tuple [20, 16] + - !!python/tuple [7, 3] + - !!python/tuple [10, 15] + - !!python/tuple [16, 23] + - !!python/tuple [1, 25] + - !!python/tuple [15, 6] + - !!python/tuple [0, 31] + - !!python/tuple [20, 17] + - !!python/tuple [4, 5] + - !!python/tuple [21, 18] + - !!python/tuple [11, 7] + - !!python/tuple [31, 9] + - !!python/tuple [19, 10] + - !!python/tuple [29, 11] + - !!python/tuple [31, 17] + - !!python/tuple [15, 24] + - !!python/tuple [1, 0] + - !!python/tuple [27, 25] + - !!python/tuple [1, 14] + - !!python/tuple [31, 14] + - !!python/tuple [0, 17] + - !!python/tuple [14, 18] + - !!python/tuple [29, 14] + - !!python/tuple [10, 22] + - !!python/tuple [11, 29] + - !!python/tuple [5, 14] + - !!python/tuple [14, 6] + - !!python/tuple [28, 4] + - !!python/tuple [18, 0] + - !!python/tuple [11, 5] + - !!python/tuple [24, 18] + - !!python/tuple [6, 23] + - !!python/tuple [29, 25] + - !!python/tuple [1, 27] + - !!python/tuple [5, 30] + - !!python/tuple [3, 15] + - !!python/tuple [4, 16] + - !!python/tuple [4, 22] + - !!python/tuple [9, 1] + - !!python/tuple [13, 31] + - !!python/tuple [25, 0] + - !!python/tuple [25, 10] + - !!python/tuple [7, 8] + - !!python/tuple [6, 13] + - !!python/tuple [20, 30] + - !!python/tuple [27, 1] + - !!python/tuple [7, 13] + - !!python/tuple [25, 28] + - !!python/tuple [16, 2] + - !!python/tuple [24, 23] + - !!python/tuple [13, 11] + - !!python/tuple [24, 8] + - !!python/tuple [29, 27] + - !!python/tuple [6, 27] + - !!python/tuple [0, 16] + - !!python/tuple [9, 10] + - !!python/tuple [19, 18] + - !!python/tuple [28, 6] + - !!python/tuple [25, 4] + - !!python/tuple [9, 14] + - !!python/tuple [30, 4] + - !!python/tuple [6, 14] + - !!python/tuple [27, 28] + - !!python/tuple [23, 0] + - !!python/tuple [5, 28] + - !!python/tuple [4, 3] + - !!python/tuple [12, 4] + - !!python/tuple [9, 7] + - !!python/tuple [9, 17] + - !!python/tuple [11, 30] + - !!python/tuple [30, 16] + - !!python/tuple [20, 10] + - !!python/tuple [12, 15] + - !!python/tuple [5, 8] + - !!python/tuple [27, 0] + - !!python/tuple [28, 8] + - !!python/tuple [28, 0] + - !!python/tuple [4, 13] + - !!python/tuple [15, 1] + - !!python/tuple [8, 11] + - !!python/tuple [28, 29] + - !!python/tuple [26, 25] + - !!python/tuple [3, 12] + - !!python/tuple [18, 20] + - !!python/tuple [17, 5] + - !!python/tuple [3, 22] + - !!python/tuple [15, 8] + - !!python/tuple [23, 7] + - !!python/tuple [20, 8] + - !!python/tuple [28, 19] + - !!python/tuple [8, 9] + - !!python/tuple [21, 30] + - !!python/tuple [21, 29] + - !!python/tuple [9, 30] + - !!python/tuple [26, 11] + - !!python/tuple [9, 27] + - !!python/tuple [19, 5] + - !!python/tuple [22, 15] + - !!python/tuple [5, 15] + - !!python/tuple [27, 23] + - !!python/tuple [14, 7] + - !!python/tuple [31, 6] + - !!python/tuple [28, 11] + - !!python/tuple [24, 2] + - !!python/tuple [14, 12] + - !!python/tuple [9, 15] + - !!python/tuple [18, 8] + - !!python/tuple [5, 7] + - !!python/tuple [19, 24] + - !!python/tuple [5, 29] + - !!python/tuple [0, 2] + - !!python/tuple [30, 9] + - !!python/tuple [8, 22] + - !!python/tuple [25, 27] + - !!python/tuple [14, 26] + - !!python/tuple [4, 28] + - !!python/tuple [0, 18] + - !!python/tuple [13, 5] + - !!python/tuple [2, 29] + - !!python/tuple [26, 12] + - !!python/tuple [12, 0] + - !!python/tuple [1, 29] + - !!python/tuple [1, 16] + - !!python/tuple [9, 18] + - !!python/tuple [28, 28] + - !!python/tuple [29, 0] + - !!python/tuple [23, 8] + - !!python/tuple [31, 8] + - !!python/tuple [4, 24] + - !!python/tuple [28, 13] + - !!python/tuple [23, 4] + - !!python/tuple [7, 10] + - !!python/tuple [2, 21] + - !!python/tuple [4, 1] + - !!python/tuple [31, 13] + - !!python/tuple [2, 26] + - !!python/tuple [14, 14] + - !!python/tuple [27, 15] + - !!python/tuple [8, 0] + - !!python/tuple [15, 29] + - !!python/tuple [11, 3] + - !!python/tuple [15, 2] + - !!python/tuple [6, 0] + - !!python/tuple [8, 26] + - !!python/tuple [5, 23] + - !!python/tuple [23, 3] + - !!python/tuple [12, 27] + - !!python/tuple [16, 1] + - !!python/tuple [9, 0] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex69.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex69.yaml new file mode 100644 index 0000000..f9c00d4 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex69.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [31, 29] + name: agent0 + start: [3, 31] +- goal: [21, 17] + name: agent1 + start: [9, 25] +- goal: [27, 29] + name: agent2 + start: [8, 12] +- goal: [8, 17] + name: agent3 + start: [22, 25] +- goal: [23, 29] + name: agent4 + start: [31, 14] +- goal: [2, 30] + name: agent5 + start: [7, 28] +- goal: [29, 18] + name: agent6 + start: [27, 8] +- goal: [6, 2] + name: agent7 + start: [28, 9] +- goal: [27, 24] + name: agent8 + start: [15, 4] +- goal: [17, 7] + name: agent9 + start: [0, 0] +- goal: [17, 10] + name: agent10 + start: [15, 31] +- goal: [27, 11] + name: agent11 + start: [21, 30] +- goal: [18, 12] + name: agent12 + start: [31, 22] +- goal: [15, 11] + name: agent13 + start: [29, 20] +- goal: [14, 7] + name: agent14 + start: [19, 27] +- goal: [4, 17] + name: agent15 + start: [31, 4] +- goal: [26, 25] + name: agent16 + start: [16, 14] +- goal: [10, 20] + name: agent17 + start: [21, 10] +- goal: [28, 12] + name: agent18 + start: [13, 28] +- goal: [12, 27] + name: agent19 + start: [25, 8] +- goal: [12, 9] + name: agent20 + start: [22, 2] +- goal: [13, 20] + name: agent21 + start: [22, 27] +- goal: [28, 21] + name: agent22 + start: [18, 28] +- goal: [28, 31] + name: agent23 + start: [30, 13] +- goal: [27, 23] + name: agent24 + start: [15, 14] +- goal: [23, 13] + name: agent25 + start: [31, 29] +- goal: [22, 11] + name: agent26 + start: [24, 20] +- goal: [15, 9] + name: agent27 + start: [7, 2] +- goal: [7, 31] + name: agent28 + start: [27, 18] +- goal: [26, 1] + name: agent29 + start: [1, 31] +- goal: [18, 16] + name: agent30 + start: [30, 9] +- goal: [3, 0] + name: agent31 + start: [13, 6] +- goal: [7, 8] + name: agent32 + start: [7, 20] +- goal: [22, 17] + name: agent33 + start: [8, 15] +- goal: [24, 5] + name: agent34 + start: [3, 0] +- goal: [3, 22] + name: agent35 + start: [11, 9] +- goal: [4, 7] + name: agent36 + start: [16, 19] +- goal: [20, 31] + name: agent37 + start: [23, 31] +- goal: [24, 27] + name: agent38 + start: [24, 3] +- goal: [17, 29] + name: agent39 + start: [17, 21] +- goal: [28, 9] + name: agent40 + start: [17, 7] +- goal: [23, 10] + name: agent41 + start: [27, 31] +- goal: [2, 14] + name: agent42 + start: [25, 15] +- goal: [19, 7] + name: agent43 + start: [25, 11] +- goal: [29, 26] + name: agent44 + start: [10, 22] +- goal: [4, 30] + name: agent45 + start: [24, 29] +- goal: [25, 27] + name: agent46 + start: [29, 3] +- goal: [14, 13] + name: agent47 + start: [8, 14] +- goal: [20, 24] + name: agent48 + start: [23, 30] +- goal: [24, 3] + name: agent49 + start: [6, 22] +- goal: [17, 18] + name: agent50 + start: [11, 6] +- goal: [26, 7] + name: agent51 + start: [30, 26] +- goal: [3, 4] + name: agent52 + start: [3, 10] +- goal: [13, 8] + name: agent53 + start: [28, 28] +- goal: [20, 8] + name: agent54 + start: [19, 7] +- goal: [4, 24] + name: agent55 + start: [22, 14] +- goal: [7, 23] + name: agent56 + start: [15, 1] +- goal: [6, 18] + name: agent57 + start: [15, 2] +- goal: [18, 30] + name: agent58 + start: [9, 14] +- goal: [30, 26] + name: agent59 + start: [27, 2] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [5, 13] + - !!python/tuple [26, 9] + - !!python/tuple [21, 20] + - !!python/tuple [10, 8] + - !!python/tuple [25, 1] + - !!python/tuple [14, 15] + - !!python/tuple [20, 6] + - !!python/tuple [13, 16] + - !!python/tuple [13, 30] + - !!python/tuple [1, 30] + - !!python/tuple [18, 22] + - !!python/tuple [4, 21] + - !!python/tuple [12, 13] + - !!python/tuple [22, 7] + - !!python/tuple [13, 3] + - !!python/tuple [13, 18] + - !!python/tuple [27, 9] + - !!python/tuple [24, 1] + - !!python/tuple [0, 16] + - !!python/tuple [19, 25] + - !!python/tuple [11, 1] + - !!python/tuple [16, 1] + - !!python/tuple [23, 11] + - !!python/tuple [21, 3] + - !!python/tuple [20, 3] + - !!python/tuple [30, 1] + - !!python/tuple [6, 24] + - !!python/tuple [18, 14] + - !!python/tuple [7, 5] + - !!python/tuple [2, 5] + - !!python/tuple [15, 13] + - !!python/tuple [16, 24] + - !!python/tuple [31, 11] + - !!python/tuple [18, 17] + - !!python/tuple [20, 5] + - !!python/tuple [2, 31] + - !!python/tuple [13, 21] + - !!python/tuple [1, 18] + - !!python/tuple [6, 21] + - !!python/tuple [7, 6] + - !!python/tuple [18, 24] + - !!python/tuple [26, 3] + - !!python/tuple [27, 15] + - !!python/tuple [31, 17] + - !!python/tuple [12, 28] + - !!python/tuple [12, 31] + - !!python/tuple [25, 21] + - !!python/tuple [26, 21] + - !!python/tuple [20, 13] + - !!python/tuple [20, 15] + - !!python/tuple [14, 10] + - !!python/tuple [9, 13] + - !!python/tuple [31, 26] + - !!python/tuple [1, 3] + - !!python/tuple [30, 18] + - !!python/tuple [11, 22] + - !!python/tuple [6, 1] + - !!python/tuple [1, 15] + - !!python/tuple [30, 21] + - !!python/tuple [4, 22] + - !!python/tuple [11, 0] + - !!python/tuple [10, 10] + - !!python/tuple [17, 19] + - !!python/tuple [12, 12] + - !!python/tuple [28, 4] + - !!python/tuple [5, 12] + - !!python/tuple [30, 23] + - !!python/tuple [20, 9] + - !!python/tuple [28, 6] + - !!python/tuple [6, 30] + - !!python/tuple [10, 4] + - !!python/tuple [14, 16] + - !!python/tuple [25, 14] + - !!python/tuple [6, 27] + - !!python/tuple [0, 24] + - !!python/tuple [21, 23] + - !!python/tuple [12, 17] + - !!python/tuple [29, 8] + - !!python/tuple [13, 31] + - !!python/tuple [20, 23] + - !!python/tuple [31, 18] + - !!python/tuple [27, 4] + - !!python/tuple [18, 11] + - !!python/tuple [3, 16] + - !!python/tuple [2, 23] + - !!python/tuple [10, 31] + - !!python/tuple [1, 28] + - !!python/tuple [25, 9] + - !!python/tuple [19, 10] + - !!python/tuple [24, 8] + - !!python/tuple [3, 11] + - !!python/tuple [2, 16] + - !!python/tuple [19, 15] + - !!python/tuple [29, 4] + - !!python/tuple [6, 26] + - !!python/tuple [6, 23] + - !!python/tuple [22, 13] + - !!python/tuple [8, 23] + - !!python/tuple [30, 16] + - !!python/tuple [20, 10] + - !!python/tuple [9, 18] + - !!python/tuple [16, 27] + - !!python/tuple [10, 21] + - !!python/tuple [17, 23] + - !!python/tuple [31, 3] + - !!python/tuple [27, 28] + - !!python/tuple [1, 4] + - !!python/tuple [30, 15] + - !!python/tuple [11, 10] + - !!python/tuple [6, 6] + - !!python/tuple [5, 22] + - !!python/tuple [9, 12] + - !!python/tuple [31, 20] + - !!python/tuple [15, 20] + - !!python/tuple [23, 8] + - !!python/tuple [10, 3] + - !!python/tuple [8, 9] + - !!python/tuple [6, 28] + - !!python/tuple [0, 10] + - !!python/tuple [5, 21] + - !!python/tuple [5, 25] + - !!python/tuple [29, 0] + - !!python/tuple [29, 5] + - !!python/tuple [4, 28] + - !!python/tuple [11, 20] + - !!python/tuple [23, 23] + - !!python/tuple [23, 25] + - !!python/tuple [5, 31] + - !!python/tuple [11, 11] + - !!python/tuple [14, 6] + - !!python/tuple [17, 5] + - !!python/tuple [19, 24] + - !!python/tuple [30, 20] + - !!python/tuple [1, 1] + - !!python/tuple [17, 17] + - !!python/tuple [31, 25] + - !!python/tuple [14, 3] + - !!python/tuple [21, 1] + - !!python/tuple [19, 17] + - !!python/tuple [9, 27] + - !!python/tuple [30, 29] + - !!python/tuple [2, 11] + - !!python/tuple [7, 4] + - !!python/tuple [6, 31] + - !!python/tuple [19, 5] + - !!python/tuple [10, 23] + - !!python/tuple [22, 31] + - !!python/tuple [19, 1] + - !!python/tuple [24, 28] + - !!python/tuple [28, 1] + - !!python/tuple [31, 5] + - !!python/tuple [16, 13] + - !!python/tuple [20, 18] + - !!python/tuple [15, 6] + - !!python/tuple [9, 3] + - !!python/tuple [25, 16] + - !!python/tuple [15, 19] + - !!python/tuple [4, 3] + - !!python/tuple [12, 25] + - !!python/tuple [23, 6] + - !!python/tuple [23, 20] + - !!python/tuple [8, 6] + - !!python/tuple [28, 17] + - !!python/tuple [12, 2] + - !!python/tuple [31, 10] + - !!python/tuple [31, 16] + - !!python/tuple [5, 3] + - !!python/tuple [28, 23] + - !!python/tuple [2, 1] + - !!python/tuple [18, 0] + - !!python/tuple [17, 2] + - !!python/tuple [21, 24] + - !!python/tuple [20, 16] + - !!python/tuple [22, 10] + - !!python/tuple [24, 2] + - !!python/tuple [14, 20] + - !!python/tuple [12, 7] + - !!python/tuple [3, 1] + - !!python/tuple [16, 11] + - !!python/tuple [16, 18] + - !!python/tuple [15, 7] + - !!python/tuple [11, 13] + - !!python/tuple [19, 19] + - !!python/tuple [30, 22] + - !!python/tuple [10, 7] + - !!python/tuple [14, 12] + - !!python/tuple [8, 5] + - !!python/tuple [18, 3] + - !!python/tuple [19, 2] + - !!python/tuple [22, 26] + - !!python/tuple [26, 11] + - !!python/tuple [27, 5] + - !!python/tuple [6, 16] + - !!python/tuple [11, 12] + - !!python/tuple [17, 20] + - !!python/tuple [22, 1] + - !!python/tuple [4, 29] + - !!python/tuple [26, 23] + - !!python/tuple [4, 25] + - !!python/tuple [19, 21] + - !!python/tuple [18, 21] + - !!python/tuple [28, 11] + - !!python/tuple [6, 4] + - !!python/tuple [23, 16] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex7.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex7.yaml new file mode 100644 index 0000000..72caade --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex7.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [10, 22] + name: agent0 + start: [15, 24] +- goal: [28, 0] + name: agent1 + start: [6, 7] +- goal: [10, 23] + name: agent2 + start: [14, 10] +- goal: [3, 12] + name: agent3 + start: [21, 2] +- goal: [21, 12] + name: agent4 + start: [25, 27] +- goal: [29, 11] + name: agent5 + start: [25, 26] +- goal: [31, 13] + name: agent6 + start: [14, 15] +- goal: [8, 5] + name: agent7 + start: [26, 9] +- goal: [2, 31] + name: agent8 + start: [12, 22] +- goal: [28, 25] + name: agent9 + start: [1, 31] +- goal: [14, 13] + name: agent10 + start: [20, 18] +- goal: [12, 14] + name: agent11 + start: [10, 29] +- goal: [3, 15] + name: agent12 + start: [30, 15] +- goal: [12, 22] + name: agent13 + start: [8, 7] +- goal: [7, 20] + name: agent14 + start: [26, 18] +- goal: [19, 7] + name: agent15 + start: [10, 0] +- goal: [8, 16] + name: agent16 + start: [10, 27] +- goal: [5, 24] + name: agent17 + start: [22, 23] +- goal: [24, 23] + name: agent18 + start: [4, 20] +- goal: [1, 16] + name: agent19 + start: [22, 13] +- goal: [9, 21] + name: agent20 + start: [31, 20] +- goal: [21, 15] + name: agent21 + start: [15, 20] +- goal: [11, 8] + name: agent22 + start: [0, 2] +- goal: [25, 19] + name: agent23 + start: [23, 27] +- goal: [14, 30] + name: agent24 + start: [12, 25] +- goal: [1, 21] + name: agent25 + start: [15, 4] +- goal: [27, 12] + name: agent26 + start: [0, 21] +- goal: [15, 20] + name: agent27 + start: [11, 19] +- goal: [31, 24] + name: agent28 + start: [6, 17] +- goal: [29, 3] + name: agent29 + start: [0, 5] +- goal: [7, 30] + name: agent30 + start: [29, 27] +- goal: [10, 21] + name: agent31 + start: [27, 21] +- goal: [15, 15] + name: agent32 + start: [18, 12] +- goal: [10, 31] + name: agent33 + start: [29, 23] +- goal: [5, 1] + name: agent34 + start: [15, 7] +- goal: [21, 29] + name: agent35 + start: [22, 21] +- goal: [25, 5] + name: agent36 + start: [24, 28] +- goal: [27, 5] + name: agent37 + start: [11, 14] +- goal: [9, 10] + name: agent38 + start: [14, 29] +- goal: [12, 7] + name: agent39 + start: [23, 6] +- goal: [30, 10] + name: agent40 + start: [22, 15] +- goal: [9, 16] + name: agent41 + start: [28, 26] +- goal: [19, 27] + name: agent42 + start: [5, 13] +- goal: [20, 2] + name: agent43 + start: [27, 27] +- goal: [11, 1] + name: agent44 + start: [4, 23] +- goal: [20, 19] + name: agent45 + start: [27, 1] +- goal: [4, 9] + name: agent46 + start: [23, 9] +- goal: [9, 31] + name: agent47 + start: [11, 5] +- goal: [29, 9] + name: agent48 + start: [28, 30] +- goal: [28, 26] + name: agent49 + start: [1, 28] +- goal: [15, 25] + name: agent50 + start: [25, 14] +- goal: [24, 27] + name: agent51 + start: [8, 27] +- goal: [1, 3] + name: agent52 + start: [25, 0] +- goal: [5, 25] + name: agent53 + start: [2, 30] +- goal: [25, 26] + name: agent54 + start: [3, 30] +- goal: [6, 25] + name: agent55 + start: [13, 31] +- goal: [15, 18] + name: agent56 + start: [13, 0] +- goal: [14, 21] + name: agent57 + start: [8, 26] +- goal: [5, 12] + name: agent58 + start: [21, 3] +- goal: [21, 2] + name: agent59 + start: [14, 21] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [11, 30] + - !!python/tuple [22, 7] + - !!python/tuple [22, 9] + - !!python/tuple [19, 15] + - !!python/tuple [15, 1] + - !!python/tuple [4, 1] + - !!python/tuple [27, 23] + - !!python/tuple [7, 13] + - !!python/tuple [28, 29] + - !!python/tuple [4, 10] + - !!python/tuple [23, 2] + - !!python/tuple [15, 10] + - !!python/tuple [29, 31] + - !!python/tuple [8, 3] + - !!python/tuple [20, 29] + - !!python/tuple [28, 31] + - !!python/tuple [31, 11] + - !!python/tuple [18, 3] + - !!python/tuple [17, 28] + - !!python/tuple [10, 18] + - !!python/tuple [29, 30] + - !!python/tuple [23, 17] + - !!python/tuple [5, 21] + - !!python/tuple [20, 27] + - !!python/tuple [5, 5] + - !!python/tuple [17, 0] + - !!python/tuple [31, 26] + - !!python/tuple [20, 25] + - !!python/tuple [6, 14] + - !!python/tuple [14, 22] + - !!python/tuple [25, 21] + - !!python/tuple [19, 14] + - !!python/tuple [9, 27] + - !!python/tuple [23, 19] + - !!python/tuple [31, 10] + - !!python/tuple [27, 4] + - !!python/tuple [15, 16] + - !!python/tuple [14, 19] + - !!python/tuple [29, 2] + - !!python/tuple [28, 13] + - !!python/tuple [30, 31] + - !!python/tuple [30, 19] + - !!python/tuple [19, 2] + - !!python/tuple [19, 28] + - !!python/tuple [22, 16] + - !!python/tuple [6, 22] + - !!python/tuple [15, 14] + - !!python/tuple [21, 10] + - !!python/tuple [24, 1] + - !!python/tuple [20, 10] + - !!python/tuple [20, 26] + - !!python/tuple [28, 2] + - !!python/tuple [29, 14] + - !!python/tuple [26, 20] + - !!python/tuple [27, 7] + - !!python/tuple [5, 4] + - !!python/tuple [24, 30] + - !!python/tuple [26, 7] + - !!python/tuple [22, 12] + - !!python/tuple [30, 26] + - !!python/tuple [9, 29] + - !!python/tuple [28, 20] + - !!python/tuple [2, 2] + - !!python/tuple [12, 4] + - !!python/tuple [15, 0] + - !!python/tuple [9, 15] + - !!python/tuple [31, 25] + - !!python/tuple [9, 13] + - !!python/tuple [25, 11] + - !!python/tuple [25, 17] + - !!python/tuple [6, 3] + - !!python/tuple [27, 16] + - !!python/tuple [22, 8] + - !!python/tuple [11, 24] + - !!python/tuple [3, 23] + - !!python/tuple [21, 4] + - !!python/tuple [24, 15] + - !!python/tuple [6, 31] + - !!python/tuple [10, 14] + - !!python/tuple [1, 6] + - !!python/tuple [26, 1] + - !!python/tuple [26, 11] + - !!python/tuple [7, 12] + - !!python/tuple [19, 23] + - !!python/tuple [10, 19] + - !!python/tuple [8, 1] + - !!python/tuple [19, 12] + - !!python/tuple [21, 1] + - !!python/tuple [24, 31] + - !!python/tuple [21, 24] + - !!python/tuple [23, 24] + - !!python/tuple [5, 28] + - !!python/tuple [7, 22] + - !!python/tuple [3, 16] + - !!python/tuple [5, 2] + - !!python/tuple [7, 15] + - !!python/tuple [17, 16] + - !!python/tuple [8, 20] + - !!python/tuple [19, 19] + - !!python/tuple [1, 1] + - !!python/tuple [15, 5] + - !!python/tuple [2, 16] + - !!python/tuple [23, 11] + - !!python/tuple [25, 22] + - !!python/tuple [22, 31] + - !!python/tuple [23, 26] + - !!python/tuple [5, 29] + - !!python/tuple [20, 15] + - !!python/tuple [23, 7] + - !!python/tuple [13, 15] + - !!python/tuple [29, 5] + - !!python/tuple [6, 0] + - !!python/tuple [4, 3] + - !!python/tuple [22, 2] + - !!python/tuple [31, 18] + - !!python/tuple [1, 19] + - !!python/tuple [9, 2] + - !!python/tuple [26, 31] + - !!python/tuple [24, 18] + - !!python/tuple [10, 28] + - !!python/tuple [27, 10] + - !!python/tuple [13, 23] + - !!python/tuple [5, 27] + - !!python/tuple [13, 2] + - !!python/tuple [23, 1] + - !!python/tuple [9, 14] + - !!python/tuple [29, 12] + - !!python/tuple [13, 27] + - !!python/tuple [7, 17] + - !!python/tuple [9, 3] + - !!python/tuple [13, 20] + - !!python/tuple [25, 3] + - !!python/tuple [14, 23] + - !!python/tuple [27, 13] + - !!python/tuple [22, 19] + - !!python/tuple [13, 30] + - !!python/tuple [28, 16] + - !!python/tuple [31, 17] + - !!python/tuple [4, 30] + - !!python/tuple [29, 20] + - !!python/tuple [24, 4] + - !!python/tuple [18, 28] + - !!python/tuple [20, 23] + - !!python/tuple [12, 9] + - !!python/tuple [6, 19] + - !!python/tuple [30, 17] + - !!python/tuple [12, 8] + - !!python/tuple [15, 19] + - !!python/tuple [27, 6] + - !!python/tuple [27, 17] + - !!python/tuple [23, 4] + - !!python/tuple [2, 8] + - !!python/tuple [17, 14] + - !!python/tuple [23, 28] + - !!python/tuple [14, 24] + - !!python/tuple [21, 19] + - !!python/tuple [8, 4] + - !!python/tuple [28, 12] + - !!python/tuple [15, 26] + - !!python/tuple [20, 30] + - !!python/tuple [4, 16] + - !!python/tuple [10, 13] + - !!python/tuple [4, 0] + - !!python/tuple [28, 27] + - !!python/tuple [27, 14] + - !!python/tuple [27, 2] + - !!python/tuple [14, 12] + - !!python/tuple [12, 0] + - !!python/tuple [8, 14] + - !!python/tuple [29, 4] + - !!python/tuple [10, 4] + - !!python/tuple [23, 13] + - !!python/tuple [22, 26] + - !!python/tuple [23, 25] + - !!python/tuple [12, 18] + - !!python/tuple [4, 4] + - !!python/tuple [31, 15] + - !!python/tuple [22, 11] + - !!python/tuple [18, 16] + - !!python/tuple [11, 6] + - !!python/tuple [14, 8] + - !!python/tuple [7, 11] + - !!python/tuple [14, 16] + - !!python/tuple [22, 30] + - !!python/tuple [4, 15] + - !!python/tuple [29, 26] + - !!python/tuple [9, 8] + - !!python/tuple [2, 26] + - !!python/tuple [6, 4] + - !!python/tuple [6, 29] + - !!python/tuple [13, 16] + - !!python/tuple [16, 28] + - !!python/tuple [5, 19] + - !!python/tuple [16, 15] + - !!python/tuple [4, 2] + - !!python/tuple [21, 17] + - !!python/tuple [23, 20] + - !!python/tuple [24, 12] + - !!python/tuple [14, 17] + - !!python/tuple [18, 4] + - !!python/tuple [8, 8] + - !!python/tuple [3, 27] + - !!python/tuple [21, 20] + - !!python/tuple [7, 21] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex70.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex70.yaml new file mode 100644 index 0000000..8ebbced --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex70.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [27, 1] + name: agent0 + start: [4, 1] +- goal: [30, 8] + name: agent1 + start: [6, 8] +- goal: [29, 18] + name: agent2 + start: [16, 14] +- goal: [30, 19] + name: agent3 + start: [17, 27] +- goal: [19, 5] + name: agent4 + start: [2, 6] +- goal: [31, 12] + name: agent5 + start: [19, 28] +- goal: [7, 28] + name: agent6 + start: [5, 9] +- goal: [5, 12] + name: agent7 + start: [22, 31] +- goal: [28, 20] + name: agent8 + start: [13, 15] +- goal: [3, 13] + name: agent9 + start: [31, 19] +- goal: [25, 9] + name: agent10 + start: [7, 0] +- goal: [6, 29] + name: agent11 + start: [4, 26] +- goal: [13, 17] + name: agent12 + start: [0, 31] +- goal: [25, 21] + name: agent13 + start: [9, 20] +- goal: [5, 2] + name: agent14 + start: [9, 26] +- goal: [9, 20] + name: agent15 + start: [14, 15] +- goal: [5, 29] + name: agent16 + start: [24, 26] +- goal: [4, 25] + name: agent17 + start: [3, 2] +- goal: [31, 11] + name: agent18 + start: [30, 9] +- goal: [25, 6] + name: agent19 + start: [1, 13] +- goal: [16, 9] + name: agent20 + start: [16, 24] +- goal: [11, 8] + name: agent21 + start: [23, 13] +- goal: [23, 3] + name: agent22 + start: [10, 14] +- goal: [20, 13] + name: agent23 + start: [0, 28] +- goal: [27, 27] + name: agent24 + start: [14, 10] +- goal: [6, 11] + name: agent25 + start: [2, 0] +- goal: [0, 12] + name: agent26 + start: [15, 13] +- goal: [17, 7] + name: agent27 + start: [7, 28] +- goal: [18, 16] + name: agent28 + start: [18, 8] +- goal: [0, 28] + name: agent29 + start: [3, 26] +- goal: [11, 9] + name: agent30 + start: [17, 2] +- goal: [14, 14] + name: agent31 + start: [27, 15] +- goal: [6, 21] + name: agent32 + start: [3, 27] +- goal: [2, 26] + name: agent33 + start: [3, 29] +- goal: [9, 30] + name: agent34 + start: [27, 12] +- goal: [14, 19] + name: agent35 + start: [5, 28] +- goal: [15, 13] + name: agent36 + start: [21, 1] +- goal: [20, 14] + name: agent37 + start: [24, 18] +- goal: [31, 9] + name: agent38 + start: [26, 6] +- goal: [19, 28] + name: agent39 + start: [31, 7] +- goal: [8, 5] + name: agent40 + start: [21, 23] +- goal: [24, 12] + name: agent41 + start: [12, 5] +- goal: [5, 11] + name: agent42 + start: [1, 17] +- goal: [28, 27] + name: agent43 + start: [19, 22] +- goal: [14, 9] + name: agent44 + start: [23, 15] +- goal: [16, 4] + name: agent45 + start: [24, 14] +- goal: [4, 0] + name: agent46 + start: [16, 20] +- goal: [10, 25] + name: agent47 + start: [12, 26] +- goal: [5, 3] + name: agent48 + start: [14, 23] +- goal: [24, 16] + name: agent49 + start: [17, 19] +- goal: [24, 26] + name: agent50 + start: [24, 25] +- goal: [24, 11] + name: agent51 + start: [26, 22] +- goal: [14, 15] + name: agent52 + start: [27, 1] +- goal: [29, 12] + name: agent53 + start: [15, 9] +- goal: [27, 22] + name: agent54 + start: [27, 24] +- goal: [1, 30] + name: agent55 + start: [15, 6] +- goal: [8, 18] + name: agent56 + start: [18, 23] +- goal: [26, 21] + name: agent57 + start: [28, 1] +- goal: [8, 1] + name: agent58 + start: [26, 8] +- goal: [19, 17] + name: agent59 + start: [1, 6] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [12, 9] + - !!python/tuple [15, 1] + - !!python/tuple [28, 26] + - !!python/tuple [14, 13] + - !!python/tuple [1, 25] + - !!python/tuple [6, 22] + - !!python/tuple [31, 23] + - !!python/tuple [7, 4] + - !!python/tuple [22, 5] + - !!python/tuple [30, 20] + - !!python/tuple [29, 29] + - !!python/tuple [10, 15] + - !!python/tuple [14, 29] + - !!python/tuple [11, 25] + - !!python/tuple [2, 9] + - !!python/tuple [6, 9] + - !!python/tuple [25, 17] + - !!python/tuple [16, 13] + - !!python/tuple [14, 18] + - !!python/tuple [28, 5] + - !!python/tuple [2, 17] + - !!python/tuple [8, 3] + - !!python/tuple [28, 12] + - !!python/tuple [19, 12] + - !!python/tuple [9, 2] + - !!python/tuple [15, 3] + - !!python/tuple [5, 13] + - !!python/tuple [11, 26] + - !!python/tuple [7, 25] + - !!python/tuple [20, 17] + - !!python/tuple [6, 13] + - !!python/tuple [7, 17] + - !!python/tuple [13, 9] + - !!python/tuple [20, 3] + - !!python/tuple [15, 7] + - !!python/tuple [16, 18] + - !!python/tuple [17, 26] + - !!python/tuple [25, 13] + - !!python/tuple [23, 4] + - !!python/tuple [21, 6] + - !!python/tuple [14, 6] + - !!python/tuple [13, 4] + - !!python/tuple [1, 4] + - !!python/tuple [23, 31] + - !!python/tuple [9, 13] + - !!python/tuple [18, 3] + - !!python/tuple [22, 25] + - !!python/tuple [21, 25] + - !!python/tuple [9, 5] + - !!python/tuple [1, 26] + - !!python/tuple [23, 29] + - !!python/tuple [18, 5] + - !!python/tuple [10, 1] + - !!python/tuple [16, 19] + - !!python/tuple [14, 8] + - !!python/tuple [8, 11] + - !!python/tuple [20, 2] + - !!python/tuple [16, 11] + - !!python/tuple [3, 22] + - !!python/tuple [28, 18] + - !!python/tuple [25, 25] + - !!python/tuple [30, 5] + - !!python/tuple [15, 25] + - !!python/tuple [28, 3] + - !!python/tuple [24, 8] + - !!python/tuple [18, 6] + - !!python/tuple [8, 31] + - !!python/tuple [19, 13] + - !!python/tuple [18, 30] + - !!python/tuple [9, 28] + - !!python/tuple [5, 20] + - !!python/tuple [1, 10] + - !!python/tuple [4, 7] + - !!python/tuple [22, 11] + - !!python/tuple [11, 2] + - !!python/tuple [18, 25] + - !!python/tuple [30, 6] + - !!python/tuple [2, 14] + - !!python/tuple [11, 6] + - !!python/tuple [21, 21] + - !!python/tuple [13, 20] + - !!python/tuple [7, 23] + - !!python/tuple [9, 31] + - !!python/tuple [0, 15] + - !!python/tuple [29, 28] + - !!python/tuple [28, 15] + - !!python/tuple [18, 14] + - !!python/tuple [15, 0] + - !!python/tuple [4, 23] + - !!python/tuple [25, 1] + - !!python/tuple [26, 9] + - !!python/tuple [26, 31] + - !!python/tuple [11, 11] + - !!python/tuple [20, 15] + - !!python/tuple [29, 14] + - !!python/tuple [4, 17] + - !!python/tuple [24, 27] + - !!python/tuple [24, 7] + - !!python/tuple [4, 8] + - !!python/tuple [25, 24] + - !!python/tuple [2, 21] + - !!python/tuple [19, 21] + - !!python/tuple [18, 20] + - !!python/tuple [31, 5] + - !!python/tuple [23, 20] + - !!python/tuple [22, 18] + - !!python/tuple [0, 25] + - !!python/tuple [21, 11] + - !!python/tuple [31, 28] + - !!python/tuple [22, 0] + - !!python/tuple [23, 1] + - !!python/tuple [17, 20] + - !!python/tuple [17, 13] + - !!python/tuple [10, 19] + - !!python/tuple [30, 23] + - !!python/tuple [21, 27] + - !!python/tuple [19, 0] + - !!python/tuple [11, 0] + - !!python/tuple [19, 10] + - !!python/tuple [2, 3] + - !!python/tuple [23, 23] + - !!python/tuple [18, 7] + - !!python/tuple [20, 8] + - !!python/tuple [12, 8] + - !!python/tuple [14, 3] + - !!python/tuple [15, 26] + - !!python/tuple [17, 8] + - !!python/tuple [16, 29] + - !!python/tuple [20, 25] + - !!python/tuple [4, 28] + - !!python/tuple [15, 4] + - !!python/tuple [18, 24] + - !!python/tuple [10, 20] + - !!python/tuple [25, 29] + - !!python/tuple [17, 5] + - !!python/tuple [22, 8] + - !!python/tuple [9, 4] + - !!python/tuple [7, 5] + - !!python/tuple [23, 16] + - !!python/tuple [3, 19] + - !!python/tuple [12, 30] + - !!python/tuple [14, 17] + - !!python/tuple [3, 31] + - !!python/tuple [5, 19] + - !!python/tuple [16, 5] + - !!python/tuple [18, 2] + - !!python/tuple [29, 9] + - !!python/tuple [16, 22] + - !!python/tuple [15, 30] + - !!python/tuple [5, 22] + - !!python/tuple [15, 31] + - !!python/tuple [13, 31] + - !!python/tuple [23, 24] + - !!python/tuple [20, 26] + - !!python/tuple [22, 12] + - !!python/tuple [4, 30] + - !!python/tuple [2, 27] + - !!python/tuple [29, 31] + - !!python/tuple [13, 11] + - !!python/tuple [28, 30] + - !!python/tuple [2, 25] + - !!python/tuple [10, 0] + - !!python/tuple [17, 12] + - !!python/tuple [7, 9] + - !!python/tuple [15, 12] + - !!python/tuple [25, 5] + - !!python/tuple [12, 14] + - !!python/tuple [30, 25] + - !!python/tuple [18, 22] + - !!python/tuple [3, 18] + - !!python/tuple [30, 13] + - !!python/tuple [21, 26] + - !!python/tuple [6, 25] + - !!python/tuple [23, 0] + - !!python/tuple [16, 23] + - !!python/tuple [10, 11] + - !!python/tuple [16, 1] + - !!python/tuple [29, 2] + - !!python/tuple [2, 20] + - !!python/tuple [27, 2] + - !!python/tuple [2, 16] + - !!python/tuple [5, 18] + - !!python/tuple [4, 14] + - !!python/tuple [23, 28] + - !!python/tuple [1, 15] + - !!python/tuple [2, 13] + - !!python/tuple [7, 1] + - !!python/tuple [15, 2] + - !!python/tuple [15, 29] + - !!python/tuple [15, 5] + - !!python/tuple [4, 13] + - !!python/tuple [27, 5] + - !!python/tuple [28, 14] + - !!python/tuple [27, 18] + - !!python/tuple [14, 20] + - !!python/tuple [26, 5] + - !!python/tuple [18, 13] + - !!python/tuple [22, 1] + - !!python/tuple [30, 10] + - !!python/tuple [23, 30] + - !!python/tuple [21, 19] + - !!python/tuple [8, 9] + - !!python/tuple [19, 14] + - !!python/tuple [1, 9] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex71.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex71.yaml new file mode 100644 index 0000000..2de9c8b --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex71.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [7, 29] + name: agent0 + start: [28, 7] +- goal: [10, 7] + name: agent1 + start: [15, 24] +- goal: [14, 16] + name: agent2 + start: [24, 18] +- goal: [0, 13] + name: agent3 + start: [22, 2] +- goal: [24, 18] + name: agent4 + start: [9, 31] +- goal: [1, 18] + name: agent5 + start: [22, 13] +- goal: [10, 20] + name: agent6 + start: [21, 7] +- goal: [16, 13] + name: agent7 + start: [31, 31] +- goal: [1, 28] + name: agent8 + start: [23, 31] +- goal: [25, 8] + name: agent9 + start: [14, 14] +- goal: [12, 3] + name: agent10 + start: [0, 12] +- goal: [8, 31] + name: agent11 + start: [11, 2] +- goal: [31, 23] + name: agent12 + start: [14, 16] +- goal: [2, 9] + name: agent13 + start: [2, 14] +- goal: [30, 11] + name: agent14 + start: [0, 9] +- goal: [13, 31] + name: agent15 + start: [20, 9] +- goal: [9, 12] + name: agent16 + start: [9, 21] +- goal: [26, 10] + name: agent17 + start: [28, 22] +- goal: [14, 18] + name: agent18 + start: [22, 4] +- goal: [24, 21] + name: agent19 + start: [11, 4] +- goal: [18, 13] + name: agent20 + start: [5, 3] +- goal: [21, 11] + name: agent21 + start: [24, 11] +- goal: [16, 10] + name: agent22 + start: [8, 26] +- goal: [25, 28] + name: agent23 + start: [29, 16] +- goal: [23, 7] + name: agent24 + start: [26, 28] +- goal: [11, 19] + name: agent25 + start: [20, 5] +- goal: [12, 29] + name: agent26 + start: [18, 19] +- goal: [27, 21] + name: agent27 + start: [28, 6] +- goal: [5, 7] + name: agent28 + start: [31, 22] +- goal: [3, 5] + name: agent29 + start: [31, 27] +- goal: [30, 29] + name: agent30 + start: [30, 20] +- goal: [28, 22] + name: agent31 + start: [28, 8] +- goal: [28, 16] + name: agent32 + start: [10, 2] +- goal: [28, 11] + name: agent33 + start: [5, 28] +- goal: [18, 18] + name: agent34 + start: [19, 12] +- goal: [0, 2] + name: agent35 + start: [6, 30] +- goal: [11, 10] + name: agent36 + start: [8, 24] +- goal: [6, 20] + name: agent37 + start: [9, 26] +- goal: [13, 15] + name: agent38 + start: [13, 30] +- goal: [29, 18] + name: agent39 + start: [22, 22] +- goal: [10, 27] + name: agent40 + start: [10, 12] +- goal: [26, 11] + name: agent41 + start: [4, 2] +- goal: [18, 14] + name: agent42 + start: [17, 20] +- goal: [31, 7] + name: agent43 + start: [20, 4] +- goal: [17, 1] + name: agent44 + start: [30, 25] +- goal: [24, 10] + name: agent45 + start: [27, 26] +- goal: [3, 9] + name: agent46 + start: [21, 26] +- goal: [7, 19] + name: agent47 + start: [7, 15] +- goal: [5, 12] + name: agent48 + start: [30, 31] +- goal: [24, 7] + name: agent49 + start: [0, 29] +- goal: [18, 29] + name: agent50 + start: [21, 1] +- goal: [4, 24] + name: agent51 + start: [14, 0] +- goal: [29, 28] + name: agent52 + start: [19, 21] +- goal: [5, 14] + name: agent53 + start: [0, 1] +- goal: [3, 6] + name: agent54 + start: [26, 5] +- goal: [11, 4] + name: agent55 + start: [19, 26] +- goal: [28, 28] + name: agent56 + start: [18, 30] +- goal: [1, 31] + name: agent57 + start: [20, 11] +- goal: [5, 19] + name: agent58 + start: [5, 24] +- goal: [12, 18] + name: agent59 + start: [2, 2] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [9, 9] + - !!python/tuple [17, 0] + - !!python/tuple [27, 23] + - !!python/tuple [11, 17] + - !!python/tuple [29, 17] + - !!python/tuple [28, 9] + - !!python/tuple [27, 25] + - !!python/tuple [15, 31] + - !!python/tuple [31, 5] + - !!python/tuple [15, 4] + - !!python/tuple [25, 11] + - !!python/tuple [22, 11] + - !!python/tuple [31, 26] + - !!python/tuple [26, 0] + - !!python/tuple [22, 27] + - !!python/tuple [29, 10] + - !!python/tuple [27, 28] + - !!python/tuple [19, 8] + - !!python/tuple [31, 24] + - !!python/tuple [31, 10] + - !!python/tuple [30, 23] + - !!python/tuple [20, 21] + - !!python/tuple [22, 29] + - !!python/tuple [23, 16] + - !!python/tuple [16, 6] + - !!python/tuple [19, 4] + - !!python/tuple [29, 0] + - !!python/tuple [2, 8] + - !!python/tuple [7, 28] + - !!python/tuple [12, 0] + - !!python/tuple [11, 28] + - !!python/tuple [4, 30] + - !!python/tuple [23, 5] + - !!python/tuple [9, 5] + - !!python/tuple [4, 6] + - !!python/tuple [19, 30] + - !!python/tuple [26, 2] + - !!python/tuple [19, 6] + - !!python/tuple [3, 24] + - !!python/tuple [23, 1] + - !!python/tuple [7, 3] + - !!python/tuple [14, 3] + - !!python/tuple [15, 29] + - !!python/tuple [29, 1] + - !!python/tuple [21, 23] + - !!python/tuple [20, 17] + - !!python/tuple [26, 24] + - !!python/tuple [13, 14] + - !!python/tuple [14, 11] + - !!python/tuple [9, 10] + - !!python/tuple [2, 25] + - !!python/tuple [7, 20] + - !!python/tuple [21, 22] + - !!python/tuple [13, 27] + - !!python/tuple [12, 28] + - !!python/tuple [16, 1] + - !!python/tuple [15, 9] + - !!python/tuple [10, 16] + - !!python/tuple [7, 27] + - !!python/tuple [15, 2] + - !!python/tuple [2, 19] + - !!python/tuple [17, 16] + - !!python/tuple [26, 22] + - !!python/tuple [4, 15] + - !!python/tuple [23, 26] + - !!python/tuple [9, 28] + - !!python/tuple [2, 18] + - !!python/tuple [23, 13] + - !!python/tuple [20, 22] + - !!python/tuple [17, 23] + - !!python/tuple [12, 8] + - !!python/tuple [0, 5] + - !!python/tuple [29, 2] + - !!python/tuple [24, 29] + - !!python/tuple [0, 28] + - !!python/tuple [18, 10] + - !!python/tuple [2, 17] + - !!python/tuple [27, 31] + - !!python/tuple [15, 8] + - !!python/tuple [30, 6] + - !!python/tuple [30, 5] + - !!python/tuple [14, 20] + - !!python/tuple [14, 23] + - !!python/tuple [8, 21] + - !!python/tuple [28, 31] + - !!python/tuple [20, 7] + - !!python/tuple [29, 24] + - !!python/tuple [10, 6] + - !!python/tuple [3, 20] + - !!python/tuple [23, 9] + - !!python/tuple [9, 20] + - !!python/tuple [30, 8] + - !!python/tuple [27, 11] + - !!python/tuple [19, 11] + - !!python/tuple [17, 5] + - !!python/tuple [24, 25] + - !!python/tuple [16, 8] + - !!python/tuple [11, 24] + - !!python/tuple [18, 24] + - !!python/tuple [2, 12] + - !!python/tuple [5, 2] + - !!python/tuple [31, 2] + - !!python/tuple [14, 13] + - !!python/tuple [10, 17] + - !!python/tuple [4, 0] + - !!python/tuple [3, 12] + - !!python/tuple [16, 18] + - !!python/tuple [1, 20] + - !!python/tuple [13, 5] + - !!python/tuple [16, 19] + - !!python/tuple [9, 27] + - !!python/tuple [1, 22] + - !!python/tuple [4, 23] + - !!python/tuple [31, 15] + - !!python/tuple [16, 22] + - !!python/tuple [14, 21] + - !!python/tuple [16, 23] + - !!python/tuple [7, 0] + - !!python/tuple [31, 16] + - !!python/tuple [21, 25] + - !!python/tuple [14, 24] + - !!python/tuple [8, 22] + - !!python/tuple [18, 20] + - !!python/tuple [24, 13] + - !!python/tuple [21, 28] + - !!python/tuple [17, 22] + - !!python/tuple [16, 27] + - !!python/tuple [2, 7] + - !!python/tuple [12, 27] + - !!python/tuple [21, 29] + - !!python/tuple [20, 20] + - !!python/tuple [26, 13] + - !!python/tuple [9, 19] + - !!python/tuple [18, 21] + - !!python/tuple [4, 1] + - !!python/tuple [12, 26] + - !!python/tuple [19, 27] + - !!python/tuple [3, 28] + - !!python/tuple [5, 21] + - !!python/tuple [15, 21] + - !!python/tuple [0, 7] + - !!python/tuple [14, 10] + - !!python/tuple [23, 12] + - !!python/tuple [14, 22] + - !!python/tuple [18, 7] + - !!python/tuple [29, 23] + - !!python/tuple [19, 22] + - !!python/tuple [17, 7] + - !!python/tuple [17, 8] + - !!python/tuple [21, 2] + - !!python/tuple [1, 19] + - !!python/tuple [22, 26] + - !!python/tuple [5, 5] + - !!python/tuple [22, 23] + - !!python/tuple [26, 20] + - !!python/tuple [6, 10] + - !!python/tuple [26, 4] + - !!python/tuple [8, 30] + - !!python/tuple [27, 4] + - !!python/tuple [11, 23] + - !!python/tuple [14, 27] + - !!python/tuple [28, 5] + - !!python/tuple [12, 5] + - !!python/tuple [30, 2] + - !!python/tuple [5, 4] + - !!python/tuple [3, 3] + - !!python/tuple [17, 14] + - !!python/tuple [24, 19] + - !!python/tuple [29, 3] + - !!python/tuple [13, 12] + - !!python/tuple [2, 20] + - !!python/tuple [27, 29] + - !!python/tuple [21, 12] + - !!python/tuple [0, 10] + - !!python/tuple [4, 9] + - !!python/tuple [27, 7] + - !!python/tuple [30, 3] + - !!python/tuple [22, 17] + - !!python/tuple [4, 17] + - !!python/tuple [19, 3] + - !!python/tuple [19, 23] + - !!python/tuple [7, 7] + - !!python/tuple [17, 24] + - !!python/tuple [26, 19] + - !!python/tuple [9, 14] + - !!python/tuple [29, 6] + - !!python/tuple [19, 17] + - !!python/tuple [5, 9] + - !!python/tuple [13, 20] + - !!python/tuple [28, 13] + - !!python/tuple [27, 12] + - !!python/tuple [8, 7] + - !!python/tuple [7, 14] + - !!python/tuple [15, 27] + - !!python/tuple [4, 4] + - !!python/tuple [12, 4] + - !!python/tuple [13, 24] + - !!python/tuple [13, 23] + - !!python/tuple [17, 29] + - !!python/tuple [23, 18] + - !!python/tuple [20, 23] + - !!python/tuple [1, 0] + - !!python/tuple [26, 6] + - !!python/tuple [26, 17] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex72.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex72.yaml new file mode 100644 index 0000000..c221c51 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex72.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [31, 29] + name: agent0 + start: [24, 22] +- goal: [18, 0] + name: agent1 + start: [3, 13] +- goal: [21, 2] + name: agent2 + start: [8, 26] +- goal: [21, 7] + name: agent3 + start: [19, 18] +- goal: [10, 0] + name: agent4 + start: [16, 2] +- goal: [18, 27] + name: agent5 + start: [27, 10] +- goal: [16, 29] + name: agent6 + start: [12, 12] +- goal: [20, 17] + name: agent7 + start: [18, 17] +- goal: [8, 25] + name: agent8 + start: [3, 29] +- goal: [6, 22] + name: agent9 + start: [20, 18] +- goal: [15, 4] + name: agent10 + start: [13, 7] +- goal: [20, 24] + name: agent11 + start: [0, 4] +- goal: [20, 27] + name: agent12 + start: [1, 23] +- goal: [7, 11] + name: agent13 + start: [25, 3] +- goal: [2, 6] + name: agent14 + start: [0, 17] +- goal: [3, 1] + name: agent15 + start: [1, 29] +- goal: [25, 0] + name: agent16 + start: [27, 8] +- goal: [12, 11] + name: agent17 + start: [4, 19] +- goal: [7, 27] + name: agent18 + start: [19, 14] +- goal: [24, 4] + name: agent19 + start: [12, 23] +- goal: [14, 10] + name: agent20 + start: [7, 13] +- goal: [19, 1] + name: agent21 + start: [14, 18] +- goal: [31, 3] + name: agent22 + start: [5, 31] +- goal: [15, 19] + name: agent23 + start: [26, 18] +- goal: [15, 23] + name: agent24 + start: [30, 18] +- goal: [13, 27] + name: agent25 + start: [6, 24] +- goal: [30, 17] + name: agent26 + start: [5, 10] +- goal: [17, 18] + name: agent27 + start: [0, 9] +- goal: [6, 19] + name: agent28 + start: [1, 10] +- goal: [21, 5] + name: agent29 + start: [20, 6] +- goal: [5, 20] + name: agent30 + start: [21, 21] +- goal: [7, 14] + name: agent31 + start: [15, 6] +- goal: [13, 31] + name: agent32 + start: [27, 27] +- goal: [10, 18] + name: agent33 + start: [21, 10] +- goal: [27, 9] + name: agent34 + start: [27, 16] +- goal: [9, 31] + name: agent35 + start: [20, 30] +- goal: [25, 12] + name: agent36 + start: [15, 26] +- goal: [20, 4] + name: agent37 + start: [13, 31] +- goal: [6, 12] + name: agent38 + start: [1, 24] +- goal: [11, 13] + name: agent39 + start: [17, 15] +- goal: [19, 26] + name: agent40 + start: [9, 6] +- goal: [5, 26] + name: agent41 + start: [17, 18] +- goal: [23, 7] + name: agent42 + start: [5, 6] +- goal: [27, 17] + name: agent43 + start: [13, 8] +- goal: [21, 25] + name: agent44 + start: [11, 16] +- goal: [30, 26] + name: agent45 + start: [7, 8] +- goal: [15, 24] + name: agent46 + start: [21, 18] +- goal: [0, 17] + name: agent47 + start: [23, 26] +- goal: [3, 16] + name: agent48 + start: [16, 17] +- goal: [24, 25] + name: agent49 + start: [0, 12] +- goal: [15, 6] + name: agent50 + start: [19, 21] +- goal: [27, 30] + name: agent51 + start: [21, 13] +- goal: [10, 4] + name: agent52 + start: [28, 29] +- goal: [18, 19] + name: agent53 + start: [6, 22] +- goal: [17, 26] + name: agent54 + start: [20, 20] +- goal: [20, 25] + name: agent55 + start: [21, 5] +- goal: [18, 22] + name: agent56 + start: [10, 10] +- goal: [20, 8] + name: agent57 + start: [4, 16] +- goal: [13, 24] + name: agent58 + start: [26, 20] +- goal: [0, 0] + name: agent59 + start: [19, 9] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [30, 13] + - !!python/tuple [15, 29] + - !!python/tuple [3, 6] + - !!python/tuple [2, 1] + - !!python/tuple [1, 30] + - !!python/tuple [23, 9] + - !!python/tuple [25, 10] + - !!python/tuple [18, 4] + - !!python/tuple [5, 28] + - !!python/tuple [13, 2] + - !!python/tuple [17, 12] + - !!python/tuple [2, 29] + - !!python/tuple [3, 18] + - !!python/tuple [19, 20] + - !!python/tuple [10, 17] + - !!python/tuple [23, 17] + - !!python/tuple [9, 13] + - !!python/tuple [29, 11] + - !!python/tuple [16, 28] + - !!python/tuple [13, 11] + - !!python/tuple [28, 12] + - !!python/tuple [6, 2] + - !!python/tuple [23, 11] + - !!python/tuple [21, 3] + - !!python/tuple [13, 10] + - !!python/tuple [2, 5] + - !!python/tuple [18, 16] + - !!python/tuple [24, 17] + - !!python/tuple [16, 12] + - !!python/tuple [9, 28] + - !!python/tuple [9, 20] + - !!python/tuple [31, 10] + - !!python/tuple [20, 31] + - !!python/tuple [1, 14] + - !!python/tuple [27, 3] + - !!python/tuple [31, 14] + - !!python/tuple [9, 29] + - !!python/tuple [8, 7] + - !!python/tuple [25, 27] + - !!python/tuple [14, 8] + - !!python/tuple [16, 30] + - !!python/tuple [15, 12] + - !!python/tuple [23, 23] + - !!python/tuple [1, 18] + - !!python/tuple [9, 11] + - !!python/tuple [9, 4] + - !!python/tuple [8, 12] + - !!python/tuple [12, 2] + - !!python/tuple [6, 28] + - !!python/tuple [29, 23] + - !!python/tuple [24, 20] + - !!python/tuple [4, 30] + - !!python/tuple [24, 19] + - !!python/tuple [2, 27] + - !!python/tuple [30, 5] + - !!python/tuple [4, 25] + - !!python/tuple [2, 23] + - !!python/tuple [14, 16] + - !!python/tuple [21, 16] + - !!python/tuple [23, 20] + - !!python/tuple [16, 10] + - !!python/tuple [31, 12] + - !!python/tuple [21, 4] + - !!python/tuple [7, 28] + - !!python/tuple [31, 16] + - !!python/tuple [9, 24] + - !!python/tuple [12, 20] + - !!python/tuple [2, 8] + - !!python/tuple [17, 2] + - !!python/tuple [20, 1] + - !!python/tuple [19, 22] + - !!python/tuple [7, 19] + - !!python/tuple [2, 22] + - !!python/tuple [14, 20] + - !!python/tuple [18, 11] + - !!python/tuple [18, 15] + - !!python/tuple [20, 15] + - !!python/tuple [11, 24] + - !!python/tuple [13, 30] + - !!python/tuple [31, 21] + - !!python/tuple [8, 21] + - !!python/tuple [29, 18] + - !!python/tuple [18, 30] + - !!python/tuple [26, 10] + - !!python/tuple [16, 5] + - !!python/tuple [17, 10] + - !!python/tuple [25, 6] + - !!python/tuple [16, 21] + - !!python/tuple [27, 2] + - !!python/tuple [0, 26] + - !!python/tuple [26, 3] + - !!python/tuple [1, 7] + - !!python/tuple [0, 27] + - !!python/tuple [22, 28] + - !!python/tuple [6, 18] + - !!python/tuple [30, 30] + - !!python/tuple [17, 23] + - !!python/tuple [12, 1] + - !!python/tuple [10, 6] + - !!python/tuple [5, 29] + - !!python/tuple [24, 10] + - !!python/tuple [10, 14] + - !!python/tuple [4, 29] + - !!python/tuple [18, 24] + - !!python/tuple [22, 19] + - !!python/tuple [21, 24] + - !!python/tuple [31, 28] + - !!python/tuple [14, 0] + - !!python/tuple [18, 7] + - !!python/tuple [25, 21] + - !!python/tuple [6, 21] + - !!python/tuple [13, 14] + - !!python/tuple [3, 30] + - !!python/tuple [25, 19] + - !!python/tuple [5, 24] + - !!python/tuple [10, 23] + - !!python/tuple [17, 1] + - !!python/tuple [19, 30] + - !!python/tuple [27, 28] + - !!python/tuple [3, 7] + - !!python/tuple [7, 30] + - !!python/tuple [16, 15] + - !!python/tuple [31, 7] + - !!python/tuple [16, 20] + - !!python/tuple [17, 27] + - !!python/tuple [10, 22] + - !!python/tuple [10, 30] + - !!python/tuple [25, 4] + - !!python/tuple [31, 30] + - !!python/tuple [9, 8] + - !!python/tuple [14, 23] + - !!python/tuple [16, 4] + - !!python/tuple [27, 15] + - !!python/tuple [7, 17] + - !!python/tuple [29, 14] + - !!python/tuple [12, 18] + - !!python/tuple [1, 5] + - !!python/tuple [27, 11] + - !!python/tuple [6, 17] + - !!python/tuple [31, 25] + - !!python/tuple [19, 16] + - !!python/tuple [30, 19] + - !!python/tuple [5, 8] + - !!python/tuple [3, 2] + - !!python/tuple [5, 7] + - !!python/tuple [2, 25] + - !!python/tuple [9, 10] + - !!python/tuple [22, 2] + - !!python/tuple [11, 6] + - !!python/tuple [5, 30] + - !!python/tuple [27, 20] + - !!python/tuple [1, 31] + - !!python/tuple [5, 27] + - !!python/tuple [21, 17] + - !!python/tuple [13, 3] + - !!python/tuple [14, 5] + - !!python/tuple [23, 14] + - !!python/tuple [7, 24] + - !!python/tuple [8, 16] + - !!python/tuple [13, 28] + - !!python/tuple [29, 15] + - !!python/tuple [22, 0] + - !!python/tuple [24, 30] + - !!python/tuple [0, 3] + - !!python/tuple [15, 22] + - !!python/tuple [2, 3] + - !!python/tuple [14, 7] + - !!python/tuple [30, 8] + - !!python/tuple [14, 9] + - !!python/tuple [22, 23] + - !!python/tuple [26, 23] + - !!python/tuple [27, 6] + - !!python/tuple [13, 22] + - !!python/tuple [18, 13] + - !!python/tuple [1, 22] + - !!python/tuple [12, 26] + - !!python/tuple [18, 23] + - !!python/tuple [22, 24] + - !!python/tuple [26, 25] + - !!python/tuple [28, 10] + - !!python/tuple [6, 6] + - !!python/tuple [27, 4] + - !!python/tuple [17, 3] + - !!python/tuple [21, 15] + - !!python/tuple [12, 13] + - !!python/tuple [4, 12] + - !!python/tuple [15, 28] + - !!python/tuple [13, 19] + - !!python/tuple [1, 20] + - !!python/tuple [30, 9] + - !!python/tuple [1, 27] + - !!python/tuple [6, 25] + - !!python/tuple [1, 12] + - !!python/tuple [28, 2] + - !!python/tuple [4, 27] + - !!python/tuple [20, 3] + - !!python/tuple [0, 16] + - !!python/tuple [15, 16] + - !!python/tuple [16, 11] + - !!python/tuple [10, 3] + - !!python/tuple [25, 28] + - !!python/tuple [6, 8] + - !!python/tuple [10, 8] + - !!python/tuple [21, 0] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex73.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex73.yaml new file mode 100644 index 0000000..6556e03 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex73.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [2, 0] + name: agent0 + start: [15, 2] +- goal: [31, 28] + name: agent1 + start: [14, 18] +- goal: [28, 4] + name: agent2 + start: [25, 30] +- goal: [25, 20] + name: agent3 + start: [28, 7] +- goal: [23, 3] + name: agent4 + start: [25, 8] +- goal: [2, 8] + name: agent5 + start: [11, 13] +- goal: [14, 15] + name: agent6 + start: [20, 0] +- goal: [29, 6] + name: agent7 + start: [18, 20] +- goal: [31, 3] + name: agent8 + start: [7, 9] +- goal: [5, 16] + name: agent9 + start: [27, 17] +- goal: [16, 13] + name: agent10 + start: [16, 23] +- goal: [30, 19] + name: agent11 + start: [28, 17] +- goal: [16, 24] + name: agent12 + start: [13, 1] +- goal: [12, 12] + name: agent13 + start: [4, 11] +- goal: [26, 18] + name: agent14 + start: [31, 6] +- goal: [3, 19] + name: agent15 + start: [14, 15] +- goal: [22, 14] + name: agent16 + start: [4, 5] +- goal: [30, 18] + name: agent17 + start: [9, 24] +- goal: [26, 8] + name: agent18 + start: [14, 22] +- goal: [27, 22] + name: agent19 + start: [25, 7] +- goal: [23, 26] + name: agent20 + start: [8, 13] +- goal: [24, 14] + name: agent21 + start: [1, 28] +- goal: [6, 16] + name: agent22 + start: [4, 27] +- goal: [23, 1] + name: agent23 + start: [15, 26] +- goal: [2, 15] + name: agent24 + start: [15, 8] +- goal: [7, 16] + name: agent25 + start: [6, 12] +- goal: [16, 16] + name: agent26 + start: [1, 18] +- goal: [23, 28] + name: agent27 + start: [27, 4] +- goal: [0, 1] + name: agent28 + start: [21, 21] +- goal: [7, 3] + name: agent29 + start: [3, 27] +- goal: [17, 31] + name: agent30 + start: [8, 15] +- goal: [18, 11] + name: agent31 + start: [27, 29] +- goal: [15, 22] + name: agent32 + start: [30, 10] +- goal: [18, 8] + name: agent33 + start: [28, 8] +- goal: [7, 22] + name: agent34 + start: [9, 3] +- goal: [20, 31] + name: agent35 + start: [19, 31] +- goal: [21, 25] + name: agent36 + start: [20, 28] +- goal: [1, 23] + name: agent37 + start: [21, 2] +- goal: [16, 25] + name: agent38 + start: [29, 8] +- goal: [29, 21] + name: agent39 + start: [16, 22] +- goal: [27, 24] + name: agent40 + start: [17, 4] +- goal: [4, 0] + name: agent41 + start: [25, 6] +- goal: [21, 16] + name: agent42 + start: [18, 24] +- goal: [13, 11] + name: agent43 + start: [30, 0] +- goal: [30, 8] + name: agent44 + start: [26, 0] +- goal: [9, 23] + name: agent45 + start: [4, 31] +- goal: [20, 26] + name: agent46 + start: [0, 1] +- goal: [24, 23] + name: agent47 + start: [20, 24] +- goal: [17, 30] + name: agent48 + start: [5, 10] +- goal: [15, 26] + name: agent49 + start: [11, 22] +- goal: [29, 23] + name: agent50 + start: [0, 15] +- goal: [5, 12] + name: agent51 + start: [12, 5] +- goal: [5, 13] + name: agent52 + start: [14, 16] +- goal: [10, 22] + name: agent53 + start: [0, 4] +- goal: [30, 25] + name: agent54 + start: [5, 16] +- goal: [13, 1] + name: agent55 + start: [15, 4] +- goal: [21, 2] + name: agent56 + start: [10, 1] +- goal: [19, 24] + name: agent57 + start: [17, 10] +- goal: [31, 5] + name: agent58 + start: [31, 16] +- goal: [7, 24] + name: agent59 + start: [7, 8] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [18, 10] + - !!python/tuple [1, 30] + - !!python/tuple [15, 31] + - !!python/tuple [6, 22] + - !!python/tuple [23, 17] + - !!python/tuple [3, 26] + - !!python/tuple [22, 25] + - !!python/tuple [8, 7] + - !!python/tuple [25, 15] + - !!python/tuple [7, 4] + - !!python/tuple [23, 27] + - !!python/tuple [1, 15] + - !!python/tuple [26, 11] + - !!python/tuple [6, 15] + - !!python/tuple [11, 28] + - !!python/tuple [25, 26] + - !!python/tuple [3, 24] + - !!python/tuple [7, 2] + - !!python/tuple [14, 28] + - !!python/tuple [4, 14] + - !!python/tuple [24, 20] + - !!python/tuple [31, 0] + - !!python/tuple [11, 30] + - !!python/tuple [27, 16] + - !!python/tuple [30, 16] + - !!python/tuple [20, 29] + - !!python/tuple [10, 21] + - !!python/tuple [10, 30] + - !!python/tuple [9, 21] + - !!python/tuple [2, 5] + - !!python/tuple [6, 19] + - !!python/tuple [1, 14] + - !!python/tuple [10, 31] + - !!python/tuple [15, 28] + - !!python/tuple [20, 1] + - !!python/tuple [9, 27] + - !!python/tuple [14, 26] + - !!python/tuple [12, 23] + - !!python/tuple [14, 14] + - !!python/tuple [5, 8] + - !!python/tuple [2, 25] + - !!python/tuple [21, 14] + - !!python/tuple [18, 21] + - !!python/tuple [27, 20] + - !!python/tuple [13, 17] + - !!python/tuple [29, 31] + - !!python/tuple [2, 4] + - !!python/tuple [15, 30] + - !!python/tuple [10, 18] + - !!python/tuple [22, 2] + - !!python/tuple [26, 23] + - !!python/tuple [13, 13] + - !!python/tuple [6, 18] + - !!python/tuple [16, 26] + - !!python/tuple [11, 11] + - !!python/tuple [31, 19] + - !!python/tuple [20, 11] + - !!python/tuple [19, 1] + - !!python/tuple [18, 30] + - !!python/tuple [8, 23] + - !!python/tuple [1, 8] + - !!python/tuple [18, 23] + - !!python/tuple [23, 29] + - !!python/tuple [2, 28] + - !!python/tuple [18, 1] + - !!python/tuple [24, 19] + - !!python/tuple [11, 17] + - !!python/tuple [0, 27] + - !!python/tuple [21, 17] + - !!python/tuple [7, 14] + - !!python/tuple [6, 6] + - !!python/tuple [31, 26] + - !!python/tuple [6, 10] + - !!python/tuple [26, 17] + - !!python/tuple [13, 2] + - !!python/tuple [28, 28] + - !!python/tuple [31, 24] + - !!python/tuple [19, 10] + - !!python/tuple [23, 14] + - !!python/tuple [4, 21] + - !!python/tuple [16, 31] + - !!python/tuple [17, 13] + - !!python/tuple [14, 23] + - !!python/tuple [25, 14] + - !!python/tuple [27, 5] + - !!python/tuple [21, 13] + - !!python/tuple [13, 24] + - !!python/tuple [22, 12] + - !!python/tuple [21, 29] + - !!python/tuple [18, 2] + - !!python/tuple [16, 1] + - !!python/tuple [27, 13] + - !!python/tuple [0, 31] + - !!python/tuple [11, 23] + - !!python/tuple [19, 22] + - !!python/tuple [29, 16] + - !!python/tuple [25, 22] + - !!python/tuple [5, 0] + - !!python/tuple [29, 1] + - !!python/tuple [27, 1] + - !!python/tuple [5, 11] + - !!python/tuple [13, 6] + - !!python/tuple [27, 15] + - !!python/tuple [12, 20] + - !!python/tuple [12, 4] + - !!python/tuple [26, 28] + - !!python/tuple [12, 30] + - !!python/tuple [8, 5] + - !!python/tuple [19, 28] + - !!python/tuple [5, 28] + - !!python/tuple [26, 24] + - !!python/tuple [31, 29] + - !!python/tuple [28, 0] + - !!python/tuple [20, 25] + - !!python/tuple [17, 29] + - !!python/tuple [1, 22] + - !!python/tuple [26, 19] + - !!python/tuple [10, 20] + - !!python/tuple [2, 18] + - !!python/tuple [16, 17] + - !!python/tuple [15, 16] + - !!python/tuple [9, 9] + - !!python/tuple [23, 23] + - !!python/tuple [31, 9] + - !!python/tuple [18, 22] + - !!python/tuple [29, 18] + - !!python/tuple [29, 9] + - !!python/tuple [12, 1] + - !!python/tuple [28, 14] + - !!python/tuple [12, 18] + - !!python/tuple [4, 19] + - !!python/tuple [14, 31] + - !!python/tuple [8, 2] + - !!python/tuple [0, 9] + - !!python/tuple [3, 25] + - !!python/tuple [30, 2] + - !!python/tuple [12, 2] + - !!python/tuple [11, 4] + - !!python/tuple [7, 18] + - !!python/tuple [4, 17] + - !!python/tuple [7, 15] + - !!python/tuple [27, 2] + - !!python/tuple [12, 26] + - !!python/tuple [30, 11] + - !!python/tuple [25, 11] + - !!python/tuple [5, 22] + - !!python/tuple [13, 18] + - !!python/tuple [20, 9] + - !!python/tuple [3, 14] + - !!python/tuple [8, 9] + - !!python/tuple [21, 23] + - !!python/tuple [3, 2] + - !!python/tuple [25, 10] + - !!python/tuple [15, 7] + - !!python/tuple [30, 26] + - !!python/tuple [6, 14] + - !!python/tuple [12, 15] + - !!python/tuple [24, 26] + - !!python/tuple [24, 16] + - !!python/tuple [11, 26] + - !!python/tuple [22, 11] + - !!python/tuple [22, 3] + - !!python/tuple [2, 26] + - !!python/tuple [22, 21] + - !!python/tuple [20, 22] + - !!python/tuple [10, 10] + - !!python/tuple [20, 21] + - !!python/tuple [3, 13] + - !!python/tuple [21, 28] + - !!python/tuple [27, 27] + - !!python/tuple [14, 1] + - !!python/tuple [15, 12] + - !!python/tuple [10, 6] + - !!python/tuple [11, 15] + - !!python/tuple [5, 7] + - !!python/tuple [9, 2] + - !!python/tuple [8, 27] + - !!python/tuple [4, 9] + - !!python/tuple [2, 31] + - !!python/tuple [3, 18] + - !!python/tuple [23, 25] + - !!python/tuple [13, 21] + - !!python/tuple [27, 0] + - !!python/tuple [27, 26] + - !!python/tuple [21, 10] + - !!python/tuple [13, 20] + - !!python/tuple [27, 28] + - !!python/tuple [23, 10] + - !!python/tuple [17, 25] + - !!python/tuple [17, 8] + - !!python/tuple [13, 30] + - !!python/tuple [12, 10] + - !!python/tuple [19, 29] + - !!python/tuple [3, 6] + - !!python/tuple [23, 4] + - !!python/tuple [19, 11] + - !!python/tuple [14, 17] + - !!python/tuple [27, 19] + - !!python/tuple [18, 0] + - !!python/tuple [23, 7] + - !!python/tuple [0, 17] + - !!python/tuple [30, 27] + - !!python/tuple [17, 0] + - !!python/tuple [27, 18] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex74.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex74.yaml new file mode 100644 index 0000000..7dac476 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex74.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [20, 11] + name: agent0 + start: [3, 1] +- goal: [3, 16] + name: agent1 + start: [6, 30] +- goal: [28, 4] + name: agent2 + start: [14, 21] +- goal: [21, 2] + name: agent3 + start: [1, 7] +- goal: [15, 5] + name: agent4 + start: [14, 23] +- goal: [12, 0] + name: agent5 + start: [18, 16] +- goal: [8, 29] + name: agent6 + start: [5, 3] +- goal: [26, 30] + name: agent7 + start: [28, 7] +- goal: [1, 21] + name: agent8 + start: [28, 8] +- goal: [27, 31] + name: agent9 + start: [31, 7] +- goal: [30, 5] + name: agent10 + start: [25, 10] +- goal: [27, 29] + name: agent11 + start: [25, 5] +- goal: [2, 22] + name: agent12 + start: [11, 14] +- goal: [26, 16] + name: agent13 + start: [26, 5] +- goal: [25, 14] + name: agent14 + start: [4, 6] +- goal: [24, 10] + name: agent15 + start: [27, 24] +- goal: [19, 21] + name: agent16 + start: [5, 1] +- goal: [17, 26] + name: agent17 + start: [8, 13] +- goal: [26, 8] + name: agent18 + start: [20, 26] +- goal: [4, 13] + name: agent19 + start: [21, 0] +- goal: [24, 15] + name: agent20 + start: [4, 1] +- goal: [25, 16] + name: agent21 + start: [15, 7] +- goal: [1, 2] + name: agent22 + start: [4, 17] +- goal: [7, 3] + name: agent23 + start: [5, 30] +- goal: [24, 26] + name: agent24 + start: [21, 8] +- goal: [17, 25] + name: agent25 + start: [0, 6] +- goal: [6, 26] + name: agent26 + start: [14, 12] +- goal: [9, 13] + name: agent27 + start: [23, 24] +- goal: [0, 8] + name: agent28 + start: [8, 23] +- goal: [1, 29] + name: agent29 + start: [9, 7] +- goal: [25, 12] + name: agent30 + start: [22, 8] +- goal: [0, 7] + name: agent31 + start: [14, 4] +- goal: [21, 13] + name: agent32 + start: [4, 13] +- goal: [19, 2] + name: agent33 + start: [11, 29] +- goal: [0, 27] + name: agent34 + start: [10, 30] +- goal: [27, 11] + name: agent35 + start: [4, 18] +- goal: [22, 5] + name: agent36 + start: [21, 18] +- goal: [30, 3] + name: agent37 + start: [21, 24] +- goal: [3, 10] + name: agent38 + start: [10, 15] +- goal: [31, 7] + name: agent39 + start: [4, 19] +- goal: [31, 16] + name: agent40 + start: [6, 13] +- goal: [17, 14] + name: agent41 + start: [22, 9] +- goal: [0, 18] + name: agent42 + start: [12, 23] +- goal: [18, 13] + name: agent43 + start: [1, 25] +- goal: [27, 19] + name: agent44 + start: [15, 17] +- goal: [4, 19] + name: agent45 + start: [7, 28] +- goal: [5, 1] + name: agent46 + start: [28, 17] +- goal: [8, 10] + name: agent47 + start: [24, 8] +- goal: [16, 23] + name: agent48 + start: [14, 19] +- goal: [12, 18] + name: agent49 + start: [18, 21] +- goal: [12, 30] + name: agent50 + start: [13, 1] +- goal: [5, 19] + name: agent51 + start: [2, 30] +- goal: [8, 27] + name: agent52 + start: [10, 4] +- goal: [4, 18] + name: agent53 + start: [5, 0] +- goal: [30, 10] + name: agent54 + start: [18, 26] +- goal: [31, 4] + name: agent55 + start: [27, 0] +- goal: [23, 26] + name: agent56 + start: [29, 31] +- goal: [7, 20] + name: agent57 + start: [2, 12] +- goal: [25, 29] + name: agent58 + start: [18, 17] +- goal: [8, 5] + name: agent59 + start: [11, 28] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [23, 14] + - !!python/tuple [8, 9] + - !!python/tuple [25, 0] + - !!python/tuple [19, 29] + - !!python/tuple [19, 3] + - !!python/tuple [19, 14] + - !!python/tuple [29, 17] + - !!python/tuple [30, 26] + - !!python/tuple [6, 10] + - !!python/tuple [6, 19] + - !!python/tuple [13, 13] + - !!python/tuple [7, 21] + - !!python/tuple [28, 12] + - !!python/tuple [17, 20] + - !!python/tuple [3, 12] + - !!python/tuple [7, 0] + - !!python/tuple [1, 15] + - !!python/tuple [8, 6] + - !!python/tuple [5, 20] + - !!python/tuple [30, 21] + - !!python/tuple [18, 23] + - !!python/tuple [30, 18] + - !!python/tuple [27, 25] + - !!python/tuple [25, 9] + - !!python/tuple [17, 28] + - !!python/tuple [22, 11] + - !!python/tuple [17, 2] + - !!python/tuple [18, 31] + - !!python/tuple [14, 26] + - !!python/tuple [17, 30] + - !!python/tuple [16, 21] + - !!python/tuple [30, 25] + - !!python/tuple [20, 1] + - !!python/tuple [9, 6] + - !!python/tuple [31, 31] + - !!python/tuple [16, 18] + - !!python/tuple [10, 19] + - !!python/tuple [22, 29] + - !!python/tuple [17, 29] + - !!python/tuple [25, 13] + - !!python/tuple [16, 1] + - !!python/tuple [2, 9] + - !!python/tuple [9, 4] + - !!python/tuple [2, 17] + - !!python/tuple [20, 10] + - !!python/tuple [7, 31] + - !!python/tuple [8, 28] + - !!python/tuple [19, 9] + - !!python/tuple [28, 24] + - !!python/tuple [27, 26] + - !!python/tuple [24, 4] + - !!python/tuple [18, 10] + - !!python/tuple [3, 2] + - !!python/tuple [7, 29] + - !!python/tuple [6, 2] + - !!python/tuple [16, 27] + - !!python/tuple [9, 26] + - !!python/tuple [9, 23] + - !!python/tuple [14, 29] + - !!python/tuple [30, 12] + - !!python/tuple [17, 8] + - !!python/tuple [10, 26] + - !!python/tuple [22, 21] + - !!python/tuple [8, 17] + - !!python/tuple [5, 23] + - !!python/tuple [18, 9] + - !!python/tuple [24, 0] + - !!python/tuple [25, 8] + - !!python/tuple [31, 15] + - !!python/tuple [16, 19] + - !!python/tuple [18, 18] + - !!python/tuple [2, 23] + - !!python/tuple [26, 12] + - !!python/tuple [10, 20] + - !!python/tuple [21, 7] + - !!python/tuple [15, 26] + - !!python/tuple [5, 5] + - !!python/tuple [13, 15] + - !!python/tuple [22, 25] + - !!python/tuple [12, 11] + - !!python/tuple [18, 28] + - !!python/tuple [10, 14] + - !!python/tuple [10, 3] + - !!python/tuple [16, 26] + - !!python/tuple [31, 19] + - !!python/tuple [10, 0] + - !!python/tuple [13, 5] + - !!python/tuple [15, 2] + - !!python/tuple [2, 3] + - !!python/tuple [2, 25] + - !!python/tuple [17, 11] + - !!python/tuple [19, 18] + - !!python/tuple [6, 5] + - !!python/tuple [6, 24] + - !!python/tuple [29, 19] + - !!python/tuple [0, 29] + - !!python/tuple [26, 26] + - !!python/tuple [18, 5] + - !!python/tuple [20, 28] + - !!python/tuple [28, 31] + - !!python/tuple [5, 4] + - !!python/tuple [20, 22] + - !!python/tuple [16, 7] + - !!python/tuple [6, 16] + - !!python/tuple [28, 29] + - !!python/tuple [5, 10] + - !!python/tuple [19, 5] + - !!python/tuple [15, 31] + - !!python/tuple [0, 22] + - !!python/tuple [14, 9] + - !!python/tuple [21, 21] + - !!python/tuple [26, 11] + - !!python/tuple [3, 19] + - !!python/tuple [19, 11] + - !!python/tuple [7, 1] + - !!python/tuple [16, 9] + - !!python/tuple [0, 15] + - !!python/tuple [23, 31] + - !!python/tuple [2, 0] + - !!python/tuple [24, 31] + - !!python/tuple [7, 2] + - !!python/tuple [12, 8] + - !!python/tuple [8, 2] + - !!python/tuple [21, 5] + - !!python/tuple [31, 26] + - !!python/tuple [6, 7] + - !!python/tuple [12, 31] + - !!python/tuple [21, 30] + - !!python/tuple [7, 16] + - !!python/tuple [30, 27] + - !!python/tuple [8, 30] + - !!python/tuple [7, 25] + - !!python/tuple [19, 30] + - !!python/tuple [13, 9] + - !!python/tuple [29, 4] + - !!python/tuple [13, 20] + - !!python/tuple [14, 17] + - !!python/tuple [10, 1] + - !!python/tuple [21, 29] + - !!python/tuple [18, 19] + - !!python/tuple [31, 22] + - !!python/tuple [5, 8] + - !!python/tuple [8, 18] + - !!python/tuple [27, 13] + - !!python/tuple [13, 2] + - !!python/tuple [25, 15] + - !!python/tuple [15, 1] + - !!python/tuple [26, 14] + - !!python/tuple [31, 0] + - !!python/tuple [20, 18] + - !!python/tuple [26, 31] + - !!python/tuple [3, 5] + - !!python/tuple [22, 30] + - !!python/tuple [11, 0] + - !!python/tuple [12, 3] + - !!python/tuple [1, 9] + - !!python/tuple [31, 9] + - !!python/tuple [20, 9] + - !!python/tuple [4, 21] + - !!python/tuple [30, 22] + - !!python/tuple [21, 12] + - !!python/tuple [26, 4] + - !!python/tuple [6, 18] + - !!python/tuple [20, 23] + - !!python/tuple [23, 23] + - !!python/tuple [18, 24] + - !!python/tuple [11, 27] + - !!python/tuple [1, 20] + - !!python/tuple [24, 23] + - !!python/tuple [23, 21] + - !!python/tuple [13, 12] + - !!python/tuple [29, 0] + - !!python/tuple [3, 30] + - !!python/tuple [20, 5] + - !!python/tuple [7, 22] + - !!python/tuple [19, 8] + - !!python/tuple [4, 9] + - !!python/tuple [23, 25] + - !!python/tuple [19, 22] + - !!python/tuple [23, 30] + - !!python/tuple [17, 5] + - !!python/tuple [19, 1] + - !!python/tuple [1, 3] + - !!python/tuple [15, 24] + - !!python/tuple [10, 25] + - !!python/tuple [8, 16] + - !!python/tuple [3, 11] + - !!python/tuple [27, 8] + - !!python/tuple [27, 9] + - !!python/tuple [5, 14] + - !!python/tuple [12, 20] + - !!python/tuple [31, 25] + - !!python/tuple [18, 25] + - !!python/tuple [22, 6] + - !!python/tuple [19, 13] + - !!python/tuple [8, 25] + - !!python/tuple [29, 6] + - !!python/tuple [14, 16] + - !!python/tuple [1, 16] + - !!python/tuple [14, 15] + - !!python/tuple [18, 30] + - !!python/tuple [2, 28] + - !!python/tuple [24, 27] + - !!python/tuple [4, 22] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex75.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex75.yaml new file mode 100644 index 0000000..4b69311 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex75.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [6, 11] + name: agent0 + start: [20, 11] +- goal: [9, 29] + name: agent1 + start: [19, 22] +- goal: [13, 9] + name: agent2 + start: [11, 19] +- goal: [29, 20] + name: agent3 + start: [16, 2] +- goal: [2, 2] + name: agent4 + start: [5, 6] +- goal: [11, 9] + name: agent5 + start: [7, 16] +- goal: [31, 24] + name: agent6 + start: [30, 29] +- goal: [19, 31] + name: agent7 + start: [3, 31] +- goal: [8, 21] + name: agent8 + start: [19, 5] +- goal: [6, 21] + name: agent9 + start: [9, 0] +- goal: [21, 12] + name: agent10 + start: [10, 5] +- goal: [30, 13] + name: agent11 + start: [15, 20] +- goal: [24, 3] + name: agent12 + start: [11, 2] +- goal: [13, 0] + name: agent13 + start: [19, 27] +- goal: [30, 11] + name: agent14 + start: [26, 4] +- goal: [27, 15] + name: agent15 + start: [3, 18] +- goal: [8, 31] + name: agent16 + start: [26, 0] +- goal: [24, 20] + name: agent17 + start: [9, 9] +- goal: [19, 27] + name: agent18 + start: [18, 3] +- goal: [28, 11] + name: agent19 + start: [10, 12] +- goal: [3, 24] + name: agent20 + start: [16, 0] +- goal: [1, 29] + name: agent21 + start: [10, 18] +- goal: [27, 23] + name: agent22 + start: [7, 4] +- goal: [18, 28] + name: agent23 + start: [4, 30] +- goal: [28, 8] + name: agent24 + start: [22, 15] +- goal: [3, 30] + name: agent25 + start: [12, 16] +- goal: [24, 8] + name: agent26 + start: [8, 26] +- goal: [27, 13] + name: agent27 + start: [3, 8] +- goal: [21, 7] + name: agent28 + start: [10, 30] +- goal: [18, 17] + name: agent29 + start: [12, 24] +- goal: [21, 26] + name: agent30 + start: [11, 28] +- goal: [15, 9] + name: agent31 + start: [10, 20] +- goal: [14, 29] + name: agent32 + start: [15, 22] +- goal: [12, 29] + name: agent33 + start: [13, 24] +- goal: [31, 0] + name: agent34 + start: [13, 14] +- goal: [30, 21] + name: agent35 + start: [28, 8] +- goal: [25, 2] + name: agent36 + start: [8, 3] +- goal: [15, 28] + name: agent37 + start: [25, 1] +- goal: [5, 10] + name: agent38 + start: [10, 22] +- goal: [23, 31] + name: agent39 + start: [3, 24] +- goal: [25, 5] + name: agent40 + start: [11, 29] +- goal: [0, 30] + name: agent41 + start: [23, 26] +- goal: [8, 23] + name: agent42 + start: [22, 22] +- goal: [27, 4] + name: agent43 + start: [10, 4] +- goal: [23, 8] + name: agent44 + start: [31, 13] +- goal: [19, 17] + name: agent45 + start: [12, 14] +- goal: [22, 23] + name: agent46 + start: [1, 16] +- goal: [7, 28] + name: agent47 + start: [21, 4] +- goal: [19, 7] + name: agent48 + start: [5, 4] +- goal: [15, 24] + name: agent49 + start: [0, 12] +- goal: [21, 13] + name: agent50 + start: [0, 1] +- goal: [22, 24] + name: agent51 + start: [10, 11] +- goal: [12, 1] + name: agent52 + start: [20, 13] +- goal: [11, 27] + name: agent53 + start: [17, 2] +- goal: [1, 10] + name: agent54 + start: [8, 17] +- goal: [18, 18] + name: agent55 + start: [28, 12] +- goal: [21, 3] + name: agent56 + start: [11, 7] +- goal: [24, 13] + name: agent57 + start: [4, 20] +- goal: [21, 18] + name: agent58 + start: [25, 8] +- goal: [12, 25] + name: agent59 + start: [26, 28] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [22, 27] + - !!python/tuple [26, 8] + - !!python/tuple [30, 15] + - !!python/tuple [27, 22] + - !!python/tuple [4, 13] + - !!python/tuple [16, 20] + - !!python/tuple [25, 27] + - !!python/tuple [13, 5] + - !!python/tuple [13, 8] + - !!python/tuple [30, 18] + - !!python/tuple [19, 30] + - !!python/tuple [24, 17] + - !!python/tuple [11, 26] + - !!python/tuple [28, 19] + - !!python/tuple [28, 5] + - !!python/tuple [27, 11] + - !!python/tuple [25, 9] + - !!python/tuple [25, 14] + - !!python/tuple [20, 28] + - !!python/tuple [2, 10] + - !!python/tuple [13, 1] + - !!python/tuple [22, 11] + - !!python/tuple [11, 10] + - !!python/tuple [5, 17] + - !!python/tuple [30, 20] + - !!python/tuple [0, 9] + - !!python/tuple [2, 15] + - !!python/tuple [17, 18] + - !!python/tuple [24, 2] + - !!python/tuple [15, 14] + - !!python/tuple [23, 2] + - !!python/tuple [13, 6] + - !!python/tuple [2, 6] + - !!python/tuple [15, 21] + - !!python/tuple [17, 25] + - !!python/tuple [3, 5] + - !!python/tuple [23, 23] + - !!python/tuple [16, 29] + - !!python/tuple [19, 18] + - !!python/tuple [10, 19] + - !!python/tuple [19, 3] + - !!python/tuple [5, 27] + - !!python/tuple [25, 3] + - !!python/tuple [13, 22] + - !!python/tuple [4, 8] + - !!python/tuple [17, 11] + - !!python/tuple [18, 14] + - !!python/tuple [8, 6] + - !!python/tuple [27, 0] + - !!python/tuple [8, 2] + - !!python/tuple [12, 12] + - !!python/tuple [12, 6] + - !!python/tuple [23, 25] + - !!python/tuple [19, 24] + - !!python/tuple [25, 4] + - !!python/tuple [30, 6] + - !!python/tuple [6, 9] + - !!python/tuple [7, 24] + - !!python/tuple [29, 12] + - !!python/tuple [0, 6] + - !!python/tuple [9, 23] + - !!python/tuple [24, 22] + - !!python/tuple [16, 24] + - !!python/tuple [1, 24] + - !!python/tuple [5, 8] + - !!python/tuple [12, 3] + - !!python/tuple [16, 13] + - !!python/tuple [22, 1] + - !!python/tuple [20, 0] + - !!python/tuple [2, 20] + - !!python/tuple [13, 20] + - !!python/tuple [27, 9] + - !!python/tuple [21, 5] + - !!python/tuple [23, 14] + - !!python/tuple [20, 10] + - !!python/tuple [20, 12] + - !!python/tuple [5, 1] + - !!python/tuple [6, 30] + - !!python/tuple [21, 6] + - !!python/tuple [24, 0] + - !!python/tuple [14, 1] + - !!python/tuple [2, 0] + - !!python/tuple [20, 6] + - !!python/tuple [30, 3] + - !!python/tuple [4, 0] + - !!python/tuple [8, 18] + - !!python/tuple [31, 22] + - !!python/tuple [16, 15] + - !!python/tuple [13, 27] + - !!python/tuple [19, 25] + - !!python/tuple [13, 3] + - !!python/tuple [29, 0] + - !!python/tuple [18, 30] + - !!python/tuple [9, 1] + - !!python/tuple [31, 1] + - !!python/tuple [13, 31] + - !!python/tuple [21, 25] + - !!python/tuple [7, 2] + - !!python/tuple [27, 27] + - !!python/tuple [16, 31] + - !!python/tuple [12, 9] + - !!python/tuple [23, 0] + - !!python/tuple [29, 18] + - !!python/tuple [13, 25] + - !!python/tuple [9, 4] + - !!python/tuple [17, 6] + - !!python/tuple [1, 0] + - !!python/tuple [25, 21] + - !!python/tuple [12, 31] + - !!python/tuple [15, 5] + - !!python/tuple [12, 8] + - !!python/tuple [12, 21] + - !!python/tuple [14, 24] + - !!python/tuple [24, 4] + - !!python/tuple [6, 31] + - !!python/tuple [17, 29] + - !!python/tuple [6, 6] + - !!python/tuple [22, 30] + - !!python/tuple [13, 15] + - !!python/tuple [15, 17] + - !!python/tuple [22, 6] + - !!python/tuple [1, 13] + - !!python/tuple [0, 25] + - !!python/tuple [7, 10] + - !!python/tuple [13, 30] + - !!python/tuple [14, 21] + - !!python/tuple [13, 21] + - !!python/tuple [30, 23] + - !!python/tuple [26, 12] + - !!python/tuple [31, 19] + - !!python/tuple [24, 31] + - !!python/tuple [22, 7] + - !!python/tuple [31, 25] + - !!python/tuple [10, 8] + - !!python/tuple [28, 31] + - !!python/tuple [26, 20] + - !!python/tuple [9, 3] + - !!python/tuple [23, 4] + - !!python/tuple [14, 26] + - !!python/tuple [25, 11] + - !!python/tuple [26, 27] + - !!python/tuple [13, 2] + - !!python/tuple [4, 15] + - !!python/tuple [9, 28] + - !!python/tuple [17, 10] + - !!python/tuple [28, 4] + - !!python/tuple [18, 23] + - !!python/tuple [18, 15] + - !!python/tuple [9, 19] + - !!python/tuple [8, 4] + - !!python/tuple [6, 16] + - !!python/tuple [7, 5] + - !!python/tuple [15, 29] + - !!python/tuple [14, 30] + - !!python/tuple [12, 5] + - !!python/tuple [9, 10] + - !!python/tuple [10, 10] + - !!python/tuple [11, 4] + - !!python/tuple [17, 14] + - !!python/tuple [5, 26] + - !!python/tuple [28, 25] + - !!python/tuple [11, 22] + - !!python/tuple [0, 26] + - !!python/tuple [22, 21] + - !!python/tuple [25, 17] + - !!python/tuple [23, 6] + - !!python/tuple [29, 10] + - !!python/tuple [4, 23] + - !!python/tuple [4, 10] + - !!python/tuple [18, 1] + - !!python/tuple [30, 9] + - !!python/tuple [29, 9] + - !!python/tuple [27, 5] + - !!python/tuple [0, 17] + - !!python/tuple [26, 21] + - !!python/tuple [16, 27] + - !!python/tuple [29, 7] + - !!python/tuple [16, 8] + - !!python/tuple [29, 28] + - !!python/tuple [28, 6] + - !!python/tuple [1, 31] + - !!python/tuple [8, 5] + - !!python/tuple [25, 24] + - !!python/tuple [2, 30] + - !!python/tuple [17, 15] + - !!python/tuple [14, 15] + - !!python/tuple [24, 1] + - !!python/tuple [14, 11] + - !!python/tuple [13, 13] + - !!python/tuple [17, 13] + - !!python/tuple [18, 6] + - !!python/tuple [6, 15] + - !!python/tuple [18, 24] + - !!python/tuple [31, 11] + - !!python/tuple [23, 9] + - !!python/tuple [4, 28] + - !!python/tuple [21, 30] + - !!python/tuple [29, 22] + - !!python/tuple [20, 20] + - !!python/tuple [8, 9] + - !!python/tuple [1, 23] + - !!python/tuple [11, 13] + - !!python/tuple [22, 13] + - !!python/tuple [25, 16] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex76.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex76.yaml new file mode 100644 index 0000000..083a545 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex76.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [12, 8] + name: agent0 + start: [7, 3] +- goal: [28, 12] + name: agent1 + start: [31, 10] +- goal: [4, 13] + name: agent2 + start: [2, 20] +- goal: [19, 29] + name: agent3 + start: [22, 0] +- goal: [29, 4] + name: agent4 + start: [1, 29] +- goal: [2, 17] + name: agent5 + start: [6, 12] +- goal: [10, 25] + name: agent6 + start: [31, 9] +- goal: [25, 26] + name: agent7 + start: [3, 9] +- goal: [16, 2] + name: agent8 + start: [5, 6] +- goal: [14, 18] + name: agent9 + start: [3, 1] +- goal: [23, 11] + name: agent10 + start: [21, 31] +- goal: [3, 1] + name: agent11 + start: [15, 11] +- goal: [7, 30] + name: agent12 + start: [0, 1] +- goal: [4, 27] + name: agent13 + start: [4, 4] +- goal: [29, 22] + name: agent14 + start: [6, 30] +- goal: [29, 0] + name: agent15 + start: [7, 19] +- goal: [6, 26] + name: agent16 + start: [12, 12] +- goal: [10, 22] + name: agent17 + start: [29, 22] +- goal: [27, 19] + name: agent18 + start: [17, 25] +- goal: [2, 8] + name: agent19 + start: [31, 2] +- goal: [14, 21] + name: agent20 + start: [29, 4] +- goal: [14, 12] + name: agent21 + start: [10, 9] +- goal: [15, 14] + name: agent22 + start: [12, 30] +- goal: [21, 20] + name: agent23 + start: [30, 27] +- goal: [12, 22] + name: agent24 + start: [28, 5] +- goal: [18, 14] + name: agent25 + start: [3, 3] +- goal: [29, 17] + name: agent26 + start: [4, 17] +- goal: [30, 25] + name: agent27 + start: [27, 19] +- goal: [24, 30] + name: agent28 + start: [19, 13] +- goal: [18, 2] + name: agent29 + start: [5, 2] +- goal: [11, 26] + name: agent30 + start: [7, 26] +- goal: [14, 31] + name: agent31 + start: [6, 2] +- goal: [16, 31] + name: agent32 + start: [15, 9] +- goal: [11, 1] + name: agent33 + start: [24, 19] +- goal: [10, 23] + name: agent34 + start: [22, 3] +- goal: [14, 22] + name: agent35 + start: [14, 4] +- goal: [25, 15] + name: agent36 + start: [13, 6] +- goal: [29, 26] + name: agent37 + start: [4, 31] +- goal: [14, 26] + name: agent38 + start: [13, 1] +- goal: [26, 21] + name: agent39 + start: [23, 5] +- goal: [4, 8] + name: agent40 + start: [27, 6] +- goal: [1, 30] + name: agent41 + start: [21, 1] +- goal: [1, 9] + name: agent42 + start: [14, 23] +- goal: [0, 2] + name: agent43 + start: [2, 21] +- goal: [20, 17] + name: agent44 + start: [9, 12] +- goal: [15, 12] + name: agent45 + start: [30, 1] +- goal: [11, 11] + name: agent46 + start: [2, 28] +- goal: [29, 21] + name: agent47 + start: [23, 1] +- goal: [23, 22] + name: agent48 + start: [0, 23] +- goal: [10, 16] + name: agent49 + start: [0, 12] +- goal: [29, 9] + name: agent50 + start: [10, 31] +- goal: [29, 7] + name: agent51 + start: [14, 9] +- goal: [5, 12] + name: agent52 + start: [15, 30] +- goal: [25, 1] + name: agent53 + start: [23, 2] +- goal: [8, 17] + name: agent54 + start: [22, 5] +- goal: [25, 27] + name: agent55 + start: [20, 7] +- goal: [9, 26] + name: agent56 + start: [30, 14] +- goal: [12, 20] + name: agent57 + start: [9, 3] +- goal: [6, 19] + name: agent58 + start: [10, 22] +- goal: [2, 23] + name: agent59 + start: [10, 10] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [11, 25] + - !!python/tuple [6, 25] + - !!python/tuple [22, 10] + - !!python/tuple [17, 27] + - !!python/tuple [1, 10] + - !!python/tuple [0, 16] + - !!python/tuple [5, 18] + - !!python/tuple [15, 22] + - !!python/tuple [15, 17] + - !!python/tuple [9, 2] + - !!python/tuple [2, 9] + - !!python/tuple [7, 9] + - !!python/tuple [19, 31] + - !!python/tuple [3, 5] + - !!python/tuple [13, 13] + - !!python/tuple [5, 5] + - !!python/tuple [2, 25] + - !!python/tuple [2, 7] + - !!python/tuple [14, 17] + - !!python/tuple [13, 16] + - !!python/tuple [0, 4] + - !!python/tuple [25, 24] + - !!python/tuple [12, 16] + - !!python/tuple [29, 3] + - !!python/tuple [8, 29] + - !!python/tuple [29, 30] + - !!python/tuple [21, 10] + - !!python/tuple [17, 7] + - !!python/tuple [9, 14] + - !!python/tuple [8, 20] + - !!python/tuple [5, 21] + - !!python/tuple [5, 9] + - !!python/tuple [25, 3] + - !!python/tuple [29, 27] + - !!python/tuple [3, 11] + - !!python/tuple [27, 11] + - !!python/tuple [20, 23] + - !!python/tuple [16, 19] + - !!python/tuple [8, 27] + - !!python/tuple [18, 22] + - !!python/tuple [27, 26] + - !!python/tuple [2, 14] + - !!python/tuple [6, 7] + - !!python/tuple [9, 10] + - !!python/tuple [31, 8] + - !!python/tuple [14, 3] + - !!python/tuple [16, 13] + - !!python/tuple [5, 29] + - !!python/tuple [23, 0] + - !!python/tuple [27, 31] + - !!python/tuple [4, 9] + - !!python/tuple [11, 31] + - !!python/tuple [5, 28] + - !!python/tuple [12, 18] + - !!python/tuple [8, 23] + - !!python/tuple [4, 0] + - !!python/tuple [4, 26] + - !!python/tuple [18, 31] + - !!python/tuple [31, 14] + - !!python/tuple [28, 25] + - !!python/tuple [10, 28] + - !!python/tuple [1, 14] + - !!python/tuple [0, 10] + - !!python/tuple [4, 18] + - !!python/tuple [27, 28] + - !!python/tuple [26, 9] + - !!python/tuple [22, 29] + - !!python/tuple [8, 15] + - !!python/tuple [5, 8] + - !!python/tuple [12, 26] + - !!python/tuple [12, 2] + - !!python/tuple [28, 17] + - !!python/tuple [16, 26] + - !!python/tuple [28, 31] + - !!python/tuple [23, 30] + - !!python/tuple [1, 7] + - !!python/tuple [10, 2] + - !!python/tuple [21, 3] + - !!python/tuple [0, 26] + - !!python/tuple [12, 23] + - !!python/tuple [20, 0] + - !!python/tuple [9, 20] + - !!python/tuple [2, 19] + - !!python/tuple [26, 26] + - !!python/tuple [7, 13] + - !!python/tuple [30, 28] + - !!python/tuple [14, 5] + - !!python/tuple [6, 27] + - !!python/tuple [15, 25] + - !!python/tuple [20, 19] + - !!python/tuple [13, 2] + - !!python/tuple [3, 22] + - !!python/tuple [27, 29] + - !!python/tuple [12, 24] + - !!python/tuple [23, 13] + - !!python/tuple [2, 16] + - !!python/tuple [27, 8] + - !!python/tuple [15, 0] + - !!python/tuple [23, 6] + - !!python/tuple [5, 17] + - !!python/tuple [1, 1] + - !!python/tuple [14, 24] + - !!python/tuple [5, 22] + - !!python/tuple [11, 17] + - !!python/tuple [16, 11] + - !!python/tuple [27, 14] + - !!python/tuple [0, 3] + - !!python/tuple [18, 20] + - !!python/tuple [15, 10] + - !!python/tuple [27, 20] + - !!python/tuple [0, 27] + - !!python/tuple [14, 11] + - !!python/tuple [1, 5] + - !!python/tuple [10, 14] + - !!python/tuple [29, 24] + - !!python/tuple [16, 1] + - !!python/tuple [1, 26] + - !!python/tuple [9, 8] + - !!python/tuple [4, 21] + - !!python/tuple [24, 31] + - !!python/tuple [31, 24] + - !!python/tuple [9, 1] + - !!python/tuple [20, 31] + - !!python/tuple [31, 0] + - !!python/tuple [5, 31] + - !!python/tuple [3, 20] + - !!python/tuple [29, 5] + - !!python/tuple [5, 24] + - !!python/tuple [4, 10] + - !!python/tuple [0, 7] + - !!python/tuple [28, 19] + - !!python/tuple [28, 26] + - !!python/tuple [30, 13] + - !!python/tuple [28, 6] + - !!python/tuple [9, 16] + - !!python/tuple [16, 12] + - !!python/tuple [10, 19] + - !!python/tuple [10, 5] + - !!python/tuple [4, 28] + - !!python/tuple [3, 13] + - !!python/tuple [10, 13] + - !!python/tuple [23, 29] + - !!python/tuple [27, 4] + - !!python/tuple [15, 28] + - !!python/tuple [19, 16] + - !!python/tuple [12, 15] + - !!python/tuple [28, 21] + - !!python/tuple [30, 10] + - !!python/tuple [22, 7] + - !!python/tuple [25, 16] + - !!python/tuple [23, 25] + - !!python/tuple [20, 2] + - !!python/tuple [25, 12] + - !!python/tuple [31, 13] + - !!python/tuple [8, 12] + - !!python/tuple [28, 7] + - !!python/tuple [31, 26] + - !!python/tuple [28, 30] + - !!python/tuple [27, 22] + - !!python/tuple [27, 2] + - !!python/tuple [20, 21] + - !!python/tuple [9, 7] + - !!python/tuple [7, 29] + - !!python/tuple [8, 6] + - !!python/tuple [28, 1] + - !!python/tuple [24, 7] + - !!python/tuple [0, 13] + - !!python/tuple [0, 6] + - !!python/tuple [12, 17] + - !!python/tuple [17, 14] + - !!python/tuple [24, 11] + - !!python/tuple [10, 7] + - !!python/tuple [15, 8] + - !!python/tuple [26, 4] + - !!python/tuple [23, 12] + - !!python/tuple [12, 5] + - !!python/tuple [30, 3] + - !!python/tuple [28, 3] + - !!python/tuple [29, 11] + - !!python/tuple [21, 8] + - !!python/tuple [28, 0] + - !!python/tuple [8, 5] + - !!python/tuple [22, 30] + - !!python/tuple [17, 5] + - !!python/tuple [18, 1] + - !!python/tuple [25, 31] + - !!python/tuple [10, 8] + - !!python/tuple [21, 19] + - !!python/tuple [26, 1] + - !!python/tuple [23, 14] + - !!python/tuple [22, 14] + - !!python/tuple [18, 24] + - !!python/tuple [10, 15] + - !!python/tuple [8, 10] + - !!python/tuple [13, 0] + - !!python/tuple [26, 8] + - !!python/tuple [29, 20] + - !!python/tuple [17, 26] + - !!python/tuple [31, 1] + - !!python/tuple [0, 17] + - !!python/tuple [12, 9] + - !!python/tuple [30, 31] + - !!python/tuple [23, 4] + - !!python/tuple [15, 31] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex77.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex77.yaml new file mode 100644 index 0000000..93d20a5 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex77.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [22, 16] + name: agent0 + start: [26, 17] +- goal: [6, 7] + name: agent1 + start: [23, 15] +- goal: [14, 3] + name: agent2 + start: [3, 13] +- goal: [27, 11] + name: agent3 + start: [6, 30] +- goal: [19, 30] + name: agent4 + start: [10, 14] +- goal: [13, 4] + name: agent5 + start: [3, 21] +- goal: [24, 9] + name: agent6 + start: [1, 14] +- goal: [22, 17] + name: agent7 + start: [27, 17] +- goal: [8, 6] + name: agent8 + start: [30, 14] +- goal: [24, 18] + name: agent9 + start: [23, 11] +- goal: [31, 30] + name: agent10 + start: [27, 16] +- goal: [1, 14] + name: agent11 + start: [31, 4] +- goal: [15, 24] + name: agent12 + start: [20, 23] +- goal: [5, 23] + name: agent13 + start: [28, 28] +- goal: [29, 25] + name: agent14 + start: [19, 6] +- goal: [31, 28] + name: agent15 + start: [20, 0] +- goal: [8, 0] + name: agent16 + start: [13, 27] +- goal: [28, 22] + name: agent17 + start: [17, 29] +- goal: [0, 10] + name: agent18 + start: [9, 20] +- goal: [19, 26] + name: agent19 + start: [7, 5] +- goal: [24, 29] + name: agent20 + start: [26, 8] +- goal: [2, 15] + name: agent21 + start: [5, 13] +- goal: [19, 1] + name: agent22 + start: [28, 11] +- goal: [14, 27] + name: agent23 + start: [6, 15] +- goal: [12, 30] + name: agent24 + start: [28, 24] +- goal: [17, 1] + name: agent25 + start: [22, 11] +- goal: [16, 7] + name: agent26 + start: [15, 10] +- goal: [24, 2] + name: agent27 + start: [9, 16] +- goal: [29, 16] + name: agent28 + start: [25, 12] +- goal: [13, 16] + name: agent29 + start: [15, 4] +- goal: [16, 30] + name: agent30 + start: [21, 10] +- goal: [18, 1] + name: agent31 + start: [31, 28] +- goal: [19, 5] + name: agent32 + start: [3, 25] +- goal: [8, 10] + name: agent33 + start: [21, 17] +- goal: [5, 18] + name: agent34 + start: [29, 30] +- goal: [18, 23] + name: agent35 + start: [25, 13] +- goal: [24, 3] + name: agent36 + start: [26, 9] +- goal: [5, 27] + name: agent37 + start: [4, 17] +- goal: [25, 6] + name: agent38 + start: [24, 24] +- goal: [6, 15] + name: agent39 + start: [17, 22] +- goal: [9, 27] + name: agent40 + start: [3, 31] +- goal: [28, 10] + name: agent41 + start: [29, 13] +- goal: [8, 2] + name: agent42 + start: [14, 29] +- goal: [28, 28] + name: agent43 + start: [22, 17] +- goal: [5, 28] + name: agent44 + start: [12, 15] +- goal: [18, 13] + name: agent45 + start: [11, 25] +- goal: [10, 14] + name: agent46 + start: [10, 7] +- goal: [0, 26] + name: agent47 + start: [17, 30] +- goal: [1, 10] + name: agent48 + start: [23, 27] +- goal: [5, 24] + name: agent49 + start: [26, 24] +- goal: [7, 1] + name: agent50 + start: [25, 1] +- goal: [16, 3] + name: agent51 + start: [5, 26] +- goal: [7, 27] + name: agent52 + start: [13, 21] +- goal: [17, 24] + name: agent53 + start: [26, 25] +- goal: [11, 7] + name: agent54 + start: [20, 11] +- goal: [1, 31] + name: agent55 + start: [3, 2] +- goal: [24, 11] + name: agent56 + start: [22, 14] +- goal: [29, 18] + name: agent57 + start: [25, 20] +- goal: [2, 31] + name: agent58 + start: [11, 0] +- goal: [20, 9] + name: agent59 + start: [30, 17] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [24, 28] + - !!python/tuple [23, 28] + - !!python/tuple [29, 1] + - !!python/tuple [7, 26] + - !!python/tuple [13, 6] + - !!python/tuple [30, 13] + - !!python/tuple [14, 20] + - !!python/tuple [29, 21] + - !!python/tuple [11, 20] + - !!python/tuple [19, 28] + - !!python/tuple [27, 9] + - !!python/tuple [1, 3] + - !!python/tuple [24, 21] + - !!python/tuple [1, 19] + - !!python/tuple [30, 10] + - !!python/tuple [2, 25] + - !!python/tuple [30, 7] + - !!python/tuple [7, 25] + - !!python/tuple [6, 31] + - !!python/tuple [5, 31] + - !!python/tuple [8, 30] + - !!python/tuple [14, 13] + - !!python/tuple [14, 23] + - !!python/tuple [10, 9] + - !!python/tuple [21, 29] + - !!python/tuple [3, 28] + - !!python/tuple [15, 18] + - !!python/tuple [4, 25] + - !!python/tuple [2, 26] + - !!python/tuple [2, 1] + - !!python/tuple [12, 28] + - !!python/tuple [20, 16] + - !!python/tuple [6, 24] + - !!python/tuple [6, 13] + - !!python/tuple [30, 27] + - !!python/tuple [22, 12] + - !!python/tuple [25, 11] + - !!python/tuple [18, 3] + - !!python/tuple [2, 29] + - !!python/tuple [22, 0] + - !!python/tuple [16, 5] + - !!python/tuple [21, 31] + - !!python/tuple [12, 1] + - !!python/tuple [18, 15] + - !!python/tuple [24, 26] + - !!python/tuple [20, 2] + - !!python/tuple [12, 0] + - !!python/tuple [30, 29] + - !!python/tuple [23, 22] + - !!python/tuple [8, 17] + - !!python/tuple [7, 13] + - !!python/tuple [11, 12] + - !!python/tuple [31, 24] + - !!python/tuple [4, 6] + - !!python/tuple [10, 2] + - !!python/tuple [14, 18] + - !!python/tuple [23, 17] + - !!python/tuple [4, 10] + - !!python/tuple [19, 25] + - !!python/tuple [31, 29] + - !!python/tuple [13, 20] + - !!python/tuple [7, 3] + - !!python/tuple [16, 19] + - !!python/tuple [21, 20] + - !!python/tuple [4, 11] + - !!python/tuple [21, 8] + - !!python/tuple [26, 5] + - !!python/tuple [8, 8] + - !!python/tuple [20, 15] + - !!python/tuple [2, 28] + - !!python/tuple [1, 9] + - !!python/tuple [27, 27] + - !!python/tuple [1, 28] + - !!python/tuple [6, 11] + - !!python/tuple [23, 24] + - !!python/tuple [8, 5] + - !!python/tuple [10, 19] + - !!python/tuple [10, 16] + - !!python/tuple [18, 12] + - !!python/tuple [18, 21] + - !!python/tuple [20, 13] + - !!python/tuple [28, 21] + - !!python/tuple [17, 19] + - !!python/tuple [0, 9] + - !!python/tuple [16, 13] + - !!python/tuple [24, 4] + - !!python/tuple [28, 23] + - !!python/tuple [2, 2] + - !!python/tuple [29, 7] + - !!python/tuple [7, 20] + - !!python/tuple [24, 14] + - !!python/tuple [28, 31] + - !!python/tuple [10, 8] + - !!python/tuple [5, 7] + - !!python/tuple [6, 16] + - !!python/tuple [26, 27] + - !!python/tuple [6, 25] + - !!python/tuple [31, 26] + - !!python/tuple [6, 6] + - !!python/tuple [11, 8] + - !!python/tuple [30, 22] + - !!python/tuple [4, 27] + - !!python/tuple [3, 8] + - !!python/tuple [19, 23] + - !!python/tuple [4, 30] + - !!python/tuple [7, 22] + - !!python/tuple [5, 21] + - !!python/tuple [15, 25] + - !!python/tuple [23, 12] + - !!python/tuple [27, 21] + - !!python/tuple [27, 10] + - !!python/tuple [26, 2] + - !!python/tuple [16, 11] + - !!python/tuple [25, 29] + - !!python/tuple [5, 17] + - !!python/tuple [2, 10] + - !!python/tuple [14, 25] + - !!python/tuple [27, 12] + - !!python/tuple [29, 29] + - !!python/tuple [11, 15] + - !!python/tuple [26, 7] + - !!python/tuple [14, 1] + - !!python/tuple [22, 19] + - !!python/tuple [19, 2] + - !!python/tuple [29, 15] + - !!python/tuple [24, 12] + - !!python/tuple [23, 3] + - !!python/tuple [24, 22] + - !!python/tuple [0, 21] + - !!python/tuple [31, 17] + - !!python/tuple [29, 6] + - !!python/tuple [21, 3] + - !!python/tuple [1, 26] + - !!python/tuple [2, 11] + - !!python/tuple [4, 2] + - !!python/tuple [18, 28] + - !!python/tuple [16, 20] + - !!python/tuple [24, 0] + - !!python/tuple [27, 0] + - !!python/tuple [28, 25] + - !!python/tuple [28, 13] + - !!python/tuple [27, 31] + - !!python/tuple [29, 11] + - !!python/tuple [12, 23] + - !!python/tuple [7, 24] + - !!python/tuple [16, 21] + - !!python/tuple [5, 16] + - !!python/tuple [16, 18] + - !!python/tuple [14, 4] + - !!python/tuple [21, 25] + - !!python/tuple [22, 20] + - !!python/tuple [21, 0] + - !!python/tuple [16, 4] + - !!python/tuple [19, 31] + - !!python/tuple [8, 1] + - !!python/tuple [16, 1] + - !!python/tuple [19, 19] + - !!python/tuple [13, 5] + - !!python/tuple [7, 14] + - !!python/tuple [21, 22] + - !!python/tuple [26, 10] + - !!python/tuple [14, 11] + - !!python/tuple [15, 31] + - !!python/tuple [1, 4] + - !!python/tuple [26, 4] + - !!python/tuple [22, 15] + - !!python/tuple [10, 20] + - !!python/tuple [31, 2] + - !!python/tuple [19, 7] + - !!python/tuple [2, 23] + - !!python/tuple [20, 22] + - !!python/tuple [10, 6] + - !!python/tuple [15, 6] + - !!python/tuple [23, 1] + - !!python/tuple [15, 20] + - !!python/tuple [5, 6] + - !!python/tuple [3, 7] + - !!python/tuple [20, 25] + - !!python/tuple [21, 1] + - !!python/tuple [13, 17] + - !!python/tuple [31, 0] + - !!python/tuple [11, 24] + - !!python/tuple [20, 4] + - !!python/tuple [4, 5] + - !!python/tuple [7, 28] + - !!python/tuple [21, 30] + - !!python/tuple [9, 5] + - !!python/tuple [14, 0] + - !!python/tuple [0, 14] + - !!python/tuple [29, 2] + - !!python/tuple [15, 13] + - !!python/tuple [23, 10] + - !!python/tuple [3, 9] + - !!python/tuple [26, 1] + - !!python/tuple [20, 18] + - !!python/tuple [20, 14] + - !!python/tuple [9, 9] + - !!python/tuple [21, 26] + - !!python/tuple [21, 13] + - !!python/tuple [0, 19] + - !!python/tuple [16, 26] + - !!python/tuple [10, 11] + - !!python/tuple [19, 16] + - !!python/tuple [22, 21] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex78.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex78.yaml new file mode 100644 index 0000000..5bf78e1 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex78.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [28, 1] + name: agent0 + start: [16, 10] +- goal: [31, 4] + name: agent1 + start: [15, 4] +- goal: [15, 28] + name: agent2 + start: [10, 25] +- goal: [19, 3] + name: agent3 + start: [16, 25] +- goal: [17, 12] + name: agent4 + start: [26, 11] +- goal: [26, 5] + name: agent5 + start: [29, 30] +- goal: [21, 23] + name: agent6 + start: [11, 13] +- goal: [29, 0] + name: agent7 + start: [31, 16] +- goal: [9, 13] + name: agent8 + start: [7, 3] +- goal: [15, 26] + name: agent9 + start: [21, 25] +- goal: [18, 22] + name: agent10 + start: [19, 13] +- goal: [11, 9] + name: agent11 + start: [12, 22] +- goal: [15, 10] + name: agent12 + start: [28, 30] +- goal: [14, 25] + name: agent13 + start: [27, 27] +- goal: [7, 25] + name: agent14 + start: [12, 8] +- goal: [29, 26] + name: agent15 + start: [0, 23] +- goal: [9, 15] + name: agent16 + start: [25, 3] +- goal: [4, 8] + name: agent17 + start: [5, 1] +- goal: [17, 17] + name: agent18 + start: [25, 20] +- goal: [27, 5] + name: agent19 + start: [2, 4] +- goal: [17, 28] + name: agent20 + start: [31, 27] +- goal: [14, 30] + name: agent21 + start: [22, 15] +- goal: [23, 20] + name: agent22 + start: [14, 17] +- goal: [22, 16] + name: agent23 + start: [5, 15] +- goal: [26, 29] + name: agent24 + start: [3, 9] +- goal: [30, 19] + name: agent25 + start: [6, 16] +- goal: [20, 12] + name: agent26 + start: [6, 21] +- goal: [16, 15] + name: agent27 + start: [18, 15] +- goal: [30, 13] + name: agent28 + start: [22, 8] +- goal: [6, 18] + name: agent29 + start: [21, 26] +- goal: [13, 28] + name: agent30 + start: [10, 4] +- goal: [16, 7] + name: agent31 + start: [16, 29] +- goal: [7, 11] + name: agent32 + start: [5, 3] +- goal: [29, 17] + name: agent33 + start: [6, 13] +- goal: [12, 16] + name: agent34 + start: [13, 0] +- goal: [28, 22] + name: agent35 + start: [31, 4] +- goal: [25, 4] + name: agent36 + start: [11, 5] +- goal: [22, 15] + name: agent37 + start: [11, 17] +- goal: [3, 28] + name: agent38 + start: [27, 15] +- goal: [6, 2] + name: agent39 + start: [17, 5] +- goal: [3, 16] + name: agent40 + start: [4, 28] +- goal: [4, 5] + name: agent41 + start: [17, 23] +- goal: [27, 7] + name: agent42 + start: [4, 7] +- goal: [13, 4] + name: agent43 + start: [8, 12] +- goal: [14, 27] + name: agent44 + start: [23, 4] +- goal: [10, 21] + name: agent45 + start: [11, 9] +- goal: [13, 22] + name: agent46 + start: [5, 30] +- goal: [27, 8] + name: agent47 + start: [10, 9] +- goal: [9, 21] + name: agent48 + start: [1, 0] +- goal: [14, 20] + name: agent49 + start: [24, 30] +- goal: [29, 3] + name: agent50 + start: [31, 5] +- goal: [20, 11] + name: agent51 + start: [10, 5] +- goal: [14, 24] + name: agent52 + start: [28, 22] +- goal: [5, 6] + name: agent53 + start: [8, 18] +- goal: [24, 3] + name: agent54 + start: [8, 8] +- goal: [14, 8] + name: agent55 + start: [2, 1] +- goal: [23, 23] + name: agent56 + start: [0, 30] +- goal: [3, 30] + name: agent57 + start: [9, 23] +- goal: [31, 18] + name: agent58 + start: [27, 22] +- goal: [4, 24] + name: agent59 + start: [9, 29] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [31, 12] + - !!python/tuple [16, 6] + - !!python/tuple [15, 21] + - !!python/tuple [22, 1] + - !!python/tuple [28, 4] + - !!python/tuple [14, 31] + - !!python/tuple [5, 0] + - !!python/tuple [25, 19] + - !!python/tuple [26, 30] + - !!python/tuple [29, 16] + - !!python/tuple [28, 20] + - !!python/tuple [10, 20] + - !!python/tuple [21, 15] + - !!python/tuple [19, 29] + - !!python/tuple [15, 24] + - !!python/tuple [10, 16] + - !!python/tuple [19, 25] + - !!python/tuple [12, 15] + - !!python/tuple [27, 31] + - !!python/tuple [10, 8] + - !!python/tuple [9, 10] + - !!python/tuple [24, 5] + - !!python/tuple [8, 22] + - !!python/tuple [26, 17] + - !!python/tuple [17, 2] + - !!python/tuple [16, 26] + - !!python/tuple [19, 9] + - !!python/tuple [25, 16] + - !!python/tuple [12, 31] + - !!python/tuple [10, 28] + - !!python/tuple [19, 22] + - !!python/tuple [14, 5] + - !!python/tuple [25, 28] + - !!python/tuple [5, 7] + - !!python/tuple [0, 16] + - !!python/tuple [13, 30] + - !!python/tuple [16, 28] + - !!python/tuple [26, 7] + - !!python/tuple [26, 21] + - !!python/tuple [18, 27] + - !!python/tuple [9, 3] + - !!python/tuple [10, 18] + - !!python/tuple [3, 2] + - !!python/tuple [4, 31] + - !!python/tuple [10, 3] + - !!python/tuple [20, 14] + - !!python/tuple [3, 31] + - !!python/tuple [24, 21] + - !!python/tuple [8, 30] + - !!python/tuple [11, 24] + - !!python/tuple [3, 22] + - !!python/tuple [29, 10] + - !!python/tuple [22, 4] + - !!python/tuple [21, 1] + - !!python/tuple [4, 23] + - !!python/tuple [18, 8] + - !!python/tuple [25, 2] + - !!python/tuple [21, 2] + - !!python/tuple [30, 25] + - !!python/tuple [20, 6] + - !!python/tuple [15, 16] + - !!python/tuple [3, 4] + - !!python/tuple [28, 23] + - !!python/tuple [15, 8] + - !!python/tuple [13, 16] + - !!python/tuple [16, 12] + - !!python/tuple [25, 7] + - !!python/tuple [8, 19] + - !!python/tuple [15, 29] + - !!python/tuple [14, 10] + - !!python/tuple [0, 26] + - !!python/tuple [1, 27] + - !!python/tuple [14, 6] + - !!python/tuple [21, 19] + - !!python/tuple [18, 23] + - !!python/tuple [30, 0] + - !!python/tuple [27, 18] + - !!python/tuple [17, 27] + - !!python/tuple [7, 2] + - !!python/tuple [23, 24] + - !!python/tuple [26, 10] + - !!python/tuple [14, 19] + - !!python/tuple [0, 18] + - !!python/tuple [0, 31] + - !!python/tuple [3, 26] + - !!python/tuple [6, 6] + - !!python/tuple [21, 11] + - !!python/tuple [22, 20] + - !!python/tuple [3, 20] + - !!python/tuple [19, 0] + - !!python/tuple [3, 10] + - !!python/tuple [0, 17] + - !!python/tuple [22, 0] + - !!python/tuple [22, 22] + - !!python/tuple [16, 2] + - !!python/tuple [2, 22] + - !!python/tuple [17, 29] + - !!python/tuple [25, 0] + - !!python/tuple [28, 12] + - !!python/tuple [2, 25] + - !!python/tuple [10, 0] + - !!python/tuple [28, 6] + - !!python/tuple [26, 15] + - !!python/tuple [5, 20] + - !!python/tuple [23, 12] + - !!python/tuple [16, 27] + - !!python/tuple [23, 1] + - !!python/tuple [21, 22] + - !!python/tuple [27, 16] + - !!python/tuple [0, 27] + - !!python/tuple [5, 18] + - !!python/tuple [8, 21] + - !!python/tuple [29, 28] + - !!python/tuple [1, 10] + - !!python/tuple [10, 31] + - !!python/tuple [20, 28] + - !!python/tuple [20, 17] + - !!python/tuple [7, 7] + - !!python/tuple [9, 0] + - !!python/tuple [12, 3] + - !!python/tuple [5, 8] + - !!python/tuple [2, 21] + - !!python/tuple [30, 14] + - !!python/tuple [15, 20] + - !!python/tuple [22, 31] + - !!python/tuple [19, 31] + - !!python/tuple [8, 17] + - !!python/tuple [17, 9] + - !!python/tuple [3, 25] + - !!python/tuple [5, 22] + - !!python/tuple [8, 13] + - !!python/tuple [8, 25] + - !!python/tuple [28, 3] + - !!python/tuple [15, 11] + - !!python/tuple [17, 18] + - !!python/tuple [19, 19] + - !!python/tuple [31, 22] + - !!python/tuple [28, 2] + - !!python/tuple [20, 16] + - !!python/tuple [7, 24] + - !!python/tuple [15, 23] + - !!python/tuple [23, 29] + - !!python/tuple [7, 26] + - !!python/tuple [7, 6] + - !!python/tuple [13, 8] + - !!python/tuple [24, 29] + - !!python/tuple [10, 26] + - !!python/tuple [14, 7] + - !!python/tuple [1, 3] + - !!python/tuple [29, 6] + - !!python/tuple [21, 31] + - !!python/tuple [31, 25] + - !!python/tuple [25, 11] + - !!python/tuple [1, 6] + - !!python/tuple [3, 7] + - !!python/tuple [18, 1] + - !!python/tuple [14, 11] + - !!python/tuple [21, 24] + - !!python/tuple [4, 22] + - !!python/tuple [4, 12] + - !!python/tuple [5, 5] + - !!python/tuple [4, 27] + - !!python/tuple [31, 9] + - !!python/tuple [5, 31] + - !!python/tuple [24, 24] + - !!python/tuple [10, 30] + - !!python/tuple [29, 9] + - !!python/tuple [11, 1] + - !!python/tuple [10, 23] + - !!python/tuple [27, 3] + - !!python/tuple [9, 9] + - !!python/tuple [3, 15] + - !!python/tuple [12, 25] + - !!python/tuple [21, 8] + - !!python/tuple [1, 28] + - !!python/tuple [1, 12] + - !!python/tuple [11, 23] + - !!python/tuple [3, 27] + - !!python/tuple [5, 21] + - !!python/tuple [27, 26] + - !!python/tuple [19, 28] + - !!python/tuple [30, 23] + - !!python/tuple [20, 23] + - !!python/tuple [25, 29] + - !!python/tuple [19, 6] + - !!python/tuple [19, 11] + - !!python/tuple [12, 26] + - !!python/tuple [14, 16] + - !!python/tuple [22, 29] + - !!python/tuple [9, 1] + - !!python/tuple [28, 13] + - !!python/tuple [12, 24] + - !!python/tuple [2, 17] + - !!python/tuple [13, 13] + - !!python/tuple [25, 23] + - !!python/tuple [7, 4] + - !!python/tuple [23, 17] + - !!python/tuple [26, 8] + - !!python/tuple [20, 21] + - !!python/tuple [12, 13] + - !!python/tuple [31, 29] + - !!python/tuple [12, 2] + - !!python/tuple [28, 21] + - !!python/tuple [11, 12] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex79.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex79.yaml new file mode 100644 index 0000000..5bd307d --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex79.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [12, 5] + name: agent0 + start: [29, 14] +- goal: [31, 20] + name: agent1 + start: [11, 13] +- goal: [19, 8] + name: agent2 + start: [0, 24] +- goal: [19, 16] + name: agent3 + start: [18, 29] +- goal: [18, 29] + name: agent4 + start: [14, 8] +- goal: [26, 26] + name: agent5 + start: [31, 13] +- goal: [26, 22] + name: agent6 + start: [24, 27] +- goal: [8, 27] + name: agent7 + start: [11, 23] +- goal: [6, 1] + name: agent8 + start: [19, 2] +- goal: [3, 20] + name: agent9 + start: [24, 30] +- goal: [17, 3] + name: agent10 + start: [27, 9] +- goal: [0, 25] + name: agent11 + start: [23, 6] +- goal: [1, 13] + name: agent12 + start: [20, 21] +- goal: [23, 26] + name: agent13 + start: [24, 11] +- goal: [24, 24] + name: agent14 + start: [2, 21] +- goal: [25, 11] + name: agent15 + start: [26, 15] +- goal: [2, 9] + name: agent16 + start: [6, 25] +- goal: [27, 4] + name: agent17 + start: [7, 12] +- goal: [4, 9] + name: agent18 + start: [21, 19] +- goal: [24, 16] + name: agent19 + start: [18, 18] +- goal: [5, 5] + name: agent20 + start: [8, 7] +- goal: [6, 19] + name: agent21 + start: [25, 30] +- goal: [6, 23] + name: agent22 + start: [12, 7] +- goal: [2, 16] + name: agent23 + start: [9, 15] +- goal: [4, 29] + name: agent24 + start: [8, 3] +- goal: [9, 29] + name: agent25 + start: [27, 4] +- goal: [25, 1] + name: agent26 + start: [13, 16] +- goal: [20, 13] + name: agent27 + start: [29, 16] +- goal: [18, 21] + name: agent28 + start: [25, 2] +- goal: [31, 24] + name: agent29 + start: [23, 16] +- goal: [1, 16] + name: agent30 + start: [2, 16] +- goal: [24, 13] + name: agent31 + start: [31, 28] +- goal: [11, 23] + name: agent32 + start: [15, 25] +- goal: [6, 29] + name: agent33 + start: [10, 3] +- goal: [5, 14] + name: agent34 + start: [20, 12] +- goal: [9, 25] + name: agent35 + start: [21, 21] +- goal: [2, 11] + name: agent36 + start: [6, 27] +- goal: [8, 28] + name: agent37 + start: [5, 20] +- goal: [20, 15] + name: agent38 + start: [9, 24] +- goal: [29, 13] + name: agent39 + start: [28, 8] +- goal: [30, 7] + name: agent40 + start: [9, 10] +- goal: [23, 14] + name: agent41 + start: [1, 20] +- goal: [27, 29] + name: agent42 + start: [30, 3] +- goal: [11, 16] + name: agent43 + start: [4, 16] +- goal: [22, 30] + name: agent44 + start: [29, 27] +- goal: [11, 4] + name: agent45 + start: [16, 24] +- goal: [18, 20] + name: agent46 + start: [10, 14] +- goal: [10, 25] + name: agent47 + start: [25, 17] +- goal: [28, 10] + name: agent48 + start: [7, 24] +- goal: [26, 2] + name: agent49 + start: [2, 22] +- goal: [21, 6] + name: agent50 + start: [15, 14] +- goal: [26, 13] + name: agent51 + start: [5, 16] +- goal: [7, 26] + name: agent52 + start: [15, 19] +- goal: [12, 13] + name: agent53 + start: [30, 7] +- goal: [1, 11] + name: agent54 + start: [0, 31] +- goal: [16, 18] + name: agent55 + start: [4, 7] +- goal: [7, 3] + name: agent56 + start: [28, 28] +- goal: [14, 5] + name: agent57 + start: [1, 30] +- goal: [19, 7] + name: agent58 + start: [19, 1] +- goal: [10, 13] + name: agent59 + start: [12, 6] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [4, 26] + - !!python/tuple [24, 15] + - !!python/tuple [4, 18] + - !!python/tuple [23, 31] + - !!python/tuple [11, 2] + - !!python/tuple [21, 3] + - !!python/tuple [31, 10] + - !!python/tuple [27, 24] + - !!python/tuple [29, 5] + - !!python/tuple [12, 12] + - !!python/tuple [0, 9] + - !!python/tuple [28, 17] + - !!python/tuple [30, 30] + - !!python/tuple [29, 8] + - !!python/tuple [30, 25] + - !!python/tuple [19, 5] + - !!python/tuple [26, 9] + - !!python/tuple [3, 26] + - !!python/tuple [25, 16] + - !!python/tuple [14, 21] + - !!python/tuple [18, 14] + - !!python/tuple [23, 28] + - !!python/tuple [25, 28] + - !!python/tuple [1, 14] + - !!python/tuple [28, 19] + - !!python/tuple [13, 6] + - !!python/tuple [26, 14] + - !!python/tuple [14, 0] + - !!python/tuple [7, 29] + - !!python/tuple [23, 5] + - !!python/tuple [6, 20] + - !!python/tuple [8, 2] + - !!python/tuple [23, 15] + - !!python/tuple [10, 17] + - !!python/tuple [30, 4] + - !!python/tuple [9, 11] + - !!python/tuple [15, 10] + - !!python/tuple [3, 19] + - !!python/tuple [14, 18] + - !!python/tuple [30, 12] + - !!python/tuple [31, 16] + - !!python/tuple [17, 1] + - !!python/tuple [18, 12] + - !!python/tuple [25, 9] + - !!python/tuple [25, 12] + - !!python/tuple [11, 28] + - !!python/tuple [18, 22] + - !!python/tuple [18, 25] + - !!python/tuple [29, 11] + - !!python/tuple [24, 8] + - !!python/tuple [22, 23] + - !!python/tuple [3, 29] + - !!python/tuple [27, 16] + - !!python/tuple [25, 5] + - !!python/tuple [31, 15] + - !!python/tuple [31, 19] + - !!python/tuple [13, 23] + - !!python/tuple [29, 1] + - !!python/tuple [0, 7] + - !!python/tuple [16, 25] + - !!python/tuple [2, 27] + - !!python/tuple [3, 2] + - !!python/tuple [7, 1] + - !!python/tuple [14, 29] + - !!python/tuple [27, 13] + - !!python/tuple [6, 28] + - !!python/tuple [26, 18] + - !!python/tuple [18, 17] + - !!python/tuple [28, 21] + - !!python/tuple [10, 30] + - !!python/tuple [27, 0] + - !!python/tuple [26, 28] + - !!python/tuple [0, 29] + - !!python/tuple [26, 17] + - !!python/tuple [25, 14] + - !!python/tuple [15, 5] + - !!python/tuple [14, 12] + - !!python/tuple [19, 27] + - !!python/tuple [22, 3] + - !!python/tuple [26, 20] + - !!python/tuple [23, 18] + - !!python/tuple [28, 23] + - !!python/tuple [6, 18] + - !!python/tuple [10, 15] + - !!python/tuple [7, 17] + - !!python/tuple [2, 24] + - !!python/tuple [3, 4] + - !!python/tuple [17, 8] + - !!python/tuple [10, 26] + - !!python/tuple [1, 31] + - !!python/tuple [27, 7] + - !!python/tuple [7, 6] + - !!python/tuple [31, 27] + - !!python/tuple [6, 2] + - !!python/tuple [23, 24] + - !!python/tuple [20, 6] + - !!python/tuple [8, 19] + - !!python/tuple [21, 26] + - !!python/tuple [16, 27] + - !!python/tuple [19, 31] + - !!python/tuple [31, 30] + - !!python/tuple [8, 31] + - !!python/tuple [4, 21] + - !!python/tuple [6, 10] + - !!python/tuple [30, 5] + - !!python/tuple [16, 30] + - !!python/tuple [13, 30] + - !!python/tuple [31, 14] + - !!python/tuple [8, 24] + - !!python/tuple [18, 19] + - !!python/tuple [5, 27] + - !!python/tuple [20, 28] + - !!python/tuple [9, 3] + - !!python/tuple [4, 0] + - !!python/tuple [21, 17] + - !!python/tuple [1, 6] + - !!python/tuple [12, 21] + - !!python/tuple [9, 12] + - !!python/tuple [18, 7] + - !!python/tuple [4, 23] + - !!python/tuple [24, 26] + - !!python/tuple [24, 23] + - !!python/tuple [22, 15] + - !!python/tuple [17, 4] + - !!python/tuple [8, 21] + - !!python/tuple [18, 23] + - !!python/tuple [2, 0] + - !!python/tuple [30, 2] + - !!python/tuple [17, 15] + - !!python/tuple [17, 27] + - !!python/tuple [15, 29] + - !!python/tuple [17, 5] + - !!python/tuple [7, 22] + - !!python/tuple [27, 23] + - !!python/tuple [30, 1] + - !!python/tuple [28, 16] + - !!python/tuple [17, 16] + - !!python/tuple [15, 22] + - !!python/tuple [14, 30] + - !!python/tuple [9, 17] + - !!python/tuple [6, 16] + - !!python/tuple [4, 5] + - !!python/tuple [13, 12] + - !!python/tuple [16, 7] + - !!python/tuple [28, 25] + - !!python/tuple [10, 2] + - !!python/tuple [22, 25] + - !!python/tuple [21, 18] + - !!python/tuple [25, 7] + - !!python/tuple [13, 28] + - !!python/tuple [17, 0] + - !!python/tuple [13, 3] + - !!python/tuple [12, 16] + - !!python/tuple [21, 20] + - !!python/tuple [24, 17] + - !!python/tuple [22, 5] + - !!python/tuple [8, 11] + - !!python/tuple [15, 11] + - !!python/tuple [9, 14] + - !!python/tuple [26, 10] + - !!python/tuple [8, 1] + - !!python/tuple [9, 4] + - !!python/tuple [12, 23] + - !!python/tuple [10, 10] + - !!python/tuple [13, 17] + - !!python/tuple [15, 8] + - !!python/tuple [2, 10] + - !!python/tuple [10, 1] + - !!python/tuple [28, 9] + - !!python/tuple [0, 3] + - !!python/tuple [15, 17] + - !!python/tuple [30, 9] + - !!python/tuple [3, 22] + - !!python/tuple [24, 4] + - !!python/tuple [11, 19] + - !!python/tuple [17, 22] + - !!python/tuple [29, 28] + - !!python/tuple [5, 6] + - !!python/tuple [19, 26] + - !!python/tuple [21, 28] + - !!python/tuple [27, 19] + - !!python/tuple [18, 31] + - !!python/tuple [12, 8] + - !!python/tuple [6, 7] + - !!python/tuple [21, 27] + - !!python/tuple [2, 13] + - !!python/tuple [8, 14] + - !!python/tuple [4, 30] + - !!python/tuple [18, 15] + - !!python/tuple [10, 0] + - !!python/tuple [9, 22] + - !!python/tuple [9, 31] + - !!python/tuple [14, 14] + - !!python/tuple [26, 31] + - !!python/tuple [3, 5] + - !!python/tuple [14, 24] + - !!python/tuple [5, 11] + - !!python/tuple [19, 9] + - !!python/tuple [1, 29] + - !!python/tuple [16, 23] + - !!python/tuple [5, 28] + - !!python/tuple [30, 15] + - !!python/tuple [14, 16] + - !!python/tuple [1, 22] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex8.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex8.yaml new file mode 100644 index 0000000..a9f2a58 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex8.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [19, 26] + name: agent0 + start: [28, 6] +- goal: [14, 13] + name: agent1 + start: [3, 9] +- goal: [25, 29] + name: agent2 + start: [18, 24] +- goal: [17, 22] + name: agent3 + start: [15, 0] +- goal: [26, 28] + name: agent4 + start: [2, 0] +- goal: [14, 14] + name: agent5 + start: [2, 7] +- goal: [2, 23] + name: agent6 + start: [27, 21] +- goal: [16, 16] + name: agent7 + start: [19, 26] +- goal: [5, 2] + name: agent8 + start: [16, 0] +- goal: [11, 23] + name: agent9 + start: [4, 0] +- goal: [11, 28] + name: agent10 + start: [21, 23] +- goal: [7, 30] + name: agent11 + start: [25, 16] +- goal: [18, 5] + name: agent12 + start: [12, 30] +- goal: [17, 13] + name: agent13 + start: [8, 25] +- goal: [12, 23] + name: agent14 + start: [15, 29] +- goal: [23, 6] + name: agent15 + start: [1, 9] +- goal: [30, 0] + name: agent16 + start: [19, 9] +- goal: [12, 30] + name: agent17 + start: [13, 10] +- goal: [8, 2] + name: agent18 + start: [2, 28] +- goal: [27, 6] + name: agent19 + start: [0, 21] +- goal: [7, 27] + name: agent20 + start: [25, 23] +- goal: [29, 12] + name: agent21 + start: [29, 21] +- goal: [4, 14] + name: agent22 + start: [0, 6] +- goal: [21, 26] + name: agent23 + start: [17, 20] +- goal: [16, 9] + name: agent24 + start: [25, 12] +- goal: [15, 10] + name: agent25 + start: [17, 2] +- goal: [24, 30] + name: agent26 + start: [29, 18] +- goal: [9, 8] + name: agent27 + start: [8, 2] +- goal: [17, 19] + name: agent28 + start: [13, 9] +- goal: [21, 22] + name: agent29 + start: [31, 18] +- goal: [0, 30] + name: agent30 + start: [4, 20] +- goal: [8, 25] + name: agent31 + start: [9, 0] +- goal: [16, 19] + name: agent32 + start: [0, 7] +- goal: [8, 13] + name: agent33 + start: [6, 8] +- goal: [18, 30] + name: agent34 + start: [30, 8] +- goal: [27, 20] + name: agent35 + start: [20, 31] +- goal: [27, 1] + name: agent36 + start: [5, 6] +- goal: [13, 10] + name: agent37 + start: [9, 16] +- goal: [11, 26] + name: agent38 + start: [14, 2] +- goal: [12, 17] + name: agent39 + start: [21, 24] +- goal: [28, 13] + name: agent40 + start: [10, 18] +- goal: [10, 31] + name: agent41 + start: [0, 4] +- goal: [23, 26] + name: agent42 + start: [12, 19] +- goal: [19, 19] + name: agent43 + start: [28, 26] +- goal: [11, 18] + name: agent44 + start: [29, 0] +- goal: [24, 24] + name: agent45 + start: [17, 15] +- goal: [6, 30] + name: agent46 + start: [6, 2] +- goal: [30, 16] + name: agent47 + start: [23, 18] +- goal: [3, 4] + name: agent48 + start: [14, 10] +- goal: [5, 27] + name: agent49 + start: [26, 11] +- goal: [29, 14] + name: agent50 + start: [14, 18] +- goal: [30, 27] + name: agent51 + start: [26, 5] +- goal: [4, 13] + name: agent52 + start: [21, 21] +- goal: [3, 9] + name: agent53 + start: [24, 30] +- goal: [25, 8] + name: agent54 + start: [7, 31] +- goal: [22, 29] + name: agent55 + start: [16, 18] +- goal: [6, 7] + name: agent56 + start: [7, 28] +- goal: [6, 8] + name: agent57 + start: [11, 15] +- goal: [2, 9] + name: agent58 + start: [12, 28] +- goal: [12, 16] + name: agent59 + start: [19, 13] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [24, 12] + - !!python/tuple [26, 7] + - !!python/tuple [29, 26] + - !!python/tuple [15, 7] + - !!python/tuple [21, 14] + - !!python/tuple [24, 25] + - !!python/tuple [31, 6] + - !!python/tuple [1, 16] + - !!python/tuple [4, 9] + - !!python/tuple [16, 14] + - !!python/tuple [17, 28] + - !!python/tuple [2, 21] + - !!python/tuple [21, 31] + - !!python/tuple [6, 23] + - !!python/tuple [21, 15] + - !!python/tuple [25, 20] + - !!python/tuple [28, 7] + - !!python/tuple [26, 23] + - !!python/tuple [13, 21] + - !!python/tuple [11, 6] + - !!python/tuple [30, 30] + - !!python/tuple [4, 10] + - !!python/tuple [3, 22] + - !!python/tuple [10, 19] + - !!python/tuple [14, 24] + - !!python/tuple [3, 18] + - !!python/tuple [16, 29] + - !!python/tuple [9, 24] + - !!python/tuple [6, 5] + - !!python/tuple [27, 31] + - !!python/tuple [0, 28] + - !!python/tuple [0, 31] + - !!python/tuple [7, 22] + - !!python/tuple [20, 29] + - !!python/tuple [12, 31] + - !!python/tuple [30, 23] + - !!python/tuple [20, 10] + - !!python/tuple [0, 9] + - !!python/tuple [22, 22] + - !!python/tuple [29, 4] + - !!python/tuple [11, 2] + - !!python/tuple [26, 2] + - !!python/tuple [26, 8] + - !!python/tuple [19, 2] + - !!python/tuple [6, 24] + - !!python/tuple [11, 21] + - !!python/tuple [8, 0] + - !!python/tuple [19, 23] + - !!python/tuple [12, 24] + - !!python/tuple [6, 28] + - !!python/tuple [8, 1] + - !!python/tuple [25, 26] + - !!python/tuple [22, 7] + - !!python/tuple [3, 20] + - !!python/tuple [31, 9] + - !!python/tuple [19, 21] + - !!python/tuple [15, 11] + - !!python/tuple [21, 8] + - !!python/tuple [23, 11] + - !!python/tuple [30, 15] + - !!python/tuple [3, 5] + - !!python/tuple [22, 3] + - !!python/tuple [7, 24] + - !!python/tuple [22, 5] + - !!python/tuple [14, 19] + - !!python/tuple [14, 0] + - !!python/tuple [26, 12] + - !!python/tuple [27, 29] + - !!python/tuple [4, 23] + - !!python/tuple [16, 24] + - !!python/tuple [25, 22] + - !!python/tuple [24, 20] + - !!python/tuple [28, 27] + - !!python/tuple [29, 10] + - !!python/tuple [4, 18] + - !!python/tuple [19, 5] + - !!python/tuple [15, 4] + - !!python/tuple [0, 24] + - !!python/tuple [16, 22] + - !!python/tuple [28, 3] + - !!python/tuple [7, 9] + - !!python/tuple [31, 20] + - !!python/tuple [20, 0] + - !!python/tuple [22, 9] + - !!python/tuple [8, 3] + - !!python/tuple [5, 10] + - !!python/tuple [22, 1] + - !!python/tuple [26, 22] + - !!python/tuple [1, 12] + - !!python/tuple [3, 12] + - !!python/tuple [20, 8] + - !!python/tuple [10, 14] + - !!python/tuple [2, 1] + - !!python/tuple [21, 25] + - !!python/tuple [20, 3] + - !!python/tuple [9, 31] + - !!python/tuple [25, 4] + - !!python/tuple [6, 25] + - !!python/tuple [22, 23] + - !!python/tuple [13, 23] + - !!python/tuple [28, 20] + - !!python/tuple [26, 17] + - !!python/tuple [11, 30] + - !!python/tuple [12, 22] + - !!python/tuple [31, 7] + - !!python/tuple [31, 8] + - !!python/tuple [3, 23] + - !!python/tuple [3, 16] + - !!python/tuple [20, 20] + - !!python/tuple [0, 22] + - !!python/tuple [11, 8] + - !!python/tuple [19, 10] + - !!python/tuple [10, 26] + - !!python/tuple [29, 20] + - !!python/tuple [6, 12] + - !!python/tuple [28, 9] + - !!python/tuple [25, 1] + - !!python/tuple [2, 11] + - !!python/tuple [9, 5] + - !!python/tuple [7, 3] + - !!python/tuple [17, 30] + - !!python/tuple [28, 24] + - !!python/tuple [17, 11] + - !!python/tuple [18, 18] + - !!python/tuple [26, 18] + - !!python/tuple [31, 29] + - !!python/tuple [13, 6] + - !!python/tuple [27, 3] + - !!python/tuple [19, 8] + - !!python/tuple [1, 23] + - !!python/tuple [10, 13] + - !!python/tuple [24, 27] + - !!python/tuple [27, 4] + - !!python/tuple [18, 4] + - !!python/tuple [27, 7] + - !!python/tuple [17, 25] + - !!python/tuple [28, 5] + - !!python/tuple [5, 1] + - !!python/tuple [13, 20] + - !!python/tuple [8, 9] + - !!python/tuple [31, 21] + - !!python/tuple [18, 19] + - !!python/tuple [3, 26] + - !!python/tuple [28, 19] + - !!python/tuple [15, 22] + - !!python/tuple [10, 0] + - !!python/tuple [27, 12] + - !!python/tuple [6, 11] + - !!python/tuple [21, 28] + - !!python/tuple [19, 29] + - !!python/tuple [20, 28] + - !!python/tuple [15, 13] + - !!python/tuple [24, 4] + - !!python/tuple [24, 13] + - !!python/tuple [5, 22] + - !!python/tuple [5, 15] + - !!python/tuple [30, 22] + - !!python/tuple [0, 16] + - !!python/tuple [29, 31] + - !!python/tuple [10, 20] + - !!python/tuple [10, 12] + - !!python/tuple [31, 3] + - !!python/tuple [10, 23] + - !!python/tuple [28, 29] + - !!python/tuple [27, 27] + - !!python/tuple [8, 10] + - !!python/tuple [19, 30] + - !!python/tuple [12, 9] + - !!python/tuple [12, 2] + - !!python/tuple [12, 18] + - !!python/tuple [1, 14] + - !!python/tuple [30, 20] + - !!python/tuple [26, 20] + - !!python/tuple [6, 29] + - !!python/tuple [21, 4] + - !!python/tuple [13, 5] + - !!python/tuple [18, 8] + - !!python/tuple [3, 17] + - !!python/tuple [10, 25] + - !!python/tuple [24, 10] + - !!python/tuple [22, 2] + - !!python/tuple [30, 26] + - !!python/tuple [26, 30] + - !!python/tuple [12, 27] + - !!python/tuple [1, 6] + - !!python/tuple [9, 18] + - !!python/tuple [14, 9] + - !!python/tuple [27, 13] + - !!python/tuple [11, 12] + - !!python/tuple [25, 31] + - !!python/tuple [15, 26] + - !!python/tuple [9, 27] + - !!python/tuple [24, 17] + - !!python/tuple [22, 15] + - !!python/tuple [22, 26] + - !!python/tuple [17, 31] + - !!python/tuple [13, 4] + - !!python/tuple [1, 1] + - !!python/tuple [27, 19] + - !!python/tuple [17, 0] + - !!python/tuple [12, 7] + - !!python/tuple [19, 0] + - !!python/tuple [30, 5] + - !!python/tuple [22, 10] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex80.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex80.yaml new file mode 100644 index 0000000..4dae356 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex80.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [30, 29] + name: agent0 + start: [25, 13] +- goal: [15, 17] + name: agent1 + start: [24, 14] +- goal: [30, 14] + name: agent2 + start: [6, 14] +- goal: [20, 30] + name: agent3 + start: [6, 24] +- goal: [19, 5] + name: agent4 + start: [8, 27] +- goal: [29, 12] + name: agent5 + start: [1, 12] +- goal: [1, 14] + name: agent6 + start: [10, 8] +- goal: [6, 2] + name: agent7 + start: [22, 6] +- goal: [2, 21] + name: agent8 + start: [30, 12] +- goal: [16, 23] + name: agent9 + start: [11, 23] +- goal: [30, 2] + name: agent10 + start: [7, 31] +- goal: [9, 25] + name: agent11 + start: [0, 25] +- goal: [26, 25] + name: agent12 + start: [10, 18] +- goal: [21, 7] + name: agent13 + start: [31, 1] +- goal: [22, 8] + name: agent14 + start: [6, 2] +- goal: [27, 14] + name: agent15 + start: [3, 3] +- goal: [18, 24] + name: agent16 + start: [10, 9] +- goal: [19, 29] + name: agent17 + start: [5, 31] +- goal: [15, 15] + name: agent18 + start: [24, 1] +- goal: [19, 25] + name: agent19 + start: [9, 0] +- goal: [30, 10] + name: agent20 + start: [29, 4] +- goal: [21, 28] + name: agent21 + start: [6, 13] +- goal: [24, 27] + name: agent22 + start: [28, 0] +- goal: [1, 7] + name: agent23 + start: [2, 14] +- goal: [21, 4] + name: agent24 + start: [1, 14] +- goal: [0, 9] + name: agent25 + start: [20, 17] +- goal: [21, 18] + name: agent26 + start: [27, 0] +- goal: [16, 27] + name: agent27 + start: [24, 10] +- goal: [23, 14] + name: agent28 + start: [11, 22] +- goal: [28, 23] + name: agent29 + start: [19, 4] +- goal: [6, 10] + name: agent30 + start: [1, 22] +- goal: [7, 29] + name: agent31 + start: [21, 4] +- goal: [2, 22] + name: agent32 + start: [24, 6] +- goal: [15, 5] + name: agent33 + start: [19, 28] +- goal: [30, 4] + name: agent34 + start: [12, 26] +- goal: [10, 12] + name: agent35 + start: [21, 26] +- goal: [11, 2] + name: agent36 + start: [4, 19] +- goal: [7, 28] + name: agent37 + start: [19, 0] +- goal: [12, 8] + name: agent38 + start: [24, 31] +- goal: [14, 29] + name: agent39 + start: [19, 15] +- goal: [8, 5] + name: agent40 + start: [26, 6] +- goal: [23, 2] + name: agent41 + start: [2, 27] +- goal: [31, 3] + name: agent42 + start: [4, 18] +- goal: [20, 21] + name: agent43 + start: [3, 0] +- goal: [27, 31] + name: agent44 + start: [30, 25] +- goal: [12, 21] + name: agent45 + start: [17, 9] +- goal: [21, 19] + name: agent46 + start: [27, 28] +- goal: [20, 15] + name: agent47 + start: [31, 4] +- goal: [10, 3] + name: agent48 + start: [31, 22] +- goal: [30, 3] + name: agent49 + start: [30, 26] +- goal: [24, 4] + name: agent50 + start: [6, 15] +- goal: [24, 6] + name: agent51 + start: [11, 20] +- goal: [16, 26] + name: agent52 + start: [26, 25] +- goal: [27, 3] + name: agent53 + start: [7, 14] +- goal: [19, 16] + name: agent54 + start: [28, 8] +- goal: [8, 6] + name: agent55 + start: [3, 4] +- goal: [25, 25] + name: agent56 + start: [7, 16] +- goal: [8, 2] + name: agent57 + start: [24, 23] +- goal: [21, 31] + name: agent58 + start: [28, 20] +- goal: [26, 20] + name: agent59 + start: [9, 13] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [10, 14] + - !!python/tuple [10, 1] + - !!python/tuple [14, 7] + - !!python/tuple [27, 24] + - !!python/tuple [17, 8] + - !!python/tuple [15, 3] + - !!python/tuple [11, 14] + - !!python/tuple [1, 23] + - !!python/tuple [26, 28] + - !!python/tuple [19, 19] + - !!python/tuple [29, 7] + - !!python/tuple [24, 28] + - !!python/tuple [4, 1] + - !!python/tuple [4, 11] + - !!python/tuple [17, 21] + - !!python/tuple [24, 9] + - !!python/tuple [9, 6] + - !!python/tuple [31, 28] + - !!python/tuple [21, 25] + - !!python/tuple [15, 24] + - !!python/tuple [16, 14] + - !!python/tuple [29, 21] + - !!python/tuple [14, 21] + - !!python/tuple [12, 12] + - !!python/tuple [18, 8] + - !!python/tuple [31, 0] + - !!python/tuple [31, 12] + - !!python/tuple [9, 11] + - !!python/tuple [2, 23] + - !!python/tuple [25, 27] + - !!python/tuple [5, 29] + - !!python/tuple [1, 11] + - !!python/tuple [26, 27] + - !!python/tuple [1, 24] + - !!python/tuple [19, 2] + - !!python/tuple [17, 26] + - !!python/tuple [11, 17] + - !!python/tuple [24, 11] + - !!python/tuple [13, 6] + - !!python/tuple [15, 23] + - !!python/tuple [24, 26] + - !!python/tuple [28, 9] + - !!python/tuple [14, 8] + - !!python/tuple [15, 13] + - !!python/tuple [26, 31] + - !!python/tuple [31, 7] + - !!python/tuple [15, 12] + - !!python/tuple [5, 26] + - !!python/tuple [25, 5] + - !!python/tuple [21, 10] + - !!python/tuple [8, 14] + - !!python/tuple [12, 31] + - !!python/tuple [27, 16] + - !!python/tuple [30, 6] + - !!python/tuple [12, 16] + - !!python/tuple [25, 17] + - !!python/tuple [27, 12] + - !!python/tuple [15, 21] + - !!python/tuple [4, 10] + - !!python/tuple [3, 27] + - !!python/tuple [27, 7] + - !!python/tuple [26, 21] + - !!python/tuple [18, 21] + - !!python/tuple [30, 5] + - !!python/tuple [30, 27] + - !!python/tuple [22, 1] + - !!python/tuple [10, 22] + - !!python/tuple [6, 27] + - !!python/tuple [10, 2] + - !!python/tuple [0, 0] + - !!python/tuple [29, 30] + - !!python/tuple [17, 1] + - !!python/tuple [11, 13] + - !!python/tuple [18, 31] + - !!python/tuple [20, 20] + - !!python/tuple [9, 2] + - !!python/tuple [30, 15] + - !!python/tuple [26, 1] + - !!python/tuple [12, 1] + - !!python/tuple [30, 16] + - !!python/tuple [26, 19] + - !!python/tuple [0, 31] + - !!python/tuple [31, 31] + - !!python/tuple [16, 25] + - !!python/tuple [17, 6] + - !!python/tuple [23, 29] + - !!python/tuple [21, 20] + - !!python/tuple [16, 22] + - !!python/tuple [15, 31] + - !!python/tuple [29, 22] + - !!python/tuple [6, 12] + - !!python/tuple [0, 22] + - !!python/tuple [11, 26] + - !!python/tuple [26, 29] + - !!python/tuple [18, 5] + - !!python/tuple [27, 1] + - !!python/tuple [26, 16] + - !!python/tuple [29, 15] + - !!python/tuple [3, 26] + - !!python/tuple [2, 1] + - !!python/tuple [4, 27] + - !!python/tuple [19, 6] + - !!python/tuple [14, 18] + - !!python/tuple [6, 31] + - !!python/tuple [19, 7] + - !!python/tuple [11, 31] + - !!python/tuple [23, 18] + - !!python/tuple [18, 6] + - !!python/tuple [21, 27] + - !!python/tuple [31, 10] + - !!python/tuple [14, 9] + - !!python/tuple [24, 8] + - !!python/tuple [28, 17] + - !!python/tuple [17, 29] + - !!python/tuple [14, 12] + - !!python/tuple [26, 7] + - !!python/tuple [17, 30] + - !!python/tuple [5, 18] + - !!python/tuple [4, 28] + - !!python/tuple [9, 28] + - !!python/tuple [27, 25] + - !!python/tuple [2, 9] + - !!python/tuple [29, 9] + - !!python/tuple [27, 23] + - !!python/tuple [31, 21] + - !!python/tuple [5, 23] + - !!python/tuple [9, 29] + - !!python/tuple [28, 28] + - !!python/tuple [8, 11] + - !!python/tuple [20, 18] + - !!python/tuple [14, 28] + - !!python/tuple [16, 19] + - !!python/tuple [13, 7] + - !!python/tuple [15, 2] + - !!python/tuple [22, 12] + - !!python/tuple [8, 31] + - !!python/tuple [15, 28] + - !!python/tuple [19, 13] + - !!python/tuple [21, 9] + - !!python/tuple [29, 14] + - !!python/tuple [12, 10] + - !!python/tuple [14, 15] + - !!python/tuple [18, 26] + - !!python/tuple [4, 17] + - !!python/tuple [3, 30] + - !!python/tuple [26, 5] + - !!python/tuple [9, 14] + - !!python/tuple [11, 10] + - !!python/tuple [30, 9] + - !!python/tuple [7, 23] + - !!python/tuple [18, 9] + - !!python/tuple [24, 21] + - !!python/tuple [25, 12] + - !!python/tuple [16, 2] + - !!python/tuple [31, 17] + - !!python/tuple [3, 19] + - !!python/tuple [28, 16] + - !!python/tuple [14, 23] + - !!python/tuple [4, 22] + - !!python/tuple [8, 21] + - !!python/tuple [19, 8] + - !!python/tuple [31, 11] + - !!python/tuple [28, 10] + - !!python/tuple [23, 30] + - !!python/tuple [13, 27] + - !!python/tuple [6, 6] + - !!python/tuple [8, 9] + - !!python/tuple [21, 22] + - !!python/tuple [2, 8] + - !!python/tuple [17, 4] + - !!python/tuple [4, 13] + - !!python/tuple [10, 0] + - !!python/tuple [28, 31] + - !!python/tuple [25, 29] + - !!python/tuple [23, 5] + - !!python/tuple [14, 1] + - !!python/tuple [12, 6] + - !!python/tuple [4, 8] + - !!python/tuple [17, 0] + - !!python/tuple [29, 10] + - !!python/tuple [24, 29] + - !!python/tuple [18, 25] + - !!python/tuple [8, 0] + - !!python/tuple [10, 11] + - !!python/tuple [21, 30] + - !!python/tuple [18, 14] + - !!python/tuple [19, 26] + - !!python/tuple [24, 30] + - !!python/tuple [3, 18] + - !!python/tuple [2, 24] + - !!python/tuple [16, 20] + - !!python/tuple [2, 20] + - !!python/tuple [4, 26] + - !!python/tuple [17, 25] + - !!python/tuple [6, 22] + - !!python/tuple [18, 18] + - !!python/tuple [15, 9] + - !!python/tuple [20, 12] + - !!python/tuple [13, 12] + - !!python/tuple [4, 23] + - !!python/tuple [2, 4] + - !!python/tuple [11, 9] + - !!python/tuple [15, 6] + - !!python/tuple [7, 7] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex81.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex81.yaml new file mode 100644 index 0000000..3137040 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex81.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [14, 29] + name: agent0 + start: [31, 28] +- goal: [14, 10] + name: agent1 + start: [27, 0] +- goal: [7, 2] + name: agent2 + start: [4, 22] +- goal: [23, 11] + name: agent3 + start: [15, 30] +- goal: [7, 26] + name: agent4 + start: [26, 3] +- goal: [7, 12] + name: agent5 + start: [10, 14] +- goal: [31, 6] + name: agent6 + start: [16, 29] +- goal: [12, 27] + name: agent7 + start: [25, 24] +- goal: [19, 7] + name: agent8 + start: [11, 16] +- goal: [2, 25] + name: agent9 + start: [2, 12] +- goal: [13, 18] + name: agent10 + start: [31, 20] +- goal: [31, 8] + name: agent11 + start: [29, 14] +- goal: [11, 16] + name: agent12 + start: [13, 20] +- goal: [30, 10] + name: agent13 + start: [22, 5] +- goal: [6, 4] + name: agent14 + start: [27, 27] +- goal: [14, 2] + name: agent15 + start: [0, 6] +- goal: [21, 18] + name: agent16 + start: [19, 22] +- goal: [14, 16] + name: agent17 + start: [17, 26] +- goal: [17, 18] + name: agent18 + start: [11, 1] +- goal: [31, 30] + name: agent19 + start: [3, 25] +- goal: [0, 21] + name: agent20 + start: [26, 19] +- goal: [27, 21] + name: agent21 + start: [30, 0] +- goal: [25, 25] + name: agent22 + start: [20, 7] +- goal: [26, 12] + name: agent23 + start: [30, 15] +- goal: [23, 15] + name: agent24 + start: [30, 7] +- goal: [15, 28] + name: agent25 + start: [28, 16] +- goal: [27, 16] + name: agent26 + start: [0, 22] +- goal: [11, 5] + name: agent27 + start: [3, 4] +- goal: [2, 7] + name: agent28 + start: [23, 11] +- goal: [8, 2] + name: agent29 + start: [4, 16] +- goal: [12, 22] + name: agent30 + start: [13, 2] +- goal: [27, 7] + name: agent31 + start: [11, 4] +- goal: [30, 7] + name: agent32 + start: [16, 7] +- goal: [18, 0] + name: agent33 + start: [17, 6] +- goal: [6, 31] + name: agent34 + start: [2, 11] +- goal: [1, 1] + name: agent35 + start: [11, 24] +- goal: [24, 15] + name: agent36 + start: [27, 8] +- goal: [11, 15] + name: agent37 + start: [28, 30] +- goal: [30, 0] + name: agent38 + start: [3, 2] +- goal: [11, 1] + name: agent39 + start: [18, 30] +- goal: [20, 29] + name: agent40 + start: [3, 22] +- goal: [9, 16] + name: agent41 + start: [5, 31] +- goal: [29, 14] + name: agent42 + start: [10, 21] +- goal: [23, 17] + name: agent43 + start: [29, 3] +- goal: [10, 20] + name: agent44 + start: [8, 10] +- goal: [9, 25] + name: agent45 + start: [10, 11] +- goal: [4, 15] + name: agent46 + start: [27, 16] +- goal: [3, 3] + name: agent47 + start: [26, 23] +- goal: [25, 4] + name: agent48 + start: [3, 13] +- goal: [10, 23] + name: agent49 + start: [27, 14] +- goal: [21, 29] + name: agent50 + start: [4, 3] +- goal: [16, 19] + name: agent51 + start: [28, 23] +- goal: [19, 19] + name: agent52 + start: [18, 6] +- goal: [17, 21] + name: agent53 + start: [6, 30] +- goal: [10, 7] + name: agent54 + start: [6, 3] +- goal: [0, 11] + name: agent55 + start: [16, 10] +- goal: [24, 3] + name: agent56 + start: [26, 9] +- goal: [5, 2] + name: agent57 + start: [22, 9] +- goal: [12, 17] + name: agent58 + start: [2, 13] +- goal: [15, 30] + name: agent59 + start: [19, 19] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [22, 13] + - !!python/tuple [16, 20] + - !!python/tuple [21, 19] + - !!python/tuple [4, 5] + - !!python/tuple [8, 28] + - !!python/tuple [9, 5] + - !!python/tuple [15, 15] + - !!python/tuple [11, 19] + - !!python/tuple [6, 9] + - !!python/tuple [27, 24] + - !!python/tuple [7, 25] + - !!python/tuple [18, 14] + - !!python/tuple [14, 20] + - !!python/tuple [28, 28] + - !!python/tuple [11, 31] + - !!python/tuple [30, 3] + - !!python/tuple [1, 25] + - !!python/tuple [5, 3] + - !!python/tuple [18, 23] + - !!python/tuple [5, 13] + - !!python/tuple [11, 11] + - !!python/tuple [27, 17] + - !!python/tuple [8, 0] + - !!python/tuple [0, 24] + - !!python/tuple [12, 24] + - !!python/tuple [13, 29] + - !!python/tuple [17, 27] + - !!python/tuple [16, 25] + - !!python/tuple [3, 6] + - !!python/tuple [12, 15] + - !!python/tuple [0, 23] + - !!python/tuple [10, 30] + - !!python/tuple [19, 0] + - !!python/tuple [17, 29] + - !!python/tuple [6, 7] + - !!python/tuple [18, 26] + - !!python/tuple [3, 18] + - !!python/tuple [22, 16] + - !!python/tuple [9, 7] + - !!python/tuple [28, 1] + - !!python/tuple [26, 0] + - !!python/tuple [17, 13] + - !!python/tuple [7, 19] + - !!python/tuple [12, 19] + - !!python/tuple [29, 0] + - !!python/tuple [9, 10] + - !!python/tuple [13, 28] + - !!python/tuple [24, 22] + - !!python/tuple [5, 7] + - !!python/tuple [21, 1] + - !!python/tuple [13, 1] + - !!python/tuple [5, 16] + - !!python/tuple [3, 8] + - !!python/tuple [30, 4] + - !!python/tuple [22, 31] + - !!python/tuple [2, 22] + - !!python/tuple [11, 27] + - !!python/tuple [13, 5] + - !!python/tuple [8, 31] + - !!python/tuple [2, 8] + - !!python/tuple [22, 22] + - !!python/tuple [3, 16] + - !!python/tuple [8, 7] + - !!python/tuple [28, 5] + - !!python/tuple [1, 10] + - !!python/tuple [2, 3] + - !!python/tuple [12, 2] + - !!python/tuple [11, 12] + - !!python/tuple [1, 27] + - !!python/tuple [25, 29] + - !!python/tuple [13, 9] + - !!python/tuple [5, 5] + - !!python/tuple [1, 8] + - !!python/tuple [5, 19] + - !!python/tuple [24, 29] + - !!python/tuple [15, 25] + - !!python/tuple [0, 20] + - !!python/tuple [24, 18] + - !!python/tuple [0, 31] + - !!python/tuple [0, 5] + - !!python/tuple [8, 15] + - !!python/tuple [1, 17] + - !!python/tuple [7, 31] + - !!python/tuple [5, 11] + - !!python/tuple [21, 11] + - !!python/tuple [27, 10] + - !!python/tuple [29, 15] + - !!python/tuple [31, 18] + - !!python/tuple [4, 25] + - !!python/tuple [14, 27] + - !!python/tuple [24, 23] + - !!python/tuple [15, 7] + - !!python/tuple [2, 27] + - !!python/tuple [25, 26] + - !!python/tuple [19, 17] + - !!python/tuple [10, 9] + - !!python/tuple [5, 0] + - !!python/tuple [12, 14] + - !!python/tuple [24, 28] + - !!python/tuple [10, 25] + - !!python/tuple [15, 23] + - !!python/tuple [20, 4] + - !!python/tuple [13, 10] + - !!python/tuple [30, 20] + - !!python/tuple [25, 23] + - !!python/tuple [0, 26] + - !!python/tuple [15, 12] + - !!python/tuple [16, 26] + - !!python/tuple [6, 24] + - !!python/tuple [14, 5] + - !!python/tuple [9, 4] + - !!python/tuple [31, 3] + - !!python/tuple [26, 27] + - !!python/tuple [7, 9] + - !!python/tuple [20, 31] + - !!python/tuple [12, 23] + - !!python/tuple [31, 31] + - !!python/tuple [19, 30] + - !!python/tuple [31, 15] + - !!python/tuple [3, 19] + - !!python/tuple [3, 12] + - !!python/tuple [21, 9] + - !!python/tuple [22, 14] + - !!python/tuple [22, 21] + - !!python/tuple [31, 7] + - !!python/tuple [9, 21] + - !!python/tuple [5, 24] + - !!python/tuple [29, 20] + - !!python/tuple [23, 13] + - !!python/tuple [20, 11] + - !!python/tuple [15, 11] + - !!python/tuple [0, 16] + - !!python/tuple [18, 21] + - !!python/tuple [30, 16] + - !!python/tuple [0, 8] + - !!python/tuple [29, 12] + - !!python/tuple [16, 1] + - !!python/tuple [10, 8] + - !!python/tuple [30, 17] + - !!python/tuple [20, 18] + - !!python/tuple [8, 26] + - !!python/tuple [0, 18] + - !!python/tuple [13, 22] + - !!python/tuple [30, 13] + - !!python/tuple [13, 12] + - !!python/tuple [9, 15] + - !!python/tuple [9, 30] + - !!python/tuple [15, 22] + - !!python/tuple [8, 24] + - !!python/tuple [10, 2] + - !!python/tuple [11, 14] + - !!python/tuple [13, 25] + - !!python/tuple [15, 10] + - !!python/tuple [8, 22] + - !!python/tuple [0, 13] + - !!python/tuple [18, 12] + - !!python/tuple [21, 30] + - !!python/tuple [25, 20] + - !!python/tuple [7, 28] + - !!python/tuple [25, 10] + - !!python/tuple [0, 14] + - !!python/tuple [30, 23] + - !!python/tuple [1, 30] + - !!python/tuple [23, 31] + - !!python/tuple [18, 17] + - !!python/tuple [16, 27] + - !!python/tuple [9, 26] + - !!python/tuple [1, 0] + - !!python/tuple [28, 25] + - !!python/tuple [20, 12] + - !!python/tuple [24, 13] + - !!python/tuple [15, 24] + - !!python/tuple [26, 28] + - !!python/tuple [8, 13] + - !!python/tuple [6, 14] + - !!python/tuple [25, 11] + - !!python/tuple [9, 8] + - !!python/tuple [4, 21] + - !!python/tuple [0, 10] + - !!python/tuple [26, 15] + - !!python/tuple [23, 7] + - !!python/tuple [10, 1] + - !!python/tuple [24, 21] + - !!python/tuple [21, 27] + - !!python/tuple [22, 2] + - !!python/tuple [10, 13] + - !!python/tuple [28, 9] + - !!python/tuple [30, 8] + - !!python/tuple [30, 25] + - !!python/tuple [18, 25] + - !!python/tuple [16, 13] + - !!python/tuple [10, 3] + - !!python/tuple [4, 14] + - !!python/tuple [14, 6] + - !!python/tuple [31, 26] + - !!python/tuple [19, 3] + - !!python/tuple [14, 23] + - !!python/tuple [24, 26] + - !!python/tuple [2, 9] + - !!python/tuple [22, 20] + - !!python/tuple [13, 26] + - !!python/tuple [7, 7] + - !!python/tuple [27, 12] + - !!python/tuple [26, 1] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex82.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex82.yaml new file mode 100644 index 0000000..ee33cca --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex82.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [1, 14] + name: agent0 + start: [12, 21] +- goal: [0, 31] + name: agent1 + start: [11, 28] +- goal: [0, 5] + name: agent2 + start: [12, 22] +- goal: [26, 9] + name: agent3 + start: [30, 24] +- goal: [19, 0] + name: agent4 + start: [4, 27] +- goal: [10, 9] + name: agent5 + start: [8, 25] +- goal: [12, 30] + name: agent6 + start: [22, 17] +- goal: [27, 4] + name: agent7 + start: [29, 26] +- goal: [1, 22] + name: agent8 + start: [19, 5] +- goal: [1, 28] + name: agent9 + start: [1, 24] +- goal: [28, 29] + name: agent10 + start: [6, 10] +- goal: [25, 8] + name: agent11 + start: [13, 2] +- goal: [8, 21] + name: agent12 + start: [15, 23] +- goal: [30, 19] + name: agent13 + start: [0, 29] +- goal: [31, 19] + name: agent14 + start: [3, 7] +- goal: [15, 28] + name: agent15 + start: [6, 27] +- goal: [31, 1] + name: agent16 + start: [25, 29] +- goal: [1, 24] + name: agent17 + start: [16, 18] +- goal: [30, 21] + name: agent18 + start: [25, 13] +- goal: [9, 14] + name: agent19 + start: [13, 23] +- goal: [24, 1] + name: agent20 + start: [20, 15] +- goal: [14, 3] + name: agent21 + start: [24, 14] +- goal: [7, 27] + name: agent22 + start: [7, 12] +- goal: [27, 17] + name: agent23 + start: [5, 14] +- goal: [25, 31] + name: agent24 + start: [0, 4] +- goal: [22, 8] + name: agent25 + start: [31, 5] +- goal: [29, 26] + name: agent26 + start: [11, 4] +- goal: [5, 15] + name: agent27 + start: [7, 31] +- goal: [26, 18] + name: agent28 + start: [16, 31] +- goal: [20, 15] + name: agent29 + start: [11, 1] +- goal: [4, 21] + name: agent30 + start: [30, 0] +- goal: [2, 14] + name: agent31 + start: [24, 21] +- goal: [4, 6] + name: agent32 + start: [16, 19] +- goal: [10, 23] + name: agent33 + start: [26, 4] +- goal: [27, 25] + name: agent34 + start: [2, 2] +- goal: [12, 0] + name: agent35 + start: [27, 18] +- goal: [21, 24] + name: agent36 + start: [0, 9] +- goal: [8, 12] + name: agent37 + start: [21, 2] +- goal: [13, 15] + name: agent38 + start: [18, 4] +- goal: [13, 14] + name: agent39 + start: [15, 17] +- goal: [2, 31] + name: agent40 + start: [27, 10] +- goal: [24, 20] + name: agent41 + start: [23, 18] +- goal: [9, 0] + name: agent42 + start: [17, 21] +- goal: [30, 3] + name: agent43 + start: [18, 8] +- goal: [24, 13] + name: agent44 + start: [15, 8] +- goal: [2, 26] + name: agent45 + start: [11, 21] +- goal: [7, 30] + name: agent46 + start: [31, 19] +- goal: [13, 19] + name: agent47 + start: [28, 9] +- goal: [22, 17] + name: agent48 + start: [2, 18] +- goal: [4, 23] + name: agent49 + start: [17, 6] +- goal: [20, 6] + name: agent50 + start: [22, 4] +- goal: [25, 15] + name: agent51 + start: [8, 20] +- goal: [4, 2] + name: agent52 + start: [18, 9] +- goal: [22, 20] + name: agent53 + start: [5, 31] +- goal: [12, 1] + name: agent54 + start: [1, 5] +- goal: [28, 1] + name: agent55 + start: [25, 20] +- goal: [22, 3] + name: agent56 + start: [30, 18] +- goal: [9, 13] + name: agent57 + start: [6, 22] +- goal: [28, 11] + name: agent58 + start: [0, 13] +- goal: [2, 13] + name: agent59 + start: [31, 23] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [31, 8] + - !!python/tuple [4, 10] + - !!python/tuple [10, 16] + - !!python/tuple [23, 25] + - !!python/tuple [12, 26] + - !!python/tuple [5, 8] + - !!python/tuple [17, 0] + - !!python/tuple [6, 13] + - !!python/tuple [9, 27] + - !!python/tuple [30, 5] + - !!python/tuple [0, 16] + - !!python/tuple [9, 6] + - !!python/tuple [24, 30] + - !!python/tuple [11, 26] + - !!python/tuple [5, 6] + - !!python/tuple [18, 3] + - !!python/tuple [22, 28] + - !!python/tuple [5, 28] + - !!python/tuple [10, 25] + - !!python/tuple [28, 25] + - !!python/tuple [0, 26] + - !!python/tuple [19, 22] + - !!python/tuple [18, 31] + - !!python/tuple [11, 23] + - !!python/tuple [25, 7] + - !!python/tuple [13, 26] + - !!python/tuple [20, 8] + - !!python/tuple [4, 11] + - !!python/tuple [4, 13] + - !!python/tuple [8, 29] + - !!python/tuple [31, 30] + - !!python/tuple [28, 24] + - !!python/tuple [8, 23] + - !!python/tuple [22, 29] + - !!python/tuple [4, 19] + - !!python/tuple [19, 4] + - !!python/tuple [2, 15] + - !!python/tuple [28, 21] + - !!python/tuple [2, 29] + - !!python/tuple [15, 13] + - !!python/tuple [29, 31] + - !!python/tuple [28, 3] + - !!python/tuple [16, 6] + - !!python/tuple [28, 19] + - !!python/tuple [21, 31] + - !!python/tuple [3, 29] + - !!python/tuple [31, 24] + - !!python/tuple [30, 11] + - !!python/tuple [8, 13] + - !!python/tuple [16, 13] + - !!python/tuple [3, 21] + - !!python/tuple [15, 27] + - !!python/tuple [3, 19] + - !!python/tuple [30, 15] + - !!python/tuple [31, 16] + - !!python/tuple [20, 19] + - !!python/tuple [20, 31] + - !!python/tuple [18, 5] + - !!python/tuple [9, 1] + - !!python/tuple [27, 16] + - !!python/tuple [3, 2] + - !!python/tuple [3, 1] + - !!python/tuple [16, 7] + - !!python/tuple [5, 16] + - !!python/tuple [2, 24] + - !!python/tuple [24, 23] + - !!python/tuple [17, 1] + - !!python/tuple [12, 29] + - !!python/tuple [4, 7] + - !!python/tuple [26, 30] + - !!python/tuple [18, 16] + - !!python/tuple [30, 8] + - !!python/tuple [6, 17] + - !!python/tuple [4, 22] + - !!python/tuple [20, 14] + - !!python/tuple [27, 15] + - !!python/tuple [9, 19] + - !!python/tuple [1, 31] + - !!python/tuple [15, 4] + - !!python/tuple [5, 3] + - !!python/tuple [19, 8] + - !!python/tuple [10, 8] + - !!python/tuple [31, 17] + - !!python/tuple [23, 13] + - !!python/tuple [22, 24] + - !!python/tuple [12, 6] + - !!python/tuple [15, 3] + - !!python/tuple [14, 21] + - !!python/tuple [6, 16] + - !!python/tuple [22, 31] + - !!python/tuple [13, 18] + - !!python/tuple [17, 29] + - !!python/tuple [9, 5] + - !!python/tuple [14, 16] + - !!python/tuple [23, 23] + - !!python/tuple [2, 17] + - !!python/tuple [1, 6] + - !!python/tuple [9, 7] + - !!python/tuple [16, 23] + - !!python/tuple [4, 29] + - !!python/tuple [21, 4] + - !!python/tuple [30, 4] + - !!python/tuple [29, 3] + - !!python/tuple [8, 27] + - !!python/tuple [16, 20] + - !!python/tuple [24, 15] + - !!python/tuple [14, 0] + - !!python/tuple [20, 22] + - !!python/tuple [14, 7] + - !!python/tuple [18, 20] + - !!python/tuple [10, 17] + - !!python/tuple [27, 13] + - !!python/tuple [22, 22] + - !!python/tuple [17, 28] + - !!python/tuple [21, 25] + - !!python/tuple [26, 25] + - !!python/tuple [1, 0] + - !!python/tuple [22, 6] + - !!python/tuple [14, 14] + - !!python/tuple [25, 27] + - !!python/tuple [10, 0] + - !!python/tuple [10, 20] + - !!python/tuple [7, 4] + - !!python/tuple [24, 6] + - !!python/tuple [7, 22] + - !!python/tuple [14, 6] + - !!python/tuple [14, 12] + - !!python/tuple [14, 31] + - !!python/tuple [12, 19] + - !!python/tuple [13, 17] + - !!python/tuple [12, 5] + - !!python/tuple [18, 29] + - !!python/tuple [23, 16] + - !!python/tuple [22, 5] + - !!python/tuple [21, 30] + - !!python/tuple [4, 31] + - !!python/tuple [28, 4] + - !!python/tuple [23, 6] + - !!python/tuple [30, 14] + - !!python/tuple [3, 31] + - !!python/tuple [7, 3] + - !!python/tuple [12, 13] + - !!python/tuple [26, 27] + - !!python/tuple [22, 2] + - !!python/tuple [28, 2] + - !!python/tuple [5, 30] + - !!python/tuple [6, 28] + - !!python/tuple [4, 20] + - !!python/tuple [21, 21] + - !!python/tuple [14, 5] + - !!python/tuple [6, 29] + - !!python/tuple [14, 15] + - !!python/tuple [11, 30] + - !!python/tuple [31, 21] + - !!python/tuple [10, 7] + - !!python/tuple [13, 0] + - !!python/tuple [23, 4] + - !!python/tuple [14, 24] + - !!python/tuple [7, 25] + - !!python/tuple [0, 28] + - !!python/tuple [25, 3] + - !!python/tuple [14, 25] + - !!python/tuple [27, 14] + - !!python/tuple [29, 10] + - !!python/tuple [12, 14] + - !!python/tuple [2, 28] + - !!python/tuple [1, 11] + - !!python/tuple [13, 20] + - !!python/tuple [6, 26] + - !!python/tuple [18, 12] + - !!python/tuple [21, 3] + - !!python/tuple [24, 31] + - !!python/tuple [8, 28] + - !!python/tuple [11, 6] + - !!python/tuple [10, 2] + - !!python/tuple [18, 0] + - !!python/tuple [16, 9] + - !!python/tuple [14, 11] + - !!python/tuple [16, 29] + - !!python/tuple [4, 30] + - !!python/tuple [3, 13] + - !!python/tuple [17, 2] + - !!python/tuple [21, 27] + - !!python/tuple [19, 27] + - !!python/tuple [20, 20] + - !!python/tuple [14, 22] + - !!python/tuple [20, 4] + - !!python/tuple [13, 30] + - !!python/tuple [22, 19] + - !!python/tuple [1, 23] + - !!python/tuple [15, 2] + - !!python/tuple [26, 24] + - !!python/tuple [23, 28] + - !!python/tuple [12, 23] + - !!python/tuple [11, 2] + - !!python/tuple [15, 30] + - !!python/tuple [4, 14] + - !!python/tuple [23, 24] + - !!python/tuple [26, 12] + - !!python/tuple [1, 10] + - !!python/tuple [26, 10] + - !!python/tuple [23, 26] + - !!python/tuple [4, 4] + - !!python/tuple [23, 22] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex83.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex83.yaml new file mode 100644 index 0000000..a31ffba --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex83.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [22, 20] + name: agent0 + start: [6, 19] +- goal: [13, 7] + name: agent1 + start: [2, 24] +- goal: [12, 23] + name: agent2 + start: [19, 3] +- goal: [15, 12] + name: agent3 + start: [16, 5] +- goal: [27, 9] + name: agent4 + start: [14, 21] +- goal: [17, 12] + name: agent5 + start: [27, 31] +- goal: [25, 13] + name: agent6 + start: [12, 18] +- goal: [31, 12] + name: agent7 + start: [23, 26] +- goal: [10, 10] + name: agent8 + start: [29, 24] +- goal: [8, 13] + name: agent9 + start: [17, 15] +- goal: [25, 21] + name: agent10 + start: [30, 21] +- goal: [20, 1] + name: agent11 + start: [29, 15] +- goal: [18, 20] + name: agent12 + start: [27, 9] +- goal: [17, 15] + name: agent13 + start: [29, 29] +- goal: [15, 3] + name: agent14 + start: [3, 6] +- goal: [10, 31] + name: agent15 + start: [27, 16] +- goal: [26, 17] + name: agent16 + start: [4, 22] +- goal: [18, 12] + name: agent17 + start: [30, 31] +- goal: [10, 12] + name: agent18 + start: [1, 21] +- goal: [24, 11] + name: agent19 + start: [26, 10] +- goal: [15, 6] + name: agent20 + start: [11, 29] +- goal: [7, 21] + name: agent21 + start: [31, 20] +- goal: [13, 1] + name: agent22 + start: [15, 5] +- goal: [14, 14] + name: agent23 + start: [9, 25] +- goal: [23, 6] + name: agent24 + start: [8, 30] +- goal: [17, 20] + name: agent25 + start: [19, 28] +- goal: [30, 22] + name: agent26 + start: [30, 0] +- goal: [25, 16] + name: agent27 + start: [18, 14] +- goal: [25, 25] + name: agent28 + start: [10, 2] +- goal: [11, 17] + name: agent29 + start: [17, 20] +- goal: [9, 6] + name: agent30 + start: [9, 22] +- goal: [5, 20] + name: agent31 + start: [1, 8] +- goal: [24, 31] + name: agent32 + start: [23, 24] +- goal: [1, 25] + name: agent33 + start: [20, 11] +- goal: [27, 29] + name: agent34 + start: [19, 24] +- goal: [14, 6] + name: agent35 + start: [5, 2] +- goal: [29, 4] + name: agent36 + start: [26, 15] +- goal: [12, 31] + name: agent37 + start: [7, 21] +- goal: [9, 8] + name: agent38 + start: [22, 13] +- goal: [0, 13] + name: agent39 + start: [29, 31] +- goal: [20, 10] + name: agent40 + start: [7, 18] +- goal: [13, 8] + name: agent41 + start: [28, 29] +- goal: [9, 20] + name: agent42 + start: [18, 16] +- goal: [18, 27] + name: agent43 + start: [0, 21] +- goal: [29, 9] + name: agent44 + start: [7, 9] +- goal: [11, 21] + name: agent45 + start: [4, 28] +- goal: [0, 1] + name: agent46 + start: [0, 1] +- goal: [11, 3] + name: agent47 + start: [12, 11] +- goal: [9, 19] + name: agent48 + start: [23, 2] +- goal: [4, 8] + name: agent49 + start: [12, 27] +- goal: [2, 13] + name: agent50 + start: [27, 12] +- goal: [1, 11] + name: agent51 + start: [24, 20] +- goal: [27, 17] + name: agent52 + start: [2, 31] +- goal: [8, 26] + name: agent53 + start: [19, 12] +- goal: [23, 14] + name: agent54 + start: [8, 20] +- goal: [20, 28] + name: agent55 + start: [0, 15] +- goal: [16, 6] + name: agent56 + start: [10, 13] +- goal: [16, 11] + name: agent57 + start: [30, 13] +- goal: [19, 23] + name: agent58 + start: [8, 4] +- goal: [25, 17] + name: agent59 + start: [12, 6] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [16, 2] + - !!python/tuple [3, 19] + - !!python/tuple [8, 2] + - !!python/tuple [4, 21] + - !!python/tuple [23, 13] + - !!python/tuple [15, 31] + - !!python/tuple [30, 16] + - !!python/tuple [1, 4] + - !!python/tuple [1, 17] + - !!python/tuple [27, 0] + - !!python/tuple [12, 25] + - !!python/tuple [12, 24] + - !!python/tuple [21, 19] + - !!python/tuple [1, 1] + - !!python/tuple [1, 18] + - !!python/tuple [12, 26] + - !!python/tuple [5, 27] + - !!python/tuple [30, 6] + - !!python/tuple [27, 6] + - !!python/tuple [5, 1] + - !!python/tuple [4, 0] + - !!python/tuple [21, 27] + - !!python/tuple [14, 1] + - !!python/tuple [26, 7] + - !!python/tuple [31, 6] + - !!python/tuple [26, 20] + - !!python/tuple [7, 30] + - !!python/tuple [15, 29] + - !!python/tuple [21, 16] + - !!python/tuple [7, 15] + - !!python/tuple [16, 15] + - !!python/tuple [26, 1] + - !!python/tuple [21, 10] + - !!python/tuple [2, 2] + - !!python/tuple [19, 14] + - !!python/tuple [28, 31] + - !!python/tuple [23, 8] + - !!python/tuple [0, 22] + - !!python/tuple [15, 23] + - !!python/tuple [2, 26] + - !!python/tuple [31, 25] + - !!python/tuple [24, 22] + - !!python/tuple [28, 11] + - !!python/tuple [7, 22] + - !!python/tuple [20, 6] + - !!python/tuple [3, 29] + - !!python/tuple [16, 8] + - !!python/tuple [4, 29] + - !!python/tuple [1, 28] + - !!python/tuple [23, 22] + - !!python/tuple [3, 24] + - !!python/tuple [8, 8] + - !!python/tuple [10, 26] + - !!python/tuple [28, 30] + - !!python/tuple [0, 26] + - !!python/tuple [28, 2] + - !!python/tuple [18, 30] + - !!python/tuple [3, 5] + - !!python/tuple [18, 11] + - !!python/tuple [30, 27] + - !!python/tuple [16, 16] + - !!python/tuple [13, 4] + - !!python/tuple [0, 24] + - !!python/tuple [8, 21] + - !!python/tuple [29, 13] + - !!python/tuple [0, 23] + - !!python/tuple [20, 0] + - !!python/tuple [15, 20] + - !!python/tuple [27, 23] + - !!python/tuple [21, 2] + - !!python/tuple [11, 23] + - !!python/tuple [4, 14] + - !!python/tuple [16, 13] + - !!python/tuple [1, 15] + - !!python/tuple [8, 14] + - !!python/tuple [2, 20] + - !!python/tuple [2, 3] + - !!python/tuple [19, 4] + - !!python/tuple [30, 26] + - !!python/tuple [29, 16] + - !!python/tuple [19, 8] + - !!python/tuple [14, 15] + - !!python/tuple [8, 16] + - !!python/tuple [30, 18] + - !!python/tuple [13, 6] + - !!python/tuple [6, 11] + - !!python/tuple [18, 10] + - !!python/tuple [24, 28] + - !!python/tuple [21, 31] + - !!python/tuple [21, 6] + - !!python/tuple [31, 15] + - !!python/tuple [21, 25] + - !!python/tuple [24, 6] + - !!python/tuple [13, 21] + - !!python/tuple [10, 8] + - !!python/tuple [4, 27] + - !!python/tuple [27, 22] + - !!python/tuple [22, 19] + - !!python/tuple [2, 5] + - !!python/tuple [4, 12] + - !!python/tuple [7, 24] + - !!python/tuple [5, 8] + - !!python/tuple [16, 14] + - !!python/tuple [18, 19] + - !!python/tuple [0, 7] + - !!python/tuple [26, 8] + - !!python/tuple [10, 9] + - !!python/tuple [18, 8] + - !!python/tuple [5, 16] + - !!python/tuple [6, 26] + - !!python/tuple [3, 11] + - !!python/tuple [22, 11] + - !!python/tuple [3, 27] + - !!python/tuple [8, 24] + - !!python/tuple [30, 4] + - !!python/tuple [27, 15] + - !!python/tuple [0, 30] + - !!python/tuple [5, 6] + - !!python/tuple [29, 22] + - !!python/tuple [7, 27] + - !!python/tuple [19, 31] + - !!python/tuple [16, 23] + - !!python/tuple [15, 17] + - !!python/tuple [14, 27] + - !!python/tuple [9, 16] + - !!python/tuple [10, 23] + - !!python/tuple [17, 9] + - !!python/tuple [10, 7] + - !!python/tuple [20, 2] + - !!python/tuple [15, 25] + - !!python/tuple [13, 14] + - !!python/tuple [16, 31] + - !!python/tuple [24, 8] + - !!python/tuple [29, 20] + - !!python/tuple [26, 13] + - !!python/tuple [15, 22] + - !!python/tuple [13, 16] + - !!python/tuple [31, 7] + - !!python/tuple [26, 30] + - !!python/tuple [9, 26] + - !!python/tuple [27, 1] + - !!python/tuple [29, 21] + - !!python/tuple [9, 3] + - !!python/tuple [18, 5] + - !!python/tuple [30, 9] + - !!python/tuple [30, 25] + - !!python/tuple [10, 21] + - !!python/tuple [1, 23] + - !!python/tuple [4, 4] + - !!python/tuple [22, 26] + - !!python/tuple [17, 14] + - !!python/tuple [27, 21] + - !!python/tuple [31, 23] + - !!python/tuple [23, 30] + - !!python/tuple [24, 30] + - !!python/tuple [6, 5] + - !!python/tuple [22, 0] + - !!python/tuple [5, 21] + - !!python/tuple [9, 5] + - !!python/tuple [14, 11] + - !!python/tuple [28, 13] + - !!python/tuple [24, 29] + - !!python/tuple [6, 13] + - !!python/tuple [19, 22] + - !!python/tuple [25, 4] + - !!python/tuple [19, 10] + - !!python/tuple [14, 20] + - !!python/tuple [27, 11] + - !!python/tuple [9, 11] + - !!python/tuple [10, 5] + - !!python/tuple [1, 2] + - !!python/tuple [19, 20] + - !!python/tuple [9, 13] + - !!python/tuple [26, 14] + - !!python/tuple [23, 0] + - !!python/tuple [8, 1] + - !!python/tuple [20, 9] + - !!python/tuple [10, 22] + - !!python/tuple [7, 3] + - !!python/tuple [17, 19] + - !!python/tuple [21, 20] + - !!python/tuple [16, 26] + - !!python/tuple [14, 13] + - !!python/tuple [15, 15] + - !!python/tuple [17, 17] + - !!python/tuple [2, 28] + - !!python/tuple [26, 3] + - !!python/tuple [4, 31] + - !!python/tuple [4, 7] + - !!python/tuple [11, 11] + - !!python/tuple [5, 15] + - !!python/tuple [22, 16] + - !!python/tuple [29, 5] + - !!python/tuple [21, 24] + - !!python/tuple [25, 29] + - !!python/tuple [9, 10] + - !!python/tuple [28, 5] + - !!python/tuple [3, 23] + - !!python/tuple [2, 25] + - !!python/tuple [20, 22] + - !!python/tuple [28, 10] + - !!python/tuple [27, 18] + - !!python/tuple [7, 17] + - !!python/tuple [2, 1] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex84.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex84.yaml new file mode 100644 index 0000000..cdbb46b --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex84.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [24, 1] + name: agent0 + start: [17, 26] +- goal: [14, 8] + name: agent1 + start: [3, 7] +- goal: [15, 17] + name: agent2 + start: [1, 6] +- goal: [7, 23] + name: agent3 + start: [3, 24] +- goal: [23, 21] + name: agent4 + start: [17, 11] +- goal: [20, 13] + name: agent5 + start: [8, 21] +- goal: [21, 31] + name: agent6 + start: [14, 2] +- goal: [29, 6] + name: agent7 + start: [18, 24] +- goal: [21, 16] + name: agent8 + start: [0, 7] +- goal: [25, 7] + name: agent9 + start: [10, 5] +- goal: [28, 7] + name: agent10 + start: [4, 13] +- goal: [27, 3] + name: agent11 + start: [3, 6] +- goal: [19, 22] + name: agent12 + start: [27, 1] +- goal: [19, 18] + name: agent13 + start: [4, 16] +- goal: [11, 26] + name: agent14 + start: [25, 24] +- goal: [29, 24] + name: agent15 + start: [6, 15] +- goal: [20, 9] + name: agent16 + start: [9, 2] +- goal: [5, 10] + name: agent17 + start: [7, 1] +- goal: [17, 26] + name: agent18 + start: [13, 8] +- goal: [2, 11] + name: agent19 + start: [25, 20] +- goal: [23, 5] + name: agent20 + start: [0, 17] +- goal: [6, 20] + name: agent21 + start: [20, 13] +- goal: [16, 16] + name: agent22 + start: [12, 27] +- goal: [0, 26] + name: agent23 + start: [23, 28] +- goal: [20, 11] + name: agent24 + start: [12, 16] +- goal: [19, 28] + name: agent25 + start: [31, 24] +- goal: [5, 30] + name: agent26 + start: [24, 23] +- goal: [26, 5] + name: agent27 + start: [10, 22] +- goal: [7, 31] + name: agent28 + start: [23, 25] +- goal: [22, 17] + name: agent29 + start: [15, 15] +- goal: [19, 11] + name: agent30 + start: [1, 28] +- goal: [24, 28] + name: agent31 + start: [3, 22] +- goal: [19, 10] + name: agent32 + start: [23, 11] +- goal: [24, 0] + name: agent33 + start: [30, 20] +- goal: [17, 28] + name: agent34 + start: [30, 25] +- goal: [4, 29] + name: agent35 + start: [4, 10] +- goal: [24, 19] + name: agent36 + start: [1, 31] +- goal: [27, 5] + name: agent37 + start: [12, 19] +- goal: [7, 5] + name: agent38 + start: [4, 2] +- goal: [2, 24] + name: agent39 + start: [20, 24] +- goal: [31, 27] + name: agent40 + start: [12, 20] +- goal: [9, 18] + name: agent41 + start: [6, 10] +- goal: [3, 5] + name: agent42 + start: [15, 31] +- goal: [6, 2] + name: agent43 + start: [31, 23] +- goal: [25, 19] + name: agent44 + start: [30, 15] +- goal: [8, 22] + name: agent45 + start: [17, 23] +- goal: [4, 3] + name: agent46 + start: [5, 10] +- goal: [27, 26] + name: agent47 + start: [29, 4] +- goal: [2, 23] + name: agent48 + start: [22, 2] +- goal: [27, 23] + name: agent49 + start: [19, 9] +- goal: [17, 25] + name: agent50 + start: [5, 24] +- goal: [22, 21] + name: agent51 + start: [26, 10] +- goal: [29, 7] + name: agent52 + start: [16, 21] +- goal: [9, 6] + name: agent53 + start: [6, 17] +- goal: [10, 29] + name: agent54 + start: [7, 21] +- goal: [27, 24] + name: agent55 + start: [4, 15] +- goal: [7, 2] + name: agent56 + start: [4, 26] +- goal: [11, 4] + name: agent57 + start: [24, 11] +- goal: [7, 6] + name: agent58 + start: [0, 15] +- goal: [13, 23] + name: agent59 + start: [27, 26] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [3, 0] + - !!python/tuple [11, 0] + - !!python/tuple [15, 4] + - !!python/tuple [3, 30] + - !!python/tuple [25, 11] + - !!python/tuple [20, 26] + - !!python/tuple [12, 12] + - !!python/tuple [19, 25] + - !!python/tuple [17, 15] + - !!python/tuple [1, 20] + - !!python/tuple [29, 21] + - !!python/tuple [12, 30] + - !!python/tuple [11, 22] + - !!python/tuple [23, 23] + - !!python/tuple [9, 1] + - !!python/tuple [17, 18] + - !!python/tuple [25, 26] + - !!python/tuple [20, 19] + - !!python/tuple [29, 5] + - !!python/tuple [20, 8] + - !!python/tuple [29, 30] + - !!python/tuple [6, 26] + - !!python/tuple [31, 3] + - !!python/tuple [27, 0] + - !!python/tuple [21, 28] + - !!python/tuple [12, 9] + - !!python/tuple [13, 2] + - !!python/tuple [13, 3] + - !!python/tuple [13, 9] + - !!python/tuple [26, 16] + - !!python/tuple [18, 20] + - !!python/tuple [8, 24] + - !!python/tuple [0, 8] + - !!python/tuple [9, 31] + - !!python/tuple [0, 5] + - !!python/tuple [25, 4] + - !!python/tuple [17, 14] + - !!python/tuple [4, 17] + - !!python/tuple [25, 28] + - !!python/tuple [31, 16] + - !!python/tuple [9, 10] + - !!python/tuple [15, 9] + - !!python/tuple [21, 24] + - !!python/tuple [30, 21] + - !!python/tuple [31, 29] + - !!python/tuple [22, 6] + - !!python/tuple [20, 21] + - !!python/tuple [21, 14] + - !!python/tuple [28, 12] + - !!python/tuple [10, 26] + - !!python/tuple [13, 28] + - !!python/tuple [16, 26] + - !!python/tuple [23, 16] + - !!python/tuple [0, 2] + - !!python/tuple [6, 6] + - !!python/tuple [22, 15] + - !!python/tuple [31, 12] + - !!python/tuple [26, 18] + - !!python/tuple [27, 9] + - !!python/tuple [18, 2] + - !!python/tuple [2, 0] + - !!python/tuple [29, 2] + - !!python/tuple [0, 6] + - !!python/tuple [27, 16] + - !!python/tuple [30, 19] + - !!python/tuple [24, 15] + - !!python/tuple [23, 17] + - !!python/tuple [21, 23] + - !!python/tuple [29, 18] + - !!python/tuple [17, 24] + - !!python/tuple [19, 2] + - !!python/tuple [3, 27] + - !!python/tuple [20, 20] + - !!python/tuple [12, 5] + - !!python/tuple [8, 6] + - !!python/tuple [2, 10] + - !!python/tuple [15, 19] + - !!python/tuple [7, 10] + - !!python/tuple [16, 31] + - !!python/tuple [22, 11] + - !!python/tuple [1, 2] + - !!python/tuple [3, 21] + - !!python/tuple [19, 21] + - !!python/tuple [8, 18] + - !!python/tuple [15, 20] + - !!python/tuple [9, 11] + - !!python/tuple [11, 18] + - !!python/tuple [21, 5] + - !!python/tuple [20, 23] + - !!python/tuple [10, 9] + - !!python/tuple [4, 27] + - !!python/tuple [26, 25] + - !!python/tuple [5, 14] + - !!python/tuple [31, 15] + - !!python/tuple [3, 9] + - !!python/tuple [30, 14] + - !!python/tuple [4, 1] + - !!python/tuple [27, 7] + - !!python/tuple [0, 3] + - !!python/tuple [26, 17] + - !!python/tuple [10, 24] + - !!python/tuple [31, 5] + - !!python/tuple [22, 8] + - !!python/tuple [18, 12] + - !!python/tuple [30, 29] + - !!python/tuple [4, 0] + - !!python/tuple [0, 22] + - !!python/tuple [18, 9] + - !!python/tuple [29, 20] + - !!python/tuple [23, 18] + - !!python/tuple [6, 29] + - !!python/tuple [25, 14] + - !!python/tuple [2, 20] + - !!python/tuple [30, 16] + - !!python/tuple [22, 19] + - !!python/tuple [17, 12] + - !!python/tuple [25, 29] + - !!python/tuple [15, 25] + - !!python/tuple [11, 13] + - !!python/tuple [5, 26] + - !!python/tuple [31, 11] + - !!python/tuple [11, 24] + - !!python/tuple [4, 14] + - !!python/tuple [11, 28] + - !!python/tuple [15, 21] + - !!python/tuple [2, 5] + - !!python/tuple [1, 22] + - !!python/tuple [11, 20] + - !!python/tuple [12, 31] + - !!python/tuple [28, 30] + - !!python/tuple [1, 30] + - !!python/tuple [1, 1] + - !!python/tuple [31, 28] + - !!python/tuple [11, 23] + - !!python/tuple [28, 31] + - !!python/tuple [31, 26] + - !!python/tuple [13, 26] + - !!python/tuple [8, 9] + - !!python/tuple [25, 10] + - !!python/tuple [1, 23] + - !!python/tuple [13, 6] + - !!python/tuple [14, 14] + - !!python/tuple [3, 31] + - !!python/tuple [15, 24] + - !!python/tuple [25, 1] + - !!python/tuple [26, 22] + - !!python/tuple [22, 31] + - !!python/tuple [14, 23] + - !!python/tuple [14, 5] + - !!python/tuple [21, 11] + - !!python/tuple [2, 16] + - !!python/tuple [6, 8] + - !!python/tuple [13, 16] + - !!python/tuple [6, 12] + - !!python/tuple [24, 21] + - !!python/tuple [8, 25] + - !!python/tuple [2, 4] + - !!python/tuple [19, 3] + - !!python/tuple [3, 4] + - !!python/tuple [24, 16] + - !!python/tuple [10, 12] + - !!python/tuple [0, 14] + - !!python/tuple [2, 26] + - !!python/tuple [16, 13] + - !!python/tuple [14, 22] + - !!python/tuple [8, 16] + - !!python/tuple [7, 19] + - !!python/tuple [27, 4] + - !!python/tuple [7, 3] + - !!python/tuple [24, 6] + - !!python/tuple [29, 10] + - !!python/tuple [20, 27] + - !!python/tuple [19, 31] + - !!python/tuple [2, 29] + - !!python/tuple [18, 14] + - !!python/tuple [21, 12] + - !!python/tuple [16, 11] + - !!python/tuple [30, 24] + - !!python/tuple [10, 17] + - !!python/tuple [14, 19] + - !!python/tuple [28, 6] + - !!python/tuple [13, 13] + - !!python/tuple [4, 28] + - !!python/tuple [19, 8] + - !!python/tuple [0, 4] + - !!python/tuple [17, 30] + - !!python/tuple [16, 28] + - !!python/tuple [3, 23] + - !!python/tuple [3, 15] + - !!python/tuple [15, 23] + - !!python/tuple [27, 8] + - !!python/tuple [30, 9] + - !!python/tuple [28, 17] + - !!python/tuple [15, 13] + - !!python/tuple [10, 1] + - !!python/tuple [25, 3] + - !!python/tuple [17, 21] + - !!python/tuple [23, 10] + - !!python/tuple [16, 18] + - !!python/tuple [10, 31] + - !!python/tuple [24, 25] + - !!python/tuple [18, 22] + - !!python/tuple [13, 19] + - !!python/tuple [20, 7] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex85.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex85.yaml new file mode 100644 index 0000000..7f2e185 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex85.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [16, 3] + name: agent0 + start: [18, 18] +- goal: [30, 24] + name: agent1 + start: [30, 10] +- goal: [16, 0] + name: agent2 + start: [13, 1] +- goal: [30, 21] + name: agent3 + start: [7, 22] +- goal: [25, 15] + name: agent4 + start: [30, 27] +- goal: [1, 22] + name: agent5 + start: [9, 5] +- goal: [10, 19] + name: agent6 + start: [1, 26] +- goal: [11, 23] + name: agent7 + start: [11, 1] +- goal: [5, 8] + name: agent8 + start: [25, 15] +- goal: [3, 31] + name: agent9 + start: [13, 8] +- goal: [31, 27] + name: agent10 + start: [4, 8] +- goal: [27, 18] + name: agent11 + start: [15, 11] +- goal: [18, 15] + name: agent12 + start: [5, 29] +- goal: [0, 21] + name: agent13 + start: [25, 10] +- goal: [11, 15] + name: agent14 + start: [8, 21] +- goal: [11, 3] + name: agent15 + start: [12, 16] +- goal: [31, 10] + name: agent16 + start: [19, 4] +- goal: [10, 22] + name: agent17 + start: [4, 21] +- goal: [19, 2] + name: agent18 + start: [5, 8] +- goal: [21, 25] + name: agent19 + start: [3, 5] +- goal: [15, 20] + name: agent20 + start: [30, 30] +- goal: [6, 18] + name: agent21 + start: [2, 29] +- goal: [27, 24] + name: agent22 + start: [24, 21] +- goal: [7, 21] + name: agent23 + start: [28, 21] +- goal: [26, 14] + name: agent24 + start: [4, 6] +- goal: [28, 29] + name: agent25 + start: [13, 9] +- goal: [24, 23] + name: agent26 + start: [29, 23] +- goal: [0, 17] + name: agent27 + start: [6, 25] +- goal: [29, 26] + name: agent28 + start: [6, 5] +- goal: [15, 30] + name: agent29 + start: [13, 23] +- goal: [13, 16] + name: agent30 + start: [27, 18] +- goal: [30, 10] + name: agent31 + start: [1, 4] +- goal: [19, 9] + name: agent32 + start: [14, 7] +- goal: [6, 17] + name: agent33 + start: [27, 12] +- goal: [30, 9] + name: agent34 + start: [28, 31] +- goal: [9, 11] + name: agent35 + start: [4, 24] +- goal: [20, 18] + name: agent36 + start: [20, 3] +- goal: [26, 26] + name: agent37 + start: [24, 25] +- goal: [25, 3] + name: agent38 + start: [5, 23] +- goal: [23, 21] + name: agent39 + start: [20, 11] +- goal: [26, 21] + name: agent40 + start: [24, 31] +- goal: [10, 4] + name: agent41 + start: [18, 16] +- goal: [28, 26] + name: agent42 + start: [11, 30] +- goal: [6, 5] + name: agent43 + start: [9, 29] +- goal: [28, 19] + name: agent44 + start: [10, 7] +- goal: [14, 8] + name: agent45 + start: [8, 30] +- goal: [0, 10] + name: agent46 + start: [26, 25] +- goal: [14, 5] + name: agent47 + start: [31, 31] +- goal: [10, 24] + name: agent48 + start: [14, 16] +- goal: [7, 3] + name: agent49 + start: [7, 5] +- goal: [12, 17] + name: agent50 + start: [28, 10] +- goal: [24, 26] + name: agent51 + start: [30, 25] +- goal: [12, 0] + name: agent52 + start: [10, 5] +- goal: [17, 23] + name: agent53 + start: [3, 9] +- goal: [4, 18] + name: agent54 + start: [7, 26] +- goal: [26, 6] + name: agent55 + start: [17, 10] +- goal: [12, 3] + name: agent56 + start: [27, 30] +- goal: [8, 15] + name: agent57 + start: [25, 1] +- goal: [26, 30] + name: agent58 + start: [20, 10] +- goal: [21, 7] + name: agent59 + start: [27, 14] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [20, 17] + - !!python/tuple [11, 4] + - !!python/tuple [16, 11] + - !!python/tuple [14, 22] + - !!python/tuple [14, 1] + - !!python/tuple [2, 19] + - !!python/tuple [2, 3] + - !!python/tuple [12, 14] + - !!python/tuple [10, 29] + - !!python/tuple [30, 16] + - !!python/tuple [22, 15] + - !!python/tuple [30, 6] + - !!python/tuple [26, 7] + - !!python/tuple [8, 17] + - !!python/tuple [16, 13] + - !!python/tuple [3, 3] + - !!python/tuple [23, 8] + - !!python/tuple [11, 27] + - !!python/tuple [4, 14] + - !!python/tuple [20, 31] + - !!python/tuple [18, 0] + - !!python/tuple [10, 9] + - !!python/tuple [1, 14] + - !!python/tuple [19, 14] + - !!python/tuple [30, 3] + - !!python/tuple [13, 29] + - !!python/tuple [20, 29] + - !!python/tuple [2, 25] + - !!python/tuple [8, 26] + - !!python/tuple [16, 25] + - !!python/tuple [21, 9] + - !!python/tuple [27, 1] + - !!python/tuple [5, 21] + - !!python/tuple [4, 29] + - !!python/tuple [1, 17] + - !!python/tuple [26, 16] + - !!python/tuple [18, 27] + - !!python/tuple [17, 4] + - !!python/tuple [7, 7] + - !!python/tuple [0, 27] + - !!python/tuple [31, 23] + - !!python/tuple [30, 5] + - !!python/tuple [19, 16] + - !!python/tuple [15, 3] + - !!python/tuple [1, 10] + - !!python/tuple [9, 21] + - !!python/tuple [10, 17] + - !!python/tuple [26, 8] + - !!python/tuple [28, 28] + - !!python/tuple [11, 28] + - !!python/tuple [0, 7] + - !!python/tuple [4, 11] + - !!python/tuple [4, 16] + - !!python/tuple [6, 10] + - !!python/tuple [20, 30] + - !!python/tuple [9, 20] + - !!python/tuple [26, 12] + - !!python/tuple [6, 14] + - !!python/tuple [23, 2] + - !!python/tuple [0, 14] + - !!python/tuple [17, 29] + - !!python/tuple [23, 1] + - !!python/tuple [1, 1] + - !!python/tuple [22, 10] + - !!python/tuple [22, 3] + - !!python/tuple [27, 8] + - !!python/tuple [26, 22] + - !!python/tuple [17, 27] + - !!python/tuple [24, 19] + - !!python/tuple [19, 28] + - !!python/tuple [22, 12] + - !!python/tuple [16, 28] + - !!python/tuple [28, 16] + - !!python/tuple [29, 28] + - !!python/tuple [2, 2] + - !!python/tuple [27, 22] + - !!python/tuple [8, 19] + - !!python/tuple [20, 23] + - !!python/tuple [13, 15] + - !!python/tuple [24, 15] + - !!python/tuple [14, 14] + - !!python/tuple [19, 23] + - !!python/tuple [3, 4] + - !!python/tuple [22, 26] + - !!python/tuple [0, 2] + - !!python/tuple [2, 7] + - !!python/tuple [6, 20] + - !!python/tuple [11, 2] + - !!python/tuple [20, 27] + - !!python/tuple [10, 6] + - !!python/tuple [7, 14] + - !!python/tuple [31, 18] + - !!python/tuple [12, 28] + - !!python/tuple [29, 27] + - !!python/tuple [1, 13] + - !!python/tuple [19, 25] + - !!python/tuple [17, 30] + - !!python/tuple [28, 12] + - !!python/tuple [31, 25] + - !!python/tuple [23, 19] + - !!python/tuple [6, 4] + - !!python/tuple [20, 4] + - !!python/tuple [28, 17] + - !!python/tuple [9, 3] + - !!python/tuple [11, 14] + - !!python/tuple [2, 17] + - !!python/tuple [9, 31] + - !!python/tuple [12, 18] + - !!python/tuple [2, 6] + - !!python/tuple [31, 16] + - !!python/tuple [28, 5] + - !!python/tuple [30, 17] + - !!python/tuple [26, 29] + - !!python/tuple [3, 0] + - !!python/tuple [1, 20] + - !!python/tuple [21, 0] + - !!python/tuple [11, 29] + - !!python/tuple [3, 28] + - !!python/tuple [9, 9] + - !!python/tuple [22, 0] + - !!python/tuple [29, 2] + - !!python/tuple [13, 25] + - !!python/tuple [30, 26] + - !!python/tuple [18, 6] + - !!python/tuple [28, 13] + - !!python/tuple [16, 19] + - !!python/tuple [22, 21] + - !!python/tuple [6, 0] + - !!python/tuple [4, 20] + - !!python/tuple [30, 13] + - !!python/tuple [26, 4] + - !!python/tuple [25, 7] + - !!python/tuple [31, 26] + - !!python/tuple [27, 29] + - !!python/tuple [16, 29] + - !!python/tuple [1, 24] + - !!python/tuple [1, 23] + - !!python/tuple [31, 24] + - !!python/tuple [1, 7] + - !!python/tuple [1, 28] + - !!python/tuple [14, 26] + - !!python/tuple [16, 30] + - !!python/tuple [0, 6] + - !!python/tuple [21, 11] + - !!python/tuple [25, 11] + - !!python/tuple [24, 7] + - !!python/tuple [7, 23] + - !!python/tuple [10, 11] + - !!python/tuple [28, 25] + - !!python/tuple [20, 5] + - !!python/tuple [26, 2] + - !!python/tuple [28, 4] + - !!python/tuple [31, 2] + - !!python/tuple [8, 16] + - !!python/tuple [1, 2] + - !!python/tuple [15, 4] + - !!python/tuple [1, 6] + - !!python/tuple [14, 25] + - !!python/tuple [29, 24] + - !!python/tuple [25, 18] + - !!python/tuple [3, 17] + - !!python/tuple [25, 9] + - !!python/tuple [15, 2] + - !!python/tuple [13, 12] + - !!python/tuple [20, 16] + - !!python/tuple [0, 0] + - !!python/tuple [18, 3] + - !!python/tuple [31, 15] + - !!python/tuple [27, 17] + - !!python/tuple [23, 22] + - !!python/tuple [26, 10] + - !!python/tuple [22, 4] + - !!python/tuple [5, 6] + - !!python/tuple [3, 26] + - !!python/tuple [9, 24] + - !!python/tuple [21, 12] + - !!python/tuple [21, 27] + - !!python/tuple [21, 13] + - !!python/tuple [23, 5] + - !!python/tuple [27, 20] + - !!python/tuple [0, 20] + - !!python/tuple [21, 14] + - !!python/tuple [30, 2] + - !!python/tuple [7, 18] + - !!python/tuple [16, 5] + - !!python/tuple [6, 1] + - !!python/tuple [16, 9] + - !!python/tuple [23, 12] + - !!python/tuple [13, 22] + - !!python/tuple [15, 14] + - !!python/tuple [22, 16] + - !!python/tuple [31, 8] + - !!python/tuple [17, 6] + - !!python/tuple [11, 18] + - !!python/tuple [5, 14] + - !!python/tuple [10, 14] + - !!python/tuple [14, 19] + - !!python/tuple [17, 24] + - !!python/tuple [4, 5] + - !!python/tuple [4, 10] + - !!python/tuple [5, 15] + - !!python/tuple [22, 2] + - !!python/tuple [27, 5] + - !!python/tuple [3, 27] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex86.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex86.yaml new file mode 100644 index 0000000..b0ac08d --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex86.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [24, 11] + name: agent0 + start: [17, 8] +- goal: [4, 3] + name: agent1 + start: [20, 2] +- goal: [4, 5] + name: agent2 + start: [15, 21] +- goal: [3, 21] + name: agent3 + start: [26, 17] +- goal: [17, 0] + name: agent4 + start: [29, 1] +- goal: [2, 16] + name: agent5 + start: [3, 25] +- goal: [8, 9] + name: agent6 + start: [6, 27] +- goal: [1, 10] + name: agent7 + start: [14, 31] +- goal: [25, 9] + name: agent8 + start: [26, 23] +- goal: [7, 2] + name: agent9 + start: [14, 20] +- goal: [14, 31] + name: agent10 + start: [2, 23] +- goal: [15, 21] + name: agent11 + start: [26, 21] +- goal: [30, 10] + name: agent12 + start: [22, 28] +- goal: [11, 26] + name: agent13 + start: [5, 11] +- goal: [24, 20] + name: agent14 + start: [29, 11] +- goal: [10, 28] + name: agent15 + start: [18, 11] +- goal: [18, 9] + name: agent16 + start: [19, 25] +- goal: [29, 12] + name: agent17 + start: [13, 21] +- goal: [12, 6] + name: agent18 + start: [20, 3] +- goal: [4, 24] + name: agent19 + start: [10, 16] +- goal: [22, 2] + name: agent20 + start: [6, 3] +- goal: [13, 5] + name: agent21 + start: [31, 26] +- goal: [20, 30] + name: agent22 + start: [8, 9] +- goal: [18, 15] + name: agent23 + start: [8, 25] +- goal: [5, 0] + name: agent24 + start: [28, 31] +- goal: [2, 5] + name: agent25 + start: [19, 26] +- goal: [11, 14] + name: agent26 + start: [1, 7] +- goal: [28, 19] + name: agent27 + start: [21, 31] +- goal: [24, 26] + name: agent28 + start: [20, 8] +- goal: [17, 22] + name: agent29 + start: [24, 25] +- goal: [26, 23] + name: agent30 + start: [21, 20] +- goal: [15, 31] + name: agent31 + start: [5, 30] +- goal: [22, 25] + name: agent32 + start: [6, 2] +- goal: [30, 11] + name: agent33 + start: [0, 4] +- goal: [25, 17] + name: agent34 + start: [13, 3] +- goal: [10, 14] + name: agent35 + start: [22, 25] +- goal: [9, 12] + name: agent36 + start: [7, 25] +- goal: [2, 21] + name: agent37 + start: [24, 17] +- goal: [7, 5] + name: agent38 + start: [8, 22] +- goal: [1, 13] + name: agent39 + start: [5, 23] +- goal: [23, 31] + name: agent40 + start: [21, 12] +- goal: [20, 26] + name: agent41 + start: [15, 15] +- goal: [13, 29] + name: agent42 + start: [23, 28] +- goal: [19, 24] + name: agent43 + start: [12, 22] +- goal: [11, 9] + name: agent44 + start: [1, 24] +- goal: [31, 0] + name: agent45 + start: [23, 31] +- goal: [7, 10] + name: agent46 + start: [7, 19] +- goal: [6, 0] + name: agent47 + start: [21, 1] +- goal: [22, 21] + name: agent48 + start: [15, 3] +- goal: [15, 23] + name: agent49 + start: [3, 14] +- goal: [24, 13] + name: agent50 + start: [26, 18] +- goal: [16, 2] + name: agent51 + start: [3, 20] +- goal: [18, 13] + name: agent52 + start: [12, 2] +- goal: [3, 6] + name: agent53 + start: [13, 7] +- goal: [31, 18] + name: agent54 + start: [20, 23] +- goal: [18, 11] + name: agent55 + start: [7, 27] +- goal: [22, 11] + name: agent56 + start: [10, 13] +- goal: [17, 11] + name: agent57 + start: [1, 23] +- goal: [2, 15] + name: agent58 + start: [30, 22] +- goal: [17, 28] + name: agent59 + start: [23, 8] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [11, 3] + - !!python/tuple [1, 16] + - !!python/tuple [19, 11] + - !!python/tuple [12, 20] + - !!python/tuple [0, 13] + - !!python/tuple [14, 27] + - !!python/tuple [0, 1] + - !!python/tuple [2, 0] + - !!python/tuple [21, 6] + - !!python/tuple [23, 15] + - !!python/tuple [21, 18] + - !!python/tuple [2, 8] + - !!python/tuple [0, 0] + - !!python/tuple [8, 17] + - !!python/tuple [0, 14] + - !!python/tuple [19, 12] + - !!python/tuple [14, 21] + - !!python/tuple [21, 9] + - !!python/tuple [6, 30] + - !!python/tuple [25, 24] + - !!python/tuple [31, 19] + - !!python/tuple [8, 12] + - !!python/tuple [8, 0] + - !!python/tuple [31, 11] + - !!python/tuple [25, 3] + - !!python/tuple [19, 29] + - !!python/tuple [18, 19] + - !!python/tuple [28, 28] + - !!python/tuple [8, 23] + - !!python/tuple [21, 2] + - !!python/tuple [16, 30] + - !!python/tuple [2, 27] + - !!python/tuple [0, 15] + - !!python/tuple [27, 14] + - !!python/tuple [19, 15] + - !!python/tuple [4, 17] + - !!python/tuple [5, 14] + - !!python/tuple [23, 11] + - !!python/tuple [5, 22] + - !!python/tuple [14, 1] + - !!python/tuple [12, 8] + - !!python/tuple [17, 5] + - !!python/tuple [13, 18] + - !!python/tuple [22, 5] + - !!python/tuple [24, 4] + - !!python/tuple [30, 23] + - !!python/tuple [29, 18] + - !!python/tuple [14, 30] + - !!python/tuple [5, 10] + - !!python/tuple [2, 25] + - !!python/tuple [27, 22] + - !!python/tuple [19, 22] + - !!python/tuple [3, 27] + - !!python/tuple [10, 21] + - !!python/tuple [0, 30] + - !!python/tuple [30, 9] + - !!python/tuple [6, 4] + - !!python/tuple [30, 16] + - !!python/tuple [11, 29] + - !!python/tuple [16, 24] + - !!python/tuple [1, 21] + - !!python/tuple [15, 25] + - !!python/tuple [10, 2] + - !!python/tuple [10, 11] + - !!python/tuple [19, 21] + - !!python/tuple [10, 8] + - !!python/tuple [20, 11] + - !!python/tuple [24, 16] + - !!python/tuple [10, 26] + - !!python/tuple [30, 13] + - !!python/tuple [8, 20] + - !!python/tuple [7, 6] + - !!python/tuple [19, 7] + - !!python/tuple [29, 28] + - !!python/tuple [16, 31] + - !!python/tuple [21, 14] + - !!python/tuple [13, 27] + - !!python/tuple [1, 3] + - !!python/tuple [5, 1] + - !!python/tuple [11, 12] + - !!python/tuple [16, 26] + - !!python/tuple [1, 6] + - !!python/tuple [30, 8] + - !!python/tuple [27, 25] + - !!python/tuple [31, 1] + - !!python/tuple [23, 6] + - !!python/tuple [22, 17] + - !!python/tuple [15, 9] + - !!python/tuple [30, 2] + - !!python/tuple [30, 15] + - !!python/tuple [2, 31] + - !!python/tuple [22, 30] + - !!python/tuple [31, 25] + - !!python/tuple [24, 6] + - !!python/tuple [16, 3] + - !!python/tuple [12, 26] + - !!python/tuple [6, 25] + - !!python/tuple [26, 24] + - !!python/tuple [20, 5] + - !!python/tuple [30, 25] + - !!python/tuple [27, 0] + - !!python/tuple [1, 31] + - !!python/tuple [27, 7] + - !!python/tuple [12, 19] + - !!python/tuple [24, 1] + - !!python/tuple [0, 11] + - !!python/tuple [1, 18] + - !!python/tuple [5, 2] + - !!python/tuple [7, 12] + - !!python/tuple [18, 26] + - !!python/tuple [26, 4] + - !!python/tuple [16, 29] + - !!python/tuple [24, 12] + - !!python/tuple [16, 17] + - !!python/tuple [27, 17] + - !!python/tuple [28, 17] + - !!python/tuple [9, 22] + - !!python/tuple [26, 22] + - !!python/tuple [20, 10] + - !!python/tuple [24, 27] + - !!python/tuple [18, 24] + - !!python/tuple [7, 23] + - !!python/tuple [9, 23] + - !!python/tuple [22, 8] + - !!python/tuple [27, 20] + - !!python/tuple [17, 19] + - !!python/tuple [12, 14] + - !!python/tuple [4, 9] + - !!python/tuple [9, 13] + - !!python/tuple [12, 3] + - !!python/tuple [27, 19] + - !!python/tuple [24, 31] + - !!python/tuple [13, 25] + - !!python/tuple [16, 4] + - !!python/tuple [16, 14] + - !!python/tuple [9, 6] + - !!python/tuple [23, 7] + - !!python/tuple [12, 30] + - !!python/tuple [7, 16] + - !!python/tuple [31, 15] + - !!python/tuple [22, 3] + - !!python/tuple [1, 11] + - !!python/tuple [25, 8] + - !!python/tuple [18, 28] + - !!python/tuple [9, 29] + - !!python/tuple [2, 2] + - !!python/tuple [0, 20] + - !!python/tuple [7, 20] + - !!python/tuple [9, 20] + - !!python/tuple [3, 11] + - !!python/tuple [18, 10] + - !!python/tuple [21, 23] + - !!python/tuple [11, 23] + - !!python/tuple [3, 12] + - !!python/tuple [30, 31] + - !!python/tuple [4, 4] + - !!python/tuple [24, 9] + - !!python/tuple [1, 15] + - !!python/tuple [5, 12] + - !!python/tuple [6, 1] + - !!python/tuple [5, 7] + - !!python/tuple [20, 15] + - !!python/tuple [26, 11] + - !!python/tuple [29, 3] + - !!python/tuple [29, 16] + - !!python/tuple [28, 11] + - !!python/tuple [19, 10] + - !!python/tuple [13, 14] + - !!python/tuple [9, 11] + - !!python/tuple [20, 12] + - !!python/tuple [10, 30] + - !!python/tuple [11, 1] + - !!python/tuple [4, 19] + - !!python/tuple [19, 31] + - !!python/tuple [7, 26] + - !!python/tuple [13, 6] + - !!python/tuple [1, 30] + - !!python/tuple [15, 24] + - !!python/tuple [19, 5] + - !!python/tuple [7, 14] + - !!python/tuple [2, 12] + - !!python/tuple [3, 0] + - !!python/tuple [11, 31] + - !!python/tuple [28, 10] + - !!python/tuple [20, 7] + - !!python/tuple [25, 14] + - !!python/tuple [11, 8] + - !!python/tuple [12, 27] + - !!python/tuple [23, 18] + - !!python/tuple [25, 30] + - !!python/tuple [11, 4] + - !!python/tuple [27, 2] + - !!python/tuple [29, 8] + - !!python/tuple [19, 20] + - !!python/tuple [28, 27] + - !!python/tuple [0, 29] + - !!python/tuple [17, 9] + - !!python/tuple [11, 2] + - !!python/tuple [29, 10] + - !!python/tuple [29, 26] + - !!python/tuple [25, 18] + - !!python/tuple [26, 31] + - !!python/tuple [5, 17] + - !!python/tuple [20, 29] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex87.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex87.yaml new file mode 100644 index 0000000..e02449c --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex87.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [31, 6] + name: agent0 + start: [4, 19] +- goal: [7, 22] + name: agent1 + start: [3, 0] +- goal: [21, 8] + name: agent2 + start: [8, 19] +- goal: [29, 21] + name: agent3 + start: [6, 4] +- goal: [1, 12] + name: agent4 + start: [24, 2] +- goal: [15, 5] + name: agent5 + start: [11, 16] +- goal: [25, 19] + name: agent6 + start: [22, 11] +- goal: [1, 20] + name: agent7 + start: [8, 25] +- goal: [14, 28] + name: agent8 + start: [24, 28] +- goal: [28, 19] + name: agent9 + start: [7, 29] +- goal: [9, 25] + name: agent10 + start: [4, 27] +- goal: [8, 18] + name: agent11 + start: [26, 2] +- goal: [30, 27] + name: agent12 + start: [22, 28] +- goal: [17, 25] + name: agent13 + start: [30, 28] +- goal: [22, 21] + name: agent14 + start: [5, 12] +- goal: [13, 5] + name: agent15 + start: [14, 10] +- goal: [17, 2] + name: agent16 + start: [14, 5] +- goal: [0, 3] + name: agent17 + start: [19, 29] +- goal: [21, 9] + name: agent18 + start: [30, 7] +- goal: [11, 16] + name: agent19 + start: [27, 17] +- goal: [12, 1] + name: agent20 + start: [4, 26] +- goal: [25, 17] + name: agent21 + start: [3, 25] +- goal: [5, 25] + name: agent22 + start: [31, 25] +- goal: [21, 14] + name: agent23 + start: [8, 24] +- goal: [6, 22] + name: agent24 + start: [16, 14] +- goal: [21, 17] + name: agent25 + start: [26, 22] +- goal: [2, 12] + name: agent26 + start: [30, 16] +- goal: [0, 18] + name: agent27 + start: [28, 7] +- goal: [11, 23] + name: agent28 + start: [6, 30] +- goal: [1, 23] + name: agent29 + start: [26, 15] +- goal: [3, 26] + name: agent30 + start: [16, 8] +- goal: [29, 28] + name: agent31 + start: [13, 30] +- goal: [6, 12] + name: agent32 + start: [27, 6] +- goal: [9, 6] + name: agent33 + start: [29, 6] +- goal: [21, 31] + name: agent34 + start: [17, 4] +- goal: [25, 23] + name: agent35 + start: [3, 14] +- goal: [10, 24] + name: agent36 + start: [15, 11] +- goal: [19, 29] + name: agent37 + start: [31, 13] +- goal: [30, 25] + name: agent38 + start: [28, 18] +- goal: [18, 2] + name: agent39 + start: [13, 28] +- goal: [13, 0] + name: agent40 + start: [3, 5] +- goal: [16, 5] + name: agent41 + start: [25, 25] +- goal: [31, 26] + name: agent42 + start: [13, 10] +- goal: [1, 11] + name: agent43 + start: [23, 12] +- goal: [24, 11] + name: agent44 + start: [27, 12] +- goal: [16, 9] + name: agent45 + start: [6, 31] +- goal: [25, 31] + name: agent46 + start: [17, 10] +- goal: [26, 21] + name: agent47 + start: [14, 0] +- goal: [10, 6] + name: agent48 + start: [30, 30] +- goal: [28, 24] + name: agent49 + start: [21, 13] +- goal: [4, 18] + name: agent50 + start: [27, 3] +- goal: [7, 19] + name: agent51 + start: [7, 7] +- goal: [5, 29] + name: agent52 + start: [12, 5] +- goal: [31, 14] + name: agent53 + start: [28, 27] +- goal: [6, 13] + name: agent54 + start: [4, 10] +- goal: [5, 15] + name: agent55 + start: [3, 1] +- goal: [29, 2] + name: agent56 + start: [5, 6] +- goal: [3, 12] + name: agent57 + start: [18, 6] +- goal: [23, 7] + name: agent58 + start: [16, 17] +- goal: [7, 4] + name: agent59 + start: [11, 4] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [1, 6] + - !!python/tuple [23, 14] + - !!python/tuple [25, 26] + - !!python/tuple [22, 0] + - !!python/tuple [16, 0] + - !!python/tuple [31, 28] + - !!python/tuple [15, 6] + - !!python/tuple [24, 12] + - !!python/tuple [25, 11] + - !!python/tuple [8, 20] + - !!python/tuple [1, 9] + - !!python/tuple [20, 24] + - !!python/tuple [18, 17] + - !!python/tuple [1, 30] + - !!python/tuple [5, 23] + - !!python/tuple [18, 20] + - !!python/tuple [23, 13] + - !!python/tuple [11, 29] + - !!python/tuple [3, 16] + - !!python/tuple [5, 27] + - !!python/tuple [29, 27] + - !!python/tuple [6, 8] + - !!python/tuple [7, 27] + - !!python/tuple [0, 26] + - !!python/tuple [10, 13] + - !!python/tuple [18, 31] + - !!python/tuple [27, 8] + - !!python/tuple [5, 30] + - !!python/tuple [9, 19] + - !!python/tuple [30, 3] + - !!python/tuple [25, 10] + - !!python/tuple [9, 7] + - !!python/tuple [27, 26] + - !!python/tuple [24, 14] + - !!python/tuple [6, 18] + - !!python/tuple [8, 4] + - !!python/tuple [14, 31] + - !!python/tuple [21, 10] + - !!python/tuple [30, 24] + - !!python/tuple [2, 3] + - !!python/tuple [2, 27] + - !!python/tuple [10, 21] + - !!python/tuple [19, 12] + - !!python/tuple [14, 26] + - !!python/tuple [18, 7] + - !!python/tuple [15, 8] + - !!python/tuple [3, 7] + - !!python/tuple [8, 23] + - !!python/tuple [21, 1] + - !!python/tuple [9, 3] + - !!python/tuple [0, 28] + - !!python/tuple [3, 19] + - !!python/tuple [13, 23] + - !!python/tuple [16, 20] + - !!python/tuple [26, 31] + - !!python/tuple [4, 9] + - !!python/tuple [6, 9] + - !!python/tuple [28, 17] + - !!python/tuple [18, 23] + - !!python/tuple [10, 4] + - !!python/tuple [20, 1] + - !!python/tuple [0, 5] + - !!python/tuple [5, 0] + - !!python/tuple [22, 4] + - !!python/tuple [3, 21] + - !!python/tuple [1, 31] + - !!python/tuple [24, 19] + - !!python/tuple [23, 9] + - !!python/tuple [15, 10] + - !!python/tuple [17, 0] + - !!python/tuple [15, 18] + - !!python/tuple [15, 9] + - !!python/tuple [1, 26] + - !!python/tuple [11, 30] + - !!python/tuple [19, 16] + - !!python/tuple [16, 24] + - !!python/tuple [11, 10] + - !!python/tuple [13, 29] + - !!python/tuple [24, 30] + - !!python/tuple [7, 13] + - !!python/tuple [18, 22] + - !!python/tuple [3, 22] + - !!python/tuple [24, 8] + - !!python/tuple [27, 11] + - !!python/tuple [30, 21] + - !!python/tuple [14, 14] + - !!python/tuple [14, 6] + - !!python/tuple [25, 20] + - !!python/tuple [27, 7] + - !!python/tuple [2, 16] + - !!python/tuple [30, 26] + - !!python/tuple [15, 21] + - !!python/tuple [7, 17] + - !!python/tuple [30, 15] + - !!python/tuple [22, 13] + - !!python/tuple [5, 14] + - !!python/tuple [14, 4] + - !!python/tuple [20, 22] + - !!python/tuple [17, 3] + - !!python/tuple [25, 1] + - !!python/tuple [7, 20] + - !!python/tuple [14, 19] + - !!python/tuple [5, 5] + - !!python/tuple [18, 21] + - !!python/tuple [29, 10] + - !!python/tuple [5, 9] + - !!python/tuple [18, 18] + - !!python/tuple [29, 7] + - !!python/tuple [15, 29] + - !!python/tuple [21, 6] + - !!python/tuple [27, 14] + - !!python/tuple [14, 20] + - !!python/tuple [24, 29] + - !!python/tuple [8, 30] + - !!python/tuple [9, 27] + - !!python/tuple [16, 29] + - !!python/tuple [22, 25] + - !!python/tuple [11, 15] + - !!python/tuple [9, 22] + - !!python/tuple [13, 8] + - !!python/tuple [18, 14] + - !!python/tuple [29, 17] + - !!python/tuple [27, 28] + - !!python/tuple [1, 7] + - !!python/tuple [28, 14] + - !!python/tuple [25, 13] + - !!python/tuple [22, 9] + - !!python/tuple [5, 26] + - !!python/tuple [8, 28] + - !!python/tuple [9, 4] + - !!python/tuple [23, 8] + - !!python/tuple [6, 17] + - !!python/tuple [25, 6] + - !!python/tuple [17, 15] + - !!python/tuple [18, 3] + - !!python/tuple [12, 18] + - !!python/tuple [24, 23] + - !!python/tuple [24, 7] + - !!python/tuple [9, 8] + - !!python/tuple [10, 3] + - !!python/tuple [15, 0] + - !!python/tuple [15, 4] + - !!python/tuple [13, 22] + - !!python/tuple [28, 6] + - !!python/tuple [23, 15] + - !!python/tuple [22, 31] + - !!python/tuple [0, 16] + - !!python/tuple [8, 17] + - !!python/tuple [13, 11] + - !!python/tuple [19, 30] + - !!python/tuple [2, 30] + - !!python/tuple [21, 4] + - !!python/tuple [6, 21] + - !!python/tuple [22, 10] + - !!python/tuple [28, 30] + - !!python/tuple [11, 8] + - !!python/tuple [25, 24] + - !!python/tuple [11, 31] + - !!python/tuple [8, 12] + - !!python/tuple [8, 0] + - !!python/tuple [5, 22] + - !!python/tuple [2, 19] + - !!python/tuple [28, 10] + - !!python/tuple [6, 5] + - !!python/tuple [18, 28] + - !!python/tuple [0, 30] + - !!python/tuple [31, 15] + - !!python/tuple [29, 22] + - !!python/tuple [1, 24] + - !!python/tuple [21, 21] + - !!python/tuple [7, 0] + - !!python/tuple [20, 0] + - !!python/tuple [7, 3] + - !!python/tuple [21, 29] + - !!python/tuple [8, 6] + - !!python/tuple [18, 24] + - !!python/tuple [21, 22] + - !!python/tuple [20, 31] + - !!python/tuple [19, 4] + - !!python/tuple [30, 13] + - !!python/tuple [1, 25] + - !!python/tuple [2, 2] + - !!python/tuple [31, 8] + - !!python/tuple [8, 9] + - !!python/tuple [20, 23] + - !!python/tuple [1, 28] + - !!python/tuple [0, 8] + - !!python/tuple [31, 29] + - !!python/tuple [6, 25] + - !!python/tuple [27, 13] + - !!python/tuple [13, 3] + - !!python/tuple [3, 6] + - !!python/tuple [25, 18] + - !!python/tuple [14, 11] + - !!python/tuple [12, 12] + - !!python/tuple [4, 29] + - !!python/tuple [14, 24] + - !!python/tuple [9, 23] + - !!python/tuple [22, 19] + - !!python/tuple [17, 23] + - !!python/tuple [20, 25] + - !!python/tuple [18, 30] + - !!python/tuple [12, 4] + - !!python/tuple [29, 16] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex88.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex88.yaml new file mode 100644 index 0000000..9785080 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex88.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [11, 30] + name: agent0 + start: [14, 18] +- goal: [0, 27] + name: agent1 + start: [1, 20] +- goal: [2, 31] + name: agent2 + start: [18, 15] +- goal: [28, 25] + name: agent3 + start: [31, 21] +- goal: [1, 9] + name: agent4 + start: [21, 28] +- goal: [4, 22] + name: agent5 + start: [27, 26] +- goal: [14, 8] + name: agent6 + start: [29, 0] +- goal: [4, 9] + name: agent7 + start: [0, 14] +- goal: [5, 19] + name: agent8 + start: [6, 0] +- goal: [16, 30] + name: agent9 + start: [25, 8] +- goal: [21, 10] + name: agent10 + start: [12, 11] +- goal: [5, 27] + name: agent11 + start: [24, 26] +- goal: [7, 23] + name: agent12 + start: [26, 31] +- goal: [29, 24] + name: agent13 + start: [28, 14] +- goal: [17, 26] + name: agent14 + start: [25, 10] +- goal: [31, 15] + name: agent15 + start: [15, 2] +- goal: [11, 4] + name: agent16 + start: [29, 2] +- goal: [30, 3] + name: agent17 + start: [31, 30] +- goal: [23, 18] + name: agent18 + start: [20, 18] +- goal: [7, 14] + name: agent19 + start: [15, 23] +- goal: [19, 0] + name: agent20 + start: [14, 7] +- goal: [12, 30] + name: agent21 + start: [21, 26] +- goal: [19, 26] + name: agent22 + start: [20, 14] +- goal: [29, 0] + name: agent23 + start: [4, 7] +- goal: [18, 22] + name: agent24 + start: [23, 29] +- goal: [24, 19] + name: agent25 + start: [3, 1] +- goal: [26, 25] + name: agent26 + start: [28, 23] +- goal: [12, 1] + name: agent27 + start: [27, 19] +- goal: [30, 7] + name: agent28 + start: [14, 31] +- goal: [15, 12] + name: agent29 + start: [4, 24] +- goal: [26, 5] + name: agent30 + start: [30, 15] +- goal: [20, 23] + name: agent31 + start: [25, 31] +- goal: [12, 12] + name: agent32 + start: [19, 26] +- goal: [19, 18] + name: agent33 + start: [12, 24] +- goal: [31, 23] + name: agent34 + start: [1, 26] +- goal: [12, 4] + name: agent35 + start: [4, 9] +- goal: [20, 9] + name: agent36 + start: [4, 6] +- goal: [9, 13] + name: agent37 + start: [13, 6] +- goal: [24, 26] + name: agent38 + start: [4, 10] +- goal: [4, 11] + name: agent39 + start: [15, 11] +- goal: [14, 29] + name: agent40 + start: [31, 17] +- goal: [24, 23] + name: agent41 + start: [10, 22] +- goal: [22, 11] + name: agent42 + start: [13, 11] +- goal: [6, 21] + name: agent43 + start: [3, 26] +- goal: [5, 31] + name: agent44 + start: [17, 26] +- goal: [12, 6] + name: agent45 + start: [19, 14] +- goal: [1, 12] + name: agent46 + start: [11, 2] +- goal: [14, 4] + name: agent47 + start: [18, 8] +- goal: [23, 27] + name: agent48 + start: [7, 22] +- goal: [14, 21] + name: agent49 + start: [7, 15] +- goal: [9, 30] + name: agent50 + start: [25, 15] +- goal: [31, 20] + name: agent51 + start: [11, 22] +- goal: [26, 0] + name: agent52 + start: [9, 9] +- goal: [7, 13] + name: agent53 + start: [0, 11] +- goal: [19, 20] + name: agent54 + start: [13, 23] +- goal: [3, 14] + name: agent55 + start: [2, 19] +- goal: [11, 7] + name: agent56 + start: [17, 28] +- goal: [23, 12] + name: agent57 + start: [14, 23] +- goal: [11, 17] + name: agent58 + start: [8, 19] +- goal: [10, 17] + name: agent59 + start: [27, 30] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [19, 6] + - !!python/tuple [26, 26] + - !!python/tuple [18, 30] + - !!python/tuple [2, 21] + - !!python/tuple [18, 5] + - !!python/tuple [6, 29] + - !!python/tuple [10, 21] + - !!python/tuple [11, 9] + - !!python/tuple [4, 12] + - !!python/tuple [11, 3] + - !!python/tuple [24, 22] + - !!python/tuple [25, 7] + - !!python/tuple [18, 7] + - !!python/tuple [17, 6] + - !!python/tuple [20, 4] + - !!python/tuple [19, 15] + - !!python/tuple [24, 12] + - !!python/tuple [6, 1] + - !!python/tuple [20, 8] + - !!python/tuple [1, 16] + - !!python/tuple [25, 16] + - !!python/tuple [19, 3] + - !!python/tuple [4, 27] + - !!python/tuple [5, 2] + - !!python/tuple [20, 1] + - !!python/tuple [18, 26] + - !!python/tuple [28, 21] + - !!python/tuple [2, 16] + - !!python/tuple [12, 31] + - !!python/tuple [0, 6] + - !!python/tuple [6, 15] + - !!python/tuple [21, 2] + - !!python/tuple [12, 2] + - !!python/tuple [13, 19] + - !!python/tuple [24, 1] + - !!python/tuple [14, 5] + - !!python/tuple [3, 27] + - !!python/tuple [0, 23] + - !!python/tuple [10, 10] + - !!python/tuple [30, 11] + - !!python/tuple [26, 4] + - !!python/tuple [12, 21] + - !!python/tuple [14, 9] + - !!python/tuple [9, 29] + - !!python/tuple [31, 18] + - !!python/tuple [27, 7] + - !!python/tuple [20, 10] + - !!python/tuple [17, 11] + - !!python/tuple [30, 28] + - !!python/tuple [21, 18] + - !!python/tuple [23, 14] + - !!python/tuple [4, 26] + - !!python/tuple [21, 31] + - !!python/tuple [20, 12] + - !!python/tuple [5, 17] + - !!python/tuple [10, 27] + - !!python/tuple [11, 24] + - !!python/tuple [1, 17] + - !!python/tuple [2, 28] + - !!python/tuple [29, 11] + - !!python/tuple [21, 29] + - !!python/tuple [28, 18] + - !!python/tuple [0, 5] + - !!python/tuple [6, 3] + - !!python/tuple [12, 19] + - !!python/tuple [4, 21] + - !!python/tuple [28, 22] + - !!python/tuple [26, 14] + - !!python/tuple [13, 28] + - !!python/tuple [10, 0] + - !!python/tuple [16, 10] + - !!python/tuple [23, 16] + - !!python/tuple [18, 11] + - !!python/tuple [9, 26] + - !!python/tuple [26, 11] + - !!python/tuple [11, 20] + - !!python/tuple [16, 25] + - !!python/tuple [23, 5] + - !!python/tuple [27, 11] + - !!python/tuple [11, 21] + - !!python/tuple [7, 4] + - !!python/tuple [8, 26] + - !!python/tuple [8, 11] + - !!python/tuple [28, 0] + - !!python/tuple [17, 5] + - !!python/tuple [5, 18] + - !!python/tuple [18, 24] + - !!python/tuple [16, 22] + - !!python/tuple [1, 4] + - !!python/tuple [31, 3] + - !!python/tuple [10, 18] + - !!python/tuple [0, 24] + - !!python/tuple [30, 22] + - !!python/tuple [28, 9] + - !!python/tuple [13, 1] + - !!python/tuple [9, 21] + - !!python/tuple [18, 23] + - !!python/tuple [12, 16] + - !!python/tuple [17, 31] + - !!python/tuple [10, 25] + - !!python/tuple [22, 9] + - !!python/tuple [5, 25] + - !!python/tuple [19, 29] + - !!python/tuple [7, 16] + - !!python/tuple [9, 23] + - !!python/tuple [30, 17] + - !!python/tuple [3, 15] + - !!python/tuple [7, 21] + - !!python/tuple [0, 17] + - !!python/tuple [5, 30] + - !!python/tuple [25, 25] + - !!python/tuple [28, 16] + - !!python/tuple [24, 29] + - !!python/tuple [7, 30] + - !!python/tuple [3, 2] + - !!python/tuple [0, 1] + - !!python/tuple [23, 13] + - !!python/tuple [15, 20] + - !!python/tuple [15, 5] + - !!python/tuple [20, 21] + - !!python/tuple [16, 1] + - !!python/tuple [21, 30] + - !!python/tuple [7, 6] + - !!python/tuple [7, 17] + - !!python/tuple [18, 29] + - !!python/tuple [27, 27] + - !!python/tuple [4, 29] + - !!python/tuple [26, 12] + - !!python/tuple [12, 3] + - !!python/tuple [12, 27] + - !!python/tuple [31, 12] + - !!python/tuple [1, 19] + - !!python/tuple [17, 4] + - !!python/tuple [6, 12] + - !!python/tuple [19, 27] + - !!python/tuple [9, 4] + - !!python/tuple [13, 27] + - !!python/tuple [22, 7] + - !!python/tuple [3, 3] + - !!python/tuple [1, 2] + - !!python/tuple [6, 13] + - !!python/tuple [21, 23] + - !!python/tuple [2, 5] + - !!python/tuple [2, 18] + - !!python/tuple [22, 18] + - !!python/tuple [4, 13] + - !!python/tuple [27, 9] + - !!python/tuple [3, 17] + - !!python/tuple [2, 26] + - !!python/tuple [10, 30] + - !!python/tuple [23, 20] + - !!python/tuple [18, 4] + - !!python/tuple [23, 10] + - !!python/tuple [20, 5] + - !!python/tuple [1, 7] + - !!python/tuple [18, 6] + - !!python/tuple [23, 8] + - !!python/tuple [22, 17] + - !!python/tuple [27, 22] + - !!python/tuple [1, 5] + - !!python/tuple [15, 1] + - !!python/tuple [20, 19] + - !!python/tuple [12, 25] + - !!python/tuple [2, 22] + - !!python/tuple [21, 17] + - !!python/tuple [28, 31] + - !!python/tuple [21, 0] + - !!python/tuple [22, 2] + - !!python/tuple [6, 31] + - !!python/tuple [23, 24] + - !!python/tuple [3, 6] + - !!python/tuple [25, 5] + - !!python/tuple [2, 14] + - !!python/tuple [3, 30] + - !!python/tuple [17, 29] + - !!python/tuple [5, 11] + - !!python/tuple [18, 14] + - !!python/tuple [11, 29] + - !!python/tuple [16, 23] + - !!python/tuple [5, 24] + - !!python/tuple [9, 18] + - !!python/tuple [15, 6] + - !!python/tuple [29, 7] + - !!python/tuple [4, 4] + - !!python/tuple [3, 11] + - !!python/tuple [30, 21] + - !!python/tuple [30, 31] + - !!python/tuple [13, 2] + - !!python/tuple [26, 24] + - !!python/tuple [29, 8] + - !!python/tuple [14, 10] + - !!python/tuple [15, 16] + - !!python/tuple [11, 1] + - !!python/tuple [12, 20] + - !!python/tuple [13, 21] + - !!python/tuple [25, 12] + - !!python/tuple [15, 10] + - !!python/tuple [24, 27] + - !!python/tuple [0, 3] + - !!python/tuple [0, 8] + - !!python/tuple [16, 16] + - !!python/tuple [13, 18] + - !!python/tuple [3, 5] + - !!python/tuple [11, 23] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex89.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex89.yaml new file mode 100644 index 0000000..1be3909 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex89.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [20, 24] + name: agent0 + start: [18, 0] +- goal: [12, 26] + name: agent1 + start: [22, 23] +- goal: [22, 9] + name: agent2 + start: [29, 28] +- goal: [24, 23] + name: agent3 + start: [1, 5] +- goal: [17, 25] + name: agent4 + start: [21, 4] +- goal: [6, 14] + name: agent5 + start: [12, 3] +- goal: [20, 23] + name: agent6 + start: [11, 25] +- goal: [31, 2] + name: agent7 + start: [26, 23] +- goal: [4, 22] + name: agent8 + start: [6, 22] +- goal: [28, 21] + name: agent9 + start: [7, 13] +- goal: [7, 7] + name: agent10 + start: [13, 11] +- goal: [5, 9] + name: agent11 + start: [1, 0] +- goal: [24, 9] + name: agent12 + start: [6, 2] +- goal: [21, 27] + name: agent13 + start: [25, 7] +- goal: [14, 28] + name: agent14 + start: [6, 28] +- goal: [27, 31] + name: agent15 + start: [5, 5] +- goal: [9, 10] + name: agent16 + start: [26, 21] +- goal: [20, 8] + name: agent17 + start: [20, 2] +- goal: [11, 23] + name: agent18 + start: [13, 7] +- goal: [8, 10] + name: agent19 + start: [27, 20] +- goal: [4, 7] + name: agent20 + start: [31, 22] +- goal: [11, 13] + name: agent21 + start: [2, 26] +- goal: [12, 6] + name: agent22 + start: [12, 8] +- goal: [15, 12] + name: agent23 + start: [4, 24] +- goal: [16, 18] + name: agent24 + start: [15, 15] +- goal: [12, 9] + name: agent25 + start: [17, 7] +- goal: [21, 0] + name: agent26 + start: [27, 9] +- goal: [6, 12] + name: agent27 + start: [3, 2] +- goal: [3, 15] + name: agent28 + start: [23, 13] +- goal: [9, 28] + name: agent29 + start: [12, 10] +- goal: [27, 30] + name: agent30 + start: [19, 12] +- goal: [24, 16] + name: agent31 + start: [3, 5] +- goal: [12, 18] + name: agent32 + start: [25, 14] +- goal: [30, 8] + name: agent33 + start: [28, 7] +- goal: [23, 13] + name: agent34 + start: [12, 0] +- goal: [13, 27] + name: agent35 + start: [21, 10] +- goal: [9, 5] + name: agent36 + start: [6, 13] +- goal: [4, 2] + name: agent37 + start: [7, 15] +- goal: [30, 28] + name: agent38 + start: [29, 21] +- goal: [25, 10] + name: agent39 + start: [11, 12] +- goal: [8, 27] + name: agent40 + start: [14, 2] +- goal: [9, 11] + name: agent41 + start: [25, 6] +- goal: [13, 4] + name: agent42 + start: [14, 23] +- goal: [16, 1] + name: agent43 + start: [21, 17] +- goal: [31, 28] + name: agent44 + start: [30, 28] +- goal: [8, 8] + name: agent45 + start: [1, 31] +- goal: [22, 25] + name: agent46 + start: [14, 3] +- goal: [15, 30] + name: agent47 + start: [6, 29] +- goal: [28, 13] + name: agent48 + start: [5, 14] +- goal: [14, 21] + name: agent49 + start: [31, 6] +- goal: [10, 4] + name: agent50 + start: [4, 18] +- goal: [13, 11] + name: agent51 + start: [0, 12] +- goal: [1, 7] + name: agent52 + start: [19, 10] +- goal: [20, 18] + name: agent53 + start: [29, 12] +- goal: [4, 24] + name: agent54 + start: [4, 31] +- goal: [1, 28] + name: agent55 + start: [19, 7] +- goal: [28, 15] + name: agent56 + start: [29, 15] +- goal: [14, 24] + name: agent57 + start: [16, 7] +- goal: [5, 27] + name: agent58 + start: [17, 1] +- goal: [31, 11] + name: agent59 + start: [22, 3] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [9, 14] + - !!python/tuple [12, 30] + - !!python/tuple [10, 11] + - !!python/tuple [23, 0] + - !!python/tuple [16, 23] + - !!python/tuple [15, 0] + - !!python/tuple [8, 17] + - !!python/tuple [21, 11] + - !!python/tuple [10, 24] + - !!python/tuple [11, 18] + - !!python/tuple [1, 29] + - !!python/tuple [7, 19] + - !!python/tuple [12, 23] + - !!python/tuple [9, 8] + - !!python/tuple [17, 20] + - !!python/tuple [23, 20] + - !!python/tuple [9, 2] + - !!python/tuple [27, 4] + - !!python/tuple [29, 17] + - !!python/tuple [23, 1] + - !!python/tuple [19, 29] + - !!python/tuple [2, 17] + - !!python/tuple [24, 14] + - !!python/tuple [18, 3] + - !!python/tuple [20, 15] + - !!python/tuple [7, 22] + - !!python/tuple [7, 10] + - !!python/tuple [1, 19] + - !!python/tuple [1, 26] + - !!python/tuple [9, 4] + - !!python/tuple [13, 25] + - !!python/tuple [2, 9] + - !!python/tuple [23, 2] + - !!python/tuple [30, 12] + - !!python/tuple [23, 27] + - !!python/tuple [23, 23] + - !!python/tuple [18, 19] + - !!python/tuple [13, 17] + - !!python/tuple [3, 20] + - !!python/tuple [7, 23] + - !!python/tuple [23, 7] + - !!python/tuple [12, 5] + - !!python/tuple [27, 25] + - !!python/tuple [0, 22] + - !!python/tuple [5, 21] + - !!python/tuple [27, 21] + - !!python/tuple [11, 22] + - !!python/tuple [9, 20] + - !!python/tuple [10, 3] + - !!python/tuple [18, 23] + - !!python/tuple [2, 28] + - !!python/tuple [30, 0] + - !!python/tuple [10, 9] + - !!python/tuple [20, 25] + - !!python/tuple [8, 22] + - !!python/tuple [2, 30] + - !!python/tuple [10, 1] + - !!python/tuple [7, 11] + - !!python/tuple [12, 7] + - !!python/tuple [20, 6] + - !!python/tuple [17, 16] + - !!python/tuple [22, 29] + - !!python/tuple [23, 25] + - !!python/tuple [5, 0] + - !!python/tuple [11, 17] + - !!python/tuple [13, 12] + - !!python/tuple [13, 23] + - !!python/tuple [3, 21] + - !!python/tuple [11, 19] + - !!python/tuple [10, 8] + - !!python/tuple [29, 23] + - !!python/tuple [6, 21] + - !!python/tuple [20, 4] + - !!python/tuple [24, 18] + - !!python/tuple [13, 21] + - !!python/tuple [26, 14] + - !!python/tuple [29, 27] + - !!python/tuple [11, 3] + - !!python/tuple [28, 9] + - !!python/tuple [31, 20] + - !!python/tuple [13, 10] + - !!python/tuple [15, 21] + - !!python/tuple [25, 21] + - !!python/tuple [19, 28] + - !!python/tuple [18, 29] + - !!python/tuple [29, 18] + - !!python/tuple [31, 13] + - !!python/tuple [11, 16] + - !!python/tuple [31, 10] + - !!python/tuple [7, 21] + - !!python/tuple [1, 27] + - !!python/tuple [28, 11] + - !!python/tuple [7, 5] + - !!python/tuple [21, 28] + - !!python/tuple [9, 25] + - !!python/tuple [29, 29] + - !!python/tuple [15, 23] + - !!python/tuple [5, 24] + - !!python/tuple [8, 0] + - !!python/tuple [8, 21] + - !!python/tuple [7, 28] + - !!python/tuple [18, 8] + - !!python/tuple [28, 31] + - !!python/tuple [26, 4] + - !!python/tuple [0, 21] + - !!python/tuple [22, 16] + - !!python/tuple [20, 27] + - !!python/tuple [22, 2] + - !!python/tuple [29, 9] + - !!python/tuple [22, 10] + - !!python/tuple [29, 22] + - !!python/tuple [26, 19] + - !!python/tuple [6, 9] + - !!python/tuple [22, 31] + - !!python/tuple [31, 1] + - !!python/tuple [31, 30] + - !!python/tuple [5, 17] + - !!python/tuple [2, 7] + - !!python/tuple [6, 5] + - !!python/tuple [3, 17] + - !!python/tuple [18, 30] + - !!python/tuple [16, 27] + - !!python/tuple [27, 16] + - !!python/tuple [15, 8] + - !!python/tuple [24, 28] + - !!python/tuple [12, 16] + - !!python/tuple [21, 21] + - !!python/tuple [0, 1] + - !!python/tuple [31, 26] + - !!python/tuple [28, 10] + - !!python/tuple [9, 19] + - !!python/tuple [8, 30] + - !!python/tuple [27, 14] + - !!python/tuple [30, 1] + - !!python/tuple [2, 13] + - !!python/tuple [28, 3] + - !!python/tuple [1, 4] + - !!python/tuple [18, 26] + - !!python/tuple [12, 25] + - !!python/tuple [4, 0] + - !!python/tuple [28, 8] + - !!python/tuple [18, 21] + - !!python/tuple [1, 24] + - !!python/tuple [28, 12] + - !!python/tuple [21, 31] + - !!python/tuple [27, 26] + - !!python/tuple [27, 13] + - !!python/tuple [8, 11] + - !!python/tuple [9, 6] + - !!python/tuple [5, 25] + - !!python/tuple [20, 1] + - !!python/tuple [30, 20] + - !!python/tuple [17, 15] + - !!python/tuple [5, 20] + - !!python/tuple [18, 5] + - !!python/tuple [25, 18] + - !!python/tuple [9, 27] + - !!python/tuple [17, 19] + - !!python/tuple [0, 7] + - !!python/tuple [18, 13] + - !!python/tuple [16, 12] + - !!python/tuple [4, 25] + - !!python/tuple [0, 17] + - !!python/tuple [5, 1] + - !!python/tuple [4, 21] + - !!python/tuple [19, 25] + - !!python/tuple [13, 24] + - !!python/tuple [17, 17] + - !!python/tuple [28, 23] + - !!python/tuple [7, 4] + - !!python/tuple [15, 26] + - !!python/tuple [28, 17] + - !!python/tuple [10, 15] + - !!python/tuple [23, 5] + - !!python/tuple [5, 4] + - !!python/tuple [23, 30] + - !!python/tuple [15, 10] + - !!python/tuple [20, 11] + - !!python/tuple [3, 4] + - !!python/tuple [25, 23] + - !!python/tuple [3, 27] + - !!python/tuple [11, 9] + - !!python/tuple [3, 29] + - !!python/tuple [15, 27] + - !!python/tuple [27, 23] + - !!python/tuple [16, 16] + - !!python/tuple [4, 28] + - !!python/tuple [17, 4] + - !!python/tuple [12, 27] + - !!python/tuple [3, 28] + - !!python/tuple [13, 3] + - !!python/tuple [19, 9] + - !!python/tuple [15, 5] + - !!python/tuple [8, 9] + - !!python/tuple [0, 4] + - !!python/tuple [18, 20] + - !!python/tuple [19, 18] + - !!python/tuple [22, 6] + - !!python/tuple [3, 6] + - !!python/tuple [30, 18] + - !!python/tuple [17, 18] + - !!python/tuple [27, 7] + - !!python/tuple [19, 31] + - !!python/tuple [10, 12] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex9.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex9.yaml new file mode 100644 index 0000000..a2d9cb3 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex9.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [31, 21] + name: agent0 + start: [12, 1] +- goal: [15, 18] + name: agent1 + start: [14, 12] +- goal: [1, 27] + name: agent2 + start: [5, 3] +- goal: [1, 25] + name: agent3 + start: [29, 13] +- goal: [22, 22] + name: agent4 + start: [21, 27] +- goal: [7, 2] + name: agent5 + start: [23, 18] +- goal: [14, 3] + name: agent6 + start: [7, 4] +- goal: [29, 3] + name: agent7 + start: [3, 11] +- goal: [16, 27] + name: agent8 + start: [2, 30] +- goal: [27, 3] + name: agent9 + start: [13, 26] +- goal: [30, 5] + name: agent10 + start: [16, 4] +- goal: [29, 21] + name: agent11 + start: [2, 31] +- goal: [24, 16] + name: agent12 + start: [8, 28] +- goal: [3, 29] + name: agent13 + start: [21, 21] +- goal: [22, 3] + name: agent14 + start: [1, 0] +- goal: [10, 8] + name: agent15 + start: [6, 10] +- goal: [10, 19] + name: agent16 + start: [8, 25] +- goal: [13, 18] + name: agent17 + start: [13, 12] +- goal: [26, 24] + name: agent18 + start: [1, 6] +- goal: [18, 12] + name: agent19 + start: [20, 1] +- goal: [1, 11] + name: agent20 + start: [9, 24] +- goal: [20, 19] + name: agent21 + start: [26, 10] +- goal: [11, 19] + name: agent22 + start: [4, 4] +- goal: [5, 25] + name: agent23 + start: [8, 23] +- goal: [6, 7] + name: agent24 + start: [9, 13] +- goal: [11, 11] + name: agent25 + start: [5, 23] +- goal: [2, 11] + name: agent26 + start: [4, 14] +- goal: [3, 19] + name: agent27 + start: [19, 23] +- goal: [8, 19] + name: agent28 + start: [30, 11] +- goal: [14, 2] + name: agent29 + start: [23, 17] +- goal: [28, 5] + name: agent30 + start: [19, 25] +- goal: [3, 16] + name: agent31 + start: [19, 31] +- goal: [27, 21] + name: agent32 + start: [22, 28] +- goal: [23, 24] + name: agent33 + start: [4, 23] +- goal: [7, 23] + name: agent34 + start: [21, 12] +- goal: [5, 0] + name: agent35 + start: [25, 26] +- goal: [27, 7] + name: agent36 + start: [8, 26] +- goal: [3, 4] + name: agent37 + start: [30, 4] +- goal: [18, 13] + name: agent38 + start: [7, 6] +- goal: [3, 9] + name: agent39 + start: [19, 0] +- goal: [2, 15] + name: agent40 + start: [7, 7] +- goal: [31, 17] + name: agent41 + start: [11, 9] +- goal: [19, 29] + name: agent42 + start: [6, 6] +- goal: [17, 1] + name: agent43 + start: [25, 14] +- goal: [2, 5] + name: agent44 + start: [22, 29] +- goal: [19, 18] + name: agent45 + start: [27, 1] +- goal: [29, 20] + name: agent46 + start: [15, 27] +- goal: [30, 24] + name: agent47 + start: [15, 30] +- goal: [13, 13] + name: agent48 + start: [18, 9] +- goal: [21, 28] + name: agent49 + start: [17, 0] +- goal: [11, 17] + name: agent50 + start: [13, 10] +- goal: [13, 24] + name: agent51 + start: [18, 30] +- goal: [30, 26] + name: agent52 + start: [4, 28] +- goal: [29, 9] + name: agent53 + start: [10, 6] +- goal: [24, 13] + name: agent54 + start: [14, 19] +- goal: [17, 29] + name: agent55 + start: [10, 19] +- goal: [3, 1] + name: agent56 + start: [10, 21] +- goal: [18, 8] + name: agent57 + start: [11, 25] +- goal: [25, 26] + name: agent58 + start: [21, 26] +- goal: [25, 14] + name: agent59 + start: [5, 6] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [9, 18] + - !!python/tuple [18, 4] + - !!python/tuple [9, 30] + - !!python/tuple [22, 21] + - !!python/tuple [20, 30] + - !!python/tuple [0, 0] + - !!python/tuple [22, 5] + - !!python/tuple [4, 25] + - !!python/tuple [14, 30] + - !!python/tuple [12, 12] + - !!python/tuple [6, 31] + - !!python/tuple [10, 11] + - !!python/tuple [19, 15] + - !!python/tuple [24, 17] + - !!python/tuple [30, 6] + - !!python/tuple [22, 25] + - !!python/tuple [23, 5] + - !!python/tuple [17, 31] + - !!python/tuple [15, 24] + - !!python/tuple [18, 27] + - !!python/tuple [0, 13] + - !!python/tuple [4, 18] + - !!python/tuple [28, 26] + - !!python/tuple [16, 9] + - !!python/tuple [19, 4] + - !!python/tuple [31, 10] + - !!python/tuple [23, 10] + - !!python/tuple [5, 26] + - !!python/tuple [3, 24] + - !!python/tuple [5, 4] + - !!python/tuple [17, 22] + - !!python/tuple [1, 30] + - !!python/tuple [2, 0] + - !!python/tuple [24, 0] + - !!python/tuple [30, 7] + - !!python/tuple [24, 10] + - !!python/tuple [26, 17] + - !!python/tuple [14, 21] + - !!python/tuple [19, 11] + - !!python/tuple [25, 2] + - !!python/tuple [5, 20] + - !!python/tuple [9, 9] + - !!python/tuple [24, 12] + - !!python/tuple [24, 29] + - !!python/tuple [19, 12] + - !!python/tuple [12, 28] + - !!python/tuple [27, 20] + - !!python/tuple [22, 19] + - !!python/tuple [4, 1] + - !!python/tuple [9, 15] + - !!python/tuple [16, 13] + - !!python/tuple [28, 27] + - !!python/tuple [19, 22] + - !!python/tuple [18, 29] + - !!python/tuple [29, 15] + - !!python/tuple [29, 1] + - !!python/tuple [20, 28] + - !!python/tuple [0, 15] + - !!python/tuple [11, 2] + - !!python/tuple [15, 12] + - !!python/tuple [30, 9] + - !!python/tuple [17, 2] + - !!python/tuple [20, 8] + - !!python/tuple [1, 20] + - !!python/tuple [18, 6] + - !!python/tuple [21, 17] + - !!python/tuple [25, 31] + - !!python/tuple [5, 18] + - !!python/tuple [3, 26] + - !!python/tuple [5, 2] + - !!python/tuple [17, 13] + - !!python/tuple [20, 16] + - !!python/tuple [9, 5] + - !!python/tuple [29, 16] + - !!python/tuple [7, 22] + - !!python/tuple [21, 19] + - !!python/tuple [2, 24] + - !!python/tuple [22, 4] + - !!python/tuple [17, 15] + - !!python/tuple [20, 4] + - !!python/tuple [17, 30] + - !!python/tuple [14, 14] + - !!python/tuple [18, 10] + - !!python/tuple [31, 5] + - !!python/tuple [17, 18] + - !!python/tuple [31, 25] + - !!python/tuple [29, 24] + - !!python/tuple [24, 7] + - !!python/tuple [3, 22] + - !!python/tuple [22, 15] + - !!python/tuple [12, 25] + - !!python/tuple [29, 7] + - !!python/tuple [27, 17] + - !!python/tuple [16, 16] + - !!python/tuple [7, 30] + - !!python/tuple [4, 27] + - !!python/tuple [31, 27] + - !!python/tuple [13, 3] + - !!python/tuple [25, 20] + - !!python/tuple [26, 19] + - !!python/tuple [4, 0] + - !!python/tuple [31, 28] + - !!python/tuple [14, 4] + - !!python/tuple [11, 14] + - !!python/tuple [6, 15] + - !!python/tuple [30, 2] + - !!python/tuple [15, 16] + - !!python/tuple [30, 8] + - !!python/tuple [8, 11] + - !!python/tuple [19, 8] + - !!python/tuple [15, 7] + - !!python/tuple [2, 29] + - !!python/tuple [4, 10] + - !!python/tuple [10, 7] + - !!python/tuple [28, 6] + - !!python/tuple [10, 4] + - !!python/tuple [4, 26] + - !!python/tuple [18, 24] + - !!python/tuple [21, 18] + - !!python/tuple [6, 14] + - !!python/tuple [4, 31] + - !!python/tuple [22, 9] + - !!python/tuple [18, 2] + - !!python/tuple [11, 0] + - !!python/tuple [14, 11] + - !!python/tuple [13, 9] + - !!python/tuple [30, 29] + - !!python/tuple [4, 5] + - !!python/tuple [21, 10] + - !!python/tuple [30, 22] + - !!python/tuple [1, 16] + - !!python/tuple [6, 8] + - !!python/tuple [14, 8] + - !!python/tuple [28, 11] + - !!python/tuple [13, 14] + - !!python/tuple [22, 8] + - !!python/tuple [13, 5] + - !!python/tuple [22, 30] + - !!python/tuple [20, 20] + - !!python/tuple [26, 7] + - !!python/tuple [6, 18] + - !!python/tuple [27, 31] + - !!python/tuple [25, 0] + - !!python/tuple [20, 15] + - !!python/tuple [8, 3] + - !!python/tuple [27, 9] + - !!python/tuple [31, 12] + - !!python/tuple [24, 25] + - !!python/tuple [0, 10] + - !!python/tuple [30, 19] + - !!python/tuple [8, 1] + - !!python/tuple [29, 10] + - !!python/tuple [1, 10] + - !!python/tuple [12, 24] + - !!python/tuple [29, 17] + - !!python/tuple [14, 17] + - !!python/tuple [16, 10] + - !!python/tuple [17, 16] + - !!python/tuple [0, 5] + - !!python/tuple [5, 16] + - !!python/tuple [15, 29] + - !!python/tuple [0, 23] + - !!python/tuple [29, 14] + - !!python/tuple [0, 12] + - !!python/tuple [12, 3] + - !!python/tuple [30, 23] + - !!python/tuple [11, 31] + - !!python/tuple [20, 17] + - !!python/tuple [12, 17] + - !!python/tuple [30, 1] + - !!python/tuple [20, 6] + - !!python/tuple [1, 18] + - !!python/tuple [3, 13] + - !!python/tuple [24, 27] + - !!python/tuple [29, 30] + - !!python/tuple [18, 16] + - !!python/tuple [3, 17] + - !!python/tuple [2, 27] + - !!python/tuple [16, 14] + - !!python/tuple [23, 15] + - !!python/tuple [2, 16] + - !!python/tuple [31, 24] + - !!python/tuple [9, 3] + - !!python/tuple [16, 26] + - !!python/tuple [12, 0] + - !!python/tuple [4, 15] + - !!python/tuple [21, 1] + - !!python/tuple [30, 13] + - !!python/tuple [17, 14] + - !!python/tuple [13, 20] + - !!python/tuple [8, 15] + - !!python/tuple [10, 28] + - !!python/tuple [31, 22] + - !!python/tuple [6, 30] + - !!python/tuple [2, 20] + - !!python/tuple [24, 15] + - !!python/tuple [25, 22] + - !!python/tuple [30, 14] + - !!python/tuple [10, 29] + - !!python/tuple [10, 15] + - !!python/tuple [31, 11] + - !!python/tuple [10, 17] + - !!python/tuple [25, 18] + - !!python/tuple [22, 2] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex90.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex90.yaml new file mode 100644 index 0000000..4b9b822 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex90.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [18, 12] + name: agent0 + start: [8, 23] +- goal: [17, 6] + name: agent1 + start: [7, 7] +- goal: [21, 28] + name: agent2 + start: [6, 17] +- goal: [3, 12] + name: agent3 + start: [14, 3] +- goal: [14, 8] + name: agent4 + start: [6, 8] +- goal: [7, 5] + name: agent5 + start: [3, 5] +- goal: [17, 8] + name: agent6 + start: [10, 29] +- goal: [9, 16] + name: agent7 + start: [24, 21] +- goal: [27, 16] + name: agent8 + start: [27, 24] +- goal: [4, 25] + name: agent9 + start: [13, 18] +- goal: [14, 4] + name: agent10 + start: [23, 2] +- goal: [22, 31] + name: agent11 + start: [27, 27] +- goal: [26, 6] + name: agent12 + start: [25, 3] +- goal: [0, 0] + name: agent13 + start: [6, 1] +- goal: [6, 14] + name: agent14 + start: [3, 17] +- goal: [21, 8] + name: agent15 + start: [31, 18] +- goal: [5, 4] + name: agent16 + start: [25, 7] +- goal: [12, 27] + name: agent17 + start: [30, 17] +- goal: [15, 14] + name: agent18 + start: [30, 22] +- goal: [25, 6] + name: agent19 + start: [26, 28] +- goal: [5, 11] + name: agent20 + start: [0, 8] +- goal: [16, 18] + name: agent21 + start: [12, 15] +- goal: [30, 29] + name: agent22 + start: [11, 1] +- goal: [18, 9] + name: agent23 + start: [30, 12] +- goal: [29, 20] + name: agent24 + start: [18, 2] +- goal: [6, 26] + name: agent25 + start: [25, 30] +- goal: [14, 29] + name: agent26 + start: [29, 25] +- goal: [18, 0] + name: agent27 + start: [2, 11] +- goal: [9, 23] + name: agent28 + start: [24, 23] +- goal: [10, 17] + name: agent29 + start: [4, 26] +- goal: [16, 5] + name: agent30 + start: [17, 23] +- goal: [30, 13] + name: agent31 + start: [28, 22] +- goal: [22, 12] + name: agent32 + start: [10, 27] +- goal: [27, 14] + name: agent33 + start: [0, 27] +- goal: [5, 1] + name: agent34 + start: [15, 26] +- goal: [18, 16] + name: agent35 + start: [7, 25] +- goal: [8, 4] + name: agent36 + start: [27, 0] +- goal: [20, 15] + name: agent37 + start: [18, 11] +- goal: [19, 18] + name: agent38 + start: [15, 22] +- goal: [14, 14] + name: agent39 + start: [14, 31] +- goal: [18, 13] + name: agent40 + start: [26, 5] +- goal: [20, 29] + name: agent41 + start: [15, 21] +- goal: [21, 3] + name: agent42 + start: [21, 24] +- goal: [12, 15] + name: agent43 + start: [14, 16] +- goal: [28, 6] + name: agent44 + start: [13, 14] +- goal: [13, 20] + name: agent45 + start: [16, 15] +- goal: [16, 31] + name: agent46 + start: [14, 19] +- goal: [1, 10] + name: agent47 + start: [4, 9] +- goal: [15, 2] + name: agent48 + start: [23, 13] +- goal: [26, 31] + name: agent49 + start: [27, 13] +- goal: [12, 9] + name: agent50 + start: [23, 18] +- goal: [19, 17] + name: agent51 + start: [2, 4] +- goal: [23, 17] + name: agent52 + start: [11, 15] +- goal: [12, 4] + name: agent53 + start: [6, 31] +- goal: [29, 8] + name: agent54 + start: [30, 3] +- goal: [3, 26] + name: agent55 + start: [27, 10] +- goal: [28, 30] + name: agent56 + start: [0, 17] +- goal: [23, 10] + name: agent57 + start: [28, 12] +- goal: [17, 10] + name: agent58 + start: [26, 3] +- goal: [16, 10] + name: agent59 + start: [2, 7] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [16, 8] + - !!python/tuple [7, 28] + - !!python/tuple [23, 1] + - !!python/tuple [17, 12] + - !!python/tuple [26, 22] + - !!python/tuple [24, 10] + - !!python/tuple [5, 6] + - !!python/tuple [21, 2] + - !!python/tuple [4, 23] + - !!python/tuple [3, 20] + - !!python/tuple [11, 4] + - !!python/tuple [12, 1] + - !!python/tuple [12, 2] + - !!python/tuple [17, 25] + - !!python/tuple [25, 15] + - !!python/tuple [7, 24] + - !!python/tuple [19, 3] + - !!python/tuple [19, 9] + - !!python/tuple [2, 22] + - !!python/tuple [20, 9] + - !!python/tuple [2, 24] + - !!python/tuple [18, 22] + - !!python/tuple [31, 3] + - !!python/tuple [21, 7] + - !!python/tuple [0, 29] + - !!python/tuple [22, 7] + - !!python/tuple [13, 25] + - !!python/tuple [13, 19] + - !!python/tuple [8, 7] + - !!python/tuple [27, 11] + - !!python/tuple [1, 23] + - !!python/tuple [7, 20] + - !!python/tuple [2, 19] + - !!python/tuple [4, 14] + - !!python/tuple [11, 18] + - !!python/tuple [29, 16] + - !!python/tuple [3, 16] + - !!python/tuple [3, 2] + - !!python/tuple [29, 28] + - !!python/tuple [8, 24] + - !!python/tuple [6, 11] + - !!python/tuple [21, 1] + - !!python/tuple [11, 21] + - !!python/tuple [18, 31] + - !!python/tuple [5, 24] + - !!python/tuple [25, 4] + - !!python/tuple [15, 17] + - !!python/tuple [30, 23] + - !!python/tuple [11, 24] + - !!python/tuple [15, 16] + - !!python/tuple [7, 31] + - !!python/tuple [2, 25] + - !!python/tuple [27, 21] + - !!python/tuple [9, 21] + - !!python/tuple [1, 11] + - !!python/tuple [2, 3] + - !!python/tuple [24, 5] + - !!python/tuple [18, 6] + - !!python/tuple [6, 20] + - !!python/tuple [19, 6] + - !!python/tuple [1, 17] + - !!python/tuple [0, 16] + - !!python/tuple [0, 22] + - !!python/tuple [25, 22] + - !!python/tuple [24, 6] + - !!python/tuple [2, 6] + - !!python/tuple [11, 0] + - !!python/tuple [0, 5] + - !!python/tuple [31, 2] + - !!python/tuple [16, 4] + - !!python/tuple [11, 11] + - !!python/tuple [10, 11] + - !!python/tuple [3, 29] + - !!python/tuple [6, 7] + - !!python/tuple [14, 30] + - !!python/tuple [5, 17] + - !!python/tuple [19, 29] + - !!python/tuple [28, 24] + - !!python/tuple [10, 25] + - !!python/tuple [29, 6] + - !!python/tuple [6, 5] + - !!python/tuple [18, 7] + - !!python/tuple [4, 4] + - !!python/tuple [1, 12] + - !!python/tuple [18, 5] + - !!python/tuple [9, 29] + - !!python/tuple [7, 10] + - !!python/tuple [3, 0] + - !!python/tuple [21, 22] + - !!python/tuple [17, 1] + - !!python/tuple [24, 8] + - !!python/tuple [13, 9] + - !!python/tuple [4, 11] + - !!python/tuple [23, 19] + - !!python/tuple [12, 24] + - !!python/tuple [1, 5] + - !!python/tuple [29, 21] + - !!python/tuple [30, 28] + - !!python/tuple [27, 6] + - !!python/tuple [13, 1] + - !!python/tuple [3, 8] + - !!python/tuple [26, 10] + - !!python/tuple [29, 9] + - !!python/tuple [31, 12] + - !!python/tuple [27, 18] + - !!python/tuple [12, 25] + - !!python/tuple [4, 30] + - !!python/tuple [8, 11] + - !!python/tuple [22, 15] + - !!python/tuple [19, 10] + - !!python/tuple [4, 29] + - !!python/tuple [11, 17] + - !!python/tuple [17, 13] + - !!python/tuple [15, 23] + - !!python/tuple [17, 28] + - !!python/tuple [14, 26] + - !!python/tuple [16, 28] + - !!python/tuple [28, 17] + - !!python/tuple [3, 28] + - !!python/tuple [15, 13] + - !!python/tuple [28, 23] + - !!python/tuple [26, 20] + - !!python/tuple [25, 20] + - !!python/tuple [6, 6] + - !!python/tuple [5, 14] + - !!python/tuple [4, 5] + - !!python/tuple [21, 23] + - !!python/tuple [25, 8] + - !!python/tuple [10, 10] + - !!python/tuple [1, 7] + - !!python/tuple [1, 16] + - !!python/tuple [30, 0] + - !!python/tuple [30, 24] + - !!python/tuple [25, 28] + - !!python/tuple [26, 18] + - !!python/tuple [3, 21] + - !!python/tuple [16, 24] + - !!python/tuple [13, 6] + - !!python/tuple [25, 18] + - !!python/tuple [24, 18] + - !!python/tuple [25, 16] + - !!python/tuple [16, 12] + - !!python/tuple [29, 24] + - !!python/tuple [0, 3] + - !!python/tuple [17, 17] + - !!python/tuple [13, 3] + - !!python/tuple [21, 11] + - !!python/tuple [12, 23] + - !!python/tuple [30, 5] + - !!python/tuple [11, 22] + - !!python/tuple [11, 29] + - !!python/tuple [22, 11] + - !!python/tuple [12, 7] + - !!python/tuple [26, 14] + - !!python/tuple [15, 15] + - !!python/tuple [31, 10] + - !!python/tuple [21, 20] + - !!python/tuple [28, 16] + - !!python/tuple [4, 17] + - !!python/tuple [13, 22] + - !!python/tuple [23, 21] + - !!python/tuple [0, 7] + - !!python/tuple [27, 4] + - !!python/tuple [14, 10] + - !!python/tuple [6, 21] + - !!python/tuple [19, 5] + - !!python/tuple [29, 18] + - !!python/tuple [3, 4] + - !!python/tuple [31, 27] + - !!python/tuple [20, 12] + - !!python/tuple [13, 23] + - !!python/tuple [22, 21] + - !!python/tuple [16, 23] + - !!python/tuple [2, 15] + - !!python/tuple [26, 19] + - !!python/tuple [12, 29] + - !!python/tuple [21, 10] + - !!python/tuple [26, 21] + - !!python/tuple [1, 24] + - !!python/tuple [27, 17] + - !!python/tuple [8, 14] + - !!python/tuple [27, 3] + - !!python/tuple [6, 27] + - !!python/tuple [16, 2] + - !!python/tuple [9, 19] + - !!python/tuple [31, 16] + - !!python/tuple [0, 30] + - !!python/tuple [31, 11] + - !!python/tuple [4, 21] + - !!python/tuple [30, 27] + - !!python/tuple [21, 12] + - !!python/tuple [4, 12] + - !!python/tuple [22, 23] + - !!python/tuple [16, 11] + - !!python/tuple [24, 3] + - !!python/tuple [31, 8] + - !!python/tuple [31, 24] + - !!python/tuple [4, 19] + - !!python/tuple [0, 31] + - !!python/tuple [5, 13] + - !!python/tuple [12, 30] + - !!python/tuple [9, 28] + - !!python/tuple [2, 28] + - !!python/tuple [12, 12] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex91.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex91.yaml new file mode 100644 index 0000000..7797559 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex91.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [2, 3] + name: agent0 + start: [10, 13] +- goal: [30, 6] + name: agent1 + start: [12, 15] +- goal: [25, 6] + name: agent2 + start: [30, 22] +- goal: [5, 11] + name: agent3 + start: [6, 22] +- goal: [8, 26] + name: agent4 + start: [29, 28] +- goal: [31, 22] + name: agent5 + start: [4, 10] +- goal: [23, 16] + name: agent6 + start: [26, 23] +- goal: [4, 30] + name: agent7 + start: [14, 24] +- goal: [5, 28] + name: agent8 + start: [18, 13] +- goal: [28, 22] + name: agent9 + start: [29, 18] +- goal: [26, 0] + name: agent10 + start: [9, 8] +- goal: [11, 1] + name: agent11 + start: [26, 0] +- goal: [2, 24] + name: agent12 + start: [18, 24] +- goal: [4, 14] + name: agent13 + start: [6, 31] +- goal: [21, 25] + name: agent14 + start: [10, 12] +- goal: [19, 12] + name: agent15 + start: [9, 19] +- goal: [21, 4] + name: agent16 + start: [19, 27] +- goal: [12, 18] + name: agent17 + start: [22, 28] +- goal: [28, 20] + name: agent18 + start: [25, 12] +- goal: [25, 5] + name: agent19 + start: [10, 1] +- goal: [7, 13] + name: agent20 + start: [12, 25] +- goal: [2, 16] + name: agent21 + start: [30, 30] +- goal: [20, 16] + name: agent22 + start: [7, 12] +- goal: [27, 11] + name: agent23 + start: [1, 4] +- goal: [14, 23] + name: agent24 + start: [5, 26] +- goal: [7, 16] + name: agent25 + start: [19, 12] +- goal: [17, 17] + name: agent26 + start: [10, 4] +- goal: [19, 1] + name: agent27 + start: [11, 12] +- goal: [21, 26] + name: agent28 + start: [11, 10] +- goal: [3, 0] + name: agent29 + start: [31, 12] +- goal: [27, 30] + name: agent30 + start: [2, 30] +- goal: [6, 22] + name: agent31 + start: [31, 24] +- goal: [14, 28] + name: agent32 + start: [31, 14] +- goal: [9, 30] + name: agent33 + start: [13, 31] +- goal: [13, 7] + name: agent34 + start: [9, 14] +- goal: [22, 12] + name: agent35 + start: [8, 17] +- goal: [18, 22] + name: agent36 + start: [31, 13] +- goal: [2, 17] + name: agent37 + start: [10, 29] +- goal: [22, 17] + name: agent38 + start: [14, 26] +- goal: [1, 23] + name: agent39 + start: [20, 24] +- goal: [10, 15] + name: agent40 + start: [13, 20] +- goal: [16, 19] + name: agent41 + start: [21, 5] +- goal: [4, 13] + name: agent42 + start: [11, 30] +- goal: [15, 10] + name: agent43 + start: [18, 21] +- goal: [22, 0] + name: agent44 + start: [19, 19] +- goal: [1, 25] + name: agent45 + start: [23, 6] +- goal: [9, 12] + name: agent46 + start: [24, 25] +- goal: [15, 8] + name: agent47 + start: [15, 0] +- goal: [20, 13] + name: agent48 + start: [5, 25] +- goal: [26, 26] + name: agent49 + start: [7, 27] +- goal: [26, 12] + name: agent50 + start: [3, 5] +- goal: [10, 8] + name: agent51 + start: [16, 29] +- goal: [23, 11] + name: agent52 + start: [20, 14] +- goal: [21, 15] + name: agent53 + start: [5, 24] +- goal: [30, 24] + name: agent54 + start: [19, 14] +- goal: [24, 21] + name: agent55 + start: [16, 26] +- goal: [23, 9] + name: agent56 + start: [19, 18] +- goal: [14, 7] + name: agent57 + start: [24, 0] +- goal: [19, 22] + name: agent58 + start: [3, 8] +- goal: [13, 1] + name: agent59 + start: [7, 5] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [9, 9] + - !!python/tuple [10, 0] + - !!python/tuple [15, 17] + - !!python/tuple [16, 6] + - !!python/tuple [1, 29] + - !!python/tuple [5, 5] + - !!python/tuple [8, 29] + - !!python/tuple [0, 31] + - !!python/tuple [31, 4] + - !!python/tuple [0, 25] + - !!python/tuple [13, 14] + - !!python/tuple [2, 4] + - !!python/tuple [29, 26] + - !!python/tuple [31, 2] + - !!python/tuple [19, 17] + - !!python/tuple [8, 28] + - !!python/tuple [20, 20] + - !!python/tuple [15, 16] + - !!python/tuple [29, 25] + - !!python/tuple [15, 15] + - !!python/tuple [21, 17] + - !!python/tuple [20, 9] + - !!python/tuple [11, 14] + - !!python/tuple [14, 5] + - !!python/tuple [9, 15] + - !!python/tuple [26, 1] + - !!python/tuple [4, 8] + - !!python/tuple [23, 21] + - !!python/tuple [18, 29] + - !!python/tuple [4, 9] + - !!python/tuple [18, 23] + - !!python/tuple [29, 0] + - !!python/tuple [14, 2] + - !!python/tuple [7, 7] + - !!python/tuple [13, 19] + - !!python/tuple [17, 31] + - !!python/tuple [24, 12] + - !!python/tuple [13, 22] + - !!python/tuple [31, 9] + - !!python/tuple [18, 14] + - !!python/tuple [20, 21] + - !!python/tuple [16, 13] + - !!python/tuple [12, 13] + - !!python/tuple [2, 1] + - !!python/tuple [28, 23] + - !!python/tuple [23, 5] + - !!python/tuple [31, 23] + - !!python/tuple [25, 15] + - !!python/tuple [21, 19] + - !!python/tuple [25, 22] + - !!python/tuple [28, 16] + - !!python/tuple [18, 9] + - !!python/tuple [27, 26] + - !!python/tuple [5, 4] + - !!python/tuple [30, 2] + - !!python/tuple [22, 10] + - !!python/tuple [20, 17] + - !!python/tuple [19, 3] + - !!python/tuple [24, 6] + - !!python/tuple [23, 22] + - !!python/tuple [2, 11] + - !!python/tuple [3, 20] + - !!python/tuple [1, 17] + - !!python/tuple [2, 9] + - !!python/tuple [4, 3] + - !!python/tuple [1, 27] + - !!python/tuple [2, 23] + - !!python/tuple [17, 22] + - !!python/tuple [14, 4] + - !!python/tuple [5, 13] + - !!python/tuple [20, 0] + - !!python/tuple [4, 0] + - !!python/tuple [25, 25] + - !!python/tuple [27, 10] + - !!python/tuple [11, 13] + - !!python/tuple [18, 0] + - !!python/tuple [11, 21] + - !!python/tuple [3, 28] + - !!python/tuple [21, 3] + - !!python/tuple [28, 17] + - !!python/tuple [25, 30] + - !!python/tuple [15, 20] + - !!python/tuple [30, 13] + - !!python/tuple [31, 8] + - !!python/tuple [7, 26] + - !!python/tuple [20, 10] + - !!python/tuple [6, 30] + - !!python/tuple [5, 20] + - !!python/tuple [7, 21] + - !!python/tuple [21, 12] + - !!python/tuple [3, 13] + - !!python/tuple [3, 26] + - !!python/tuple [0, 7] + - !!python/tuple [6, 6] + - !!python/tuple [7, 14] + - !!python/tuple [10, 25] + - !!python/tuple [4, 6] + - !!python/tuple [21, 11] + - !!python/tuple [28, 15] + - !!python/tuple [1, 21] + - !!python/tuple [6, 25] + - !!python/tuple [14, 18] + - !!python/tuple [21, 29] + - !!python/tuple [26, 30] + - !!python/tuple [2, 21] + - !!python/tuple [5, 31] + - !!python/tuple [14, 10] + - !!python/tuple [24, 17] + - !!python/tuple [25, 21] + - !!python/tuple [11, 17] + - !!python/tuple [5, 0] + - !!python/tuple [14, 1] + - !!python/tuple [17, 21] + - !!python/tuple [31, 7] + - !!python/tuple [20, 3] + - !!python/tuple [8, 3] + - !!python/tuple [15, 21] + - !!python/tuple [11, 31] + - !!python/tuple [17, 9] + - !!python/tuple [12, 23] + - !!python/tuple [16, 9] + - !!python/tuple [5, 14] + - !!python/tuple [13, 3] + - !!python/tuple [17, 10] + - !!python/tuple [15, 26] + - !!python/tuple [2, 26] + - !!python/tuple [22, 6] + - !!python/tuple [27, 2] + - !!python/tuple [18, 18] + - !!python/tuple [5, 18] + - !!python/tuple [14, 17] + - !!python/tuple [23, 19] + - !!python/tuple [8, 6] + - !!python/tuple [9, 0] + - !!python/tuple [22, 20] + - !!python/tuple [28, 12] + - !!python/tuple [30, 29] + - !!python/tuple [22, 5] + - !!python/tuple [27, 14] + - !!python/tuple [28, 3] + - !!python/tuple [4, 27] + - !!python/tuple [25, 23] + - !!python/tuple [23, 2] + - !!python/tuple [4, 23] + - !!python/tuple [26, 20] + - !!python/tuple [26, 6] + - !!python/tuple [3, 10] + - !!python/tuple [12, 19] + - !!python/tuple [8, 19] + - !!python/tuple [13, 21] + - !!python/tuple [24, 15] + - !!python/tuple [3, 25] + - !!python/tuple [21, 30] + - !!python/tuple [31, 6] + - !!python/tuple [7, 23] + - !!python/tuple [1, 20] + - !!python/tuple [27, 13] + - !!python/tuple [28, 1] + - !!python/tuple [22, 7] + - !!python/tuple [17, 13] + - !!python/tuple [21, 22] + - !!python/tuple [17, 5] + - !!python/tuple [15, 29] + - !!python/tuple [12, 17] + - !!python/tuple [11, 3] + - !!python/tuple [9, 4] + - !!python/tuple [11, 16] + - !!python/tuple [11, 7] + - !!python/tuple [14, 20] + - !!python/tuple [15, 14] + - !!python/tuple [12, 16] + - !!python/tuple [1, 3] + - !!python/tuple [4, 17] + - !!python/tuple [29, 29] + - !!python/tuple [15, 2] + - !!python/tuple [30, 0] + - !!python/tuple [8, 11] + - !!python/tuple [22, 19] + - !!python/tuple [19, 26] + - !!python/tuple [0, 15] + - !!python/tuple [29, 1] + - !!python/tuple [4, 19] + - !!python/tuple [21, 21] + - !!python/tuple [20, 22] + - !!python/tuple [29, 13] + - !!python/tuple [14, 21] + - !!python/tuple [30, 15] + - !!python/tuple [26, 29] + - !!python/tuple [23, 1] + - !!python/tuple [24, 11] + - !!python/tuple [25, 17] + - !!python/tuple [2, 7] + - !!python/tuple [5, 8] + - !!python/tuple [17, 26] + - !!python/tuple [27, 4] + - !!python/tuple [10, 24] + - !!python/tuple [27, 7] + - !!python/tuple [14, 29] + - !!python/tuple [12, 27] + - !!python/tuple [21, 18] + - !!python/tuple [4, 2] + - !!python/tuple [9, 27] + - !!python/tuple [29, 7] + - !!python/tuple [12, 29] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex92.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex92.yaml new file mode 100644 index 0000000..aa78f7d --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex92.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [21, 29] + name: agent0 + start: [0, 13] +- goal: [30, 17] + name: agent1 + start: [24, 6] +- goal: [29, 23] + name: agent2 + start: [9, 8] +- goal: [10, 1] + name: agent3 + start: [21, 23] +- goal: [11, 20] + name: agent4 + start: [10, 14] +- goal: [16, 14] + name: agent5 + start: [7, 14] +- goal: [2, 8] + name: agent6 + start: [0, 1] +- goal: [15, 11] + name: agent7 + start: [26, 8] +- goal: [6, 23] + name: agent8 + start: [3, 31] +- goal: [18, 12] + name: agent9 + start: [11, 28] +- goal: [5, 11] + name: agent10 + start: [2, 7] +- goal: [25, 20] + name: agent11 + start: [7, 17] +- goal: [26, 11] + name: agent12 + start: [22, 3] +- goal: [4, 24] + name: agent13 + start: [16, 1] +- goal: [31, 10] + name: agent14 + start: [17, 1] +- goal: [30, 28] + name: agent15 + start: [22, 23] +- goal: [1, 22] + name: agent16 + start: [0, 19] +- goal: [7, 2] + name: agent17 + start: [1, 0] +- goal: [15, 13] + name: agent18 + start: [18, 10] +- goal: [26, 24] + name: agent19 + start: [4, 28] +- goal: [10, 5] + name: agent20 + start: [1, 5] +- goal: [7, 13] + name: agent21 + start: [22, 16] +- goal: [6, 25] + name: agent22 + start: [14, 9] +- goal: [29, 3] + name: agent23 + start: [18, 21] +- goal: [8, 24] + name: agent24 + start: [19, 1] +- goal: [11, 22] + name: agent25 + start: [1, 8] +- goal: [6, 5] + name: agent26 + start: [8, 28] +- goal: [3, 14] + name: agent27 + start: [25, 7] +- goal: [23, 11] + name: agent28 + start: [20, 19] +- goal: [2, 24] + name: agent29 + start: [25, 18] +- goal: [28, 13] + name: agent30 + start: [15, 8] +- goal: [17, 15] + name: agent31 + start: [3, 11] +- goal: [16, 25] + name: agent32 + start: [1, 25] +- goal: [21, 6] + name: agent33 + start: [20, 0] +- goal: [16, 20] + name: agent34 + start: [3, 9] +- goal: [13, 13] + name: agent35 + start: [10, 18] +- goal: [14, 20] + name: agent36 + start: [14, 31] +- goal: [1, 18] + name: agent37 + start: [17, 7] +- goal: [28, 23] + name: agent38 + start: [22, 17] +- goal: [12, 0] + name: agent39 + start: [12, 29] +- goal: [20, 22] + name: agent40 + start: [19, 21] +- goal: [15, 21] + name: agent41 + start: [17, 26] +- goal: [31, 25] + name: agent42 + start: [14, 2] +- goal: [5, 20] + name: agent43 + start: [0, 29] +- goal: [13, 21] + name: agent44 + start: [7, 24] +- goal: [2, 22] + name: agent45 + start: [5, 1] +- goal: [15, 19] + name: agent46 + start: [6, 19] +- goal: [6, 3] + name: agent47 + start: [4, 19] +- goal: [28, 28] + name: agent48 + start: [23, 23] +- goal: [12, 3] + name: agent49 + start: [5, 15] +- goal: [0, 22] + name: agent50 + start: [12, 0] +- goal: [8, 17] + name: agent51 + start: [9, 2] +- goal: [27, 27] + name: agent52 + start: [19, 7] +- goal: [4, 13] + name: agent53 + start: [11, 16] +- goal: [22, 30] + name: agent54 + start: [18, 14] +- goal: [3, 17] + name: agent55 + start: [0, 27] +- goal: [3, 0] + name: agent56 + start: [5, 20] +- goal: [0, 26] + name: agent57 + start: [28, 30] +- goal: [0, 0] + name: agent58 + start: [26, 17] +- goal: [4, 17] + name: agent59 + start: [25, 15] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [18, 26] + - !!python/tuple [2, 19] + - !!python/tuple [13, 2] + - !!python/tuple [19, 19] + - !!python/tuple [25, 31] + - !!python/tuple [24, 29] + - !!python/tuple [29, 28] + - !!python/tuple [24, 4] + - !!python/tuple [26, 29] + - !!python/tuple [12, 22] + - !!python/tuple [22, 1] + - !!python/tuple [21, 28] + - !!python/tuple [14, 10] + - !!python/tuple [10, 6] + - !!python/tuple [24, 12] + - !!python/tuple [30, 0] + - !!python/tuple [1, 6] + - !!python/tuple [7, 16] + - !!python/tuple [0, 30] + - !!python/tuple [29, 2] + - !!python/tuple [6, 26] + - !!python/tuple [10, 11] + - !!python/tuple [17, 17] + - !!python/tuple [26, 31] + - !!python/tuple [22, 26] + - !!python/tuple [27, 21] + - !!python/tuple [14, 0] + - !!python/tuple [5, 6] + - !!python/tuple [23, 18] + - !!python/tuple [0, 2] + - !!python/tuple [23, 9] + - !!python/tuple [15, 10] + - !!python/tuple [17, 3] + - !!python/tuple [21, 24] + - !!python/tuple [21, 7] + - !!python/tuple [15, 24] + - !!python/tuple [28, 17] + - !!python/tuple [13, 9] + - !!python/tuple [21, 25] + - !!python/tuple [10, 0] + - !!python/tuple [18, 29] + - !!python/tuple [7, 1] + - !!python/tuple [18, 22] + - !!python/tuple [14, 6] + - !!python/tuple [27, 26] + - !!python/tuple [12, 31] + - !!python/tuple [1, 1] + - !!python/tuple [21, 5] + - !!python/tuple [8, 3] + - !!python/tuple [23, 5] + - !!python/tuple [9, 5] + - !!python/tuple [7, 7] + - !!python/tuple [12, 19] + - !!python/tuple [7, 11] + - !!python/tuple [8, 18] + - !!python/tuple [22, 12] + - !!python/tuple [4, 11] + - !!python/tuple [3, 29] + - !!python/tuple [30, 12] + - !!python/tuple [19, 28] + - !!python/tuple [1, 17] + - !!python/tuple [21, 31] + - !!python/tuple [30, 9] + - !!python/tuple [3, 5] + - !!python/tuple [28, 3] + - !!python/tuple [8, 1] + - !!python/tuple [9, 24] + - !!python/tuple [12, 25] + - !!python/tuple [5, 16] + - !!python/tuple [25, 22] + - !!python/tuple [11, 6] + - !!python/tuple [30, 20] + - !!python/tuple [1, 11] + - !!python/tuple [11, 12] + - !!python/tuple [28, 16] + - !!python/tuple [15, 4] + - !!python/tuple [9, 4] + - !!python/tuple [20, 9] + - !!python/tuple [4, 5] + - !!python/tuple [24, 20] + - !!python/tuple [17, 28] + - !!python/tuple [11, 23] + - !!python/tuple [13, 7] + - !!python/tuple [3, 16] + - !!python/tuple [27, 11] + - !!python/tuple [0, 24] + - !!python/tuple [9, 10] + - !!python/tuple [28, 8] + - !!python/tuple [2, 16] + - !!python/tuple [7, 3] + - !!python/tuple [17, 0] + - !!python/tuple [3, 21] + - !!python/tuple [13, 20] + - !!python/tuple [19, 31] + - !!python/tuple [11, 7] + - !!python/tuple [11, 18] + - !!python/tuple [24, 10] + - !!python/tuple [18, 2] + - !!python/tuple [24, 9] + - !!python/tuple [30, 14] + - !!python/tuple [18, 6] + - !!python/tuple [13, 31] + - !!python/tuple [8, 0] + - !!python/tuple [28, 26] + - !!python/tuple [12, 7] + - !!python/tuple [10, 9] + - !!python/tuple [6, 6] + - !!python/tuple [14, 19] + - !!python/tuple [19, 0] + - !!python/tuple [6, 4] + - !!python/tuple [30, 24] + - !!python/tuple [16, 0] + - !!python/tuple [21, 12] + - !!python/tuple [0, 31] + - !!python/tuple [8, 27] + - !!python/tuple [12, 30] + - !!python/tuple [10, 29] + - !!python/tuple [1, 28] + - !!python/tuple [20, 16] + - !!python/tuple [14, 4] + - !!python/tuple [14, 24] + - !!python/tuple [26, 14] + - !!python/tuple [17, 8] + - !!python/tuple [26, 5] + - !!python/tuple [11, 30] + - !!python/tuple [9, 18] + - !!python/tuple [13, 30] + - !!python/tuple [12, 11] + - !!python/tuple [13, 6] + - !!python/tuple [3, 15] + - !!python/tuple [30, 31] + - !!python/tuple [30, 22] + - !!python/tuple [2, 5] + - !!python/tuple [10, 3] + - !!python/tuple [13, 27] + - !!python/tuple [22, 15] + - !!python/tuple [25, 24] + - !!python/tuple [30, 30] + - !!python/tuple [29, 4] + - !!python/tuple [5, 31] + - !!python/tuple [20, 4] + - !!python/tuple [16, 28] + - !!python/tuple [1, 15] + - !!python/tuple [18, 1] + - !!python/tuple [9, 25] + - !!python/tuple [28, 29] + - !!python/tuple [19, 20] + - !!python/tuple [22, 5] + - !!python/tuple [10, 27] + - !!python/tuple [10, 23] + - !!python/tuple [4, 26] + - !!python/tuple [8, 25] + - !!python/tuple [23, 12] + - !!python/tuple [16, 17] + - !!python/tuple [27, 1] + - !!python/tuple [17, 24] + - !!python/tuple [22, 21] + - !!python/tuple [0, 5] + - !!python/tuple [13, 12] + - !!python/tuple [5, 18] + - !!python/tuple [24, 13] + - !!python/tuple [31, 7] + - !!python/tuple [26, 3] + - !!python/tuple [26, 25] + - !!python/tuple [0, 7] + - !!python/tuple [6, 12] + - !!python/tuple [7, 10] + - !!python/tuple [28, 7] + - !!python/tuple [18, 3] + - !!python/tuple [8, 22] + - !!python/tuple [13, 4] + - !!python/tuple [1, 29] + - !!python/tuple [31, 13] + - !!python/tuple [13, 18] + - !!python/tuple [25, 12] + - !!python/tuple [30, 23] + - !!python/tuple [19, 14] + - !!python/tuple [16, 16] + - !!python/tuple [17, 12] + - !!python/tuple [7, 0] + - !!python/tuple [26, 4] + - !!python/tuple [20, 23] + - !!python/tuple [19, 26] + - !!python/tuple [20, 18] + - !!python/tuple [13, 10] + - !!python/tuple [2, 20] + - !!python/tuple [23, 13] + - !!python/tuple [25, 21] + - !!python/tuple [21, 16] + - !!python/tuple [24, 0] + - !!python/tuple [21, 19] + - !!python/tuple [14, 16] + - !!python/tuple [19, 23] + - !!python/tuple [20, 3] + - !!python/tuple [31, 19] + - !!python/tuple [26, 19] + - !!python/tuple [26, 27] + - !!python/tuple [31, 24] + - !!python/tuple [22, 7] + - !!python/tuple [28, 19] + - !!python/tuple [5, 17] + - !!python/tuple [4, 8] + - !!python/tuple [19, 5] + - !!python/tuple [19, 9] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex93.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex93.yaml new file mode 100644 index 0000000..a8ad445 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex93.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [19, 2] + name: agent0 + start: [0, 2] +- goal: [20, 2] + name: agent1 + start: [31, 18] +- goal: [8, 15] + name: agent2 + start: [17, 4] +- goal: [24, 12] + name: agent3 + start: [8, 4] +- goal: [28, 12] + name: agent4 + start: [15, 12] +- goal: [11, 10] + name: agent5 + start: [26, 21] +- goal: [4, 23] + name: agent6 + start: [17, 29] +- goal: [23, 8] + name: agent7 + start: [6, 18] +- goal: [17, 23] + name: agent8 + start: [18, 17] +- goal: [7, 18] + name: agent9 + start: [17, 31] +- goal: [12, 1] + name: agent10 + start: [19, 12] +- goal: [30, 6] + name: agent11 + start: [30, 16] +- goal: [5, 24] + name: agent12 + start: [13, 8] +- goal: [6, 14] + name: agent13 + start: [3, 18] +- goal: [16, 7] + name: agent14 + start: [15, 0] +- goal: [31, 3] + name: agent15 + start: [18, 29] +- goal: [24, 17] + name: agent16 + start: [14, 5] +- goal: [20, 22] + name: agent17 + start: [5, 17] +- goal: [9, 30] + name: agent18 + start: [1, 24] +- goal: [16, 16] + name: agent19 + start: [3, 21] +- goal: [26, 25] + name: agent20 + start: [20, 21] +- goal: [5, 28] + name: agent21 + start: [6, 11] +- goal: [19, 27] + name: agent22 + start: [25, 10] +- goal: [21, 16] + name: agent23 + start: [2, 11] +- goal: [13, 20] + name: agent24 + start: [2, 15] +- goal: [1, 26] + name: agent25 + start: [30, 25] +- goal: [19, 31] + name: agent26 + start: [4, 30] +- goal: [17, 25] + name: agent27 + start: [24, 28] +- goal: [21, 29] + name: agent28 + start: [4, 29] +- goal: [27, 25] + name: agent29 + start: [27, 8] +- goal: [23, 28] + name: agent30 + start: [6, 4] +- goal: [30, 20] + name: agent31 + start: [6, 7] +- goal: [1, 12] + name: agent32 + start: [10, 17] +- goal: [20, 19] + name: agent33 + start: [10, 13] +- goal: [17, 10] + name: agent34 + start: [27, 28] +- goal: [6, 11] + name: agent35 + start: [1, 14] +- goal: [27, 5] + name: agent36 + start: [24, 6] +- goal: [14, 19] + name: agent37 + start: [1, 6] +- goal: [12, 23] + name: agent38 + start: [10, 10] +- goal: [0, 28] + name: agent39 + start: [0, 9] +- goal: [0, 18] + name: agent40 + start: [30, 7] +- goal: [5, 5] + name: agent41 + start: [3, 2] +- goal: [11, 13] + name: agent42 + start: [30, 10] +- goal: [14, 8] + name: agent43 + start: [30, 9] +- goal: [21, 4] + name: agent44 + start: [26, 19] +- goal: [23, 18] + name: agent45 + start: [15, 6] +- goal: [29, 28] + name: agent46 + start: [23, 17] +- goal: [12, 26] + name: agent47 + start: [10, 5] +- goal: [12, 22] + name: agent48 + start: [2, 17] +- goal: [21, 30] + name: agent49 + start: [27, 13] +- goal: [19, 22] + name: agent50 + start: [24, 19] +- goal: [16, 11] + name: agent51 + start: [28, 10] +- goal: [8, 20] + name: agent52 + start: [13, 27] +- goal: [2, 7] + name: agent53 + start: [21, 19] +- goal: [31, 18] + name: agent54 + start: [14, 20] +- goal: [26, 23] + name: agent55 + start: [8, 13] +- goal: [13, 0] + name: agent56 + start: [14, 1] +- goal: [13, 5] + name: agent57 + start: [6, 5] +- goal: [14, 18] + name: agent58 + start: [13, 30] +- goal: [13, 9] + name: agent59 + start: [18, 9] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [1, 18] + - !!python/tuple [4, 20] + - !!python/tuple [4, 17] + - !!python/tuple [0, 31] + - !!python/tuple [23, 24] + - !!python/tuple [15, 3] + - !!python/tuple [1, 28] + - !!python/tuple [17, 5] + - !!python/tuple [7, 21] + - !!python/tuple [25, 27] + - !!python/tuple [5, 16] + - !!python/tuple [26, 11] + - !!python/tuple [28, 24] + - !!python/tuple [11, 26] + - !!python/tuple [28, 14] + - !!python/tuple [8, 23] + - !!python/tuple [3, 20] + - !!python/tuple [6, 9] + - !!python/tuple [18, 10] + - !!python/tuple [10, 12] + - !!python/tuple [27, 17] + - !!python/tuple [11, 19] + - !!python/tuple [26, 5] + - !!python/tuple [21, 3] + - !!python/tuple [10, 3] + - !!python/tuple [3, 15] + - !!python/tuple [2, 20] + - !!python/tuple [22, 26] + - !!python/tuple [19, 28] + - !!python/tuple [8, 1] + - !!python/tuple [15, 28] + - !!python/tuple [7, 7] + - !!python/tuple [10, 29] + - !!python/tuple [11, 4] + - !!python/tuple [7, 12] + - !!python/tuple [22, 8] + - !!python/tuple [2, 25] + - !!python/tuple [23, 27] + - !!python/tuple [1, 3] + - !!python/tuple [5, 8] + - !!python/tuple [23, 16] + - !!python/tuple [12, 16] + - !!python/tuple [9, 1] + - !!python/tuple [28, 6] + - !!python/tuple [23, 4] + - !!python/tuple [25, 31] + - !!python/tuple [13, 12] + - !!python/tuple [15, 9] + - !!python/tuple [14, 9] + - !!python/tuple [7, 0] + - !!python/tuple [10, 28] + - !!python/tuple [22, 29] + - !!python/tuple [23, 0] + - !!python/tuple [13, 2] + - !!python/tuple [12, 6] + - !!python/tuple [28, 19] + - !!python/tuple [13, 14] + - !!python/tuple [5, 4] + - !!python/tuple [22, 14] + - !!python/tuple [10, 18] + - !!python/tuple [3, 11] + - !!python/tuple [7, 5] + - !!python/tuple [3, 28] + - !!python/tuple [2, 8] + - !!python/tuple [22, 4] + - !!python/tuple [31, 6] + - !!python/tuple [28, 22] + - !!python/tuple [16, 13] + - !!python/tuple [0, 6] + - !!python/tuple [12, 11] + - !!python/tuple [4, 2] + - !!python/tuple [0, 20] + - !!python/tuple [28, 27] + - !!python/tuple [5, 21] + - !!python/tuple [19, 18] + - !!python/tuple [21, 0] + - !!python/tuple [18, 30] + - !!python/tuple [26, 15] + - !!python/tuple [21, 31] + - !!python/tuple [18, 15] + - !!python/tuple [25, 3] + - !!python/tuple [28, 8] + - !!python/tuple [8, 30] + - !!python/tuple [27, 27] + - !!python/tuple [9, 20] + - !!python/tuple [17, 12] + - !!python/tuple [5, 20] + - !!python/tuple [24, 30] + - !!python/tuple [8, 2] + - !!python/tuple [9, 24] + - !!python/tuple [23, 11] + - !!python/tuple [4, 22] + - !!python/tuple [16, 12] + - !!python/tuple [1, 0] + - !!python/tuple [6, 29] + - !!python/tuple [28, 2] + - !!python/tuple [27, 30] + - !!python/tuple [28, 0] + - !!python/tuple [4, 11] + - !!python/tuple [21, 20] + - !!python/tuple [24, 18] + - !!python/tuple [30, 28] + - !!python/tuple [20, 17] + - !!python/tuple [21, 28] + - !!python/tuple [1, 10] + - !!python/tuple [17, 20] + - !!python/tuple [19, 9] + - !!python/tuple [24, 14] + - !!python/tuple [27, 6] + - !!python/tuple [24, 29] + - !!python/tuple [25, 14] + - !!python/tuple [23, 21] + - !!python/tuple [14, 21] + - !!python/tuple [9, 3] + - !!python/tuple [17, 19] + - !!python/tuple [14, 0] + - !!python/tuple [25, 18] + - !!python/tuple [14, 15] + - !!python/tuple [17, 17] + - !!python/tuple [0, 8] + - !!python/tuple [25, 19] + - !!python/tuple [5, 3] + - !!python/tuple [14, 13] + - !!python/tuple [6, 28] + - !!python/tuple [20, 24] + - !!python/tuple [22, 3] + - !!python/tuple [21, 22] + - !!python/tuple [8, 14] + - !!python/tuple [25, 5] + - !!python/tuple [5, 30] + - !!python/tuple [7, 14] + - !!python/tuple [7, 25] + - !!python/tuple [6, 6] + - !!python/tuple [17, 21] + - !!python/tuple [12, 18] + - !!python/tuple [19, 6] + - !!python/tuple [9, 10] + - !!python/tuple [15, 19] + - !!python/tuple [15, 5] + - !!python/tuple [3, 8] + - !!python/tuple [20, 25] + - !!python/tuple [24, 5] + - !!python/tuple [14, 14] + - !!python/tuple [21, 9] + - !!python/tuple [27, 9] + - !!python/tuple [26, 0] + - !!python/tuple [0, 12] + - !!python/tuple [22, 7] + - !!python/tuple [14, 25] + - !!python/tuple [12, 27] + - !!python/tuple [12, 15] + - !!python/tuple [20, 5] + - !!python/tuple [28, 7] + - !!python/tuple [17, 15] + - !!python/tuple [16, 29] + - !!python/tuple [28, 4] + - !!python/tuple [18, 3] + - !!python/tuple [3, 22] + - !!python/tuple [12, 21] + - !!python/tuple [21, 17] + - !!python/tuple [31, 15] + - !!python/tuple [26, 1] + - !!python/tuple [1, 2] + - !!python/tuple [6, 12] + - !!python/tuple [13, 28] + - !!python/tuple [4, 24] + - !!python/tuple [16, 15] + - !!python/tuple [9, 17] + - !!python/tuple [24, 23] + - !!python/tuple [18, 13] + - !!python/tuple [23, 1] + - !!python/tuple [3, 16] + - !!python/tuple [22, 17] + - !!python/tuple [5, 7] + - !!python/tuple [17, 8] + - !!python/tuple [17, 3] + - !!python/tuple [11, 2] + - !!python/tuple [11, 29] + - !!python/tuple [4, 10] + - !!python/tuple [13, 13] + - !!python/tuple [4, 3] + - !!python/tuple [16, 0] + - !!python/tuple [31, 9] + - !!python/tuple [15, 2] + - !!python/tuple [22, 2] + - !!python/tuple [14, 12] + - !!python/tuple [4, 5] + - !!python/tuple [2, 9] + - !!python/tuple [19, 15] + - !!python/tuple [7, 15] + - !!python/tuple [31, 30] + - !!python/tuple [10, 1] + - !!python/tuple [6, 13] + - !!python/tuple [25, 4] + - !!python/tuple [9, 11] + - !!python/tuple [6, 16] + - !!python/tuple [24, 21] + - !!python/tuple [1, 25] + - !!python/tuple [15, 23] + - !!python/tuple [20, 14] + - !!python/tuple [26, 31] + - !!python/tuple [23, 26] + - !!python/tuple [6, 1] + - !!python/tuple [2, 4] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex94.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex94.yaml new file mode 100644 index 0000000..57579f1 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex94.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [6, 29] + name: agent0 + start: [29, 18] +- goal: [22, 29] + name: agent1 + start: [12, 12] +- goal: [15, 23] + name: agent2 + start: [8, 10] +- goal: [25, 23] + name: agent3 + start: [24, 9] +- goal: [25, 17] + name: agent4 + start: [12, 15] +- goal: [13, 14] + name: agent5 + start: [25, 17] +- goal: [31, 20] + name: agent6 + start: [11, 19] +- goal: [29, 16] + name: agent7 + start: [11, 1] +- goal: [24, 10] + name: agent8 + start: [9, 4] +- goal: [10, 6] + name: agent9 + start: [10, 20] +- goal: [22, 17] + name: agent10 + start: [19, 20] +- goal: [4, 12] + name: agent11 + start: [29, 11] +- goal: [3, 12] + name: agent12 + start: [6, 17] +- goal: [0, 2] + name: agent13 + start: [8, 21] +- goal: [7, 2] + name: agent14 + start: [5, 25] +- goal: [13, 28] + name: agent15 + start: [16, 23] +- goal: [27, 0] + name: agent16 + start: [2, 24] +- goal: [16, 30] + name: agent17 + start: [31, 3] +- goal: [0, 25] + name: agent18 + start: [3, 8] +- goal: [16, 19] + name: agent19 + start: [11, 20] +- goal: [22, 8] + name: agent20 + start: [0, 27] +- goal: [11, 1] + name: agent21 + start: [22, 1] +- goal: [17, 19] + name: agent22 + start: [30, 18] +- goal: [21, 8] + name: agent23 + start: [0, 22] +- goal: [18, 1] + name: agent24 + start: [2, 31] +- goal: [6, 8] + name: agent25 + start: [16, 9] +- goal: [13, 12] + name: agent26 + start: [13, 20] +- goal: [16, 28] + name: agent27 + start: [19, 16] +- goal: [14, 17] + name: agent28 + start: [31, 17] +- goal: [9, 22] + name: agent29 + start: [10, 8] +- goal: [13, 5] + name: agent30 + start: [8, 7] +- goal: [21, 26] + name: agent31 + start: [12, 28] +- goal: [19, 10] + name: agent32 + start: [21, 27] +- goal: [25, 25] + name: agent33 + start: [10, 7] +- goal: [12, 6] + name: agent34 + start: [23, 4] +- goal: [0, 20] + name: agent35 + start: [22, 28] +- goal: [3, 27] + name: agent36 + start: [16, 1] +- goal: [9, 4] + name: agent37 + start: [0, 10] +- goal: [1, 1] + name: agent38 + start: [26, 8] +- goal: [11, 11] + name: agent39 + start: [4, 18] +- goal: [31, 3] + name: agent40 + start: [10, 11] +- goal: [1, 4] + name: agent41 + start: [16, 8] +- goal: [26, 23] + name: agent42 + start: [15, 21] +- goal: [6, 18] + name: agent43 + start: [11, 21] +- goal: [26, 28] + name: agent44 + start: [26, 1] +- goal: [20, 19] + name: agent45 + start: [5, 21] +- goal: [22, 12] + name: agent46 + start: [10, 14] +- goal: [20, 13] + name: agent47 + start: [0, 0] +- goal: [31, 23] + name: agent48 + start: [15, 16] +- goal: [15, 16] + name: agent49 + start: [9, 29] +- goal: [24, 21] + name: agent50 + start: [12, 1] +- goal: [21, 0] + name: agent51 + start: [29, 7] +- goal: [23, 1] + name: agent52 + start: [1, 15] +- goal: [7, 15] + name: agent53 + start: [26, 3] +- goal: [22, 13] + name: agent54 + start: [13, 24] +- goal: [1, 18] + name: agent55 + start: [11, 14] +- goal: [26, 19] + name: agent56 + start: [4, 23] +- goal: [9, 8] + name: agent57 + start: [22, 27] +- goal: [14, 25] + name: agent58 + start: [10, 17] +- goal: [30, 0] + name: agent59 + start: [14, 10] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [19, 31] + - !!python/tuple [10, 3] + - !!python/tuple [24, 2] + - !!python/tuple [6, 14] + - !!python/tuple [21, 20] + - !!python/tuple [10, 10] + - !!python/tuple [24, 29] + - !!python/tuple [31, 11] + - !!python/tuple [29, 3] + - !!python/tuple [2, 19] + - !!python/tuple [9, 9] + - !!python/tuple [1, 20] + - !!python/tuple [2, 28] + - !!python/tuple [19, 28] + - !!python/tuple [27, 16] + - !!python/tuple [27, 20] + - !!python/tuple [1, 11] + - !!python/tuple [28, 19] + - !!python/tuple [4, 30] + - !!python/tuple [7, 11] + - !!python/tuple [2, 22] + - !!python/tuple [12, 14] + - !!python/tuple [22, 7] + - !!python/tuple [29, 27] + - !!python/tuple [7, 28] + - !!python/tuple [4, 13] + - !!python/tuple [24, 27] + - !!python/tuple [16, 5] + - !!python/tuple [20, 1] + - !!python/tuple [11, 16] + - !!python/tuple [23, 27] + - !!python/tuple [25, 3] + - !!python/tuple [25, 20] + - !!python/tuple [3, 2] + - !!python/tuple [25, 30] + - !!python/tuple [15, 2] + - !!python/tuple [15, 19] + - !!python/tuple [18, 24] + - !!python/tuple [16, 31] + - !!python/tuple [8, 24] + - !!python/tuple [16, 16] + - !!python/tuple [23, 31] + - !!python/tuple [26, 5] + - !!python/tuple [25, 22] + - !!python/tuple [2, 30] + - !!python/tuple [28, 31] + - !!python/tuple [10, 27] + - !!python/tuple [18, 6] + - !!python/tuple [20, 6] + - !!python/tuple [14, 6] + - !!python/tuple [25, 27] + - !!python/tuple [8, 14] + - !!python/tuple [20, 22] + - !!python/tuple [8, 12] + - !!python/tuple [4, 10] + - !!python/tuple [21, 2] + - !!python/tuple [9, 20] + - !!python/tuple [5, 12] + - !!python/tuple [7, 29] + - !!python/tuple [14, 1] + - !!python/tuple [17, 2] + - !!python/tuple [12, 16] + - !!python/tuple [27, 13] + - !!python/tuple [28, 1] + - !!python/tuple [24, 11] + - !!python/tuple [12, 2] + - !!python/tuple [28, 3] + - !!python/tuple [9, 10] + - !!python/tuple [3, 16] + - !!python/tuple [4, 22] + - !!python/tuple [16, 3] + - !!python/tuple [28, 11] + - !!python/tuple [12, 20] + - !!python/tuple [5, 24] + - !!python/tuple [27, 26] + - !!python/tuple [5, 23] + - !!python/tuple [18, 30] + - !!python/tuple [20, 21] + - !!python/tuple [2, 27] + - !!python/tuple [30, 13] + - !!python/tuple [11, 30] + - !!python/tuple [22, 23] + - !!python/tuple [16, 29] + - !!python/tuple [31, 4] + - !!python/tuple [16, 25] + - !!python/tuple [7, 3] + - !!python/tuple [19, 30] + - !!python/tuple [8, 23] + - !!python/tuple [5, 6] + - !!python/tuple [31, 16] + - !!python/tuple [22, 24] + - !!python/tuple [31, 28] + - !!python/tuple [7, 7] + - !!python/tuple [13, 19] + - !!python/tuple [20, 29] + - !!python/tuple [22, 0] + - !!python/tuple [5, 30] + - !!python/tuple [25, 7] + - !!python/tuple [14, 19] + - !!python/tuple [8, 16] + - !!python/tuple [26, 6] + - !!python/tuple [31, 5] + - !!python/tuple [1, 17] + - !!python/tuple [23, 29] + - !!python/tuple [7, 31] + - !!python/tuple [29, 30] + - !!python/tuple [21, 13] + - !!python/tuple [19, 12] + - !!python/tuple [19, 29] + - !!python/tuple [24, 18] + - !!python/tuple [25, 24] + - !!python/tuple [10, 26] + - !!python/tuple [5, 9] + - !!python/tuple [13, 7] + - !!python/tuple [2, 3] + - !!python/tuple [4, 6] + - !!python/tuple [27, 27] + - !!python/tuple [26, 18] + - !!python/tuple [19, 9] + - !!python/tuple [17, 5] + - !!python/tuple [0, 16] + - !!python/tuple [0, 1] + - !!python/tuple [11, 4] + - !!python/tuple [26, 13] + - !!python/tuple [18, 27] + - !!python/tuple [17, 20] + - !!python/tuple [23, 3] + - !!python/tuple [26, 16] + - !!python/tuple [29, 12] + - !!python/tuple [11, 26] + - !!python/tuple [28, 30] + - !!python/tuple [8, 17] + - !!python/tuple [29, 10] + - !!python/tuple [22, 5] + - !!python/tuple [31, 21] + - !!python/tuple [0, 15] + - !!python/tuple [29, 31] + - !!python/tuple [1, 21] + - !!python/tuple [28, 13] + - !!python/tuple [7, 27] + - !!python/tuple [28, 0] + - !!python/tuple [3, 11] + - !!python/tuple [3, 15] + - !!python/tuple [4, 2] + - !!python/tuple [23, 11] + - !!python/tuple [14, 28] + - !!python/tuple [14, 14] + - !!python/tuple [9, 30] + - !!python/tuple [24, 14] + - !!python/tuple [24, 25] + - !!python/tuple [6, 19] + - !!python/tuple [5, 11] + - !!python/tuple [0, 4] + - !!python/tuple [1, 27] + - !!python/tuple [26, 31] + - !!python/tuple [14, 5] + - !!python/tuple [30, 3] + - !!python/tuple [29, 15] + - !!python/tuple [7, 21] + - !!python/tuple [2, 11] + - !!python/tuple [19, 17] + - !!python/tuple [22, 6] + - !!python/tuple [28, 12] + - !!python/tuple [22, 11] + - !!python/tuple [11, 15] + - !!python/tuple [21, 9] + - !!python/tuple [2, 8] + - !!python/tuple [19, 23] + - !!python/tuple [29, 8] + - !!python/tuple [21, 6] + - !!python/tuple [12, 19] + - !!python/tuple [8, 2] + - !!python/tuple [14, 30] + - !!python/tuple [22, 16] + - !!python/tuple [24, 6] + - !!python/tuple [30, 25] + - !!python/tuple [27, 30] + - !!python/tuple [11, 25] + - !!python/tuple [3, 13] + - !!python/tuple [19, 8] + - !!python/tuple [16, 21] + - !!python/tuple [29, 0] + - !!python/tuple [3, 0] + - !!python/tuple [19, 6] + - !!python/tuple [14, 18] + - !!python/tuple [23, 20] + - !!python/tuple [6, 5] + - !!python/tuple [0, 6] + - !!python/tuple [3, 22] + - !!python/tuple [14, 8] + - !!python/tuple [24, 3] + - !!python/tuple [31, 6] + - !!python/tuple [17, 10] + - !!python/tuple [17, 13] + - !!python/tuple [18, 3] + - !!python/tuple [7, 5] + - !!python/tuple [2, 10] + - !!python/tuple [30, 2] + - !!python/tuple [4, 21] + - !!python/tuple [8, 29] + - !!python/tuple [27, 23] + - !!python/tuple [19, 25] + - !!python/tuple [2, 2] + - !!python/tuple [30, 10] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex95.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex95.yaml new file mode 100644 index 0000000..8f9de34 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex95.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [7, 13] + name: agent0 + start: [13, 22] +- goal: [6, 27] + name: agent1 + start: [2, 29] +- goal: [16, 28] + name: agent2 + start: [25, 18] +- goal: [16, 8] + name: agent3 + start: [17, 13] +- goal: [12, 5] + name: agent4 + start: [25, 8] +- goal: [4, 5] + name: agent5 + start: [15, 23] +- goal: [19, 15] + name: agent6 + start: [21, 6] +- goal: [18, 3] + name: agent7 + start: [30, 0] +- goal: [13, 11] + name: agent8 + start: [0, 9] +- goal: [24, 31] + name: agent9 + start: [5, 28] +- goal: [31, 8] + name: agent10 + start: [6, 20] +- goal: [21, 14] + name: agent11 + start: [1, 5] +- goal: [29, 29] + name: agent12 + start: [11, 10] +- goal: [17, 26] + name: agent13 + start: [7, 15] +- goal: [8, 4] + name: agent14 + start: [15, 16] +- goal: [8, 16] + name: agent15 + start: [29, 0] +- goal: [17, 19] + name: agent16 + start: [2, 31] +- goal: [2, 30] + name: agent17 + start: [20, 27] +- goal: [20, 16] + name: agent18 + start: [7, 24] +- goal: [29, 19] + name: agent19 + start: [26, 16] +- goal: [15, 28] + name: agent20 + start: [9, 5] +- goal: [26, 12] + name: agent21 + start: [7, 26] +- goal: [31, 19] + name: agent22 + start: [21, 19] +- goal: [26, 27] + name: agent23 + start: [4, 11] +- goal: [28, 1] + name: agent24 + start: [27, 18] +- goal: [11, 11] + name: agent25 + start: [28, 31] +- goal: [5, 7] + name: agent26 + start: [8, 3] +- goal: [2, 2] + name: agent27 + start: [15, 21] +- goal: [11, 15] + name: agent28 + start: [28, 30] +- goal: [17, 7] + name: agent29 + start: [24, 24] +- goal: [8, 26] + name: agent30 + start: [14, 23] +- goal: [0, 17] + name: agent31 + start: [23, 31] +- goal: [8, 8] + name: agent32 + start: [22, 24] +- goal: [0, 26] + name: agent33 + start: [26, 15] +- goal: [27, 19] + name: agent34 + start: [11, 4] +- goal: [18, 15] + name: agent35 + start: [10, 9] +- goal: [24, 14] + name: agent36 + start: [20, 11] +- goal: [30, 10] + name: agent37 + start: [9, 17] +- goal: [21, 2] + name: agent38 + start: [1, 12] +- goal: [23, 3] + name: agent39 + start: [25, 24] +- goal: [11, 6] + name: agent40 + start: [26, 27] +- goal: [23, 27] + name: agent41 + start: [15, 28] +- goal: [0, 11] + name: agent42 + start: [19, 25] +- goal: [18, 9] + name: agent43 + start: [11, 31] +- goal: [11, 28] + name: agent44 + start: [24, 31] +- goal: [18, 25] + name: agent45 + start: [23, 9] +- goal: [8, 20] + name: agent46 + start: [6, 24] +- goal: [9, 10] + name: agent47 + start: [21, 29] +- goal: [11, 2] + name: agent48 + start: [31, 29] +- goal: [17, 27] + name: agent49 + start: [23, 3] +- goal: [21, 30] + name: agent50 + start: [17, 19] +- goal: [7, 11] + name: agent51 + start: [30, 30] +- goal: [31, 15] + name: agent52 + start: [26, 8] +- goal: [20, 11] + name: agent53 + start: [20, 16] +- goal: [14, 13] + name: agent54 + start: [26, 3] +- goal: [31, 9] + name: agent55 + start: [22, 7] +- goal: [1, 24] + name: agent56 + start: [30, 28] +- goal: [22, 1] + name: agent57 + start: [24, 23] +- goal: [26, 22] + name: agent58 + start: [31, 22] +- goal: [31, 30] + name: agent59 + start: [26, 24] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [28, 19] + - !!python/tuple [14, 30] + - !!python/tuple [17, 17] + - !!python/tuple [14, 19] + - !!python/tuple [13, 13] + - !!python/tuple [30, 21] + - !!python/tuple [4, 4] + - !!python/tuple [23, 28] + - !!python/tuple [27, 28] + - !!python/tuple [23, 11] + - !!python/tuple [26, 0] + - !!python/tuple [19, 21] + - !!python/tuple [24, 7] + - !!python/tuple [20, 1] + - !!python/tuple [28, 17] + - !!python/tuple [22, 14] + - !!python/tuple [8, 1] + - !!python/tuple [27, 5] + - !!python/tuple [21, 22] + - !!python/tuple [10, 12] + - !!python/tuple [14, 12] + - !!python/tuple [7, 1] + - !!python/tuple [5, 31] + - !!python/tuple [11, 29] + - !!python/tuple [10, 4] + - !!python/tuple [30, 15] + - !!python/tuple [5, 23] + - !!python/tuple [7, 2] + - !!python/tuple [17, 30] + - !!python/tuple [8, 10] + - !!python/tuple [17, 15] + - !!python/tuple [1, 17] + - !!python/tuple [30, 16] + - !!python/tuple [1, 28] + - !!python/tuple [1, 8] + - !!python/tuple [23, 23] + - !!python/tuple [21, 31] + - !!python/tuple [15, 31] + - !!python/tuple [14, 25] + - !!python/tuple [20, 8] + - !!python/tuple [28, 0] + - !!python/tuple [10, 24] + - !!python/tuple [26, 25] + - !!python/tuple [24, 8] + - !!python/tuple [26, 14] + - !!python/tuple [2, 11] + - !!python/tuple [1, 31] + - !!python/tuple [25, 21] + - !!python/tuple [6, 6] + - !!python/tuple [20, 3] + - !!python/tuple [19, 9] + - !!python/tuple [3, 2] + - !!python/tuple [26, 4] + - !!python/tuple [29, 28] + - !!python/tuple [27, 4] + - !!python/tuple [26, 9] + - !!python/tuple [23, 16] + - !!python/tuple [12, 22] + - !!python/tuple [14, 4] + - !!python/tuple [5, 19] + - !!python/tuple [31, 11] + - !!python/tuple [10, 23] + - !!python/tuple [26, 2] + - !!python/tuple [14, 31] + - !!python/tuple [20, 9] + - !!python/tuple [11, 24] + - !!python/tuple [12, 13] + - !!python/tuple [14, 10] + - !!python/tuple [26, 21] + - !!python/tuple [10, 10] + - !!python/tuple [3, 6] + - !!python/tuple [1, 11] + - !!python/tuple [11, 12] + - !!python/tuple [10, 22] + - !!python/tuple [14, 8] + - !!python/tuple [7, 14] + - !!python/tuple [8, 5] + - !!python/tuple [3, 5] + - !!python/tuple [28, 20] + - !!python/tuple [0, 18] + - !!python/tuple [25, 14] + - !!python/tuple [8, 29] + - !!python/tuple [21, 24] + - !!python/tuple [23, 2] + - !!python/tuple [20, 12] + - !!python/tuple [25, 19] + - !!python/tuple [12, 24] + - !!python/tuple [25, 29] + - !!python/tuple [11, 20] + - !!python/tuple [9, 3] + - !!python/tuple [16, 17] + - !!python/tuple [21, 18] + - !!python/tuple [14, 20] + - !!python/tuple [23, 21] + - !!python/tuple [5, 5] + - !!python/tuple [26, 23] + - !!python/tuple [14, 14] + - !!python/tuple [12, 18] + - !!python/tuple [19, 5] + - !!python/tuple [30, 22] + - !!python/tuple [9, 18] + - !!python/tuple [29, 2] + - !!python/tuple [13, 16] + - !!python/tuple [28, 29] + - !!python/tuple [5, 30] + - !!python/tuple [18, 26] + - !!python/tuple [13, 7] + - !!python/tuple [2, 17] + - !!python/tuple [17, 20] + - !!python/tuple [16, 9] + - !!python/tuple [15, 30] + - !!python/tuple [24, 29] + - !!python/tuple [5, 3] + - !!python/tuple [4, 21] + - !!python/tuple [22, 23] + - !!python/tuple [11, 0] + - !!python/tuple [18, 8] + - !!python/tuple [20, 26] + - !!python/tuple [31, 6] + - !!python/tuple [3, 24] + - !!python/tuple [31, 10] + - !!python/tuple [30, 25] + - !!python/tuple [3, 25] + - !!python/tuple [31, 31] + - !!python/tuple [25, 30] + - !!python/tuple [21, 3] + - !!python/tuple [16, 26] + - !!python/tuple [2, 8] + - !!python/tuple [18, 0] + - !!python/tuple [28, 9] + - !!python/tuple [0, 22] + - !!python/tuple [5, 17] + - !!python/tuple [13, 3] + - !!python/tuple [14, 0] + - !!python/tuple [17, 10] + - !!python/tuple [17, 23] + - !!python/tuple [3, 21] + - !!python/tuple [7, 12] + - !!python/tuple [2, 25] + - !!python/tuple [29, 27] + - !!python/tuple [26, 19] + - !!python/tuple [30, 26] + - !!python/tuple [8, 22] + - !!python/tuple [18, 5] + - !!python/tuple [19, 13] + - !!python/tuple [4, 25] + - !!python/tuple [29, 26] + - !!python/tuple [12, 20] + - !!python/tuple [27, 21] + - !!python/tuple [19, 1] + - !!python/tuple [9, 2] + - !!python/tuple [18, 31] + - !!python/tuple [12, 11] + - !!python/tuple [5, 8] + - !!python/tuple [7, 5] + - !!python/tuple [3, 10] + - !!python/tuple [6, 13] + - !!python/tuple [11, 1] + - !!python/tuple [2, 26] + - !!python/tuple [17, 0] + - !!python/tuple [8, 30] + - !!python/tuple [10, 16] + - !!python/tuple [3, 16] + - !!python/tuple [3, 0] + - !!python/tuple [11, 30] + - !!python/tuple [17, 3] + - !!python/tuple [27, 29] + - !!python/tuple [13, 26] + - !!python/tuple [1, 23] + - !!python/tuple [0, 0] + - !!python/tuple [7, 6] + - !!python/tuple [6, 12] + - !!python/tuple [16, 21] + - !!python/tuple [9, 9] + - !!python/tuple [16, 30] + - !!python/tuple [0, 29] + - !!python/tuple [23, 18] + - !!python/tuple [31, 12] + - !!python/tuple [5, 0] + - !!python/tuple [3, 7] + - !!python/tuple [10, 6] + - !!python/tuple [31, 1] + - !!python/tuple [21, 27] + - !!python/tuple [22, 20] + - !!python/tuple [0, 23] + - !!python/tuple [26, 20] + - !!python/tuple [19, 16] + - !!python/tuple [16, 19] + - !!python/tuple [5, 1] + - !!python/tuple [31, 25] + - !!python/tuple [10, 30] + - !!python/tuple [12, 31] + - !!python/tuple [5, 10] + - !!python/tuple [23, 7] + - !!python/tuple [7, 7] + - !!python/tuple [17, 16] + - !!python/tuple [15, 25] + - !!python/tuple [8, 19] + - !!python/tuple [20, 31] + - !!python/tuple [14, 26] + - !!python/tuple [18, 27] + - !!python/tuple [30, 2] + - !!python/tuple [0, 1] + - !!python/tuple [18, 13] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex96.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex96.yaml new file mode 100644 index 0000000..24ae100 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex96.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [19, 10] + name: agent0 + start: [15, 10] +- goal: [18, 27] + name: agent1 + start: [30, 30] +- goal: [15, 24] + name: agent2 + start: [6, 24] +- goal: [25, 25] + name: agent3 + start: [19, 20] +- goal: [25, 15] + name: agent4 + start: [6, 2] +- goal: [10, 10] + name: agent5 + start: [0, 3] +- goal: [12, 30] + name: agent6 + start: [10, 21] +- goal: [24, 1] + name: agent7 + start: [16, 6] +- goal: [16, 7] + name: agent8 + start: [24, 18] +- goal: [24, 19] + name: agent9 + start: [13, 22] +- goal: [8, 29] + name: agent10 + start: [21, 9] +- goal: [31, 13] + name: agent11 + start: [16, 25] +- goal: [26, 4] + name: agent12 + start: [22, 14] +- goal: [21, 10] + name: agent13 + start: [11, 13] +- goal: [22, 29] + name: agent14 + start: [11, 27] +- goal: [24, 9] + name: agent15 + start: [13, 20] +- goal: [1, 17] + name: agent16 + start: [8, 26] +- goal: [5, 26] + name: agent17 + start: [8, 15] +- goal: [31, 0] + name: agent18 + start: [14, 15] +- goal: [7, 26] + name: agent19 + start: [25, 4] +- goal: [31, 29] + name: agent20 + start: [31, 2] +- goal: [22, 3] + name: agent21 + start: [13, 5] +- goal: [17, 12] + name: agent22 + start: [25, 28] +- goal: [17, 8] + name: agent23 + start: [13, 8] +- goal: [24, 10] + name: agent24 + start: [28, 27] +- goal: [21, 31] + name: agent25 + start: [30, 10] +- goal: [26, 1] + name: agent26 + start: [0, 19] +- goal: [1, 19] + name: agent27 + start: [3, 19] +- goal: [11, 9] + name: agent28 + start: [19, 24] +- goal: [12, 19] + name: agent29 + start: [28, 28] +- goal: [11, 16] + name: agent30 + start: [21, 18] +- goal: [17, 11] + name: agent31 + start: [28, 23] +- goal: [25, 17] + name: agent32 + start: [30, 21] +- goal: [21, 5] + name: agent33 + start: [1, 4] +- goal: [10, 7] + name: agent34 + start: [15, 13] +- goal: [16, 19] + name: agent35 + start: [10, 24] +- goal: [16, 11] + name: agent36 + start: [29, 13] +- goal: [8, 21] + name: agent37 + start: [3, 7] +- goal: [10, 29] + name: agent38 + start: [21, 1] +- goal: [7, 9] + name: agent39 + start: [9, 12] +- goal: [22, 4] + name: agent40 + start: [19, 17] +- goal: [5, 13] + name: agent41 + start: [22, 15] +- goal: [23, 29] + name: agent42 + start: [8, 20] +- goal: [17, 4] + name: agent43 + start: [12, 23] +- goal: [17, 14] + name: agent44 + start: [18, 12] +- goal: [22, 25] + name: agent45 + start: [13, 0] +- goal: [8, 15] + name: agent46 + start: [27, 23] +- goal: [7, 21] + name: agent47 + start: [16, 17] +- goal: [10, 5] + name: agent48 + start: [11, 0] +- goal: [16, 29] + name: agent49 + start: [17, 0] +- goal: [17, 0] + name: agent50 + start: [2, 14] +- goal: [17, 9] + name: agent51 + start: [15, 23] +- goal: [6, 29] + name: agent52 + start: [24, 11] +- goal: [29, 8] + name: agent53 + start: [17, 3] +- goal: [0, 25] + name: agent54 + start: [5, 9] +- goal: [17, 25] + name: agent55 + start: [0, 21] +- goal: [4, 19] + name: agent56 + start: [7, 10] +- goal: [18, 8] + name: agent57 + start: [27, 16] +- goal: [19, 29] + name: agent58 + start: [7, 31] +- goal: [0, 6] + name: agent59 + start: [10, 5] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [5, 31] + - !!python/tuple [3, 13] + - !!python/tuple [22, 2] + - !!python/tuple [0, 7] + - !!python/tuple [31, 30] + - !!python/tuple [10, 28] + - !!python/tuple [14, 13] + - !!python/tuple [22, 1] + - !!python/tuple [13, 13] + - !!python/tuple [9, 4] + - !!python/tuple [27, 5] + - !!python/tuple [11, 24] + - !!python/tuple [20, 10] + - !!python/tuple [4, 4] + - !!python/tuple [20, 3] + - !!python/tuple [20, 5] + - !!python/tuple [17, 30] + - !!python/tuple [10, 11] + - !!python/tuple [15, 16] + - !!python/tuple [14, 16] + - !!python/tuple [27, 17] + - !!python/tuple [11, 15] + - !!python/tuple [4, 5] + - !!python/tuple [1, 1] + - !!python/tuple [14, 19] + - !!python/tuple [18, 28] + - !!python/tuple [4, 10] + - !!python/tuple [22, 19] + - !!python/tuple [7, 5] + - !!python/tuple [24, 14] + - !!python/tuple [3, 16] + - !!python/tuple [5, 1] + - !!python/tuple [3, 24] + - !!python/tuple [8, 7] + - !!python/tuple [14, 8] + - !!python/tuple [20, 18] + - !!python/tuple [27, 2] + - !!python/tuple [9, 2] + - !!python/tuple [4, 8] + - !!python/tuple [7, 23] + - !!python/tuple [2, 29] + - !!python/tuple [31, 16] + - !!python/tuple [15, 9] + - !!python/tuple [13, 26] + - !!python/tuple [18, 29] + - !!python/tuple [19, 26] + - !!python/tuple [20, 4] + - !!python/tuple [0, 18] + - !!python/tuple [6, 9] + - !!python/tuple [2, 6] + - !!python/tuple [29, 23] + - !!python/tuple [14, 4] + - !!python/tuple [12, 28] + - !!python/tuple [8, 17] + - !!python/tuple [5, 29] + - !!python/tuple [29, 27] + - !!python/tuple [28, 9] + - !!python/tuple [31, 25] + - !!python/tuple [20, 27] + - !!python/tuple [24, 0] + - !!python/tuple [19, 30] + - !!python/tuple [17, 6] + - !!python/tuple [16, 14] + - !!python/tuple [12, 15] + - !!python/tuple [18, 31] + - !!python/tuple [15, 8] + - !!python/tuple [30, 24] + - !!python/tuple [18, 7] + - !!python/tuple [8, 31] + - !!python/tuple [26, 31] + - !!python/tuple [28, 19] + - !!python/tuple [15, 7] + - !!python/tuple [7, 8] + - !!python/tuple [26, 25] + - !!python/tuple [14, 3] + - !!python/tuple [22, 16] + - !!python/tuple [26, 11] + - !!python/tuple [28, 10] + - !!python/tuple [1, 23] + - !!python/tuple [27, 12] + - !!python/tuple [27, 20] + - !!python/tuple [5, 7] + - !!python/tuple [30, 8] + - !!python/tuple [29, 28] + - !!python/tuple [21, 3] + - !!python/tuple [13, 12] + - !!python/tuple [9, 29] + - !!python/tuple [4, 13] + - !!python/tuple [7, 20] + - !!python/tuple [29, 9] + - !!python/tuple [22, 26] + - !!python/tuple [19, 3] + - !!python/tuple [23, 17] + - !!python/tuple [16, 26] + - !!python/tuple [18, 6] + - !!python/tuple [19, 12] + - !!python/tuple [9, 7] + - !!python/tuple [15, 22] + - !!python/tuple [24, 6] + - !!python/tuple [9, 23] + - !!python/tuple [31, 19] + - !!python/tuple [23, 5] + - !!python/tuple [18, 11] + - !!python/tuple [3, 27] + - !!python/tuple [4, 6] + - !!python/tuple [10, 12] + - !!python/tuple [29, 17] + - !!python/tuple [23, 14] + - !!python/tuple [0, 30] + - !!python/tuple [10, 9] + - !!python/tuple [9, 0] + - !!python/tuple [9, 28] + - !!python/tuple [15, 20] + - !!python/tuple [11, 31] + - !!python/tuple [28, 14] + - !!python/tuple [27, 6] + - !!python/tuple [8, 12] + - !!python/tuple [18, 1] + - !!python/tuple [3, 3] + - !!python/tuple [4, 25] + - !!python/tuple [10, 3] + - !!python/tuple [2, 11] + - !!python/tuple [27, 9] + - !!python/tuple [1, 5] + - !!python/tuple [25, 13] + - !!python/tuple [27, 30] + - !!python/tuple [28, 4] + - !!python/tuple [9, 17] + - !!python/tuple [8, 10] + - !!python/tuple [20, 14] + - !!python/tuple [20, 22] + - !!python/tuple [28, 31] + - !!python/tuple [3, 29] + - !!python/tuple [2, 30] + - !!python/tuple [13, 6] + - !!python/tuple [30, 5] + - !!python/tuple [9, 24] + - !!python/tuple [25, 23] + - !!python/tuple [13, 24] + - !!python/tuple [8, 28] + - !!python/tuple [10, 30] + - !!python/tuple [25, 20] + - !!python/tuple [23, 9] + - !!python/tuple [5, 30] + - !!python/tuple [16, 27] + - !!python/tuple [20, 31] + - !!python/tuple [4, 30] + - !!python/tuple [27, 31] + - !!python/tuple [25, 16] + - !!python/tuple [18, 25] + - !!python/tuple [20, 23] + - !!python/tuple [19, 11] + - !!python/tuple [12, 20] + - !!python/tuple [26, 24] + - !!python/tuple [20, 30] + - !!python/tuple [30, 27] + - !!python/tuple [7, 18] + - !!python/tuple [19, 13] + - !!python/tuple [9, 30] + - !!python/tuple [28, 7] + - !!python/tuple [31, 9] + - !!python/tuple [27, 28] + - !!python/tuple [20, 7] + - !!python/tuple [6, 20] + - !!python/tuple [23, 15] + - !!python/tuple [12, 25] + - !!python/tuple [1, 18] + - !!python/tuple [28, 0] + - !!python/tuple [12, 31] + - !!python/tuple [19, 6] + - !!python/tuple [20, 26] + - !!python/tuple [0, 9] + - !!python/tuple [28, 30] + - !!python/tuple [13, 19] + - !!python/tuple [17, 26] + - !!python/tuple [6, 0] + - !!python/tuple [30, 6] + - !!python/tuple [6, 16] + - !!python/tuple [30, 2] + - !!python/tuple [10, 4] + - !!python/tuple [10, 26] + - !!python/tuple [0, 26] + - !!python/tuple [16, 21] + - !!python/tuple [1, 30] + - !!python/tuple [15, 2] + - !!python/tuple [19, 18] + - !!python/tuple [18, 20] + - !!python/tuple [25, 6] + - !!python/tuple [19, 4] + - !!python/tuple [4, 12] + - !!python/tuple [16, 31] + - !!python/tuple [22, 30] + - !!python/tuple [17, 31] + - !!python/tuple [15, 18] + - !!python/tuple [1, 27] + - !!python/tuple [7, 19] + - !!python/tuple [9, 19] + - !!python/tuple [29, 18] + - !!python/tuple [2, 4] + - !!python/tuple [5, 24] + - !!python/tuple [0, 28] + - !!python/tuple [2, 19] + - !!python/tuple [25, 8] + - !!python/tuple [21, 0] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex97.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex97.yaml new file mode 100644 index 0000000..aa93526 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex97.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [14, 21] + name: agent0 + start: [18, 17] +- goal: [15, 6] + name: agent1 + start: [20, 3] +- goal: [7, 28] + name: agent2 + start: [2, 31] +- goal: [12, 21] + name: agent3 + start: [25, 13] +- goal: [1, 24] + name: agent4 + start: [14, 1] +- goal: [19, 30] + name: agent5 + start: [14, 6] +- goal: [11, 18] + name: agent6 + start: [8, 9] +- goal: [31, 23] + name: agent7 + start: [1, 21] +- goal: [9, 10] + name: agent8 + start: [13, 1] +- goal: [26, 29] + name: agent9 + start: [14, 31] +- goal: [18, 6] + name: agent10 + start: [21, 26] +- goal: [3, 4] + name: agent11 + start: [13, 3] +- goal: [29, 26] + name: agent12 + start: [3, 25] +- goal: [31, 12] + name: agent13 + start: [6, 9] +- goal: [27, 7] + name: agent14 + start: [4, 27] +- goal: [6, 17] + name: agent15 + start: [28, 2] +- goal: [8, 0] + name: agent16 + start: [10, 4] +- goal: [17, 28] + name: agent17 + start: [19, 17] +- goal: [14, 18] + name: agent18 + start: [5, 10] +- goal: [18, 23] + name: agent19 + start: [31, 9] +- goal: [17, 5] + name: agent20 + start: [10, 22] +- goal: [21, 25] + name: agent21 + start: [13, 30] +- goal: [4, 29] + name: agent22 + start: [29, 19] +- goal: [22, 15] + name: agent23 + start: [21, 19] +- goal: [0, 9] + name: agent24 + start: [18, 0] +- goal: [24, 22] + name: agent25 + start: [8, 13] +- goal: [25, 10] + name: agent26 + start: [10, 1] +- goal: [28, 25] + name: agent27 + start: [5, 17] +- goal: [0, 0] + name: agent28 + start: [28, 28] +- goal: [26, 16] + name: agent29 + start: [13, 9] +- goal: [12, 5] + name: agent30 + start: [8, 22] +- goal: [12, 17] + name: agent31 + start: [16, 30] +- goal: [3, 23] + name: agent32 + start: [20, 12] +- goal: [11, 30] + name: agent33 + start: [13, 22] +- goal: [8, 27] + name: agent34 + start: [3, 2] +- goal: [13, 5] + name: agent35 + start: [0, 25] +- goal: [1, 4] + name: agent36 + start: [22, 31] +- goal: [31, 18] + name: agent37 + start: [22, 24] +- goal: [11, 19] + name: agent38 + start: [24, 10] +- goal: [23, 17] + name: agent39 + start: [0, 20] +- goal: [2, 8] + name: agent40 + start: [19, 6] +- goal: [9, 20] + name: agent41 + start: [5, 6] +- goal: [14, 19] + name: agent42 + start: [10, 7] +- goal: [23, 12] + name: agent43 + start: [20, 5] +- goal: [15, 10] + name: agent44 + start: [5, 3] +- goal: [11, 13] + name: agent45 + start: [19, 5] +- goal: [23, 22] + name: agent46 + start: [5, 25] +- goal: [25, 25] + name: agent47 + start: [7, 23] +- goal: [13, 7] + name: agent48 + start: [14, 30] +- goal: [10, 23] + name: agent49 + start: [16, 1] +- goal: [22, 14] + name: agent50 + start: [23, 6] +- goal: [13, 0] + name: agent51 + start: [18, 27] +- goal: [11, 9] + name: agent52 + start: [24, 14] +- goal: [18, 5] + name: agent53 + start: [13, 13] +- goal: [3, 17] + name: agent54 + start: [26, 18] +- goal: [11, 10] + name: agent55 + start: [20, 7] +- goal: [26, 22] + name: agent56 + start: [11, 18] +- goal: [10, 13] + name: agent57 + start: [8, 30] +- goal: [1, 16] + name: agent58 + start: [29, 1] +- goal: [13, 11] + name: agent59 + start: [5, 29] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [30, 27] + - !!python/tuple [18, 29] + - !!python/tuple [3, 26] + - !!python/tuple [17, 20] + - !!python/tuple [22, 25] + - !!python/tuple [30, 6] + - !!python/tuple [29, 13] + - !!python/tuple [0, 19] + - !!python/tuple [28, 4] + - !!python/tuple [3, 19] + - !!python/tuple [22, 20] + - !!python/tuple [28, 0] + - !!python/tuple [14, 3] + - !!python/tuple [30, 14] + - !!python/tuple [13, 2] + - !!python/tuple [11, 12] + - !!python/tuple [14, 11] + - !!python/tuple [16, 17] + - !!python/tuple [2, 16] + - !!python/tuple [31, 31] + - !!python/tuple [31, 8] + - !!python/tuple [10, 30] + - !!python/tuple [17, 11] + - !!python/tuple [25, 7] + - !!python/tuple [24, 23] + - !!python/tuple [5, 23] + - !!python/tuple [30, 28] + - !!python/tuple [14, 8] + - !!python/tuple [24, 13] + - !!python/tuple [12, 26] + - !!python/tuple [18, 1] + - !!python/tuple [29, 11] + - !!python/tuple [20, 21] + - !!python/tuple [31, 15] + - !!python/tuple [28, 15] + - !!python/tuple [28, 10] + - !!python/tuple [19, 28] + - !!python/tuple [5, 2] + - !!python/tuple [15, 15] + - !!python/tuple [15, 8] + - !!python/tuple [18, 12] + - !!python/tuple [4, 15] + - !!python/tuple [11, 25] + - !!python/tuple [23, 26] + - !!python/tuple [28, 18] + - !!python/tuple [4, 10] + - !!python/tuple [27, 0] + - !!python/tuple [31, 16] + - !!python/tuple [22, 22] + - !!python/tuple [20, 1] + - !!python/tuple [5, 9] + - !!python/tuple [27, 17] + - !!python/tuple [18, 21] + - !!python/tuple [24, 21] + - !!python/tuple [4, 8] + - !!python/tuple [20, 17] + - !!python/tuple [23, 9] + - !!python/tuple [9, 30] + - !!python/tuple [1, 19] + - !!python/tuple [8, 5] + - !!python/tuple [15, 22] + - !!python/tuple [14, 2] + - !!python/tuple [22, 1] + - !!python/tuple [27, 29] + - !!python/tuple [0, 8] + - !!python/tuple [9, 31] + - !!python/tuple [29, 28] + - !!python/tuple [7, 6] + - !!python/tuple [21, 12] + - !!python/tuple [10, 27] + - !!python/tuple [15, 23] + - !!python/tuple [21, 18] + - !!python/tuple [13, 26] + - !!python/tuple [23, 11] + - !!python/tuple [18, 30] + - !!python/tuple [0, 12] + - !!python/tuple [27, 24] + - !!python/tuple [0, 4] + - !!python/tuple [2, 0] + - !!python/tuple [29, 12] + - !!python/tuple [10, 21] + - !!python/tuple [31, 5] + - !!python/tuple [27, 9] + - !!python/tuple [4, 7] + - !!python/tuple [29, 9] + - !!python/tuple [5, 5] + - !!python/tuple [1, 15] + - !!python/tuple [18, 20] + - !!python/tuple [4, 25] + - !!python/tuple [9, 2] + - !!python/tuple [9, 14] + - !!python/tuple [30, 16] + - !!python/tuple [16, 16] + - !!python/tuple [21, 14] + - !!python/tuple [20, 27] + - !!python/tuple [21, 24] + - !!python/tuple [13, 17] + - !!python/tuple [3, 21] + - !!python/tuple [10, 6] + - !!python/tuple [18, 22] + - !!python/tuple [13, 12] + - !!python/tuple [4, 30] + - !!python/tuple [6, 5] + - !!python/tuple [18, 15] + - !!python/tuple [19, 12] + - !!python/tuple [17, 16] + - !!python/tuple [12, 24] + - !!python/tuple [30, 1] + - !!python/tuple [3, 0] + - !!python/tuple [29, 15] + - !!python/tuple [14, 4] + - !!python/tuple [10, 2] + - !!python/tuple [30, 29] + - !!python/tuple [31, 21] + - !!python/tuple [4, 26] + - !!python/tuple [15, 18] + - !!python/tuple [19, 10] + - !!python/tuple [17, 19] + - !!python/tuple [14, 25] + - !!python/tuple [16, 19] + - !!python/tuple [9, 0] + - !!python/tuple [15, 9] + - !!python/tuple [3, 22] + - !!python/tuple [23, 0] + - !!python/tuple [12, 19] + - !!python/tuple [27, 22] + - !!python/tuple [25, 22] + - !!python/tuple [4, 21] + - !!python/tuple [10, 18] + - !!python/tuple [11, 28] + - !!python/tuple [25, 0] + - !!python/tuple [2, 12] + - !!python/tuple [28, 31] + - !!python/tuple [4, 2] + - !!python/tuple [30, 21] + - !!python/tuple [1, 17] + - !!python/tuple [30, 25] + - !!python/tuple [19, 16] + - !!python/tuple [26, 1] + - !!python/tuple [18, 19] + - !!python/tuple [17, 7] + - !!python/tuple [2, 4] + - !!python/tuple [2, 7] + - !!python/tuple [7, 7] + - !!python/tuple [15, 29] + - !!python/tuple [23, 27] + - !!python/tuple [26, 15] + - !!python/tuple [24, 20] + - !!python/tuple [12, 7] + - !!python/tuple [23, 23] + - !!python/tuple [14, 10] + - !!python/tuple [12, 31] + - !!python/tuple [1, 18] + - !!python/tuple [8, 1] + - !!python/tuple [24, 8] + - !!python/tuple [17, 3] + - !!python/tuple [15, 19] + - !!python/tuple [1, 28] + - !!python/tuple [27, 28] + - !!python/tuple [17, 8] + - !!python/tuple [18, 24] + - !!python/tuple [14, 5] + - !!python/tuple [18, 31] + - !!python/tuple [2, 6] + - !!python/tuple [7, 15] + - !!python/tuple [3, 18] + - !!python/tuple [0, 23] + - !!python/tuple [10, 10] + - !!python/tuple [1, 8] + - !!python/tuple [27, 21] + - !!python/tuple [8, 2] + - !!python/tuple [5, 12] + - !!python/tuple [0, 31] + - !!python/tuple [22, 26] + - !!python/tuple [9, 22] + - !!python/tuple [30, 10] + - !!python/tuple [28, 9] + - !!python/tuple [23, 29] + - !!python/tuple [7, 4] + - !!python/tuple [11, 21] + - !!python/tuple [2, 10] + - !!python/tuple [9, 28] + - !!python/tuple [30, 20] + - !!python/tuple [18, 11] + - !!python/tuple [16, 22] + - !!python/tuple [14, 17] + - !!python/tuple [26, 7] + - !!python/tuple [29, 18] + - !!python/tuple [13, 10] + - !!python/tuple [2, 11] + - !!python/tuple [29, 10] + - !!python/tuple [8, 20] + - !!python/tuple [5, 13] + - !!python/tuple [31, 13] + - !!python/tuple [29, 5] + - !!python/tuple [22, 23] + - !!python/tuple [30, 23] + - !!python/tuple [14, 20] + - !!python/tuple [18, 2] + - !!python/tuple [29, 20] + - !!python/tuple [15, 5] + - !!python/tuple [6, 3] + - !!python/tuple [8, 31] + - !!python/tuple [26, 5] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex98.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex98.yaml new file mode 100644 index 0000000..518e8da --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex98.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [5, 1] + name: agent0 + start: [13, 11] +- goal: [1, 7] + name: agent1 + start: [0, 19] +- goal: [27, 10] + name: agent2 + start: [18, 5] +- goal: [15, 8] + name: agent3 + start: [2, 12] +- goal: [14, 8] + name: agent4 + start: [17, 31] +- goal: [16, 28] + name: agent5 + start: [22, 8] +- goal: [9, 27] + name: agent6 + start: [27, 14] +- goal: [28, 17] + name: agent7 + start: [15, 9] +- goal: [21, 10] + name: agent8 + start: [12, 13] +- goal: [23, 21] + name: agent9 + start: [8, 28] +- goal: [29, 4] + name: agent10 + start: [17, 6] +- goal: [15, 0] + name: agent11 + start: [27, 31] +- goal: [19, 7] + name: agent12 + start: [8, 19] +- goal: [29, 10] + name: agent13 + start: [24, 16] +- goal: [19, 19] + name: agent14 + start: [3, 9] +- goal: [16, 12] + name: agent15 + start: [1, 31] +- goal: [31, 21] + name: agent16 + start: [8, 17] +- goal: [4, 12] + name: agent17 + start: [22, 28] +- goal: [9, 20] + name: agent18 + start: [9, 31] +- goal: [4, 13] + name: agent19 + start: [7, 15] +- goal: [2, 2] + name: agent20 + start: [16, 20] +- goal: [20, 9] + name: agent21 + start: [8, 20] +- goal: [13, 10] + name: agent22 + start: [11, 0] +- goal: [5, 27] + name: agent23 + start: [5, 8] +- goal: [26, 16] + name: agent24 + start: [14, 8] +- goal: [2, 14] + name: agent25 + start: [20, 25] +- goal: [3, 11] + name: agent26 + start: [20, 13] +- goal: [12, 6] + name: agent27 + start: [24, 13] +- goal: [10, 22] + name: agent28 + start: [16, 13] +- goal: [26, 5] + name: agent29 + start: [26, 31] +- goal: [13, 16] + name: agent30 + start: [23, 18] +- goal: [24, 15] + name: agent31 + start: [17, 16] +- goal: [23, 2] + name: agent32 + start: [3, 30] +- goal: [21, 22] + name: agent33 + start: [24, 17] +- goal: [20, 5] + name: agent34 + start: [14, 3] +- goal: [11, 22] + name: agent35 + start: [16, 21] +- goal: [14, 30] + name: agent36 + start: [23, 14] +- goal: [25, 15] + name: agent37 + start: [13, 28] +- goal: [22, 25] + name: agent38 + start: [15, 26] +- goal: [27, 14] + name: agent39 + start: [5, 12] +- goal: [9, 5] + name: agent40 + start: [18, 28] +- goal: [7, 23] + name: agent41 + start: [5, 24] +- goal: [1, 8] + name: agent42 + start: [7, 3] +- goal: [10, 5] + name: agent43 + start: [28, 16] +- goal: [21, 6] + name: agent44 + start: [10, 30] +- goal: [8, 13] + name: agent45 + start: [25, 18] +- goal: [25, 1] + name: agent46 + start: [16, 7] +- goal: [28, 3] + name: agent47 + start: [11, 7] +- goal: [20, 8] + name: agent48 + start: [11, 24] +- goal: [10, 7] + name: agent49 + start: [21, 26] +- goal: [8, 0] + name: agent50 + start: [15, 28] +- goal: [7, 13] + name: agent51 + start: [18, 8] +- goal: [18, 16] + name: agent52 + start: [23, 19] +- goal: [13, 31] + name: agent53 + start: [22, 23] +- goal: [20, 29] + name: agent54 + start: [22, 18] +- goal: [15, 27] + name: agent55 + start: [24, 3] +- goal: [21, 0] + name: agent56 + start: [17, 8] +- goal: [16, 8] + name: agent57 + start: [27, 17] +- goal: [25, 8] + name: agent58 + start: [12, 18] +- goal: [25, 9] + name: agent59 + start: [17, 22] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [2, 18] + - !!python/tuple [24, 30] + - !!python/tuple [25, 14] + - !!python/tuple [14, 12] + - !!python/tuple [7, 5] + - !!python/tuple [19, 21] + - !!python/tuple [12, 12] + - !!python/tuple [11, 5] + - !!python/tuple [11, 25] + - !!python/tuple [3, 21] + - !!python/tuple [20, 7] + - !!python/tuple [25, 23] + - !!python/tuple [18, 21] + - !!python/tuple [2, 17] + - !!python/tuple [12, 19] + - !!python/tuple [29, 22] + - !!python/tuple [29, 0] + - !!python/tuple [6, 31] + - !!python/tuple [15, 18] + - !!python/tuple [26, 12] + - !!python/tuple [1, 15] + - !!python/tuple [26, 3] + - !!python/tuple [23, 30] + - !!python/tuple [3, 10] + - !!python/tuple [31, 7] + - !!python/tuple [8, 12] + - !!python/tuple [28, 23] + - !!python/tuple [13, 23] + - !!python/tuple [4, 16] + - !!python/tuple [18, 30] + - !!python/tuple [10, 19] + - !!python/tuple [6, 12] + - !!python/tuple [30, 30] + - !!python/tuple [13, 0] + - !!python/tuple [3, 2] + - !!python/tuple [27, 7] + - !!python/tuple [21, 5] + - !!python/tuple [18, 2] + - !!python/tuple [17, 4] + - !!python/tuple [19, 11] + - !!python/tuple [20, 2] + - !!python/tuple [4, 29] + - !!python/tuple [1, 13] + - !!python/tuple [7, 2] + - !!python/tuple [8, 26] + - !!python/tuple [18, 4] + - !!python/tuple [23, 7] + - !!python/tuple [14, 10] + - !!python/tuple [6, 25] + - !!python/tuple [12, 31] + - !!python/tuple [8, 3] + - !!python/tuple [21, 16] + - !!python/tuple [14, 26] + - !!python/tuple [26, 20] + - !!python/tuple [5, 21] + - !!python/tuple [4, 25] + - !!python/tuple [30, 6] + - !!python/tuple [24, 29] + - !!python/tuple [7, 26] + - !!python/tuple [28, 6] + - !!python/tuple [29, 11] + - !!python/tuple [14, 14] + - !!python/tuple [8, 11] + - !!python/tuple [30, 17] + - !!python/tuple [7, 14] + - !!python/tuple [27, 19] + - !!python/tuple [31, 5] + - !!python/tuple [13, 2] + - !!python/tuple [22, 5] + - !!python/tuple [4, 31] + - !!python/tuple [31, 23] + - !!python/tuple [17, 12] + - !!python/tuple [21, 25] + - !!python/tuple [6, 14] + - !!python/tuple [22, 20] + - !!python/tuple [23, 5] + - !!python/tuple [1, 0] + - !!python/tuple [16, 3] + - !!python/tuple [4, 17] + - !!python/tuple [21, 27] + - !!python/tuple [28, 5] + - !!python/tuple [4, 0] + - !!python/tuple [25, 17] + - !!python/tuple [3, 24] + - !!python/tuple [17, 25] + - !!python/tuple [16, 4] + - !!python/tuple [23, 29] + - !!python/tuple [10, 25] + - !!python/tuple [7, 1] + - !!python/tuple [30, 4] + - !!python/tuple [15, 30] + - !!python/tuple [6, 0] + - !!python/tuple [11, 3] + - !!python/tuple [17, 17] + - !!python/tuple [29, 26] + - !!python/tuple [15, 5] + - !!python/tuple [7, 11] + - !!python/tuple [23, 6] + - !!python/tuple [6, 10] + - !!python/tuple [10, 2] + - !!python/tuple [19, 20] + - !!python/tuple [10, 21] + - !!python/tuple [23, 12] + - !!python/tuple [29, 7] + - !!python/tuple [30, 8] + - !!python/tuple [26, 2] + - !!python/tuple [9, 15] + - !!python/tuple [8, 10] + - !!python/tuple [15, 12] + - !!python/tuple [27, 9] + - !!python/tuple [2, 26] + - !!python/tuple [28, 7] + - !!python/tuple [1, 24] + - !!python/tuple [8, 25] + - !!python/tuple [17, 1] + - !!python/tuple [17, 21] + - !!python/tuple [0, 12] + - !!python/tuple [6, 9] + - !!python/tuple [7, 20] + - !!python/tuple [14, 27] + - !!python/tuple [10, 6] + - !!python/tuple [31, 14] + - !!python/tuple [28, 19] + - !!python/tuple [3, 29] + - !!python/tuple [16, 6] + - !!python/tuple [30, 11] + - !!python/tuple [11, 4] + - !!python/tuple [16, 11] + - !!python/tuple [31, 2] + - !!python/tuple [0, 17] + - !!python/tuple [28, 14] + - !!python/tuple [26, 29] + - !!python/tuple [13, 24] + - !!python/tuple [25, 22] + - !!python/tuple [9, 6] + - !!python/tuple [27, 27] + - !!python/tuple [7, 22] + - !!python/tuple [2, 9] + - !!python/tuple [5, 18] + - !!python/tuple [3, 15] + - !!python/tuple [15, 29] + - !!python/tuple [30, 15] + - !!python/tuple [5, 15] + - !!python/tuple [12, 23] + - !!python/tuple [24, 24] + - !!python/tuple [19, 3] + - !!python/tuple [7, 6] + - !!python/tuple [14, 18] + - !!python/tuple [20, 28] + - !!python/tuple [0, 30] + - !!python/tuple [28, 12] + - !!python/tuple [30, 0] + - !!python/tuple [30, 24] + - !!python/tuple [0, 22] + - !!python/tuple [16, 0] + - !!python/tuple [9, 7] + - !!python/tuple [3, 22] + - !!python/tuple [22, 16] + - !!python/tuple [12, 0] + - !!python/tuple [8, 5] + - !!python/tuple [1, 10] + - !!python/tuple [2, 6] + - !!python/tuple [4, 4] + - !!python/tuple [12, 27] + - !!python/tuple [0, 31] + - !!python/tuple [14, 17] + - !!python/tuple [24, 28] + - !!python/tuple [3, 6] + - !!python/tuple [26, 17] + - !!python/tuple [2, 8] + - !!python/tuple [0, 14] + - !!python/tuple [4, 15] + - !!python/tuple [18, 0] + - !!python/tuple [9, 30] + - !!python/tuple [1, 14] + - !!python/tuple [10, 14] + - !!python/tuple [11, 10] + - !!python/tuple [15, 31] + - !!python/tuple [31, 22] + - !!python/tuple [17, 0] + - !!python/tuple [6, 2] + - !!python/tuple [19, 8] + - !!python/tuple [11, 2] + - !!python/tuple [17, 20] + - !!python/tuple [24, 0] + - !!python/tuple [1, 23] + - !!python/tuple [15, 3] + - !!python/tuple [3, 17] + - !!python/tuple [13, 6] + - !!python/tuple [6, 28] + - !!python/tuple [0, 16] + - !!python/tuple [0, 8] + - !!python/tuple [25, 6] + - !!python/tuple [6, 6] + - !!python/tuple [2, 29] + - !!python/tuple [0, 27] + - !!python/tuple [11, 14] + - !!python/tuple [16, 10] + - !!python/tuple [31, 25] + - !!python/tuple [26, 28] + - !!python/tuple [24, 11] + - !!python/tuple [12, 7] + - !!python/tuple [28, 8] + - !!python/tuple [17, 19] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex99.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex99.yaml new file mode 100644 index 0000000..580de45 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents60_ex99.yaml @@ -0,0 +1,388 @@ +agents: +- goal: [9, 25] + name: agent0 + start: [27, 23] +- goal: [25, 8] + name: agent1 + start: [5, 16] +- goal: [25, 28] + name: agent2 + start: [13, 15] +- goal: [14, 22] + name: agent3 + start: [26, 19] +- goal: [8, 23] + name: agent4 + start: [7, 29] +- goal: [16, 15] + name: agent5 + start: [19, 29] +- goal: [24, 26] + name: agent6 + start: [20, 4] +- goal: [19, 0] + name: agent7 + start: [28, 15] +- goal: [8, 8] + name: agent8 + start: [14, 14] +- goal: [24, 31] + name: agent9 + start: [21, 26] +- goal: [18, 13] + name: agent10 + start: [7, 12] +- goal: [17, 18] + name: agent11 + start: [13, 8] +- goal: [29, 15] + name: agent12 + start: [21, 9] +- goal: [1, 24] + name: agent13 + start: [1, 6] +- goal: [2, 3] + name: agent14 + start: [8, 26] +- goal: [7, 23] + name: agent15 + start: [20, 19] +- goal: [28, 5] + name: agent16 + start: [4, 15] +- goal: [7, 29] + name: agent17 + start: [17, 29] +- goal: [21, 28] + name: agent18 + start: [5, 6] +- goal: [16, 18] + name: agent19 + start: [19, 31] +- goal: [20, 19] + name: agent20 + start: [7, 1] +- goal: [25, 14] + name: agent21 + start: [3, 19] +- goal: [21, 2] + name: agent22 + start: [3, 23] +- goal: [14, 20] + name: agent23 + start: [26, 10] +- goal: [11, 30] + name: agent24 + start: [14, 24] +- goal: [25, 29] + name: agent25 + start: [25, 3] +- goal: [7, 30] + name: agent26 + start: [6, 17] +- goal: [17, 11] + name: agent27 + start: [0, 29] +- goal: [9, 3] + name: agent28 + start: [2, 16] +- goal: [25, 6] + name: agent29 + start: [18, 25] +- goal: [5, 29] + name: agent30 + start: [27, 10] +- goal: [14, 12] + name: agent31 + start: [18, 2] +- goal: [19, 23] + name: agent32 + start: [16, 10] +- goal: [20, 11] + name: agent33 + start: [4, 0] +- goal: [29, 22] + name: agent34 + start: [7, 3] +- goal: [28, 12] + name: agent35 + start: [7, 5] +- goal: [16, 7] + name: agent36 + start: [30, 31] +- goal: [13, 7] + name: agent37 + start: [16, 16] +- goal: [11, 11] + name: agent38 + start: [13, 22] +- goal: [13, 11] + name: agent39 + start: [8, 14] +- goal: [20, 20] + name: agent40 + start: [12, 15] +- goal: [26, 6] + name: agent41 + start: [16, 31] +- goal: [11, 8] + name: agent42 + start: [30, 6] +- goal: [11, 20] + name: agent43 + start: [3, 25] +- goal: [30, 12] + name: agent44 + start: [18, 17] +- goal: [16, 19] + name: agent45 + start: [9, 15] +- goal: [16, 4] + name: agent46 + start: [2, 25] +- goal: [12, 31] + name: agent47 + start: [25, 15] +- goal: [11, 25] + name: agent48 + start: [16, 17] +- goal: [10, 20] + name: agent49 + start: [20, 28] +- goal: [9, 17] + name: agent50 + start: [23, 26] +- goal: [11, 21] + name: agent51 + start: [28, 22] +- goal: [27, 16] + name: agent52 + start: [7, 25] +- goal: [18, 6] + name: agent53 + start: [30, 13] +- goal: [21, 23] + name: agent54 + start: [2, 1] +- goal: [0, 5] + name: agent55 + start: [12, 31] +- goal: [21, 8] + name: agent56 + start: [21, 0] +- goal: [16, 24] + name: agent57 + start: [2, 15] +- goal: [25, 12] + name: agent58 + start: [14, 12] +- goal: [20, 25] + name: agent59 + start: [31, 12] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [14, 11] + - !!python/tuple [20, 6] + - !!python/tuple [12, 13] + - !!python/tuple [13, 30] + - !!python/tuple [9, 16] + - !!python/tuple [9, 31] + - !!python/tuple [29, 30] + - !!python/tuple [13, 31] + - !!python/tuple [8, 6] + - !!python/tuple [25, 16] + - !!python/tuple [17, 31] + - !!python/tuple [28, 26] + - !!python/tuple [6, 15] + - !!python/tuple [18, 1] + - !!python/tuple [21, 16] + - !!python/tuple [26, 4] + - !!python/tuple [2, 24] + - !!python/tuple [31, 2] + - !!python/tuple [30, 9] + - !!python/tuple [6, 6] + - !!python/tuple [2, 18] + - !!python/tuple [8, 1] + - !!python/tuple [10, 9] + - !!python/tuple [20, 0] + - !!python/tuple [30, 8] + - !!python/tuple [3, 10] + - !!python/tuple [1, 13] + - !!python/tuple [29, 17] + - !!python/tuple [27, 14] + - !!python/tuple [18, 11] + - !!python/tuple [19, 3] + - !!python/tuple [19, 5] + - !!python/tuple [31, 9] + - !!python/tuple [26, 26] + - !!python/tuple [20, 27] + - !!python/tuple [17, 5] + - !!python/tuple [5, 10] + - !!python/tuple [26, 17] + - !!python/tuple [16, 11] + - !!python/tuple [0, 21] + - !!python/tuple [15, 1] + - !!python/tuple [5, 9] + - !!python/tuple [30, 28] + - !!python/tuple [27, 19] + - !!python/tuple [0, 19] + - !!python/tuple [22, 5] + - !!python/tuple [0, 14] + - !!python/tuple [25, 5] + - !!python/tuple [10, 7] + - !!python/tuple [23, 29] + - !!python/tuple [10, 6] + - !!python/tuple [20, 26] + - !!python/tuple [16, 26] + - !!python/tuple [9, 12] + - !!python/tuple [15, 11] + - !!python/tuple [4, 14] + - !!python/tuple [5, 2] + - !!python/tuple [22, 22] + - !!python/tuple [9, 11] + - !!python/tuple [17, 16] + - !!python/tuple [5, 7] + - !!python/tuple [18, 24] + - !!python/tuple [30, 22] + - !!python/tuple [31, 10] + - !!python/tuple [9, 4] + - !!python/tuple [31, 23] + - !!python/tuple [29, 20] + - !!python/tuple [0, 28] + - !!python/tuple [24, 29] + - !!python/tuple [18, 23] + - !!python/tuple [1, 3] + - !!python/tuple [15, 22] + - !!python/tuple [13, 12] + - !!python/tuple [7, 28] + - !!python/tuple [2, 4] + - !!python/tuple [22, 2] + - !!python/tuple [6, 22] + - !!python/tuple [13, 19] + - !!python/tuple [4, 26] + - !!python/tuple [9, 14] + - !!python/tuple [13, 5] + - !!python/tuple [1, 0] + - !!python/tuple [23, 13] + - !!python/tuple [31, 21] + - !!python/tuple [1, 31] + - !!python/tuple [10, 11] + - !!python/tuple [12, 30] + - !!python/tuple [23, 5] + - !!python/tuple [26, 14] + - !!python/tuple [17, 26] + - !!python/tuple [12, 20] + - !!python/tuple [3, 8] + - !!python/tuple [14, 8] + - !!python/tuple [16, 1] + - !!python/tuple [6, 1] + - !!python/tuple [17, 19] + - !!python/tuple [10, 17] + - !!python/tuple [7, 19] + - !!python/tuple [4, 13] + - !!python/tuple [21, 17] + - !!python/tuple [19, 12] + - !!python/tuple [3, 12] + - !!python/tuple [27, 28] + - !!python/tuple [23, 14] + - !!python/tuple [14, 10] + - !!python/tuple [28, 23] + - !!python/tuple [11, 10] + - !!python/tuple [10, 23] + - !!python/tuple [30, 23] + - !!python/tuple [19, 15] + - !!python/tuple [21, 30] + - !!python/tuple [23, 4] + - !!python/tuple [2, 8] + - !!python/tuple [12, 2] + - !!python/tuple [24, 11] + - !!python/tuple [29, 11] + - !!python/tuple [11, 22] + - !!python/tuple [31, 3] + - !!python/tuple [9, 29] + - !!python/tuple [15, 8] + - !!python/tuple [19, 2] + - !!python/tuple [30, 30] + - !!python/tuple [5, 22] + - !!python/tuple [3, 0] + - !!python/tuple [27, 1] + - !!python/tuple [7, 8] + - !!python/tuple [19, 13] + - !!python/tuple [10, 27] + - !!python/tuple [20, 15] + - !!python/tuple [25, 31] + - !!python/tuple [5, 26] + - !!python/tuple [9, 21] + - !!python/tuple [23, 22] + - !!python/tuple [28, 1] + - !!python/tuple [6, 27] + - !!python/tuple [22, 14] + - !!python/tuple [24, 24] + - !!python/tuple [20, 10] + - !!python/tuple [22, 10] + - !!python/tuple [27, 9] + - !!python/tuple [31, 30] + - !!python/tuple [15, 16] + - !!python/tuple [13, 6] + - !!python/tuple [23, 2] + - !!python/tuple [29, 29] + - !!python/tuple [4, 18] + - !!python/tuple [8, 27] + - !!python/tuple [11, 1] + - !!python/tuple [2, 9] + - !!python/tuple [26, 25] + - !!python/tuple [13, 21] + - !!python/tuple [17, 22] + - !!python/tuple [6, 4] + - !!python/tuple [31, 6] + - !!python/tuple [27, 27] + - !!python/tuple [15, 2] + - !!python/tuple [23, 12] + - !!python/tuple [28, 30] + - !!python/tuple [11, 7] + - !!python/tuple [11, 9] + - !!python/tuple [23, 27] + - !!python/tuple [22, 24] + - !!python/tuple [11, 5] + - !!python/tuple [18, 29] + - !!python/tuple [19, 14] + - !!python/tuple [8, 25] + - !!python/tuple [20, 18] + - !!python/tuple [17, 24] + - !!python/tuple [5, 12] + - !!python/tuple [18, 3] + - !!python/tuple [16, 12] + - !!python/tuple [4, 27] + - !!python/tuple [1, 7] + - !!python/tuple [11, 12] + - !!python/tuple [29, 28] + - !!python/tuple [9, 22] + - !!python/tuple [24, 18] + - !!python/tuple [3, 16] + - !!python/tuple [24, 27] + - !!python/tuple [15, 25] + - !!python/tuple [26, 30] + - !!python/tuple [13, 28] + - !!python/tuple [27, 4] + - !!python/tuple [15, 5] + - !!python/tuple [8, 11] + - !!python/tuple [0, 0] + - !!python/tuple [8, 21] + - !!python/tuple [16, 0] + - !!python/tuple [1, 12] + - !!python/tuple [12, 4] + - !!python/tuple [19, 30] + - !!python/tuple [17, 13] + - !!python/tuple [30, 26] + - !!python/tuple [15, 6] + - !!python/tuple [18, 30] + - !!python/tuple [23, 6] + - !!python/tuple [31, 27] + - !!python/tuple [9, 8] + - !!python/tuple [0, 15] + - !!python/tuple [5, 31] + - !!python/tuple [3, 20] + - !!python/tuple [22, 9] + - !!python/tuple [23, 1] + - !!python/tuple [24, 23] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex0.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex0.yaml new file mode 100644 index 0000000..7389752 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex0.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [4, 30] + name: agent0 + start: [25, 30] +- goal: [31, 3] + name: agent1 + start: [5, 1] +- goal: [16, 12] + name: agent2 + start: [7, 25] +- goal: [12, 30] + name: agent3 + start: [18, 1] +- goal: [3, 5] + name: agent4 + start: [13, 11] +- goal: [9, 24] + name: agent5 + start: [4, 0] +- goal: [22, 28] + name: agent6 + start: [31, 3] +- goal: [21, 2] + name: agent7 + start: [21, 9] +- goal: [8, 4] + name: agent8 + start: [20, 7] +- goal: [3, 23] + name: agent9 + start: [11, 9] +- goal: [29, 8] + name: agent10 + start: [28, 14] +- goal: [27, 0] + name: agent11 + start: [0, 30] +- goal: [7, 7] + name: agent12 + start: [8, 22] +- goal: [26, 17] + name: agent13 + start: [30, 6] +- goal: [22, 23] + name: agent14 + start: [9, 18] +- goal: [4, 16] + name: agent15 + start: [12, 13] +- goal: [15, 15] + name: agent16 + start: [1, 10] +- goal: [19, 8] + name: agent17 + start: [22, 1] +- goal: [30, 3] + name: agent18 + start: [17, 13] +- goal: [25, 8] + name: agent19 + start: [19, 7] +- goal: [0, 31] + name: agent20 + start: [31, 6] +- goal: [16, 11] + name: agent21 + start: [29, 5] +- goal: [23, 10] + name: agent22 + start: [12, 7] +- goal: [2, 31] + name: agent23 + start: [10, 6] +- goal: [30, 23] + name: agent24 + start: [4, 14] +- goal: [9, 11] + name: agent25 + start: [2, 9] +- goal: [24, 13] + name: agent26 + start: [3, 2] +- goal: [10, 29] + name: agent27 + start: [27, 18] +- goal: [28, 23] + name: agent28 + start: [30, 12] +- goal: [22, 6] + name: agent29 + start: [16, 10] +- goal: [22, 26] + name: agent30 + start: [11, 7] +- goal: [8, 29] + name: agent31 + start: [15, 24] +- goal: [16, 20] + name: agent32 + start: [16, 25] +- goal: [0, 19] + name: agent33 + start: [26, 9] +- goal: [25, 30] + name: agent34 + start: [22, 2] +- goal: [27, 29] + name: agent35 + start: [25, 22] +- goal: [15, 9] + name: agent36 + start: [30, 29] +- goal: [22, 19] + name: agent37 + start: [16, 28] +- goal: [24, 14] + name: agent38 + start: [14, 22] +- goal: [28, 14] + name: agent39 + start: [30, 11] +- goal: [5, 16] + name: agent40 + start: [10, 18] +- goal: [14, 11] + name: agent41 + start: [12, 21] +- goal: [4, 22] + name: agent42 + start: [2, 4] +- goal: [7, 20] + name: agent43 + start: [28, 26] +- goal: [22, 11] + name: agent44 + start: [2, 21] +- goal: [15, 12] + name: agent45 + start: [26, 15] +- goal: [28, 24] + name: agent46 + start: [12, 0] +- goal: [4, 15] + name: agent47 + start: [18, 7] +- goal: [8, 9] + name: agent48 + start: [9, 26] +- goal: [27, 25] + name: agent49 + start: [10, 21] +- goal: [9, 5] + name: agent50 + start: [15, 0] +- goal: [4, 27] + name: agent51 + start: [3, 13] +- goal: [16, 8] + name: agent52 + start: [0, 29] +- goal: [12, 27] + name: agent53 + start: [30, 26] +- goal: [9, 10] + name: agent54 + start: [7, 26] +- goal: [27, 9] + name: agent55 + start: [11, 31] +- goal: [20, 17] + name: agent56 + start: [19, 11] +- goal: [26, 6] + name: agent57 + start: [24, 23] +- goal: [3, 1] + name: agent58 + start: [9, 28] +- goal: [13, 21] + name: agent59 + start: [20, 28] +- goal: [11, 4] + name: agent60 + start: [11, 21] +- goal: [27, 22] + name: agent61 + start: [22, 26] +- goal: [1, 25] + name: agent62 + start: [22, 21] +- goal: [20, 3] + name: agent63 + start: [8, 26] +- goal: [8, 1] + name: agent64 + start: [2, 19] +- goal: [2, 27] + name: agent65 + start: [16, 19] +- goal: [20, 4] + name: agent66 + start: [26, 29] +- goal: [19, 9] + name: agent67 + start: [24, 5] +- goal: [5, 9] + name: agent68 + start: [20, 4] +- goal: [16, 29] + name: agent69 + start: [4, 9] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [12, 18] + - !!python/tuple [19, 30] + - !!python/tuple [0, 28] + - !!python/tuple [23, 1] + - !!python/tuple [21, 26] + - !!python/tuple [8, 23] + - !!python/tuple [23, 14] + - !!python/tuple [19, 24] + - !!python/tuple [24, 30] + - !!python/tuple [0, 25] + - !!python/tuple [3, 3] + - !!python/tuple [23, 23] + - !!python/tuple [20, 19] + - !!python/tuple [3, 16] + - !!python/tuple [23, 3] + - !!python/tuple [25, 28] + - !!python/tuple [8, 3] + - !!python/tuple [19, 4] + - !!python/tuple [7, 22] + - !!python/tuple [13, 27] + - !!python/tuple [19, 29] + - !!python/tuple [14, 15] + - !!python/tuple [15, 30] + - !!python/tuple [9, 30] + - !!python/tuple [21, 20] + - !!python/tuple [15, 4] + - !!python/tuple [27, 17] + - !!python/tuple [12, 31] + - !!python/tuple [18, 22] + - !!python/tuple [26, 16] + - !!python/tuple [24, 19] + - !!python/tuple [26, 26] + - !!python/tuple [6, 12] + - !!python/tuple [6, 26] + - !!python/tuple [31, 21] + - !!python/tuple [9, 17] + - !!python/tuple [17, 23] + - !!python/tuple [8, 19] + - !!python/tuple [31, 20] + - !!python/tuple [14, 28] + - !!python/tuple [24, 0] + - !!python/tuple [31, 5] + - !!python/tuple [3, 15] + - !!python/tuple [20, 11] + - !!python/tuple [2, 7] + - !!python/tuple [18, 3] + - !!python/tuple [27, 6] + - !!python/tuple [14, 29] + - !!python/tuple [23, 28] + - !!python/tuple [2, 26] + - !!python/tuple [10, 3] + - !!python/tuple [26, 0] + - !!python/tuple [28, 17] + - !!python/tuple [19, 1] + - !!python/tuple [18, 0] + - !!python/tuple [2, 5] + - !!python/tuple [6, 0] + - !!python/tuple [6, 20] + - !!python/tuple [18, 13] + - !!python/tuple [15, 16] + - !!python/tuple [26, 8] + - !!python/tuple [24, 28] + - !!python/tuple [10, 30] + - !!python/tuple [3, 19] + - !!python/tuple [13, 18] + - !!python/tuple [22, 7] + - !!python/tuple [28, 2] + - !!python/tuple [22, 9] + - !!python/tuple [2, 8] + - !!python/tuple [12, 25] + - !!python/tuple [4, 19] + - !!python/tuple [25, 10] + - !!python/tuple [17, 11] + - !!python/tuple [6, 3] + - !!python/tuple [17, 16] + - !!python/tuple [14, 5] + - !!python/tuple [3, 30] + - !!python/tuple [28, 25] + - !!python/tuple [3, 7] + - !!python/tuple [1, 27] + - !!python/tuple [14, 31] + - !!python/tuple [16, 7] + - !!python/tuple [20, 27] + - !!python/tuple [5, 27] + - !!python/tuple [30, 27] + - !!python/tuple [25, 1] + - !!python/tuple [21, 10] + - !!python/tuple [14, 10] + - !!python/tuple [10, 31] + - !!python/tuple [11, 11] + - !!python/tuple [5, 7] + - !!python/tuple [0, 12] + - !!python/tuple [14, 7] + - !!python/tuple [21, 21] + - !!python/tuple [13, 23] + - !!python/tuple [26, 20] + - !!python/tuple [28, 8] + - !!python/tuple [1, 11] + - !!python/tuple [19, 31] + - !!python/tuple [4, 2] + - !!python/tuple [4, 8] + - !!python/tuple [17, 27] + - !!python/tuple [8, 10] + - !!python/tuple [29, 16] + - !!python/tuple [10, 24] + - !!python/tuple [16, 30] + - !!python/tuple [20, 21] + - !!python/tuple [30, 24] + - !!python/tuple [27, 13] + - !!python/tuple [28, 27] + - !!python/tuple [1, 7] + - !!python/tuple [11, 17] + - !!python/tuple [0, 20] + - !!python/tuple [5, 22] + - !!python/tuple [13, 17] + - !!python/tuple [23, 12] + - !!python/tuple [7, 1] + - !!python/tuple [26, 31] + - !!python/tuple [15, 20] + - !!python/tuple [25, 18] + - !!python/tuple [15, 29] + - !!python/tuple [29, 0] + - !!python/tuple [10, 26] + - !!python/tuple [31, 8] + - !!python/tuple [30, 31] + - !!python/tuple [23, 9] + - !!python/tuple [28, 20] + - !!python/tuple [11, 15] + - !!python/tuple [7, 0] + - !!python/tuple [10, 22] + - !!python/tuple [17, 28] + - !!python/tuple [22, 14] + - !!python/tuple [21, 16] + - !!python/tuple [22, 12] + - !!python/tuple [12, 17] + - !!python/tuple [12, 24] + - !!python/tuple [4, 5] + - !!python/tuple [6, 28] + - !!python/tuple [11, 16] + - !!python/tuple [2, 25] + - !!python/tuple [12, 28] + - !!python/tuple [28, 31] + - !!python/tuple [16, 14] + - !!python/tuple [14, 30] + - !!python/tuple [16, 2] + - !!python/tuple [3, 26] + - !!python/tuple [3, 18] + - !!python/tuple [16, 13] + - !!python/tuple [11, 12] + - !!python/tuple [20, 12] + - !!python/tuple [21, 3] + - !!python/tuple [24, 17] + - !!python/tuple [2, 11] + - !!python/tuple [18, 2] + - !!python/tuple [20, 18] + - !!python/tuple [6, 29] + - !!python/tuple [21, 7] + - !!python/tuple [26, 7] + - !!python/tuple [17, 22] + - !!python/tuple [13, 1] + - !!python/tuple [20, 14] + - !!python/tuple [2, 6] + - !!python/tuple [21, 31] + - !!python/tuple [17, 10] + - !!python/tuple [12, 9] + - !!python/tuple [26, 27] + - !!python/tuple [29, 20] + - !!python/tuple [5, 19] + - !!python/tuple [3, 6] + - !!python/tuple [2, 1] + - !!python/tuple [23, 5] + - !!python/tuple [6, 4] + - !!python/tuple [9, 7] + - !!python/tuple [17, 26] + - !!python/tuple [0, 0] + - !!python/tuple [31, 16] + - !!python/tuple [14, 27] + - !!python/tuple [30, 17] + - !!python/tuple [11, 14] + - !!python/tuple [16, 0] + - !!python/tuple [19, 3] + - !!python/tuple [9, 16] + - !!python/tuple [18, 10] + - !!python/tuple [3, 11] + - !!python/tuple [15, 21] + - !!python/tuple [14, 12] + - !!python/tuple [19, 12] + - !!python/tuple [21, 5] + - !!python/tuple [20, 25] + - !!python/tuple [16, 22] + - !!python/tuple [4, 25] + - !!python/tuple [12, 12] + - !!python/tuple [21, 23] + - !!python/tuple [31, 4] + - !!python/tuple [25, 20] + - !!python/tuple [3, 24] + - !!python/tuple [24, 26] + - !!python/tuple [17, 21] + - !!python/tuple [14, 1] + - !!python/tuple [8, 27] + - !!python/tuple [5, 11] + - !!python/tuple [1, 29] + - !!python/tuple [11, 20] + - !!python/tuple [23, 7] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex1.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex1.yaml new file mode 100644 index 0000000..79aac5b --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex1.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [0, 18] + name: agent0 + start: [0, 22] +- goal: [2, 0] + name: agent1 + start: [23, 1] +- goal: [27, 29] + name: agent2 + start: [6, 26] +- goal: [16, 4] + name: agent3 + start: [6, 0] +- goal: [15, 14] + name: agent4 + start: [29, 10] +- goal: [21, 6] + name: agent5 + start: [21, 26] +- goal: [0, 26] + name: agent6 + start: [18, 30] +- goal: [28, 21] + name: agent7 + start: [28, 8] +- goal: [4, 15] + name: agent8 + start: [29, 3] +- goal: [20, 20] + name: agent9 + start: [25, 15] +- goal: [4, 12] + name: agent10 + start: [14, 6] +- goal: [25, 16] + name: agent11 + start: [11, 27] +- goal: [15, 10] + name: agent12 + start: [21, 16] +- goal: [17, 26] + name: agent13 + start: [26, 17] +- goal: [20, 24] + name: agent14 + start: [5, 8] +- goal: [1, 10] + name: agent15 + start: [29, 16] +- goal: [22, 0] + name: agent16 + start: [21, 27] +- goal: [8, 26] + name: agent17 + start: [10, 19] +- goal: [13, 14] + name: agent18 + start: [30, 18] +- goal: [7, 4] + name: agent19 + start: [4, 29] +- goal: [27, 8] + name: agent20 + start: [22, 1] +- goal: [24, 7] + name: agent21 + start: [31, 27] +- goal: [31, 21] + name: agent22 + start: [30, 26] +- goal: [9, 17] + name: agent23 + start: [5, 20] +- goal: [31, 4] + name: agent24 + start: [8, 0] +- goal: [31, 3] + name: agent25 + start: [14, 18] +- goal: [11, 6] + name: agent26 + start: [25, 17] +- goal: [30, 10] + name: agent27 + start: [18, 22] +- goal: [20, 31] + name: agent28 + start: [3, 27] +- goal: [30, 8] + name: agent29 + start: [16, 1] +- goal: [27, 24] + name: agent30 + start: [23, 2] +- goal: [8, 1] + name: agent31 + start: [7, 1] +- goal: [20, 0] + name: agent32 + start: [31, 3] +- goal: [29, 10] + name: agent33 + start: [18, 15] +- goal: [2, 29] + name: agent34 + start: [10, 2] +- goal: [6, 0] + name: agent35 + start: [6, 8] +- goal: [7, 9] + name: agent36 + start: [24, 15] +- goal: [26, 2] + name: agent37 + start: [29, 4] +- goal: [31, 8] + name: agent38 + start: [2, 0] +- goal: [28, 0] + name: agent39 + start: [7, 19] +- goal: [20, 30] + name: agent40 + start: [22, 8] +- goal: [19, 9] + name: agent41 + start: [31, 15] +- goal: [6, 4] + name: agent42 + start: [11, 23] +- goal: [12, 10] + name: agent43 + start: [9, 17] +- goal: [21, 2] + name: agent44 + start: [0, 28] +- goal: [28, 14] + name: agent45 + start: [3, 3] +- goal: [26, 14] + name: agent46 + start: [27, 29] +- goal: [22, 12] + name: agent47 + start: [30, 13] +- goal: [29, 25] + name: agent48 + start: [14, 2] +- goal: [18, 18] + name: agent49 + start: [14, 19] +- goal: [23, 27] + name: agent50 + start: [8, 14] +- goal: [31, 26] + name: agent51 + start: [15, 8] +- goal: [5, 13] + name: agent52 + start: [24, 0] +- goal: [7, 14] + name: agent53 + start: [15, 7] +- goal: [5, 0] + name: agent54 + start: [8, 22] +- goal: [18, 13] + name: agent55 + start: [17, 25] +- goal: [12, 12] + name: agent56 + start: [20, 4] +- goal: [26, 20] + name: agent57 + start: [13, 8] +- goal: [2, 3] + name: agent58 + start: [13, 3] +- goal: [19, 14] + name: agent59 + start: [10, 9] +- goal: [30, 28] + name: agent60 + start: [1, 23] +- goal: [2, 4] + name: agent61 + start: [2, 31] +- goal: [16, 28] + name: agent62 + start: [7, 14] +- goal: [0, 22] + name: agent63 + start: [28, 16] +- goal: [21, 29] + name: agent64 + start: [21, 10] +- goal: [0, 24] + name: agent65 + start: [13, 30] +- goal: [12, 0] + name: agent66 + start: [0, 24] +- goal: [28, 13] + name: agent67 + start: [21, 3] +- goal: [9, 28] + name: agent68 + start: [13, 4] +- goal: [8, 29] + name: agent69 + start: [13, 11] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [8, 24] + - !!python/tuple [26, 16] + - !!python/tuple [11, 14] + - !!python/tuple [14, 4] + - !!python/tuple [8, 2] + - !!python/tuple [5, 29] + - !!python/tuple [29, 19] + - !!python/tuple [27, 12] + - !!python/tuple [10, 15] + - !!python/tuple [8, 7] + - !!python/tuple [19, 19] + - !!python/tuple [13, 20] + - !!python/tuple [31, 22] + - !!python/tuple [1, 1] + - !!python/tuple [22, 21] + - !!python/tuple [10, 23] + - !!python/tuple [2, 18] + - !!python/tuple [18, 4] + - !!python/tuple [24, 9] + - !!python/tuple [0, 21] + - !!python/tuple [12, 14] + - !!python/tuple [7, 13] + - !!python/tuple [5, 12] + - !!python/tuple [21, 15] + - !!python/tuple [14, 15] + - !!python/tuple [5, 18] + - !!python/tuple [4, 8] + - !!python/tuple [14, 31] + - !!python/tuple [0, 13] + - !!python/tuple [17, 14] + - !!python/tuple [23, 31] + - !!python/tuple [14, 23] + - !!python/tuple [9, 11] + - !!python/tuple [19, 23] + - !!python/tuple [3, 26] + - !!python/tuple [3, 28] + - !!python/tuple [18, 16] + - !!python/tuple [19, 0] + - !!python/tuple [22, 19] + - !!python/tuple [6, 9] + - !!python/tuple [27, 14] + - !!python/tuple [16, 8] + - !!python/tuple [30, 14] + - !!python/tuple [19, 27] + - !!python/tuple [18, 14] + - !!python/tuple [18, 7] + - !!python/tuple [9, 12] + - !!python/tuple [1, 31] + - !!python/tuple [23, 28] + - !!python/tuple [19, 31] + - !!python/tuple [3, 4] + - !!python/tuple [20, 10] + - !!python/tuple [10, 25] + - !!python/tuple [26, 6] + - !!python/tuple [26, 0] + - !!python/tuple [0, 4] + - !!python/tuple [24, 10] + - !!python/tuple [1, 7] + - !!python/tuple [13, 25] + - !!python/tuple [14, 12] + - !!python/tuple [23, 9] + - !!python/tuple [24, 16] + - !!python/tuple [6, 10] + - !!python/tuple [9, 23] + - !!python/tuple [15, 26] + - !!python/tuple [17, 18] + - !!python/tuple [13, 0] + - !!python/tuple [25, 23] + - !!python/tuple [29, 17] + - !!python/tuple [21, 24] + - !!python/tuple [27, 16] + - !!python/tuple [22, 9] + - !!python/tuple [21, 22] + - !!python/tuple [9, 20] + - !!python/tuple [16, 3] + - !!python/tuple [31, 29] + - !!python/tuple [4, 20] + - !!python/tuple [3, 12] + - !!python/tuple [19, 6] + - !!python/tuple [30, 6] + - !!python/tuple [8, 11] + - !!python/tuple [5, 15] + - !!python/tuple [12, 5] + - !!python/tuple [9, 14] + - !!python/tuple [23, 11] + - !!python/tuple [17, 19] + - !!python/tuple [5, 11] + - !!python/tuple [26, 9] + - !!python/tuple [18, 19] + - !!python/tuple [9, 29] + - !!python/tuple [3, 29] + - !!python/tuple [17, 5] + - !!python/tuple [9, 25] + - !!python/tuple [30, 29] + - !!python/tuple [21, 31] + - !!python/tuple [12, 30] + - !!python/tuple [13, 12] + - !!python/tuple [1, 8] + - !!python/tuple [25, 5] + - !!python/tuple [31, 24] + - !!python/tuple [2, 12] + - !!python/tuple [27, 30] + - !!python/tuple [12, 8] + - !!python/tuple [14, 11] + - !!python/tuple [23, 25] + - !!python/tuple [20, 15] + - !!python/tuple [8, 17] + - !!python/tuple [19, 15] + - !!python/tuple [9, 10] + - !!python/tuple [26, 29] + - !!python/tuple [18, 29] + - !!python/tuple [13, 19] + - !!python/tuple [22, 27] + - !!python/tuple [0, 23] + - !!python/tuple [1, 16] + - !!python/tuple [12, 23] + - !!python/tuple [22, 16] + - !!python/tuple [5, 16] + - !!python/tuple [1, 17] + - !!python/tuple [4, 3] + - !!python/tuple [23, 19] + - !!python/tuple [30, 30] + - !!python/tuple [24, 20] + - !!python/tuple [13, 7] + - !!python/tuple [4, 9] + - !!python/tuple [9, 26] + - !!python/tuple [3, 16] + - !!python/tuple [24, 13] + - !!python/tuple [8, 21] + - !!python/tuple [28, 19] + - !!python/tuple [24, 31] + - !!python/tuple [20, 17] + - !!python/tuple [12, 27] + - !!python/tuple [16, 10] + - !!python/tuple [4, 13] + - !!python/tuple [9, 30] + - !!python/tuple [1, 21] + - !!python/tuple [3, 10] + - !!python/tuple [10, 5] + - !!python/tuple [12, 9] + - !!python/tuple [11, 18] + - !!python/tuple [20, 7] + - !!python/tuple [28, 29] + - !!python/tuple [27, 27] + - !!python/tuple [26, 27] + - !!python/tuple [9, 5] + - !!python/tuple [5, 31] + - !!python/tuple [21, 8] + - !!python/tuple [18, 17] + - !!python/tuple [13, 27] + - !!python/tuple [9, 21] + - !!python/tuple [16, 24] + - !!python/tuple [6, 21] + - !!python/tuple [5, 9] + - !!python/tuple [8, 10] + - !!python/tuple [20, 14] + - !!python/tuple [2, 8] + - !!python/tuple [17, 28] + - !!python/tuple [26, 18] + - !!python/tuple [3, 6] + - !!python/tuple [2, 9] + - !!python/tuple [11, 16] + - !!python/tuple [16, 27] + - !!python/tuple [4, 26] + - !!python/tuple [1, 24] + - !!python/tuple [18, 12] + - !!python/tuple [12, 22] + - !!python/tuple [25, 2] + - !!python/tuple [10, 27] + - !!python/tuple [29, 28] + - !!python/tuple [22, 18] + - !!python/tuple [15, 29] + - !!python/tuple [11, 21] + - !!python/tuple [31, 12] + - !!python/tuple [28, 18] + - !!python/tuple [13, 10] + - !!python/tuple [11, 0] + - !!python/tuple [25, 30] + - !!python/tuple [12, 24] + - !!python/tuple [4, 25] + - !!python/tuple [27, 5] + - !!python/tuple [8, 18] + - !!python/tuple [13, 21] + - !!python/tuple [18, 8] + - !!python/tuple [5, 24] + - !!python/tuple [12, 28] + - !!python/tuple [20, 13] + - !!python/tuple [1, 25] + - !!python/tuple [26, 4] + - !!python/tuple [7, 0] + - !!python/tuple [19, 2] + - !!python/tuple [20, 18] + - !!python/tuple [11, 5] + - !!python/tuple [2, 19] + - !!python/tuple [28, 15] + - !!python/tuple [15, 17] + - !!python/tuple [25, 10] + - !!python/tuple [7, 30] + - !!python/tuple [20, 12] + - !!python/tuple [31, 14] + - !!python/tuple [8, 28] + - !!python/tuple [29, 21] + - !!python/tuple [21, 18] + - !!python/tuple [14, 21] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex10.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex10.yaml new file mode 100644 index 0000000..14f2d37 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex10.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [4, 25] + name: agent0 + start: [10, 21] +- goal: [28, 21] + name: agent1 + start: [2, 9] +- goal: [9, 14] + name: agent2 + start: [15, 31] +- goal: [24, 4] + name: agent3 + start: [0, 19] +- goal: [8, 23] + name: agent4 + start: [18, 17] +- goal: [20, 23] + name: agent5 + start: [9, 18] +- goal: [30, 19] + name: agent6 + start: [8, 25] +- goal: [27, 17] + name: agent7 + start: [1, 6] +- goal: [1, 14] + name: agent8 + start: [15, 24] +- goal: [22, 31] + name: agent9 + start: [30, 19] +- goal: [18, 10] + name: agent10 + start: [31, 23] +- goal: [21, 18] + name: agent11 + start: [4, 21] +- goal: [20, 18] + name: agent12 + start: [4, 29] +- goal: [21, 26] + name: agent13 + start: [31, 20] +- goal: [0, 6] + name: agent14 + start: [0, 22] +- goal: [24, 21] + name: agent15 + start: [8, 14] +- goal: [27, 7] + name: agent16 + start: [10, 3] +- goal: [10, 5] + name: agent17 + start: [12, 0] +- goal: [7, 13] + name: agent18 + start: [12, 2] +- goal: [25, 27] + name: agent19 + start: [3, 27] +- goal: [27, 31] + name: agent20 + start: [24, 22] +- goal: [28, 12] + name: agent21 + start: [23, 0] +- goal: [5, 2] + name: agent22 + start: [28, 11] +- goal: [6, 30] + name: agent23 + start: [15, 18] +- goal: [25, 26] + name: agent24 + start: [16, 21] +- goal: [17, 12] + name: agent25 + start: [26, 21] +- goal: [19, 29] + name: agent26 + start: [3, 31] +- goal: [14, 11] + name: agent27 + start: [15, 27] +- goal: [12, 9] + name: agent28 + start: [2, 1] +- goal: [12, 31] + name: agent29 + start: [4, 2] +- goal: [30, 30] + name: agent30 + start: [16, 27] +- goal: [7, 1] + name: agent31 + start: [18, 20] +- goal: [15, 21] + name: agent32 + start: [0, 7] +- goal: [4, 2] + name: agent33 + start: [25, 29] +- goal: [18, 22] + name: agent34 + start: [27, 7] +- goal: [8, 19] + name: agent35 + start: [2, 3] +- goal: [15, 7] + name: agent36 + start: [22, 13] +- goal: [5, 27] + name: agent37 + start: [10, 20] +- goal: [18, 5] + name: agent38 + start: [20, 16] +- goal: [15, 3] + name: agent39 + start: [27, 22] +- goal: [0, 18] + name: agent40 + start: [30, 20] +- goal: [23, 23] + name: agent41 + start: [26, 20] +- goal: [22, 8] + name: agent42 + start: [3, 7] +- goal: [4, 1] + name: agent43 + start: [1, 4] +- goal: [14, 28] + name: agent44 + start: [6, 5] +- goal: [4, 23] + name: agent45 + start: [20, 29] +- goal: [18, 30] + name: agent46 + start: [5, 21] +- goal: [28, 0] + name: agent47 + start: [18, 25] +- goal: [10, 6] + name: agent48 + start: [22, 30] +- goal: [12, 26] + name: agent49 + start: [0, 21] +- goal: [23, 25] + name: agent50 + start: [17, 11] +- goal: [26, 13] + name: agent51 + start: [16, 12] +- goal: [26, 31] + name: agent52 + start: [25, 0] +- goal: [11, 22] + name: agent53 + start: [23, 27] +- goal: [27, 6] + name: agent54 + start: [15, 22] +- goal: [16, 3] + name: agent55 + start: [21, 20] +- goal: [26, 19] + name: agent56 + start: [7, 8] +- goal: [28, 18] + name: agent57 + start: [14, 9] +- goal: [18, 27] + name: agent58 + start: [0, 12] +- goal: [25, 11] + name: agent59 + start: [3, 20] +- goal: [30, 20] + name: agent60 + start: [27, 10] +- goal: [15, 19] + name: agent61 + start: [22, 4] +- goal: [26, 12] + name: agent62 + start: [17, 15] +- goal: [6, 2] + name: agent63 + start: [14, 22] +- goal: [13, 8] + name: agent64 + start: [19, 17] +- goal: [4, 0] + name: agent65 + start: [17, 29] +- goal: [29, 15] + name: agent66 + start: [8, 16] +- goal: [30, 6] + name: agent67 + start: [5, 10] +- goal: [8, 10] + name: agent68 + start: [24, 15] +- goal: [6, 1] + name: agent69 + start: [28, 4] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [8, 26] + - !!python/tuple [9, 10] + - !!python/tuple [1, 9] + - !!python/tuple [0, 30] + - !!python/tuple [4, 4] + - !!python/tuple [26, 8] + - !!python/tuple [16, 24] + - !!python/tuple [3, 26] + - !!python/tuple [23, 30] + - !!python/tuple [7, 6] + - !!python/tuple [18, 28] + - !!python/tuple [4, 16] + - !!python/tuple [11, 4] + - !!python/tuple [23, 19] + - !!python/tuple [25, 9] + - !!python/tuple [3, 0] + - !!python/tuple [30, 29] + - !!python/tuple [19, 7] + - !!python/tuple [23, 3] + - !!python/tuple [29, 0] + - !!python/tuple [13, 5] + - !!python/tuple [8, 9] + - !!python/tuple [5, 14] + - !!python/tuple [19, 4] + - !!python/tuple [10, 15] + - !!python/tuple [9, 7] + - !!python/tuple [9, 2] + - !!python/tuple [23, 26] + - !!python/tuple [2, 26] + - !!python/tuple [11, 21] + - !!python/tuple [22, 14] + - !!python/tuple [9, 28] + - !!python/tuple [0, 31] + - !!python/tuple [18, 4] + - !!python/tuple [24, 29] + - !!python/tuple [19, 13] + - !!python/tuple [6, 20] + - !!python/tuple [24, 13] + - !!python/tuple [2, 8] + - !!python/tuple [25, 22] + - !!python/tuple [14, 16] + - !!python/tuple [25, 23] + - !!python/tuple [9, 21] + - !!python/tuple [13, 28] + - !!python/tuple [0, 24] + - !!python/tuple [29, 18] + - !!python/tuple [7, 23] + - !!python/tuple [28, 22] + - !!python/tuple [16, 5] + - !!python/tuple [3, 21] + - !!python/tuple [28, 27] + - !!python/tuple [5, 0] + - !!python/tuple [18, 13] + - !!python/tuple [13, 30] + - !!python/tuple [24, 31] + - !!python/tuple [8, 7] + - !!python/tuple [5, 17] + - !!python/tuple [14, 26] + - !!python/tuple [20, 2] + - !!python/tuple [10, 25] + - !!python/tuple [29, 24] + - !!python/tuple [1, 23] + - !!python/tuple [18, 1] + - !!python/tuple [30, 28] + - !!python/tuple [8, 27] + - !!python/tuple [22, 6] + - !!python/tuple [4, 10] + - !!python/tuple [17, 24] + - !!python/tuple [2, 22] + - !!python/tuple [29, 23] + - !!python/tuple [31, 7] + - !!python/tuple [31, 22] + - !!python/tuple [7, 15] + - !!python/tuple [26, 24] + - !!python/tuple [7, 24] + - !!python/tuple [28, 15] + - !!python/tuple [21, 14] + - !!python/tuple [10, 13] + - !!python/tuple [29, 27] + - !!python/tuple [22, 2] + - !!python/tuple [6, 12] + - !!python/tuple [9, 26] + - !!python/tuple [24, 19] + - !!python/tuple [5, 28] + - !!python/tuple [17, 4] + - !!python/tuple [20, 21] + - !!python/tuple [21, 7] + - !!python/tuple [14, 8] + - !!python/tuple [30, 22] + - !!python/tuple [10, 29] + - !!python/tuple [18, 12] + - !!python/tuple [25, 7] + - !!python/tuple [25, 15] + - !!python/tuple [22, 11] + - !!python/tuple [19, 9] + - !!python/tuple [29, 5] + - !!python/tuple [25, 19] + - !!python/tuple [6, 23] + - !!python/tuple [17, 18] + - !!python/tuple [7, 2] + - !!python/tuple [21, 1] + - !!python/tuple [15, 6] + - !!python/tuple [17, 23] + - !!python/tuple [18, 18] + - !!python/tuple [9, 17] + - !!python/tuple [9, 25] + - !!python/tuple [0, 27] + - !!python/tuple [17, 5] + - !!python/tuple [13, 10] + - !!python/tuple [3, 4] + - !!python/tuple [28, 1] + - !!python/tuple [16, 20] + - !!python/tuple [23, 6] + - !!python/tuple [13, 20] + - !!python/tuple [26, 25] + - !!python/tuple [29, 3] + - !!python/tuple [5, 8] + - !!python/tuple [15, 11] + - !!python/tuple [0, 17] + - !!python/tuple [18, 14] + - !!python/tuple [29, 2] + - !!python/tuple [8, 17] + - !!python/tuple [26, 11] + - !!python/tuple [21, 25] + - !!python/tuple [8, 21] + - !!python/tuple [20, 9] + - !!python/tuple [4, 18] + - !!python/tuple [11, 5] + - !!python/tuple [31, 29] + - !!python/tuple [31, 2] + - !!python/tuple [13, 14] + - !!python/tuple [0, 26] + - !!python/tuple [16, 9] + - !!python/tuple [5, 16] + - !!python/tuple [19, 21] + - !!python/tuple [4, 5] + - !!python/tuple [10, 12] + - !!python/tuple [3, 6] + - !!python/tuple [10, 11] + - !!python/tuple [2, 30] + - !!python/tuple [30, 0] + - !!python/tuple [31, 14] + - !!python/tuple [0, 15] + - !!python/tuple [2, 17] + - !!python/tuple [13, 6] + - !!python/tuple [4, 28] + - !!python/tuple [26, 2] + - !!python/tuple [30, 16] + - !!python/tuple [13, 27] + - !!python/tuple [4, 11] + - !!python/tuple [3, 15] + - !!python/tuple [19, 8] + - !!python/tuple [20, 24] + - !!python/tuple [17, 16] + - !!python/tuple [6, 3] + - !!python/tuple [24, 28] + - !!python/tuple [19, 18] + - !!python/tuple [21, 21] + - !!python/tuple [30, 14] + - !!python/tuple [13, 1] + - !!python/tuple [9, 20] + - !!python/tuple [1, 15] + - !!python/tuple [19, 22] + - !!python/tuple [19, 26] + - !!python/tuple [22, 1] + - !!python/tuple [23, 13] + - !!python/tuple [20, 6] + - !!python/tuple [25, 13] + - !!python/tuple [31, 11] + - !!python/tuple [20, 27] + - !!python/tuple [12, 16] + - !!python/tuple [2, 4] + - !!python/tuple [8, 20] + - !!python/tuple [1, 18] + - !!python/tuple [12, 17] + - !!python/tuple [11, 30] + - !!python/tuple [4, 15] + - !!python/tuple [9, 9] + - !!python/tuple [24, 8] + - !!python/tuple [30, 26] + - !!python/tuple [25, 24] + - !!python/tuple [23, 12] + - !!python/tuple [1, 5] + - !!python/tuple [5, 13] + - !!python/tuple [13, 0] + - !!python/tuple [17, 28] + - !!python/tuple [7, 4] + - !!python/tuple [2, 16] + - !!python/tuple [16, 2] + - !!python/tuple [19, 11] + - !!python/tuple [15, 28] + - !!python/tuple [30, 8] + - !!python/tuple [5, 12] + - !!python/tuple [4, 13] + - !!python/tuple [6, 14] + - !!python/tuple [20, 3] + - !!python/tuple [18, 6] + - !!python/tuple [22, 24] + - !!python/tuple [16, 6] + - !!python/tuple [27, 30] + - !!python/tuple [5, 19] + - !!python/tuple [30, 7] + - !!python/tuple [29, 13] + - !!python/tuple [29, 21] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex11.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex11.yaml new file mode 100644 index 0000000..4c6db83 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex11.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [6, 18] + name: agent0 + start: [12, 12] +- goal: [8, 11] + name: agent1 + start: [22, 27] +- goal: [13, 7] + name: agent2 + start: [27, 22] +- goal: [17, 17] + name: agent3 + start: [1, 30] +- goal: [26, 0] + name: agent4 + start: [5, 1] +- goal: [28, 27] + name: agent5 + start: [14, 29] +- goal: [2, 29] + name: agent6 + start: [5, 27] +- goal: [10, 21] + name: agent7 + start: [22, 20] +- goal: [22, 27] + name: agent8 + start: [13, 29] +- goal: [7, 30] + name: agent9 + start: [0, 26] +- goal: [6, 6] + name: agent10 + start: [26, 27] +- goal: [30, 1] + name: agent11 + start: [3, 20] +- goal: [8, 22] + name: agent12 + start: [16, 4] +- goal: [19, 25] + name: agent13 + start: [23, 9] +- goal: [9, 9] + name: agent14 + start: [7, 10] +- goal: [23, 6] + name: agent15 + start: [2, 0] +- goal: [8, 3] + name: agent16 + start: [1, 12] +- goal: [19, 5] + name: agent17 + start: [8, 22] +- goal: [23, 9] + name: agent18 + start: [8, 26] +- goal: [11, 17] + name: agent19 + start: [10, 26] +- goal: [5, 16] + name: agent20 + start: [0, 2] +- goal: [4, 2] + name: agent21 + start: [15, 19] +- goal: [7, 24] + name: agent22 + start: [5, 7] +- goal: [25, 24] + name: agent23 + start: [7, 20] +- goal: [30, 27] + name: agent24 + start: [7, 7] +- goal: [11, 30] + name: agent25 + start: [18, 10] +- goal: [24, 10] + name: agent26 + start: [17, 16] +- goal: [10, 11] + name: agent27 + start: [27, 2] +- goal: [24, 17] + name: agent28 + start: [27, 24] +- goal: [9, 13] + name: agent29 + start: [4, 29] +- goal: [8, 26] + name: agent30 + start: [14, 1] +- goal: [10, 0] + name: agent31 + start: [2, 7] +- goal: [0, 8] + name: agent32 + start: [14, 28] +- goal: [17, 15] + name: agent33 + start: [17, 17] +- goal: [30, 30] + name: agent34 + start: [7, 30] +- goal: [22, 10] + name: agent35 + start: [15, 4] +- goal: [18, 26] + name: agent36 + start: [21, 30] +- goal: [27, 13] + name: agent37 + start: [19, 8] +- goal: [26, 26] + name: agent38 + start: [16, 24] +- goal: [3, 3] + name: agent39 + start: [4, 4] +- goal: [7, 3] + name: agent40 + start: [10, 2] +- goal: [29, 18] + name: agent41 + start: [20, 29] +- goal: [26, 30] + name: agent42 + start: [5, 16] +- goal: [1, 21] + name: agent43 + start: [20, 7] +- goal: [4, 22] + name: agent44 + start: [18, 28] +- goal: [3, 1] + name: agent45 + start: [21, 18] +- goal: [5, 21] + name: agent46 + start: [7, 26] +- goal: [30, 4] + name: agent47 + start: [19, 6] +- goal: [18, 27] + name: agent48 + start: [1, 0] +- goal: [28, 16] + name: agent49 + start: [17, 21] +- goal: [5, 2] + name: agent50 + start: [21, 3] +- goal: [20, 5] + name: agent51 + start: [18, 29] +- goal: [14, 25] + name: agent52 + start: [31, 7] +- goal: [16, 4] + name: agent53 + start: [28, 8] +- goal: [7, 11] + name: agent54 + start: [25, 1] +- goal: [26, 21] + name: agent55 + start: [5, 19] +- goal: [2, 1] + name: agent56 + start: [18, 19] +- goal: [13, 27] + name: agent57 + start: [25, 10] +- goal: [3, 20] + name: agent58 + start: [14, 11] +- goal: [13, 4] + name: agent59 + start: [5, 25] +- goal: [14, 9] + name: agent60 + start: [31, 24] +- goal: [10, 4] + name: agent61 + start: [4, 14] +- goal: [3, 18] + name: agent62 + start: [21, 17] +- goal: [9, 5] + name: agent63 + start: [1, 21] +- goal: [6, 19] + name: agent64 + start: [24, 19] +- goal: [28, 7] + name: agent65 + start: [5, 12] +- goal: [14, 4] + name: agent66 + start: [27, 31] +- goal: [5, 26] + name: agent67 + start: [3, 16] +- goal: [10, 7] + name: agent68 + start: [0, 25] +- goal: [12, 20] + name: agent69 + start: [17, 19] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [16, 28] + - !!python/tuple [15, 25] + - !!python/tuple [14, 13] + - !!python/tuple [22, 11] + - !!python/tuple [17, 10] + - !!python/tuple [7, 27] + - !!python/tuple [8, 0] + - !!python/tuple [12, 26] + - !!python/tuple [20, 14] + - !!python/tuple [30, 8] + - !!python/tuple [11, 15] + - !!python/tuple [27, 26] + - !!python/tuple [5, 20] + - !!python/tuple [24, 21] + - !!python/tuple [29, 13] + - !!python/tuple [29, 11] + - !!python/tuple [23, 22] + - !!python/tuple [26, 10] + - !!python/tuple [29, 1] + - !!python/tuple [11, 10] + - !!python/tuple [21, 2] + - !!python/tuple [6, 13] + - !!python/tuple [18, 8] + - !!python/tuple [31, 18] + - !!python/tuple [11, 9] + - !!python/tuple [25, 17] + - !!python/tuple [14, 6] + - !!python/tuple [13, 26] + - !!python/tuple [5, 4] + - !!python/tuple [22, 14] + - !!python/tuple [31, 20] + - !!python/tuple [15, 31] + - !!python/tuple [18, 11] + - !!python/tuple [26, 24] + - !!python/tuple [11, 7] + - !!python/tuple [1, 14] + - !!python/tuple [12, 4] + - !!python/tuple [2, 18] + - !!python/tuple [24, 2] + - !!python/tuple [15, 26] + - !!python/tuple [15, 13] + - !!python/tuple [0, 17] + - !!python/tuple [23, 1] + - !!python/tuple [30, 22] + - !!python/tuple [4, 31] + - !!python/tuple [20, 3] + - !!python/tuple [17, 1] + - !!python/tuple [8, 28] + - !!python/tuple [1, 19] + - !!python/tuple [29, 20] + - !!python/tuple [17, 27] + - !!python/tuple [6, 10] + - !!python/tuple [21, 25] + - !!python/tuple [24, 14] + - !!python/tuple [23, 15] + - !!python/tuple [23, 14] + - !!python/tuple [24, 11] + - !!python/tuple [19, 13] + - !!python/tuple [3, 9] + - !!python/tuple [4, 26] + - !!python/tuple [10, 22] + - !!python/tuple [30, 29] + - !!python/tuple [19, 1] + - !!python/tuple [20, 6] + - !!python/tuple [12, 23] + - !!python/tuple [3, 10] + - !!python/tuple [11, 5] + - !!python/tuple [13, 11] + - !!python/tuple [25, 14] + - !!python/tuple [28, 5] + - !!python/tuple [17, 31] + - !!python/tuple [25, 19] + - !!python/tuple [31, 4] + - !!python/tuple [8, 10] + - !!python/tuple [9, 19] + - !!python/tuple [22, 26] + - !!python/tuple [16, 20] + - !!python/tuple [30, 6] + - !!python/tuple [7, 15] + - !!python/tuple [7, 28] + - !!python/tuple [4, 18] + - !!python/tuple [28, 6] + - !!python/tuple [18, 0] + - !!python/tuple [16, 25] + - !!python/tuple [17, 26] + - !!python/tuple [3, 2] + - !!python/tuple [26, 15] + - !!python/tuple [4, 7] + - !!python/tuple [11, 28] + - !!python/tuple [27, 27] + - !!python/tuple [27, 17] + - !!python/tuple [6, 29] + - !!python/tuple [14, 22] + - !!python/tuple [24, 7] + - !!python/tuple [16, 7] + - !!python/tuple [14, 12] + - !!python/tuple [23, 2] + - !!python/tuple [11, 29] + - !!python/tuple [4, 8] + - !!python/tuple [11, 4] + - !!python/tuple [30, 23] + - !!python/tuple [5, 11] + - !!python/tuple [21, 19] + - !!python/tuple [8, 25] + - !!python/tuple [2, 15] + - !!python/tuple [15, 8] + - !!python/tuple [14, 2] + - !!python/tuple [23, 11] + - !!python/tuple [7, 23] + - !!python/tuple [10, 6] + - !!python/tuple [21, 6] + - !!python/tuple [10, 5] + - !!python/tuple [31, 11] + - !!python/tuple [22, 17] + - !!python/tuple [26, 11] + - !!python/tuple [24, 18] + - !!python/tuple [9, 20] + - !!python/tuple [11, 23] + - !!python/tuple [9, 14] + - !!python/tuple [26, 28] + - !!python/tuple [4, 11] + - !!python/tuple [8, 19] + - !!python/tuple [24, 27] + - !!python/tuple [6, 23] + - !!python/tuple [3, 13] + - !!python/tuple [23, 28] + - !!python/tuple [31, 1] + - !!python/tuple [0, 4] + - !!python/tuple [22, 13] + - !!python/tuple [10, 31] + - !!python/tuple [30, 20] + - !!python/tuple [28, 25] + - !!python/tuple [31, 25] + - !!python/tuple [3, 14] + - !!python/tuple [28, 29] + - !!python/tuple [11, 26] + - !!python/tuple [15, 28] + - !!python/tuple [21, 21] + - !!python/tuple [13, 10] + - !!python/tuple [29, 23] + - !!python/tuple [25, 0] + - !!python/tuple [25, 4] + - !!python/tuple [8, 23] + - !!python/tuple [21, 24] + - !!python/tuple [8, 6] + - !!python/tuple [15, 24] + - !!python/tuple [2, 27] + - !!python/tuple [26, 7] + - !!python/tuple [15, 23] + - !!python/tuple [28, 14] + - !!python/tuple [21, 5] + - !!python/tuple [14, 5] + - !!python/tuple [6, 30] + - !!python/tuple [18, 3] + - !!python/tuple [18, 21] + - !!python/tuple [14, 20] + - !!python/tuple [28, 11] + - !!python/tuple [29, 15] + - !!python/tuple [1, 24] + - !!python/tuple [18, 15] + - !!python/tuple [10, 12] + - !!python/tuple [16, 16] + - !!python/tuple [12, 25] + - !!python/tuple [29, 6] + - !!python/tuple [13, 16] + - !!python/tuple [1, 1] + - !!python/tuple [8, 16] + - !!python/tuple [22, 4] + - !!python/tuple [15, 2] + - !!python/tuple [5, 22] + - !!python/tuple [2, 17] + - !!python/tuple [30, 16] + - !!python/tuple [20, 17] + - !!python/tuple [28, 17] + - !!python/tuple [31, 9] + - !!python/tuple [22, 2] + - !!python/tuple [18, 5] + - !!python/tuple [9, 18] + - !!python/tuple [6, 5] + - !!python/tuple [7, 12] + - !!python/tuple [30, 31] + - !!python/tuple [19, 26] + - !!python/tuple [5, 24] + - !!python/tuple [16, 31] + - !!python/tuple [10, 13] + - !!python/tuple [23, 23] + - !!python/tuple [26, 29] + - !!python/tuple [13, 8] + - !!python/tuple [25, 13] + - !!python/tuple [5, 18] + - !!python/tuple [31, 23] + - !!python/tuple [5, 0] + - !!python/tuple [11, 16] + - !!python/tuple [20, 28] + - !!python/tuple [0, 14] + - !!python/tuple [6, 25] + - !!python/tuple [31, 16] + - !!python/tuple [0, 9] + - !!python/tuple [18, 20] + - !!python/tuple [22, 31] + - !!python/tuple [28, 18] + - !!python/tuple [27, 14] + - !!python/tuple [31, 13] + - !!python/tuple [17, 13] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex12.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex12.yaml new file mode 100644 index 0000000..dcc500a --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex12.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [2, 3] + name: agent0 + start: [25, 7] +- goal: [9, 31] + name: agent1 + start: [12, 12] +- goal: [17, 3] + name: agent2 + start: [9, 23] +- goal: [31, 6] + name: agent3 + start: [1, 2] +- goal: [3, 5] + name: agent4 + start: [0, 18] +- goal: [16, 20] + name: agent5 + start: [23, 1] +- goal: [19, 4] + name: agent6 + start: [9, 3] +- goal: [9, 25] + name: agent7 + start: [27, 31] +- goal: [4, 11] + name: agent8 + start: [16, 6] +- goal: [24, 23] + name: agent9 + start: [26, 8] +- goal: [30, 28] + name: agent10 + start: [1, 8] +- goal: [19, 15] + name: agent11 + start: [6, 14] +- goal: [9, 10] + name: agent12 + start: [21, 14] +- goal: [15, 21] + name: agent13 + start: [28, 30] +- goal: [18, 10] + name: agent14 + start: [19, 30] +- goal: [9, 15] + name: agent15 + start: [20, 21] +- goal: [8, 15] + name: agent16 + start: [4, 25] +- goal: [23, 29] + name: agent17 + start: [11, 25] +- goal: [18, 17] + name: agent18 + start: [3, 30] +- goal: [15, 2] + name: agent19 + start: [8, 11] +- goal: [9, 14] + name: agent20 + start: [29, 15] +- goal: [1, 24] + name: agent21 + start: [12, 13] +- goal: [23, 14] + name: agent22 + start: [21, 6] +- goal: [8, 13] + name: agent23 + start: [13, 30] +- goal: [30, 18] + name: agent24 + start: [23, 2] +- goal: [11, 2] + name: agent25 + start: [2, 1] +- goal: [9, 27] + name: agent26 + start: [1, 27] +- goal: [8, 10] + name: agent27 + start: [29, 22] +- goal: [17, 13] + name: agent28 + start: [3, 20] +- goal: [26, 29] + name: agent29 + start: [4, 3] +- goal: [31, 29] + name: agent30 + start: [2, 11] +- goal: [12, 11] + name: agent31 + start: [21, 16] +- goal: [2, 30] + name: agent32 + start: [20, 25] +- goal: [12, 31] + name: agent33 + start: [31, 0] +- goal: [23, 13] + name: agent34 + start: [11, 26] +- goal: [28, 8] + name: agent35 + start: [8, 14] +- goal: [16, 10] + name: agent36 + start: [30, 22] +- goal: [5, 30] + name: agent37 + start: [29, 8] +- goal: [2, 1] + name: agent38 + start: [7, 2] +- goal: [20, 23] + name: agent39 + start: [3, 5] +- goal: [12, 16] + name: agent40 + start: [0, 25] +- goal: [4, 9] + name: agent41 + start: [6, 13] +- goal: [26, 15] + name: agent42 + start: [31, 20] +- goal: [28, 24] + name: agent43 + start: [25, 9] +- goal: [16, 15] + name: agent44 + start: [0, 27] +- goal: [16, 11] + name: agent45 + start: [3, 29] +- goal: [27, 31] + name: agent46 + start: [7, 30] +- goal: [26, 2] + name: agent47 + start: [23, 19] +- goal: [20, 31] + name: agent48 + start: [24, 17] +- goal: [15, 13] + name: agent49 + start: [27, 2] +- goal: [23, 31] + name: agent50 + start: [4, 9] +- goal: [20, 1] + name: agent51 + start: [21, 30] +- goal: [2, 9] + name: agent52 + start: [8, 30] +- goal: [2, 7] + name: agent53 + start: [27, 27] +- goal: [13, 25] + name: agent54 + start: [24, 1] +- goal: [25, 12] + name: agent55 + start: [26, 0] +- goal: [27, 3] + name: agent56 + start: [23, 0] +- goal: [23, 23] + name: agent57 + start: [29, 28] +- goal: [25, 7] + name: agent58 + start: [19, 14] +- goal: [4, 27] + name: agent59 + start: [17, 8] +- goal: [14, 4] + name: agent60 + start: [0, 10] +- goal: [4, 10] + name: agent61 + start: [26, 2] +- goal: [24, 5] + name: agent62 + start: [29, 30] +- goal: [27, 13] + name: agent63 + start: [8, 15] +- goal: [3, 31] + name: agent64 + start: [4, 11] +- goal: [22, 6] + name: agent65 + start: [10, 14] +- goal: [8, 7] + name: agent66 + start: [5, 13] +- goal: [7, 11] + name: agent67 + start: [23, 3] +- goal: [25, 18] + name: agent68 + start: [28, 25] +- goal: [24, 26] + name: agent69 + start: [23, 8] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [20, 28] + - !!python/tuple [20, 7] + - !!python/tuple [4, 5] + - !!python/tuple [27, 6] + - !!python/tuple [5, 6] + - !!python/tuple [27, 21] + - !!python/tuple [31, 30] + - !!python/tuple [14, 22] + - !!python/tuple [2, 12] + - !!python/tuple [9, 26] + - !!python/tuple [5, 11] + - !!python/tuple [12, 14] + - !!python/tuple [8, 29] + - !!python/tuple [15, 4] + - !!python/tuple [15, 1] + - !!python/tuple [16, 27] + - !!python/tuple [28, 22] + - !!python/tuple [15, 17] + - !!python/tuple [28, 6] + - !!python/tuple [1, 9] + - !!python/tuple [31, 3] + - !!python/tuple [23, 11] + - !!python/tuple [10, 21] + - !!python/tuple [4, 12] + - !!python/tuple [16, 16] + - !!python/tuple [22, 16] + - !!python/tuple [19, 27] + - !!python/tuple [0, 0] + - !!python/tuple [20, 4] + - !!python/tuple [15, 19] + - !!python/tuple [13, 17] + - !!python/tuple [13, 7] + - !!python/tuple [14, 2] + - !!python/tuple [30, 16] + - !!python/tuple [11, 31] + - !!python/tuple [7, 23] + - !!python/tuple [18, 19] + - !!python/tuple [6, 4] + - !!python/tuple [5, 28] + - !!python/tuple [29, 12] + - !!python/tuple [15, 23] + - !!python/tuple [18, 14] + - !!python/tuple [31, 23] + - !!python/tuple [5, 2] + - !!python/tuple [16, 31] + - !!python/tuple [2, 21] + - !!python/tuple [0, 30] + - !!python/tuple [1, 30] + - !!python/tuple [19, 6] + - !!python/tuple [28, 31] + - !!python/tuple [4, 0] + - !!python/tuple [23, 10] + - !!python/tuple [25, 14] + - !!python/tuple [21, 24] + - !!python/tuple [25, 23] + - !!python/tuple [18, 23] + - !!python/tuple [17, 1] + - !!python/tuple [31, 9] + - !!python/tuple [3, 0] + - !!python/tuple [23, 7] + - !!python/tuple [14, 11] + - !!python/tuple [25, 3] + - !!python/tuple [24, 31] + - !!python/tuple [6, 0] + - !!python/tuple [9, 20] + - !!python/tuple [3, 17] + - !!python/tuple [26, 17] + - !!python/tuple [19, 21] + - !!python/tuple [10, 1] + - !!python/tuple [13, 21] + - !!python/tuple [11, 0] + - !!python/tuple [16, 3] + - !!python/tuple [20, 29] + - !!python/tuple [3, 21] + - !!python/tuple [3, 8] + - !!python/tuple [4, 24] + - !!python/tuple [0, 28] + - !!python/tuple [16, 0] + - !!python/tuple [27, 26] + - !!python/tuple [21, 15] + - !!python/tuple [18, 2] + - !!python/tuple [13, 18] + - !!python/tuple [12, 6] + - !!python/tuple [9, 6] + - !!python/tuple [9, 11] + - !!python/tuple [0, 8] + - !!python/tuple [29, 3] + - !!python/tuple [31, 18] + - !!python/tuple [15, 25] + - !!python/tuple [21, 9] + - !!python/tuple [28, 13] + - !!python/tuple [1, 12] + - !!python/tuple [11, 1] + - !!python/tuple [21, 26] + - !!python/tuple [29, 4] + - !!python/tuple [26, 18] + - !!python/tuple [8, 25] + - !!python/tuple [14, 17] + - !!python/tuple [19, 28] + - !!python/tuple [7, 14] + - !!python/tuple [29, 11] + - !!python/tuple [26, 10] + - !!python/tuple [10, 20] + - !!python/tuple [2, 4] + - !!python/tuple [0, 19] + - !!python/tuple [16, 13] + - !!python/tuple [9, 29] + - !!python/tuple [6, 18] + - !!python/tuple [3, 16] + - !!python/tuple [8, 24] + - !!python/tuple [19, 11] + - !!python/tuple [17, 7] + - !!python/tuple [7, 6] + - !!python/tuple [5, 17] + - !!python/tuple [13, 14] + - !!python/tuple [10, 8] + - !!python/tuple [20, 16] + - !!python/tuple [20, 2] + - !!python/tuple [23, 20] + - !!python/tuple [21, 20] + - !!python/tuple [19, 31] + - !!python/tuple [13, 13] + - !!python/tuple [29, 21] + - !!python/tuple [21, 22] + - !!python/tuple [13, 28] + - !!python/tuple [15, 22] + - !!python/tuple [30, 3] + - !!python/tuple [28, 28] + - !!python/tuple [22, 18] + - !!python/tuple [12, 18] + - !!python/tuple [8, 23] + - !!python/tuple [21, 3] + - !!python/tuple [27, 10] + - !!python/tuple [0, 31] + - !!python/tuple [26, 20] + - !!python/tuple [4, 26] + - !!python/tuple [6, 7] + - !!python/tuple [21, 1] + - !!python/tuple [0, 9] + - !!python/tuple [29, 27] + - !!python/tuple [26, 16] + - !!python/tuple [28, 29] + - !!python/tuple [24, 10] + - !!python/tuple [25, 15] + - !!python/tuple [22, 10] + - !!python/tuple [27, 15] + - !!python/tuple [3, 6] + - !!python/tuple [25, 24] + - !!python/tuple [1, 11] + - !!python/tuple [27, 9] + - !!python/tuple [13, 23] + - !!python/tuple [15, 26] + - !!python/tuple [1, 31] + - !!python/tuple [5, 20] + - !!python/tuple [15, 31] + - !!python/tuple [5, 27] + - !!python/tuple [22, 2] + - !!python/tuple [22, 9] + - !!python/tuple [8, 26] + - !!python/tuple [3, 26] + - !!python/tuple [21, 12] + - !!python/tuple [1, 10] + - !!python/tuple [31, 4] + - !!python/tuple [16, 5] + - !!python/tuple [18, 16] + - !!python/tuple [20, 3] + - !!python/tuple [4, 18] + - !!python/tuple [2, 13] + - !!python/tuple [3, 4] + - !!python/tuple [16, 28] + - !!python/tuple [19, 0] + - !!python/tuple [27, 14] + - !!python/tuple [25, 25] + - !!python/tuple [3, 7] + - !!python/tuple [1, 5] + - !!python/tuple [27, 19] + - !!python/tuple [5, 19] + - !!python/tuple [19, 8] + - !!python/tuple [8, 2] + - !!python/tuple [7, 9] + - !!python/tuple [26, 4] + - !!python/tuple [31, 26] + - !!python/tuple [13, 1] + - !!python/tuple [6, 20] + - !!python/tuple [7, 12] + - !!python/tuple [4, 19] + - !!python/tuple [30, 7] + - !!python/tuple [3, 19] + - !!python/tuple [5, 14] + - !!python/tuple [11, 7] + - !!python/tuple [22, 28] + - !!python/tuple [27, 16] + - !!python/tuple [14, 19] + - !!python/tuple [29, 6] + - !!python/tuple [18, 30] + - !!python/tuple [3, 11] + - !!python/tuple [0, 1] + - !!python/tuple [16, 30] + - !!python/tuple [19, 2] + - !!python/tuple [24, 20] + - !!python/tuple [18, 7] + - !!python/tuple [12, 1] + - !!python/tuple [13, 11] + - !!python/tuple [10, 28] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex13.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex13.yaml new file mode 100644 index 0000000..f3d2718 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex13.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [10, 0] + name: agent0 + start: [3, 26] +- goal: [24, 13] + name: agent1 + start: [0, 3] +- goal: [31, 16] + name: agent2 + start: [12, 22] +- goal: [12, 22] + name: agent3 + start: [12, 26] +- goal: [0, 5] + name: agent4 + start: [28, 3] +- goal: [11, 15] + name: agent5 + start: [7, 15] +- goal: [18, 21] + name: agent6 + start: [5, 27] +- goal: [5, 6] + name: agent7 + start: [24, 24] +- goal: [27, 11] + name: agent8 + start: [12, 24] +- goal: [31, 2] + name: agent9 + start: [21, 12] +- goal: [25, 0] + name: agent10 + start: [28, 9] +- goal: [31, 19] + name: agent11 + start: [26, 12] +- goal: [22, 0] + name: agent12 + start: [25, 0] +- goal: [31, 21] + name: agent13 + start: [31, 29] +- goal: [21, 12] + name: agent14 + start: [23, 4] +- goal: [21, 14] + name: agent15 + start: [18, 29] +- goal: [7, 1] + name: agent16 + start: [3, 29] +- goal: [15, 5] + name: agent17 + start: [5, 20] +- goal: [16, 20] + name: agent18 + start: [30, 18] +- goal: [6, 29] + name: agent19 + start: [31, 12] +- goal: [2, 20] + name: agent20 + start: [17, 22] +- goal: [14, 2] + name: agent21 + start: [0, 8] +- goal: [30, 7] + name: agent22 + start: [27, 0] +- goal: [29, 29] + name: agent23 + start: [14, 15] +- goal: [3, 24] + name: agent24 + start: [25, 31] +- goal: [17, 19] + name: agent25 + start: [19, 28] +- goal: [6, 9] + name: agent26 + start: [23, 27] +- goal: [3, 13] + name: agent27 + start: [8, 31] +- goal: [3, 28] + name: agent28 + start: [2, 19] +- goal: [4, 25] + name: agent29 + start: [6, 4] +- goal: [28, 0] + name: agent30 + start: [16, 8] +- goal: [4, 29] + name: agent31 + start: [16, 1] +- goal: [29, 17] + name: agent32 + start: [15, 16] +- goal: [23, 13] + name: agent33 + start: [31, 1] +- goal: [15, 3] + name: agent34 + start: [26, 1] +- goal: [29, 14] + name: agent35 + start: [29, 1] +- goal: [22, 2] + name: agent36 + start: [7, 20] +- goal: [28, 27] + name: agent37 + start: [11, 13] +- goal: [22, 11] + name: agent38 + start: [23, 7] +- goal: [18, 3] + name: agent39 + start: [20, 8] +- goal: [4, 15] + name: agent40 + start: [10, 16] +- goal: [8, 26] + name: agent41 + start: [31, 27] +- goal: [13, 11] + name: agent42 + start: [21, 5] +- goal: [26, 30] + name: agent43 + start: [21, 30] +- goal: [11, 21] + name: agent44 + start: [7, 5] +- goal: [9, 18] + name: agent45 + start: [1, 13] +- goal: [22, 12] + name: agent46 + start: [21, 7] +- goal: [7, 29] + name: agent47 + start: [14, 27] +- goal: [16, 19] + name: agent48 + start: [22, 24] +- goal: [22, 18] + name: agent49 + start: [10, 3] +- goal: [28, 24] + name: agent50 + start: [18, 18] +- goal: [19, 11] + name: agent51 + start: [27, 18] +- goal: [24, 16] + name: agent52 + start: [16, 3] +- goal: [21, 15] + name: agent53 + start: [3, 14] +- goal: [21, 0] + name: agent54 + start: [23, 22] +- goal: [31, 8] + name: agent55 + start: [24, 12] +- goal: [22, 27] + name: agent56 + start: [7, 4] +- goal: [22, 25] + name: agent57 + start: [22, 14] +- goal: [1, 13] + name: agent58 + start: [31, 15] +- goal: [8, 22] + name: agent59 + start: [0, 11] +- goal: [27, 25] + name: agent60 + start: [28, 1] +- goal: [18, 4] + name: agent61 + start: [24, 18] +- goal: [11, 8] + name: agent62 + start: [10, 15] +- goal: [22, 20] + name: agent63 + start: [25, 29] +- goal: [3, 10] + name: agent64 + start: [10, 27] +- goal: [6, 11] + name: agent65 + start: [11, 5] +- goal: [19, 27] + name: agent66 + start: [31, 22] +- goal: [7, 16] + name: agent67 + start: [8, 9] +- goal: [20, 31] + name: agent68 + start: [31, 24] +- goal: [26, 20] + name: agent69 + start: [26, 20] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [11, 28] + - !!python/tuple [19, 6] + - !!python/tuple [26, 8] + - !!python/tuple [0, 18] + - !!python/tuple [17, 27] + - !!python/tuple [8, 28] + - !!python/tuple [29, 9] + - !!python/tuple [5, 9] + - !!python/tuple [10, 24] + - !!python/tuple [8, 5] + - !!python/tuple [27, 15] + - !!python/tuple [3, 5] + - !!python/tuple [28, 29] + - !!python/tuple [14, 4] + - !!python/tuple [1, 11] + - !!python/tuple [29, 3] + - !!python/tuple [19, 17] + - !!python/tuple [14, 14] + - !!python/tuple [2, 12] + - !!python/tuple [3, 20] + - !!python/tuple [17, 6] + - !!python/tuple [14, 3] + - !!python/tuple [31, 14] + - !!python/tuple [18, 26] + - !!python/tuple [31, 17] + - !!python/tuple [7, 7] + - !!python/tuple [22, 15] + - !!python/tuple [15, 27] + - !!python/tuple [5, 24] + - !!python/tuple [19, 15] + - !!python/tuple [16, 25] + - !!python/tuple [0, 20] + - !!python/tuple [7, 27] + - !!python/tuple [27, 1] + - !!python/tuple [20, 21] + - !!python/tuple [15, 26] + - !!python/tuple [10, 23] + - !!python/tuple [16, 15] + - !!python/tuple [31, 26] + - !!python/tuple [9, 26] + - !!python/tuple [24, 31] + - !!python/tuple [17, 9] + - !!python/tuple [30, 4] + - !!python/tuple [4, 14] + - !!python/tuple [13, 19] + - !!python/tuple [27, 6] + - !!python/tuple [10, 10] + - !!python/tuple [2, 3] + - !!python/tuple [27, 30] + - !!python/tuple [17, 25] + - !!python/tuple [1, 9] + - !!python/tuple [8, 18] + - !!python/tuple [21, 28] + - !!python/tuple [16, 9] + - !!python/tuple [17, 2] + - !!python/tuple [14, 0] + - !!python/tuple [27, 3] + - !!python/tuple [20, 7] + - !!python/tuple [6, 13] + - !!python/tuple [2, 26] + - !!python/tuple [30, 24] + - !!python/tuple [25, 1] + - !!python/tuple [22, 28] + - !!python/tuple [15, 11] + - !!python/tuple [23, 6] + - !!python/tuple [9, 20] + - !!python/tuple [11, 4] + - !!python/tuple [13, 20] + - !!python/tuple [24, 7] + - !!python/tuple [6, 14] + - !!python/tuple [19, 9] + - !!python/tuple [13, 2] + - !!python/tuple [25, 2] + - !!python/tuple [3, 21] + - !!python/tuple [23, 15] + - !!python/tuple [1, 18] + - !!python/tuple [28, 8] + - !!python/tuple [0, 25] + - !!python/tuple [2, 11] + - !!python/tuple [19, 4] + - !!python/tuple [27, 2] + - !!python/tuple [12, 23] + - !!python/tuple [17, 29] + - !!python/tuple [2, 25] + - !!python/tuple [0, 6] + - !!python/tuple [30, 25] + - !!python/tuple [11, 27] + - !!python/tuple [13, 26] + - !!python/tuple [16, 2] + - !!python/tuple [28, 17] + - !!python/tuple [12, 18] + - !!python/tuple [27, 21] + - !!python/tuple [23, 18] + - !!python/tuple [0, 14] + - !!python/tuple [13, 16] + - !!python/tuple [1, 16] + - !!python/tuple [16, 13] + - !!python/tuple [2, 22] + - !!python/tuple [9, 27] + - !!python/tuple [26, 25] + - !!python/tuple [0, 0] + - !!python/tuple [31, 28] + - !!python/tuple [11, 24] + - !!python/tuple [15, 9] + - !!python/tuple [17, 31] + - !!python/tuple [9, 16] + - !!python/tuple [1, 19] + - !!python/tuple [13, 1] + - !!python/tuple [16, 6] + - !!python/tuple [27, 8] + - !!python/tuple [26, 14] + - !!python/tuple [8, 7] + - !!python/tuple [23, 26] + - !!python/tuple [25, 13] + - !!python/tuple [23, 1] + - !!python/tuple [2, 31] + - !!python/tuple [29, 22] + - !!python/tuple [25, 25] + - !!python/tuple [14, 22] + - !!python/tuple [24, 1] + - !!python/tuple [17, 11] + - !!python/tuple [22, 3] + - !!python/tuple [1, 23] + - !!python/tuple [17, 8] + - !!python/tuple [30, 31] + - !!python/tuple [3, 9] + - !!python/tuple [18, 20] + - !!python/tuple [29, 15] + - !!python/tuple [20, 30] + - !!python/tuple [23, 23] + - !!python/tuple [16, 23] + - !!python/tuple [21, 17] + - !!python/tuple [17, 12] + - !!python/tuple [17, 5] + - !!python/tuple [19, 31] + - !!python/tuple [27, 7] + - !!python/tuple [11, 19] + - !!python/tuple [13, 5] + - !!python/tuple [29, 30] + - !!python/tuple [1, 2] + - !!python/tuple [2, 9] + - !!python/tuple [5, 0] + - !!python/tuple [29, 20] + - !!python/tuple [18, 23] + - !!python/tuple [8, 3] + - !!python/tuple [11, 3] + - !!python/tuple [4, 4] + - !!python/tuple [17, 4] + - !!python/tuple [9, 2] + - !!python/tuple [2, 29] + - !!python/tuple [28, 19] + - !!python/tuple [10, 29] + - !!python/tuple [15, 24] + - !!python/tuple [16, 30] + - !!python/tuple [25, 16] + - !!python/tuple [17, 24] + - !!python/tuple [30, 14] + - !!python/tuple [6, 6] + - !!python/tuple [21, 9] + - !!python/tuple [29, 12] + - !!python/tuple [7, 2] + - !!python/tuple [30, 21] + - !!python/tuple [4, 26] + - !!python/tuple [13, 30] + - !!python/tuple [7, 11] + - !!python/tuple [15, 1] + - !!python/tuple [14, 9] + - !!python/tuple [25, 11] + - !!python/tuple [12, 19] + - !!python/tuple [30, 9] + - !!python/tuple [0, 10] + - !!python/tuple [19, 10] + - !!python/tuple [27, 17] + - !!python/tuple [30, 2] + - !!python/tuple [5, 25] + - !!python/tuple [0, 24] + - !!python/tuple [26, 9] + - !!python/tuple [25, 18] + - !!python/tuple [27, 12] + - !!python/tuple [2, 13] + - !!python/tuple [15, 6] + - !!python/tuple [10, 17] + - !!python/tuple [8, 23] + - !!python/tuple [9, 15] + - !!python/tuple [9, 31] + - !!python/tuple [25, 28] + - !!python/tuple [9, 12] + - !!python/tuple [26, 0] + - !!python/tuple [28, 31] + - !!python/tuple [28, 23] + - !!python/tuple [7, 3] + - !!python/tuple [22, 30] + - !!python/tuple [25, 15] + - !!python/tuple [28, 6] + - !!python/tuple [5, 8] + - !!python/tuple [24, 26] + - !!python/tuple [14, 8] + - !!python/tuple [21, 21] + - !!python/tuple [15, 19] + - !!python/tuple [17, 28] + - !!python/tuple [28, 13] + - !!python/tuple [8, 19] + - !!python/tuple [15, 12] + - !!python/tuple [18, 28] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex14.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex14.yaml new file mode 100644 index 0000000..fe8a1c9 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex14.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [4, 5] + name: agent0 + start: [10, 29] +- goal: [22, 15] + name: agent1 + start: [24, 2] +- goal: [31, 17] + name: agent2 + start: [4, 28] +- goal: [8, 24] + name: agent3 + start: [29, 13] +- goal: [13, 11] + name: agent4 + start: [29, 15] +- goal: [21, 31] + name: agent5 + start: [4, 11] +- goal: [3, 15] + name: agent6 + start: [9, 20] +- goal: [16, 22] + name: agent7 + start: [28, 11] +- goal: [6, 3] + name: agent8 + start: [13, 3] +- goal: [11, 25] + name: agent9 + start: [22, 7] +- goal: [24, 30] + name: agent10 + start: [30, 23] +- goal: [22, 10] + name: agent11 + start: [10, 26] +- goal: [7, 3] + name: agent12 + start: [4, 17] +- goal: [24, 28] + name: agent13 + start: [7, 17] +- goal: [21, 7] + name: agent14 + start: [16, 1] +- goal: [24, 20] + name: agent15 + start: [4, 29] +- goal: [24, 10] + name: agent16 + start: [16, 18] +- goal: [2, 31] + name: agent17 + start: [10, 3] +- goal: [6, 8] + name: agent18 + start: [28, 3] +- goal: [14, 24] + name: agent19 + start: [11, 19] +- goal: [5, 20] + name: agent20 + start: [25, 10] +- goal: [26, 10] + name: agent21 + start: [9, 11] +- goal: [6, 7] + name: agent22 + start: [28, 7] +- goal: [1, 4] + name: agent23 + start: [27, 16] +- goal: [4, 11] + name: agent24 + start: [31, 9] +- goal: [11, 16] + name: agent25 + start: [7, 1] +- goal: [30, 14] + name: agent26 + start: [17, 1] +- goal: [9, 19] + name: agent27 + start: [17, 28] +- goal: [24, 11] + name: agent28 + start: [11, 26] +- goal: [5, 30] + name: agent29 + start: [29, 10] +- goal: [25, 13] + name: agent30 + start: [8, 25] +- goal: [2, 23] + name: agent31 + start: [20, 26] +- goal: [22, 20] + name: agent32 + start: [3, 26] +- goal: [15, 26] + name: agent33 + start: [0, 29] +- goal: [2, 27] + name: agent34 + start: [25, 26] +- goal: [19, 25] + name: agent35 + start: [0, 23] +- goal: [17, 8] + name: agent36 + start: [2, 27] +- goal: [14, 11] + name: agent37 + start: [4, 24] +- goal: [27, 22] + name: agent38 + start: [16, 22] +- goal: [27, 2] + name: agent39 + start: [18, 27] +- goal: [15, 1] + name: agent40 + start: [2, 9] +- goal: [31, 25] + name: agent41 + start: [9, 29] +- goal: [16, 3] + name: agent42 + start: [24, 30] +- goal: [7, 14] + name: agent43 + start: [5, 8] +- goal: [27, 6] + name: agent44 + start: [1, 4] +- goal: [3, 28] + name: agent45 + start: [5, 25] +- goal: [19, 19] + name: agent46 + start: [6, 28] +- goal: [18, 2] + name: agent47 + start: [29, 4] +- goal: [5, 9] + name: agent48 + start: [12, 18] +- goal: [8, 22] + name: agent49 + start: [1, 23] +- goal: [20, 29] + name: agent50 + start: [27, 21] +- goal: [20, 7] + name: agent51 + start: [31, 4] +- goal: [27, 13] + name: agent52 + start: [21, 16] +- goal: [21, 8] + name: agent53 + start: [11, 12] +- goal: [16, 21] + name: agent54 + start: [3, 25] +- goal: [12, 6] + name: agent55 + start: [25, 13] +- goal: [21, 17] + name: agent56 + start: [2, 4] +- goal: [16, 19] + name: agent57 + start: [9, 6] +- goal: [10, 17] + name: agent58 + start: [4, 16] +- goal: [14, 23] + name: agent59 + start: [28, 19] +- goal: [23, 17] + name: agent60 + start: [21, 11] +- goal: [24, 12] + name: agent61 + start: [27, 13] +- goal: [3, 20] + name: agent62 + start: [29, 11] +- goal: [11, 11] + name: agent63 + start: [20, 17] +- goal: [14, 8] + name: agent64 + start: [15, 26] +- goal: [17, 7] + name: agent65 + start: [22, 29] +- goal: [27, 17] + name: agent66 + start: [4, 27] +- goal: [0, 9] + name: agent67 + start: [6, 9] +- goal: [11, 3] + name: agent68 + start: [24, 16] +- goal: [19, 11] + name: agent69 + start: [19, 3] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [5, 26] + - !!python/tuple [20, 21] + - !!python/tuple [24, 6] + - !!python/tuple [4, 18] + - !!python/tuple [13, 30] + - !!python/tuple [12, 2] + - !!python/tuple [3, 0] + - !!python/tuple [1, 24] + - !!python/tuple [30, 28] + - !!python/tuple [2, 2] + - !!python/tuple [26, 3] + - !!python/tuple [13, 14] + - !!python/tuple [18, 18] + - !!python/tuple [4, 9] + - !!python/tuple [5, 3] + - !!python/tuple [26, 24] + - !!python/tuple [26, 28] + - !!python/tuple [28, 21] + - !!python/tuple [5, 29] + - !!python/tuple [16, 26] + - !!python/tuple [9, 21] + - !!python/tuple [4, 2] + - !!python/tuple [20, 18] + - !!python/tuple [15, 9] + - !!python/tuple [28, 26] + - !!python/tuple [9, 14] + - !!python/tuple [30, 26] + - !!python/tuple [8, 27] + - !!python/tuple [8, 4] + - !!python/tuple [9, 2] + - !!python/tuple [24, 22] + - !!python/tuple [2, 0] + - !!python/tuple [17, 14] + - !!python/tuple [10, 25] + - !!python/tuple [30, 27] + - !!python/tuple [29, 20] + - !!python/tuple [16, 17] + - !!python/tuple [23, 30] + - !!python/tuple [2, 18] + - !!python/tuple [30, 3] + - !!python/tuple [1, 21] + - !!python/tuple [18, 16] + - !!python/tuple [1, 9] + - !!python/tuple [17, 13] + - !!python/tuple [22, 21] + - !!python/tuple [5, 0] + - !!python/tuple [26, 9] + - !!python/tuple [16, 30] + - !!python/tuple [17, 27] + - !!python/tuple [0, 18] + - !!python/tuple [30, 11] + - !!python/tuple [30, 25] + - !!python/tuple [10, 2] + - !!python/tuple [11, 22] + - !!python/tuple [13, 6] + - !!python/tuple [29, 27] + - !!python/tuple [6, 24] + - !!python/tuple [3, 7] + - !!python/tuple [31, 5] + - !!python/tuple [31, 27] + - !!python/tuple [2, 13] + - !!python/tuple [26, 16] + - !!python/tuple [1, 14] + - !!python/tuple [25, 5] + - !!python/tuple [20, 14] + - !!python/tuple [29, 6] + - !!python/tuple [16, 6] + - !!python/tuple [18, 5] + - !!python/tuple [6, 0] + - !!python/tuple [18, 15] + - !!python/tuple [26, 15] + - !!python/tuple [11, 13] + - !!python/tuple [20, 0] + - !!python/tuple [7, 12] + - !!python/tuple [3, 17] + - !!python/tuple [0, 28] + - !!python/tuple [10, 24] + - !!python/tuple [24, 29] + - !!python/tuple [10, 0] + - !!python/tuple [7, 19] + - !!python/tuple [25, 25] + - !!python/tuple [21, 28] + - !!python/tuple [7, 10] + - !!python/tuple [28, 24] + - !!python/tuple [12, 3] + - !!python/tuple [14, 9] + - !!python/tuple [16, 20] + - !!python/tuple [12, 21] + - !!python/tuple [27, 25] + - !!python/tuple [24, 13] + - !!python/tuple [10, 15] + - !!python/tuple [7, 4] + - !!python/tuple [11, 28] + - !!python/tuple [10, 14] + - !!python/tuple [23, 20] + - !!python/tuple [18, 24] + - !!python/tuple [31, 18] + - !!python/tuple [6, 2] + - !!python/tuple [24, 24] + - !!python/tuple [30, 30] + - !!python/tuple [15, 25] + - !!python/tuple [6, 27] + - !!python/tuple [22, 14] + - !!python/tuple [2, 7] + - !!python/tuple [20, 22] + - !!python/tuple [15, 2] + - !!python/tuple [25, 12] + - !!python/tuple [13, 1] + - !!python/tuple [2, 12] + - !!python/tuple [19, 26] + - !!python/tuple [27, 0] + - !!python/tuple [22, 6] + - !!python/tuple [5, 5] + - !!python/tuple [25, 21] + - !!python/tuple [26, 19] + - !!python/tuple [10, 28] + - !!python/tuple [0, 21] + - !!python/tuple [4, 7] + - !!python/tuple [0, 8] + - !!python/tuple [5, 7] + - !!python/tuple [0, 20] + - !!python/tuple [14, 15] + - !!python/tuple [16, 5] + - !!python/tuple [14, 14] + - !!python/tuple [14, 12] + - !!python/tuple [29, 19] + - !!python/tuple [21, 9] + - !!python/tuple [5, 21] + - !!python/tuple [23, 21] + - !!python/tuple [21, 27] + - !!python/tuple [21, 2] + - !!python/tuple [5, 13] + - !!python/tuple [24, 31] + - !!python/tuple [13, 22] + - !!python/tuple [11, 9] + - !!python/tuple [16, 31] + - !!python/tuple [27, 15] + - !!python/tuple [28, 27] + - !!python/tuple [28, 9] + - !!python/tuple [30, 2] + - !!python/tuple [12, 16] + - !!python/tuple [24, 14] + - !!python/tuple [26, 21] + - !!python/tuple [5, 17] + - !!python/tuple [23, 24] + - !!python/tuple [11, 31] + - !!python/tuple [23, 4] + - !!python/tuple [16, 27] + - !!python/tuple [21, 10] + - !!python/tuple [2, 19] + - !!python/tuple [16, 0] + - !!python/tuple [25, 11] + - !!python/tuple [31, 6] + - !!python/tuple [20, 9] + - !!python/tuple [12, 0] + - !!python/tuple [16, 10] + - !!python/tuple [7, 24] + - !!python/tuple [12, 1] + - !!python/tuple [1, 12] + - !!python/tuple [9, 3] + - !!python/tuple [1, 16] + - !!python/tuple [22, 23] + - !!python/tuple [23, 29] + - !!python/tuple [5, 4] + - !!python/tuple [20, 30] + - !!python/tuple [27, 26] + - !!python/tuple [25, 6] + - !!python/tuple [12, 19] + - !!python/tuple [26, 30] + - !!python/tuple [31, 10] + - !!python/tuple [25, 15] + - !!python/tuple [18, 12] + - !!python/tuple [0, 11] + - !!python/tuple [24, 7] + - !!python/tuple [9, 9] + - !!python/tuple [10, 20] + - !!python/tuple [18, 13] + - !!python/tuple [0, 15] + - !!python/tuple [26, 18] + - !!python/tuple [19, 21] + - !!python/tuple [9, 18] + - !!python/tuple [27, 8] + - !!python/tuple [23, 1] + - !!python/tuple [2, 24] + - !!python/tuple [14, 10] + - !!python/tuple [12, 20] + - !!python/tuple [12, 22] + - !!python/tuple [4, 25] + - !!python/tuple [31, 2] + - !!python/tuple [4, 6] + - !!python/tuple [19, 30] + - !!python/tuple [19, 18] + - !!python/tuple [23, 0] + - !!python/tuple [14, 19] + - !!python/tuple [1, 17] + - !!python/tuple [8, 15] + - !!python/tuple [14, 13] + - !!python/tuple [7, 11] + - !!python/tuple [31, 23] + - !!python/tuple [14, 27] + - !!python/tuple [29, 3] + - !!python/tuple [15, 16] + - !!python/tuple [16, 13] + - !!python/tuple [3, 19] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex15.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex15.yaml new file mode 100644 index 0000000..dab906f --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex15.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [8, 26] + name: agent0 + start: [0, 2] +- goal: [13, 9] + name: agent1 + start: [24, 2] +- goal: [3, 0] + name: agent2 + start: [8, 7] +- goal: [7, 6] + name: agent3 + start: [25, 17] +- goal: [22, 16] + name: agent4 + start: [26, 10] +- goal: [28, 6] + name: agent5 + start: [15, 19] +- goal: [30, 28] + name: agent6 + start: [19, 25] +- goal: [25, 23] + name: agent7 + start: [11, 12] +- goal: [18, 11] + name: agent8 + start: [4, 17] +- goal: [19, 17] + name: agent9 + start: [3, 23] +- goal: [12, 5] + name: agent10 + start: [11, 7] +- goal: [3, 8] + name: agent11 + start: [0, 16] +- goal: [15, 20] + name: agent12 + start: [1, 10] +- goal: [4, 13] + name: agent13 + start: [7, 17] +- goal: [28, 22] + name: agent14 + start: [7, 13] +- goal: [27, 16] + name: agent15 + start: [28, 2] +- goal: [22, 9] + name: agent16 + start: [14, 5] +- goal: [15, 7] + name: agent17 + start: [18, 25] +- goal: [8, 28] + name: agent18 + start: [18, 10] +- goal: [26, 3] + name: agent19 + start: [24, 22] +- goal: [13, 2] + name: agent20 + start: [21, 26] +- goal: [17, 30] + name: agent21 + start: [11, 8] +- goal: [29, 5] + name: agent22 + start: [10, 2] +- goal: [0, 11] + name: agent23 + start: [30, 11] +- goal: [17, 12] + name: agent24 + start: [3, 31] +- goal: [8, 20] + name: agent25 + start: [16, 21] +- goal: [29, 20] + name: agent26 + start: [24, 30] +- goal: [31, 15] + name: agent27 + start: [17, 12] +- goal: [19, 2] + name: agent28 + start: [8, 5] +- goal: [0, 10] + name: agent29 + start: [27, 3] +- goal: [12, 10] + name: agent30 + start: [16, 27] +- goal: [25, 28] + name: agent31 + start: [31, 26] +- goal: [23, 20] + name: agent32 + start: [21, 25] +- goal: [3, 26] + name: agent33 + start: [13, 15] +- goal: [0, 0] + name: agent34 + start: [11, 28] +- goal: [2, 1] + name: agent35 + start: [21, 29] +- goal: [13, 26] + name: agent36 + start: [19, 19] +- goal: [12, 20] + name: agent37 + start: [27, 6] +- goal: [12, 18] + name: agent38 + start: [17, 16] +- goal: [15, 5] + name: agent39 + start: [22, 6] +- goal: [5, 17] + name: agent40 + start: [1, 12] +- goal: [22, 26] + name: agent41 + start: [13, 0] +- goal: [19, 23] + name: agent42 + start: [21, 5] +- goal: [14, 26] + name: agent43 + start: [11, 26] +- goal: [5, 18] + name: agent44 + start: [12, 22] +- goal: [20, 3] + name: agent45 + start: [19, 18] +- goal: [15, 18] + name: agent46 + start: [16, 29] +- goal: [25, 3] + name: agent47 + start: [28, 25] +- goal: [20, 13] + name: agent48 + start: [31, 9] +- goal: [15, 21] + name: agent49 + start: [5, 3] +- goal: [12, 26] + name: agent50 + start: [25, 6] +- goal: [29, 10] + name: agent51 + start: [12, 13] +- goal: [26, 18] + name: agent52 + start: [18, 29] +- goal: [13, 7] + name: agent53 + start: [18, 2] +- goal: [14, 19] + name: agent54 + start: [17, 19] +- goal: [22, 14] + name: agent55 + start: [22, 17] +- goal: [18, 2] + name: agent56 + start: [13, 27] +- goal: [13, 22] + name: agent57 + start: [25, 10] +- goal: [22, 28] + name: agent58 + start: [9, 19] +- goal: [16, 21] + name: agent59 + start: [31, 31] +- goal: [15, 6] + name: agent60 + start: [23, 20] +- goal: [15, 25] + name: agent61 + start: [9, 13] +- goal: [13, 15] + name: agent62 + start: [13, 25] +- goal: [20, 11] + name: agent63 + start: [5, 23] +- goal: [23, 18] + name: agent64 + start: [27, 25] +- goal: [28, 28] + name: agent65 + start: [11, 25] +- goal: [16, 26] + name: agent66 + start: [5, 12] +- goal: [23, 11] + name: agent67 + start: [2, 18] +- goal: [27, 2] + name: agent68 + start: [11, 1] +- goal: [15, 31] + name: agent69 + start: [23, 7] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [25, 0] + - !!python/tuple [29, 18] + - !!python/tuple [2, 31] + - !!python/tuple [19, 21] + - !!python/tuple [8, 6] + - !!python/tuple [28, 7] + - !!python/tuple [13, 10] + - !!python/tuple [27, 21] + - !!python/tuple [0, 5] + - !!python/tuple [3, 14] + - !!python/tuple [5, 15] + - !!python/tuple [12, 24] + - !!python/tuple [7, 28] + - !!python/tuple [8, 23] + - !!python/tuple [30, 21] + - !!python/tuple [25, 25] + - !!python/tuple [6, 15] + - !!python/tuple [16, 23] + - !!python/tuple [31, 3] + - !!python/tuple [9, 2] + - !!python/tuple [26, 23] + - !!python/tuple [25, 2] + - !!python/tuple [15, 24] + - !!python/tuple [29, 16] + - !!python/tuple [23, 10] + - !!python/tuple [30, 1] + - !!python/tuple [22, 15] + - !!python/tuple [10, 20] + - !!python/tuple [15, 29] + - !!python/tuple [1, 21] + - !!python/tuple [25, 4] + - !!python/tuple [8, 3] + - !!python/tuple [14, 31] + - !!python/tuple [31, 7] + - !!python/tuple [8, 10] + - !!python/tuple [12, 17] + - !!python/tuple [27, 5] + - !!python/tuple [5, 1] + - !!python/tuple [23, 1] + - !!python/tuple [10, 29] + - !!python/tuple [30, 9] + - !!python/tuple [26, 24] + - !!python/tuple [13, 20] + - !!python/tuple [31, 19] + - !!python/tuple [3, 1] + - !!python/tuple [27, 4] + - !!python/tuple [25, 12] + - !!python/tuple [4, 12] + - !!python/tuple [20, 27] + - !!python/tuple [31, 28] + - !!python/tuple [27, 9] + - !!python/tuple [28, 19] + - !!python/tuple [14, 7] + - !!python/tuple [10, 12] + - !!python/tuple [28, 15] + - !!python/tuple [12, 8] + - !!python/tuple [7, 9] + - !!python/tuple [17, 21] + - !!python/tuple [21, 24] + - !!python/tuple [30, 3] + - !!python/tuple [7, 5] + - !!python/tuple [31, 8] + - !!python/tuple [7, 23] + - !!python/tuple [7, 21] + - !!python/tuple [0, 20] + - !!python/tuple [30, 0] + - !!python/tuple [14, 15] + - !!python/tuple [14, 29] + - !!python/tuple [14, 6] + - !!python/tuple [20, 20] + - !!python/tuple [24, 20] + - !!python/tuple [7, 19] + - !!python/tuple [7, 14] + - !!python/tuple [12, 23] + - !!python/tuple [0, 23] + - !!python/tuple [21, 31] + - !!python/tuple [8, 9] + - !!python/tuple [12, 11] + - !!python/tuple [1, 27] + - !!python/tuple [1, 20] + - !!python/tuple [26, 26] + - !!python/tuple [18, 21] + - !!python/tuple [18, 23] + - !!python/tuple [1, 8] + - !!python/tuple [28, 1] + - !!python/tuple [18, 5] + - !!python/tuple [21, 7] + - !!python/tuple [21, 0] + - !!python/tuple [26, 31] + - !!python/tuple [3, 13] + - !!python/tuple [28, 0] + - !!python/tuple [0, 24] + - !!python/tuple [20, 24] + - !!python/tuple [26, 12] + - !!python/tuple [21, 30] + - !!python/tuple [28, 11] + - !!python/tuple [0, 27] + - !!python/tuple [22, 8] + - !!python/tuple [2, 28] + - !!python/tuple [15, 13] + - !!python/tuple [0, 15] + - !!python/tuple [13, 12] + - !!python/tuple [29, 12] + - !!python/tuple [20, 5] + - !!python/tuple [15, 0] + - !!python/tuple [0, 7] + - !!python/tuple [2, 11] + - !!python/tuple [23, 21] + - !!python/tuple [4, 0] + - !!python/tuple [29, 3] + - !!python/tuple [25, 16] + - !!python/tuple [27, 26] + - !!python/tuple [30, 18] + - !!python/tuple [4, 21] + - !!python/tuple [1, 16] + - !!python/tuple [2, 8] + - !!python/tuple [16, 14] + - !!python/tuple [8, 14] + - !!python/tuple [17, 22] + - !!python/tuple [9, 31] + - !!python/tuple [9, 6] + - !!python/tuple [30, 24] + - !!python/tuple [11, 6] + - !!python/tuple [30, 2] + - !!python/tuple [6, 18] + - !!python/tuple [10, 10] + - !!python/tuple [18, 7] + - !!python/tuple [20, 15] + - !!python/tuple [8, 30] + - !!python/tuple [22, 3] + - !!python/tuple [4, 11] + - !!python/tuple [25, 5] + - !!python/tuple [6, 8] + - !!python/tuple [18, 28] + - !!python/tuple [18, 6] + - !!python/tuple [22, 27] + - !!python/tuple [27, 18] + - !!python/tuple [3, 17] + - !!python/tuple [22, 23] + - !!python/tuple [10, 3] + - !!python/tuple [28, 21] + - !!python/tuple [18, 20] + - !!python/tuple [13, 5] + - !!python/tuple [30, 13] + - !!python/tuple [2, 13] + - !!python/tuple [2, 20] + - !!python/tuple [18, 18] + - !!python/tuple [24, 13] + - !!python/tuple [11, 4] + - !!python/tuple [11, 18] + - !!python/tuple [6, 31] + - !!python/tuple [2, 27] + - !!python/tuple [15, 30] + - !!python/tuple [29, 2] + - !!python/tuple [22, 19] + - !!python/tuple [24, 10] + - !!python/tuple [17, 1] + - !!python/tuple [7, 20] + - !!python/tuple [18, 9] + - !!python/tuple [18, 24] + - !!python/tuple [10, 22] + - !!python/tuple [5, 26] + - !!python/tuple [23, 26] + - !!python/tuple [0, 12] + - !!python/tuple [23, 8] + - !!python/tuple [4, 10] + - !!python/tuple [21, 28] + - !!python/tuple [20, 31] + - !!python/tuple [23, 27] + - !!python/tuple [3, 9] + - !!python/tuple [30, 5] + - !!python/tuple [8, 27] + - !!python/tuple [12, 30] + - !!python/tuple [20, 4] + - !!python/tuple [18, 13] + - !!python/tuple [1, 18] + - !!python/tuple [4, 5] + - !!python/tuple [2, 26] + - !!python/tuple [21, 9] + - !!python/tuple [15, 23] + - !!python/tuple [11, 16] + - !!python/tuple [24, 1] + - !!python/tuple [0, 29] + - !!python/tuple [6, 13] + - !!python/tuple [10, 28] + - !!python/tuple [4, 8] + - !!python/tuple [13, 31] + - !!python/tuple [3, 29] + - !!python/tuple [8, 2] + - !!python/tuple [17, 17] + - !!python/tuple [22, 13] + - !!python/tuple [3, 5] + - !!python/tuple [11, 19] + - !!python/tuple [12, 14] + - !!python/tuple [20, 22] + - !!python/tuple [4, 29] + - !!python/tuple [0, 19] + - !!python/tuple [31, 30] + - !!python/tuple [31, 5] + - !!python/tuple [21, 23] + - !!python/tuple [14, 22] + - !!python/tuple [1, 25] + - !!python/tuple [15, 4] + - !!python/tuple [18, 0] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex16.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex16.yaml new file mode 100644 index 0000000..13f1528 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex16.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [22, 0] + name: agent0 + start: [24, 11] +- goal: [28, 25] + name: agent1 + start: [23, 19] +- goal: [11, 20] + name: agent2 + start: [4, 21] +- goal: [12, 0] + name: agent3 + start: [26, 29] +- goal: [0, 19] + name: agent4 + start: [2, 17] +- goal: [1, 25] + name: agent5 + start: [15, 10] +- goal: [22, 9] + name: agent6 + start: [16, 0] +- goal: [13, 24] + name: agent7 + start: [18, 22] +- goal: [18, 1] + name: agent8 + start: [6, 25] +- goal: [27, 1] + name: agent9 + start: [29, 13] +- goal: [20, 7] + name: agent10 + start: [15, 26] +- goal: [24, 20] + name: agent11 + start: [20, 1] +- goal: [14, 29] + name: agent12 + start: [11, 8] +- goal: [6, 16] + name: agent13 + start: [29, 12] +- goal: [28, 7] + name: agent14 + start: [15, 23] +- goal: [14, 7] + name: agent15 + start: [10, 12] +- goal: [16, 13] + name: agent16 + start: [18, 3] +- goal: [7, 27] + name: agent17 + start: [13, 1] +- goal: [27, 5] + name: agent18 + start: [27, 0] +- goal: [18, 3] + name: agent19 + start: [9, 2] +- goal: [0, 0] + name: agent20 + start: [23, 15] +- goal: [13, 29] + name: agent21 + start: [31, 24] +- goal: [6, 19] + name: agent22 + start: [11, 16] +- goal: [30, 0] + name: agent23 + start: [5, 19] +- goal: [20, 19] + name: agent24 + start: [21, 14] +- goal: [0, 22] + name: agent25 + start: [0, 13] +- goal: [29, 1] + name: agent26 + start: [3, 18] +- goal: [24, 17] + name: agent27 + start: [21, 28] +- goal: [20, 23] + name: agent28 + start: [13, 22] +- goal: [31, 0] + name: agent29 + start: [31, 21] +- goal: [11, 24] + name: agent30 + start: [23, 9] +- goal: [8, 0] + name: agent31 + start: [21, 27] +- goal: [4, 26] + name: agent32 + start: [27, 31] +- goal: [0, 29] + name: agent33 + start: [16, 3] +- goal: [7, 9] + name: agent34 + start: [22, 27] +- goal: [28, 23] + name: agent35 + start: [26, 26] +- goal: [24, 13] + name: agent36 + start: [3, 31] +- goal: [22, 28] + name: agent37 + start: [20, 0] +- goal: [26, 1] + name: agent38 + start: [7, 20] +- goal: [18, 2] + name: agent39 + start: [19, 6] +- goal: [14, 12] + name: agent40 + start: [12, 4] +- goal: [25, 14] + name: agent41 + start: [16, 21] +- goal: [30, 8] + name: agent42 + start: [25, 11] +- goal: [4, 8] + name: agent43 + start: [23, 8] +- goal: [31, 3] + name: agent44 + start: [30, 13] +- goal: [20, 4] + name: agent45 + start: [9, 7] +- goal: [13, 21] + name: agent46 + start: [27, 23] +- goal: [9, 13] + name: agent47 + start: [25, 20] +- goal: [12, 14] + name: agent48 + start: [31, 4] +- goal: [12, 2] + name: agent49 + start: [16, 22] +- goal: [17, 28] + name: agent50 + start: [23, 30] +- goal: [0, 25] + name: agent51 + start: [4, 17] +- goal: [9, 10] + name: agent52 + start: [14, 1] +- goal: [14, 5] + name: agent53 + start: [10, 2] +- goal: [29, 9] + name: agent54 + start: [26, 16] +- goal: [15, 8] + name: agent55 + start: [23, 31] +- goal: [21, 12] + name: agent56 + start: [22, 6] +- goal: [10, 26] + name: agent57 + start: [1, 16] +- goal: [17, 4] + name: agent58 + start: [7, 12] +- goal: [0, 8] + name: agent59 + start: [19, 7] +- goal: [14, 31] + name: agent60 + start: [30, 31] +- goal: [22, 19] + name: agent61 + start: [31, 23] +- goal: [2, 13] + name: agent62 + start: [22, 17] +- goal: [24, 10] + name: agent63 + start: [26, 9] +- goal: [10, 12] + name: agent64 + start: [22, 5] +- goal: [8, 27] + name: agent65 + start: [21, 0] +- goal: [19, 2] + name: agent66 + start: [16, 13] +- goal: [4, 9] + name: agent67 + start: [31, 5] +- goal: [20, 12] + name: agent68 + start: [9, 1] +- goal: [21, 9] + name: agent69 + start: [23, 11] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [6, 28] + - !!python/tuple [21, 1] + - !!python/tuple [22, 16] + - !!python/tuple [9, 30] + - !!python/tuple [8, 12] + - !!python/tuple [10, 20] + - !!python/tuple [29, 2] + - !!python/tuple [10, 4] + - !!python/tuple [11, 21] + - !!python/tuple [23, 2] + - !!python/tuple [18, 28] + - !!python/tuple [16, 11] + - !!python/tuple [8, 6] + - !!python/tuple [10, 27] + - !!python/tuple [7, 21] + - !!python/tuple [7, 1] + - !!python/tuple [19, 28] + - !!python/tuple [18, 26] + - !!python/tuple [27, 6] + - !!python/tuple [14, 26] + - !!python/tuple [13, 8] + - !!python/tuple [20, 27] + - !!python/tuple [7, 31] + - !!python/tuple [4, 7] + - !!python/tuple [8, 5] + - !!python/tuple [25, 28] + - !!python/tuple [27, 28] + - !!python/tuple [20, 22] + - !!python/tuple [6, 1] + - !!python/tuple [29, 18] + - !!python/tuple [19, 25] + - !!python/tuple [18, 12] + - !!python/tuple [1, 31] + - !!python/tuple [31, 14] + - !!python/tuple [3, 7] + - !!python/tuple [6, 20] + - !!python/tuple [7, 23] + - !!python/tuple [26, 17] + - !!python/tuple [4, 3] + - !!python/tuple [6, 7] + - !!python/tuple [30, 20] + - !!python/tuple [14, 16] + - !!python/tuple [29, 17] + - !!python/tuple [15, 7] + - !!python/tuple [31, 26] + - !!python/tuple [19, 4] + - !!python/tuple [8, 21] + - !!python/tuple [1, 18] + - !!python/tuple [30, 1] + - !!python/tuple [28, 3] + - !!python/tuple [11, 7] + - !!python/tuple [30, 3] + - !!python/tuple [13, 25] + - !!python/tuple [10, 5] + - !!python/tuple [18, 9] + - !!python/tuple [3, 16] + - !!python/tuple [26, 2] + - !!python/tuple [10, 7] + - !!python/tuple [4, 20] + - !!python/tuple [3, 11] + - !!python/tuple [1, 27] + - !!python/tuple [23, 10] + - !!python/tuple [18, 7] + - !!python/tuple [24, 21] + - !!python/tuple [28, 0] + - !!python/tuple [7, 17] + - !!python/tuple [15, 3] + - !!python/tuple [23, 20] + - !!python/tuple [18, 4] + - !!python/tuple [15, 17] + - !!python/tuple [22, 23] + - !!python/tuple [16, 20] + - !!python/tuple [16, 15] + - !!python/tuple [30, 5] + - !!python/tuple [13, 31] + - !!python/tuple [7, 30] + - !!python/tuple [10, 14] + - !!python/tuple [26, 30] + - !!python/tuple [16, 6] + - !!python/tuple [21, 29] + - !!python/tuple [9, 25] + - !!python/tuple [3, 23] + - !!python/tuple [16, 30] + - !!python/tuple [25, 19] + - !!python/tuple [21, 2] + - !!python/tuple [21, 15] + - !!python/tuple [22, 1] + - !!python/tuple [12, 6] + - !!python/tuple [19, 31] + - !!python/tuple [18, 0] + - !!python/tuple [2, 15] + - !!python/tuple [26, 22] + - !!python/tuple [25, 4] + - !!python/tuple [31, 22] + - !!python/tuple [29, 20] + - !!python/tuple [15, 24] + - !!python/tuple [0, 6] + - !!python/tuple [6, 10] + - !!python/tuple [26, 15] + - !!python/tuple [9, 31] + - !!python/tuple [22, 3] + - !!python/tuple [4, 15] + - !!python/tuple [25, 15] + - !!python/tuple [24, 31] + - !!python/tuple [17, 29] + - !!python/tuple [12, 8] + - !!python/tuple [23, 29] + - !!python/tuple [8, 9] + - !!python/tuple [19, 13] + - !!python/tuple [29, 30] + - !!python/tuple [9, 21] + - !!python/tuple [16, 25] + - !!python/tuple [9, 20] + - !!python/tuple [8, 24] + - !!python/tuple [31, 19] + - !!python/tuple [7, 22] + - !!python/tuple [13, 12] + - !!python/tuple [31, 30] + - !!python/tuple [6, 11] + - !!python/tuple [9, 29] + - !!python/tuple [27, 24] + - !!python/tuple [16, 28] + - !!python/tuple [31, 9] + - !!python/tuple [25, 13] + - !!python/tuple [4, 0] + - !!python/tuple [27, 18] + - !!python/tuple [15, 21] + - !!python/tuple [1, 13] + - !!python/tuple [1, 14] + - !!python/tuple [25, 12] + - !!python/tuple [24, 7] + - !!python/tuple [16, 29] + - !!python/tuple [15, 4] + - !!python/tuple [3, 13] + - !!python/tuple [21, 21] + - !!python/tuple [9, 8] + - !!python/tuple [27, 17] + - !!python/tuple [23, 6] + - !!python/tuple [28, 13] + - !!python/tuple [21, 5] + - !!python/tuple [31, 27] + - !!python/tuple [28, 30] + - !!python/tuple [15, 12] + - !!python/tuple [13, 19] + - !!python/tuple [25, 27] + - !!python/tuple [0, 30] + - !!python/tuple [0, 20] + - !!python/tuple [21, 24] + - !!python/tuple [29, 16] + - !!python/tuple [6, 31] + - !!python/tuple [29, 24] + - !!python/tuple [14, 11] + - !!python/tuple [0, 16] + - !!python/tuple [29, 7] + - !!python/tuple [26, 12] + - !!python/tuple [20, 5] + - !!python/tuple [23, 13] + - !!python/tuple [4, 10] + - !!python/tuple [5, 30] + - !!python/tuple [14, 23] + - !!python/tuple [25, 16] + - !!python/tuple [11, 17] + - !!python/tuple [16, 7] + - !!python/tuple [13, 16] + - !!python/tuple [23, 21] + - !!python/tuple [27, 11] + - !!python/tuple [25, 29] + - !!python/tuple [27, 4] + - !!python/tuple [13, 10] + - !!python/tuple [20, 29] + - !!python/tuple [18, 20] + - !!python/tuple [2, 22] + - !!python/tuple [5, 16] + - !!python/tuple [4, 19] + - !!python/tuple [19, 29] + - !!python/tuple [24, 18] + - !!python/tuple [22, 25] + - !!python/tuple [27, 30] + - !!python/tuple [13, 18] + - !!python/tuple [26, 27] + - !!python/tuple [23, 5] + - !!python/tuple [20, 9] + - !!python/tuple [12, 20] + - !!python/tuple [3, 8] + - !!python/tuple [21, 20] + - !!python/tuple [7, 19] + - !!python/tuple [29, 15] + - !!python/tuple [29, 19] + - !!python/tuple [2, 31] + - !!python/tuple [18, 29] + - !!python/tuple [5, 23] + - !!python/tuple [23, 1] + - !!python/tuple [4, 27] + - !!python/tuple [8, 15] + - !!python/tuple [5, 6] + - !!python/tuple [3, 4] + - !!python/tuple [11, 2] + - !!python/tuple [24, 25] + - !!python/tuple [30, 10] + - !!python/tuple [29, 29] + - !!python/tuple [7, 6] + - !!python/tuple [28, 17] + - !!python/tuple [10, 24] + - !!python/tuple [30, 9] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex17.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex17.yaml new file mode 100644 index 0000000..2d9c494 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex17.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [23, 17] + name: agent0 + start: [9, 3] +- goal: [15, 8] + name: agent1 + start: [18, 0] +- goal: [11, 27] + name: agent2 + start: [18, 3] +- goal: [20, 23] + name: agent3 + start: [26, 30] +- goal: [0, 4] + name: agent4 + start: [18, 6] +- goal: [10, 4] + name: agent5 + start: [14, 18] +- goal: [22, 27] + name: agent6 + start: [31, 29] +- goal: [10, 17] + name: agent7 + start: [3, 27] +- goal: [0, 1] + name: agent8 + start: [24, 21] +- goal: [6, 22] + name: agent9 + start: [28, 26] +- goal: [2, 19] + name: agent10 + start: [12, 11] +- goal: [5, 7] + name: agent11 + start: [17, 0] +- goal: [15, 16] + name: agent12 + start: [2, 6] +- goal: [28, 1] + name: agent13 + start: [5, 27] +- goal: [19, 3] + name: agent14 + start: [13, 18] +- goal: [12, 5] + name: agent15 + start: [2, 24] +- goal: [29, 31] + name: agent16 + start: [22, 26] +- goal: [0, 13] + name: agent17 + start: [15, 20] +- goal: [4, 7] + name: agent18 + start: [8, 27] +- goal: [20, 31] + name: agent19 + start: [3, 7] +- goal: [26, 31] + name: agent20 + start: [28, 24] +- goal: [10, 21] + name: agent21 + start: [29, 10] +- goal: [12, 12] + name: agent22 + start: [19, 26] +- goal: [26, 25] + name: agent23 + start: [14, 13] +- goal: [11, 0] + name: agent24 + start: [0, 31] +- goal: [7, 26] + name: agent25 + start: [3, 17] +- goal: [19, 2] + name: agent26 + start: [26, 22] +- goal: [0, 12] + name: agent27 + start: [19, 29] +- goal: [19, 20] + name: agent28 + start: [4, 2] +- goal: [18, 14] + name: agent29 + start: [29, 28] +- goal: [0, 9] + name: agent30 + start: [19, 13] +- goal: [5, 19] + name: agent31 + start: [6, 30] +- goal: [13, 23] + name: agent32 + start: [21, 21] +- goal: [13, 31] + name: agent33 + start: [0, 25] +- goal: [9, 15] + name: agent34 + start: [10, 4] +- goal: [15, 10] + name: agent35 + start: [31, 16] +- goal: [11, 26] + name: agent36 + start: [13, 5] +- goal: [9, 13] + name: agent37 + start: [3, 19] +- goal: [16, 1] + name: agent38 + start: [0, 10] +- goal: [2, 9] + name: agent39 + start: [29, 25] +- goal: [24, 17] + name: agent40 + start: [1, 30] +- goal: [13, 24] + name: agent41 + start: [3, 3] +- goal: [27, 22] + name: agent42 + start: [7, 24] +- goal: [20, 19] + name: agent43 + start: [27, 2] +- goal: [5, 11] + name: agent44 + start: [23, 0] +- goal: [13, 5] + name: agent45 + start: [30, 13] +- goal: [15, 29] + name: agent46 + start: [4, 13] +- goal: [24, 23] + name: agent47 + start: [20, 22] +- goal: [24, 26] + name: agent48 + start: [16, 2] +- goal: [29, 2] + name: agent49 + start: [22, 13] +- goal: [9, 4] + name: agent50 + start: [16, 10] +- goal: [6, 30] + name: agent51 + start: [4, 4] +- goal: [7, 17] + name: agent52 + start: [26, 3] +- goal: [5, 3] + name: agent53 + start: [6, 8] +- goal: [21, 29] + name: agent54 + start: [5, 6] +- goal: [26, 22] + name: agent55 + start: [5, 1] +- goal: [9, 2] + name: agent56 + start: [1, 8] +- goal: [23, 7] + name: agent57 + start: [7, 21] +- goal: [2, 21] + name: agent58 + start: [30, 23] +- goal: [11, 5] + name: agent59 + start: [9, 14] +- goal: [12, 17] + name: agent60 + start: [31, 19] +- goal: [4, 18] + name: agent61 + start: [16, 28] +- goal: [13, 16] + name: agent62 + start: [22, 25] +- goal: [19, 1] + name: agent63 + start: [16, 4] +- goal: [21, 31] + name: agent64 + start: [28, 8] +- goal: [2, 26] + name: agent65 + start: [20, 31] +- goal: [12, 1] + name: agent66 + start: [17, 11] +- goal: [7, 5] + name: agent67 + start: [6, 22] +- goal: [1, 17] + name: agent68 + start: [24, 14] +- goal: [5, 30] + name: agent69 + start: [29, 5] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [31, 21] + - !!python/tuple [29, 14] + - !!python/tuple [10, 24] + - !!python/tuple [23, 28] + - !!python/tuple [12, 3] + - !!python/tuple [7, 25] + - !!python/tuple [14, 19] + - !!python/tuple [8, 30] + - !!python/tuple [22, 6] + - !!python/tuple [29, 12] + - !!python/tuple [6, 20] + - !!python/tuple [31, 2] + - !!python/tuple [11, 6] + - !!python/tuple [25, 7] + - !!python/tuple [24, 16] + - !!python/tuple [19, 25] + - !!python/tuple [7, 23] + - !!python/tuple [9, 1] + - !!python/tuple [24, 19] + - !!python/tuple [17, 23] + - !!python/tuple [12, 19] + - !!python/tuple [29, 7] + - !!python/tuple [26, 16] + - !!python/tuple [27, 10] + - !!python/tuple [2, 23] + - !!python/tuple [5, 31] + - !!python/tuple [26, 15] + - !!python/tuple [28, 29] + - !!python/tuple [0, 18] + - !!python/tuple [5, 29] + - !!python/tuple [26, 14] + - !!python/tuple [19, 15] + - !!python/tuple [0, 16] + - !!python/tuple [1, 22] + - !!python/tuple [19, 17] + - !!python/tuple [31, 17] + - !!python/tuple [5, 21] + - !!python/tuple [18, 8] + - !!python/tuple [1, 0] + - !!python/tuple [9, 22] + - !!python/tuple [2, 5] + - !!python/tuple [8, 16] + - !!python/tuple [12, 20] + - !!python/tuple [14, 23] + - !!python/tuple [20, 7] + - !!python/tuple [27, 15] + - !!python/tuple [24, 1] + - !!python/tuple [5, 8] + - !!python/tuple [15, 24] + - !!python/tuple [9, 7] + - !!python/tuple [24, 11] + - !!python/tuple [24, 27] + - !!python/tuple [15, 7] + - !!python/tuple [15, 13] + - !!python/tuple [31, 5] + - !!python/tuple [23, 20] + - !!python/tuple [30, 3] + - !!python/tuple [10, 6] + - !!python/tuple [10, 8] + - !!python/tuple [3, 26] + - !!python/tuple [19, 7] + - !!python/tuple [8, 4] + - !!python/tuple [18, 15] + - !!python/tuple [29, 19] + - !!python/tuple [28, 9] + - !!python/tuple [1, 6] + - !!python/tuple [1, 7] + - !!python/tuple [18, 28] + - !!python/tuple [26, 27] + - !!python/tuple [30, 10] + - !!python/tuple [10, 13] + - !!python/tuple [4, 5] + - !!python/tuple [23, 5] + - !!python/tuple [6, 28] + - !!python/tuple [27, 25] + - !!python/tuple [4, 19] + - !!python/tuple [0, 5] + - !!python/tuple [9, 9] + - !!python/tuple [31, 26] + - !!python/tuple [1, 27] + - !!python/tuple [20, 4] + - !!python/tuple [30, 21] + - !!python/tuple [2, 13] + - !!python/tuple [13, 2] + - !!python/tuple [12, 18] + - !!python/tuple [1, 21] + - !!python/tuple [3, 23] + - !!python/tuple [14, 29] + - !!python/tuple [18, 20] + - !!python/tuple [23, 27] + - !!python/tuple [25, 24] + - !!python/tuple [25, 25] + - !!python/tuple [14, 9] + - !!python/tuple [31, 30] + - !!python/tuple [26, 13] + - !!python/tuple [30, 26] + - !!python/tuple [16, 17] + - !!python/tuple [7, 8] + - !!python/tuple [13, 8] + - !!python/tuple [9, 24] + - !!python/tuple [13, 28] + - !!python/tuple [4, 9] + - !!python/tuple [17, 12] + - !!python/tuple [4, 24] + - !!python/tuple [12, 23] + - !!python/tuple [17, 7] + - !!python/tuple [18, 2] + - !!python/tuple [23, 8] + - !!python/tuple [19, 4] + - !!python/tuple [18, 22] + - !!python/tuple [1, 2] + - !!python/tuple [14, 7] + - !!python/tuple [8, 13] + - !!python/tuple [25, 28] + - !!python/tuple [21, 27] + - !!python/tuple [20, 8] + - !!python/tuple [10, 25] + - !!python/tuple [0, 24] + - !!python/tuple [16, 23] + - !!python/tuple [16, 19] + - !!python/tuple [18, 12] + - !!python/tuple [15, 0] + - !!python/tuple [17, 29] + - !!python/tuple [15, 3] + - !!python/tuple [26, 24] + - !!python/tuple [3, 2] + - !!python/tuple [28, 30] + - !!python/tuple [15, 26] + - !!python/tuple [24, 25] + - !!python/tuple [18, 11] + - !!python/tuple [18, 25] + - !!python/tuple [17, 4] + - !!python/tuple [21, 22] + - !!python/tuple [26, 23] + - !!python/tuple [11, 17] + - !!python/tuple [25, 29] + - !!python/tuple [16, 8] + - !!python/tuple [23, 13] + - !!python/tuple [27, 6] + - !!python/tuple [27, 14] + - !!python/tuple [5, 14] + - !!python/tuple [9, 27] + - !!python/tuple [25, 16] + - !!python/tuple [23, 25] + - !!python/tuple [1, 3] + - !!python/tuple [21, 6] + - !!python/tuple [17, 30] + - !!python/tuple [14, 8] + - !!python/tuple [9, 26] + - !!python/tuple [0, 14] + - !!python/tuple [10, 18] + - !!python/tuple [22, 14] + - !!python/tuple [14, 16] + - !!python/tuple [10, 10] + - !!python/tuple [21, 17] + - !!python/tuple [5, 10] + - !!python/tuple [8, 10] + - !!python/tuple [19, 0] + - !!python/tuple [8, 14] + - !!python/tuple [29, 23] + - !!python/tuple [20, 11] + - !!python/tuple [21, 9] + - !!python/tuple [26, 9] + - !!python/tuple [18, 7] + - !!python/tuple [27, 27] + - !!python/tuple [16, 13] + - !!python/tuple [10, 0] + - !!python/tuple [26, 1] + - !!python/tuple [9, 18] + - !!python/tuple [6, 31] + - !!python/tuple [1, 26] + - !!python/tuple [12, 31] + - !!python/tuple [20, 24] + - !!python/tuple [10, 7] + - !!python/tuple [13, 0] + - !!python/tuple [8, 9] + - !!python/tuple [30, 4] + - !!python/tuple [9, 25] + - !!python/tuple [24, 7] + - !!python/tuple [16, 12] + - !!python/tuple [30, 18] + - !!python/tuple [20, 12] + - !!python/tuple [3, 1] + - !!python/tuple [20, 29] + - !!python/tuple [24, 10] + - !!python/tuple [2, 4] + - !!python/tuple [29, 15] + - !!python/tuple [4, 21] + - !!python/tuple [19, 8] + - !!python/tuple [16, 0] + - !!python/tuple [21, 8] + - !!python/tuple [26, 19] + - !!python/tuple [30, 9] + - !!python/tuple [29, 30] + - !!python/tuple [22, 20] + - !!python/tuple [29, 18] + - !!python/tuple [14, 25] + - !!python/tuple [26, 12] + - !!python/tuple [22, 2] + - !!python/tuple [6, 15] + - !!python/tuple [11, 20] + - !!python/tuple [30, 22] + - !!python/tuple [15, 25] + - !!python/tuple [5, 0] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex18.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex18.yaml new file mode 100644 index 0000000..06f69cb --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex18.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [28, 1] + name: agent0 + start: [27, 28] +- goal: [14, 20] + name: agent1 + start: [8, 4] +- goal: [20, 1] + name: agent2 + start: [18, 16] +- goal: [18, 4] + name: agent3 + start: [24, 22] +- goal: [17, 2] + name: agent4 + start: [19, 24] +- goal: [3, 20] + name: agent5 + start: [26, 16] +- goal: [29, 20] + name: agent6 + start: [26, 22] +- goal: [15, 20] + name: agent7 + start: [2, 5] +- goal: [14, 31] + name: agent8 + start: [9, 25] +- goal: [5, 8] + name: agent9 + start: [12, 29] +- goal: [26, 20] + name: agent10 + start: [20, 17] +- goal: [0, 20] + name: agent11 + start: [19, 21] +- goal: [16, 18] + name: agent12 + start: [16, 0] +- goal: [11, 19] + name: agent13 + start: [23, 5] +- goal: [11, 18] + name: agent14 + start: [25, 20] +- goal: [17, 1] + name: agent15 + start: [17, 4] +- goal: [17, 4] + name: agent16 + start: [12, 13] +- goal: [27, 13] + name: agent17 + start: [5, 6] +- goal: [27, 3] + name: agent18 + start: [3, 6] +- goal: [12, 14] + name: agent19 + start: [28, 8] +- goal: [14, 21] + name: agent20 + start: [31, 22] +- goal: [5, 25] + name: agent21 + start: [5, 0] +- goal: [6, 30] + name: agent22 + start: [30, 4] +- goal: [13, 1] + name: agent23 + start: [27, 13] +- goal: [31, 25] + name: agent24 + start: [1, 1] +- goal: [11, 24] + name: agent25 + start: [9, 13] +- goal: [3, 29] + name: agent26 + start: [1, 9] +- goal: [15, 29] + name: agent27 + start: [10, 4] +- goal: [27, 26] + name: agent28 + start: [18, 4] +- goal: [25, 29] + name: agent29 + start: [14, 28] +- goal: [9, 17] + name: agent30 + start: [15, 29] +- goal: [8, 9] + name: agent31 + start: [15, 9] +- goal: [23, 17] + name: agent32 + start: [0, 24] +- goal: [13, 17] + name: agent33 + start: [11, 8] +- goal: [29, 31] + name: agent34 + start: [27, 17] +- goal: [9, 5] + name: agent35 + start: [6, 15] +- goal: [4, 30] + name: agent36 + start: [27, 12] +- goal: [0, 8] + name: agent37 + start: [24, 5] +- goal: [31, 9] + name: agent38 + start: [29, 19] +- goal: [9, 20] + name: agent39 + start: [1, 16] +- goal: [18, 15] + name: agent40 + start: [2, 20] +- goal: [18, 30] + name: agent41 + start: [10, 22] +- goal: [3, 28] + name: agent42 + start: [13, 2] +- goal: [9, 28] + name: agent43 + start: [23, 25] +- goal: [30, 11] + name: agent44 + start: [8, 11] +- goal: [7, 6] + name: agent45 + start: [12, 31] +- goal: [3, 26] + name: agent46 + start: [14, 2] +- goal: [6, 24] + name: agent47 + start: [25, 17] +- goal: [4, 10] + name: agent48 + start: [2, 25] +- goal: [24, 8] + name: agent49 + start: [26, 14] +- goal: [28, 12] + name: agent50 + start: [24, 7] +- goal: [5, 30] + name: agent51 + start: [20, 22] +- goal: [2, 13] + name: agent52 + start: [2, 9] +- goal: [16, 7] + name: agent53 + start: [28, 15] +- goal: [15, 8] + name: agent54 + start: [2, 14] +- goal: [1, 6] + name: agent55 + start: [24, 19] +- goal: [1, 2] + name: agent56 + start: [29, 12] +- goal: [9, 14] + name: agent57 + start: [4, 29] +- goal: [30, 2] + name: agent58 + start: [20, 28] +- goal: [11, 27] + name: agent59 + start: [10, 30] +- goal: [30, 21] + name: agent60 + start: [2, 8] +- goal: [0, 30] + name: agent61 + start: [30, 11] +- goal: [27, 18] + name: agent62 + start: [3, 25] +- goal: [9, 13] + name: agent63 + start: [22, 25] +- goal: [18, 27] + name: agent64 + start: [25, 27] +- goal: [14, 3] + name: agent65 + start: [17, 6] +- goal: [27, 6] + name: agent66 + start: [7, 2] +- goal: [13, 12] + name: agent67 + start: [16, 16] +- goal: [30, 24] + name: agent68 + start: [3, 21] +- goal: [10, 12] + name: agent69 + start: [9, 16] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [23, 8] + - !!python/tuple [1, 23] + - !!python/tuple [21, 24] + - !!python/tuple [31, 10] + - !!python/tuple [1, 5] + - !!python/tuple [16, 10] + - !!python/tuple [24, 10] + - !!python/tuple [17, 25] + - !!python/tuple [29, 1] + - !!python/tuple [12, 10] + - !!python/tuple [11, 5] + - !!python/tuple [25, 5] + - !!python/tuple [26, 18] + - !!python/tuple [5, 21] + - !!python/tuple [0, 21] + - !!python/tuple [27, 10] + - !!python/tuple [14, 27] + - !!python/tuple [21, 22] + - !!python/tuple [17, 18] + - !!python/tuple [0, 7] + - !!python/tuple [14, 15] + - !!python/tuple [17, 26] + - !!python/tuple [13, 20] + - !!python/tuple [17, 16] + - !!python/tuple [21, 31] + - !!python/tuple [22, 19] + - !!python/tuple [30, 18] + - !!python/tuple [13, 14] + - !!python/tuple [16, 11] + - !!python/tuple [20, 31] + - !!python/tuple [22, 6] + - !!python/tuple [31, 19] + - !!python/tuple [19, 15] + - !!python/tuple [24, 14] + - !!python/tuple [31, 23] + - !!python/tuple [29, 3] + - !!python/tuple [20, 16] + - !!python/tuple [7, 8] + - !!python/tuple [31, 31] + - !!python/tuple [8, 0] + - !!python/tuple [15, 7] + - !!python/tuple [19, 7] + - !!python/tuple [4, 0] + - !!python/tuple [3, 10] + - !!python/tuple [30, 30] + - !!python/tuple [0, 2] + - !!python/tuple [16, 6] + - !!python/tuple [5, 3] + - !!python/tuple [5, 20] + - !!python/tuple [10, 15] + - !!python/tuple [9, 0] + - !!python/tuple [4, 28] + - !!python/tuple [29, 22] + - !!python/tuple [22, 16] + - !!python/tuple [7, 28] + - !!python/tuple [3, 31] + - !!python/tuple [29, 14] + - !!python/tuple [14, 25] + - !!python/tuple [10, 27] + - !!python/tuple [27, 11] + - !!python/tuple [17, 11] + - !!python/tuple [8, 26] + - !!python/tuple [31, 5] + - !!python/tuple [1, 17] + - !!python/tuple [6, 25] + - !!python/tuple [5, 2] + - !!python/tuple [6, 17] + - !!python/tuple [16, 21] + - !!python/tuple [7, 19] + - !!python/tuple [24, 0] + - !!python/tuple [12, 3] + - !!python/tuple [9, 9] + - !!python/tuple [26, 21] + - !!python/tuple [28, 29] + - !!python/tuple [21, 16] + - !!python/tuple [18, 6] + - !!python/tuple [9, 27] + - !!python/tuple [13, 16] + - !!python/tuple [25, 31] + - !!python/tuple [23, 22] + - !!python/tuple [8, 1] + - !!python/tuple [8, 7] + - !!python/tuple [22, 10] + - !!python/tuple [22, 29] + - !!python/tuple [6, 10] + - !!python/tuple [26, 12] + - !!python/tuple [28, 18] + - !!python/tuple [2, 17] + - !!python/tuple [12, 26] + - !!python/tuple [11, 6] + - !!python/tuple [28, 16] + - !!python/tuple [16, 19] + - !!python/tuple [25, 7] + - !!python/tuple [29, 10] + - !!python/tuple [11, 11] + - !!python/tuple [9, 3] + - !!python/tuple [4, 19] + - !!python/tuple [16, 5] + - !!python/tuple [12, 22] + - !!python/tuple [29, 5] + - !!python/tuple [29, 18] + - !!python/tuple [22, 22] + - !!python/tuple [9, 15] + - !!python/tuple [18, 11] + - !!python/tuple [11, 29] + - !!python/tuple [14, 18] + - !!python/tuple [31, 15] + - !!python/tuple [8, 16] + - !!python/tuple [22, 7] + - !!python/tuple [30, 13] + - !!python/tuple [15, 27] + - !!python/tuple [20, 26] + - !!python/tuple [18, 28] + - !!python/tuple [13, 23] + - !!python/tuple [2, 27] + - !!python/tuple [26, 2] + - !!python/tuple [29, 4] + - !!python/tuple [11, 12] + - !!python/tuple [20, 11] + - !!python/tuple [18, 17] + - !!python/tuple [8, 30] + - !!python/tuple [2, 10] + - !!python/tuple [9, 22] + - !!python/tuple [12, 16] + - !!python/tuple [31, 6] + - !!python/tuple [23, 23] + - !!python/tuple [0, 6] + - !!python/tuple [2, 15] + - !!python/tuple [11, 20] + - !!python/tuple [31, 14] + - !!python/tuple [27, 27] + - !!python/tuple [8, 21] + - !!python/tuple [25, 4] + - !!python/tuple [10, 2] + - !!python/tuple [8, 18] + - !!python/tuple [21, 17] + - !!python/tuple [23, 10] + - !!python/tuple [19, 0] + - !!python/tuple [26, 17] + - !!python/tuple [6, 21] + - !!python/tuple [7, 1] + - !!python/tuple [28, 28] + - !!python/tuple [14, 1] + - !!python/tuple [10, 21] + - !!python/tuple [28, 30] + - !!python/tuple [26, 4] + - !!python/tuple [15, 1] + - !!python/tuple [26, 29] + - !!python/tuple [8, 10] + - !!python/tuple [2, 4] + - !!python/tuple [22, 26] + - !!python/tuple [4, 24] + - !!python/tuple [16, 29] + - !!python/tuple [9, 24] + - !!python/tuple [27, 25] + - !!python/tuple [23, 15] + - !!python/tuple [10, 26] + - !!python/tuple [28, 7] + - !!python/tuple [4, 16] + - !!python/tuple [26, 5] + - !!python/tuple [29, 29] + - !!python/tuple [25, 3] + - !!python/tuple [5, 17] + - !!python/tuple [22, 8] + - !!python/tuple [3, 12] + - !!python/tuple [0, 10] + - !!python/tuple [16, 4] + - !!python/tuple [18, 22] + - !!python/tuple [15, 6] + - !!python/tuple [17, 19] + - !!python/tuple [7, 14] + - !!python/tuple [15, 11] + - !!python/tuple [23, 9] + - !!python/tuple [1, 27] + - !!python/tuple [25, 22] + - !!python/tuple [6, 14] + - !!python/tuple [14, 4] + - !!python/tuple [20, 21] + - !!python/tuple [25, 10] + - !!python/tuple [28, 20] + - !!python/tuple [13, 3] + - !!python/tuple [25, 23] + - !!python/tuple [14, 7] + - !!python/tuple [17, 10] + - !!python/tuple [2, 3] + - !!python/tuple [4, 7] + - !!python/tuple [4, 21] + - !!python/tuple [4, 2] + - !!python/tuple [13, 30] + - !!python/tuple [0, 16] + - !!python/tuple [29, 0] + - !!python/tuple [9, 1] + - !!python/tuple [13, 26] + - !!python/tuple [22, 5] + - !!python/tuple [22, 17] + - !!python/tuple [15, 14] + - !!python/tuple [13, 10] + - !!python/tuple [21, 15] + - !!python/tuple [14, 30] + - !!python/tuple [19, 2] + - !!python/tuple [13, 28] + - !!python/tuple [23, 28] + - !!python/tuple [7, 9] + - !!python/tuple [17, 15] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex19.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex19.yaml new file mode 100644 index 0000000..4d25d45 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex19.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [15, 12] + name: agent0 + start: [15, 20] +- goal: [7, 27] + name: agent1 + start: [19, 21] +- goal: [14, 30] + name: agent2 + start: [31, 28] +- goal: [27, 18] + name: agent3 + start: [25, 16] +- goal: [5, 11] + name: agent4 + start: [25, 20] +- goal: [1, 3] + name: agent5 + start: [9, 1] +- goal: [25, 15] + name: agent6 + start: [18, 27] +- goal: [3, 9] + name: agent7 + start: [0, 0] +- goal: [30, 2] + name: agent8 + start: [11, 14] +- goal: [14, 6] + name: agent9 + start: [19, 29] +- goal: [7, 28] + name: agent10 + start: [13, 2] +- goal: [31, 19] + name: agent11 + start: [17, 20] +- goal: [2, 5] + name: agent12 + start: [7, 2] +- goal: [23, 14] + name: agent13 + start: [19, 2] +- goal: [16, 16] + name: agent14 + start: [21, 14] +- goal: [13, 14] + name: agent15 + start: [25, 5] +- goal: [23, 2] + name: agent16 + start: [12, 3] +- goal: [7, 3] + name: agent17 + start: [20, 7] +- goal: [24, 3] + name: agent18 + start: [30, 11] +- goal: [11, 1] + name: agent19 + start: [10, 17] +- goal: [5, 29] + name: agent20 + start: [29, 16] +- goal: [1, 14] + name: agent21 + start: [9, 25] +- goal: [7, 20] + name: agent22 + start: [26, 18] +- goal: [7, 23] + name: agent23 + start: [13, 10] +- goal: [26, 8] + name: agent24 + start: [14, 15] +- goal: [14, 27] + name: agent25 + start: [15, 16] +- goal: [19, 26] + name: agent26 + start: [5, 11] +- goal: [9, 1] + name: agent27 + start: [23, 12] +- goal: [3, 25] + name: agent28 + start: [1, 7] +- goal: [5, 14] + name: agent29 + start: [18, 23] +- goal: [13, 5] + name: agent30 + start: [7, 15] +- goal: [26, 24] + name: agent31 + start: [17, 27] +- goal: [2, 20] + name: agent32 + start: [20, 16] +- goal: [30, 18] + name: agent33 + start: [31, 30] +- goal: [22, 16] + name: agent34 + start: [26, 1] +- goal: [23, 5] + name: agent35 + start: [1, 31] +- goal: [12, 3] + name: agent36 + start: [28, 16] +- goal: [5, 31] + name: agent37 + start: [31, 5] +- goal: [27, 28] + name: agent38 + start: [16, 30] +- goal: [28, 3] + name: agent39 + start: [22, 1] +- goal: [13, 9] + name: agent40 + start: [28, 20] +- goal: [21, 7] + name: agent41 + start: [31, 17] +- goal: [23, 23] + name: agent42 + start: [16, 17] +- goal: [12, 4] + name: agent43 + start: [26, 2] +- goal: [0, 22] + name: agent44 + start: [5, 1] +- goal: [1, 31] + name: agent45 + start: [3, 10] +- goal: [15, 3] + name: agent46 + start: [4, 26] +- goal: [9, 27] + name: agent47 + start: [20, 22] +- goal: [24, 7] + name: agent48 + start: [4, 12] +- goal: [2, 14] + name: agent49 + start: [21, 10] +- goal: [0, 17] + name: agent50 + start: [29, 9] +- goal: [22, 3] + name: agent51 + start: [9, 2] +- goal: [8, 14] + name: agent52 + start: [11, 20] +- goal: [3, 22] + name: agent53 + start: [6, 27] +- goal: [2, 13] + name: agent54 + start: [30, 6] +- goal: [9, 2] + name: agent55 + start: [29, 5] +- goal: [5, 23] + name: agent56 + start: [0, 20] +- goal: [12, 31] + name: agent57 + start: [30, 29] +- goal: [15, 23] + name: agent58 + start: [28, 9] +- goal: [20, 22] + name: agent59 + start: [20, 8] +- goal: [30, 8] + name: agent60 + start: [5, 24] +- goal: [16, 15] + name: agent61 + start: [20, 13] +- goal: [10, 23] + name: agent62 + start: [22, 11] +- goal: [20, 13] + name: agent63 + start: [7, 23] +- goal: [15, 9] + name: agent64 + start: [23, 30] +- goal: [9, 9] + name: agent65 + start: [13, 14] +- goal: [26, 4] + name: agent66 + start: [24, 27] +- goal: [10, 6] + name: agent67 + start: [28, 15] +- goal: [23, 0] + name: agent68 + start: [3, 4] +- goal: [0, 4] + name: agent69 + start: [29, 29] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [13, 26] + - !!python/tuple [13, 1] + - !!python/tuple [3, 27] + - !!python/tuple [1, 19] + - !!python/tuple [12, 21] + - !!python/tuple [9, 15] + - !!python/tuple [17, 13] + - !!python/tuple [16, 4] + - !!python/tuple [17, 19] + - !!python/tuple [25, 13] + - !!python/tuple [25, 25] + - !!python/tuple [23, 28] + - !!python/tuple [27, 5] + - !!python/tuple [13, 8] + - !!python/tuple [7, 22] + - !!python/tuple [13, 22] + - !!python/tuple [21, 9] + - !!python/tuple [27, 12] + - !!python/tuple [4, 4] + - !!python/tuple [7, 25] + - !!python/tuple [15, 7] + - !!python/tuple [15, 19] + - !!python/tuple [27, 11] + - !!python/tuple [12, 26] + - !!python/tuple [3, 8] + - !!python/tuple [27, 16] + - !!python/tuple [21, 23] + - !!python/tuple [17, 6] + - !!python/tuple [27, 27] + - !!python/tuple [19, 20] + - !!python/tuple [23, 10] + - !!python/tuple [15, 8] + - !!python/tuple [29, 13] + - !!python/tuple [1, 23] + - !!python/tuple [1, 1] + - !!python/tuple [31, 21] + - !!python/tuple [1, 26] + - !!python/tuple [7, 4] + - !!python/tuple [5, 7] + - !!python/tuple [2, 9] + - !!python/tuple [16, 22] + - !!python/tuple [31, 29] + - !!python/tuple [29, 7] + - !!python/tuple [18, 30] + - !!python/tuple [28, 6] + - !!python/tuple [13, 4] + - !!python/tuple [12, 11] + - !!python/tuple [6, 21] + - !!python/tuple [25, 29] + - !!python/tuple [12, 24] + - !!python/tuple [22, 31] + - !!python/tuple [25, 14] + - !!python/tuple [5, 27] + - !!python/tuple [19, 30] + - !!python/tuple [17, 9] + - !!python/tuple [6, 11] + - !!python/tuple [27, 19] + - !!python/tuple [26, 25] + - !!python/tuple [14, 23] + - !!python/tuple [5, 12] + - !!python/tuple [10, 2] + - !!python/tuple [10, 0] + - !!python/tuple [3, 15] + - !!python/tuple [9, 22] + - !!python/tuple [0, 5] + - !!python/tuple [29, 27] + - !!python/tuple [12, 0] + - !!python/tuple [16, 9] + - !!python/tuple [23, 22] + - !!python/tuple [30, 9] + - !!python/tuple [13, 11] + - !!python/tuple [23, 16] + - !!python/tuple [27, 31] + - !!python/tuple [16, 20] + - !!python/tuple [16, 6] + - !!python/tuple [20, 29] + - !!python/tuple [31, 10] + - !!python/tuple [24, 18] + - !!python/tuple [6, 20] + - !!python/tuple [28, 12] + - !!python/tuple [22, 28] + - !!python/tuple [4, 16] + - !!python/tuple [5, 8] + - !!python/tuple [4, 24] + - !!python/tuple [14, 0] + - !!python/tuple [17, 11] + - !!python/tuple [22, 17] + - !!python/tuple [31, 7] + - !!python/tuple [30, 17] + - !!python/tuple [29, 12] + - !!python/tuple [27, 3] + - !!python/tuple [15, 31] + - !!python/tuple [19, 11] + - !!python/tuple [4, 13] + - !!python/tuple [4, 25] + - !!python/tuple [9, 3] + - !!python/tuple [6, 22] + - !!python/tuple [17, 5] + - !!python/tuple [11, 4] + - !!python/tuple [10, 25] + - !!python/tuple [8, 13] + - !!python/tuple [30, 30] + - !!python/tuple [18, 17] + - !!python/tuple [5, 28] + - !!python/tuple [28, 14] + - !!python/tuple [0, 2] + - !!python/tuple [27, 0] + - !!python/tuple [24, 30] + - !!python/tuple [29, 26] + - !!python/tuple [22, 18] + - !!python/tuple [23, 20] + - !!python/tuple [17, 22] + - !!python/tuple [7, 17] + - !!python/tuple [25, 3] + - !!python/tuple [21, 13] + - !!python/tuple [1, 22] + - !!python/tuple [9, 6] + - !!python/tuple [22, 14] + - !!python/tuple [4, 17] + - !!python/tuple [12, 5] + - !!python/tuple [23, 21] + - !!python/tuple [31, 8] + - !!python/tuple [23, 13] + - !!python/tuple [30, 13] + - !!python/tuple [2, 22] + - !!python/tuple [0, 24] + - !!python/tuple [0, 25] + - !!python/tuple [17, 28] + - !!python/tuple [14, 3] + - !!python/tuple [15, 26] + - !!python/tuple [20, 18] + - !!python/tuple [16, 25] + - !!python/tuple [0, 14] + - !!python/tuple [19, 31] + - !!python/tuple [11, 13] + - !!python/tuple [6, 29] + - !!python/tuple [10, 18] + - !!python/tuple [15, 2] + - !!python/tuple [15, 27] + - !!python/tuple [18, 5] + - !!python/tuple [10, 4] + - !!python/tuple [6, 25] + - !!python/tuple [0, 15] + - !!python/tuple [28, 7] + - !!python/tuple [23, 1] + - !!python/tuple [17, 31] + - !!python/tuple [21, 12] + - !!python/tuple [3, 2] + - !!python/tuple [29, 0] + - !!python/tuple [13, 19] + - !!python/tuple [12, 2] + - !!python/tuple [20, 21] + - !!python/tuple [12, 22] + - !!python/tuple [12, 9] + - !!python/tuple [13, 23] + - !!python/tuple [14, 5] + - !!python/tuple [5, 9] + - !!python/tuple [17, 0] + - !!python/tuple [31, 15] + - !!python/tuple [3, 24] + - !!python/tuple [7, 13] + - !!python/tuple [1, 13] + - !!python/tuple [21, 28] + - !!python/tuple [9, 30] + - !!python/tuple [17, 25] + - !!python/tuple [10, 28] + - !!python/tuple [29, 10] + - !!python/tuple [25, 22] + - !!python/tuple [28, 11] + - !!python/tuple [31, 22] + - !!python/tuple [4, 11] + - !!python/tuple [11, 28] + - !!python/tuple [25, 2] + - !!python/tuple [3, 6] + - !!python/tuple [18, 22] + - !!python/tuple [26, 11] + - !!python/tuple [20, 3] + - !!python/tuple [16, 11] + - !!python/tuple [30, 10] + - !!python/tuple [27, 26] + - !!python/tuple [23, 11] + - !!python/tuple [24, 20] + - !!python/tuple [29, 8] + - !!python/tuple [25, 27] + - !!python/tuple [22, 15] + - !!python/tuple [8, 10] + - !!python/tuple [13, 16] + - !!python/tuple [28, 17] + - !!python/tuple [18, 19] + - !!python/tuple [13, 21] + - !!python/tuple [16, 12] + - !!python/tuple [14, 16] + - !!python/tuple [6, 10] + - !!python/tuple [28, 28] + - !!python/tuple [11, 18] + - !!python/tuple [14, 31] + - !!python/tuple [18, 10] + - !!python/tuple [2, 24] + - !!python/tuple [20, 9] + - !!python/tuple [2, 27] + - !!python/tuple [4, 18] + - !!python/tuple [8, 9] + - !!python/tuple [16, 7] + - !!python/tuple [27, 1] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex2.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex2.yaml new file mode 100644 index 0000000..c93e9dc --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex2.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [6, 7] + name: agent0 + start: [30, 8] +- goal: [8, 23] + name: agent1 + start: [10, 3] +- goal: [27, 6] + name: agent2 + start: [20, 18] +- goal: [25, 26] + name: agent3 + start: [29, 3] +- goal: [6, 29] + name: agent4 + start: [1, 9] +- goal: [13, 2] + name: agent5 + start: [5, 16] +- goal: [31, 10] + name: agent6 + start: [25, 30] +- goal: [24, 13] + name: agent7 + start: [3, 7] +- goal: [25, 10] + name: agent8 + start: [0, 0] +- goal: [6, 30] + name: agent9 + start: [15, 9] +- goal: [21, 4] + name: agent10 + start: [19, 14] +- goal: [16, 26] + name: agent11 + start: [0, 13] +- goal: [23, 11] + name: agent12 + start: [13, 27] +- goal: [2, 4] + name: agent13 + start: [7, 12] +- goal: [10, 18] + name: agent14 + start: [1, 5] +- goal: [21, 27] + name: agent15 + start: [3, 23] +- goal: [27, 5] + name: agent16 + start: [13, 12] +- goal: [13, 27] + name: agent17 + start: [19, 10] +- goal: [14, 17] + name: agent18 + start: [23, 16] +- goal: [19, 28] + name: agent19 + start: [2, 8] +- goal: [3, 30] + name: agent20 + start: [15, 10] +- goal: [4, 29] + name: agent21 + start: [30, 0] +- goal: [5, 23] + name: agent22 + start: [7, 8] +- goal: [22, 29] + name: agent23 + start: [4, 19] +- goal: [16, 21] + name: agent24 + start: [13, 3] +- goal: [20, 9] + name: agent25 + start: [13, 20] +- goal: [27, 8] + name: agent26 + start: [19, 31] +- goal: [14, 8] + name: agent27 + start: [15, 17] +- goal: [8, 4] + name: agent28 + start: [23, 23] +- goal: [6, 18] + name: agent29 + start: [29, 15] +- goal: [21, 17] + name: agent30 + start: [8, 10] +- goal: [6, 28] + name: agent31 + start: [2, 6] +- goal: [25, 9] + name: agent32 + start: [6, 10] +- goal: [1, 15] + name: agent33 + start: [16, 31] +- goal: [1, 31] + name: agent34 + start: [23, 11] +- goal: [6, 12] + name: agent35 + start: [1, 10] +- goal: [1, 6] + name: agent36 + start: [1, 14] +- goal: [5, 15] + name: agent37 + start: [15, 30] +- goal: [21, 14] + name: agent38 + start: [25, 18] +- goal: [16, 12] + name: agent39 + start: [16, 21] +- goal: [4, 30] + name: agent40 + start: [6, 12] +- goal: [21, 20] + name: agent41 + start: [23, 12] +- goal: [9, 19] + name: agent42 + start: [6, 28] +- goal: [29, 2] + name: agent43 + start: [31, 7] +- goal: [8, 16] + name: agent44 + start: [31, 15] +- goal: [31, 27] + name: agent45 + start: [9, 10] +- goal: [2, 6] + name: agent46 + start: [25, 23] +- goal: [30, 19] + name: agent47 + start: [30, 19] +- goal: [9, 4] + name: agent48 + start: [29, 27] +- goal: [25, 15] + name: agent49 + start: [17, 14] +- goal: [2, 7] + name: agent50 + start: [14, 5] +- goal: [22, 31] + name: agent51 + start: [10, 23] +- goal: [18, 18] + name: agent52 + start: [30, 11] +- goal: [15, 28] + name: agent53 + start: [17, 8] +- goal: [15, 13] + name: agent54 + start: [13, 19] +- goal: [4, 16] + name: agent55 + start: [21, 1] +- goal: [12, 0] + name: agent56 + start: [6, 20] +- goal: [31, 29] + name: agent57 + start: [19, 21] +- goal: [23, 22] + name: agent58 + start: [12, 3] +- goal: [18, 28] + name: agent59 + start: [1, 6] +- goal: [12, 25] + name: agent60 + start: [29, 16] +- goal: [5, 31] + name: agent61 + start: [4, 22] +- goal: [26, 26] + name: agent62 + start: [18, 21] +- goal: [26, 9] + name: agent63 + start: [28, 0] +- goal: [19, 26] + name: agent64 + start: [27, 21] +- goal: [2, 12] + name: agent65 + start: [30, 27] +- goal: [23, 2] + name: agent66 + start: [27, 22] +- goal: [12, 15] + name: agent67 + start: [15, 25] +- goal: [7, 3] + name: agent68 + start: [25, 1] +- goal: [14, 24] + name: agent69 + start: [20, 25] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [8, 19] + - !!python/tuple [5, 24] + - !!python/tuple [23, 14] + - !!python/tuple [26, 10] + - !!python/tuple [6, 31] + - !!python/tuple [3, 26] + - !!python/tuple [1, 20] + - !!python/tuple [18, 19] + - !!python/tuple [22, 13] + - !!python/tuple [8, 9] + - !!python/tuple [27, 31] + - !!python/tuple [3, 25] + - !!python/tuple [4, 24] + - !!python/tuple [28, 18] + - !!python/tuple [18, 17] + - !!python/tuple [18, 9] + - !!python/tuple [16, 14] + - !!python/tuple [5, 11] + - !!python/tuple [13, 14] + - !!python/tuple [28, 13] + - !!python/tuple [19, 2] + - !!python/tuple [30, 24] + - !!python/tuple [23, 15] + - !!python/tuple [2, 16] + - !!python/tuple [17, 21] + - !!python/tuple [0, 11] + - !!python/tuple [11, 7] + - !!python/tuple [28, 26] + - !!python/tuple [16, 28] + - !!python/tuple [10, 19] + - !!python/tuple [9, 16] + - !!python/tuple [12, 16] + - !!python/tuple [5, 0] + - !!python/tuple [14, 16] + - !!python/tuple [18, 22] + - !!python/tuple [20, 6] + - !!python/tuple [27, 30] + - !!python/tuple [27, 15] + - !!python/tuple [20, 26] + - !!python/tuple [19, 18] + - !!python/tuple [25, 20] + - !!python/tuple [30, 15] + - !!python/tuple [8, 2] + - !!python/tuple [31, 8] + - !!python/tuple [6, 16] + - !!python/tuple [3, 18] + - !!python/tuple [22, 26] + - !!python/tuple [2, 2] + - !!python/tuple [29, 26] + - !!python/tuple [15, 23] + - !!python/tuple [12, 30] + - !!python/tuple [5, 9] + - !!python/tuple [29, 21] + - !!python/tuple [1, 0] + - !!python/tuple [3, 0] + - !!python/tuple [11, 16] + - !!python/tuple [3, 15] + - !!python/tuple [21, 31] + - !!python/tuple [2, 0] + - !!python/tuple [21, 7] + - !!python/tuple [28, 4] + - !!python/tuple [20, 12] + - !!python/tuple [3, 28] + - !!python/tuple [10, 21] + - !!python/tuple [5, 4] + - !!python/tuple [17, 30] + - !!python/tuple [5, 20] + - !!python/tuple [7, 26] + - !!python/tuple [4, 11] + - !!python/tuple [7, 21] + - !!python/tuple [29, 18] + - !!python/tuple [12, 11] + - !!python/tuple [7, 5] + - !!python/tuple [30, 31] + - !!python/tuple [18, 11] + - !!python/tuple [28, 5] + - !!python/tuple [16, 3] + - !!python/tuple [4, 10] + - !!python/tuple [26, 4] + - !!python/tuple [17, 29] + - !!python/tuple [18, 27] + - !!python/tuple [24, 17] + - !!python/tuple [23, 4] + - !!python/tuple [12, 6] + - !!python/tuple [0, 2] + - !!python/tuple [19, 29] + - !!python/tuple [24, 24] + - !!python/tuple [13, 26] + - !!python/tuple [8, 28] + - !!python/tuple [26, 0] + - !!python/tuple [14, 4] + - !!python/tuple [22, 17] + - !!python/tuple [21, 2] + - !!python/tuple [6, 8] + - !!python/tuple [1, 11] + - !!python/tuple [10, 0] + - !!python/tuple [30, 5] + - !!python/tuple [13, 28] + - !!python/tuple [28, 27] + - !!python/tuple [24, 3] + - !!python/tuple [17, 11] + - !!python/tuple [4, 25] + - !!python/tuple [12, 12] + - !!python/tuple [20, 22] + - !!python/tuple [10, 17] + - !!python/tuple [28, 11] + - !!python/tuple [29, 14] + - !!python/tuple [10, 20] + - !!python/tuple [0, 9] + - !!python/tuple [15, 12] + - !!python/tuple [31, 21] + - !!python/tuple [11, 11] + - !!python/tuple [9, 25] + - !!python/tuple [15, 7] + - !!python/tuple [9, 23] + - !!python/tuple [30, 25] + - !!python/tuple [11, 3] + - !!python/tuple [7, 30] + - !!python/tuple [2, 24] + - !!python/tuple [30, 1] + - !!python/tuple [9, 1] + - !!python/tuple [19, 8] + - !!python/tuple [12, 18] + - !!python/tuple [24, 8] + - !!python/tuple [2, 25] + - !!python/tuple [2, 15] + - !!python/tuple [9, 29] + - !!python/tuple [4, 13] + - !!python/tuple [27, 25] + - !!python/tuple [4, 31] + - !!python/tuple [12, 1] + - !!python/tuple [9, 6] + - !!python/tuple [5, 13] + - !!python/tuple [5, 14] + - !!python/tuple [19, 9] + - !!python/tuple [20, 4] + - !!python/tuple [27, 3] + - !!python/tuple [19, 6] + - !!python/tuple [26, 18] + - !!python/tuple [2, 14] + - !!python/tuple [9, 0] + - !!python/tuple [23, 5] + - !!python/tuple [11, 17] + - !!python/tuple [4, 27] + - !!python/tuple [0, 15] + - !!python/tuple [22, 27] + - !!python/tuple [4, 2] + - !!python/tuple [11, 31] + - !!python/tuple [20, 11] + - !!python/tuple [28, 15] + - !!python/tuple [7, 7] + - !!python/tuple [22, 21] + - !!python/tuple [20, 19] + - !!python/tuple [30, 20] + - !!python/tuple [19, 17] + - !!python/tuple [19, 22] + - !!python/tuple [22, 5] + - !!python/tuple [7, 22] + - !!python/tuple [10, 27] + - !!python/tuple [31, 12] + - !!python/tuple [18, 4] + - !!python/tuple [4, 18] + - !!python/tuple [18, 5] + - !!python/tuple [14, 1] + - !!python/tuple [4, 8] + - !!python/tuple [20, 2] + - !!python/tuple [23, 10] + - !!python/tuple [23, 27] + - !!python/tuple [8, 14] + - !!python/tuple [11, 6] + - !!python/tuple [19, 4] + - !!python/tuple [20, 17] + - !!python/tuple [24, 18] + - !!python/tuple [17, 12] + - !!python/tuple [23, 28] + - !!python/tuple [2, 21] + - !!python/tuple [16, 10] + - !!python/tuple [9, 9] + - !!python/tuple [21, 10] + - !!python/tuple [17, 2] + - !!python/tuple [16, 17] + - !!python/tuple [17, 15] + - !!python/tuple [17, 4] + - !!python/tuple [14, 6] + - !!python/tuple [18, 31] + - !!python/tuple [9, 28] + - !!python/tuple [30, 30] + - !!python/tuple [5, 10] + - !!python/tuple [31, 11] + - !!python/tuple [24, 11] + - !!python/tuple [10, 7] + - !!python/tuple [14, 3] + - !!python/tuple [3, 4] + - !!python/tuple [9, 8] + - !!python/tuple [21, 21] + - !!python/tuple [24, 26] + - !!python/tuple [26, 24] + - !!python/tuple [15, 21] + - !!python/tuple [15, 15] + - !!python/tuple [9, 20] + - !!python/tuple [31, 14] + - !!python/tuple [30, 17] + - !!python/tuple [3, 2] + - !!python/tuple [28, 20] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex20.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex20.yaml new file mode 100644 index 0000000..c434aeb --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex20.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [17, 10] + name: agent0 + start: [4, 0] +- goal: [7, 21] + name: agent1 + start: [11, 7] +- goal: [3, 19] + name: agent2 + start: [17, 23] +- goal: [7, 24] + name: agent3 + start: [15, 5] +- goal: [6, 3] + name: agent4 + start: [24, 13] +- goal: [24, 5] + name: agent5 + start: [15, 8] +- goal: [24, 31] + name: agent6 + start: [17, 29] +- goal: [3, 7] + name: agent7 + start: [31, 2] +- goal: [14, 0] + name: agent8 + start: [20, 13] +- goal: [9, 18] + name: agent9 + start: [21, 9] +- goal: [5, 2] + name: agent10 + start: [22, 23] +- goal: [30, 14] + name: agent11 + start: [7, 14] +- goal: [18, 6] + name: agent12 + start: [29, 13] +- goal: [23, 27] + name: agent13 + start: [13, 0] +- goal: [15, 12] + name: agent14 + start: [7, 23] +- goal: [19, 9] + name: agent15 + start: [11, 22] +- goal: [15, 10] + name: agent16 + start: [13, 12] +- goal: [22, 3] + name: agent17 + start: [6, 29] +- goal: [30, 27] + name: agent18 + start: [14, 26] +- goal: [13, 12] + name: agent19 + start: [10, 20] +- goal: [23, 17] + name: agent20 + start: [11, 30] +- goal: [4, 21] + name: agent21 + start: [0, 26] +- goal: [16, 4] + name: agent22 + start: [1, 0] +- goal: [4, 18] + name: agent23 + start: [16, 18] +- goal: [28, 18] + name: agent24 + start: [1, 13] +- goal: [8, 10] + name: agent25 + start: [0, 23] +- goal: [1, 14] + name: agent26 + start: [25, 8] +- goal: [17, 13] + name: agent27 + start: [20, 16] +- goal: [2, 31] + name: agent28 + start: [1, 19] +- goal: [8, 12] + name: agent29 + start: [2, 4] +- goal: [31, 12] + name: agent30 + start: [7, 18] +- goal: [18, 21] + name: agent31 + start: [14, 13] +- goal: [22, 27] + name: agent32 + start: [28, 31] +- goal: [6, 1] + name: agent33 + start: [15, 15] +- goal: [25, 16] + name: agent34 + start: [0, 22] +- goal: [0, 10] + name: agent35 + start: [8, 12] +- goal: [3, 12] + name: agent36 + start: [29, 21] +- goal: [6, 2] + name: agent37 + start: [25, 7] +- goal: [12, 12] + name: agent38 + start: [3, 20] +- goal: [3, 8] + name: agent39 + start: [30, 27] +- goal: [23, 19] + name: agent40 + start: [10, 8] +- goal: [27, 8] + name: agent41 + start: [17, 30] +- goal: [25, 5] + name: agent42 + start: [18, 8] +- goal: [14, 26] + name: agent43 + start: [10, 13] +- goal: [17, 9] + name: agent44 + start: [15, 30] +- goal: [10, 22] + name: agent45 + start: [4, 1] +- goal: [15, 16] + name: agent46 + start: [14, 25] +- goal: [24, 0] + name: agent47 + start: [6, 21] +- goal: [25, 21] + name: agent48 + start: [29, 4] +- goal: [25, 3] + name: agent49 + start: [8, 30] +- goal: [24, 24] + name: agent50 + start: [18, 13] +- goal: [12, 29] + name: agent51 + start: [17, 17] +- goal: [6, 8] + name: agent52 + start: [24, 5] +- goal: [9, 11] + name: agent53 + start: [10, 10] +- goal: [17, 15] + name: agent54 + start: [25, 26] +- goal: [16, 8] + name: agent55 + start: [19, 30] +- goal: [19, 17] + name: agent56 + start: [3, 31] +- goal: [28, 27] + name: agent57 + start: [30, 6] +- goal: [10, 2] + name: agent58 + start: [23, 6] +- goal: [30, 5] + name: agent59 + start: [7, 20] +- goal: [18, 15] + name: agent60 + start: [27, 8] +- goal: [16, 1] + name: agent61 + start: [20, 18] +- goal: [0, 21] + name: agent62 + start: [4, 18] +- goal: [23, 12] + name: agent63 + start: [17, 27] +- goal: [0, 6] + name: agent64 + start: [11, 26] +- goal: [5, 5] + name: agent65 + start: [24, 26] +- goal: [19, 4] + name: agent66 + start: [16, 14] +- goal: [31, 10] + name: agent67 + start: [9, 7] +- goal: [6, 5] + name: agent68 + start: [18, 22] +- goal: [20, 18] + name: agent69 + start: [24, 0] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [9, 1] + - !!python/tuple [6, 30] + - !!python/tuple [22, 28] + - !!python/tuple [16, 30] + - !!python/tuple [24, 18] + - !!python/tuple [5, 0] + - !!python/tuple [8, 25] + - !!python/tuple [24, 1] + - !!python/tuple [11, 3] + - !!python/tuple [0, 27] + - !!python/tuple [16, 23] + - !!python/tuple [16, 13] + - !!python/tuple [9, 3] + - !!python/tuple [1, 10] + - !!python/tuple [22, 19] + - !!python/tuple [9, 26] + - !!python/tuple [1, 8] + - !!python/tuple [7, 4] + - !!python/tuple [24, 30] + - !!python/tuple [6, 16] + - !!python/tuple [29, 25] + - !!python/tuple [7, 17] + - !!python/tuple [24, 7] + - !!python/tuple [17, 7] + - !!python/tuple [30, 10] + - !!python/tuple [19, 14] + - !!python/tuple [14, 29] + - !!python/tuple [7, 30] + - !!python/tuple [5, 18] + - !!python/tuple [26, 9] + - !!python/tuple [15, 26] + - !!python/tuple [9, 21] + - !!python/tuple [5, 14] + - !!python/tuple [1, 11] + - !!python/tuple [20, 5] + - !!python/tuple [21, 5] + - !!python/tuple [27, 4] + - !!python/tuple [26, 13] + - !!python/tuple [21, 14] + - !!python/tuple [0, 29] + - !!python/tuple [31, 16] + - !!python/tuple [3, 0] + - !!python/tuple [8, 7] + - !!python/tuple [5, 3] + - !!python/tuple [9, 20] + - !!python/tuple [19, 10] + - !!python/tuple [28, 22] + - !!python/tuple [29, 0] + - !!python/tuple [2, 30] + - !!python/tuple [18, 30] + - !!python/tuple [28, 21] + - !!python/tuple [25, 19] + - !!python/tuple [29, 30] + - !!python/tuple [27, 28] + - !!python/tuple [8, 4] + - !!python/tuple [1, 20] + - !!python/tuple [6, 15] + - !!python/tuple [20, 17] + - !!python/tuple [6, 28] + - !!python/tuple [24, 28] + - !!python/tuple [21, 22] + - !!python/tuple [17, 3] + - !!python/tuple [18, 16] + - !!python/tuple [12, 22] + - !!python/tuple [21, 24] + - !!python/tuple [10, 31] + - !!python/tuple [31, 18] + - !!python/tuple [7, 15] + - !!python/tuple [13, 20] + - !!python/tuple [0, 14] + - !!python/tuple [5, 23] + - !!python/tuple [0, 2] + - !!python/tuple [27, 10] + - !!python/tuple [0, 8] + - !!python/tuple [24, 6] + - !!python/tuple [31, 19] + - !!python/tuple [19, 12] + - !!python/tuple [22, 15] + - !!python/tuple [2, 25] + - !!python/tuple [21, 30] + - !!python/tuple [15, 23] + - !!python/tuple [18, 19] + - !!python/tuple [6, 0] + - !!python/tuple [13, 26] + - !!python/tuple [14, 10] + - !!python/tuple [13, 21] + - !!python/tuple [11, 21] + - !!python/tuple [18, 26] + - !!python/tuple [9, 31] + - !!python/tuple [4, 19] + - !!python/tuple [7, 7] + - !!python/tuple [18, 4] + - !!python/tuple [10, 19] + - !!python/tuple [21, 28] + - !!python/tuple [17, 26] + - !!python/tuple [31, 13] + - !!python/tuple [30, 24] + - !!python/tuple [24, 15] + - !!python/tuple [15, 20] + - !!python/tuple [5, 9] + - !!python/tuple [30, 22] + - !!python/tuple [8, 28] + - !!python/tuple [6, 17] + - !!python/tuple [22, 0] + - !!python/tuple [14, 14] + - !!python/tuple [12, 17] + - !!python/tuple [20, 1] + - !!python/tuple [17, 19] + - !!python/tuple [4, 14] + - !!python/tuple [17, 2] + - !!python/tuple [28, 13] + - !!python/tuple [10, 24] + - !!python/tuple [5, 28] + - !!python/tuple [4, 23] + - !!python/tuple [8, 24] + - !!python/tuple [21, 7] + - !!python/tuple [9, 0] + - !!python/tuple [3, 5] + - !!python/tuple [6, 19] + - !!python/tuple [5, 17] + - !!python/tuple [12, 16] + - !!python/tuple [9, 17] + - !!python/tuple [22, 4] + - !!python/tuple [18, 17] + - !!python/tuple [1, 16] + - !!python/tuple [29, 15] + - !!python/tuple [26, 21] + - !!python/tuple [13, 9] + - !!python/tuple [17, 22] + - !!python/tuple [19, 19] + - !!python/tuple [22, 6] + - !!python/tuple [27, 17] + - !!python/tuple [4, 25] + - !!python/tuple [5, 1] + - !!python/tuple [28, 23] + - !!python/tuple [11, 29] + - !!python/tuple [26, 16] + - !!python/tuple [15, 1] + - !!python/tuple [8, 14] + - !!python/tuple [6, 20] + - !!python/tuple [7, 5] + - !!python/tuple [25, 6] + - !!python/tuple [25, 31] + - !!python/tuple [2, 9] + - !!python/tuple [11, 4] + - !!python/tuple [6, 23] + - !!python/tuple [19, 0] + - !!python/tuple [12, 11] + - !!python/tuple [15, 18] + - !!python/tuple [5, 31] + - !!python/tuple [1, 6] + - !!python/tuple [31, 3] + - !!python/tuple [13, 19] + - !!python/tuple [4, 8] + - !!python/tuple [1, 9] + - !!python/tuple [24, 20] + - !!python/tuple [20, 25] + - !!python/tuple [29, 10] + - !!python/tuple [17, 4] + - !!python/tuple [8, 18] + - !!python/tuple [30, 17] + - !!python/tuple [9, 2] + - !!python/tuple [19, 13] + - !!python/tuple [28, 8] + - !!python/tuple [20, 28] + - !!python/tuple [9, 10] + - !!python/tuple [17, 24] + - !!python/tuple [13, 11] + - !!python/tuple [19, 18] + - !!python/tuple [19, 28] + - !!python/tuple [0, 1] + - !!python/tuple [27, 25] + - !!python/tuple [1, 17] + - !!python/tuple [11, 28] + - !!python/tuple [19, 6] + - !!python/tuple [12, 13] + - !!python/tuple [20, 12] + - !!python/tuple [27, 13] + - !!python/tuple [10, 28] + - !!python/tuple [26, 22] + - !!python/tuple [22, 21] + - !!python/tuple [20, 30] + - !!python/tuple [2, 24] + - !!python/tuple [31, 27] + - !!python/tuple [26, 19] + - !!python/tuple [1, 18] + - !!python/tuple [8, 20] + - !!python/tuple [6, 12] + - !!python/tuple [2, 0] + - !!python/tuple [11, 1] + - !!python/tuple [18, 5] + - !!python/tuple [6, 6] + - !!python/tuple [20, 24] + - !!python/tuple [2, 12] + - !!python/tuple [9, 27] + - !!python/tuple [13, 3] + - !!python/tuple [9, 5] + - !!python/tuple [26, 4] + - !!python/tuple [2, 5] + - !!python/tuple [3, 4] + - !!python/tuple [4, 13] + - !!python/tuple [21, 12] + - !!python/tuple [16, 21] + - !!python/tuple [28, 2] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex21.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex21.yaml new file mode 100644 index 0000000..746443d --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex21.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [1, 2] + name: agent0 + start: [9, 15] +- goal: [3, 21] + name: agent1 + start: [21, 30] +- goal: [9, 31] + name: agent2 + start: [17, 24] +- goal: [5, 16] + name: agent3 + start: [19, 19] +- goal: [3, 2] + name: agent4 + start: [19, 16] +- goal: [16, 13] + name: agent5 + start: [2, 12] +- goal: [15, 12] + name: agent6 + start: [2, 0] +- goal: [7, 1] + name: agent7 + start: [22, 21] +- goal: [28, 16] + name: agent8 + start: [10, 1] +- goal: [10, 31] + name: agent9 + start: [18, 14] +- goal: [23, 10] + name: agent10 + start: [8, 15] +- goal: [19, 22] + name: agent11 + start: [31, 25] +- goal: [20, 14] + name: agent12 + start: [25, 2] +- goal: [8, 26] + name: agent13 + start: [30, 7] +- goal: [2, 8] + name: agent14 + start: [30, 11] +- goal: [0, 28] + name: agent15 + start: [23, 25] +- goal: [16, 28] + name: agent16 + start: [21, 27] +- goal: [19, 0] + name: agent17 + start: [22, 15] +- goal: [12, 11] + name: agent18 + start: [20, 11] +- goal: [10, 15] + name: agent19 + start: [19, 24] +- goal: [26, 17] + name: agent20 + start: [20, 22] +- goal: [31, 29] + name: agent21 + start: [28, 20] +- goal: [8, 22] + name: agent22 + start: [26, 23] +- goal: [16, 24] + name: agent23 + start: [0, 15] +- goal: [21, 10] + name: agent24 + start: [13, 16] +- goal: [27, 4] + name: agent25 + start: [18, 8] +- goal: [17, 2] + name: agent26 + start: [27, 18] +- goal: [24, 0] + name: agent27 + start: [10, 28] +- goal: [18, 13] + name: agent28 + start: [24, 21] +- goal: [14, 30] + name: agent29 + start: [29, 19] +- goal: [10, 18] + name: agent30 + start: [14, 29] +- goal: [25, 3] + name: agent31 + start: [8, 1] +- goal: [2, 2] + name: agent32 + start: [4, 25] +- goal: [3, 14] + name: agent33 + start: [18, 3] +- goal: [15, 8] + name: agent34 + start: [23, 3] +- goal: [28, 25] + name: agent35 + start: [14, 20] +- goal: [14, 15] + name: agent36 + start: [4, 4] +- goal: [3, 4] + name: agent37 + start: [31, 5] +- goal: [5, 25] + name: agent38 + start: [18, 31] +- goal: [25, 9] + name: agent39 + start: [28, 21] +- goal: [12, 0] + name: agent40 + start: [22, 19] +- goal: [23, 16] + name: agent41 + start: [26, 25] +- goal: [27, 30] + name: agent42 + start: [15, 14] +- goal: [17, 27] + name: agent43 + start: [8, 29] +- goal: [20, 12] + name: agent44 + start: [13, 17] +- goal: [31, 24] + name: agent45 + start: [4, 12] +- goal: [27, 18] + name: agent46 + start: [26, 31] +- goal: [2, 1] + name: agent47 + start: [29, 15] +- goal: [10, 28] + name: agent48 + start: [20, 20] +- goal: [30, 5] + name: agent49 + start: [30, 27] +- goal: [14, 3] + name: agent50 + start: [12, 26] +- goal: [12, 13] + name: agent51 + start: [31, 12] +- goal: [18, 22] + name: agent52 + start: [21, 16] +- goal: [5, 30] + name: agent53 + start: [15, 2] +- goal: [28, 13] + name: agent54 + start: [31, 8] +- goal: [17, 16] + name: agent55 + start: [27, 27] +- goal: [25, 30] + name: agent56 + start: [14, 0] +- goal: [23, 29] + name: agent57 + start: [30, 28] +- goal: [28, 28] + name: agent58 + start: [18, 0] +- goal: [4, 23] + name: agent59 + start: [14, 5] +- goal: [28, 20] + name: agent60 + start: [8, 12] +- goal: [4, 25] + name: agent61 + start: [17, 22] +- goal: [23, 9] + name: agent62 + start: [16, 21] +- goal: [2, 6] + name: agent63 + start: [6, 29] +- goal: [22, 15] + name: agent64 + start: [15, 10] +- goal: [11, 16] + name: agent65 + start: [15, 30] +- goal: [15, 29] + name: agent66 + start: [9, 3] +- goal: [7, 7] + name: agent67 + start: [25, 24] +- goal: [5, 10] + name: agent68 + start: [4, 19] +- goal: [18, 28] + name: agent69 + start: [23, 18] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [28, 29] + - !!python/tuple [23, 23] + - !!python/tuple [0, 1] + - !!python/tuple [12, 23] + - !!python/tuple [15, 28] + - !!python/tuple [16, 18] + - !!python/tuple [13, 3] + - !!python/tuple [3, 23] + - !!python/tuple [27, 9] + - !!python/tuple [31, 22] + - !!python/tuple [6, 1] + - !!python/tuple [29, 5] + - !!python/tuple [28, 30] + - !!python/tuple [30, 14] + - !!python/tuple [4, 16] + - !!python/tuple [16, 29] + - !!python/tuple [30, 21] + - !!python/tuple [19, 23] + - !!python/tuple [8, 30] + - !!python/tuple [3, 26] + - !!python/tuple [29, 4] + - !!python/tuple [23, 31] + - !!python/tuple [4, 13] + - !!python/tuple [10, 19] + - !!python/tuple [2, 27] + - !!python/tuple [29, 8] + - !!python/tuple [28, 8] + - !!python/tuple [25, 16] + - !!python/tuple [1, 24] + - !!python/tuple [2, 17] + - !!python/tuple [31, 3] + - !!python/tuple [0, 7] + - !!python/tuple [31, 2] + - !!python/tuple [3, 6] + - !!python/tuple [11, 18] + - !!python/tuple [2, 24] + - !!python/tuple [27, 26] + - !!python/tuple [26, 20] + - !!python/tuple [22, 31] + - !!python/tuple [0, 8] + - !!python/tuple [17, 14] + - !!python/tuple [14, 16] + - !!python/tuple [25, 17] + - !!python/tuple [14, 28] + - !!python/tuple [16, 12] + - !!python/tuple [20, 30] + - !!python/tuple [13, 12] + - !!python/tuple [27, 2] + - !!python/tuple [19, 4] + - !!python/tuple [11, 0] + - !!python/tuple [3, 1] + - !!python/tuple [3, 27] + - !!python/tuple [6, 0] + - !!python/tuple [18, 6] + - !!python/tuple [3, 15] + - !!python/tuple [11, 14] + - !!python/tuple [15, 19] + - !!python/tuple [24, 14] + - !!python/tuple [27, 11] + - !!python/tuple [17, 28] + - !!python/tuple [24, 27] + - !!python/tuple [30, 6] + - !!python/tuple [0, 9] + - !!python/tuple [6, 3] + - !!python/tuple [5, 27] + - !!python/tuple [20, 25] + - !!python/tuple [13, 5] + - !!python/tuple [24, 5] + - !!python/tuple [3, 17] + - !!python/tuple [7, 16] + - !!python/tuple [22, 4] + - !!python/tuple [27, 10] + - !!python/tuple [23, 8] + - !!python/tuple [26, 0] + - !!python/tuple [31, 26] + - !!python/tuple [13, 30] + - !!python/tuple [13, 20] + - !!python/tuple [0, 13] + - !!python/tuple [16, 7] + - !!python/tuple [8, 10] + - !!python/tuple [7, 6] + - !!python/tuple [12, 12] + - !!python/tuple [1, 8] + - !!python/tuple [6, 31] + - !!python/tuple [26, 14] + - !!python/tuple [11, 17] + - !!python/tuple [5, 2] + - !!python/tuple [14, 13] + - !!python/tuple [14, 17] + - !!python/tuple [30, 30] + - !!python/tuple [26, 3] + - !!python/tuple [0, 17] + - !!python/tuple [16, 14] + - !!python/tuple [18, 5] + - !!python/tuple [16, 9] + - !!python/tuple [1, 30] + - !!python/tuple [28, 11] + - !!python/tuple [27, 24] + - !!python/tuple [21, 14] + - !!python/tuple [19, 9] + - !!python/tuple [2, 7] + - !!python/tuple [25, 8] + - !!python/tuple [11, 1] + - !!python/tuple [16, 8] + - !!python/tuple [10, 8] + - !!python/tuple [8, 6] + - !!python/tuple [27, 12] + - !!python/tuple [16, 19] + - !!python/tuple [17, 29] + - !!python/tuple [8, 14] + - !!python/tuple [14, 24] + - !!python/tuple [30, 2] + - !!python/tuple [4, 15] + - !!python/tuple [4, 5] + - !!python/tuple [17, 17] + - !!python/tuple [28, 19] + - !!python/tuple [9, 22] + - !!python/tuple [18, 17] + - !!python/tuple [13, 31] + - !!python/tuple [5, 28] + - !!python/tuple [22, 12] + - !!python/tuple [20, 28] + - !!python/tuple [25, 0] + - !!python/tuple [10, 12] + - !!python/tuple [4, 10] + - !!python/tuple [10, 25] + - !!python/tuple [15, 1] + - !!python/tuple [1, 6] + - !!python/tuple [30, 17] + - !!python/tuple [31, 31] + - !!python/tuple [21, 23] + - !!python/tuple [29, 7] + - !!python/tuple [29, 10] + - !!python/tuple [19, 11] + - !!python/tuple [10, 0] + - !!python/tuple [8, 2] + - !!python/tuple [24, 23] + - !!python/tuple [20, 23] + - !!python/tuple [13, 8] + - !!python/tuple [25, 10] + - !!python/tuple [25, 6] + - !!python/tuple [17, 0] + - !!python/tuple [9, 7] + - !!python/tuple [17, 9] + - !!python/tuple [2, 28] + - !!python/tuple [30, 1] + - !!python/tuple [24, 30] + - !!python/tuple [13, 9] + - !!python/tuple [10, 5] + - !!python/tuple [19, 14] + - !!python/tuple [12, 19] + - !!python/tuple [29, 11] + - !!python/tuple [23, 7] + - !!python/tuple [9, 21] + - !!python/tuple [20, 29] + - !!python/tuple [20, 13] + - !!python/tuple [4, 8] + - !!python/tuple [31, 9] + - !!python/tuple [1, 23] + - !!python/tuple [0, 23] + - !!python/tuple [12, 17] + - !!python/tuple [10, 11] + - !!python/tuple [14, 8] + - !!python/tuple [11, 4] + - !!python/tuple [10, 9] + - !!python/tuple [23, 4] + - !!python/tuple [23, 26] + - !!python/tuple [16, 23] + - !!python/tuple [27, 15] + - !!python/tuple [13, 14] + - !!python/tuple [25, 5] + - !!python/tuple [10, 14] + - !!python/tuple [22, 17] + - !!python/tuple [0, 22] + - !!python/tuple [12, 3] + - !!python/tuple [1, 26] + - !!python/tuple [19, 10] + - !!python/tuple [28, 15] + - !!python/tuple [8, 18] + - !!python/tuple [11, 28] + - !!python/tuple [10, 13] + - !!python/tuple [2, 14] + - !!python/tuple [6, 25] + - !!python/tuple [7, 26] + - !!python/tuple [23, 17] + - !!python/tuple [29, 23] + - !!python/tuple [21, 26] + - !!python/tuple [21, 5] + - !!python/tuple [30, 10] + - !!python/tuple [17, 5] + - !!python/tuple [25, 12] + - !!python/tuple [5, 17] + - !!python/tuple [26, 16] + - !!python/tuple [21, 20] + - !!python/tuple [27, 13] + - !!python/tuple [7, 25] + - !!python/tuple [28, 0] + - !!python/tuple [1, 12] + - !!python/tuple [3, 9] + - !!python/tuple [29, 6] + - !!python/tuple [19, 25] + - !!python/tuple [30, 8] + - !!python/tuple [9, 19] + - !!python/tuple [25, 29] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex22.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex22.yaml new file mode 100644 index 0000000..63b333a --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex22.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [15, 3] + name: agent0 + start: [24, 19] +- goal: [4, 10] + name: agent1 + start: [16, 13] +- goal: [23, 26] + name: agent2 + start: [18, 9] +- goal: [29, 1] + name: agent3 + start: [12, 7] +- goal: [12, 12] + name: agent4 + start: [11, 23] +- goal: [21, 23] + name: agent5 + start: [24, 27] +- goal: [8, 28] + name: agent6 + start: [28, 1] +- goal: [19, 29] + name: agent7 + start: [0, 10] +- goal: [23, 28] + name: agent8 + start: [30, 28] +- goal: [28, 18] + name: agent9 + start: [26, 9] +- goal: [21, 5] + name: agent10 + start: [28, 12] +- goal: [11, 9] + name: agent11 + start: [14, 13] +- goal: [4, 14] + name: agent12 + start: [28, 18] +- goal: [12, 3] + name: agent13 + start: [3, 12] +- goal: [6, 5] + name: agent14 + start: [24, 2] +- goal: [9, 6] + name: agent15 + start: [14, 19] +- goal: [1, 11] + name: agent16 + start: [7, 27] +- goal: [31, 13] + name: agent17 + start: [17, 10] +- goal: [23, 14] + name: agent18 + start: [13, 12] +- goal: [13, 12] + name: agent19 + start: [22, 22] +- goal: [29, 13] + name: agent20 + start: [26, 17] +- goal: [12, 9] + name: agent21 + start: [30, 13] +- goal: [3, 13] + name: agent22 + start: [4, 18] +- goal: [1, 13] + name: agent23 + start: [17, 3] +- goal: [9, 30] + name: agent24 + start: [29, 17] +- goal: [13, 20] + name: agent25 + start: [15, 2] +- goal: [11, 17] + name: agent26 + start: [25, 20] +- goal: [16, 5] + name: agent27 + start: [11, 1] +- goal: [20, 1] + name: agent28 + start: [20, 20] +- goal: [15, 24] + name: agent29 + start: [10, 5] +- goal: [4, 18] + name: agent30 + start: [26, 20] +- goal: [12, 26] + name: agent31 + start: [7, 26] +- goal: [2, 3] + name: agent32 + start: [16, 9] +- goal: [11, 14] + name: agent33 + start: [14, 2] +- goal: [17, 13] + name: agent34 + start: [14, 1] +- goal: [25, 14] + name: agent35 + start: [24, 16] +- goal: [10, 16] + name: agent36 + start: [12, 4] +- goal: [12, 30] + name: agent37 + start: [24, 26] +- goal: [11, 11] + name: agent38 + start: [9, 28] +- goal: [16, 17] + name: agent39 + start: [28, 10] +- goal: [30, 10] + name: agent40 + start: [8, 12] +- goal: [4, 2] + name: agent41 + start: [11, 21] +- goal: [28, 0] + name: agent42 + start: [16, 5] +- goal: [1, 20] + name: agent43 + start: [30, 10] +- goal: [22, 8] + name: agent44 + start: [18, 26] +- goal: [27, 4] + name: agent45 + start: [23, 7] +- goal: [9, 22] + name: agent46 + start: [2, 31] +- goal: [3, 11] + name: agent47 + start: [14, 3] +- goal: [22, 17] + name: agent48 + start: [23, 14] +- goal: [5, 17] + name: agent49 + start: [31, 14] +- goal: [6, 0] + name: agent50 + start: [10, 11] +- goal: [29, 21] + name: agent51 + start: [24, 14] +- goal: [28, 19] + name: agent52 + start: [20, 1] +- goal: [15, 15] + name: agent53 + start: [21, 26] +- goal: [3, 18] + name: agent54 + start: [29, 31] +- goal: [14, 4] + name: agent55 + start: [1, 19] +- goal: [28, 8] + name: agent56 + start: [16, 11] +- goal: [28, 11] + name: agent57 + start: [31, 17] +- goal: [25, 0] + name: agent58 + start: [29, 20] +- goal: [2, 31] + name: agent59 + start: [31, 30] +- goal: [9, 28] + name: agent60 + start: [15, 18] +- goal: [2, 18] + name: agent61 + start: [7, 31] +- goal: [17, 10] + name: agent62 + start: [22, 10] +- goal: [0, 10] + name: agent63 + start: [9, 7] +- goal: [17, 24] + name: agent64 + start: [7, 19] +- goal: [1, 0] + name: agent65 + start: [31, 0] +- goal: [29, 28] + name: agent66 + start: [6, 12] +- goal: [17, 21] + name: agent67 + start: [21, 16] +- goal: [16, 6] + name: agent68 + start: [15, 24] +- goal: [1, 22] + name: agent69 + start: [0, 14] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [31, 24] + - !!python/tuple [3, 20] + - !!python/tuple [16, 8] + - !!python/tuple [26, 14] + - !!python/tuple [13, 27] + - !!python/tuple [29, 15] + - !!python/tuple [0, 5] + - !!python/tuple [6, 14] + - !!python/tuple [2, 4] + - !!python/tuple [1, 5] + - !!python/tuple [4, 25] + - !!python/tuple [0, 20] + - !!python/tuple [28, 7] + - !!python/tuple [26, 4] + - !!python/tuple [25, 7] + - !!python/tuple [8, 27] + - !!python/tuple [21, 27] + - !!python/tuple [7, 14] + - !!python/tuple [8, 0] + - !!python/tuple [15, 27] + - !!python/tuple [22, 0] + - !!python/tuple [2, 2] + - !!python/tuple [29, 30] + - !!python/tuple [16, 4] + - !!python/tuple [1, 28] + - !!python/tuple [18, 21] + - !!python/tuple [16, 26] + - !!python/tuple [8, 18] + - !!python/tuple [22, 9] + - !!python/tuple [21, 11] + - !!python/tuple [19, 0] + - !!python/tuple [24, 9] + - !!python/tuple [6, 29] + - !!python/tuple [29, 23] + - !!python/tuple [31, 28] + - !!python/tuple [24, 7] + - !!python/tuple [11, 26] + - !!python/tuple [8, 17] + - !!python/tuple [27, 13] + - !!python/tuple [31, 22] + - !!python/tuple [10, 21] + - !!python/tuple [17, 0] + - !!python/tuple [10, 8] + - !!python/tuple [21, 0] + - !!python/tuple [17, 23] + - !!python/tuple [15, 22] + - !!python/tuple [19, 16] + - !!python/tuple [27, 26] + - !!python/tuple [30, 14] + - !!python/tuple [17, 18] + - !!python/tuple [16, 14] + - !!python/tuple [27, 27] + - !!python/tuple [24, 25] + - !!python/tuple [16, 18] + - !!python/tuple [26, 25] + - !!python/tuple [30, 2] + - !!python/tuple [27, 30] + - !!python/tuple [31, 31] + - !!python/tuple [30, 4] + - !!python/tuple [27, 9] + - !!python/tuple [14, 20] + - !!python/tuple [26, 7] + - !!python/tuple [22, 19] + - !!python/tuple [7, 30] + - !!python/tuple [15, 8] + - !!python/tuple [18, 31] + - !!python/tuple [8, 23] + - !!python/tuple [18, 17] + - !!python/tuple [1, 14] + - !!python/tuple [18, 6] + - !!python/tuple [31, 9] + - !!python/tuple [7, 11] + - !!python/tuple [3, 9] + - !!python/tuple [8, 30] + - !!python/tuple [13, 11] + - !!python/tuple [4, 3] + - !!python/tuple [30, 18] + - !!python/tuple [27, 18] + - !!python/tuple [27, 29] + - !!python/tuple [27, 28] + - !!python/tuple [7, 9] + - !!python/tuple [20, 6] + - !!python/tuple [10, 3] + - !!python/tuple [23, 24] + - !!python/tuple [13, 22] + - !!python/tuple [25, 6] + - !!python/tuple [8, 19] + - !!python/tuple [19, 5] + - !!python/tuple [26, 3] + - !!python/tuple [10, 18] + - !!python/tuple [29, 22] + - !!python/tuple [31, 18] + - !!python/tuple [13, 25] + - !!python/tuple [6, 8] + - !!python/tuple [19, 3] + - !!python/tuple [18, 22] + - !!python/tuple [1, 1] + - !!python/tuple [30, 25] + - !!python/tuple [6, 4] + - !!python/tuple [19, 26] + - !!python/tuple [26, 26] + - !!python/tuple [0, 7] + - !!python/tuple [31, 23] + - !!python/tuple [12, 0] + - !!python/tuple [24, 6] + - !!python/tuple [29, 0] + - !!python/tuple [23, 17] + - !!python/tuple [0, 3] + - !!python/tuple [5, 25] + - !!python/tuple [22, 29] + - !!python/tuple [17, 6] + - !!python/tuple [13, 21] + - !!python/tuple [0, 18] + - !!python/tuple [16, 25] + - !!python/tuple [3, 8] + - !!python/tuple [25, 26] + - !!python/tuple [12, 31] + - !!python/tuple [11, 22] + - !!python/tuple [2, 16] + - !!python/tuple [27, 22] + - !!python/tuple [26, 12] + - !!python/tuple [15, 16] + - !!python/tuple [23, 12] + - !!python/tuple [20, 8] + - !!python/tuple [6, 18] + - !!python/tuple [30, 8] + - !!python/tuple [11, 12] + - !!python/tuple [10, 1] + - !!python/tuple [30, 21] + - !!python/tuple [8, 14] + - !!python/tuple [12, 1] + - !!python/tuple [5, 31] + - !!python/tuple [8, 5] + - !!python/tuple [5, 18] + - !!python/tuple [2, 29] + - !!python/tuple [1, 29] + - !!python/tuple [26, 29] + - !!python/tuple [8, 6] + - !!python/tuple [10, 10] + - !!python/tuple [1, 9] + - !!python/tuple [25, 8] + - !!python/tuple [9, 27] + - !!python/tuple [12, 6] + - !!python/tuple [6, 7] + - !!python/tuple [28, 6] + - !!python/tuple [7, 22] + - !!python/tuple [27, 6] + - !!python/tuple [16, 29] + - !!python/tuple [3, 24] + - !!python/tuple [6, 19] + - !!python/tuple [15, 7] + - !!python/tuple [0, 8] + - !!python/tuple [14, 7] + - !!python/tuple [23, 31] + - !!python/tuple [23, 22] + - !!python/tuple [7, 29] + - !!python/tuple [14, 29] + - !!python/tuple [7, 10] + - !!python/tuple [4, 1] + - !!python/tuple [6, 20] + - !!python/tuple [3, 6] + - !!python/tuple [20, 28] + - !!python/tuple [13, 9] + - !!python/tuple [12, 20] + - !!python/tuple [22, 31] + - !!python/tuple [10, 7] + - !!python/tuple [19, 11] + - !!python/tuple [7, 1] + - !!python/tuple [2, 5] + - !!python/tuple [24, 11] + - !!python/tuple [21, 2] + - !!python/tuple [12, 17] + - !!python/tuple [12, 2] + - !!python/tuple [1, 23] + - !!python/tuple [31, 4] + - !!python/tuple [20, 24] + - !!python/tuple [15, 1] + - !!python/tuple [10, 26] + - !!python/tuple [15, 23] + - !!python/tuple [21, 10] + - !!python/tuple [1, 10] + - !!python/tuple [17, 20] + - !!python/tuple [20, 4] + - !!python/tuple [21, 6] + - !!python/tuple [1, 27] + - !!python/tuple [22, 27] + - !!python/tuple [18, 29] + - !!python/tuple [8, 24] + - !!python/tuple [31, 10] + - !!python/tuple [27, 25] + - !!python/tuple [27, 15] + - !!python/tuple [31, 3] + - !!python/tuple [24, 1] + - !!python/tuple [12, 16] + - !!python/tuple [26, 13] + - !!python/tuple [30, 0] + - !!python/tuple [20, 22] + - !!python/tuple [5, 10] + - !!python/tuple [5, 23] + - !!python/tuple [15, 21] + - !!python/tuple [9, 29] + - !!python/tuple [15, 4] + - !!python/tuple [4, 8] + - !!python/tuple [19, 10] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex23.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex23.yaml new file mode 100644 index 0000000..f20fc25 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex23.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [4, 12] + name: agent0 + start: [22, 22] +- goal: [25, 31] + name: agent1 + start: [11, 31] +- goal: [3, 23] + name: agent2 + start: [20, 22] +- goal: [16, 24] + name: agent3 + start: [7, 2] +- goal: [26, 13] + name: agent4 + start: [29, 22] +- goal: [9, 21] + name: agent5 + start: [4, 23] +- goal: [16, 23] + name: agent6 + start: [4, 31] +- goal: [10, 7] + name: agent7 + start: [0, 17] +- goal: [31, 27] + name: agent8 + start: [14, 13] +- goal: [11, 26] + name: agent9 + start: [4, 15] +- goal: [13, 14] + name: agent10 + start: [6, 13] +- goal: [21, 28] + name: agent11 + start: [16, 27] +- goal: [14, 19] + name: agent12 + start: [13, 19] +- goal: [9, 17] + name: agent13 + start: [24, 24] +- goal: [11, 1] + name: agent14 + start: [25, 25] +- goal: [13, 27] + name: agent15 + start: [29, 23] +- goal: [21, 7] + name: agent16 + start: [30, 1] +- goal: [30, 23] + name: agent17 + start: [12, 6] +- goal: [8, 30] + name: agent18 + start: [1, 29] +- goal: [4, 22] + name: agent19 + start: [16, 16] +- goal: [2, 31] + name: agent20 + start: [29, 2] +- goal: [1, 30] + name: agent21 + start: [8, 15] +- goal: [10, 12] + name: agent22 + start: [6, 2] +- goal: [18, 14] + name: agent23 + start: [13, 27] +- goal: [1, 3] + name: agent24 + start: [22, 30] +- goal: [29, 23] + name: agent25 + start: [3, 19] +- goal: [23, 3] + name: agent26 + start: [30, 17] +- goal: [7, 9] + name: agent27 + start: [19, 4] +- goal: [1, 24] + name: agent28 + start: [31, 27] +- goal: [10, 31] + name: agent29 + start: [19, 28] +- goal: [17, 16] + name: agent30 + start: [19, 20] +- goal: [11, 0] + name: agent31 + start: [28, 11] +- goal: [25, 1] + name: agent32 + start: [25, 28] +- goal: [17, 23] + name: agent33 + start: [19, 17] +- goal: [9, 20] + name: agent34 + start: [20, 18] +- goal: [15, 0] + name: agent35 + start: [27, 15] +- goal: [30, 26] + name: agent36 + start: [11, 15] +- goal: [27, 26] + name: agent37 + start: [19, 13] +- goal: [27, 9] + name: agent38 + start: [3, 22] +- goal: [3, 27] + name: agent39 + start: [27, 23] +- goal: [20, 19] + name: agent40 + start: [28, 27] +- goal: [21, 15] + name: agent41 + start: [27, 6] +- goal: [0, 19] + name: agent42 + start: [24, 10] +- goal: [8, 15] + name: agent43 + start: [10, 7] +- goal: [10, 24] + name: agent44 + start: [4, 20] +- goal: [3, 6] + name: agent45 + start: [20, 9] +- goal: [3, 17] + name: agent46 + start: [12, 22] +- goal: [17, 30] + name: agent47 + start: [3, 9] +- goal: [5, 14] + name: agent48 + start: [20, 1] +- goal: [0, 6] + name: agent49 + start: [26, 5] +- goal: [21, 11] + name: agent50 + start: [17, 20] +- goal: [16, 5] + name: agent51 + start: [12, 28] +- goal: [28, 24] + name: agent52 + start: [14, 4] +- goal: [6, 16] + name: agent53 + start: [31, 30] +- goal: [18, 6] + name: agent54 + start: [21, 25] +- goal: [22, 3] + name: agent55 + start: [13, 7] +- goal: [21, 17] + name: agent56 + start: [27, 24] +- goal: [28, 11] + name: agent57 + start: [2, 10] +- goal: [10, 30] + name: agent58 + start: [25, 15] +- goal: [23, 24] + name: agent59 + start: [18, 7] +- goal: [4, 30] + name: agent60 + start: [20, 14] +- goal: [12, 13] + name: agent61 + start: [0, 10] +- goal: [31, 18] + name: agent62 + start: [19, 11] +- goal: [12, 6] + name: agent63 + start: [19, 9] +- goal: [1, 0] + name: agent64 + start: [1, 31] +- goal: [20, 21] + name: agent65 + start: [19, 8] +- goal: [24, 25] + name: agent66 + start: [3, 4] +- goal: [29, 18] + name: agent67 + start: [25, 2] +- goal: [22, 10] + name: agent68 + start: [16, 11] +- goal: [9, 2] + name: agent69 + start: [9, 28] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [22, 5] + - !!python/tuple [16, 6] + - !!python/tuple [15, 26] + - !!python/tuple [6, 15] + - !!python/tuple [23, 22] + - !!python/tuple [17, 31] + - !!python/tuple [11, 17] + - !!python/tuple [29, 13] + - !!python/tuple [28, 22] + - !!python/tuple [6, 17] + - !!python/tuple [14, 0] + - !!python/tuple [31, 22] + - !!python/tuple [16, 30] + - !!python/tuple [24, 19] + - !!python/tuple [14, 22] + - !!python/tuple [9, 31] + - !!python/tuple [28, 5] + - !!python/tuple [22, 0] + - !!python/tuple [17, 10] + - !!python/tuple [11, 7] + - !!python/tuple [26, 23] + - !!python/tuple [19, 31] + - !!python/tuple [24, 7] + - !!python/tuple [14, 5] + - !!python/tuple [16, 4] + - !!python/tuple [26, 30] + - !!python/tuple [16, 18] + - !!python/tuple [6, 24] + - !!python/tuple [6, 28] + - !!python/tuple [12, 20] + - !!python/tuple [5, 5] + - !!python/tuple [13, 22] + - !!python/tuple [31, 25] + - !!python/tuple [3, 11] + - !!python/tuple [25, 11] + - !!python/tuple [25, 10] + - !!python/tuple [22, 29] + - !!python/tuple [16, 12] + - !!python/tuple [28, 2] + - !!python/tuple [11, 21] + - !!python/tuple [12, 4] + - !!python/tuple [29, 31] + - !!python/tuple [24, 29] + - !!python/tuple [3, 7] + - !!python/tuple [0, 26] + - !!python/tuple [18, 30] + - !!python/tuple [13, 17] + - !!python/tuple [0, 22] + - !!python/tuple [8, 13] + - !!python/tuple [16, 25] + - !!python/tuple [19, 16] + - !!python/tuple [27, 14] + - !!python/tuple [16, 22] + - !!python/tuple [21, 4] + - !!python/tuple [18, 27] + - !!python/tuple [20, 16] + - !!python/tuple [29, 16] + - !!python/tuple [19, 12] + - !!python/tuple [12, 23] + - !!python/tuple [11, 20] + - !!python/tuple [17, 26] + - !!python/tuple [16, 9] + - !!python/tuple [12, 2] + - !!python/tuple [7, 18] + - !!python/tuple [6, 7] + - !!python/tuple [8, 10] + - !!python/tuple [23, 15] + - !!python/tuple [0, 30] + - !!python/tuple [1, 23] + - !!python/tuple [18, 20] + - !!python/tuple [25, 20] + - !!python/tuple [31, 12] + - !!python/tuple [18, 31] + - !!python/tuple [3, 26] + - !!python/tuple [20, 3] + - !!python/tuple [22, 12] + - !!python/tuple [7, 0] + - !!python/tuple [31, 20] + - !!python/tuple [12, 1] + - !!python/tuple [5, 20] + - !!python/tuple [11, 28] + - !!python/tuple [0, 16] + - !!python/tuple [23, 25] + - !!python/tuple [26, 26] + - !!python/tuple [29, 11] + - !!python/tuple [13, 10] + - !!python/tuple [14, 11] + - !!python/tuple [2, 8] + - !!python/tuple [17, 3] + - !!python/tuple [13, 6] + - !!python/tuple [8, 24] + - !!python/tuple [15, 21] + - !!python/tuple [1, 13] + - !!python/tuple [28, 15] + - !!python/tuple [5, 24] + - !!python/tuple [2, 28] + - !!python/tuple [28, 30] + - !!python/tuple [23, 16] + - !!python/tuple [3, 30] + - !!python/tuple [16, 1] + - !!python/tuple [9, 27] + - !!python/tuple [19, 14] + - !!python/tuple [23, 10] + - !!python/tuple [5, 27] + - !!python/tuple [22, 20] + - !!python/tuple [8, 23] + - !!python/tuple [17, 5] + - !!python/tuple [23, 11] + - !!python/tuple [16, 29] + - !!python/tuple [9, 18] + - !!python/tuple [15, 3] + - !!python/tuple [26, 6] + - !!python/tuple [11, 14] + - !!python/tuple [0, 7] + - !!python/tuple [21, 1] + - !!python/tuple [12, 12] + - !!python/tuple [20, 30] + - !!python/tuple [15, 27] + - !!python/tuple [28, 1] + - !!python/tuple [10, 0] + - !!python/tuple [31, 23] + - !!python/tuple [15, 17] + - !!python/tuple [29, 0] + - !!python/tuple [5, 12] + - !!python/tuple [12, 5] + - !!python/tuple [11, 29] + - !!python/tuple [9, 13] + - !!python/tuple [15, 25] + - !!python/tuple [28, 13] + - !!python/tuple [2, 2] + - !!python/tuple [1, 11] + - !!python/tuple [5, 0] + - !!python/tuple [18, 26] + - !!python/tuple [20, 26] + - !!python/tuple [7, 30] + - !!python/tuple [2, 14] + - !!python/tuple [14, 1] + - !!python/tuple [22, 17] + - !!python/tuple [28, 9] + - !!python/tuple [3, 20] + - !!python/tuple [20, 4] + - !!python/tuple [0, 24] + - !!python/tuple [30, 14] + - !!python/tuple [31, 6] + - !!python/tuple [29, 3] + - !!python/tuple [13, 24] + - !!python/tuple [13, 0] + - !!python/tuple [11, 10] + - !!python/tuple [20, 8] + - !!python/tuple [23, 21] + - !!python/tuple [24, 13] + - !!python/tuple [0, 29] + - !!python/tuple [13, 21] + - !!python/tuple [11, 27] + - !!python/tuple [14, 14] + - !!python/tuple [11, 13] + - !!python/tuple [4, 24] + - !!python/tuple [28, 0] + - !!python/tuple [31, 10] + - !!python/tuple [20, 23] + - !!python/tuple [15, 11] + - !!python/tuple [30, 6] + - !!python/tuple [10, 14] + - !!python/tuple [19, 5] + - !!python/tuple [7, 5] + - !!python/tuple [29, 12] + - !!python/tuple [30, 16] + - !!python/tuple [14, 17] + - !!python/tuple [9, 10] + - !!python/tuple [14, 2] + - !!python/tuple [19, 2] + - !!python/tuple [9, 19] + - !!python/tuple [26, 16] + - !!python/tuple [22, 24] + - !!python/tuple [3, 3] + - !!python/tuple [11, 25] + - !!python/tuple [19, 29] + - !!python/tuple [31, 21] + - !!python/tuple [5, 18] + - !!python/tuple [9, 9] + - !!python/tuple [6, 31] + - !!python/tuple [17, 11] + - !!python/tuple [24, 30] + - !!python/tuple [0, 14] + - !!python/tuple [12, 14] + - !!python/tuple [12, 26] + - !!python/tuple [27, 11] + - !!python/tuple [31, 5] + - !!python/tuple [12, 17] + - !!python/tuple [18, 21] + - !!python/tuple [24, 21] + - !!python/tuple [28, 6] + - !!python/tuple [14, 18] + - !!python/tuple [2, 11] + - !!python/tuple [5, 10] + - !!python/tuple [12, 25] + - !!python/tuple [30, 27] + - !!python/tuple [15, 4] + - !!python/tuple [3, 1] + - !!python/tuple [23, 19] + - !!python/tuple [7, 29] + - !!python/tuple [31, 29] + - !!python/tuple [3, 13] + - !!python/tuple [24, 20] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex24.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex24.yaml new file mode 100644 index 0000000..249d607 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex24.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [25, 3] + name: agent0 + start: [31, 1] +- goal: [15, 14] + name: agent1 + start: [23, 24] +- goal: [14, 18] + name: agent2 + start: [5, 27] +- goal: [28, 16] + name: agent3 + start: [14, 18] +- goal: [1, 0] + name: agent4 + start: [19, 16] +- goal: [25, 19] + name: agent5 + start: [22, 9] +- goal: [22, 9] + name: agent6 + start: [1, 0] +- goal: [25, 10] + name: agent7 + start: [16, 3] +- goal: [8, 1] + name: agent8 + start: [4, 26] +- goal: [29, 29] + name: agent9 + start: [7, 3] +- goal: [28, 11] + name: agent10 + start: [30, 5] +- goal: [17, 31] + name: agent11 + start: [3, 15] +- goal: [1, 31] + name: agent12 + start: [12, 16] +- goal: [16, 7] + name: agent13 + start: [23, 19] +- goal: [2, 2] + name: agent14 + start: [18, 31] +- goal: [7, 31] + name: agent15 + start: [20, 13] +- goal: [9, 4] + name: agent16 + start: [10, 13] +- goal: [9, 11] + name: agent17 + start: [8, 31] +- goal: [22, 16] + name: agent18 + start: [13, 9] +- goal: [27, 28] + name: agent19 + start: [30, 14] +- goal: [29, 19] + name: agent20 + start: [14, 1] +- goal: [1, 17] + name: agent21 + start: [17, 4] +- goal: [4, 0] + name: agent22 + start: [24, 31] +- goal: [5, 18] + name: agent23 + start: [15, 27] +- goal: [21, 28] + name: agent24 + start: [31, 0] +- goal: [21, 14] + name: agent25 + start: [29, 14] +- goal: [15, 8] + name: agent26 + start: [17, 28] +- goal: [30, 26] + name: agent27 + start: [15, 5] +- goal: [22, 27] + name: agent28 + start: [9, 19] +- goal: [29, 14] + name: agent29 + start: [2, 2] +- goal: [9, 8] + name: agent30 + start: [27, 8] +- goal: [21, 10] + name: agent31 + start: [27, 23] +- goal: [26, 14] + name: agent32 + start: [23, 12] +- goal: [13, 26] + name: agent33 + start: [13, 1] +- goal: [15, 20] + name: agent34 + start: [31, 23] +- goal: [27, 14] + name: agent35 + start: [13, 28] +- goal: [2, 0] + name: agent36 + start: [8, 30] +- goal: [12, 15] + name: agent37 + start: [30, 18] +- goal: [16, 12] + name: agent38 + start: [4, 31] +- goal: [18, 19] + name: agent39 + start: [4, 30] +- goal: [28, 4] + name: agent40 + start: [13, 19] +- goal: [26, 27] + name: agent41 + start: [19, 9] +- goal: [19, 0] + name: agent42 + start: [15, 13] +- goal: [27, 17] + name: agent43 + start: [23, 6] +- goal: [0, 25] + name: agent44 + start: [24, 18] +- goal: [8, 23] + name: agent45 + start: [1, 22] +- goal: [7, 14] + name: agent46 + start: [28, 22] +- goal: [17, 23] + name: agent47 + start: [24, 6] +- goal: [25, 7] + name: agent48 + start: [14, 16] +- goal: [21, 1] + name: agent49 + start: [20, 17] +- goal: [6, 25] + name: agent50 + start: [16, 13] +- goal: [20, 23] + name: agent51 + start: [2, 7] +- goal: [1, 18] + name: agent52 + start: [4, 10] +- goal: [31, 6] + name: agent53 + start: [1, 28] +- goal: [11, 25] + name: agent54 + start: [11, 14] +- goal: [28, 10] + name: agent55 + start: [17, 31] +- goal: [25, 22] + name: agent56 + start: [14, 24] +- goal: [20, 15] + name: agent57 + start: [25, 28] +- goal: [29, 25] + name: agent58 + start: [7, 0] +- goal: [26, 7] + name: agent59 + start: [14, 8] +- goal: [24, 21] + name: agent60 + start: [20, 23] +- goal: [5, 16] + name: agent61 + start: [16, 20] +- goal: [22, 8] + name: agent62 + start: [10, 19] +- goal: [27, 22] + name: agent63 + start: [4, 23] +- goal: [2, 29] + name: agent64 + start: [9, 6] +- goal: [7, 18] + name: agent65 + start: [22, 0] +- goal: [4, 21] + name: agent66 + start: [4, 6] +- goal: [2, 1] + name: agent67 + start: [27, 13] +- goal: [6, 3] + name: agent68 + start: [10, 0] +- goal: [30, 2] + name: agent69 + start: [27, 3] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [10, 6] + - !!python/tuple [28, 27] + - !!python/tuple [5, 21] + - !!python/tuple [2, 12] + - !!python/tuple [19, 7] + - !!python/tuple [28, 8] + - !!python/tuple [14, 12] + - !!python/tuple [10, 15] + - !!python/tuple [18, 16] + - !!python/tuple [15, 6] + - !!python/tuple [12, 31] + - !!python/tuple [12, 11] + - !!python/tuple [21, 16] + - !!python/tuple [14, 13] + - !!python/tuple [24, 1] + - !!python/tuple [15, 10] + - !!python/tuple [8, 0] + - !!python/tuple [30, 7] + - !!python/tuple [29, 16] + - !!python/tuple [19, 27] + - !!python/tuple [18, 22] + - !!python/tuple [9, 16] + - !!python/tuple [25, 18] + - !!python/tuple [25, 17] + - !!python/tuple [21, 0] + - !!python/tuple [17, 19] + - !!python/tuple [14, 6] + - !!python/tuple [8, 18] + - !!python/tuple [10, 18] + - !!python/tuple [27, 12] + - !!python/tuple [16, 9] + - !!python/tuple [28, 20] + - !!python/tuple [12, 7] + - !!python/tuple [0, 14] + - !!python/tuple [14, 11] + - !!python/tuple [17, 0] + - !!python/tuple [12, 23] + - !!python/tuple [30, 6] + - !!python/tuple [30, 31] + - !!python/tuple [7, 17] + - !!python/tuple [6, 8] + - !!python/tuple [19, 10] + - !!python/tuple [12, 27] + - !!python/tuple [1, 30] + - !!python/tuple [6, 12] + - !!python/tuple [21, 17] + - !!python/tuple [21, 9] + - !!python/tuple [8, 29] + - !!python/tuple [1, 3] + - !!python/tuple [16, 26] + - !!python/tuple [12, 25] + - !!python/tuple [21, 4] + - !!python/tuple [22, 7] + - !!python/tuple [19, 6] + - !!python/tuple [10, 22] + - !!python/tuple [1, 8] + - !!python/tuple [20, 8] + - !!python/tuple [30, 8] + - !!python/tuple [12, 18] + - !!python/tuple [9, 14] + - !!python/tuple [4, 18] + - !!python/tuple [30, 22] + - !!python/tuple [28, 2] + - !!python/tuple [19, 12] + - !!python/tuple [19, 4] + - !!python/tuple [0, 28] + - !!python/tuple [14, 14] + - !!python/tuple [10, 5] + - !!python/tuple [14, 20] + - !!python/tuple [0, 4] + - !!python/tuple [6, 29] + - !!python/tuple [30, 27] + - !!python/tuple [1, 9] + - !!python/tuple [19, 20] + - !!python/tuple [2, 4] + - !!python/tuple [28, 13] + - !!python/tuple [26, 1] + - !!python/tuple [8, 14] + - !!python/tuple [31, 26] + - !!python/tuple [18, 13] + - !!python/tuple [9, 29] + - !!python/tuple [29, 1] + - !!python/tuple [29, 21] + - !!python/tuple [31, 25] + - !!python/tuple [16, 4] + - !!python/tuple [22, 2] + - !!python/tuple [21, 15] + - !!python/tuple [27, 20] + - !!python/tuple [4, 7] + - !!python/tuple [11, 16] + - !!python/tuple [12, 3] + - !!python/tuple [22, 30] + - !!python/tuple [4, 13] + - !!python/tuple [30, 11] + - !!python/tuple [8, 2] + - !!python/tuple [26, 17] + - !!python/tuple [23, 20] + - !!python/tuple [1, 26] + - !!python/tuple [8, 6] + - !!python/tuple [16, 8] + - !!python/tuple [25, 30] + - !!python/tuple [5, 13] + - !!python/tuple [20, 16] + - !!python/tuple [29, 17] + - !!python/tuple [31, 31] + - !!python/tuple [17, 2] + - !!python/tuple [17, 12] + - !!python/tuple [12, 24] + - !!python/tuple [5, 1] + - !!python/tuple [18, 0] + - !!python/tuple [26, 5] + - !!python/tuple [2, 5] + - !!python/tuple [19, 2] + - !!python/tuple [27, 10] + - !!python/tuple [10, 29] + - !!python/tuple [27, 25] + - !!python/tuple [2, 31] + - !!python/tuple [1, 2] + - !!python/tuple [7, 22] + - !!python/tuple [13, 13] + - !!python/tuple [23, 16] + - !!python/tuple [25, 14] + - !!python/tuple [20, 11] + - !!python/tuple [6, 30] + - !!python/tuple [9, 10] + - !!python/tuple [15, 15] + - !!python/tuple [7, 29] + - !!python/tuple [6, 23] + - !!python/tuple [2, 15] + - !!python/tuple [31, 13] + - !!python/tuple [21, 29] + - !!python/tuple [28, 19] + - !!python/tuple [6, 13] + - !!python/tuple [8, 10] + - !!python/tuple [18, 20] + - !!python/tuple [12, 13] + - !!python/tuple [26, 26] + - !!python/tuple [1, 13] + - !!python/tuple [30, 13] + - !!python/tuple [13, 17] + - !!python/tuple [5, 5] + - !!python/tuple [25, 27] + - !!python/tuple [15, 0] + - !!python/tuple [25, 1] + - !!python/tuple [4, 1] + - !!python/tuple [11, 7] + - !!python/tuple [2, 6] + - !!python/tuple [9, 21] + - !!python/tuple [2, 21] + - !!python/tuple [3, 26] + - !!python/tuple [3, 14] + - !!python/tuple [3, 13] + - !!python/tuple [31, 18] + - !!python/tuple [5, 14] + - !!python/tuple [13, 25] + - !!python/tuple [15, 25] + - !!python/tuple [31, 4] + - !!python/tuple [17, 20] + - !!python/tuple [4, 4] + - !!python/tuple [11, 23] + - !!python/tuple [2, 11] + - !!python/tuple [25, 13] + - !!python/tuple [12, 9] + - !!python/tuple [3, 5] + - !!python/tuple [8, 26] + - !!python/tuple [15, 19] + - !!python/tuple [3, 28] + - !!python/tuple [0, 7] + - !!python/tuple [5, 31] + - !!python/tuple [18, 6] + - !!python/tuple [8, 8] + - !!python/tuple [12, 26] + - !!python/tuple [28, 9] + - !!python/tuple [4, 8] + - !!python/tuple [11, 22] + - !!python/tuple [27, 7] + - !!python/tuple [10, 27] + - !!python/tuple [27, 27] + - !!python/tuple [25, 12] + - !!python/tuple [1, 21] + - !!python/tuple [2, 3] + - !!python/tuple [7, 9] + - !!python/tuple [11, 5] + - !!python/tuple [4, 3] + - !!python/tuple [12, 30] + - !!python/tuple [15, 24] + - !!python/tuple [7, 19] + - !!python/tuple [24, 23] + - !!python/tuple [18, 10] + - !!python/tuple [26, 16] + - !!python/tuple [11, 31] + - !!python/tuple [5, 22] + - !!python/tuple [9, 25] + - !!python/tuple [22, 26] + - !!python/tuple [19, 14] + - !!python/tuple [16, 21] + - !!python/tuple [18, 28] + - !!python/tuple [20, 5] + - !!python/tuple [30, 15] + - !!python/tuple [28, 0] + - !!python/tuple [11, 6] + - !!python/tuple [12, 10] + - !!python/tuple [22, 23] + - !!python/tuple [7, 1] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex25.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex25.yaml new file mode 100644 index 0000000..e472ed9 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex25.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [6, 0] + name: agent0 + start: [30, 27] +- goal: [16, 4] + name: agent1 + start: [26, 8] +- goal: [22, 27] + name: agent2 + start: [13, 27] +- goal: [10, 7] + name: agent3 + start: [19, 14] +- goal: [19, 16] + name: agent4 + start: [22, 30] +- goal: [20, 11] + name: agent5 + start: [2, 11] +- goal: [5, 3] + name: agent6 + start: [13, 17] +- goal: [22, 3] + name: agent7 + start: [7, 13] +- goal: [12, 7] + name: agent8 + start: [19, 26] +- goal: [29, 17] + name: agent9 + start: [20, 16] +- goal: [16, 31] + name: agent10 + start: [29, 8] +- goal: [31, 12] + name: agent11 + start: [5, 15] +- goal: [28, 15] + name: agent12 + start: [7, 4] +- goal: [29, 27] + name: agent13 + start: [22, 5] +- goal: [22, 25] + name: agent14 + start: [2, 19] +- goal: [29, 3] + name: agent15 + start: [3, 28] +- goal: [17, 31] + name: agent16 + start: [30, 18] +- goal: [1, 21] + name: agent17 + start: [17, 19] +- goal: [25, 13] + name: agent18 + start: [23, 28] +- goal: [23, 27] + name: agent19 + start: [19, 7] +- goal: [19, 17] + name: agent20 + start: [28, 23] +- goal: [23, 16] + name: agent21 + start: [31, 27] +- goal: [12, 0] + name: agent22 + start: [10, 16] +- goal: [7, 29] + name: agent23 + start: [6, 24] +- goal: [1, 1] + name: agent24 + start: [18, 4] +- goal: [24, 4] + name: agent25 + start: [27, 12] +- goal: [9, 19] + name: agent26 + start: [27, 1] +- goal: [18, 5] + name: agent27 + start: [30, 6] +- goal: [0, 28] + name: agent28 + start: [8, 15] +- goal: [23, 11] + name: agent29 + start: [23, 22] +- goal: [17, 12] + name: agent30 + start: [1, 11] +- goal: [9, 0] + name: agent31 + start: [25, 22] +- goal: [17, 21] + name: agent32 + start: [11, 1] +- goal: [9, 3] + name: agent33 + start: [28, 14] +- goal: [12, 19] + name: agent34 + start: [15, 15] +- goal: [6, 19] + name: agent35 + start: [5, 24] +- goal: [23, 7] + name: agent36 + start: [7, 7] +- goal: [27, 18] + name: agent37 + start: [22, 16] +- goal: [23, 2] + name: agent38 + start: [7, 28] +- goal: [3, 14] + name: agent39 + start: [15, 6] +- goal: [7, 15] + name: agent40 + start: [11, 10] +- goal: [4, 30] + name: agent41 + start: [30, 11] +- goal: [4, 21] + name: agent42 + start: [20, 25] +- goal: [30, 9] + name: agent43 + start: [23, 30] +- goal: [17, 19] + name: agent44 + start: [30, 16] +- goal: [12, 1] + name: agent45 + start: [23, 10] +- goal: [5, 18] + name: agent46 + start: [2, 13] +- goal: [27, 1] + name: agent47 + start: [30, 31] +- goal: [27, 14] + name: agent48 + start: [7, 23] +- goal: [14, 20] + name: agent49 + start: [22, 9] +- goal: [27, 2] + name: agent50 + start: [17, 26] +- goal: [0, 3] + name: agent51 + start: [17, 14] +- goal: [14, 19] + name: agent52 + start: [22, 11] +- goal: [5, 11] + name: agent53 + start: [8, 21] +- goal: [22, 15] + name: agent54 + start: [29, 15] +- goal: [15, 21] + name: agent55 + start: [19, 13] +- goal: [1, 13] + name: agent56 + start: [28, 21] +- goal: [19, 23] + name: agent57 + start: [14, 10] +- goal: [21, 17] + name: agent58 + start: [8, 19] +- goal: [18, 18] + name: agent59 + start: [12, 21] +- goal: [20, 2] + name: agent60 + start: [12, 26] +- goal: [20, 21] + name: agent61 + start: [12, 8] +- goal: [1, 31] + name: agent62 + start: [18, 29] +- goal: [4, 18] + name: agent63 + start: [23, 19] +- goal: [26, 3] + name: agent64 + start: [27, 9] +- goal: [11, 4] + name: agent65 + start: [11, 23] +- goal: [9, 9] + name: agent66 + start: [19, 4] +- goal: [24, 19] + name: agent67 + start: [8, 29] +- goal: [8, 7] + name: agent68 + start: [21, 7] +- goal: [4, 6] + name: agent69 + start: [9, 11] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [31, 23] + - !!python/tuple [29, 20] + - !!python/tuple [1, 3] + - !!python/tuple [25, 1] + - !!python/tuple [12, 6] + - !!python/tuple [9, 5] + - !!python/tuple [16, 17] + - !!python/tuple [4, 16] + - !!python/tuple [17, 22] + - !!python/tuple [29, 1] + - !!python/tuple [29, 21] + - !!python/tuple [17, 24] + - !!python/tuple [15, 7] + - !!python/tuple [0, 30] + - !!python/tuple [19, 12] + - !!python/tuple [22, 0] + - !!python/tuple [25, 0] + - !!python/tuple [23, 15] + - !!python/tuple [31, 8] + - !!python/tuple [11, 16] + - !!python/tuple [8, 10] + - !!python/tuple [0, 16] + - !!python/tuple [19, 15] + - !!python/tuple [20, 19] + - !!python/tuple [1, 22] + - !!python/tuple [29, 28] + - !!python/tuple [0, 5] + - !!python/tuple [20, 15] + - !!python/tuple [16, 22] + - !!python/tuple [21, 15] + - !!python/tuple [18, 13] + - !!python/tuple [12, 23] + - !!python/tuple [9, 13] + - !!python/tuple [0, 14] + - !!python/tuple [31, 21] + - !!python/tuple [13, 31] + - !!python/tuple [26, 18] + - !!python/tuple [31, 0] + - !!python/tuple [15, 2] + - !!python/tuple [2, 20] + - !!python/tuple [6, 1] + - !!python/tuple [26, 4] + - !!python/tuple [25, 17] + - !!python/tuple [2, 16] + - !!python/tuple [2, 5] + - !!python/tuple [14, 27] + - !!python/tuple [30, 17] + - !!python/tuple [18, 15] + - !!python/tuple [2, 27] + - !!python/tuple [28, 9] + - !!python/tuple [24, 0] + - !!python/tuple [29, 12] + - !!python/tuple [17, 3] + - !!python/tuple [3, 29] + - !!python/tuple [29, 7] + - !!python/tuple [13, 1] + - !!python/tuple [8, 6] + - !!python/tuple [0, 10] + - !!python/tuple [26, 16] + - !!python/tuple [3, 11] + - !!python/tuple [22, 4] + - !!python/tuple [17, 11] + - !!python/tuple [15, 3] + - !!python/tuple [16, 3] + - !!python/tuple [21, 4] + - !!python/tuple [3, 3] + - !!python/tuple [23, 18] + - !!python/tuple [31, 1] + - !!python/tuple [29, 0] + - !!python/tuple [2, 24] + - !!python/tuple [10, 23] + - !!python/tuple [11, 27] + - !!python/tuple [28, 12] + - !!python/tuple [26, 28] + - !!python/tuple [27, 20] + - !!python/tuple [11, 19] + - !!python/tuple [6, 11] + - !!python/tuple [10, 18] + - !!python/tuple [6, 10] + - !!python/tuple [26, 22] + - !!python/tuple [14, 13] + - !!python/tuple [14, 16] + - !!python/tuple [23, 24] + - !!python/tuple [4, 3] + - !!python/tuple [25, 8] + - !!python/tuple [17, 16] + - !!python/tuple [10, 21] + - !!python/tuple [12, 9] + - !!python/tuple [21, 11] + - !!python/tuple [25, 21] + - !!python/tuple [7, 11] + - !!python/tuple [30, 5] + - !!python/tuple [24, 7] + - !!python/tuple [24, 28] + - !!python/tuple [1, 25] + - !!python/tuple [18, 8] + - !!python/tuple [2, 8] + - !!python/tuple [14, 21] + - !!python/tuple [22, 21] + - !!python/tuple [13, 10] + - !!python/tuple [6, 20] + - !!python/tuple [26, 15] + - !!python/tuple [7, 2] + - !!python/tuple [2, 18] + - !!python/tuple [28, 7] + - !!python/tuple [5, 7] + - !!python/tuple [9, 14] + - !!python/tuple [11, 13] + - !!python/tuple [7, 1] + - !!python/tuple [9, 4] + - !!python/tuple [29, 22] + - !!python/tuple [24, 31] + - !!python/tuple [20, 26] + - !!python/tuple [5, 22] + - !!python/tuple [16, 9] + - !!python/tuple [9, 21] + - !!python/tuple [3, 17] + - !!python/tuple [5, 2] + - !!python/tuple [19, 8] + - !!python/tuple [3, 0] + - !!python/tuple [25, 10] + - !!python/tuple [28, 17] + - !!python/tuple [16, 25] + - !!python/tuple [17, 4] + - !!python/tuple [14, 25] + - !!python/tuple [13, 24] + - !!python/tuple [11, 3] + - !!python/tuple [5, 8] + - !!python/tuple [0, 29] + - !!python/tuple [4, 29] + - !!python/tuple [18, 24] + - !!python/tuple [7, 3] + - !!python/tuple [21, 12] + - !!python/tuple [29, 10] + - !!python/tuple [23, 25] + - !!python/tuple [3, 1] + - !!python/tuple [19, 25] + - !!python/tuple [4, 10] + - !!python/tuple [1, 12] + - !!python/tuple [21, 14] + - !!python/tuple [31, 16] + - !!python/tuple [22, 1] + - !!python/tuple [0, 13] + - !!python/tuple [26, 14] + - !!python/tuple [0, 25] + - !!python/tuple [22, 28] + - !!python/tuple [30, 12] + - !!python/tuple [4, 9] + - !!python/tuple [3, 25] + - !!python/tuple [13, 2] + - !!python/tuple [26, 6] + - !!python/tuple [16, 26] + - !!python/tuple [31, 25] + - !!python/tuple [3, 16] + - !!python/tuple [29, 11] + - !!python/tuple [21, 8] + - !!python/tuple [29, 24] + - !!python/tuple [28, 29] + - !!python/tuple [31, 31] + - !!python/tuple [18, 28] + - !!python/tuple [8, 23] + - !!python/tuple [6, 13] + - !!python/tuple [31, 20] + - !!python/tuple [2, 1] + - !!python/tuple [15, 28] + - !!python/tuple [6, 16] + - !!python/tuple [10, 15] + - !!python/tuple [12, 16] + - !!python/tuple [8, 24] + - !!python/tuple [26, 11] + - !!python/tuple [26, 19] + - !!python/tuple [6, 26] + - !!python/tuple [11, 8] + - !!python/tuple [6, 15] + - !!python/tuple [2, 9] + - !!python/tuple [27, 16] + - !!python/tuple [27, 5] + - !!python/tuple [7, 27] + - !!python/tuple [15, 20] + - !!python/tuple [29, 25] + - !!python/tuple [30, 29] + - !!python/tuple [9, 22] + - !!python/tuple [2, 10] + - !!python/tuple [18, 30] + - !!python/tuple [11, 9] + - !!python/tuple [15, 17] + - !!python/tuple [27, 23] + - !!python/tuple [0, 12] + - !!python/tuple [10, 14] + - !!python/tuple [31, 19] + - !!python/tuple [25, 26] + - !!python/tuple [26, 23] + - !!python/tuple [15, 5] + - !!python/tuple [21, 24] + - !!python/tuple [11, 31] + - !!python/tuple [4, 12] + - !!python/tuple [6, 3] + - !!python/tuple [14, 28] + - !!python/tuple [4, 13] + - !!python/tuple [6, 9] + - !!python/tuple [9, 7] + - !!python/tuple [24, 26] + - !!python/tuple [24, 1] + - !!python/tuple [24, 17] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex26.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex26.yaml new file mode 100644 index 0000000..7fa1dd8 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex26.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [7, 9] + name: agent0 + start: [24, 2] +- goal: [6, 4] + name: agent1 + start: [18, 1] +- goal: [0, 30] + name: agent2 + start: [14, 15] +- goal: [14, 26] + name: agent3 + start: [24, 17] +- goal: [30, 12] + name: agent4 + start: [23, 14] +- goal: [29, 17] + name: agent5 + start: [13, 18] +- goal: [10, 4] + name: agent6 + start: [13, 25] +- goal: [2, 28] + name: agent7 + start: [16, 6] +- goal: [2, 2] + name: agent8 + start: [5, 7] +- goal: [20, 26] + name: agent9 + start: [3, 30] +- goal: [26, 25] + name: agent10 + start: [16, 26] +- goal: [2, 10] + name: agent11 + start: [9, 25] +- goal: [4, 22] + name: agent12 + start: [8, 5] +- goal: [20, 24] + name: agent13 + start: [9, 14] +- goal: [18, 30] + name: agent14 + start: [26, 7] +- goal: [17, 13] + name: agent15 + start: [9, 3] +- goal: [15, 17] + name: agent16 + start: [26, 4] +- goal: [12, 10] + name: agent17 + start: [1, 0] +- goal: [19, 2] + name: agent18 + start: [22, 19] +- goal: [6, 21] + name: agent19 + start: [26, 1] +- goal: [15, 22] + name: agent20 + start: [27, 13] +- goal: [26, 9] + name: agent21 + start: [0, 19] +- goal: [27, 31] + name: agent22 + start: [16, 10] +- goal: [8, 0] + name: agent23 + start: [25, 29] +- goal: [30, 5] + name: agent24 + start: [3, 20] +- goal: [20, 4] + name: agent25 + start: [2, 20] +- goal: [9, 6] + name: agent26 + start: [25, 28] +- goal: [0, 28] + name: agent27 + start: [14, 19] +- goal: [9, 4] + name: agent28 + start: [0, 20] +- goal: [1, 21] + name: agent29 + start: [15, 16] +- goal: [29, 14] + name: agent30 + start: [23, 4] +- goal: [4, 14] + name: agent31 + start: [22, 27] +- goal: [24, 1] + name: agent32 + start: [19, 28] +- goal: [17, 19] + name: agent33 + start: [12, 29] +- goal: [9, 9] + name: agent34 + start: [26, 23] +- goal: [17, 20] + name: agent35 + start: [4, 23] +- goal: [6, 9] + name: agent36 + start: [16, 27] +- goal: [14, 5] + name: agent37 + start: [6, 0] +- goal: [0, 16] + name: agent38 + start: [24, 3] +- goal: [1, 22] + name: agent39 + start: [5, 0] +- goal: [5, 8] + name: agent40 + start: [24, 6] +- goal: [28, 9] + name: agent41 + start: [8, 22] +- goal: [27, 0] + name: agent42 + start: [0, 9] +- goal: [16, 12] + name: agent43 + start: [21, 28] +- goal: [6, 11] + name: agent44 + start: [19, 6] +- goal: [7, 14] + name: agent45 + start: [17, 4] +- goal: [4, 25] + name: agent46 + start: [20, 22] +- goal: [12, 15] + name: agent47 + start: [11, 2] +- goal: [21, 5] + name: agent48 + start: [19, 25] +- goal: [20, 13] + name: agent49 + start: [11, 24] +- goal: [26, 13] + name: agent50 + start: [24, 31] +- goal: [11, 21] + name: agent51 + start: [2, 15] +- goal: [9, 15] + name: agent52 + start: [26, 6] +- goal: [9, 30] + name: agent53 + start: [8, 2] +- goal: [16, 10] + name: agent54 + start: [31, 12] +- goal: [24, 31] + name: agent55 + start: [5, 29] +- goal: [12, 8] + name: agent56 + start: [31, 20] +- goal: [0, 10] + name: agent57 + start: [5, 16] +- goal: [25, 8] + name: agent58 + start: [29, 2] +- goal: [6, 23] + name: agent59 + start: [11, 21] +- goal: [25, 24] + name: agent60 + start: [21, 6] +- goal: [9, 3] + name: agent61 + start: [16, 18] +- goal: [28, 14] + name: agent62 + start: [11, 12] +- goal: [22, 15] + name: agent63 + start: [24, 8] +- goal: [27, 25] + name: agent64 + start: [15, 11] +- goal: [3, 9] + name: agent65 + start: [14, 18] +- goal: [20, 16] + name: agent66 + start: [4, 7] +- goal: [14, 3] + name: agent67 + start: [25, 18] +- goal: [18, 2] + name: agent68 + start: [27, 15] +- goal: [27, 21] + name: agent69 + start: [2, 13] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [7, 12] + - !!python/tuple [13, 30] + - !!python/tuple [26, 21] + - !!python/tuple [23, 29] + - !!python/tuple [29, 25] + - !!python/tuple [15, 0] + - !!python/tuple [13, 22] + - !!python/tuple [31, 13] + - !!python/tuple [5, 24] + - !!python/tuple [25, 0] + - !!python/tuple [24, 10] + - !!python/tuple [13, 0] + - !!python/tuple [29, 20] + - !!python/tuple [3, 5] + - !!python/tuple [6, 24] + - !!python/tuple [10, 24] + - !!python/tuple [5, 2] + - !!python/tuple [28, 13] + - !!python/tuple [16, 1] + - !!python/tuple [18, 20] + - !!python/tuple [14, 30] + - !!python/tuple [12, 30] + - !!python/tuple [28, 27] + - !!python/tuple [13, 13] + - !!python/tuple [28, 3] + - !!python/tuple [7, 30] + - !!python/tuple [17, 8] + - !!python/tuple [15, 26] + - !!python/tuple [18, 15] + - !!python/tuple [30, 10] + - !!python/tuple [13, 9] + - !!python/tuple [21, 15] + - !!python/tuple [8, 8] + - !!python/tuple [25, 23] + - !!python/tuple [22, 25] + - !!python/tuple [23, 22] + - !!python/tuple [26, 24] + - !!python/tuple [30, 9] + - !!python/tuple [26, 14] + - !!python/tuple [20, 14] + - !!python/tuple [3, 21] + - !!python/tuple [27, 6] + - !!python/tuple [8, 21] + - !!python/tuple [22, 23] + - !!python/tuple [29, 9] + - !!python/tuple [6, 27] + - !!python/tuple [0, 1] + - !!python/tuple [23, 17] + - !!python/tuple [3, 7] + - !!python/tuple [26, 8] + - !!python/tuple [28, 31] + - !!python/tuple [21, 12] + - !!python/tuple [22, 16] + - !!python/tuple [27, 12] + - !!python/tuple [2, 24] + - !!python/tuple [24, 7] + - !!python/tuple [26, 10] + - !!python/tuple [20, 25] + - !!python/tuple [9, 22] + - !!python/tuple [15, 27] + - !!python/tuple [11, 28] + - !!python/tuple [25, 25] + - !!python/tuple [19, 18] + - !!python/tuple [1, 25] + - !!python/tuple [12, 27] + - !!python/tuple [2, 1] + - !!python/tuple [0, 8] + - !!python/tuple [5, 23] + - !!python/tuple [4, 20] + - !!python/tuple [1, 5] + - !!python/tuple [17, 7] + - !!python/tuple [12, 14] + - !!python/tuple [16, 21] + - !!python/tuple [23, 10] + - !!python/tuple [7, 22] + - !!python/tuple [10, 6] + - !!python/tuple [8, 24] + - !!python/tuple [2, 12] + - !!python/tuple [18, 14] + - !!python/tuple [10, 21] + - !!python/tuple [4, 8] + - !!python/tuple [27, 16] + - !!python/tuple [8, 3] + - !!python/tuple [5, 9] + - !!python/tuple [1, 7] + - !!python/tuple [9, 8] + - !!python/tuple [13, 5] + - !!python/tuple [14, 12] + - !!python/tuple [26, 29] + - !!python/tuple [22, 14] + - !!python/tuple [6, 3] + - !!python/tuple [10, 28] + - !!python/tuple [11, 31] + - !!python/tuple [7, 19] + - !!python/tuple [2, 25] + - !!python/tuple [18, 24] + - !!python/tuple [12, 1] + - !!python/tuple [13, 24] + - !!python/tuple [5, 5] + - !!python/tuple [1, 13] + - !!python/tuple [30, 15] + - !!python/tuple [14, 13] + - !!python/tuple [0, 0] + - !!python/tuple [22, 17] + - !!python/tuple [10, 14] + - !!python/tuple [21, 24] + - !!python/tuple [3, 8] + - !!python/tuple [3, 13] + - !!python/tuple [8, 29] + - !!python/tuple [5, 13] + - !!python/tuple [15, 18] + - !!python/tuple [12, 2] + - !!python/tuple [3, 12] + - !!python/tuple [7, 7] + - !!python/tuple [28, 2] + - !!python/tuple [22, 29] + - !!python/tuple [30, 11] + - !!python/tuple [13, 4] + - !!python/tuple [4, 13] + - !!python/tuple [16, 25] + - !!python/tuple [8, 14] + - !!python/tuple [28, 26] + - !!python/tuple [1, 19] + - !!python/tuple [16, 28] + - !!python/tuple [23, 16] + - !!python/tuple [26, 3] + - !!python/tuple [30, 8] + - !!python/tuple [24, 14] + - !!python/tuple [16, 2] + - !!python/tuple [3, 28] + - !!python/tuple [27, 2] + - !!python/tuple [27, 7] + - !!python/tuple [6, 1] + - !!python/tuple [16, 11] + - !!python/tuple [11, 11] + - !!python/tuple [7, 2] + - !!python/tuple [5, 11] + - !!python/tuple [26, 17] + - !!python/tuple [11, 8] + - !!python/tuple [16, 13] + - !!python/tuple [10, 18] + - !!python/tuple [11, 9] + - !!python/tuple [24, 20] + - !!python/tuple [25, 21] + - !!python/tuple [18, 12] + - !!python/tuple [4, 15] + - !!python/tuple [4, 1] + - !!python/tuple [3, 22] + - !!python/tuple [5, 21] + - !!python/tuple [22, 24] + - !!python/tuple [13, 19] + - !!python/tuple [2, 18] + - !!python/tuple [9, 13] + - !!python/tuple [2, 9] + - !!python/tuple [17, 18] + - !!python/tuple [17, 31] + - !!python/tuple [4, 21] + - !!python/tuple [24, 21] + - !!python/tuple [4, 29] + - !!python/tuple [6, 31] + - !!python/tuple [3, 3] + - !!python/tuple [10, 8] + - !!python/tuple [18, 21] + - !!python/tuple [11, 4] + - !!python/tuple [15, 1] + - !!python/tuple [8, 9] + - !!python/tuple [28, 5] + - !!python/tuple [20, 29] + - !!python/tuple [26, 16] + - !!python/tuple [29, 3] + - !!python/tuple [10, 29] + - !!python/tuple [21, 16] + - !!python/tuple [12, 0] + - !!python/tuple [31, 11] + - !!python/tuple [22, 1] + - !!python/tuple [10, 2] + - !!python/tuple [11, 19] + - !!python/tuple [0, 18] + - !!python/tuple [29, 31] + - !!python/tuple [2, 6] + - !!python/tuple [12, 25] + - !!python/tuple [31, 7] + - !!python/tuple [1, 16] + - !!python/tuple [12, 11] + - !!python/tuple [31, 17] + - !!python/tuple [25, 1] + - !!python/tuple [10, 9] + - !!python/tuple [13, 27] + - !!python/tuple [14, 31] + - !!python/tuple [15, 23] + - !!python/tuple [13, 20] + - !!python/tuple [4, 6] + - !!python/tuple [8, 18] + - !!python/tuple [22, 7] + - !!python/tuple [22, 13] + - !!python/tuple [9, 27] + - !!python/tuple [31, 2] + - !!python/tuple [24, 5] + - !!python/tuple [31, 14] + - !!python/tuple [5, 10] + - !!python/tuple [7, 23] + - !!python/tuple [1, 9] + - !!python/tuple [6, 26] + - !!python/tuple [13, 31] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex27.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex27.yaml new file mode 100644 index 0000000..d83aac6 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex27.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [11, 0] + name: agent0 + start: [9, 28] +- goal: [1, 22] + name: agent1 + start: [31, 25] +- goal: [30, 26] + name: agent2 + start: [2, 23] +- goal: [10, 31] + name: agent3 + start: [18, 15] +- goal: [6, 17] + name: agent4 + start: [2, 24] +- goal: [18, 15] + name: agent5 + start: [11, 29] +- goal: [12, 14] + name: agent6 + start: [24, 7] +- goal: [22, 12] + name: agent7 + start: [16, 8] +- goal: [29, 22] + name: agent8 + start: [18, 3] +- goal: [5, 3] + name: agent9 + start: [22, 19] +- goal: [9, 22] + name: agent10 + start: [10, 2] +- goal: [7, 7] + name: agent11 + start: [14, 8] +- goal: [29, 31] + name: agent12 + start: [14, 29] +- goal: [15, 15] + name: agent13 + start: [15, 28] +- goal: [12, 23] + name: agent14 + start: [15, 14] +- goal: [4, 29] + name: agent15 + start: [16, 9] +- goal: [6, 5] + name: agent16 + start: [22, 7] +- goal: [22, 28] + name: agent17 + start: [3, 2] +- goal: [27, 30] + name: agent18 + start: [4, 14] +- goal: [21, 7] + name: agent19 + start: [25, 25] +- goal: [25, 5] + name: agent20 + start: [26, 10] +- goal: [4, 17] + name: agent21 + start: [7, 11] +- goal: [25, 14] + name: agent22 + start: [9, 4] +- goal: [15, 27] + name: agent23 + start: [2, 22] +- goal: [11, 24] + name: agent24 + start: [21, 6] +- goal: [17, 9] + name: agent25 + start: [4, 0] +- goal: [7, 10] + name: agent26 + start: [12, 10] +- goal: [7, 4] + name: agent27 + start: [20, 19] +- goal: [23, 8] + name: agent28 + start: [12, 14] +- goal: [31, 5] + name: agent29 + start: [27, 24] +- goal: [24, 5] + name: agent30 + start: [1, 25] +- goal: [8, 15] + name: agent31 + start: [2, 19] +- goal: [7, 29] + name: agent32 + start: [13, 1] +- goal: [0, 10] + name: agent33 + start: [25, 23] +- goal: [22, 3] + name: agent34 + start: [27, 30] +- goal: [15, 18] + name: agent35 + start: [21, 11] +- goal: [3, 3] + name: agent36 + start: [0, 14] +- goal: [31, 8] + name: agent37 + start: [3, 29] +- goal: [31, 2] + name: agent38 + start: [4, 9] +- goal: [12, 3] + name: agent39 + start: [18, 7] +- goal: [14, 9] + name: agent40 + start: [12, 29] +- goal: [25, 29] + name: agent41 + start: [17, 12] +- goal: [25, 24] + name: agent42 + start: [1, 0] +- goal: [25, 26] + name: agent43 + start: [3, 6] +- goal: [1, 12] + name: agent44 + start: [0, 10] +- goal: [5, 16] + name: agent45 + start: [1, 9] +- goal: [10, 30] + name: agent46 + start: [20, 13] +- goal: [12, 15] + name: agent47 + start: [13, 6] +- goal: [27, 15] + name: agent48 + start: [25, 3] +- goal: [17, 17] + name: agent49 + start: [29, 30] +- goal: [13, 8] + name: agent50 + start: [11, 21] +- goal: [7, 17] + name: agent51 + start: [5, 7] +- goal: [31, 12] + name: agent52 + start: [9, 30] +- goal: [28, 4] + name: agent53 + start: [9, 3] +- goal: [10, 22] + name: agent54 + start: [6, 10] +- goal: [11, 9] + name: agent55 + start: [16, 7] +- goal: [16, 19] + name: agent56 + start: [5, 6] +- goal: [10, 6] + name: agent57 + start: [17, 25] +- goal: [12, 5] + name: agent58 + start: [5, 28] +- goal: [31, 9] + name: agent59 + start: [4, 20] +- goal: [6, 4] + name: agent60 + start: [8, 5] +- goal: [26, 14] + name: agent61 + start: [2, 17] +- goal: [24, 3] + name: agent62 + start: [29, 18] +- goal: [21, 8] + name: agent63 + start: [22, 2] +- goal: [26, 9] + name: agent64 + start: [3, 24] +- goal: [17, 16] + name: agent65 + start: [6, 19] +- goal: [22, 2] + name: agent66 + start: [7, 7] +- goal: [4, 22] + name: agent67 + start: [13, 22] +- goal: [10, 7] + name: agent68 + start: [5, 16] +- goal: [15, 26] + name: agent69 + start: [9, 19] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [17, 19] + - !!python/tuple [8, 11] + - !!python/tuple [17, 22] + - !!python/tuple [31, 3] + - !!python/tuple [24, 15] + - !!python/tuple [18, 23] + - !!python/tuple [17, 28] + - !!python/tuple [4, 3] + - !!python/tuple [29, 27] + - !!python/tuple [2, 8] + - !!python/tuple [19, 25] + - !!python/tuple [2, 18] + - !!python/tuple [12, 19] + - !!python/tuple [23, 21] + - !!python/tuple [31, 23] + - !!python/tuple [26, 2] + - !!python/tuple [5, 22] + - !!python/tuple [4, 7] + - !!python/tuple [27, 3] + - !!python/tuple [2, 15] + - !!python/tuple [27, 31] + - !!python/tuple [28, 14] + - !!python/tuple [4, 12] + - !!python/tuple [1, 14] + - !!python/tuple [10, 19] + - !!python/tuple [21, 25] + - !!python/tuple [27, 22] + - !!python/tuple [17, 2] + - !!python/tuple [2, 7] + - !!python/tuple [19, 26] + - !!python/tuple [17, 24] + - !!python/tuple [2, 2] + - !!python/tuple [0, 2] + - !!python/tuple [29, 13] + - !!python/tuple [24, 24] + - !!python/tuple [11, 26] + - !!python/tuple [13, 3] + - !!python/tuple [10, 17] + - !!python/tuple [14, 13] + - !!python/tuple [1, 30] + - !!python/tuple [1, 28] + - !!python/tuple [13, 28] + - !!python/tuple [12, 20] + - !!python/tuple [15, 6] + - !!python/tuple [21, 12] + - !!python/tuple [26, 31] + - !!python/tuple [25, 28] + - !!python/tuple [29, 24] + - !!python/tuple [31, 26] + - !!python/tuple [1, 31] + - !!python/tuple [5, 12] + - !!python/tuple [2, 30] + - !!python/tuple [14, 16] + - !!python/tuple [3, 20] + - !!python/tuple [9, 6] + - !!python/tuple [20, 26] + - !!python/tuple [16, 10] + - !!python/tuple [0, 13] + - !!python/tuple [30, 31] + - !!python/tuple [9, 13] + - !!python/tuple [13, 31] + - !!python/tuple [24, 26] + - !!python/tuple [0, 31] + - !!python/tuple [14, 19] + - !!python/tuple [2, 13] + - !!python/tuple [3, 26] + - !!python/tuple [6, 15] + - !!python/tuple [20, 29] + - !!python/tuple [28, 5] + - !!python/tuple [8, 6] + - !!python/tuple [2, 16] + - !!python/tuple [4, 5] + - !!python/tuple [5, 21] + - !!python/tuple [29, 15] + - !!python/tuple [18, 17] + - !!python/tuple [20, 3] + - !!python/tuple [16, 30] + - !!python/tuple [25, 17] + - !!python/tuple [12, 4] + - !!python/tuple [23, 4] + - !!python/tuple [28, 26] + - !!python/tuple [30, 22] + - !!python/tuple [9, 23] + - !!python/tuple [17, 5] + - !!python/tuple [3, 0] + - !!python/tuple [1, 4] + - !!python/tuple [19, 23] + - !!python/tuple [21, 21] + - !!python/tuple [19, 27] + - !!python/tuple [16, 31] + - !!python/tuple [14, 31] + - !!python/tuple [21, 3] + - !!python/tuple [23, 9] + - !!python/tuple [10, 3] + - !!python/tuple [11, 14] + - !!python/tuple [18, 25] + - !!python/tuple [14, 21] + - !!python/tuple [20, 30] + - !!python/tuple [10, 11] + - !!python/tuple [30, 7] + - !!python/tuple [6, 9] + - !!python/tuple [8, 19] + - !!python/tuple [14, 20] + - !!python/tuple [16, 14] + - !!python/tuple [3, 10] + - !!python/tuple [17, 13] + - !!python/tuple [7, 26] + - !!python/tuple [17, 8] + - !!python/tuple [30, 1] + - !!python/tuple [19, 29] + - !!python/tuple [1, 21] + - !!python/tuple [20, 1] + - !!python/tuple [9, 25] + - !!python/tuple [16, 4] + - !!python/tuple [15, 1] + - !!python/tuple [22, 25] + - !!python/tuple [13, 11] + - !!python/tuple [25, 21] + - !!python/tuple [26, 11] + - !!python/tuple [23, 5] + - !!python/tuple [3, 18] + - !!python/tuple [15, 20] + - !!python/tuple [3, 16] + - !!python/tuple [4, 19] + - !!python/tuple [8, 3] + - !!python/tuple [29, 16] + - !!python/tuple [13, 26] + - !!python/tuple [19, 4] + - !!python/tuple [7, 30] + - !!python/tuple [18, 0] + - !!python/tuple [13, 16] + - !!python/tuple [8, 8] + - !!python/tuple [14, 5] + - !!python/tuple [8, 25] + - !!python/tuple [8, 14] + - !!python/tuple [30, 30] + - !!python/tuple [21, 30] + - !!python/tuple [16, 23] + - !!python/tuple [26, 18] + - !!python/tuple [11, 19] + - !!python/tuple [12, 1] + - !!python/tuple [23, 13] + - !!python/tuple [17, 15] + - !!python/tuple [18, 9] + - !!python/tuple [23, 12] + - !!python/tuple [31, 13] + - !!python/tuple [20, 17] + - !!python/tuple [29, 26] + - !!python/tuple [5, 30] + - !!python/tuple [23, 6] + - !!python/tuple [12, 11] + - !!python/tuple [11, 6] + - !!python/tuple [27, 18] + - !!python/tuple [24, 23] + - !!python/tuple [28, 2] + - !!python/tuple [1, 5] + - !!python/tuple [0, 20] + - !!python/tuple [23, 31] + - !!python/tuple [3, 9] + - !!python/tuple [30, 14] + - !!python/tuple [2, 21] + - !!python/tuple [18, 8] + - !!python/tuple [26, 24] + - !!python/tuple [30, 3] + - !!python/tuple [27, 7] + - !!python/tuple [22, 26] + - !!python/tuple [7, 27] + - !!python/tuple [25, 6] + - !!python/tuple [15, 9] + - !!python/tuple [1, 6] + - !!python/tuple [31, 29] + - !!python/tuple [31, 15] + - !!python/tuple [24, 2] + - !!python/tuple [19, 31] + - !!python/tuple [4, 10] + - !!python/tuple [2, 26] + - !!python/tuple [22, 21] + - !!python/tuple [21, 19] + - !!python/tuple [23, 14] + - !!python/tuple [3, 1] + - !!python/tuple [23, 22] + - !!python/tuple [26, 19] + - !!python/tuple [7, 19] + - !!python/tuple [28, 1] + - !!python/tuple [6, 8] + - !!python/tuple [9, 26] + - !!python/tuple [8, 20] + - !!python/tuple [6, 30] + - !!python/tuple [8, 0] + - !!python/tuple [3, 21] + - !!python/tuple [28, 16] + - !!python/tuple [12, 21] + - !!python/tuple [24, 29] + - !!python/tuple [4, 27] + - !!python/tuple [8, 26] + - !!python/tuple [7, 25] + - !!python/tuple [21, 9] + - !!python/tuple [5, 20] + - !!python/tuple [6, 14] + - !!python/tuple [13, 27] + - !!python/tuple [25, 11] + - !!python/tuple [31, 14] + - !!python/tuple [20, 6] + - !!python/tuple [5, 0] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex28.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex28.yaml new file mode 100644 index 0000000..c496390 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex28.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [11, 29] + name: agent0 + start: [30, 1] +- goal: [16, 8] + name: agent1 + start: [14, 19] +- goal: [27, 6] + name: agent2 + start: [2, 0] +- goal: [29, 19] + name: agent3 + start: [12, 9] +- goal: [19, 1] + name: agent4 + start: [20, 28] +- goal: [14, 22] + name: agent5 + start: [17, 1] +- goal: [25, 24] + name: agent6 + start: [31, 26] +- goal: [4, 30] + name: agent7 + start: [14, 0] +- goal: [8, 28] + name: agent8 + start: [31, 18] +- goal: [2, 13] + name: agent9 + start: [31, 10] +- goal: [25, 18] + name: agent10 + start: [13, 21] +- goal: [11, 22] + name: agent11 + start: [20, 24] +- goal: [19, 18] + name: agent12 + start: [13, 12] +- goal: [2, 5] + name: agent13 + start: [25, 31] +- goal: [28, 31] + name: agent14 + start: [16, 21] +- goal: [20, 20] + name: agent15 + start: [16, 15] +- goal: [7, 23] + name: agent16 + start: [22, 2] +- goal: [27, 0] + name: agent17 + start: [16, 24] +- goal: [16, 13] + name: agent18 + start: [23, 12] +- goal: [0, 10] + name: agent19 + start: [21, 3] +- goal: [18, 16] + name: agent20 + start: [23, 16] +- goal: [0, 2] + name: agent21 + start: [18, 0] +- goal: [6, 18] + name: agent22 + start: [24, 7] +- goal: [23, 19] + name: agent23 + start: [9, 16] +- goal: [19, 12] + name: agent24 + start: [8, 22] +- goal: [0, 13] + name: agent25 + start: [11, 4] +- goal: [23, 12] + name: agent26 + start: [6, 29] +- goal: [23, 20] + name: agent27 + start: [6, 28] +- goal: [8, 0] + name: agent28 + start: [10, 30] +- goal: [31, 2] + name: agent29 + start: [26, 1] +- goal: [2, 24] + name: agent30 + start: [0, 13] +- goal: [25, 31] + name: agent31 + start: [23, 7] +- goal: [11, 7] + name: agent32 + start: [4, 4] +- goal: [28, 5] + name: agent33 + start: [22, 19] +- goal: [0, 1] + name: agent34 + start: [27, 4] +- goal: [14, 15] + name: agent35 + start: [6, 4] +- goal: [19, 4] + name: agent36 + start: [12, 17] +- goal: [21, 17] + name: agent37 + start: [0, 4] +- goal: [18, 23] + name: agent38 + start: [28, 7] +- goal: [19, 30] + name: agent39 + start: [22, 14] +- goal: [27, 10] + name: agent40 + start: [6, 0] +- goal: [7, 26] + name: agent41 + start: [30, 23] +- goal: [5, 25] + name: agent42 + start: [14, 5] +- goal: [12, 16] + name: agent43 + start: [17, 19] +- goal: [24, 10] + name: agent44 + start: [25, 2] +- goal: [7, 8] + name: agent45 + start: [21, 9] +- goal: [31, 27] + name: agent46 + start: [4, 8] +- goal: [2, 27] + name: agent47 + start: [12, 16] +- goal: [8, 20] + name: agent48 + start: [4, 30] +- goal: [8, 29] + name: agent49 + start: [4, 25] +- goal: [11, 5] + name: agent50 + start: [29, 11] +- goal: [24, 1] + name: agent51 + start: [31, 2] +- goal: [22, 16] + name: agent52 + start: [29, 20] +- goal: [30, 25] + name: agent53 + start: [14, 27] +- goal: [9, 19] + name: agent54 + start: [25, 25] +- goal: [24, 0] + name: agent55 + start: [31, 5] +- goal: [22, 28] + name: agent56 + start: [18, 26] +- goal: [20, 6] + name: agent57 + start: [31, 3] +- goal: [1, 2] + name: agent58 + start: [22, 28] +- goal: [10, 11] + name: agent59 + start: [18, 31] +- goal: [5, 9] + name: agent60 + start: [24, 12] +- goal: [11, 30] + name: agent61 + start: [10, 0] +- goal: [24, 29] + name: agent62 + start: [4, 15] +- goal: [10, 29] + name: agent63 + start: [19, 21] +- goal: [1, 22] + name: agent64 + start: [7, 26] +- goal: [9, 1] + name: agent65 + start: [31, 20] +- goal: [25, 7] + name: agent66 + start: [25, 6] +- goal: [0, 25] + name: agent67 + start: [21, 26] +- goal: [26, 10] + name: agent68 + start: [17, 28] +- goal: [16, 7] + name: agent69 + start: [22, 30] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [18, 22] + - !!python/tuple [28, 4] + - !!python/tuple [14, 14] + - !!python/tuple [2, 17] + - !!python/tuple [17, 13] + - !!python/tuple [11, 23] + - !!python/tuple [22, 25] + - !!python/tuple [16, 23] + - !!python/tuple [16, 18] + - !!python/tuple [18, 28] + - !!python/tuple [28, 18] + - !!python/tuple [9, 6] + - !!python/tuple [20, 12] + - !!python/tuple [4, 21] + - !!python/tuple [11, 15] + - !!python/tuple [13, 15] + - !!python/tuple [18, 5] + - !!python/tuple [3, 14] + - !!python/tuple [27, 23] + - !!python/tuple [16, 26] + - !!python/tuple [10, 27] + - !!python/tuple [17, 7] + - !!python/tuple [13, 4] + - !!python/tuple [15, 5] + - !!python/tuple [12, 12] + - !!python/tuple [18, 10] + - !!python/tuple [28, 11] + - !!python/tuple [17, 11] + - !!python/tuple [8, 4] + - !!python/tuple [13, 29] + - !!python/tuple [1, 23] + - !!python/tuple [20, 0] + - !!python/tuple [3, 9] + - !!python/tuple [21, 29] + - !!python/tuple [22, 6] + - !!python/tuple [5, 11] + - !!python/tuple [1, 26] + - !!python/tuple [25, 16] + - !!python/tuple [12, 26] + - !!python/tuple [23, 28] + - !!python/tuple [6, 10] + - !!python/tuple [6, 9] + - !!python/tuple [21, 21] + - !!python/tuple [18, 17] + - !!python/tuple [19, 31] + - !!python/tuple [5, 8] + - !!python/tuple [20, 2] + - !!python/tuple [0, 29] + - !!python/tuple [25, 4] + - !!python/tuple [10, 17] + - !!python/tuple [31, 24] + - !!python/tuple [14, 24] + - !!python/tuple [20, 11] + - !!python/tuple [0, 6] + - !!python/tuple [5, 0] + - !!python/tuple [16, 3] + - !!python/tuple [1, 27] + - !!python/tuple [14, 28] + - !!python/tuple [12, 30] + - !!python/tuple [4, 10] + - !!python/tuple [7, 24] + - !!python/tuple [2, 20] + - !!python/tuple [19, 28] + - !!python/tuple [26, 30] + - !!python/tuple [30, 28] + - !!python/tuple [14, 23] + - !!python/tuple [31, 23] + - !!python/tuple [13, 30] + - !!python/tuple [28, 23] + - !!python/tuple [10, 13] + - !!python/tuple [7, 3] + - !!python/tuple [31, 30] + - !!python/tuple [26, 18] + - !!python/tuple [5, 30] + - !!python/tuple [3, 19] + - !!python/tuple [8, 6] + - !!python/tuple [26, 14] + - !!python/tuple [31, 31] + - !!python/tuple [16, 4] + - !!python/tuple [18, 21] + - !!python/tuple [30, 9] + - !!python/tuple [8, 31] + - !!python/tuple [14, 20] + - !!python/tuple [1, 13] + - !!python/tuple [31, 4] + - !!python/tuple [23, 30] + - !!python/tuple [7, 0] + - !!python/tuple [27, 7] + - !!python/tuple [18, 2] + - !!python/tuple [28, 3] + - !!python/tuple [0, 17] + - !!python/tuple [11, 2] + - !!python/tuple [17, 29] + - !!python/tuple [27, 14] + - !!python/tuple [26, 29] + - !!python/tuple [5, 3] + - !!python/tuple [19, 29] + - !!python/tuple [30, 4] + - !!python/tuple [22, 31] + - !!python/tuple [10, 4] + - !!python/tuple [5, 5] + - !!python/tuple [14, 12] + - !!python/tuple [19, 22] + - !!python/tuple [7, 25] + - !!python/tuple [25, 23] + - !!python/tuple [29, 15] + - !!python/tuple [13, 9] + - !!python/tuple [16, 27] + - !!python/tuple [26, 20] + - !!python/tuple [12, 23] + - !!python/tuple [7, 14] + - !!python/tuple [11, 13] + - !!python/tuple [17, 31] + - !!python/tuple [26, 7] + - !!python/tuple [0, 11] + - !!python/tuple [9, 26] + - !!python/tuple [11, 1] + - !!python/tuple [26, 15] + - !!python/tuple [25, 26] + - !!python/tuple [17, 3] + - !!python/tuple [0, 23] + - !!python/tuple [5, 17] + - !!python/tuple [1, 8] + - !!python/tuple [18, 15] + - !!python/tuple [27, 17] + - !!python/tuple [9, 15] + - !!python/tuple [28, 12] + - !!python/tuple [5, 23] + - !!python/tuple [24, 22] + - !!python/tuple [10, 20] + - !!python/tuple [18, 18] + - !!python/tuple [6, 13] + - !!python/tuple [30, 27] + - !!python/tuple [11, 18] + - !!python/tuple [0, 3] + - !!python/tuple [20, 7] + - !!python/tuple [5, 18] + - !!python/tuple [21, 2] + - !!python/tuple [6, 8] + - !!python/tuple [28, 17] + - !!python/tuple [19, 19] + - !!python/tuple [4, 29] + - !!python/tuple [26, 0] + - !!python/tuple [0, 15] + - !!python/tuple [18, 25] + - !!python/tuple [2, 1] + - !!python/tuple [11, 25] + - !!python/tuple [13, 2] + - !!python/tuple [9, 18] + - !!python/tuple [25, 14] + - !!python/tuple [8, 10] + - !!python/tuple [9, 2] + - !!python/tuple [12, 29] + - !!python/tuple [18, 12] + - !!python/tuple [24, 17] + - !!python/tuple [6, 24] + - !!python/tuple [12, 1] + - !!python/tuple [5, 31] + - !!python/tuple [29, 25] + - !!python/tuple [17, 25] + - !!python/tuple [9, 11] + - !!python/tuple [17, 10] + - !!python/tuple [12, 7] + - !!python/tuple [21, 4] + - !!python/tuple [12, 19] + - !!python/tuple [31, 21] + - !!python/tuple [30, 29] + - !!python/tuple [22, 10] + - !!python/tuple [23, 26] + - !!python/tuple [31, 7] + - !!python/tuple [25, 8] + - !!python/tuple [14, 13] + - !!python/tuple [16, 29] + - !!python/tuple [0, 24] + - !!python/tuple [27, 18] + - !!python/tuple [10, 31] + - !!python/tuple [18, 27] + - !!python/tuple [7, 15] + - !!python/tuple [9, 23] + - !!python/tuple [28, 27] + - !!python/tuple [29, 23] + - !!python/tuple [5, 28] + - !!python/tuple [22, 18] + - !!python/tuple [9, 21] + - !!python/tuple [28, 30] + - !!python/tuple [24, 31] + - !!python/tuple [15, 4] + - !!python/tuple [8, 26] + - !!python/tuple [21, 6] + - !!python/tuple [10, 10] + - !!python/tuple [11, 21] + - !!python/tuple [2, 4] + - !!python/tuple [3, 11] + - !!python/tuple [16, 20] + - !!python/tuple [15, 21] + - !!python/tuple [22, 12] + - !!python/tuple [14, 21] + - !!python/tuple [0, 9] + - !!python/tuple [24, 6] + - !!python/tuple [23, 11] + - !!python/tuple [21, 8] + - !!python/tuple [24, 14] + - !!python/tuple [31, 1] + - !!python/tuple [30, 18] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex29.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex29.yaml new file mode 100644 index 0000000..bf4d96b --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex29.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [3, 7] + name: agent0 + start: [14, 31] +- goal: [21, 22] + name: agent1 + start: [6, 19] +- goal: [1, 15] + name: agent2 + start: [19, 3] +- goal: [31, 4] + name: agent3 + start: [22, 8] +- goal: [17, 24] + name: agent4 + start: [25, 5] +- goal: [14, 2] + name: agent5 + start: [12, 7] +- goal: [22, 6] + name: agent6 + start: [5, 9] +- goal: [6, 23] + name: agent7 + start: [21, 25] +- goal: [31, 1] + name: agent8 + start: [9, 20] +- goal: [22, 16] + name: agent9 + start: [22, 1] +- goal: [8, 3] + name: agent10 + start: [21, 13] +- goal: [3, 11] + name: agent11 + start: [3, 24] +- goal: [13, 19] + name: agent12 + start: [16, 10] +- goal: [11, 17] + name: agent13 + start: [6, 10] +- goal: [5, 20] + name: agent14 + start: [28, 10] +- goal: [23, 10] + name: agent15 + start: [21, 0] +- goal: [16, 24] + name: agent16 + start: [23, 6] +- goal: [0, 2] + name: agent17 + start: [9, 21] +- goal: [15, 25] + name: agent18 + start: [23, 31] +- goal: [0, 16] + name: agent19 + start: [31, 27] +- goal: [16, 1] + name: agent20 + start: [8, 28] +- goal: [17, 26] + name: agent21 + start: [12, 9] +- goal: [13, 4] + name: agent22 + start: [28, 30] +- goal: [19, 22] + name: agent23 + start: [28, 13] +- goal: [11, 11] + name: agent24 + start: [21, 5] +- goal: [8, 9] + name: agent25 + start: [9, 29] +- goal: [6, 15] + name: agent26 + start: [0, 19] +- goal: [15, 5] + name: agent27 + start: [30, 14] +- goal: [30, 16] + name: agent28 + start: [12, 13] +- goal: [22, 12] + name: agent29 + start: [20, 28] +- goal: [30, 22] + name: agent30 + start: [29, 25] +- goal: [6, 26] + name: agent31 + start: [19, 5] +- goal: [25, 5] + name: agent32 + start: [2, 29] +- goal: [25, 17] + name: agent33 + start: [31, 1] +- goal: [16, 7] + name: agent34 + start: [8, 21] +- goal: [23, 16] + name: agent35 + start: [10, 18] +- goal: [18, 16] + name: agent36 + start: [14, 30] +- goal: [28, 3] + name: agent37 + start: [8, 18] +- goal: [12, 27] + name: agent38 + start: [13, 10] +- goal: [10, 13] + name: agent39 + start: [4, 25] +- goal: [11, 22] + name: agent40 + start: [9, 25] +- goal: [8, 5] + name: agent41 + start: [6, 29] +- goal: [17, 4] + name: agent42 + start: [5, 30] +- goal: [2, 13] + name: agent43 + start: [19, 7] +- goal: [30, 7] + name: agent44 + start: [5, 17] +- goal: [19, 21] + name: agent45 + start: [22, 13] +- goal: [20, 10] + name: agent46 + start: [23, 26] +- goal: [15, 15] + name: agent47 + start: [9, 7] +- goal: [8, 18] + name: agent48 + start: [19, 29] +- goal: [9, 21] + name: agent49 + start: [15, 26] +- goal: [26, 15] + name: agent50 + start: [24, 21] +- goal: [6, 8] + name: agent51 + start: [8, 20] +- goal: [29, 11] + name: agent52 + start: [1, 29] +- goal: [1, 3] + name: agent53 + start: [15, 23] +- goal: [21, 24] + name: agent54 + start: [7, 16] +- goal: [29, 30] + name: agent55 + start: [26, 30] +- goal: [1, 24] + name: agent56 + start: [28, 23] +- goal: [19, 25] + name: agent57 + start: [1, 21] +- goal: [6, 4] + name: agent58 + start: [25, 22] +- goal: [18, 23] + name: agent59 + start: [0, 13] +- goal: [22, 22] + name: agent60 + start: [17, 21] +- goal: [17, 16] + name: agent61 + start: [7, 30] +- goal: [1, 21] + name: agent62 + start: [11, 29] +- goal: [20, 25] + name: agent63 + start: [23, 9] +- goal: [18, 28] + name: agent64 + start: [7, 21] +- goal: [31, 7] + name: agent65 + start: [27, 13] +- goal: [4, 7] + name: agent66 + start: [9, 16] +- goal: [19, 12] + name: agent67 + start: [27, 4] +- goal: [19, 7] + name: agent68 + start: [31, 10] +- goal: [14, 21] + name: agent69 + start: [25, 24] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [26, 22] + - !!python/tuple [2, 4] + - !!python/tuple [29, 13] + - !!python/tuple [21, 10] + - !!python/tuple [30, 20] + - !!python/tuple [28, 1] + - !!python/tuple [22, 18] + - !!python/tuple [4, 20] + - !!python/tuple [22, 2] + - !!python/tuple [26, 18] + - !!python/tuple [12, 18] + - !!python/tuple [3, 5] + - !!python/tuple [26, 17] + - !!python/tuple [22, 3] + - !!python/tuple [13, 31] + - !!python/tuple [26, 7] + - !!python/tuple [6, 14] + - !!python/tuple [0, 4] + - !!python/tuple [24, 19] + - !!python/tuple [30, 18] + - !!python/tuple [13, 22] + - !!python/tuple [21, 31] + - !!python/tuple [27, 5] + - !!python/tuple [1, 30] + - !!python/tuple [16, 28] + - !!python/tuple [1, 26] + - !!python/tuple [18, 11] + - !!python/tuple [5, 25] + - !!python/tuple [3, 9] + - !!python/tuple [19, 9] + - !!python/tuple [11, 3] + - !!python/tuple [3, 29] + - !!python/tuple [13, 17] + - !!python/tuple [5, 10] + - !!python/tuple [18, 8] + - !!python/tuple [19, 20] + - !!python/tuple [12, 22] + - !!python/tuple [25, 10] + - !!python/tuple [24, 9] + - !!python/tuple [1, 19] + - !!python/tuple [17, 11] + - !!python/tuple [28, 7] + - !!python/tuple [31, 9] + - !!python/tuple [24, 28] + - !!python/tuple [25, 20] + - !!python/tuple [11, 4] + - !!python/tuple [6, 24] + - !!python/tuple [1, 20] + - !!python/tuple [28, 4] + - !!python/tuple [14, 9] + - !!python/tuple [3, 2] + - !!python/tuple [10, 24] + - !!python/tuple [5, 12] + - !!python/tuple [13, 24] + - !!python/tuple [25, 23] + - !!python/tuple [12, 5] + - !!python/tuple [19, 31] + - !!python/tuple [30, 30] + - !!python/tuple [29, 0] + - !!python/tuple [3, 21] + - !!python/tuple [9, 14] + - !!python/tuple [30, 11] + - !!python/tuple [12, 11] + - !!python/tuple [28, 0] + - !!python/tuple [11, 0] + - !!python/tuple [24, 18] + - !!python/tuple [5, 14] + - !!python/tuple [9, 1] + - !!python/tuple [2, 7] + - !!python/tuple [16, 14] + - !!python/tuple [16, 20] + - !!python/tuple [0, 30] + - !!python/tuple [0, 24] + - !!python/tuple [20, 20] + - !!python/tuple [4, 18] + - !!python/tuple [11, 12] + - !!python/tuple [22, 23] + - !!python/tuple [9, 18] + - !!python/tuple [21, 27] + - !!python/tuple [14, 16] + - !!python/tuple [22, 5] + - !!python/tuple [28, 20] + - !!python/tuple [5, 4] + - !!python/tuple [10, 16] + - !!python/tuple [14, 4] + - !!python/tuple [29, 4] + - !!python/tuple [29, 29] + - !!python/tuple [30, 10] + - !!python/tuple [13, 12] + - !!python/tuple [10, 11] + - !!python/tuple [23, 25] + - !!python/tuple [7, 15] + - !!python/tuple [6, 9] + - !!python/tuple [7, 3] + - !!python/tuple [28, 26] + - !!python/tuple [20, 26] + - !!python/tuple [15, 31] + - !!python/tuple [15, 22] + - !!python/tuple [11, 2] + - !!python/tuple [10, 30] + - !!python/tuple [22, 24] + - !!python/tuple [28, 16] + - !!python/tuple [25, 30] + - !!python/tuple [9, 15] + - !!python/tuple [18, 22] + - !!python/tuple [25, 29] + - !!python/tuple [30, 4] + - !!python/tuple [30, 5] + - !!python/tuple [10, 7] + - !!python/tuple [19, 1] + - !!python/tuple [25, 25] + - !!python/tuple [2, 23] + - !!python/tuple [18, 31] + - !!python/tuple [22, 29] + - !!python/tuple [12, 1] + - !!python/tuple [20, 11] + - !!python/tuple [20, 6] + - !!python/tuple [24, 5] + - !!python/tuple [18, 9] + - !!python/tuple [20, 2] + - !!python/tuple [24, 12] + - !!python/tuple [4, 11] + - !!python/tuple [14, 1] + - !!python/tuple [19, 14] + - !!python/tuple [10, 31] + - !!python/tuple [9, 26] + - !!python/tuple [21, 18] + - !!python/tuple [26, 21] + - !!python/tuple [2, 3] + - !!python/tuple [19, 27] + - !!python/tuple [27, 10] + - !!python/tuple [9, 13] + - !!python/tuple [20, 7] + - !!python/tuple [25, 14] + - !!python/tuple [2, 27] + - !!python/tuple [8, 24] + - !!python/tuple [16, 13] + - !!python/tuple [28, 22] + - !!python/tuple [26, 28] + - !!python/tuple [17, 2] + - !!python/tuple [26, 3] + - !!python/tuple [4, 16] + - !!python/tuple [0, 11] + - !!python/tuple [27, 8] + - !!python/tuple [19, 4] + - !!python/tuple [23, 3] + - !!python/tuple [4, 26] + - !!python/tuple [17, 15] + - !!python/tuple [16, 6] + - !!python/tuple [12, 30] + - !!python/tuple [7, 29] + - !!python/tuple [28, 6] + - !!python/tuple [7, 10] + - !!python/tuple [14, 0] + - !!python/tuple [5, 18] + - !!python/tuple [5, 16] + - !!python/tuple [18, 14] + - !!python/tuple [13, 30] + - !!python/tuple [10, 8] + - !!python/tuple [30, 31] + - !!python/tuple [3, 14] + - !!python/tuple [8, 30] + - !!python/tuple [28, 21] + - !!python/tuple [14, 23] + - !!python/tuple [17, 28] + - !!python/tuple [16, 12] + - !!python/tuple [3, 0] + - !!python/tuple [29, 17] + - !!python/tuple [16, 5] + - !!python/tuple [8, 22] + - !!python/tuple [24, 16] + - !!python/tuple [29, 2] + - !!python/tuple [7, 14] + - !!python/tuple [3, 28] + - !!python/tuple [29, 5] + - !!python/tuple [12, 29] + - !!python/tuple [11, 27] + - !!python/tuple [8, 25] + - !!python/tuple [10, 15] + - !!python/tuple [26, 31] + - !!python/tuple [16, 26] + - !!python/tuple [0, 22] + - !!python/tuple [3, 16] + - !!python/tuple [5, 29] + - !!python/tuple [1, 18] + - !!python/tuple [23, 0] + - !!python/tuple [13, 5] + - !!python/tuple [1, 31] + - !!python/tuple [24, 24] + - !!python/tuple [7, 8] + - !!python/tuple [6, 1] + - !!python/tuple [30, 17] + - !!python/tuple [28, 18] + - !!python/tuple [0, 5] + - !!python/tuple [4, 29] + - !!python/tuple [17, 8] + - !!python/tuple [17, 30] + - !!python/tuple [20, 31] + - !!python/tuple [14, 27] + - !!python/tuple [7, 12] + - !!python/tuple [23, 8] + - !!python/tuple [9, 5] + - !!python/tuple [5, 15] + - !!python/tuple [20, 15] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex3.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex3.yaml new file mode 100644 index 0000000..1481e32 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex3.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [17, 26] + name: agent0 + start: [21, 0] +- goal: [19, 18] + name: agent1 + start: [22, 6] +- goal: [5, 29] + name: agent2 + start: [2, 27] +- goal: [12, 22] + name: agent3 + start: [0, 15] +- goal: [10, 4] + name: agent4 + start: [1, 13] +- goal: [9, 24] + name: agent5 + start: [13, 10] +- goal: [28, 9] + name: agent6 + start: [24, 9] +- goal: [21, 8] + name: agent7 + start: [1, 22] +- goal: [28, 28] + name: agent8 + start: [13, 17] +- goal: [15, 2] + name: agent9 + start: [18, 23] +- goal: [8, 29] + name: agent10 + start: [12, 6] +- goal: [3, 13] + name: agent11 + start: [7, 9] +- goal: [24, 7] + name: agent12 + start: [24, 21] +- goal: [6, 18] + name: agent13 + start: [5, 1] +- goal: [28, 8] + name: agent14 + start: [28, 4] +- goal: [18, 8] + name: agent15 + start: [29, 2] +- goal: [16, 9] + name: agent16 + start: [19, 11] +- goal: [19, 1] + name: agent17 + start: [8, 10] +- goal: [3, 7] + name: agent18 + start: [6, 3] +- goal: [29, 13] + name: agent19 + start: [9, 12] +- goal: [18, 26] + name: agent20 + start: [30, 30] +- goal: [7, 31] + name: agent21 + start: [24, 3] +- goal: [8, 6] + name: agent22 + start: [18, 6] +- goal: [27, 13] + name: agent23 + start: [20, 18] +- goal: [12, 4] + name: agent24 + start: [26, 30] +- goal: [28, 10] + name: agent25 + start: [2, 20] +- goal: [27, 14] + name: agent26 + start: [19, 7] +- goal: [24, 20] + name: agent27 + start: [31, 30] +- goal: [26, 21] + name: agent28 + start: [5, 23] +- goal: [11, 23] + name: agent29 + start: [22, 20] +- goal: [25, 10] + name: agent30 + start: [31, 8] +- goal: [21, 30] + name: agent31 + start: [25, 31] +- goal: [31, 9] + name: agent32 + start: [2, 31] +- goal: [29, 12] + name: agent33 + start: [16, 23] +- goal: [22, 14] + name: agent34 + start: [20, 26] +- goal: [17, 16] + name: agent35 + start: [23, 20] +- goal: [14, 16] + name: agent36 + start: [16, 21] +- goal: [29, 4] + name: agent37 + start: [18, 14] +- goal: [17, 21] + name: agent38 + start: [24, 24] +- goal: [8, 20] + name: agent39 + start: [10, 28] +- goal: [25, 12] + name: agent40 + start: [28, 22] +- goal: [20, 12] + name: agent41 + start: [4, 28] +- goal: [31, 15] + name: agent42 + start: [0, 20] +- goal: [15, 1] + name: agent43 + start: [20, 17] +- goal: [31, 31] + name: agent44 + start: [1, 15] +- goal: [2, 7] + name: agent45 + start: [27, 28] +- goal: [3, 14] + name: agent46 + start: [31, 15] +- goal: [15, 14] + name: agent47 + start: [29, 22] +- goal: [17, 14] + name: agent48 + start: [31, 7] +- goal: [12, 25] + name: agent49 + start: [23, 27] +- goal: [5, 12] + name: agent50 + start: [10, 12] +- goal: [2, 20] + name: agent51 + start: [21, 26] +- goal: [11, 30] + name: agent52 + start: [12, 8] +- goal: [2, 4] + name: agent53 + start: [13, 6] +- goal: [12, 12] + name: agent54 + start: [14, 10] +- goal: [13, 12] + name: agent55 + start: [0, 8] +- goal: [11, 7] + name: agent56 + start: [3, 1] +- goal: [22, 31] + name: agent57 + start: [14, 9] +- goal: [18, 15] + name: agent58 + start: [25, 27] +- goal: [5, 7] + name: agent59 + start: [1, 1] +- goal: [26, 24] + name: agent60 + start: [23, 9] +- goal: [24, 24] + name: agent61 + start: [11, 21] +- goal: [26, 9] + name: agent62 + start: [10, 18] +- goal: [22, 15] + name: agent63 + start: [5, 4] +- goal: [31, 19] + name: agent64 + start: [9, 19] +- goal: [2, 14] + name: agent65 + start: [29, 28] +- goal: [21, 24] + name: agent66 + start: [5, 8] +- goal: [24, 5] + name: agent67 + start: [31, 10] +- goal: [20, 15] + name: agent68 + start: [7, 10] +- goal: [1, 15] + name: agent69 + start: [29, 17] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [0, 26] + - !!python/tuple [9, 14] + - !!python/tuple [2, 13] + - !!python/tuple [11, 19] + - !!python/tuple [23, 28] + - !!python/tuple [17, 29] + - !!python/tuple [6, 5] + - !!python/tuple [23, 24] + - !!python/tuple [17, 24] + - !!python/tuple [14, 17] + - !!python/tuple [7, 28] + - !!python/tuple [23, 5] + - !!python/tuple [4, 15] + - !!python/tuple [14, 2] + - !!python/tuple [25, 22] + - !!python/tuple [15, 28] + - !!python/tuple [14, 19] + - !!python/tuple [15, 21] + - !!python/tuple [23, 25] + - !!python/tuple [18, 7] + - !!python/tuple [13, 2] + - !!python/tuple [22, 30] + - !!python/tuple [15, 20] + - !!python/tuple [12, 19] + - !!python/tuple [14, 22] + - !!python/tuple [1, 25] + - !!python/tuple [17, 18] + - !!python/tuple [22, 0] + - !!python/tuple [16, 6] + - !!python/tuple [4, 30] + - !!python/tuple [26, 4] + - !!python/tuple [16, 27] + - !!python/tuple [0, 19] + - !!python/tuple [1, 27] + - !!python/tuple [8, 18] + - !!python/tuple [1, 28] + - !!python/tuple [17, 10] + - !!python/tuple [9, 18] + - !!python/tuple [5, 11] + - !!python/tuple [14, 11] + - !!python/tuple [3, 22] + - !!python/tuple [8, 5] + - !!python/tuple [6, 29] + - !!python/tuple [28, 5] + - !!python/tuple [15, 11] + - !!python/tuple [16, 19] + - !!python/tuple [7, 19] + - !!python/tuple [8, 8] + - !!python/tuple [16, 11] + - !!python/tuple [13, 11] + - !!python/tuple [25, 1] + - !!python/tuple [18, 30] + - !!python/tuple [1, 3] + - !!python/tuple [27, 29] + - !!python/tuple [29, 24] + - !!python/tuple [12, 30] + - !!python/tuple [17, 4] + - !!python/tuple [12, 9] + - !!python/tuple [23, 26] + - !!python/tuple [23, 29] + - !!python/tuple [24, 8] + - !!python/tuple [10, 16] + - !!python/tuple [14, 1] + - !!python/tuple [1, 11] + - !!python/tuple [31, 23] + - !!python/tuple [16, 4] + - !!python/tuple [27, 4] + - !!python/tuple [5, 18] + - !!python/tuple [18, 17] + - !!python/tuple [0, 0] + - !!python/tuple [31, 12] + - !!python/tuple [18, 19] + - !!python/tuple [26, 20] + - !!python/tuple [24, 27] + - !!python/tuple [15, 4] + - !!python/tuple [28, 31] + - !!python/tuple [5, 16] + - !!python/tuple [31, 26] + - !!python/tuple [5, 14] + - !!python/tuple [20, 2] + - !!python/tuple [8, 24] + - !!python/tuple [11, 1] + - !!python/tuple [22, 23] + - !!python/tuple [5, 10] + - !!python/tuple [11, 12] + - !!python/tuple [3, 15] + - !!python/tuple [14, 23] + - !!python/tuple [2, 22] + - !!python/tuple [20, 14] + - !!python/tuple [24, 17] + - !!python/tuple [14, 15] + - !!python/tuple [25, 4] + - !!python/tuple [20, 20] + - !!python/tuple [6, 0] + - !!python/tuple [16, 18] + - !!python/tuple [23, 19] + - !!python/tuple [28, 27] + - !!python/tuple [27, 23] + - !!python/tuple [9, 8] + - !!python/tuple [8, 21] + - !!python/tuple [5, 28] + - !!python/tuple [8, 19] + - !!python/tuple [10, 10] + - !!python/tuple [21, 11] + - !!python/tuple [13, 26] + - !!python/tuple [27, 5] + - !!python/tuple [22, 7] + - !!python/tuple [26, 15] + - !!python/tuple [13, 27] + - !!python/tuple [28, 6] + - !!python/tuple [19, 0] + - !!python/tuple [22, 12] + - !!python/tuple [3, 28] + - !!python/tuple [2, 3] + - !!python/tuple [21, 20] + - !!python/tuple [28, 0] + - !!python/tuple [8, 7] + - !!python/tuple [8, 15] + - !!python/tuple [18, 12] + - !!python/tuple [8, 4] + - !!python/tuple [15, 7] + - !!python/tuple [30, 25] + - !!python/tuple [8, 14] + - !!python/tuple [16, 14] + - !!python/tuple [17, 7] + - !!python/tuple [31, 18] + - !!python/tuple [16, 5] + - !!python/tuple [16, 31] + - !!python/tuple [5, 2] + - !!python/tuple [29, 15] + - !!python/tuple [13, 9] + - !!python/tuple [22, 10] + - !!python/tuple [11, 25] + - !!python/tuple [2, 25] + - !!python/tuple [24, 29] + - !!python/tuple [3, 21] + - !!python/tuple [24, 6] + - !!python/tuple [2, 2] + - !!python/tuple [28, 25] + - !!python/tuple [27, 16] + - !!python/tuple [10, 8] + - !!python/tuple [27, 20] + - !!python/tuple [25, 18] + - !!python/tuple [5, 9] + - !!python/tuple [4, 9] + - !!python/tuple [22, 26] + - !!python/tuple [19, 22] + - !!python/tuple [30, 28] + - !!python/tuple [30, 18] + - !!python/tuple [8, 30] + - !!python/tuple [28, 1] + - !!python/tuple [12, 31] + - !!python/tuple [1, 8] + - !!python/tuple [29, 7] + - !!python/tuple [1, 12] + - !!python/tuple [26, 18] + - !!python/tuple [14, 20] + - !!python/tuple [18, 2] + - !!python/tuple [4, 17] + - !!python/tuple [9, 0] + - !!python/tuple [20, 11] + - !!python/tuple [26, 10] + - !!python/tuple [25, 7] + - !!python/tuple [6, 20] + - !!python/tuple [7, 5] + - !!python/tuple [15, 26] + - !!python/tuple [30, 2] + - !!python/tuple [30, 3] + - !!python/tuple [17, 9] + - !!python/tuple [4, 26] + - !!python/tuple [25, 0] + - !!python/tuple [21, 12] + - !!python/tuple [14, 18] + - !!python/tuple [12, 16] + - !!python/tuple [13, 22] + - !!python/tuple [24, 31] + - !!python/tuple [16, 10] + - !!python/tuple [4, 14] + - !!python/tuple [21, 4] + - !!python/tuple [25, 16] + - !!python/tuple [18, 20] + - !!python/tuple [2, 15] + - !!python/tuple [29, 6] + - !!python/tuple [21, 2] + - !!python/tuple [24, 14] + - !!python/tuple [25, 23] + - !!python/tuple [29, 10] + - !!python/tuple [7, 26] + - !!python/tuple [6, 24] + - !!python/tuple [5, 22] + - !!python/tuple [1, 24] + - !!python/tuple [14, 30] + - !!python/tuple [14, 21] + - !!python/tuple [11, 5] + - !!python/tuple [19, 27] + - !!python/tuple [22, 24] + - !!python/tuple [19, 24] + - !!python/tuple [23, 14] + - !!python/tuple [21, 9] + - !!python/tuple [4, 23] + - !!python/tuple [26, 17] + - !!python/tuple [5, 17] + - !!python/tuple [9, 13] + - !!python/tuple [2, 19] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex30.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex30.yaml new file mode 100644 index 0000000..6d09c49 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex30.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [14, 3] + name: agent0 + start: [3, 20] +- goal: [30, 23] + name: agent1 + start: [9, 9] +- goal: [28, 8] + name: agent2 + start: [29, 26] +- goal: [13, 27] + name: agent3 + start: [19, 18] +- goal: [26, 31] + name: agent4 + start: [24, 25] +- goal: [4, 24] + name: agent5 + start: [7, 26] +- goal: [0, 4] + name: agent6 + start: [2, 12] +- goal: [16, 4] + name: agent7 + start: [24, 5] +- goal: [9, 16] + name: agent8 + start: [5, 31] +- goal: [7, 20] + name: agent9 + start: [29, 18] +- goal: [18, 6] + name: agent10 + start: [3, 31] +- goal: [7, 19] + name: agent11 + start: [13, 19] +- goal: [10, 29] + name: agent12 + start: [1, 2] +- goal: [31, 11] + name: agent13 + start: [24, 8] +- goal: [2, 2] + name: agent14 + start: [31, 6] +- goal: [18, 17] + name: agent15 + start: [3, 22] +- goal: [15, 3] + name: agent16 + start: [16, 13] +- goal: [12, 26] + name: agent17 + start: [22, 27] +- goal: [30, 4] + name: agent18 + start: [31, 8] +- goal: [10, 20] + name: agent19 + start: [7, 14] +- goal: [19, 3] + name: agent20 + start: [28, 10] +- goal: [9, 26] + name: agent21 + start: [21, 0] +- goal: [5, 16] + name: agent22 + start: [2, 1] +- goal: [17, 26] + name: agent23 + start: [21, 14] +- goal: [24, 2] + name: agent24 + start: [31, 5] +- goal: [18, 19] + name: agent25 + start: [0, 24] +- goal: [29, 14] + name: agent26 + start: [27, 5] +- goal: [26, 28] + name: agent27 + start: [15, 30] +- goal: [0, 28] + name: agent28 + start: [31, 28] +- goal: [18, 21] + name: agent29 + start: [17, 10] +- goal: [19, 19] + name: agent30 + start: [15, 26] +- goal: [25, 28] + name: agent31 + start: [26, 3] +- goal: [29, 11] + name: agent32 + start: [15, 31] +- goal: [16, 3] + name: agent33 + start: [12, 0] +- goal: [26, 11] + name: agent34 + start: [4, 29] +- goal: [6, 24] + name: agent35 + start: [20, 4] +- goal: [7, 25] + name: agent36 + start: [21, 31] +- goal: [2, 12] + name: agent37 + start: [26, 8] +- goal: [19, 20] + name: agent38 + start: [10, 6] +- goal: [13, 28] + name: agent39 + start: [14, 13] +- goal: [5, 1] + name: agent40 + start: [9, 5] +- goal: [30, 11] + name: agent41 + start: [25, 16] +- goal: [11, 17] + name: agent42 + start: [17, 13] +- goal: [17, 21] + name: agent43 + start: [15, 12] +- goal: [31, 3] + name: agent44 + start: [29, 13] +- goal: [7, 9] + name: agent45 + start: [16, 3] +- goal: [26, 12] + name: agent46 + start: [15, 10] +- goal: [2, 31] + name: agent47 + start: [17, 12] +- goal: [17, 3] + name: agent48 + start: [27, 12] +- goal: [19, 30] + name: agent49 + start: [6, 11] +- goal: [0, 17] + name: agent50 + start: [8, 30] +- goal: [31, 10] + name: agent51 + start: [16, 26] +- goal: [13, 24] + name: agent52 + start: [4, 7] +- goal: [18, 30] + name: agent53 + start: [31, 7] +- goal: [28, 27] + name: agent54 + start: [17, 25] +- goal: [7, 31] + name: agent55 + start: [17, 1] +- goal: [16, 10] + name: agent56 + start: [25, 26] +- goal: [24, 21] + name: agent57 + start: [28, 7] +- goal: [29, 6] + name: agent58 + start: [27, 2] +- goal: [4, 30] + name: agent59 + start: [7, 12] +- goal: [5, 30] + name: agent60 + start: [14, 12] +- goal: [28, 0] + name: agent61 + start: [30, 7] +- goal: [6, 11] + name: agent62 + start: [15, 29] +- goal: [18, 27] + name: agent63 + start: [30, 17] +- goal: [20, 1] + name: agent64 + start: [25, 28] +- goal: [0, 18] + name: agent65 + start: [14, 14] +- goal: [25, 0] + name: agent66 + start: [26, 29] +- goal: [26, 0] + name: agent67 + start: [7, 19] +- goal: [5, 13] + name: agent68 + start: [28, 26] +- goal: [28, 25] + name: agent69 + start: [2, 24] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [20, 27] + - !!python/tuple [19, 29] + - !!python/tuple [23, 7] + - !!python/tuple [24, 19] + - !!python/tuple [20, 7] + - !!python/tuple [17, 24] + - !!python/tuple [19, 23] + - !!python/tuple [14, 22] + - !!python/tuple [25, 3] + - !!python/tuple [27, 24] + - !!python/tuple [16, 12] + - !!python/tuple [21, 4] + - !!python/tuple [24, 22] + - !!python/tuple [17, 20] + - !!python/tuple [22, 18] + - !!python/tuple [19, 12] + - !!python/tuple [5, 4] + - !!python/tuple [11, 30] + - !!python/tuple [30, 25] + - !!python/tuple [2, 9] + - !!python/tuple [0, 19] + - !!python/tuple [7, 3] + - !!python/tuple [2, 26] + - !!python/tuple [2, 10] + - !!python/tuple [7, 1] + - !!python/tuple [16, 16] + - !!python/tuple [9, 7] + - !!python/tuple [1, 0] + - !!python/tuple [4, 9] + - !!python/tuple [10, 8] + - !!python/tuple [25, 12] + - !!python/tuple [16, 5] + - !!python/tuple [26, 26] + - !!python/tuple [0, 20] + - !!python/tuple [1, 17] + - !!python/tuple [6, 1] + - !!python/tuple [29, 28] + - !!python/tuple [13, 29] + - !!python/tuple [13, 26] + - !!python/tuple [17, 0] + - !!python/tuple [6, 4] + - !!python/tuple [12, 12] + - !!python/tuple [3, 25] + - !!python/tuple [20, 9] + - !!python/tuple [7, 30] + - !!python/tuple [1, 10] + - !!python/tuple [1, 3] + - !!python/tuple [22, 22] + - !!python/tuple [31, 30] + - !!python/tuple [24, 23] + - !!python/tuple [26, 2] + - !!python/tuple [26, 27] + - !!python/tuple [15, 22] + - !!python/tuple [28, 28] + - !!python/tuple [1, 21] + - !!python/tuple [0, 8] + - !!python/tuple [16, 14] + - !!python/tuple [19, 4] + - !!python/tuple [26, 4] + - !!python/tuple [13, 21] + - !!python/tuple [1, 22] + - !!python/tuple [13, 4] + - !!python/tuple [20, 3] + - !!python/tuple [7, 2] + - !!python/tuple [16, 8] + - !!python/tuple [20, 29] + - !!python/tuple [4, 25] + - !!python/tuple [13, 5] + - !!python/tuple [3, 19] + - !!python/tuple [19, 25] + - !!python/tuple [27, 14] + - !!python/tuple [21, 15] + - !!python/tuple [8, 26] + - !!python/tuple [3, 13] + - !!python/tuple [30, 18] + - !!python/tuple [22, 11] + - !!python/tuple [11, 12] + - !!python/tuple [25, 25] + - !!python/tuple [3, 27] + - !!python/tuple [20, 18] + - !!python/tuple [14, 25] + - !!python/tuple [16, 17] + - !!python/tuple [6, 0] + - !!python/tuple [11, 27] + - !!python/tuple [31, 24] + - !!python/tuple [16, 19] + - !!python/tuple [11, 21] + - !!python/tuple [29, 22] + - !!python/tuple [7, 4] + - !!python/tuple [23, 26] + - !!python/tuple [5, 15] + - !!python/tuple [10, 18] + - !!python/tuple [22, 31] + - !!python/tuple [27, 21] + - !!python/tuple [5, 2] + - !!python/tuple [21, 21] + - !!python/tuple [26, 9] + - !!python/tuple [17, 2] + - !!python/tuple [21, 9] + - !!python/tuple [30, 22] + - !!python/tuple [23, 15] + - !!python/tuple [23, 14] + - !!python/tuple [22, 6] + - !!python/tuple [12, 16] + - !!python/tuple [29, 12] + - !!python/tuple [29, 31] + - !!python/tuple [12, 9] + - !!python/tuple [31, 14] + - !!python/tuple [2, 16] + - !!python/tuple [29, 3] + - !!python/tuple [15, 7] + - !!python/tuple [11, 23] + - !!python/tuple [28, 9] + - !!python/tuple [26, 17] + - !!python/tuple [16, 31] + - !!python/tuple [23, 6] + - !!python/tuple [31, 31] + - !!python/tuple [0, 6] + - !!python/tuple [28, 13] + - !!python/tuple [16, 6] + - !!python/tuple [7, 0] + - !!python/tuple [6, 22] + - !!python/tuple [3, 21] + - !!python/tuple [17, 15] + - !!python/tuple [23, 23] + - !!python/tuple [21, 22] + - !!python/tuple [12, 27] + - !!python/tuple [28, 6] + - !!python/tuple [25, 20] + - !!python/tuple [28, 1] + - !!python/tuple [21, 11] + - !!python/tuple [1, 4] + - !!python/tuple [1, 30] + - !!python/tuple [31, 20] + - !!python/tuple [7, 22] + - !!python/tuple [6, 21] + - !!python/tuple [9, 21] + - !!python/tuple [7, 27] + - !!python/tuple [19, 14] + - !!python/tuple [15, 0] + - !!python/tuple [0, 2] + - !!python/tuple [0, 1] + - !!python/tuple [2, 30] + - !!python/tuple [21, 20] + - !!python/tuple [29, 20] + - !!python/tuple [9, 18] + - !!python/tuple [23, 22] + - !!python/tuple [24, 20] + - !!python/tuple [29, 8] + - !!python/tuple [1, 25] + - !!python/tuple [26, 1] + - !!python/tuple [3, 16] + - !!python/tuple [30, 28] + - !!python/tuple [5, 12] + - !!python/tuple [5, 11] + - !!python/tuple [20, 19] + - !!python/tuple [26, 13] + - !!python/tuple [0, 12] + - !!python/tuple [27, 1] + - !!python/tuple [31, 22] + - !!python/tuple [0, 0] + - !!python/tuple [27, 23] + - !!python/tuple [9, 23] + - !!python/tuple [2, 6] + - !!python/tuple [31, 23] + - !!python/tuple [29, 21] + - !!python/tuple [9, 2] + - !!python/tuple [16, 21] + - !!python/tuple [0, 31] + - !!python/tuple [25, 18] + - !!python/tuple [26, 7] + - !!python/tuple [25, 31] + - !!python/tuple [6, 23] + - !!python/tuple [29, 16] + - !!python/tuple [31, 9] + - !!python/tuple [28, 21] + - !!python/tuple [1, 8] + - !!python/tuple [28, 3] + - !!python/tuple [21, 16] + - !!python/tuple [7, 11] + - !!python/tuple [5, 3] + - !!python/tuple [14, 23] + - !!python/tuple [20, 12] + - !!python/tuple [8, 0] + - !!python/tuple [8, 27] + - !!python/tuple [24, 9] + - !!python/tuple [8, 10] + - !!python/tuple [22, 20] + - !!python/tuple [13, 15] + - !!python/tuple [26, 19] + - !!python/tuple [22, 14] + - !!python/tuple [18, 0] + - !!python/tuple [13, 9] + - !!python/tuple [18, 5] + - !!python/tuple [15, 16] + - !!python/tuple [31, 2] + - !!python/tuple [5, 29] + - !!python/tuple [0, 9] + - !!python/tuple [6, 15] + - !!python/tuple [31, 18] + - !!python/tuple [24, 3] + - !!python/tuple [11, 31] + - !!python/tuple [25, 22] + - !!python/tuple [9, 3] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex31.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex31.yaml new file mode 100644 index 0000000..cb4b25a --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex31.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [12, 7] + name: agent0 + start: [0, 29] +- goal: [24, 26] + name: agent1 + start: [20, 21] +- goal: [15, 1] + name: agent2 + start: [16, 12] +- goal: [19, 16] + name: agent3 + start: [31, 27] +- goal: [26, 11] + name: agent4 + start: [7, 19] +- goal: [27, 16] + name: agent5 + start: [9, 2] +- goal: [0, 13] + name: agent6 + start: [23, 11] +- goal: [29, 5] + name: agent7 + start: [8, 8] +- goal: [13, 6] + name: agent8 + start: [30, 1] +- goal: [31, 25] + name: agent9 + start: [0, 27] +- goal: [20, 7] + name: agent10 + start: [30, 12] +- goal: [3, 18] + name: agent11 + start: [17, 28] +- goal: [16, 6] + name: agent12 + start: [12, 23] +- goal: [30, 20] + name: agent13 + start: [29, 27] +- goal: [25, 12] + name: agent14 + start: [2, 16] +- goal: [26, 22] + name: agent15 + start: [31, 6] +- goal: [2, 22] + name: agent16 + start: [26, 25] +- goal: [18, 16] + name: agent17 + start: [9, 21] +- goal: [22, 8] + name: agent18 + start: [31, 29] +- goal: [11, 20] + name: agent19 + start: [15, 28] +- goal: [4, 16] + name: agent20 + start: [22, 15] +- goal: [22, 1] + name: agent21 + start: [10, 6] +- goal: [24, 12] + name: agent22 + start: [23, 29] +- goal: [13, 4] + name: agent23 + start: [22, 4] +- goal: [29, 13] + name: agent24 + start: [14, 23] +- goal: [6, 20] + name: agent25 + start: [31, 9] +- goal: [0, 17] + name: agent26 + start: [22, 2] +- goal: [19, 28] + name: agent27 + start: [27, 0] +- goal: [28, 29] + name: agent28 + start: [22, 13] +- goal: [21, 20] + name: agent29 + start: [22, 14] +- goal: [6, 28] + name: agent30 + start: [16, 11] +- goal: [19, 6] + name: agent31 + start: [13, 31] +- goal: [23, 29] + name: agent32 + start: [20, 15] +- goal: [28, 16] + name: agent33 + start: [16, 28] +- goal: [19, 3] + name: agent34 + start: [10, 10] +- goal: [13, 11] + name: agent35 + start: [19, 20] +- goal: [10, 14] + name: agent36 + start: [4, 19] +- goal: [31, 20] + name: agent37 + start: [9, 4] +- goal: [18, 27] + name: agent38 + start: [19, 3] +- goal: [1, 28] + name: agent39 + start: [12, 16] +- goal: [28, 26] + name: agent40 + start: [15, 9] +- goal: [3, 25] + name: agent41 + start: [6, 23] +- goal: [2, 27] + name: agent42 + start: [26, 23] +- goal: [18, 21] + name: agent43 + start: [4, 31] +- goal: [27, 6] + name: agent44 + start: [10, 11] +- goal: [3, 1] + name: agent45 + start: [13, 4] +- goal: [18, 6] + name: agent46 + start: [8, 25] +- goal: [12, 11] + name: agent47 + start: [5, 28] +- goal: [26, 27] + name: agent48 + start: [31, 20] +- goal: [25, 4] + name: agent49 + start: [25, 10] +- goal: [3, 28] + name: agent50 + start: [3, 3] +- goal: [25, 9] + name: agent51 + start: [13, 23] +- goal: [8, 12] + name: agent52 + start: [12, 22] +- goal: [14, 7] + name: agent53 + start: [10, 15] +- goal: [10, 15] + name: agent54 + start: [27, 27] +- goal: [29, 14] + name: agent55 + start: [29, 20] +- goal: [5, 3] + name: agent56 + start: [2, 11] +- goal: [0, 31] + name: agent57 + start: [15, 7] +- goal: [10, 12] + name: agent58 + start: [20, 11] +- goal: [18, 19] + name: agent59 + start: [17, 6] +- goal: [29, 12] + name: agent60 + start: [8, 27] +- goal: [22, 22] + name: agent61 + start: [8, 4] +- goal: [13, 24] + name: agent62 + start: [29, 26] +- goal: [28, 25] + name: agent63 + start: [15, 21] +- goal: [18, 2] + name: agent64 + start: [10, 25] +- goal: [22, 19] + name: agent65 + start: [16, 29] +- goal: [6, 3] + name: agent66 + start: [21, 29] +- goal: [24, 22] + name: agent67 + start: [22, 20] +- goal: [19, 4] + name: agent68 + start: [21, 21] +- goal: [1, 22] + name: agent69 + start: [6, 3] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [0, 21] + - !!python/tuple [8, 2] + - !!python/tuple [14, 12] + - !!python/tuple [30, 16] + - !!python/tuple [15, 23] + - !!python/tuple [26, 5] + - !!python/tuple [6, 17] + - !!python/tuple [11, 19] + - !!python/tuple [21, 4] + - !!python/tuple [3, 9] + - !!python/tuple [17, 19] + - !!python/tuple [22, 23] + - !!python/tuple [24, 8] + - !!python/tuple [3, 13] + - !!python/tuple [12, 21] + - !!python/tuple [3, 15] + - !!python/tuple [16, 5] + - !!python/tuple [21, 22] + - !!python/tuple [20, 5] + - !!python/tuple [15, 22] + - !!python/tuple [16, 30] + - !!python/tuple [10, 18] + - !!python/tuple [29, 25] + - !!python/tuple [1, 29] + - !!python/tuple [4, 5] + - !!python/tuple [6, 1] + - !!python/tuple [23, 1] + - !!python/tuple [17, 5] + - !!python/tuple [28, 12] + - !!python/tuple [20, 29] + - !!python/tuple [31, 10] + - !!python/tuple [27, 21] + - !!python/tuple [23, 18] + - !!python/tuple [14, 16] + - !!python/tuple [18, 10] + - !!python/tuple [23, 6] + - !!python/tuple [8, 3] + - !!python/tuple [11, 0] + - !!python/tuple [7, 11] + - !!python/tuple [0, 10] + - !!python/tuple [11, 30] + - !!python/tuple [15, 12] + - !!python/tuple [22, 17] + - !!python/tuple [27, 30] + - !!python/tuple [15, 17] + - !!python/tuple [13, 17] + - !!python/tuple [25, 25] + - !!python/tuple [15, 6] + - !!python/tuple [24, 7] + - !!python/tuple [20, 19] + - !!python/tuple [6, 0] + - !!python/tuple [10, 21] + - !!python/tuple [11, 7] + - !!python/tuple [9, 12] + - !!python/tuple [31, 11] + - !!python/tuple [16, 24] + - !!python/tuple [8, 9] + - !!python/tuple [14, 3] + - !!python/tuple [30, 31] + - !!python/tuple [16, 31] + - !!python/tuple [29, 23] + - !!python/tuple [29, 11] + - !!python/tuple [29, 24] + - !!python/tuple [26, 16] + - !!python/tuple [30, 23] + - !!python/tuple [14, 0] + - !!python/tuple [26, 29] + - !!python/tuple [22, 31] + - !!python/tuple [5, 27] + - !!python/tuple [5, 15] + - !!python/tuple [25, 31] + - !!python/tuple [28, 24] + - !!python/tuple [20, 22] + - !!python/tuple [27, 12] + - !!python/tuple [17, 27] + - !!python/tuple [18, 22] + - !!python/tuple [19, 11] + - !!python/tuple [23, 30] + - !!python/tuple [26, 15] + - !!python/tuple [13, 1] + - !!python/tuple [18, 7] + - !!python/tuple [9, 3] + - !!python/tuple [18, 11] + - !!python/tuple [19, 19] + - !!python/tuple [13, 22] + - !!python/tuple [4, 20] + - !!python/tuple [26, 17] + - !!python/tuple [12, 13] + - !!python/tuple [17, 24] + - !!python/tuple [10, 1] + - !!python/tuple [28, 14] + - !!python/tuple [28, 21] + - !!python/tuple [8, 24] + - !!python/tuple [22, 12] + - !!python/tuple [21, 24] + - !!python/tuple [5, 12] + - !!python/tuple [5, 13] + - !!python/tuple [7, 5] + - !!python/tuple [13, 12] + - !!python/tuple [27, 23] + - !!python/tuple [15, 30] + - !!python/tuple [13, 28] + - !!python/tuple [5, 7] + - !!python/tuple [31, 21] + - !!python/tuple [13, 10] + - !!python/tuple [24, 21] + - !!python/tuple [31, 12] + - !!python/tuple [0, 30] + - !!python/tuple [16, 1] + - !!python/tuple [20, 25] + - !!python/tuple [23, 31] + - !!python/tuple [23, 26] + - !!python/tuple [11, 21] + - !!python/tuple [16, 22] + - !!python/tuple [31, 23] + - !!python/tuple [12, 12] + - !!python/tuple [9, 6] + - !!python/tuple [27, 4] + - !!python/tuple [17, 14] + - !!python/tuple [30, 7] + - !!python/tuple [1, 2] + - !!python/tuple [4, 23] + - !!python/tuple [10, 7] + - !!python/tuple [17, 9] + - !!python/tuple [25, 28] + - !!python/tuple [30, 27] + - !!python/tuple [27, 3] + - !!python/tuple [20, 13] + - !!python/tuple [12, 0] + - !!python/tuple [31, 3] + - !!python/tuple [1, 24] + - !!python/tuple [21, 26] + - !!python/tuple [10, 16] + - !!python/tuple [27, 10] + - !!python/tuple [20, 8] + - !!python/tuple [10, 4] + - !!python/tuple [10, 29] + - !!python/tuple [13, 20] + - !!python/tuple [17, 23] + - !!python/tuple [21, 25] + - !!python/tuple [25, 8] + - !!python/tuple [27, 22] + - !!python/tuple [11, 18] + - !!python/tuple [15, 15] + - !!python/tuple [28, 31] + - !!python/tuple [22, 5] + - !!python/tuple [28, 9] + - !!python/tuple [16, 10] + - !!python/tuple [24, 2] + - !!python/tuple [2, 10] + - !!python/tuple [2, 31] + - !!python/tuple [26, 9] + - !!python/tuple [15, 16] + - !!python/tuple [24, 16] + - !!python/tuple [15, 5] + - !!python/tuple [17, 30] + - !!python/tuple [21, 17] + - !!python/tuple [3, 21] + - !!python/tuple [7, 22] + - !!python/tuple [16, 13] + - !!python/tuple [30, 11] + - !!python/tuple [9, 0] + - !!python/tuple [14, 6] + - !!python/tuple [20, 9] + - !!python/tuple [13, 18] + - !!python/tuple [4, 3] + - !!python/tuple [31, 8] + - !!python/tuple [31, 22] + - !!python/tuple [20, 31] + - !!python/tuple [16, 18] + - !!python/tuple [19, 2] + - !!python/tuple [4, 6] + - !!python/tuple [30, 25] + - !!python/tuple [3, 0] + - !!python/tuple [29, 15] + - !!python/tuple [13, 19] + - !!python/tuple [14, 11] + - !!python/tuple [1, 26] + - !!python/tuple [1, 5] + - !!python/tuple [23, 16] + - !!python/tuple [15, 4] + - !!python/tuple [23, 28] + - !!python/tuple [14, 1] + - !!python/tuple [12, 29] + - !!python/tuple [5, 24] + - !!python/tuple [29, 19] + - !!python/tuple [9, 16] + - !!python/tuple [12, 24] + - !!python/tuple [2, 20] + - !!python/tuple [0, 0] + - !!python/tuple [0, 22] + - !!python/tuple [20, 3] + - !!python/tuple [1, 1] + - !!python/tuple [15, 0] + - !!python/tuple [1, 11] + - !!python/tuple [9, 5] + - !!python/tuple [26, 21] + - !!python/tuple [21, 5] + - !!python/tuple [10, 23] + - !!python/tuple [30, 8] + - !!python/tuple [13, 29] + - !!python/tuple [19, 10] + - !!python/tuple [22, 30] + - !!python/tuple [12, 14] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex32.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex32.yaml new file mode 100644 index 0000000..6f3643e --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex32.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [19, 29] + name: agent0 + start: [11, 22] +- goal: [28, 15] + name: agent1 + start: [5, 29] +- goal: [30, 15] + name: agent2 + start: [19, 0] +- goal: [5, 0] + name: agent3 + start: [26, 26] +- goal: [23, 0] + name: agent4 + start: [4, 7] +- goal: [10, 15] + name: agent5 + start: [23, 23] +- goal: [1, 0] + name: agent6 + start: [10, 23] +- goal: [18, 0] + name: agent7 + start: [8, 25] +- goal: [19, 26] + name: agent8 + start: [22, 11] +- goal: [19, 8] + name: agent9 + start: [23, 1] +- goal: [22, 18] + name: agent10 + start: [9, 20] +- goal: [3, 0] + name: agent11 + start: [7, 4] +- goal: [6, 7] + name: agent12 + start: [4, 10] +- goal: [22, 28] + name: agent13 + start: [22, 19] +- goal: [22, 14] + name: agent14 + start: [5, 28] +- goal: [1, 14] + name: agent15 + start: [24, 12] +- goal: [17, 27] + name: agent16 + start: [10, 29] +- goal: [29, 10] + name: agent17 + start: [27, 5] +- goal: [14, 9] + name: agent18 + start: [2, 21] +- goal: [12, 19] + name: agent19 + start: [16, 29] +- goal: [6, 20] + name: agent20 + start: [9, 31] +- goal: [20, 27] + name: agent21 + start: [6, 3] +- goal: [29, 16] + name: agent22 + start: [11, 18] +- goal: [4, 10] + name: agent23 + start: [21, 15] +- goal: [16, 12] + name: agent24 + start: [7, 2] +- goal: [13, 13] + name: agent25 + start: [26, 1] +- goal: [2, 3] + name: agent26 + start: [11, 14] +- goal: [25, 15] + name: agent27 + start: [10, 9] +- goal: [9, 3] + name: agent28 + start: [8, 28] +- goal: [4, 8] + name: agent29 + start: [14, 19] +- goal: [16, 25] + name: agent30 + start: [27, 12] +- goal: [3, 12] + name: agent31 + start: [11, 1] +- goal: [24, 30] + name: agent32 + start: [8, 14] +- goal: [19, 16] + name: agent33 + start: [13, 17] +- goal: [16, 2] + name: agent34 + start: [4, 3] +- goal: [5, 29] + name: agent35 + start: [15, 28] +- goal: [20, 10] + name: agent36 + start: [14, 24] +- goal: [15, 6] + name: agent37 + start: [21, 11] +- goal: [12, 15] + name: agent38 + start: [13, 15] +- goal: [21, 16] + name: agent39 + start: [3, 21] +- goal: [6, 15] + name: agent40 + start: [5, 31] +- goal: [24, 16] + name: agent41 + start: [30, 26] +- goal: [24, 3] + name: agent42 + start: [22, 28] +- goal: [28, 10] + name: agent43 + start: [1, 13] +- goal: [13, 26] + name: agent44 + start: [20, 0] +- goal: [2, 23] + name: agent45 + start: [15, 16] +- goal: [24, 18] + name: agent46 + start: [13, 2] +- goal: [6, 22] + name: agent47 + start: [23, 8] +- goal: [25, 27] + name: agent48 + start: [2, 24] +- goal: [5, 11] + name: agent49 + start: [27, 6] +- goal: [15, 20] + name: agent50 + start: [17, 4] +- goal: [29, 12] + name: agent51 + start: [30, 5] +- goal: [7, 14] + name: agent52 + start: [8, 18] +- goal: [2, 17] + name: agent53 + start: [6, 20] +- goal: [14, 0] + name: agent54 + start: [22, 17] +- goal: [2, 6] + name: agent55 + start: [4, 23] +- goal: [10, 11] + name: agent56 + start: [18, 18] +- goal: [21, 1] + name: agent57 + start: [18, 22] +- goal: [8, 13] + name: agent58 + start: [11, 17] +- goal: [16, 11] + name: agent59 + start: [5, 16] +- goal: [4, 29] + name: agent60 + start: [15, 5] +- goal: [26, 15] + name: agent61 + start: [13, 19] +- goal: [10, 4] + name: agent62 + start: [20, 31] +- goal: [7, 2] + name: agent63 + start: [0, 7] +- goal: [2, 26] + name: agent64 + start: [1, 0] +- goal: [10, 21] + name: agent65 + start: [17, 15] +- goal: [1, 29] + name: agent66 + start: [29, 18] +- goal: [10, 13] + name: agent67 + start: [1, 14] +- goal: [25, 20] + name: agent68 + start: [30, 14] +- goal: [8, 18] + name: agent69 + start: [14, 23] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [22, 26] + - !!python/tuple [27, 11] + - !!python/tuple [31, 1] + - !!python/tuple [22, 12] + - !!python/tuple [7, 20] + - !!python/tuple [30, 12] + - !!python/tuple [21, 30] + - !!python/tuple [18, 19] + - !!python/tuple [19, 17] + - !!python/tuple [15, 27] + - !!python/tuple [19, 6] + - !!python/tuple [12, 13] + - !!python/tuple [16, 26] + - !!python/tuple [21, 19] + - !!python/tuple [15, 14] + - !!python/tuple [4, 17] + - !!python/tuple [21, 21] + - !!python/tuple [30, 27] + - !!python/tuple [25, 13] + - !!python/tuple [14, 11] + - !!python/tuple [3, 31] + - !!python/tuple [18, 17] + - !!python/tuple [31, 29] + - !!python/tuple [24, 21] + - !!python/tuple [20, 26] + - !!python/tuple [26, 27] + - !!python/tuple [9, 13] + - !!python/tuple [26, 21] + - !!python/tuple [12, 10] + - !!python/tuple [8, 9] + - !!python/tuple [22, 27] + - !!python/tuple [6, 5] + - !!python/tuple [18, 9] + - !!python/tuple [1, 2] + - !!python/tuple [30, 13] + - !!python/tuple [0, 26] + - !!python/tuple [11, 13] + - !!python/tuple [8, 31] + - !!python/tuple [9, 27] + - !!python/tuple [23, 9] + - !!python/tuple [15, 31] + - !!python/tuple [7, 30] + - !!python/tuple [24, 5] + - !!python/tuple [8, 6] + - !!python/tuple [21, 9] + - !!python/tuple [12, 21] + - !!python/tuple [19, 22] + - !!python/tuple [29, 23] + - !!python/tuple [1, 8] + - !!python/tuple [25, 7] + - !!python/tuple [19, 11] + - !!python/tuple [21, 27] + - !!python/tuple [31, 12] + - !!python/tuple [13, 9] + - !!python/tuple [29, 3] + - !!python/tuple [0, 9] + - !!python/tuple [11, 30] + - !!python/tuple [15, 4] + - !!python/tuple [27, 20] + - !!python/tuple [17, 13] + - !!python/tuple [7, 27] + - !!python/tuple [20, 21] + - !!python/tuple [27, 18] + - !!python/tuple [24, 1] + - !!python/tuple [27, 0] + - !!python/tuple [4, 6] + - !!python/tuple [9, 18] + - !!python/tuple [21, 23] + - !!python/tuple [17, 5] + - !!python/tuple [3, 19] + - !!python/tuple [27, 25] + - !!python/tuple [21, 0] + - !!python/tuple [15, 24] + - !!python/tuple [13, 5] + - !!python/tuple [28, 4] + - !!python/tuple [16, 6] + - !!python/tuple [26, 17] + - !!python/tuple [28, 27] + - !!python/tuple [4, 24] + - !!python/tuple [3, 24] + - !!python/tuple [0, 10] + - !!python/tuple [4, 2] + - !!python/tuple [15, 17] + - !!python/tuple [1, 19] + - !!python/tuple [6, 27] + - !!python/tuple [3, 20] + - !!python/tuple [5, 17] + - !!python/tuple [29, 11] + - !!python/tuple [22, 25] + - !!python/tuple [17, 26] + - !!python/tuple [12, 30] + - !!python/tuple [5, 24] + - !!python/tuple [17, 25] + - !!python/tuple [25, 17] + - !!python/tuple [6, 11] + - !!python/tuple [21, 31] + - !!python/tuple [3, 30] + - !!python/tuple [1, 31] + - !!python/tuple [11, 8] + - !!python/tuple [0, 16] + - !!python/tuple [4, 20] + - !!python/tuple [4, 31] + - !!python/tuple [10, 7] + - !!python/tuple [21, 18] + - !!python/tuple [30, 22] + - !!python/tuple [18, 30] + - !!python/tuple [3, 14] + - !!python/tuple [7, 5] + - !!python/tuple [23, 18] + - !!python/tuple [5, 13] + - !!python/tuple [26, 31] + - !!python/tuple [12, 20] + - !!python/tuple [4, 16] + - !!python/tuple [14, 20] + - !!python/tuple [19, 28] + - !!python/tuple [6, 2] + - !!python/tuple [25, 30] + - !!python/tuple [18, 7] + - !!python/tuple [5, 26] + - !!python/tuple [29, 27] + - !!python/tuple [24, 29] + - !!python/tuple [14, 7] + - !!python/tuple [9, 24] + - !!python/tuple [21, 6] + - !!python/tuple [17, 14] + - !!python/tuple [18, 2] + - !!python/tuple [3, 5] + - !!python/tuple [28, 21] + - !!python/tuple [6, 30] + - !!python/tuple [13, 18] + - !!python/tuple [16, 5] + - !!python/tuple [6, 14] + - !!python/tuple [29, 2] + - !!python/tuple [22, 8] + - !!python/tuple [4, 15] + - !!python/tuple [22, 16] + - !!python/tuple [27, 15] + - !!python/tuple [25, 12] + - !!python/tuple [20, 17] + - !!python/tuple [1, 6] + - !!python/tuple [10, 10] + - !!python/tuple [14, 28] + - !!python/tuple [4, 5] + - !!python/tuple [8, 20] + - !!python/tuple [2, 1] + - !!python/tuple [11, 16] + - !!python/tuple [20, 5] + - !!python/tuple [14, 4] + - !!python/tuple [21, 4] + - !!python/tuple [20, 12] + - !!python/tuple [24, 13] + - !!python/tuple [30, 16] + - !!python/tuple [16, 23] + - !!python/tuple [12, 6] + - !!python/tuple [4, 0] + - !!python/tuple [29, 5] + - !!python/tuple [26, 20] + - !!python/tuple [4, 22] + - !!python/tuple [29, 4] + - !!python/tuple [1, 24] + - !!python/tuple [11, 29] + - !!python/tuple [8, 16] + - !!python/tuple [31, 19] + - !!python/tuple [23, 6] + - !!python/tuple [7, 21] + - !!python/tuple [15, 8] + - !!python/tuple [29, 29] + - !!python/tuple [20, 13] + - !!python/tuple [30, 10] + - !!python/tuple [1, 21] + - !!python/tuple [29, 21] + - !!python/tuple [28, 0] + - !!python/tuple [30, 19] + - !!python/tuple [31, 10] + - !!python/tuple [16, 7] + - !!python/tuple [27, 21] + - !!python/tuple [8, 10] + - !!python/tuple [16, 1] + - !!python/tuple [4, 28] + - !!python/tuple [2, 22] + - !!python/tuple [11, 6] + - !!python/tuple [25, 9] + - !!python/tuple [1, 3] + - !!python/tuple [13, 30] + - !!python/tuple [12, 22] + - !!python/tuple [2, 18] + - !!python/tuple [4, 21] + - !!python/tuple [17, 12] + - !!python/tuple [2, 29] + - !!python/tuple [23, 15] + - !!python/tuple [17, 17] + - !!python/tuple [7, 19] + - !!python/tuple [18, 29] + - !!python/tuple [18, 11] + - !!python/tuple [0, 20] + - !!python/tuple [23, 2] + - !!python/tuple [18, 4] + - !!python/tuple [24, 14] + - !!python/tuple [6, 26] + - !!python/tuple [8, 23] + - !!python/tuple [17, 3] + - !!python/tuple [19, 23] + - !!python/tuple [8, 17] + - !!python/tuple [6, 28] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex33.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex33.yaml new file mode 100644 index 0000000..3539a97 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex33.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [11, 28] + name: agent0 + start: [29, 10] +- goal: [14, 10] + name: agent1 + start: [26, 15] +- goal: [13, 24] + name: agent2 + start: [23, 26] +- goal: [6, 2] + name: agent3 + start: [9, 11] +- goal: [12, 18] + name: agent4 + start: [3, 26] +- goal: [21, 23] + name: agent5 + start: [0, 2] +- goal: [11, 19] + name: agent6 + start: [24, 5] +- goal: [9, 18] + name: agent7 + start: [2, 29] +- goal: [4, 17] + name: agent8 + start: [25, 16] +- goal: [20, 31] + name: agent9 + start: [18, 31] +- goal: [11, 5] + name: agent10 + start: [15, 29] +- goal: [23, 17] + name: agent11 + start: [19, 26] +- goal: [16, 10] + name: agent12 + start: [8, 29] +- goal: [4, 2] + name: agent13 + start: [27, 27] +- goal: [11, 22] + name: agent14 + start: [9, 20] +- goal: [5, 27] + name: agent15 + start: [2, 10] +- goal: [12, 13] + name: agent16 + start: [16, 9] +- goal: [8, 1] + name: agent17 + start: [8, 20] +- goal: [28, 12] + name: agent18 + start: [0, 25] +- goal: [19, 14] + name: agent19 + start: [1, 8] +- goal: [3, 17] + name: agent20 + start: [28, 28] +- goal: [20, 7] + name: agent21 + start: [10, 5] +- goal: [18, 12] + name: agent22 + start: [19, 22] +- goal: [16, 28] + name: agent23 + start: [10, 15] +- goal: [19, 8] + name: agent24 + start: [26, 23] +- goal: [4, 13] + name: agent25 + start: [24, 26] +- goal: [24, 4] + name: agent26 + start: [24, 8] +- goal: [26, 30] + name: agent27 + start: [1, 17] +- goal: [11, 1] + name: agent28 + start: [14, 24] +- goal: [21, 26] + name: agent29 + start: [30, 3] +- goal: [25, 19] + name: agent30 + start: [9, 4] +- goal: [2, 12] + name: agent31 + start: [24, 21] +- goal: [6, 13] + name: agent32 + start: [6, 18] +- goal: [15, 29] + name: agent33 + start: [28, 20] +- goal: [11, 6] + name: agent34 + start: [9, 2] +- goal: [20, 15] + name: agent35 + start: [26, 11] +- goal: [12, 23] + name: agent36 + start: [30, 9] +- goal: [11, 16] + name: agent37 + start: [24, 23] +- goal: [1, 12] + name: agent38 + start: [14, 31] +- goal: [12, 5] + name: agent39 + start: [6, 23] +- goal: [31, 25] + name: agent40 + start: [25, 14] +- goal: [15, 12] + name: agent41 + start: [25, 23] +- goal: [6, 20] + name: agent42 + start: [24, 13] +- goal: [18, 9] + name: agent43 + start: [24, 29] +- goal: [4, 6] + name: agent44 + start: [26, 9] +- goal: [5, 20] + name: agent45 + start: [26, 17] +- goal: [4, 8] + name: agent46 + start: [6, 31] +- goal: [25, 18] + name: agent47 + start: [25, 24] +- goal: [29, 1] + name: agent48 + start: [5, 22] +- goal: [28, 1] + name: agent49 + start: [0, 21] +- goal: [17, 1] + name: agent50 + start: [21, 10] +- goal: [1, 28] + name: agent51 + start: [13, 19] +- goal: [11, 7] + name: agent52 + start: [25, 12] +- goal: [28, 0] + name: agent53 + start: [24, 0] +- goal: [25, 15] + name: agent54 + start: [13, 25] +- goal: [5, 31] + name: agent55 + start: [30, 2] +- goal: [5, 12] + name: agent56 + start: [9, 13] +- goal: [30, 15] + name: agent57 + start: [21, 26] +- goal: [23, 8] + name: agent58 + start: [31, 28] +- goal: [5, 3] + name: agent59 + start: [16, 29] +- goal: [3, 6] + name: agent60 + start: [6, 25] +- goal: [22, 4] + name: agent61 + start: [12, 22] +- goal: [19, 28] + name: agent62 + start: [14, 16] +- goal: [21, 5] + name: agent63 + start: [2, 30] +- goal: [6, 27] + name: agent64 + start: [18, 26] +- goal: [14, 27] + name: agent65 + start: [8, 10] +- goal: [21, 4] + name: agent66 + start: [4, 2] +- goal: [20, 18] + name: agent67 + start: [11, 8] +- goal: [18, 28] + name: agent68 + start: [14, 4] +- goal: [6, 24] + name: agent69 + start: [20, 21] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [15, 4] + - !!python/tuple [10, 25] + - !!python/tuple [6, 21] + - !!python/tuple [12, 0] + - !!python/tuple [29, 27] + - !!python/tuple [13, 14] + - !!python/tuple [0, 13] + - !!python/tuple [7, 12] + - !!python/tuple [2, 25] + - !!python/tuple [14, 17] + - !!python/tuple [17, 30] + - !!python/tuple [22, 30] + - !!python/tuple [20, 0] + - !!python/tuple [31, 9] + - !!python/tuple [1, 3] + - !!python/tuple [22, 22] + - !!python/tuple [27, 17] + - !!python/tuple [19, 25] + - !!python/tuple [11, 14] + - !!python/tuple [0, 11] + - !!python/tuple [8, 8] + - !!python/tuple [4, 12] + - !!python/tuple [24, 20] + - !!python/tuple [26, 8] + - !!python/tuple [10, 12] + - !!python/tuple [13, 18] + - !!python/tuple [15, 5] + - !!python/tuple [31, 22] + - !!python/tuple [17, 13] + - !!python/tuple [7, 19] + - !!python/tuple [8, 17] + - !!python/tuple [3, 28] + - !!python/tuple [30, 17] + - !!python/tuple [1, 27] + - !!python/tuple [30, 29] + - !!python/tuple [30, 26] + - !!python/tuple [26, 2] + - !!python/tuple [31, 17] + - !!python/tuple [2, 3] + - !!python/tuple [12, 14] + - !!python/tuple [27, 20] + - !!python/tuple [17, 28] + - !!python/tuple [14, 9] + - !!python/tuple [20, 23] + - !!python/tuple [19, 9] + - !!python/tuple [17, 14] + - !!python/tuple [29, 28] + - !!python/tuple [31, 5] + - !!python/tuple [26, 26] + - !!python/tuple [4, 9] + - !!python/tuple [25, 13] + - !!python/tuple [14, 21] + - !!python/tuple [30, 5] + - !!python/tuple [23, 7] + - !!python/tuple [18, 16] + - !!python/tuple [2, 18] + - !!python/tuple [25, 17] + - !!python/tuple [27, 18] + - !!python/tuple [18, 4] + - !!python/tuple [17, 31] + - !!python/tuple [1, 31] + - !!python/tuple [2, 28] + - !!python/tuple [30, 20] + - !!python/tuple [29, 3] + - !!python/tuple [31, 1] + - !!python/tuple [2, 17] + - !!python/tuple [14, 29] + - !!python/tuple [8, 13] + - !!python/tuple [31, 18] + - !!python/tuple [28, 13] + - !!python/tuple [14, 14] + - !!python/tuple [7, 17] + - !!python/tuple [29, 13] + - !!python/tuple [1, 14] + - !!python/tuple [23, 30] + - !!python/tuple [25, 11] + - !!python/tuple [22, 19] + - !!python/tuple [4, 25] + - !!python/tuple [5, 8] + - !!python/tuple [12, 10] + - !!python/tuple [24, 10] + - !!python/tuple [18, 7] + - !!python/tuple [15, 17] + - !!python/tuple [24, 22] + - !!python/tuple [18, 30] + - !!python/tuple [3, 3] + - !!python/tuple [23, 27] + - !!python/tuple [5, 16] + - !!python/tuple [0, 14] + - !!python/tuple [7, 3] + - !!python/tuple [20, 8] + - !!python/tuple [17, 4] + - !!python/tuple [28, 9] + - !!python/tuple [10, 6] + - !!python/tuple [3, 18] + - !!python/tuple [14, 8] + - !!python/tuple [9, 30] + - !!python/tuple [7, 16] + - !!python/tuple [25, 21] + - !!python/tuple [28, 27] + - !!python/tuple [18, 13] + - !!python/tuple [25, 9] + - !!python/tuple [8, 11] + - !!python/tuple [23, 14] + - !!python/tuple [31, 0] + - !!python/tuple [21, 28] + - !!python/tuple [13, 9] + - !!python/tuple [11, 17] + - !!python/tuple [10, 31] + - !!python/tuple [22, 16] + - !!python/tuple [15, 6] + - !!python/tuple [8, 4] + - !!python/tuple [22, 23] + - !!python/tuple [29, 12] + - !!python/tuple [0, 16] + - !!python/tuple [7, 6] + - !!python/tuple [9, 17] + - !!python/tuple [28, 2] + - !!python/tuple [12, 9] + - !!python/tuple [11, 2] + - !!python/tuple [18, 0] + - !!python/tuple [1, 4] + - !!python/tuple [28, 26] + - !!python/tuple [2, 1] + - !!python/tuple [18, 14] + - !!python/tuple [16, 23] + - !!python/tuple [28, 3] + - !!python/tuple [11, 24] + - !!python/tuple [27, 21] + - !!python/tuple [29, 2] + - !!python/tuple [25, 28] + - !!python/tuple [28, 25] + - !!python/tuple [4, 28] + - !!python/tuple [7, 20] + - !!python/tuple [11, 12] + - !!python/tuple [27, 15] + - !!python/tuple [22, 0] + - !!python/tuple [9, 10] + - !!python/tuple [25, 6] + - !!python/tuple [13, 8] + - !!python/tuple [3, 10] + - !!python/tuple [31, 3] + - !!python/tuple [11, 31] + - !!python/tuple [3, 25] + - !!python/tuple [5, 28] + - !!python/tuple [10, 13] + - !!python/tuple [29, 18] + - !!python/tuple [8, 30] + - !!python/tuple [16, 5] + - !!python/tuple [26, 24] + - !!python/tuple [0, 19] + - !!python/tuple [1, 24] + - !!python/tuple [23, 24] + - !!python/tuple [3, 9] + - !!python/tuple [12, 15] + - !!python/tuple [27, 19] + - !!python/tuple [16, 13] + - !!python/tuple [5, 19] + - !!python/tuple [10, 14] + - !!python/tuple [19, 17] + - !!python/tuple [8, 0] + - !!python/tuple [24, 7] + - !!python/tuple [1, 15] + - !!python/tuple [13, 21] + - !!python/tuple [1, 9] + - !!python/tuple [23, 1] + - !!python/tuple [21, 21] + - !!python/tuple [7, 18] + - !!python/tuple [14, 11] + - !!python/tuple [30, 0] + - !!python/tuple [20, 26] + - !!python/tuple [22, 6] + - !!python/tuple [12, 26] + - !!python/tuple [25, 3] + - !!python/tuple [2, 19] + - !!python/tuple [17, 3] + - !!python/tuple [2, 13] + - !!python/tuple [1, 2] + - !!python/tuple [21, 15] + - !!python/tuple [19, 13] + - !!python/tuple [9, 15] + - !!python/tuple [12, 28] + - !!python/tuple [21, 27] + - !!python/tuple [15, 24] + - !!python/tuple [7, 27] + - !!python/tuple [18, 6] + - !!python/tuple [2, 20] + - !!python/tuple [23, 25] + - !!python/tuple [0, 10] + - !!python/tuple [13, 15] + - !!python/tuple [4, 1] + - !!python/tuple [5, 30] + - !!python/tuple [28, 8] + - !!python/tuple [16, 27] + - !!python/tuple [27, 23] + - !!python/tuple [20, 3] + - !!python/tuple [11, 30] + - !!python/tuple [27, 12] + - !!python/tuple [12, 12] + - !!python/tuple [21, 17] + - !!python/tuple [21, 22] + - !!python/tuple [9, 7] + - !!python/tuple [3, 2] + - !!python/tuple [3, 22] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex34.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex34.yaml new file mode 100644 index 0000000..ec0cf90 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex34.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [23, 26] + name: agent0 + start: [3, 8] +- goal: [16, 25] + name: agent1 + start: [0, 8] +- goal: [13, 4] + name: agent2 + start: [8, 12] +- goal: [22, 17] + name: agent3 + start: [9, 27] +- goal: [0, 8] + name: agent4 + start: [22, 21] +- goal: [7, 23] + name: agent5 + start: [9, 16] +- goal: [2, 21] + name: agent6 + start: [19, 6] +- goal: [8, 14] + name: agent7 + start: [4, 26] +- goal: [24, 5] + name: agent8 + start: [4, 7] +- goal: [30, 13] + name: agent9 + start: [1, 31] +- goal: [27, 31] + name: agent10 + start: [6, 17] +- goal: [24, 27] + name: agent11 + start: [23, 2] +- goal: [27, 20] + name: agent12 + start: [31, 18] +- goal: [21, 26] + name: agent13 + start: [3, 14] +- goal: [28, 19] + name: agent14 + start: [7, 21] +- goal: [19, 14] + name: agent15 + start: [11, 2] +- goal: [10, 5] + name: agent16 + start: [6, 7] +- goal: [16, 28] + name: agent17 + start: [10, 17] +- goal: [8, 0] + name: agent18 + start: [7, 5] +- goal: [15, 16] + name: agent19 + start: [25, 31] +- goal: [1, 12] + name: agent20 + start: [13, 22] +- goal: [5, 13] + name: agent21 + start: [21, 3] +- goal: [26, 19] + name: agent22 + start: [28, 4] +- goal: [6, 3] + name: agent23 + start: [5, 30] +- goal: [19, 2] + name: agent24 + start: [10, 4] +- goal: [27, 22] + name: agent25 + start: [29, 29] +- goal: [10, 25] + name: agent26 + start: [22, 22] +- goal: [1, 8] + name: agent27 + start: [20, 16] +- goal: [5, 5] + name: agent28 + start: [29, 0] +- goal: [10, 4] + name: agent29 + start: [4, 14] +- goal: [1, 22] + name: agent30 + start: [3, 30] +- goal: [23, 31] + name: agent31 + start: [14, 31] +- goal: [13, 20] + name: agent32 + start: [17, 7] +- goal: [11, 18] + name: agent33 + start: [26, 13] +- goal: [8, 26] + name: agent34 + start: [28, 2] +- goal: [4, 24] + name: agent35 + start: [21, 26] +- goal: [3, 6] + name: agent36 + start: [14, 25] +- goal: [4, 29] + name: agent37 + start: [9, 14] +- goal: [11, 22] + name: agent38 + start: [23, 3] +- goal: [20, 26] + name: agent39 + start: [28, 11] +- goal: [14, 18] + name: agent40 + start: [25, 18] +- goal: [7, 16] + name: agent41 + start: [1, 30] +- goal: [30, 22] + name: agent42 + start: [27, 23] +- goal: [7, 27] + name: agent43 + start: [24, 12] +- goal: [3, 4] + name: agent44 + start: [2, 12] +- goal: [18, 2] + name: agent45 + start: [2, 13] +- goal: [26, 18] + name: agent46 + start: [25, 11] +- goal: [15, 7] + name: agent47 + start: [27, 28] +- goal: [11, 6] + name: agent48 + start: [22, 23] +- goal: [1, 25] + name: agent49 + start: [14, 4] +- goal: [3, 7] + name: agent50 + start: [1, 24] +- goal: [16, 19] + name: agent51 + start: [8, 11] +- goal: [1, 9] + name: agent52 + start: [12, 13] +- goal: [4, 16] + name: agent53 + start: [8, 14] +- goal: [4, 4] + name: agent54 + start: [24, 13] +- goal: [12, 30] + name: agent55 + start: [22, 8] +- goal: [13, 5] + name: agent56 + start: [25, 20] +- goal: [22, 6] + name: agent57 + start: [4, 19] +- goal: [26, 14] + name: agent58 + start: [5, 12] +- goal: [3, 8] + name: agent59 + start: [11, 1] +- goal: [17, 23] + name: agent60 + start: [2, 2] +- goal: [4, 13] + name: agent61 + start: [15, 6] +- goal: [9, 0] + name: agent62 + start: [18, 29] +- goal: [26, 10] + name: agent63 + start: [13, 8] +- goal: [0, 14] + name: agent64 + start: [12, 1] +- goal: [16, 27] + name: agent65 + start: [3, 29] +- goal: [22, 27] + name: agent66 + start: [27, 1] +- goal: [6, 17] + name: agent67 + start: [25, 27] +- goal: [21, 3] + name: agent68 + start: [15, 16] +- goal: [2, 5] + name: agent69 + start: [22, 30] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [19, 19] + - !!python/tuple [18, 11] + - !!python/tuple [22, 18] + - !!python/tuple [2, 20] + - !!python/tuple [11, 14] + - !!python/tuple [3, 19] + - !!python/tuple [31, 15] + - !!python/tuple [10, 14] + - !!python/tuple [10, 23] + - !!python/tuple [16, 8] + - !!python/tuple [4, 17] + - !!python/tuple [16, 30] + - !!python/tuple [2, 9] + - !!python/tuple [27, 3] + - !!python/tuple [25, 28] + - !!python/tuple [31, 0] + - !!python/tuple [10, 1] + - !!python/tuple [20, 4] + - !!python/tuple [29, 17] + - !!python/tuple [27, 14] + - !!python/tuple [13, 6] + - !!python/tuple [18, 8] + - !!python/tuple [9, 9] + - !!python/tuple [3, 5] + - !!python/tuple [14, 7] + - !!python/tuple [13, 27] + - !!python/tuple [28, 3] + - !!python/tuple [26, 29] + - !!python/tuple [15, 9] + - !!python/tuple [8, 15] + - !!python/tuple [20, 31] + - !!python/tuple [5, 14] + - !!python/tuple [17, 26] + - !!python/tuple [12, 12] + - !!python/tuple [16, 17] + - !!python/tuple [6, 20] + - !!python/tuple [19, 8] + - !!python/tuple [8, 1] + - !!python/tuple [7, 17] + - !!python/tuple [15, 27] + - !!python/tuple [8, 4] + - !!python/tuple [23, 20] + - !!python/tuple [0, 18] + - !!python/tuple [21, 2] + - !!python/tuple [2, 8] + - !!python/tuple [19, 30] + - !!python/tuple [9, 17] + - !!python/tuple [29, 5] + - !!python/tuple [2, 19] + - !!python/tuple [10, 8] + - !!python/tuple [0, 28] + - !!python/tuple [15, 3] + - !!python/tuple [11, 24] + - !!python/tuple [10, 6] + - !!python/tuple [22, 15] + - !!python/tuple [18, 23] + - !!python/tuple [0, 2] + - !!python/tuple [14, 14] + - !!python/tuple [30, 27] + - !!python/tuple [21, 31] + - !!python/tuple [28, 28] + - !!python/tuple [14, 12] + - !!python/tuple [24, 25] + - !!python/tuple [18, 30] + - !!python/tuple [12, 3] + - !!python/tuple [1, 28] + - !!python/tuple [29, 21] + - !!python/tuple [28, 0] + - !!python/tuple [21, 22] + - !!python/tuple [2, 22] + - !!python/tuple [26, 27] + - !!python/tuple [28, 10] + - !!python/tuple [28, 21] + - !!python/tuple [4, 31] + - !!python/tuple [31, 26] + - !!python/tuple [13, 9] + - !!python/tuple [29, 11] + - !!python/tuple [1, 6] + - !!python/tuple [4, 10] + - !!python/tuple [25, 2] + - !!python/tuple [13, 21] + - !!python/tuple [30, 6] + - !!python/tuple [30, 1] + - !!python/tuple [14, 21] + - !!python/tuple [24, 18] + - !!python/tuple [31, 24] + - !!python/tuple [6, 22] + - !!python/tuple [31, 21] + - !!python/tuple [0, 22] + - !!python/tuple [12, 24] + - !!python/tuple [19, 27] + - !!python/tuple [31, 10] + - !!python/tuple [14, 3] + - !!python/tuple [26, 8] + - !!python/tuple [31, 7] + - !!python/tuple [31, 31] + - !!python/tuple [19, 16] + - !!python/tuple [17, 28] + - !!python/tuple [30, 23] + - !!python/tuple [25, 5] + - !!python/tuple [19, 10] + - !!python/tuple [20, 24] + - !!python/tuple [11, 28] + - !!python/tuple [2, 18] + - !!python/tuple [8, 3] + - !!python/tuple [24, 28] + - !!python/tuple [17, 27] + - !!python/tuple [19, 21] + - !!python/tuple [11, 13] + - !!python/tuple [0, 29] + - !!python/tuple [18, 15] + - !!python/tuple [5, 9] + - !!python/tuple [14, 19] + - !!python/tuple [12, 25] + - !!python/tuple [25, 19] + - !!python/tuple [18, 3] + - !!python/tuple [2, 1] + - !!python/tuple [23, 18] + - !!python/tuple [29, 22] + - !!python/tuple [8, 25] + - !!python/tuple [20, 1] + - !!python/tuple [7, 10] + - !!python/tuple [30, 15] + - !!python/tuple [18, 0] + - !!python/tuple [13, 15] + - !!python/tuple [0, 5] + - !!python/tuple [19, 26] + - !!python/tuple [0, 20] + - !!python/tuple [31, 30] + - !!python/tuple [3, 18] + - !!python/tuple [5, 8] + - !!python/tuple [27, 8] + - !!python/tuple [28, 29] + - !!python/tuple [15, 28] + - !!python/tuple [19, 12] + - !!python/tuple [13, 14] + - !!python/tuple [16, 11] + - !!python/tuple [14, 0] + - !!python/tuple [18, 24] + - !!python/tuple [30, 18] + - !!python/tuple [9, 22] + - !!python/tuple [10, 9] + - !!python/tuple [17, 9] + - !!python/tuple [3, 9] + - !!python/tuple [27, 11] + - !!python/tuple [28, 15] + - !!python/tuple [5, 4] + - !!python/tuple [17, 30] + - !!python/tuple [11, 8] + - !!python/tuple [29, 13] + - !!python/tuple [19, 17] + - !!python/tuple [15, 5] + - !!python/tuple [25, 1] + - !!python/tuple [24, 19] + - !!python/tuple [20, 14] + - !!python/tuple [23, 16] + - !!python/tuple [27, 16] + - !!python/tuple [26, 11] + - !!python/tuple [6, 12] + - !!python/tuple [17, 31] + - !!python/tuple [9, 11] + - !!python/tuple [21, 7] + - !!python/tuple [1, 26] + - !!python/tuple [30, 8] + - !!python/tuple [13, 29] + - !!python/tuple [13, 12] + - !!python/tuple [20, 0] + - !!python/tuple [6, 30] + - !!python/tuple [10, 26] + - !!python/tuple [25, 21] + - !!python/tuple [25, 30] + - !!python/tuple [22, 14] + - !!python/tuple [16, 1] + - !!python/tuple [29, 3] + - !!python/tuple [15, 0] + - !!python/tuple [0, 1] + - !!python/tuple [16, 16] + - !!python/tuple [16, 9] + - !!python/tuple [5, 22] + - !!python/tuple [27, 0] + - !!python/tuple [16, 26] + - !!python/tuple [18, 20] + - !!python/tuple [24, 11] + - !!python/tuple [22, 0] + - !!python/tuple [0, 16] + - !!python/tuple [9, 19] + - !!python/tuple [27, 24] + - !!python/tuple [14, 9] + - !!python/tuple [4, 3] + - !!python/tuple [16, 5] + - !!python/tuple [25, 10] + - !!python/tuple [2, 6] + - !!python/tuple [21, 27] + - !!python/tuple [8, 13] + - !!python/tuple [18, 27] + - !!python/tuple [9, 15] + - !!python/tuple [1, 27] + - !!python/tuple [12, 18] + - !!python/tuple [15, 18] + - !!python/tuple [26, 5] + - !!python/tuple [30, 14] + - !!python/tuple [4, 22] + - !!python/tuple [17, 0] + - !!python/tuple [25, 3] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex35.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex35.yaml new file mode 100644 index 0000000..1fcda3a --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex35.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [24, 5] + name: agent0 + start: [4, 24] +- goal: [7, 17] + name: agent1 + start: [9, 22] +- goal: [11, 7] + name: agent2 + start: [13, 9] +- goal: [30, 4] + name: agent3 + start: [21, 19] +- goal: [8, 20] + name: agent4 + start: [6, 27] +- goal: [23, 26] + name: agent5 + start: [4, 30] +- goal: [2, 8] + name: agent6 + start: [6, 6] +- goal: [26, 22] + name: agent7 + start: [25, 15] +- goal: [8, 8] + name: agent8 + start: [21, 25] +- goal: [23, 31] + name: agent9 + start: [7, 15] +- goal: [27, 11] + name: agent10 + start: [7, 27] +- goal: [6, 27] + name: agent11 + start: [0, 21] +- goal: [9, 23] + name: agent12 + start: [26, 0] +- goal: [21, 12] + name: agent13 + start: [15, 13] +- goal: [8, 15] + name: agent14 + start: [23, 10] +- goal: [21, 31] + name: agent15 + start: [20, 23] +- goal: [1, 18] + name: agent16 + start: [9, 27] +- goal: [30, 14] + name: agent17 + start: [2, 6] +- goal: [23, 28] + name: agent18 + start: [22, 12] +- goal: [14, 6] + name: agent19 + start: [14, 1] +- goal: [24, 2] + name: agent20 + start: [26, 6] +- goal: [28, 16] + name: agent21 + start: [22, 22] +- goal: [4, 3] + name: agent22 + start: [4, 16] +- goal: [8, 23] + name: agent23 + start: [6, 30] +- goal: [11, 22] + name: agent24 + start: [30, 12] +- goal: [16, 6] + name: agent25 + start: [13, 15] +- goal: [12, 4] + name: agent26 + start: [11, 13] +- goal: [8, 11] + name: agent27 + start: [30, 23] +- goal: [2, 31] + name: agent28 + start: [13, 7] +- goal: [9, 0] + name: agent29 + start: [31, 18] +- goal: [18, 8] + name: agent30 + start: [19, 12] +- goal: [6, 19] + name: agent31 + start: [22, 6] +- goal: [28, 24] + name: agent32 + start: [15, 31] +- goal: [4, 22] + name: agent33 + start: [0, 3] +- goal: [4, 13] + name: agent34 + start: [10, 0] +- goal: [1, 25] + name: agent35 + start: [25, 8] +- goal: [23, 21] + name: agent36 + start: [20, 1] +- goal: [5, 2] + name: agent37 + start: [21, 30] +- goal: [0, 4] + name: agent38 + start: [10, 21] +- goal: [4, 21] + name: agent39 + start: [1, 15] +- goal: [15, 24] + name: agent40 + start: [31, 22] +- goal: [21, 6] + name: agent41 + start: [3, 28] +- goal: [13, 15] + name: agent42 + start: [0, 30] +- goal: [7, 28] + name: agent43 + start: [2, 2] +- goal: [20, 16] + name: agent44 + start: [28, 14] +- goal: [17, 26] + name: agent45 + start: [17, 4] +- goal: [13, 4] + name: agent46 + start: [18, 0] +- goal: [31, 18] + name: agent47 + start: [16, 16] +- goal: [8, 13] + name: agent48 + start: [29, 23] +- goal: [27, 24] + name: agent49 + start: [8, 14] +- goal: [17, 31] + name: agent50 + start: [23, 31] +- goal: [2, 3] + name: agent51 + start: [30, 15] +- goal: [23, 9] + name: agent52 + start: [13, 25] +- goal: [24, 1] + name: agent53 + start: [10, 30] +- goal: [2, 21] + name: agent54 + start: [5, 12] +- goal: [2, 25] + name: agent55 + start: [23, 24] +- goal: [18, 4] + name: agent56 + start: [8, 24] +- goal: [24, 12] + name: agent57 + start: [22, 18] +- goal: [30, 15] + name: agent58 + start: [11, 15] +- goal: [20, 1] + name: agent59 + start: [7, 25] +- goal: [23, 13] + name: agent60 + start: [4, 31] +- goal: [4, 19] + name: agent61 + start: [8, 26] +- goal: [27, 1] + name: agent62 + start: [1, 11] +- goal: [28, 1] + name: agent63 + start: [2, 23] +- goal: [1, 28] + name: agent64 + start: [8, 7] +- goal: [27, 25] + name: agent65 + start: [8, 8] +- goal: [1, 31] + name: agent66 + start: [5, 26] +- goal: [18, 0] + name: agent67 + start: [16, 23] +- goal: [25, 23] + name: agent68 + start: [11, 25] +- goal: [3, 30] + name: agent69 + start: [18, 5] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [28, 31] + - !!python/tuple [10, 10] + - !!python/tuple [24, 8] + - !!python/tuple [0, 20] + - !!python/tuple [10, 16] + - !!python/tuple [11, 5] + - !!python/tuple [19, 7] + - !!python/tuple [15, 21] + - !!python/tuple [22, 11] + - !!python/tuple [29, 19] + - !!python/tuple [12, 29] + - !!python/tuple [17, 13] + - !!python/tuple [15, 23] + - !!python/tuple [7, 1] + - !!python/tuple [31, 15] + - !!python/tuple [14, 26] + - !!python/tuple [8, 22] + - !!python/tuple [6, 4] + - !!python/tuple [14, 9] + - !!python/tuple [21, 9] + - !!python/tuple [16, 11] + - !!python/tuple [12, 28] + - !!python/tuple [7, 13] + - !!python/tuple [0, 10] + - !!python/tuple [22, 27] + - !!python/tuple [6, 14] + - !!python/tuple [3, 8] + - !!python/tuple [1, 4] + - !!python/tuple [24, 29] + - !!python/tuple [18, 15] + - !!python/tuple [12, 11] + - !!python/tuple [30, 11] + - !!python/tuple [21, 24] + - !!python/tuple [31, 9] + - !!python/tuple [23, 11] + - !!python/tuple [10, 2] + - !!python/tuple [6, 0] + - !!python/tuple [30, 17] + - !!python/tuple [6, 11] + - !!python/tuple [10, 25] + - !!python/tuple [12, 14] + - !!python/tuple [1, 2] + - !!python/tuple [11, 1] + - !!python/tuple [0, 28] + - !!python/tuple [19, 11] + - !!python/tuple [12, 31] + - !!python/tuple [13, 14] + - !!python/tuple [18, 17] + - !!python/tuple [29, 4] + - !!python/tuple [0, 23] + - !!python/tuple [15, 19] + - !!python/tuple [23, 17] + - !!python/tuple [11, 6] + - !!python/tuple [15, 10] + - !!python/tuple [26, 24] + - !!python/tuple [5, 18] + - !!python/tuple [7, 20] + - !!python/tuple [26, 30] + - !!python/tuple [28, 10] + - !!python/tuple [11, 28] + - !!python/tuple [16, 2] + - !!python/tuple [25, 12] + - !!python/tuple [4, 8] + - !!python/tuple [29, 29] + - !!python/tuple [29, 11] + - !!python/tuple [31, 26] + - !!python/tuple [21, 22] + - !!python/tuple [22, 13] + - !!python/tuple [10, 8] + - !!python/tuple [3, 25] + - !!python/tuple [21, 28] + - !!python/tuple [15, 3] + - !!python/tuple [28, 13] + - !!python/tuple [28, 17] + - !!python/tuple [2, 7] + - !!python/tuple [18, 19] + - !!python/tuple [26, 21] + - !!python/tuple [20, 19] + - !!python/tuple [5, 4] + - !!python/tuple [12, 9] + - !!python/tuple [30, 10] + - !!python/tuple [4, 14] + - !!python/tuple [21, 21] + - !!python/tuple [14, 19] + - !!python/tuple [5, 9] + - !!python/tuple [0, 7] + - !!python/tuple [3, 15] + - !!python/tuple [0, 13] + - !!python/tuple [15, 12] + - !!python/tuple [18, 12] + - !!python/tuple [11, 14] + - !!python/tuple [0, 11] + - !!python/tuple [19, 6] + - !!python/tuple [17, 16] + - !!python/tuple [22, 3] + - !!python/tuple [25, 26] + - !!python/tuple [25, 17] + - !!python/tuple [19, 16] + - !!python/tuple [20, 20] + - !!python/tuple [3, 26] + - !!python/tuple [9, 28] + - !!python/tuple [14, 11] + - !!python/tuple [6, 2] + - !!python/tuple [11, 0] + - !!python/tuple [24, 31] + - !!python/tuple [26, 29] + - !!python/tuple [16, 1] + - !!python/tuple [15, 22] + - !!python/tuple [10, 12] + - !!python/tuple [27, 6] + - !!python/tuple [25, 13] + - !!python/tuple [16, 12] + - !!python/tuple [4, 2] + - !!python/tuple [20, 12] + - !!python/tuple [5, 11] + - !!python/tuple [20, 6] + - !!python/tuple [1, 24] + - !!python/tuple [0, 24] + - !!python/tuple [16, 26] + - !!python/tuple [20, 8] + - !!python/tuple [9, 18] + - !!python/tuple [16, 15] + - !!python/tuple [8, 3] + - !!python/tuple [18, 2] + - !!python/tuple [26, 28] + - !!python/tuple [18, 27] + - !!python/tuple [16, 3] + - !!python/tuple [20, 29] + - !!python/tuple [28, 25] + - !!python/tuple [30, 20] + - !!python/tuple [1, 1] + - !!python/tuple [28, 9] + - !!python/tuple [14, 22] + - !!python/tuple [27, 9] + - !!python/tuple [19, 4] + - !!python/tuple [27, 13] + - !!python/tuple [7, 22] + - !!python/tuple [7, 8] + - !!python/tuple [25, 24] + - !!python/tuple [19, 3] + - !!python/tuple [31, 14] + - !!python/tuple [16, 20] + - !!python/tuple [30, 24] + - !!python/tuple [5, 13] + - !!python/tuple [28, 2] + - !!python/tuple [18, 9] + - !!python/tuple [9, 16] + - !!python/tuple [10, 29] + - !!python/tuple [15, 6] + - !!python/tuple [20, 10] + - !!python/tuple [17, 20] + - !!python/tuple [8, 17] + - !!python/tuple [15, 2] + - !!python/tuple [19, 2] + - !!python/tuple [10, 5] + - !!python/tuple [11, 16] + - !!python/tuple [11, 17] + - !!python/tuple [23, 7] + - !!python/tuple [19, 14] + - !!python/tuple [14, 30] + - !!python/tuple [0, 27] + - !!python/tuple [1, 14] + - !!python/tuple [29, 30] + - !!python/tuple [16, 19] + - !!python/tuple [31, 4] + - !!python/tuple [27, 14] + - !!python/tuple [7, 3] + - !!python/tuple [18, 7] + - !!python/tuple [13, 17] + - !!python/tuple [12, 25] + - !!python/tuple [11, 9] + - !!python/tuple [27, 3] + - !!python/tuple [26, 18] + - !!python/tuple [1, 20] + - !!python/tuple [14, 3] + - !!python/tuple [30, 16] + - !!python/tuple [14, 0] + - !!python/tuple [7, 11] + - !!python/tuple [2, 12] + - !!python/tuple [22, 24] + - !!python/tuple [26, 1] + - !!python/tuple [14, 29] + - !!python/tuple [9, 21] + - !!python/tuple [23, 22] + - !!python/tuple [19, 29] + - !!python/tuple [5, 8] + - !!python/tuple [12, 22] + - !!python/tuple [12, 1] + - !!python/tuple [29, 25] + - !!python/tuple [28, 27] + - !!python/tuple [27, 4] + - !!python/tuple [3, 7] + - !!python/tuple [3, 17] + - !!python/tuple [24, 25] + - !!python/tuple [16, 8] + - !!python/tuple [14, 15] + - !!python/tuple [9, 14] + - !!python/tuple [9, 17] + - !!python/tuple [13, 24] + - !!python/tuple [31, 1] + - !!python/tuple [13, 26] + - !!python/tuple [22, 19] + - !!python/tuple [0, 26] + - !!python/tuple [13, 1] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex36.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex36.yaml new file mode 100644 index 0000000..b06fb3e --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex36.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [21, 13] + name: agent0 + start: [23, 5] +- goal: [5, 18] + name: agent1 + start: [3, 6] +- goal: [17, 19] + name: agent2 + start: [25, 11] +- goal: [4, 7] + name: agent3 + start: [17, 0] +- goal: [20, 5] + name: agent4 + start: [17, 14] +- goal: [8, 6] + name: agent5 + start: [18, 15] +- goal: [11, 2] + name: agent6 + start: [29, 1] +- goal: [16, 11] + name: agent7 + start: [0, 18] +- goal: [14, 13] + name: agent8 + start: [7, 0] +- goal: [3, 29] + name: agent9 + start: [6, 7] +- goal: [16, 4] + name: agent10 + start: [11, 27] +- goal: [8, 2] + name: agent11 + start: [28, 11] +- goal: [29, 1] + name: agent12 + start: [28, 2] +- goal: [15, 31] + name: agent13 + start: [14, 28] +- goal: [27, 2] + name: agent14 + start: [29, 7] +- goal: [7, 6] + name: agent15 + start: [6, 24] +- goal: [18, 22] + name: agent16 + start: [2, 20] +- goal: [12, 31] + name: agent17 + start: [17, 8] +- goal: [8, 11] + name: agent18 + start: [17, 2] +- goal: [20, 14] + name: agent19 + start: [23, 14] +- goal: [19, 16] + name: agent20 + start: [20, 25] +- goal: [24, 7] + name: agent21 + start: [30, 26] +- goal: [2, 15] + name: agent22 + start: [17, 22] +- goal: [7, 16] + name: agent23 + start: [20, 3] +- goal: [20, 30] + name: agent24 + start: [31, 18] +- goal: [24, 28] + name: agent25 + start: [8, 25] +- goal: [22, 6] + name: agent26 + start: [6, 6] +- goal: [6, 1] + name: agent27 + start: [30, 19] +- goal: [4, 19] + name: agent28 + start: [4, 22] +- goal: [18, 4] + name: agent29 + start: [10, 12] +- goal: [14, 12] + name: agent30 + start: [24, 25] +- goal: [6, 18] + name: agent31 + start: [17, 17] +- goal: [1, 7] + name: agent32 + start: [26, 1] +- goal: [28, 20] + name: agent33 + start: [1, 7] +- goal: [9, 30] + name: agent34 + start: [21, 9] +- goal: [27, 20] + name: agent35 + start: [10, 23] +- goal: [2, 22] + name: agent36 + start: [20, 26] +- goal: [1, 29] + name: agent37 + start: [15, 27] +- goal: [20, 13] + name: agent38 + start: [21, 4] +- goal: [7, 20] + name: agent39 + start: [30, 31] +- goal: [26, 11] + name: agent40 + start: [12, 28] +- goal: [17, 6] + name: agent41 + start: [24, 1] +- goal: [8, 1] + name: agent42 + start: [7, 24] +- goal: [25, 11] + name: agent43 + start: [14, 29] +- goal: [18, 6] + name: agent44 + start: [1, 26] +- goal: [27, 9] + name: agent45 + start: [31, 3] +- goal: [20, 4] + name: agent46 + start: [13, 7] +- goal: [14, 17] + name: agent47 + start: [11, 18] +- goal: [9, 15] + name: agent48 + start: [11, 14] +- goal: [25, 15] + name: agent49 + start: [0, 6] +- goal: [10, 30] + name: agent50 + start: [16, 3] +- goal: [6, 5] + name: agent51 + start: [7, 11] +- goal: [7, 22] + name: agent52 + start: [22, 31] +- goal: [26, 21] + name: agent53 + start: [31, 16] +- goal: [13, 15] + name: agent54 + start: [18, 1] +- goal: [29, 3] + name: agent55 + start: [1, 24] +- goal: [1, 16] + name: agent56 + start: [17, 10] +- goal: [14, 7] + name: agent57 + start: [14, 16] +- goal: [23, 12] + name: agent58 + start: [14, 20] +- goal: [28, 11] + name: agent59 + start: [8, 31] +- goal: [23, 14] + name: agent60 + start: [18, 22] +- goal: [22, 22] + name: agent61 + start: [21, 17] +- goal: [31, 25] + name: agent62 + start: [9, 5] +- goal: [31, 24] + name: agent63 + start: [12, 13] +- goal: [1, 14] + name: agent64 + start: [20, 15] +- goal: [20, 15] + name: agent65 + start: [19, 20] +- goal: [28, 19] + name: agent66 + start: [27, 26] +- goal: [1, 17] + name: agent67 + start: [15, 8] +- goal: [10, 10] + name: agent68 + start: [3, 29] +- goal: [10, 7] + name: agent69 + start: [10, 6] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [23, 21] + - !!python/tuple [15, 19] + - !!python/tuple [19, 30] + - !!python/tuple [2, 8] + - !!python/tuple [22, 8] + - !!python/tuple [9, 6] + - !!python/tuple [3, 1] + - !!python/tuple [0, 16] + - !!python/tuple [17, 13] + - !!python/tuple [24, 10] + - !!python/tuple [22, 18] + - !!python/tuple [5, 13] + - !!python/tuple [21, 20] + - !!python/tuple [5, 22] + - !!python/tuple [31, 27] + - !!python/tuple [22, 21] + - !!python/tuple [28, 3] + - !!python/tuple [6, 14] + - !!python/tuple [11, 21] + - !!python/tuple [2, 6] + - !!python/tuple [29, 11] + - !!python/tuple [11, 1] + - !!python/tuple [15, 14] + - !!python/tuple [16, 14] + - !!python/tuple [7, 26] + - !!python/tuple [11, 10] + - !!python/tuple [6, 30] + - !!python/tuple [30, 13] + - !!python/tuple [22, 25] + - !!python/tuple [12, 8] + - !!python/tuple [7, 17] + - !!python/tuple [21, 30] + - !!python/tuple [22, 20] + - !!python/tuple [2, 24] + - !!python/tuple [19, 22] + - !!python/tuple [9, 31] + - !!python/tuple [24, 31] + - !!python/tuple [29, 10] + - !!python/tuple [10, 31] + - !!python/tuple [9, 9] + - !!python/tuple [19, 18] + - !!python/tuple [23, 7] + - !!python/tuple [21, 19] + - !!python/tuple [30, 29] + - !!python/tuple [18, 13] + - !!python/tuple [8, 23] + - !!python/tuple [5, 31] + - !!python/tuple [0, 7] + - !!python/tuple [0, 29] + - !!python/tuple [26, 7] + - !!python/tuple [13, 5] + - !!python/tuple [22, 2] + - !!python/tuple [2, 19] + - !!python/tuple [20, 9] + - !!python/tuple [28, 16] + - !!python/tuple [31, 14] + - !!python/tuple [25, 18] + - !!python/tuple [26, 8] + - !!python/tuple [9, 1] + - !!python/tuple [25, 30] + - !!python/tuple [3, 18] + - !!python/tuple [0, 14] + - !!python/tuple [18, 14] + - !!python/tuple [21, 15] + - !!python/tuple [19, 10] + - !!python/tuple [16, 0] + - !!python/tuple [27, 16] + - !!python/tuple [28, 17] + - !!python/tuple [3, 31] + - !!python/tuple [30, 7] + - !!python/tuple [4, 17] + - !!python/tuple [13, 31] + - !!python/tuple [18, 30] + - !!python/tuple [12, 27] + - !!python/tuple [17, 5] + - !!python/tuple [4, 6] + - !!python/tuple [11, 12] + - !!python/tuple [27, 30] + - !!python/tuple [21, 23] + - !!python/tuple [17, 28] + - !!python/tuple [23, 20] + - !!python/tuple [7, 18] + - !!python/tuple [28, 12] + - !!python/tuple [24, 30] + - !!python/tuple [30, 15] + - !!python/tuple [9, 8] + - !!python/tuple [7, 15] + - !!python/tuple [11, 23] + - !!python/tuple [20, 8] + - !!python/tuple [13, 10] + - !!python/tuple [13, 1] + - !!python/tuple [13, 12] + - !!python/tuple [8, 28] + - !!python/tuple [12, 6] + - !!python/tuple [2, 4] + - !!python/tuple [23, 30] + - !!python/tuple [17, 16] + - !!python/tuple [13, 21] + - !!python/tuple [18, 16] + - !!python/tuple [25, 12] + - !!python/tuple [17, 1] + - !!python/tuple [15, 3] + - !!python/tuple [20, 24] + - !!python/tuple [24, 16] + - !!python/tuple [18, 7] + - !!python/tuple [2, 14] + - !!python/tuple [27, 14] + - !!python/tuple [20, 23] + - !!python/tuple [1, 10] + - !!python/tuple [13, 3] + - !!python/tuple [7, 4] + - !!python/tuple [4, 3] + - !!python/tuple [25, 26] + - !!python/tuple [15, 9] + - !!python/tuple [15, 6] + - !!python/tuple [27, 12] + - !!python/tuple [31, 9] + - !!python/tuple [6, 15] + - !!python/tuple [1, 25] + - !!python/tuple [3, 3] + - !!python/tuple [14, 25] + - !!python/tuple [14, 24] + - !!python/tuple [15, 24] + - !!python/tuple [12, 7] + - !!python/tuple [10, 24] + - !!python/tuple [24, 11] + - !!python/tuple [5, 14] + - !!python/tuple [5, 24] + - !!python/tuple [3, 26] + - !!python/tuple [19, 13] + - !!python/tuple [23, 6] + - !!python/tuple [24, 0] + - !!python/tuple [15, 11] + - !!python/tuple [8, 26] + - !!python/tuple [21, 22] + - !!python/tuple [22, 17] + - !!python/tuple [16, 10] + - !!python/tuple [31, 31] + - !!python/tuple [25, 29] + - !!python/tuple [2, 17] + - !!python/tuple [14, 18] + - !!python/tuple [6, 10] + - !!python/tuple [13, 6] + - !!python/tuple [11, 0] + - !!python/tuple [0, 21] + - !!python/tuple [27, 7] + - !!python/tuple [27, 27] + - !!python/tuple [23, 13] + - !!python/tuple [1, 2] + - !!python/tuple [28, 6] + - !!python/tuple [26, 22] + - !!python/tuple [12, 0] + - !!python/tuple [4, 12] + - !!python/tuple [29, 21] + - !!python/tuple [27, 1] + - !!python/tuple [11, 15] + - !!python/tuple [11, 22] + - !!python/tuple [14, 0] + - !!python/tuple [3, 24] + - !!python/tuple [29, 5] + - !!python/tuple [25, 7] + - !!python/tuple [18, 24] + - !!python/tuple [9, 3] + - !!python/tuple [30, 24] + - !!python/tuple [8, 4] + - !!python/tuple [15, 0] + - !!python/tuple [1, 27] + - !!python/tuple [4, 24] + - !!python/tuple [14, 3] + - !!python/tuple [2, 10] + - !!python/tuple [21, 5] + - !!python/tuple [0, 3] + - !!python/tuple [5, 5] + - !!python/tuple [29, 25] + - !!python/tuple [25, 8] + - !!python/tuple [25, 10] + - !!python/tuple [22, 5] + - !!python/tuple [29, 12] + - !!python/tuple [14, 19] + - !!python/tuple [13, 9] + - !!python/tuple [1, 6] + - !!python/tuple [27, 5] + - !!python/tuple [19, 23] + - !!python/tuple [20, 27] + - !!python/tuple [15, 25] + - !!python/tuple [23, 18] + - !!python/tuple [8, 9] + - !!python/tuple [5, 15] + - !!python/tuple [31, 23] + - !!python/tuple [8, 7] + - !!python/tuple [9, 19] + - !!python/tuple [13, 14] + - !!python/tuple [2, 27] + - !!python/tuple [8, 14] + - !!python/tuple [25, 9] + - !!python/tuple [3, 15] + - !!python/tuple [21, 12] + - !!python/tuple [25, 24] + - !!python/tuple [29, 18] + - !!python/tuple [7, 3] + - !!python/tuple [13, 4] + - !!python/tuple [30, 4] + - !!python/tuple [15, 1] + - !!python/tuple [1, 23] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex37.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex37.yaml new file mode 100644 index 0000000..6a72413 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex37.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [20, 11] + name: agent0 + start: [9, 0] +- goal: [14, 11] + name: agent1 + start: [1, 18] +- goal: [1, 4] + name: agent2 + start: [4, 25] +- goal: [5, 23] + name: agent3 + start: [18, 27] +- goal: [14, 31] + name: agent4 + start: [26, 29] +- goal: [12, 9] + name: agent5 + start: [29, 12] +- goal: [5, 21] + name: agent6 + start: [6, 30] +- goal: [8, 26] + name: agent7 + start: [10, 16] +- goal: [12, 19] + name: agent8 + start: [11, 1] +- goal: [20, 19] + name: agent9 + start: [9, 29] +- goal: [14, 30] + name: agent10 + start: [23, 28] +- goal: [14, 0] + name: agent11 + start: [5, 13] +- goal: [25, 16] + name: agent12 + start: [17, 4] +- goal: [20, 2] + name: agent13 + start: [8, 10] +- goal: [3, 4] + name: agent14 + start: [28, 5] +- goal: [17, 14] + name: agent15 + start: [16, 5] +- goal: [10, 4] + name: agent16 + start: [0, 28] +- goal: [9, 1] + name: agent17 + start: [3, 18] +- goal: [10, 11] + name: agent18 + start: [30, 9] +- goal: [30, 14] + name: agent19 + start: [17, 3] +- goal: [24, 9] + name: agent20 + start: [14, 30] +- goal: [21, 10] + name: agent21 + start: [23, 26] +- goal: [16, 20] + name: agent22 + start: [27, 30] +- goal: [25, 12] + name: agent23 + start: [18, 23] +- goal: [29, 10] + name: agent24 + start: [2, 29] +- goal: [22, 4] + name: agent25 + start: [14, 22] +- goal: [8, 4] + name: agent26 + start: [1, 19] +- goal: [1, 9] + name: agent27 + start: [10, 17] +- goal: [0, 12] + name: agent28 + start: [19, 2] +- goal: [24, 10] + name: agent29 + start: [8, 27] +- goal: [9, 30] + name: agent30 + start: [1, 29] +- goal: [16, 30] + name: agent31 + start: [27, 28] +- goal: [17, 29] + name: agent32 + start: [30, 5] +- goal: [26, 6] + name: agent33 + start: [27, 4] +- goal: [0, 28] + name: agent34 + start: [23, 27] +- goal: [20, 28] + name: agent35 + start: [17, 13] +- goal: [26, 17] + name: agent36 + start: [12, 21] +- goal: [3, 0] + name: agent37 + start: [15, 3] +- goal: [11, 6] + name: agent38 + start: [13, 11] +- goal: [29, 0] + name: agent39 + start: [25, 6] +- goal: [25, 3] + name: agent40 + start: [12, 28] +- goal: [12, 23] + name: agent41 + start: [31, 0] +- goal: [21, 19] + name: agent42 + start: [25, 25] +- goal: [28, 21] + name: agent43 + start: [17, 19] +- goal: [27, 19] + name: agent44 + start: [22, 25] +- goal: [25, 27] + name: agent45 + start: [10, 28] +- goal: [9, 7] + name: agent46 + start: [2, 22] +- goal: [4, 29] + name: agent47 + start: [12, 13] +- goal: [2, 29] + name: agent48 + start: [28, 9] +- goal: [18, 24] + name: agent49 + start: [2, 7] +- goal: [2, 2] + name: agent50 + start: [14, 10] +- goal: [11, 20] + name: agent51 + start: [16, 4] +- goal: [28, 11] + name: agent52 + start: [12, 30] +- goal: [28, 7] + name: agent53 + start: [21, 20] +- goal: [30, 21] + name: agent54 + start: [12, 15] +- goal: [1, 15] + name: agent55 + start: [16, 30] +- goal: [27, 11] + name: agent56 + start: [11, 24] +- goal: [20, 30] + name: agent57 + start: [10, 22] +- goal: [3, 19] + name: agent58 + start: [5, 16] +- goal: [12, 7] + name: agent59 + start: [7, 11] +- goal: [9, 16] + name: agent60 + start: [22, 8] +- goal: [3, 6] + name: agent61 + start: [1, 20] +- goal: [4, 26] + name: agent62 + start: [18, 18] +- goal: [2, 14] + name: agent63 + start: [14, 18] +- goal: [23, 1] + name: agent64 + start: [22, 9] +- goal: [28, 4] + name: agent65 + start: [21, 6] +- goal: [15, 25] + name: agent66 + start: [18, 21] +- goal: [21, 5] + name: agent67 + start: [7, 4] +- goal: [22, 7] + name: agent68 + start: [27, 15] +- goal: [8, 20] + name: agent69 + start: [14, 21] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [28, 26] + - !!python/tuple [8, 15] + - !!python/tuple [17, 22] + - !!python/tuple [9, 28] + - !!python/tuple [1, 0] + - !!python/tuple [11, 19] + - !!python/tuple [28, 1] + - !!python/tuple [11, 28] + - !!python/tuple [21, 1] + - !!python/tuple [19, 26] + - !!python/tuple [29, 31] + - !!python/tuple [10, 5] + - !!python/tuple [7, 24] + - !!python/tuple [16, 16] + - !!python/tuple [18, 11] + - !!python/tuple [2, 18] + - !!python/tuple [2, 11] + - !!python/tuple [15, 24] + - !!python/tuple [26, 31] + - !!python/tuple [27, 10] + - !!python/tuple [8, 30] + - !!python/tuple [5, 3] + - !!python/tuple [18, 8] + - !!python/tuple [31, 22] + - !!python/tuple [3, 31] + - !!python/tuple [26, 20] + - !!python/tuple [22, 16] + - !!python/tuple [20, 15] + - !!python/tuple [11, 10] + - !!python/tuple [6, 2] + - !!python/tuple [15, 13] + - !!python/tuple [23, 13] + - !!python/tuple [0, 2] + - !!python/tuple [10, 15] + - !!python/tuple [20, 23] + - !!python/tuple [30, 11] + - !!python/tuple [15, 20] + - !!python/tuple [0, 15] + - !!python/tuple [21, 17] + - !!python/tuple [30, 13] + - !!python/tuple [17, 27] + - !!python/tuple [30, 20] + - !!python/tuple [18, 14] + - !!python/tuple [4, 12] + - !!python/tuple [9, 14] + - !!python/tuple [25, 20] + - !!python/tuple [2, 12] + - !!python/tuple [19, 29] + - !!python/tuple [20, 27] + - !!python/tuple [24, 5] + - !!python/tuple [30, 29] + - !!python/tuple [14, 27] + - !!python/tuple [13, 3] + - !!python/tuple [19, 16] + - !!python/tuple [6, 22] + - !!python/tuple [29, 5] + - !!python/tuple [9, 18] + - !!python/tuple [15, 8] + - !!python/tuple [21, 16] + - !!python/tuple [5, 4] + - !!python/tuple [24, 14] + - !!python/tuple [5, 19] + - !!python/tuple [15, 19] + - !!python/tuple [31, 8] + - !!python/tuple [13, 27] + - !!python/tuple [15, 5] + - !!python/tuple [16, 1] + - !!python/tuple [10, 26] + - !!python/tuple [7, 27] + - !!python/tuple [3, 2] + - !!python/tuple [11, 5] + - !!python/tuple [24, 30] + - !!python/tuple [15, 31] + - !!python/tuple [19, 23] + - !!python/tuple [23, 12] + - !!python/tuple [11, 31] + - !!python/tuple [5, 10] + - !!python/tuple [18, 31] + - !!python/tuple [16, 13] + - !!python/tuple [29, 16] + - !!python/tuple [5, 6] + - !!python/tuple [18, 19] + - !!python/tuple [29, 3] + - !!python/tuple [14, 3] + - !!python/tuple [4, 21] + - !!python/tuple [14, 15] + - !!python/tuple [23, 18] + - !!python/tuple [20, 10] + - !!python/tuple [0, 20] + - !!python/tuple [8, 19] + - !!python/tuple [6, 0] + - !!python/tuple [25, 19] + - !!python/tuple [8, 5] + - !!python/tuple [2, 13] + - !!python/tuple [11, 3] + - !!python/tuple [13, 28] + - !!python/tuple [9, 5] + - !!python/tuple [30, 24] + - !!python/tuple [11, 12] + - !!python/tuple [19, 0] + - !!python/tuple [30, 1] + - !!python/tuple [24, 2] + - !!python/tuple [10, 24] + - !!python/tuple [18, 10] + - !!python/tuple [1, 31] + - !!python/tuple [2, 3] + - !!python/tuple [2, 23] + - !!python/tuple [4, 7] + - !!python/tuple [22, 13] + - !!python/tuple [4, 16] + - !!python/tuple [24, 16] + - !!python/tuple [12, 12] + - !!python/tuple [23, 20] + - !!python/tuple [14, 9] + - !!python/tuple [4, 20] + - !!python/tuple [25, 10] + - !!python/tuple [21, 8] + - !!python/tuple [31, 15] + - !!python/tuple [22, 23] + - !!python/tuple [26, 30] + - !!python/tuple [28, 30] + - !!python/tuple [24, 24] + - !!python/tuple [10, 8] + - !!python/tuple [15, 10] + - !!python/tuple [19, 24] + - !!python/tuple [23, 5] + - !!python/tuple [12, 10] + - !!python/tuple [11, 13] + - !!python/tuple [28, 8] + - !!python/tuple [6, 9] + - !!python/tuple [30, 4] + - !!python/tuple [19, 20] + - !!python/tuple [26, 15] + - !!python/tuple [12, 22] + - !!python/tuple [2, 8] + - !!python/tuple [9, 4] + - !!python/tuple [17, 25] + - !!python/tuple [24, 22] + - !!python/tuple [24, 23] + - !!python/tuple [24, 7] + - !!python/tuple [25, 15] + - !!python/tuple [30, 10] + - !!python/tuple [21, 2] + - !!python/tuple [23, 29] + - !!python/tuple [26, 14] + - !!python/tuple [5, 17] + - !!python/tuple [25, 18] + - !!python/tuple [4, 1] + - !!python/tuple [21, 7] + - !!python/tuple [16, 18] + - !!python/tuple [9, 11] + - !!python/tuple [0, 31] + - !!python/tuple [2, 27] + - !!python/tuple [7, 8] + - !!python/tuple [15, 12] + - !!python/tuple [16, 17] + - !!python/tuple [24, 0] + - !!python/tuple [12, 4] + - !!python/tuple [13, 21] + - !!python/tuple [11, 30] + - !!python/tuple [16, 19] + - !!python/tuple [15, 9] + - !!python/tuple [7, 18] + - !!python/tuple [16, 14] + - !!python/tuple [14, 29] + - !!python/tuple [24, 27] + - !!python/tuple [22, 22] + - !!python/tuple [28, 22] + - !!python/tuple [10, 13] + - !!python/tuple [6, 15] + - !!python/tuple [25, 21] + - !!python/tuple [7, 29] + - !!python/tuple [27, 1] + - !!python/tuple [11, 26] + - !!python/tuple [17, 2] + - !!python/tuple [27, 25] + - !!python/tuple [4, 6] + - !!python/tuple [21, 12] + - !!python/tuple [13, 17] + - !!python/tuple [31, 1] + - !!python/tuple [31, 28] + - !!python/tuple [0, 16] + - !!python/tuple [31, 17] + - !!python/tuple [12, 16] + - !!python/tuple [6, 14] + - !!python/tuple [17, 6] + - !!python/tuple [5, 18] + - !!python/tuple [25, 8] + - !!python/tuple [16, 26] + - !!python/tuple [7, 26] + - !!python/tuple [7, 23] + - !!python/tuple [6, 13] + - !!python/tuple [24, 3] + - !!python/tuple [20, 6] + - !!python/tuple [26, 24] + - !!python/tuple [19, 10] + - !!python/tuple [4, 3] + - !!python/tuple [6, 17] + - !!python/tuple [8, 23] + - !!python/tuple [8, 18] + - !!python/tuple [26, 26] + - !!python/tuple [23, 4] + - !!python/tuple [12, 18] + - !!python/tuple [11, 4] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex38.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex38.yaml new file mode 100644 index 0000000..b7033f0 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex38.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [9, 31] + name: agent0 + start: [6, 18] +- goal: [28, 25] + name: agent1 + start: [21, 5] +- goal: [9, 17] + name: agent2 + start: [8, 28] +- goal: [13, 5] + name: agent3 + start: [8, 11] +- goal: [7, 7] + name: agent4 + start: [4, 7] +- goal: [13, 14] + name: agent5 + start: [24, 4] +- goal: [30, 2] + name: agent6 + start: [20, 5] +- goal: [6, 19] + name: agent7 + start: [15, 13] +- goal: [10, 15] + name: agent8 + start: [12, 11] +- goal: [0, 12] + name: agent9 + start: [2, 13] +- goal: [12, 14] + name: agent10 + start: [22, 21] +- goal: [23, 13] + name: agent11 + start: [4, 26] +- goal: [1, 24] + name: agent12 + start: [5, 21] +- goal: [11, 6] + name: agent13 + start: [22, 22] +- goal: [19, 4] + name: agent14 + start: [2, 16] +- goal: [19, 1] + name: agent15 + start: [11, 2] +- goal: [28, 31] + name: agent16 + start: [23, 14] +- goal: [27, 14] + name: agent17 + start: [14, 19] +- goal: [22, 22] + name: agent18 + start: [16, 16] +- goal: [27, 8] + name: agent19 + start: [18, 7] +- goal: [24, 0] + name: agent20 + start: [8, 31] +- goal: [23, 29] + name: agent21 + start: [31, 2] +- goal: [24, 5] + name: agent22 + start: [12, 9] +- goal: [20, 13] + name: agent23 + start: [11, 22] +- goal: [5, 8] + name: agent24 + start: [8, 18] +- goal: [31, 7] + name: agent25 + start: [1, 16] +- goal: [24, 14] + name: agent26 + start: [11, 12] +- goal: [26, 2] + name: agent27 + start: [17, 1] +- goal: [21, 31] + name: agent28 + start: [31, 7] +- goal: [28, 21] + name: agent29 + start: [22, 16] +- goal: [5, 17] + name: agent30 + start: [8, 13] +- goal: [31, 11] + name: agent31 + start: [19, 6] +- goal: [17, 28] + name: agent32 + start: [30, 7] +- goal: [3, 28] + name: agent33 + start: [18, 9] +- goal: [3, 16] + name: agent34 + start: [11, 25] +- goal: [8, 18] + name: agent35 + start: [13, 17] +- goal: [1, 29] + name: agent36 + start: [22, 30] +- goal: [20, 22] + name: agent37 + start: [6, 25] +- goal: [4, 27] + name: agent38 + start: [17, 6] +- goal: [12, 2] + name: agent39 + start: [2, 27] +- goal: [8, 28] + name: agent40 + start: [19, 24] +- goal: [9, 9] + name: agent41 + start: [28, 14] +- goal: [4, 19] + name: agent42 + start: [20, 11] +- goal: [0, 27] + name: agent43 + start: [7, 27] +- goal: [0, 26] + name: agent44 + start: [13, 2] +- goal: [16, 10] + name: agent45 + start: [24, 5] +- goal: [12, 21] + name: agent46 + start: [9, 3] +- goal: [0, 28] + name: agent47 + start: [26, 16] +- goal: [10, 28] + name: agent48 + start: [16, 19] +- goal: [26, 3] + name: agent49 + start: [3, 7] +- goal: [23, 7] + name: agent50 + start: [28, 8] +- goal: [8, 27] + name: agent51 + start: [14, 7] +- goal: [24, 1] + name: agent52 + start: [0, 21] +- goal: [31, 17] + name: agent53 + start: [18, 14] +- goal: [8, 30] + name: agent54 + start: [14, 12] +- goal: [24, 20] + name: agent55 + start: [18, 3] +- goal: [13, 16] + name: agent56 + start: [6, 10] +- goal: [18, 31] + name: agent57 + start: [17, 3] +- goal: [14, 1] + name: agent58 + start: [4, 19] +- goal: [14, 20] + name: agent59 + start: [29, 6] +- goal: [1, 19] + name: agent60 + start: [4, 28] +- goal: [8, 13] + name: agent61 + start: [12, 5] +- goal: [28, 11] + name: agent62 + start: [13, 10] +- goal: [3, 0] + name: agent63 + start: [25, 29] +- goal: [23, 8] + name: agent64 + start: [27, 30] +- goal: [21, 26] + name: agent65 + start: [24, 2] +- goal: [12, 4] + name: agent66 + start: [12, 3] +- goal: [8, 9] + name: agent67 + start: [21, 13] +- goal: [17, 30] + name: agent68 + start: [29, 13] +- goal: [0, 18] + name: agent69 + start: [5, 4] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [10, 12] + - !!python/tuple [14, 9] + - !!python/tuple [19, 31] + - !!python/tuple [3, 20] + - !!python/tuple [0, 25] + - !!python/tuple [2, 31] + - !!python/tuple [26, 25] + - !!python/tuple [26, 17] + - !!python/tuple [2, 5] + - !!python/tuple [14, 22] + - !!python/tuple [19, 19] + - !!python/tuple [7, 11] + - !!python/tuple [17, 5] + - !!python/tuple [6, 1] + - !!python/tuple [31, 19] + - !!python/tuple [10, 11] + - !!python/tuple [16, 6] + - !!python/tuple [25, 11] + - !!python/tuple [31, 21] + - !!python/tuple [29, 5] + - !!python/tuple [13, 23] + - !!python/tuple [5, 16] + - !!python/tuple [16, 7] + - !!python/tuple [24, 29] + - !!python/tuple [10, 31] + - !!python/tuple [27, 27] + - !!python/tuple [19, 7] + - !!python/tuple [18, 17] + - !!python/tuple [19, 8] + - !!python/tuple [1, 2] + - !!python/tuple [23, 27] + - !!python/tuple [3, 18] + - !!python/tuple [17, 13] + - !!python/tuple [29, 10] + - !!python/tuple [30, 14] + - !!python/tuple [5, 20] + - !!python/tuple [18, 26] + - !!python/tuple [19, 25] + - !!python/tuple [31, 16] + - !!python/tuple [27, 24] + - !!python/tuple [0, 11] + - !!python/tuple [17, 19] + - !!python/tuple [7, 5] + - !!python/tuple [28, 18] + - !!python/tuple [2, 23] + - !!python/tuple [26, 22] + - !!python/tuple [2, 6] + - !!python/tuple [28, 19] + - !!python/tuple [0, 30] + - !!python/tuple [12, 25] + - !!python/tuple [16, 5] + - !!python/tuple [19, 16] + - !!python/tuple [24, 9] + - !!python/tuple [10, 27] + - !!python/tuple [8, 26] + - !!python/tuple [2, 15] + - !!python/tuple [19, 20] + - !!python/tuple [14, 29] + - !!python/tuple [16, 31] + - !!python/tuple [25, 23] + - !!python/tuple [11, 19] + - !!python/tuple [5, 25] + - !!python/tuple [27, 11] + - !!python/tuple [4, 6] + - !!python/tuple [27, 0] + - !!python/tuple [29, 29] + - !!python/tuple [31, 25] + - !!python/tuple [20, 26] + - !!python/tuple [1, 25] + - !!python/tuple [27, 21] + - !!python/tuple [5, 1] + - !!python/tuple [28, 17] + - !!python/tuple [16, 8] + - !!python/tuple [25, 7] + - !!python/tuple [7, 22] + - !!python/tuple [15, 28] + - !!python/tuple [7, 16] + - !!python/tuple [10, 17] + - !!python/tuple [7, 1] + - !!python/tuple [27, 13] + - !!python/tuple [4, 8] + - !!python/tuple [11, 17] + - !!python/tuple [8, 19] + - !!python/tuple [3, 17] + - !!python/tuple [13, 27] + - !!python/tuple [27, 5] + - !!python/tuple [23, 22] + - !!python/tuple [25, 28] + - !!python/tuple [14, 13] + - !!python/tuple [8, 12] + - !!python/tuple [20, 8] + - !!python/tuple [6, 4] + - !!python/tuple [20, 0] + - !!python/tuple [12, 22] + - !!python/tuple [20, 15] + - !!python/tuple [5, 13] + - !!python/tuple [21, 22] + - !!python/tuple [31, 15] + - !!python/tuple [23, 1] + - !!python/tuple [9, 30] + - !!python/tuple [27, 6] + - !!python/tuple [24, 27] + - !!python/tuple [26, 27] + - !!python/tuple [6, 20] + - !!python/tuple [22, 29] + - !!python/tuple [21, 12] + - !!python/tuple [23, 4] + - !!python/tuple [29, 8] + - !!python/tuple [14, 3] + - !!python/tuple [30, 1] + - !!python/tuple [6, 28] + - !!python/tuple [2, 25] + - !!python/tuple [4, 1] + - !!python/tuple [10, 18] + - !!python/tuple [24, 10] + - !!python/tuple [23, 25] + - !!python/tuple [16, 28] + - !!python/tuple [31, 0] + - !!python/tuple [23, 20] + - !!python/tuple [12, 7] + - !!python/tuple [0, 7] + - !!python/tuple [26, 9] + - !!python/tuple [14, 31] + - !!python/tuple [1, 9] + - !!python/tuple [22, 13] + - !!python/tuple [18, 20] + - !!python/tuple [16, 26] + - !!python/tuple [23, 23] + - !!python/tuple [3, 14] + - !!python/tuple [6, 12] + - !!python/tuple [6, 9] + - !!python/tuple [31, 23] + - !!python/tuple [25, 9] + - !!python/tuple [18, 19] + - !!python/tuple [12, 20] + - !!python/tuple [6, 22] + - !!python/tuple [2, 20] + - !!python/tuple [27, 7] + - !!python/tuple [13, 24] + - !!python/tuple [13, 29] + - !!python/tuple [19, 29] + - !!python/tuple [29, 21] + - !!python/tuple [25, 10] + - !!python/tuple [25, 22] + - !!python/tuple [24, 19] + - !!python/tuple [22, 28] + - !!python/tuple [11, 20] + - !!python/tuple [2, 12] + - !!python/tuple [0, 4] + - !!python/tuple [23, 0] + - !!python/tuple [14, 14] + - !!python/tuple [0, 3] + - !!python/tuple [3, 31] + - !!python/tuple [17, 31] + - !!python/tuple [0, 31] + - !!python/tuple [3, 10] + - !!python/tuple [28, 1] + - !!python/tuple [16, 2] + - !!python/tuple [23, 16] + - !!python/tuple [22, 2] + - !!python/tuple [13, 26] + - !!python/tuple [20, 20] + - !!python/tuple [2, 4] + - !!python/tuple [3, 26] + - !!python/tuple [24, 31] + - !!python/tuple [31, 20] + - !!python/tuple [12, 15] + - !!python/tuple [20, 14] + - !!python/tuple [18, 25] + - !!python/tuple [4, 12] + - !!python/tuple [2, 18] + - !!python/tuple [22, 20] + - !!python/tuple [27, 12] + - !!python/tuple [2, 1] + - !!python/tuple [10, 26] + - !!python/tuple [9, 18] + - !!python/tuple [26, 30] + - !!python/tuple [24, 13] + - !!python/tuple [11, 27] + - !!python/tuple [6, 11] + - !!python/tuple [13, 7] + - !!python/tuple [9, 11] + - !!python/tuple [17, 21] + - !!python/tuple [20, 25] + - !!python/tuple [20, 28] + - !!python/tuple [20, 9] + - !!python/tuple [7, 10] + - !!python/tuple [18, 21] + - !!python/tuple [30, 29] + - !!python/tuple [6, 0] + - !!python/tuple [30, 28] + - !!python/tuple [9, 27] + - !!python/tuple [7, 2] + - !!python/tuple [10, 24] + - !!python/tuple [31, 28] + - !!python/tuple [10, 19] + - !!python/tuple [5, 12] + - !!python/tuple [27, 19] + - !!python/tuple [7, 25] + - !!python/tuple [25, 3] + - !!python/tuple [15, 3] + - !!python/tuple [31, 1] + - !!python/tuple [10, 1] + - !!python/tuple [9, 20] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex39.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex39.yaml new file mode 100644 index 0000000..1aea65b --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex39.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [12, 15] + name: agent0 + start: [29, 12] +- goal: [9, 3] + name: agent1 + start: [3, 29] +- goal: [16, 29] + name: agent2 + start: [31, 1] +- goal: [24, 4] + name: agent3 + start: [27, 23] +- goal: [14, 3] + name: agent4 + start: [19, 26] +- goal: [27, 29] + name: agent5 + start: [4, 5] +- goal: [4, 17] + name: agent6 + start: [23, 19] +- goal: [18, 15] + name: agent7 + start: [11, 11] +- goal: [15, 19] + name: agent8 + start: [21, 14] +- goal: [14, 24] + name: agent9 + start: [28, 4] +- goal: [1, 28] + name: agent10 + start: [23, 3] +- goal: [13, 24] + name: agent11 + start: [4, 27] +- goal: [17, 31] + name: agent12 + start: [31, 5] +- goal: [21, 30] + name: agent13 + start: [8, 18] +- goal: [16, 5] + name: agent14 + start: [31, 23] +- goal: [21, 22] + name: agent15 + start: [16, 17] +- goal: [3, 27] + name: agent16 + start: [7, 28] +- goal: [4, 9] + name: agent17 + start: [8, 7] +- goal: [26, 14] + name: agent18 + start: [19, 10] +- goal: [9, 14] + name: agent19 + start: [12, 15] +- goal: [4, 3] + name: agent20 + start: [7, 14] +- goal: [3, 9] + name: agent21 + start: [28, 14] +- goal: [18, 10] + name: agent22 + start: [5, 1] +- goal: [26, 23] + name: agent23 + start: [3, 31] +- goal: [17, 17] + name: agent24 + start: [24, 6] +- goal: [26, 24] + name: agent25 + start: [29, 24] +- goal: [6, 29] + name: agent26 + start: [2, 16] +- goal: [11, 11] + name: agent27 + start: [22, 0] +- goal: [25, 1] + name: agent28 + start: [3, 21] +- goal: [31, 9] + name: agent29 + start: [23, 30] +- goal: [19, 3] + name: agent30 + start: [21, 7] +- goal: [13, 27] + name: agent31 + start: [8, 31] +- goal: [19, 23] + name: agent32 + start: [5, 8] +- goal: [16, 2] + name: agent33 + start: [18, 14] +- goal: [22, 19] + name: agent34 + start: [6, 30] +- goal: [23, 1] + name: agent35 + start: [2, 8] +- goal: [2, 22] + name: agent36 + start: [19, 13] +- goal: [2, 14] + name: agent37 + start: [3, 1] +- goal: [4, 31] + name: agent38 + start: [4, 20] +- goal: [17, 3] + name: agent39 + start: [12, 22] +- goal: [7, 25] + name: agent40 + start: [0, 22] +- goal: [4, 18] + name: agent41 + start: [5, 14] +- goal: [22, 25] + name: agent42 + start: [31, 9] +- goal: [23, 19] + name: agent43 + start: [12, 24] +- goal: [0, 9] + name: agent44 + start: [27, 8] +- goal: [24, 18] + name: agent45 + start: [29, 2] +- goal: [31, 23] + name: agent46 + start: [5, 29] +- goal: [1, 16] + name: agent47 + start: [2, 26] +- goal: [2, 10] + name: agent48 + start: [4, 22] +- goal: [7, 9] + name: agent49 + start: [22, 11] +- goal: [19, 26] + name: agent50 + start: [22, 4] +- goal: [19, 7] + name: agent51 + start: [7, 29] +- goal: [22, 15] + name: agent52 + start: [2, 9] +- goal: [13, 4] + name: agent53 + start: [26, 6] +- goal: [30, 10] + name: agent54 + start: [24, 7] +- goal: [3, 6] + name: agent55 + start: [6, 5] +- goal: [29, 19] + name: agent56 + start: [18, 28] +- goal: [13, 9] + name: agent57 + start: [7, 20] +- goal: [1, 11] + name: agent58 + start: [23, 13] +- goal: [4, 27] + name: agent59 + start: [18, 26] +- goal: [21, 18] + name: agent60 + start: [26, 5] +- goal: [13, 12] + name: agent61 + start: [3, 14] +- goal: [24, 27] + name: agent62 + start: [31, 21] +- goal: [16, 17] + name: agent63 + start: [20, 16] +- goal: [19, 18] + name: agent64 + start: [3, 6] +- goal: [28, 3] + name: agent65 + start: [27, 19] +- goal: [31, 21] + name: agent66 + start: [25, 5] +- goal: [18, 30] + name: agent67 + start: [10, 2] +- goal: [15, 28] + name: agent68 + start: [0, 8] +- goal: [7, 16] + name: agent69 + start: [20, 23] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [6, 3] + - !!python/tuple [12, 29] + - !!python/tuple [20, 22] + - !!python/tuple [19, 9] + - !!python/tuple [8, 2] + - !!python/tuple [9, 13] + - !!python/tuple [12, 28] + - !!python/tuple [9, 20] + - !!python/tuple [20, 8] + - !!python/tuple [30, 15] + - !!python/tuple [8, 10] + - !!python/tuple [26, 22] + - !!python/tuple [10, 24] + - !!python/tuple [27, 27] + - !!python/tuple [17, 2] + - !!python/tuple [1, 19] + - !!python/tuple [20, 24] + - !!python/tuple [8, 17] + - !!python/tuple [1, 22] + - !!python/tuple [13, 14] + - !!python/tuple [12, 12] + - !!python/tuple [6, 31] + - !!python/tuple [17, 10] + - !!python/tuple [1, 12] + - !!python/tuple [12, 23] + - !!python/tuple [25, 7] + - !!python/tuple [20, 29] + - !!python/tuple [26, 0] + - !!python/tuple [19, 1] + - !!python/tuple [23, 24] + - !!python/tuple [5, 28] + - !!python/tuple [25, 15] + - !!python/tuple [6, 10] + - !!python/tuple [26, 27] + - !!python/tuple [23, 18] + - !!python/tuple [6, 4] + - !!python/tuple [24, 11] + - !!python/tuple [14, 10] + - !!python/tuple [6, 21] + - !!python/tuple [6, 28] + - !!python/tuple [15, 8] + - !!python/tuple [7, 13] + - !!python/tuple [3, 0] + - !!python/tuple [19, 2] + - !!python/tuple [26, 29] + - !!python/tuple [25, 31] + - !!python/tuple [5, 3] + - !!python/tuple [7, 8] + - !!python/tuple [23, 14] + - !!python/tuple [3, 25] + - !!python/tuple [1, 31] + - !!python/tuple [0, 26] + - !!python/tuple [18, 2] + - !!python/tuple [10, 12] + - !!python/tuple [11, 22] + - !!python/tuple [5, 26] + - !!python/tuple [26, 26] + - !!python/tuple [3, 7] + - !!python/tuple [12, 6] + - !!python/tuple [8, 14] + - !!python/tuple [9, 12] + - !!python/tuple [7, 11] + - !!python/tuple [8, 30] + - !!python/tuple [3, 19] + - !!python/tuple [11, 7] + - !!python/tuple [20, 21] + - !!python/tuple [20, 25] + - !!python/tuple [23, 21] + - !!python/tuple [15, 11] + - !!python/tuple [16, 16] + - !!python/tuple [24, 16] + - !!python/tuple [13, 18] + - !!python/tuple [27, 16] + - !!python/tuple [2, 29] + - !!python/tuple [0, 29] + - !!python/tuple [7, 22] + - !!python/tuple [29, 3] + - !!python/tuple [11, 28] + - !!python/tuple [15, 27] + - !!python/tuple [22, 29] + - !!python/tuple [2, 2] + - !!python/tuple [5, 25] + - !!python/tuple [10, 15] + - !!python/tuple [23, 12] + - !!python/tuple [25, 27] + - !!python/tuple [11, 10] + - !!python/tuple [15, 24] + - !!python/tuple [20, 28] + - !!python/tuple [31, 24] + - !!python/tuple [5, 13] + - !!python/tuple [14, 16] + - !!python/tuple [17, 12] + - !!python/tuple [4, 7] + - !!python/tuple [22, 8] + - !!python/tuple [16, 4] + - !!python/tuple [17, 28] + - !!python/tuple [28, 31] + - !!python/tuple [30, 23] + - !!python/tuple [28, 30] + - !!python/tuple [20, 11] + - !!python/tuple [9, 21] + - !!python/tuple [29, 25] + - !!python/tuple [25, 14] + - !!python/tuple [2, 5] + - !!python/tuple [28, 13] + - !!python/tuple [3, 30] + - !!python/tuple [11, 25] + - !!python/tuple [20, 2] + - !!python/tuple [17, 16] + - !!python/tuple [10, 16] + - !!python/tuple [20, 7] + - !!python/tuple [14, 4] + - !!python/tuple [11, 0] + - !!python/tuple [0, 25] + - !!python/tuple [14, 1] + - !!python/tuple [11, 29] + - !!python/tuple [1, 0] + - !!python/tuple [8, 29] + - !!python/tuple [19, 24] + - !!python/tuple [20, 6] + - !!python/tuple [15, 17] + - !!python/tuple [2, 23] + - !!python/tuple [26, 21] + - !!python/tuple [1, 14] + - !!python/tuple [24, 9] + - !!python/tuple [9, 2] + - !!python/tuple [21, 15] + - !!python/tuple [1, 17] + - !!python/tuple [6, 8] + - !!python/tuple [17, 19] + - !!python/tuple [26, 10] + - !!python/tuple [30, 2] + - !!python/tuple [27, 30] + - !!python/tuple [20, 1] + - !!python/tuple [8, 11] + - !!python/tuple [25, 30] + - !!python/tuple [13, 3] + - !!python/tuple [12, 30] + - !!python/tuple [3, 23] + - !!python/tuple [18, 3] + - !!python/tuple [3, 26] + - !!python/tuple [14, 7] + - !!python/tuple [2, 4] + - !!python/tuple [30, 22] + - !!python/tuple [25, 19] + - !!python/tuple [9, 26] + - !!python/tuple [7, 2] + - !!python/tuple [6, 11] + - !!python/tuple [15, 31] + - !!python/tuple [6, 2] + - !!python/tuple [12, 1] + - !!python/tuple [25, 3] + - !!python/tuple [30, 14] + - !!python/tuple [0, 2] + - !!python/tuple [12, 4] + - !!python/tuple [11, 6] + - !!python/tuple [22, 23] + - !!python/tuple [17, 13] + - !!python/tuple [15, 30] + - !!python/tuple [13, 21] + - !!python/tuple [10, 13] + - !!python/tuple [26, 3] + - !!python/tuple [7, 23] + - !!python/tuple [13, 30] + - !!python/tuple [24, 21] + - !!python/tuple [4, 11] + - !!python/tuple [15, 16] + - !!python/tuple [9, 10] + - !!python/tuple [17, 29] + - !!python/tuple [17, 26] + - !!python/tuple [3, 5] + - !!python/tuple [4, 1] + - !!python/tuple [0, 0] + - !!python/tuple [19, 25] + - !!python/tuple [5, 30] + - !!python/tuple [7, 31] + - !!python/tuple [31, 28] + - !!python/tuple [5, 10] + - !!python/tuple [5, 7] + - !!python/tuple [2, 15] + - !!python/tuple [21, 6] + - !!python/tuple [11, 19] + - !!python/tuple [29, 10] + - !!python/tuple [3, 24] + - !!python/tuple [11, 31] + - !!python/tuple [22, 13] + - !!python/tuple [15, 13] + - !!python/tuple [0, 20] + - !!python/tuple [17, 6] + - !!python/tuple [1, 3] + - !!python/tuple [11, 3] + - !!python/tuple [31, 3] + - !!python/tuple [22, 6] + - !!python/tuple [3, 22] + - !!python/tuple [29, 9] + - !!python/tuple [6, 18] + - !!python/tuple [30, 7] + - !!python/tuple [24, 10] + - !!python/tuple [8, 16] + - !!python/tuple [13, 20] + - !!python/tuple [18, 24] + - !!python/tuple [16, 15] + - !!python/tuple [18, 12] + - !!python/tuple [13, 11] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex4.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex4.yaml new file mode 100644 index 0000000..16ef253 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex4.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [7, 14] + name: agent0 + start: [31, 23] +- goal: [23, 26] + name: agent1 + start: [21, 5] +- goal: [11, 28] + name: agent2 + start: [24, 5] +- goal: [13, 20] + name: agent3 + start: [5, 6] +- goal: [28, 3] + name: agent4 + start: [15, 3] +- goal: [10, 10] + name: agent5 + start: [3, 20] +- goal: [6, 12] + name: agent6 + start: [30, 24] +- goal: [18, 10] + name: agent7 + start: [11, 4] +- goal: [15, 0] + name: agent8 + start: [26, 0] +- goal: [0, 2] + name: agent9 + start: [24, 23] +- goal: [25, 9] + name: agent10 + start: [7, 22] +- goal: [25, 29] + name: agent11 + start: [16, 9] +- goal: [11, 5] + name: agent12 + start: [10, 6] +- goal: [19, 26] + name: agent13 + start: [2, 25] +- goal: [23, 7] + name: agent14 + start: [1, 22] +- goal: [7, 25] + name: agent15 + start: [3, 17] +- goal: [27, 31] + name: agent16 + start: [18, 27] +- goal: [11, 10] + name: agent17 + start: [4, 20] +- goal: [0, 24] + name: agent18 + start: [13, 12] +- goal: [0, 20] + name: agent19 + start: [27, 19] +- goal: [31, 15] + name: agent20 + start: [20, 19] +- goal: [10, 7] + name: agent21 + start: [23, 21] +- goal: [13, 5] + name: agent22 + start: [20, 8] +- goal: [24, 2] + name: agent23 + start: [28, 24] +- goal: [2, 0] + name: agent24 + start: [31, 19] +- goal: [30, 27] + name: agent25 + start: [0, 6] +- goal: [0, 0] + name: agent26 + start: [26, 24] +- goal: [17, 29] + name: agent27 + start: [9, 9] +- goal: [22, 3] + name: agent28 + start: [3, 0] +- goal: [24, 7] + name: agent29 + start: [25, 18] +- goal: [25, 16] + name: agent30 + start: [28, 21] +- goal: [20, 2] + name: agent31 + start: [27, 1] +- goal: [31, 18] + name: agent32 + start: [21, 17] +- goal: [16, 1] + name: agent33 + start: [12, 0] +- goal: [22, 19] + name: agent34 + start: [12, 5] +- goal: [15, 11] + name: agent35 + start: [18, 19] +- goal: [17, 6] + name: agent36 + start: [18, 16] +- goal: [13, 28] + name: agent37 + start: [10, 17] +- goal: [19, 8] + name: agent38 + start: [16, 0] +- goal: [13, 16] + name: agent39 + start: [28, 28] +- goal: [10, 11] + name: agent40 + start: [19, 12] +- goal: [5, 25] + name: agent41 + start: [13, 4] +- goal: [5, 7] + name: agent42 + start: [25, 15] +- goal: [25, 12] + name: agent43 + start: [27, 30] +- goal: [6, 31] + name: agent44 + start: [13, 0] +- goal: [9, 25] + name: agent45 + start: [8, 13] +- goal: [11, 15] + name: agent46 + start: [14, 24] +- goal: [11, 0] + name: agent47 + start: [17, 14] +- goal: [3, 25] + name: agent48 + start: [28, 25] +- goal: [1, 19] + name: agent49 + start: [13, 27] +- goal: [10, 27] + name: agent50 + start: [2, 10] +- goal: [19, 22] + name: agent51 + start: [12, 12] +- goal: [16, 13] + name: agent52 + start: [16, 8] +- goal: [12, 27] + name: agent53 + start: [28, 12] +- goal: [21, 22] + name: agent54 + start: [27, 10] +- goal: [6, 21] + name: agent55 + start: [5, 19] +- goal: [22, 15] + name: agent56 + start: [24, 29] +- goal: [7, 0] + name: agent57 + start: [1, 13] +- goal: [24, 30] + name: agent58 + start: [31, 0] +- goal: [24, 21] + name: agent59 + start: [17, 18] +- goal: [19, 4] + name: agent60 + start: [9, 27] +- goal: [2, 25] + name: agent61 + start: [10, 27] +- goal: [8, 14] + name: agent62 + start: [8, 17] +- goal: [18, 30] + name: agent63 + start: [13, 16] +- goal: [0, 14] + name: agent64 + start: [17, 30] +- goal: [27, 26] + name: agent65 + start: [18, 30] +- goal: [14, 12] + name: agent66 + start: [15, 24] +- goal: [27, 17] + name: agent67 + start: [25, 16] +- goal: [27, 11] + name: agent68 + start: [15, 5] +- goal: [17, 4] + name: agent69 + start: [8, 19] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [25, 14] + - !!python/tuple [8, 18] + - !!python/tuple [15, 20] + - !!python/tuple [22, 4] + - !!python/tuple [1, 28] + - !!python/tuple [26, 21] + - !!python/tuple [8, 24] + - !!python/tuple [25, 27] + - !!python/tuple [7, 31] + - !!python/tuple [26, 7] + - !!python/tuple [17, 1] + - !!python/tuple [8, 31] + - !!python/tuple [1, 0] + - !!python/tuple [25, 11] + - !!python/tuple [12, 20] + - !!python/tuple [9, 7] + - !!python/tuple [28, 11] + - !!python/tuple [3, 9] + - !!python/tuple [1, 7] + - !!python/tuple [26, 4] + - !!python/tuple [9, 19] + - !!python/tuple [1, 24] + - !!python/tuple [30, 19] + - !!python/tuple [26, 10] + - !!python/tuple [3, 8] + - !!python/tuple [18, 24] + - !!python/tuple [22, 25] + - !!python/tuple [4, 30] + - !!python/tuple [30, 11] + - !!python/tuple [18, 13] + - !!python/tuple [19, 27] + - !!python/tuple [30, 23] + - !!python/tuple [18, 8] + - !!python/tuple [27, 4] + - !!python/tuple [4, 14] + - !!python/tuple [14, 20] + - !!python/tuple [31, 1] + - !!python/tuple [19, 19] + - !!python/tuple [5, 22] + - !!python/tuple [11, 17] + - !!python/tuple [7, 9] + - !!python/tuple [11, 29] + - !!python/tuple [14, 17] + - !!python/tuple [1, 17] + - !!python/tuple [28, 17] + - !!python/tuple [27, 5] + - !!python/tuple [3, 1] + - !!python/tuple [3, 6] + - !!python/tuple [14, 4] + - !!python/tuple [1, 12] + - !!python/tuple [25, 28] + - !!python/tuple [14, 30] + - !!python/tuple [22, 29] + - !!python/tuple [1, 4] + - !!python/tuple [29, 22] + - !!python/tuple [3, 28] + - !!python/tuple [2, 7] + - !!python/tuple [0, 29] + - !!python/tuple [1, 26] + - !!python/tuple [1, 8] + - !!python/tuple [31, 12] + - !!python/tuple [4, 8] + - !!python/tuple [6, 26] + - !!python/tuple [20, 5] + - !!python/tuple [21, 3] + - !!python/tuple [16, 25] + - !!python/tuple [1, 27] + - !!python/tuple [15, 4] + - !!python/tuple [1, 20] + - !!python/tuple [22, 7] + - !!python/tuple [15, 31] + - !!python/tuple [30, 8] + - !!python/tuple [24, 19] + - !!python/tuple [27, 7] + - !!python/tuple [13, 14] + - !!python/tuple [10, 31] + - !!python/tuple [3, 16] + - !!python/tuple [26, 19] + - !!python/tuple [22, 21] + - !!python/tuple [21, 19] + - !!python/tuple [26, 18] + - !!python/tuple [17, 16] + - !!python/tuple [23, 28] + - !!python/tuple [3, 14] + - !!python/tuple [23, 5] + - !!python/tuple [12, 16] + - !!python/tuple [0, 15] + - !!python/tuple [9, 31] + - !!python/tuple [12, 23] + - !!python/tuple [16, 5] + - !!python/tuple [17, 28] + - !!python/tuple [17, 22] + - !!python/tuple [28, 10] + - !!python/tuple [17, 3] + - !!python/tuple [26, 16] + - !!python/tuple [15, 8] + - !!python/tuple [25, 19] + - !!python/tuple [25, 24] + - !!python/tuple [15, 12] + - !!python/tuple [17, 19] + - !!python/tuple [13, 11] + - !!python/tuple [23, 14] + - !!python/tuple [7, 16] + - !!python/tuple [18, 22] + - !!python/tuple [21, 30] + - !!python/tuple [23, 13] + - !!python/tuple [10, 9] + - !!python/tuple [14, 0] + - !!python/tuple [27, 15] + - !!python/tuple [7, 12] + - !!python/tuple [30, 30] + - !!python/tuple [31, 11] + - !!python/tuple [23, 23] + - !!python/tuple [18, 7] + - !!python/tuple [3, 11] + - !!python/tuple [12, 8] + - !!python/tuple [13, 23] + - !!python/tuple [14, 18] + - !!python/tuple [8, 29] + - !!python/tuple [12, 25] + - !!python/tuple [28, 9] + - !!python/tuple [21, 15] + - !!python/tuple [11, 13] + - !!python/tuple [4, 17] + - !!python/tuple [13, 22] + - !!python/tuple [24, 15] + - !!python/tuple [19, 0] + - !!python/tuple [17, 8] + - !!python/tuple [20, 20] + - !!python/tuple [28, 4] + - !!python/tuple [5, 26] + - !!python/tuple [12, 31] + - !!python/tuple [13, 6] + - !!python/tuple [16, 20] + - !!python/tuple [28, 26] + - !!python/tuple [27, 12] + - !!python/tuple [9, 17] + - !!python/tuple [29, 23] + - !!python/tuple [4, 24] + - !!python/tuple [27, 16] + - !!python/tuple [17, 23] + - !!python/tuple [3, 15] + - !!python/tuple [4, 28] + - !!python/tuple [16, 18] + - !!python/tuple [31, 13] + - !!python/tuple [5, 0] + - !!python/tuple [29, 30] + - !!python/tuple [14, 7] + - !!python/tuple [10, 22] + - !!python/tuple [23, 27] + - !!python/tuple [17, 20] + - !!python/tuple [12, 29] + - !!python/tuple [8, 1] + - !!python/tuple [22, 13] + - !!python/tuple [25, 5] + - !!python/tuple [16, 22] + - !!python/tuple [4, 27] + - !!python/tuple [11, 8] + - !!python/tuple [15, 2] + - !!python/tuple [28, 20] + - !!python/tuple [19, 23] + - !!python/tuple [2, 21] + - !!python/tuple [24, 22] + - !!python/tuple [31, 9] + - !!python/tuple [2, 18] + - !!python/tuple [28, 5] + - !!python/tuple [12, 4] + - !!python/tuple [0, 7] + - !!python/tuple [1, 25] + - !!python/tuple [26, 11] + - !!python/tuple [14, 5] + - !!python/tuple [20, 25] + - !!python/tuple [10, 14] + - !!python/tuple [7, 6] + - !!python/tuple [31, 3] + - !!python/tuple [1, 1] + - !!python/tuple [12, 21] + - !!python/tuple [12, 13] + - !!python/tuple [24, 11] + - !!python/tuple [20, 21] + - !!python/tuple [22, 22] + - !!python/tuple [17, 7] + - !!python/tuple [25, 7] + - !!python/tuple [10, 19] + - !!python/tuple [11, 22] + - !!python/tuple [15, 10] + - !!python/tuple [7, 7] + - !!python/tuple [23, 30] + - !!python/tuple [31, 5] + - !!python/tuple [16, 16] + - !!python/tuple [19, 16] + - !!python/tuple [9, 10] + - !!python/tuple [24, 8] + - !!python/tuple [15, 9] + - !!python/tuple [1, 31] + - !!python/tuple [6, 24] + - !!python/tuple [23, 19] + - !!python/tuple [15, 17] + - !!python/tuple [30, 18] + - !!python/tuple [30, 2] + - !!python/tuple [7, 26] + - !!python/tuple [22, 18] + - !!python/tuple [30, 29] + - !!python/tuple [11, 16] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex40.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex40.yaml new file mode 100644 index 0000000..04f1c85 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex40.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [29, 9] + name: agent0 + start: [29, 24] +- goal: [0, 13] + name: agent1 + start: [25, 9] +- goal: [5, 19] + name: agent2 + start: [4, 15] +- goal: [24, 16] + name: agent3 + start: [19, 6] +- goal: [24, 9] + name: agent4 + start: [2, 9] +- goal: [14, 16] + name: agent5 + start: [22, 18] +- goal: [12, 25] + name: agent6 + start: [19, 26] +- goal: [8, 30] + name: agent7 + start: [7, 26] +- goal: [0, 3] + name: agent8 + start: [25, 15] +- goal: [3, 19] + name: agent9 + start: [29, 29] +- goal: [30, 24] + name: agent10 + start: [12, 27] +- goal: [21, 15] + name: agent11 + start: [25, 10] +- goal: [29, 13] + name: agent12 + start: [21, 31] +- goal: [9, 20] + name: agent13 + start: [26, 13] +- goal: [26, 0] + name: agent14 + start: [7, 10] +- goal: [22, 22] + name: agent15 + start: [20, 29] +- goal: [2, 8] + name: agent16 + start: [9, 22] +- goal: [5, 27] + name: agent17 + start: [23, 19] +- goal: [28, 14] + name: agent18 + start: [23, 6] +- goal: [8, 8] + name: agent19 + start: [1, 10] +- goal: [28, 7] + name: agent20 + start: [15, 6] +- goal: [30, 19] + name: agent21 + start: [27, 7] +- goal: [20, 4] + name: agent22 + start: [10, 9] +- goal: [4, 22] + name: agent23 + start: [14, 30] +- goal: [26, 6] + name: agent24 + start: [15, 25] +- goal: [31, 29] + name: agent25 + start: [1, 16] +- goal: [5, 0] + name: agent26 + start: [25, 5] +- goal: [7, 21] + name: agent27 + start: [6, 14] +- goal: [30, 9] + name: agent28 + start: [6, 30] +- goal: [27, 25] + name: agent29 + start: [0, 23] +- goal: [28, 26] + name: agent30 + start: [21, 25] +- goal: [16, 25] + name: agent31 + start: [24, 7] +- goal: [31, 6] + name: agent32 + start: [13, 6] +- goal: [25, 19] + name: agent33 + start: [18, 8] +- goal: [26, 31] + name: agent34 + start: [26, 6] +- goal: [17, 4] + name: agent35 + start: [0, 2] +- goal: [4, 16] + name: agent36 + start: [27, 12] +- goal: [5, 24] + name: agent37 + start: [23, 23] +- goal: [6, 21] + name: agent38 + start: [7, 9] +- goal: [1, 0] + name: agent39 + start: [2, 15] +- goal: [8, 10] + name: agent40 + start: [2, 26] +- goal: [31, 14] + name: agent41 + start: [20, 22] +- goal: [19, 31] + name: agent42 + start: [1, 25] +- goal: [13, 3] + name: agent43 + start: [10, 5] +- goal: [11, 21] + name: agent44 + start: [15, 14] +- goal: [22, 29] + name: agent45 + start: [26, 31] +- goal: [2, 23] + name: agent46 + start: [1, 14] +- goal: [1, 22] + name: agent47 + start: [20, 19] +- goal: [18, 31] + name: agent48 + start: [29, 2] +- goal: [12, 9] + name: agent49 + start: [18, 13] +- goal: [7, 31] + name: agent50 + start: [9, 29] +- goal: [24, 31] + name: agent51 + start: [8, 3] +- goal: [4, 17] + name: agent52 + start: [7, 12] +- goal: [28, 21] + name: agent53 + start: [29, 25] +- goal: [25, 31] + name: agent54 + start: [26, 22] +- goal: [4, 15] + name: agent55 + start: [5, 31] +- goal: [6, 24] + name: agent56 + start: [20, 12] +- goal: [20, 7] + name: agent57 + start: [28, 14] +- goal: [31, 22] + name: agent58 + start: [17, 25] +- goal: [17, 16] + name: agent59 + start: [6, 16] +- goal: [7, 18] + name: agent60 + start: [17, 0] +- goal: [8, 14] + name: agent61 + start: [10, 14] +- goal: [3, 13] + name: agent62 + start: [29, 19] +- goal: [9, 24] + name: agent63 + start: [27, 8] +- goal: [18, 7] + name: agent64 + start: [9, 27] +- goal: [26, 25] + name: agent65 + start: [4, 23] +- goal: [28, 22] + name: agent66 + start: [19, 12] +- goal: [15, 19] + name: agent67 + start: [21, 0] +- goal: [18, 29] + name: agent68 + start: [6, 7] +- goal: [14, 28] + name: agent69 + start: [27, 18] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [19, 1] + - !!python/tuple [15, 9] + - !!python/tuple [26, 2] + - !!python/tuple [10, 1] + - !!python/tuple [5, 14] + - !!python/tuple [14, 31] + - !!python/tuple [28, 13] + - !!python/tuple [13, 2] + - !!python/tuple [15, 1] + - !!python/tuple [26, 17] + - !!python/tuple [25, 6] + - !!python/tuple [7, 8] + - !!python/tuple [23, 29] + - !!python/tuple [25, 23] + - !!python/tuple [17, 2] + - !!python/tuple [24, 29] + - !!python/tuple [0, 18] + - !!python/tuple [5, 15] + - !!python/tuple [3, 25] + - !!python/tuple [6, 15] + - !!python/tuple [16, 29] + - !!python/tuple [19, 21] + - !!python/tuple [17, 3] + - !!python/tuple [28, 15] + - !!python/tuple [9, 17] + - !!python/tuple [24, 1] + - !!python/tuple [17, 21] + - !!python/tuple [19, 7] + - !!python/tuple [4, 27] + - !!python/tuple [14, 7] + - !!python/tuple [11, 15] + - !!python/tuple [16, 21] + - !!python/tuple [7, 17] + - !!python/tuple [19, 13] + - !!python/tuple [5, 29] + - !!python/tuple [31, 27] + - !!python/tuple [3, 5] + - !!python/tuple [11, 7] + - !!python/tuple [19, 24] + - !!python/tuple [8, 24] + - !!python/tuple [21, 24] + - !!python/tuple [20, 26] + - !!python/tuple [12, 3] + - !!python/tuple [27, 28] + - !!python/tuple [14, 15] + - !!python/tuple [29, 21] + - !!python/tuple [25, 17] + - !!python/tuple [3, 8] + - !!python/tuple [11, 5] + - !!python/tuple [14, 11] + - !!python/tuple [17, 8] + - !!python/tuple [24, 3] + - !!python/tuple [18, 23] + - !!python/tuple [18, 5] + - !!python/tuple [18, 22] + - !!python/tuple [10, 7] + - !!python/tuple [5, 4] + - !!python/tuple [21, 11] + - !!python/tuple [9, 30] + - !!python/tuple [15, 3] + - !!python/tuple [26, 7] + - !!python/tuple [29, 18] + - !!python/tuple [19, 19] + - !!python/tuple [14, 8] + - !!python/tuple [20, 21] + - !!python/tuple [27, 22] + - !!python/tuple [10, 31] + - !!python/tuple [14, 14] + - !!python/tuple [15, 20] + - !!python/tuple [7, 28] + - !!python/tuple [22, 15] + - !!python/tuple [22, 20] + - !!python/tuple [8, 1] + - !!python/tuple [11, 4] + - !!python/tuple [31, 10] + - !!python/tuple [0, 20] + - !!python/tuple [11, 0] + - !!python/tuple [8, 31] + - !!python/tuple [28, 2] + - !!python/tuple [22, 6] + - !!python/tuple [4, 12] + - !!python/tuple [11, 14] + - !!python/tuple [31, 7] + - !!python/tuple [27, 26] + - !!python/tuple [31, 9] + - !!python/tuple [6, 8] + - !!python/tuple [28, 0] + - !!python/tuple [14, 27] + - !!python/tuple [14, 10] + - !!python/tuple [11, 19] + - !!python/tuple [22, 19] + - !!python/tuple [3, 16] + - !!python/tuple [26, 29] + - !!python/tuple [12, 30] + - !!python/tuple [20, 11] + - !!python/tuple [11, 11] + - !!python/tuple [17, 30] + - !!python/tuple [29, 6] + - !!python/tuple [12, 20] + - !!python/tuple [5, 9] + - !!python/tuple [16, 18] + - !!python/tuple [17, 6] + - !!python/tuple [30, 5] + - !!python/tuple [18, 21] + - !!python/tuple [7, 14] + - !!python/tuple [11, 31] + - !!python/tuple [27, 6] + - !!python/tuple [1, 11] + - !!python/tuple [26, 27] + - !!python/tuple [4, 4] + - !!python/tuple [6, 4] + - !!python/tuple [3, 9] + - !!python/tuple [25, 4] + - !!python/tuple [16, 11] + - !!python/tuple [30, 22] + - !!python/tuple [21, 17] + - !!python/tuple [5, 10] + - !!python/tuple [7, 24] + - !!python/tuple [16, 30] + - !!python/tuple [28, 30] + - !!python/tuple [20, 15] + - !!python/tuple [23, 13] + - !!python/tuple [19, 3] + - !!python/tuple [18, 12] + - !!python/tuple [25, 18] + - !!python/tuple [30, 1] + - !!python/tuple [9, 6] + - !!python/tuple [19, 27] + - !!python/tuple [11, 12] + - !!python/tuple [31, 5] + - !!python/tuple [27, 9] + - !!python/tuple [9, 28] + - !!python/tuple [0, 25] + - !!python/tuple [18, 19] + - !!python/tuple [30, 14] + - !!python/tuple [11, 25] + - !!python/tuple [22, 14] + - !!python/tuple [22, 16] + - !!python/tuple [21, 10] + - !!python/tuple [9, 7] + - !!python/tuple [23, 16] + - !!python/tuple [15, 24] + - !!python/tuple [1, 31] + - !!python/tuple [30, 23] + - !!python/tuple [22, 12] + - !!python/tuple [13, 17] + - !!python/tuple [29, 11] + - !!python/tuple [0, 30] + - !!python/tuple [20, 5] + - !!python/tuple [3, 14] + - !!python/tuple [22, 21] + - !!python/tuple [18, 1] + - !!python/tuple [24, 22] + - !!python/tuple [4, 30] + - !!python/tuple [22, 30] + - !!python/tuple [13, 9] + - !!python/tuple [16, 5] + - !!python/tuple [15, 27] + - !!python/tuple [25, 21] + - !!python/tuple [23, 1] + - !!python/tuple [28, 17] + - !!python/tuple [24, 4] + - !!python/tuple [25, 26] + - !!python/tuple [18, 15] + - !!python/tuple [10, 29] + - !!python/tuple [20, 25] + - !!python/tuple [13, 22] + - !!python/tuple [24, 19] + - !!python/tuple [28, 19] + - !!python/tuple [19, 10] + - !!python/tuple [13, 15] + - !!python/tuple [4, 1] + - !!python/tuple [22, 9] + - !!python/tuple [20, 31] + - !!python/tuple [23, 9] + - !!python/tuple [1, 3] + - !!python/tuple [3, 27] + - !!python/tuple [0, 9] + - !!python/tuple [14, 12] + - !!python/tuple [16, 22] + - !!python/tuple [5, 12] + - !!python/tuple [16, 2] + - !!python/tuple [14, 23] + - !!python/tuple [5, 8] + - !!python/tuple [27, 17] + - !!python/tuple [16, 31] + - !!python/tuple [7, 6] + - !!python/tuple [1, 8] + - !!python/tuple [17, 10] + - !!python/tuple [20, 9] + - !!python/tuple [20, 13] + - !!python/tuple [28, 27] + - !!python/tuple [24, 26] + - !!python/tuple [9, 15] + - !!python/tuple [21, 12] + - !!python/tuple [4, 20] + - !!python/tuple [7, 11] + - !!python/tuple [9, 14] + - !!python/tuple [10, 12] + - !!python/tuple [1, 15] + - !!python/tuple [27, 29] + - !!python/tuple [19, 14] + - !!python/tuple [24, 21] + - !!python/tuple [30, 15] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex41.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex41.yaml new file mode 100644 index 0000000..66aa476 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex41.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [8, 21] + name: agent0 + start: [24, 1] +- goal: [29, 24] + name: agent1 + start: [30, 15] +- goal: [5, 18] + name: agent2 + start: [16, 22] +- goal: [22, 1] + name: agent3 + start: [29, 17] +- goal: [7, 8] + name: agent4 + start: [27, 26] +- goal: [0, 19] + name: agent5 + start: [19, 18] +- goal: [20, 18] + name: agent6 + start: [2, 21] +- goal: [19, 16] + name: agent7 + start: [26, 21] +- goal: [4, 24] + name: agent8 + start: [17, 1] +- goal: [1, 7] + name: agent9 + start: [8, 17] +- goal: [0, 2] + name: agent10 + start: [9, 30] +- goal: [13, 31] + name: agent11 + start: [16, 25] +- goal: [23, 24] + name: agent12 + start: [28, 18] +- goal: [2, 17] + name: agent13 + start: [31, 18] +- goal: [10, 22] + name: agent14 + start: [14, 19] +- goal: [13, 2] + name: agent15 + start: [9, 27] +- goal: [20, 25] + name: agent16 + start: [24, 20] +- goal: [22, 10] + name: agent17 + start: [22, 24] +- goal: [20, 4] + name: agent18 + start: [17, 18] +- goal: [16, 27] + name: agent19 + start: [11, 19] +- goal: [30, 1] + name: agent20 + start: [4, 13] +- goal: [18, 22] + name: agent21 + start: [28, 17] +- goal: [15, 14] + name: agent22 + start: [23, 9] +- goal: [23, 23] + name: agent23 + start: [0, 15] +- goal: [8, 19] + name: agent24 + start: [18, 28] +- goal: [7, 31] + name: agent25 + start: [8, 27] +- goal: [17, 17] + name: agent26 + start: [1, 11] +- goal: [21, 12] + name: agent27 + start: [20, 31] +- goal: [6, 7] + name: agent28 + start: [2, 19] +- goal: [8, 5] + name: agent29 + start: [31, 19] +- goal: [3, 4] + name: agent30 + start: [3, 26] +- goal: [28, 1] + name: agent31 + start: [2, 15] +- goal: [22, 13] + name: agent32 + start: [27, 28] +- goal: [7, 13] + name: agent33 + start: [30, 23] +- goal: [6, 30] + name: agent34 + start: [5, 23] +- goal: [21, 26] + name: agent35 + start: [20, 20] +- goal: [17, 2] + name: agent36 + start: [6, 9] +- goal: [14, 7] + name: agent37 + start: [30, 10] +- goal: [17, 27] + name: agent38 + start: [0, 9] +- goal: [19, 10] + name: agent39 + start: [14, 23] +- goal: [21, 18] + name: agent40 + start: [7, 29] +- goal: [3, 3] + name: agent41 + start: [12, 30] +- goal: [18, 25] + name: agent42 + start: [27, 5] +- goal: [0, 3] + name: agent43 + start: [17, 5] +- goal: [2, 16] + name: agent44 + start: [0, 21] +- goal: [10, 15] + name: agent45 + start: [22, 27] +- goal: [9, 22] + name: agent46 + start: [9, 18] +- goal: [29, 11] + name: agent47 + start: [9, 2] +- goal: [29, 19] + name: agent48 + start: [18, 26] +- goal: [7, 7] + name: agent49 + start: [30, 25] +- goal: [26, 29] + name: agent50 + start: [2, 29] +- goal: [26, 22] + name: agent51 + start: [13, 9] +- goal: [14, 9] + name: agent52 + start: [0, 22] +- goal: [15, 26] + name: agent53 + start: [23, 11] +- goal: [13, 23] + name: agent54 + start: [21, 16] +- goal: [12, 23] + name: agent55 + start: [1, 3] +- goal: [9, 11] + name: agent56 + start: [14, 9] +- goal: [28, 19] + name: agent57 + start: [4, 10] +- goal: [8, 14] + name: agent58 + start: [14, 3] +- goal: [6, 19] + name: agent59 + start: [15, 19] +- goal: [5, 6] + name: agent60 + start: [23, 12] +- goal: [17, 0] + name: agent61 + start: [8, 12] +- goal: [30, 5] + name: agent62 + start: [7, 9] +- goal: [6, 15] + name: agent63 + start: [9, 6] +- goal: [6, 6] + name: agent64 + start: [16, 1] +- goal: [10, 29] + name: agent65 + start: [29, 12] +- goal: [1, 10] + name: agent66 + start: [7, 22] +- goal: [20, 7] + name: agent67 + start: [16, 16] +- goal: [11, 8] + name: agent68 + start: [7, 4] +- goal: [12, 0] + name: agent69 + start: [3, 17] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [14, 29] + - !!python/tuple [9, 12] + - !!python/tuple [7, 17] + - !!python/tuple [3, 21] + - !!python/tuple [9, 21] + - !!python/tuple [6, 12] + - !!python/tuple [26, 17] + - !!python/tuple [14, 15] + - !!python/tuple [21, 30] + - !!python/tuple [18, 18] + - !!python/tuple [21, 22] + - !!python/tuple [31, 11] + - !!python/tuple [24, 28] + - !!python/tuple [27, 19] + - !!python/tuple [18, 11] + - !!python/tuple [12, 10] + - !!python/tuple [11, 23] + - !!python/tuple [2, 4] + - !!python/tuple [5, 22] + - !!python/tuple [25, 5] + - !!python/tuple [29, 23] + - !!python/tuple [14, 1] + - !!python/tuple [15, 1] + - !!python/tuple [6, 24] + - !!python/tuple [9, 25] + - !!python/tuple [5, 7] + - !!python/tuple [11, 9] + - !!python/tuple [0, 7] + - !!python/tuple [31, 1] + - !!python/tuple [8, 6] + - !!python/tuple [22, 29] + - !!python/tuple [11, 13] + - !!python/tuple [31, 25] + - !!python/tuple [17, 9] + - !!python/tuple [19, 27] + - !!python/tuple [5, 13] + - !!python/tuple [22, 23] + - !!python/tuple [10, 18] + - !!python/tuple [10, 10] + - !!python/tuple [18, 15] + - !!python/tuple [17, 30] + - !!python/tuple [19, 8] + - !!python/tuple [15, 13] + - !!python/tuple [10, 27] + - !!python/tuple [10, 6] + - !!python/tuple [21, 5] + - !!python/tuple [8, 3] + - !!python/tuple [18, 17] + - !!python/tuple [23, 27] + - !!python/tuple [1, 25] + - !!python/tuple [18, 21] + - !!python/tuple [20, 15] + - !!python/tuple [22, 31] + - !!python/tuple [14, 28] + - !!python/tuple [25, 10] + - !!python/tuple [29, 16] + - !!python/tuple [11, 15] + - !!python/tuple [20, 17] + - !!python/tuple [20, 9] + - !!python/tuple [7, 30] + - !!python/tuple [9, 31] + - !!python/tuple [5, 11] + - !!python/tuple [24, 30] + - !!python/tuple [27, 7] + - !!python/tuple [18, 7] + - !!python/tuple [14, 6] + - !!python/tuple [5, 10] + - !!python/tuple [18, 27] + - !!python/tuple [7, 10] + - !!python/tuple [1, 23] + - !!python/tuple [2, 25] + - !!python/tuple [23, 30] + - !!python/tuple [15, 12] + - !!python/tuple [17, 4] + - !!python/tuple [10, 14] + - !!python/tuple [13, 29] + - !!python/tuple [24, 29] + - !!python/tuple [25, 3] + - !!python/tuple [17, 15] + - !!python/tuple [5, 3] + - !!python/tuple [18, 24] + - !!python/tuple [31, 3] + - !!python/tuple [24, 14] + - !!python/tuple [15, 18] + - !!python/tuple [22, 25] + - !!python/tuple [25, 14] + - !!python/tuple [16, 31] + - !!python/tuple [9, 16] + - !!python/tuple [28, 15] + - !!python/tuple [28, 0] + - !!python/tuple [4, 27] + - !!python/tuple [1, 0] + - !!python/tuple [5, 19] + - !!python/tuple [16, 15] + - !!python/tuple [28, 27] + - !!python/tuple [26, 20] + - !!python/tuple [16, 6] + - !!python/tuple [15, 5] + - !!python/tuple [7, 1] + - !!python/tuple [10, 5] + - !!python/tuple [17, 12] + - !!python/tuple [1, 26] + - !!python/tuple [26, 6] + - !!python/tuple [6, 1] + - !!python/tuple [27, 13] + - !!python/tuple [1, 31] + - !!python/tuple [15, 17] + - !!python/tuple [16, 5] + - !!python/tuple [14, 4] + - !!python/tuple [26, 7] + - !!python/tuple [1, 16] + - !!python/tuple [20, 5] + - !!python/tuple [12, 12] + - !!python/tuple [20, 6] + - !!python/tuple [2, 13] + - !!python/tuple [9, 26] + - !!python/tuple [11, 4] + - !!python/tuple [11, 27] + - !!python/tuple [30, 26] + - !!python/tuple [3, 23] + - !!python/tuple [4, 29] + - !!python/tuple [7, 19] + - !!python/tuple [0, 5] + - !!python/tuple [7, 12] + - !!python/tuple [22, 17] + - !!python/tuple [7, 16] + - !!python/tuple [24, 5] + - !!python/tuple [26, 27] + - !!python/tuple [27, 25] + - !!python/tuple [12, 11] + - !!python/tuple [5, 17] + - !!python/tuple [16, 24] + - !!python/tuple [27, 21] + - !!python/tuple [6, 11] + - !!python/tuple [23, 13] + - !!python/tuple [4, 20] + - !!python/tuple [26, 3] + - !!python/tuple [23, 10] + - !!python/tuple [10, 17] + - !!python/tuple [24, 3] + - !!python/tuple [7, 5] + - !!python/tuple [30, 11] + - !!python/tuple [3, 5] + - !!python/tuple [22, 5] + - !!python/tuple [19, 3] + - !!python/tuple [18, 31] + - !!python/tuple [7, 26] + - !!python/tuple [22, 16] + - !!python/tuple [8, 18] + - !!python/tuple [19, 30] + - !!python/tuple [4, 8] + - !!python/tuple [30, 16] + - !!python/tuple [1, 6] + - !!python/tuple [6, 10] + - !!python/tuple [6, 14] + - !!python/tuple [12, 19] + - !!python/tuple [6, 22] + - !!python/tuple [24, 21] + - !!python/tuple [16, 21] + - !!python/tuple [31, 12] + - !!python/tuple [2, 8] + - !!python/tuple [31, 15] + - !!python/tuple [25, 30] + - !!python/tuple [12, 14] + - !!python/tuple [2, 6] + - !!python/tuple [15, 4] + - !!python/tuple [11, 24] + - !!python/tuple [4, 16] + - !!python/tuple [15, 20] + - !!python/tuple [4, 14] + - !!python/tuple [3, 25] + - !!python/tuple [9, 28] + - !!python/tuple [22, 4] + - !!python/tuple [13, 18] + - !!python/tuple [13, 24] + - !!python/tuple [13, 22] + - !!python/tuple [13, 17] + - !!python/tuple [19, 28] + - !!python/tuple [5, 28] + - !!python/tuple [30, 8] + - !!python/tuple [31, 29] + - !!python/tuple [2, 14] + - !!python/tuple [21, 21] + - !!python/tuple [19, 25] + - !!python/tuple [19, 9] + - !!python/tuple [23, 20] + - !!python/tuple [24, 31] + - !!python/tuple [0, 29] + - !!python/tuple [5, 24] + - !!python/tuple [17, 3] + - !!python/tuple [30, 29] + - !!python/tuple [15, 24] + - !!python/tuple [21, 19] + - !!python/tuple [13, 20] + - !!python/tuple [25, 22] + - !!python/tuple [12, 16] + - !!python/tuple [13, 1] + - !!python/tuple [18, 9] + - !!python/tuple [28, 6] + - !!python/tuple [3, 19] + - !!python/tuple [30, 12] + - !!python/tuple [10, 7] + - !!python/tuple [5, 30] + - !!python/tuple [24, 2] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex42.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex42.yaml new file mode 100644 index 0000000..9499ce0 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex42.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [26, 14] + name: agent0 + start: [9, 18] +- goal: [16, 23] + name: agent1 + start: [23, 22] +- goal: [6, 18] + name: agent2 + start: [16, 28] +- goal: [16, 7] + name: agent3 + start: [22, 26] +- goal: [27, 0] + name: agent4 + start: [15, 31] +- goal: [31, 25] + name: agent5 + start: [19, 10] +- goal: [29, 0] + name: agent6 + start: [4, 1] +- goal: [30, 4] + name: agent7 + start: [3, 27] +- goal: [28, 23] + name: agent8 + start: [22, 0] +- goal: [20, 13] + name: agent9 + start: [11, 8] +- goal: [23, 23] + name: agent10 + start: [0, 15] +- goal: [3, 31] + name: agent11 + start: [28, 24] +- goal: [15, 4] + name: agent12 + start: [11, 28] +- goal: [13, 16] + name: agent13 + start: [11, 12] +- goal: [19, 22] + name: agent14 + start: [28, 0] +- goal: [16, 24] + name: agent15 + start: [16, 19] +- goal: [3, 3] + name: agent16 + start: [9, 1] +- goal: [8, 30] + name: agent17 + start: [12, 2] +- goal: [26, 6] + name: agent18 + start: [16, 15] +- goal: [5, 18] + name: agent19 + start: [6, 18] +- goal: [3, 11] + name: agent20 + start: [12, 25] +- goal: [13, 18] + name: agent21 + start: [19, 6] +- goal: [1, 7] + name: agent22 + start: [22, 21] +- goal: [21, 23] + name: agent23 + start: [3, 20] +- goal: [3, 0] + name: agent24 + start: [12, 20] +- goal: [1, 4] + name: agent25 + start: [6, 12] +- goal: [1, 28] + name: agent26 + start: [24, 3] +- goal: [13, 3] + name: agent27 + start: [18, 8] +- goal: [19, 31] + name: agent28 + start: [26, 20] +- goal: [31, 0] + name: agent29 + start: [22, 4] +- goal: [18, 9] + name: agent30 + start: [24, 0] +- goal: [5, 9] + name: agent31 + start: [23, 29] +- goal: [21, 26] + name: agent32 + start: [2, 20] +- goal: [1, 26] + name: agent33 + start: [17, 14] +- goal: [26, 13] + name: agent34 + start: [24, 25] +- goal: [9, 7] + name: agent35 + start: [28, 26] +- goal: [8, 22] + name: agent36 + start: [21, 26] +- goal: [1, 5] + name: agent37 + start: [16, 12] +- goal: [8, 2] + name: agent38 + start: [12, 30] +- goal: [10, 5] + name: agent39 + start: [18, 14] +- goal: [12, 30] + name: agent40 + start: [2, 5] +- goal: [1, 11] + name: agent41 + start: [10, 30] +- goal: [25, 18] + name: agent42 + start: [3, 4] +- goal: [8, 24] + name: agent43 + start: [0, 14] +- goal: [20, 16] + name: agent44 + start: [10, 8] +- goal: [1, 13] + name: agent45 + start: [26, 17] +- goal: [0, 26] + name: agent46 + start: [4, 21] +- goal: [15, 25] + name: agent47 + start: [31, 22] +- goal: [9, 19] + name: agent48 + start: [28, 31] +- goal: [1, 3] + name: agent49 + start: [29, 7] +- goal: [2, 3] + name: agent50 + start: [31, 17] +- goal: [11, 9] + name: agent51 + start: [21, 7] +- goal: [7, 13] + name: agent52 + start: [27, 1] +- goal: [1, 21] + name: agent53 + start: [2, 19] +- goal: [0, 24] + name: agent54 + start: [6, 26] +- goal: [28, 26] + name: agent55 + start: [28, 10] +- goal: [17, 15] + name: agent56 + start: [2, 6] +- goal: [0, 20] + name: agent57 + start: [27, 22] +- goal: [25, 21] + name: agent58 + start: [14, 20] +- goal: [25, 8] + name: agent59 + start: [15, 25] +- goal: [12, 25] + name: agent60 + start: [21, 27] +- goal: [16, 18] + name: agent61 + start: [24, 28] +- goal: [27, 20] + name: agent62 + start: [12, 11] +- goal: [27, 22] + name: agent63 + start: [21, 31] +- goal: [19, 17] + name: agent64 + start: [25, 25] +- goal: [11, 6] + name: agent65 + start: [25, 14] +- goal: [3, 12] + name: agent66 + start: [14, 21] +- goal: [20, 24] + name: agent67 + start: [20, 4] +- goal: [12, 26] + name: agent68 + start: [28, 14] +- goal: [5, 24] + name: agent69 + start: [11, 5] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [31, 27] + - !!python/tuple [24, 4] + - !!python/tuple [25, 0] + - !!python/tuple [31, 7] + - !!python/tuple [15, 6] + - !!python/tuple [15, 3] + - !!python/tuple [5, 10] + - !!python/tuple [14, 6] + - !!python/tuple [19, 11] + - !!python/tuple [7, 16] + - !!python/tuple [14, 5] + - !!python/tuple [23, 28] + - !!python/tuple [6, 7] + - !!python/tuple [15, 7] + - !!python/tuple [22, 6] + - !!python/tuple [0, 28] + - !!python/tuple [10, 2] + - !!python/tuple [23, 31] + - !!python/tuple [1, 10] + - !!python/tuple [17, 31] + - !!python/tuple [24, 13] + - !!python/tuple [25, 28] + - !!python/tuple [30, 7] + - !!python/tuple [23, 7] + - !!python/tuple [9, 28] + - !!python/tuple [3, 29] + - !!python/tuple [5, 29] + - !!python/tuple [18, 2] + - !!python/tuple [5, 16] + - !!python/tuple [3, 13] + - !!python/tuple [30, 17] + - !!python/tuple [23, 20] + - !!python/tuple [30, 14] + - !!python/tuple [2, 30] + - !!python/tuple [13, 22] + - !!python/tuple [17, 3] + - !!python/tuple [26, 8] + - !!python/tuple [19, 2] + - !!python/tuple [9, 15] + - !!python/tuple [16, 22] + - !!python/tuple [2, 14] + - !!python/tuple [16, 14] + - !!python/tuple [27, 8] + - !!python/tuple [1, 29] + - !!python/tuple [29, 29] + - !!python/tuple [11, 30] + - !!python/tuple [16, 31] + - !!python/tuple [24, 21] + - !!python/tuple [15, 17] + - !!python/tuple [29, 26] + - !!python/tuple [20, 21] + - !!python/tuple [15, 28] + - !!python/tuple [18, 10] + - !!python/tuple [2, 8] + - !!python/tuple [22, 12] + - !!python/tuple [19, 16] + - !!python/tuple [28, 7] + - !!python/tuple [4, 0] + - !!python/tuple [19, 7] + - !!python/tuple [13, 0] + - !!python/tuple [6, 19] + - !!python/tuple [27, 4] + - !!python/tuple [19, 4] + - !!python/tuple [10, 19] + - !!python/tuple [5, 1] + - !!python/tuple [6, 27] + - !!python/tuple [10, 15] + - !!python/tuple [21, 19] + - !!python/tuple [10, 14] + - !!python/tuple [6, 30] + - !!python/tuple [26, 9] + - !!python/tuple [27, 19] + - !!python/tuple [16, 10] + - !!python/tuple [25, 22] + - !!python/tuple [19, 18] + - !!python/tuple [22, 17] + - !!python/tuple [9, 30] + - !!python/tuple [23, 0] + - !!python/tuple [6, 8] + - !!python/tuple [7, 28] + - !!python/tuple [20, 10] + - !!python/tuple [29, 2] + - !!python/tuple [21, 24] + - !!python/tuple [27, 21] + - !!python/tuple [6, 16] + - !!python/tuple [6, 24] + - !!python/tuple [13, 2] + - !!python/tuple [10, 1] + - !!python/tuple [22, 23] + - !!python/tuple [3, 23] + - !!python/tuple [26, 10] + - !!python/tuple [13, 13] + - !!python/tuple [4, 15] + - !!python/tuple [2, 1] + - !!python/tuple [7, 26] + - !!python/tuple [23, 24] + - !!python/tuple [5, 2] + - !!python/tuple [6, 6] + - !!python/tuple [8, 26] + - !!python/tuple [5, 27] + - !!python/tuple [12, 19] + - !!python/tuple [6, 5] + - !!python/tuple [29, 24] + - !!python/tuple [9, 26] + - !!python/tuple [12, 9] + - !!python/tuple [24, 19] + - !!python/tuple [9, 9] + - !!python/tuple [20, 22] + - !!python/tuple [30, 19] + - !!python/tuple [29, 20] + - !!python/tuple [18, 20] + - !!python/tuple [24, 2] + - !!python/tuple [28, 3] + - !!python/tuple [26, 7] + - !!python/tuple [17, 7] + - !!python/tuple [3, 28] + - !!python/tuple [17, 24] + - !!python/tuple [25, 26] + - !!python/tuple [25, 1] + - !!python/tuple [20, 23] + - !!python/tuple [14, 4] + - !!python/tuple [2, 25] + - !!python/tuple [4, 9] + - !!python/tuple [31, 20] + - !!python/tuple [3, 19] + - !!python/tuple [10, 21] + - !!python/tuple [24, 10] + - !!python/tuple [2, 9] + - !!python/tuple [0, 29] + - !!python/tuple [29, 10] + - !!python/tuple [22, 10] + - !!python/tuple [11, 19] + - !!python/tuple [17, 6] + - !!python/tuple [28, 30] + - !!python/tuple [15, 18] + - !!python/tuple [27, 27] + - !!python/tuple [27, 2] + - !!python/tuple [27, 25] + - !!python/tuple [5, 3] + - !!python/tuple [29, 23] + - !!python/tuple [13, 12] + - !!python/tuple [28, 29] + - !!python/tuple [22, 24] + - !!python/tuple [8, 28] + - !!python/tuple [28, 28] + - !!python/tuple [15, 9] + - !!python/tuple [25, 30] + - !!python/tuple [22, 18] + - !!python/tuple [20, 28] + - !!python/tuple [11, 24] + - !!python/tuple [7, 0] + - !!python/tuple [14, 28] + - !!python/tuple [31, 19] + - !!python/tuple [31, 26] + - !!python/tuple [8, 23] + - !!python/tuple [7, 2] + - !!python/tuple [2, 11] + - !!python/tuple [18, 27] + - !!python/tuple [8, 15] + - !!python/tuple [21, 15] + - !!python/tuple [19, 1] + - !!python/tuple [24, 23] + - !!python/tuple [10, 23] + - !!python/tuple [9, 8] + - !!python/tuple [23, 6] + - !!python/tuple [12, 29] + - !!python/tuple [0, 31] + - !!python/tuple [7, 1] + - !!python/tuple [19, 30] + - !!python/tuple [23, 4] + - !!python/tuple [29, 21] + - !!python/tuple [26, 11] + - !!python/tuple [13, 15] + - !!python/tuple [7, 27] + - !!python/tuple [5, 19] + - !!python/tuple [1, 22] + - !!python/tuple [31, 4] + - !!python/tuple [15, 22] + - !!python/tuple [27, 5] + - !!python/tuple [16, 9] + - !!python/tuple [18, 7] + - !!python/tuple [14, 19] + - !!python/tuple [28, 11] + - !!python/tuple [11, 27] + - !!python/tuple [17, 27] + - !!python/tuple [17, 10] + - !!python/tuple [24, 16] + - !!python/tuple [8, 13] + - !!python/tuple [25, 19] + - !!python/tuple [21, 30] + - !!python/tuple [15, 26] + - !!python/tuple [9, 14] + - !!python/tuple [15, 29] + - !!python/tuple [16, 6] + - !!python/tuple [30, 0] + - !!python/tuple [8, 29] + - !!python/tuple [18, 24] + - !!python/tuple [28, 6] + - !!python/tuple [5, 11] + - !!python/tuple [0, 8] + - !!python/tuple [23, 9] + - !!python/tuple [23, 12] + - !!python/tuple [22, 5] + - !!python/tuple [23, 26] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex43.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex43.yaml new file mode 100644 index 0000000..bb2d518 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex43.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [0, 11] + name: agent0 + start: [22, 15] +- goal: [8, 20] + name: agent1 + start: [31, 30] +- goal: [20, 22] + name: agent2 + start: [8, 19] +- goal: [17, 21] + name: agent3 + start: [1, 22] +- goal: [2, 2] + name: agent4 + start: [0, 13] +- goal: [26, 21] + name: agent5 + start: [12, 4] +- goal: [21, 14] + name: agent6 + start: [25, 0] +- goal: [27, 7] + name: agent7 + start: [19, 0] +- goal: [20, 24] + name: agent8 + start: [0, 26] +- goal: [4, 7] + name: agent9 + start: [8, 0] +- goal: [3, 8] + name: agent10 + start: [23, 8] +- goal: [18, 30] + name: agent11 + start: [12, 9] +- goal: [19, 18] + name: agent12 + start: [11, 31] +- goal: [30, 1] + name: agent13 + start: [28, 12] +- goal: [15, 15] + name: agent14 + start: [27, 29] +- goal: [16, 26] + name: agent15 + start: [24, 7] +- goal: [4, 24] + name: agent16 + start: [3, 17] +- goal: [6, 12] + name: agent17 + start: [22, 3] +- goal: [30, 28] + name: agent18 + start: [21, 30] +- goal: [24, 24] + name: agent19 + start: [13, 11] +- goal: [5, 8] + name: agent20 + start: [15, 25] +- goal: [6, 20] + name: agent21 + start: [7, 20] +- goal: [14, 15] + name: agent22 + start: [2, 26] +- goal: [22, 3] + name: agent23 + start: [3, 2] +- goal: [23, 18] + name: agent24 + start: [18, 7] +- goal: [28, 3] + name: agent25 + start: [5, 31] +- goal: [11, 11] + name: agent26 + start: [23, 21] +- goal: [28, 6] + name: agent27 + start: [9, 10] +- goal: [17, 25] + name: agent28 + start: [16, 11] +- goal: [30, 5] + name: agent29 + start: [4, 6] +- goal: [19, 26] + name: agent30 + start: [22, 20] +- goal: [0, 24] + name: agent31 + start: [10, 26] +- goal: [30, 31] + name: agent32 + start: [26, 5] +- goal: [12, 19] + name: agent33 + start: [21, 5] +- goal: [9, 31] + name: agent34 + start: [14, 21] +- goal: [5, 14] + name: agent35 + start: [8, 5] +- goal: [29, 6] + name: agent36 + start: [8, 16] +- goal: [7, 6] + name: agent37 + start: [6, 23] +- goal: [17, 12] + name: agent38 + start: [20, 14] +- goal: [29, 26] + name: agent39 + start: [17, 8] +- goal: [20, 23] + name: agent40 + start: [4, 27] +- goal: [25, 28] + name: agent41 + start: [14, 29] +- goal: [15, 14] + name: agent42 + start: [12, 7] +- goal: [26, 13] + name: agent43 + start: [13, 8] +- goal: [20, 0] + name: agent44 + start: [3, 10] +- goal: [19, 31] + name: agent45 + start: [12, 22] +- goal: [14, 1] + name: agent46 + start: [29, 16] +- goal: [21, 13] + name: agent47 + start: [1, 18] +- goal: [6, 13] + name: agent48 + start: [29, 30] +- goal: [20, 17] + name: agent49 + start: [16, 3] +- goal: [12, 16] + name: agent50 + start: [5, 20] +- goal: [6, 25] + name: agent51 + start: [2, 9] +- goal: [1, 5] + name: agent52 + start: [21, 16] +- goal: [9, 20] + name: agent53 + start: [24, 13] +- goal: [16, 7] + name: agent54 + start: [27, 6] +- goal: [15, 10] + name: agent55 + start: [12, 21] +- goal: [5, 20] + name: agent56 + start: [15, 29] +- goal: [13, 27] + name: agent57 + start: [28, 3] +- goal: [3, 22] + name: agent58 + start: [29, 13] +- goal: [28, 9] + name: agent59 + start: [27, 12] +- goal: [26, 8] + name: agent60 + start: [9, 3] +- goal: [16, 1] + name: agent61 + start: [27, 26] +- goal: [7, 31] + name: agent62 + start: [23, 23] +- goal: [13, 1] + name: agent63 + start: [3, 25] +- goal: [4, 22] + name: agent64 + start: [18, 20] +- goal: [13, 19] + name: agent65 + start: [11, 18] +- goal: [9, 12] + name: agent66 + start: [18, 4] +- goal: [21, 3] + name: agent67 + start: [23, 24] +- goal: [5, 31] + name: agent68 + start: [3, 20] +- goal: [22, 10] + name: agent69 + start: [24, 24] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [17, 18] + - !!python/tuple [30, 16] + - !!python/tuple [25, 26] + - !!python/tuple [31, 9] + - !!python/tuple [28, 10] + - !!python/tuple [22, 5] + - !!python/tuple [10, 21] + - !!python/tuple [18, 27] + - !!python/tuple [8, 10] + - !!python/tuple [2, 19] + - !!python/tuple [6, 6] + - !!python/tuple [17, 9] + - !!python/tuple [17, 13] + - !!python/tuple [22, 2] + - !!python/tuple [10, 3] + - !!python/tuple [28, 5] + - !!python/tuple [11, 0] + - !!python/tuple [13, 31] + - !!python/tuple [11, 29] + - !!python/tuple [9, 29] + - !!python/tuple [21, 9] + - !!python/tuple [23, 3] + - !!python/tuple [18, 19] + - !!python/tuple [6, 30] + - !!python/tuple [6, 31] + - !!python/tuple [21, 15] + - !!python/tuple [5, 29] + - !!python/tuple [19, 16] + - !!python/tuple [29, 17] + - !!python/tuple [2, 6] + - !!python/tuple [31, 12] + - !!python/tuple [0, 1] + - !!python/tuple [4, 16] + - !!python/tuple [31, 18] + - !!python/tuple [14, 20] + - !!python/tuple [19, 27] + - !!python/tuple [17, 10] + - !!python/tuple [22, 30] + - !!python/tuple [11, 2] + - !!python/tuple [0, 9] + - !!python/tuple [12, 5] + - !!python/tuple [11, 22] + - !!python/tuple [25, 12] + - !!python/tuple [3, 14] + - !!python/tuple [7, 1] + - !!python/tuple [31, 4] + - !!python/tuple [12, 15] + - !!python/tuple [29, 24] + - !!python/tuple [13, 25] + - !!python/tuple [29, 29] + - !!python/tuple [2, 1] + - !!python/tuple [4, 18] + - !!python/tuple [24, 1] + - !!python/tuple [17, 3] + - !!python/tuple [26, 17] + - !!python/tuple [7, 2] + - !!python/tuple [2, 4] + - !!python/tuple [14, 0] + - !!python/tuple [15, 24] + - !!python/tuple [27, 25] + - !!python/tuple [30, 29] + - !!python/tuple [25, 13] + - !!python/tuple [30, 26] + - !!python/tuple [19, 12] + - !!python/tuple [29, 9] + - !!python/tuple [23, 7] + - !!python/tuple [20, 4] + - !!python/tuple [22, 31] + - !!python/tuple [29, 3] + - !!python/tuple [28, 11] + - !!python/tuple [31, 10] + - !!python/tuple [27, 14] + - !!python/tuple [28, 14] + - !!python/tuple [7, 22] + - !!python/tuple [28, 29] + - !!python/tuple [15, 4] + - !!python/tuple [19, 30] + - !!python/tuple [24, 31] + - !!python/tuple [21, 18] + - !!python/tuple [0, 31] + - !!python/tuple [5, 0] + - !!python/tuple [1, 17] + - !!python/tuple [14, 16] + - !!python/tuple [7, 15] + - !!python/tuple [8, 7] + - !!python/tuple [3, 0] + - !!python/tuple [11, 26] + - !!python/tuple [15, 3] + - !!python/tuple [31, 21] + - !!python/tuple [18, 16] + - !!python/tuple [27, 15] + - !!python/tuple [22, 9] + - !!python/tuple [2, 11] + - !!python/tuple [2, 30] + - !!python/tuple [3, 5] + - !!python/tuple [11, 30] + - !!python/tuple [12, 29] + - !!python/tuple [2, 23] + - !!python/tuple [4, 11] + - !!python/tuple [11, 21] + - !!python/tuple [13, 21] + - !!python/tuple [29, 28] + - !!python/tuple [8, 25] + - !!python/tuple [31, 0] + - !!python/tuple [23, 14] + - !!python/tuple [24, 14] + - !!python/tuple [25, 1] + - !!python/tuple [24, 25] + - !!python/tuple [25, 24] + - !!python/tuple [21, 2] + - !!python/tuple [1, 6] + - !!python/tuple [7, 13] + - !!python/tuple [4, 29] + - !!python/tuple [7, 5] + - !!python/tuple [12, 23] + - !!python/tuple [28, 27] + - !!python/tuple [13, 6] + - !!python/tuple [2, 21] + - !!python/tuple [10, 13] + - !!python/tuple [28, 0] + - !!python/tuple [21, 17] + - !!python/tuple [1, 0] + - !!python/tuple [28, 2] + - !!python/tuple [31, 17] + - !!python/tuple [12, 18] + - !!python/tuple [30, 12] + - !!python/tuple [10, 1] + - !!python/tuple [31, 19] + - !!python/tuple [9, 21] + - !!python/tuple [26, 22] + - !!python/tuple [16, 28] + - !!python/tuple [14, 25] + - !!python/tuple [19, 9] + - !!python/tuple [17, 0] + - !!python/tuple [0, 19] + - !!python/tuple [23, 11] + - !!python/tuple [11, 20] + - !!python/tuple [1, 16] + - !!python/tuple [12, 12] + - !!python/tuple [6, 0] + - !!python/tuple [19, 4] + - !!python/tuple [14, 26] + - !!python/tuple [5, 25] + - !!python/tuple [9, 13] + - !!python/tuple [28, 4] + - !!python/tuple [5, 15] + - !!python/tuple [9, 0] + - !!python/tuple [10, 29] + - !!python/tuple [9, 18] + - !!python/tuple [23, 22] + - !!python/tuple [18, 2] + - !!python/tuple [23, 1] + - !!python/tuple [19, 21] + - !!python/tuple [27, 23] + - !!python/tuple [0, 21] + - !!python/tuple [2, 18] + - !!python/tuple [30, 24] + - !!python/tuple [6, 11] + - !!python/tuple [8, 4] + - !!python/tuple [9, 8] + - !!python/tuple [30, 10] + - !!python/tuple [2, 31] + - !!python/tuple [25, 18] + - !!python/tuple [6, 1] + - !!python/tuple [28, 17] + - !!python/tuple [9, 30] + - !!python/tuple [21, 26] + - !!python/tuple [23, 19] + - !!python/tuple [15, 28] + - !!python/tuple [2, 22] + - !!python/tuple [8, 27] + - !!python/tuple [30, 23] + - !!python/tuple [13, 14] + - !!python/tuple [11, 12] + - !!python/tuple [18, 15] + - !!python/tuple [23, 30] + - !!python/tuple [24, 28] + - !!python/tuple [10, 24] + - !!python/tuple [23, 27] + - !!python/tuple [15, 20] + - !!python/tuple [20, 29] + - !!python/tuple [18, 17] + - !!python/tuple [13, 26] + - !!python/tuple [29, 21] + - !!python/tuple [31, 20] + - !!python/tuple [14, 12] + - !!python/tuple [11, 10] + - !!python/tuple [15, 23] + - !!python/tuple [7, 4] + - !!python/tuple [11, 28] + - !!python/tuple [28, 23] + - !!python/tuple [16, 30] + - !!python/tuple [28, 28] + - !!python/tuple [10, 16] + - !!python/tuple [25, 20] + - !!python/tuple [24, 19] + - !!python/tuple [1, 11] + - !!python/tuple [29, 19] + - !!python/tuple [0, 28] + - !!python/tuple [26, 3] + - !!python/tuple [0, 7] + - !!python/tuple [19, 15] + - !!python/tuple [26, 31] + - !!python/tuple [31, 1] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex44.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex44.yaml new file mode 100644 index 0000000..05abadd --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex44.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [25, 18] + name: agent0 + start: [18, 23] +- goal: [30, 23] + name: agent1 + start: [12, 1] +- goal: [1, 24] + name: agent2 + start: [14, 1] +- goal: [2, 25] + name: agent3 + start: [25, 2] +- goal: [22, 29] + name: agent4 + start: [4, 14] +- goal: [25, 31] + name: agent5 + start: [13, 31] +- goal: [17, 30] + name: agent6 + start: [10, 15] +- goal: [25, 20] + name: agent7 + start: [28, 27] +- goal: [22, 20] + name: agent8 + start: [30, 23] +- goal: [0, 28] + name: agent9 + start: [21, 22] +- goal: [20, 7] + name: agent10 + start: [14, 30] +- goal: [9, 23] + name: agent11 + start: [16, 23] +- goal: [31, 21] + name: agent12 + start: [12, 30] +- goal: [30, 20] + name: agent13 + start: [18, 8] +- goal: [6, 20] + name: agent14 + start: [18, 31] +- goal: [28, 8] + name: agent15 + start: [31, 24] +- goal: [10, 29] + name: agent16 + start: [4, 21] +- goal: [7, 24] + name: agent17 + start: [19, 16] +- goal: [22, 28] + name: agent18 + start: [10, 20] +- goal: [10, 12] + name: agent19 + start: [9, 13] +- goal: [11, 26] + name: agent20 + start: [6, 13] +- goal: [4, 29] + name: agent21 + start: [22, 9] +- goal: [24, 20] + name: agent22 + start: [19, 2] +- goal: [9, 10] + name: agent23 + start: [19, 4] +- goal: [4, 0] + name: agent24 + start: [3, 26] +- goal: [9, 26] + name: agent25 + start: [16, 21] +- goal: [1, 20] + name: agent26 + start: [17, 24] +- goal: [9, 9] + name: agent27 + start: [7, 24] +- goal: [26, 3] + name: agent28 + start: [10, 2] +- goal: [0, 1] + name: agent29 + start: [31, 9] +- goal: [27, 5] + name: agent30 + start: [6, 4] +- goal: [30, 21] + name: agent31 + start: [20, 16] +- goal: [18, 7] + name: agent32 + start: [16, 18] +- goal: [16, 25] + name: agent33 + start: [27, 14] +- goal: [30, 24] + name: agent34 + start: [6, 23] +- goal: [23, 15] + name: agent35 + start: [28, 14] +- goal: [18, 15] + name: agent36 + start: [4, 9] +- goal: [27, 12] + name: agent37 + start: [26, 0] +- goal: [8, 7] + name: agent38 + start: [30, 19] +- goal: [21, 4] + name: agent39 + start: [2, 22] +- goal: [22, 19] + name: agent40 + start: [26, 7] +- goal: [24, 18] + name: agent41 + start: [10, 4] +- goal: [19, 19] + name: agent42 + start: [25, 11] +- goal: [25, 17] + name: agent43 + start: [15, 6] +- goal: [22, 27] + name: agent44 + start: [1, 2] +- goal: [18, 16] + name: agent45 + start: [21, 7] +- goal: [22, 7] + name: agent46 + start: [8, 16] +- goal: [9, 22] + name: agent47 + start: [10, 17] +- goal: [5, 11] + name: agent48 + start: [23, 11] +- goal: [15, 11] + name: agent49 + start: [23, 1] +- goal: [3, 26] + name: agent50 + start: [27, 12] +- goal: [26, 5] + name: agent51 + start: [24, 23] +- goal: [16, 7] + name: agent52 + start: [30, 20] +- goal: [14, 2] + name: agent53 + start: [9, 16] +- goal: [2, 12] + name: agent54 + start: [4, 5] +- goal: [26, 18] + name: agent55 + start: [6, 12] +- goal: [23, 18] + name: agent56 + start: [10, 30] +- goal: [25, 22] + name: agent57 + start: [27, 7] +- goal: [31, 27] + name: agent58 + start: [8, 23] +- goal: [16, 24] + name: agent59 + start: [13, 5] +- goal: [2, 2] + name: agent60 + start: [23, 16] +- goal: [0, 18] + name: agent61 + start: [23, 13] +- goal: [15, 16] + name: agent62 + start: [0, 17] +- goal: [16, 19] + name: agent63 + start: [2, 18] +- goal: [18, 10] + name: agent64 + start: [30, 31] +- goal: [16, 15] + name: agent65 + start: [17, 22] +- goal: [26, 29] + name: agent66 + start: [5, 10] +- goal: [27, 14] + name: agent67 + start: [7, 22] +- goal: [21, 0] + name: agent68 + start: [2, 31] +- goal: [17, 24] + name: agent69 + start: [27, 5] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [15, 22] + - !!python/tuple [6, 21] + - !!python/tuple [7, 14] + - !!python/tuple [14, 19] + - !!python/tuple [1, 13] + - !!python/tuple [30, 13] + - !!python/tuple [22, 4] + - !!python/tuple [7, 17] + - !!python/tuple [7, 12] + - !!python/tuple [31, 11] + - !!python/tuple [3, 8] + - !!python/tuple [17, 18] + - !!python/tuple [21, 17] + - !!python/tuple [3, 7] + - !!python/tuple [11, 6] + - !!python/tuple [4, 19] + - !!python/tuple [2, 6] + - !!python/tuple [21, 26] + - !!python/tuple [0, 29] + - !!python/tuple [23, 20] + - !!python/tuple [13, 2] + - !!python/tuple [5, 21] + - !!python/tuple [9, 2] + - !!python/tuple [12, 22] + - !!python/tuple [28, 24] + - !!python/tuple [22, 6] + - !!python/tuple [23, 24] + - !!python/tuple [20, 26] + - !!python/tuple [0, 26] + - !!python/tuple [24, 10] + - !!python/tuple [3, 27] + - !!python/tuple [21, 15] + - !!python/tuple [30, 25] + - !!python/tuple [14, 18] + - !!python/tuple [15, 2] + - !!python/tuple [4, 23] + - !!python/tuple [27, 6] + - !!python/tuple [29, 23] + - !!python/tuple [9, 3] + - !!python/tuple [11, 25] + - !!python/tuple [26, 11] + - !!python/tuple [22, 1] + - !!python/tuple [15, 9] + - !!python/tuple [28, 15] + - !!python/tuple [6, 9] + - !!python/tuple [28, 23] + - !!python/tuple [11, 24] + - !!python/tuple [8, 9] + - !!python/tuple [30, 2] + - !!python/tuple [31, 29] + - !!python/tuple [15, 20] + - !!python/tuple [29, 13] + - !!python/tuple [21, 27] + - !!python/tuple [21, 23] + - !!python/tuple [9, 27] + - !!python/tuple [5, 16] + - !!python/tuple [2, 4] + - !!python/tuple [2, 30] + - !!python/tuple [20, 27] + - !!python/tuple [10, 11] + - !!python/tuple [6, 14] + - !!python/tuple [0, 16] + - !!python/tuple [4, 11] + - !!python/tuple [31, 3] + - !!python/tuple [17, 9] + - !!python/tuple [5, 17] + - !!python/tuple [13, 27] + - !!python/tuple [15, 1] + - !!python/tuple [22, 5] + - !!python/tuple [22, 3] + - !!python/tuple [8, 17] + - !!python/tuple [2, 11] + - !!python/tuple [4, 30] + - !!python/tuple [24, 2] + - !!python/tuple [10, 3] + - !!python/tuple [31, 6] + - !!python/tuple [15, 14] + - !!python/tuple [14, 14] + - !!python/tuple [13, 21] + - !!python/tuple [1, 28] + - !!python/tuple [0, 11] + - !!python/tuple [31, 18] + - !!python/tuple [5, 24] + - !!python/tuple [27, 22] + - !!python/tuple [11, 13] + - !!python/tuple [10, 6] + - !!python/tuple [14, 6] + - !!python/tuple [3, 0] + - !!python/tuple [19, 12] + - !!python/tuple [17, 2] + - !!python/tuple [11, 30] + - !!python/tuple [15, 25] + - !!python/tuple [12, 31] + - !!python/tuple [11, 28] + - !!python/tuple [28, 7] + - !!python/tuple [23, 29] + - !!python/tuple [28, 22] + - !!python/tuple [6, 22] + - !!python/tuple [15, 23] + - !!python/tuple [25, 26] + - !!python/tuple [5, 1] + - !!python/tuple [10, 31] + - !!python/tuple [0, 3] + - !!python/tuple [7, 28] + - !!python/tuple [23, 4] + - !!python/tuple [4, 8] + - !!python/tuple [28, 25] + - !!python/tuple [14, 23] + - !!python/tuple [29, 17] + - !!python/tuple [11, 17] + - !!python/tuple [31, 25] + - !!python/tuple [23, 27] + - !!python/tuple [28, 31] + - !!python/tuple [19, 26] + - !!python/tuple [30, 30] + - !!python/tuple [4, 25] + - !!python/tuple [11, 3] + - !!python/tuple [13, 18] + - !!python/tuple [29, 21] + - !!python/tuple [21, 29] + - !!python/tuple [27, 30] + - !!python/tuple [1, 7] + - !!python/tuple [26, 16] + - !!python/tuple [26, 25] + - !!python/tuple [10, 7] + - !!python/tuple [12, 19] + - !!python/tuple [19, 6] + - !!python/tuple [5, 18] + - !!python/tuple [22, 15] + - !!python/tuple [31, 31] + - !!python/tuple [13, 4] + - !!python/tuple [26, 14] + - !!python/tuple [26, 9] + - !!python/tuple [4, 13] + - !!python/tuple [13, 17] + - !!python/tuple [16, 5] + - !!python/tuple [10, 13] + - !!python/tuple [25, 19] + - !!python/tuple [15, 12] + - !!python/tuple [16, 20] + - !!python/tuple [17, 5] + - !!python/tuple [10, 25] + - !!python/tuple [9, 31] + - !!python/tuple [25, 10] + - !!python/tuple [31, 23] + - !!python/tuple [8, 30] + - !!python/tuple [4, 15] + - !!python/tuple [21, 11] + - !!python/tuple [28, 16] + - !!python/tuple [23, 28] + - !!python/tuple [9, 8] + - !!python/tuple [9, 24] + - !!python/tuple [10, 1] + - !!python/tuple [17, 11] + - !!python/tuple [24, 9] + - !!python/tuple [25, 5] + - !!python/tuple [21, 9] + - !!python/tuple [20, 29] + - !!python/tuple [13, 0] + - !!python/tuple [5, 25] + - !!python/tuple [10, 21] + - !!python/tuple [6, 2] + - !!python/tuple [5, 27] + - !!python/tuple [29, 18] + - !!python/tuple [17, 10] + - !!python/tuple [10, 27] + - !!python/tuple [20, 20] + - !!python/tuple [13, 28] + - !!python/tuple [30, 16] + - !!python/tuple [8, 14] + - !!python/tuple [24, 1] + - !!python/tuple [2, 13] + - !!python/tuple [29, 12] + - !!python/tuple [22, 14] + - !!python/tuple [31, 8] + - !!python/tuple [26, 31] + - !!python/tuple [14, 17] + - !!python/tuple [24, 27] + - !!python/tuple [6, 3] + - !!python/tuple [16, 22] + - !!python/tuple [0, 4] + - !!python/tuple [30, 26] + - !!python/tuple [9, 14] + - !!python/tuple [9, 5] + - !!python/tuple [11, 10] + - !!python/tuple [11, 8] + - !!python/tuple [7, 20] + - !!python/tuple [8, 4] + - !!python/tuple [4, 6] + - !!python/tuple [12, 16] + - !!python/tuple [24, 13] + - !!python/tuple [20, 8] + - !!python/tuple [11, 0] + - !!python/tuple [21, 13] + - !!python/tuple [3, 22] + - !!python/tuple [14, 0] + - !!python/tuple [13, 8] + - !!python/tuple [5, 20] + - !!python/tuple [17, 16] + - !!python/tuple [25, 8] + - !!python/tuple [26, 1] + - !!python/tuple [27, 20] + - !!python/tuple [7, 15] + - !!python/tuple [19, 25] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex45.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex45.yaml new file mode 100644 index 0000000..ff22973 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex45.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [29, 27] + name: agent0 + start: [1, 12] +- goal: [26, 4] + name: agent1 + start: [18, 13] +- goal: [31, 12] + name: agent2 + start: [11, 11] +- goal: [28, 0] + name: agent3 + start: [27, 27] +- goal: [26, 28] + name: agent4 + start: [3, 26] +- goal: [18, 25] + name: agent5 + start: [2, 15] +- goal: [30, 24] + name: agent6 + start: [30, 10] +- goal: [25, 22] + name: agent7 + start: [4, 27] +- goal: [25, 18] + name: agent8 + start: [22, 9] +- goal: [19, 4] + name: agent9 + start: [1, 22] +- goal: [14, 29] + name: agent10 + start: [13, 20] +- goal: [21, 4] + name: agent11 + start: [25, 17] +- goal: [1, 12] + name: agent12 + start: [6, 3] +- goal: [5, 19] + name: agent13 + start: [9, 9] +- goal: [21, 31] + name: agent14 + start: [18, 28] +- goal: [16, 9] + name: agent15 + start: [11, 5] +- goal: [19, 15] + name: agent16 + start: [6, 10] +- goal: [13, 8] + name: agent17 + start: [26, 25] +- goal: [20, 19] + name: agent18 + start: [8, 6] +- goal: [14, 11] + name: agent19 + start: [4, 5] +- goal: [5, 12] + name: agent20 + start: [15, 25] +- goal: [4, 13] + name: agent21 + start: [29, 23] +- goal: [1, 20] + name: agent22 + start: [19, 31] +- goal: [14, 7] + name: agent23 + start: [8, 9] +- goal: [19, 16] + name: agent24 + start: [4, 24] +- goal: [0, 23] + name: agent25 + start: [7, 1] +- goal: [16, 10] + name: agent26 + start: [4, 26] +- goal: [24, 23] + name: agent27 + start: [22, 31] +- goal: [14, 31] + name: agent28 + start: [18, 19] +- goal: [25, 12] + name: agent29 + start: [30, 19] +- goal: [21, 28] + name: agent30 + start: [6, 4] +- goal: [8, 12] + name: agent31 + start: [25, 11] +- goal: [5, 23] + name: agent32 + start: [24, 12] +- goal: [28, 1] + name: agent33 + start: [17, 26] +- goal: [23, 9] + name: agent34 + start: [4, 7] +- goal: [14, 3] + name: agent35 + start: [22, 4] +- goal: [16, 15] + name: agent36 + start: [14, 19] +- goal: [25, 24] + name: agent37 + start: [9, 31] +- goal: [5, 29] + name: agent38 + start: [8, 28] +- goal: [29, 7] + name: agent39 + start: [2, 10] +- goal: [7, 26] + name: agent40 + start: [27, 19] +- goal: [17, 8] + name: agent41 + start: [8, 20] +- goal: [24, 15] + name: agent42 + start: [26, 4] +- goal: [25, 31] + name: agent43 + start: [29, 27] +- goal: [17, 14] + name: agent44 + start: [17, 7] +- goal: [22, 16] + name: agent45 + start: [11, 17] +- goal: [1, 10] + name: agent46 + start: [16, 14] +- goal: [15, 5] + name: agent47 + start: [31, 29] +- goal: [10, 5] + name: agent48 + start: [11, 19] +- goal: [11, 3] + name: agent49 + start: [4, 1] +- goal: [3, 22] + name: agent50 + start: [22, 19] +- goal: [11, 11] + name: agent51 + start: [22, 7] +- goal: [13, 14] + name: agent52 + start: [14, 20] +- goal: [30, 19] + name: agent53 + start: [2, 7] +- goal: [27, 23] + name: agent54 + start: [24, 21] +- goal: [23, 2] + name: agent55 + start: [13, 3] +- goal: [18, 19] + name: agent56 + start: [30, 1] +- goal: [19, 1] + name: agent57 + start: [12, 30] +- goal: [22, 15] + name: agent58 + start: [2, 28] +- goal: [3, 29] + name: agent59 + start: [8, 17] +- goal: [2, 14] + name: agent60 + start: [27, 22] +- goal: [14, 27] + name: agent61 + start: [4, 20] +- goal: [3, 1] + name: agent62 + start: [26, 9] +- goal: [7, 5] + name: agent63 + start: [30, 25] +- goal: [11, 31] + name: agent64 + start: [0, 25] +- goal: [23, 7] + name: agent65 + start: [17, 12] +- goal: [19, 28] + name: agent66 + start: [11, 14] +- goal: [28, 27] + name: agent67 + start: [27, 23] +- goal: [13, 3] + name: agent68 + start: [31, 23] +- goal: [6, 4] + name: agent69 + start: [23, 29] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [16, 26] + - !!python/tuple [24, 5] + - !!python/tuple [18, 8] + - !!python/tuple [12, 26] + - !!python/tuple [28, 16] + - !!python/tuple [27, 25] + - !!python/tuple [28, 18] + - !!python/tuple [3, 31] + - !!python/tuple [10, 22] + - !!python/tuple [9, 23] + - !!python/tuple [11, 9] + - !!python/tuple [5, 28] + - !!python/tuple [29, 12] + - !!python/tuple [16, 2] + - !!python/tuple [12, 28] + - !!python/tuple [7, 9] + - !!python/tuple [24, 18] + - !!python/tuple [5, 10] + - !!python/tuple [25, 7] + - !!python/tuple [4, 11] + - !!python/tuple [17, 21] + - !!python/tuple [4, 28] + - !!python/tuple [13, 7] + - !!python/tuple [20, 16] + - !!python/tuple [11, 4] + - !!python/tuple [16, 0] + - !!python/tuple [0, 14] + - !!python/tuple [20, 28] + - !!python/tuple [28, 13] + - !!python/tuple [15, 6] + - !!python/tuple [4, 2] + - !!python/tuple [8, 30] + - !!python/tuple [26, 8] + - !!python/tuple [20, 0] + - !!python/tuple [27, 28] + - !!python/tuple [10, 21] + - !!python/tuple [22, 28] + - !!python/tuple [19, 0] + - !!python/tuple [9, 30] + - !!python/tuple [13, 4] + - !!python/tuple [26, 0] + - !!python/tuple [30, 28] + - !!python/tuple [26, 2] + - !!python/tuple [18, 5] + - !!python/tuple [1, 27] + - !!python/tuple [20, 29] + - !!python/tuple [24, 16] + - !!python/tuple [4, 22] + - !!python/tuple [29, 29] + - !!python/tuple [23, 18] + - !!python/tuple [10, 23] + - !!python/tuple [12, 0] + - !!python/tuple [3, 4] + - !!python/tuple [6, 23] + - !!python/tuple [3, 20] + - !!python/tuple [16, 24] + - !!python/tuple [25, 2] + - !!python/tuple [29, 18] + - !!python/tuple [21, 9] + - !!python/tuple [26, 17] + - !!python/tuple [24, 28] + - !!python/tuple [18, 18] + - !!python/tuple [11, 26] + - !!python/tuple [16, 17] + - !!python/tuple [3, 16] + - !!python/tuple [21, 5] + - !!python/tuple [22, 3] + - !!python/tuple [31, 3] + - !!python/tuple [26, 23] + - !!python/tuple [13, 12] + - !!python/tuple [9, 16] + - !!python/tuple [18, 14] + - !!python/tuple [2, 18] + - !!python/tuple [27, 8] + - !!python/tuple [26, 6] + - !!python/tuple [7, 21] + - !!python/tuple [1, 8] + - !!python/tuple [10, 11] + - !!python/tuple [1, 15] + - !!python/tuple [17, 6] + - !!python/tuple [24, 24] + - !!python/tuple [8, 24] + - !!python/tuple [2, 24] + - !!python/tuple [22, 18] + - !!python/tuple [2, 9] + - !!python/tuple [30, 2] + - !!python/tuple [4, 17] + - !!python/tuple [20, 1] + - !!python/tuple [1, 31] + - !!python/tuple [29, 13] + - !!python/tuple [14, 9] + - !!python/tuple [28, 25] + - !!python/tuple [19, 26] + - !!python/tuple [20, 4] + - !!python/tuple [30, 8] + - !!python/tuple [21, 17] + - !!python/tuple [22, 14] + - !!python/tuple [30, 0] + - !!python/tuple [28, 12] + - !!python/tuple [30, 9] + - !!python/tuple [30, 20] + - !!python/tuple [4, 19] + - !!python/tuple [17, 15] + - !!python/tuple [12, 24] + - !!python/tuple [8, 18] + - !!python/tuple [15, 19] + - !!python/tuple [18, 17] + - !!python/tuple [12, 21] + - !!python/tuple [27, 24] + - !!python/tuple [18, 20] + - !!python/tuple [15, 22] + - !!python/tuple [5, 21] + - !!python/tuple [0, 7] + - !!python/tuple [27, 18] + - !!python/tuple [2, 4] + - !!python/tuple [0, 10] + - !!python/tuple [3, 19] + - !!python/tuple [7, 0] + - !!python/tuple [4, 25] + - !!python/tuple [0, 29] + - !!python/tuple [12, 1] + - !!python/tuple [0, 11] + - !!python/tuple [18, 11] + - !!python/tuple [20, 21] + - !!python/tuple [15, 16] + - !!python/tuple [10, 14] + - !!python/tuple [11, 22] + - !!python/tuple [9, 25] + - !!python/tuple [17, 4] + - !!python/tuple [29, 0] + - !!python/tuple [18, 4] + - !!python/tuple [28, 22] + - !!python/tuple [24, 19] + - !!python/tuple [30, 30] + - !!python/tuple [1, 19] + - !!python/tuple [19, 27] + - !!python/tuple [21, 29] + - !!python/tuple [21, 30] + - !!python/tuple [22, 24] + - !!python/tuple [1, 9] + - !!python/tuple [31, 14] + - !!python/tuple [23, 13] + - !!python/tuple [9, 2] + - !!python/tuple [21, 1] + - !!python/tuple [24, 8] + - !!python/tuple [1, 26] + - !!python/tuple [9, 7] + - !!python/tuple [20, 15] + - !!python/tuple [2, 11] + - !!python/tuple [27, 15] + - !!python/tuple [20, 30] + - !!python/tuple [23, 23] + - !!python/tuple [13, 27] + - !!python/tuple [6, 7] + - !!python/tuple [16, 6] + - !!python/tuple [27, 3] + - !!python/tuple [18, 30] + - !!python/tuple [28, 20] + - !!python/tuple [1, 30] + - !!python/tuple [10, 25] + - !!python/tuple [27, 0] + - !!python/tuple [2, 19] + - !!python/tuple [19, 7] + - !!python/tuple [5, 2] + - !!python/tuple [6, 12] + - !!python/tuple [8, 15] + - !!python/tuple [14, 13] + - !!python/tuple [22, 26] + - !!python/tuple [25, 28] + - !!python/tuple [12, 16] + - !!python/tuple [7, 27] + - !!python/tuple [8, 23] + - !!python/tuple [19, 13] + - !!python/tuple [28, 15] + - !!python/tuple [16, 21] + - !!python/tuple [24, 29] + - !!python/tuple [22, 30] + - !!python/tuple [23, 15] + - !!python/tuple [27, 30] + - !!python/tuple [26, 16] + - !!python/tuple [22, 11] + - !!python/tuple [7, 23] + - !!python/tuple [23, 8] + - !!python/tuple [29, 17] + - !!python/tuple [9, 18] + - !!python/tuple [5, 18] + - !!python/tuple [22, 21] + - !!python/tuple [18, 12] + - !!python/tuple [12, 13] + - !!python/tuple [0, 20] + - !!python/tuple [15, 9] + - !!python/tuple [15, 15] + - !!python/tuple [22, 17] + - !!python/tuple [9, 15] + - !!python/tuple [9, 22] + - !!python/tuple [1, 23] + - !!python/tuple [16, 5] + - !!python/tuple [14, 15] + - !!python/tuple [11, 29] + - !!python/tuple [0, 18] + - !!python/tuple [19, 6] + - !!python/tuple [4, 18] + - !!python/tuple [11, 16] + - !!python/tuple [28, 19] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex46.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex46.yaml new file mode 100644 index 0000000..f0877cd --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex46.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [6, 17] + name: agent0 + start: [7, 31] +- goal: [13, 25] + name: agent1 + start: [14, 26] +- goal: [3, 17] + name: agent2 + start: [30, 19] +- goal: [21, 9] + name: agent3 + start: [29, 13] +- goal: [18, 30] + name: agent4 + start: [14, 27] +- goal: [24, 17] + name: agent5 + start: [28, 3] +- goal: [23, 15] + name: agent6 + start: [23, 7] +- goal: [29, 24] + name: agent7 + start: [11, 19] +- goal: [27, 26] + name: agent8 + start: [21, 4] +- goal: [31, 19] + name: agent9 + start: [9, 9] +- goal: [27, 22] + name: agent10 + start: [26, 8] +- goal: [1, 26] + name: agent11 + start: [14, 3] +- goal: [12, 3] + name: agent12 + start: [11, 15] +- goal: [20, 24] + name: agent13 + start: [24, 9] +- goal: [30, 11] + name: agent14 + start: [24, 19] +- goal: [26, 27] + name: agent15 + start: [8, 21] +- goal: [30, 7] + name: agent16 + start: [20, 19] +- goal: [27, 31] + name: agent17 + start: [22, 13] +- goal: [6, 2] + name: agent18 + start: [27, 7] +- goal: [25, 7] + name: agent19 + start: [3, 19] +- goal: [15, 24] + name: agent20 + start: [26, 11] +- goal: [19, 24] + name: agent21 + start: [8, 14] +- goal: [17, 3] + name: agent22 + start: [28, 4] +- goal: [2, 12] + name: agent23 + start: [30, 12] +- goal: [17, 16] + name: agent24 + start: [5, 11] +- goal: [6, 31] + name: agent25 + start: [28, 23] +- goal: [11, 24] + name: agent26 + start: [14, 31] +- goal: [29, 9] + name: agent27 + start: [9, 20] +- goal: [9, 22] + name: agent28 + start: [16, 13] +- goal: [29, 12] + name: agent29 + start: [25, 26] +- goal: [24, 1] + name: agent30 + start: [3, 30] +- goal: [2, 27] + name: agent31 + start: [20, 18] +- goal: [12, 2] + name: agent32 + start: [16, 25] +- goal: [23, 14] + name: agent33 + start: [26, 16] +- goal: [16, 26] + name: agent34 + start: [26, 3] +- goal: [17, 1] + name: agent35 + start: [9, 27] +- goal: [23, 28] + name: agent36 + start: [30, 6] +- goal: [19, 17] + name: agent37 + start: [8, 28] +- goal: [23, 16] + name: agent38 + start: [19, 13] +- goal: [1, 25] + name: agent39 + start: [2, 2] +- goal: [13, 9] + name: agent40 + start: [10, 3] +- goal: [13, 2] + name: agent41 + start: [31, 14] +- goal: [16, 7] + name: agent42 + start: [15, 1] +- goal: [18, 12] + name: agent43 + start: [23, 3] +- goal: [5, 15] + name: agent44 + start: [11, 3] +- goal: [1, 3] + name: agent45 + start: [15, 3] +- goal: [23, 1] + name: agent46 + start: [24, 14] +- goal: [18, 17] + name: agent47 + start: [31, 5] +- goal: [2, 20] + name: agent48 + start: [9, 5] +- goal: [27, 30] + name: agent49 + start: [8, 23] +- goal: [9, 28] + name: agent50 + start: [17, 9] +- goal: [3, 20] + name: agent51 + start: [12, 4] +- goal: [1, 27] + name: agent52 + start: [19, 10] +- goal: [25, 11] + name: agent53 + start: [0, 17] +- goal: [21, 29] + name: agent54 + start: [7, 29] +- goal: [22, 10] + name: agent55 + start: [25, 14] +- goal: [18, 16] + name: agent56 + start: [7, 10] +- goal: [2, 3] + name: agent57 + start: [15, 15] +- goal: [30, 8] + name: agent58 + start: [14, 19] +- goal: [23, 29] + name: agent59 + start: [17, 10] +- goal: [12, 29] + name: agent60 + start: [25, 7] +- goal: [6, 22] + name: agent61 + start: [3, 12] +- goal: [0, 30] + name: agent62 + start: [16, 26] +- goal: [0, 0] + name: agent63 + start: [14, 7] +- goal: [16, 10] + name: agent64 + start: [8, 6] +- goal: [30, 16] + name: agent65 + start: [10, 15] +- goal: [7, 25] + name: agent66 + start: [28, 15] +- goal: [21, 2] + name: agent67 + start: [4, 15] +- goal: [6, 20] + name: agent68 + start: [7, 3] +- goal: [26, 25] + name: agent69 + start: [24, 17] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [6, 8] + - !!python/tuple [2, 21] + - !!python/tuple [7, 24] + - !!python/tuple [26, 9] + - !!python/tuple [12, 12] + - !!python/tuple [8, 11] + - !!python/tuple [2, 25] + - !!python/tuple [21, 3] + - !!python/tuple [2, 24] + - !!python/tuple [7, 7] + - !!python/tuple [3, 28] + - !!python/tuple [22, 8] + - !!python/tuple [17, 28] + - !!python/tuple [15, 28] + - !!python/tuple [16, 29] + - !!python/tuple [13, 27] + - !!python/tuple [20, 15] + - !!python/tuple [9, 4] + - !!python/tuple [22, 29] + - !!python/tuple [28, 26] + - !!python/tuple [23, 27] + - !!python/tuple [4, 26] + - !!python/tuple [4, 3] + - !!python/tuple [9, 16] + - !!python/tuple [29, 4] + - !!python/tuple [12, 27] + - !!python/tuple [4, 29] + - !!python/tuple [26, 18] + - !!python/tuple [10, 12] + - !!python/tuple [31, 10] + - !!python/tuple [24, 6] + - !!python/tuple [30, 25] + - !!python/tuple [21, 14] + - !!python/tuple [13, 8] + - !!python/tuple [4, 4] + - !!python/tuple [15, 14] + - !!python/tuple [0, 8] + - !!python/tuple [28, 18] + - !!python/tuple [27, 19] + - !!python/tuple [8, 9] + - !!python/tuple [9, 31] + - !!python/tuple [8, 27] + - !!python/tuple [23, 4] + - !!python/tuple [3, 1] + - !!python/tuple [18, 18] + - !!python/tuple [31, 7] + - !!python/tuple [15, 18] + - !!python/tuple [14, 5] + - !!python/tuple [14, 2] + - !!python/tuple [6, 13] + - !!python/tuple [7, 16] + - !!python/tuple [11, 11] + - !!python/tuple [1, 11] + - !!python/tuple [3, 31] + - !!python/tuple [17, 24] + - !!python/tuple [18, 7] + - !!python/tuple [3, 10] + - !!python/tuple [13, 13] + - !!python/tuple [14, 25] + - !!python/tuple [28, 22] + - !!python/tuple [25, 18] + - !!python/tuple [31, 22] + - !!python/tuple [6, 10] + - !!python/tuple [30, 21] + - !!python/tuple [23, 19] + - !!python/tuple [5, 17] + - !!python/tuple [7, 9] + - !!python/tuple [18, 25] + - !!python/tuple [0, 29] + - !!python/tuple [0, 22] + - !!python/tuple [20, 17] + - !!python/tuple [10, 7] + - !!python/tuple [23, 2] + - !!python/tuple [27, 11] + - !!python/tuple [11, 25] + - !!python/tuple [6, 5] + - !!python/tuple [31, 25] + - !!python/tuple [17, 31] + - !!python/tuple [24, 26] + - !!python/tuple [17, 22] + - !!python/tuple [15, 13] + - !!python/tuple [29, 11] + - !!python/tuple [15, 16] + - !!python/tuple [20, 7] + - !!python/tuple [2, 30] + - !!python/tuple [26, 23] + - !!python/tuple [28, 21] + - !!python/tuple [29, 8] + - !!python/tuple [0, 27] + - !!python/tuple [30, 14] + - !!python/tuple [20, 11] + - !!python/tuple [3, 24] + - !!python/tuple [6, 0] + - !!python/tuple [30, 17] + - !!python/tuple [2, 15] + - !!python/tuple [21, 30] + - !!python/tuple [12, 1] + - !!python/tuple [20, 13] + - !!python/tuple [1, 20] + - !!python/tuple [22, 12] + - !!python/tuple [21, 8] + - !!python/tuple [4, 5] + - !!python/tuple [24, 3] + - !!python/tuple [22, 18] + - !!python/tuple [18, 3] + - !!python/tuple [19, 20] + - !!python/tuple [20, 9] + - !!python/tuple [31, 13] + - !!python/tuple [17, 27] + - !!python/tuple [18, 24] + - !!python/tuple [14, 4] + - !!python/tuple [31, 30] + - !!python/tuple [19, 18] + - !!python/tuple [29, 7] + - !!python/tuple [5, 20] + - !!python/tuple [7, 22] + - !!python/tuple [27, 13] + - !!python/tuple [23, 18] + - !!python/tuple [6, 21] + - !!python/tuple [16, 28] + - !!python/tuple [20, 3] + - !!python/tuple [24, 27] + - !!python/tuple [16, 16] + - !!python/tuple [0, 20] + - !!python/tuple [30, 26] + - !!python/tuple [3, 2] + - !!python/tuple [14, 24] + - !!python/tuple [26, 19] + - !!python/tuple [7, 12] + - !!python/tuple [6, 27] + - !!python/tuple [28, 31] + - !!python/tuple [21, 24] + - !!python/tuple [29, 28] + - !!python/tuple [19, 21] + - !!python/tuple [13, 18] + - !!python/tuple [25, 4] + - !!python/tuple [25, 8] + - !!python/tuple [20, 25] + - !!python/tuple [8, 26] + - !!python/tuple [4, 22] + - !!python/tuple [11, 23] + - !!python/tuple [9, 14] + - !!python/tuple [27, 12] + - !!python/tuple [8, 4] + - !!python/tuple [23, 10] + - !!python/tuple [5, 1] + - !!python/tuple [10, 26] + - !!python/tuple [23, 30] + - !!python/tuple [0, 26] + - !!python/tuple [18, 22] + - !!python/tuple [25, 30] + - !!python/tuple [24, 2] + - !!python/tuple [20, 5] + - !!python/tuple [21, 11] + - !!python/tuple [14, 30] + - !!python/tuple [13, 21] + - !!python/tuple [6, 16] + - !!python/tuple [14, 0] + - !!python/tuple [10, 0] + - !!python/tuple [1, 22] + - !!python/tuple [13, 4] + - !!python/tuple [17, 4] + - !!python/tuple [1, 18] + - !!python/tuple [0, 4] + - !!python/tuple [14, 12] + - !!python/tuple [31, 27] + - !!python/tuple [18, 6] + - !!python/tuple [20, 8] + - !!python/tuple [3, 14] + - !!python/tuple [28, 20] + - !!python/tuple [17, 25] + - !!python/tuple [4, 2] + - !!python/tuple [21, 13] + - !!python/tuple [9, 1] + - !!python/tuple [16, 4] + - !!python/tuple [25, 12] + - !!python/tuple [13, 11] + - !!python/tuple [22, 14] + - !!python/tuple [13, 29] + - !!python/tuple [21, 12] + - !!python/tuple [29, 18] + - !!python/tuple [9, 12] + - !!python/tuple [18, 14] + - !!python/tuple [14, 10] + - !!python/tuple [31, 28] + - !!python/tuple [20, 22] + - !!python/tuple [11, 22] + - !!python/tuple [31, 11] + - !!python/tuple [19, 1] + - !!python/tuple [30, 1] + - !!python/tuple [15, 26] + - !!python/tuple [30, 22] + - !!python/tuple [13, 17] + - !!python/tuple [29, 27] + - !!python/tuple [17, 13] + - !!python/tuple [5, 30] + - !!python/tuple [15, 21] + - !!python/tuple [31, 3] + - !!python/tuple [17, 29] + - !!python/tuple [19, 2] + - !!python/tuple [29, 29] + - !!python/tuple [21, 15] + - !!python/tuple [6, 19] + - !!python/tuple [15, 20] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex47.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex47.yaml new file mode 100644 index 0000000..9946950 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex47.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [22, 10] + name: agent0 + start: [2, 12] +- goal: [19, 20] + name: agent1 + start: [0, 15] +- goal: [15, 12] + name: agent2 + start: [27, 1] +- goal: [12, 11] + name: agent3 + start: [6, 10] +- goal: [15, 18] + name: agent4 + start: [16, 0] +- goal: [12, 25] + name: agent5 + start: [23, 7] +- goal: [25, 9] + name: agent6 + start: [4, 20] +- goal: [18, 10] + name: agent7 + start: [10, 24] +- goal: [6, 20] + name: agent8 + start: [14, 18] +- goal: [26, 19] + name: agent9 + start: [3, 10] +- goal: [0, 14] + name: agent10 + start: [24, 18] +- goal: [26, 8] + name: agent11 + start: [19, 20] +- goal: [0, 11] + name: agent12 + start: [1, 22] +- goal: [0, 4] + name: agent13 + start: [19, 12] +- goal: [22, 26] + name: agent14 + start: [29, 8] +- goal: [18, 20] + name: agent15 + start: [28, 20] +- goal: [6, 29] + name: agent16 + start: [16, 25] +- goal: [30, 4] + name: agent17 + start: [2, 18] +- goal: [20, 5] + name: agent18 + start: [9, 5] +- goal: [27, 9] + name: agent19 + start: [31, 15] +- goal: [26, 7] + name: agent20 + start: [8, 4] +- goal: [21, 3] + name: agent21 + start: [31, 5] +- goal: [9, 29] + name: agent22 + start: [14, 29] +- goal: [5, 27] + name: agent23 + start: [0, 13] +- goal: [29, 2] + name: agent24 + start: [14, 1] +- goal: [24, 6] + name: agent25 + start: [15, 3] +- goal: [16, 8] + name: agent26 + start: [8, 15] +- goal: [5, 24] + name: agent27 + start: [15, 24] +- goal: [26, 17] + name: agent28 + start: [14, 2] +- goal: [28, 4] + name: agent29 + start: [20, 12] +- goal: [15, 7] + name: agent30 + start: [29, 15] +- goal: [10, 20] + name: agent31 + start: [17, 4] +- goal: [13, 23] + name: agent32 + start: [4, 19] +- goal: [17, 23] + name: agent33 + start: [17, 29] +- goal: [23, 16] + name: agent34 + start: [11, 4] +- goal: [14, 10] + name: agent35 + start: [25, 5] +- goal: [28, 13] + name: agent36 + start: [20, 30] +- goal: [21, 13] + name: agent37 + start: [3, 13] +- goal: [4, 14] + name: agent38 + start: [4, 21] +- goal: [19, 0] + name: agent39 + start: [31, 4] +- goal: [30, 1] + name: agent40 + start: [25, 20] +- goal: [3, 5] + name: agent41 + start: [18, 2] +- goal: [2, 27] + name: agent42 + start: [11, 19] +- goal: [22, 22] + name: agent43 + start: [0, 24] +- goal: [0, 24] + name: agent44 + start: [26, 15] +- goal: [0, 0] + name: agent45 + start: [17, 7] +- goal: [6, 12] + name: agent46 + start: [5, 5] +- goal: [5, 8] + name: agent47 + start: [22, 22] +- goal: [25, 13] + name: agent48 + start: [29, 31] +- goal: [0, 15] + name: agent49 + start: [24, 16] +- goal: [1, 24] + name: agent50 + start: [3, 28] +- goal: [17, 15] + name: agent51 + start: [26, 31] +- goal: [11, 30] + name: agent52 + start: [15, 16] +- goal: [15, 31] + name: agent53 + start: [20, 0] +- goal: [30, 19] + name: agent54 + start: [28, 7] +- goal: [1, 15] + name: agent55 + start: [4, 16] +- goal: [15, 23] + name: agent56 + start: [29, 13] +- goal: [22, 2] + name: agent57 + start: [9, 16] +- goal: [29, 31] + name: agent58 + start: [3, 20] +- goal: [16, 14] + name: agent59 + start: [9, 31] +- goal: [27, 10] + name: agent60 + start: [17, 0] +- goal: [14, 12] + name: agent61 + start: [17, 3] +- goal: [17, 1] + name: agent62 + start: [26, 24] +- goal: [2, 3] + name: agent63 + start: [0, 25] +- goal: [9, 26] + name: agent64 + start: [16, 8] +- goal: [11, 12] + name: agent65 + start: [12, 22] +- goal: [18, 8] + name: agent66 + start: [24, 21] +- goal: [13, 4] + name: agent67 + start: [19, 9] +- goal: [6, 10] + name: agent68 + start: [28, 0] +- goal: [14, 27] + name: agent69 + start: [24, 9] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [1, 2] + - !!python/tuple [12, 21] + - !!python/tuple [10, 2] + - !!python/tuple [27, 26] + - !!python/tuple [14, 31] + - !!python/tuple [2, 22] + - !!python/tuple [30, 25] + - !!python/tuple [15, 29] + - !!python/tuple [10, 16] + - !!python/tuple [13, 24] + - !!python/tuple [30, 8] + - !!python/tuple [23, 5] + - !!python/tuple [26, 9] + - !!python/tuple [25, 17] + - !!python/tuple [21, 11] + - !!python/tuple [19, 3] + - !!python/tuple [10, 10] + - !!python/tuple [26, 14] + - !!python/tuple [7, 31] + - !!python/tuple [14, 26] + - !!python/tuple [11, 22] + - !!python/tuple [19, 1] + - !!python/tuple [7, 3] + - !!python/tuple [6, 23] + - !!python/tuple [25, 23] + - !!python/tuple [25, 31] + - !!python/tuple [0, 12] + - !!python/tuple [7, 22] + - !!python/tuple [12, 13] + - !!python/tuple [5, 23] + - !!python/tuple [13, 26] + - !!python/tuple [8, 7] + - !!python/tuple [28, 16] + - !!python/tuple [1, 14] + - !!python/tuple [1, 5] + - !!python/tuple [11, 27] + - !!python/tuple [12, 1] + - !!python/tuple [16, 11] + - !!python/tuple [19, 13] + - !!python/tuple [7, 20] + - !!python/tuple [29, 26] + - !!python/tuple [19, 2] + - !!python/tuple [6, 18] + - !!python/tuple [25, 14] + - !!python/tuple [30, 18] + - !!python/tuple [27, 19] + - !!python/tuple [12, 3] + - !!python/tuple [13, 22] + - !!python/tuple [11, 13] + - !!python/tuple [23, 28] + - !!python/tuple [24, 12] + - !!python/tuple [21, 10] + - !!python/tuple [27, 16] + - !!python/tuple [12, 15] + - !!python/tuple [24, 10] + - !!python/tuple [17, 6] + - !!python/tuple [12, 29] + - !!python/tuple [18, 15] + - !!python/tuple [23, 2] + - !!python/tuple [31, 7] + - !!python/tuple [21, 14] + - !!python/tuple [20, 20] + - !!python/tuple [23, 13] + - !!python/tuple [27, 24] + - !!python/tuple [12, 20] + - !!python/tuple [9, 19] + - !!python/tuple [10, 25] + - !!python/tuple [28, 22] + - !!python/tuple [30, 14] + - !!python/tuple [26, 27] + - !!python/tuple [25, 0] + - !!python/tuple [2, 0] + - !!python/tuple [0, 21] + - !!python/tuple [21, 8] + - !!python/tuple [24, 13] + - !!python/tuple [3, 26] + - !!python/tuple [12, 6] + - !!python/tuple [25, 29] + - !!python/tuple [1, 10] + - !!python/tuple [21, 31] + - !!python/tuple [12, 17] + - !!python/tuple [16, 17] + - !!python/tuple [2, 13] + - !!python/tuple [13, 27] + - !!python/tuple [7, 4] + - !!python/tuple [6, 5] + - !!python/tuple [9, 30] + - !!python/tuple [21, 27] + - !!python/tuple [16, 21] + - !!python/tuple [30, 22] + - !!python/tuple [4, 28] + - !!python/tuple [20, 31] + - !!python/tuple [13, 7] + - !!python/tuple [26, 11] + - !!python/tuple [22, 8] + - !!python/tuple [23, 14] + - !!python/tuple [5, 13] + - !!python/tuple [26, 3] + - !!python/tuple [15, 30] + - !!python/tuple [3, 22] + - !!python/tuple [1, 19] + - !!python/tuple [29, 28] + - !!python/tuple [13, 28] + - !!python/tuple [1, 0] + - !!python/tuple [4, 1] + - !!python/tuple [15, 9] + - !!python/tuple [15, 19] + - !!python/tuple [28, 12] + - !!python/tuple [23, 25] + - !!python/tuple [3, 1] + - !!python/tuple [29, 14] + - !!python/tuple [18, 6] + - !!python/tuple [30, 16] + - !!python/tuple [25, 3] + - !!python/tuple [2, 15] + - !!python/tuple [7, 6] + - !!python/tuple [0, 5] + - !!python/tuple [28, 25] + - !!python/tuple [18, 9] + - !!python/tuple [3, 23] + - !!python/tuple [13, 13] + - !!python/tuple [5, 4] + - !!python/tuple [24, 27] + - !!python/tuple [9, 7] + - !!python/tuple [22, 13] + - !!python/tuple [5, 20] + - !!python/tuple [18, 7] + - !!python/tuple [25, 10] + - !!python/tuple [20, 9] + - !!python/tuple [27, 2] + - !!python/tuple [23, 4] + - !!python/tuple [31, 10] + - !!python/tuple [8, 6] + - !!python/tuple [16, 5] + - !!python/tuple [0, 18] + - !!python/tuple [29, 6] + - !!python/tuple [31, 1] + - !!python/tuple [24, 29] + - !!python/tuple [15, 4] + - !!python/tuple [11, 6] + - !!python/tuple [15, 17] + - !!python/tuple [17, 11] + - !!python/tuple [21, 19] + - !!python/tuple [19, 10] + - !!python/tuple [17, 9] + - !!python/tuple [2, 31] + - !!python/tuple [27, 28] + - !!python/tuple [28, 8] + - !!python/tuple [4, 26] + - !!python/tuple [8, 3] + - !!python/tuple [31, 20] + - !!python/tuple [14, 28] + - !!python/tuple [22, 14] + - !!python/tuple [25, 7] + - !!python/tuple [30, 31] + - !!python/tuple [12, 14] + - !!python/tuple [3, 29] + - !!python/tuple [9, 18] + - !!python/tuple [16, 13] + - !!python/tuple [9, 13] + - !!python/tuple [20, 26] + - !!python/tuple [15, 14] + - !!python/tuple [10, 31] + - !!python/tuple [21, 5] + - !!python/tuple [24, 24] + - !!python/tuple [24, 26] + - !!python/tuple [2, 16] + - !!python/tuple [28, 26] + - !!python/tuple [16, 16] + - !!python/tuple [5, 6] + - !!python/tuple [19, 29] + - !!python/tuple [15, 2] + - !!python/tuple [30, 5] + - !!python/tuple [22, 19] + - !!python/tuple [26, 5] + - !!python/tuple [16, 3] + - !!python/tuple [3, 17] + - !!python/tuple [26, 6] + - !!python/tuple [13, 18] + - !!python/tuple [13, 11] + - !!python/tuple [18, 18] + - !!python/tuple [25, 28] + - !!python/tuple [1, 20] + - !!python/tuple [14, 16] + - !!python/tuple [8, 18] + - !!python/tuple [10, 17] + - !!python/tuple [7, 19] + - !!python/tuple [23, 24] + - !!python/tuple [9, 14] + - !!python/tuple [30, 20] + - !!python/tuple [9, 1] + - !!python/tuple [13, 1] + - !!python/tuple [16, 26] + - !!python/tuple [22, 0] + - !!python/tuple [25, 21] + - !!python/tuple [9, 15] + - !!python/tuple [15, 0] + - !!python/tuple [14, 20] + - !!python/tuple [0, 27] + - !!python/tuple [23, 18] + - !!python/tuple [31, 6] + - !!python/tuple [7, 13] + - !!python/tuple [6, 28] + - !!python/tuple [18, 11] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex48.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex48.yaml new file mode 100644 index 0000000..35ed4e1 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex48.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [11, 25] + name: agent0 + start: [23, 27] +- goal: [7, 7] + name: agent1 + start: [18, 4] +- goal: [8, 7] + name: agent2 + start: [21, 24] +- goal: [24, 24] + name: agent3 + start: [5, 1] +- goal: [10, 26] + name: agent4 + start: [9, 12] +- goal: [22, 16] + name: agent5 + start: [19, 22] +- goal: [18, 31] + name: agent6 + start: [15, 28] +- goal: [31, 9] + name: agent7 + start: [9, 13] +- goal: [9, 26] + name: agent8 + start: [16, 9] +- goal: [29, 9] + name: agent9 + start: [23, 13] +- goal: [1, 27] + name: agent10 + start: [17, 9] +- goal: [9, 24] + name: agent11 + start: [19, 19] +- goal: [25, 16] + name: agent12 + start: [18, 1] +- goal: [8, 11] + name: agent13 + start: [29, 31] +- goal: [30, 28] + name: agent14 + start: [6, 14] +- goal: [22, 30] + name: agent15 + start: [16, 0] +- goal: [13, 6] + name: agent16 + start: [4, 21] +- goal: [14, 11] + name: agent17 + start: [30, 29] +- goal: [20, 14] + name: agent18 + start: [2, 0] +- goal: [25, 10] + name: agent19 + start: [27, 7] +- goal: [14, 16] + name: agent20 + start: [30, 23] +- goal: [10, 20] + name: agent21 + start: [17, 19] +- goal: [14, 13] + name: agent22 + start: [12, 28] +- goal: [0, 21] + name: agent23 + start: [1, 21] +- goal: [30, 18] + name: agent24 + start: [12, 5] +- goal: [18, 17] + name: agent25 + start: [16, 2] +- goal: [7, 20] + name: agent26 + start: [16, 6] +- goal: [16, 15] + name: agent27 + start: [25, 25] +- goal: [21, 10] + name: agent28 + start: [5, 7] +- goal: [23, 0] + name: agent29 + start: [4, 2] +- goal: [5, 14] + name: agent30 + start: [16, 5] +- goal: [0, 11] + name: agent31 + start: [5, 14] +- goal: [17, 15] + name: agent32 + start: [19, 30] +- goal: [15, 31] + name: agent33 + start: [4, 26] +- goal: [5, 4] + name: agent34 + start: [1, 3] +- goal: [25, 20] + name: agent35 + start: [4, 13] +- goal: [2, 22] + name: agent36 + start: [12, 9] +- goal: [26, 22] + name: agent37 + start: [20, 5] +- goal: [22, 4] + name: agent38 + start: [7, 23] +- goal: [22, 14] + name: agent39 + start: [18, 11] +- goal: [9, 12] + name: agent40 + start: [8, 4] +- goal: [0, 25] + name: agent41 + start: [13, 31] +- goal: [31, 27] + name: agent42 + start: [0, 17] +- goal: [28, 0] + name: agent43 + start: [25, 8] +- goal: [22, 1] + name: agent44 + start: [11, 0] +- goal: [3, 27] + name: agent45 + start: [30, 22] +- goal: [4, 22] + name: agent46 + start: [4, 25] +- goal: [2, 1] + name: agent47 + start: [27, 18] +- goal: [0, 18] + name: agent48 + start: [20, 26] +- goal: [18, 2] + name: agent49 + start: [27, 23] +- goal: [27, 18] + name: agent50 + start: [31, 21] +- goal: [21, 28] + name: agent51 + start: [15, 24] +- goal: [19, 24] + name: agent52 + start: [13, 24] +- goal: [25, 11] + name: agent53 + start: [20, 24] +- goal: [26, 11] + name: agent54 + start: [18, 2] +- goal: [19, 14] + name: agent55 + start: [7, 1] +- goal: [7, 25] + name: agent56 + start: [25, 16] +- goal: [12, 23] + name: agent57 + start: [11, 24] +- goal: [1, 24] + name: agent58 + start: [5, 9] +- goal: [17, 12] + name: agent59 + start: [2, 12] +- goal: [4, 9] + name: agent60 + start: [23, 5] +- goal: [17, 0] + name: agent61 + start: [13, 8] +- goal: [26, 16] + name: agent62 + start: [20, 13] +- goal: [30, 19] + name: agent63 + start: [24, 10] +- goal: [12, 13] + name: agent64 + start: [8, 11] +- goal: [16, 25] + name: agent65 + start: [10, 14] +- goal: [12, 27] + name: agent66 + start: [7, 9] +- goal: [29, 25] + name: agent67 + start: [16, 8] +- goal: [0, 3] + name: agent68 + start: [8, 26] +- goal: [10, 0] + name: agent69 + start: [2, 17] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [22, 31] + - !!python/tuple [8, 12] + - !!python/tuple [17, 23] + - !!python/tuple [10, 22] + - !!python/tuple [12, 11] + - !!python/tuple [22, 11] + - !!python/tuple [6, 30] + - !!python/tuple [29, 6] + - !!python/tuple [15, 26] + - !!python/tuple [10, 23] + - !!python/tuple [21, 11] + - !!python/tuple [24, 22] + - !!python/tuple [3, 15] + - !!python/tuple [17, 3] + - !!python/tuple [18, 22] + - !!python/tuple [23, 24] + - !!python/tuple [17, 18] + - !!python/tuple [5, 16] + - !!python/tuple [30, 12] + - !!python/tuple [21, 31] + - !!python/tuple [7, 14] + - !!python/tuple [5, 19] + - !!python/tuple [4, 14] + - !!python/tuple [3, 0] + - !!python/tuple [11, 10] + - !!python/tuple [1, 10] + - !!python/tuple [8, 23] + - !!python/tuple [18, 9] + - !!python/tuple [8, 5] + - !!python/tuple [3, 9] + - !!python/tuple [1, 5] + - !!python/tuple [22, 24] + - !!python/tuple [6, 25] + - !!python/tuple [16, 31] + - !!python/tuple [28, 4] + - !!python/tuple [5, 5] + - !!python/tuple [19, 29] + - !!python/tuple [6, 28] + - !!python/tuple [1, 14] + - !!python/tuple [17, 2] + - !!python/tuple [0, 30] + - !!python/tuple [17, 4] + - !!python/tuple [21, 26] + - !!python/tuple [19, 23] + - !!python/tuple [23, 8] + - !!python/tuple [19, 6] + - !!python/tuple [26, 0] + - !!python/tuple [14, 3] + - !!python/tuple [5, 30] + - !!python/tuple [1, 20] + - !!python/tuple [8, 31] + - !!python/tuple [26, 18] + - !!python/tuple [28, 22] + - !!python/tuple [5, 12] + - !!python/tuple [29, 0] + - !!python/tuple [23, 22] + - !!python/tuple [19, 17] + - !!python/tuple [6, 8] + - !!python/tuple [31, 15] + - !!python/tuple [0, 1] + - !!python/tuple [24, 20] + - !!python/tuple [6, 16] + - !!python/tuple [26, 13] + - !!python/tuple [29, 16] + - !!python/tuple [9, 27] + - !!python/tuple [15, 8] + - !!python/tuple [6, 29] + - !!python/tuple [0, 9] + - !!python/tuple [0, 24] + - !!python/tuple [11, 23] + - !!python/tuple [22, 15] + - !!python/tuple [28, 26] + - !!python/tuple [12, 4] + - !!python/tuple [30, 0] + - !!python/tuple [2, 7] + - !!python/tuple [18, 27] + - !!python/tuple [22, 23] + - !!python/tuple [25, 15] + - !!python/tuple [31, 3] + - !!python/tuple [26, 19] + - !!python/tuple [29, 26] + - !!python/tuple [30, 6] + - !!python/tuple [15, 20] + - !!python/tuple [7, 19] + - !!python/tuple [30, 20] + - !!python/tuple [1, 16] + - !!python/tuple [3, 19] + - !!python/tuple [15, 27] + - !!python/tuple [25, 3] + - !!python/tuple [23, 2] + - !!python/tuple [19, 31] + - !!python/tuple [20, 2] + - !!python/tuple [27, 12] + - !!python/tuple [2, 19] + - !!python/tuple [8, 13] + - !!python/tuple [31, 20] + - !!python/tuple [6, 19] + - !!python/tuple [20, 12] + - !!python/tuple [21, 8] + - !!python/tuple [6, 23] + - !!python/tuple [20, 20] + - !!python/tuple [17, 17] + - !!python/tuple [7, 10] + - !!python/tuple [20, 21] + - !!python/tuple [20, 31] + - !!python/tuple [12, 25] + - !!python/tuple [24, 21] + - !!python/tuple [20, 19] + - !!python/tuple [1, 2] + - !!python/tuple [0, 28] + - !!python/tuple [3, 5] + - !!python/tuple [8, 3] + - !!python/tuple [24, 26] + - !!python/tuple [2, 21] + - !!python/tuple [1, 15] + - !!python/tuple [28, 16] + - !!python/tuple [3, 29] + - !!python/tuple [26, 15] + - !!python/tuple [14, 29] + - !!python/tuple [15, 22] + - !!python/tuple [3, 12] + - !!python/tuple [21, 1] + - !!python/tuple [4, 24] + - !!python/tuple [7, 26] + - !!python/tuple [19, 9] + - !!python/tuple [22, 20] + - !!python/tuple [14, 30] + - !!python/tuple [16, 11] + - !!python/tuple [2, 8] + - !!python/tuple [18, 19] + - !!python/tuple [22, 0] + - !!python/tuple [17, 8] + - !!python/tuple [4, 1] + - !!python/tuple [14, 22] + - !!python/tuple [24, 15] + - !!python/tuple [21, 25] + - !!python/tuple [9, 21] + - !!python/tuple [0, 15] + - !!python/tuple [8, 2] + - !!python/tuple [7, 12] + - !!python/tuple [15, 21] + - !!python/tuple [19, 1] + - !!python/tuple [14, 0] + - !!python/tuple [2, 10] + - !!python/tuple [23, 15] + - !!python/tuple [28, 25] + - !!python/tuple [2, 15] + - !!python/tuple [31, 30] + - !!python/tuple [20, 6] + - !!python/tuple [10, 8] + - !!python/tuple [27, 30] + - !!python/tuple [7, 3] + - !!python/tuple [19, 4] + - !!python/tuple [8, 28] + - !!python/tuple [16, 10] + - !!python/tuple [6, 3] + - !!python/tuple [29, 8] + - !!python/tuple [25, 21] + - !!python/tuple [8, 9] + - !!python/tuple [10, 17] + - !!python/tuple [4, 23] + - !!python/tuple [25, 5] + - !!python/tuple [11, 30] + - !!python/tuple [11, 4] + - !!python/tuple [17, 13] + - !!python/tuple [10, 21] + - !!python/tuple [30, 27] + - !!python/tuple [0, 4] + - !!python/tuple [9, 8] + - !!python/tuple [10, 16] + - !!python/tuple [30, 11] + - !!python/tuple [13, 15] + - !!python/tuple [30, 7] + - !!python/tuple [22, 22] + - !!python/tuple [14, 9] + - !!python/tuple [28, 14] + - !!python/tuple [4, 10] + - !!python/tuple [9, 9] + - !!python/tuple [16, 17] + - !!python/tuple [3, 25] + - !!python/tuple [6, 4] + - !!python/tuple [0, 7] + - !!python/tuple [10, 10] + - !!python/tuple [25, 22] + - !!python/tuple [14, 2] + - !!python/tuple [27, 22] + - !!python/tuple [11, 14] + - !!python/tuple [27, 15] + - !!python/tuple [31, 2] + - !!python/tuple [23, 25] + - !!python/tuple [5, 11] + - !!python/tuple [23, 6] + - !!python/tuple [9, 17] + - !!python/tuple [18, 15] + - !!python/tuple [9, 10] + - !!python/tuple [15, 17] + - !!python/tuple [26, 5] + - !!python/tuple [23, 20] + - !!python/tuple [10, 15] + - !!python/tuple [2, 16] + - !!python/tuple [2, 9] + - !!python/tuple [24, 29] + - !!python/tuple [13, 3] + - !!python/tuple [27, 5] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex49.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex49.yaml new file mode 100644 index 0000000..85140ba --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex49.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [12, 11] + name: agent0 + start: [11, 10] +- goal: [10, 2] + name: agent1 + start: [21, 28] +- goal: [7, 23] + name: agent2 + start: [6, 31] +- goal: [13, 14] + name: agent3 + start: [29, 3] +- goal: [25, 21] + name: agent4 + start: [2, 7] +- goal: [13, 15] + name: agent5 + start: [5, 18] +- goal: [3, 3] + name: agent6 + start: [3, 17] +- goal: [14, 26] + name: agent7 + start: [14, 4] +- goal: [26, 7] + name: agent8 + start: [14, 23] +- goal: [29, 23] + name: agent9 + start: [9, 31] +- goal: [4, 21] + name: agent10 + start: [8, 15] +- goal: [4, 18] + name: agent11 + start: [28, 20] +- goal: [10, 15] + name: agent12 + start: [19, 30] +- goal: [6, 1] + name: agent13 + start: [8, 11] +- goal: [10, 31] + name: agent14 + start: [14, 13] +- goal: [5, 13] + name: agent15 + start: [28, 27] +- goal: [21, 30] + name: agent16 + start: [12, 28] +- goal: [30, 5] + name: agent17 + start: [20, 22] +- goal: [27, 13] + name: agent18 + start: [7, 14] +- goal: [20, 7] + name: agent19 + start: [13, 17] +- goal: [26, 30] + name: agent20 + start: [13, 1] +- goal: [27, 28] + name: agent21 + start: [15, 23] +- goal: [11, 27] + name: agent22 + start: [19, 9] +- goal: [27, 3] + name: agent23 + start: [1, 6] +- goal: [5, 8] + name: agent24 + start: [8, 3] +- goal: [26, 5] + name: agent25 + start: [14, 14] +- goal: [9, 2] + name: agent26 + start: [17, 11] +- goal: [18, 22] + name: agent27 + start: [0, 29] +- goal: [17, 14] + name: agent28 + start: [6, 20] +- goal: [10, 28] + name: agent29 + start: [31, 10] +- goal: [23, 21] + name: agent30 + start: [22, 18] +- goal: [12, 5] + name: agent31 + start: [21, 14] +- goal: [3, 18] + name: agent32 + start: [23, 3] +- goal: [4, 16] + name: agent33 + start: [12, 22] +- goal: [10, 1] + name: agent34 + start: [3, 5] +- goal: [6, 23] + name: agent35 + start: [11, 23] +- goal: [20, 31] + name: agent36 + start: [13, 7] +- goal: [3, 23] + name: agent37 + start: [7, 7] +- goal: [19, 31] + name: agent38 + start: [2, 26] +- goal: [18, 12] + name: agent39 + start: [4, 26] +- goal: [7, 14] + name: agent40 + start: [0, 8] +- goal: [7, 28] + name: agent41 + start: [14, 15] +- goal: [10, 29] + name: agent42 + start: [18, 13] +- goal: [24, 29] + name: agent43 + start: [5, 7] +- goal: [26, 8] + name: agent44 + start: [1, 29] +- goal: [17, 2] + name: agent45 + start: [6, 2] +- goal: [0, 31] + name: agent46 + start: [15, 2] +- goal: [2, 15] + name: agent47 + start: [1, 3] +- goal: [14, 0] + name: agent48 + start: [27, 25] +- goal: [6, 19] + name: agent49 + start: [3, 6] +- goal: [26, 1] + name: agent50 + start: [2, 21] +- goal: [1, 22] + name: agent51 + start: [1, 1] +- goal: [5, 15] + name: agent52 + start: [29, 6] +- goal: [13, 24] + name: agent53 + start: [17, 26] +- goal: [0, 5] + name: agent54 + start: [7, 18] +- goal: [19, 28] + name: agent55 + start: [22, 13] +- goal: [0, 0] + name: agent56 + start: [17, 31] +- goal: [29, 18] + name: agent57 + start: [30, 7] +- goal: [22, 0] + name: agent58 + start: [0, 23] +- goal: [20, 4] + name: agent59 + start: [13, 13] +- goal: [16, 2] + name: agent60 + start: [11, 19] +- goal: [23, 20] + name: agent61 + start: [12, 2] +- goal: [29, 17] + name: agent62 + start: [19, 8] +- goal: [16, 5] + name: agent63 + start: [27, 14] +- goal: [22, 29] + name: agent64 + start: [5, 10] +- goal: [12, 18] + name: agent65 + start: [20, 31] +- goal: [3, 31] + name: agent66 + start: [4, 22] +- goal: [22, 11] + name: agent67 + start: [21, 5] +- goal: [26, 3] + name: agent68 + start: [9, 0] +- goal: [17, 11] + name: agent69 + start: [20, 26] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [18, 24] + - !!python/tuple [8, 25] + - !!python/tuple [5, 2] + - !!python/tuple [11, 8] + - !!python/tuple [7, 8] + - !!python/tuple [24, 26] + - !!python/tuple [8, 6] + - !!python/tuple [26, 12] + - !!python/tuple [18, 7] + - !!python/tuple [3, 14] + - !!python/tuple [18, 17] + - !!python/tuple [30, 2] + - !!python/tuple [16, 6] + - !!python/tuple [3, 25] + - !!python/tuple [24, 18] + - !!python/tuple [23, 29] + - !!python/tuple [24, 17] + - !!python/tuple [13, 27] + - !!python/tuple [24, 12] + - !!python/tuple [8, 4] + - !!python/tuple [8, 27] + - !!python/tuple [29, 21] + - !!python/tuple [22, 6] + - !!python/tuple [23, 12] + - !!python/tuple [14, 18] + - !!python/tuple [5, 31] + - !!python/tuple [14, 11] + - !!python/tuple [17, 24] + - !!python/tuple [31, 31] + - !!python/tuple [15, 30] + - !!python/tuple [23, 4] + - !!python/tuple [30, 30] + - !!python/tuple [9, 10] + - !!python/tuple [2, 25] + - !!python/tuple [26, 17] + - !!python/tuple [18, 16] + - !!python/tuple [14, 31] + - !!python/tuple [25, 30] + - !!python/tuple [13, 6] + - !!python/tuple [1, 8] + - !!python/tuple [15, 3] + - !!python/tuple [31, 3] + - !!python/tuple [22, 21] + - !!python/tuple [7, 17] + - !!python/tuple [30, 18] + - !!python/tuple [27, 15] + - !!python/tuple [27, 4] + - !!python/tuple [7, 9] + - !!python/tuple [4, 27] + - !!python/tuple [15, 21] + - !!python/tuple [12, 14] + - !!python/tuple [31, 2] + - !!python/tuple [24, 13] + - !!python/tuple [24, 4] + - !!python/tuple [1, 10] + - !!python/tuple [12, 1] + - !!python/tuple [19, 15] + - !!python/tuple [16, 7] + - !!python/tuple [18, 1] + - !!python/tuple [3, 20] + - !!python/tuple [21, 18] + - !!python/tuple [9, 8] + - !!python/tuple [22, 17] + - !!python/tuple [5, 19] + - !!python/tuple [19, 14] + - !!python/tuple [3, 29] + - !!python/tuple [0, 21] + - !!python/tuple [18, 25] + - !!python/tuple [30, 24] + - !!python/tuple [25, 17] + - !!python/tuple [30, 13] + - !!python/tuple [12, 16] + - !!python/tuple [10, 7] + - !!python/tuple [13, 11] + - !!python/tuple [23, 28] + - !!python/tuple [15, 28] + - !!python/tuple [15, 0] + - !!python/tuple [30, 29] + - !!python/tuple [24, 2] + - !!python/tuple [20, 29] + - !!python/tuple [4, 7] + - !!python/tuple [29, 27] + - !!python/tuple [7, 29] + - !!python/tuple [27, 9] + - !!python/tuple [0, 19] + - !!python/tuple [8, 22] + - !!python/tuple [24, 1] + - !!python/tuple [12, 10] + - !!python/tuple [11, 2] + - !!python/tuple [17, 3] + - !!python/tuple [24, 11] + - !!python/tuple [11, 16] + - !!python/tuple [4, 10] + - !!python/tuple [27, 24] + - !!python/tuple [14, 22] + - !!python/tuple [24, 15] + - !!python/tuple [20, 3] + - !!python/tuple [25, 2] + - !!python/tuple [4, 11] + - !!python/tuple [31, 11] + - !!python/tuple [8, 17] + - !!python/tuple [23, 6] + - !!python/tuple [2, 3] + - !!python/tuple [11, 4] + - !!python/tuple [9, 12] + - !!python/tuple [0, 6] + - !!python/tuple [3, 26] + - !!python/tuple [28, 15] + - !!python/tuple [25, 14] + - !!python/tuple [17, 4] + - !!python/tuple [4, 17] + - !!python/tuple [17, 6] + - !!python/tuple [23, 10] + - !!python/tuple [30, 23] + - !!python/tuple [25, 20] + - !!python/tuple [23, 24] + - !!python/tuple [8, 14] + - !!python/tuple [9, 29] + - !!python/tuple [13, 9] + - !!python/tuple [12, 27] + - !!python/tuple [13, 23] + - !!python/tuple [23, 11] + - !!python/tuple [16, 22] + - !!python/tuple [19, 23] + - !!python/tuple [30, 28] + - !!python/tuple [4, 4] + - !!python/tuple [25, 19] + - !!python/tuple [28, 0] + - !!python/tuple [24, 28] + - !!python/tuple [29, 10] + - !!python/tuple [29, 5] + - !!python/tuple [11, 18] + - !!python/tuple [2, 1] + - !!python/tuple [21, 21] + - !!python/tuple [31, 24] + - !!python/tuple [19, 19] + - !!python/tuple [24, 24] + - !!python/tuple [23, 27] + - !!python/tuple [16, 14] + - !!python/tuple [19, 24] + - !!python/tuple [6, 24] + - !!python/tuple [23, 16] + - !!python/tuple [13, 31] + - !!python/tuple [27, 12] + - !!python/tuple [26, 13] + - !!python/tuple [27, 26] + - !!python/tuple [23, 18] + - !!python/tuple [0, 22] + - !!python/tuple [28, 31] + - !!python/tuple [9, 1] + - !!python/tuple [19, 18] + - !!python/tuple [4, 20] + - !!python/tuple [17, 20] + - !!python/tuple [21, 4] + - !!python/tuple [0, 16] + - !!python/tuple [20, 24] + - !!python/tuple [7, 10] + - !!python/tuple [2, 29] + - !!python/tuple [22, 25] + - !!python/tuple [4, 5] + - !!python/tuple [12, 7] + - !!python/tuple [9, 20] + - !!python/tuple [21, 10] + - !!python/tuple [18, 4] + - !!python/tuple [17, 9] + - !!python/tuple [22, 9] + - !!python/tuple [16, 3] + - !!python/tuple [23, 14] + - !!python/tuple [23, 22] + - !!python/tuple [25, 25] + - !!python/tuple [11, 7] + - !!python/tuple [24, 21] + - !!python/tuple [24, 22] + - !!python/tuple [18, 0] + - !!python/tuple [30, 22] + - !!python/tuple [1, 31] + - !!python/tuple [13, 20] + - !!python/tuple [26, 0] + - !!python/tuple [3, 28] + - !!python/tuple [18, 15] + - !!python/tuple [27, 22] + - !!python/tuple [3, 27] + - !!python/tuple [22, 22] + - !!python/tuple [31, 30] + - !!python/tuple [14, 12] + - !!python/tuple [0, 15] + - !!python/tuple [11, 15] + - !!python/tuple [30, 4] + - !!python/tuple [13, 21] + - !!python/tuple [6, 14] + - !!python/tuple [16, 10] + - !!python/tuple [27, 17] + - !!python/tuple [28, 11] + - !!python/tuple [11, 31] + - !!python/tuple [30, 14] + - !!python/tuple [8, 21] + - !!python/tuple [2, 24] + - !!python/tuple [11, 6] + - !!python/tuple [25, 15] + - !!python/tuple [26, 10] + - !!python/tuple [25, 7] + - !!python/tuple [6, 15] + - !!python/tuple [19, 2] + - !!python/tuple [17, 5] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex5.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex5.yaml new file mode 100644 index 0000000..ae4f42c --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex5.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [17, 1] + name: agent0 + start: [6, 21] +- goal: [24, 27] + name: agent1 + start: [5, 18] +- goal: [15, 3] + name: agent2 + start: [28, 16] +- goal: [27, 16] + name: agent3 + start: [20, 18] +- goal: [6, 21] + name: agent4 + start: [22, 10] +- goal: [6, 6] + name: agent5 + start: [22, 27] +- goal: [31, 22] + name: agent6 + start: [16, 21] +- goal: [28, 8] + name: agent7 + start: [3, 12] +- goal: [26, 24] + name: agent8 + start: [14, 6] +- goal: [25, 13] + name: agent9 + start: [10, 10] +- goal: [6, 31] + name: agent10 + start: [24, 4] +- goal: [21, 13] + name: agent11 + start: [15, 26] +- goal: [23, 27] + name: agent12 + start: [15, 8] +- goal: [29, 9] + name: agent13 + start: [25, 16] +- goal: [15, 11] + name: agent14 + start: [17, 23] +- goal: [5, 28] + name: agent15 + start: [20, 24] +- goal: [10, 28] + name: agent16 + start: [30, 30] +- goal: [25, 15] + name: agent17 + start: [12, 12] +- goal: [0, 17] + name: agent18 + start: [2, 18] +- goal: [11, 31] + name: agent19 + start: [13, 14] +- goal: [20, 15] + name: agent20 + start: [14, 25] +- goal: [5, 27] + name: agent21 + start: [5, 29] +- goal: [12, 31] + name: agent22 + start: [20, 31] +- goal: [26, 5] + name: agent23 + start: [29, 29] +- goal: [29, 27] + name: agent24 + start: [6, 19] +- goal: [20, 29] + name: agent25 + start: [13, 12] +- goal: [27, 11] + name: agent26 + start: [26, 20] +- goal: [25, 6] + name: agent27 + start: [6, 18] +- goal: [27, 2] + name: agent28 + start: [10, 2] +- goal: [8, 18] + name: agent29 + start: [0, 12] +- goal: [26, 9] + name: agent30 + start: [29, 6] +- goal: [24, 24] + name: agent31 + start: [30, 26] +- goal: [31, 5] + name: agent32 + start: [19, 25] +- goal: [12, 13] + name: agent33 + start: [14, 1] +- goal: [27, 5] + name: agent34 + start: [1, 1] +- goal: [23, 4] + name: agent35 + start: [29, 23] +- goal: [24, 15] + name: agent36 + start: [0, 10] +- goal: [20, 18] + name: agent37 + start: [17, 2] +- goal: [1, 28] + name: agent38 + start: [6, 16] +- goal: [11, 6] + name: agent39 + start: [2, 0] +- goal: [7, 14] + name: agent40 + start: [16, 30] +- goal: [18, 14] + name: agent41 + start: [11, 30] +- goal: [21, 27] + name: agent42 + start: [8, 29] +- goal: [1, 16] + name: agent43 + start: [14, 9] +- goal: [16, 18] + name: agent44 + start: [24, 18] +- goal: [18, 7] + name: agent45 + start: [4, 24] +- goal: [8, 5] + name: agent46 + start: [21, 20] +- goal: [17, 22] + name: agent47 + start: [31, 8] +- goal: [19, 14] + name: agent48 + start: [4, 26] +- goal: [9, 22] + name: agent49 + start: [20, 12] +- goal: [22, 4] + name: agent50 + start: [6, 15] +- goal: [17, 7] + name: agent51 + start: [22, 11] +- goal: [25, 9] + name: agent52 + start: [29, 4] +- goal: [4, 11] + name: agent53 + start: [4, 0] +- goal: [11, 17] + name: agent54 + start: [25, 31] +- goal: [16, 26] + name: agent55 + start: [13, 19] +- goal: [23, 21] + name: agent56 + start: [9, 11] +- goal: [23, 23] + name: agent57 + start: [22, 17] +- goal: [5, 8] + name: agent58 + start: [19, 21] +- goal: [18, 31] + name: agent59 + start: [17, 4] +- goal: [29, 22] + name: agent60 + start: [7, 27] +- goal: [0, 1] + name: agent61 + start: [16, 6] +- goal: [30, 17] + name: agent62 + start: [10, 28] +- goal: [27, 9] + name: agent63 + start: [25, 15] +- goal: [4, 24] + name: agent64 + start: [28, 4] +- goal: [16, 17] + name: agent65 + start: [3, 17] +- goal: [29, 30] + name: agent66 + start: [8, 5] +- goal: [11, 14] + name: agent67 + start: [18, 29] +- goal: [17, 23] + name: agent68 + start: [20, 8] +- goal: [3, 13] + name: agent69 + start: [4, 29] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [19, 15] + - !!python/tuple [9, 10] + - !!python/tuple [31, 3] + - !!python/tuple [17, 18] + - !!python/tuple [22, 16] + - !!python/tuple [16, 22] + - !!python/tuple [0, 9] + - !!python/tuple [27, 25] + - !!python/tuple [24, 7] + - !!python/tuple [11, 3] + - !!python/tuple [19, 11] + - !!python/tuple [0, 13] + - !!python/tuple [29, 26] + - !!python/tuple [22, 15] + - !!python/tuple [8, 26] + - !!python/tuple [9, 5] + - !!python/tuple [16, 4] + - !!python/tuple [21, 10] + - !!python/tuple [4, 23] + - !!python/tuple [29, 14] + - !!python/tuple [11, 15] + - !!python/tuple [29, 21] + - !!python/tuple [27, 31] + - !!python/tuple [0, 26] + - !!python/tuple [7, 9] + - !!python/tuple [16, 25] + - !!python/tuple [9, 7] + - !!python/tuple [2, 5] + - !!python/tuple [11, 8] + - !!python/tuple [19, 20] + - !!python/tuple [0, 14] + - !!python/tuple [18, 8] + - !!python/tuple [13, 26] + - !!python/tuple [21, 16] + - !!python/tuple [3, 27] + - !!python/tuple [13, 13] + - !!python/tuple [18, 10] + - !!python/tuple [18, 19] + - !!python/tuple [10, 16] + - !!python/tuple [14, 24] + - !!python/tuple [22, 6] + - !!python/tuple [20, 28] + - !!python/tuple [8, 9] + - !!python/tuple [6, 4] + - !!python/tuple [27, 12] + - !!python/tuple [0, 16] + - !!python/tuple [26, 30] + - !!python/tuple [21, 12] + - !!python/tuple [11, 24] + - !!python/tuple [7, 8] + - !!python/tuple [17, 27] + - !!python/tuple [25, 27] + - !!python/tuple [12, 26] + - !!python/tuple [16, 14] + - !!python/tuple [15, 16] + - !!python/tuple [13, 21] + - !!python/tuple [16, 23] + - !!python/tuple [8, 6] + - !!python/tuple [17, 3] + - !!python/tuple [31, 11] + - !!python/tuple [10, 22] + - !!python/tuple [9, 19] + - !!python/tuple [7, 6] + - !!python/tuple [22, 25] + - !!python/tuple [4, 15] + - !!python/tuple [19, 18] + - !!python/tuple [10, 14] + - !!python/tuple [1, 20] + - !!python/tuple [6, 1] + - !!python/tuple [10, 15] + - !!python/tuple [3, 4] + - !!python/tuple [1, 31] + - !!python/tuple [12, 19] + - !!python/tuple [6, 20] + - !!python/tuple [15, 31] + - !!python/tuple [10, 19] + - !!python/tuple [16, 19] + - !!python/tuple [31, 19] + - !!python/tuple [31, 31] + - !!python/tuple [4, 19] + - !!python/tuple [25, 3] + - !!python/tuple [9, 18] + - !!python/tuple [25, 17] + - !!python/tuple [27, 20] + - !!python/tuple [3, 31] + - !!python/tuple [2, 28] + - !!python/tuple [19, 27] + - !!python/tuple [24, 0] + - !!python/tuple [15, 0] + - !!python/tuple [2, 30] + - !!python/tuple [13, 7] + - !!python/tuple [3, 0] + - !!python/tuple [8, 25] + - !!python/tuple [10, 6] + - !!python/tuple [5, 26] + - !!python/tuple [16, 12] + - !!python/tuple [31, 0] + - !!python/tuple [25, 5] + - !!python/tuple [9, 29] + - !!python/tuple [11, 29] + - !!python/tuple [20, 9] + - !!python/tuple [14, 3] + - !!python/tuple [31, 28] + - !!python/tuple [25, 18] + - !!python/tuple [13, 6] + - !!python/tuple [2, 16] + - !!python/tuple [14, 11] + - !!python/tuple [30, 29] + - !!python/tuple [2, 9] + - !!python/tuple [29, 18] + - !!python/tuple [19, 29] + - !!python/tuple [2, 17] + - !!python/tuple [13, 25] + - !!python/tuple [19, 23] + - !!python/tuple [5, 20] + - !!python/tuple [10, 25] + - !!python/tuple [9, 12] + - !!python/tuple [14, 17] + - !!python/tuple [5, 4] + - !!python/tuple [19, 30] + - !!python/tuple [7, 2] + - !!python/tuple [21, 15] + - !!python/tuple [13, 23] + - !!python/tuple [30, 12] + - !!python/tuple [25, 26] + - !!python/tuple [21, 9] + - !!python/tuple [18, 16] + - !!python/tuple [29, 0] + - !!python/tuple [26, 6] + - !!python/tuple [17, 6] + - !!python/tuple [6, 13] + - !!python/tuple [4, 13] + - !!python/tuple [0, 0] + - !!python/tuple [26, 18] + - !!python/tuple [7, 18] + - !!python/tuple [3, 2] + - !!python/tuple [25, 19] + - !!python/tuple [23, 11] + - !!python/tuple [17, 8] + - !!python/tuple [15, 9] + - !!python/tuple [27, 29] + - !!python/tuple [5, 3] + - !!python/tuple [30, 24] + - !!python/tuple [15, 4] + - !!python/tuple [29, 8] + - !!python/tuple [2, 15] + - !!python/tuple [16, 8] + - !!python/tuple [25, 21] + - !!python/tuple [17, 17] + - !!python/tuple [17, 11] + - !!python/tuple [21, 7] + - !!python/tuple [0, 15] + - !!python/tuple [30, 0] + - !!python/tuple [22, 12] + - !!python/tuple [14, 19] + - !!python/tuple [5, 10] + - !!python/tuple [28, 13] + - !!python/tuple [20, 25] + - !!python/tuple [10, 11] + - !!python/tuple [29, 12] + - !!python/tuple [7, 25] + - !!python/tuple [9, 26] + - !!python/tuple [5, 24] + - !!python/tuple [27, 13] + - !!python/tuple [31, 16] + - !!python/tuple [23, 18] + - !!python/tuple [5, 9] + - !!python/tuple [31, 12] + - !!python/tuple [31, 10] + - !!python/tuple [6, 12] + - !!python/tuple [14, 2] + - !!python/tuple [27, 10] + - !!python/tuple [31, 13] + - !!python/tuple [2, 22] + - !!python/tuple [4, 6] + - !!python/tuple [1, 24] + - !!python/tuple [24, 16] + - !!python/tuple [10, 23] + - !!python/tuple [0, 27] + - !!python/tuple [13, 18] + - !!python/tuple [11, 12] + - !!python/tuple [0, 23] + - !!python/tuple [29, 10] + - !!python/tuple [21, 0] + - !!python/tuple [15, 17] + - !!python/tuple [24, 2] + - !!python/tuple [14, 16] + - !!python/tuple [29, 31] + - !!python/tuple [1, 21] + - !!python/tuple [4, 8] + - !!python/tuple [25, 28] + - !!python/tuple [19, 8] + - !!python/tuple [19, 17] + - !!python/tuple [20, 16] + - !!python/tuple [31, 25] + - !!python/tuple [31, 9] + - !!python/tuple [5, 23] + - !!python/tuple [19, 22] + - !!python/tuple [12, 28] + - !!python/tuple [0, 18] + - !!python/tuple [14, 10] + - !!python/tuple [1, 14] + - !!python/tuple [5, 11] + - !!python/tuple [19, 4] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex50.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex50.yaml new file mode 100644 index 0000000..27f72e3 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex50.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [17, 23] + name: agent0 + start: [14, 28] +- goal: [0, 25] + name: agent1 + start: [29, 27] +- goal: [30, 12] + name: agent2 + start: [15, 25] +- goal: [0, 29] + name: agent3 + start: [5, 2] +- goal: [2, 22] + name: agent4 + start: [1, 12] +- goal: [18, 19] + name: agent5 + start: [8, 20] +- goal: [20, 21] + name: agent6 + start: [1, 1] +- goal: [18, 18] + name: agent7 + start: [30, 31] +- goal: [12, 5] + name: agent8 + start: [15, 13] +- goal: [21, 14] + name: agent9 + start: [20, 14] +- goal: [12, 14] + name: agent10 + start: [13, 4] +- goal: [23, 26] + name: agent11 + start: [27, 24] +- goal: [0, 1] + name: agent12 + start: [13, 30] +- goal: [11, 18] + name: agent13 + start: [13, 15] +- goal: [29, 0] + name: agent14 + start: [26, 10] +- goal: [1, 31] + name: agent15 + start: [18, 8] +- goal: [6, 27] + name: agent16 + start: [29, 26] +- goal: [28, 31] + name: agent17 + start: [20, 16] +- goal: [5, 11] + name: agent18 + start: [29, 0] +- goal: [14, 8] + name: agent19 + start: [7, 21] +- goal: [9, 22] + name: agent20 + start: [17, 30] +- goal: [31, 12] + name: agent21 + start: [1, 2] +- goal: [25, 25] + name: agent22 + start: [1, 26] +- goal: [20, 0] + name: agent23 + start: [28, 8] +- goal: [3, 11] + name: agent24 + start: [19, 24] +- goal: [9, 12] + name: agent25 + start: [14, 2] +- goal: [18, 22] + name: agent26 + start: [16, 26] +- goal: [26, 10] + name: agent27 + start: [23, 4] +- goal: [9, 30] + name: agent28 + start: [14, 5] +- goal: [6, 8] + name: agent29 + start: [14, 31] +- goal: [12, 17] + name: agent30 + start: [7, 20] +- goal: [17, 24] + name: agent31 + start: [8, 1] +- goal: [0, 7] + name: agent32 + start: [31, 12] +- goal: [26, 8] + name: agent33 + start: [25, 17] +- goal: [11, 10] + name: agent34 + start: [18, 22] +- goal: [6, 17] + name: agent35 + start: [4, 14] +- goal: [9, 19] + name: agent36 + start: [30, 17] +- goal: [6, 14] + name: agent37 + start: [27, 29] +- goal: [29, 17] + name: agent38 + start: [23, 11] +- goal: [29, 26] + name: agent39 + start: [28, 5] +- goal: [8, 7] + name: agent40 + start: [29, 4] +- goal: [30, 24] + name: agent41 + start: [8, 3] +- goal: [16, 27] + name: agent42 + start: [6, 12] +- goal: [25, 10] + name: agent43 + start: [26, 8] +- goal: [17, 18] + name: agent44 + start: [0, 17] +- goal: [30, 27] + name: agent45 + start: [6, 23] +- goal: [26, 31] + name: agent46 + start: [23, 6] +- goal: [22, 6] + name: agent47 + start: [3, 9] +- goal: [7, 18] + name: agent48 + start: [8, 22] +- goal: [8, 14] + name: agent49 + start: [21, 28] +- goal: [10, 3] + name: agent50 + start: [20, 3] +- goal: [11, 12] + name: agent51 + start: [28, 20] +- goal: [26, 9] + name: agent52 + start: [18, 11] +- goal: [21, 19] + name: agent53 + start: [19, 17] +- goal: [31, 10] + name: agent54 + start: [9, 22] +- goal: [24, 0] + name: agent55 + start: [7, 26] +- goal: [29, 5] + name: agent56 + start: [29, 5] +- goal: [2, 15] + name: agent57 + start: [11, 16] +- goal: [0, 0] + name: agent58 + start: [4, 19] +- goal: [4, 18] + name: agent59 + start: [13, 24] +- goal: [10, 29] + name: agent60 + start: [9, 4] +- goal: [22, 12] + name: agent61 + start: [8, 5] +- goal: [19, 6] + name: agent62 + start: [29, 15] +- goal: [21, 1] + name: agent63 + start: [24, 3] +- goal: [4, 14] + name: agent64 + start: [10, 13] +- goal: [27, 15] + name: agent65 + start: [8, 31] +- goal: [15, 12] + name: agent66 + start: [13, 8] +- goal: [24, 31] + name: agent67 + start: [9, 20] +- goal: [3, 16] + name: agent68 + start: [15, 11] +- goal: [13, 14] + name: agent69 + start: [13, 18] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [31, 6] + - !!python/tuple [23, 20] + - !!python/tuple [23, 25] + - !!python/tuple [30, 3] + - !!python/tuple [21, 22] + - !!python/tuple [0, 14] + - !!python/tuple [16, 11] + - !!python/tuple [31, 23] + - !!python/tuple [17, 20] + - !!python/tuple [18, 5] + - !!python/tuple [7, 7] + - !!python/tuple [24, 12] + - !!python/tuple [15, 19] + - !!python/tuple [7, 31] + - !!python/tuple [29, 12] + - !!python/tuple [0, 26] + - !!python/tuple [25, 29] + - !!python/tuple [15, 4] + - !!python/tuple [25, 9] + - !!python/tuple [5, 27] + - !!python/tuple [16, 20] + - !!python/tuple [10, 10] + - !!python/tuple [30, 11] + - !!python/tuple [0, 31] + - !!python/tuple [22, 23] + - !!python/tuple [14, 13] + - !!python/tuple [20, 29] + - !!python/tuple [26, 30] + - !!python/tuple [9, 17] + - !!python/tuple [6, 2] + - !!python/tuple [9, 24] + - !!python/tuple [4, 0] + - !!python/tuple [5, 14] + - !!python/tuple [11, 1] + - !!python/tuple [10, 0] + - !!python/tuple [25, 12] + - !!python/tuple [21, 4] + - !!python/tuple [14, 12] + - !!python/tuple [16, 10] + - !!python/tuple [12, 29] + - !!python/tuple [10, 30] + - !!python/tuple [11, 19] + - !!python/tuple [9, 10] + - !!python/tuple [0, 3] + - !!python/tuple [30, 19] + - !!python/tuple [9, 29] + - !!python/tuple [24, 7] + - !!python/tuple [1, 24] + - !!python/tuple [14, 18] + - !!python/tuple [7, 4] + - !!python/tuple [26, 15] + - !!python/tuple [26, 24] + - !!python/tuple [19, 14] + - !!python/tuple [22, 10] + - !!python/tuple [31, 21] + - !!python/tuple [3, 12] + - !!python/tuple [10, 23] + - !!python/tuple [31, 8] + - !!python/tuple [27, 16] + - !!python/tuple [3, 17] + - !!python/tuple [6, 18] + - !!python/tuple [8, 23] + - !!python/tuple [19, 25] + - !!python/tuple [6, 13] + - !!python/tuple [18, 13] + - !!python/tuple [25, 21] + - !!python/tuple [14, 22] + - !!python/tuple [20, 8] + - !!python/tuple [25, 16] + - !!python/tuple [16, 24] + - !!python/tuple [3, 14] + - !!python/tuple [3, 5] + - !!python/tuple [24, 18] + - !!python/tuple [23, 30] + - !!python/tuple [5, 16] + - !!python/tuple [31, 27] + - !!python/tuple [14, 27] + - !!python/tuple [1, 28] + - !!python/tuple [25, 18] + - !!python/tuple [4, 31] + - !!python/tuple [2, 12] + - !!python/tuple [17, 28] + - !!python/tuple [17, 11] + - !!python/tuple [25, 20] + - !!python/tuple [22, 14] + - !!python/tuple [11, 31] + - !!python/tuple [4, 7] + - !!python/tuple [4, 16] + - !!python/tuple [30, 28] + - !!python/tuple [19, 18] + - !!python/tuple [4, 15] + - !!python/tuple [3, 8] + - !!python/tuple [23, 19] + - !!python/tuple [25, 1] + - !!python/tuple [5, 7] + - !!python/tuple [10, 12] + - !!python/tuple [14, 30] + - !!python/tuple [0, 19] + - !!python/tuple [18, 28] + - !!python/tuple [29, 29] + - !!python/tuple [13, 25] + - !!python/tuple [31, 22] + - !!python/tuple [26, 23] + - !!python/tuple [15, 0] + - !!python/tuple [4, 3] + - !!python/tuple [19, 13] + - !!python/tuple [7, 12] + - !!python/tuple [22, 3] + - !!python/tuple [3, 15] + - !!python/tuple [18, 7] + - !!python/tuple [9, 27] + - !!python/tuple [6, 11] + - !!python/tuple [7, 24] + - !!python/tuple [28, 3] + - !!python/tuple [7, 27] + - !!python/tuple [13, 7] + - !!python/tuple [13, 5] + - !!python/tuple [1, 5] + - !!python/tuple [16, 21] + - !!python/tuple [5, 5] + - !!python/tuple [29, 1] + - !!python/tuple [6, 30] + - !!python/tuple [9, 28] + - !!python/tuple [9, 23] + - !!python/tuple [17, 21] + - !!python/tuple [12, 15] + - !!python/tuple [29, 24] + - !!python/tuple [25, 28] + - !!python/tuple [6, 7] + - !!python/tuple [21, 6] + - !!python/tuple [0, 12] + - !!python/tuple [24, 16] + - !!python/tuple [3, 25] + - !!python/tuple [0, 13] + - !!python/tuple [22, 29] + - !!python/tuple [22, 20] + - !!python/tuple [20, 24] + - !!python/tuple [16, 5] + - !!python/tuple [21, 16] + - !!python/tuple [2, 23] + - !!python/tuple [31, 20] + - !!python/tuple [22, 9] + - !!python/tuple [26, 17] + - !!python/tuple [3, 13] + - !!python/tuple [17, 29] + - !!python/tuple [9, 6] + - !!python/tuple [0, 2] + - !!python/tuple [27, 25] + - !!python/tuple [17, 12] + - !!python/tuple [6, 5] + - !!python/tuple [14, 4] + - !!python/tuple [1, 4] + - !!python/tuple [1, 19] + - !!python/tuple [12, 1] + - !!python/tuple [23, 12] + - !!python/tuple [27, 22] + - !!python/tuple [22, 15] + - !!python/tuple [16, 18] + - !!python/tuple [27, 14] + - !!python/tuple [14, 16] + - !!python/tuple [10, 25] + - !!python/tuple [28, 9] + - !!python/tuple [19, 5] + - !!python/tuple [22, 27] + - !!python/tuple [14, 15] + - !!python/tuple [17, 17] + - !!python/tuple [11, 24] + - !!python/tuple [30, 22] + - !!python/tuple [30, 18] + - !!python/tuple [2, 31] + - !!python/tuple [28, 13] + - !!python/tuple [7, 22] + - !!python/tuple [27, 18] + - !!python/tuple [14, 1] + - !!python/tuple [16, 16] + - !!python/tuple [11, 3] + - !!python/tuple [20, 12] + - !!python/tuple [12, 21] + - !!python/tuple [26, 6] + - !!python/tuple [13, 31] + - !!python/tuple [24, 20] + - !!python/tuple [5, 0] + - !!python/tuple [23, 29] + - !!python/tuple [20, 7] + - !!python/tuple [21, 24] + - !!python/tuple [19, 16] + - !!python/tuple [1, 23] + - !!python/tuple [31, 25] + - !!python/tuple [8, 17] + - !!python/tuple [14, 9] + - !!python/tuple [28, 14] + - !!python/tuple [26, 11] + - !!python/tuple [6, 0] + - !!python/tuple [29, 6] + - !!python/tuple [11, 11] + - !!python/tuple [1, 16] + - !!python/tuple [23, 5] + - !!python/tuple [31, 7] + - !!python/tuple [30, 7] + - !!python/tuple [24, 28] + - !!python/tuple [27, 0] + - !!python/tuple [15, 16] + - !!python/tuple [5, 24] + - !!python/tuple [25, 7] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex51.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex51.yaml new file mode 100644 index 0000000..e3a2abe --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex51.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [23, 23] + name: agent0 + start: [16, 23] +- goal: [9, 4] + name: agent1 + start: [14, 13] +- goal: [12, 16] + name: agent2 + start: [24, 19] +- goal: [25, 7] + name: agent3 + start: [9, 3] +- goal: [27, 5] + name: agent4 + start: [21, 20] +- goal: [23, 20] + name: agent5 + start: [0, 28] +- goal: [0, 6] + name: agent6 + start: [28, 26] +- goal: [3, 1] + name: agent7 + start: [27, 3] +- goal: [30, 5] + name: agent8 + start: [15, 2] +- goal: [26, 30] + name: agent9 + start: [2, 4] +- goal: [0, 0] + name: agent10 + start: [20, 9] +- goal: [15, 26] + name: agent11 + start: [5, 15] +- goal: [19, 3] + name: agent12 + start: [19, 2] +- goal: [15, 21] + name: agent13 + start: [26, 7] +- goal: [23, 6] + name: agent14 + start: [5, 25] +- goal: [13, 6] + name: agent15 + start: [20, 2] +- goal: [21, 22] + name: agent16 + start: [4, 2] +- goal: [26, 11] + name: agent17 + start: [17, 17] +- goal: [8, 10] + name: agent18 + start: [13, 21] +- goal: [8, 15] + name: agent19 + start: [0, 22] +- goal: [19, 12] + name: agent20 + start: [3, 22] +- goal: [19, 25] + name: agent21 + start: [0, 31] +- goal: [3, 4] + name: agent22 + start: [27, 18] +- goal: [14, 22] + name: agent23 + start: [18, 25] +- goal: [14, 10] + name: agent24 + start: [18, 9] +- goal: [27, 15] + name: agent25 + start: [25, 11] +- goal: [13, 18] + name: agent26 + start: [4, 22] +- goal: [31, 10] + name: agent27 + start: [1, 13] +- goal: [25, 28] + name: agent28 + start: [10, 5] +- goal: [29, 12] + name: agent29 + start: [9, 14] +- goal: [3, 8] + name: agent30 + start: [10, 20] +- goal: [1, 13] + name: agent31 + start: [28, 11] +- goal: [16, 15] + name: agent32 + start: [18, 7] +- goal: [31, 17] + name: agent33 + start: [2, 0] +- goal: [21, 10] + name: agent34 + start: [25, 29] +- goal: [29, 30] + name: agent35 + start: [22, 13] +- goal: [2, 25] + name: agent36 + start: [3, 10] +- goal: [26, 13] + name: agent37 + start: [5, 19] +- goal: [10, 8] + name: agent38 + start: [2, 29] +- goal: [1, 14] + name: agent39 + start: [22, 29] +- goal: [5, 2] + name: agent40 + start: [12, 20] +- goal: [7, 13] + name: agent41 + start: [24, 4] +- goal: [10, 24] + name: agent42 + start: [20, 8] +- goal: [13, 13] + name: agent43 + start: [4, 25] +- goal: [28, 18] + name: agent44 + start: [28, 12] +- goal: [14, 14] + name: agent45 + start: [23, 23] +- goal: [26, 14] + name: agent46 + start: [6, 25] +- goal: [9, 17] + name: agent47 + start: [14, 27] +- goal: [5, 14] + name: agent48 + start: [29, 27] +- goal: [20, 17] + name: agent49 + start: [25, 31] +- goal: [5, 10] + name: agent50 + start: [19, 8] +- goal: [3, 17] + name: agent51 + start: [16, 8] +- goal: [2, 31] + name: agent52 + start: [5, 12] +- goal: [13, 30] + name: agent53 + start: [24, 3] +- goal: [11, 7] + name: agent54 + start: [13, 25] +- goal: [27, 13] + name: agent55 + start: [7, 1] +- goal: [23, 11] + name: agent56 + start: [23, 20] +- goal: [7, 12] + name: agent57 + start: [25, 1] +- goal: [1, 3] + name: agent58 + start: [18, 28] +- goal: [26, 19] + name: agent59 + start: [30, 20] +- goal: [10, 10] + name: agent60 + start: [6, 21] +- goal: [15, 28] + name: agent61 + start: [9, 16] +- goal: [26, 9] + name: agent62 + start: [25, 19] +- goal: [6, 29] + name: agent63 + start: [30, 16] +- goal: [22, 4] + name: agent64 + start: [25, 4] +- goal: [31, 11] + name: agent65 + start: [18, 24] +- goal: [16, 12] + name: agent66 + start: [28, 25] +- goal: [20, 9] + name: agent67 + start: [26, 11] +- goal: [23, 17] + name: agent68 + start: [14, 24] +- goal: [11, 31] + name: agent69 + start: [19, 26] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [25, 16] + - !!python/tuple [23, 13] + - !!python/tuple [1, 8] + - !!python/tuple [19, 31] + - !!python/tuple [7, 31] + - !!python/tuple [30, 14] + - !!python/tuple [6, 28] + - !!python/tuple [30, 30] + - !!python/tuple [8, 24] + - !!python/tuple [30, 1] + - !!python/tuple [27, 20] + - !!python/tuple [11, 22] + - !!python/tuple [27, 0] + - !!python/tuple [17, 2] + - !!python/tuple [13, 16] + - !!python/tuple [18, 13] + - !!python/tuple [14, 18] + - !!python/tuple [2, 23] + - !!python/tuple [16, 16] + - !!python/tuple [2, 16] + - !!python/tuple [19, 10] + - !!python/tuple [17, 7] + - !!python/tuple [13, 22] + - !!python/tuple [23, 10] + - !!python/tuple [15, 4] + - !!python/tuple [0, 18] + - !!python/tuple [10, 16] + - !!python/tuple [19, 20] + - !!python/tuple [18, 4] + - !!python/tuple [11, 16] + - !!python/tuple [16, 0] + - !!python/tuple [8, 27] + - !!python/tuple [8, 16] + - !!python/tuple [31, 22] + - !!python/tuple [2, 3] + - !!python/tuple [20, 7] + - !!python/tuple [4, 30] + - !!python/tuple [28, 28] + - !!python/tuple [24, 2] + - !!python/tuple [29, 10] + - !!python/tuple [2, 15] + - !!python/tuple [7, 14] + - !!python/tuple [6, 8] + - !!python/tuple [26, 25] + - !!python/tuple [25, 26] + - !!python/tuple [3, 31] + - !!python/tuple [9, 25] + - !!python/tuple [15, 0] + - !!python/tuple [3, 11] + - !!python/tuple [29, 5] + - !!python/tuple [4, 23] + - !!python/tuple [30, 12] + - !!python/tuple [14, 0] + - !!python/tuple [21, 18] + - !!python/tuple [24, 0] + - !!python/tuple [17, 8] + - !!python/tuple [15, 30] + - !!python/tuple [21, 6] + - !!python/tuple [14, 23] + - !!python/tuple [18, 22] + - !!python/tuple [1, 21] + - !!python/tuple [15, 27] + - !!python/tuple [25, 9] + - !!python/tuple [1, 4] + - !!python/tuple [6, 30] + - !!python/tuple [20, 22] + - !!python/tuple [21, 5] + - !!python/tuple [20, 11] + - !!python/tuple [11, 28] + - !!python/tuple [5, 22] + - !!python/tuple [0, 19] + - !!python/tuple [15, 5] + - !!python/tuple [10, 26] + - !!python/tuple [13, 19] + - !!python/tuple [24, 16] + - !!python/tuple [30, 27] + - !!python/tuple [21, 13] + - !!python/tuple [21, 29] + - !!python/tuple [26, 20] + - !!python/tuple [23, 28] + - !!python/tuple [14, 28] + - !!python/tuple [26, 15] + - !!python/tuple [12, 24] + - !!python/tuple [20, 24] + - !!python/tuple [15, 9] + - !!python/tuple [19, 22] + - !!python/tuple [1, 25] + - !!python/tuple [15, 6] + - !!python/tuple [10, 19] + - !!python/tuple [8, 5] + - !!python/tuple [6, 0] + - !!python/tuple [14, 25] + - !!python/tuple [1, 28] + - !!python/tuple [4, 12] + - !!python/tuple [3, 25] + - !!python/tuple [27, 1] + - !!python/tuple [21, 1] + - !!python/tuple [11, 0] + - !!python/tuple [19, 16] + - !!python/tuple [16, 19] + - !!python/tuple [11, 25] + - !!python/tuple [13, 5] + - !!python/tuple [0, 29] + - !!python/tuple [20, 19] + - !!python/tuple [12, 4] + - !!python/tuple [25, 2] + - !!python/tuple [9, 29] + - !!python/tuple [9, 9] + - !!python/tuple [25, 12] + - !!python/tuple [11, 19] + - !!python/tuple [22, 14] + - !!python/tuple [23, 5] + - !!python/tuple [31, 0] + - !!python/tuple [19, 5] + - !!python/tuple [7, 5] + - !!python/tuple [27, 16] + - !!python/tuple [5, 17] + - !!python/tuple [7, 25] + - !!python/tuple [28, 6] + - !!python/tuple [13, 4] + - !!python/tuple [10, 18] + - !!python/tuple [11, 10] + - !!python/tuple [16, 3] + - !!python/tuple [31, 25] + - !!python/tuple [21, 25] + - !!python/tuple [20, 0] + - !!python/tuple [13, 0] + - !!python/tuple [12, 10] + - !!python/tuple [22, 21] + - !!python/tuple [10, 25] + - !!python/tuple [11, 17] + - !!python/tuple [11, 21] + - !!python/tuple [17, 22] + - !!python/tuple [21, 17] + - !!python/tuple [13, 26] + - !!python/tuple [21, 8] + - !!python/tuple [9, 27] + - !!python/tuple [6, 23] + - !!python/tuple [26, 4] + - !!python/tuple [13, 23] + - !!python/tuple [15, 12] + - !!python/tuple [18, 16] + - !!python/tuple [23, 16] + - !!python/tuple [21, 11] + - !!python/tuple [27, 2] + - !!python/tuple [21, 26] + - !!python/tuple [22, 11] + - !!python/tuple [19, 0] + - !!python/tuple [3, 13] + - !!python/tuple [20, 12] + - !!python/tuple [30, 6] + - !!python/tuple [19, 21] + - !!python/tuple [23, 1] + - !!python/tuple [5, 30] + - !!python/tuple [8, 20] + - !!python/tuple [7, 15] + - !!python/tuple [13, 9] + - !!python/tuple [9, 10] + - !!python/tuple [22, 5] + - !!python/tuple [1, 16] + - !!python/tuple [30, 13] + - !!python/tuple [30, 19] + - !!python/tuple [6, 3] + - !!python/tuple [5, 7] + - !!python/tuple [4, 20] + - !!python/tuple [19, 19] + - !!python/tuple [5, 3] + - !!python/tuple [27, 28] + - !!python/tuple [10, 23] + - !!python/tuple [25, 17] + - !!python/tuple [8, 13] + - !!python/tuple [2, 6] + - !!python/tuple [11, 2] + - !!python/tuple [31, 7] + - !!python/tuple [15, 17] + - !!python/tuple [18, 29] + - !!python/tuple [26, 0] + - !!python/tuple [30, 11] + - !!python/tuple [23, 30] + - !!python/tuple [21, 3] + - !!python/tuple [30, 4] + - !!python/tuple [3, 19] + - !!python/tuple [9, 8] + - !!python/tuple [20, 1] + - !!python/tuple [6, 15] + - !!python/tuple [30, 9] + - !!python/tuple [0, 23] + - !!python/tuple [2, 11] + - !!python/tuple [23, 3] + - !!python/tuple [11, 29] + - !!python/tuple [19, 1] + - !!python/tuple [3, 3] + - !!python/tuple [30, 10] + - !!python/tuple [9, 12] + - !!python/tuple [30, 22] + - !!python/tuple [31, 27] + - !!python/tuple [17, 5] + - !!python/tuple [7, 11] + - !!python/tuple [16, 26] + - !!python/tuple [15, 29] + - !!python/tuple [6, 20] + - !!python/tuple [12, 7] + - !!python/tuple [26, 23] + - !!python/tuple [2, 30] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex52.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex52.yaml new file mode 100644 index 0000000..7f40512 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex52.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [28, 7] + name: agent0 + start: [19, 0] +- goal: [8, 6] + name: agent1 + start: [4, 22] +- goal: [21, 28] + name: agent2 + start: [23, 21] +- goal: [18, 7] + name: agent3 + start: [25, 2] +- goal: [23, 1] + name: agent4 + start: [23, 25] +- goal: [0, 5] + name: agent5 + start: [30, 22] +- goal: [16, 4] + name: agent6 + start: [3, 1] +- goal: [26, 9] + name: agent7 + start: [28, 21] +- goal: [28, 8] + name: agent8 + start: [17, 20] +- goal: [16, 1] + name: agent9 + start: [17, 31] +- goal: [27, 19] + name: agent10 + start: [25, 24] +- goal: [21, 18] + name: agent11 + start: [10, 2] +- goal: [16, 5] + name: agent12 + start: [18, 6] +- goal: [1, 28] + name: agent13 + start: [17, 19] +- goal: [7, 19] + name: agent14 + start: [1, 1] +- goal: [18, 20] + name: agent15 + start: [12, 12] +- goal: [2, 31] + name: agent16 + start: [8, 18] +- goal: [22, 4] + name: agent17 + start: [15, 3] +- goal: [31, 10] + name: agent18 + start: [5, 1] +- goal: [11, 31] + name: agent19 + start: [24, 3] +- goal: [6, 19] + name: agent20 + start: [13, 30] +- goal: [22, 7] + name: agent21 + start: [16, 2] +- goal: [12, 13] + name: agent22 + start: [23, 22] +- goal: [27, 30] + name: agent23 + start: [14, 30] +- goal: [5, 3] + name: agent24 + start: [6, 31] +- goal: [25, 3] + name: agent25 + start: [18, 0] +- goal: [8, 15] + name: agent26 + start: [22, 20] +- goal: [13, 4] + name: agent27 + start: [31, 16] +- goal: [20, 21] + name: agent28 + start: [19, 31] +- goal: [20, 6] + name: agent29 + start: [22, 28] +- goal: [12, 22] + name: agent30 + start: [23, 18] +- goal: [10, 15] + name: agent31 + start: [19, 27] +- goal: [30, 14] + name: agent32 + start: [28, 8] +- goal: [25, 30] + name: agent33 + start: [14, 29] +- goal: [27, 2] + name: agent34 + start: [8, 22] +- goal: [12, 30] + name: agent35 + start: [18, 1] +- goal: [16, 30] + name: agent36 + start: [25, 20] +- goal: [3, 5] + name: agent37 + start: [0, 7] +- goal: [19, 8] + name: agent38 + start: [16, 21] +- goal: [27, 27] + name: agent39 + start: [24, 23] +- goal: [9, 8] + name: agent40 + start: [15, 25] +- goal: [19, 23] + name: agent41 + start: [6, 3] +- goal: [10, 20] + name: agent42 + start: [23, 15] +- goal: [30, 30] + name: agent43 + start: [14, 21] +- goal: [1, 25] + name: agent44 + start: [27, 0] +- goal: [31, 3] + name: agent45 + start: [22, 7] +- goal: [2, 12] + name: agent46 + start: [20, 28] +- goal: [26, 22] + name: agent47 + start: [24, 21] +- goal: [20, 20] + name: agent48 + start: [13, 6] +- goal: [23, 12] + name: agent49 + start: [12, 18] +- goal: [0, 23] + name: agent50 + start: [17, 6] +- goal: [18, 2] + name: agent51 + start: [10, 14] +- goal: [20, 9] + name: agent52 + start: [16, 23] +- goal: [21, 5] + name: agent53 + start: [2, 1] +- goal: [10, 18] + name: agent54 + start: [28, 11] +- goal: [29, 23] + name: agent55 + start: [8, 1] +- goal: [20, 0] + name: agent56 + start: [15, 26] +- goal: [14, 25] + name: agent57 + start: [25, 12] +- goal: [26, 2] + name: agent58 + start: [29, 6] +- goal: [22, 5] + name: agent59 + start: [26, 13] +- goal: [5, 11] + name: agent60 + start: [19, 13] +- goal: [17, 11] + name: agent61 + start: [13, 3] +- goal: [3, 18] + name: agent62 + start: [0, 9] +- goal: [29, 26] + name: agent63 + start: [20, 6] +- goal: [27, 16] + name: agent64 + start: [30, 2] +- goal: [15, 3] + name: agent65 + start: [22, 15] +- goal: [11, 1] + name: agent66 + start: [20, 0] +- goal: [6, 18] + name: agent67 + start: [11, 1] +- goal: [7, 15] + name: agent68 + start: [7, 29] +- goal: [18, 23] + name: agent69 + start: [23, 20] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [17, 2] + - !!python/tuple [5, 28] + - !!python/tuple [30, 17] + - !!python/tuple [28, 13] + - !!python/tuple [13, 18] + - !!python/tuple [20, 13] + - !!python/tuple [23, 24] + - !!python/tuple [25, 19] + - !!python/tuple [23, 26] + - !!python/tuple [3, 3] + - !!python/tuple [9, 13] + - !!python/tuple [20, 19] + - !!python/tuple [14, 16] + - !!python/tuple [1, 24] + - !!python/tuple [11, 15] + - !!python/tuple [13, 26] + - !!python/tuple [14, 0] + - !!python/tuple [9, 2] + - !!python/tuple [19, 20] + - !!python/tuple [11, 16] + - !!python/tuple [10, 6] + - !!python/tuple [9, 11] + - !!python/tuple [27, 7] + - !!python/tuple [26, 4] + - !!python/tuple [27, 12] + - !!python/tuple [24, 20] + - !!python/tuple [15, 27] + - !!python/tuple [19, 21] + - !!python/tuple [1, 12] + - !!python/tuple [3, 24] + - !!python/tuple [16, 24] + - !!python/tuple [4, 24] + - !!python/tuple [26, 17] + - !!python/tuple [25, 10] + - !!python/tuple [17, 24] + - !!python/tuple [24, 13] + - !!python/tuple [1, 10] + - !!python/tuple [3, 28] + - !!python/tuple [3, 27] + - !!python/tuple [30, 28] + - !!python/tuple [8, 5] + - !!python/tuple [12, 21] + - !!python/tuple [1, 7] + - !!python/tuple [24, 11] + - !!python/tuple [24, 19] + - !!python/tuple [13, 28] + - !!python/tuple [31, 9] + - !!python/tuple [18, 21] + - !!python/tuple [28, 5] + - !!python/tuple [8, 28] + - !!python/tuple [1, 26] + - !!python/tuple [6, 30] + - !!python/tuple [29, 24] + - !!python/tuple [15, 6] + - !!python/tuple [21, 9] + - !!python/tuple [26, 31] + - !!python/tuple [4, 6] + - !!python/tuple [10, 26] + - !!python/tuple [18, 19] + - !!python/tuple [28, 27] + - !!python/tuple [13, 20] + - !!python/tuple [13, 8] + - !!python/tuple [26, 28] + - !!python/tuple [8, 0] + - !!python/tuple [26, 5] + - !!python/tuple [17, 16] + - !!python/tuple [8, 9] + - !!python/tuple [22, 18] + - !!python/tuple [11, 26] + - !!python/tuple [8, 16] + - !!python/tuple [21, 7] + - !!python/tuple [23, 19] + - !!python/tuple [12, 4] + - !!python/tuple [11, 10] + - !!python/tuple [20, 30] + - !!python/tuple [27, 14] + - !!python/tuple [19, 18] + - !!python/tuple [15, 11] + - !!python/tuple [19, 3] + - !!python/tuple [1, 14] + - !!python/tuple [19, 1] + - !!python/tuple [15, 28] + - !!python/tuple [7, 13] + - !!python/tuple [28, 18] + - !!python/tuple [26, 18] + - !!python/tuple [15, 2] + - !!python/tuple [6, 28] + - !!python/tuple [9, 18] + - !!python/tuple [31, 31] + - !!python/tuple [27, 4] + - !!python/tuple [14, 24] + - !!python/tuple [17, 21] + - !!python/tuple [25, 26] + - !!python/tuple [18, 10] + - !!python/tuple [16, 10] + - !!python/tuple [31, 15] + - !!python/tuple [14, 10] + - !!python/tuple [11, 13] + - !!python/tuple [12, 0] + - !!python/tuple [24, 27] + - !!python/tuple [18, 16] + - !!python/tuple [8, 23] + - !!python/tuple [22, 1] + - !!python/tuple [15, 29] + - !!python/tuple [25, 27] + - !!python/tuple [19, 7] + - !!python/tuple [0, 6] + - !!python/tuple [16, 25] + - !!python/tuple [18, 29] + - !!python/tuple [10, 9] + - !!python/tuple [3, 23] + - !!python/tuple [24, 10] + - !!python/tuple [9, 31] + - !!python/tuple [31, 13] + - !!python/tuple [20, 26] + - !!python/tuple [2, 22] + - !!python/tuple [22, 10] + - !!python/tuple [21, 16] + - !!python/tuple [8, 24] + - !!python/tuple [3, 8] + - !!python/tuple [1, 23] + - !!python/tuple [1, 9] + - !!python/tuple [29, 22] + - !!python/tuple [21, 29] + - !!python/tuple [6, 26] + - !!python/tuple [0, 24] + - !!python/tuple [9, 24] + - !!python/tuple [16, 15] + - !!python/tuple [2, 18] + - !!python/tuple [5, 2] + - !!python/tuple [25, 5] + - !!python/tuple [31, 4] + - !!python/tuple [5, 10] + - !!python/tuple [31, 1] + - !!python/tuple [5, 15] + - !!python/tuple [27, 20] + - !!python/tuple [17, 1] + - !!python/tuple [31, 26] + - !!python/tuple [20, 1] + - !!python/tuple [6, 2] + - !!python/tuple [13, 2] + - !!python/tuple [7, 21] + - !!python/tuple [6, 23] + - !!python/tuple [22, 11] + - !!python/tuple [21, 19] + - !!python/tuple [2, 27] + - !!python/tuple [5, 21] + - !!python/tuple [29, 20] + - !!python/tuple [22, 19] + - !!python/tuple [5, 30] + - !!python/tuple [2, 28] + - !!python/tuple [3, 19] + - !!python/tuple [4, 10] + - !!python/tuple [4, 14] + - !!python/tuple [7, 9] + - !!python/tuple [14, 28] + - !!python/tuple [7, 3] + - !!python/tuple [9, 12] + - !!python/tuple [9, 6] + - !!python/tuple [4, 1] + - !!python/tuple [23, 4] + - !!python/tuple [7, 7] + - !!python/tuple [28, 23] + - !!python/tuple [18, 26] + - !!python/tuple [7, 10] + - !!python/tuple [28, 9] + - !!python/tuple [0, 20] + - !!python/tuple [13, 23] + - !!python/tuple [6, 5] + - !!python/tuple [26, 11] + - !!python/tuple [31, 11] + - !!python/tuple [25, 4] + - !!python/tuple [27, 10] + - !!python/tuple [21, 23] + - !!python/tuple [26, 1] + - !!python/tuple [14, 7] + - !!python/tuple [25, 14] + - !!python/tuple [11, 29] + - !!python/tuple [10, 1] + - !!python/tuple [26, 25] + - !!python/tuple [14, 3] + - !!python/tuple [21, 21] + - !!python/tuple [24, 31] + - !!python/tuple [1, 5] + - !!python/tuple [20, 5] + - !!python/tuple [24, 0] + - !!python/tuple [20, 3] + - !!python/tuple [26, 27] + - !!python/tuple [21, 2] + - !!python/tuple [16, 31] + - !!python/tuple [17, 3] + - !!python/tuple [31, 12] + - !!python/tuple [25, 18] + - !!python/tuple [23, 9] + - !!python/tuple [23, 29] + - !!python/tuple [16, 6] + - !!python/tuple [22, 2] + - !!python/tuple [8, 2] + - !!python/tuple [5, 7] + - !!python/tuple [3, 14] + - !!python/tuple [31, 25] + - !!python/tuple [12, 28] + - !!python/tuple [7, 20] + - !!python/tuple [30, 21] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex53.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex53.yaml new file mode 100644 index 0000000..af47331 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex53.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [1, 1] + name: agent0 + start: [23, 8] +- goal: [2, 22] + name: agent1 + start: [9, 20] +- goal: [29, 24] + name: agent2 + start: [26, 3] +- goal: [15, 16] + name: agent3 + start: [27, 30] +- goal: [14, 31] + name: agent4 + start: [24, 28] +- goal: [2, 24] + name: agent5 + start: [17, 5] +- goal: [15, 30] + name: agent6 + start: [31, 31] +- goal: [14, 27] + name: agent7 + start: [27, 8] +- goal: [26, 6] + name: agent8 + start: [12, 0] +- goal: [9, 3] + name: agent9 + start: [20, 3] +- goal: [5, 24] + name: agent10 + start: [15, 12] +- goal: [6, 26] + name: agent11 + start: [12, 4] +- goal: [0, 30] + name: agent12 + start: [11, 20] +- goal: [28, 26] + name: agent13 + start: [3, 2] +- goal: [25, 26] + name: agent14 + start: [16, 18] +- goal: [12, 25] + name: agent15 + start: [20, 17] +- goal: [26, 20] + name: agent16 + start: [15, 13] +- goal: [19, 11] + name: agent17 + start: [13, 16] +- goal: [1, 31] + name: agent18 + start: [21, 2] +- goal: [7, 22] + name: agent19 + start: [13, 8] +- goal: [16, 12] + name: agent20 + start: [23, 7] +- goal: [29, 11] + name: agent21 + start: [8, 12] +- goal: [29, 13] + name: agent22 + start: [31, 1] +- goal: [12, 4] + name: agent23 + start: [24, 21] +- goal: [21, 22] + name: agent24 + start: [3, 15] +- goal: [24, 10] + name: agent25 + start: [30, 12] +- goal: [22, 2] + name: agent26 + start: [21, 15] +- goal: [28, 19] + name: agent27 + start: [4, 27] +- goal: [30, 31] + name: agent28 + start: [12, 12] +- goal: [30, 19] + name: agent29 + start: [25, 2] +- goal: [25, 0] + name: agent30 + start: [11, 3] +- goal: [18, 21] + name: agent31 + start: [30, 6] +- goal: [31, 13] + name: agent32 + start: [10, 20] +- goal: [30, 17] + name: agent33 + start: [26, 8] +- goal: [28, 28] + name: agent34 + start: [28, 9] +- goal: [10, 8] + name: agent35 + start: [31, 28] +- goal: [11, 26] + name: agent36 + start: [12, 1] +- goal: [17, 28] + name: agent37 + start: [20, 20] +- goal: [12, 5] + name: agent38 + start: [26, 12] +- goal: [27, 25] + name: agent39 + start: [19, 13] +- goal: [14, 19] + name: agent40 + start: [7, 27] +- goal: [0, 19] + name: agent41 + start: [15, 5] +- goal: [11, 15] + name: agent42 + start: [24, 8] +- goal: [30, 12] + name: agent43 + start: [29, 6] +- goal: [22, 22] + name: agent44 + start: [25, 22] +- goal: [11, 11] + name: agent45 + start: [21, 25] +- goal: [7, 16] + name: agent46 + start: [26, 19] +- goal: [8, 25] + name: agent47 + start: [11, 26] +- goal: [20, 27] + name: agent48 + start: [6, 0] +- goal: [15, 7] + name: agent49 + start: [13, 23] +- goal: [14, 11] + name: agent50 + start: [20, 15] +- goal: [5, 23] + name: agent51 + start: [6, 29] +- goal: [15, 1] + name: agent52 + start: [19, 19] +- goal: [3, 4] + name: agent53 + start: [15, 14] +- goal: [27, 17] + name: agent54 + start: [8, 25] +- goal: [7, 8] + name: agent55 + start: [12, 28] +- goal: [6, 27] + name: agent56 + start: [30, 16] +- goal: [0, 20] + name: agent57 + start: [6, 27] +- goal: [25, 19] + name: agent58 + start: [31, 4] +- goal: [27, 16] + name: agent59 + start: [5, 5] +- goal: [12, 22] + name: agent60 + start: [27, 2] +- goal: [14, 22] + name: agent61 + start: [2, 25] +- goal: [2, 31] + name: agent62 + start: [26, 10] +- goal: [16, 21] + name: agent63 + start: [6, 14] +- goal: [27, 27] + name: agent64 + start: [6, 28] +- goal: [1, 5] + name: agent65 + start: [8, 4] +- goal: [18, 6] + name: agent66 + start: [18, 10] +- goal: [29, 29] + name: agent67 + start: [5, 2] +- goal: [12, 28] + name: agent68 + start: [24, 22] +- goal: [3, 27] + name: agent69 + start: [31, 12] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [4, 22] + - !!python/tuple [23, 18] + - !!python/tuple [9, 23] + - !!python/tuple [8, 10] + - !!python/tuple [4, 14] + - !!python/tuple [1, 12] + - !!python/tuple [1, 14] + - !!python/tuple [11, 10] + - !!python/tuple [28, 14] + - !!python/tuple [18, 14] + - !!python/tuple [4, 2] + - !!python/tuple [27, 9] + - !!python/tuple [27, 22] + - !!python/tuple [27, 12] + - !!python/tuple [6, 15] + - !!python/tuple [31, 6] + - !!python/tuple [4, 5] + - !!python/tuple [11, 4] + - !!python/tuple [29, 28] + - !!python/tuple [5, 9] + - !!python/tuple [13, 20] + - !!python/tuple [30, 1] + - !!python/tuple [18, 11] + - !!python/tuple [7, 4] + - !!python/tuple [13, 1] + - !!python/tuple [0, 6] + - !!python/tuple [3, 10] + - !!python/tuple [4, 25] + - !!python/tuple [28, 23] + - !!python/tuple [29, 12] + - !!python/tuple [13, 4] + - !!python/tuple [1, 8] + - !!python/tuple [29, 1] + - !!python/tuple [28, 20] + - !!python/tuple [27, 28] + - !!python/tuple [2, 15] + - !!python/tuple [0, 29] + - !!python/tuple [9, 5] + - !!python/tuple [6, 30] + - !!python/tuple [21, 19] + - !!python/tuple [24, 12] + - !!python/tuple [2, 12] + - !!python/tuple [10, 26] + - !!python/tuple [24, 6] + - !!python/tuple [2, 9] + - !!python/tuple [4, 8] + - !!python/tuple [30, 3] + - !!python/tuple [15, 21] + - !!python/tuple [15, 6] + - !!python/tuple [24, 7] + - !!python/tuple [1, 26] + - !!python/tuple [29, 3] + - !!python/tuple [9, 28] + - !!python/tuple [3, 20] + - !!python/tuple [1, 10] + - !!python/tuple [15, 24] + - !!python/tuple [28, 2] + - !!python/tuple [27, 31] + - !!python/tuple [22, 23] + - !!python/tuple [17, 31] + - !!python/tuple [28, 13] + - !!python/tuple [23, 28] + - !!python/tuple [17, 29] + - !!python/tuple [17, 26] + - !!python/tuple [0, 22] + - !!python/tuple [16, 9] + - !!python/tuple [3, 8] + - !!python/tuple [17, 22] + - !!python/tuple [14, 6] + - !!python/tuple [22, 31] + - !!python/tuple [5, 0] + - !!python/tuple [1, 16] + - !!python/tuple [0, 8] + - !!python/tuple [13, 17] + - !!python/tuple [9, 22] + - !!python/tuple [30, 25] + - !!python/tuple [20, 4] + - !!python/tuple [21, 18] + - !!python/tuple [23, 5] + - !!python/tuple [9, 16] + - !!python/tuple [10, 15] + - !!python/tuple [2, 23] + - !!python/tuple [17, 9] + - !!python/tuple [21, 23] + - !!python/tuple [11, 25] + - !!python/tuple [28, 8] + - !!python/tuple [21, 30] + - !!python/tuple [10, 23] + - !!python/tuple [21, 10] + - !!python/tuple [7, 14] + - !!python/tuple [20, 7] + - !!python/tuple [3, 1] + - !!python/tuple [31, 16] + - !!python/tuple [23, 24] + - !!python/tuple [13, 29] + - !!python/tuple [7, 21] + - !!python/tuple [3, 22] + - !!python/tuple [7, 24] + - !!python/tuple [27, 23] + - !!python/tuple [20, 16] + - !!python/tuple [31, 20] + - !!python/tuple [14, 0] + - !!python/tuple [17, 24] + - !!python/tuple [14, 21] + - !!python/tuple [1, 15] + - !!python/tuple [1, 21] + - !!python/tuple [8, 15] + - !!python/tuple [9, 27] + - !!python/tuple [4, 13] + - !!python/tuple [8, 27] + - !!python/tuple [26, 1] + - !!python/tuple [10, 11] + - !!python/tuple [18, 5] + - !!python/tuple [30, 14] + - !!python/tuple [1, 27] + - !!python/tuple [22, 10] + - !!python/tuple [25, 21] + - !!python/tuple [22, 9] + - !!python/tuple [3, 30] + - !!python/tuple [9, 10] + - !!python/tuple [14, 17] + - !!python/tuple [18, 16] + - !!python/tuple [21, 9] + - !!python/tuple [7, 6] + - !!python/tuple [5, 16] + - !!python/tuple [15, 28] + - !!python/tuple [21, 4] + - !!python/tuple [25, 15] + - !!python/tuple [22, 14] + - !!python/tuple [25, 27] + - !!python/tuple [14, 10] + - !!python/tuple [30, 24] + - !!python/tuple [1, 0] + - !!python/tuple [31, 17] + - !!python/tuple [9, 26] + - !!python/tuple [5, 20] + - !!python/tuple [3, 31] + - !!python/tuple [6, 18] + - !!python/tuple [13, 28] + - !!python/tuple [29, 7] + - !!python/tuple [26, 26] + - !!python/tuple [26, 5] + - !!python/tuple [5, 26] + - !!python/tuple [21, 14] + - !!python/tuple [8, 3] + - !!python/tuple [10, 22] + - !!python/tuple [21, 11] + - !!python/tuple [31, 7] + - !!python/tuple [21, 31] + - !!python/tuple [16, 2] + - !!python/tuple [0, 4] + - !!python/tuple [30, 13] + - !!python/tuple [4, 30] + - !!python/tuple [20, 31] + - !!python/tuple [28, 12] + - !!python/tuple [19, 29] + - !!python/tuple [22, 29] + - !!python/tuple [2, 29] + - !!python/tuple [24, 18] + - !!python/tuple [2, 16] + - !!python/tuple [1, 20] + - !!python/tuple [7, 0] + - !!python/tuple [19, 31] + - !!python/tuple [31, 26] + - !!python/tuple [4, 31] + - !!python/tuple [1, 19] + - !!python/tuple [10, 1] + - !!python/tuple [18, 0] + - !!python/tuple [31, 29] + - !!python/tuple [8, 9] + - !!python/tuple [22, 18] + - !!python/tuple [0, 13] + - !!python/tuple [15, 10] + - !!python/tuple [16, 5] + - !!python/tuple [8, 14] + - !!python/tuple [19, 9] + - !!python/tuple [21, 26] + - !!python/tuple [1, 6] + - !!python/tuple [9, 24] + - !!python/tuple [7, 19] + - !!python/tuple [6, 13] + - !!python/tuple [0, 7] + - !!python/tuple [17, 27] + - !!python/tuple [5, 27] + - !!python/tuple [22, 30] + - !!python/tuple [17, 21] + - !!python/tuple [10, 24] + - !!python/tuple [15, 15] + - !!python/tuple [15, 8] + - !!python/tuple [25, 6] + - !!python/tuple [29, 20] + - !!python/tuple [9, 8] + - !!python/tuple [26, 7] + - !!python/tuple [13, 2] + - !!python/tuple [1, 11] + - !!python/tuple [22, 27] + - !!python/tuple [31, 8] + - !!python/tuple [20, 25] + - !!python/tuple [30, 23] + - !!python/tuple [2, 21] + - !!python/tuple [25, 9] + - !!python/tuple [4, 23] + - !!python/tuple [16, 6] + - !!python/tuple [4, 20] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex54.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex54.yaml new file mode 100644 index 0000000..05cdcdd --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex54.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [24, 31] + name: agent0 + start: [28, 25] +- goal: [14, 15] + name: agent1 + start: [23, 12] +- goal: [27, 19] + name: agent2 + start: [27, 29] +- goal: [0, 20] + name: agent3 + start: [6, 20] +- goal: [18, 29] + name: agent4 + start: [20, 13] +- goal: [15, 28] + name: agent5 + start: [20, 20] +- goal: [20, 10] + name: agent6 + start: [7, 16] +- goal: [28, 29] + name: agent7 + start: [30, 15] +- goal: [15, 13] + name: agent8 + start: [17, 22] +- goal: [26, 2] + name: agent9 + start: [1, 29] +- goal: [16, 29] + name: agent10 + start: [27, 16] +- goal: [1, 8] + name: agent11 + start: [29, 6] +- goal: [10, 27] + name: agent12 + start: [10, 28] +- goal: [29, 0] + name: agent13 + start: [3, 11] +- goal: [8, 15] + name: agent14 + start: [18, 6] +- goal: [13, 21] + name: agent15 + start: [16, 25] +- goal: [9, 17] + name: agent16 + start: [8, 25] +- goal: [5, 30] + name: agent17 + start: [28, 30] +- goal: [26, 4] + name: agent18 + start: [22, 10] +- goal: [9, 24] + name: agent19 + start: [8, 31] +- goal: [13, 11] + name: agent20 + start: [4, 22] +- goal: [5, 22] + name: agent21 + start: [14, 0] +- goal: [18, 10] + name: agent22 + start: [8, 12] +- goal: [11, 31] + name: agent23 + start: [18, 13] +- goal: [10, 29] + name: agent24 + start: [23, 26] +- goal: [12, 30] + name: agent25 + start: [3, 13] +- goal: [26, 8] + name: agent26 + start: [22, 20] +- goal: [2, 19] + name: agent27 + start: [18, 8] +- goal: [30, 8] + name: agent28 + start: [2, 24] +- goal: [1, 5] + name: agent29 + start: [12, 3] +- goal: [11, 24] + name: agent30 + start: [3, 2] +- goal: [28, 5] + name: agent31 + start: [8, 19] +- goal: [2, 15] + name: agent32 + start: [10, 21] +- goal: [21, 22] + name: agent33 + start: [29, 3] +- goal: [21, 9] + name: agent34 + start: [2, 25] +- goal: [5, 19] + name: agent35 + start: [27, 9] +- goal: [29, 18] + name: agent36 + start: [30, 22] +- goal: [13, 1] + name: agent37 + start: [2, 13] +- goal: [11, 29] + name: agent38 + start: [13, 1] +- goal: [15, 31] + name: agent39 + start: [2, 15] +- goal: [21, 8] + name: agent40 + start: [26, 26] +- goal: [10, 25] + name: agent41 + start: [17, 12] +- goal: [11, 28] + name: agent42 + start: [31, 14] +- goal: [27, 6] + name: agent43 + start: [15, 24] +- goal: [11, 3] + name: agent44 + start: [13, 20] +- goal: [28, 14] + name: agent45 + start: [13, 4] +- goal: [6, 12] + name: agent46 + start: [23, 25] +- goal: [12, 20] + name: agent47 + start: [3, 1] +- goal: [29, 13] + name: agent48 + start: [18, 16] +- goal: [4, 29] + name: agent49 + start: [1, 13] +- goal: [3, 2] + name: agent50 + start: [6, 22] +- goal: [7, 25] + name: agent51 + start: [15, 4] +- goal: [6, 1] + name: agent52 + start: [2, 12] +- goal: [23, 12] + name: agent53 + start: [16, 5] +- goal: [19, 21] + name: agent54 + start: [20, 16] +- goal: [20, 27] + name: agent55 + start: [4, 2] +- goal: [23, 11] + name: agent56 + start: [29, 20] +- goal: [17, 6] + name: agent57 + start: [19, 10] +- goal: [16, 17] + name: agent58 + start: [31, 18] +- goal: [22, 1] + name: agent59 + start: [8, 30] +- goal: [16, 10] + name: agent60 + start: [29, 22] +- goal: [15, 15] + name: agent61 + start: [29, 30] +- goal: [2, 18] + name: agent62 + start: [4, 20] +- goal: [8, 14] + name: agent63 + start: [11, 26] +- goal: [19, 31] + name: agent64 + start: [4, 19] +- goal: [17, 0] + name: agent65 + start: [1, 21] +- goal: [24, 15] + name: agent66 + start: [3, 28] +- goal: [22, 18] + name: agent67 + start: [20, 6] +- goal: [28, 8] + name: agent68 + start: [4, 25] +- goal: [28, 12] + name: agent69 + start: [31, 26] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [21, 19] + - !!python/tuple [10, 8] + - !!python/tuple [5, 25] + - !!python/tuple [13, 3] + - !!python/tuple [20, 11] + - !!python/tuple [19, 29] + - !!python/tuple [24, 4] + - !!python/tuple [9, 25] + - !!python/tuple [23, 0] + - !!python/tuple [16, 27] + - !!python/tuple [4, 6] + - !!python/tuple [7, 24] + - !!python/tuple [19, 17] + - !!python/tuple [27, 2] + - !!python/tuple [12, 24] + - !!python/tuple [26, 1] + - !!python/tuple [11, 21] + - !!python/tuple [20, 9] + - !!python/tuple [12, 27] + - !!python/tuple [30, 31] + - !!python/tuple [8, 29] + - !!python/tuple [19, 16] + - !!python/tuple [10, 26] + - !!python/tuple [23, 6] + - !!python/tuple [3, 19] + - !!python/tuple [16, 31] + - !!python/tuple [30, 29] + - !!python/tuple [24, 16] + - !!python/tuple [5, 4] + - !!python/tuple [5, 20] + - !!python/tuple [15, 12] + - !!python/tuple [11, 11] + - !!python/tuple [19, 18] + - !!python/tuple [28, 16] + - !!python/tuple [19, 9] + - !!python/tuple [21, 15] + - !!python/tuple [16, 30] + - !!python/tuple [22, 12] + - !!python/tuple [21, 6] + - !!python/tuple [29, 9] + - !!python/tuple [15, 5] + - !!python/tuple [29, 26] + - !!python/tuple [10, 18] + - !!python/tuple [20, 21] + - !!python/tuple [24, 17] + - !!python/tuple [20, 25] + - !!python/tuple [19, 19] + - !!python/tuple [30, 25] + - !!python/tuple [18, 24] + - !!python/tuple [6, 13] + - !!python/tuple [21, 27] + - !!python/tuple [22, 26] + - !!python/tuple [27, 25] + - !!python/tuple [31, 25] + - !!python/tuple [22, 2] + - !!python/tuple [28, 6] + - !!python/tuple [10, 2] + - !!python/tuple [0, 13] + - !!python/tuple [26, 25] + - !!python/tuple [5, 9] + - !!python/tuple [19, 7] + - !!python/tuple [8, 16] + - !!python/tuple [30, 6] + - !!python/tuple [13, 28] + - !!python/tuple [1, 23] + - !!python/tuple [14, 16] + - !!python/tuple [25, 7] + - !!python/tuple [14, 8] + - !!python/tuple [7, 28] + - !!python/tuple [9, 14] + - !!python/tuple [25, 15] + - !!python/tuple [20, 31] + - !!python/tuple [6, 30] + - !!python/tuple [10, 19] + - !!python/tuple [24, 14] + - !!python/tuple [12, 29] + - !!python/tuple [11, 12] + - !!python/tuple [25, 22] + - !!python/tuple [14, 12] + - !!python/tuple [24, 21] + - !!python/tuple [28, 11] + - !!python/tuple [14, 10] + - !!python/tuple [6, 18] + - !!python/tuple [2, 22] + - !!python/tuple [17, 4] + - !!python/tuple [1, 19] + - !!python/tuple [3, 3] + - !!python/tuple [15, 21] + - !!python/tuple [13, 25] + - !!python/tuple [14, 29] + - !!python/tuple [9, 18] + - !!python/tuple [9, 5] + - !!python/tuple [7, 2] + - !!python/tuple [10, 0] + - !!python/tuple [7, 29] + - !!python/tuple [8, 26] + - !!python/tuple [23, 18] + - !!python/tuple [14, 23] + - !!python/tuple [18, 27] + - !!python/tuple [9, 1] + - !!python/tuple [25, 21] + - !!python/tuple [2, 11] + - !!python/tuple [13, 13] + - !!python/tuple [24, 26] + - !!python/tuple [11, 27] + - !!python/tuple [11, 0] + - !!python/tuple [31, 10] + - !!python/tuple [8, 13] + - !!python/tuple [28, 18] + - !!python/tuple [8, 5] + - !!python/tuple [15, 11] + - !!python/tuple [4, 5] + - !!python/tuple [27, 12] + - !!python/tuple [11, 6] + - !!python/tuple [13, 31] + - !!python/tuple [13, 9] + - !!python/tuple [24, 8] + - !!python/tuple [3, 29] + - !!python/tuple [15, 10] + - !!python/tuple [28, 27] + - !!python/tuple [30, 4] + - !!python/tuple [20, 18] + - !!python/tuple [23, 30] + - !!python/tuple [2, 9] + - !!python/tuple [25, 28] + - !!python/tuple [20, 8] + - !!python/tuple [12, 0] + - !!python/tuple [16, 9] + - !!python/tuple [17, 19] + - !!python/tuple [15, 3] + - !!python/tuple [14, 2] + - !!python/tuple [17, 5] + - !!python/tuple [29, 23] + - !!python/tuple [19, 14] + - !!python/tuple [28, 28] + - !!python/tuple [25, 23] + - !!python/tuple [10, 14] + - !!python/tuple [27, 1] + - !!python/tuple [20, 0] + - !!python/tuple [12, 22] + - !!python/tuple [14, 22] + - !!python/tuple [29, 5] + - !!python/tuple [22, 0] + - !!python/tuple [7, 8] + - !!python/tuple [29, 1] + - !!python/tuple [1, 15] + - !!python/tuple [12, 12] + - !!python/tuple [8, 0] + - !!python/tuple [15, 14] + - !!python/tuple [8, 24] + - !!python/tuple [4, 18] + - !!python/tuple [25, 1] + - !!python/tuple [12, 19] + - !!python/tuple [0, 0] + - !!python/tuple [16, 8] + - !!python/tuple [6, 14] + - !!python/tuple [21, 0] + - !!python/tuple [13, 22] + - !!python/tuple [16, 6] + - !!python/tuple [2, 29] + - !!python/tuple [27, 15] + - !!python/tuple [19, 11] + - !!python/tuple [5, 11] + - !!python/tuple [26, 27] + - !!python/tuple [17, 31] + - !!python/tuple [6, 2] + - !!python/tuple [5, 3] + - !!python/tuple [0, 21] + - !!python/tuple [25, 4] + - !!python/tuple [12, 23] + - !!python/tuple [24, 28] + - !!python/tuple [17, 30] + - !!python/tuple [2, 6] + - !!python/tuple [3, 9] + - !!python/tuple [10, 17] + - !!python/tuple [31, 24] + - !!python/tuple [24, 9] + - !!python/tuple [29, 28] + - !!python/tuple [14, 9] + - !!python/tuple [12, 25] + - !!python/tuple [8, 7] + - !!python/tuple [18, 5] + - !!python/tuple [25, 2] + - !!python/tuple [5, 28] + - !!python/tuple [23, 5] + - !!python/tuple [25, 9] + - !!python/tuple [7, 20] + - !!python/tuple [7, 19] + - !!python/tuple [6, 29] + - !!python/tuple [17, 25] + - !!python/tuple [24, 25] + - !!python/tuple [23, 24] + - !!python/tuple [3, 16] + - !!python/tuple [11, 19] + - !!python/tuple [10, 10] + - !!python/tuple [7, 12] + - !!python/tuple [14, 28] + - !!python/tuple [0, 16] + - !!python/tuple [8, 17] + - !!python/tuple [5, 10] + - !!python/tuple [23, 10] + - !!python/tuple [9, 27] + - !!python/tuple [13, 10] + - !!python/tuple [5, 23] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex55.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex55.yaml new file mode 100644 index 0000000..6d5a37a --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex55.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [2, 4] + name: agent0 + start: [14, 24] +- goal: [15, 25] + name: agent1 + start: [20, 30] +- goal: [22, 23] + name: agent2 + start: [22, 31] +- goal: [25, 17] + name: agent3 + start: [27, 23] +- goal: [26, 7] + name: agent4 + start: [2, 23] +- goal: [31, 14] + name: agent5 + start: [5, 6] +- goal: [14, 31] + name: agent6 + start: [6, 13] +- goal: [25, 6] + name: agent7 + start: [5, 1] +- goal: [25, 24] + name: agent8 + start: [4, 25] +- goal: [19, 14] + name: agent9 + start: [31, 5] +- goal: [30, 13] + name: agent10 + start: [15, 15] +- goal: [8, 1] + name: agent11 + start: [15, 28] +- goal: [2, 29] + name: agent12 + start: [30, 3] +- goal: [31, 3] + name: agent13 + start: [20, 4] +- goal: [12, 6] + name: agent14 + start: [20, 27] +- goal: [12, 29] + name: agent15 + start: [15, 2] +- goal: [10, 26] + name: agent16 + start: [14, 26] +- goal: [7, 3] + name: agent17 + start: [10, 16] +- goal: [8, 10] + name: agent18 + start: [13, 28] +- goal: [17, 31] + name: agent19 + start: [11, 6] +- goal: [18, 8] + name: agent20 + start: [31, 13] +- goal: [23, 4] + name: agent21 + start: [24, 15] +- goal: [14, 25] + name: agent22 + start: [10, 2] +- goal: [31, 9] + name: agent23 + start: [4, 29] +- goal: [26, 21] + name: agent24 + start: [12, 28] +- goal: [10, 25] + name: agent25 + start: [3, 2] +- goal: [13, 30] + name: agent26 + start: [15, 19] +- goal: [11, 3] + name: agent27 + start: [25, 17] +- goal: [2, 7] + name: agent28 + start: [2, 9] +- goal: [6, 2] + name: agent29 + start: [31, 20] +- goal: [25, 19] + name: agent30 + start: [14, 14] +- goal: [25, 0] + name: agent31 + start: [27, 12] +- goal: [8, 28] + name: agent32 + start: [2, 27] +- goal: [25, 22] + name: agent33 + start: [2, 2] +- goal: [12, 28] + name: agent34 + start: [11, 29] +- goal: [18, 19] + name: agent35 + start: [15, 11] +- goal: [29, 23] + name: agent36 + start: [27, 21] +- goal: [24, 4] + name: agent37 + start: [0, 15] +- goal: [19, 3] + name: agent38 + start: [16, 24] +- goal: [4, 10] + name: agent39 + start: [29, 10] +- goal: [20, 11] + name: agent40 + start: [0, 10] +- goal: [31, 25] + name: agent41 + start: [29, 27] +- goal: [24, 0] + name: agent42 + start: [2, 7] +- goal: [0, 17] + name: agent43 + start: [13, 20] +- goal: [23, 10] + name: agent44 + start: [24, 16] +- goal: [24, 26] + name: agent45 + start: [28, 28] +- goal: [29, 28] + name: agent46 + start: [12, 6] +- goal: [24, 6] + name: agent47 + start: [20, 22] +- goal: [28, 29] + name: agent48 + start: [3, 6] +- goal: [17, 30] + name: agent49 + start: [26, 11] +- goal: [25, 2] + name: agent50 + start: [27, 29] +- goal: [9, 25] + name: agent51 + start: [31, 23] +- goal: [26, 26] + name: agent52 + start: [9, 5] +- goal: [15, 9] + name: agent53 + start: [1, 16] +- goal: [28, 18] + name: agent54 + start: [31, 1] +- goal: [2, 22] + name: agent55 + start: [7, 24] +- goal: [31, 15] + name: agent56 + start: [19, 2] +- goal: [1, 14] + name: agent57 + start: [29, 28] +- goal: [4, 17] + name: agent58 + start: [4, 10] +- goal: [22, 1] + name: agent59 + start: [16, 5] +- goal: [3, 22] + name: agent60 + start: [26, 22] +- goal: [12, 23] + name: agent61 + start: [26, 16] +- goal: [26, 24] + name: agent62 + start: [19, 19] +- goal: [26, 2] + name: agent63 + start: [10, 12] +- goal: [17, 19] + name: agent64 + start: [9, 6] +- goal: [28, 28] + name: agent65 + start: [23, 15] +- goal: [17, 16] + name: agent66 + start: [26, 3] +- goal: [13, 31] + name: agent67 + start: [7, 16] +- goal: [6, 17] + name: agent68 + start: [14, 25] +- goal: [29, 13] + name: agent69 + start: [18, 19] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [23, 27] + - !!python/tuple [31, 26] + - !!python/tuple [7, 22] + - !!python/tuple [1, 27] + - !!python/tuple [29, 2] + - !!python/tuple [25, 7] + - !!python/tuple [31, 29] + - !!python/tuple [0, 2] + - !!python/tuple [1, 8] + - !!python/tuple [20, 24] + - !!python/tuple [19, 22] + - !!python/tuple [17, 11] + - !!python/tuple [3, 17] + - !!python/tuple [9, 13] + - !!python/tuple [3, 26] + - !!python/tuple [22, 0] + - !!python/tuple [25, 27] + - !!python/tuple [5, 30] + - !!python/tuple [30, 27] + - !!python/tuple [11, 12] + - !!python/tuple [8, 3] + - !!python/tuple [27, 15] + - !!python/tuple [25, 15] + - !!python/tuple [11, 17] + - !!python/tuple [13, 0] + - !!python/tuple [5, 9] + - !!python/tuple [31, 7] + - !!python/tuple [9, 8] + - !!python/tuple [25, 10] + - !!python/tuple [9, 15] + - !!python/tuple [2, 8] + - !!python/tuple [18, 29] + - !!python/tuple [18, 23] + - !!python/tuple [14, 0] + - !!python/tuple [16, 11] + - !!python/tuple [6, 11] + - !!python/tuple [1, 24] + - !!python/tuple [0, 5] + - !!python/tuple [4, 7] + - !!python/tuple [9, 4] + - !!python/tuple [8, 0] + - !!python/tuple [1, 6] + - !!python/tuple [30, 25] + - !!python/tuple [14, 12] + - !!python/tuple [25, 31] + - !!python/tuple [7, 13] + - !!python/tuple [6, 23] + - !!python/tuple [15, 27] + - !!python/tuple [24, 29] + - !!python/tuple [7, 7] + - !!python/tuple [3, 25] + - !!python/tuple [16, 10] + - !!python/tuple [25, 25] + - !!python/tuple [17, 25] + - !!python/tuple [4, 22] + - !!python/tuple [6, 20] + - !!python/tuple [26, 27] + - !!python/tuple [12, 17] + - !!python/tuple [18, 11] + - !!python/tuple [10, 3] + - !!python/tuple [31, 10] + - !!python/tuple [29, 5] + - !!python/tuple [29, 26] + - !!python/tuple [15, 30] + - !!python/tuple [5, 16] + - !!python/tuple [16, 8] + - !!python/tuple [1, 15] + - !!python/tuple [5, 0] + - !!python/tuple [27, 20] + - !!python/tuple [1, 29] + - !!python/tuple [8, 20] + - !!python/tuple [1, 23] + - !!python/tuple [11, 25] + - !!python/tuple [9, 20] + - !!python/tuple [4, 13] + - !!python/tuple [20, 1] + - !!python/tuple [17, 4] + - !!python/tuple [3, 18] + - !!python/tuple [10, 23] + - !!python/tuple [26, 31] + - !!python/tuple [9, 31] + - !!python/tuple [24, 25] + - !!python/tuple [15, 1] + - !!python/tuple [27, 17] + - !!python/tuple [8, 5] + - !!python/tuple [23, 0] + - !!python/tuple [1, 26] + - !!python/tuple [17, 8] + - !!python/tuple [30, 18] + - !!python/tuple [20, 17] + - !!python/tuple [29, 0] + - !!python/tuple [29, 22] + - !!python/tuple [27, 13] + - !!python/tuple [18, 25] + - !!python/tuple [23, 1] + - !!python/tuple [11, 10] + - !!python/tuple [23, 3] + - !!python/tuple [2, 6] + - !!python/tuple [7, 25] + - !!python/tuple [28, 30] + - !!python/tuple [7, 2] + - !!python/tuple [0, 22] + - !!python/tuple [6, 25] + - !!python/tuple [10, 20] + - !!python/tuple [18, 20] + - !!python/tuple [29, 8] + - !!python/tuple [11, 23] + - !!python/tuple [19, 8] + - !!python/tuple [27, 7] + - !!python/tuple [3, 7] + - !!python/tuple [4, 18] + - !!python/tuple [11, 13] + - !!python/tuple [26, 15] + - !!python/tuple [10, 4] + - !!python/tuple [19, 27] + - !!python/tuple [7, 27] + - !!python/tuple [16, 1] + - !!python/tuple [26, 17] + - !!python/tuple [23, 6] + - !!python/tuple [15, 14] + - !!python/tuple [31, 16] + - !!python/tuple [16, 20] + - !!python/tuple [16, 4] + - !!python/tuple [21, 8] + - !!python/tuple [19, 25] + - !!python/tuple [14, 1] + - !!python/tuple [13, 19] + - !!python/tuple [21, 20] + - !!python/tuple [7, 28] + - !!python/tuple [22, 21] + - !!python/tuple [19, 15] + - !!python/tuple [4, 19] + - !!python/tuple [15, 12] + - !!python/tuple [6, 29] + - !!python/tuple [25, 12] + - !!python/tuple [0, 13] + - !!python/tuple [18, 6] + - !!python/tuple [4, 12] + - !!python/tuple [13, 5] + - !!python/tuple [25, 13] + - !!python/tuple [6, 16] + - !!python/tuple [12, 30] + - !!python/tuple [1, 0] + - !!python/tuple [22, 22] + - !!python/tuple [2, 28] + - !!python/tuple [8, 29] + - !!python/tuple [1, 1] + - !!python/tuple [27, 0] + - !!python/tuple [18, 12] + - !!python/tuple [28, 31] + - !!python/tuple [24, 17] + - !!python/tuple [29, 18] + - !!python/tuple [19, 1] + - !!python/tuple [10, 19] + - !!python/tuple [15, 22] + - !!python/tuple [0, 25] + - !!python/tuple [7, 1] + - !!python/tuple [24, 18] + - !!python/tuple [30, 21] + - !!python/tuple [19, 24] + - !!python/tuple [27, 19] + - !!python/tuple [20, 13] + - !!python/tuple [10, 7] + - !!python/tuple [18, 1] + - !!python/tuple [11, 20] + - !!python/tuple [7, 15] + - !!python/tuple [0, 4] + - !!python/tuple [19, 6] + - !!python/tuple [5, 25] + - !!python/tuple [0, 16] + - !!python/tuple [16, 21] + - !!python/tuple [30, 5] + - !!python/tuple [24, 24] + - !!python/tuple [12, 24] + - !!python/tuple [6, 5] + - !!python/tuple [18, 21] + - !!python/tuple [18, 5] + - !!python/tuple [2, 30] + - !!python/tuple [18, 27] + - !!python/tuple [29, 3] + - !!python/tuple [5, 12] + - !!python/tuple [22, 30] + - !!python/tuple [11, 11] + - !!python/tuple [24, 8] + - !!python/tuple [11, 31] + - !!python/tuple [4, 23] + - !!python/tuple [26, 19] + - !!python/tuple [14, 9] + - !!python/tuple [12, 13] + - !!python/tuple [11, 22] + - !!python/tuple [12, 14] + - !!python/tuple [13, 6] + - !!python/tuple [5, 21] + - !!python/tuple [14, 23] + - !!python/tuple [28, 11] + - !!python/tuple [2, 10] + - !!python/tuple [17, 2] + - !!python/tuple [25, 3] + - !!python/tuple [23, 19] + - !!python/tuple [5, 31] + - !!python/tuple [16, 9] + - !!python/tuple [10, 14] + - !!python/tuple [24, 20] + - !!python/tuple [21, 25] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex56.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex56.yaml new file mode 100644 index 0000000..2f472d3 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex56.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [1, 12] + name: agent0 + start: [21, 10] +- goal: [26, 3] + name: agent1 + start: [13, 2] +- goal: [27, 29] + name: agent2 + start: [22, 4] +- goal: [6, 5] + name: agent3 + start: [1, 0] +- goal: [10, 12] + name: agent4 + start: [2, 25] +- goal: [2, 29] + name: agent5 + start: [6, 16] +- goal: [24, 27] + name: agent6 + start: [14, 12] +- goal: [16, 2] + name: agent7 + start: [12, 17] +- goal: [16, 17] + name: agent8 + start: [16, 27] +- goal: [20, 29] + name: agent9 + start: [31, 12] +- goal: [3, 18] + name: agent10 + start: [10, 23] +- goal: [19, 11] + name: agent11 + start: [24, 17] +- goal: [24, 20] + name: agent12 + start: [7, 20] +- goal: [15, 24] + name: agent13 + start: [11, 7] +- goal: [13, 3] + name: agent14 + start: [19, 12] +- goal: [7, 8] + name: agent15 + start: [28, 30] +- goal: [18, 19] + name: agent16 + start: [2, 30] +- goal: [2, 16] + name: agent17 + start: [13, 28] +- goal: [12, 24] + name: agent18 + start: [30, 1] +- goal: [23, 26] + name: agent19 + start: [11, 6] +- goal: [3, 8] + name: agent20 + start: [28, 24] +- goal: [7, 7] + name: agent21 + start: [29, 9] +- goal: [27, 21] + name: agent22 + start: [2, 16] +- goal: [6, 7] + name: agent23 + start: [19, 15] +- goal: [4, 12] + name: agent24 + start: [5, 11] +- goal: [0, 11] + name: agent25 + start: [1, 26] +- goal: [22, 14] + name: agent26 + start: [30, 23] +- goal: [16, 4] + name: agent27 + start: [16, 2] +- goal: [26, 24] + name: agent28 + start: [7, 14] +- goal: [31, 5] + name: agent29 + start: [21, 12] +- goal: [5, 5] + name: agent30 + start: [4, 26] +- goal: [22, 4] + name: agent31 + start: [8, 27] +- goal: [23, 24] + name: agent32 + start: [20, 1] +- goal: [8, 7] + name: agent33 + start: [1, 24] +- goal: [11, 20] + name: agent34 + start: [17, 21] +- goal: [25, 15] + name: agent35 + start: [20, 17] +- goal: [24, 10] + name: agent36 + start: [15, 18] +- goal: [17, 14] + name: agent37 + start: [9, 25] +- goal: [12, 9] + name: agent38 + start: [30, 21] +- goal: [30, 16] + name: agent39 + start: [21, 1] +- goal: [15, 18] + name: agent40 + start: [6, 13] +- goal: [20, 25] + name: agent41 + start: [10, 20] +- goal: [1, 10] + name: agent42 + start: [24, 21] +- goal: [11, 16] + name: agent43 + start: [11, 20] +- goal: [31, 6] + name: agent44 + start: [0, 10] +- goal: [14, 21] + name: agent45 + start: [11, 0] +- goal: [21, 14] + name: agent46 + start: [24, 8] +- goal: [9, 22] + name: agent47 + start: [12, 0] +- goal: [18, 8] + name: agent48 + start: [26, 16] +- goal: [6, 18] + name: agent49 + start: [28, 15] +- goal: [27, 24] + name: agent50 + start: [10, 7] +- goal: [5, 22] + name: agent51 + start: [22, 26] +- goal: [11, 29] + name: agent52 + start: [13, 27] +- goal: [22, 24] + name: agent53 + start: [13, 16] +- goal: [13, 16] + name: agent54 + start: [6, 18] +- goal: [19, 25] + name: agent55 + start: [18, 31] +- goal: [13, 15] + name: agent56 + start: [17, 1] +- goal: [6, 23] + name: agent57 + start: [30, 20] +- goal: [19, 1] + name: agent58 + start: [4, 14] +- goal: [19, 3] + name: agent59 + start: [23, 5] +- goal: [18, 27] + name: agent60 + start: [4, 17] +- goal: [13, 6] + name: agent61 + start: [17, 3] +- goal: [14, 7] + name: agent62 + start: [22, 30] +- goal: [15, 4] + name: agent63 + start: [2, 22] +- goal: [24, 24] + name: agent64 + start: [1, 4] +- goal: [20, 21] + name: agent65 + start: [10, 27] +- goal: [20, 26] + name: agent66 + start: [10, 9] +- goal: [26, 19] + name: agent67 + start: [22, 12] +- goal: [12, 11] + name: agent68 + start: [23, 22] +- goal: [5, 23] + name: agent69 + start: [14, 1] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [11, 27] + - !!python/tuple [29, 31] + - !!python/tuple [15, 1] + - !!python/tuple [8, 4] + - !!python/tuple [14, 0] + - !!python/tuple [21, 29] + - !!python/tuple [3, 23] + - !!python/tuple [4, 13] + - !!python/tuple [28, 20] + - !!python/tuple [14, 9] + - !!python/tuple [12, 12] + - !!python/tuple [18, 17] + - !!python/tuple [30, 24] + - !!python/tuple [22, 28] + - !!python/tuple [25, 28] + - !!python/tuple [11, 23] + - !!python/tuple [3, 26] + - !!python/tuple [18, 10] + - !!python/tuple [23, 14] + - !!python/tuple [16, 10] + - !!python/tuple [20, 28] + - !!python/tuple [25, 30] + - !!python/tuple [14, 18] + - !!python/tuple [14, 5] + - !!python/tuple [14, 29] + - !!python/tuple [8, 13] + - !!python/tuple [8, 26] + - !!python/tuple [31, 4] + - !!python/tuple [24, 1] + - !!python/tuple [5, 28] + - !!python/tuple [11, 8] + - !!python/tuple [18, 2] + - !!python/tuple [3, 16] + - !!python/tuple [1, 11] + - !!python/tuple [6, 2] + - !!python/tuple [16, 30] + - !!python/tuple [6, 1] + - !!python/tuple [28, 10] + - !!python/tuple [21, 26] + - !!python/tuple [28, 11] + - !!python/tuple [19, 13] + - !!python/tuple [30, 17] + - !!python/tuple [19, 16] + - !!python/tuple [4, 9] + - !!python/tuple [25, 0] + - !!python/tuple [6, 10] + - !!python/tuple [31, 9] + - !!python/tuple [18, 24] + - !!python/tuple [2, 23] + - !!python/tuple [22, 0] + - !!python/tuple [1, 20] + - !!python/tuple [17, 17] + - !!python/tuple [28, 3] + - !!python/tuple [1, 29] + - !!python/tuple [6, 22] + - !!python/tuple [5, 0] + - !!python/tuple [14, 30] + - !!python/tuple [9, 23] + - !!python/tuple [4, 16] + - !!python/tuple [25, 5] + - !!python/tuple [0, 12] + - !!python/tuple [12, 8] + - !!python/tuple [30, 10] + - !!python/tuple [10, 8] + - !!python/tuple [20, 7] + - !!python/tuple [7, 6] + - !!python/tuple [2, 6] + - !!python/tuple [20, 2] + - !!python/tuple [27, 4] + - !!python/tuple [18, 22] + - !!python/tuple [5, 24] + - !!python/tuple [9, 26] + - !!python/tuple [0, 24] + - !!python/tuple [23, 7] + - !!python/tuple [31, 27] + - !!python/tuple [29, 23] + - !!python/tuple [21, 21] + - !!python/tuple [16, 18] + - !!python/tuple [19, 10] + - !!python/tuple [18, 6] + - !!python/tuple [26, 11] + - !!python/tuple [21, 5] + - !!python/tuple [24, 9] + - !!python/tuple [20, 3] + - !!python/tuple [8, 3] + - !!python/tuple [26, 29] + - !!python/tuple [9, 30] + - !!python/tuple [6, 31] + - !!python/tuple [18, 21] + - !!python/tuple [13, 17] + - !!python/tuple [0, 8] + - !!python/tuple [16, 12] + - !!python/tuple [5, 4] + - !!python/tuple [15, 27] + - !!python/tuple [1, 5] + - !!python/tuple [15, 29] + - !!python/tuple [10, 31] + - !!python/tuple [20, 10] + - !!python/tuple [12, 2] + - !!python/tuple [9, 0] + - !!python/tuple [2, 9] + - !!python/tuple [10, 13] + - !!python/tuple [15, 14] + - !!python/tuple [17, 13] + - !!python/tuple [24, 12] + - !!python/tuple [7, 22] + - !!python/tuple [6, 6] + - !!python/tuple [0, 19] + - !!python/tuple [18, 29] + - !!python/tuple [16, 1] + - !!python/tuple [26, 12] + - !!python/tuple [5, 6] + - !!python/tuple [4, 6] + - !!python/tuple [27, 18] + - !!python/tuple [13, 23] + - !!python/tuple [23, 3] + - !!python/tuple [11, 21] + - !!python/tuple [6, 3] + - !!python/tuple [30, 28] + - !!python/tuple [17, 27] + - !!python/tuple [26, 15] + - !!python/tuple [12, 6] + - !!python/tuple [21, 22] + - !!python/tuple [17, 20] + - !!python/tuple [6, 24] + - !!python/tuple [9, 15] + - !!python/tuple [3, 9] + - !!python/tuple [4, 2] + - !!python/tuple [20, 18] + - !!python/tuple [7, 4] + - !!python/tuple [27, 23] + - !!python/tuple [7, 3] + - !!python/tuple [23, 9] + - !!python/tuple [5, 13] + - !!python/tuple [11, 30] + - !!python/tuple [26, 25] + - !!python/tuple [22, 7] + - !!python/tuple [27, 7] + - !!python/tuple [0, 13] + - !!python/tuple [7, 26] + - !!python/tuple [0, 15] + - !!python/tuple [29, 19] + - !!python/tuple [6, 17] + - !!python/tuple [26, 7] + - !!python/tuple [16, 28] + - !!python/tuple [5, 25] + - !!python/tuple [20, 19] + - !!python/tuple [14, 15] + - !!python/tuple [11, 15] + - !!python/tuple [29, 13] + - !!python/tuple [22, 10] + - !!python/tuple [21, 9] + - !!python/tuple [23, 4] + - !!python/tuple [9, 11] + - !!python/tuple [18, 1] + - !!python/tuple [9, 13] + - !!python/tuple [15, 26] + - !!python/tuple [29, 4] + - !!python/tuple [17, 28] + - !!python/tuple [19, 22] + - !!python/tuple [13, 30] + - !!python/tuple [12, 7] + - !!python/tuple [2, 26] + - !!python/tuple [24, 14] + - !!python/tuple [11, 10] + - !!python/tuple [9, 4] + - !!python/tuple [8, 8] + - !!python/tuple [15, 19] + - !!python/tuple [1, 22] + - !!python/tuple [7, 21] + - !!python/tuple [0, 2] + - !!python/tuple [1, 17] + - !!python/tuple [8, 9] + - !!python/tuple [25, 1] + - !!python/tuple [6, 30] + - !!python/tuple [11, 12] + - !!python/tuple [23, 2] + - !!python/tuple [12, 31] + - !!python/tuple [16, 22] + - !!python/tuple [23, 11] + - !!python/tuple [14, 28] + - !!python/tuple [28, 16] + - !!python/tuple [28, 18] + - !!python/tuple [7, 15] + - !!python/tuple [27, 14] + - !!python/tuple [11, 26] + - !!python/tuple [23, 6] + - !!python/tuple [13, 10] + - !!python/tuple [13, 29] + - !!python/tuple [12, 25] + - !!python/tuple [25, 31] + - !!python/tuple [28, 12] + - !!python/tuple [17, 31] + - !!python/tuple [10, 15] + - !!python/tuple [24, 16] + - !!python/tuple [18, 13] + - !!python/tuple [15, 20] + - !!python/tuple [21, 23] + - !!python/tuple [13, 7] + - !!python/tuple [30, 30] + - !!python/tuple [14, 10] + - !!python/tuple [13, 21] + - !!python/tuple [0, 7] + - !!python/tuple [19, 20] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex57.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex57.yaml new file mode 100644 index 0000000..99ae164 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex57.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [1, 1] + name: agent0 + start: [24, 11] +- goal: [19, 5] + name: agent1 + start: [20, 0] +- goal: [9, 17] + name: agent2 + start: [21, 9] +- goal: [10, 18] + name: agent3 + start: [18, 30] +- goal: [2, 28] + name: agent4 + start: [5, 14] +- goal: [18, 12] + name: agent5 + start: [19, 29] +- goal: [11, 12] + name: agent6 + start: [24, 18] +- goal: [22, 0] + name: agent7 + start: [7, 6] +- goal: [16, 8] + name: agent8 + start: [23, 23] +- goal: [10, 0] + name: agent9 + start: [0, 25] +- goal: [24, 1] + name: agent10 + start: [26, 27] +- goal: [12, 16] + name: agent11 + start: [30, 12] +- goal: [20, 2] + name: agent12 + start: [0, 0] +- goal: [27, 12] + name: agent13 + start: [24, 6] +- goal: [20, 23] + name: agent14 + start: [2, 15] +- goal: [30, 13] + name: agent15 + start: [21, 20] +- goal: [6, 18] + name: agent16 + start: [24, 10] +- goal: [17, 14] + name: agent17 + start: [9, 2] +- goal: [28, 0] + name: agent18 + start: [0, 18] +- goal: [6, 2] + name: agent19 + start: [18, 11] +- goal: [8, 9] + name: agent20 + start: [6, 13] +- goal: [5, 19] + name: agent21 + start: [22, 26] +- goal: [12, 17] + name: agent22 + start: [19, 16] +- goal: [18, 10] + name: agent23 + start: [28, 10] +- goal: [13, 21] + name: agent24 + start: [29, 19] +- goal: [22, 29] + name: agent25 + start: [24, 0] +- goal: [10, 12] + name: agent26 + start: [0, 2] +- goal: [22, 31] + name: agent27 + start: [3, 6] +- goal: [9, 24] + name: agent28 + start: [1, 9] +- goal: [16, 29] + name: agent29 + start: [10, 2] +- goal: [27, 19] + name: agent30 + start: [7, 27] +- goal: [10, 11] + name: agent31 + start: [18, 12] +- goal: [30, 28] + name: agent32 + start: [20, 26] +- goal: [23, 25] + name: agent33 + start: [24, 23] +- goal: [21, 6] + name: agent34 + start: [14, 10] +- goal: [17, 5] + name: agent35 + start: [1, 25] +- goal: [18, 0] + name: agent36 + start: [23, 6] +- goal: [15, 14] + name: agent37 + start: [30, 10] +- goal: [0, 10] + name: agent38 + start: [12, 29] +- goal: [22, 10] + name: agent39 + start: [19, 14] +- goal: [6, 24] + name: agent40 + start: [20, 11] +- goal: [10, 17] + name: agent41 + start: [12, 13] +- goal: [31, 19] + name: agent42 + start: [1, 15] +- goal: [31, 3] + name: agent43 + start: [19, 28] +- goal: [31, 27] + name: agent44 + start: [27, 16] +- goal: [16, 13] + name: agent45 + start: [25, 29] +- goal: [22, 22] + name: agent46 + start: [5, 31] +- goal: [20, 14] + name: agent47 + start: [26, 21] +- goal: [3, 1] + name: agent48 + start: [20, 23] +- goal: [25, 24] + name: agent49 + start: [31, 27] +- goal: [7, 27] + name: agent50 + start: [16, 4] +- goal: [20, 6] + name: agent51 + start: [17, 11] +- goal: [6, 3] + name: agent52 + start: [4, 29] +- goal: [16, 16] + name: agent53 + start: [18, 10] +- goal: [11, 20] + name: agent54 + start: [9, 26] +- goal: [3, 8] + name: agent55 + start: [31, 17] +- goal: [29, 30] + name: agent56 + start: [9, 11] +- goal: [9, 27] + name: agent57 + start: [24, 22] +- goal: [10, 7] + name: agent58 + start: [20, 25] +- goal: [23, 29] + name: agent59 + start: [18, 0] +- goal: [9, 21] + name: agent60 + start: [20, 21] +- goal: [16, 15] + name: agent61 + start: [17, 3] +- goal: [23, 7] + name: agent62 + start: [21, 4] +- goal: [31, 15] + name: agent63 + start: [10, 14] +- goal: [30, 8] + name: agent64 + start: [23, 21] +- goal: [5, 14] + name: agent65 + start: [13, 8] +- goal: [28, 9] + name: agent66 + start: [30, 17] +- goal: [23, 9] + name: agent67 + start: [27, 20] +- goal: [11, 19] + name: agent68 + start: [8, 28] +- goal: [17, 26] + name: agent69 + start: [12, 3] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [26, 4] + - !!python/tuple [10, 4] + - !!python/tuple [2, 0] + - !!python/tuple [0, 17] + - !!python/tuple [22, 30] + - !!python/tuple [6, 11] + - !!python/tuple [28, 30] + - !!python/tuple [28, 6] + - !!python/tuple [13, 7] + - !!python/tuple [16, 17] + - !!python/tuple [20, 30] + - !!python/tuple [8, 15] + - !!python/tuple [23, 26] + - !!python/tuple [7, 26] + - !!python/tuple [27, 26] + - !!python/tuple [24, 14] + - !!python/tuple [14, 16] + - !!python/tuple [29, 18] + - !!python/tuple [4, 23] + - !!python/tuple [21, 15] + - !!python/tuple [16, 14] + - !!python/tuple [8, 4] + - !!python/tuple [6, 1] + - !!python/tuple [16, 27] + - !!python/tuple [14, 3] + - !!python/tuple [27, 9] + - !!python/tuple [18, 15] + - !!python/tuple [24, 31] + - !!python/tuple [18, 6] + - !!python/tuple [13, 28] + - !!python/tuple [4, 27] + - !!python/tuple [26, 31] + - !!python/tuple [26, 10] + - !!python/tuple [0, 15] + - !!python/tuple [8, 1] + - !!python/tuple [12, 30] + - !!python/tuple [22, 5] + - !!python/tuple [15, 5] + - !!python/tuple [8, 21] + - !!python/tuple [15, 11] + - !!python/tuple [13, 16] + - !!python/tuple [10, 19] + - !!python/tuple [9, 1] + - !!python/tuple [7, 2] + - !!python/tuple [18, 16] + - !!python/tuple [7, 11] + - !!python/tuple [14, 18] + - !!python/tuple [21, 23] + - !!python/tuple [22, 20] + - !!python/tuple [21, 24] + - !!python/tuple [26, 2] + - !!python/tuple [11, 17] + - !!python/tuple [17, 7] + - !!python/tuple [28, 28] + - !!python/tuple [22, 4] + - !!python/tuple [18, 1] + - !!python/tuple [3, 20] + - !!python/tuple [0, 29] + - !!python/tuple [30, 1] + - !!python/tuple [22, 12] + - !!python/tuple [21, 26] + - !!python/tuple [15, 19] + - !!python/tuple [27, 1] + - !!python/tuple [0, 7] + - !!python/tuple [3, 23] + - !!python/tuple [1, 20] + - !!python/tuple [17, 24] + - !!python/tuple [15, 0] + - !!python/tuple [0, 21] + - !!python/tuple [31, 21] + - !!python/tuple [11, 28] + - !!python/tuple [8, 5] + - !!python/tuple [11, 8] + - !!python/tuple [12, 21] + - !!python/tuple [25, 20] + - !!python/tuple [17, 29] + - !!python/tuple [2, 30] + - !!python/tuple [11, 24] + - !!python/tuple [26, 25] + - !!python/tuple [21, 10] + - !!python/tuple [29, 22] + - !!python/tuple [17, 2] + - !!python/tuple [4, 6] + - !!python/tuple [31, 5] + - !!python/tuple [25, 15] + - !!python/tuple [14, 12] + - !!python/tuple [1, 30] + - !!python/tuple [12, 5] + - !!python/tuple [13, 2] + - !!python/tuple [1, 31] + - !!python/tuple [31, 2] + - !!python/tuple [6, 8] + - !!python/tuple [14, 9] + - !!python/tuple [14, 13] + - !!python/tuple [1, 11] + - !!python/tuple [7, 31] + - !!python/tuple [20, 1] + - !!python/tuple [8, 19] + - !!python/tuple [27, 30] + - !!python/tuple [17, 10] + - !!python/tuple [19, 2] + - !!python/tuple [25, 1] + - !!python/tuple [9, 25] + - !!python/tuple [24, 17] + - !!python/tuple [29, 15] + - !!python/tuple [29, 6] + - !!python/tuple [29, 0] + - !!python/tuple [16, 28] + - !!python/tuple [3, 12] + - !!python/tuple [16, 19] + - !!python/tuple [23, 10] + - !!python/tuple [6, 16] + - !!python/tuple [26, 23] + - !!python/tuple [25, 13] + - !!python/tuple [13, 11] + - !!python/tuple [0, 22] + - !!python/tuple [25, 19] + - !!python/tuple [22, 18] + - !!python/tuple [4, 26] + - !!python/tuple [25, 17] + - !!python/tuple [2, 14] + - !!python/tuple [1, 4] + - !!python/tuple [29, 9] + - !!python/tuple [15, 12] + - !!python/tuple [5, 17] + - !!python/tuple [27, 27] + - !!python/tuple [17, 4] + - !!python/tuple [8, 18] + - !!python/tuple [20, 8] + - !!python/tuple [28, 27] + - !!python/tuple [1, 8] + - !!python/tuple [10, 26] + - !!python/tuple [24, 12] + - !!python/tuple [16, 12] + - !!python/tuple [29, 14] + - !!python/tuple [12, 11] + - !!python/tuple [29, 20] + - !!python/tuple [13, 9] + - !!python/tuple [6, 25] + - !!python/tuple [5, 13] + - !!python/tuple [10, 8] + - !!python/tuple [28, 25] + - !!python/tuple [8, 22] + - !!python/tuple [7, 18] + - !!python/tuple [16, 26] + - !!python/tuple [30, 21] + - !!python/tuple [6, 20] + - !!python/tuple [10, 20] + - !!python/tuple [10, 1] + - !!python/tuple [24, 3] + - !!python/tuple [27, 28] + - !!python/tuple [28, 21] + - !!python/tuple [25, 12] + - !!python/tuple [17, 30] + - !!python/tuple [22, 21] + - !!python/tuple [3, 14] + - !!python/tuple [26, 12] + - !!python/tuple [1, 13] + - !!python/tuple [29, 29] + - !!python/tuple [8, 30] + - !!python/tuple [16, 20] + - !!python/tuple [18, 18] + - !!python/tuple [8, 16] + - !!python/tuple [11, 29] + - !!python/tuple [5, 12] + - !!python/tuple [20, 31] + - !!python/tuple [18, 9] + - !!python/tuple [14, 30] + - !!python/tuple [17, 0] + - !!python/tuple [25, 10] + - !!python/tuple [6, 23] + - !!python/tuple [27, 24] + - !!python/tuple [28, 4] + - !!python/tuple [8, 0] + - !!python/tuple [7, 5] + - !!python/tuple [5, 20] + - !!python/tuple [15, 3] + - !!python/tuple [28, 29] + - !!python/tuple [23, 0] + - !!python/tuple [15, 21] + - !!python/tuple [16, 31] + - !!python/tuple [23, 1] + - !!python/tuple [22, 16] + - !!python/tuple [4, 10] + - !!python/tuple [26, 7] + - !!python/tuple [0, 11] + - !!python/tuple [31, 4] + - !!python/tuple [31, 26] + - !!python/tuple [6, 21] + - !!python/tuple [21, 17] + - !!python/tuple [23, 24] + - !!python/tuple [30, 22] + - !!python/tuple [22, 25] + - !!python/tuple [19, 27] + - !!python/tuple [26, 14] + - !!python/tuple [8, 23] + - !!python/tuple [8, 3] + - !!python/tuple [23, 20] + - !!python/tuple [2, 26] + - !!python/tuple [27, 15] + - !!python/tuple [15, 31] + - !!python/tuple [26, 24] + - !!python/tuple [10, 15] + - !!python/tuple [17, 23] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex58.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex58.yaml new file mode 100644 index 0000000..cd1ab54 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex58.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [22, 2] + name: agent0 + start: [4, 4] +- goal: [28, 9] + name: agent1 + start: [5, 5] +- goal: [17, 4] + name: agent2 + start: [8, 15] +- goal: [12, 26] + name: agent3 + start: [1, 26] +- goal: [1, 19] + name: agent4 + start: [28, 6] +- goal: [25, 26] + name: agent5 + start: [11, 23] +- goal: [26, 12] + name: agent6 + start: [18, 22] +- goal: [1, 24] + name: agent7 + start: [19, 26] +- goal: [12, 17] + name: agent8 + start: [6, 10] +- goal: [10, 3] + name: agent9 + start: [0, 29] +- goal: [31, 30] + name: agent10 + start: [22, 23] +- goal: [11, 8] + name: agent11 + start: [18, 27] +- goal: [23, 30] + name: agent12 + start: [21, 3] +- goal: [12, 30] + name: agent13 + start: [17, 2] +- goal: [14, 25] + name: agent14 + start: [6, 9] +- goal: [5, 11] + name: agent15 + start: [10, 0] +- goal: [8, 26] + name: agent16 + start: [31, 25] +- goal: [16, 17] + name: agent17 + start: [27, 17] +- goal: [7, 26] + name: agent18 + start: [31, 15] +- goal: [19, 17] + name: agent19 + start: [22, 22] +- goal: [19, 7] + name: agent20 + start: [1, 24] +- goal: [6, 4] + name: agent21 + start: [29, 8] +- goal: [5, 19] + name: agent22 + start: [21, 14] +- goal: [31, 0] + name: agent23 + start: [19, 1] +- goal: [8, 12] + name: agent24 + start: [26, 19] +- goal: [16, 31] + name: agent25 + start: [20, 12] +- goal: [21, 4] + name: agent26 + start: [17, 5] +- goal: [13, 16] + name: agent27 + start: [4, 3] +- goal: [8, 2] + name: agent28 + start: [12, 4] +- goal: [23, 7] + name: agent29 + start: [5, 23] +- goal: [5, 24] + name: agent30 + start: [3, 15] +- goal: [25, 6] + name: agent31 + start: [3, 23] +- goal: [12, 23] + name: agent32 + start: [3, 6] +- goal: [26, 14] + name: agent33 + start: [0, 12] +- goal: [30, 23] + name: agent34 + start: [5, 19] +- goal: [8, 27] + name: agent35 + start: [0, 31] +- goal: [12, 5] + name: agent36 + start: [12, 29] +- goal: [7, 19] + name: agent37 + start: [13, 18] +- goal: [15, 3] + name: agent38 + start: [16, 25] +- goal: [19, 5] + name: agent39 + start: [22, 11] +- goal: [31, 6] + name: agent40 + start: [4, 7] +- goal: [17, 16] + name: agent41 + start: [8, 7] +- goal: [19, 1] + name: agent42 + start: [27, 13] +- goal: [17, 18] + name: agent43 + start: [27, 10] +- goal: [25, 19] + name: agent44 + start: [24, 27] +- goal: [21, 27] + name: agent45 + start: [31, 29] +- goal: [22, 15] + name: agent46 + start: [16, 12] +- goal: [3, 25] + name: agent47 + start: [25, 0] +- goal: [5, 3] + name: agent48 + start: [1, 25] +- goal: [9, 14] + name: agent49 + start: [15, 31] +- goal: [21, 23] + name: agent50 + start: [24, 11] +- goal: [18, 28] + name: agent51 + start: [31, 7] +- goal: [22, 0] + name: agent52 + start: [9, 6] +- goal: [31, 7] + name: agent53 + start: [23, 9] +- goal: [7, 11] + name: agent54 + start: [17, 26] +- goal: [24, 22] + name: agent55 + start: [16, 9] +- goal: [21, 6] + name: agent56 + start: [29, 18] +- goal: [11, 20] + name: agent57 + start: [15, 0] +- goal: [11, 30] + name: agent58 + start: [15, 19] +- goal: [31, 28] + name: agent59 + start: [6, 30] +- goal: [29, 10] + name: agent60 + start: [0, 1] +- goal: [2, 14] + name: agent61 + start: [8, 31] +- goal: [3, 3] + name: agent62 + start: [23, 23] +- goal: [8, 19] + name: agent63 + start: [18, 7] +- goal: [15, 14] + name: agent64 + start: [3, 26] +- goal: [16, 1] + name: agent65 + start: [4, 0] +- goal: [3, 4] + name: agent66 + start: [7, 9] +- goal: [12, 0] + name: agent67 + start: [16, 16] +- goal: [9, 4] + name: agent68 + start: [30, 21] +- goal: [20, 2] + name: agent69 + start: [29, 19] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [28, 27] + - !!python/tuple [5, 6] + - !!python/tuple [1, 9] + - !!python/tuple [11, 28] + - !!python/tuple [8, 14] + - !!python/tuple [9, 28] + - !!python/tuple [23, 27] + - !!python/tuple [17, 20] + - !!python/tuple [10, 29] + - !!python/tuple [15, 5] + - !!python/tuple [0, 27] + - !!python/tuple [19, 30] + - !!python/tuple [7, 27] + - !!python/tuple [1, 3] + - !!python/tuple [9, 29] + - !!python/tuple [14, 4] + - !!python/tuple [14, 12] + - !!python/tuple [18, 30] + - !!python/tuple [13, 17] + - !!python/tuple [9, 1] + - !!python/tuple [4, 2] + - !!python/tuple [18, 2] + - !!python/tuple [1, 1] + - !!python/tuple [14, 9] + - !!python/tuple [0, 7] + - !!python/tuple [22, 4] + - !!python/tuple [30, 18] + - !!python/tuple [29, 16] + - !!python/tuple [11, 5] + - !!python/tuple [10, 17] + - !!python/tuple [17, 14] + - !!python/tuple [8, 6] + - !!python/tuple [6, 6] + - !!python/tuple [2, 0] + - !!python/tuple [14, 22] + - !!python/tuple [14, 16] + - !!python/tuple [27, 6] + - !!python/tuple [4, 8] + - !!python/tuple [12, 7] + - !!python/tuple [11, 24] + - !!python/tuple [25, 8] + - !!python/tuple [5, 1] + - !!python/tuple [23, 29] + - !!python/tuple [15, 24] + - !!python/tuple [14, 23] + - !!python/tuple [16, 27] + - !!python/tuple [10, 22] + - !!python/tuple [16, 14] + - !!python/tuple [21, 29] + - !!python/tuple [15, 29] + - !!python/tuple [0, 25] + - !!python/tuple [8, 3] + - !!python/tuple [22, 28] + - !!python/tuple [9, 26] + - !!python/tuple [18, 13] + - !!python/tuple [13, 29] + - !!python/tuple [26, 20] + - !!python/tuple [5, 30] + - !!python/tuple [24, 7] + - !!python/tuple [15, 12] + - !!python/tuple [28, 29] + - !!python/tuple [5, 9] + - !!python/tuple [22, 5] + - !!python/tuple [15, 18] + - !!python/tuple [0, 14] + - !!python/tuple [29, 4] + - !!python/tuple [0, 17] + - !!python/tuple [25, 7] + - !!python/tuple [11, 14] + - !!python/tuple [23, 2] + - !!python/tuple [2, 16] + - !!python/tuple [29, 15] + - !!python/tuple [1, 2] + - !!python/tuple [23, 11] + - !!python/tuple [28, 13] + - !!python/tuple [13, 30] + - !!python/tuple [11, 6] + - !!python/tuple [18, 10] + - !!python/tuple [6, 3] + - !!python/tuple [11, 18] + - !!python/tuple [19, 29] + - !!python/tuple [31, 22] + - !!python/tuple [28, 23] + - !!python/tuple [13, 7] + - !!python/tuple [3, 10] + - !!python/tuple [19, 12] + - !!python/tuple [1, 18] + - !!python/tuple [7, 10] + - !!python/tuple [3, 16] + - !!python/tuple [24, 30] + - !!python/tuple [15, 16] + - !!python/tuple [18, 1] + - !!python/tuple [5, 17] + - !!python/tuple [15, 6] + - !!python/tuple [27, 11] + - !!python/tuple [1, 28] + - !!python/tuple [21, 28] + - !!python/tuple [14, 27] + - !!python/tuple [25, 15] + - !!python/tuple [7, 13] + - !!python/tuple [11, 1] + - !!python/tuple [3, 9] + - !!python/tuple [0, 30] + - !!python/tuple [21, 0] + - !!python/tuple [16, 22] + - !!python/tuple [5, 7] + - !!python/tuple [21, 13] + - !!python/tuple [31, 31] + - !!python/tuple [27, 23] + - !!python/tuple [23, 14] + - !!python/tuple [2, 6] + - !!python/tuple [2, 3] + - !!python/tuple [11, 11] + - !!python/tuple [5, 21] + - !!python/tuple [18, 5] + - !!python/tuple [24, 1] + - !!python/tuple [31, 1] + - !!python/tuple [24, 17] + - !!python/tuple [28, 2] + - !!python/tuple [10, 10] + - !!python/tuple [4, 27] + - !!python/tuple [6, 17] + - !!python/tuple [21, 5] + - !!python/tuple [7, 6] + - !!python/tuple [25, 1] + - !!python/tuple [14, 11] + - !!python/tuple [6, 22] + - !!python/tuple [6, 20] + - !!python/tuple [8, 10] + - !!python/tuple [20, 27] + - !!python/tuple [20, 13] + - !!python/tuple [27, 21] + - !!python/tuple [3, 24] + - !!python/tuple [7, 12] + - !!python/tuple [23, 8] + - !!python/tuple [15, 17] + - !!python/tuple [5, 15] + - !!python/tuple [10, 12] + - !!python/tuple [7, 20] + - !!python/tuple [19, 15] + - !!python/tuple [23, 17] + - !!python/tuple [9, 23] + - !!python/tuple [0, 10] + - !!python/tuple [26, 31] + - !!python/tuple [19, 14] + - !!python/tuple [16, 3] + - !!python/tuple [29, 17] + - !!python/tuple [6, 24] + - !!python/tuple [23, 25] + - !!python/tuple [2, 2] + - !!python/tuple [12, 25] + - !!python/tuple [27, 0] + - !!python/tuple [24, 2] + - !!python/tuple [4, 16] + - !!python/tuple [6, 27] + - !!python/tuple [18, 3] + - !!python/tuple [12, 1] + - !!python/tuple [11, 15] + - !!python/tuple [6, 18] + - !!python/tuple [29, 24] + - !!python/tuple [7, 14] + - !!python/tuple [21, 18] + - !!python/tuple [16, 8] + - !!python/tuple [23, 19] + - !!python/tuple [30, 28] + - !!python/tuple [9, 24] + - !!python/tuple [31, 18] + - !!python/tuple [1, 17] + - !!python/tuple [17, 30] + - !!python/tuple [2, 4] + - !!python/tuple [10, 19] + - !!python/tuple [21, 22] + - !!python/tuple [0, 28] + - !!python/tuple [9, 20] + - !!python/tuple [15, 7] + - !!python/tuple [2, 11] + - !!python/tuple [14, 20] + - !!python/tuple [10, 24] + - !!python/tuple [8, 9] + - !!python/tuple [7, 16] + - !!python/tuple [26, 16] + - !!python/tuple [1, 8] + - !!python/tuple [29, 27] + - !!python/tuple [8, 0] + - !!python/tuple [27, 24] + - !!python/tuple [28, 22] + - !!python/tuple [10, 9] + - !!python/tuple [13, 22] + - !!python/tuple [22, 8] + - !!python/tuple [23, 1] + - !!python/tuple [12, 10] + - !!python/tuple [25, 25] + - !!python/tuple [29, 9] + - !!python/tuple [10, 16] + - !!python/tuple [24, 24] + - !!python/tuple [2, 31] + - !!python/tuple [27, 7] + - !!python/tuple [31, 19] + - !!python/tuple [16, 13] + - !!python/tuple [7, 29] + - !!python/tuple [12, 14] + - !!python/tuple [15, 4] + - !!python/tuple [29, 31] + - !!python/tuple [25, 3] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex59.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex59.yaml new file mode 100644 index 0000000..5a7922d --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex59.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [17, 1] + name: agent0 + start: [25, 14] +- goal: [12, 4] + name: agent1 + start: [6, 19] +- goal: [26, 19] + name: agent2 + start: [27, 5] +- goal: [22, 4] + name: agent3 + start: [4, 3] +- goal: [8, 10] + name: agent4 + start: [7, 14] +- goal: [3, 0] + name: agent5 + start: [14, 5] +- goal: [27, 6] + name: agent6 + start: [13, 18] +- goal: [26, 13] + name: agent7 + start: [23, 8] +- goal: [1, 4] + name: agent8 + start: [26, 24] +- goal: [7, 13] + name: agent9 + start: [6, 16] +- goal: [10, 18] + name: agent10 + start: [5, 22] +- goal: [11, 19] + name: agent11 + start: [15, 9] +- goal: [20, 17] + name: agent12 + start: [3, 24] +- goal: [2, 27] + name: agent13 + start: [20, 4] +- goal: [30, 19] + name: agent14 + start: [5, 27] +- goal: [11, 31] + name: agent15 + start: [14, 3] +- goal: [23, 31] + name: agent16 + start: [18, 4] +- goal: [19, 6] + name: agent17 + start: [18, 5] +- goal: [21, 1] + name: agent18 + start: [17, 6] +- goal: [9, 20] + name: agent19 + start: [4, 17] +- goal: [30, 4] + name: agent20 + start: [16, 16] +- goal: [29, 16] + name: agent21 + start: [18, 31] +- goal: [13, 1] + name: agent22 + start: [11, 22] +- goal: [0, 23] + name: agent23 + start: [16, 2] +- goal: [22, 17] + name: agent24 + start: [29, 8] +- goal: [8, 20] + name: agent25 + start: [23, 28] +- goal: [28, 10] + name: agent26 + start: [29, 19] +- goal: [17, 15] + name: agent27 + start: [5, 8] +- goal: [19, 3] + name: agent28 + start: [26, 26] +- goal: [19, 5] + name: agent29 + start: [29, 3] +- goal: [30, 21] + name: agent30 + start: [9, 20] +- goal: [19, 12] + name: agent31 + start: [11, 11] +- goal: [6, 9] + name: agent32 + start: [12, 3] +- goal: [11, 13] + name: agent33 + start: [25, 30] +- goal: [25, 3] + name: agent34 + start: [5, 2] +- goal: [6, 15] + name: agent35 + start: [2, 21] +- goal: [31, 5] + name: agent36 + start: [29, 29] +- goal: [28, 1] + name: agent37 + start: [13, 12] +- goal: [15, 13] + name: agent38 + start: [20, 11] +- goal: [3, 10] + name: agent39 + start: [31, 30] +- goal: [29, 6] + name: agent40 + start: [25, 11] +- goal: [16, 16] + name: agent41 + start: [0, 29] +- goal: [22, 11] + name: agent42 + start: [30, 5] +- goal: [16, 11] + name: agent43 + start: [11, 21] +- goal: [8, 23] + name: agent44 + start: [23, 4] +- goal: [14, 17] + name: agent45 + start: [6, 7] +- goal: [1, 24] + name: agent46 + start: [9, 4] +- goal: [3, 29] + name: agent47 + start: [9, 29] +- goal: [4, 19] + name: agent48 + start: [27, 29] +- goal: [20, 25] + name: agent49 + start: [10, 19] +- goal: [0, 18] + name: agent50 + start: [18, 21] +- goal: [25, 12] + name: agent51 + start: [14, 24] +- goal: [2, 30] + name: agent52 + start: [5, 11] +- goal: [15, 1] + name: agent53 + start: [31, 18] +- goal: [15, 4] + name: agent54 + start: [7, 23] +- goal: [1, 28] + name: agent55 + start: [3, 22] +- goal: [10, 14] + name: agent56 + start: [30, 26] +- goal: [20, 26] + name: agent57 + start: [24, 5] +- goal: [19, 8] + name: agent58 + start: [7, 3] +- goal: [28, 6] + name: agent59 + start: [28, 8] +- goal: [14, 12] + name: agent60 + start: [20, 30] +- goal: [3, 11] + name: agent61 + start: [30, 8] +- goal: [7, 9] + name: agent62 + start: [27, 16] +- goal: [25, 21] + name: agent63 + start: [29, 1] +- goal: [1, 25] + name: agent64 + start: [26, 25] +- goal: [9, 10] + name: agent65 + start: [26, 29] +- goal: [19, 24] + name: agent66 + start: [19, 10] +- goal: [30, 20] + name: agent67 + start: [14, 30] +- goal: [30, 1] + name: agent68 + start: [22, 4] +- goal: [26, 20] + name: agent69 + start: [25, 2] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [16, 23] + - !!python/tuple [27, 9] + - !!python/tuple [12, 13] + - !!python/tuple [28, 18] + - !!python/tuple [7, 19] + - !!python/tuple [0, 6] + - !!python/tuple [9, 24] + - !!python/tuple [21, 30] + - !!python/tuple [30, 24] + - !!python/tuple [1, 7] + - !!python/tuple [8, 4] + - !!python/tuple [14, 15] + - !!python/tuple [27, 11] + - !!python/tuple [10, 25] + - !!python/tuple [15, 30] + - !!python/tuple [15, 24] + - !!python/tuple [9, 26] + - !!python/tuple [31, 4] + - !!python/tuple [19, 4] + - !!python/tuple [4, 11] + - !!python/tuple [15, 6] + - !!python/tuple [30, 10] + - !!python/tuple [17, 16] + - !!python/tuple [29, 13] + - !!python/tuple [23, 27] + - !!python/tuple [8, 8] + - !!python/tuple [31, 3] + - !!python/tuple [28, 26] + - !!python/tuple [0, 2] + - !!python/tuple [20, 23] + - !!python/tuple [17, 3] + - !!python/tuple [23, 18] + - !!python/tuple [22, 24] + - !!python/tuple [18, 14] + - !!python/tuple [21, 9] + - !!python/tuple [25, 24] + - !!python/tuple [1, 6] + - !!python/tuple [15, 15] + - !!python/tuple [11, 18] + - !!python/tuple [6, 10] + - !!python/tuple [24, 31] + - !!python/tuple [0, 14] + - !!python/tuple [22, 9] + - !!python/tuple [2, 15] + - !!python/tuple [16, 8] + - !!python/tuple [11, 0] + - !!python/tuple [4, 0] + - !!python/tuple [5, 1] + - !!python/tuple [24, 21] + - !!python/tuple [0, 20] + - !!python/tuple [12, 10] + - !!python/tuple [26, 30] + - !!python/tuple [29, 23] + - !!python/tuple [23, 3] + - !!python/tuple [10, 8] + - !!python/tuple [20, 14] + - !!python/tuple [6, 0] + - !!python/tuple [29, 10] + - !!python/tuple [22, 25] + - !!python/tuple [28, 12] + - !!python/tuple [23, 5] + - !!python/tuple [20, 0] + - !!python/tuple [3, 5] + - !!python/tuple [24, 27] + - !!python/tuple [7, 16] + - !!python/tuple [15, 20] + - !!python/tuple [4, 15] + - !!python/tuple [19, 25] + - !!python/tuple [14, 29] + - !!python/tuple [4, 21] + - !!python/tuple [27, 12] + - !!python/tuple [8, 12] + - !!python/tuple [20, 22] + - !!python/tuple [30, 27] + - !!python/tuple [23, 10] + - !!python/tuple [26, 18] + - !!python/tuple [11, 17] + - !!python/tuple [4, 1] + - !!python/tuple [26, 0] + - !!python/tuple [16, 24] + - !!python/tuple [28, 0] + - !!python/tuple [9, 14] + - !!python/tuple [23, 13] + - !!python/tuple [29, 24] + - !!python/tuple [15, 11] + - !!python/tuple [0, 17] + - !!python/tuple [10, 21] + - !!python/tuple [17, 10] + - !!python/tuple [17, 9] + - !!python/tuple [26, 5] + - !!python/tuple [20, 7] + - !!python/tuple [10, 24] + - !!python/tuple [15, 5] + - !!python/tuple [14, 8] + - !!python/tuple [0, 25] + - !!python/tuple [13, 31] + - !!python/tuple [24, 16] + - !!python/tuple [16, 12] + - !!python/tuple [13, 21] + - !!python/tuple [2, 23] + - !!python/tuple [12, 8] + - !!python/tuple [3, 1] + - !!python/tuple [13, 6] + - !!python/tuple [14, 14] + - !!python/tuple [12, 0] + - !!python/tuple [28, 27] + - !!python/tuple [3, 19] + - !!python/tuple [21, 29] + - !!python/tuple [25, 0] + - !!python/tuple [9, 27] + - !!python/tuple [29, 5] + - !!python/tuple [25, 6] + - !!python/tuple [16, 5] + - !!python/tuple [19, 7] + - !!python/tuple [31, 0] + - !!python/tuple [22, 26] + - !!python/tuple [20, 27] + - !!python/tuple [16, 26] + - !!python/tuple [13, 11] + - !!python/tuple [31, 15] + - !!python/tuple [17, 22] + - !!python/tuple [20, 16] + - !!python/tuple [30, 12] + - !!python/tuple [13, 28] + - !!python/tuple [1, 23] + - !!python/tuple [7, 6] + - !!python/tuple [19, 1] + - !!python/tuple [26, 22] + - !!python/tuple [0, 13] + - !!python/tuple [18, 19] + - !!python/tuple [2, 19] + - !!python/tuple [14, 27] + - !!python/tuple [14, 4] + - !!python/tuple [25, 27] + - !!python/tuple [8, 19] + - !!python/tuple [21, 0] + - !!python/tuple [4, 18] + - !!python/tuple [31, 11] + - !!python/tuple [12, 23] + - !!python/tuple [23, 16] + - !!python/tuple [3, 4] + - !!python/tuple [6, 3] + - !!python/tuple [17, 30] + - !!python/tuple [12, 2] + - !!python/tuple [16, 20] + - !!python/tuple [1, 31] + - !!python/tuple [20, 28] + - !!python/tuple [28, 3] + - !!python/tuple [24, 4] + - !!python/tuple [13, 16] + - !!python/tuple [22, 13] + - !!python/tuple [29, 2] + - !!python/tuple [27, 30] + - !!python/tuple [20, 8] + - !!python/tuple [4, 2] + - !!python/tuple [19, 23] + - !!python/tuple [26, 8] + - !!python/tuple [28, 22] + - !!python/tuple [8, 24] + - !!python/tuple [30, 30] + - !!python/tuple [27, 22] + - !!python/tuple [30, 0] + - !!python/tuple [13, 23] + - !!python/tuple [21, 25] + - !!python/tuple [15, 3] + - !!python/tuple [22, 14] + - !!python/tuple [20, 24] + - !!python/tuple [0, 15] + - !!python/tuple [17, 28] + - !!python/tuple [13, 10] + - !!python/tuple [5, 18] + - !!python/tuple [24, 0] + - !!python/tuple [21, 14] + - !!python/tuple [5, 31] + - !!python/tuple [1, 19] + - !!python/tuple [22, 30] + - !!python/tuple [28, 4] + - !!python/tuple [5, 20] + - !!python/tuple [15, 7] + - !!python/tuple [25, 23] + - !!python/tuple [1, 11] + - !!python/tuple [15, 19] + - !!python/tuple [25, 9] + - !!python/tuple [16, 18] + - !!python/tuple [22, 12] + - !!python/tuple [22, 29] + - !!python/tuple [21, 11] + - !!python/tuple [4, 14] + - !!python/tuple [26, 31] + - !!python/tuple [6, 8] + - !!python/tuple [10, 13] + - !!python/tuple [3, 8] + - !!python/tuple [2, 8] + - !!python/tuple [0, 1] + - !!python/tuple [1, 9] + - !!python/tuple [23, 12] + - !!python/tuple [23, 6] + - !!python/tuple [11, 15] + - !!python/tuple [9, 18] + - !!python/tuple [7, 31] + - !!python/tuple [9, 25] + - !!python/tuple [25, 5] + - !!python/tuple [31, 7] + - !!python/tuple [21, 6] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex6.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex6.yaml new file mode 100644 index 0000000..f0445a4 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex6.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [6, 3] + name: agent0 + start: [10, 20] +- goal: [9, 29] + name: agent1 + start: [25, 19] +- goal: [23, 2] + name: agent2 + start: [6, 9] +- goal: [13, 31] + name: agent3 + start: [14, 30] +- goal: [16, 8] + name: agent4 + start: [1, 30] +- goal: [19, 22] + name: agent5 + start: [16, 29] +- goal: [15, 16] + name: agent6 + start: [15, 18] +- goal: [1, 30] + name: agent7 + start: [16, 21] +- goal: [11, 9] + name: agent8 + start: [27, 1] +- goal: [27, 17] + name: agent9 + start: [22, 21] +- goal: [27, 13] + name: agent10 + start: [31, 30] +- goal: [12, 20] + name: agent11 + start: [19, 17] +- goal: [21, 16] + name: agent12 + start: [11, 31] +- goal: [13, 27] + name: agent13 + start: [5, 31] +- goal: [2, 9] + name: agent14 + start: [23, 21] +- goal: [30, 10] + name: agent15 + start: [25, 1] +- goal: [30, 2] + name: agent16 + start: [26, 4] +- goal: [21, 14] + name: agent17 + start: [30, 31] +- goal: [2, 10] + name: agent18 + start: [22, 23] +- goal: [31, 4] + name: agent19 + start: [16, 22] +- goal: [24, 17] + name: agent20 + start: [16, 14] +- goal: [16, 19] + name: agent21 + start: [18, 13] +- goal: [23, 0] + name: agent22 + start: [22, 9] +- goal: [17, 4] + name: agent23 + start: [6, 16] +- goal: [27, 29] + name: agent24 + start: [22, 12] +- goal: [14, 15] + name: agent25 + start: [2, 29] +- goal: [31, 19] + name: agent26 + start: [6, 2] +- goal: [12, 13] + name: agent27 + start: [27, 3] +- goal: [14, 12] + name: agent28 + start: [13, 20] +- goal: [5, 2] + name: agent29 + start: [30, 12] +- goal: [20, 10] + name: agent30 + start: [13, 16] +- goal: [4, 19] + name: agent31 + start: [9, 31] +- goal: [13, 4] + name: agent32 + start: [10, 23] +- goal: [27, 15] + name: agent33 + start: [18, 26] +- goal: [5, 24] + name: agent34 + start: [26, 1] +- goal: [5, 27] + name: agent35 + start: [31, 2] +- goal: [3, 18] + name: agent36 + start: [6, 3] +- goal: [22, 23] + name: agent37 + start: [18, 30] +- goal: [18, 30] + name: agent38 + start: [19, 15] +- goal: [17, 23] + name: agent39 + start: [6, 17] +- goal: [8, 18] + name: agent40 + start: [3, 28] +- goal: [20, 5] + name: agent41 + start: [26, 8] +- goal: [0, 17] + name: agent42 + start: [6, 24] +- goal: [19, 0] + name: agent43 + start: [14, 27] +- goal: [30, 1] + name: agent44 + start: [11, 28] +- goal: [6, 20] + name: agent45 + start: [7, 1] +- goal: [18, 27] + name: agent46 + start: [18, 27] +- goal: [27, 14] + name: agent47 + start: [9, 28] +- goal: [24, 21] + name: agent48 + start: [30, 27] +- goal: [19, 2] + name: agent49 + start: [27, 28] +- goal: [25, 8] + name: agent50 + start: [13, 3] +- goal: [31, 21] + name: agent51 + start: [21, 29] +- goal: [20, 26] + name: agent52 + start: [25, 7] +- goal: [25, 23] + name: agent53 + start: [10, 21] +- goal: [29, 16] + name: agent54 + start: [13, 6] +- goal: [31, 0] + name: agent55 + start: [23, 22] +- goal: [21, 30] + name: agent56 + start: [25, 8] +- goal: [5, 9] + name: agent57 + start: [10, 28] +- goal: [31, 25] + name: agent58 + start: [20, 22] +- goal: [29, 7] + name: agent59 + start: [24, 3] +- goal: [20, 11] + name: agent60 + start: [3, 29] +- goal: [5, 23] + name: agent61 + start: [10, 10] +- goal: [19, 21] + name: agent62 + start: [13, 14] +- goal: [22, 26] + name: agent63 + start: [24, 5] +- goal: [24, 29] + name: agent64 + start: [18, 17] +- goal: [21, 24] + name: agent65 + start: [30, 8] +- goal: [19, 25] + name: agent66 + start: [1, 1] +- goal: [22, 29] + name: agent67 + start: [28, 21] +- goal: [12, 18] + name: agent68 + start: [9, 22] +- goal: [9, 13] + name: agent69 + start: [23, 29] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [25, 30] + - !!python/tuple [30, 23] + - !!python/tuple [11, 13] + - !!python/tuple [23, 19] + - !!python/tuple [15, 26] + - !!python/tuple [27, 5] + - !!python/tuple [20, 17] + - !!python/tuple [9, 23] + - !!python/tuple [17, 31] + - !!python/tuple [31, 20] + - !!python/tuple [14, 31] + - !!python/tuple [23, 12] + - !!python/tuple [24, 23] + - !!python/tuple [5, 3] + - !!python/tuple [28, 26] + - !!python/tuple [21, 8] + - !!python/tuple [4, 4] + - !!python/tuple [14, 7] + - !!python/tuple [29, 29] + - !!python/tuple [9, 9] + - !!python/tuple [1, 20] + - !!python/tuple [22, 15] + - !!python/tuple [0, 12] + - !!python/tuple [31, 7] + - !!python/tuple [16, 5] + - !!python/tuple [8, 22] + - !!python/tuple [24, 1] + - !!python/tuple [0, 20] + - !!python/tuple [1, 17] + - !!python/tuple [2, 19] + - !!python/tuple [19, 31] + - !!python/tuple [23, 25] + - !!python/tuple [29, 27] + - !!python/tuple [13, 30] + - !!python/tuple [22, 1] + - !!python/tuple [17, 29] + - !!python/tuple [10, 12] + - !!python/tuple [15, 24] + - !!python/tuple [25, 21] + - !!python/tuple [11, 12] + - !!python/tuple [0, 21] + - !!python/tuple [7, 28] + - !!python/tuple [19, 19] + - !!python/tuple [31, 28] + - !!python/tuple [15, 4] + - !!python/tuple [1, 12] + - !!python/tuple [11, 3] + - !!python/tuple [20, 8] + - !!python/tuple [2, 26] + - !!python/tuple [9, 10] + - !!python/tuple [0, 25] + - !!python/tuple [0, 14] + - !!python/tuple [18, 12] + - !!python/tuple [30, 26] + - !!python/tuple [20, 25] + - !!python/tuple [25, 9] + - !!python/tuple [28, 15] + - !!python/tuple [22, 3] + - !!python/tuple [5, 21] + - !!python/tuple [29, 25] + - !!python/tuple [0, 28] + - !!python/tuple [3, 3] + - !!python/tuple [13, 23] + - !!python/tuple [4, 20] + - !!python/tuple [1, 7] + - !!python/tuple [1, 6] + - !!python/tuple [0, 19] + - !!python/tuple [15, 25] + - !!python/tuple [13, 12] + - !!python/tuple [17, 19] + - !!python/tuple [7, 13] + - !!python/tuple [14, 18] + - !!python/tuple [31, 10] + - !!python/tuple [1, 27] + - !!python/tuple [11, 15] + - !!python/tuple [11, 16] + - !!python/tuple [21, 6] + - !!python/tuple [6, 28] + - !!python/tuple [25, 27] + - !!python/tuple [0, 13] + - !!python/tuple [19, 29] + - !!python/tuple [21, 13] + - !!python/tuple [28, 9] + - !!python/tuple [9, 19] + - !!python/tuple [2, 5] + - !!python/tuple [6, 8] + - !!python/tuple [10, 15] + - !!python/tuple [14, 16] + - !!python/tuple [1, 23] + - !!python/tuple [27, 27] + - !!python/tuple [25, 5] + - !!python/tuple [14, 10] + - !!python/tuple [15, 5] + - !!python/tuple [1, 4] + - !!python/tuple [16, 13] + - !!python/tuple [5, 4] + - !!python/tuple [10, 26] + - !!python/tuple [18, 3] + - !!python/tuple [30, 3] + - !!python/tuple [23, 15] + - !!python/tuple [27, 20] + - !!python/tuple [13, 7] + - !!python/tuple [30, 16] + - !!python/tuple [5, 30] + - !!python/tuple [6, 10] + - !!python/tuple [14, 21] + - !!python/tuple [0, 2] + - !!python/tuple [15, 12] + - !!python/tuple [23, 9] + - !!python/tuple [10, 27] + - !!python/tuple [2, 0] + - !!python/tuple [6, 25] + - !!python/tuple [26, 17] + - !!python/tuple [4, 31] + - !!python/tuple [26, 5] + - !!python/tuple [5, 12] + - !!python/tuple [23, 10] + - !!python/tuple [8, 8] + - !!python/tuple [9, 25] + - !!python/tuple [2, 11] + - !!python/tuple [1, 8] + - !!python/tuple [22, 13] + - !!python/tuple [25, 22] + - !!python/tuple [17, 10] + - !!python/tuple [7, 9] + - !!python/tuple [26, 24] + - !!python/tuple [1, 24] + - !!python/tuple [1, 31] + - !!python/tuple [31, 9] + - !!python/tuple [31, 13] + - !!python/tuple [29, 4] + - !!python/tuple [25, 14] + - !!python/tuple [20, 24] + - !!python/tuple [30, 29] + - !!python/tuple [15, 9] + - !!python/tuple [13, 28] + - !!python/tuple [28, 8] + - !!python/tuple [30, 21] + - !!python/tuple [8, 1] + - !!python/tuple [30, 6] + - !!python/tuple [23, 11] + - !!python/tuple [2, 12] + - !!python/tuple [15, 8] + - !!python/tuple [4, 28] + - !!python/tuple [10, 6] + - !!python/tuple [16, 7] + - !!python/tuple [14, 19] + - !!python/tuple [30, 13] + - !!python/tuple [30, 14] + - !!python/tuple [12, 11] + - !!python/tuple [19, 3] + - !!python/tuple [20, 3] + - !!python/tuple [13, 24] + - !!python/tuple [29, 3] + - !!python/tuple [14, 20] + - !!python/tuple [28, 24] + - !!python/tuple [8, 6] + - !!python/tuple [28, 14] + - !!python/tuple [16, 24] + - !!python/tuple [11, 17] + - !!python/tuple [7, 12] + - !!python/tuple [8, 13] + - !!python/tuple [30, 20] + - !!python/tuple [29, 8] + - !!python/tuple [15, 19] + - !!python/tuple [20, 12] + - !!python/tuple [1, 10] + - !!python/tuple [25, 28] + - !!python/tuple [4, 21] + - !!python/tuple [27, 4] + - !!python/tuple [9, 5] + - !!python/tuple [7, 5] + - !!python/tuple [16, 15] + - !!python/tuple [16, 31] + - !!python/tuple [13, 15] + - !!python/tuple [28, 1] + - !!python/tuple [12, 19] + - !!python/tuple [28, 2] + - !!python/tuple [10, 3] + - !!python/tuple [6, 11] + - !!python/tuple [16, 23] + - !!python/tuple [10, 16] + - !!python/tuple [11, 8] + - !!python/tuple [25, 26] + - !!python/tuple [1, 15] + - !!python/tuple [26, 16] + - !!python/tuple [8, 5] + - !!python/tuple [8, 25] + - !!python/tuple [5, 29] + - !!python/tuple [24, 19] + - !!python/tuple [22, 4] + - !!python/tuple [28, 20] + - !!python/tuple [21, 25] + - !!python/tuple [15, 31] + - !!python/tuple [0, 16] + - !!python/tuple [9, 15] + - !!python/tuple [4, 6] + - !!python/tuple [8, 26] + - !!python/tuple [22, 5] + - !!python/tuple [0, 4] + - !!python/tuple [30, 17] + - !!python/tuple [8, 31] + - !!python/tuple [8, 9] + - !!python/tuple [7, 2] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex60.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex60.yaml new file mode 100644 index 0000000..58bb6e2 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex60.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [11, 28] + name: agent0 + start: [6, 12] +- goal: [30, 18] + name: agent1 + start: [28, 25] +- goal: [5, 22] + name: agent2 + start: [31, 16] +- goal: [2, 7] + name: agent3 + start: [8, 14] +- goal: [19, 22] + name: agent4 + start: [17, 9] +- goal: [2, 27] + name: agent5 + start: [18, 20] +- goal: [19, 8] + name: agent6 + start: [6, 20] +- goal: [13, 6] + name: agent7 + start: [19, 3] +- goal: [3, 22] + name: agent8 + start: [30, 30] +- goal: [9, 8] + name: agent9 + start: [21, 29] +- goal: [11, 26] + name: agent10 + start: [18, 19] +- goal: [14, 21] + name: agent11 + start: [28, 5] +- goal: [26, 15] + name: agent12 + start: [14, 19] +- goal: [6, 7] + name: agent13 + start: [11, 22] +- goal: [17, 2] + name: agent14 + start: [9, 30] +- goal: [2, 10] + name: agent15 + start: [25, 7] +- goal: [20, 17] + name: agent16 + start: [19, 30] +- goal: [29, 16] + name: agent17 + start: [28, 26] +- goal: [26, 13] + name: agent18 + start: [8, 7] +- goal: [23, 14] + name: agent19 + start: [11, 12] +- goal: [28, 18] + name: agent20 + start: [15, 22] +- goal: [24, 8] + name: agent21 + start: [20, 22] +- goal: [7, 3] + name: agent22 + start: [14, 11] +- goal: [9, 21] + name: agent23 + start: [4, 3] +- goal: [28, 22] + name: agent24 + start: [11, 26] +- goal: [1, 4] + name: agent25 + start: [17, 7] +- goal: [13, 4] + name: agent26 + start: [30, 23] +- goal: [0, 13] + name: agent27 + start: [8, 28] +- goal: [21, 15] + name: agent28 + start: [13, 12] +- goal: [4, 3] + name: agent29 + start: [5, 15] +- goal: [6, 18] + name: agent30 + start: [21, 13] +- goal: [21, 13] + name: agent31 + start: [16, 3] +- goal: [6, 25] + name: agent32 + start: [27, 4] +- goal: [25, 26] + name: agent33 + start: [31, 24] +- goal: [13, 29] + name: agent34 + start: [19, 7] +- goal: [22, 25] + name: agent35 + start: [10, 30] +- goal: [0, 29] + name: agent36 + start: [28, 9] +- goal: [20, 8] + name: agent37 + start: [20, 27] +- goal: [9, 9] + name: agent38 + start: [21, 22] +- goal: [12, 13] + name: agent39 + start: [27, 25] +- goal: [15, 14] + name: agent40 + start: [27, 26] +- goal: [28, 21] + name: agent41 + start: [21, 17] +- goal: [4, 16] + name: agent42 + start: [24, 23] +- goal: [11, 8] + name: agent43 + start: [4, 10] +- goal: [25, 28] + name: agent44 + start: [25, 14] +- goal: [10, 14] + name: agent45 + start: [2, 20] +- goal: [6, 14] + name: agent46 + start: [10, 29] +- goal: [1, 13] + name: agent47 + start: [4, 26] +- goal: [2, 20] + name: agent48 + start: [23, 0] +- goal: [27, 1] + name: agent49 + start: [8, 8] +- goal: [0, 8] + name: agent50 + start: [19, 31] +- goal: [2, 13] + name: agent51 + start: [4, 15] +- goal: [17, 22] + name: agent52 + start: [16, 27] +- goal: [24, 22] + name: agent53 + start: [26, 15] +- goal: [23, 18] + name: agent54 + start: [1, 9] +- goal: [28, 23] + name: agent55 + start: [29, 18] +- goal: [20, 11] + name: agent56 + start: [29, 20] +- goal: [30, 19] + name: agent57 + start: [10, 4] +- goal: [0, 25] + name: agent58 + start: [15, 17] +- goal: [12, 22] + name: agent59 + start: [22, 31] +- goal: [17, 19] + name: agent60 + start: [16, 28] +- goal: [3, 29] + name: agent61 + start: [25, 15] +- goal: [13, 21] + name: agent62 + start: [27, 0] +- goal: [10, 9] + name: agent63 + start: [7, 10] +- goal: [31, 12] + name: agent64 + start: [26, 14] +- goal: [1, 25] + name: agent65 + start: [21, 3] +- goal: [30, 26] + name: agent66 + start: [6, 25] +- goal: [16, 19] + name: agent67 + start: [23, 18] +- goal: [14, 20] + name: agent68 + start: [20, 18] +- goal: [1, 20] + name: agent69 + start: [13, 8] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [21, 31] + - !!python/tuple [27, 12] + - !!python/tuple [27, 8] + - !!python/tuple [31, 30] + - !!python/tuple [0, 24] + - !!python/tuple [17, 12] + - !!python/tuple [15, 29] + - !!python/tuple [19, 23] + - !!python/tuple [22, 8] + - !!python/tuple [9, 3] + - !!python/tuple [18, 15] + - !!python/tuple [7, 24] + - !!python/tuple [13, 18] + - !!python/tuple [17, 6] + - !!python/tuple [7, 1] + - !!python/tuple [2, 31] + - !!python/tuple [17, 29] + - !!python/tuple [21, 10] + - !!python/tuple [6, 0] + - !!python/tuple [11, 15] + - !!python/tuple [23, 20] + - !!python/tuple [4, 6] + - !!python/tuple [28, 15] + - !!python/tuple [18, 30] + - !!python/tuple [16, 23] + - !!python/tuple [29, 31] + - !!python/tuple [13, 1] + - !!python/tuple [23, 2] + - !!python/tuple [26, 8] + - !!python/tuple [4, 8] + - !!python/tuple [2, 25] + - !!python/tuple [5, 12] + - !!python/tuple [22, 16] + - !!python/tuple [26, 29] + - !!python/tuple [5, 19] + - !!python/tuple [16, 11] + - !!python/tuple [29, 29] + - !!python/tuple [10, 28] + - !!python/tuple [16, 9] + - !!python/tuple [18, 29] + - !!python/tuple [11, 29] + - !!python/tuple [21, 0] + - !!python/tuple [2, 18] + - !!python/tuple [12, 11] + - !!python/tuple [6, 26] + - !!python/tuple [29, 17] + - !!python/tuple [2, 0] + - !!python/tuple [6, 4] + - !!python/tuple [0, 27] + - !!python/tuple [18, 31] + - !!python/tuple [16, 6] + - !!python/tuple [29, 0] + - !!python/tuple [8, 11] + - !!python/tuple [29, 19] + - !!python/tuple [19, 15] + - !!python/tuple [2, 24] + - !!python/tuple [7, 23] + - !!python/tuple [31, 17] + - !!python/tuple [20, 28] + - !!python/tuple [25, 31] + - !!python/tuple [30, 8] + - !!python/tuple [7, 31] + - !!python/tuple [1, 29] + - !!python/tuple [14, 28] + - !!python/tuple [7, 22] + - !!python/tuple [17, 18] + - !!python/tuple [20, 12] + - !!python/tuple [26, 27] + - !!python/tuple [17, 28] + - !!python/tuple [25, 2] + - !!python/tuple [1, 31] + - !!python/tuple [3, 15] + - !!python/tuple [18, 22] + - !!python/tuple [4, 22] + - !!python/tuple [10, 8] + - !!python/tuple [9, 15] + - !!python/tuple [16, 31] + - !!python/tuple [8, 3] + - !!python/tuple [5, 17] + - !!python/tuple [18, 10] + - !!python/tuple [9, 23] + - !!python/tuple [12, 16] + - !!python/tuple [11, 2] + - !!python/tuple [12, 25] + - !!python/tuple [24, 29] + - !!python/tuple [7, 4] + - !!python/tuple [0, 11] + - !!python/tuple [1, 26] + - !!python/tuple [11, 19] + - !!python/tuple [17, 13] + - !!python/tuple [18, 28] + - !!python/tuple [6, 24] + - !!python/tuple [22, 13] + - !!python/tuple [20, 1] + - !!python/tuple [10, 21] + - !!python/tuple [23, 5] + - !!python/tuple [28, 13] + - !!python/tuple [15, 18] + - !!python/tuple [19, 16] + - !!python/tuple [26, 11] + - !!python/tuple [7, 26] + - !!python/tuple [27, 18] + - !!python/tuple [2, 16] + - !!python/tuple [23, 25] + - !!python/tuple [16, 4] + - !!python/tuple [18, 1] + - !!python/tuple [12, 1] + - !!python/tuple [27, 14] + - !!python/tuple [0, 17] + - !!python/tuple [17, 31] + - !!python/tuple [10, 20] + - !!python/tuple [18, 2] + - !!python/tuple [27, 3] + - !!python/tuple [25, 13] + - !!python/tuple [7, 13] + - !!python/tuple [9, 2] + - !!python/tuple [5, 4] + - !!python/tuple [13, 13] + - !!python/tuple [2, 3] + - !!python/tuple [4, 14] + - !!python/tuple [29, 1] + - !!python/tuple [7, 16] + - !!python/tuple [22, 7] + - !!python/tuple [16, 30] + - !!python/tuple [4, 12] + - !!python/tuple [1, 6] + - !!python/tuple [24, 16] + - !!python/tuple [28, 20] + - !!python/tuple [8, 1] + - !!python/tuple [10, 17] + - !!python/tuple [13, 27] + - !!python/tuple [3, 11] + - !!python/tuple [14, 1] + - !!python/tuple [23, 15] + - !!python/tuple [31, 2] + - !!python/tuple [4, 25] + - !!python/tuple [25, 1] + - !!python/tuple [18, 26] + - !!python/tuple [23, 22] + - !!python/tuple [14, 7] + - !!python/tuple [4, 0] + - !!python/tuple [21, 26] + - !!python/tuple [8, 17] + - !!python/tuple [14, 16] + - !!python/tuple [8, 12] + - !!python/tuple [8, 22] + - !!python/tuple [2, 8] + - !!python/tuple [24, 15] + - !!python/tuple [3, 17] + - !!python/tuple [26, 7] + - !!python/tuple [25, 12] + - !!python/tuple [3, 5] + - !!python/tuple [11, 7] + - !!python/tuple [30, 20] + - !!python/tuple [14, 2] + - !!python/tuple [5, 23] + - !!python/tuple [7, 12] + - !!python/tuple [1, 22] + - !!python/tuple [19, 18] + - !!python/tuple [0, 14] + - !!python/tuple [18, 5] + - !!python/tuple [22, 20] + - !!python/tuple [21, 19] + - !!python/tuple [17, 17] + - !!python/tuple [27, 17] + - !!python/tuple [4, 1] + - !!python/tuple [20, 2] + - !!python/tuple [22, 19] + - !!python/tuple [15, 24] + - !!python/tuple [27, 28] + - !!python/tuple [8, 19] + - !!python/tuple [30, 4] + - !!python/tuple [27, 11] + - !!python/tuple [11, 16] + - !!python/tuple [19, 21] + - !!python/tuple [29, 9] + - !!python/tuple [1, 12] + - !!python/tuple [3, 30] + - !!python/tuple [27, 15] + - !!python/tuple [15, 6] + - !!python/tuple [1, 8] + - !!python/tuple [3, 3] + - !!python/tuple [24, 1] + - !!python/tuple [8, 27] + - !!python/tuple [28, 3] + - !!python/tuple [22, 11] + - !!python/tuple [17, 4] + - !!python/tuple [14, 14] + - !!python/tuple [17, 25] + - !!python/tuple [0, 6] + - !!python/tuple [11, 20] + - !!python/tuple [6, 22] + - !!python/tuple [13, 3] + - !!python/tuple [15, 20] + - !!python/tuple [30, 6] + - !!python/tuple [12, 10] + - !!python/tuple [4, 11] + - !!python/tuple [23, 27] + - !!python/tuple [8, 20] + - !!python/tuple [28, 6] + - !!python/tuple [5, 28] + - !!python/tuple [9, 20] + - !!python/tuple [29, 13] + - !!python/tuple [20, 24] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex61.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex61.yaml new file mode 100644 index 0000000..04fa9d3 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex61.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [23, 18] + name: agent0 + start: [9, 29] +- goal: [14, 27] + name: agent1 + start: [25, 22] +- goal: [10, 22] + name: agent2 + start: [0, 17] +- goal: [18, 31] + name: agent3 + start: [18, 7] +- goal: [26, 16] + name: agent4 + start: [28, 12] +- goal: [29, 31] + name: agent5 + start: [20, 7] +- goal: [25, 14] + name: agent6 + start: [17, 0] +- goal: [0, 12] + name: agent7 + start: [17, 26] +- goal: [14, 22] + name: agent8 + start: [29, 23] +- goal: [2, 19] + name: agent9 + start: [27, 21] +- goal: [27, 5] + name: agent10 + start: [8, 21] +- goal: [29, 4] + name: agent11 + start: [16, 5] +- goal: [19, 13] + name: agent12 + start: [22, 18] +- goal: [16, 5] + name: agent13 + start: [14, 20] +- goal: [0, 26] + name: agent14 + start: [17, 13] +- goal: [24, 28] + name: agent15 + start: [9, 1] +- goal: [18, 6] + name: agent16 + start: [25, 4] +- goal: [25, 20] + name: agent17 + start: [20, 25] +- goal: [10, 0] + name: agent18 + start: [26, 0] +- goal: [0, 2] + name: agent19 + start: [5, 6] +- goal: [17, 6] + name: agent20 + start: [27, 30] +- goal: [5, 20] + name: agent21 + start: [19, 0] +- goal: [2, 27] + name: agent22 + start: [6, 24] +- goal: [28, 16] + name: agent23 + start: [28, 3] +- goal: [31, 2] + name: agent24 + start: [22, 5] +- goal: [1, 6] + name: agent25 + start: [14, 23] +- goal: [4, 7] + name: agent26 + start: [25, 3] +- goal: [15, 5] + name: agent27 + start: [15, 0] +- goal: [9, 9] + name: agent28 + start: [26, 6] +- goal: [16, 11] + name: agent29 + start: [14, 31] +- goal: [9, 23] + name: agent30 + start: [24, 31] +- goal: [0, 19] + name: agent31 + start: [6, 3] +- goal: [6, 6] + name: agent32 + start: [9, 8] +- goal: [0, 18] + name: agent33 + start: [24, 2] +- goal: [31, 7] + name: agent34 + start: [17, 16] +- goal: [0, 3] + name: agent35 + start: [12, 10] +- goal: [0, 31] + name: agent36 + start: [29, 11] +- goal: [2, 5] + name: agent37 + start: [29, 29] +- goal: [6, 14] + name: agent38 + start: [13, 8] +- goal: [18, 7] + name: agent39 + start: [21, 19] +- goal: [29, 7] + name: agent40 + start: [14, 7] +- goal: [11, 7] + name: agent41 + start: [14, 26] +- goal: [28, 23] + name: agent42 + start: [31, 23] +- goal: [27, 29] + name: agent43 + start: [31, 26] +- goal: [3, 30] + name: agent44 + start: [22, 22] +- goal: [14, 28] + name: agent45 + start: [14, 16] +- goal: [10, 20] + name: agent46 + start: [21, 1] +- goal: [11, 3] + name: agent47 + start: [25, 2] +- goal: [19, 22] + name: agent48 + start: [29, 31] +- goal: [14, 29] + name: agent49 + start: [19, 12] +- goal: [7, 12] + name: agent50 + start: [8, 30] +- goal: [22, 24] + name: agent51 + start: [4, 21] +- goal: [13, 8] + name: agent52 + start: [15, 28] +- goal: [11, 24] + name: agent53 + start: [1, 21] +- goal: [4, 5] + name: agent54 + start: [16, 25] +- goal: [5, 4] + name: agent55 + start: [24, 0] +- goal: [19, 10] + name: agent56 + start: [13, 13] +- goal: [11, 5] + name: agent57 + start: [28, 17] +- goal: [18, 23] + name: agent58 + start: [0, 1] +- goal: [4, 4] + name: agent59 + start: [2, 31] +- goal: [4, 28] + name: agent60 + start: [1, 28] +- goal: [26, 22] + name: agent61 + start: [7, 14] +- goal: [3, 17] + name: agent62 + start: [2, 22] +- goal: [3, 31] + name: agent63 + start: [5, 22] +- goal: [23, 23] + name: agent64 + start: [28, 13] +- goal: [11, 29] + name: agent65 + start: [21, 25] +- goal: [9, 7] + name: agent66 + start: [6, 6] +- goal: [30, 25] + name: agent67 + start: [16, 7] +- goal: [13, 6] + name: agent68 + start: [19, 19] +- goal: [4, 20] + name: agent69 + start: [23, 27] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [3, 13] + - !!python/tuple [17, 7] + - !!python/tuple [4, 26] + - !!python/tuple [13, 3] + - !!python/tuple [19, 11] + - !!python/tuple [4, 22] + - !!python/tuple [5, 27] + - !!python/tuple [4, 13] + - !!python/tuple [20, 9] + - !!python/tuple [5, 18] + - !!python/tuple [20, 29] + - !!python/tuple [17, 18] + - !!python/tuple [8, 9] + - !!python/tuple [28, 28] + - !!python/tuple [2, 24] + - !!python/tuple [27, 1] + - !!python/tuple [21, 16] + - !!python/tuple [18, 12] + - !!python/tuple [10, 18] + - !!python/tuple [6, 17] + - !!python/tuple [24, 17] + - !!python/tuple [27, 19] + - !!python/tuple [3, 18] + - !!python/tuple [9, 21] + - !!python/tuple [22, 10] + - !!python/tuple [11, 4] + - !!python/tuple [8, 25] + - !!python/tuple [31, 17] + - !!python/tuple [8, 24] + - !!python/tuple [19, 9] + - !!python/tuple [29, 1] + - !!python/tuple [16, 29] + - !!python/tuple [21, 4] + - !!python/tuple [7, 10] + - !!python/tuple [26, 27] + - !!python/tuple [31, 13] + - !!python/tuple [16, 27] + - !!python/tuple [15, 16] + - !!python/tuple [18, 16] + - !!python/tuple [19, 14] + - !!python/tuple [9, 20] + - !!python/tuple [0, 9] + - !!python/tuple [15, 20] + - !!python/tuple [16, 28] + - !!python/tuple [13, 14] + - !!python/tuple [21, 18] + - !!python/tuple [24, 29] + - !!python/tuple [28, 2] + - !!python/tuple [14, 25] + - !!python/tuple [28, 14] + - !!python/tuple [26, 14] + - !!python/tuple [3, 25] + - !!python/tuple [18, 15] + - !!python/tuple [23, 3] + - !!python/tuple [8, 10] + - !!python/tuple [6, 27] + - !!python/tuple [15, 17] + - !!python/tuple [10, 27] + - !!python/tuple [31, 27] + - !!python/tuple [1, 13] + - !!python/tuple [23, 11] + - !!python/tuple [24, 23] + - !!python/tuple [12, 12] + - !!python/tuple [6, 31] + - !!python/tuple [7, 19] + - !!python/tuple [1, 18] + - !!python/tuple [27, 24] + - !!python/tuple [30, 29] + - !!python/tuple [29, 0] + - !!python/tuple [23, 24] + - !!python/tuple [5, 11] + - !!python/tuple [22, 27] + - !!python/tuple [16, 13] + - !!python/tuple [8, 16] + - !!python/tuple [28, 6] + - !!python/tuple [0, 29] + - !!python/tuple [26, 8] + - !!python/tuple [26, 23] + - !!python/tuple [30, 5] + - !!python/tuple [15, 24] + - !!python/tuple [20, 14] + - !!python/tuple [16, 17] + - !!python/tuple [12, 31] + - !!python/tuple [1, 3] + - !!python/tuple [10, 24] + - !!python/tuple [28, 29] + - !!python/tuple [10, 16] + - !!python/tuple [30, 11] + - !!python/tuple [1, 12] + - !!python/tuple [12, 3] + - !!python/tuple [11, 20] + - !!python/tuple [29, 25] + - !!python/tuple [31, 12] + - !!python/tuple [12, 2] + - !!python/tuple [4, 19] + - !!python/tuple [6, 26] + - !!python/tuple [28, 22] + - !!python/tuple [5, 29] + - !!python/tuple [8, 3] + - !!python/tuple [20, 28] + - !!python/tuple [17, 21] + - !!python/tuple [17, 25] + - !!python/tuple [12, 22] + - !!python/tuple [0, 25] + - !!python/tuple [29, 8] + - !!python/tuple [24, 9] + - !!python/tuple [5, 15] + - !!python/tuple [20, 19] + - !!python/tuple [24, 7] + - !!python/tuple [21, 30] + - !!python/tuple [19, 3] + - !!python/tuple [27, 28] + - !!python/tuple [2, 20] + - !!python/tuple [23, 26] + - !!python/tuple [7, 27] + - !!python/tuple [8, 5] + - !!python/tuple [6, 30] + - !!python/tuple [25, 18] + - !!python/tuple [30, 22] + - !!python/tuple [7, 17] + - !!python/tuple [28, 11] + - !!python/tuple [14, 1] + - !!python/tuple [12, 14] + - !!python/tuple [7, 4] + - !!python/tuple [11, 19] + - !!python/tuple [28, 19] + - !!python/tuple [26, 11] + - !!python/tuple [16, 14] + - !!python/tuple [12, 9] + - !!python/tuple [4, 18] + - !!python/tuple [23, 16] + - !!python/tuple [2, 16] + - !!python/tuple [26, 19] + - !!python/tuple [25, 5] + - !!python/tuple [13, 15] + - !!python/tuple [4, 15] + - !!python/tuple [30, 26] + - !!python/tuple [31, 1] + - !!python/tuple [15, 2] + - !!python/tuple [4, 14] + - !!python/tuple [23, 1] + - !!python/tuple [5, 5] + - !!python/tuple [15, 4] + - !!python/tuple [3, 4] + - !!python/tuple [11, 10] + - !!python/tuple [20, 23] + - !!python/tuple [19, 21] + - !!python/tuple [13, 26] + - !!python/tuple [22, 8] + - !!python/tuple [28, 8] + - !!python/tuple [12, 11] + - !!python/tuple [7, 8] + - !!python/tuple [25, 6] + - !!python/tuple [15, 18] + - !!python/tuple [23, 15] + - !!python/tuple [30, 8] + - !!python/tuple [29, 14] + - !!python/tuple [10, 21] + - !!python/tuple [29, 24] + - !!python/tuple [20, 12] + - !!python/tuple [28, 15] + - !!python/tuple [8, 2] + - !!python/tuple [11, 22] + - !!python/tuple [14, 24] + - !!python/tuple [21, 29] + - !!python/tuple [17, 24] + - !!python/tuple [9, 12] + - !!python/tuple [14, 8] + - !!python/tuple [20, 26] + - !!python/tuple [11, 15] + - !!python/tuple [3, 24] + - !!python/tuple [30, 2] + - !!python/tuple [20, 15] + - !!python/tuple [29, 6] + - !!python/tuple [21, 22] + - !!python/tuple [28, 25] + - !!python/tuple [27, 11] + - !!python/tuple [24, 25] + - !!python/tuple [0, 21] + - !!python/tuple [9, 4] + - !!python/tuple [0, 6] + - !!python/tuple [25, 24] + - !!python/tuple [4, 27] + - !!python/tuple [12, 23] + - !!python/tuple [25, 11] + - !!python/tuple [30, 20] + - !!python/tuple [18, 19] + - !!python/tuple [30, 24] + - !!python/tuple [27, 23] + - !!python/tuple [4, 17] + - !!python/tuple [0, 27] + - !!python/tuple [29, 12] + - !!python/tuple [27, 26] + - !!python/tuple [4, 6] + - !!python/tuple [10, 11] + - !!python/tuple [10, 5] + - !!python/tuple [27, 3] + - !!python/tuple [7, 18] + - !!python/tuple [16, 24] + - !!python/tuple [15, 23] + - !!python/tuple [3, 20] + - !!python/tuple [6, 22] + - !!python/tuple [8, 1] + - !!python/tuple [24, 21] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex62.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex62.yaml new file mode 100644 index 0000000..4acbe20 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex62.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [12, 6] + name: agent0 + start: [0, 1] +- goal: [3, 7] + name: agent1 + start: [18, 16] +- goal: [0, 15] + name: agent2 + start: [22, 10] +- goal: [24, 16] + name: agent3 + start: [6, 6] +- goal: [13, 8] + name: agent4 + start: [22, 29] +- goal: [26, 17] + name: agent5 + start: [7, 22] +- goal: [3, 3] + name: agent6 + start: [9, 3] +- goal: [4, 29] + name: agent7 + start: [8, 3] +- goal: [29, 0] + name: agent8 + start: [23, 31] +- goal: [29, 14] + name: agent9 + start: [25, 30] +- goal: [8, 5] + name: agent10 + start: [20, 27] +- goal: [4, 11] + name: agent11 + start: [1, 21] +- goal: [1, 19] + name: agent12 + start: [21, 27] +- goal: [7, 8] + name: agent13 + start: [14, 27] +- goal: [28, 29] + name: agent14 + start: [22, 12] +- goal: [11, 2] + name: agent15 + start: [29, 12] +- goal: [2, 23] + name: agent16 + start: [26, 22] +- goal: [10, 12] + name: agent17 + start: [7, 8] +- goal: [13, 23] + name: agent18 + start: [12, 30] +- goal: [18, 23] + name: agent19 + start: [10, 27] +- goal: [21, 3] + name: agent20 + start: [16, 22] +- goal: [18, 14] + name: agent21 + start: [21, 21] +- goal: [13, 10] + name: agent22 + start: [16, 21] +- goal: [12, 24] + name: agent23 + start: [9, 14] +- goal: [14, 25] + name: agent24 + start: [4, 18] +- goal: [10, 4] + name: agent25 + start: [24, 22] +- goal: [23, 14] + name: agent26 + start: [13, 15] +- goal: [18, 27] + name: agent27 + start: [20, 2] +- goal: [10, 21] + name: agent28 + start: [31, 31] +- goal: [10, 29] + name: agent29 + start: [22, 30] +- goal: [30, 19] + name: agent30 + start: [23, 6] +- goal: [14, 9] + name: agent31 + start: [20, 8] +- goal: [6, 30] + name: agent32 + start: [9, 25] +- goal: [5, 17] + name: agent33 + start: [4, 2] +- goal: [6, 12] + name: agent34 + start: [23, 27] +- goal: [5, 14] + name: agent35 + start: [6, 4] +- goal: [2, 6] + name: agent36 + start: [14, 23] +- goal: [12, 31] + name: agent37 + start: [25, 11] +- goal: [29, 9] + name: agent38 + start: [29, 19] +- goal: [30, 14] + name: agent39 + start: [1, 12] +- goal: [31, 17] + name: agent40 + start: [4, 25] +- goal: [20, 1] + name: agent41 + start: [15, 24] +- goal: [10, 16] + name: agent42 + start: [11, 14] +- goal: [27, 23] + name: agent43 + start: [6, 8] +- goal: [16, 27] + name: agent44 + start: [21, 12] +- goal: [8, 29] + name: agent45 + start: [12, 4] +- goal: [25, 14] + name: agent46 + start: [17, 24] +- goal: [6, 2] + name: agent47 + start: [20, 22] +- goal: [28, 26] + name: agent48 + start: [29, 23] +- goal: [22, 0] + name: agent49 + start: [31, 29] +- goal: [7, 31] + name: agent50 + start: [16, 30] +- goal: [12, 1] + name: agent51 + start: [21, 18] +- goal: [3, 26] + name: agent52 + start: [21, 22] +- goal: [0, 7] + name: agent53 + start: [27, 14] +- goal: [7, 10] + name: agent54 + start: [11, 1] +- goal: [26, 15] + name: agent55 + start: [28, 5] +- goal: [4, 20] + name: agent56 + start: [13, 0] +- goal: [30, 13] + name: agent57 + start: [7, 16] +- goal: [3, 2] + name: agent58 + start: [5, 11] +- goal: [25, 7] + name: agent59 + start: [2, 15] +- goal: [2, 21] + name: agent60 + start: [23, 0] +- goal: [31, 5] + name: agent61 + start: [26, 15] +- goal: [9, 24] + name: agent62 + start: [9, 20] +- goal: [14, 26] + name: agent63 + start: [23, 29] +- goal: [24, 20] + name: agent64 + start: [0, 14] +- goal: [3, 15] + name: agent65 + start: [25, 0] +- goal: [5, 29] + name: agent66 + start: [6, 3] +- goal: [10, 3] + name: agent67 + start: [24, 4] +- goal: [10, 22] + name: agent68 + start: [22, 0] +- goal: [20, 26] + name: agent69 + start: [30, 12] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [13, 11] + - !!python/tuple [5, 3] + - !!python/tuple [0, 16] + - !!python/tuple [2, 10] + - !!python/tuple [5, 22] + - !!python/tuple [31, 6] + - !!python/tuple [21, 10] + - !!python/tuple [6, 9] + - !!python/tuple [27, 29] + - !!python/tuple [1, 23] + - !!python/tuple [30, 9] + - !!python/tuple [21, 14] + - !!python/tuple [23, 2] + - !!python/tuple [17, 27] + - !!python/tuple [13, 4] + - !!python/tuple [7, 19] + - !!python/tuple [17, 1] + - !!python/tuple [12, 12] + - !!python/tuple [22, 17] + - !!python/tuple [27, 0] + - !!python/tuple [25, 23] + - !!python/tuple [17, 19] + - !!python/tuple [31, 19] + - !!python/tuple [14, 7] + - !!python/tuple [15, 9] + - !!python/tuple [1, 15] + - !!python/tuple [25, 19] + - !!python/tuple [26, 25] + - !!python/tuple [7, 9] + - !!python/tuple [30, 3] + - !!python/tuple [6, 23] + - !!python/tuple [31, 22] + - !!python/tuple [25, 29] + - !!python/tuple [19, 8] + - !!python/tuple [12, 13] + - !!python/tuple [21, 29] + - !!python/tuple [16, 18] + - !!python/tuple [27, 17] + - !!python/tuple [15, 22] + - !!python/tuple [7, 13] + - !!python/tuple [3, 11] + - !!python/tuple [31, 20] + - !!python/tuple [28, 6] + - !!python/tuple [30, 18] + - !!python/tuple [21, 2] + - !!python/tuple [5, 20] + - !!python/tuple [10, 30] + - !!python/tuple [30, 24] + - !!python/tuple [21, 5] + - !!python/tuple [13, 22] + - !!python/tuple [9, 0] + - !!python/tuple [1, 10] + - !!python/tuple [8, 14] + - !!python/tuple [5, 10] + - !!python/tuple [15, 19] + - !!python/tuple [18, 22] + - !!python/tuple [11, 26] + - !!python/tuple [2, 28] + - !!python/tuple [15, 6] + - !!python/tuple [20, 7] + - !!python/tuple [9, 28] + - !!python/tuple [31, 15] + - !!python/tuple [11, 28] + - !!python/tuple [20, 23] + - !!python/tuple [24, 6] + - !!python/tuple [22, 7] + - !!python/tuple [10, 7] + - !!python/tuple [10, 5] + - !!python/tuple [26, 1] + - !!python/tuple [17, 28] + - !!python/tuple [17, 9] + - !!python/tuple [25, 28] + - !!python/tuple [5, 15] + - !!python/tuple [13, 31] + - !!python/tuple [16, 24] + - !!python/tuple [29, 3] + - !!python/tuple [30, 1] + - !!python/tuple [11, 22] + - !!python/tuple [19, 17] + - !!python/tuple [3, 20] + - !!python/tuple [14, 29] + - !!python/tuple [13, 6] + - !!python/tuple [16, 20] + - !!python/tuple [9, 7] + - !!python/tuple [4, 17] + - !!python/tuple [11, 25] + - !!python/tuple [7, 2] + - !!python/tuple [25, 24] + - !!python/tuple [12, 17] + - !!python/tuple [12, 25] + - !!python/tuple [29, 15] + - !!python/tuple [28, 10] + - !!python/tuple [24, 31] + - !!python/tuple [29, 11] + - !!python/tuple [20, 3] + - !!python/tuple [3, 29] + - !!python/tuple [12, 2] + - !!python/tuple [16, 16] + - !!python/tuple [8, 12] + - !!python/tuple [3, 4] + - !!python/tuple [0, 12] + - !!python/tuple [10, 1] + - !!python/tuple [23, 11] + - !!python/tuple [9, 29] + - !!python/tuple [5, 28] + - !!python/tuple [28, 2] + - !!python/tuple [25, 25] + - !!python/tuple [23, 12] + - !!python/tuple [10, 25] + - !!python/tuple [21, 25] + - !!python/tuple [1, 29] + - !!python/tuple [8, 17] + - !!python/tuple [18, 0] + - !!python/tuple [28, 17] + - !!python/tuple [4, 6] + - !!python/tuple [16, 4] + - !!python/tuple [13, 9] + - !!python/tuple [5, 2] + - !!python/tuple [2, 26] + - !!python/tuple [10, 26] + - !!python/tuple [11, 18] + - !!python/tuple [14, 30] + - !!python/tuple [25, 3] + - !!python/tuple [1, 3] + - !!python/tuple [8, 31] + - !!python/tuple [21, 30] + - !!python/tuple [27, 12] + - !!python/tuple [9, 4] + - !!python/tuple [15, 13] + - !!python/tuple [3, 22] + - !!python/tuple [4, 7] + - !!python/tuple [6, 29] + - !!python/tuple [18, 17] + - !!python/tuple [16, 12] + - !!python/tuple [2, 11] + - !!python/tuple [14, 0] + - !!python/tuple [6, 16] + - !!python/tuple [11, 8] + - !!python/tuple [14, 24] + - !!python/tuple [17, 6] + - !!python/tuple [23, 18] + - !!python/tuple [15, 4] + - !!python/tuple [17, 11] + - !!python/tuple [14, 21] + - !!python/tuple [8, 21] + - !!python/tuple [21, 15] + - !!python/tuple [5, 4] + - !!python/tuple [26, 19] + - !!python/tuple [8, 28] + - !!python/tuple [26, 31] + - !!python/tuple [15, 11] + - !!python/tuple [3, 9] + - !!python/tuple [19, 10] + - !!python/tuple [19, 1] + - !!python/tuple [16, 5] + - !!python/tuple [31, 4] + - !!python/tuple [27, 26] + - !!python/tuple [12, 26] + - !!python/tuple [27, 27] + - !!python/tuple [28, 20] + - !!python/tuple [3, 16] + - !!python/tuple [27, 7] + - !!python/tuple [3, 31] + - !!python/tuple [1, 4] + - !!python/tuple [2, 12] + - !!python/tuple [4, 22] + - !!python/tuple [31, 25] + - !!python/tuple [26, 13] + - !!python/tuple [10, 23] + - !!python/tuple [11, 6] + - !!python/tuple [22, 19] + - !!python/tuple [5, 21] + - !!python/tuple [27, 13] + - !!python/tuple [16, 9] + - !!python/tuple [6, 25] + - !!python/tuple [12, 9] + - !!python/tuple [24, 26] + - !!python/tuple [15, 14] + - !!python/tuple [29, 17] + - !!python/tuple [18, 13] + - !!python/tuple [7, 26] + - !!python/tuple [8, 23] + - !!python/tuple [7, 6] + - !!python/tuple [5, 18] + - !!python/tuple [29, 10] + - !!python/tuple [25, 18] + - !!python/tuple [4, 19] + - !!python/tuple [6, 19] + - !!python/tuple [19, 20] + - !!python/tuple [30, 4] + - !!python/tuple [2, 18] + - !!python/tuple [13, 21] + - !!python/tuple [30, 23] + - !!python/tuple [13, 27] + - !!python/tuple [6, 13] + - !!python/tuple [29, 4] + - !!python/tuple [10, 24] + - !!python/tuple [24, 11] + - !!python/tuple [2, 4] + - !!python/tuple [9, 6] + - !!python/tuple [21, 17] + - !!python/tuple [18, 3] + - !!python/tuple [9, 11] + - !!python/tuple [18, 15] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex63.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex63.yaml new file mode 100644 index 0000000..40f42d8 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex63.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [9, 19] + name: agent0 + start: [30, 11] +- goal: [31, 7] + name: agent1 + start: [20, 19] +- goal: [2, 9] + name: agent2 + start: [25, 3] +- goal: [24, 12] + name: agent3 + start: [16, 14] +- goal: [8, 31] + name: agent4 + start: [22, 24] +- goal: [5, 18] + name: agent5 + start: [24, 31] +- goal: [31, 18] + name: agent6 + start: [26, 2] +- goal: [7, 28] + name: agent7 + start: [13, 26] +- goal: [10, 18] + name: agent8 + start: [24, 28] +- goal: [15, 17] + name: agent9 + start: [28, 18] +- goal: [8, 15] + name: agent10 + start: [4, 1] +- goal: [9, 1] + name: agent11 + start: [7, 1] +- goal: [17, 23] + name: agent12 + start: [19, 8] +- goal: [29, 15] + name: agent13 + start: [23, 16] +- goal: [25, 0] + name: agent14 + start: [11, 16] +- goal: [15, 9] + name: agent15 + start: [28, 14] +- goal: [1, 31] + name: agent16 + start: [1, 17] +- goal: [24, 25] + name: agent17 + start: [18, 0] +- goal: [7, 17] + name: agent18 + start: [3, 24] +- goal: [23, 11] + name: agent19 + start: [8, 8] +- goal: [17, 17] + name: agent20 + start: [16, 12] +- goal: [17, 3] + name: agent21 + start: [4, 12] +- goal: [7, 19] + name: agent22 + start: [5, 16] +- goal: [9, 25] + name: agent23 + start: [28, 2] +- goal: [27, 18] + name: agent24 + start: [12, 24] +- goal: [2, 20] + name: agent25 + start: [7, 0] +- goal: [5, 28] + name: agent26 + start: [17, 19] +- goal: [26, 17] + name: agent27 + start: [19, 26] +- goal: [6, 22] + name: agent28 + start: [28, 27] +- goal: [29, 1] + name: agent29 + start: [4, 6] +- goal: [6, 30] + name: agent30 + start: [14, 3] +- goal: [5, 26] + name: agent31 + start: [28, 7] +- goal: [23, 2] + name: agent32 + start: [5, 28] +- goal: [18, 0] + name: agent33 + start: [9, 28] +- goal: [27, 26] + name: agent34 + start: [21, 12] +- goal: [18, 5] + name: agent35 + start: [4, 20] +- goal: [23, 3] + name: agent36 + start: [19, 2] +- goal: [6, 15] + name: agent37 + start: [16, 9] +- goal: [28, 12] + name: agent38 + start: [18, 11] +- goal: [18, 22] + name: agent39 + start: [1, 3] +- goal: [16, 26] + name: agent40 + start: [25, 13] +- goal: [26, 19] + name: agent41 + start: [2, 27] +- goal: [0, 1] + name: agent42 + start: [2, 9] +- goal: [27, 3] + name: agent43 + start: [13, 11] +- goal: [22, 24] + name: agent44 + start: [22, 22] +- goal: [3, 30] + name: agent45 + start: [22, 11] +- goal: [31, 26] + name: agent46 + start: [27, 24] +- goal: [10, 7] + name: agent47 + start: [0, 21] +- goal: [21, 18] + name: agent48 + start: [17, 4] +- goal: [26, 31] + name: agent49 + start: [28, 10] +- goal: [13, 29] + name: agent50 + start: [24, 27] +- goal: [10, 14] + name: agent51 + start: [31, 19] +- goal: [30, 28] + name: agent52 + start: [13, 6] +- goal: [21, 9] + name: agent53 + start: [11, 25] +- goal: [4, 1] + name: agent54 + start: [10, 13] +- goal: [5, 30] + name: agent55 + start: [15, 18] +- goal: [8, 1] + name: agent56 + start: [23, 6] +- goal: [8, 23] + name: agent57 + start: [6, 25] +- goal: [9, 7] + name: agent58 + start: [2, 17] +- goal: [21, 10] + name: agent59 + start: [25, 31] +- goal: [14, 4] + name: agent60 + start: [4, 16] +- goal: [23, 14] + name: agent61 + start: [7, 8] +- goal: [26, 15] + name: agent62 + start: [15, 28] +- goal: [12, 16] + name: agent63 + start: [17, 16] +- goal: [11, 2] + name: agent64 + start: [2, 10] +- goal: [12, 0] + name: agent65 + start: [21, 18] +- goal: [3, 11] + name: agent66 + start: [8, 29] +- goal: [14, 30] + name: agent67 + start: [0, 11] +- goal: [10, 19] + name: agent68 + start: [11, 22] +- goal: [12, 22] + name: agent69 + start: [0, 16] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [8, 6] + - !!python/tuple [9, 29] + - !!python/tuple [13, 4] + - !!python/tuple [20, 0] + - !!python/tuple [11, 6] + - !!python/tuple [19, 5] + - !!python/tuple [8, 17] + - !!python/tuple [2, 21] + - !!python/tuple [9, 30] + - !!python/tuple [24, 2] + - !!python/tuple [13, 31] + - !!python/tuple [26, 1] + - !!python/tuple [20, 1] + - !!python/tuple [9, 5] + - !!python/tuple [21, 0] + - !!python/tuple [12, 26] + - !!python/tuple [18, 2] + - !!python/tuple [18, 12] + - !!python/tuple [7, 26] + - !!python/tuple [25, 10] + - !!python/tuple [12, 11] + - !!python/tuple [11, 7] + - !!python/tuple [30, 3] + - !!python/tuple [29, 7] + - !!python/tuple [21, 16] + - !!python/tuple [30, 4] + - !!python/tuple [14, 9] + - !!python/tuple [14, 18] + - !!python/tuple [9, 21] + - !!python/tuple [19, 1] + - !!python/tuple [4, 25] + - !!python/tuple [18, 26] + - !!python/tuple [27, 17] + - !!python/tuple [3, 10] + - !!python/tuple [24, 3] + - !!python/tuple [9, 24] + - !!python/tuple [12, 18] + - !!python/tuple [5, 0] + - !!python/tuple [25, 18] + - !!python/tuple [10, 29] + - !!python/tuple [10, 8] + - !!python/tuple [17, 24] + - !!python/tuple [6, 4] + - !!python/tuple [23, 24] + - !!python/tuple [1, 6] + - !!python/tuple [14, 12] + - !!python/tuple [6, 5] + - !!python/tuple [7, 4] + - !!python/tuple [7, 11] + - !!python/tuple [24, 7] + - !!python/tuple [19, 4] + - !!python/tuple [10, 31] + - !!python/tuple [0, 2] + - !!python/tuple [25, 29] + - !!python/tuple [1, 23] + - !!python/tuple [11, 14] + - !!python/tuple [12, 30] + - !!python/tuple [10, 30] + - !!python/tuple [7, 10] + - !!python/tuple [11, 19] + - !!python/tuple [5, 17] + - !!python/tuple [28, 16] + - !!python/tuple [29, 25] + - !!python/tuple [20, 3] + - !!python/tuple [21, 20] + - !!python/tuple [22, 9] + - !!python/tuple [16, 17] + - !!python/tuple [3, 9] + - !!python/tuple [6, 23] + - !!python/tuple [31, 23] + - !!python/tuple [1, 29] + - !!python/tuple [9, 11] + - !!python/tuple [25, 19] + - !!python/tuple [27, 30] + - !!python/tuple [25, 25] + - !!python/tuple [5, 20] + - !!python/tuple [27, 5] + - !!python/tuple [28, 25] + - !!python/tuple [27, 9] + - !!python/tuple [22, 3] + - !!python/tuple [18, 16] + - !!python/tuple [26, 27] + - !!python/tuple [22, 31] + - !!python/tuple [11, 31] + - !!python/tuple [8, 28] + - !!python/tuple [15, 21] + - !!python/tuple [6, 8] + - !!python/tuple [15, 3] + - !!python/tuple [19, 11] + - !!python/tuple [14, 0] + - !!python/tuple [5, 8] + - !!python/tuple [13, 7] + - !!python/tuple [31, 25] + - !!python/tuple [30, 6] + - !!python/tuple [0, 22] + - !!python/tuple [10, 17] + - !!python/tuple [0, 29] + - !!python/tuple [12, 10] + - !!python/tuple [16, 16] + - !!python/tuple [31, 27] + - !!python/tuple [6, 1] + - !!python/tuple [11, 5] + - !!python/tuple [3, 7] + - !!python/tuple [20, 8] + - !!python/tuple [29, 21] + - !!python/tuple [17, 25] + - !!python/tuple [25, 17] + - !!python/tuple [20, 31] + - !!python/tuple [2, 11] + - !!python/tuple [15, 25] + - !!python/tuple [3, 17] + - !!python/tuple [12, 15] + - !!python/tuple [24, 15] + - !!python/tuple [24, 30] + - !!python/tuple [18, 27] + - !!python/tuple [19, 15] + - !!python/tuple [17, 30] + - !!python/tuple [20, 29] + - !!python/tuple [4, 29] + - !!python/tuple [8, 20] + - !!python/tuple [28, 31] + - !!python/tuple [29, 27] + - !!python/tuple [2, 12] + - !!python/tuple [21, 21] + - !!python/tuple [28, 29] + - !!python/tuple [9, 10] + - !!python/tuple [6, 16] + - !!python/tuple [31, 12] + - !!python/tuple [6, 0] + - !!python/tuple [30, 21] + - !!python/tuple [16, 19] + - !!python/tuple [19, 24] + - !!python/tuple [17, 1] + - !!python/tuple [4, 7] + - !!python/tuple [31, 10] + - !!python/tuple [8, 16] + - !!python/tuple [1, 2] + - !!python/tuple [8, 9] + - !!python/tuple [15, 0] + - !!python/tuple [22, 30] + - !!python/tuple [3, 27] + - !!python/tuple [6, 12] + - !!python/tuple [8, 3] + - !!python/tuple [31, 8] + - !!python/tuple [17, 5] + - !!python/tuple [17, 12] + - !!python/tuple [29, 3] + - !!python/tuple [10, 26] + - !!python/tuple [0, 7] + - !!python/tuple [30, 2] + - !!python/tuple [10, 16] + - !!python/tuple [25, 22] + - !!python/tuple [31, 21] + - !!python/tuple [14, 31] + - !!python/tuple [29, 20] + - !!python/tuple [25, 21] + - !!python/tuple [13, 5] + - !!python/tuple [31, 17] + - !!python/tuple [4, 0] + - !!python/tuple [17, 2] + - !!python/tuple [29, 13] + - !!python/tuple [6, 31] + - !!python/tuple [7, 22] + - !!python/tuple [16, 22] + - !!python/tuple [4, 3] + - !!python/tuple [24, 6] + - !!python/tuple [27, 28] + - !!python/tuple [25, 6] + - !!python/tuple [14, 6] + - !!python/tuple [25, 8] + - !!python/tuple [0, 25] + - !!python/tuple [6, 10] + - !!python/tuple [30, 13] + - !!python/tuple [26, 30] + - !!python/tuple [10, 10] + - !!python/tuple [30, 27] + - !!python/tuple [18, 21] + - !!python/tuple [31, 1] + - !!python/tuple [17, 29] + - !!python/tuple [15, 30] + - !!python/tuple [13, 10] + - !!python/tuple [9, 4] + - !!python/tuple [31, 29] + - !!python/tuple [10, 23] + - !!python/tuple [3, 18] + - !!python/tuple [0, 10] + - !!python/tuple [22, 5] + - !!python/tuple [13, 9] + - !!python/tuple [31, 11] + - !!python/tuple [11, 10] + - !!python/tuple [6, 14] + - !!python/tuple [12, 27] + - !!python/tuple [7, 9] + - !!python/tuple [2, 4] + - !!python/tuple [21, 25] + - !!python/tuple [13, 14] + - !!python/tuple [11, 23] + - !!python/tuple [14, 28] + - !!python/tuple [2, 31] + - !!python/tuple [16, 6] + - !!python/tuple [7, 5] + - !!python/tuple [18, 10] + - !!python/tuple [21, 2] + - !!python/tuple [5, 25] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex64.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex64.yaml new file mode 100644 index 0000000..cc46ab1 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex64.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [30, 25] + name: agent0 + start: [18, 25] +- goal: [8, 0] + name: agent1 + start: [28, 6] +- goal: [12, 6] + name: agent2 + start: [25, 2] +- goal: [18, 12] + name: agent3 + start: [2, 22] +- goal: [0, 26] + name: agent4 + start: [14, 20] +- goal: [4, 26] + name: agent5 + start: [29, 5] +- goal: [14, 2] + name: agent6 + start: [20, 19] +- goal: [26, 29] + name: agent7 + start: [10, 9] +- goal: [16, 16] + name: agent8 + start: [16, 25] +- goal: [9, 31] + name: agent9 + start: [0, 18] +- goal: [4, 12] + name: agent10 + start: [0, 13] +- goal: [16, 5] + name: agent11 + start: [23, 13] +- goal: [28, 13] + name: agent12 + start: [29, 21] +- goal: [17, 2] + name: agent13 + start: [4, 14] +- goal: [12, 17] + name: agent14 + start: [13, 22] +- goal: [25, 15] + name: agent15 + start: [27, 0] +- goal: [14, 10] + name: agent16 + start: [8, 6] +- goal: [7, 14] + name: agent17 + start: [31, 1] +- goal: [13, 27] + name: agent18 + start: [3, 16] +- goal: [26, 13] + name: agent19 + start: [20, 24] +- goal: [28, 24] + name: agent20 + start: [6, 5] +- goal: [25, 18] + name: agent21 + start: [18, 3] +- goal: [6, 18] + name: agent22 + start: [27, 7] +- goal: [31, 30] + name: agent23 + start: [16, 4] +- goal: [22, 4] + name: agent24 + start: [14, 17] +- goal: [15, 17] + name: agent25 + start: [3, 28] +- goal: [17, 16] + name: agent26 + start: [0, 8] +- goal: [22, 5] + name: agent27 + start: [6, 15] +- goal: [26, 20] + name: agent28 + start: [17, 6] +- goal: [9, 16] + name: agent29 + start: [15, 3] +- goal: [28, 22] + name: agent30 + start: [27, 25] +- goal: [4, 24] + name: agent31 + start: [2, 20] +- goal: [25, 14] + name: agent32 + start: [3, 5] +- goal: [26, 24] + name: agent33 + start: [15, 30] +- goal: [7, 28] + name: agent34 + start: [23, 23] +- goal: [20, 19] + name: agent35 + start: [5, 20] +- goal: [30, 20] + name: agent36 + start: [11, 19] +- goal: [11, 30] + name: agent37 + start: [18, 31] +- goal: [13, 16] + name: agent38 + start: [26, 21] +- goal: [23, 12] + name: agent39 + start: [2, 6] +- goal: [4, 29] + name: agent40 + start: [22, 5] +- goal: [24, 13] + name: agent41 + start: [1, 21] +- goal: [12, 1] + name: agent42 + start: [6, 18] +- goal: [22, 28] + name: agent43 + start: [20, 7] +- goal: [2, 2] + name: agent44 + start: [31, 5] +- goal: [27, 19] + name: agent45 + start: [23, 10] +- goal: [15, 24] + name: agent46 + start: [13, 7] +- goal: [3, 6] + name: agent47 + start: [14, 22] +- goal: [1, 1] + name: agent48 + start: [0, 21] +- goal: [10, 9] + name: agent49 + start: [20, 0] +- goal: [8, 15] + name: agent50 + start: [14, 0] +- goal: [5, 27] + name: agent51 + start: [3, 6] +- goal: [20, 11] + name: agent52 + start: [11, 28] +- goal: [23, 30] + name: agent53 + start: [7, 18] +- goal: [10, 26] + name: agent54 + start: [10, 10] +- goal: [14, 7] + name: agent55 + start: [8, 21] +- goal: [24, 9] + name: agent56 + start: [12, 28] +- goal: [0, 13] + name: agent57 + start: [31, 3] +- goal: [22, 13] + name: agent58 + start: [11, 30] +- goal: [17, 12] + name: agent59 + start: [1, 7] +- goal: [23, 17] + name: agent60 + start: [3, 23] +- goal: [0, 12] + name: agent61 + start: [10, 14] +- goal: [18, 29] + name: agent62 + start: [26, 7] +- goal: [7, 2] + name: agent63 + start: [14, 21] +- goal: [21, 0] + name: agent64 + start: [20, 17] +- goal: [1, 8] + name: agent65 + start: [2, 23] +- goal: [2, 4] + name: agent66 + start: [27, 2] +- goal: [12, 31] + name: agent67 + start: [15, 24] +- goal: [17, 31] + name: agent68 + start: [30, 21] +- goal: [1, 6] + name: agent69 + start: [20, 13] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [16, 18] + - !!python/tuple [23, 6] + - !!python/tuple [1, 2] + - !!python/tuple [23, 3] + - !!python/tuple [11, 7] + - !!python/tuple [29, 15] + - !!python/tuple [13, 8] + - !!python/tuple [1, 25] + - !!python/tuple [8, 30] + - !!python/tuple [7, 3] + - !!python/tuple [4, 9] + - !!python/tuple [11, 22] + - !!python/tuple [24, 31] + - !!python/tuple [2, 0] + - !!python/tuple [15, 14] + - !!python/tuple [3, 31] + - !!python/tuple [0, 4] + - !!python/tuple [23, 27] + - !!python/tuple [28, 0] + - !!python/tuple [30, 5] + - !!python/tuple [7, 19] + - !!python/tuple [29, 23] + - !!python/tuple [14, 31] + - !!python/tuple [28, 14] + - !!python/tuple [8, 2] + - !!python/tuple [22, 8] + - !!python/tuple [22, 1] + - !!python/tuple [16, 21] + - !!python/tuple [31, 13] + - !!python/tuple [0, 23] + - !!python/tuple [16, 19] + - !!python/tuple [4, 31] + - !!python/tuple [16, 7] + - !!python/tuple [12, 11] + - !!python/tuple [8, 26] + - !!python/tuple [16, 2] + - !!python/tuple [25, 13] + - !!python/tuple [8, 27] + - !!python/tuple [14, 19] + - !!python/tuple [15, 9] + - !!python/tuple [5, 25] + - !!python/tuple [22, 9] + - !!python/tuple [21, 19] + - !!python/tuple [28, 28] + - !!python/tuple [18, 16] + - !!python/tuple [6, 8] + - !!python/tuple [18, 17] + - !!python/tuple [14, 15] + - !!python/tuple [0, 17] + - !!python/tuple [17, 27] + - !!python/tuple [15, 4] + - !!python/tuple [28, 8] + - !!python/tuple [0, 16] + - !!python/tuple [29, 0] + - !!python/tuple [22, 3] + - !!python/tuple [16, 31] + - !!python/tuple [17, 26] + - !!python/tuple [15, 22] + - !!python/tuple [14, 11] + - !!python/tuple [14, 30] + - !!python/tuple [3, 4] + - !!python/tuple [24, 12] + - !!python/tuple [5, 23] + - !!python/tuple [12, 2] + - !!python/tuple [6, 24] + - !!python/tuple [11, 25] + - !!python/tuple [21, 2] + - !!python/tuple [29, 3] + - !!python/tuple [29, 28] + - !!python/tuple [2, 9] + - !!python/tuple [5, 18] + - !!python/tuple [22, 6] + - !!python/tuple [20, 9] + - !!python/tuple [24, 30] + - !!python/tuple [26, 4] + - !!python/tuple [8, 24] + - !!python/tuple [18, 28] + - !!python/tuple [6, 20] + - !!python/tuple [1, 26] + - !!python/tuple [22, 15] + - !!python/tuple [21, 28] + - !!python/tuple [17, 5] + - !!python/tuple [6, 4] + - !!python/tuple [31, 9] + - !!python/tuple [30, 3] + - !!python/tuple [15, 27] + - !!python/tuple [13, 15] + - !!python/tuple [9, 1] + - !!python/tuple [26, 12] + - !!python/tuple [12, 8] + - !!python/tuple [30, 28] + - !!python/tuple [24, 26] + - !!python/tuple [29, 22] + - !!python/tuple [14, 4] + - !!python/tuple [4, 2] + - !!python/tuple [7, 20] + - !!python/tuple [11, 21] + - !!python/tuple [13, 24] + - !!python/tuple [26, 8] + - !!python/tuple [3, 3] + - !!python/tuple [10, 31] + - !!python/tuple [26, 1] + - !!python/tuple [14, 14] + - !!python/tuple [29, 13] + - !!python/tuple [15, 6] + - !!python/tuple [7, 25] + - !!python/tuple [21, 6] + - !!python/tuple [3, 18] + - !!python/tuple [8, 23] + - !!python/tuple [22, 12] + - !!python/tuple [12, 15] + - !!python/tuple [19, 24] + - !!python/tuple [13, 29] + - !!python/tuple [13, 21] + - !!python/tuple [23, 21] + - !!python/tuple [25, 23] + - !!python/tuple [27, 26] + - !!python/tuple [27, 30] + - !!python/tuple [17, 29] + - !!python/tuple [13, 17] + - !!python/tuple [2, 28] + - !!python/tuple [18, 1] + - !!python/tuple [28, 17] + - !!python/tuple [31, 25] + - !!python/tuple [2, 15] + - !!python/tuple [7, 21] + - !!python/tuple [13, 18] + - !!python/tuple [5, 4] + - !!python/tuple [14, 12] + - !!python/tuple [12, 10] + - !!python/tuple [2, 26] + - !!python/tuple [4, 6] + - !!python/tuple [9, 22] + - !!python/tuple [9, 27] + - !!python/tuple [14, 9] + - !!python/tuple [10, 2] + - !!python/tuple [5, 31] + - !!python/tuple [16, 13] + - !!python/tuple [21, 18] + - !!python/tuple [26, 27] + - !!python/tuple [4, 3] + - !!python/tuple [14, 26] + - !!python/tuple [15, 10] + - !!python/tuple [21, 1] + - !!python/tuple [31, 10] + - !!python/tuple [13, 25] + - !!python/tuple [2, 8] + - !!python/tuple [10, 1] + - !!python/tuple [13, 3] + - !!python/tuple [7, 13] + - !!python/tuple [0, 24] + - !!python/tuple [28, 27] + - !!python/tuple [4, 20] + - !!python/tuple [26, 26] + - !!python/tuple [16, 12] + - !!python/tuple [14, 28] + - !!python/tuple [15, 15] + - !!python/tuple [14, 6] + - !!python/tuple [17, 18] + - !!python/tuple [30, 12] + - !!python/tuple [16, 3] + - !!python/tuple [11, 2] + - !!python/tuple [27, 1] + - !!python/tuple [11, 17] + - !!python/tuple [20, 21] + - !!python/tuple [10, 12] + - !!python/tuple [18, 30] + - !!python/tuple [27, 3] + - !!python/tuple [27, 24] + - !!python/tuple [16, 0] + - !!python/tuple [18, 0] + - !!python/tuple [22, 11] + - !!python/tuple [8, 8] + - !!python/tuple [4, 18] + - !!python/tuple [9, 3] + - !!python/tuple [27, 9] + - !!python/tuple [26, 2] + - !!python/tuple [15, 20] + - !!python/tuple [3, 9] + - !!python/tuple [7, 23] + - !!python/tuple [10, 7] + - !!python/tuple [4, 1] + - !!python/tuple [13, 26] + - !!python/tuple [0, 20] + - !!python/tuple [28, 19] + - !!python/tuple [11, 11] + - !!python/tuple [10, 19] + - !!python/tuple [0, 7] + - !!python/tuple [27, 16] + - !!python/tuple [24, 5] + - !!python/tuple [19, 17] + - !!python/tuple [5, 9] + - !!python/tuple [13, 6] + - !!python/tuple [13, 31] + - !!python/tuple [30, 23] + - !!python/tuple [10, 17] + - !!python/tuple [15, 16] + - !!python/tuple [10, 30] + - !!python/tuple [30, 7] + - !!python/tuple [0, 31] + - !!python/tuple [7, 15] + - !!python/tuple [18, 2] + - !!python/tuple [7, 1] + - !!python/tuple [14, 23] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex65.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex65.yaml new file mode 100644 index 0000000..985c2eb --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex65.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [14, 0] + name: agent0 + start: [2, 22] +- goal: [14, 2] + name: agent1 + start: [15, 10] +- goal: [20, 27] + name: agent2 + start: [20, 5] +- goal: [25, 24] + name: agent3 + start: [7, 21] +- goal: [17, 25] + name: agent4 + start: [28, 6] +- goal: [2, 12] + name: agent5 + start: [14, 25] +- goal: [5, 2] + name: agent6 + start: [21, 0] +- goal: [19, 24] + name: agent7 + start: [3, 20] +- goal: [13, 5] + name: agent8 + start: [27, 3] +- goal: [23, 28] + name: agent9 + start: [30, 24] +- goal: [19, 21] + name: agent10 + start: [20, 14] +- goal: [20, 14] + name: agent11 + start: [13, 28] +- goal: [23, 19] + name: agent12 + start: [6, 26] +- goal: [21, 25] + name: agent13 + start: [27, 4] +- goal: [16, 15] + name: agent14 + start: [19, 15] +- goal: [30, 18] + name: agent15 + start: [17, 30] +- goal: [7, 1] + name: agent16 + start: [3, 9] +- goal: [17, 30] + name: agent17 + start: [28, 7] +- goal: [5, 7] + name: agent18 + start: [19, 5] +- goal: [7, 8] + name: agent19 + start: [25, 21] +- goal: [17, 22] + name: agent20 + start: [17, 28] +- goal: [9, 15] + name: agent21 + start: [17, 8] +- goal: [20, 17] + name: agent22 + start: [16, 28] +- goal: [21, 23] + name: agent23 + start: [3, 10] +- goal: [24, 12] + name: agent24 + start: [27, 15] +- goal: [3, 18] + name: agent25 + start: [31, 25] +- goal: [14, 3] + name: agent26 + start: [20, 30] +- goal: [4, 3] + name: agent27 + start: [26, 23] +- goal: [16, 17] + name: agent28 + start: [19, 0] +- goal: [14, 27] + name: agent29 + start: [0, 30] +- goal: [5, 30] + name: agent30 + start: [21, 20] +- goal: [4, 0] + name: agent31 + start: [24, 24] +- goal: [20, 16] + name: agent32 + start: [5, 13] +- goal: [11, 2] + name: agent33 + start: [31, 3] +- goal: [28, 19] + name: agent34 + start: [7, 22] +- goal: [3, 2] + name: agent35 + start: [27, 6] +- goal: [3, 31] + name: agent36 + start: [11, 14] +- goal: [23, 18] + name: agent37 + start: [31, 4] +- goal: [22, 13] + name: agent38 + start: [6, 9] +- goal: [6, 11] + name: agent39 + start: [5, 18] +- goal: [8, 13] + name: agent40 + start: [16, 15] +- goal: [23, 3] + name: agent41 + start: [17, 5] +- goal: [7, 15] + name: agent42 + start: [2, 12] +- goal: [26, 11] + name: agent43 + start: [10, 3] +- goal: [29, 10] + name: agent44 + start: [10, 6] +- goal: [22, 12] + name: agent45 + start: [29, 17] +- goal: [14, 20] + name: agent46 + start: [24, 16] +- goal: [14, 6] + name: agent47 + start: [4, 10] +- goal: [10, 28] + name: agent48 + start: [9, 9] +- goal: [21, 8] + name: agent49 + start: [13, 7] +- goal: [30, 14] + name: agent50 + start: [0, 4] +- goal: [21, 5] + name: agent51 + start: [19, 16] +- goal: [28, 20] + name: agent52 + start: [8, 14] +- goal: [24, 0] + name: agent53 + start: [9, 2] +- goal: [8, 10] + name: agent54 + start: [7, 18] +- goal: [16, 22] + name: agent55 + start: [9, 27] +- goal: [20, 0] + name: agent56 + start: [14, 13] +- goal: [15, 13] + name: agent57 + start: [30, 21] +- goal: [14, 30] + name: agent58 + start: [31, 18] +- goal: [9, 28] + name: agent59 + start: [31, 16] +- goal: [6, 27] + name: agent60 + start: [29, 13] +- goal: [19, 14] + name: agent61 + start: [3, 18] +- goal: [11, 28] + name: agent62 + start: [20, 29] +- goal: [27, 3] + name: agent63 + start: [3, 8] +- goal: [13, 22] + name: agent64 + start: [16, 5] +- goal: [14, 5] + name: agent65 + start: [12, 23] +- goal: [31, 23] + name: agent66 + start: [23, 21] +- goal: [23, 7] + name: agent67 + start: [14, 24] +- goal: [9, 29] + name: agent68 + start: [17, 10] +- goal: [30, 20] + name: agent69 + start: [13, 4] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [2, 8] + - !!python/tuple [29, 28] + - !!python/tuple [10, 19] + - !!python/tuple [3, 28] + - !!python/tuple [27, 13] + - !!python/tuple [18, 3] + - !!python/tuple [17, 0] + - !!python/tuple [13, 17] + - !!python/tuple [13, 18] + - !!python/tuple [6, 15] + - !!python/tuple [27, 18] + - !!python/tuple [29, 5] + - !!python/tuple [31, 22] + - !!python/tuple [9, 31] + - !!python/tuple [26, 10] + - !!python/tuple [21, 15] + - !!python/tuple [27, 7] + - !!python/tuple [3, 3] + - !!python/tuple [30, 13] + - !!python/tuple [17, 13] + - !!python/tuple [27, 12] + - !!python/tuple [7, 17] + - !!python/tuple [5, 5] + - !!python/tuple [28, 22] + - !!python/tuple [18, 9] + - !!python/tuple [20, 23] + - !!python/tuple [0, 1] + - !!python/tuple [4, 14] + - !!python/tuple [6, 3] + - !!python/tuple [10, 1] + - !!python/tuple [22, 2] + - !!python/tuple [18, 14] + - !!python/tuple [23, 16] + - !!python/tuple [3, 13] + - !!python/tuple [22, 21] + - !!python/tuple [0, 23] + - !!python/tuple [6, 28] + - !!python/tuple [30, 19] + - !!python/tuple [21, 2] + - !!python/tuple [21, 29] + - !!python/tuple [2, 15] + - !!python/tuple [20, 8] + - !!python/tuple [19, 2] + - !!python/tuple [17, 4] + - !!python/tuple [4, 28] + - !!python/tuple [10, 21] + - !!python/tuple [21, 10] + - !!python/tuple [11, 21] + - !!python/tuple [21, 18] + - !!python/tuple [13, 25] + - !!python/tuple [8, 28] + - !!python/tuple [31, 27] + - !!python/tuple [18, 21] + - !!python/tuple [26, 30] + - !!python/tuple [1, 21] + - !!python/tuple [15, 3] + - !!python/tuple [6, 29] + - !!python/tuple [8, 18] + - !!python/tuple [22, 9] + - !!python/tuple [0, 25] + - !!python/tuple [12, 9] + - !!python/tuple [5, 10] + - !!python/tuple [14, 7] + - !!python/tuple [3, 30] + - !!python/tuple [7, 29] + - !!python/tuple [15, 28] + - !!python/tuple [1, 29] + - !!python/tuple [0, 29] + - !!python/tuple [29, 15] + - !!python/tuple [30, 27] + - !!python/tuple [4, 22] + - !!python/tuple [6, 14] + - !!python/tuple [22, 18] + - !!python/tuple [3, 12] + - !!python/tuple [9, 12] + - !!python/tuple [13, 21] + - !!python/tuple [13, 16] + - !!python/tuple [5, 8] + - !!python/tuple [2, 17] + - !!python/tuple [18, 29] + - !!python/tuple [23, 12] + - !!python/tuple [14, 22] + - !!python/tuple [0, 16] + - !!python/tuple [21, 4] + - !!python/tuple [16, 4] + - !!python/tuple [15, 2] + - !!python/tuple [3, 22] + - !!python/tuple [5, 0] + - !!python/tuple [0, 12] + - !!python/tuple [22, 11] + - !!python/tuple [2, 13] + - !!python/tuple [9, 8] + - !!python/tuple [10, 25] + - !!python/tuple [24, 26] + - !!python/tuple [27, 9] + - !!python/tuple [26, 8] + - !!python/tuple [2, 1] + - !!python/tuple [14, 4] + - !!python/tuple [1, 8] + - !!python/tuple [24, 25] + - !!python/tuple [1, 23] + - !!python/tuple [12, 26] + - !!python/tuple [22, 24] + - !!python/tuple [31, 5] + - !!python/tuple [18, 1] + - !!python/tuple [12, 7] + - !!python/tuple [20, 3] + - !!python/tuple [11, 25] + - !!python/tuple [1, 9] + - !!python/tuple [8, 21] + - !!python/tuple [16, 14] + - !!python/tuple [7, 12] + - !!python/tuple [5, 12] + - !!python/tuple [9, 4] + - !!python/tuple [15, 7] + - !!python/tuple [20, 7] + - !!python/tuple [16, 19] + - !!python/tuple [22, 14] + - !!python/tuple [8, 11] + - !!python/tuple [18, 4] + - !!python/tuple [16, 6] + - !!python/tuple [2, 5] + - !!python/tuple [25, 31] + - !!python/tuple [2, 23] + - !!python/tuple [17, 11] + - !!python/tuple [4, 26] + - !!python/tuple [0, 20] + - !!python/tuple [10, 17] + - !!python/tuple [1, 17] + - !!python/tuple [0, 6] + - !!python/tuple [22, 3] + - !!python/tuple [15, 9] + - !!python/tuple [14, 10] + - !!python/tuple [11, 31] + - !!python/tuple [31, 24] + - !!python/tuple [4, 5] + - !!python/tuple [26, 5] + - !!python/tuple [2, 25] + - !!python/tuple [0, 21] + - !!python/tuple [14, 31] + - !!python/tuple [2, 20] + - !!python/tuple [6, 0] + - !!python/tuple [23, 31] + - !!python/tuple [6, 17] + - !!python/tuple [28, 11] + - !!python/tuple [9, 11] + - !!python/tuple [11, 9] + - !!python/tuple [13, 15] + - !!python/tuple [4, 4] + - !!python/tuple [15, 14] + - !!python/tuple [12, 22] + - !!python/tuple [8, 15] + - !!python/tuple [12, 16] + - !!python/tuple [27, 29] + - !!python/tuple [30, 5] + - !!python/tuple [31, 20] + - !!python/tuple [17, 27] + - !!python/tuple [1, 2] + - !!python/tuple [29, 11] + - !!python/tuple [25, 13] + - !!python/tuple [9, 10] + - !!python/tuple [10, 20] + - !!python/tuple [13, 31] + - !!python/tuple [27, 17] + - !!python/tuple [7, 10] + - !!python/tuple [29, 23] + - !!python/tuple [10, 13] + - !!python/tuple [25, 2] + - !!python/tuple [17, 7] + - !!python/tuple [27, 28] + - !!python/tuple [13, 9] + - !!python/tuple [6, 16] + - !!python/tuple [17, 21] + - !!python/tuple [24, 2] + - !!python/tuple [28, 28] + - !!python/tuple [19, 29] + - !!python/tuple [26, 1] + - !!python/tuple [29, 12] + - !!python/tuple [15, 30] + - !!python/tuple [11, 7] + - !!python/tuple [17, 14] + - !!python/tuple [23, 10] + - !!python/tuple [31, 8] + - !!python/tuple [0, 24] + - !!python/tuple [29, 26] + - !!python/tuple [18, 25] + - !!python/tuple [10, 30] + - !!python/tuple [16, 31] + - !!python/tuple [13, 3] + - !!python/tuple [24, 29] + - !!python/tuple [11, 18] + - !!python/tuple [31, 6] + - !!python/tuple [7, 0] + - !!python/tuple [25, 14] + - !!python/tuple [13, 11] + - !!python/tuple [15, 6] + - !!python/tuple [4, 15] + - !!python/tuple [22, 31] + - !!python/tuple [25, 23] + - !!python/tuple [8, 29] + - !!python/tuple [22, 23] + - !!python/tuple [4, 12] + - !!python/tuple [28, 27] + - !!python/tuple [5, 15] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex66.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex66.yaml new file mode 100644 index 0000000..86341b8 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex66.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [0, 31] + name: agent0 + start: [24, 3] +- goal: [28, 16] + name: agent1 + start: [11, 7] +- goal: [0, 29] + name: agent2 + start: [3, 26] +- goal: [14, 24] + name: agent3 + start: [10, 25] +- goal: [6, 20] + name: agent4 + start: [26, 12] +- goal: [5, 6] + name: agent5 + start: [19, 1] +- goal: [5, 8] + name: agent6 + start: [25, 21] +- goal: [5, 14] + name: agent7 + start: [20, 5] +- goal: [16, 26] + name: agent8 + start: [30, 23] +- goal: [31, 16] + name: agent9 + start: [11, 24] +- goal: [0, 19] + name: agent10 + start: [2, 26] +- goal: [26, 31] + name: agent11 + start: [17, 27] +- goal: [14, 17] + name: agent12 + start: [28, 20] +- goal: [25, 12] + name: agent13 + start: [25, 25] +- goal: [24, 31] + name: agent14 + start: [23, 18] +- goal: [19, 14] + name: agent15 + start: [8, 29] +- goal: [19, 12] + name: agent16 + start: [21, 13] +- goal: [27, 4] + name: agent17 + start: [22, 6] +- goal: [21, 23] + name: agent18 + start: [3, 5] +- goal: [10, 25] + name: agent19 + start: [1, 7] +- goal: [11, 16] + name: agent20 + start: [28, 0] +- goal: [29, 3] + name: agent21 + start: [16, 8] +- goal: [8, 1] + name: agent22 + start: [12, 2] +- goal: [12, 12] + name: agent23 + start: [12, 0] +- goal: [3, 6] + name: agent24 + start: [26, 25] +- goal: [22, 19] + name: agent25 + start: [10, 7] +- goal: [20, 6] + name: agent26 + start: [11, 3] +- goal: [9, 18] + name: agent27 + start: [0, 8] +- goal: [8, 22] + name: agent28 + start: [23, 14] +- goal: [4, 8] + name: agent29 + start: [28, 18] +- goal: [26, 8] + name: agent30 + start: [25, 2] +- goal: [6, 2] + name: agent31 + start: [29, 1] +- goal: [21, 0] + name: agent32 + start: [6, 21] +- goal: [27, 8] + name: agent33 + start: [22, 24] +- goal: [10, 24] + name: agent34 + start: [11, 11] +- goal: [25, 25] + name: agent35 + start: [30, 17] +- goal: [28, 11] + name: agent36 + start: [23, 12] +- goal: [18, 13] + name: agent37 + start: [12, 27] +- goal: [25, 30] + name: agent38 + start: [15, 10] +- goal: [27, 17] + name: agent39 + start: [12, 6] +- goal: [31, 6] + name: agent40 + start: [13, 6] +- goal: [23, 18] + name: agent41 + start: [16, 21] +- goal: [18, 4] + name: agent42 + start: [16, 29] +- goal: [24, 6] + name: agent43 + start: [20, 29] +- goal: [7, 21] + name: agent44 + start: [21, 22] +- goal: [10, 15] + name: agent45 + start: [5, 10] +- goal: [25, 16] + name: agent46 + start: [11, 17] +- goal: [28, 25] + name: agent47 + start: [19, 3] +- goal: [13, 14] + name: agent48 + start: [27, 9] +- goal: [14, 31] + name: agent49 + start: [29, 11] +- goal: [6, 21] + name: agent50 + start: [30, 13] +- goal: [28, 17] + name: agent51 + start: [28, 8] +- goal: [23, 14] + name: agent52 + start: [11, 12] +- goal: [23, 31] + name: agent53 + start: [26, 8] +- goal: [11, 22] + name: agent54 + start: [17, 14] +- goal: [10, 31] + name: agent55 + start: [8, 6] +- goal: [6, 6] + name: agent56 + start: [5, 13] +- goal: [29, 23] + name: agent57 + start: [22, 11] +- goal: [0, 22] + name: agent58 + start: [6, 24] +- goal: [4, 7] + name: agent59 + start: [27, 24] +- goal: [6, 16] + name: agent60 + start: [5, 8] +- goal: [30, 12] + name: agent61 + start: [12, 3] +- goal: [10, 2] + name: agent62 + start: [5, 7] +- goal: [24, 25] + name: agent63 + start: [9, 7] +- goal: [2, 3] + name: agent64 + start: [13, 20] +- goal: [25, 21] + name: agent65 + start: [19, 5] +- goal: [1, 14] + name: agent66 + start: [23, 31] +- goal: [6, 3] + name: agent67 + start: [1, 6] +- goal: [4, 10] + name: agent68 + start: [30, 2] +- goal: [6, 9] + name: agent69 + start: [17, 16] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [1, 19] + - !!python/tuple [31, 30] + - !!python/tuple [3, 27] + - !!python/tuple [26, 0] + - !!python/tuple [7, 12] + - !!python/tuple [30, 5] + - !!python/tuple [1, 22] + - !!python/tuple [12, 19] + - !!python/tuple [12, 15] + - !!python/tuple [0, 24] + - !!python/tuple [3, 14] + - !!python/tuple [21, 18] + - !!python/tuple [20, 12] + - !!python/tuple [14, 18] + - !!python/tuple [30, 1] + - !!python/tuple [16, 14] + - !!python/tuple [5, 23] + - !!python/tuple [8, 10] + - !!python/tuple [10, 6] + - !!python/tuple [29, 19] + - !!python/tuple [4, 27] + - !!python/tuple [18, 6] + - !!python/tuple [20, 20] + - !!python/tuple [17, 22] + - !!python/tuple [26, 3] + - !!python/tuple [30, 24] + - !!python/tuple [12, 26] + - !!python/tuple [7, 27] + - !!python/tuple [31, 8] + - !!python/tuple [25, 9] + - !!python/tuple [9, 29] + - !!python/tuple [7, 26] + - !!python/tuple [5, 3] + - !!python/tuple [5, 31] + - !!python/tuple [8, 15] + - !!python/tuple [18, 24] + - !!python/tuple [16, 18] + - !!python/tuple [4, 24] + - !!python/tuple [29, 2] + - !!python/tuple [12, 18] + - !!python/tuple [4, 4] + - !!python/tuple [4, 21] + - !!python/tuple [26, 26] + - !!python/tuple [31, 10] + - !!python/tuple [10, 30] + - !!python/tuple [14, 11] + - !!python/tuple [6, 8] + - !!python/tuple [10, 22] + - !!python/tuple [4, 17] + - !!python/tuple [2, 12] + - !!python/tuple [19, 15] + - !!python/tuple [2, 7] + - !!python/tuple [30, 29] + - !!python/tuple [1, 5] + - !!python/tuple [24, 18] + - !!python/tuple [18, 30] + - !!python/tuple [30, 10] + - !!python/tuple [30, 8] + - !!python/tuple [27, 12] + - !!python/tuple [3, 24] + - !!python/tuple [0, 14] + - !!python/tuple [17, 30] + - !!python/tuple [13, 12] + - !!python/tuple [6, 28] + - !!python/tuple [2, 18] + - !!python/tuple [12, 31] + - !!python/tuple [22, 7] + - !!python/tuple [27, 7] + - !!python/tuple [23, 27] + - !!python/tuple [3, 17] + - !!python/tuple [8, 23] + - !!python/tuple [15, 28] + - !!python/tuple [1, 18] + - !!python/tuple [19, 22] + - !!python/tuple [7, 15] + - !!python/tuple [23, 1] + - !!python/tuple [7, 11] + - !!python/tuple [12, 13] + - !!python/tuple [15, 30] + - !!python/tuple [27, 21] + - !!python/tuple [3, 0] + - !!python/tuple [7, 25] + - !!python/tuple [14, 30] + - !!python/tuple [2, 16] + - !!python/tuple [12, 7] + - !!python/tuple [23, 15] + - !!python/tuple [15, 19] + - !!python/tuple [27, 20] + - !!python/tuple [23, 11] + - !!python/tuple [4, 30] + - !!python/tuple [13, 11] + - !!python/tuple [25, 5] + - !!python/tuple [16, 25] + - !!python/tuple [12, 22] + - !!python/tuple [5, 22] + - !!python/tuple [19, 18] + - !!python/tuple [24, 14] + - !!python/tuple [15, 9] + - !!python/tuple [16, 3] + - !!python/tuple [16, 16] + - !!python/tuple [0, 3] + - !!python/tuple [14, 5] + - !!python/tuple [10, 5] + - !!python/tuple [25, 26] + - !!python/tuple [21, 11] + - !!python/tuple [0, 9] + - !!python/tuple [26, 5] + - !!python/tuple [21, 14] + - !!python/tuple [3, 11] + - !!python/tuple [20, 1] + - !!python/tuple [2, 13] + - !!python/tuple [19, 20] + - !!python/tuple [5, 21] + - !!python/tuple [30, 31] + - !!python/tuple [8, 8] + - !!python/tuple [13, 24] + - !!python/tuple [19, 4] + - !!python/tuple [14, 25] + - !!python/tuple [11, 21] + - !!python/tuple [11, 18] + - !!python/tuple [19, 26] + - !!python/tuple [9, 23] + - !!python/tuple [6, 18] + - !!python/tuple [18, 23] + - !!python/tuple [26, 10] + - !!python/tuple [2, 28] + - !!python/tuple [13, 23] + - !!python/tuple [2, 4] + - !!python/tuple [9, 13] + - !!python/tuple [1, 3] + - !!python/tuple [29, 12] + - !!python/tuple [0, 18] + - !!python/tuple [14, 21] + - !!python/tuple [31, 22] + - !!python/tuple [27, 22] + - !!python/tuple [16, 22] + - !!python/tuple [30, 0] + - !!python/tuple [4, 22] + - !!python/tuple [18, 25] + - !!python/tuple [23, 13] + - !!python/tuple [6, 12] + - !!python/tuple [7, 17] + - !!python/tuple [4, 16] + - !!python/tuple [27, 31] + - !!python/tuple [15, 31] + - !!python/tuple [1, 21] + - !!python/tuple [9, 24] + - !!python/tuple [29, 9] + - !!python/tuple [4, 20] + - !!python/tuple [17, 11] + - !!python/tuple [24, 2] + - !!python/tuple [25, 31] + - !!python/tuple [14, 16] + - !!python/tuple [8, 5] + - !!python/tuple [19, 10] + - !!python/tuple [14, 10] + - !!python/tuple [18, 0] + - !!python/tuple [30, 3] + - !!python/tuple [19, 31] + - !!python/tuple [21, 24] + - !!python/tuple [31, 11] + - !!python/tuple [0, 21] + - !!python/tuple [28, 19] + - !!python/tuple [11, 25] + - !!python/tuple [12, 21] + - !!python/tuple [5, 30] + - !!python/tuple [23, 21] + - !!python/tuple [25, 28] + - !!python/tuple [15, 5] + - !!python/tuple [19, 25] + - !!python/tuple [10, 17] + - !!python/tuple [30, 14] + - !!python/tuple [0, 1] + - !!python/tuple [27, 13] + - !!python/tuple [23, 2] + - !!python/tuple [7, 24] + - !!python/tuple [5, 26] + - !!python/tuple [28, 31] + - !!python/tuple [25, 18] + - !!python/tuple [29, 0] + - !!python/tuple [25, 29] + - !!python/tuple [8, 20] + - !!python/tuple [9, 4] + - !!python/tuple [1, 27] + - !!python/tuple [30, 28] + - !!python/tuple [20, 0] + - !!python/tuple [14, 2] + - !!python/tuple [21, 20] + - !!python/tuple [19, 8] + - !!python/tuple [26, 4] + - !!python/tuple [21, 9] + - !!python/tuple [1, 0] + - !!python/tuple [28, 15] + - !!python/tuple [20, 27] + - !!python/tuple [26, 24] + - !!python/tuple [26, 28] + - !!python/tuple [18, 16] + - !!python/tuple [5, 0] + - !!python/tuple [18, 19] + - !!python/tuple [30, 20] + - !!python/tuple [17, 24] + - !!python/tuple [18, 10] + - !!python/tuple [1, 9] + - !!python/tuple [9, 3] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex67.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex67.yaml new file mode 100644 index 0000000..4d10ab0 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex67.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [10, 4] + name: agent0 + start: [28, 22] +- goal: [12, 9] + name: agent1 + start: [0, 0] +- goal: [1, 13] + name: agent2 + start: [20, 31] +- goal: [7, 3] + name: agent3 + start: [10, 24] +- goal: [6, 16] + name: agent4 + start: [10, 15] +- goal: [30, 17] + name: agent5 + start: [3, 7] +- goal: [29, 4] + name: agent6 + start: [6, 21] +- goal: [19, 12] + name: agent7 + start: [0, 12] +- goal: [16, 25] + name: agent8 + start: [29, 16] +- goal: [27, 26] + name: agent9 + start: [14, 5] +- goal: [23, 14] + name: agent10 + start: [16, 22] +- goal: [24, 3] + name: agent11 + start: [11, 14] +- goal: [10, 0] + name: agent12 + start: [24, 24] +- goal: [11, 22] + name: agent13 + start: [21, 21] +- goal: [21, 13] + name: agent14 + start: [31, 3] +- goal: [10, 25] + name: agent15 + start: [19, 17] +- goal: [4, 17] + name: agent16 + start: [22, 22] +- goal: [24, 21] + name: agent17 + start: [17, 25] +- goal: [29, 18] + name: agent18 + start: [30, 1] +- goal: [15, 6] + name: agent19 + start: [27, 11] +- goal: [20, 18] + name: agent20 + start: [29, 5] +- goal: [7, 6] + name: agent21 + start: [20, 13] +- goal: [22, 13] + name: agent22 + start: [19, 15] +- goal: [18, 6] + name: agent23 + start: [11, 13] +- goal: [9, 6] + name: agent24 + start: [27, 14] +- goal: [13, 8] + name: agent25 + start: [27, 1] +- goal: [0, 25] + name: agent26 + start: [3, 8] +- goal: [28, 9] + name: agent27 + start: [10, 11] +- goal: [11, 2] + name: agent28 + start: [10, 13] +- goal: [26, 6] + name: agent29 + start: [18, 4] +- goal: [16, 0] + name: agent30 + start: [28, 3] +- goal: [19, 3] + name: agent31 + start: [21, 29] +- goal: [31, 21] + name: agent32 + start: [17, 22] +- goal: [14, 9] + name: agent33 + start: [7, 21] +- goal: [21, 25] + name: agent34 + start: [1, 16] +- goal: [27, 11] + name: agent35 + start: [28, 0] +- goal: [5, 15] + name: agent36 + start: [29, 29] +- goal: [15, 25] + name: agent37 + start: [15, 27] +- goal: [11, 7] + name: agent38 + start: [1, 5] +- goal: [9, 5] + name: agent39 + start: [0, 18] +- goal: [22, 6] + name: agent40 + start: [27, 31] +- goal: [6, 5] + name: agent41 + start: [11, 22] +- goal: [8, 26] + name: agent42 + start: [12, 2] +- goal: [16, 7] + name: agent43 + start: [17, 8] +- goal: [10, 23] + name: agent44 + start: [15, 19] +- goal: [9, 17] + name: agent45 + start: [2, 0] +- goal: [29, 20] + name: agent46 + start: [26, 7] +- goal: [12, 31] + name: agent47 + start: [14, 18] +- goal: [0, 1] + name: agent48 + start: [24, 1] +- goal: [23, 30] + name: agent49 + start: [11, 28] +- goal: [23, 22] + name: agent50 + start: [22, 7] +- goal: [0, 24] + name: agent51 + start: [24, 25] +- goal: [9, 31] + name: agent52 + start: [19, 12] +- goal: [17, 22] + name: agent53 + start: [10, 9] +- goal: [3, 13] + name: agent54 + start: [22, 9] +- goal: [8, 7] + name: agent55 + start: [13, 27] +- goal: [29, 23] + name: agent56 + start: [21, 26] +- goal: [2, 0] + name: agent57 + start: [7, 26] +- goal: [5, 7] + name: agent58 + start: [11, 21] +- goal: [19, 17] + name: agent59 + start: [8, 16] +- goal: [13, 27] + name: agent60 + start: [18, 31] +- goal: [17, 15] + name: agent61 + start: [6, 19] +- goal: [13, 30] + name: agent62 + start: [8, 13] +- goal: [7, 27] + name: agent63 + start: [25, 3] +- goal: [7, 14] + name: agent64 + start: [19, 3] +- goal: [28, 7] + name: agent65 + start: [27, 16] +- goal: [27, 2] + name: agent66 + start: [15, 9] +- goal: [25, 19] + name: agent67 + start: [11, 15] +- goal: [27, 6] + name: agent68 + start: [0, 20] +- goal: [20, 30] + name: agent69 + start: [3, 15] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [13, 31] + - !!python/tuple [31, 28] + - !!python/tuple [21, 11] + - !!python/tuple [30, 13] + - !!python/tuple [10, 5] + - !!python/tuple [4, 11] + - !!python/tuple [14, 4] + - !!python/tuple [20, 20] + - !!python/tuple [16, 29] + - !!python/tuple [30, 29] + - !!python/tuple [14, 27] + - !!python/tuple [16, 12] + - !!python/tuple [30, 11] + - !!python/tuple [5, 2] + - !!python/tuple [0, 6] + - !!python/tuple [0, 4] + - !!python/tuple [16, 8] + - !!python/tuple [15, 26] + - !!python/tuple [7, 13] + - !!python/tuple [26, 0] + - !!python/tuple [6, 23] + - !!python/tuple [0, 27] + - !!python/tuple [13, 28] + - !!python/tuple [9, 24] + - !!python/tuple [19, 24] + - !!python/tuple [16, 13] + - !!python/tuple [11, 3] + - !!python/tuple [28, 26] + - !!python/tuple [23, 11] + - !!python/tuple [24, 8] + - !!python/tuple [4, 6] + - !!python/tuple [30, 8] + - !!python/tuple [30, 14] + - !!python/tuple [10, 10] + - !!python/tuple [28, 21] + - !!python/tuple [9, 21] + - !!python/tuple [16, 10] + - !!python/tuple [17, 13] + - !!python/tuple [4, 24] + - !!python/tuple [14, 22] + - !!python/tuple [31, 5] + - !!python/tuple [5, 19] + - !!python/tuple [11, 24] + - !!python/tuple [17, 12] + - !!python/tuple [2, 12] + - !!python/tuple [5, 10] + - !!python/tuple [22, 2] + - !!python/tuple [31, 12] + - !!python/tuple [18, 7] + - !!python/tuple [23, 1] + - !!python/tuple [2, 30] + - !!python/tuple [3, 10] + - !!python/tuple [21, 22] + - !!python/tuple [11, 29] + - !!python/tuple [24, 0] + - !!python/tuple [0, 16] + - !!python/tuple [7, 7] + - !!python/tuple [16, 27] + - !!python/tuple [28, 19] + - !!python/tuple [29, 26] + - !!python/tuple [14, 20] + - !!python/tuple [26, 18] + - !!python/tuple [20, 29] + - !!python/tuple [9, 23] + - !!python/tuple [8, 29] + - !!python/tuple [22, 10] + - !!python/tuple [1, 22] + - !!python/tuple [23, 10] + - !!python/tuple [8, 17] + - !!python/tuple [16, 14] + - !!python/tuple [20, 8] + - !!python/tuple [9, 27] + - !!python/tuple [4, 25] + - !!python/tuple [8, 3] + - !!python/tuple [14, 23] + - !!python/tuple [5, 3] + - !!python/tuple [2, 17] + - !!python/tuple [23, 2] + - !!python/tuple [8, 5] + - !!python/tuple [26, 13] + - !!python/tuple [10, 19] + - !!python/tuple [31, 24] + - !!python/tuple [27, 23] + - !!python/tuple [27, 10] + - !!python/tuple [28, 20] + - !!python/tuple [31, 31] + - !!python/tuple [6, 12] + - !!python/tuple [24, 30] + - !!python/tuple [22, 21] + - !!python/tuple [3, 17] + - !!python/tuple [9, 8] + - !!python/tuple [18, 29] + - !!python/tuple [31, 8] + - !!python/tuple [28, 8] + - !!python/tuple [23, 25] + - !!python/tuple [28, 10] + - !!python/tuple [9, 10] + - !!python/tuple [25, 27] + - !!python/tuple [29, 19] + - !!python/tuple [22, 1] + - !!python/tuple [6, 3] + - !!python/tuple [21, 20] + - !!python/tuple [23, 13] + - !!python/tuple [22, 14] + - !!python/tuple [31, 27] + - !!python/tuple [22, 17] + - !!python/tuple [8, 4] + - !!python/tuple [2, 9] + - !!python/tuple [12, 7] + - !!python/tuple [19, 11] + - !!python/tuple [26, 26] + - !!python/tuple [8, 19] + - !!python/tuple [29, 7] + - !!python/tuple [1, 19] + - !!python/tuple [1, 15] + - !!python/tuple [4, 22] + - !!python/tuple [15, 23] + - !!python/tuple [13, 24] + - !!python/tuple [23, 26] + - !!python/tuple [28, 15] + - !!python/tuple [3, 19] + - !!python/tuple [10, 28] + - !!python/tuple [1, 30] + - !!python/tuple [3, 4] + - !!python/tuple [29, 0] + - !!python/tuple [19, 22] + - !!python/tuple [7, 0] + - !!python/tuple [31, 15] + - !!python/tuple [23, 9] + - !!python/tuple [2, 18] + - !!python/tuple [17, 16] + - !!python/tuple [29, 22] + - !!python/tuple [18, 9] + - !!python/tuple [20, 4] + - !!python/tuple [5, 1] + - !!python/tuple [2, 4] + - !!python/tuple [26, 12] + - !!python/tuple [23, 4] + - !!python/tuple [25, 1] + - !!python/tuple [26, 10] + - !!python/tuple [24, 20] + - !!python/tuple [15, 13] + - !!python/tuple [15, 20] + - !!python/tuple [3, 28] + - !!python/tuple [3, 29] + - !!python/tuple [13, 13] + - !!python/tuple [3, 26] + - !!python/tuple [7, 23] + - !!python/tuple [17, 27] + - !!python/tuple [20, 6] + - !!python/tuple [31, 23] + - !!python/tuple [2, 7] + - !!python/tuple [1, 3] + - !!python/tuple [24, 16] + - !!python/tuple [8, 9] + - !!python/tuple [10, 29] + - !!python/tuple [6, 6] + - !!python/tuple [19, 6] + - !!python/tuple [4, 9] + - !!python/tuple [26, 16] + - !!python/tuple [5, 14] + - !!python/tuple [29, 27] + - !!python/tuple [12, 25] + - !!python/tuple [30, 9] + - !!python/tuple [17, 1] + - !!python/tuple [20, 9] + - !!python/tuple [14, 29] + - !!python/tuple [7, 12] + - !!python/tuple [29, 30] + - !!python/tuple [15, 4] + - !!python/tuple [24, 26] + - !!python/tuple [12, 24] + - !!python/tuple [30, 28] + - !!python/tuple [18, 25] + - !!python/tuple [3, 31] + - !!python/tuple [10, 26] + - !!python/tuple [17, 17] + - !!python/tuple [27, 5] + - !!python/tuple [1, 18] + - !!python/tuple [17, 29] + - !!python/tuple [25, 28] + - !!python/tuple [17, 6] + - !!python/tuple [18, 27] + - !!python/tuple [18, 23] + - !!python/tuple [26, 1] + - !!python/tuple [13, 26] + - !!python/tuple [13, 21] + - !!python/tuple [29, 13] + - !!python/tuple [31, 22] + - !!python/tuple [14, 11] + - !!python/tuple [12, 28] + - !!python/tuple [6, 14] + - !!python/tuple [6, 20] + - !!python/tuple [9, 14] + - !!python/tuple [27, 13] + - !!python/tuple [20, 14] + - !!python/tuple [4, 18] + - !!python/tuple [3, 24] + - !!python/tuple [28, 1] + - !!python/tuple [5, 30] + - !!python/tuple [24, 12] + - !!python/tuple [30, 25] + - !!python/tuple [8, 30] + - !!python/tuple [16, 31] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex68.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex68.yaml new file mode 100644 index 0000000..d1c92f2 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex68.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [25, 31] + name: agent0 + start: [25, 20] +- goal: [14, 27] + name: agent1 + start: [6, 16] +- goal: [3, 24] + name: agent2 + start: [8, 19] +- goal: [21, 7] + name: agent3 + start: [10, 22] +- goal: [4, 9] + name: agent4 + start: [29, 21] +- goal: [5, 25] + name: agent5 + start: [13, 29] +- goal: [30, 4] + name: agent6 + start: [31, 16] +- goal: [11, 11] + name: agent7 + start: [25, 4] +- goal: [8, 23] + name: agent8 + start: [20, 4] +- goal: [21, 16] + name: agent9 + start: [25, 2] +- goal: [19, 21] + name: agent10 + start: [8, 14] +- goal: [28, 4] + name: agent11 + start: [1, 11] +- goal: [7, 3] + name: agent12 + start: [31, 22] +- goal: [3, 14] + name: agent13 + start: [1, 31] +- goal: [4, 28] + name: agent14 + start: [29, 20] +- goal: [29, 21] + name: agent15 + start: [21, 8] +- goal: [24, 21] + name: agent16 + start: [9, 16] +- goal: [10, 8] + name: agent17 + start: [14, 8] +- goal: [27, 13] + name: agent18 + start: [2, 20] +- goal: [19, 20] + name: agent19 + start: [18, 17] +- goal: [25, 6] + name: agent20 + start: [25, 11] +- goal: [19, 24] + name: agent21 + start: [9, 31] +- goal: [30, 10] + name: agent22 + start: [6, 24] +- goal: [30, 24] + name: agent23 + start: [19, 18] +- goal: [18, 14] + name: agent24 + start: [30, 25] +- goal: [15, 4] + name: agent25 + start: [6, 9] +- goal: [19, 17] + name: agent26 + start: [16, 5] +- goal: [3, 8] + name: agent27 + start: [22, 3] +- goal: [23, 12] + name: agent28 + start: [0, 1] +- goal: [21, 6] + name: agent29 + start: [17, 4] +- goal: [4, 26] + name: agent30 + start: [28, 10] +- goal: [26, 26] + name: agent31 + start: [7, 15] +- goal: [26, 13] + name: agent32 + start: [5, 0] +- goal: [22, 14] + name: agent33 + start: [1, 14] +- goal: [1, 28] + name: agent34 + start: [5, 17] +- goal: [17, 25] + name: agent35 + start: [29, 14] +- goal: [19, 7] + name: agent36 + start: [8, 16] +- goal: [4, 23] + name: agent37 + start: [6, 27] +- goal: [27, 7] + name: agent38 + start: [16, 2] +- goal: [15, 3] + name: agent39 + start: [13, 15] +- goal: [25, 24] + name: agent40 + start: [30, 11] +- goal: [4, 15] + name: agent41 + start: [10, 18] +- goal: [9, 11] + name: agent42 + start: [18, 9] +- goal: [29, 16] + name: agent43 + start: [26, 4] +- goal: [0, 13] + name: agent44 + start: [8, 26] +- goal: [17, 8] + name: agent45 + start: [2, 25] +- goal: [8, 3] + name: agent46 + start: [7, 20] +- goal: [17, 2] + name: agent47 + start: [1, 6] +- goal: [9, 19] + name: agent48 + start: [29, 11] +- goal: [7, 11] + name: agent49 + start: [13, 11] +- goal: [25, 8] + name: agent50 + start: [9, 0] +- goal: [18, 13] + name: agent51 + start: [9, 7] +- goal: [19, 27] + name: agent52 + start: [26, 14] +- goal: [8, 17] + name: agent53 + start: [15, 16] +- goal: [2, 5] + name: agent54 + start: [1, 15] +- goal: [0, 18] + name: agent55 + start: [4, 19] +- goal: [17, 5] + name: agent56 + start: [4, 17] +- goal: [21, 23] + name: agent57 + start: [5, 26] +- goal: [26, 11] + name: agent58 + start: [5, 6] +- goal: [29, 25] + name: agent59 + start: [0, 16] +- goal: [0, 26] + name: agent60 + start: [19, 23] +- goal: [13, 5] + name: agent61 + start: [3, 1] +- goal: [13, 26] + name: agent62 + start: [3, 5] +- goal: [9, 6] + name: agent63 + start: [31, 8] +- goal: [22, 30] + name: agent64 + start: [28, 6] +- goal: [17, 3] + name: agent65 + start: [14, 0] +- goal: [15, 21] + name: agent66 + start: [24, 17] +- goal: [5, 6] + name: agent67 + start: [29, 19] +- goal: [30, 3] + name: agent68 + start: [29, 30] +- goal: [0, 1] + name: agent69 + start: [3, 10] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [14, 4] + - !!python/tuple [0, 25] + - !!python/tuple [4, 24] + - !!python/tuple [20, 16] + - !!python/tuple [18, 19] + - !!python/tuple [4, 31] + - !!python/tuple [2, 1] + - !!python/tuple [22, 19] + - !!python/tuple [22, 24] + - !!python/tuple [7, 25] + - !!python/tuple [14, 9] + - !!python/tuple [16, 21] + - !!python/tuple [21, 24] + - !!python/tuple [30, 23] + - !!python/tuple [23, 19] + - !!python/tuple [27, 26] + - !!python/tuple [6, 28] + - !!python/tuple [4, 6] + - !!python/tuple [5, 2] + - !!python/tuple [21, 14] + - !!python/tuple [31, 1] + - !!python/tuple [17, 13] + - !!python/tuple [20, 31] + - !!python/tuple [29, 4] + - !!python/tuple [2, 11] + - !!python/tuple [13, 19] + - !!python/tuple [1, 24] + - !!python/tuple [3, 3] + - !!python/tuple [0, 15] + - !!python/tuple [22, 12] + - !!python/tuple [5, 7] + - !!python/tuple [10, 24] + - !!python/tuple [1, 20] + - !!python/tuple [23, 9] + - !!python/tuple [18, 5] + - !!python/tuple [23, 24] + - !!python/tuple [1, 12] + - !!python/tuple [26, 27] + - !!python/tuple [12, 17] + - !!python/tuple [21, 4] + - !!python/tuple [31, 30] + - !!python/tuple [8, 11] + - !!python/tuple [20, 23] + - !!python/tuple [30, 16] + - !!python/tuple [28, 15] + - !!python/tuple [12, 31] + - !!python/tuple [22, 11] + - !!python/tuple [0, 6] + - !!python/tuple [27, 30] + - !!python/tuple [12, 5] + - !!python/tuple [8, 28] + - !!python/tuple [4, 25] + - !!python/tuple [6, 18] + - !!python/tuple [11, 13] + - !!python/tuple [29, 15] + - !!python/tuple [3, 0] + - !!python/tuple [30, 7] + - !!python/tuple [24, 15] + - !!python/tuple [10, 4] + - !!python/tuple [31, 5] + - !!python/tuple [15, 31] + - !!python/tuple [27, 16] + - !!python/tuple [27, 10] + - !!python/tuple [20, 14] + - !!python/tuple [14, 11] + - !!python/tuple [5, 31] + - !!python/tuple [25, 12] + - !!python/tuple [0, 5] + - !!python/tuple [13, 14] + - !!python/tuple [6, 20] + - !!python/tuple [16, 15] + - !!python/tuple [31, 9] + - !!python/tuple [26, 12] + - !!python/tuple [10, 16] + - !!python/tuple [16, 25] + - !!python/tuple [3, 7] + - !!python/tuple [7, 29] + - !!python/tuple [13, 7] + - !!python/tuple [1, 29] + - !!python/tuple [24, 23] + - !!python/tuple [31, 17] + - !!python/tuple [14, 22] + - !!python/tuple [28, 21] + - !!python/tuple [28, 9] + - !!python/tuple [18, 4] + - !!python/tuple [11, 26] + - !!python/tuple [23, 11] + - !!python/tuple [24, 10] + - !!python/tuple [11, 31] + - !!python/tuple [22, 25] + - !!python/tuple [2, 15] + - !!python/tuple [5, 28] + - !!python/tuple [16, 27] + - !!python/tuple [9, 3] + - !!python/tuple [25, 9] + - !!python/tuple [22, 18] + - !!python/tuple [30, 18] + - !!python/tuple [14, 30] + - !!python/tuple [6, 13] + - !!python/tuple [31, 11] + - !!python/tuple [8, 31] + - !!python/tuple [31, 21] + - !!python/tuple [19, 16] + - !!python/tuple [7, 14] + - !!python/tuple [30, 12] + - !!python/tuple [29, 10] + - !!python/tuple [7, 30] + - !!python/tuple [24, 19] + - !!python/tuple [8, 5] + - !!python/tuple [26, 1] + - !!python/tuple [18, 26] + - !!python/tuple [9, 1] + - !!python/tuple [11, 14] + - !!python/tuple [25, 16] + - !!python/tuple [23, 1] + - !!python/tuple [16, 11] + - !!python/tuple [18, 27] + - !!python/tuple [20, 21] + - !!python/tuple [26, 8] + - !!python/tuple [26, 16] + - !!python/tuple [27, 25] + - !!python/tuple [2, 29] + - !!python/tuple [13, 3] + - !!python/tuple [1, 9] + - !!python/tuple [17, 11] + - !!python/tuple [23, 6] + - !!python/tuple [11, 23] + - !!python/tuple [29, 12] + - !!python/tuple [24, 31] + - !!python/tuple [28, 0] + - !!python/tuple [22, 23] + - !!python/tuple [1, 21] + - !!python/tuple [12, 11] + - !!python/tuple [1, 2] + - !!python/tuple [27, 12] + - !!python/tuple [6, 22] + - !!python/tuple [17, 22] + - !!python/tuple [20, 22] + - !!python/tuple [25, 14] + - !!python/tuple [23, 18] + - !!python/tuple [25, 27] + - !!python/tuple [31, 25] + - !!python/tuple [26, 5] + - !!python/tuple [4, 2] + - !!python/tuple [2, 8] + - !!python/tuple [6, 19] + - !!python/tuple [17, 29] + - !!python/tuple [19, 11] + - !!python/tuple [14, 23] + - !!python/tuple [14, 5] + - !!python/tuple [23, 25] + - !!python/tuple [21, 10] + - !!python/tuple [8, 21] + - !!python/tuple [12, 4] + - !!python/tuple [3, 12] + - !!python/tuple [23, 0] + - !!python/tuple [23, 15] + - !!python/tuple [5, 30] + - !!python/tuple [28, 26] + - !!python/tuple [20, 2] + - !!python/tuple [18, 30] + - !!python/tuple [30, 31] + - !!python/tuple [16, 13] + - !!python/tuple [10, 3] + - !!python/tuple [8, 6] + - !!python/tuple [28, 12] + - !!python/tuple [3, 22] + - !!python/tuple [23, 16] + - !!python/tuple [16, 17] + - !!python/tuple [13, 16] + - !!python/tuple [10, 2] + - !!python/tuple [19, 22] + - !!python/tuple [4, 14] + - !!python/tuple [25, 19] + - !!python/tuple [6, 11] + - !!python/tuple [30, 1] + - !!python/tuple [10, 27] + - !!python/tuple [22, 9] + - !!python/tuple [31, 3] + - !!python/tuple [12, 10] + - !!python/tuple [21, 21] + - !!python/tuple [8, 27] + - !!python/tuple [12, 12] + - !!python/tuple [20, 7] + - !!python/tuple [0, 9] + - !!python/tuple [28, 16] + - !!python/tuple [3, 13] + - !!python/tuple [10, 14] + - !!python/tuple [21, 29] + - !!python/tuple [31, 28] + - !!python/tuple [3, 16] + - !!python/tuple [17, 9] + - !!python/tuple [14, 1] + - !!python/tuple [8, 8] + - !!python/tuple [14, 18] + - !!python/tuple [17, 16] + - !!python/tuple [30, 26] + - !!python/tuple [4, 4] + - !!python/tuple [27, 14] + - !!python/tuple [20, 3] + - !!python/tuple [5, 22] + - !!python/tuple [27, 29] + - !!python/tuple [5, 20] + - !!python/tuple [22, 20] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex69.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex69.yaml new file mode 100644 index 0000000..3723317 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex69.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [10, 19] + name: agent0 + start: [12, 16] +- goal: [7, 28] + name: agent1 + start: [1, 25] +- goal: [25, 7] + name: agent2 + start: [15, 9] +- goal: [20, 12] + name: agent3 + start: [13, 1] +- goal: [4, 24] + name: agent4 + start: [25, 13] +- goal: [18, 27] + name: agent5 + start: [4, 2] +- goal: [28, 30] + name: agent6 + start: [7, 23] +- goal: [21, 20] + name: agent7 + start: [9, 17] +- goal: [9, 17] + name: agent8 + start: [13, 3] +- goal: [31, 28] + name: agent9 + start: [16, 6] +- goal: [21, 13] + name: agent10 + start: [17, 22] +- goal: [23, 1] + name: agent11 + start: [16, 7] +- goal: [21, 15] + name: agent12 + start: [13, 25] +- goal: [0, 21] + name: agent13 + start: [31, 16] +- goal: [17, 7] + name: agent14 + start: [21, 21] +- goal: [28, 3] + name: agent15 + start: [12, 0] +- goal: [12, 25] + name: agent16 + start: [24, 28] +- goal: [11, 0] + name: agent17 + start: [30, 15] +- goal: [20, 21] + name: agent18 + start: [1, 1] +- goal: [17, 31] + name: agent19 + start: [14, 9] +- goal: [19, 24] + name: agent20 + start: [21, 5] +- goal: [0, 28] + name: agent21 + start: [22, 13] +- goal: [5, 0] + name: agent22 + start: [12, 20] +- goal: [6, 27] + name: agent23 + start: [22, 27] +- goal: [6, 17] + name: agent24 + start: [13, 7] +- goal: [10, 24] + name: agent25 + start: [1, 22] +- goal: [25, 12] + name: agent26 + start: [5, 18] +- goal: [23, 28] + name: agent27 + start: [3, 13] +- goal: [18, 5] + name: agent28 + start: [19, 13] +- goal: [6, 13] + name: agent29 + start: [16, 8] +- goal: [16, 24] + name: agent30 + start: [16, 1] +- goal: [2, 31] + name: agent31 + start: [9, 24] +- goal: [0, 5] + name: agent32 + start: [28, 29] +- goal: [11, 27] + name: agent33 + start: [22, 2] +- goal: [1, 8] + name: agent34 + start: [19, 18] +- goal: [11, 11] + name: agent35 + start: [15, 31] +- goal: [6, 22] + name: agent36 + start: [2, 2] +- goal: [10, 26] + name: agent37 + start: [6, 9] +- goal: [23, 18] + name: agent38 + start: [5, 7] +- goal: [22, 7] + name: agent39 + start: [21, 26] +- goal: [15, 28] + name: agent40 + start: [4, 19] +- goal: [25, 26] + name: agent41 + start: [4, 18] +- goal: [24, 2] + name: agent42 + start: [10, 29] +- goal: [17, 3] + name: agent43 + start: [4, 13] +- goal: [5, 24] + name: agent44 + start: [16, 5] +- goal: [24, 16] + name: agent45 + start: [27, 5] +- goal: [3, 2] + name: agent46 + start: [3, 3] +- goal: [15, 8] + name: agent47 + start: [8, 12] +- goal: [25, 1] + name: agent48 + start: [25, 5] +- goal: [19, 17] + name: agent49 + start: [6, 18] +- goal: [2, 28] + name: agent50 + start: [15, 20] +- goal: [11, 22] + name: agent51 + start: [6, 24] +- goal: [29, 13] + name: agent52 + start: [31, 15] +- goal: [28, 29] + name: agent53 + start: [30, 28] +- goal: [14, 15] + name: agent54 + start: [29, 16] +- goal: [13, 31] + name: agent55 + start: [22, 17] +- goal: [29, 12] + name: agent56 + start: [20, 30] +- goal: [18, 24] + name: agent57 + start: [9, 1] +- goal: [1, 11] + name: agent58 + start: [1, 8] +- goal: [24, 28] + name: agent59 + start: [9, 15] +- goal: [15, 21] + name: agent60 + start: [23, 3] +- goal: [6, 7] + name: agent61 + start: [17, 24] +- goal: [24, 17] + name: agent62 + start: [20, 0] +- goal: [19, 3] + name: agent63 + start: [13, 22] +- goal: [28, 26] + name: agent64 + start: [18, 27] +- goal: [23, 17] + name: agent65 + start: [4, 3] +- goal: [27, 31] + name: agent66 + start: [23, 10] +- goal: [10, 15] + name: agent67 + start: [19, 16] +- goal: [11, 30] + name: agent68 + start: [3, 21] +- goal: [20, 20] + name: agent69 + start: [23, 25] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [12, 13] + - !!python/tuple [19, 27] + - !!python/tuple [11, 8] + - !!python/tuple [23, 6] + - !!python/tuple [31, 22] + - !!python/tuple [5, 19] + - !!python/tuple [27, 28] + - !!python/tuple [30, 2] + - !!python/tuple [4, 23] + - !!python/tuple [3, 26] + - !!python/tuple [9, 25] + - !!python/tuple [15, 5] + - !!python/tuple [7, 25] + - !!python/tuple [3, 19] + - !!python/tuple [10, 2] + - !!python/tuple [29, 23] + - !!python/tuple [16, 9] + - !!python/tuple [26, 24] + - !!python/tuple [4, 4] + - !!python/tuple [18, 31] + - !!python/tuple [5, 25] + - !!python/tuple [28, 12] + - !!python/tuple [9, 4] + - !!python/tuple [24, 23] + - !!python/tuple [27, 20] + - !!python/tuple [14, 29] + - !!python/tuple [0, 9] + - !!python/tuple [8, 11] + - !!python/tuple [18, 17] + - !!python/tuple [20, 11] + - !!python/tuple [21, 1] + - !!python/tuple [4, 0] + - !!python/tuple [23, 14] + - !!python/tuple [22, 8] + - !!python/tuple [24, 3] + - !!python/tuple [3, 0] + - !!python/tuple [31, 0] + - !!python/tuple [11, 31] + - !!python/tuple [5, 2] + - !!python/tuple [12, 9] + - !!python/tuple [30, 4] + - !!python/tuple [29, 3] + - !!python/tuple [19, 5] + - !!python/tuple [15, 26] + - !!python/tuple [24, 21] + - !!python/tuple [9, 27] + - !!python/tuple [19, 12] + - !!python/tuple [27, 25] + - !!python/tuple [4, 14] + - !!python/tuple [22, 4] + - !!python/tuple [25, 24] + - !!python/tuple [30, 17] + - !!python/tuple [16, 21] + - !!python/tuple [31, 14] + - !!python/tuple [19, 10] + - !!python/tuple [8, 3] + - !!python/tuple [29, 26] + - !!python/tuple [9, 8] + - !!python/tuple [0, 14] + - !!python/tuple [3, 29] + - !!python/tuple [18, 15] + - !!python/tuple [12, 3] + - !!python/tuple [17, 20] + - !!python/tuple [27, 9] + - !!python/tuple [17, 13] + - !!python/tuple [23, 31] + - !!python/tuple [24, 24] + - !!python/tuple [7, 21] + - !!python/tuple [0, 29] + - !!python/tuple [30, 9] + - !!python/tuple [31, 21] + - !!python/tuple [20, 15] + - !!python/tuple [27, 21] + - !!python/tuple [3, 20] + - !!python/tuple [11, 21] + - !!python/tuple [11, 17] + - !!python/tuple [21, 24] + - !!python/tuple [1, 15] + - !!python/tuple [2, 13] + - !!python/tuple [19, 30] + - !!python/tuple [11, 15] + - !!python/tuple [16, 26] + - !!python/tuple [31, 19] + - !!python/tuple [4, 7] + - !!python/tuple [7, 2] + - !!python/tuple [21, 0] + - !!python/tuple [28, 13] + - !!python/tuple [11, 1] + - !!python/tuple [12, 26] + - !!python/tuple [25, 17] + - !!python/tuple [1, 2] + - !!python/tuple [6, 12] + - !!python/tuple [26, 5] + - !!python/tuple [20, 27] + - !!python/tuple [20, 10] + - !!python/tuple [18, 9] + - !!python/tuple [2, 29] + - !!python/tuple [11, 29] + - !!python/tuple [26, 12] + - !!python/tuple [23, 11] + - !!python/tuple [13, 0] + - !!python/tuple [13, 11] + - !!python/tuple [21, 18] + - !!python/tuple [13, 27] + - !!python/tuple [23, 0] + - !!python/tuple [29, 7] + - !!python/tuple [26, 23] + - !!python/tuple [24, 29] + - !!python/tuple [25, 6] + - !!python/tuple [8, 14] + - !!python/tuple [4, 31] + - !!python/tuple [30, 13] + - !!python/tuple [21, 14] + - !!python/tuple [26, 4] + - !!python/tuple [27, 23] + - !!python/tuple [11, 9] + - !!python/tuple [17, 1] + - !!python/tuple [27, 4] + - !!python/tuple [4, 5] + - !!python/tuple [24, 0] + - !!python/tuple [25, 23] + - !!python/tuple [2, 9] + - !!python/tuple [7, 17] + - !!python/tuple [14, 22] + - !!python/tuple [31, 31] + - !!python/tuple [0, 22] + - !!python/tuple [6, 23] + - !!python/tuple [12, 5] + - !!python/tuple [26, 15] + - !!python/tuple [5, 5] + - !!python/tuple [15, 27] + - !!python/tuple [0, 30] + - !!python/tuple [2, 10] + - !!python/tuple [24, 8] + - !!python/tuple [18, 28] + - !!python/tuple [13, 15] + - !!python/tuple [0, 12] + - !!python/tuple [22, 0] + - !!python/tuple [10, 1] + - !!python/tuple [31, 13] + - !!python/tuple [27, 7] + - !!python/tuple [8, 0] + - !!python/tuple [29, 2] + - !!python/tuple [19, 31] + - !!python/tuple [25, 4] + - !!python/tuple [16, 31] + - !!python/tuple [14, 6] + - !!python/tuple [10, 0] + - !!python/tuple [3, 9] + - !!python/tuple [11, 26] + - !!python/tuple [30, 27] + - !!python/tuple [17, 27] + - !!python/tuple [25, 30] + - !!python/tuple [14, 12] + - !!python/tuple [17, 5] + - !!python/tuple [14, 17] + - !!python/tuple [10, 8] + - !!python/tuple [27, 30] + - !!python/tuple [14, 31] + - !!python/tuple [14, 11] + - !!python/tuple [27, 3] + - !!python/tuple [16, 11] + - !!python/tuple [21, 10] + - !!python/tuple [20, 18] + - !!python/tuple [7, 0] + - !!python/tuple [22, 15] + - !!python/tuple [19, 21] + - !!python/tuple [2, 30] + - !!python/tuple [5, 8] + - !!python/tuple [16, 12] + - !!python/tuple [24, 10] + - !!python/tuple [11, 7] + - !!python/tuple [24, 20] + - !!python/tuple [31, 9] + - !!python/tuple [31, 26] + - !!python/tuple [13, 26] + - !!python/tuple [22, 28] + - !!python/tuple [31, 5] + - !!python/tuple [13, 12] + - !!python/tuple [28, 0] + - !!python/tuple [22, 26] + - !!python/tuple [9, 3] + - !!python/tuple [30, 29] + - !!python/tuple [27, 13] + - !!python/tuple [9, 10] + - !!python/tuple [30, 20] + - !!python/tuple [2, 27] + - !!python/tuple [24, 1] + - !!python/tuple [18, 11] + - !!python/tuple [18, 6] + - !!python/tuple [18, 30] + - !!python/tuple [20, 16] + - !!python/tuple [10, 16] + - !!python/tuple [5, 30] + - !!python/tuple [6, 25] + - !!python/tuple [23, 27] + - !!python/tuple [28, 1] + - !!python/tuple [14, 26] + - !!python/tuple [9, 22] + - !!python/tuple [10, 27] + - !!python/tuple [17, 19] + - !!python/tuple [12, 6] + - !!python/tuple [2, 21] + - !!python/tuple [6, 6] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex7.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex7.yaml new file mode 100644 index 0000000..e5dc4a3 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex7.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [13, 18] + name: agent0 + start: [25, 3] +- goal: [12, 7] + name: agent1 + start: [13, 9] +- goal: [10, 27] + name: agent2 + start: [24, 29] +- goal: [20, 10] + name: agent3 + start: [31, 13] +- goal: [10, 13] + name: agent4 + start: [27, 1] +- goal: [7, 19] + name: agent5 + start: [16, 1] +- goal: [30, 13] + name: agent6 + start: [26, 19] +- goal: [25, 24] + name: agent7 + start: [14, 23] +- goal: [30, 10] + name: agent8 + start: [13, 16] +- goal: [20, 13] + name: agent9 + start: [30, 13] +- goal: [8, 3] + name: agent10 + start: [30, 19] +- goal: [5, 28] + name: agent11 + start: [0, 8] +- goal: [3, 15] + name: agent12 + start: [30, 11] +- goal: [24, 25] + name: agent13 + start: [3, 27] +- goal: [14, 6] + name: agent14 + start: [14, 16] +- goal: [11, 7] + name: agent15 + start: [9, 19] +- goal: [13, 12] + name: agent16 + start: [25, 19] +- goal: [15, 14] + name: agent17 + start: [29, 6] +- goal: [4, 20] + name: agent18 + start: [5, 13] +- goal: [0, 24] + name: agent19 + start: [25, 5] +- goal: [25, 18] + name: agent20 + start: [22, 13] +- goal: [0, 1] + name: agent21 + start: [6, 25] +- goal: [18, 21] + name: agent22 + start: [17, 19] +- goal: [7, 21] + name: agent23 + start: [1, 4] +- goal: [11, 15] + name: agent24 + start: [3, 21] +- goal: [31, 23] + name: agent25 + start: [0, 17] +- goal: [17, 28] + name: agent26 + start: [21, 29] +- goal: [26, 30] + name: agent27 + start: [5, 9] +- goal: [18, 9] + name: agent28 + start: [4, 24] +- goal: [15, 22] + name: agent29 + start: [18, 21] +- goal: [7, 6] + name: agent30 + start: [0, 29] +- goal: [18, 24] + name: agent31 + start: [13, 21] +- goal: [12, 1] + name: agent32 + start: [12, 4] +- goal: [13, 26] + name: agent33 + start: [4, 31] +- goal: [25, 12] + name: agent34 + start: [6, 16] +- goal: [17, 18] + name: agent35 + start: [22, 1] +- goal: [28, 21] + name: agent36 + start: [10, 25] +- goal: [21, 19] + name: agent37 + start: [22, 7] +- goal: [3, 24] + name: agent38 + start: [25, 2] +- goal: [26, 29] + name: agent39 + start: [31, 7] +- goal: [21, 22] + name: agent40 + start: [16, 12] +- goal: [15, 18] + name: agent41 + start: [11, 27] +- goal: [24, 8] + name: agent42 + start: [18, 29] +- goal: [13, 25] + name: agent43 + start: [24, 19] +- goal: [22, 25] + name: agent44 + start: [22, 14] +- goal: [5, 21] + name: agent45 + start: [2, 21] +- goal: [1, 4] + name: agent46 + start: [9, 25] +- goal: [11, 21] + name: agent47 + start: [18, 1] +- goal: [27, 10] + name: agent48 + start: [31, 18] +- goal: [2, 4] + name: agent49 + start: [1, 30] +- goal: [31, 14] + name: agent50 + start: [18, 19] +- goal: [30, 24] + name: agent51 + start: [27, 24] +- goal: [12, 11] + name: agent52 + start: [23, 1] +- goal: [1, 10] + name: agent53 + start: [29, 20] +- goal: [22, 3] + name: agent54 + start: [5, 6] +- goal: [11, 22] + name: agent55 + start: [3, 9] +- goal: [17, 3] + name: agent56 + start: [8, 2] +- goal: [21, 3] + name: agent57 + start: [12, 27] +- goal: [21, 14] + name: agent58 + start: [23, 18] +- goal: [11, 16] + name: agent59 + start: [6, 20] +- goal: [9, 23] + name: agent60 + start: [10, 13] +- goal: [28, 24] + name: agent61 + start: [26, 20] +- goal: [30, 25] + name: agent62 + start: [8, 19] +- goal: [15, 3] + name: agent63 + start: [29, 10] +- goal: [9, 20] + name: agent64 + start: [3, 23] +- goal: [15, 1] + name: agent65 + start: [9, 29] +- goal: [23, 18] + name: agent66 + start: [15, 2] +- goal: [22, 28] + name: agent67 + start: [1, 28] +- goal: [25, 10] + name: agent68 + start: [12, 5] +- goal: [21, 23] + name: agent69 + start: [0, 12] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [22, 24] + - !!python/tuple [19, 6] + - !!python/tuple [31, 15] + - !!python/tuple [13, 0] + - !!python/tuple [29, 30] + - !!python/tuple [22, 11] + - !!python/tuple [20, 22] + - !!python/tuple [9, 28] + - !!python/tuple [10, 14] + - !!python/tuple [20, 9] + - !!python/tuple [13, 29] + - !!python/tuple [8, 4] + - !!python/tuple [3, 19] + - !!python/tuple [17, 25] + - !!python/tuple [27, 2] + - !!python/tuple [16, 14] + - !!python/tuple [18, 13] + - !!python/tuple [1, 29] + - !!python/tuple [20, 29] + - !!python/tuple [22, 5] + - !!python/tuple [11, 5] + - !!python/tuple [10, 17] + - !!python/tuple [28, 27] + - !!python/tuple [15, 19] + - !!python/tuple [12, 6] + - !!python/tuple [26, 23] + - !!python/tuple [29, 9] + - !!python/tuple [7, 14] + - !!python/tuple [4, 28] + - !!python/tuple [18, 10] + - !!python/tuple [1, 6] + - !!python/tuple [6, 8] + - !!python/tuple [3, 3] + - !!python/tuple [25, 16] + - !!python/tuple [1, 27] + - !!python/tuple [15, 27] + - !!python/tuple [21, 30] + - !!python/tuple [21, 28] + - !!python/tuple [30, 1] + - !!python/tuple [31, 17] + - !!python/tuple [24, 5] + - !!python/tuple [3, 17] + - !!python/tuple [5, 25] + - !!python/tuple [25, 23] + - !!python/tuple [30, 5] + - !!python/tuple [4, 21] + - !!python/tuple [17, 0] + - !!python/tuple [18, 6] + - !!python/tuple [7, 29] + - !!python/tuple [13, 7] + - !!python/tuple [11, 8] + - !!python/tuple [9, 9] + - !!python/tuple [9, 27] + - !!python/tuple [17, 2] + - !!python/tuple [14, 1] + - !!python/tuple [0, 3] + - !!python/tuple [17, 14] + - !!python/tuple [19, 13] + - !!python/tuple [26, 24] + - !!python/tuple [24, 17] + - !!python/tuple [27, 6] + - !!python/tuple [23, 28] + - !!python/tuple [11, 0] + - !!python/tuple [23, 13] + - !!python/tuple [1, 3] + - !!python/tuple [14, 3] + - !!python/tuple [19, 19] + - !!python/tuple [6, 5] + - !!python/tuple [20, 1] + - !!python/tuple [31, 6] + - !!python/tuple [19, 23] + - !!python/tuple [18, 4] + - !!python/tuple [24, 15] + - !!python/tuple [7, 10] + - !!python/tuple [20, 8] + - !!python/tuple [16, 4] + - !!python/tuple [25, 11] + - !!python/tuple [7, 12] + - !!python/tuple [8, 25] + - !!python/tuple [3, 8] + - !!python/tuple [5, 11] + - !!python/tuple [31, 16] + - !!python/tuple [10, 12] + - !!python/tuple [20, 0] + - !!python/tuple [26, 2] + - !!python/tuple [18, 12] + - !!python/tuple [24, 9] + - !!python/tuple [26, 22] + - !!python/tuple [17, 24] + - !!python/tuple [17, 15] + - !!python/tuple [16, 24] + - !!python/tuple [11, 28] + - !!python/tuple [28, 7] + - !!python/tuple [17, 8] + - !!python/tuple [9, 13] + - !!python/tuple [3, 12] + - !!python/tuple [19, 5] + - !!python/tuple [13, 13] + - !!python/tuple [16, 17] + - !!python/tuple [31, 10] + - !!python/tuple [24, 31] + - !!python/tuple [19, 12] + - !!python/tuple [10, 16] + - !!python/tuple [26, 11] + - !!python/tuple [7, 20] + - !!python/tuple [3, 13] + - !!python/tuple [31, 12] + - !!python/tuple [21, 16] + - !!python/tuple [8, 18] + - !!python/tuple [14, 26] + - !!python/tuple [7, 0] + - !!python/tuple [20, 26] + - !!python/tuple [19, 0] + - !!python/tuple [31, 25] + - !!python/tuple [27, 27] + - !!python/tuple [11, 12] + - !!python/tuple [17, 30] + - !!python/tuple [5, 15] + - !!python/tuple [23, 25] + - !!python/tuple [3, 10] + - !!python/tuple [23, 31] + - !!python/tuple [17, 23] + - !!python/tuple [30, 26] + - !!python/tuple [27, 18] + - !!python/tuple [16, 7] + - !!python/tuple [8, 10] + - !!python/tuple [5, 19] + - !!python/tuple [24, 18] + - !!python/tuple [28, 8] + - !!python/tuple [23, 24] + - !!python/tuple [19, 20] + - !!python/tuple [0, 6] + - !!python/tuple [19, 7] + - !!python/tuple [6, 31] + - !!python/tuple [8, 17] + - !!python/tuple [31, 9] + - !!python/tuple [22, 27] + - !!python/tuple [26, 16] + - !!python/tuple [29, 26] + - !!python/tuple [29, 28] + - !!python/tuple [27, 14] + - !!python/tuple [12, 26] + - !!python/tuple [2, 2] + - !!python/tuple [2, 1] + - !!python/tuple [13, 5] + - !!python/tuple [9, 31] + - !!python/tuple [15, 11] + - !!python/tuple [31, 4] + - !!python/tuple [8, 31] + - !!python/tuple [27, 21] + - !!python/tuple [25, 7] + - !!python/tuple [21, 21] + - !!python/tuple [18, 0] + - !!python/tuple [10, 4] + - !!python/tuple [23, 27] + - !!python/tuple [13, 6] + - !!python/tuple [27, 16] + - !!python/tuple [3, 28] + - !!python/tuple [23, 20] + - !!python/tuple [0, 9] + - !!python/tuple [26, 9] + - !!python/tuple [5, 16] + - !!python/tuple [28, 9] + - !!python/tuple [28, 28] + - !!python/tuple [15, 29] + - !!python/tuple [8, 24] + - !!python/tuple [29, 8] + - !!python/tuple [1, 2] + - !!python/tuple [6, 11] + - !!python/tuple [12, 17] + - !!python/tuple [4, 23] + - !!python/tuple [2, 16] + - !!python/tuple [6, 1] + - !!python/tuple [5, 29] + - !!python/tuple [2, 13] + - !!python/tuple [17, 27] + - !!python/tuple [19, 22] + - !!python/tuple [25, 31] + - !!python/tuple [5, 2] + - !!python/tuple [22, 10] + - !!python/tuple [4, 12] + - !!python/tuple [18, 17] + - !!python/tuple [28, 14] + - !!python/tuple [29, 31] + - !!python/tuple [23, 14] + - !!python/tuple [0, 13] + - !!python/tuple [28, 11] + - !!python/tuple [5, 5] + - !!python/tuple [29, 24] + - !!python/tuple [20, 24] + - !!python/tuple [1, 1] + - !!python/tuple [28, 29] + - !!python/tuple [6, 14] + - !!python/tuple [28, 3] + - !!python/tuple [8, 9] + - !!python/tuple [5, 24] + - !!python/tuple [0, 15] + - !!python/tuple [26, 28] + - !!python/tuple [16, 18] + - !!python/tuple [14, 28] + - !!python/tuple [0, 18] + - !!python/tuple [2, 28] + - !!python/tuple [14, 0] + - !!python/tuple [3, 6] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex70.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex70.yaml new file mode 100644 index 0000000..aec1f5f --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex70.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [17, 21] + name: agent0 + start: [20, 30] +- goal: [0, 24] + name: agent1 + start: [0, 17] +- goal: [24, 19] + name: agent2 + start: [25, 25] +- goal: [24, 8] + name: agent3 + start: [16, 20] +- goal: [28, 31] + name: agent4 + start: [21, 3] +- goal: [30, 14] + name: agent5 + start: [9, 0] +- goal: [3, 5] + name: agent6 + start: [28, 15] +- goal: [11, 7] + name: agent7 + start: [29, 0] +- goal: [24, 13] + name: agent8 + start: [9, 11] +- goal: [29, 21] + name: agent9 + start: [22, 16] +- goal: [13, 23] + name: agent10 + start: [4, 0] +- goal: [13, 26] + name: agent11 + start: [27, 9] +- goal: [30, 5] + name: agent12 + start: [7, 18] +- goal: [11, 9] + name: agent13 + start: [16, 1] +- goal: [0, 9] + name: agent14 + start: [11, 18] +- goal: [28, 8] + name: agent15 + start: [10, 24] +- goal: [14, 19] + name: agent16 + start: [2, 10] +- goal: [7, 8] + name: agent17 + start: [5, 28] +- goal: [19, 9] + name: agent18 + start: [14, 26] +- goal: [24, 17] + name: agent19 + start: [30, 22] +- goal: [31, 21] + name: agent20 + start: [0, 28] +- goal: [3, 2] + name: agent21 + start: [0, 0] +- goal: [10, 26] + name: agent22 + start: [5, 21] +- goal: [18, 27] + name: agent23 + start: [20, 16] +- goal: [30, 31] + name: agent24 + start: [22, 4] +- goal: [25, 16] + name: agent25 + start: [1, 20] +- goal: [8, 5] + name: agent26 + start: [30, 27] +- goal: [8, 10] + name: agent27 + start: [13, 10] +- goal: [18, 22] + name: agent28 + start: [23, 23] +- goal: [14, 27] + name: agent29 + start: [11, 1] +- goal: [12, 6] + name: agent30 + start: [5, 31] +- goal: [13, 4] + name: agent31 + start: [28, 24] +- goal: [16, 6] + name: agent32 + start: [31, 24] +- goal: [5, 26] + name: agent33 + start: [1, 12] +- goal: [2, 11] + name: agent34 + start: [14, 23] +- goal: [15, 31] + name: agent35 + start: [10, 2] +- goal: [26, 11] + name: agent36 + start: [4, 24] +- goal: [5, 0] + name: agent37 + start: [23, 0] +- goal: [18, 7] + name: agent38 + start: [15, 18] +- goal: [16, 9] + name: agent39 + start: [28, 30] +- goal: [8, 21] + name: agent40 + start: [18, 14] +- goal: [4, 1] + name: agent41 + start: [6, 12] +- goal: [15, 25] + name: agent42 + start: [26, 4] +- goal: [28, 15] + name: agent43 + start: [9, 14] +- goal: [3, 26] + name: agent44 + start: [9, 25] +- goal: [4, 8] + name: agent45 + start: [15, 16] +- goal: [17, 22] + name: agent46 + start: [11, 3] +- goal: [22, 0] + name: agent47 + start: [5, 26] +- goal: [31, 26] + name: agent48 + start: [13, 9] +- goal: [27, 13] + name: agent49 + start: [16, 6] +- goal: [2, 22] + name: agent50 + start: [26, 2] +- goal: [21, 7] + name: agent51 + start: [15, 3] +- goal: [23, 12] + name: agent52 + start: [21, 15] +- goal: [4, 15] + name: agent53 + start: [23, 5] +- goal: [31, 17] + name: agent54 + start: [28, 18] +- goal: [28, 2] + name: agent55 + start: [25, 4] +- goal: [12, 10] + name: agent56 + start: [3, 10] +- goal: [11, 17] + name: agent57 + start: [30, 12] +- goal: [19, 14] + name: agent58 + start: [15, 11] +- goal: [21, 9] + name: agent59 + start: [11, 13] +- goal: [8, 6] + name: agent60 + start: [5, 2] +- goal: [23, 3] + name: agent61 + start: [2, 19] +- goal: [18, 16] + name: agent62 + start: [8, 21] +- goal: [15, 8] + name: agent63 + start: [29, 25] +- goal: [28, 22] + name: agent64 + start: [10, 22] +- goal: [0, 2] + name: agent65 + start: [26, 18] +- goal: [19, 4] + name: agent66 + start: [21, 20] +- goal: [5, 20] + name: agent67 + start: [4, 18] +- goal: [25, 6] + name: agent68 + start: [15, 7] +- goal: [17, 18] + name: agent69 + start: [8, 5] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [10, 5] + - !!python/tuple [19, 17] + - !!python/tuple [18, 31] + - !!python/tuple [30, 13] + - !!python/tuple [21, 19] + - !!python/tuple [27, 4] + - !!python/tuple [0, 12] + - !!python/tuple [7, 3] + - !!python/tuple [20, 21] + - !!python/tuple [9, 26] + - !!python/tuple [20, 17] + - !!python/tuple [9, 5] + - !!python/tuple [24, 0] + - !!python/tuple [21, 2] + - !!python/tuple [17, 30] + - !!python/tuple [0, 29] + - !!python/tuple [31, 19] + - !!python/tuple [7, 12] + - !!python/tuple [19, 21] + - !!python/tuple [20, 20] + - !!python/tuple [19, 8] + - !!python/tuple [15, 22] + - !!python/tuple [15, 24] + - !!python/tuple [0, 13] + - !!python/tuple [18, 0] + - !!python/tuple [7, 31] + - !!python/tuple [18, 8] + - !!python/tuple [29, 15] + - !!python/tuple [16, 27] + - !!python/tuple [21, 10] + - !!python/tuple [21, 13] + - !!python/tuple [3, 12] + - !!python/tuple [12, 13] + - !!python/tuple [7, 29] + - !!python/tuple [20, 19] + - !!python/tuple [23, 9] + - !!python/tuple [27, 10] + - !!python/tuple [20, 7] + - !!python/tuple [1, 23] + - !!python/tuple [7, 22] + - !!python/tuple [17, 0] + - !!python/tuple [8, 12] + - !!python/tuple [1, 4] + - !!python/tuple [7, 24] + - !!python/tuple [9, 28] + - !!python/tuple [18, 24] + - !!python/tuple [10, 19] + - !!python/tuple [22, 14] + - !!python/tuple [3, 1] + - !!python/tuple [7, 10] + - !!python/tuple [11, 26] + - !!python/tuple [29, 11] + - !!python/tuple [15, 13] + - !!python/tuple [14, 8] + - !!python/tuple [20, 28] + - !!python/tuple [2, 24] + - !!python/tuple [25, 29] + - !!python/tuple [5, 15] + - !!python/tuple [22, 23] + - !!python/tuple [18, 2] + - !!python/tuple [8, 8] + - !!python/tuple [30, 0] + - !!python/tuple [10, 7] + - !!python/tuple [20, 8] + - !!python/tuple [16, 14] + - !!python/tuple [1, 24] + - !!python/tuple [20, 29] + - !!python/tuple [20, 9] + - !!python/tuple [11, 0] + - !!python/tuple [7, 0] + - !!python/tuple [15, 6] + - !!python/tuple [25, 30] + - !!python/tuple [29, 20] + - !!python/tuple [25, 2] + - !!python/tuple [11, 29] + - !!python/tuple [3, 3] + - !!python/tuple [12, 31] + - !!python/tuple [30, 11] + - !!python/tuple [8, 23] + - !!python/tuple [31, 16] + - !!python/tuple [29, 10] + - !!python/tuple [22, 6] + - !!python/tuple [26, 21] + - !!python/tuple [31, 0] + - !!python/tuple [29, 5] + - !!python/tuple [3, 6] + - !!python/tuple [25, 26] + - !!python/tuple [24, 26] + - !!python/tuple [27, 27] + - !!python/tuple [12, 30] + - !!python/tuple [8, 27] + - !!python/tuple [0, 18] + - !!python/tuple [26, 7] + - !!python/tuple [19, 1] + - !!python/tuple [30, 15] + - !!python/tuple [30, 4] + - !!python/tuple [23, 4] + - !!python/tuple [18, 3] + - !!python/tuple [30, 18] + - !!python/tuple [0, 30] + - !!python/tuple [19, 19] + - !!python/tuple [24, 22] + - !!python/tuple [6, 18] + - !!python/tuple [6, 10] + - !!python/tuple [22, 20] + - !!python/tuple [6, 3] + - !!python/tuple [23, 17] + - !!python/tuple [2, 5] + - !!python/tuple [24, 9] + - !!python/tuple [27, 11] + - !!python/tuple [27, 20] + - !!python/tuple [9, 3] + - !!python/tuple [28, 28] + - !!python/tuple [13, 14] + - !!python/tuple [31, 2] + - !!python/tuple [7, 14] + - !!python/tuple [23, 22] + - !!python/tuple [3, 23] + - !!python/tuple [12, 25] + - !!python/tuple [30, 24] + - !!python/tuple [23, 30] + - !!python/tuple [4, 29] + - !!python/tuple [0, 31] + - !!python/tuple [8, 17] + - !!python/tuple [14, 21] + - !!python/tuple [13, 11] + - !!python/tuple [21, 28] + - !!python/tuple [30, 29] + - !!python/tuple [30, 26] + - !!python/tuple [1, 21] + - !!python/tuple [0, 1] + - !!python/tuple [7, 7] + - !!python/tuple [24, 25] + - !!python/tuple [18, 1] + - !!python/tuple [6, 20] + - !!python/tuple [15, 12] + - !!python/tuple [2, 29] + - !!python/tuple [13, 22] + - !!python/tuple [19, 2] + - !!python/tuple [8, 25] + - !!python/tuple [16, 19] + - !!python/tuple [25, 13] + - !!python/tuple [22, 24] + - !!python/tuple [10, 4] + - !!python/tuple [13, 29] + - !!python/tuple [21, 8] + - !!python/tuple [4, 31] + - !!python/tuple [10, 13] + - !!python/tuple [31, 18] + - !!python/tuple [24, 11] + - !!python/tuple [28, 21] + - !!python/tuple [7, 1] + - !!python/tuple [17, 5] + - !!python/tuple [21, 16] + - !!python/tuple [19, 25] + - !!python/tuple [28, 5] + - !!python/tuple [19, 5] + - !!python/tuple [26, 27] + - !!python/tuple [16, 30] + - !!python/tuple [0, 25] + - !!python/tuple [9, 9] + - !!python/tuple [24, 12] + - !!python/tuple [14, 9] + - !!python/tuple [17, 8] + - !!python/tuple [29, 19] + - !!python/tuple [4, 19] + - !!python/tuple [27, 29] + - !!python/tuple [16, 3] + - !!python/tuple [28, 7] + - !!python/tuple [26, 10] + - !!python/tuple [6, 6] + - !!python/tuple [20, 10] + - !!python/tuple [15, 10] + - !!python/tuple [9, 31] + - !!python/tuple [10, 0] + - !!python/tuple [9, 23] + - !!python/tuple [18, 4] + - !!python/tuple [6, 7] + - !!python/tuple [28, 14] + - !!python/tuple [17, 15] + - !!python/tuple [26, 0] + - !!python/tuple [1, 18] + - !!python/tuple [4, 21] + - !!python/tuple [8, 1] + - !!python/tuple [26, 28] + - !!python/tuple [25, 9] + - !!python/tuple [16, 18] + - !!python/tuple [22, 19] + - !!python/tuple [1, 27] + - !!python/tuple [9, 27] + - !!python/tuple [1, 13] + - !!python/tuple [25, 15] + - !!python/tuple [22, 3] + - !!python/tuple [23, 16] + - !!python/tuple [25, 8] + - !!python/tuple [6, 29] + - !!python/tuple [20, 18] + - !!python/tuple [24, 6] + - !!python/tuple [16, 2] + - !!python/tuple [9, 4] + - !!python/tuple [6, 0] + - !!python/tuple [5, 30] + - !!python/tuple [29, 23] + - !!python/tuple [3, 8] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex71.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex71.yaml new file mode 100644 index 0000000..4dd3cc5 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex71.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [19, 1] + name: agent0 + start: [30, 21] +- goal: [15, 18] + name: agent1 + start: [18, 30] +- goal: [20, 22] + name: agent2 + start: [3, 23] +- goal: [0, 20] + name: agent3 + start: [3, 20] +- goal: [5, 4] + name: agent4 + start: [27, 27] +- goal: [22, 19] + name: agent5 + start: [28, 11] +- goal: [28, 17] + name: agent6 + start: [1, 20] +- goal: [9, 17] + name: agent7 + start: [11, 0] +- goal: [16, 17] + name: agent8 + start: [17, 16] +- goal: [27, 5] + name: agent9 + start: [5, 2] +- goal: [15, 21] + name: agent10 + start: [11, 27] +- goal: [3, 29] + name: agent11 + start: [19, 2] +- goal: [2, 5] + name: agent12 + start: [30, 27] +- goal: [27, 28] + name: agent13 + start: [27, 25] +- goal: [31, 14] + name: agent14 + start: [1, 0] +- goal: [9, 3] + name: agent15 + start: [3, 1] +- goal: [31, 10] + name: agent16 + start: [2, 3] +- goal: [28, 21] + name: agent17 + start: [31, 27] +- goal: [1, 24] + name: agent18 + start: [29, 14] +- goal: [2, 17] + name: agent19 + start: [6, 28] +- goal: [4, 28] + name: agent20 + start: [14, 3] +- goal: [30, 20] + name: agent21 + start: [29, 28] +- goal: [24, 10] + name: agent22 + start: [9, 10] +- goal: [9, 18] + name: agent23 + start: [26, 3] +- goal: [23, 18] + name: agent24 + start: [20, 21] +- goal: [3, 27] + name: agent25 + start: [26, 15] +- goal: [4, 3] + name: agent26 + start: [31, 28] +- goal: [7, 29] + name: agent27 + start: [11, 13] +- goal: [22, 25] + name: agent28 + start: [7, 15] +- goal: [12, 14] + name: agent29 + start: [5, 6] +- goal: [5, 17] + name: agent30 + start: [24, 8] +- goal: [7, 2] + name: agent31 + start: [20, 15] +- goal: [13, 17] + name: agent32 + start: [19, 17] +- goal: [3, 4] + name: agent33 + start: [17, 29] +- goal: [25, 26] + name: agent34 + start: [27, 22] +- goal: [21, 26] + name: agent35 + start: [28, 21] +- goal: [16, 13] + name: agent36 + start: [28, 26] +- goal: [29, 14] + name: agent37 + start: [7, 12] +- goal: [5, 12] + name: agent38 + start: [0, 7] +- goal: [0, 25] + name: agent39 + start: [5, 9] +- goal: [12, 30] + name: agent40 + start: [31, 15] +- goal: [4, 0] + name: agent41 + start: [28, 24] +- goal: [3, 3] + name: agent42 + start: [27, 31] +- goal: [26, 20] + name: agent43 + start: [10, 14] +- goal: [9, 22] + name: agent44 + start: [10, 17] +- goal: [3, 22] + name: agent45 + start: [12, 18] +- goal: [23, 14] + name: agent46 + start: [2, 0] +- goal: [19, 7] + name: agent47 + start: [15, 4] +- goal: [5, 15] + name: agent48 + start: [29, 25] +- goal: [2, 2] + name: agent49 + start: [25, 6] +- goal: [8, 26] + name: agent50 + start: [11, 14] +- goal: [24, 6] + name: agent51 + start: [5, 14] +- goal: [30, 21] + name: agent52 + start: [12, 6] +- goal: [9, 4] + name: agent53 + start: [5, 10] +- goal: [14, 28] + name: agent54 + start: [29, 29] +- goal: [7, 30] + name: agent55 + start: [22, 6] +- goal: [11, 4] + name: agent56 + start: [24, 1] +- goal: [1, 26] + name: agent57 + start: [10, 19] +- goal: [18, 23] + name: agent58 + start: [12, 27] +- goal: [15, 31] + name: agent59 + start: [21, 29] +- goal: [0, 9] + name: agent60 + start: [14, 14] +- goal: [4, 19] + name: agent61 + start: [14, 27] +- goal: [8, 4] + name: agent62 + start: [21, 17] +- goal: [12, 19] + name: agent63 + start: [25, 16] +- goal: [20, 1] + name: agent64 + start: [24, 19] +- goal: [4, 5] + name: agent65 + start: [1, 6] +- goal: [7, 5] + name: agent66 + start: [7, 2] +- goal: [31, 12] + name: agent67 + start: [15, 18] +- goal: [31, 29] + name: agent68 + start: [5, 5] +- goal: [12, 8] + name: agent69 + start: [25, 5] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [25, 27] + - !!python/tuple [22, 7] + - !!python/tuple [25, 22] + - !!python/tuple [15, 0] + - !!python/tuple [17, 19] + - !!python/tuple [6, 25] + - !!python/tuple [2, 1] + - !!python/tuple [25, 25] + - !!python/tuple [14, 12] + - !!python/tuple [7, 7] + - !!python/tuple [7, 17] + - !!python/tuple [30, 19] + - !!python/tuple [26, 31] + - !!python/tuple [17, 2] + - !!python/tuple [29, 16] + - !!python/tuple [25, 13] + - !!python/tuple [19, 13] + - !!python/tuple [5, 11] + - !!python/tuple [8, 0] + - !!python/tuple [16, 10] + - !!python/tuple [30, 17] + - !!python/tuple [0, 19] + - !!python/tuple [28, 3] + - !!python/tuple [25, 20] + - !!python/tuple [31, 22] + - !!python/tuple [10, 31] + - !!python/tuple [6, 12] + - !!python/tuple [4, 30] + - !!python/tuple [16, 20] + - !!python/tuple [22, 10] + - !!python/tuple [3, 17] + - !!python/tuple [3, 31] + - !!python/tuple [23, 28] + - !!python/tuple [24, 30] + - !!python/tuple [11, 22] + - !!python/tuple [30, 31] + - !!python/tuple [13, 28] + - !!python/tuple [8, 13] + - !!python/tuple [24, 28] + - !!python/tuple [9, 27] + - !!python/tuple [1, 21] + - !!python/tuple [18, 2] + - !!python/tuple [2, 11] + - !!python/tuple [27, 24] + - !!python/tuple [13, 8] + - !!python/tuple [15, 28] + - !!python/tuple [8, 25] + - !!python/tuple [15, 12] + - !!python/tuple [14, 23] + - !!python/tuple [4, 7] + - !!python/tuple [18, 4] + - !!python/tuple [31, 0] + - !!python/tuple [10, 27] + - !!python/tuple [26, 0] + - !!python/tuple [30, 25] + - !!python/tuple [10, 23] + - !!python/tuple [0, 30] + - !!python/tuple [14, 17] + - !!python/tuple [25, 2] + - !!python/tuple [10, 24] + - !!python/tuple [19, 31] + - !!python/tuple [20, 12] + - !!python/tuple [21, 27] + - !!python/tuple [4, 24] + - !!python/tuple [10, 1] + - !!python/tuple [1, 10] + - !!python/tuple [12, 9] + - !!python/tuple [8, 1] + - !!python/tuple [21, 10] + - !!python/tuple [2, 26] + - !!python/tuple [21, 14] + - !!python/tuple [21, 21] + - !!python/tuple [10, 30] + - !!python/tuple [11, 21] + - !!python/tuple [15, 27] + - !!python/tuple [24, 24] + - !!python/tuple [7, 19] + - !!python/tuple [24, 15] + - !!python/tuple [11, 7] + - !!python/tuple [3, 30] + - !!python/tuple [17, 8] + - !!python/tuple [0, 11] + - !!python/tuple [10, 10] + - !!python/tuple [23, 29] + - !!python/tuple [15, 3] + - !!python/tuple [19, 22] + - !!python/tuple [2, 25] + - !!python/tuple [29, 26] + - !!python/tuple [1, 25] + - !!python/tuple [20, 2] + - !!python/tuple [4, 29] + - !!python/tuple [27, 2] + - !!python/tuple [9, 6] + - !!python/tuple [22, 2] + - !!python/tuple [14, 8] + - !!python/tuple [10, 6] + - !!python/tuple [6, 13] + - !!python/tuple [11, 19] + - !!python/tuple [5, 3] + - !!python/tuple [1, 22] + - !!python/tuple [18, 13] + - !!python/tuple [6, 29] + - !!python/tuple [1, 11] + - !!python/tuple [5, 30] + - !!python/tuple [13, 16] + - !!python/tuple [6, 22] + - !!python/tuple [17, 11] + - !!python/tuple [10, 22] + - !!python/tuple [1, 7] + - !!python/tuple [20, 16] + - !!python/tuple [7, 22] + - !!python/tuple [22, 3] + - !!python/tuple [2, 7] + - !!python/tuple [13, 19] + - !!python/tuple [12, 16] + - !!python/tuple [22, 16] + - !!python/tuple [7, 8] + - !!python/tuple [15, 9] + - !!python/tuple [8, 8] + - !!python/tuple [6, 9] + - !!python/tuple [8, 6] + - !!python/tuple [9, 14] + - !!python/tuple [13, 2] + - !!python/tuple [6, 14] + - !!python/tuple [25, 0] + - !!python/tuple [5, 1] + - !!python/tuple [9, 2] + - !!python/tuple [13, 31] + - !!python/tuple [1, 12] + - !!python/tuple [30, 29] + - !!python/tuple [30, 9] + - !!python/tuple [16, 8] + - !!python/tuple [6, 31] + - !!python/tuple [0, 21] + - !!python/tuple [3, 16] + - !!python/tuple [4, 6] + - !!python/tuple [16, 30] + - !!python/tuple [10, 11] + - !!python/tuple [10, 25] + - !!python/tuple [8, 2] + - !!python/tuple [17, 3] + - !!python/tuple [13, 26] + - !!python/tuple [28, 12] + - !!python/tuple [1, 8] + - !!python/tuple [18, 22] + - !!python/tuple [0, 17] + - !!python/tuple [3, 6] + - !!python/tuple [15, 13] + - !!python/tuple [26, 22] + - !!python/tuple [22, 4] + - !!python/tuple [23, 5] + - !!python/tuple [20, 27] + - !!python/tuple [23, 7] + - !!python/tuple [24, 16] + - !!python/tuple [4, 12] + - !!python/tuple [9, 20] + - !!python/tuple [19, 30] + - !!python/tuple [12, 24] + - !!python/tuple [13, 1] + - !!python/tuple [2, 19] + - !!python/tuple [19, 5] + - !!python/tuple [31, 2] + - !!python/tuple [10, 16] + - !!python/tuple [23, 12] + - !!python/tuple [7, 20] + - !!python/tuple [17, 27] + - !!python/tuple [11, 6] + - !!python/tuple [30, 5] + - !!python/tuple [4, 4] + - !!python/tuple [13, 20] + - !!python/tuple [21, 4] + - !!python/tuple [0, 4] + - !!python/tuple [4, 26] + - !!python/tuple [17, 24] + - !!python/tuple [8, 10] + - !!python/tuple [4, 21] + - !!python/tuple [29, 10] + - !!python/tuple [31, 20] + - !!python/tuple [27, 12] + - !!python/tuple [3, 28] + - !!python/tuple [9, 23] + - !!python/tuple [2, 27] + - !!python/tuple [28, 5] + - !!python/tuple [28, 14] + - !!python/tuple [24, 29] + - !!python/tuple [20, 30] + - !!python/tuple [6, 26] + - !!python/tuple [16, 28] + - !!python/tuple [2, 6] + - !!python/tuple [16, 9] + - !!python/tuple [19, 27] + - !!python/tuple [5, 31] + - !!python/tuple [25, 7] + - !!python/tuple [20, 7] + - !!python/tuple [20, 9] + - !!python/tuple [19, 15] + - !!python/tuple [16, 27] + - !!python/tuple [19, 29] + - !!python/tuple [5, 26] + - !!python/tuple [27, 14] + - !!python/tuple [1, 13] + - !!python/tuple [26, 5] + - !!python/tuple [30, 16] + - !!python/tuple [0, 22] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex72.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex72.yaml new file mode 100644 index 0000000..3042948 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex72.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [21, 3] + name: agent0 + start: [23, 2] +- goal: [1, 15] + name: agent1 + start: [9, 22] +- goal: [7, 11] + name: agent2 + start: [26, 16] +- goal: [15, 10] + name: agent3 + start: [8, 31] +- goal: [14, 23] + name: agent4 + start: [26, 28] +- goal: [13, 6] + name: agent5 + start: [4, 9] +- goal: [9, 4] + name: agent6 + start: [9, 23] +- goal: [13, 10] + name: agent7 + start: [22, 24] +- goal: [11, 0] + name: agent8 + start: [31, 2] +- goal: [29, 21] + name: agent9 + start: [15, 26] +- goal: [31, 21] + name: agent10 + start: [19, 14] +- goal: [3, 28] + name: agent11 + start: [27, 4] +- goal: [6, 5] + name: agent12 + start: [3, 21] +- goal: [5, 29] + name: agent13 + start: [20, 17] +- goal: [9, 8] + name: agent14 + start: [16, 5] +- goal: [30, 30] + name: agent15 + start: [7, 17] +- goal: [7, 22] + name: agent16 + start: [3, 20] +- goal: [8, 9] + name: agent17 + start: [9, 16] +- goal: [31, 0] + name: agent18 + start: [18, 5] +- goal: [21, 9] + name: agent19 + start: [27, 12] +- goal: [8, 16] + name: agent20 + start: [11, 14] +- goal: [29, 7] + name: agent21 + start: [15, 18] +- goal: [11, 21] + name: agent22 + start: [12, 8] +- goal: [23, 27] + name: agent23 + start: [4, 7] +- goal: [7, 26] + name: agent24 + start: [5, 12] +- goal: [13, 0] + name: agent25 + start: [18, 6] +- goal: [26, 18] + name: agent26 + start: [13, 9] +- goal: [10, 4] + name: agent27 + start: [5, 5] +- goal: [1, 22] + name: agent28 + start: [5, 13] +- goal: [14, 20] + name: agent29 + start: [4, 28] +- goal: [15, 7] + name: agent30 + start: [10, 24] +- goal: [12, 12] + name: agent31 + start: [30, 25] +- goal: [4, 21] + name: agent32 + start: [16, 10] +- goal: [29, 27] + name: agent33 + start: [12, 14] +- goal: [7, 21] + name: agent34 + start: [24, 20] +- goal: [22, 29] + name: agent35 + start: [30, 29] +- goal: [18, 17] + name: agent36 + start: [8, 20] +- goal: [19, 4] + name: agent37 + start: [2, 12] +- goal: [2, 11] + name: agent38 + start: [3, 4] +- goal: [23, 4] + name: agent39 + start: [31, 0] +- goal: [15, 19] + name: agent40 + start: [25, 27] +- goal: [8, 31] + name: agent41 + start: [10, 0] +- goal: [14, 14] + name: agent42 + start: [30, 6] +- goal: [16, 3] + name: agent43 + start: [19, 12] +- goal: [4, 18] + name: agent44 + start: [25, 19] +- goal: [20, 15] + name: agent45 + start: [8, 10] +- goal: [9, 28] + name: agent46 + start: [25, 16] +- goal: [11, 19] + name: agent47 + start: [12, 30] +- goal: [13, 3] + name: agent48 + start: [12, 16] +- goal: [23, 29] + name: agent49 + start: [16, 28] +- goal: [6, 11] + name: agent50 + start: [7, 26] +- goal: [27, 24] + name: agent51 + start: [23, 12] +- goal: [18, 23] + name: agent52 + start: [30, 18] +- goal: [15, 8] + name: agent53 + start: [10, 5] +- goal: [10, 7] + name: agent54 + start: [3, 26] +- goal: [18, 14] + name: agent55 + start: [13, 3] +- goal: [28, 15] + name: agent56 + start: [8, 9] +- goal: [16, 16] + name: agent57 + start: [11, 2] +- goal: [11, 27] + name: agent58 + start: [2, 20] +- goal: [22, 30] + name: agent59 + start: [12, 3] +- goal: [20, 25] + name: agent60 + start: [22, 7] +- goal: [9, 17] + name: agent61 + start: [27, 8] +- goal: [10, 26] + name: agent62 + start: [23, 4] +- goal: [10, 30] + name: agent63 + start: [28, 19] +- goal: [1, 14] + name: agent64 + start: [30, 4] +- goal: [1, 29] + name: agent65 + start: [13, 17] +- goal: [22, 14] + name: agent66 + start: [14, 11] +- goal: [13, 1] + name: agent67 + start: [31, 7] +- goal: [9, 2] + name: agent68 + start: [22, 5] +- goal: [27, 8] + name: agent69 + start: [10, 2] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [8, 15] + - !!python/tuple [29, 0] + - !!python/tuple [20, 0] + - !!python/tuple [0, 25] + - !!python/tuple [23, 30] + - !!python/tuple [31, 23] + - !!python/tuple [0, 24] + - !!python/tuple [11, 12] + - !!python/tuple [15, 13] + - !!python/tuple [11, 8] + - !!python/tuple [31, 24] + - !!python/tuple [7, 6] + - !!python/tuple [28, 25] + - !!python/tuple [16, 11] + - !!python/tuple [20, 22] + - !!python/tuple [18, 11] + - !!python/tuple [14, 12] + - !!python/tuple [27, 3] + - !!python/tuple [19, 25] + - !!python/tuple [24, 22] + - !!python/tuple [10, 23] + - !!python/tuple [15, 27] + - !!python/tuple [9, 7] + - !!python/tuple [16, 23] + - !!python/tuple [21, 20] + - !!python/tuple [9, 21] + - !!python/tuple [18, 24] + - !!python/tuple [28, 4] + - !!python/tuple [26, 19] + - !!python/tuple [28, 24] + - !!python/tuple [16, 15] + - !!python/tuple [5, 31] + - !!python/tuple [6, 8] + - !!python/tuple [3, 3] + - !!python/tuple [9, 14] + - !!python/tuple [15, 22] + - !!python/tuple [5, 11] + - !!python/tuple [13, 19] + - !!python/tuple [2, 31] + - !!python/tuple [8, 0] + - !!python/tuple [12, 17] + - !!python/tuple [11, 15] + - !!python/tuple [1, 25] + - !!python/tuple [20, 5] + - !!python/tuple [14, 21] + - !!python/tuple [17, 21] + - !!python/tuple [21, 31] + - !!python/tuple [23, 22] + - !!python/tuple [30, 15] + - !!python/tuple [4, 13] + - !!python/tuple [15, 1] + - !!python/tuple [31, 29] + - !!python/tuple [30, 2] + - !!python/tuple [10, 3] + - !!python/tuple [21, 5] + - !!python/tuple [3, 16] + - !!python/tuple [0, 23] + - !!python/tuple [16, 19] + - !!python/tuple [23, 13] + - !!python/tuple [21, 13] + - !!python/tuple [10, 31] + - !!python/tuple [24, 11] + - !!python/tuple [24, 3] + - !!python/tuple [9, 3] + - !!python/tuple [4, 6] + - !!python/tuple [11, 26] + - !!python/tuple [9, 20] + - !!python/tuple [17, 11] + - !!python/tuple [1, 16] + - !!python/tuple [5, 6] + - !!python/tuple [1, 5] + - !!python/tuple [5, 1] + - !!python/tuple [23, 23] + - !!python/tuple [4, 31] + - !!python/tuple [17, 30] + - !!python/tuple [24, 8] + - !!python/tuple [17, 27] + - !!python/tuple [26, 15] + - !!python/tuple [30, 24] + - !!python/tuple [28, 28] + - !!python/tuple [16, 0] + - !!python/tuple [10, 19] + - !!python/tuple [6, 30] + - !!python/tuple [6, 21] + - !!python/tuple [2, 30] + - !!python/tuple [3, 11] + - !!python/tuple [4, 3] + - !!python/tuple [19, 16] + - !!python/tuple [11, 11] + - !!python/tuple [24, 9] + - !!python/tuple [17, 6] + - !!python/tuple [20, 7] + - !!python/tuple [20, 11] + - !!python/tuple [11, 1] + - !!python/tuple [24, 6] + - !!python/tuple [11, 16] + - !!python/tuple [2, 23] + - !!python/tuple [5, 7] + - !!python/tuple [18, 27] + - !!python/tuple [10, 1] + - !!python/tuple [24, 2] + - !!python/tuple [5, 21] + - !!python/tuple [2, 18] + - !!python/tuple [7, 27] + - !!python/tuple [2, 21] + - !!python/tuple [28, 16] + - !!python/tuple [16, 20] + - !!python/tuple [17, 20] + - !!python/tuple [1, 13] + - !!python/tuple [19, 19] + - !!python/tuple [29, 31] + - !!python/tuple [24, 28] + - !!python/tuple [16, 1] + - !!python/tuple [10, 16] + - !!python/tuple [30, 14] + - !!python/tuple [20, 8] + - !!python/tuple [20, 30] + - !!python/tuple [22, 20] + - !!python/tuple [12, 23] + - !!python/tuple [1, 26] + - !!python/tuple [10, 22] + - !!python/tuple [5, 4] + - !!python/tuple [7, 25] + - !!python/tuple [5, 27] + - !!python/tuple [29, 18] + - !!python/tuple [29, 15] + - !!python/tuple [20, 29] + - !!python/tuple [25, 29] + - !!python/tuple [7, 24] + - !!python/tuple [23, 18] + - !!python/tuple [13, 13] + - !!python/tuple [11, 20] + - !!python/tuple [26, 22] + - !!python/tuple [14, 26] + - !!python/tuple [21, 28] + - !!python/tuple [19, 6] + - !!python/tuple [13, 31] + - !!python/tuple [2, 26] + - !!python/tuple [1, 3] + - !!python/tuple [0, 8] + - !!python/tuple [24, 17] + - !!python/tuple [23, 17] + - !!python/tuple [4, 22] + - !!python/tuple [18, 3] + - !!python/tuple [27, 20] + - !!python/tuple [7, 9] + - !!python/tuple [14, 25] + - !!python/tuple [26, 20] + - !!python/tuple [19, 23] + - !!python/tuple [14, 18] + - !!python/tuple [8, 1] + - !!python/tuple [12, 19] + - !!python/tuple [21, 15] + - !!python/tuple [9, 30] + - !!python/tuple [9, 1] + - !!python/tuple [21, 19] + - !!python/tuple [2, 14] + - !!python/tuple [28, 26] + - !!python/tuple [14, 31] + - !!python/tuple [16, 26] + - !!python/tuple [19, 31] + - !!python/tuple [22, 10] + - !!python/tuple [17, 19] + - !!python/tuple [15, 21] + - !!python/tuple [22, 26] + - !!python/tuple [27, 14] + - !!python/tuple [23, 26] + - !!python/tuple [8, 2] + - !!python/tuple [4, 5] + - !!python/tuple [16, 17] + - !!python/tuple [25, 8] + - !!python/tuple [6, 23] + - !!python/tuple [29, 23] + - !!python/tuple [26, 14] + - !!python/tuple [22, 15] + - !!python/tuple [10, 11] + - !!python/tuple [8, 22] + - !!python/tuple [30, 10] + - !!python/tuple [15, 20] + - !!python/tuple [15, 12] + - !!python/tuple [0, 17] + - !!python/tuple [0, 30] + - !!python/tuple [24, 26] + - !!python/tuple [14, 8] + - !!python/tuple [12, 21] + - !!python/tuple [2, 3] + - !!python/tuple [11, 10] + - !!python/tuple [27, 6] + - !!python/tuple [19, 20] + - !!python/tuple [22, 18] + - !!python/tuple [7, 0] + - !!python/tuple [29, 10] + - !!python/tuple [26, 2] + - !!python/tuple [16, 4] + - !!python/tuple [25, 11] + - !!python/tuple [9, 12] + - !!python/tuple [17, 5] + - !!python/tuple [31, 19] + - !!python/tuple [1, 1] + - !!python/tuple [17, 24] + - !!python/tuple [0, 15] + - !!python/tuple [12, 11] + - !!python/tuple [9, 27] + - !!python/tuple [4, 10] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex73.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex73.yaml new file mode 100644 index 0000000..7200a3a --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex73.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [29, 19] + name: agent0 + start: [19, 17] +- goal: [25, 22] + name: agent1 + start: [11, 15] +- goal: [19, 19] + name: agent2 + start: [8, 13] +- goal: [15, 19] + name: agent3 + start: [7, 14] +- goal: [18, 5] + name: agent4 + start: [3, 5] +- goal: [6, 29] + name: agent5 + start: [13, 24] +- goal: [7, 31] + name: agent6 + start: [4, 24] +- goal: [20, 19] + name: agent7 + start: [30, 11] +- goal: [10, 4] + name: agent8 + start: [12, 17] +- goal: [31, 24] + name: agent9 + start: [15, 25] +- goal: [19, 30] + name: agent10 + start: [21, 21] +- goal: [17, 0] + name: agent11 + start: [8, 24] +- goal: [27, 3] + name: agent12 + start: [9, 5] +- goal: [17, 20] + name: agent13 + start: [0, 7] +- goal: [21, 15] + name: agent14 + start: [19, 28] +- goal: [12, 16] + name: agent15 + start: [18, 9] +- goal: [5, 9] + name: agent16 + start: [6, 26] +- goal: [28, 15] + name: agent17 + start: [26, 23] +- goal: [11, 31] + name: agent18 + start: [19, 23] +- goal: [23, 0] + name: agent19 + start: [5, 14] +- goal: [6, 30] + name: agent20 + start: [23, 7] +- goal: [23, 7] + name: agent21 + start: [8, 0] +- goal: [6, 11] + name: agent22 + start: [1, 16] +- goal: [27, 27] + name: agent23 + start: [29, 20] +- goal: [21, 27] + name: agent24 + start: [8, 22] +- goal: [2, 9] + name: agent25 + start: [31, 2] +- goal: [28, 17] + name: agent26 + start: [24, 24] +- goal: [19, 4] + name: agent27 + start: [15, 11] +- goal: [8, 0] + name: agent28 + start: [5, 27] +- goal: [9, 10] + name: agent29 + start: [17, 19] +- goal: [6, 12] + name: agent30 + start: [25, 23] +- goal: [12, 15] + name: agent31 + start: [30, 17] +- goal: [5, 25] + name: agent32 + start: [21, 28] +- goal: [4, 13] + name: agent33 + start: [11, 30] +- goal: [18, 0] + name: agent34 + start: [22, 26] +- goal: [17, 10] + name: agent35 + start: [18, 1] +- goal: [3, 5] + name: agent36 + start: [18, 11] +- goal: [15, 28] + name: agent37 + start: [19, 27] +- goal: [12, 3] + name: agent38 + start: [6, 30] +- goal: [30, 6] + name: agent39 + start: [29, 22] +- goal: [3, 21] + name: agent40 + start: [14, 25] +- goal: [1, 12] + name: agent41 + start: [24, 29] +- goal: [4, 7] + name: agent42 + start: [16, 6] +- goal: [23, 12] + name: agent43 + start: [6, 9] +- goal: [15, 18] + name: agent44 + start: [7, 6] +- goal: [12, 28] + name: agent45 + start: [0, 20] +- goal: [16, 15] + name: agent46 + start: [6, 23] +- goal: [21, 8] + name: agent47 + start: [19, 25] +- goal: [12, 25] + name: agent48 + start: [23, 9] +- goal: [3, 25] + name: agent49 + start: [8, 10] +- goal: [16, 7] + name: agent50 + start: [28, 26] +- goal: [21, 12] + name: agent51 + start: [21, 16] +- goal: [4, 30] + name: agent52 + start: [25, 19] +- goal: [26, 27] + name: agent53 + start: [29, 26] +- goal: [2, 20] + name: agent54 + start: [12, 29] +- goal: [18, 8] + name: agent55 + start: [22, 11] +- goal: [9, 18] + name: agent56 + start: [20, 29] +- goal: [28, 21] + name: agent57 + start: [2, 22] +- goal: [28, 13] + name: agent58 + start: [27, 12] +- goal: [31, 21] + name: agent59 + start: [21, 23] +- goal: [27, 28] + name: agent60 + start: [8, 5] +- goal: [22, 28] + name: agent61 + start: [14, 24] +- goal: [19, 26] + name: agent62 + start: [31, 30] +- goal: [1, 19] + name: agent63 + start: [30, 15] +- goal: [8, 20] + name: agent64 + start: [1, 11] +- goal: [10, 10] + name: agent65 + start: [16, 22] +- goal: [28, 26] + name: agent66 + start: [31, 9] +- goal: [7, 5] + name: agent67 + start: [30, 18] +- goal: [20, 24] + name: agent68 + start: [14, 5] +- goal: [19, 12] + name: agent69 + start: [2, 26] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [29, 15] + - !!python/tuple [30, 29] + - !!python/tuple [23, 11] + - !!python/tuple [25, 5] + - !!python/tuple [31, 5] + - !!python/tuple [18, 10] + - !!python/tuple [12, 20] + - !!python/tuple [7, 30] + - !!python/tuple [31, 15] + - !!python/tuple [29, 27] + - !!python/tuple [31, 29] + - !!python/tuple [1, 3] + - !!python/tuple [31, 31] + - !!python/tuple [26, 9] + - !!python/tuple [21, 20] + - !!python/tuple [4, 25] + - !!python/tuple [3, 1] + - !!python/tuple [21, 26] + - !!python/tuple [26, 20] + - !!python/tuple [31, 25] + - !!python/tuple [16, 25] + - !!python/tuple [10, 7] + - !!python/tuple [13, 25] + - !!python/tuple [16, 12] + - !!python/tuple [29, 24] + - !!python/tuple [5, 12] + - !!python/tuple [2, 23] + - !!python/tuple [24, 11] + - !!python/tuple [21, 29] + - !!python/tuple [0, 0] + - !!python/tuple [15, 29] + - !!python/tuple [24, 2] + - !!python/tuple [6, 8] + - !!python/tuple [17, 22] + - !!python/tuple [3, 12] + - !!python/tuple [13, 17] + - !!python/tuple [28, 27] + - !!python/tuple [11, 16] + - !!python/tuple [7, 27] + - !!python/tuple [30, 7] + - !!python/tuple [23, 6] + - !!python/tuple [0, 17] + - !!python/tuple [25, 24] + - !!python/tuple [12, 5] + - !!python/tuple [21, 24] + - !!python/tuple [22, 4] + - !!python/tuple [26, 6] + - !!python/tuple [28, 28] + - !!python/tuple [28, 25] + - !!python/tuple [10, 12] + - !!python/tuple [18, 28] + - !!python/tuple [19, 24] + - !!python/tuple [29, 18] + - !!python/tuple [7, 8] + - !!python/tuple [23, 1] + - !!python/tuple [8, 27] + - !!python/tuple [30, 31] + - !!python/tuple [5, 1] + - !!python/tuple [25, 4] + - !!python/tuple [23, 4] + - !!python/tuple [23, 20] + - !!python/tuple [23, 2] + - !!python/tuple [4, 16] + - !!python/tuple [7, 9] + - !!python/tuple [9, 21] + - !!python/tuple [0, 22] + - !!python/tuple [15, 20] + - !!python/tuple [3, 9] + - !!python/tuple [19, 31] + - !!python/tuple [30, 20] + - !!python/tuple [25, 10] + - !!python/tuple [9, 2] + - !!python/tuple [16, 30] + - !!python/tuple [26, 8] + - !!python/tuple [23, 28] + - !!python/tuple [18, 13] + - !!python/tuple [12, 11] + - !!python/tuple [26, 7] + - !!python/tuple [9, 28] + - !!python/tuple [24, 20] + - !!python/tuple [24, 3] + - !!python/tuple [10, 9] + - !!python/tuple [22, 12] + - !!python/tuple [27, 20] + - !!python/tuple [27, 8] + - !!python/tuple [6, 10] + - !!python/tuple [1, 9] + - !!python/tuple [5, 18] + - !!python/tuple [5, 15] + - !!python/tuple [14, 18] + - !!python/tuple [3, 28] + - !!python/tuple [9, 22] + - !!python/tuple [25, 21] + - !!python/tuple [5, 13] + - !!python/tuple [22, 1] + - !!python/tuple [26, 31] + - !!python/tuple [4, 2] + - !!python/tuple [14, 15] + - !!python/tuple [9, 23] + - !!python/tuple [1, 25] + - !!python/tuple [7, 18] + - !!python/tuple [23, 15] + - !!python/tuple [13, 4] + - !!python/tuple [18, 24] + - !!python/tuple [9, 16] + - !!python/tuple [14, 17] + - !!python/tuple [1, 4] + - !!python/tuple [10, 26] + - !!python/tuple [2, 18] + - !!python/tuple [17, 1] + - !!python/tuple [24, 25] + - !!python/tuple [4, 8] + - !!python/tuple [24, 6] + - !!python/tuple [2, 10] + - !!python/tuple [5, 6] + - !!python/tuple [29, 16] + - !!python/tuple [30, 27] + - !!python/tuple [12, 30] + - !!python/tuple [16, 9] + - !!python/tuple [16, 29] + - !!python/tuple [23, 24] + - !!python/tuple [19, 0] + - !!python/tuple [10, 20] + - !!python/tuple [13, 20] + - !!python/tuple [22, 15] + - !!python/tuple [0, 14] + - !!python/tuple [25, 29] + - !!python/tuple [21, 30] + - !!python/tuple [21, 9] + - !!python/tuple [11, 24] + - !!python/tuple [9, 30] + - !!python/tuple [8, 16] + - !!python/tuple [3, 6] + - !!python/tuple [31, 12] + - !!python/tuple [29, 29] + - !!python/tuple [29, 1] + - !!python/tuple [14, 29] + - !!python/tuple [29, 6] + - !!python/tuple [31, 1] + - !!python/tuple [6, 5] + - !!python/tuple [8, 8] + - !!python/tuple [3, 17] + - !!python/tuple [20, 16] + - !!python/tuple [9, 27] + - !!python/tuple [8, 12] + - !!python/tuple [21, 1] + - !!python/tuple [18, 16] + - !!python/tuple [8, 29] + - !!python/tuple [12, 21] + - !!python/tuple [27, 2] + - !!python/tuple [31, 8] + - !!python/tuple [23, 14] + - !!python/tuple [5, 31] + - !!python/tuple [27, 23] + - !!python/tuple [2, 5] + - !!python/tuple [8, 23] + - !!python/tuple [22, 30] + - !!python/tuple [18, 17] + - !!python/tuple [11, 10] + - !!python/tuple [26, 3] + - !!python/tuple [26, 30] + - !!python/tuple [12, 18] + - !!python/tuple [27, 4] + - !!python/tuple [6, 4] + - !!python/tuple [1, 28] + - !!python/tuple [1, 24] + - !!python/tuple [19, 8] + - !!python/tuple [15, 15] + - !!python/tuple [27, 1] + - !!python/tuple [4, 19] + - !!python/tuple [24, 17] + - !!python/tuple [28, 6] + - !!python/tuple [2, 28] + - !!python/tuple [11, 1] + - !!python/tuple [9, 0] + - !!python/tuple [6, 2] + - !!python/tuple [11, 3] + - !!python/tuple [14, 8] + - !!python/tuple [27, 22] + - !!python/tuple [13, 6] + - !!python/tuple [23, 10] + - !!python/tuple [1, 2] + - !!python/tuple [27, 14] + - !!python/tuple [8, 14] + - !!python/tuple [4, 22] + - !!python/tuple [6, 0] + - !!python/tuple [21, 22] + - !!python/tuple [19, 18] + - !!python/tuple [22, 7] + - !!python/tuple [13, 12] + - !!python/tuple [6, 19] + - !!python/tuple [3, 0] + - !!python/tuple [1, 21] + - !!python/tuple [14, 1] + - !!python/tuple [28, 4] + - !!python/tuple [14, 28] + - !!python/tuple [10, 11] + - !!python/tuple [23, 26] + - !!python/tuple [4, 4] + - !!python/tuple [9, 29] + - !!python/tuple [9, 26] + - !!python/tuple [26, 0] + - !!python/tuple [13, 10] + - !!python/tuple [1, 8] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex74.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex74.yaml new file mode 100644 index 0000000..3d7056e --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex74.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [7, 16] + name: agent0 + start: [10, 22] +- goal: [27, 3] + name: agent1 + start: [15, 8] +- goal: [3, 5] + name: agent2 + start: [5, 27] +- goal: [31, 16] + name: agent3 + start: [4, 16] +- goal: [19, 1] + name: agent4 + start: [26, 27] +- goal: [11, 7] + name: agent5 + start: [11, 1] +- goal: [14, 12] + name: agent6 + start: [21, 22] +- goal: [12, 30] + name: agent7 + start: [6, 12] +- goal: [16, 8] + name: agent8 + start: [21, 11] +- goal: [4, 15] + name: agent9 + start: [23, 24] +- goal: [9, 11] + name: agent10 + start: [10, 1] +- goal: [10, 26] + name: agent11 + start: [28, 27] +- goal: [5, 27] + name: agent12 + start: [12, 4] +- goal: [0, 7] + name: agent13 + start: [22, 23] +- goal: [24, 10] + name: agent14 + start: [31, 30] +- goal: [30, 26] + name: agent15 + start: [23, 25] +- goal: [3, 29] + name: agent16 + start: [8, 21] +- goal: [19, 4] + name: agent17 + start: [16, 27] +- goal: [26, 17] + name: agent18 + start: [1, 11] +- goal: [29, 20] + name: agent19 + start: [10, 10] +- goal: [11, 1] + name: agent20 + start: [22, 6] +- goal: [30, 18] + name: agent21 + start: [1, 5] +- goal: [10, 5] + name: agent22 + start: [6, 9] +- goal: [4, 29] + name: agent23 + start: [9, 9] +- goal: [8, 14] + name: agent24 + start: [0, 27] +- goal: [30, 27] + name: agent25 + start: [29, 15] +- goal: [20, 11] + name: agent26 + start: [20, 1] +- goal: [13, 24] + name: agent27 + start: [25, 10] +- goal: [0, 27] + name: agent28 + start: [15, 18] +- goal: [9, 2] + name: agent29 + start: [31, 7] +- goal: [18, 10] + name: agent30 + start: [30, 23] +- goal: [4, 17] + name: agent31 + start: [2, 9] +- goal: [7, 9] + name: agent32 + start: [0, 8] +- goal: [6, 27] + name: agent33 + start: [21, 1] +- goal: [28, 23] + name: agent34 + start: [17, 31] +- goal: [6, 15] + name: agent35 + start: [27, 28] +- goal: [11, 22] + name: agent36 + start: [27, 15] +- goal: [13, 28] + name: agent37 + start: [15, 1] +- goal: [30, 11] + name: agent38 + start: [25, 23] +- goal: [10, 2] + name: agent39 + start: [31, 5] +- goal: [29, 21] + name: agent40 + start: [6, 7] +- goal: [25, 13] + name: agent41 + start: [29, 12] +- goal: [23, 21] + name: agent42 + start: [9, 27] +- goal: [30, 1] + name: agent43 + start: [14, 0] +- goal: [16, 5] + name: agent44 + start: [29, 28] +- goal: [16, 25] + name: agent45 + start: [25, 6] +- goal: [19, 9] + name: agent46 + start: [23, 27] +- goal: [29, 24] + name: agent47 + start: [3, 3] +- goal: [4, 31] + name: agent48 + start: [6, 8] +- goal: [12, 19] + name: agent49 + start: [8, 12] +- goal: [30, 24] + name: agent50 + start: [1, 0] +- goal: [16, 9] + name: agent51 + start: [7, 23] +- goal: [16, 2] + name: agent52 + start: [27, 5] +- goal: [3, 16] + name: agent53 + start: [6, 15] +- goal: [18, 18] + name: agent54 + start: [19, 3] +- goal: [29, 11] + name: agent55 + start: [4, 22] +- goal: [5, 8] + name: agent56 + start: [10, 14] +- goal: [10, 30] + name: agent57 + start: [29, 24] +- goal: [9, 17] + name: agent58 + start: [28, 16] +- goal: [22, 0] + name: agent59 + start: [30, 13] +- goal: [17, 2] + name: agent60 + start: [20, 27] +- goal: [26, 0] + name: agent61 + start: [0, 31] +- goal: [1, 11] + name: agent62 + start: [14, 15] +- goal: [10, 8] + name: agent63 + start: [3, 1] +- goal: [18, 27] + name: agent64 + start: [2, 8] +- goal: [21, 27] + name: agent65 + start: [14, 12] +- goal: [14, 2] + name: agent66 + start: [9, 12] +- goal: [7, 30] + name: agent67 + start: [21, 13] +- goal: [27, 17] + name: agent68 + start: [23, 8] +- goal: [20, 12] + name: agent69 + start: [2, 21] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [20, 16] + - !!python/tuple [2, 11] + - !!python/tuple [26, 4] + - !!python/tuple [0, 25] + - !!python/tuple [22, 16] + - !!python/tuple [16, 7] + - !!python/tuple [26, 9] + - !!python/tuple [17, 7] + - !!python/tuple [11, 29] + - !!python/tuple [28, 17] + - !!python/tuple [17, 0] + - !!python/tuple [15, 27] + - !!python/tuple [5, 29] + - !!python/tuple [11, 13] + - !!python/tuple [7, 6] + - !!python/tuple [0, 29] + - !!python/tuple [15, 29] + - !!python/tuple [23, 9] + - !!python/tuple [23, 18] + - !!python/tuple [4, 18] + - !!python/tuple [20, 29] + - !!python/tuple [0, 5] + - !!python/tuple [31, 18] + - !!python/tuple [25, 14] + - !!python/tuple [12, 14] + - !!python/tuple [7, 21] + - !!python/tuple [12, 3] + - !!python/tuple [14, 29] + - !!python/tuple [26, 2] + - !!python/tuple [25, 18] + - !!python/tuple [27, 9] + - !!python/tuple [28, 12] + - !!python/tuple [27, 22] + - !!python/tuple [7, 18] + - !!python/tuple [2, 10] + - !!python/tuple [13, 0] + - !!python/tuple [9, 26] + - !!python/tuple [14, 9] + - !!python/tuple [18, 5] + - !!python/tuple [3, 22] + - !!python/tuple [14, 6] + - !!python/tuple [9, 21] + - !!python/tuple [25, 0] + - !!python/tuple [0, 19] + - !!python/tuple [11, 27] + - !!python/tuple [31, 31] + - !!python/tuple [27, 4] + - !!python/tuple [29, 0] + - !!python/tuple [28, 20] + - !!python/tuple [9, 4] + - !!python/tuple [4, 12] + - !!python/tuple [6, 4] + - !!python/tuple [26, 1] + - !!python/tuple [25, 9] + - !!python/tuple [3, 4] + - !!python/tuple [14, 26] + - !!python/tuple [10, 18] + - !!python/tuple [14, 10] + - !!python/tuple [29, 18] + - !!python/tuple [29, 5] + - !!python/tuple [0, 23] + - !!python/tuple [5, 20] + - !!python/tuple [20, 18] + - !!python/tuple [30, 3] + - !!python/tuple [7, 13] + - !!python/tuple [11, 0] + - !!python/tuple [31, 23] + - !!python/tuple [11, 21] + - !!python/tuple [15, 30] + - !!python/tuple [25, 19] + - !!python/tuple [26, 6] + - !!python/tuple [28, 2] + - !!python/tuple [31, 28] + - !!python/tuple [11, 19] + - !!python/tuple [5, 7] + - !!python/tuple [10, 31] + - !!python/tuple [4, 8] + - !!python/tuple [6, 17] + - !!python/tuple [5, 6] + - !!python/tuple [30, 31] + - !!python/tuple [28, 7] + - !!python/tuple [14, 18] + - !!python/tuple [10, 27] + - !!python/tuple [29, 10] + - !!python/tuple [18, 6] + - !!python/tuple [14, 21] + - !!python/tuple [9, 13] + - !!python/tuple [2, 30] + - !!python/tuple [26, 30] + - !!python/tuple [3, 10] + - !!python/tuple [5, 16] + - !!python/tuple [24, 25] + - !!python/tuple [7, 11] + - !!python/tuple [5, 22] + - !!python/tuple [25, 11] + - !!python/tuple [21, 14] + - !!python/tuple [5, 1] + - !!python/tuple [24, 13] + - !!python/tuple [17, 26] + - !!python/tuple [22, 25] + - !!python/tuple [30, 20] + - !!python/tuple [25, 16] + - !!python/tuple [17, 13] + - !!python/tuple [9, 19] + - !!python/tuple [20, 28] + - !!python/tuple [0, 13] + - !!python/tuple [10, 25] + - !!python/tuple [13, 17] + - !!python/tuple [22, 15] + - !!python/tuple [0, 21] + - !!python/tuple [27, 27] + - !!python/tuple [14, 17] + - !!python/tuple [23, 12] + - !!python/tuple [12, 0] + - !!python/tuple [13, 27] + - !!python/tuple [8, 26] + - !!python/tuple [6, 5] + - !!python/tuple [30, 25] + - !!python/tuple [3, 9] + - !!python/tuple [3, 17] + - !!python/tuple [21, 2] + - !!python/tuple [14, 4] + - !!python/tuple [22, 2] + - !!python/tuple [30, 30] + - !!python/tuple [28, 5] + - !!python/tuple [1, 22] + - !!python/tuple [1, 4] + - !!python/tuple [13, 16] + - !!python/tuple [4, 19] + - !!python/tuple [30, 0] + - !!python/tuple [25, 20] + - !!python/tuple [22, 3] + - !!python/tuple [22, 1] + - !!python/tuple [14, 24] + - !!python/tuple [21, 30] + - !!python/tuple [25, 17] + - !!python/tuple [8, 3] + - !!python/tuple [4, 24] + - !!python/tuple [7, 28] + - !!python/tuple [3, 15] + - !!python/tuple [10, 29] + - !!python/tuple [2, 22] + - !!python/tuple [10, 4] + - !!python/tuple [7, 12] + - !!python/tuple [10, 15] + - !!python/tuple [13, 2] + - !!python/tuple [7, 2] + - !!python/tuple [11, 15] + - !!python/tuple [18, 29] + - !!python/tuple [8, 19] + - !!python/tuple [18, 14] + - !!python/tuple [6, 19] + - !!python/tuple [12, 5] + - !!python/tuple [15, 14] + - !!python/tuple [3, 18] + - !!python/tuple [27, 23] + - !!python/tuple [22, 11] + - !!python/tuple [5, 5] + - !!python/tuple [16, 11] + - !!python/tuple [1, 30] + - !!python/tuple [16, 31] + - !!python/tuple [15, 2] + - !!python/tuple [10, 24] + - !!python/tuple [15, 26] + - !!python/tuple [12, 20] + - !!python/tuple [5, 17] + - !!python/tuple [11, 18] + - !!python/tuple [29, 7] + - !!python/tuple [24, 27] + - !!python/tuple [23, 4] + - !!python/tuple [9, 31] + - !!python/tuple [16, 21] + - !!python/tuple [24, 1] + - !!python/tuple [20, 4] + - !!python/tuple [16, 14] + - !!python/tuple [14, 1] + - !!python/tuple [7, 25] + - !!python/tuple [17, 23] + - !!python/tuple [30, 19] + - !!python/tuple [14, 20] + - !!python/tuple [23, 11] + - !!python/tuple [26, 5] + - !!python/tuple [17, 30] + - !!python/tuple [6, 16] + - !!python/tuple [0, 4] + - !!python/tuple [2, 6] + - !!python/tuple [27, 19] + - !!python/tuple [20, 3] + - !!python/tuple [4, 23] + - !!python/tuple [19, 6] + - !!python/tuple [3, 2] + - !!python/tuple [17, 10] + - !!python/tuple [15, 24] + - !!python/tuple [13, 5] + - !!python/tuple [24, 8] + - !!python/tuple [0, 16] + - !!python/tuple [10, 6] + - !!python/tuple [26, 13] + - !!python/tuple [17, 28] + - !!python/tuple [8, 7] + - !!python/tuple [29, 19] + - !!python/tuple [7, 14] + - !!python/tuple [4, 4] + - !!python/tuple [29, 31] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex75.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex75.yaml new file mode 100644 index 0000000..34cdd14 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex75.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [6, 20] + name: agent0 + start: [2, 11] +- goal: [9, 4] + name: agent1 + start: [5, 4] +- goal: [16, 16] + name: agent2 + start: [23, 23] +- goal: [3, 21] + name: agent3 + start: [2, 26] +- goal: [21, 15] + name: agent4 + start: [3, 30] +- goal: [25, 5] + name: agent5 + start: [12, 4] +- goal: [2, 6] + name: agent6 + start: [29, 9] +- goal: [2, 2] + name: agent7 + start: [13, 12] +- goal: [24, 28] + name: agent8 + start: [3, 13] +- goal: [28, 25] + name: agent9 + start: [18, 21] +- goal: [9, 25] + name: agent10 + start: [18, 31] +- goal: [2, 27] + name: agent11 + start: [2, 18] +- goal: [29, 15] + name: agent12 + start: [12, 21] +- goal: [8, 15] + name: agent13 + start: [5, 9] +- goal: [22, 6] + name: agent14 + start: [21, 30] +- goal: [23, 11] + name: agent15 + start: [25, 21] +- goal: [14, 9] + name: agent16 + start: [31, 1] +- goal: [5, 24] + name: agent17 + start: [27, 22] +- goal: [28, 6] + name: agent18 + start: [25, 10] +- goal: [4, 30] + name: agent19 + start: [5, 13] +- goal: [21, 10] + name: agent20 + start: [4, 25] +- goal: [22, 10] + name: agent21 + start: [16, 11] +- goal: [23, 28] + name: agent22 + start: [1, 17] +- goal: [12, 7] + name: agent23 + start: [2, 28] +- goal: [3, 10] + name: agent24 + start: [11, 27] +- goal: [21, 3] + name: agent25 + start: [0, 14] +- goal: [10, 14] + name: agent26 + start: [9, 0] +- goal: [28, 2] + name: agent27 + start: [19, 15] +- goal: [12, 3] + name: agent28 + start: [22, 4] +- goal: [28, 23] + name: agent29 + start: [2, 24] +- goal: [30, 21] + name: agent30 + start: [6, 26] +- goal: [5, 28] + name: agent31 + start: [14, 21] +- goal: [28, 0] + name: agent32 + start: [14, 22] +- goal: [13, 7] + name: agent33 + start: [13, 31] +- goal: [18, 19] + name: agent34 + start: [11, 28] +- goal: [29, 12] + name: agent35 + start: [18, 28] +- goal: [1, 3] + name: agent36 + start: [25, 5] +- goal: [18, 11] + name: agent37 + start: [4, 26] +- goal: [15, 5] + name: agent38 + start: [11, 19] +- goal: [1, 19] + name: agent39 + start: [2, 3] +- goal: [19, 4] + name: agent40 + start: [6, 11] +- goal: [30, 2] + name: agent41 + start: [5, 18] +- goal: [4, 6] + name: agent42 + start: [16, 29] +- goal: [5, 1] + name: agent43 + start: [31, 26] +- goal: [8, 29] + name: agent44 + start: [7, 12] +- goal: [26, 29] + name: agent45 + start: [12, 30] +- goal: [24, 27] + name: agent46 + start: [27, 12] +- goal: [19, 27] + name: agent47 + start: [0, 12] +- goal: [13, 22] + name: agent48 + start: [17, 25] +- goal: [14, 22] + name: agent49 + start: [23, 7] +- goal: [11, 16] + name: agent50 + start: [24, 24] +- goal: [2, 24] + name: agent51 + start: [7, 6] +- goal: [29, 14] + name: agent52 + start: [21, 31] +- goal: [16, 13] + name: agent53 + start: [4, 17] +- goal: [1, 2] + name: agent54 + start: [20, 5] +- goal: [18, 26] + name: agent55 + start: [13, 28] +- goal: [15, 10] + name: agent56 + start: [1, 1] +- goal: [17, 5] + name: agent57 + start: [3, 28] +- goal: [28, 12] + name: agent58 + start: [5, 8] +- goal: [20, 11] + name: agent59 + start: [22, 22] +- goal: [0, 20] + name: agent60 + start: [14, 30] +- goal: [22, 7] + name: agent61 + start: [22, 20] +- goal: [24, 7] + name: agent62 + start: [18, 27] +- goal: [21, 9] + name: agent63 + start: [15, 5] +- goal: [0, 10] + name: agent64 + start: [25, 18] +- goal: [21, 13] + name: agent65 + start: [4, 7] +- goal: [6, 14] + name: agent66 + start: [19, 21] +- goal: [20, 7] + name: agent67 + start: [11, 31] +- goal: [15, 31] + name: agent68 + start: [8, 7] +- goal: [31, 4] + name: agent69 + start: [20, 20] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [7, 23] + - !!python/tuple [8, 24] + - !!python/tuple [1, 13] + - !!python/tuple [17, 2] + - !!python/tuple [15, 0] + - !!python/tuple [18, 9] + - !!python/tuple [22, 3] + - !!python/tuple [19, 1] + - !!python/tuple [30, 24] + - !!python/tuple [8, 16] + - !!python/tuple [0, 8] + - !!python/tuple [10, 27] + - !!python/tuple [30, 4] + - !!python/tuple [15, 27] + - !!python/tuple [28, 13] + - !!python/tuple [5, 15] + - !!python/tuple [25, 14] + - !!python/tuple [7, 3] + - !!python/tuple [14, 15] + - !!python/tuple [21, 23] + - !!python/tuple [23, 18] + - !!python/tuple [26, 0] + - !!python/tuple [2, 9] + - !!python/tuple [22, 29] + - !!python/tuple [5, 2] + - !!python/tuple [26, 24] + - !!python/tuple [23, 14] + - !!python/tuple [13, 4] + - !!python/tuple [2, 16] + - !!python/tuple [10, 11] + - !!python/tuple [27, 4] + - !!python/tuple [8, 22] + - !!python/tuple [31, 20] + - !!python/tuple [9, 5] + - !!python/tuple [31, 29] + - !!python/tuple [29, 28] + - !!python/tuple [20, 0] + - !!python/tuple [3, 22] + - !!python/tuple [10, 13] + - !!python/tuple [5, 12] + - !!python/tuple [12, 28] + - !!python/tuple [25, 15] + - !!python/tuple [10, 7] + - !!python/tuple [7, 26] + - !!python/tuple [6, 6] + - !!python/tuple [1, 30] + - !!python/tuple [9, 21] + - !!python/tuple [2, 1] + - !!python/tuple [0, 15] + - !!python/tuple [5, 29] + - !!python/tuple [28, 30] + - !!python/tuple [8, 9] + - !!python/tuple [28, 9] + - !!python/tuple [26, 7] + - !!python/tuple [17, 10] + - !!python/tuple [16, 2] + - !!python/tuple [15, 20] + - !!python/tuple [6, 13] + - !!python/tuple [9, 12] + - !!python/tuple [7, 24] + - !!python/tuple [12, 13] + - !!python/tuple [6, 10] + - !!python/tuple [28, 20] + - !!python/tuple [25, 23] + - !!python/tuple [28, 19] + - !!python/tuple [12, 9] + - !!python/tuple [31, 19] + - !!python/tuple [3, 6] + - !!python/tuple [7, 16] + - !!python/tuple [29, 18] + - !!python/tuple [14, 11] + - !!python/tuple [15, 14] + - !!python/tuple [23, 29] + - !!python/tuple [5, 0] + - !!python/tuple [16, 19] + - !!python/tuple [1, 24] + - !!python/tuple [8, 3] + - !!python/tuple [2, 14] + - !!python/tuple [22, 18] + - !!python/tuple [21, 16] + - !!python/tuple [16, 1] + - !!python/tuple [25, 26] + - !!python/tuple [21, 0] + - !!python/tuple [7, 19] + - !!python/tuple [13, 6] + - !!python/tuple [21, 7] + - !!python/tuple [14, 7] + - !!python/tuple [29, 29] + - !!python/tuple [6, 12] + - !!python/tuple [11, 11] + - !!python/tuple [28, 10] + - !!python/tuple [2, 22] + - !!python/tuple [29, 2] + - !!python/tuple [30, 28] + - !!python/tuple [19, 16] + - !!python/tuple [24, 21] + - !!python/tuple [2, 4] + - !!python/tuple [16, 8] + - !!python/tuple [20, 15] + - !!python/tuple [12, 27] + - !!python/tuple [15, 25] + - !!python/tuple [20, 10] + - !!python/tuple [4, 3] + - !!python/tuple [6, 23] + - !!python/tuple [5, 21] + - !!python/tuple [9, 13] + - !!python/tuple [29, 13] + - !!python/tuple [16, 20] + - !!python/tuple [3, 17] + - !!python/tuple [4, 5] + - !!python/tuple [7, 7] + - !!python/tuple [12, 31] + - !!python/tuple [27, 13] + - !!python/tuple [7, 8] + - !!python/tuple [30, 31] + - !!python/tuple [22, 14] + - !!python/tuple [11, 8] + - !!python/tuple [29, 31] + - !!python/tuple [21, 17] + - !!python/tuple [16, 3] + - !!python/tuple [23, 22] + - !!python/tuple [8, 19] + - !!python/tuple [2, 8] + - !!python/tuple [9, 18] + - !!python/tuple [20, 1] + - !!python/tuple [24, 6] + - !!python/tuple [14, 23] + - !!python/tuple [23, 19] + - !!python/tuple [22, 1] + - !!python/tuple [7, 4] + - !!python/tuple [13, 3] + - !!python/tuple [14, 6] + - !!python/tuple [30, 17] + - !!python/tuple [3, 24] + - !!python/tuple [22, 25] + - !!python/tuple [23, 13] + - !!python/tuple [9, 16] + - !!python/tuple [20, 18] + - !!python/tuple [9, 2] + - !!python/tuple [18, 15] + - !!python/tuple [24, 4] + - !!python/tuple [11, 13] + - !!python/tuple [24, 5] + - !!python/tuple [26, 20] + - !!python/tuple [25, 20] + - !!python/tuple [24, 19] + - !!python/tuple [1, 27] + - !!python/tuple [0, 5] + - !!python/tuple [29, 1] + - !!python/tuple [12, 29] + - !!python/tuple [17, 26] + - !!python/tuple [6, 31] + - !!python/tuple [28, 4] + - !!python/tuple [21, 25] + - !!python/tuple [11, 2] + - !!python/tuple [8, 1] + - !!python/tuple [30, 7] + - !!python/tuple [8, 2] + - !!python/tuple [12, 8] + - !!python/tuple [11, 6] + - !!python/tuple [23, 9] + - !!python/tuple [31, 24] + - !!python/tuple [17, 18] + - !!python/tuple [0, 4] + - !!python/tuple [18, 17] + - !!python/tuple [9, 29] + - !!python/tuple [2, 10] + - !!python/tuple [2, 12] + - !!python/tuple [10, 15] + - !!python/tuple [7, 11] + - !!python/tuple [10, 24] + - !!python/tuple [2, 7] + - !!python/tuple [1, 12] + - !!python/tuple [29, 11] + - !!python/tuple [26, 14] + - !!python/tuple [14, 8] + - !!python/tuple [25, 31] + - !!python/tuple [4, 20] + - !!python/tuple [2, 20] + - !!python/tuple [4, 23] + - !!python/tuple [10, 21] + - !!python/tuple [16, 21] + - !!python/tuple [15, 1] + - !!python/tuple [20, 2] + - !!python/tuple [27, 15] + - !!python/tuple [7, 28] + - !!python/tuple [27, 18] + - !!python/tuple [29, 3] + - !!python/tuple [16, 0] + - !!python/tuple [17, 21] + - !!python/tuple [14, 4] + - !!python/tuple [10, 18] + - !!python/tuple [16, 28] + - !!python/tuple [16, 18] + - !!python/tuple [13, 14] + - !!python/tuple [0, 29] + - !!python/tuple [23, 17] + - !!python/tuple [11, 20] + - !!python/tuple [17, 22] + - !!python/tuple [4, 16] + - !!python/tuple [29, 24] + - !!python/tuple [19, 19] + - !!python/tuple [6, 18] + - !!python/tuple [16, 27] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex76.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex76.yaml new file mode 100644 index 0000000..1c7ea48 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex76.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [7, 16] + name: agent0 + start: [7, 19] +- goal: [5, 21] + name: agent1 + start: [3, 10] +- goal: [28, 27] + name: agent2 + start: [21, 9] +- goal: [25, 10] + name: agent3 + start: [5, 30] +- goal: [16, 16] + name: agent4 + start: [25, 23] +- goal: [24, 12] + name: agent5 + start: [29, 4] +- goal: [1, 14] + name: agent6 + start: [1, 28] +- goal: [8, 1] + name: agent7 + start: [28, 4] +- goal: [9, 13] + name: agent8 + start: [6, 12] +- goal: [23, 12] + name: agent9 + start: [15, 15] +- goal: [2, 6] + name: agent10 + start: [21, 19] +- goal: [17, 7] + name: agent11 + start: [19, 8] +- goal: [21, 21] + name: agent12 + start: [15, 1] +- goal: [11, 11] + name: agent13 + start: [16, 26] +- goal: [14, 30] + name: agent14 + start: [20, 20] +- goal: [18, 20] + name: agent15 + start: [22, 1] +- goal: [12, 13] + name: agent16 + start: [26, 2] +- goal: [11, 5] + name: agent17 + start: [14, 2] +- goal: [13, 15] + name: agent18 + start: [9, 16] +- goal: [4, 15] + name: agent19 + start: [1, 23] +- goal: [11, 12] + name: agent20 + start: [27, 23] +- goal: [7, 22] + name: agent21 + start: [6, 23] +- goal: [0, 18] + name: agent22 + start: [25, 27] +- goal: [3, 4] + name: agent23 + start: [27, 7] +- goal: [26, 15] + name: agent24 + start: [29, 13] +- goal: [19, 9] + name: agent25 + start: [15, 16] +- goal: [25, 24] + name: agent26 + start: [25, 29] +- goal: [18, 25] + name: agent27 + start: [4, 31] +- goal: [12, 9] + name: agent28 + start: [19, 7] +- goal: [8, 26] + name: agent29 + start: [19, 13] +- goal: [9, 30] + name: agent30 + start: [31, 23] +- goal: [11, 19] + name: agent31 + start: [6, 9] +- goal: [24, 26] + name: agent32 + start: [23, 2] +- goal: [21, 18] + name: agent33 + start: [17, 11] +- goal: [21, 6] + name: agent34 + start: [5, 4] +- goal: [24, 15] + name: agent35 + start: [17, 3] +- goal: [23, 11] + name: agent36 + start: [24, 28] +- goal: [9, 14] + name: agent37 + start: [1, 24] +- goal: [4, 20] + name: agent38 + start: [3, 12] +- goal: [17, 20] + name: agent39 + start: [28, 8] +- goal: [10, 2] + name: agent40 + start: [21, 0] +- goal: [26, 5] + name: agent41 + start: [11, 4] +- goal: [29, 22] + name: agent42 + start: [16, 8] +- goal: [9, 31] + name: agent43 + start: [23, 7] +- goal: [12, 2] + name: agent44 + start: [18, 10] +- goal: [8, 31] + name: agent45 + start: [11, 17] +- goal: [19, 20] + name: agent46 + start: [19, 5] +- goal: [22, 25] + name: agent47 + start: [8, 6] +- goal: [27, 18] + name: agent48 + start: [9, 30] +- goal: [29, 11] + name: agent49 + start: [31, 9] +- goal: [24, 31] + name: agent50 + start: [10, 0] +- goal: [2, 21] + name: agent51 + start: [16, 28] +- goal: [13, 0] + name: agent52 + start: [18, 30] +- goal: [18, 24] + name: agent53 + start: [3, 11] +- goal: [1, 0] + name: agent54 + start: [2, 12] +- goal: [16, 6] + name: agent55 + start: [10, 30] +- goal: [1, 3] + name: agent56 + start: [24, 14] +- goal: [24, 11] + name: agent57 + start: [5, 17] +- goal: [13, 8] + name: agent58 + start: [22, 12] +- goal: [22, 23] + name: agent59 + start: [31, 13] +- goal: [14, 14] + name: agent60 + start: [6, 20] +- goal: [1, 25] + name: agent61 + start: [30, 27] +- goal: [27, 4] + name: agent62 + start: [19, 0] +- goal: [18, 14] + name: agent63 + start: [15, 0] +- goal: [13, 25] + name: agent64 + start: [2, 8] +- goal: [18, 8] + name: agent65 + start: [22, 28] +- goal: [31, 20] + name: agent66 + start: [31, 29] +- goal: [17, 11] + name: agent67 + start: [5, 20] +- goal: [21, 2] + name: agent68 + start: [27, 10] +- goal: [12, 6] + name: agent69 + start: [5, 6] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [27, 27] + - !!python/tuple [23, 1] + - !!python/tuple [28, 12] + - !!python/tuple [2, 14] + - !!python/tuple [30, 20] + - !!python/tuple [17, 16] + - !!python/tuple [23, 24] + - !!python/tuple [5, 10] + - !!python/tuple [13, 30] + - !!python/tuple [30, 2] + - !!python/tuple [19, 17] + - !!python/tuple [6, 26] + - !!python/tuple [9, 20] + - !!python/tuple [23, 6] + - !!python/tuple [22, 6] + - !!python/tuple [30, 23] + - !!python/tuple [21, 5] + - !!python/tuple [30, 8] + - !!python/tuple [1, 20] + - !!python/tuple [30, 10] + - !!python/tuple [24, 27] + - !!python/tuple [3, 14] + - !!python/tuple [4, 14] + - !!python/tuple [6, 18] + - !!python/tuple [25, 14] + - !!python/tuple [22, 29] + - !!python/tuple [6, 6] + - !!python/tuple [1, 13] + - !!python/tuple [19, 11] + - !!python/tuple [20, 29] + - !!python/tuple [6, 1] + - !!python/tuple [28, 3] + - !!python/tuple [2, 28] + - !!python/tuple [10, 28] + - !!python/tuple [8, 17] + - !!python/tuple [29, 21] + - !!python/tuple [26, 8] + - !!python/tuple [18, 27] + - !!python/tuple [7, 2] + - !!python/tuple [19, 25] + - !!python/tuple [4, 2] + - !!python/tuple [31, 7] + - !!python/tuple [13, 29] + - !!python/tuple [12, 16] + - !!python/tuple [23, 3] + - !!python/tuple [11, 22] + - !!python/tuple [30, 15] + - !!python/tuple [29, 30] + - !!python/tuple [28, 11] + - !!python/tuple [13, 16] + - !!python/tuple [24, 2] + - !!python/tuple [0, 8] + - !!python/tuple [21, 25] + - !!python/tuple [10, 5] + - !!python/tuple [13, 13] + - !!python/tuple [24, 3] + - !!python/tuple [23, 17] + - !!python/tuple [16, 17] + - !!python/tuple [28, 13] + - !!python/tuple [15, 25] + - !!python/tuple [13, 11] + - !!python/tuple [29, 1] + - !!python/tuple [24, 5] + - !!python/tuple [18, 18] + - !!python/tuple [11, 23] + - !!python/tuple [10, 17] + - !!python/tuple [27, 14] + - !!python/tuple [12, 24] + - !!python/tuple [8, 16] + - !!python/tuple [25, 30] + - !!python/tuple [7, 7] + - !!python/tuple [21, 4] + - !!python/tuple [9, 15] + - !!python/tuple [24, 10] + - !!python/tuple [27, 21] + - !!python/tuple [12, 31] + - !!python/tuple [14, 11] + - !!python/tuple [0, 29] + - !!python/tuple [14, 26] + - !!python/tuple [0, 2] + - !!python/tuple [13, 10] + - !!python/tuple [14, 13] + - !!python/tuple [5, 27] + - !!python/tuple [14, 10] + - !!python/tuple [30, 25] + - !!python/tuple [17, 28] + - !!python/tuple [5, 31] + - !!python/tuple [11, 13] + - !!python/tuple [21, 22] + - !!python/tuple [30, 13] + - !!python/tuple [5, 29] + - !!python/tuple [12, 11] + - !!python/tuple [16, 11] + - !!python/tuple [30, 28] + - !!python/tuple [4, 26] + - !!python/tuple [27, 15] + - !!python/tuple [2, 26] + - !!python/tuple [7, 28] + - !!python/tuple [7, 29] + - !!python/tuple [12, 12] + - !!python/tuple [28, 17] + - !!python/tuple [20, 15] + - !!python/tuple [3, 27] + - !!python/tuple [16, 30] + - !!python/tuple [12, 23] + - !!python/tuple [26, 1] + - !!python/tuple [13, 4] + - !!python/tuple [15, 23] + - !!python/tuple [27, 0] + - !!python/tuple [26, 14] + - !!python/tuple [28, 6] + - !!python/tuple [12, 8] + - !!python/tuple [14, 17] + - !!python/tuple [20, 31] + - !!python/tuple [29, 28] + - !!python/tuple [31, 2] + - !!python/tuple [11, 1] + - !!python/tuple [27, 24] + - !!python/tuple [0, 19] + - !!python/tuple [2, 29] + - !!python/tuple [22, 3] + - !!python/tuple [13, 21] + - !!python/tuple [3, 21] + - !!python/tuple [15, 22] + - !!python/tuple [3, 0] + - !!python/tuple [31, 21] + - !!python/tuple [7, 5] + - !!python/tuple [6, 13] + - !!python/tuple [4, 29] + - !!python/tuple [21, 11] + - !!python/tuple [11, 30] + - !!python/tuple [25, 6] + - !!python/tuple [7, 20] + - !!python/tuple [14, 4] + - !!python/tuple [3, 3] + - !!python/tuple [22, 30] + - !!python/tuple [14, 25] + - !!python/tuple [26, 19] + - !!python/tuple [4, 22] + - !!python/tuple [24, 24] + - !!python/tuple [30, 7] + - !!python/tuple [22, 31] + - !!python/tuple [11, 6] + - !!python/tuple [13, 9] + - !!python/tuple [9, 12] + - !!python/tuple [21, 20] + - !!python/tuple [17, 5] + - !!python/tuple [3, 22] + - !!python/tuple [19, 31] + - !!python/tuple [18, 5] + - !!python/tuple [10, 13] + - !!python/tuple [14, 22] + - !!python/tuple [24, 4] + - !!python/tuple [4, 0] + - !!python/tuple [3, 24] + - !!python/tuple [26, 20] + - !!python/tuple [31, 27] + - !!python/tuple [3, 16] + - !!python/tuple [12, 3] + - !!python/tuple [7, 12] + - !!python/tuple [14, 12] + - !!python/tuple [10, 11] + - !!python/tuple [29, 15] + - !!python/tuple [18, 0] + - !!python/tuple [24, 6] + - !!python/tuple [3, 7] + - !!python/tuple [4, 23] + - !!python/tuple [4, 5] + - !!python/tuple [20, 18] + - !!python/tuple [18, 31] + - !!python/tuple [7, 6] + - !!python/tuple [8, 14] + - !!python/tuple [22, 24] + - !!python/tuple [6, 11] + - !!python/tuple [11, 25] + - !!python/tuple [29, 10] + - !!python/tuple [22, 18] + - !!python/tuple [30, 3] + - !!python/tuple [19, 24] + - !!python/tuple [17, 13] + - !!python/tuple [20, 19] + - !!python/tuple [9, 24] + - !!python/tuple [15, 28] + - !!python/tuple [12, 29] + - !!python/tuple [26, 29] + - !!python/tuple [23, 25] + - !!python/tuple [19, 30] + - !!python/tuple [22, 21] + - !!python/tuple [30, 0] + - !!python/tuple [22, 22] + - !!python/tuple [15, 29] + - !!python/tuple [20, 7] + - !!python/tuple [5, 1] + - !!python/tuple [25, 16] + - !!python/tuple [12, 18] + - !!python/tuple [13, 31] + - !!python/tuple [18, 28] + - !!python/tuple [4, 17] + - !!python/tuple [5, 25] + - !!python/tuple [1, 31] + - !!python/tuple [19, 15] + - !!python/tuple [1, 26] + - !!python/tuple [18, 29] + - !!python/tuple [9, 26] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex77.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex77.yaml new file mode 100644 index 0000000..6465f80 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex77.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [11, 6] + name: agent0 + start: [15, 13] +- goal: [26, 29] + name: agent1 + start: [23, 31] +- goal: [9, 14] + name: agent2 + start: [28, 29] +- goal: [11, 12] + name: agent3 + start: [14, 7] +- goal: [28, 24] + name: agent4 + start: [0, 13] +- goal: [7, 2] + name: agent5 + start: [20, 9] +- goal: [9, 21] + name: agent6 + start: [29, 19] +- goal: [1, 15] + name: agent7 + start: [30, 27] +- goal: [30, 12] + name: agent8 + start: [27, 4] +- goal: [5, 19] + name: agent9 + start: [2, 4] +- goal: [3, 3] + name: agent10 + start: [29, 30] +- goal: [29, 15] + name: agent11 + start: [1, 12] +- goal: [13, 19] + name: agent12 + start: [8, 21] +- goal: [4, 18] + name: agent13 + start: [1, 8] +- goal: [15, 15] + name: agent14 + start: [20, 15] +- goal: [28, 1] + name: agent15 + start: [25, 3] +- goal: [23, 22] + name: agent16 + start: [16, 6] +- goal: [4, 16] + name: agent17 + start: [28, 30] +- goal: [19, 11] + name: agent18 + start: [15, 25] +- goal: [11, 8] + name: agent19 + start: [24, 21] +- goal: [19, 15] + name: agent20 + start: [30, 30] +- goal: [25, 25] + name: agent21 + start: [13, 2] +- goal: [30, 7] + name: agent22 + start: [17, 25] +- goal: [19, 17] + name: agent23 + start: [27, 3] +- goal: [16, 4] + name: agent24 + start: [31, 27] +- goal: [17, 12] + name: agent25 + start: [25, 19] +- goal: [0, 26] + name: agent26 + start: [27, 16] +- goal: [0, 11] + name: agent27 + start: [10, 25] +- goal: [29, 2] + name: agent28 + start: [28, 3] +- goal: [21, 13] + name: agent29 + start: [16, 5] +- goal: [5, 7] + name: agent30 + start: [4, 24] +- goal: [25, 13] + name: agent31 + start: [16, 0] +- goal: [14, 12] + name: agent32 + start: [22, 1] +- goal: [22, 12] + name: agent33 + start: [23, 18] +- goal: [17, 5] + name: agent34 + start: [1, 1] +- goal: [25, 12] + name: agent35 + start: [26, 18] +- goal: [8, 5] + name: agent36 + start: [9, 11] +- goal: [8, 16] + name: agent37 + start: [8, 5] +- goal: [29, 20] + name: agent38 + start: [22, 5] +- goal: [25, 22] + name: agent39 + start: [13, 29] +- goal: [11, 21] + name: agent40 + start: [31, 17] +- goal: [29, 22] + name: agent41 + start: [22, 31] +- goal: [6, 7] + name: agent42 + start: [2, 10] +- goal: [26, 21] + name: agent43 + start: [25, 2] +- goal: [19, 8] + name: agent44 + start: [19, 27] +- goal: [27, 3] + name: agent45 + start: [6, 25] +- goal: [4, 22] + name: agent46 + start: [21, 26] +- goal: [26, 6] + name: agent47 + start: [22, 2] +- goal: [26, 28] + name: agent48 + start: [21, 0] +- goal: [2, 29] + name: agent49 + start: [29, 2] +- goal: [22, 17] + name: agent50 + start: [9, 1] +- goal: [24, 23] + name: agent51 + start: [15, 2] +- goal: [9, 1] + name: agent52 + start: [22, 19] +- goal: [28, 23] + name: agent53 + start: [20, 7] +- goal: [7, 24] + name: agent54 + start: [25, 13] +- goal: [18, 14] + name: agent55 + start: [6, 4] +- goal: [28, 2] + name: agent56 + start: [30, 10] +- goal: [21, 4] + name: agent57 + start: [9, 6] +- goal: [29, 11] + name: agent58 + start: [9, 25] +- goal: [15, 5] + name: agent59 + start: [21, 27] +- goal: [20, 28] + name: agent60 + start: [9, 4] +- goal: [8, 21] + name: agent61 + start: [4, 15] +- goal: [14, 29] + name: agent62 + start: [12, 19] +- goal: [14, 15] + name: agent63 + start: [9, 24] +- goal: [30, 11] + name: agent64 + start: [26, 14] +- goal: [23, 15] + name: agent65 + start: [10, 2] +- goal: [19, 28] + name: agent66 + start: [30, 16] +- goal: [29, 18] + name: agent67 + start: [11, 26] +- goal: [2, 18] + name: agent68 + start: [24, 2] +- goal: [22, 3] + name: agent69 + start: [12, 31] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [29, 10] + - !!python/tuple [29, 29] + - !!python/tuple [21, 21] + - !!python/tuple [19, 9] + - !!python/tuple [21, 10] + - !!python/tuple [1, 28] + - !!python/tuple [26, 30] + - !!python/tuple [3, 18] + - !!python/tuple [9, 15] + - !!python/tuple [20, 16] + - !!python/tuple [23, 21] + - !!python/tuple [25, 18] + - !!python/tuple [28, 12] + - !!python/tuple [28, 0] + - !!python/tuple [3, 22] + - !!python/tuple [8, 27] + - !!python/tuple [9, 19] + - !!python/tuple [8, 19] + - !!python/tuple [28, 4] + - !!python/tuple [17, 15] + - !!python/tuple [2, 5] + - !!python/tuple [6, 2] + - !!python/tuple [4, 23] + - !!python/tuple [26, 23] + - !!python/tuple [23, 14] + - !!python/tuple [18, 5] + - !!python/tuple [28, 14] + - !!python/tuple [31, 20] + - !!python/tuple [22, 25] + - !!python/tuple [12, 12] + - !!python/tuple [20, 12] + - !!python/tuple [16, 31] + - !!python/tuple [3, 6] + - !!python/tuple [8, 22] + - !!python/tuple [5, 18] + - !!python/tuple [1, 13] + - !!python/tuple [26, 4] + - !!python/tuple [27, 7] + - !!python/tuple [20, 13] + - !!python/tuple [5, 21] + - !!python/tuple [24, 9] + - !!python/tuple [3, 2] + - !!python/tuple [24, 7] + - !!python/tuple [14, 14] + - !!python/tuple [3, 4] + - !!python/tuple [13, 27] + - !!python/tuple [17, 19] + - !!python/tuple [14, 2] + - !!python/tuple [12, 18] + - !!python/tuple [14, 27] + - !!python/tuple [8, 15] + - !!python/tuple [21, 25] + - !!python/tuple [7, 20] + - !!python/tuple [15, 12] + - !!python/tuple [12, 7] + - !!python/tuple [3, 31] + - !!python/tuple [3, 12] + - !!python/tuple [26, 24] + - !!python/tuple [20, 8] + - !!python/tuple [29, 6] + - !!python/tuple [25, 7] + - !!python/tuple [28, 7] + - !!python/tuple [17, 26] + - !!python/tuple [31, 16] + - !!python/tuple [28, 21] + - !!python/tuple [5, 4] + - !!python/tuple [31, 3] + - !!python/tuple [2, 11] + - !!python/tuple [21, 14] + - !!python/tuple [20, 1] + - !!python/tuple [16, 19] + - !!python/tuple [23, 26] + - !!python/tuple [22, 23] + - !!python/tuple [16, 23] + - !!python/tuple [0, 16] + - !!python/tuple [5, 25] + - !!python/tuple [18, 26] + - !!python/tuple [9, 2] + - !!python/tuple [30, 4] + - !!python/tuple [27, 28] + - !!python/tuple [14, 21] + - !!python/tuple [19, 19] + - !!python/tuple [18, 12] + - !!python/tuple [23, 4] + - !!python/tuple [11, 29] + - !!python/tuple [6, 12] + - !!python/tuple [28, 26] + - !!python/tuple [13, 4] + - !!python/tuple [11, 5] + - !!python/tuple [17, 11] + - !!python/tuple [11, 2] + - !!python/tuple [13, 11] + - !!python/tuple [20, 24] + - !!python/tuple [11, 4] + - !!python/tuple [14, 0] + - !!python/tuple [9, 10] + - !!python/tuple [18, 7] + - !!python/tuple [2, 15] + - !!python/tuple [23, 3] + - !!python/tuple [7, 21] + - !!python/tuple [22, 13] + - !!python/tuple [13, 17] + - !!python/tuple [30, 28] + - !!python/tuple [29, 17] + - !!python/tuple [13, 16] + - !!python/tuple [4, 4] + - !!python/tuple [0, 0] + - !!python/tuple [31, 23] + - !!python/tuple [18, 31] + - !!python/tuple [9, 23] + - !!python/tuple [24, 0] + - !!python/tuple [1, 3] + - !!python/tuple [22, 4] + - !!python/tuple [0, 24] + - !!python/tuple [17, 14] + - !!python/tuple [1, 4] + - !!python/tuple [10, 23] + - !!python/tuple [10, 22] + - !!python/tuple [12, 11] + - !!python/tuple [21, 3] + - !!python/tuple [5, 22] + - !!python/tuple [9, 7] + - !!python/tuple [6, 16] + - !!python/tuple [18, 13] + - !!python/tuple [20, 21] + - !!python/tuple [15, 17] + - !!python/tuple [31, 14] + - !!python/tuple [11, 24] + - !!python/tuple [16, 26] + - !!python/tuple [5, 8] + - !!python/tuple [19, 29] + - !!python/tuple [29, 14] + - !!python/tuple [20, 29] + - !!python/tuple [25, 30] + - !!python/tuple [1, 30] + - !!python/tuple [13, 7] + - !!python/tuple [30, 24] + - !!python/tuple [25, 16] + - !!python/tuple [5, 10] + - !!python/tuple [1, 23] + - !!python/tuple [26, 17] + - !!python/tuple [15, 0] + - !!python/tuple [8, 20] + - !!python/tuple [22, 21] + - !!python/tuple [12, 5] + - !!python/tuple [6, 18] + - !!python/tuple [8, 30] + - !!python/tuple [24, 19] + - !!python/tuple [9, 28] + - !!python/tuple [26, 2] + - !!python/tuple [1, 17] + - !!python/tuple [20, 17] + - !!python/tuple [30, 1] + - !!python/tuple [31, 11] + - !!python/tuple [3, 16] + - !!python/tuple [8, 14] + - !!python/tuple [17, 30] + - !!python/tuple [22, 20] + - !!python/tuple [4, 26] + - !!python/tuple [15, 3] + - !!python/tuple [27, 14] + - !!python/tuple [10, 19] + - !!python/tuple [15, 20] + - !!python/tuple [26, 31] + - !!python/tuple [9, 30] + - !!python/tuple [6, 19] + - !!python/tuple [19, 16] + - !!python/tuple [26, 10] + - !!python/tuple [1, 0] + - !!python/tuple [18, 17] + - !!python/tuple [7, 16] + - !!python/tuple [8, 6] + - !!python/tuple [6, 6] + - !!python/tuple [9, 8] + - !!python/tuple [7, 25] + - !!python/tuple [23, 10] + - !!python/tuple [10, 3] + - !!python/tuple [21, 28] + - !!python/tuple [0, 23] + - !!python/tuple [24, 20] + - !!python/tuple [10, 18] + - !!python/tuple [6, 30] + - !!python/tuple [29, 4] + - !!python/tuple [17, 2] + - !!python/tuple [11, 19] + - !!python/tuple [0, 22] + - !!python/tuple [14, 5] + - !!python/tuple [29, 28] + - !!python/tuple [19, 26] + - !!python/tuple [16, 21] + - !!python/tuple [21, 29] + - !!python/tuple [13, 9] + - !!python/tuple [19, 7] + - !!python/tuple [14, 6] + - !!python/tuple [25, 5] + - !!python/tuple [3, 8] + - !!python/tuple [20, 6] + - !!python/tuple [27, 20] + - !!python/tuple [7, 6] + - !!python/tuple [13, 13] + - !!python/tuple [15, 14] + - !!python/tuple [13, 30] + - !!python/tuple [18, 16] + - !!python/tuple [31, 0] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex78.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex78.yaml new file mode 100644 index 0000000..2a8e727 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex78.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [18, 25] + name: agent0 + start: [8, 30] +- goal: [8, 23] + name: agent1 + start: [28, 25] +- goal: [13, 19] + name: agent2 + start: [30, 13] +- goal: [16, 9] + name: agent3 + start: [10, 25] +- goal: [12, 6] + name: agent4 + start: [21, 2] +- goal: [26, 18] + name: agent5 + start: [10, 23] +- goal: [20, 1] + name: agent6 + start: [5, 6] +- goal: [4, 31] + name: agent7 + start: [22, 31] +- goal: [7, 20] + name: agent8 + start: [4, 18] +- goal: [9, 26] + name: agent9 + start: [21, 3] +- goal: [10, 6] + name: agent10 + start: [28, 3] +- goal: [27, 0] + name: agent11 + start: [24, 13] +- goal: [29, 13] + name: agent12 + start: [11, 1] +- goal: [2, 13] + name: agent13 + start: [8, 16] +- goal: [3, 28] + name: agent14 + start: [14, 26] +- goal: [6, 13] + name: agent15 + start: [29, 18] +- goal: [18, 28] + name: agent16 + start: [21, 5] +- goal: [8, 7] + name: agent17 + start: [4, 23] +- goal: [21, 0] + name: agent18 + start: [10, 13] +- goal: [24, 28] + name: agent19 + start: [2, 7] +- goal: [30, 9] + name: agent20 + start: [13, 19] +- goal: [28, 14] + name: agent21 + start: [4, 14] +- goal: [14, 11] + name: agent22 + start: [4, 31] +- goal: [5, 0] + name: agent23 + start: [18, 30] +- goal: [6, 20] + name: agent24 + start: [28, 30] +- goal: [28, 23] + name: agent25 + start: [25, 22] +- goal: [25, 20] + name: agent26 + start: [29, 28] +- goal: [27, 21] + name: agent27 + start: [16, 7] +- goal: [21, 9] + name: agent28 + start: [12, 26] +- goal: [30, 2] + name: agent29 + start: [2, 23] +- goal: [12, 27] + name: agent30 + start: [0, 19] +- goal: [16, 31] + name: agent31 + start: [0, 12] +- goal: [24, 29] + name: agent32 + start: [28, 10] +- goal: [30, 13] + name: agent33 + start: [26, 3] +- goal: [24, 18] + name: agent34 + start: [1, 26] +- goal: [13, 3] + name: agent35 + start: [24, 29] +- goal: [24, 13] + name: agent36 + start: [14, 13] +- goal: [10, 7] + name: agent37 + start: [15, 4] +- goal: [6, 18] + name: agent38 + start: [28, 14] +- goal: [4, 2] + name: agent39 + start: [0, 31] +- goal: [12, 20] + name: agent40 + start: [29, 24] +- goal: [0, 25] + name: agent41 + start: [19, 19] +- goal: [26, 30] + name: agent42 + start: [31, 31] +- goal: [22, 17] + name: agent43 + start: [11, 24] +- goal: [25, 27] + name: agent44 + start: [12, 30] +- goal: [22, 26] + name: agent45 + start: [28, 6] +- goal: [10, 2] + name: agent46 + start: [0, 14] +- goal: [16, 0] + name: agent47 + start: [9, 31] +- goal: [22, 24] + name: agent48 + start: [15, 15] +- goal: [31, 12] + name: agent49 + start: [13, 0] +- goal: [6, 25] + name: agent50 + start: [7, 11] +- goal: [7, 10] + name: agent51 + start: [18, 12] +- goal: [1, 17] + name: agent52 + start: [21, 25] +- goal: [17, 21] + name: agent53 + start: [24, 18] +- goal: [27, 11] + name: agent54 + start: [24, 12] +- goal: [3, 16] + name: agent55 + start: [15, 17] +- goal: [19, 3] + name: agent56 + start: [5, 24] +- goal: [17, 30] + name: agent57 + start: [22, 2] +- goal: [29, 5] + name: agent58 + start: [24, 27] +- goal: [19, 23] + name: agent59 + start: [10, 31] +- goal: [31, 18] + name: agent60 + start: [25, 11] +- goal: [4, 16] + name: agent61 + start: [2, 5] +- goal: [15, 5] + name: agent62 + start: [2, 12] +- goal: [21, 25] + name: agent63 + start: [7, 7] +- goal: [29, 12] + name: agent64 + start: [31, 7] +- goal: [22, 9] + name: agent65 + start: [30, 0] +- goal: [23, 5] + name: agent66 + start: [22, 0] +- goal: [30, 4] + name: agent67 + start: [7, 8] +- goal: [29, 22] + name: agent68 + start: [6, 28] +- goal: [3, 25] + name: agent69 + start: [18, 31] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [12, 1] + - !!python/tuple [16, 17] + - !!python/tuple [13, 14] + - !!python/tuple [10, 11] + - !!python/tuple [11, 12] + - !!python/tuple [5, 8] + - !!python/tuple [9, 22] + - !!python/tuple [21, 22] + - !!python/tuple [23, 11] + - !!python/tuple [5, 26] + - !!python/tuple [20, 10] + - !!python/tuple [24, 5] + - !!python/tuple [11, 0] + - !!python/tuple [30, 28] + - !!python/tuple [29, 17] + - !!python/tuple [22, 25] + - !!python/tuple [1, 15] + - !!python/tuple [5, 20] + - !!python/tuple [5, 31] + - !!python/tuple [5, 3] + - !!python/tuple [2, 25] + - !!python/tuple [8, 6] + - !!python/tuple [10, 4] + - !!python/tuple [29, 14] + - !!python/tuple [15, 0] + - !!python/tuple [26, 6] + - !!python/tuple [25, 5] + - !!python/tuple [8, 29] + - !!python/tuple [26, 29] + - !!python/tuple [18, 5] + - !!python/tuple [28, 0] + - !!python/tuple [20, 20] + - !!python/tuple [15, 27] + - !!python/tuple [31, 13] + - !!python/tuple [14, 24] + - !!python/tuple [8, 11] + - !!python/tuple [3, 17] + - !!python/tuple [26, 17] + - !!python/tuple [13, 21] + - !!python/tuple [30, 3] + - !!python/tuple [26, 14] + - !!python/tuple [17, 27] + - !!python/tuple [23, 16] + - !!python/tuple [22, 22] + - !!python/tuple [30, 8] + - !!python/tuple [20, 31] + - !!python/tuple [12, 11] + - !!python/tuple [27, 29] + - !!python/tuple [27, 31] + - !!python/tuple [29, 11] + - !!python/tuple [20, 28] + - !!python/tuple [12, 9] + - !!python/tuple [15, 31] + - !!python/tuple [9, 4] + - !!python/tuple [24, 22] + - !!python/tuple [21, 17] + - !!python/tuple [18, 1] + - !!python/tuple [25, 29] + - !!python/tuple [11, 21] + - !!python/tuple [31, 20] + - !!python/tuple [11, 2] + - !!python/tuple [17, 23] + - !!python/tuple [25, 2] + - !!python/tuple [0, 30] + - !!python/tuple [23, 1] + - !!python/tuple [20, 27] + - !!python/tuple [25, 8] + - !!python/tuple [22, 23] + - !!python/tuple [30, 22] + - !!python/tuple [13, 22] + - !!python/tuple [18, 11] + - !!python/tuple [20, 4] + - !!python/tuple [3, 15] + - !!python/tuple [0, 22] + - !!python/tuple [18, 23] + - !!python/tuple [14, 22] + - !!python/tuple [14, 5] + - !!python/tuple [1, 6] + - !!python/tuple [18, 19] + - !!python/tuple [26, 11] + - !!python/tuple [20, 0] + - !!python/tuple [14, 7] + - !!python/tuple [23, 21] + - !!python/tuple [1, 10] + - !!python/tuple [24, 15] + - !!python/tuple [27, 15] + - !!python/tuple [25, 23] + - !!python/tuple [16, 2] + - !!python/tuple [23, 10] + - !!python/tuple [27, 30] + - !!python/tuple [19, 14] + - !!python/tuple [12, 23] + - !!python/tuple [16, 18] + - !!python/tuple [17, 24] + - !!python/tuple [28, 13] + - !!python/tuple [27, 8] + - !!python/tuple [29, 23] + - !!python/tuple [29, 16] + - !!python/tuple [21, 30] + - !!python/tuple [0, 26] + - !!python/tuple [5, 27] + - !!python/tuple [3, 9] + - !!python/tuple [26, 5] + - !!python/tuple [7, 5] + - !!python/tuple [17, 8] + - !!python/tuple [3, 2] + - !!python/tuple [1, 27] + - !!python/tuple [13, 23] + - !!python/tuple [2, 26] + - !!python/tuple [11, 20] + - !!python/tuple [30, 31] + - !!python/tuple [28, 1] + - !!python/tuple [29, 26] + - !!python/tuple [29, 25] + - !!python/tuple [1, 30] + - !!python/tuple [13, 8] + - !!python/tuple [3, 11] + - !!python/tuple [31, 9] + - !!python/tuple [31, 26] + - !!python/tuple [31, 3] + - !!python/tuple [16, 24] + - !!python/tuple [16, 11] + - !!python/tuple [11, 18] + - !!python/tuple [11, 8] + - !!python/tuple [23, 30] + - !!python/tuple [23, 6] + - !!python/tuple [8, 8] + - !!python/tuple [10, 16] + - !!python/tuple [26, 13] + - !!python/tuple [20, 14] + - !!python/tuple [27, 9] + - !!python/tuple [19, 22] + - !!python/tuple [19, 4] + - !!python/tuple [17, 25] + - !!python/tuple [18, 0] + - !!python/tuple [11, 28] + - !!python/tuple [22, 3] + - !!python/tuple [30, 19] + - !!python/tuple [22, 27] + - !!python/tuple [18, 7] + - !!python/tuple [24, 21] + - !!python/tuple [8, 18] + - !!python/tuple [4, 22] + - !!python/tuple [23, 9] + - !!python/tuple [11, 14] + - !!python/tuple [28, 20] + - !!python/tuple [2, 15] + - !!python/tuple [25, 6] + - !!python/tuple [21, 8] + - !!python/tuple [25, 12] + - !!python/tuple [20, 15] + - !!python/tuple [29, 31] + - !!python/tuple [3, 10] + - !!python/tuple [10, 3] + - !!python/tuple [12, 28] + - !!python/tuple [0, 28] + - !!python/tuple [4, 10] + - !!python/tuple [11, 17] + - !!python/tuple [6, 17] + - !!python/tuple [13, 5] + - !!python/tuple [1, 7] + - !!python/tuple [2, 4] + - !!python/tuple [26, 25] + - !!python/tuple [4, 25] + - !!python/tuple [25, 10] + - !!python/tuple [9, 6] + - !!python/tuple [3, 26] + - !!python/tuple [16, 14] + - !!python/tuple [7, 6] + - !!python/tuple [0, 6] + - !!python/tuple [6, 26] + - !!python/tuple [0, 5] + - !!python/tuple [1, 1] + - !!python/tuple [10, 5] + - !!python/tuple [2, 1] + - !!python/tuple [24, 1] + - !!python/tuple [19, 8] + - !!python/tuple [4, 29] + - !!python/tuple [18, 20] + - !!python/tuple [5, 14] + - !!python/tuple [16, 10] + - !!python/tuple [2, 18] + - !!python/tuple [29, 3] + - !!python/tuple [6, 24] + - !!python/tuple [13, 30] + - !!python/tuple [7, 25] + - !!python/tuple [12, 31] + - !!python/tuple [19, 21] + - !!python/tuple [2, 30] + - !!python/tuple [13, 15] + - !!python/tuple [31, 10] + - !!python/tuple [14, 0] + - !!python/tuple [6, 19] + - !!python/tuple [12, 10] + - !!python/tuple [17, 12] + - !!python/tuple [30, 10] + - !!python/tuple [0, 8] + - !!python/tuple [8, 12] + - !!python/tuple [15, 23] + - !!python/tuple [15, 18] + - !!python/tuple [19, 13] + - !!python/tuple [23, 22] + - !!python/tuple [8, 31] + - !!python/tuple [0, 16] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex79.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex79.yaml new file mode 100644 index 0000000..0745353 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex79.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [15, 28] + name: agent0 + start: [2, 13] +- goal: [28, 1] + name: agent1 + start: [6, 25] +- goal: [23, 1] + name: agent2 + start: [27, 2] +- goal: [9, 5] + name: agent3 + start: [4, 1] +- goal: [25, 1] + name: agent4 + start: [6, 22] +- goal: [29, 6] + name: agent5 + start: [4, 9] +- goal: [27, 11] + name: agent6 + start: [11, 7] +- goal: [13, 4] + name: agent7 + start: [1, 11] +- goal: [4, 27] + name: agent8 + start: [5, 24] +- goal: [4, 1] + name: agent9 + start: [8, 21] +- goal: [3, 23] + name: agent10 + start: [24, 4] +- goal: [14, 26] + name: agent11 + start: [4, 17] +- goal: [31, 30] + name: agent12 + start: [2, 18] +- goal: [28, 6] + name: agent13 + start: [21, 29] +- goal: [5, 25] + name: agent14 + start: [19, 27] +- goal: [31, 10] + name: agent15 + start: [13, 27] +- goal: [8, 27] + name: agent16 + start: [15, 9] +- goal: [13, 26] + name: agent17 + start: [26, 10] +- goal: [14, 20] + name: agent18 + start: [11, 3] +- goal: [26, 18] + name: agent19 + start: [8, 5] +- goal: [25, 19] + name: agent20 + start: [21, 17] +- goal: [27, 12] + name: agent21 + start: [10, 13] +- goal: [23, 30] + name: agent22 + start: [28, 20] +- goal: [11, 15] + name: agent23 + start: [8, 24] +- goal: [29, 0] + name: agent24 + start: [30, 8] +- goal: [11, 8] + name: agent25 + start: [22, 22] +- goal: [3, 21] + name: agent26 + start: [22, 15] +- goal: [24, 24] + name: agent27 + start: [3, 15] +- goal: [31, 5] + name: agent28 + start: [0, 25] +- goal: [24, 7] + name: agent29 + start: [1, 29] +- goal: [8, 6] + name: agent30 + start: [9, 26] +- goal: [17, 29] + name: agent31 + start: [10, 1] +- goal: [23, 8] + name: agent32 + start: [8, 10] +- goal: [15, 0] + name: agent33 + start: [4, 13] +- goal: [6, 21] + name: agent34 + start: [18, 15] +- goal: [12, 0] + name: agent35 + start: [29, 14] +- goal: [15, 3] + name: agent36 + start: [28, 2] +- goal: [11, 20] + name: agent37 + start: [11, 10] +- goal: [12, 28] + name: agent38 + start: [4, 10] +- goal: [16, 23] + name: agent39 + start: [17, 28] +- goal: [15, 29] + name: agent40 + start: [26, 26] +- goal: [17, 28] + name: agent41 + start: [31, 5] +- goal: [2, 9] + name: agent42 + start: [13, 8] +- goal: [1, 31] + name: agent43 + start: [13, 15] +- goal: [6, 18] + name: agent44 + start: [9, 11] +- goal: [6, 19] + name: agent45 + start: [29, 16] +- goal: [2, 4] + name: agent46 + start: [13, 1] +- goal: [3, 16] + name: agent47 + start: [25, 30] +- goal: [31, 25] + name: agent48 + start: [5, 7] +- goal: [10, 4] + name: agent49 + start: [1, 28] +- goal: [25, 16] + name: agent50 + start: [12, 18] +- goal: [25, 21] + name: agent51 + start: [3, 8] +- goal: [26, 9] + name: agent52 + start: [15, 6] +- goal: [23, 28] + name: agent53 + start: [2, 15] +- goal: [10, 22] + name: agent54 + start: [14, 22] +- goal: [17, 31] + name: agent55 + start: [20, 9] +- goal: [18, 31] + name: agent56 + start: [7, 30] +- goal: [16, 5] + name: agent57 + start: [1, 27] +- goal: [15, 16] + name: agent58 + start: [2, 12] +- goal: [21, 18] + name: agent59 + start: [14, 25] +- goal: [7, 16] + name: agent60 + start: [22, 31] +- goal: [22, 30] + name: agent61 + start: [25, 26] +- goal: [2, 13] + name: agent62 + start: [1, 8] +- goal: [13, 8] + name: agent63 + start: [4, 29] +- goal: [5, 9] + name: agent64 + start: [26, 17] +- goal: [14, 5] + name: agent65 + start: [14, 26] +- goal: [1, 21] + name: agent66 + start: [13, 14] +- goal: [25, 13] + name: agent67 + start: [4, 5] +- goal: [19, 20] + name: agent68 + start: [1, 15] +- goal: [8, 8] + name: agent69 + start: [10, 24] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [18, 5] + - !!python/tuple [19, 30] + - !!python/tuple [21, 20] + - !!python/tuple [11, 1] + - !!python/tuple [26, 15] + - !!python/tuple [3, 30] + - !!python/tuple [20, 6] + - !!python/tuple [26, 4] + - !!python/tuple [19, 28] + - !!python/tuple [1, 19] + - !!python/tuple [25, 6] + - !!python/tuple [28, 5] + - !!python/tuple [7, 19] + - !!python/tuple [22, 26] + - !!python/tuple [1, 10] + - !!python/tuple [9, 19] + - !!python/tuple [9, 30] + - !!python/tuple [20, 0] + - !!python/tuple [28, 21] + - !!python/tuple [14, 27] + - !!python/tuple [28, 10] + - !!python/tuple [1, 1] + - !!python/tuple [8, 26] + - !!python/tuple [0, 24] + - !!python/tuple [24, 12] + - !!python/tuple [13, 20] + - !!python/tuple [8, 16] + - !!python/tuple [15, 4] + - !!python/tuple [0, 4] + - !!python/tuple [15, 23] + - !!python/tuple [10, 0] + - !!python/tuple [2, 8] + - !!python/tuple [21, 19] + - !!python/tuple [7, 9] + - !!python/tuple [23, 7] + - !!python/tuple [10, 17] + - !!python/tuple [12, 2] + - !!python/tuple [11, 6] + - !!python/tuple [27, 16] + - !!python/tuple [8, 15] + - !!python/tuple [9, 16] + - !!python/tuple [25, 3] + - !!python/tuple [17, 12] + - !!python/tuple [3, 17] + - !!python/tuple [25, 23] + - !!python/tuple [19, 3] + - !!python/tuple [14, 12] + - !!python/tuple [29, 9] + - !!python/tuple [2, 19] + - !!python/tuple [31, 1] + - !!python/tuple [15, 19] + - !!python/tuple [13, 24] + - !!python/tuple [27, 14] + - !!python/tuple [8, 4] + - !!python/tuple [26, 28] + - !!python/tuple [26, 8] + - !!python/tuple [12, 31] + - !!python/tuple [26, 16] + - !!python/tuple [26, 11] + - !!python/tuple [19, 12] + - !!python/tuple [13, 16] + - !!python/tuple [7, 17] + - !!python/tuple [29, 27] + - !!python/tuple [27, 8] + - !!python/tuple [20, 28] + - !!python/tuple [22, 3] + - !!python/tuple [15, 13] + - !!python/tuple [29, 8] + - !!python/tuple [26, 12] + - !!python/tuple [20, 7] + - !!python/tuple [3, 3] + - !!python/tuple [15, 24] + - !!python/tuple [9, 7] + - !!python/tuple [22, 29] + - !!python/tuple [8, 18] + - !!python/tuple [3, 20] + - !!python/tuple [14, 21] + - !!python/tuple [31, 28] + - !!python/tuple [21, 25] + - !!python/tuple [14, 23] + - !!python/tuple [9, 9] + - !!python/tuple [29, 28] + - !!python/tuple [12, 29] + - !!python/tuple [9, 0] + - !!python/tuple [4, 0] + - !!python/tuple [26, 5] + - !!python/tuple [15, 11] + - !!python/tuple [28, 9] + - !!python/tuple [12, 27] + - !!python/tuple [24, 25] + - !!python/tuple [14, 24] + - !!python/tuple [28, 12] + - !!python/tuple [8, 3] + - !!python/tuple [14, 3] + - !!python/tuple [25, 17] + - !!python/tuple [13, 31] + - !!python/tuple [11, 28] + - !!python/tuple [14, 4] + - !!python/tuple [3, 0] + - !!python/tuple [31, 8] + - !!python/tuple [24, 22] + - !!python/tuple [5, 3] + - !!python/tuple [22, 12] + - !!python/tuple [20, 31] + - !!python/tuple [11, 5] + - !!python/tuple [27, 25] + - !!python/tuple [11, 22] + - !!python/tuple [2, 5] + - !!python/tuple [29, 30] + - !!python/tuple [6, 12] + - !!python/tuple [10, 9] + - !!python/tuple [31, 26] + - !!python/tuple [15, 8] + - !!python/tuple [11, 30] + - !!python/tuple [10, 18] + - !!python/tuple [23, 5] + - !!python/tuple [14, 18] + - !!python/tuple [7, 12] + - !!python/tuple [31, 23] + - !!python/tuple [15, 30] + - !!python/tuple [22, 7] + - !!python/tuple [29, 29] + - !!python/tuple [25, 0] + - !!python/tuple [1, 17] + - !!python/tuple [14, 8] + - !!python/tuple [21, 15] + - !!python/tuple [18, 22] + - !!python/tuple [11, 19] + - !!python/tuple [26, 23] + - !!python/tuple [4, 31] + - !!python/tuple [23, 2] + - !!python/tuple [20, 25] + - !!python/tuple [27, 24] + - !!python/tuple [18, 3] + - !!python/tuple [27, 20] + - !!python/tuple [31, 12] + - !!python/tuple [10, 30] + - !!python/tuple [18, 2] + - !!python/tuple [1, 7] + - !!python/tuple [27, 0] + - !!python/tuple [24, 23] + - !!python/tuple [3, 1] + - !!python/tuple [10, 21] + - !!python/tuple [10, 16] + - !!python/tuple [0, 8] + - !!python/tuple [28, 15] + - !!python/tuple [7, 22] + - !!python/tuple [2, 23] + - !!python/tuple [18, 4] + - !!python/tuple [0, 10] + - !!python/tuple [16, 14] + - !!python/tuple [5, 12] + - !!python/tuple [28, 11] + - !!python/tuple [14, 16] + - !!python/tuple [21, 23] + - !!python/tuple [28, 13] + - !!python/tuple [26, 0] + - !!python/tuple [12, 4] + - !!python/tuple [30, 2] + - !!python/tuple [8, 22] + - !!python/tuple [10, 25] + - !!python/tuple [17, 3] + - !!python/tuple [17, 15] + - !!python/tuple [30, 29] + - !!python/tuple [4, 28] + - !!python/tuple [6, 16] + - !!python/tuple [2, 24] + - !!python/tuple [18, 1] + - !!python/tuple [7, 5] + - !!python/tuple [10, 31] + - !!python/tuple [10, 3] + - !!python/tuple [21, 0] + - !!python/tuple [27, 23] + - !!python/tuple [19, 10] + - !!python/tuple [23, 17] + - !!python/tuple [29, 11] + - !!python/tuple [15, 14] + - !!python/tuple [12, 14] + - !!python/tuple [20, 2] + - !!python/tuple [11, 16] + - !!python/tuple [30, 26] + - !!python/tuple [19, 2] + - !!python/tuple [18, 7] + - !!python/tuple [21, 24] + - !!python/tuple [9, 3] + - !!python/tuple [12, 7] + - !!python/tuple [9, 1] + - !!python/tuple [27, 17] + - !!python/tuple [17, 16] + - !!python/tuple [7, 21] + - !!python/tuple [7, 20] + - !!python/tuple [7, 25] + - !!python/tuple [17, 4] + - !!python/tuple [8, 9] + - !!python/tuple [29, 22] + - !!python/tuple [23, 3] + - !!python/tuple [22, 10] + - !!python/tuple [16, 19] + - !!python/tuple [27, 5] + - !!python/tuple [0, 23] + - !!python/tuple [20, 3] + - !!python/tuple [21, 6] + - !!python/tuple [1, 4] + - !!python/tuple [31, 19] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex8.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex8.yaml new file mode 100644 index 0000000..4061469 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex8.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [11, 1] + name: agent0 + start: [20, 23] +- goal: [15, 29] + name: agent1 + start: [2, 0] +- goal: [4, 8] + name: agent2 + start: [13, 17] +- goal: [23, 22] + name: agent3 + start: [4, 12] +- goal: [4, 28] + name: agent4 + start: [8, 14] +- goal: [10, 18] + name: agent5 + start: [21, 31] +- goal: [27, 18] + name: agent6 + start: [31, 30] +- goal: [7, 1] + name: agent7 + start: [6, 9] +- goal: [11, 19] + name: agent8 + start: [18, 12] +- goal: [21, 14] + name: agent9 + start: [11, 23] +- goal: [2, 20] + name: agent10 + start: [11, 21] +- goal: [11, 11] + name: agent11 + start: [21, 20] +- goal: [5, 25] + name: agent12 + start: [20, 16] +- goal: [11, 4] + name: agent13 + start: [31, 19] +- goal: [6, 11] + name: agent14 + start: [20, 9] +- goal: [29, 17] + name: agent15 + start: [4, 2] +- goal: [15, 9] + name: agent16 + start: [1, 27] +- goal: [11, 23] + name: agent17 + start: [5, 1] +- goal: [5, 22] + name: agent18 + start: [30, 15] +- goal: [6, 8] + name: agent19 + start: [27, 25] +- goal: [10, 4] + name: agent20 + start: [30, 23] +- goal: [4, 22] + name: agent21 + start: [28, 24] +- goal: [7, 16] + name: agent22 + start: [19, 18] +- goal: [31, 25] + name: agent23 + start: [14, 16] +- goal: [16, 31] + name: agent24 + start: [19, 16] +- goal: [21, 19] + name: agent25 + start: [15, 24] +- goal: [1, 12] + name: agent26 + start: [27, 17] +- goal: [20, 29] + name: agent27 + start: [25, 0] +- goal: [20, 2] + name: agent28 + start: [21, 6] +- goal: [25, 7] + name: agent29 + start: [0, 11] +- goal: [21, 29] + name: agent30 + start: [12, 30] +- goal: [4, 25] + name: agent31 + start: [3, 22] +- goal: [10, 26] + name: agent32 + start: [14, 6] +- goal: [11, 13] + name: agent33 + start: [24, 19] +- goal: [19, 1] + name: agent34 + start: [31, 12] +- goal: [28, 23] + name: agent35 + start: [27, 10] +- goal: [2, 13] + name: agent36 + start: [22, 28] +- goal: [1, 31] + name: agent37 + start: [11, 6] +- goal: [13, 26] + name: agent38 + start: [23, 20] +- goal: [26, 4] + name: agent39 + start: [11, 20] +- goal: [13, 9] + name: agent40 + start: [7, 7] +- goal: [17, 2] + name: agent41 + start: [8, 2] +- goal: [2, 9] + name: agent42 + start: [3, 19] +- goal: [5, 18] + name: agent43 + start: [8, 23] +- goal: [17, 12] + name: agent44 + start: [13, 19] +- goal: [31, 31] + name: agent45 + start: [26, 29] +- goal: [21, 8] + name: agent46 + start: [18, 8] +- goal: [24, 5] + name: agent47 + start: [13, 0] +- goal: [2, 16] + name: agent48 + start: [28, 30] +- goal: [18, 27] + name: agent49 + start: [30, 29] +- goal: [4, 11] + name: agent50 + start: [30, 6] +- goal: [17, 26] + name: agent51 + start: [20, 1] +- goal: [24, 4] + name: agent52 + start: [16, 26] +- goal: [14, 21] + name: agent53 + start: [12, 10] +- goal: [4, 14] + name: agent54 + start: [1, 12] +- goal: [10, 1] + name: agent55 + start: [26, 2] +- goal: [6, 1] + name: agent56 + start: [14, 14] +- goal: [28, 27] + name: agent57 + start: [31, 23] +- goal: [27, 30] + name: agent58 + start: [13, 22] +- goal: [4, 4] + name: agent59 + start: [16, 30] +- goal: [24, 23] + name: agent60 + start: [11, 15] +- goal: [0, 16] + name: agent61 + start: [4, 14] +- goal: [29, 0] + name: agent62 + start: [29, 19] +- goal: [11, 17] + name: agent63 + start: [12, 7] +- goal: [4, 1] + name: agent64 + start: [12, 2] +- goal: [3, 31] + name: agent65 + start: [19, 24] +- goal: [21, 26] + name: agent66 + start: [19, 23] +- goal: [7, 6] + name: agent67 + start: [2, 23] +- goal: [25, 4] + name: agent68 + start: [23, 30] +- goal: [7, 7] + name: agent69 + start: [26, 5] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [17, 0] + - !!python/tuple [25, 31] + - !!python/tuple [20, 30] + - !!python/tuple [31, 2] + - !!python/tuple [7, 13] + - !!python/tuple [22, 30] + - !!python/tuple [23, 6] + - !!python/tuple [22, 25] + - !!python/tuple [29, 26] + - !!python/tuple [2, 8] + - !!python/tuple [25, 12] + - !!python/tuple [23, 11] + - !!python/tuple [21, 28] + - !!python/tuple [3, 3] + - !!python/tuple [4, 18] + - !!python/tuple [13, 18] + - !!python/tuple [11, 9] + - !!python/tuple [18, 31] + - !!python/tuple [3, 18] + - !!python/tuple [15, 16] + - !!python/tuple [8, 20] + - !!python/tuple [22, 3] + - !!python/tuple [13, 23] + - !!python/tuple [22, 6] + - !!python/tuple [20, 21] + - !!python/tuple [26, 9] + - !!python/tuple [12, 21] + - !!python/tuple [16, 2] + - !!python/tuple [9, 10] + - !!python/tuple [4, 24] + - !!python/tuple [24, 7] + - !!python/tuple [14, 19] + - !!python/tuple [18, 3] + - !!python/tuple [10, 10] + - !!python/tuple [26, 14] + - !!python/tuple [18, 7] + - !!python/tuple [10, 7] + - !!python/tuple [11, 16] + - !!python/tuple [12, 31] + - !!python/tuple [28, 11] + - !!python/tuple [0, 6] + - !!python/tuple [28, 7] + - !!python/tuple [16, 24] + - !!python/tuple [18, 26] + - !!python/tuple [6, 16] + - !!python/tuple [17, 7] + - !!python/tuple [30, 30] + - !!python/tuple [3, 4] + - !!python/tuple [10, 0] + - !!python/tuple [23, 13] + - !!python/tuple [18, 1] + - !!python/tuple [26, 25] + - !!python/tuple [26, 19] + - !!python/tuple [27, 3] + - !!python/tuple [4, 13] + - !!python/tuple [28, 22] + - !!python/tuple [26, 23] + - !!python/tuple [19, 25] + - !!python/tuple [21, 18] + - !!python/tuple [5, 28] + - !!python/tuple [16, 22] + - !!python/tuple [27, 26] + - !!python/tuple [7, 17] + - !!python/tuple [3, 24] + - !!python/tuple [0, 0] + - !!python/tuple [5, 24] + - !!python/tuple [6, 13] + - !!python/tuple [27, 22] + - !!python/tuple [2, 12] + - !!python/tuple [24, 10] + - !!python/tuple [24, 17] + - !!python/tuple [25, 1] + - !!python/tuple [24, 12] + - !!python/tuple [23, 0] + - !!python/tuple [26, 31] + - !!python/tuple [26, 3] + - !!python/tuple [16, 4] + - !!python/tuple [3, 9] + - !!python/tuple [2, 1] + - !!python/tuple [18, 21] + - !!python/tuple [26, 15] + - !!python/tuple [27, 4] + - !!python/tuple [29, 3] + - !!python/tuple [20, 26] + - !!python/tuple [30, 27] + - !!python/tuple [13, 2] + - !!python/tuple [1, 6] + - !!python/tuple [31, 16] + - !!python/tuple [25, 15] + - !!python/tuple [1, 23] + - !!python/tuple [21, 27] + - !!python/tuple [7, 10] + - !!python/tuple [26, 16] + - !!python/tuple [26, 0] + - !!python/tuple [11, 24] + - !!python/tuple [7, 30] + - !!python/tuple [20, 25] + - !!python/tuple [3, 23] + - !!python/tuple [1, 5] + - !!python/tuple [25, 9] + - !!python/tuple [11, 26] + - !!python/tuple [7, 12] + - !!python/tuple [26, 27] + - !!python/tuple [29, 10] + - !!python/tuple [23, 17] + - !!python/tuple [30, 19] + - !!python/tuple [22, 14] + - !!python/tuple [19, 6] + - !!python/tuple [11, 29] + - !!python/tuple [15, 7] + - !!python/tuple [0, 27] + - !!python/tuple [31, 9] + - !!python/tuple [17, 22] + - !!python/tuple [26, 18] + - !!python/tuple [18, 5] + - !!python/tuple [1, 13] + - !!python/tuple [9, 26] + - !!python/tuple [20, 27] + - !!python/tuple [15, 13] + - !!python/tuple [13, 12] + - !!python/tuple [16, 6] + - !!python/tuple [14, 2] + - !!python/tuple [0, 3] + - !!python/tuple [22, 22] + - !!python/tuple [5, 17] + - !!python/tuple [11, 31] + - !!python/tuple [5, 9] + - !!python/tuple [29, 2] + - !!python/tuple [10, 16] + - !!python/tuple [11, 12] + - !!python/tuple [16, 7] + - !!python/tuple [7, 21] + - !!python/tuple [22, 19] + - !!python/tuple [5, 12] + - !!python/tuple [24, 2] + - !!python/tuple [14, 30] + - !!python/tuple [31, 5] + - !!python/tuple [29, 8] + - !!python/tuple [14, 24] + - !!python/tuple [13, 13] + - !!python/tuple [0, 4] + - !!python/tuple [19, 12] + - !!python/tuple [22, 17] + - !!python/tuple [8, 30] + - !!python/tuple [30, 7] + - !!python/tuple [12, 8] + - !!python/tuple [3, 0] + - !!python/tuple [10, 22] + - !!python/tuple [20, 4] + - !!python/tuple [6, 18] + - !!python/tuple [22, 12] + - !!python/tuple [25, 17] + - !!python/tuple [9, 28] + - !!python/tuple [5, 26] + - !!python/tuple [7, 19] + - !!python/tuple [28, 10] + - !!python/tuple [31, 29] + - !!python/tuple [30, 14] + - !!python/tuple [2, 28] + - !!python/tuple [29, 12] + - !!python/tuple [29, 7] + - !!python/tuple [24, 6] + - !!python/tuple [2, 27] + - !!python/tuple [16, 13] + - !!python/tuple [8, 8] + - !!python/tuple [23, 3] + - !!python/tuple [6, 23] + - !!python/tuple [8, 25] + - !!python/tuple [26, 21] + - !!python/tuple [7, 28] + - !!python/tuple [8, 21] + - !!python/tuple [31, 28] + - !!python/tuple [27, 24] + - !!python/tuple [15, 23] + - !!python/tuple [3, 26] + - !!python/tuple [4, 29] + - !!python/tuple [16, 16] + - !!python/tuple [22, 31] + - !!python/tuple [27, 29] + - !!python/tuple [26, 6] + - !!python/tuple [8, 31] + - !!python/tuple [16, 20] + - !!python/tuple [9, 3] + - !!python/tuple [14, 27] + - !!python/tuple [8, 10] + - !!python/tuple [11, 3] + - !!python/tuple [27, 19] + - !!python/tuple [13, 30] + - !!python/tuple [25, 6] + - !!python/tuple [28, 0] + - !!python/tuple [16, 27] + - !!python/tuple [14, 10] + - !!python/tuple [1, 7] + - !!python/tuple [12, 12] + - !!python/tuple [26, 22] + - !!python/tuple [13, 24] + - !!python/tuple [2, 5] + - !!python/tuple [6, 22] + - !!python/tuple [8, 22] + - !!python/tuple [20, 13] + - !!python/tuple [17, 27] + - !!python/tuple [8, 12] + - !!python/tuple [21, 24] + - !!python/tuple [17, 20] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex80.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex80.yaml new file mode 100644 index 0000000..bf4dc33 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex80.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [13, 25] + name: agent0 + start: [25, 16] +- goal: [14, 18] + name: agent1 + start: [9, 22] +- goal: [7, 14] + name: agent2 + start: [31, 28] +- goal: [12, 4] + name: agent3 + start: [28, 14] +- goal: [7, 4] + name: agent4 + start: [6, 28] +- goal: [26, 22] + name: agent5 + start: [16, 8] +- goal: [8, 17] + name: agent6 + start: [9, 1] +- goal: [4, 23] + name: agent7 + start: [30, 13] +- goal: [6, 12] + name: agent8 + start: [25, 21] +- goal: [29, 25] + name: agent9 + start: [6, 30] +- goal: [28, 17] + name: agent10 + start: [2, 5] +- goal: [3, 30] + name: agent11 + start: [29, 11] +- goal: [25, 16] + name: agent12 + start: [20, 20] +- goal: [24, 17] + name: agent13 + start: [9, 8] +- goal: [3, 3] + name: agent14 + start: [27, 17] +- goal: [2, 6] + name: agent15 + start: [16, 31] +- goal: [23, 21] + name: agent16 + start: [13, 22] +- goal: [31, 17] + name: agent17 + start: [27, 14] +- goal: [24, 3] + name: agent18 + start: [17, 16] +- goal: [18, 12] + name: agent19 + start: [10, 21] +- goal: [19, 5] + name: agent20 + start: [24, 8] +- goal: [8, 29] + name: agent21 + start: [1, 20] +- goal: [15, 29] + name: agent22 + start: [13, 5] +- goal: [1, 23] + name: agent23 + start: [28, 17] +- goal: [24, 24] + name: agent24 + start: [10, 19] +- goal: [0, 9] + name: agent25 + start: [10, 26] +- goal: [23, 0] + name: agent26 + start: [14, 2] +- goal: [17, 29] + name: agent27 + start: [29, 28] +- goal: [21, 27] + name: agent28 + start: [20, 31] +- goal: [27, 22] + name: agent29 + start: [2, 18] +- goal: [31, 6] + name: agent30 + start: [17, 24] +- goal: [15, 31] + name: agent31 + start: [1, 3] +- goal: [28, 24] + name: agent32 + start: [29, 25] +- goal: [1, 26] + name: agent33 + start: [13, 25] +- goal: [25, 14] + name: agent34 + start: [25, 6] +- goal: [6, 9] + name: agent35 + start: [25, 27] +- goal: [27, 24] + name: agent36 + start: [19, 28] +- goal: [10, 15] + name: agent37 + start: [20, 12] +- goal: [4, 17] + name: agent38 + start: [29, 1] +- goal: [13, 26] + name: agent39 + start: [26, 11] +- goal: [4, 22] + name: agent40 + start: [7, 3] +- goal: [20, 21] + name: agent41 + start: [7, 14] +- goal: [12, 1] + name: agent42 + start: [17, 29] +- goal: [13, 22] + name: agent43 + start: [4, 28] +- goal: [5, 0] + name: agent44 + start: [5, 29] +- goal: [19, 9] + name: agent45 + start: [4, 17] +- goal: [2, 19] + name: agent46 + start: [24, 11] +- goal: [1, 20] + name: agent47 + start: [12, 15] +- goal: [18, 10] + name: agent48 + start: [28, 8] +- goal: [28, 12] + name: agent49 + start: [6, 14] +- goal: [11, 1] + name: agent50 + start: [18, 25] +- goal: [18, 13] + name: agent51 + start: [18, 10] +- goal: [19, 27] + name: agent52 + start: [1, 26] +- goal: [24, 7] + name: agent53 + start: [10, 22] +- goal: [10, 29] + name: agent54 + start: [12, 20] +- goal: [7, 3] + name: agent55 + start: [23, 17] +- goal: [5, 27] + name: agent56 + start: [20, 4] +- goal: [4, 10] + name: agent57 + start: [1, 23] +- goal: [27, 26] + name: agent58 + start: [9, 4] +- goal: [11, 2] + name: agent59 + start: [21, 27] +- goal: [14, 26] + name: agent60 + start: [25, 10] +- goal: [13, 30] + name: agent61 + start: [17, 27] +- goal: [9, 8] + name: agent62 + start: [1, 21] +- goal: [10, 30] + name: agent63 + start: [1, 6] +- goal: [19, 17] + name: agent64 + start: [29, 4] +- goal: [19, 8] + name: agent65 + start: [19, 16] +- goal: [14, 16] + name: agent66 + start: [1, 12] +- goal: [8, 15] + name: agent67 + start: [29, 6] +- goal: [7, 20] + name: agent68 + start: [22, 6] +- goal: [10, 16] + name: agent69 + start: [0, 23] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [3, 12] + - !!python/tuple [18, 24] + - !!python/tuple [30, 19] + - !!python/tuple [24, 6] + - !!python/tuple [25, 19] + - !!python/tuple [5, 22] + - !!python/tuple [14, 9] + - !!python/tuple [13, 29] + - !!python/tuple [0, 10] + - !!python/tuple [9, 0] + - !!python/tuple [10, 20] + - !!python/tuple [10, 27] + - !!python/tuple [13, 27] + - !!python/tuple [5, 21] + - !!python/tuple [0, 21] + - !!python/tuple [13, 24] + - !!python/tuple [16, 22] + - !!python/tuple [7, 23] + - !!python/tuple [11, 19] + - !!python/tuple [18, 3] + - !!python/tuple [1, 25] + - !!python/tuple [25, 12] + - !!python/tuple [1, 24] + - !!python/tuple [12, 13] + - !!python/tuple [14, 8] + - !!python/tuple [26, 6] + - !!python/tuple [26, 29] + - !!python/tuple [11, 4] + - !!python/tuple [20, 25] + - !!python/tuple [17, 28] + - !!python/tuple [7, 2] + - !!python/tuple [3, 23] + - !!python/tuple [18, 8] + - !!python/tuple [17, 26] + - !!python/tuple [2, 30] + - !!python/tuple [5, 9] + - !!python/tuple [27, 27] + - !!python/tuple [16, 30] + - !!python/tuple [5, 11] + - !!python/tuple [20, 24] + - !!python/tuple [20, 2] + - !!python/tuple [26, 18] + - !!python/tuple [1, 30] + - !!python/tuple [2, 28] + - !!python/tuple [21, 19] + - !!python/tuple [2, 12] + - !!python/tuple [0, 13] + - !!python/tuple [13, 14] + - !!python/tuple [6, 10] + - !!python/tuple [26, 2] + - !!python/tuple [16, 20] + - !!python/tuple [26, 26] + - !!python/tuple [6, 15] + - !!python/tuple [4, 27] + - !!python/tuple [31, 24] + - !!python/tuple [5, 24] + - !!python/tuple [15, 7] + - !!python/tuple [11, 22] + - !!python/tuple [31, 3] + - !!python/tuple [6, 8] + - !!python/tuple [24, 31] + - !!python/tuple [5, 8] + - !!python/tuple [19, 25] + - !!python/tuple [26, 20] + - !!python/tuple [26, 9] + - !!python/tuple [0, 17] + - !!python/tuple [12, 17] + - !!python/tuple [9, 17] + - !!python/tuple [14, 7] + - !!python/tuple [26, 21] + - !!python/tuple [4, 25] + - !!python/tuple [24, 0] + - !!python/tuple [16, 29] + - !!python/tuple [5, 3] + - !!python/tuple [15, 5] + - !!python/tuple [10, 18] + - !!python/tuple [25, 29] + - !!python/tuple [4, 31] + - !!python/tuple [26, 17] + - !!python/tuple [13, 11] + - !!python/tuple [20, 9] + - !!python/tuple [27, 16] + - !!python/tuple [15, 16] + - !!python/tuple [23, 6] + - !!python/tuple [27, 19] + - !!python/tuple [10, 17] + - !!python/tuple [8, 6] + - !!python/tuple [5, 5] + - !!python/tuple [26, 27] + - !!python/tuple [0, 6] + - !!python/tuple [14, 25] + - !!python/tuple [24, 1] + - !!python/tuple [21, 1] + - !!python/tuple [13, 15] + - !!python/tuple [9, 5] + - !!python/tuple [21, 30] + - !!python/tuple [16, 19] + - !!python/tuple [6, 22] + - !!python/tuple [18, 6] + - !!python/tuple [15, 21] + - !!python/tuple [0, 26] + - !!python/tuple [2, 3] + - !!python/tuple [11, 18] + - !!python/tuple [10, 1] + - !!python/tuple [26, 5] + - !!python/tuple [6, 17] + - !!python/tuple [10, 0] + - !!python/tuple [18, 30] + - !!python/tuple [7, 22] + - !!python/tuple [23, 2] + - !!python/tuple [3, 18] + - !!python/tuple [17, 17] + - !!python/tuple [0, 19] + - !!python/tuple [22, 11] + - !!python/tuple [30, 25] + - !!python/tuple [28, 21] + - !!python/tuple [29, 0] + - !!python/tuple [26, 1] + - !!python/tuple [1, 2] + - !!python/tuple [12, 6] + - !!python/tuple [18, 2] + - !!python/tuple [30, 23] + - !!python/tuple [23, 16] + - !!python/tuple [6, 23] + - !!python/tuple [20, 18] + - !!python/tuple [12, 19] + - !!python/tuple [31, 0] + - !!python/tuple [19, 23] + - !!python/tuple [12, 9] + - !!python/tuple [18, 18] + - !!python/tuple [10, 9] + - !!python/tuple [2, 25] + - !!python/tuple [5, 19] + - !!python/tuple [5, 6] + - !!python/tuple [4, 0] + - !!python/tuple [13, 31] + - !!python/tuple [8, 8] + - !!python/tuple [17, 13] + - !!python/tuple [22, 23] + - !!python/tuple [22, 14] + - !!python/tuple [31, 1] + - !!python/tuple [29, 5] + - !!python/tuple [22, 21] + - !!python/tuple [11, 15] + - !!python/tuple [21, 11] + - !!python/tuple [15, 1] + - !!python/tuple [1, 28] + - !!python/tuple [23, 28] + - !!python/tuple [24, 21] + - !!python/tuple [13, 10] + - !!python/tuple [29, 18] + - !!python/tuple [0, 11] + - !!python/tuple [31, 12] + - !!python/tuple [10, 23] + - !!python/tuple [11, 25] + - !!python/tuple [1, 16] + - !!python/tuple [24, 28] + - !!python/tuple [28, 19] + - !!python/tuple [15, 28] + - !!python/tuple [31, 23] + - !!python/tuple [0, 29] + - !!python/tuple [13, 28] + - !!python/tuple [11, 31] + - !!python/tuple [17, 4] + - !!python/tuple [26, 3] + - !!python/tuple [23, 7] + - !!python/tuple [0, 1] + - !!python/tuple [24, 14] + - !!python/tuple [24, 26] + - !!python/tuple [28, 22] + - !!python/tuple [28, 9] + - !!python/tuple [4, 5] + - !!python/tuple [22, 30] + - !!python/tuple [3, 31] + - !!python/tuple [24, 18] + - !!python/tuple [15, 3] + - !!python/tuple [15, 19] + - !!python/tuple [21, 6] + - !!python/tuple [8, 31] + - !!python/tuple [29, 12] + - !!python/tuple [28, 3] + - !!python/tuple [17, 21] + - !!python/tuple [2, 1] + - !!python/tuple [15, 11] + - !!python/tuple [26, 28] + - !!python/tuple [20, 23] + - !!python/tuple [12, 5] + - !!python/tuple [25, 17] + - !!python/tuple [25, 2] + - !!python/tuple [25, 5] + - !!python/tuple [20, 17] + - !!python/tuple [27, 21] + - !!python/tuple [21, 2] + - !!python/tuple [20, 19] + - !!python/tuple [12, 0] + - !!python/tuple [15, 17] + - !!python/tuple [18, 15] + - !!python/tuple [24, 20] + - !!python/tuple [3, 14] + - !!python/tuple [17, 10] + - !!python/tuple [22, 4] + - !!python/tuple [7, 5] + - !!python/tuple [15, 10] + - !!python/tuple [12, 30] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex81.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex81.yaml new file mode 100644 index 0000000..b225ecd --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex81.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [24, 25] + name: agent0 + start: [19, 25] +- goal: [30, 21] + name: agent1 + start: [2, 8] +- goal: [0, 23] + name: agent2 + start: [13, 25] +- goal: [18, 19] + name: agent3 + start: [18, 28] +- goal: [28, 14] + name: agent4 + start: [16, 24] +- goal: [11, 27] + name: agent5 + start: [5, 10] +- goal: [2, 22] + name: agent6 + start: [5, 29] +- goal: [5, 24] + name: agent7 + start: [1, 26] +- goal: [6, 26] + name: agent8 + start: [3, 17] +- goal: [21, 25] + name: agent9 + start: [7, 2] +- goal: [15, 16] + name: agent10 + start: [25, 2] +- goal: [15, 2] + name: agent11 + start: [5, 3] +- goal: [8, 5] + name: agent12 + start: [3, 0] +- goal: [29, 1] + name: agent13 + start: [6, 20] +- goal: [0, 9] + name: agent14 + start: [17, 5] +- goal: [20, 29] + name: agent15 + start: [3, 2] +- goal: [20, 7] + name: agent16 + start: [10, 2] +- goal: [1, 7] + name: agent17 + start: [31, 14] +- goal: [28, 21] + name: agent18 + start: [10, 4] +- goal: [16, 8] + name: agent19 + start: [4, 31] +- goal: [30, 4] + name: agent20 + start: [9, 0] +- goal: [23, 18] + name: agent21 + start: [3, 24] +- goal: [23, 0] + name: agent22 + start: [20, 20] +- goal: [20, 26] + name: agent23 + start: [26, 16] +- goal: [15, 11] + name: agent24 + start: [17, 16] +- goal: [5, 17] + name: agent25 + start: [16, 10] +- goal: [16, 7] + name: agent26 + start: [2, 10] +- goal: [12, 12] + name: agent27 + start: [13, 15] +- goal: [23, 3] + name: agent28 + start: [3, 20] +- goal: [25, 28] + name: agent29 + start: [16, 30] +- goal: [0, 1] + name: agent30 + start: [2, 19] +- goal: [0, 31] + name: agent31 + start: [31, 6] +- goal: [3, 25] + name: agent32 + start: [15, 9] +- goal: [13, 18] + name: agent33 + start: [17, 18] +- goal: [25, 18] + name: agent34 + start: [7, 22] +- goal: [2, 16] + name: agent35 + start: [21, 27] +- goal: [2, 2] + name: agent36 + start: [4, 11] +- goal: [25, 22] + name: agent37 + start: [23, 2] +- goal: [16, 27] + name: agent38 + start: [10, 3] +- goal: [14, 22] + name: agent39 + start: [25, 0] +- goal: [11, 3] + name: agent40 + start: [8, 4] +- goal: [28, 11] + name: agent41 + start: [16, 9] +- goal: [8, 3] + name: agent42 + start: [23, 27] +- goal: [16, 20] + name: agent43 + start: [6, 31] +- goal: [13, 21] + name: agent44 + start: [14, 25] +- goal: [29, 3] + name: agent45 + start: [15, 3] +- goal: [30, 24] + name: agent46 + start: [26, 3] +- goal: [3, 14] + name: agent47 + start: [20, 18] +- goal: [30, 22] + name: agent48 + start: [23, 4] +- goal: [16, 24] + name: agent49 + start: [14, 4] +- goal: [11, 31] + name: agent50 + start: [31, 28] +- goal: [30, 31] + name: agent51 + start: [31, 25] +- goal: [9, 3] + name: agent52 + start: [17, 20] +- goal: [17, 3] + name: agent53 + start: [10, 10] +- goal: [27, 31] + name: agent54 + start: [6, 16] +- goal: [10, 2] + name: agent55 + start: [20, 0] +- goal: [5, 23] + name: agent56 + start: [11, 24] +- goal: [9, 7] + name: agent57 + start: [24, 21] +- goal: [29, 17] + name: agent58 + start: [20, 11] +- goal: [16, 30] + name: agent59 + start: [21, 29] +- goal: [9, 1] + name: agent60 + start: [7, 0] +- goal: [21, 9] + name: agent61 + start: [29, 22] +- goal: [2, 12] + name: agent62 + start: [25, 7] +- goal: [15, 1] + name: agent63 + start: [25, 25] +- goal: [27, 30] + name: agent64 + start: [6, 26] +- goal: [12, 3] + name: agent65 + start: [27, 26] +- goal: [29, 30] + name: agent66 + start: [10, 12] +- goal: [16, 15] + name: agent67 + start: [15, 5] +- goal: [23, 10] + name: agent68 + start: [31, 30] +- goal: [0, 20] + name: agent69 + start: [5, 19] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [18, 31] + - !!python/tuple [4, 5] + - !!python/tuple [19, 2] + - !!python/tuple [23, 20] + - !!python/tuple [0, 10] + - !!python/tuple [20, 15] + - !!python/tuple [9, 31] + - !!python/tuple [9, 6] + - !!python/tuple [31, 1] + - !!python/tuple [26, 8] + - !!python/tuple [12, 25] + - !!python/tuple [31, 0] + - !!python/tuple [19, 26] + - !!python/tuple [26, 11] + - !!python/tuple [8, 28] + - !!python/tuple [19, 13] + - !!python/tuple [19, 28] + - !!python/tuple [6, 17] + - !!python/tuple [30, 7] + - !!python/tuple [23, 28] + - !!python/tuple [21, 18] + - !!python/tuple [12, 5] + - !!python/tuple [7, 13] + - !!python/tuple [31, 26] + - !!python/tuple [23, 8] + - !!python/tuple [26, 26] + - !!python/tuple [4, 7] + - !!python/tuple [9, 21] + - !!python/tuple [14, 5] + - !!python/tuple [19, 11] + - !!python/tuple [16, 23] + - !!python/tuple [7, 3] + - !!python/tuple [19, 12] + - !!python/tuple [18, 26] + - !!python/tuple [16, 25] + - !!python/tuple [15, 27] + - !!python/tuple [15, 31] + - !!python/tuple [5, 13] + - !!python/tuple [13, 24] + - !!python/tuple [22, 28] + - !!python/tuple [30, 26] + - !!python/tuple [20, 28] + - !!python/tuple [5, 14] + - !!python/tuple [2, 20] + - !!python/tuple [20, 9] + - !!python/tuple [12, 15] + - !!python/tuple [3, 4] + - !!python/tuple [16, 1] + - !!python/tuple [27, 4] + - !!python/tuple [7, 19] + - !!python/tuple [1, 11] + - !!python/tuple [0, 18] + - !!python/tuple [21, 16] + - !!python/tuple [31, 18] + - !!python/tuple [12, 26] + - !!python/tuple [20, 17] + - !!python/tuple [16, 13] + - !!python/tuple [7, 31] + - !!python/tuple [1, 20] + - !!python/tuple [7, 14] + - !!python/tuple [14, 26] + - !!python/tuple [6, 13] + - !!python/tuple [21, 17] + - !!python/tuple [24, 14] + - !!python/tuple [19, 10] + - !!python/tuple [29, 7] + - !!python/tuple [3, 9] + - !!python/tuple [19, 14] + - !!python/tuple [6, 0] + - !!python/tuple [24, 28] + - !!python/tuple [30, 13] + - !!python/tuple [14, 28] + - !!python/tuple [20, 8] + - !!python/tuple [18, 23] + - !!python/tuple [19, 19] + - !!python/tuple [7, 16] + - !!python/tuple [28, 0] + - !!python/tuple [0, 4] + - !!python/tuple [24, 20] + - !!python/tuple [4, 17] + - !!python/tuple [17, 7] + - !!python/tuple [28, 23] + - !!python/tuple [22, 23] + - !!python/tuple [11, 12] + - !!python/tuple [8, 17] + - !!python/tuple [22, 10] + - !!python/tuple [11, 11] + - !!python/tuple [0, 6] + - !!python/tuple [21, 11] + - !!python/tuple [9, 10] + - !!python/tuple [9, 28] + - !!python/tuple [26, 17] + - !!python/tuple [21, 22] + - !!python/tuple [30, 14] + - !!python/tuple [1, 22] + - !!python/tuple [25, 20] + - !!python/tuple [9, 5] + - !!python/tuple [29, 8] + - !!python/tuple [19, 17] + - !!python/tuple [6, 5] + - !!python/tuple [2, 27] + - !!python/tuple [2, 30] + - !!python/tuple [24, 10] + - !!python/tuple [17, 23] + - !!python/tuple [4, 30] + - !!python/tuple [17, 31] + - !!python/tuple [23, 13] + - !!python/tuple [27, 25] + - !!python/tuple [13, 31] + - !!python/tuple [5, 12] + - !!python/tuple [31, 24] + - !!python/tuple [29, 19] + - !!python/tuple [16, 6] + - !!python/tuple [17, 19] + - !!python/tuple [14, 27] + - !!python/tuple [7, 20] + - !!python/tuple [31, 31] + - !!python/tuple [20, 4] + - !!python/tuple [20, 23] + - !!python/tuple [15, 30] + - !!python/tuple [14, 14] + - !!python/tuple [28, 19] + - !!python/tuple [17, 13] + - !!python/tuple [4, 23] + - !!python/tuple [26, 0] + - !!python/tuple [30, 15] + - !!python/tuple [4, 6] + - !!python/tuple [28, 2] + - !!python/tuple [12, 11] + - !!python/tuple [31, 22] + - !!python/tuple [25, 19] + - !!python/tuple [25, 4] + - !!python/tuple [7, 17] + - !!python/tuple [25, 23] + - !!python/tuple [11, 16] + - !!python/tuple [7, 30] + - !!python/tuple [20, 19] + - !!python/tuple [17, 22] + - !!python/tuple [3, 28] + - !!python/tuple [15, 19] + - !!python/tuple [11, 7] + - !!python/tuple [25, 9] + - !!python/tuple [4, 14] + - !!python/tuple [25, 5] + - !!python/tuple [27, 7] + - !!python/tuple [14, 16] + - !!python/tuple [31, 27] + - !!python/tuple [18, 15] + - !!python/tuple [12, 24] + - !!python/tuple [10, 17] + - !!python/tuple [30, 11] + - !!python/tuple [30, 0] + - !!python/tuple [0, 28] + - !!python/tuple [8, 7] + - !!python/tuple [29, 5] + - !!python/tuple [29, 10] + - !!python/tuple [3, 18] + - !!python/tuple [10, 29] + - !!python/tuple [1, 6] + - !!python/tuple [7, 1] + - !!python/tuple [10, 14] + - !!python/tuple [24, 27] + - !!python/tuple [11, 15] + - !!python/tuple [19, 4] + - !!python/tuple [3, 1] + - !!python/tuple [25, 1] + - !!python/tuple [26, 30] + - !!python/tuple [7, 6] + - !!python/tuple [23, 6] + - !!python/tuple [27, 1] + - !!python/tuple [22, 19] + - !!python/tuple [18, 4] + - !!python/tuple [12, 17] + - !!python/tuple [18, 12] + - !!python/tuple [12, 29] + - !!python/tuple [27, 6] + - !!python/tuple [22, 11] + - !!python/tuple [10, 16] + - !!python/tuple [16, 28] + - !!python/tuple [13, 30] + - !!python/tuple [24, 1] + - !!python/tuple [9, 26] + - !!python/tuple [2, 0] + - !!python/tuple [18, 14] + - !!python/tuple [15, 15] + - !!python/tuple [1, 30] + - !!python/tuple [7, 28] + - !!python/tuple [4, 20] + - !!python/tuple [23, 5] + - !!python/tuple [16, 17] + - !!python/tuple [12, 16] + - !!python/tuple [22, 29] + - !!python/tuple [19, 30] + - !!python/tuple [4, 26] + - !!python/tuple [9, 24] + - !!python/tuple [4, 9] + - !!python/tuple [13, 28] + - !!python/tuple [1, 3] + - !!python/tuple [15, 20] + - !!python/tuple [14, 0] + - !!python/tuple [18, 11] + - !!python/tuple [25, 30] + - !!python/tuple [21, 12] + - !!python/tuple [25, 17] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex82.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex82.yaml new file mode 100644 index 0000000..2396875 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex82.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [26, 29] + name: agent0 + start: [19, 10] +- goal: [0, 19] + name: agent1 + start: [12, 30] +- goal: [23, 6] + name: agent2 + start: [4, 30] +- goal: [22, 4] + name: agent3 + start: [2, 4] +- goal: [20, 16] + name: agent4 + start: [23, 21] +- goal: [26, 10] + name: agent5 + start: [9, 0] +- goal: [3, 19] + name: agent6 + start: [14, 7] +- goal: [9, 17] + name: agent7 + start: [3, 12] +- goal: [18, 30] + name: agent8 + start: [4, 12] +- goal: [20, 7] + name: agent9 + start: [1, 30] +- goal: [21, 2] + name: agent10 + start: [20, 14] +- goal: [7, 3] + name: agent11 + start: [3, 10] +- goal: [20, 17] + name: agent12 + start: [0, 20] +- goal: [19, 4] + name: agent13 + start: [19, 24] +- goal: [29, 10] + name: agent14 + start: [17, 2] +- goal: [15, 19] + name: agent15 + start: [17, 27] +- goal: [14, 3] + name: agent16 + start: [28, 29] +- goal: [4, 9] + name: agent17 + start: [18, 10] +- goal: [31, 30] + name: agent18 + start: [10, 11] +- goal: [22, 19] + name: agent19 + start: [29, 3] +- goal: [2, 17] + name: agent20 + start: [28, 12] +- goal: [15, 10] + name: agent21 + start: [15, 10] +- goal: [19, 14] + name: agent22 + start: [24, 19] +- goal: [6, 2] + name: agent23 + start: [25, 17] +- goal: [3, 3] + name: agent24 + start: [2, 18] +- goal: [22, 27] + name: agent25 + start: [26, 28] +- goal: [7, 25] + name: agent26 + start: [18, 1] +- goal: [11, 28] + name: agent27 + start: [31, 2] +- goal: [5, 7] + name: agent28 + start: [11, 20] +- goal: [12, 8] + name: agent29 + start: [0, 7] +- goal: [3, 2] + name: agent30 + start: [10, 12] +- goal: [21, 8] + name: agent31 + start: [8, 20] +- goal: [17, 13] + name: agent32 + start: [9, 30] +- goal: [17, 21] + name: agent33 + start: [13, 29] +- goal: [15, 28] + name: agent34 + start: [17, 16] +- goal: [31, 22] + name: agent35 + start: [9, 20] +- goal: [22, 28] + name: agent36 + start: [24, 8] +- goal: [8, 24] + name: agent37 + start: [5, 21] +- goal: [19, 22] + name: agent38 + start: [24, 16] +- goal: [12, 25] + name: agent39 + start: [1, 3] +- goal: [19, 29] + name: agent40 + start: [15, 5] +- goal: [22, 8] + name: agent41 + start: [28, 10] +- goal: [19, 10] + name: agent42 + start: [8, 27] +- goal: [24, 5] + name: agent43 + start: [31, 6] +- goal: [1, 23] + name: agent44 + start: [19, 14] +- goal: [31, 29] + name: agent45 + start: [8, 1] +- goal: [19, 9] + name: agent46 + start: [14, 16] +- goal: [12, 7] + name: agent47 + start: [7, 23] +- goal: [1, 7] + name: agent48 + start: [4, 24] +- goal: [16, 28] + name: agent49 + start: [4, 20] +- goal: [31, 21] + name: agent50 + start: [17, 28] +- goal: [14, 7] + name: agent51 + start: [24, 9] +- goal: [28, 28] + name: agent52 + start: [28, 19] +- goal: [18, 29] + name: agent53 + start: [24, 22] +- goal: [28, 13] + name: agent54 + start: [20, 22] +- goal: [7, 10] + name: agent55 + start: [6, 17] +- goal: [12, 30] + name: agent56 + start: [4, 14] +- goal: [28, 22] + name: agent57 + start: [18, 11] +- goal: [18, 16] + name: agent58 + start: [22, 4] +- goal: [3, 21] + name: agent59 + start: [31, 21] +- goal: [28, 25] + name: agent60 + start: [8, 16] +- goal: [9, 31] + name: agent61 + start: [15, 23] +- goal: [27, 5] + name: agent62 + start: [31, 14] +- goal: [11, 13] + name: agent63 + start: [24, 0] +- goal: [13, 19] + name: agent64 + start: [6, 2] +- goal: [3, 8] + name: agent65 + start: [10, 7] +- goal: [2, 4] + name: agent66 + start: [10, 19] +- goal: [17, 31] + name: agent67 + start: [12, 28] +- goal: [8, 9] + name: agent68 + start: [17, 11] +- goal: [11, 18] + name: agent69 + start: [0, 13] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [8, 11] + - !!python/tuple [2, 23] + - !!python/tuple [5, 22] + - !!python/tuple [12, 13] + - !!python/tuple [16, 26] + - !!python/tuple [26, 20] + - !!python/tuple [18, 23] + - !!python/tuple [9, 16] + - !!python/tuple [15, 16] + - !!python/tuple [18, 28] + - !!python/tuple [16, 19] + - !!python/tuple [19, 13] + - !!python/tuple [22, 9] + - !!python/tuple [9, 26] + - !!python/tuple [0, 25] + - !!python/tuple [16, 15] + - !!python/tuple [7, 14] + - !!python/tuple [14, 15] + - !!python/tuple [7, 21] + - !!python/tuple [13, 8] + - !!python/tuple [1, 21] + - !!python/tuple [18, 12] + - !!python/tuple [12, 16] + - !!python/tuple [26, 8] + - !!python/tuple [0, 5] + - !!python/tuple [14, 25] + - !!python/tuple [26, 11] + - !!python/tuple [29, 5] + - !!python/tuple [7, 28] + - !!python/tuple [15, 15] + - !!python/tuple [22, 0] + - !!python/tuple [29, 12] + - !!python/tuple [29, 16] + - !!python/tuple [22, 13] + - !!python/tuple [9, 2] + - !!python/tuple [2, 19] + - !!python/tuple [16, 21] + - !!python/tuple [16, 20] + - !!python/tuple [13, 24] + - !!python/tuple [8, 13] + - !!python/tuple [26, 16] + - !!python/tuple [27, 15] + - !!python/tuple [11, 1] + - !!python/tuple [12, 27] + - !!python/tuple [3, 23] + - !!python/tuple [28, 2] + - !!python/tuple [20, 25] + - !!python/tuple [1, 12] + - !!python/tuple [13, 30] + - !!python/tuple [21, 17] + - !!python/tuple [31, 23] + - !!python/tuple [6, 28] + - !!python/tuple [25, 19] + - !!python/tuple [7, 26] + - !!python/tuple [10, 2] + - !!python/tuple [25, 12] + - !!python/tuple [27, 19] + - !!python/tuple [11, 29] + - !!python/tuple [24, 12] + - !!python/tuple [13, 5] + - !!python/tuple [5, 5] + - !!python/tuple [3, 17] + - !!python/tuple [19, 8] + - !!python/tuple [29, 28] + - !!python/tuple [27, 4] + - !!python/tuple [4, 31] + - !!python/tuple [21, 19] + - !!python/tuple [18, 18] + - !!python/tuple [7, 1] + - !!python/tuple [19, 19] + - !!python/tuple [10, 0] + - !!python/tuple [27, 25] + - !!python/tuple [26, 19] + - !!python/tuple [22, 15] + - !!python/tuple [8, 26] + - !!python/tuple [5, 3] + - !!python/tuple [24, 10] + - !!python/tuple [16, 12] + - !!python/tuple [0, 1] + - !!python/tuple [4, 27] + - !!python/tuple [22, 18] + - !!python/tuple [7, 31] + - !!python/tuple [30, 30] + - !!python/tuple [30, 14] + - !!python/tuple [14, 26] + - !!python/tuple [13, 11] + - !!python/tuple [1, 17] + - !!python/tuple [18, 4] + - !!python/tuple [8, 28] + - !!python/tuple [25, 9] + - !!python/tuple [18, 22] + - !!python/tuple [23, 30] + - !!python/tuple [31, 13] + - !!python/tuple [14, 31] + - !!python/tuple [20, 13] + - !!python/tuple [1, 6] + - !!python/tuple [16, 2] + - !!python/tuple [18, 3] + - !!python/tuple [10, 20] + - !!python/tuple [30, 21] + - !!python/tuple [29, 1] + - !!python/tuple [30, 29] + - !!python/tuple [2, 11] + - !!python/tuple [18, 2] + - !!python/tuple [2, 9] + - !!python/tuple [20, 2] + - !!python/tuple [30, 9] + - !!python/tuple [20, 24] + - !!python/tuple [0, 27] + - !!python/tuple [25, 20] + - !!python/tuple [6, 8] + - !!python/tuple [1, 13] + - !!python/tuple [6, 22] + - !!python/tuple [31, 27] + - !!python/tuple [22, 25] + - !!python/tuple [13, 12] + - !!python/tuple [15, 20] + - !!python/tuple [28, 1] + - !!python/tuple [21, 7] + - !!python/tuple [17, 4] + - !!python/tuple [6, 31] + - !!python/tuple [19, 16] + - !!python/tuple [8, 19] + - !!python/tuple [28, 20] + - !!python/tuple [20, 23] + - !!python/tuple [5, 31] + - !!python/tuple [6, 14] + - !!python/tuple [27, 24] + - !!python/tuple [28, 4] + - !!python/tuple [19, 3] + - !!python/tuple [4, 18] + - !!python/tuple [19, 21] + - !!python/tuple [8, 21] + - !!python/tuple [12, 31] + - !!python/tuple [16, 18] + - !!python/tuple [25, 31] + - !!python/tuple [1, 24] + - !!python/tuple [10, 16] + - !!python/tuple [4, 11] + - !!python/tuple [11, 24] + - !!python/tuple [4, 4] + - !!python/tuple [12, 0] + - !!python/tuple [23, 10] + - !!python/tuple [29, 30] + - !!python/tuple [21, 14] + - !!python/tuple [15, 25] + - !!python/tuple [0, 23] + - !!python/tuple [6, 10] + - !!python/tuple [26, 1] + - !!python/tuple [23, 8] + - !!python/tuple [7, 24] + - !!python/tuple [22, 23] + - !!python/tuple [5, 29] + - !!python/tuple [20, 31] + - !!python/tuple [15, 31] + - !!python/tuple [8, 23] + - !!python/tuple [29, 26] + - !!python/tuple [0, 10] + - !!python/tuple [14, 20] + - !!python/tuple [4, 23] + - !!python/tuple [2, 10] + - !!python/tuple [6, 21] + - !!python/tuple [13, 20] + - !!python/tuple [29, 13] + - !!python/tuple [4, 3] + - !!python/tuple [21, 22] + - !!python/tuple [11, 9] + - !!python/tuple [3, 20] + - !!python/tuple [28, 6] + - !!python/tuple [3, 1] + - !!python/tuple [5, 12] + - !!python/tuple [28, 5] + - !!python/tuple [6, 4] + - !!python/tuple [5, 13] + - !!python/tuple [14, 14] + - !!python/tuple [21, 5] + - !!python/tuple [7, 29] + - !!python/tuple [2, 6] + - !!python/tuple [0, 24] + - !!python/tuple [10, 4] + - !!python/tuple [9, 5] + - !!python/tuple [16, 7] + - !!python/tuple [16, 4] + - !!python/tuple [20, 21] + - !!python/tuple [12, 29] + - !!python/tuple [11, 12] + - !!python/tuple [12, 24] + - !!python/tuple [6, 20] + - !!python/tuple [8, 10] + - !!python/tuple [29, 9] + - !!python/tuple [16, 22] + - !!python/tuple [0, 0] + - !!python/tuple [17, 30] + - !!python/tuple [14, 13] + - !!python/tuple [12, 9] + - !!python/tuple [13, 28] + - !!python/tuple [0, 16] + - !!python/tuple [31, 0] + - !!python/tuple [23, 4] + - !!python/tuple [10, 15] + - !!python/tuple [20, 30] + - !!python/tuple [0, 12] + - !!python/tuple [22, 17] + - !!python/tuple [21, 6] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex83.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex83.yaml new file mode 100644 index 0000000..06265d0 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex83.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [22, 16] + name: agent0 + start: [25, 23] +- goal: [10, 10] + name: agent1 + start: [8, 6] +- goal: [28, 26] + name: agent2 + start: [30, 10] +- goal: [4, 27] + name: agent3 + start: [14, 6] +- goal: [27, 6] + name: agent4 + start: [17, 17] +- goal: [22, 7] + name: agent5 + start: [29, 23] +- goal: [23, 10] + name: agent6 + start: [31, 24] +- goal: [1, 29] + name: agent7 + start: [19, 19] +- goal: [0, 7] + name: agent8 + start: [14, 17] +- goal: [24, 16] + name: agent9 + start: [16, 11] +- goal: [7, 1] + name: agent10 + start: [16, 4] +- goal: [17, 8] + name: agent11 + start: [13, 12] +- goal: [26, 17] + name: agent12 + start: [19, 29] +- goal: [31, 12] + name: agent13 + start: [8, 19] +- goal: [18, 22] + name: agent14 + start: [0, 8] +- goal: [12, 14] + name: agent15 + start: [1, 8] +- goal: [24, 9] + name: agent16 + start: [4, 10] +- goal: [19, 6] + name: agent17 + start: [14, 19] +- goal: [7, 9] + name: agent18 + start: [17, 26] +- goal: [10, 13] + name: agent19 + start: [30, 12] +- goal: [1, 9] + name: agent20 + start: [13, 16] +- goal: [25, 18] + name: agent21 + start: [29, 17] +- goal: [6, 10] + name: agent22 + start: [23, 11] +- goal: [0, 2] + name: agent23 + start: [29, 28] +- goal: [20, 21] + name: agent24 + start: [19, 23] +- goal: [17, 17] + name: agent25 + start: [27, 27] +- goal: [30, 18] + name: agent26 + start: [19, 28] +- goal: [15, 1] + name: agent27 + start: [2, 18] +- goal: [3, 6] + name: agent28 + start: [27, 30] +- goal: [9, 1] + name: agent29 + start: [12, 29] +- goal: [2, 13] + name: agent30 + start: [8, 3] +- goal: [10, 5] + name: agent31 + start: [2, 30] +- goal: [19, 22] + name: agent32 + start: [22, 0] +- goal: [25, 0] + name: agent33 + start: [12, 12] +- goal: [29, 5] + name: agent34 + start: [29, 19] +- goal: [12, 1] + name: agent35 + start: [12, 5] +- goal: [8, 29] + name: agent36 + start: [23, 22] +- goal: [24, 0] + name: agent37 + start: [9, 2] +- goal: [22, 12] + name: agent38 + start: [6, 13] +- goal: [25, 11] + name: agent39 + start: [14, 16] +- goal: [24, 20] + name: agent40 + start: [22, 13] +- goal: [16, 14] + name: agent41 + start: [31, 18] +- goal: [3, 20] + name: agent42 + start: [31, 25] +- goal: [28, 22] + name: agent43 + start: [13, 3] +- goal: [31, 5] + name: agent44 + start: [17, 7] +- goal: [6, 11] + name: agent45 + start: [7, 18] +- goal: [31, 28] + name: agent46 + start: [7, 0] +- goal: [20, 7] + name: agent47 + start: [14, 13] +- goal: [3, 24] + name: agent48 + start: [26, 30] +- goal: [17, 24] + name: agent49 + start: [31, 0] +- goal: [14, 29] + name: agent50 + start: [20, 2] +- goal: [30, 30] + name: agent51 + start: [11, 27] +- goal: [18, 10] + name: agent52 + start: [16, 20] +- goal: [19, 5] + name: agent53 + start: [14, 20] +- goal: [15, 20] + name: agent54 + start: [12, 25] +- goal: [15, 7] + name: agent55 + start: [0, 14] +- goal: [30, 17] + name: agent56 + start: [10, 21] +- goal: [30, 24] + name: agent57 + start: [5, 9] +- goal: [6, 6] + name: agent58 + start: [0, 12] +- goal: [31, 20] + name: agent59 + start: [0, 28] +- goal: [26, 30] + name: agent60 + start: [13, 5] +- goal: [8, 18] + name: agent61 + start: [17, 13] +- goal: [17, 29] + name: agent62 + start: [23, 20] +- goal: [31, 22] + name: agent63 + start: [11, 20] +- goal: [31, 27] + name: agent64 + start: [23, 25] +- goal: [11, 17] + name: agent65 + start: [7, 13] +- goal: [25, 6] + name: agent66 + start: [28, 2] +- goal: [18, 19] + name: agent67 + start: [15, 29] +- goal: [21, 25] + name: agent68 + start: [16, 9] +- goal: [2, 3] + name: agent69 + start: [5, 16] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [4, 20] + - !!python/tuple [10, 15] + - !!python/tuple [2, 22] + - !!python/tuple [19, 1] + - !!python/tuple [16, 19] + - !!python/tuple [21, 5] + - !!python/tuple [21, 28] + - !!python/tuple [22, 17] + - !!python/tuple [31, 21] + - !!python/tuple [6, 3] + - !!python/tuple [30, 31] + - !!python/tuple [28, 7] + - !!python/tuple [16, 29] + - !!python/tuple [7, 20] + - !!python/tuple [17, 18] + - !!python/tuple [26, 11] + - !!python/tuple [14, 28] + - !!python/tuple [5, 19] + - !!python/tuple [8, 31] + - !!python/tuple [21, 22] + - !!python/tuple [27, 24] + - !!python/tuple [3, 1] + - !!python/tuple [26, 18] + - !!python/tuple [16, 2] + - !!python/tuple [26, 25] + - !!python/tuple [28, 18] + - !!python/tuple [8, 13] + - !!python/tuple [0, 9] + - !!python/tuple [23, 15] + - !!python/tuple [8, 25] + - !!python/tuple [28, 27] + - !!python/tuple [25, 27] + - !!python/tuple [27, 7] + - !!python/tuple [6, 2] + - !!python/tuple [3, 23] + - !!python/tuple [9, 22] + - !!python/tuple [31, 4] + - !!python/tuple [12, 18] + - !!python/tuple [7, 3] + - !!python/tuple [20, 22] + - !!python/tuple [6, 17] + - !!python/tuple [27, 28] + - !!python/tuple [6, 25] + - !!python/tuple [11, 23] + - !!python/tuple [29, 24] + - !!python/tuple [29, 18] + - !!python/tuple [19, 12] + - !!python/tuple [3, 16] + - !!python/tuple [6, 1] + - !!python/tuple [19, 8] + - !!python/tuple [30, 25] + - !!python/tuple [21, 3] + - !!python/tuple [13, 24] + - !!python/tuple [20, 18] + - !!python/tuple [2, 23] + - !!python/tuple [21, 4] + - !!python/tuple [17, 11] + - !!python/tuple [8, 28] + - !!python/tuple [10, 18] + - !!python/tuple [13, 27] + - !!python/tuple [1, 11] + - !!python/tuple [3, 18] + - !!python/tuple [14, 26] + - !!python/tuple [16, 28] + - !!python/tuple [22, 10] + - !!python/tuple [16, 27] + - !!python/tuple [12, 23] + - !!python/tuple [6, 7] + - !!python/tuple [15, 10] + - !!python/tuple [20, 23] + - !!python/tuple [17, 16] + - !!python/tuple [21, 29] + - !!python/tuple [5, 30] + - !!python/tuple [23, 16] + - !!python/tuple [5, 18] + - !!python/tuple [1, 5] + - !!python/tuple [29, 10] + - !!python/tuple [4, 23] + - !!python/tuple [3, 10] + - !!python/tuple [1, 13] + - !!python/tuple [3, 21] + - !!python/tuple [8, 16] + - !!python/tuple [25, 31] + - !!python/tuple [12, 21] + - !!python/tuple [17, 10] + - !!python/tuple [8, 5] + - !!python/tuple [20, 25] + - !!python/tuple [9, 9] + - !!python/tuple [10, 6] + - !!python/tuple [10, 17] + - !!python/tuple [22, 29] + - !!python/tuple [24, 5] + - !!python/tuple [21, 18] + - !!python/tuple [22, 24] + - !!python/tuple [9, 31] + - !!python/tuple [10, 25] + - !!python/tuple [19, 2] + - !!python/tuple [30, 13] + - !!python/tuple [0, 29] + - !!python/tuple [25, 20] + - !!python/tuple [14, 22] + - !!python/tuple [13, 8] + - !!python/tuple [12, 3] + - !!python/tuple [25, 13] + - !!python/tuple [13, 20] + - !!python/tuple [28, 0] + - !!python/tuple [1, 7] + - !!python/tuple [14, 5] + - !!python/tuple [22, 19] + - !!python/tuple [22, 25] + - !!python/tuple [17, 20] + - !!python/tuple [21, 30] + - !!python/tuple [17, 12] + - !!python/tuple [9, 3] + - !!python/tuple [13, 31] + - !!python/tuple [20, 27] + - !!python/tuple [26, 0] + - !!python/tuple [21, 26] + - !!python/tuple [8, 10] + - !!python/tuple [29, 16] + - !!python/tuple [1, 0] + - !!python/tuple [27, 11] + - !!python/tuple [12, 19] + - !!python/tuple [23, 3] + - !!python/tuple [18, 23] + - !!python/tuple [31, 7] + - !!python/tuple [7, 27] + - !!python/tuple [15, 28] + - !!python/tuple [9, 21] + - !!python/tuple [23, 14] + - !!python/tuple [26, 5] + - !!python/tuple [29, 26] + - !!python/tuple [11, 19] + - !!python/tuple [31, 15] + - !!python/tuple [4, 5] + - !!python/tuple [12, 7] + - !!python/tuple [0, 10] + - !!python/tuple [24, 24] + - !!python/tuple [19, 18] + - !!python/tuple [19, 16] + - !!python/tuple [27, 14] + - !!python/tuple [16, 21] + - !!python/tuple [8, 23] + - !!python/tuple [1, 17] + - !!python/tuple [28, 9] + - !!python/tuple [7, 28] + - !!python/tuple [8, 12] + - !!python/tuple [29, 15] + - !!python/tuple [11, 15] + - !!python/tuple [22, 22] + - !!python/tuple [26, 16] + - !!python/tuple [2, 2] + - !!python/tuple [20, 20] + - !!python/tuple [22, 26] + - !!python/tuple [12, 2] + - !!python/tuple [25, 12] + - !!python/tuple [18, 18] + - !!python/tuple [30, 14] + - !!python/tuple [26, 29] + - !!python/tuple [23, 23] + - !!python/tuple [30, 1] + - !!python/tuple [18, 29] + - !!python/tuple [26, 26] + - !!python/tuple [27, 1] + - !!python/tuple [5, 23] + - !!python/tuple [29, 27] + - !!python/tuple [11, 4] + - !!python/tuple [20, 8] + - !!python/tuple [15, 22] + - !!python/tuple [27, 15] + - !!python/tuple [27, 17] + - !!python/tuple [16, 6] + - !!python/tuple [2, 14] + - !!python/tuple [23, 29] + - !!python/tuple [16, 0] + - !!python/tuple [19, 31] + - !!python/tuple [25, 15] + - !!python/tuple [24, 2] + - !!python/tuple [27, 21] + - !!python/tuple [26, 19] + - !!python/tuple [25, 16] + - !!python/tuple [31, 13] + - !!python/tuple [6, 16] + - !!python/tuple [12, 8] + - !!python/tuple [4, 19] + - !!python/tuple [5, 0] + - !!python/tuple [2, 8] + - !!python/tuple [7, 6] + - !!python/tuple [6, 5] + - !!python/tuple [30, 11] + - !!python/tuple [12, 26] + - !!python/tuple [16, 7] + - !!python/tuple [30, 26] + - !!python/tuple [23, 30] + - !!python/tuple [6, 15] + - !!python/tuple [26, 27] + - !!python/tuple [1, 15] + - !!python/tuple [8, 26] + - !!python/tuple [4, 22] + - !!python/tuple [20, 4] + - !!python/tuple [26, 24] + - !!python/tuple [22, 21] + - !!python/tuple [0, 20] + - !!python/tuple [1, 4] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex84.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex84.yaml new file mode 100644 index 0000000..d1f7fe9 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex84.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [18, 18] + name: agent0 + start: [3, 30] +- goal: [20, 14] + name: agent1 + start: [6, 19] +- goal: [6, 12] + name: agent2 + start: [20, 0] +- goal: [9, 26] + name: agent3 + start: [3, 19] +- goal: [6, 27] + name: agent4 + start: [31, 6] +- goal: [4, 13] + name: agent5 + start: [2, 16] +- goal: [15, 24] + name: agent6 + start: [13, 19] +- goal: [10, 2] + name: agent7 + start: [29, 15] +- goal: [3, 2] + name: agent8 + start: [14, 24] +- goal: [14, 21] + name: agent9 + start: [0, 28] +- goal: [4, 20] + name: agent10 + start: [13, 29] +- goal: [7, 23] + name: agent11 + start: [30, 23] +- goal: [17, 26] + name: agent12 + start: [30, 20] +- goal: [23, 29] + name: agent13 + start: [20, 28] +- goal: [17, 9] + name: agent14 + start: [6, 28] +- goal: [10, 14] + name: agent15 + start: [24, 24] +- goal: [26, 6] + name: agent16 + start: [31, 18] +- goal: [3, 9] + name: agent17 + start: [21, 19] +- goal: [30, 27] + name: agent18 + start: [16, 15] +- goal: [5, 25] + name: agent19 + start: [12, 19] +- goal: [0, 27] + name: agent20 + start: [27, 31] +- goal: [14, 5] + name: agent21 + start: [18, 22] +- goal: [20, 21] + name: agent22 + start: [3, 17] +- goal: [19, 7] + name: agent23 + start: [26, 11] +- goal: [20, 20] + name: agent24 + start: [6, 9] +- goal: [18, 21] + name: agent25 + start: [26, 4] +- goal: [11, 27] + name: agent26 + start: [24, 0] +- goal: [23, 6] + name: agent27 + start: [0, 10] +- goal: [4, 1] + name: agent28 + start: [15, 10] +- goal: [27, 18] + name: agent29 + start: [28, 10] +- goal: [6, 22] + name: agent30 + start: [18, 29] +- goal: [13, 11] + name: agent31 + start: [21, 15] +- goal: [29, 6] + name: agent32 + start: [1, 23] +- goal: [1, 4] + name: agent33 + start: [31, 24] +- goal: [23, 7] + name: agent34 + start: [2, 10] +- goal: [23, 17] + name: agent35 + start: [15, 0] +- goal: [8, 18] + name: agent36 + start: [6, 23] +- goal: [11, 8] + name: agent37 + start: [14, 9] +- goal: [24, 7] + name: agent38 + start: [29, 16] +- goal: [15, 2] + name: agent39 + start: [27, 27] +- goal: [28, 20] + name: agent40 + start: [17, 22] +- goal: [2, 15] + name: agent41 + start: [19, 17] +- goal: [12, 16] + name: agent42 + start: [12, 6] +- goal: [23, 28] + name: agent43 + start: [5, 30] +- goal: [16, 11] + name: agent44 + start: [26, 16] +- goal: [5, 22] + name: agent45 + start: [22, 29] +- goal: [19, 28] + name: agent46 + start: [20, 22] +- goal: [0, 2] + name: agent47 + start: [23, 0] +- goal: [22, 24] + name: agent48 + start: [4, 29] +- goal: [14, 6] + name: agent49 + start: [16, 31] +- goal: [25, 13] + name: agent50 + start: [27, 25] +- goal: [25, 31] + name: agent51 + start: [24, 5] +- goal: [22, 3] + name: agent52 + start: [30, 2] +- goal: [2, 19] + name: agent53 + start: [6, 2] +- goal: [4, 2] + name: agent54 + start: [31, 26] +- goal: [12, 6] + name: agent55 + start: [23, 11] +- goal: [15, 7] + name: agent56 + start: [5, 13] +- goal: [15, 5] + name: agent57 + start: [25, 15] +- goal: [8, 22] + name: agent58 + start: [24, 10] +- goal: [3, 26] + name: agent59 + start: [14, 27] +- goal: [26, 26] + name: agent60 + start: [1, 2] +- goal: [28, 16] + name: agent61 + start: [11, 1] +- goal: [6, 23] + name: agent62 + start: [3, 14] +- goal: [29, 19] + name: agent63 + start: [5, 28] +- goal: [9, 7] + name: agent64 + start: [23, 3] +- goal: [28, 7] + name: agent65 + start: [25, 11] +- goal: [18, 11] + name: agent66 + start: [19, 16] +- goal: [5, 7] + name: agent67 + start: [23, 24] +- goal: [29, 18] + name: agent68 + start: [9, 15] +- goal: [24, 9] + name: agent69 + start: [24, 28] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [27, 12] + - !!python/tuple [19, 4] + - !!python/tuple [28, 28] + - !!python/tuple [25, 9] + - !!python/tuple [1, 21] + - !!python/tuple [6, 17] + - !!python/tuple [4, 7] + - !!python/tuple [31, 27] + - !!python/tuple [25, 5] + - !!python/tuple [4, 24] + - !!python/tuple [11, 5] + - !!python/tuple [2, 26] + - !!python/tuple [11, 28] + - !!python/tuple [30, 11] + - !!python/tuple [14, 11] + - !!python/tuple [13, 4] + - !!python/tuple [16, 4] + - !!python/tuple [6, 30] + - !!python/tuple [24, 23] + - !!python/tuple [14, 3] + - !!python/tuple [20, 12] + - !!python/tuple [21, 17] + - !!python/tuple [9, 19] + - !!python/tuple [5, 26] + - !!python/tuple [17, 23] + - !!python/tuple [9, 10] + - !!python/tuple [17, 19] + - !!python/tuple [26, 7] + - !!python/tuple [29, 13] + - !!python/tuple [1, 22] + - !!python/tuple [10, 30] + - !!python/tuple [2, 5] + - !!python/tuple [12, 20] + - !!python/tuple [8, 15] + - !!python/tuple [25, 12] + - !!python/tuple [29, 26] + - !!python/tuple [0, 22] + - !!python/tuple [0, 13] + - !!python/tuple [5, 16] + - !!python/tuple [6, 4] + - !!python/tuple [3, 12] + - !!python/tuple [28, 4] + - !!python/tuple [8, 0] + - !!python/tuple [14, 15] + - !!python/tuple [24, 17] + - !!python/tuple [28, 22] + - !!python/tuple [9, 31] + - !!python/tuple [24, 30] + - !!python/tuple [22, 6] + - !!python/tuple [13, 31] + - !!python/tuple [17, 14] + - !!python/tuple [28, 30] + - !!python/tuple [26, 30] + - !!python/tuple [9, 20] + - !!python/tuple [7, 11] + - !!python/tuple [3, 4] + - !!python/tuple [19, 25] + - !!python/tuple [14, 23] + - !!python/tuple [30, 26] + - !!python/tuple [22, 28] + - !!python/tuple [19, 23] + - !!python/tuple [13, 16] + - !!python/tuple [3, 6] + - !!python/tuple [20, 10] + - !!python/tuple [27, 4] + - !!python/tuple [22, 13] + - !!python/tuple [9, 12] + - !!python/tuple [1, 17] + - !!python/tuple [14, 25] + - !!python/tuple [13, 26] + - !!python/tuple [22, 21] + - !!python/tuple [11, 4] + - !!python/tuple [21, 3] + - !!python/tuple [13, 28] + - !!python/tuple [3, 10] + - !!python/tuple [26, 9] + - !!python/tuple [30, 8] + - !!python/tuple [25, 28] + - !!python/tuple [22, 4] + - !!python/tuple [4, 4] + - !!python/tuple [21, 11] + - !!python/tuple [6, 16] + - !!python/tuple [30, 28] + - !!python/tuple [12, 11] + - !!python/tuple [15, 18] + - !!python/tuple [11, 19] + - !!python/tuple [31, 17] + - !!python/tuple [19, 0] + - !!python/tuple [5, 24] + - !!python/tuple [30, 0] + - !!python/tuple [12, 21] + - !!python/tuple [24, 20] + - !!python/tuple [17, 29] + - !!python/tuple [11, 21] + - !!python/tuple [4, 0] + - !!python/tuple [7, 24] + - !!python/tuple [18, 4] + - !!python/tuple [27, 11] + - !!python/tuple [29, 17] + - !!python/tuple [14, 22] + - !!python/tuple [11, 17] + - !!python/tuple [11, 31] + - !!python/tuple [23, 31] + - !!python/tuple [26, 12] + - !!python/tuple [10, 27] + - !!python/tuple [17, 6] + - !!python/tuple [8, 12] + - !!python/tuple [25, 17] + - !!python/tuple [4, 30] + - !!python/tuple [0, 11] + - !!python/tuple [28, 24] + - !!python/tuple [13, 23] + - !!python/tuple [15, 12] + - !!python/tuple [15, 8] + - !!python/tuple [15, 16] + - !!python/tuple [31, 30] + - !!python/tuple [26, 15] + - !!python/tuple [15, 3] + - !!python/tuple [22, 17] + - !!python/tuple [23, 21] + - !!python/tuple [17, 0] + - !!python/tuple [21, 20] + - !!python/tuple [22, 10] + - !!python/tuple [8, 9] + - !!python/tuple [14, 18] + - !!python/tuple [1, 19] + - !!python/tuple [29, 29] + - !!python/tuple [9, 23] + - !!python/tuple [14, 0] + - !!python/tuple [24, 26] + - !!python/tuple [28, 29] + - !!python/tuple [2, 12] + - !!python/tuple [11, 13] + - !!python/tuple [30, 13] + - !!python/tuple [23, 1] + - !!python/tuple [0, 18] + - !!python/tuple [29, 24] + - !!python/tuple [7, 1] + - !!python/tuple [20, 5] + - !!python/tuple [27, 14] + - !!python/tuple [25, 16] + - !!python/tuple [23, 26] + - !!python/tuple [8, 20] + - !!python/tuple [28, 14] + - !!python/tuple [3, 20] + - !!python/tuple [31, 3] + - !!python/tuple [13, 14] + - !!python/tuple [27, 13] + - !!python/tuple [16, 27] + - !!python/tuple [11, 29] + - !!python/tuple [12, 29] + - !!python/tuple [25, 29] + - !!python/tuple [24, 21] + - !!python/tuple [13, 1] + - !!python/tuple [9, 4] + - !!python/tuple [25, 10] + - !!python/tuple [10, 22] + - !!python/tuple [20, 17] + - !!python/tuple [21, 0] + - !!python/tuple [30, 14] + - !!python/tuple [17, 12] + - !!python/tuple [10, 4] + - !!python/tuple [5, 3] + - !!python/tuple [13, 21] + - !!python/tuple [18, 27] + - !!python/tuple [21, 9] + - !!python/tuple [20, 25] + - !!python/tuple [16, 19] + - !!python/tuple [27, 26] + - !!python/tuple [27, 20] + - !!python/tuple [24, 8] + - !!python/tuple [26, 13] + - !!python/tuple [7, 27] + - !!python/tuple [28, 19] + - !!python/tuple [12, 18] + - !!python/tuple [13, 3] + - !!python/tuple [21, 30] + - !!python/tuple [2, 22] + - !!python/tuple [6, 31] + - !!python/tuple [3, 21] + - !!python/tuple [7, 21] + - !!python/tuple [0, 25] + - !!python/tuple [6, 15] + - !!python/tuple [17, 18] + - !!python/tuple [9, 11] + - !!python/tuple [22, 27] + - !!python/tuple [1, 30] + - !!python/tuple [0, 6] + - !!python/tuple [10, 9] + - !!python/tuple [18, 25] + - !!python/tuple [14, 7] + - !!python/tuple [4, 27] + - !!python/tuple [24, 4] + - !!python/tuple [6, 11] + - !!python/tuple [1, 28] + - !!python/tuple [10, 8] + - !!python/tuple [8, 3] + - !!python/tuple [15, 17] + - !!python/tuple [15, 25] + - !!python/tuple [22, 26] + - !!python/tuple [19, 12] + - !!python/tuple [21, 21] + - !!python/tuple [4, 26] + - !!python/tuple [11, 3] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex85.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex85.yaml new file mode 100644 index 0000000..c96bb15 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex85.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [23, 12] + name: agent0 + start: [16, 3] +- goal: [22, 7] + name: agent1 + start: [26, 22] +- goal: [15, 23] + name: agent2 + start: [27, 5] +- goal: [30, 18] + name: agent3 + start: [12, 27] +- goal: [2, 21] + name: agent4 + start: [6, 10] +- goal: [7, 24] + name: agent5 + start: [7, 3] +- goal: [13, 10] + name: agent6 + start: [23, 3] +- goal: [8, 25] + name: agent7 + start: [2, 26] +- goal: [12, 26] + name: agent8 + start: [16, 16] +- goal: [16, 27] + name: agent9 + start: [11, 31] +- goal: [9, 22] + name: agent10 + start: [29, 16] +- goal: [16, 2] + name: agent11 + start: [23, 8] +- goal: [17, 31] + name: agent12 + start: [0, 10] +- goal: [20, 12] + name: agent13 + start: [22, 22] +- goal: [9, 24] + name: agent14 + start: [14, 6] +- goal: [22, 12] + name: agent15 + start: [28, 29] +- goal: [30, 21] + name: agent16 + start: [2, 21] +- goal: [12, 20] + name: agent17 + start: [6, 17] +- goal: [9, 29] + name: agent18 + start: [18, 24] +- goal: [2, 31] + name: agent19 + start: [3, 25] +- goal: [13, 24] + name: agent20 + start: [4, 13] +- goal: [14, 13] + name: agent21 + start: [1, 9] +- goal: [18, 19] + name: agent22 + start: [13, 27] +- goal: [5, 16] + name: agent23 + start: [7, 25] +- goal: [13, 9] + name: agent24 + start: [14, 22] +- goal: [10, 31] + name: agent25 + start: [8, 24] +- goal: [26, 6] + name: agent26 + start: [26, 1] +- goal: [11, 11] + name: agent27 + start: [11, 28] +- goal: [26, 23] + name: agent28 + start: [15, 29] +- goal: [2, 30] + name: agent29 + start: [16, 30] +- goal: [1, 8] + name: agent30 + start: [4, 30] +- goal: [31, 2] + name: agent31 + start: [0, 23] +- goal: [28, 15] + name: agent32 + start: [12, 4] +- goal: [19, 23] + name: agent33 + start: [25, 29] +- goal: [30, 5] + name: agent34 + start: [23, 11] +- goal: [1, 29] + name: agent35 + start: [12, 22] +- goal: [29, 21] + name: agent36 + start: [9, 22] +- goal: [4, 5] + name: agent37 + start: [5, 22] +- goal: [21, 9] + name: agent38 + start: [13, 16] +- goal: [23, 20] + name: agent39 + start: [10, 20] +- goal: [25, 21] + name: agent40 + start: [1, 13] +- goal: [11, 0] + name: agent41 + start: [29, 28] +- goal: [11, 1] + name: agent42 + start: [20, 3] +- goal: [1, 30] + name: agent43 + start: [6, 22] +- goal: [28, 31] + name: agent44 + start: [19, 29] +- goal: [7, 6] + name: agent45 + start: [28, 19] +- goal: [9, 27] + name: agent46 + start: [20, 21] +- goal: [8, 19] + name: agent47 + start: [30, 22] +- goal: [14, 9] + name: agent48 + start: [9, 6] +- goal: [20, 27] + name: agent49 + start: [2, 3] +- goal: [14, 2] + name: agent50 + start: [0, 25] +- goal: [25, 19] + name: agent51 + start: [23, 20] +- goal: [7, 3] + name: agent52 + start: [5, 15] +- goal: [13, 28] + name: agent53 + start: [6, 31] +- goal: [1, 31] + name: agent54 + start: [26, 12] +- goal: [29, 1] + name: agent55 + start: [8, 29] +- goal: [5, 8] + name: agent56 + start: [29, 18] +- goal: [2, 26] + name: agent57 + start: [25, 3] +- goal: [16, 17] + name: agent58 + start: [11, 24] +- goal: [12, 13] + name: agent59 + start: [23, 22] +- goal: [2, 27] + name: agent60 + start: [16, 4] +- goal: [20, 29] + name: agent61 + start: [18, 29] +- goal: [1, 26] + name: agent62 + start: [17, 15] +- goal: [15, 24] + name: agent63 + start: [2, 29] +- goal: [19, 5] + name: agent64 + start: [3, 7] +- goal: [29, 19] + name: agent65 + start: [3, 3] +- goal: [12, 11] + name: agent66 + start: [25, 19] +- goal: [16, 6] + name: agent67 + start: [21, 24] +- goal: [9, 18] + name: agent68 + start: [10, 7] +- goal: [12, 16] + name: agent69 + start: [16, 28] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [15, 10] + - !!python/tuple [12, 6] + - !!python/tuple [8, 16] + - !!python/tuple [22, 13] + - !!python/tuple [17, 8] + - !!python/tuple [25, 11] + - !!python/tuple [15, 16] + - !!python/tuple [23, 27] + - !!python/tuple [28, 24] + - !!python/tuple [18, 28] + - !!python/tuple [23, 19] + - !!python/tuple [17, 1] + - !!python/tuple [13, 0] + - !!python/tuple [20, 20] + - !!python/tuple [0, 13] + - !!python/tuple [18, 9] + - !!python/tuple [10, 29] + - !!python/tuple [8, 2] + - !!python/tuple [30, 4] + - !!python/tuple [18, 20] + - !!python/tuple [31, 19] + - !!python/tuple [20, 13] + - !!python/tuple [2, 10] + - !!python/tuple [26, 2] + - !!python/tuple [19, 16] + - !!python/tuple [26, 25] + - !!python/tuple [18, 5] + - !!python/tuple [1, 6] + - !!python/tuple [17, 19] + - !!python/tuple [0, 7] + - !!python/tuple [14, 21] + - !!python/tuple [30, 30] + - !!python/tuple [13, 7] + - !!python/tuple [31, 21] + - !!python/tuple [26, 17] + - !!python/tuple [30, 9] + - !!python/tuple [22, 14] + - !!python/tuple [22, 23] + - !!python/tuple [24, 24] + - !!python/tuple [16, 9] + - !!python/tuple [3, 22] + - !!python/tuple [5, 10] + - !!python/tuple [12, 7] + - !!python/tuple [2, 20] + - !!python/tuple [26, 4] + - !!python/tuple [20, 7] + - !!python/tuple [7, 27] + - !!python/tuple [13, 17] + - !!python/tuple [19, 0] + - !!python/tuple [21, 13] + - !!python/tuple [18, 21] + - !!python/tuple [21, 25] + - !!python/tuple [7, 10] + - !!python/tuple [12, 10] + - !!python/tuple [20, 25] + - !!python/tuple [17, 13] + - !!python/tuple [22, 0] + - !!python/tuple [31, 17] + - !!python/tuple [18, 17] + - !!python/tuple [17, 29] + - !!python/tuple [13, 26] + - !!python/tuple [20, 10] + - !!python/tuple [9, 30] + - !!python/tuple [9, 25] + - !!python/tuple [10, 23] + - !!python/tuple [31, 30] + - !!python/tuple [4, 12] + - !!python/tuple [18, 23] + - !!python/tuple [27, 8] + - !!python/tuple [4, 2] + - !!python/tuple [20, 5] + - !!python/tuple [22, 18] + - !!python/tuple [15, 2] + - !!python/tuple [1, 2] + - !!python/tuple [5, 20] + - !!python/tuple [10, 15] + - !!python/tuple [10, 1] + - !!python/tuple [31, 15] + - !!python/tuple [21, 3] + - !!python/tuple [2, 4] + - !!python/tuple [17, 27] + - !!python/tuple [16, 24] + - !!python/tuple [28, 12] + - !!python/tuple [18, 1] + - !!python/tuple [5, 19] + - !!python/tuple [8, 15] + - !!python/tuple [8, 3] + - !!python/tuple [18, 26] + - !!python/tuple [29, 11] + - !!python/tuple [14, 4] + - !!python/tuple [4, 0] + - !!python/tuple [23, 17] + - !!python/tuple [10, 14] + - !!python/tuple [27, 23] + - !!python/tuple [29, 5] + - !!python/tuple [15, 27] + - !!python/tuple [24, 8] + - !!python/tuple [1, 18] + - !!python/tuple [16, 7] + - !!python/tuple [24, 9] + - !!python/tuple [11, 25] + - !!python/tuple [14, 25] + - !!python/tuple [29, 6] + - !!python/tuple [4, 18] + - !!python/tuple [13, 3] + - !!python/tuple [26, 18] + - !!python/tuple [10, 12] + - !!python/tuple [28, 0] + - !!python/tuple [2, 18] + - !!python/tuple [12, 5] + - !!python/tuple [15, 5] + - !!python/tuple [25, 27] + - !!python/tuple [13, 6] + - !!python/tuple [10, 11] + - !!python/tuple [9, 0] + - !!python/tuple [30, 27] + - !!python/tuple [2, 19] + - !!python/tuple [4, 22] + - !!python/tuple [15, 6] + - !!python/tuple [15, 26] + - !!python/tuple [8, 28] + - !!python/tuple [27, 29] + - !!python/tuple [11, 13] + - !!python/tuple [10, 8] + - !!python/tuple [25, 17] + - !!python/tuple [13, 19] + - !!python/tuple [20, 23] + - !!python/tuple [4, 16] + - !!python/tuple [19, 11] + - !!python/tuple [7, 15] + - !!python/tuple [30, 24] + - !!python/tuple [21, 22] + - !!python/tuple [19, 21] + - !!python/tuple [22, 2] + - !!python/tuple [11, 29] + - !!python/tuple [31, 8] + - !!python/tuple [4, 19] + - !!python/tuple [27, 24] + - !!python/tuple [18, 12] + - !!python/tuple [24, 3] + - !!python/tuple [21, 21] + - !!python/tuple [4, 24] + - !!python/tuple [21, 8] + - !!python/tuple [27, 16] + - !!python/tuple [6, 6] + - !!python/tuple [26, 13] + - !!python/tuple [10, 24] + - !!python/tuple [9, 14] + - !!python/tuple [10, 4] + - !!python/tuple [5, 27] + - !!python/tuple [11, 8] + - !!python/tuple [3, 13] + - !!python/tuple [0, 9] + - !!python/tuple [8, 10] + - !!python/tuple [31, 28] + - !!python/tuple [5, 31] + - !!python/tuple [25, 1] + - !!python/tuple [5, 7] + - !!python/tuple [31, 6] + - !!python/tuple [14, 8] + - !!python/tuple [25, 22] + - !!python/tuple [10, 27] + - !!python/tuple [9, 2] + - !!python/tuple [28, 28] + - !!python/tuple [1, 14] + - !!python/tuple [21, 20] + - !!python/tuple [3, 30] + - !!python/tuple [20, 6] + - !!python/tuple [26, 16] + - !!python/tuple [6, 24] + - !!python/tuple [0, 1] + - !!python/tuple [22, 25] + - !!python/tuple [15, 17] + - !!python/tuple [7, 17] + - !!python/tuple [24, 5] + - !!python/tuple [6, 8] + - !!python/tuple [1, 19] + - !!python/tuple [30, 6] + - !!python/tuple [21, 15] + - !!python/tuple [16, 1] + - !!python/tuple [24, 18] + - !!python/tuple [13, 31] + - !!python/tuple [22, 6] + - !!python/tuple [3, 19] + - !!python/tuple [27, 20] + - !!python/tuple [29, 0] + - !!python/tuple [22, 19] + - !!python/tuple [25, 13] + - !!python/tuple [0, 19] + - !!python/tuple [12, 12] + - !!python/tuple [10, 0] + - !!python/tuple [23, 2] + - !!python/tuple [29, 25] + - !!python/tuple [9, 4] + - !!python/tuple [24, 29] + - !!python/tuple [28, 3] + - !!python/tuple [24, 28] + - !!python/tuple [26, 28] + - !!python/tuple [3, 14] + - !!python/tuple [3, 16] + - !!python/tuple [14, 28] + - !!python/tuple [26, 19] + - !!python/tuple [23, 15] + - !!python/tuple [9, 20] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex86.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex86.yaml new file mode 100644 index 0000000..64e45c2 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex86.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [28, 6] + name: agent0 + start: [13, 0] +- goal: [31, 10] + name: agent1 + start: [13, 24] +- goal: [23, 31] + name: agent2 + start: [28, 19] +- goal: [6, 3] + name: agent3 + start: [13, 21] +- goal: [4, 14] + name: agent4 + start: [15, 21] +- goal: [7, 4] + name: agent5 + start: [11, 27] +- goal: [19, 9] + name: agent6 + start: [14, 28] +- goal: [8, 12] + name: agent7 + start: [24, 13] +- goal: [21, 20] + name: agent8 + start: [7, 12] +- goal: [17, 21] + name: agent9 + start: [13, 20] +- goal: [17, 9] + name: agent10 + start: [20, 31] +- goal: [9, 13] + name: agent11 + start: [18, 16] +- goal: [4, 13] + name: agent12 + start: [13, 4] +- goal: [5, 4] + name: agent13 + start: [3, 0] +- goal: [14, 14] + name: agent14 + start: [24, 29] +- goal: [6, 31] + name: agent15 + start: [31, 4] +- goal: [14, 17] + name: agent16 + start: [13, 12] +- goal: [7, 28] + name: agent17 + start: [22, 0] +- goal: [8, 16] + name: agent18 + start: [14, 0] +- goal: [25, 23] + name: agent19 + start: [29, 31] +- goal: [14, 28] + name: agent20 + start: [9, 5] +- goal: [12, 28] + name: agent21 + start: [21, 9] +- goal: [17, 20] + name: agent22 + start: [1, 24] +- goal: [25, 29] + name: agent23 + start: [9, 17] +- goal: [27, 3] + name: agent24 + start: [29, 11] +- goal: [3, 22] + name: agent25 + start: [10, 25] +- goal: [29, 27] + name: agent26 + start: [18, 22] +- goal: [14, 4] + name: agent27 + start: [1, 21] +- goal: [9, 26] + name: agent28 + start: [24, 21] +- goal: [22, 17] + name: agent29 + start: [18, 30] +- goal: [17, 17] + name: agent30 + start: [26, 5] +- goal: [8, 13] + name: agent31 + start: [17, 22] +- goal: [27, 29] + name: agent32 + start: [25, 26] +- goal: [2, 6] + name: agent33 + start: [12, 25] +- goal: [21, 17] + name: agent34 + start: [19, 7] +- goal: [17, 29] + name: agent35 + start: [1, 7] +- goal: [22, 21] + name: agent36 + start: [15, 16] +- goal: [11, 27] + name: agent37 + start: [28, 2] +- goal: [20, 19] + name: agent38 + start: [19, 19] +- goal: [13, 24] + name: agent39 + start: [29, 4] +- goal: [1, 5] + name: agent40 + start: [12, 31] +- goal: [27, 5] + name: agent41 + start: [28, 3] +- goal: [0, 29] + name: agent42 + start: [9, 25] +- goal: [27, 18] + name: agent43 + start: [9, 11] +- goal: [16, 19] + name: agent44 + start: [21, 13] +- goal: [1, 11] + name: agent45 + start: [21, 19] +- goal: [3, 14] + name: agent46 + start: [13, 16] +- goal: [11, 11] + name: agent47 + start: [6, 26] +- goal: [26, 2] + name: agent48 + start: [2, 17] +- goal: [8, 27] + name: agent49 + start: [8, 4] +- goal: [15, 2] + name: agent50 + start: [24, 12] +- goal: [1, 18] + name: agent51 + start: [7, 5] +- goal: [30, 1] + name: agent52 + start: [15, 26] +- goal: [3, 27] + name: agent53 + start: [7, 3] +- goal: [21, 10] + name: agent54 + start: [21, 10] +- goal: [23, 25] + name: agent55 + start: [30, 22] +- goal: [28, 14] + name: agent56 + start: [15, 19] +- goal: [9, 17] + name: agent57 + start: [12, 7] +- goal: [1, 26] + name: agent58 + start: [10, 7] +- goal: [19, 3] + name: agent59 + start: [9, 27] +- goal: [10, 26] + name: agent60 + start: [8, 19] +- goal: [1, 7] + name: agent61 + start: [24, 15] +- goal: [0, 27] + name: agent62 + start: [1, 29] +- goal: [19, 25] + name: agent63 + start: [20, 18] +- goal: [27, 0] + name: agent64 + start: [2, 10] +- goal: [24, 21] + name: agent65 + start: [2, 6] +- goal: [20, 28] + name: agent66 + start: [30, 23] +- goal: [21, 27] + name: agent67 + start: [17, 29] +- goal: [7, 15] + name: agent68 + start: [14, 2] +- goal: [0, 30] + name: agent69 + start: [16, 5] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [13, 27] + - !!python/tuple [28, 11] + - !!python/tuple [25, 15] + - !!python/tuple [13, 18] + - !!python/tuple [12, 15] + - !!python/tuple [19, 18] + - !!python/tuple [6, 6] + - !!python/tuple [26, 8] + - !!python/tuple [24, 17] + - !!python/tuple [13, 29] + - !!python/tuple [10, 15] + - !!python/tuple [14, 25] + - !!python/tuple [31, 31] + - !!python/tuple [31, 3] + - !!python/tuple [29, 25] + - !!python/tuple [11, 5] + - !!python/tuple [17, 18] + - !!python/tuple [20, 11] + - !!python/tuple [3, 11] + - !!python/tuple [29, 23] + - !!python/tuple [24, 26] + - !!python/tuple [13, 6] + - !!python/tuple [12, 19] + - !!python/tuple [4, 1] + - !!python/tuple [19, 26] + - !!python/tuple [3, 16] + - !!python/tuple [23, 15] + - !!python/tuple [25, 3] + - !!python/tuple [0, 18] + - !!python/tuple [22, 6] + - !!python/tuple [5, 13] + - !!python/tuple [30, 17] + - !!python/tuple [24, 18] + - !!python/tuple [8, 24] + - !!python/tuple [24, 22] + - !!python/tuple [30, 3] + - !!python/tuple [0, 20] + - !!python/tuple [19, 13] + - !!python/tuple [0, 9] + - !!python/tuple [29, 18] + - !!python/tuple [4, 10] + - !!python/tuple [7, 9] + - !!python/tuple [5, 22] + - !!python/tuple [25, 0] + - !!python/tuple [14, 31] + - !!python/tuple [18, 20] + - !!python/tuple [28, 13] + - !!python/tuple [8, 6] + - !!python/tuple [10, 0] + - !!python/tuple [23, 6] + - !!python/tuple [1, 8] + - !!python/tuple [7, 11] + - !!python/tuple [31, 29] + - !!python/tuple [2, 2] + - !!python/tuple [12, 24] + - !!python/tuple [31, 7] + - !!python/tuple [28, 31] + - !!python/tuple [29, 13] + - !!python/tuple [10, 14] + - !!python/tuple [17, 5] + - !!python/tuple [8, 25] + - !!python/tuple [19, 15] + - !!python/tuple [17, 1] + - !!python/tuple [29, 29] + - !!python/tuple [6, 11] + - !!python/tuple [18, 25] + - !!python/tuple [25, 5] + - !!python/tuple [12, 30] + - !!python/tuple [4, 8] + - !!python/tuple [6, 1] + - !!python/tuple [11, 6] + - !!python/tuple [29, 12] + - !!python/tuple [10, 11] + - !!python/tuple [18, 21] + - !!python/tuple [1, 31] + - !!python/tuple [9, 0] + - !!python/tuple [28, 24] + - !!python/tuple [16, 26] + - !!python/tuple [20, 15] + - !!python/tuple [21, 2] + - !!python/tuple [20, 16] + - !!python/tuple [13, 8] + - !!python/tuple [30, 16] + - !!python/tuple [19, 5] + - !!python/tuple [24, 4] + - !!python/tuple [8, 26] + - !!python/tuple [9, 6] + - !!python/tuple [2, 0] + - !!python/tuple [22, 19] + - !!python/tuple [18, 31] + - !!python/tuple [5, 11] + - !!python/tuple [13, 19] + - !!python/tuple [4, 15] + - !!python/tuple [3, 6] + - !!python/tuple [19, 17] + - !!python/tuple [6, 22] + - !!python/tuple [22, 4] + - !!python/tuple [11, 25] + - !!python/tuple [28, 5] + - !!python/tuple [2, 24] + - !!python/tuple [20, 23] + - !!python/tuple [22, 12] + - !!python/tuple [26, 10] + - !!python/tuple [25, 21] + - !!python/tuple [6, 2] + - !!python/tuple [17, 4] + - !!python/tuple [28, 15] + - !!python/tuple [1, 17] + - !!python/tuple [1, 23] + - !!python/tuple [19, 10] + - !!python/tuple [10, 19] + - !!python/tuple [0, 8] + - !!python/tuple [9, 7] + - !!python/tuple [3, 18] + - !!python/tuple [21, 11] + - !!python/tuple [26, 29] + - !!python/tuple [1, 27] + - !!python/tuple [29, 9] + - !!python/tuple [22, 18] + - !!python/tuple [17, 27] + - !!python/tuple [27, 30] + - !!python/tuple [15, 15] + - !!python/tuple [14, 6] + - !!python/tuple [26, 16] + - !!python/tuple [26, 0] + - !!python/tuple [18, 17] + - !!python/tuple [21, 23] + - !!python/tuple [21, 25] + - !!python/tuple [30, 25] + - !!python/tuple [18, 12] + - !!python/tuple [0, 17] + - !!python/tuple [29, 8] + - !!python/tuple [21, 22] + - !!python/tuple [29, 22] + - !!python/tuple [24, 9] + - !!python/tuple [13, 25] + - !!python/tuple [22, 24] + - !!python/tuple [17, 15] + - !!python/tuple [31, 14] + - !!python/tuple [10, 16] + - !!python/tuple [5, 25] + - !!python/tuple [5, 1] + - !!python/tuple [13, 13] + - !!python/tuple [18, 29] + - !!python/tuple [23, 28] + - !!python/tuple [12, 14] + - !!python/tuple [25, 31] + - !!python/tuple [26, 28] + - !!python/tuple [9, 4] + - !!python/tuple [7, 0] + - !!python/tuple [15, 24] + - !!python/tuple [13, 28] + - !!python/tuple [29, 28] + - !!python/tuple [25, 9] + - !!python/tuple [0, 10] + - !!python/tuple [3, 28] + - !!python/tuple [14, 11] + - !!python/tuple [11, 12] + - !!python/tuple [27, 25] + - !!python/tuple [5, 3] + - !!python/tuple [8, 14] + - !!python/tuple [9, 20] + - !!python/tuple [9, 24] + - !!python/tuple [17, 28] + - !!python/tuple [31, 12] + - !!python/tuple [26, 14] + - !!python/tuple [1, 12] + - !!python/tuple [0, 1] + - !!python/tuple [10, 4] + - !!python/tuple [28, 21] + - !!python/tuple [24, 16] + - !!python/tuple [29, 5] + - !!python/tuple [1, 0] + - !!python/tuple [27, 17] + - !!python/tuple [2, 27] + - !!python/tuple [2, 15] + - !!python/tuple [11, 3] + - !!python/tuple [21, 5] + - !!python/tuple [27, 24] + - !!python/tuple [23, 3] + - !!python/tuple [28, 10] + - !!python/tuple [19, 21] + - !!python/tuple [11, 2] + - !!python/tuple [16, 29] + - !!python/tuple [5, 12] + - !!python/tuple [17, 7] + - !!python/tuple [7, 14] + - !!python/tuple [19, 1] + - !!python/tuple [12, 0] + - !!python/tuple [30, 5] + - !!python/tuple [6, 20] + - !!python/tuple [13, 9] + - !!python/tuple [18, 24] + - !!python/tuple [9, 1] + - !!python/tuple [16, 1] + - !!python/tuple [24, 5] + - !!python/tuple [29, 24] + - !!python/tuple [29, 6] + - !!python/tuple [18, 5] + - !!python/tuple [21, 14] + - !!python/tuple [27, 21] + - !!python/tuple [20, 30] + - !!python/tuple [4, 0] + - !!python/tuple [10, 6] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex87.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex87.yaml new file mode 100644 index 0000000..0c8aa51 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex87.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [25, 23] + name: agent0 + start: [24, 24] +- goal: [5, 19] + name: agent1 + start: [1, 3] +- goal: [22, 14] + name: agent2 + start: [2, 19] +- goal: [14, 10] + name: agent3 + start: [23, 24] +- goal: [14, 26] + name: agent4 + start: [7, 21] +- goal: [21, 2] + name: agent5 + start: [10, 5] +- goal: [1, 10] + name: agent6 + start: [22, 2] +- goal: [10, 0] + name: agent7 + start: [19, 22] +- goal: [22, 26] + name: agent8 + start: [16, 30] +- goal: [1, 7] + name: agent9 + start: [2, 18] +- goal: [19, 12] + name: agent10 + start: [8, 28] +- goal: [13, 9] + name: agent11 + start: [30, 7] +- goal: [29, 23] + name: agent12 + start: [8, 30] +- goal: [9, 0] + name: agent13 + start: [7, 28] +- goal: [14, 24] + name: agent14 + start: [11, 14] +- goal: [26, 15] + name: agent15 + start: [7, 26] +- goal: [17, 6] + name: agent16 + start: [1, 28] +- goal: [4, 23] + name: agent17 + start: [5, 17] +- goal: [14, 4] + name: agent18 + start: [2, 5] +- goal: [30, 5] + name: agent19 + start: [1, 6] +- goal: [31, 2] + name: agent20 + start: [13, 16] +- goal: [30, 21] + name: agent21 + start: [29, 31] +- goal: [20, 29] + name: agent22 + start: [9, 14] +- goal: [28, 27] + name: agent23 + start: [1, 19] +- goal: [1, 11] + name: agent24 + start: [3, 14] +- goal: [22, 20] + name: agent25 + start: [15, 20] +- goal: [5, 3] + name: agent26 + start: [3, 9] +- goal: [2, 24] + name: agent27 + start: [14, 18] +- goal: [9, 20] + name: agent28 + start: [12, 26] +- goal: [26, 3] + name: agent29 + start: [21, 27] +- goal: [4, 20] + name: agent30 + start: [23, 2] +- goal: [7, 12] + name: agent31 + start: [10, 3] +- goal: [1, 8] + name: agent32 + start: [26, 28] +- goal: [22, 29] + name: agent33 + start: [25, 30] +- goal: [27, 10] + name: agent34 + start: [14, 2] +- goal: [12, 26] + name: agent35 + start: [17, 13] +- goal: [11, 5] + name: agent36 + start: [2, 14] +- goal: [15, 21] + name: agent37 + start: [28, 7] +- goal: [8, 0] + name: agent38 + start: [17, 15] +- goal: [22, 1] + name: agent39 + start: [2, 26] +- goal: [0, 12] + name: agent40 + start: [21, 18] +- goal: [27, 20] + name: agent41 + start: [9, 27] +- goal: [8, 31] + name: agent42 + start: [22, 12] +- goal: [10, 15] + name: agent43 + start: [8, 21] +- goal: [8, 27] + name: agent44 + start: [30, 17] +- goal: [27, 0] + name: agent45 + start: [5, 0] +- goal: [10, 19] + name: agent46 + start: [14, 24] +- goal: [21, 9] + name: agent47 + start: [23, 25] +- goal: [21, 31] + name: agent48 + start: [0, 29] +- goal: [25, 6] + name: agent49 + start: [12, 11] +- goal: [4, 31] + name: agent50 + start: [19, 2] +- goal: [17, 7] + name: agent51 + start: [21, 4] +- goal: [12, 8] + name: agent52 + start: [12, 1] +- goal: [16, 8] + name: agent53 + start: [15, 30] +- goal: [20, 2] + name: agent54 + start: [27, 31] +- goal: [17, 9] + name: agent55 + start: [29, 21] +- goal: [31, 18] + name: agent56 + start: [6, 9] +- goal: [17, 25] + name: agent57 + start: [30, 13] +- goal: [6, 22] + name: agent58 + start: [7, 11] +- goal: [15, 23] + name: agent59 + start: [15, 11] +- goal: [6, 23] + name: agent60 + start: [15, 24] +- goal: [14, 22] + name: agent61 + start: [12, 21] +- goal: [14, 0] + name: agent62 + start: [15, 4] +- goal: [21, 4] + name: agent63 + start: [26, 11] +- goal: [21, 30] + name: agent64 + start: [14, 17] +- goal: [6, 8] + name: agent65 + start: [30, 14] +- goal: [22, 23] + name: agent66 + start: [0, 8] +- goal: [20, 24] + name: agent67 + start: [10, 8] +- goal: [25, 14] + name: agent68 + start: [23, 16] +- goal: [4, 13] + name: agent69 + start: [24, 13] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [23, 1] + - !!python/tuple [31, 26] + - !!python/tuple [5, 2] + - !!python/tuple [15, 16] + - !!python/tuple [29, 0] + - !!python/tuple [7, 17] + - !!python/tuple [2, 7] + - !!python/tuple [21, 0] + - !!python/tuple [20, 22] + - !!python/tuple [16, 13] + - !!python/tuple [1, 17] + - !!python/tuple [26, 25] + - !!python/tuple [24, 29] + - !!python/tuple [11, 21] + - !!python/tuple [19, 20] + - !!python/tuple [25, 4] + - !!python/tuple [23, 13] + - !!python/tuple [31, 19] + - !!python/tuple [10, 22] + - !!python/tuple [0, 19] + - !!python/tuple [9, 4] + - !!python/tuple [16, 0] + - !!python/tuple [26, 21] + - !!python/tuple [16, 29] + - !!python/tuple [0, 23] + - !!python/tuple [28, 14] + - !!python/tuple [15, 27] + - !!python/tuple [14, 14] + - !!python/tuple [11, 18] + - !!python/tuple [29, 30] + - !!python/tuple [9, 28] + - !!python/tuple [5, 9] + - !!python/tuple [17, 1] + - !!python/tuple [20, 8] + - !!python/tuple [30, 30] + - !!python/tuple [17, 17] + - !!python/tuple [27, 4] + - !!python/tuple [31, 28] + - !!python/tuple [10, 6] + - !!python/tuple [11, 20] + - !!python/tuple [31, 5] + - !!python/tuple [0, 16] + - !!python/tuple [29, 19] + - !!python/tuple [6, 11] + - !!python/tuple [25, 5] + - !!python/tuple [8, 6] + - !!python/tuple [24, 9] + - !!python/tuple [9, 6] + - !!python/tuple [24, 2] + - !!python/tuple [3, 25] + - !!python/tuple [11, 8] + - !!python/tuple [22, 18] + - !!python/tuple [15, 10] + - !!python/tuple [8, 20] + - !!python/tuple [0, 10] + - !!python/tuple [26, 27] + - !!python/tuple [26, 18] + - !!python/tuple [22, 25] + - !!python/tuple [3, 18] + - !!python/tuple [7, 3] + - !!python/tuple [19, 27] + - !!python/tuple [30, 24] + - !!python/tuple [9, 9] + - !!python/tuple [27, 9] + - !!python/tuple [20, 21] + - !!python/tuple [8, 4] + - !!python/tuple [15, 0] + - !!python/tuple [30, 28] + - !!python/tuple [7, 18] + - !!python/tuple [30, 20] + - !!python/tuple [23, 9] + - !!python/tuple [19, 11] + - !!python/tuple [31, 24] + - !!python/tuple [31, 20] + - !!python/tuple [2, 23] + - !!python/tuple [0, 22] + - !!python/tuple [12, 7] + - !!python/tuple [15, 5] + - !!python/tuple [15, 14] + - !!python/tuple [3, 7] + - !!python/tuple [13, 27] + - !!python/tuple [10, 23] + - !!python/tuple [28, 11] + - !!python/tuple [11, 22] + - !!python/tuple [8, 17] + - !!python/tuple [6, 30] + - !!python/tuple [13, 3] + - !!python/tuple [17, 29] + - !!python/tuple [27, 30] + - !!python/tuple [5, 8] + - !!python/tuple [18, 19] + - !!python/tuple [21, 29] + - !!python/tuple [19, 24] + - !!python/tuple [8, 7] + - !!python/tuple [18, 18] + - !!python/tuple [13, 25] + - !!python/tuple [25, 12] + - !!python/tuple [1, 23] + - !!python/tuple [25, 16] + - !!python/tuple [14, 21] + - !!python/tuple [16, 28] + - !!python/tuple [17, 16] + - !!python/tuple [13, 23] + - !!python/tuple [31, 22] + - !!python/tuple [18, 26] + - !!python/tuple [13, 5] + - !!python/tuple [18, 2] + - !!python/tuple [26, 2] + - !!python/tuple [23, 19] + - !!python/tuple [28, 29] + - !!python/tuple [23, 31] + - !!python/tuple [20, 9] + - !!python/tuple [2, 28] + - !!python/tuple [11, 26] + - !!python/tuple [11, 11] + - !!python/tuple [9, 15] + - !!python/tuple [2, 8] + - !!python/tuple [1, 2] + - !!python/tuple [27, 8] + - !!python/tuple [26, 29] + - !!python/tuple [11, 19] + - !!python/tuple [21, 3] + - !!python/tuple [23, 23] + - !!python/tuple [25, 19] + - !!python/tuple [11, 1] + - !!python/tuple [18, 22] + - !!python/tuple [7, 29] + - !!python/tuple [8, 12] + - !!python/tuple [6, 2] + - !!python/tuple [20, 14] + - !!python/tuple [29, 15] + - !!python/tuple [2, 27] + - !!python/tuple [2, 17] + - !!python/tuple [21, 1] + - !!python/tuple [12, 24] + - !!python/tuple [11, 12] + - !!python/tuple [22, 5] + - !!python/tuple [10, 2] + - !!python/tuple [29, 8] + - !!python/tuple [3, 26] + - !!python/tuple [29, 14] + - !!python/tuple [16, 2] + - !!python/tuple [9, 24] + - !!python/tuple [5, 16] + - !!python/tuple [28, 2] + - !!python/tuple [10, 14] + - !!python/tuple [20, 4] + - !!python/tuple [27, 5] + - !!python/tuple [29, 28] + - !!python/tuple [24, 26] + - !!python/tuple [3, 15] + - !!python/tuple [13, 31] + - !!python/tuple [3, 17] + - !!python/tuple [25, 20] + - !!python/tuple [7, 0] + - !!python/tuple [9, 22] + - !!python/tuple [22, 28] + - !!python/tuple [9, 8] + - !!python/tuple [12, 18] + - !!python/tuple [4, 4] + - !!python/tuple [28, 8] + - !!python/tuple [1, 22] + - !!python/tuple [19, 25] + - !!python/tuple [19, 1] + - !!python/tuple [14, 20] + - !!python/tuple [6, 20] + - !!python/tuple [23, 20] + - !!python/tuple [15, 25] + - !!python/tuple [6, 18] + - !!python/tuple [21, 21] + - !!python/tuple [0, 27] + - !!python/tuple [16, 21] + - !!python/tuple [11, 3] + - !!python/tuple [28, 24] + - !!python/tuple [26, 9] + - !!python/tuple [12, 2] + - !!python/tuple [10, 11] + - !!python/tuple [16, 23] + - !!python/tuple [11, 16] + - !!python/tuple [13, 17] + - !!python/tuple [7, 7] + - !!python/tuple [9, 21] + - !!python/tuple [1, 12] + - !!python/tuple [1, 26] + - !!python/tuple [0, 30] + - !!python/tuple [27, 6] + - !!python/tuple [20, 1] + - !!python/tuple [29, 9] + - !!python/tuple [17, 27] + - !!python/tuple [9, 25] + - !!python/tuple [27, 11] + - !!python/tuple [30, 26] + - !!python/tuple [10, 13] + - !!python/tuple [22, 3] + - !!python/tuple [27, 27] + - !!python/tuple [31, 3] + - !!python/tuple [4, 30] + - !!python/tuple [4, 22] + - !!python/tuple [29, 26] + - !!python/tuple [5, 21] + - !!python/tuple [10, 25] + - !!python/tuple [29, 7] + - !!python/tuple [18, 29] + - !!python/tuple [31, 9] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex88.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex88.yaml new file mode 100644 index 0000000..ffae1a4 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex88.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [22, 14] + name: agent0 + start: [25, 18] +- goal: [18, 18] + name: agent1 + start: [19, 25] +- goal: [4, 28] + name: agent2 + start: [14, 1] +- goal: [23, 24] + name: agent3 + start: [22, 9] +- goal: [8, 7] + name: agent4 + start: [16, 16] +- goal: [2, 31] + name: agent5 + start: [17, 25] +- goal: [4, 7] + name: agent6 + start: [24, 29] +- goal: [11, 18] + name: agent7 + start: [21, 7] +- goal: [0, 14] + name: agent8 + start: [10, 23] +- goal: [13, 2] + name: agent9 + start: [19, 1] +- goal: [5, 30] + name: agent10 + start: [9, 3] +- goal: [30, 0] + name: agent11 + start: [27, 20] +- goal: [10, 3] + name: agent12 + start: [0, 2] +- goal: [1, 19] + name: agent13 + start: [23, 14] +- goal: [2, 10] + name: agent14 + start: [6, 22] +- goal: [16, 22] + name: agent15 + start: [15, 25] +- goal: [23, 21] + name: agent16 + start: [9, 5] +- goal: [6, 28] + name: agent17 + start: [20, 18] +- goal: [24, 19] + name: agent18 + start: [23, 6] +- goal: [23, 8] + name: agent19 + start: [8, 4] +- goal: [14, 9] + name: agent20 + start: [8, 1] +- goal: [28, 4] + name: agent21 + start: [16, 22] +- goal: [8, 2] + name: agent22 + start: [8, 28] +- goal: [31, 16] + name: agent23 + start: [21, 2] +- goal: [11, 12] + name: agent24 + start: [30, 15] +- goal: [12, 21] + name: agent25 + start: [17, 7] +- goal: [17, 6] + name: agent26 + start: [10, 13] +- goal: [28, 14] + name: agent27 + start: [10, 18] +- goal: [11, 31] + name: agent28 + start: [21, 18] +- goal: [7, 16] + name: agent29 + start: [27, 26] +- goal: [21, 7] + name: agent30 + start: [23, 13] +- goal: [10, 1] + name: agent31 + start: [13, 18] +- goal: [14, 2] + name: agent32 + start: [31, 20] +- goal: [14, 19] + name: agent33 + start: [9, 6] +- goal: [7, 4] + name: agent34 + start: [19, 8] +- goal: [14, 1] + name: agent35 + start: [29, 30] +- goal: [1, 18] + name: agent36 + start: [9, 15] +- goal: [12, 28] + name: agent37 + start: [21, 30] +- goal: [24, 7] + name: agent38 + start: [7, 5] +- goal: [22, 31] + name: agent39 + start: [17, 11] +- goal: [9, 29] + name: agent40 + start: [21, 9] +- goal: [24, 26] + name: agent41 + start: [23, 5] +- goal: [21, 6] + name: agent42 + start: [17, 16] +- goal: [15, 20] + name: agent43 + start: [25, 9] +- goal: [16, 3] + name: agent44 + start: [2, 29] +- goal: [3, 0] + name: agent45 + start: [12, 25] +- goal: [27, 26] + name: agent46 + start: [30, 19] +- goal: [15, 29] + name: agent47 + start: [31, 17] +- goal: [7, 30] + name: agent48 + start: [6, 5] +- goal: [4, 0] + name: agent49 + start: [17, 24] +- goal: [8, 13] + name: agent50 + start: [17, 22] +- goal: [5, 31] + name: agent51 + start: [26, 10] +- goal: [30, 15] + name: agent52 + start: [7, 2] +- goal: [28, 2] + name: agent53 + start: [31, 22] +- goal: [26, 1] + name: agent54 + start: [17, 14] +- goal: [10, 25] + name: agent55 + start: [13, 25] +- goal: [8, 25] + name: agent56 + start: [21, 31] +- goal: [2, 29] + name: agent57 + start: [4, 20] +- goal: [8, 29] + name: agent58 + start: [21, 1] +- goal: [13, 18] + name: agent59 + start: [6, 10] +- goal: [1, 7] + name: agent60 + start: [4, 10] +- goal: [2, 17] + name: agent61 + start: [23, 9] +- goal: [29, 3] + name: agent62 + start: [22, 6] +- goal: [29, 9] + name: agent63 + start: [22, 12] +- goal: [21, 20] + name: agent64 + start: [30, 14] +- goal: [3, 11] + name: agent65 + start: [25, 2] +- goal: [19, 24] + name: agent66 + start: [3, 23] +- goal: [26, 6] + name: agent67 + start: [24, 22] +- goal: [27, 3] + name: agent68 + start: [25, 25] +- goal: [27, 8] + name: agent69 + start: [9, 22] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [9, 20] + - !!python/tuple [25, 19] + - !!python/tuple [27, 0] + - !!python/tuple [10, 20] + - !!python/tuple [9, 24] + - !!python/tuple [11, 6] + - !!python/tuple [16, 0] + - !!python/tuple [29, 28] + - !!python/tuple [19, 0] + - !!python/tuple [20, 31] + - !!python/tuple [14, 16] + - !!python/tuple [2, 19] + - !!python/tuple [26, 4] + - !!python/tuple [28, 12] + - !!python/tuple [5, 9] + - !!python/tuple [20, 4] + - !!python/tuple [25, 11] + - !!python/tuple [11, 7] + - !!python/tuple [4, 15] + - !!python/tuple [24, 12] + - !!python/tuple [1, 20] + - !!python/tuple [10, 9] + - !!python/tuple [19, 18] + - !!python/tuple [10, 22] + - !!python/tuple [24, 27] + - !!python/tuple [3, 4] + - !!python/tuple [8, 18] + - !!python/tuple [7, 6] + - !!python/tuple [11, 4] + - !!python/tuple [17, 13] + - !!python/tuple [9, 23] + - !!python/tuple [0, 10] + - !!python/tuple [17, 26] + - !!python/tuple [28, 5] + - !!python/tuple [7, 28] + - !!python/tuple [0, 25] + - !!python/tuple [14, 13] + - !!python/tuple [25, 31] + - !!python/tuple [5, 22] + - !!python/tuple [28, 0] + - !!python/tuple [16, 9] + - !!python/tuple [3, 7] + - !!python/tuple [27, 19] + - !!python/tuple [29, 18] + - !!python/tuple [10, 0] + - !!python/tuple [15, 1] + - !!python/tuple [22, 26] + - !!python/tuple [21, 23] + - !!python/tuple [5, 3] + - !!python/tuple [14, 3] + - !!python/tuple [9, 2] + - !!python/tuple [10, 29] + - !!python/tuple [5, 4] + - !!python/tuple [30, 22] + - !!python/tuple [28, 13] + - !!python/tuple [30, 29] + - !!python/tuple [1, 3] + - !!python/tuple [9, 8] + - !!python/tuple [11, 10] + - !!python/tuple [9, 9] + - !!python/tuple [1, 14] + - !!python/tuple [11, 3] + - !!python/tuple [9, 27] + - !!python/tuple [26, 23] + - !!python/tuple [2, 11] + - !!python/tuple [7, 18] + - !!python/tuple [2, 14] + - !!python/tuple [18, 16] + - !!python/tuple [25, 13] + - !!python/tuple [5, 18] + - !!python/tuple [18, 19] + - !!python/tuple [23, 16] + - !!python/tuple [25, 5] + - !!python/tuple [2, 2] + - !!python/tuple [8, 15] + - !!python/tuple [13, 13] + - !!python/tuple [13, 28] + - !!python/tuple [2, 8] + - !!python/tuple [27, 21] + - !!python/tuple [21, 16] + - !!python/tuple [5, 23] + - !!python/tuple [8, 20] + - !!python/tuple [13, 16] + - !!python/tuple [20, 8] + - !!python/tuple [10, 7] + - !!python/tuple [29, 23] + - !!python/tuple [31, 19] + - !!python/tuple [4, 24] + - !!python/tuple [5, 27] + - !!python/tuple [28, 31] + - !!python/tuple [12, 17] + - !!python/tuple [19, 7] + - !!python/tuple [11, 29] + - !!python/tuple [20, 11] + - !!python/tuple [28, 28] + - !!python/tuple [0, 26] + - !!python/tuple [24, 0] + - !!python/tuple [9, 10] + - !!python/tuple [17, 19] + - !!python/tuple [8, 16] + - !!python/tuple [6, 12] + - !!python/tuple [27, 12] + - !!python/tuple [29, 15] + - !!python/tuple [27, 24] + - !!python/tuple [18, 14] + - !!python/tuple [31, 28] + - !!python/tuple [23, 10] + - !!python/tuple [11, 17] + - !!python/tuple [1, 8] + - !!python/tuple [24, 31] + - !!python/tuple [8, 22] + - !!python/tuple [16, 26] + - !!python/tuple [22, 22] + - !!python/tuple [12, 6] + - !!python/tuple [15, 2] + - !!python/tuple [13, 4] + - !!python/tuple [14, 10] + - !!python/tuple [17, 30] + - !!python/tuple [4, 22] + - !!python/tuple [19, 27] + - !!python/tuple [24, 6] + - !!python/tuple [8, 24] + - !!python/tuple [18, 5] + - !!python/tuple [17, 2] + - !!python/tuple [11, 13] + - !!python/tuple [26, 11] + - !!python/tuple [7, 17] + - !!python/tuple [23, 4] + - !!python/tuple [19, 3] + - !!python/tuple [20, 3] + - !!python/tuple [22, 23] + - !!python/tuple [19, 26] + - !!python/tuple [23, 15] + - !!python/tuple [10, 17] + - !!python/tuple [26, 24] + - !!python/tuple [6, 6] + - !!python/tuple [15, 10] + - !!python/tuple [24, 30] + - !!python/tuple [17, 3] + - !!python/tuple [6, 21] + - !!python/tuple [30, 8] + - !!python/tuple [13, 7] + - !!python/tuple [29, 26] + - !!python/tuple [31, 8] + - !!python/tuple [27, 23] + - !!python/tuple [31, 1] + - !!python/tuple [13, 3] + - !!python/tuple [30, 10] + - !!python/tuple [18, 7] + - !!python/tuple [14, 20] + - !!python/tuple [4, 11] + - !!python/tuple [21, 3] + - !!python/tuple [9, 28] + - !!python/tuple [4, 2] + - !!python/tuple [7, 10] + - !!python/tuple [14, 15] + - !!python/tuple [18, 13] + - !!python/tuple [24, 1] + - !!python/tuple [23, 7] + - !!python/tuple [29, 31] + - !!python/tuple [15, 3] + - !!python/tuple [23, 28] + - !!python/tuple [20, 0] + - !!python/tuple [1, 0] + - !!python/tuple [18, 31] + - !!python/tuple [20, 19] + - !!python/tuple [27, 25] + - !!python/tuple [9, 19] + - !!python/tuple [16, 7] + - !!python/tuple [1, 2] + - !!python/tuple [25, 26] + - !!python/tuple [0, 13] + - !!python/tuple [7, 0] + - !!python/tuple [1, 1] + - !!python/tuple [6, 1] + - !!python/tuple [18, 8] + - !!python/tuple [16, 10] + - !!python/tuple [26, 15] + - !!python/tuple [1, 25] + - !!python/tuple [3, 12] + - !!python/tuple [13, 6] + - !!python/tuple [10, 27] + - !!python/tuple [1, 10] + - !!python/tuple [19, 2] + - !!python/tuple [8, 21] + - !!python/tuple [17, 23] + - !!python/tuple [4, 18] + - !!python/tuple [14, 17] + - !!python/tuple [3, 26] + - !!python/tuple [19, 20] + - !!python/tuple [12, 4] + - !!python/tuple [12, 16] + - !!python/tuple [5, 10] + - !!python/tuple [31, 0] + - !!python/tuple [11, 9] + - !!python/tuple [25, 27] + - !!python/tuple [22, 24] + - !!python/tuple [14, 26] + - !!python/tuple [18, 30] + - !!python/tuple [27, 9] + - !!python/tuple [31, 14] + - !!python/tuple [27, 18] + - !!python/tuple [10, 24] + - !!python/tuple [4, 19] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex89.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex89.yaml new file mode 100644 index 0000000..428f2e6 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex89.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [1, 24] + name: agent0 + start: [3, 9] +- goal: [7, 18] + name: agent1 + start: [29, 20] +- goal: [7, 24] + name: agent2 + start: [5, 14] +- goal: [16, 17] + name: agent3 + start: [17, 13] +- goal: [22, 15] + name: agent4 + start: [11, 2] +- goal: [30, 3] + name: agent5 + start: [24, 28] +- goal: [29, 11] + name: agent6 + start: [4, 24] +- goal: [4, 1] + name: agent7 + start: [7, 14] +- goal: [15, 16] + name: agent8 + start: [8, 11] +- goal: [2, 12] + name: agent9 + start: [3, 3] +- goal: [30, 18] + name: agent10 + start: [7, 2] +- goal: [27, 10] + name: agent11 + start: [19, 10] +- goal: [31, 16] + name: agent12 + start: [27, 8] +- goal: [2, 16] + name: agent13 + start: [9, 17] +- goal: [4, 29] + name: agent14 + start: [14, 7] +- goal: [28, 18] + name: agent15 + start: [29, 19] +- goal: [19, 1] + name: agent16 + start: [14, 8] +- goal: [8, 15] + name: agent17 + start: [28, 11] +- goal: [5, 14] + name: agent18 + start: [2, 30] +- goal: [14, 14] + name: agent19 + start: [15, 22] +- goal: [30, 15] + name: agent20 + start: [26, 11] +- goal: [16, 0] + name: agent21 + start: [5, 9] +- goal: [5, 15] + name: agent22 + start: [31, 28] +- goal: [13, 14] + name: agent23 + start: [2, 24] +- goal: [19, 22] + name: agent24 + start: [24, 8] +- goal: [9, 28] + name: agent25 + start: [24, 18] +- goal: [16, 16] + name: agent26 + start: [15, 20] +- goal: [17, 19] + name: agent27 + start: [28, 26] +- goal: [21, 20] + name: agent28 + start: [6, 8] +- goal: [17, 26] + name: agent29 + start: [14, 14] +- goal: [20, 8] + name: agent30 + start: [23, 17] +- goal: [9, 29] + name: agent31 + start: [31, 3] +- goal: [6, 12] + name: agent32 + start: [0, 11] +- goal: [1, 7] + name: agent33 + start: [26, 19] +- goal: [25, 8] + name: agent34 + start: [23, 10] +- goal: [20, 5] + name: agent35 + start: [5, 16] +- goal: [28, 11] + name: agent36 + start: [21, 4] +- goal: [16, 12] + name: agent37 + start: [14, 11] +- goal: [1, 28] + name: agent38 + start: [15, 26] +- goal: [26, 6] + name: agent39 + start: [13, 26] +- goal: [5, 11] + name: agent40 + start: [7, 10] +- goal: [6, 5] + name: agent41 + start: [25, 6] +- goal: [22, 20] + name: agent42 + start: [27, 9] +- goal: [0, 8] + name: agent43 + start: [0, 13] +- goal: [9, 7] + name: agent44 + start: [23, 23] +- goal: [2, 8] + name: agent45 + start: [17, 14] +- goal: [23, 13] + name: agent46 + start: [28, 10] +- goal: [7, 8] + name: agent47 + start: [0, 19] +- goal: [5, 28] + name: agent48 + start: [17, 0] +- goal: [24, 9] + name: agent49 + start: [13, 6] +- goal: [1, 17] + name: agent50 + start: [10, 19] +- goal: [8, 30] + name: agent51 + start: [11, 20] +- goal: [17, 6] + name: agent52 + start: [20, 2] +- goal: [14, 13] + name: agent53 + start: [10, 17] +- goal: [16, 19] + name: agent54 + start: [13, 17] +- goal: [14, 0] + name: agent55 + start: [9, 23] +- goal: [4, 4] + name: agent56 + start: [5, 3] +- goal: [13, 28] + name: agent57 + start: [16, 16] +- goal: [28, 20] + name: agent58 + start: [15, 16] +- goal: [8, 14] + name: agent59 + start: [24, 7] +- goal: [1, 18] + name: agent60 + start: [11, 7] +- goal: [15, 6] + name: agent61 + start: [9, 1] +- goal: [5, 16] + name: agent62 + start: [27, 13] +- goal: [4, 22] + name: agent63 + start: [29, 5] +- goal: [7, 22] + name: agent64 + start: [23, 29] +- goal: [24, 3] + name: agent65 + start: [15, 25] +- goal: [20, 11] + name: agent66 + start: [13, 3] +- goal: [26, 14] + name: agent67 + start: [14, 22] +- goal: [21, 5] + name: agent68 + start: [18, 17] +- goal: [6, 9] + name: agent69 + start: [25, 14] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [13, 22] + - !!python/tuple [8, 29] + - !!python/tuple [15, 3] + - !!python/tuple [23, 7] + - !!python/tuple [8, 27] + - !!python/tuple [0, 3] + - !!python/tuple [18, 24] + - !!python/tuple [23, 27] + - !!python/tuple [12, 8] + - !!python/tuple [16, 1] + - !!python/tuple [27, 22] + - !!python/tuple [3, 0] + - !!python/tuple [5, 1] + - !!python/tuple [16, 14] + - !!python/tuple [16, 13] + - !!python/tuple [14, 25] + - !!python/tuple [16, 31] + - !!python/tuple [19, 4] + - !!python/tuple [5, 23] + - !!python/tuple [31, 21] + - !!python/tuple [23, 4] + - !!python/tuple [24, 14] + - !!python/tuple [6, 28] + - !!python/tuple [29, 22] + - !!python/tuple [13, 5] + - !!python/tuple [0, 22] + - !!python/tuple [5, 22] + - !!python/tuple [3, 30] + - !!python/tuple [21, 29] + - !!python/tuple [14, 19] + - !!python/tuple [20, 1] + - !!python/tuple [30, 5] + - !!python/tuple [11, 23] + - !!python/tuple [2, 2] + - !!python/tuple [2, 31] + - !!python/tuple [14, 2] + - !!python/tuple [3, 19] + - !!python/tuple [17, 21] + - !!python/tuple [1, 3] + - !!python/tuple [7, 20] + - !!python/tuple [22, 16] + - !!python/tuple [17, 30] + - !!python/tuple [26, 1] + - !!python/tuple [15, 7] + - !!python/tuple [28, 27] + - !!python/tuple [18, 31] + - !!python/tuple [27, 25] + - !!python/tuple [21, 13] + - !!python/tuple [5, 21] + - !!python/tuple [9, 2] + - !!python/tuple [23, 5] + - !!python/tuple [16, 5] + - !!python/tuple [18, 23] + - !!python/tuple [6, 24] + - !!python/tuple [9, 0] + - !!python/tuple [2, 6] + - !!python/tuple [22, 11] + - !!python/tuple [31, 9] + - !!python/tuple [22, 12] + - !!python/tuple [24, 12] + - !!python/tuple [4, 11] + - !!python/tuple [24, 31] + - !!python/tuple [14, 6] + - !!python/tuple [22, 2] + - !!python/tuple [15, 17] + - !!python/tuple [26, 4] + - !!python/tuple [26, 12] + - !!python/tuple [1, 19] + - !!python/tuple [26, 7] + - !!python/tuple [29, 3] + - !!python/tuple [0, 20] + - !!python/tuple [29, 15] + - !!python/tuple [17, 16] + - !!python/tuple [30, 1] + - !!python/tuple [13, 10] + - !!python/tuple [20, 18] + - !!python/tuple [10, 24] + - !!python/tuple [18, 6] + - !!python/tuple [28, 23] + - !!python/tuple [7, 30] + - !!python/tuple [10, 18] + - !!python/tuple [13, 15] + - !!python/tuple [24, 1] + - !!python/tuple [28, 6] + - !!python/tuple [23, 1] + - !!python/tuple [7, 16] + - !!python/tuple [31, 5] + - !!python/tuple [31, 4] + - !!python/tuple [17, 15] + - !!python/tuple [7, 4] + - !!python/tuple [20, 20] + - !!python/tuple [14, 27] + - !!python/tuple [10, 6] + - !!python/tuple [21, 24] + - !!python/tuple [1, 22] + - !!python/tuple [12, 4] + - !!python/tuple [27, 23] + - !!python/tuple [25, 19] + - !!python/tuple [3, 11] + - !!python/tuple [20, 7] + - !!python/tuple [10, 3] + - !!python/tuple [23, 9] + - !!python/tuple [6, 27] + - !!python/tuple [31, 27] + - !!python/tuple [22, 1] + - !!python/tuple [17, 8] + - !!python/tuple [19, 6] + - !!python/tuple [18, 15] + - !!python/tuple [28, 1] + - !!python/tuple [29, 26] + - !!python/tuple [12, 25] + - !!python/tuple [27, 26] + - !!python/tuple [1, 31] + - !!python/tuple [25, 1] + - !!python/tuple [18, 8] + - !!python/tuple [12, 31] + - !!python/tuple [5, 30] + - !!python/tuple [21, 19] + - !!python/tuple [6, 16] + - !!python/tuple [25, 0] + - !!python/tuple [14, 15] + - !!python/tuple [31, 23] + - !!python/tuple [7, 29] + - !!python/tuple [4, 17] + - !!python/tuple [9, 12] + - !!python/tuple [31, 11] + - !!python/tuple [12, 2] + - !!python/tuple [13, 18] + - !!python/tuple [21, 8] + - !!python/tuple [0, 30] + - !!python/tuple [16, 22] + - !!python/tuple [27, 4] + - !!python/tuple [16, 29] + - !!python/tuple [15, 19] + - !!python/tuple [23, 6] + - !!python/tuple [15, 12] + - !!python/tuple [26, 24] + - !!python/tuple [16, 27] + - !!python/tuple [19, 20] + - !!python/tuple [2, 29] + - !!python/tuple [6, 1] + - !!python/tuple [8, 6] + - !!python/tuple [7, 1] + - !!python/tuple [9, 31] + - !!python/tuple [9, 25] + - !!python/tuple [12, 0] + - !!python/tuple [18, 11] + - !!python/tuple [26, 17] + - !!python/tuple [29, 30] + - !!python/tuple [10, 31] + - !!python/tuple [4, 18] + - !!python/tuple [6, 18] + - !!python/tuple [2, 10] + - !!python/tuple [6, 20] + - !!python/tuple [27, 28] + - !!python/tuple [5, 7] + - !!python/tuple [20, 26] + - !!python/tuple [21, 14] + - !!python/tuple [28, 5] + - !!python/tuple [2, 5] + - !!python/tuple [25, 24] + - !!python/tuple [27, 7] + - !!python/tuple [12, 17] + - !!python/tuple [9, 27] + - !!python/tuple [6, 7] + - !!python/tuple [7, 13] + - !!python/tuple [12, 28] + - !!python/tuple [29, 23] + - !!python/tuple [15, 13] + - !!python/tuple [25, 9] + - !!python/tuple [19, 26] + - !!python/tuple [31, 18] + - !!python/tuple [31, 31] + - !!python/tuple [1, 15] + - !!python/tuple [26, 18] + - !!python/tuple [30, 28] + - !!python/tuple [18, 3] + - !!python/tuple [11, 0] + - !!python/tuple [18, 7] + - !!python/tuple [27, 11] + - !!python/tuple [31, 26] + - !!python/tuple [18, 9] + - !!python/tuple [27, 5] + - !!python/tuple [18, 25] + - !!python/tuple [5, 6] + - !!python/tuple [21, 9] + - !!python/tuple [14, 18] + - !!python/tuple [10, 23] + - !!python/tuple [1, 13] + - !!python/tuple [29, 18] + - !!python/tuple [9, 3] + - !!python/tuple [16, 21] + - !!python/tuple [10, 14] + - !!python/tuple [19, 30] + - !!python/tuple [2, 28] + - !!python/tuple [10, 13] + - !!python/tuple [28, 28] + - !!python/tuple [1, 27] + - !!python/tuple [31, 14] + - !!python/tuple [27, 6] + - !!python/tuple [29, 31] + - !!python/tuple [26, 16] + - !!python/tuple [4, 26] + - !!python/tuple [17, 7] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex9.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex9.yaml new file mode 100644 index 0000000..7852f81 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex9.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [20, 13] + name: agent0 + start: [18, 22] +- goal: [27, 31] + name: agent1 + start: [27, 26] +- goal: [18, 21] + name: agent2 + start: [2, 25] +- goal: [0, 10] + name: agent3 + start: [23, 5] +- goal: [7, 0] + name: agent4 + start: [31, 28] +- goal: [6, 30] + name: agent5 + start: [1, 9] +- goal: [29, 3] + name: agent6 + start: [15, 0] +- goal: [29, 1] + name: agent7 + start: [26, 28] +- goal: [29, 31] + name: agent8 + start: [6, 1] +- goal: [16, 19] + name: agent9 + start: [29, 15] +- goal: [19, 25] + name: agent10 + start: [4, 3] +- goal: [29, 8] + name: agent11 + start: [20, 16] +- goal: [30, 22] + name: agent12 + start: [23, 0] +- goal: [9, 13] + name: agent13 + start: [2, 8] +- goal: [13, 9] + name: agent14 + start: [23, 4] +- goal: [23, 0] + name: agent15 + start: [12, 19] +- goal: [1, 9] + name: agent16 + start: [22, 18] +- goal: [24, 16] + name: agent17 + start: [27, 9] +- goal: [26, 19] + name: agent18 + start: [8, 25] +- goal: [14, 17] + name: agent19 + start: [29, 2] +- goal: [2, 25] + name: agent20 + start: [18, 8] +- goal: [11, 22] + name: agent21 + start: [21, 23] +- goal: [9, 26] + name: agent22 + start: [0, 16] +- goal: [22, 12] + name: agent23 + start: [8, 19] +- goal: [17, 3] + name: agent24 + start: [15, 11] +- goal: [1, 30] + name: agent25 + start: [14, 30] +- goal: [16, 27] + name: agent26 + start: [16, 16] +- goal: [9, 11] + name: agent27 + start: [26, 4] +- goal: [2, 17] + name: agent28 + start: [6, 26] +- goal: [31, 14] + name: agent29 + start: [30, 2] +- goal: [17, 10] + name: agent30 + start: [15, 19] +- goal: [7, 5] + name: agent31 + start: [24, 23] +- goal: [24, 9] + name: agent32 + start: [20, 23] +- goal: [3, 14] + name: agent33 + start: [9, 28] +- goal: [27, 30] + name: agent34 + start: [31, 14] +- goal: [12, 31] + name: agent35 + start: [13, 31] +- goal: [25, 2] + name: agent36 + start: [10, 18] +- goal: [15, 1] + name: agent37 + start: [23, 16] +- goal: [4, 28] + name: agent38 + start: [8, 13] +- goal: [20, 30] + name: agent39 + start: [29, 29] +- goal: [18, 6] + name: agent40 + start: [18, 3] +- goal: [29, 24] + name: agent41 + start: [8, 17] +- goal: [17, 31] + name: agent42 + start: [0, 28] +- goal: [23, 11] + name: agent43 + start: [22, 25] +- goal: [2, 3] + name: agent44 + start: [4, 1] +- goal: [9, 14] + name: agent45 + start: [6, 20] +- goal: [29, 14] + name: agent46 + start: [13, 16] +- goal: [16, 26] + name: agent47 + start: [9, 31] +- goal: [30, 11] + name: agent48 + start: [16, 31] +- goal: [16, 13] + name: agent49 + start: [21, 10] +- goal: [16, 29] + name: agent50 + start: [19, 30] +- goal: [27, 18] + name: agent51 + start: [27, 16] +- goal: [2, 2] + name: agent52 + start: [30, 20] +- goal: [17, 15] + name: agent53 + start: [2, 26] +- goal: [15, 24] + name: agent54 + start: [12, 12] +- goal: [24, 30] + name: agent55 + start: [3, 12] +- goal: [26, 10] + name: agent56 + start: [8, 11] +- goal: [4, 22] + name: agent57 + start: [23, 9] +- goal: [13, 11] + name: agent58 + start: [29, 24] +- goal: [31, 11] + name: agent59 + start: [28, 5] +- goal: [23, 21] + name: agent60 + start: [0, 9] +- goal: [18, 27] + name: agent61 + start: [20, 9] +- goal: [25, 10] + name: agent62 + start: [16, 3] +- goal: [28, 31] + name: agent63 + start: [30, 0] +- goal: [4, 8] + name: agent64 + start: [4, 19] +- goal: [19, 5] + name: agent65 + start: [10, 1] +- goal: [28, 25] + name: agent66 + start: [6, 9] +- goal: [6, 24] + name: agent67 + start: [22, 23] +- goal: [14, 14] + name: agent68 + start: [11, 18] +- goal: [17, 17] + name: agent69 + start: [11, 23] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [9, 25] + - !!python/tuple [14, 13] + - !!python/tuple [6, 13] + - !!python/tuple [15, 23] + - !!python/tuple [30, 19] + - !!python/tuple [31, 22] + - !!python/tuple [25, 3] + - !!python/tuple [18, 0] + - !!python/tuple [7, 2] + - !!python/tuple [31, 3] + - !!python/tuple [31, 26] + - !!python/tuple [11, 7] + - !!python/tuple [3, 23] + - !!python/tuple [22, 2] + - !!python/tuple [26, 25] + - !!python/tuple [10, 31] + - !!python/tuple [29, 18] + - !!python/tuple [0, 25] + - !!python/tuple [4, 10] + - !!python/tuple [6, 23] + - !!python/tuple [22, 31] + - !!python/tuple [24, 1] + - !!python/tuple [19, 23] + - !!python/tuple [27, 2] + - !!python/tuple [26, 23] + - !!python/tuple [14, 2] + - !!python/tuple [10, 26] + - !!python/tuple [19, 0] + - !!python/tuple [18, 17] + - !!python/tuple [2, 27] + - !!python/tuple [22, 24] + - !!python/tuple [22, 16] + - !!python/tuple [6, 5] + - !!python/tuple [20, 25] + - !!python/tuple [28, 0] + - !!python/tuple [11, 27] + - !!python/tuple [24, 24] + - !!python/tuple [9, 17] + - !!python/tuple [11, 19] + - !!python/tuple [8, 21] + - !!python/tuple [9, 19] + - !!python/tuple [11, 24] + - !!python/tuple [24, 11] + - !!python/tuple [18, 23] + - !!python/tuple [10, 14] + - !!python/tuple [15, 27] + - !!python/tuple [21, 1] + - !!python/tuple [22, 3] + - !!python/tuple [17, 22] + - !!python/tuple [27, 12] + - !!python/tuple [31, 0] + - !!python/tuple [31, 24] + - !!python/tuple [22, 9] + - !!python/tuple [0, 8] + - !!python/tuple [27, 0] + - !!python/tuple [0, 13] + - !!python/tuple [8, 16] + - !!python/tuple [0, 14] + - !!python/tuple [28, 16] + - !!python/tuple [24, 12] + - !!python/tuple [26, 24] + - !!python/tuple [25, 24] + - !!python/tuple [23, 26] + - !!python/tuple [31, 1] + - !!python/tuple [23, 3] + - !!python/tuple [29, 27] + - !!python/tuple [9, 16] + - !!python/tuple [0, 26] + - !!python/tuple [11, 14] + - !!python/tuple [1, 10] + - !!python/tuple [26, 8] + - !!python/tuple [12, 26] + - !!python/tuple [8, 8] + - !!python/tuple [29, 4] + - !!python/tuple [11, 20] + - !!python/tuple [27, 25] + - !!python/tuple [13, 3] + - !!python/tuple [3, 30] + - !!python/tuple [5, 0] + - !!python/tuple [7, 11] + - !!python/tuple [12, 30] + - !!python/tuple [7, 28] + - !!python/tuple [22, 5] + - !!python/tuple [3, 31] + - !!python/tuple [13, 7] + - !!python/tuple [21, 31] + - !!python/tuple [15, 21] + - !!python/tuple [6, 22] + - !!python/tuple [22, 19] + - !!python/tuple [20, 29] + - !!python/tuple [6, 15] + - !!python/tuple [22, 13] + - !!python/tuple [12, 14] + - !!python/tuple [29, 5] + - !!python/tuple [30, 27] + - !!python/tuple [4, 23] + - !!python/tuple [28, 17] + - !!python/tuple [17, 11] + - !!python/tuple [7, 1] + - !!python/tuple [1, 21] + - !!python/tuple [30, 4] + - !!python/tuple [31, 9] + - !!python/tuple [28, 23] + - !!python/tuple [21, 22] + - !!python/tuple [23, 7] + - !!python/tuple [18, 12] + - !!python/tuple [3, 10] + - !!python/tuple [23, 12] + - !!python/tuple [19, 3] + - !!python/tuple [28, 10] + - !!python/tuple [11, 11] + - !!python/tuple [9, 8] + - !!python/tuple [12, 6] + - !!python/tuple [11, 17] + - !!python/tuple [14, 23] + - !!python/tuple [19, 2] + - !!python/tuple [19, 27] + - !!python/tuple [7, 8] + - !!python/tuple [31, 7] + - !!python/tuple [10, 9] + - !!python/tuple [20, 15] + - !!python/tuple [18, 31] + - !!python/tuple [25, 26] + - !!python/tuple [0, 5] + - !!python/tuple [26, 22] + - !!python/tuple [27, 22] + - !!python/tuple [24, 31] + - !!python/tuple [13, 0] + - !!python/tuple [24, 13] + - !!python/tuple [23, 14] + - !!python/tuple [14, 24] + - !!python/tuple [25, 29] + - !!python/tuple [2, 7] + - !!python/tuple [13, 4] + - !!python/tuple [9, 10] + - !!python/tuple [26, 11] + - !!python/tuple [1, 17] + - !!python/tuple [22, 11] + - !!python/tuple [19, 17] + - !!python/tuple [25, 8] + - !!python/tuple [27, 4] + - !!python/tuple [29, 30] + - !!python/tuple [31, 23] + - !!python/tuple [30, 18] + - !!python/tuple [9, 4] + - !!python/tuple [4, 30] + - !!python/tuple [7, 21] + - !!python/tuple [2, 29] + - !!python/tuple [3, 13] + - !!python/tuple [19, 11] + - !!python/tuple [8, 30] + - !!python/tuple [5, 4] + - !!python/tuple [10, 10] + - !!python/tuple [13, 13] + - !!python/tuple [28, 11] + - !!python/tuple [10, 27] + - !!python/tuple [5, 11] + - !!python/tuple [14, 25] + - !!python/tuple [13, 23] + - !!python/tuple [18, 7] + - !!python/tuple [12, 10] + - !!python/tuple [5, 9] + - !!python/tuple [5, 26] + - !!python/tuple [22, 14] + - !!python/tuple [26, 9] + - !!python/tuple [8, 4] + - !!python/tuple [19, 24] + - !!python/tuple [4, 26] + - !!python/tuple [18, 13] + - !!python/tuple [2, 9] + - !!python/tuple [31, 12] + - !!python/tuple [31, 6] + - !!python/tuple [7, 22] + - !!python/tuple [13, 20] + - !!python/tuple [10, 29] + - !!python/tuple [1, 2] + - !!python/tuple [4, 14] + - !!python/tuple [23, 15] + - !!python/tuple [12, 13] + - !!python/tuple [25, 18] + - !!python/tuple [17, 5] + - !!python/tuple [12, 2] + - !!python/tuple [1, 26] + - !!python/tuple [19, 14] + - !!python/tuple [30, 6] + - !!python/tuple [2, 24] + - !!python/tuple [2, 12] + - !!python/tuple [14, 5] + - !!python/tuple [24, 15] + - !!python/tuple [26, 6] + - !!python/tuple [12, 1] + - !!python/tuple [4, 11] + - !!python/tuple [2, 10] + - !!python/tuple [15, 10] + - !!python/tuple [7, 17] + - !!python/tuple [17, 30] + - !!python/tuple [2, 13] + - !!python/tuple [28, 30] + - !!python/tuple [1, 12] + - !!python/tuple [25, 20] + - !!python/tuple [1, 27] + - !!python/tuple [8, 22] + - !!python/tuple [4, 31] + - !!python/tuple [9, 0] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex90.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex90.yaml new file mode 100644 index 0000000..37942af --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex90.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [5, 17] + name: agent0 + start: [11, 27] +- goal: [15, 4] + name: agent1 + start: [4, 21] +- goal: [19, 11] + name: agent2 + start: [11, 28] +- goal: [16, 11] + name: agent3 + start: [21, 17] +- goal: [8, 18] + name: agent4 + start: [14, 4] +- goal: [20, 13] + name: agent5 + start: [26, 15] +- goal: [21, 24] + name: agent6 + start: [7, 7] +- goal: [0, 8] + name: agent7 + start: [7, 5] +- goal: [17, 10] + name: agent8 + start: [3, 1] +- goal: [14, 6] + name: agent9 + start: [10, 30] +- goal: [5, 19] + name: agent10 + start: [21, 31] +- goal: [12, 26] + name: agent11 + start: [15, 7] +- goal: [11, 31] + name: agent12 + start: [8, 15] +- goal: [13, 11] + name: agent13 + start: [11, 4] +- goal: [15, 17] + name: agent14 + start: [17, 1] +- goal: [23, 6] + name: agent15 + start: [15, 4] +- goal: [4, 14] + name: agent16 + start: [17, 0] +- goal: [28, 8] + name: agent17 + start: [26, 31] +- goal: [27, 13] + name: agent18 + start: [12, 29] +- goal: [12, 22] + name: agent19 + start: [21, 26] +- goal: [19, 28] + name: agent20 + start: [8, 28] +- goal: [0, 15] + name: agent21 + start: [21, 2] +- goal: [7, 3] + name: agent22 + start: [16, 22] +- goal: [2, 15] + name: agent23 + start: [0, 30] +- goal: [0, 9] + name: agent24 + start: [27, 28] +- goal: [11, 11] + name: agent25 + start: [26, 4] +- goal: [28, 28] + name: agent26 + start: [11, 7] +- goal: [25, 2] + name: agent27 + start: [0, 16] +- goal: [20, 8] + name: agent28 + start: [24, 21] +- goal: [26, 17] + name: agent29 + start: [2, 25] +- goal: [22, 20] + name: agent30 + start: [16, 12] +- goal: [4, 21] + name: agent31 + start: [21, 23] +- goal: [2, 10] + name: agent32 + start: [30, 10] +- goal: [14, 23] + name: agent33 + start: [4, 5] +- goal: [4, 2] + name: agent34 + start: [14, 7] +- goal: [9, 29] + name: agent35 + start: [7, 24] +- goal: [27, 11] + name: agent36 + start: [20, 4] +- goal: [28, 10] + name: agent37 + start: [8, 21] +- goal: [8, 0] + name: agent38 + start: [10, 22] +- goal: [25, 4] + name: agent39 + start: [21, 19] +- goal: [10, 4] + name: agent40 + start: [27, 15] +- goal: [5, 18] + name: agent41 + start: [13, 8] +- goal: [1, 29] + name: agent42 + start: [17, 14] +- goal: [10, 6] + name: agent43 + start: [27, 4] +- goal: [31, 17] + name: agent44 + start: [9, 26] +- goal: [3, 13] + name: agent45 + start: [4, 23] +- goal: [25, 16] + name: agent46 + start: [1, 28] +- goal: [28, 7] + name: agent47 + start: [28, 3] +- goal: [23, 17] + name: agent48 + start: [22, 0] +- goal: [22, 12] + name: agent49 + start: [6, 6] +- goal: [27, 5] + name: agent50 + start: [12, 14] +- goal: [3, 15] + name: agent51 + start: [18, 18] +- goal: [0, 23] + name: agent52 + start: [25, 23] +- goal: [6, 28] + name: agent53 + start: [12, 20] +- goal: [16, 10] + name: agent54 + start: [19, 18] +- goal: [29, 5] + name: agent55 + start: [25, 18] +- goal: [26, 2] + name: agent56 + start: [26, 11] +- goal: [0, 1] + name: agent57 + start: [15, 20] +- goal: [11, 22] + name: agent58 + start: [3, 21] +- goal: [21, 20] + name: agent59 + start: [18, 13] +- goal: [10, 22] + name: agent60 + start: [21, 15] +- goal: [11, 5] + name: agent61 + start: [10, 4] +- goal: [12, 11] + name: agent62 + start: [16, 21] +- goal: [23, 14] + name: agent63 + start: [8, 2] +- goal: [8, 23] + name: agent64 + start: [6, 18] +- goal: [8, 16] + name: agent65 + start: [14, 1] +- goal: [25, 5] + name: agent66 + start: [11, 18] +- goal: [16, 13] + name: agent67 + start: [9, 16] +- goal: [9, 21] + name: agent68 + start: [6, 28] +- goal: [5, 26] + name: agent69 + start: [7, 29] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [22, 14] + - !!python/tuple [29, 0] + - !!python/tuple [7, 22] + - !!python/tuple [24, 23] + - !!python/tuple [12, 27] + - !!python/tuple [8, 20] + - !!python/tuple [15, 16] + - !!python/tuple [16, 6] + - !!python/tuple [7, 19] + - !!python/tuple [29, 4] + - !!python/tuple [7, 0] + - !!python/tuple [20, 5] + - !!python/tuple [16, 29] + - !!python/tuple [4, 6] + - !!python/tuple [3, 10] + - !!python/tuple [6, 11] + - !!python/tuple [27, 2] + - !!python/tuple [20, 9] + - !!python/tuple [4, 20] + - !!python/tuple [20, 7] + - !!python/tuple [24, 5] + - !!python/tuple [25, 27] + - !!python/tuple [21, 22] + - !!python/tuple [25, 28] + - !!python/tuple [15, 19] + - !!python/tuple [9, 2] + - !!python/tuple [27, 7] + - !!python/tuple [8, 26] + - !!python/tuple [19, 16] + - !!python/tuple [22, 7] + - !!python/tuple [5, 23] + - !!python/tuple [20, 30] + - !!python/tuple [20, 24] + - !!python/tuple [9, 6] + - !!python/tuple [4, 16] + - !!python/tuple [25, 29] + - !!python/tuple [28, 6] + - !!python/tuple [11, 6] + - !!python/tuple [20, 20] + - !!python/tuple [31, 4] + - !!python/tuple [31, 6] + - !!python/tuple [8, 9] + - !!python/tuple [25, 21] + - !!python/tuple [1, 31] + - !!python/tuple [14, 30] + - !!python/tuple [27, 27] + - !!python/tuple [9, 10] + - !!python/tuple [26, 8] + - !!python/tuple [26, 16] + - !!python/tuple [24, 10] + - !!python/tuple [21, 0] + - !!python/tuple [16, 18] + - !!python/tuple [13, 23] + - !!python/tuple [10, 17] + - !!python/tuple [22, 2] + - !!python/tuple [19, 2] + - !!python/tuple [24, 9] + - !!python/tuple [28, 4] + - !!python/tuple [5, 13] + - !!python/tuple [5, 3] + - !!python/tuple [9, 4] + - !!python/tuple [21, 30] + - !!python/tuple [19, 20] + - !!python/tuple [22, 4] + - !!python/tuple [16, 1] + - !!python/tuple [11, 24] + - !!python/tuple [4, 15] + - !!python/tuple [19, 4] + - !!python/tuple [5, 8] + - !!python/tuple [17, 8] + - !!python/tuple [30, 20] + - !!python/tuple [23, 0] + - !!python/tuple [30, 1] + - !!python/tuple [15, 3] + - !!python/tuple [13, 10] + - !!python/tuple [14, 14] + - !!python/tuple [0, 10] + - !!python/tuple [18, 19] + - !!python/tuple [13, 25] + - !!python/tuple [17, 3] + - !!python/tuple [10, 12] + - !!python/tuple [2, 13] + - !!python/tuple [15, 22] + - !!python/tuple [12, 30] + - !!python/tuple [24, 19] + - !!python/tuple [21, 11] + - !!python/tuple [15, 21] + - !!python/tuple [17, 20] + - !!python/tuple [7, 26] + - !!python/tuple [29, 21] + - !!python/tuple [21, 29] + - !!python/tuple [24, 27] + - !!python/tuple [0, 24] + - !!python/tuple [4, 12] + - !!python/tuple [30, 27] + - !!python/tuple [11, 26] + - !!python/tuple [23, 12] + - !!python/tuple [10, 14] + - !!python/tuple [17, 27] + - !!python/tuple [21, 25] + - !!python/tuple [29, 11] + - !!python/tuple [13, 19] + - !!python/tuple [31, 25] + - !!python/tuple [6, 22] + - !!python/tuple [23, 29] + - !!python/tuple [7, 15] + - !!python/tuple [27, 22] + - !!python/tuple [4, 28] + - !!python/tuple [16, 5] + - !!python/tuple [31, 16] + - !!python/tuple [22, 10] + - !!python/tuple [31, 19] + - !!python/tuple [19, 0] + - !!python/tuple [15, 25] + - !!python/tuple [14, 15] + - !!python/tuple [27, 21] + - !!python/tuple [8, 17] + - !!python/tuple [27, 10] + - !!python/tuple [26, 13] + - !!python/tuple [11, 8] + - !!python/tuple [2, 7] + - !!python/tuple [26, 14] + - !!python/tuple [2, 3] + - !!python/tuple [3, 2] + - !!python/tuple [16, 16] + - !!python/tuple [13, 16] + - !!python/tuple [19, 10] + - !!python/tuple [30, 18] + - !!python/tuple [9, 14] + - !!python/tuple [14, 10] + - !!python/tuple [0, 25] + - !!python/tuple [6, 4] + - !!python/tuple [9, 7] + - !!python/tuple [31, 2] + - !!python/tuple [16, 31] + - !!python/tuple [2, 28] + - !!python/tuple [18, 7] + - !!python/tuple [13, 18] + - !!python/tuple [6, 0] + - !!python/tuple [30, 13] + - !!python/tuple [5, 11] + - !!python/tuple [27, 9] + - !!python/tuple [10, 26] + - !!python/tuple [24, 16] + - !!python/tuple [18, 28] + - !!python/tuple [18, 12] + - !!python/tuple [14, 16] + - !!python/tuple [2, 2] + - !!python/tuple [24, 18] + - !!python/tuple [19, 3] + - !!python/tuple [29, 24] + - !!python/tuple [25, 17] + - !!python/tuple [19, 15] + - !!python/tuple [20, 29] + - !!python/tuple [19, 17] + - !!python/tuple [31, 28] + - !!python/tuple [20, 18] + - !!python/tuple [31, 23] + - !!python/tuple [23, 5] + - !!python/tuple [17, 12] + - !!python/tuple [27, 12] + - !!python/tuple [4, 0] + - !!python/tuple [5, 1] + - !!python/tuple [3, 4] + - !!python/tuple [18, 4] + - !!python/tuple [13, 17] + - !!python/tuple [0, 4] + - !!python/tuple [12, 9] + - !!python/tuple [19, 5] + - !!python/tuple [8, 1] + - !!python/tuple [17, 15] + - !!python/tuple [30, 15] + - !!python/tuple [0, 5] + - !!python/tuple [30, 21] + - !!python/tuple [19, 12] + - !!python/tuple [17, 11] + - !!python/tuple [19, 13] + - !!python/tuple [28, 1] + - !!python/tuple [24, 12] + - !!python/tuple [27, 18] + - !!python/tuple [18, 30] + - !!python/tuple [25, 11] + - !!python/tuple [20, 27] + - !!python/tuple [7, 21] + - !!python/tuple [6, 7] + - !!python/tuple [9, 31] + - !!python/tuple [19, 1] + - !!python/tuple [19, 21] + - !!python/tuple [9, 30] + - !!python/tuple [31, 29] + - !!python/tuple [2, 27] + - !!python/tuple [26, 7] + - !!python/tuple [22, 18] + - !!python/tuple [27, 6] + - !!python/tuple [22, 11] + - !!python/tuple [18, 16] + - !!python/tuple [11, 9] + - !!python/tuple [15, 28] + - !!python/tuple [20, 25] + - !!python/tuple [21, 18] + - !!python/tuple [10, 29] + - !!python/tuple [11, 20] + - !!python/tuple [12, 28] + - !!python/tuple [26, 6] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex91.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex91.yaml new file mode 100644 index 0000000..f4b9945 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex91.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [13, 5] + name: agent0 + start: [24, 21] +- goal: [5, 9] + name: agent1 + start: [0, 9] +- goal: [29, 14] + name: agent2 + start: [19, 25] +- goal: [6, 7] + name: agent3 + start: [17, 8] +- goal: [2, 29] + name: agent4 + start: [5, 19] +- goal: [12, 29] + name: agent5 + start: [29, 5] +- goal: [21, 1] + name: agent6 + start: [24, 8] +- goal: [16, 19] + name: agent7 + start: [16, 16] +- goal: [28, 29] + name: agent8 + start: [11, 31] +- goal: [8, 27] + name: agent9 + start: [24, 6] +- goal: [4, 2] + name: agent10 + start: [20, 6] +- goal: [18, 0] + name: agent11 + start: [20, 15] +- goal: [28, 7] + name: agent12 + start: [28, 2] +- goal: [10, 29] + name: agent13 + start: [30, 6] +- goal: [9, 17] + name: agent14 + start: [23, 9] +- goal: [12, 13] + name: agent15 + start: [12, 8] +- goal: [31, 19] + name: agent16 + start: [21, 6] +- goal: [12, 5] + name: agent17 + start: [1, 24] +- goal: [19, 17] + name: agent18 + start: [25, 2] +- goal: [22, 10] + name: agent19 + start: [29, 21] +- goal: [25, 2] + name: agent20 + start: [23, 26] +- goal: [6, 1] + name: agent21 + start: [25, 10] +- goal: [22, 0] + name: agent22 + start: [30, 11] +- goal: [27, 15] + name: agent23 + start: [15, 14] +- goal: [26, 13] + name: agent24 + start: [7, 5] +- goal: [11, 15] + name: agent25 + start: [16, 20] +- goal: [9, 2] + name: agent26 + start: [5, 22] +- goal: [1, 9] + name: agent27 + start: [30, 12] +- goal: [11, 10] + name: agent28 + start: [15, 24] +- goal: [0, 24] + name: agent29 + start: [12, 31] +- goal: [19, 20] + name: agent30 + start: [9, 24] +- goal: [17, 23] + name: agent31 + start: [22, 12] +- goal: [10, 15] + name: agent32 + start: [11, 22] +- goal: [18, 8] + name: agent33 + start: [18, 2] +- goal: [24, 12] + name: agent34 + start: [29, 2] +- goal: [8, 30] + name: agent35 + start: [7, 16] +- goal: [17, 25] + name: agent36 + start: [28, 20] +- goal: [23, 26] + name: agent37 + start: [3, 5] +- goal: [14, 19] + name: agent38 + start: [5, 26] +- goal: [20, 28] + name: agent39 + start: [3, 31] +- goal: [29, 31] + name: agent40 + start: [0, 21] +- goal: [19, 14] + name: agent41 + start: [0, 19] +- goal: [11, 8] + name: agent42 + start: [13, 29] +- goal: [16, 9] + name: agent43 + start: [16, 27] +- goal: [3, 13] + name: agent44 + start: [30, 19] +- goal: [3, 5] + name: agent45 + start: [26, 7] +- goal: [20, 6] + name: agent46 + start: [6, 6] +- goal: [15, 13] + name: agent47 + start: [30, 16] +- goal: [30, 13] + name: agent48 + start: [4, 3] +- goal: [20, 29] + name: agent49 + start: [27, 26] +- goal: [5, 13] + name: agent50 + start: [13, 31] +- goal: [21, 2] + name: agent51 + start: [8, 23] +- goal: [22, 12] + name: agent52 + start: [29, 4] +- goal: [5, 18] + name: agent53 + start: [12, 19] +- goal: [14, 18] + name: agent54 + start: [25, 16] +- goal: [26, 22] + name: agent55 + start: [2, 18] +- goal: [17, 30] + name: agent56 + start: [7, 21] +- goal: [30, 18] + name: agent57 + start: [1, 5] +- goal: [31, 18] + name: agent58 + start: [10, 2] +- goal: [3, 28] + name: agent59 + start: [1, 7] +- goal: [25, 28] + name: agent60 + start: [14, 5] +- goal: [14, 15] + name: agent61 + start: [29, 24] +- goal: [4, 18] + name: agent62 + start: [4, 0] +- goal: [25, 19] + name: agent63 + start: [3, 4] +- goal: [5, 6] + name: agent64 + start: [24, 17] +- goal: [2, 18] + name: agent65 + start: [9, 20] +- goal: [4, 5] + name: agent66 + start: [29, 26] +- goal: [28, 12] + name: agent67 + start: [8, 18] +- goal: [25, 4] + name: agent68 + start: [11, 6] +- goal: [3, 11] + name: agent69 + start: [0, 14] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [26, 11] + - !!python/tuple [7, 26] + - !!python/tuple [0, 16] + - !!python/tuple [15, 16] + - !!python/tuple [31, 0] + - !!python/tuple [10, 9] + - !!python/tuple [0, 23] + - !!python/tuple [20, 12] + - !!python/tuple [21, 31] + - !!python/tuple [29, 20] + - !!python/tuple [14, 0] + - !!python/tuple [10, 31] + - !!python/tuple [29, 27] + - !!python/tuple [18, 20] + - !!python/tuple [31, 16] + - !!python/tuple [20, 5] + - !!python/tuple [24, 20] + - !!python/tuple [7, 23] + - !!python/tuple [18, 30] + - !!python/tuple [10, 22] + - !!python/tuple [21, 23] + - !!python/tuple [12, 17] + - !!python/tuple [15, 26] + - !!python/tuple [21, 27] + - !!python/tuple [24, 2] + - !!python/tuple [17, 14] + - !!python/tuple [25, 0] + - !!python/tuple [12, 4] + - !!python/tuple [14, 11] + - !!python/tuple [27, 8] + - !!python/tuple [6, 31] + - !!python/tuple [27, 13] + - !!python/tuple [24, 5] + - !!python/tuple [18, 5] + - !!python/tuple [9, 22] + - !!python/tuple [14, 27] + - !!python/tuple [6, 4] + - !!python/tuple [16, 8] + - !!python/tuple [29, 25] + - !!python/tuple [0, 20] + - !!python/tuple [30, 14] + - !!python/tuple [15, 21] + - !!python/tuple [5, 29] + - !!python/tuple [29, 10] + - !!python/tuple [10, 18] + - !!python/tuple [10, 23] + - !!python/tuple [21, 10] + - !!python/tuple [16, 28] + - !!python/tuple [22, 22] + - !!python/tuple [4, 7] + - !!python/tuple [2, 8] + - !!python/tuple [27, 19] + - !!python/tuple [23, 1] + - !!python/tuple [8, 19] + - !!python/tuple [19, 3] + - !!python/tuple [27, 27] + - !!python/tuple [24, 10] + - !!python/tuple [13, 15] + - !!python/tuple [5, 30] + - !!python/tuple [0, 10] + - !!python/tuple [17, 13] + - !!python/tuple [23, 18] + - !!python/tuple [1, 12] + - !!python/tuple [24, 3] + - !!python/tuple [12, 16] + - !!python/tuple [2, 14] + - !!python/tuple [14, 26] + - !!python/tuple [7, 12] + - !!python/tuple [17, 5] + - !!python/tuple [5, 24] + - !!python/tuple [20, 4] + - !!python/tuple [18, 21] + - !!python/tuple [6, 30] + - !!python/tuple [13, 14] + - !!python/tuple [31, 7] + - !!python/tuple [11, 25] + - !!python/tuple [31, 21] + - !!python/tuple [5, 23] + - !!python/tuple [24, 18] + - !!python/tuple [14, 9] + - !!python/tuple [23, 15] + - !!python/tuple [29, 23] + - !!python/tuple [10, 19] + - !!python/tuple [1, 27] + - !!python/tuple [8, 26] + - !!python/tuple [14, 25] + - !!python/tuple [20, 26] + - !!python/tuple [21, 15] + - !!python/tuple [22, 14] + - !!python/tuple [10, 14] + - !!python/tuple [22, 30] + - !!python/tuple [6, 15] + - !!python/tuple [15, 2] + - !!python/tuple [22, 27] + - !!python/tuple [15, 30] + - !!python/tuple [1, 16] + - !!python/tuple [31, 22] + - !!python/tuple [7, 10] + - !!python/tuple [26, 6] + - !!python/tuple [18, 12] + - !!python/tuple [30, 10] + - !!python/tuple [2, 28] + - !!python/tuple [29, 29] + - !!python/tuple [10, 16] + - !!python/tuple [17, 17] + - !!python/tuple [9, 5] + - !!python/tuple [10, 11] + - !!python/tuple [3, 10] + - !!python/tuple [15, 19] + - !!python/tuple [24, 29] + - !!python/tuple [16, 21] + - !!python/tuple [8, 17] + - !!python/tuple [7, 15] + - !!python/tuple [26, 26] + - !!python/tuple [11, 26] + - !!python/tuple [15, 15] + - !!python/tuple [16, 2] + - !!python/tuple [2, 25] + - !!python/tuple [0, 22] + - !!python/tuple [23, 5] + - !!python/tuple [13, 16] + - !!python/tuple [26, 25] + - !!python/tuple [2, 27] + - !!python/tuple [23, 16] + - !!python/tuple [29, 7] + - !!python/tuple [23, 31] + - !!python/tuple [18, 29] + - !!python/tuple [10, 30] + - !!python/tuple [12, 20] + - !!python/tuple [22, 18] + - !!python/tuple [16, 26] + - !!python/tuple [18, 16] + - !!python/tuple [27, 16] + - !!python/tuple [29, 28] + - !!python/tuple [8, 13] + - !!python/tuple [0, 30] + - !!python/tuple [26, 29] + - !!python/tuple [21, 7] + - !!python/tuple [17, 10] + - !!python/tuple [13, 26] + - !!python/tuple [25, 27] + - !!python/tuple [15, 17] + - !!python/tuple [22, 23] + - !!python/tuple [18, 26] + - !!python/tuple [5, 31] + - !!python/tuple [2, 3] + - !!python/tuple [10, 20] + - !!python/tuple [19, 13] + - !!python/tuple [17, 16] + - !!python/tuple [7, 24] + - !!python/tuple [8, 24] + - !!python/tuple [26, 2] + - !!python/tuple [24, 7] + - !!python/tuple [6, 24] + - !!python/tuple [27, 12] + - !!python/tuple [31, 17] + - !!python/tuple [17, 22] + - !!python/tuple [22, 31] + - !!python/tuple [22, 24] + - !!python/tuple [7, 2] + - !!python/tuple [0, 28] + - !!python/tuple [20, 31] + - !!python/tuple [17, 0] + - !!python/tuple [20, 19] + - !!python/tuple [12, 15] + - !!python/tuple [7, 1] + - !!python/tuple [13, 30] + - !!python/tuple [16, 0] + - !!python/tuple [6, 10] + - !!python/tuple [2, 19] + - !!python/tuple [30, 8] + - !!python/tuple [2, 7] + - !!python/tuple [31, 4] + - !!python/tuple [21, 3] + - !!python/tuple [0, 7] + - !!python/tuple [31, 1] + - !!python/tuple [23, 7] + - !!python/tuple [22, 15] + - !!python/tuple [16, 18] + - !!python/tuple [28, 1] + - !!python/tuple [11, 0] + - !!python/tuple [19, 16] + - !!python/tuple [11, 4] + - !!python/tuple [3, 17] + - !!python/tuple [23, 21] + - !!python/tuple [31, 28] + - !!python/tuple [16, 25] + - !!python/tuple [21, 30] + - !!python/tuple [13, 27] + - !!python/tuple [5, 20] + - !!python/tuple [4, 1] + - !!python/tuple [23, 11] + - !!python/tuple [26, 23] + - !!python/tuple [30, 4] + - !!python/tuple [25, 14] + - !!python/tuple [23, 29] + - !!python/tuple [9, 15] + - !!python/tuple [18, 1] + - !!python/tuple [30, 9] + - !!python/tuple [8, 4] + - !!python/tuple [18, 18] + - !!python/tuple [26, 18] + - !!python/tuple [18, 14] + - !!python/tuple [23, 28] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex92.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex92.yaml new file mode 100644 index 0000000..6fae4a1 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex92.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [16, 26] + name: agent0 + start: [11, 18] +- goal: [25, 25] + name: agent1 + start: [10, 2] +- goal: [22, 2] + name: agent2 + start: [14, 17] +- goal: [12, 20] + name: agent3 + start: [27, 2] +- goal: [1, 0] + name: agent4 + start: [26, 0] +- goal: [22, 20] + name: agent5 + start: [16, 7] +- goal: [26, 30] + name: agent6 + start: [15, 22] +- goal: [8, 18] + name: agent7 + start: [17, 27] +- goal: [29, 15] + name: agent8 + start: [24, 12] +- goal: [10, 31] + name: agent9 + start: [0, 1] +- goal: [20, 0] + name: agent10 + start: [7, 10] +- goal: [7, 9] + name: agent11 + start: [2, 16] +- goal: [31, 0] + name: agent12 + start: [11, 17] +- goal: [21, 5] + name: agent13 + start: [17, 18] +- goal: [9, 18] + name: agent14 + start: [17, 15] +- goal: [5, 3] + name: agent15 + start: [14, 29] +- goal: [20, 4] + name: agent16 + start: [17, 5] +- goal: [28, 11] + name: agent17 + start: [2, 19] +- goal: [12, 15] + name: agent18 + start: [14, 11] +- goal: [30, 16] + name: agent19 + start: [24, 18] +- goal: [5, 19] + name: agent20 + start: [5, 3] +- goal: [5, 23] + name: agent21 + start: [15, 5] +- goal: [15, 23] + name: agent22 + start: [2, 1] +- goal: [19, 23] + name: agent23 + start: [2, 3] +- goal: [15, 26] + name: agent24 + start: [27, 8] +- goal: [9, 4] + name: agent25 + start: [4, 20] +- goal: [17, 0] + name: agent26 + start: [19, 14] +- goal: [26, 18] + name: agent27 + start: [27, 10] +- goal: [25, 15] + name: agent28 + start: [11, 31] +- goal: [19, 16] + name: agent29 + start: [6, 10] +- goal: [23, 1] + name: agent30 + start: [12, 30] +- goal: [22, 30] + name: agent31 + start: [5, 18] +- goal: [5, 6] + name: agent32 + start: [14, 22] +- goal: [11, 31] + name: agent33 + start: [3, 26] +- goal: [26, 29] + name: agent34 + start: [3, 9] +- goal: [17, 6] + name: agent35 + start: [22, 23] +- goal: [2, 29] + name: agent36 + start: [20, 14] +- goal: [28, 15] + name: agent37 + start: [23, 14] +- goal: [17, 1] + name: agent38 + start: [4, 19] +- goal: [7, 3] + name: agent39 + start: [14, 26] +- goal: [22, 10] + name: agent40 + start: [11, 1] +- goal: [9, 13] + name: agent41 + start: [30, 24] +- goal: [4, 23] + name: agent42 + start: [30, 18] +- goal: [1, 20] + name: agent43 + start: [9, 6] +- goal: [30, 0] + name: agent44 + start: [8, 13] +- goal: [14, 18] + name: agent45 + start: [8, 4] +- goal: [6, 13] + name: agent46 + start: [10, 23] +- goal: [14, 20] + name: agent47 + start: [29, 13] +- goal: [23, 30] + name: agent48 + start: [29, 19] +- goal: [13, 27] + name: agent49 + start: [28, 14] +- goal: [4, 25] + name: agent50 + start: [19, 3] +- goal: [20, 30] + name: agent51 + start: [0, 20] +- goal: [12, 2] + name: agent52 + start: [16, 14] +- goal: [16, 14] + name: agent53 + start: [15, 19] +- goal: [30, 22] + name: agent54 + start: [19, 5] +- goal: [18, 1] + name: agent55 + start: [11, 24] +- goal: [1, 5] + name: agent56 + start: [11, 29] +- goal: [11, 22] + name: agent57 + start: [17, 30] +- goal: [29, 12] + name: agent58 + start: [1, 19] +- goal: [31, 7] + name: agent59 + start: [23, 31] +- goal: [31, 10] + name: agent60 + start: [7, 11] +- goal: [10, 7] + name: agent61 + start: [20, 29] +- goal: [25, 8] + name: agent62 + start: [10, 7] +- goal: [7, 26] + name: agent63 + start: [18, 2] +- goal: [23, 5] + name: agent64 + start: [28, 24] +- goal: [24, 30] + name: agent65 + start: [10, 24] +- goal: [29, 4] + name: agent66 + start: [9, 25] +- goal: [29, 18] + name: agent67 + start: [2, 24] +- goal: [0, 11] + name: agent68 + start: [10, 12] +- goal: [8, 1] + name: agent69 + start: [6, 8] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [15, 29] + - !!python/tuple [16, 16] + - !!python/tuple [19, 7] + - !!python/tuple [4, 4] + - !!python/tuple [10, 14] + - !!python/tuple [0, 21] + - !!python/tuple [4, 28] + - !!python/tuple [3, 22] + - !!python/tuple [10, 8] + - !!python/tuple [12, 24] + - !!python/tuple [3, 17] + - !!python/tuple [9, 28] + - !!python/tuple [23, 27] + - !!python/tuple [19, 22] + - !!python/tuple [23, 15] + - !!python/tuple [1, 7] + - !!python/tuple [23, 2] + - !!python/tuple [4, 0] + - !!python/tuple [15, 3] + - !!python/tuple [22, 9] + - !!python/tuple [16, 4] + - !!python/tuple [29, 29] + - !!python/tuple [23, 26] + - !!python/tuple [24, 22] + - !!python/tuple [17, 22] + - !!python/tuple [21, 27] + - !!python/tuple [2, 20] + - !!python/tuple [25, 23] + - !!python/tuple [8, 3] + - !!python/tuple [1, 26] + - !!python/tuple [1, 12] + - !!python/tuple [25, 22] + - !!python/tuple [3, 14] + - !!python/tuple [15, 18] + - !!python/tuple [27, 24] + - !!python/tuple [13, 21] + - !!python/tuple [6, 6] + - !!python/tuple [4, 17] + - !!python/tuple [6, 31] + - !!python/tuple [22, 0] + - !!python/tuple [0, 19] + - !!python/tuple [11, 9] + - !!python/tuple [6, 21] + - !!python/tuple [15, 17] + - !!python/tuple [8, 8] + - !!python/tuple [4, 29] + - !!python/tuple [25, 16] + - !!python/tuple [17, 7] + - !!python/tuple [20, 23] + - !!python/tuple [9, 29] + - !!python/tuple [30, 14] + - !!python/tuple [4, 13] + - !!python/tuple [19, 12] + - !!python/tuple [3, 15] + - !!python/tuple [2, 0] + - !!python/tuple [25, 30] + - !!python/tuple [16, 3] + - !!python/tuple [4, 12] + - !!python/tuple [10, 9] + - !!python/tuple [2, 11] + - !!python/tuple [30, 11] + - !!python/tuple [25, 20] + - !!python/tuple [16, 24] + - !!python/tuple [20, 16] + - !!python/tuple [9, 31] + - !!python/tuple [22, 12] + - !!python/tuple [28, 31] + - !!python/tuple [5, 16] + - !!python/tuple [0, 16] + - !!python/tuple [16, 19] + - !!python/tuple [26, 23] + - !!python/tuple [31, 18] + - !!python/tuple [7, 14] + - !!python/tuple [22, 16] + - !!python/tuple [7, 15] + - !!python/tuple [23, 9] + - !!python/tuple [0, 0] + - !!python/tuple [25, 21] + - !!python/tuple [22, 1] + - !!python/tuple [13, 31] + - !!python/tuple [28, 0] + - !!python/tuple [29, 8] + - !!python/tuple [27, 9] + - !!python/tuple [20, 10] + - !!python/tuple [10, 15] + - !!python/tuple [25, 1] + - !!python/tuple [27, 17] + - !!python/tuple [1, 9] + - !!python/tuple [20, 6] + - !!python/tuple [21, 29] + - !!python/tuple [3, 3] + - !!python/tuple [1, 10] + - !!python/tuple [19, 15] + - !!python/tuple [6, 18] + - !!python/tuple [18, 15] + - !!python/tuple [21, 8] + - !!python/tuple [12, 27] + - !!python/tuple [14, 9] + - !!python/tuple [19, 18] + - !!python/tuple [0, 4] + - !!python/tuple [12, 9] + - !!python/tuple [8, 22] + - !!python/tuple [25, 24] + - !!python/tuple [11, 4] + - !!python/tuple [19, 2] + - !!python/tuple [17, 11] + - !!python/tuple [3, 23] + - !!python/tuple [5, 21] + - !!python/tuple [19, 8] + - !!python/tuple [26, 10] + - !!python/tuple [21, 17] + - !!python/tuple [0, 26] + - !!python/tuple [11, 15] + - !!python/tuple [30, 13] + - !!python/tuple [6, 20] + - !!python/tuple [1, 24] + - !!python/tuple [2, 21] + - !!python/tuple [7, 5] + - !!python/tuple [29, 30] + - !!python/tuple [22, 18] + - !!python/tuple [31, 16] + - !!python/tuple [11, 7] + - !!python/tuple [24, 8] + - !!python/tuple [24, 25] + - !!python/tuple [14, 25] + - !!python/tuple [10, 13] + - !!python/tuple [16, 8] + - !!python/tuple [19, 29] + - !!python/tuple [7, 16] + - !!python/tuple [6, 28] + - !!python/tuple [25, 7] + - !!python/tuple [16, 21] + - !!python/tuple [4, 22] + - !!python/tuple [18, 10] + - !!python/tuple [20, 26] + - !!python/tuple [31, 28] + - !!python/tuple [29, 31] + - !!python/tuple [0, 6] + - !!python/tuple [18, 9] + - !!python/tuple [20, 24] + - !!python/tuple [2, 14] + - !!python/tuple [22, 14] + - !!python/tuple [25, 17] + - !!python/tuple [12, 14] + - !!python/tuple [30, 20] + - !!python/tuple [7, 8] + - !!python/tuple [14, 0] + - !!python/tuple [2, 15] + - !!python/tuple [27, 1] + - !!python/tuple [2, 30] + - !!python/tuple [5, 14] + - !!python/tuple [3, 24] + - !!python/tuple [21, 25] + - !!python/tuple [31, 13] + - !!python/tuple [14, 5] + - !!python/tuple [1, 16] + - !!python/tuple [15, 21] + - !!python/tuple [3, 2] + - !!python/tuple [13, 28] + - !!python/tuple [12, 13] + - !!python/tuple [23, 11] + - !!python/tuple [9, 15] + - !!python/tuple [18, 0] + - !!python/tuple [24, 0] + - !!python/tuple [12, 0] + - !!python/tuple [23, 16] + - !!python/tuple [1, 30] + - !!python/tuple [22, 11] + - !!python/tuple [1, 28] + - !!python/tuple [7, 23] + - !!python/tuple [0, 3] + - !!python/tuple [21, 19] + - !!python/tuple [19, 28] + - !!python/tuple [26, 20] + - !!python/tuple [27, 28] + - !!python/tuple [19, 31] + - !!python/tuple [30, 7] + - !!python/tuple [0, 22] + - !!python/tuple [26, 14] + - !!python/tuple [5, 0] + - !!python/tuple [24, 27] + - !!python/tuple [0, 2] + - !!python/tuple [17, 31] + - !!python/tuple [27, 5] + - !!python/tuple [22, 22] + - !!python/tuple [16, 12] + - !!python/tuple [17, 17] + - !!python/tuple [2, 27] + - !!python/tuple [2, 12] + - !!python/tuple [9, 21] + - !!python/tuple [25, 26] + - !!python/tuple [28, 16] + - !!python/tuple [18, 27] + - !!python/tuple [19, 20] + - !!python/tuple [27, 18] + - !!python/tuple [4, 10] + - !!python/tuple [30, 1] + - !!python/tuple [19, 26] + - !!python/tuple [6, 2] + - !!python/tuple [2, 26] + - !!python/tuple [27, 13] + - !!python/tuple [28, 18] + - !!python/tuple [12, 26] + - !!python/tuple [29, 24] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex93.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex93.yaml new file mode 100644 index 0000000..d40360c --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex93.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [4, 13] + name: agent0 + start: [0, 9] +- goal: [8, 6] + name: agent1 + start: [8, 26] +- goal: [5, 27] + name: agent2 + start: [1, 26] +- goal: [1, 7] + name: agent3 + start: [9, 1] +- goal: [29, 8] + name: agent4 + start: [8, 8] +- goal: [25, 27] + name: agent5 + start: [13, 20] +- goal: [17, 27] + name: agent6 + start: [21, 30] +- goal: [29, 17] + name: agent7 + start: [12, 31] +- goal: [25, 21] + name: agent8 + start: [13, 22] +- goal: [28, 27] + name: agent9 + start: [31, 28] +- goal: [29, 23] + name: agent10 + start: [23, 21] +- goal: [22, 1] + name: agent11 + start: [4, 19] +- goal: [18, 8] + name: agent12 + start: [6, 26] +- goal: [2, 23] + name: agent13 + start: [27, 23] +- goal: [8, 3] + name: agent14 + start: [13, 24] +- goal: [13, 30] + name: agent15 + start: [12, 8] +- goal: [31, 11] + name: agent16 + start: [7, 26] +- goal: [23, 18] + name: agent17 + start: [6, 23] +- goal: [27, 24] + name: agent18 + start: [6, 9] +- goal: [28, 19] + name: agent19 + start: [3, 1] +- goal: [14, 29] + name: agent20 + start: [5, 23] +- goal: [2, 15] + name: agent21 + start: [11, 31] +- goal: [3, 20] + name: agent22 + start: [15, 18] +- goal: [7, 5] + name: agent23 + start: [18, 8] +- goal: [23, 7] + name: agent24 + start: [11, 27] +- goal: [7, 23] + name: agent25 + start: [15, 3] +- goal: [9, 24] + name: agent26 + start: [21, 11] +- goal: [16, 21] + name: agent27 + start: [5, 14] +- goal: [28, 11] + name: agent28 + start: [9, 9] +- goal: [14, 6] + name: agent29 + start: [23, 18] +- goal: [19, 6] + name: agent30 + start: [1, 21] +- goal: [8, 25] + name: agent31 + start: [16, 10] +- goal: [3, 0] + name: agent32 + start: [12, 5] +- goal: [3, 17] + name: agent33 + start: [28, 13] +- goal: [19, 1] + name: agent34 + start: [23, 26] +- goal: [30, 12] + name: agent35 + start: [8, 15] +- goal: [3, 2] + name: agent36 + start: [1, 8] +- goal: [3, 26] + name: agent37 + start: [11, 8] +- goal: [7, 24] + name: agent38 + start: [11, 24] +- goal: [22, 3] + name: agent39 + start: [5, 11] +- goal: [3, 3] + name: agent40 + start: [27, 24] +- goal: [21, 21] + name: agent41 + start: [19, 6] +- goal: [14, 5] + name: agent42 + start: [4, 18] +- goal: [24, 2] + name: agent43 + start: [21, 9] +- goal: [3, 15] + name: agent44 + start: [19, 8] +- goal: [29, 20] + name: agent45 + start: [9, 27] +- goal: [9, 13] + name: agent46 + start: [0, 30] +- goal: [19, 0] + name: agent47 + start: [15, 9] +- goal: [22, 25] + name: agent48 + start: [22, 27] +- goal: [22, 16] + name: agent49 + start: [3, 30] +- goal: [22, 27] + name: agent50 + start: [6, 4] +- goal: [2, 9] + name: agent51 + start: [2, 10] +- goal: [26, 19] + name: agent52 + start: [28, 16] +- goal: [16, 13] + name: agent53 + start: [24, 16] +- goal: [31, 10] + name: agent54 + start: [21, 28] +- goal: [14, 25] + name: agent55 + start: [25, 5] +- goal: [16, 20] + name: agent56 + start: [10, 23] +- goal: [6, 10] + name: agent57 + start: [26, 19] +- goal: [31, 16] + name: agent58 + start: [12, 7] +- goal: [17, 28] + name: agent59 + start: [9, 30] +- goal: [15, 11] + name: agent60 + start: [16, 4] +- goal: [0, 24] + name: agent61 + start: [7, 21] +- goal: [31, 25] + name: agent62 + start: [0, 20] +- goal: [2, 22] + name: agent63 + start: [11, 9] +- goal: [14, 26] + name: agent64 + start: [13, 10] +- goal: [30, 15] + name: agent65 + start: [13, 27] +- goal: [15, 24] + name: agent66 + start: [16, 0] +- goal: [13, 27] + name: agent67 + start: [7, 11] +- goal: [4, 17] + name: agent68 + start: [30, 13] +- goal: [7, 10] + name: agent69 + start: [4, 23] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [0, 8] + - !!python/tuple [16, 16] + - !!python/tuple [22, 17] + - !!python/tuple [31, 1] + - !!python/tuple [30, 9] + - !!python/tuple [25, 29] + - !!python/tuple [0, 4] + - !!python/tuple [15, 21] + - !!python/tuple [11, 4] + - !!python/tuple [11, 11] + - !!python/tuple [28, 17] + - !!python/tuple [13, 21] + - !!python/tuple [21, 15] + - !!python/tuple [0, 22] + - !!python/tuple [24, 27] + - !!python/tuple [22, 20] + - !!python/tuple [11, 25] + - !!python/tuple [2, 29] + - !!python/tuple [10, 12] + - !!python/tuple [29, 10] + - !!python/tuple [6, 25] + - !!python/tuple [16, 24] + - !!python/tuple [28, 12] + - !!python/tuple [19, 13] + - !!python/tuple [5, 18] + - !!python/tuple [17, 6] + - !!python/tuple [27, 28] + - !!python/tuple [1, 22] + - !!python/tuple [13, 25] + - !!python/tuple [20, 26] + - !!python/tuple [17, 26] + - !!python/tuple [2, 16] + - !!python/tuple [4, 1] + - !!python/tuple [16, 22] + - !!python/tuple [1, 3] + - !!python/tuple [29, 12] + - !!python/tuple [8, 19] + - !!python/tuple [12, 0] + - !!python/tuple [8, 10] + - !!python/tuple [5, 5] + - !!python/tuple [15, 19] + - !!python/tuple [12, 12] + - !!python/tuple [22, 9] + - !!python/tuple [22, 14] + - !!python/tuple [27, 10] + - !!python/tuple [11, 7] + - !!python/tuple [9, 10] + - !!python/tuple [4, 10] + - !!python/tuple [20, 25] + - !!python/tuple [18, 26] + - !!python/tuple [27, 8] + - !!python/tuple [31, 15] + - !!python/tuple [17, 21] + - !!python/tuple [31, 20] + - !!python/tuple [28, 23] + - !!python/tuple [27, 29] + - !!python/tuple [23, 5] + - !!python/tuple [25, 9] + - !!python/tuple [13, 19] + - !!python/tuple [1, 17] + - !!python/tuple [16, 29] + - !!python/tuple [20, 3] + - !!python/tuple [23, 24] + - !!python/tuple [11, 22] + - !!python/tuple [2, 12] + - !!python/tuple [1, 2] + - !!python/tuple [3, 8] + - !!python/tuple [0, 18] + - !!python/tuple [8, 13] + - !!python/tuple [22, 8] + - !!python/tuple [27, 14] + - !!python/tuple [25, 12] + - !!python/tuple [7, 18] + - !!python/tuple [9, 0] + - !!python/tuple [15, 1] + - !!python/tuple [31, 4] + - !!python/tuple [25, 8] + - !!python/tuple [18, 27] + - !!python/tuple [10, 0] + - !!python/tuple [28, 31] + - !!python/tuple [15, 29] + - !!python/tuple [14, 28] + - !!python/tuple [30, 24] + - !!python/tuple [18, 18] + - !!python/tuple [10, 31] + - !!python/tuple [2, 28] + - !!python/tuple [18, 19] + - !!python/tuple [19, 3] + - !!python/tuple [29, 26] + - !!python/tuple [24, 15] + - !!python/tuple [1, 1] + - !!python/tuple [10, 16] + - !!python/tuple [6, 28] + - !!python/tuple [25, 6] + - !!python/tuple [19, 9] + - !!python/tuple [10, 14] + - !!python/tuple [23, 10] + - !!python/tuple [20, 14] + - !!python/tuple [26, 29] + - !!python/tuple [24, 30] + - !!python/tuple [31, 30] + - !!python/tuple [14, 30] + - !!python/tuple [31, 24] + - !!python/tuple [25, 2] + - !!python/tuple [18, 0] + - !!python/tuple [22, 12] + - !!python/tuple [30, 30] + - !!python/tuple [31, 0] + - !!python/tuple [24, 31] + - !!python/tuple [22, 31] + - !!python/tuple [10, 13] + - !!python/tuple [16, 11] + - !!python/tuple [0, 26] + - !!python/tuple [12, 16] + - !!python/tuple [23, 22] + - !!python/tuple [5, 26] + - !!python/tuple [13, 15] + - !!python/tuple [8, 28] + - !!python/tuple [0, 23] + - !!python/tuple [5, 6] + - !!python/tuple [20, 2] + - !!python/tuple [14, 9] + - !!python/tuple [0, 2] + - !!python/tuple [16, 14] + - !!python/tuple [6, 6] + - !!python/tuple [28, 30] + - !!python/tuple [26, 11] + - !!python/tuple [12, 19] + - !!python/tuple [5, 9] + - !!python/tuple [20, 13] + - !!python/tuple [23, 13] + - !!python/tuple [30, 29] + - !!python/tuple [14, 8] + - !!python/tuple [25, 7] + - !!python/tuple [31, 2] + - !!python/tuple [9, 7] + - !!python/tuple [18, 7] + - !!python/tuple [29, 30] + - !!python/tuple [19, 5] + - !!python/tuple [27, 1] + - !!python/tuple [30, 11] + - !!python/tuple [25, 23] + - !!python/tuple [0, 28] + - !!python/tuple [3, 29] + - !!python/tuple [9, 6] + - !!python/tuple [1, 14] + - !!python/tuple [2, 14] + - !!python/tuple [29, 24] + - !!python/tuple [0, 19] + - !!python/tuple [16, 25] + - !!python/tuple [14, 18] + - !!python/tuple [20, 30] + - !!python/tuple [19, 11] + - !!python/tuple [0, 10] + - !!python/tuple [22, 23] + - !!python/tuple [5, 10] + - !!python/tuple [0, 14] + - !!python/tuple [22, 13] + - !!python/tuple [23, 17] + - !!python/tuple [3, 9] + - !!python/tuple [5, 28] + - !!python/tuple [12, 3] + - !!python/tuple [21, 22] + - !!python/tuple [21, 0] + - !!python/tuple [17, 24] + - !!python/tuple [12, 4] + - !!python/tuple [19, 26] + - !!python/tuple [21, 20] + - !!python/tuple [31, 14] + - !!python/tuple [1, 16] + - !!python/tuple [31, 5] + - !!python/tuple [12, 6] + - !!python/tuple [9, 14] + - !!python/tuple [11, 18] + - !!python/tuple [21, 24] + - !!python/tuple [24, 23] + - !!python/tuple [5, 8] + - !!python/tuple [16, 5] + - !!python/tuple [9, 3] + - !!python/tuple [8, 11] + - !!python/tuple [6, 15] + - !!python/tuple [30, 5] + - !!python/tuple [1, 15] + - !!python/tuple [9, 2] + - !!python/tuple [6, 21] + - !!python/tuple [3, 11] + - !!python/tuple [7, 16] + - !!python/tuple [31, 27] + - !!python/tuple [15, 14] + - !!python/tuple [5, 24] + - !!python/tuple [29, 4] + - !!python/tuple [14, 17] + - !!python/tuple [4, 12] + - !!python/tuple [22, 2] + - !!python/tuple [26, 4] + - !!python/tuple [0, 11] + - !!python/tuple [30, 8] + - !!python/tuple [23, 0] + - !!python/tuple [12, 25] + - !!python/tuple [17, 25] + - !!python/tuple [8, 4] + - !!python/tuple [2, 3] + - !!python/tuple [4, 8] + - !!python/tuple [21, 2] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex94.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex94.yaml new file mode 100644 index 0000000..c035632 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex94.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [24, 2] + name: agent0 + start: [8, 29] +- goal: [31, 19] + name: agent1 + start: [17, 11] +- goal: [2, 5] + name: agent2 + start: [27, 27] +- goal: [11, 16] + name: agent3 + start: [0, 28] +- goal: [5, 8] + name: agent4 + start: [24, 9] +- goal: [9, 3] + name: agent5 + start: [23, 26] +- goal: [17, 15] + name: agent6 + start: [8, 13] +- goal: [26, 26] + name: agent7 + start: [6, 20] +- goal: [27, 14] + name: agent8 + start: [16, 26] +- goal: [1, 19] + name: agent9 + start: [13, 26] +- goal: [15, 18] + name: agent10 + start: [5, 30] +- goal: [7, 25] + name: agent11 + start: [14, 5] +- goal: [7, 10] + name: agent12 + start: [0, 10] +- goal: [24, 5] + name: agent13 + start: [26, 18] +- goal: [2, 8] + name: agent14 + start: [4, 26] +- goal: [2, 26] + name: agent15 + start: [25, 6] +- goal: [27, 12] + name: agent16 + start: [26, 15] +- goal: [10, 1] + name: agent17 + start: [12, 26] +- goal: [0, 26] + name: agent18 + start: [5, 10] +- goal: [11, 13] + name: agent19 + start: [31, 4] +- goal: [17, 25] + name: agent20 + start: [2, 18] +- goal: [28, 27] + name: agent21 + start: [15, 20] +- goal: [8, 14] + name: agent22 + start: [15, 29] +- goal: [11, 12] + name: agent23 + start: [26, 20] +- goal: [21, 20] + name: agent24 + start: [9, 25] +- goal: [21, 14] + name: agent25 + start: [11, 1] +- goal: [23, 4] + name: agent26 + start: [13, 21] +- goal: [7, 19] + name: agent27 + start: [13, 28] +- goal: [3, 8] + name: agent28 + start: [12, 6] +- goal: [30, 9] + name: agent29 + start: [14, 15] +- goal: [16, 22] + name: agent30 + start: [23, 7] +- goal: [17, 27] + name: agent31 + start: [15, 10] +- goal: [19, 16] + name: agent32 + start: [11, 24] +- goal: [25, 25] + name: agent33 + start: [0, 16] +- goal: [12, 7] + name: agent34 + start: [11, 7] +- goal: [20, 11] + name: agent35 + start: [6, 25] +- goal: [21, 29] + name: agent36 + start: [4, 30] +- goal: [31, 27] + name: agent37 + start: [29, 20] +- goal: [29, 6] + name: agent38 + start: [13, 9] +- goal: [11, 0] + name: agent39 + start: [2, 29] +- goal: [0, 19] + name: agent40 + start: [12, 28] +- goal: [15, 6] + name: agent41 + start: [28, 14] +- goal: [13, 17] + name: agent42 + start: [5, 19] +- goal: [6, 16] + name: agent43 + start: [13, 11] +- goal: [18, 10] + name: agent44 + start: [17, 7] +- goal: [22, 29] + name: agent45 + start: [16, 21] +- goal: [14, 29] + name: agent46 + start: [1, 6] +- goal: [1, 7] + name: agent47 + start: [30, 24] +- goal: [27, 2] + name: agent48 + start: [13, 13] +- goal: [22, 6] + name: agent49 + start: [31, 14] +- goal: [18, 6] + name: agent50 + start: [2, 21] +- goal: [16, 1] + name: agent51 + start: [3, 7] +- goal: [28, 23] + name: agent52 + start: [3, 21] +- goal: [17, 14] + name: agent53 + start: [0, 20] +- goal: [1, 17] + name: agent54 + start: [6, 2] +- goal: [27, 18] + name: agent55 + start: [21, 26] +- goal: [18, 30] + name: agent56 + start: [6, 6] +- goal: [20, 6] + name: agent57 + start: [11, 8] +- goal: [9, 25] + name: agent58 + start: [27, 6] +- goal: [13, 5] + name: agent59 + start: [1, 19] +- goal: [17, 8] + name: agent60 + start: [7, 21] +- goal: [23, 0] + name: agent61 + start: [26, 2] +- goal: [20, 16] + name: agent62 + start: [11, 9] +- goal: [13, 8] + name: agent63 + start: [30, 31] +- goal: [16, 3] + name: agent64 + start: [23, 29] +- goal: [20, 31] + name: agent65 + start: [27, 7] +- goal: [10, 31] + name: agent66 + start: [19, 17] +- goal: [16, 26] + name: agent67 + start: [23, 6] +- goal: [7, 0] + name: agent68 + start: [10, 23] +- goal: [16, 21] + name: agent69 + start: [22, 20] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [28, 5] + - !!python/tuple [20, 20] + - !!python/tuple [16, 13] + - !!python/tuple [7, 23] + - !!python/tuple [1, 30] + - !!python/tuple [23, 12] + - !!python/tuple [19, 24] + - !!python/tuple [20, 22] + - !!python/tuple [23, 9] + - !!python/tuple [10, 13] + - !!python/tuple [1, 18] + - !!python/tuple [30, 27] + - !!python/tuple [22, 19] + - !!python/tuple [26, 12] + - !!python/tuple [18, 5] + - !!python/tuple [10, 21] + - !!python/tuple [20, 1] + - !!python/tuple [27, 20] + - !!python/tuple [27, 4] + - !!python/tuple [14, 23] + - !!python/tuple [9, 8] + - !!python/tuple [24, 17] + - !!python/tuple [3, 0] + - !!python/tuple [19, 20] + - !!python/tuple [30, 13] + - !!python/tuple [29, 24] + - !!python/tuple [23, 28] + - !!python/tuple [20, 2] + - !!python/tuple [28, 1] + - !!python/tuple [24, 6] + - !!python/tuple [9, 6] + - !!python/tuple [20, 0] + - !!python/tuple [20, 13] + - !!python/tuple [19, 23] + - !!python/tuple [29, 4] + - !!python/tuple [2, 30] + - !!python/tuple [10, 18] + - !!python/tuple [3, 3] + - !!python/tuple [0, 21] + - !!python/tuple [15, 2] + - !!python/tuple [10, 7] + - !!python/tuple [14, 8] + - !!python/tuple [20, 4] + - !!python/tuple [20, 25] + - !!python/tuple [6, 26] + - !!python/tuple [20, 27] + - !!python/tuple [1, 25] + - !!python/tuple [1, 3] + - !!python/tuple [5, 21] + - !!python/tuple [21, 8] + - !!python/tuple [8, 1] + - !!python/tuple [26, 14] + - !!python/tuple [9, 28] + - !!python/tuple [3, 17] + - !!python/tuple [30, 8] + - !!python/tuple [16, 24] + - !!python/tuple [30, 21] + - !!python/tuple [0, 6] + - !!python/tuple [6, 0] + - !!python/tuple [8, 24] + - !!python/tuple [6, 27] + - !!python/tuple [17, 31] + - !!python/tuple [21, 18] + - !!python/tuple [31, 8] + - !!python/tuple [16, 11] + - !!python/tuple [16, 17] + - !!python/tuple [5, 29] + - !!python/tuple [24, 22] + - !!python/tuple [18, 4] + - !!python/tuple [8, 27] + - !!python/tuple [21, 5] + - !!python/tuple [31, 1] + - !!python/tuple [19, 21] + - !!python/tuple [15, 24] + - !!python/tuple [31, 20] + - !!python/tuple [28, 19] + - !!python/tuple [12, 4] + - !!python/tuple [2, 15] + - !!python/tuple [5, 3] + - !!python/tuple [25, 9] + - !!python/tuple [0, 5] + - !!python/tuple [2, 25] + - !!python/tuple [2, 23] + - !!python/tuple [10, 0] + - !!python/tuple [5, 12] + - !!python/tuple [8, 3] + - !!python/tuple [12, 24] + - !!python/tuple [4, 5] + - !!python/tuple [6, 31] + - !!python/tuple [17, 1] + - !!python/tuple [16, 25] + - !!python/tuple [28, 25] + - !!python/tuple [1, 12] + - !!python/tuple [30, 16] + - !!python/tuple [16, 18] + - !!python/tuple [0, 12] + - !!python/tuple [27, 9] + - !!python/tuple [8, 6] + - !!python/tuple [25, 24] + - !!python/tuple [10, 4] + - !!python/tuple [28, 21] + - !!python/tuple [17, 3] + - !!python/tuple [31, 29] + - !!python/tuple [24, 28] + - !!python/tuple [29, 16] + - !!python/tuple [11, 28] + - !!python/tuple [9, 26] + - !!python/tuple [2, 3] + - !!python/tuple [15, 25] + - !!python/tuple [4, 14] + - !!python/tuple [18, 11] + - !!python/tuple [25, 31] + - !!python/tuple [23, 25] + - !!python/tuple [30, 1] + - !!python/tuple [26, 11] + - !!python/tuple [5, 4] + - !!python/tuple [18, 1] + - !!python/tuple [26, 7] + - !!python/tuple [19, 2] + - !!python/tuple [27, 3] + - !!python/tuple [29, 3] + - !!python/tuple [9, 17] + - !!python/tuple [12, 29] + - !!python/tuple [20, 26] + - !!python/tuple [27, 8] + - !!python/tuple [16, 0] + - !!python/tuple [27, 31] + - !!python/tuple [17, 21] + - !!python/tuple [15, 13] + - !!python/tuple [2, 19] + - !!python/tuple [7, 28] + - !!python/tuple [24, 4] + - !!python/tuple [17, 20] + - !!python/tuple [19, 10] + - !!python/tuple [9, 24] + - !!python/tuple [23, 11] + - !!python/tuple [22, 17] + - !!python/tuple [24, 15] + - !!python/tuple [8, 9] + - !!python/tuple [7, 9] + - !!python/tuple [12, 15] + - !!python/tuple [7, 13] + - !!python/tuple [17, 6] + - !!python/tuple [7, 2] + - !!python/tuple [4, 20] + - !!python/tuple [7, 8] + - !!python/tuple [25, 14] + - !!python/tuple [2, 2] + - !!python/tuple [26, 30] + - !!python/tuple [3, 25] + - !!python/tuple [25, 12] + - !!python/tuple [1, 2] + - !!python/tuple [27, 23] + - !!python/tuple [8, 22] + - !!python/tuple [26, 31] + - !!python/tuple [18, 2] + - !!python/tuple [13, 10] + - !!python/tuple [5, 28] + - !!python/tuple [24, 0] + - !!python/tuple [22, 0] + - !!python/tuple [26, 17] + - !!python/tuple [8, 16] + - !!python/tuple [4, 23] + - !!python/tuple [31, 5] + - !!python/tuple [29, 19] + - !!python/tuple [0, 2] + - !!python/tuple [19, 25] + - !!python/tuple [27, 15] + - !!python/tuple [16, 16] + - !!python/tuple [28, 24] + - !!python/tuple [14, 0] + - !!python/tuple [13, 30] + - !!python/tuple [4, 0] + - !!python/tuple [3, 19] + - !!python/tuple [21, 9] + - !!python/tuple [20, 14] + - !!python/tuple [8, 11] + - !!python/tuple [9, 15] + - !!python/tuple [30, 0] + - !!python/tuple [25, 16] + - !!python/tuple [24, 10] + - !!python/tuple [20, 3] + - !!python/tuple [8, 17] + - !!python/tuple [23, 10] + - !!python/tuple [21, 17] + - !!python/tuple [0, 31] + - !!python/tuple [16, 12] + - !!python/tuple [18, 15] + - !!python/tuple [31, 17] + - !!python/tuple [0, 13] + - !!python/tuple [15, 7] + - !!python/tuple [6, 1] + - !!python/tuple [1, 22] + - !!python/tuple [13, 14] + - !!python/tuple [26, 4] + - !!python/tuple [7, 16] + - !!python/tuple [9, 30] + - !!python/tuple [13, 25] + - !!python/tuple [23, 14] + - !!python/tuple [22, 1] + - !!python/tuple [7, 1] + - !!python/tuple [2, 17] + - !!python/tuple [30, 11] + - !!python/tuple [0, 7] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex95.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex95.yaml new file mode 100644 index 0000000..43cf036 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex95.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [29, 18] + name: agent0 + start: [17, 6] +- goal: [12, 23] + name: agent1 + start: [27, 8] +- goal: [30, 5] + name: agent2 + start: [18, 29] +- goal: [4, 15] + name: agent3 + start: [30, 11] +- goal: [8, 27] + name: agent4 + start: [9, 25] +- goal: [10, 22] + name: agent5 + start: [9, 24] +- goal: [11, 20] + name: agent6 + start: [20, 29] +- goal: [0, 28] + name: agent7 + start: [6, 23] +- goal: [20, 22] + name: agent8 + start: [1, 26] +- goal: [8, 12] + name: agent9 + start: [29, 5] +- goal: [7, 17] + name: agent10 + start: [16, 31] +- goal: [25, 15] + name: agent11 + start: [6, 29] +- goal: [9, 16] + name: agent12 + start: [6, 24] +- goal: [19, 2] + name: agent13 + start: [19, 4] +- goal: [26, 21] + name: agent14 + start: [18, 10] +- goal: [22, 27] + name: agent15 + start: [7, 26] +- goal: [31, 28] + name: agent16 + start: [23, 13] +- goal: [12, 30] + name: agent17 + start: [15, 15] +- goal: [14, 19] + name: agent18 + start: [23, 22] +- goal: [10, 5] + name: agent19 + start: [25, 6] +- goal: [15, 5] + name: agent20 + start: [31, 12] +- goal: [4, 29] + name: agent21 + start: [26, 18] +- goal: [6, 10] + name: agent22 + start: [24, 25] +- goal: [3, 27] + name: agent23 + start: [30, 8] +- goal: [21, 12] + name: agent24 + start: [5, 10] +- goal: [7, 20] + name: agent25 + start: [10, 27] +- goal: [2, 28] + name: agent26 + start: [26, 3] +- goal: [5, 28] + name: agent27 + start: [8, 8] +- goal: [12, 2] + name: agent28 + start: [20, 7] +- goal: [14, 1] + name: agent29 + start: [22, 22] +- goal: [1, 5] + name: agent30 + start: [23, 23] +- goal: [0, 29] + name: agent31 + start: [27, 30] +- goal: [6, 21] + name: agent32 + start: [29, 18] +- goal: [8, 7] + name: agent33 + start: [1, 14] +- goal: [2, 17] + name: agent34 + start: [2, 22] +- goal: [12, 29] + name: agent35 + start: [23, 21] +- goal: [11, 28] + name: agent36 + start: [22, 30] +- goal: [23, 10] + name: agent37 + start: [26, 6] +- goal: [21, 7] + name: agent38 + start: [10, 21] +- goal: [19, 7] + name: agent39 + start: [28, 29] +- goal: [29, 30] + name: agent40 + start: [19, 0] +- goal: [9, 31] + name: agent41 + start: [31, 8] +- goal: [9, 12] + name: agent42 + start: [0, 15] +- goal: [19, 14] + name: agent43 + start: [5, 28] +- goal: [23, 31] + name: agent44 + start: [7, 16] +- goal: [3, 20] + name: agent45 + start: [3, 9] +- goal: [6, 0] + name: agent46 + start: [1, 20] +- goal: [23, 2] + name: agent47 + start: [27, 12] +- goal: [14, 28] + name: agent48 + start: [12, 25] +- goal: [29, 31] + name: agent49 + start: [23, 31] +- goal: [28, 9] + name: agent50 + start: [6, 3] +- goal: [29, 5] + name: agent51 + start: [2, 6] +- goal: [11, 23] + name: agent52 + start: [19, 17] +- goal: [1, 1] + name: agent53 + start: [9, 7] +- goal: [1, 22] + name: agent54 + start: [20, 27] +- goal: [18, 31] + name: agent55 + start: [13, 29] +- goal: [26, 8] + name: agent56 + start: [4, 10] +- goal: [24, 31] + name: agent57 + start: [29, 31] +- goal: [22, 8] + name: agent58 + start: [10, 23] +- goal: [24, 13] + name: agent59 + start: [27, 28] +- goal: [24, 4] + name: agent60 + start: [19, 18] +- goal: [0, 18] + name: agent61 + start: [26, 5] +- goal: [30, 6] + name: agent62 + start: [21, 17] +- goal: [6, 9] + name: agent63 + start: [6, 1] +- goal: [14, 4] + name: agent64 + start: [6, 20] +- goal: [5, 0] + name: agent65 + start: [9, 19] +- goal: [16, 6] + name: agent66 + start: [21, 30] +- goal: [27, 22] + name: agent67 + start: [10, 3] +- goal: [0, 2] + name: agent68 + start: [21, 20] +- goal: [31, 3] + name: agent69 + start: [3, 10] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [28, 1] + - !!python/tuple [28, 21] + - !!python/tuple [29, 22] + - !!python/tuple [2, 1] + - !!python/tuple [11, 4] + - !!python/tuple [29, 29] + - !!python/tuple [6, 19] + - !!python/tuple [12, 8] + - !!python/tuple [11, 19] + - !!python/tuple [5, 24] + - !!python/tuple [10, 16] + - !!python/tuple [19, 3] + - !!python/tuple [15, 19] + - !!python/tuple [2, 10] + - !!python/tuple [10, 11] + - !!python/tuple [20, 13] + - !!python/tuple [15, 9] + - !!python/tuple [10, 18] + - !!python/tuple [10, 31] + - !!python/tuple [19, 30] + - !!python/tuple [29, 25] + - !!python/tuple [11, 18] + - !!python/tuple [29, 28] + - !!python/tuple [0, 24] + - !!python/tuple [8, 13] + - !!python/tuple [30, 1] + - !!python/tuple [8, 18] + - !!python/tuple [14, 18] + - !!python/tuple [17, 21] + - !!python/tuple [2, 12] + - !!python/tuple [28, 5] + - !!python/tuple [20, 0] + - !!python/tuple [10, 20] + - !!python/tuple [24, 29] + - !!python/tuple [21, 0] + - !!python/tuple [17, 4] + - !!python/tuple [16, 8] + - !!python/tuple [26, 23] + - !!python/tuple [9, 14] + - !!python/tuple [14, 16] + - !!python/tuple [22, 24] + - !!python/tuple [28, 23] + - !!python/tuple [30, 18] + - !!python/tuple [7, 4] + - !!python/tuple [15, 7] + - !!python/tuple [14, 12] + - !!python/tuple [25, 29] + - !!python/tuple [4, 5] + - !!python/tuple [25, 3] + - !!python/tuple [16, 27] + - !!python/tuple [19, 26] + - !!python/tuple [28, 6] + - !!python/tuple [7, 12] + - !!python/tuple [4, 22] + - !!python/tuple [1, 29] + - !!python/tuple [3, 5] + - !!python/tuple [22, 16] + - !!python/tuple [2, 20] + - !!python/tuple [3, 16] + - !!python/tuple [18, 26] + - !!python/tuple [30, 10] + - !!python/tuple [11, 6] + - !!python/tuple [27, 0] + - !!python/tuple [3, 14] + - !!python/tuple [2, 3] + - !!python/tuple [17, 8] + - !!python/tuple [1, 15] + - !!python/tuple [28, 15] + - !!python/tuple [3, 23] + - !!python/tuple [1, 12] + - !!python/tuple [31, 21] + - !!python/tuple [17, 9] + - !!python/tuple [21, 16] + - !!python/tuple [7, 21] + - !!python/tuple [0, 31] + - !!python/tuple [18, 11] + - !!python/tuple [9, 0] + - !!python/tuple [11, 10] + - !!python/tuple [31, 31] + - !!python/tuple [3, 1] + - !!python/tuple [30, 24] + - !!python/tuple [14, 26] + - !!python/tuple [30, 12] + - !!python/tuple [16, 3] + - !!python/tuple [3, 7] + - !!python/tuple [28, 19] + - !!python/tuple [13, 23] + - !!python/tuple [29, 23] + - !!python/tuple [24, 15] + - !!python/tuple [15, 24] + - !!python/tuple [3, 31] + - !!python/tuple [21, 27] + - !!python/tuple [15, 14] + - !!python/tuple [0, 8] + - !!python/tuple [6, 18] + - !!python/tuple [18, 7] + - !!python/tuple [13, 15] + - !!python/tuple [11, 17] + - !!python/tuple [15, 0] + - !!python/tuple [20, 9] + - !!python/tuple [16, 19] + - !!python/tuple [2, 5] + - !!python/tuple [14, 21] + - !!python/tuple [27, 19] + - !!python/tuple [29, 27] + - !!python/tuple [11, 1] + - !!python/tuple [21, 23] + - !!python/tuple [6, 17] + - !!python/tuple [23, 4] + - !!python/tuple [2, 19] + - !!python/tuple [31, 4] + - !!python/tuple [16, 13] + - !!python/tuple [21, 14] + - !!python/tuple [24, 21] + - !!python/tuple [13, 16] + - !!python/tuple [1, 23] + - !!python/tuple [22, 14] + - !!python/tuple [28, 10] + - !!python/tuple [13, 9] + - !!python/tuple [11, 26] + - !!python/tuple [31, 30] + - !!python/tuple [18, 9] + - !!python/tuple [29, 11] + - !!python/tuple [8, 17] + - !!python/tuple [6, 5] + - !!python/tuple [27, 6] + - !!python/tuple [5, 6] + - !!python/tuple [14, 6] + - !!python/tuple [2, 25] + - !!python/tuple [18, 3] + - !!python/tuple [24, 19] + - !!python/tuple [30, 25] + - !!python/tuple [24, 1] + - !!python/tuple [30, 16] + - !!python/tuple [10, 0] + - !!python/tuple [5, 26] + - !!python/tuple [7, 11] + - !!python/tuple [9, 11] + - !!python/tuple [20, 30] + - !!python/tuple [28, 2] + - !!python/tuple [27, 21] + - !!python/tuple [4, 20] + - !!python/tuple [25, 20] + - !!python/tuple [19, 20] + - !!python/tuple [5, 14] + - !!python/tuple [26, 29] + - !!python/tuple [2, 16] + - !!python/tuple [16, 20] + - !!python/tuple [10, 10] + - !!python/tuple [24, 9] + - !!python/tuple [26, 20] + - !!python/tuple [5, 2] + - !!python/tuple [28, 13] + - !!python/tuple [2, 15] + - !!python/tuple [24, 26] + - !!python/tuple [13, 7] + - !!python/tuple [27, 26] + - !!python/tuple [2, 2] + - !!python/tuple [17, 27] + - !!python/tuple [7, 27] + - !!python/tuple [26, 26] + - !!python/tuple [14, 11] + - !!python/tuple [22, 26] + - !!python/tuple [0, 4] + - !!python/tuple [3, 19] + - !!python/tuple [19, 29] + - !!python/tuple [26, 0] + - !!python/tuple [6, 16] + - !!python/tuple [8, 22] + - !!python/tuple [26, 10] + - !!python/tuple [18, 16] + - !!python/tuple [13, 28] + - !!python/tuple [1, 30] + - !!python/tuple [17, 10] + - !!python/tuple [16, 24] + - !!python/tuple [27, 29] + - !!python/tuple [1, 17] + - !!python/tuple [31, 26] + - !!python/tuple [6, 30] + - !!python/tuple [24, 5] + - !!python/tuple [5, 19] + - !!python/tuple [22, 0] + - !!python/tuple [25, 14] + - !!python/tuple [16, 22] + - !!python/tuple [6, 6] + - !!python/tuple [19, 15] + - !!python/tuple [28, 22] + - !!python/tuple [18, 12] + - !!python/tuple [2, 30] + - !!python/tuple [21, 25] + - !!python/tuple [17, 14] + - !!python/tuple [15, 11] + - !!python/tuple [31, 22] + - !!python/tuple [18, 13] + - !!python/tuple [22, 18] + - !!python/tuple [15, 21] + - !!python/tuple [21, 21] + - !!python/tuple [9, 28] + - !!python/tuple [23, 29] + - !!python/tuple [14, 13] + - !!python/tuple [22, 31] + - !!python/tuple [15, 2] + - !!python/tuple [19, 22] + - !!python/tuple [5, 30] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex96.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex96.yaml new file mode 100644 index 0000000..d77bd62 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex96.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [8, 15] + name: agent0 + start: [28, 24] +- goal: [2, 24] + name: agent1 + start: [30, 6] +- goal: [24, 28] + name: agent2 + start: [3, 19] +- goal: [19, 28] + name: agent3 + start: [22, 16] +- goal: [7, 26] + name: agent4 + start: [13, 21] +- goal: [24, 22] + name: agent5 + start: [6, 9] +- goal: [7, 29] + name: agent6 + start: [10, 1] +- goal: [11, 5] + name: agent7 + start: [18, 15] +- goal: [31, 13] + name: agent8 + start: [12, 11] +- goal: [16, 2] + name: agent9 + start: [3, 5] +- goal: [6, 5] + name: agent10 + start: [30, 10] +- goal: [25, 29] + name: agent11 + start: [24, 26] +- goal: [30, 0] + name: agent12 + start: [1, 15] +- goal: [9, 19] + name: agent13 + start: [5, 16] +- goal: [14, 11] + name: agent14 + start: [17, 26] +- goal: [22, 2] + name: agent15 + start: [16, 21] +- goal: [5, 22] + name: agent16 + start: [19, 26] +- goal: [30, 23] + name: agent17 + start: [11, 2] +- goal: [15, 18] + name: agent18 + start: [31, 14] +- goal: [20, 24] + name: agent19 + start: [9, 13] +- goal: [1, 30] + name: agent20 + start: [23, 22] +- goal: [11, 8] + name: agent21 + start: [20, 22] +- goal: [2, 9] + name: agent22 + start: [9, 5] +- goal: [2, 14] + name: agent23 + start: [12, 24] +- goal: [13, 27] + name: agent24 + start: [22, 30] +- goal: [16, 25] + name: agent25 + start: [23, 12] +- goal: [11, 28] + name: agent26 + start: [4, 27] +- goal: [25, 21] + name: agent27 + start: [15, 21] +- goal: [1, 25] + name: agent28 + start: [26, 27] +- goal: [9, 3] + name: agent29 + start: [27, 22] +- goal: [23, 11] + name: agent30 + start: [23, 11] +- goal: [27, 30] + name: agent31 + start: [20, 3] +- goal: [21, 29] + name: agent32 + start: [15, 8] +- goal: [16, 23] + name: agent33 + start: [4, 13] +- goal: [6, 9] + name: agent34 + start: [11, 5] +- goal: [10, 11] + name: agent35 + start: [27, 17] +- goal: [7, 16] + name: agent36 + start: [15, 29] +- goal: [7, 23] + name: agent37 + start: [24, 27] +- goal: [28, 18] + name: agent38 + start: [0, 20] +- goal: [31, 2] + name: agent39 + start: [25, 25] +- goal: [5, 1] + name: agent40 + start: [7, 11] +- goal: [12, 22] + name: agent41 + start: [2, 30] +- goal: [30, 22] + name: agent42 + start: [25, 15] +- goal: [27, 13] + name: agent43 + start: [8, 16] +- goal: [22, 12] + name: agent44 + start: [11, 17] +- goal: [20, 30] + name: agent45 + start: [23, 8] +- goal: [17, 20] + name: agent46 + start: [1, 22] +- goal: [4, 21] + name: agent47 + start: [1, 18] +- goal: [21, 18] + name: agent48 + start: [30, 16] +- goal: [18, 26] + name: agent49 + start: [1, 5] +- goal: [8, 3] + name: agent50 + start: [25, 18] +- goal: [31, 28] + name: agent51 + start: [24, 7] +- goal: [17, 17] + name: agent52 + start: [10, 6] +- goal: [0, 5] + name: agent53 + start: [10, 11] +- goal: [15, 13] + name: agent54 + start: [2, 11] +- goal: [23, 10] + name: agent55 + start: [0, 4] +- goal: [29, 20] + name: agent56 + start: [26, 23] +- goal: [0, 27] + name: agent57 + start: [31, 27] +- goal: [15, 22] + name: agent58 + start: [12, 15] +- goal: [7, 10] + name: agent59 + start: [4, 28] +- goal: [17, 31] + name: agent60 + start: [27, 18] +- goal: [15, 9] + name: agent61 + start: [4, 11] +- goal: [25, 4] + name: agent62 + start: [6, 25] +- goal: [22, 6] + name: agent63 + start: [24, 21] +- goal: [6, 21] + name: agent64 + start: [16, 27] +- goal: [8, 27] + name: agent65 + start: [20, 29] +- goal: [14, 5] + name: agent66 + start: [13, 7] +- goal: [3, 8] + name: agent67 + start: [22, 9] +- goal: [19, 11] + name: agent68 + start: [16, 16] +- goal: [1, 27] + name: agent69 + start: [4, 5] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [4, 24] + - !!python/tuple [19, 4] + - !!python/tuple [14, 21] + - !!python/tuple [0, 24] + - !!python/tuple [29, 7] + - !!python/tuple [4, 10] + - !!python/tuple [19, 0] + - !!python/tuple [22, 29] + - !!python/tuple [23, 25] + - !!python/tuple [10, 8] + - !!python/tuple [11, 4] + - !!python/tuple [22, 13] + - !!python/tuple [21, 5] + - !!python/tuple [12, 16] + - !!python/tuple [30, 20] + - !!python/tuple [30, 2] + - !!python/tuple [24, 20] + - !!python/tuple [27, 26] + - !!python/tuple [12, 4] + - !!python/tuple [11, 14] + - !!python/tuple [28, 7] + - !!python/tuple [15, 4] + - !!python/tuple [31, 20] + - !!python/tuple [16, 1] + - !!python/tuple [1, 19] + - !!python/tuple [15, 23] + - !!python/tuple [20, 18] + - !!python/tuple [25, 31] + - !!python/tuple [18, 8] + - !!python/tuple [7, 17] + - !!python/tuple [3, 18] + - !!python/tuple [5, 13] + - !!python/tuple [20, 25] + - !!python/tuple [14, 13] + - !!python/tuple [12, 30] + - !!python/tuple [10, 10] + - !!python/tuple [30, 15] + - !!python/tuple [16, 6] + - !!python/tuple [17, 13] + - !!python/tuple [16, 20] + - !!python/tuple [18, 14] + - !!python/tuple [12, 19] + - !!python/tuple [2, 3] + - !!python/tuple [20, 31] + - !!python/tuple [18, 1] + - !!python/tuple [11, 30] + - !!python/tuple [27, 8] + - !!python/tuple [2, 0] + - !!python/tuple [31, 30] + - !!python/tuple [18, 13] + - !!python/tuple [20, 26] + - !!python/tuple [21, 11] + - !!python/tuple [19, 18] + - !!python/tuple [23, 17] + - !!python/tuple [18, 12] + - !!python/tuple [23, 23] + - !!python/tuple [4, 12] + - !!python/tuple [9, 14] + - !!python/tuple [11, 1] + - !!python/tuple [18, 27] + - !!python/tuple [11, 19] + - !!python/tuple [31, 11] + - !!python/tuple [23, 31] + - !!python/tuple [20, 13] + - !!python/tuple [21, 15] + - !!python/tuple [4, 14] + - !!python/tuple [28, 19] + - !!python/tuple [21, 23] + - !!python/tuple [13, 25] + - !!python/tuple [20, 5] + - !!python/tuple [4, 29] + - !!python/tuple [0, 15] + - !!python/tuple [11, 29] + - !!python/tuple [8, 6] + - !!python/tuple [4, 17] + - !!python/tuple [21, 30] + - !!python/tuple [12, 25] + - !!python/tuple [11, 13] + - !!python/tuple [1, 31] + - !!python/tuple [16, 24] + - !!python/tuple [25, 3] + - !!python/tuple [2, 28] + - !!python/tuple [19, 25] + - !!python/tuple [30, 14] + - !!python/tuple [31, 22] + - !!python/tuple [17, 25] + - !!python/tuple [10, 20] + - !!python/tuple [19, 2] + - !!python/tuple [6, 20] + - !!python/tuple [22, 15] + - !!python/tuple [15, 26] + - !!python/tuple [21, 14] + - !!python/tuple [30, 21] + - !!python/tuple [8, 13] + - !!python/tuple [16, 4] + - !!python/tuple [14, 4] + - !!python/tuple [13, 17] + - !!python/tuple [8, 28] + - !!python/tuple [14, 30] + - !!python/tuple [10, 14] + - !!python/tuple [12, 3] + - !!python/tuple [6, 17] + - !!python/tuple [10, 30] + - !!python/tuple [24, 9] + - !!python/tuple [0, 19] + - !!python/tuple [29, 6] + - !!python/tuple [16, 0] + - !!python/tuple [17, 6] + - !!python/tuple [28, 3] + - !!python/tuple [29, 9] + - !!python/tuple [29, 22] + - !!python/tuple [0, 21] + - !!python/tuple [24, 19] + - !!python/tuple [24, 25] + - !!python/tuple [17, 12] + - !!python/tuple [20, 20] + - !!python/tuple [0, 18] + - !!python/tuple [19, 6] + - !!python/tuple [5, 17] + - !!python/tuple [7, 6] + - !!python/tuple [19, 5] + - !!python/tuple [27, 9] + - !!python/tuple [27, 6] + - !!python/tuple [3, 2] + - !!python/tuple [9, 0] + - !!python/tuple [3, 1] + - !!python/tuple [27, 29] + - !!python/tuple [6, 27] + - !!python/tuple [30, 3] + - !!python/tuple [13, 5] + - !!python/tuple [25, 7] + - !!python/tuple [12, 12] + - !!python/tuple [15, 15] + - !!python/tuple [30, 19] + - !!python/tuple [7, 30] + - !!python/tuple [31, 21] + - !!python/tuple [10, 18] + - !!python/tuple [2, 2] + - !!python/tuple [18, 31] + - !!python/tuple [20, 16] + - !!python/tuple [17, 8] + - !!python/tuple [0, 2] + - !!python/tuple [2, 16] + - !!python/tuple [0, 8] + - !!python/tuple [29, 2] + - !!python/tuple [9, 24] + - !!python/tuple [17, 1] + - !!python/tuple [1, 6] + - !!python/tuple [27, 1] + - !!python/tuple [31, 5] + - !!python/tuple [29, 13] + - !!python/tuple [10, 5] + - !!python/tuple [1, 10] + - !!python/tuple [3, 6] + - !!python/tuple [14, 1] + - !!python/tuple [4, 2] + - !!python/tuple [3, 28] + - !!python/tuple [3, 23] + - !!python/tuple [8, 11] + - !!python/tuple [20, 23] + - !!python/tuple [21, 7] + - !!python/tuple [11, 6] + - !!python/tuple [20, 2] + - !!python/tuple [17, 24] + - !!python/tuple [4, 18] + - !!python/tuple [13, 6] + - !!python/tuple [8, 26] + - !!python/tuple [4, 19] + - !!python/tuple [16, 8] + - !!python/tuple [22, 1] + - !!python/tuple [7, 20] + - !!python/tuple [5, 20] + - !!python/tuple [0, 25] + - !!python/tuple [21, 10] + - !!python/tuple [18, 22] + - !!python/tuple [22, 20] + - !!python/tuple [24, 11] + - !!python/tuple [21, 13] + - !!python/tuple [10, 9] + - !!python/tuple [30, 25] + - !!python/tuple [11, 18] + - !!python/tuple [22, 11] + - !!python/tuple [0, 23] + - !!python/tuple [31, 18] + - !!python/tuple [17, 23] + - !!python/tuple [2, 22] + - !!python/tuple [14, 24] + - !!python/tuple [17, 0] + - !!python/tuple [1, 4] + - !!python/tuple [13, 3] + - !!python/tuple [7, 27] + - !!python/tuple [1, 28] + - !!python/tuple [14, 12] + - !!python/tuple [28, 28] + - !!python/tuple [24, 17] + - !!python/tuple [6, 4] + - !!python/tuple [5, 24] + - !!python/tuple [29, 23] + - !!python/tuple [13, 24] + - !!python/tuple [30, 18] + - !!python/tuple [24, 0] + - !!python/tuple [28, 10] + - !!python/tuple [5, 7] + - !!python/tuple [23, 0] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex97.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex97.yaml new file mode 100644 index 0000000..c68e756 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex97.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [22, 13] + name: agent0 + start: [5, 4] +- goal: [12, 27] + name: agent1 + start: [3, 28] +- goal: [18, 29] + name: agent2 + start: [6, 10] +- goal: [18, 8] + name: agent3 + start: [11, 20] +- goal: [6, 0] + name: agent4 + start: [11, 7] +- goal: [5, 19] + name: agent5 + start: [16, 4] +- goal: [14, 27] + name: agent6 + start: [9, 0] +- goal: [18, 14] + name: agent7 + start: [14, 9] +- goal: [28, 24] + name: agent8 + start: [6, 21] +- goal: [12, 3] + name: agent9 + start: [7, 15] +- goal: [0, 0] + name: agent10 + start: [16, 29] +- goal: [17, 26] + name: agent11 + start: [9, 24] +- goal: [13, 16] + name: agent12 + start: [2, 22] +- goal: [3, 11] + name: agent13 + start: [11, 11] +- goal: [16, 0] + name: agent14 + start: [21, 8] +- goal: [9, 30] + name: agent15 + start: [13, 5] +- goal: [2, 23] + name: agent16 + start: [21, 3] +- goal: [15, 16] + name: agent17 + start: [4, 21] +- goal: [12, 22] + name: agent18 + start: [16, 10] +- goal: [28, 26] + name: agent19 + start: [24, 21] +- goal: [6, 24] + name: agent20 + start: [21, 28] +- goal: [9, 12] + name: agent21 + start: [4, 0] +- goal: [30, 12] + name: agent22 + start: [23, 25] +- goal: [21, 31] + name: agent23 + start: [24, 10] +- goal: [17, 1] + name: agent24 + start: [8, 2] +- goal: [23, 18] + name: agent25 + start: [26, 3] +- goal: [1, 18] + name: agent26 + start: [20, 18] +- goal: [7, 5] + name: agent27 + start: [8, 8] +- goal: [9, 20] + name: agent28 + start: [4, 6] +- goal: [17, 5] + name: agent29 + start: [12, 9] +- goal: [26, 10] + name: agent30 + start: [18, 8] +- goal: [26, 21] + name: agent31 + start: [25, 8] +- goal: [21, 21] + name: agent32 + start: [4, 28] +- goal: [22, 10] + name: agent33 + start: [27, 0] +- goal: [21, 10] + name: agent34 + start: [17, 31] +- goal: [28, 17] + name: agent35 + start: [28, 6] +- goal: [28, 10] + name: agent36 + start: [20, 26] +- goal: [3, 31] + name: agent37 + start: [11, 21] +- goal: [0, 29] + name: agent38 + start: [27, 8] +- goal: [17, 19] + name: agent39 + start: [6, 25] +- goal: [6, 5] + name: agent40 + start: [25, 19] +- goal: [23, 13] + name: agent41 + start: [20, 10] +- goal: [31, 17] + name: agent42 + start: [24, 8] +- goal: [16, 4] + name: agent43 + start: [18, 13] +- goal: [2, 11] + name: agent44 + start: [18, 10] +- goal: [19, 20] + name: agent45 + start: [5, 26] +- goal: [7, 24] + name: agent46 + start: [28, 30] +- goal: [13, 7] + name: agent47 + start: [9, 15] +- goal: [3, 23] + name: agent48 + start: [8, 22] +- goal: [24, 23] + name: agent49 + start: [17, 17] +- goal: [29, 10] + name: agent50 + start: [10, 20] +- goal: [6, 20] + name: agent51 + start: [2, 4] +- goal: [3, 15] + name: agent52 + start: [14, 24] +- goal: [25, 1] + name: agent53 + start: [25, 12] +- goal: [17, 21] + name: agent54 + start: [6, 5] +- goal: [25, 2] + name: agent55 + start: [23, 7] +- goal: [8, 7] + name: agent56 + start: [14, 21] +- goal: [22, 6] + name: agent57 + start: [4, 10] +- goal: [7, 23] + name: agent58 + start: [6, 27] +- goal: [14, 10] + name: agent59 + start: [7, 4] +- goal: [20, 4] + name: agent60 + start: [6, 8] +- goal: [21, 11] + name: agent61 + start: [14, 3] +- goal: [8, 16] + name: agent62 + start: [9, 12] +- goal: [6, 10] + name: agent63 + start: [28, 31] +- goal: [6, 22] + name: agent64 + start: [1, 26] +- goal: [8, 25] + name: agent65 + start: [11, 25] +- goal: [27, 30] + name: agent66 + start: [20, 19] +- goal: [21, 3] + name: agent67 + start: [2, 31] +- goal: [4, 8] + name: agent68 + start: [23, 30] +- goal: [3, 4] + name: agent69 + start: [18, 2] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [9, 7] + - !!python/tuple [27, 26] + - !!python/tuple [30, 15] + - !!python/tuple [0, 18] + - !!python/tuple [26, 19] + - !!python/tuple [30, 18] + - !!python/tuple [2, 10] + - !!python/tuple [30, 29] + - !!python/tuple [21, 7] + - !!python/tuple [19, 12] + - !!python/tuple [12, 14] + - !!python/tuple [10, 15] + - !!python/tuple [1, 5] + - !!python/tuple [9, 13] + - !!python/tuple [8, 11] + - !!python/tuple [10, 22] + - !!python/tuple [4, 7] + - !!python/tuple [21, 27] + - !!python/tuple [16, 31] + - !!python/tuple [12, 30] + - !!python/tuple [6, 7] + - !!python/tuple [23, 20] + - !!python/tuple [23, 17] + - !!python/tuple [9, 8] + - !!python/tuple [28, 7] + - !!python/tuple [28, 16] + - !!python/tuple [5, 13] + - !!python/tuple [25, 18] + - !!python/tuple [4, 1] + - !!python/tuple [25, 6] + - !!python/tuple [20, 6] + - !!python/tuple [1, 9] + - !!python/tuple [24, 31] + - !!python/tuple [16, 23] + - !!python/tuple [6, 15] + - !!python/tuple [29, 2] + - !!python/tuple [21, 13] + - !!python/tuple [3, 8] + - !!python/tuple [7, 8] + - !!python/tuple [0, 11] + - !!python/tuple [19, 16] + - !!python/tuple [16, 9] + - !!python/tuple [3, 27] + - !!python/tuple [30, 20] + - !!python/tuple [27, 7] + - !!python/tuple [30, 11] + - !!python/tuple [21, 20] + - !!python/tuple [29, 15] + - !!python/tuple [10, 6] + - !!python/tuple [7, 26] + - !!python/tuple [27, 2] + - !!python/tuple [11, 9] + - !!python/tuple [13, 9] + - !!python/tuple [10, 30] + - !!python/tuple [8, 17] + - !!python/tuple [10, 10] + - !!python/tuple [28, 23] + - !!python/tuple [0, 26] + - !!python/tuple [3, 3] + - !!python/tuple [29, 1] + - !!python/tuple [22, 2] + - !!python/tuple [15, 17] + - !!python/tuple [4, 11] + - !!python/tuple [6, 6] + - !!python/tuple [12, 2] + - !!python/tuple [23, 2] + - !!python/tuple [1, 2] + - !!python/tuple [0, 7] + - !!python/tuple [23, 5] + - !!python/tuple [8, 0] + - !!python/tuple [2, 25] + - !!python/tuple [3, 19] + - !!python/tuple [24, 7] + - !!python/tuple [28, 11] + - !!python/tuple [9, 21] + - !!python/tuple [4, 29] + - !!python/tuple [30, 5] + - !!python/tuple [7, 13] + - !!python/tuple [26, 8] + - !!python/tuple [10, 26] + - !!python/tuple [10, 17] + - !!python/tuple [20, 5] + - !!python/tuple [15, 3] + - !!python/tuple [16, 5] + - !!python/tuple [16, 20] + - !!python/tuple [18, 27] + - !!python/tuple [24, 0] + - !!python/tuple [1, 7] + - !!python/tuple [4, 25] + - !!python/tuple [28, 4] + - !!python/tuple [17, 10] + - !!python/tuple [30, 26] + - !!python/tuple [29, 27] + - !!python/tuple [31, 4] + - !!python/tuple [12, 7] + - !!python/tuple [18, 11] + - !!python/tuple [8, 6] + - !!python/tuple [5, 20] + - !!python/tuple [26, 9] + - !!python/tuple [23, 24] + - !!python/tuple [27, 9] + - !!python/tuple [28, 12] + - !!python/tuple [28, 0] + - !!python/tuple [30, 27] + - !!python/tuple [19, 17] + - !!python/tuple [0, 24] + - !!python/tuple [9, 27] + - !!python/tuple [21, 29] + - !!python/tuple [8, 10] + - !!python/tuple [12, 24] + - !!python/tuple [2, 6] + - !!python/tuple [10, 31] + - !!python/tuple [25, 22] + - !!python/tuple [5, 16] + - !!python/tuple [14, 14] + - !!python/tuple [12, 1] + - !!python/tuple [7, 19] + - !!python/tuple [16, 28] + - !!python/tuple [25, 16] + - !!python/tuple [28, 2] + - !!python/tuple [2, 20] + - !!python/tuple [31, 19] + - !!python/tuple [9, 29] + - !!python/tuple [10, 0] + - !!python/tuple [24, 15] + - !!python/tuple [14, 20] + - !!python/tuple [19, 3] + - !!python/tuple [7, 21] + - !!python/tuple [13, 15] + - !!python/tuple [11, 2] + - !!python/tuple [20, 28] + - !!python/tuple [2, 16] + - !!python/tuple [0, 21] + - !!python/tuple [19, 25] + - !!python/tuple [26, 2] + - !!python/tuple [8, 23] + - !!python/tuple [15, 4] + - !!python/tuple [25, 7] + - !!python/tuple [14, 4] + - !!python/tuple [16, 18] + - !!python/tuple [6, 23] + - !!python/tuple [6, 4] + - !!python/tuple [26, 26] + - !!python/tuple [5, 11] + - !!python/tuple [5, 21] + - !!python/tuple [5, 6] + - !!python/tuple [22, 21] + - !!python/tuple [20, 8] + - !!python/tuple [15, 29] + - !!python/tuple [30, 30] + - !!python/tuple [19, 22] + - !!python/tuple [9, 18] + - !!python/tuple [1, 22] + - !!python/tuple [8, 14] + - !!python/tuple [6, 11] + - !!python/tuple [11, 23] + - !!python/tuple [11, 24] + - !!python/tuple [19, 14] + - !!python/tuple [4, 23] + - !!python/tuple [28, 15] + - !!python/tuple [10, 9] + - !!python/tuple [24, 3] + - !!python/tuple [26, 0] + - !!python/tuple [15, 26] + - !!python/tuple [22, 14] + - !!python/tuple [10, 4] + - !!python/tuple [16, 15] + - !!python/tuple [26, 17] + - !!python/tuple [29, 28] + - !!python/tuple [4, 12] + - !!python/tuple [21, 1] + - !!python/tuple [2, 15] + - !!python/tuple [21, 6] + - !!python/tuple [22, 8] + - !!python/tuple [19, 26] + - !!python/tuple [17, 23] + - !!python/tuple [6, 19] + - !!python/tuple [27, 12] + - !!python/tuple [27, 29] + - !!python/tuple [30, 1] + - !!python/tuple [10, 13] + - !!python/tuple [5, 25] + - !!python/tuple [5, 10] + - !!python/tuple [9, 6] + - !!python/tuple [21, 18] + - !!python/tuple [22, 20] + - !!python/tuple [8, 19] + - !!python/tuple [15, 18] + - !!python/tuple [17, 24] + - !!python/tuple [1, 8] + - !!python/tuple [13, 31] + - !!python/tuple [1, 6] + - !!python/tuple [19, 6] + - !!python/tuple [0, 20] + - !!python/tuple [24, 9] + - !!python/tuple [6, 3] + - !!python/tuple [25, 25] + - !!python/tuple [3, 0] + - !!python/tuple [30, 24] + - !!python/tuple [0, 28] + - !!python/tuple [9, 10] + - !!python/tuple [23, 11] + - !!python/tuple [24, 13] + - !!python/tuple [10, 25] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex98.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex98.yaml new file mode 100644 index 0000000..bebc437 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex98.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [8, 21] + name: agent0 + start: [11, 11] +- goal: [25, 16] + name: agent1 + start: [20, 22] +- goal: [17, 31] + name: agent2 + start: [29, 1] +- goal: [29, 16] + name: agent3 + start: [30, 29] +- goal: [20, 23] + name: agent4 + start: [27, 31] +- goal: [31, 11] + name: agent5 + start: [21, 29] +- goal: [4, 13] + name: agent6 + start: [16, 6] +- goal: [6, 4] + name: agent7 + start: [25, 13] +- goal: [15, 16] + name: agent8 + start: [27, 8] +- goal: [17, 11] + name: agent9 + start: [17, 2] +- goal: [22, 2] + name: agent10 + start: [19, 5] +- goal: [28, 5] + name: agent11 + start: [4, 17] +- goal: [24, 12] + name: agent12 + start: [12, 28] +- goal: [11, 23] + name: agent13 + start: [8, 1] +- goal: [2, 6] + name: agent14 + start: [6, 14] +- goal: [5, 8] + name: agent15 + start: [16, 8] +- goal: [29, 7] + name: agent16 + start: [31, 15] +- goal: [19, 5] + name: agent17 + start: [7, 25] +- goal: [26, 24] + name: agent18 + start: [25, 22] +- goal: [20, 1] + name: agent19 + start: [6, 25] +- goal: [6, 30] + name: agent20 + start: [22, 10] +- goal: [19, 17] + name: agent21 + start: [25, 17] +- goal: [13, 28] + name: agent22 + start: [22, 2] +- goal: [11, 25] + name: agent23 + start: [24, 28] +- goal: [29, 13] + name: agent24 + start: [10, 12] +- goal: [29, 28] + name: agent25 + start: [4, 26] +- goal: [21, 15] + name: agent26 + start: [29, 5] +- goal: [3, 22] + name: agent27 + start: [0, 14] +- goal: [27, 19] + name: agent28 + start: [27, 21] +- goal: [27, 26] + name: agent29 + start: [18, 25] +- goal: [26, 13] + name: agent30 + start: [15, 18] +- goal: [17, 0] + name: agent31 + start: [9, 29] +- goal: [23, 5] + name: agent32 + start: [7, 4] +- goal: [15, 19] + name: agent33 + start: [9, 17] +- goal: [6, 25] + name: agent34 + start: [31, 12] +- goal: [0, 29] + name: agent35 + start: [19, 26] +- goal: [11, 24] + name: agent36 + start: [4, 4] +- goal: [23, 22] + name: agent37 + start: [3, 31] +- goal: [31, 17] + name: agent38 + start: [0, 17] +- goal: [17, 2] + name: agent39 + start: [14, 10] +- goal: [31, 8] + name: agent40 + start: [12, 15] +- goal: [30, 23] + name: agent41 + start: [14, 1] +- goal: [21, 12] + name: agent42 + start: [22, 9] +- goal: [21, 0] + name: agent43 + start: [28, 30] +- goal: [17, 1] + name: agent44 + start: [27, 3] +- goal: [4, 21] + name: agent45 + start: [30, 10] +- goal: [5, 31] + name: agent46 + start: [1, 23] +- goal: [6, 14] + name: agent47 + start: [30, 28] +- goal: [23, 8] + name: agent48 + start: [16, 21] +- goal: [1, 25] + name: agent49 + start: [12, 25] +- goal: [10, 10] + name: agent50 + start: [16, 19] +- goal: [17, 29] + name: agent51 + start: [2, 20] +- goal: [19, 10] + name: agent52 + start: [17, 22] +- goal: [17, 22] + name: agent53 + start: [18, 18] +- goal: [2, 4] + name: agent54 + start: [12, 29] +- goal: [8, 15] + name: agent55 + start: [14, 5] +- goal: [20, 0] + name: agent56 + start: [4, 5] +- goal: [5, 7] + name: agent57 + start: [23, 23] +- goal: [1, 19] + name: agent58 + start: [11, 27] +- goal: [5, 2] + name: agent59 + start: [10, 22] +- goal: [19, 26] + name: agent60 + start: [19, 8] +- goal: [28, 22] + name: agent61 + start: [9, 20] +- goal: [13, 22] + name: agent62 + start: [27, 27] +- goal: [7, 17] + name: agent63 + start: [31, 14] +- goal: [25, 0] + name: agent64 + start: [21, 11] +- goal: [13, 24] + name: agent65 + start: [6, 7] +- goal: [10, 21] + name: agent66 + start: [15, 31] +- goal: [21, 31] + name: agent67 + start: [26, 14] +- goal: [18, 26] + name: agent68 + start: [25, 6] +- goal: [14, 25] + name: agent69 + start: [17, 14] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [27, 22] + - !!python/tuple [31, 7] + - !!python/tuple [31, 6] + - !!python/tuple [28, 21] + - !!python/tuple [14, 31] + - !!python/tuple [24, 7] + - !!python/tuple [6, 31] + - !!python/tuple [28, 12] + - !!python/tuple [7, 14] + - !!python/tuple [0, 31] + - !!python/tuple [23, 26] + - !!python/tuple [2, 29] + - !!python/tuple [18, 13] + - !!python/tuple [20, 21] + - !!python/tuple [1, 15] + - !!python/tuple [8, 5] + - !!python/tuple [27, 18] + - !!python/tuple [6, 21] + - !!python/tuple [21, 2] + - !!python/tuple [28, 29] + - !!python/tuple [22, 5] + - !!python/tuple [1, 0] + - !!python/tuple [22, 23] + - !!python/tuple [15, 9] + - !!python/tuple [0, 12] + - !!python/tuple [28, 31] + - !!python/tuple [26, 10] + - !!python/tuple [18, 4] + - !!python/tuple [18, 16] + - !!python/tuple [29, 26] + - !!python/tuple [16, 26] + - !!python/tuple [11, 1] + - !!python/tuple [16, 10] + - !!python/tuple [25, 15] + - !!python/tuple [4, 1] + - !!python/tuple [3, 14] + - !!python/tuple [23, 28] + - !!python/tuple [1, 7] + - !!python/tuple [26, 12] + - !!python/tuple [17, 26] + - !!python/tuple [19, 16] + - !!python/tuple [6, 17] + - !!python/tuple [12, 26] + - !!python/tuple [4, 9] + - !!python/tuple [8, 2] + - !!python/tuple [31, 19] + - !!python/tuple [13, 11] + - !!python/tuple [26, 26] + - !!python/tuple [3, 9] + - !!python/tuple [24, 13] + - !!python/tuple [13, 26] + - !!python/tuple [26, 30] + - !!python/tuple [4, 29] + - !!python/tuple [16, 28] + - !!python/tuple [31, 29] + - !!python/tuple [16, 13] + - !!python/tuple [23, 15] + - !!python/tuple [31, 25] + - !!python/tuple [7, 13] + - !!python/tuple [14, 4] + - !!python/tuple [31, 3] + - !!python/tuple [16, 15] + - !!python/tuple [2, 22] + - !!python/tuple [19, 9] + - !!python/tuple [9, 25] + - !!python/tuple [0, 21] + - !!python/tuple [28, 13] + - !!python/tuple [13, 31] + - !!python/tuple [24, 2] + - !!python/tuple [26, 18] + - !!python/tuple [25, 12] + - !!python/tuple [10, 0] + - !!python/tuple [9, 5] + - !!python/tuple [1, 26] + - !!python/tuple [27, 12] + - !!python/tuple [29, 30] + - !!python/tuple [16, 7] + - !!python/tuple [27, 25] + - !!python/tuple [23, 13] + - !!python/tuple [2, 24] + - !!python/tuple [7, 7] + - !!python/tuple [29, 20] + - !!python/tuple [2, 17] + - !!python/tuple [11, 14] + - !!python/tuple [21, 25] + - !!python/tuple [25, 21] + - !!python/tuple [21, 1] + - !!python/tuple [23, 25] + - !!python/tuple [1, 11] + - !!python/tuple [6, 15] + - !!python/tuple [0, 3] + - !!python/tuple [6, 11] + - !!python/tuple [17, 27] + - !!python/tuple [26, 0] + - !!python/tuple [0, 22] + - !!python/tuple [8, 3] + - !!python/tuple [0, 15] + - !!python/tuple [4, 27] + - !!python/tuple [28, 1] + - !!python/tuple [4, 30] + - !!python/tuple [28, 11] + - !!python/tuple [10, 24] + - !!python/tuple [31, 23] + - !!python/tuple [14, 9] + - !!python/tuple [26, 2] + - !!python/tuple [28, 7] + - !!python/tuple [29, 6] + - !!python/tuple [17, 9] + - !!python/tuple [18, 28] + - !!python/tuple [23, 27] + - !!python/tuple [26, 3] + - !!python/tuple [19, 11] + - !!python/tuple [18, 14] + - !!python/tuple [6, 1] + - !!python/tuple [12, 10] + - !!python/tuple [8, 17] + - !!python/tuple [22, 0] + - !!python/tuple [18, 22] + - !!python/tuple [15, 20] + - !!python/tuple [7, 23] + - !!python/tuple [25, 8] + - !!python/tuple [28, 14] + - !!python/tuple [15, 0] + - !!python/tuple [13, 1] + - !!python/tuple [19, 2] + - !!python/tuple [19, 29] + - !!python/tuple [11, 5] + - !!python/tuple [26, 16] + - !!python/tuple [13, 15] + - !!python/tuple [18, 31] + - !!python/tuple [14, 0] + - !!python/tuple [28, 4] + - !!python/tuple [3, 17] + - !!python/tuple [12, 16] + - !!python/tuple [20, 19] + - !!python/tuple [1, 21] + - !!python/tuple [15, 5] + - !!python/tuple [6, 18] + - !!python/tuple [25, 2] + - !!python/tuple [19, 7] + - !!python/tuple [9, 6] + - !!python/tuple [30, 21] + - !!python/tuple [27, 17] + - !!python/tuple [6, 5] + - !!python/tuple [13, 7] + - !!python/tuple [16, 22] + - !!python/tuple [30, 30] + - !!python/tuple [26, 15] + - !!python/tuple [26, 8] + - !!python/tuple [7, 1] + - !!python/tuple [26, 19] + - !!python/tuple [17, 17] + - !!python/tuple [20, 4] + - !!python/tuple [1, 18] + - !!python/tuple [31, 18] + - !!python/tuple [0, 1] + - !!python/tuple [2, 15] + - !!python/tuple [1, 4] + - !!python/tuple [5, 10] + - !!python/tuple [0, 20] + - !!python/tuple [15, 29] + - !!python/tuple [4, 0] + - !!python/tuple [15, 17] + - !!python/tuple [24, 17] + - !!python/tuple [3, 3] + - !!python/tuple [16, 11] + - !!python/tuple [9, 22] + - !!python/tuple [10, 14] + - !!python/tuple [18, 29] + - !!python/tuple [30, 24] + - !!python/tuple [16, 5] + - !!python/tuple [12, 4] + - !!python/tuple [9, 11] + - !!python/tuple [5, 15] + - !!python/tuple [17, 12] + - !!python/tuple [0, 23] + - !!python/tuple [8, 20] + - !!python/tuple [12, 22] + - !!python/tuple [15, 6] + - !!python/tuple [16, 30] + - !!python/tuple [19, 0] + - !!python/tuple [7, 5] + - !!python/tuple [8, 13] + - !!python/tuple [4, 3] + - !!python/tuple [20, 24] + - !!python/tuple [9, 14] + - !!python/tuple [26, 25] + - !!python/tuple [7, 0] + - !!python/tuple [5, 29] + - !!python/tuple [0, 30] + - !!python/tuple [14, 7] + - !!python/tuple [24, 4] + - !!python/tuple [12, 24] + - !!python/tuple [27, 24] + - !!python/tuple [5, 1] + - !!python/tuple [11, 19] + - !!python/tuple [1, 30] + - !!python/tuple [1, 31] + - !!python/tuple [27, 5] + - !!python/tuple [9, 13] + - !!python/tuple [7, 22] + - !!python/tuple [15, 25] + - !!python/tuple [14, 18] + - !!python/tuple [31, 28] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex99.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex99.yaml new file mode 100644 index 0000000..9c70980 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents70_ex99.yaml @@ -0,0 +1,418 @@ +agents: +- goal: [13, 12] + name: agent0 + start: [26, 20] +- goal: [14, 6] + name: agent1 + start: [10, 25] +- goal: [30, 26] + name: agent2 + start: [20, 29] +- goal: [28, 18] + name: agent3 + start: [20, 21] +- goal: [27, 23] + name: agent4 + start: [25, 29] +- goal: [19, 17] + name: agent5 + start: [11, 25] +- goal: [15, 16] + name: agent6 + start: [3, 15] +- goal: [27, 15] + name: agent7 + start: [11, 14] +- goal: [8, 16] + name: agent8 + start: [8, 1] +- goal: [0, 30] + name: agent9 + start: [30, 17] +- goal: [7, 18] + name: agent10 + start: [20, 12] +- goal: [20, 4] + name: agent11 + start: [22, 19] +- goal: [9, 19] + name: agent12 + start: [13, 18] +- goal: [10, 23] + name: agent13 + start: [11, 28] +- goal: [0, 24] + name: agent14 + start: [9, 0] +- goal: [24, 24] + name: agent15 + start: [18, 19] +- goal: [27, 10] + name: agent16 + start: [19, 30] +- goal: [29, 3] + name: agent17 + start: [3, 23] +- goal: [31, 12] + name: agent18 + start: [27, 0] +- goal: [4, 3] + name: agent19 + start: [20, 31] +- goal: [6, 23] + name: agent20 + start: [5, 9] +- goal: [9, 12] + name: agent21 + start: [8, 10] +- goal: [18, 24] + name: agent22 + start: [4, 15] +- goal: [31, 5] + name: agent23 + start: [0, 12] +- goal: [12, 7] + name: agent24 + start: [25, 8] +- goal: [3, 23] + name: agent25 + start: [13, 29] +- goal: [9, 14] + name: agent26 + start: [25, 22] +- goal: [6, 28] + name: agent27 + start: [24, 21] +- goal: [8, 13] + name: agent28 + start: [24, 12] +- goal: [31, 9] + name: agent29 + start: [16, 18] +- goal: [10, 13] + name: agent30 + start: [19, 15] +- goal: [30, 8] + name: agent31 + start: [15, 24] +- goal: [4, 8] + name: agent32 + start: [3, 9] +- goal: [27, 26] + name: agent33 + start: [13, 28] +- goal: [2, 18] + name: agent34 + start: [28, 5] +- goal: [22, 16] + name: agent35 + start: [12, 18] +- goal: [20, 11] + name: agent36 + start: [10, 19] +- goal: [10, 5] + name: agent37 + start: [10, 29] +- goal: [29, 1] + name: agent38 + start: [21, 28] +- goal: [24, 17] + name: agent39 + start: [12, 1] +- goal: [2, 27] + name: agent40 + start: [10, 31] +- goal: [4, 19] + name: agent41 + start: [0, 18] +- goal: [27, 21] + name: agent42 + start: [8, 23] +- goal: [26, 22] + name: agent43 + start: [5, 11] +- goal: [3, 4] + name: agent44 + start: [23, 7] +- goal: [20, 21] + name: agent45 + start: [3, 26] +- goal: [11, 23] + name: agent46 + start: [13, 8] +- goal: [22, 18] + name: agent47 + start: [7, 20] +- goal: [9, 5] + name: agent48 + start: [19, 21] +- goal: [4, 14] + name: agent49 + start: [27, 8] +- goal: [12, 9] + name: agent50 + start: [29, 8] +- goal: [20, 10] + name: agent51 + start: [25, 31] +- goal: [14, 19] + name: agent52 + start: [17, 20] +- goal: [31, 20] + name: agent53 + start: [3, 3] +- goal: [15, 23] + name: agent54 + start: [25, 18] +- goal: [14, 30] + name: agent55 + start: [5, 6] +- goal: [13, 25] + name: agent56 + start: [21, 2] +- goal: [17, 31] + name: agent57 + start: [2, 6] +- goal: [12, 29] + name: agent58 + start: [19, 0] +- goal: [7, 20] + name: agent59 + start: [22, 7] +- goal: [16, 20] + name: agent60 + start: [24, 23] +- goal: [15, 17] + name: agent61 + start: [6, 28] +- goal: [12, 24] + name: agent62 + start: [31, 15] +- goal: [14, 14] + name: agent63 + start: [6, 11] +- goal: [13, 1] + name: agent64 + start: [7, 30] +- goal: [26, 16] + name: agent65 + start: [26, 22] +- goal: [14, 22] + name: agent66 + start: [12, 13] +- goal: [18, 28] + name: agent67 + start: [16, 16] +- goal: [0, 15] + name: agent68 + start: [8, 21] +- goal: [18, 26] + name: agent69 + start: [1, 31] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [5, 26] + - !!python/tuple [21, 5] + - !!python/tuple [8, 5] + - !!python/tuple [19, 24] + - !!python/tuple [22, 11] + - !!python/tuple [6, 4] + - !!python/tuple [18, 0] + - !!python/tuple [17, 17] + - !!python/tuple [17, 19] + - !!python/tuple [11, 4] + - !!python/tuple [5, 15] + - !!python/tuple [16, 12] + - !!python/tuple [28, 9] + - !!python/tuple [12, 15] + - !!python/tuple [17, 18] + - !!python/tuple [4, 16] + - !!python/tuple [27, 25] + - !!python/tuple [5, 0] + - !!python/tuple [31, 16] + - !!python/tuple [29, 17] + - !!python/tuple [1, 30] + - !!python/tuple [8, 19] + - !!python/tuple [21, 9] + - !!python/tuple [6, 9] + - !!python/tuple [22, 29] + - !!python/tuple [25, 24] + - !!python/tuple [26, 30] + - !!python/tuple [5, 29] + - !!python/tuple [11, 21] + - !!python/tuple [20, 30] + - !!python/tuple [0, 23] + - !!python/tuple [4, 24] + - !!python/tuple [28, 10] + - !!python/tuple [19, 7] + - !!python/tuple [16, 27] + - !!python/tuple [23, 1] + - !!python/tuple [15, 15] + - !!python/tuple [2, 24] + - !!python/tuple [8, 9] + - !!python/tuple [20, 0] + - !!python/tuple [14, 28] + - !!python/tuple [12, 25] + - !!python/tuple [16, 1] + - !!python/tuple [18, 5] + - !!python/tuple [0, 8] + - !!python/tuple [31, 4] + - !!python/tuple [23, 31] + - !!python/tuple [14, 9] + - !!python/tuple [22, 10] + - !!python/tuple [0, 16] + - !!python/tuple [5, 21] + - !!python/tuple [2, 31] + - !!python/tuple [29, 18] + - !!python/tuple [16, 9] + - !!python/tuple [24, 30] + - !!python/tuple [19, 5] + - !!python/tuple [26, 3] + - !!python/tuple [5, 14] + - !!python/tuple [23, 9] + - !!python/tuple [25, 14] + - !!python/tuple [2, 22] + - !!python/tuple [11, 13] + - !!python/tuple [4, 28] + - !!python/tuple [10, 21] + - !!python/tuple [28, 23] + - !!python/tuple [30, 10] + - !!python/tuple [9, 15] + - !!python/tuple [29, 16] + - !!python/tuple [8, 14] + - !!python/tuple [20, 13] + - !!python/tuple [16, 31] + - !!python/tuple [12, 4] + - !!python/tuple [2, 28] + - !!python/tuple [30, 14] + - !!python/tuple [18, 6] + - !!python/tuple [3, 16] + - !!python/tuple [2, 16] + - !!python/tuple [25, 19] + - !!python/tuple [0, 9] + - !!python/tuple [28, 7] + - !!python/tuple [15, 31] + - !!python/tuple [27, 14] + - !!python/tuple [2, 25] + - !!python/tuple [7, 25] + - !!python/tuple [21, 27] + - !!python/tuple [0, 6] + - !!python/tuple [19, 20] + - !!python/tuple [3, 13] + - !!python/tuple [14, 20] + - !!python/tuple [18, 23] + - !!python/tuple [7, 22] + - !!python/tuple [15, 1] + - !!python/tuple [27, 1] + - !!python/tuple [5, 18] + - !!python/tuple [18, 15] + - !!python/tuple [29, 19] + - !!python/tuple [31, 26] + - !!python/tuple [11, 15] + - !!python/tuple [24, 2] + - !!python/tuple [30, 11] + - !!python/tuple [1, 5] + - !!python/tuple [0, 1] + - !!python/tuple [28, 15] + - !!python/tuple [31, 28] + - !!python/tuple [12, 26] + - !!python/tuple [5, 3] + - !!python/tuple [22, 27] + - !!python/tuple [21, 1] + - !!python/tuple [0, 27] + - !!python/tuple [15, 25] + - !!python/tuple [25, 0] + - !!python/tuple [10, 15] + - !!python/tuple [28, 4] + - !!python/tuple [30, 28] + - !!python/tuple [16, 7] + - !!python/tuple [13, 17] + - !!python/tuple [18, 21] + - !!python/tuple [29, 10] + - !!python/tuple [13, 13] + - !!python/tuple [21, 16] + - !!python/tuple [11, 16] + - !!python/tuple [27, 30] + - !!python/tuple [27, 11] + - !!python/tuple [21, 29] + - !!python/tuple [28, 27] + - !!python/tuple [13, 19] + - !!python/tuple [1, 21] + - !!python/tuple [16, 11] + - !!python/tuple [24, 4] + - !!python/tuple [0, 20] + - !!python/tuple [18, 7] + - !!python/tuple [4, 7] + - !!python/tuple [22, 23] + - !!python/tuple [24, 1] + - !!python/tuple [15, 5] + - !!python/tuple [10, 3] + - !!python/tuple [27, 16] + - !!python/tuple [6, 24] + - !!python/tuple [10, 22] + - !!python/tuple [23, 2] + - !!python/tuple [9, 22] + - !!python/tuple [27, 24] + - !!python/tuple [21, 17] + - !!python/tuple [10, 11] + - !!python/tuple [17, 9] + - !!python/tuple [8, 31] + - !!python/tuple [18, 9] + - !!python/tuple [14, 21] + - !!python/tuple [16, 15] + - !!python/tuple [22, 9] + - !!python/tuple [9, 1] + - !!python/tuple [14, 7] + - !!python/tuple [19, 25] + - !!python/tuple [24, 28] + - !!python/tuple [22, 0] + - !!python/tuple [4, 13] + - !!python/tuple [24, 18] + - !!python/tuple [11, 30] + - !!python/tuple [27, 19] + - !!python/tuple [3, 20] + - !!python/tuple [19, 27] + - !!python/tuple [26, 29] + - !!python/tuple [13, 4] + - !!python/tuple [11, 0] + - !!python/tuple [5, 22] + - !!python/tuple [19, 16] + - !!python/tuple [2, 4] + - !!python/tuple [6, 14] + - !!python/tuple [5, 7] + - !!python/tuple [6, 10] + - !!python/tuple [28, 8] + - !!python/tuple [14, 0] + - !!python/tuple [29, 4] + - !!python/tuple [20, 7] + - !!python/tuple [8, 6] + - !!python/tuple [14, 31] + - !!python/tuple [18, 14] + - !!python/tuple [25, 12] + - !!python/tuple [10, 14] + - !!python/tuple [22, 3] + - !!python/tuple [11, 29] + - !!python/tuple [11, 18] + - !!python/tuple [31, 10] + - !!python/tuple [13, 2] + - !!python/tuple [22, 20] + - !!python/tuple [2, 12] + - !!python/tuple [6, 2] + - !!python/tuple [20, 14] + - !!python/tuple [28, 29] + - !!python/tuple [3, 24] + - !!python/tuple [2, 30] + - !!python/tuple [5, 19] + - !!python/tuple [21, 22] + - !!python/tuple [5, 24] + - !!python/tuple [11, 9] + - !!python/tuple [25, 10] + - !!python/tuple [23, 0] + - !!python/tuple [26, 25] + - !!python/tuple [16, 5] + - !!python/tuple [14, 15] + - !!python/tuple [7, 28] + - !!python/tuple [2, 13] + - !!python/tuple [14, 18] + - !!python/tuple [26, 6] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex0.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex0.yaml new file mode 100644 index 0000000..5094147 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex0.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [18, 11] + name: agent0 + start: [13, 12] +- goal: [2, 6] + name: agent1 + start: [7, 27] +- goal: [30, 0] + name: agent2 + start: [11, 4] +- goal: [27, 10] + name: agent3 + start: [18, 21] +- goal: [1, 10] + name: agent4 + start: [2, 1] +- goal: [13, 28] + name: agent5 + start: [13, 7] +- goal: [14, 3] + name: agent6 + start: [19, 1] +- goal: [14, 13] + name: agent7 + start: [16, 17] +- goal: [29, 17] + name: agent8 + start: [12, 9] +- goal: [27, 23] + name: agent9 + start: [17, 1] +- goal: [26, 11] + name: agent10 + start: [11, 11] +- goal: [18, 24] + name: agent11 + start: [15, 13] +- goal: [28, 19] + name: agent12 + start: [23, 6] +- goal: [12, 9] + name: agent13 + start: [0, 25] +- goal: [1, 27] + name: agent14 + start: [23, 8] +- goal: [11, 16] + name: agent15 + start: [11, 0] +- goal: [27, 12] + name: agent16 + start: [21, 12] +- goal: [2, 0] + name: agent17 + start: [19, 4] +- goal: [24, 30] + name: agent18 + start: [17, 13] +- goal: [15, 17] + name: agent19 + start: [28, 25] +- goal: [31, 18] + name: agent20 + start: [30, 27] +- goal: [9, 14] + name: agent21 + start: [9, 6] +- goal: [0, 4] + name: agent22 + start: [11, 26] +- goal: [2, 4] + name: agent23 + start: [11, 17] +- goal: [7, 26] + name: agent24 + start: [30, 14] +- goal: [20, 11] + name: agent25 + start: [30, 4] +- goal: [17, 16] + name: agent26 + start: [30, 5] +- goal: [24, 13] + name: agent27 + start: [0, 14] +- goal: [11, 26] + name: agent28 + start: [13, 21] +- goal: [3, 19] + name: agent29 + start: [31, 4] +- goal: [13, 25] + name: agent30 + start: [27, 4] +- goal: [2, 17] + name: agent31 + start: [4, 3] +- goal: [23, 31] + name: agent32 + start: [2, 29] +- goal: [6, 26] + name: agent33 + start: [7, 31] +- goal: [26, 3] + name: agent34 + start: [13, 2] +- goal: [30, 1] + name: agent35 + start: [29, 6] +- goal: [24, 14] + name: agent36 + start: [31, 8] +- goal: [28, 15] + name: agent37 + start: [15, 5] +- goal: [15, 25] + name: agent38 + start: [23, 12] +- goal: [12, 23] + name: agent39 + start: [18, 30] +- goal: [12, 19] + name: agent40 + start: [0, 11] +- goal: [5, 12] + name: agent41 + start: [19, 31] +- goal: [28, 14] + name: agent42 + start: [31, 13] +- goal: [2, 30] + name: agent43 + start: [26, 24] +- goal: [10, 10] + name: agent44 + start: [13, 14] +- goal: [27, 8] + name: agent45 + start: [10, 29] +- goal: [29, 18] + name: agent46 + start: [8, 8] +- goal: [8, 27] + name: agent47 + start: [10, 31] +- goal: [13, 12] + name: agent48 + start: [28, 13] +- goal: [7, 30] + name: agent49 + start: [21, 8] +- goal: [20, 10] + name: agent50 + start: [29, 23] +- goal: [11, 17] + name: agent51 + start: [20, 26] +- goal: [25, 16] + name: agent52 + start: [31, 19] +- goal: [7, 17] + name: agent53 + start: [9, 15] +- goal: [24, 5] + name: agent54 + start: [3, 24] +- goal: [23, 8] + name: agent55 + start: [21, 22] +- goal: [30, 28] + name: agent56 + start: [10, 10] +- goal: [6, 19] + name: agent57 + start: [27, 11] +- goal: [13, 2] + name: agent58 + start: [14, 10] +- goal: [4, 16] + name: agent59 + start: [15, 10] +- goal: [28, 8] + name: agent60 + start: [11, 7] +- goal: [6, 2] + name: agent61 + start: [22, 24] +- goal: [14, 15] + name: agent62 + start: [2, 30] +- goal: [0, 22] + name: agent63 + start: [29, 14] +- goal: [15, 21] + name: agent64 + start: [6, 11] +- goal: [22, 29] + name: agent65 + start: [19, 13] +- goal: [15, 26] + name: agent66 + start: [7, 21] +- goal: [17, 3] + name: agent67 + start: [21, 28] +- goal: [20, 2] + name: agent68 + start: [4, 12] +- goal: [31, 5] + name: agent69 + start: [13, 8] +- goal: [17, 5] + name: agent70 + start: [31, 26] +- goal: [14, 24] + name: agent71 + start: [11, 10] +- goal: [2, 16] + name: agent72 + start: [24, 26] +- goal: [6, 17] + name: agent73 + start: [28, 10] +- goal: [22, 10] + name: agent74 + start: [4, 1] +- goal: [11, 14] + name: agent75 + start: [10, 4] +- goal: [11, 6] + name: agent76 + start: [28, 29] +- goal: [27, 22] + name: agent77 + start: [10, 22] +- goal: [3, 24] + name: agent78 + start: [8, 1] +- goal: [26, 23] + name: agent79 + start: [9, 13] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [30, 2] + - !!python/tuple [9, 21] + - !!python/tuple [1, 23] + - !!python/tuple [29, 12] + - !!python/tuple [19, 10] + - !!python/tuple [31, 3] + - !!python/tuple [19, 6] + - !!python/tuple [18, 25] + - !!python/tuple [20, 0] + - !!python/tuple [20, 15] + - !!python/tuple [2, 11] + - !!python/tuple [10, 18] + - !!python/tuple [9, 24] + - !!python/tuple [3, 29] + - !!python/tuple [18, 9] + - !!python/tuple [12, 31] + - !!python/tuple [2, 15] + - !!python/tuple [3, 1] + - !!python/tuple [10, 28] + - !!python/tuple [6, 27] + - !!python/tuple [12, 16] + - !!python/tuple [5, 28] + - !!python/tuple [22, 21] + - !!python/tuple [18, 1] + - !!python/tuple [28, 30] + - !!python/tuple [11, 2] + - !!python/tuple [6, 3] + - !!python/tuple [1, 22] + - !!python/tuple [7, 20] + - !!python/tuple [5, 30] + - !!python/tuple [5, 24] + - !!python/tuple [14, 5] + - !!python/tuple [6, 12] + - !!python/tuple [23, 29] + - !!python/tuple [17, 6] + - !!python/tuple [1, 15] + - !!python/tuple [9, 3] + - !!python/tuple [5, 27] + - !!python/tuple [14, 26] + - !!python/tuple [20, 16] + - !!python/tuple [7, 25] + - !!python/tuple [4, 28] + - !!python/tuple [19, 24] + - !!python/tuple [22, 23] + - !!python/tuple [24, 23] + - !!python/tuple [27, 28] + - !!python/tuple [16, 5] + - !!python/tuple [2, 20] + - !!python/tuple [3, 15] + - !!python/tuple [17, 25] + - !!python/tuple [0, 31] + - !!python/tuple [7, 18] + - !!python/tuple [12, 13] + - !!python/tuple [13, 30] + - !!python/tuple [17, 18] + - !!python/tuple [20, 20] + - !!python/tuple [1, 29] + - !!python/tuple [22, 1] + - !!python/tuple [14, 18] + - !!python/tuple [25, 11] + - !!python/tuple [21, 25] + - !!python/tuple [14, 25] + - !!python/tuple [10, 26] + - !!python/tuple [4, 25] + - !!python/tuple [1, 20] + - !!python/tuple [28, 9] + - !!python/tuple [10, 15] + - !!python/tuple [21, 31] + - !!python/tuple [25, 31] + - !!python/tuple [29, 31] + - !!python/tuple [2, 13] + - !!python/tuple [9, 22] + - !!python/tuple [0, 0] + - !!python/tuple [17, 12] + - !!python/tuple [30, 8] + - !!python/tuple [4, 30] + - !!python/tuple [15, 8] + - !!python/tuple [11, 20] + - !!python/tuple [5, 1] + - !!python/tuple [9, 0] + - !!python/tuple [19, 15] + - !!python/tuple [13, 29] + - !!python/tuple [0, 18] + - !!python/tuple [4, 6] + - !!python/tuple [23, 3] + - !!python/tuple [22, 3] + - !!python/tuple [20, 24] + - !!python/tuple [15, 27] + - !!python/tuple [11, 13] + - !!python/tuple [20, 17] + - !!python/tuple [12, 15] + - !!python/tuple [23, 0] + - !!python/tuple [8, 22] + - !!python/tuple [19, 22] + - !!python/tuple [1, 0] + - !!python/tuple [14, 0] + - !!python/tuple [8, 18] + - !!python/tuple [25, 18] + - !!python/tuple [14, 4] + - !!python/tuple [13, 26] + - !!python/tuple [14, 21] + - !!python/tuple [5, 7] + - !!python/tuple [10, 9] + - !!python/tuple [25, 9] + - !!python/tuple [18, 4] + - !!python/tuple [25, 7] + - !!python/tuple [8, 21] + - !!python/tuple [15, 28] + - !!python/tuple [9, 19] + - !!python/tuple [29, 7] + - !!python/tuple [16, 9] + - !!python/tuple [7, 28] + - !!python/tuple [30, 18] + - !!python/tuple [5, 19] + - !!python/tuple [27, 16] + - !!python/tuple [31, 10] + - !!python/tuple [8, 29] + - !!python/tuple [30, 30] + - !!python/tuple [24, 9] + - !!python/tuple [24, 28] + - !!python/tuple [21, 14] + - !!python/tuple [15, 18] + - !!python/tuple [5, 20] + - !!python/tuple [31, 9] + - !!python/tuple [31, 27] + - !!python/tuple [21, 1] + - !!python/tuple [21, 3] + - !!python/tuple [20, 28] + - !!python/tuple [12, 27] + - !!python/tuple [1, 24] + - !!python/tuple [4, 26] + - !!python/tuple [21, 16] + - !!python/tuple [22, 25] + - !!python/tuple [19, 17] + - !!python/tuple [13, 19] + - !!python/tuple [18, 20] + - !!python/tuple [24, 10] + - !!python/tuple [11, 9] + - !!python/tuple [6, 30] + - !!python/tuple [29, 10] + - !!python/tuple [18, 18] + - !!python/tuple [22, 7] + - !!python/tuple [29, 27] + - !!python/tuple [16, 13] + - !!python/tuple [1, 21] + - !!python/tuple [17, 7] + - !!python/tuple [18, 15] + - !!python/tuple [31, 14] + - !!python/tuple [16, 20] + - !!python/tuple [7, 22] + - !!python/tuple [20, 6] + - !!python/tuple [10, 24] + - !!python/tuple [26, 12] + - !!python/tuple [0, 6] + - !!python/tuple [8, 26] + - !!python/tuple [28, 31] + - !!python/tuple [2, 22] + - !!python/tuple [7, 23] + - !!python/tuple [13, 15] + - !!python/tuple [31, 17] + - !!python/tuple [18, 23] + - !!python/tuple [10, 12] + - !!python/tuple [20, 21] + - !!python/tuple [29, 16] + - !!python/tuple [10, 21] + - !!python/tuple [28, 21] + - !!python/tuple [2, 18] + - !!python/tuple [22, 15] + - !!python/tuple [29, 25] + - !!python/tuple [1, 7] + - !!python/tuple [0, 26] + - !!python/tuple [25, 29] + - !!python/tuple [31, 22] + - !!python/tuple [22, 6] + - !!python/tuple [28, 28] + - !!python/tuple [25, 28] + - !!python/tuple [28, 22] + - !!python/tuple [11, 25] + - !!python/tuple [7, 19] + - !!python/tuple [3, 9] + - !!python/tuple [26, 5] + - !!python/tuple [20, 14] + - !!python/tuple [21, 19] + - !!python/tuple [27, 5] + - !!python/tuple [22, 16] + - !!python/tuple [16, 27] + - !!python/tuple [16, 23] + - !!python/tuple [14, 22] + - !!python/tuple [16, 8] + - !!python/tuple [14, 28] + - !!python/tuple [25, 23] + - !!python/tuple [16, 26] + - !!python/tuple [26, 28] + - !!python/tuple [8, 6] + - !!python/tuple [8, 14] + - !!python/tuple [22, 22] + - !!python/tuple [14, 12] + - !!python/tuple [14, 9] + - !!python/tuple [5, 17] + - !!python/tuple [4, 20] + - !!python/tuple [18, 6] + - !!python/tuple [17, 17] + - !!python/tuple [22, 11] + - !!python/tuple [21, 20] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex1.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex1.yaml new file mode 100644 index 0000000..6d10334 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex1.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [7, 2] + name: agent0 + start: [30, 21] +- goal: [16, 15] + name: agent1 + start: [31, 11] +- goal: [7, 30] + name: agent2 + start: [3, 12] +- goal: [7, 26] + name: agent3 + start: [25, 20] +- goal: [9, 16] + name: agent4 + start: [15, 25] +- goal: [22, 12] + name: agent5 + start: [24, 22] +- goal: [6, 31] + name: agent6 + start: [5, 9] +- goal: [25, 28] + name: agent7 + start: [31, 8] +- goal: [30, 6] + name: agent8 + start: [21, 30] +- goal: [4, 10] + name: agent9 + start: [6, 18] +- goal: [6, 15] + name: agent10 + start: [17, 21] +- goal: [25, 23] + name: agent11 + start: [16, 19] +- goal: [9, 17] + name: agent12 + start: [22, 18] +- goal: [5, 4] + name: agent13 + start: [29, 3] +- goal: [27, 12] + name: agent14 + start: [11, 23] +- goal: [2, 28] + name: agent15 + start: [2, 15] +- goal: [11, 16] + name: agent16 + start: [18, 22] +- goal: [21, 25] + name: agent17 + start: [12, 30] +- goal: [31, 16] + name: agent18 + start: [10, 7] +- goal: [3, 0] + name: agent19 + start: [24, 1] +- goal: [14, 5] + name: agent20 + start: [20, 3] +- goal: [4, 0] + name: agent21 + start: [8, 28] +- goal: [22, 31] + name: agent22 + start: [22, 23] +- goal: [3, 1] + name: agent23 + start: [17, 14] +- goal: [30, 3] + name: agent24 + start: [30, 15] +- goal: [6, 27] + name: agent25 + start: [3, 24] +- goal: [28, 8] + name: agent26 + start: [6, 5] +- goal: [7, 23] + name: agent27 + start: [3, 19] +- goal: [26, 18] + name: agent28 + start: [26, 5] +- goal: [0, 18] + name: agent29 + start: [13, 3] +- goal: [0, 28] + name: agent30 + start: [24, 31] +- goal: [18, 10] + name: agent31 + start: [11, 15] +- goal: [26, 29] + name: agent32 + start: [0, 22] +- goal: [21, 28] + name: agent33 + start: [12, 2] +- goal: [3, 17] + name: agent34 + start: [5, 19] +- goal: [6, 18] + name: agent35 + start: [2, 26] +- goal: [10, 23] + name: agent36 + start: [16, 24] +- goal: [7, 5] + name: agent37 + start: [13, 29] +- goal: [20, 21] + name: agent38 + start: [15, 31] +- goal: [4, 20] + name: agent39 + start: [1, 1] +- goal: [19, 2] + name: agent40 + start: [26, 11] +- goal: [13, 8] + name: agent41 + start: [23, 21] +- goal: [24, 2] + name: agent42 + start: [9, 17] +- goal: [1, 22] + name: agent43 + start: [2, 28] +- goal: [13, 27] + name: agent44 + start: [27, 1] +- goal: [29, 0] + name: agent45 + start: [0, 4] +- goal: [18, 27] + name: agent46 + start: [23, 27] +- goal: [20, 1] + name: agent47 + start: [13, 26] +- goal: [20, 7] + name: agent48 + start: [2, 3] +- goal: [2, 18] + name: agent49 + start: [10, 1] +- goal: [21, 16] + name: agent50 + start: [21, 10] +- goal: [10, 22] + name: agent51 + start: [14, 20] +- goal: [20, 10] + name: agent52 + start: [8, 17] +- goal: [12, 17] + name: agent53 + start: [21, 2] +- goal: [29, 25] + name: agent54 + start: [18, 26] +- goal: [4, 2] + name: agent55 + start: [27, 19] +- goal: [10, 13] + name: agent56 + start: [6, 1] +- goal: [26, 31] + name: agent57 + start: [8, 14] +- goal: [31, 6] + name: agent58 + start: [30, 8] +- goal: [24, 7] + name: agent59 + start: [20, 11] +- goal: [15, 18] + name: agent60 + start: [31, 13] +- goal: [15, 24] + name: agent61 + start: [13, 4] +- goal: [7, 29] + name: agent62 + start: [22, 30] +- goal: [23, 15] + name: agent63 + start: [8, 22] +- goal: [2, 4] + name: agent64 + start: [26, 26] +- goal: [19, 8] + name: agent65 + start: [22, 25] +- goal: [13, 6] + name: agent66 + start: [27, 9] +- goal: [17, 28] + name: agent67 + start: [10, 3] +- goal: [25, 6] + name: agent68 + start: [20, 22] +- goal: [23, 9] + name: agent69 + start: [13, 0] +- goal: [22, 21] + name: agent70 + start: [2, 8] +- goal: [3, 7] + name: agent71 + start: [20, 14] +- goal: [5, 6] + name: agent72 + start: [20, 29] +- goal: [27, 29] + name: agent73 + start: [1, 26] +- goal: [8, 28] + name: agent74 + start: [4, 10] +- goal: [17, 19] + name: agent75 + start: [24, 15] +- goal: [7, 31] + name: agent76 + start: [24, 28] +- goal: [17, 30] + name: agent77 + start: [23, 11] +- goal: [8, 19] + name: agent78 + start: [23, 26] +- goal: [27, 4] + name: agent79 + start: [3, 16] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [18, 3] + - !!python/tuple [11, 1] + - !!python/tuple [15, 5] + - !!python/tuple [12, 24] + - !!python/tuple [11, 22] + - !!python/tuple [8, 4] + - !!python/tuple [31, 20] + - !!python/tuple [25, 15] + - !!python/tuple [19, 25] + - !!python/tuple [6, 20] + - !!python/tuple [11, 9] + - !!python/tuple [27, 24] + - !!python/tuple [8, 27] + - !!python/tuple [28, 17] + - !!python/tuple [24, 29] + - !!python/tuple [8, 15] + - !!python/tuple [22, 3] + - !!python/tuple [19, 24] + - !!python/tuple [3, 15] + - !!python/tuple [18, 1] + - !!python/tuple [11, 28] + - !!python/tuple [6, 16] + - !!python/tuple [19, 6] + - !!python/tuple [16, 10] + - !!python/tuple [8, 2] + - !!python/tuple [23, 8] + - !!python/tuple [18, 31] + - !!python/tuple [28, 30] + - !!python/tuple [19, 27] + - !!python/tuple [9, 3] + - !!python/tuple [20, 5] + - !!python/tuple [23, 25] + - !!python/tuple [8, 7] + - !!python/tuple [23, 14] + - !!python/tuple [24, 6] + - !!python/tuple [0, 31] + - !!python/tuple [7, 22] + - !!python/tuple [26, 28] + - !!python/tuple [15, 4] + - !!python/tuple [29, 9] + - !!python/tuple [8, 24] + - !!python/tuple [15, 23] + - !!python/tuple [13, 12] + - !!python/tuple [29, 16] + - !!python/tuple [14, 10] + - !!python/tuple [14, 29] + - !!python/tuple [12, 21] + - !!python/tuple [22, 26] + - !!python/tuple [7, 11] + - !!python/tuple [28, 25] + - !!python/tuple [19, 9] + - !!python/tuple [23, 24] + - !!python/tuple [31, 27] + - !!python/tuple [0, 13] + - !!python/tuple [20, 24] + - !!python/tuple [15, 13] + - !!python/tuple [31, 12] + - !!python/tuple [24, 26] + - !!python/tuple [22, 13] + - !!python/tuple [26, 9] + - !!python/tuple [7, 17] + - !!python/tuple [13, 19] + - !!python/tuple [16, 16] + - !!python/tuple [17, 7] + - !!python/tuple [25, 29] + - !!python/tuple [12, 9] + - !!python/tuple [21, 31] + - !!python/tuple [10, 16] + - !!python/tuple [23, 17] + - !!python/tuple [28, 4] + - !!python/tuple [29, 26] + - !!python/tuple [25, 21] + - !!python/tuple [29, 27] + - !!python/tuple [3, 30] + - !!python/tuple [12, 27] + - !!python/tuple [17, 6] + - !!python/tuple [16, 3] + - !!python/tuple [14, 27] + - !!python/tuple [22, 29] + - !!python/tuple [20, 18] + - !!python/tuple [15, 21] + - !!python/tuple [30, 29] + - !!python/tuple [28, 26] + - !!python/tuple [31, 24] + - !!python/tuple [20, 16] + - !!python/tuple [16, 17] + - !!python/tuple [28, 15] + - !!python/tuple [23, 4] + - !!python/tuple [19, 15] + - !!python/tuple [6, 24] + - !!python/tuple [14, 11] + - !!python/tuple [27, 27] + - !!python/tuple [26, 20] + - !!python/tuple [31, 30] + - !!python/tuple [8, 13] + - !!python/tuple [21, 17] + - !!python/tuple [9, 21] + - !!python/tuple [28, 14] + - !!python/tuple [8, 0] + - !!python/tuple [2, 2] + - !!python/tuple [24, 4] + - !!python/tuple [17, 2] + - !!python/tuple [4, 15] + - !!python/tuple [18, 2] + - !!python/tuple [1, 4] + - !!python/tuple [10, 26] + - !!python/tuple [17, 3] + - !!python/tuple [1, 15] + - !!python/tuple [30, 1] + - !!python/tuple [4, 31] + - !!python/tuple [16, 14] + - !!python/tuple [24, 18] + - !!python/tuple [13, 21] + - !!python/tuple [5, 18] + - !!python/tuple [1, 10] + - !!python/tuple [5, 27] + - !!python/tuple [31, 4] + - !!python/tuple [4, 7] + - !!python/tuple [7, 19] + - !!python/tuple [29, 30] + - !!python/tuple [11, 11] + - !!python/tuple [0, 19] + - !!python/tuple [11, 12] + - !!python/tuple [4, 27] + - !!python/tuple [1, 19] + - !!python/tuple [28, 5] + - !!python/tuple [20, 31] + - !!python/tuple [28, 21] + - !!python/tuple [1, 13] + - !!python/tuple [8, 1] + - !!python/tuple [13, 10] + - !!python/tuple [17, 12] + - !!python/tuple [25, 5] + - !!python/tuple [27, 25] + - !!python/tuple [5, 26] + - !!python/tuple [25, 8] + - !!python/tuple [6, 19] + - !!python/tuple [2, 20] + - !!python/tuple [20, 30] + - !!python/tuple [18, 14] + - !!python/tuple [28, 28] + - !!python/tuple [1, 11] + - !!python/tuple [4, 16] + - !!python/tuple [16, 26] + - !!python/tuple [8, 20] + - !!python/tuple [21, 15] + - !!python/tuple [30, 17] + - !!python/tuple [13, 14] + - !!python/tuple [27, 26] + - !!python/tuple [23, 10] + - !!python/tuple [0, 23] + - !!python/tuple [12, 13] + - !!python/tuple [1, 5] + - !!python/tuple [20, 4] + - !!python/tuple [11, 19] + - !!python/tuple [1, 2] + - !!python/tuple [12, 26] + - !!python/tuple [21, 19] + - !!python/tuple [21, 0] + - !!python/tuple [3, 2] + - !!python/tuple [3, 27] + - !!python/tuple [21, 23] + - !!python/tuple [3, 13] + - !!python/tuple [3, 28] + - !!python/tuple [16, 25] + - !!python/tuple [17, 31] + - !!python/tuple [18, 6] + - !!python/tuple [27, 0] + - !!python/tuple [14, 30] + - !!python/tuple [0, 20] + - !!python/tuple [9, 11] + - !!python/tuple [27, 6] + - !!python/tuple [19, 28] + - !!python/tuple [3, 31] + - !!python/tuple [14, 18] + - !!python/tuple [23, 28] + - !!python/tuple [12, 19] + - !!python/tuple [14, 13] + - !!python/tuple [1, 3] + - !!python/tuple [13, 11] + - !!python/tuple [6, 30] + - !!python/tuple [28, 22] + - !!python/tuple [0, 0] + - !!python/tuple [1, 20] + - !!python/tuple [0, 26] + - !!python/tuple [25, 10] + - !!python/tuple [25, 11] + - !!python/tuple [6, 26] + - !!python/tuple [12, 0] + - !!python/tuple [5, 5] + - !!python/tuple [23, 22] + - !!python/tuple [11, 2] + - !!python/tuple [12, 18] + - !!python/tuple [18, 15] + - !!python/tuple [28, 11] + - !!python/tuple [5, 20] + - !!python/tuple [13, 15] + - !!python/tuple [27, 7] + - !!python/tuple [0, 6] + - !!python/tuple [0, 8] + - !!python/tuple [10, 12] + - !!python/tuple [17, 29] + - !!python/tuple [15, 27] + - !!python/tuple [5, 21] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex10.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex10.yaml new file mode 100644 index 0000000..8f217d0 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex10.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [11, 13] + name: agent0 + start: [21, 13] +- goal: [30, 23] + name: agent1 + start: [8, 6] +- goal: [5, 0] + name: agent2 + start: [28, 9] +- goal: [22, 27] + name: agent3 + start: [16, 15] +- goal: [20, 28] + name: agent4 + start: [29, 27] +- goal: [3, 14] + name: agent5 + start: [9, 25] +- goal: [14, 6] + name: agent6 + start: [14, 22] +- goal: [26, 27] + name: agent7 + start: [23, 6] +- goal: [31, 20] + name: agent8 + start: [27, 19] +- goal: [7, 12] + name: agent9 + start: [11, 20] +- goal: [31, 24] + name: agent10 + start: [15, 14] +- goal: [2, 12] + name: agent11 + start: [23, 15] +- goal: [21, 2] + name: agent12 + start: [27, 23] +- goal: [27, 25] + name: agent13 + start: [23, 17] +- goal: [2, 13] + name: agent14 + start: [15, 7] +- goal: [8, 21] + name: agent15 + start: [12, 9] +- goal: [15, 23] + name: agent16 + start: [2, 3] +- goal: [20, 4] + name: agent17 + start: [5, 19] +- goal: [27, 19] + name: agent18 + start: [5, 8] +- goal: [5, 22] + name: agent19 + start: [5, 20] +- goal: [27, 1] + name: agent20 + start: [20, 18] +- goal: [22, 25] + name: agent21 + start: [5, 12] +- goal: [1, 14] + name: agent22 + start: [24, 10] +- goal: [7, 11] + name: agent23 + start: [2, 21] +- goal: [9, 9] + name: agent24 + start: [14, 24] +- goal: [13, 18] + name: agent25 + start: [16, 1] +- goal: [22, 29] + name: agent26 + start: [9, 10] +- goal: [12, 5] + name: agent27 + start: [14, 0] +- goal: [11, 7] + name: agent28 + start: [11, 21] +- goal: [15, 27] + name: agent29 + start: [1, 8] +- goal: [18, 28] + name: agent30 + start: [21, 23] +- goal: [30, 9] + name: agent31 + start: [13, 19] +- goal: [12, 10] + name: agent32 + start: [31, 1] +- goal: [24, 1] + name: agent33 + start: [7, 17] +- goal: [20, 23] + name: agent34 + start: [16, 23] +- goal: [14, 22] + name: agent35 + start: [22, 1] +- goal: [2, 15] + name: agent36 + start: [30, 20] +- goal: [15, 28] + name: agent37 + start: [15, 29] +- goal: [24, 21] + name: agent38 + start: [10, 20] +- goal: [13, 29] + name: agent39 + start: [4, 3] +- goal: [26, 29] + name: agent40 + start: [3, 11] +- goal: [25, 17] + name: agent41 + start: [7, 15] +- goal: [20, 31] + name: agent42 + start: [13, 30] +- goal: [29, 23] + name: agent43 + start: [7, 7] +- goal: [17, 22] + name: agent44 + start: [3, 13] +- goal: [29, 26] + name: agent45 + start: [27, 15] +- goal: [0, 17] + name: agent46 + start: [0, 5] +- goal: [1, 11] + name: agent47 + start: [14, 4] +- goal: [4, 7] + name: agent48 + start: [6, 14] +- goal: [28, 27] + name: agent49 + start: [7, 26] +- goal: [29, 2] + name: agent50 + start: [11, 15] +- goal: [6, 29] + name: agent51 + start: [2, 20] +- goal: [15, 25] + name: agent52 + start: [5, 6] +- goal: [30, 19] + name: agent53 + start: [16, 4] +- goal: [20, 17] + name: agent54 + start: [0, 8] +- goal: [31, 14] + name: agent55 + start: [30, 10] +- goal: [3, 31] + name: agent56 + start: [23, 12] +- goal: [12, 15] + name: agent57 + start: [18, 16] +- goal: [9, 18] + name: agent58 + start: [10, 18] +- goal: [6, 22] + name: agent59 + start: [21, 30] +- goal: [21, 3] + name: agent60 + start: [26, 28] +- goal: [21, 16] + name: agent61 + start: [25, 29] +- goal: [22, 2] + name: agent62 + start: [6, 20] +- goal: [23, 9] + name: agent63 + start: [22, 5] +- goal: [22, 0] + name: agent64 + start: [23, 7] +- goal: [5, 29] + name: agent65 + start: [8, 10] +- goal: [27, 11] + name: agent66 + start: [9, 0] +- goal: [2, 29] + name: agent67 + start: [0, 29] +- goal: [26, 25] + name: agent68 + start: [9, 3] +- goal: [29, 1] + name: agent69 + start: [4, 29] +- goal: [2, 24] + name: agent70 + start: [15, 22] +- goal: [31, 22] + name: agent71 + start: [20, 1] +- goal: [30, 12] + name: agent72 + start: [7, 19] +- goal: [25, 18] + name: agent73 + start: [27, 30] +- goal: [20, 7] + name: agent74 + start: [22, 2] +- goal: [28, 14] + name: agent75 + start: [7, 18] +- goal: [18, 12] + name: agent76 + start: [20, 7] +- goal: [27, 29] + name: agent77 + start: [0, 19] +- goal: [10, 13] + name: agent78 + start: [30, 26] +- goal: [20, 20] + name: agent79 + start: [5, 2] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [4, 12] + - !!python/tuple [11, 19] + - !!python/tuple [16, 30] + - !!python/tuple [14, 1] + - !!python/tuple [30, 6] + - !!python/tuple [7, 21] + - !!python/tuple [12, 23] + - !!python/tuple [19, 14] + - !!python/tuple [12, 21] + - !!python/tuple [8, 13] + - !!python/tuple [17, 30] + - !!python/tuple [22, 7] + - !!python/tuple [6, 3] + - !!python/tuple [18, 4] + - !!python/tuple [27, 10] + - !!python/tuple [26, 31] + - !!python/tuple [5, 13] + - !!python/tuple [24, 26] + - !!python/tuple [2, 17] + - !!python/tuple [17, 8] + - !!python/tuple [18, 3] + - !!python/tuple [16, 26] + - !!python/tuple [12, 4] + - !!python/tuple [25, 10] + - !!python/tuple [3, 21] + - !!python/tuple [15, 10] + - !!python/tuple [23, 29] + - !!python/tuple [14, 21] + - !!python/tuple [17, 3] + - !!python/tuple [6, 6] + - !!python/tuple [0, 12] + - !!python/tuple [11, 28] + - !!python/tuple [0, 10] + - !!python/tuple [15, 9] + - !!python/tuple [17, 1] + - !!python/tuple [28, 28] + - !!python/tuple [1, 21] + - !!python/tuple [31, 27] + - !!python/tuple [22, 14] + - !!python/tuple [19, 4] + - !!python/tuple [4, 22] + - !!python/tuple [19, 11] + - !!python/tuple [9, 28] + - !!python/tuple [10, 14] + - !!python/tuple [25, 26] + - !!python/tuple [14, 26] + - !!python/tuple [10, 12] + - !!python/tuple [16, 14] + - !!python/tuple [4, 27] + - !!python/tuple [30, 27] + - !!python/tuple [8, 19] + - !!python/tuple [27, 27] + - !!python/tuple [27, 31] + - !!python/tuple [25, 4] + - !!python/tuple [16, 10] + - !!python/tuple [29, 28] + - !!python/tuple [21, 21] + - !!python/tuple [14, 3] + - !!python/tuple [22, 30] + - !!python/tuple [9, 15] + - !!python/tuple [10, 8] + - !!python/tuple [6, 11] + - !!python/tuple [2, 16] + - !!python/tuple [26, 6] + - !!python/tuple [21, 14] + - !!python/tuple [28, 15] + - !!python/tuple [2, 9] + - !!python/tuple [13, 20] + - !!python/tuple [9, 31] + - !!python/tuple [10, 9] + - !!python/tuple [18, 0] + - !!python/tuple [19, 30] + - !!python/tuple [28, 26] + - !!python/tuple [16, 21] + - !!python/tuple [23, 13] + - !!python/tuple [23, 0] + - !!python/tuple [2, 11] + - !!python/tuple [30, 17] + - !!python/tuple [12, 22] + - !!python/tuple [9, 20] + - !!python/tuple [12, 16] + - !!python/tuple [24, 30] + - !!python/tuple [2, 28] + - !!python/tuple [6, 23] + - !!python/tuple [30, 14] + - !!python/tuple [0, 26] + - !!python/tuple [22, 12] + - !!python/tuple [10, 29] + - !!python/tuple [17, 2] + - !!python/tuple [0, 20] + - !!python/tuple [17, 10] + - !!python/tuple [6, 17] + - !!python/tuple [29, 20] + - !!python/tuple [28, 5] + - !!python/tuple [28, 13] + - !!python/tuple [24, 0] + - !!python/tuple [11, 4] + - !!python/tuple [2, 10] + - !!python/tuple [8, 31] + - !!python/tuple [11, 5] + - !!python/tuple [28, 0] + - !!python/tuple [7, 9] + - !!python/tuple [13, 15] + - !!python/tuple [25, 9] + - !!python/tuple [27, 28] + - !!python/tuple [21, 26] + - !!python/tuple [31, 11] + - !!python/tuple [25, 25] + - !!python/tuple [30, 30] + - !!python/tuple [11, 9] + - !!python/tuple [17, 24] + - !!python/tuple [25, 15] + - !!python/tuple [18, 24] + - !!python/tuple [23, 10] + - !!python/tuple [4, 4] + - !!python/tuple [23, 25] + - !!python/tuple [31, 21] + - !!python/tuple [19, 9] + - !!python/tuple [9, 8] + - !!python/tuple [27, 24] + - !!python/tuple [22, 6] + - !!python/tuple [25, 2] + - !!python/tuple [18, 9] + - !!python/tuple [15, 31] + - !!python/tuple [0, 23] + - !!python/tuple [29, 29] + - !!python/tuple [2, 22] + - !!python/tuple [29, 31] + - !!python/tuple [14, 14] + - !!python/tuple [29, 15] + - !!python/tuple [25, 7] + - !!python/tuple [11, 29] + - !!python/tuple [28, 7] + - !!python/tuple [0, 1] + - !!python/tuple [28, 19] + - !!python/tuple [21, 28] + - !!python/tuple [26, 0] + - !!python/tuple [20, 6] + - !!python/tuple [19, 16] + - !!python/tuple [31, 26] + - !!python/tuple [12, 6] + - !!python/tuple [17, 25] + - !!python/tuple [30, 1] + - !!python/tuple [24, 24] + - !!python/tuple [15, 5] + - !!python/tuple [5, 1] + - !!python/tuple [22, 31] + - !!python/tuple [30, 21] + - !!python/tuple [1, 25] + - !!python/tuple [13, 2] + - !!python/tuple [28, 30] + - !!python/tuple [27, 4] + - !!python/tuple [12, 19] + - !!python/tuple [13, 1] + - !!python/tuple [3, 15] + - !!python/tuple [13, 3] + - !!python/tuple [17, 19] + - !!python/tuple [4, 25] + - !!python/tuple [29, 16] + - !!python/tuple [10, 15] + - !!python/tuple [29, 7] + - !!python/tuple [26, 12] + - !!python/tuple [12, 3] + - !!python/tuple [8, 9] + - !!python/tuple [28, 23] + - !!python/tuple [27, 6] + - !!python/tuple [4, 8] + - !!python/tuple [13, 11] + - !!python/tuple [22, 8] + - !!python/tuple [29, 14] + - !!python/tuple [5, 4] + - !!python/tuple [25, 14] + - !!python/tuple [15, 12] + - !!python/tuple [10, 16] + - !!python/tuple [9, 14] + - !!python/tuple [10, 10] + - !!python/tuple [22, 26] + - !!python/tuple [23, 31] + - !!python/tuple [17, 9] + - !!python/tuple [17, 31] + - !!python/tuple [2, 7] + - !!python/tuple [27, 21] + - !!python/tuple [20, 30] + - !!python/tuple [27, 20] + - !!python/tuple [5, 5] + - !!python/tuple [22, 21] + - !!python/tuple [15, 13] + - !!python/tuple [11, 24] + - !!python/tuple [29, 25] + - !!python/tuple [23, 20] + - !!python/tuple [31, 13] + - !!python/tuple [1, 24] + - !!python/tuple [21, 25] + - !!python/tuple [14, 7] + - !!python/tuple [17, 16] + - !!python/tuple [18, 31] + - !!python/tuple [17, 6] + - !!python/tuple [9, 29] + - !!python/tuple [29, 21] + - !!python/tuple [2, 8] + - !!python/tuple [6, 2] + - !!python/tuple [9, 24] + - !!python/tuple [21, 12] + - !!python/tuple [28, 31] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex11.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex11.yaml new file mode 100644 index 0000000..26f5c5b --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex11.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [22, 1] + name: agent0 + start: [24, 28] +- goal: [26, 19] + name: agent1 + start: [18, 29] +- goal: [15, 13] + name: agent2 + start: [12, 18] +- goal: [22, 4] + name: agent3 + start: [23, 28] +- goal: [16, 19] + name: agent4 + start: [13, 6] +- goal: [1, 18] + name: agent5 + start: [14, 31] +- goal: [20, 25] + name: agent6 + start: [29, 17] +- goal: [4, 23] + name: agent7 + start: [10, 14] +- goal: [5, 16] + name: agent8 + start: [16, 3] +- goal: [3, 18] + name: agent9 + start: [15, 7] +- goal: [30, 23] + name: agent10 + start: [31, 7] +- goal: [1, 28] + name: agent11 + start: [8, 3] +- goal: [17, 6] + name: agent12 + start: [1, 1] +- goal: [5, 1] + name: agent13 + start: [23, 29] +- goal: [8, 21] + name: agent14 + start: [7, 21] +- goal: [21, 6] + name: agent15 + start: [26, 14] +- goal: [19, 11] + name: agent16 + start: [18, 4] +- goal: [23, 10] + name: agent17 + start: [18, 20] +- goal: [12, 8] + name: agent18 + start: [17, 0] +- goal: [12, 4] + name: agent19 + start: [28, 15] +- goal: [14, 18] + name: agent20 + start: [21, 21] +- goal: [1, 30] + name: agent21 + start: [24, 20] +- goal: [8, 1] + name: agent22 + start: [0, 21] +- goal: [27, 16] + name: agent23 + start: [10, 18] +- goal: [21, 7] + name: agent24 + start: [4, 5] +- goal: [31, 20] + name: agent25 + start: [2, 9] +- goal: [23, 18] + name: agent26 + start: [31, 1] +- goal: [22, 21] + name: agent27 + start: [5, 13] +- goal: [2, 7] + name: agent28 + start: [23, 15] +- goal: [5, 26] + name: agent29 + start: [25, 24] +- goal: [7, 1] + name: agent30 + start: [24, 19] +- goal: [20, 13] + name: agent31 + start: [23, 14] +- goal: [4, 16] + name: agent32 + start: [16, 17] +- goal: [9, 2] + name: agent33 + start: [21, 27] +- goal: [23, 27] + name: agent34 + start: [8, 24] +- goal: [17, 19] + name: agent35 + start: [10, 3] +- goal: [0, 15] + name: agent36 + start: [16, 20] +- goal: [20, 29] + name: agent37 + start: [16, 24] +- goal: [22, 16] + name: agent38 + start: [4, 24] +- goal: [6, 2] + name: agent39 + start: [21, 12] +- goal: [15, 29] + name: agent40 + start: [21, 23] +- goal: [4, 27] + name: agent41 + start: [18, 5] +- goal: [20, 20] + name: agent42 + start: [11, 27] +- goal: [28, 18] + name: agent43 + start: [30, 15] +- goal: [30, 4] + name: agent44 + start: [1, 30] +- goal: [21, 2] + name: agent45 + start: [17, 23] +- goal: [26, 20] + name: agent46 + start: [9, 30] +- goal: [16, 28] + name: agent47 + start: [21, 16] +- goal: [21, 4] + name: agent48 + start: [15, 25] +- goal: [11, 26] + name: agent49 + start: [31, 13] +- goal: [8, 10] + name: agent50 + start: [19, 21] +- goal: [11, 29] + name: agent51 + start: [4, 28] +- goal: [17, 11] + name: agent52 + start: [31, 24] +- goal: [16, 9] + name: agent53 + start: [5, 3] +- goal: [10, 5] + name: agent54 + start: [5, 4] +- goal: [31, 17] + name: agent55 + start: [31, 22] +- goal: [8, 9] + name: agent56 + start: [10, 0] +- goal: [4, 22] + name: agent57 + start: [25, 9] +- goal: [5, 30] + name: agent58 + start: [11, 0] +- goal: [2, 8] + name: agent59 + start: [22, 8] +- goal: [9, 14] + name: agent60 + start: [26, 7] +- goal: [26, 24] + name: agent61 + start: [8, 14] +- goal: [12, 17] + name: agent62 + start: [13, 5] +- goal: [9, 1] + name: agent63 + start: [19, 29] +- goal: [5, 25] + name: agent64 + start: [21, 3] +- goal: [1, 20] + name: agent65 + start: [22, 23] +- goal: [17, 29] + name: agent66 + start: [30, 19] +- goal: [2, 24] + name: agent67 + start: [26, 22] +- goal: [30, 10] + name: agent68 + start: [18, 6] +- goal: [29, 27] + name: agent69 + start: [8, 23] +- goal: [5, 13] + name: agent70 + start: [23, 20] +- goal: [19, 2] + name: agent71 + start: [26, 13] +- goal: [24, 22] + name: agent72 + start: [14, 14] +- goal: [25, 10] + name: agent73 + start: [4, 6] +- goal: [0, 22] + name: agent74 + start: [22, 10] +- goal: [11, 27] + name: agent75 + start: [23, 19] +- goal: [18, 6] + name: agent76 + start: [5, 31] +- goal: [2, 2] + name: agent77 + start: [24, 16] +- goal: [29, 16] + name: agent78 + start: [17, 30] +- goal: [7, 14] + name: agent79 + start: [7, 3] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [20, 24] + - !!python/tuple [26, 18] + - !!python/tuple [2, 12] + - !!python/tuple [14, 15] + - !!python/tuple [3, 22] + - !!python/tuple [7, 9] + - !!python/tuple [2, 31] + - !!python/tuple [5, 29] + - !!python/tuple [17, 16] + - !!python/tuple [22, 11] + - !!python/tuple [21, 11] + - !!python/tuple [20, 3] + - !!python/tuple [21, 19] + - !!python/tuple [25, 4] + - !!python/tuple [9, 18] + - !!python/tuple [25, 28] + - !!python/tuple [5, 22] + - !!python/tuple [10, 29] + - !!python/tuple [15, 21] + - !!python/tuple [19, 25] + - !!python/tuple [3, 23] + - !!python/tuple [30, 3] + - !!python/tuple [11, 9] + - !!python/tuple [14, 5] + - !!python/tuple [30, 28] + - !!python/tuple [28, 21] + - !!python/tuple [29, 8] + - !!python/tuple [27, 5] + - !!python/tuple [4, 21] + - !!python/tuple [30, 11] + - !!python/tuple [16, 12] + - !!python/tuple [19, 10] + - !!python/tuple [26, 31] + - !!python/tuple [11, 7] + - !!python/tuple [3, 30] + - !!python/tuple [16, 29] + - !!python/tuple [13, 28] + - !!python/tuple [16, 6] + - !!python/tuple [3, 13] + - !!python/tuple [6, 12] + - !!python/tuple [20, 15] + - !!python/tuple [2, 29] + - !!python/tuple [20, 17] + - !!python/tuple [2, 25] + - !!python/tuple [29, 1] + - !!python/tuple [8, 19] + - !!python/tuple [7, 19] + - !!python/tuple [8, 6] + - !!python/tuple [1, 26] + - !!python/tuple [10, 9] + - !!python/tuple [0, 1] + - !!python/tuple [20, 30] + - !!python/tuple [2, 30] + - !!python/tuple [0, 14] + - !!python/tuple [22, 2] + - !!python/tuple [9, 0] + - !!python/tuple [30, 30] + - !!python/tuple [23, 6] + - !!python/tuple [15, 0] + - !!python/tuple [25, 8] + - !!python/tuple [7, 8] + - !!python/tuple [25, 13] + - !!python/tuple [7, 0] + - !!python/tuple [29, 25] + - !!python/tuple [21, 31] + - !!python/tuple [19, 17] + - !!python/tuple [21, 18] + - !!python/tuple [30, 6] + - !!python/tuple [8, 4] + - !!python/tuple [8, 0] + - !!python/tuple [25, 22] + - !!python/tuple [18, 21] + - !!python/tuple [19, 31] + - !!python/tuple [9, 27] + - !!python/tuple [9, 29] + - !!python/tuple [28, 29] + - !!python/tuple [26, 3] + - !!python/tuple [5, 19] + - !!python/tuple [18, 16] + - !!python/tuple [2, 15] + - !!python/tuple [29, 22] + - !!python/tuple [17, 15] + - !!python/tuple [14, 23] + - !!python/tuple [15, 23] + - !!python/tuple [28, 0] + - !!python/tuple [2, 28] + - !!python/tuple [9, 26] + - !!python/tuple [27, 7] + - !!python/tuple [17, 20] + - !!python/tuple [24, 30] + - !!python/tuple [21, 10] + - !!python/tuple [1, 21] + - !!python/tuple [25, 3] + - !!python/tuple [22, 12] + - !!python/tuple [27, 0] + - !!python/tuple [18, 27] + - !!python/tuple [3, 0] + - !!python/tuple [3, 16] + - !!python/tuple [1, 23] + - !!python/tuple [27, 22] + - !!python/tuple [1, 15] + - !!python/tuple [28, 7] + - !!python/tuple [18, 23] + - !!python/tuple [14, 26] + - !!python/tuple [17, 2] + - !!python/tuple [0, 7] + - !!python/tuple [28, 4] + - !!python/tuple [6, 15] + - !!python/tuple [13, 24] + - !!python/tuple [27, 12] + - !!python/tuple [4, 10] + - !!python/tuple [6, 7] + - !!python/tuple [9, 17] + - !!python/tuple [29, 9] + - !!python/tuple [7, 5] + - !!python/tuple [10, 28] + - !!python/tuple [25, 23] + - !!python/tuple [9, 4] + - !!python/tuple [18, 22] + - !!python/tuple [3, 7] + - !!python/tuple [16, 1] + - !!python/tuple [10, 24] + - !!python/tuple [13, 30] + - !!python/tuple [2, 20] + - !!python/tuple [6, 30] + - !!python/tuple [27, 13] + - !!python/tuple [25, 18] + - !!python/tuple [26, 21] + - !!python/tuple [16, 21] + - !!python/tuple [13, 10] + - !!python/tuple [17, 28] + - !!python/tuple [22, 26] + - !!python/tuple [23, 24] + - !!python/tuple [15, 1] + - !!python/tuple [23, 16] + - !!python/tuple [14, 22] + - !!python/tuple [16, 14] + - !!python/tuple [17, 7] + - !!python/tuple [11, 22] + - !!python/tuple [18, 19] + - !!python/tuple [30, 21] + - !!python/tuple [7, 23] + - !!python/tuple [3, 8] + - !!python/tuple [4, 3] + - !!python/tuple [31, 18] + - !!python/tuple [28, 13] + - !!python/tuple [12, 25] + - !!python/tuple [17, 31] + - !!python/tuple [22, 28] + - !!python/tuple [24, 0] + - !!python/tuple [24, 11] + - !!python/tuple [11, 31] + - !!python/tuple [27, 23] + - !!python/tuple [29, 21] + - !!python/tuple [26, 16] + - !!python/tuple [3, 24] + - !!python/tuple [31, 0] + - !!python/tuple [26, 12] + - !!python/tuple [27, 15] + - !!python/tuple [13, 21] + - !!python/tuple [5, 8] + - !!python/tuple [10, 13] + - !!python/tuple [30, 18] + - !!python/tuple [15, 20] + - !!python/tuple [0, 3] + - !!python/tuple [19, 28] + - !!python/tuple [31, 5] + - !!python/tuple [1, 2] + - !!python/tuple [19, 23] + - !!python/tuple [28, 12] + - !!python/tuple [2, 26] + - !!python/tuple [0, 18] + - !!python/tuple [25, 30] + - !!python/tuple [30, 7] + - !!python/tuple [13, 0] + - !!python/tuple [16, 13] + - !!python/tuple [1, 12] + - !!python/tuple [11, 15] + - !!python/tuple [16, 18] + - !!python/tuple [0, 11] + - !!python/tuple [9, 31] + - !!python/tuple [6, 0] + - !!python/tuple [23, 25] + - !!python/tuple [23, 9] + - !!python/tuple [18, 12] + - !!python/tuple [5, 10] + - !!python/tuple [4, 1] + - !!python/tuple [4, 4] + - !!python/tuple [16, 27] + - !!python/tuple [19, 14] + - !!python/tuple [23, 22] + - !!python/tuple [30, 1] + - !!python/tuple [9, 19] + - !!python/tuple [13, 13] + - !!python/tuple [13, 7] + - !!python/tuple [12, 27] + - !!python/tuple [3, 14] + - !!python/tuple [6, 19] + - !!python/tuple [26, 30] + - !!python/tuple [25, 5] + - !!python/tuple [9, 9] + - !!python/tuple [0, 13] + - !!python/tuple [30, 22] + - !!python/tuple [23, 21] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex12.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex12.yaml new file mode 100644 index 0000000..612d0b0 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex12.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [15, 19] + name: agent0 + start: [19, 8] +- goal: [30, 18] + name: agent1 + start: [4, 11] +- goal: [7, 28] + name: agent2 + start: [16, 7] +- goal: [7, 6] + name: agent3 + start: [10, 30] +- goal: [12, 3] + name: agent4 + start: [12, 24] +- goal: [2, 25] + name: agent5 + start: [3, 13] +- goal: [20, 7] + name: agent6 + start: [21, 30] +- goal: [31, 27] + name: agent7 + start: [30, 9] +- goal: [12, 17] + name: agent8 + start: [18, 0] +- goal: [28, 4] + name: agent9 + start: [18, 1] +- goal: [19, 6] + name: agent10 + start: [13, 7] +- goal: [29, 14] + name: agent11 + start: [0, 3] +- goal: [5, 17] + name: agent12 + start: [21, 17] +- goal: [14, 14] + name: agent13 + start: [26, 31] +- goal: [25, 23] + name: agent14 + start: [4, 1] +- goal: [12, 2] + name: agent15 + start: [17, 20] +- goal: [6, 9] + name: agent16 + start: [8, 15] +- goal: [6, 1] + name: agent17 + start: [12, 21] +- goal: [31, 30] + name: agent18 + start: [27, 29] +- goal: [13, 6] + name: agent19 + start: [6, 4] +- goal: [2, 29] + name: agent20 + start: [6, 9] +- goal: [26, 17] + name: agent21 + start: [25, 18] +- goal: [18, 29] + name: agent22 + start: [30, 11] +- goal: [10, 4] + name: agent23 + start: [7, 3] +- goal: [17, 31] + name: agent24 + start: [19, 0] +- goal: [9, 26] + name: agent25 + start: [31, 19] +- goal: [6, 24] + name: agent26 + start: [27, 23] +- goal: [27, 20] + name: agent27 + start: [25, 31] +- goal: [12, 10] + name: agent28 + start: [22, 30] +- goal: [20, 17] + name: agent29 + start: [5, 23] +- goal: [8, 23] + name: agent30 + start: [0, 9] +- goal: [27, 5] + name: agent31 + start: [26, 14] +- goal: [13, 25] + name: agent32 + start: [31, 13] +- goal: [30, 5] + name: agent33 + start: [26, 30] +- goal: [14, 21] + name: agent34 + start: [21, 22] +- goal: [8, 25] + name: agent35 + start: [29, 25] +- goal: [30, 30] + name: agent36 + start: [29, 22] +- goal: [8, 30] + name: agent37 + start: [31, 20] +- goal: [31, 4] + name: agent38 + start: [10, 9] +- goal: [4, 9] + name: agent39 + start: [27, 17] +- goal: [7, 17] + name: agent40 + start: [0, 20] +- goal: [15, 29] + name: agent41 + start: [14, 30] +- goal: [21, 0] + name: agent42 + start: [30, 24] +- goal: [12, 8] + name: agent43 + start: [21, 31] +- goal: [10, 5] + name: agent44 + start: [29, 8] +- goal: [9, 10] + name: agent45 + start: [11, 5] +- goal: [7, 31] + name: agent46 + start: [8, 13] +- goal: [13, 26] + name: agent47 + start: [23, 21] +- goal: [2, 3] + name: agent48 + start: [13, 6] +- goal: [20, 3] + name: agent49 + start: [7, 19] +- goal: [28, 29] + name: agent50 + start: [26, 2] +- goal: [4, 5] + name: agent51 + start: [11, 17] +- goal: [29, 9] + name: agent52 + start: [12, 2] +- goal: [26, 11] + name: agent53 + start: [0, 1] +- goal: [15, 17] + name: agent54 + start: [8, 14] +- goal: [29, 20] + name: agent55 + start: [30, 21] +- goal: [7, 15] + name: agent56 + start: [18, 24] +- goal: [16, 31] + name: agent57 + start: [12, 0] +- goal: [4, 1] + name: agent58 + start: [30, 10] +- goal: [28, 8] + name: agent59 + start: [26, 18] +- goal: [2, 22] + name: agent60 + start: [12, 10] +- goal: [19, 31] + name: agent61 + start: [28, 12] +- goal: [4, 30] + name: agent62 + start: [26, 13] +- goal: [5, 27] + name: agent63 + start: [18, 8] +- goal: [26, 0] + name: agent64 + start: [29, 27] +- goal: [22, 16] + name: agent65 + start: [25, 28] +- goal: [18, 8] + name: agent66 + start: [2, 17] +- goal: [20, 29] + name: agent67 + start: [29, 10] +- goal: [13, 15] + name: agent68 + start: [15, 9] +- goal: [18, 6] + name: agent69 + start: [7, 30] +- goal: [20, 5] + name: agent70 + start: [31, 31] +- goal: [16, 13] + name: agent71 + start: [14, 13] +- goal: [10, 0] + name: agent72 + start: [15, 6] +- goal: [18, 16] + name: agent73 + start: [1, 17] +- goal: [29, 27] + name: agent74 + start: [5, 22] +- goal: [10, 30] + name: agent75 + start: [14, 17] +- goal: [12, 7] + name: agent76 + start: [4, 15] +- goal: [24, 14] + name: agent77 + start: [31, 10] +- goal: [20, 20] + name: agent78 + start: [21, 26] +- goal: [12, 21] + name: agent79 + start: [8, 9] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [20, 21] + - !!python/tuple [10, 8] + - !!python/tuple [28, 17] + - !!python/tuple [1, 15] + - !!python/tuple [13, 18] + - !!python/tuple [24, 3] + - !!python/tuple [9, 28] + - !!python/tuple [20, 6] + - !!python/tuple [31, 9] + - !!python/tuple [6, 15] + - !!python/tuple [24, 24] + - !!python/tuple [28, 13] + - !!python/tuple [30, 16] + - !!python/tuple [8, 26] + - !!python/tuple [7, 21] + - !!python/tuple [0, 6] + - !!python/tuple [13, 20] + - !!python/tuple [15, 25] + - !!python/tuple [22, 21] + - !!python/tuple [10, 15] + - !!python/tuple [19, 30] + - !!python/tuple [3, 26] + - !!python/tuple [9, 15] + - !!python/tuple [6, 5] + - !!python/tuple [16, 2] + - !!python/tuple [25, 5] + - !!python/tuple [29, 7] + - !!python/tuple [24, 5] + - !!python/tuple [15, 10] + - !!python/tuple [14, 22] + - !!python/tuple [3, 23] + - !!python/tuple [27, 26] + - !!python/tuple [25, 24] + - !!python/tuple [21, 23] + - !!python/tuple [9, 24] + - !!python/tuple [23, 20] + - !!python/tuple [5, 6] + - !!python/tuple [18, 22] + - !!python/tuple [16, 19] + - !!python/tuple [11, 26] + - !!python/tuple [25, 2] + - !!python/tuple [9, 11] + - !!python/tuple [19, 22] + - !!python/tuple [8, 16] + - !!python/tuple [26, 16] + - !!python/tuple [25, 21] + - !!python/tuple [29, 30] + - !!python/tuple [15, 11] + - !!python/tuple [27, 9] + - !!python/tuple [12, 27] + - !!python/tuple [0, 25] + - !!python/tuple [16, 24] + - !!python/tuple [3, 15] + - !!python/tuple [23, 12] + - !!python/tuple [13, 1] + - !!python/tuple [31, 22] + - !!python/tuple [19, 17] + - !!python/tuple [16, 23] + - !!python/tuple [28, 6] + - !!python/tuple [22, 25] + - !!python/tuple [18, 27] + - !!python/tuple [16, 17] + - !!python/tuple [18, 10] + - !!python/tuple [4, 17] + - !!python/tuple [13, 13] + - !!python/tuple [10, 14] + - !!python/tuple [23, 15] + - !!python/tuple [8, 29] + - !!python/tuple [4, 19] + - !!python/tuple [20, 15] + - !!python/tuple [3, 20] + - !!python/tuple [9, 22] + - !!python/tuple [13, 29] + - !!python/tuple [4, 3] + - !!python/tuple [18, 21] + - !!python/tuple [6, 17] + - !!python/tuple [25, 26] + - !!python/tuple [23, 14] + - !!python/tuple [6, 27] + - !!python/tuple [31, 0] + - !!python/tuple [29, 29] + - !!python/tuple [29, 24] + - !!python/tuple [22, 18] + - !!python/tuple [7, 16] + - !!python/tuple [9, 13] + - !!python/tuple [25, 12] + - !!python/tuple [24, 27] + - !!python/tuple [31, 11] + - !!python/tuple [29, 1] + - !!python/tuple [19, 20] + - !!python/tuple [26, 6] + - !!python/tuple [2, 21] + - !!python/tuple [12, 5] + - !!python/tuple [19, 26] + - !!python/tuple [24, 28] + - !!python/tuple [13, 27] + - !!python/tuple [19, 3] + - !!python/tuple [29, 28] + - !!python/tuple [31, 6] + - !!python/tuple [16, 9] + - !!python/tuple [25, 30] + - !!python/tuple [10, 10] + - !!python/tuple [8, 2] + - !!python/tuple [26, 4] + - !!python/tuple [5, 0] + - !!python/tuple [4, 28] + - !!python/tuple [29, 19] + - !!python/tuple [29, 5] + - !!python/tuple [3, 30] + - !!python/tuple [28, 15] + - !!python/tuple [27, 4] + - !!python/tuple [17, 8] + - !!python/tuple [27, 27] + - !!python/tuple [15, 21] + - !!python/tuple [27, 18] + - !!python/tuple [14, 4] + - !!python/tuple [4, 27] + - !!python/tuple [14, 24] + - !!python/tuple [18, 5] + - !!python/tuple [25, 14] + - !!python/tuple [10, 23] + - !!python/tuple [2, 7] + - !!python/tuple [0, 28] + - !!python/tuple [4, 25] + - !!python/tuple [31, 17] + - !!python/tuple [22, 1] + - !!python/tuple [3, 10] + - !!python/tuple [19, 21] + - !!python/tuple [25, 3] + - !!python/tuple [4, 23] + - !!python/tuple [10, 29] + - !!python/tuple [16, 29] + - !!python/tuple [12, 11] + - !!python/tuple [17, 25] + - !!python/tuple [14, 20] + - !!python/tuple [24, 21] + - !!python/tuple [23, 29] + - !!python/tuple [13, 23] + - !!python/tuple [28, 28] + - !!python/tuple [4, 31] + - !!python/tuple [22, 28] + - !!python/tuple [26, 12] + - !!python/tuple [13, 28] + - !!python/tuple [5, 11] + - !!python/tuple [19, 9] + - !!python/tuple [16, 5] + - !!python/tuple [14, 28] + - !!python/tuple [11, 3] + - !!python/tuple [21, 6] + - !!python/tuple [22, 11] + - !!python/tuple [22, 10] + - !!python/tuple [10, 18] + - !!python/tuple [22, 27] + - !!python/tuple [3, 28] + - !!python/tuple [28, 5] + - !!python/tuple [11, 0] + - !!python/tuple [23, 1] + - !!python/tuple [11, 8] + - !!python/tuple [15, 4] + - !!python/tuple [3, 24] + - !!python/tuple [20, 12] + - !!python/tuple [2, 0] + - !!python/tuple [20, 19] + - !!python/tuple [1, 23] + - !!python/tuple [16, 0] + - !!python/tuple [19, 12] + - !!python/tuple [30, 25] + - !!python/tuple [22, 13] + - !!python/tuple [4, 12] + - !!python/tuple [2, 20] + - !!python/tuple [21, 3] + - !!python/tuple [23, 16] + - !!python/tuple [17, 22] + - !!python/tuple [14, 6] + - !!python/tuple [0, 0] + - !!python/tuple [19, 19] + - !!python/tuple [25, 25] + - !!python/tuple [11, 19] + - !!python/tuple [17, 10] + - !!python/tuple [24, 13] + - !!python/tuple [17, 9] + - !!python/tuple [23, 25] + - !!python/tuple [0, 7] + - !!python/tuple [30, 6] + - !!python/tuple [20, 13] + - !!python/tuple [9, 7] + - !!python/tuple [2, 16] + - !!python/tuple [15, 3] + - !!python/tuple [16, 4] + - !!python/tuple [9, 29] + - !!python/tuple [4, 16] + - !!python/tuple [21, 5] + - !!python/tuple [21, 27] + - !!python/tuple [23, 4] + - !!python/tuple [0, 13] + - !!python/tuple [28, 20] + - !!python/tuple [3, 1] + - !!python/tuple [23, 11] + - !!python/tuple [25, 9] + - !!python/tuple [2, 24] + - !!python/tuple [14, 23] + - !!python/tuple [24, 25] + - !!python/tuple [23, 24] + - !!python/tuple [18, 26] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex13.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex13.yaml new file mode 100644 index 0000000..5071b35 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex13.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [27, 30] + name: agent0 + start: [15, 9] +- goal: [19, 18] + name: agent1 + start: [0, 30] +- goal: [0, 8] + name: agent2 + start: [10, 20] +- goal: [11, 21] + name: agent3 + start: [4, 14] +- goal: [27, 10] + name: agent4 + start: [5, 30] +- goal: [26, 7] + name: agent5 + start: [25, 4] +- goal: [18, 6] + name: agent6 + start: [9, 18] +- goal: [3, 3] + name: agent7 + start: [19, 7] +- goal: [4, 13] + name: agent8 + start: [0, 27] +- goal: [23, 26] + name: agent9 + start: [12, 15] +- goal: [3, 13] + name: agent10 + start: [22, 16] +- goal: [30, 0] + name: agent11 + start: [31, 30] +- goal: [31, 31] + name: agent12 + start: [20, 31] +- goal: [28, 6] + name: agent13 + start: [17, 11] +- goal: [17, 28] + name: agent14 + start: [25, 9] +- goal: [30, 19] + name: agent15 + start: [16, 29] +- goal: [4, 23] + name: agent16 + start: [31, 2] +- goal: [23, 23] + name: agent17 + start: [8, 25] +- goal: [4, 20] + name: agent18 + start: [27, 24] +- goal: [9, 18] + name: agent19 + start: [20, 8] +- goal: [8, 22] + name: agent20 + start: [31, 27] +- goal: [28, 21] + name: agent21 + start: [11, 6] +- goal: [25, 2] + name: agent22 + start: [23, 31] +- goal: [14, 31] + name: agent23 + start: [3, 29] +- goal: [8, 3] + name: agent24 + start: [17, 7] +- goal: [18, 14] + name: agent25 + start: [28, 31] +- goal: [31, 27] + name: agent26 + start: [4, 15] +- goal: [2, 1] + name: agent27 + start: [19, 25] +- goal: [8, 24] + name: agent28 + start: [22, 31] +- goal: [2, 11] + name: agent29 + start: [16, 16] +- goal: [6, 17] + name: agent30 + start: [29, 12] +- goal: [26, 0] + name: agent31 + start: [30, 18] +- goal: [31, 4] + name: agent32 + start: [3, 19] +- goal: [13, 12] + name: agent33 + start: [19, 9] +- goal: [24, 18] + name: agent34 + start: [14, 10] +- goal: [30, 29] + name: agent35 + start: [25, 22] +- goal: [17, 3] + name: agent36 + start: [21, 26] +- goal: [26, 20] + name: agent37 + start: [31, 24] +- goal: [13, 15] + name: agent38 + start: [23, 17] +- goal: [8, 8] + name: agent39 + start: [4, 26] +- goal: [30, 30] + name: agent40 + start: [14, 29] +- goal: [2, 30] + name: agent41 + start: [5, 1] +- goal: [22, 24] + name: agent42 + start: [9, 8] +- goal: [31, 14] + name: agent43 + start: [25, 8] +- goal: [14, 25] + name: agent44 + start: [7, 28] +- goal: [28, 1] + name: agent45 + start: [27, 0] +- goal: [8, 4] + name: agent46 + start: [16, 14] +- goal: [4, 27] + name: agent47 + start: [30, 27] +- goal: [18, 18] + name: agent48 + start: [6, 18] +- goal: [13, 29] + name: agent49 + start: [28, 2] +- goal: [4, 16] + name: agent50 + start: [25, 20] +- goal: [0, 22] + name: agent51 + start: [6, 13] +- goal: [21, 5] + name: agent52 + start: [27, 28] +- goal: [5, 7] + name: agent53 + start: [13, 1] +- goal: [6, 0] + name: agent54 + start: [1, 22] +- goal: [12, 4] + name: agent55 + start: [7, 31] +- goal: [27, 7] + name: agent56 + start: [11, 11] +- goal: [9, 19] + name: agent57 + start: [19, 31] +- goal: [31, 15] + name: agent58 + start: [3, 3] +- goal: [0, 31] + name: agent59 + start: [9, 1] +- goal: [27, 27] + name: agent60 + start: [6, 15] +- goal: [19, 7] + name: agent61 + start: [11, 4] +- goal: [19, 14] + name: agent62 + start: [26, 27] +- goal: [25, 20] + name: agent63 + start: [27, 16] +- goal: [8, 13] + name: agent64 + start: [27, 21] +- goal: [20, 11] + name: agent65 + start: [11, 10] +- goal: [18, 30] + name: agent66 + start: [0, 18] +- goal: [30, 27] + name: agent67 + start: [25, 31] +- goal: [20, 22] + name: agent68 + start: [31, 15] +- goal: [10, 14] + name: agent69 + start: [1, 27] +- goal: [14, 18] + name: agent70 + start: [1, 11] +- goal: [22, 18] + name: agent71 + start: [15, 18] +- goal: [11, 30] + name: agent72 + start: [1, 18] +- goal: [26, 16] + name: agent73 + start: [27, 12] +- goal: [23, 30] + name: agent74 + start: [15, 7] +- goal: [22, 16] + name: agent75 + start: [27, 30] +- goal: [15, 30] + name: agent76 + start: [1, 15] +- goal: [21, 10] + name: agent77 + start: [17, 1] +- goal: [7, 27] + name: agent78 + start: [25, 18] +- goal: [6, 10] + name: agent79 + start: [26, 29] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [7, 4] + - !!python/tuple [27, 20] + - !!python/tuple [13, 11] + - !!python/tuple [15, 28] + - !!python/tuple [16, 31] + - !!python/tuple [5, 0] + - !!python/tuple [18, 28] + - !!python/tuple [30, 17] + - !!python/tuple [13, 3] + - !!python/tuple [5, 8] + - !!python/tuple [10, 13] + - !!python/tuple [7, 20] + - !!python/tuple [8, 0] + - !!python/tuple [19, 8] + - !!python/tuple [15, 6] + - !!python/tuple [29, 29] + - !!python/tuple [11, 17] + - !!python/tuple [16, 20] + - !!python/tuple [21, 0] + - !!python/tuple [24, 30] + - !!python/tuple [21, 16] + - !!python/tuple [8, 31] + - !!python/tuple [27, 17] + - !!python/tuple [18, 4] + - !!python/tuple [9, 16] + - !!python/tuple [23, 15] + - !!python/tuple [23, 2] + - !!python/tuple [9, 6] + - !!python/tuple [20, 30] + - !!python/tuple [12, 29] + - !!python/tuple [12, 7] + - !!python/tuple [11, 27] + - !!python/tuple [2, 31] + - !!python/tuple [5, 31] + - !!python/tuple [28, 7] + - !!python/tuple [2, 2] + - !!python/tuple [6, 27] + - !!python/tuple [9, 13] + - !!python/tuple [16, 11] + - !!python/tuple [12, 27] + - !!python/tuple [16, 30] + - !!python/tuple [3, 5] + - !!python/tuple [1, 2] + - !!python/tuple [8, 28] + - !!python/tuple [16, 5] + - !!python/tuple [20, 5] + - !!python/tuple [0, 25] + - !!python/tuple [10, 22] + - !!python/tuple [11, 16] + - !!python/tuple [2, 16] + - !!python/tuple [26, 6] + - !!python/tuple [21, 27] + - !!python/tuple [13, 25] + - !!python/tuple [21, 14] + - !!python/tuple [25, 7] + - !!python/tuple [28, 5] + - !!python/tuple [23, 12] + - !!python/tuple [26, 21] + - !!python/tuple [12, 10] + - !!python/tuple [8, 15] + - !!python/tuple [12, 31] + - !!python/tuple [6, 6] + - !!python/tuple [14, 9] + - !!python/tuple [9, 21] + - !!python/tuple [1, 30] + - !!python/tuple [5, 23] + - !!python/tuple [28, 25] + - !!python/tuple [2, 0] + - !!python/tuple [23, 5] + - !!python/tuple [27, 29] + - !!python/tuple [21, 29] + - !!python/tuple [0, 12] + - !!python/tuple [23, 24] + - !!python/tuple [12, 24] + - !!python/tuple [18, 24] + - !!python/tuple [12, 23] + - !!python/tuple [7, 23] + - !!python/tuple [29, 2] + - !!python/tuple [7, 12] + - !!python/tuple [23, 7] + - !!python/tuple [26, 24] + - !!python/tuple [3, 31] + - !!python/tuple [30, 11] + - !!python/tuple [15, 16] + - !!python/tuple [0, 15] + - !!python/tuple [10, 11] + - !!python/tuple [28, 14] + - !!python/tuple [11, 13] + - !!python/tuple [26, 18] + - !!python/tuple [30, 7] + - !!python/tuple [31, 8] + - !!python/tuple [17, 4] + - !!python/tuple [6, 8] + - !!python/tuple [21, 31] + - !!python/tuple [26, 19] + - !!python/tuple [0, 1] + - !!python/tuple [1, 21] + - !!python/tuple [23, 25] + - !!python/tuple [18, 8] + - !!python/tuple [17, 22] + - !!python/tuple [11, 3] + - !!python/tuple [3, 11] + - !!python/tuple [28, 19] + - !!python/tuple [10, 31] + - !!python/tuple [12, 9] + - !!python/tuple [24, 1] + - !!python/tuple [8, 7] + - !!python/tuple [10, 4] + - !!python/tuple [6, 21] + - !!python/tuple [24, 5] + - !!python/tuple [5, 20] + - !!python/tuple [25, 29] + - !!python/tuple [31, 16] + - !!python/tuple [9, 24] + - !!python/tuple [2, 9] + - !!python/tuple [12, 19] + - !!python/tuple [13, 7] + - !!python/tuple [7, 24] + - !!python/tuple [11, 23] + - !!python/tuple [20, 25] + - !!python/tuple [25, 13] + - !!python/tuple [12, 20] + - !!python/tuple [17, 23] + - !!python/tuple [29, 13] + - !!python/tuple [29, 25] + - !!python/tuple [28, 12] + - !!python/tuple [16, 1] + - !!python/tuple [9, 7] + - !!python/tuple [3, 0] + - !!python/tuple [24, 23] + - !!python/tuple [14, 15] + - !!python/tuple [24, 10] + - !!python/tuple [2, 17] + - !!python/tuple [19, 4] + - !!python/tuple [26, 11] + - !!python/tuple [24, 6] + - !!python/tuple [15, 17] + - !!python/tuple [26, 1] + - !!python/tuple [9, 29] + - !!python/tuple [27, 5] + - !!python/tuple [23, 8] + - !!python/tuple [0, 5] + - !!python/tuple [7, 18] + - !!python/tuple [3, 30] + - !!python/tuple [5, 10] + - !!python/tuple [19, 11] + - !!python/tuple [29, 23] + - !!python/tuple [24, 14] + - !!python/tuple [13, 28] + - !!python/tuple [4, 10] + - !!python/tuple [2, 7] + - !!python/tuple [17, 0] + - !!python/tuple [30, 26] + - !!python/tuple [1, 28] + - !!python/tuple [21, 25] + - !!python/tuple [7, 0] + - !!python/tuple [16, 19] + - !!python/tuple [9, 9] + - !!python/tuple [29, 24] + - !!python/tuple [29, 6] + - !!python/tuple [22, 23] + - !!python/tuple [24, 22] + - !!python/tuple [31, 18] + - !!python/tuple [18, 21] + - !!python/tuple [0, 28] + - !!python/tuple [4, 9] + - !!python/tuple [31, 1] + - !!python/tuple [24, 0] + - !!python/tuple [24, 15] + - !!python/tuple [28, 15] + - !!python/tuple [22, 6] + - !!python/tuple [14, 26] + - !!python/tuple [8, 19] + - !!python/tuple [22, 30] + - !!python/tuple [24, 28] + - !!python/tuple [14, 11] + - !!python/tuple [24, 4] + - !!python/tuple [7, 21] + - !!python/tuple [10, 26] + - !!python/tuple [11, 12] + - !!python/tuple [15, 23] + - !!python/tuple [13, 17] + - !!python/tuple [3, 10] + - !!python/tuple [27, 31] + - !!python/tuple [17, 16] + - !!python/tuple [3, 14] + - !!python/tuple [8, 10] + - !!python/tuple [24, 12] + - !!python/tuple [20, 0] + - !!python/tuple [19, 0] + - !!python/tuple [4, 29] + - !!python/tuple [22, 9] + - !!python/tuple [11, 19] + - !!python/tuple [22, 14] + - !!python/tuple [13, 19] + - !!python/tuple [31, 7] + - !!python/tuple [18, 29] + - !!python/tuple [1, 0] + - !!python/tuple [13, 8] + - !!python/tuple [29, 9] + - !!python/tuple [5, 21] + - !!python/tuple [19, 2] + - !!python/tuple [10, 2] + - !!python/tuple [24, 8] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex14.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex14.yaml new file mode 100644 index 0000000..751f626 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex14.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [9, 16] + name: agent0 + start: [11, 7] +- goal: [21, 14] + name: agent1 + start: [24, 25] +- goal: [30, 1] + name: agent2 + start: [25, 19] +- goal: [24, 28] + name: agent3 + start: [4, 2] +- goal: [20, 8] + name: agent4 + start: [6, 30] +- goal: [11, 28] + name: agent5 + start: [13, 19] +- goal: [23, 23] + name: agent6 + start: [23, 2] +- goal: [13, 4] + name: agent7 + start: [13, 27] +- goal: [30, 16] + name: agent8 + start: [24, 5] +- goal: [22, 16] + name: agent9 + start: [21, 28] +- goal: [24, 16] + name: agent10 + start: [28, 27] +- goal: [15, 8] + name: agent11 + start: [30, 14] +- goal: [18, 1] + name: agent12 + start: [25, 23] +- goal: [8, 2] + name: agent13 + start: [19, 25] +- goal: [1, 6] + name: agent14 + start: [6, 17] +- goal: [3, 23] + name: agent15 + start: [2, 31] +- goal: [31, 16] + name: agent16 + start: [23, 29] +- goal: [6, 1] + name: agent17 + start: [29, 31] +- goal: [5, 21] + name: agent18 + start: [28, 23] +- goal: [27, 12] + name: agent19 + start: [13, 4] +- goal: [4, 28] + name: agent20 + start: [18, 6] +- goal: [22, 24] + name: agent21 + start: [30, 19] +- goal: [2, 26] + name: agent22 + start: [25, 17] +- goal: [22, 6] + name: agent23 + start: [20, 19] +- goal: [15, 7] + name: agent24 + start: [31, 31] +- goal: [28, 31] + name: agent25 + start: [28, 9] +- goal: [8, 29] + name: agent26 + start: [0, 24] +- goal: [21, 5] + name: agent27 + start: [16, 14] +- goal: [12, 31] + name: agent28 + start: [16, 28] +- goal: [22, 7] + name: agent29 + start: [20, 31] +- goal: [30, 3] + name: agent30 + start: [14, 26] +- goal: [23, 14] + name: agent31 + start: [7, 8] +- goal: [3, 1] + name: agent32 + start: [8, 18] +- goal: [3, 3] + name: agent33 + start: [30, 6] +- goal: [20, 19] + name: agent34 + start: [25, 6] +- goal: [5, 7] + name: agent35 + start: [1, 19] +- goal: [2, 24] + name: agent36 + start: [18, 0] +- goal: [0, 25] + name: agent37 + start: [1, 5] +- goal: [5, 24] + name: agent38 + start: [2, 9] +- goal: [18, 8] + name: agent39 + start: [12, 24] +- goal: [13, 19] + name: agent40 + start: [15, 0] +- goal: [31, 15] + name: agent41 + start: [25, 13] +- goal: [8, 7] + name: agent42 + start: [26, 4] +- goal: [29, 29] + name: agent43 + start: [23, 15] +- goal: [26, 26] + name: agent44 + start: [13, 29] +- goal: [15, 5] + name: agent45 + start: [15, 22] +- goal: [2, 21] + name: agent46 + start: [30, 23] +- goal: [3, 30] + name: agent47 + start: [9, 10] +- goal: [15, 23] + name: agent48 + start: [9, 18] +- goal: [26, 22] + name: agent49 + start: [17, 0] +- goal: [12, 2] + name: agent50 + start: [17, 20] +- goal: [11, 20] + name: agent51 + start: [30, 22] +- goal: [7, 0] + name: agent52 + start: [27, 15] +- goal: [22, 0] + name: agent53 + start: [3, 3] +- goal: [13, 10] + name: agent54 + start: [14, 10] +- goal: [26, 14] + name: agent55 + start: [11, 28] +- goal: [11, 5] + name: agent56 + start: [27, 30] +- goal: [18, 28] + name: agent57 + start: [13, 8] +- goal: [0, 2] + name: agent58 + start: [14, 11] +- goal: [19, 6] + name: agent59 + start: [26, 17] +- goal: [6, 25] + name: agent60 + start: [0, 15] +- goal: [14, 30] + name: agent61 + start: [16, 20] +- goal: [29, 22] + name: agent62 + start: [29, 12] +- goal: [26, 29] + name: agent63 + start: [19, 14] +- goal: [20, 5] + name: agent64 + start: [27, 14] +- goal: [14, 21] + name: agent65 + start: [12, 1] +- goal: [17, 14] + name: agent66 + start: [25, 16] +- goal: [1, 30] + name: agent67 + start: [23, 14] +- goal: [25, 31] + name: agent68 + start: [5, 29] +- goal: [6, 12] + name: agent69 + start: [22, 14] +- goal: [7, 27] + name: agent70 + start: [22, 5] +- goal: [7, 14] + name: agent71 + start: [17, 18] +- goal: [28, 12] + name: agent72 + start: [12, 6] +- goal: [30, 23] + name: agent73 + start: [30, 7] +- goal: [19, 15] + name: agent74 + start: [4, 11] +- goal: [15, 21] + name: agent75 + start: [11, 1] +- goal: [2, 25] + name: agent76 + start: [3, 30] +- goal: [16, 5] + name: agent77 + start: [16, 24] +- goal: [16, 13] + name: agent78 + start: [16, 7] +- goal: [13, 17] + name: agent79 + start: [31, 3] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [10, 3] + - !!python/tuple [2, 18] + - !!python/tuple [9, 29] + - !!python/tuple [15, 19] + - !!python/tuple [6, 18] + - !!python/tuple [27, 28] + - !!python/tuple [25, 0] + - !!python/tuple [16, 29] + - !!python/tuple [20, 4] + - !!python/tuple [1, 23] + - !!python/tuple [10, 18] + - !!python/tuple [17, 24] + - !!python/tuple [6, 7] + - !!python/tuple [10, 0] + - !!python/tuple [20, 22] + - !!python/tuple [26, 12] + - !!python/tuple [7, 31] + - !!python/tuple [5, 0] + - !!python/tuple [18, 29] + - !!python/tuple [6, 0] + - !!python/tuple [14, 24] + - !!python/tuple [11, 15] + - !!python/tuple [23, 31] + - !!python/tuple [15, 18] + - !!python/tuple [30, 10] + - !!python/tuple [5, 3] + - !!python/tuple [0, 16] + - !!python/tuple [23, 9] + - !!python/tuple [0, 19] + - !!python/tuple [28, 30] + - !!python/tuple [20, 2] + - !!python/tuple [22, 25] + - !!python/tuple [13, 2] + - !!python/tuple [17, 28] + - !!python/tuple [7, 12] + - !!python/tuple [23, 19] + - !!python/tuple [0, 7] + - !!python/tuple [18, 16] + - !!python/tuple [10, 5] + - !!python/tuple [27, 26] + - !!python/tuple [26, 0] + - !!python/tuple [8, 21] + - !!python/tuple [29, 11] + - !!python/tuple [21, 25] + - !!python/tuple [12, 10] + - !!python/tuple [18, 7] + - !!python/tuple [31, 11] + - !!python/tuple [3, 18] + - !!python/tuple [24, 2] + - !!python/tuple [25, 7] + - !!python/tuple [27, 10] + - !!python/tuple [1, 18] + - !!python/tuple [1, 21] + - !!python/tuple [9, 31] + - !!python/tuple [21, 4] + - !!python/tuple [13, 1] + - !!python/tuple [7, 6] + - !!python/tuple [7, 9] + - !!python/tuple [26, 15] + - !!python/tuple [9, 23] + - !!python/tuple [13, 22] + - !!python/tuple [16, 31] + - !!python/tuple [17, 2] + - !!python/tuple [10, 24] + - !!python/tuple [26, 18] + - !!python/tuple [18, 27] + - !!python/tuple [27, 27] + - !!python/tuple [3, 0] + - !!python/tuple [10, 21] + - !!python/tuple [0, 4] + - !!python/tuple [18, 24] + - !!python/tuple [9, 30] + - !!python/tuple [3, 31] + - !!python/tuple [5, 20] + - !!python/tuple [2, 15] + - !!python/tuple [4, 6] + - !!python/tuple [0, 21] + - !!python/tuple [6, 27] + - !!python/tuple [6, 24] + - !!python/tuple [20, 20] + - !!python/tuple [8, 6] + - !!python/tuple [15, 2] + - !!python/tuple [18, 20] + - !!python/tuple [27, 6] + - !!python/tuple [5, 2] + - !!python/tuple [14, 4] + - !!python/tuple [7, 7] + - !!python/tuple [5, 28] + - !!python/tuple [26, 10] + - !!python/tuple [21, 21] + - !!python/tuple [12, 17] + - !!python/tuple [0, 28] + - !!python/tuple [8, 23] + - !!python/tuple [23, 20] + - !!python/tuple [17, 27] + - !!python/tuple [4, 20] + - !!python/tuple [12, 15] + - !!python/tuple [28, 28] + - !!python/tuple [28, 11] + - !!python/tuple [9, 9] + - !!python/tuple [3, 12] + - !!python/tuple [3, 11] + - !!python/tuple [31, 26] + - !!python/tuple [9, 21] + - !!python/tuple [17, 11] + - !!python/tuple [13, 9] + - !!python/tuple [11, 4] + - !!python/tuple [20, 9] + - !!python/tuple [26, 21] + - !!python/tuple [5, 17] + - !!python/tuple [30, 30] + - !!python/tuple [19, 18] + - !!python/tuple [28, 14] + - !!python/tuple [19, 12] + - !!python/tuple [16, 22] + - !!python/tuple [1, 11] + - !!python/tuple [29, 23] + - !!python/tuple [7, 29] + - !!python/tuple [8, 5] + - !!python/tuple [13, 7] + - !!python/tuple [24, 22] + - !!python/tuple [24, 14] + - !!python/tuple [6, 3] + - !!python/tuple [25, 10] + - !!python/tuple [29, 25] + - !!python/tuple [22, 13] + - !!python/tuple [30, 11] + - !!python/tuple [12, 22] + - !!python/tuple [28, 7] + - !!python/tuple [12, 13] + - !!python/tuple [17, 3] + - !!python/tuple [18, 25] + - !!python/tuple [4, 13] + - !!python/tuple [23, 12] + - !!python/tuple [1, 14] + - !!python/tuple [30, 12] + - !!python/tuple [21, 2] + - !!python/tuple [0, 1] + - !!python/tuple [16, 9] + - !!python/tuple [24, 30] + - !!python/tuple [26, 20] + - !!python/tuple [21, 8] + - !!python/tuple [26, 28] + - !!python/tuple [13, 16] + - !!python/tuple [17, 8] + - !!python/tuple [5, 14] + - !!python/tuple [16, 30] + - !!python/tuple [0, 8] + - !!python/tuple [19, 20] + - !!python/tuple [26, 16] + - !!python/tuple [18, 4] + - !!python/tuple [26, 8] + - !!python/tuple [24, 20] + - !!python/tuple [18, 31] + - !!python/tuple [21, 30] + - !!python/tuple [27, 17] + - !!python/tuple [18, 10] + - !!python/tuple [27, 2] + - !!python/tuple [7, 13] + - !!python/tuple [23, 26] + - !!python/tuple [24, 29] + - !!python/tuple [10, 25] + - !!python/tuple [31, 28] + - !!python/tuple [22, 28] + - !!python/tuple [8, 4] + - !!python/tuple [28, 21] + - !!python/tuple [0, 6] + - !!python/tuple [9, 27] + - !!python/tuple [24, 0] + - !!python/tuple [0, 5] + - !!python/tuple [8, 0] + - !!python/tuple [7, 10] + - !!python/tuple [0, 11] + - !!python/tuple [31, 10] + - !!python/tuple [13, 23] + - !!python/tuple [9, 13] + - !!python/tuple [5, 5] + - !!python/tuple [29, 19] + - !!python/tuple [18, 18] + - !!python/tuple [16, 26] + - !!python/tuple [7, 4] + - !!python/tuple [19, 10] + - !!python/tuple [28, 3] + - !!python/tuple [10, 8] + - !!python/tuple [7, 24] + - !!python/tuple [1, 28] + - !!python/tuple [31, 14] + - !!python/tuple [27, 16] + - !!python/tuple [31, 1] + - !!python/tuple [24, 13] + - !!python/tuple [19, 21] + - !!python/tuple [9, 15] + - !!python/tuple [5, 11] + - !!python/tuple [0, 9] + - !!python/tuple [16, 6] + - !!python/tuple [11, 23] + - !!python/tuple [30, 24] + - !!python/tuple [27, 3] + - !!python/tuple [2, 12] + - !!python/tuple [26, 30] + - !!python/tuple [17, 13] + - !!python/tuple [11, 24] + - !!python/tuple [5, 1] + - !!python/tuple [10, 9] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex15.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex15.yaml new file mode 100644 index 0000000..77195bc --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex15.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [12, 17] + name: agent0 + start: [14, 28] +- goal: [15, 14] + name: agent1 + start: [9, 2] +- goal: [3, 21] + name: agent2 + start: [17, 4] +- goal: [22, 8] + name: agent3 + start: [6, 24] +- goal: [4, 16] + name: agent4 + start: [4, 17] +- goal: [20, 31] + name: agent5 + start: [30, 26] +- goal: [27, 16] + name: agent6 + start: [6, 29] +- goal: [11, 17] + name: agent7 + start: [24, 6] +- goal: [7, 3] + name: agent8 + start: [21, 16] +- goal: [22, 28] + name: agent9 + start: [1, 12] +- goal: [23, 6] + name: agent10 + start: [4, 26] +- goal: [22, 1] + name: agent11 + start: [0, 29] +- goal: [16, 10] + name: agent12 + start: [10, 6] +- goal: [16, 30] + name: agent13 + start: [23, 27] +- goal: [26, 30] + name: agent14 + start: [14, 31] +- goal: [31, 19] + name: agent15 + start: [18, 3] +- goal: [27, 4] + name: agent16 + start: [10, 27] +- goal: [7, 26] + name: agent17 + start: [7, 11] +- goal: [8, 6] + name: agent18 + start: [10, 4] +- goal: [17, 24] + name: agent19 + start: [28, 18] +- goal: [28, 25] + name: agent20 + start: [12, 13] +- goal: [25, 14] + name: agent21 + start: [7, 17] +- goal: [7, 29] + name: agent22 + start: [1, 5] +- goal: [24, 4] + name: agent23 + start: [17, 31] +- goal: [31, 25] + name: agent24 + start: [18, 23] +- goal: [30, 1] + name: agent25 + start: [19, 19] +- goal: [8, 16] + name: agent26 + start: [26, 26] +- goal: [2, 6] + name: agent27 + start: [7, 7] +- goal: [1, 12] + name: agent28 + start: [24, 2] +- goal: [7, 2] + name: agent29 + start: [12, 6] +- goal: [1, 20] + name: agent30 + start: [7, 12] +- goal: [25, 9] + name: agent31 + start: [11, 12] +- goal: [13, 19] + name: agent32 + start: [6, 23] +- goal: [31, 21] + name: agent33 + start: [7, 3] +- goal: [30, 26] + name: agent34 + start: [24, 27] +- goal: [19, 4] + name: agent35 + start: [21, 5] +- goal: [18, 17] + name: agent36 + start: [14, 18] +- goal: [21, 7] + name: agent37 + start: [29, 31] +- goal: [20, 1] + name: agent38 + start: [21, 12] +- goal: [21, 1] + name: agent39 + start: [19, 8] +- goal: [6, 29] + name: agent40 + start: [3, 21] +- goal: [11, 7] + name: agent41 + start: [13, 17] +- goal: [3, 15] + name: agent42 + start: [15, 25] +- goal: [21, 27] + name: agent43 + start: [16, 14] +- goal: [4, 19] + name: agent44 + start: [20, 0] +- goal: [14, 23] + name: agent45 + start: [11, 30] +- goal: [22, 16] + name: agent46 + start: [29, 25] +- goal: [2, 27] + name: agent47 + start: [30, 7] +- goal: [8, 14] + name: agent48 + start: [23, 25] +- goal: [31, 1] + name: agent49 + start: [15, 26] +- goal: [26, 5] + name: agent50 + start: [20, 25] +- goal: [30, 8] + name: agent51 + start: [14, 11] +- goal: [8, 12] + name: agent52 + start: [13, 1] +- goal: [12, 1] + name: agent53 + start: [16, 27] +- goal: [15, 15] + name: agent54 + start: [21, 14] +- goal: [14, 27] + name: agent55 + start: [17, 26] +- goal: [26, 21] + name: agent56 + start: [19, 7] +- goal: [7, 24] + name: agent57 + start: [6, 22] +- goal: [24, 25] + name: agent58 + start: [20, 12] +- goal: [22, 19] + name: agent59 + start: [31, 19] +- goal: [20, 4] + name: agent60 + start: [1, 15] +- goal: [20, 3] + name: agent61 + start: [20, 24] +- goal: [13, 23] + name: agent62 + start: [24, 29] +- goal: [20, 29] + name: agent63 + start: [17, 22] +- goal: [6, 18] + name: agent64 + start: [27, 21] +- goal: [5, 23] + name: agent65 + start: [22, 10] +- goal: [20, 23] + name: agent66 + start: [25, 23] +- goal: [30, 9] + name: agent67 + start: [21, 31] +- goal: [0, 12] + name: agent68 + start: [6, 27] +- goal: [8, 10] + name: agent69 + start: [13, 31] +- goal: [28, 29] + name: agent70 + start: [4, 24] +- goal: [9, 31] + name: agent71 + start: [27, 12] +- goal: [30, 7] + name: agent72 + start: [24, 25] +- goal: [6, 3] + name: agent73 + start: [18, 6] +- goal: [28, 15] + name: agent74 + start: [24, 20] +- goal: [15, 31] + name: agent75 + start: [10, 15] +- goal: [21, 23] + name: agent76 + start: [26, 2] +- goal: [24, 30] + name: agent77 + start: [31, 0] +- goal: [6, 20] + name: agent78 + start: [8, 7] +- goal: [9, 11] + name: agent79 + start: [30, 13] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [12, 16] + - !!python/tuple [22, 3] + - !!python/tuple [1, 30] + - !!python/tuple [21, 3] + - !!python/tuple [9, 23] + - !!python/tuple [12, 24] + - !!python/tuple [5, 9] + - !!python/tuple [9, 4] + - !!python/tuple [24, 3] + - !!python/tuple [10, 19] + - !!python/tuple [0, 22] + - !!python/tuple [17, 23] + - !!python/tuple [29, 27] + - !!python/tuple [6, 11] + - !!python/tuple [13, 4] + - !!python/tuple [6, 10] + - !!python/tuple [25, 8] + - !!python/tuple [6, 17] + - !!python/tuple [16, 20] + - !!python/tuple [12, 9] + - !!python/tuple [4, 29] + - !!python/tuple [23, 26] + - !!python/tuple [31, 17] + - !!python/tuple [9, 9] + - !!python/tuple [21, 15] + - !!python/tuple [19, 12] + - !!python/tuple [27, 7] + - !!python/tuple [21, 11] + - !!python/tuple [8, 30] + - !!python/tuple [16, 23] + - !!python/tuple [19, 1] + - !!python/tuple [21, 21] + - !!python/tuple [13, 22] + - !!python/tuple [11, 14] + - !!python/tuple [14, 29] + - !!python/tuple [8, 24] + - !!python/tuple [16, 17] + - !!python/tuple [21, 24] + - !!python/tuple [30, 6] + - !!python/tuple [1, 9] + - !!python/tuple [15, 21] + - !!python/tuple [28, 26] + - !!python/tuple [10, 14] + - !!python/tuple [3, 13] + - !!python/tuple [19, 9] + - !!python/tuple [29, 1] + - !!python/tuple [27, 11] + - !!python/tuple [30, 29] + - !!python/tuple [1, 26] + - !!python/tuple [1, 4] + - !!python/tuple [10, 0] + - !!python/tuple [0, 27] + - !!python/tuple [26, 22] + - !!python/tuple [22, 5] + - !!python/tuple [13, 20] + - !!python/tuple [18, 7] + - !!python/tuple [15, 6] + - !!python/tuple [10, 18] + - !!python/tuple [4, 18] + - !!python/tuple [20, 2] + - !!python/tuple [11, 27] + - !!python/tuple [29, 6] + - !!python/tuple [22, 23] + - !!python/tuple [25, 30] + - !!python/tuple [8, 5] + - !!python/tuple [26, 10] + - !!python/tuple [25, 2] + - !!python/tuple [29, 28] + - !!python/tuple [8, 15] + - !!python/tuple [14, 0] + - !!python/tuple [13, 7] + - !!python/tuple [15, 12] + - !!python/tuple [22, 24] + - !!python/tuple [14, 3] + - !!python/tuple [4, 22] + - !!python/tuple [24, 16] + - !!python/tuple [30, 4] + - !!python/tuple [29, 11] + - !!python/tuple [25, 6] + - !!python/tuple [17, 5] + - !!python/tuple [6, 31] + - !!python/tuple [5, 15] + - !!python/tuple [9, 12] + - !!python/tuple [14, 19] + - !!python/tuple [13, 10] + - !!python/tuple [3, 14] + - !!python/tuple [13, 12] + - !!python/tuple [6, 8] + - !!python/tuple [28, 6] + - !!python/tuple [25, 4] + - !!python/tuple [27, 14] + - !!python/tuple [25, 13] + - !!python/tuple [14, 12] + - !!python/tuple [29, 26] + - !!python/tuple [14, 30] + - !!python/tuple [15, 22] + - !!python/tuple [24, 17] + - !!python/tuple [25, 31] + - !!python/tuple [10, 11] + - !!python/tuple [1, 23] + - !!python/tuple [26, 3] + - !!python/tuple [16, 8] + - !!python/tuple [0, 20] + - !!python/tuple [25, 27] + - !!python/tuple [22, 11] + - !!python/tuple [3, 28] + - !!python/tuple [26, 19] + - !!python/tuple [1, 29] + - !!python/tuple [15, 17] + - !!python/tuple [16, 28] + - !!python/tuple [0, 21] + - !!python/tuple [28, 8] + - !!python/tuple [22, 22] + - !!python/tuple [6, 28] + - !!python/tuple [21, 0] + - !!python/tuple [11, 20] + - !!python/tuple [3, 29] + - !!python/tuple [12, 31] + - !!python/tuple [0, 30] + - !!python/tuple [2, 19] + - !!python/tuple [3, 24] + - !!python/tuple [2, 17] + - !!python/tuple [27, 5] + - !!python/tuple [7, 31] + - !!python/tuple [16, 11] + - !!python/tuple [5, 1] + - !!python/tuple [6, 16] + - !!python/tuple [8, 4] + - !!python/tuple [12, 2] + - !!python/tuple [27, 1] + - !!python/tuple [1, 18] + - !!python/tuple [12, 27] + - !!python/tuple [19, 0] + - !!python/tuple [8, 22] + - !!python/tuple [1, 24] + - !!python/tuple [2, 1] + - !!python/tuple [6, 4] + - !!python/tuple [4, 3] + - !!python/tuple [25, 26] + - !!python/tuple [3, 20] + - !!python/tuple [12, 12] + - !!python/tuple [1, 10] + - !!python/tuple [22, 17] + - !!python/tuple [17, 3] + - !!python/tuple [10, 22] + - !!python/tuple [2, 22] + - !!python/tuple [22, 26] + - !!python/tuple [27, 26] + - !!python/tuple [19, 22] + - !!python/tuple [30, 16] + - !!python/tuple [31, 2] + - !!python/tuple [22, 0] + - !!python/tuple [25, 29] + - !!python/tuple [16, 6] + - !!python/tuple [26, 24] + - !!python/tuple [30, 23] + - !!python/tuple [31, 24] + - !!python/tuple [18, 8] + - !!python/tuple [12, 20] + - !!python/tuple [23, 23] + - !!python/tuple [16, 3] + - !!python/tuple [24, 0] + - !!python/tuple [31, 30] + - !!python/tuple [28, 27] + - !!python/tuple [29, 18] + - !!python/tuple [2, 5] + - !!python/tuple [27, 28] + - !!python/tuple [30, 14] + - !!python/tuple [15, 19] + - !!python/tuple [15, 3] + - !!python/tuple [14, 20] + - !!python/tuple [16, 0] + - !!python/tuple [10, 20] + - !!python/tuple [1, 25] + - !!python/tuple [3, 8] + - !!python/tuple [5, 18] + - !!python/tuple [23, 8] + - !!python/tuple [20, 22] + - !!python/tuple [18, 13] + - !!python/tuple [0, 15] + - !!python/tuple [5, 30] + - !!python/tuple [13, 16] + - !!python/tuple [9, 21] + - !!python/tuple [5, 2] + - !!python/tuple [8, 17] + - !!python/tuple [20, 11] + - !!python/tuple [26, 13] + - !!python/tuple [13, 9] + - !!python/tuple [27, 15] + - !!python/tuple [21, 28] + - !!python/tuple [9, 15] + - !!python/tuple [17, 14] + - !!python/tuple [24, 12] + - !!python/tuple [12, 18] + - !!python/tuple [30, 31] + - !!python/tuple [30, 5] + - !!python/tuple [23, 2] + - !!python/tuple [28, 31] + - !!python/tuple [29, 17] + - !!python/tuple [20, 13] + - !!python/tuple [17, 12] + - !!python/tuple [14, 2] + - !!python/tuple [16, 2] + - !!python/tuple [31, 15] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex16.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex16.yaml new file mode 100644 index 0000000..60eaf7b --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex16.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [17, 31] + name: agent0 + start: [14, 14] +- goal: [23, 8] + name: agent1 + start: [17, 27] +- goal: [8, 6] + name: agent2 + start: [21, 26] +- goal: [8, 11] + name: agent3 + start: [25, 13] +- goal: [26, 26] + name: agent4 + start: [17, 19] +- goal: [21, 10] + name: agent5 + start: [22, 3] +- goal: [25, 23] + name: agent6 + start: [4, 13] +- goal: [21, 4] + name: agent7 + start: [30, 4] +- goal: [18, 31] + name: agent8 + start: [3, 25] +- goal: [31, 17] + name: agent9 + start: [24, 22] +- goal: [10, 27] + name: agent10 + start: [11, 15] +- goal: [0, 5] + name: agent11 + start: [26, 20] +- goal: [10, 31] + name: agent12 + start: [26, 4] +- goal: [26, 16] + name: agent13 + start: [5, 19] +- goal: [11, 26] + name: agent14 + start: [10, 3] +- goal: [18, 17] + name: agent15 + start: [21, 18] +- goal: [9, 9] + name: agent16 + start: [13, 27] +- goal: [9, 13] + name: agent17 + start: [18, 23] +- goal: [30, 13] + name: agent18 + start: [19, 12] +- goal: [3, 15] + name: agent19 + start: [23, 12] +- goal: [31, 31] + name: agent20 + start: [5, 23] +- goal: [20, 11] + name: agent21 + start: [4, 6] +- goal: [28, 8] + name: agent22 + start: [23, 23] +- goal: [21, 20] + name: agent23 + start: [6, 1] +- goal: [16, 29] + name: agent24 + start: [2, 4] +- goal: [20, 4] + name: agent25 + start: [3, 15] +- goal: [16, 3] + name: agent26 + start: [28, 13] +- goal: [22, 29] + name: agent27 + start: [10, 23] +- goal: [16, 4] + name: agent28 + start: [19, 2] +- goal: [17, 19] + name: agent29 + start: [14, 6] +- goal: [31, 22] + name: agent30 + start: [19, 7] +- goal: [13, 19] + name: agent31 + start: [20, 11] +- goal: [16, 21] + name: agent32 + start: [4, 18] +- goal: [2, 20] + name: agent33 + start: [15, 12] +- goal: [28, 15] + name: agent34 + start: [20, 12] +- goal: [16, 0] + name: agent35 + start: [4, 17] +- goal: [25, 11] + name: agent36 + start: [29, 13] +- goal: [17, 7] + name: agent37 + start: [30, 28] +- goal: [22, 11] + name: agent38 + start: [12, 28] +- goal: [19, 16] + name: agent39 + start: [26, 17] +- goal: [19, 9] + name: agent40 + start: [17, 17] +- goal: [4, 16] + name: agent41 + start: [28, 22] +- goal: [27, 30] + name: agent42 + start: [7, 25] +- goal: [8, 23] + name: agent43 + start: [16, 6] +- goal: [29, 29] + name: agent44 + start: [26, 6] +- goal: [23, 26] + name: agent45 + start: [11, 12] +- goal: [20, 13] + name: agent46 + start: [1, 31] +- goal: [31, 27] + name: agent47 + start: [3, 30] +- goal: [15, 22] + name: agent48 + start: [6, 26] +- goal: [29, 13] + name: agent49 + start: [2, 22] +- goal: [1, 5] + name: agent50 + start: [8, 20] +- goal: [13, 9] + name: agent51 + start: [21, 9] +- goal: [30, 2] + name: agent52 + start: [15, 4] +- goal: [7, 14] + name: agent53 + start: [26, 27] +- goal: [4, 29] + name: agent54 + start: [29, 6] +- goal: [13, 27] + name: agent55 + start: [5, 15] +- goal: [5, 3] + name: agent56 + start: [19, 19] +- goal: [22, 7] + name: agent57 + start: [10, 2] +- goal: [3, 13] + name: agent58 + start: [1, 15] +- goal: [7, 27] + name: agent59 + start: [26, 9] +- goal: [4, 31] + name: agent60 + start: [24, 11] +- goal: [3, 3] + name: agent61 + start: [13, 10] +- goal: [11, 22] + name: agent62 + start: [8, 6] +- goal: [8, 22] + name: agent63 + start: [2, 21] +- goal: [19, 13] + name: agent64 + start: [16, 15] +- goal: [24, 23] + name: agent65 + start: [17, 2] +- goal: [5, 30] + name: agent66 + start: [23, 7] +- goal: [25, 6] + name: agent67 + start: [9, 28] +- goal: [20, 26] + name: agent68 + start: [0, 7] +- goal: [24, 21] + name: agent69 + start: [23, 30] +- goal: [27, 19] + name: agent70 + start: [3, 7] +- goal: [8, 8] + name: agent71 + start: [27, 24] +- goal: [19, 31] + name: agent72 + start: [12, 5] +- goal: [5, 24] + name: agent73 + start: [29, 7] +- goal: [24, 2] + name: agent74 + start: [26, 15] +- goal: [1, 15] + name: agent75 + start: [18, 17] +- goal: [23, 3] + name: agent76 + start: [19, 30] +- goal: [5, 7] + name: agent77 + start: [2, 25] +- goal: [12, 16] + name: agent78 + start: [31, 15] +- goal: [12, 30] + name: agent79 + start: [6, 15] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [2, 6] + - !!python/tuple [14, 21] + - !!python/tuple [21, 24] + - !!python/tuple [26, 2] + - !!python/tuple [20, 14] + - !!python/tuple [8, 21] + - !!python/tuple [20, 31] + - !!python/tuple [3, 17] + - !!python/tuple [9, 22] + - !!python/tuple [18, 6] + - !!python/tuple [25, 8] + - !!python/tuple [1, 19] + - !!python/tuple [25, 4] + - !!python/tuple [31, 7] + - !!python/tuple [31, 1] + - !!python/tuple [30, 21] + - !!python/tuple [20, 22] + - !!python/tuple [31, 3] + - !!python/tuple [18, 24] + - !!python/tuple [21, 22] + - !!python/tuple [25, 5] + - !!python/tuple [4, 9] + - !!python/tuple [13, 15] + - !!python/tuple [31, 19] + - !!python/tuple [23, 5] + - !!python/tuple [25, 24] + - !!python/tuple [15, 5] + - !!python/tuple [11, 7] + - !!python/tuple [7, 19] + - !!python/tuple [29, 26] + - !!python/tuple [24, 17] + - !!python/tuple [6, 27] + - !!python/tuple [9, 12] + - !!python/tuple [12, 6] + - !!python/tuple [18, 27] + - !!python/tuple [17, 25] + - !!python/tuple [5, 5] + - !!python/tuple [0, 10] + - !!python/tuple [23, 27] + - !!python/tuple [16, 18] + - !!python/tuple [7, 1] + - !!python/tuple [13, 31] + - !!python/tuple [6, 20] + - !!python/tuple [12, 20] + - !!python/tuple [14, 8] + - !!python/tuple [28, 20] + - !!python/tuple [13, 13] + - !!python/tuple [5, 26] + - !!python/tuple [24, 12] + - !!python/tuple [8, 30] + - !!python/tuple [0, 14] + - !!python/tuple [24, 0] + - !!python/tuple [20, 2] + - !!python/tuple [0, 27] + - !!python/tuple [9, 19] + - !!python/tuple [10, 28] + - !!python/tuple [14, 24] + - !!python/tuple [28, 28] + - !!python/tuple [7, 23] + - !!python/tuple [4, 4] + - !!python/tuple [30, 1] + - !!python/tuple [26, 18] + - !!python/tuple [17, 22] + - !!python/tuple [28, 31] + - !!python/tuple [17, 14] + - !!python/tuple [16, 10] + - !!python/tuple [10, 21] + - !!python/tuple [10, 10] + - !!python/tuple [23, 29] + - !!python/tuple [15, 30] + - !!python/tuple [20, 21] + - !!python/tuple [11, 8] + - !!python/tuple [2, 19] + - !!python/tuple [6, 7] + - !!python/tuple [29, 21] + - !!python/tuple [12, 0] + - !!python/tuple [6, 12] + - !!python/tuple [4, 27] + - !!python/tuple [21, 0] + - !!python/tuple [18, 19] + - !!python/tuple [6, 11] + - !!python/tuple [4, 7] + - !!python/tuple [25, 0] + - !!python/tuple [31, 11] + - !!python/tuple [6, 14] + - !!python/tuple [18, 22] + - !!python/tuple [20, 7] + - !!python/tuple [21, 21] + - !!python/tuple [13, 1] + - !!python/tuple [28, 5] + - !!python/tuple [6, 30] + - !!python/tuple [0, 4] + - !!python/tuple [9, 31] + - !!python/tuple [14, 16] + - !!python/tuple [19, 24] + - !!python/tuple [5, 14] + - !!python/tuple [12, 26] + - !!python/tuple [27, 16] + - !!python/tuple [14, 13] + - !!python/tuple [8, 14] + - !!python/tuple [8, 5] + - !!python/tuple [4, 21] + - !!python/tuple [15, 25] + - !!python/tuple [25, 30] + - !!python/tuple [2, 1] + - !!python/tuple [30, 14] + - !!python/tuple [0, 31] + - !!python/tuple [15, 2] + - !!python/tuple [18, 3] + - !!python/tuple [1, 16] + - !!python/tuple [15, 15] + - !!python/tuple [0, 24] + - !!python/tuple [19, 29] + - !!python/tuple [17, 6] + - !!python/tuple [26, 0] + - !!python/tuple [0, 1] + - !!python/tuple [22, 2] + - !!python/tuple [15, 11] + - !!python/tuple [25, 9] + - !!python/tuple [28, 4] + - !!python/tuple [1, 23] + - !!python/tuple [11, 19] + - !!python/tuple [29, 24] + - !!python/tuple [0, 8] + - !!python/tuple [10, 22] + - !!python/tuple [7, 2] + - !!python/tuple [31, 5] + - !!python/tuple [17, 18] + - !!python/tuple [2, 24] + - !!python/tuple [6, 24] + - !!python/tuple [28, 25] + - !!python/tuple [0, 6] + - !!python/tuple [19, 15] + - !!python/tuple [27, 12] + - !!python/tuple [30, 26] + - !!python/tuple [14, 2] + - !!python/tuple [18, 13] + - !!python/tuple [27, 23] + - !!python/tuple [28, 21] + - !!python/tuple [5, 8] + - !!python/tuple [28, 7] + - !!python/tuple [24, 19] + - !!python/tuple [17, 26] + - !!python/tuple [28, 14] + - !!python/tuple [31, 9] + - !!python/tuple [14, 1] + - !!python/tuple [26, 31] + - !!python/tuple [2, 11] + - !!python/tuple [29, 11] + - !!python/tuple [0, 26] + - !!python/tuple [20, 25] + - !!python/tuple [3, 10] + - !!python/tuple [26, 3] + - !!python/tuple [1, 20] + - !!python/tuple [14, 7] + - !!python/tuple [1, 4] + - !!python/tuple [24, 24] + - !!python/tuple [16, 22] + - !!python/tuple [17, 4] + - !!python/tuple [31, 30] + - !!python/tuple [28, 24] + - !!python/tuple [22, 5] + - !!python/tuple [27, 8] + - !!python/tuple [15, 3] + - !!python/tuple [14, 29] + - !!python/tuple [22, 26] + - !!python/tuple [2, 28] + - !!python/tuple [17, 21] + - !!python/tuple [23, 21] + - !!python/tuple [14, 31] + - !!python/tuple [29, 12] + - !!python/tuple [22, 30] + - !!python/tuple [11, 23] + - !!python/tuple [30, 6] + - !!python/tuple [14, 5] + - !!python/tuple [20, 24] + - !!python/tuple [7, 0] + - !!python/tuple [18, 20] + - !!python/tuple [0, 29] + - !!python/tuple [5, 16] + - !!python/tuple [8, 15] + - !!python/tuple [10, 0] + - !!python/tuple [27, 4] + - !!python/tuple [1, 8] + - !!python/tuple [6, 29] + - !!python/tuple [29, 3] + - !!python/tuple [28, 30] + - !!python/tuple [7, 28] + - !!python/tuple [11, 29] + - !!python/tuple [1, 11] + - !!python/tuple [28, 23] + - !!python/tuple [26, 29] + - !!python/tuple [24, 1] + - !!python/tuple [8, 10] + - !!python/tuple [20, 30] + - !!python/tuple [30, 0] + - !!python/tuple [4, 11] + - !!python/tuple [31, 2] + - !!python/tuple [2, 14] + - !!python/tuple [25, 27] + - !!python/tuple [23, 13] + - !!python/tuple [8, 31] + - !!python/tuple [13, 29] + - !!python/tuple [21, 5] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex17.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex17.yaml new file mode 100644 index 0000000..85b5a43 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex17.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [6, 2] + name: agent0 + start: [22, 10] +- goal: [12, 8] + name: agent1 + start: [16, 6] +- goal: [11, 14] + name: agent2 + start: [17, 19] +- goal: [27, 20] + name: agent3 + start: [27, 27] +- goal: [1, 30] + name: agent4 + start: [16, 16] +- goal: [14, 2] + name: agent5 + start: [14, 31] +- goal: [7, 22] + name: agent6 + start: [25, 7] +- goal: [15, 10] + name: agent7 + start: [20, 30] +- goal: [10, 26] + name: agent8 + start: [23, 24] +- goal: [24, 8] + name: agent9 + start: [20, 12] +- goal: [1, 18] + name: agent10 + start: [16, 25] +- goal: [20, 7] + name: agent11 + start: [19, 26] +- goal: [0, 22] + name: agent12 + start: [0, 7] +- goal: [15, 24] + name: agent13 + start: [27, 2] +- goal: [5, 1] + name: agent14 + start: [30, 2] +- goal: [24, 13] + name: agent15 + start: [0, 17] +- goal: [5, 24] + name: agent16 + start: [9, 26] +- goal: [7, 16] + name: agent17 + start: [30, 24] +- goal: [17, 31] + name: agent18 + start: [18, 31] +- goal: [3, 1] + name: agent19 + start: [4, 24] +- goal: [26, 12] + name: agent20 + start: [2, 3] +- goal: [8, 5] + name: agent21 + start: [1, 21] +- goal: [17, 12] + name: agent22 + start: [8, 20] +- goal: [20, 6] + name: agent23 + start: [20, 19] +- goal: [12, 25] + name: agent24 + start: [24, 2] +- goal: [30, 1] + name: agent25 + start: [6, 1] +- goal: [1, 20] + name: agent26 + start: [6, 25] +- goal: [31, 21] + name: agent27 + start: [22, 15] +- goal: [8, 6] + name: agent28 + start: [4, 26] +- goal: [8, 29] + name: agent29 + start: [30, 0] +- goal: [27, 11] + name: agent30 + start: [26, 14] +- goal: [6, 29] + name: agent31 + start: [11, 5] +- goal: [13, 25] + name: agent32 + start: [20, 0] +- goal: [13, 31] + name: agent33 + start: [31, 18] +- goal: [3, 29] + name: agent34 + start: [3, 21] +- goal: [26, 4] + name: agent35 + start: [19, 1] +- goal: [8, 19] + name: agent36 + start: [3, 17] +- goal: [7, 14] + name: agent37 + start: [11, 16] +- goal: [7, 2] + name: agent38 + start: [16, 2] +- goal: [20, 18] + name: agent39 + start: [9, 15] +- goal: [27, 29] + name: agent40 + start: [16, 21] +- goal: [21, 7] + name: agent41 + start: [8, 9] +- goal: [1, 24] + name: agent42 + start: [17, 16] +- goal: [5, 11] + name: agent43 + start: [31, 11] +- goal: [9, 10] + name: agent44 + start: [18, 27] +- goal: [31, 10] + name: agent45 + start: [10, 10] +- goal: [11, 6] + name: agent46 + start: [15, 30] +- goal: [9, 17] + name: agent47 + start: [19, 15] +- goal: [10, 14] + name: agent48 + start: [21, 12] +- goal: [29, 16] + name: agent49 + start: [17, 22] +- goal: [10, 13] + name: agent50 + start: [23, 21] +- goal: [14, 1] + name: agent51 + start: [5, 28] +- goal: [11, 18] + name: agent52 + start: [24, 20] +- goal: [21, 31] + name: agent53 + start: [1, 30] +- goal: [31, 28] + name: agent54 + start: [25, 19] +- goal: [29, 31] + name: agent55 + start: [31, 26] +- goal: [16, 22] + name: agent56 + start: [24, 27] +- goal: [15, 5] + name: agent57 + start: [4, 2] +- goal: [23, 3] + name: agent58 + start: [23, 1] +- goal: [1, 10] + name: agent59 + start: [28, 29] +- goal: [16, 4] + name: agent60 + start: [5, 11] +- goal: [16, 5] + name: agent61 + start: [25, 30] +- goal: [14, 0] + name: agent62 + start: [3, 26] +- goal: [13, 17] + name: agent63 + start: [22, 3] +- goal: [11, 5] + name: agent64 + start: [24, 30] +- goal: [28, 29] + name: agent65 + start: [11, 2] +- goal: [6, 27] + name: agent66 + start: [26, 24] +- goal: [26, 15] + name: agent67 + start: [7, 28] +- goal: [19, 31] + name: agent68 + start: [8, 2] +- goal: [25, 23] + name: agent69 + start: [23, 12] +- goal: [17, 28] + name: agent70 + start: [23, 0] +- goal: [10, 28] + name: agent71 + start: [7, 13] +- goal: [10, 7] + name: agent72 + start: [5, 25] +- goal: [9, 19] + name: agent73 + start: [15, 4] +- goal: [0, 21] + name: agent74 + start: [21, 15] +- goal: [23, 13] + name: agent75 + start: [15, 18] +- goal: [6, 3] + name: agent76 + start: [22, 12] +- goal: [28, 2] + name: agent77 + start: [18, 4] +- goal: [15, 14] + name: agent78 + start: [0, 5] +- goal: [4, 22] + name: agent79 + start: [15, 29] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [6, 28] + - !!python/tuple [2, 13] + - !!python/tuple [14, 14] + - !!python/tuple [1, 9] + - !!python/tuple [14, 27] + - !!python/tuple [4, 9] + - !!python/tuple [2, 8] + - !!python/tuple [4, 20] + - !!python/tuple [29, 21] + - !!python/tuple [29, 8] + - !!python/tuple [11, 10] + - !!python/tuple [26, 28] + - !!python/tuple [31, 6] + - !!python/tuple [17, 17] + - !!python/tuple [16, 30] + - !!python/tuple [9, 29] + - !!python/tuple [22, 17] + - !!python/tuple [29, 7] + - !!python/tuple [21, 16] + - !!python/tuple [27, 23] + - !!python/tuple [20, 8] + - !!python/tuple [11, 13] + - !!python/tuple [17, 21] + - !!python/tuple [11, 19] + - !!python/tuple [29, 6] + - !!python/tuple [23, 11] + - !!python/tuple [13, 20] + - !!python/tuple [26, 2] + - !!python/tuple [20, 24] + - !!python/tuple [7, 30] + - !!python/tuple [3, 31] + - !!python/tuple [25, 26] + - !!python/tuple [9, 4] + - !!python/tuple [16, 1] + - !!python/tuple [25, 14] + - !!python/tuple [22, 29] + - !!python/tuple [11, 3] + - !!python/tuple [5, 18] + - !!python/tuple [15, 27] + - !!python/tuple [26, 31] + - !!python/tuple [10, 27] + - !!python/tuple [1, 12] + - !!python/tuple [15, 6] + - !!python/tuple [14, 24] + - !!python/tuple [19, 20] + - !!python/tuple [13, 22] + - !!python/tuple [13, 3] + - !!python/tuple [22, 24] + - !!python/tuple [15, 8] + - !!python/tuple [2, 0] + - !!python/tuple [24, 24] + - !!python/tuple [24, 22] + - !!python/tuple [9, 8] + - !!python/tuple [4, 19] + - !!python/tuple [5, 9] + - !!python/tuple [27, 30] + - !!python/tuple [15, 9] + - !!python/tuple [8, 1] + - !!python/tuple [24, 5] + - !!python/tuple [10, 8] + - !!python/tuple [11, 17] + - !!python/tuple [17, 6] + - !!python/tuple [0, 4] + - !!python/tuple [15, 31] + - !!python/tuple [31, 14] + - !!python/tuple [29, 26] + - !!python/tuple [13, 28] + - !!python/tuple [24, 17] + - !!python/tuple [3, 27] + - !!python/tuple [23, 22] + - !!python/tuple [1, 14] + - !!python/tuple [6, 6] + - !!python/tuple [15, 13] + - !!python/tuple [31, 9] + - !!python/tuple [24, 23] + - !!python/tuple [2, 2] + - !!python/tuple [11, 21] + - !!python/tuple [21, 0] + - !!python/tuple [13, 24] + - !!python/tuple [13, 12] + - !!python/tuple [27, 18] + - !!python/tuple [11, 28] + - !!python/tuple [21, 4] + - !!python/tuple [5, 7] + - !!python/tuple [15, 11] + - !!python/tuple [5, 0] + - !!python/tuple [7, 18] + - !!python/tuple [14, 13] + - !!python/tuple [30, 30] + - !!python/tuple [31, 7] + - !!python/tuple [22, 20] + - !!python/tuple [0, 9] + - !!python/tuple [4, 7] + - !!python/tuple [21, 9] + - !!python/tuple [29, 0] + - !!python/tuple [25, 2] + - !!python/tuple [25, 9] + - !!python/tuple [20, 13] + - !!python/tuple [5, 23] + - !!python/tuple [3, 30] + - !!python/tuple [29, 29] + - !!python/tuple [27, 31] + - !!python/tuple [6, 16] + - !!python/tuple [30, 10] + - !!python/tuple [4, 30] + - !!python/tuple [5, 27] + - !!python/tuple [5, 26] + - !!python/tuple [29, 15] + - !!python/tuple [20, 4] + - !!python/tuple [22, 4] + - !!python/tuple [9, 0] + - !!python/tuple [9, 23] + - !!python/tuple [11, 26] + - !!python/tuple [6, 13] + - !!python/tuple [3, 9] + - !!python/tuple [31, 30] + - !!python/tuple [11, 22] + - !!python/tuple [15, 25] + - !!python/tuple [28, 6] + - !!python/tuple [27, 12] + - !!python/tuple [27, 4] + - !!python/tuple [5, 5] + - !!python/tuple [27, 24] + - !!python/tuple [10, 17] + - !!python/tuple [6, 9] + - !!python/tuple [24, 18] + - !!python/tuple [9, 24] + - !!python/tuple [16, 14] + - !!python/tuple [30, 12] + - !!python/tuple [24, 31] + - !!python/tuple [10, 11] + - !!python/tuple [25, 8] + - !!python/tuple [11, 15] + - !!python/tuple [19, 11] + - !!python/tuple [0, 28] + - !!python/tuple [25, 16] + - !!python/tuple [0, 12] + - !!python/tuple [13, 15] + - !!python/tuple [12, 24] + - !!python/tuple [5, 15] + - !!python/tuple [11, 11] + - !!python/tuple [9, 13] + - !!python/tuple [19, 3] + - !!python/tuple [15, 26] + - !!python/tuple [22, 31] + - !!python/tuple [26, 13] + - !!python/tuple [9, 27] + - !!python/tuple [29, 28] + - !!python/tuple [25, 5] + - !!python/tuple [31, 17] + - !!python/tuple [25, 13] + - !!python/tuple [12, 29] + - !!python/tuple [0, 2] + - !!python/tuple [26, 6] + - !!python/tuple [20, 2] + - !!python/tuple [8, 4] + - !!python/tuple [16, 11] + - !!python/tuple [0, 24] + - !!python/tuple [10, 3] + - !!python/tuple [9, 1] + - !!python/tuple [29, 19] + - !!python/tuple [3, 0] + - !!python/tuple [16, 3] + - !!python/tuple [16, 26] + - !!python/tuple [14, 28] + - !!python/tuple [24, 14] + - !!python/tuple [26, 25] + - !!python/tuple [31, 1] + - !!python/tuple [17, 5] + - !!python/tuple [18, 16] + - !!python/tuple [31, 0] + - !!python/tuple [14, 29] + - !!python/tuple [25, 1] + - !!python/tuple [7, 9] + - !!python/tuple [25, 27] + - !!python/tuple [31, 2] + - !!python/tuple [14, 17] + - !!python/tuple [27, 13] + - !!python/tuple [11, 23] + - !!python/tuple [0, 25] + - !!python/tuple [19, 4] + - !!python/tuple [12, 27] + - !!python/tuple [12, 9] + - !!python/tuple [3, 28] + - !!python/tuple [21, 2] + - !!python/tuple [16, 13] + - !!python/tuple [21, 3] + - !!python/tuple [13, 2] + - !!python/tuple [27, 5] + - !!python/tuple [18, 15] + - !!python/tuple [0, 6] + - !!python/tuple [12, 0] + - !!python/tuple [30, 18] + - !!python/tuple [17, 3] + - !!python/tuple [14, 19] + - !!python/tuple [14, 23] + - !!python/tuple [20, 23] + - !!python/tuple [18, 3] + - !!python/tuple [4, 29] + - !!python/tuple [22, 11] + - !!python/tuple [23, 4] + - !!python/tuple [22, 14] + - !!python/tuple [12, 17] + - !!python/tuple [14, 5] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex18.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex18.yaml new file mode 100644 index 0000000..2f44090 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex18.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [27, 30] + name: agent0 + start: [27, 12] +- goal: [4, 3] + name: agent1 + start: [16, 27] +- goal: [22, 0] + name: agent2 + start: [13, 10] +- goal: [18, 28] + name: agent3 + start: [1, 4] +- goal: [27, 14] + name: agent4 + start: [5, 7] +- goal: [31, 1] + name: agent5 + start: [5, 6] +- goal: [28, 12] + name: agent6 + start: [22, 21] +- goal: [21, 30] + name: agent7 + start: [26, 26] +- goal: [30, 0] + name: agent8 + start: [1, 28] +- goal: [12, 6] + name: agent9 + start: [0, 10] +- goal: [15, 17] + name: agent10 + start: [5, 8] +- goal: [21, 26] + name: agent11 + start: [27, 19] +- goal: [1, 11] + name: agent12 + start: [29, 20] +- goal: [3, 6] + name: agent13 + start: [2, 17] +- goal: [0, 6] + name: agent14 + start: [15, 0] +- goal: [11, 26] + name: agent15 + start: [21, 13] +- goal: [27, 0] + name: agent16 + start: [19, 3] +- goal: [4, 27] + name: agent17 + start: [26, 9] +- goal: [15, 28] + name: agent18 + start: [12, 14] +- goal: [11, 6] + name: agent19 + start: [7, 11] +- goal: [26, 2] + name: agent20 + start: [11, 18] +- goal: [31, 29] + name: agent21 + start: [16, 11] +- goal: [25, 0] + name: agent22 + start: [22, 19] +- goal: [2, 17] + name: agent23 + start: [20, 19] +- goal: [27, 23] + name: agent24 + start: [8, 1] +- goal: [22, 2] + name: agent25 + start: [23, 10] +- goal: [24, 1] + name: agent26 + start: [4, 25] +- goal: [31, 12] + name: agent27 + start: [25, 20] +- goal: [21, 13] + name: agent28 + start: [26, 7] +- goal: [21, 27] + name: agent29 + start: [24, 30] +- goal: [1, 17] + name: agent30 + start: [13, 8] +- goal: [12, 7] + name: agent31 + start: [10, 10] +- goal: [0, 16] + name: agent32 + start: [20, 25] +- goal: [4, 7] + name: agent33 + start: [3, 1] +- goal: [25, 13] + name: agent34 + start: [21, 27] +- goal: [16, 7] + name: agent35 + start: [15, 6] +- goal: [2, 19] + name: agent36 + start: [4, 31] +- goal: [20, 17] + name: agent37 + start: [18, 3] +- goal: [12, 18] + name: agent38 + start: [25, 12] +- goal: [2, 22] + name: agent39 + start: [8, 5] +- goal: [24, 18] + name: agent40 + start: [21, 24] +- goal: [16, 24] + name: agent41 + start: [0, 23] +- goal: [16, 1] + name: agent42 + start: [25, 28] +- goal: [25, 21] + name: agent43 + start: [1, 25] +- goal: [31, 20] + name: agent44 + start: [24, 4] +- goal: [26, 16] + name: agent45 + start: [24, 22] +- goal: [2, 5] + name: agent46 + start: [20, 18] +- goal: [26, 15] + name: agent47 + start: [10, 4] +- goal: [0, 14] + name: agent48 + start: [6, 21] +- goal: [10, 3] + name: agent49 + start: [15, 10] +- goal: [29, 20] + name: agent50 + start: [29, 6] +- goal: [12, 22] + name: agent51 + start: [1, 12] +- goal: [9, 27] + name: agent52 + start: [8, 0] +- goal: [1, 28] + name: agent53 + start: [8, 23] +- goal: [28, 5] + name: agent54 + start: [5, 0] +- goal: [10, 23] + name: agent55 + start: [17, 13] +- goal: [22, 29] + name: agent56 + start: [22, 2] +- goal: [11, 12] + name: agent57 + start: [7, 30] +- goal: [6, 20] + name: agent58 + start: [4, 2] +- goal: [24, 8] + name: agent59 + start: [5, 16] +- goal: [8, 3] + name: agent60 + start: [11, 22] +- goal: [28, 8] + name: agent61 + start: [14, 10] +- goal: [3, 31] + name: agent62 + start: [6, 3] +- goal: [28, 2] + name: agent63 + start: [3, 9] +- goal: [8, 24] + name: agent64 + start: [28, 8] +- goal: [11, 4] + name: agent65 + start: [3, 5] +- goal: [29, 31] + name: agent66 + start: [15, 16] +- goal: [5, 3] + name: agent67 + start: [16, 18] +- goal: [23, 14] + name: agent68 + start: [21, 9] +- goal: [12, 17] + name: agent69 + start: [13, 1] +- goal: [26, 26] + name: agent70 + start: [26, 28] +- goal: [27, 22] + name: agent71 + start: [18, 20] +- goal: [1, 31] + name: agent72 + start: [27, 20] +- goal: [21, 24] + name: agent73 + start: [13, 24] +- goal: [18, 6] + name: agent74 + start: [17, 8] +- goal: [1, 27] + name: agent75 + start: [23, 16] +- goal: [0, 19] + name: agent76 + start: [5, 18] +- goal: [25, 20] + name: agent77 + start: [9, 25] +- goal: [23, 9] + name: agent78 + start: [18, 1] +- goal: [4, 6] + name: agent79 + start: [17, 20] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [25, 11] + - !!python/tuple [19, 20] + - !!python/tuple [10, 12] + - !!python/tuple [25, 23] + - !!python/tuple [1, 23] + - !!python/tuple [14, 3] + - !!python/tuple [4, 18] + - !!python/tuple [15, 5] + - !!python/tuple [8, 30] + - !!python/tuple [31, 31] + - !!python/tuple [22, 11] + - !!python/tuple [12, 5] + - !!python/tuple [29, 2] + - !!python/tuple [16, 4] + - !!python/tuple [1, 24] + - !!python/tuple [9, 6] + - !!python/tuple [18, 18] + - !!python/tuple [9, 2] + - !!python/tuple [27, 3] + - !!python/tuple [14, 16] + - !!python/tuple [3, 17] + - !!python/tuple [23, 26] + - !!python/tuple [23, 7] + - !!python/tuple [8, 6] + - !!python/tuple [9, 18] + - !!python/tuple [2, 10] + - !!python/tuple [8, 17] + - !!python/tuple [22, 23] + - !!python/tuple [18, 16] + - !!python/tuple [10, 0] + - !!python/tuple [23, 28] + - !!python/tuple [8, 12] + - !!python/tuple [22, 15] + - !!python/tuple [11, 13] + - !!python/tuple [25, 26] + - !!python/tuple [20, 0] + - !!python/tuple [13, 26] + - !!python/tuple [3, 10] + - !!python/tuple [13, 4] + - !!python/tuple [4, 13] + - !!python/tuple [2, 0] + - !!python/tuple [13, 5] + - !!python/tuple [25, 9] + - !!python/tuple [17, 24] + - !!python/tuple [8, 14] + - !!python/tuple [6, 29] + - !!python/tuple [21, 23] + - !!python/tuple [5, 30] + - !!python/tuple [7, 4] + - !!python/tuple [14, 22] + - !!python/tuple [19, 21] + - !!python/tuple [0, 25] + - !!python/tuple [19, 26] + - !!python/tuple [27, 10] + - !!python/tuple [27, 13] + - !!python/tuple [6, 17] + - !!python/tuple [2, 11] + - !!python/tuple [6, 4] + - !!python/tuple [10, 30] + - !!python/tuple [8, 27] + - !!python/tuple [1, 5] + - !!python/tuple [12, 29] + - !!python/tuple [0, 11] + - !!python/tuple [5, 19] + - !!python/tuple [10, 8] + - !!python/tuple [11, 31] + - !!python/tuple [21, 10] + - !!python/tuple [28, 15] + - !!python/tuple [7, 6] + - !!python/tuple [5, 27] + - !!python/tuple [30, 4] + - !!python/tuple [18, 25] + - !!python/tuple [26, 29] + - !!python/tuple [19, 0] + - !!python/tuple [27, 25] + - !!python/tuple [28, 26] + - !!python/tuple [17, 16] + - !!python/tuple [12, 13] + - !!python/tuple [25, 24] + - !!python/tuple [31, 4] + - !!python/tuple [18, 24] + - !!python/tuple [11, 25] + - !!python/tuple [0, 8] + - !!python/tuple [25, 29] + - !!python/tuple [4, 20] + - !!python/tuple [23, 5] + - !!python/tuple [21, 1] + - !!python/tuple [15, 19] + - !!python/tuple [5, 25] + - !!python/tuple [4, 17] + - !!python/tuple [29, 19] + - !!python/tuple [14, 7] + - !!python/tuple [30, 10] + - !!python/tuple [1, 21] + - !!python/tuple [18, 19] + - !!python/tuple [16, 17] + - !!python/tuple [6, 23] + - !!python/tuple [9, 16] + - !!python/tuple [20, 27] + - !!python/tuple [17, 9] + - !!python/tuple [23, 6] + - !!python/tuple [12, 0] + - !!python/tuple [15, 11] + - !!python/tuple [15, 30] + - !!python/tuple [13, 14] + - !!python/tuple [30, 13] + - !!python/tuple [19, 6] + - !!python/tuple [18, 12] + - !!python/tuple [8, 9] + - !!python/tuple [28, 7] + - !!python/tuple [31, 17] + - !!python/tuple [29, 21] + - !!python/tuple [26, 23] + - !!python/tuple [25, 2] + - !!python/tuple [20, 10] + - !!python/tuple [25, 31] + - !!python/tuple [31, 2] + - !!python/tuple [4, 16] + - !!python/tuple [29, 23] + - !!python/tuple [27, 31] + - !!python/tuple [27, 11] + - !!python/tuple [18, 10] + - !!python/tuple [3, 3] + - !!python/tuple [8, 21] + - !!python/tuple [9, 1] + - !!python/tuple [2, 30] + - !!python/tuple [27, 2] + - !!python/tuple [3, 18] + - !!python/tuple [24, 12] + - !!python/tuple [25, 27] + - !!python/tuple [26, 12] + - !!python/tuple [19, 12] + - !!python/tuple [29, 15] + - !!python/tuple [20, 3] + - !!python/tuple [5, 29] + - !!python/tuple [29, 14] + - !!python/tuple [15, 3] + - !!python/tuple [13, 20] + - !!python/tuple [17, 2] + - !!python/tuple [5, 20] + - !!python/tuple [29, 7] + - !!python/tuple [29, 4] + - !!python/tuple [31, 7] + - !!python/tuple [25, 14] + - !!python/tuple [7, 12] + - !!python/tuple [15, 18] + - !!python/tuple [3, 2] + - !!python/tuple [22, 8] + - !!python/tuple [2, 1] + - !!python/tuple [9, 24] + - !!python/tuple [9, 4] + - !!python/tuple [23, 24] + - !!python/tuple [27, 7] + - !!python/tuple [6, 9] + - !!python/tuple [10, 5] + - !!python/tuple [1, 20] + - !!python/tuple [17, 31] + - !!python/tuple [24, 17] + - !!python/tuple [31, 6] + - !!python/tuple [7, 3] + - !!python/tuple [26, 25] + - !!python/tuple [16, 23] + - !!python/tuple [29, 29] + - !!python/tuple [4, 28] + - !!python/tuple [25, 5] + - !!python/tuple [12, 15] + - !!python/tuple [12, 23] + - !!python/tuple [23, 30] + - !!python/tuple [20, 20] + - !!python/tuple [24, 11] + - !!python/tuple [31, 28] + - !!python/tuple [9, 13] + - !!python/tuple [20, 16] + - !!python/tuple [1, 19] + - !!python/tuple [22, 22] + - !!python/tuple [19, 4] + - !!python/tuple [0, 0] + - !!python/tuple [15, 27] + - !!python/tuple [13, 3] + - !!python/tuple [13, 9] + - !!python/tuple [2, 20] + - !!python/tuple [26, 20] + - !!python/tuple [22, 1] + - !!python/tuple [30, 14] + - !!python/tuple [18, 31] + - !!python/tuple [12, 19] + - !!python/tuple [3, 21] + - !!python/tuple [30, 9] + - !!python/tuple [24, 31] + - !!python/tuple [0, 17] + - !!python/tuple [18, 15] + - !!python/tuple [9, 21] + - !!python/tuple [2, 2] + - !!python/tuple [26, 17] + - !!python/tuple [31, 9] + - !!python/tuple [28, 1] + - !!python/tuple [28, 23] + - !!python/tuple [10, 24] + - !!python/tuple [19, 24] + - !!python/tuple [9, 9] + - !!python/tuple [7, 25] + - !!python/tuple [1, 3] + - !!python/tuple [2, 29] + - !!python/tuple [28, 25] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex19.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex19.yaml new file mode 100644 index 0000000..9d37223 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex19.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [2, 29] + name: agent0 + start: [22, 22] +- goal: [19, 16] + name: agent1 + start: [7, 31] +- goal: [15, 19] + name: agent2 + start: [17, 21] +- goal: [14, 5] + name: agent3 + start: [4, 9] +- goal: [24, 11] + name: agent4 + start: [3, 28] +- goal: [18, 6] + name: agent5 + start: [19, 16] +- goal: [24, 21] + name: agent6 + start: [24, 18] +- goal: [5, 16] + name: agent7 + start: [10, 29] +- goal: [9, 30] + name: agent8 + start: [10, 24] +- goal: [4, 9] + name: agent9 + start: [1, 19] +- goal: [21, 11] + name: agent10 + start: [18, 30] +- goal: [28, 25] + name: agent11 + start: [30, 22] +- goal: [17, 27] + name: agent12 + start: [4, 24] +- goal: [16, 21] + name: agent13 + start: [9, 31] +- goal: [22, 8] + name: agent14 + start: [18, 19] +- goal: [18, 2] + name: agent15 + start: [30, 7] +- goal: [26, 18] + name: agent16 + start: [29, 11] +- goal: [19, 14] + name: agent17 + start: [5, 18] +- goal: [17, 0] + name: agent18 + start: [31, 21] +- goal: [19, 1] + name: agent19 + start: [24, 7] +- goal: [7, 3] + name: agent20 + start: [19, 28] +- goal: [1, 29] + name: agent21 + start: [0, 9] +- goal: [12, 6] + name: agent22 + start: [30, 11] +- goal: [2, 18] + name: agent23 + start: [7, 18] +- goal: [22, 24] + name: agent24 + start: [22, 10] +- goal: [25, 27] + name: agent25 + start: [0, 13] +- goal: [6, 18] + name: agent26 + start: [26, 23] +- goal: [31, 19] + name: agent27 + start: [18, 17] +- goal: [0, 27] + name: agent28 + start: [10, 18] +- goal: [22, 29] + name: agent29 + start: [12, 0] +- goal: [25, 24] + name: agent30 + start: [4, 6] +- goal: [18, 13] + name: agent31 + start: [8, 9] +- goal: [15, 7] + name: agent32 + start: [6, 16] +- goal: [23, 17] + name: agent33 + start: [28, 9] +- goal: [19, 30] + name: agent34 + start: [30, 9] +- goal: [24, 23] + name: agent35 + start: [12, 28] +- goal: [31, 12] + name: agent36 + start: [20, 18] +- goal: [18, 11] + name: agent37 + start: [28, 16] +- goal: [17, 4] + name: agent38 + start: [18, 14] +- goal: [8, 11] + name: agent39 + start: [23, 26] +- goal: [6, 16] + name: agent40 + start: [27, 26] +- goal: [10, 12] + name: agent41 + start: [30, 20] +- goal: [2, 5] + name: agent42 + start: [19, 3] +- goal: [1, 19] + name: agent43 + start: [17, 19] +- goal: [31, 0] + name: agent44 + start: [1, 12] +- goal: [6, 31] + name: agent45 + start: [20, 3] +- goal: [13, 15] + name: agent46 + start: [0, 17] +- goal: [23, 26] + name: agent47 + start: [6, 0] +- goal: [3, 4] + name: agent48 + start: [28, 26] +- goal: [27, 16] + name: agent49 + start: [12, 9] +- goal: [0, 9] + name: agent50 + start: [26, 26] +- goal: [27, 20] + name: agent51 + start: [27, 0] +- goal: [9, 23] + name: agent52 + start: [29, 31] +- goal: [16, 25] + name: agent53 + start: [14, 25] +- goal: [26, 22] + name: agent54 + start: [18, 9] +- goal: [21, 27] + name: agent55 + start: [13, 23] +- goal: [0, 13] + name: agent56 + start: [11, 0] +- goal: [12, 3] + name: agent57 + start: [1, 20] +- goal: [14, 29] + name: agent58 + start: [20, 0] +- goal: [15, 11] + name: agent59 + start: [1, 1] +- goal: [1, 20] + name: agent60 + start: [18, 26] +- goal: [20, 19] + name: agent61 + start: [18, 20] +- goal: [5, 21] + name: agent62 + start: [17, 16] +- goal: [17, 16] + name: agent63 + start: [31, 26] +- goal: [18, 20] + name: agent64 + start: [17, 8] +- goal: [7, 19] + name: agent65 + start: [22, 17] +- goal: [19, 18] + name: agent66 + start: [24, 10] +- goal: [23, 8] + name: agent67 + start: [21, 17] +- goal: [19, 26] + name: agent68 + start: [14, 24] +- goal: [1, 23] + name: agent69 + start: [8, 0] +- goal: [6, 22] + name: agent70 + start: [19, 1] +- goal: [7, 9] + name: agent71 + start: [2, 19] +- goal: [6, 13] + name: agent72 + start: [15, 16] +- goal: [2, 9] + name: agent73 + start: [3, 3] +- goal: [26, 29] + name: agent74 + start: [30, 0] +- goal: [19, 17] + name: agent75 + start: [12, 4] +- goal: [12, 4] + name: agent76 + start: [6, 9] +- goal: [20, 10] + name: agent77 + start: [4, 17] +- goal: [8, 18] + name: agent78 + start: [4, 7] +- goal: [7, 18] + name: agent79 + start: [2, 2] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [23, 19] + - !!python/tuple [16, 17] + - !!python/tuple [16, 19] + - !!python/tuple [6, 4] + - !!python/tuple [25, 14] + - !!python/tuple [17, 26] + - !!python/tuple [11, 25] + - !!python/tuple [25, 6] + - !!python/tuple [11, 13] + - !!python/tuple [11, 30] + - !!python/tuple [23, 28] + - !!python/tuple [18, 3] + - !!python/tuple [28, 6] + - !!python/tuple [11, 27] + - !!python/tuple [9, 22] + - !!python/tuple [16, 8] + - !!python/tuple [21, 18] + - !!python/tuple [14, 6] + - !!python/tuple [31, 29] + - !!python/tuple [17, 22] + - !!python/tuple [11, 12] + - !!python/tuple [12, 14] + - !!python/tuple [28, 10] + - !!python/tuple [27, 22] + - !!python/tuple [25, 5] + - !!python/tuple [1, 16] + - !!python/tuple [22, 31] + - !!python/tuple [17, 29] + - !!python/tuple [15, 12] + - !!python/tuple [19, 21] + - !!python/tuple [25, 12] + - !!python/tuple [13, 8] + - !!python/tuple [21, 19] + - !!python/tuple [22, 20] + - !!python/tuple [0, 24] + - !!python/tuple [29, 29] + - !!python/tuple [5, 23] + - !!python/tuple [4, 13] + - !!python/tuple [20, 14] + - !!python/tuple [3, 16] + - !!python/tuple [16, 20] + - !!python/tuple [10, 13] + - !!python/tuple [28, 19] + - !!python/tuple [16, 28] + - !!python/tuple [9, 7] + - !!python/tuple [15, 20] + - !!python/tuple [15, 22] + - !!python/tuple [5, 15] + - !!python/tuple [21, 29] + - !!python/tuple [28, 12] + - !!python/tuple [0, 10] + - !!python/tuple [24, 6] + - !!python/tuple [5, 2] + - !!python/tuple [1, 14] + - !!python/tuple [11, 26] + - !!python/tuple [29, 18] + - !!python/tuple [26, 0] + - !!python/tuple [4, 19] + - !!python/tuple [0, 31] + - !!python/tuple [5, 28] + - !!python/tuple [3, 25] + - !!python/tuple [27, 27] + - !!python/tuple [11, 23] + - !!python/tuple [12, 17] + - !!python/tuple [4, 10] + - !!python/tuple [10, 9] + - !!python/tuple [11, 15] + - !!python/tuple [0, 1] + - !!python/tuple [25, 21] + - !!python/tuple [3, 22] + - !!python/tuple [8, 15] + - !!python/tuple [13, 4] + - !!python/tuple [12, 19] + - !!python/tuple [27, 10] + - !!python/tuple [2, 8] + - !!python/tuple [21, 6] + - !!python/tuple [4, 12] + - !!python/tuple [29, 20] + - !!python/tuple [7, 12] + - !!python/tuple [26, 17] + - !!python/tuple [4, 15] + - !!python/tuple [7, 28] + - !!python/tuple [9, 13] + - !!python/tuple [3, 14] + - !!python/tuple [26, 28] + - !!python/tuple [17, 2] + - !!python/tuple [31, 13] + - !!python/tuple [27, 21] + - !!python/tuple [7, 30] + - !!python/tuple [29, 10] + - !!python/tuple [31, 3] + - !!python/tuple [0, 19] + - !!python/tuple [2, 24] + - !!python/tuple [19, 31] + - !!python/tuple [8, 6] + - !!python/tuple [3, 19] + - !!python/tuple [21, 21] + - !!python/tuple [29, 12] + - !!python/tuple [9, 0] + - !!python/tuple [18, 1] + - !!python/tuple [30, 23] + - !!python/tuple [10, 3] + - !!python/tuple [16, 10] + - !!python/tuple [22, 7] + - !!python/tuple [9, 24] + - !!python/tuple [20, 27] + - !!python/tuple [14, 11] + - !!python/tuple [11, 11] + - !!python/tuple [2, 28] + - !!python/tuple [24, 16] + - !!python/tuple [15, 6] + - !!python/tuple [2, 4] + - !!python/tuple [16, 27] + - !!python/tuple [6, 27] + - !!python/tuple [31, 25] + - !!python/tuple [0, 23] + - !!python/tuple [24, 12] + - !!python/tuple [5, 13] + - !!python/tuple [16, 5] + - !!python/tuple [31, 24] + - !!python/tuple [28, 0] + - !!python/tuple [5, 30] + - !!python/tuple [29, 22] + - !!python/tuple [13, 11] + - !!python/tuple [3, 24] + - !!python/tuple [18, 18] + - !!python/tuple [13, 18] + - !!python/tuple [25, 20] + - !!python/tuple [2, 23] + - !!python/tuple [28, 27] + - !!python/tuple [18, 22] + - !!python/tuple [25, 1] + - !!python/tuple [4, 28] + - !!python/tuple [22, 19] + - !!python/tuple [6, 11] + - !!python/tuple [5, 0] + - !!python/tuple [3, 8] + - !!python/tuple [19, 29] + - !!python/tuple [11, 29] + - !!python/tuple [26, 15] + - !!python/tuple [24, 29] + - !!python/tuple [22, 30] + - !!python/tuple [7, 27] + - !!python/tuple [17, 31] + - !!python/tuple [3, 6] + - !!python/tuple [6, 29] + - !!python/tuple [20, 15] + - !!python/tuple [14, 4] + - !!python/tuple [2, 12] + - !!python/tuple [15, 24] + - !!python/tuple [19, 11] + - !!python/tuple [29, 23] + - !!python/tuple [17, 17] + - !!python/tuple [28, 2] + - !!python/tuple [0, 5] + - !!python/tuple [20, 8] + - !!python/tuple [12, 23] + - !!python/tuple [29, 8] + - !!python/tuple [28, 23] + - !!python/tuple [5, 25] + - !!python/tuple [10, 0] + - !!python/tuple [22, 12] + - !!python/tuple [21, 10] + - !!python/tuple [14, 1] + - !!python/tuple [22, 1] + - !!python/tuple [11, 28] + - !!python/tuple [14, 30] + - !!python/tuple [7, 14] + - !!python/tuple [21, 30] + - !!python/tuple [0, 29] + - !!python/tuple [20, 2] + - !!python/tuple [17, 14] + - !!python/tuple [23, 20] + - !!python/tuple [13, 1] + - !!python/tuple [2, 0] + - !!python/tuple [26, 7] + - !!python/tuple [31, 27] + - !!python/tuple [9, 4] + - !!python/tuple [19, 8] + - !!python/tuple [23, 23] + - !!python/tuple [14, 2] + - !!python/tuple [15, 8] + - !!python/tuple [25, 18] + - !!python/tuple [26, 9] + - !!python/tuple [30, 14] + - !!python/tuple [23, 1] + - !!python/tuple [10, 8] + - !!python/tuple [28, 20] + - !!python/tuple [13, 7] + - !!python/tuple [6, 24] + - !!python/tuple [31, 2] + - !!python/tuple [1, 13] + - !!python/tuple [1, 8] + - !!python/tuple [23, 29] + - !!python/tuple [2, 10] + - !!python/tuple [20, 24] + - !!python/tuple [3, 1] + - !!python/tuple [22, 23] + - !!python/tuple [22, 11] + - !!python/tuple [18, 8] + - !!python/tuple [28, 14] + - !!python/tuple [11, 5] + - !!python/tuple [9, 19] + - !!python/tuple [16, 26] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex2.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex2.yaml new file mode 100644 index 0000000..3413ec9 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex2.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [26, 27] + name: agent0 + start: [12, 8] +- goal: [7, 14] + name: agent1 + start: [18, 31] +- goal: [5, 11] + name: agent2 + start: [1, 25] +- goal: [28, 4] + name: agent3 + start: [1, 27] +- goal: [0, 28] + name: agent4 + start: [20, 2] +- goal: [26, 7] + name: agent5 + start: [24, 5] +- goal: [24, 10] + name: agent6 + start: [17, 14] +- goal: [29, 5] + name: agent7 + start: [15, 21] +- goal: [7, 5] + name: agent8 + start: [4, 18] +- goal: [12, 13] + name: agent9 + start: [17, 20] +- goal: [4, 9] + name: agent10 + start: [30, 22] +- goal: [31, 16] + name: agent11 + start: [15, 14] +- goal: [24, 31] + name: agent12 + start: [18, 11] +- goal: [10, 23] + name: agent13 + start: [31, 10] +- goal: [12, 27] + name: agent14 + start: [27, 0] +- goal: [7, 9] + name: agent15 + start: [0, 25] +- goal: [4, 27] + name: agent16 + start: [14, 29] +- goal: [2, 21] + name: agent17 + start: [25, 18] +- goal: [13, 15] + name: agent18 + start: [25, 15] +- goal: [11, 24] + name: agent19 + start: [29, 5] +- goal: [12, 12] + name: agent20 + start: [19, 12] +- goal: [27, 2] + name: agent21 + start: [22, 4] +- goal: [16, 30] + name: agent22 + start: [18, 23] +- goal: [20, 30] + name: agent23 + start: [9, 28] +- goal: [22, 17] + name: agent24 + start: [8, 11] +- goal: [26, 10] + name: agent25 + start: [24, 4] +- goal: [31, 1] + name: agent26 + start: [3, 19] +- goal: [29, 29] + name: agent27 + start: [8, 0] +- goal: [26, 18] + name: agent28 + start: [12, 10] +- goal: [30, 11] + name: agent29 + start: [20, 9] +- goal: [5, 25] + name: agent30 + start: [2, 7] +- goal: [1, 21] + name: agent31 + start: [20, 4] +- goal: [30, 10] + name: agent32 + start: [11, 7] +- goal: [0, 8] + name: agent33 + start: [10, 14] +- goal: [30, 7] + name: agent34 + start: [9, 29] +- goal: [22, 13] + name: agent35 + start: [7, 3] +- goal: [11, 11] + name: agent36 + start: [3, 4] +- goal: [10, 17] + name: agent37 + start: [7, 16] +- goal: [15, 13] + name: agent38 + start: [26, 12] +- goal: [24, 27] + name: agent39 + start: [29, 3] +- goal: [19, 12] + name: agent40 + start: [23, 31] +- goal: [16, 1] + name: agent41 + start: [4, 30] +- goal: [6, 5] + name: agent42 + start: [30, 23] +- goal: [17, 11] + name: agent43 + start: [6, 9] +- goal: [9, 0] + name: agent44 + start: [6, 7] +- goal: [8, 11] + name: agent45 + start: [2, 30] +- goal: [2, 6] + name: agent46 + start: [3, 18] +- goal: [5, 31] + name: agent47 + start: [16, 24] +- goal: [5, 3] + name: agent48 + start: [5, 31] +- goal: [4, 23] + name: agent49 + start: [11, 26] +- goal: [30, 21] + name: agent50 + start: [4, 23] +- goal: [8, 3] + name: agent51 + start: [6, 10] +- goal: [12, 11] + name: agent52 + start: [5, 11] +- goal: [23, 23] + name: agent53 + start: [25, 28] +- goal: [5, 28] + name: agent54 + start: [3, 26] +- goal: [9, 28] + name: agent55 + start: [28, 2] +- goal: [5, 29] + name: agent56 + start: [30, 21] +- goal: [8, 12] + name: agent57 + start: [8, 3] +- goal: [26, 16] + name: agent58 + start: [29, 18] +- goal: [1, 28] + name: agent59 + start: [19, 25] +- goal: [10, 30] + name: agent60 + start: [15, 13] +- goal: [18, 13] + name: agent61 + start: [17, 25] +- goal: [15, 21] + name: agent62 + start: [3, 17] +- goal: [27, 17] + name: agent63 + start: [22, 26] +- goal: [22, 28] + name: agent64 + start: [22, 20] +- goal: [6, 3] + name: agent65 + start: [7, 6] +- goal: [7, 25] + name: agent66 + start: [23, 14] +- goal: [10, 7] + name: agent67 + start: [20, 11] +- goal: [3, 4] + name: agent68 + start: [8, 19] +- goal: [11, 6] + name: agent69 + start: [10, 24] +- goal: [15, 4] + name: agent70 + start: [22, 5] +- goal: [31, 22] + name: agent71 + start: [30, 18] +- goal: [28, 19] + name: agent72 + start: [10, 29] +- goal: [17, 3] + name: agent73 + start: [16, 26] +- goal: [2, 16] + name: agent74 + start: [26, 6] +- goal: [3, 16] + name: agent75 + start: [29, 31] +- goal: [28, 10] + name: agent76 + start: [15, 6] +- goal: [27, 22] + name: agent77 + start: [8, 7] +- goal: [17, 20] + name: agent78 + start: [30, 19] +- goal: [31, 27] + name: agent79 + start: [15, 30] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [5, 12] + - !!python/tuple [2, 0] + - !!python/tuple [12, 25] + - !!python/tuple [19, 13] + - !!python/tuple [25, 0] + - !!python/tuple [30, 13] + - !!python/tuple [23, 10] + - !!python/tuple [23, 7] + - !!python/tuple [30, 26] + - !!python/tuple [27, 4] + - !!python/tuple [25, 11] + - !!python/tuple [10, 15] + - !!python/tuple [22, 29] + - !!python/tuple [14, 1] + - !!python/tuple [25, 2] + - !!python/tuple [1, 3] + - !!python/tuple [5, 19] + - !!python/tuple [28, 16] + - !!python/tuple [9, 6] + - !!python/tuple [3, 20] + - !!python/tuple [11, 21] + - !!python/tuple [18, 14] + - !!python/tuple [26, 2] + - !!python/tuple [2, 24] + - !!python/tuple [14, 14] + - !!python/tuple [1, 13] + - !!python/tuple [13, 16] + - !!python/tuple [3, 12] + - !!python/tuple [17, 13] + - !!python/tuple [13, 3] + - !!python/tuple [24, 17] + - !!python/tuple [14, 11] + - !!python/tuple [8, 15] + - !!python/tuple [21, 4] + - !!python/tuple [20, 5] + - !!python/tuple [10, 8] + - !!python/tuple [31, 8] + - !!python/tuple [3, 29] + - !!python/tuple [16, 10] + - !!python/tuple [25, 19] + - !!python/tuple [14, 2] + - !!python/tuple [25, 10] + - !!python/tuple [16, 11] + - !!python/tuple [7, 24] + - !!python/tuple [26, 8] + - !!python/tuple [19, 27] + - !!python/tuple [17, 31] + - !!python/tuple [29, 20] + - !!python/tuple [24, 11] + - !!python/tuple [10, 28] + - !!python/tuple [3, 15] + - !!python/tuple [1, 6] + - !!python/tuple [3, 25] + - !!python/tuple [9, 12] + - !!python/tuple [2, 3] + - !!python/tuple [12, 28] + - !!python/tuple [22, 7] + - !!python/tuple [13, 30] + - !!python/tuple [31, 12] + - !!python/tuple [13, 18] + - !!python/tuple [24, 8] + - !!python/tuple [17, 7] + - !!python/tuple [24, 7] + - !!python/tuple [19, 15] + - !!python/tuple [1, 22] + - !!python/tuple [19, 16] + - !!python/tuple [16, 4] + - !!python/tuple [28, 20] + - !!python/tuple [15, 24] + - !!python/tuple [9, 31] + - !!python/tuple [11, 27] + - !!python/tuple [31, 4] + - !!python/tuple [26, 17] + - !!python/tuple [30, 5] + - !!python/tuple [17, 8] + - !!python/tuple [13, 10] + - !!python/tuple [11, 18] + - !!python/tuple [16, 21] + - !!python/tuple [16, 12] + - !!python/tuple [11, 28] + - !!python/tuple [4, 26] + - !!python/tuple [24, 0] + - !!python/tuple [16, 2] + - !!python/tuple [21, 9] + - !!python/tuple [31, 3] + - !!python/tuple [10, 22] + - !!python/tuple [15, 28] + - !!python/tuple [13, 7] + - !!python/tuple [21, 0] + - !!python/tuple [3, 22] + - !!python/tuple [6, 22] + - !!python/tuple [2, 14] + - !!python/tuple [2, 2] + - !!python/tuple [0, 12] + - !!python/tuple [4, 17] + - !!python/tuple [13, 14] + - !!python/tuple [5, 10] + - !!python/tuple [11, 5] + - !!python/tuple [30, 2] + - !!python/tuple [17, 16] + - !!python/tuple [30, 3] + - !!python/tuple [6, 28] + - !!python/tuple [16, 20] + - !!python/tuple [14, 16] + - !!python/tuple [30, 30] + - !!python/tuple [11, 12] + - !!python/tuple [4, 19] + - !!python/tuple [19, 5] + - !!python/tuple [19, 14] + - !!python/tuple [30, 1] + - !!python/tuple [23, 0] + - !!python/tuple [7, 4] + - !!python/tuple [10, 31] + - !!python/tuple [17, 1] + - !!python/tuple [0, 16] + - !!python/tuple [1, 11] + - !!python/tuple [9, 4] + - !!python/tuple [30, 4] + - !!python/tuple [27, 31] + - !!python/tuple [1, 19] + - !!python/tuple [15, 18] + - !!python/tuple [17, 28] + - !!python/tuple [13, 23] + - !!python/tuple [2, 13] + - !!python/tuple [31, 9] + - !!python/tuple [12, 31] + - !!python/tuple [10, 19] + - !!python/tuple [28, 15] + - !!python/tuple [5, 26] + - !!python/tuple [15, 19] + - !!python/tuple [18, 9] + - !!python/tuple [16, 31] + - !!python/tuple [3, 8] + - !!python/tuple [14, 9] + - !!python/tuple [22, 12] + - !!python/tuple [12, 30] + - !!python/tuple [24, 12] + - !!python/tuple [11, 1] + - !!python/tuple [0, 6] + - !!python/tuple [4, 22] + - !!python/tuple [22, 24] + - !!python/tuple [2, 31] + - !!python/tuple [10, 11] + - !!python/tuple [4, 6] + - !!python/tuple [14, 5] + - !!python/tuple [14, 26] + - !!python/tuple [2, 9] + - !!python/tuple [21, 31] + - !!python/tuple [15, 27] + - !!python/tuple [31, 11] + - !!python/tuple [18, 0] + - !!python/tuple [23, 1] + - !!python/tuple [18, 2] + - !!python/tuple [20, 1] + - !!python/tuple [4, 8] + - !!python/tuple [23, 4] + - !!python/tuple [28, 26] + - !!python/tuple [19, 18] + - !!python/tuple [8, 10] + - !!python/tuple [4, 0] + - !!python/tuple [28, 0] + - !!python/tuple [24, 23] + - !!python/tuple [1, 31] + - !!python/tuple [28, 9] + - !!python/tuple [1, 10] + - !!python/tuple [8, 17] + - !!python/tuple [17, 6] + - !!python/tuple [12, 21] + - !!python/tuple [5, 27] + - !!python/tuple [16, 17] + - !!python/tuple [19, 17] + - !!python/tuple [18, 26] + - !!python/tuple [9, 27] + - !!python/tuple [17, 22] + - !!python/tuple [18, 7] + - !!python/tuple [29, 9] + - !!python/tuple [2, 23] + - !!python/tuple [5, 8] + - !!python/tuple [15, 8] + - !!python/tuple [29, 19] + - !!python/tuple [16, 23] + - !!python/tuple [0, 9] + - !!python/tuple [28, 28] + - !!python/tuple [8, 27] + - !!python/tuple [27, 27] + - !!python/tuple [5, 18] + - !!python/tuple [29, 8] + - !!python/tuple [15, 17] + - !!python/tuple [28, 3] + - !!python/tuple [27, 6] + - !!python/tuple [8, 24] + - !!python/tuple [13, 4] + - !!python/tuple [29, 25] + - !!python/tuple [23, 16] + - !!python/tuple [17, 0] + - !!python/tuple [8, 25] + - !!python/tuple [14, 21] + - !!python/tuple [25, 30] + - !!python/tuple [15, 26] + - !!python/tuple [25, 8] + - !!python/tuple [30, 14] + - !!python/tuple [16, 0] + - !!python/tuple [21, 14] + - !!python/tuple [19, 31] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex20.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex20.yaml new file mode 100644 index 0000000..56a8551 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex20.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [3, 15] + name: agent0 + start: [28, 18] +- goal: [21, 10] + name: agent1 + start: [19, 21] +- goal: [5, 26] + name: agent2 + start: [28, 12] +- goal: [7, 13] + name: agent3 + start: [8, 29] +- goal: [25, 26] + name: agent4 + start: [1, 20] +- goal: [29, 20] + name: agent5 + start: [13, 24] +- goal: [19, 11] + name: agent6 + start: [19, 27] +- goal: [18, 21] + name: agent7 + start: [30, 26] +- goal: [12, 22] + name: agent8 + start: [2, 27] +- goal: [14, 27] + name: agent9 + start: [17, 8] +- goal: [31, 27] + name: agent10 + start: [9, 29] +- goal: [21, 18] + name: agent11 + start: [25, 10] +- goal: [17, 4] + name: agent12 + start: [15, 12] +- goal: [17, 19] + name: agent13 + start: [18, 26] +- goal: [4, 5] + name: agent14 + start: [13, 16] +- goal: [14, 3] + name: agent15 + start: [21, 7] +- goal: [8, 19] + name: agent16 + start: [6, 20] +- goal: [2, 30] + name: agent17 + start: [21, 4] +- goal: [20, 22] + name: agent18 + start: [6, 1] +- goal: [26, 0] + name: agent19 + start: [14, 23] +- goal: [9, 4] + name: agent20 + start: [22, 10] +- goal: [14, 15] + name: agent21 + start: [18, 4] +- goal: [24, 7] + name: agent22 + start: [26, 13] +- goal: [28, 29] + name: agent23 + start: [23, 31] +- goal: [25, 23] + name: agent24 + start: [2, 9] +- goal: [16, 31] + name: agent25 + start: [19, 5] +- goal: [19, 29] + name: agent26 + start: [13, 29] +- goal: [27, 5] + name: agent27 + start: [19, 31] +- goal: [18, 6] + name: agent28 + start: [27, 13] +- goal: [15, 6] + name: agent29 + start: [4, 12] +- goal: [31, 0] + name: agent30 + start: [7, 27] +- goal: [4, 29] + name: agent31 + start: [13, 9] +- goal: [15, 9] + name: agent32 + start: [26, 10] +- goal: [23, 13] + name: agent33 + start: [16, 3] +- goal: [16, 0] + name: agent34 + start: [28, 14] +- goal: [10, 6] + name: agent35 + start: [17, 26] +- goal: [13, 26] + name: agent36 + start: [15, 6] +- goal: [27, 19] + name: agent37 + start: [17, 19] +- goal: [16, 11] + name: agent38 + start: [11, 11] +- goal: [0, 13] + name: agent39 + start: [27, 28] +- goal: [29, 5] + name: agent40 + start: [1, 28] +- goal: [19, 6] + name: agent41 + start: [31, 23] +- goal: [26, 25] + name: agent42 + start: [5, 1] +- goal: [29, 0] + name: agent43 + start: [28, 15] +- goal: [15, 26] + name: agent44 + start: [20, 0] +- goal: [9, 31] + name: agent45 + start: [8, 27] +- goal: [17, 2] + name: agent46 + start: [9, 30] +- goal: [0, 26] + name: agent47 + start: [2, 30] +- goal: [2, 0] + name: agent48 + start: [12, 28] +- goal: [29, 14] + name: agent49 + start: [1, 4] +- goal: [14, 0] + name: agent50 + start: [8, 6] +- goal: [28, 14] + name: agent51 + start: [18, 16] +- goal: [3, 19] + name: agent52 + start: [31, 29] +- goal: [25, 13] + name: agent53 + start: [19, 16] +- goal: [14, 4] + name: agent54 + start: [23, 3] +- goal: [25, 27] + name: agent55 + start: [9, 20] +- goal: [23, 25] + name: agent56 + start: [26, 2] +- goal: [12, 3] + name: agent57 + start: [4, 26] +- goal: [2, 5] + name: agent58 + start: [1, 0] +- goal: [31, 26] + name: agent59 + start: [20, 16] +- goal: [17, 26] + name: agent60 + start: [9, 16] +- goal: [11, 25] + name: agent61 + start: [30, 22] +- goal: [10, 3] + name: agent62 + start: [28, 1] +- goal: [2, 22] + name: agent63 + start: [1, 6] +- goal: [17, 28] + name: agent64 + start: [16, 0] +- goal: [11, 5] + name: agent65 + start: [12, 19] +- goal: [28, 3] + name: agent66 + start: [11, 0] +- goal: [6, 26] + name: agent67 + start: [15, 10] +- goal: [22, 16] + name: agent68 + start: [26, 15] +- goal: [28, 10] + name: agent69 + start: [27, 10] +- goal: [8, 14] + name: agent70 + start: [20, 9] +- goal: [13, 8] + name: agent71 + start: [22, 25] +- goal: [7, 24] + name: agent72 + start: [10, 15] +- goal: [16, 5] + name: agent73 + start: [4, 13] +- goal: [16, 13] + name: agent74 + start: [4, 11] +- goal: [14, 26] + name: agent75 + start: [1, 26] +- goal: [11, 9] + name: agent76 + start: [24, 0] +- goal: [25, 3] + name: agent77 + start: [23, 26] +- goal: [24, 9] + name: agent78 + start: [12, 29] +- goal: [16, 27] + name: agent79 + start: [0, 12] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [20, 20] + - !!python/tuple [3, 7] + - !!python/tuple [18, 31] + - !!python/tuple [10, 23] + - !!python/tuple [23, 10] + - !!python/tuple [3, 14] + - !!python/tuple [18, 0] + - !!python/tuple [8, 13] + - !!python/tuple [1, 14] + - !!python/tuple [4, 9] + - !!python/tuple [19, 4] + - !!python/tuple [13, 4] + - !!python/tuple [19, 1] + - !!python/tuple [30, 12] + - !!python/tuple [20, 18] + - !!python/tuple [5, 0] + - !!python/tuple [18, 29] + - !!python/tuple [22, 23] + - !!python/tuple [30, 5] + - !!python/tuple [2, 2] + - !!python/tuple [10, 7] + - !!python/tuple [6, 19] + - !!python/tuple [13, 30] + - !!python/tuple [13, 15] + - !!python/tuple [6, 23] + - !!python/tuple [10, 19] + - !!python/tuple [17, 20] + - !!python/tuple [3, 27] + - !!python/tuple [21, 21] + - !!python/tuple [17, 1] + - !!python/tuple [29, 21] + - !!python/tuple [10, 9] + - !!python/tuple [12, 15] + - !!python/tuple [31, 13] + - !!python/tuple [3, 2] + - !!python/tuple [26, 28] + - !!python/tuple [18, 14] + - !!python/tuple [9, 2] + - !!python/tuple [12, 2] + - !!python/tuple [25, 6] + - !!python/tuple [27, 21] + - !!python/tuple [10, 14] + - !!python/tuple [31, 24] + - !!python/tuple [14, 20] + - !!python/tuple [8, 17] + - !!python/tuple [12, 21] + - !!python/tuple [23, 12] + - !!python/tuple [19, 24] + - !!python/tuple [25, 28] + - !!python/tuple [29, 2] + - !!python/tuple [5, 23] + - !!python/tuple [20, 29] + - !!python/tuple [8, 21] + - !!python/tuple [3, 18] + - !!python/tuple [1, 15] + - !!python/tuple [28, 26] + - !!python/tuple [15, 14] + - !!python/tuple [3, 30] + - !!python/tuple [12, 6] + - !!python/tuple [6, 24] + - !!python/tuple [7, 17] + - !!python/tuple [0, 31] + - !!python/tuple [21, 25] + - !!python/tuple [21, 12] + - !!python/tuple [22, 29] + - !!python/tuple [24, 25] + - !!python/tuple [17, 11] + - !!python/tuple [21, 17] + - !!python/tuple [16, 25] + - !!python/tuple [24, 1] + - !!python/tuple [6, 27] + - !!python/tuple [10, 2] + - !!python/tuple [31, 6] + - !!python/tuple [17, 29] + - !!python/tuple [7, 18] + - !!python/tuple [2, 20] + - !!python/tuple [11, 14] + - !!python/tuple [21, 23] + - !!python/tuple [11, 28] + - !!python/tuple [21, 27] + - !!python/tuple [10, 12] + - !!python/tuple [1, 12] + - !!python/tuple [27, 1] + - !!python/tuple [29, 4] + - !!python/tuple [25, 17] + - !!python/tuple [5, 6] + - !!python/tuple [19, 25] + - !!python/tuple [20, 12] + - !!python/tuple [11, 7] + - !!python/tuple [22, 15] + - !!python/tuple [0, 11] + - !!python/tuple [15, 7] + - !!python/tuple [31, 18] + - !!python/tuple [6, 30] + - !!python/tuple [8, 2] + - !!python/tuple [1, 11] + - !!python/tuple [31, 16] + - !!python/tuple [29, 11] + - !!python/tuple [4, 24] + - !!python/tuple [4, 21] + - !!python/tuple [7, 30] + - !!python/tuple [23, 0] + - !!python/tuple [7, 1] + - !!python/tuple [9, 9] + - !!python/tuple [0, 1] + - !!python/tuple [19, 2] + - !!python/tuple [1, 24] + - !!python/tuple [25, 19] + - !!python/tuple [18, 24] + - !!python/tuple [12, 16] + - !!python/tuple [14, 6] + - !!python/tuple [3, 28] + - !!python/tuple [30, 14] + - !!python/tuple [22, 24] + - !!python/tuple [11, 29] + - !!python/tuple [23, 9] + - !!python/tuple [25, 25] + - !!python/tuple [26, 19] + - !!python/tuple [19, 7] + - !!python/tuple [14, 12] + - !!python/tuple [20, 5] + - !!python/tuple [0, 4] + - !!python/tuple [27, 23] + - !!python/tuple [0, 29] + - !!python/tuple [8, 28] + - !!python/tuple [19, 8] + - !!python/tuple [3, 3] + - !!python/tuple [7, 14] + - !!python/tuple [8, 4] + - !!python/tuple [27, 7] + - !!python/tuple [17, 13] + - !!python/tuple [11, 1] + - !!python/tuple [27, 6] + - !!python/tuple [22, 14] + - !!python/tuple [10, 31] + - !!python/tuple [9, 0] + - !!python/tuple [22, 21] + - !!python/tuple [30, 7] + - !!python/tuple [21, 14] + - !!python/tuple [30, 3] + - !!python/tuple [31, 30] + - !!python/tuple [10, 25] + - !!python/tuple [30, 9] + - !!python/tuple [16, 15] + - !!python/tuple [10, 29] + - !!python/tuple [3, 13] + - !!python/tuple [24, 2] + - !!python/tuple [1, 22] + - !!python/tuple [29, 23] + - !!python/tuple [15, 31] + - !!python/tuple [25, 1] + - !!python/tuple [3, 21] + - !!python/tuple [3, 25] + - !!python/tuple [0, 14] + - !!python/tuple [15, 13] + - !!python/tuple [9, 18] + - !!python/tuple [15, 28] + - !!python/tuple [9, 11] + - !!python/tuple [26, 26] + - !!python/tuple [31, 7] + - !!python/tuple [29, 7] + - !!python/tuple [21, 0] + - !!python/tuple [22, 19] + - !!python/tuple [8, 22] + - !!python/tuple [20, 30] + - !!python/tuple [26, 30] + - !!python/tuple [24, 21] + - !!python/tuple [26, 6] + - !!python/tuple [29, 29] + - !!python/tuple [3, 6] + - !!python/tuple [28, 19] + - !!python/tuple [4, 16] + - !!python/tuple [26, 16] + - !!python/tuple [9, 21] + - !!python/tuple [14, 7] + - !!python/tuple [14, 13] + - !!python/tuple [28, 2] + - !!python/tuple [0, 22] + - !!python/tuple [12, 20] + - !!python/tuple [29, 26] + - !!python/tuple [7, 5] + - !!python/tuple [8, 0] + - !!python/tuple [5, 8] + - !!python/tuple [4, 27] + - !!python/tuple [29, 15] + - !!python/tuple [29, 10] + - !!python/tuple [8, 24] + - !!python/tuple [7, 9] + - !!python/tuple [19, 28] + - !!python/tuple [5, 28] + - !!python/tuple [28, 7] + - !!python/tuple [18, 25] + - !!python/tuple [6, 5] + - !!python/tuple [4, 15] + - !!python/tuple [18, 7] + - !!python/tuple [15, 15] + - !!python/tuple [22, 18] + - !!python/tuple [17, 16] + - !!python/tuple [31, 10] + - !!python/tuple [2, 12] + - !!python/tuple [13, 22] + - !!python/tuple [2, 11] + - !!python/tuple [6, 9] + - !!python/tuple [14, 19] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex21.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex21.yaml new file mode 100644 index 0000000..dfd7b1e --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex21.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [16, 23] + name: agent0 + start: [28, 31] +- goal: [19, 18] + name: agent1 + start: [27, 27] +- goal: [27, 28] + name: agent2 + start: [23, 8] +- goal: [20, 29] + name: agent3 + start: [17, 12] +- goal: [31, 6] + name: agent4 + start: [23, 17] +- goal: [20, 10] + name: agent5 + start: [17, 15] +- goal: [26, 10] + name: agent6 + start: [24, 20] +- goal: [27, 31] + name: agent7 + start: [27, 24] +- goal: [8, 25] + name: agent8 + start: [22, 10] +- goal: [18, 31] + name: agent9 + start: [6, 21] +- goal: [31, 18] + name: agent10 + start: [15, 17] +- goal: [16, 4] + name: agent11 + start: [21, 23] +- goal: [4, 23] + name: agent12 + start: [8, 10] +- goal: [29, 26] + name: agent13 + start: [2, 27] +- goal: [9, 26] + name: agent14 + start: [7, 24] +- goal: [4, 25] + name: agent15 + start: [8, 7] +- goal: [31, 25] + name: agent16 + start: [4, 15] +- goal: [4, 16] + name: agent17 + start: [11, 21] +- goal: [17, 9] + name: agent18 + start: [6, 13] +- goal: [5, 9] + name: agent19 + start: [21, 9] +- goal: [27, 27] + name: agent20 + start: [21, 6] +- goal: [2, 4] + name: agent21 + start: [12, 27] +- goal: [8, 21] + name: agent22 + start: [29, 7] +- goal: [7, 13] + name: agent23 + start: [17, 23] +- goal: [20, 21] + name: agent24 + start: [3, 11] +- goal: [26, 0] + name: agent25 + start: [4, 0] +- goal: [24, 25] + name: agent26 + start: [9, 17] +- goal: [23, 1] + name: agent27 + start: [3, 15] +- goal: [11, 12] + name: agent28 + start: [10, 15] +- goal: [1, 23] + name: agent29 + start: [31, 22] +- goal: [11, 9] + name: agent30 + start: [7, 9] +- goal: [1, 17] + name: agent31 + start: [26, 1] +- goal: [23, 27] + name: agent32 + start: [14, 13] +- goal: [3, 16] + name: agent33 + start: [24, 8] +- goal: [13, 0] + name: agent34 + start: [11, 31] +- goal: [1, 13] + name: agent35 + start: [26, 17] +- goal: [1, 11] + name: agent36 + start: [6, 26] +- goal: [8, 18] + name: agent37 + start: [9, 0] +- goal: [7, 29] + name: agent38 + start: [31, 26] +- goal: [30, 0] + name: agent39 + start: [11, 22] +- goal: [14, 18] + name: agent40 + start: [1, 21] +- goal: [3, 23] + name: agent41 + start: [11, 16] +- goal: [30, 6] + name: agent42 + start: [25, 17] +- goal: [8, 8] + name: agent43 + start: [8, 12] +- goal: [5, 29] + name: agent44 + start: [17, 7] +- goal: [30, 28] + name: agent45 + start: [9, 24] +- goal: [4, 1] + name: agent46 + start: [31, 23] +- goal: [23, 24] + name: agent47 + start: [9, 29] +- goal: [14, 2] + name: agent48 + start: [2, 19] +- goal: [20, 24] + name: agent49 + start: [10, 19] +- goal: [6, 24] + name: agent50 + start: [12, 5] +- goal: [0, 22] + name: agent51 + start: [7, 17] +- goal: [6, 4] + name: agent52 + start: [15, 2] +- goal: [22, 31] + name: agent53 + start: [18, 21] +- goal: [25, 15] + name: agent54 + start: [0, 22] +- goal: [1, 0] + name: agent55 + start: [3, 6] +- goal: [18, 8] + name: agent56 + start: [15, 12] +- goal: [3, 22] + name: agent57 + start: [15, 29] +- goal: [13, 10] + name: agent58 + start: [13, 14] +- goal: [29, 14] + name: agent59 + start: [28, 25] +- goal: [25, 6] + name: agent60 + start: [28, 10] +- goal: [5, 23] + name: agent61 + start: [11, 2] +- goal: [22, 14] + name: agent62 + start: [18, 26] +- goal: [5, 18] + name: agent63 + start: [9, 7] +- goal: [4, 15] + name: agent64 + start: [5, 10] +- goal: [24, 22] + name: agent65 + start: [17, 18] +- goal: [26, 7] + name: agent66 + start: [26, 20] +- goal: [2, 10] + name: agent67 + start: [13, 12] +- goal: [2, 22] + name: agent68 + start: [7, 8] +- goal: [13, 21] + name: agent69 + start: [12, 23] +- goal: [13, 24] + name: agent70 + start: [11, 1] +- goal: [30, 31] + name: agent71 + start: [27, 2] +- goal: [5, 13] + name: agent72 + start: [16, 10] +- goal: [18, 16] + name: agent73 + start: [14, 28] +- goal: [17, 5] + name: agent74 + start: [15, 31] +- goal: [24, 31] + name: agent75 + start: [26, 31] +- goal: [5, 20] + name: agent76 + start: [23, 31] +- goal: [1, 8] + name: agent77 + start: [5, 30] +- goal: [28, 24] + name: agent78 + start: [3, 22] +- goal: [15, 11] + name: agent79 + start: [16, 25] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [25, 27] + - !!python/tuple [4, 28] + - !!python/tuple [23, 13] + - !!python/tuple [0, 20] + - !!python/tuple [13, 4] + - !!python/tuple [21, 15] + - !!python/tuple [22, 15] + - !!python/tuple [19, 16] + - !!python/tuple [28, 5] + - !!python/tuple [17, 29] + - !!python/tuple [21, 1] + - !!python/tuple [29, 28] + - !!python/tuple [5, 21] + - !!python/tuple [28, 21] + - !!python/tuple [2, 3] + - !!python/tuple [22, 16] + - !!python/tuple [5, 7] + - !!python/tuple [16, 28] + - !!python/tuple [30, 9] + - !!python/tuple [12, 29] + - !!python/tuple [9, 10] + - !!python/tuple [21, 26] + - !!python/tuple [8, 4] + - !!python/tuple [18, 7] + - !!python/tuple [4, 6] + - !!python/tuple [19, 9] + - !!python/tuple [11, 17] + - !!python/tuple [2, 21] + - !!python/tuple [10, 7] + - !!python/tuple [11, 24] + - !!python/tuple [17, 31] + - !!python/tuple [22, 27] + - !!python/tuple [15, 18] + - !!python/tuple [7, 19] + - !!python/tuple [4, 7] + - !!python/tuple [21, 4] + - !!python/tuple [22, 5] + - !!python/tuple [3, 30] + - !!python/tuple [26, 22] + - !!python/tuple [14, 1] + - !!python/tuple [19, 29] + - !!python/tuple [31, 17] + - !!python/tuple [3, 10] + - !!python/tuple [23, 25] + - !!python/tuple [9, 21] + - !!python/tuple [25, 0] + - !!python/tuple [5, 15] + - !!python/tuple [23, 2] + - !!python/tuple [1, 2] + - !!python/tuple [25, 18] + - !!python/tuple [18, 6] + - !!python/tuple [24, 2] + - !!python/tuple [11, 25] + - !!python/tuple [29, 5] + - !!python/tuple [27, 22] + - !!python/tuple [25, 13] + - !!python/tuple [31, 4] + - !!python/tuple [9, 4] + - !!python/tuple [12, 4] + - !!python/tuple [19, 28] + - !!python/tuple [30, 11] + - !!python/tuple [1, 30] + - !!python/tuple [3, 19] + - !!python/tuple [23, 6] + - !!python/tuple [28, 18] + - !!python/tuple [17, 28] + - !!python/tuple [27, 15] + - !!python/tuple [23, 20] + - !!python/tuple [24, 9] + - !!python/tuple [18, 24] + - !!python/tuple [19, 0] + - !!python/tuple [27, 12] + - !!python/tuple [20, 27] + - !!python/tuple [9, 2] + - !!python/tuple [12, 11] + - !!python/tuple [23, 0] + - !!python/tuple [15, 24] + - !!python/tuple [17, 10] + - !!python/tuple [15, 21] + - !!python/tuple [26, 29] + - !!python/tuple [26, 30] + - !!python/tuple [0, 31] + - !!python/tuple [3, 31] + - !!python/tuple [10, 5] + - !!python/tuple [25, 14] + - !!python/tuple [9, 22] + - !!python/tuple [21, 20] + - !!python/tuple [2, 5] + - !!python/tuple [19, 4] + - !!python/tuple [16, 7] + - !!python/tuple [9, 15] + - !!python/tuple [16, 5] + - !!python/tuple [22, 4] + - !!python/tuple [27, 3] + - !!python/tuple [30, 7] + - !!python/tuple [26, 21] + - !!python/tuple [31, 3] + - !!python/tuple [5, 4] + - !!python/tuple [19, 22] + - !!python/tuple [26, 9] + - !!python/tuple [29, 3] + - !!python/tuple [9, 28] + - !!python/tuple [16, 15] + - !!python/tuple [8, 0] + - !!python/tuple [29, 10] + - !!python/tuple [25, 21] + - !!python/tuple [18, 2] + - !!python/tuple [9, 25] + - !!python/tuple [0, 7] + - !!python/tuple [15, 13] + - !!python/tuple [21, 18] + - !!python/tuple [7, 22] + - !!python/tuple [4, 12] + - !!python/tuple [19, 8] + - !!python/tuple [31, 13] + - !!python/tuple [19, 5] + - !!python/tuple [13, 27] + - !!python/tuple [13, 22] + - !!python/tuple [30, 1] + - !!python/tuple [24, 28] + - !!python/tuple [10, 14] + - !!python/tuple [20, 30] + - !!python/tuple [17, 22] + - !!python/tuple [1, 10] + - !!python/tuple [19, 14] + - !!python/tuple [19, 2] + - !!python/tuple [7, 16] + - !!python/tuple [10, 12] + - !!python/tuple [2, 2] + - !!python/tuple [30, 25] + - !!python/tuple [16, 8] + - !!python/tuple [19, 13] + - !!python/tuple [19, 21] + - !!python/tuple [14, 26] + - !!python/tuple [0, 26] + - !!python/tuple [14, 11] + - !!python/tuple [1, 27] + - !!python/tuple [17, 4] + - !!python/tuple [27, 19] + - !!python/tuple [17, 27] + - !!python/tuple [8, 22] + - !!python/tuple [9, 19] + - !!python/tuple [6, 30] + - !!python/tuple [3, 14] + - !!python/tuple [8, 23] + - !!python/tuple [29, 15] + - !!python/tuple [23, 11] + - !!python/tuple [9, 18] + - !!python/tuple [16, 27] + - !!python/tuple [12, 6] + - !!python/tuple [4, 8] + - !!python/tuple [3, 4] + - !!python/tuple [23, 23] + - !!python/tuple [4, 17] + - !!python/tuple [22, 8] + - !!python/tuple [6, 7] + - !!python/tuple [9, 9] + - !!python/tuple [20, 23] + - !!python/tuple [16, 1] + - !!python/tuple [24, 12] + - !!python/tuple [24, 10] + - !!python/tuple [9, 1] + - !!python/tuple [11, 18] + - !!python/tuple [7, 20] + - !!python/tuple [6, 16] + - !!python/tuple [14, 0] + - !!python/tuple [14, 6] + - !!python/tuple [20, 13] + - !!python/tuple [25, 9] + - !!python/tuple [20, 9] + - !!python/tuple [5, 8] + - !!python/tuple [23, 12] + - !!python/tuple [7, 15] + - !!python/tuple [3, 29] + - !!python/tuple [19, 19] + - !!python/tuple [30, 8] + - !!python/tuple [16, 12] + - !!python/tuple [20, 7] + - !!python/tuple [1, 5] + - !!python/tuple [20, 15] + - !!python/tuple [4, 18] + - !!python/tuple [22, 26] + - !!python/tuple [24, 23] + - !!python/tuple [8, 14] + - !!python/tuple [22, 30] + - !!python/tuple [8, 26] + - !!python/tuple [1, 9] + - !!python/tuple [0, 24] + - !!python/tuple [31, 12] + - !!python/tuple [2, 23] + - !!python/tuple [6, 11] + - !!python/tuple [17, 20] + - !!python/tuple [31, 28] + - !!python/tuple [7, 5] + - !!python/tuple [20, 11] + - !!python/tuple [8, 29] + - !!python/tuple [2, 28] + - !!python/tuple [0, 12] + - !!python/tuple [15, 7] + - !!python/tuple [28, 27] + - !!python/tuple [17, 30] + - !!python/tuple [0, 21] + - !!python/tuple [16, 20] + - !!python/tuple [7, 6] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex22.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex22.yaml new file mode 100644 index 0000000..61a7350 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex22.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [27, 29] + name: agent0 + start: [10, 14] +- goal: [22, 30] + name: agent1 + start: [24, 7] +- goal: [31, 15] + name: agent2 + start: [13, 25] +- goal: [2, 24] + name: agent3 + start: [15, 20] +- goal: [10, 5] + name: agent4 + start: [8, 10] +- goal: [16, 14] + name: agent5 + start: [17, 24] +- goal: [9, 29] + name: agent6 + start: [11, 0] +- goal: [30, 16] + name: agent7 + start: [23, 17] +- goal: [19, 24] + name: agent8 + start: [23, 18] +- goal: [10, 1] + name: agent9 + start: [4, 16] +- goal: [19, 4] + name: agent10 + start: [7, 13] +- goal: [19, 17] + name: agent11 + start: [26, 14] +- goal: [20, 2] + name: agent12 + start: [12, 30] +- goal: [14, 9] + name: agent13 + start: [20, 15] +- goal: [21, 13] + name: agent14 + start: [10, 8] +- goal: [20, 18] + name: agent15 + start: [15, 9] +- goal: [25, 3] + name: agent16 + start: [10, 7] +- goal: [15, 25] + name: agent17 + start: [24, 9] +- goal: [26, 10] + name: agent18 + start: [27, 14] +- goal: [27, 5] + name: agent19 + start: [9, 28] +- goal: [23, 24] + name: agent20 + start: [29, 24] +- goal: [8, 8] + name: agent21 + start: [0, 15] +- goal: [2, 18] + name: agent22 + start: [14, 0] +- goal: [16, 4] + name: agent23 + start: [0, 10] +- goal: [28, 7] + name: agent24 + start: [13, 1] +- goal: [30, 20] + name: agent25 + start: [15, 31] +- goal: [17, 9] + name: agent26 + start: [28, 7] +- goal: [21, 31] + name: agent27 + start: [28, 17] +- goal: [15, 14] + name: agent28 + start: [2, 10] +- goal: [22, 28] + name: agent29 + start: [17, 10] +- goal: [14, 24] + name: agent30 + start: [31, 26] +- goal: [15, 4] + name: agent31 + start: [1, 28] +- goal: [9, 27] + name: agent32 + start: [29, 17] +- goal: [4, 0] + name: agent33 + start: [30, 26] +- goal: [16, 25] + name: agent34 + start: [25, 3] +- goal: [7, 30] + name: agent35 + start: [16, 24] +- goal: [23, 10] + name: agent36 + start: [14, 3] +- goal: [19, 9] + name: agent37 + start: [7, 7] +- goal: [7, 18] + name: agent38 + start: [22, 12] +- goal: [25, 29] + name: agent39 + start: [27, 12] +- goal: [15, 10] + name: agent40 + start: [6, 5] +- goal: [30, 17] + name: agent41 + start: [1, 22] +- goal: [14, 16] + name: agent42 + start: [22, 31] +- goal: [3, 21] + name: agent43 + start: [3, 17] +- goal: [9, 30] + name: agent44 + start: [3, 7] +- goal: [31, 8] + name: agent45 + start: [2, 3] +- goal: [9, 25] + name: agent46 + start: [4, 5] +- goal: [31, 23] + name: agent47 + start: [2, 25] +- goal: [11, 27] + name: agent48 + start: [17, 3] +- goal: [16, 17] + name: agent49 + start: [15, 10] +- goal: [19, 6] + name: agent50 + start: [27, 23] +- goal: [13, 21] + name: agent51 + start: [5, 1] +- goal: [27, 18] + name: agent52 + start: [7, 6] +- goal: [30, 0] + name: agent53 + start: [13, 11] +- goal: [31, 26] + name: agent54 + start: [4, 20] +- goal: [13, 18] + name: agent55 + start: [15, 15] +- goal: [11, 29] + name: agent56 + start: [15, 12] +- goal: [11, 24] + name: agent57 + start: [17, 25] +- goal: [24, 3] + name: agent58 + start: [22, 29] +- goal: [5, 21] + name: agent59 + start: [0, 8] +- goal: [4, 16] + name: agent60 + start: [1, 10] +- goal: [11, 26] + name: agent61 + start: [13, 20] +- goal: [2, 27] + name: agent62 + start: [16, 8] +- goal: [2, 1] + name: agent63 + start: [2, 16] +- goal: [29, 21] + name: agent64 + start: [8, 4] +- goal: [31, 21] + name: agent65 + start: [9, 21] +- goal: [18, 12] + name: agent66 + start: [9, 0] +- goal: [29, 6] + name: agent67 + start: [22, 24] +- goal: [4, 20] + name: agent68 + start: [28, 9] +- goal: [15, 27] + name: agent69 + start: [17, 31] +- goal: [10, 31] + name: agent70 + start: [7, 5] +- goal: [20, 12] + name: agent71 + start: [16, 14] +- goal: [29, 15] + name: agent72 + start: [18, 3] +- goal: [4, 29] + name: agent73 + start: [15, 14] +- goal: [23, 26] + name: agent74 + start: [21, 31] +- goal: [30, 6] + name: agent75 + start: [2, 5] +- goal: [0, 27] + name: agent76 + start: [5, 4] +- goal: [31, 5] + name: agent77 + start: [23, 15] +- goal: [18, 4] + name: agent78 + start: [7, 17] +- goal: [2, 12] + name: agent79 + start: [10, 25] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [28, 4] + - !!python/tuple [17, 27] + - !!python/tuple [21, 29] + - !!python/tuple [31, 6] + - !!python/tuple [16, 20] + - !!python/tuple [23, 14] + - !!python/tuple [23, 1] + - !!python/tuple [5, 2] + - !!python/tuple [19, 29] + - !!python/tuple [5, 9] + - !!python/tuple [1, 23] + - !!python/tuple [13, 29] + - !!python/tuple [8, 9] + - !!python/tuple [1, 7] + - !!python/tuple [1, 3] + - !!python/tuple [28, 5] + - !!python/tuple [23, 23] + - !!python/tuple [0, 23] + - !!python/tuple [30, 28] + - !!python/tuple [21, 26] + - !!python/tuple [24, 6] + - !!python/tuple [16, 26] + - !!python/tuple [3, 24] + - !!python/tuple [4, 19] + - !!python/tuple [14, 28] + - !!python/tuple [5, 22] + - !!python/tuple [16, 22] + - !!python/tuple [23, 6] + - !!python/tuple [29, 1] + - !!python/tuple [0, 22] + - !!python/tuple [16, 1] + - !!python/tuple [17, 6] + - !!python/tuple [20, 3] + - !!python/tuple [8, 7] + - !!python/tuple [18, 28] + - !!python/tuple [9, 6] + - !!python/tuple [20, 11] + - !!python/tuple [21, 18] + - !!python/tuple [1, 0] + - !!python/tuple [11, 19] + - !!python/tuple [0, 12] + - !!python/tuple [1, 1] + - !!python/tuple [30, 1] + - !!python/tuple [5, 8] + - !!python/tuple [15, 7] + - !!python/tuple [26, 24] + - !!python/tuple [8, 0] + - !!python/tuple [24, 16] + - !!python/tuple [2, 17] + - !!python/tuple [5, 29] + - !!python/tuple [18, 24] + - !!python/tuple [12, 20] + - !!python/tuple [4, 18] + - !!python/tuple [23, 7] + - !!python/tuple [25, 27] + - !!python/tuple [20, 17] + - !!python/tuple [2, 20] + - !!python/tuple [0, 29] + - !!python/tuple [23, 22] + - !!python/tuple [30, 5] + - !!python/tuple [12, 23] + - !!python/tuple [1, 31] + - !!python/tuple [0, 5] + - !!python/tuple [11, 15] + - !!python/tuple [3, 18] + - !!python/tuple [31, 10] + - !!python/tuple [6, 14] + - !!python/tuple [29, 10] + - !!python/tuple [6, 21] + - !!python/tuple [29, 7] + - !!python/tuple [20, 16] + - !!python/tuple [3, 20] + - !!python/tuple [29, 19] + - !!python/tuple [16, 31] + - !!python/tuple [0, 31] + - !!python/tuple [24, 20] + - !!python/tuple [17, 16] + - !!python/tuple [2, 4] + - !!python/tuple [8, 5] + - !!python/tuple [9, 1] + - !!python/tuple [27, 17] + - !!python/tuple [1, 30] + - !!python/tuple [10, 27] + - !!python/tuple [7, 10] + - !!python/tuple [6, 19] + - !!python/tuple [8, 16] + - !!python/tuple [29, 20] + - !!python/tuple [25, 31] + - !!python/tuple [27, 19] + - !!python/tuple [18, 21] + - !!python/tuple [22, 13] + - !!python/tuple [23, 13] + - !!python/tuple [5, 25] + - !!python/tuple [27, 22] + - !!python/tuple [19, 19] + - !!python/tuple [0, 1] + - !!python/tuple [6, 0] + - !!python/tuple [0, 25] + - !!python/tuple [3, 15] + - !!python/tuple [25, 30] + - !!python/tuple [10, 28] + - !!python/tuple [20, 10] + - !!python/tuple [17, 19] + - !!python/tuple [12, 12] + - !!python/tuple [10, 6] + - !!python/tuple [7, 25] + - !!python/tuple [15, 8] + - !!python/tuple [21, 3] + - !!python/tuple [0, 0] + - !!python/tuple [23, 0] + - !!python/tuple [1, 20] + - !!python/tuple [10, 21] + - !!python/tuple [8, 24] + - !!python/tuple [5, 14] + - !!python/tuple [18, 7] + - !!python/tuple [9, 5] + - !!python/tuple [1, 25] + - !!python/tuple [17, 17] + - !!python/tuple [12, 17] + - !!python/tuple [1, 29] + - !!python/tuple [27, 21] + - !!python/tuple [21, 30] + - !!python/tuple [10, 15] + - !!python/tuple [17, 28] + - !!python/tuple [18, 17] + - !!python/tuple [12, 29] + - !!python/tuple [18, 13] + - !!python/tuple [13, 4] + - !!python/tuple [16, 2] + - !!python/tuple [16, 19] + - !!python/tuple [23, 30] + - !!python/tuple [18, 1] + - !!python/tuple [4, 23] + - !!python/tuple [17, 0] + - !!python/tuple [29, 9] + - !!python/tuple [12, 10] + - !!python/tuple [21, 21] + - !!python/tuple [29, 23] + - !!python/tuple [7, 26] + - !!python/tuple [6, 4] + - !!python/tuple [12, 25] + - !!python/tuple [21, 17] + - !!python/tuple [26, 1] + - !!python/tuple [16, 3] + - !!python/tuple [24, 11] + - !!python/tuple [5, 11] + - !!python/tuple [19, 30] + - !!python/tuple [1, 5] + - !!python/tuple [25, 9] + - !!python/tuple [13, 6] + - !!python/tuple [1, 19] + - !!python/tuple [7, 24] + - !!python/tuple [23, 28] + - !!python/tuple [29, 28] + - !!python/tuple [6, 10] + - !!python/tuple [2, 19] + - !!python/tuple [11, 13] + - !!python/tuple [22, 26] + - !!python/tuple [20, 31] + - !!python/tuple [8, 3] + - !!python/tuple [6, 15] + - !!python/tuple [22, 5] + - !!python/tuple [17, 1] + - !!python/tuple [16, 13] + - !!python/tuple [26, 20] + - !!python/tuple [27, 3] + - !!python/tuple [28, 3] + - !!python/tuple [15, 23] + - !!python/tuple [15, 2] + - !!python/tuple [15, 29] + - !!python/tuple [24, 28] + - !!python/tuple [5, 13] + - !!python/tuple [3, 22] + - !!python/tuple [17, 30] + - !!python/tuple [4, 10] + - !!python/tuple [14, 21] + - !!python/tuple [10, 9] + - !!python/tuple [9, 8] + - !!python/tuple [19, 18] + - !!python/tuple [25, 7] + - !!python/tuple [2, 30] + - !!python/tuple [19, 15] + - !!python/tuple [4, 21] + - !!python/tuple [14, 30] + - !!python/tuple [15, 19] + - !!python/tuple [18, 25] + - !!python/tuple [20, 25] + - !!python/tuple [27, 31] + - !!python/tuple [26, 30] + - !!python/tuple [3, 0] + - !!python/tuple [24, 19] + - !!python/tuple [26, 5] + - !!python/tuple [15, 30] + - !!python/tuple [30, 7] + - !!python/tuple [10, 2] + - !!python/tuple [25, 24] + - !!python/tuple [15, 6] + - !!python/tuple [20, 13] + - !!python/tuple [27, 27] + - !!python/tuple [6, 26] + - !!python/tuple [7, 20] + - !!python/tuple [22, 2] + - !!python/tuple [24, 17] + - !!python/tuple [14, 4] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex23.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex23.yaml new file mode 100644 index 0000000..c6afb44 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex23.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [30, 5] + name: agent0 + start: [30, 13] +- goal: [11, 25] + name: agent1 + start: [10, 22] +- goal: [29, 20] + name: agent2 + start: [4, 16] +- goal: [10, 1] + name: agent3 + start: [5, 8] +- goal: [24, 5] + name: agent4 + start: [6, 4] +- goal: [20, 2] + name: agent5 + start: [8, 22] +- goal: [24, 12] + name: agent6 + start: [17, 29] +- goal: [3, 25] + name: agent7 + start: [22, 10] +- goal: [7, 28] + name: agent8 + start: [25, 10] +- goal: [10, 18] + name: agent9 + start: [29, 11] +- goal: [17, 3] + name: agent10 + start: [13, 29] +- goal: [16, 16] + name: agent11 + start: [10, 20] +- goal: [4, 18] + name: agent12 + start: [3, 11] +- goal: [17, 27] + name: agent13 + start: [0, 5] +- goal: [18, 5] + name: agent14 + start: [0, 2] +- goal: [10, 2] + name: agent15 + start: [6, 7] +- goal: [9, 0] + name: agent16 + start: [3, 8] +- goal: [6, 29] + name: agent17 + start: [5, 12] +- goal: [23, 11] + name: agent18 + start: [21, 18] +- goal: [3, 28] + name: agent19 + start: [18, 27] +- goal: [10, 25] + name: agent20 + start: [16, 5] +- goal: [25, 22] + name: agent21 + start: [24, 11] +- goal: [3, 11] + name: agent22 + start: [22, 26] +- goal: [9, 14] + name: agent23 + start: [0, 17] +- goal: [19, 24] + name: agent24 + start: [27, 29] +- goal: [13, 25] + name: agent25 + start: [10, 31] +- goal: [17, 11] + name: agent26 + start: [19, 5] +- goal: [12, 11] + name: agent27 + start: [20, 4] +- goal: [14, 13] + name: agent28 + start: [24, 25] +- goal: [15, 30] + name: agent29 + start: [27, 5] +- goal: [1, 7] + name: agent30 + start: [31, 21] +- goal: [2, 23] + name: agent31 + start: [28, 27] +- goal: [15, 13] + name: agent32 + start: [14, 6] +- goal: [10, 12] + name: agent33 + start: [10, 24] +- goal: [28, 12] + name: agent34 + start: [27, 26] +- goal: [23, 17] + name: agent35 + start: [21, 25] +- goal: [5, 27] + name: agent36 + start: [17, 15] +- goal: [14, 2] + name: agent37 + start: [2, 14] +- goal: [25, 12] + name: agent38 + start: [4, 8] +- goal: [28, 26] + name: agent39 + start: [0, 26] +- goal: [27, 12] + name: agent40 + start: [6, 11] +- goal: [25, 31] + name: agent41 + start: [12, 21] +- goal: [1, 20] + name: agent42 + start: [16, 11] +- goal: [17, 29] + name: agent43 + start: [26, 25] +- goal: [1, 0] + name: agent44 + start: [0, 14] +- goal: [7, 25] + name: agent45 + start: [5, 5] +- goal: [6, 4] + name: agent46 + start: [27, 3] +- goal: [28, 4] + name: agent47 + start: [31, 16] +- goal: [1, 2] + name: agent48 + start: [9, 1] +- goal: [27, 17] + name: agent49 + start: [23, 28] +- goal: [17, 2] + name: agent50 + start: [15, 15] +- goal: [15, 25] + name: agent51 + start: [22, 18] +- goal: [13, 4] + name: agent52 + start: [12, 5] +- goal: [3, 8] + name: agent53 + start: [14, 19] +- goal: [4, 19] + name: agent54 + start: [25, 16] +- goal: [31, 14] + name: agent55 + start: [23, 6] +- goal: [6, 8] + name: agent56 + start: [16, 16] +- goal: [8, 7] + name: agent57 + start: [5, 7] +- goal: [20, 3] + name: agent58 + start: [11, 22] +- goal: [14, 10] + name: agent59 + start: [14, 15] +- goal: [23, 13] + name: agent60 + start: [22, 0] +- goal: [10, 26] + name: agent61 + start: [31, 13] +- goal: [30, 29] + name: agent62 + start: [17, 7] +- goal: [18, 0] + name: agent63 + start: [28, 19] +- goal: [13, 12] + name: agent64 + start: [1, 6] +- goal: [15, 1] + name: agent65 + start: [11, 13] +- goal: [27, 6] + name: agent66 + start: [26, 6] +- goal: [19, 25] + name: agent67 + start: [18, 16] +- goal: [16, 14] + name: agent68 + start: [25, 3] +- goal: [22, 9] + name: agent69 + start: [3, 12] +- goal: [6, 23] + name: agent70 + start: [11, 0] +- goal: [5, 7] + name: agent71 + start: [3, 18] +- goal: [29, 19] + name: agent72 + start: [10, 27] +- goal: [27, 14] + name: agent73 + start: [6, 13] +- goal: [12, 24] + name: agent74 + start: [28, 23] +- goal: [25, 15] + name: agent75 + start: [25, 22] +- goal: [18, 2] + name: agent76 + start: [30, 0] +- goal: [1, 30] + name: agent77 + start: [9, 19] +- goal: [22, 0] + name: agent78 + start: [16, 22] +- goal: [4, 30] + name: agent79 + start: [4, 29] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [4, 15] + - !!python/tuple [30, 25] + - !!python/tuple [2, 27] + - !!python/tuple [17, 5] + - !!python/tuple [27, 15] + - !!python/tuple [29, 8] + - !!python/tuple [14, 30] + - !!python/tuple [12, 27] + - !!python/tuple [25, 20] + - !!python/tuple [20, 29] + - !!python/tuple [28, 6] + - !!python/tuple [20, 23] + - !!python/tuple [4, 14] + - !!python/tuple [8, 14] + - !!python/tuple [9, 8] + - !!python/tuple [25, 4] + - !!python/tuple [20, 31] + - !!python/tuple [15, 9] + - !!python/tuple [30, 30] + - !!python/tuple [20, 18] + - !!python/tuple [26, 4] + - !!python/tuple [30, 8] + - !!python/tuple [30, 16] + - !!python/tuple [0, 7] + - !!python/tuple [4, 31] + - !!python/tuple [10, 28] + - !!python/tuple [11, 17] + - !!python/tuple [1, 14] + - !!python/tuple [31, 31] + - !!python/tuple [4, 23] + - !!python/tuple [22, 21] + - !!python/tuple [7, 5] + - !!python/tuple [26, 22] + - !!python/tuple [31, 22] + - !!python/tuple [28, 2] + - !!python/tuple [1, 5] + - !!python/tuple [13, 5] + - !!python/tuple [12, 12] + - !!python/tuple [27, 24] + - !!python/tuple [10, 9] + - !!python/tuple [9, 31] + - !!python/tuple [22, 7] + - !!python/tuple [13, 20] + - !!python/tuple [29, 1] + - !!python/tuple [1, 17] + - !!python/tuple [12, 6] + - !!python/tuple [9, 3] + - !!python/tuple [1, 28] + - !!python/tuple [18, 20] + - !!python/tuple [30, 3] + - !!python/tuple [11, 16] + - !!python/tuple [31, 3] + - !!python/tuple [29, 5] + - !!python/tuple [19, 20] + - !!python/tuple [19, 7] + - !!python/tuple [20, 10] + - !!python/tuple [18, 29] + - !!python/tuple [4, 13] + - !!python/tuple [14, 22] + - !!python/tuple [7, 23] + - !!python/tuple [2, 1] + - !!python/tuple [29, 22] + - !!python/tuple [23, 15] + - !!python/tuple [20, 14] + - !!python/tuple [25, 6] + - !!python/tuple [26, 20] + - !!python/tuple [30, 24] + - !!python/tuple [22, 24] + - !!python/tuple [17, 19] + - !!python/tuple [25, 30] + - !!python/tuple [23, 5] + - !!python/tuple [19, 10] + - !!python/tuple [17, 16] + - !!python/tuple [17, 14] + - !!python/tuple [12, 26] + - !!python/tuple [5, 22] + - !!python/tuple [1, 12] + - !!python/tuple [11, 31] + - !!python/tuple [28, 22] + - !!python/tuple [18, 28] + - !!python/tuple [20, 15] + - !!python/tuple [19, 29] + - !!python/tuple [12, 25] + - !!python/tuple [25, 26] + - !!python/tuple [8, 12] + - !!python/tuple [31, 27] + - !!python/tuple [5, 23] + - !!python/tuple [26, 28] + - !!python/tuple [24, 1] + - !!python/tuple [13, 2] + - !!python/tuple [11, 6] + - !!python/tuple [3, 15] + - !!python/tuple [28, 25] + - !!python/tuple [8, 29] + - !!python/tuple [22, 4] + - !!python/tuple [20, 19] + - !!python/tuple [20, 21] + - !!python/tuple [11, 11] + - !!python/tuple [26, 1] + - !!python/tuple [11, 28] + - !!python/tuple [12, 19] + - !!python/tuple [1, 29] + - !!python/tuple [31, 10] + - !!python/tuple [12, 22] + - !!python/tuple [17, 6] + - !!python/tuple [8, 20] + - !!python/tuple [8, 18] + - !!python/tuple [5, 26] + - !!python/tuple [25, 7] + - !!python/tuple [7, 30] + - !!python/tuple [19, 4] + - !!python/tuple [23, 18] + - !!python/tuple [26, 13] + - !!python/tuple [7, 13] + - !!python/tuple [9, 28] + - !!python/tuple [24, 26] + - !!python/tuple [16, 23] + - !!python/tuple [7, 18] + - !!python/tuple [10, 15] + - !!python/tuple [16, 20] + - !!python/tuple [9, 21] + - !!python/tuple [6, 6] + - !!python/tuple [21, 12] + - !!python/tuple [31, 25] + - !!python/tuple [20, 30] + - !!python/tuple [17, 17] + - !!python/tuple [7, 15] + - !!python/tuple [24, 0] + - !!python/tuple [6, 16] + - !!python/tuple [19, 21] + - !!python/tuple [0, 15] + - !!python/tuple [24, 17] + - !!python/tuple [17, 13] + - !!python/tuple [13, 28] + - !!python/tuple [8, 28] + - !!python/tuple [3, 7] + - !!python/tuple [29, 3] + - !!python/tuple [24, 8] + - !!python/tuple [21, 9] + - !!python/tuple [22, 19] + - !!python/tuple [8, 13] + - !!python/tuple [21, 15] + - !!python/tuple [22, 25] + - !!python/tuple [0, 23] + - !!python/tuple [11, 21] + - !!python/tuple [21, 0] + - !!python/tuple [29, 13] + - !!python/tuple [29, 23] + - !!python/tuple [20, 9] + - !!python/tuple [21, 5] + - !!python/tuple [20, 20] + - !!python/tuple [6, 31] + - !!python/tuple [14, 16] + - !!python/tuple [10, 4] + - !!python/tuple [12, 14] + - !!python/tuple [22, 6] + - !!python/tuple [0, 4] + - !!python/tuple [18, 9] + - !!python/tuple [12, 1] + - !!python/tuple [4, 1] + - !!python/tuple [22, 20] + - !!python/tuple [13, 18] + - !!python/tuple [26, 7] + - !!python/tuple [16, 31] + - !!python/tuple [2, 8] + - !!python/tuple [25, 11] + - !!python/tuple [3, 5] + - !!python/tuple [15, 3] + - !!python/tuple [23, 8] + - !!python/tuple [12, 23] + - !!python/tuple [2, 5] + - !!python/tuple [4, 3] + - !!python/tuple [12, 0] + - !!python/tuple [18, 4] + - !!python/tuple [30, 10] + - !!python/tuple [3, 24] + - !!python/tuple [13, 0] + - !!python/tuple [26, 10] + - !!python/tuple [11, 30] + - !!python/tuple [4, 10] + - !!python/tuple [11, 23] + - !!python/tuple [28, 28] + - !!python/tuple [14, 24] + - !!python/tuple [0, 3] + - !!python/tuple [15, 5] + - !!python/tuple [8, 16] + - !!python/tuple [25, 27] + - !!python/tuple [6, 19] + - !!python/tuple [16, 29] + - !!python/tuple [17, 21] + - !!python/tuple [25, 21] + - !!python/tuple [6, 15] + - !!python/tuple [2, 16] + - !!python/tuple [0, 16] + - !!python/tuple [9, 22] + - !!python/tuple [25, 19] + - !!python/tuple [27, 31] + - !!python/tuple [2, 4] + - !!python/tuple [23, 24] + - !!python/tuple [19, 3] + - !!python/tuple [0, 9] + - !!python/tuple [4, 27] + - !!python/tuple [19, 27] + - !!python/tuple [7, 9] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex24.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex24.yaml new file mode 100644 index 0000000..bb75f0c --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex24.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [7, 26] + name: agent0 + start: [14, 14] +- goal: [4, 9] + name: agent1 + start: [24, 9] +- goal: [22, 14] + name: agent2 + start: [6, 3] +- goal: [19, 10] + name: agent3 + start: [31, 25] +- goal: [10, 18] + name: agent4 + start: [18, 2] +- goal: [2, 5] + name: agent5 + start: [8, 25] +- goal: [21, 12] + name: agent6 + start: [28, 26] +- goal: [25, 15] + name: agent7 + start: [27, 10] +- goal: [19, 28] + name: agent8 + start: [27, 27] +- goal: [10, 6] + name: agent9 + start: [12, 7] +- goal: [19, 7] + name: agent10 + start: [9, 18] +- goal: [28, 31] + name: agent11 + start: [11, 4] +- goal: [24, 31] + name: agent12 + start: [26, 5] +- goal: [28, 30] + name: agent13 + start: [2, 30] +- goal: [24, 9] + name: agent14 + start: [15, 14] +- goal: [8, 25] + name: agent15 + start: [19, 16] +- goal: [14, 17] + name: agent16 + start: [1, 17] +- goal: [18, 30] + name: agent17 + start: [1, 28] +- goal: [3, 22] + name: agent18 + start: [28, 23] +- goal: [24, 5] + name: agent19 + start: [30, 16] +- goal: [4, 1] + name: agent20 + start: [24, 14] +- goal: [1, 15] + name: agent21 + start: [24, 30] +- goal: [22, 25] + name: agent22 + start: [0, 14] +- goal: [6, 1] + name: agent23 + start: [22, 19] +- goal: [21, 14] + name: agent24 + start: [11, 0] +- goal: [15, 9] + name: agent25 + start: [20, 27] +- goal: [23, 28] + name: agent26 + start: [0, 31] +- goal: [3, 21] + name: agent27 + start: [12, 28] +- goal: [0, 13] + name: agent28 + start: [29, 14] +- goal: [19, 29] + name: agent29 + start: [3, 15] +- goal: [19, 31] + name: agent30 + start: [0, 13] +- goal: [8, 13] + name: agent31 + start: [30, 14] +- goal: [31, 12] + name: agent32 + start: [12, 9] +- goal: [4, 23] + name: agent33 + start: [3, 2] +- goal: [9, 4] + name: agent34 + start: [17, 6] +- goal: [16, 27] + name: agent35 + start: [3, 26] +- goal: [22, 6] + name: agent36 + start: [11, 11] +- goal: [24, 13] + name: agent37 + start: [1, 13] +- goal: [27, 31] + name: agent38 + start: [2, 27] +- goal: [11, 25] + name: agent39 + start: [22, 26] +- goal: [10, 1] + name: agent40 + start: [24, 16] +- goal: [19, 23] + name: agent41 + start: [12, 20] +- goal: [4, 29] + name: agent42 + start: [5, 14] +- goal: [23, 24] + name: agent43 + start: [17, 11] +- goal: [1, 22] + name: agent44 + start: [21, 21] +- goal: [1, 27] + name: agent45 + start: [1, 31] +- goal: [6, 4] + name: agent46 + start: [16, 29] +- goal: [3, 31] + name: agent47 + start: [31, 24] +- goal: [22, 1] + name: agent48 + start: [3, 5] +- goal: [4, 20] + name: agent49 + start: [11, 5] +- goal: [18, 17] + name: agent50 + start: [19, 11] +- goal: [15, 17] + name: agent51 + start: [28, 27] +- goal: [28, 15] + name: agent52 + start: [25, 11] +- goal: [0, 11] + name: agent53 + start: [26, 7] +- goal: [15, 19] + name: agent54 + start: [15, 9] +- goal: [14, 5] + name: agent55 + start: [3, 24] +- goal: [3, 5] + name: agent56 + start: [4, 6] +- goal: [19, 24] + name: agent57 + start: [28, 12] +- goal: [14, 27] + name: agent58 + start: [26, 1] +- goal: [0, 7] + name: agent59 + start: [5, 19] +- goal: [12, 29] + name: agent60 + start: [11, 26] +- goal: [4, 4] + name: agent61 + start: [21, 14] +- goal: [0, 16] + name: agent62 + start: [7, 17] +- goal: [29, 15] + name: agent63 + start: [15, 2] +- goal: [23, 12] + name: agent64 + start: [1, 4] +- goal: [4, 21] + name: agent65 + start: [25, 22] +- goal: [16, 31] + name: agent66 + start: [29, 29] +- goal: [6, 0] + name: agent67 + start: [25, 13] +- goal: [11, 20] + name: agent68 + start: [12, 0] +- goal: [17, 18] + name: agent69 + start: [24, 8] +- goal: [2, 29] + name: agent70 + start: [8, 5] +- goal: [23, 20] + name: agent71 + start: [19, 10] +- goal: [9, 8] + name: agent72 + start: [31, 18] +- goal: [9, 12] + name: agent73 + start: [5, 8] +- goal: [31, 1] + name: agent74 + start: [27, 2] +- goal: [23, 26] + name: agent75 + start: [1, 16] +- goal: [22, 19] + name: agent76 + start: [13, 27] +- goal: [10, 31] + name: agent77 + start: [2, 15] +- goal: [1, 12] + name: agent78 + start: [14, 5] +- goal: [30, 5] + name: agent79 + start: [0, 16] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [6, 27] + - !!python/tuple [2, 6] + - !!python/tuple [25, 27] + - !!python/tuple [22, 27] + - !!python/tuple [19, 22] + - !!python/tuple [13, 17] + - !!python/tuple [31, 19] + - !!python/tuple [31, 10] + - !!python/tuple [23, 4] + - !!python/tuple [12, 10] + - !!python/tuple [9, 28] + - !!python/tuple [26, 26] + - !!python/tuple [28, 9] + - !!python/tuple [5, 5] + - !!python/tuple [4, 24] + - !!python/tuple [25, 23] + - !!python/tuple [29, 31] + - !!python/tuple [12, 19] + - !!python/tuple [17, 21] + - !!python/tuple [3, 3] + - !!python/tuple [23, 1] + - !!python/tuple [17, 25] + - !!python/tuple [29, 4] + - !!python/tuple [15, 6] + - !!python/tuple [26, 4] + - !!python/tuple [0, 28] + - !!python/tuple [4, 14] + - !!python/tuple [25, 24] + - !!python/tuple [29, 25] + - !!python/tuple [9, 13] + - !!python/tuple [8, 1] + - !!python/tuple [8, 20] + - !!python/tuple [12, 1] + - !!python/tuple [29, 2] + - !!python/tuple [19, 5] + - !!python/tuple [2, 22] + - !!python/tuple [7, 21] + - !!python/tuple [25, 10] + - !!python/tuple [9, 16] + - !!python/tuple [24, 26] + - !!python/tuple [22, 17] + - !!python/tuple [6, 30] + - !!python/tuple [8, 7] + - !!python/tuple [15, 24] + - !!python/tuple [31, 31] + - !!python/tuple [9, 5] + - !!python/tuple [26, 2] + - !!python/tuple [9, 20] + - !!python/tuple [16, 22] + - !!python/tuple [17, 3] + - !!python/tuple [27, 9] + - !!python/tuple [12, 26] + - !!python/tuple [18, 6] + - !!python/tuple [13, 28] + - !!python/tuple [22, 8] + - !!python/tuple [24, 20] + - !!python/tuple [27, 15] + - !!python/tuple [28, 25] + - !!python/tuple [28, 11] + - !!python/tuple [0, 27] + - !!python/tuple [2, 1] + - !!python/tuple [13, 22] + - !!python/tuple [22, 20] + - !!python/tuple [5, 13] + - !!python/tuple [4, 2] + - !!python/tuple [27, 18] + - !!python/tuple [9, 24] + - !!python/tuple [24, 6] + - !!python/tuple [28, 8] + - !!python/tuple [17, 31] + - !!python/tuple [29, 7] + - !!python/tuple [0, 21] + - !!python/tuple [29, 9] + - !!python/tuple [25, 29] + - !!python/tuple [24, 21] + - !!python/tuple [21, 20] + - !!python/tuple [17, 0] + - !!python/tuple [16, 18] + - !!python/tuple [20, 9] + - !!python/tuple [25, 17] + - !!python/tuple [14, 15] + - !!python/tuple [26, 31] + - !!python/tuple [8, 19] + - !!python/tuple [2, 13] + - !!python/tuple [6, 29] + - !!python/tuple [4, 8] + - !!python/tuple [6, 25] + - !!python/tuple [27, 6] + - !!python/tuple [18, 16] + - !!python/tuple [27, 24] + - !!python/tuple [12, 12] + - !!python/tuple [25, 31] + - !!python/tuple [21, 5] + - !!python/tuple [15, 18] + - !!python/tuple [21, 25] + - !!python/tuple [2, 9] + - !!python/tuple [24, 19] + - !!python/tuple [23, 27] + - !!python/tuple [0, 12] + - !!python/tuple [19, 8] + - !!python/tuple [6, 10] + - !!python/tuple [7, 30] + - !!python/tuple [8, 23] + - !!python/tuple [7, 14] + - !!python/tuple [0, 25] + - !!python/tuple [29, 20] + - !!python/tuple [5, 20] + - !!python/tuple [26, 12] + - !!python/tuple [18, 14] + - !!python/tuple [23, 3] + - !!python/tuple [7, 1] + - !!python/tuple [13, 31] + - !!python/tuple [17, 17] + - !!python/tuple [24, 18] + - !!python/tuple [4, 28] + - !!python/tuple [13, 11] + - !!python/tuple [28, 20] + - !!python/tuple [18, 21] + - !!python/tuple [13, 23] + - !!python/tuple [29, 22] + - !!python/tuple [23, 9] + - !!python/tuple [19, 1] + - !!python/tuple [23, 6] + - !!python/tuple [5, 24] + - !!python/tuple [30, 8] + - !!python/tuple [31, 14] + - !!python/tuple [30, 24] + - !!python/tuple [20, 3] + - !!python/tuple [18, 19] + - !!python/tuple [22, 23] + - !!python/tuple [10, 10] + - !!python/tuple [16, 25] + - !!python/tuple [6, 23] + - !!python/tuple [23, 15] + - !!python/tuple [24, 29] + - !!python/tuple [26, 29] + - !!python/tuple [1, 0] + - !!python/tuple [13, 9] + - !!python/tuple [27, 19] + - !!python/tuple [8, 26] + - !!python/tuple [0, 20] + - !!python/tuple [22, 31] + - !!python/tuple [12, 15] + - !!python/tuple [7, 3] + - !!python/tuple [30, 7] + - !!python/tuple [4, 12] + - !!python/tuple [0, 1] + - !!python/tuple [9, 19] + - !!python/tuple [27, 5] + - !!python/tuple [30, 20] + - !!python/tuple [11, 21] + - !!python/tuple [25, 26] + - !!python/tuple [13, 18] + - !!python/tuple [15, 21] + - !!python/tuple [6, 8] + - !!python/tuple [6, 20] + - !!python/tuple [1, 7] + - !!python/tuple [23, 5] + - !!python/tuple [11, 1] + - !!python/tuple [20, 2] + - !!python/tuple [23, 31] + - !!python/tuple [13, 30] + - !!python/tuple [24, 22] + - !!python/tuple [31, 7] + - !!python/tuple [12, 23] + - !!python/tuple [22, 2] + - !!python/tuple [0, 24] + - !!python/tuple [30, 23] + - !!python/tuple [16, 28] + - !!python/tuple [15, 7] + - !!python/tuple [8, 8] + - !!python/tuple [9, 11] + - !!python/tuple [16, 19] + - !!python/tuple [15, 15] + - !!python/tuple [20, 0] + - !!python/tuple [1, 20] + - !!python/tuple [10, 16] + - !!python/tuple [16, 5] + - !!python/tuple [25, 28] + - !!python/tuple [4, 18] + - !!python/tuple [17, 8] + - !!python/tuple [17, 24] + - !!python/tuple [2, 10] + - !!python/tuple [20, 26] + - !!python/tuple [20, 7] + - !!python/tuple [31, 0] + - !!python/tuple [27, 23] + - !!python/tuple [10, 15] + - !!python/tuple [11, 12] + - !!python/tuple [0, 9] + - !!python/tuple [11, 2] + - !!python/tuple [26, 3] + - !!python/tuple [1, 21] + - !!python/tuple [20, 22] + - !!python/tuple [21, 24] + - !!python/tuple [18, 26] + - !!python/tuple [10, 27] + - !!python/tuple [7, 28] + - !!python/tuple [25, 6] + - !!python/tuple [14, 25] + - !!python/tuple [30, 6] + - !!python/tuple [27, 30] + - !!python/tuple [17, 12] + - !!python/tuple [23, 2] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex25.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex25.yaml new file mode 100644 index 0000000..e3793cf --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex25.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [1, 0] + name: agent0 + start: [9, 20] +- goal: [16, 27] + name: agent1 + start: [20, 29] +- goal: [21, 0] + name: agent2 + start: [22, 29] +- goal: [26, 8] + name: agent3 + start: [13, 26] +- goal: [29, 17] + name: agent4 + start: [9, 16] +- goal: [25, 21] + name: agent5 + start: [8, 6] +- goal: [18, 22] + name: agent6 + start: [28, 4] +- goal: [9, 16] + name: agent7 + start: [30, 17] +- goal: [3, 19] + name: agent8 + start: [31, 25] +- goal: [7, 24] + name: agent9 + start: [30, 2] +- goal: [9, 0] + name: agent10 + start: [27, 19] +- goal: [14, 26] + name: agent11 + start: [11, 16] +- goal: [11, 13] + name: agent12 + start: [18, 17] +- goal: [19, 15] + name: agent13 + start: [9, 9] +- goal: [4, 1] + name: agent14 + start: [28, 25] +- goal: [28, 10] + name: agent15 + start: [22, 31] +- goal: [5, 9] + name: agent16 + start: [12, 24] +- goal: [23, 15] + name: agent17 + start: [3, 11] +- goal: [0, 28] + name: agent18 + start: [9, 17] +- goal: [27, 22] + name: agent19 + start: [10, 6] +- goal: [16, 23] + name: agent20 + start: [29, 14] +- goal: [28, 19] + name: agent21 + start: [9, 21] +- goal: [0, 24] + name: agent22 + start: [23, 8] +- goal: [17, 20] + name: agent23 + start: [30, 22] +- goal: [8, 14] + name: agent24 + start: [14, 26] +- goal: [31, 11] + name: agent25 + start: [1, 20] +- goal: [14, 24] + name: agent26 + start: [10, 3] +- goal: [27, 15] + name: agent27 + start: [4, 28] +- goal: [7, 3] + name: agent28 + start: [20, 31] +- goal: [6, 2] + name: agent29 + start: [17, 30] +- goal: [9, 6] + name: agent30 + start: [4, 23] +- goal: [6, 13] + name: agent31 + start: [23, 25] +- goal: [29, 8] + name: agent32 + start: [24, 14] +- goal: [6, 23] + name: agent33 + start: [15, 2] +- goal: [9, 23] + name: agent34 + start: [10, 1] +- goal: [5, 30] + name: agent35 + start: [13, 6] +- goal: [7, 17] + name: agent36 + start: [9, 18] +- goal: [10, 13] + name: agent37 + start: [19, 6] +- goal: [10, 2] + name: agent38 + start: [1, 13] +- goal: [19, 21] + name: agent39 + start: [2, 27] +- goal: [13, 21] + name: agent40 + start: [0, 27] +- goal: [1, 10] + name: agent41 + start: [20, 4] +- goal: [8, 5] + name: agent42 + start: [17, 5] +- goal: [28, 24] + name: agent43 + start: [7, 22] +- goal: [18, 14] + name: agent44 + start: [23, 29] +- goal: [6, 11] + name: agent45 + start: [16, 2] +- goal: [8, 1] + name: agent46 + start: [22, 22] +- goal: [23, 23] + name: agent47 + start: [3, 27] +- goal: [13, 29] + name: agent48 + start: [29, 18] +- goal: [14, 8] + name: agent49 + start: [31, 20] +- goal: [19, 18] + name: agent50 + start: [17, 19] +- goal: [29, 0] + name: agent51 + start: [22, 20] +- goal: [1, 27] + name: agent52 + start: [6, 12] +- goal: [3, 7] + name: agent53 + start: [20, 14] +- goal: [30, 8] + name: agent54 + start: [30, 25] +- goal: [11, 4] + name: agent55 + start: [5, 10] +- goal: [15, 0] + name: agent56 + start: [3, 15] +- goal: [13, 6] + name: agent57 + start: [30, 23] +- goal: [7, 25] + name: agent58 + start: [27, 15] +- goal: [28, 13] + name: agent59 + start: [23, 24] +- goal: [9, 29] + name: agent60 + start: [10, 22] +- goal: [11, 27] + name: agent61 + start: [9, 15] +- goal: [8, 3] + name: agent62 + start: [24, 19] +- goal: [4, 30] + name: agent63 + start: [4, 31] +- goal: [30, 0] + name: agent64 + start: [2, 30] +- goal: [10, 21] + name: agent65 + start: [17, 12] +- goal: [18, 2] + name: agent66 + start: [25, 30] +- goal: [25, 8] + name: agent67 + start: [28, 14] +- goal: [19, 5] + name: agent68 + start: [1, 21] +- goal: [1, 21] + name: agent69 + start: [12, 22] +- goal: [8, 17] + name: agent70 + start: [18, 14] +- goal: [30, 30] + name: agent71 + start: [27, 14] +- goal: [6, 8] + name: agent72 + start: [13, 19] +- goal: [26, 1] + name: agent73 + start: [8, 21] +- goal: [0, 11] + name: agent74 + start: [16, 7] +- goal: [19, 26] + name: agent75 + start: [7, 9] +- goal: [16, 31] + name: agent76 + start: [18, 10] +- goal: [4, 18] + name: agent77 + start: [11, 14] +- goal: [5, 22] + name: agent78 + start: [19, 16] +- goal: [31, 22] + name: agent79 + start: [4, 30] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [30, 7] + - !!python/tuple [14, 5] + - !!python/tuple [24, 25] + - !!python/tuple [14, 0] + - !!python/tuple [6, 6] + - !!python/tuple [0, 25] + - !!python/tuple [7, 14] + - !!python/tuple [17, 13] + - !!python/tuple [23, 21] + - !!python/tuple [14, 19] + - !!python/tuple [19, 19] + - !!python/tuple [15, 5] + - !!python/tuple [24, 2] + - !!python/tuple [11, 1] + - !!python/tuple [24, 13] + - !!python/tuple [29, 25] + - !!python/tuple [11, 21] + - !!python/tuple [12, 2] + - !!python/tuple [15, 25] + - !!python/tuple [11, 24] + - !!python/tuple [14, 30] + - !!python/tuple [4, 19] + - !!python/tuple [2, 24] + - !!python/tuple [23, 22] + - !!python/tuple [9, 3] + - !!python/tuple [7, 12] + - !!python/tuple [20, 27] + - !!python/tuple [19, 11] + - !!python/tuple [31, 17] + - !!python/tuple [26, 29] + - !!python/tuple [29, 10] + - !!python/tuple [1, 14] + - !!python/tuple [7, 31] + - !!python/tuple [16, 10] + - !!python/tuple [6, 7] + - !!python/tuple [28, 15] + - !!python/tuple [18, 13] + - !!python/tuple [6, 20] + - !!python/tuple [18, 8] + - !!python/tuple [26, 6] + - !!python/tuple [21, 23] + - !!python/tuple [28, 20] + - !!python/tuple [21, 13] + - !!python/tuple [1, 28] + - !!python/tuple [4, 5] + - !!python/tuple [16, 14] + - !!python/tuple [1, 26] + - !!python/tuple [13, 25] + - !!python/tuple [26, 15] + - !!python/tuple [29, 24] + - !!python/tuple [10, 15] + - !!python/tuple [12, 26] + - !!python/tuple [0, 31] + - !!python/tuple [2, 2] + - !!python/tuple [29, 9] + - !!python/tuple [1, 19] + - !!python/tuple [24, 20] + - !!python/tuple [1, 30] + - !!python/tuple [6, 19] + - !!python/tuple [0, 7] + - !!python/tuple [0, 9] + - !!python/tuple [17, 31] + - !!python/tuple [25, 7] + - !!python/tuple [25, 1] + - !!python/tuple [5, 27] + - !!python/tuple [30, 16] + - !!python/tuple [1, 7] + - !!python/tuple [26, 14] + - !!python/tuple [27, 0] + - !!python/tuple [24, 21] + - !!python/tuple [14, 21] + - !!python/tuple [27, 12] + - !!python/tuple [17, 2] + - !!python/tuple [20, 24] + - !!python/tuple [12, 15] + - !!python/tuple [22, 2] + - !!python/tuple [30, 11] + - !!python/tuple [16, 26] + - !!python/tuple [7, 11] + - !!python/tuple [2, 29] + - !!python/tuple [17, 9] + - !!python/tuple [27, 16] + - !!python/tuple [14, 1] + - !!python/tuple [14, 12] + - !!python/tuple [26, 31] + - !!python/tuple [4, 15] + - !!python/tuple [1, 3] + - !!python/tuple [12, 7] + - !!python/tuple [13, 27] + - !!python/tuple [5, 15] + - !!python/tuple [31, 30] + - !!python/tuple [14, 29] + - !!python/tuple [14, 27] + - !!python/tuple [18, 21] + - !!python/tuple [31, 0] + - !!python/tuple [15, 16] + - !!python/tuple [21, 31] + - !!python/tuple [12, 4] + - !!python/tuple [19, 3] + - !!python/tuple [15, 13] + - !!python/tuple [15, 23] + - !!python/tuple [10, 29] + - !!python/tuple [31, 14] + - !!python/tuple [19, 20] + - !!python/tuple [13, 30] + - !!python/tuple [29, 5] + - !!python/tuple [25, 18] + - !!python/tuple [18, 28] + - !!python/tuple [16, 16] + - !!python/tuple [9, 24] + - !!python/tuple [31, 5] + - !!python/tuple [19, 29] + - !!python/tuple [19, 4] + - !!python/tuple [3, 31] + - !!python/tuple [24, 26] + - !!python/tuple [27, 13] + - !!python/tuple [21, 12] + - !!python/tuple [6, 9] + - !!python/tuple [20, 15] + - !!python/tuple [8, 12] + - !!python/tuple [4, 11] + - !!python/tuple [1, 8] + - !!python/tuple [29, 2] + - !!python/tuple [21, 4] + - !!python/tuple [29, 19] + - !!python/tuple [0, 14] + - !!python/tuple [3, 21] + - !!python/tuple [12, 14] + - !!python/tuple [0, 1] + - !!python/tuple [27, 27] + - !!python/tuple [26, 30] + - !!python/tuple [27, 21] + - !!python/tuple [22, 26] + - !!python/tuple [30, 24] + - !!python/tuple [16, 25] + - !!python/tuple [15, 18] + - !!python/tuple [23, 5] + - !!python/tuple [22, 14] + - !!python/tuple [28, 26] + - !!python/tuple [30, 20] + - !!python/tuple [4, 10] + - !!python/tuple [27, 26] + - !!python/tuple [23, 17] + - !!python/tuple [11, 7] + - !!python/tuple [19, 2] + - !!python/tuple [3, 25] + - !!python/tuple [7, 4] + - !!python/tuple [26, 11] + - !!python/tuple [17, 26] + - !!python/tuple [21, 3] + - !!python/tuple [22, 19] + - !!python/tuple [22, 15] + - !!python/tuple [4, 25] + - !!python/tuple [24, 27] + - !!python/tuple [28, 9] + - !!python/tuple [10, 8] + - !!python/tuple [22, 10] + - !!python/tuple [15, 29] + - !!python/tuple [27, 9] + - !!python/tuple [8, 18] + - !!python/tuple [8, 24] + - !!python/tuple [30, 6] + - !!python/tuple [13, 13] + - !!python/tuple [3, 4] + - !!python/tuple [1, 17] + - !!python/tuple [31, 23] + - !!python/tuple [20, 8] + - !!python/tuple [31, 2] + - !!python/tuple [25, 14] + - !!python/tuple [20, 22] + - !!python/tuple [19, 17] + - !!python/tuple [19, 14] + - !!python/tuple [26, 26] + - !!python/tuple [17, 17] + - !!python/tuple [26, 24] + - !!python/tuple [23, 7] + - !!python/tuple [20, 16] + - !!python/tuple [5, 13] + - !!python/tuple [16, 21] + - !!python/tuple [6, 18] + - !!python/tuple [22, 0] + - !!python/tuple [19, 9] + - !!python/tuple [15, 4] + - !!python/tuple [20, 26] + - !!python/tuple [17, 21] + - !!python/tuple [11, 22] + - !!python/tuple [29, 3] + - !!python/tuple [18, 30] + - !!python/tuple [10, 30] + - !!python/tuple [4, 16] + - !!python/tuple [13, 23] + - !!python/tuple [19, 24] + - !!python/tuple [12, 27] + - !!python/tuple [26, 23] + - !!python/tuple [0, 20] + - !!python/tuple [3, 8] + - !!python/tuple [27, 20] + - !!python/tuple [7, 6] + - !!python/tuple [10, 4] + - !!python/tuple [15, 9] + - !!python/tuple [8, 11] + - !!python/tuple [16, 29] + - !!python/tuple [28, 5] + - !!python/tuple [29, 6] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex26.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex26.yaml new file mode 100644 index 0000000..3cc8e0e --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex26.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [17, 10] + name: agent0 + start: [13, 30] +- goal: [28, 30] + name: agent1 + start: [25, 11] +- goal: [24, 0] + name: agent2 + start: [21, 3] +- goal: [30, 27] + name: agent3 + start: [0, 15] +- goal: [30, 26] + name: agent4 + start: [2, 9] +- goal: [18, 20] + name: agent5 + start: [7, 20] +- goal: [9, 6] + name: agent6 + start: [19, 4] +- goal: [10, 2] + name: agent7 + start: [5, 6] +- goal: [7, 1] + name: agent8 + start: [15, 18] +- goal: [15, 1] + name: agent9 + start: [8, 18] +- goal: [30, 13] + name: agent10 + start: [14, 31] +- goal: [27, 14] + name: agent11 + start: [21, 24] +- goal: [29, 31] + name: agent12 + start: [30, 18] +- goal: [19, 25] + name: agent13 + start: [24, 12] +- goal: [20, 28] + name: agent14 + start: [0, 5] +- goal: [22, 25] + name: agent15 + start: [27, 11] +- goal: [11, 5] + name: agent16 + start: [30, 0] +- goal: [14, 22] + name: agent17 + start: [14, 2] +- goal: [15, 7] + name: agent18 + start: [22, 8] +- goal: [8, 14] + name: agent19 + start: [14, 15] +- goal: [13, 6] + name: agent20 + start: [8, 12] +- goal: [15, 4] + name: agent21 + start: [28, 7] +- goal: [18, 10] + name: agent22 + start: [14, 6] +- goal: [16, 5] + name: agent23 + start: [17, 9] +- goal: [15, 14] + name: agent24 + start: [31, 5] +- goal: [12, 23] + name: agent25 + start: [25, 3] +- goal: [1, 23] + name: agent26 + start: [22, 4] +- goal: [6, 15] + name: agent27 + start: [10, 9] +- goal: [26, 23] + name: agent28 + start: [5, 8] +- goal: [14, 27] + name: agent29 + start: [9, 22] +- goal: [24, 23] + name: agent30 + start: [28, 26] +- goal: [26, 5] + name: agent31 + start: [3, 10] +- goal: [29, 5] + name: agent32 + start: [0, 3] +- goal: [31, 30] + name: agent33 + start: [28, 2] +- goal: [21, 6] + name: agent34 + start: [15, 7] +- goal: [5, 23] + name: agent35 + start: [7, 24] +- goal: [11, 15] + name: agent36 + start: [7, 16] +- goal: [29, 25] + name: agent37 + start: [4, 26] +- goal: [31, 2] + name: agent38 + start: [9, 6] +- goal: [8, 4] + name: agent39 + start: [4, 20] +- goal: [29, 26] + name: agent40 + start: [23, 19] +- goal: [9, 18] + name: agent41 + start: [28, 3] +- goal: [8, 16] + name: agent42 + start: [7, 6] +- goal: [5, 0] + name: agent43 + start: [29, 19] +- goal: [7, 16] + name: agent44 + start: [12, 5] +- goal: [8, 29] + name: agent45 + start: [7, 14] +- goal: [28, 0] + name: agent46 + start: [27, 19] +- goal: [29, 24] + name: agent47 + start: [24, 29] +- goal: [27, 1] + name: agent48 + start: [15, 16] +- goal: [8, 2] + name: agent49 + start: [3, 14] +- goal: [13, 12] + name: agent50 + start: [15, 12] +- goal: [12, 27] + name: agent51 + start: [5, 20] +- goal: [11, 28] + name: agent52 + start: [13, 4] +- goal: [0, 9] + name: agent53 + start: [5, 12] +- goal: [17, 29] + name: agent54 + start: [25, 19] +- goal: [18, 30] + name: agent55 + start: [31, 30] +- goal: [11, 11] + name: agent56 + start: [11, 11] +- goal: [6, 21] + name: agent57 + start: [8, 26] +- goal: [20, 30] + name: agent58 + start: [6, 0] +- goal: [12, 15] + name: agent59 + start: [22, 16] +- goal: [18, 1] + name: agent60 + start: [27, 18] +- goal: [27, 18] + name: agent61 + start: [22, 14] +- goal: [22, 8] + name: agent62 + start: [28, 15] +- goal: [11, 24] + name: agent63 + start: [28, 14] +- goal: [7, 30] + name: agent64 + start: [13, 12] +- goal: [3, 5] + name: agent65 + start: [16, 17] +- goal: [14, 30] + name: agent66 + start: [5, 18] +- goal: [17, 25] + name: agent67 + start: [1, 6] +- goal: [12, 25] + name: agent68 + start: [6, 26] +- goal: [17, 8] + name: agent69 + start: [3, 7] +- goal: [0, 31] + name: agent70 + start: [10, 31] +- goal: [26, 8] + name: agent71 + start: [28, 18] +- goal: [28, 18] + name: agent72 + start: [24, 14] +- goal: [17, 19] + name: agent73 + start: [25, 17] +- goal: [16, 18] + name: agent74 + start: [3, 29] +- goal: [0, 15] + name: agent75 + start: [19, 14] +- goal: [1, 25] + name: agent76 + start: [1, 24] +- goal: [3, 4] + name: agent77 + start: [24, 27] +- goal: [2, 9] + name: agent78 + start: [2, 19] +- goal: [22, 26] + name: agent79 + start: [17, 18] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [30, 9] + - !!python/tuple [24, 20] + - !!python/tuple [1, 5] + - !!python/tuple [6, 10] + - !!python/tuple [4, 11] + - !!python/tuple [29, 22] + - !!python/tuple [22, 31] + - !!python/tuple [19, 10] + - !!python/tuple [9, 14] + - !!python/tuple [1, 7] + - !!python/tuple [20, 11] + - !!python/tuple [30, 31] + - !!python/tuple [0, 13] + - !!python/tuple [23, 9] + - !!python/tuple [8, 8] + - !!python/tuple [15, 17] + - !!python/tuple [30, 15] + - !!python/tuple [0, 30] + - !!python/tuple [20, 5] + - !!python/tuple [22, 2] + - !!python/tuple [22, 19] + - !!python/tuple [29, 13] + - !!python/tuple [27, 7] + - !!python/tuple [3, 20] + - !!python/tuple [19, 5] + - !!python/tuple [2, 1] + - !!python/tuple [23, 13] + - !!python/tuple [4, 7] + - !!python/tuple [2, 21] + - !!python/tuple [21, 1] + - !!python/tuple [25, 25] + - !!python/tuple [27, 8] + - !!python/tuple [28, 1] + - !!python/tuple [24, 21] + - !!python/tuple [11, 10] + - !!python/tuple [12, 21] + - !!python/tuple [17, 27] + - !!python/tuple [6, 17] + - !!python/tuple [23, 3] + - !!python/tuple [17, 17] + - !!python/tuple [3, 6] + - !!python/tuple [13, 14] + - !!python/tuple [25, 22] + - !!python/tuple [11, 27] + - !!python/tuple [22, 3] + - !!python/tuple [25, 1] + - !!python/tuple [0, 29] + - !!python/tuple [23, 1] + - !!python/tuple [3, 0] + - !!python/tuple [9, 4] + - !!python/tuple [13, 20] + - !!python/tuple [30, 5] + - !!python/tuple [14, 7] + - !!python/tuple [3, 9] + - !!python/tuple [1, 11] + - !!python/tuple [21, 8] + - !!python/tuple [25, 6] + - !!python/tuple [26, 30] + - !!python/tuple [20, 18] + - !!python/tuple [13, 1] + - !!python/tuple [21, 27] + - !!python/tuple [25, 10] + - !!python/tuple [2, 12] + - !!python/tuple [31, 15] + - !!python/tuple [26, 15] + - !!python/tuple [19, 1] + - !!python/tuple [15, 23] + - !!python/tuple [15, 25] + - !!python/tuple [9, 27] + - !!python/tuple [11, 21] + - !!python/tuple [5, 26] + - !!python/tuple [6, 22] + - !!python/tuple [2, 25] + - !!python/tuple [20, 21] + - !!python/tuple [10, 22] + - !!python/tuple [12, 20] + - !!python/tuple [26, 17] + - !!python/tuple [22, 12] + - !!python/tuple [29, 12] + - !!python/tuple [7, 18] + - !!python/tuple [30, 16] + - !!python/tuple [2, 5] + - !!python/tuple [26, 21] + - !!python/tuple [11, 6] + - !!python/tuple [10, 27] + - !!python/tuple [30, 28] + - !!python/tuple [9, 0] + - !!python/tuple [3, 1] + - !!python/tuple [9, 20] + - !!python/tuple [30, 12] + - !!python/tuple [29, 3] + - !!python/tuple [18, 19] + - !!python/tuple [14, 10] + - !!python/tuple [31, 6] + - !!python/tuple [27, 20] + - !!python/tuple [15, 29] + - !!python/tuple [20, 16] + - !!python/tuple [16, 13] + - !!python/tuple [12, 6] + - !!python/tuple [23, 4] + - !!python/tuple [18, 3] + - !!python/tuple [16, 23] + - !!python/tuple [12, 9] + - !!python/tuple [13, 29] + - !!python/tuple [15, 28] + - !!python/tuple [17, 2] + - !!python/tuple [18, 28] + - !!python/tuple [23, 8] + - !!python/tuple [23, 31] + - !!python/tuple [24, 3] + - !!python/tuple [16, 12] + - !!python/tuple [23, 11] + - !!python/tuple [7, 9] + - !!python/tuple [27, 21] + - !!python/tuple [28, 19] + - !!python/tuple [17, 13] + - !!python/tuple [18, 7] + - !!python/tuple [25, 31] + - !!python/tuple [27, 27] + - !!python/tuple [9, 9] + - !!python/tuple [15, 19] + - !!python/tuple [25, 4] + - !!python/tuple [19, 29] + - !!python/tuple [28, 23] + - !!python/tuple [23, 30] + - !!python/tuple [17, 12] + - !!python/tuple [1, 14] + - !!python/tuple [8, 6] + - !!python/tuple [30, 25] + - !!python/tuple [16, 3] + - !!python/tuple [12, 22] + - !!python/tuple [14, 25] + - !!python/tuple [24, 9] + - !!python/tuple [11, 31] + - !!python/tuple [16, 0] + - !!python/tuple [15, 5] + - !!python/tuple [6, 3] + - !!python/tuple [12, 1] + - !!python/tuple [11, 25] + - !!python/tuple [0, 6] + - !!python/tuple [25, 30] + - !!python/tuple [3, 24] + - !!python/tuple [18, 26] + - !!python/tuple [9, 21] + - !!python/tuple [5, 30] + - !!python/tuple [15, 22] + - !!python/tuple [9, 8] + - !!python/tuple [5, 7] + - !!python/tuple [8, 24] + - !!python/tuple [21, 11] + - !!python/tuple [0, 18] + - !!python/tuple [17, 30] + - !!python/tuple [23, 20] + - !!python/tuple [1, 1] + - !!python/tuple [8, 31] + - !!python/tuple [5, 5] + - !!python/tuple [27, 6] + - !!python/tuple [22, 11] + - !!python/tuple [14, 20] + - !!python/tuple [2, 24] + - !!python/tuple [30, 20] + - !!python/tuple [19, 12] + - !!python/tuple [19, 0] + - !!python/tuple [4, 2] + - !!python/tuple [31, 18] + - !!python/tuple [19, 7] + - !!python/tuple [26, 1] + - !!python/tuple [30, 29] + - !!python/tuple [5, 28] + - !!python/tuple [14, 23] + - !!python/tuple [30, 7] + - !!python/tuple [6, 4] + - !!python/tuple [5, 17] + - !!python/tuple [7, 21] + - !!python/tuple [16, 25] + - !!python/tuple [21, 25] + - !!python/tuple [22, 6] + - !!python/tuple [13, 8] + - !!python/tuple [13, 13] + - !!python/tuple [10, 28] + - !!python/tuple [11, 8] + - !!python/tuple [19, 30] + - !!python/tuple [2, 3] + - !!python/tuple [23, 18] + - !!python/tuple [20, 9] + - !!python/tuple [5, 22] + - !!python/tuple [11, 12] + - !!python/tuple [9, 17] + - !!python/tuple [9, 1] + - !!python/tuple [0, 0] + - !!python/tuple [27, 13] + - !!python/tuple [22, 23] + - !!python/tuple [19, 23] + - !!python/tuple [4, 28] + - !!python/tuple [5, 29] + - !!python/tuple [28, 24] + - !!python/tuple [21, 29] + - !!python/tuple [9, 29] + - !!python/tuple [20, 14] + - !!python/tuple [15, 30] + - !!python/tuple [11, 2] + - !!python/tuple [25, 5] + - !!python/tuple [24, 17] + - !!python/tuple [11, 3] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex27.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex27.yaml new file mode 100644 index 0000000..e579651 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex27.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [5, 25] + name: agent0 + start: [9, 31] +- goal: [8, 8] + name: agent1 + start: [14, 7] +- goal: [11, 2] + name: agent2 + start: [12, 11] +- goal: [26, 14] + name: agent3 + start: [9, 16] +- goal: [18, 0] + name: agent4 + start: [10, 29] +- goal: [27, 11] + name: agent5 + start: [1, 12] +- goal: [5, 9] + name: agent6 + start: [17, 2] +- goal: [3, 25] + name: agent7 + start: [14, 26] +- goal: [17, 9] + name: agent8 + start: [8, 14] +- goal: [4, 28] + name: agent9 + start: [7, 18] +- goal: [6, 13] + name: agent10 + start: [1, 2] +- goal: [5, 0] + name: agent11 + start: [23, 22] +- goal: [3, 12] + name: agent12 + start: [5, 26] +- goal: [15, 30] + name: agent13 + start: [7, 0] +- goal: [22, 27] + name: agent14 + start: [8, 21] +- goal: [13, 23] + name: agent15 + start: [9, 28] +- goal: [6, 25] + name: agent16 + start: [24, 29] +- goal: [11, 18] + name: agent17 + start: [17, 12] +- goal: [16, 4] + name: agent18 + start: [31, 14] +- goal: [2, 17] + name: agent19 + start: [11, 21] +- goal: [31, 11] + name: agent20 + start: [25, 11] +- goal: [12, 29] + name: agent21 + start: [20, 9] +- goal: [13, 24] + name: agent22 + start: [16, 1] +- goal: [11, 16] + name: agent23 + start: [8, 22] +- goal: [2, 4] + name: agent24 + start: [22, 29] +- goal: [21, 29] + name: agent25 + start: [3, 25] +- goal: [0, 7] + name: agent26 + start: [24, 5] +- goal: [20, 16] + name: agent27 + start: [15, 20] +- goal: [29, 9] + name: agent28 + start: [0, 20] +- goal: [20, 6] + name: agent29 + start: [22, 13] +- goal: [28, 28] + name: agent30 + start: [11, 1] +- goal: [5, 27] + name: agent31 + start: [12, 7] +- goal: [20, 24] + name: agent32 + start: [0, 15] +- goal: [4, 20] + name: agent33 + start: [12, 2] +- goal: [28, 8] + name: agent34 + start: [5, 15] +- goal: [14, 0] + name: agent35 + start: [22, 5] +- goal: [17, 26] + name: agent36 + start: [24, 30] +- goal: [21, 23] + name: agent37 + start: [18, 27] +- goal: [23, 31] + name: agent38 + start: [2, 19] +- goal: [7, 8] + name: agent39 + start: [8, 10] +- goal: [17, 21] + name: agent40 + start: [16, 3] +- goal: [6, 15] + name: agent41 + start: [28, 15] +- goal: [26, 10] + name: agent42 + start: [28, 4] +- goal: [19, 19] + name: agent43 + start: [22, 0] +- goal: [4, 29] + name: agent44 + start: [27, 22] +- goal: [7, 9] + name: agent45 + start: [15, 5] +- goal: [22, 31] + name: agent46 + start: [7, 24] +- goal: [16, 26] + name: agent47 + start: [21, 19] +- goal: [15, 7] + name: agent48 + start: [17, 8] +- goal: [1, 31] + name: agent49 + start: [15, 22] +- goal: [15, 3] + name: agent50 + start: [9, 13] +- goal: [5, 12] + name: agent51 + start: [6, 21] +- goal: [2, 1] + name: agent52 + start: [20, 6] +- goal: [14, 1] + name: agent53 + start: [31, 29] +- goal: [16, 10] + name: agent54 + start: [9, 25] +- goal: [2, 18] + name: agent55 + start: [16, 25] +- goal: [9, 0] + name: agent56 + start: [0, 10] +- goal: [7, 21] + name: agent57 + start: [21, 25] +- goal: [7, 15] + name: agent58 + start: [9, 15] +- goal: [24, 5] + name: agent59 + start: [0, 31] +- goal: [7, 6] + name: agent60 + start: [25, 23] +- goal: [0, 26] + name: agent61 + start: [21, 29] +- goal: [9, 10] + name: agent62 + start: [29, 25] +- goal: [2, 10] + name: agent63 + start: [30, 30] +- goal: [0, 19] + name: agent64 + start: [11, 30] +- goal: [29, 4] + name: agent65 + start: [6, 9] +- goal: [16, 5] + name: agent66 + start: [16, 13] +- goal: [8, 3] + name: agent67 + start: [1, 8] +- goal: [17, 13] + name: agent68 + start: [23, 15] +- goal: [8, 16] + name: agent69 + start: [16, 7] +- goal: [9, 27] + name: agent70 + start: [16, 10] +- goal: [25, 10] + name: agent71 + start: [8, 4] +- goal: [19, 5] + name: agent72 + start: [14, 24] +- goal: [20, 0] + name: agent73 + start: [14, 11] +- goal: [25, 18] + name: agent74 + start: [5, 11] +- goal: [19, 2] + name: agent75 + start: [6, 28] +- goal: [0, 8] + name: agent76 + start: [27, 30] +- goal: [16, 25] + name: agent77 + start: [10, 5] +- goal: [21, 25] + name: agent78 + start: [11, 11] +- goal: [16, 1] + name: agent79 + start: [14, 23] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [6, 27] + - !!python/tuple [30, 9] + - !!python/tuple [14, 30] + - !!python/tuple [12, 23] + - !!python/tuple [24, 0] + - !!python/tuple [30, 22] + - !!python/tuple [7, 2] + - !!python/tuple [0, 29] + - !!python/tuple [9, 18] + - !!python/tuple [29, 6] + - !!python/tuple [5, 8] + - !!python/tuple [9, 12] + - !!python/tuple [7, 14] + - !!python/tuple [0, 27] + - !!python/tuple [30, 20] + - !!python/tuple [13, 19] + - !!python/tuple [10, 15] + - !!python/tuple [30, 24] + - !!python/tuple [4, 12] + - !!python/tuple [18, 7] + - !!python/tuple [21, 0] + - !!python/tuple [13, 20] + - !!python/tuple [23, 8] + - !!python/tuple [25, 6] + - !!python/tuple [28, 26] + - !!python/tuple [13, 13] + - !!python/tuple [15, 1] + - !!python/tuple [4, 10] + - !!python/tuple [10, 20] + - !!python/tuple [24, 7] + - !!python/tuple [26, 7] + - !!python/tuple [26, 16] + - !!python/tuple [5, 3] + - !!python/tuple [9, 24] + - !!python/tuple [27, 9] + - !!python/tuple [18, 12] + - !!python/tuple [11, 27] + - !!python/tuple [2, 24] + - !!python/tuple [13, 27] + - !!python/tuple [25, 5] + - !!python/tuple [23, 18] + - !!python/tuple [16, 6] + - !!python/tuple [7, 31] + - !!python/tuple [17, 27] + - !!python/tuple [8, 5] + - !!python/tuple [31, 30] + - !!python/tuple [5, 18] + - !!python/tuple [10, 8] + - !!python/tuple [21, 9] + - !!python/tuple [1, 29] + - !!python/tuple [25, 28] + - !!python/tuple [16, 30] + - !!python/tuple [10, 9] + - !!python/tuple [13, 29] + - !!python/tuple [6, 0] + - !!python/tuple [7, 13] + - !!python/tuple [28, 14] + - !!python/tuple [0, 24] + - !!python/tuple [1, 21] + - !!python/tuple [17, 23] + - !!python/tuple [28, 19] + - !!python/tuple [9, 19] + - !!python/tuple [21, 8] + - !!python/tuple [11, 23] + - !!python/tuple [20, 21] + - !!python/tuple [31, 8] + - !!python/tuple [4, 25] + - !!python/tuple [9, 29] + - !!python/tuple [18, 14] + - !!python/tuple [25, 31] + - !!python/tuple [29, 31] + - !!python/tuple [6, 18] + - !!python/tuple [23, 28] + - !!python/tuple [29, 27] + - !!python/tuple [24, 28] + - !!python/tuple [31, 3] + - !!python/tuple [25, 29] + - !!python/tuple [10, 30] + - !!python/tuple [30, 23] + - !!python/tuple [27, 6] + - !!python/tuple [4, 2] + - !!python/tuple [10, 28] + - !!python/tuple [28, 0] + - !!python/tuple [25, 8] + - !!python/tuple [1, 16] + - !!python/tuple [6, 22] + - !!python/tuple [5, 22] + - !!python/tuple [14, 31] + - !!python/tuple [15, 12] + - !!python/tuple [25, 25] + - !!python/tuple [21, 20] + - !!python/tuple [28, 22] + - !!python/tuple [16, 11] + - !!python/tuple [20, 31] + - !!python/tuple [30, 17] + - !!python/tuple [26, 21] + - !!python/tuple [28, 17] + - !!python/tuple [0, 18] + - !!python/tuple [10, 25] + - !!python/tuple [9, 26] + - !!python/tuple [3, 13] + - !!python/tuple [8, 6] + - !!python/tuple [31, 16] + - !!python/tuple [6, 3] + - !!python/tuple [12, 18] + - !!python/tuple [30, 27] + - !!python/tuple [19, 22] + - !!python/tuple [9, 21] + - !!python/tuple [16, 19] + - !!python/tuple [3, 30] + - !!python/tuple [10, 26] + - !!python/tuple [1, 13] + - !!python/tuple [22, 20] + - !!python/tuple [14, 15] + - !!python/tuple [15, 6] + - !!python/tuple [12, 6] + - !!python/tuple [31, 27] + - !!python/tuple [26, 3] + - !!python/tuple [28, 5] + - !!python/tuple [9, 5] + - !!python/tuple [7, 26] + - !!python/tuple [31, 31] + - !!python/tuple [24, 12] + - !!python/tuple [25, 13] + - !!python/tuple [18, 13] + - !!python/tuple [26, 20] + - !!python/tuple [8, 24] + - !!python/tuple [29, 11] + - !!python/tuple [20, 13] + - !!python/tuple [17, 11] + - !!python/tuple [11, 8] + - !!python/tuple [10, 0] + - !!python/tuple [28, 16] + - !!python/tuple [20, 30] + - !!python/tuple [26, 18] + - !!python/tuple [6, 23] + - !!python/tuple [20, 18] + - !!python/tuple [0, 30] + - !!python/tuple [9, 30] + - !!python/tuple [11, 28] + - !!python/tuple [24, 2] + - !!python/tuple [27, 24] + - !!python/tuple [6, 6] + - !!python/tuple [3, 11] + - !!python/tuple [9, 6] + - !!python/tuple [25, 1] + - !!python/tuple [12, 5] + - !!python/tuple [18, 11] + - !!python/tuple [10, 16] + - !!python/tuple [11, 14] + - !!python/tuple [0, 4] + - !!python/tuple [10, 18] + - !!python/tuple [11, 5] + - !!python/tuple [24, 21] + - !!python/tuple [12, 4] + - !!python/tuple [2, 23] + - !!python/tuple [18, 21] + - !!python/tuple [14, 28] + - !!python/tuple [7, 1] + - !!python/tuple [28, 9] + - !!python/tuple [23, 1] + - !!python/tuple [18, 24] + - !!python/tuple [19, 18] + - !!python/tuple [14, 2] + - !!python/tuple [4, 14] + - !!python/tuple [27, 7] + - !!python/tuple [7, 30] + - !!python/tuple [12, 27] + - !!python/tuple [21, 2] + - !!python/tuple [3, 18] + - !!python/tuple [14, 17] + - !!python/tuple [3, 16] + - !!python/tuple [6, 16] + - !!python/tuple [25, 0] + - !!python/tuple [24, 15] + - !!python/tuple [3, 5] + - !!python/tuple [25, 22] + - !!python/tuple [17, 14] + - !!python/tuple [3, 22] + - !!python/tuple [17, 17] + - !!python/tuple [6, 2] + - !!python/tuple [5, 1] + - !!python/tuple [6, 5] + - !!python/tuple [30, 12] + - !!python/tuple [4, 15] + - !!python/tuple [17, 24] + - !!python/tuple [22, 22] + - !!python/tuple [3, 15] + - !!python/tuple [11, 19] + - !!python/tuple [8, 23] + - !!python/tuple [2, 28] + - !!python/tuple [19, 17] + - !!python/tuple [2, 7] + - !!python/tuple [28, 6] + - !!python/tuple [29, 2] + - !!python/tuple [20, 27] + - !!python/tuple [5, 2] + - !!python/tuple [2, 14] + - !!python/tuple [19, 13] + - !!python/tuple [22, 30] + - !!python/tuple [21, 10] + - !!python/tuple [13, 16] + - !!python/tuple [22, 9] + - !!python/tuple [10, 2] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex28.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex28.yaml new file mode 100644 index 0000000..079d28b --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex28.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [21, 26] + name: agent0 + start: [5, 5] +- goal: [17, 22] + name: agent1 + start: [18, 12] +- goal: [23, 21] + name: agent2 + start: [23, 31] +- goal: [6, 6] + name: agent3 + start: [15, 8] +- goal: [26, 16] + name: agent4 + start: [2, 25] +- goal: [4, 12] + name: agent5 + start: [11, 2] +- goal: [5, 1] + name: agent6 + start: [14, 7] +- goal: [9, 17] + name: agent7 + start: [0, 21] +- goal: [14, 12] + name: agent8 + start: [17, 10] +- goal: [1, 26] + name: agent9 + start: [12, 2] +- goal: [25, 18] + name: agent10 + start: [21, 2] +- goal: [28, 29] + name: agent11 + start: [3, 5] +- goal: [2, 9] + name: agent12 + start: [18, 6] +- goal: [3, 6] + name: agent13 + start: [28, 2] +- goal: [22, 10] + name: agent14 + start: [4, 5] +- goal: [24, 11] + name: agent15 + start: [5, 12] +- goal: [26, 11] + name: agent16 + start: [19, 20] +- goal: [29, 12] + name: agent17 + start: [30, 15] +- goal: [17, 13] + name: agent18 + start: [9, 3] +- goal: [29, 0] + name: agent19 + start: [8, 14] +- goal: [31, 19] + name: agent20 + start: [19, 18] +- goal: [18, 8] + name: agent21 + start: [14, 4] +- goal: [23, 20] + name: agent22 + start: [5, 1] +- goal: [10, 12] + name: agent23 + start: [12, 4] +- goal: [31, 24] + name: agent24 + start: [0, 3] +- goal: [18, 1] + name: agent25 + start: [25, 4] +- goal: [24, 31] + name: agent26 + start: [23, 1] +- goal: [2, 5] + name: agent27 + start: [20, 6] +- goal: [30, 19] + name: agent28 + start: [13, 25] +- goal: [8, 10] + name: agent29 + start: [6, 17] +- goal: [2, 11] + name: agent30 + start: [28, 27] +- goal: [27, 15] + name: agent31 + start: [27, 4] +- goal: [28, 19] + name: agent32 + start: [25, 9] +- goal: [23, 18] + name: agent33 + start: [12, 26] +- goal: [9, 30] + name: agent34 + start: [14, 3] +- goal: [9, 0] + name: agent35 + start: [20, 26] +- goal: [16, 18] + name: agent36 + start: [30, 3] +- goal: [10, 10] + name: agent37 + start: [1, 26] +- goal: [12, 7] + name: agent38 + start: [15, 19] +- goal: [7, 11] + name: agent39 + start: [21, 19] +- goal: [9, 18] + name: agent40 + start: [18, 2] +- goal: [28, 25] + name: agent41 + start: [22, 17] +- goal: [30, 2] + name: agent42 + start: [12, 29] +- goal: [15, 22] + name: agent43 + start: [30, 8] +- goal: [5, 7] + name: agent44 + start: [9, 4] +- goal: [0, 5] + name: agent45 + start: [17, 18] +- goal: [4, 27] + name: agent46 + start: [28, 21] +- goal: [8, 18] + name: agent47 + start: [12, 7] +- goal: [31, 17] + name: agent48 + start: [0, 4] +- goal: [17, 19] + name: agent49 + start: [24, 19] +- goal: [10, 8] + name: agent50 + start: [14, 22] +- goal: [7, 26] + name: agent51 + start: [19, 29] +- goal: [29, 2] + name: agent52 + start: [11, 26] +- goal: [5, 5] + name: agent53 + start: [25, 23] +- goal: [20, 19] + name: agent54 + start: [14, 11] +- goal: [1, 11] + name: agent55 + start: [11, 16] +- goal: [8, 20] + name: agent56 + start: [31, 20] +- goal: [26, 2] + name: agent57 + start: [0, 14] +- goal: [24, 20] + name: agent58 + start: [18, 19] +- goal: [31, 13] + name: agent59 + start: [31, 19] +- goal: [28, 22] + name: agent60 + start: [0, 0] +- goal: [7, 6] + name: agent61 + start: [22, 28] +- goal: [24, 9] + name: agent62 + start: [30, 30] +- goal: [14, 5] + name: agent63 + start: [22, 13] +- goal: [22, 23] + name: agent64 + start: [2, 9] +- goal: [13, 16] + name: agent65 + start: [25, 3] +- goal: [29, 18] + name: agent66 + start: [2, 27] +- goal: [20, 1] + name: agent67 + start: [10, 6] +- goal: [30, 21] + name: agent68 + start: [8, 9] +- goal: [27, 0] + name: agent69 + start: [17, 20] +- goal: [29, 10] + name: agent70 + start: [5, 26] +- goal: [31, 25] + name: agent71 + start: [1, 28] +- goal: [12, 3] + name: agent72 + start: [16, 24] +- goal: [5, 10] + name: agent73 + start: [17, 11] +- goal: [14, 24] + name: agent74 + start: [24, 22] +- goal: [13, 6] + name: agent75 + start: [17, 30] +- goal: [16, 30] + name: agent76 + start: [12, 17] +- goal: [20, 8] + name: agent77 + start: [30, 25] +- goal: [10, 23] + name: agent78 + start: [9, 8] +- goal: [15, 21] + name: agent79 + start: [19, 6] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [5, 22] + - !!python/tuple [24, 18] + - !!python/tuple [29, 4] + - !!python/tuple [13, 14] + - !!python/tuple [27, 13] + - !!python/tuple [25, 22] + - !!python/tuple [17, 1] + - !!python/tuple [9, 29] + - !!python/tuple [28, 17] + - !!python/tuple [17, 8] + - !!python/tuple [20, 15] + - !!python/tuple [21, 16] + - !!python/tuple [6, 28] + - !!python/tuple [19, 7] + - !!python/tuple [8, 5] + - !!python/tuple [25, 27] + - !!python/tuple [13, 9] + - !!python/tuple [15, 25] + - !!python/tuple [12, 9] + - !!python/tuple [28, 13] + - !!python/tuple [30, 28] + - !!python/tuple [23, 25] + - !!python/tuple [17, 9] + - !!python/tuple [10, 2] + - !!python/tuple [28, 16] + - !!python/tuple [26, 23] + - !!python/tuple [0, 24] + - !!python/tuple [22, 24] + - !!python/tuple [14, 28] + - !!python/tuple [9, 28] + - !!python/tuple [20, 12] + - !!python/tuple [21, 20] + - !!python/tuple [11, 27] + - !!python/tuple [2, 30] + - !!python/tuple [17, 26] + - !!python/tuple [30, 9] + - !!python/tuple [2, 13] + - !!python/tuple [9, 25] + - !!python/tuple [19, 30] + - !!python/tuple [27, 1] + - !!python/tuple [30, 29] + - !!python/tuple [1, 8] + - !!python/tuple [3, 30] + - !!python/tuple [24, 15] + - !!python/tuple [4, 1] + - !!python/tuple [29, 21] + - !!python/tuple [9, 2] + - !!python/tuple [11, 30] + - !!python/tuple [29, 30] + - !!python/tuple [2, 14] + - !!python/tuple [13, 30] + - !!python/tuple [6, 2] + - !!python/tuple [16, 27] + - !!python/tuple [30, 0] + - !!python/tuple [26, 18] + - !!python/tuple [8, 27] + - !!python/tuple [7, 13] + - !!python/tuple [31, 2] + - !!python/tuple [18, 10] + - !!python/tuple [8, 1] + - !!python/tuple [19, 1] + - !!python/tuple [26, 30] + - !!python/tuple [26, 24] + - !!python/tuple [25, 8] + - !!python/tuple [11, 23] + - !!python/tuple [3, 18] + - !!python/tuple [20, 0] + - !!python/tuple [21, 22] + - !!python/tuple [9, 24] + - !!python/tuple [22, 18] + - !!python/tuple [25, 24] + - !!python/tuple [8, 13] + - !!python/tuple [27, 23] + - !!python/tuple [19, 0] + - !!python/tuple [2, 3] + - !!python/tuple [24, 14] + - !!python/tuple [23, 5] + - !!python/tuple [22, 20] + - !!python/tuple [24, 5] + - !!python/tuple [21, 31] + - !!python/tuple [28, 4] + - !!python/tuple [24, 13] + - !!python/tuple [12, 14] + - !!python/tuple [6, 29] + - !!python/tuple [27, 22] + - !!python/tuple [17, 2] + - !!python/tuple [26, 19] + - !!python/tuple [13, 13] + - !!python/tuple [15, 9] + - !!python/tuple [6, 25] + - !!python/tuple [7, 30] + - !!python/tuple [14, 21] + - !!python/tuple [2, 16] + - !!python/tuple [24, 24] + - !!python/tuple [9, 21] + - !!python/tuple [1, 31] + - !!python/tuple [10, 31] + - !!python/tuple [27, 20] + - !!python/tuple [13, 8] + - !!python/tuple [10, 24] + - !!python/tuple [12, 12] + - !!python/tuple [15, 1] + - !!python/tuple [1, 12] + - !!python/tuple [21, 28] + - !!python/tuple [6, 0] + - !!python/tuple [23, 11] + - !!python/tuple [21, 21] + - !!python/tuple [18, 30] + - !!python/tuple [5, 15] + - !!python/tuple [9, 19] + - !!python/tuple [5, 31] + - !!python/tuple [6, 19] + - !!python/tuple [11, 11] + - !!python/tuple [22, 11] + - !!python/tuple [22, 8] + - !!python/tuple [18, 16] + - !!python/tuple [26, 5] + - !!python/tuple [29, 11] + - !!python/tuple [14, 29] + - !!python/tuple [26, 12] + - !!python/tuple [0, 29] + - !!python/tuple [0, 19] + - !!python/tuple [8, 7] + - !!python/tuple [26, 6] + - !!python/tuple [22, 19] + - !!python/tuple [17, 15] + - !!python/tuple [11, 18] + - !!python/tuple [17, 14] + - !!python/tuple [1, 19] + - !!python/tuple [21, 0] + - !!python/tuple [15, 4] + - !!python/tuple [9, 10] + - !!python/tuple [5, 28] + - !!python/tuple [16, 12] + - !!python/tuple [19, 2] + - !!python/tuple [12, 11] + - !!python/tuple [2, 23] + - !!python/tuple [8, 19] + - !!python/tuple [27, 9] + - !!python/tuple [26, 29] + - !!python/tuple [20, 20] + - !!python/tuple [2, 18] + - !!python/tuple [4, 7] + - !!python/tuple [3, 21] + - !!python/tuple [29, 17] + - !!python/tuple [18, 22] + - !!python/tuple [9, 13] + - !!python/tuple [16, 28] + - !!python/tuple [31, 7] + - !!python/tuple [25, 26] + - !!python/tuple [3, 9] + - !!python/tuple [28, 8] + - !!python/tuple [24, 17] + - !!python/tuple [12, 24] + - !!python/tuple [0, 11] + - !!python/tuple [17, 0] + - !!python/tuple [14, 19] + - !!python/tuple [26, 0] + - !!python/tuple [16, 0] + - !!python/tuple [13, 17] + - !!python/tuple [10, 7] + - !!python/tuple [15, 14] + - !!python/tuple [8, 15] + - !!python/tuple [6, 7] + - !!python/tuple [13, 11] + - !!python/tuple [1, 16] + - !!python/tuple [16, 10] + - !!python/tuple [7, 5] + - !!python/tuple [17, 24] + - !!python/tuple [8, 22] + - !!python/tuple [27, 28] + - !!python/tuple [9, 12] + - !!python/tuple [7, 31] + - !!python/tuple [31, 10] + - !!python/tuple [16, 8] + - !!python/tuple [16, 19] + - !!python/tuple [7, 20] + - !!python/tuple [0, 26] + - !!python/tuple [2, 20] + - !!python/tuple [27, 26] + - !!python/tuple [31, 6] + - !!python/tuple [20, 24] + - !!python/tuple [12, 0] + - !!python/tuple [15, 29] + - !!python/tuple [25, 30] + - !!python/tuple [3, 31] + - !!python/tuple [16, 2] + - !!python/tuple [23, 14] + - !!python/tuple [1, 24] + - !!python/tuple [14, 27] + - !!python/tuple [7, 17] + - !!python/tuple [0, 8] + - !!python/tuple [25, 1] + - !!python/tuple [10, 0] + - !!python/tuple [23, 29] + - !!python/tuple [1, 25] + - !!python/tuple [17, 31] + - !!python/tuple [1, 5] + - !!python/tuple [18, 29] + - !!python/tuple [0, 10] + - !!python/tuple [15, 26] + - !!python/tuple [4, 20] + - !!python/tuple [20, 10] + - !!python/tuple [7, 4] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex29.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex29.yaml new file mode 100644 index 0000000..22edadb --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex29.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [24, 2] + name: agent0 + start: [8, 22] +- goal: [5, 0] + name: agent1 + start: [29, 25] +- goal: [11, 0] + name: agent2 + start: [0, 6] +- goal: [17, 2] + name: agent3 + start: [5, 11] +- goal: [16, 0] + name: agent4 + start: [20, 31] +- goal: [16, 17] + name: agent5 + start: [29, 18] +- goal: [11, 30] + name: agent6 + start: [16, 15] +- goal: [7, 31] + name: agent7 + start: [26, 11] +- goal: [9, 10] + name: agent8 + start: [5, 9] +- goal: [4, 3] + name: agent9 + start: [23, 5] +- goal: [25, 22] + name: agent10 + start: [25, 17] +- goal: [12, 31] + name: agent11 + start: [2, 19] +- goal: [22, 11] + name: agent12 + start: [3, 11] +- goal: [2, 3] + name: agent13 + start: [16, 26] +- goal: [11, 18] + name: agent14 + start: [27, 16] +- goal: [16, 4] + name: agent15 + start: [5, 20] +- goal: [31, 25] + name: agent16 + start: [4, 30] +- goal: [10, 29] + name: agent17 + start: [7, 3] +- goal: [25, 13] + name: agent18 + start: [23, 16] +- goal: [18, 3] + name: agent19 + start: [24, 2] +- goal: [3, 29] + name: agent20 + start: [8, 23] +- goal: [17, 31] + name: agent21 + start: [4, 0] +- goal: [16, 16] + name: agent22 + start: [15, 26] +- goal: [7, 15] + name: agent23 + start: [20, 13] +- goal: [13, 9] + name: agent24 + start: [9, 12] +- goal: [12, 27] + name: agent25 + start: [11, 6] +- goal: [12, 21] + name: agent26 + start: [14, 13] +- goal: [7, 16] + name: agent27 + start: [7, 15] +- goal: [29, 28] + name: agent28 + start: [20, 25] +- goal: [19, 11] + name: agent29 + start: [14, 4] +- goal: [24, 12] + name: agent30 + start: [8, 2] +- goal: [7, 26] + name: agent31 + start: [29, 11] +- goal: [4, 31] + name: agent32 + start: [20, 17] +- goal: [29, 16] + name: agent33 + start: [28, 14] +- goal: [19, 10] + name: agent34 + start: [0, 27] +- goal: [26, 13] + name: agent35 + start: [25, 14] +- goal: [19, 18] + name: agent36 + start: [30, 6] +- goal: [23, 12] + name: agent37 + start: [22, 12] +- goal: [2, 24] + name: agent38 + start: [21, 6] +- goal: [21, 17] + name: agent39 + start: [29, 4] +- goal: [8, 19] + name: agent40 + start: [26, 0] +- goal: [25, 30] + name: agent41 + start: [28, 12] +- goal: [3, 5] + name: agent42 + start: [10, 10] +- goal: [9, 15] + name: agent43 + start: [8, 31] +- goal: [13, 14] + name: agent44 + start: [20, 18] +- goal: [10, 27] + name: agent45 + start: [16, 5] +- goal: [28, 11] + name: agent46 + start: [16, 1] +- goal: [29, 24] + name: agent47 + start: [29, 28] +- goal: [3, 14] + name: agent48 + start: [15, 9] +- goal: [12, 1] + name: agent49 + start: [30, 22] +- goal: [3, 9] + name: agent50 + start: [21, 4] +- goal: [19, 14] + name: agent51 + start: [9, 13] +- goal: [11, 2] + name: agent52 + start: [3, 27] +- goal: [9, 22] + name: agent53 + start: [3, 26] +- goal: [16, 12] + name: agent54 + start: [18, 5] +- goal: [25, 16] + name: agent55 + start: [23, 25] +- goal: [25, 14] + name: agent56 + start: [2, 3] +- goal: [14, 4] + name: agent57 + start: [19, 25] +- goal: [21, 24] + name: agent58 + start: [2, 27] +- goal: [2, 28] + name: agent59 + start: [1, 2] +- goal: [12, 3] + name: agent60 + start: [7, 26] +- goal: [3, 28] + name: agent61 + start: [30, 19] +- goal: [16, 7] + name: agent62 + start: [24, 17] +- goal: [20, 13] + name: agent63 + start: [7, 10] +- goal: [9, 9] + name: agent64 + start: [5, 0] +- goal: [2, 19] + name: agent65 + start: [23, 20] +- goal: [20, 9] + name: agent66 + start: [13, 19] +- goal: [18, 8] + name: agent67 + start: [21, 22] +- goal: [27, 20] + name: agent68 + start: [19, 17] +- goal: [31, 6] + name: agent69 + start: [10, 24] +- goal: [8, 22] + name: agent70 + start: [23, 6] +- goal: [18, 22] + name: agent71 + start: [7, 30] +- goal: [28, 29] + name: agent72 + start: [19, 27] +- goal: [16, 11] + name: agent73 + start: [8, 28] +- goal: [26, 4] + name: agent74 + start: [19, 7] +- goal: [14, 14] + name: agent75 + start: [9, 15] +- goal: [1, 20] + name: agent76 + start: [20, 19] +- goal: [7, 28] + name: agent77 + start: [1, 27] +- goal: [9, 19] + name: agent78 + start: [20, 10] +- goal: [6, 26] + name: agent79 + start: [27, 4] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [14, 18] + - !!python/tuple [10, 21] + - !!python/tuple [24, 9] + - !!python/tuple [4, 29] + - !!python/tuple [27, 0] + - !!python/tuple [3, 20] + - !!python/tuple [10, 31] + - !!python/tuple [26, 27] + - !!python/tuple [24, 14] + - !!python/tuple [24, 18] + - !!python/tuple [8, 26] + - !!python/tuple [29, 10] + - !!python/tuple [11, 12] + - !!python/tuple [15, 13] + - !!python/tuple [1, 9] + - !!python/tuple [18, 26] + - !!python/tuple [22, 7] + - !!python/tuple [4, 17] + - !!python/tuple [30, 29] + - !!python/tuple [12, 23] + - !!python/tuple [27, 2] + - !!python/tuple [13, 3] + - !!python/tuple [28, 22] + - !!python/tuple [2, 31] + - !!python/tuple [25, 18] + - !!python/tuple [28, 19] + - !!python/tuple [12, 11] + - !!python/tuple [17, 1] + - !!python/tuple [29, 7] + - !!python/tuple [2, 20] + - !!python/tuple [18, 10] + - !!python/tuple [8, 1] + - !!python/tuple [17, 19] + - !!python/tuple [11, 4] + - !!python/tuple [14, 16] + - !!python/tuple [23, 22] + - !!python/tuple [15, 21] + - !!python/tuple [9, 8] + - !!python/tuple [17, 29] + - !!python/tuple [22, 28] + - !!python/tuple [13, 25] + - !!python/tuple [29, 9] + - !!python/tuple [27, 28] + - !!python/tuple [1, 5] + - !!python/tuple [29, 21] + - !!python/tuple [0, 25] + - !!python/tuple [8, 11] + - !!python/tuple [5, 8] + - !!python/tuple [7, 25] + - !!python/tuple [18, 31] + - !!python/tuple [14, 31] + - !!python/tuple [12, 28] + - !!python/tuple [17, 26] + - !!python/tuple [0, 28] + - !!python/tuple [23, 8] + - !!python/tuple [26, 25] + - !!python/tuple [4, 11] + - !!python/tuple [1, 26] + - !!python/tuple [10, 0] + - !!python/tuple [10, 5] + - !!python/tuple [4, 1] + - !!python/tuple [3, 18] + - !!python/tuple [17, 11] + - !!python/tuple [11, 17] + - !!python/tuple [9, 4] + - !!python/tuple [8, 7] + - !!python/tuple [12, 15] + - !!python/tuple [3, 6] + - !!python/tuple [20, 11] + - !!python/tuple [31, 31] + - !!python/tuple [27, 30] + - !!python/tuple [12, 9] + - !!python/tuple [20, 27] + - !!python/tuple [24, 0] + - !!python/tuple [8, 9] + - !!python/tuple [21, 14] + - !!python/tuple [27, 22] + - !!python/tuple [22, 18] + - !!python/tuple [20, 14] + - !!python/tuple [5, 21] + - !!python/tuple [23, 28] + - !!python/tuple [28, 0] + - !!python/tuple [5, 7] + - !!python/tuple [14, 22] + - !!python/tuple [29, 30] + - !!python/tuple [28, 26] + - !!python/tuple [4, 12] + - !!python/tuple [21, 2] + - !!python/tuple [6, 20] + - !!python/tuple [12, 7] + - !!python/tuple [14, 26] + - !!python/tuple [19, 26] + - !!python/tuple [22, 29] + - !!python/tuple [26, 17] + - !!python/tuple [15, 8] + - !!python/tuple [30, 15] + - !!python/tuple [26, 24] + - !!python/tuple [22, 21] + - !!python/tuple [2, 21] + - !!python/tuple [15, 29] + - !!python/tuple [22, 19] + - !!python/tuple [14, 21] + - !!python/tuple [2, 9] + - !!python/tuple [17, 14] + - !!python/tuple [22, 31] + - !!python/tuple [24, 8] + - !!python/tuple [1, 18] + - !!python/tuple [6, 22] + - !!python/tuple [1, 22] + - !!python/tuple [22, 24] + - !!python/tuple [31, 24] + - !!python/tuple [0, 13] + - !!python/tuple [31, 23] + - !!python/tuple [23, 7] + - !!python/tuple [17, 0] + - !!python/tuple [29, 19] + - !!python/tuple [24, 3] + - !!python/tuple [2, 29] + - !!python/tuple [4, 21] + - !!python/tuple [19, 4] + - !!python/tuple [1, 14] + - !!python/tuple [19, 28] + - !!python/tuple [6, 5] + - !!python/tuple [22, 15] + - !!python/tuple [19, 31] + - !!python/tuple [3, 8] + - !!python/tuple [29, 15] + - !!python/tuple [8, 12] + - !!python/tuple [23, 1] + - !!python/tuple [21, 9] + - !!python/tuple [22, 30] + - !!python/tuple [6, 24] + - !!python/tuple [30, 25] + - !!python/tuple [16, 31] + - !!python/tuple [22, 17] + - !!python/tuple [2, 22] + - !!python/tuple [21, 1] + - !!python/tuple [9, 31] + - !!python/tuple [23, 0] + - !!python/tuple [10, 13] + - !!python/tuple [18, 14] + - !!python/tuple [12, 10] + - !!python/tuple [17, 20] + - !!python/tuple [19, 6] + - !!python/tuple [28, 21] + - !!python/tuple [13, 26] + - !!python/tuple [2, 1] + - !!python/tuple [12, 26] + - !!python/tuple [30, 11] + - !!python/tuple [23, 9] + - !!python/tuple [2, 14] + - !!python/tuple [13, 27] + - !!python/tuple [6, 1] + - !!python/tuple [7, 8] + - !!python/tuple [23, 2] + - !!python/tuple [21, 20] + - !!python/tuple [2, 10] + - !!python/tuple [16, 13] + - !!python/tuple [14, 7] + - !!python/tuple [25, 1] + - !!python/tuple [6, 21] + - !!python/tuple [0, 2] + - !!python/tuple [28, 23] + - !!python/tuple [31, 7] + - !!python/tuple [22, 20] + - !!python/tuple [3, 1] + - !!python/tuple [31, 28] + - !!python/tuple [23, 19] + - !!python/tuple [7, 1] + - !!python/tuple [19, 23] + - !!python/tuple [11, 24] + - !!python/tuple [30, 5] + - !!python/tuple [10, 17] + - !!python/tuple [29, 12] + - !!python/tuple [31, 0] + - !!python/tuple [9, 1] + - !!python/tuple [17, 28] + - !!python/tuple [11, 26] + - !!python/tuple [27, 5] + - !!python/tuple [6, 16] + - !!python/tuple [30, 0] + - !!python/tuple [19, 2] + - !!python/tuple [3, 3] + - !!python/tuple [20, 4] + - !!python/tuple [4, 13] + - !!python/tuple [1, 1] + - !!python/tuple [24, 11] + - !!python/tuple [15, 3] + - !!python/tuple [8, 4] + - !!python/tuple [16, 30] + - !!python/tuple [26, 20] + - !!python/tuple [15, 15] + - !!python/tuple [1, 23] + - !!python/tuple [12, 14] + - !!python/tuple [3, 25] + - !!python/tuple [1, 0] + - !!python/tuple [11, 20] + - !!python/tuple [1, 17] + - !!python/tuple [21, 16] + - !!python/tuple [2, 25] + - !!python/tuple [3, 15] + - !!python/tuple [19, 20] + - !!python/tuple [4, 22] + - !!python/tuple [7, 20] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex3.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex3.yaml new file mode 100644 index 0000000..6732eeb --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex3.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [28, 1] + name: agent0 + start: [3, 6] +- goal: [29, 16] + name: agent1 + start: [2, 23] +- goal: [21, 27] + name: agent2 + start: [11, 21] +- goal: [7, 17] + name: agent3 + start: [24, 27] +- goal: [3, 13] + name: agent4 + start: [24, 6] +- goal: [1, 10] + name: agent5 + start: [16, 30] +- goal: [5, 25] + name: agent6 + start: [24, 5] +- goal: [29, 27] + name: agent7 + start: [22, 7] +- goal: [2, 22] + name: agent8 + start: [20, 13] +- goal: [18, 18] + name: agent9 + start: [6, 27] +- goal: [4, 24] + name: agent10 + start: [31, 17] +- goal: [1, 0] + name: agent11 + start: [29, 15] +- goal: [21, 23] + name: agent12 + start: [22, 24] +- goal: [3, 29] + name: agent13 + start: [19, 15] +- goal: [4, 27] + name: agent14 + start: [22, 6] +- goal: [7, 31] + name: agent15 + start: [1, 18] +- goal: [12, 16] + name: agent16 + start: [5, 12] +- goal: [27, 20] + name: agent17 + start: [13, 23] +- goal: [16, 22] + name: agent18 + start: [9, 1] +- goal: [27, 4] + name: agent19 + start: [31, 16] +- goal: [15, 10] + name: agent20 + start: [4, 24] +- goal: [24, 16] + name: agent21 + start: [27, 24] +- goal: [8, 17] + name: agent22 + start: [8, 8] +- goal: [17, 20] + name: agent23 + start: [2, 13] +- goal: [22, 21] + name: agent24 + start: [17, 26] +- goal: [13, 2] + name: agent25 + start: [7, 13] +- goal: [30, 17] + name: agent26 + start: [27, 29] +- goal: [17, 6] + name: agent27 + start: [25, 26] +- goal: [8, 31] + name: agent28 + start: [16, 29] +- goal: [30, 14] + name: agent29 + start: [19, 8] +- goal: [20, 10] + name: agent30 + start: [16, 3] +- goal: [21, 5] + name: agent31 + start: [19, 0] +- goal: [26, 17] + name: agent32 + start: [4, 23] +- goal: [3, 7] + name: agent33 + start: [24, 29] +- goal: [17, 27] + name: agent34 + start: [25, 6] +- goal: [22, 0] + name: agent35 + start: [1, 12] +- goal: [26, 23] + name: agent36 + start: [31, 3] +- goal: [23, 12] + name: agent37 + start: [6, 5] +- goal: [24, 11] + name: agent38 + start: [12, 0] +- goal: [8, 6] + name: agent39 + start: [12, 31] +- goal: [20, 27] + name: agent40 + start: [20, 15] +- goal: [2, 21] + name: agent41 + start: [28, 30] +- goal: [6, 24] + name: agent42 + start: [28, 12] +- goal: [5, 29] + name: agent43 + start: [20, 10] +- goal: [27, 26] + name: agent44 + start: [15, 10] +- goal: [20, 30] + name: agent45 + start: [31, 25] +- goal: [2, 26] + name: agent46 + start: [13, 8] +- goal: [17, 26] + name: agent47 + start: [1, 0] +- goal: [21, 1] + name: agent48 + start: [12, 8] +- goal: [0, 20] + name: agent49 + start: [23, 0] +- goal: [17, 23] + name: agent50 + start: [23, 26] +- goal: [20, 31] + name: agent51 + start: [20, 0] +- goal: [26, 31] + name: agent52 + start: [3, 18] +- goal: [8, 4] + name: agent53 + start: [23, 4] +- goal: [23, 8] + name: agent54 + start: [20, 14] +- goal: [11, 4] + name: agent55 + start: [21, 19] +- goal: [25, 22] + name: agent56 + start: [29, 1] +- goal: [22, 25] + name: agent57 + start: [11, 7] +- goal: [0, 12] + name: agent58 + start: [30, 29] +- goal: [16, 3] + name: agent59 + start: [26, 19] +- goal: [20, 24] + name: agent60 + start: [9, 7] +- goal: [0, 10] + name: agent61 + start: [10, 0] +- goal: [0, 30] + name: agent62 + start: [28, 9] +- goal: [1, 28] + name: agent63 + start: [19, 2] +- goal: [2, 2] + name: agent64 + start: [19, 29] +- goal: [28, 0] + name: agent65 + start: [22, 12] +- goal: [0, 4] + name: agent66 + start: [6, 24] +- goal: [11, 31] + name: agent67 + start: [25, 27] +- goal: [14, 31] + name: agent68 + start: [11, 27] +- goal: [14, 17] + name: agent69 + start: [21, 11] +- goal: [8, 14] + name: agent70 + start: [20, 16] +- goal: [18, 16] + name: agent71 + start: [19, 3] +- goal: [15, 5] + name: agent72 + start: [5, 18] +- goal: [1, 19] + name: agent73 + start: [28, 18] +- goal: [20, 14] + name: agent74 + start: [28, 17] +- goal: [25, 16] + name: agent75 + start: [30, 27] +- goal: [28, 13] + name: agent76 + start: [3, 27] +- goal: [2, 5] + name: agent77 + start: [25, 5] +- goal: [31, 9] + name: agent78 + start: [31, 26] +- goal: [14, 26] + name: agent79 + start: [27, 28] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [29, 12] + - !!python/tuple [9, 2] + - !!python/tuple [9, 11] + - !!python/tuple [6, 17] + - !!python/tuple [1, 15] + - !!python/tuple [2, 29] + - !!python/tuple [3, 0] + - !!python/tuple [26, 30] + - !!python/tuple [25, 30] + - !!python/tuple [31, 19] + - !!python/tuple [22, 20] + - !!python/tuple [22, 28] + - !!python/tuple [25, 21] + - !!python/tuple [26, 21] + - !!python/tuple [25, 4] + - !!python/tuple [2, 20] + - !!python/tuple [11, 30] + - !!python/tuple [4, 11] + - !!python/tuple [8, 13] + - !!python/tuple [22, 1] + - !!python/tuple [18, 21] + - !!python/tuple [5, 24] + - !!python/tuple [28, 14] + - !!python/tuple [15, 17] + - !!python/tuple [19, 30] + - !!python/tuple [29, 30] + - !!python/tuple [26, 6] + - !!python/tuple [30, 5] + - !!python/tuple [24, 3] + - !!python/tuple [14, 2] + - !!python/tuple [20, 28] + - !!python/tuple [13, 24] + - !!python/tuple [7, 25] + - !!python/tuple [6, 15] + - !!python/tuple [29, 19] + - !!python/tuple [19, 7] + - !!python/tuple [11, 3] + - !!python/tuple [11, 22] + - !!python/tuple [29, 24] + - !!python/tuple [15, 2] + - !!python/tuple [0, 17] + - !!python/tuple [21, 18] + - !!python/tuple [22, 2] + - !!python/tuple [16, 8] + - !!python/tuple [18, 13] + - !!python/tuple [28, 19] + - !!python/tuple [1, 1] + - !!python/tuple [26, 16] + - !!python/tuple [30, 1] + - !!python/tuple [1, 16] + - !!python/tuple [7, 16] + - !!python/tuple [7, 27] + - !!python/tuple [2, 14] + - !!python/tuple [30, 24] + - !!python/tuple [7, 1] + - !!python/tuple [12, 9] + - !!python/tuple [20, 21] + - !!python/tuple [27, 0] + - !!python/tuple [27, 10] + - !!python/tuple [22, 30] + - !!python/tuple [27, 18] + - !!python/tuple [2, 16] + - !!python/tuple [18, 3] + - !!python/tuple [29, 31] + - !!python/tuple [18, 29] + - !!python/tuple [11, 24] + - !!python/tuple [3, 8] + - !!python/tuple [20, 2] + - !!python/tuple [3, 3] + - !!python/tuple [9, 10] + - !!python/tuple [10, 23] + - !!python/tuple [24, 17] + - !!python/tuple [15, 7] + - !!python/tuple [21, 16] + - !!python/tuple [0, 31] + - !!python/tuple [4, 16] + - !!python/tuple [27, 14] + - !!python/tuple [1, 6] + - !!python/tuple [14, 25] + - !!python/tuple [12, 30] + - !!python/tuple [21, 3] + - !!python/tuple [15, 23] + - !!python/tuple [31, 11] + - !!python/tuple [5, 1] + - !!python/tuple [2, 3] + - !!python/tuple [4, 31] + - !!python/tuple [9, 21] + - !!python/tuple [13, 0] + - !!python/tuple [0, 13] + - !!python/tuple [27, 22] + - !!python/tuple [29, 11] + - !!python/tuple [1, 3] + - !!python/tuple [2, 10] + - !!python/tuple [2, 11] + - !!python/tuple [8, 2] + - !!python/tuple [19, 23] + - !!python/tuple [25, 12] + - !!python/tuple [29, 28] + - !!python/tuple [4, 25] + - !!python/tuple [0, 27] + - !!python/tuple [14, 28] + - !!python/tuple [15, 0] + - !!python/tuple [8, 27] + - !!python/tuple [20, 3] + - !!python/tuple [19, 26] + - !!python/tuple [24, 20] + - !!python/tuple [29, 10] + - !!python/tuple [1, 9] + - !!python/tuple [17, 3] + - !!python/tuple [28, 26] + - !!python/tuple [26, 27] + - !!python/tuple [12, 15] + - !!python/tuple [14, 1] + - !!python/tuple [12, 27] + - !!python/tuple [2, 8] + - !!python/tuple [17, 17] + - !!python/tuple [20, 11] + - !!python/tuple [1, 25] + - !!python/tuple [13, 22] + - !!python/tuple [23, 24] + - !!python/tuple [5, 2] + - !!python/tuple [3, 5] + - !!python/tuple [25, 24] + - !!python/tuple [22, 18] + - !!python/tuple [7, 8] + - !!python/tuple [6, 29] + - !!python/tuple [20, 9] + - !!python/tuple [31, 20] + - !!python/tuple [26, 4] + - !!python/tuple [9, 14] + - !!python/tuple [11, 17] + - !!python/tuple [9, 24] + - !!python/tuple [7, 11] + - !!python/tuple [6, 21] + - !!python/tuple [1, 17] + - !!python/tuple [29, 13] + - !!python/tuple [20, 20] + - !!python/tuple [14, 9] + - !!python/tuple [17, 11] + - !!python/tuple [17, 1] + - !!python/tuple [22, 4] + - !!python/tuple [0, 19] + - !!python/tuple [4, 4] + - !!python/tuple [24, 1] + - !!python/tuple [16, 20] + - !!python/tuple [30, 22] + - !!python/tuple [11, 25] + - !!python/tuple [17, 22] + - !!python/tuple [28, 25] + - !!python/tuple [18, 2] + - !!python/tuple [7, 0] + - !!python/tuple [29, 2] + - !!python/tuple [10, 4] + - !!python/tuple [15, 13] + - !!python/tuple [15, 19] + - !!python/tuple [19, 4] + - !!python/tuple [20, 18] + - !!python/tuple [18, 1] + - !!python/tuple [2, 28] + - !!python/tuple [30, 13] + - !!python/tuple [1, 14] + - !!python/tuple [15, 30] + - !!python/tuple [20, 7] + - !!python/tuple [2, 31] + - !!python/tuple [30, 23] + - !!python/tuple [28, 31] + - !!python/tuple [4, 5] + - !!python/tuple [8, 25] + - !!python/tuple [24, 25] + - !!python/tuple [21, 31] + - !!python/tuple [10, 26] + - !!python/tuple [21, 0] + - !!python/tuple [5, 16] + - !!python/tuple [14, 3] + - !!python/tuple [2, 6] + - !!python/tuple [21, 8] + - !!python/tuple [9, 17] + - !!python/tuple [3, 21] + - !!python/tuple [29, 0] + - !!python/tuple [31, 10] + - !!python/tuple [8, 22] + - !!python/tuple [8, 3] + - !!python/tuple [12, 2] + - !!python/tuple [7, 23] + - !!python/tuple [26, 12] + - !!python/tuple [3, 10] + - !!python/tuple [24, 7] + - !!python/tuple [23, 23] + - !!python/tuple [3, 25] + - !!python/tuple [20, 6] + - !!python/tuple [30, 10] + - !!python/tuple [30, 26] + - !!python/tuple [26, 5] + - !!python/tuple [5, 20] + - !!python/tuple [11, 1] + - !!python/tuple [10, 8] + - !!python/tuple [23, 29] + - !!python/tuple [1, 5] + - !!python/tuple [18, 8] + - !!python/tuple [14, 21] + - !!python/tuple [25, 0] + - !!python/tuple [16, 31] + - !!python/tuple [27, 11] + - !!python/tuple [31, 1] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex30.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex30.yaml new file mode 100644 index 0000000..8b6bd0b --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex30.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [1, 8] + name: agent0 + start: [14, 18] +- goal: [10, 29] + name: agent1 + start: [16, 28] +- goal: [16, 1] + name: agent2 + start: [28, 1] +- goal: [22, 13] + name: agent3 + start: [10, 0] +- goal: [24, 3] + name: agent4 + start: [13, 1] +- goal: [19, 4] + name: agent5 + start: [3, 10] +- goal: [21, 4] + name: agent6 + start: [0, 28] +- goal: [18, 19] + name: agent7 + start: [21, 6] +- goal: [16, 26] + name: agent8 + start: [20, 16] +- goal: [14, 25] + name: agent9 + start: [24, 27] +- goal: [28, 7] + name: agent10 + start: [31, 31] +- goal: [5, 21] + name: agent11 + start: [11, 15] +- goal: [19, 10] + name: agent12 + start: [19, 14] +- goal: [11, 31] + name: agent13 + start: [26, 14] +- goal: [14, 5] + name: agent14 + start: [9, 0] +- goal: [1, 1] + name: agent15 + start: [28, 17] +- goal: [0, 1] + name: agent16 + start: [10, 8] +- goal: [14, 19] + name: agent17 + start: [1, 4] +- goal: [29, 28] + name: agent18 + start: [18, 9] +- goal: [5, 7] + name: agent19 + start: [18, 10] +- goal: [10, 30] + name: agent20 + start: [20, 21] +- goal: [0, 4] + name: agent21 + start: [12, 5] +- goal: [5, 1] + name: agent22 + start: [14, 7] +- goal: [11, 27] + name: agent23 + start: [1, 19] +- goal: [12, 30] + name: agent24 + start: [6, 16] +- goal: [29, 9] + name: agent25 + start: [3, 16] +- goal: [20, 1] + name: agent26 + start: [19, 5] +- goal: [27, 15] + name: agent27 + start: [13, 17] +- goal: [0, 7] + name: agent28 + start: [25, 25] +- goal: [5, 25] + name: agent29 + start: [13, 3] +- goal: [21, 15] + name: agent30 + start: [21, 19] +- goal: [2, 10] + name: agent31 + start: [22, 5] +- goal: [3, 19] + name: agent32 + start: [22, 25] +- goal: [9, 11] + name: agent33 + start: [2, 20] +- goal: [24, 22] + name: agent34 + start: [2, 28] +- goal: [7, 12] + name: agent35 + start: [24, 19] +- goal: [15, 28] + name: agent36 + start: [26, 6] +- goal: [22, 23] + name: agent37 + start: [23, 11] +- goal: [13, 2] + name: agent38 + start: [14, 0] +- goal: [28, 26] + name: agent39 + start: [9, 28] +- goal: [29, 27] + name: agent40 + start: [23, 22] +- goal: [24, 24] + name: agent41 + start: [15, 13] +- goal: [18, 18] + name: agent42 + start: [22, 26] +- goal: [1, 27] + name: agent43 + start: [20, 1] +- goal: [18, 12] + name: agent44 + start: [17, 11] +- goal: [15, 14] + name: agent45 + start: [25, 3] +- goal: [4, 29] + name: agent46 + start: [2, 22] +- goal: [17, 23] + name: agent47 + start: [22, 22] +- goal: [13, 22] + name: agent48 + start: [6, 27] +- goal: [4, 7] + name: agent49 + start: [5, 1] +- goal: [16, 14] + name: agent50 + start: [2, 1] +- goal: [15, 21] + name: agent51 + start: [24, 13] +- goal: [6, 1] + name: agent52 + start: [12, 19] +- goal: [29, 2] + name: agent53 + start: [4, 30] +- goal: [9, 31] + name: agent54 + start: [23, 7] +- goal: [29, 4] + name: agent55 + start: [21, 3] +- goal: [17, 14] + name: agent56 + start: [1, 5] +- goal: [21, 21] + name: agent57 + start: [29, 26] +- goal: [26, 0] + name: agent58 + start: [3, 6] +- goal: [20, 13] + name: agent59 + start: [6, 30] +- goal: [23, 16] + name: agent60 + start: [13, 2] +- goal: [4, 14] + name: agent61 + start: [16, 31] +- goal: [14, 11] + name: agent62 + start: [8, 4] +- goal: [17, 9] + name: agent63 + start: [0, 5] +- goal: [10, 7] + name: agent64 + start: [4, 9] +- goal: [8, 18] + name: agent65 + start: [13, 19] +- goal: [25, 9] + name: agent66 + start: [14, 13] +- goal: [15, 6] + name: agent67 + start: [13, 30] +- goal: [25, 1] + name: agent68 + start: [15, 4] +- goal: [6, 14] + name: agent69 + start: [6, 6] +- goal: [22, 30] + name: agent70 + start: [30, 28] +- goal: [30, 25] + name: agent71 + start: [7, 12] +- goal: [14, 13] + name: agent72 + start: [24, 16] +- goal: [9, 2] + name: agent73 + start: [19, 17] +- goal: [8, 22] + name: agent74 + start: [14, 4] +- goal: [22, 2] + name: agent75 + start: [30, 11] +- goal: [20, 17] + name: agent76 + start: [25, 22] +- goal: [20, 3] + name: agent77 + start: [0, 21] +- goal: [19, 11] + name: agent78 + start: [8, 16] +- goal: [25, 15] + name: agent79 + start: [12, 17] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [8, 10] + - !!python/tuple [24, 18] + - !!python/tuple [6, 15] + - !!python/tuple [13, 27] + - !!python/tuple [25, 23] + - !!python/tuple [3, 20] + - !!python/tuple [17, 27] + - !!python/tuple [20, 2] + - !!python/tuple [0, 6] + - !!python/tuple [31, 15] + - !!python/tuple [19, 22] + - !!python/tuple [26, 21] + - !!python/tuple [15, 16] + - !!python/tuple [10, 18] + - !!python/tuple [17, 30] + - !!python/tuple [19, 13] + - !!python/tuple [8, 6] + - !!python/tuple [26, 29] + - !!python/tuple [18, 31] + - !!python/tuple [28, 31] + - !!python/tuple [26, 31] + - !!python/tuple [18, 22] + - !!python/tuple [13, 6] + - !!python/tuple [20, 28] + - !!python/tuple [26, 22] + - !!python/tuple [8, 23] + - !!python/tuple [31, 9] + - !!python/tuple [20, 6] + - !!python/tuple [31, 19] + - !!python/tuple [16, 2] + - !!python/tuple [17, 10] + - !!python/tuple [12, 22] + - !!python/tuple [16, 25] + - !!python/tuple [23, 13] + - !!python/tuple [12, 26] + - !!python/tuple [4, 13] + - !!python/tuple [5, 19] + - !!python/tuple [27, 16] + - !!python/tuple [6, 17] + - !!python/tuple [22, 28] + - !!python/tuple [17, 29] + - !!python/tuple [29, 3] + - !!python/tuple [12, 15] + - !!python/tuple [3, 14] + - !!python/tuple [3, 25] + - !!python/tuple [6, 18] + - !!python/tuple [27, 6] + - !!python/tuple [25, 26] + - !!python/tuple [13, 10] + - !!python/tuple [3, 17] + - !!python/tuple [11, 23] + - !!python/tuple [17, 16] + - !!python/tuple [14, 1] + - !!python/tuple [14, 15] + - !!python/tuple [29, 15] + - !!python/tuple [0, 30] + - !!python/tuple [0, 29] + - !!python/tuple [1, 9] + - !!python/tuple [31, 22] + - !!python/tuple [2, 11] + - !!python/tuple [11, 14] + - !!python/tuple [31, 7] + - !!python/tuple [24, 5] + - !!python/tuple [24, 20] + - !!python/tuple [9, 26] + - !!python/tuple [4, 18] + - !!python/tuple [16, 22] + - !!python/tuple [2, 25] + - !!python/tuple [22, 0] + - !!python/tuple [1, 6] + - !!python/tuple [17, 31] + - !!python/tuple [0, 17] + - !!python/tuple [9, 13] + - !!python/tuple [23, 28] + - !!python/tuple [31, 30] + - !!python/tuple [22, 17] + - !!python/tuple [22, 29] + - !!python/tuple [11, 11] + - !!python/tuple [28, 28] + - !!python/tuple [30, 5] + - !!python/tuple [18, 21] + - !!python/tuple [26, 18] + - !!python/tuple [29, 21] + - !!python/tuple [21, 26] + - !!python/tuple [29, 24] + - !!python/tuple [25, 4] + - !!python/tuple [18, 7] + - !!python/tuple [10, 9] + - !!python/tuple [30, 17] + - !!python/tuple [7, 0] + - !!python/tuple [10, 24] + - !!python/tuple [3, 8] + - !!python/tuple [31, 18] + - !!python/tuple [6, 23] + - !!python/tuple [10, 26] + - !!python/tuple [17, 2] + - !!python/tuple [5, 15] + - !!python/tuple [15, 31] + - !!python/tuple [28, 24] + - !!python/tuple [8, 30] + - !!python/tuple [26, 15] + - !!python/tuple [25, 30] + - !!python/tuple [8, 20] + - !!python/tuple [14, 31] + - !!python/tuple [8, 27] + - !!python/tuple [1, 7] + - !!python/tuple [12, 29] + - !!python/tuple [23, 0] + - !!python/tuple [25, 31] + - !!python/tuple [5, 29] + - !!python/tuple [1, 29] + - !!python/tuple [7, 25] + - !!python/tuple [23, 14] + - !!python/tuple [26, 20] + - !!python/tuple [27, 19] + - !!python/tuple [28, 12] + - !!python/tuple [21, 0] + - !!python/tuple [7, 18] + - !!python/tuple [9, 5] + - !!python/tuple [7, 20] + - !!python/tuple [5, 10] + - !!python/tuple [16, 18] + - !!python/tuple [31, 2] + - !!python/tuple [31, 28] + - !!python/tuple [10, 14] + - !!python/tuple [23, 10] + - !!python/tuple [10, 12] + - !!python/tuple [11, 21] + - !!python/tuple [1, 3] + - !!python/tuple [9, 19] + - !!python/tuple [2, 13] + - !!python/tuple [31, 11] + - !!python/tuple [19, 6] + - !!python/tuple [28, 21] + - !!python/tuple [0, 26] + - !!python/tuple [30, 21] + - !!python/tuple [21, 7] + - !!python/tuple [16, 6] + - !!python/tuple [2, 18] + - !!python/tuple [3, 5] + - !!python/tuple [10, 28] + - !!python/tuple [11, 2] + - !!python/tuple [30, 26] + - !!python/tuple [18, 29] + - !!python/tuple [25, 13] + - !!python/tuple [26, 12] + - !!python/tuple [27, 26] + - !!python/tuple [2, 16] + - !!python/tuple [0, 16] + - !!python/tuple [26, 13] + - !!python/tuple [30, 8] + - !!python/tuple [6, 8] + - !!python/tuple [28, 0] + - !!python/tuple [6, 24] + - !!python/tuple [21, 20] + - !!python/tuple [13, 13] + - !!python/tuple [11, 12] + - !!python/tuple [7, 14] + - !!python/tuple [4, 0] + - !!python/tuple [5, 6] + - !!python/tuple [13, 21] + - !!python/tuple [1, 28] + - !!python/tuple [25, 21] + - !!python/tuple [27, 21] + - !!python/tuple [25, 24] + - !!python/tuple [26, 2] + - !!python/tuple [13, 4] + - !!python/tuple [7, 24] + - !!python/tuple [12, 10] + - !!python/tuple [21, 18] + - !!python/tuple [14, 27] + - !!python/tuple [28, 22] + - !!python/tuple [30, 15] + - !!python/tuple [11, 28] + - !!python/tuple [10, 1] + - !!python/tuple [9, 24] + - !!python/tuple [24, 26] + - !!python/tuple [19, 16] + - !!python/tuple [9, 8] + - !!python/tuple [2, 17] + - !!python/tuple [11, 7] + - !!python/tuple [30, 0] + - !!python/tuple [29, 19] + - !!python/tuple [24, 12] + - !!python/tuple [24, 23] + - !!python/tuple [17, 0] + - !!python/tuple [8, 14] + - !!python/tuple [14, 10] + - !!python/tuple [20, 31] + - !!python/tuple [1, 14] + - !!python/tuple [13, 25] + - !!python/tuple [16, 27] + - !!python/tuple [12, 6] + - !!python/tuple [6, 13] + - !!python/tuple [10, 22] + - !!python/tuple [2, 7] + - !!python/tuple [15, 30] + - !!python/tuple [6, 29] + - !!python/tuple [13, 23] + - !!python/tuple [28, 9] + - !!python/tuple [17, 3] + - !!python/tuple [20, 12] + - !!python/tuple [7, 7] + - !!python/tuple [18, 27] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex31.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex31.yaml new file mode 100644 index 0000000..e38a8b8 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex31.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [2, 22] + name: agent0 + start: [20, 9] +- goal: [7, 3] + name: agent1 + start: [11, 22] +- goal: [22, 30] + name: agent2 + start: [31, 27] +- goal: [22, 26] + name: agent3 + start: [18, 16] +- goal: [17, 31] + name: agent4 + start: [1, 13] +- goal: [15, 17] + name: agent5 + start: [23, 22] +- goal: [16, 8] + name: agent6 + start: [1, 26] +- goal: [21, 13] + name: agent7 + start: [20, 3] +- goal: [21, 1] + name: agent8 + start: [28, 21] +- goal: [4, 6] + name: agent9 + start: [7, 18] +- goal: [0, 19] + name: agent10 + start: [30, 22] +- goal: [28, 2] + name: agent11 + start: [18, 11] +- goal: [11, 9] + name: agent12 + start: [4, 22] +- goal: [16, 20] + name: agent13 + start: [10, 24] +- goal: [30, 14] + name: agent14 + start: [2, 15] +- goal: [26, 6] + name: agent15 + start: [9, 17] +- goal: [23, 25] + name: agent16 + start: [10, 6] +- goal: [26, 24] + name: agent17 + start: [0, 19] +- goal: [29, 28] + name: agent18 + start: [0, 29] +- goal: [23, 20] + name: agent19 + start: [10, 11] +- goal: [16, 25] + name: agent20 + start: [3, 15] +- goal: [16, 21] + name: agent21 + start: [1, 11] +- goal: [25, 5] + name: agent22 + start: [19, 26] +- goal: [3, 25] + name: agent23 + start: [27, 6] +- goal: [0, 29] + name: agent24 + start: [31, 24] +- goal: [28, 17] + name: agent25 + start: [7, 2] +- goal: [20, 17] + name: agent26 + start: [31, 21] +- goal: [2, 24] + name: agent27 + start: [19, 20] +- goal: [20, 21] + name: agent28 + start: [10, 8] +- goal: [9, 8] + name: agent29 + start: [21, 17] +- goal: [16, 5] + name: agent30 + start: [6, 28] +- goal: [6, 4] + name: agent31 + start: [14, 21] +- goal: [8, 9] + name: agent32 + start: [25, 11] +- goal: [27, 29] + name: agent33 + start: [0, 22] +- goal: [29, 4] + name: agent34 + start: [23, 21] +- goal: [0, 24] + name: agent35 + start: [28, 7] +- goal: [27, 6] + name: agent36 + start: [20, 6] +- goal: [5, 2] + name: agent37 + start: [18, 22] +- goal: [17, 3] + name: agent38 + start: [3, 0] +- goal: [6, 16] + name: agent39 + start: [23, 12] +- goal: [19, 20] + name: agent40 + start: [28, 4] +- goal: [3, 27] + name: agent41 + start: [21, 4] +- goal: [26, 19] + name: agent42 + start: [22, 6] +- goal: [31, 27] + name: agent43 + start: [29, 21] +- goal: [6, 18] + name: agent44 + start: [6, 20] +- goal: [18, 28] + name: agent45 + start: [12, 8] +- goal: [3, 9] + name: agent46 + start: [21, 18] +- goal: [10, 12] + name: agent47 + start: [31, 2] +- goal: [26, 0] + name: agent48 + start: [29, 2] +- goal: [11, 13] + name: agent49 + start: [5, 18] +- goal: [3, 20] + name: agent50 + start: [5, 2] +- goal: [10, 15] + name: agent51 + start: [15, 14] +- goal: [28, 25] + name: agent52 + start: [4, 21] +- goal: [6, 3] + name: agent53 + start: [30, 18] +- goal: [12, 8] + name: agent54 + start: [16, 12] +- goal: [1, 31] + name: agent55 + start: [24, 26] +- goal: [1, 17] + name: agent56 + start: [17, 29] +- goal: [3, 5] + name: agent57 + start: [26, 25] +- goal: [6, 30] + name: agent58 + start: [2, 4] +- goal: [0, 13] + name: agent59 + start: [17, 30] +- goal: [21, 26] + name: agent60 + start: [15, 17] +- goal: [24, 23] + name: agent61 + start: [28, 8] +- goal: [9, 15] + name: agent62 + start: [20, 13] +- goal: [19, 29] + name: agent63 + start: [2, 26] +- goal: [25, 22] + name: agent64 + start: [29, 6] +- goal: [31, 0] + name: agent65 + start: [23, 28] +- goal: [21, 30] + name: agent66 + start: [22, 2] +- goal: [8, 10] + name: agent67 + start: [4, 24] +- goal: [4, 21] + name: agent68 + start: [24, 21] +- goal: [0, 26] + name: agent69 + start: [29, 5] +- goal: [17, 26] + name: agent70 + start: [30, 14] +- goal: [13, 24] + name: agent71 + start: [15, 9] +- goal: [27, 12] + name: agent72 + start: [16, 25] +- goal: [12, 26] + name: agent73 + start: [18, 20] +- goal: [11, 27] + name: agent74 + start: [14, 0] +- goal: [10, 18] + name: agent75 + start: [27, 30] +- goal: [17, 19] + name: agent76 + start: [7, 30] +- goal: [2, 23] + name: agent77 + start: [18, 25] +- goal: [28, 0] + name: agent78 + start: [30, 28] +- goal: [13, 3] + name: agent79 + start: [16, 18] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [0, 6] + - !!python/tuple [5, 24] + - !!python/tuple [31, 30] + - !!python/tuple [16, 27] + - !!python/tuple [18, 6] + - !!python/tuple [13, 13] + - !!python/tuple [3, 22] + - !!python/tuple [0, 20] + - !!python/tuple [20, 14] + - !!python/tuple [23, 7] + - !!python/tuple [23, 6] + - !!python/tuple [1, 6] + - !!python/tuple [28, 5] + - !!python/tuple [27, 0] + - !!python/tuple [7, 19] + - !!python/tuple [27, 8] + - !!python/tuple [22, 25] + - !!python/tuple [26, 3] + - !!python/tuple [3, 16] + - !!python/tuple [3, 12] + - !!python/tuple [14, 20] + - !!python/tuple [10, 0] + - !!python/tuple [2, 7] + - !!python/tuple [15, 26] + - !!python/tuple [7, 31] + - !!python/tuple [0, 7] + - !!python/tuple [12, 27] + - !!python/tuple [25, 3] + - !!python/tuple [20, 20] + - !!python/tuple [30, 17] + - !!python/tuple [30, 26] + - !!python/tuple [20, 4] + - !!python/tuple [19, 6] + - !!python/tuple [30, 13] + - !!python/tuple [18, 23] + - !!python/tuple [13, 25] + - !!python/tuple [3, 23] + - !!python/tuple [12, 28] + - !!python/tuple [31, 31] + - !!python/tuple [6, 9] + - !!python/tuple [17, 4] + - !!python/tuple [10, 16] + - !!python/tuple [28, 3] + - !!python/tuple [12, 10] + - !!python/tuple [2, 29] + - !!python/tuple [26, 15] + - !!python/tuple [13, 23] + - !!python/tuple [5, 9] + - !!python/tuple [30, 5] + - !!python/tuple [26, 22] + - !!python/tuple [22, 8] + - !!python/tuple [29, 1] + - !!python/tuple [26, 11] + - !!python/tuple [4, 19] + - !!python/tuple [10, 20] + - !!python/tuple [29, 14] + - !!python/tuple [8, 24] + - !!python/tuple [18, 4] + - !!python/tuple [13, 29] + - !!python/tuple [0, 27] + - !!python/tuple [1, 27] + - !!python/tuple [13, 31] + - !!python/tuple [6, 1] + - !!python/tuple [2, 0] + - !!python/tuple [24, 29] + - !!python/tuple [11, 5] + - !!python/tuple [11, 31] + - !!python/tuple [17, 27] + - !!python/tuple [27, 7] + - !!python/tuple [11, 20] + - !!python/tuple [16, 3] + - !!python/tuple [8, 6] + - !!python/tuple [19, 5] + - !!python/tuple [12, 17] + - !!python/tuple [15, 11] + - !!python/tuple [30, 0] + - !!python/tuple [13, 18] + - !!python/tuple [23, 26] + - !!python/tuple [9, 6] + - !!python/tuple [25, 19] + - !!python/tuple [28, 19] + - !!python/tuple [8, 31] + - !!python/tuple [23, 0] + - !!python/tuple [26, 7] + - !!python/tuple [15, 2] + - !!python/tuple [13, 22] + - !!python/tuple [9, 24] + - !!python/tuple [3, 1] + - !!python/tuple [19, 8] + - !!python/tuple [7, 27] + - !!python/tuple [23, 30] + - !!python/tuple [21, 27] + - !!python/tuple [11, 24] + - !!python/tuple [30, 24] + - !!python/tuple [2, 5] + - !!python/tuple [13, 6] + - !!python/tuple [11, 10] + - !!python/tuple [25, 4] + - !!python/tuple [25, 13] + - !!python/tuple [16, 15] + - !!python/tuple [8, 20] + - !!python/tuple [20, 27] + - !!python/tuple [27, 3] + - !!python/tuple [23, 3] + - !!python/tuple [7, 16] + - !!python/tuple [0, 5] + - !!python/tuple [16, 22] + - !!python/tuple [0, 2] + - !!python/tuple [15, 29] + - !!python/tuple [31, 9] + - !!python/tuple [1, 9] + - !!python/tuple [21, 6] + - !!python/tuple [3, 24] + - !!python/tuple [2, 19] + - !!python/tuple [8, 23] + - !!python/tuple [30, 27] + - !!python/tuple [9, 28] + - !!python/tuple [28, 28] + - !!python/tuple [16, 9] + - !!python/tuple [29, 20] + - !!python/tuple [27, 17] + - !!python/tuple [9, 12] + - !!python/tuple [19, 12] + - !!python/tuple [10, 10] + - !!python/tuple [3, 31] + - !!python/tuple [21, 21] + - !!python/tuple [3, 21] + - !!python/tuple [0, 31] + - !!python/tuple [26, 23] + - !!python/tuple [14, 24] + - !!python/tuple [8, 18] + - !!python/tuple [14, 9] + - !!python/tuple [17, 22] + - !!python/tuple [29, 8] + - !!python/tuple [16, 4] + - !!python/tuple [17, 1] + - !!python/tuple [12, 14] + - !!python/tuple [29, 31] + - !!python/tuple [25, 0] + - !!python/tuple [8, 27] + - !!python/tuple [25, 16] + - !!python/tuple [3, 11] + - !!python/tuple [16, 19] + - !!python/tuple [14, 5] + - !!python/tuple [24, 14] + - !!python/tuple [23, 29] + - !!python/tuple [10, 1] + - !!python/tuple [29, 25] + - !!python/tuple [27, 23] + - !!python/tuple [24, 18] + - !!python/tuple [6, 7] + - !!python/tuple [25, 9] + - !!python/tuple [15, 16] + - !!python/tuple [10, 22] + - !!python/tuple [16, 14] + - !!python/tuple [18, 5] + - !!python/tuple [11, 28] + - !!python/tuple [11, 18] + - !!python/tuple [27, 28] + - !!python/tuple [17, 10] + - !!python/tuple [5, 14] + - !!python/tuple [22, 18] + - !!python/tuple [5, 6] + - !!python/tuple [4, 8] + - !!python/tuple [23, 31] + - !!python/tuple [21, 0] + - !!python/tuple [20, 0] + - !!python/tuple [15, 12] + - !!python/tuple [17, 8] + - !!python/tuple [25, 21] + - !!python/tuple [21, 29] + - !!python/tuple [4, 26] + - !!python/tuple [1, 22] + - !!python/tuple [5, 17] + - !!python/tuple [25, 28] + - !!python/tuple [1, 5] + - !!python/tuple [0, 14] + - !!python/tuple [12, 16] + - !!python/tuple [2, 17] + - !!python/tuple [31, 5] + - !!python/tuple [13, 28] + - !!python/tuple [30, 19] + - !!python/tuple [11, 7] + - !!python/tuple [29, 30] + - !!python/tuple [3, 4] + - !!python/tuple [14, 14] + - !!python/tuple [7, 13] + - !!python/tuple [3, 30] + - !!python/tuple [10, 31] + - !!python/tuple [23, 18] + - !!python/tuple [4, 13] + - !!python/tuple [4, 25] + - !!python/tuple [10, 2] + - !!python/tuple [26, 12] + - !!python/tuple [26, 2] + - !!python/tuple [29, 3] + - !!python/tuple [25, 30] + - !!python/tuple [2, 3] + - !!python/tuple [12, 5] + - !!python/tuple [2, 12] + - !!python/tuple [22, 12] + - !!python/tuple [1, 18] + - !!python/tuple [14, 3] + - !!python/tuple [19, 28] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex32.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex32.yaml new file mode 100644 index 0000000..8da46a6 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex32.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [16, 27] + name: agent0 + start: [31, 16] +- goal: [25, 29] + name: agent1 + start: [14, 7] +- goal: [11, 17] + name: agent2 + start: [27, 21] +- goal: [12, 14] + name: agent3 + start: [5, 26] +- goal: [28, 16] + name: agent4 + start: [23, 22] +- goal: [1, 4] + name: agent5 + start: [26, 14] +- goal: [21, 25] + name: agent6 + start: [14, 2] +- goal: [8, 22] + name: agent7 + start: [24, 29] +- goal: [10, 10] + name: agent8 + start: [8, 16] +- goal: [13, 27] + name: agent9 + start: [31, 10] +- goal: [22, 16] + name: agent10 + start: [30, 9] +- goal: [28, 18] + name: agent11 + start: [7, 23] +- goal: [15, 27] + name: agent12 + start: [11, 23] +- goal: [2, 31] + name: agent13 + start: [24, 27] +- goal: [21, 17] + name: agent14 + start: [9, 7] +- goal: [26, 29] + name: agent15 + start: [15, 14] +- goal: [7, 10] + name: agent16 + start: [30, 12] +- goal: [13, 2] + name: agent17 + start: [22, 12] +- goal: [24, 16] + name: agent18 + start: [11, 24] +- goal: [30, 23] + name: agent19 + start: [25, 12] +- goal: [17, 16] + name: agent20 + start: [15, 6] +- goal: [18, 11] + name: agent21 + start: [23, 15] +- goal: [10, 6] + name: agent22 + start: [21, 9] +- goal: [20, 31] + name: agent23 + start: [20, 31] +- goal: [5, 21] + name: agent24 + start: [29, 5] +- goal: [28, 26] + name: agent25 + start: [24, 15] +- goal: [20, 20] + name: agent26 + start: [23, 31] +- goal: [17, 12] + name: agent27 + start: [30, 23] +- goal: [10, 19] + name: agent28 + start: [18, 24] +- goal: [27, 12] + name: agent29 + start: [3, 27] +- goal: [3, 4] + name: agent30 + start: [30, 14] +- goal: [18, 10] + name: agent31 + start: [27, 8] +- goal: [31, 14] + name: agent32 + start: [21, 1] +- goal: [15, 24] + name: agent33 + start: [6, 5] +- goal: [19, 5] + name: agent34 + start: [0, 25] +- goal: [28, 7] + name: agent35 + start: [26, 6] +- goal: [6, 12] + name: agent36 + start: [8, 19] +- goal: [24, 2] + name: agent37 + start: [14, 28] +- goal: [14, 16] + name: agent38 + start: [28, 28] +- goal: [30, 10] + name: agent39 + start: [9, 0] +- goal: [16, 6] + name: agent40 + start: [19, 14] +- goal: [30, 25] + name: agent41 + start: [7, 4] +- goal: [13, 18] + name: agent42 + start: [0, 16] +- goal: [3, 29] + name: agent43 + start: [23, 4] +- goal: [18, 31] + name: agent44 + start: [24, 11] +- goal: [2, 30] + name: agent45 + start: [7, 9] +- goal: [31, 12] + name: agent46 + start: [23, 8] +- goal: [4, 29] + name: agent47 + start: [21, 7] +- goal: [3, 8] + name: agent48 + start: [5, 24] +- goal: [1, 7] + name: agent49 + start: [13, 0] +- goal: [3, 31] + name: agent50 + start: [22, 19] +- goal: [18, 23] + name: agent51 + start: [25, 4] +- goal: [1, 10] + name: agent52 + start: [29, 2] +- goal: [9, 22] + name: agent53 + start: [29, 29] +- goal: [7, 3] + name: agent54 + start: [0, 24] +- goal: [3, 14] + name: agent55 + start: [21, 5] +- goal: [14, 25] + name: agent56 + start: [10, 15] +- goal: [22, 13] + name: agent57 + start: [5, 1] +- goal: [31, 15] + name: agent58 + start: [31, 9] +- goal: [27, 22] + name: agent59 + start: [18, 27] +- goal: [11, 30] + name: agent60 + start: [13, 7] +- goal: [30, 31] + name: agent61 + start: [2, 9] +- goal: [29, 9] + name: agent62 + start: [22, 17] +- goal: [21, 3] + name: agent63 + start: [6, 28] +- goal: [4, 3] + name: agent64 + start: [19, 5] +- goal: [6, 28] + name: agent65 + start: [31, 1] +- goal: [27, 11] + name: agent66 + start: [20, 6] +- goal: [22, 2] + name: agent67 + start: [18, 19] +- goal: [11, 8] + name: agent68 + start: [17, 12] +- goal: [9, 0] + name: agent69 + start: [6, 29] +- goal: [26, 4] + name: agent70 + start: [24, 19] +- goal: [28, 12] + name: agent71 + start: [7, 22] +- goal: [11, 24] + name: agent72 + start: [28, 21] +- goal: [8, 25] + name: agent73 + start: [7, 8] +- goal: [25, 11] + name: agent74 + start: [2, 11] +- goal: [13, 19] + name: agent75 + start: [29, 15] +- goal: [5, 18] + name: agent76 + start: [31, 21] +- goal: [29, 26] + name: agent77 + start: [13, 9] +- goal: [24, 15] + name: agent78 + start: [27, 5] +- goal: [23, 31] + name: agent79 + start: [1, 17] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [17, 26] + - !!python/tuple [29, 12] + - !!python/tuple [18, 7] + - !!python/tuple [15, 3] + - !!python/tuple [16, 31] + - !!python/tuple [14, 6] + - !!python/tuple [18, 8] + - !!python/tuple [16, 21] + - !!python/tuple [2, 23] + - !!python/tuple [3, 26] + - !!python/tuple [29, 16] + - !!python/tuple [26, 30] + - !!python/tuple [2, 18] + - !!python/tuple [0, 7] + - !!python/tuple [31, 11] + - !!python/tuple [27, 19] + - !!python/tuple [19, 27] + - !!python/tuple [26, 15] + - !!python/tuple [22, 27] + - !!python/tuple [17, 17] + - !!python/tuple [3, 13] + - !!python/tuple [3, 6] + - !!python/tuple [8, 12] + - !!python/tuple [11, 5] + - !!python/tuple [25, 30] + - !!python/tuple [9, 31] + - !!python/tuple [2, 0] + - !!python/tuple [27, 6] + - !!python/tuple [17, 5] + - !!python/tuple [23, 21] + - !!python/tuple [10, 31] + - !!python/tuple [16, 19] + - !!python/tuple [14, 31] + - !!python/tuple [26, 5] + - !!python/tuple [27, 7] + - !!python/tuple [12, 4] + - !!python/tuple [4, 5] + - !!python/tuple [2, 20] + - !!python/tuple [0, 27] + - !!python/tuple [14, 27] + - !!python/tuple [24, 12] + - !!python/tuple [7, 25] + - !!python/tuple [0, 12] + - !!python/tuple [13, 31] + - !!python/tuple [18, 5] + - !!python/tuple [30, 26] + - !!python/tuple [4, 14] + - !!python/tuple [21, 18] + - !!python/tuple [24, 7] + - !!python/tuple [0, 11] + - !!python/tuple [5, 8] + - !!python/tuple [20, 11] + - !!python/tuple [7, 28] + - !!python/tuple [28, 20] + - !!python/tuple [29, 4] + - !!python/tuple [28, 6] + - !!python/tuple [10, 20] + - !!python/tuple [31, 23] + - !!python/tuple [12, 11] + - !!python/tuple [11, 1] + - !!python/tuple [8, 1] + - !!python/tuple [9, 20] + - !!python/tuple [28, 3] + - !!python/tuple [28, 9] + - !!python/tuple [1, 19] + - !!python/tuple [9, 29] + - !!python/tuple [24, 6] + - !!python/tuple [1, 3] + - !!python/tuple [27, 25] + - !!python/tuple [30, 18] + - !!python/tuple [1, 23] + - !!python/tuple [22, 14] + - !!python/tuple [28, 13] + - !!python/tuple [9, 24] + - !!python/tuple [17, 30] + - !!python/tuple [25, 18] + - !!python/tuple [9, 17] + - !!python/tuple [15, 17] + - !!python/tuple [24, 21] + - !!python/tuple [8, 5] + - !!python/tuple [27, 29] + - !!python/tuple [9, 26] + - !!python/tuple [7, 12] + - !!python/tuple [25, 20] + - !!python/tuple [10, 1] + - !!python/tuple [18, 30] + - !!python/tuple [8, 28] + - !!python/tuple [25, 23] + - !!python/tuple [19, 28] + - !!python/tuple [16, 11] + - !!python/tuple [30, 15] + - !!python/tuple [7, 27] + - !!python/tuple [5, 15] + - !!python/tuple [15, 8] + - !!python/tuple [17, 9] + - !!python/tuple [6, 18] + - !!python/tuple [30, 27] + - !!python/tuple [6, 10] + - !!python/tuple [13, 4] + - !!python/tuple [14, 26] + - !!python/tuple [26, 7] + - !!python/tuple [11, 25] + - !!python/tuple [31, 0] + - !!python/tuple [26, 26] + - !!python/tuple [26, 10] + - !!python/tuple [13, 10] + - !!python/tuple [27, 1] + - !!python/tuple [16, 7] + - !!python/tuple [1, 24] + - !!python/tuple [8, 18] + - !!python/tuple [2, 26] + - !!python/tuple [6, 25] + - !!python/tuple [6, 14] + - !!python/tuple [12, 28] + - !!python/tuple [5, 3] + - !!python/tuple [18, 25] + - !!python/tuple [28, 2] + - !!python/tuple [25, 7] + - !!python/tuple [7, 2] + - !!python/tuple [14, 10] + - !!python/tuple [27, 26] + - !!python/tuple [20, 17] + - !!python/tuple [9, 15] + - !!python/tuple [19, 9] + - !!python/tuple [22, 7] + - !!python/tuple [2, 3] + - !!python/tuple [7, 30] + - !!python/tuple [4, 2] + - !!python/tuple [13, 15] + - !!python/tuple [7, 24] + - !!python/tuple [14, 14] + - !!python/tuple [28, 11] + - !!python/tuple [19, 26] + - !!python/tuple [8, 15] + - !!python/tuple [31, 5] + - !!python/tuple [3, 0] + - !!python/tuple [30, 22] + - !!python/tuple [31, 26] + - !!python/tuple [29, 13] + - !!python/tuple [22, 23] + - !!python/tuple [3, 2] + - !!python/tuple [10, 13] + - !!python/tuple [3, 11] + - !!python/tuple [28, 1] + - !!python/tuple [28, 30] + - !!python/tuple [16, 20] + - !!python/tuple [11, 29] + - !!python/tuple [20, 19] + - !!python/tuple [4, 16] + - !!python/tuple [11, 18] + - !!python/tuple [3, 15] + - !!python/tuple [15, 4] + - !!python/tuple [27, 31] + - !!python/tuple [4, 15] + - !!python/tuple [18, 20] + - !!python/tuple [20, 12] + - !!python/tuple [16, 18] + - !!python/tuple [17, 3] + - !!python/tuple [24, 5] + - !!python/tuple [29, 3] + - !!python/tuple [18, 13] + - !!python/tuple [0, 6] + - !!python/tuple [2, 8] + - !!python/tuple [3, 23] + - !!python/tuple [11, 3] + - !!python/tuple [31, 31] + - !!python/tuple [21, 16] + - !!python/tuple [19, 7] + - !!python/tuple [4, 12] + - !!python/tuple [25, 10] + - !!python/tuple [11, 16] + - !!python/tuple [0, 18] + - !!python/tuple [11, 26] + - !!python/tuple [20, 25] + - !!python/tuple [25, 1] + - !!python/tuple [5, 29] + - !!python/tuple [26, 28] + - !!python/tuple [0, 1] + - !!python/tuple [7, 16] + - !!python/tuple [20, 16] + - !!python/tuple [4, 24] + - !!python/tuple [13, 5] + - !!python/tuple [28, 31] + - !!python/tuple [17, 23] + - !!python/tuple [0, 23] + - !!python/tuple [15, 21] + - !!python/tuple [6, 20] + - !!python/tuple [0, 2] + - !!python/tuple [9, 11] + - !!python/tuple [10, 11] + - !!python/tuple [1, 27] + - !!python/tuple [19, 15] + - !!python/tuple [16, 0] + - !!python/tuple [8, 2] + - !!python/tuple [30, 16] + - !!python/tuple [30, 24] + - !!python/tuple [13, 30] + - !!python/tuple [14, 12] + - !!python/tuple [9, 28] + - !!python/tuple [13, 23] + - !!python/tuple [27, 10] + - !!python/tuple [18, 0] + - !!python/tuple [25, 31] + - !!python/tuple [26, 16] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex33.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex33.yaml new file mode 100644 index 0000000..93bb8d4 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex33.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [13, 12] + name: agent0 + start: [8, 28] +- goal: [12, 8] + name: agent1 + start: [31, 11] +- goal: [4, 6] + name: agent2 + start: [29, 19] +- goal: [15, 27] + name: agent3 + start: [7, 0] +- goal: [21, 8] + name: agent4 + start: [0, 20] +- goal: [22, 12] + name: agent5 + start: [11, 5] +- goal: [13, 22] + name: agent6 + start: [4, 29] +- goal: [7, 6] + name: agent7 + start: [3, 19] +- goal: [30, 16] + name: agent8 + start: [7, 15] +- goal: [12, 24] + name: agent9 + start: [10, 26] +- goal: [17, 24] + name: agent10 + start: [20, 26] +- goal: [27, 26] + name: agent11 + start: [10, 21] +- goal: [26, 12] + name: agent12 + start: [22, 24] +- goal: [15, 12] + name: agent13 + start: [3, 13] +- goal: [31, 26] + name: agent14 + start: [11, 19] +- goal: [23, 10] + name: agent15 + start: [3, 8] +- goal: [28, 24] + name: agent16 + start: [6, 12] +- goal: [12, 0] + name: agent17 + start: [31, 13] +- goal: [3, 25] + name: agent18 + start: [5, 4] +- goal: [21, 20] + name: agent19 + start: [3, 14] +- goal: [27, 28] + name: agent20 + start: [16, 11] +- goal: [5, 7] + name: agent21 + start: [1, 16] +- goal: [11, 22] + name: agent22 + start: [11, 21] +- goal: [7, 14] + name: agent23 + start: [0, 1] +- goal: [30, 10] + name: agent24 + start: [13, 22] +- goal: [7, 25] + name: agent25 + start: [18, 24] +- goal: [29, 1] + name: agent26 + start: [19, 2] +- goal: [3, 5] + name: agent27 + start: [29, 25] +- goal: [25, 27] + name: agent28 + start: [23, 26] +- goal: [10, 22] + name: agent29 + start: [17, 22] +- goal: [2, 29] + name: agent30 + start: [10, 25] +- goal: [12, 31] + name: agent31 + start: [24, 28] +- goal: [8, 29] + name: agent32 + start: [18, 20] +- goal: [28, 4] + name: agent33 + start: [21, 19] +- goal: [23, 26] + name: agent34 + start: [30, 16] +- goal: [10, 19] + name: agent35 + start: [4, 13] +- goal: [31, 1] + name: agent36 + start: [24, 6] +- goal: [1, 0] + name: agent37 + start: [2, 7] +- goal: [27, 25] + name: agent38 + start: [28, 10] +- goal: [1, 23] + name: agent39 + start: [1, 27] +- goal: [19, 31] + name: agent40 + start: [28, 5] +- goal: [6, 15] + name: agent41 + start: [11, 30] +- goal: [28, 5] + name: agent42 + start: [0, 5] +- goal: [14, 20] + name: agent43 + start: [9, 28] +- goal: [12, 5] + name: agent44 + start: [8, 14] +- goal: [9, 22] + name: agent45 + start: [15, 22] +- goal: [29, 19] + name: agent46 + start: [20, 24] +- goal: [12, 29] + name: agent47 + start: [4, 8] +- goal: [14, 31] + name: agent48 + start: [29, 8] +- goal: [29, 11] + name: agent49 + start: [15, 12] +- goal: [6, 28] + name: agent50 + start: [22, 17] +- goal: [4, 18] + name: agent51 + start: [5, 25] +- goal: [11, 5] + name: agent52 + start: [11, 26] +- goal: [0, 11] + name: agent53 + start: [27, 21] +- goal: [11, 19] + name: agent54 + start: [8, 7] +- goal: [9, 17] + name: agent55 + start: [27, 10] +- goal: [3, 22] + name: agent56 + start: [30, 24] +- goal: [25, 24] + name: agent57 + start: [22, 20] +- goal: [21, 17] + name: agent58 + start: [4, 2] +- goal: [2, 21] + name: agent59 + start: [2, 4] +- goal: [25, 31] + name: agent60 + start: [17, 20] +- goal: [28, 2] + name: agent61 + start: [4, 3] +- goal: [20, 20] + name: agent62 + start: [21, 12] +- goal: [31, 6] + name: agent63 + start: [12, 9] +- goal: [17, 23] + name: agent64 + start: [22, 3] +- goal: [26, 8] + name: agent65 + start: [11, 15] +- goal: [8, 17] + name: agent66 + start: [16, 5] +- goal: [23, 19] + name: agent67 + start: [31, 31] +- goal: [22, 27] + name: agent68 + start: [24, 4] +- goal: [31, 10] + name: agent69 + start: [3, 28] +- goal: [5, 19] + name: agent70 + start: [20, 27] +- goal: [13, 10] + name: agent71 + start: [0, 4] +- goal: [22, 6] + name: agent72 + start: [2, 10] +- goal: [1, 6] + name: agent73 + start: [24, 22] +- goal: [18, 24] + name: agent74 + start: [7, 16] +- goal: [21, 6] + name: agent75 + start: [19, 18] +- goal: [23, 14] + name: agent76 + start: [22, 4] +- goal: [15, 9] + name: agent77 + start: [21, 23] +- goal: [30, 17] + name: agent78 + start: [22, 25] +- goal: [26, 26] + name: agent79 + start: [6, 31] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [7, 22] + - !!python/tuple [16, 7] + - !!python/tuple [25, 22] + - !!python/tuple [8, 26] + - !!python/tuple [27, 4] + - !!python/tuple [8, 5] + - !!python/tuple [30, 9] + - !!python/tuple [18, 19] + - !!python/tuple [18, 3] + - !!python/tuple [10, 24] + - !!python/tuple [4, 11] + - !!python/tuple [25, 2] + - !!python/tuple [14, 21] + - !!python/tuple [7, 31] + - !!python/tuple [19, 6] + - !!python/tuple [12, 17] + - !!python/tuple [13, 2] + - !!python/tuple [11, 27] + - !!python/tuple [9, 0] + - !!python/tuple [19, 15] + - !!python/tuple [7, 30] + - !!python/tuple [29, 17] + - !!python/tuple [7, 19] + - !!python/tuple [18, 16] + - !!python/tuple [11, 7] + - !!python/tuple [12, 11] + - !!python/tuple [3, 26] + - !!python/tuple [3, 9] + - !!python/tuple [28, 21] + - !!python/tuple [10, 14] + - !!python/tuple [31, 28] + - !!python/tuple [31, 29] + - !!python/tuple [29, 3] + - !!python/tuple [19, 1] + - !!python/tuple [1, 21] + - !!python/tuple [27, 27] + - !!python/tuple [13, 21] + - !!python/tuple [3, 16] + - !!python/tuple [24, 10] + - !!python/tuple [22, 9] + - !!python/tuple [0, 9] + - !!python/tuple [25, 3] + - !!python/tuple [5, 0] + - !!python/tuple [7, 27] + - !!python/tuple [23, 17] + - !!python/tuple [25, 19] + - !!python/tuple [18, 28] + - !!python/tuple [1, 22] + - !!python/tuple [17, 26] + - !!python/tuple [28, 18] + - !!python/tuple [25, 12] + - !!python/tuple [19, 13] + - !!python/tuple [9, 24] + - !!python/tuple [26, 19] + - !!python/tuple [1, 2] + - !!python/tuple [6, 25] + - !!python/tuple [13, 29] + - !!python/tuple [28, 29] + - !!python/tuple [10, 13] + - !!python/tuple [6, 0] + - !!python/tuple [2, 28] + - !!python/tuple [25, 5] + - !!python/tuple [20, 25] + - !!python/tuple [25, 17] + - !!python/tuple [1, 24] + - !!python/tuple [14, 22] + - !!python/tuple [15, 8] + - !!python/tuple [11, 0] + - !!python/tuple [22, 10] + - !!python/tuple [25, 10] + - !!python/tuple [15, 20] + - !!python/tuple [9, 1] + - !!python/tuple [7, 24] + - !!python/tuple [3, 30] + - !!python/tuple [31, 18] + - !!python/tuple [13, 23] + - !!python/tuple [4, 10] + - !!python/tuple [14, 12] + - !!python/tuple [17, 27] + - !!python/tuple [12, 28] + - !!python/tuple [8, 23] + - !!python/tuple [29, 30] + - !!python/tuple [30, 20] + - !!python/tuple [16, 21] + - !!python/tuple [24, 15] + - !!python/tuple [17, 28] + - !!python/tuple [9, 25] + - !!python/tuple [3, 11] + - !!python/tuple [25, 4] + - !!python/tuple [14, 1] + - !!python/tuple [10, 1] + - !!python/tuple [27, 11] + - !!python/tuple [15, 28] + - !!python/tuple [10, 12] + - !!python/tuple [29, 29] + - !!python/tuple [25, 14] + - !!python/tuple [29, 28] + - !!python/tuple [19, 5] + - !!python/tuple [12, 7] + - !!python/tuple [25, 26] + - !!python/tuple [20, 18] + - !!python/tuple [19, 16] + - !!python/tuple [25, 15] + - !!python/tuple [8, 21] + - !!python/tuple [30, 6] + - !!python/tuple [16, 23] + - !!python/tuple [12, 27] + - !!python/tuple [5, 13] + - !!python/tuple [14, 19] + - !!python/tuple [3, 1] + - !!python/tuple [24, 5] + - !!python/tuple [5, 8] + - !!python/tuple [4, 14] + - !!python/tuple [30, 0] + - !!python/tuple [17, 2] + - !!python/tuple [3, 21] + - !!python/tuple [25, 7] + - !!python/tuple [18, 12] + - !!python/tuple [9, 18] + - !!python/tuple [0, 21] + - !!python/tuple [7, 4] + - !!python/tuple [16, 3] + - !!python/tuple [8, 30] + - !!python/tuple [28, 22] + - !!python/tuple [17, 31] + - !!python/tuple [27, 17] + - !!python/tuple [20, 11] + - !!python/tuple [12, 25] + - !!python/tuple [1, 11] + - !!python/tuple [16, 22] + - !!python/tuple [21, 18] + - !!python/tuple [11, 18] + - !!python/tuple [27, 16] + - !!python/tuple [11, 2] + - !!python/tuple [19, 21] + - !!python/tuple [27, 9] + - !!python/tuple [12, 14] + - !!python/tuple [13, 16] + - !!python/tuple [15, 19] + - !!python/tuple [21, 31] + - !!python/tuple [26, 6] + - !!python/tuple [14, 14] + - !!python/tuple [2, 8] + - !!python/tuple [23, 23] + - !!python/tuple [10, 9] + - !!python/tuple [24, 19] + - !!python/tuple [2, 26] + - !!python/tuple [30, 5] + - !!python/tuple [13, 6] + - !!python/tuple [11, 23] + - !!python/tuple [30, 1] + - !!python/tuple [11, 4] + - !!python/tuple [11, 8] + - !!python/tuple [0, 22] + - !!python/tuple [1, 29] + - !!python/tuple [5, 3] + - !!python/tuple [19, 20] + - !!python/tuple [8, 18] + - !!python/tuple [21, 21] + - !!python/tuple [29, 21] + - !!python/tuple [11, 11] + - !!python/tuple [8, 13] + - !!python/tuple [23, 5] + - !!python/tuple [31, 9] + - !!python/tuple [3, 10] + - !!python/tuple [9, 4] + - !!python/tuple [24, 31] + - !!python/tuple [28, 9] + - !!python/tuple [6, 3] + - !!python/tuple [28, 13] + - !!python/tuple [6, 13] + - !!python/tuple [25, 25] + - !!python/tuple [11, 25] + - !!python/tuple [5, 27] + - !!python/tuple [12, 4] + - !!python/tuple [24, 27] + - !!python/tuple [8, 0] + - !!python/tuple [16, 16] + - !!python/tuple [14, 17] + - !!python/tuple [25, 18] + - !!python/tuple [11, 6] + - !!python/tuple [26, 24] + - !!python/tuple [24, 11] + - !!python/tuple [2, 27] + - !!python/tuple [27, 24] + - !!python/tuple [31, 14] + - !!python/tuple [22, 21] + - !!python/tuple [23, 29] + - !!python/tuple [21, 15] + - !!python/tuple [19, 12] + - !!python/tuple [29, 20] + - !!python/tuple [17, 18] + - !!python/tuple [9, 21] + - !!python/tuple [26, 28] + - !!python/tuple [24, 17] + - !!python/tuple [27, 18] + - !!python/tuple [18, 4] + - !!python/tuple [6, 30] + - !!python/tuple [21, 13] + - !!python/tuple [24, 24] + - !!python/tuple [4, 31] + - !!python/tuple [16, 10] + - !!python/tuple [24, 9] + - !!python/tuple [28, 14] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex34.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex34.yaml new file mode 100644 index 0000000..d72ad6c --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex34.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [28, 27] + name: agent0 + start: [2, 5] +- goal: [7, 14] + name: agent1 + start: [16, 12] +- goal: [20, 25] + name: agent2 + start: [29, 16] +- goal: [24, 5] + name: agent3 + start: [2, 29] +- goal: [13, 14] + name: agent4 + start: [25, 27] +- goal: [23, 5] + name: agent5 + start: [17, 8] +- goal: [24, 29] + name: agent6 + start: [21, 1] +- goal: [18, 29] + name: agent7 + start: [20, 26] +- goal: [5, 28] + name: agent8 + start: [2, 28] +- goal: [14, 18] + name: agent9 + start: [20, 20] +- goal: [18, 18] + name: agent10 + start: [15, 24] +- goal: [5, 27] + name: agent11 + start: [17, 7] +- goal: [29, 11] + name: agent12 + start: [22, 6] +- goal: [30, 30] + name: agent13 + start: [23, 28] +- goal: [27, 21] + name: agent14 + start: [3, 21] +- goal: [6, 0] + name: agent15 + start: [5, 18] +- goal: [16, 17] + name: agent16 + start: [29, 2] +- goal: [6, 15] + name: agent17 + start: [24, 31] +- goal: [5, 22] + name: agent18 + start: [9, 25] +- goal: [1, 26] + name: agent19 + start: [26, 20] +- goal: [6, 25] + name: agent20 + start: [27, 26] +- goal: [21, 15] + name: agent21 + start: [4, 21] +- goal: [15, 28] + name: agent22 + start: [27, 19] +- goal: [0, 4] + name: agent23 + start: [0, 23] +- goal: [2, 6] + name: agent24 + start: [16, 3] +- goal: [9, 27] + name: agent25 + start: [3, 29] +- goal: [7, 31] + name: agent26 + start: [4, 25] +- goal: [16, 26] + name: agent27 + start: [8, 9] +- goal: [20, 11] + name: agent28 + start: [17, 31] +- goal: [3, 10] + name: agent29 + start: [27, 30] +- goal: [17, 25] + name: agent30 + start: [12, 28] +- goal: [22, 10] + name: agent31 + start: [8, 25] +- goal: [28, 9] + name: agent32 + start: [7, 29] +- goal: [30, 15] + name: agent33 + start: [26, 2] +- goal: [5, 29] + name: agent34 + start: [31, 20] +- goal: [27, 14] + name: agent35 + start: [28, 13] +- goal: [18, 11] + name: agent36 + start: [19, 3] +- goal: [22, 13] + name: agent37 + start: [14, 5] +- goal: [2, 31] + name: agent38 + start: [2, 3] +- goal: [1, 4] + name: agent39 + start: [1, 22] +- goal: [8, 29] + name: agent40 + start: [22, 19] +- goal: [14, 17] + name: agent41 + start: [28, 30] +- goal: [29, 14] + name: agent42 + start: [15, 31] +- goal: [10, 1] + name: agent43 + start: [27, 7] +- goal: [7, 19] + name: agent44 + start: [6, 6] +- goal: [14, 28] + name: agent45 + start: [23, 17] +- goal: [8, 16] + name: agent46 + start: [12, 19] +- goal: [25, 7] + name: agent47 + start: [30, 24] +- goal: [2, 25] + name: agent48 + start: [29, 22] +- goal: [6, 7] + name: agent49 + start: [25, 29] +- goal: [14, 14] + name: agent50 + start: [23, 23] +- goal: [7, 6] + name: agent51 + start: [15, 17] +- goal: [18, 30] + name: agent52 + start: [10, 13] +- goal: [19, 30] + name: agent53 + start: [22, 16] +- goal: [22, 6] + name: agent54 + start: [11, 26] +- goal: [12, 29] + name: agent55 + start: [9, 13] +- goal: [28, 3] + name: agent56 + start: [29, 18] +- goal: [3, 27] + name: agent57 + start: [3, 12] +- goal: [4, 29] + name: agent58 + start: [27, 20] +- goal: [13, 1] + name: agent59 + start: [2, 2] +- goal: [1, 20] + name: agent60 + start: [13, 24] +- goal: [1, 14] + name: agent61 + start: [6, 29] +- goal: [4, 23] + name: agent62 + start: [14, 15] +- goal: [5, 25] + name: agent63 + start: [10, 28] +- goal: [28, 28] + name: agent64 + start: [30, 13] +- goal: [20, 7] + name: agent65 + start: [23, 4] +- goal: [8, 17] + name: agent66 + start: [25, 10] +- goal: [22, 0] + name: agent67 + start: [0, 14] +- goal: [25, 23] + name: agent68 + start: [26, 8] +- goal: [7, 26] + name: agent69 + start: [21, 24] +- goal: [24, 25] + name: agent70 + start: [5, 28] +- goal: [30, 7] + name: agent71 + start: [20, 22] +- goal: [5, 20] + name: agent72 + start: [10, 25] +- goal: [27, 6] + name: agent73 + start: [16, 19] +- goal: [18, 5] + name: agent74 + start: [20, 4] +- goal: [21, 30] + name: agent75 + start: [4, 22] +- goal: [14, 1] + name: agent76 + start: [30, 5] +- goal: [6, 11] + name: agent77 + start: [12, 17] +- goal: [1, 13] + name: agent78 + start: [25, 21] +- goal: [3, 12] + name: agent79 + start: [0, 10] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [24, 7] + - !!python/tuple [18, 26] + - !!python/tuple [22, 2] + - !!python/tuple [27, 8] + - !!python/tuple [21, 5] + - !!python/tuple [6, 4] + - !!python/tuple [3, 17] + - !!python/tuple [5, 7] + - !!python/tuple [14, 10] + - !!python/tuple [20, 13] + - !!python/tuple [10, 5] + - !!python/tuple [22, 20] + - !!python/tuple [9, 7] + - !!python/tuple [3, 24] + - !!python/tuple [24, 14] + - !!python/tuple [30, 18] + - !!python/tuple [24, 2] + - !!python/tuple [14, 3] + - !!python/tuple [0, 29] + - !!python/tuple [28, 23] + - !!python/tuple [22, 14] + - !!python/tuple [2, 7] + - !!python/tuple [25, 25] + - !!python/tuple [18, 17] + - !!python/tuple [22, 29] + - !!python/tuple [8, 31] + - !!python/tuple [30, 26] + - !!python/tuple [4, 6] + - !!python/tuple [13, 26] + - !!python/tuple [14, 7] + - !!python/tuple [0, 28] + - !!python/tuple [2, 23] + - !!python/tuple [6, 10] + - !!python/tuple [23, 3] + - !!python/tuple [18, 6] + - !!python/tuple [23, 27] + - !!python/tuple [20, 21] + - !!python/tuple [29, 20] + - !!python/tuple [23, 30] + - !!python/tuple [29, 0] + - !!python/tuple [4, 27] + - !!python/tuple [14, 8] + - !!python/tuple [13, 17] + - !!python/tuple [13, 28] + - !!python/tuple [4, 8] + - !!python/tuple [29, 30] + - !!python/tuple [27, 29] + - !!python/tuple [7, 25] + - !!python/tuple [28, 18] + - !!python/tuple [1, 9] + - !!python/tuple [12, 15] + - !!python/tuple [27, 9] + - !!python/tuple [31, 14] + - !!python/tuple [24, 20] + - !!python/tuple [1, 28] + - !!python/tuple [11, 30] + - !!python/tuple [26, 30] + - !!python/tuple [8, 6] + - !!python/tuple [4, 12] + - !!python/tuple [10, 17] + - !!python/tuple [13, 31] + - !!python/tuple [12, 14] + - !!python/tuple [19, 19] + - !!python/tuple [0, 22] + - !!python/tuple [9, 15] + - !!python/tuple [15, 15] + - !!python/tuple [13, 27] + - !!python/tuple [31, 4] + - !!python/tuple [3, 2] + - !!python/tuple [19, 24] + - !!python/tuple [21, 4] + - !!python/tuple [28, 8] + - !!python/tuple [21, 31] + - !!python/tuple [16, 10] + - !!python/tuple [20, 8] + - !!python/tuple [24, 21] + - !!python/tuple [7, 11] + - !!python/tuple [9, 24] + - !!python/tuple [22, 23] + - !!python/tuple [11, 6] + - !!python/tuple [25, 12] + - !!python/tuple [28, 20] + - !!python/tuple [10, 6] + - !!python/tuple [14, 11] + - !!python/tuple [1, 21] + - !!python/tuple [30, 28] + - !!python/tuple [1, 11] + - !!python/tuple [24, 12] + - !!python/tuple [29, 10] + - !!python/tuple [7, 15] + - !!python/tuple [0, 9] + - !!python/tuple [7, 5] + - !!python/tuple [18, 13] + - !!python/tuple [15, 26] + - !!python/tuple [8, 3] + - !!python/tuple [17, 18] + - !!python/tuple [18, 14] + - !!python/tuple [16, 20] + - !!python/tuple [21, 23] + - !!python/tuple [3, 11] + - !!python/tuple [2, 13] + - !!python/tuple [28, 10] + - !!python/tuple [10, 4] + - !!python/tuple [16, 11] + - !!python/tuple [0, 3] + - !!python/tuple [23, 0] + - !!python/tuple [18, 16] + - !!python/tuple [12, 31] + - !!python/tuple [5, 3] + - !!python/tuple [11, 5] + - !!python/tuple [26, 7] + - !!python/tuple [13, 25] + - !!python/tuple [10, 8] + - !!python/tuple [7, 12] + - !!python/tuple [3, 20] + - !!python/tuple [17, 17] + - !!python/tuple [16, 27] + - !!python/tuple [14, 19] + - !!python/tuple [2, 19] + - !!python/tuple [31, 31] + - !!python/tuple [26, 25] + - !!python/tuple [25, 4] + - !!python/tuple [6, 3] + - !!python/tuple [28, 4] + - !!python/tuple [1, 0] + - !!python/tuple [9, 29] + - !!python/tuple [12, 1] + - !!python/tuple [22, 24] + - !!python/tuple [15, 18] + - !!python/tuple [19, 20] + - !!python/tuple [28, 1] + - !!python/tuple [26, 28] + - !!python/tuple [20, 2] + - !!python/tuple [31, 18] + - !!python/tuple [14, 9] + - !!python/tuple [22, 30] + - !!python/tuple [2, 17] + - !!python/tuple [24, 22] + - !!python/tuple [2, 22] + - !!python/tuple [8, 1] + - !!python/tuple [19, 6] + - !!python/tuple [22, 12] + - !!python/tuple [1, 15] + - !!python/tuple [12, 24] + - !!python/tuple [22, 1] + - !!python/tuple [18, 9] + - !!python/tuple [31, 11] + - !!python/tuple [0, 31] + - !!python/tuple [5, 5] + - !!python/tuple [10, 12] + - !!python/tuple [6, 8] + - !!python/tuple [13, 0] + - !!python/tuple [18, 20] + - !!python/tuple [3, 28] + - !!python/tuple [0, 17] + - !!python/tuple [2, 9] + - !!python/tuple [16, 22] + - !!python/tuple [23, 29] + - !!python/tuple [6, 18] + - !!python/tuple [22, 9] + - !!python/tuple [19, 16] + - !!python/tuple [16, 15] + - !!python/tuple [3, 31] + - !!python/tuple [3, 30] + - !!python/tuple [6, 12] + - !!python/tuple [29, 7] + - !!python/tuple [27, 0] + - !!python/tuple [26, 24] + - !!python/tuple [21, 22] + - !!python/tuple [3, 19] + - !!python/tuple [10, 31] + - !!python/tuple [6, 21] + - !!python/tuple [15, 27] + - !!python/tuple [23, 31] + - !!python/tuple [11, 16] + - !!python/tuple [11, 17] + - !!python/tuple [31, 1] + - !!python/tuple [27, 15] + - !!python/tuple [10, 23] + - !!python/tuple [17, 9] + - !!python/tuple [18, 2] + - !!python/tuple [1, 8] + - !!python/tuple [31, 12] + - !!python/tuple [31, 16] + - !!python/tuple [15, 11] + - !!python/tuple [23, 19] + - !!python/tuple [13, 30] + - !!python/tuple [3, 9] + - !!python/tuple [5, 6] + - !!python/tuple [24, 11] + - !!python/tuple [9, 16] + - !!python/tuple [9, 1] + - !!python/tuple [19, 25] + - !!python/tuple [10, 30] + - !!python/tuple [29, 31] + - !!python/tuple [23, 11] + - !!python/tuple [24, 10] + - !!python/tuple [9, 6] + - !!python/tuple [30, 21] + - !!python/tuple [4, 9] + - !!python/tuple [9, 9] + - !!python/tuple [15, 8] + - !!python/tuple [31, 19] + - !!python/tuple [30, 27] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex35.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex35.yaml new file mode 100644 index 0000000..121037d --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex35.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [23, 9] + name: agent0 + start: [30, 24] +- goal: [29, 7] + name: agent1 + start: [22, 30] +- goal: [17, 0] + name: agent2 + start: [18, 22] +- goal: [26, 18] + name: agent3 + start: [21, 4] +- goal: [27, 0] + name: agent4 + start: [26, 15] +- goal: [0, 24] + name: agent5 + start: [21, 12] +- goal: [27, 3] + name: agent6 + start: [18, 3] +- goal: [13, 11] + name: agent7 + start: [21, 23] +- goal: [21, 25] + name: agent8 + start: [1, 10] +- goal: [26, 0] + name: agent9 + start: [18, 13] +- goal: [1, 8] + name: agent10 + start: [13, 0] +- goal: [22, 18] + name: agent11 + start: [21, 0] +- goal: [5, 1] + name: agent12 + start: [12, 23] +- goal: [9, 8] + name: agent13 + start: [11, 16] +- goal: [7, 2] + name: agent14 + start: [18, 15] +- goal: [29, 31] + name: agent15 + start: [4, 20] +- goal: [13, 7] + name: agent16 + start: [1, 17] +- goal: [30, 24] + name: agent17 + start: [6, 3] +- goal: [0, 21] + name: agent18 + start: [25, 24] +- goal: [11, 14] + name: agent19 + start: [6, 14] +- goal: [13, 29] + name: agent20 + start: [11, 24] +- goal: [8, 25] + name: agent21 + start: [27, 6] +- goal: [20, 30] + name: agent22 + start: [13, 12] +- goal: [19, 12] + name: agent23 + start: [11, 10] +- goal: [11, 29] + name: agent24 + start: [18, 31] +- goal: [2, 4] + name: agent25 + start: [10, 18] +- goal: [30, 8] + name: agent26 + start: [9, 11] +- goal: [29, 28] + name: agent27 + start: [15, 16] +- goal: [12, 19] + name: agent28 + start: [10, 15] +- goal: [16, 18] + name: agent29 + start: [27, 11] +- goal: [9, 24] + name: agent30 + start: [8, 12] +- goal: [7, 15] + name: agent31 + start: [11, 31] +- goal: [2, 11] + name: agent32 + start: [21, 18] +- goal: [28, 23] + name: agent33 + start: [22, 0] +- goal: [13, 25] + name: agent34 + start: [1, 23] +- goal: [26, 28] + name: agent35 + start: [21, 29] +- goal: [21, 8] + name: agent36 + start: [11, 12] +- goal: [23, 4] + name: agent37 + start: [5, 21] +- goal: [14, 19] + name: agent38 + start: [12, 2] +- goal: [23, 1] + name: agent39 + start: [5, 25] +- goal: [1, 24] + name: agent40 + start: [15, 24] +- goal: [10, 19] + name: agent41 + start: [28, 17] +- goal: [18, 16] + name: agent42 + start: [22, 14] +- goal: [27, 25] + name: agent43 + start: [22, 8] +- goal: [1, 28] + name: agent44 + start: [9, 9] +- goal: [22, 16] + name: agent45 + start: [18, 2] +- goal: [11, 17] + name: agent46 + start: [20, 22] +- goal: [1, 16] + name: agent47 + start: [20, 19] +- goal: [22, 23] + name: agent48 + start: [4, 18] +- goal: [24, 14] + name: agent49 + start: [21, 8] +- goal: [0, 5] + name: agent50 + start: [27, 29] +- goal: [21, 17] + name: agent51 + start: [30, 19] +- goal: [1, 31] + name: agent52 + start: [4, 10] +- goal: [2, 13] + name: agent53 + start: [22, 27] +- goal: [16, 0] + name: agent54 + start: [18, 5] +- goal: [8, 14] + name: agent55 + start: [29, 28] +- goal: [21, 30] + name: agent56 + start: [19, 8] +- goal: [30, 15] + name: agent57 + start: [12, 29] +- goal: [17, 21] + name: agent58 + start: [9, 17] +- goal: [5, 21] + name: agent59 + start: [11, 26] +- goal: [3, 25] + name: agent60 + start: [5, 24] +- goal: [29, 18] + name: agent61 + start: [27, 10] +- goal: [22, 8] + name: agent62 + start: [19, 19] +- goal: [26, 14] + name: agent63 + start: [14, 9] +- goal: [28, 17] + name: agent64 + start: [6, 11] +- goal: [28, 19] + name: agent65 + start: [28, 7] +- goal: [5, 0] + name: agent66 + start: [12, 24] +- goal: [21, 3] + name: agent67 + start: [16, 19] +- goal: [11, 20] + name: agent68 + start: [13, 26] +- goal: [5, 27] + name: agent69 + start: [8, 14] +- goal: [9, 29] + name: agent70 + start: [12, 14] +- goal: [15, 24] + name: agent71 + start: [18, 30] +- goal: [30, 10] + name: agent72 + start: [12, 16] +- goal: [21, 29] + name: agent73 + start: [10, 30] +- goal: [14, 21] + name: agent74 + start: [0, 28] +- goal: [31, 12] + name: agent75 + start: [16, 6] +- goal: [26, 17] + name: agent76 + start: [24, 25] +- goal: [25, 25] + name: agent77 + start: [3, 10] +- goal: [6, 2] + name: agent78 + start: [6, 4] +- goal: [30, 1] + name: agent79 + start: [10, 13] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [9, 0] + - !!python/tuple [5, 12] + - !!python/tuple [5, 3] + - !!python/tuple [26, 23] + - !!python/tuple [21, 26] + - !!python/tuple [8, 24] + - !!python/tuple [16, 27] + - !!python/tuple [28, 29] + - !!python/tuple [4, 29] + - !!python/tuple [10, 16] + - !!python/tuple [4, 24] + - !!python/tuple [26, 21] + - !!python/tuple [14, 22] + - !!python/tuple [5, 22] + - !!python/tuple [6, 18] + - !!python/tuple [1, 25] + - !!python/tuple [10, 12] + - !!python/tuple [17, 14] + - !!python/tuple [31, 31] + - !!python/tuple [2, 10] + - !!python/tuple [12, 17] + - !!python/tuple [13, 23] + - !!python/tuple [6, 8] + - !!python/tuple [28, 21] + - !!python/tuple [16, 9] + - !!python/tuple [17, 16] + - !!python/tuple [6, 0] + - !!python/tuple [6, 24] + - !!python/tuple [7, 27] + - !!python/tuple [6, 9] + - !!python/tuple [7, 30] + - !!python/tuple [31, 3] + - !!python/tuple [4, 4] + - !!python/tuple [26, 2] + - !!python/tuple [24, 22] + - !!python/tuple [18, 8] + - !!python/tuple [28, 12] + - !!python/tuple [19, 16] + - !!python/tuple [31, 23] + - !!python/tuple [15, 19] + - !!python/tuple [9, 28] + - !!python/tuple [8, 8] + - !!python/tuple [27, 14] + - !!python/tuple [25, 4] + - !!python/tuple [6, 16] + - !!python/tuple [12, 0] + - !!python/tuple [25, 12] + - !!python/tuple [21, 15] + - !!python/tuple [27, 12] + - !!python/tuple [19, 28] + - !!python/tuple [9, 7] + - !!python/tuple [4, 22] + - !!python/tuple [24, 1] + - !!python/tuple [17, 13] + - !!python/tuple [9, 15] + - !!python/tuple [22, 6] + - !!python/tuple [5, 13] + - !!python/tuple [22, 3] + - !!python/tuple [27, 24] + - !!python/tuple [5, 15] + - !!python/tuple [10, 3] + - !!python/tuple [22, 21] + - !!python/tuple [31, 27] + - !!python/tuple [3, 18] + - !!python/tuple [24, 8] + - !!python/tuple [6, 15] + - !!python/tuple [6, 28] + - !!python/tuple [12, 31] + - !!python/tuple [5, 29] + - !!python/tuple [11, 11] + - !!python/tuple [10, 17] + - !!python/tuple [0, 4] + - !!python/tuple [17, 17] + - !!python/tuple [25, 19] + - !!python/tuple [28, 9] + - !!python/tuple [6, 29] + - !!python/tuple [8, 15] + - !!python/tuple [2, 31] + - !!python/tuple [21, 19] + - !!python/tuple [15, 31] + - !!python/tuple [1, 9] + - !!python/tuple [3, 2] + - !!python/tuple [21, 1] + - !!python/tuple [7, 17] + - !!python/tuple [13, 21] + - !!python/tuple [20, 29] + - !!python/tuple [25, 20] + - !!python/tuple [14, 25] + - !!python/tuple [2, 6] + - !!python/tuple [9, 10] + - !!python/tuple [31, 25] + - !!python/tuple [1, 3] + - !!python/tuple [30, 28] + - !!python/tuple [23, 22] + - !!python/tuple [26, 20] + - !!python/tuple [10, 5] + - !!python/tuple [13, 10] + - !!python/tuple [28, 2] + - !!python/tuple [4, 23] + - !!python/tuple [8, 29] + - !!python/tuple [1, 21] + - !!python/tuple [24, 27] + - !!python/tuple [20, 4] + - !!python/tuple [16, 28] + - !!python/tuple [28, 11] + - !!python/tuple [13, 9] + - !!python/tuple [19, 6] + - !!python/tuple [16, 26] + - !!python/tuple [7, 22] + - !!python/tuple [29, 2] + - !!python/tuple [1, 29] + - !!python/tuple [18, 20] + - !!python/tuple [24, 0] + - !!python/tuple [19, 27] + - !!python/tuple [11, 6] + - !!python/tuple [22, 12] + - !!python/tuple [3, 15] + - !!python/tuple [4, 6] + - !!python/tuple [18, 9] + - !!python/tuple [12, 9] + - !!python/tuple [29, 8] + - !!python/tuple [28, 13] + - !!python/tuple [24, 28] + - !!python/tuple [18, 1] + - !!python/tuple [15, 12] + - !!python/tuple [25, 17] + - !!python/tuple [13, 1] + - !!python/tuple [14, 4] + - !!python/tuple [17, 7] + - !!python/tuple [4, 17] + - !!python/tuple [4, 2] + - !!python/tuple [24, 4] + - !!python/tuple [20, 10] + - !!python/tuple [20, 3] + - !!python/tuple [24, 31] + - !!python/tuple [6, 6] + - !!python/tuple [14, 31] + - !!python/tuple [12, 21] + - !!python/tuple [5, 19] + - !!python/tuple [5, 28] + - !!python/tuple [7, 20] + - !!python/tuple [14, 3] + - !!python/tuple [4, 11] + - !!python/tuple [15, 18] + - !!python/tuple [25, 2] + - !!python/tuple [19, 18] + - !!python/tuple [19, 22] + - !!python/tuple [18, 4] + - !!python/tuple [2, 9] + - !!python/tuple [27, 8] + - !!python/tuple [21, 16] + - !!python/tuple [8, 4] + - !!python/tuple [17, 15] + - !!python/tuple [23, 28] + - !!python/tuple [10, 0] + - !!python/tuple [12, 4] + - !!python/tuple [29, 29] + - !!python/tuple [8, 27] + - !!python/tuple [29, 22] + - !!python/tuple [17, 6] + - !!python/tuple [12, 18] + - !!python/tuple [19, 15] + - !!python/tuple [8, 3] + - !!python/tuple [14, 16] + - !!python/tuple [28, 22] + - !!python/tuple [4, 27] + - !!python/tuple [16, 29] + - !!python/tuple [10, 23] + - !!python/tuple [29, 30] + - !!python/tuple [30, 21] + - !!python/tuple [24, 10] + - !!python/tuple [15, 13] + - !!python/tuple [9, 21] + - !!python/tuple [28, 0] + - !!python/tuple [30, 0] + - !!python/tuple [5, 10] + - !!python/tuple [20, 24] + - !!python/tuple [9, 20] + - !!python/tuple [18, 17] + - !!python/tuple [6, 12] + - !!python/tuple [4, 14] + - !!python/tuple [24, 20] + - !!python/tuple [24, 6] + - !!python/tuple [19, 10] + - !!python/tuple [18, 6] + - !!python/tuple [31, 17] + - !!python/tuple [30, 12] + - !!python/tuple [7, 4] + - !!python/tuple [3, 11] + - !!python/tuple [7, 3] + - !!python/tuple [18, 12] + - !!python/tuple [23, 5] + - !!python/tuple [3, 0] + - !!python/tuple [25, 10] + - !!python/tuple [27, 31] + - !!python/tuple [16, 13] + - !!python/tuple [17, 27] + - !!python/tuple [25, 16] + - !!python/tuple [7, 9] + - !!python/tuple [17, 23] + - !!python/tuple [6, 10] + - !!python/tuple [15, 28] + - !!python/tuple [30, 27] + - !!python/tuple [22, 28] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex36.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex36.yaml new file mode 100644 index 0000000..889df09 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex36.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [23, 14] + name: agent0 + start: [16, 29] +- goal: [23, 17] + name: agent1 + start: [0, 15] +- goal: [27, 27] + name: agent2 + start: [11, 24] +- goal: [16, 12] + name: agent3 + start: [19, 25] +- goal: [7, 31] + name: agent4 + start: [0, 10] +- goal: [4, 28] + name: agent5 + start: [7, 4] +- goal: [4, 26] + name: agent6 + start: [21, 7] +- goal: [7, 7] + name: agent7 + start: [14, 30] +- goal: [5, 22] + name: agent8 + start: [5, 28] +- goal: [15, 11] + name: agent9 + start: [1, 22] +- goal: [0, 11] + name: agent10 + start: [31, 10] +- goal: [26, 1] + name: agent11 + start: [3, 21] +- goal: [26, 29] + name: agent12 + start: [4, 15] +- goal: [26, 10] + name: agent13 + start: [11, 26] +- goal: [3, 27] + name: agent14 + start: [9, 1] +- goal: [4, 2] + name: agent15 + start: [27, 25] +- goal: [10, 20] + name: agent16 + start: [22, 2] +- goal: [14, 29] + name: agent17 + start: [20, 16] +- goal: [12, 25] + name: agent18 + start: [11, 15] +- goal: [30, 16] + name: agent19 + start: [6, 25] +- goal: [17, 24] + name: agent20 + start: [27, 16] +- goal: [13, 12] + name: agent21 + start: [13, 4] +- goal: [18, 20] + name: agent22 + start: [3, 26] +- goal: [16, 4] + name: agent23 + start: [26, 5] +- goal: [8, 0] + name: agent24 + start: [10, 3] +- goal: [1, 3] + name: agent25 + start: [9, 16] +- goal: [18, 14] + name: agent26 + start: [20, 17] +- goal: [25, 23] + name: agent27 + start: [2, 13] +- goal: [29, 17] + name: agent28 + start: [26, 4] +- goal: [4, 24] + name: agent29 + start: [9, 3] +- goal: [29, 18] + name: agent30 + start: [11, 19] +- goal: [1, 24] + name: agent31 + start: [22, 17] +- goal: [31, 19] + name: agent32 + start: [23, 4] +- goal: [3, 19] + name: agent33 + start: [0, 9] +- goal: [17, 4] + name: agent34 + start: [19, 14] +- goal: [4, 0] + name: agent35 + start: [14, 26] +- goal: [22, 3] + name: agent36 + start: [18, 17] +- goal: [11, 23] + name: agent37 + start: [16, 26] +- goal: [3, 25] + name: agent38 + start: [13, 12] +- goal: [21, 5] + name: agent39 + start: [24, 5] +- goal: [17, 29] + name: agent40 + start: [17, 0] +- goal: [31, 30] + name: agent41 + start: [30, 20] +- goal: [12, 12] + name: agent42 + start: [1, 30] +- goal: [12, 19] + name: agent43 + start: [8, 25] +- goal: [8, 15] + name: agent44 + start: [3, 25] +- goal: [20, 24] + name: agent45 + start: [8, 4] +- goal: [4, 23] + name: agent46 + start: [22, 21] +- goal: [2, 13] + name: agent47 + start: [6, 2] +- goal: [26, 15] + name: agent48 + start: [17, 17] +- goal: [2, 27] + name: agent49 + start: [3, 17] +- goal: [17, 27] + name: agent50 + start: [10, 16] +- goal: [26, 21] + name: agent51 + start: [22, 5] +- goal: [15, 17] + name: agent52 + start: [3, 0] +- goal: [22, 15] + name: agent53 + start: [30, 16] +- goal: [23, 0] + name: agent54 + start: [21, 5] +- goal: [9, 28] + name: agent55 + start: [15, 10] +- goal: [8, 25] + name: agent56 + start: [13, 27] +- goal: [4, 20] + name: agent57 + start: [19, 23] +- goal: [28, 23] + name: agent58 + start: [16, 20] +- goal: [0, 1] + name: agent59 + start: [12, 18] +- goal: [16, 17] + name: agent60 + start: [12, 26] +- goal: [12, 10] + name: agent61 + start: [15, 30] +- goal: [15, 13] + name: agent62 + start: [6, 18] +- goal: [6, 10] + name: agent63 + start: [29, 16] +- goal: [2, 21] + name: agent64 + start: [25, 20] +- goal: [19, 20] + name: agent65 + start: [24, 11] +- goal: [11, 10] + name: agent66 + start: [12, 29] +- goal: [19, 10] + name: agent67 + start: [13, 31] +- goal: [6, 6] + name: agent68 + start: [25, 15] +- goal: [10, 19] + name: agent69 + start: [23, 29] +- goal: [23, 15] + name: agent70 + start: [31, 1] +- goal: [4, 31] + name: agent71 + start: [9, 30] +- goal: [16, 31] + name: agent72 + start: [30, 17] +- goal: [19, 22] + name: agent73 + start: [8, 27] +- goal: [12, 30] + name: agent74 + start: [7, 2] +- goal: [16, 30] + name: agent75 + start: [8, 23] +- goal: [6, 14] + name: agent76 + start: [0, 25] +- goal: [12, 2] + name: agent77 + start: [15, 0] +- goal: [19, 4] + name: agent78 + start: [13, 25] +- goal: [5, 0] + name: agent79 + start: [4, 29] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [11, 6] + - !!python/tuple [25, 9] + - !!python/tuple [5, 6] + - !!python/tuple [25, 5] + - !!python/tuple [23, 23] + - !!python/tuple [16, 24] + - !!python/tuple [19, 27] + - !!python/tuple [6, 23] + - !!python/tuple [3, 10] + - !!python/tuple [13, 15] + - !!python/tuple [22, 11] + - !!python/tuple [16, 22] + - !!python/tuple [15, 21] + - !!python/tuple [13, 16] + - !!python/tuple [5, 4] + - !!python/tuple [7, 16] + - !!python/tuple [5, 7] + - !!python/tuple [27, 4] + - !!python/tuple [13, 22] + - !!python/tuple [9, 18] + - !!python/tuple [11, 21] + - !!python/tuple [6, 9] + - !!python/tuple [23, 27] + - !!python/tuple [15, 23] + - !!python/tuple [22, 8] + - !!python/tuple [20, 6] + - !!python/tuple [6, 22] + - !!python/tuple [2, 0] + - !!python/tuple [13, 26] + - !!python/tuple [1, 12] + - !!python/tuple [2, 23] + - !!python/tuple [20, 18] + - !!python/tuple [11, 31] + - !!python/tuple [12, 23] + - !!python/tuple [7, 9] + - !!python/tuple [8, 28] + - !!python/tuple [22, 10] + - !!python/tuple [10, 22] + - !!python/tuple [4, 1] + - !!python/tuple [3, 18] + - !!python/tuple [31, 6] + - !!python/tuple [9, 20] + - !!python/tuple [12, 15] + - !!python/tuple [28, 6] + - !!python/tuple [11, 18] + - !!python/tuple [27, 9] + - !!python/tuple [2, 16] + - !!python/tuple [11, 30] + - !!python/tuple [30, 23] + - !!python/tuple [28, 7] + - !!python/tuple [13, 7] + - !!python/tuple [18, 29] + - !!python/tuple [10, 25] + - !!python/tuple [21, 16] + - !!python/tuple [4, 17] + - !!python/tuple [13, 20] + - !!python/tuple [13, 24] + - !!python/tuple [22, 14] + - !!python/tuple [25, 26] + - !!python/tuple [4, 10] + - !!python/tuple [17, 12] + - !!python/tuple [10, 21] + - !!python/tuple [28, 3] + - !!python/tuple [1, 27] + - !!python/tuple [14, 15] + - !!python/tuple [10, 27] + - !!python/tuple [13, 6] + - !!python/tuple [2, 4] + - !!python/tuple [1, 11] + - !!python/tuple [22, 16] + - !!python/tuple [3, 14] + - !!python/tuple [10, 28] + - !!python/tuple [22, 23] + - !!python/tuple [8, 22] + - !!python/tuple [0, 8] + - !!python/tuple [14, 19] + - !!python/tuple [12, 9] + - !!python/tuple [9, 0] + - !!python/tuple [16, 15] + - !!python/tuple [11, 25] + - !!python/tuple [30, 15] + - !!python/tuple [2, 22] + - !!python/tuple [10, 17] + - !!python/tuple [22, 24] + - !!python/tuple [8, 11] + - !!python/tuple [13, 21] + - !!python/tuple [15, 29] + - !!python/tuple [29, 28] + - !!python/tuple [27, 15] + - !!python/tuple [18, 31] + - !!python/tuple [29, 12] + - !!python/tuple [23, 5] + - !!python/tuple [25, 1] + - !!python/tuple [20, 20] + - !!python/tuple [26, 20] + - !!python/tuple [7, 19] + - !!python/tuple [20, 26] + - !!python/tuple [26, 8] + - !!python/tuple [19, 29] + - !!python/tuple [14, 5] + - !!python/tuple [21, 8] + - !!python/tuple [26, 14] + - !!python/tuple [1, 0] + - !!python/tuple [24, 17] + - !!python/tuple [7, 24] + - !!python/tuple [7, 11] + - !!python/tuple [27, 13] + - !!python/tuple [16, 13] + - !!python/tuple [3, 24] + - !!python/tuple [19, 28] + - !!python/tuple [30, 25] + - !!python/tuple [17, 8] + - !!python/tuple [19, 17] + - !!python/tuple [14, 3] + - !!python/tuple [29, 19] + - !!python/tuple [30, 19] + - !!python/tuple [8, 24] + - !!python/tuple [15, 1] + - !!python/tuple [29, 31] + - !!python/tuple [21, 4] + - !!python/tuple [0, 29] + - !!python/tuple [24, 7] + - !!python/tuple [5, 3] + - !!python/tuple [27, 23] + - !!python/tuple [1, 29] + - !!python/tuple [2, 12] + - !!python/tuple [15, 22] + - !!python/tuple [11, 5] + - !!python/tuple [4, 18] + - !!python/tuple [2, 29] + - !!python/tuple [14, 13] + - !!python/tuple [8, 13] + - !!python/tuple [30, 30] + - !!python/tuple [1, 26] + - !!python/tuple [9, 11] + - !!python/tuple [9, 8] + - !!python/tuple [24, 15] + - !!python/tuple [27, 7] + - !!python/tuple [16, 14] + - !!python/tuple [9, 9] + - !!python/tuple [27, 0] + - !!python/tuple [19, 26] + - !!python/tuple [10, 6] + - !!python/tuple [1, 17] + - !!python/tuple [8, 26] + - !!python/tuple [7, 20] + - !!python/tuple [11, 3] + - !!python/tuple [28, 0] + - !!python/tuple [28, 22] + - !!python/tuple [5, 12] + - !!python/tuple [4, 8] + - !!python/tuple [0, 28] + - !!python/tuple [25, 28] + - !!python/tuple [18, 28] + - !!python/tuple [7, 12] + - !!python/tuple [18, 8] + - !!python/tuple [30, 5] + - !!python/tuple [7, 23] + - !!python/tuple [28, 10] + - !!python/tuple [12, 27] + - !!python/tuple [28, 27] + - !!python/tuple [7, 8] + - !!python/tuple [6, 28] + - !!python/tuple [28, 20] + - !!python/tuple [19, 24] + - !!python/tuple [25, 27] + - !!python/tuple [21, 6] + - !!python/tuple [26, 17] + - !!python/tuple [1, 13] + - !!python/tuple [15, 2] + - !!python/tuple [14, 28] + - !!python/tuple [21, 9] + - !!python/tuple [26, 3] + - !!python/tuple [21, 29] + - !!python/tuple [8, 21] + - !!python/tuple [5, 13] + - !!python/tuple [5, 19] + - !!python/tuple [10, 2] + - !!python/tuple [29, 5] + - !!python/tuple [30, 31] + - !!python/tuple [8, 5] + - !!python/tuple [5, 10] + - !!python/tuple [19, 30] + - !!python/tuple [2, 14] + - !!python/tuple [6, 4] + - !!python/tuple [5, 9] + - !!python/tuple [23, 25] + - !!python/tuple [21, 22] + - !!python/tuple [11, 27] + - !!python/tuple [16, 7] + - !!python/tuple [8, 3] + - !!python/tuple [10, 9] + - !!python/tuple [25, 19] + - !!python/tuple [29, 30] + - !!python/tuple [21, 28] + - !!python/tuple [6, 27] + - !!python/tuple [6, 7] + - !!python/tuple [19, 6] + - !!python/tuple [26, 12] + - !!python/tuple [30, 11] + - !!python/tuple [0, 0] + - !!python/tuple [20, 5] + - !!python/tuple [27, 6] + - !!python/tuple [20, 19] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex37.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex37.yaml new file mode 100644 index 0000000..d6488ec --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex37.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [27, 12] + name: agent0 + start: [9, 5] +- goal: [12, 20] + name: agent1 + start: [26, 14] +- goal: [26, 15] + name: agent2 + start: [25, 16] +- goal: [21, 2] + name: agent3 + start: [20, 22] +- goal: [6, 10] + name: agent4 + start: [28, 25] +- goal: [11, 15] + name: agent5 + start: [10, 9] +- goal: [13, 6] + name: agent6 + start: [28, 29] +- goal: [12, 11] + name: agent7 + start: [2, 14] +- goal: [11, 1] + name: agent8 + start: [20, 17] +- goal: [22, 16] + name: agent9 + start: [31, 9] +- goal: [17, 14] + name: agent10 + start: [7, 4] +- goal: [6, 1] + name: agent11 + start: [16, 20] +- goal: [27, 27] + name: agent12 + start: [3, 15] +- goal: [12, 7] + name: agent13 + start: [18, 27] +- goal: [3, 3] + name: agent14 + start: [25, 20] +- goal: [7, 4] + name: agent15 + start: [19, 8] +- goal: [22, 30] + name: agent16 + start: [24, 9] +- goal: [3, 13] + name: agent17 + start: [13, 8] +- goal: [18, 18] + name: agent18 + start: [25, 31] +- goal: [3, 22] + name: agent19 + start: [11, 13] +- goal: [19, 13] + name: agent20 + start: [9, 28] +- goal: [23, 9] + name: agent21 + start: [17, 19] +- goal: [21, 21] + name: agent22 + start: [25, 14] +- goal: [1, 17] + name: agent23 + start: [8, 10] +- goal: [13, 18] + name: agent24 + start: [18, 21] +- goal: [8, 7] + name: agent25 + start: [26, 25] +- goal: [31, 15] + name: agent26 + start: [15, 30] +- goal: [17, 9] + name: agent27 + start: [29, 30] +- goal: [14, 25] + name: agent28 + start: [5, 9] +- goal: [28, 16] + name: agent29 + start: [31, 29] +- goal: [15, 7] + name: agent30 + start: [16, 31] +- goal: [3, 28] + name: agent31 + start: [28, 26] +- goal: [21, 16] + name: agent32 + start: [7, 13] +- goal: [7, 7] + name: agent33 + start: [17, 28] +- goal: [5, 12] + name: agent34 + start: [1, 24] +- goal: [11, 31] + name: agent35 + start: [28, 12] +- goal: [13, 23] + name: agent36 + start: [1, 7] +- goal: [21, 24] + name: agent37 + start: [2, 10] +- goal: [13, 11] + name: agent38 + start: [15, 23] +- goal: [5, 10] + name: agent39 + start: [31, 3] +- goal: [21, 10] + name: agent40 + start: [25, 28] +- goal: [11, 0] + name: agent41 + start: [13, 17] +- goal: [23, 28] + name: agent42 + start: [31, 10] +- goal: [6, 29] + name: agent43 + start: [1, 23] +- goal: [13, 31] + name: agent44 + start: [5, 30] +- goal: [24, 25] + name: agent45 + start: [30, 20] +- goal: [3, 26] + name: agent46 + start: [8, 6] +- goal: [30, 8] + name: agent47 + start: [7, 25] +- goal: [4, 20] + name: agent48 + start: [2, 30] +- goal: [0, 24] + name: agent49 + start: [27, 6] +- goal: [11, 29] + name: agent50 + start: [19, 27] +- goal: [30, 7] + name: agent51 + start: [9, 21] +- goal: [23, 1] + name: agent52 + start: [15, 21] +- goal: [24, 18] + name: agent53 + start: [16, 0] +- goal: [9, 5] + name: agent54 + start: [0, 23] +- goal: [23, 10] + name: agent55 + start: [15, 25] +- goal: [15, 23] + name: agent56 + start: [19, 13] +- goal: [16, 14] + name: agent57 + start: [18, 6] +- goal: [1, 10] + name: agent58 + start: [22, 24] +- goal: [5, 18] + name: agent59 + start: [6, 11] +- goal: [26, 19] + name: agent60 + start: [22, 5] +- goal: [6, 18] + name: agent61 + start: [17, 0] +- goal: [8, 19] + name: agent62 + start: [21, 29] +- goal: [5, 5] + name: agent63 + start: [7, 14] +- goal: [20, 1] + name: agent64 + start: [28, 31] +- goal: [3, 20] + name: agent65 + start: [8, 9] +- goal: [24, 24] + name: agent66 + start: [21, 16] +- goal: [22, 15] + name: agent67 + start: [0, 26] +- goal: [5, 4] + name: agent68 + start: [31, 8] +- goal: [9, 13] + name: agent69 + start: [11, 2] +- goal: [19, 10] + name: agent70 + start: [2, 18] +- goal: [18, 24] + name: agent71 + start: [0, 16] +- goal: [24, 11] + name: agent72 + start: [12, 22] +- goal: [1, 12] + name: agent73 + start: [14, 8] +- goal: [12, 1] + name: agent74 + start: [26, 20] +- goal: [20, 15] + name: agent75 + start: [3, 27] +- goal: [15, 21] + name: agent76 + start: [18, 23] +- goal: [10, 21] + name: agent77 + start: [15, 2] +- goal: [2, 2] + name: agent78 + start: [7, 22] +- goal: [24, 7] + name: agent79 + start: [8, 12] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [31, 13] + - !!python/tuple [15, 11] + - !!python/tuple [0, 3] + - !!python/tuple [23, 18] + - !!python/tuple [29, 10] + - !!python/tuple [1, 19] + - !!python/tuple [31, 2] + - !!python/tuple [19, 12] + - !!python/tuple [28, 28] + - !!python/tuple [11, 23] + - !!python/tuple [31, 14] + - !!python/tuple [3, 1] + - !!python/tuple [4, 1] + - !!python/tuple [26, 7] + - !!python/tuple [28, 19] + - !!python/tuple [4, 27] + - !!python/tuple [24, 14] + - !!python/tuple [27, 29] + - !!python/tuple [19, 2] + - !!python/tuple [6, 5] + - !!python/tuple [3, 25] + - !!python/tuple [23, 24] + - !!python/tuple [16, 13] + - !!python/tuple [2, 22] + - !!python/tuple [1, 0] + - !!python/tuple [1, 28] + - !!python/tuple [2, 6] + - !!python/tuple [5, 3] + - !!python/tuple [20, 27] + - !!python/tuple [14, 21] + - !!python/tuple [10, 11] + - !!python/tuple [12, 26] + - !!python/tuple [16, 7] + - !!python/tuple [20, 11] + - !!python/tuple [10, 25] + - !!python/tuple [9, 10] + - !!python/tuple [26, 26] + - !!python/tuple [25, 11] + - !!python/tuple [8, 20] + - !!python/tuple [21, 14] + - !!python/tuple [6, 3] + - !!python/tuple [27, 21] + - !!python/tuple [21, 9] + - !!python/tuple [30, 22] + - !!python/tuple [16, 25] + - !!python/tuple [4, 21] + - !!python/tuple [14, 31] + - !!python/tuple [3, 21] + - !!python/tuple [15, 15] + - !!python/tuple [30, 3] + - !!python/tuple [17, 12] + - !!python/tuple [9, 4] + - !!python/tuple [11, 5] + - !!python/tuple [5, 22] + - !!python/tuple [8, 11] + - !!python/tuple [30, 16] + - !!python/tuple [8, 3] + - !!python/tuple [4, 28] + - !!python/tuple [30, 29] + - !!python/tuple [12, 0] + - !!python/tuple [25, 7] + - !!python/tuple [25, 8] + - !!python/tuple [14, 13] + - !!python/tuple [12, 30] + - !!python/tuple [20, 4] + - !!python/tuple [10, 2] + - !!python/tuple [28, 18] + - !!python/tuple [8, 22] + - !!python/tuple [25, 23] + - !!python/tuple [19, 18] + - !!python/tuple [22, 29] + - !!python/tuple [6, 21] + - !!python/tuple [29, 4] + - !!python/tuple [28, 3] + - !!python/tuple [18, 28] + - !!python/tuple [14, 9] + - !!python/tuple [17, 22] + - !!python/tuple [16, 23] + - !!python/tuple [7, 2] + - !!python/tuple [27, 16] + - !!python/tuple [25, 18] + - !!python/tuple [19, 16] + - !!python/tuple [23, 21] + - !!python/tuple [20, 25] + - !!python/tuple [3, 5] + - !!python/tuple [21, 11] + - !!python/tuple [22, 6] + - !!python/tuple [20, 13] + - !!python/tuple [1, 15] + - !!python/tuple [4, 3] + - !!python/tuple [14, 18] + - !!python/tuple [18, 10] + - !!python/tuple [5, 25] + - !!python/tuple [24, 2] + - !!python/tuple [14, 26] + - !!python/tuple [19, 28] + - !!python/tuple [15, 4] + - !!python/tuple [21, 22] + - !!python/tuple [29, 2] + - !!python/tuple [13, 24] + - !!python/tuple [4, 13] + - !!python/tuple [3, 8] + - !!python/tuple [2, 8] + - !!python/tuple [9, 2] + - !!python/tuple [4, 22] + - !!python/tuple [13, 4] + - !!python/tuple [1, 3] + - !!python/tuple [16, 1] + - !!python/tuple [30, 9] + - !!python/tuple [9, 16] + - !!python/tuple [3, 19] + - !!python/tuple [7, 19] + - !!python/tuple [19, 19] + - !!python/tuple [12, 17] + - !!python/tuple [29, 12] + - !!python/tuple [28, 9] + - !!python/tuple [5, 17] + - !!python/tuple [21, 6] + - !!python/tuple [5, 13] + - !!python/tuple [2, 0] + - !!python/tuple [9, 9] + - !!python/tuple [26, 5] + - !!python/tuple [2, 25] + - !!python/tuple [18, 1] + - !!python/tuple [27, 19] + - !!python/tuple [16, 29] + - !!python/tuple [2, 13] + - !!python/tuple [1, 2] + - !!python/tuple [0, 30] + - !!python/tuple [16, 19] + - !!python/tuple [10, 7] + - !!python/tuple [0, 21] + - !!python/tuple [15, 1] + - !!python/tuple [4, 7] + - !!python/tuple [0, 27] + - !!python/tuple [23, 13] + - !!python/tuple [31, 21] + - !!python/tuple [8, 25] + - !!python/tuple [23, 20] + - !!python/tuple [25, 21] + - !!python/tuple [30, 15] + - !!python/tuple [6, 15] + - !!python/tuple [13, 22] + - !!python/tuple [11, 16] + - !!python/tuple [22, 8] + - !!python/tuple [4, 16] + - !!python/tuple [1, 25] + - !!python/tuple [21, 28] + - !!python/tuple [0, 7] + - !!python/tuple [8, 17] + - !!python/tuple [5, 20] + - !!python/tuple [7, 18] + - !!python/tuple [31, 24] + - !!python/tuple [12, 3] + - !!python/tuple [20, 5] + - !!python/tuple [27, 20] + - !!python/tuple [5, 8] + - !!python/tuple [22, 2] + - !!python/tuple [10, 14] + - !!python/tuple [6, 22] + - !!python/tuple [16, 5] + - !!python/tuple [29, 1] + - !!python/tuple [26, 11] + - !!python/tuple [13, 2] + - !!python/tuple [15, 0] + - !!python/tuple [6, 12] + - !!python/tuple [8, 8] + - !!python/tuple [11, 22] + - !!python/tuple [29, 13] + - !!python/tuple [12, 9] + - !!python/tuple [2, 1] + - !!python/tuple [0, 14] + - !!python/tuple [27, 22] + - !!python/tuple [2, 15] + - !!python/tuple [31, 5] + - !!python/tuple [17, 17] + - !!python/tuple [28, 21] + - !!python/tuple [23, 0] + - !!python/tuple [1, 13] + - !!python/tuple [14, 30] + - !!python/tuple [10, 8] + - !!python/tuple [4, 9] + - !!python/tuple [15, 17] + - !!python/tuple [5, 6] + - !!python/tuple [6, 8] + - !!python/tuple [11, 11] + - !!python/tuple [25, 6] + - !!python/tuple [13, 30] + - !!python/tuple [20, 24] + - !!python/tuple [11, 9] + - !!python/tuple [26, 30] + - !!python/tuple [31, 6] + - !!python/tuple [8, 21] + - !!python/tuple [25, 9] + - !!python/tuple [23, 30] + - !!python/tuple [18, 12] + - !!python/tuple [13, 9] + - !!python/tuple [28, 5] + - !!python/tuple [22, 20] + - !!python/tuple [25, 15] + - !!python/tuple [7, 23] + - !!python/tuple [5, 28] + - !!python/tuple [29, 27] + - !!python/tuple [6, 6] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex38.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex38.yaml new file mode 100644 index 0000000..e1f7899 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex38.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [18, 14] + name: agent0 + start: [15, 15] +- goal: [19, 17] + name: agent1 + start: [19, 27] +- goal: [1, 6] + name: agent2 + start: [22, 28] +- goal: [6, 2] + name: agent3 + start: [19, 6] +- goal: [26, 8] + name: agent4 + start: [2, 7] +- goal: [9, 9] + name: agent5 + start: [17, 12] +- goal: [0, 29] + name: agent6 + start: [26, 19] +- goal: [8, 16] + name: agent7 + start: [30, 14] +- goal: [0, 14] + name: agent8 + start: [1, 12] +- goal: [17, 31] + name: agent9 + start: [11, 4] +- goal: [28, 30] + name: agent10 + start: [30, 5] +- goal: [13, 10] + name: agent11 + start: [25, 22] +- goal: [14, 8] + name: agent12 + start: [1, 8] +- goal: [29, 15] + name: agent13 + start: [21, 25] +- goal: [26, 0] + name: agent14 + start: [5, 19] +- goal: [31, 24] + name: agent15 + start: [2, 2] +- goal: [26, 4] + name: agent16 + start: [0, 7] +- goal: [23, 9] + name: agent17 + start: [0, 1] +- goal: [7, 12] + name: agent18 + start: [8, 18] +- goal: [25, 4] + name: agent19 + start: [25, 16] +- goal: [30, 26] + name: agent20 + start: [3, 19] +- goal: [11, 9] + name: agent21 + start: [4, 15] +- goal: [25, 7] + name: agent22 + start: [20, 8] +- goal: [8, 21] + name: agent23 + start: [0, 8] +- goal: [11, 15] + name: agent24 + start: [14, 31] +- goal: [11, 1] + name: agent25 + start: [31, 10] +- goal: [1, 23] + name: agent26 + start: [18, 4] +- goal: [22, 31] + name: agent27 + start: [30, 30] +- goal: [28, 0] + name: agent28 + start: [16, 1] +- goal: [1, 9] + name: agent29 + start: [26, 28] +- goal: [9, 6] + name: agent30 + start: [13, 8] +- goal: [28, 8] + name: agent31 + start: [28, 19] +- goal: [14, 20] + name: agent32 + start: [29, 12] +- goal: [16, 13] + name: agent33 + start: [10, 6] +- goal: [19, 9] + name: agent34 + start: [31, 23] +- goal: [25, 1] + name: agent35 + start: [22, 5] +- goal: [27, 0] + name: agent36 + start: [16, 13] +- goal: [24, 31] + name: agent37 + start: [16, 10] +- goal: [26, 16] + name: agent38 + start: [0, 24] +- goal: [20, 5] + name: agent39 + start: [24, 28] +- goal: [27, 29] + name: agent40 + start: [4, 17] +- goal: [31, 5] + name: agent41 + start: [23, 1] +- goal: [28, 16] + name: agent42 + start: [7, 17] +- goal: [29, 28] + name: agent43 + start: [8, 10] +- goal: [11, 2] + name: agent44 + start: [8, 15] +- goal: [25, 24] + name: agent45 + start: [27, 17] +- goal: [26, 20] + name: agent46 + start: [21, 12] +- goal: [19, 3] + name: agent47 + start: [26, 22] +- goal: [27, 17] + name: agent48 + start: [10, 2] +- goal: [6, 1] + name: agent49 + start: [18, 13] +- goal: [0, 5] + name: agent50 + start: [1, 23] +- goal: [10, 12] + name: agent51 + start: [25, 30] +- goal: [7, 26] + name: agent52 + start: [23, 27] +- goal: [2, 16] + name: agent53 + start: [5, 7] +- goal: [7, 18] + name: agent54 + start: [31, 0] +- goal: [6, 8] + name: agent55 + start: [26, 15] +- goal: [27, 31] + name: agent56 + start: [30, 8] +- goal: [6, 23] + name: agent57 + start: [5, 11] +- goal: [19, 8] + name: agent58 + start: [16, 2] +- goal: [2, 6] + name: agent59 + start: [11, 5] +- goal: [19, 14] + name: agent60 + start: [19, 20] +- goal: [5, 25] + name: agent61 + start: [15, 5] +- goal: [12, 28] + name: agent62 + start: [3, 17] +- goal: [12, 10] + name: agent63 + start: [12, 4] +- goal: [26, 27] + name: agent64 + start: [3, 23] +- goal: [9, 22] + name: agent65 + start: [25, 7] +- goal: [16, 4] + name: agent66 + start: [27, 8] +- goal: [13, 25] + name: agent67 + start: [22, 19] +- goal: [24, 8] + name: agent68 + start: [19, 4] +- goal: [22, 6] + name: agent69 + start: [15, 24] +- goal: [0, 15] + name: agent70 + start: [0, 30] +- goal: [17, 0] + name: agent71 + start: [6, 28] +- goal: [8, 9] + name: agent72 + start: [7, 30] +- goal: [8, 6] + name: agent73 + start: [29, 26] +- goal: [4, 23] + name: agent74 + start: [24, 2] +- goal: [5, 2] + name: agent75 + start: [1, 13] +- goal: [25, 23] + name: agent76 + start: [25, 28] +- goal: [24, 27] + name: agent77 + start: [20, 28] +- goal: [17, 9] + name: agent78 + start: [19, 30] +- goal: [29, 0] + name: agent79 + start: [28, 4] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [10, 30] + - !!python/tuple [16, 9] + - !!python/tuple [10, 22] + - !!python/tuple [25, 18] + - !!python/tuple [30, 10] + - !!python/tuple [26, 6] + - !!python/tuple [5, 31] + - !!python/tuple [24, 17] + - !!python/tuple [30, 13] + - !!python/tuple [20, 19] + - !!python/tuple [7, 27] + - !!python/tuple [23, 5] + - !!python/tuple [20, 2] + - !!python/tuple [14, 7] + - !!python/tuple [6, 29] + - !!python/tuple [5, 6] + - !!python/tuple [31, 7] + - !!python/tuple [19, 10] + - !!python/tuple [3, 21] + - !!python/tuple [29, 11] + - !!python/tuple [3, 26] + - !!python/tuple [27, 26] + - !!python/tuple [31, 6] + - !!python/tuple [24, 12] + - !!python/tuple [23, 7] + - !!python/tuple [31, 19] + - !!python/tuple [3, 29] + - !!python/tuple [16, 20] + - !!python/tuple [22, 12] + - !!python/tuple [15, 4] + - !!python/tuple [4, 11] + - !!python/tuple [5, 27] + - !!python/tuple [27, 24] + - !!python/tuple [24, 3] + - !!python/tuple [5, 16] + - !!python/tuple [6, 27] + - !!python/tuple [1, 16] + - !!python/tuple [28, 2] + - !!python/tuple [24, 11] + - !!python/tuple [1, 15] + - !!python/tuple [18, 8] + - !!python/tuple [21, 18] + - !!python/tuple [18, 10] + - !!python/tuple [12, 29] + - !!python/tuple [13, 4] + - !!python/tuple [28, 29] + - !!python/tuple [24, 6] + - !!python/tuple [9, 3] + - !!python/tuple [15, 23] + - !!python/tuple [16, 22] + - !!python/tuple [29, 24] + - !!python/tuple [16, 30] + - !!python/tuple [13, 17] + - !!python/tuple [6, 25] + - !!python/tuple [7, 21] + - !!python/tuple [18, 31] + - !!python/tuple [10, 23] + - !!python/tuple [7, 6] + - !!python/tuple [1, 2] + - !!python/tuple [3, 31] + - !!python/tuple [13, 30] + - !!python/tuple [4, 16] + - !!python/tuple [1, 21] + - !!python/tuple [2, 26] + - !!python/tuple [31, 16] + - !!python/tuple [0, 18] + - !!python/tuple [8, 24] + - !!python/tuple [11, 10] + - !!python/tuple [29, 13] + - !!python/tuple [8, 4] + - !!python/tuple [18, 11] + - !!python/tuple [14, 13] + - !!python/tuple [2, 9] + - !!python/tuple [10, 15] + - !!python/tuple [22, 27] + - !!python/tuple [26, 21] + - !!python/tuple [28, 25] + - !!python/tuple [28, 11] + - !!python/tuple [27, 18] + - !!python/tuple [31, 8] + - !!python/tuple [1, 31] + - !!python/tuple [14, 19] + - !!python/tuple [5, 4] + - !!python/tuple [21, 13] + - !!python/tuple [9, 25] + - !!python/tuple [21, 26] + - !!python/tuple [11, 31] + - !!python/tuple [20, 10] + - !!python/tuple [31, 15] + - !!python/tuple [18, 2] + - !!python/tuple [5, 20] + - !!python/tuple [31, 4] + - !!python/tuple [18, 26] + - !!python/tuple [13, 31] + - !!python/tuple [5, 21] + - !!python/tuple [16, 11] + - !!python/tuple [23, 20] + - !!python/tuple [24, 4] + - !!python/tuple [29, 21] + - !!python/tuple [22, 29] + - !!python/tuple [6, 31] + - !!python/tuple [17, 22] + - !!python/tuple [14, 27] + - !!python/tuple [6, 0] + - !!python/tuple [9, 14] + - !!python/tuple [13, 13] + - !!python/tuple [22, 24] + - !!python/tuple [1, 0] + - !!python/tuple [3, 12] + - !!python/tuple [19, 5] + - !!python/tuple [9, 29] + - !!python/tuple [17, 8] + - !!python/tuple [9, 12] + - !!python/tuple [8, 13] + - !!python/tuple [12, 18] + - !!python/tuple [1, 1] + - !!python/tuple [26, 5] + - !!python/tuple [6, 14] + - !!python/tuple [6, 13] + - !!python/tuple [24, 19] + - !!python/tuple [27, 10] + - !!python/tuple [4, 7] + - !!python/tuple [21, 9] + - !!python/tuple [7, 16] + - !!python/tuple [25, 2] + - !!python/tuple [29, 16] + - !!python/tuple [25, 10] + - !!python/tuple [17, 24] + - !!python/tuple [28, 31] + - !!python/tuple [27, 28] + - !!python/tuple [14, 17] + - !!python/tuple [22, 2] + - !!python/tuple [2, 17] + - !!python/tuple [23, 16] + - !!python/tuple [15, 17] + - !!python/tuple [13, 7] + - !!python/tuple [16, 17] + - !!python/tuple [14, 0] + - !!python/tuple [2, 5] + - !!python/tuple [19, 7] + - !!python/tuple [10, 27] + - !!python/tuple [28, 23] + - !!python/tuple [26, 10] + - !!python/tuple [6, 5] + - !!python/tuple [18, 16] + - !!python/tuple [20, 9] + - !!python/tuple [19, 0] + - !!python/tuple [3, 7] + - !!python/tuple [4, 20] + - !!python/tuple [6, 16] + - !!python/tuple [1, 14] + - !!python/tuple [2, 15] + - !!python/tuple [22, 9] + - !!python/tuple [27, 15] + - !!python/tuple [0, 31] + - !!python/tuple [28, 12] + - !!python/tuple [29, 2] + - !!python/tuple [28, 17] + - !!python/tuple [27, 1] + - !!python/tuple [0, 13] + - !!python/tuple [9, 20] + - !!python/tuple [11, 26] + - !!python/tuple [23, 29] + - !!python/tuple [25, 11] + - !!python/tuple [18, 5] + - !!python/tuple [7, 23] + - !!python/tuple [11, 30] + - !!python/tuple [9, 17] + - !!python/tuple [10, 18] + - !!python/tuple [24, 23] + - !!python/tuple [9, 5] + - !!python/tuple [1, 29] + - !!python/tuple [2, 30] + - !!python/tuple [22, 1] + - !!python/tuple [2, 18] + - !!python/tuple [16, 0] + - !!python/tuple [15, 27] + - !!python/tuple [7, 29] + - !!python/tuple [14, 25] + - !!python/tuple [10, 5] + - !!python/tuple [14, 21] + - !!python/tuple [3, 3] + - !!python/tuple [8, 31] + - !!python/tuple [21, 3] + - !!python/tuple [8, 20] + - !!python/tuple [10, 1] + - !!python/tuple [14, 5] + - !!python/tuple [13, 28] + - !!python/tuple [3, 5] + - !!python/tuple [3, 8] + - !!python/tuple [28, 1] + - !!python/tuple [26, 1] + - !!python/tuple [13, 27] + - !!python/tuple [21, 20] + - !!python/tuple [25, 27] + - !!python/tuple [24, 20] + - !!python/tuple [10, 17] + - !!python/tuple [24, 22] + - !!python/tuple [21, 24] + - !!python/tuple [17, 6] + - !!python/tuple [23, 8] + - !!python/tuple [25, 29] + - !!python/tuple [5, 18] + - !!python/tuple [31, 1] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex39.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex39.yaml new file mode 100644 index 0000000..2c6db2d --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex39.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [28, 4] + name: agent0 + start: [14, 8] +- goal: [15, 7] + name: agent1 + start: [4, 9] +- goal: [4, 29] + name: agent2 + start: [25, 14] +- goal: [5, 3] + name: agent3 + start: [4, 1] +- goal: [20, 0] + name: agent4 + start: [28, 30] +- goal: [16, 28] + name: agent5 + start: [21, 6] +- goal: [1, 30] + name: agent6 + start: [10, 19] +- goal: [20, 16] + name: agent7 + start: [17, 8] +- goal: [7, 2] + name: agent8 + start: [7, 1] +- goal: [6, 18] + name: agent9 + start: [27, 25] +- goal: [28, 13] + name: agent10 + start: [21, 3] +- goal: [0, 20] + name: agent11 + start: [14, 7] +- goal: [12, 16] + name: agent12 + start: [27, 21] +- goal: [21, 8] + name: agent13 + start: [8, 31] +- goal: [16, 11] + name: agent14 + start: [21, 28] +- goal: [13, 25] + name: agent15 + start: [0, 9] +- goal: [18, 7] + name: agent16 + start: [30, 14] +- goal: [6, 16] + name: agent17 + start: [25, 30] +- goal: [4, 4] + name: agent18 + start: [3, 1] +- goal: [3, 0] + name: agent19 + start: [4, 26] +- goal: [8, 15] + name: agent20 + start: [30, 10] +- goal: [31, 13] + name: agent21 + start: [16, 19] +- goal: [17, 6] + name: agent22 + start: [20, 6] +- goal: [7, 16] + name: agent23 + start: [14, 6] +- goal: [29, 22] + name: agent24 + start: [25, 7] +- goal: [22, 30] + name: agent25 + start: [27, 26] +- goal: [6, 28] + name: agent26 + start: [21, 16] +- goal: [1, 21] + name: agent27 + start: [29, 6] +- goal: [25, 16] + name: agent28 + start: [10, 1] +- goal: [0, 16] + name: agent29 + start: [2, 4] +- goal: [23, 24] + name: agent30 + start: [21, 27] +- goal: [18, 9] + name: agent31 + start: [25, 12] +- goal: [9, 15] + name: agent32 + start: [19, 23] +- goal: [7, 3] + name: agent33 + start: [26, 25] +- goal: [22, 21] + name: agent34 + start: [16, 23] +- goal: [1, 4] + name: agent35 + start: [22, 6] +- goal: [17, 9] + name: agent36 + start: [8, 11] +- goal: [26, 15] + name: agent37 + start: [19, 30] +- goal: [8, 19] + name: agent38 + start: [25, 31] +- goal: [8, 29] + name: agent39 + start: [11, 26] +- goal: [9, 8] + name: agent40 + start: [4, 11] +- goal: [20, 19] + name: agent41 + start: [16, 24] +- goal: [14, 10] + name: agent42 + start: [13, 11] +- goal: [31, 27] + name: agent43 + start: [26, 21] +- goal: [2, 30] + name: agent44 + start: [16, 27] +- goal: [12, 20] + name: agent45 + start: [25, 0] +- goal: [27, 4] + name: agent46 + start: [11, 29] +- goal: [23, 5] + name: agent47 + start: [8, 9] +- goal: [14, 29] + name: agent48 + start: [24, 3] +- goal: [20, 1] + name: agent49 + start: [26, 18] +- goal: [29, 10] + name: agent50 + start: [29, 7] +- goal: [9, 31] + name: agent51 + start: [5, 8] +- goal: [10, 29] + name: agent52 + start: [31, 22] +- goal: [2, 2] + name: agent53 + start: [28, 23] +- goal: [15, 25] + name: agent54 + start: [1, 4] +- goal: [10, 0] + name: agent55 + start: [20, 8] +- goal: [8, 26] + name: agent56 + start: [4, 5] +- goal: [6, 25] + name: agent57 + start: [24, 14] +- goal: [7, 19] + name: agent58 + start: [22, 22] +- goal: [27, 15] + name: agent59 + start: [11, 17] +- goal: [25, 7] + name: agent60 + start: [18, 27] +- goal: [19, 22] + name: agent61 + start: [5, 3] +- goal: [10, 4] + name: agent62 + start: [31, 0] +- goal: [8, 0] + name: agent63 + start: [2, 5] +- goal: [17, 11] + name: agent64 + start: [18, 9] +- goal: [18, 4] + name: agent65 + start: [15, 14] +- goal: [21, 28] + name: agent66 + start: [6, 28] +- goal: [25, 3] + name: agent67 + start: [9, 30] +- goal: [14, 1] + name: agent68 + start: [7, 20] +- goal: [10, 20] + name: agent69 + start: [23, 6] +- goal: [22, 13] + name: agent70 + start: [18, 25] +- goal: [9, 18] + name: agent71 + start: [2, 27] +- goal: [0, 30] + name: agent72 + start: [8, 7] +- goal: [15, 23] + name: agent73 + start: [1, 28] +- goal: [19, 8] + name: agent74 + start: [15, 2] +- goal: [8, 12] + name: agent75 + start: [19, 11] +- goal: [28, 20] + name: agent76 + start: [8, 27] +- goal: [19, 1] + name: agent77 + start: [31, 6] +- goal: [16, 23] + name: agent78 + start: [7, 10] +- goal: [10, 17] + name: agent79 + start: [1, 10] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [28, 9] + - !!python/tuple [4, 0] + - !!python/tuple [20, 9] + - !!python/tuple [20, 18] + - !!python/tuple [6, 6] + - !!python/tuple [28, 16] + - !!python/tuple [13, 31] + - !!python/tuple [31, 5] + - !!python/tuple [30, 9] + - !!python/tuple [13, 17] + - !!python/tuple [0, 8] + - !!python/tuple [16, 13] + - !!python/tuple [11, 31] + - !!python/tuple [8, 25] + - !!python/tuple [24, 31] + - !!python/tuple [21, 10] + - !!python/tuple [13, 8] + - !!python/tuple [21, 18] + - !!python/tuple [19, 26] + - !!python/tuple [25, 27] + - !!python/tuple [18, 18] + - !!python/tuple [19, 29] + - !!python/tuple [29, 12] + - !!python/tuple [15, 19] + - !!python/tuple [20, 24] + - !!python/tuple [30, 12] + - !!python/tuple [11, 5] + - !!python/tuple [20, 15] + - !!python/tuple [28, 18] + - !!python/tuple [11, 7] + - !!python/tuple [12, 14] + - !!python/tuple [17, 19] + - !!python/tuple [9, 16] + - !!python/tuple [5, 29] + - !!python/tuple [21, 14] + - !!python/tuple [27, 19] + - !!python/tuple [29, 3] + - !!python/tuple [26, 5] + - !!python/tuple [2, 1] + - !!python/tuple [7, 0] + - !!python/tuple [25, 9] + - !!python/tuple [3, 9] + - !!python/tuple [29, 23] + - !!python/tuple [16, 12] + - !!python/tuple [5, 22] + - !!python/tuple [7, 14] + - !!python/tuple [21, 25] + - !!python/tuple [1, 19] + - !!python/tuple [21, 1] + - !!python/tuple [18, 31] + - !!python/tuple [10, 16] + - !!python/tuple [13, 21] + - !!python/tuple [15, 9] + - !!python/tuple [23, 0] + - !!python/tuple [16, 10] + - !!python/tuple [25, 26] + - !!python/tuple [30, 30] + - !!python/tuple [20, 27] + - !!python/tuple [2, 13] + - !!python/tuple [26, 27] + - !!python/tuple [14, 15] + - !!python/tuple [22, 16] + - !!python/tuple [25, 17] + - !!python/tuple [5, 9] + - !!python/tuple [5, 28] + - !!python/tuple [26, 22] + - !!python/tuple [27, 5] + - !!python/tuple [4, 27] + - !!python/tuple [22, 18] + - !!python/tuple [16, 4] + - !!python/tuple [8, 1] + - !!python/tuple [13, 14] + - !!python/tuple [10, 28] + - !!python/tuple [31, 11] + - !!python/tuple [11, 25] + - !!python/tuple [30, 31] + - !!python/tuple [24, 15] + - !!python/tuple [14, 24] + - !!python/tuple [27, 8] + - !!python/tuple [9, 12] + - !!python/tuple [23, 27] + - !!python/tuple [17, 20] + - !!python/tuple [29, 21] + - !!python/tuple [8, 5] + - !!python/tuple [12, 6] + - !!python/tuple [9, 2] + - !!python/tuple [10, 2] + - !!python/tuple [23, 26] + - !!python/tuple [8, 18] + - !!python/tuple [15, 8] + - !!python/tuple [15, 15] + - !!python/tuple [29, 27] + - !!python/tuple [6, 27] + - !!python/tuple [12, 3] + - !!python/tuple [30, 8] + - !!python/tuple [24, 21] + - !!python/tuple [19, 21] + - !!python/tuple [2, 11] + - !!python/tuple [2, 14] + - !!python/tuple [1, 5] + - !!python/tuple [16, 17] + - !!python/tuple [14, 9] + - !!python/tuple [13, 19] + - !!python/tuple [19, 10] + - !!python/tuple [27, 23] + - !!python/tuple [16, 26] + - !!python/tuple [15, 13] + - !!python/tuple [6, 22] + - !!python/tuple [15, 10] + - !!python/tuple [25, 19] + - !!python/tuple [31, 23] + - !!python/tuple [0, 12] + - !!python/tuple [11, 13] + - !!python/tuple [8, 6] + - !!python/tuple [11, 14] + - !!python/tuple [11, 16] + - !!python/tuple [3, 17] + - !!python/tuple [14, 19] + - !!python/tuple [8, 23] + - !!python/tuple [17, 4] + - !!python/tuple [1, 0] + - !!python/tuple [21, 31] + - !!python/tuple [25, 18] + - !!python/tuple [13, 24] + - !!python/tuple [23, 30] + - !!python/tuple [11, 0] + - !!python/tuple [26, 16] + - !!python/tuple [21, 19] + - !!python/tuple [28, 28] + - !!python/tuple [20, 21] + - !!python/tuple [8, 21] + - !!python/tuple [17, 10] + - !!python/tuple [7, 21] + - !!python/tuple [16, 0] + - !!python/tuple [8, 4] + - !!python/tuple [0, 14] + - !!python/tuple [21, 30] + - !!python/tuple [9, 6] + - !!python/tuple [2, 12] + - !!python/tuple [17, 7] + - !!python/tuple [7, 17] + - !!python/tuple [14, 11] + - !!python/tuple [2, 17] + - !!python/tuple [4, 15] + - !!python/tuple [0, 26] + - !!python/tuple [4, 6] + - !!python/tuple [24, 1] + - !!python/tuple [26, 23] + - !!python/tuple [19, 7] + - !!python/tuple [16, 8] + - !!python/tuple [10, 21] + - !!python/tuple [2, 20] + - !!python/tuple [2, 6] + - !!python/tuple [9, 3] + - !!python/tuple [28, 21] + - !!python/tuple [20, 13] + - !!python/tuple [7, 8] + - !!python/tuple [24, 7] + - !!python/tuple [20, 20] + - !!python/tuple [3, 31] + - !!python/tuple [28, 31] + - !!python/tuple [11, 3] + - !!python/tuple [0, 6] + - !!python/tuple [29, 16] + - !!python/tuple [21, 15] + - !!python/tuple [26, 11] + - !!python/tuple [24, 25] + - !!python/tuple [8, 8] + - !!python/tuple [8, 10] + - !!python/tuple [27, 12] + - !!python/tuple [14, 3] + - !!python/tuple [23, 1] + - !!python/tuple [10, 3] + - !!python/tuple [24, 13] + - !!python/tuple [3, 30] + - !!python/tuple [4, 23] + - !!python/tuple [18, 12] + - !!python/tuple [1, 6] + - !!python/tuple [8, 24] + - !!python/tuple [16, 29] + - !!python/tuple [6, 10] + - !!python/tuple [17, 0] + - !!python/tuple [9, 29] + - !!python/tuple [25, 6] + - !!python/tuple [19, 0] + - !!python/tuple [0, 18] + - !!python/tuple [26, 0] + - !!python/tuple [13, 13] + - !!python/tuple [29, 18] + - !!python/tuple [27, 0] + - !!python/tuple [30, 25] + - !!python/tuple [15, 3] + - !!python/tuple [1, 18] + - !!python/tuple [14, 28] + - !!python/tuple [21, 20] + - !!python/tuple [31, 29] + - !!python/tuple [28, 2] + - !!python/tuple [28, 5] + - !!python/tuple [22, 31] + - !!python/tuple [3, 10] + - !!python/tuple [12, 28] + - !!python/tuple [1, 20] + - !!python/tuple [1, 9] + - !!python/tuple [22, 10] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex4.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex4.yaml new file mode 100644 index 0000000..03242aa --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex4.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [20, 15] + name: agent0 + start: [12, 2] +- goal: [6, 0] + name: agent1 + start: [20, 4] +- goal: [9, 5] + name: agent2 + start: [11, 16] +- goal: [15, 1] + name: agent3 + start: [13, 21] +- goal: [20, 25] + name: agent4 + start: [6, 29] +- goal: [11, 0] + name: agent5 + start: [26, 14] +- goal: [17, 12] + name: agent6 + start: [29, 26] +- goal: [21, 0] + name: agent7 + start: [13, 0] +- goal: [0, 20] + name: agent8 + start: [7, 14] +- goal: [20, 0] + name: agent9 + start: [10, 6] +- goal: [0, 13] + name: agent10 + start: [26, 9] +- goal: [11, 5] + name: agent11 + start: [7, 7] +- goal: [1, 31] + name: agent12 + start: [10, 18] +- goal: [0, 18] + name: agent13 + start: [6, 26] +- goal: [23, 25] + name: agent14 + start: [17, 12] +- goal: [8, 9] + name: agent15 + start: [26, 25] +- goal: [17, 21] + name: agent16 + start: [28, 27] +- goal: [10, 13] + name: agent17 + start: [7, 23] +- goal: [4, 9] + name: agent18 + start: [31, 12] +- goal: [24, 12] + name: agent19 + start: [30, 7] +- goal: [31, 7] + name: agent20 + start: [8, 12] +- goal: [6, 12] + name: agent21 + start: [3, 13] +- goal: [17, 13] + name: agent22 + start: [1, 15] +- goal: [7, 16] + name: agent23 + start: [10, 27] +- goal: [18, 24] + name: agent24 + start: [0, 13] +- goal: [11, 28] + name: agent25 + start: [30, 28] +- goal: [14, 14] + name: agent26 + start: [26, 30] +- goal: [21, 18] + name: agent27 + start: [11, 9] +- goal: [22, 6] + name: agent28 + start: [11, 0] +- goal: [29, 31] + name: agent29 + start: [18, 30] +- goal: [20, 18] + name: agent30 + start: [15, 27] +- goal: [22, 19] + name: agent31 + start: [25, 17] +- goal: [2, 20] + name: agent32 + start: [8, 2] +- goal: [15, 15] + name: agent33 + start: [8, 9] +- goal: [15, 25] + name: agent34 + start: [7, 31] +- goal: [26, 26] + name: agent35 + start: [10, 28] +- goal: [17, 24] + name: agent36 + start: [31, 0] +- goal: [14, 10] + name: agent37 + start: [21, 2] +- goal: [10, 0] + name: agent38 + start: [29, 11] +- goal: [9, 3] + name: agent39 + start: [7, 17] +- goal: [8, 30] + name: agent40 + start: [14, 27] +- goal: [5, 9] + name: agent41 + start: [25, 7] +- goal: [27, 22] + name: agent42 + start: [28, 10] +- goal: [12, 16] + name: agent43 + start: [20, 6] +- goal: [18, 8] + name: agent44 + start: [26, 23] +- goal: [13, 6] + name: agent45 + start: [1, 31] +- goal: [30, 27] + name: agent46 + start: [0, 11] +- goal: [1, 5] + name: agent47 + start: [19, 27] +- goal: [22, 2] + name: agent48 + start: [23, 9] +- goal: [14, 16] + name: agent49 + start: [21, 12] +- goal: [19, 7] + name: agent50 + start: [24, 21] +- goal: [14, 26] + name: agent51 + start: [21, 1] +- goal: [19, 17] + name: agent52 + start: [20, 30] +- goal: [21, 16] + name: agent53 + start: [17, 0] +- goal: [4, 19] + name: agent54 + start: [28, 17] +- goal: [22, 27] + name: agent55 + start: [26, 27] +- goal: [31, 2] + name: agent56 + start: [28, 9] +- goal: [7, 23] + name: agent57 + start: [8, 24] +- goal: [30, 14] + name: agent58 + start: [28, 5] +- goal: [31, 4] + name: agent59 + start: [1, 2] +- goal: [5, 19] + name: agent60 + start: [30, 8] +- goal: [16, 23] + name: agent61 + start: [14, 21] +- goal: [24, 28] + name: agent62 + start: [2, 20] +- goal: [18, 5] + name: agent63 + start: [16, 30] +- goal: [7, 21] + name: agent64 + start: [13, 13] +- goal: [23, 26] + name: agent65 + start: [14, 18] +- goal: [0, 10] + name: agent66 + start: [26, 3] +- goal: [13, 26] + name: agent67 + start: [20, 20] +- goal: [20, 14] + name: agent68 + start: [4, 11] +- goal: [6, 23] + name: agent69 + start: [4, 9] +- goal: [0, 9] + name: agent70 + start: [8, 18] +- goal: [5, 12] + name: agent71 + start: [5, 29] +- goal: [3, 21] + name: agent72 + start: [16, 5] +- goal: [7, 15] + name: agent73 + start: [20, 17] +- goal: [9, 10] + name: agent74 + start: [21, 10] +- goal: [18, 9] + name: agent75 + start: [30, 25] +- goal: [0, 27] + name: agent76 + start: [10, 1] +- goal: [27, 30] + name: agent77 + start: [26, 0] +- goal: [19, 4] + name: agent78 + start: [29, 21] +- goal: [5, 6] + name: agent79 + start: [31, 19] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [25, 29] + - !!python/tuple [2, 15] + - !!python/tuple [20, 8] + - !!python/tuple [11, 19] + - !!python/tuple [25, 22] + - !!python/tuple [3, 6] + - !!python/tuple [9, 12] + - !!python/tuple [23, 5] + - !!python/tuple [11, 4] + - !!python/tuple [4, 26] + - !!python/tuple [15, 2] + - !!python/tuple [27, 13] + - !!python/tuple [31, 23] + - !!python/tuple [11, 30] + - !!python/tuple [2, 8] + - !!python/tuple [6, 1] + - !!python/tuple [13, 23] + - !!python/tuple [23, 21] + - !!python/tuple [6, 30] + - !!python/tuple [18, 15] + - !!python/tuple [30, 10] + - !!python/tuple [21, 13] + - !!python/tuple [11, 2] + - !!python/tuple [29, 29] + - !!python/tuple [6, 20] + - !!python/tuple [4, 21] + - !!python/tuple [3, 5] + - !!python/tuple [13, 18] + - !!python/tuple [16, 22] + - !!python/tuple [17, 15] + - !!python/tuple [31, 6] + - !!python/tuple [10, 17] + - !!python/tuple [23, 31] + - !!python/tuple [27, 9] + - !!python/tuple [8, 3] + - !!python/tuple [2, 12] + - !!python/tuple [25, 23] + - !!python/tuple [7, 8] + - !!python/tuple [12, 5] + - !!python/tuple [21, 6] + - !!python/tuple [18, 21] + - !!python/tuple [14, 0] + - !!python/tuple [16, 28] + - !!python/tuple [30, 12] + - !!python/tuple [13, 24] + - !!python/tuple [3, 30] + - !!python/tuple [13, 10] + - !!python/tuple [13, 5] + - !!python/tuple [14, 7] + - !!python/tuple [9, 4] + - !!python/tuple [21, 29] + - !!python/tuple [22, 7] + - !!python/tuple [6, 6] + - !!python/tuple [18, 0] + - !!python/tuple [21, 11] + - !!python/tuple [11, 18] + - !!python/tuple [0, 23] + - !!python/tuple [1, 10] + - !!python/tuple [0, 14] + - !!python/tuple [2, 9] + - !!python/tuple [12, 6] + - !!python/tuple [19, 19] + - !!python/tuple [7, 9] + - !!python/tuple [0, 7] + - !!python/tuple [14, 25] + - !!python/tuple [9, 25] + - !!python/tuple [11, 21] + - !!python/tuple [4, 12] + - !!python/tuple [6, 25] + - !!python/tuple [30, 15] + - !!python/tuple [3, 27] + - !!python/tuple [10, 22] + - !!python/tuple [28, 0] + - !!python/tuple [22, 0] + - !!python/tuple [31, 10] + - !!python/tuple [19, 13] + - !!python/tuple [6, 16] + - !!python/tuple [23, 8] + - !!python/tuple [2, 6] + - !!python/tuple [14, 28] + - !!python/tuple [20, 27] + - !!python/tuple [27, 8] + - !!python/tuple [31, 22] + - !!python/tuple [11, 12] + - !!python/tuple [10, 21] + - !!python/tuple [15, 0] + - !!python/tuple [1, 28] + - !!python/tuple [13, 17] + - !!python/tuple [24, 24] + - !!python/tuple [12, 15] + - !!python/tuple [9, 8] + - !!python/tuple [31, 28] + - !!python/tuple [25, 30] + - !!python/tuple [7, 30] + - !!python/tuple [26, 16] + - !!python/tuple [30, 13] + - !!python/tuple [24, 4] + - !!python/tuple [5, 7] + - !!python/tuple [31, 16] + - !!python/tuple [28, 13] + - !!python/tuple [22, 15] + - !!python/tuple [20, 1] + - !!python/tuple [15, 29] + - !!python/tuple [6, 19] + - !!python/tuple [26, 28] + - !!python/tuple [18, 20] + - !!python/tuple [8, 25] + - !!python/tuple [3, 17] + - !!python/tuple [29, 1] + - !!python/tuple [1, 24] + - !!python/tuple [13, 3] + - !!python/tuple [9, 27] + - !!python/tuple [20, 10] + - !!python/tuple [26, 31] + - !!python/tuple [11, 13] + - !!python/tuple [0, 31] + - !!python/tuple [27, 18] + - !!python/tuple [14, 12] + - !!python/tuple [2, 25] + - !!python/tuple [20, 21] + - !!python/tuple [30, 31] + - !!python/tuple [31, 1] + - !!python/tuple [12, 23] + - !!python/tuple [13, 15] + - !!python/tuple [15, 16] + - !!python/tuple [24, 10] + - !!python/tuple [0, 29] + - !!python/tuple [12, 0] + - !!python/tuple [14, 2] + - !!python/tuple [18, 18] + - !!python/tuple [17, 20] + - !!python/tuple [18, 16] + - !!python/tuple [18, 6] + - !!python/tuple [22, 23] + - !!python/tuple [28, 20] + - !!python/tuple [19, 2] + - !!python/tuple [16, 24] + - !!python/tuple [30, 23] + - !!python/tuple [23, 12] + - !!python/tuple [6, 13] + - !!python/tuple [19, 16] + - !!python/tuple [11, 3] + - !!python/tuple [23, 27] + - !!python/tuple [25, 13] + - !!python/tuple [28, 19] + - !!python/tuple [8, 14] + - !!python/tuple [8, 11] + - !!python/tuple [14, 13] + - !!python/tuple [2, 31] + - !!python/tuple [31, 13] + - !!python/tuple [3, 12] + - !!python/tuple [12, 12] + - !!python/tuple [20, 24] + - !!python/tuple [27, 26] + - !!python/tuple [1, 27] + - !!python/tuple [20, 3] + - !!python/tuple [14, 19] + - !!python/tuple [17, 31] + - !!python/tuple [7, 10] + - !!python/tuple [27, 25] + - !!python/tuple [30, 24] + - !!python/tuple [23, 15] + - !!python/tuple [1, 13] + - !!python/tuple [25, 4] + - !!python/tuple [11, 25] + - !!python/tuple [17, 5] + - !!python/tuple [6, 22] + - !!python/tuple [8, 13] + - !!python/tuple [2, 18] + - !!python/tuple [24, 30] + - !!python/tuple [26, 2] + - !!python/tuple [6, 5] + - !!python/tuple [9, 23] + - !!python/tuple [29, 12] + - !!python/tuple [31, 25] + - !!python/tuple [29, 30] + - !!python/tuple [20, 26] + - !!python/tuple [4, 23] + - !!python/tuple [28, 18] + - !!python/tuple [7, 22] + - !!python/tuple [4, 17] + - !!python/tuple [12, 10] + - !!python/tuple [4, 5] + - !!python/tuple [25, 26] + - !!python/tuple [1, 9] + - !!python/tuple [14, 31] + - !!python/tuple [21, 14] + - !!python/tuple [16, 11] + - !!python/tuple [25, 24] + - !!python/tuple [23, 28] + - !!python/tuple [28, 21] + - !!python/tuple [16, 12] + - !!python/tuple [13, 25] + - !!python/tuple [25, 31] + - !!python/tuple [30, 5] + - !!python/tuple [13, 28] + - !!python/tuple [16, 13] + - !!python/tuple [0, 15] + - !!python/tuple [25, 2] + - !!python/tuple [5, 23] + - !!python/tuple [3, 18] + - !!python/tuple [8, 0] + - !!python/tuple [19, 30] + - !!python/tuple [13, 2] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex40.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex40.yaml new file mode 100644 index 0000000..eaad932 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex40.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [15, 26] + name: agent0 + start: [30, 7] +- goal: [23, 29] + name: agent1 + start: [30, 22] +- goal: [11, 20] + name: agent2 + start: [26, 20] +- goal: [8, 8] + name: agent3 + start: [6, 20] +- goal: [22, 25] + name: agent4 + start: [11, 17] +- goal: [25, 19] + name: agent5 + start: [30, 6] +- goal: [10, 15] + name: agent6 + start: [2, 22] +- goal: [3, 27] + name: agent7 + start: [31, 20] +- goal: [23, 1] + name: agent8 + start: [5, 21] +- goal: [25, 28] + name: agent9 + start: [23, 25] +- goal: [25, 11] + name: agent10 + start: [13, 27] +- goal: [29, 19] + name: agent11 + start: [27, 22] +- goal: [21, 7] + name: agent12 + start: [26, 6] +- goal: [25, 17] + name: agent13 + start: [6, 21] +- goal: [14, 20] + name: agent14 + start: [8, 31] +- goal: [22, 18] + name: agent15 + start: [0, 19] +- goal: [27, 27] + name: agent16 + start: [2, 0] +- goal: [1, 17] + name: agent17 + start: [15, 24] +- goal: [11, 6] + name: agent18 + start: [2, 19] +- goal: [24, 3] + name: agent19 + start: [18, 20] +- goal: [4, 31] + name: agent20 + start: [4, 5] +- goal: [0, 13] + name: agent21 + start: [28, 28] +- goal: [3, 10] + name: agent22 + start: [2, 11] +- goal: [10, 0] + name: agent23 + start: [22, 16] +- goal: [23, 23] + name: agent24 + start: [14, 28] +- goal: [19, 11] + name: agent25 + start: [19, 15] +- goal: [18, 16] + name: agent26 + start: [19, 19] +- goal: [3, 19] + name: agent27 + start: [17, 4] +- goal: [13, 15] + name: agent28 + start: [22, 7] +- goal: [27, 1] + name: agent29 + start: [9, 16] +- goal: [26, 27] + name: agent30 + start: [1, 17] +- goal: [14, 3] + name: agent31 + start: [7, 31] +- goal: [10, 2] + name: agent32 + start: [19, 31] +- goal: [0, 15] + name: agent33 + start: [9, 1] +- goal: [9, 6] + name: agent34 + start: [9, 10] +- goal: [13, 2] + name: agent35 + start: [10, 0] +- goal: [4, 19] + name: agent36 + start: [24, 7] +- goal: [22, 9] + name: agent37 + start: [28, 3] +- goal: [0, 12] + name: agent38 + start: [6, 4] +- goal: [14, 29] + name: agent39 + start: [22, 10] +- goal: [12, 14] + name: agent40 + start: [0, 3] +- goal: [12, 27] + name: agent41 + start: [7, 17] +- goal: [21, 14] + name: agent42 + start: [11, 21] +- goal: [28, 6] + name: agent43 + start: [2, 27] +- goal: [21, 4] + name: agent44 + start: [15, 21] +- goal: [13, 27] + name: agent45 + start: [24, 2] +- goal: [26, 5] + name: agent46 + start: [16, 10] +- goal: [10, 22] + name: agent47 + start: [17, 20] +- goal: [2, 5] + name: agent48 + start: [0, 30] +- goal: [31, 6] + name: agent49 + start: [13, 6] +- goal: [20, 13] + name: agent50 + start: [31, 6] +- goal: [2, 20] + name: agent51 + start: [26, 18] +- goal: [29, 30] + name: agent52 + start: [30, 17] +- goal: [17, 11] + name: agent53 + start: [15, 14] +- goal: [9, 7] + name: agent54 + start: [19, 12] +- goal: [2, 13] + name: agent55 + start: [21, 31] +- goal: [19, 0] + name: agent56 + start: [14, 29] +- goal: [4, 25] + name: agent57 + start: [4, 11] +- goal: [6, 7] + name: agent58 + start: [20, 26] +- goal: [31, 21] + name: agent59 + start: [20, 25] +- goal: [22, 30] + name: agent60 + start: [25, 28] +- goal: [6, 11] + name: agent61 + start: [26, 15] +- goal: [9, 2] + name: agent62 + start: [31, 1] +- goal: [24, 5] + name: agent63 + start: [16, 4] +- goal: [8, 11] + name: agent64 + start: [26, 3] +- goal: [28, 21] + name: agent65 + start: [15, 17] +- goal: [9, 18] + name: agent66 + start: [24, 21] +- goal: [31, 18] + name: agent67 + start: [6, 29] +- goal: [26, 1] + name: agent68 + start: [15, 13] +- goal: [13, 29] + name: agent69 + start: [23, 24] +- goal: [8, 16] + name: agent70 + start: [26, 0] +- goal: [10, 18] + name: agent71 + start: [13, 22] +- goal: [5, 5] + name: agent72 + start: [18, 31] +- goal: [15, 12] + name: agent73 + start: [14, 7] +- goal: [20, 5] + name: agent74 + start: [8, 20] +- goal: [29, 25] + name: agent75 + start: [27, 14] +- goal: [18, 25] + name: agent76 + start: [17, 16] +- goal: [27, 17] + name: agent77 + start: [20, 22] +- goal: [11, 27] + name: agent78 + start: [14, 18] +- goal: [1, 0] + name: agent79 + start: [4, 6] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [5, 28] + - !!python/tuple [30, 9] + - !!python/tuple [1, 12] + - !!python/tuple [11, 4] + - !!python/tuple [23, 18] + - !!python/tuple [27, 26] + - !!python/tuple [30, 8] + - !!python/tuple [9, 11] + - !!python/tuple [3, 12] + - !!python/tuple [20, 30] + - !!python/tuple [25, 7] + - !!python/tuple [11, 29] + - !!python/tuple [25, 21] + - !!python/tuple [8, 5] + - !!python/tuple [4, 2] + - !!python/tuple [21, 1] + - !!python/tuple [15, 4] + - !!python/tuple [20, 4] + - !!python/tuple [16, 0] + - !!python/tuple [10, 10] + - !!python/tuple [30, 31] + - !!python/tuple [0, 24] + - !!python/tuple [28, 8] + - !!python/tuple [28, 23] + - !!python/tuple [4, 4] + - !!python/tuple [1, 14] + - !!python/tuple [5, 7] + - !!python/tuple [2, 28] + - !!python/tuple [23, 5] + - !!python/tuple [26, 4] + - !!python/tuple [31, 11] + - !!python/tuple [1, 8] + - !!python/tuple [6, 26] + - !!python/tuple [29, 13] + - !!python/tuple [20, 27] + - !!python/tuple [20, 7] + - !!python/tuple [30, 12] + - !!python/tuple [21, 11] + - !!python/tuple [2, 21] + - !!python/tuple [29, 7] + - !!python/tuple [3, 0] + - !!python/tuple [3, 6] + - !!python/tuple [29, 4] + - !!python/tuple [13, 13] + - !!python/tuple [14, 31] + - !!python/tuple [16, 2] + - !!python/tuple [17, 1] + - !!python/tuple [12, 25] + - !!python/tuple [14, 21] + - !!python/tuple [20, 17] + - !!python/tuple [21, 0] + - !!python/tuple [10, 30] + - !!python/tuple [31, 12] + - !!python/tuple [30, 18] + - !!python/tuple [20, 3] + - !!python/tuple [24, 13] + - !!python/tuple [15, 30] + - !!python/tuple [24, 23] + - !!python/tuple [25, 13] + - !!python/tuple [6, 25] + - !!python/tuple [31, 27] + - !!python/tuple [15, 25] + - !!python/tuple [7, 7] + - !!python/tuple [21, 27] + - !!python/tuple [14, 19] + - !!python/tuple [11, 12] + - !!python/tuple [25, 24] + - !!python/tuple [26, 17] + - !!python/tuple [24, 6] + - !!python/tuple [8, 14] + - !!python/tuple [23, 20] + - !!python/tuple [17, 28] + - !!python/tuple [24, 27] + - !!python/tuple [4, 29] + - !!python/tuple [6, 3] + - !!python/tuple [27, 16] + - !!python/tuple [8, 23] + - !!python/tuple [17, 0] + - !!python/tuple [17, 30] + - !!python/tuple [20, 6] + - !!python/tuple [23, 15] + - !!python/tuple [5, 30] + - !!python/tuple [18, 11] + - !!python/tuple [14, 9] + - !!python/tuple [19, 1] + - !!python/tuple [27, 4] + - !!python/tuple [3, 5] + - !!python/tuple [24, 19] + - !!python/tuple [31, 28] + - !!python/tuple [18, 10] + - !!python/tuple [15, 3] + - !!python/tuple [5, 15] + - !!python/tuple [20, 11] + - !!python/tuple [13, 10] + - !!python/tuple [21, 28] + - !!python/tuple [12, 16] + - !!python/tuple [11, 3] + - !!python/tuple [26, 14] + - !!python/tuple [18, 7] + - !!python/tuple [5, 23] + - !!python/tuple [19, 23] + - !!python/tuple [28, 30] + - !!python/tuple [7, 21] + - !!python/tuple [1, 3] + - !!python/tuple [24, 29] + - !!python/tuple [21, 22] + - !!python/tuple [10, 20] + - !!python/tuple [4, 9] + - !!python/tuple [19, 25] + - !!python/tuple [31, 15] + - !!python/tuple [15, 0] + - !!python/tuple [8, 24] + - !!python/tuple [17, 5] + - !!python/tuple [7, 19] + - !!python/tuple [27, 18] + - !!python/tuple [2, 29] + - !!python/tuple [3, 9] + - !!python/tuple [30, 4] + - !!python/tuple [4, 22] + - !!python/tuple [13, 17] + - !!python/tuple [27, 25] + - !!python/tuple [0, 0] + - !!python/tuple [31, 2] + - !!python/tuple [31, 4] + - !!python/tuple [28, 1] + - !!python/tuple [30, 25] + - !!python/tuple [16, 18] + - !!python/tuple [26, 16] + - !!python/tuple [17, 7] + - !!python/tuple [16, 6] + - !!python/tuple [9, 25] + - !!python/tuple [18, 8] + - !!python/tuple [24, 14] + - !!python/tuple [2, 30] + - !!python/tuple [5, 31] + - !!python/tuple [13, 12] + - !!python/tuple [3, 11] + - !!python/tuple [19, 16] + - !!python/tuple [27, 19] + - !!python/tuple [22, 2] + - !!python/tuple [4, 20] + - !!python/tuple [15, 15] + - !!python/tuple [11, 2] + - !!python/tuple [22, 28] + - !!python/tuple [5, 18] + - !!python/tuple [3, 3] + - !!python/tuple [1, 15] + - !!python/tuple [14, 17] + - !!python/tuple [10, 13] + - !!python/tuple [21, 13] + - !!python/tuple [17, 3] + - !!python/tuple [10, 3] + - !!python/tuple [21, 15] + - !!python/tuple [17, 25] + - !!python/tuple [16, 13] + - !!python/tuple [7, 28] + - !!python/tuple [23, 12] + - !!python/tuple [28, 27] + - !!python/tuple [5, 22] + - !!python/tuple [12, 22] + - !!python/tuple [18, 21] + - !!python/tuple [9, 5] + - !!python/tuple [0, 25] + - !!python/tuple [14, 6] + - !!python/tuple [17, 6] + - !!python/tuple [11, 5] + - !!python/tuple [6, 22] + - !!python/tuple [2, 2] + - !!python/tuple [22, 22] + - !!python/tuple [6, 14] + - !!python/tuple [26, 11] + - !!python/tuple [3, 31] + - !!python/tuple [18, 28] + - !!python/tuple [5, 3] + - !!python/tuple [25, 3] + - !!python/tuple [27, 15] + - !!python/tuple [4, 7] + - !!python/tuple [24, 26] + - !!python/tuple [26, 23] + - !!python/tuple [13, 19] + - !!python/tuple [15, 22] + - !!python/tuple [31, 9] + - !!python/tuple [27, 21] + - !!python/tuple [22, 21] + - !!python/tuple [8, 19] + - !!python/tuple [30, 13] + - !!python/tuple [14, 15] + - !!python/tuple [22, 24] + - !!python/tuple [7, 23] + - !!python/tuple [7, 29] + - !!python/tuple [20, 20] + - !!python/tuple [16, 30] + - !!python/tuple [13, 3] + - !!python/tuple [17, 9] + - !!python/tuple [11, 26] + - !!python/tuple [17, 14] + - !!python/tuple [11, 9] + - !!python/tuple [14, 16] + - !!python/tuple [3, 14] + - !!python/tuple [9, 4] + - !!python/tuple [29, 2] + - !!python/tuple [7, 13] + - !!python/tuple [12, 12] + - !!python/tuple [4, 23] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex41.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex41.yaml new file mode 100644 index 0000000..4319a44 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex41.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [15, 26] + name: agent0 + start: [8, 30] +- goal: [10, 19] + name: agent1 + start: [2, 2] +- goal: [0, 12] + name: agent2 + start: [27, 5] +- goal: [7, 20] + name: agent3 + start: [2, 15] +- goal: [17, 29] + name: agent4 + start: [6, 6] +- goal: [24, 2] + name: agent5 + start: [7, 28] +- goal: [3, 16] + name: agent6 + start: [3, 0] +- goal: [21, 10] + name: agent7 + start: [14, 30] +- goal: [1, 12] + name: agent8 + start: [1, 8] +- goal: [26, 29] + name: agent9 + start: [26, 27] +- goal: [25, 16] + name: agent10 + start: [24, 27] +- goal: [0, 15] + name: agent11 + start: [24, 13] +- goal: [14, 4] + name: agent12 + start: [23, 25] +- goal: [26, 25] + name: agent13 + start: [0, 31] +- goal: [4, 25] + name: agent14 + start: [20, 30] +- goal: [16, 11] + name: agent15 + start: [27, 26] +- goal: [22, 9] + name: agent16 + start: [21, 17] +- goal: [28, 27] + name: agent17 + start: [16, 26] +- goal: [4, 13] + name: agent18 + start: [16, 27] +- goal: [19, 11] + name: agent19 + start: [18, 23] +- goal: [8, 22] + name: agent20 + start: [21, 13] +- goal: [28, 19] + name: agent21 + start: [8, 31] +- goal: [28, 22] + name: agent22 + start: [28, 12] +- goal: [13, 31] + name: agent23 + start: [17, 0] +- goal: [25, 6] + name: agent24 + start: [6, 4] +- goal: [30, 18] + name: agent25 + start: [28, 25] +- goal: [0, 18] + name: agent26 + start: [8, 15] +- goal: [2, 3] + name: agent27 + start: [29, 14] +- goal: [30, 17] + name: agent28 + start: [27, 21] +- goal: [20, 5] + name: agent29 + start: [20, 16] +- goal: [31, 25] + name: agent30 + start: [10, 30] +- goal: [28, 20] + name: agent31 + start: [6, 19] +- goal: [20, 27] + name: agent32 + start: [31, 19] +- goal: [5, 20] + name: agent33 + start: [13, 25] +- goal: [2, 8] + name: agent34 + start: [2, 6] +- goal: [29, 11] + name: agent35 + start: [10, 9] +- goal: [22, 0] + name: agent36 + start: [19, 27] +- goal: [9, 10] + name: agent37 + start: [19, 23] +- goal: [22, 17] + name: agent38 + start: [27, 6] +- goal: [28, 21] + name: agent39 + start: [23, 20] +- goal: [19, 27] + name: agent40 + start: [1, 12] +- goal: [18, 8] + name: agent41 + start: [29, 19] +- goal: [12, 15] + name: agent42 + start: [17, 7] +- goal: [31, 7] + name: agent43 + start: [7, 31] +- goal: [22, 12] + name: agent44 + start: [14, 25] +- goal: [8, 24] + name: agent45 + start: [21, 14] +- goal: [8, 28] + name: agent46 + start: [16, 7] +- goal: [19, 30] + name: agent47 + start: [13, 28] +- goal: [13, 7] + name: agent48 + start: [15, 10] +- goal: [6, 10] + name: agent49 + start: [10, 19] +- goal: [24, 16] + name: agent50 + start: [18, 3] +- goal: [28, 2] + name: agent51 + start: [4, 23] +- goal: [31, 22] + name: agent52 + start: [31, 14] +- goal: [16, 16] + name: agent53 + start: [23, 18] +- goal: [24, 10] + name: agent54 + start: [5, 1] +- goal: [18, 7] + name: agent55 + start: [10, 22] +- goal: [6, 17] + name: agent56 + start: [22, 3] +- goal: [12, 14] + name: agent57 + start: [19, 25] +- goal: [7, 21] + name: agent58 + start: [30, 16] +- goal: [24, 23] + name: agent59 + start: [9, 29] +- goal: [26, 1] + name: agent60 + start: [18, 9] +- goal: [3, 24] + name: agent61 + start: [1, 24] +- goal: [12, 6] + name: agent62 + start: [31, 2] +- goal: [27, 22] + name: agent63 + start: [19, 7] +- goal: [18, 15] + name: agent64 + start: [8, 5] +- goal: [12, 26] + name: agent65 + start: [5, 18] +- goal: [7, 17] + name: agent66 + start: [10, 15] +- goal: [2, 2] + name: agent67 + start: [19, 22] +- goal: [18, 10] + name: agent68 + start: [28, 3] +- goal: [23, 0] + name: agent69 + start: [24, 22] +- goal: [16, 9] + name: agent70 + start: [22, 21] +- goal: [1, 31] + name: agent71 + start: [30, 12] +- goal: [26, 31] + name: agent72 + start: [8, 28] +- goal: [15, 21] + name: agent73 + start: [15, 27] +- goal: [3, 6] + name: agent74 + start: [15, 7] +- goal: [5, 15] + name: agent75 + start: [4, 6] +- goal: [22, 26] + name: agent76 + start: [19, 31] +- goal: [27, 6] + name: agent77 + start: [23, 22] +- goal: [4, 3] + name: agent78 + start: [19, 20] +- goal: [4, 28] + name: agent79 + start: [19, 17] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [9, 9] + - !!python/tuple [16, 23] + - !!python/tuple [27, 18] + - !!python/tuple [13, 1] + - !!python/tuple [9, 14] + - !!python/tuple [10, 21] + - !!python/tuple [12, 12] + - !!python/tuple [14, 15] + - !!python/tuple [7, 30] + - !!python/tuple [31, 11] + - !!python/tuple [7, 29] + - !!python/tuple [5, 5] + - !!python/tuple [31, 3] + - !!python/tuple [24, 25] + - !!python/tuple [25, 27] + - !!python/tuple [28, 4] + - !!python/tuple [10, 14] + - !!python/tuple [11, 25] + - !!python/tuple [3, 29] + - !!python/tuple [29, 24] + - !!python/tuple [4, 17] + - !!python/tuple [20, 17] + - !!python/tuple [11, 23] + - !!python/tuple [10, 2] + - !!python/tuple [12, 0] + - !!python/tuple [22, 14] + - !!python/tuple [11, 9] + - !!python/tuple [14, 14] + - !!python/tuple [15, 5] + - !!python/tuple [17, 4] + - !!python/tuple [18, 19] + - !!python/tuple [23, 21] + - !!python/tuple [24, 11] + - !!python/tuple [23, 29] + - !!python/tuple [24, 29] + - !!python/tuple [28, 11] + - !!python/tuple [21, 18] + - !!python/tuple [27, 29] + - !!python/tuple [15, 31] + - !!python/tuple [3, 21] + - !!python/tuple [28, 15] + - !!python/tuple [25, 10] + - !!python/tuple [10, 27] + - !!python/tuple [24, 7] + - !!python/tuple [1, 17] + - !!python/tuple [31, 13] + - !!python/tuple [28, 8] + - !!python/tuple [11, 21] + - !!python/tuple [7, 26] + - !!python/tuple [1, 6] + - !!python/tuple [26, 3] + - !!python/tuple [4, 2] + - !!python/tuple [11, 3] + - !!python/tuple [8, 13] + - !!python/tuple [6, 22] + - !!python/tuple [27, 9] + - !!python/tuple [0, 3] + - !!python/tuple [28, 26] + - !!python/tuple [28, 23] + - !!python/tuple [21, 6] + - !!python/tuple [20, 6] + - !!python/tuple [5, 21] + - !!python/tuple [17, 20] + - !!python/tuple [22, 7] + - !!python/tuple [30, 28] + - !!python/tuple [22, 19] + - !!python/tuple [6, 15] + - !!python/tuple [31, 8] + - !!python/tuple [18, 13] + - !!python/tuple [22, 25] + - !!python/tuple [7, 23] + - !!python/tuple [5, 22] + - !!python/tuple [11, 8] + - !!python/tuple [26, 15] + - !!python/tuple [10, 24] + - !!python/tuple [21, 9] + - !!python/tuple [5, 14] + - !!python/tuple [17, 30] + - !!python/tuple [14, 3] + - !!python/tuple [13, 4] + - !!python/tuple [0, 7] + - !!python/tuple [13, 0] + - !!python/tuple [25, 25] + - !!python/tuple [14, 7] + - !!python/tuple [2, 12] + - !!python/tuple [14, 11] + - !!python/tuple [20, 7] + - !!python/tuple [11, 24] + - !!python/tuple [20, 1] + - !!python/tuple [15, 11] + - !!python/tuple [23, 6] + - !!python/tuple [29, 12] + - !!python/tuple [31, 9] + - !!python/tuple [14, 29] + - !!python/tuple [24, 21] + - !!python/tuple [20, 15] + - !!python/tuple [21, 8] + - !!python/tuple [28, 6] + - !!python/tuple [1, 21] + - !!python/tuple [18, 28] + - !!python/tuple [2, 28] + - !!python/tuple [20, 13] + - !!python/tuple [29, 0] + - !!python/tuple [9, 5] + - !!python/tuple [8, 29] + - !!python/tuple [23, 16] + - !!python/tuple [9, 19] + - !!python/tuple [10, 25] + - !!python/tuple [11, 19] + - !!python/tuple [31, 20] + - !!python/tuple [0, 8] + - !!python/tuple [27, 16] + - !!python/tuple [0, 22] + - !!python/tuple [19, 28] + - !!python/tuple [9, 15] + - !!python/tuple [28, 10] + - !!python/tuple [19, 6] + - !!python/tuple [22, 6] + - !!python/tuple [5, 26] + - !!python/tuple [27, 13] + - !!python/tuple [28, 29] + - !!python/tuple [30, 22] + - !!python/tuple [11, 18] + - !!python/tuple [28, 13] + - !!python/tuple [4, 1] + - !!python/tuple [3, 30] + - !!python/tuple [16, 15] + - !!python/tuple [31, 0] + - !!python/tuple [15, 15] + - !!python/tuple [4, 26] + - !!python/tuple [10, 11] + - !!python/tuple [11, 29] + - !!python/tuple [13, 2] + - !!python/tuple [10, 31] + - !!python/tuple [16, 30] + - !!python/tuple [7, 15] + - !!python/tuple [22, 13] + - !!python/tuple [19, 14] + - !!python/tuple [8, 18] + - !!python/tuple [16, 29] + - !!python/tuple [31, 16] + - !!python/tuple [17, 3] + - !!python/tuple [14, 23] + - !!python/tuple [11, 27] + - !!python/tuple [4, 20] + - !!python/tuple [5, 29] + - !!python/tuple [3, 11] + - !!python/tuple [18, 16] + - !!python/tuple [0, 9] + - !!python/tuple [21, 27] + - !!python/tuple [21, 4] + - !!python/tuple [28, 17] + - !!python/tuple [25, 5] + - !!python/tuple [29, 9] + - !!python/tuple [9, 31] + - !!python/tuple [12, 4] + - !!python/tuple [12, 3] + - !!python/tuple [7, 7] + - !!python/tuple [10, 17] + - !!python/tuple [30, 27] + - !!python/tuple [28, 30] + - !!python/tuple [24, 31] + - !!python/tuple [31, 17] + - !!python/tuple [6, 18] + - !!python/tuple [16, 13] + - !!python/tuple [15, 29] + - !!python/tuple [2, 20] + - !!python/tuple [18, 17] + - !!python/tuple [31, 24] + - !!python/tuple [17, 28] + - !!python/tuple [5, 31] + - !!python/tuple [5, 25] + - !!python/tuple [10, 20] + - !!python/tuple [3, 26] + - !!python/tuple [19, 26] + - !!python/tuple [4, 4] + - !!python/tuple [15, 3] + - !!python/tuple [18, 14] + - !!python/tuple [25, 15] + - !!python/tuple [8, 14] + - !!python/tuple [4, 31] + - !!python/tuple [21, 26] + - !!python/tuple [15, 20] + - !!python/tuple [29, 5] + - !!python/tuple [25, 19] + - !!python/tuple [15, 17] + - !!python/tuple [27, 15] + - !!python/tuple [19, 18] + - !!python/tuple [0, 20] + - !!python/tuple [1, 18] + - !!python/tuple [3, 27] + - !!python/tuple [23, 9] + - !!python/tuple [0, 26] + - !!python/tuple [26, 19] + - !!python/tuple [21, 24] + - !!python/tuple [4, 8] + - !!python/tuple [10, 7] + - !!python/tuple [11, 2] + - !!python/tuple [2, 26] + - !!python/tuple [18, 31] + - !!python/tuple [15, 1] + - !!python/tuple [4, 10] + - !!python/tuple [2, 24] + - !!python/tuple [6, 0] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex42.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex42.yaml new file mode 100644 index 0000000..67da3fd --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex42.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [14, 15] + name: agent0 + start: [16, 30] +- goal: [27, 17] + name: agent1 + start: [4, 31] +- goal: [8, 29] + name: agent2 + start: [22, 23] +- goal: [14, 30] + name: agent3 + start: [11, 24] +- goal: [0, 6] + name: agent4 + start: [29, 5] +- goal: [7, 26] + name: agent5 + start: [18, 27] +- goal: [21, 14] + name: agent6 + start: [24, 7] +- goal: [18, 14] + name: agent7 + start: [28, 12] +- goal: [31, 13] + name: agent8 + start: [18, 2] +- goal: [25, 15] + name: agent9 + start: [15, 28] +- goal: [9, 16] + name: agent10 + start: [16, 17] +- goal: [3, 30] + name: agent11 + start: [30, 30] +- goal: [11, 29] + name: agent12 + start: [8, 13] +- goal: [23, 27] + name: agent13 + start: [14, 12] +- goal: [12, 13] + name: agent14 + start: [29, 30] +- goal: [11, 25] + name: agent15 + start: [23, 16] +- goal: [8, 17] + name: agent16 + start: [29, 20] +- goal: [15, 1] + name: agent17 + start: [18, 8] +- goal: [15, 5] + name: agent18 + start: [16, 21] +- goal: [21, 20] + name: agent19 + start: [4, 22] +- goal: [20, 2] + name: agent20 + start: [5, 19] +- goal: [14, 11] + name: agent21 + start: [21, 12] +- goal: [15, 24] + name: agent22 + start: [20, 18] +- goal: [12, 31] + name: agent23 + start: [20, 29] +- goal: [23, 30] + name: agent24 + start: [13, 23] +- goal: [0, 22] + name: agent25 + start: [30, 4] +- goal: [10, 29] + name: agent26 + start: [17, 21] +- goal: [23, 0] + name: agent27 + start: [3, 14] +- goal: [2, 14] + name: agent28 + start: [0, 31] +- goal: [18, 31] + name: agent29 + start: [28, 3] +- goal: [31, 6] + name: agent30 + start: [12, 2] +- goal: [26, 21] + name: agent31 + start: [6, 10] +- goal: [18, 21] + name: agent32 + start: [1, 24] +- goal: [7, 11] + name: agent33 + start: [27, 19] +- goal: [29, 7] + name: agent34 + start: [27, 26] +- goal: [31, 20] + name: agent35 + start: [25, 12] +- goal: [27, 24] + name: agent36 + start: [31, 21] +- goal: [0, 10] + name: agent37 + start: [26, 29] +- goal: [13, 26] + name: agent38 + start: [25, 7] +- goal: [16, 9] + name: agent39 + start: [17, 22] +- goal: [12, 22] + name: agent40 + start: [28, 25] +- goal: [15, 31] + name: agent41 + start: [9, 18] +- goal: [31, 25] + name: agent42 + start: [30, 12] +- goal: [23, 10] + name: agent43 + start: [11, 26] +- goal: [19, 29] + name: agent44 + start: [8, 21] +- goal: [10, 6] + name: agent45 + start: [26, 5] +- goal: [6, 9] + name: agent46 + start: [15, 29] +- goal: [27, 5] + name: agent47 + start: [23, 30] +- goal: [10, 27] + name: agent48 + start: [2, 14] +- goal: [17, 10] + name: agent49 + start: [18, 17] +- goal: [10, 14] + name: agent50 + start: [18, 16] +- goal: [28, 12] + name: agent51 + start: [1, 28] +- goal: [5, 25] + name: agent52 + start: [14, 11] +- goal: [24, 19] + name: agent53 + start: [17, 0] +- goal: [2, 1] + name: agent54 + start: [16, 27] +- goal: [27, 8] + name: agent55 + start: [5, 2] +- goal: [11, 24] + name: agent56 + start: [26, 24] +- goal: [0, 17] + name: agent57 + start: [13, 29] +- goal: [8, 4] + name: agent58 + start: [7, 21] +- goal: [22, 3] + name: agent59 + start: [21, 30] +- goal: [26, 15] + name: agent60 + start: [20, 25] +- goal: [7, 24] + name: agent61 + start: [19, 26] +- goal: [9, 23] + name: agent62 + start: [27, 18] +- goal: [4, 5] + name: agent63 + start: [9, 27] +- goal: [19, 1] + name: agent64 + start: [2, 28] +- goal: [23, 6] + name: agent65 + start: [19, 4] +- goal: [29, 16] + name: agent66 + start: [0, 20] +- goal: [20, 27] + name: agent67 + start: [7, 31] +- goal: [3, 14] + name: agent68 + start: [17, 23] +- goal: [24, 15] + name: agent69 + start: [29, 13] +- goal: [13, 23] + name: agent70 + start: [26, 14] +- goal: [18, 28] + name: agent71 + start: [0, 15] +- goal: [26, 8] + name: agent72 + start: [5, 26] +- goal: [15, 9] + name: agent73 + start: [25, 15] +- goal: [25, 18] + name: agent74 + start: [30, 11] +- goal: [18, 6] + name: agent75 + start: [5, 11] +- goal: [13, 29] + name: agent76 + start: [7, 11] +- goal: [27, 4] + name: agent77 + start: [9, 31] +- goal: [11, 16] + name: agent78 + start: [1, 9] +- goal: [17, 16] + name: agent79 + start: [4, 29] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [12, 25] + - !!python/tuple [11, 5] + - !!python/tuple [26, 22] + - !!python/tuple [10, 28] + - !!python/tuple [4, 10] + - !!python/tuple [7, 4] + - !!python/tuple [28, 17] + - !!python/tuple [26, 30] + - !!python/tuple [8, 3] + - !!python/tuple [23, 5] + - !!python/tuple [15, 12] + - !!python/tuple [4, 6] + - !!python/tuple [31, 10] + - !!python/tuple [11, 22] + - !!python/tuple [25, 22] + - !!python/tuple [11, 23] + - !!python/tuple [24, 11] + - !!python/tuple [8, 10] + - !!python/tuple [1, 25] + - !!python/tuple [14, 1] + - !!python/tuple [3, 4] + - !!python/tuple [3, 0] + - !!python/tuple [28, 29] + - !!python/tuple [25, 21] + - !!python/tuple [0, 7] + - !!python/tuple [14, 2] + - !!python/tuple [2, 22] + - !!python/tuple [0, 18] + - !!python/tuple [0, 9] + - !!python/tuple [23, 13] + - !!python/tuple [6, 3] + - !!python/tuple [30, 27] + - !!python/tuple [19, 7] + - !!python/tuple [24, 23] + - !!python/tuple [3, 31] + - !!python/tuple [12, 27] + - !!python/tuple [18, 15] + - !!python/tuple [1, 4] + - !!python/tuple [4, 4] + - !!python/tuple [13, 16] + - !!python/tuple [28, 7] + - !!python/tuple [3, 8] + - !!python/tuple [8, 2] + - !!python/tuple [10, 24] + - !!python/tuple [21, 4] + - !!python/tuple [16, 22] + - !!python/tuple [5, 4] + - !!python/tuple [13, 5] + - !!python/tuple [10, 7] + - !!python/tuple [18, 20] + - !!python/tuple [23, 26] + - !!python/tuple [15, 15] + - !!python/tuple [26, 4] + - !!python/tuple [12, 3] + - !!python/tuple [11, 17] + - !!python/tuple [31, 27] + - !!python/tuple [1, 20] + - !!python/tuple [10, 5] + - !!python/tuple [3, 2] + - !!python/tuple [27, 21] + - !!python/tuple [23, 24] + - !!python/tuple [13, 22] + - !!python/tuple [24, 1] + - !!python/tuple [2, 12] + - !!python/tuple [21, 22] + - !!python/tuple [16, 20] + - !!python/tuple [16, 4] + - !!python/tuple [29, 24] + - !!python/tuple [1, 11] + - !!python/tuple [19, 2] + - !!python/tuple [5, 15] + - !!python/tuple [4, 20] + - !!python/tuple [5, 23] + - !!python/tuple [30, 19] + - !!python/tuple [15, 23] + - !!python/tuple [25, 17] + - !!python/tuple [26, 26] + - !!python/tuple [12, 0] + - !!python/tuple [5, 0] + - !!python/tuple [29, 11] + - !!python/tuple [27, 15] + - !!python/tuple [16, 15] + - !!python/tuple [2, 15] + - !!python/tuple [7, 29] + - !!python/tuple [6, 21] + - !!python/tuple [19, 28] + - !!python/tuple [11, 28] + - !!python/tuple [4, 25] + - !!python/tuple [30, 26] + - !!python/tuple [30, 18] + - !!python/tuple [0, 8] + - !!python/tuple [31, 29] + - !!python/tuple [26, 13] + - !!python/tuple [22, 20] + - !!python/tuple [8, 14] + - !!python/tuple [28, 30] + - !!python/tuple [9, 12] + - !!python/tuple [4, 3] + - !!python/tuple [22, 17] + - !!python/tuple [26, 18] + - !!python/tuple [18, 5] + - !!python/tuple [25, 16] + - !!python/tuple [11, 27] + - !!python/tuple [0, 29] + - !!python/tuple [2, 18] + - !!python/tuple [17, 28] + - !!python/tuple [14, 8] + - !!python/tuple [2, 23] + - !!python/tuple [0, 5] + - !!python/tuple [17, 12] + - !!python/tuple [12, 9] + - !!python/tuple [17, 9] + - !!python/tuple [23, 20] + - !!python/tuple [0, 16] + - !!python/tuple [3, 5] + - !!python/tuple [13, 4] + - !!python/tuple [1, 31] + - !!python/tuple [12, 4] + - !!python/tuple [28, 24] + - !!python/tuple [3, 26] + - !!python/tuple [20, 4] + - !!python/tuple [25, 13] + - !!python/tuple [1, 10] + - !!python/tuple [5, 3] + - !!python/tuple [30, 21] + - !!python/tuple [20, 19] + - !!python/tuple [31, 1] + - !!python/tuple [12, 20] + - !!python/tuple [3, 11] + - !!python/tuple [26, 3] + - !!python/tuple [13, 31] + - !!python/tuple [25, 5] + - !!python/tuple [26, 0] + - !!python/tuple [2, 10] + - !!python/tuple [27, 0] + - !!python/tuple [23, 3] + - !!python/tuple [17, 18] + - !!python/tuple [18, 22] + - !!python/tuple [17, 8] + - !!python/tuple [27, 7] + - !!python/tuple [28, 22] + - !!python/tuple [16, 0] + - !!python/tuple [19, 18] + - !!python/tuple [27, 28] + - !!python/tuple [5, 29] + - !!python/tuple [18, 29] + - !!python/tuple [30, 25] + - !!python/tuple [9, 15] + - !!python/tuple [1, 3] + - !!python/tuple [9, 14] + - !!python/tuple [16, 23] + - !!python/tuple [14, 31] + - !!python/tuple [6, 29] + - !!python/tuple [27, 29] + - !!python/tuple [31, 30] + - !!python/tuple [7, 30] + - !!python/tuple [21, 11] + - !!python/tuple [15, 2] + - !!python/tuple [28, 4] + - !!python/tuple [8, 30] + - !!python/tuple [19, 5] + - !!python/tuple [30, 23] + - !!python/tuple [9, 5] + - !!python/tuple [19, 24] + - !!python/tuple [9, 20] + - !!python/tuple [10, 11] + - !!python/tuple [10, 23] + - !!python/tuple [6, 1] + - !!python/tuple [21, 19] + - !!python/tuple [1, 15] + - !!python/tuple [6, 5] + - !!python/tuple [29, 21] + - !!python/tuple [24, 20] + - !!python/tuple [0, 1] + - !!python/tuple [24, 3] + - !!python/tuple [1, 0] + - !!python/tuple [28, 28] + - !!python/tuple [10, 10] + - !!python/tuple [4, 27] + - !!python/tuple [19, 22] + - !!python/tuple [23, 18] + - !!python/tuple [9, 9] + - !!python/tuple [22, 10] + - !!python/tuple [4, 0] + - !!python/tuple [11, 1] + - !!python/tuple [2, 5] + - !!python/tuple [11, 8] + - !!python/tuple [31, 11] + - !!python/tuple [12, 29] + - !!python/tuple [6, 26] + - !!python/tuple [30, 15] + - !!python/tuple [25, 8] + - !!python/tuple [20, 30] + - !!python/tuple [23, 21] + - !!python/tuple [12, 6] + - !!python/tuple [20, 26] + - !!python/tuple [8, 24] + - !!python/tuple [24, 13] + - !!python/tuple [27, 31] + - !!python/tuple [0, 13] + - !!python/tuple [31, 15] + - !!python/tuple [20, 28] + - !!python/tuple [20, 11] + - !!python/tuple [30, 9] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex43.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex43.yaml new file mode 100644 index 0000000..a7905b6 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex43.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [2, 30] + name: agent0 + start: [3, 29] +- goal: [23, 24] + name: agent1 + start: [4, 30] +- goal: [2, 15] + name: agent2 + start: [6, 13] +- goal: [28, 23] + name: agent3 + start: [29, 7] +- goal: [3, 6] + name: agent4 + start: [25, 5] +- goal: [7, 1] + name: agent5 + start: [23, 31] +- goal: [6, 21] + name: agent6 + start: [18, 17] +- goal: [12, 27] + name: agent7 + start: [17, 2] +- goal: [26, 28] + name: agent8 + start: [9, 1] +- goal: [18, 19] + name: agent9 + start: [14, 27] +- goal: [21, 30] + name: agent10 + start: [2, 7] +- goal: [14, 9] + name: agent11 + start: [22, 0] +- goal: [28, 22] + name: agent12 + start: [16, 27] +- goal: [5, 13] + name: agent13 + start: [9, 4] +- goal: [23, 25] + name: agent14 + start: [30, 22] +- goal: [19, 6] + name: agent15 + start: [5, 19] +- goal: [16, 18] + name: agent16 + start: [30, 13] +- goal: [19, 19] + name: agent17 + start: [28, 18] +- goal: [28, 3] + name: agent18 + start: [1, 26] +- goal: [29, 4] + name: agent19 + start: [29, 12] +- goal: [3, 19] + name: agent20 + start: [11, 8] +- goal: [25, 23] + name: agent21 + start: [2, 24] +- goal: [14, 5] + name: agent22 + start: [22, 28] +- goal: [28, 12] + name: agent23 + start: [24, 6] +- goal: [24, 8] + name: agent24 + start: [25, 24] +- goal: [2, 27] + name: agent25 + start: [24, 13] +- goal: [5, 11] + name: agent26 + start: [12, 8] +- goal: [20, 12] + name: agent27 + start: [19, 13] +- goal: [0, 15] + name: agent28 + start: [18, 28] +- goal: [28, 25] + name: agent29 + start: [2, 15] +- goal: [11, 9] + name: agent30 + start: [21, 22] +- goal: [8, 29] + name: agent31 + start: [26, 5] +- goal: [30, 7] + name: agent32 + start: [21, 28] +- goal: [4, 25] + name: agent33 + start: [0, 7] +- goal: [20, 28] + name: agent34 + start: [13, 20] +- goal: [9, 5] + name: agent35 + start: [22, 31] +- goal: [11, 5] + name: agent36 + start: [24, 26] +- goal: [30, 0] + name: agent37 + start: [26, 31] +- goal: [13, 6] + name: agent38 + start: [25, 27] +- goal: [22, 3] + name: agent39 + start: [17, 0] +- goal: [12, 20] + name: agent40 + start: [28, 23] +- goal: [13, 28] + name: agent41 + start: [12, 12] +- goal: [16, 29] + name: agent42 + start: [25, 11] +- goal: [29, 17] + name: agent43 + start: [26, 24] +- goal: [28, 19] + name: agent44 + start: [7, 16] +- goal: [3, 21] + name: agent45 + start: [23, 7] +- goal: [11, 17] + name: agent46 + start: [15, 21] +- goal: [15, 26] + name: agent47 + start: [20, 6] +- goal: [18, 15] + name: agent48 + start: [5, 13] +- goal: [10, 0] + name: agent49 + start: [12, 1] +- goal: [15, 31] + name: agent50 + start: [7, 14] +- goal: [4, 1] + name: agent51 + start: [6, 21] +- goal: [11, 23] + name: agent52 + start: [21, 14] +- goal: [8, 21] + name: agent53 + start: [14, 11] +- goal: [31, 9] + name: agent54 + start: [31, 3] +- goal: [19, 20] + name: agent55 + start: [10, 21] +- goal: [5, 16] + name: agent56 + start: [14, 1] +- goal: [23, 30] + name: agent57 + start: [14, 5] +- goal: [5, 10] + name: agent58 + start: [2, 16] +- goal: [7, 25] + name: agent59 + start: [14, 2] +- goal: [27, 16] + name: agent60 + start: [16, 11] +- goal: [3, 22] + name: agent61 + start: [8, 23] +- goal: [14, 11] + name: agent62 + start: [11, 30] +- goal: [3, 28] + name: agent63 + start: [11, 25] +- goal: [30, 2] + name: agent64 + start: [25, 3] +- goal: [24, 11] + name: agent65 + start: [28, 13] +- goal: [15, 11] + name: agent66 + start: [18, 27] +- goal: [25, 8] + name: agent67 + start: [24, 17] +- goal: [12, 5] + name: agent68 + start: [1, 28] +- goal: [22, 6] + name: agent69 + start: [1, 8] +- goal: [4, 19] + name: agent70 + start: [1, 9] +- goal: [7, 27] + name: agent71 + start: [10, 11] +- goal: [25, 11] + name: agent72 + start: [8, 18] +- goal: [23, 31] + name: agent73 + start: [12, 3] +- goal: [19, 29] + name: agent74 + start: [7, 5] +- goal: [5, 20] + name: agent75 + start: [7, 2] +- goal: [28, 1] + name: agent76 + start: [28, 16] +- goal: [20, 5] + name: agent77 + start: [2, 30] +- goal: [12, 8] + name: agent78 + start: [8, 16] +- goal: [22, 28] + name: agent79 + start: [19, 26] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [23, 26] + - !!python/tuple [4, 26] + - !!python/tuple [24, 29] + - !!python/tuple [5, 21] + - !!python/tuple [6, 2] + - !!python/tuple [28, 31] + - !!python/tuple [15, 27] + - !!python/tuple [23, 12] + - !!python/tuple [5, 24] + - !!python/tuple [8, 31] + - !!python/tuple [29, 20] + - !!python/tuple [2, 20] + - !!python/tuple [23, 21] + - !!python/tuple [0, 29] + - !!python/tuple [12, 19] + - !!python/tuple [17, 7] + - !!python/tuple [1, 10] + - !!python/tuple [9, 23] + - !!python/tuple [19, 28] + - !!python/tuple [24, 31] + - !!python/tuple [18, 21] + - !!python/tuple [2, 25] + - !!python/tuple [10, 17] + - !!python/tuple [18, 2] + - !!python/tuple [0, 28] + - !!python/tuple [21, 13] + - !!python/tuple [29, 0] + - !!python/tuple [4, 23] + - !!python/tuple [27, 1] + - !!python/tuple [20, 8] + - !!python/tuple [8, 30] + - !!python/tuple [26, 6] + - !!python/tuple [8, 13] + - !!python/tuple [29, 29] + - !!python/tuple [30, 14] + - !!python/tuple [29, 8] + - !!python/tuple [28, 8] + - !!python/tuple [4, 10] + - !!python/tuple [8, 2] + - !!python/tuple [12, 21] + - !!python/tuple [22, 7] + - !!python/tuple [23, 13] + - !!python/tuple [21, 10] + - !!python/tuple [22, 24] + - !!python/tuple [22, 10] + - !!python/tuple [15, 8] + - !!python/tuple [7, 18] + - !!python/tuple [30, 12] + - !!python/tuple [26, 0] + - !!python/tuple [19, 15] + - !!python/tuple [6, 9] + - !!python/tuple [15, 13] + - !!python/tuple [29, 15] + - !!python/tuple [31, 8] + - !!python/tuple [30, 27] + - !!python/tuple [7, 24] + - !!python/tuple [17, 11] + - !!python/tuple [15, 22] + - !!python/tuple [31, 25] + - !!python/tuple [23, 8] + - !!python/tuple [8, 25] + - !!python/tuple [3, 20] + - !!python/tuple [21, 8] + - !!python/tuple [9, 13] + - !!python/tuple [15, 1] + - !!python/tuple [0, 17] + - !!python/tuple [3, 8] + - !!python/tuple [30, 30] + - !!python/tuple [20, 20] + - !!python/tuple [31, 7] + - !!python/tuple [9, 14] + - !!python/tuple [13, 15] + - !!python/tuple [10, 7] + - !!python/tuple [28, 10] + - !!python/tuple [31, 26] + - !!python/tuple [24, 18] + - !!python/tuple [18, 16] + - !!python/tuple [7, 8] + - !!python/tuple [2, 13] + - !!python/tuple [10, 26] + - !!python/tuple [12, 25] + - !!python/tuple [30, 11] + - !!python/tuple [26, 13] + - !!python/tuple [27, 27] + - !!python/tuple [8, 20] + - !!python/tuple [1, 5] + - !!python/tuple [13, 8] + - !!python/tuple [6, 28] + - !!python/tuple [19, 10] + - !!python/tuple [3, 0] + - !!python/tuple [10, 6] + - !!python/tuple [29, 19] + - !!python/tuple [6, 29] + - !!python/tuple [11, 27] + - !!python/tuple [2, 8] + - !!python/tuple [1, 19] + - !!python/tuple [27, 28] + - !!python/tuple [16, 6] + - !!python/tuple [15, 4] + - !!python/tuple [10, 19] + - !!python/tuple [28, 24] + - !!python/tuple [15, 19] + - !!python/tuple [4, 4] + - !!python/tuple [11, 21] + - !!python/tuple [5, 0] + - !!python/tuple [10, 20] + - !!python/tuple [9, 9] + - !!python/tuple [10, 2] + - !!python/tuple [25, 9] + - !!python/tuple [17, 13] + - !!python/tuple [5, 27] + - !!python/tuple [2, 0] + - !!python/tuple [18, 3] + - !!python/tuple [24, 19] + - !!python/tuple [7, 23] + - !!python/tuple [2, 17] + - !!python/tuple [19, 9] + - !!python/tuple [29, 6] + - !!python/tuple [7, 19] + - !!python/tuple [10, 18] + - !!python/tuple [25, 21] + - !!python/tuple [23, 23] + - !!python/tuple [3, 27] + - !!python/tuple [0, 21] + - !!python/tuple [22, 20] + - !!python/tuple [31, 31] + - !!python/tuple [2, 18] + - !!python/tuple [20, 29] + - !!python/tuple [28, 4] + - !!python/tuple [29, 31] + - !!python/tuple [1, 21] + - !!python/tuple [5, 7] + - !!python/tuple [5, 23] + - !!python/tuple [18, 13] + - !!python/tuple [12, 11] + - !!python/tuple [4, 17] + - !!python/tuple [18, 9] + - !!python/tuple [12, 18] + - !!python/tuple [3, 4] + - !!python/tuple [28, 27] + - !!python/tuple [15, 2] + - !!python/tuple [7, 4] + - !!python/tuple [17, 29] + - !!python/tuple [12, 4] + - !!python/tuple [17, 15] + - !!python/tuple [29, 27] + - !!python/tuple [31, 14] + - !!python/tuple [31, 13] + - !!python/tuple [16, 0] + - !!python/tuple [26, 30] + - !!python/tuple [9, 18] + - !!python/tuple [19, 5] + - !!python/tuple [8, 28] + - !!python/tuple [14, 12] + - !!python/tuple [0, 30] + - !!python/tuple [9, 15] + - !!python/tuple [7, 28] + - !!python/tuple [22, 11] + - !!python/tuple [21, 6] + - !!python/tuple [9, 17] + - !!python/tuple [27, 18] + - !!python/tuple [30, 15] + - !!python/tuple [31, 4] + - !!python/tuple [31, 16] + - !!python/tuple [0, 3] + - !!python/tuple [13, 14] + - !!python/tuple [10, 10] + - !!python/tuple [30, 18] + - !!python/tuple [4, 13] + - !!python/tuple [15, 17] + - !!python/tuple [29, 9] + - !!python/tuple [29, 11] + - !!python/tuple [4, 24] + - !!python/tuple [22, 8] + - !!python/tuple [21, 20] + - !!python/tuple [5, 17] + - !!python/tuple [16, 3] + - !!python/tuple [13, 7] + - !!python/tuple [15, 9] + - !!python/tuple [29, 28] + - !!python/tuple [29, 24] + - !!python/tuple [1, 1] + - !!python/tuple [14, 24] + - !!python/tuple [31, 28] + - !!python/tuple [11, 31] + - !!python/tuple [14, 8] + - !!python/tuple [14, 29] + - !!python/tuple [27, 7] + - !!python/tuple [6, 12] + - !!python/tuple [9, 3] + - !!python/tuple [25, 18] + - !!python/tuple [1, 18] + - !!python/tuple [8, 12] + - !!python/tuple [10, 13] + - !!python/tuple [10, 31] + - !!python/tuple [28, 20] + - !!python/tuple [31, 15] + - !!python/tuple [9, 2] + - !!python/tuple [13, 5] + - !!python/tuple [11, 12] + - !!python/tuple [6, 8] + - !!python/tuple [13, 3] + - !!python/tuple [2, 2] + - !!python/tuple [4, 7] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex44.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex44.yaml new file mode 100644 index 0000000..01a5efb --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex44.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [27, 29] + name: agent0 + start: [21, 16] +- goal: [9, 25] + name: agent1 + start: [29, 14] +- goal: [22, 31] + name: agent2 + start: [1, 26] +- goal: [18, 1] + name: agent3 + start: [6, 12] +- goal: [26, 7] + name: agent4 + start: [29, 27] +- goal: [8, 5] + name: agent5 + start: [27, 28] +- goal: [19, 20] + name: agent6 + start: [1, 25] +- goal: [29, 25] + name: agent7 + start: [20, 12] +- goal: [29, 1] + name: agent8 + start: [30, 18] +- goal: [0, 1] + name: agent9 + start: [13, 18] +- goal: [4, 14] + name: agent10 + start: [14, 11] +- goal: [25, 8] + name: agent11 + start: [17, 14] +- goal: [4, 9] + name: agent12 + start: [6, 4] +- goal: [1, 5] + name: agent13 + start: [15, 11] +- goal: [26, 17] + name: agent14 + start: [29, 13] +- goal: [30, 13] + name: agent15 + start: [24, 4] +- goal: [5, 24] + name: agent16 + start: [15, 6] +- goal: [3, 28] + name: agent17 + start: [3, 18] +- goal: [12, 8] + name: agent18 + start: [25, 22] +- goal: [30, 9] + name: agent19 + start: [29, 25] +- goal: [16, 16] + name: agent20 + start: [30, 31] +- goal: [9, 24] + name: agent21 + start: [13, 27] +- goal: [1, 18] + name: agent22 + start: [28, 26] +- goal: [28, 23] + name: agent23 + start: [31, 18] +- goal: [0, 28] + name: agent24 + start: [13, 4] +- goal: [12, 3] + name: agent25 + start: [3, 24] +- goal: [13, 15] + name: agent26 + start: [11, 11] +- goal: [10, 0] + name: agent27 + start: [18, 10] +- goal: [17, 24] + name: agent28 + start: [3, 23] +- goal: [22, 3] + name: agent29 + start: [27, 15] +- goal: [21, 26] + name: agent30 + start: [20, 25] +- goal: [0, 26] + name: agent31 + start: [15, 13] +- goal: [14, 27] + name: agent32 + start: [31, 7] +- goal: [25, 31] + name: agent33 + start: [11, 7] +- goal: [18, 0] + name: agent34 + start: [14, 15] +- goal: [8, 14] + name: agent35 + start: [22, 17] +- goal: [18, 7] + name: agent36 + start: [20, 17] +- goal: [16, 23] + name: agent37 + start: [29, 2] +- goal: [24, 17] + name: agent38 + start: [10, 10] +- goal: [17, 29] + name: agent39 + start: [4, 4] +- goal: [10, 8] + name: agent40 + start: [3, 1] +- goal: [15, 6] + name: agent41 + start: [11, 4] +- goal: [31, 6] + name: agent42 + start: [3, 10] +- goal: [3, 24] + name: agent43 + start: [27, 22] +- goal: [20, 1] + name: agent44 + start: [4, 21] +- goal: [27, 18] + name: agent45 + start: [5, 28] +- goal: [21, 0] + name: agent46 + start: [1, 9] +- goal: [9, 21] + name: agent47 + start: [24, 6] +- goal: [19, 12] + name: agent48 + start: [31, 20] +- goal: [19, 14] + name: agent49 + start: [7, 15] +- goal: [17, 31] + name: agent50 + start: [25, 14] +- goal: [28, 12] + name: agent51 + start: [29, 30] +- goal: [11, 18] + name: agent52 + start: [13, 13] +- goal: [3, 23] + name: agent53 + start: [22, 10] +- goal: [17, 11] + name: agent54 + start: [28, 9] +- goal: [1, 17] + name: agent55 + start: [12, 19] +- goal: [26, 6] + name: agent56 + start: [25, 31] +- goal: [30, 18] + name: agent57 + start: [22, 15] +- goal: [2, 3] + name: agent58 + start: [28, 12] +- goal: [5, 23] + name: agent59 + start: [16, 30] +- goal: [28, 11] + name: agent60 + start: [15, 30] +- goal: [1, 16] + name: agent61 + start: [29, 21] +- goal: [5, 18] + name: agent62 + start: [11, 24] +- goal: [27, 11] + name: agent63 + start: [18, 1] +- goal: [10, 29] + name: agent64 + start: [28, 27] +- goal: [21, 8] + name: agent65 + start: [9, 25] +- goal: [9, 3] + name: agent66 + start: [6, 29] +- goal: [30, 11] + name: agent67 + start: [28, 28] +- goal: [14, 24] + name: agent68 + start: [30, 9] +- goal: [15, 13] + name: agent69 + start: [13, 12] +- goal: [16, 9] + name: agent70 + start: [20, 13] +- goal: [3, 13] + name: agent71 + start: [11, 2] +- goal: [23, 29] + name: agent72 + start: [8, 0] +- goal: [4, 25] + name: agent73 + start: [11, 25] +- goal: [22, 11] + name: agent74 + start: [28, 4] +- goal: [10, 1] + name: agent75 + start: [14, 23] +- goal: [3, 6] + name: agent76 + start: [22, 19] +- goal: [12, 10] + name: agent77 + start: [28, 10] +- goal: [1, 26] + name: agent78 + start: [12, 17] +- goal: [8, 20] + name: agent79 + start: [0, 5] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [6, 10] + - !!python/tuple [6, 2] + - !!python/tuple [20, 14] + - !!python/tuple [25, 4] + - !!python/tuple [29, 10] + - !!python/tuple [29, 19] + - !!python/tuple [13, 6] + - !!python/tuple [11, 17] + - !!python/tuple [5, 11] + - !!python/tuple [1, 31] + - !!python/tuple [18, 6] + - !!python/tuple [7, 0] + - !!python/tuple [8, 4] + - !!python/tuple [21, 22] + - !!python/tuple [0, 13] + - !!python/tuple [1, 23] + - !!python/tuple [6, 24] + - !!python/tuple [22, 22] + - !!python/tuple [26, 18] + - !!python/tuple [25, 26] + - !!python/tuple [0, 27] + - !!python/tuple [5, 3] + - !!python/tuple [19, 3] + - !!python/tuple [0, 22] + - !!python/tuple [25, 13] + - !!python/tuple [15, 0] + - !!python/tuple [1, 20] + - !!python/tuple [19, 9] + - !!python/tuple [30, 26] + - !!python/tuple [18, 9] + - !!python/tuple [8, 2] + - !!python/tuple [10, 31] + - !!python/tuple [23, 28] + - !!python/tuple [30, 2] + - !!python/tuple [1, 24] + - !!python/tuple [3, 8] + - !!python/tuple [11, 12] + - !!python/tuple [9, 15] + - !!python/tuple [27, 2] + - !!python/tuple [4, 13] + - !!python/tuple [21, 1] + - !!python/tuple [7, 8] + - !!python/tuple [12, 2] + - !!python/tuple [29, 31] + - !!python/tuple [14, 1] + - !!python/tuple [16, 31] + - !!python/tuple [17, 25] + - !!python/tuple [25, 29] + - !!python/tuple [14, 4] + - !!python/tuple [19, 6] + - !!python/tuple [28, 29] + - !!python/tuple [21, 19] + - !!python/tuple [12, 13] + - !!python/tuple [0, 10] + - !!python/tuple [12, 14] + - !!python/tuple [26, 14] + - !!python/tuple [26, 21] + - !!python/tuple [23, 19] + - !!python/tuple [24, 16] + - !!python/tuple [12, 12] + - !!python/tuple [3, 21] + - !!python/tuple [28, 15] + - !!python/tuple [14, 31] + - !!python/tuple [11, 16] + - !!python/tuple [9, 26] + - !!python/tuple [5, 9] + - !!python/tuple [10, 15] + - !!python/tuple [24, 29] + - !!python/tuple [18, 28] + - !!python/tuple [7, 21] + - !!python/tuple [10, 20] + - !!python/tuple [13, 1] + - !!python/tuple [4, 27] + - !!python/tuple [2, 2] + - !!python/tuple [15, 17] + - !!python/tuple [9, 27] + - !!python/tuple [2, 29] + - !!python/tuple [19, 2] + - !!python/tuple [28, 0] + - !!python/tuple [15, 1] + - !!python/tuple [0, 24] + - !!python/tuple [8, 29] + - !!python/tuple [21, 13] + - !!python/tuple [23, 22] + - !!python/tuple [4, 0] + - !!python/tuple [3, 4] + - !!python/tuple [21, 29] + - !!python/tuple [11, 1] + - !!python/tuple [2, 0] + - !!python/tuple [23, 31] + - !!python/tuple [11, 13] + - !!python/tuple [28, 24] + - !!python/tuple [23, 0] + - !!python/tuple [21, 7] + - !!python/tuple [27, 24] + - !!python/tuple [31, 10] + - !!python/tuple [15, 24] + - !!python/tuple [25, 17] + - !!python/tuple [0, 31] + - !!python/tuple [25, 20] + - !!python/tuple [14, 26] + - !!python/tuple [27, 25] + - !!python/tuple [17, 10] + - !!python/tuple [23, 7] + - !!python/tuple [31, 24] + - !!python/tuple [27, 30] + - !!python/tuple [15, 7] + - !!python/tuple [7, 30] + - !!python/tuple [9, 29] + - !!python/tuple [6, 28] + - !!python/tuple [0, 19] + - !!python/tuple [21, 12] + - !!python/tuple [22, 14] + - !!python/tuple [16, 29] + - !!python/tuple [10, 13] + - !!python/tuple [22, 4] + - !!python/tuple [7, 31] + - !!python/tuple [8, 18] + - !!python/tuple [22, 28] + - !!python/tuple [22, 20] + - !!python/tuple [31, 21] + - !!python/tuple [18, 24] + - !!python/tuple [16, 15] + - !!python/tuple [24, 28] + - !!python/tuple [13, 9] + - !!python/tuple [28, 18] + - !!python/tuple [17, 27] + - !!python/tuple [0, 4] + - !!python/tuple [19, 23] + - !!python/tuple [26, 22] + - !!python/tuple [6, 26] + - !!python/tuple [10, 30] + - !!python/tuple [24, 3] + - !!python/tuple [30, 20] + - !!python/tuple [0, 20] + - !!python/tuple [9, 17] + - !!python/tuple [2, 30] + - !!python/tuple [22, 7] + - !!python/tuple [14, 10] + - !!python/tuple [29, 23] + - !!python/tuple [27, 8] + - !!python/tuple [5, 31] + - !!python/tuple [7, 17] + - !!python/tuple [31, 8] + - !!python/tuple [8, 16] + - !!python/tuple [27, 27] + - !!python/tuple [29, 9] + - !!python/tuple [8, 21] + - !!python/tuple [28, 31] + - !!python/tuple [4, 20] + - !!python/tuple [31, 25] + - !!python/tuple [24, 2] + - !!python/tuple [28, 1] + - !!python/tuple [15, 10] + - !!python/tuple [19, 4] + - !!python/tuple [14, 5] + - !!python/tuple [24, 13] + - !!python/tuple [7, 12] + - !!python/tuple [27, 5] + - !!python/tuple [27, 12] + - !!python/tuple [31, 12] + - !!python/tuple [6, 30] + - !!python/tuple [2, 5] + - !!python/tuple [21, 11] + - !!python/tuple [11, 9] + - !!python/tuple [15, 12] + - !!python/tuple [17, 9] + - !!python/tuple [20, 3] + - !!python/tuple [19, 7] + - !!python/tuple [21, 3] + - !!python/tuple [7, 23] + - !!python/tuple [17, 0] + - !!python/tuple [21, 17] + - !!python/tuple [24, 5] + - !!python/tuple [4, 8] + - !!python/tuple [12, 29] + - !!python/tuple [1, 13] + - !!python/tuple [5, 1] + - !!python/tuple [5, 6] + - !!python/tuple [8, 28] + - !!python/tuple [18, 27] + - !!python/tuple [23, 23] + - !!python/tuple [5, 2] + - !!python/tuple [6, 13] + - !!python/tuple [20, 22] + - !!python/tuple [4, 15] + - !!python/tuple [14, 8] + - !!python/tuple [23, 30] + - !!python/tuple [4, 30] + - !!python/tuple [15, 9] + - !!python/tuple [2, 31] + - !!python/tuple [14, 0] + - !!python/tuple [2, 9] + - !!python/tuple [20, 29] + - !!python/tuple [29, 5] + - !!python/tuple [24, 20] + - !!python/tuple [7, 16] + - !!python/tuple [12, 23] + - !!python/tuple [8, 3] + - !!python/tuple [17, 30] + - !!python/tuple [12, 6] + - !!python/tuple [30, 3] + - !!python/tuple [9, 20] + - !!python/tuple [8, 31] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex45.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex45.yaml new file mode 100644 index 0000000..c9bafcb --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex45.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [9, 15] + name: agent0 + start: [16, 1] +- goal: [19, 22] + name: agent1 + start: [7, 7] +- goal: [19, 11] + name: agent2 + start: [14, 26] +- goal: [27, 24] + name: agent3 + start: [20, 28] +- goal: [12, 30] + name: agent4 + start: [29, 5] +- goal: [12, 14] + name: agent5 + start: [8, 26] +- goal: [25, 24] + name: agent6 + start: [28, 26] +- goal: [6, 24] + name: agent7 + start: [22, 29] +- goal: [8, 6] + name: agent8 + start: [0, 18] +- goal: [0, 13] + name: agent9 + start: [17, 10] +- goal: [24, 13] + name: agent10 + start: [30, 20] +- goal: [23, 21] + name: agent11 + start: [1, 23] +- goal: [4, 10] + name: agent12 + start: [18, 21] +- goal: [22, 31] + name: agent13 + start: [10, 25] +- goal: [18, 18] + name: agent14 + start: [3, 18] +- goal: [20, 18] + name: agent15 + start: [27, 24] +- goal: [21, 10] + name: agent16 + start: [6, 13] +- goal: [3, 16] + name: agent17 + start: [20, 11] +- goal: [9, 0] + name: agent18 + start: [15, 13] +- goal: [11, 27] + name: agent19 + start: [13, 13] +- goal: [7, 28] + name: agent20 + start: [19, 10] +- goal: [31, 0] + name: agent21 + start: [11, 3] +- goal: [21, 21] + name: agent22 + start: [18, 27] +- goal: [17, 27] + name: agent23 + start: [25, 19] +- goal: [7, 31] + name: agent24 + start: [3, 6] +- goal: [30, 21] + name: agent25 + start: [22, 30] +- goal: [19, 13] + name: agent26 + start: [8, 23] +- goal: [11, 17] + name: agent27 + start: [29, 25] +- goal: [30, 0] + name: agent28 + start: [10, 0] +- goal: [17, 6] + name: agent29 + start: [14, 15] +- goal: [8, 1] + name: agent30 + start: [9, 9] +- goal: [22, 8] + name: agent31 + start: [4, 25] +- goal: [29, 25] + name: agent32 + start: [6, 6] +- goal: [6, 14] + name: agent33 + start: [14, 8] +- goal: [9, 10] + name: agent34 + start: [2, 18] +- goal: [24, 11] + name: agent35 + start: [20, 5] +- goal: [21, 29] + name: agent36 + start: [5, 19] +- goal: [10, 18] + name: agent37 + start: [2, 20] +- goal: [10, 17] + name: agent38 + start: [13, 18] +- goal: [4, 0] + name: agent39 + start: [6, 7] +- goal: [28, 10] + name: agent40 + start: [11, 26] +- goal: [16, 30] + name: agent41 + start: [30, 18] +- goal: [5, 23] + name: agent42 + start: [8, 24] +- goal: [17, 24] + name: agent43 + start: [8, 17] +- goal: [5, 21] + name: agent44 + start: [23, 4] +- goal: [19, 23] + name: agent45 + start: [21, 21] +- goal: [15, 12] + name: agent46 + start: [12, 6] +- goal: [11, 2] + name: agent47 + start: [9, 0] +- goal: [11, 1] + name: agent48 + start: [21, 26] +- goal: [2, 15] + name: agent49 + start: [14, 28] +- goal: [9, 25] + name: agent50 + start: [30, 26] +- goal: [11, 5] + name: agent51 + start: [25, 1] +- goal: [20, 14] + name: agent52 + start: [16, 17] +- goal: [4, 4] + name: agent53 + start: [20, 26] +- goal: [19, 26] + name: agent54 + start: [12, 12] +- goal: [23, 9] + name: agent55 + start: [13, 20] +- goal: [13, 31] + name: agent56 + start: [24, 7] +- goal: [12, 10] + name: agent57 + start: [29, 2] +- goal: [24, 17] + name: agent58 + start: [12, 27] +- goal: [26, 4] + name: agent59 + start: [12, 16] +- goal: [8, 20] + name: agent60 + start: [12, 14] +- goal: [18, 6] + name: agent61 + start: [22, 25] +- goal: [9, 22] + name: agent62 + start: [8, 19] +- goal: [26, 20] + name: agent63 + start: [23, 23] +- goal: [10, 11] + name: agent64 + start: [3, 14] +- goal: [26, 15] + name: agent65 + start: [29, 6] +- goal: [0, 15] + name: agent66 + start: [8, 7] +- goal: [18, 25] + name: agent67 + start: [0, 9] +- goal: [9, 8] + name: agent68 + start: [6, 1] +- goal: [18, 16] + name: agent69 + start: [13, 4] +- goal: [31, 16] + name: agent70 + start: [4, 0] +- goal: [12, 0] + name: agent71 + start: [22, 0] +- goal: [12, 3] + name: agent72 + start: [7, 9] +- goal: [23, 22] + name: agent73 + start: [17, 23] +- goal: [10, 12] + name: agent74 + start: [27, 11] +- goal: [26, 27] + name: agent75 + start: [19, 22] +- goal: [14, 14] + name: agent76 + start: [15, 4] +- goal: [17, 31] + name: agent77 + start: [0, 16] +- goal: [13, 28] + name: agent78 + start: [22, 7] +- goal: [21, 18] + name: agent79 + start: [19, 17] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [22, 18] + - !!python/tuple [19, 25] + - !!python/tuple [5, 5] + - !!python/tuple [1, 13] + - !!python/tuple [31, 20] + - !!python/tuple [5, 9] + - !!python/tuple [8, 10] + - !!python/tuple [26, 24] + - !!python/tuple [5, 11] + - !!python/tuple [1, 7] + - !!python/tuple [21, 23] + - !!python/tuple [3, 30] + - !!python/tuple [25, 13] + - !!python/tuple [0, 0] + - !!python/tuple [13, 12] + - !!python/tuple [26, 30] + - !!python/tuple [26, 8] + - !!python/tuple [23, 16] + - !!python/tuple [13, 22] + - !!python/tuple [16, 25] + - !!python/tuple [21, 22] + - !!python/tuple [30, 2] + - !!python/tuple [31, 26] + - !!python/tuple [22, 3] + - !!python/tuple [1, 25] + - !!python/tuple [12, 8] + - !!python/tuple [31, 1] + - !!python/tuple [1, 26] + - !!python/tuple [6, 21] + - !!python/tuple [28, 19] + - !!python/tuple [10, 24] + - !!python/tuple [14, 19] + - !!python/tuple [28, 11] + - !!python/tuple [31, 30] + - !!python/tuple [0, 6] + - !!python/tuple [25, 5] + - !!python/tuple [17, 1] + - !!python/tuple [14, 5] + - !!python/tuple [24, 0] + - !!python/tuple [3, 26] + - !!python/tuple [22, 12] + - !!python/tuple [27, 19] + - !!python/tuple [29, 1] + - !!python/tuple [24, 10] + - !!python/tuple [0, 31] + - !!python/tuple [16, 11] + - !!python/tuple [2, 13] + - !!python/tuple [27, 29] + - !!python/tuple [26, 6] + - !!python/tuple [5, 1] + - !!python/tuple [2, 9] + - !!python/tuple [5, 8] + - !!python/tuple [15, 27] + - !!python/tuple [3, 27] + - !!python/tuple [29, 7] + - !!python/tuple [21, 15] + - !!python/tuple [0, 21] + - !!python/tuple [8, 14] + - !!python/tuple [4, 30] + - !!python/tuple [1, 18] + - !!python/tuple [10, 9] + - !!python/tuple [20, 12] + - !!python/tuple [15, 5] + - !!python/tuple [29, 27] + - !!python/tuple [19, 24] + - !!python/tuple [12, 19] + - !!python/tuple [18, 14] + - !!python/tuple [10, 16] + - !!python/tuple [17, 30] + - !!python/tuple [24, 25] + - !!python/tuple [10, 1] + - !!python/tuple [0, 11] + - !!python/tuple [3, 5] + - !!python/tuple [11, 7] + - !!python/tuple [3, 13] + - !!python/tuple [27, 8] + - !!python/tuple [26, 12] + - !!python/tuple [25, 25] + - !!python/tuple [3, 4] + - !!python/tuple [23, 15] + - !!python/tuple [14, 24] + - !!python/tuple [28, 22] + - !!python/tuple [18, 10] + - !!python/tuple [2, 25] + - !!python/tuple [21, 9] + - !!python/tuple [30, 30] + - !!python/tuple [3, 22] + - !!python/tuple [29, 18] + - !!python/tuple [9, 4] + - !!python/tuple [24, 27] + - !!python/tuple [14, 22] + - !!python/tuple [17, 25] + - !!python/tuple [14, 4] + - !!python/tuple [20, 30] + - !!python/tuple [17, 29] + - !!python/tuple [10, 5] + - !!python/tuple [16, 14] + - !!python/tuple [1, 10] + - !!python/tuple [8, 28] + - !!python/tuple [20, 6] + - !!python/tuple [24, 26] + - !!python/tuple [2, 4] + - !!python/tuple [4, 8] + - !!python/tuple [28, 17] + - !!python/tuple [30, 4] + - !!python/tuple [21, 13] + - !!python/tuple [18, 28] + - !!python/tuple [23, 27] + - !!python/tuple [5, 7] + - !!python/tuple [0, 24] + - !!python/tuple [29, 10] + - !!python/tuple [21, 2] + - !!python/tuple [7, 14] + - !!python/tuple [25, 30] + - !!python/tuple [8, 4] + - !!python/tuple [31, 5] + - !!python/tuple [13, 3] + - !!python/tuple [6, 18] + - !!python/tuple [19, 6] + - !!python/tuple [23, 26] + - !!python/tuple [6, 0] + - !!python/tuple [17, 11] + - !!python/tuple [29, 30] + - !!python/tuple [18, 19] + - !!python/tuple [27, 20] + - !!python/tuple [29, 31] + - !!python/tuple [6, 11] + - !!python/tuple [6, 27] + - !!python/tuple [27, 18] + - !!python/tuple [11, 6] + - !!python/tuple [6, 20] + - !!python/tuple [28, 23] + - !!python/tuple [5, 14] + - !!python/tuple [25, 18] + - !!python/tuple [17, 2] + - !!python/tuple [9, 20] + - !!python/tuple [13, 0] + - !!python/tuple [21, 19] + - !!python/tuple [5, 30] + - !!python/tuple [29, 17] + - !!python/tuple [21, 6] + - !!python/tuple [5, 2] + - !!python/tuple [20, 1] + - !!python/tuple [11, 20] + - !!python/tuple [0, 10] + - !!python/tuple [22, 10] + - !!python/tuple [31, 25] + - !!python/tuple [14, 23] + - !!python/tuple [18, 23] + - !!python/tuple [12, 17] + - !!python/tuple [5, 26] + - !!python/tuple [24, 3] + - !!python/tuple [5, 15] + - !!python/tuple [9, 17] + - !!python/tuple [24, 29] + - !!python/tuple [7, 20] + - !!python/tuple [0, 14] + - !!python/tuple [11, 4] + - !!python/tuple [8, 3] + - !!python/tuple [7, 15] + - !!python/tuple [7, 30] + - !!python/tuple [6, 9] + - !!python/tuple [9, 13] + - !!python/tuple [18, 5] + - !!python/tuple [14, 31] + - !!python/tuple [26, 19] + - !!python/tuple [15, 8] + - !!python/tuple [23, 13] + - !!python/tuple [31, 4] + - !!python/tuple [29, 23] + - !!python/tuple [4, 19] + - !!python/tuple [15, 28] + - !!python/tuple [1, 19] + - !!python/tuple [12, 15] + - !!python/tuple [23, 20] + - !!python/tuple [28, 3] + - !!python/tuple [16, 27] + - !!python/tuple [19, 28] + - !!python/tuple [19, 20] + - !!python/tuple [18, 29] + - !!python/tuple [27, 21] + - !!python/tuple [25, 14] + - !!python/tuple [10, 10] + - !!python/tuple [31, 2] + - !!python/tuple [3, 1] + - !!python/tuple [29, 16] + - !!python/tuple [13, 27] + - !!python/tuple [7, 17] + - !!python/tuple [16, 0] + - !!python/tuple [14, 17] + - !!python/tuple [2, 17] + - !!python/tuple [21, 14] + - !!python/tuple [8, 27] + - !!python/tuple [27, 4] + - !!python/tuple [29, 19] + - !!python/tuple [4, 1] + - !!python/tuple [13, 5] + - !!python/tuple [4, 31] + - !!python/tuple [18, 12] + - !!python/tuple [9, 3] + - !!python/tuple [25, 22] + - !!python/tuple [8, 18] + - !!python/tuple [5, 25] + - !!python/tuple [0, 4] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex46.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex46.yaml new file mode 100644 index 0000000..d03690b --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex46.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [3, 22] + name: agent0 + start: [24, 2] +- goal: [20, 26] + name: agent1 + start: [24, 12] +- goal: [26, 23] + name: agent2 + start: [1, 12] +- goal: [25, 6] + name: agent3 + start: [20, 23] +- goal: [7, 22] + name: agent4 + start: [2, 13] +- goal: [29, 5] + name: agent5 + start: [21, 0] +- goal: [21, 14] + name: agent6 + start: [5, 25] +- goal: [25, 7] + name: agent7 + start: [7, 31] +- goal: [8, 31] + name: agent8 + start: [7, 5] +- goal: [23, 0] + name: agent9 + start: [30, 29] +- goal: [3, 11] + name: agent10 + start: [23, 17] +- goal: [14, 20] + name: agent11 + start: [27, 9] +- goal: [9, 30] + name: agent12 + start: [1, 24] +- goal: [9, 15] + name: agent13 + start: [17, 10] +- goal: [5, 16] + name: agent14 + start: [17, 29] +- goal: [6, 10] + name: agent15 + start: [7, 20] +- goal: [6, 4] + name: agent16 + start: [25, 17] +- goal: [12, 21] + name: agent17 + start: [12, 17] +- goal: [8, 18] + name: agent18 + start: [27, 15] +- goal: [11, 28] + name: agent19 + start: [8, 27] +- goal: [14, 30] + name: agent20 + start: [5, 31] +- goal: [5, 6] + name: agent21 + start: [20, 21] +- goal: [13, 22] + name: agent22 + start: [0, 10] +- goal: [10, 29] + name: agent23 + start: [31, 9] +- goal: [28, 0] + name: agent24 + start: [11, 21] +- goal: [29, 20] + name: agent25 + start: [14, 20] +- goal: [8, 27] + name: agent26 + start: [14, 11] +- goal: [7, 9] + name: agent27 + start: [6, 30] +- goal: [28, 1] + name: agent28 + start: [22, 4] +- goal: [24, 29] + name: agent29 + start: [21, 7] +- goal: [14, 14] + name: agent30 + start: [1, 9] +- goal: [16, 31] + name: agent31 + start: [30, 27] +- goal: [27, 11] + name: agent32 + start: [5, 12] +- goal: [26, 18] + name: agent33 + start: [9, 20] +- goal: [16, 19] + name: agent34 + start: [24, 13] +- goal: [25, 2] + name: agent35 + start: [29, 24] +- goal: [29, 2] + name: agent36 + start: [27, 24] +- goal: [14, 5] + name: agent37 + start: [19, 24] +- goal: [6, 21] + name: agent38 + start: [24, 30] +- goal: [4, 23] + name: agent39 + start: [9, 8] +- goal: [29, 1] + name: agent40 + start: [0, 20] +- goal: [13, 14] + name: agent41 + start: [25, 6] +- goal: [25, 31] + name: agent42 + start: [22, 9] +- goal: [25, 0] + name: agent43 + start: [4, 18] +- goal: [24, 6] + name: agent44 + start: [25, 16] +- goal: [9, 27] + name: agent45 + start: [24, 21] +- goal: [8, 28] + name: agent46 + start: [16, 1] +- goal: [20, 1] + name: agent47 + start: [28, 19] +- goal: [26, 14] + name: agent48 + start: [14, 22] +- goal: [16, 29] + name: agent49 + start: [22, 14] +- goal: [13, 28] + name: agent50 + start: [26, 7] +- goal: [28, 20] + name: agent51 + start: [13, 31] +- goal: [10, 3] + name: agent52 + start: [16, 12] +- goal: [20, 8] + name: agent53 + start: [9, 0] +- goal: [24, 30] + name: agent54 + start: [13, 1] +- goal: [19, 19] + name: agent55 + start: [17, 27] +- goal: [0, 10] + name: agent56 + start: [1, 11] +- goal: [5, 3] + name: agent57 + start: [6, 6] +- goal: [27, 19] + name: agent58 + start: [3, 0] +- goal: [29, 9] + name: agent59 + start: [9, 4] +- goal: [14, 27] + name: agent60 + start: [0, 15] +- goal: [22, 4] + name: agent61 + start: [0, 27] +- goal: [8, 0] + name: agent62 + start: [15, 26] +- goal: [24, 27] + name: agent63 + start: [15, 18] +- goal: [21, 2] + name: agent64 + start: [28, 10] +- goal: [19, 10] + name: agent65 + start: [18, 19] +- goal: [1, 18] + name: agent66 + start: [3, 26] +- goal: [4, 19] + name: agent67 + start: [21, 31] +- goal: [27, 12] + name: agent68 + start: [6, 9] +- goal: [23, 6] + name: agent69 + start: [19, 19] +- goal: [11, 12] + name: agent70 + start: [23, 25] +- goal: [27, 29] + name: agent71 + start: [19, 21] +- goal: [25, 27] + name: agent72 + start: [31, 28] +- goal: [28, 22] + name: agent73 + start: [2, 24] +- goal: [6, 6] + name: agent74 + start: [24, 24] +- goal: [20, 17] + name: agent75 + start: [27, 0] +- goal: [0, 8] + name: agent76 + start: [20, 25] +- goal: [14, 0] + name: agent77 + start: [5, 19] +- goal: [21, 12] + name: agent78 + start: [4, 10] +- goal: [12, 13] + name: agent79 + start: [6, 20] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [15, 28] + - !!python/tuple [8, 2] + - !!python/tuple [16, 20] + - !!python/tuple [25, 4] + - !!python/tuple [8, 19] + - !!python/tuple [22, 16] + - !!python/tuple [19, 9] + - !!python/tuple [7, 23] + - !!python/tuple [29, 22] + - !!python/tuple [0, 21] + - !!python/tuple [15, 31] + - !!python/tuple [23, 10] + - !!python/tuple [11, 9] + - !!python/tuple [10, 22] + - !!python/tuple [18, 15] + - !!python/tuple [2, 29] + - !!python/tuple [18, 22] + - !!python/tuple [21, 18] + - !!python/tuple [22, 31] + - !!python/tuple [11, 19] + - !!python/tuple [4, 22] + - !!python/tuple [24, 9] + - !!python/tuple [1, 6] + - !!python/tuple [7, 21] + - !!python/tuple [30, 9] + - !!python/tuple [22, 29] + - !!python/tuple [18, 26] + - !!python/tuple [13, 3] + - !!python/tuple [25, 23] + - !!python/tuple [22, 21] + - !!python/tuple [24, 5] + - !!python/tuple [2, 12] + - !!python/tuple [24, 10] + - !!python/tuple [30, 1] + - !!python/tuple [2, 3] + - !!python/tuple [1, 0] + - !!python/tuple [12, 18] + - !!python/tuple [4, 20] + - !!python/tuple [15, 15] + - !!python/tuple [26, 17] + - !!python/tuple [7, 15] + - !!python/tuple [18, 27] + - !!python/tuple [19, 30] + - !!python/tuple [25, 8] + - !!python/tuple [7, 7] + - !!python/tuple [0, 28] + - !!python/tuple [31, 27] + - !!python/tuple [25, 24] + - !!python/tuple [30, 14] + - !!python/tuple [26, 16] + - !!python/tuple [8, 15] + - !!python/tuple [9, 22] + - !!python/tuple [22, 3] + - !!python/tuple [18, 5] + - !!python/tuple [11, 29] + - !!python/tuple [22, 25] + - !!python/tuple [17, 28] + - !!python/tuple [13, 24] + - !!python/tuple [2, 31] + - !!python/tuple [22, 5] + - !!python/tuple [7, 1] + - !!python/tuple [24, 4] + - !!python/tuple [24, 23] + - !!python/tuple [13, 15] + - !!python/tuple [6, 24] + - !!python/tuple [15, 17] + - !!python/tuple [7, 19] + - !!python/tuple [3, 1] + - !!python/tuple [1, 25] + - !!python/tuple [12, 30] + - !!python/tuple [28, 28] + - !!python/tuple [18, 10] + - !!python/tuple [1, 31] + - !!python/tuple [23, 9] + - !!python/tuple [15, 22] + - !!python/tuple [29, 29] + - !!python/tuple [17, 31] + - !!python/tuple [1, 5] + - !!python/tuple [10, 12] + - !!python/tuple [22, 24] + - !!python/tuple [31, 15] + - !!python/tuple [26, 27] + - !!python/tuple [18, 29] + - !!python/tuple [3, 25] + - !!python/tuple [26, 24] + - !!python/tuple [0, 2] + - !!python/tuple [7, 16] + - !!python/tuple [3, 6] + - !!python/tuple [13, 9] + - !!python/tuple [17, 19] + - !!python/tuple [1, 14] + - !!python/tuple [0, 0] + - !!python/tuple [2, 21] + - !!python/tuple [16, 27] + - !!python/tuple [5, 15] + - !!python/tuple [20, 16] + - !!python/tuple [26, 26] + - !!python/tuple [4, 0] + - !!python/tuple [8, 3] + - !!python/tuple [5, 26] + - !!python/tuple [8, 25] + - !!python/tuple [11, 13] + - !!python/tuple [13, 27] + - !!python/tuple [4, 11] + - !!python/tuple [0, 29] + - !!python/tuple [25, 19] + - !!python/tuple [5, 18] + - !!python/tuple [16, 11] + - !!python/tuple [5, 29] + - !!python/tuple [24, 7] + - !!python/tuple [16, 6] + - !!python/tuple [16, 8] + - !!python/tuple [30, 28] + - !!python/tuple [18, 18] + - !!python/tuple [21, 3] + - !!python/tuple [3, 30] + - !!python/tuple [23, 20] + - !!python/tuple [15, 14] + - !!python/tuple [10, 8] + - !!python/tuple [4, 24] + - !!python/tuple [31, 21] + - !!python/tuple [11, 18] + - !!python/tuple [7, 30] + - !!python/tuple [1, 26] + - !!python/tuple [14, 2] + - !!python/tuple [16, 10] + - !!python/tuple [2, 10] + - !!python/tuple [1, 15] + - !!python/tuple [26, 25] + - !!python/tuple [0, 4] + - !!python/tuple [13, 23] + - !!python/tuple [25, 21] + - !!python/tuple [27, 22] + - !!python/tuple [20, 19] + - !!python/tuple [6, 12] + - !!python/tuple [6, 26] + - !!python/tuple [22, 8] + - !!python/tuple [19, 3] + - !!python/tuple [22, 0] + - !!python/tuple [6, 28] + - !!python/tuple [1, 22] + - !!python/tuple [21, 11] + - !!python/tuple [7, 29] + - !!python/tuple [22, 6] + - !!python/tuple [14, 15] + - !!python/tuple [10, 0] + - !!python/tuple [27, 20] + - !!python/tuple [15, 21] + - !!python/tuple [9, 13] + - !!python/tuple [3, 4] + - !!python/tuple [3, 21] + - !!python/tuple [18, 9] + - !!python/tuple [16, 0] + - !!python/tuple [5, 2] + - !!python/tuple [22, 26] + - !!python/tuple [12, 9] + - !!python/tuple [21, 20] + - !!python/tuple [31, 26] + - !!python/tuple [17, 1] + - !!python/tuple [3, 23] + - !!python/tuple [2, 27] + - !!python/tuple [24, 3] + - !!python/tuple [31, 5] + - !!python/tuple [31, 7] + - !!python/tuple [27, 8] + - !!python/tuple [1, 23] + - !!python/tuple [15, 3] + - !!python/tuple [30, 11] + - !!python/tuple [18, 3] + - !!python/tuple [2, 20] + - !!python/tuple [22, 18] + - !!python/tuple [3, 19] + - !!python/tuple [29, 18] + - !!python/tuple [22, 19] + - !!python/tuple [24, 19] + - !!python/tuple [31, 13] + - !!python/tuple [18, 17] + - !!python/tuple [10, 13] + - !!python/tuple [12, 19] + - !!python/tuple [5, 27] + - !!python/tuple [16, 13] + - !!python/tuple [21, 25] + - !!python/tuple [17, 2] + - !!python/tuple [15, 6] + - !!python/tuple [14, 4] + - !!python/tuple [21, 21] + - !!python/tuple [0, 22] + - !!python/tuple [3, 28] + - !!python/tuple [30, 5] + - !!python/tuple [22, 1] + - !!python/tuple [17, 21] + - !!python/tuple [10, 26] + - !!python/tuple [6, 7] + - !!python/tuple [11, 25] + - !!python/tuple [29, 11] + - !!python/tuple [4, 15] + - !!python/tuple [20, 20] + - !!python/tuple [19, 8] + - !!python/tuple [7, 17] + - !!python/tuple [16, 14] + - !!python/tuple [12, 15] + - !!python/tuple [27, 18] + - !!python/tuple [18, 25] + - !!python/tuple [25, 30] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex47.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex47.yaml new file mode 100644 index 0000000..d8f9227 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex47.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [28, 0] + name: agent0 + start: [30, 18] +- goal: [28, 8] + name: agent1 + start: [17, 17] +- goal: [31, 5] + name: agent2 + start: [4, 21] +- goal: [10, 12] + name: agent3 + start: [14, 25] +- goal: [0, 16] + name: agent4 + start: [2, 27] +- goal: [2, 28] + name: agent5 + start: [20, 5] +- goal: [22, 0] + name: agent6 + start: [7, 2] +- goal: [18, 29] + name: agent7 + start: [8, 25] +- goal: [30, 17] + name: agent8 + start: [16, 14] +- goal: [9, 12] + name: agent9 + start: [31, 24] +- goal: [13, 5] + name: agent10 + start: [12, 6] +- goal: [13, 30] + name: agent11 + start: [10, 31] +- goal: [20, 6] + name: agent12 + start: [21, 16] +- goal: [13, 26] + name: agent13 + start: [29, 11] +- goal: [27, 13] + name: agent14 + start: [6, 5] +- goal: [27, 27] + name: agent15 + start: [26, 18] +- goal: [30, 26] + name: agent16 + start: [13, 28] +- goal: [15, 24] + name: agent17 + start: [9, 21] +- goal: [23, 22] + name: agent18 + start: [27, 25] +- goal: [6, 15] + name: agent19 + start: [30, 9] +- goal: [27, 12] + name: agent20 + start: [19, 2] +- goal: [6, 3] + name: agent21 + start: [13, 22] +- goal: [19, 15] + name: agent22 + start: [25, 18] +- goal: [6, 11] + name: agent23 + start: [24, 10] +- goal: [0, 22] + name: agent24 + start: [8, 2] +- goal: [22, 2] + name: agent25 + start: [23, 18] +- goal: [13, 14] + name: agent26 + start: [15, 7] +- goal: [11, 8] + name: agent27 + start: [11, 15] +- goal: [24, 26] + name: agent28 + start: [29, 19] +- goal: [21, 23] + name: agent29 + start: [12, 18] +- goal: [29, 17] + name: agent30 + start: [1, 27] +- goal: [20, 29] + name: agent31 + start: [24, 0] +- goal: [25, 10] + name: agent32 + start: [4, 29] +- goal: [3, 10] + name: agent33 + start: [31, 31] +- goal: [6, 6] + name: agent34 + start: [26, 6] +- goal: [0, 6] + name: agent35 + start: [0, 15] +- goal: [30, 8] + name: agent36 + start: [20, 9] +- goal: [24, 25] + name: agent37 + start: [23, 5] +- goal: [30, 12] + name: agent38 + start: [25, 1] +- goal: [7, 29] + name: agent39 + start: [14, 17] +- goal: [17, 30] + name: agent40 + start: [23, 0] +- goal: [5, 13] + name: agent41 + start: [28, 22] +- goal: [2, 25] + name: agent42 + start: [6, 25] +- goal: [14, 2] + name: agent43 + start: [25, 13] +- goal: [25, 29] + name: agent44 + start: [31, 0] +- goal: [1, 11] + name: agent45 + start: [16, 19] +- goal: [30, 20] + name: agent46 + start: [15, 22] +- goal: [15, 27] + name: agent47 + start: [17, 31] +- goal: [24, 17] + name: agent48 + start: [23, 14] +- goal: [5, 9] + name: agent49 + start: [23, 9] +- goal: [21, 2] + name: agent50 + start: [8, 0] +- goal: [2, 5] + name: agent51 + start: [6, 30] +- goal: [6, 23] + name: agent52 + start: [6, 7] +- goal: [4, 10] + name: agent53 + start: [0, 3] +- goal: [29, 31] + name: agent54 + start: [12, 20] +- goal: [22, 10] + name: agent55 + start: [28, 16] +- goal: [18, 1] + name: agent56 + start: [11, 16] +- goal: [14, 24] + name: agent57 + start: [21, 28] +- goal: [17, 14] + name: agent58 + start: [13, 6] +- goal: [29, 18] + name: agent59 + start: [24, 3] +- goal: [31, 8] + name: agent60 + start: [4, 2] +- goal: [3, 2] + name: agent61 + start: [4, 20] +- goal: [24, 15] + name: agent62 + start: [8, 14] +- goal: [19, 19] + name: agent63 + start: [10, 26] +- goal: [16, 17] + name: agent64 + start: [17, 6] +- goal: [27, 16] + name: agent65 + start: [30, 12] +- goal: [28, 12] + name: agent66 + start: [27, 3] +- goal: [13, 8] + name: agent67 + start: [11, 22] +- goal: [2, 7] + name: agent68 + start: [7, 9] +- goal: [14, 7] + name: agent69 + start: [10, 25] +- goal: [25, 4] + name: agent70 + start: [19, 11] +- goal: [8, 31] + name: agent71 + start: [8, 10] +- goal: [8, 24] + name: agent72 + start: [18, 5] +- goal: [10, 24] + name: agent73 + start: [16, 4] +- goal: [29, 24] + name: agent74 + start: [3, 2] +- goal: [31, 1] + name: agent75 + start: [24, 2] +- goal: [9, 19] + name: agent76 + start: [7, 15] +- goal: [26, 30] + name: agent77 + start: [19, 18] +- goal: [6, 5] + name: agent78 + start: [21, 22] +- goal: [10, 25] + name: agent79 + start: [19, 31] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [0, 11] + - !!python/tuple [20, 15] + - !!python/tuple [11, 11] + - !!python/tuple [2, 24] + - !!python/tuple [1, 25] + - !!python/tuple [27, 6] + - !!python/tuple [4, 23] + - !!python/tuple [9, 13] + - !!python/tuple [31, 18] + - !!python/tuple [15, 8] + - !!python/tuple [9, 4] + - !!python/tuple [7, 25] + - !!python/tuple [21, 4] + - !!python/tuple [17, 1] + - !!python/tuple [24, 22] + - !!python/tuple [22, 23] + - !!python/tuple [25, 19] + - !!python/tuple [27, 29] + - !!python/tuple [30, 0] + - !!python/tuple [0, 24] + - !!python/tuple [6, 0] + - !!python/tuple [0, 4] + - !!python/tuple [20, 12] + - !!python/tuple [0, 19] + - !!python/tuple [14, 14] + - !!python/tuple [27, 15] + - !!python/tuple [11, 1] + - !!python/tuple [5, 20] + - !!python/tuple [14, 21] + - !!python/tuple [25, 24] + - !!python/tuple [18, 23] + - !!python/tuple [7, 30] + - !!python/tuple [17, 12] + - !!python/tuple [21, 15] + - !!python/tuple [14, 4] + - !!python/tuple [31, 19] + - !!python/tuple [0, 5] + - !!python/tuple [14, 26] + - !!python/tuple [7, 19] + - !!python/tuple [12, 8] + - !!python/tuple [29, 12] + - !!python/tuple [8, 4] + - !!python/tuple [25, 15] + - !!python/tuple [22, 9] + - !!python/tuple [29, 13] + - !!python/tuple [6, 31] + - !!python/tuple [18, 2] + - !!python/tuple [0, 0] + - !!python/tuple [28, 7] + - !!python/tuple [11, 14] + - !!python/tuple [29, 20] + - !!python/tuple [18, 3] + - !!python/tuple [19, 4] + - !!python/tuple [14, 6] + - !!python/tuple [3, 6] + - !!python/tuple [10, 17] + - !!python/tuple [7, 16] + - !!python/tuple [22, 8] + - !!python/tuple [13, 11] + - !!python/tuple [4, 12] + - !!python/tuple [18, 8] + - !!python/tuple [3, 17] + - !!python/tuple [1, 0] + - !!python/tuple [7, 23] + - !!python/tuple [27, 22] + - !!python/tuple [24, 13] + - !!python/tuple [16, 29] + - !!python/tuple [6, 8] + - !!python/tuple [3, 24] + - !!python/tuple [25, 23] + - !!python/tuple [23, 11] + - !!python/tuple [17, 27] + - !!python/tuple [16, 6] + - !!python/tuple [16, 22] + - !!python/tuple [14, 12] + - !!python/tuple [15, 31] + - !!python/tuple [18, 16] + - !!python/tuple [9, 17] + - !!python/tuple [11, 19] + - !!python/tuple [2, 30] + - !!python/tuple [18, 12] + - !!python/tuple [22, 4] + - !!python/tuple [26, 15] + - !!python/tuple [9, 8] + - !!python/tuple [20, 10] + - !!python/tuple [21, 1] + - !!python/tuple [31, 6] + - !!python/tuple [13, 12] + - !!python/tuple [0, 20] + - !!python/tuple [29, 26] + - !!python/tuple [15, 0] + - !!python/tuple [24, 4] + - !!python/tuple [31, 11] + - !!python/tuple [15, 2] + - !!python/tuple [5, 24] + - !!python/tuple [29, 16] + - !!python/tuple [21, 24] + - !!python/tuple [22, 25] + - !!python/tuple [5, 3] + - !!python/tuple [28, 28] + - !!python/tuple [3, 14] + - !!python/tuple [3, 30] + - !!python/tuple [31, 20] + - !!python/tuple [18, 31] + - !!python/tuple [24, 7] + - !!python/tuple [19, 14] + - !!python/tuple [11, 30] + - !!python/tuple [14, 5] + - !!python/tuple [11, 10] + - !!python/tuple [5, 29] + - !!python/tuple [22, 6] + - !!python/tuple [14, 0] + - !!python/tuple [25, 30] + - !!python/tuple [7, 26] + - !!python/tuple [14, 16] + - !!python/tuple [12, 13] + - !!python/tuple [1, 3] + - !!python/tuple [20, 1] + - !!python/tuple [22, 15] + - !!python/tuple [24, 6] + - !!python/tuple [4, 22] + - !!python/tuple [15, 1] + - !!python/tuple [25, 16] + - !!python/tuple [16, 24] + - !!python/tuple [19, 0] + - !!python/tuple [8, 21] + - !!python/tuple [21, 26] + - !!python/tuple [28, 30] + - !!python/tuple [8, 19] + - !!python/tuple [2, 4] + - !!python/tuple [25, 5] + - !!python/tuple [13, 29] + - !!python/tuple [23, 30] + - !!python/tuple [7, 7] + - !!python/tuple [25, 27] + - !!python/tuple [18, 6] + - !!python/tuple [6, 17] + - !!python/tuple [1, 13] + - !!python/tuple [22, 31] + - !!python/tuple [28, 21] + - !!python/tuple [25, 0] + - !!python/tuple [12, 22] + - !!python/tuple [14, 9] + - !!python/tuple [3, 3] + - !!python/tuple [2, 23] + - !!python/tuple [14, 19] + - !!python/tuple [24, 31] + - !!python/tuple [11, 20] + - !!python/tuple [0, 10] + - !!python/tuple [8, 7] + - !!python/tuple [4, 14] + - !!python/tuple [12, 21] + - !!python/tuple [19, 27] + - !!python/tuple [11, 28] + - !!python/tuple [5, 15] + - !!python/tuple [8, 30] + - !!python/tuple [18, 19] + - !!python/tuple [29, 3] + - !!python/tuple [30, 1] + - !!python/tuple [3, 22] + - !!python/tuple [20, 7] + - !!python/tuple [12, 25] + - !!python/tuple [1, 30] + - !!python/tuple [16, 0] + - !!python/tuple [5, 27] + - !!python/tuple [20, 14] + - !!python/tuple [7, 14] + - !!python/tuple [15, 5] + - !!python/tuple [21, 25] + - !!python/tuple [26, 3] + - !!python/tuple [5, 4] + - !!python/tuple [10, 9] + - !!python/tuple [14, 31] + - !!python/tuple [31, 10] + - !!python/tuple [31, 30] + - !!python/tuple [14, 30] + - !!python/tuple [19, 22] + - !!python/tuple [23, 12] + - !!python/tuple [25, 31] + - !!python/tuple [18, 0] + - !!python/tuple [9, 18] + - !!python/tuple [15, 19] + - !!python/tuple [9, 14] + - !!python/tuple [2, 9] + - !!python/tuple [27, 28] + - !!python/tuple [1, 17] + - !!python/tuple [9, 7] + - !!python/tuple [7, 13] + - !!python/tuple [29, 1] + - !!python/tuple [30, 21] + - !!python/tuple [19, 7] + - !!python/tuple [10, 11] + - !!python/tuple [5, 30] + - !!python/tuple [0, 1] + - !!python/tuple [22, 11] + - !!python/tuple [30, 2] + - !!python/tuple [1, 31] + - !!python/tuple [27, 1] + - !!python/tuple [21, 17] + - !!python/tuple [13, 31] + - !!python/tuple [7, 12] + - !!python/tuple [1, 14] + - !!python/tuple [17, 28] + - !!python/tuple [15, 20] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex48.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex48.yaml new file mode 100644 index 0000000..7a9c7da --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex48.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [13, 17] + name: agent0 + start: [12, 2] +- goal: [3, 10] + name: agent1 + start: [20, 24] +- goal: [7, 22] + name: agent2 + start: [15, 5] +- goal: [7, 31] + name: agent3 + start: [17, 2] +- goal: [14, 15] + name: agent4 + start: [19, 20] +- goal: [26, 17] + name: agent5 + start: [21, 27] +- goal: [2, 14] + name: agent6 + start: [2, 1] +- goal: [8, 11] + name: agent7 + start: [14, 30] +- goal: [21, 3] + name: agent8 + start: [6, 9] +- goal: [23, 29] + name: agent9 + start: [30, 0] +- goal: [29, 30] + name: agent10 + start: [29, 13] +- goal: [18, 11] + name: agent11 + start: [7, 29] +- goal: [19, 8] + name: agent12 + start: [4, 11] +- goal: [3, 14] + name: agent13 + start: [29, 30] +- goal: [11, 0] + name: agent14 + start: [17, 28] +- goal: [7, 3] + name: agent15 + start: [27, 29] +- goal: [12, 1] + name: agent16 + start: [27, 18] +- goal: [8, 13] + name: agent17 + start: [7, 31] +- goal: [8, 22] + name: agent18 + start: [9, 11] +- goal: [27, 19] + name: agent19 + start: [22, 3] +- goal: [3, 30] + name: agent20 + start: [11, 10] +- goal: [12, 29] + name: agent21 + start: [21, 20] +- goal: [27, 26] + name: agent22 + start: [30, 2] +- goal: [14, 20] + name: agent23 + start: [0, 27] +- goal: [18, 27] + name: agent24 + start: [22, 23] +- goal: [14, 25] + name: agent25 + start: [19, 31] +- goal: [6, 28] + name: agent26 + start: [13, 19] +- goal: [9, 22] + name: agent27 + start: [26, 26] +- goal: [27, 14] + name: agent28 + start: [5, 5] +- goal: [11, 29] + name: agent29 + start: [19, 0] +- goal: [9, 5] + name: agent30 + start: [18, 11] +- goal: [0, 26] + name: agent31 + start: [14, 19] +- goal: [1, 0] + name: agent32 + start: [9, 9] +- goal: [17, 10] + name: agent33 + start: [16, 12] +- goal: [25, 31] + name: agent34 + start: [8, 14] +- goal: [4, 23] + name: agent35 + start: [2, 2] +- goal: [29, 18] + name: agent36 + start: [7, 21] +- goal: [23, 27] + name: agent37 + start: [8, 18] +- goal: [14, 11] + name: agent38 + start: [16, 23] +- goal: [0, 0] + name: agent39 + start: [27, 1] +- goal: [26, 11] + name: agent40 + start: [7, 9] +- goal: [13, 8] + name: agent41 + start: [27, 28] +- goal: [27, 15] + name: agent42 + start: [11, 27] +- goal: [18, 15] + name: agent43 + start: [18, 18] +- goal: [13, 15] + name: agent44 + start: [6, 4] +- goal: [18, 30] + name: agent45 + start: [13, 7] +- goal: [25, 3] + name: agent46 + start: [17, 14] +- goal: [11, 1] + name: agent47 + start: [23, 11] +- goal: [8, 28] + name: agent48 + start: [21, 26] +- goal: [25, 29] + name: agent49 + start: [22, 16] +- goal: [14, 14] + name: agent50 + start: [9, 23] +- goal: [20, 25] + name: agent51 + start: [12, 5] +- goal: [13, 22] + name: agent52 + start: [28, 4] +- goal: [17, 12] + name: agent53 + start: [10, 5] +- goal: [9, 4] + name: agent54 + start: [8, 30] +- goal: [17, 18] + name: agent55 + start: [22, 28] +- goal: [19, 15] + name: agent56 + start: [7, 2] +- goal: [29, 0] + name: agent57 + start: [27, 19] +- goal: [16, 20] + name: agent58 + start: [8, 23] +- goal: [3, 19] + name: agent59 + start: [11, 4] +- goal: [13, 23] + name: agent60 + start: [5, 13] +- goal: [6, 14] + name: agent61 + start: [11, 24] +- goal: [16, 9] + name: agent62 + start: [26, 6] +- goal: [29, 31] + name: agent63 + start: [31, 25] +- goal: [28, 29] + name: agent64 + start: [6, 29] +- goal: [18, 5] + name: agent65 + start: [16, 7] +- goal: [7, 18] + name: agent66 + start: [8, 24] +- goal: [18, 4] + name: agent67 + start: [31, 11] +- goal: [16, 28] + name: agent68 + start: [14, 0] +- goal: [23, 13] + name: agent69 + start: [11, 6] +- goal: [14, 31] + name: agent70 + start: [4, 31] +- goal: [27, 12] + name: agent71 + start: [26, 20] +- goal: [24, 15] + name: agent72 + start: [10, 6] +- goal: [2, 1] + name: agent73 + start: [22, 12] +- goal: [11, 8] + name: agent74 + start: [16, 6] +- goal: [29, 2] + name: agent75 + start: [25, 4] +- goal: [20, 30] + name: agent76 + start: [22, 9] +- goal: [1, 7] + name: agent77 + start: [22, 10] +- goal: [17, 14] + name: agent78 + start: [21, 29] +- goal: [22, 30] + name: agent79 + start: [17, 3] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [20, 17] + - !!python/tuple [22, 22] + - !!python/tuple [1, 10] + - !!python/tuple [3, 22] + - !!python/tuple [23, 25] + - !!python/tuple [6, 19] + - !!python/tuple [23, 5] + - !!python/tuple [1, 12] + - !!python/tuple [25, 12] + - !!python/tuple [5, 18] + - !!python/tuple [26, 14] + - !!python/tuple [1, 1] + - !!python/tuple [15, 9] + - !!python/tuple [2, 23] + - !!python/tuple [5, 10] + - !!python/tuple [6, 2] + - !!python/tuple [3, 2] + - !!python/tuple [31, 5] + - !!python/tuple [14, 18] + - !!python/tuple [19, 22] + - !!python/tuple [8, 17] + - !!python/tuple [7, 13] + - !!python/tuple [7, 11] + - !!python/tuple [26, 30] + - !!python/tuple [24, 23] + - !!python/tuple [25, 2] + - !!python/tuple [24, 16] + - !!python/tuple [7, 27] + - !!python/tuple [24, 26] + - !!python/tuple [4, 6] + - !!python/tuple [28, 13] + - !!python/tuple [2, 13] + - !!python/tuple [17, 17] + - !!python/tuple [4, 0] + - !!python/tuple [11, 15] + - !!python/tuple [22, 1] + - !!python/tuple [22, 13] + - !!python/tuple [1, 27] + - !!python/tuple [2, 21] + - !!python/tuple [25, 30] + - !!python/tuple [13, 3] + - !!python/tuple [24, 14] + - !!python/tuple [22, 26] + - !!python/tuple [18, 28] + - !!python/tuple [28, 16] + - !!python/tuple [14, 12] + - !!python/tuple [22, 2] + - !!python/tuple [21, 14] + - !!python/tuple [20, 5] + - !!python/tuple [1, 9] + - !!python/tuple [23, 21] + - !!python/tuple [22, 11] + - !!python/tuple [9, 14] + - !!python/tuple [14, 16] + - !!python/tuple [15, 21] + - !!python/tuple [8, 29] + - !!python/tuple [21, 2] + - !!python/tuple [7, 15] + - !!python/tuple [27, 11] + - !!python/tuple [18, 12] + - !!python/tuple [30, 13] + - !!python/tuple [21, 10] + - !!python/tuple [10, 4] + - !!python/tuple [20, 23] + - !!python/tuple [13, 25] + - !!python/tuple [23, 8] + - !!python/tuple [5, 29] + - !!python/tuple [3, 13] + - !!python/tuple [30, 3] + - !!python/tuple [9, 21] + - !!python/tuple [20, 22] + - !!python/tuple [3, 27] + - !!python/tuple [17, 21] + - !!python/tuple [23, 26] + - !!python/tuple [30, 31] + - !!python/tuple [21, 11] + - !!python/tuple [27, 24] + - !!python/tuple [3, 18] + - !!python/tuple [15, 27] + - !!python/tuple [18, 23] + - !!python/tuple [24, 31] + - !!python/tuple [7, 7] + - !!python/tuple [18, 29] + - !!python/tuple [28, 15] + - !!python/tuple [9, 15] + - !!python/tuple [28, 26] + - !!python/tuple [30, 12] + - !!python/tuple [1, 25] + - !!python/tuple [21, 25] + - !!python/tuple [9, 18] + - !!python/tuple [31, 18] + - !!python/tuple [21, 8] + - !!python/tuple [17, 16] + - !!python/tuple [23, 28] + - !!python/tuple [9, 10] + - !!python/tuple [10, 3] + - !!python/tuple [25, 22] + - !!python/tuple [28, 18] + - !!python/tuple [25, 10] + - !!python/tuple [5, 12] + - !!python/tuple [28, 1] + - !!python/tuple [23, 3] + - !!python/tuple [3, 23] + - !!python/tuple [0, 24] + - !!python/tuple [22, 29] + - !!python/tuple [30, 25] + - !!python/tuple [19, 4] + - !!python/tuple [30, 30] + - !!python/tuple [11, 22] + - !!python/tuple [2, 19] + - !!python/tuple [27, 10] + - !!python/tuple [5, 22] + - !!python/tuple [13, 18] + - !!python/tuple [4, 21] + - !!python/tuple [12, 0] + - !!python/tuple [8, 31] + - !!python/tuple [21, 6] + - !!python/tuple [15, 12] + - !!python/tuple [5, 24] + - !!python/tuple [10, 0] + - !!python/tuple [3, 21] + - !!python/tuple [17, 7] + - !!python/tuple [11, 13] + - !!python/tuple [9, 31] + - !!python/tuple [26, 7] + - !!python/tuple [23, 24] + - !!python/tuple [0, 19] + - !!python/tuple [21, 9] + - !!python/tuple [2, 29] + - !!python/tuple [2, 4] + - !!python/tuple [26, 19] + - !!python/tuple [31, 30] + - !!python/tuple [1, 23] + - !!python/tuple [8, 26] + - !!python/tuple [12, 21] + - !!python/tuple [6, 25] + - !!python/tuple [13, 24] + - !!python/tuple [29, 29] + - !!python/tuple [13, 16] + - !!python/tuple [20, 16] + - !!python/tuple [5, 19] + - !!python/tuple [8, 3] + - !!python/tuple [4, 15] + - !!python/tuple [17, 20] + - !!python/tuple [16, 18] + - !!python/tuple [10, 20] + - !!python/tuple [0, 6] + - !!python/tuple [0, 18] + - !!python/tuple [20, 14] + - !!python/tuple [10, 26] + - !!python/tuple [17, 25] + - !!python/tuple [5, 4] + - !!python/tuple [13, 9] + - !!python/tuple [19, 13] + - !!python/tuple [11, 31] + - !!python/tuple [20, 4] + - !!python/tuple [0, 12] + - !!python/tuple [0, 16] + - !!python/tuple [14, 23] + - !!python/tuple [15, 4] + - !!python/tuple [3, 29] + - !!python/tuple [6, 12] + - !!python/tuple [8, 1] + - !!python/tuple [5, 27] + - !!python/tuple [1, 19] + - !!python/tuple [4, 17] + - !!python/tuple [29, 26] + - !!python/tuple [28, 23] + - !!python/tuple [0, 3] + - !!python/tuple [26, 2] + - !!python/tuple [2, 12] + - !!python/tuple [0, 25] + - !!python/tuple [5, 15] + - !!python/tuple [20, 11] + - !!python/tuple [5, 30] + - !!python/tuple [1, 16] + - !!python/tuple [14, 9] + - !!python/tuple [22, 21] + - !!python/tuple [22, 20] + - !!python/tuple [28, 9] + - !!python/tuple [30, 1] + - !!python/tuple [31, 2] + - !!python/tuple [6, 24] + - !!python/tuple [22, 0] + - !!python/tuple [31, 21] + - !!python/tuple [25, 11] + - !!python/tuple [24, 5] + - !!python/tuple [18, 2] + - !!python/tuple [27, 4] + - !!python/tuple [12, 3] + - !!python/tuple [1, 3] + - !!python/tuple [8, 12] + - !!python/tuple [22, 15] + - !!python/tuple [4, 3] + - !!python/tuple [19, 27] + - !!python/tuple [28, 25] + - !!python/tuple [25, 24] + - !!python/tuple [7, 1] + - !!python/tuple [18, 8] + - !!python/tuple [2, 0] + - !!python/tuple [2, 20] + - !!python/tuple [16, 2] + - !!python/tuple [13, 31] + - !!python/tuple [8, 19] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex49.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex49.yaml new file mode 100644 index 0000000..6fff5c5 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex49.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [18, 14] + name: agent0 + start: [30, 31] +- goal: [21, 17] + name: agent1 + start: [24, 24] +- goal: [7, 22] + name: agent2 + start: [26, 29] +- goal: [5, 19] + name: agent3 + start: [17, 10] +- goal: [11, 29] + name: agent4 + start: [21, 8] +- goal: [23, 14] + name: agent5 + start: [24, 2] +- goal: [23, 28] + name: agent6 + start: [9, 9] +- goal: [30, 0] + name: agent7 + start: [16, 14] +- goal: [9, 2] + name: agent8 + start: [7, 7] +- goal: [22, 10] + name: agent9 + start: [8, 28] +- goal: [4, 6] + name: agent10 + start: [16, 22] +- goal: [26, 8] + name: agent11 + start: [3, 12] +- goal: [25, 13] + name: agent12 + start: [14, 0] +- goal: [12, 14] + name: agent13 + start: [0, 8] +- goal: [22, 17] + name: agent14 + start: [25, 15] +- goal: [6, 1] + name: agent15 + start: [27, 27] +- goal: [5, 3] + name: agent16 + start: [7, 0] +- goal: [27, 10] + name: agent17 + start: [21, 14] +- goal: [6, 11] + name: agent18 + start: [8, 24] +- goal: [4, 21] + name: agent19 + start: [0, 18] +- goal: [14, 3] + name: agent20 + start: [3, 29] +- goal: [17, 9] + name: agent21 + start: [6, 0] +- goal: [18, 4] + name: agent22 + start: [19, 25] +- goal: [8, 0] + name: agent23 + start: [22, 19] +- goal: [8, 22] + name: agent24 + start: [15, 5] +- goal: [28, 8] + name: agent25 + start: [4, 27] +- goal: [29, 16] + name: agent26 + start: [18, 2] +- goal: [14, 9] + name: agent27 + start: [22, 2] +- goal: [16, 19] + name: agent28 + start: [31, 18] +- goal: [30, 11] + name: agent29 + start: [29, 14] +- goal: [10, 10] + name: agent30 + start: [24, 7] +- goal: [29, 4] + name: agent31 + start: [19, 7] +- goal: [3, 6] + name: agent32 + start: [13, 8] +- goal: [16, 28] + name: agent33 + start: [9, 13] +- goal: [12, 20] + name: agent34 + start: [13, 7] +- goal: [10, 28] + name: agent35 + start: [18, 11] +- goal: [0, 8] + name: agent36 + start: [13, 6] +- goal: [1, 26] + name: agent37 + start: [2, 25] +- goal: [11, 7] + name: agent38 + start: [10, 13] +- goal: [29, 2] + name: agent39 + start: [17, 25] +- goal: [9, 30] + name: agent40 + start: [30, 25] +- goal: [20, 17] + name: agent41 + start: [8, 14] +- goal: [1, 0] + name: agent42 + start: [22, 5] +- goal: [8, 27] + name: agent43 + start: [3, 15] +- goal: [7, 11] + name: agent44 + start: [17, 0] +- goal: [17, 3] + name: agent45 + start: [26, 30] +- goal: [11, 31] + name: agent46 + start: [18, 20] +- goal: [9, 14] + name: agent47 + start: [13, 0] +- goal: [22, 15] + name: agent48 + start: [3, 26] +- goal: [3, 18] + name: agent49 + start: [17, 24] +- goal: [29, 27] + name: agent50 + start: [31, 2] +- goal: [27, 29] + name: agent51 + start: [22, 17] +- goal: [4, 19] + name: agent52 + start: [22, 26] +- goal: [4, 4] + name: agent53 + start: [11, 10] +- goal: [22, 19] + name: agent54 + start: [3, 4] +- goal: [24, 24] + name: agent55 + start: [2, 10] +- goal: [23, 10] + name: agent56 + start: [16, 13] +- goal: [16, 12] + name: agent57 + start: [12, 15] +- goal: [0, 27] + name: agent58 + start: [31, 14] +- goal: [8, 31] + name: agent59 + start: [2, 21] +- goal: [26, 10] + name: agent60 + start: [13, 30] +- goal: [9, 28] + name: agent61 + start: [27, 6] +- goal: [15, 16] + name: agent62 + start: [11, 6] +- goal: [31, 5] + name: agent63 + start: [30, 12] +- goal: [16, 14] + name: agent64 + start: [1, 0] +- goal: [28, 23] + name: agent65 + start: [15, 17] +- goal: [9, 26] + name: agent66 + start: [25, 23] +- goal: [7, 20] + name: agent67 + start: [12, 16] +- goal: [17, 12] + name: agent68 + start: [19, 14] +- goal: [9, 18] + name: agent69 + start: [1, 13] +- goal: [3, 12] + name: agent70 + start: [6, 12] +- goal: [6, 30] + name: agent71 + start: [26, 28] +- goal: [23, 17] + name: agent72 + start: [3, 1] +- goal: [27, 26] + name: agent73 + start: [31, 13] +- goal: [0, 24] + name: agent74 + start: [18, 13] +- goal: [30, 17] + name: agent75 + start: [16, 23] +- goal: [19, 29] + name: agent76 + start: [18, 27] +- goal: [13, 12] + name: agent77 + start: [9, 0] +- goal: [14, 7] + name: agent78 + start: [28, 9] +- goal: [4, 27] + name: agent79 + start: [1, 15] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [31, 6] + - !!python/tuple [2, 29] + - !!python/tuple [6, 29] + - !!python/tuple [27, 21] + - !!python/tuple [9, 23] + - !!python/tuple [9, 20] + - !!python/tuple [18, 0] + - !!python/tuple [26, 26] + - !!python/tuple [9, 21] + - !!python/tuple [11, 11] + - !!python/tuple [16, 30] + - !!python/tuple [8, 7] + - !!python/tuple [12, 29] + - !!python/tuple [26, 11] + - !!python/tuple [13, 16] + - !!python/tuple [9, 11] + - !!python/tuple [13, 11] + - !!python/tuple [1, 10] + - !!python/tuple [23, 6] + - !!python/tuple [0, 10] + - !!python/tuple [15, 18] + - !!python/tuple [22, 14] + - !!python/tuple [27, 18] + - !!python/tuple [24, 0] + - !!python/tuple [24, 11] + - !!python/tuple [14, 14] + - !!python/tuple [5, 15] + - !!python/tuple [26, 1] + - !!python/tuple [29, 21] + - !!python/tuple [3, 14] + - !!python/tuple [25, 0] + - !!python/tuple [20, 26] + - !!python/tuple [22, 8] + - !!python/tuple [5, 6] + - !!python/tuple [14, 21] + - !!python/tuple [21, 12] + - !!python/tuple [20, 18] + - !!python/tuple [22, 0] + - !!python/tuple [19, 13] + - !!python/tuple [2, 16] + - !!python/tuple [24, 21] + - !!python/tuple [6, 10] + - !!python/tuple [1, 12] + - !!python/tuple [28, 28] + - !!python/tuple [20, 29] + - !!python/tuple [22, 1] + - !!python/tuple [28, 15] + - !!python/tuple [17, 29] + - !!python/tuple [27, 16] + - !!python/tuple [1, 2] + - !!python/tuple [5, 21] + - !!python/tuple [12, 12] + - !!python/tuple [16, 1] + - !!python/tuple [29, 8] + - !!python/tuple [28, 2] + - !!python/tuple [21, 3] + - !!python/tuple [25, 29] + - !!python/tuple [19, 30] + - !!python/tuple [5, 7] + - !!python/tuple [24, 14] + - !!python/tuple [0, 29] + - !!python/tuple [30, 5] + - !!python/tuple [4, 16] + - !!python/tuple [6, 6] + - !!python/tuple [19, 27] + - !!python/tuple [28, 20] + - !!python/tuple [28, 17] + - !!python/tuple [21, 9] + - !!python/tuple [13, 4] + - !!python/tuple [20, 31] + - !!python/tuple [25, 22] + - !!python/tuple [3, 20] + - !!python/tuple [5, 29] + - !!python/tuple [12, 19] + - !!python/tuple [2, 26] + - !!python/tuple [27, 31] + - !!python/tuple [18, 31] + - !!python/tuple [27, 0] + - !!python/tuple [26, 14] + - !!python/tuple [7, 23] + - !!python/tuple [25, 20] + - !!python/tuple [18, 24] + - !!python/tuple [18, 29] + - !!python/tuple [14, 27] + - !!python/tuple [15, 8] + - !!python/tuple [14, 4] + - !!python/tuple [7, 31] + - !!python/tuple [19, 17] + - !!python/tuple [25, 11] + - !!python/tuple [19, 20] + - !!python/tuple [8, 29] + - !!python/tuple [6, 23] + - !!python/tuple [7, 25] + - !!python/tuple [31, 21] + - !!python/tuple [3, 5] + - !!python/tuple [23, 31] + - !!python/tuple [3, 11] + - !!python/tuple [13, 23] + - !!python/tuple [3, 28] + - !!python/tuple [30, 16] + - !!python/tuple [9, 24] + - !!python/tuple [31, 20] + - !!python/tuple [12, 0] + - !!python/tuple [28, 30] + - !!python/tuple [3, 21] + - !!python/tuple [8, 20] + - !!python/tuple [4, 0] + - !!python/tuple [31, 17] + - !!python/tuple [6, 24] + - !!python/tuple [6, 21] + - !!python/tuple [11, 17] + - !!python/tuple [9, 5] + - !!python/tuple [18, 8] + - !!python/tuple [7, 26] + - !!python/tuple [11, 14] + - !!python/tuple [10, 29] + - !!python/tuple [24, 31] + - !!python/tuple [24, 18] + - !!python/tuple [22, 3] + - !!python/tuple [11, 27] + - !!python/tuple [7, 8] + - !!python/tuple [4, 13] + - !!python/tuple [0, 25] + - !!python/tuple [10, 18] + - !!python/tuple [10, 19] + - !!python/tuple [15, 25] + - !!python/tuple [2, 4] + - !!python/tuple [1, 9] + - !!python/tuple [14, 26] + - !!python/tuple [22, 27] + - !!python/tuple [15, 27] + - !!python/tuple [10, 22] + - !!python/tuple [1, 6] + - !!python/tuple [15, 31] + - !!python/tuple [6, 5] + - !!python/tuple [2, 9] + - !!python/tuple [9, 6] + - !!python/tuple [20, 28] + - !!python/tuple [4, 9] + - !!python/tuple [6, 22] + - !!python/tuple [19, 21] + - !!python/tuple [31, 27] + - !!python/tuple [7, 15] + - !!python/tuple [20, 20] + - !!python/tuple [4, 2] + - !!python/tuple [23, 22] + - !!python/tuple [3, 30] + - !!python/tuple [13, 9] + - !!python/tuple [12, 18] + - !!python/tuple [7, 30] + - !!python/tuple [24, 5] + - !!python/tuple [30, 20] + - !!python/tuple [12, 2] + - !!python/tuple [6, 15] + - !!python/tuple [23, 11] + - !!python/tuple [9, 22] + - !!python/tuple [28, 26] + - !!python/tuple [12, 27] + - !!python/tuple [25, 16] + - !!python/tuple [0, 5] + - !!python/tuple [17, 14] + - !!python/tuple [1, 29] + - !!python/tuple [6, 8] + - !!python/tuple [22, 7] + - !!python/tuple [16, 10] + - !!python/tuple [6, 17] + - !!python/tuple [20, 1] + - !!python/tuple [24, 15] + - !!python/tuple [28, 16] + - !!python/tuple [9, 8] + - !!python/tuple [7, 1] + - !!python/tuple [18, 23] + - !!python/tuple [26, 23] + - !!python/tuple [5, 22] + - !!python/tuple [6, 31] + - !!python/tuple [31, 29] + - !!python/tuple [8, 8] + - !!python/tuple [10, 9] + - !!python/tuple [27, 24] + - !!python/tuple [24, 17] + - !!python/tuple [23, 7] + - !!python/tuple [21, 22] + - !!python/tuple [29, 20] + - !!python/tuple [8, 5] + - !!python/tuple [10, 0] + - !!python/tuple [31, 31] + - !!python/tuple [10, 3] + - !!python/tuple [3, 24] + - !!python/tuple [12, 8] + - !!python/tuple [12, 13] + - !!python/tuple [2, 2] + - !!python/tuple [12, 24] + - !!python/tuple [1, 4] + - !!python/tuple [30, 13] + - !!python/tuple [10, 1] + - !!python/tuple [20, 5] + - !!python/tuple [22, 25] + - !!python/tuple [30, 30] + - !!python/tuple [11, 19] + - !!python/tuple [14, 19] + - !!python/tuple [22, 22] + - !!python/tuple [8, 30] + - !!python/tuple [5, 20] + - !!python/tuple [22, 13] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex5.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex5.yaml new file mode 100644 index 0000000..c750949 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex5.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [28, 28] + name: agent0 + start: [30, 4] +- goal: [23, 20] + name: agent1 + start: [16, 1] +- goal: [26, 19] + name: agent2 + start: [6, 20] +- goal: [6, 22] + name: agent3 + start: [27, 6] +- goal: [31, 8] + name: agent4 + start: [30, 14] +- goal: [1, 2] + name: agent5 + start: [19, 2] +- goal: [16, 3] + name: agent6 + start: [25, 9] +- goal: [0, 7] + name: agent7 + start: [0, 7] +- goal: [21, 11] + name: agent8 + start: [4, 14] +- goal: [8, 18] + name: agent9 + start: [20, 31] +- goal: [5, 12] + name: agent10 + start: [16, 25] +- goal: [11, 29] + name: agent11 + start: [22, 18] +- goal: [18, 30] + name: agent12 + start: [31, 19] +- goal: [31, 20] + name: agent13 + start: [7, 6] +- goal: [11, 27] + name: agent14 + start: [10, 26] +- goal: [3, 1] + name: agent15 + start: [14, 25] +- goal: [27, 28] + name: agent16 + start: [30, 0] +- goal: [25, 3] + name: agent17 + start: [31, 22] +- goal: [29, 7] + name: agent18 + start: [19, 16] +- goal: [17, 6] + name: agent19 + start: [9, 27] +- goal: [16, 0] + name: agent20 + start: [15, 22] +- goal: [25, 28] + name: agent21 + start: [28, 15] +- goal: [28, 15] + name: agent22 + start: [21, 4] +- goal: [15, 3] + name: agent23 + start: [26, 26] +- goal: [10, 13] + name: agent24 + start: [10, 11] +- goal: [3, 5] + name: agent25 + start: [17, 1] +- goal: [0, 11] + name: agent26 + start: [13, 22] +- goal: [23, 11] + name: agent27 + start: [14, 29] +- goal: [9, 9] + name: agent28 + start: [0, 11] +- goal: [21, 4] + name: agent29 + start: [3, 4] +- goal: [5, 25] + name: agent30 + start: [4, 7] +- goal: [4, 6] + name: agent31 + start: [8, 25] +- goal: [13, 27] + name: agent32 + start: [0, 2] +- goal: [18, 31] + name: agent33 + start: [15, 11] +- goal: [6, 13] + name: agent34 + start: [4, 10] +- goal: [20, 6] + name: agent35 + start: [19, 11] +- goal: [9, 21] + name: agent36 + start: [21, 15] +- goal: [30, 14] + name: agent37 + start: [15, 4] +- goal: [24, 18] + name: agent38 + start: [31, 10] +- goal: [9, 26] + name: agent39 + start: [30, 17] +- goal: [29, 9] + name: agent40 + start: [18, 20] +- goal: [9, 25] + name: agent41 + start: [24, 1] +- goal: [26, 10] + name: agent42 + start: [2, 29] +- goal: [28, 19] + name: agent43 + start: [27, 3] +- goal: [8, 22] + name: agent44 + start: [5, 21] +- goal: [7, 23] + name: agent45 + start: [4, 25] +- goal: [9, 27] + name: agent46 + start: [17, 26] +- goal: [5, 31] + name: agent47 + start: [11, 14] +- goal: [2, 30] + name: agent48 + start: [4, 21] +- goal: [7, 22] + name: agent49 + start: [17, 31] +- goal: [21, 17] + name: agent50 + start: [8, 27] +- goal: [10, 11] + name: agent51 + start: [25, 23] +- goal: [25, 26] + name: agent52 + start: [11, 19] +- goal: [10, 25] + name: agent53 + start: [12, 28] +- goal: [28, 11] + name: agent54 + start: [17, 15] +- goal: [18, 5] + name: agent55 + start: [16, 27] +- goal: [19, 24] + name: agent56 + start: [7, 18] +- goal: [29, 23] + name: agent57 + start: [23, 16] +- goal: [17, 12] + name: agent58 + start: [18, 8] +- goal: [16, 5] + name: agent59 + start: [14, 11] +- goal: [26, 31] + name: agent60 + start: [22, 23] +- goal: [5, 17] + name: agent61 + start: [20, 9] +- goal: [3, 4] + name: agent62 + start: [3, 28] +- goal: [16, 12] + name: agent63 + start: [1, 26] +- goal: [12, 25] + name: agent64 + start: [13, 31] +- goal: [26, 24] + name: agent65 + start: [14, 24] +- goal: [28, 21] + name: agent66 + start: [2, 23] +- goal: [11, 15] + name: agent67 + start: [26, 10] +- goal: [5, 16] + name: agent68 + start: [7, 23] +- goal: [19, 31] + name: agent69 + start: [11, 29] +- goal: [22, 31] + name: agent70 + start: [0, 13] +- goal: [4, 5] + name: agent71 + start: [22, 24] +- goal: [2, 14] + name: agent72 + start: [13, 17] +- goal: [29, 18] + name: agent73 + start: [11, 25] +- goal: [27, 3] + name: agent74 + start: [30, 27] +- goal: [3, 7] + name: agent75 + start: [29, 15] +- goal: [29, 26] + name: agent76 + start: [20, 14] +- goal: [26, 5] + name: agent77 + start: [5, 24] +- goal: [18, 24] + name: agent78 + start: [13, 24] +- goal: [5, 29] + name: agent79 + start: [30, 16] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [13, 18] + - !!python/tuple [12, 4] + - !!python/tuple [24, 29] + - !!python/tuple [30, 31] + - !!python/tuple [2, 4] + - !!python/tuple [14, 10] + - !!python/tuple [7, 27] + - !!python/tuple [7, 11] + - !!python/tuple [31, 2] + - !!python/tuple [31, 24] + - !!python/tuple [6, 9] + - !!python/tuple [22, 8] + - !!python/tuple [10, 6] + - !!python/tuple [12, 22] + - !!python/tuple [11, 7] + - !!python/tuple [22, 25] + - !!python/tuple [27, 20] + - !!python/tuple [4, 24] + - !!python/tuple [14, 4] + - !!python/tuple [1, 22] + - !!python/tuple [14, 26] + - !!python/tuple [20, 8] + - !!python/tuple [28, 3] + - !!python/tuple [21, 3] + - !!python/tuple [5, 26] + - !!python/tuple [8, 12] + - !!python/tuple [21, 5] + - !!python/tuple [11, 26] + - !!python/tuple [15, 25] + - !!python/tuple [21, 16] + - !!python/tuple [16, 23] + - !!python/tuple [30, 13] + - !!python/tuple [5, 18] + - !!python/tuple [22, 20] + - !!python/tuple [31, 5] + - !!python/tuple [13, 23] + - !!python/tuple [29, 16] + - !!python/tuple [7, 10] + - !!python/tuple [8, 16] + - !!python/tuple [6, 23] + - !!python/tuple [30, 9] + - !!python/tuple [19, 7] + - !!python/tuple [23, 30] + - !!python/tuple [21, 12] + - !!python/tuple [30, 22] + - !!python/tuple [21, 10] + - !!python/tuple [15, 24] + - !!python/tuple [13, 19] + - !!python/tuple [29, 19] + - !!python/tuple [2, 19] + - !!python/tuple [12, 26] + - !!python/tuple [16, 4] + - !!python/tuple [21, 7] + - !!python/tuple [25, 20] + - !!python/tuple [1, 7] + - !!python/tuple [25, 22] + - !!python/tuple [0, 8] + - !!python/tuple [6, 29] + - !!python/tuple [27, 10] + - !!python/tuple [12, 20] + - !!python/tuple [30, 8] + - !!python/tuple [23, 22] + - !!python/tuple [16, 20] + - !!python/tuple [31, 14] + - !!python/tuple [15, 9] + - !!python/tuple [3, 24] + - !!python/tuple [12, 24] + - !!python/tuple [22, 5] + - !!python/tuple [31, 9] + - !!python/tuple [16, 9] + - !!python/tuple [30, 20] + - !!python/tuple [16, 30] + - !!python/tuple [14, 3] + - !!python/tuple [25, 13] + - !!python/tuple [3, 0] + - !!python/tuple [28, 29] + - !!python/tuple [25, 0] + - !!python/tuple [22, 12] + - !!python/tuple [5, 10] + - !!python/tuple [21, 8] + - !!python/tuple [12, 2] + - !!python/tuple [22, 11] + - !!python/tuple [25, 27] + - !!python/tuple [13, 20] + - !!python/tuple [5, 3] + - !!python/tuple [28, 8] + - !!python/tuple [6, 2] + - !!python/tuple [19, 12] + - !!python/tuple [21, 24] + - !!python/tuple [5, 0] + - !!python/tuple [10, 4] + - !!python/tuple [2, 15] + - !!python/tuple [23, 14] + - !!python/tuple [13, 0] + - !!python/tuple [4, 22] + - !!python/tuple [0, 26] + - !!python/tuple [26, 3] + - !!python/tuple [15, 31] + - !!python/tuple [11, 3] + - !!python/tuple [30, 24] + - !!python/tuple [2, 9] + - !!python/tuple [23, 21] + - !!python/tuple [26, 6] + - !!python/tuple [0, 3] + - !!python/tuple [12, 5] + - !!python/tuple [6, 14] + - !!python/tuple [0, 20] + - !!python/tuple [8, 19] + - !!python/tuple [21, 18] + - !!python/tuple [7, 25] + - !!python/tuple [23, 12] + - !!python/tuple [25, 15] + - !!python/tuple [27, 11] + - !!python/tuple [24, 28] + - !!python/tuple [7, 28] + - !!python/tuple [0, 16] + - !!python/tuple [17, 30] + - !!python/tuple [12, 19] + - !!python/tuple [20, 4] + - !!python/tuple [22, 15] + - !!python/tuple [1, 23] + - !!python/tuple [0, 28] + - !!python/tuple [30, 21] + - !!python/tuple [22, 13] + - !!python/tuple [23, 8] + - !!python/tuple [15, 16] + - !!python/tuple [24, 14] + - !!python/tuple [2, 7] + - !!python/tuple [19, 0] + - !!python/tuple [4, 27] + - !!python/tuple [2, 27] + - !!python/tuple [18, 26] + - !!python/tuple [7, 12] + - !!python/tuple [15, 19] + - !!python/tuple [2, 0] + - !!python/tuple [2, 1] + - !!python/tuple [28, 30] + - !!python/tuple [10, 2] + - !!python/tuple [31, 0] + - !!python/tuple [20, 18] + - !!python/tuple [2, 3] + - !!python/tuple [26, 15] + - !!python/tuple [7, 20] + - !!python/tuple [12, 29] + - !!python/tuple [1, 17] + - !!python/tuple [19, 26] + - !!python/tuple [22, 29] + - !!python/tuple [31, 4] + - !!python/tuple [12, 10] + - !!python/tuple [13, 26] + - !!python/tuple [19, 17] + - !!python/tuple [29, 24] + - !!python/tuple [3, 12] + - !!python/tuple [5, 2] + - !!python/tuple [4, 3] + - !!python/tuple [18, 0] + - !!python/tuple [16, 21] + - !!python/tuple [28, 9] + - !!python/tuple [25, 19] + - !!python/tuple [17, 28] + - !!python/tuple [4, 23] + - !!python/tuple [27, 14] + - !!python/tuple [6, 4] + - !!python/tuple [24, 3] + - !!python/tuple [16, 8] + - !!python/tuple [20, 27] + - !!python/tuple [24, 20] + - !!python/tuple [15, 14] + - !!python/tuple [24, 31] + - !!python/tuple [3, 2] + - !!python/tuple [21, 14] + - !!python/tuple [27, 13] + - !!python/tuple [29, 2] + - !!python/tuple [30, 11] + - !!python/tuple [2, 11] + - !!python/tuple [28, 13] + - !!python/tuple [28, 31] + - !!python/tuple [24, 22] + - !!python/tuple [19, 29] + - !!python/tuple [3, 27] + - !!python/tuple [15, 26] + - !!python/tuple [26, 4] + - !!python/tuple [28, 22] + - !!python/tuple [14, 9] + - !!python/tuple [9, 31] + - !!python/tuple [26, 21] + - !!python/tuple [13, 16] + - !!python/tuple [2, 26] + - !!python/tuple [0, 21] + - !!python/tuple [11, 4] + - !!python/tuple [16, 6] + - !!python/tuple [23, 25] + - !!python/tuple [27, 0] + - !!python/tuple [23, 17] + - !!python/tuple [3, 21] + - !!python/tuple [19, 1] + - !!python/tuple [30, 5] + - !!python/tuple [7, 9] + - !!python/tuple [29, 30] + - !!python/tuple [1, 11] + - !!python/tuple [29, 20] + - !!python/tuple [19, 21] + - !!python/tuple [14, 2] + - !!python/tuple [15, 13] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex50.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex50.yaml new file mode 100644 index 0000000..1f26dd4 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex50.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [25, 30] + name: agent0 + start: [18, 14] +- goal: [11, 14] + name: agent1 + start: [13, 24] +- goal: [31, 5] + name: agent2 + start: [28, 15] +- goal: [21, 11] + name: agent3 + start: [26, 11] +- goal: [14, 8] + name: agent4 + start: [4, 1] +- goal: [23, 24] + name: agent5 + start: [18, 3] +- goal: [8, 25] + name: agent6 + start: [10, 28] +- goal: [12, 15] + name: agent7 + start: [7, 22] +- goal: [15, 20] + name: agent8 + start: [26, 5] +- goal: [3, 14] + name: agent9 + start: [19, 24] +- goal: [12, 27] + name: agent10 + start: [27, 13] +- goal: [29, 29] + name: agent11 + start: [25, 31] +- goal: [3, 25] + name: agent12 + start: [29, 16] +- goal: [5, 30] + name: agent13 + start: [30, 8] +- goal: [20, 11] + name: agent14 + start: [24, 4] +- goal: [26, 10] + name: agent15 + start: [26, 21] +- goal: [28, 27] + name: agent16 + start: [6, 13] +- goal: [8, 20] + name: agent17 + start: [7, 12] +- goal: [14, 20] + name: agent18 + start: [8, 17] +- goal: [7, 4] + name: agent19 + start: [21, 23] +- goal: [9, 24] + name: agent20 + start: [19, 26] +- goal: [2, 15] + name: agent21 + start: [24, 8] +- goal: [13, 22] + name: agent22 + start: [30, 28] +- goal: [9, 22] + name: agent23 + start: [23, 6] +- goal: [28, 8] + name: agent24 + start: [4, 7] +- goal: [18, 12] + name: agent25 + start: [1, 3] +- goal: [30, 2] + name: agent26 + start: [29, 11] +- goal: [21, 0] + name: agent27 + start: [30, 0] +- goal: [25, 29] + name: agent28 + start: [26, 7] +- goal: [3, 5] + name: agent29 + start: [6, 24] +- goal: [1, 30] + name: agent30 + start: [24, 28] +- goal: [23, 28] + name: agent31 + start: [8, 16] +- goal: [24, 17] + name: agent32 + start: [7, 31] +- goal: [13, 7] + name: agent33 + start: [8, 4] +- goal: [2, 20] + name: agent34 + start: [21, 22] +- goal: [13, 3] + name: agent35 + start: [10, 30] +- goal: [10, 22] + name: agent36 + start: [1, 5] +- goal: [20, 22] + name: agent37 + start: [2, 22] +- goal: [28, 15] + name: agent38 + start: [27, 9] +- goal: [11, 18] + name: agent39 + start: [28, 12] +- goal: [13, 0] + name: agent40 + start: [7, 8] +- goal: [4, 28] + name: agent41 + start: [15, 1] +- goal: [23, 9] + name: agent42 + start: [15, 5] +- goal: [10, 21] + name: agent43 + start: [0, 28] +- goal: [23, 15] + name: agent44 + start: [24, 25] +- goal: [28, 17] + name: agent45 + start: [1, 31] +- goal: [28, 10] + name: agent46 + start: [14, 24] +- goal: [23, 7] + name: agent47 + start: [14, 6] +- goal: [25, 8] + name: agent48 + start: [10, 26] +- goal: [24, 24] + name: agent49 + start: [3, 7] +- goal: [29, 14] + name: agent50 + start: [20, 5] +- goal: [18, 0] + name: agent51 + start: [5, 31] +- goal: [15, 5] + name: agent52 + start: [2, 3] +- goal: [25, 2] + name: agent53 + start: [23, 12] +- goal: [17, 20] + name: agent54 + start: [17, 25] +- goal: [30, 3] + name: agent55 + start: [21, 0] +- goal: [21, 15] + name: agent56 + start: [11, 11] +- goal: [25, 24] + name: agent57 + start: [1, 20] +- goal: [0, 27] + name: agent58 + start: [27, 27] +- goal: [22, 11] + name: agent59 + start: [28, 14] +- goal: [12, 23] + name: agent60 + start: [0, 16] +- goal: [27, 2] + name: agent61 + start: [23, 8] +- goal: [29, 26] + name: agent62 + start: [29, 28] +- goal: [15, 12] + name: agent63 + start: [12, 30] +- goal: [12, 16] + name: agent64 + start: [17, 9] +- goal: [10, 4] + name: agent65 + start: [15, 15] +- goal: [17, 17] + name: agent66 + start: [23, 30] +- goal: [30, 16] + name: agent67 + start: [16, 23] +- goal: [1, 8] + name: agent68 + start: [17, 29] +- goal: [8, 6] + name: agent69 + start: [5, 27] +- goal: [30, 6] + name: agent70 + start: [4, 4] +- goal: [8, 30] + name: agent71 + start: [13, 5] +- goal: [5, 5] + name: agent72 + start: [11, 1] +- goal: [1, 20] + name: agent73 + start: [29, 2] +- goal: [15, 8] + name: agent74 + start: [16, 24] +- goal: [22, 8] + name: agent75 + start: [9, 25] +- goal: [31, 30] + name: agent76 + start: [30, 18] +- goal: [15, 11] + name: agent77 + start: [12, 11] +- goal: [2, 17] + name: agent78 + start: [3, 15] +- goal: [27, 15] + name: agent79 + start: [15, 19] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [12, 25] + - !!python/tuple [21, 7] + - !!python/tuple [2, 6] + - !!python/tuple [19, 5] + - !!python/tuple [15, 22] + - !!python/tuple [25, 6] + - !!python/tuple [8, 26] + - !!python/tuple [18, 21] + - !!python/tuple [19, 29] + - !!python/tuple [10, 20] + - !!python/tuple [4, 31] + - !!python/tuple [26, 13] + - !!python/tuple [30, 7] + - !!python/tuple [19, 16] + - !!python/tuple [31, 22] + - !!python/tuple [15, 28] + - !!python/tuple [0, 10] + - !!python/tuple [12, 12] + - !!python/tuple [31, 13] + - !!python/tuple [1, 29] + - !!python/tuple [27, 29] + - !!python/tuple [24, 5] + - !!python/tuple [29, 19] + - !!python/tuple [20, 7] + - !!python/tuple [28, 7] + - !!python/tuple [28, 29] + - !!python/tuple [31, 10] + - !!python/tuple [27, 1] + - !!python/tuple [31, 1] + - !!python/tuple [11, 10] + - !!python/tuple [29, 4] + - !!python/tuple [31, 2] + - !!python/tuple [22, 9] + - !!python/tuple [26, 20] + - !!python/tuple [20, 14] + - !!python/tuple [18, 23] + - !!python/tuple [26, 19] + - !!python/tuple [2, 1] + - !!python/tuple [27, 30] + - !!python/tuple [28, 24] + - !!python/tuple [30, 15] + - !!python/tuple [20, 12] + - !!python/tuple [16, 30] + - !!python/tuple [29, 10] + - !!python/tuple [16, 4] + - !!python/tuple [16, 25] + - !!python/tuple [8, 2] + - !!python/tuple [11, 8] + - !!python/tuple [6, 14] + - !!python/tuple [20, 20] + - !!python/tuple [6, 2] + - !!python/tuple [14, 17] + - !!python/tuple [17, 27] + - !!python/tuple [11, 7] + - !!python/tuple [11, 3] + - !!python/tuple [0, 2] + - !!python/tuple [27, 0] + - !!python/tuple [8, 11] + - !!python/tuple [3, 28] + - !!python/tuple [31, 7] + - !!python/tuple [11, 13] + - !!python/tuple [31, 20] + - !!python/tuple [0, 7] + - !!python/tuple [27, 8] + - !!python/tuple [15, 13] + - !!python/tuple [30, 9] + - !!python/tuple [3, 27] + - !!python/tuple [21, 31] + - !!python/tuple [8, 29] + - !!python/tuple [20, 28] + - !!python/tuple [16, 14] + - !!python/tuple [18, 29] + - !!python/tuple [29, 17] + - !!python/tuple [30, 22] + - !!python/tuple [7, 6] + - !!python/tuple [9, 10] + - !!python/tuple [2, 19] + - !!python/tuple [9, 2] + - !!python/tuple [4, 16] + - !!python/tuple [5, 0] + - !!python/tuple [29, 12] + - !!python/tuple [27, 22] + - !!python/tuple [20, 16] + - !!python/tuple [30, 13] + - !!python/tuple [11, 9] + - !!python/tuple [9, 8] + - !!python/tuple [26, 1] + - !!python/tuple [10, 17] + - !!python/tuple [6, 17] + - !!python/tuple [3, 24] + - !!python/tuple [12, 8] + - !!python/tuple [5, 16] + - !!python/tuple [10, 23] + - !!python/tuple [21, 13] + - !!python/tuple [31, 27] + - !!python/tuple [24, 22] + - !!python/tuple [19, 31] + - !!python/tuple [6, 19] + - !!python/tuple [6, 6] + - !!python/tuple [12, 4] + - !!python/tuple [30, 21] + - !!python/tuple [24, 18] + - !!python/tuple [7, 26] + - !!python/tuple [17, 24] + - !!python/tuple [0, 20] + - !!python/tuple [10, 15] + - !!python/tuple [1, 24] + - !!python/tuple [5, 9] + - !!python/tuple [13, 27] + - !!python/tuple [29, 22] + - !!python/tuple [17, 10] + - !!python/tuple [23, 18] + - !!python/tuple [13, 29] + - !!python/tuple [31, 21] + - !!python/tuple [14, 11] + - !!python/tuple [22, 18] + - !!python/tuple [28, 30] + - !!python/tuple [21, 27] + - !!python/tuple [15, 17] + - !!python/tuple [30, 31] + - !!python/tuple [11, 2] + - !!python/tuple [22, 10] + - !!python/tuple [28, 20] + - !!python/tuple [24, 1] + - !!python/tuple [7, 2] + - !!python/tuple [30, 5] + - !!python/tuple [6, 28] + - !!python/tuple [20, 4] + - !!python/tuple [28, 22] + - !!python/tuple [27, 17] + - !!python/tuple [23, 20] + - !!python/tuple [26, 0] + - !!python/tuple [5, 17] + - !!python/tuple [11, 22] + - !!python/tuple [26, 16] + - !!python/tuple [4, 8] + - !!python/tuple [17, 5] + - !!python/tuple [6, 20] + - !!python/tuple [22, 29] + - !!python/tuple [9, 13] + - !!python/tuple [5, 14] + - !!python/tuple [18, 17] + - !!python/tuple [5, 23] + - !!python/tuple [7, 21] + - !!python/tuple [22, 7] + - !!python/tuple [22, 5] + - !!python/tuple [9, 14] + - !!python/tuple [6, 5] + - !!python/tuple [21, 1] + - !!python/tuple [16, 11] + - !!python/tuple [3, 12] + - !!python/tuple [3, 26] + - !!python/tuple [2, 7] + - !!python/tuple [24, 7] + - !!python/tuple [2, 24] + - !!python/tuple [20, 30] + - !!python/tuple [19, 9] + - !!python/tuple [1, 15] + - !!python/tuple [18, 8] + - !!python/tuple [19, 25] + - !!python/tuple [20, 23] + - !!python/tuple [10, 19] + - !!python/tuple [1, 7] + - !!python/tuple [23, 22] + - !!python/tuple [1, 6] + - !!python/tuple [27, 10] + - !!python/tuple [3, 9] + - !!python/tuple [23, 14] + - !!python/tuple [18, 7] + - !!python/tuple [2, 12] + - !!python/tuple [23, 29] + - !!python/tuple [11, 17] + - !!python/tuple [24, 3] + - !!python/tuple [4, 19] + - !!python/tuple [10, 6] + - !!python/tuple [26, 30] + - !!python/tuple [6, 3] + - !!python/tuple [3, 29] + - !!python/tuple [25, 3] + - !!python/tuple [15, 9] + - !!python/tuple [12, 5] + - !!python/tuple [18, 26] + - !!python/tuple [0, 31] + - !!python/tuple [1, 11] + - !!python/tuple [24, 10] + - !!python/tuple [8, 28] + - !!python/tuple [15, 27] + - !!python/tuple [13, 18] + - !!python/tuple [29, 0] + - !!python/tuple [22, 3] + - !!python/tuple [13, 15] + - !!python/tuple [17, 0] + - !!python/tuple [5, 8] + - !!python/tuple [7, 14] + - !!python/tuple [21, 19] + - !!python/tuple [16, 7] + - !!python/tuple [12, 18] + - !!python/tuple [31, 23] + - !!python/tuple [25, 9] + - !!python/tuple [20, 24] + - !!python/tuple [20, 10] + - !!python/tuple [3, 3] + - !!python/tuple [25, 5] + - !!python/tuple [26, 27] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex51.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex51.yaml new file mode 100644 index 0000000..57852b8 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex51.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [3, 3] + name: agent0 + start: [24, 25] +- goal: [31, 18] + name: agent1 + start: [11, 16] +- goal: [30, 25] + name: agent2 + start: [25, 21] +- goal: [12, 3] + name: agent3 + start: [26, 7] +- goal: [0, 5] + name: agent4 + start: [20, 24] +- goal: [19, 28] + name: agent5 + start: [30, 14] +- goal: [20, 19] + name: agent6 + start: [14, 19] +- goal: [14, 21] + name: agent7 + start: [8, 17] +- goal: [1, 21] + name: agent8 + start: [19, 21] +- goal: [8, 15] + name: agent9 + start: [9, 12] +- goal: [8, 21] + name: agent10 + start: [29, 17] +- goal: [29, 17] + name: agent11 + start: [27, 5] +- goal: [2, 27] + name: agent12 + start: [10, 1] +- goal: [9, 15] + name: agent13 + start: [27, 19] +- goal: [17, 31] + name: agent14 + start: [5, 29] +- goal: [11, 8] + name: agent15 + start: [27, 22] +- goal: [29, 27] + name: agent16 + start: [6, 15] +- goal: [19, 31] + name: agent17 + start: [4, 7] +- goal: [14, 8] + name: agent18 + start: [30, 2] +- goal: [17, 12] + name: agent19 + start: [17, 28] +- goal: [31, 6] + name: agent20 + start: [29, 2] +- goal: [2, 15] + name: agent21 + start: [17, 18] +- goal: [19, 20] + name: agent22 + start: [26, 17] +- goal: [12, 9] + name: agent23 + start: [1, 30] +- goal: [29, 5] + name: agent24 + start: [2, 19] +- goal: [18, 25] + name: agent25 + start: [13, 7] +- goal: [10, 27] + name: agent26 + start: [4, 29] +- goal: [21, 14] + name: agent27 + start: [17, 26] +- goal: [22, 18] + name: agent28 + start: [19, 9] +- goal: [15, 22] + name: agent29 + start: [21, 21] +- goal: [26, 19] + name: agent30 + start: [4, 22] +- goal: [22, 3] + name: agent31 + start: [5, 23] +- goal: [4, 22] + name: agent32 + start: [15, 4] +- goal: [28, 0] + name: agent33 + start: [28, 23] +- goal: [1, 8] + name: agent34 + start: [7, 0] +- goal: [18, 8] + name: agent35 + start: [30, 29] +- goal: [9, 9] + name: agent36 + start: [21, 25] +- goal: [0, 29] + name: agent37 + start: [8, 13] +- goal: [10, 30] + name: agent38 + start: [28, 30] +- goal: [6, 20] + name: agent39 + start: [7, 15] +- goal: [4, 2] + name: agent40 + start: [11, 26] +- goal: [14, 1] + name: agent41 + start: [29, 27] +- goal: [26, 14] + name: agent42 + start: [19, 3] +- goal: [4, 15] + name: agent43 + start: [20, 1] +- goal: [23, 12] + name: agent44 + start: [3, 12] +- goal: [5, 4] + name: agent45 + start: [31, 11] +- goal: [26, 26] + name: agent46 + start: [22, 20] +- goal: [31, 27] + name: agent47 + start: [14, 29] +- goal: [5, 29] + name: agent48 + start: [25, 1] +- goal: [28, 7] + name: agent49 + start: [16, 28] +- goal: [21, 12] + name: agent50 + start: [24, 18] +- goal: [19, 23] + name: agent51 + start: [13, 15] +- goal: [24, 24] + name: agent52 + start: [24, 30] +- goal: [5, 19] + name: agent53 + start: [13, 28] +- goal: [22, 23] + name: agent54 + start: [10, 10] +- goal: [25, 4] + name: agent55 + start: [28, 9] +- goal: [21, 9] + name: agent56 + start: [12, 4] +- goal: [13, 25] + name: agent57 + start: [0, 5] +- goal: [28, 30] + name: agent58 + start: [1, 14] +- goal: [2, 12] + name: agent59 + start: [30, 23] +- goal: [22, 31] + name: agent60 + start: [28, 13] +- goal: [1, 3] + name: agent61 + start: [4, 12] +- goal: [24, 31] + name: agent62 + start: [30, 25] +- goal: [9, 20] + name: agent63 + start: [16, 30] +- goal: [6, 2] + name: agent64 + start: [3, 16] +- goal: [5, 31] + name: agent65 + start: [25, 26] +- goal: [8, 0] + name: agent66 + start: [6, 0] +- goal: [4, 7] + name: agent67 + start: [1, 1] +- goal: [4, 17] + name: agent68 + start: [21, 0] +- goal: [30, 28] + name: agent69 + start: [6, 6] +- goal: [3, 5] + name: agent70 + start: [1, 18] +- goal: [16, 30] + name: agent71 + start: [4, 26] +- goal: [16, 10] + name: agent72 + start: [20, 31] +- goal: [24, 9] + name: agent73 + start: [9, 19] +- goal: [19, 6] + name: agent74 + start: [13, 12] +- goal: [0, 19] + name: agent75 + start: [7, 13] +- goal: [3, 24] + name: agent76 + start: [3, 5] +- goal: [27, 10] + name: agent77 + start: [7, 2] +- goal: [28, 10] + name: agent78 + start: [22, 2] +- goal: [7, 14] + name: agent79 + start: [8, 23] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [16, 19] + - !!python/tuple [6, 24] + - !!python/tuple [21, 10] + - !!python/tuple [12, 30] + - !!python/tuple [10, 5] + - !!python/tuple [4, 31] + - !!python/tuple [16, 27] + - !!python/tuple [5, 5] + - !!python/tuple [22, 13] + - !!python/tuple [1, 9] + - !!python/tuple [0, 0] + - !!python/tuple [5, 9] + - !!python/tuple [18, 12] + - !!python/tuple [27, 31] + - !!python/tuple [17, 30] + - !!python/tuple [3, 23] + - !!python/tuple [14, 2] + - !!python/tuple [17, 24] + - !!python/tuple [15, 6] + - !!python/tuple [3, 27] + - !!python/tuple [21, 16] + - !!python/tuple [22, 4] + - !!python/tuple [16, 22] + - !!python/tuple [27, 26] + - !!python/tuple [12, 31] + - !!python/tuple [14, 4] + - !!python/tuple [17, 0] + - !!python/tuple [10, 14] + - !!python/tuple [19, 7] + - !!python/tuple [20, 0] + - !!python/tuple [6, 12] + - !!python/tuple [29, 9] + - !!python/tuple [29, 24] + - !!python/tuple [16, 0] + - !!python/tuple [18, 2] + - !!python/tuple [30, 12] + - !!python/tuple [21, 1] + - !!python/tuple [17, 8] + - !!python/tuple [1, 22] + - !!python/tuple [16, 4] + - !!python/tuple [2, 25] + - !!python/tuple [6, 16] + - !!python/tuple [13, 8] + - !!python/tuple [22, 7] + - !!python/tuple [23, 8] + - !!python/tuple [27, 23] + - !!python/tuple [5, 3] + - !!python/tuple [14, 18] + - !!python/tuple [21, 6] + - !!python/tuple [13, 11] + - !!python/tuple [18, 9] + - !!python/tuple [21, 11] + - !!python/tuple [21, 13] + - !!python/tuple [19, 11] + - !!python/tuple [13, 3] + - !!python/tuple [31, 12] + - !!python/tuple [31, 4] + - !!python/tuple [15, 5] + - !!python/tuple [28, 2] + - !!python/tuple [1, 25] + - !!python/tuple [31, 5] + - !!python/tuple [14, 24] + - !!python/tuple [0, 13] + - !!python/tuple [23, 28] + - !!python/tuple [16, 1] + - !!python/tuple [24, 10] + - !!python/tuple [18, 30] + - !!python/tuple [5, 11] + - !!python/tuple [7, 26] + - !!python/tuple [19, 24] + - !!python/tuple [10, 12] + - !!python/tuple [10, 3] + - !!python/tuple [1, 12] + - !!python/tuple [14, 17] + - !!python/tuple [26, 0] + - !!python/tuple [14, 0] + - !!python/tuple [30, 1] + - !!python/tuple [30, 16] + - !!python/tuple [6, 25] + - !!python/tuple [10, 29] + - !!python/tuple [18, 14] + - !!python/tuple [7, 30] + - !!python/tuple [20, 8] + - !!python/tuple [8, 8] + - !!python/tuple [17, 1] + - !!python/tuple [16, 6] + - !!python/tuple [15, 9] + - !!python/tuple [22, 6] + - !!python/tuple [16, 12] + - !!python/tuple [8, 26] + - !!python/tuple [7, 22] + - !!python/tuple [13, 17] + - !!python/tuple [25, 9] + - !!python/tuple [8, 5] + - !!python/tuple [13, 29] + - !!python/tuple [2, 10] + - !!python/tuple [6, 28] + - !!python/tuple [1, 31] + - !!python/tuple [13, 22] + - !!python/tuple [6, 23] + - !!python/tuple [2, 2] + - !!python/tuple [0, 10] + - !!python/tuple [20, 28] + - !!python/tuple [20, 18] + - !!python/tuple [18, 21] + - !!python/tuple [0, 28] + - !!python/tuple [5, 15] + - !!python/tuple [8, 11] + - !!python/tuple [3, 25] + - !!python/tuple [1, 4] + - !!python/tuple [23, 30] + - !!python/tuple [22, 28] + - !!python/tuple [5, 20] + - !!python/tuple [6, 7] + - !!python/tuple [11, 1] + - !!python/tuple [7, 25] + - !!python/tuple [1, 0] + - !!python/tuple [20, 5] + - !!python/tuple [8, 7] + - !!python/tuple [27, 13] + - !!python/tuple [11, 22] + - !!python/tuple [28, 16] + - !!python/tuple [21, 20] + - !!python/tuple [14, 25] + - !!python/tuple [6, 14] + - !!python/tuple [0, 23] + - !!python/tuple [14, 28] + - !!python/tuple [19, 13] + - !!python/tuple [26, 18] + - !!python/tuple [27, 18] + - !!python/tuple [30, 21] + - !!python/tuple [19, 26] + - !!python/tuple [13, 9] + - !!python/tuple [26, 10] + - !!python/tuple [12, 6] + - !!python/tuple [2, 21] + - !!python/tuple [28, 17] + - !!python/tuple [20, 12] + - !!python/tuple [8, 2] + - !!python/tuple [15, 13] + - !!python/tuple [28, 14] + - !!python/tuple [31, 16] + - !!python/tuple [0, 26] + - !!python/tuple [3, 29] + - !!python/tuple [21, 27] + - !!python/tuple [17, 14] + - !!python/tuple [28, 20] + - !!python/tuple [17, 10] + - !!python/tuple [17, 11] + - !!python/tuple [23, 1] + - !!python/tuple [7, 9] + - !!python/tuple [10, 7] + - !!python/tuple [20, 14] + - !!python/tuple [3, 18] + - !!python/tuple [13, 13] + - !!python/tuple [6, 27] + - !!python/tuple [27, 7] + - !!python/tuple [25, 18] + - !!python/tuple [26, 25] + - !!python/tuple [7, 19] + - !!python/tuple [28, 12] + - !!python/tuple [16, 21] + - !!python/tuple [0, 1] + - !!python/tuple [0, 30] + - !!python/tuple [21, 24] + - !!python/tuple [29, 22] + - !!python/tuple [1, 10] + - !!python/tuple [21, 2] + - !!python/tuple [13, 18] + - !!python/tuple [5, 30] + - !!python/tuple [15, 0] + - !!python/tuple [16, 11] + - !!python/tuple [11, 28] + - !!python/tuple [25, 17] + - !!python/tuple [22, 1] + - !!python/tuple [18, 1] + - !!python/tuple [10, 9] + - !!python/tuple [24, 4] + - !!python/tuple [24, 13] + - !!python/tuple [14, 22] + - !!python/tuple [3, 19] + - !!python/tuple [29, 4] + - !!python/tuple [18, 5] + - !!python/tuple [30, 6] + - !!python/tuple [8, 14] + - !!python/tuple [19, 15] + - !!python/tuple [10, 13] + - !!python/tuple [16, 29] + - !!python/tuple [5, 6] + - !!python/tuple [4, 23] + - !!python/tuple [31, 23] + - !!python/tuple [5, 8] + - !!python/tuple [29, 14] + - !!python/tuple [26, 13] + - !!python/tuple [19, 2] + - !!python/tuple [8, 4] + - !!python/tuple [12, 17] + - !!python/tuple [12, 25] + - !!python/tuple [17, 20] + - !!python/tuple [25, 19] + - !!python/tuple [18, 13] + - !!python/tuple [31, 25] + - !!python/tuple [2, 18] + - !!python/tuple [0, 27] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex52.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex52.yaml new file mode 100644 index 0000000..106a730 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex52.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [4, 27] + name: agent0 + start: [2, 26] +- goal: [11, 25] + name: agent1 + start: [3, 1] +- goal: [5, 11] + name: agent2 + start: [1, 9] +- goal: [1, 16] + name: agent3 + start: [3, 7] +- goal: [31, 30] + name: agent4 + start: [19, 22] +- goal: [4, 17] + name: agent5 + start: [19, 15] +- goal: [28, 21] + name: agent6 + start: [28, 23] +- goal: [11, 29] + name: agent7 + start: [11, 17] +- goal: [1, 26] + name: agent8 + start: [19, 19] +- goal: [11, 13] + name: agent9 + start: [9, 1] +- goal: [4, 19] + name: agent10 + start: [25, 13] +- goal: [9, 18] + name: agent11 + start: [11, 13] +- goal: [14, 6] + name: agent12 + start: [13, 15] +- goal: [16, 14] + name: agent13 + start: [14, 30] +- goal: [25, 1] + name: agent14 + start: [8, 26] +- goal: [20, 7] + name: agent15 + start: [24, 22] +- goal: [11, 16] + name: agent16 + start: [1, 14] +- goal: [10, 26] + name: agent17 + start: [9, 10] +- goal: [9, 4] + name: agent18 + start: [10, 9] +- goal: [5, 24] + name: agent19 + start: [21, 27] +- goal: [31, 22] + name: agent20 + start: [13, 2] +- goal: [6, 27] + name: agent21 + start: [23, 21] +- goal: [26, 4] + name: agent22 + start: [31, 16] +- goal: [13, 26] + name: agent23 + start: [9, 15] +- goal: [6, 21] + name: agent24 + start: [27, 25] +- goal: [8, 16] + name: agent25 + start: [28, 11] +- goal: [9, 27] + name: agent26 + start: [22, 11] +- goal: [5, 4] + name: agent27 + start: [5, 19] +- goal: [21, 10] + name: agent28 + start: [27, 23] +- goal: [24, 16] + name: agent29 + start: [22, 28] +- goal: [25, 5] + name: agent30 + start: [2, 10] +- goal: [0, 20] + name: agent31 + start: [0, 14] +- goal: [30, 16] + name: agent32 + start: [28, 26] +- goal: [29, 10] + name: agent33 + start: [22, 29] +- goal: [2, 6] + name: agent34 + start: [21, 22] +- goal: [30, 29] + name: agent35 + start: [14, 23] +- goal: [16, 12] + name: agent36 + start: [11, 12] +- goal: [23, 14] + name: agent37 + start: [16, 21] +- goal: [19, 19] + name: agent38 + start: [4, 27] +- goal: [21, 16] + name: agent39 + start: [3, 3] +- goal: [7, 30] + name: agent40 + start: [10, 0] +- goal: [8, 29] + name: agent41 + start: [21, 10] +- goal: [19, 31] + name: agent42 + start: [11, 28] +- goal: [10, 5] + name: agent43 + start: [12, 10] +- goal: [20, 19] + name: agent44 + start: [19, 21] +- goal: [8, 21] + name: agent45 + start: [29, 22] +- goal: [21, 5] + name: agent46 + start: [24, 4] +- goal: [29, 19] + name: agent47 + start: [23, 0] +- goal: [2, 9] + name: agent48 + start: [0, 2] +- goal: [26, 9] + name: agent49 + start: [3, 23] +- goal: [28, 8] + name: agent50 + start: [5, 11] +- goal: [14, 26] + name: agent51 + start: [6, 29] +- goal: [21, 27] + name: agent52 + start: [18, 25] +- goal: [15, 25] + name: agent53 + start: [23, 12] +- goal: [15, 6] + name: agent54 + start: [29, 19] +- goal: [3, 13] + name: agent55 + start: [12, 26] +- goal: [30, 4] + name: agent56 + start: [3, 10] +- goal: [16, 29] + name: agent57 + start: [31, 26] +- goal: [23, 24] + name: agent58 + start: [0, 10] +- goal: [0, 4] + name: agent59 + start: [9, 2] +- goal: [25, 10] + name: agent60 + start: [22, 21] +- goal: [28, 20] + name: agent61 + start: [20, 28] +- goal: [22, 29] + name: agent62 + start: [19, 12] +- goal: [27, 12] + name: agent63 + start: [25, 17] +- goal: [7, 2] + name: agent64 + start: [14, 9] +- goal: [16, 31] + name: agent65 + start: [4, 31] +- goal: [17, 12] + name: agent66 + start: [29, 29] +- goal: [27, 15] + name: agent67 + start: [12, 15] +- goal: [25, 18] + name: agent68 + start: [5, 16] +- goal: [15, 26] + name: agent69 + start: [13, 24] +- goal: [6, 7] + name: agent70 + start: [12, 5] +- goal: [9, 5] + name: agent71 + start: [18, 18] +- goal: [7, 23] + name: agent72 + start: [1, 19] +- goal: [14, 1] + name: agent73 + start: [28, 17] +- goal: [6, 29] + name: agent74 + start: [6, 20] +- goal: [21, 0] + name: agent75 + start: [26, 21] +- goal: [7, 4] + name: agent76 + start: [23, 3] +- goal: [29, 0] + name: agent77 + start: [9, 30] +- goal: [29, 6] + name: agent78 + start: [29, 16] +- goal: [4, 4] + name: agent79 + start: [30, 13] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [26, 1] + - !!python/tuple [1, 22] + - !!python/tuple [24, 24] + - !!python/tuple [31, 28] + - !!python/tuple [0, 17] + - !!python/tuple [6, 0] + - !!python/tuple [5, 27] + - !!python/tuple [15, 17] + - !!python/tuple [12, 22] + - !!python/tuple [3, 18] + - !!python/tuple [17, 15] + - !!python/tuple [8, 18] + - !!python/tuple [20, 16] + - !!python/tuple [16, 5] + - !!python/tuple [20, 17] + - !!python/tuple [1, 13] + - !!python/tuple [18, 8] + - !!python/tuple [0, 25] + - !!python/tuple [4, 16] + - !!python/tuple [6, 8] + - !!python/tuple [2, 0] + - !!python/tuple [10, 8] + - !!python/tuple [6, 16] + - !!python/tuple [12, 20] + - !!python/tuple [25, 31] + - !!python/tuple [31, 2] + - !!python/tuple [14, 31] + - !!python/tuple [25, 20] + - !!python/tuple [16, 13] + - !!python/tuple [28, 30] + - !!python/tuple [6, 18] + - !!python/tuple [1, 21] + - !!python/tuple [29, 27] + - !!python/tuple [25, 26] + - !!python/tuple [11, 0] + - !!python/tuple [21, 25] + - !!python/tuple [16, 28] + - !!python/tuple [18, 13] + - !!python/tuple [7, 7] + - !!python/tuple [19, 0] + - !!python/tuple [28, 9] + - !!python/tuple [19, 10] + - !!python/tuple [13, 11] + - !!python/tuple [23, 15] + - !!python/tuple [11, 1] + - !!python/tuple [19, 13] + - !!python/tuple [17, 16] + - !!python/tuple [9, 12] + - !!python/tuple [7, 13] + - !!python/tuple [1, 12] + - !!python/tuple [27, 20] + - !!python/tuple [23, 8] + - !!python/tuple [17, 10] + - !!python/tuple [29, 20] + - !!python/tuple [26, 16] + - !!python/tuple [12, 31] + - !!python/tuple [6, 12] + - !!python/tuple [3, 21] + - !!python/tuple [18, 24] + - !!python/tuple [19, 5] + - !!python/tuple [23, 18] + - !!python/tuple [31, 1] + - !!python/tuple [5, 6] + - !!python/tuple [7, 15] + - !!python/tuple [24, 30] + - !!python/tuple [2, 22] + - !!python/tuple [28, 31] + - !!python/tuple [20, 18] + - !!python/tuple [23, 9] + - !!python/tuple [1, 29] + - !!python/tuple [13, 7] + - !!python/tuple [8, 30] + - !!python/tuple [2, 23] + - !!python/tuple [23, 16] + - !!python/tuple [25, 23] + - !!python/tuple [24, 9] + - !!python/tuple [15, 9] + - !!python/tuple [24, 12] + - !!python/tuple [10, 6] + - !!python/tuple [5, 3] + - !!python/tuple [4, 2] + - !!python/tuple [3, 16] + - !!python/tuple [18, 31] + - !!python/tuple [0, 26] + - !!python/tuple [22, 12] + - !!python/tuple [13, 3] + - !!python/tuple [10, 4] + - !!python/tuple [22, 19] + - !!python/tuple [1, 3] + - !!python/tuple [19, 17] + - !!python/tuple [5, 15] + - !!python/tuple [22, 6] + - !!python/tuple [11, 19] + - !!python/tuple [24, 8] + - !!python/tuple [8, 13] + - !!python/tuple [12, 30] + - !!python/tuple [0, 1] + - !!python/tuple [23, 23] + - !!python/tuple [27, 21] + - !!python/tuple [23, 29] + - !!python/tuple [19, 27] + - !!python/tuple [22, 20] + - !!python/tuple [6, 23] + - !!python/tuple [25, 22] + - !!python/tuple [0, 21] + - !!python/tuple [20, 4] + - !!python/tuple [1, 27] + - !!python/tuple [13, 19] + - !!python/tuple [5, 23] + - !!python/tuple [30, 19] + - !!python/tuple [17, 31] + - !!python/tuple [28, 24] + - !!python/tuple [26, 5] + - !!python/tuple [6, 9] + - !!python/tuple [26, 2] + - !!python/tuple [16, 15] + - !!python/tuple [24, 6] + - !!python/tuple [9, 17] + - !!python/tuple [17, 30] + - !!python/tuple [18, 27] + - !!python/tuple [0, 18] + - !!python/tuple [24, 11] + - !!python/tuple [31, 4] + - !!python/tuple [27, 3] + - !!python/tuple [27, 0] + - !!python/tuple [18, 23] + - !!python/tuple [15, 16] + - !!python/tuple [8, 28] + - !!python/tuple [18, 21] + - !!python/tuple [1, 7] + - !!python/tuple [11, 9] + - !!python/tuple [21, 11] + - !!python/tuple [30, 17] + - !!python/tuple [26, 18] + - !!python/tuple [14, 0] + - !!python/tuple [13, 5] + - !!python/tuple [29, 15] + - !!python/tuple [8, 25] + - !!python/tuple [29, 8] + - !!python/tuple [11, 8] + - !!python/tuple [11, 10] + - !!python/tuple [1, 25] + - !!python/tuple [11, 22] + - !!python/tuple [6, 3] + - !!python/tuple [3, 25] + - !!python/tuple [15, 18] + - !!python/tuple [30, 8] + - !!python/tuple [19, 11] + - !!python/tuple [11, 6] + - !!python/tuple [8, 27] + - !!python/tuple [20, 13] + - !!python/tuple [9, 26] + - !!python/tuple [1, 2] + - !!python/tuple [4, 6] + - !!python/tuple [27, 30] + - !!python/tuple [28, 13] + - !!python/tuple [1, 17] + - !!python/tuple [20, 5] + - !!python/tuple [7, 19] + - !!python/tuple [9, 24] + - !!python/tuple [12, 21] + - !!python/tuple [17, 19] + - !!python/tuple [3, 29] + - !!python/tuple [0, 24] + - !!python/tuple [27, 4] + - !!python/tuple [31, 8] + - !!python/tuple [16, 16] + - !!python/tuple [3, 31] + - !!python/tuple [18, 26] + - !!python/tuple [27, 19] + - !!python/tuple [3, 4] + - !!python/tuple [18, 30] + - !!python/tuple [25, 24] + - !!python/tuple [31, 24] + - !!python/tuple [31, 9] + - !!python/tuple [31, 29] + - !!python/tuple [22, 14] + - !!python/tuple [16, 22] + - !!python/tuple [0, 9] + - !!python/tuple [30, 30] + - !!python/tuple [1, 4] + - !!python/tuple [30, 11] + - !!python/tuple [1, 1] + - !!python/tuple [2, 17] + - !!python/tuple [4, 23] + - !!python/tuple [7, 5] + - !!python/tuple [26, 17] + - !!python/tuple [23, 7] + - !!python/tuple [19, 9] + - !!python/tuple [19, 18] + - !!python/tuple [10, 15] + - !!python/tuple [12, 3] + - !!python/tuple [6, 1] + - !!python/tuple [22, 4] + - !!python/tuple [17, 0] + - !!python/tuple [17, 14] + - !!python/tuple [13, 10] + - !!python/tuple [11, 15] + - !!python/tuple [11, 18] + - !!python/tuple [28, 5] + - !!python/tuple [30, 9] + - !!python/tuple [12, 0] + - !!python/tuple [9, 21] + - !!python/tuple [6, 6] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex53.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex53.yaml new file mode 100644 index 0000000..096dae6 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex53.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [11, 20] + name: agent0 + start: [27, 30] +- goal: [1, 15] + name: agent1 + start: [5, 29] +- goal: [19, 20] + name: agent2 + start: [19, 8] +- goal: [4, 17] + name: agent3 + start: [1, 14] +- goal: [9, 29] + name: agent4 + start: [5, 11] +- goal: [24, 7] + name: agent5 + start: [17, 12] +- goal: [4, 11] + name: agent6 + start: [26, 29] +- goal: [10, 29] + name: agent7 + start: [1, 11] +- goal: [0, 16] + name: agent8 + start: [9, 18] +- goal: [9, 19] + name: agent9 + start: [13, 27] +- goal: [28, 4] + name: agent10 + start: [21, 2] +- goal: [14, 0] + name: agent11 + start: [10, 28] +- goal: [22, 22] + name: agent12 + start: [13, 25] +- goal: [1, 7] + name: agent13 + start: [18, 31] +- goal: [1, 22] + name: agent14 + start: [30, 24] +- goal: [17, 14] + name: agent15 + start: [11, 5] +- goal: [26, 7] + name: agent16 + start: [3, 27] +- goal: [15, 9] + name: agent17 + start: [29, 2] +- goal: [13, 18] + name: agent18 + start: [22, 31] +- goal: [17, 20] + name: agent19 + start: [7, 25] +- goal: [11, 12] + name: agent20 + start: [23, 4] +- goal: [17, 26] + name: agent21 + start: [16, 23] +- goal: [26, 6] + name: agent22 + start: [12, 22] +- goal: [14, 10] + name: agent23 + start: [20, 0] +- goal: [30, 21] + name: agent24 + start: [4, 30] +- goal: [15, 16] + name: agent25 + start: [9, 23] +- goal: [14, 24] + name: agent26 + start: [29, 25] +- goal: [18, 17] + name: agent27 + start: [23, 23] +- goal: [9, 22] + name: agent28 + start: [25, 30] +- goal: [12, 11] + name: agent29 + start: [30, 21] +- goal: [29, 11] + name: agent30 + start: [8, 4] +- goal: [26, 10] + name: agent31 + start: [18, 15] +- goal: [8, 26] + name: agent32 + start: [27, 13] +- goal: [9, 3] + name: agent33 + start: [10, 24] +- goal: [31, 18] + name: agent34 + start: [22, 7] +- goal: [23, 17] + name: agent35 + start: [5, 13] +- goal: [18, 29] + name: agent36 + start: [1, 3] +- goal: [23, 9] + name: agent37 + start: [21, 28] +- goal: [5, 29] + name: agent38 + start: [22, 18] +- goal: [0, 28] + name: agent39 + start: [12, 10] +- goal: [13, 13] + name: agent40 + start: [18, 13] +- goal: [13, 4] + name: agent41 + start: [19, 24] +- goal: [1, 2] + name: agent42 + start: [16, 16] +- goal: [1, 24] + name: agent43 + start: [13, 28] +- goal: [15, 22] + name: agent44 + start: [5, 17] +- goal: [0, 3] + name: agent45 + start: [10, 9] +- goal: [5, 14] + name: agent46 + start: [28, 19] +- goal: [30, 20] + name: agent47 + start: [10, 29] +- goal: [29, 31] + name: agent48 + start: [31, 11] +- goal: [1, 5] + name: agent49 + start: [16, 26] +- goal: [22, 9] + name: agent50 + start: [23, 3] +- goal: [17, 10] + name: agent51 + start: [8, 21] +- goal: [10, 31] + name: agent52 + start: [19, 10] +- goal: [10, 18] + name: agent53 + start: [17, 15] +- goal: [18, 6] + name: agent54 + start: [29, 23] +- goal: [11, 11] + name: agent55 + start: [31, 5] +- goal: [7, 4] + name: agent56 + start: [22, 26] +- goal: [14, 16] + name: agent57 + start: [6, 8] +- goal: [16, 0] + name: agent58 + start: [17, 24] +- goal: [30, 13] + name: agent59 + start: [18, 29] +- goal: [5, 5] + name: agent60 + start: [11, 29] +- goal: [5, 6] + name: agent61 + start: [20, 2] +- goal: [16, 23] + name: agent62 + start: [28, 0] +- goal: [23, 0] + name: agent63 + start: [4, 8] +- goal: [18, 26] + name: agent64 + start: [3, 22] +- goal: [18, 25] + name: agent65 + start: [3, 5] +- goal: [5, 15] + name: agent66 + start: [31, 9] +- goal: [31, 11] + name: agent67 + start: [1, 7] +- goal: [30, 1] + name: agent68 + start: [14, 15] +- goal: [15, 18] + name: agent69 + start: [24, 23] +- goal: [6, 5] + name: agent70 + start: [11, 21] +- goal: [15, 25] + name: agent71 + start: [0, 13] +- goal: [15, 5] + name: agent72 + start: [29, 26] +- goal: [13, 11] + name: agent73 + start: [4, 2] +- goal: [22, 27] + name: agent74 + start: [18, 8] +- goal: [31, 7] + name: agent75 + start: [9, 14] +- goal: [9, 14] + name: agent76 + start: [3, 8] +- goal: [0, 19] + name: agent77 + start: [11, 20] +- goal: [11, 22] + name: agent78 + start: [8, 28] +- goal: [2, 8] + name: agent79 + start: [26, 31] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [19, 26] + - !!python/tuple [12, 26] + - !!python/tuple [23, 22] + - !!python/tuple [11, 9] + - !!python/tuple [19, 19] + - !!python/tuple [28, 11] + - !!python/tuple [0, 0] + - !!python/tuple [7, 18] + - !!python/tuple [7, 0] + - !!python/tuple [2, 14] + - !!python/tuple [0, 26] + - !!python/tuple [11, 30] + - !!python/tuple [10, 25] + - !!python/tuple [8, 8] + - !!python/tuple [15, 0] + - !!python/tuple [12, 1] + - !!python/tuple [28, 12] + - !!python/tuple [9, 26] + - !!python/tuple [13, 0] + - !!python/tuple [9, 13] + - !!python/tuple [4, 15] + - !!python/tuple [11, 19] + - !!python/tuple [31, 10] + - !!python/tuple [14, 11] + - !!python/tuple [31, 23] + - !!python/tuple [15, 6] + - !!python/tuple [1, 6] + - !!python/tuple [29, 10] + - !!python/tuple [23, 10] + - !!python/tuple [25, 19] + - !!python/tuple [8, 14] + - !!python/tuple [20, 24] + - !!python/tuple [2, 10] + - !!python/tuple [28, 13] + - !!python/tuple [16, 31] + - !!python/tuple [1, 13] + - !!python/tuple [16, 25] + - !!python/tuple [21, 19] + - !!python/tuple [22, 23] + - !!python/tuple [30, 7] + - !!python/tuple [6, 4] + - !!python/tuple [25, 21] + - !!python/tuple [27, 11] + - !!python/tuple [0, 27] + - !!python/tuple [18, 24] + - !!python/tuple [22, 24] + - !!python/tuple [7, 30] + - !!python/tuple [15, 8] + - !!python/tuple [17, 0] + - !!python/tuple [29, 3] + - !!python/tuple [28, 31] + - !!python/tuple [30, 4] + - !!python/tuple [7, 20] + - !!python/tuple [0, 23] + - !!python/tuple [9, 0] + - !!python/tuple [28, 8] + - !!python/tuple [26, 5] + - !!python/tuple [19, 31] + - !!python/tuple [4, 24] + - !!python/tuple [1, 10] + - !!python/tuple [21, 0] + - !!python/tuple [6, 3] + - !!python/tuple [23, 7] + - !!python/tuple [22, 20] + - !!python/tuple [8, 2] + - !!python/tuple [31, 26] + - !!python/tuple [24, 5] + - !!python/tuple [27, 2] + - !!python/tuple [23, 15] + - !!python/tuple [3, 19] + - !!python/tuple [17, 6] + - !!python/tuple [16, 15] + - !!python/tuple [25, 25] + - !!python/tuple [0, 2] + - !!python/tuple [28, 5] + - !!python/tuple [21, 27] + - !!python/tuple [28, 16] + - !!python/tuple [21, 4] + - !!python/tuple [14, 4] + - !!python/tuple [2, 23] + - !!python/tuple [18, 1] + - !!python/tuple [9, 21] + - !!python/tuple [18, 14] + - !!python/tuple [7, 6] + - !!python/tuple [28, 15] + - !!python/tuple [22, 2] + - !!python/tuple [21, 5] + - !!python/tuple [6, 28] + - !!python/tuple [27, 22] + - !!python/tuple [2, 2] + - !!python/tuple [12, 3] + - !!python/tuple [20, 8] + - !!python/tuple [27, 10] + - !!python/tuple [19, 18] + - !!python/tuple [7, 26] + - !!python/tuple [3, 25] + - !!python/tuple [24, 20] + - !!python/tuple [16, 14] + - !!python/tuple [30, 5] + - !!python/tuple [24, 9] + - !!python/tuple [22, 10] + - !!python/tuple [20, 30] + - !!python/tuple [10, 17] + - !!python/tuple [27, 7] + - !!python/tuple [25, 24] + - !!python/tuple [28, 6] + - !!python/tuple [7, 5] + - !!python/tuple [2, 31] + - !!python/tuple [30, 25] + - !!python/tuple [30, 28] + - !!python/tuple [10, 14] + - !!python/tuple [27, 15] + - !!python/tuple [31, 24] + - !!python/tuple [14, 18] + - !!python/tuple [26, 0] + - !!python/tuple [19, 14] + - !!python/tuple [31, 22] + - !!python/tuple [26, 27] + - !!python/tuple [7, 14] + - !!python/tuple [17, 19] + - !!python/tuple [15, 29] + - !!python/tuple [11, 24] + - !!python/tuple [19, 15] + - !!python/tuple [5, 9] + - !!python/tuple [10, 13] + - !!python/tuple [27, 1] + - !!python/tuple [25, 11] + - !!python/tuple [12, 12] + - !!python/tuple [31, 28] + - !!python/tuple [30, 3] + - !!python/tuple [17, 22] + - !!python/tuple [5, 1] + - !!python/tuple [15, 11] + - !!python/tuple [28, 14] + - !!python/tuple [0, 6] + - !!python/tuple [6, 1] + - !!python/tuple [5, 31] + - !!python/tuple [23, 21] + - !!python/tuple [19, 6] + - !!python/tuple [13, 10] + - !!python/tuple [17, 4] + - !!python/tuple [28, 2] + - !!python/tuple [20, 31] + - !!python/tuple [7, 8] + - !!python/tuple [11, 3] + - !!python/tuple [5, 20] + - !!python/tuple [4, 28] + - !!python/tuple [29, 4] + - !!python/tuple [8, 0] + - !!python/tuple [21, 26] + - !!python/tuple [26, 21] + - !!python/tuple [27, 12] + - !!python/tuple [2, 12] + - !!python/tuple [4, 20] + - !!python/tuple [5, 4] + - !!python/tuple [21, 30] + - !!python/tuple [21, 20] + - !!python/tuple [10, 23] + - !!python/tuple [14, 7] + - !!python/tuple [1, 16] + - !!python/tuple [11, 15] + - !!python/tuple [22, 29] + - !!python/tuple [4, 6] + - !!python/tuple [6, 25] + - !!python/tuple [6, 2] + - !!python/tuple [29, 19] + - !!python/tuple [24, 11] + - !!python/tuple [24, 21] + - !!python/tuple [20, 27] + - !!python/tuple [4, 12] + - !!python/tuple [0, 24] + - !!python/tuple [3, 9] + - !!python/tuple [30, 9] + - !!python/tuple [10, 10] + - !!python/tuple [7, 29] + - !!python/tuple [31, 15] + - !!python/tuple [20, 26] + - !!python/tuple [13, 1] + - !!python/tuple [11, 13] + - !!python/tuple [1, 19] + - !!python/tuple [12, 0] + - !!python/tuple [30, 31] + - !!python/tuple [11, 17] + - !!python/tuple [12, 9] + - !!python/tuple [15, 7] + - !!python/tuple [19, 25] + - !!python/tuple [18, 2] + - !!python/tuple [4, 3] + - !!python/tuple [0, 14] + - !!python/tuple [25, 10] + - !!python/tuple [14, 29] + - !!python/tuple [4, 7] + - !!python/tuple [2, 29] + - !!python/tuple [7, 31] + - !!python/tuple [9, 28] + - !!python/tuple [0, 18] + - !!python/tuple [13, 22] + - !!python/tuple [2, 5] + - !!python/tuple [31, 16] + - !!python/tuple [24, 28] + - !!python/tuple [7, 3] + - !!python/tuple [24, 29] + - !!python/tuple [25, 15] + - !!python/tuple [20, 10] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex54.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex54.yaml new file mode 100644 index 0000000..0084a88 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex54.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [11, 9] + name: agent0 + start: [13, 0] +- goal: [23, 0] + name: agent1 + start: [17, 31] +- goal: [3, 0] + name: agent2 + start: [13, 14] +- goal: [30, 12] + name: agent3 + start: [25, 10] +- goal: [5, 11] + name: agent4 + start: [3, 12] +- goal: [24, 23] + name: agent5 + start: [7, 16] +- goal: [0, 18] + name: agent6 + start: [17, 27] +- goal: [7, 12] + name: agent7 + start: [14, 11] +- goal: [14, 29] + name: agent8 + start: [15, 13] +- goal: [16, 0] + name: agent9 + start: [22, 16] +- goal: [9, 18] + name: agent10 + start: [20, 28] +- goal: [26, 12] + name: agent11 + start: [20, 17] +- goal: [31, 3] + name: agent12 + start: [17, 20] +- goal: [10, 2] + name: agent13 + start: [13, 9] +- goal: [21, 15] + name: agent14 + start: [6, 13] +- goal: [9, 22] + name: agent15 + start: [17, 0] +- goal: [6, 1] + name: agent16 + start: [3, 15] +- goal: [22, 8] + name: agent17 + start: [9, 28] +- goal: [17, 26] + name: agent18 + start: [23, 19] +- goal: [25, 10] + name: agent19 + start: [17, 18] +- goal: [26, 1] + name: agent20 + start: [24, 18] +- goal: [25, 30] + name: agent21 + start: [11, 13] +- goal: [20, 28] + name: agent22 + start: [26, 1] +- goal: [24, 16] + name: agent23 + start: [9, 29] +- goal: [19, 7] + name: agent24 + start: [28, 2] +- goal: [13, 27] + name: agent25 + start: [15, 23] +- goal: [31, 7] + name: agent26 + start: [24, 9] +- goal: [17, 28] + name: agent27 + start: [6, 5] +- goal: [9, 30] + name: agent28 + start: [26, 12] +- goal: [16, 19] + name: agent29 + start: [17, 14] +- goal: [13, 19] + name: agent30 + start: [16, 8] +- goal: [5, 5] + name: agent31 + start: [20, 18] +- goal: [20, 10] + name: agent32 + start: [2, 28] +- goal: [21, 5] + name: agent33 + start: [6, 9] +- goal: [16, 27] + name: agent34 + start: [12, 1] +- goal: [2, 9] + name: agent35 + start: [1, 14] +- goal: [22, 16] + name: agent36 + start: [12, 30] +- goal: [22, 22] + name: agent37 + start: [10, 28] +- goal: [19, 10] + name: agent38 + start: [24, 15] +- goal: [12, 23] + name: agent39 + start: [1, 11] +- goal: [25, 8] + name: agent40 + start: [27, 31] +- goal: [13, 3] + name: agent41 + start: [4, 3] +- goal: [29, 7] + name: agent42 + start: [13, 20] +- goal: [24, 30] + name: agent43 + start: [3, 10] +- goal: [19, 4] + name: agent44 + start: [21, 26] +- goal: [29, 10] + name: agent45 + start: [1, 2] +- goal: [17, 2] + name: agent46 + start: [19, 4] +- goal: [30, 17] + name: agent47 + start: [19, 15] +- goal: [23, 1] + name: agent48 + start: [19, 17] +- goal: [25, 27] + name: agent49 + start: [7, 1] +- goal: [28, 10] + name: agent50 + start: [9, 3] +- goal: [26, 7] + name: agent51 + start: [13, 29] +- goal: [18, 8] + name: agent52 + start: [20, 4] +- goal: [21, 6] + name: agent53 + start: [11, 21] +- goal: [26, 13] + name: agent54 + start: [31, 15] +- goal: [10, 12] + name: agent55 + start: [12, 29] +- goal: [13, 5] + name: agent56 + start: [20, 21] +- goal: [9, 26] + name: agent57 + start: [20, 22] +- goal: [8, 16] + name: agent58 + start: [21, 29] +- goal: [11, 12] + name: agent59 + start: [18, 3] +- goal: [13, 15] + name: agent60 + start: [26, 30] +- goal: [20, 2] + name: agent61 + start: [24, 27] +- goal: [12, 14] + name: agent62 + start: [1, 24] +- goal: [25, 11] + name: agent63 + start: [20, 3] +- goal: [25, 15] + name: agent64 + start: [14, 27] +- goal: [16, 29] + name: agent65 + start: [16, 29] +- goal: [20, 21] + name: agent66 + start: [9, 8] +- goal: [3, 18] + name: agent67 + start: [19, 14] +- goal: [26, 15] + name: agent68 + start: [13, 11] +- goal: [31, 20] + name: agent69 + start: [17, 24] +- goal: [5, 15] + name: agent70 + start: [23, 6] +- goal: [27, 8] + name: agent71 + start: [4, 6] +- goal: [19, 16] + name: agent72 + start: [5, 28] +- goal: [13, 12] + name: agent73 + start: [0, 12] +- goal: [1, 25] + name: agent74 + start: [29, 20] +- goal: [20, 0] + name: agent75 + start: [4, 21] +- goal: [30, 0] + name: agent76 + start: [5, 27] +- goal: [4, 21] + name: agent77 + start: [6, 0] +- goal: [30, 5] + name: agent78 + start: [0, 8] +- goal: [10, 28] + name: agent79 + start: [4, 12] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [13, 24] + - !!python/tuple [18, 25] + - !!python/tuple [11, 2] + - !!python/tuple [14, 12] + - !!python/tuple [10, 23] + - !!python/tuple [11, 7] + - !!python/tuple [21, 17] + - !!python/tuple [25, 5] + - !!python/tuple [20, 9] + - !!python/tuple [16, 20] + - !!python/tuple [20, 26] + - !!python/tuple [13, 26] + - !!python/tuple [0, 7] + - !!python/tuple [11, 24] + - !!python/tuple [20, 23] + - !!python/tuple [10, 15] + - !!python/tuple [7, 18] + - !!python/tuple [31, 9] + - !!python/tuple [3, 20] + - !!python/tuple [30, 28] + - !!python/tuple [13, 4] + - !!python/tuple [10, 29] + - !!python/tuple [28, 24] + - !!python/tuple [0, 26] + - !!python/tuple [31, 8] + - !!python/tuple [29, 4] + - !!python/tuple [10, 4] + - !!python/tuple [22, 17] + - !!python/tuple [5, 23] + - !!python/tuple [26, 27] + - !!python/tuple [30, 24] + - !!python/tuple [17, 6] + - !!python/tuple [19, 28] + - !!python/tuple [15, 10] + - !!python/tuple [23, 4] + - !!python/tuple [2, 7] + - !!python/tuple [6, 22] + - !!python/tuple [7, 20] + - !!python/tuple [27, 28] + - !!python/tuple [26, 9] + - !!python/tuple [10, 8] + - !!python/tuple [4, 22] + - !!python/tuple [12, 24] + - !!python/tuple [9, 10] + - !!python/tuple [18, 24] + - !!python/tuple [31, 25] + - !!python/tuple [18, 12] + - !!python/tuple [24, 12] + - !!python/tuple [13, 23] + - !!python/tuple [28, 26] + - !!python/tuple [29, 30] + - !!python/tuple [26, 3] + - !!python/tuple [11, 25] + - !!python/tuple [29, 21] + - !!python/tuple [8, 22] + - !!python/tuple [14, 25] + - !!python/tuple [15, 11] + - !!python/tuple [0, 30] + - !!python/tuple [0, 11] + - !!python/tuple [11, 3] + - !!python/tuple [10, 7] + - !!python/tuple [14, 13] + - !!python/tuple [22, 5] + - !!python/tuple [0, 1] + - !!python/tuple [8, 11] + - !!python/tuple [30, 23] + - !!python/tuple [8, 15] + - !!python/tuple [23, 31] + - !!python/tuple [3, 2] + - !!python/tuple [0, 19] + - !!python/tuple [31, 13] + - !!python/tuple [9, 15] + - !!python/tuple [8, 27] + - !!python/tuple [17, 12] + - !!python/tuple [20, 25] + - !!python/tuple [13, 8] + - !!python/tuple [16, 24] + - !!python/tuple [21, 24] + - !!python/tuple [7, 9] + - !!python/tuple [24, 21] + - !!python/tuple [2, 17] + - !!python/tuple [24, 6] + - !!python/tuple [29, 6] + - !!python/tuple [31, 29] + - !!python/tuple [1, 3] + - !!python/tuple [31, 22] + - !!python/tuple [28, 4] + - !!python/tuple [6, 28] + - !!python/tuple [23, 29] + - !!python/tuple [26, 28] + - !!python/tuple [29, 25] + - !!python/tuple [7, 22] + - !!python/tuple [10, 6] + - !!python/tuple [9, 12] + - !!python/tuple [24, 17] + - !!python/tuple [20, 12] + - !!python/tuple [22, 0] + - !!python/tuple [6, 29] + - !!python/tuple [6, 12] + - !!python/tuple [29, 9] + - !!python/tuple [17, 23] + - !!python/tuple [0, 3] + - !!python/tuple [27, 20] + - !!python/tuple [20, 14] + - !!python/tuple [3, 6] + - !!python/tuple [30, 27] + - !!python/tuple [20, 8] + - !!python/tuple [12, 21] + - !!python/tuple [16, 18] + - !!python/tuple [1, 28] + - !!python/tuple [8, 30] + - !!python/tuple [27, 11] + - !!python/tuple [20, 13] + - !!python/tuple [12, 5] + - !!python/tuple [24, 1] + - !!python/tuple [14, 22] + - !!python/tuple [10, 14] + - !!python/tuple [27, 1] + - !!python/tuple [21, 28] + - !!python/tuple [30, 11] + - !!python/tuple [19, 1] + - !!python/tuple [5, 2] + - !!python/tuple [3, 11] + - !!python/tuple [9, 7] + - !!python/tuple [6, 6] + - !!python/tuple [5, 25] + - !!python/tuple [2, 1] + - !!python/tuple [26, 17] + - !!python/tuple [15, 14] + - !!python/tuple [1, 5] + - !!python/tuple [28, 18] + - !!python/tuple [14, 17] + - !!python/tuple [1, 7] + - !!python/tuple [1, 4] + - !!python/tuple [3, 27] + - !!python/tuple [15, 0] + - !!python/tuple [23, 25] + - !!python/tuple [24, 10] + - !!python/tuple [26, 14] + - !!python/tuple [21, 8] + - !!python/tuple [1, 9] + - !!python/tuple [23, 11] + - !!python/tuple [18, 10] + - !!python/tuple [29, 14] + - !!python/tuple [12, 13] + - !!python/tuple [30, 16] + - !!python/tuple [12, 15] + - !!python/tuple [26, 0] + - !!python/tuple [12, 26] + - !!python/tuple [4, 26] + - !!python/tuple [15, 21] + - !!python/tuple [7, 13] + - !!python/tuple [26, 23] + - !!python/tuple [2, 27] + - !!python/tuple [24, 20] + - !!python/tuple [13, 22] + - !!python/tuple [26, 29] + - !!python/tuple [3, 22] + - !!python/tuple [12, 27] + - !!python/tuple [14, 20] + - !!python/tuple [18, 22] + - !!python/tuple [4, 13] + - !!python/tuple [13, 6] + - !!python/tuple [27, 25] + - !!python/tuple [5, 10] + - !!python/tuple [8, 18] + - !!python/tuple [18, 4] + - !!python/tuple [22, 26] + - !!python/tuple [8, 4] + - !!python/tuple [13, 17] + - !!python/tuple [22, 28] + - !!python/tuple [28, 3] + - !!python/tuple [4, 28] + - !!python/tuple [31, 12] + - !!python/tuple [26, 25] + - !!python/tuple [7, 31] + - !!python/tuple [20, 16] + - !!python/tuple [3, 13] + - !!python/tuple [27, 30] + - !!python/tuple [22, 12] + - !!python/tuple [23, 30] + - !!python/tuple [7, 14] + - !!python/tuple [18, 2] + - !!python/tuple [27, 27] + - !!python/tuple [9, 16] + - !!python/tuple [20, 1] + - !!python/tuple [3, 21] + - !!python/tuple [16, 13] + - !!python/tuple [10, 9] + - !!python/tuple [25, 2] + - !!python/tuple [22, 11] + - !!python/tuple [30, 1] + - !!python/tuple [8, 28] + - !!python/tuple [7, 23] + - !!python/tuple [10, 1] + - !!python/tuple [15, 5] + - !!python/tuple [3, 3] + - !!python/tuple [28, 16] + - !!python/tuple [0, 6] + - !!python/tuple [21, 13] + - !!python/tuple [23, 20] + - !!python/tuple [14, 10] + - !!python/tuple [30, 3] + - !!python/tuple [18, 7] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex55.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex55.yaml new file mode 100644 index 0000000..69ba6bb --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex55.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [23, 21] + name: agent0 + start: [9, 10] +- goal: [21, 16] + name: agent1 + start: [29, 27] +- goal: [21, 27] + name: agent2 + start: [13, 12] +- goal: [7, 28] + name: agent3 + start: [1, 23] +- goal: [23, 11] + name: agent4 + start: [4, 5] +- goal: [1, 7] + name: agent5 + start: [5, 4] +- goal: [19, 11] + name: agent6 + start: [20, 18] +- goal: [29, 14] + name: agent7 + start: [17, 6] +- goal: [13, 25] + name: agent8 + start: [5, 15] +- goal: [20, 15] + name: agent9 + start: [0, 17] +- goal: [8, 10] + name: agent10 + start: [0, 8] +- goal: [1, 29] + name: agent11 + start: [27, 25] +- goal: [15, 2] + name: agent12 + start: [10, 24] +- goal: [27, 5] + name: agent13 + start: [11, 28] +- goal: [31, 26] + name: agent14 + start: [27, 8] +- goal: [24, 2] + name: agent15 + start: [9, 26] +- goal: [14, 19] + name: agent16 + start: [0, 15] +- goal: [17, 23] + name: agent17 + start: [22, 29] +- goal: [1, 15] + name: agent18 + start: [0, 26] +- goal: [23, 29] + name: agent19 + start: [2, 12] +- goal: [19, 18] + name: agent20 + start: [18, 30] +- goal: [4, 5] + name: agent21 + start: [31, 28] +- goal: [8, 19] + name: agent22 + start: [0, 29] +- goal: [18, 9] + name: agent23 + start: [12, 26] +- goal: [24, 22] + name: agent24 + start: [13, 19] +- goal: [31, 5] + name: agent25 + start: [5, 21] +- goal: [15, 24] + name: agent26 + start: [13, 27] +- goal: [15, 0] + name: agent27 + start: [5, 27] +- goal: [22, 29] + name: agent28 + start: [20, 24] +- goal: [30, 30] + name: agent29 + start: [13, 25] +- goal: [27, 14] + name: agent30 + start: [19, 19] +- goal: [22, 16] + name: agent31 + start: [20, 17] +- goal: [26, 18] + name: agent32 + start: [21, 8] +- goal: [25, 7] + name: agent33 + start: [26, 9] +- goal: [12, 24] + name: agent34 + start: [15, 12] +- goal: [20, 11] + name: agent35 + start: [5, 28] +- goal: [22, 2] + name: agent36 + start: [19, 10] +- goal: [15, 29] + name: agent37 + start: [7, 30] +- goal: [8, 11] + name: agent38 + start: [9, 19] +- goal: [4, 6] + name: agent39 + start: [25, 20] +- goal: [29, 12] + name: agent40 + start: [26, 20] +- goal: [15, 16] + name: agent41 + start: [6, 10] +- goal: [3, 25] + name: agent42 + start: [9, 31] +- goal: [18, 23] + name: agent43 + start: [8, 7] +- goal: [16, 2] + name: agent44 + start: [3, 25] +- goal: [4, 9] + name: agent45 + start: [21, 29] +- goal: [20, 13] + name: agent46 + start: [9, 8] +- goal: [14, 18] + name: agent47 + start: [9, 11] +- goal: [4, 10] + name: agent48 + start: [26, 15] +- goal: [25, 5] + name: agent49 + start: [23, 1] +- goal: [25, 8] + name: agent50 + start: [14, 13] +- goal: [3, 26] + name: agent51 + start: [1, 8] +- goal: [19, 12] + name: agent52 + start: [8, 29] +- goal: [22, 27] + name: agent53 + start: [4, 14] +- goal: [0, 31] + name: agent54 + start: [28, 21] +- goal: [26, 22] + name: agent55 + start: [26, 22] +- goal: [23, 30] + name: agent56 + start: [19, 29] +- goal: [4, 31] + name: agent57 + start: [19, 9] +- goal: [6, 14] + name: agent58 + start: [8, 17] +- goal: [24, 26] + name: agent59 + start: [28, 5] +- goal: [17, 7] + name: agent60 + start: [12, 20] +- goal: [16, 21] + name: agent61 + start: [30, 2] +- goal: [14, 4] + name: agent62 + start: [7, 24] +- goal: [5, 14] + name: agent63 + start: [24, 13] +- goal: [23, 1] + name: agent64 + start: [23, 12] +- goal: [2, 13] + name: agent65 + start: [8, 8] +- goal: [15, 27] + name: agent66 + start: [27, 27] +- goal: [26, 27] + name: agent67 + start: [9, 6] +- goal: [9, 23] + name: agent68 + start: [2, 17] +- goal: [8, 17] + name: agent69 + start: [25, 22] +- goal: [0, 20] + name: agent70 + start: [19, 2] +- goal: [26, 13] + name: agent71 + start: [11, 10] +- goal: [25, 9] + name: agent72 + start: [13, 4] +- goal: [27, 11] + name: agent73 + start: [14, 10] +- goal: [15, 7] + name: agent74 + start: [20, 27] +- goal: [0, 18] + name: agent75 + start: [29, 1] +- goal: [19, 25] + name: agent76 + start: [4, 30] +- goal: [22, 24] + name: agent77 + start: [16, 6] +- goal: [0, 5] + name: agent78 + start: [30, 23] +- goal: [27, 27] + name: agent79 + start: [8, 26] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [5, 12] + - !!python/tuple [2, 29] + - !!python/tuple [18, 6] + - !!python/tuple [23, 0] + - !!python/tuple [2, 6] + - !!python/tuple [8, 22] + - !!python/tuple [14, 5] + - !!python/tuple [10, 21] + - !!python/tuple [5, 2] + - !!python/tuple [29, 22] + - !!python/tuple [1, 11] + - !!python/tuple [10, 19] + - !!python/tuple [18, 19] + - !!python/tuple [28, 11] + - !!python/tuple [6, 23] + - !!python/tuple [17, 10] + - !!python/tuple [3, 3] + - !!python/tuple [11, 27] + - !!python/tuple [26, 8] + - !!python/tuple [23, 22] + - !!python/tuple [8, 27] + - !!python/tuple [24, 29] + - !!python/tuple [10, 10] + - !!python/tuple [25, 27] + - !!python/tuple [18, 22] + - !!python/tuple [13, 23] + - !!python/tuple [12, 28] + - !!python/tuple [26, 2] + - !!python/tuple [6, 5] + - !!python/tuple [13, 21] + - !!python/tuple [1, 4] + - !!python/tuple [24, 14] + - !!python/tuple [18, 2] + - !!python/tuple [29, 13] + - !!python/tuple [25, 18] + - !!python/tuple [27, 12] + - !!python/tuple [24, 11] + - !!python/tuple [12, 2] + - !!python/tuple [7, 16] + - !!python/tuple [5, 9] + - !!python/tuple [1, 13] + - !!python/tuple [19, 6] + - !!python/tuple [15, 15] + - !!python/tuple [24, 12] + - !!python/tuple [25, 23] + - !!python/tuple [12, 9] + - !!python/tuple [15, 1] + - !!python/tuple [0, 27] + - !!python/tuple [1, 30] + - !!python/tuple [27, 30] + - !!python/tuple [18, 3] + - !!python/tuple [8, 5] + - !!python/tuple [31, 12] + - !!python/tuple [6, 17] + - !!python/tuple [26, 14] + - !!python/tuple [25, 30] + - !!python/tuple [14, 7] + - !!python/tuple [31, 8] + - !!python/tuple [20, 20] + - !!python/tuple [24, 21] + - !!python/tuple [0, 4] + - !!python/tuple [31, 19] + - !!python/tuple [6, 15] + - !!python/tuple [6, 13] + - !!python/tuple [16, 17] + - !!python/tuple [15, 14] + - !!python/tuple [13, 11] + - !!python/tuple [7, 9] + - !!python/tuple [18, 0] + - !!python/tuple [11, 24] + - !!python/tuple [9, 4] + - !!python/tuple [27, 3] + - !!python/tuple [16, 27] + - !!python/tuple [6, 7] + - !!python/tuple [12, 18] + - !!python/tuple [17, 29] + - !!python/tuple [5, 18] + - !!python/tuple [7, 17] + - !!python/tuple [30, 11] + - !!python/tuple [0, 7] + - !!python/tuple [30, 7] + - !!python/tuple [27, 2] + - !!python/tuple [21, 12] + - !!python/tuple [20, 3] + - !!python/tuple [19, 4] + - !!python/tuple [14, 16] + - !!python/tuple [21, 24] + - !!python/tuple [17, 9] + - !!python/tuple [25, 13] + - !!python/tuple [8, 12] + - !!python/tuple [18, 13] + - !!python/tuple [17, 18] + - !!python/tuple [22, 0] + - !!python/tuple [9, 1] + - !!python/tuple [3, 2] + - !!python/tuple [31, 0] + - !!python/tuple [20, 31] + - !!python/tuple [29, 24] + - !!python/tuple [23, 10] + - !!python/tuple [6, 26] + - !!python/tuple [23, 7] + - !!python/tuple [0, 28] + - !!python/tuple [19, 0] + - !!python/tuple [21, 20] + - !!python/tuple [30, 4] + - !!python/tuple [14, 2] + - !!python/tuple [1, 17] + - !!python/tuple [7, 6] + - !!python/tuple [7, 22] + - !!python/tuple [2, 5] + - !!python/tuple [12, 19] + - !!python/tuple [10, 28] + - !!python/tuple [16, 5] + - !!python/tuple [14, 21] + - !!python/tuple [1, 21] + - !!python/tuple [18, 28] + - !!python/tuple [26, 29] + - !!python/tuple [30, 18] + - !!python/tuple [18, 15] + - !!python/tuple [8, 24] + - !!python/tuple [27, 22] + - !!python/tuple [22, 30] + - !!python/tuple [13, 16] + - !!python/tuple [21, 1] + - !!python/tuple [25, 29] + - !!python/tuple [18, 10] + - !!python/tuple [30, 5] + - !!python/tuple [2, 14] + - !!python/tuple [28, 15] + - !!python/tuple [22, 1] + - !!python/tuple [19, 28] + - !!python/tuple [18, 1] + - !!python/tuple [9, 18] + - !!python/tuple [0, 11] + - !!python/tuple [20, 16] + - !!python/tuple [14, 30] + - !!python/tuple [22, 26] + - !!python/tuple [13, 13] + - !!python/tuple [31, 15] + - !!python/tuple [5, 24] + - !!python/tuple [24, 24] + - !!python/tuple [22, 17] + - !!python/tuple [26, 30] + - !!python/tuple [20, 23] + - !!python/tuple [10, 3] + - !!python/tuple [9, 29] + - !!python/tuple [20, 26] + - !!python/tuple [18, 31] + - !!python/tuple [19, 8] + - !!python/tuple [1, 25] + - !!python/tuple [24, 5] + - !!python/tuple [24, 3] + - !!python/tuple [7, 31] + - !!python/tuple [22, 6] + - !!python/tuple [29, 26] + - !!python/tuple [25, 10] + - !!python/tuple [13, 14] + - !!python/tuple [22, 12] + - !!python/tuple [16, 26] + - !!python/tuple [12, 29] + - !!python/tuple [22, 23] + - !!python/tuple [6, 25] + - !!python/tuple [13, 6] + - !!python/tuple [16, 3] + - !!python/tuple [31, 1] + - !!python/tuple [12, 23] + - !!python/tuple [23, 16] + - !!python/tuple [30, 22] + - !!python/tuple [21, 7] + - !!python/tuple [19, 14] + - !!python/tuple [3, 6] + - !!python/tuple [20, 22] + - !!python/tuple [24, 10] + - !!python/tuple [13, 30] + - !!python/tuple [6, 11] + - !!python/tuple [28, 14] + - !!python/tuple [25, 0] + - !!python/tuple [17, 26] + - !!python/tuple [8, 21] + - !!python/tuple [20, 10] + - !!python/tuple [8, 20] + - !!python/tuple [8, 25] + - !!python/tuple [15, 3] + - !!python/tuple [6, 24] + - !!python/tuple [20, 9] + - !!python/tuple [15, 26] + - !!python/tuple [24, 18] + - !!python/tuple [1, 12] + - !!python/tuple [16, 14] + - !!python/tuple [30, 13] + - !!python/tuple [20, 25] + - !!python/tuple [9, 30] + - !!python/tuple [21, 17] + - !!python/tuple [30, 0] + - !!python/tuple [4, 16] + - !!python/tuple [3, 7] + - !!python/tuple [0, 12] + - !!python/tuple [31, 23] + - !!python/tuple [31, 22] + - !!python/tuple [22, 3] + - !!python/tuple [12, 3] + - !!python/tuple [14, 8] + - !!python/tuple [2, 31] + - !!python/tuple [3, 0] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex56.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex56.yaml new file mode 100644 index 0000000..515bc8c --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex56.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [23, 12] + name: agent0 + start: [10, 5] +- goal: [2, 22] + name: agent1 + start: [20, 7] +- goal: [2, 4] + name: agent2 + start: [29, 6] +- goal: [30, 12] + name: agent3 + start: [9, 30] +- goal: [11, 3] + name: agent4 + start: [24, 22] +- goal: [4, 4] + name: agent5 + start: [19, 29] +- goal: [17, 24] + name: agent6 + start: [22, 23] +- goal: [2, 29] + name: agent7 + start: [1, 17] +- goal: [8, 26] + name: agent8 + start: [31, 4] +- goal: [5, 30] + name: agent9 + start: [9, 10] +- goal: [10, 9] + name: agent10 + start: [15, 25] +- goal: [15, 29] + name: agent11 + start: [22, 30] +- goal: [25, 12] + name: agent12 + start: [11, 7] +- goal: [22, 1] + name: agent13 + start: [4, 28] +- goal: [2, 30] + name: agent14 + start: [7, 21] +- goal: [5, 22] + name: agent15 + start: [19, 24] +- goal: [30, 14] + name: agent16 + start: [15, 15] +- goal: [24, 18] + name: agent17 + start: [14, 31] +- goal: [21, 28] + name: agent18 + start: [8, 15] +- goal: [2, 16] + name: agent19 + start: [24, 18] +- goal: [3, 13] + name: agent20 + start: [23, 20] +- goal: [21, 19] + name: agent21 + start: [6, 2] +- goal: [26, 30] + name: agent22 + start: [6, 20] +- goal: [14, 29] + name: agent23 + start: [24, 5] +- goal: [21, 10] + name: agent24 + start: [23, 2] +- goal: [30, 22] + name: agent25 + start: [13, 14] +- goal: [17, 27] + name: agent26 + start: [21, 19] +- goal: [30, 28] + name: agent27 + start: [18, 3] +- goal: [21, 14] + name: agent28 + start: [28, 26] +- goal: [6, 26] + name: agent29 + start: [27, 7] +- goal: [24, 12] + name: agent30 + start: [9, 0] +- goal: [18, 0] + name: agent31 + start: [22, 5] +- goal: [25, 4] + name: agent32 + start: [25, 28] +- goal: [17, 7] + name: agent33 + start: [17, 25] +- goal: [15, 9] + name: agent34 + start: [22, 7] +- goal: [10, 4] + name: agent35 + start: [22, 12] +- goal: [16, 2] + name: agent36 + start: [11, 0] +- goal: [29, 26] + name: agent37 + start: [20, 31] +- goal: [21, 9] + name: agent38 + start: [21, 15] +- goal: [14, 19] + name: agent39 + start: [3, 15] +- goal: [20, 11] + name: agent40 + start: [12, 19] +- goal: [25, 21] + name: agent41 + start: [7, 11] +- goal: [15, 22] + name: agent42 + start: [21, 2] +- goal: [6, 16] + name: agent43 + start: [0, 13] +- goal: [10, 21] + name: agent44 + start: [29, 15] +- goal: [10, 29] + name: agent45 + start: [4, 2] +- goal: [20, 8] + name: agent46 + start: [31, 9] +- goal: [5, 2] + name: agent47 + start: [22, 24] +- goal: [7, 19] + name: agent48 + start: [16, 1] +- goal: [27, 20] + name: agent49 + start: [13, 18] +- goal: [19, 25] + name: agent50 + start: [1, 10] +- goal: [6, 7] + name: agent51 + start: [4, 10] +- goal: [6, 1] + name: agent52 + start: [23, 27] +- goal: [11, 28] + name: agent53 + start: [23, 7] +- goal: [15, 14] + name: agent54 + start: [8, 24] +- goal: [29, 19] + name: agent55 + start: [22, 3] +- goal: [4, 17] + name: agent56 + start: [3, 26] +- goal: [29, 16] + name: agent57 + start: [9, 24] +- goal: [17, 10] + name: agent58 + start: [30, 0] +- goal: [23, 22] + name: agent59 + start: [13, 22] +- goal: [1, 29] + name: agent60 + start: [4, 31] +- goal: [30, 19] + name: agent61 + start: [9, 4] +- goal: [9, 29] + name: agent62 + start: [7, 20] +- goal: [1, 10] + name: agent63 + start: [11, 8] +- goal: [26, 0] + name: agent64 + start: [25, 7] +- goal: [5, 25] + name: agent65 + start: [15, 14] +- goal: [25, 26] + name: agent66 + start: [26, 12] +- goal: [16, 11] + name: agent67 + start: [12, 5] +- goal: [8, 20] + name: agent68 + start: [20, 0] +- goal: [15, 2] + name: agent69 + start: [21, 31] +- goal: [21, 21] + name: agent70 + start: [1, 25] +- goal: [20, 9] + name: agent71 + start: [23, 15] +- goal: [16, 9] + name: agent72 + start: [4, 12] +- goal: [6, 2] + name: agent73 + start: [1, 4] +- goal: [4, 1] + name: agent74 + start: [28, 16] +- goal: [19, 29] + name: agent75 + start: [19, 22] +- goal: [24, 7] + name: agent76 + start: [26, 0] +- goal: [1, 16] + name: agent77 + start: [18, 28] +- goal: [14, 3] + name: agent78 + start: [12, 11] +- goal: [27, 14] + name: agent79 + start: [17, 4] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [24, 13] + - !!python/tuple [28, 28] + - !!python/tuple [3, 31] + - !!python/tuple [29, 23] + - !!python/tuple [8, 7] + - !!python/tuple [17, 17] + - !!python/tuple [23, 14] + - !!python/tuple [25, 11] + - !!python/tuple [9, 21] + - !!python/tuple [18, 21] + - !!python/tuple [21, 16] + - !!python/tuple [1, 21] + - !!python/tuple [12, 12] + - !!python/tuple [13, 11] + - !!python/tuple [24, 4] + - !!python/tuple [5, 23] + - !!python/tuple [2, 2] + - !!python/tuple [25, 25] + - !!python/tuple [4, 23] + - !!python/tuple [16, 3] + - !!python/tuple [2, 26] + - !!python/tuple [3, 9] + - !!python/tuple [13, 23] + - !!python/tuple [29, 4] + - !!python/tuple [0, 26] + - !!python/tuple [22, 20] + - !!python/tuple [20, 12] + - !!python/tuple [23, 19] + - !!python/tuple [18, 7] + - !!python/tuple [3, 11] + - !!python/tuple [28, 15] + - !!python/tuple [9, 12] + - !!python/tuple [5, 1] + - !!python/tuple [3, 4] + - !!python/tuple [20, 21] + - !!python/tuple [21, 22] + - !!python/tuple [21, 23] + - !!python/tuple [7, 27] + - !!python/tuple [5, 27] + - !!python/tuple [0, 28] + - !!python/tuple [7, 15] + - !!python/tuple [3, 28] + - !!python/tuple [9, 14] + - !!python/tuple [21, 8] + - !!python/tuple [10, 12] + - !!python/tuple [18, 2] + - !!python/tuple [11, 16] + - !!python/tuple [30, 17] + - !!python/tuple [6, 6] + - !!python/tuple [7, 18] + - !!python/tuple [11, 31] + - !!python/tuple [8, 30] + - !!python/tuple [17, 20] + - !!python/tuple [20, 14] + - !!python/tuple [18, 26] + - !!python/tuple [12, 7] + - !!python/tuple [23, 16] + - !!python/tuple [17, 6] + - !!python/tuple [22, 31] + - !!python/tuple [16, 24] + - !!python/tuple [23, 28] + - !!python/tuple [20, 27] + - !!python/tuple [28, 4] + - !!python/tuple [0, 20] + - !!python/tuple [16, 19] + - !!python/tuple [29, 24] + - !!python/tuple [21, 24] + - !!python/tuple [26, 27] + - !!python/tuple [0, 2] + - !!python/tuple [22, 11] + - !!python/tuple [2, 23] + - !!python/tuple [5, 13] + - !!python/tuple [29, 25] + - !!python/tuple [14, 12] + - !!python/tuple [27, 11] + - !!python/tuple [25, 10] + - !!python/tuple [20, 18] + - !!python/tuple [10, 17] + - !!python/tuple [14, 20] + - !!python/tuple [29, 8] + - !!python/tuple [21, 4] + - !!python/tuple [14, 8] + - !!python/tuple [16, 30] + - !!python/tuple [24, 21] + - !!python/tuple [14, 14] + - !!python/tuple [31, 13] + - !!python/tuple [0, 29] + - !!python/tuple [9, 2] + - !!python/tuple [5, 29] + - !!python/tuple [24, 10] + - !!python/tuple [16, 23] + - !!python/tuple [6, 27] + - !!python/tuple [12, 31] + - !!python/tuple [13, 30] + - !!python/tuple [17, 29] + - !!python/tuple [7, 1] + - !!python/tuple [20, 20] + - !!python/tuple [30, 4] + - !!python/tuple [13, 29] + - !!python/tuple [7, 2] + - !!python/tuple [31, 5] + - !!python/tuple [17, 11] + - !!python/tuple [17, 13] + - !!python/tuple [21, 6] + - !!python/tuple [19, 12] + - !!python/tuple [11, 24] + - !!python/tuple [1, 31] + - !!python/tuple [26, 11] + - !!python/tuple [6, 13] + - !!python/tuple [10, 13] + - !!python/tuple [27, 22] + - !!python/tuple [6, 4] + - !!python/tuple [9, 18] + - !!python/tuple [4, 13] + - !!python/tuple [0, 18] + - !!python/tuple [31, 21] + - !!python/tuple [8, 4] + - !!python/tuple [24, 31] + - !!python/tuple [0, 19] + - !!python/tuple [24, 23] + - !!python/tuple [27, 30] + - !!python/tuple [5, 14] + - !!python/tuple [3, 17] + - !!python/tuple [7, 16] + - !!python/tuple [22, 26] + - !!python/tuple [21, 18] + - !!python/tuple [8, 3] + - !!python/tuple [26, 19] + - !!python/tuple [18, 23] + - !!python/tuple [25, 27] + - !!python/tuple [2, 10] + - !!python/tuple [1, 3] + - !!python/tuple [31, 31] + - !!python/tuple [4, 9] + - !!python/tuple [25, 9] + - !!python/tuple [25, 6] + - !!python/tuple [2, 3] + - !!python/tuple [31, 14] + - !!python/tuple [21, 5] + - !!python/tuple [8, 21] + - !!python/tuple [20, 25] + - !!python/tuple [24, 19] + - !!python/tuple [12, 21] + - !!python/tuple [28, 31] + - !!python/tuple [17, 8] + - !!python/tuple [18, 18] + - !!python/tuple [23, 11] + - !!python/tuple [30, 25] + - !!python/tuple [28, 7] + - !!python/tuple [11, 23] + - !!python/tuple [25, 23] + - !!python/tuple [4, 11] + - !!python/tuple [27, 18] + - !!python/tuple [5, 11] + - !!python/tuple [1, 18] + - !!python/tuple [4, 18] + - !!python/tuple [12, 22] + - !!python/tuple [0, 3] + - !!python/tuple [8, 13] + - !!python/tuple [0, 22] + - !!python/tuple [24, 27] + - !!python/tuple [5, 28] + - !!python/tuple [17, 26] + - !!python/tuple [11, 4] + - !!python/tuple [17, 28] + - !!python/tuple [16, 5] + - !!python/tuple [3, 14] + - !!python/tuple [13, 5] + - !!python/tuple [11, 20] + - !!python/tuple [23, 8] + - !!python/tuple [23, 30] + - !!python/tuple [25, 0] + - !!python/tuple [28, 12] + - !!python/tuple [17, 9] + - !!python/tuple [19, 6] + - !!python/tuple [14, 7] + - !!python/tuple [5, 4] + - !!python/tuple [24, 15] + - !!python/tuple [12, 29] + - !!python/tuple [8, 10] + - !!python/tuple [13, 20] + - !!python/tuple [16, 26] + - !!python/tuple [2, 12] + - !!python/tuple [7, 9] + - !!python/tuple [14, 25] + - !!python/tuple [2, 28] + - !!python/tuple [21, 13] + - !!python/tuple [6, 22] + - !!python/tuple [31, 16] + - !!python/tuple [25, 1] + - !!python/tuple [0, 30] + - !!python/tuple [6, 10] + - !!python/tuple [31, 18] + - !!python/tuple [6, 11] + - !!python/tuple [12, 23] + - !!python/tuple [12, 27] + - !!python/tuple [0, 24] + - !!python/tuple [20, 29] + - !!python/tuple [13, 2] + - !!python/tuple [19, 9] + - !!python/tuple [19, 2] + - !!python/tuple [26, 24] + - !!python/tuple [31, 25] + - !!python/tuple [3, 7] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex57.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex57.yaml new file mode 100644 index 0000000..e4ec341 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex57.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [28, 4] + name: agent0 + start: [24, 31] +- goal: [4, 22] + name: agent1 + start: [15, 10] +- goal: [6, 23] + name: agent2 + start: [26, 2] +- goal: [26, 25] + name: agent3 + start: [4, 12] +- goal: [24, 16] + name: agent4 + start: [12, 15] +- goal: [25, 23] + name: agent5 + start: [25, 9] +- goal: [10, 18] + name: agent6 + start: [27, 13] +- goal: [15, 5] + name: agent7 + start: [21, 1] +- goal: [15, 2] + name: agent8 + start: [26, 23] +- goal: [6, 22] + name: agent9 + start: [20, 7] +- goal: [6, 7] + name: agent10 + start: [27, 14] +- goal: [22, 26] + name: agent11 + start: [31, 24] +- goal: [30, 4] + name: agent12 + start: [3, 15] +- goal: [10, 22] + name: agent13 + start: [10, 17] +- goal: [27, 29] + name: agent14 + start: [11, 30] +- goal: [29, 28] + name: agent15 + start: [0, 30] +- goal: [11, 13] + name: agent16 + start: [10, 30] +- goal: [1, 13] + name: agent17 + start: [22, 17] +- goal: [22, 12] + name: agent18 + start: [28, 17] +- goal: [27, 2] + name: agent19 + start: [19, 17] +- goal: [28, 9] + name: agent20 + start: [29, 28] +- goal: [9, 0] + name: agent21 + start: [6, 27] +- goal: [12, 28] + name: agent22 + start: [6, 10] +- goal: [25, 14] + name: agent23 + start: [6, 7] +- goal: [22, 30] + name: agent24 + start: [2, 14] +- goal: [16, 15] + name: agent25 + start: [10, 6] +- goal: [1, 30] + name: agent26 + start: [30, 26] +- goal: [27, 20] + name: agent27 + start: [18, 4] +- goal: [22, 11] + name: agent28 + start: [31, 10] +- goal: [24, 11] + name: agent29 + start: [31, 5] +- goal: [23, 4] + name: agent30 + start: [5, 21] +- goal: [19, 19] + name: agent31 + start: [15, 13] +- goal: [8, 15] + name: agent32 + start: [8, 14] +- goal: [30, 31] + name: agent33 + start: [26, 1] +- goal: [11, 29] + name: agent34 + start: [28, 28] +- goal: [29, 15] + name: agent35 + start: [23, 2] +- goal: [28, 12] + name: agent36 + start: [12, 26] +- goal: [10, 15] + name: agent37 + start: [20, 6] +- goal: [27, 1] + name: agent38 + start: [11, 20] +- goal: [26, 27] + name: agent39 + start: [8, 4] +- goal: [17, 27] + name: agent40 + start: [21, 22] +- goal: [13, 23] + name: agent41 + start: [30, 27] +- goal: [25, 17] + name: agent42 + start: [30, 11] +- goal: [23, 2] + name: agent43 + start: [28, 11] +- goal: [29, 17] + name: agent44 + start: [13, 25] +- goal: [22, 23] + name: agent45 + start: [22, 8] +- goal: [2, 10] + name: agent46 + start: [2, 23] +- goal: [4, 7] + name: agent47 + start: [11, 12] +- goal: [3, 28] + name: agent48 + start: [14, 22] +- goal: [9, 27] + name: agent49 + start: [21, 16] +- goal: [15, 27] + name: agent50 + start: [15, 25] +- goal: [6, 10] + name: agent51 + start: [19, 24] +- goal: [20, 24] + name: agent52 + start: [10, 3] +- goal: [12, 21] + name: agent53 + start: [3, 21] +- goal: [1, 26] + name: agent54 + start: [13, 16] +- goal: [26, 4] + name: agent55 + start: [15, 16] +- goal: [21, 22] + name: agent56 + start: [1, 13] +- goal: [4, 30] + name: agent57 + start: [8, 3] +- goal: [27, 17] + name: agent58 + start: [24, 3] +- goal: [18, 31] + name: agent59 + start: [13, 0] +- goal: [18, 12] + name: agent60 + start: [16, 31] +- goal: [20, 1] + name: agent61 + start: [17, 14] +- goal: [3, 9] + name: agent62 + start: [13, 24] +- goal: [4, 12] + name: agent63 + start: [24, 14] +- goal: [3, 23] + name: agent64 + start: [30, 8] +- goal: [5, 15] + name: agent65 + start: [22, 21] +- goal: [1, 8] + name: agent66 + start: [6, 4] +- goal: [19, 24] + name: agent67 + start: [15, 15] +- goal: [19, 20] + name: agent68 + start: [10, 9] +- goal: [12, 11] + name: agent69 + start: [6, 1] +- goal: [8, 14] + name: agent70 + start: [28, 19] +- goal: [18, 20] + name: agent71 + start: [26, 26] +- goal: [12, 15] + name: agent72 + start: [25, 15] +- goal: [15, 18] + name: agent73 + start: [20, 9] +- goal: [15, 30] + name: agent74 + start: [9, 24] +- goal: [24, 3] + name: agent75 + start: [16, 3] +- goal: [29, 12] + name: agent76 + start: [16, 16] +- goal: [4, 19] + name: agent77 + start: [9, 16] +- goal: [14, 26] + name: agent78 + start: [8, 29] +- goal: [4, 15] + name: agent79 + start: [17, 30] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [17, 15] + - !!python/tuple [21, 13] + - !!python/tuple [18, 6] + - !!python/tuple [12, 4] + - !!python/tuple [23, 8] + - !!python/tuple [13, 9] + - !!python/tuple [29, 7] + - !!python/tuple [13, 18] + - !!python/tuple [31, 28] + - !!python/tuple [2, 28] + - !!python/tuple [14, 0] + - !!python/tuple [1, 25] + - !!python/tuple [17, 24] + - !!python/tuple [26, 0] + - !!python/tuple [8, 0] + - !!python/tuple [17, 1] + - !!python/tuple [13, 28] + - !!python/tuple [27, 8] + - !!python/tuple [15, 12] + - !!python/tuple [22, 14] + - !!python/tuple [21, 5] + - !!python/tuple [19, 5] + - !!python/tuple [10, 26] + - !!python/tuple [30, 20] + - !!python/tuple [30, 14] + - !!python/tuple [28, 3] + - !!python/tuple [8, 11] + - !!python/tuple [1, 4] + - !!python/tuple [24, 10] + - !!python/tuple [27, 24] + - !!python/tuple [19, 9] + - !!python/tuple [14, 17] + - !!python/tuple [9, 21] + - !!python/tuple [4, 4] + - !!python/tuple [13, 19] + - !!python/tuple [22, 29] + - !!python/tuple [11, 17] + - !!python/tuple [8, 30] + - !!python/tuple [31, 15] + - !!python/tuple [4, 14] + - !!python/tuple [0, 4] + - !!python/tuple [18, 26] + - !!python/tuple [21, 19] + - !!python/tuple [21, 15] + - !!python/tuple [7, 16] + - !!python/tuple [25, 11] + - !!python/tuple [28, 8] + - !!python/tuple [1, 14] + - !!python/tuple [27, 12] + - !!python/tuple [17, 9] + - !!python/tuple [29, 4] + - !!python/tuple [14, 12] + - !!python/tuple [23, 7] + - !!python/tuple [28, 21] + - !!python/tuple [3, 20] + - !!python/tuple [4, 23] + - !!python/tuple [7, 27] + - !!python/tuple [22, 7] + - !!python/tuple [9, 6] + - !!python/tuple [15, 31] + - !!python/tuple [20, 2] + - !!python/tuple [7, 20] + - !!python/tuple [17, 17] + - !!python/tuple [26, 6] + - !!python/tuple [16, 5] + - !!python/tuple [12, 19] + - !!python/tuple [7, 1] + - !!python/tuple [31, 22] + - !!python/tuple [10, 5] + - !!python/tuple [31, 0] + - !!python/tuple [24, 23] + - !!python/tuple [11, 21] + - !!python/tuple [29, 0] + - !!python/tuple [16, 12] + - !!python/tuple [9, 2] + - !!python/tuple [19, 23] + - !!python/tuple [28, 7] + - !!python/tuple [19, 10] + - !!python/tuple [10, 27] + - !!python/tuple [28, 25] + - !!python/tuple [13, 5] + - !!python/tuple [22, 18] + - !!python/tuple [9, 22] + - !!python/tuple [28, 26] + - !!python/tuple [15, 22] + - !!python/tuple [8, 16] + - !!python/tuple [10, 24] + - !!python/tuple [18, 16] + - !!python/tuple [24, 7] + - !!python/tuple [7, 3] + - !!python/tuple [12, 17] + - !!python/tuple [23, 27] + - !!python/tuple [17, 20] + - !!python/tuple [3, 8] + - !!python/tuple [11, 0] + - !!python/tuple [12, 24] + - !!python/tuple [11, 9] + - !!python/tuple [30, 16] + - !!python/tuple [4, 26] + - !!python/tuple [9, 17] + - !!python/tuple [25, 19] + - !!python/tuple [29, 10] + - !!python/tuple [2, 7] + - !!python/tuple [0, 13] + - !!python/tuple [17, 31] + - !!python/tuple [6, 14] + - !!python/tuple [29, 16] + - !!python/tuple [23, 0] + - !!python/tuple [12, 29] + - !!python/tuple [16, 14] + - !!python/tuple [13, 1] + - !!python/tuple [1, 12] + - !!python/tuple [18, 21] + - !!python/tuple [13, 13] + - !!python/tuple [0, 24] + - !!python/tuple [27, 10] + - !!python/tuple [9, 28] + - !!python/tuple [3, 30] + - !!python/tuple [23, 21] + - !!python/tuple [28, 20] + - !!python/tuple [24, 0] + - !!python/tuple [0, 7] + - !!python/tuple [8, 26] + - !!python/tuple [23, 17] + - !!python/tuple [7, 11] + - !!python/tuple [28, 16] + - !!python/tuple [2, 11] + - !!python/tuple [19, 2] + - !!python/tuple [21, 0] + - !!python/tuple [18, 13] + - !!python/tuple [24, 21] + - !!python/tuple [2, 19] + - !!python/tuple [3, 3] + - !!python/tuple [12, 9] + - !!python/tuple [23, 15] + - !!python/tuple [6, 6] + - !!python/tuple [31, 3] + - !!python/tuple [18, 7] + - !!python/tuple [5, 13] + - !!python/tuple [3, 26] + - !!python/tuple [24, 5] + - !!python/tuple [11, 18] + - !!python/tuple [7, 5] + - !!python/tuple [16, 23] + - !!python/tuple [17, 26] + - !!python/tuple [9, 1] + - !!python/tuple [29, 27] + - !!python/tuple [27, 4] + - !!python/tuple [8, 28] + - !!python/tuple [2, 12] + - !!python/tuple [12, 16] + - !!python/tuple [5, 26] + - !!python/tuple [31, 20] + - !!python/tuple [2, 26] + - !!python/tuple [27, 25] + - !!python/tuple [8, 5] + - !!python/tuple [18, 15] + - !!python/tuple [14, 16] + - !!python/tuple [9, 10] + - !!python/tuple [27, 27] + - !!python/tuple [31, 19] + - !!python/tuple [19, 28] + - !!python/tuple [18, 1] + - !!python/tuple [1, 22] + - !!python/tuple [17, 4] + - !!python/tuple [7, 24] + - !!python/tuple [20, 29] + - !!python/tuple [21, 21] + - !!python/tuple [16, 2] + - !!python/tuple [15, 6] + - !!python/tuple [25, 0] + - !!python/tuple [21, 23] + - !!python/tuple [30, 22] + - !!python/tuple [30, 19] + - !!python/tuple [1, 23] + - !!python/tuple [12, 27] + - !!python/tuple [14, 21] + - !!python/tuple [31, 30] + - !!python/tuple [24, 28] + - !!python/tuple [0, 12] + - !!python/tuple [17, 10] + - !!python/tuple [25, 3] + - !!python/tuple [18, 17] + - !!python/tuple [19, 16] + - !!python/tuple [28, 31] + - !!python/tuple [7, 13] + - !!python/tuple [9, 9] + - !!python/tuple [18, 18] + - !!python/tuple [27, 19] + - !!python/tuple [4, 25] + - !!python/tuple [23, 19] + - !!python/tuple [20, 19] + - !!python/tuple [4, 1] + - !!python/tuple [25, 30] + - !!python/tuple [7, 28] + - !!python/tuple [0, 0] + - !!python/tuple [3, 25] + - !!python/tuple [6, 9] + - !!python/tuple [5, 25] + - !!python/tuple [3, 0] + - !!python/tuple [20, 15] + - !!python/tuple [12, 2] + - !!python/tuple [15, 20] + - !!python/tuple [27, 26] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex58.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex58.yaml new file mode 100644 index 0000000..c53d750 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex58.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [24, 31] + name: agent0 + start: [17, 28] +- goal: [1, 17] + name: agent1 + start: [29, 13] +- goal: [20, 13] + name: agent2 + start: [29, 20] +- goal: [13, 15] + name: agent3 + start: [25, 21] +- goal: [15, 20] + name: agent4 + start: [15, 31] +- goal: [27, 25] + name: agent5 + start: [2, 11] +- goal: [18, 15] + name: agent6 + start: [1, 12] +- goal: [31, 25] + name: agent7 + start: [18, 18] +- goal: [31, 5] + name: agent8 + start: [28, 6] +- goal: [20, 17] + name: agent9 + start: [14, 3] +- goal: [23, 14] + name: agent10 + start: [1, 11] +- goal: [3, 0] + name: agent11 + start: [2, 2] +- goal: [23, 4] + name: agent12 + start: [18, 7] +- goal: [5, 0] + name: agent13 + start: [23, 8] +- goal: [2, 5] + name: agent14 + start: [16, 14] +- goal: [31, 19] + name: agent15 + start: [25, 20] +- goal: [4, 5] + name: agent16 + start: [27, 8] +- goal: [11, 9] + name: agent17 + start: [19, 18] +- goal: [25, 10] + name: agent18 + start: [25, 18] +- goal: [3, 27] + name: agent19 + start: [4, 2] +- goal: [18, 29] + name: agent20 + start: [31, 1] +- goal: [15, 14] + name: agent21 + start: [6, 15] +- goal: [17, 22] + name: agent22 + start: [10, 10] +- goal: [12, 28] + name: agent23 + start: [28, 4] +- goal: [29, 1] + name: agent24 + start: [10, 17] +- goal: [5, 27] + name: agent25 + start: [22, 2] +- goal: [31, 20] + name: agent26 + start: [15, 17] +- goal: [21, 16] + name: agent27 + start: [12, 28] +- goal: [20, 27] + name: agent28 + start: [13, 30] +- goal: [21, 15] + name: agent29 + start: [2, 21] +- goal: [17, 15] + name: agent30 + start: [24, 18] +- goal: [30, 3] + name: agent31 + start: [12, 12] +- goal: [7, 20] + name: agent32 + start: [3, 16] +- goal: [30, 13] + name: agent33 + start: [10, 28] +- goal: [26, 12] + name: agent34 + start: [2, 25] +- goal: [9, 26] + name: agent35 + start: [20, 11] +- goal: [3, 18] + name: agent36 + start: [30, 1] +- goal: [4, 3] + name: agent37 + start: [1, 18] +- goal: [15, 25] + name: agent38 + start: [27, 20] +- goal: [24, 16] + name: agent39 + start: [19, 23] +- goal: [25, 21] + name: agent40 + start: [6, 28] +- goal: [0, 1] + name: agent41 + start: [15, 18] +- goal: [27, 13] + name: agent42 + start: [6, 6] +- goal: [25, 18] + name: agent43 + start: [16, 3] +- goal: [6, 23] + name: agent44 + start: [9, 1] +- goal: [12, 2] + name: agent45 + start: [31, 24] +- goal: [17, 19] + name: agent46 + start: [20, 26] +- goal: [28, 1] + name: agent47 + start: [25, 29] +- goal: [5, 21] + name: agent48 + start: [21, 27] +- goal: [4, 8] + name: agent49 + start: [1, 8] +- goal: [0, 4] + name: agent50 + start: [24, 0] +- goal: [17, 17] + name: agent51 + start: [14, 7] +- goal: [9, 2] + name: agent52 + start: [8, 31] +- goal: [23, 16] + name: agent53 + start: [31, 17] +- goal: [22, 1] + name: agent54 + start: [5, 26] +- goal: [13, 26] + name: agent55 + start: [26, 27] +- goal: [22, 23] + name: agent56 + start: [22, 6] +- goal: [20, 26] + name: agent57 + start: [0, 28] +- goal: [5, 10] + name: agent58 + start: [17, 3] +- goal: [11, 31] + name: agent59 + start: [7, 1] +- goal: [0, 28] + name: agent60 + start: [17, 31] +- goal: [4, 12] + name: agent61 + start: [14, 23] +- goal: [19, 0] + name: agent62 + start: [12, 16] +- goal: [22, 18] + name: agent63 + start: [19, 16] +- goal: [16, 16] + name: agent64 + start: [9, 24] +- goal: [26, 23] + name: agent65 + start: [11, 2] +- goal: [2, 16] + name: agent66 + start: [11, 30] +- goal: [18, 4] + name: agent67 + start: [31, 29] +- goal: [30, 7] + name: agent68 + start: [28, 27] +- goal: [2, 14] + name: agent69 + start: [1, 29] +- goal: [14, 21] + name: agent70 + start: [30, 27] +- goal: [8, 22] + name: agent71 + start: [7, 14] +- goal: [0, 30] + name: agent72 + start: [5, 21] +- goal: [14, 26] + name: agent73 + start: [14, 15] +- goal: [22, 4] + name: agent74 + start: [5, 10] +- goal: [18, 8] + name: agent75 + start: [14, 29] +- goal: [21, 19] + name: agent76 + start: [28, 7] +- goal: [2, 25] + name: agent77 + start: [14, 24] +- goal: [28, 9] + name: agent78 + start: [23, 5] +- goal: [10, 6] + name: agent79 + start: [11, 3] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [13, 4] + - !!python/tuple [7, 9] + - !!python/tuple [30, 8] + - !!python/tuple [10, 24] + - !!python/tuple [0, 11] + - !!python/tuple [8, 30] + - !!python/tuple [17, 30] + - !!python/tuple [12, 3] + - !!python/tuple [14, 8] + - !!python/tuple [8, 9] + - !!python/tuple [7, 15] + - !!python/tuple [1, 6] + - !!python/tuple [19, 22] + - !!python/tuple [1, 10] + - !!python/tuple [24, 22] + - !!python/tuple [6, 10] + - !!python/tuple [10, 0] + - !!python/tuple [17, 11] + - !!python/tuple [19, 19] + - !!python/tuple [8, 26] + - !!python/tuple [3, 23] + - !!python/tuple [8, 13] + - !!python/tuple [16, 7] + - !!python/tuple [27, 30] + - !!python/tuple [22, 7] + - !!python/tuple [21, 0] + - !!python/tuple [15, 22] + - !!python/tuple [20, 6] + - !!python/tuple [17, 2] + - !!python/tuple [29, 25] + - !!python/tuple [12, 22] + - !!python/tuple [30, 15] + - !!python/tuple [29, 19] + - !!python/tuple [2, 22] + - !!python/tuple [8, 10] + - !!python/tuple [13, 1] + - !!python/tuple [9, 29] + - !!python/tuple [13, 3] + - !!python/tuple [10, 23] + - !!python/tuple [23, 7] + - !!python/tuple [19, 2] + - !!python/tuple [16, 30] + - !!python/tuple [12, 9] + - !!python/tuple [26, 8] + - !!python/tuple [21, 18] + - !!python/tuple [2, 26] + - !!python/tuple [4, 14] + - !!python/tuple [22, 8] + - !!python/tuple [19, 4] + - !!python/tuple [26, 15] + - !!python/tuple [17, 1] + - !!python/tuple [25, 26] + - !!python/tuple [23, 0] + - !!python/tuple [12, 15] + - !!python/tuple [6, 24] + - !!python/tuple [17, 20] + - !!python/tuple [1, 1] + - !!python/tuple [23, 22] + - !!python/tuple [7, 24] + - !!python/tuple [28, 30] + - !!python/tuple [9, 10] + - !!python/tuple [0, 0] + - !!python/tuple [1, 25] + - !!python/tuple [27, 2] + - !!python/tuple [21, 24] + - !!python/tuple [23, 12] + - !!python/tuple [5, 11] + - !!python/tuple [11, 5] + - !!python/tuple [24, 19] + - !!python/tuple [26, 20] + - !!python/tuple [11, 12] + - !!python/tuple [10, 7] + - !!python/tuple [3, 8] + - !!python/tuple [16, 5] + - !!python/tuple [7, 18] + - !!python/tuple [23, 19] + - !!python/tuple [28, 15] + - !!python/tuple [21, 6] + - !!python/tuple [17, 7] + - !!python/tuple [26, 3] + - !!python/tuple [3, 31] + - !!python/tuple [15, 11] + - !!python/tuple [23, 17] + - !!python/tuple [10, 9] + - !!python/tuple [20, 28] + - !!python/tuple [24, 24] + - !!python/tuple [25, 31] + - !!python/tuple [18, 12] + - !!python/tuple [21, 25] + - !!python/tuple [2, 30] + - !!python/tuple [22, 21] + - !!python/tuple [17, 24] + - !!python/tuple [19, 28] + - !!python/tuple [15, 8] + - !!python/tuple [16, 1] + - !!python/tuple [21, 12] + - !!python/tuple [9, 8] + - !!python/tuple [6, 0] + - !!python/tuple [13, 21] + - !!python/tuple [31, 9] + - !!python/tuple [0, 22] + - !!python/tuple [13, 14] + - !!python/tuple [22, 17] + - !!python/tuple [14, 17] + - !!python/tuple [16, 25] + - !!python/tuple [19, 5] + - !!python/tuple [25, 13] + - !!python/tuple [20, 31] + - !!python/tuple [26, 26] + - !!python/tuple [18, 0] + - !!python/tuple [4, 22] + - !!python/tuple [17, 16] + - !!python/tuple [5, 17] + - !!python/tuple [8, 4] + - !!python/tuple [29, 24] + - !!python/tuple [3, 21] + - !!python/tuple [18, 13] + - !!python/tuple [11, 28] + - !!python/tuple [11, 7] + - !!python/tuple [0, 6] + - !!python/tuple [26, 5] + - !!python/tuple [9, 9] + - !!python/tuple [20, 24] + - !!python/tuple [8, 7] + - !!python/tuple [22, 22] + - !!python/tuple [11, 13] + - !!python/tuple [11, 25] + - !!python/tuple [6, 14] + - !!python/tuple [18, 30] + - !!python/tuple [8, 23] + - !!python/tuple [12, 30] + - !!python/tuple [16, 24] + - !!python/tuple [9, 12] + - !!python/tuple [31, 31] + - !!python/tuple [25, 25] + - !!python/tuple [11, 16] + - !!python/tuple [20, 16] + - !!python/tuple [18, 5] + - !!python/tuple [8, 3] + - !!python/tuple [18, 6] + - !!python/tuple [2, 10] + - !!python/tuple [8, 27] + - !!python/tuple [15, 26] + - !!python/tuple [19, 10] + - !!python/tuple [27, 10] + - !!python/tuple [30, 0] + - !!python/tuple [20, 7] + - !!python/tuple [3, 29] + - !!python/tuple [15, 0] + - !!python/tuple [2, 3] + - !!python/tuple [7, 12] + - !!python/tuple [30, 5] + - !!python/tuple [11, 27] + - !!python/tuple [11, 23] + - !!python/tuple [9, 17] + - !!python/tuple [29, 0] + - !!python/tuple [27, 17] + - !!python/tuple [15, 10] + - !!python/tuple [22, 30] + - !!python/tuple [5, 6] + - !!python/tuple [3, 4] + - !!python/tuple [8, 29] + - !!python/tuple [4, 24] + - !!python/tuple [20, 19] + - !!python/tuple [9, 22] + - !!python/tuple [12, 20] + - !!python/tuple [2, 13] + - !!python/tuple [13, 19] + - !!python/tuple [27, 23] + - !!python/tuple [31, 28] + - !!python/tuple [19, 6] + - !!python/tuple [13, 6] + - !!python/tuple [23, 21] + - !!python/tuple [0, 12] + - !!python/tuple [14, 0] + - !!python/tuple [2, 27] + - !!python/tuple [7, 21] + - !!python/tuple [29, 14] + - !!python/tuple [24, 28] + - !!python/tuple [15, 4] + - !!python/tuple [6, 9] + - !!python/tuple [14, 12] + - !!python/tuple [6, 25] + - !!python/tuple [28, 24] + - !!python/tuple [0, 24] + - !!python/tuple [18, 26] + - !!python/tuple [10, 5] + - !!python/tuple [26, 25] + - !!python/tuple [14, 14] + - !!python/tuple [2, 24] + - !!python/tuple [8, 15] + - !!python/tuple [6, 11] + - !!python/tuple [12, 0] + - !!python/tuple [21, 26] + - !!python/tuple [1, 21] + - !!python/tuple [8, 5] + - !!python/tuple [4, 19] + - !!python/tuple [23, 9] + - !!python/tuple [30, 26] + - !!python/tuple [14, 6] + - !!python/tuple [31, 16] + - !!python/tuple [2, 15] + - !!python/tuple [12, 18] + - !!python/tuple [31, 4] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex59.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex59.yaml new file mode 100644 index 0000000..0a91e52 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex59.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [12, 24] + name: agent0 + start: [29, 31] +- goal: [14, 4] + name: agent1 + start: [23, 23] +- goal: [8, 11] + name: agent2 + start: [15, 0] +- goal: [21, 27] + name: agent3 + start: [21, 23] +- goal: [5, 26] + name: agent4 + start: [30, 3] +- goal: [24, 18] + name: agent5 + start: [21, 30] +- goal: [9, 22] + name: agent6 + start: [13, 25] +- goal: [20, 8] + name: agent7 + start: [12, 14] +- goal: [16, 7] + name: agent8 + start: [23, 19] +- goal: [28, 12] + name: agent9 + start: [3, 27] +- goal: [5, 11] + name: agent10 + start: [8, 26] +- goal: [5, 28] + name: agent11 + start: [0, 12] +- goal: [19, 3] + name: agent12 + start: [5, 21] +- goal: [17, 22] + name: agent13 + start: [27, 4] +- goal: [24, 3] + name: agent14 + start: [5, 3] +- goal: [22, 7] + name: agent15 + start: [5, 4] +- goal: [25, 9] + name: agent16 + start: [14, 10] +- goal: [20, 18] + name: agent17 + start: [14, 26] +- goal: [26, 10] + name: agent18 + start: [8, 6] +- goal: [10, 30] + name: agent19 + start: [8, 21] +- goal: [6, 27] + name: agent20 + start: [28, 30] +- goal: [23, 26] + name: agent21 + start: [31, 2] +- goal: [5, 22] + name: agent22 + start: [25, 21] +- goal: [17, 7] + name: agent23 + start: [13, 30] +- goal: [30, 23] + name: agent24 + start: [7, 12] +- goal: [24, 0] + name: agent25 + start: [19, 23] +- goal: [19, 30] + name: agent26 + start: [23, 22] +- goal: [4, 1] + name: agent27 + start: [28, 27] +- goal: [16, 13] + name: agent28 + start: [31, 28] +- goal: [3, 0] + name: agent29 + start: [31, 17] +- goal: [5, 31] + name: agent30 + start: [5, 1] +- goal: [9, 5] + name: agent31 + start: [2, 11] +- goal: [16, 15] + name: agent32 + start: [5, 29] +- goal: [22, 5] + name: agent33 + start: [13, 15] +- goal: [13, 20] + name: agent34 + start: [6, 23] +- goal: [29, 22] + name: agent35 + start: [16, 9] +- goal: [29, 11] + name: agent36 + start: [31, 29] +- goal: [27, 4] + name: agent37 + start: [30, 10] +- goal: [5, 3] + name: agent38 + start: [24, 17] +- goal: [23, 18] + name: agent39 + start: [30, 17] +- goal: [29, 5] + name: agent40 + start: [15, 27] +- goal: [31, 8] + name: agent41 + start: [2, 31] +- goal: [4, 3] + name: agent42 + start: [20, 30] +- goal: [17, 20] + name: agent43 + start: [30, 8] +- goal: [0, 2] + name: agent44 + start: [10, 26] +- goal: [22, 31] + name: agent45 + start: [22, 27] +- goal: [14, 8] + name: agent46 + start: [6, 2] +- goal: [15, 29] + name: agent47 + start: [11, 5] +- goal: [2, 15] + name: agent48 + start: [17, 26] +- goal: [9, 12] + name: agent49 + start: [22, 16] +- goal: [22, 6] + name: agent50 + start: [27, 2] +- goal: [13, 25] + name: agent51 + start: [24, 25] +- goal: [21, 1] + name: agent52 + start: [25, 8] +- goal: [25, 23] + name: agent53 + start: [31, 3] +- goal: [23, 8] + name: agent54 + start: [8, 17] +- goal: [14, 11] + name: agent55 + start: [15, 17] +- goal: [14, 23] + name: agent56 + start: [26, 18] +- goal: [28, 28] + name: agent57 + start: [15, 20] +- goal: [19, 28] + name: agent58 + start: [20, 11] +- goal: [16, 28] + name: agent59 + start: [24, 2] +- goal: [8, 7] + name: agent60 + start: [21, 10] +- goal: [11, 3] + name: agent61 + start: [11, 17] +- goal: [5, 23] + name: agent62 + start: [30, 5] +- goal: [24, 29] + name: agent63 + start: [11, 29] +- goal: [8, 10] + name: agent64 + start: [6, 12] +- goal: [7, 6] + name: agent65 + start: [5, 11] +- goal: [1, 0] + name: agent66 + start: [7, 23] +- goal: [29, 31] + name: agent67 + start: [19, 30] +- goal: [2, 14] + name: agent68 + start: [1, 31] +- goal: [6, 23] + name: agent69 + start: [18, 10] +- goal: [1, 2] + name: agent70 + start: [19, 21] +- goal: [27, 0] + name: agent71 + start: [26, 8] +- goal: [23, 27] + name: agent72 + start: [17, 0] +- goal: [24, 31] + name: agent73 + start: [17, 17] +- goal: [15, 9] + name: agent74 + start: [18, 22] +- goal: [27, 29] + name: agent75 + start: [17, 7] +- goal: [19, 13] + name: agent76 + start: [21, 11] +- goal: [12, 30] + name: agent77 + start: [27, 27] +- goal: [27, 3] + name: agent78 + start: [29, 9] +- goal: [24, 9] + name: agent79 + start: [3, 18] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [21, 28] + - !!python/tuple [31, 11] + - !!python/tuple [31, 21] + - !!python/tuple [22, 10] + - !!python/tuple [20, 4] + - !!python/tuple [13, 7] + - !!python/tuple [28, 8] + - !!python/tuple [10, 6] + - !!python/tuple [7, 20] + - !!python/tuple [18, 0] + - !!python/tuple [20, 10] + - !!python/tuple [29, 16] + - !!python/tuple [20, 7] + - !!python/tuple [6, 1] + - !!python/tuple [9, 29] + - !!python/tuple [27, 6] + - !!python/tuple [15, 13] + - !!python/tuple [29, 26] + - !!python/tuple [11, 27] + - !!python/tuple [23, 29] + - !!python/tuple [17, 15] + - !!python/tuple [15, 18] + - !!python/tuple [28, 11] + - !!python/tuple [22, 28] + - !!python/tuple [14, 16] + - !!python/tuple [24, 4] + - !!python/tuple [26, 15] + - !!python/tuple [11, 1] + - !!python/tuple [17, 11] + - !!python/tuple [30, 30] + - !!python/tuple [12, 23] + - !!python/tuple [21, 21] + - !!python/tuple [3, 24] + - !!python/tuple [20, 12] + - !!python/tuple [17, 25] + - !!python/tuple [1, 28] + - !!python/tuple [13, 2] + - !!python/tuple [24, 13] + - !!python/tuple [27, 14] + - !!python/tuple [16, 4] + - !!python/tuple [19, 12] + - !!python/tuple [31, 27] + - !!python/tuple [27, 26] + - !!python/tuple [7, 4] + - !!python/tuple [18, 14] + - !!python/tuple [26, 20] + - !!python/tuple [9, 17] + - !!python/tuple [6, 11] + - !!python/tuple [5, 16] + - !!python/tuple [0, 9] + - !!python/tuple [18, 20] + - !!python/tuple [1, 20] + - !!python/tuple [18, 7] + - !!python/tuple [28, 10] + - !!python/tuple [30, 31] + - !!python/tuple [11, 26] + - !!python/tuple [29, 14] + - !!python/tuple [31, 22] + - !!python/tuple [14, 13] + - !!python/tuple [16, 19] + - !!python/tuple [23, 12] + - !!python/tuple [6, 21] + - !!python/tuple [0, 4] + - !!python/tuple [25, 13] + - !!python/tuple [28, 18] + - !!python/tuple [18, 17] + - !!python/tuple [9, 15] + - !!python/tuple [1, 27] + - !!python/tuple [5, 18] + - !!python/tuple [7, 15] + - !!python/tuple [31, 26] + - !!python/tuple [6, 16] + - !!python/tuple [30, 9] + - !!python/tuple [4, 7] + - !!python/tuple [4, 20] + - !!python/tuple [20, 31] + - !!python/tuple [13, 10] + - !!python/tuple [10, 10] + - !!python/tuple [22, 8] + - !!python/tuple [28, 17] + - !!python/tuple [12, 17] + - !!python/tuple [6, 3] + - !!python/tuple [30, 27] + - !!python/tuple [24, 14] + - !!python/tuple [17, 6] + - !!python/tuple [1, 6] + - !!python/tuple [23, 10] + - !!python/tuple [9, 3] + - !!python/tuple [5, 17] + - !!python/tuple [0, 7] + - !!python/tuple [17, 4] + - !!python/tuple [15, 22] + - !!python/tuple [8, 9] + - !!python/tuple [15, 19] + - !!python/tuple [25, 29] + - !!python/tuple [28, 16] + - !!python/tuple [22, 17] + - !!python/tuple [20, 16] + - !!python/tuple [17, 1] + - !!python/tuple [24, 28] + - !!python/tuple [27, 1] + - !!python/tuple [12, 7] + - !!python/tuple [11, 8] + - !!python/tuple [3, 7] + - !!python/tuple [21, 25] + - !!python/tuple [1, 4] + - !!python/tuple [12, 13] + - !!python/tuple [7, 19] + - !!python/tuple [17, 29] + - !!python/tuple [24, 5] + - !!python/tuple [18, 28] + - !!python/tuple [31, 4] + - !!python/tuple [2, 24] + - !!python/tuple [18, 18] + - !!python/tuple [12, 26] + - !!python/tuple [3, 14] + - !!python/tuple [0, 14] + - !!python/tuple [13, 3] + - !!python/tuple [1, 19] + - !!python/tuple [14, 18] + - !!python/tuple [20, 21] + - !!python/tuple [9, 18] + - !!python/tuple [14, 29] + - !!python/tuple [1, 22] + - !!python/tuple [0, 29] + - !!python/tuple [22, 21] + - !!python/tuple [31, 6] + - !!python/tuple [8, 5] + - !!python/tuple [19, 24] + - !!python/tuple [23, 17] + - !!python/tuple [28, 26] + - !!python/tuple [27, 9] + - !!python/tuple [1, 1] + - !!python/tuple [31, 7] + - !!python/tuple [11, 31] + - !!python/tuple [4, 6] + - !!python/tuple [29, 18] + - !!python/tuple [6, 5] + - !!python/tuple [4, 28] + - !!python/tuple [11, 13] + - !!python/tuple [18, 9] + - !!python/tuple [2, 10] + - !!python/tuple [15, 11] + - !!python/tuple [2, 7] + - !!python/tuple [23, 6] + - !!python/tuple [27, 30] + - !!python/tuple [0, 13] + - !!python/tuple [21, 14] + - !!python/tuple [5, 0] + - !!python/tuple [11, 19] + - !!python/tuple [6, 13] + - !!python/tuple [11, 0] + - !!python/tuple [19, 17] + - !!python/tuple [22, 26] + - !!python/tuple [31, 10] + - !!python/tuple [10, 28] + - !!python/tuple [13, 16] + - !!python/tuple [8, 2] + - !!python/tuple [27, 31] + - !!python/tuple [26, 13] + - !!python/tuple [17, 24] + - !!python/tuple [8, 12] + - !!python/tuple [13, 4] + - !!python/tuple [9, 4] + - !!python/tuple [4, 2] + - !!python/tuple [14, 5] + - !!python/tuple [8, 3] + - !!python/tuple [20, 9] + - !!python/tuple [7, 2] + - !!python/tuple [19, 0] + - !!python/tuple [10, 12] + - !!python/tuple [11, 11] + - !!python/tuple [27, 23] + - !!python/tuple [29, 15] + - !!python/tuple [6, 15] + - !!python/tuple [23, 5] + - !!python/tuple [4, 30] + - !!python/tuple [6, 9] + - !!python/tuple [28, 2] + - !!python/tuple [15, 25] + - !!python/tuple [15, 8] + - !!python/tuple [2, 25] + - !!python/tuple [5, 13] + - !!python/tuple [4, 23] + - !!python/tuple [5, 25] + - !!python/tuple [16, 17] + - !!python/tuple [29, 1] + - !!python/tuple [25, 20] + - !!python/tuple [10, 27] + - !!python/tuple [24, 22] + - !!python/tuple [15, 26] + - !!python/tuple [1, 30] + - !!python/tuple [20, 6] + - !!python/tuple [9, 14] + - !!python/tuple [0, 6] + - !!python/tuple [4, 10] + - !!python/tuple [3, 30] + - !!python/tuple [9, 13] + - !!python/tuple [29, 27] + - !!python/tuple [11, 10] + - !!python/tuple [3, 13] + - !!python/tuple [27, 16] + - !!python/tuple [23, 15] + - !!python/tuple [0, 21] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex6.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex6.yaml new file mode 100644 index 0000000..5b49100 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex6.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [30, 26] + name: agent0 + start: [10, 8] +- goal: [19, 5] + name: agent1 + start: [6, 21] +- goal: [21, 14] + name: agent2 + start: [13, 20] +- goal: [29, 16] + name: agent3 + start: [22, 1] +- goal: [11, 2] + name: agent4 + start: [28, 21] +- goal: [5, 17] + name: agent5 + start: [8, 6] +- goal: [15, 3] + name: agent6 + start: [14, 3] +- goal: [17, 22] + name: agent7 + start: [2, 7] +- goal: [8, 30] + name: agent8 + start: [17, 5] +- goal: [28, 4] + name: agent9 + start: [12, 29] +- goal: [12, 1] + name: agent10 + start: [15, 16] +- goal: [5, 16] + name: agent11 + start: [9, 16] +- goal: [0, 21] + name: agent12 + start: [2, 29] +- goal: [3, 5] + name: agent13 + start: [27, 27] +- goal: [9, 5] + name: agent14 + start: [21, 5] +- goal: [13, 2] + name: agent15 + start: [0, 31] +- goal: [21, 10] + name: agent16 + start: [13, 30] +- goal: [24, 23] + name: agent17 + start: [15, 3] +- goal: [16, 31] + name: agent18 + start: [24, 4] +- goal: [6, 15] + name: agent19 + start: [0, 1] +- goal: [29, 11] + name: agent20 + start: [13, 5] +- goal: [21, 2] + name: agent21 + start: [5, 30] +- goal: [24, 17] + name: agent22 + start: [1, 7] +- goal: [11, 12] + name: agent23 + start: [3, 8] +- goal: [31, 11] + name: agent24 + start: [24, 18] +- goal: [26, 4] + name: agent25 + start: [30, 3] +- goal: [13, 18] + name: agent26 + start: [9, 5] +- goal: [18, 4] + name: agent27 + start: [6, 5] +- goal: [23, 18] + name: agent28 + start: [0, 11] +- goal: [11, 25] + name: agent29 + start: [11, 17] +- goal: [3, 14] + name: agent30 + start: [11, 22] +- goal: [6, 1] + name: agent31 + start: [13, 18] +- goal: [3, 11] + name: agent32 + start: [29, 6] +- goal: [23, 26] + name: agent33 + start: [5, 24] +- goal: [20, 6] + name: agent34 + start: [0, 4] +- goal: [22, 17] + name: agent35 + start: [24, 10] +- goal: [29, 6] + name: agent36 + start: [7, 23] +- goal: [18, 12] + name: agent37 + start: [0, 3] +- goal: [10, 23] + name: agent38 + start: [3, 28] +- goal: [28, 19] + name: agent39 + start: [27, 24] +- goal: [4, 11] + name: agent40 + start: [10, 25] +- goal: [9, 31] + name: agent41 + start: [25, 5] +- goal: [12, 3] + name: agent42 + start: [6, 16] +- goal: [27, 6] + name: agent43 + start: [21, 13] +- goal: [12, 4] + name: agent44 + start: [4, 19] +- goal: [18, 1] + name: agent45 + start: [4, 24] +- goal: [6, 25] + name: agent46 + start: [6, 23] +- goal: [13, 30] + name: agent47 + start: [12, 26] +- goal: [17, 3] + name: agent48 + start: [27, 3] +- goal: [0, 12] + name: agent49 + start: [16, 11] +- goal: [17, 17] + name: agent50 + start: [10, 2] +- goal: [30, 8] + name: agent51 + start: [24, 25] +- goal: [5, 24] + name: agent52 + start: [6, 15] +- goal: [29, 13] + name: agent53 + start: [29, 27] +- goal: [24, 10] + name: agent54 + start: [20, 26] +- goal: [25, 25] + name: agent55 + start: [28, 3] +- goal: [4, 12] + name: agent56 + start: [0, 20] +- goal: [30, 4] + name: agent57 + start: [29, 28] +- goal: [29, 3] + name: agent58 + start: [8, 13] +- goal: [27, 0] + name: agent59 + start: [27, 14] +- goal: [4, 26] + name: agent60 + start: [4, 20] +- goal: [24, 5] + name: agent61 + start: [27, 18] +- goal: [27, 8] + name: agent62 + start: [29, 19] +- goal: [21, 12] + name: agent63 + start: [23, 26] +- goal: [3, 8] + name: agent64 + start: [9, 27] +- goal: [10, 8] + name: agent65 + start: [28, 5] +- goal: [13, 20] + name: agent66 + start: [2, 24] +- goal: [22, 24] + name: agent67 + start: [1, 22] +- goal: [13, 14] + name: agent68 + start: [12, 12] +- goal: [23, 5] + name: agent69 + start: [27, 30] +- goal: [21, 25] + name: agent70 + start: [20, 21] +- goal: [17, 24] + name: agent71 + start: [12, 30] +- goal: [10, 25] + name: agent72 + start: [1, 13] +- goal: [9, 27] + name: agent73 + start: [18, 0] +- goal: [19, 27] + name: agent74 + start: [28, 31] +- goal: [30, 6] + name: agent75 + start: [11, 1] +- goal: [0, 1] + name: agent76 + start: [8, 21] +- goal: [31, 26] + name: agent77 + start: [14, 4] +- goal: [9, 8] + name: agent78 + start: [29, 21] +- goal: [1, 26] + name: agent79 + start: [15, 28] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [27, 29] + - !!python/tuple [28, 15] + - !!python/tuple [7, 26] + - !!python/tuple [13, 28] + - !!python/tuple [25, 4] + - !!python/tuple [13, 15] + - !!python/tuple [1, 9] + - !!python/tuple [29, 8] + - !!python/tuple [16, 18] + - !!python/tuple [12, 22] + - !!python/tuple [26, 8] + - !!python/tuple [3, 16] + - !!python/tuple [8, 5] + - !!python/tuple [12, 5] + - !!python/tuple [18, 28] + - !!python/tuple [1, 0] + - !!python/tuple [7, 12] + - !!python/tuple [10, 17] + - !!python/tuple [3, 7] + - !!python/tuple [18, 19] + - !!python/tuple [23, 27] + - !!python/tuple [30, 25] + - !!python/tuple [25, 9] + - !!python/tuple [31, 29] + - !!python/tuple [14, 16] + - !!python/tuple [9, 9] + - !!python/tuple [14, 22] + - !!python/tuple [3, 15] + - !!python/tuple [8, 23] + - !!python/tuple [29, 26] + - !!python/tuple [31, 14] + - !!python/tuple [19, 9] + - !!python/tuple [31, 20] + - !!python/tuple [21, 27] + - !!python/tuple [11, 27] + - !!python/tuple [15, 8] + - !!python/tuple [28, 11] + - !!python/tuple [14, 21] + - !!python/tuple [31, 10] + - !!python/tuple [30, 0] + - !!python/tuple [9, 25] + - !!python/tuple [14, 18] + - !!python/tuple [24, 31] + - !!python/tuple [0, 9] + - !!python/tuple [8, 4] + - !!python/tuple [9, 21] + - !!python/tuple [3, 24] + - !!python/tuple [12, 21] + - !!python/tuple [19, 12] + - !!python/tuple [23, 30] + - !!python/tuple [18, 14] + - !!python/tuple [17, 7] + - !!python/tuple [11, 28] + - !!python/tuple [18, 24] + - !!python/tuple [7, 27] + - !!python/tuple [6, 6] + - !!python/tuple [31, 4] + - !!python/tuple [9, 29] + - !!python/tuple [15, 21] + - !!python/tuple [7, 7] + - !!python/tuple [21, 15] + - !!python/tuple [17, 11] + - !!python/tuple [8, 14] + - !!python/tuple [16, 12] + - !!python/tuple [3, 17] + - !!python/tuple [2, 26] + - !!python/tuple [24, 30] + - !!python/tuple [14, 14] + - !!python/tuple [6, 0] + - !!python/tuple [10, 30] + - !!python/tuple [16, 28] + - !!python/tuple [22, 31] + - !!python/tuple [26, 19] + - !!python/tuple [15, 12] + - !!python/tuple [5, 18] + - !!python/tuple [1, 28] + - !!python/tuple [15, 10] + - !!python/tuple [27, 25] + - !!python/tuple [19, 22] + - !!python/tuple [11, 13] + - !!python/tuple [23, 19] + - !!python/tuple [30, 21] + - !!python/tuple [3, 30] + - !!python/tuple [27, 1] + - !!python/tuple [23, 25] + - !!python/tuple [27, 26] + - !!python/tuple [6, 27] + - !!python/tuple [26, 18] + - !!python/tuple [28, 20] + - !!python/tuple [10, 4] + - !!python/tuple [20, 7] + - !!python/tuple [24, 19] + - !!python/tuple [11, 3] + - !!python/tuple [11, 31] + - !!python/tuple [15, 17] + - !!python/tuple [2, 3] + - !!python/tuple [19, 26] + - !!python/tuple [2, 10] + - !!python/tuple [14, 1] + - !!python/tuple [12, 7] + - !!python/tuple [1, 27] + - !!python/tuple [9, 14] + - !!python/tuple [13, 13] + - !!python/tuple [16, 13] + - !!python/tuple [16, 14] + - !!python/tuple [18, 22] + - !!python/tuple [29, 22] + - !!python/tuple [13, 0] + - !!python/tuple [12, 6] + - !!python/tuple [14, 12] + - !!python/tuple [12, 24] + - !!python/tuple [4, 27] + - !!python/tuple [18, 5] + - !!python/tuple [18, 30] + - !!python/tuple [14, 11] + - !!python/tuple [3, 19] + - !!python/tuple [20, 4] + - !!python/tuple [17, 19] + - !!python/tuple [14, 20] + - !!python/tuple [3, 2] + - !!python/tuple [4, 6] + - !!python/tuple [15, 7] + - !!python/tuple [14, 8] + - !!python/tuple [18, 16] + - !!python/tuple [18, 27] + - !!python/tuple [1, 30] + - !!python/tuple [17, 8] + - !!python/tuple [6, 28] + - !!python/tuple [21, 26] + - !!python/tuple [17, 0] + - !!python/tuple [3, 3] + - !!python/tuple [10, 3] + - !!python/tuple [6, 29] + - !!python/tuple [13, 26] + - !!python/tuple [30, 28] + - !!python/tuple [24, 20] + - !!python/tuple [17, 6] + - !!python/tuple [19, 16] + - !!python/tuple [2, 30] + - !!python/tuple [0, 14] + - !!python/tuple [24, 22] + - !!python/tuple [12, 31] + - !!python/tuple [26, 24] + - !!python/tuple [25, 0] + - !!python/tuple [27, 17] + - !!python/tuple [13, 31] + - !!python/tuple [26, 3] + - !!python/tuple [5, 31] + - !!python/tuple [11, 19] + - !!python/tuple [9, 1] + - !!python/tuple [17, 9] + - !!python/tuple [2, 21] + - !!python/tuple [10, 24] + - !!python/tuple [26, 6] + - !!python/tuple [22, 19] + - !!python/tuple [8, 29] + - !!python/tuple [9, 28] + - !!python/tuple [15, 19] + - !!python/tuple [21, 30] + - !!python/tuple [14, 29] + - !!python/tuple [22, 11] + - !!python/tuple [22, 21] + - !!python/tuple [3, 6] + - !!python/tuple [9, 23] + - !!python/tuple [20, 18] + - !!python/tuple [11, 24] + - !!python/tuple [31, 2] + - !!python/tuple [25, 29] + - !!python/tuple [14, 2] + - !!python/tuple [2, 19] + - !!python/tuple [21, 18] + - !!python/tuple [24, 1] + - !!python/tuple [10, 22] + - !!python/tuple [10, 21] + - !!python/tuple [6, 22] + - !!python/tuple [18, 18] + - !!python/tuple [13, 7] + - !!python/tuple [14, 10] + - !!python/tuple [1, 24] + - !!python/tuple [16, 20] + - !!python/tuple [7, 16] + - !!python/tuple [9, 30] + - !!python/tuple [30, 31] + - !!python/tuple [25, 1] + - !!python/tuple [16, 1] + - !!python/tuple [15, 5] + - !!python/tuple [7, 2] + - !!python/tuple [13, 1] + - !!python/tuple [4, 31] + - !!python/tuple [16, 2] + - !!python/tuple [5, 4] + - !!python/tuple [19, 0] + - !!python/tuple [26, 25] + - !!python/tuple [22, 29] + - !!python/tuple [28, 30] + - !!python/tuple [12, 25] + - !!python/tuple [4, 15] + - !!python/tuple [2, 11] + - !!python/tuple [22, 28] + - !!python/tuple [22, 7] + - !!python/tuple [11, 18] + - !!python/tuple [16, 8] + - !!python/tuple [4, 18] + - !!python/tuple [30, 13] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex60.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex60.yaml new file mode 100644 index 0000000..4d4b0c3 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex60.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [31, 18] + name: agent0 + start: [30, 30] +- goal: [2, 23] + name: agent1 + start: [31, 1] +- goal: [15, 23] + name: agent2 + start: [4, 5] +- goal: [22, 28] + name: agent3 + start: [14, 31] +- goal: [23, 15] + name: agent4 + start: [28, 12] +- goal: [17, 26] + name: agent5 + start: [12, 9] +- goal: [1, 17] + name: agent6 + start: [16, 8] +- goal: [5, 1] + name: agent7 + start: [30, 5] +- goal: [11, 9] + name: agent8 + start: [3, 3] +- goal: [8, 27] + name: agent9 + start: [24, 8] +- goal: [14, 18] + name: agent10 + start: [25, 21] +- goal: [5, 26] + name: agent11 + start: [9, 20] +- goal: [5, 9] + name: agent12 + start: [31, 15] +- goal: [28, 9] + name: agent13 + start: [28, 13] +- goal: [23, 5] + name: agent14 + start: [14, 12] +- goal: [26, 8] + name: agent15 + start: [0, 30] +- goal: [0, 26] + name: agent16 + start: [11, 20] +- goal: [23, 18] + name: agent17 + start: [8, 15] +- goal: [29, 11] + name: agent18 + start: [3, 31] +- goal: [4, 5] + name: agent19 + start: [27, 0] +- goal: [30, 2] + name: agent20 + start: [19, 17] +- goal: [18, 17] + name: agent21 + start: [6, 2] +- goal: [12, 9] + name: agent22 + start: [11, 25] +- goal: [19, 31] + name: agent23 + start: [19, 21] +- goal: [3, 24] + name: agent24 + start: [11, 19] +- goal: [6, 23] + name: agent25 + start: [29, 22] +- goal: [11, 26] + name: agent26 + start: [6, 21] +- goal: [30, 7] + name: agent27 + start: [22, 7] +- goal: [2, 29] + name: agent28 + start: [19, 29] +- goal: [27, 5] + name: agent29 + start: [2, 11] +- goal: [2, 17] + name: agent30 + start: [16, 3] +- goal: [23, 13] + name: agent31 + start: [10, 27] +- goal: [17, 28] + name: agent32 + start: [10, 30] +- goal: [17, 7] + name: agent33 + start: [23, 7] +- goal: [26, 22] + name: agent34 + start: [13, 24] +- goal: [14, 16] + name: agent35 + start: [1, 31] +- goal: [7, 28] + name: agent36 + start: [0, 20] +- goal: [24, 12] + name: agent37 + start: [24, 6] +- goal: [1, 31] + name: agent38 + start: [19, 25] +- goal: [19, 28] + name: agent39 + start: [23, 24] +- goal: [28, 2] + name: agent40 + start: [8, 26] +- goal: [27, 1] + name: agent41 + start: [4, 31] +- goal: [12, 11] + name: agent42 + start: [15, 13] +- goal: [23, 2] + name: agent43 + start: [1, 14] +- goal: [6, 24] + name: agent44 + start: [26, 19] +- goal: [15, 19] + name: agent45 + start: [25, 14] +- goal: [1, 10] + name: agent46 + start: [11, 30] +- goal: [11, 7] + name: agent47 + start: [6, 22] +- goal: [22, 25] + name: agent48 + start: [16, 12] +- goal: [3, 29] + name: agent49 + start: [6, 28] +- goal: [13, 9] + name: agent50 + start: [15, 5] +- goal: [0, 28] + name: agent51 + start: [16, 10] +- goal: [27, 30] + name: agent52 + start: [9, 19] +- goal: [12, 15] + name: agent53 + start: [16, 30] +- goal: [15, 22] + name: agent54 + start: [9, 29] +- goal: [28, 26] + name: agent55 + start: [14, 13] +- goal: [27, 12] + name: agent56 + start: [19, 28] +- goal: [30, 26] + name: agent57 + start: [30, 20] +- goal: [13, 3] + name: agent58 + start: [12, 21] +- goal: [14, 24] + name: agent59 + start: [8, 12] +- goal: [0, 30] + name: agent60 + start: [31, 12] +- goal: [31, 25] + name: agent61 + start: [4, 18] +- goal: [19, 16] + name: agent62 + start: [29, 3] +- goal: [6, 15] + name: agent63 + start: [21, 7] +- goal: [10, 13] + name: agent64 + start: [21, 26] +- goal: [28, 7] + name: agent65 + start: [19, 12] +- goal: [8, 3] + name: agent66 + start: [13, 0] +- goal: [17, 9] + name: agent67 + start: [23, 12] +- goal: [24, 15] + name: agent68 + start: [3, 2] +- goal: [8, 12] + name: agent69 + start: [17, 21] +- goal: [7, 30] + name: agent70 + start: [24, 7] +- goal: [23, 30] + name: agent71 + start: [19, 5] +- goal: [14, 13] + name: agent72 + start: [5, 9] +- goal: [3, 18] + name: agent73 + start: [26, 5] +- goal: [22, 31] + name: agent74 + start: [29, 5] +- goal: [27, 17] + name: agent75 + start: [31, 4] +- goal: [18, 5] + name: agent76 + start: [29, 11] +- goal: [8, 16] + name: agent77 + start: [9, 0] +- goal: [23, 23] + name: agent78 + start: [9, 2] +- goal: [31, 11] + name: agent79 + start: [23, 29] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [16, 23] + - !!python/tuple [0, 8] + - !!python/tuple [27, 23] + - !!python/tuple [17, 12] + - !!python/tuple [9, 18] + - !!python/tuple [13, 26] + - !!python/tuple [2, 0] + - !!python/tuple [15, 31] + - !!python/tuple [6, 5] + - !!python/tuple [3, 14] + - !!python/tuple [5, 7] + - !!python/tuple [12, 5] + - !!python/tuple [17, 11] + - !!python/tuple [22, 20] + - !!python/tuple [14, 26] + - !!python/tuple [0, 19] + - !!python/tuple [26, 12] + - !!python/tuple [31, 8] + - !!python/tuple [31, 0] + - !!python/tuple [6, 8] + - !!python/tuple [28, 1] + - !!python/tuple [18, 18] + - !!python/tuple [28, 4] + - !!python/tuple [7, 12] + - !!python/tuple [15, 17] + - !!python/tuple [5, 16] + - !!python/tuple [21, 4] + - !!python/tuple [7, 17] + - !!python/tuple [28, 27] + - !!python/tuple [25, 31] + - !!python/tuple [14, 23] + - !!python/tuple [8, 22] + - !!python/tuple [1, 15] + - !!python/tuple [13, 15] + - !!python/tuple [29, 16] + - !!python/tuple [4, 19] + - !!python/tuple [6, 20] + - !!python/tuple [7, 21] + - !!python/tuple [7, 16] + - !!python/tuple [2, 31] + - !!python/tuple [28, 8] + - !!python/tuple [19, 11] + - !!python/tuple [4, 30] + - !!python/tuple [8, 2] + - !!python/tuple [2, 1] + - !!python/tuple [17, 29] + - !!python/tuple [16, 1] + - !!python/tuple [8, 18] + - !!python/tuple [25, 5] + - !!python/tuple [30, 11] + - !!python/tuple [2, 5] + - !!python/tuple [21, 21] + - !!python/tuple [11, 4] + - !!python/tuple [9, 3] + - !!python/tuple [13, 17] + - !!python/tuple [26, 25] + - !!python/tuple [15, 12] + - !!python/tuple [27, 7] + - !!python/tuple [8, 23] + - !!python/tuple [16, 25] + - !!python/tuple [13, 18] + - !!python/tuple [28, 10] + - !!python/tuple [24, 9] + - !!python/tuple [0, 13] + - !!python/tuple [31, 7] + - !!python/tuple [5, 2] + - !!python/tuple [3, 23] + - !!python/tuple [26, 10] + - !!python/tuple [25, 16] + - !!python/tuple [2, 22] + - !!python/tuple [0, 24] + - !!python/tuple [8, 20] + - !!python/tuple [21, 1] + - !!python/tuple [22, 18] + - !!python/tuple [18, 25] + - !!python/tuple [22, 29] + - !!python/tuple [20, 16] + - !!python/tuple [30, 16] + - !!python/tuple [24, 16] + - !!python/tuple [5, 11] + - !!python/tuple [25, 13] + - !!python/tuple [12, 20] + - !!python/tuple [22, 8] + - !!python/tuple [17, 20] + - !!python/tuple [5, 22] + - !!python/tuple [26, 14] + - !!python/tuple [30, 29] + - !!python/tuple [14, 3] + - !!python/tuple [26, 13] + - !!python/tuple [29, 4] + - !!python/tuple [15, 14] + - !!python/tuple [25, 28] + - !!python/tuple [6, 7] + - !!python/tuple [27, 29] + - !!python/tuple [3, 26] + - !!python/tuple [24, 19] + - !!python/tuple [19, 20] + - !!python/tuple [1, 8] + - !!python/tuple [28, 20] + - !!python/tuple [30, 15] + - !!python/tuple [19, 18] + - !!python/tuple [30, 6] + - !!python/tuple [9, 11] + - !!python/tuple [20, 3] + - !!python/tuple [9, 5] + - !!python/tuple [7, 5] + - !!python/tuple [12, 27] + - !!python/tuple [11, 28] + - !!python/tuple [19, 8] + - !!python/tuple [27, 13] + - !!python/tuple [5, 5] + - !!python/tuple [9, 27] + - !!python/tuple [0, 11] + - !!python/tuple [21, 17] + - !!python/tuple [17, 27] + - !!python/tuple [9, 22] + - !!python/tuple [8, 31] + - !!python/tuple [7, 2] + - !!python/tuple [25, 0] + - !!python/tuple [23, 25] + - !!python/tuple [19, 0] + - !!python/tuple [3, 8] + - !!python/tuple [14, 4] + - !!python/tuple [27, 28] + - !!python/tuple [13, 11] + - !!python/tuple [5, 27] + - !!python/tuple [21, 13] + - !!python/tuple [17, 3] + - !!python/tuple [8, 24] + - !!python/tuple [7, 18] + - !!python/tuple [10, 20] + - !!python/tuple [7, 6] + - !!python/tuple [2, 28] + - !!python/tuple [2, 2] + - !!python/tuple [13, 8] + - !!python/tuple [5, 4] + - !!python/tuple [15, 10] + - !!python/tuple [21, 25] + - !!python/tuple [26, 3] + - !!python/tuple [24, 22] + - !!python/tuple [1, 4] + - !!python/tuple [0, 31] + - !!python/tuple [16, 14] + - !!python/tuple [4, 7] + - !!python/tuple [29, 19] + - !!python/tuple [10, 24] + - !!python/tuple [14, 27] + - !!python/tuple [26, 24] + - !!python/tuple [0, 22] + - !!python/tuple [4, 9] + - !!python/tuple [8, 5] + - !!python/tuple [21, 15] + - !!python/tuple [23, 21] + - !!python/tuple [29, 28] + - !!python/tuple [15, 15] + - !!python/tuple [1, 27] + - !!python/tuple [10, 23] + - !!python/tuple [29, 27] + - !!python/tuple [27, 22] + - !!python/tuple [19, 1] + - !!python/tuple [24, 5] + - !!python/tuple [26, 23] + - !!python/tuple [12, 23] + - !!python/tuple [20, 27] + - !!python/tuple [16, 16] + - !!python/tuple [12, 29] + - !!python/tuple [11, 27] + - !!python/tuple [19, 23] + - !!python/tuple [5, 19] + - !!python/tuple [6, 17] + - !!python/tuple [13, 21] + - !!python/tuple [10, 26] + - !!python/tuple [7, 19] + - !!python/tuple [13, 23] + - !!python/tuple [13, 16] + - !!python/tuple [10, 7] + - !!python/tuple [31, 10] + - !!python/tuple [1, 29] + - !!python/tuple [20, 25] + - !!python/tuple [10, 31] + - !!python/tuple [17, 8] + - !!python/tuple [18, 7] + - !!python/tuple [17, 30] + - !!python/tuple [25, 11] + - !!python/tuple [15, 20] + - !!python/tuple [18, 19] + - !!python/tuple [17, 10] + - !!python/tuple [7, 20] + - !!python/tuple [19, 26] + - !!python/tuple [15, 21] + - !!python/tuple [11, 21] + - !!python/tuple [3, 11] + - !!python/tuple [2, 24] + - !!python/tuple [6, 19] + - !!python/tuple [30, 0] + - !!python/tuple [15, 1] + - !!python/tuple [6, 12] + - !!python/tuple [17, 15] + - !!python/tuple [16, 5] + - !!python/tuple [29, 29] + - !!python/tuple [10, 9] + - !!python/tuple [20, 10] + - !!python/tuple [19, 3] + - !!python/tuple [14, 9] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex61.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex61.yaml new file mode 100644 index 0000000..fafe9e3 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex61.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [30, 26] + name: agent0 + start: [29, 13] +- goal: [13, 12] + name: agent1 + start: [23, 27] +- goal: [27, 29] + name: agent2 + start: [1, 3] +- goal: [29, 26] + name: agent3 + start: [21, 12] +- goal: [15, 28] + name: agent4 + start: [21, 16] +- goal: [19, 5] + name: agent5 + start: [24, 5] +- goal: [6, 23] + name: agent6 + start: [4, 8] +- goal: [30, 20] + name: agent7 + start: [30, 6] +- goal: [27, 22] + name: agent8 + start: [18, 13] +- goal: [2, 4] + name: agent9 + start: [8, 17] +- goal: [19, 28] + name: agent10 + start: [23, 19] +- goal: [16, 9] + name: agent11 + start: [26, 28] +- goal: [31, 10] + name: agent12 + start: [10, 12] +- goal: [21, 25] + name: agent13 + start: [19, 9] +- goal: [28, 12] + name: agent14 + start: [20, 10] +- goal: [26, 3] + name: agent15 + start: [16, 1] +- goal: [0, 16] + name: agent16 + start: [27, 27] +- goal: [18, 0] + name: agent17 + start: [8, 9] +- goal: [19, 31] + name: agent18 + start: [27, 1] +- goal: [26, 0] + name: agent19 + start: [30, 15] +- goal: [9, 9] + name: agent20 + start: [7, 7] +- goal: [7, 25] + name: agent21 + start: [19, 14] +- goal: [19, 6] + name: agent22 + start: [12, 22] +- goal: [20, 24] + name: agent23 + start: [18, 14] +- goal: [2, 5] + name: agent24 + start: [10, 0] +- goal: [24, 2] + name: agent25 + start: [6, 13] +- goal: [15, 4] + name: agent26 + start: [5, 28] +- goal: [24, 23] + name: agent27 + start: [2, 19] +- goal: [4, 25] + name: agent28 + start: [28, 25] +- goal: [27, 17] + name: agent29 + start: [31, 27] +- goal: [23, 30] + name: agent30 + start: [17, 19] +- goal: [7, 27] + name: agent31 + start: [24, 23] +- goal: [20, 16] + name: agent32 + start: [29, 29] +- goal: [9, 8] + name: agent33 + start: [16, 25] +- goal: [5, 19] + name: agent34 + start: [28, 14] +- goal: [4, 4] + name: agent35 + start: [8, 26] +- goal: [3, 23] + name: agent36 + start: [21, 29] +- goal: [7, 5] + name: agent37 + start: [0, 22] +- goal: [23, 7] + name: agent38 + start: [20, 16] +- goal: [28, 14] + name: agent39 + start: [8, 27] +- goal: [16, 8] + name: agent40 + start: [29, 5] +- goal: [8, 23] + name: agent41 + start: [10, 7] +- goal: [2, 3] + name: agent42 + start: [2, 5] +- goal: [6, 22] + name: agent43 + start: [21, 10] +- goal: [11, 23] + name: agent44 + start: [25, 20] +- goal: [30, 11] + name: agent45 + start: [2, 12] +- goal: [21, 14] + name: agent46 + start: [2, 14] +- goal: [24, 13] + name: agent47 + start: [21, 19] +- goal: [12, 1] + name: agent48 + start: [6, 27] +- goal: [18, 10] + name: agent49 + start: [19, 16] +- goal: [8, 24] + name: agent50 + start: [24, 9] +- goal: [26, 13] + name: agent51 + start: [18, 23] +- goal: [21, 2] + name: agent52 + start: [4, 23] +- goal: [15, 19] + name: agent53 + start: [20, 13] +- goal: [1, 12] + name: agent54 + start: [18, 26] +- goal: [8, 29] + name: agent55 + start: [29, 31] +- goal: [2, 28] + name: agent56 + start: [28, 31] +- goal: [1, 6] + name: agent57 + start: [20, 7] +- goal: [8, 21] + name: agent58 + start: [20, 5] +- goal: [14, 2] + name: agent59 + start: [27, 25] +- goal: [29, 16] + name: agent60 + start: [8, 20] +- goal: [12, 25] + name: agent61 + start: [12, 7] +- goal: [14, 24] + name: agent62 + start: [7, 30] +- goal: [13, 3] + name: agent63 + start: [3, 7] +- goal: [27, 1] + name: agent64 + start: [0, 29] +- goal: [26, 5] + name: agent65 + start: [25, 0] +- goal: [2, 20] + name: agent66 + start: [5, 13] +- goal: [8, 14] + name: agent67 + start: [11, 18] +- goal: [8, 2] + name: agent68 + start: [16, 22] +- goal: [4, 12] + name: agent69 + start: [11, 22] +- goal: [4, 30] + name: agent70 + start: [14, 6] +- goal: [1, 27] + name: agent71 + start: [8, 31] +- goal: [25, 5] + name: agent72 + start: [18, 15] +- goal: [27, 8] + name: agent73 + start: [4, 19] +- goal: [10, 10] + name: agent74 + start: [16, 27] +- goal: [6, 12] + name: agent75 + start: [23, 28] +- goal: [3, 31] + name: agent76 + start: [23, 11] +- goal: [30, 5] + name: agent77 + start: [0, 2] +- goal: [20, 18] + name: agent78 + start: [17, 13] +- goal: [5, 14] + name: agent79 + start: [24, 21] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [22, 23] + - !!python/tuple [4, 27] + - !!python/tuple [11, 19] + - !!python/tuple [7, 26] + - !!python/tuple [26, 23] + - !!python/tuple [24, 28] + - !!python/tuple [1, 1] + - !!python/tuple [27, 12] + - !!python/tuple [15, 7] + - !!python/tuple [3, 27] + - !!python/tuple [1, 29] + - !!python/tuple [0, 18] + - !!python/tuple [31, 24] + - !!python/tuple [18, 19] + - !!python/tuple [6, 25] + - !!python/tuple [11, 9] + - !!python/tuple [20, 2] + - !!python/tuple [14, 13] + - !!python/tuple [18, 16] + - !!python/tuple [10, 26] + - !!python/tuple [17, 27] + - !!python/tuple [7, 9] + - !!python/tuple [0, 17] + - !!python/tuple [17, 12] + - !!python/tuple [31, 31] + - !!python/tuple [18, 2] + - !!python/tuple [30, 3] + - !!python/tuple [10, 9] + - !!python/tuple [19, 13] + - !!python/tuple [14, 16] + - !!python/tuple [28, 27] + - !!python/tuple [17, 30] + - !!python/tuple [8, 6] + - !!python/tuple [13, 14] + - !!python/tuple [12, 26] + - !!python/tuple [6, 0] + - !!python/tuple [24, 25] + - !!python/tuple [9, 13] + - !!python/tuple [15, 21] + - !!python/tuple [26, 7] + - !!python/tuple [15, 14] + - !!python/tuple [24, 7] + - !!python/tuple [22, 17] + - !!python/tuple [31, 20] + - !!python/tuple [22, 3] + - !!python/tuple [3, 1] + - !!python/tuple [26, 17] + - !!python/tuple [19, 0] + - !!python/tuple [21, 22] + - !!python/tuple [30, 31] + - !!python/tuple [4, 20] + - !!python/tuple [11, 25] + - !!python/tuple [26, 9] + - !!python/tuple [5, 18] + - !!python/tuple [17, 9] + - !!python/tuple [5, 9] + - !!python/tuple [21, 30] + - !!python/tuple [15, 25] + - !!python/tuple [27, 15] + - !!python/tuple [12, 17] + - !!python/tuple [1, 17] + - !!python/tuple [17, 15] + - !!python/tuple [14, 22] + - !!python/tuple [29, 28] + - !!python/tuple [25, 31] + - !!python/tuple [8, 7] + - !!python/tuple [13, 23] + - !!python/tuple [3, 25] + - !!python/tuple [16, 16] + - !!python/tuple [28, 16] + - !!python/tuple [11, 27] + - !!python/tuple [4, 10] + - !!python/tuple [27, 9] + - !!python/tuple [1, 22] + - !!python/tuple [3, 14] + - !!python/tuple [4, 9] + - !!python/tuple [16, 21] + - !!python/tuple [10, 6] + - !!python/tuple [14, 18] + - !!python/tuple [29, 2] + - !!python/tuple [7, 14] + - !!python/tuple [8, 28] + - !!python/tuple [30, 22] + - !!python/tuple [8, 3] + - !!python/tuple [22, 18] + - !!python/tuple [16, 28] + - !!python/tuple [2, 7] + - !!python/tuple [6, 26] + - !!python/tuple [31, 11] + - !!python/tuple [7, 23] + - !!python/tuple [25, 15] + - !!python/tuple [19, 18] + - !!python/tuple [9, 11] + - !!python/tuple [19, 1] + - !!python/tuple [29, 3] + - !!python/tuple [28, 26] + - !!python/tuple [14, 4] + - !!python/tuple [28, 2] + - !!python/tuple [27, 18] + - !!python/tuple [7, 28] + - !!python/tuple [20, 28] + - !!python/tuple [2, 6] + - !!python/tuple [24, 26] + - !!python/tuple [3, 22] + - !!python/tuple [0, 23] + - !!python/tuple [13, 18] + - !!python/tuple [25, 8] + - !!python/tuple [6, 5] + - !!python/tuple [10, 16] + - !!python/tuple [7, 29] + - !!python/tuple [4, 18] + - !!python/tuple [12, 20] + - !!python/tuple [31, 5] + - !!python/tuple [17, 16] + - !!python/tuple [26, 11] + - !!python/tuple [2, 26] + - !!python/tuple [10, 8] + - !!python/tuple [14, 31] + - !!python/tuple [28, 13] + - !!python/tuple [25, 14] + - !!python/tuple [18, 30] + - !!python/tuple [9, 4] + - !!python/tuple [17, 8] + - !!python/tuple [27, 11] + - !!python/tuple [22, 6] + - !!python/tuple [18, 8] + - !!python/tuple [31, 1] + - !!python/tuple [10, 4] + - !!python/tuple [10, 3] + - !!python/tuple [14, 23] + - !!python/tuple [26, 31] + - !!python/tuple [25, 12] + - !!python/tuple [19, 8] + - !!python/tuple [24, 1] + - !!python/tuple [2, 0] + - !!python/tuple [28, 19] + - !!python/tuple [14, 11] + - !!python/tuple [0, 1] + - !!python/tuple [28, 1] + - !!python/tuple [9, 6] + - !!python/tuple [3, 17] + - !!python/tuple [30, 4] + - !!python/tuple [30, 16] + - !!python/tuple [15, 26] + - !!python/tuple [17, 6] + - !!python/tuple [13, 16] + - !!python/tuple [18, 1] + - !!python/tuple [29, 12] + - !!python/tuple [0, 14] + - !!python/tuple [0, 24] + - !!python/tuple [15, 20] + - !!python/tuple [23, 1] + - !!python/tuple [9, 26] + - !!python/tuple [20, 20] + - !!python/tuple [25, 30] + - !!python/tuple [17, 17] + - !!python/tuple [29, 0] + - !!python/tuple [8, 5] + - !!python/tuple [18, 20] + - !!python/tuple [21, 4] + - !!python/tuple [16, 3] + - !!python/tuple [15, 3] + - !!python/tuple [12, 24] + - !!python/tuple [20, 27] + - !!python/tuple [29, 24] + - !!python/tuple [10, 22] + - !!python/tuple [25, 1] + - !!python/tuple [9, 17] + - !!python/tuple [22, 2] + - !!python/tuple [7, 15] + - !!python/tuple [0, 15] + - !!python/tuple [13, 6] + - !!python/tuple [5, 24] + - !!python/tuple [15, 0] + - !!python/tuple [11, 28] + - !!python/tuple [24, 24] + - !!python/tuple [11, 31] + - !!python/tuple [2, 27] + - !!python/tuple [30, 23] + - !!python/tuple [7, 31] + - !!python/tuple [22, 0] + - !!python/tuple [18, 28] + - !!python/tuple [4, 31] + - !!python/tuple [24, 11] + - !!python/tuple [4, 24] + - !!python/tuple [3, 29] + - !!python/tuple [13, 13] + - !!python/tuple [9, 19] + - !!python/tuple [1, 15] + - !!python/tuple [31, 14] + - !!python/tuple [14, 20] + - !!python/tuple [14, 0] + - !!python/tuple [18, 29] + - !!python/tuple [21, 21] + - !!python/tuple [17, 26] + - !!python/tuple [0, 3] + - !!python/tuple [10, 19] + - !!python/tuple [30, 28] + - !!python/tuple [31, 16] + - !!python/tuple [17, 21] + - !!python/tuple [3, 16] + - !!python/tuple [0, 31] + - !!python/tuple [24, 12] + - !!python/tuple [12, 23] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex62.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex62.yaml new file mode 100644 index 0000000..0fe6e87 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex62.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [23, 16] + name: agent0 + start: [27, 2] +- goal: [1, 19] + name: agent1 + start: [19, 25] +- goal: [6, 24] + name: agent2 + start: [6, 20] +- goal: [8, 31] + name: agent3 + start: [20, 10] +- goal: [3, 18] + name: agent4 + start: [16, 8] +- goal: [12, 10] + name: agent5 + start: [3, 11] +- goal: [15, 18] + name: agent6 + start: [9, 16] +- goal: [10, 8] + name: agent7 + start: [1, 27] +- goal: [27, 31] + name: agent8 + start: [10, 3] +- goal: [23, 18] + name: agent9 + start: [19, 7] +- goal: [2, 20] + name: agent10 + start: [30, 9] +- goal: [6, 1] + name: agent11 + start: [20, 29] +- goal: [13, 16] + name: agent12 + start: [21, 27] +- goal: [14, 4] + name: agent13 + start: [25, 12] +- goal: [2, 30] + name: agent14 + start: [12, 26] +- goal: [26, 8] + name: agent15 + start: [13, 3] +- goal: [2, 3] + name: agent16 + start: [22, 11] +- goal: [21, 27] + name: agent17 + start: [14, 26] +- goal: [7, 21] + name: agent18 + start: [17, 24] +- goal: [1, 21] + name: agent19 + start: [28, 8] +- goal: [25, 4] + name: agent20 + start: [1, 15] +- goal: [2, 18] + name: agent21 + start: [13, 29] +- goal: [1, 14] + name: agent22 + start: [22, 0] +- goal: [11, 30] + name: agent23 + start: [7, 18] +- goal: [12, 18] + name: agent24 + start: [1, 31] +- goal: [24, 22] + name: agent25 + start: [12, 20] +- goal: [12, 5] + name: agent26 + start: [27, 0] +- goal: [16, 8] + name: agent27 + start: [30, 22] +- goal: [19, 3] + name: agent28 + start: [4, 21] +- goal: [11, 26] + name: agent29 + start: [29, 22] +- goal: [31, 29] + name: agent30 + start: [6, 8] +- goal: [15, 14] + name: agent31 + start: [21, 19] +- goal: [15, 20] + name: agent32 + start: [31, 31] +- goal: [3, 3] + name: agent33 + start: [23, 24] +- goal: [22, 7] + name: agent34 + start: [18, 8] +- goal: [2, 4] + name: agent35 + start: [3, 7] +- goal: [28, 20] + name: agent36 + start: [29, 4] +- goal: [0, 26] + name: agent37 + start: [16, 17] +- goal: [10, 10] + name: agent38 + start: [1, 11] +- goal: [25, 18] + name: agent39 + start: [17, 6] +- goal: [14, 14] + name: agent40 + start: [3, 1] +- goal: [20, 27] + name: agent41 + start: [12, 4] +- goal: [30, 1] + name: agent42 + start: [7, 0] +- goal: [3, 29] + name: agent43 + start: [10, 19] +- goal: [5, 23] + name: agent44 + start: [7, 30] +- goal: [4, 26] + name: agent45 + start: [10, 7] +- goal: [15, 3] + name: agent46 + start: [1, 24] +- goal: [19, 20] + name: agent47 + start: [16, 19] +- goal: [27, 0] + name: agent48 + start: [18, 19] +- goal: [16, 29] + name: agent49 + start: [0, 29] +- goal: [23, 22] + name: agent50 + start: [7, 15] +- goal: [0, 31] + name: agent51 + start: [22, 8] +- goal: [5, 5] + name: agent52 + start: [11, 12] +- goal: [4, 24] + name: agent53 + start: [29, 8] +- goal: [7, 18] + name: agent54 + start: [22, 1] +- goal: [30, 5] + name: agent55 + start: [10, 21] +- goal: [23, 21] + name: agent56 + start: [7, 31] +- goal: [11, 31] + name: agent57 + start: [1, 2] +- goal: [28, 0] + name: agent58 + start: [10, 23] +- goal: [21, 1] + name: agent59 + start: [11, 26] +- goal: [0, 6] + name: agent60 + start: [27, 27] +- goal: [9, 8] + name: agent61 + start: [26, 29] +- goal: [28, 12] + name: agent62 + start: [9, 5] +- goal: [31, 15] + name: agent63 + start: [20, 2] +- goal: [22, 16] + name: agent64 + start: [30, 6] +- goal: [17, 14] + name: agent65 + start: [30, 19] +- goal: [9, 24] + name: agent66 + start: [0, 1] +- goal: [3, 30] + name: agent67 + start: [1, 7] +- goal: [22, 11] + name: agent68 + start: [11, 5] +- goal: [25, 12] + name: agent69 + start: [25, 31] +- goal: [17, 20] + name: agent70 + start: [1, 6] +- goal: [10, 20] + name: agent71 + start: [26, 3] +- goal: [16, 20] + name: agent72 + start: [30, 0] +- goal: [3, 16] + name: agent73 + start: [1, 0] +- goal: [31, 14] + name: agent74 + start: [25, 4] +- goal: [6, 16] + name: agent75 + start: [31, 16] +- goal: [12, 17] + name: agent76 + start: [11, 10] +- goal: [9, 7] + name: agent77 + start: [28, 27] +- goal: [0, 19] + name: agent78 + start: [8, 8] +- goal: [14, 8] + name: agent79 + start: [0, 18] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [21, 18] + - !!python/tuple [4, 20] + - !!python/tuple [28, 7] + - !!python/tuple [30, 17] + - !!python/tuple [23, 12] + - !!python/tuple [7, 6] + - !!python/tuple [23, 10] + - !!python/tuple [18, 0] + - !!python/tuple [26, 4] + - !!python/tuple [25, 8] + - !!python/tuple [21, 30] + - !!python/tuple [23, 5] + - !!python/tuple [13, 15] + - !!python/tuple [7, 13] + - !!python/tuple [15, 5] + - !!python/tuple [16, 0] + - !!python/tuple [18, 13] + - !!python/tuple [4, 5] + - !!python/tuple [26, 15] + - !!python/tuple [8, 18] + - !!python/tuple [16, 7] + - !!python/tuple [14, 29] + - !!python/tuple [16, 23] + - !!python/tuple [18, 11] + - !!python/tuple [11, 1] + - !!python/tuple [16, 26] + - !!python/tuple [31, 7] + - !!python/tuple [30, 28] + - !!python/tuple [2, 12] + - !!python/tuple [20, 1] + - !!python/tuple [16, 13] + - !!python/tuple [27, 7] + - !!python/tuple [5, 6] + - !!python/tuple [25, 28] + - !!python/tuple [15, 13] + - !!python/tuple [12, 29] + - !!python/tuple [10, 31] + - !!python/tuple [15, 4] + - !!python/tuple [8, 19] + - !!python/tuple [15, 11] + - !!python/tuple [14, 13] + - !!python/tuple [4, 25] + - !!python/tuple [14, 9] + - !!python/tuple [14, 19] + - !!python/tuple [3, 2] + - !!python/tuple [5, 31] + - !!python/tuple [22, 5] + - !!python/tuple [13, 4] + - !!python/tuple [14, 11] + - !!python/tuple [22, 18] + - !!python/tuple [12, 12] + - !!python/tuple [18, 3] + - !!python/tuple [24, 10] + - !!python/tuple [23, 13] + - !!python/tuple [19, 0] + - !!python/tuple [11, 17] + - !!python/tuple [23, 20] + - !!python/tuple [23, 9] + - !!python/tuple [5, 12] + - !!python/tuple [2, 7] + - !!python/tuple [10, 14] + - !!python/tuple [22, 9] + - !!python/tuple [12, 31] + - !!python/tuple [28, 25] + - !!python/tuple [11, 14] + - !!python/tuple [23, 0] + - !!python/tuple [24, 3] + - !!python/tuple [23, 15] + - !!python/tuple [14, 16] + - !!python/tuple [30, 25] + - !!python/tuple [7, 19] + - !!python/tuple [14, 27] + - !!python/tuple [24, 19] + - !!python/tuple [25, 5] + - !!python/tuple [26, 9] + - !!python/tuple [11, 4] + - !!python/tuple [12, 15] + - !!python/tuple [28, 30] + - !!python/tuple [23, 7] + - !!python/tuple [24, 13] + - !!python/tuple [7, 11] + - !!python/tuple [18, 16] + - !!python/tuple [17, 18] + - !!python/tuple [9, 20] + - !!python/tuple [26, 5] + - !!python/tuple [28, 24] + - !!python/tuple [7, 29] + - !!python/tuple [5, 30] + - !!python/tuple [6, 23] + - !!python/tuple [8, 5] + - !!python/tuple [29, 6] + - !!python/tuple [27, 19] + - !!python/tuple [23, 19] + - !!python/tuple [2, 13] + - !!python/tuple [24, 27] + - !!python/tuple [30, 2] + - !!python/tuple [3, 20] + - !!python/tuple [4, 7] + - !!python/tuple [12, 21] + - !!python/tuple [1, 18] + - !!python/tuple [22, 3] + - !!python/tuple [4, 4] + - !!python/tuple [23, 29] + - !!python/tuple [3, 6] + - !!python/tuple [17, 27] + - !!python/tuple [19, 23] + - !!python/tuple [24, 2] + - !!python/tuple [2, 2] + - !!python/tuple [8, 29] + - !!python/tuple [19, 22] + - !!python/tuple [20, 18] + - !!python/tuple [26, 23] + - !!python/tuple [22, 31] + - !!python/tuple [10, 4] + - !!python/tuple [20, 3] + - !!python/tuple [10, 25] + - !!python/tuple [31, 25] + - !!python/tuple [31, 27] + - !!python/tuple [19, 8] + - !!python/tuple [18, 7] + - !!python/tuple [2, 27] + - !!python/tuple [5, 19] + - !!python/tuple [31, 19] + - !!python/tuple [14, 30] + - !!python/tuple [26, 18] + - !!python/tuple [23, 3] + - !!python/tuple [4, 10] + - !!python/tuple [5, 11] + - !!python/tuple [7, 12] + - !!python/tuple [7, 23] + - !!python/tuple [30, 3] + - !!python/tuple [30, 31] + - !!python/tuple [10, 9] + - !!python/tuple [21, 12] + - !!python/tuple [20, 24] + - !!python/tuple [12, 27] + - !!python/tuple [6, 22] + - !!python/tuple [27, 4] + - !!python/tuple [9, 19] + - !!python/tuple [0, 25] + - !!python/tuple [5, 14] + - !!python/tuple [29, 26] + - !!python/tuple [3, 14] + - !!python/tuple [16, 24] + - !!python/tuple [30, 10] + - !!python/tuple [29, 20] + - !!python/tuple [14, 1] + - !!python/tuple [11, 6] + - !!python/tuple [8, 28] + - !!python/tuple [0, 23] + - !!python/tuple [19, 26] + - !!python/tuple [23, 31] + - !!python/tuple [11, 19] + - !!python/tuple [10, 1] + - !!python/tuple [2, 24] + - !!python/tuple [21, 7] + - !!python/tuple [21, 6] + - !!python/tuple [31, 21] + - !!python/tuple [29, 9] + - !!python/tuple [8, 9] + - !!python/tuple [28, 29] + - !!python/tuple [17, 1] + - !!python/tuple [3, 9] + - !!python/tuple [15, 17] + - !!python/tuple [6, 19] + - !!python/tuple [27, 11] + - !!python/tuple [13, 9] + - !!python/tuple [8, 26] + - !!python/tuple [14, 23] + - !!python/tuple [22, 21] + - !!python/tuple [29, 16] + - !!python/tuple [16, 18] + - !!python/tuple [3, 24] + - !!python/tuple [7, 3] + - !!python/tuple [26, 6] + - !!python/tuple [5, 13] + - !!python/tuple [17, 4] + - !!python/tuple [5, 28] + - !!python/tuple [0, 11] + - !!python/tuple [31, 13] + - !!python/tuple [27, 18] + - !!python/tuple [15, 6] + - !!python/tuple [22, 10] + - !!python/tuple [6, 30] + - !!python/tuple [15, 28] + - !!python/tuple [18, 9] + - !!python/tuple [0, 20] + - !!python/tuple [16, 11] + - !!python/tuple [18, 21] + - !!python/tuple [28, 1] + - !!python/tuple [13, 22] + - !!python/tuple [8, 24] + - !!python/tuple [0, 2] + - !!python/tuple [17, 26] + - !!python/tuple [27, 10] + - !!python/tuple [24, 11] + - !!python/tuple [21, 29] + - !!python/tuple [30, 12] + - !!python/tuple [25, 16] + - !!python/tuple [14, 0] + - !!python/tuple [3, 19] + - !!python/tuple [28, 14] + - !!python/tuple [26, 0] + - !!python/tuple [21, 22] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex63.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex63.yaml new file mode 100644 index 0000000..1f7d6dc --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex63.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [6, 19] + name: agent0 + start: [31, 27] +- goal: [16, 6] + name: agent1 + start: [14, 17] +- goal: [12, 17] + name: agent2 + start: [18, 21] +- goal: [12, 26] + name: agent3 + start: [4, 16] +- goal: [30, 19] + name: agent4 + start: [2, 21] +- goal: [2, 8] + name: agent5 + start: [20, 6] +- goal: [4, 6] + name: agent6 + start: [6, 28] +- goal: [4, 4] + name: agent7 + start: [5, 16] +- goal: [25, 31] + name: agent8 + start: [5, 28] +- goal: [9, 12] + name: agent9 + start: [22, 19] +- goal: [21, 0] + name: agent10 + start: [6, 10] +- goal: [7, 5] + name: agent11 + start: [12, 3] +- goal: [31, 18] + name: agent12 + start: [21, 28] +- goal: [27, 6] + name: agent13 + start: [22, 1] +- goal: [14, 11] + name: agent14 + start: [9, 7] +- goal: [29, 8] + name: agent15 + start: [15, 4] +- goal: [22, 18] + name: agent16 + start: [30, 0] +- goal: [20, 27] + name: agent17 + start: [18, 20] +- goal: [27, 31] + name: agent18 + start: [18, 3] +- goal: [4, 25] + name: agent19 + start: [14, 7] +- goal: [26, 10] + name: agent20 + start: [1, 19] +- goal: [24, 16] + name: agent21 + start: [22, 16] +- goal: [8, 21] + name: agent22 + start: [30, 2] +- goal: [26, 4] + name: agent23 + start: [26, 0] +- goal: [1, 18] + name: agent24 + start: [29, 1] +- goal: [14, 18] + name: agent25 + start: [19, 28] +- goal: [23, 15] + name: agent26 + start: [0, 25] +- goal: [10, 0] + name: agent27 + start: [12, 13] +- goal: [17, 19] + name: agent28 + start: [1, 13] +- goal: [25, 22] + name: agent29 + start: [29, 6] +- goal: [5, 0] + name: agent30 + start: [18, 28] +- goal: [26, 28] + name: agent31 + start: [29, 27] +- goal: [7, 31] + name: agent32 + start: [6, 25] +- goal: [10, 3] + name: agent33 + start: [28, 5] +- goal: [3, 1] + name: agent34 + start: [18, 26] +- goal: [14, 21] + name: agent35 + start: [21, 15] +- goal: [12, 11] + name: agent36 + start: [18, 5] +- goal: [13, 28] + name: agent37 + start: [20, 15] +- goal: [27, 23] + name: agent38 + start: [25, 9] +- goal: [4, 17] + name: agent39 + start: [4, 20] +- goal: [20, 1] + name: agent40 + start: [31, 13] +- goal: [9, 16] + name: agent41 + start: [25, 22] +- goal: [4, 13] + name: agent42 + start: [18, 8] +- goal: [5, 22] + name: agent43 + start: [19, 20] +- goal: [24, 9] + name: agent44 + start: [14, 11] +- goal: [9, 14] + name: agent45 + start: [19, 17] +- goal: [1, 25] + name: agent46 + start: [15, 29] +- goal: [3, 31] + name: agent47 + start: [31, 7] +- goal: [18, 12] + name: agent48 + start: [3, 25] +- goal: [11, 10] + name: agent49 + start: [22, 28] +- goal: [16, 31] + name: agent50 + start: [24, 22] +- goal: [23, 11] + name: agent51 + start: [25, 19] +- goal: [3, 17] + name: agent52 + start: [3, 6] +- goal: [14, 31] + name: agent53 + start: [2, 20] +- goal: [9, 8] + name: agent54 + start: [10, 24] +- goal: [3, 24] + name: agent55 + start: [8, 1] +- goal: [7, 0] + name: agent56 + start: [19, 8] +- goal: [2, 7] + name: agent57 + start: [15, 31] +- goal: [15, 30] + name: agent58 + start: [25, 7] +- goal: [13, 2] + name: agent59 + start: [18, 29] +- goal: [25, 27] + name: agent60 + start: [30, 3] +- goal: [6, 0] + name: agent61 + start: [4, 1] +- goal: [30, 26] + name: agent62 + start: [24, 0] +- goal: [18, 17] + name: agent63 + start: [16, 25] +- goal: [28, 30] + name: agent64 + start: [28, 22] +- goal: [6, 31] + name: agent65 + start: [13, 21] +- goal: [28, 22] + name: agent66 + start: [1, 18] +- goal: [27, 24] + name: agent67 + start: [9, 11] +- goal: [8, 2] + name: agent68 + start: [6, 30] +- goal: [23, 25] + name: agent69 + start: [23, 26] +- goal: [24, 26] + name: agent70 + start: [25, 28] +- goal: [5, 9] + name: agent71 + start: [0, 28] +- goal: [1, 22] + name: agent72 + start: [12, 0] +- goal: [8, 30] + name: agent73 + start: [27, 31] +- goal: [9, 13] + name: agent74 + start: [18, 24] +- goal: [2, 17] + name: agent75 + start: [3, 4] +- goal: [7, 25] + name: agent76 + start: [3, 11] +- goal: [20, 7] + name: agent77 + start: [19, 14] +- goal: [19, 14] + name: agent78 + start: [0, 7] +- goal: [20, 18] + name: agent79 + start: [24, 12] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [0, 24] + - !!python/tuple [6, 5] + - !!python/tuple [10, 15] + - !!python/tuple [13, 5] + - !!python/tuple [31, 2] + - !!python/tuple [13, 27] + - !!python/tuple [14, 1] + - !!python/tuple [7, 14] + - !!python/tuple [18, 7] + - !!python/tuple [16, 13] + - !!python/tuple [8, 28] + - !!python/tuple [4, 21] + - !!python/tuple [27, 3] + - !!python/tuple [31, 26] + - !!python/tuple [1, 1] + - !!python/tuple [20, 30] + - !!python/tuple [9, 2] + - !!python/tuple [11, 25] + - !!python/tuple [10, 17] + - !!python/tuple [4, 10] + - !!python/tuple [31, 6] + - !!python/tuple [6, 21] + - !!python/tuple [21, 19] + - !!python/tuple [0, 19] + - !!python/tuple [8, 17] + - !!python/tuple [9, 29] + - !!python/tuple [20, 10] + - !!python/tuple [21, 31] + - !!python/tuple [9, 28] + - !!python/tuple [22, 8] + - !!python/tuple [28, 11] + - !!python/tuple [15, 6] + - !!python/tuple [9, 4] + - !!python/tuple [4, 29] + - !!python/tuple [10, 6] + - !!python/tuple [20, 17] + - !!python/tuple [16, 4] + - !!python/tuple [9, 6] + - !!python/tuple [16, 18] + - !!python/tuple [25, 21] + - !!python/tuple [26, 29] + - !!python/tuple [15, 16] + - !!python/tuple [8, 8] + - !!python/tuple [14, 23] + - !!python/tuple [19, 19] + - !!python/tuple [22, 10] + - !!python/tuple [11, 17] + - !!python/tuple [8, 11] + - !!python/tuple [7, 24] + - !!python/tuple [27, 5] + - !!python/tuple [15, 3] + - !!python/tuple [30, 18] + - !!python/tuple [4, 23] + - !!python/tuple [26, 19] + - !!python/tuple [0, 4] + - !!python/tuple [8, 7] + - !!python/tuple [15, 21] + - !!python/tuple [12, 12] + - !!python/tuple [3, 3] + - !!python/tuple [8, 27] + - !!python/tuple [11, 28] + - !!python/tuple [1, 15] + - !!python/tuple [13, 10] + - !!python/tuple [9, 3] + - !!python/tuple [22, 31] + - !!python/tuple [6, 6] + - !!python/tuple [11, 18] + - !!python/tuple [0, 22] + - !!python/tuple [24, 18] + - !!python/tuple [25, 6] + - !!python/tuple [13, 26] + - !!python/tuple [31, 21] + - !!python/tuple [1, 31] + - !!python/tuple [3, 19] + - !!python/tuple [17, 12] + - !!python/tuple [9, 20] + - !!python/tuple [2, 11] + - !!python/tuple [29, 24] + - !!python/tuple [27, 25] + - !!python/tuple [9, 15] + - !!python/tuple [6, 17] + - !!python/tuple [19, 6] + - !!python/tuple [4, 7] + - !!python/tuple [19, 4] + - !!python/tuple [24, 7] + - !!python/tuple [26, 3] + - !!python/tuple [13, 15] + - !!python/tuple [11, 20] + - !!python/tuple [20, 29] + - !!python/tuple [6, 9] + - !!python/tuple [1, 29] + - !!python/tuple [8, 25] + - !!python/tuple [3, 14] + - !!python/tuple [20, 3] + - !!python/tuple [0, 17] + - !!python/tuple [10, 13] + - !!python/tuple [8, 23] + - !!python/tuple [5, 21] + - !!python/tuple [30, 1] + - !!python/tuple [2, 4] + - !!python/tuple [25, 13] + - !!python/tuple [30, 9] + - !!python/tuple [21, 21] + - !!python/tuple [30, 27] + - !!python/tuple [26, 9] + - !!python/tuple [19, 10] + - !!python/tuple [23, 7] + - !!python/tuple [29, 29] + - !!python/tuple [0, 21] + - !!python/tuple [11, 0] + - !!python/tuple [17, 27] + - !!python/tuple [10, 30] + - !!python/tuple [15, 23] + - !!python/tuple [16, 3] + - !!python/tuple [4, 27] + - !!python/tuple [16, 19] + - !!python/tuple [9, 1] + - !!python/tuple [6, 11] + - !!python/tuple [4, 11] + - !!python/tuple [0, 9] + - !!python/tuple [27, 7] + - !!python/tuple [26, 17] + - !!python/tuple [23, 8] + - !!python/tuple [12, 31] + - !!python/tuple [10, 9] + - !!python/tuple [6, 14] + - !!python/tuple [23, 13] + - !!python/tuple [21, 16] + - !!python/tuple [15, 13] + - !!python/tuple [9, 24] + - !!python/tuple [18, 16] + - !!python/tuple [28, 2] + - !!python/tuple [3, 12] + - !!python/tuple [28, 21] + - !!python/tuple [27, 14] + - !!python/tuple [8, 12] + - !!python/tuple [19, 13] + - !!python/tuple [6, 23] + - !!python/tuple [11, 11] + - !!python/tuple [17, 17] + - !!python/tuple [12, 9] + - !!python/tuple [28, 10] + - !!python/tuple [11, 26] + - !!python/tuple [27, 18] + - !!python/tuple [6, 29] + - !!python/tuple [9, 0] + - !!python/tuple [23, 9] + - !!python/tuple [28, 15] + - !!python/tuple [2, 16] + - !!python/tuple [31, 17] + - !!python/tuple [18, 0] + - !!python/tuple [29, 23] + - !!python/tuple [27, 19] + - !!python/tuple [28, 6] + - !!python/tuple [2, 27] + - !!python/tuple [22, 3] + - !!python/tuple [13, 31] + - !!python/tuple [7, 6] + - !!python/tuple [24, 20] + - !!python/tuple [21, 12] + - !!python/tuple [2, 6] + - !!python/tuple [16, 20] + - !!python/tuple [26, 15] + - !!python/tuple [31, 14] + - !!python/tuple [18, 9] + - !!python/tuple [29, 31] + - !!python/tuple [16, 29] + - !!python/tuple [5, 26] + - !!python/tuple [26, 31] + - !!python/tuple [25, 30] + - !!python/tuple [1, 24] + - !!python/tuple [13, 16] + - !!python/tuple [17, 18] + - !!python/tuple [20, 26] + - !!python/tuple [12, 28] + - !!python/tuple [29, 17] + - !!python/tuple [23, 10] + - !!python/tuple [14, 27] + - !!python/tuple [5, 4] + - !!python/tuple [25, 12] + - !!python/tuple [23, 22] + - !!python/tuple [14, 14] + - !!python/tuple [20, 2] + - !!python/tuple [13, 23] + - !!python/tuple [27, 30] + - !!python/tuple [19, 26] + - !!python/tuple [9, 21] + - !!python/tuple [21, 3] + - !!python/tuple [30, 11] + - !!python/tuple [10, 31] + - !!python/tuple [17, 13] + - !!python/tuple [16, 28] + - !!python/tuple [10, 12] + - !!python/tuple [3, 8] + - !!python/tuple [28, 13] + - !!python/tuple [18, 2] + - !!python/tuple [24, 15] + - !!python/tuple [8, 29] + - !!python/tuple [15, 17] + - !!python/tuple [2, 2] + - !!python/tuple [31, 29] + - !!python/tuple [10, 26] + - !!python/tuple [15, 28] + - !!python/tuple [8, 31] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex64.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex64.yaml new file mode 100644 index 0000000..86b9042 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex64.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [26, 20] + name: agent0 + start: [2, 5] +- goal: [16, 13] + name: agent1 + start: [1, 9] +- goal: [12, 25] + name: agent2 + start: [8, 15] +- goal: [0, 5] + name: agent3 + start: [24, 22] +- goal: [0, 1] + name: agent4 + start: [29, 14] +- goal: [2, 13] + name: agent5 + start: [15, 16] +- goal: [27, 22] + name: agent6 + start: [26, 6] +- goal: [21, 30] + name: agent7 + start: [29, 9] +- goal: [30, 6] + name: agent8 + start: [6, 10] +- goal: [19, 23] + name: agent9 + start: [8, 23] +- goal: [7, 17] + name: agent10 + start: [18, 9] +- goal: [3, 22] + name: agent11 + start: [29, 28] +- goal: [16, 30] + name: agent12 + start: [8, 18] +- goal: [18, 30] + name: agent13 + start: [8, 29] +- goal: [3, 30] + name: agent14 + start: [4, 12] +- goal: [9, 7] + name: agent15 + start: [22, 3] +- goal: [0, 3] + name: agent16 + start: [1, 0] +- goal: [0, 21] + name: agent17 + start: [6, 11] +- goal: [10, 2] + name: agent18 + start: [18, 28] +- goal: [16, 0] + name: agent19 + start: [22, 28] +- goal: [31, 18] + name: agent20 + start: [24, 14] +- goal: [21, 8] + name: agent21 + start: [30, 4] +- goal: [2, 23] + name: agent22 + start: [25, 29] +- goal: [13, 1] + name: agent23 + start: [17, 31] +- goal: [3, 4] + name: agent24 + start: [10, 4] +- goal: [31, 20] + name: agent25 + start: [0, 9] +- goal: [13, 0] + name: agent26 + start: [30, 18] +- goal: [16, 3] + name: agent27 + start: [4, 11] +- goal: [26, 11] + name: agent28 + start: [23, 22] +- goal: [27, 31] + name: agent29 + start: [28, 31] +- goal: [23, 31] + name: agent30 + start: [10, 14] +- goal: [12, 26] + name: agent31 + start: [8, 12] +- goal: [30, 10] + name: agent32 + start: [18, 31] +- goal: [10, 6] + name: agent33 + start: [19, 13] +- goal: [10, 16] + name: agent34 + start: [27, 30] +- goal: [25, 21] + name: agent35 + start: [0, 13] +- goal: [12, 10] + name: agent36 + start: [30, 22] +- goal: [5, 4] + name: agent37 + start: [11, 13] +- goal: [18, 16] + name: agent38 + start: [3, 29] +- goal: [15, 7] + name: agent39 + start: [5, 1] +- goal: [12, 11] + name: agent40 + start: [16, 26] +- goal: [4, 15] + name: agent41 + start: [17, 30] +- goal: [5, 31] + name: agent42 + start: [23, 15] +- goal: [24, 20] + name: agent43 + start: [4, 7] +- goal: [26, 23] + name: agent44 + start: [3, 24] +- goal: [6, 5] + name: agent45 + start: [5, 23] +- goal: [17, 3] + name: agent46 + start: [6, 19] +- goal: [24, 23] + name: agent47 + start: [2, 12] +- goal: [3, 1] + name: agent48 + start: [8, 2] +- goal: [1, 15] + name: agent49 + start: [8, 6] +- goal: [17, 12] + name: agent50 + start: [30, 5] +- goal: [14, 25] + name: agent51 + start: [19, 17] +- goal: [6, 8] + name: agent52 + start: [6, 16] +- goal: [1, 0] + name: agent53 + start: [23, 28] +- goal: [20, 17] + name: agent54 + start: [16, 4] +- goal: [0, 0] + name: agent55 + start: [16, 15] +- goal: [23, 4] + name: agent56 + start: [15, 12] +- goal: [25, 10] + name: agent57 + start: [14, 30] +- goal: [8, 4] + name: agent58 + start: [21, 5] +- goal: [4, 16] + name: agent59 + start: [18, 22] +- goal: [14, 15] + name: agent60 + start: [14, 23] +- goal: [25, 17] + name: agent61 + start: [24, 6] +- goal: [28, 5] + name: agent62 + start: [5, 4] +- goal: [26, 26] + name: agent63 + start: [4, 29] +- goal: [21, 24] + name: agent64 + start: [28, 3] +- goal: [14, 10] + name: agent65 + start: [9, 23] +- goal: [18, 28] + name: agent66 + start: [20, 25] +- goal: [2, 19] + name: agent67 + start: [25, 28] +- goal: [16, 14] + name: agent68 + start: [13, 21] +- goal: [24, 4] + name: agent69 + start: [31, 23] +- goal: [21, 21] + name: agent70 + start: [21, 8] +- goal: [29, 5] + name: agent71 + start: [20, 1] +- goal: [13, 7] + name: agent72 + start: [31, 22] +- goal: [31, 27] + name: agent73 + start: [0, 12] +- goal: [9, 17] + name: agent74 + start: [28, 25] +- goal: [14, 16] + name: agent75 + start: [31, 4] +- goal: [0, 22] + name: agent76 + start: [1, 2] +- goal: [9, 10] + name: agent77 + start: [25, 2] +- goal: [21, 15] + name: agent78 + start: [8, 28] +- goal: [18, 17] + name: agent79 + start: [17, 20] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [15, 6] + - !!python/tuple [29, 21] + - !!python/tuple [6, 13] + - !!python/tuple [14, 14] + - !!python/tuple [29, 25] + - !!python/tuple [25, 5] + - !!python/tuple [23, 26] + - !!python/tuple [20, 4] + - !!python/tuple [5, 19] + - !!python/tuple [24, 3] + - !!python/tuple [23, 8] + - !!python/tuple [18, 27] + - !!python/tuple [29, 26] + - !!python/tuple [23, 3] + - !!python/tuple [22, 2] + - !!python/tuple [11, 9] + - !!python/tuple [8, 20] + - !!python/tuple [1, 18] + - !!python/tuple [25, 19] + - !!python/tuple [20, 12] + - !!python/tuple [9, 13] + - !!python/tuple [9, 24] + - !!python/tuple [6, 23] + - !!python/tuple [22, 14] + - !!python/tuple [21, 0] + - !!python/tuple [0, 26] + - !!python/tuple [29, 23] + - !!python/tuple [13, 29] + - !!python/tuple [3, 26] + - !!python/tuple [20, 19] + - !!python/tuple [3, 16] + - !!python/tuple [17, 16] + - !!python/tuple [11, 25] + - !!python/tuple [16, 28] + - !!python/tuple [20, 8] + - !!python/tuple [18, 12] + - !!python/tuple [6, 29] + - !!python/tuple [15, 23] + - !!python/tuple [11, 5] + - !!python/tuple [22, 25] + - !!python/tuple [27, 11] + - !!python/tuple [31, 25] + - !!python/tuple [16, 18] + - !!python/tuple [25, 15] + - !!python/tuple [1, 17] + - !!python/tuple [7, 26] + - !!python/tuple [5, 17] + - !!python/tuple [23, 6] + - !!python/tuple [17, 18] + - !!python/tuple [18, 23] + - !!python/tuple [22, 27] + - !!python/tuple [2, 6] + - !!python/tuple [19, 19] + - !!python/tuple [2, 15] + - !!python/tuple [13, 17] + - !!python/tuple [12, 5] + - !!python/tuple [30, 29] + - !!python/tuple [13, 25] + - !!python/tuple [12, 24] + - !!python/tuple [23, 11] + - !!python/tuple [25, 27] + - !!python/tuple [29, 4] + - !!python/tuple [26, 3] + - !!python/tuple [25, 16] + - !!python/tuple [20, 15] + - !!python/tuple [4, 27] + - !!python/tuple [6, 17] + - !!python/tuple [30, 19] + - !!python/tuple [25, 24] + - !!python/tuple [14, 24] + - !!python/tuple [8, 25] + - !!python/tuple [7, 9] + - !!python/tuple [14, 17] + - !!python/tuple [6, 4] + - !!python/tuple [17, 11] + - !!python/tuple [9, 2] + - !!python/tuple [24, 26] + - !!python/tuple [24, 15] + - !!python/tuple [13, 11] + - !!python/tuple [27, 3] + - !!python/tuple [3, 9] + - !!python/tuple [9, 20] + - !!python/tuple [19, 30] + - !!python/tuple [29, 8] + - !!python/tuple [5, 9] + - !!python/tuple [0, 23] + - !!python/tuple [28, 21] + - !!python/tuple [28, 6] + - !!python/tuple [8, 5] + - !!python/tuple [11, 28] + - !!python/tuple [8, 16] + - !!python/tuple [28, 0] + - !!python/tuple [12, 4] + - !!python/tuple [9, 27] + - !!python/tuple [28, 14] + - !!python/tuple [11, 27] + - !!python/tuple [5, 26] + - !!python/tuple [29, 0] + - !!python/tuple [8, 0] + - !!python/tuple [6, 3] + - !!python/tuple [7, 5] + - !!python/tuple [8, 19] + - !!python/tuple [15, 13] + - !!python/tuple [15, 26] + - !!python/tuple [30, 17] + - !!python/tuple [18, 8] + - !!python/tuple [11, 30] + - !!python/tuple [29, 31] + - !!python/tuple [8, 10] + - !!python/tuple [4, 30] + - !!python/tuple [16, 9] + - !!python/tuple [14, 12] + - !!python/tuple [24, 25] + - !!python/tuple [31, 12] + - !!python/tuple [17, 24] + - !!python/tuple [4, 24] + - !!python/tuple [20, 27] + - !!python/tuple [3, 6] + - !!python/tuple [14, 13] + - !!python/tuple [17, 23] + - !!python/tuple [19, 7] + - !!python/tuple [9, 19] + - !!python/tuple [27, 13] + - !!python/tuple [15, 2] + - !!python/tuple [5, 20] + - !!python/tuple [2, 1] + - !!python/tuple [1, 29] + - !!python/tuple [28, 29] + - !!python/tuple [29, 15] + - !!python/tuple [4, 4] + - !!python/tuple [11, 22] + - !!python/tuple [0, 16] + - !!python/tuple [14, 22] + - !!python/tuple [2, 26] + - !!python/tuple [18, 26] + - !!python/tuple [4, 3] + - !!python/tuple [4, 31] + - !!python/tuple [21, 4] + - !!python/tuple [11, 6] + - !!python/tuple [21, 17] + - !!python/tuple [19, 18] + - !!python/tuple [23, 5] + - !!python/tuple [19, 28] + - !!python/tuple [26, 17] + - !!python/tuple [9, 9] + - !!python/tuple [17, 17] + - !!python/tuple [11, 16] + - !!python/tuple [27, 28] + - !!python/tuple [28, 18] + - !!python/tuple [11, 29] + - !!python/tuple [24, 8] + - !!python/tuple [0, 4] + - !!python/tuple [21, 25] + - !!python/tuple [20, 16] + - !!python/tuple [7, 25] + - !!python/tuple [25, 6] + - !!python/tuple [5, 10] + - !!python/tuple [19, 16] + - !!python/tuple [14, 18] + - !!python/tuple [24, 11] + - !!python/tuple [11, 2] + - !!python/tuple [22, 20] + - !!python/tuple [7, 29] + - !!python/tuple [3, 25] + - !!python/tuple [13, 2] + - !!python/tuple [29, 27] + - !!python/tuple [25, 4] + - !!python/tuple [28, 1] + - !!python/tuple [6, 28] + - !!python/tuple [16, 12] + - !!python/tuple [4, 13] + - !!python/tuple [27, 1] + - !!python/tuple [3, 8] + - !!python/tuple [4, 18] + - !!python/tuple [20, 5] + - !!python/tuple [21, 29] + - !!python/tuple [10, 30] + - !!python/tuple [27, 6] + - !!python/tuple [18, 29] + - !!python/tuple [6, 26] + - !!python/tuple [30, 7] + - !!python/tuple [20, 30] + - !!python/tuple [1, 12] + - !!python/tuple [31, 0] + - !!python/tuple [22, 12] + - !!python/tuple [18, 5] + - !!python/tuple [9, 16] + - !!python/tuple [26, 19] + - !!python/tuple [21, 7] + - !!python/tuple [23, 10] + - !!python/tuple [29, 30] + - !!python/tuple [0, 25] + - !!python/tuple [27, 29] + - !!python/tuple [3, 2] + - !!python/tuple [4, 14] + - !!python/tuple [17, 7] + - !!python/tuple [7, 2] + - !!python/tuple [16, 25] + - !!python/tuple [30, 31] + - !!python/tuple [31, 16] + - !!python/tuple [9, 15] + - !!python/tuple [1, 6] + - !!python/tuple [6, 27] + - !!python/tuple [6, 12] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex65.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex65.yaml new file mode 100644 index 0000000..02ec00f --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex65.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [11, 26] + name: agent0 + start: [30, 25] +- goal: [26, 0] + name: agent1 + start: [6, 15] +- goal: [14, 13] + name: agent2 + start: [17, 2] +- goal: [4, 21] + name: agent3 + start: [30, 17] +- goal: [18, 15] + name: agent4 + start: [28, 28] +- goal: [9, 22] + name: agent5 + start: [27, 20] +- goal: [26, 8] + name: agent6 + start: [19, 5] +- goal: [17, 13] + name: agent7 + start: [19, 0] +- goal: [30, 26] + name: agent8 + start: [0, 11] +- goal: [12, 21] + name: agent9 + start: [15, 23] +- goal: [27, 21] + name: agent10 + start: [10, 1] +- goal: [30, 21] + name: agent11 + start: [29, 25] +- goal: [15, 6] + name: agent12 + start: [25, 18] +- goal: [6, 10] + name: agent13 + start: [27, 6] +- goal: [4, 20] + name: agent14 + start: [21, 1] +- goal: [8, 20] + name: agent15 + start: [30, 26] +- goal: [28, 4] + name: agent16 + start: [8, 7] +- goal: [8, 0] + name: agent17 + start: [18, 30] +- goal: [30, 29] + name: agent18 + start: [14, 25] +- goal: [0, 1] + name: agent19 + start: [28, 3] +- goal: [24, 28] + name: agent20 + start: [2, 23] +- goal: [26, 24] + name: agent21 + start: [2, 7] +- goal: [8, 17] + name: agent22 + start: [29, 18] +- goal: [8, 25] + name: agent23 + start: [21, 9] +- goal: [5, 11] + name: agent24 + start: [16, 3] +- goal: [31, 11] + name: agent25 + start: [10, 5] +- goal: [21, 24] + name: agent26 + start: [15, 4] +- goal: [30, 5] + name: agent27 + start: [28, 27] +- goal: [12, 12] + name: agent28 + start: [4, 1] +- goal: [21, 6] + name: agent29 + start: [18, 16] +- goal: [27, 28] + name: agent30 + start: [20, 16] +- goal: [27, 13] + name: agent31 + start: [7, 13] +- goal: [5, 16] + name: agent32 + start: [31, 13] +- goal: [7, 4] + name: agent33 + start: [30, 10] +- goal: [26, 10] + name: agent34 + start: [2, 11] +- goal: [11, 23] + name: agent35 + start: [11, 5] +- goal: [24, 30] + name: agent36 + start: [28, 23] +- goal: [18, 8] + name: agent37 + start: [11, 22] +- goal: [6, 22] + name: agent38 + start: [25, 20] +- goal: [25, 11] + name: agent39 + start: [13, 23] +- goal: [21, 23] + name: agent40 + start: [12, 25] +- goal: [1, 18] + name: agent41 + start: [9, 27] +- goal: [19, 12] + name: agent42 + start: [0, 28] +- goal: [17, 15] + name: agent43 + start: [1, 29] +- goal: [19, 2] + name: agent44 + start: [2, 24] +- goal: [19, 7] + name: agent45 + start: [8, 21] +- goal: [16, 26] + name: agent46 + start: [7, 8] +- goal: [14, 28] + name: agent47 + start: [15, 13] +- goal: [13, 19] + name: agent48 + start: [1, 4] +- goal: [9, 6] + name: agent49 + start: [20, 3] +- goal: [7, 23] + name: agent50 + start: [6, 5] +- goal: [29, 27] + name: agent51 + start: [11, 10] +- goal: [27, 0] + name: agent52 + start: [13, 20] +- goal: [16, 8] + name: agent53 + start: [31, 0] +- goal: [21, 20] + name: agent54 + start: [23, 11] +- goal: [6, 4] + name: agent55 + start: [3, 24] +- goal: [26, 23] + name: agent56 + start: [18, 4] +- goal: [13, 17] + name: agent57 + start: [7, 18] +- goal: [27, 10] + name: agent58 + start: [4, 27] +- goal: [11, 30] + name: agent59 + start: [25, 5] +- goal: [15, 12] + name: agent60 + start: [8, 10] +- goal: [1, 3] + name: agent61 + start: [16, 11] +- goal: [10, 4] + name: agent62 + start: [25, 22] +- goal: [17, 1] + name: agent63 + start: [10, 13] +- goal: [6, 24] + name: agent64 + start: [27, 0] +- goal: [27, 20] + name: agent65 + start: [17, 17] +- goal: [23, 14] + name: agent66 + start: [12, 5] +- goal: [16, 19] + name: agent67 + start: [7, 1] +- goal: [11, 18] + name: agent68 + start: [29, 13] +- goal: [31, 0] + name: agent69 + start: [6, 24] +- goal: [31, 24] + name: agent70 + start: [31, 17] +- goal: [9, 15] + name: agent71 + start: [26, 8] +- goal: [22, 27] + name: agent72 + start: [27, 21] +- goal: [13, 27] + name: agent73 + start: [16, 13] +- goal: [20, 9] + name: agent74 + start: [14, 23] +- goal: [29, 8] + name: agent75 + start: [25, 28] +- goal: [2, 26] + name: agent76 + start: [16, 0] +- goal: [4, 7] + name: agent77 + start: [17, 28] +- goal: [17, 8] + name: agent78 + start: [26, 14] +- goal: [2, 1] + name: agent79 + start: [1, 26] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [23, 0] + - !!python/tuple [2, 3] + - !!python/tuple [2, 8] + - !!python/tuple [12, 10] + - !!python/tuple [17, 31] + - !!python/tuple [23, 29] + - !!python/tuple [10, 16] + - !!python/tuple [24, 3] + - !!python/tuple [11, 3] + - !!python/tuple [16, 17] + - !!python/tuple [4, 30] + - !!python/tuple [23, 2] + - !!python/tuple [22, 15] + - !!python/tuple [24, 1] + - !!python/tuple [14, 22] + - !!python/tuple [2, 27] + - !!python/tuple [12, 22] + - !!python/tuple [0, 24] + - !!python/tuple [18, 18] + - !!python/tuple [0, 20] + - !!python/tuple [31, 2] + - !!python/tuple [15, 16] + - !!python/tuple [20, 22] + - !!python/tuple [1, 19] + - !!python/tuple [22, 12] + - !!python/tuple [9, 31] + - !!python/tuple [3, 14] + - !!python/tuple [17, 26] + - !!python/tuple [21, 0] + - !!python/tuple [12, 14] + - !!python/tuple [16, 10] + - !!python/tuple [25, 17] + - !!python/tuple [24, 8] + - !!python/tuple [1, 6] + - !!python/tuple [17, 12] + - !!python/tuple [27, 27] + - !!python/tuple [8, 6] + - !!python/tuple [19, 10] + - !!python/tuple [0, 8] + - !!python/tuple [28, 30] + - !!python/tuple [22, 31] + - !!python/tuple [15, 19] + - !!python/tuple [3, 2] + - !!python/tuple [12, 26] + - !!python/tuple [21, 28] + - !!python/tuple [22, 11] + - !!python/tuple [28, 22] + - !!python/tuple [14, 27] + - !!python/tuple [7, 20] + - !!python/tuple [8, 26] + - !!python/tuple [3, 29] + - !!python/tuple [29, 7] + - !!python/tuple [20, 2] + - !!python/tuple [22, 5] + - !!python/tuple [16, 1] + - !!python/tuple [16, 9] + - !!python/tuple [0, 29] + - !!python/tuple [13, 6] + - !!python/tuple [29, 16] + - !!python/tuple [3, 23] + - !!python/tuple [22, 3] + - !!python/tuple [20, 12] + - !!python/tuple [15, 14] + - !!python/tuple [26, 29] + - !!python/tuple [14, 4] + - !!python/tuple [10, 20] + - !!python/tuple [17, 11] + - !!python/tuple [31, 15] + - !!python/tuple [30, 8] + - !!python/tuple [15, 5] + - !!python/tuple [23, 18] + - !!python/tuple [2, 2] + - !!python/tuple [27, 8] + - !!python/tuple [2, 22] + - !!python/tuple [10, 9] + - !!python/tuple [15, 10] + - !!python/tuple [25, 29] + - !!python/tuple [22, 10] + - !!python/tuple [12, 16] + - !!python/tuple [31, 21] + - !!python/tuple [30, 0] + - !!python/tuple [24, 23] + - !!python/tuple [9, 3] + - !!python/tuple [11, 6] + - !!python/tuple [21, 29] + - !!python/tuple [8, 14] + - !!python/tuple [12, 9] + - !!python/tuple [6, 26] + - !!python/tuple [19, 18] + - !!python/tuple [21, 17] + - !!python/tuple [16, 22] + - !!python/tuple [31, 5] + - !!python/tuple [31, 8] + - !!python/tuple [27, 15] + - !!python/tuple [8, 31] + - !!python/tuple [27, 16] + - !!python/tuple [12, 18] + - !!python/tuple [22, 26] + - !!python/tuple [4, 0] + - !!python/tuple [31, 9] + - !!python/tuple [29, 14] + - !!python/tuple [9, 23] + - !!python/tuple [9, 18] + - !!python/tuple [5, 18] + - !!python/tuple [30, 14] + - !!python/tuple [10, 26] + - !!python/tuple [18, 21] + - !!python/tuple [14, 17] + - !!python/tuple [16, 21] + - !!python/tuple [8, 28] + - !!python/tuple [26, 31] + - !!python/tuple [24, 9] + - !!python/tuple [8, 19] + - !!python/tuple [19, 13] + - !!python/tuple [15, 18] + - !!python/tuple [30, 11] + - !!python/tuple [26, 16] + - !!python/tuple [11, 8] + - !!python/tuple [5, 2] + - !!python/tuple [26, 17] + - !!python/tuple [29, 31] + - !!python/tuple [6, 3] + - !!python/tuple [4, 10] + - !!python/tuple [23, 1] + - !!python/tuple [17, 16] + - !!python/tuple [28, 18] + - !!python/tuple [14, 29] + - !!python/tuple [10, 24] + - !!python/tuple [21, 26] + - !!python/tuple [17, 6] + - !!python/tuple [23, 12] + - !!python/tuple [7, 14] + - !!python/tuple [27, 12] + - !!python/tuple [28, 11] + - !!python/tuple [1, 16] + - !!python/tuple [21, 2] + - !!python/tuple [7, 29] + - !!python/tuple [14, 3] + - !!python/tuple [9, 16] + - !!python/tuple [24, 0] + - !!python/tuple [4, 23] + - !!python/tuple [3, 9] + - !!python/tuple [18, 0] + - !!python/tuple [23, 21] + - !!python/tuple [29, 10] + - !!python/tuple [24, 13] + - !!python/tuple [19, 6] + - !!python/tuple [24, 19] + - !!python/tuple [17, 24] + - !!python/tuple [18, 28] + - !!python/tuple [10, 8] + - !!python/tuple [4, 14] + - !!python/tuple [25, 6] + - !!python/tuple [6, 0] + - !!python/tuple [27, 5] + - !!python/tuple [20, 17] + - !!python/tuple [13, 1] + - !!python/tuple [5, 31] + - !!python/tuple [0, 10] + - !!python/tuple [29, 24] + - !!python/tuple [27, 7] + - !!python/tuple [18, 11] + - !!python/tuple [4, 2] + - !!python/tuple [23, 5] + - !!python/tuple [22, 22] + - !!python/tuple [5, 17] + - !!python/tuple [1, 8] + - !!python/tuple [19, 3] + - !!python/tuple [28, 7] + - !!python/tuple [11, 0] + - !!python/tuple [14, 12] + - !!python/tuple [7, 5] + - !!python/tuple [16, 30] + - !!python/tuple [14, 18] + - !!python/tuple [18, 17] + - !!python/tuple [23, 15] + - !!python/tuple [3, 26] + - !!python/tuple [25, 15] + - !!python/tuple [31, 27] + - !!python/tuple [18, 6] + - !!python/tuple [10, 19] + - !!python/tuple [27, 11] + - !!python/tuple [4, 22] + - !!python/tuple [18, 13] + - !!python/tuple [5, 23] + - !!python/tuple [12, 11] + - !!python/tuple [31, 30] + - !!python/tuple [6, 30] + - !!python/tuple [26, 26] + - !!python/tuple [22, 1] + - !!python/tuple [22, 28] + - !!python/tuple [30, 16] + - !!python/tuple [5, 14] + - !!python/tuple [29, 22] + - !!python/tuple [23, 31] + - !!python/tuple [25, 24] + - !!python/tuple [20, 28] + - !!python/tuple [3, 16] + - !!python/tuple [0, 3] + - !!python/tuple [17, 21] + - !!python/tuple [1, 31] + - !!python/tuple [25, 4] + - !!python/tuple [25, 1] + - !!python/tuple [23, 25] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex66.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex66.yaml new file mode 100644 index 0000000..71262c5 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex66.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [3, 12] + name: agent0 + start: [10, 15] +- goal: [20, 17] + name: agent1 + start: [29, 9] +- goal: [12, 6] + name: agent2 + start: [21, 26] +- goal: [20, 28] + name: agent3 + start: [24, 16] +- goal: [18, 28] + name: agent4 + start: [18, 23] +- goal: [9, 23] + name: agent5 + start: [24, 17] +- goal: [16, 23] + name: agent6 + start: [20, 1] +- goal: [21, 8] + name: agent7 + start: [10, 5] +- goal: [20, 13] + name: agent8 + start: [18, 29] +- goal: [6, 4] + name: agent9 + start: [29, 14] +- goal: [19, 15] + name: agent10 + start: [3, 16] +- goal: [0, 0] + name: agent11 + start: [23, 11] +- goal: [10, 21] + name: agent12 + start: [31, 11] +- goal: [11, 2] + name: agent13 + start: [19, 11] +- goal: [31, 11] + name: agent14 + start: [28, 31] +- goal: [1, 24] + name: agent15 + start: [5, 14] +- goal: [19, 2] + name: agent16 + start: [14, 10] +- goal: [21, 24] + name: agent17 + start: [3, 27] +- goal: [24, 12] + name: agent18 + start: [0, 4] +- goal: [25, 8] + name: agent19 + start: [26, 14] +- goal: [19, 21] + name: agent20 + start: [3, 19] +- goal: [9, 4] + name: agent21 + start: [15, 28] +- goal: [3, 11] + name: agent22 + start: [12, 31] +- goal: [14, 19] + name: agent23 + start: [6, 24] +- goal: [26, 11] + name: agent24 + start: [3, 28] +- goal: [24, 26] + name: agent25 + start: [20, 27] +- goal: [0, 3] + name: agent26 + start: [26, 17] +- goal: [29, 3] + name: agent27 + start: [9, 29] +- goal: [7, 7] + name: agent28 + start: [2, 3] +- goal: [3, 16] + name: agent29 + start: [22, 25] +- goal: [29, 10] + name: agent30 + start: [2, 13] +- goal: [18, 26] + name: agent31 + start: [15, 4] +- goal: [4, 2] + name: agent32 + start: [12, 11] +- goal: [11, 12] + name: agent33 + start: [9, 10] +- goal: [8, 26] + name: agent34 + start: [21, 2] +- goal: [0, 6] + name: agent35 + start: [30, 22] +- goal: [27, 17] + name: agent36 + start: [20, 31] +- goal: [21, 29] + name: agent37 + start: [21, 18] +- goal: [21, 31] + name: agent38 + start: [19, 28] +- goal: [1, 12] + name: agent39 + start: [29, 15] +- goal: [26, 31] + name: agent40 + start: [15, 3] +- goal: [0, 13] + name: agent41 + start: [20, 15] +- goal: [18, 30] + name: agent42 + start: [2, 17] +- goal: [20, 5] + name: agent43 + start: [31, 13] +- goal: [2, 2] + name: agent44 + start: [15, 31] +- goal: [11, 16] + name: agent45 + start: [8, 12] +- goal: [10, 8] + name: agent46 + start: [29, 17] +- goal: [23, 26] + name: agent47 + start: [19, 20] +- goal: [27, 31] + name: agent48 + start: [24, 2] +- goal: [21, 0] + name: agent49 + start: [25, 29] +- goal: [12, 11] + name: agent50 + start: [29, 23] +- goal: [26, 29] + name: agent51 + start: [10, 6] +- goal: [1, 18] + name: agent52 + start: [31, 29] +- goal: [17, 28] + name: agent53 + start: [5, 23] +- goal: [17, 9] + name: agent54 + start: [18, 19] +- goal: [8, 5] + name: agent55 + start: [22, 22] +- goal: [12, 18] + name: agent56 + start: [5, 5] +- goal: [3, 17] + name: agent57 + start: [14, 8] +- goal: [7, 22] + name: agent58 + start: [2, 5] +- goal: [28, 12] + name: agent59 + start: [20, 5] +- goal: [4, 27] + name: agent60 + start: [24, 13] +- goal: [28, 20] + name: agent61 + start: [7, 22] +- goal: [4, 31] + name: agent62 + start: [23, 0] +- goal: [6, 7] + name: agent63 + start: [11, 20] +- goal: [18, 29] + name: agent64 + start: [20, 14] +- goal: [21, 1] + name: agent65 + start: [15, 8] +- goal: [9, 22] + name: agent66 + start: [0, 12] +- goal: [7, 26] + name: agent67 + start: [20, 12] +- goal: [21, 4] + name: agent68 + start: [25, 20] +- goal: [4, 24] + name: agent69 + start: [17, 19] +- goal: [18, 15] + name: agent70 + start: [3, 10] +- goal: [31, 15] + name: agent71 + start: [5, 21] +- goal: [14, 18] + name: agent72 + start: [22, 17] +- goal: [17, 6] + name: agent73 + start: [7, 0] +- goal: [28, 28] + name: agent74 + start: [7, 24] +- goal: [5, 16] + name: agent75 + start: [6, 7] +- goal: [25, 0] + name: agent76 + start: [24, 24] +- goal: [7, 29] + name: agent77 + start: [28, 10] +- goal: [24, 7] + name: agent78 + start: [2, 7] +- goal: [29, 7] + name: agent79 + start: [30, 25] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [25, 23] + - !!python/tuple [15, 7] + - !!python/tuple [18, 7] + - !!python/tuple [27, 18] + - !!python/tuple [27, 1] + - !!python/tuple [4, 5] + - !!python/tuple [31, 22] + - !!python/tuple [31, 9] + - !!python/tuple [24, 28] + - !!python/tuple [10, 25] + - !!python/tuple [14, 11] + - !!python/tuple [23, 6] + - !!python/tuple [22, 9] + - !!python/tuple [2, 14] + - !!python/tuple [28, 16] + - !!python/tuple [6, 27] + - !!python/tuple [0, 5] + - !!python/tuple [1, 16] + - !!python/tuple [0, 24] + - !!python/tuple [14, 2] + - !!python/tuple [22, 10] + - !!python/tuple [14, 28] + - !!python/tuple [17, 29] + - !!python/tuple [20, 22] + - !!python/tuple [22, 2] + - !!python/tuple [7, 8] + - !!python/tuple [0, 23] + - !!python/tuple [1, 28] + - !!python/tuple [12, 13] + - !!python/tuple [12, 30] + - !!python/tuple [9, 24] + - !!python/tuple [11, 30] + - !!python/tuple [31, 0] + - !!python/tuple [15, 29] + - !!python/tuple [20, 9] + - !!python/tuple [15, 11] + - !!python/tuple [24, 29] + - !!python/tuple [26, 6] + - !!python/tuple [12, 14] + - !!python/tuple [4, 30] + - !!python/tuple [13, 15] + - !!python/tuple [18, 4] + - !!python/tuple [9, 11] + - !!python/tuple [23, 4] + - !!python/tuple [8, 17] + - !!python/tuple [30, 1] + - !!python/tuple [15, 15] + - !!python/tuple [13, 5] + - !!python/tuple [25, 19] + - !!python/tuple [2, 19] + - !!python/tuple [22, 24] + - !!python/tuple [11, 21] + - !!python/tuple [11, 15] + - !!python/tuple [7, 16] + - !!python/tuple [5, 28] + - !!python/tuple [24, 18] + - !!python/tuple [12, 12] + - !!python/tuple [7, 1] + - !!python/tuple [22, 21] + - !!python/tuple [28, 11] + - !!python/tuple [16, 6] + - !!python/tuple [24, 19] + - !!python/tuple [24, 21] + - !!python/tuple [29, 19] + - !!python/tuple [4, 15] + - !!python/tuple [23, 9] + - !!python/tuple [6, 14] + - !!python/tuple [0, 28] + - !!python/tuple [17, 22] + - !!python/tuple [3, 20] + - !!python/tuple [10, 0] + - !!python/tuple [1, 7] + - !!python/tuple [19, 26] + - !!python/tuple [13, 27] + - !!python/tuple [27, 21] + - !!python/tuple [2, 12] + - !!python/tuple [23, 1] + - !!python/tuple [14, 7] + - !!python/tuple [19, 5] + - !!python/tuple [12, 26] + - !!python/tuple [23, 2] + - !!python/tuple [7, 13] + - !!python/tuple [28, 19] + - !!python/tuple [1, 11] + - !!python/tuple [30, 18] + - !!python/tuple [31, 4] + - !!python/tuple [15, 2] + - !!python/tuple [0, 31] + - !!python/tuple [6, 15] + - !!python/tuple [6, 12] + - !!python/tuple [4, 6] + - !!python/tuple [19, 24] + - !!python/tuple [23, 23] + - !!python/tuple [27, 23] + - !!python/tuple [16, 30] + - !!python/tuple [27, 10] + - !!python/tuple [28, 21] + - !!python/tuple [6, 30] + - !!python/tuple [0, 22] + - !!python/tuple [13, 9] + - !!python/tuple [24, 11] + - !!python/tuple [8, 3] + - !!python/tuple [19, 13] + - !!python/tuple [15, 13] + - !!python/tuple [14, 20] + - !!python/tuple [13, 22] + - !!python/tuple [25, 7] + - !!python/tuple [19, 18] + - !!python/tuple [3, 24] + - !!python/tuple [21, 16] + - !!python/tuple [14, 9] + - !!python/tuple [8, 30] + - !!python/tuple [9, 26] + - !!python/tuple [22, 18] + - !!python/tuple [24, 4] + - !!python/tuple [11, 28] + - !!python/tuple [21, 10] + - !!python/tuple [9, 1] + - !!python/tuple [2, 29] + - !!python/tuple [28, 6] + - !!python/tuple [25, 31] + - !!python/tuple [12, 0] + - !!python/tuple [17, 25] + - !!python/tuple [14, 15] + - !!python/tuple [21, 25] + - !!python/tuple [26, 13] + - !!python/tuple [8, 31] + - !!python/tuple [30, 17] + - !!python/tuple [22, 23] + - !!python/tuple [27, 5] + - !!python/tuple [23, 3] + - !!python/tuple [17, 26] + - !!python/tuple [30, 30] + - !!python/tuple [10, 24] + - !!python/tuple [12, 22] + - !!python/tuple [27, 25] + - !!python/tuple [17, 24] + - !!python/tuple [7, 3] + - !!python/tuple [1, 3] + - !!python/tuple [8, 4] + - !!python/tuple [29, 18] + - !!python/tuple [10, 17] + - !!python/tuple [10, 12] + - !!python/tuple [25, 14] + - !!python/tuple [15, 17] + - !!python/tuple [8, 25] + - !!python/tuple [14, 16] + - !!python/tuple [21, 9] + - !!python/tuple [3, 9] + - !!python/tuple [9, 0] + - !!python/tuple [31, 20] + - !!python/tuple [15, 10] + - !!python/tuple [4, 19] + - !!python/tuple [27, 7] + - !!python/tuple [13, 17] + - !!python/tuple [30, 19] + - !!python/tuple [13, 14] + - !!python/tuple [15, 18] + - !!python/tuple [4, 23] + - !!python/tuple [6, 16] + - !!python/tuple [12, 1] + - !!python/tuple [6, 5] + - !!python/tuple [23, 28] + - !!python/tuple [17, 10] + - !!python/tuple [22, 27] + - !!python/tuple [5, 2] + - !!python/tuple [23, 10] + - !!python/tuple [3, 15] + - !!python/tuple [28, 3] + - !!python/tuple [29, 5] + - !!python/tuple [8, 18] + - !!python/tuple [23, 13] + - !!python/tuple [27, 0] + - !!python/tuple [26, 10] + - !!python/tuple [26, 16] + - !!python/tuple [30, 7] + - !!python/tuple [11, 10] + - !!python/tuple [9, 6] + - !!python/tuple [29, 28] + - !!python/tuple [16, 19] + - !!python/tuple [22, 4] + - !!python/tuple [11, 22] + - !!python/tuple [29, 12] + - !!python/tuple [6, 13] + - !!python/tuple [12, 2] + - !!python/tuple [15, 23] + - !!python/tuple [14, 24] + - !!python/tuple [19, 27] + - !!python/tuple [5, 6] + - !!python/tuple [19, 30] + - !!python/tuple [21, 6] + - !!python/tuple [16, 12] + - !!python/tuple [22, 15] + - !!python/tuple [27, 29] + - !!python/tuple [12, 19] + - !!python/tuple [17, 8] + - !!python/tuple [11, 9] + - !!python/tuple [30, 0] + - !!python/tuple [18, 31] + - !!python/tuple [0, 30] + - !!python/tuple [26, 28] + - !!python/tuple [26, 18] + - !!python/tuple [2, 11] + - !!python/tuple [1, 10] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex67.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex67.yaml new file mode 100644 index 0000000..f4f60e1 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex67.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [16, 14] + name: agent0 + start: [7, 19] +- goal: [1, 11] + name: agent1 + start: [18, 7] +- goal: [25, 16] + name: agent2 + start: [19, 1] +- goal: [14, 19] + name: agent3 + start: [14, 22] +- goal: [28, 4] + name: agent4 + start: [24, 1] +- goal: [19, 6] + name: agent5 + start: [24, 28] +- goal: [17, 1] + name: agent6 + start: [10, 3] +- goal: [18, 23] + name: agent7 + start: [31, 14] +- goal: [24, 29] + name: agent8 + start: [27, 6] +- goal: [13, 19] + name: agent9 + start: [13, 28] +- goal: [27, 12] + name: agent10 + start: [6, 2] +- goal: [0, 16] + name: agent11 + start: [19, 20] +- goal: [14, 14] + name: agent12 + start: [23, 21] +- goal: [3, 9] + name: agent13 + start: [5, 23] +- goal: [6, 16] + name: agent14 + start: [31, 18] +- goal: [28, 7] + name: agent15 + start: [27, 26] +- goal: [1, 29] + name: agent16 + start: [17, 2] +- goal: [16, 4] + name: agent17 + start: [0, 13] +- goal: [18, 12] + name: agent18 + start: [9, 13] +- goal: [14, 8] + name: agent19 + start: [5, 7] +- goal: [31, 21] + name: agent20 + start: [17, 12] +- goal: [23, 21] + name: agent21 + start: [4, 17] +- goal: [22, 0] + name: agent22 + start: [9, 31] +- goal: [30, 22] + name: agent23 + start: [29, 26] +- goal: [2, 28] + name: agent24 + start: [7, 0] +- goal: [17, 26] + name: agent25 + start: [30, 24] +- goal: [18, 10] + name: agent26 + start: [8, 0] +- goal: [13, 22] + name: agent27 + start: [5, 25] +- goal: [24, 21] + name: agent28 + start: [28, 29] +- goal: [26, 24] + name: agent29 + start: [19, 21] +- goal: [16, 16] + name: agent30 + start: [1, 18] +- goal: [17, 0] + name: agent31 + start: [24, 9] +- goal: [3, 20] + name: agent32 + start: [17, 11] +- goal: [21, 1] + name: agent33 + start: [28, 27] +- goal: [28, 0] + name: agent34 + start: [16, 27] +- goal: [22, 25] + name: agent35 + start: [13, 22] +- goal: [2, 2] + name: agent36 + start: [19, 4] +- goal: [17, 14] + name: agent37 + start: [30, 3] +- goal: [18, 15] + name: agent38 + start: [31, 15] +- goal: [6, 20] + name: agent39 + start: [10, 24] +- goal: [23, 8] + name: agent40 + start: [14, 20] +- goal: [3, 27] + name: agent41 + start: [9, 14] +- goal: [11, 27] + name: agent42 + start: [6, 18] +- goal: [28, 22] + name: agent43 + start: [4, 9] +- goal: [21, 5] + name: agent44 + start: [23, 15] +- goal: [26, 3] + name: agent45 + start: [22, 26] +- goal: [27, 15] + name: agent46 + start: [3, 0] +- goal: [31, 0] + name: agent47 + start: [20, 25] +- goal: [17, 8] + name: agent48 + start: [29, 11] +- goal: [27, 3] + name: agent49 + start: [22, 12] +- goal: [12, 4] + name: agent50 + start: [15, 23] +- goal: [21, 27] + name: agent51 + start: [10, 12] +- goal: [2, 14] + name: agent52 + start: [28, 18] +- goal: [28, 19] + name: agent53 + start: [7, 7] +- goal: [0, 9] + name: agent54 + start: [27, 17] +- goal: [27, 28] + name: agent55 + start: [21, 12] +- goal: [21, 24] + name: agent56 + start: [12, 3] +- goal: [14, 29] + name: agent57 + start: [18, 25] +- goal: [30, 1] + name: agent58 + start: [30, 30] +- goal: [22, 5] + name: agent59 + start: [10, 21] +- goal: [7, 31] + name: agent60 + start: [18, 17] +- goal: [22, 19] + name: agent61 + start: [24, 26] +- goal: [16, 11] + name: agent62 + start: [25, 23] +- goal: [4, 1] + name: agent63 + start: [4, 8] +- goal: [10, 14] + name: agent64 + start: [26, 25] +- goal: [28, 13] + name: agent65 + start: [10, 11] +- goal: [18, 1] + name: agent66 + start: [25, 6] +- goal: [20, 30] + name: agent67 + start: [27, 11] +- goal: [25, 28] + name: agent68 + start: [24, 3] +- goal: [15, 29] + name: agent69 + start: [27, 3] +- goal: [1, 2] + name: agent70 + start: [4, 22] +- goal: [14, 31] + name: agent71 + start: [7, 23] +- goal: [31, 2] + name: agent72 + start: [6, 16] +- goal: [4, 16] + name: agent73 + start: [21, 18] +- goal: [29, 30] + name: agent74 + start: [19, 18] +- goal: [28, 12] + name: agent75 + start: [8, 12] +- goal: [3, 10] + name: agent76 + start: [14, 11] +- goal: [24, 13] + name: agent77 + start: [22, 9] +- goal: [10, 23] + name: agent78 + start: [22, 2] +- goal: [11, 31] + name: agent79 + start: [10, 27] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [30, 18] + - !!python/tuple [6, 17] + - !!python/tuple [29, 13] + - !!python/tuple [29, 2] + - !!python/tuple [9, 21] + - !!python/tuple [12, 0] + - !!python/tuple [28, 20] + - !!python/tuple [7, 1] + - !!python/tuple [13, 7] + - !!python/tuple [16, 19] + - !!python/tuple [27, 19] + - !!python/tuple [14, 21] + - !!python/tuple [21, 15] + - !!python/tuple [29, 14] + - !!python/tuple [22, 11] + - !!python/tuple [13, 2] + - !!python/tuple [17, 22] + - !!python/tuple [9, 3] + - !!python/tuple [29, 29] + - !!python/tuple [5, 5] + - !!python/tuple [1, 27] + - !!python/tuple [19, 19] + - !!python/tuple [1, 8] + - !!python/tuple [7, 11] + - !!python/tuple [9, 6] + - !!python/tuple [2, 24] + - !!python/tuple [30, 20] + - !!python/tuple [1, 5] + - !!python/tuple [15, 24] + - !!python/tuple [5, 11] + - !!python/tuple [27, 18] + - !!python/tuple [2, 11] + - !!python/tuple [0, 21] + - !!python/tuple [6, 25] + - !!python/tuple [23, 10] + - !!python/tuple [26, 2] + - !!python/tuple [0, 27] + - !!python/tuple [21, 25] + - !!python/tuple [18, 26] + - !!python/tuple [19, 2] + - !!python/tuple [19, 7] + - !!python/tuple [1, 28] + - !!python/tuple [0, 19] + - !!python/tuple [17, 30] + - !!python/tuple [7, 18] + - !!python/tuple [11, 6] + - !!python/tuple [31, 27] + - !!python/tuple [7, 6] + - !!python/tuple [27, 14] + - !!python/tuple [22, 27] + - !!python/tuple [0, 6] + - !!python/tuple [4, 24] + - !!python/tuple [7, 29] + - !!python/tuple [11, 2] + - !!python/tuple [23, 25] + - !!python/tuple [6, 23] + - !!python/tuple [22, 8] + - !!python/tuple [27, 1] + - !!python/tuple [17, 17] + - !!python/tuple [23, 23] + - !!python/tuple [30, 27] + - !!python/tuple [5, 22] + - !!python/tuple [30, 8] + - !!python/tuple [1, 10] + - !!python/tuple [25, 10] + - !!python/tuple [8, 23] + - !!python/tuple [14, 0] + - !!python/tuple [12, 5] + - !!python/tuple [6, 0] + - !!python/tuple [14, 24] + - !!python/tuple [4, 21] + - !!python/tuple [4, 12] + - !!python/tuple [27, 22] + - !!python/tuple [3, 14] + - !!python/tuple [22, 6] + - !!python/tuple [20, 22] + - !!python/tuple [12, 28] + - !!python/tuple [9, 19] + - !!python/tuple [18, 16] + - !!python/tuple [23, 20] + - !!python/tuple [30, 6] + - !!python/tuple [29, 4] + - !!python/tuple [17, 23] + - !!python/tuple [12, 23] + - !!python/tuple [29, 23] + - !!python/tuple [19, 5] + - !!python/tuple [21, 8] + - !!python/tuple [11, 7] + - !!python/tuple [11, 16] + - !!python/tuple [23, 5] + - !!python/tuple [13, 27] + - !!python/tuple [25, 30] + - !!python/tuple [7, 22] + - !!python/tuple [25, 8] + - !!python/tuple [2, 25] + - !!python/tuple [16, 8] + - !!python/tuple [10, 20] + - !!python/tuple [24, 16] + - !!python/tuple [8, 9] + - !!python/tuple [27, 24] + - !!python/tuple [12, 6] + - !!python/tuple [2, 22] + - !!python/tuple [16, 15] + - !!python/tuple [24, 6] + - !!python/tuple [13, 0] + - !!python/tuple [18, 11] + - !!python/tuple [1, 12] + - !!python/tuple [12, 31] + - !!python/tuple [12, 2] + - !!python/tuple [24, 31] + - !!python/tuple [13, 25] + - !!python/tuple [31, 16] + - !!python/tuple [20, 1] + - !!python/tuple [22, 31] + - !!python/tuple [24, 5] + - !!python/tuple [31, 17] + - !!python/tuple [15, 30] + - !!python/tuple [20, 24] + - !!python/tuple [0, 1] + - !!python/tuple [8, 17] + - !!python/tuple [4, 30] + - !!python/tuple [15, 7] + - !!python/tuple [0, 23] + - !!python/tuple [7, 12] + - !!python/tuple [2, 27] + - !!python/tuple [5, 10] + - !!python/tuple [21, 0] + - !!python/tuple [1, 21] + - !!python/tuple [2, 5] + - !!python/tuple [21, 10] + - !!python/tuple [21, 19] + - !!python/tuple [1, 23] + - !!python/tuple [2, 26] + - !!python/tuple [29, 12] + - !!python/tuple [29, 9] + - !!python/tuple [2, 29] + - !!python/tuple [11, 20] + - !!python/tuple [27, 21] + - !!python/tuple [18, 3] + - !!python/tuple [16, 30] + - !!python/tuple [5, 30] + - !!python/tuple [25, 25] + - !!python/tuple [4, 3] + - !!python/tuple [0, 24] + - !!python/tuple [30, 4] + - !!python/tuple [9, 30] + - !!python/tuple [17, 27] + - !!python/tuple [20, 14] + - !!python/tuple [10, 13] + - !!python/tuple [11, 23] + - !!python/tuple [20, 5] + - !!python/tuple [2, 31] + - !!python/tuple [17, 5] + - !!python/tuple [3, 5] + - !!python/tuple [10, 8] + - !!python/tuple [22, 20] + - !!python/tuple [27, 25] + - !!python/tuple [31, 13] + - !!python/tuple [25, 27] + - !!python/tuple [17, 25] + - !!python/tuple [24, 22] + - !!python/tuple [26, 20] + - !!python/tuple [19, 17] + - !!python/tuple [16, 12] + - !!python/tuple [22, 22] + - !!python/tuple [17, 7] + - !!python/tuple [17, 3] + - !!python/tuple [31, 30] + - !!python/tuple [15, 5] + - !!python/tuple [2, 13] + - !!python/tuple [12, 14] + - !!python/tuple [11, 9] + - !!python/tuple [18, 27] + - !!python/tuple [28, 3] + - !!python/tuple [16, 28] + - !!python/tuple [18, 19] + - !!python/tuple [0, 5] + - !!python/tuple [3, 7] + - !!python/tuple [28, 24] + - !!python/tuple [0, 15] + - !!python/tuple [28, 21] + - !!python/tuple [11, 3] + - !!python/tuple [24, 11] + - !!python/tuple [9, 18] + - !!python/tuple [21, 16] + - !!python/tuple [17, 31] + - !!python/tuple [7, 25] + - !!python/tuple [5, 29] + - !!python/tuple [23, 27] + - !!python/tuple [27, 16] + - !!python/tuple [31, 20] + - !!python/tuple [10, 17] + - !!python/tuple [4, 26] + - !!python/tuple [4, 27] + - !!python/tuple [9, 7] + - !!python/tuple [27, 13] + - !!python/tuple [8, 16] + - !!python/tuple [18, 0] + - !!python/tuple [30, 11] + - !!python/tuple [7, 17] + - !!python/tuple [2, 3] + - !!python/tuple [18, 14] + - !!python/tuple [11, 14] + - !!python/tuple [21, 9] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex68.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex68.yaml new file mode 100644 index 0000000..5d7fd0e --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex68.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [4, 30] + name: agent0 + start: [5, 24] +- goal: [17, 14] + name: agent1 + start: [10, 31] +- goal: [25, 0] + name: agent2 + start: [21, 15] +- goal: [8, 21] + name: agent3 + start: [19, 23] +- goal: [12, 24] + name: agent4 + start: [8, 16] +- goal: [7, 8] + name: agent5 + start: [17, 22] +- goal: [15, 20] + name: agent6 + start: [1, 15] +- goal: [30, 30] + name: agent7 + start: [25, 14] +- goal: [30, 17] + name: agent8 + start: [24, 30] +- goal: [20, 27] + name: agent9 + start: [11, 17] +- goal: [24, 16] + name: agent10 + start: [12, 23] +- goal: [28, 22] + name: agent11 + start: [20, 8] +- goal: [5, 5] + name: agent12 + start: [30, 10] +- goal: [18, 12] + name: agent13 + start: [4, 1] +- goal: [11, 6] + name: agent14 + start: [31, 29] +- goal: [28, 14] + name: agent15 + start: [18, 13] +- goal: [29, 1] + name: agent16 + start: [29, 17] +- goal: [26, 16] + name: agent17 + start: [27, 14] +- goal: [25, 11] + name: agent18 + start: [1, 17] +- goal: [8, 28] + name: agent19 + start: [4, 7] +- goal: [1, 17] + name: agent20 + start: [11, 0] +- goal: [5, 29] + name: agent21 + start: [24, 25] +- goal: [23, 2] + name: agent22 + start: [12, 22] +- goal: [31, 3] + name: agent23 + start: [3, 31] +- goal: [3, 21] + name: agent24 + start: [25, 9] +- goal: [7, 0] + name: agent25 + start: [9, 31] +- goal: [4, 28] + name: agent26 + start: [6, 12] +- goal: [26, 30] + name: agent27 + start: [29, 7] +- goal: [28, 23] + name: agent28 + start: [2, 26] +- goal: [6, 11] + name: agent29 + start: [17, 28] +- goal: [19, 23] + name: agent30 + start: [21, 25] +- goal: [25, 10] + name: agent31 + start: [10, 17] +- goal: [11, 12] + name: agent32 + start: [24, 17] +- goal: [27, 28] + name: agent33 + start: [26, 24] +- goal: [20, 29] + name: agent34 + start: [15, 3] +- goal: [17, 9] + name: agent35 + start: [11, 25] +- goal: [27, 1] + name: agent36 + start: [7, 22] +- goal: [8, 24] + name: agent37 + start: [5, 13] +- goal: [3, 28] + name: agent38 + start: [29, 14] +- goal: [3, 9] + name: agent39 + start: [12, 7] +- goal: [16, 17] + name: agent40 + start: [12, 11] +- goal: [0, 27] + name: agent41 + start: [19, 22] +- goal: [27, 18] + name: agent42 + start: [17, 15] +- goal: [6, 12] + name: agent43 + start: [8, 24] +- goal: [9, 20] + name: agent44 + start: [8, 14] +- goal: [22, 11] + name: agent45 + start: [24, 13] +- goal: [22, 21] + name: agent46 + start: [30, 21] +- goal: [3, 2] + name: agent47 + start: [28, 28] +- goal: [19, 14] + name: agent48 + start: [18, 22] +- goal: [29, 22] + name: agent49 + start: [6, 15] +- goal: [21, 26] + name: agent50 + start: [1, 23] +- goal: [15, 10] + name: agent51 + start: [14, 4] +- goal: [17, 6] + name: agent52 + start: [0, 15] +- goal: [30, 13] + name: agent53 + start: [15, 27] +- goal: [16, 30] + name: agent54 + start: [9, 23] +- goal: [3, 24] + name: agent55 + start: [7, 21] +- goal: [14, 17] + name: agent56 + start: [19, 1] +- goal: [15, 7] + name: agent57 + start: [9, 14] +- goal: [10, 3] + name: agent58 + start: [1, 28] +- goal: [30, 14] + name: agent59 + start: [28, 6] +- goal: [30, 27] + name: agent60 + start: [31, 11] +- goal: [27, 31] + name: agent61 + start: [10, 13] +- goal: [3, 31] + name: agent62 + start: [22, 28] +- goal: [30, 5] + name: agent63 + start: [5, 5] +- goal: [31, 22] + name: agent64 + start: [27, 28] +- goal: [0, 14] + name: agent65 + start: [16, 9] +- goal: [12, 25] + name: agent66 + start: [26, 29] +- goal: [2, 26] + name: agent67 + start: [18, 17] +- goal: [7, 11] + name: agent68 + start: [11, 2] +- goal: [12, 14] + name: agent69 + start: [4, 11] +- goal: [13, 16] + name: agent70 + start: [25, 27] +- goal: [10, 16] + name: agent71 + start: [3, 23] +- goal: [20, 16] + name: agent72 + start: [29, 8] +- goal: [16, 0] + name: agent73 + start: [7, 29] +- goal: [5, 0] + name: agent74 + start: [21, 22] +- goal: [8, 19] + name: agent75 + start: [15, 14] +- goal: [8, 26] + name: agent76 + start: [29, 2] +- goal: [2, 28] + name: agent77 + start: [2, 14] +- goal: [5, 13] + name: agent78 + start: [8, 21] +- goal: [20, 19] + name: agent79 + start: [10, 6] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [29, 20] + - !!python/tuple [2, 4] + - !!python/tuple [22, 27] + - !!python/tuple [2, 21] + - !!python/tuple [4, 12] + - !!python/tuple [10, 21] + - !!python/tuple [14, 25] + - !!python/tuple [14, 28] + - !!python/tuple [1, 8] + - !!python/tuple [21, 10] + - !!python/tuple [24, 1] + - !!python/tuple [19, 13] + - !!python/tuple [23, 1] + - !!python/tuple [19, 27] + - !!python/tuple [29, 30] + - !!python/tuple [7, 15] + - !!python/tuple [27, 3] + - !!python/tuple [11, 13] + - !!python/tuple [23, 4] + - !!python/tuple [5, 21] + - !!python/tuple [19, 18] + - !!python/tuple [21, 17] + - !!python/tuple [16, 18] + - !!python/tuple [29, 21] + - !!python/tuple [12, 0] + - !!python/tuple [7, 14] + - !!python/tuple [0, 10] + - !!python/tuple [28, 7] + - !!python/tuple [18, 16] + - !!python/tuple [4, 17] + - !!python/tuple [23, 19] + - !!python/tuple [27, 20] + - !!python/tuple [4, 4] + - !!python/tuple [30, 28] + - !!python/tuple [1, 29] + - !!python/tuple [3, 18] + - !!python/tuple [22, 16] + - !!python/tuple [5, 25] + - !!python/tuple [0, 11] + - !!python/tuple [18, 11] + - !!python/tuple [9, 24] + - !!python/tuple [18, 21] + - !!python/tuple [7, 7] + - !!python/tuple [24, 14] + - !!python/tuple [10, 12] + - !!python/tuple [29, 5] + - !!python/tuple [24, 20] + - !!python/tuple [5, 30] + - !!python/tuple [29, 3] + - !!python/tuple [15, 8] + - !!python/tuple [26, 22] + - !!python/tuple [5, 11] + - !!python/tuple [31, 18] + - !!python/tuple [9, 28] + - !!python/tuple [12, 18] + - !!python/tuple [24, 0] + - !!python/tuple [21, 3] + - !!python/tuple [16, 28] + - !!python/tuple [10, 26] + - !!python/tuple [31, 9] + - !!python/tuple [8, 3] + - !!python/tuple [1, 3] + - !!python/tuple [0, 29] + - !!python/tuple [8, 17] + - !!python/tuple [9, 8] + - !!python/tuple [6, 29] + - !!python/tuple [13, 26] + - !!python/tuple [28, 21] + - !!python/tuple [24, 15] + - !!python/tuple [21, 16] + - !!python/tuple [25, 18] + - !!python/tuple [14, 30] + - !!python/tuple [20, 22] + - !!python/tuple [8, 29] + - !!python/tuple [8, 31] + - !!python/tuple [7, 10] + - !!python/tuple [0, 4] + - !!python/tuple [27, 26] + - !!python/tuple [9, 4] + - !!python/tuple [4, 3] + - !!python/tuple [24, 9] + - !!python/tuple [18, 27] + - !!python/tuple [21, 18] + - !!python/tuple [9, 11] + - !!python/tuple [15, 2] + - !!python/tuple [8, 25] + - !!python/tuple [3, 6] + - !!python/tuple [21, 9] + - !!python/tuple [13, 10] + - !!python/tuple [10, 27] + - !!python/tuple [12, 15] + - !!python/tuple [4, 21] + - !!python/tuple [14, 13] + - !!python/tuple [17, 1] + - !!python/tuple [18, 23] + - !!python/tuple [7, 1] + - !!python/tuple [15, 24] + - !!python/tuple [10, 18] + - !!python/tuple [7, 16] + - !!python/tuple [21, 11] + - !!python/tuple [20, 12] + - !!python/tuple [9, 10] + - !!python/tuple [27, 9] + - !!python/tuple [26, 13] + - !!python/tuple [0, 30] + - !!python/tuple [0, 21] + - !!python/tuple [31, 4] + - !!python/tuple [27, 16] + - !!python/tuple [9, 26] + - !!python/tuple [10, 9] + - !!python/tuple [4, 0] + - !!python/tuple [24, 3] + - !!python/tuple [0, 0] + - !!python/tuple [16, 2] + - !!python/tuple [0, 24] + - !!python/tuple [19, 11] + - !!python/tuple [0, 25] + - !!python/tuple [9, 19] + - !!python/tuple [16, 6] + - !!python/tuple [23, 17] + - !!python/tuple [25, 28] + - !!python/tuple [10, 11] + - !!python/tuple [22, 19] + - !!python/tuple [24, 21] + - !!python/tuple [31, 6] + - !!python/tuple [29, 16] + - !!python/tuple [11, 15] + - !!python/tuple [23, 3] + - !!python/tuple [31, 15] + - !!python/tuple [26, 5] + - !!python/tuple [19, 6] + - !!python/tuple [22, 13] + - !!python/tuple [12, 5] + - !!python/tuple [26, 11] + - !!python/tuple [6, 1] + - !!python/tuple [18, 24] + - !!python/tuple [24, 18] + - !!python/tuple [5, 17] + - !!python/tuple [17, 31] + - !!python/tuple [4, 24] + - !!python/tuple [5, 14] + - !!python/tuple [29, 10] + - !!python/tuple [14, 26] + - !!python/tuple [10, 29] + - !!python/tuple [27, 17] + - !!python/tuple [0, 8] + - !!python/tuple [28, 15] + - !!python/tuple [22, 15] + - !!python/tuple [9, 1] + - !!python/tuple [21, 0] + - !!python/tuple [12, 29] + - !!python/tuple [6, 31] + - !!python/tuple [14, 19] + - !!python/tuple [12, 3] + - !!python/tuple [11, 31] + - !!python/tuple [9, 3] + - !!python/tuple [3, 30] + - !!python/tuple [2, 3] + - !!python/tuple [28, 24] + - !!python/tuple [31, 27] + - !!python/tuple [1, 25] + - !!python/tuple [25, 7] + - !!python/tuple [29, 9] + - !!python/tuple [5, 7] + - !!python/tuple [23, 5] + - !!python/tuple [18, 2] + - !!python/tuple [6, 17] + - !!python/tuple [24, 6] + - !!python/tuple [5, 2] + - !!python/tuple [15, 13] + - !!python/tuple [8, 4] + - !!python/tuple [1, 13] + - !!python/tuple [10, 4] + - !!python/tuple [14, 24] + - !!python/tuple [18, 10] + - !!python/tuple [25, 13] + - !!python/tuple [1, 21] + - !!python/tuple [4, 31] + - !!python/tuple [3, 3] + - !!python/tuple [13, 24] + - !!python/tuple [3, 7] + - !!python/tuple [1, 5] + - !!python/tuple [9, 18] + - !!python/tuple [10, 23] + - !!python/tuple [15, 0] + - !!python/tuple [11, 7] + - !!python/tuple [29, 23] + - !!python/tuple [2, 10] + - !!python/tuple [23, 26] + - !!python/tuple [14, 21] + - !!python/tuple [10, 0] + - !!python/tuple [15, 31] + - !!python/tuple [21, 13] + - !!python/tuple [31, 25] + - !!python/tuple [25, 4] + - !!python/tuple [23, 24] + - !!python/tuple [19, 8] + - !!python/tuple [6, 9] + - !!python/tuple [31, 26] + - !!python/tuple [18, 6] + - !!python/tuple [16, 23] + - !!python/tuple [9, 25] + - !!python/tuple [31, 17] + - !!python/tuple [3, 4] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex69.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex69.yaml new file mode 100644 index 0000000..6d88600 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex69.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [3, 1] + name: agent0 + start: [14, 8] +- goal: [5, 30] + name: agent1 + start: [21, 1] +- goal: [31, 1] + name: agent2 + start: [13, 28] +- goal: [24, 30] + name: agent3 + start: [27, 2] +- goal: [17, 5] + name: agent4 + start: [14, 20] +- goal: [2, 0] + name: agent5 + start: [13, 12] +- goal: [12, 21] + name: agent6 + start: [21, 17] +- goal: [0, 22] + name: agent7 + start: [25, 23] +- goal: [15, 28] + name: agent8 + start: [18, 14] +- goal: [26, 29] + name: agent9 + start: [14, 27] +- goal: [17, 19] + name: agent10 + start: [20, 9] +- goal: [5, 14] + name: agent11 + start: [27, 27] +- goal: [13, 0] + name: agent12 + start: [0, 29] +- goal: [8, 23] + name: agent13 + start: [6, 21] +- goal: [0, 14] + name: agent14 + start: [8, 18] +- goal: [17, 1] + name: agent15 + start: [4, 14] +- goal: [1, 7] + name: agent16 + start: [24, 12] +- goal: [27, 17] + name: agent17 + start: [10, 20] +- goal: [11, 11] + name: agent18 + start: [5, 23] +- goal: [2, 20] + name: agent19 + start: [26, 23] +- goal: [3, 22] + name: agent20 + start: [20, 21] +- goal: [0, 30] + name: agent21 + start: [27, 25] +- goal: [24, 10] + name: agent22 + start: [30, 13] +- goal: [1, 0] + name: agent23 + start: [21, 18] +- goal: [14, 22] + name: agent24 + start: [29, 20] +- goal: [17, 8] + name: agent25 + start: [13, 21] +- goal: [21, 19] + name: agent26 + start: [30, 6] +- goal: [8, 3] + name: agent27 + start: [3, 30] +- goal: [24, 15] + name: agent28 + start: [25, 7] +- goal: [24, 9] + name: agent29 + start: [4, 15] +- goal: [9, 29] + name: agent30 + start: [28, 23] +- goal: [25, 5] + name: agent31 + start: [20, 14] +- goal: [27, 22] + name: agent32 + start: [31, 6] +- goal: [14, 17] + name: agent33 + start: [24, 24] +- goal: [10, 13] + name: agent34 + start: [16, 27] +- goal: [10, 23] + name: agent35 + start: [16, 3] +- goal: [25, 2] + name: agent36 + start: [3, 20] +- goal: [2, 28] + name: agent37 + start: [22, 8] +- goal: [10, 28] + name: agent38 + start: [10, 3] +- goal: [14, 5] + name: agent39 + start: [8, 4] +- goal: [18, 7] + name: agent40 + start: [6, 19] +- goal: [4, 14] + name: agent41 + start: [5, 11] +- goal: [9, 14] + name: agent42 + start: [17, 12] +- goal: [31, 27] + name: agent43 + start: [8, 5] +- goal: [17, 23] + name: agent44 + start: [2, 16] +- goal: [11, 17] + name: agent45 + start: [23, 20] +- goal: [30, 11] + name: agent46 + start: [18, 4] +- goal: [5, 2] + name: agent47 + start: [21, 6] +- goal: [19, 1] + name: agent48 + start: [4, 7] +- goal: [14, 21] + name: agent49 + start: [23, 6] +- goal: [22, 29] + name: agent50 + start: [22, 27] +- goal: [23, 26] + name: agent51 + start: [8, 30] +- goal: [13, 2] + name: agent52 + start: [0, 22] +- goal: [28, 12] + name: agent53 + start: [4, 20] +- goal: [28, 0] + name: agent54 + start: [16, 24] +- goal: [15, 29] + name: agent55 + start: [14, 3] +- goal: [31, 3] + name: agent56 + start: [1, 8] +- goal: [11, 28] + name: agent57 + start: [7, 31] +- goal: [4, 29] + name: agent58 + start: [29, 12] +- goal: [27, 31] + name: agent59 + start: [19, 30] +- goal: [21, 25] + name: agent60 + start: [30, 7] +- goal: [2, 14] + name: agent61 + start: [2, 29] +- goal: [6, 14] + name: agent62 + start: [29, 6] +- goal: [25, 6] + name: agent63 + start: [19, 9] +- goal: [30, 23] + name: agent64 + start: [12, 20] +- goal: [4, 18] + name: agent65 + start: [25, 3] +- goal: [16, 5] + name: agent66 + start: [23, 27] +- goal: [26, 5] + name: agent67 + start: [17, 3] +- goal: [17, 11] + name: agent68 + start: [7, 15] +- goal: [28, 3] + name: agent69 + start: [6, 5] +- goal: [14, 14] + name: agent70 + start: [14, 22] +- goal: [20, 15] + name: agent71 + start: [27, 20] +- goal: [7, 1] + name: agent72 + start: [14, 30] +- goal: [26, 30] + name: agent73 + start: [1, 25] +- goal: [17, 21] + name: agent74 + start: [22, 20] +- goal: [28, 1] + name: agent75 + start: [15, 23] +- goal: [21, 21] + name: agent76 + start: [0, 31] +- goal: [21, 20] + name: agent77 + start: [10, 25] +- goal: [10, 26] + name: agent78 + start: [17, 10] +- goal: [22, 2] + name: agent79 + start: [5, 17] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [19, 15] + - !!python/tuple [15, 12] + - !!python/tuple [13, 9] + - !!python/tuple [5, 6] + - !!python/tuple [30, 2] + - !!python/tuple [20, 7] + - !!python/tuple [14, 10] + - !!python/tuple [13, 23] + - !!python/tuple [8, 14] + - !!python/tuple [4, 31] + - !!python/tuple [15, 10] + - !!python/tuple [21, 29] + - !!python/tuple [19, 18] + - !!python/tuple [12, 7] + - !!python/tuple [26, 14] + - !!python/tuple [12, 8] + - !!python/tuple [0, 8] + - !!python/tuple [0, 3] + - !!python/tuple [28, 19] + - !!python/tuple [14, 18] + - !!python/tuple [3, 6] + - !!python/tuple [30, 31] + - !!python/tuple [28, 15] + - !!python/tuple [7, 22] + - !!python/tuple [23, 19] + - !!python/tuple [13, 5] + - !!python/tuple [3, 12] + - !!python/tuple [8, 31] + - !!python/tuple [6, 29] + - !!python/tuple [23, 7] + - !!python/tuple [30, 27] + - !!python/tuple [3, 11] + - !!python/tuple [7, 25] + - !!python/tuple [11, 22] + - !!python/tuple [19, 31] + - !!python/tuple [10, 17] + - !!python/tuple [11, 15] + - !!python/tuple [18, 10] + - !!python/tuple [1, 24] + - !!python/tuple [30, 14] + - !!python/tuple [4, 12] + - !!python/tuple [18, 22] + - !!python/tuple [6, 27] + - !!python/tuple [16, 19] + - !!python/tuple [20, 10] + - !!python/tuple [25, 26] + - !!python/tuple [15, 7] + - !!python/tuple [29, 11] + - !!python/tuple [7, 28] + - !!python/tuple [22, 19] + - !!python/tuple [13, 15] + - !!python/tuple [22, 11] + - !!python/tuple [25, 24] + - !!python/tuple [23, 5] + - !!python/tuple [13, 22] + - !!python/tuple [17, 27] + - !!python/tuple [18, 28] + - !!python/tuple [23, 17] + - !!python/tuple [28, 27] + - !!python/tuple [24, 5] + - !!python/tuple [2, 9] + - !!python/tuple [17, 31] + - !!python/tuple [26, 3] + - !!python/tuple [21, 24] + - !!python/tuple [30, 18] + - !!python/tuple [22, 12] + - !!python/tuple [19, 26] + - !!python/tuple [27, 8] + - !!python/tuple [19, 11] + - !!python/tuple [28, 13] + - !!python/tuple [5, 13] + - !!python/tuple [28, 2] + - !!python/tuple [2, 10] + - !!python/tuple [12, 24] + - !!python/tuple [8, 13] + - !!python/tuple [9, 15] + - !!python/tuple [11, 14] + - !!python/tuple [31, 23] + - !!python/tuple [23, 11] + - !!python/tuple [10, 10] + - !!python/tuple [22, 21] + - !!python/tuple [20, 19] + - !!python/tuple [11, 19] + - !!python/tuple [28, 11] + - !!python/tuple [10, 11] + - !!python/tuple [12, 11] + - !!python/tuple [0, 23] + - !!python/tuple [22, 3] + - !!python/tuple [12, 2] + - !!python/tuple [20, 11] + - !!python/tuple [13, 16] + - !!python/tuple [10, 6] + - !!python/tuple [7, 11] + - !!python/tuple [1, 28] + - !!python/tuple [15, 13] + - !!python/tuple [6, 8] + - !!python/tuple [21, 13] + - !!python/tuple [22, 0] + - !!python/tuple [27, 12] + - !!python/tuple [27, 14] + - !!python/tuple [7, 10] + - !!python/tuple [31, 26] + - !!python/tuple [26, 6] + - !!python/tuple [16, 31] + - !!python/tuple [31, 16] + - !!python/tuple [25, 9] + - !!python/tuple [13, 19] + - !!python/tuple [23, 9] + - !!python/tuple [30, 19] + - !!python/tuple [2, 2] + - !!python/tuple [20, 24] + - !!python/tuple [30, 29] + - !!python/tuple [4, 11] + - !!python/tuple [12, 3] + - !!python/tuple [9, 19] + - !!python/tuple [9, 31] + - !!python/tuple [7, 3] + - !!python/tuple [27, 24] + - !!python/tuple [22, 13] + - !!python/tuple [24, 21] + - !!python/tuple [0, 19] + - !!python/tuple [17, 7] + - !!python/tuple [17, 9] + - !!python/tuple [31, 0] + - !!python/tuple [3, 8] + - !!python/tuple [27, 0] + - !!python/tuple [18, 15] + - !!python/tuple [23, 30] + - !!python/tuple [15, 3] + - !!python/tuple [0, 9] + - !!python/tuple [18, 24] + - !!python/tuple [19, 2] + - !!python/tuple [18, 16] + - !!python/tuple [17, 25] + - !!python/tuple [7, 6] + - !!python/tuple [11, 31] + - !!python/tuple [19, 20] + - !!python/tuple [22, 18] + - !!python/tuple [3, 13] + - !!python/tuple [28, 14] + - !!python/tuple [7, 2] + - !!python/tuple [9, 3] + - !!python/tuple [11, 21] + - !!python/tuple [30, 21] + - !!python/tuple [3, 16] + - !!python/tuple [17, 16] + - !!python/tuple [18, 5] + - !!python/tuple [9, 0] + - !!python/tuple [29, 16] + - !!python/tuple [1, 1] + - !!python/tuple [16, 10] + - !!python/tuple [5, 29] + - !!python/tuple [0, 13] + - !!python/tuple [21, 26] + - !!python/tuple [21, 15] + - !!python/tuple [22, 5] + - !!python/tuple [0, 5] + - !!python/tuple [18, 13] + - !!python/tuple [0, 21] + - !!python/tuple [17, 26] + - !!python/tuple [1, 29] + - !!python/tuple [2, 4] + - !!python/tuple [9, 9] + - !!python/tuple [30, 26] + - !!python/tuple [6, 22] + - !!python/tuple [0, 26] + - !!python/tuple [27, 15] + - !!python/tuple [23, 25] + - !!python/tuple [8, 26] + - !!python/tuple [24, 17] + - !!python/tuple [18, 2] + - !!python/tuple [31, 21] + - !!python/tuple [24, 0] + - !!python/tuple [20, 23] + - !!python/tuple [27, 5] + - !!python/tuple [28, 25] + - !!python/tuple [31, 20] + - !!python/tuple [0, 16] + - !!python/tuple [24, 26] + - !!python/tuple [29, 21] + - !!python/tuple [2, 27] + - !!python/tuple [18, 12] + - !!python/tuple [11, 4] + - !!python/tuple [8, 0] + - !!python/tuple [1, 6] + - !!python/tuple [25, 31] + - !!python/tuple [18, 1] + - !!python/tuple [2, 8] + - !!python/tuple [30, 15] + - !!python/tuple [7, 24] + - !!python/tuple [29, 10] + - !!python/tuple [14, 24] + - !!python/tuple [26, 7] + - !!python/tuple [3, 19] + - !!python/tuple [6, 13] + - !!python/tuple [11, 20] + - !!python/tuple [29, 8] + - !!python/tuple [5, 3] + - !!python/tuple [1, 10] + - !!python/tuple [28, 28] + - !!python/tuple [1, 9] + - !!python/tuple [6, 24] + - !!python/tuple [31, 30] + - !!python/tuple [29, 17] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex7.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex7.yaml new file mode 100644 index 0000000..53039ad --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex7.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [6, 11] + name: agent0 + start: [13, 28] +- goal: [22, 28] + name: agent1 + start: [16, 17] +- goal: [20, 9] + name: agent2 + start: [9, 13] +- goal: [27, 30] + name: agent3 + start: [29, 7] +- goal: [30, 8] + name: agent4 + start: [29, 11] +- goal: [11, 7] + name: agent5 + start: [25, 13] +- goal: [2, 1] + name: agent6 + start: [7, 27] +- goal: [11, 18] + name: agent7 + start: [16, 28] +- goal: [0, 7] + name: agent8 + start: [12, 23] +- goal: [18, 8] + name: agent9 + start: [12, 30] +- goal: [27, 27] + name: agent10 + start: [0, 19] +- goal: [19, 17] + name: agent11 + start: [4, 2] +- goal: [10, 7] + name: agent12 + start: [24, 24] +- goal: [1, 23] + name: agent13 + start: [28, 3] +- goal: [11, 28] + name: agent14 + start: [10, 15] +- goal: [13, 15] + name: agent15 + start: [17, 23] +- goal: [30, 22] + name: agent16 + start: [13, 18] +- goal: [13, 5] + name: agent17 + start: [25, 12] +- goal: [3, 9] + name: agent18 + start: [25, 18] +- goal: [30, 20] + name: agent19 + start: [25, 28] +- goal: [14, 10] + name: agent20 + start: [7, 29] +- goal: [20, 1] + name: agent21 + start: [5, 4] +- goal: [23, 10] + name: agent22 + start: [1, 14] +- goal: [12, 3] + name: agent23 + start: [2, 3] +- goal: [1, 20] + name: agent24 + start: [28, 15] +- goal: [23, 17] + name: agent25 + start: [3, 13] +- goal: [10, 4] + name: agent26 + start: [13, 11] +- goal: [11, 6] + name: agent27 + start: [27, 26] +- goal: [12, 14] + name: agent28 + start: [4, 26] +- goal: [0, 3] + name: agent29 + start: [27, 20] +- goal: [16, 31] + name: agent30 + start: [24, 23] +- goal: [12, 26] + name: agent31 + start: [20, 9] +- goal: [0, 19] + name: agent32 + start: [22, 24] +- goal: [23, 24] + name: agent33 + start: [0, 2] +- goal: [3, 16] + name: agent34 + start: [26, 7] +- goal: [2, 29] + name: agent35 + start: [25, 16] +- goal: [8, 28] + name: agent36 + start: [25, 2] +- goal: [13, 25] + name: agent37 + start: [22, 30] +- goal: [2, 28] + name: agent38 + start: [25, 22] +- goal: [25, 25] + name: agent39 + start: [9, 28] +- goal: [17, 6] + name: agent40 + start: [24, 18] +- goal: [0, 24] + name: agent41 + start: [29, 19] +- goal: [14, 20] + name: agent42 + start: [6, 24] +- goal: [23, 0] + name: agent43 + start: [27, 5] +- goal: [18, 9] + name: agent44 + start: [7, 15] +- goal: [29, 11] + name: agent45 + start: [14, 0] +- goal: [29, 0] + name: agent46 + start: [9, 31] +- goal: [4, 31] + name: agent47 + start: [5, 29] +- goal: [20, 6] + name: agent48 + start: [30, 31] +- goal: [16, 26] + name: agent49 + start: [18, 12] +- goal: [31, 11] + name: agent50 + start: [6, 15] +- goal: [12, 13] + name: agent51 + start: [7, 5] +- goal: [7, 31] + name: agent52 + start: [15, 16] +- goal: [17, 26] + name: agent53 + start: [30, 11] +- goal: [11, 10] + name: agent54 + start: [10, 14] +- goal: [21, 9] + name: agent55 + start: [13, 22] +- goal: [9, 10] + name: agent56 + start: [6, 27] +- goal: [31, 13] + name: agent57 + start: [16, 16] +- goal: [28, 12] + name: agent58 + start: [10, 20] +- goal: [6, 6] + name: agent59 + start: [7, 30] +- goal: [17, 29] + name: agent60 + start: [4, 25] +- goal: [24, 8] + name: agent61 + start: [4, 3] +- goal: [24, 16] + name: agent62 + start: [22, 4] +- goal: [19, 1] + name: agent63 + start: [5, 31] +- goal: [9, 12] + name: agent64 + start: [2, 17] +- goal: [11, 30] + name: agent65 + start: [19, 7] +- goal: [23, 2] + name: agent66 + start: [19, 14] +- goal: [18, 13] + name: agent67 + start: [17, 15] +- goal: [3, 29] + name: agent68 + start: [24, 11] +- goal: [10, 15] + name: agent69 + start: [2, 15] +- goal: [14, 14] + name: agent70 + start: [7, 1] +- goal: [23, 4] + name: agent71 + start: [24, 16] +- goal: [22, 6] + name: agent72 + start: [13, 8] +- goal: [5, 9] + name: agent73 + start: [31, 8] +- goal: [13, 23] + name: agent74 + start: [26, 16] +- goal: [8, 23] + name: agent75 + start: [6, 16] +- goal: [26, 29] + name: agent76 + start: [17, 30] +- goal: [25, 28] + name: agent77 + start: [26, 17] +- goal: [23, 5] + name: agent78 + start: [12, 2] +- goal: [16, 10] + name: agent79 + start: [30, 6] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [23, 19] + - !!python/tuple [17, 1] + - !!python/tuple [19, 21] + - !!python/tuple [21, 3] + - !!python/tuple [27, 7] + - !!python/tuple [14, 1] + - !!python/tuple [18, 26] + - !!python/tuple [1, 30] + - !!python/tuple [11, 5] + - !!python/tuple [0, 8] + - !!python/tuple [31, 28] + - !!python/tuple [19, 18] + - !!python/tuple [13, 7] + - !!python/tuple [18, 4] + - !!python/tuple [28, 19] + - !!python/tuple [8, 13] + - !!python/tuple [12, 29] + - !!python/tuple [9, 17] + - !!python/tuple [25, 29] + - !!python/tuple [30, 0] + - !!python/tuple [4, 30] + - !!python/tuple [2, 13] + - !!python/tuple [22, 13] + - !!python/tuple [18, 15] + - !!python/tuple [22, 7] + - !!python/tuple [26, 30] + - !!python/tuple [20, 16] + - !!python/tuple [20, 14] + - !!python/tuple [15, 13] + - !!python/tuple [20, 15] + - !!python/tuple [14, 8] + - !!python/tuple [12, 21] + - !!python/tuple [0, 17] + - !!python/tuple [11, 23] + - !!python/tuple [7, 26] + - !!python/tuple [8, 3] + - !!python/tuple [0, 18] + - !!python/tuple [25, 7] + - !!python/tuple [28, 16] + - !!python/tuple [22, 1] + - !!python/tuple [16, 4] + - !!python/tuple [17, 18] + - !!python/tuple [16, 9] + - !!python/tuple [25, 26] + - !!python/tuple [29, 16] + - !!python/tuple [21, 31] + - !!python/tuple [20, 8] + - !!python/tuple [28, 23] + - !!python/tuple [21, 1] + - !!python/tuple [9, 15] + - !!python/tuple [23, 1] + - !!python/tuple [2, 19] + - !!python/tuple [18, 18] + - !!python/tuple [14, 16] + - !!python/tuple [9, 26] + - !!python/tuple [9, 24] + - !!python/tuple [14, 19] + - !!python/tuple [4, 8] + - !!python/tuple [1, 8] + - !!python/tuple [2, 11] + - !!python/tuple [21, 17] + - !!python/tuple [26, 31] + - !!python/tuple [28, 29] + - !!python/tuple [23, 11] + - !!python/tuple [10, 29] + - !!python/tuple [17, 16] + - !!python/tuple [13, 29] + - !!python/tuple [17, 7] + - !!python/tuple [8, 8] + - !!python/tuple [29, 31] + - !!python/tuple [6, 19] + - !!python/tuple [30, 23] + - !!python/tuple [3, 2] + - !!python/tuple [0, 29] + - !!python/tuple [30, 29] + - !!python/tuple [3, 15] + - !!python/tuple [2, 14] + - !!python/tuple [7, 14] + - !!python/tuple [29, 13] + - !!python/tuple [5, 19] + - !!python/tuple [8, 18] + - !!python/tuple [25, 30] + - !!python/tuple [8, 4] + - !!python/tuple [21, 19] + - !!python/tuple [12, 22] + - !!python/tuple [26, 19] + - !!python/tuple [22, 25] + - !!python/tuple [19, 29] + - !!python/tuple [1, 22] + - !!python/tuple [11, 20] + - !!python/tuple [11, 22] + - !!python/tuple [1, 26] + - !!python/tuple [5, 11] + - !!python/tuple [24, 2] + - !!python/tuple [0, 28] + - !!python/tuple [8, 20] + - !!python/tuple [8, 21] + - !!python/tuple [16, 8] + - !!python/tuple [25, 27] + - !!python/tuple [16, 5] + - !!python/tuple [15, 22] + - !!python/tuple [24, 21] + - !!python/tuple [11, 19] + - !!python/tuple [9, 21] + - !!python/tuple [25, 14] + - !!python/tuple [24, 30] + - !!python/tuple [22, 3] + - !!python/tuple [9, 7] + - !!python/tuple [15, 2] + - !!python/tuple [28, 20] + - !!python/tuple [26, 1] + - !!python/tuple [1, 7] + - !!python/tuple [10, 31] + - !!python/tuple [7, 11] + - !!python/tuple [26, 0] + - !!python/tuple [7, 8] + - !!python/tuple [23, 23] + - !!python/tuple [22, 19] + - !!python/tuple [13, 4] + - !!python/tuple [11, 27] + - !!python/tuple [22, 16] + - !!python/tuple [18, 6] + - !!python/tuple [31, 7] + - !!python/tuple [8, 24] + - !!python/tuple [7, 24] + - !!python/tuple [16, 2] + - !!python/tuple [1, 15] + - !!python/tuple [20, 22] + - !!python/tuple [21, 7] + - !!python/tuple [11, 12] + - !!python/tuple [27, 8] + - !!python/tuple [9, 25] + - !!python/tuple [14, 23] + - !!python/tuple [30, 3] + - !!python/tuple [31, 10] + - !!python/tuple [3, 18] + - !!python/tuple [31, 22] + - !!python/tuple [29, 6] + - !!python/tuple [4, 22] + - !!python/tuple [29, 24] + - !!python/tuple [23, 7] + - !!python/tuple [29, 28] + - !!python/tuple [6, 25] + - !!python/tuple [31, 20] + - !!python/tuple [6, 31] + - !!python/tuple [20, 21] + - !!python/tuple [18, 5] + - !!python/tuple [26, 15] + - !!python/tuple [29, 20] + - !!python/tuple [22, 20] + - !!python/tuple [17, 2] + - !!python/tuple [22, 23] + - !!python/tuple [19, 8] + - !!python/tuple [8, 0] + - !!python/tuple [13, 10] + - !!python/tuple [31, 12] + - !!python/tuple [16, 25] + - !!python/tuple [6, 28] + - !!python/tuple [19, 28] + - !!python/tuple [2, 24] + - !!python/tuple [14, 5] + - !!python/tuple [30, 10] + - !!python/tuple [13, 27] + - !!python/tuple [26, 18] + - !!python/tuple [1, 25] + - !!python/tuple [9, 23] + - !!python/tuple [19, 5] + - !!python/tuple [1, 2] + - !!python/tuple [14, 26] + - !!python/tuple [6, 26] + - !!python/tuple [20, 25] + - !!python/tuple [10, 6] + - !!python/tuple [6, 2] + - !!python/tuple [14, 11] + - !!python/tuple [20, 11] + - !!python/tuple [21, 20] + - !!python/tuple [6, 10] + - !!python/tuple [26, 9] + - !!python/tuple [21, 25] + - !!python/tuple [5, 5] + - !!python/tuple [5, 16] + - !!python/tuple [31, 30] + - !!python/tuple [2, 27] + - !!python/tuple [19, 15] + - !!python/tuple [3, 12] + - !!python/tuple [1, 11] + - !!python/tuple [22, 0] + - !!python/tuple [10, 11] + - !!python/tuple [27, 16] + - !!python/tuple [7, 3] + - !!python/tuple [3, 19] + - !!python/tuple [10, 19] + - !!python/tuple [20, 13] + - !!python/tuple [29, 23] + - !!python/tuple [6, 8] + - !!python/tuple [25, 20] + - !!python/tuple [17, 11] + - !!python/tuple [8, 30] + - !!python/tuple [21, 27] + - !!python/tuple [19, 25] + - !!python/tuple [9, 5] + - !!python/tuple [5, 7] + - !!python/tuple [15, 20] + - !!python/tuple [21, 15] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex70.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex70.yaml new file mode 100644 index 0000000..7dea8fb --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex70.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [6, 10] + name: agent0 + start: [15, 28] +- goal: [11, 20] + name: agent1 + start: [10, 6] +- goal: [30, 0] + name: agent2 + start: [14, 3] +- goal: [26, 27] + name: agent3 + start: [13, 7] +- goal: [21, 6] + name: agent4 + start: [29, 13] +- goal: [16, 8] + name: agent5 + start: [18, 9] +- goal: [18, 24] + name: agent6 + start: [3, 31] +- goal: [3, 22] + name: agent7 + start: [12, 5] +- goal: [0, 23] + name: agent8 + start: [18, 6] +- goal: [10, 26] + name: agent9 + start: [2, 20] +- goal: [17, 5] + name: agent10 + start: [27, 20] +- goal: [4, 20] + name: agent11 + start: [6, 18] +- goal: [0, 25] + name: agent12 + start: [20, 23] +- goal: [0, 18] + name: agent13 + start: [26, 6] +- goal: [19, 2] + name: agent14 + start: [7, 12] +- goal: [2, 2] + name: agent15 + start: [20, 29] +- goal: [14, 12] + name: agent16 + start: [7, 5] +- goal: [15, 18] + name: agent17 + start: [29, 9] +- goal: [14, 26] + name: agent18 + start: [12, 29] +- goal: [12, 18] + name: agent19 + start: [14, 22] +- goal: [23, 30] + name: agent20 + start: [4, 31] +- goal: [16, 21] + name: agent21 + start: [15, 17] +- goal: [26, 9] + name: agent22 + start: [29, 18] +- goal: [25, 11] + name: agent23 + start: [11, 20] +- goal: [15, 23] + name: agent24 + start: [2, 1] +- goal: [18, 10] + name: agent25 + start: [31, 4] +- goal: [1, 23] + name: agent26 + start: [12, 27] +- goal: [7, 6] + name: agent27 + start: [11, 12] +- goal: [30, 10] + name: agent28 + start: [0, 17] +- goal: [16, 24] + name: agent29 + start: [21, 14] +- goal: [5, 3] + name: agent30 + start: [15, 5] +- goal: [5, 29] + name: agent31 + start: [18, 18] +- goal: [1, 20] + name: agent32 + start: [13, 14] +- goal: [3, 30] + name: agent33 + start: [29, 2] +- goal: [18, 20] + name: agent34 + start: [8, 14] +- goal: [15, 16] + name: agent35 + start: [8, 25] +- goal: [15, 21] + name: agent36 + start: [19, 31] +- goal: [27, 4] + name: agent37 + start: [21, 29] +- goal: [15, 12] + name: agent38 + start: [4, 4] +- goal: [5, 24] + name: agent39 + start: [7, 7] +- goal: [18, 3] + name: agent40 + start: [16, 4] +- goal: [21, 3] + name: agent41 + start: [25, 18] +- goal: [12, 30] + name: agent42 + start: [11, 4] +- goal: [11, 2] + name: agent43 + start: [18, 15] +- goal: [18, 8] + name: agent44 + start: [14, 0] +- goal: [10, 16] + name: agent45 + start: [24, 1] +- goal: [7, 31] + name: agent46 + start: [18, 8] +- goal: [16, 15] + name: agent47 + start: [0, 15] +- goal: [26, 21] + name: agent48 + start: [26, 30] +- goal: [7, 16] + name: agent49 + start: [22, 5] +- goal: [0, 24] + name: agent50 + start: [5, 19] +- goal: [17, 4] + name: agent51 + start: [10, 29] +- goal: [15, 5] + name: agent52 + start: [7, 24] +- goal: [12, 15] + name: agent53 + start: [0, 14] +- goal: [1, 6] + name: agent54 + start: [25, 10] +- goal: [30, 1] + name: agent55 + start: [19, 17] +- goal: [26, 13] + name: agent56 + start: [9, 26] +- goal: [26, 6] + name: agent57 + start: [21, 30] +- goal: [23, 24] + name: agent58 + start: [11, 24] +- goal: [17, 3] + name: agent59 + start: [1, 17] +- goal: [23, 27] + name: agent60 + start: [30, 11] +- goal: [25, 23] + name: agent61 + start: [26, 25] +- goal: [16, 18] + name: agent62 + start: [31, 0] +- goal: [8, 15] + name: agent63 + start: [5, 14] +- goal: [16, 19] + name: agent64 + start: [25, 29] +- goal: [12, 1] + name: agent65 + start: [13, 15] +- goal: [18, 21] + name: agent66 + start: [21, 9] +- goal: [19, 30] + name: agent67 + start: [21, 6] +- goal: [26, 25] + name: agent68 + start: [9, 16] +- goal: [21, 28] + name: agent69 + start: [15, 25] +- goal: [9, 14] + name: agent70 + start: [23, 14] +- goal: [12, 12] + name: agent71 + start: [27, 10] +- goal: [9, 3] + name: agent72 + start: [28, 8] +- goal: [9, 9] + name: agent73 + start: [21, 5] +- goal: [28, 19] + name: agent74 + start: [19, 20] +- goal: [5, 15] + name: agent75 + start: [12, 22] +- goal: [18, 12] + name: agent76 + start: [30, 8] +- goal: [29, 25] + name: agent77 + start: [22, 6] +- goal: [12, 24] + name: agent78 + start: [2, 14] +- goal: [19, 27] + name: agent79 + start: [5, 12] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [7, 18] + - !!python/tuple [27, 2] + - !!python/tuple [13, 8] + - !!python/tuple [2, 8] + - !!python/tuple [20, 14] + - !!python/tuple [24, 26] + - !!python/tuple [6, 29] + - !!python/tuple [27, 19] + - !!python/tuple [10, 0] + - !!python/tuple [23, 22] + - !!python/tuple [2, 13] + - !!python/tuple [9, 2] + - !!python/tuple [14, 29] + - !!python/tuple [6, 24] + - !!python/tuple [10, 15] + - !!python/tuple [15, 4] + - !!python/tuple [12, 11] + - !!python/tuple [4, 23] + - !!python/tuple [31, 19] + - !!python/tuple [15, 19] + - !!python/tuple [4, 24] + - !!python/tuple [8, 9] + - !!python/tuple [10, 23] + - !!python/tuple [0, 26] + - !!python/tuple [20, 6] + - !!python/tuple [13, 18] + - !!python/tuple [8, 2] + - !!python/tuple [20, 11] + - !!python/tuple [19, 14] + - !!python/tuple [31, 17] + - !!python/tuple [13, 16] + - !!python/tuple [25, 31] + - !!python/tuple [29, 30] + - !!python/tuple [4, 8] + - !!python/tuple [7, 0] + - !!python/tuple [0, 3] + - !!python/tuple [22, 21] + - !!python/tuple [29, 12] + - !!python/tuple [28, 13] + - !!python/tuple [7, 15] + - !!python/tuple [12, 13] + - !!python/tuple [18, 30] + - !!python/tuple [3, 19] + - !!python/tuple [0, 2] + - !!python/tuple [9, 22] + - !!python/tuple [22, 25] + - !!python/tuple [6, 8] + - !!python/tuple [21, 0] + - !!python/tuple [13, 6] + - !!python/tuple [0, 16] + - !!python/tuple [1, 7] + - !!python/tuple [4, 5] + - !!python/tuple [8, 1] + - !!python/tuple [14, 2] + - !!python/tuple [24, 27] + - !!python/tuple [2, 5] + - !!python/tuple [30, 15] + - !!python/tuple [15, 20] + - !!python/tuple [30, 20] + - !!python/tuple [24, 18] + - !!python/tuple [10, 13] + - !!python/tuple [29, 11] + - !!python/tuple [17, 2] + - !!python/tuple [4, 11] + - !!python/tuple [4, 17] + - !!python/tuple [2, 31] + - !!python/tuple [16, 17] + - !!python/tuple [3, 18] + - !!python/tuple [18, 31] + - !!python/tuple [31, 12] + - !!python/tuple [21, 16] + - !!python/tuple [20, 1] + - !!python/tuple [18, 13] + - !!python/tuple [19, 3] + - !!python/tuple [12, 8] + - !!python/tuple [31, 5] + - !!python/tuple [13, 10] + - !!python/tuple [18, 14] + - !!python/tuple [25, 3] + - !!python/tuple [10, 10] + - !!python/tuple [20, 19] + - !!python/tuple [13, 4] + - !!python/tuple [29, 3] + - !!python/tuple [8, 28] + - !!python/tuple [10, 9] + - !!python/tuple [24, 22] + - !!python/tuple [17, 25] + - !!python/tuple [7, 17] + - !!python/tuple [0, 29] + - !!python/tuple [22, 1] + - !!python/tuple [27, 28] + - !!python/tuple [2, 27] + - !!python/tuple [24, 11] + - !!python/tuple [31, 11] + - !!python/tuple [5, 23] + - !!python/tuple [21, 4] + - !!python/tuple [9, 20] + - !!python/tuple [21, 18] + - !!python/tuple [5, 10] + - !!python/tuple [9, 17] + - !!python/tuple [31, 23] + - !!python/tuple [1, 19] + - !!python/tuple [16, 0] + - !!python/tuple [22, 30] + - !!python/tuple [20, 25] + - !!python/tuple [9, 21] + - !!python/tuple [9, 31] + - !!python/tuple [25, 30] + - !!python/tuple [3, 16] + - !!python/tuple [8, 24] + - !!python/tuple [26, 29] + - !!python/tuple [27, 23] + - !!python/tuple [2, 3] + - !!python/tuple [30, 7] + - !!python/tuple [26, 14] + - !!python/tuple [27, 16] + - !!python/tuple [26, 4] + - !!python/tuple [30, 22] + - !!python/tuple [24, 25] + - !!python/tuple [16, 23] + - !!python/tuple [19, 18] + - !!python/tuple [29, 17] + - !!python/tuple [25, 20] + - !!python/tuple [25, 7] + - !!python/tuple [4, 2] + - !!python/tuple [22, 13] + - !!python/tuple [14, 16] + - !!python/tuple [17, 19] + - !!python/tuple [13, 25] + - !!python/tuple [7, 20] + - !!python/tuple [21, 31] + - !!python/tuple [31, 3] + - !!python/tuple [4, 18] + - !!python/tuple [16, 26] + - !!python/tuple [15, 24] + - !!python/tuple [25, 22] + - !!python/tuple [12, 7] + - !!python/tuple [29, 19] + - !!python/tuple [0, 11] + - !!python/tuple [23, 25] + - !!python/tuple [28, 20] + - !!python/tuple [8, 31] + - !!python/tuple [30, 6] + - !!python/tuple [17, 26] + - !!python/tuple [6, 1] + - !!python/tuple [5, 27] + - !!python/tuple [29, 0] + - !!python/tuple [11, 0] + - !!python/tuple [14, 6] + - !!python/tuple [6, 28] + - !!python/tuple [19, 23] + - !!python/tuple [9, 0] + - !!python/tuple [15, 27] + - !!python/tuple [5, 2] + - !!python/tuple [30, 17] + - !!python/tuple [18, 0] + - !!python/tuple [26, 17] + - !!python/tuple [23, 21] + - !!python/tuple [14, 28] + - !!python/tuple [26, 11] + - !!python/tuple [13, 0] + - !!python/tuple [8, 8] + - !!python/tuple [11, 6] + - !!python/tuple [9, 29] + - !!python/tuple [29, 8] + - !!python/tuple [26, 18] + - !!python/tuple [10, 25] + - !!python/tuple [29, 5] + - !!python/tuple [7, 10] + - !!python/tuple [20, 17] + - !!python/tuple [1, 11] + - !!python/tuple [14, 23] + - !!python/tuple [27, 25] + - !!python/tuple [22, 19] + - !!python/tuple [31, 8] + - !!python/tuple [15, 2] + - !!python/tuple [16, 10] + - !!python/tuple [16, 13] + - !!python/tuple [12, 6] + - !!python/tuple [8, 19] + - !!python/tuple [19, 11] + - !!python/tuple [24, 19] + - !!python/tuple [23, 18] + - !!python/tuple [28, 22] + - !!python/tuple [6, 25] + - !!python/tuple [18, 27] + - !!python/tuple [28, 23] + - !!python/tuple [24, 23] + - !!python/tuple [31, 1] + - !!python/tuple [16, 16] + - !!python/tuple [7, 19] + - !!python/tuple [8, 23] + - !!python/tuple [27, 14] + - !!python/tuple [11, 11] + - !!python/tuple [24, 16] + - !!python/tuple [0, 7] + - !!python/tuple [6, 9] + - !!python/tuple [2, 29] + - !!python/tuple [23, 12] + - !!python/tuple [5, 31] + - !!python/tuple [7, 11] + - !!python/tuple [31, 29] + - !!python/tuple [28, 12] + - !!python/tuple [31, 24] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex71.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex71.yaml new file mode 100644 index 0000000..20b2e48 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex71.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [6, 0] + name: agent0 + start: [31, 30] +- goal: [12, 3] + name: agent1 + start: [19, 14] +- goal: [0, 7] + name: agent2 + start: [28, 2] +- goal: [7, 1] + name: agent3 + start: [6, 25] +- goal: [13, 14] + name: agent4 + start: [28, 13] +- goal: [31, 7] + name: agent5 + start: [20, 22] +- goal: [14, 19] + name: agent6 + start: [12, 12] +- goal: [3, 30] + name: agent7 + start: [7, 20] +- goal: [16, 1] + name: agent8 + start: [18, 9] +- goal: [27, 31] + name: agent9 + start: [17, 5] +- goal: [31, 19] + name: agent10 + start: [0, 8] +- goal: [10, 2] + name: agent11 + start: [28, 5] +- goal: [31, 11] + name: agent12 + start: [18, 10] +- goal: [0, 18] + name: agent13 + start: [16, 30] +- goal: [28, 31] + name: agent14 + start: [27, 12] +- goal: [25, 5] + name: agent15 + start: [0, 19] +- goal: [19, 11] + name: agent16 + start: [24, 10] +- goal: [23, 28] + name: agent17 + start: [2, 4] +- goal: [9, 19] + name: agent18 + start: [0, 18] +- goal: [3, 6] + name: agent19 + start: [21, 4] +- goal: [21, 18] + name: agent20 + start: [2, 6] +- goal: [8, 19] + name: agent21 + start: [5, 13] +- goal: [24, 19] + name: agent22 + start: [2, 27] +- goal: [18, 25] + name: agent23 + start: [20, 2] +- goal: [20, 2] + name: agent24 + start: [8, 10] +- goal: [8, 10] + name: agent25 + start: [5, 3] +- goal: [22, 25] + name: agent26 + start: [10, 2] +- goal: [16, 27] + name: agent27 + start: [2, 18] +- goal: [28, 27] + name: agent28 + start: [1, 27] +- goal: [7, 18] + name: agent29 + start: [23, 8] +- goal: [10, 21] + name: agent30 + start: [2, 25] +- goal: [13, 27] + name: agent31 + start: [1, 13] +- goal: [1, 5] + name: agent32 + start: [22, 19] +- goal: [22, 17] + name: agent33 + start: [22, 25] +- goal: [31, 4] + name: agent34 + start: [29, 20] +- goal: [3, 4] + name: agent35 + start: [30, 24] +- goal: [4, 8] + name: agent36 + start: [14, 25] +- goal: [20, 31] + name: agent37 + start: [19, 8] +- goal: [28, 4] + name: agent38 + start: [9, 6] +- goal: [9, 4] + name: agent39 + start: [17, 19] +- goal: [7, 17] + name: agent40 + start: [26, 11] +- goal: [7, 10] + name: agent41 + start: [25, 30] +- goal: [0, 19] + name: agent42 + start: [7, 26] +- goal: [22, 28] + name: agent43 + start: [7, 1] +- goal: [14, 14] + name: agent44 + start: [1, 12] +- goal: [2, 4] + name: agent45 + start: [13, 1] +- goal: [14, 16] + name: agent46 + start: [23, 21] +- goal: [15, 11] + name: agent47 + start: [27, 30] +- goal: [15, 9] + name: agent48 + start: [6, 24] +- goal: [11, 22] + name: agent49 + start: [0, 12] +- goal: [30, 17] + name: agent50 + start: [17, 8] +- goal: [2, 22] + name: agent51 + start: [22, 21] +- goal: [1, 0] + name: agent52 + start: [28, 20] +- goal: [5, 30] + name: agent53 + start: [26, 27] +- goal: [30, 29] + name: agent54 + start: [20, 19] +- goal: [6, 21] + name: agent55 + start: [20, 17] +- goal: [12, 26] + name: agent56 + start: [13, 26] +- goal: [21, 8] + name: agent57 + start: [11, 14] +- goal: [16, 26] + name: agent58 + start: [14, 29] +- goal: [9, 21] + name: agent59 + start: [8, 22] +- goal: [31, 18] + name: agent60 + start: [17, 14] +- goal: [8, 15] + name: agent61 + start: [30, 13] +- goal: [31, 29] + name: agent62 + start: [14, 13] +- goal: [9, 25] + name: agent63 + start: [24, 0] +- goal: [9, 27] + name: agent64 + start: [16, 17] +- goal: [19, 31] + name: agent65 + start: [26, 19] +- goal: [3, 29] + name: agent66 + start: [1, 26] +- goal: [22, 21] + name: agent67 + start: [29, 13] +- goal: [17, 3] + name: agent68 + start: [4, 14] +- goal: [24, 14] + name: agent69 + start: [16, 10] +- goal: [6, 19] + name: agent70 + start: [13, 18] +- goal: [0, 4] + name: agent71 + start: [20, 4] +- goal: [20, 14] + name: agent72 + start: [21, 11] +- goal: [24, 10] + name: agent73 + start: [6, 19] +- goal: [12, 13] + name: agent74 + start: [14, 14] +- goal: [21, 12] + name: agent75 + start: [3, 7] +- goal: [11, 24] + name: agent76 + start: [16, 25] +- goal: [30, 19] + name: agent77 + start: [25, 6] +- goal: [16, 21] + name: agent78 + start: [28, 4] +- goal: [27, 11] + name: agent79 + start: [5, 31] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [6, 1] + - !!python/tuple [9, 5] + - !!python/tuple [23, 7] + - !!python/tuple [4, 24] + - !!python/tuple [8, 13] + - !!python/tuple [26, 24] + - !!python/tuple [20, 7] + - !!python/tuple [1, 20] + - !!python/tuple [9, 14] + - !!python/tuple [10, 22] + - !!python/tuple [12, 15] + - !!python/tuple [17, 23] + - !!python/tuple [29, 26] + - !!python/tuple [7, 9] + - !!python/tuple [25, 29] + - !!python/tuple [4, 28] + - !!python/tuple [0, 23] + - !!python/tuple [28, 6] + - !!python/tuple [27, 0] + - !!python/tuple [8, 1] + - !!python/tuple [4, 12] + - !!python/tuple [15, 13] + - !!python/tuple [1, 31] + - !!python/tuple [24, 7] + - !!python/tuple [7, 29] + - !!python/tuple [19, 29] + - !!python/tuple [29, 8] + - !!python/tuple [11, 1] + - !!python/tuple [10, 15] + - !!python/tuple [14, 10] + - !!python/tuple [0, 6] + - !!python/tuple [19, 22] + - !!python/tuple [5, 6] + - !!python/tuple [16, 31] + - !!python/tuple [17, 21] + - !!python/tuple [5, 7] + - !!python/tuple [12, 24] + - !!python/tuple [10, 3] + - !!python/tuple [1, 1] + - !!python/tuple [23, 17] + - !!python/tuple [9, 13] + - !!python/tuple [26, 13] + - !!python/tuple [9, 16] + - !!python/tuple [10, 8] + - !!python/tuple [19, 0] + - !!python/tuple [26, 9] + - !!python/tuple [15, 6] + - !!python/tuple [20, 10] + - !!python/tuple [25, 21] + - !!python/tuple [6, 30] + - !!python/tuple [4, 11] + - !!python/tuple [27, 13] + - !!python/tuple [29, 18] + - !!python/tuple [13, 2] + - !!python/tuple [5, 12] + - !!python/tuple [21, 15] + - !!python/tuple [0, 15] + - !!python/tuple [23, 5] + - !!python/tuple [28, 7] + - !!python/tuple [28, 17] + - !!python/tuple [4, 7] + - !!python/tuple [23, 31] + - !!python/tuple [15, 18] + - !!python/tuple [2, 16] + - !!python/tuple [19, 16] + - !!python/tuple [3, 9] + - !!python/tuple [1, 7] + - !!python/tuple [10, 29] + - !!python/tuple [23, 14] + - !!python/tuple [16, 15] + - !!python/tuple [27, 17] + - !!python/tuple [15, 16] + - !!python/tuple [25, 16] + - !!python/tuple [8, 9] + - !!python/tuple [11, 6] + - !!python/tuple [10, 0] + - !!python/tuple [3, 31] + - !!python/tuple [19, 25] + - !!python/tuple [3, 22] + - !!python/tuple [23, 19] + - !!python/tuple [17, 24] + - !!python/tuple [25, 7] + - !!python/tuple [2, 13] + - !!python/tuple [14, 9] + - !!python/tuple [25, 2] + - !!python/tuple [26, 31] + - !!python/tuple [23, 13] + - !!python/tuple [0, 25] + - !!python/tuple [13, 24] + - !!python/tuple [19, 13] + - !!python/tuple [2, 26] + - !!python/tuple [4, 16] + - !!python/tuple [29, 29] + - !!python/tuple [7, 7] + - !!python/tuple [30, 4] + - !!python/tuple [16, 5] + - !!python/tuple [23, 23] + - !!python/tuple [22, 7] + - !!python/tuple [15, 22] + - !!python/tuple [0, 27] + - !!python/tuple [4, 30] + - !!python/tuple [6, 8] + - !!python/tuple [23, 15] + - !!python/tuple [27, 24] + - !!python/tuple [23, 9] + - !!python/tuple [11, 11] + - !!python/tuple [7, 13] + - !!python/tuple [9, 31] + - !!python/tuple [29, 0] + - !!python/tuple [23, 11] + - !!python/tuple [0, 31] + - !!python/tuple [23, 27] + - !!python/tuple [24, 3] + - !!python/tuple [26, 0] + - !!python/tuple [19, 24] + - !!python/tuple [20, 20] + - !!python/tuple [8, 29] + - !!python/tuple [12, 28] + - !!python/tuple [4, 23] + - !!python/tuple [6, 11] + - !!python/tuple [18, 0] + - !!python/tuple [3, 14] + - !!python/tuple [10, 17] + - !!python/tuple [22, 23] + - !!python/tuple [14, 5] + - !!python/tuple [16, 19] + - !!python/tuple [7, 12] + - !!python/tuple [27, 28] + - !!python/tuple [15, 0] + - !!python/tuple [18, 29] + - !!python/tuple [21, 9] + - !!python/tuple [20, 26] + - !!python/tuple [17, 26] + - !!python/tuple [2, 19] + - !!python/tuple [24, 24] + - !!python/tuple [21, 0] + - !!python/tuple [17, 0] + - !!python/tuple [6, 12] + - !!python/tuple [12, 1] + - !!python/tuple [26, 6] + - !!python/tuple [12, 23] + - !!python/tuple [10, 11] + - !!python/tuple [31, 24] + - !!python/tuple [17, 22] + - !!python/tuple [24, 17] + - !!python/tuple [10, 18] + - !!python/tuple [15, 30] + - !!python/tuple [14, 6] + - !!python/tuple [27, 8] + - !!python/tuple [19, 10] + - !!python/tuple [24, 29] + - !!python/tuple [22, 12] + - !!python/tuple [18, 15] + - !!python/tuple [22, 11] + - !!python/tuple [1, 22] + - !!python/tuple [25, 10] + - !!python/tuple [11, 20] + - !!python/tuple [22, 27] + - !!python/tuple [18, 19] + - !!python/tuple [15, 27] + - !!python/tuple [14, 18] + - !!python/tuple [6, 10] + - !!python/tuple [31, 1] + - !!python/tuple [5, 1] + - !!python/tuple [6, 7] + - !!python/tuple [28, 9] + - !!python/tuple [16, 9] + - !!python/tuple [29, 28] + - !!python/tuple [18, 8] + - !!python/tuple [14, 15] + - !!python/tuple [4, 31] + - !!python/tuple [11, 19] + - !!python/tuple [11, 25] + - !!python/tuple [5, 4] + - !!python/tuple [13, 5] + - !!python/tuple [7, 8] + - !!python/tuple [0, 21] + - !!python/tuple [6, 31] + - !!python/tuple [17, 13] + - !!python/tuple [27, 16] + - !!python/tuple [20, 8] + - !!python/tuple [0, 24] + - !!python/tuple [2, 31] + - !!python/tuple [11, 26] + - !!python/tuple [26, 29] + - !!python/tuple [4, 19] + - !!python/tuple [9, 15] + - !!python/tuple [2, 5] + - !!python/tuple [19, 1] + - !!python/tuple [17, 16] + - !!python/tuple [29, 11] + - !!python/tuple [4, 5] + - !!python/tuple [16, 29] + - !!python/tuple [26, 5] + - !!python/tuple [20, 11] + - !!python/tuple [5, 19] + - !!python/tuple [2, 23] + - !!python/tuple [24, 23] + - !!python/tuple [12, 16] + - !!python/tuple [0, 5] + - !!python/tuple [16, 20] + - !!python/tuple [9, 24] + - !!python/tuple [23, 10] + - !!python/tuple [12, 6] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex72.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex72.yaml new file mode 100644 index 0000000..34632cc --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex72.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [0, 8] + name: agent0 + start: [0, 15] +- goal: [29, 20] + name: agent1 + start: [6, 17] +- goal: [27, 18] + name: agent2 + start: [13, 11] +- goal: [16, 11] + name: agent3 + start: [30, 15] +- goal: [17, 17] + name: agent4 + start: [2, 2] +- goal: [7, 14] + name: agent5 + start: [17, 29] +- goal: [0, 12] + name: agent6 + start: [0, 22] +- goal: [12, 20] + name: agent7 + start: [30, 22] +- goal: [31, 18] + name: agent8 + start: [11, 11] +- goal: [17, 26] + name: agent9 + start: [1, 22] +- goal: [13, 16] + name: agent10 + start: [8, 30] +- goal: [12, 6] + name: agent11 + start: [27, 22] +- goal: [26, 4] + name: agent12 + start: [16, 18] +- goal: [1, 12] + name: agent13 + start: [20, 6] +- goal: [13, 9] + name: agent14 + start: [0, 16] +- goal: [16, 27] + name: agent15 + start: [27, 18] +- goal: [13, 2] + name: agent16 + start: [7, 11] +- goal: [28, 26] + name: agent17 + start: [30, 0] +- goal: [29, 9] + name: agent18 + start: [27, 2] +- goal: [3, 12] + name: agent19 + start: [17, 11] +- goal: [7, 30] + name: agent20 + start: [31, 24] +- goal: [5, 23] + name: agent21 + start: [4, 0] +- goal: [5, 27] + name: agent22 + start: [0, 8] +- goal: [29, 24] + name: agent23 + start: [3, 22] +- goal: [23, 28] + name: agent24 + start: [17, 9] +- goal: [12, 12] + name: agent25 + start: [2, 26] +- goal: [2, 13] + name: agent26 + start: [3, 26] +- goal: [28, 28] + name: agent27 + start: [5, 4] +- goal: [7, 9] + name: agent28 + start: [16, 15] +- goal: [5, 16] + name: agent29 + start: [2, 13] +- goal: [18, 14] + name: agent30 + start: [25, 0] +- goal: [19, 1] + name: agent31 + start: [7, 21] +- goal: [10, 15] + name: agent32 + start: [31, 23] +- goal: [16, 2] + name: agent33 + start: [3, 21] +- goal: [31, 8] + name: agent34 + start: [18, 9] +- goal: [28, 12] + name: agent35 + start: [8, 25] +- goal: [4, 29] + name: agent36 + start: [27, 4] +- goal: [25, 0] + name: agent37 + start: [13, 26] +- goal: [23, 19] + name: agent38 + start: [17, 24] +- goal: [19, 0] + name: agent39 + start: [4, 13] +- goal: [22, 24] + name: agent40 + start: [25, 10] +- goal: [10, 13] + name: agent41 + start: [4, 8] +- goal: [7, 18] + name: agent42 + start: [29, 6] +- goal: [24, 21] + name: agent43 + start: [27, 11] +- goal: [5, 25] + name: agent44 + start: [11, 3] +- goal: [11, 25] + name: agent45 + start: [27, 27] +- goal: [22, 11] + name: agent46 + start: [14, 31] +- goal: [17, 10] + name: agent47 + start: [27, 13] +- goal: [24, 12] + name: agent48 + start: [12, 30] +- goal: [14, 28] + name: agent49 + start: [3, 30] +- goal: [23, 10] + name: agent50 + start: [5, 17] +- goal: [20, 26] + name: agent51 + start: [13, 12] +- goal: [4, 9] + name: agent52 + start: [25, 7] +- goal: [20, 16] + name: agent53 + start: [31, 27] +- goal: [31, 22] + name: agent54 + start: [24, 31] +- goal: [15, 14] + name: agent55 + start: [20, 13] +- goal: [13, 22] + name: agent56 + start: [10, 10] +- goal: [3, 8] + name: agent57 + start: [18, 27] +- goal: [17, 30] + name: agent58 + start: [14, 7] +- goal: [29, 29] + name: agent59 + start: [18, 24] +- goal: [19, 24] + name: agent60 + start: [16, 28] +- goal: [4, 26] + name: agent61 + start: [0, 28] +- goal: [20, 1] + name: agent62 + start: [22, 17] +- goal: [18, 3] + name: agent63 + start: [16, 27] +- goal: [20, 7] + name: agent64 + start: [24, 20] +- goal: [3, 26] + name: agent65 + start: [21, 13] +- goal: [12, 4] + name: agent66 + start: [17, 27] +- goal: [22, 28] + name: agent67 + start: [22, 2] +- goal: [21, 24] + name: agent68 + start: [1, 27] +- goal: [19, 5] + name: agent69 + start: [4, 2] +- goal: [25, 15] + name: agent70 + start: [2, 4] +- goal: [16, 3] + name: agent71 + start: [30, 9] +- goal: [28, 31] + name: agent72 + start: [10, 11] +- goal: [26, 21] + name: agent73 + start: [8, 27] +- goal: [22, 25] + name: agent74 + start: [1, 10] +- goal: [5, 5] + name: agent75 + start: [24, 7] +- goal: [10, 22] + name: agent76 + start: [24, 14] +- goal: [25, 27] + name: agent77 + start: [27, 29] +- goal: [21, 28] + name: agent78 + start: [12, 7] +- goal: [29, 31] + name: agent79 + start: [12, 6] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [14, 0] + - !!python/tuple [26, 0] + - !!python/tuple [5, 1] + - !!python/tuple [9, 13] + - !!python/tuple [21, 19] + - !!python/tuple [21, 7] + - !!python/tuple [14, 22] + - !!python/tuple [22, 12] + - !!python/tuple [22, 6] + - !!python/tuple [13, 1] + - !!python/tuple [4, 24] + - !!python/tuple [27, 21] + - !!python/tuple [14, 26] + - !!python/tuple [8, 5] + - !!python/tuple [8, 16] + - !!python/tuple [24, 26] + - !!python/tuple [6, 5] + - !!python/tuple [23, 24] + - !!python/tuple [0, 9] + - !!python/tuple [30, 28] + - !!python/tuple [0, 10] + - !!python/tuple [15, 4] + - !!python/tuple [21, 16] + - !!python/tuple [9, 5] + - !!python/tuple [17, 21] + - !!python/tuple [19, 9] + - !!python/tuple [18, 0] + - !!python/tuple [11, 21] + - !!python/tuple [30, 24] + - !!python/tuple [24, 2] + - !!python/tuple [8, 10] + - !!python/tuple [11, 17] + - !!python/tuple [17, 13] + - !!python/tuple [21, 0] + - !!python/tuple [9, 15] + - !!python/tuple [5, 6] + - !!python/tuple [13, 18] + - !!python/tuple [24, 27] + - !!python/tuple [11, 14] + - !!python/tuple [20, 8] + - !!python/tuple [2, 1] + - !!python/tuple [21, 27] + - !!python/tuple [3, 28] + - !!python/tuple [25, 29] + - !!python/tuple [12, 28] + - !!python/tuple [21, 2] + - !!python/tuple [24, 30] + - !!python/tuple [28, 11] + - !!python/tuple [19, 13] + - !!python/tuple [19, 8] + - !!python/tuple [18, 19] + - !!python/tuple [18, 5] + - !!python/tuple [5, 8] + - !!python/tuple [0, 18] + - !!python/tuple [1, 11] + - !!python/tuple [23, 31] + - !!python/tuple [11, 20] + - !!python/tuple [18, 10] + - !!python/tuple [4, 12] + - !!python/tuple [23, 18] + - !!python/tuple [18, 15] + - !!python/tuple [22, 4] + - !!python/tuple [9, 8] + - !!python/tuple [1, 5] + - !!python/tuple [6, 30] + - !!python/tuple [28, 21] + - !!python/tuple [2, 24] + - !!python/tuple [6, 15] + - !!python/tuple [21, 18] + - !!python/tuple [11, 0] + - !!python/tuple [17, 20] + - !!python/tuple [17, 4] + - !!python/tuple [4, 23] + - !!python/tuple [16, 20] + - !!python/tuple [13, 10] + - !!python/tuple [12, 5] + - !!python/tuple [16, 1] + - !!python/tuple [10, 9] + - !!python/tuple [25, 9] + - !!python/tuple [3, 16] + - !!python/tuple [14, 14] + - !!python/tuple [3, 2] + - !!python/tuple [25, 14] + - !!python/tuple [8, 9] + - !!python/tuple [13, 7] + - !!python/tuple [17, 1] + - !!python/tuple [21, 20] + - !!python/tuple [30, 30] + - !!python/tuple [25, 24] + - !!python/tuple [20, 22] + - !!python/tuple [3, 15] + - !!python/tuple [28, 5] + - !!python/tuple [18, 21] + - !!python/tuple [16, 9] + - !!python/tuple [27, 30] + - !!python/tuple [18, 7] + - !!python/tuple [29, 16] + - !!python/tuple [24, 23] + - !!python/tuple [9, 21] + - !!python/tuple [1, 20] + - !!python/tuple [18, 29] + - !!python/tuple [8, 4] + - !!python/tuple [31, 0] + - !!python/tuple [26, 31] + - !!python/tuple [28, 8] + - !!python/tuple [21, 4] + - !!python/tuple [31, 12] + - !!python/tuple [18, 26] + - !!python/tuple [10, 17] + - !!python/tuple [31, 14] + - !!python/tuple [13, 3] + - !!python/tuple [27, 5] + - !!python/tuple [29, 13] + - !!python/tuple [31, 5] + - !!python/tuple [27, 25] + - !!python/tuple [28, 16] + - !!python/tuple [16, 17] + - !!python/tuple [25, 23] + - !!python/tuple [31, 29] + - !!python/tuple [6, 4] + - !!python/tuple [28, 4] + - !!python/tuple [9, 6] + - !!python/tuple [14, 18] + - !!python/tuple [10, 20] + - !!python/tuple [8, 17] + - !!python/tuple [0, 30] + - !!python/tuple [26, 8] + - !!python/tuple [11, 24] + - !!python/tuple [27, 17] + - !!python/tuple [18, 17] + - !!python/tuple [28, 7] + - !!python/tuple [9, 1] + - !!python/tuple [3, 13] + - !!python/tuple [9, 23] + - !!python/tuple [4, 28] + - !!python/tuple [24, 9] + - !!python/tuple [19, 20] + - !!python/tuple [16, 23] + - !!python/tuple [27, 9] + - !!python/tuple [11, 4] + - !!python/tuple [0, 23] + - !!python/tuple [20, 11] + - !!python/tuple [16, 22] + - !!python/tuple [6, 31] + - !!python/tuple [15, 1] + - !!python/tuple [30, 16] + - !!python/tuple [22, 1] + - !!python/tuple [21, 5] + - !!python/tuple [9, 28] + - !!python/tuple [11, 29] + - !!python/tuple [1, 30] + - !!python/tuple [2, 18] + - !!python/tuple [16, 4] + - !!python/tuple [1, 4] + - !!python/tuple [20, 31] + - !!python/tuple [12, 9] + - !!python/tuple [26, 18] + - !!python/tuple [5, 22] + - !!python/tuple [26, 5] + - !!python/tuple [18, 31] + - !!python/tuple [11, 15] + - !!python/tuple [23, 20] + - !!python/tuple [0, 31] + - !!python/tuple [4, 10] + - !!python/tuple [28, 3] + - !!python/tuple [0, 29] + - !!python/tuple [23, 5] + - !!python/tuple [25, 12] + - !!python/tuple [8, 26] + - !!python/tuple [19, 16] + - !!python/tuple [4, 5] + - !!python/tuple [28, 18] + - !!python/tuple [22, 9] + - !!python/tuple [17, 18] + - !!python/tuple [13, 31] + - !!python/tuple [12, 14] + - !!python/tuple [16, 6] + - !!python/tuple [18, 16] + - !!python/tuple [7, 10] + - !!python/tuple [19, 15] + - !!python/tuple [2, 28] + - !!python/tuple [24, 4] + - !!python/tuple [26, 2] + - !!python/tuple [7, 4] + - !!python/tuple [6, 3] + - !!python/tuple [10, 23] + - !!python/tuple [30, 2] + - !!python/tuple [3, 24] + - !!python/tuple [4, 1] + - !!python/tuple [17, 2] + - !!python/tuple [8, 13] + - !!python/tuple [29, 18] + - !!python/tuple [6, 12] + - !!python/tuple [7, 3] + - !!python/tuple [7, 27] + - !!python/tuple [11, 10] + - !!python/tuple [13, 4] + - !!python/tuple [0, 11] + - !!python/tuple [0, 24] + - !!python/tuple [2, 30] + - !!python/tuple [25, 22] + - !!python/tuple [1, 23] + - !!python/tuple [10, 3] + - !!python/tuple [13, 28] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex73.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex73.yaml new file mode 100644 index 0000000..61ca3f5 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex73.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [28, 30] + name: agent0 + start: [29, 15] +- goal: [4, 19] + name: agent1 + start: [26, 1] +- goal: [17, 7] + name: agent2 + start: [27, 9] +- goal: [8, 6] + name: agent3 + start: [23, 3] +- goal: [29, 22] + name: agent4 + start: [21, 5] +- goal: [15, 30] + name: agent5 + start: [16, 5] +- goal: [7, 5] + name: agent6 + start: [12, 28] +- goal: [8, 16] + name: agent7 + start: [11, 4] +- goal: [12, 17] + name: agent8 + start: [22, 5] +- goal: [29, 27] + name: agent9 + start: [7, 29] +- goal: [26, 10] + name: agent10 + start: [14, 12] +- goal: [29, 7] + name: agent11 + start: [11, 20] +- goal: [5, 17] + name: agent12 + start: [16, 24] +- goal: [13, 29] + name: agent13 + start: [3, 4] +- goal: [31, 10] + name: agent14 + start: [21, 23] +- goal: [5, 8] + name: agent15 + start: [2, 15] +- goal: [16, 27] + name: agent16 + start: [16, 25] +- goal: [26, 23] + name: agent17 + start: [0, 12] +- goal: [11, 13] + name: agent18 + start: [17, 24] +- goal: [6, 12] + name: agent19 + start: [27, 7] +- goal: [28, 4] + name: agent20 + start: [12, 27] +- goal: [0, 16] + name: agent21 + start: [17, 15] +- goal: [31, 6] + name: agent22 + start: [29, 0] +- goal: [27, 24] + name: agent23 + start: [16, 29] +- goal: [2, 7] + name: agent24 + start: [24, 12] +- goal: [7, 17] + name: agent25 + start: [5, 30] +- goal: [14, 24] + name: agent26 + start: [16, 7] +- goal: [23, 24] + name: agent27 + start: [6, 23] +- goal: [23, 25] + name: agent28 + start: [3, 10] +- goal: [13, 11] + name: agent29 + start: [19, 24] +- goal: [6, 15] + name: agent30 + start: [31, 3] +- goal: [0, 18] + name: agent31 + start: [3, 31] +- goal: [3, 3] + name: agent32 + start: [19, 13] +- goal: [30, 25] + name: agent33 + start: [20, 0] +- goal: [27, 0] + name: agent34 + start: [18, 31] +- goal: [3, 8] + name: agent35 + start: [22, 8] +- goal: [22, 10] + name: agent36 + start: [23, 21] +- goal: [25, 0] + name: agent37 + start: [28, 27] +- goal: [16, 25] + name: agent38 + start: [22, 20] +- goal: [2, 26] + name: agent39 + start: [5, 5] +- goal: [12, 31] + name: agent40 + start: [31, 20] +- goal: [4, 4] + name: agent41 + start: [8, 20] +- goal: [18, 6] + name: agent42 + start: [19, 12] +- goal: [31, 18] + name: agent43 + start: [30, 11] +- goal: [2, 4] + name: agent44 + start: [7, 4] +- goal: [27, 26] + name: agent45 + start: [2, 0] +- goal: [27, 13] + name: agent46 + start: [22, 4] +- goal: [8, 22] + name: agent47 + start: [3, 16] +- goal: [22, 1] + name: agent48 + start: [16, 26] +- goal: [20, 28] + name: agent49 + start: [15, 12] +- goal: [25, 26] + name: agent50 + start: [10, 12] +- goal: [21, 11] + name: agent51 + start: [6, 17] +- goal: [13, 1] + name: agent52 + start: [0, 17] +- goal: [27, 4] + name: agent53 + start: [5, 14] +- goal: [23, 7] + name: agent54 + start: [26, 13] +- goal: [24, 5] + name: agent55 + start: [9, 12] +- goal: [24, 31] + name: agent56 + start: [11, 22] +- goal: [24, 4] + name: agent57 + start: [12, 1] +- goal: [12, 22] + name: agent58 + start: [16, 15] +- goal: [11, 12] + name: agent59 + start: [25, 12] +- goal: [14, 2] + name: agent60 + start: [7, 21] +- goal: [19, 10] + name: agent61 + start: [9, 16] +- goal: [14, 30] + name: agent62 + start: [14, 27] +- goal: [9, 14] + name: agent63 + start: [7, 5] +- goal: [20, 30] + name: agent64 + start: [26, 0] +- goal: [0, 21] + name: agent65 + start: [2, 6] +- goal: [1, 11] + name: agent66 + start: [23, 23] +- goal: [13, 27] + name: agent67 + start: [15, 25] +- goal: [30, 20] + name: agent68 + start: [11, 9] +- goal: [10, 16] + name: agent69 + start: [6, 28] +- goal: [17, 13] + name: agent70 + start: [22, 14] +- goal: [26, 7] + name: agent71 + start: [25, 14] +- goal: [5, 20] + name: agent72 + start: [14, 17] +- goal: [11, 25] + name: agent73 + start: [24, 6] +- goal: [6, 22] + name: agent74 + start: [20, 21] +- goal: [14, 1] + name: agent75 + start: [12, 17] +- goal: [19, 27] + name: agent76 + start: [24, 11] +- goal: [25, 19] + name: agent77 + start: [28, 15] +- goal: [8, 0] + name: agent78 + start: [14, 31] +- goal: [4, 29] + name: agent79 + start: [22, 10] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [7, 15] + - !!python/tuple [20, 11] + - !!python/tuple [26, 14] + - !!python/tuple [19, 29] + - !!python/tuple [20, 12] + - !!python/tuple [28, 29] + - !!python/tuple [17, 17] + - !!python/tuple [1, 19] + - !!python/tuple [13, 20] + - !!python/tuple [0, 22] + - !!python/tuple [27, 29] + - !!python/tuple [26, 6] + - !!python/tuple [19, 0] + - !!python/tuple [6, 18] + - !!python/tuple [6, 10] + - !!python/tuple [3, 20] + - !!python/tuple [3, 26] + - !!python/tuple [28, 1] + - !!python/tuple [29, 2] + - !!python/tuple [3, 2] + - !!python/tuple [9, 2] + - !!python/tuple [7, 13] + - !!python/tuple [30, 22] + - !!python/tuple [14, 19] + - !!python/tuple [29, 1] + - !!python/tuple [25, 5] + - !!python/tuple [18, 29] + - !!python/tuple [5, 6] + - !!python/tuple [26, 17] + - !!python/tuple [29, 5] + - !!python/tuple [19, 20] + - !!python/tuple [9, 9] + - !!python/tuple [15, 23] + - !!python/tuple [11, 0] + - !!python/tuple [15, 6] + - !!python/tuple [9, 6] + - !!python/tuple [4, 3] + - !!python/tuple [28, 26] + - !!python/tuple [23, 0] + - !!python/tuple [15, 9] + - !!python/tuple [18, 23] + - !!python/tuple [14, 18] + - !!python/tuple [6, 1] + - !!python/tuple [30, 16] + - !!python/tuple [11, 27] + - !!python/tuple [9, 4] + - !!python/tuple [10, 30] + - !!python/tuple [27, 12] + - !!python/tuple [1, 26] + - !!python/tuple [8, 2] + - !!python/tuple [11, 3] + - !!python/tuple [31, 0] + - !!python/tuple [8, 28] + - !!python/tuple [27, 14] + - !!python/tuple [23, 4] + - !!python/tuple [17, 22] + - !!python/tuple [18, 19] + - !!python/tuple [19, 4] + - !!python/tuple [25, 6] + - !!python/tuple [12, 12] + - !!python/tuple [23, 1] + - !!python/tuple [29, 12] + - !!python/tuple [5, 24] + - !!python/tuple [10, 14] + - !!python/tuple [10, 28] + - !!python/tuple [9, 26] + - !!python/tuple [17, 10] + - !!python/tuple [24, 0] + - !!python/tuple [11, 14] + - !!python/tuple [1, 27] + - !!python/tuple [25, 1] + - !!python/tuple [23, 18] + - !!python/tuple [2, 25] + - !!python/tuple [12, 29] + - !!python/tuple [20, 13] + - !!python/tuple [11, 31] + - !!python/tuple [30, 1] + - !!python/tuple [23, 5] + - !!python/tuple [5, 0] + - !!python/tuple [11, 7] + - !!python/tuple [24, 27] + - !!python/tuple [7, 24] + - !!python/tuple [28, 2] + - !!python/tuple [17, 27] + - !!python/tuple [21, 20] + - !!python/tuple [2, 10] + - !!python/tuple [9, 13] + - !!python/tuple [8, 21] + - !!python/tuple [28, 17] + - !!python/tuple [29, 4] + - !!python/tuple [24, 22] + - !!python/tuple [2, 3] + - !!python/tuple [1, 24] + - !!python/tuple [24, 19] + - !!python/tuple [4, 0] + - !!python/tuple [10, 5] + - !!python/tuple [11, 26] + - !!python/tuple [21, 26] + - !!python/tuple [26, 26] + - !!python/tuple [26, 5] + - !!python/tuple [28, 5] + - !!python/tuple [7, 11] + - !!python/tuple [4, 1] + - !!python/tuple [24, 14] + - !!python/tuple [0, 11] + - !!python/tuple [3, 29] + - !!python/tuple [8, 3] + - !!python/tuple [26, 29] + - !!python/tuple [30, 29] + - !!python/tuple [12, 18] + - !!python/tuple [18, 1] + - !!python/tuple [20, 1] + - !!python/tuple [1, 10] + - !!python/tuple [4, 2] + - !!python/tuple [9, 31] + - !!python/tuple [5, 23] + - !!python/tuple [16, 31] + - !!python/tuple [22, 19] + - !!python/tuple [25, 3] + - !!python/tuple [1, 14] + - !!python/tuple [18, 18] + - !!python/tuple [0, 31] + - !!python/tuple [30, 6] + - !!python/tuple [12, 23] + - !!python/tuple [24, 24] + - !!python/tuple [27, 15] + - !!python/tuple [9, 23] + - !!python/tuple [23, 6] + - !!python/tuple [0, 24] + - !!python/tuple [26, 21] + - !!python/tuple [5, 29] + - !!python/tuple [13, 25] + - !!python/tuple [16, 28] + - !!python/tuple [26, 24] + - !!python/tuple [1, 6] + - !!python/tuple [10, 21] + - !!python/tuple [12, 0] + - !!python/tuple [20, 24] + - !!python/tuple [12, 11] + - !!python/tuple [11, 19] + - !!python/tuple [10, 22] + - !!python/tuple [8, 11] + - !!python/tuple [20, 14] + - !!python/tuple [5, 3] + - !!python/tuple [20, 27] + - !!python/tuple [27, 25] + - !!python/tuple [26, 4] + - !!python/tuple [14, 28] + - !!python/tuple [12, 2] + - !!python/tuple [13, 5] + - !!python/tuple [13, 19] + - !!python/tuple [25, 16] + - !!python/tuple [22, 12] + - !!python/tuple [7, 19] + - !!python/tuple [23, 26] + - !!python/tuple [0, 25] + - !!python/tuple [31, 9] + - !!python/tuple [14, 7] + - !!python/tuple [4, 27] + - !!python/tuple [13, 4] + - !!python/tuple [1, 5] + - !!python/tuple [9, 21] + - !!python/tuple [10, 17] + - !!python/tuple [27, 17] + - !!python/tuple [8, 27] + - !!python/tuple [23, 14] + - !!python/tuple [0, 6] + - !!python/tuple [21, 13] + - !!python/tuple [9, 11] + - !!python/tuple [10, 23] + - !!python/tuple [28, 28] + - !!python/tuple [25, 30] + - !!python/tuple [31, 22] + - !!python/tuple [14, 14] + - !!python/tuple [1, 18] + - !!python/tuple [4, 16] + - !!python/tuple [10, 27] + - !!python/tuple [8, 18] + - !!python/tuple [1, 22] + - !!python/tuple [14, 21] + - !!python/tuple [10, 26] + - !!python/tuple [20, 25] + - !!python/tuple [28, 16] + - !!python/tuple [22, 26] + - !!python/tuple [20, 29] + - !!python/tuple [15, 7] + - !!python/tuple [28, 24] + - !!python/tuple [4, 13] + - !!python/tuple [19, 5] + - !!python/tuple [20, 31] + - !!python/tuple [16, 19] + - !!python/tuple [25, 4] + - !!python/tuple [29, 29] + - !!python/tuple [15, 10] + - !!python/tuple [30, 31] + - !!python/tuple [1, 3] + - !!python/tuple [25, 23] + - !!python/tuple [4, 30] + - !!python/tuple [12, 15] + - !!python/tuple [8, 9] + - !!python/tuple [29, 6] + - !!python/tuple [5, 13] + - !!python/tuple [23, 2] + - !!python/tuple [20, 8] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex74.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex74.yaml new file mode 100644 index 0000000..85f187d --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex74.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [20, 9] + name: agent0 + start: [27, 14] +- goal: [30, 29] + name: agent1 + start: [20, 20] +- goal: [28, 15] + name: agent2 + start: [5, 9] +- goal: [15, 6] + name: agent3 + start: [4, 12] +- goal: [0, 7] + name: agent4 + start: [13, 20] +- goal: [22, 12] + name: agent5 + start: [14, 16] +- goal: [19, 27] + name: agent6 + start: [0, 13] +- goal: [10, 28] + name: agent7 + start: [27, 31] +- goal: [8, 13] + name: agent8 + start: [23, 9] +- goal: [14, 8] + name: agent9 + start: [30, 2] +- goal: [20, 5] + name: agent10 + start: [25, 23] +- goal: [19, 26] + name: agent11 + start: [11, 31] +- goal: [31, 1] + name: agent12 + start: [0, 12] +- goal: [7, 31] + name: agent13 + start: [15, 13] +- goal: [8, 11] + name: agent14 + start: [24, 6] +- goal: [24, 31] + name: agent15 + start: [28, 15] +- goal: [17, 15] + name: agent16 + start: [24, 16] +- goal: [30, 16] + name: agent17 + start: [26, 17] +- goal: [8, 14] + name: agent18 + start: [31, 12] +- goal: [7, 7] + name: agent19 + start: [23, 11] +- goal: [21, 13] + name: agent20 + start: [6, 5] +- goal: [18, 6] + name: agent21 + start: [19, 31] +- goal: [3, 8] + name: agent22 + start: [2, 9] +- goal: [17, 14] + name: agent23 + start: [17, 3] +- goal: [29, 28] + name: agent24 + start: [12, 10] +- goal: [24, 14] + name: agent25 + start: [17, 8] +- goal: [22, 2] + name: agent26 + start: [16, 21] +- goal: [17, 26] + name: agent27 + start: [27, 0] +- goal: [5, 24] + name: agent28 + start: [19, 5] +- goal: [15, 8] + name: agent29 + start: [13, 29] +- goal: [18, 5] + name: agent30 + start: [3, 15] +- goal: [17, 29] + name: agent31 + start: [26, 30] +- goal: [6, 4] + name: agent32 + start: [23, 18] +- goal: [5, 13] + name: agent33 + start: [0, 18] +- goal: [14, 13] + name: agent34 + start: [30, 0] +- goal: [4, 5] + name: agent35 + start: [30, 28] +- goal: [28, 18] + name: agent36 + start: [13, 16] +- goal: [11, 12] + name: agent37 + start: [10, 22] +- goal: [3, 13] + name: agent38 + start: [14, 31] +- goal: [23, 15] + name: agent39 + start: [0, 27] +- goal: [17, 31] + name: agent40 + start: [11, 5] +- goal: [9, 9] + name: agent41 + start: [22, 13] +- goal: [22, 14] + name: agent42 + start: [27, 21] +- goal: [29, 5] + name: agent43 + start: [25, 9] +- goal: [22, 25] + name: agent44 + start: [28, 28] +- goal: [4, 9] + name: agent45 + start: [17, 0] +- goal: [5, 30] + name: agent46 + start: [4, 16] +- goal: [7, 9] + name: agent47 + start: [29, 11] +- goal: [9, 0] + name: agent48 + start: [15, 21] +- goal: [13, 13] + name: agent49 + start: [30, 17] +- goal: [27, 11] + name: agent50 + start: [30, 7] +- goal: [21, 27] + name: agent51 + start: [6, 21] +- goal: [16, 15] + name: agent52 + start: [18, 4] +- goal: [2, 7] + name: agent53 + start: [28, 25] +- goal: [2, 5] + name: agent54 + start: [21, 15] +- goal: [20, 11] + name: agent55 + start: [21, 28] +- goal: [14, 6] + name: agent56 + start: [27, 27] +- goal: [21, 8] + name: agent57 + start: [9, 27] +- goal: [11, 26] + name: agent58 + start: [13, 8] +- goal: [27, 1] + name: agent59 + start: [13, 23] +- goal: [22, 21] + name: agent60 + start: [12, 6] +- goal: [31, 23] + name: agent61 + start: [23, 29] +- goal: [3, 16] + name: agent62 + start: [16, 4] +- goal: [17, 12] + name: agent63 + start: [8, 27] +- goal: [22, 9] + name: agent64 + start: [8, 22] +- goal: [6, 19] + name: agent65 + start: [28, 19] +- goal: [26, 3] + name: agent66 + start: [11, 23] +- goal: [16, 23] + name: agent67 + start: [21, 24] +- goal: [24, 12] + name: agent68 + start: [1, 10] +- goal: [26, 15] + name: agent69 + start: [24, 12] +- goal: [8, 10] + name: agent70 + start: [12, 18] +- goal: [10, 15] + name: agent71 + start: [0, 28] +- goal: [9, 14] + name: agent72 + start: [2, 23] +- goal: [15, 16] + name: agent73 + start: [27, 13] +- goal: [8, 18] + name: agent74 + start: [11, 20] +- goal: [2, 23] + name: agent75 + start: [0, 10] +- goal: [9, 16] + name: agent76 + start: [10, 15] +- goal: [6, 0] + name: agent77 + start: [26, 19] +- goal: [2, 8] + name: agent78 + start: [11, 3] +- goal: [8, 20] + name: agent79 + start: [22, 19] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [2, 29] + - !!python/tuple [20, 28] + - !!python/tuple [3, 25] + - !!python/tuple [22, 28] + - !!python/tuple [4, 25] + - !!python/tuple [3, 10] + - !!python/tuple [10, 6] + - !!python/tuple [16, 2] + - !!python/tuple [31, 26] + - !!python/tuple [18, 16] + - !!python/tuple [17, 21] + - !!python/tuple [20, 8] + - !!python/tuple [8, 3] + - !!python/tuple [17, 20] + - !!python/tuple [25, 10] + - !!python/tuple [10, 29] + - !!python/tuple [11, 2] + - !!python/tuple [26, 29] + - !!python/tuple [24, 15] + - !!python/tuple [1, 18] + - !!python/tuple [0, 17] + - !!python/tuple [24, 26] + - !!python/tuple [13, 26] + - !!python/tuple [0, 0] + - !!python/tuple [1, 17] + - !!python/tuple [23, 27] + - !!python/tuple [11, 4] + - !!python/tuple [31, 15] + - !!python/tuple [20, 31] + - !!python/tuple [29, 27] + - !!python/tuple [11, 11] + - !!python/tuple [18, 17] + - !!python/tuple [9, 11] + - !!python/tuple [3, 22] + - !!python/tuple [22, 24] + - !!python/tuple [31, 18] + - !!python/tuple [4, 18] + - !!python/tuple [22, 4] + - !!python/tuple [30, 18] + - !!python/tuple [8, 2] + - !!python/tuple [13, 15] + - !!python/tuple [26, 11] + - !!python/tuple [23, 19] + - !!python/tuple [15, 17] + - !!python/tuple [4, 30] + - !!python/tuple [3, 12] + - !!python/tuple [19, 18] + - !!python/tuple [29, 6] + - !!python/tuple [5, 8] + - !!python/tuple [3, 11] + - !!python/tuple [27, 6] + - !!python/tuple [24, 27] + - !!python/tuple [25, 21] + - !!python/tuple [0, 4] + - !!python/tuple [18, 1] + - !!python/tuple [18, 31] + - !!python/tuple [16, 31] + - !!python/tuple [27, 23] + - !!python/tuple [21, 26] + - !!python/tuple [14, 29] + - !!python/tuple [13, 0] + - !!python/tuple [6, 11] + - !!python/tuple [2, 19] + - !!python/tuple [7, 1] + - !!python/tuple [30, 30] + - !!python/tuple [28, 17] + - !!python/tuple [26, 0] + - !!python/tuple [28, 30] + - !!python/tuple [16, 1] + - !!python/tuple [18, 15] + - !!python/tuple [24, 17] + - !!python/tuple [25, 30] + - !!python/tuple [30, 23] + - !!python/tuple [16, 30] + - !!python/tuple [0, 26] + - !!python/tuple [17, 2] + - !!python/tuple [22, 10] + - !!python/tuple [4, 2] + - !!python/tuple [11, 13] + - !!python/tuple [30, 8] + - !!python/tuple [5, 7] + - !!python/tuple [11, 6] + - !!python/tuple [20, 13] + - !!python/tuple [7, 30] + - !!python/tuple [31, 14] + - !!python/tuple [11, 8] + - !!python/tuple [7, 24] + - !!python/tuple [29, 23] + - !!python/tuple [20, 25] + - !!python/tuple [26, 22] + - !!python/tuple [3, 7] + - !!python/tuple [3, 21] + - !!python/tuple [7, 14] + - !!python/tuple [7, 12] + - !!python/tuple [8, 7] + - !!python/tuple [2, 12] + - !!python/tuple [23, 23] + - !!python/tuple [10, 9] + - !!python/tuple [18, 26] + - !!python/tuple [18, 10] + - !!python/tuple [10, 5] + - !!python/tuple [24, 0] + - !!python/tuple [30, 6] + - !!python/tuple [14, 2] + - !!python/tuple [20, 0] + - !!python/tuple [7, 18] + - !!python/tuple [27, 7] + - !!python/tuple [18, 13] + - !!python/tuple [3, 4] + - !!python/tuple [23, 13] + - !!python/tuple [2, 11] + - !!python/tuple [29, 7] + - !!python/tuple [31, 19] + - !!python/tuple [9, 12] + - !!python/tuple [30, 3] + - !!python/tuple [0, 22] + - !!python/tuple [25, 3] + - !!python/tuple [16, 25] + - !!python/tuple [22, 1] + - !!python/tuple [22, 18] + - !!python/tuple [14, 11] + - !!python/tuple [1, 6] + - !!python/tuple [14, 0] + - !!python/tuple [2, 0] + - !!python/tuple [6, 30] + - !!python/tuple [9, 7] + - !!python/tuple [5, 2] + - !!python/tuple [18, 7] + - !!python/tuple [1, 16] + - !!python/tuple [25, 14] + - !!python/tuple [9, 3] + - !!python/tuple [18, 20] + - !!python/tuple [30, 9] + - !!python/tuple [18, 9] + - !!python/tuple [16, 3] + - !!python/tuple [5, 19] + - !!python/tuple [25, 11] + - !!python/tuple [4, 1] + - !!python/tuple [20, 12] + - !!python/tuple [8, 1] + - !!python/tuple [30, 26] + - !!python/tuple [7, 11] + - !!python/tuple [1, 7] + - !!python/tuple [14, 19] + - !!python/tuple [16, 9] + - !!python/tuple [24, 28] + - !!python/tuple [6, 22] + - !!python/tuple [29, 18] + - !!python/tuple [14, 25] + - !!python/tuple [11, 21] + - !!python/tuple [11, 14] + - !!python/tuple [31, 31] + - !!python/tuple [11, 19] + - !!python/tuple [8, 24] + - !!python/tuple [18, 19] + - !!python/tuple [16, 18] + - !!python/tuple [30, 4] + - !!python/tuple [7, 29] + - !!python/tuple [2, 31] + - !!python/tuple [15, 3] + - !!python/tuple [5, 17] + - !!python/tuple [4, 26] + - !!python/tuple [0, 1] + - !!python/tuple [19, 25] + - !!python/tuple [20, 10] + - !!python/tuple [11, 24] + - !!python/tuple [11, 10] + - !!python/tuple [24, 11] + - !!python/tuple [3, 14] + - !!python/tuple [13, 24] + - !!python/tuple [21, 23] + - !!python/tuple [30, 25] + - !!python/tuple [6, 8] + - !!python/tuple [17, 1] + - !!python/tuple [4, 27] + - !!python/tuple [15, 22] + - !!python/tuple [2, 26] + - !!python/tuple [5, 16] + - !!python/tuple [4, 4] + - !!python/tuple [12, 26] + - !!python/tuple [5, 20] + - !!python/tuple [19, 7] + - !!python/tuple [3, 0] + - !!python/tuple [18, 28] + - !!python/tuple [25, 8] + - !!python/tuple [0, 31] + - !!python/tuple [25, 6] + - !!python/tuple [19, 13] + - !!python/tuple [0, 25] + - !!python/tuple [17, 28] + - !!python/tuple [21, 1] + - !!python/tuple [13, 4] + - !!python/tuple [2, 2] + - !!python/tuple [19, 28] + - !!python/tuple [16, 20] + - !!python/tuple [10, 31] + - !!python/tuple [18, 8] + - !!python/tuple [1, 8] + - !!python/tuple [23, 0] + - !!python/tuple [30, 27] + - !!python/tuple [5, 3] + - !!python/tuple [15, 24] + - !!python/tuple [26, 27] + - !!python/tuple [11, 1] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex75.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex75.yaml new file mode 100644 index 0000000..ee6c4e9 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex75.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [27, 18] + name: agent0 + start: [18, 26] +- goal: [12, 16] + name: agent1 + start: [12, 31] +- goal: [26, 23] + name: agent2 + start: [24, 16] +- goal: [13, 17] + name: agent3 + start: [17, 26] +- goal: [11, 26] + name: agent4 + start: [19, 16] +- goal: [4, 8] + name: agent5 + start: [23, 9] +- goal: [30, 25] + name: agent6 + start: [27, 31] +- goal: [28, 7] + name: agent7 + start: [23, 19] +- goal: [22, 16] + name: agent8 + start: [3, 23] +- goal: [20, 8] + name: agent9 + start: [3, 1] +- goal: [8, 8] + name: agent10 + start: [0, 27] +- goal: [2, 20] + name: agent11 + start: [2, 15] +- goal: [30, 10] + name: agent12 + start: [28, 0] +- goal: [27, 13] + name: agent13 + start: [29, 10] +- goal: [10, 20] + name: agent14 + start: [3, 22] +- goal: [20, 20] + name: agent15 + start: [31, 2] +- goal: [11, 9] + name: agent16 + start: [30, 15] +- goal: [15, 23] + name: agent17 + start: [7, 3] +- goal: [13, 1] + name: agent18 + start: [16, 18] +- goal: [2, 23] + name: agent19 + start: [27, 24] +- goal: [26, 9] + name: agent20 + start: [27, 29] +- goal: [16, 30] + name: agent21 + start: [6, 8] +- goal: [0, 21] + name: agent22 + start: [27, 22] +- goal: [17, 9] + name: agent23 + start: [13, 15] +- goal: [24, 6] + name: agent24 + start: [20, 9] +- goal: [15, 14] + name: agent25 + start: [2, 17] +- goal: [2, 7] + name: agent26 + start: [8, 8] +- goal: [1, 31] + name: agent27 + start: [27, 1] +- goal: [24, 15] + name: agent28 + start: [28, 10] +- goal: [23, 11] + name: agent29 + start: [5, 31] +- goal: [5, 3] + name: agent30 + start: [18, 8] +- goal: [30, 4] + name: agent31 + start: [30, 16] +- goal: [26, 1] + name: agent32 + start: [4, 29] +- goal: [14, 20] + name: agent33 + start: [22, 28] +- goal: [4, 22] + name: agent34 + start: [31, 1] +- goal: [29, 20] + name: agent35 + start: [16, 29] +- goal: [28, 29] + name: agent36 + start: [5, 9] +- goal: [6, 11] + name: agent37 + start: [18, 30] +- goal: [9, 11] + name: agent38 + start: [27, 30] +- goal: [7, 13] + name: agent39 + start: [7, 31] +- goal: [16, 1] + name: agent40 + start: [0, 23] +- goal: [14, 29] + name: agent41 + start: [21, 30] +- goal: [20, 15] + name: agent42 + start: [7, 13] +- goal: [8, 16] + name: agent43 + start: [19, 12] +- goal: [24, 29] + name: agent44 + start: [29, 25] +- goal: [5, 1] + name: agent45 + start: [25, 17] +- goal: [2, 17] + name: agent46 + start: [7, 7] +- goal: [10, 16] + name: agent47 + start: [5, 14] +- goal: [19, 2] + name: agent48 + start: [21, 25] +- goal: [2, 19] + name: agent49 + start: [22, 24] +- goal: [7, 10] + name: agent50 + start: [29, 19] +- goal: [31, 29] + name: agent51 + start: [0, 5] +- goal: [2, 29] + name: agent52 + start: [15, 10] +- goal: [12, 25] + name: agent53 + start: [0, 21] +- goal: [28, 9] + name: agent54 + start: [4, 16] +- goal: [3, 9] + name: agent55 + start: [1, 26] +- goal: [30, 16] + name: agent56 + start: [17, 9] +- goal: [15, 20] + name: agent57 + start: [5, 12] +- goal: [8, 23] + name: agent58 + start: [8, 31] +- goal: [16, 22] + name: agent59 + start: [13, 2] +- goal: [20, 3] + name: agent60 + start: [26, 2] +- goal: [29, 30] + name: agent61 + start: [21, 4] +- goal: [16, 29] + name: agent62 + start: [9, 2] +- goal: [24, 3] + name: agent63 + start: [5, 27] +- goal: [31, 24] + name: agent64 + start: [21, 21] +- goal: [13, 8] + name: agent65 + start: [10, 10] +- goal: [10, 27] + name: agent66 + start: [31, 29] +- goal: [21, 27] + name: agent67 + start: [28, 25] +- goal: [27, 22] + name: agent68 + start: [5, 18] +- goal: [28, 26] + name: agent69 + start: [13, 24] +- goal: [0, 27] + name: agent70 + start: [30, 17] +- goal: [14, 21] + name: agent71 + start: [21, 11] +- goal: [6, 18] + name: agent72 + start: [29, 13] +- goal: [1, 23] + name: agent73 + start: [15, 17] +- goal: [19, 22] + name: agent74 + start: [18, 13] +- goal: [8, 27] + name: agent75 + start: [9, 30] +- goal: [23, 20] + name: agent76 + start: [22, 21] +- goal: [13, 0] + name: agent77 + start: [21, 27] +- goal: [25, 20] + name: agent78 + start: [20, 27] +- goal: [2, 21] + name: agent79 + start: [17, 6] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [30, 24] + - !!python/tuple [10, 18] + - !!python/tuple [23, 5] + - !!python/tuple [3, 4] + - !!python/tuple [16, 19] + - !!python/tuple [6, 29] + - !!python/tuple [19, 5] + - !!python/tuple [14, 0] + - !!python/tuple [14, 18] + - !!python/tuple [26, 24] + - !!python/tuple [25, 29] + - !!python/tuple [4, 10] + - !!python/tuple [5, 11] + - !!python/tuple [16, 9] + - !!python/tuple [29, 15] + - !!python/tuple [24, 7] + - !!python/tuple [29, 6] + - !!python/tuple [19, 31] + - !!python/tuple [22, 1] + - !!python/tuple [30, 31] + - !!python/tuple [17, 23] + - !!python/tuple [14, 24] + - !!python/tuple [24, 19] + - !!python/tuple [0, 15] + - !!python/tuple [10, 7] + - !!python/tuple [16, 14] + - !!python/tuple [12, 21] + - !!python/tuple [12, 28] + - !!python/tuple [19, 19] + - !!python/tuple [18, 23] + - !!python/tuple [30, 2] + - !!python/tuple [15, 15] + - !!python/tuple [9, 14] + - !!python/tuple [17, 16] + - !!python/tuple [18, 14] + - !!python/tuple [7, 8] + - !!python/tuple [25, 9] + - !!python/tuple [4, 3] + - !!python/tuple [12, 1] + - !!python/tuple [18, 10] + - !!python/tuple [3, 12] + - !!python/tuple [9, 19] + - !!python/tuple [21, 24] + - !!python/tuple [16, 5] + - !!python/tuple [28, 12] + - !!python/tuple [2, 8] + - !!python/tuple [29, 18] + - !!python/tuple [9, 20] + - !!python/tuple [19, 1] + - !!python/tuple [3, 11] + - !!python/tuple [17, 25] + - !!python/tuple [17, 29] + - !!python/tuple [29, 26] + - !!python/tuple [9, 31] + - !!python/tuple [26, 26] + - !!python/tuple [8, 7] + - !!python/tuple [5, 25] + - !!python/tuple [21, 18] + - !!python/tuple [23, 31] + - !!python/tuple [0, 13] + - !!python/tuple [6, 4] + - !!python/tuple [8, 21] + - !!python/tuple [23, 13] + - !!python/tuple [20, 24] + - !!python/tuple [12, 17] + - !!python/tuple [11, 2] + - !!python/tuple [20, 12] + - !!python/tuple [9, 12] + - !!python/tuple [7, 18] + - !!python/tuple [21, 10] + - !!python/tuple [25, 24] + - !!python/tuple [22, 8] + - !!python/tuple [31, 22] + - !!python/tuple [0, 1] + - !!python/tuple [31, 11] + - !!python/tuple [16, 20] + - !!python/tuple [6, 25] + - !!python/tuple [3, 27] + - !!python/tuple [23, 28] + - !!python/tuple [14, 28] + - !!python/tuple [24, 13] + - !!python/tuple [8, 0] + - !!python/tuple [21, 6] + - !!python/tuple [13, 28] + - !!python/tuple [26, 25] + - !!python/tuple [25, 21] + - !!python/tuple [3, 16] + - !!python/tuple [29, 23] + - !!python/tuple [10, 11] + - !!python/tuple [19, 26] + - !!python/tuple [13, 5] + - !!python/tuple [11, 8] + - !!python/tuple [25, 1] + - !!python/tuple [27, 5] + - !!python/tuple [28, 6] + - !!python/tuple [10, 1] + - !!python/tuple [22, 14] + - !!python/tuple [25, 19] + - !!python/tuple [6, 0] + - !!python/tuple [3, 17] + - !!python/tuple [1, 19] + - !!python/tuple [18, 9] + - !!python/tuple [27, 23] + - !!python/tuple [11, 14] + - !!python/tuple [9, 9] + - !!python/tuple [24, 23] + - !!python/tuple [10, 0] + - !!python/tuple [11, 6] + - !!python/tuple [4, 12] + - !!python/tuple [11, 11] + - !!python/tuple [20, 2] + - !!python/tuple [20, 7] + - !!python/tuple [2, 14] + - !!python/tuple [2, 0] + - !!python/tuple [27, 15] + - !!python/tuple [9, 18] + - !!python/tuple [26, 3] + - !!python/tuple [1, 28] + - !!python/tuple [6, 23] + - !!python/tuple [28, 15] + - !!python/tuple [0, 24] + - !!python/tuple [0, 30] + - !!python/tuple [25, 6] + - !!python/tuple [4, 30] + - !!python/tuple [20, 18] + - !!python/tuple [19, 15] + - !!python/tuple [22, 17] + - !!python/tuple [30, 7] + - !!python/tuple [12, 15] + - !!python/tuple [8, 25] + - !!python/tuple [24, 24] + - !!python/tuple [10, 3] + - !!python/tuple [12, 14] + - !!python/tuple [23, 25] + - !!python/tuple [24, 30] + - !!python/tuple [5, 10] + - !!python/tuple [28, 14] + - !!python/tuple [13, 30] + - !!python/tuple [23, 12] + - !!python/tuple [22, 13] + - !!python/tuple [6, 12] + - !!python/tuple [18, 29] + - !!python/tuple [30, 0] + - !!python/tuple [16, 7] + - !!python/tuple [1, 17] + - !!python/tuple [13, 11] + - !!python/tuple [31, 10] + - !!python/tuple [12, 22] + - !!python/tuple [2, 6] + - !!python/tuple [4, 21] + - !!python/tuple [17, 20] + - !!python/tuple [12, 0] + - !!python/tuple [15, 16] + - !!python/tuple [4, 2] + - !!python/tuple [24, 21] + - !!python/tuple [23, 18] + - !!python/tuple [26, 15] + - !!python/tuple [9, 24] + - !!python/tuple [22, 22] + - !!python/tuple [6, 19] + - !!python/tuple [27, 19] + - !!python/tuple [25, 18] + - !!python/tuple [30, 23] + - !!python/tuple [28, 23] + - !!python/tuple [5, 24] + - !!python/tuple [10, 6] + - !!python/tuple [14, 7] + - !!python/tuple [18, 16] + - !!python/tuple [28, 3] + - !!python/tuple [26, 7] + - !!python/tuple [15, 4] + - !!python/tuple [1, 11] + - !!python/tuple [17, 5] + - !!python/tuple [8, 12] + - !!python/tuple [12, 18] + - !!python/tuple [8, 4] + - !!python/tuple [13, 9] + - !!python/tuple [6, 24] + - !!python/tuple [26, 11] + - !!python/tuple [27, 25] + - !!python/tuple [10, 5] + - !!python/tuple [4, 9] + - !!python/tuple [31, 15] + - !!python/tuple [4, 23] + - !!python/tuple [30, 19] + - !!python/tuple [2, 9] + - !!python/tuple [6, 21] + - !!python/tuple [22, 18] + - !!python/tuple [9, 6] + - !!python/tuple [30, 28] + - !!python/tuple [28, 27] + - !!python/tuple [3, 0] + - !!python/tuple [26, 12] + - !!python/tuple [26, 20] + - !!python/tuple [16, 21] + - !!python/tuple [14, 27] + - !!python/tuple [14, 2] + - !!python/tuple [8, 22] + - !!python/tuple [13, 12] + - !!python/tuple [31, 31] + - !!python/tuple [27, 6] + - !!python/tuple [16, 23] + - !!python/tuple [25, 7] + - !!python/tuple [5, 29] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex76.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex76.yaml new file mode 100644 index 0000000..0500aa8 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex76.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [10, 17] + name: agent0 + start: [11, 8] +- goal: [6, 22] + name: agent1 + start: [3, 22] +- goal: [11, 4] + name: agent2 + start: [10, 11] +- goal: [1, 4] + name: agent3 + start: [2, 13] +- goal: [4, 15] + name: agent4 + start: [29, 18] +- goal: [12, 20] + name: agent5 + start: [2, 14] +- goal: [10, 20] + name: agent6 + start: [19, 16] +- goal: [8, 25] + name: agent7 + start: [11, 29] +- goal: [10, 28] + name: agent8 + start: [4, 6] +- goal: [29, 29] + name: agent9 + start: [18, 0] +- goal: [7, 13] + name: agent10 + start: [11, 28] +- goal: [26, 16] + name: agent11 + start: [17, 12] +- goal: [22, 6] + name: agent12 + start: [4, 20] +- goal: [5, 27] + name: agent13 + start: [17, 7] +- goal: [22, 30] + name: agent14 + start: [8, 7] +- goal: [14, 20] + name: agent15 + start: [14, 27] +- goal: [23, 8] + name: agent16 + start: [21, 11] +- goal: [18, 17] + name: agent17 + start: [18, 20] +- goal: [26, 4] + name: agent18 + start: [11, 15] +- goal: [7, 25] + name: agent19 + start: [12, 30] +- goal: [19, 1] + name: agent20 + start: [4, 11] +- goal: [21, 5] + name: agent21 + start: [2, 22] +- goal: [25, 17] + name: agent22 + start: [11, 6] +- goal: [29, 5] + name: agent23 + start: [24, 16] +- goal: [29, 8] + name: agent24 + start: [12, 4] +- goal: [25, 21] + name: agent25 + start: [14, 0] +- goal: [27, 8] + name: agent26 + start: [4, 31] +- goal: [25, 31] + name: agent27 + start: [14, 1] +- goal: [27, 17] + name: agent28 + start: [14, 20] +- goal: [19, 18] + name: agent29 + start: [0, 14] +- goal: [29, 20] + name: agent30 + start: [1, 8] +- goal: [19, 14] + name: agent31 + start: [6, 18] +- goal: [10, 2] + name: agent32 + start: [10, 3] +- goal: [31, 21] + name: agent33 + start: [24, 1] +- goal: [30, 25] + name: agent34 + start: [28, 24] +- goal: [13, 1] + name: agent35 + start: [26, 4] +- goal: [14, 27] + name: agent36 + start: [25, 31] +- goal: [14, 13] + name: agent37 + start: [1, 11] +- goal: [16, 8] + name: agent38 + start: [20, 2] +- goal: [5, 26] + name: agent39 + start: [13, 10] +- goal: [31, 24] + name: agent40 + start: [24, 7] +- goal: [7, 26] + name: agent41 + start: [28, 21] +- goal: [28, 11] + name: agent42 + start: [15, 19] +- goal: [29, 27] + name: agent43 + start: [15, 5] +- goal: [17, 11] + name: agent44 + start: [17, 2] +- goal: [11, 7] + name: agent45 + start: [23, 23] +- goal: [16, 23] + name: agent46 + start: [29, 2] +- goal: [4, 23] + name: agent47 + start: [7, 0] +- goal: [10, 3] + name: agent48 + start: [27, 21] +- goal: [9, 16] + name: agent49 + start: [7, 6] +- goal: [17, 27] + name: agent50 + start: [6, 8] +- goal: [12, 7] + name: agent51 + start: [3, 12] +- goal: [11, 17] + name: agent52 + start: [4, 24] +- goal: [7, 4] + name: agent53 + start: [14, 12] +- goal: [2, 24] + name: agent54 + start: [22, 6] +- goal: [18, 13] + name: agent55 + start: [11, 14] +- goal: [31, 2] + name: agent56 + start: [15, 20] +- goal: [30, 29] + name: agent57 + start: [12, 15] +- goal: [5, 30] + name: agent58 + start: [0, 22] +- goal: [6, 25] + name: agent59 + start: [23, 27] +- goal: [3, 2] + name: agent60 + start: [16, 3] +- goal: [8, 3] + name: agent61 + start: [14, 23] +- goal: [19, 11] + name: agent62 + start: [20, 29] +- goal: [2, 26] + name: agent63 + start: [8, 3] +- goal: [19, 17] + name: agent64 + start: [11, 18] +- goal: [27, 25] + name: agent65 + start: [9, 2] +- goal: [20, 27] + name: agent66 + start: [6, 6] +- goal: [21, 23] + name: agent67 + start: [2, 19] +- goal: [12, 10] + name: agent68 + start: [22, 22] +- goal: [4, 4] + name: agent69 + start: [18, 23] +- goal: [23, 30] + name: agent70 + start: [23, 4] +- goal: [5, 14] + name: agent71 + start: [29, 7] +- goal: [26, 0] + name: agent72 + start: [6, 25] +- goal: [7, 2] + name: agent73 + start: [23, 0] +- goal: [28, 27] + name: agent74 + start: [15, 18] +- goal: [18, 26] + name: agent75 + start: [26, 6] +- goal: [5, 25] + name: agent76 + start: [4, 7] +- goal: [0, 9] + name: agent77 + start: [28, 1] +- goal: [26, 28] + name: agent78 + start: [24, 22] +- goal: [13, 22] + name: agent79 + start: [15, 14] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [1, 23] + - !!python/tuple [5, 4] + - !!python/tuple [13, 8] + - !!python/tuple [21, 29] + - !!python/tuple [25, 23] + - !!python/tuple [27, 7] + - !!python/tuple [20, 0] + - !!python/tuple [25, 19] + - !!python/tuple [24, 15] + - !!python/tuple [10, 25] + - !!python/tuple [27, 10] + - !!python/tuple [23, 28] + - !!python/tuple [31, 22] + - !!python/tuple [1, 1] + - !!python/tuple [7, 19] + - !!python/tuple [20, 30] + - !!python/tuple [29, 13] + - !!python/tuple [15, 10] + - !!python/tuple [9, 27] + - !!python/tuple [30, 2] + - !!python/tuple [27, 30] + - !!python/tuple [8, 13] + - !!python/tuple [14, 22] + - !!python/tuple [24, 13] + - !!python/tuple [18, 6] + - !!python/tuple [13, 28] + - !!python/tuple [13, 12] + - !!python/tuple [5, 11] + - !!python/tuple [0, 28] + - !!python/tuple [27, 12] + - !!python/tuple [19, 10] + - !!python/tuple [30, 26] + - !!python/tuple [2, 27] + - !!python/tuple [4, 14] + - !!python/tuple [16, 21] + - !!python/tuple [26, 20] + - !!python/tuple [10, 12] + - !!python/tuple [21, 13] + - !!python/tuple [27, 1] + - !!python/tuple [12, 11] + - !!python/tuple [17, 29] + - !!python/tuple [16, 6] + - !!python/tuple [11, 9] + - !!python/tuple [9, 30] + - !!python/tuple [9, 23] + - !!python/tuple [0, 1] + - !!python/tuple [16, 28] + - !!python/tuple [18, 22] + - !!python/tuple [18, 8] + - !!python/tuple [4, 1] + - !!python/tuple [27, 24] + - !!python/tuple [29, 15] + - !!python/tuple [30, 6] + - !!python/tuple [1, 12] + - !!python/tuple [5, 8] + - !!python/tuple [2, 18] + - !!python/tuple [2, 8] + - !!python/tuple [17, 18] + - !!python/tuple [6, 26] + - !!python/tuple [29, 24] + - !!python/tuple [0, 8] + - !!python/tuple [31, 28] + - !!python/tuple [14, 18] + - !!python/tuple [13, 6] + - !!python/tuple [5, 1] + - !!python/tuple [14, 10] + - !!python/tuple [31, 30] + - !!python/tuple [12, 0] + - !!python/tuple [13, 31] + - !!python/tuple [22, 4] + - !!python/tuple [17, 25] + - !!python/tuple [19, 12] + - !!python/tuple [12, 23] + - !!python/tuple [23, 9] + - !!python/tuple [20, 22] + - !!python/tuple [10, 22] + - !!python/tuple [29, 26] + - !!python/tuple [13, 18] + - !!python/tuple [12, 19] + - !!python/tuple [23, 31] + - !!python/tuple [22, 17] + - !!python/tuple [7, 3] + - !!python/tuple [0, 26] + - !!python/tuple [9, 31] + - !!python/tuple [29, 21] + - !!python/tuple [31, 3] + - !!python/tuple [25, 26] + - !!python/tuple [14, 5] + - !!python/tuple [22, 2] + - !!python/tuple [11, 10] + - !!python/tuple [13, 27] + - !!python/tuple [1, 17] + - !!python/tuple [8, 23] + - !!python/tuple [11, 22] + - !!python/tuple [0, 6] + - !!python/tuple [22, 16] + - !!python/tuple [3, 19] + - !!python/tuple [24, 8] + - !!python/tuple [8, 16] + - !!python/tuple [5, 12] + - !!python/tuple [26, 8] + - !!python/tuple [17, 19] + - !!python/tuple [27, 23] + - !!python/tuple [30, 7] + - !!python/tuple [30, 5] + - !!python/tuple [7, 15] + - !!python/tuple [9, 7] + - !!python/tuple [31, 23] + - !!python/tuple [22, 19] + - !!python/tuple [25, 5] + - !!python/tuple [25, 7] + - !!python/tuple [26, 29] + - !!python/tuple [1, 24] + - !!python/tuple [20, 20] + - !!python/tuple [0, 18] + - !!python/tuple [20, 7] + - !!python/tuple [16, 15] + - !!python/tuple [30, 4] + - !!python/tuple [29, 31] + - !!python/tuple [23, 13] + - !!python/tuple [15, 23] + - !!python/tuple [13, 11] + - !!python/tuple [11, 12] + - !!python/tuple [15, 2] + - !!python/tuple [24, 23] + - !!python/tuple [3, 13] + - !!python/tuple [8, 31] + - !!python/tuple [25, 24] + - !!python/tuple [24, 6] + - !!python/tuple [10, 10] + - !!python/tuple [12, 25] + - !!python/tuple [4, 3] + - !!python/tuple [26, 30] + - !!python/tuple [6, 2] + - !!python/tuple [25, 4] + - !!python/tuple [21, 21] + - !!python/tuple [30, 18] + - !!python/tuple [14, 7] + - !!python/tuple [6, 11] + - !!python/tuple [16, 24] + - !!python/tuple [8, 8] + - !!python/tuple [7, 1] + - !!python/tuple [14, 15] + - !!python/tuple [6, 17] + - !!python/tuple [8, 17] + - !!python/tuple [15, 26] + - !!python/tuple [7, 10] + - !!python/tuple [7, 16] + - !!python/tuple [16, 13] + - !!python/tuple [28, 26] + - !!python/tuple [8, 29] + - !!python/tuple [21, 17] + - !!python/tuple [1, 18] + - !!python/tuple [17, 16] + - !!python/tuple [30, 27] + - !!python/tuple [25, 2] + - !!python/tuple [23, 12] + - !!python/tuple [28, 4] + - !!python/tuple [13, 16] + - !!python/tuple [20, 24] + - !!python/tuple [26, 5] + - !!python/tuple [3, 16] + - !!python/tuple [27, 22] + - !!python/tuple [21, 9] + - !!python/tuple [16, 2] + - !!python/tuple [7, 23] + - !!python/tuple [15, 25] + - !!python/tuple [2, 17] + - !!python/tuple [22, 20] + - !!python/tuple [29, 30] + - !!python/tuple [22, 3] + - !!python/tuple [9, 1] + - !!python/tuple [11, 3] + - !!python/tuple [31, 17] + - !!python/tuple [24, 20] + - !!python/tuple [18, 25] + - !!python/tuple [14, 29] + - !!python/tuple [16, 18] + - !!python/tuple [1, 3] + - !!python/tuple [16, 12] + - !!python/tuple [21, 24] + - !!python/tuple [12, 3] + - !!python/tuple [10, 24] + - !!python/tuple [21, 31] + - !!python/tuple [10, 9] + - !!python/tuple [10, 5] + - !!python/tuple [7, 14] + - !!python/tuple [2, 6] + - !!python/tuple [1, 27] + - !!python/tuple [14, 17] + - !!python/tuple [18, 11] + - !!python/tuple [15, 24] + - !!python/tuple [7, 20] + - !!python/tuple [17, 6] + - !!python/tuple [19, 5] + - !!python/tuple [1, 20] + - !!python/tuple [14, 8] + - !!python/tuple [6, 24] + - !!python/tuple [15, 8] + - !!python/tuple [25, 27] + - !!python/tuple [2, 9] + - !!python/tuple [6, 31] + - !!python/tuple [6, 10] + - !!python/tuple [3, 21] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex77.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex77.yaml new file mode 100644 index 0000000..dd9cb83 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex77.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [16, 15] + name: agent0 + start: [28, 1] +- goal: [3, 11] + name: agent1 + start: [2, 29] +- goal: [20, 10] + name: agent2 + start: [1, 2] +- goal: [5, 14] + name: agent3 + start: [14, 22] +- goal: [1, 20] + name: agent4 + start: [22, 11] +- goal: [28, 9] + name: agent5 + start: [20, 23] +- goal: [28, 31] + name: agent6 + start: [12, 9] +- goal: [5, 27] + name: agent7 + start: [5, 29] +- goal: [29, 28] + name: agent8 + start: [27, 16] +- goal: [24, 31] + name: agent9 + start: [15, 24] +- goal: [27, 20] + name: agent10 + start: [14, 0] +- goal: [12, 23] + name: agent11 + start: [24, 10] +- goal: [27, 16] + name: agent12 + start: [1, 6] +- goal: [6, 12] + name: agent13 + start: [17, 1] +- goal: [24, 16] + name: agent14 + start: [6, 23] +- goal: [18, 23] + name: agent15 + start: [27, 15] +- goal: [17, 27] + name: agent16 + start: [20, 14] +- goal: [24, 23] + name: agent17 + start: [5, 11] +- goal: [14, 14] + name: agent18 + start: [27, 6] +- goal: [28, 21] + name: agent19 + start: [30, 25] +- goal: [17, 21] + name: agent20 + start: [24, 17] +- goal: [11, 6] + name: agent21 + start: [4, 22] +- goal: [14, 7] + name: agent22 + start: [10, 9] +- goal: [3, 2] + name: agent23 + start: [14, 23] +- goal: [16, 3] + name: agent24 + start: [4, 12] +- goal: [30, 30] + name: agent25 + start: [14, 9] +- goal: [31, 3] + name: agent26 + start: [13, 5] +- goal: [14, 11] + name: agent27 + start: [12, 22] +- goal: [30, 27] + name: agent28 + start: [12, 18] +- goal: [0, 20] + name: agent29 + start: [21, 31] +- goal: [27, 1] + name: agent30 + start: [24, 31] +- goal: [30, 26] + name: agent31 + start: [15, 30] +- goal: [23, 16] + name: agent32 + start: [27, 24] +- goal: [20, 16] + name: agent33 + start: [30, 12] +- goal: [30, 13] + name: agent34 + start: [7, 14] +- goal: [6, 22] + name: agent35 + start: [7, 8] +- goal: [3, 5] + name: agent36 + start: [26, 29] +- goal: [8, 2] + name: agent37 + start: [13, 15] +- goal: [18, 4] + name: agent38 + start: [26, 8] +- goal: [14, 20] + name: agent39 + start: [28, 27] +- goal: [31, 27] + name: agent40 + start: [19, 16] +- goal: [15, 30] + name: agent41 + start: [0, 10] +- goal: [28, 7] + name: agent42 + start: [22, 1] +- goal: [20, 22] + name: agent43 + start: [25, 7] +- goal: [2, 11] + name: agent44 + start: [16, 30] +- goal: [8, 19] + name: agent45 + start: [30, 15] +- goal: [3, 19] + name: agent46 + start: [0, 8] +- goal: [22, 10] + name: agent47 + start: [23, 1] +- goal: [14, 28] + name: agent48 + start: [1, 17] +- goal: [29, 6] + name: agent49 + start: [26, 16] +- goal: [11, 20] + name: agent50 + start: [4, 7] +- goal: [20, 21] + name: agent51 + start: [25, 24] +- goal: [26, 14] + name: agent52 + start: [11, 5] +- goal: [27, 21] + name: agent53 + start: [13, 20] +- goal: [2, 10] + name: agent54 + start: [3, 22] +- goal: [0, 11] + name: agent55 + start: [31, 3] +- goal: [8, 9] + name: agent56 + start: [7, 1] +- goal: [8, 23] + name: agent57 + start: [8, 3] +- goal: [21, 21] + name: agent58 + start: [0, 6] +- goal: [2, 1] + name: agent59 + start: [23, 28] +- goal: [21, 4] + name: agent60 + start: [2, 11] +- goal: [30, 6] + name: agent61 + start: [18, 11] +- goal: [23, 22] + name: agent62 + start: [15, 5] +- goal: [5, 22] + name: agent63 + start: [12, 17] +- goal: [6, 4] + name: agent64 + start: [24, 26] +- goal: [30, 0] + name: agent65 + start: [31, 18] +- goal: [27, 22] + name: agent66 + start: [23, 3] +- goal: [4, 21] + name: agent67 + start: [2, 14] +- goal: [4, 11] + name: agent68 + start: [20, 9] +- goal: [12, 8] + name: agent69 + start: [29, 6] +- goal: [31, 28] + name: agent70 + start: [0, 13] +- goal: [27, 30] + name: agent71 + start: [14, 5] +- goal: [3, 28] + name: agent72 + start: [1, 7] +- goal: [20, 18] + name: agent73 + start: [0, 29] +- goal: [9, 1] + name: agent74 + start: [19, 7] +- goal: [10, 28] + name: agent75 + start: [2, 19] +- goal: [29, 23] + name: agent76 + start: [21, 22] +- goal: [27, 31] + name: agent77 + start: [6, 5] +- goal: [7, 9] + name: agent78 + start: [3, 17] +- goal: [29, 1] + name: agent79 + start: [17, 26] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [27, 8] + - !!python/tuple [1, 0] + - !!python/tuple [16, 19] + - !!python/tuple [4, 24] + - !!python/tuple [16, 12] + - !!python/tuple [26, 31] + - !!python/tuple [17, 30] + - !!python/tuple [5, 5] + - !!python/tuple [9, 29] + - !!python/tuple [2, 9] + - !!python/tuple [29, 16] + - !!python/tuple [9, 9] + - !!python/tuple [3, 12] + - !!python/tuple [23, 14] + - !!python/tuple [19, 10] + - !!python/tuple [0, 30] + - !!python/tuple [19, 2] + - !!python/tuple [15, 8] + - !!python/tuple [20, 1] + - !!python/tuple [28, 18] + - !!python/tuple [4, 2] + - !!python/tuple [19, 31] + - !!python/tuple [22, 21] + - !!python/tuple [16, 13] + - !!python/tuple [4, 31] + - !!python/tuple [13, 24] + - !!python/tuple [26, 3] + - !!python/tuple [2, 4] + - !!python/tuple [6, 24] + - !!python/tuple [28, 20] + - !!python/tuple [18, 19] + - !!python/tuple [28, 16] + - !!python/tuple [31, 19] + - !!python/tuple [3, 1] + - !!python/tuple [3, 7] + - !!python/tuple [27, 2] + - !!python/tuple [5, 13] + - !!python/tuple [17, 17] + - !!python/tuple [11, 2] + - !!python/tuple [16, 16] + - !!python/tuple [10, 23] + - !!python/tuple [31, 22] + - !!python/tuple [21, 27] + - !!python/tuple [6, 1] + - !!python/tuple [27, 19] + - !!python/tuple [9, 4] + - !!python/tuple [8, 20] + - !!python/tuple [10, 15] + - !!python/tuple [2, 26] + - !!python/tuple [24, 18] + - !!python/tuple [10, 2] + - !!python/tuple [4, 25] + - !!python/tuple [13, 28] + - !!python/tuple [13, 31] + - !!python/tuple [3, 24] + - !!python/tuple [1, 13] + - !!python/tuple [28, 3] + - !!python/tuple [13, 14] + - !!python/tuple [8, 28] + - !!python/tuple [20, 12] + - !!python/tuple [12, 12] + - !!python/tuple [24, 3] + - !!python/tuple [0, 15] + - !!python/tuple [13, 8] + - !!python/tuple [8, 27] + - !!python/tuple [6, 6] + - !!python/tuple [14, 4] + - !!python/tuple [31, 1] + - !!python/tuple [7, 26] + - !!python/tuple [26, 9] + - !!python/tuple [0, 27] + - !!python/tuple [22, 23] + - !!python/tuple [23, 19] + - !!python/tuple [1, 29] + - !!python/tuple [9, 25] + - !!python/tuple [12, 24] + - !!python/tuple [1, 15] + - !!python/tuple [11, 26] + - !!python/tuple [22, 6] + - !!python/tuple [23, 26] + - !!python/tuple [19, 17] + - !!python/tuple [5, 24] + - !!python/tuple [2, 8] + - !!python/tuple [30, 14] + - !!python/tuple [12, 13] + - !!python/tuple [21, 2] + - !!python/tuple [28, 11] + - !!python/tuple [21, 30] + - !!python/tuple [0, 21] + - !!python/tuple [20, 5] + - !!python/tuple [19, 3] + - !!python/tuple [1, 10] + - !!python/tuple [16, 29] + - !!python/tuple [18, 27] + - !!python/tuple [14, 3] + - !!python/tuple [13, 7] + - !!python/tuple [2, 22] + - !!python/tuple [22, 0] + - !!python/tuple [12, 2] + - !!python/tuple [26, 11] + - !!python/tuple [8, 16] + - !!python/tuple [2, 24] + - !!python/tuple [10, 6] + - !!python/tuple [14, 2] + - !!python/tuple [9, 10] + - !!python/tuple [18, 0] + - !!python/tuple [1, 8] + - !!python/tuple [20, 17] + - !!python/tuple [17, 13] + - !!python/tuple [31, 25] + - !!python/tuple [10, 19] + - !!python/tuple [5, 19] + - !!python/tuple [11, 28] + - !!python/tuple [21, 16] + - !!python/tuple [7, 4] + - !!python/tuple [8, 4] + - !!python/tuple [9, 7] + - !!python/tuple [0, 17] + - !!python/tuple [22, 26] + - !!python/tuple [25, 26] + - !!python/tuple [29, 10] + - !!python/tuple [27, 7] + - !!python/tuple [27, 29] + - !!python/tuple [17, 29] + - !!python/tuple [28, 30] + - !!python/tuple [23, 17] + - !!python/tuple [15, 10] + - !!python/tuple [15, 13] + - !!python/tuple [7, 10] + - !!python/tuple [12, 20] + - !!python/tuple [13, 30] + - !!python/tuple [25, 2] + - !!python/tuple [16, 11] + - !!python/tuple [26, 19] + - !!python/tuple [13, 11] + - !!python/tuple [25, 8] + - !!python/tuple [25, 0] + - !!python/tuple [3, 30] + - !!python/tuple [18, 21] + - !!python/tuple [17, 16] + - !!python/tuple [8, 30] + - !!python/tuple [7, 11] + - !!python/tuple [15, 26] + - !!python/tuple [22, 5] + - !!python/tuple [30, 17] + - !!python/tuple [17, 15] + - !!python/tuple [21, 13] + - !!python/tuple [7, 7] + - !!python/tuple [18, 30] + - !!python/tuple [21, 5] + - !!python/tuple [15, 14] + - !!python/tuple [16, 20] + - !!python/tuple [10, 11] + - !!python/tuple [16, 24] + - !!python/tuple [2, 5] + - !!python/tuple [19, 27] + - !!python/tuple [24, 27] + - !!python/tuple [24, 29] + - !!python/tuple [13, 10] + - !!python/tuple [10, 24] + - !!python/tuple [10, 8] + - !!python/tuple [24, 14] + - !!python/tuple [9, 8] + - !!python/tuple [15, 0] + - !!python/tuple [2, 15] + - !!python/tuple [29, 27] + - !!python/tuple [12, 6] + - !!python/tuple [3, 25] + - !!python/tuple [14, 18] + - !!python/tuple [31, 5] + - !!python/tuple [26, 20] + - !!python/tuple [11, 9] + - !!python/tuple [7, 0] + - !!python/tuple [15, 15] + - !!python/tuple [20, 27] + - !!python/tuple [4, 26] + - !!python/tuple [26, 22] + - !!python/tuple [13, 18] + - !!python/tuple [26, 10] + - !!python/tuple [24, 30] + - !!python/tuple [23, 8] + - !!python/tuple [31, 12] + - !!python/tuple [21, 12] + - !!python/tuple [31, 26] + - !!python/tuple [18, 7] + - !!python/tuple [3, 29] + - !!python/tuple [29, 26] + - !!python/tuple [30, 23] + - !!python/tuple [0, 3] + - !!python/tuple [29, 9] + - !!python/tuple [5, 26] + - !!python/tuple [30, 31] + - !!python/tuple [24, 11] + - !!python/tuple [18, 16] + - !!python/tuple [15, 12] + - !!python/tuple [22, 31] + - !!python/tuple [0, 9] + - !!python/tuple [6, 19] + - !!python/tuple [13, 21] + - !!python/tuple [21, 8] + - !!python/tuple [27, 4] + - !!python/tuple [21, 14] + - !!python/tuple [10, 21] + - !!python/tuple [14, 19] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex78.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex78.yaml new file mode 100644 index 0000000..8772a73 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex78.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [12, 8] + name: agent0 + start: [30, 6] +- goal: [8, 16] + name: agent1 + start: [17, 27] +- goal: [8, 7] + name: agent2 + start: [18, 1] +- goal: [17, 5] + name: agent3 + start: [18, 20] +- goal: [31, 0] + name: agent4 + start: [6, 25] +- goal: [3, 27] + name: agent5 + start: [19, 30] +- goal: [16, 26] + name: agent6 + start: [22, 16] +- goal: [8, 17] + name: agent7 + start: [3, 30] +- goal: [25, 14] + name: agent8 + start: [19, 21] +- goal: [0, 6] + name: agent9 + start: [28, 21] +- goal: [10, 26] + name: agent10 + start: [5, 28] +- goal: [27, 9] + name: agent11 + start: [26, 0] +- goal: [16, 0] + name: agent12 + start: [16, 19] +- goal: [24, 22] + name: agent13 + start: [2, 11] +- goal: [19, 23] + name: agent14 + start: [13, 2] +- goal: [11, 15] + name: agent15 + start: [24, 27] +- goal: [25, 15] + name: agent16 + start: [7, 22] +- goal: [6, 20] + name: agent17 + start: [28, 15] +- goal: [18, 5] + name: agent18 + start: [12, 14] +- goal: [22, 4] + name: agent19 + start: [18, 0] +- goal: [30, 10] + name: agent20 + start: [7, 3] +- goal: [1, 29] + name: agent21 + start: [15, 22] +- goal: [24, 11] + name: agent22 + start: [8, 11] +- goal: [23, 19] + name: agent23 + start: [19, 11] +- goal: [4, 25] + name: agent24 + start: [11, 18] +- goal: [3, 15] + name: agent25 + start: [6, 24] +- goal: [0, 17] + name: agent26 + start: [21, 7] +- goal: [14, 4] + name: agent27 + start: [15, 7] +- goal: [22, 0] + name: agent28 + start: [14, 18] +- goal: [10, 15] + name: agent29 + start: [16, 27] +- goal: [0, 12] + name: agent30 + start: [9, 1] +- goal: [23, 30] + name: agent31 + start: [28, 2] +- goal: [3, 18] + name: agent32 + start: [5, 23] +- goal: [25, 31] + name: agent33 + start: [15, 15] +- goal: [17, 26] + name: agent34 + start: [25, 14] +- goal: [22, 3] + name: agent35 + start: [7, 1] +- goal: [11, 30] + name: agent36 + start: [26, 11] +- goal: [21, 19] + name: agent37 + start: [26, 2] +- goal: [7, 26] + name: agent38 + start: [12, 2] +- goal: [13, 25] + name: agent39 + start: [30, 27] +- goal: [28, 9] + name: agent40 + start: [4, 28] +- goal: [28, 7] + name: agent41 + start: [27, 3] +- goal: [8, 26] + name: agent42 + start: [31, 5] +- goal: [13, 16] + name: agent43 + start: [15, 2] +- goal: [2, 2] + name: agent44 + start: [13, 9] +- goal: [21, 5] + name: agent45 + start: [15, 28] +- goal: [21, 17] + name: agent46 + start: [22, 5] +- goal: [22, 8] + name: agent47 + start: [4, 2] +- goal: [9, 29] + name: agent48 + start: [31, 11] +- goal: [27, 25] + name: agent49 + start: [16, 11] +- goal: [25, 19] + name: agent50 + start: [7, 30] +- goal: [10, 12] + name: agent51 + start: [0, 28] +- goal: [17, 21] + name: agent52 + start: [30, 18] +- goal: [14, 25] + name: agent53 + start: [12, 22] +- goal: [17, 11] + name: agent54 + start: [13, 24] +- goal: [7, 6] + name: agent55 + start: [31, 3] +- goal: [4, 26] + name: agent56 + start: [21, 26] +- goal: [3, 9] + name: agent57 + start: [14, 15] +- goal: [9, 3] + name: agent58 + start: [23, 3] +- goal: [28, 0] + name: agent59 + start: [25, 26] +- goal: [23, 1] + name: agent60 + start: [18, 15] +- goal: [22, 25] + name: agent61 + start: [10, 3] +- goal: [10, 21] + name: agent62 + start: [14, 27] +- goal: [3, 0] + name: agent63 + start: [1, 8] +- goal: [26, 18] + name: agent64 + start: [9, 10] +- goal: [12, 26] + name: agent65 + start: [30, 25] +- goal: [28, 13] + name: agent66 + start: [12, 27] +- goal: [21, 16] + name: agent67 + start: [13, 19] +- goal: [14, 27] + name: agent68 + start: [21, 31] +- goal: [14, 14] + name: agent69 + start: [4, 6] +- goal: [2, 16] + name: agent70 + start: [17, 16] +- goal: [20, 22] + name: agent71 + start: [5, 29] +- goal: [4, 0] + name: agent72 + start: [23, 27] +- goal: [15, 9] + name: agent73 + start: [9, 15] +- goal: [2, 15] + name: agent74 + start: [27, 5] +- goal: [31, 17] + name: agent75 + start: [7, 20] +- goal: [23, 25] + name: agent76 + start: [24, 16] +- goal: [8, 8] + name: agent77 + start: [2, 30] +- goal: [4, 10] + name: agent78 + start: [1, 24] +- goal: [27, 17] + name: agent79 + start: [27, 18] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [3, 29] + - !!python/tuple [11, 8] + - !!python/tuple [16, 8] + - !!python/tuple [0, 5] + - !!python/tuple [12, 28] + - !!python/tuple [9, 0] + - !!python/tuple [3, 7] + - !!python/tuple [24, 7] + - !!python/tuple [21, 2] + - !!python/tuple [16, 10] + - !!python/tuple [23, 20] + - !!python/tuple [12, 6] + - !!python/tuple [9, 9] + - !!python/tuple [2, 1] + - !!python/tuple [28, 8] + - !!python/tuple [10, 8] + - !!python/tuple [5, 21] + - !!python/tuple [16, 18] + - !!python/tuple [21, 13] + - !!python/tuple [8, 23] + - !!python/tuple [18, 24] + - !!python/tuple [0, 4] + - !!python/tuple [20, 0] + - !!python/tuple [11, 2] + - !!python/tuple [4, 22] + - !!python/tuple [7, 19] + - !!python/tuple [4, 14] + - !!python/tuple [27, 13] + - !!python/tuple [27, 26] + - !!python/tuple [25, 20] + - !!python/tuple [31, 13] + - !!python/tuple [8, 15] + - !!python/tuple [22, 23] + - !!python/tuple [4, 18] + - !!python/tuple [25, 17] + - !!python/tuple [22, 13] + - !!python/tuple [27, 28] + - !!python/tuple [14, 10] + - !!python/tuple [27, 20] + - !!python/tuple [23, 10] + - !!python/tuple [10, 14] + - !!python/tuple [18, 9] + - !!python/tuple [20, 4] + - !!python/tuple [17, 22] + - !!python/tuple [19, 17] + - !!python/tuple [19, 3] + - !!python/tuple [9, 6] + - !!python/tuple [16, 5] + - !!python/tuple [8, 10] + - !!python/tuple [5, 25] + - !!python/tuple [28, 12] + - !!python/tuple [2, 10] + - !!python/tuple [20, 6] + - !!python/tuple [4, 4] + - !!python/tuple [4, 29] + - !!python/tuple [26, 8] + - !!python/tuple [28, 10] + - !!python/tuple [21, 1] + - !!python/tuple [22, 1] + - !!python/tuple [9, 21] + - !!python/tuple [15, 12] + - !!python/tuple [11, 11] + - !!python/tuple [0, 14] + - !!python/tuple [9, 12] + - !!python/tuple [25, 0] + - !!python/tuple [15, 6] + - !!python/tuple [26, 5] + - !!python/tuple [10, 13] + - !!python/tuple [20, 24] + - !!python/tuple [14, 1] + - !!python/tuple [23, 21] + - !!python/tuple [30, 13] + - !!python/tuple [10, 31] + - !!python/tuple [31, 23] + - !!python/tuple [5, 13] + - !!python/tuple [30, 30] + - !!python/tuple [26, 21] + - !!python/tuple [24, 0] + - !!python/tuple [18, 18] + - !!python/tuple [21, 12] + - !!python/tuple [13, 10] + - !!python/tuple [9, 14] + - !!python/tuple [29, 1] + - !!python/tuple [29, 26] + - !!python/tuple [12, 4] + - !!python/tuple [7, 11] + - !!python/tuple [23, 18] + - !!python/tuple [28, 1] + - !!python/tuple [3, 20] + - !!python/tuple [6, 22] + - !!python/tuple [27, 27] + - !!python/tuple [28, 31] + - !!python/tuple [30, 9] + - !!python/tuple [30, 12] + - !!python/tuple [10, 1] + - !!python/tuple [4, 20] + - !!python/tuple [18, 19] + - !!python/tuple [13, 4] + - !!python/tuple [21, 3] + - !!python/tuple [20, 30] + - !!python/tuple [14, 5] + - !!python/tuple [26, 17] + - !!python/tuple [18, 2] + - !!python/tuple [30, 24] + - !!python/tuple [16, 2] + - !!python/tuple [30, 8] + - !!python/tuple [29, 14] + - !!python/tuple [6, 17] + - !!python/tuple [0, 18] + - !!python/tuple [22, 17] + - !!python/tuple [18, 10] + - !!python/tuple [17, 14] + - !!python/tuple [4, 1] + - !!python/tuple [27, 4] + - !!python/tuple [6, 29] + - !!python/tuple [10, 24] + - !!python/tuple [6, 13] + - !!python/tuple [15, 13] + - !!python/tuple [15, 11] + - !!python/tuple [20, 16] + - !!python/tuple [17, 4] + - !!python/tuple [0, 19] + - !!python/tuple [28, 11] + - !!python/tuple [0, 30] + - !!python/tuple [1, 16] + - !!python/tuple [10, 2] + - !!python/tuple [7, 0] + - !!python/tuple [30, 22] + - !!python/tuple [9, 4] + - !!python/tuple [21, 25] + - !!python/tuple [5, 4] + - !!python/tuple [11, 21] + - !!python/tuple [22, 12] + - !!python/tuple [8, 21] + - !!python/tuple [29, 7] + - !!python/tuple [3, 12] + - !!python/tuple [11, 28] + - !!python/tuple [18, 13] + - !!python/tuple [8, 14] + - !!python/tuple [5, 22] + - !!python/tuple [15, 30] + - !!python/tuple [26, 30] + - !!python/tuple [27, 11] + - !!python/tuple [6, 19] + - !!python/tuple [11, 31] + - !!python/tuple [4, 21] + - !!python/tuple [25, 10] + - !!python/tuple [9, 7] + - !!python/tuple [13, 28] + - !!python/tuple [9, 22] + - !!python/tuple [22, 15] + - !!python/tuple [25, 3] + - !!python/tuple [26, 13] + - !!python/tuple [0, 10] + - !!python/tuple [30, 17] + - !!python/tuple [27, 22] + - !!python/tuple [16, 14] + - !!python/tuple [15, 17] + - !!python/tuple [4, 19] + - !!python/tuple [13, 20] + - !!python/tuple [31, 18] + - !!python/tuple [9, 28] + - !!python/tuple [10, 19] + - !!python/tuple [13, 8] + - !!python/tuple [4, 7] + - !!python/tuple [23, 22] + - !!python/tuple [2, 21] + - !!python/tuple [25, 28] + - !!python/tuple [21, 11] + - !!python/tuple [20, 19] + - !!python/tuple [4, 12] + - !!python/tuple [18, 8] + - !!python/tuple [15, 4] + - !!python/tuple [28, 16] + - !!python/tuple [15, 5] + - !!python/tuple [23, 16] + - !!python/tuple [27, 7] + - !!python/tuple [31, 22] + - !!python/tuple [2, 18] + - !!python/tuple [8, 29] + - !!python/tuple [2, 26] + - !!python/tuple [5, 7] + - !!python/tuple [16, 1] + - !!python/tuple [26, 22] + - !!python/tuple [15, 23] + - !!python/tuple [18, 28] + - !!python/tuple [8, 2] + - !!python/tuple [17, 6] + - !!python/tuple [3, 22] + - !!python/tuple [30, 16] + - !!python/tuple [0, 25] + - !!python/tuple [15, 18] + - !!python/tuple [27, 12] + - !!python/tuple [12, 31] + - !!python/tuple [21, 23] + - !!python/tuple [19, 14] + - !!python/tuple [30, 26] + - !!python/tuple [8, 9] + - !!python/tuple [24, 18] + - !!python/tuple [19, 25] + - !!python/tuple [28, 20] + - !!python/tuple [25, 12] + - !!python/tuple [5, 20] + - !!python/tuple [22, 31] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex79.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex79.yaml new file mode 100644 index 0000000..8661637 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex79.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [2, 15] + name: agent0 + start: [3, 29] +- goal: [10, 18] + name: agent1 + start: [28, 21] +- goal: [0, 7] + name: agent2 + start: [7, 5] +- goal: [31, 1] + name: agent3 + start: [7, 27] +- goal: [21, 18] + name: agent4 + start: [21, 8] +- goal: [2, 7] + name: agent5 + start: [26, 14] +- goal: [1, 14] + name: agent6 + start: [23, 29] +- goal: [29, 0] + name: agent7 + start: [16, 23] +- goal: [7, 31] + name: agent8 + start: [23, 7] +- goal: [0, 15] + name: agent9 + start: [20, 16] +- goal: [30, 25] + name: agent10 + start: [25, 22] +- goal: [11, 27] + name: agent11 + start: [2, 3] +- goal: [25, 2] + name: agent12 + start: [26, 26] +- goal: [30, 17] + name: agent13 + start: [13, 29] +- goal: [1, 13] + name: agent14 + start: [9, 6] +- goal: [24, 27] + name: agent15 + start: [20, 29] +- goal: [24, 26] + name: agent16 + start: [5, 1] +- goal: [18, 23] + name: agent17 + start: [13, 9] +- goal: [18, 13] + name: agent18 + start: [12, 16] +- goal: [17, 28] + name: agent19 + start: [11, 24] +- goal: [29, 4] + name: agent20 + start: [21, 0] +- goal: [23, 22] + name: agent21 + start: [26, 31] +- goal: [26, 9] + name: agent22 + start: [25, 24] +- goal: [25, 0] + name: agent23 + start: [4, 21] +- goal: [10, 20] + name: agent24 + start: [21, 21] +- goal: [2, 19] + name: agent25 + start: [28, 10] +- goal: [1, 11] + name: agent26 + start: [13, 12] +- goal: [9, 7] + name: agent27 + start: [16, 20] +- goal: [26, 24] + name: agent28 + start: [28, 25] +- goal: [9, 23] + name: agent29 + start: [25, 7] +- goal: [6, 7] + name: agent30 + start: [21, 31] +- goal: [4, 5] + name: agent31 + start: [6, 1] +- goal: [28, 26] + name: agent32 + start: [10, 27] +- goal: [3, 6] + name: agent33 + start: [13, 0] +- goal: [25, 12] + name: agent34 + start: [28, 15] +- goal: [30, 18] + name: agent35 + start: [12, 13] +- goal: [24, 1] + name: agent36 + start: [20, 9] +- goal: [6, 10] + name: agent37 + start: [28, 17] +- goal: [7, 5] + name: agent38 + start: [23, 12] +- goal: [28, 0] + name: agent39 + start: [27, 10] +- goal: [2, 8] + name: agent40 + start: [15, 28] +- goal: [21, 16] + name: agent41 + start: [17, 9] +- goal: [4, 16] + name: agent42 + start: [7, 12] +- goal: [13, 26] + name: agent43 + start: [3, 7] +- goal: [6, 16] + name: agent44 + start: [7, 28] +- goal: [16, 24] + name: agent45 + start: [13, 3] +- goal: [23, 8] + name: agent46 + start: [16, 22] +- goal: [27, 17] + name: agent47 + start: [31, 31] +- goal: [11, 31] + name: agent48 + start: [21, 23] +- goal: [9, 5] + name: agent49 + start: [13, 4] +- goal: [17, 1] + name: agent50 + start: [0, 24] +- goal: [30, 23] + name: agent51 + start: [26, 13] +- goal: [6, 19] + name: agent52 + start: [15, 21] +- goal: [3, 1] + name: agent53 + start: [11, 13] +- goal: [5, 27] + name: agent54 + start: [31, 0] +- goal: [26, 14] + name: agent55 + start: [14, 19] +- goal: [15, 26] + name: agent56 + start: [15, 7] +- goal: [8, 8] + name: agent57 + start: [30, 4] +- goal: [4, 15] + name: agent58 + start: [14, 27] +- goal: [31, 24] + name: agent59 + start: [29, 25] +- goal: [12, 3] + name: agent60 + start: [3, 31] +- goal: [23, 12] + name: agent61 + start: [24, 8] +- goal: [30, 15] + name: agent62 + start: [30, 12] +- goal: [8, 3] + name: agent63 + start: [5, 17] +- goal: [23, 30] + name: agent64 + start: [26, 27] +- goal: [26, 2] + name: agent65 + start: [12, 31] +- goal: [7, 17] + name: agent66 + start: [16, 9] +- goal: [9, 4] + name: agent67 + start: [8, 3] +- goal: [30, 13] + name: agent68 + start: [19, 18] +- goal: [27, 5] + name: agent69 + start: [21, 25] +- goal: [14, 13] + name: agent70 + start: [1, 1] +- goal: [15, 10] + name: agent71 + start: [3, 30] +- goal: [1, 2] + name: agent72 + start: [10, 25] +- goal: [12, 12] + name: agent73 + start: [29, 16] +- goal: [1, 3] + name: agent74 + start: [5, 22] +- goal: [31, 25] + name: agent75 + start: [23, 11] +- goal: [20, 14] + name: agent76 + start: [0, 2] +- goal: [31, 2] + name: agent77 + start: [30, 3] +- goal: [13, 15] + name: agent78 + start: [15, 24] +- goal: [11, 25] + name: agent79 + start: [28, 30] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [5, 29] + - !!python/tuple [29, 6] + - !!python/tuple [18, 3] + - !!python/tuple [16, 7] + - !!python/tuple [31, 10] + - !!python/tuple [24, 5] + - !!python/tuple [0, 0] + - !!python/tuple [1, 20] + - !!python/tuple [9, 29] + - !!python/tuple [11, 1] + - !!python/tuple [14, 20] + - !!python/tuple [24, 7] + - !!python/tuple [19, 29] + - !!python/tuple [25, 21] + - !!python/tuple [22, 0] + - !!python/tuple [6, 0] + - !!python/tuple [20, 28] + - !!python/tuple [24, 23] + - !!python/tuple [11, 30] + - !!python/tuple [19, 11] + - !!python/tuple [10, 10] + - !!python/tuple [18, 11] + - !!python/tuple [31, 23] + - !!python/tuple [6, 15] + - !!python/tuple [17, 17] + - !!python/tuple [16, 11] + - !!python/tuple [6, 20] + - !!python/tuple [17, 12] + - !!python/tuple [29, 27] + - !!python/tuple [28, 2] + - !!python/tuple [3, 8] + - !!python/tuple [24, 9] + - !!python/tuple [10, 8] + - !!python/tuple [28, 29] + - !!python/tuple [29, 2] + - !!python/tuple [20, 2] + - !!python/tuple [1, 24] + - !!python/tuple [18, 16] + - !!python/tuple [31, 3] + - !!python/tuple [3, 9] + - !!python/tuple [0, 20] + - !!python/tuple [29, 15] + - !!python/tuple [27, 0] + - !!python/tuple [25, 13] + - !!python/tuple [31, 29] + - !!python/tuple [25, 28] + - !!python/tuple [23, 6] + - !!python/tuple [3, 0] + - !!python/tuple [24, 6] + - !!python/tuple [27, 30] + - !!python/tuple [22, 9] + - !!python/tuple [21, 5] + - !!python/tuple [11, 15] + - !!python/tuple [11, 28] + - !!python/tuple [28, 11] + - !!python/tuple [4, 3] + - !!python/tuple [0, 6] + - !!python/tuple [14, 10] + - !!python/tuple [19, 7] + - !!python/tuple [18, 18] + - !!python/tuple [10, 22] + - !!python/tuple [12, 11] + - !!python/tuple [10, 24] + - !!python/tuple [24, 20] + - !!python/tuple [6, 24] + - !!python/tuple [29, 5] + - !!python/tuple [12, 28] + - !!python/tuple [15, 29] + - !!python/tuple [18, 0] + - !!python/tuple [12, 24] + - !!python/tuple [26, 12] + - !!python/tuple [6, 26] + - !!python/tuple [18, 1] + - !!python/tuple [5, 15] + - !!python/tuple [19, 2] + - !!python/tuple [21, 29] + - !!python/tuple [0, 25] + - !!python/tuple [29, 11] + - !!python/tuple [20, 5] + - !!python/tuple [31, 22] + - !!python/tuple [25, 1] + - !!python/tuple [21, 14] + - !!python/tuple [27, 24] + - !!python/tuple [18, 21] + - !!python/tuple [15, 12] + - !!python/tuple [5, 10] + - !!python/tuple [12, 8] + - !!python/tuple [28, 18] + - !!python/tuple [18, 8] + - !!python/tuple [27, 16] + - !!python/tuple [9, 21] + - !!python/tuple [16, 16] + - !!python/tuple [14, 17] + - !!python/tuple [9, 15] + - !!python/tuple [3, 21] + - !!python/tuple [11, 8] + - !!python/tuple [14, 28] + - !!python/tuple [16, 2] + - !!python/tuple [22, 31] + - !!python/tuple [20, 1] + - !!python/tuple [12, 1] + - !!python/tuple [24, 30] + - !!python/tuple [4, 6] + - !!python/tuple [30, 22] + - !!python/tuple [11, 16] + - !!python/tuple [29, 30] + - !!python/tuple [23, 28] + - !!python/tuple [31, 6] + - !!python/tuple [24, 28] + - !!python/tuple [28, 16] + - !!python/tuple [11, 6] + - !!python/tuple [25, 18] + - !!python/tuple [18, 26] + - !!python/tuple [20, 12] + - !!python/tuple [4, 12] + - !!python/tuple [14, 22] + - !!python/tuple [18, 5] + - !!python/tuple [25, 3] + - !!python/tuple [12, 17] + - !!python/tuple [15, 22] + - !!python/tuple [19, 17] + - !!python/tuple [4, 26] + - !!python/tuple [26, 0] + - !!python/tuple [16, 8] + - !!python/tuple [16, 5] + - !!python/tuple [18, 27] + - !!python/tuple [19, 23] + - !!python/tuple [1, 17] + - !!python/tuple [15, 19] + - !!python/tuple [6, 29] + - !!python/tuple [28, 23] + - !!python/tuple [16, 31] + - !!python/tuple [4, 9] + - !!python/tuple [23, 5] + - !!python/tuple [13, 17] + - !!python/tuple [6, 17] + - !!python/tuple [9, 31] + - !!python/tuple [22, 7] + - !!python/tuple [19, 0] + - !!python/tuple [25, 29] + - !!python/tuple [16, 10] + - !!python/tuple [8, 16] + - !!python/tuple [3, 4] + - !!python/tuple [1, 18] + - !!python/tuple [23, 10] + - !!python/tuple [27, 1] + - !!python/tuple [7, 1] + - !!python/tuple [18, 30] + - !!python/tuple [14, 2] + - !!python/tuple [5, 8] + - !!python/tuple [4, 10] + - !!python/tuple [27, 4] + - !!python/tuple [15, 2] + - !!python/tuple [17, 16] + - !!python/tuple [30, 19] + - !!python/tuple [1, 15] + - !!python/tuple [16, 18] + - !!python/tuple [29, 19] + - !!python/tuple [11, 14] + - !!python/tuple [10, 0] + - !!python/tuple [13, 13] + - !!python/tuple [4, 19] + - !!python/tuple [31, 14] + - !!python/tuple [27, 14] + - !!python/tuple [18, 7] + - !!python/tuple [22, 22] + - !!python/tuple [14, 9] + - !!python/tuple [8, 0] + - !!python/tuple [27, 25] + - !!python/tuple [8, 17] + - !!python/tuple [8, 25] + - !!python/tuple [25, 14] + - !!python/tuple [8, 9] + - !!python/tuple [11, 20] + - !!python/tuple [26, 22] + - !!python/tuple [12, 18] + - !!python/tuple [9, 10] + - !!python/tuple [8, 12] + - !!python/tuple [3, 20] + - !!python/tuple [30, 31] + - !!python/tuple [7, 3] + - !!python/tuple [14, 23] + - !!python/tuple [12, 20] + - !!python/tuple [2, 10] + - !!python/tuple [0, 1] + - !!python/tuple [11, 11] + - !!python/tuple [14, 1] + - !!python/tuple [16, 14] + - !!python/tuple [22, 1] + - !!python/tuple [12, 23] + - !!python/tuple [30, 10] + - !!python/tuple [30, 0] + - !!python/tuple [8, 13] + - !!python/tuple [27, 29] + - !!python/tuple [7, 10] + - !!python/tuple [24, 2] + - !!python/tuple [1, 4] + - !!python/tuple [6, 30] + - !!python/tuple [23, 0] + - !!python/tuple [23, 4] + - !!python/tuple [7, 26] + - !!python/tuple [4, 28] + - !!python/tuple [7, 13] + - !!python/tuple [22, 12] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex8.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex8.yaml new file mode 100644 index 0000000..2f9a32e --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex8.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [10, 26] + name: agent0 + start: [21, 5] +- goal: [15, 27] + name: agent1 + start: [23, 19] +- goal: [23, 22] + name: agent2 + start: [1, 0] +- goal: [1, 0] + name: agent3 + start: [12, 26] +- goal: [29, 22] + name: agent4 + start: [2, 23] +- goal: [22, 7] + name: agent5 + start: [5, 24] +- goal: [23, 13] + name: agent6 + start: [11, 21] +- goal: [19, 17] + name: agent7 + start: [7, 18] +- goal: [31, 12] + name: agent8 + start: [2, 27] +- goal: [4, 16] + name: agent9 + start: [12, 19] +- goal: [2, 21] + name: agent10 + start: [14, 19] +- goal: [0, 30] + name: agent11 + start: [13, 20] +- goal: [24, 12] + name: agent12 + start: [12, 6] +- goal: [19, 12] + name: agent13 + start: [29, 7] +- goal: [29, 9] + name: agent14 + start: [4, 2] +- goal: [27, 7] + name: agent15 + start: [6, 2] +- goal: [17, 7] + name: agent16 + start: [8, 11] +- goal: [11, 7] + name: agent17 + start: [21, 13] +- goal: [6, 2] + name: agent18 + start: [19, 3] +- goal: [30, 5] + name: agent19 + start: [6, 22] +- goal: [22, 1] + name: agent20 + start: [4, 7] +- goal: [11, 15] + name: agent21 + start: [23, 28] +- goal: [13, 22] + name: agent22 + start: [29, 21] +- goal: [0, 24] + name: agent23 + start: [28, 6] +- goal: [4, 3] + name: agent24 + start: [9, 15] +- goal: [29, 2] + name: agent25 + start: [3, 21] +- goal: [7, 0] + name: agent26 + start: [19, 15] +- goal: [5, 16] + name: agent27 + start: [16, 20] +- goal: [11, 2] + name: agent28 + start: [13, 29] +- goal: [8, 20] + name: agent29 + start: [30, 11] +- goal: [31, 31] + name: agent30 + start: [12, 27] +- goal: [30, 24] + name: agent31 + start: [29, 15] +- goal: [1, 2] + name: agent32 + start: [27, 9] +- goal: [18, 13] + name: agent33 + start: [20, 9] +- goal: [2, 30] + name: agent34 + start: [13, 3] +- goal: [12, 18] + name: agent35 + start: [21, 25] +- goal: [28, 11] + name: agent36 + start: [0, 29] +- goal: [26, 23] + name: agent37 + start: [3, 22] +- goal: [24, 5] + name: agent38 + start: [30, 14] +- goal: [21, 11] + name: agent39 + start: [11, 24] +- goal: [31, 19] + name: agent40 + start: [14, 23] +- goal: [16, 28] + name: agent41 + start: [1, 26] +- goal: [14, 14] + name: agent42 + start: [2, 16] +- goal: [10, 17] + name: agent43 + start: [2, 20] +- goal: [20, 22] + name: agent44 + start: [22, 20] +- goal: [14, 27] + name: agent45 + start: [1, 15] +- goal: [28, 15] + name: agent46 + start: [22, 2] +- goal: [26, 30] + name: agent47 + start: [26, 22] +- goal: [3, 21] + name: agent48 + start: [23, 16] +- goal: [13, 9] + name: agent49 + start: [17, 13] +- goal: [11, 17] + name: agent50 + start: [3, 10] +- goal: [22, 25] + name: agent51 + start: [6, 11] +- goal: [13, 17] + name: agent52 + start: [5, 31] +- goal: [10, 28] + name: agent53 + start: [1, 1] +- goal: [6, 21] + name: agent54 + start: [11, 16] +- goal: [24, 20] + name: agent55 + start: [6, 28] +- goal: [24, 16] + name: agent56 + start: [19, 7] +- goal: [29, 7] + name: agent57 + start: [11, 30] +- goal: [16, 2] + name: agent58 + start: [31, 26] +- goal: [20, 7] + name: agent59 + start: [31, 8] +- goal: [0, 19] + name: agent60 + start: [8, 7] +- goal: [28, 16] + name: agent61 + start: [20, 23] +- goal: [23, 24] + name: agent62 + start: [22, 18] +- goal: [29, 3] + name: agent63 + start: [31, 29] +- goal: [22, 20] + name: agent64 + start: [6, 26] +- goal: [6, 28] + name: agent65 + start: [0, 30] +- goal: [2, 29] + name: agent66 + start: [28, 28] +- goal: [6, 12] + name: agent67 + start: [25, 6] +- goal: [19, 6] + name: agent68 + start: [5, 26] +- goal: [7, 7] + name: agent69 + start: [11, 0] +- goal: [15, 19] + name: agent70 + start: [0, 24] +- goal: [13, 30] + name: agent71 + start: [14, 13] +- goal: [21, 13] + name: agent72 + start: [21, 16] +- goal: [5, 29] + name: agent73 + start: [22, 14] +- goal: [23, 28] + name: agent74 + start: [17, 11] +- goal: [18, 30] + name: agent75 + start: [27, 17] +- goal: [28, 0] + name: agent76 + start: [30, 20] +- goal: [1, 24] + name: agent77 + start: [13, 25] +- goal: [11, 12] + name: agent78 + start: [6, 5] +- goal: [7, 17] + name: agent79 + start: [2, 29] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [3, 12] + - !!python/tuple [29, 26] + - !!python/tuple [22, 31] + - !!python/tuple [6, 29] + - !!python/tuple [8, 27] + - !!python/tuple [12, 11] + - !!python/tuple [21, 15] + - !!python/tuple [16, 13] + - !!python/tuple [19, 8] + - !!python/tuple [21, 10] + - !!python/tuple [21, 30] + - !!python/tuple [5, 1] + - !!python/tuple [2, 31] + - !!python/tuple [2, 1] + - !!python/tuple [2, 8] + - !!python/tuple [9, 5] + - !!python/tuple [29, 6] + - !!python/tuple [27, 3] + - !!python/tuple [26, 6] + - !!python/tuple [26, 28] + - !!python/tuple [11, 13] + - !!python/tuple [10, 10] + - !!python/tuple [5, 22] + - !!python/tuple [20, 0] + - !!python/tuple [2, 5] + - !!python/tuple [15, 24] + - !!python/tuple [5, 8] + - !!python/tuple [31, 17] + - !!python/tuple [30, 15] + - !!python/tuple [17, 0] + - !!python/tuple [18, 12] + - !!python/tuple [21, 7] + - !!python/tuple [11, 14] + - !!python/tuple [31, 2] + - !!python/tuple [12, 21] + - !!python/tuple [19, 31] + - !!python/tuple [10, 8] + - !!python/tuple [15, 23] + - !!python/tuple [25, 2] + - !!python/tuple [22, 16] + - !!python/tuple [20, 2] + - !!python/tuple [14, 8] + - !!python/tuple [11, 20] + - !!python/tuple [8, 15] + - !!python/tuple [3, 14] + - !!python/tuple [18, 24] + - !!python/tuple [2, 3] + - !!python/tuple [30, 25] + - !!python/tuple [28, 2] + - !!python/tuple [8, 13] + - !!python/tuple [26, 10] + - !!python/tuple [31, 30] + - !!python/tuple [16, 14] + - !!python/tuple [26, 25] + - !!python/tuple [0, 23] + - !!python/tuple [23, 23] + - !!python/tuple [30, 29] + - !!python/tuple [19, 30] + - !!python/tuple [7, 13] + - !!python/tuple [28, 17] + - !!python/tuple [12, 24] + - !!python/tuple [28, 8] + - !!python/tuple [5, 23] + - !!python/tuple [20, 24] + - !!python/tuple [14, 24] + - !!python/tuple [12, 3] + - !!python/tuple [15, 21] + - !!python/tuple [14, 30] + - !!python/tuple [16, 30] + - !!python/tuple [30, 8] + - !!python/tuple [15, 15] + - !!python/tuple [5, 13] + - !!python/tuple [25, 30] + - !!python/tuple [22, 29] + - !!python/tuple [31, 24] + - !!python/tuple [1, 18] + - !!python/tuple [30, 13] + - !!python/tuple [26, 26] + - !!python/tuple [22, 4] + - !!python/tuple [20, 19] + - !!python/tuple [5, 11] + - !!python/tuple [24, 10] + - !!python/tuple [28, 4] + - !!python/tuple [0, 14] + - !!python/tuple [10, 19] + - !!python/tuple [13, 12] + - !!python/tuple [14, 0] + - !!python/tuple [6, 19] + - !!python/tuple [9, 0] + - !!python/tuple [5, 9] + - !!python/tuple [5, 10] + - !!python/tuple [4, 17] + - !!python/tuple [21, 21] + - !!python/tuple [9, 8] + - !!python/tuple [24, 1] + - !!python/tuple [25, 14] + - !!python/tuple [21, 9] + - !!python/tuple [8, 24] + - !!python/tuple [5, 27] + - !!python/tuple [29, 27] + - !!python/tuple [30, 0] + - !!python/tuple [23, 27] + - !!python/tuple [29, 19] + - !!python/tuple [15, 1] + - !!python/tuple [14, 9] + - !!python/tuple [23, 29] + - !!python/tuple [31, 6] + - !!python/tuple [21, 0] + - !!python/tuple [19, 4] + - !!python/tuple [25, 13] + - !!python/tuple [23, 20] + - !!python/tuple [15, 12] + - !!python/tuple [26, 4] + - !!python/tuple [14, 5] + - !!python/tuple [15, 0] + - !!python/tuple [26, 19] + - !!python/tuple [18, 0] + - !!python/tuple [2, 18] + - !!python/tuple [3, 7] + - !!python/tuple [1, 19] + - !!python/tuple [25, 25] + - !!python/tuple [20, 11] + - !!python/tuple [8, 9] + - !!python/tuple [3, 26] + - !!python/tuple [28, 3] + - !!python/tuple [6, 27] + - !!python/tuple [27, 29] + - !!python/tuple [20, 13] + - !!python/tuple [24, 6] + - !!python/tuple [20, 14] + - !!python/tuple [27, 31] + - !!python/tuple [8, 30] + - !!python/tuple [25, 17] + - !!python/tuple [3, 18] + - !!python/tuple [9, 6] + - !!python/tuple [24, 4] + - !!python/tuple [25, 10] + - !!python/tuple [15, 5] + - !!python/tuple [15, 2] + - !!python/tuple [6, 3] + - !!python/tuple [23, 15] + - !!python/tuple [6, 31] + - !!python/tuple [7, 21] + - !!python/tuple [21, 1] + - !!python/tuple [9, 11] + - !!python/tuple [28, 5] + - !!python/tuple [10, 14] + - !!python/tuple [1, 28] + - !!python/tuple [26, 15] + - !!python/tuple [17, 15] + - !!python/tuple [18, 15] + - !!python/tuple [25, 5] + - !!python/tuple [20, 3] + - !!python/tuple [27, 2] + - !!python/tuple [24, 23] + - !!python/tuple [15, 26] + - !!python/tuple [14, 1] + - !!python/tuple [29, 8] + - !!python/tuple [27, 5] + - !!python/tuple [14, 31] + - !!python/tuple [17, 23] + - !!python/tuple [6, 9] + - !!python/tuple [8, 22] + - !!python/tuple [17, 20] + - !!python/tuple [23, 31] + - !!python/tuple [28, 24] + - !!python/tuple [4, 31] + - !!python/tuple [0, 25] + - !!python/tuple [20, 18] + - !!python/tuple [1, 22] + - !!python/tuple [0, 10] + - !!python/tuple [0, 18] + - !!python/tuple [2, 28] + - !!python/tuple [3, 13] + - !!python/tuple [16, 16] + - !!python/tuple [7, 3] + - !!python/tuple [1, 13] + - !!python/tuple [21, 8] + - !!python/tuple [12, 25] + - !!python/tuple [0, 26] + - !!python/tuple [18, 6] + - !!python/tuple [17, 24] + - !!python/tuple [4, 11] + - !!python/tuple [18, 16] + - !!python/tuple [6, 30] + - !!python/tuple [24, 2] + - !!python/tuple [7, 15] + - !!python/tuple [4, 8] + - !!python/tuple [2, 2] + - !!python/tuple [11, 18] + - !!python/tuple [17, 3] + - !!python/tuple [7, 31] + - !!python/tuple [14, 2] + - !!python/tuple [24, 13] + - !!python/tuple [18, 18] + - !!python/tuple [3, 1] + - !!python/tuple [29, 17] + - !!python/tuple [6, 0] + - !!python/tuple [26, 8] + - !!python/tuple [12, 29] + - !!python/tuple [22, 3] + - !!python/tuple [30, 16] + - !!python/tuple [30, 12] + - !!python/tuple [7, 24] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex80.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex80.yaml new file mode 100644 index 0000000..02b332d --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex80.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [22, 21] + name: agent0 + start: [26, 12] +- goal: [28, 11] + name: agent1 + start: [21, 18] +- goal: [16, 27] + name: agent2 + start: [4, 16] +- goal: [0, 30] + name: agent3 + start: [29, 29] +- goal: [17, 4] + name: agent4 + start: [11, 14] +- goal: [7, 30] + name: agent5 + start: [7, 23] +- goal: [2, 0] + name: agent6 + start: [11, 7] +- goal: [2, 16] + name: agent7 + start: [29, 13] +- goal: [26, 13] + name: agent8 + start: [28, 0] +- goal: [26, 1] + name: agent9 + start: [31, 20] +- goal: [13, 27] + name: agent10 + start: [22, 30] +- goal: [19, 1] + name: agent11 + start: [27, 9] +- goal: [22, 0] + name: agent12 + start: [21, 27] +- goal: [21, 6] + name: agent13 + start: [8, 16] +- goal: [13, 21] + name: agent14 + start: [20, 31] +- goal: [4, 28] + name: agent15 + start: [23, 26] +- goal: [22, 16] + name: agent16 + start: [29, 8] +- goal: [2, 9] + name: agent17 + start: [26, 2] +- goal: [29, 10] + name: agent18 + start: [6, 24] +- goal: [15, 9] + name: agent19 + start: [10, 10] +- goal: [20, 18] + name: agent20 + start: [3, 30] +- goal: [21, 9] + name: agent21 + start: [2, 27] +- goal: [3, 23] + name: agent22 + start: [1, 29] +- goal: [15, 30] + name: agent23 + start: [13, 25] +- goal: [26, 9] + name: agent24 + start: [1, 15] +- goal: [26, 6] + name: agent25 + start: [20, 0] +- goal: [1, 26] + name: agent26 + start: [17, 1] +- goal: [16, 25] + name: agent27 + start: [29, 5] +- goal: [2, 25] + name: agent28 + start: [23, 9] +- goal: [1, 24] + name: agent29 + start: [19, 15] +- goal: [20, 10] + name: agent30 + start: [29, 0] +- goal: [22, 9] + name: agent31 + start: [28, 3] +- goal: [18, 9] + name: agent32 + start: [15, 11] +- goal: [30, 26] + name: agent33 + start: [0, 16] +- goal: [31, 25] + name: agent34 + start: [8, 23] +- goal: [13, 26] + name: agent35 + start: [21, 29] +- goal: [31, 29] + name: agent36 + start: [30, 4] +- goal: [28, 12] + name: agent37 + start: [11, 13] +- goal: [20, 31] + name: agent38 + start: [23, 4] +- goal: [25, 23] + name: agent39 + start: [13, 10] +- goal: [10, 10] + name: agent40 + start: [17, 29] +- goal: [26, 2] + name: agent41 + start: [19, 7] +- goal: [27, 31] + name: agent42 + start: [12, 21] +- goal: [21, 8] + name: agent43 + start: [23, 16] +- goal: [2, 20] + name: agent44 + start: [26, 21] +- goal: [18, 24] + name: agent45 + start: [14, 0] +- goal: [19, 21] + name: agent46 + start: [9, 22] +- goal: [30, 17] + name: agent47 + start: [3, 11] +- goal: [11, 12] + name: agent48 + start: [26, 27] +- goal: [22, 17] + name: agent49 + start: [9, 12] +- goal: [19, 17] + name: agent50 + start: [11, 27] +- goal: [23, 16] + name: agent51 + start: [19, 27] +- goal: [17, 19] + name: agent52 + start: [4, 13] +- goal: [8, 29] + name: agent53 + start: [4, 31] +- goal: [4, 29] + name: agent54 + start: [30, 24] +- goal: [4, 17] + name: agent55 + start: [29, 17] +- goal: [30, 28] + name: agent56 + start: [14, 31] +- goal: [25, 7] + name: agent57 + start: [14, 18] +- goal: [1, 7] + name: agent58 + start: [19, 31] +- goal: [15, 28] + name: agent59 + start: [13, 28] +- goal: [5, 10] + name: agent60 + start: [26, 20] +- goal: [25, 17] + name: agent61 + start: [28, 17] +- goal: [3, 13] + name: agent62 + start: [20, 9] +- goal: [23, 5] + name: agent63 + start: [28, 18] +- goal: [10, 8] + name: agent64 + start: [11, 29] +- goal: [5, 28] + name: agent65 + start: [14, 24] +- goal: [6, 22] + name: agent66 + start: [11, 15] +- goal: [3, 22] + name: agent67 + start: [2, 10] +- goal: [2, 22] + name: agent68 + start: [16, 13] +- goal: [22, 7] + name: agent69 + start: [28, 7] +- goal: [26, 22] + name: agent70 + start: [21, 24] +- goal: [10, 24] + name: agent71 + start: [11, 26] +- goal: [27, 10] + name: agent72 + start: [30, 10] +- goal: [13, 19] + name: agent73 + start: [21, 17] +- goal: [24, 10] + name: agent74 + start: [3, 5] +- goal: [21, 27] + name: agent75 + start: [14, 3] +- goal: [27, 30] + name: agent76 + start: [12, 15] +- goal: [12, 9] + name: agent77 + start: [22, 31] +- goal: [3, 18] + name: agent78 + start: [1, 2] +- goal: [19, 30] + name: agent79 + start: [24, 2] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [31, 21] + - !!python/tuple [30, 27] + - !!python/tuple [10, 26] + - !!python/tuple [9, 26] + - !!python/tuple [26, 29] + - !!python/tuple [14, 2] + - !!python/tuple [19, 16] + - !!python/tuple [8, 30] + - !!python/tuple [21, 26] + - !!python/tuple [5, 5] + - !!python/tuple [26, 17] + - !!python/tuple [21, 16] + - !!python/tuple [9, 21] + - !!python/tuple [24, 9] + - !!python/tuple [2, 6] + - !!python/tuple [16, 17] + - !!python/tuple [28, 31] + - !!python/tuple [1, 8] + - !!python/tuple [27, 21] + - !!python/tuple [13, 16] + - !!python/tuple [11, 23] + - !!python/tuple [8, 17] + - !!python/tuple [23, 24] + - !!python/tuple [11, 31] + - !!python/tuple [8, 14] + - !!python/tuple [15, 17] + - !!python/tuple [4, 9] + - !!python/tuple [10, 23] + - !!python/tuple [10, 20] + - !!python/tuple [9, 16] + - !!python/tuple [12, 11] + - !!python/tuple [19, 12] + - !!python/tuple [25, 0] + - !!python/tuple [25, 31] + - !!python/tuple [31, 30] + - !!python/tuple [6, 31] + - !!python/tuple [20, 15] + - !!python/tuple [17, 26] + - !!python/tuple [12, 16] + - !!python/tuple [18, 14] + - !!python/tuple [29, 31] + - !!python/tuple [25, 28] + - !!python/tuple [31, 17] + - !!python/tuple [25, 6] + - !!python/tuple [24, 31] + - !!python/tuple [25, 24] + - !!python/tuple [15, 4] + - !!python/tuple [21, 21] + - !!python/tuple [0, 2] + - !!python/tuple [30, 15] + - !!python/tuple [12, 29] + - !!python/tuple [24, 24] + - !!python/tuple [1, 16] + - !!python/tuple [9, 23] + - !!python/tuple [7, 13] + - !!python/tuple [26, 7] + - !!python/tuple [29, 27] + - !!python/tuple [22, 24] + - !!python/tuple [4, 24] + - !!python/tuple [4, 4] + - !!python/tuple [5, 21] + - !!python/tuple [18, 19] + - !!python/tuple [27, 25] + - !!python/tuple [31, 11] + - !!python/tuple [18, 22] + - !!python/tuple [21, 25] + - !!python/tuple [23, 19] + - !!python/tuple [8, 2] + - !!python/tuple [26, 11] + - !!python/tuple [27, 18] + - !!python/tuple [4, 3] + - !!python/tuple [25, 5] + - !!python/tuple [30, 25] + - !!python/tuple [8, 28] + - !!python/tuple [23, 22] + - !!python/tuple [15, 8] + - !!python/tuple [16, 30] + - !!python/tuple [18, 17] + - !!python/tuple [24, 5] + - !!python/tuple [17, 12] + - !!python/tuple [10, 5] + - !!python/tuple [29, 7] + - !!python/tuple [17, 5] + - !!python/tuple [20, 21] + - !!python/tuple [3, 4] + - !!python/tuple [12, 8] + - !!python/tuple [18, 16] + - !!python/tuple [22, 14] + - !!python/tuple [6, 26] + - !!python/tuple [23, 0] + - !!python/tuple [3, 14] + - !!python/tuple [17, 3] + - !!python/tuple [17, 22] + - !!python/tuple [14, 29] + - !!python/tuple [12, 31] + - !!python/tuple [11, 17] + - !!python/tuple [6, 6] + - !!python/tuple [22, 1] + - !!python/tuple [3, 7] + - !!python/tuple [11, 30] + - !!python/tuple [4, 26] + - !!python/tuple [23, 20] + - !!python/tuple [17, 28] + - !!python/tuple [12, 3] + - !!python/tuple [1, 9] + - !!python/tuple [1, 22] + - !!python/tuple [14, 4] + - !!python/tuple [3, 27] + - !!python/tuple [9, 31] + - !!python/tuple [8, 9] + - !!python/tuple [0, 3] + - !!python/tuple [12, 6] + - !!python/tuple [10, 12] + - !!python/tuple [18, 30] + - !!python/tuple [7, 18] + - !!python/tuple [1, 1] + - !!python/tuple [17, 10] + - !!python/tuple [23, 6] + - !!python/tuple [27, 22] + - !!python/tuple [9, 14] + - !!python/tuple [16, 3] + - !!python/tuple [7, 26] + - !!python/tuple [4, 27] + - !!python/tuple [2, 26] + - !!python/tuple [5, 25] + - !!python/tuple [13, 8] + - !!python/tuple [5, 27] + - !!python/tuple [13, 3] + - !!python/tuple [20, 6] + - !!python/tuple [28, 4] + - !!python/tuple [4, 7] + - !!python/tuple [26, 24] + - !!python/tuple [30, 31] + - !!python/tuple [6, 10] + - !!python/tuple [6, 3] + - !!python/tuple [11, 0] + - !!python/tuple [20, 13] + - !!python/tuple [0, 4] + - !!python/tuple [31, 8] + - !!python/tuple [11, 11] + - !!python/tuple [28, 15] + - !!python/tuple [4, 21] + - !!python/tuple [27, 3] + - !!python/tuple [13, 4] + - !!python/tuple [26, 25] + - !!python/tuple [17, 20] + - !!python/tuple [20, 30] + - !!python/tuple [18, 12] + - !!python/tuple [8, 5] + - !!python/tuple [30, 11] + - !!python/tuple [6, 1] + - !!python/tuple [0, 7] + - !!python/tuple [28, 24] + - !!python/tuple [3, 26] + - !!python/tuple [16, 28] + - !!python/tuple [18, 2] + - !!python/tuple [28, 16] + - !!python/tuple [27, 16] + - !!python/tuple [13, 13] + - !!python/tuple [12, 17] + - !!python/tuple [24, 6] + - !!python/tuple [19, 6] + - !!python/tuple [29, 3] + - !!python/tuple [15, 13] + - !!python/tuple [5, 4] + - !!python/tuple [31, 0] + - !!python/tuple [0, 23] + - !!python/tuple [25, 20] + - !!python/tuple [22, 2] + - !!python/tuple [7, 19] + - !!python/tuple [15, 1] + - !!python/tuple [4, 8] + - !!python/tuple [17, 9] + - !!python/tuple [16, 24] + - !!python/tuple [7, 8] + - !!python/tuple [16, 4] + - !!python/tuple [19, 3] + - !!python/tuple [16, 8] + - !!python/tuple [10, 21] + - !!python/tuple [14, 19] + - !!python/tuple [0, 11] + - !!python/tuple [29, 1] + - !!python/tuple [13, 17] + - !!python/tuple [1, 18] + - !!python/tuple [27, 7] + - !!python/tuple [2, 1] + - !!python/tuple [6, 23] + - !!python/tuple [23, 25] + - !!python/tuple [18, 1] + - !!python/tuple [3, 21] + - !!python/tuple [12, 24] + - !!python/tuple [0, 25] + - !!python/tuple [24, 28] + - !!python/tuple [12, 7] + - !!python/tuple [29, 11] + - !!python/tuple [18, 20] + - !!python/tuple [11, 28] + - !!python/tuple [12, 27] + - !!python/tuple [1, 12] + - !!python/tuple [1, 5] + - !!python/tuple [24, 30] + - !!python/tuple [27, 20] + - !!python/tuple [11, 9] + - !!python/tuple [12, 18] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex81.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex81.yaml new file mode 100644 index 0000000..9de8cd4 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex81.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [30, 4] + name: agent0 + start: [8, 17] +- goal: [2, 23] + name: agent1 + start: [16, 5] +- goal: [21, 17] + name: agent2 + start: [7, 25] +- goal: [27, 9] + name: agent3 + start: [6, 29] +- goal: [17, 27] + name: agent4 + start: [29, 12] +- goal: [2, 28] + name: agent5 + start: [31, 14] +- goal: [0, 6] + name: agent6 + start: [12, 5] +- goal: [8, 10] + name: agent7 + start: [29, 9] +- goal: [19, 18] + name: agent8 + start: [8, 31] +- goal: [13, 20] + name: agent9 + start: [15, 25] +- goal: [15, 19] + name: agent10 + start: [10, 0] +- goal: [24, 9] + name: agent11 + start: [3, 8] +- goal: [9, 28] + name: agent12 + start: [11, 18] +- goal: [21, 13] + name: agent13 + start: [30, 8] +- goal: [10, 11] + name: agent14 + start: [10, 20] +- goal: [3, 28] + name: agent15 + start: [8, 10] +- goal: [12, 16] + name: agent16 + start: [8, 21] +- goal: [29, 20] + name: agent17 + start: [20, 17] +- goal: [29, 7] + name: agent18 + start: [30, 18] +- goal: [19, 20] + name: agent19 + start: [5, 31] +- goal: [23, 25] + name: agent20 + start: [10, 18] +- goal: [14, 13] + name: agent21 + start: [22, 30] +- goal: [18, 30] + name: agent22 + start: [18, 4] +- goal: [25, 19] + name: agent23 + start: [8, 19] +- goal: [14, 3] + name: agent24 + start: [8, 8] +- goal: [22, 10] + name: agent25 + start: [31, 25] +- goal: [6, 16] + name: agent26 + start: [23, 9] +- goal: [28, 22] + name: agent27 + start: [16, 29] +- goal: [29, 9] + name: agent28 + start: [11, 10] +- goal: [22, 20] + name: agent29 + start: [5, 12] +- goal: [4, 8] + name: agent30 + start: [13, 14] +- goal: [3, 26] + name: agent31 + start: [21, 21] +- goal: [4, 22] + name: agent32 + start: [19, 4] +- goal: [8, 4] + name: agent33 + start: [19, 17] +- goal: [24, 6] + name: agent34 + start: [3, 3] +- goal: [22, 18] + name: agent35 + start: [18, 0] +- goal: [25, 25] + name: agent36 + start: [6, 7] +- goal: [14, 29] + name: agent37 + start: [26, 18] +- goal: [24, 30] + name: agent38 + start: [21, 27] +- goal: [9, 2] + name: agent39 + start: [12, 3] +- goal: [25, 23] + name: agent40 + start: [5, 19] +- goal: [28, 15] + name: agent41 + start: [11, 29] +- goal: [18, 28] + name: agent42 + start: [11, 3] +- goal: [24, 31] + name: agent43 + start: [11, 6] +- goal: [2, 19] + name: agent44 + start: [29, 10] +- goal: [24, 20] + name: agent45 + start: [19, 22] +- goal: [29, 0] + name: agent46 + start: [2, 3] +- goal: [11, 9] + name: agent47 + start: [3, 30] +- goal: [4, 3] + name: agent48 + start: [18, 9] +- goal: [28, 24] + name: agent49 + start: [20, 29] +- goal: [16, 6] + name: agent50 + start: [25, 13] +- goal: [12, 10] + name: agent51 + start: [12, 8] +- goal: [11, 7] + name: agent52 + start: [7, 12] +- goal: [20, 9] + name: agent53 + start: [20, 23] +- goal: [27, 29] + name: agent54 + start: [8, 4] +- goal: [11, 0] + name: agent55 + start: [16, 3] +- goal: [31, 7] + name: agent56 + start: [14, 13] +- goal: [4, 25] + name: agent57 + start: [8, 11] +- goal: [5, 31] + name: agent58 + start: [0, 29] +- goal: [20, 16] + name: agent59 + start: [10, 23] +- goal: [24, 1] + name: agent60 + start: [0, 14] +- goal: [15, 26] + name: agent61 + start: [22, 5] +- goal: [0, 16] + name: agent62 + start: [3, 20] +- goal: [4, 1] + name: agent63 + start: [29, 0] +- goal: [31, 29] + name: agent64 + start: [10, 10] +- goal: [9, 31] + name: agent65 + start: [31, 31] +- goal: [10, 25] + name: agent66 + start: [7, 8] +- goal: [21, 3] + name: agent67 + start: [24, 10] +- goal: [12, 6] + name: agent68 + start: [11, 25] +- goal: [2, 7] + name: agent69 + start: [12, 6] +- goal: [30, 17] + name: agent70 + start: [0, 12] +- goal: [26, 26] + name: agent71 + start: [23, 27] +- goal: [27, 4] + name: agent72 + start: [28, 7] +- goal: [3, 29] + name: agent73 + start: [12, 17] +- goal: [2, 12] + name: agent74 + start: [10, 27] +- goal: [17, 9] + name: agent75 + start: [21, 26] +- goal: [30, 18] + name: agent76 + start: [5, 18] +- goal: [24, 18] + name: agent77 + start: [14, 4] +- goal: [20, 12] + name: agent78 + start: [12, 23] +- goal: [14, 6] + name: agent79 + start: [19, 15] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [3, 1] + - !!python/tuple [2, 20] + - !!python/tuple [29, 11] + - !!python/tuple [29, 2] + - !!python/tuple [17, 28] + - !!python/tuple [12, 13] + - !!python/tuple [11, 19] + - !!python/tuple [29, 3] + - !!python/tuple [25, 10] + - !!python/tuple [4, 2] + - !!python/tuple [12, 22] + - !!python/tuple [10, 16] + - !!python/tuple [20, 15] + - !!python/tuple [25, 16] + - !!python/tuple [30, 7] + - !!python/tuple [18, 6] + - !!python/tuple [27, 7] + - !!python/tuple [16, 9] + - !!python/tuple [17, 8] + - !!python/tuple [11, 16] + - !!python/tuple [29, 16] + - !!python/tuple [9, 8] + - !!python/tuple [19, 11] + - !!python/tuple [5, 7] + - !!python/tuple [8, 16] + - !!python/tuple [26, 1] + - !!python/tuple [21, 24] + - !!python/tuple [27, 10] + - !!python/tuple [17, 12] + - !!python/tuple [24, 14] + - !!python/tuple [31, 17] + - !!python/tuple [20, 19] + - !!python/tuple [3, 16] + - !!python/tuple [26, 25] + - !!python/tuple [9, 22] + - !!python/tuple [9, 12] + - !!python/tuple [28, 13] + - !!python/tuple [14, 31] + - !!python/tuple [8, 13] + - !!python/tuple [28, 30] + - !!python/tuple [24, 11] + - !!python/tuple [3, 12] + - !!python/tuple [9, 3] + - !!python/tuple [20, 3] + - !!python/tuple [21, 25] + - !!python/tuple [28, 2] + - !!python/tuple [10, 29] + - !!python/tuple [15, 9] + - !!python/tuple [1, 17] + - !!python/tuple [25, 28] + - !!python/tuple [23, 24] + - !!python/tuple [7, 18] + - !!python/tuple [14, 18] + - !!python/tuple [3, 4] + - !!python/tuple [29, 4] + - !!python/tuple [10, 5] + - !!python/tuple [28, 16] + - !!python/tuple [17, 6] + - !!python/tuple [26, 17] + - !!python/tuple [5, 2] + - !!python/tuple [13, 26] + - !!python/tuple [31, 1] + - !!python/tuple [10, 15] + - !!python/tuple [2, 17] + - !!python/tuple [9, 18] + - !!python/tuple [31, 5] + - !!python/tuple [23, 12] + - !!python/tuple [26, 15] + - !!python/tuple [31, 11] + - !!python/tuple [27, 14] + - !!python/tuple [16, 23] + - !!python/tuple [7, 20] + - !!python/tuple [29, 14] + - !!python/tuple [3, 15] + - !!python/tuple [27, 13] + - !!python/tuple [6, 19] + - !!python/tuple [29, 26] + - !!python/tuple [1, 27] + - !!python/tuple [1, 8] + - !!python/tuple [20, 22] + - !!python/tuple [14, 22] + - !!python/tuple [26, 11] + - !!python/tuple [17, 7] + - !!python/tuple [30, 19] + - !!python/tuple [22, 16] + - !!python/tuple [14, 0] + - !!python/tuple [18, 11] + - !!python/tuple [16, 2] + - !!python/tuple [27, 23] + - !!python/tuple [24, 26] + - !!python/tuple [10, 2] + - !!python/tuple [1, 23] + - !!python/tuple [2, 11] + - !!python/tuple [31, 12] + - !!python/tuple [20, 18] + - !!python/tuple [26, 12] + - !!python/tuple [22, 19] + - !!python/tuple [22, 3] + - !!python/tuple [27, 27] + - !!python/tuple [14, 16] + - !!python/tuple [6, 20] + - !!python/tuple [7, 1] + - !!python/tuple [13, 25] + - !!python/tuple [12, 4] + - !!python/tuple [24, 27] + - !!python/tuple [15, 28] + - !!python/tuple [20, 20] + - !!python/tuple [3, 5] + - !!python/tuple [0, 15] + - !!python/tuple [25, 24] + - !!python/tuple [27, 19] + - !!python/tuple [23, 16] + - !!python/tuple [30, 20] + - !!python/tuple [24, 4] + - !!python/tuple [7, 4] + - !!python/tuple [6, 9] + - !!python/tuple [10, 1] + - !!python/tuple [27, 11] + - !!python/tuple [20, 7] + - !!python/tuple [27, 24] + - !!python/tuple [0, 25] + - !!python/tuple [10, 4] + - !!python/tuple [2, 14] + - !!python/tuple [23, 14] + - !!python/tuple [29, 17] + - !!python/tuple [31, 8] + - !!python/tuple [17, 21] + - !!python/tuple [0, 20] + - !!python/tuple [26, 30] + - !!python/tuple [9, 16] + - !!python/tuple [29, 27] + - !!python/tuple [26, 21] + - !!python/tuple [23, 2] + - !!python/tuple [16, 24] + - !!python/tuple [12, 12] + - !!python/tuple [19, 31] + - !!python/tuple [28, 19] + - !!python/tuple [22, 17] + - !!python/tuple [22, 0] + - !!python/tuple [6, 2] + - !!python/tuple [15, 0] + - !!python/tuple [6, 26] + - !!python/tuple [7, 26] + - !!python/tuple [25, 2] + - !!python/tuple [2, 2] + - !!python/tuple [20, 26] + - !!python/tuple [22, 12] + - !!python/tuple [13, 11] + - !!python/tuple [19, 24] + - !!python/tuple [16, 22] + - !!python/tuple [16, 16] + - !!python/tuple [3, 2] + - !!python/tuple [8, 30] + - !!python/tuple [16, 19] + - !!python/tuple [29, 8] + - !!python/tuple [11, 5] + - !!python/tuple [9, 6] + - !!python/tuple [11, 8] + - !!python/tuple [28, 21] + - !!python/tuple [19, 27] + - !!python/tuple [17, 30] + - !!python/tuple [4, 6] + - !!python/tuple [6, 25] + - !!python/tuple [23, 10] + - !!python/tuple [14, 26] + - !!python/tuple [8, 25] + - !!python/tuple [27, 5] + - !!python/tuple [13, 31] + - !!python/tuple [1, 28] + - !!python/tuple [27, 15] + - !!python/tuple [6, 17] + - !!python/tuple [12, 27] + - !!python/tuple [22, 4] + - !!python/tuple [3, 19] + - !!python/tuple [31, 9] + - !!python/tuple [30, 1] + - !!python/tuple [30, 31] + - !!python/tuple [8, 7] + - !!python/tuple [14, 7] + - !!python/tuple [29, 24] + - !!python/tuple [17, 17] + - !!python/tuple [3, 14] + - !!python/tuple [19, 23] + - !!python/tuple [21, 31] + - !!python/tuple [19, 21] + - !!python/tuple [5, 16] + - !!python/tuple [5, 1] + - !!python/tuple [12, 19] + - !!python/tuple [22, 27] + - !!python/tuple [22, 26] + - !!python/tuple [0, 13] + - !!python/tuple [18, 16] + - !!python/tuple [28, 23] + - !!python/tuple [28, 10] + - !!python/tuple [21, 9] + - !!python/tuple [28, 11] + - !!python/tuple [27, 17] + - !!python/tuple [20, 1] + - !!python/tuple [2, 13] + - !!python/tuple [9, 0] + - !!python/tuple [12, 11] + - !!python/tuple [19, 5] + - !!python/tuple [16, 0] + - !!python/tuple [6, 4] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex82.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex82.yaml new file mode 100644 index 0000000..b55f947 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex82.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [23, 31] + name: agent0 + start: [7, 25] +- goal: [31, 17] + name: agent1 + start: [15, 5] +- goal: [8, 2] + name: agent2 + start: [1, 11] +- goal: [20, 30] + name: agent3 + start: [23, 7] +- goal: [28, 18] + name: agent4 + start: [6, 16] +- goal: [19, 25] + name: agent5 + start: [21, 6] +- goal: [18, 31] + name: agent6 + start: [19, 14] +- goal: [27, 11] + name: agent7 + start: [24, 31] +- goal: [26, 27] + name: agent8 + start: [25, 31] +- goal: [6, 28] + name: agent9 + start: [12, 29] +- goal: [30, 18] + name: agent10 + start: [20, 0] +- goal: [30, 25] + name: agent11 + start: [29, 10] +- goal: [3, 2] + name: agent12 + start: [30, 29] +- goal: [12, 26] + name: agent13 + start: [26, 15] +- goal: [8, 28] + name: agent14 + start: [16, 3] +- goal: [19, 15] + name: agent15 + start: [2, 0] +- goal: [0, 9] + name: agent16 + start: [22, 31] +- goal: [13, 15] + name: agent17 + start: [4, 11] +- goal: [27, 14] + name: agent18 + start: [21, 23] +- goal: [11, 15] + name: agent19 + start: [20, 25] +- goal: [19, 23] + name: agent20 + start: [22, 23] +- goal: [20, 3] + name: agent21 + start: [7, 26] +- goal: [3, 27] + name: agent22 + start: [1, 6] +- goal: [21, 23] + name: agent23 + start: [5, 19] +- goal: [5, 26] + name: agent24 + start: [22, 20] +- goal: [23, 2] + name: agent25 + start: [16, 31] +- goal: [3, 7] + name: agent26 + start: [23, 28] +- goal: [13, 8] + name: agent27 + start: [8, 17] +- goal: [29, 16] + name: agent28 + start: [8, 18] +- goal: [6, 20] + name: agent29 + start: [4, 21] +- goal: [14, 14] + name: agent30 + start: [10, 9] +- goal: [6, 12] + name: agent31 + start: [25, 11] +- goal: [2, 23] + name: agent32 + start: [1, 0] +- goal: [15, 16] + name: agent33 + start: [2, 17] +- goal: [25, 30] + name: agent34 + start: [2, 29] +- goal: [31, 21] + name: agent35 + start: [9, 28] +- goal: [20, 31] + name: agent36 + start: [28, 12] +- goal: [5, 19] + name: agent37 + start: [29, 12] +- goal: [31, 20] + name: agent38 + start: [22, 7] +- goal: [1, 15] + name: agent39 + start: [1, 3] +- goal: [7, 30] + name: agent40 + start: [24, 15] +- goal: [5, 30] + name: agent41 + start: [20, 11] +- goal: [0, 7] + name: agent42 + start: [3, 16] +- goal: [2, 9] + name: agent43 + start: [2, 20] +- goal: [7, 27] + name: agent44 + start: [17, 25] +- goal: [21, 30] + name: agent45 + start: [5, 25] +- goal: [7, 19] + name: agent46 + start: [28, 19] +- goal: [28, 22] + name: agent47 + start: [25, 0] +- goal: [14, 1] + name: agent48 + start: [7, 4] +- goal: [25, 18] + name: agent49 + start: [20, 9] +- goal: [24, 24] + name: agent50 + start: [26, 1] +- goal: [23, 28] + name: agent51 + start: [14, 15] +- goal: [7, 7] + name: agent52 + start: [27, 24] +- goal: [27, 28] + name: agent53 + start: [5, 17] +- goal: [22, 20] + name: agent54 + start: [31, 29] +- goal: [31, 25] + name: agent55 + start: [16, 28] +- goal: [24, 31] + name: agent56 + start: [30, 0] +- goal: [17, 30] + name: agent57 + start: [30, 21] +- goal: [21, 6] + name: agent58 + start: [18, 23] +- goal: [21, 31] + name: agent59 + start: [31, 22] +- goal: [2, 31] + name: agent60 + start: [15, 9] +- goal: [5, 8] + name: agent61 + start: [28, 26] +- goal: [28, 8] + name: agent62 + start: [15, 26] +- goal: [28, 23] + name: agent63 + start: [7, 10] +- goal: [12, 18] + name: agent64 + start: [1, 24] +- goal: [26, 9] + name: agent65 + start: [26, 16] +- goal: [15, 18] + name: agent66 + start: [21, 2] +- goal: [11, 21] + name: agent67 + start: [27, 15] +- goal: [19, 17] + name: agent68 + start: [20, 2] +- goal: [22, 24] + name: agent69 + start: [3, 20] +- goal: [4, 23] + name: agent70 + start: [24, 19] +- goal: [2, 22] + name: agent71 + start: [12, 16] +- goal: [16, 19] + name: agent72 + start: [18, 29] +- goal: [16, 20] + name: agent73 + start: [22, 18] +- goal: [27, 18] + name: agent74 + start: [7, 21] +- goal: [5, 28] + name: agent75 + start: [13, 3] +- goal: [19, 10] + name: agent76 + start: [17, 7] +- goal: [0, 23] + name: agent77 + start: [13, 14] +- goal: [28, 3] + name: agent78 + start: [13, 6] +- goal: [20, 13] + name: agent79 + start: [20, 31] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [26, 5] + - !!python/tuple [20, 12] + - !!python/tuple [4, 2] + - !!python/tuple [9, 19] + - !!python/tuple [0, 25] + - !!python/tuple [4, 9] + - !!python/tuple [21, 10] + - !!python/tuple [10, 5] + - !!python/tuple [23, 17] + - !!python/tuple [26, 18] + - !!python/tuple [4, 6] + - !!python/tuple [0, 15] + - !!python/tuple [11, 4] + - !!python/tuple [24, 1] + - !!python/tuple [25, 17] + - !!python/tuple [5, 21] + - !!python/tuple [30, 19] + - !!python/tuple [10, 13] + - !!python/tuple [16, 4] + - !!python/tuple [25, 5] + - !!python/tuple [26, 3] + - !!python/tuple [30, 11] + - !!python/tuple [0, 1] + - !!python/tuple [8, 21] + - !!python/tuple [21, 21] + - !!python/tuple [21, 19] + - !!python/tuple [27, 16] + - !!python/tuple [29, 26] + - !!python/tuple [7, 1] + - !!python/tuple [31, 19] + - !!python/tuple [16, 9] + - !!python/tuple [14, 6] + - !!python/tuple [19, 12] + - !!python/tuple [8, 22] + - !!python/tuple [27, 29] + - !!python/tuple [1, 25] + - !!python/tuple [13, 21] + - !!python/tuple [17, 20] + - !!python/tuple [9, 5] + - !!python/tuple [2, 3] + - !!python/tuple [2, 6] + - !!python/tuple [19, 4] + - !!python/tuple [22, 27] + - !!python/tuple [0, 5] + - !!python/tuple [0, 13] + - !!python/tuple [1, 16] + - !!python/tuple [27, 22] + - !!python/tuple [15, 2] + - !!python/tuple [22, 17] + - !!python/tuple [12, 27] + - !!python/tuple [27, 17] + - !!python/tuple [14, 10] + - !!python/tuple [19, 29] + - !!python/tuple [1, 17] + - !!python/tuple [6, 29] + - !!python/tuple [8, 31] + - !!python/tuple [4, 22] + - !!python/tuple [22, 9] + - !!python/tuple [25, 26] + - !!python/tuple [12, 2] + - !!python/tuple [20, 14] + - !!python/tuple [27, 19] + - !!python/tuple [18, 19] + - !!python/tuple [26, 8] + - !!python/tuple [14, 18] + - !!python/tuple [21, 7] + - !!python/tuple [5, 16] + - !!python/tuple [1, 10] + - !!python/tuple [18, 20] + - !!python/tuple [1, 13] + - !!python/tuple [4, 16] + - !!python/tuple [23, 23] + - !!python/tuple [31, 0] + - !!python/tuple [21, 12] + - !!python/tuple [23, 4] + - !!python/tuple [30, 30] + - !!python/tuple [8, 11] + - !!python/tuple [25, 22] + - !!python/tuple [29, 25] + - !!python/tuple [5, 7] + - !!python/tuple [8, 9] + - !!python/tuple [16, 7] + - !!python/tuple [10, 21] + - !!python/tuple [17, 8] + - !!python/tuple [7, 2] + - !!python/tuple [9, 9] + - !!python/tuple [19, 1] + - !!python/tuple [11, 25] + - !!python/tuple [29, 28] + - !!python/tuple [14, 20] + - !!python/tuple [2, 24] + - !!python/tuple [23, 5] + - !!python/tuple [7, 31] + - !!python/tuple [8, 26] + - !!python/tuple [2, 1] + - !!python/tuple [7, 0] + - !!python/tuple [9, 13] + - !!python/tuple [19, 24] + - !!python/tuple [21, 29] + - !!python/tuple [10, 14] + - !!python/tuple [26, 26] + - !!python/tuple [31, 7] + - !!python/tuple [20, 8] + - !!python/tuple [25, 29] + - !!python/tuple [5, 12] + - !!python/tuple [7, 18] + - !!python/tuple [24, 20] + - !!python/tuple [17, 18] + - !!python/tuple [1, 27] + - !!python/tuple [1, 12] + - !!python/tuple [18, 8] + - !!python/tuple [24, 6] + - !!python/tuple [10, 20] + - !!python/tuple [24, 25] + - !!python/tuple [8, 15] + - !!python/tuple [13, 20] + - !!python/tuple [8, 1] + - !!python/tuple [27, 8] + - !!python/tuple [28, 20] + - !!python/tuple [22, 30] + - !!python/tuple [5, 29] + - !!python/tuple [29, 8] + - !!python/tuple [27, 20] + - !!python/tuple [8, 3] + - !!python/tuple [29, 30] + - !!python/tuple [29, 6] + - !!python/tuple [12, 11] + - !!python/tuple [8, 25] + - !!python/tuple [0, 27] + - !!python/tuple [19, 11] + - !!python/tuple [11, 26] + - !!python/tuple [25, 15] + - !!python/tuple [15, 1] + - !!python/tuple [19, 0] + - !!python/tuple [0, 4] + - !!python/tuple [10, 22] + - !!python/tuple [19, 18] + - !!python/tuple [8, 7] + - !!python/tuple [10, 8] + - !!python/tuple [1, 20] + - !!python/tuple [18, 14] + - !!python/tuple [29, 3] + - !!python/tuple [14, 27] + - !!python/tuple [25, 24] + - !!python/tuple [7, 17] + - !!python/tuple [5, 2] + - !!python/tuple [20, 4] + - !!python/tuple [30, 7] + - !!python/tuple [19, 9] + - !!python/tuple [24, 4] + - !!python/tuple [27, 21] + - !!python/tuple [31, 1] + - !!python/tuple [2, 12] + - !!python/tuple [3, 3] + - !!python/tuple [28, 28] + - !!python/tuple [1, 7] + - !!python/tuple [18, 2] + - !!python/tuple [10, 18] + - !!python/tuple [4, 12] + - !!python/tuple [31, 23] + - !!python/tuple [15, 25] + - !!python/tuple [2, 26] + - !!python/tuple [31, 28] + - !!python/tuple [22, 28] + - !!python/tuple [18, 12] + - !!python/tuple [18, 1] + - !!python/tuple [23, 14] + - !!python/tuple [17, 24] + - !!python/tuple [21, 1] + - !!python/tuple [12, 23] + - !!python/tuple [0, 29] + - !!python/tuple [24, 27] + - !!python/tuple [4, 29] + - !!python/tuple [9, 29] + - !!python/tuple [1, 21] + - !!python/tuple [28, 11] + - !!python/tuple [21, 0] + - !!python/tuple [18, 5] + - !!python/tuple [7, 16] + - !!python/tuple [18, 21] + - !!python/tuple [11, 12] + - !!python/tuple [15, 23] + - !!python/tuple [11, 22] + - !!python/tuple [6, 30] + - !!python/tuple [0, 8] + - !!python/tuple [3, 31] + - !!python/tuple [20, 15] + - !!python/tuple [4, 31] + - !!python/tuple [22, 26] + - !!python/tuple [22, 4] + - !!python/tuple [15, 31] + - !!python/tuple [7, 3] + - !!python/tuple [5, 9] + - !!python/tuple [25, 3] + - !!python/tuple [7, 9] + - !!python/tuple [12, 7] + - !!python/tuple [12, 31] + - !!python/tuple [20, 22] + - !!python/tuple [9, 10] + - !!python/tuple [2, 30] + - !!python/tuple [5, 15] + - !!python/tuple [8, 19] + - !!python/tuple [2, 8] + - !!python/tuple [0, 11] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex83.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex83.yaml new file mode 100644 index 0000000..f22cd8d --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex83.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [12, 25] + name: agent0 + start: [12, 28] +- goal: [12, 12] + name: agent1 + start: [19, 28] +- goal: [13, 21] + name: agent2 + start: [0, 11] +- goal: [28, 14] + name: agent3 + start: [7, 5] +- goal: [4, 30] + name: agent4 + start: [16, 22] +- goal: [10, 18] + name: agent5 + start: [6, 17] +- goal: [13, 16] + name: agent6 + start: [31, 19] +- goal: [7, 12] + name: agent7 + start: [31, 26] +- goal: [31, 8] + name: agent8 + start: [19, 23] +- goal: [7, 23] + name: agent9 + start: [10, 30] +- goal: [5, 28] + name: agent10 + start: [13, 25] +- goal: [12, 9] + name: agent11 + start: [10, 19] +- goal: [11, 14] + name: agent12 + start: [17, 2] +- goal: [25, 16] + name: agent13 + start: [24, 3] +- goal: [30, 23] + name: agent14 + start: [11, 25] +- goal: [22, 18] + name: agent15 + start: [0, 10] +- goal: [19, 26] + name: agent16 + start: [21, 6] +- goal: [18, 24] + name: agent17 + start: [21, 2] +- goal: [11, 31] + name: agent18 + start: [30, 23] +- goal: [1, 3] + name: agent19 + start: [31, 3] +- goal: [22, 2] + name: agent20 + start: [1, 12] +- goal: [19, 23] + name: agent21 + start: [21, 28] +- goal: [1, 16] + name: agent22 + start: [22, 2] +- goal: [7, 11] + name: agent23 + start: [24, 1] +- goal: [29, 14] + name: agent24 + start: [24, 23] +- goal: [30, 15] + name: agent25 + start: [29, 8] +- goal: [15, 3] + name: agent26 + start: [24, 15] +- goal: [30, 0] + name: agent27 + start: [21, 21] +- goal: [21, 11] + name: agent28 + start: [13, 26] +- goal: [10, 1] + name: agent29 + start: [24, 4] +- goal: [27, 4] + name: agent30 + start: [6, 5] +- goal: [30, 4] + name: agent31 + start: [6, 24] +- goal: [25, 8] + name: agent32 + start: [24, 5] +- goal: [15, 14] + name: agent33 + start: [10, 14] +- goal: [18, 17] + name: agent34 + start: [31, 20] +- goal: [14, 24] + name: agent35 + start: [1, 25] +- goal: [16, 2] + name: agent36 + start: [27, 0] +- goal: [3, 18] + name: agent37 + start: [23, 4] +- goal: [31, 19] + name: agent38 + start: [5, 10] +- goal: [16, 5] + name: agent39 + start: [12, 8] +- goal: [8, 0] + name: agent40 + start: [16, 8] +- goal: [27, 31] + name: agent41 + start: [15, 28] +- goal: [11, 3] + name: agent42 + start: [20, 29] +- goal: [4, 24] + name: agent43 + start: [12, 31] +- goal: [7, 26] + name: agent44 + start: [13, 15] +- goal: [3, 11] + name: agent45 + start: [2, 6] +- goal: [30, 24] + name: agent46 + start: [21, 11] +- goal: [9, 7] + name: agent47 + start: [3, 25] +- goal: [20, 4] + name: agent48 + start: [10, 21] +- goal: [21, 2] + name: agent49 + start: [5, 18] +- goal: [11, 24] + name: agent50 + start: [27, 27] +- goal: [31, 7] + name: agent51 + start: [14, 0] +- goal: [26, 20] + name: agent52 + start: [12, 17] +- goal: [1, 8] + name: agent53 + start: [31, 27] +- goal: [20, 0] + name: agent54 + start: [15, 13] +- goal: [15, 28] + name: agent55 + start: [19, 17] +- goal: [8, 24] + name: agent56 + start: [16, 19] +- goal: [31, 23] + name: agent57 + start: [12, 13] +- goal: [4, 1] + name: agent58 + start: [17, 25] +- goal: [11, 7] + name: agent59 + start: [16, 24] +- goal: [3, 30] + name: agent60 + start: [8, 9] +- goal: [7, 10] + name: agent61 + start: [11, 20] +- goal: [18, 26] + name: agent62 + start: [1, 3] +- goal: [5, 3] + name: agent63 + start: [11, 17] +- goal: [14, 26] + name: agent64 + start: [9, 31] +- goal: [6, 3] + name: agent65 + start: [8, 23] +- goal: [6, 27] + name: agent66 + start: [20, 4] +- goal: [26, 24] + name: agent67 + start: [19, 25] +- goal: [22, 30] + name: agent68 + start: [13, 10] +- goal: [8, 30] + name: agent69 + start: [29, 10] +- goal: [17, 28] + name: agent70 + start: [8, 13] +- goal: [12, 22] + name: agent71 + start: [11, 30] +- goal: [25, 17] + name: agent72 + start: [26, 28] +- goal: [1, 13] + name: agent73 + start: [7, 17] +- goal: [10, 11] + name: agent74 + start: [13, 5] +- goal: [13, 7] + name: agent75 + start: [9, 21] +- goal: [10, 9] + name: agent76 + start: [18, 15] +- goal: [26, 30] + name: agent77 + start: [25, 26] +- goal: [19, 3] + name: agent78 + start: [5, 6] +- goal: [16, 22] + name: agent79 + start: [21, 4] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [15, 2] + - !!python/tuple [22, 24] + - !!python/tuple [1, 9] + - !!python/tuple [1, 27] + - !!python/tuple [16, 15] + - !!python/tuple [12, 1] + - !!python/tuple [20, 21] + - !!python/tuple [30, 17] + - !!python/tuple [2, 28] + - !!python/tuple [1, 2] + - !!python/tuple [5, 4] + - !!python/tuple [4, 27] + - !!python/tuple [25, 27] + - !!python/tuple [2, 22] + - !!python/tuple [14, 29] + - !!python/tuple [24, 25] + - !!python/tuple [3, 6] + - !!python/tuple [28, 9] + - !!python/tuple [30, 13] + - !!python/tuple [17, 8] + - !!python/tuple [25, 10] + - !!python/tuple [26, 15] + - !!python/tuple [4, 0] + - !!python/tuple [28, 5] + - !!python/tuple [31, 29] + - !!python/tuple [24, 9] + - !!python/tuple [20, 27] + - !!python/tuple [29, 3] + - !!python/tuple [26, 1] + - !!python/tuple [28, 17] + - !!python/tuple [20, 1] + - !!python/tuple [28, 26] + - !!python/tuple [27, 1] + - !!python/tuple [23, 9] + - !!python/tuple [6, 11] + - !!python/tuple [0, 23] + - !!python/tuple [21, 1] + - !!python/tuple [13, 4] + - !!python/tuple [11, 5] + - !!python/tuple [31, 18] + - !!python/tuple [10, 0] + - !!python/tuple [20, 10] + - !!python/tuple [26, 0] + - !!python/tuple [7, 16] + - !!python/tuple [29, 9] + - !!python/tuple [19, 19] + - !!python/tuple [19, 29] + - !!python/tuple [18, 21] + - !!python/tuple [7, 24] + - !!python/tuple [15, 30] + - !!python/tuple [16, 28] + - !!python/tuple [31, 11] + - !!python/tuple [4, 22] + - !!python/tuple [26, 17] + - !!python/tuple [28, 4] + - !!python/tuple [9, 5] + - !!python/tuple [11, 4] + - !!python/tuple [24, 17] + - !!python/tuple [17, 3] + - !!python/tuple [25, 30] + - !!python/tuple [27, 21] + - !!python/tuple [5, 27] + - !!python/tuple [9, 26] + - !!python/tuple [4, 5] + - !!python/tuple [18, 7] + - !!python/tuple [31, 16] + - !!python/tuple [26, 3] + - !!python/tuple [19, 31] + - !!python/tuple [23, 21] + - !!python/tuple [8, 25] + - !!python/tuple [18, 10] + - !!python/tuple [3, 0] + - !!python/tuple [20, 22] + - !!python/tuple [6, 15] + - !!python/tuple [16, 12] + - !!python/tuple [6, 9] + - !!python/tuple [8, 11] + - !!python/tuple [22, 3] + - !!python/tuple [29, 24] + - !!python/tuple [2, 2] + - !!python/tuple [23, 20] + - !!python/tuple [24, 11] + - !!python/tuple [25, 5] + - !!python/tuple [3, 21] + - !!python/tuple [17, 0] + - !!python/tuple [6, 2] + - !!python/tuple [14, 9] + - !!python/tuple [11, 16] + - !!python/tuple [22, 26] + - !!python/tuple [18, 22] + - !!python/tuple [0, 4] + - !!python/tuple [22, 17] + - !!python/tuple [28, 16] + - !!python/tuple [26, 6] + - !!python/tuple [10, 15] + - !!python/tuple [25, 14] + - !!python/tuple [12, 24] + - !!python/tuple [4, 19] + - !!python/tuple [5, 30] + - !!python/tuple [25, 19] + - !!python/tuple [21, 3] + - !!python/tuple [6, 8] + - !!python/tuple [15, 23] + - !!python/tuple [12, 16] + - !!python/tuple [6, 13] + - !!python/tuple [17, 23] + - !!python/tuple [10, 16] + - !!python/tuple [18, 31] + - !!python/tuple [17, 4] + - !!python/tuple [12, 7] + - !!python/tuple [7, 15] + - !!python/tuple [3, 17] + - !!python/tuple [5, 2] + - !!python/tuple [22, 19] + - !!python/tuple [20, 9] + - !!python/tuple [0, 27] + - !!python/tuple [10, 28] + - !!python/tuple [16, 1] + - !!python/tuple [28, 12] + - !!python/tuple [18, 4] + - !!python/tuple [13, 8] + - !!python/tuple [15, 8] + - !!python/tuple [25, 6] + - !!python/tuple [26, 16] + - !!python/tuple [11, 11] + - !!python/tuple [28, 15] + - !!python/tuple [29, 31] + - !!python/tuple [2, 8] + - !!python/tuple [0, 15] + - !!python/tuple [26, 4] + - !!python/tuple [5, 9] + - !!python/tuple [15, 31] + - !!python/tuple [2, 0] + - !!python/tuple [6, 31] + - !!python/tuple [16, 7] + - !!python/tuple [1, 19] + - !!python/tuple [13, 23] + - !!python/tuple [30, 11] + - !!python/tuple [3, 2] + - !!python/tuple [16, 4] + - !!python/tuple [31, 28] + - !!python/tuple [12, 6] + - !!python/tuple [2, 26] + - !!python/tuple [8, 4] + - !!python/tuple [17, 16] + - !!python/tuple [21, 16] + - !!python/tuple [1, 17] + - !!python/tuple [30, 14] + - !!python/tuple [4, 2] + - !!python/tuple [27, 7] + - !!python/tuple [28, 8] + - !!python/tuple [25, 13] + - !!python/tuple [21, 25] + - !!python/tuple [17, 30] + - !!python/tuple [20, 28] + - !!python/tuple [31, 9] + - !!python/tuple [5, 5] + - !!python/tuple [5, 24] + - !!python/tuple [15, 15] + - !!python/tuple [5, 14] + - !!python/tuple [29, 15] + - !!python/tuple [29, 13] + - !!python/tuple [31, 30] + - !!python/tuple [24, 10] + - !!python/tuple [0, 18] + - !!python/tuple [27, 6] + - !!python/tuple [12, 29] + - !!python/tuple [4, 12] + - !!python/tuple [25, 12] + - !!python/tuple [31, 2] + - !!python/tuple [25, 24] + - !!python/tuple [26, 8] + - !!python/tuple [23, 11] + - !!python/tuple [14, 12] + - !!python/tuple [13, 6] + - !!python/tuple [31, 14] + - !!python/tuple [9, 19] + - !!python/tuple [7, 22] + - !!python/tuple [17, 10] + - !!python/tuple [30, 25] + - !!python/tuple [13, 28] + - !!python/tuple [16, 27] + - !!python/tuple [31, 22] + - !!python/tuple [9, 0] + - !!python/tuple [11, 10] + - !!python/tuple [11, 1] + - !!python/tuple [1, 23] + - !!python/tuple [6, 21] + - !!python/tuple [4, 9] + - !!python/tuple [30, 3] + - !!python/tuple [24, 29] + - !!python/tuple [23, 24] + - !!python/tuple [16, 13] + - !!python/tuple [22, 11] + - !!python/tuple [28, 7] + - !!python/tuple [15, 18] + - !!python/tuple [23, 19] + - !!python/tuple [28, 19] + - !!python/tuple [13, 24] + - !!python/tuple [21, 23] + - !!python/tuple [5, 21] + - !!python/tuple [0, 24] + - !!python/tuple [19, 16] + - !!python/tuple [8, 27] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex84.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex84.yaml new file mode 100644 index 0000000..3b42692 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex84.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [1, 12] + name: agent0 + start: [8, 10] +- goal: [7, 18] + name: agent1 + start: [3, 22] +- goal: [31, 7] + name: agent2 + start: [27, 24] +- goal: [21, 11] + name: agent3 + start: [18, 6] +- goal: [22, 21] + name: agent4 + start: [31, 15] +- goal: [19, 4] + name: agent5 + start: [25, 27] +- goal: [6, 10] + name: agent6 + start: [13, 9] +- goal: [24, 4] + name: agent7 + start: [27, 31] +- goal: [15, 4] + name: agent8 + start: [15, 29] +- goal: [24, 16] + name: agent9 + start: [7, 14] +- goal: [12, 10] + name: agent10 + start: [4, 15] +- goal: [15, 6] + name: agent11 + start: [2, 9] +- goal: [11, 25] + name: agent12 + start: [17, 21] +- goal: [21, 6] + name: agent13 + start: [28, 26] +- goal: [18, 31] + name: agent14 + start: [8, 28] +- goal: [14, 22] + name: agent15 + start: [16, 2] +- goal: [28, 9] + name: agent16 + start: [10, 17] +- goal: [21, 1] + name: agent17 + start: [1, 22] +- goal: [25, 11] + name: agent18 + start: [24, 16] +- goal: [31, 20] + name: agent19 + start: [25, 16] +- goal: [0, 10] + name: agent20 + start: [2, 1] +- goal: [17, 31] + name: agent21 + start: [7, 10] +- goal: [28, 12] + name: agent22 + start: [20, 8] +- goal: [22, 22] + name: agent23 + start: [3, 21] +- goal: [0, 29] + name: agent24 + start: [28, 3] +- goal: [23, 10] + name: agent25 + start: [9, 29] +- goal: [15, 1] + name: agent26 + start: [19, 9] +- goal: [30, 8] + name: agent27 + start: [4, 7] +- goal: [30, 24] + name: agent28 + start: [29, 8] +- goal: [0, 6] + name: agent29 + start: [15, 1] +- goal: [21, 4] + name: agent30 + start: [28, 25] +- goal: [19, 21] + name: agent31 + start: [27, 11] +- goal: [8, 1] + name: agent32 + start: [20, 6] +- goal: [18, 11] + name: agent33 + start: [28, 6] +- goal: [25, 12] + name: agent34 + start: [1, 31] +- goal: [23, 5] + name: agent35 + start: [13, 6] +- goal: [16, 8] + name: agent36 + start: [25, 19] +- goal: [22, 5] + name: agent37 + start: [24, 26] +- goal: [31, 28] + name: agent38 + start: [15, 14] +- goal: [12, 23] + name: agent39 + start: [8, 9] +- goal: [31, 23] + name: agent40 + start: [2, 18] +- goal: [18, 13] + name: agent41 + start: [18, 18] +- goal: [31, 11] + name: agent42 + start: [7, 17] +- goal: [22, 23] + name: agent43 + start: [23, 31] +- goal: [18, 28] + name: agent44 + start: [15, 3] +- goal: [8, 11] + name: agent45 + start: [6, 31] +- goal: [15, 14] + name: agent46 + start: [11, 20] +- goal: [27, 7] + name: agent47 + start: [14, 18] +- goal: [8, 19] + name: agent48 + start: [26, 9] +- goal: [21, 3] + name: agent49 + start: [2, 25] +- goal: [18, 10] + name: agent50 + start: [14, 4] +- goal: [25, 9] + name: agent51 + start: [31, 25] +- goal: [23, 11] + name: agent52 + start: [28, 20] +- goal: [26, 29] + name: agent53 + start: [30, 27] +- goal: [18, 12] + name: agent54 + start: [12, 8] +- goal: [17, 27] + name: agent55 + start: [4, 18] +- goal: [27, 5] + name: agent56 + start: [16, 22] +- goal: [31, 0] + name: agent57 + start: [5, 31] +- goal: [19, 0] + name: agent58 + start: [30, 12] +- goal: [15, 28] + name: agent59 + start: [8, 2] +- goal: [11, 16] + name: agent60 + start: [6, 10] +- goal: [9, 19] + name: agent61 + start: [21, 10] +- goal: [5, 11] + name: agent62 + start: [29, 13] +- goal: [24, 24] + name: agent63 + start: [0, 18] +- goal: [31, 6] + name: agent64 + start: [12, 2] +- goal: [6, 9] + name: agent65 + start: [31, 2] +- goal: [17, 28] + name: agent66 + start: [17, 23] +- goal: [17, 16] + name: agent67 + start: [5, 21] +- goal: [1, 19] + name: agent68 + start: [21, 16] +- goal: [18, 23] + name: agent69 + start: [2, 31] +- goal: [22, 1] + name: agent70 + start: [3, 14] +- goal: [18, 16] + name: agent71 + start: [10, 10] +- goal: [24, 7] + name: agent72 + start: [18, 20] +- goal: [14, 16] + name: agent73 + start: [26, 16] +- goal: [3, 10] + name: agent74 + start: [25, 23] +- goal: [23, 0] + name: agent75 + start: [25, 1] +- goal: [19, 18] + name: agent76 + start: [5, 22] +- goal: [19, 26] + name: agent77 + start: [27, 28] +- goal: [27, 16] + name: agent78 + start: [1, 19] +- goal: [7, 31] + name: agent79 + start: [26, 7] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [5, 4] + - !!python/tuple [22, 0] + - !!python/tuple [14, 9] + - !!python/tuple [3, 18] + - !!python/tuple [3, 29] + - !!python/tuple [19, 22] + - !!python/tuple [26, 12] + - !!python/tuple [2, 15] + - !!python/tuple [24, 28] + - !!python/tuple [7, 5] + - !!python/tuple [20, 27] + - !!python/tuple [31, 30] + - !!python/tuple [21, 9] + - !!python/tuple [0, 4] + - !!python/tuple [12, 11] + - !!python/tuple [13, 19] + - !!python/tuple [10, 29] + - !!python/tuple [15, 5] + - !!python/tuple [10, 16] + - !!python/tuple [27, 20] + - !!python/tuple [12, 20] + - !!python/tuple [24, 11] + - !!python/tuple [31, 3] + - !!python/tuple [19, 6] + - !!python/tuple [0, 21] + - !!python/tuple [14, 25] + - !!python/tuple [4, 22] + - !!python/tuple [5, 26] + - !!python/tuple [19, 24] + - !!python/tuple [9, 13] + - !!python/tuple [11, 3] + - !!python/tuple [7, 9] + - !!python/tuple [11, 7] + - !!python/tuple [30, 10] + - !!python/tuple [17, 26] + - !!python/tuple [1, 23] + - !!python/tuple [6, 22] + - !!python/tuple [29, 24] + - !!python/tuple [30, 4] + - !!python/tuple [17, 22] + - !!python/tuple [2, 22] + - !!python/tuple [16, 3] + - !!python/tuple [12, 0] + - !!python/tuple [19, 31] + - !!python/tuple [26, 1] + - !!python/tuple [3, 27] + - !!python/tuple [17, 5] + - !!python/tuple [7, 29] + - !!python/tuple [26, 0] + - !!python/tuple [27, 14] + - !!python/tuple [30, 23] + - !!python/tuple [9, 24] + - !!python/tuple [13, 10] + - !!python/tuple [1, 17] + - !!python/tuple [5, 0] + - !!python/tuple [30, 14] + - !!python/tuple [9, 6] + - !!python/tuple [3, 3] + - !!python/tuple [14, 3] + - !!python/tuple [10, 20] + - !!python/tuple [18, 0] + - !!python/tuple [15, 12] + - !!python/tuple [10, 13] + - !!python/tuple [12, 12] + - !!python/tuple [14, 6] + - !!python/tuple [13, 16] + - !!python/tuple [21, 18] + - !!python/tuple [1, 0] + - !!python/tuple [29, 16] + - !!python/tuple [10, 14] + - !!python/tuple [13, 1] + - !!python/tuple [20, 20] + - !!python/tuple [23, 13] + - !!python/tuple [30, 1] + - !!python/tuple [19, 11] + - !!python/tuple [10, 7] + - !!python/tuple [5, 18] + - !!python/tuple [19, 16] + - !!python/tuple [29, 12] + - !!python/tuple [31, 9] + - !!python/tuple [2, 30] + - !!python/tuple [25, 24] + - !!python/tuple [22, 15] + - !!python/tuple [31, 31] + - !!python/tuple [16, 15] + - !!python/tuple [24, 2] + - !!python/tuple [7, 22] + - !!python/tuple [27, 10] + - !!python/tuple [28, 13] + - !!python/tuple [5, 15] + - !!python/tuple [19, 20] + - !!python/tuple [9, 22] + - !!python/tuple [14, 7] + - !!python/tuple [18, 2] + - !!python/tuple [16, 27] + - !!python/tuple [13, 4] + - !!python/tuple [16, 23] + - !!python/tuple [26, 31] + - !!python/tuple [24, 29] + - !!python/tuple [0, 8] + - !!python/tuple [11, 21] + - !!python/tuple [26, 2] + - !!python/tuple [4, 31] + - !!python/tuple [17, 2] + - !!python/tuple [22, 8] + - !!python/tuple [9, 4] + - !!python/tuple [16, 21] + - !!python/tuple [10, 18] + - !!python/tuple [9, 9] + - !!python/tuple [21, 21] + - !!python/tuple [25, 31] + - !!python/tuple [18, 14] + - !!python/tuple [30, 5] + - !!python/tuple [27, 9] + - !!python/tuple [21, 15] + - !!python/tuple [23, 9] + - !!python/tuple [31, 27] + - !!python/tuple [4, 10] + - !!python/tuple [12, 13] + - !!python/tuple [14, 19] + - !!python/tuple [24, 3] + - !!python/tuple [27, 23] + - !!python/tuple [27, 1] + - !!python/tuple [5, 13] + - !!python/tuple [23, 27] + - !!python/tuple [8, 21] + - !!python/tuple [9, 10] + - !!python/tuple [20, 31] + - !!python/tuple [25, 30] + - !!python/tuple [24, 5] + - !!python/tuple [16, 19] + - !!python/tuple [23, 21] + - !!python/tuple [27, 25] + - !!python/tuple [9, 28] + - !!python/tuple [9, 23] + - !!python/tuple [13, 18] + - !!python/tuple [7, 26] + - !!python/tuple [5, 5] + - !!python/tuple [29, 23] + - !!python/tuple [30, 22] + - !!python/tuple [13, 28] + - !!python/tuple [14, 1] + - !!python/tuple [3, 5] + - !!python/tuple [5, 20] + - !!python/tuple [4, 29] + - !!python/tuple [26, 13] + - !!python/tuple [1, 27] + - !!python/tuple [23, 3] + - !!python/tuple [29, 14] + - !!python/tuple [31, 5] + - !!python/tuple [20, 19] + - !!python/tuple [2, 11] + - !!python/tuple [24, 12] + - !!python/tuple [9, 27] + - !!python/tuple [10, 4] + - !!python/tuple [14, 28] + - !!python/tuple [8, 8] + - !!python/tuple [8, 20] + - !!python/tuple [29, 15] + - !!python/tuple [26, 22] + - !!python/tuple [10, 2] + - !!python/tuple [16, 28] + - !!python/tuple [24, 17] + - !!python/tuple [7, 12] + - !!python/tuple [1, 28] + - !!python/tuple [25, 0] + - !!python/tuple [0, 2] + - !!python/tuple [27, 15] + - !!python/tuple [25, 14] + - !!python/tuple [27, 29] + - !!python/tuple [29, 20] + - !!python/tuple [30, 3] + - !!python/tuple [4, 26] + - !!python/tuple [13, 27] + - !!python/tuple [22, 19] + - !!python/tuple [8, 13] + - !!python/tuple [24, 0] + - !!python/tuple [0, 22] + - !!python/tuple [5, 12] + - !!python/tuple [28, 11] + - !!python/tuple [18, 30] + - !!python/tuple [6, 18] + - !!python/tuple [8, 0] + - !!python/tuple [10, 22] + - !!python/tuple [21, 7] + - !!python/tuple [29, 26] + - !!python/tuple [5, 29] + - !!python/tuple [11, 18] + - !!python/tuple [22, 12] + - !!python/tuple [7, 7] + - !!python/tuple [7, 19] + - !!python/tuple [20, 25] + - !!python/tuple [6, 4] + - !!python/tuple [2, 27] + - !!python/tuple [29, 25] + - !!python/tuple [18, 4] + - !!python/tuple [5, 8] + - !!python/tuple [30, 31] + - !!python/tuple [7, 27] + - !!python/tuple [15, 15] + - !!python/tuple [8, 16] + - !!python/tuple [5, 7] + - !!python/tuple [24, 27] + - !!python/tuple [29, 9] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex85.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex85.yaml new file mode 100644 index 0000000..762683b --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex85.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [12, 13] + name: agent0 + start: [6, 31] +- goal: [28, 23] + name: agent1 + start: [25, 5] +- goal: [20, 17] + name: agent2 + start: [30, 20] +- goal: [26, 30] + name: agent3 + start: [7, 14] +- goal: [16, 5] + name: agent4 + start: [11, 4] +- goal: [11, 12] + name: agent5 + start: [2, 21] +- goal: [9, 1] + name: agent6 + start: [3, 24] +- goal: [30, 18] + name: agent7 + start: [24, 12] +- goal: [17, 15] + name: agent8 + start: [25, 6] +- goal: [30, 30] + name: agent9 + start: [21, 14] +- goal: [6, 0] + name: agent10 + start: [22, 4] +- goal: [22, 29] + name: agent11 + start: [4, 17] +- goal: [19, 9] + name: agent12 + start: [4, 15] +- goal: [24, 21] + name: agent13 + start: [0, 4] +- goal: [3, 13] + name: agent14 + start: [0, 27] +- goal: [22, 20] + name: agent15 + start: [17, 7] +- goal: [15, 12] + name: agent16 + start: [18, 1] +- goal: [17, 5] + name: agent17 + start: [0, 16] +- goal: [21, 31] + name: agent18 + start: [1, 5] +- goal: [13, 28] + name: agent19 + start: [7, 17] +- goal: [12, 0] + name: agent20 + start: [19, 12] +- goal: [2, 17] + name: agent21 + start: [9, 23] +- goal: [10, 17] + name: agent22 + start: [10, 17] +- goal: [3, 29] + name: agent23 + start: [21, 12] +- goal: [24, 8] + name: agent24 + start: [17, 13] +- goal: [3, 30] + name: agent25 + start: [18, 7] +- goal: [6, 24] + name: agent26 + start: [12, 9] +- goal: [21, 23] + name: agent27 + start: [29, 17] +- goal: [28, 16] + name: agent28 + start: [19, 22] +- goal: [22, 1] + name: agent29 + start: [28, 13] +- goal: [31, 25] + name: agent30 + start: [2, 1] +- goal: [18, 24] + name: agent31 + start: [30, 26] +- goal: [21, 17] + name: agent32 + start: [13, 25] +- goal: [12, 4] + name: agent33 + start: [0, 12] +- goal: [12, 9] + name: agent34 + start: [0, 30] +- goal: [9, 2] + name: agent35 + start: [11, 16] +- goal: [5, 11] + name: agent36 + start: [20, 31] +- goal: [30, 2] + name: agent37 + start: [26, 1] +- goal: [3, 19] + name: agent38 + start: [23, 18] +- goal: [3, 4] + name: agent39 + start: [25, 14] +- goal: [9, 8] + name: agent40 + start: [8, 20] +- goal: [13, 23] + name: agent41 + start: [5, 9] +- goal: [16, 12] + name: agent42 + start: [28, 7] +- goal: [6, 22] + name: agent43 + start: [21, 31] +- goal: [20, 10] + name: agent44 + start: [9, 16] +- goal: [30, 6] + name: agent45 + start: [30, 10] +- goal: [1, 30] + name: agent46 + start: [12, 25] +- goal: [27, 3] + name: agent47 + start: [16, 1] +- goal: [20, 27] + name: agent48 + start: [16, 6] +- goal: [23, 0] + name: agent49 + start: [22, 22] +- goal: [23, 12] + name: agent50 + start: [22, 31] +- goal: [16, 28] + name: agent51 + start: [17, 31] +- goal: [22, 8] + name: agent52 + start: [31, 31] +- goal: [2, 3] + name: agent53 + start: [6, 17] +- goal: [8, 20] + name: agent54 + start: [27, 15] +- goal: [20, 9] + name: agent55 + start: [26, 18] +- goal: [29, 10] + name: agent56 + start: [25, 16] +- goal: [7, 25] + name: agent57 + start: [0, 31] +- goal: [1, 19] + name: agent58 + start: [13, 20] +- goal: [14, 2] + name: agent59 + start: [14, 14] +- goal: [1, 11] + name: agent60 + start: [2, 13] +- goal: [30, 28] + name: agent61 + start: [8, 15] +- goal: [5, 16] + name: agent62 + start: [18, 3] +- goal: [6, 23] + name: agent63 + start: [27, 12] +- goal: [3, 24] + name: agent64 + start: [14, 6] +- goal: [23, 22] + name: agent65 + start: [17, 15] +- goal: [27, 21] + name: agent66 + start: [10, 0] +- goal: [27, 24] + name: agent67 + start: [6, 26] +- goal: [5, 26] + name: agent68 + start: [23, 5] +- goal: [22, 31] + name: agent69 + start: [24, 26] +- goal: [3, 18] + name: agent70 + start: [16, 7] +- goal: [14, 10] + name: agent71 + start: [23, 12] +- goal: [4, 13] + name: agent72 + start: [2, 23] +- goal: [27, 22] + name: agent73 + start: [18, 9] +- goal: [4, 26] + name: agent74 + start: [0, 5] +- goal: [24, 5] + name: agent75 + start: [9, 19] +- goal: [24, 12] + name: agent76 + start: [28, 29] +- goal: [5, 22] + name: agent77 + start: [30, 19] +- goal: [4, 2] + name: agent78 + start: [16, 12] +- goal: [26, 16] + name: agent79 + start: [7, 25] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [3, 15] + - !!python/tuple [15, 6] + - !!python/tuple [7, 22] + - !!python/tuple [9, 17] + - !!python/tuple [22, 15] + - !!python/tuple [2, 5] + - !!python/tuple [19, 11] + - !!python/tuple [9, 29] + - !!python/tuple [6, 3] + - !!python/tuple [11, 29] + - !!python/tuple [29, 20] + - !!python/tuple [12, 8] + - !!python/tuple [13, 1] + - !!python/tuple [23, 21] + - !!python/tuple [6, 20] + - !!python/tuple [15, 15] + - !!python/tuple [0, 1] + - !!python/tuple [13, 6] + - !!python/tuple [13, 15] + - !!python/tuple [9, 7] + - !!python/tuple [27, 30] + - !!python/tuple [0, 13] + - !!python/tuple [10, 3] + - !!python/tuple [31, 14] + - !!python/tuple [25, 17] + - !!python/tuple [23, 20] + - !!python/tuple [4, 4] + - !!python/tuple [14, 27] + - !!python/tuple [19, 14] + - !!python/tuple [25, 31] + - !!python/tuple [20, 0] + - !!python/tuple [7, 4] + - !!python/tuple [17, 20] + - !!python/tuple [1, 0] + - !!python/tuple [20, 3] + - !!python/tuple [21, 16] + - !!python/tuple [7, 2] + - !!python/tuple [20, 7] + - !!python/tuple [13, 7] + - !!python/tuple [11, 5] + - !!python/tuple [7, 21] + - !!python/tuple [30, 3] + - !!python/tuple [19, 7] + - !!python/tuple [20, 24] + - !!python/tuple [16, 4] + - !!python/tuple [3, 2] + - !!python/tuple [30, 16] + - !!python/tuple [13, 22] + - !!python/tuple [23, 15] + - !!python/tuple [23, 6] + - !!python/tuple [24, 29] + - !!python/tuple [29, 12] + - !!python/tuple [20, 29] + - !!python/tuple [7, 26] + - !!python/tuple [18, 13] + - !!python/tuple [12, 17] + - !!python/tuple [10, 21] + - !!python/tuple [4, 16] + - !!python/tuple [9, 18] + - !!python/tuple [8, 13] + - !!python/tuple [27, 2] + - !!python/tuple [27, 25] + - !!python/tuple [12, 16] + - !!python/tuple [24, 30] + - !!python/tuple [12, 3] + - !!python/tuple [20, 19] + - !!python/tuple [28, 30] + - !!python/tuple [29, 14] + - !!python/tuple [2, 31] + - !!python/tuple [21, 2] + - !!python/tuple [23, 4] + - !!python/tuple [23, 8] + - !!python/tuple [17, 14] + - !!python/tuple [21, 20] + - !!python/tuple [27, 31] + - !!python/tuple [29, 9] + - !!python/tuple [19, 27] + - !!python/tuple [31, 26] + - !!python/tuple [16, 20] + - !!python/tuple [15, 26] + - !!python/tuple [2, 12] + - !!python/tuple [12, 15] + - !!python/tuple [12, 26] + - !!python/tuple [8, 24] + - !!python/tuple [15, 5] + - !!python/tuple [21, 22] + - !!python/tuple [16, 22] + - !!python/tuple [19, 26] + - !!python/tuple [13, 8] + - !!python/tuple [11, 14] + - !!python/tuple [19, 17] + - !!python/tuple [30, 24] + - !!python/tuple [11, 9] + - !!python/tuple [1, 28] + - !!python/tuple [24, 13] + - !!python/tuple [17, 23] + - !!python/tuple [25, 18] + - !!python/tuple [16, 25] + - !!python/tuple [11, 20] + - !!python/tuple [12, 23] + - !!python/tuple [14, 4] + - !!python/tuple [25, 13] + - !!python/tuple [25, 1] + - !!python/tuple [4, 28] + - !!python/tuple [25, 10] + - !!python/tuple [9, 3] + - !!python/tuple [10, 22] + - !!python/tuple [15, 13] + - !!python/tuple [17, 25] + - !!python/tuple [15, 24] + - !!python/tuple [29, 1] + - !!python/tuple [23, 9] + - !!python/tuple [8, 5] + - !!python/tuple [1, 9] + - !!python/tuple [14, 13] + - !!python/tuple [18, 16] + - !!python/tuple [4, 18] + - !!python/tuple [28, 11] + - !!python/tuple [16, 31] + - !!python/tuple [16, 30] + - !!python/tuple [31, 13] + - !!python/tuple [7, 18] + - !!python/tuple [17, 4] + - !!python/tuple [31, 2] + - !!python/tuple [22, 5] + - !!python/tuple [23, 27] + - !!python/tuple [30, 11] + - !!python/tuple [12, 28] + - !!python/tuple [26, 11] + - !!python/tuple [28, 8] + - !!python/tuple [7, 8] + - !!python/tuple [3, 28] + - !!python/tuple [14, 18] + - !!python/tuple [23, 10] + - !!python/tuple [22, 25] + - !!python/tuple [8, 22] + - !!python/tuple [12, 29] + - !!python/tuple [12, 10] + - !!python/tuple [20, 1] + - !!python/tuple [2, 14] + - !!python/tuple [31, 24] + - !!python/tuple [19, 6] + - !!python/tuple [23, 3] + - !!python/tuple [12, 31] + - !!python/tuple [18, 20] + - !!python/tuple [19, 3] + - !!python/tuple [0, 22] + - !!python/tuple [26, 12] + - !!python/tuple [15, 28] + - !!python/tuple [20, 25] + - !!python/tuple [15, 3] + - !!python/tuple [15, 9] + - !!python/tuple [14, 3] + - !!python/tuple [15, 29] + - !!python/tuple [0, 24] + - !!python/tuple [17, 16] + - !!python/tuple [7, 24] + - !!python/tuple [6, 29] + - !!python/tuple [19, 25] + - !!python/tuple [26, 29] + - !!python/tuple [19, 0] + - !!python/tuple [28, 25] + - !!python/tuple [26, 25] + - !!python/tuple [15, 25] + - !!python/tuple [0, 7] + - !!python/tuple [17, 0] + - !!python/tuple [11, 1] + - !!python/tuple [12, 20] + - !!python/tuple [1, 23] + - !!python/tuple [15, 18] + - !!python/tuple [22, 9] + - !!python/tuple [13, 31] + - !!python/tuple [27, 27] + - !!python/tuple [29, 18] + - !!python/tuple [13, 29] + - !!python/tuple [26, 23] + - !!python/tuple [1, 13] + - !!python/tuple [26, 4] + - !!python/tuple [2, 20] + - !!python/tuple [2, 11] + - !!python/tuple [20, 20] + - !!python/tuple [28, 5] + - !!python/tuple [21, 8] + - !!python/tuple [24, 4] + - !!python/tuple [11, 15] + - !!python/tuple [0, 29] + - !!python/tuple [31, 6] + - !!python/tuple [23, 16] + - !!python/tuple [14, 28] + - !!python/tuple [26, 15] + - !!python/tuple [27, 29] + - !!python/tuple [20, 2] + - !!python/tuple [10, 14] + - !!python/tuple [1, 27] + - !!python/tuple [25, 25] + - !!python/tuple [12, 30] + - !!python/tuple [23, 24] + - !!python/tuple [7, 12] + - !!python/tuple [23, 19] + - !!python/tuple [6, 30] + - !!python/tuple [16, 16] + - !!python/tuple [2, 25] + - !!python/tuple [23, 28] + - !!python/tuple [29, 25] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex86.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex86.yaml new file mode 100644 index 0000000..79acbda --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex86.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [8, 7] + name: agent0 + start: [30, 11] +- goal: [15, 0] + name: agent1 + start: [22, 26] +- goal: [9, 23] + name: agent2 + start: [10, 23] +- goal: [9, 17] + name: agent3 + start: [19, 3] +- goal: [29, 1] + name: agent4 + start: [20, 23] +- goal: [30, 6] + name: agent5 + start: [25, 26] +- goal: [7, 0] + name: agent6 + start: [16, 15] +- goal: [7, 19] + name: agent7 + start: [9, 29] +- goal: [29, 21] + name: agent8 + start: [8, 14] +- goal: [11, 13] + name: agent9 + start: [22, 27] +- goal: [6, 21] + name: agent10 + start: [3, 25] +- goal: [25, 31] + name: agent11 + start: [14, 31] +- goal: [6, 25] + name: agent12 + start: [25, 28] +- goal: [30, 20] + name: agent13 + start: [0, 3] +- goal: [15, 2] + name: agent14 + start: [2, 0] +- goal: [20, 24] + name: agent15 + start: [24, 30] +- goal: [13, 6] + name: agent16 + start: [19, 31] +- goal: [19, 9] + name: agent17 + start: [14, 6] +- goal: [27, 19] + name: agent18 + start: [11, 10] +- goal: [24, 9] + name: agent19 + start: [11, 22] +- goal: [7, 22] + name: agent20 + start: [17, 12] +- goal: [12, 17] + name: agent21 + start: [26, 19] +- goal: [2, 18] + name: agent22 + start: [9, 14] +- goal: [14, 25] + name: agent23 + start: [11, 5] +- goal: [17, 3] + name: agent24 + start: [20, 5] +- goal: [26, 20] + name: agent25 + start: [21, 31] +- goal: [13, 16] + name: agent26 + start: [28, 1] +- goal: [16, 20] + name: agent27 + start: [31, 8] +- goal: [11, 6] + name: agent28 + start: [15, 17] +- goal: [29, 24] + name: agent29 + start: [18, 8] +- goal: [22, 26] + name: agent30 + start: [20, 19] +- goal: [11, 22] + name: agent31 + start: [3, 28] +- goal: [18, 5] + name: agent32 + start: [23, 9] +- goal: [15, 29] + name: agent33 + start: [8, 24] +- goal: [29, 19] + name: agent34 + start: [13, 24] +- goal: [24, 8] + name: agent35 + start: [24, 9] +- goal: [6, 9] + name: agent36 + start: [23, 28] +- goal: [25, 25] + name: agent37 + start: [8, 30] +- goal: [3, 5] + name: agent38 + start: [24, 5] +- goal: [11, 10] + name: agent39 + start: [26, 27] +- goal: [3, 9] + name: agent40 + start: [6, 25] +- goal: [29, 28] + name: agent41 + start: [25, 0] +- goal: [27, 12] + name: agent42 + start: [16, 9] +- goal: [2, 21] + name: agent43 + start: [28, 24] +- goal: [22, 11] + name: agent44 + start: [23, 29] +- goal: [24, 16] + name: agent45 + start: [15, 27] +- goal: [2, 7] + name: agent46 + start: [6, 31] +- goal: [7, 25] + name: agent47 + start: [10, 14] +- goal: [22, 7] + name: agent48 + start: [25, 19] +- goal: [23, 17] + name: agent49 + start: [3, 27] +- goal: [18, 28] + name: agent50 + start: [15, 13] +- goal: [29, 17] + name: agent51 + start: [23, 25] +- goal: [20, 16] + name: agent52 + start: [18, 4] +- goal: [1, 27] + name: agent53 + start: [28, 26] +- goal: [23, 23] + name: agent54 + start: [7, 27] +- goal: [16, 25] + name: agent55 + start: [6, 9] +- goal: [1, 31] + name: agent56 + start: [7, 2] +- goal: [22, 0] + name: agent57 + start: [11, 23] +- goal: [16, 8] + name: agent58 + start: [29, 18] +- goal: [0, 24] + name: agent59 + start: [22, 21] +- goal: [12, 27] + name: agent60 + start: [5, 24] +- goal: [30, 11] + name: agent61 + start: [9, 31] +- goal: [29, 3] + name: agent62 + start: [27, 6] +- goal: [6, 19] + name: agent63 + start: [24, 17] +- goal: [26, 23] + name: agent64 + start: [22, 28] +- goal: [18, 4] + name: agent65 + start: [20, 26] +- goal: [2, 20] + name: agent66 + start: [1, 10] +- goal: [13, 28] + name: agent67 + start: [18, 27] +- goal: [10, 11] + name: agent68 + start: [17, 0] +- goal: [1, 5] + name: agent69 + start: [18, 11] +- goal: [25, 5] + name: agent70 + start: [20, 22] +- goal: [17, 0] + name: agent71 + start: [24, 23] +- goal: [6, 8] + name: agent72 + start: [21, 28] +- goal: [26, 17] + name: agent73 + start: [8, 6] +- goal: [16, 21] + name: agent74 + start: [17, 6] +- goal: [31, 11] + name: agent75 + start: [8, 20] +- goal: [3, 24] + name: agent76 + start: [9, 24] +- goal: [29, 4] + name: agent77 + start: [10, 2] +- goal: [1, 3] + name: agent78 + start: [9, 7] +- goal: [25, 24] + name: agent79 + start: [12, 24] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [20, 1] + - !!python/tuple [11, 28] + - !!python/tuple [4, 11] + - !!python/tuple [11, 12] + - !!python/tuple [0, 5] + - !!python/tuple [21, 16] + - !!python/tuple [5, 9] + - !!python/tuple [5, 10] + - !!python/tuple [27, 28] + - !!python/tuple [15, 5] + - !!python/tuple [3, 15] + - !!python/tuple [20, 11] + - !!python/tuple [9, 21] + - !!python/tuple [18, 25] + - !!python/tuple [12, 7] + - !!python/tuple [27, 4] + - !!python/tuple [12, 4] + - !!python/tuple [19, 23] + - !!python/tuple [31, 7] + - !!python/tuple [7, 31] + - !!python/tuple [23, 3] + - !!python/tuple [25, 27] + - !!python/tuple [26, 1] + - !!python/tuple [2, 30] + - !!python/tuple [10, 24] + - !!python/tuple [15, 28] + - !!python/tuple [23, 7] + - !!python/tuple [21, 5] + - !!python/tuple [7, 10] + - !!python/tuple [22, 19] + - !!python/tuple [2, 3] + - !!python/tuple [8, 3] + - !!python/tuple [23, 18] + - !!python/tuple [30, 25] + - !!python/tuple [22, 16] + - !!python/tuple [5, 16] + - !!python/tuple [22, 31] + - !!python/tuple [16, 1] + - !!python/tuple [12, 6] + - !!python/tuple [12, 12] + - !!python/tuple [4, 29] + - !!python/tuple [17, 19] + - !!python/tuple [0, 18] + - !!python/tuple [14, 16] + - !!python/tuple [12, 30] + - !!python/tuple [14, 24] + - !!python/tuple [9, 20] + - !!python/tuple [8, 15] + - !!python/tuple [18, 14] + - !!python/tuple [9, 1] + - !!python/tuple [14, 11] + - !!python/tuple [31, 1] + - !!python/tuple [22, 18] + - !!python/tuple [2, 25] + - !!python/tuple [2, 26] + - !!python/tuple [9, 25] + - !!python/tuple [3, 4] + - !!python/tuple [17, 5] + - !!python/tuple [28, 23] + - !!python/tuple [21, 21] + - !!python/tuple [9, 28] + - !!python/tuple [21, 20] + - !!python/tuple [15, 24] + - !!python/tuple [18, 24] + - !!python/tuple [28, 6] + - !!python/tuple [26, 24] + - !!python/tuple [25, 4] + - !!python/tuple [13, 18] + - !!python/tuple [10, 10] + - !!python/tuple [1, 6] + - !!python/tuple [30, 4] + - !!python/tuple [18, 6] + - !!python/tuple [16, 30] + - !!python/tuple [21, 27] + - !!python/tuple [10, 18] + - !!python/tuple [21, 6] + - !!python/tuple [24, 21] + - !!python/tuple [9, 26] + - !!python/tuple [4, 19] + - !!python/tuple [27, 11] + - !!python/tuple [13, 21] + - !!python/tuple [28, 3] + - !!python/tuple [29, 31] + - !!python/tuple [19, 19] + - !!python/tuple [12, 31] + - !!python/tuple [4, 17] + - !!python/tuple [24, 31] + - !!python/tuple [30, 28] + - !!python/tuple [17, 16] + - !!python/tuple [2, 5] + - !!python/tuple [14, 14] + - !!python/tuple [0, 27] + - !!python/tuple [8, 23] + - !!python/tuple [5, 14] + - !!python/tuple [23, 11] + - !!python/tuple [28, 27] + - !!python/tuple [22, 30] + - !!python/tuple [5, 21] + - !!python/tuple [15, 11] + - !!python/tuple [15, 6] + - !!python/tuple [16, 7] + - !!python/tuple [22, 14] + - !!python/tuple [7, 16] + - !!python/tuple [12, 8] + - !!python/tuple [8, 0] + - !!python/tuple [31, 23] + - !!python/tuple [22, 13] + - !!python/tuple [12, 19] + - !!python/tuple [31, 5] + - !!python/tuple [27, 30] + - !!python/tuple [2, 12] + - !!python/tuple [16, 22] + - !!python/tuple [23, 31] + - !!python/tuple [3, 11] + - !!python/tuple [18, 22] + - !!python/tuple [12, 14] + - !!python/tuple [1, 29] + - !!python/tuple [31, 3] + - !!python/tuple [6, 10] + - !!python/tuple [22, 10] + - !!python/tuple [28, 16] + - !!python/tuple [13, 20] + - !!python/tuple [18, 9] + - !!python/tuple [13, 29] + - !!python/tuple [26, 9] + - !!python/tuple [24, 12] + - !!python/tuple [31, 16] + - !!python/tuple [19, 7] + - !!python/tuple [17, 10] + - !!python/tuple [18, 18] + - !!python/tuple [20, 30] + - !!python/tuple [10, 17] + - !!python/tuple [0, 26] + - !!python/tuple [9, 18] + - !!python/tuple [10, 3] + - !!python/tuple [7, 21] + - !!python/tuple [27, 15] + - !!python/tuple [5, 11] + - !!python/tuple [12, 0] + - !!python/tuple [12, 23] + - !!python/tuple [7, 13] + - !!python/tuple [1, 16] + - !!python/tuple [9, 13] + - !!python/tuple [15, 30] + - !!python/tuple [11, 17] + - !!python/tuple [25, 6] + - !!python/tuple [6, 27] + - !!python/tuple [5, 27] + - !!python/tuple [27, 27] + - !!python/tuple [24, 13] + - !!python/tuple [31, 6] + - !!python/tuple [4, 25] + - !!python/tuple [20, 3] + - !!python/tuple [14, 3] + - !!python/tuple [5, 17] + - !!python/tuple [6, 13] + - !!python/tuple [6, 5] + - !!python/tuple [16, 17] + - !!python/tuple [0, 21] + - !!python/tuple [15, 1] + - !!python/tuple [4, 14] + - !!python/tuple [27, 29] + - !!python/tuple [30, 24] + - !!python/tuple [1, 25] + - !!python/tuple [17, 8] + - !!python/tuple [8, 9] + - !!python/tuple [11, 26] + - !!python/tuple [10, 28] + - !!python/tuple [4, 2] + - !!python/tuple [21, 19] + - !!python/tuple [26, 18] + - !!python/tuple [10, 26] + - !!python/tuple [4, 30] + - !!python/tuple [6, 18] + - !!python/tuple [9, 19] + - !!python/tuple [29, 6] + - !!python/tuple [31, 19] + - !!python/tuple [3, 21] + - !!python/tuple [27, 21] + - !!python/tuple [20, 25] + - !!python/tuple [29, 2] + - !!python/tuple [4, 0] + - !!python/tuple [0, 22] + - !!python/tuple [26, 7] + - !!python/tuple [14, 21] + - !!python/tuple [9, 11] + - !!python/tuple [31, 24] + - !!python/tuple [6, 2] + - !!python/tuple [8, 29] + - !!python/tuple [31, 31] + - !!python/tuple [5, 7] + - !!python/tuple [10, 27] + - !!python/tuple [11, 14] + - !!python/tuple [3, 31] + - !!python/tuple [1, 9] + - !!python/tuple [8, 10] + - !!python/tuple [8, 4] + - !!python/tuple [5, 31] + - !!python/tuple [23, 6] + - !!python/tuple [18, 15] + - !!python/tuple [6, 24] + - !!python/tuple [31, 29] + - !!python/tuple [1, 12] + - !!python/tuple [27, 14] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex87.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex87.yaml new file mode 100644 index 0000000..9e16a9e --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex87.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [20, 1] + name: agent0 + start: [28, 18] +- goal: [12, 10] + name: agent1 + start: [0, 18] +- goal: [2, 17] + name: agent2 + start: [30, 22] +- goal: [22, 3] + name: agent3 + start: [27, 25] +- goal: [22, 13] + name: agent4 + start: [5, 11] +- goal: [2, 15] + name: agent5 + start: [14, 7] +- goal: [31, 4] + name: agent6 + start: [18, 15] +- goal: [1, 16] + name: agent7 + start: [0, 11] +- goal: [20, 28] + name: agent8 + start: [2, 20] +- goal: [24, 20] + name: agent9 + start: [27, 10] +- goal: [22, 24] + name: agent10 + start: [21, 24] +- goal: [14, 16] + name: agent11 + start: [31, 25] +- goal: [12, 17] + name: agent12 + start: [5, 5] +- goal: [21, 11] + name: agent13 + start: [13, 17] +- goal: [16, 21] + name: agent14 + start: [16, 27] +- goal: [6, 0] + name: agent15 + start: [13, 30] +- goal: [24, 16] + name: agent16 + start: [18, 28] +- goal: [27, 11] + name: agent17 + start: [6, 17] +- goal: [15, 25] + name: agent18 + start: [9, 19] +- goal: [31, 31] + name: agent19 + start: [2, 17] +- goal: [16, 19] + name: agent20 + start: [4, 21] +- goal: [27, 5] + name: agent21 + start: [3, 28] +- goal: [19, 10] + name: agent22 + start: [7, 30] +- goal: [25, 13] + name: agent23 + start: [26, 12] +- goal: [28, 30] + name: agent24 + start: [14, 23] +- goal: [22, 27] + name: agent25 + start: [11, 22] +- goal: [17, 6] + name: agent26 + start: [4, 22] +- goal: [17, 3] + name: agent27 + start: [28, 9] +- goal: [19, 4] + name: agent28 + start: [24, 30] +- goal: [1, 27] + name: agent29 + start: [6, 16] +- goal: [15, 8] + name: agent30 + start: [24, 6] +- goal: [28, 7] + name: agent31 + start: [0, 26] +- goal: [20, 31] + name: agent32 + start: [19, 26] +- goal: [0, 9] + name: agent33 + start: [27, 12] +- goal: [4, 9] + name: agent34 + start: [14, 16] +- goal: [12, 25] + name: agent35 + start: [7, 4] +- goal: [0, 31] + name: agent36 + start: [3, 17] +- goal: [4, 4] + name: agent37 + start: [22, 21] +- goal: [30, 13] + name: agent38 + start: [13, 25] +- goal: [9, 25] + name: agent39 + start: [22, 1] +- goal: [24, 31] + name: agent40 + start: [22, 31] +- goal: [9, 30] + name: agent41 + start: [17, 17] +- goal: [16, 30] + name: agent42 + start: [13, 31] +- goal: [6, 2] + name: agent43 + start: [30, 17] +- goal: [21, 27] + name: agent44 + start: [10, 7] +- goal: [19, 27] + name: agent45 + start: [26, 7] +- goal: [28, 9] + name: agent46 + start: [25, 12] +- goal: [22, 30] + name: agent47 + start: [6, 25] +- goal: [9, 29] + name: agent48 + start: [3, 13] +- goal: [31, 9] + name: agent49 + start: [0, 9] +- goal: [18, 28] + name: agent50 + start: [7, 25] +- goal: [15, 10] + name: agent51 + start: [25, 26] +- goal: [7, 31] + name: agent52 + start: [24, 25] +- goal: [7, 27] + name: agent53 + start: [11, 26] +- goal: [1, 29] + name: agent54 + start: [16, 4] +- goal: [9, 12] + name: agent55 + start: [28, 4] +- goal: [28, 31] + name: agent56 + start: [1, 22] +- goal: [26, 29] + name: agent57 + start: [19, 28] +- goal: [0, 18] + name: agent58 + start: [14, 0] +- goal: [12, 27] + name: agent59 + start: [14, 19] +- goal: [28, 8] + name: agent60 + start: [21, 17] +- goal: [25, 2] + name: agent61 + start: [18, 6] +- goal: [15, 23] + name: agent62 + start: [2, 13] +- goal: [24, 10] + name: agent63 + start: [28, 24] +- goal: [16, 17] + name: agent64 + start: [28, 8] +- goal: [1, 2] + name: agent65 + start: [1, 30] +- goal: [21, 18] + name: agent66 + start: [9, 1] +- goal: [18, 9] + name: agent67 + start: [1, 11] +- goal: [27, 18] + name: agent68 + start: [15, 5] +- goal: [3, 6] + name: agent69 + start: [2, 30] +- goal: [26, 3] + name: agent70 + start: [0, 14] +- goal: [29, 28] + name: agent71 + start: [15, 9] +- goal: [26, 16] + name: agent72 + start: [5, 0] +- goal: [25, 17] + name: agent73 + start: [29, 14] +- goal: [16, 0] + name: agent74 + start: [11, 16] +- goal: [12, 21] + name: agent75 + start: [23, 5] +- goal: [28, 23] + name: agent76 + start: [30, 29] +- goal: [6, 4] + name: agent77 + start: [18, 23] +- goal: [24, 7] + name: agent78 + start: [7, 29] +- goal: [24, 21] + name: agent79 + start: [0, 13] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [31, 27] + - !!python/tuple [14, 13] + - !!python/tuple [18, 16] + - !!python/tuple [20, 14] + - !!python/tuple [13, 23] + - !!python/tuple [14, 18] + - !!python/tuple [5, 19] + - !!python/tuple [7, 26] + - !!python/tuple [24, 11] + - !!python/tuple [6, 27] + - !!python/tuple [28, 19] + - !!python/tuple [4, 3] + - !!python/tuple [16, 15] + - !!python/tuple [18, 31] + - !!python/tuple [18, 25] + - !!python/tuple [16, 25] + - !!python/tuple [7, 16] + - !!python/tuple [5, 3] + - !!python/tuple [26, 5] + - !!python/tuple [17, 15] + - !!python/tuple [15, 18] + - !!python/tuple [19, 12] + - !!python/tuple [20, 11] + - !!python/tuple [22, 5] + - !!python/tuple [25, 21] + - !!python/tuple [17, 1] + - !!python/tuple [10, 2] + - !!python/tuple [0, 29] + - !!python/tuple [19, 18] + - !!python/tuple [7, 17] + - !!python/tuple [23, 23] + - !!python/tuple [27, 24] + - !!python/tuple [12, 18] + - !!python/tuple [11, 31] + - !!python/tuple [11, 29] + - !!python/tuple [22, 22] + - !!python/tuple [16, 10] + - !!python/tuple [0, 3] + - !!python/tuple [5, 25] + - !!python/tuple [13, 28] + - !!python/tuple [23, 1] + - !!python/tuple [24, 24] + - !!python/tuple [14, 9] + - !!python/tuple [6, 11] + - !!python/tuple [17, 28] + - !!python/tuple [14, 31] + - !!python/tuple [2, 6] + - !!python/tuple [16, 1] + - !!python/tuple [3, 9] + - !!python/tuple [6, 24] + - !!python/tuple [7, 1] + - !!python/tuple [26, 10] + - !!python/tuple [9, 11] + - !!python/tuple [5, 28] + - !!python/tuple [22, 9] + - !!python/tuple [28, 13] + - !!python/tuple [23, 22] + - !!python/tuple [15, 13] + - !!python/tuple [4, 8] + - !!python/tuple [5, 2] + - !!python/tuple [1, 3] + - !!python/tuple [0, 28] + - !!python/tuple [5, 20] + - !!python/tuple [30, 6] + - !!python/tuple [8, 27] + - !!python/tuple [19, 23] + - !!python/tuple [1, 6] + - !!python/tuple [7, 19] + - !!python/tuple [31, 8] + - !!python/tuple [17, 2] + - !!python/tuple [21, 25] + - !!python/tuple [17, 21] + - !!python/tuple [28, 0] + - !!python/tuple [31, 26] + - !!python/tuple [11, 21] + - !!python/tuple [31, 2] + - !!python/tuple [13, 9] + - !!python/tuple [5, 23] + - !!python/tuple [21, 26] + - !!python/tuple [5, 31] + - !!python/tuple [18, 10] + - !!python/tuple [3, 8] + - !!python/tuple [6, 31] + - !!python/tuple [9, 2] + - !!python/tuple [10, 31] + - !!python/tuple [31, 5] + - !!python/tuple [1, 28] + - !!python/tuple [30, 1] + - !!python/tuple [22, 16] + - !!python/tuple [8, 6] + - !!python/tuple [25, 3] + - !!python/tuple [8, 26] + - !!python/tuple [15, 12] + - !!python/tuple [24, 4] + - !!python/tuple [17, 18] + - !!python/tuple [29, 18] + - !!python/tuple [18, 7] + - !!python/tuple [2, 22] + - !!python/tuple [30, 26] + - !!python/tuple [7, 3] + - !!python/tuple [8, 21] + - !!python/tuple [27, 14] + - !!python/tuple [30, 23] + - !!python/tuple [17, 12] + - !!python/tuple [14, 8] + - !!python/tuple [13, 13] + - !!python/tuple [8, 4] + - !!python/tuple [15, 6] + - !!python/tuple [19, 0] + - !!python/tuple [2, 31] + - !!python/tuple [19, 25] + - !!python/tuple [6, 6] + - !!python/tuple [6, 30] + - !!python/tuple [20, 4] + - !!python/tuple [4, 14] + - !!python/tuple [27, 30] + - !!python/tuple [0, 2] + - !!python/tuple [30, 4] + - !!python/tuple [7, 11] + - !!python/tuple [17, 9] + - !!python/tuple [17, 20] + - !!python/tuple [17, 10] + - !!python/tuple [26, 14] + - !!python/tuple [29, 8] + - !!python/tuple [12, 12] + - !!python/tuple [11, 24] + - !!python/tuple [4, 18] + - !!python/tuple [13, 22] + - !!python/tuple [8, 29] + - !!python/tuple [16, 8] + - !!python/tuple [21, 9] + - !!python/tuple [20, 18] + - !!python/tuple [12, 11] + - !!python/tuple [13, 15] + - !!python/tuple [2, 1] + - !!python/tuple [2, 5] + - !!python/tuple [4, 11] + - !!python/tuple [29, 3] + - !!python/tuple [30, 24] + - !!python/tuple [12, 4] + - !!python/tuple [22, 20] + - !!python/tuple [26, 25] + - !!python/tuple [27, 0] + - !!python/tuple [6, 29] + - !!python/tuple [10, 23] + - !!python/tuple [9, 8] + - !!python/tuple [0, 19] + - !!python/tuple [19, 20] + - !!python/tuple [14, 22] + - !!python/tuple [4, 17] + - !!python/tuple [25, 16] + - !!python/tuple [10, 5] + - !!python/tuple [25, 15] + - !!python/tuple [3, 16] + - !!python/tuple [31, 28] + - !!python/tuple [31, 1] + - !!python/tuple [13, 14] + - !!python/tuple [6, 9] + - !!python/tuple [14, 2] + - !!python/tuple [0, 27] + - !!python/tuple [24, 14] + - !!python/tuple [23, 24] + - !!python/tuple [14, 30] + - !!python/tuple [3, 18] + - !!python/tuple [31, 21] + - !!python/tuple [20, 20] + - !!python/tuple [17, 26] + - !!python/tuple [20, 21] + - !!python/tuple [24, 17] + - !!python/tuple [28, 21] + - !!python/tuple [12, 19] + - !!python/tuple [15, 2] + - !!python/tuple [16, 12] + - !!python/tuple [9, 22] + - !!python/tuple [31, 22] + - !!python/tuple [18, 12] + - !!python/tuple [2, 0] + - !!python/tuple [0, 25] + - !!python/tuple [25, 22] + - !!python/tuple [22, 0] + - !!python/tuple [29, 7] + - !!python/tuple [8, 17] + - !!python/tuple [13, 7] + - !!python/tuple [29, 30] + - !!python/tuple [23, 4] + - !!python/tuple [2, 14] + - !!python/tuple [1, 5] + - !!python/tuple [2, 12] + - !!python/tuple [9, 21] + - !!python/tuple [7, 20] + - !!python/tuple [12, 28] + - !!python/tuple [8, 11] + - !!python/tuple [14, 15] + - !!python/tuple [18, 27] + - !!python/tuple [28, 22] + - !!python/tuple [27, 29] + - !!python/tuple [5, 16] + - !!python/tuple [29, 1] + - !!python/tuple [17, 23] + - !!python/tuple [17, 7] + - !!python/tuple [18, 0] + - !!python/tuple [25, 28] + - !!python/tuple [30, 9] + - !!python/tuple [25, 31] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex88.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex88.yaml new file mode 100644 index 0000000..14253ee --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex88.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [12, 15] + name: agent0 + start: [10, 3] +- goal: [24, 30] + name: agent1 + start: [13, 0] +- goal: [11, 13] + name: agent2 + start: [5, 24] +- goal: [16, 14] + name: agent3 + start: [10, 15] +- goal: [26, 20] + name: agent4 + start: [22, 13] +- goal: [24, 27] + name: agent5 + start: [3, 9] +- goal: [16, 1] + name: agent6 + start: [19, 14] +- goal: [2, 11] + name: agent7 + start: [6, 12] +- goal: [22, 28] + name: agent8 + start: [7, 12] +- goal: [4, 0] + name: agent9 + start: [1, 10] +- goal: [20, 3] + name: agent10 + start: [10, 23] +- goal: [11, 3] + name: agent11 + start: [27, 21] +- goal: [28, 28] + name: agent12 + start: [10, 10] +- goal: [14, 10] + name: agent13 + start: [15, 30] +- goal: [13, 8] + name: agent14 + start: [6, 0] +- goal: [14, 21] + name: agent15 + start: [2, 31] +- goal: [2, 13] + name: agent16 + start: [22, 0] +- goal: [0, 25] + name: agent17 + start: [18, 26] +- goal: [28, 9] + name: agent18 + start: [28, 17] +- goal: [31, 31] + name: agent19 + start: [20, 5] +- goal: [17, 30] + name: agent20 + start: [12, 29] +- goal: [11, 16] + name: agent21 + start: [0, 8] +- goal: [21, 22] + name: agent22 + start: [27, 1] +- goal: [27, 18] + name: agent23 + start: [9, 23] +- goal: [23, 23] + name: agent24 + start: [4, 13] +- goal: [4, 31] + name: agent25 + start: [11, 27] +- goal: [9, 10] + name: agent26 + start: [23, 23] +- goal: [13, 9] + name: agent27 + start: [0, 21] +- goal: [29, 14] + name: agent28 + start: [25, 3] +- goal: [4, 17] + name: agent29 + start: [2, 20] +- goal: [19, 23] + name: agent30 + start: [16, 4] +- goal: [3, 19] + name: agent31 + start: [17, 17] +- goal: [14, 28] + name: agent32 + start: [13, 16] +- goal: [3, 5] + name: agent33 + start: [18, 13] +- goal: [9, 11] + name: agent34 + start: [12, 10] +- goal: [0, 29] + name: agent35 + start: [26, 22] +- goal: [18, 19] + name: agent36 + start: [6, 28] +- goal: [0, 12] + name: agent37 + start: [19, 15] +- goal: [3, 17] + name: agent38 + start: [4, 1] +- goal: [9, 6] + name: agent39 + start: [15, 21] +- goal: [18, 8] + name: agent40 + start: [27, 15] +- goal: [28, 15] + name: agent41 + start: [17, 12] +- goal: [15, 13] + name: agent42 + start: [30, 0] +- goal: [17, 20] + name: agent43 + start: [19, 28] +- goal: [16, 4] + name: agent44 + start: [13, 15] +- goal: [28, 19] + name: agent45 + start: [0, 28] +- goal: [19, 21] + name: agent46 + start: [15, 12] +- goal: [8, 2] + name: agent47 + start: [11, 21] +- goal: [28, 14] + name: agent48 + start: [2, 6] +- goal: [4, 14] + name: agent49 + start: [7, 20] +- goal: [25, 7] + name: agent50 + start: [17, 31] +- goal: [15, 27] + name: agent51 + start: [7, 15] +- goal: [28, 13] + name: agent52 + start: [28, 8] +- goal: [0, 8] + name: agent53 + start: [24, 23] +- goal: [13, 19] + name: agent54 + start: [4, 22] +- goal: [28, 18] + name: agent55 + start: [2, 17] +- goal: [18, 9] + name: agent56 + start: [9, 17] +- goal: [3, 31] + name: agent57 + start: [18, 8] +- goal: [18, 3] + name: agent58 + start: [17, 2] +- goal: [27, 2] + name: agent59 + start: [23, 29] +- goal: [17, 6] + name: agent60 + start: [20, 1] +- goal: [23, 24] + name: agent61 + start: [15, 15] +- goal: [17, 10] + name: agent62 + start: [16, 16] +- goal: [8, 22] + name: agent63 + start: [20, 24] +- goal: [27, 6] + name: agent64 + start: [13, 9] +- goal: [5, 24] + name: agent65 + start: [6, 8] +- goal: [6, 22] + name: agent66 + start: [3, 31] +- goal: [0, 6] + name: agent67 + start: [28, 11] +- goal: [12, 2] + name: agent68 + start: [15, 23] +- goal: [29, 16] + name: agent69 + start: [1, 16] +- goal: [1, 4] + name: agent70 + start: [6, 1] +- goal: [20, 22] + name: agent71 + start: [25, 6] +- goal: [21, 10] + name: agent72 + start: [19, 3] +- goal: [5, 22] + name: agent73 + start: [15, 18] +- goal: [30, 13] + name: agent74 + start: [16, 5] +- goal: [29, 29] + name: agent75 + start: [18, 25] +- goal: [2, 7] + name: agent76 + start: [1, 4] +- goal: [20, 27] + name: agent77 + start: [16, 8] +- goal: [31, 27] + name: agent78 + start: [8, 10] +- goal: [11, 22] + name: agent79 + start: [17, 30] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [22, 25] + - !!python/tuple [27, 19] + - !!python/tuple [23, 20] + - !!python/tuple [15, 22] + - !!python/tuple [24, 29] + - !!python/tuple [12, 8] + - !!python/tuple [31, 3] + - !!python/tuple [26, 29] + - !!python/tuple [13, 7] + - !!python/tuple [26, 5] + - !!python/tuple [1, 27] + - !!python/tuple [22, 1] + - !!python/tuple [1, 3] + - !!python/tuple [30, 16] + - !!python/tuple [8, 5] + - !!python/tuple [11, 11] + - !!python/tuple [29, 20] + - !!python/tuple [22, 31] + - !!python/tuple [31, 26] + - !!python/tuple [5, 13] + - !!python/tuple [28, 5] + - !!python/tuple [19, 10] + - !!python/tuple [29, 9] + - !!python/tuple [10, 25] + - !!python/tuple [1, 28] + - !!python/tuple [9, 18] + - !!python/tuple [2, 9] + - !!python/tuple [18, 27] + - !!python/tuple [8, 9] + - !!python/tuple [24, 20] + - !!python/tuple [13, 13] + - !!python/tuple [9, 19] + - !!python/tuple [0, 4] + - !!python/tuple [0, 10] + - !!python/tuple [31, 6] + - !!python/tuple [5, 30] + - !!python/tuple [5, 8] + - !!python/tuple [2, 23] + - !!python/tuple [6, 21] + - !!python/tuple [19, 0] + - !!python/tuple [9, 2] + - !!python/tuple [18, 15] + - !!python/tuple [7, 14] + - !!python/tuple [25, 11] + - !!python/tuple [1, 31] + - !!python/tuple [31, 5] + - !!python/tuple [31, 14] + - !!python/tuple [4, 16] + - !!python/tuple [8, 21] + - !!python/tuple [20, 16] + - !!python/tuple [7, 11] + - !!python/tuple [18, 24] + - !!python/tuple [28, 24] + - !!python/tuple [19, 1] + - !!python/tuple [13, 25] + - !!python/tuple [16, 2] + - !!python/tuple [17, 29] + - !!python/tuple [19, 29] + - !!python/tuple [4, 10] + - !!python/tuple [30, 9] + - !!python/tuple [18, 0] + - !!python/tuple [0, 14] + - !!python/tuple [13, 3] + - !!python/tuple [20, 13] + - !!python/tuple [28, 31] + - !!python/tuple [5, 28] + - !!python/tuple [8, 27] + - !!python/tuple [3, 14] + - !!python/tuple [31, 0] + - !!python/tuple [11, 10] + - !!python/tuple [12, 4] + - !!python/tuple [22, 29] + - !!python/tuple [26, 16] + - !!python/tuple [30, 19] + - !!python/tuple [28, 4] + - !!python/tuple [21, 20] + - !!python/tuple [10, 21] + - !!python/tuple [14, 30] + - !!python/tuple [6, 20] + - !!python/tuple [21, 14] + - !!python/tuple [22, 19] + - !!python/tuple [4, 7] + - !!python/tuple [1, 17] + - !!python/tuple [24, 4] + - !!python/tuple [13, 29] + - !!python/tuple [3, 15] + - !!python/tuple [4, 28] + - !!python/tuple [26, 11] + - !!python/tuple [31, 1] + - !!python/tuple [27, 3] + - !!python/tuple [23, 21] + - !!python/tuple [1, 11] + - !!python/tuple [25, 9] + - !!python/tuple [28, 20] + - !!python/tuple [6, 27] + - !!python/tuple [5, 23] + - !!python/tuple [18, 2] + - !!python/tuple [2, 29] + - !!python/tuple [26, 0] + - !!python/tuple [15, 14] + - !!python/tuple [21, 16] + - !!python/tuple [16, 28] + - !!python/tuple [1, 7] + - !!python/tuple [8, 25] + - !!python/tuple [20, 12] + - !!python/tuple [10, 7] + - !!python/tuple [23, 6] + - !!python/tuple [26, 9] + - !!python/tuple [1, 18] + - !!python/tuple [1, 22] + - !!python/tuple [15, 25] + - !!python/tuple [15, 8] + - !!python/tuple [20, 20] + - !!python/tuple [17, 19] + - !!python/tuple [19, 17] + - !!python/tuple [31, 2] + - !!python/tuple [11, 12] + - !!python/tuple [8, 11] + - !!python/tuple [17, 27] + - !!python/tuple [11, 6] + - !!python/tuple [4, 2] + - !!python/tuple [0, 26] + - !!python/tuple [23, 13] + - !!python/tuple [22, 3] + - !!python/tuple [29, 22] + - !!python/tuple [16, 10] + - !!python/tuple [5, 25] + - !!python/tuple [16, 7] + - !!python/tuple [20, 19] + - !!python/tuple [7, 31] + - !!python/tuple [8, 7] + - !!python/tuple [23, 28] + - !!python/tuple [30, 4] + - !!python/tuple [18, 7] + - !!python/tuple [18, 1] + - !!python/tuple [31, 17] + - !!python/tuple [22, 12] + - !!python/tuple [9, 16] + - !!python/tuple [20, 4] + - !!python/tuple [17, 14] + - !!python/tuple [3, 20] + - !!python/tuple [8, 20] + - !!python/tuple [10, 4] + - !!python/tuple [17, 21] + - !!python/tuple [18, 23] + - !!python/tuple [21, 23] + - !!python/tuple [9, 0] + - !!python/tuple [20, 2] + - !!python/tuple [6, 18] + - !!python/tuple [25, 12] + - !!python/tuple [0, 13] + - !!python/tuple [21, 0] + - !!python/tuple [19, 8] + - !!python/tuple [5, 27] + - !!python/tuple [17, 13] + - !!python/tuple [4, 24] + - !!python/tuple [29, 5] + - !!python/tuple [12, 14] + - !!python/tuple [27, 26] + - !!python/tuple [1, 24] + - !!python/tuple [10, 0] + - !!python/tuple [14, 25] + - !!python/tuple [19, 18] + - !!python/tuple [18, 29] + - !!python/tuple [29, 27] + - !!python/tuple [20, 17] + - !!python/tuple [6, 2] + - !!python/tuple [13, 10] + - !!python/tuple [30, 23] + - !!python/tuple [12, 16] + - !!python/tuple [24, 18] + - !!python/tuple [15, 17] + - !!python/tuple [24, 25] + - !!python/tuple [3, 23] + - !!python/tuple [9, 20] + - !!python/tuple [6, 16] + - !!python/tuple [19, 4] + - !!python/tuple [11, 24] + - !!python/tuple [13, 20] + - !!python/tuple [14, 7] + - !!python/tuple [24, 14] + - !!python/tuple [18, 4] + - !!python/tuple [26, 24] + - !!python/tuple [18, 28] + - !!python/tuple [31, 22] + - !!python/tuple [23, 9] + - !!python/tuple [19, 7] + - !!python/tuple [10, 29] + - !!python/tuple [26, 6] + - !!python/tuple [16, 24] + - !!python/tuple [9, 9] + - !!python/tuple [3, 0] + - !!python/tuple [4, 6] + - !!python/tuple [30, 10] + - !!python/tuple [11, 8] + - !!python/tuple [7, 1] + - !!python/tuple [21, 5] + - !!python/tuple [3, 11] + - !!python/tuple [9, 4] + - !!python/tuple [30, 26] + - !!python/tuple [18, 31] + - !!python/tuple [31, 24] + - !!python/tuple [21, 19] + - !!python/tuple [27, 31] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex89.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex89.yaml new file mode 100644 index 0000000..51dcefa --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex89.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [12, 22] + name: agent0 + start: [30, 2] +- goal: [19, 21] + name: agent1 + start: [15, 28] +- goal: [17, 23] + name: agent2 + start: [17, 20] +- goal: [12, 4] + name: agent3 + start: [23, 13] +- goal: [2, 11] + name: agent4 + start: [11, 28] +- goal: [31, 2] + name: agent5 + start: [0, 8] +- goal: [13, 5] + name: agent6 + start: [15, 9] +- goal: [11, 15] + name: agent7 + start: [4, 21] +- goal: [21, 14] + name: agent8 + start: [14, 12] +- goal: [27, 29] + name: agent9 + start: [17, 4] +- goal: [3, 27] + name: agent10 + start: [12, 31] +- goal: [28, 23] + name: agent11 + start: [11, 21] +- goal: [8, 29] + name: agent12 + start: [16, 14] +- goal: [3, 30] + name: agent13 + start: [28, 18] +- goal: [2, 31] + name: agent14 + start: [23, 1] +- goal: [26, 2] + name: agent15 + start: [14, 10] +- goal: [5, 6] + name: agent16 + start: [25, 8] +- goal: [6, 1] + name: agent17 + start: [28, 26] +- goal: [21, 26] + name: agent18 + start: [8, 4] +- goal: [20, 3] + name: agent19 + start: [6, 31] +- goal: [1, 11] + name: agent20 + start: [30, 25] +- goal: [12, 13] + name: agent21 + start: [23, 6] +- goal: [5, 9] + name: agent22 + start: [13, 18] +- goal: [3, 7] + name: agent23 + start: [5, 8] +- goal: [13, 29] + name: agent24 + start: [30, 23] +- goal: [18, 25] + name: agent25 + start: [16, 23] +- goal: [23, 5] + name: agent26 + start: [3, 16] +- goal: [26, 26] + name: agent27 + start: [0, 22] +- goal: [9, 12] + name: agent28 + start: [15, 10] +- goal: [28, 2] + name: agent29 + start: [23, 20] +- goal: [27, 22] + name: agent30 + start: [28, 9] +- goal: [17, 19] + name: agent31 + start: [16, 2] +- goal: [27, 14] + name: agent32 + start: [8, 30] +- goal: [5, 2] + name: agent33 + start: [25, 2] +- goal: [1, 9] + name: agent34 + start: [31, 3] +- goal: [18, 6] + name: agent35 + start: [20, 30] +- goal: [16, 1] + name: agent36 + start: [6, 3] +- goal: [4, 9] + name: agent37 + start: [15, 29] +- goal: [29, 23] + name: agent38 + start: [19, 13] +- goal: [6, 22] + name: agent39 + start: [19, 16] +- goal: [13, 27] + name: agent40 + start: [20, 8] +- goal: [5, 19] + name: agent41 + start: [15, 7] +- goal: [27, 24] + name: agent42 + start: [21, 8] +- goal: [19, 10] + name: agent43 + start: [8, 16] +- goal: [12, 1] + name: agent44 + start: [0, 19] +- goal: [17, 26] + name: agent45 + start: [1, 27] +- goal: [29, 9] + name: agent46 + start: [3, 31] +- goal: [4, 7] + name: agent47 + start: [10, 26] +- goal: [12, 28] + name: agent48 + start: [10, 15] +- goal: [11, 12] + name: agent49 + start: [24, 22] +- goal: [22, 16] + name: agent50 + start: [7, 28] +- goal: [23, 25] + name: agent51 + start: [15, 16] +- goal: [31, 12] + name: agent52 + start: [14, 6] +- goal: [19, 6] + name: agent53 + start: [21, 17] +- goal: [8, 28] + name: agent54 + start: [4, 20] +- goal: [24, 10] + name: agent55 + start: [28, 10] +- goal: [22, 13] + name: agent56 + start: [30, 27] +- goal: [19, 28] + name: agent57 + start: [26, 7] +- goal: [13, 4] + name: agent58 + start: [28, 14] +- goal: [2, 19] + name: agent59 + start: [7, 24] +- goal: [18, 0] + name: agent60 + start: [8, 19] +- goal: [8, 27] + name: agent61 + start: [10, 11] +- goal: [3, 1] + name: agent62 + start: [23, 15] +- goal: [1, 15] + name: agent63 + start: [22, 11] +- goal: [20, 14] + name: agent64 + start: [19, 29] +- goal: [6, 2] + name: agent65 + start: [13, 26] +- goal: [25, 22] + name: agent66 + start: [11, 1] +- goal: [13, 23] + name: agent67 + start: [25, 20] +- goal: [24, 13] + name: agent68 + start: [20, 0] +- goal: [30, 9] + name: agent69 + start: [29, 28] +- goal: [20, 8] + name: agent70 + start: [12, 1] +- goal: [20, 15] + name: agent71 + start: [22, 19] +- goal: [3, 6] + name: agent72 + start: [25, 26] +- goal: [1, 28] + name: agent73 + start: [17, 12] +- goal: [30, 15] + name: agent74 + start: [14, 28] +- goal: [16, 6] + name: agent75 + start: [3, 20] +- goal: [7, 4] + name: agent76 + start: [18, 16] +- goal: [19, 23] + name: agent77 + start: [26, 23] +- goal: [10, 28] + name: agent78 + start: [8, 21] +- goal: [30, 5] + name: agent79 + start: [15, 1] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [30, 13] + - !!python/tuple [6, 11] + - !!python/tuple [1, 13] + - !!python/tuple [1, 30] + - !!python/tuple [13, 3] + - !!python/tuple [22, 31] + - !!python/tuple [26, 12] + - !!python/tuple [17, 25] + - !!python/tuple [25, 11] + - !!python/tuple [31, 26] + - !!python/tuple [2, 0] + - !!python/tuple [23, 21] + - !!python/tuple [26, 22] + - !!python/tuple [12, 12] + - !!python/tuple [14, 2] + - !!python/tuple [7, 6] + - !!python/tuple [31, 28] + - !!python/tuple [23, 19] + - !!python/tuple [29, 3] + - !!python/tuple [15, 21] + - !!python/tuple [31, 14] + - !!python/tuple [26, 14] + - !!python/tuple [23, 17] + - !!python/tuple [4, 23] + - !!python/tuple [29, 21] + - !!python/tuple [6, 19] + - !!python/tuple [31, 11] + - !!python/tuple [24, 28] + - !!python/tuple [11, 24] + - !!python/tuple [10, 16] + - !!python/tuple [2, 24] + - !!python/tuple [17, 6] + - !!python/tuple [0, 27] + - !!python/tuple [3, 9] + - !!python/tuple [10, 27] + - !!python/tuple [21, 1] + - !!python/tuple [9, 2] + - !!python/tuple [1, 23] + - !!python/tuple [18, 31] + - !!python/tuple [25, 25] + - !!python/tuple [25, 18] + - !!python/tuple [17, 2] + - !!python/tuple [18, 18] + - !!python/tuple [14, 16] + - !!python/tuple [7, 19] + - !!python/tuple [2, 10] + - !!python/tuple [12, 8] + - !!python/tuple [15, 30] + - !!python/tuple [0, 10] + - !!python/tuple [10, 14] + - !!python/tuple [7, 22] + - !!python/tuple [22, 5] + - !!python/tuple [7, 15] + - !!python/tuple [12, 10] + - !!python/tuple [7, 1] + - !!python/tuple [1, 6] + - !!python/tuple [9, 7] + - !!python/tuple [9, 19] + - !!python/tuple [14, 7] + - !!python/tuple [25, 13] + - !!python/tuple [20, 11] + - !!python/tuple [5, 23] + - !!python/tuple [11, 13] + - !!python/tuple [22, 4] + - !!python/tuple [26, 6] + - !!python/tuple [27, 3] + - !!python/tuple [23, 9] + - !!python/tuple [10, 20] + - !!python/tuple [20, 20] + - !!python/tuple [15, 15] + - !!python/tuple [31, 7] + - !!python/tuple [31, 0] + - !!python/tuple [3, 24] + - !!python/tuple [14, 8] + - !!python/tuple [27, 1] + - !!python/tuple [15, 2] + - !!python/tuple [0, 9] + - !!python/tuple [30, 28] + - !!python/tuple [16, 22] + - !!python/tuple [28, 27] + - !!python/tuple [0, 1] + - !!python/tuple [4, 3] + - !!python/tuple [18, 23] + - !!python/tuple [8, 2] + - !!python/tuple [16, 9] + - !!python/tuple [15, 3] + - !!python/tuple [2, 1] + - !!python/tuple [31, 10] + - !!python/tuple [16, 24] + - !!python/tuple [31, 5] + - !!python/tuple [26, 8] + - !!python/tuple [21, 22] + - !!python/tuple [30, 21] + - !!python/tuple [27, 0] + - !!python/tuple [14, 29] + - !!python/tuple [1, 21] + - !!python/tuple [3, 29] + - !!python/tuple [10, 9] + - !!python/tuple [1, 31] + - !!python/tuple [31, 9] + - !!python/tuple [7, 27] + - !!python/tuple [23, 3] + - !!python/tuple [6, 12] + - !!python/tuple [23, 0] + - !!python/tuple [1, 8] + - !!python/tuple [11, 7] + - !!python/tuple [10, 29] + - !!python/tuple [7, 14] + - !!python/tuple [28, 22] + - !!python/tuple [4, 15] + - !!python/tuple [24, 0] + - !!python/tuple [8, 26] + - !!python/tuple [8, 14] + - !!python/tuple [30, 19] + - !!python/tuple [5, 4] + - !!python/tuple [30, 3] + - !!python/tuple [21, 7] + - !!python/tuple [17, 30] + - !!python/tuple [21, 13] + - !!python/tuple [12, 3] + - !!python/tuple [16, 27] + - !!python/tuple [15, 13] + - !!python/tuple [18, 22] + - !!python/tuple [25, 31] + - !!python/tuple [26, 18] + - !!python/tuple [24, 15] + - !!python/tuple [1, 26] + - !!python/tuple [28, 7] + - !!python/tuple [26, 19] + - !!python/tuple [4, 6] + - !!python/tuple [26, 9] + - !!python/tuple [3, 11] + - !!python/tuple [24, 11] + - !!python/tuple [7, 0] + - !!python/tuple [21, 31] + - !!python/tuple [21, 3] + - !!python/tuple [17, 7] + - !!python/tuple [21, 5] + - !!python/tuple [19, 1] + - !!python/tuple [9, 6] + - !!python/tuple [0, 31] + - !!python/tuple [31, 29] + - !!python/tuple [1, 17] + - !!python/tuple [16, 30] + - !!python/tuple [5, 21] + - !!python/tuple [23, 26] + - !!python/tuple [13, 20] + - !!python/tuple [14, 5] + - !!python/tuple [17, 17] + - !!python/tuple [8, 22] + - !!python/tuple [2, 9] + - !!python/tuple [31, 20] + - !!python/tuple [20, 19] + - !!python/tuple [6, 27] + - !!python/tuple [3, 18] + - !!python/tuple [7, 18] + - !!python/tuple [11, 6] + - !!python/tuple [13, 10] + - !!python/tuple [10, 21] + - !!python/tuple [4, 28] + - !!python/tuple [24, 24] + - !!python/tuple [7, 7] + - !!python/tuple [7, 5] + - !!python/tuple [15, 8] + - !!python/tuple [20, 5] + - !!python/tuple [25, 19] + - !!python/tuple [13, 19] + - !!python/tuple [0, 15] + - !!python/tuple [0, 17] + - !!python/tuple [9, 10] + - !!python/tuple [0, 23] + - !!python/tuple [3, 15] + - !!python/tuple [2, 22] + - !!python/tuple [24, 3] + - !!python/tuple [1, 22] + - !!python/tuple [0, 28] + - !!python/tuple [30, 16] + - !!python/tuple [29, 15] + - !!python/tuple [7, 17] + - !!python/tuple [22, 7] + - !!python/tuple [11, 31] + - !!python/tuple [11, 2] + - !!python/tuple [24, 31] + - !!python/tuple [3, 13] + - !!python/tuple [15, 0] + - !!python/tuple [10, 10] + - !!python/tuple [4, 26] + - !!python/tuple [21, 27] + - !!python/tuple [29, 5] + - !!python/tuple [25, 27] + - !!python/tuple [24, 26] + - !!python/tuple [16, 18] + - !!python/tuple [23, 22] + - !!python/tuple [27, 13] + - !!python/tuple [12, 20] + - !!python/tuple [2, 28] + - !!python/tuple [19, 26] + - !!python/tuple [6, 8] + - !!python/tuple [21, 15] + - !!python/tuple [12, 23] + - !!python/tuple [21, 30] + - !!python/tuple [4, 10] + - !!python/tuple [23, 2] + - !!python/tuple [17, 11] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex9.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex9.yaml new file mode 100644 index 0000000..cf5f818 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex9.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [16, 2] + name: agent0 + start: [11, 7] +- goal: [31, 22] + name: agent1 + start: [17, 20] +- goal: [5, 26] + name: agent2 + start: [25, 30] +- goal: [19, 18] + name: agent3 + start: [2, 18] +- goal: [7, 1] + name: agent4 + start: [23, 4] +- goal: [15, 15] + name: agent5 + start: [13, 19] +- goal: [14, 19] + name: agent6 + start: [1, 15] +- goal: [8, 1] + name: agent7 + start: [21, 21] +- goal: [9, 19] + name: agent8 + start: [19, 8] +- goal: [16, 31] + name: agent9 + start: [31, 30] +- goal: [8, 13] + name: agent10 + start: [3, 20] +- goal: [12, 14] + name: agent11 + start: [23, 13] +- goal: [8, 29] + name: agent12 + start: [19, 16] +- goal: [15, 11] + name: agent13 + start: [11, 29] +- goal: [18, 17] + name: agent14 + start: [5, 8] +- goal: [16, 26] + name: agent15 + start: [2, 2] +- goal: [22, 15] + name: agent16 + start: [21, 4] +- goal: [17, 11] + name: agent17 + start: [20, 1] +- goal: [27, 26] + name: agent18 + start: [18, 16] +- goal: [9, 0] + name: agent19 + start: [19, 5] +- goal: [10, 7] + name: agent20 + start: [21, 3] +- goal: [11, 20] + name: agent21 + start: [12, 22] +- goal: [9, 22] + name: agent22 + start: [30, 26] +- goal: [9, 7] + name: agent23 + start: [18, 11] +- goal: [30, 1] + name: agent24 + start: [13, 16] +- goal: [11, 1] + name: agent25 + start: [24, 17] +- goal: [15, 8] + name: agent26 + start: [19, 0] +- goal: [6, 1] + name: agent27 + start: [16, 12] +- goal: [10, 4] + name: agent28 + start: [10, 11] +- goal: [28, 26] + name: agent29 + start: [23, 17] +- goal: [17, 15] + name: agent30 + start: [13, 22] +- goal: [30, 8] + name: agent31 + start: [26, 22] +- goal: [21, 26] + name: agent32 + start: [3, 27] +- goal: [8, 10] + name: agent33 + start: [10, 13] +- goal: [6, 26] + name: agent34 + start: [8, 23] +- goal: [20, 30] + name: agent35 + start: [5, 3] +- goal: [10, 10] + name: agent36 + start: [15, 18] +- goal: [1, 26] + name: agent37 + start: [1, 2] +- goal: [8, 19] + name: agent38 + start: [14, 19] +- goal: [19, 17] + name: agent39 + start: [26, 27] +- goal: [10, 18] + name: agent40 + start: [19, 3] +- goal: [23, 3] + name: agent41 + start: [29, 23] +- goal: [23, 28] + name: agent42 + start: [17, 8] +- goal: [1, 25] + name: agent43 + start: [16, 8] +- goal: [3, 15] + name: agent44 + start: [23, 0] +- goal: [27, 5] + name: agent45 + start: [21, 29] +- goal: [17, 24] + name: agent46 + start: [20, 14] +- goal: [23, 25] + name: agent47 + start: [12, 1] +- goal: [29, 25] + name: agent48 + start: [10, 31] +- goal: [27, 22] + name: agent49 + start: [23, 6] +- goal: [17, 25] + name: agent50 + start: [26, 18] +- goal: [16, 21] + name: agent51 + start: [23, 14] +- goal: [11, 2] + name: agent52 + start: [29, 15] +- goal: [12, 12] + name: agent53 + start: [1, 17] +- goal: [20, 20] + name: agent54 + start: [31, 17] +- goal: [29, 27] + name: agent55 + start: [24, 1] +- goal: [9, 17] + name: agent56 + start: [7, 0] +- goal: [7, 13] + name: agent57 + start: [1, 16] +- goal: [29, 12] + name: agent58 + start: [15, 13] +- goal: [25, 4] + name: agent59 + start: [13, 5] +- goal: [29, 10] + name: agent60 + start: [19, 20] +- goal: [29, 7] + name: agent61 + start: [5, 30] +- goal: [25, 12] + name: agent62 + start: [15, 1] +- goal: [3, 1] + name: agent63 + start: [8, 8] +- goal: [25, 10] + name: agent64 + start: [29, 31] +- goal: [21, 27] + name: agent65 + start: [21, 24] +- goal: [8, 17] + name: agent66 + start: [28, 28] +- goal: [18, 30] + name: agent67 + start: [26, 11] +- goal: [16, 20] + name: agent68 + start: [13, 26] +- goal: [23, 20] + name: agent69 + start: [10, 5] +- goal: [5, 13] + name: agent70 + start: [21, 16] +- goal: [14, 21] + name: agent71 + start: [7, 27] +- goal: [20, 14] + name: agent72 + start: [19, 9] +- goal: [7, 30] + name: agent73 + start: [9, 29] +- goal: [1, 1] + name: agent74 + start: [27, 17] +- goal: [24, 26] + name: agent75 + start: [18, 30] +- goal: [29, 6] + name: agent76 + start: [6, 4] +- goal: [17, 21] + name: agent77 + start: [10, 17] +- goal: [31, 11] + name: agent78 + start: [15, 14] +- goal: [6, 7] + name: agent79 + start: [0, 20] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [8, 6] + - !!python/tuple [0, 27] + - !!python/tuple [21, 1] + - !!python/tuple [5, 0] + - !!python/tuple [23, 16] + - !!python/tuple [3, 10] + - !!python/tuple [19, 23] + - !!python/tuple [2, 25] + - !!python/tuple [13, 21] + - !!python/tuple [15, 29] + - !!python/tuple [24, 8] + - !!python/tuple [31, 26] + - !!python/tuple [17, 27] + - !!python/tuple [28, 10] + - !!python/tuple [18, 25] + - !!python/tuple [31, 3] + - !!python/tuple [30, 20] + - !!python/tuple [4, 16] + - !!python/tuple [22, 8] + - !!python/tuple [16, 13] + - !!python/tuple [31, 14] + - !!python/tuple [2, 23] + - !!python/tuple [17, 22] + - !!python/tuple [10, 0] + - !!python/tuple [25, 11] + - !!python/tuple [16, 29] + - !!python/tuple [14, 28] + - !!python/tuple [31, 0] + - !!python/tuple [12, 28] + - !!python/tuple [6, 12] + - !!python/tuple [29, 22] + - !!python/tuple [18, 4] + - !!python/tuple [26, 1] + - !!python/tuple [16, 7] + - !!python/tuple [1, 11] + - !!python/tuple [14, 0] + - !!python/tuple [19, 1] + - !!python/tuple [1, 29] + - !!python/tuple [7, 31] + - !!python/tuple [2, 28] + - !!python/tuple [21, 9] + - !!python/tuple [9, 4] + - !!python/tuple [23, 23] + - !!python/tuple [11, 3] + - !!python/tuple [27, 9] + - !!python/tuple [31, 21] + - !!python/tuple [26, 14] + - !!python/tuple [17, 16] + - !!python/tuple [25, 5] + - !!python/tuple [10, 26] + - !!python/tuple [27, 23] + - !!python/tuple [0, 25] + - !!python/tuple [9, 26] + - !!python/tuple [3, 0] + - !!python/tuple [18, 6] + - !!python/tuple [25, 21] + - !!python/tuple [28, 14] + - !!python/tuple [19, 31] + - !!python/tuple [28, 11] + - !!python/tuple [30, 13] + - !!python/tuple [17, 1] + - !!python/tuple [30, 12] + - !!python/tuple [7, 5] + - !!python/tuple [29, 9] + - !!python/tuple [13, 28] + - !!python/tuple [20, 16] + - !!python/tuple [24, 23] + - !!python/tuple [18, 0] + - !!python/tuple [4, 29] + - !!python/tuple [16, 0] + - !!python/tuple [2, 21] + - !!python/tuple [13, 6] + - !!python/tuple [16, 30] + - !!python/tuple [8, 11] + - !!python/tuple [24, 21] + - !!python/tuple [7, 6] + - !!python/tuple [1, 13] + - !!python/tuple [14, 9] + - !!python/tuple [27, 11] + - !!python/tuple [14, 3] + - !!python/tuple [17, 14] + - !!python/tuple [23, 12] + - !!python/tuple [12, 8] + - !!python/tuple [27, 0] + - !!python/tuple [26, 21] + - !!python/tuple [4, 3] + - !!python/tuple [29, 1] + - !!python/tuple [9, 11] + - !!python/tuple [21, 0] + - !!python/tuple [17, 29] + - !!python/tuple [9, 24] + - !!python/tuple [19, 4] + - !!python/tuple [14, 1] + - !!python/tuple [0, 15] + - !!python/tuple [22, 29] + - !!python/tuple [27, 18] + - !!python/tuple [11, 10] + - !!python/tuple [10, 15] + - !!python/tuple [10, 12] + - !!python/tuple [31, 25] + - !!python/tuple [21, 8] + - !!python/tuple [10, 14] + - !!python/tuple [4, 19] + - !!python/tuple [18, 22] + - !!python/tuple [1, 21] + - !!python/tuple [2, 6] + - !!python/tuple [14, 17] + - !!python/tuple [9, 18] + - !!python/tuple [6, 2] + - !!python/tuple [15, 12] + - !!python/tuple [12, 26] + - !!python/tuple [1, 18] + - !!python/tuple [2, 19] + - !!python/tuple [28, 13] + - !!python/tuple [31, 9] + - !!python/tuple [30, 7] + - !!python/tuple [26, 31] + - !!python/tuple [16, 18] + - !!python/tuple [6, 3] + - !!python/tuple [30, 25] + - !!python/tuple [21, 13] + - !!python/tuple [13, 14] + - !!python/tuple [14, 23] + - !!python/tuple [7, 29] + - !!python/tuple [4, 5] + - !!python/tuple [22, 25] + - !!python/tuple [15, 3] + - !!python/tuple [4, 22] + - !!python/tuple [30, 24] + - !!python/tuple [25, 29] + - !!python/tuple [14, 27] + - !!python/tuple [26, 12] + - !!python/tuple [26, 17] + - !!python/tuple [15, 27] + - !!python/tuple [30, 16] + - !!python/tuple [26, 0] + - !!python/tuple [17, 2] + - !!python/tuple [7, 7] + - !!python/tuple [3, 5] + - !!python/tuple [22, 4] + - !!python/tuple [20, 22] + - !!python/tuple [2, 20] + - !!python/tuple [31, 5] + - !!python/tuple [4, 25] + - !!python/tuple [28, 1] + - !!python/tuple [11, 31] + - !!python/tuple [21, 20] + - !!python/tuple [23, 10] + - !!python/tuple [23, 24] + - !!python/tuple [13, 12] + - !!python/tuple [12, 27] + - !!python/tuple [1, 7] + - !!python/tuple [28, 7] + - !!python/tuple [31, 20] + - !!python/tuple [30, 11] + - !!python/tuple [0, 9] + - !!python/tuple [16, 25] + - !!python/tuple [31, 8] + - !!python/tuple [23, 8] + - !!python/tuple [30, 6] + - !!python/tuple [1, 14] + - !!python/tuple [7, 23] + - !!python/tuple [8, 4] + - !!python/tuple [26, 15] + - !!python/tuple [31, 7] + - !!python/tuple [3, 4] + - !!python/tuple [24, 22] + - !!python/tuple [25, 22] + - !!python/tuple [7, 9] + - !!python/tuple [31, 23] + - !!python/tuple [6, 28] + - !!python/tuple [3, 3] + - !!python/tuple [3, 22] + - !!python/tuple [17, 6] + - !!python/tuple [1, 28] + - !!python/tuple [29, 11] + - !!python/tuple [26, 2] + - !!python/tuple [10, 30] + - !!python/tuple [12, 15] + - !!python/tuple [9, 28] + - !!python/tuple [24, 12] + - !!python/tuple [3, 12] + - !!python/tuple [26, 5] + - !!python/tuple [3, 13] + - !!python/tuple [5, 1] + - !!python/tuple [27, 25] + - !!python/tuple [0, 19] + - !!python/tuple [2, 27] + - !!python/tuple [30, 17] + - !!python/tuple [11, 24] + - !!python/tuple [9, 30] + - !!python/tuple [14, 2] + - !!python/tuple [15, 16] + - !!python/tuple [13, 0] + - !!python/tuple [3, 8] + - !!python/tuple [30, 31] + - !!python/tuple [3, 21] + - !!python/tuple [14, 11] + - !!python/tuple [6, 31] + - !!python/tuple [7, 17] + - !!python/tuple [16, 16] + - !!python/tuple [18, 27] + - !!python/tuple [16, 14] + - !!python/tuple [15, 6] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex90.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex90.yaml new file mode 100644 index 0000000..f0a6958 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex90.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [23, 0] + name: agent0 + start: [17, 9] +- goal: [16, 29] + name: agent1 + start: [19, 12] +- goal: [13, 18] + name: agent2 + start: [30, 24] +- goal: [21, 8] + name: agent3 + start: [11, 12] +- goal: [15, 16] + name: agent4 + start: [2, 24] +- goal: [30, 24] + name: agent5 + start: [6, 31] +- goal: [16, 0] + name: agent6 + start: [23, 17] +- goal: [24, 26] + name: agent7 + start: [19, 30] +- goal: [23, 23] + name: agent8 + start: [28, 31] +- goal: [26, 7] + name: agent9 + start: [30, 22] +- goal: [22, 0] + name: agent10 + start: [1, 18] +- goal: [16, 12] + name: agent11 + start: [3, 2] +- goal: [30, 20] + name: agent12 + start: [19, 3] +- goal: [1, 29] + name: agent13 + start: [17, 23] +- goal: [21, 7] + name: agent14 + start: [17, 3] +- goal: [6, 0] + name: agent15 + start: [25, 11] +- goal: [7, 25] + name: agent16 + start: [1, 3] +- goal: [16, 28] + name: agent17 + start: [14, 25] +- goal: [28, 29] + name: agent18 + start: [22, 12] +- goal: [9, 3] + name: agent19 + start: [6, 1] +- goal: [18, 9] + name: agent20 + start: [14, 11] +- goal: [12, 22] + name: agent21 + start: [18, 10] +- goal: [29, 22] + name: agent22 + start: [21, 24] +- goal: [15, 24] + name: agent23 + start: [12, 7] +- goal: [20, 22] + name: agent24 + start: [6, 25] +- goal: [2, 11] + name: agent25 + start: [3, 0] +- goal: [31, 12] + name: agent26 + start: [29, 21] +- goal: [20, 23] + name: agent27 + start: [13, 5] +- goal: [28, 18] + name: agent28 + start: [22, 5] +- goal: [16, 7] + name: agent29 + start: [17, 14] +- goal: [2, 2] + name: agent30 + start: [20, 8] +- goal: [19, 18] + name: agent31 + start: [6, 29] +- goal: [2, 31] + name: agent32 + start: [0, 15] +- goal: [31, 13] + name: agent33 + start: [17, 27] +- goal: [25, 21] + name: agent34 + start: [23, 21] +- goal: [17, 5] + name: agent35 + start: [24, 11] +- goal: [9, 10] + name: agent36 + start: [18, 30] +- goal: [11, 28] + name: agent37 + start: [14, 2] +- goal: [6, 25] + name: agent38 + start: [12, 6] +- goal: [20, 24] + name: agent39 + start: [20, 9] +- goal: [8, 17] + name: agent40 + start: [22, 25] +- goal: [10, 11] + name: agent41 + start: [25, 26] +- goal: [7, 7] + name: agent42 + start: [25, 30] +- goal: [28, 20] + name: agent43 + start: [3, 9] +- goal: [31, 17] + name: agent44 + start: [4, 27] +- goal: [5, 0] + name: agent45 + start: [22, 23] +- goal: [15, 2] + name: agent46 + start: [4, 24] +- goal: [31, 7] + name: agent47 + start: [28, 27] +- goal: [31, 16] + name: agent48 + start: [19, 2] +- goal: [30, 10] + name: agent49 + start: [31, 17] +- goal: [25, 12] + name: agent50 + start: [20, 31] +- goal: [28, 0] + name: agent51 + start: [26, 5] +- goal: [4, 30] + name: agent52 + start: [18, 27] +- goal: [13, 9] + name: agent53 + start: [13, 17] +- goal: [7, 26] + name: agent54 + start: [27, 30] +- goal: [17, 19] + name: agent55 + start: [19, 26] +- goal: [5, 2] + name: agent56 + start: [2, 25] +- goal: [3, 16] + name: agent57 + start: [3, 3] +- goal: [22, 8] + name: agent58 + start: [21, 26] +- goal: [2, 19] + name: agent59 + start: [19, 25] +- goal: [29, 13] + name: agent60 + start: [24, 25] +- goal: [30, 0] + name: agent61 + start: [16, 30] +- goal: [28, 26] + name: agent62 + start: [0, 29] +- goal: [10, 1] + name: agent63 + start: [24, 15] +- goal: [23, 25] + name: agent64 + start: [9, 0] +- goal: [20, 31] + name: agent65 + start: [13, 18] +- goal: [24, 9] + name: agent66 + start: [16, 20] +- goal: [11, 16] + name: agent67 + start: [4, 31] +- goal: [1, 6] + name: agent68 + start: [28, 12] +- goal: [15, 26] + name: agent69 + start: [1, 9] +- goal: [18, 13] + name: agent70 + start: [2, 6] +- goal: [31, 31] + name: agent71 + start: [14, 21] +- goal: [27, 30] + name: agent72 + start: [19, 9] +- goal: [26, 16] + name: agent73 + start: [5, 20] +- goal: [22, 26] + name: agent74 + start: [25, 17] +- goal: [11, 18] + name: agent75 + start: [8, 20] +- goal: [1, 28] + name: agent76 + start: [30, 16] +- goal: [8, 3] + name: agent77 + start: [21, 16] +- goal: [16, 10] + name: agent78 + start: [12, 28] +- goal: [3, 3] + name: agent79 + start: [19, 6] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [17, 10] + - !!python/tuple [11, 17] + - !!python/tuple [0, 6] + - !!python/tuple [20, 29] + - !!python/tuple [8, 10] + - !!python/tuple [27, 25] + - !!python/tuple [13, 26] + - !!python/tuple [13, 21] + - !!python/tuple [18, 11] + - !!python/tuple [19, 5] + - !!python/tuple [18, 21] + - !!python/tuple [28, 10] + - !!python/tuple [14, 19] + - !!python/tuple [11, 29] + - !!python/tuple [12, 13] + - !!python/tuple [3, 13] + - !!python/tuple [6, 27] + - !!python/tuple [24, 27] + - !!python/tuple [4, 26] + - !!python/tuple [15, 6] + - !!python/tuple [28, 30] + - !!python/tuple [10, 9] + - !!python/tuple [8, 0] + - !!python/tuple [6, 17] + - !!python/tuple [26, 10] + - !!python/tuple [2, 21] + - !!python/tuple [27, 17] + - !!python/tuple [7, 28] + - !!python/tuple [25, 4] + - !!python/tuple [6, 16] + - !!python/tuple [22, 7] + - !!python/tuple [13, 14] + - !!python/tuple [24, 0] + - !!python/tuple [8, 6] + - !!python/tuple [7, 30] + - !!python/tuple [23, 29] + - !!python/tuple [0, 3] + - !!python/tuple [21, 10] + - !!python/tuple [20, 30] + - !!python/tuple [9, 5] + - !!python/tuple [9, 4] + - !!python/tuple [29, 12] + - !!python/tuple [12, 5] + - !!python/tuple [7, 24] + - !!python/tuple [26, 30] + - !!python/tuple [2, 14] + - !!python/tuple [7, 13] + - !!python/tuple [14, 20] + - !!python/tuple [9, 21] + - !!python/tuple [10, 2] + - !!python/tuple [28, 19] + - !!python/tuple [13, 3] + - !!python/tuple [26, 24] + - !!python/tuple [21, 1] + - !!python/tuple [23, 13] + - !!python/tuple [14, 0] + - !!python/tuple [29, 2] + - !!python/tuple [12, 24] + - !!python/tuple [12, 1] + - !!python/tuple [0, 26] + - !!python/tuple [11, 19] + - !!python/tuple [31, 26] + - !!python/tuple [3, 1] + - !!python/tuple [0, 1] + - !!python/tuple [9, 30] + - !!python/tuple [12, 2] + - !!python/tuple [30, 14] + - !!python/tuple [17, 8] + - !!python/tuple [16, 3] + - !!python/tuple [16, 26] + - !!python/tuple [5, 8] + - !!python/tuple [15, 0] + - !!python/tuple [9, 29] + - !!python/tuple [13, 7] + - !!python/tuple [1, 14] + - !!python/tuple [5, 19] + - !!python/tuple [22, 10] + - !!python/tuple [20, 19] + - !!python/tuple [0, 27] + - !!python/tuple [26, 9] + - !!python/tuple [14, 14] + - !!python/tuple [29, 10] + - !!python/tuple [27, 28] + - !!python/tuple [1, 10] + - !!python/tuple [12, 4] + - !!python/tuple [30, 23] + - !!python/tuple [1, 4] + - !!python/tuple [11, 30] + - !!python/tuple [19, 20] + - !!python/tuple [9, 19] + - !!python/tuple [10, 31] + - !!python/tuple [12, 21] + - !!python/tuple [19, 22] + - !!python/tuple [4, 23] + - !!python/tuple [6, 4] + - !!python/tuple [8, 23] + - !!python/tuple [28, 28] + - !!python/tuple [26, 27] + - !!python/tuple [12, 29] + - !!python/tuple [29, 3] + - !!python/tuple [6, 24] + - !!python/tuple [5, 1] + - !!python/tuple [2, 20] + - !!python/tuple [29, 4] + - !!python/tuple [8, 22] + - !!python/tuple [25, 9] + - !!python/tuple [20, 3] + - !!python/tuple [19, 15] + - !!python/tuple [10, 14] + - !!python/tuple [29, 29] + - !!python/tuple [7, 31] + - !!python/tuple [31, 8] + - !!python/tuple [25, 15] + - !!python/tuple [4, 6] + - !!python/tuple [8, 1] + - !!python/tuple [26, 25] + - !!python/tuple [25, 19] + - !!python/tuple [12, 27] + - !!python/tuple [17, 7] + - !!python/tuple [6, 14] + - !!python/tuple [5, 7] + - !!python/tuple [5, 4] + - !!python/tuple [3, 4] + - !!python/tuple [16, 2] + - !!python/tuple [22, 21] + - !!python/tuple [2, 5] + - !!python/tuple [6, 13] + - !!python/tuple [2, 0] + - !!python/tuple [19, 4] + - !!python/tuple [11, 5] + - !!python/tuple [8, 19] + - !!python/tuple [2, 27] + - !!python/tuple [25, 0] + - !!python/tuple [17, 12] + - !!python/tuple [25, 18] + - !!python/tuple [4, 12] + - !!python/tuple [9, 18] + - !!python/tuple [24, 20] + - !!python/tuple [0, 17] + - !!python/tuple [27, 19] + - !!python/tuple [14, 10] + - !!python/tuple [27, 11] + - !!python/tuple [12, 12] + - !!python/tuple [29, 15] + - !!python/tuple [12, 3] + - !!python/tuple [10, 3] + - !!python/tuple [31, 24] + - !!python/tuple [8, 11] + - !!python/tuple [15, 20] + - !!python/tuple [15, 12] + - !!python/tuple [8, 7] + - !!python/tuple [5, 10] + - !!python/tuple [25, 23] + - !!python/tuple [28, 23] + - !!python/tuple [7, 14] + - !!python/tuple [30, 28] + - !!python/tuple [29, 8] + - !!python/tuple [10, 21] + - !!python/tuple [19, 21] + - !!python/tuple [30, 31] + - !!python/tuple [26, 6] + - !!python/tuple [17, 11] + - !!python/tuple [29, 31] + - !!python/tuple [18, 23] + - !!python/tuple [5, 5] + - !!python/tuple [24, 8] + - !!python/tuple [3, 20] + - !!python/tuple [23, 6] + - !!python/tuple [17, 30] + - !!python/tuple [15, 1] + - !!python/tuple [4, 18] + - !!python/tuple [5, 12] + - !!python/tuple [5, 21] + - !!python/tuple [26, 13] + - !!python/tuple [20, 6] + - !!python/tuple [13, 15] + - !!python/tuple [31, 9] + - !!python/tuple [29, 9] + - !!python/tuple [0, 30] + - !!python/tuple [10, 16] + - !!python/tuple [21, 3] + - !!python/tuple [26, 19] + - !!python/tuple [26, 22] + - !!python/tuple [28, 13] + - !!python/tuple [1, 11] + - !!python/tuple [31, 25] + - !!python/tuple [28, 17] + - !!python/tuple [16, 1] + - !!python/tuple [27, 20] + - !!python/tuple [16, 13] + - !!python/tuple [17, 28] + - !!python/tuple [6, 10] + - !!python/tuple [1, 12] + - !!python/tuple [27, 15] + - !!python/tuple [8, 27] + - !!python/tuple [24, 19] + - !!python/tuple [7, 10] + - !!python/tuple [3, 8] + - !!python/tuple [5, 22] + - !!python/tuple [25, 2] + - !!python/tuple [7, 8] + - !!python/tuple [21, 4] + - !!python/tuple [8, 4] + - !!python/tuple [22, 17] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex91.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex91.yaml new file mode 100644 index 0000000..22bbe6d --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex91.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [21, 16] + name: agent0 + start: [5, 2] +- goal: [14, 5] + name: agent1 + start: [3, 18] +- goal: [12, 11] + name: agent2 + start: [24, 24] +- goal: [13, 21] + name: agent3 + start: [23, 19] +- goal: [24, 19] + name: agent4 + start: [21, 17] +- goal: [22, 15] + name: agent5 + start: [12, 26] +- goal: [30, 3] + name: agent6 + start: [11, 2] +- goal: [0, 13] + name: agent7 + start: [30, 12] +- goal: [14, 23] + name: agent8 + start: [10, 9] +- goal: [30, 15] + name: agent9 + start: [10, 24] +- goal: [13, 14] + name: agent10 + start: [17, 24] +- goal: [31, 31] + name: agent11 + start: [26, 4] +- goal: [0, 18] + name: agent12 + start: [1, 27] +- goal: [26, 30] + name: agent13 + start: [18, 12] +- goal: [23, 10] + name: agent14 + start: [4, 18] +- goal: [8, 16] + name: agent15 + start: [12, 6] +- goal: [15, 23] + name: agent16 + start: [9, 15] +- goal: [23, 29] + name: agent17 + start: [23, 8] +- goal: [13, 26] + name: agent18 + start: [9, 24] +- goal: [13, 11] + name: agent19 + start: [16, 6] +- goal: [18, 6] + name: agent20 + start: [15, 5] +- goal: [14, 11] + name: agent21 + start: [18, 13] +- goal: [8, 2] + name: agent22 + start: [16, 14] +- goal: [0, 4] + name: agent23 + start: [9, 3] +- goal: [1, 28] + name: agent24 + start: [26, 0] +- goal: [20, 8] + name: agent25 + start: [2, 27] +- goal: [12, 7] + name: agent26 + start: [20, 18] +- goal: [18, 2] + name: agent27 + start: [18, 17] +- goal: [27, 16] + name: agent28 + start: [14, 21] +- goal: [23, 31] + name: agent29 + start: [29, 17] +- goal: [3, 10] + name: agent30 + start: [8, 9] +- goal: [23, 9] + name: agent31 + start: [7, 12] +- goal: [30, 22] + name: agent32 + start: [7, 10] +- goal: [0, 25] + name: agent33 + start: [14, 6] +- goal: [11, 30] + name: agent34 + start: [8, 28] +- goal: [9, 29] + name: agent35 + start: [9, 20] +- goal: [29, 9] + name: agent36 + start: [0, 23] +- goal: [11, 1] + name: agent37 + start: [15, 13] +- goal: [20, 30] + name: agent38 + start: [7, 31] +- goal: [22, 11] + name: agent39 + start: [8, 12] +- goal: [31, 20] + name: agent40 + start: [29, 2] +- goal: [17, 24] + name: agent41 + start: [8, 30] +- goal: [15, 29] + name: agent42 + start: [16, 25] +- goal: [28, 10] + name: agent43 + start: [17, 17] +- goal: [11, 18] + name: agent44 + start: [10, 21] +- goal: [31, 26] + name: agent45 + start: [22, 5] +- goal: [31, 3] + name: agent46 + start: [6, 6] +- goal: [24, 1] + name: agent47 + start: [14, 30] +- goal: [18, 1] + name: agent48 + start: [3, 27] +- goal: [12, 2] + name: agent49 + start: [9, 7] +- goal: [6, 25] + name: agent50 + start: [5, 30] +- goal: [11, 21] + name: agent51 + start: [30, 28] +- goal: [6, 0] + name: agent52 + start: [8, 8] +- goal: [17, 0] + name: agent53 + start: [10, 19] +- goal: [28, 1] + name: agent54 + start: [28, 29] +- goal: [6, 27] + name: agent55 + start: [9, 21] +- goal: [24, 30] + name: agent56 + start: [2, 0] +- goal: [22, 18] + name: agent57 + start: [2, 11] +- goal: [12, 9] + name: agent58 + start: [17, 14] +- goal: [21, 24] + name: agent59 + start: [13, 23] +- goal: [6, 30] + name: agent60 + start: [28, 4] +- goal: [29, 15] + name: agent61 + start: [5, 5] +- goal: [26, 4] + name: agent62 + start: [16, 29] +- goal: [10, 29] + name: agent63 + start: [1, 11] +- goal: [23, 26] + name: agent64 + start: [16, 20] +- goal: [28, 17] + name: agent65 + start: [10, 2] +- goal: [3, 20] + name: agent66 + start: [3, 23] +- goal: [15, 0] + name: agent67 + start: [15, 23] +- goal: [3, 18] + name: agent68 + start: [24, 30] +- goal: [10, 1] + name: agent69 + start: [25, 29] +- goal: [0, 30] + name: agent70 + start: [31, 16] +- goal: [23, 28] + name: agent71 + start: [4, 20] +- goal: [24, 11] + name: agent72 + start: [25, 16] +- goal: [25, 15] + name: agent73 + start: [22, 3] +- goal: [6, 21] + name: agent74 + start: [26, 27] +- goal: [24, 17] + name: agent75 + start: [24, 27] +- goal: [0, 2] + name: agent76 + start: [26, 10] +- goal: [14, 26] + name: agent77 + start: [27, 26] +- goal: [30, 9] + name: agent78 + start: [10, 31] +- goal: [1, 4] + name: agent79 + start: [12, 1] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [25, 18] + - !!python/tuple [28, 13] + - !!python/tuple [8, 31] + - !!python/tuple [1, 2] + - !!python/tuple [29, 11] + - !!python/tuple [30, 2] + - !!python/tuple [24, 5] + - !!python/tuple [8, 22] + - !!python/tuple [26, 15] + - !!python/tuple [11, 22] + - !!python/tuple [2, 9] + - !!python/tuple [26, 31] + - !!python/tuple [12, 10] + - !!python/tuple [7, 23] + - !!python/tuple [3, 7] + - !!python/tuple [5, 9] + - !!python/tuple [17, 28] + - !!python/tuple [12, 18] + - !!python/tuple [4, 0] + - !!python/tuple [6, 4] + - !!python/tuple [15, 16] + - !!python/tuple [4, 24] + - !!python/tuple [16, 15] + - !!python/tuple [12, 5] + - !!python/tuple [24, 0] + - !!python/tuple [18, 8] + - !!python/tuple [5, 1] + - !!python/tuple [17, 26] + - !!python/tuple [28, 25] + - !!python/tuple [2, 8] + - !!python/tuple [15, 30] + - !!python/tuple [12, 16] + - !!python/tuple [0, 19] + - !!python/tuple [6, 17] + - !!python/tuple [3, 19] + - !!python/tuple [22, 20] + - !!python/tuple [24, 13] + - !!python/tuple [25, 13] + - !!python/tuple [27, 5] + - !!python/tuple [10, 18] + - !!python/tuple [28, 16] + - !!python/tuple [13, 6] + - !!python/tuple [5, 6] + - !!python/tuple [14, 27] + - !!python/tuple [9, 8] + - !!python/tuple [28, 14] + - !!python/tuple [1, 16] + - !!python/tuple [22, 22] + - !!python/tuple [24, 23] + - !!python/tuple [4, 19] + - !!python/tuple [26, 14] + - !!python/tuple [8, 7] + - !!python/tuple [31, 6] + - !!python/tuple [18, 22] + - !!python/tuple [5, 17] + - !!python/tuple [3, 17] + - !!python/tuple [5, 16] + - !!python/tuple [23, 6] + - !!python/tuple [24, 22] + - !!python/tuple [8, 21] + - !!python/tuple [2, 22] + - !!python/tuple [3, 4] + - !!python/tuple [25, 20] + - !!python/tuple [21, 11] + - !!python/tuple [20, 11] + - !!python/tuple [18, 26] + - !!python/tuple [21, 14] + - !!python/tuple [24, 21] + - !!python/tuple [24, 12] + - !!python/tuple [29, 5] + - !!python/tuple [12, 21] + - !!python/tuple [8, 25] + - !!python/tuple [4, 12] + - !!python/tuple [19, 16] + - !!python/tuple [16, 26] + - !!python/tuple [17, 25] + - !!python/tuple [29, 18] + - !!python/tuple [21, 15] + - !!python/tuple [5, 28] + - !!python/tuple [10, 0] + - !!python/tuple [19, 23] + - !!python/tuple [7, 16] + - !!python/tuple [15, 15] + - !!python/tuple [3, 1] + - !!python/tuple [17, 21] + - !!python/tuple [3, 22] + - !!python/tuple [23, 23] + - !!python/tuple [5, 7] + - !!python/tuple [25, 5] + - !!python/tuple [19, 20] + - !!python/tuple [0, 9] + - !!python/tuple [4, 5] + - !!python/tuple [4, 31] + - !!python/tuple [26, 16] + - !!python/tuple [8, 13] + - !!python/tuple [31, 25] + - !!python/tuple [31, 29] + - !!python/tuple [15, 7] + - !!python/tuple [30, 18] + - !!python/tuple [12, 27] + - !!python/tuple [19, 26] + - !!python/tuple [22, 8] + - !!python/tuple [15, 10] + - !!python/tuple [1, 23] + - !!python/tuple [3, 9] + - !!python/tuple [24, 16] + - !!python/tuple [31, 0] + - !!python/tuple [6, 29] + - !!python/tuple [20, 13] + - !!python/tuple [26, 11] + - !!python/tuple [5, 24] + - !!python/tuple [21, 9] + - !!python/tuple [19, 1] + - !!python/tuple [27, 15] + - !!python/tuple [26, 21] + - !!python/tuple [5, 15] + - !!python/tuple [11, 6] + - !!python/tuple [27, 8] + - !!python/tuple [22, 0] + - !!python/tuple [23, 1] + - !!python/tuple [2, 1] + - !!python/tuple [22, 1] + - !!python/tuple [20, 26] + - !!python/tuple [27, 4] + - !!python/tuple [9, 0] + - !!python/tuple [13, 19] + - !!python/tuple [7, 0] + - !!python/tuple [27, 19] + - !!python/tuple [28, 11] + - !!python/tuple [14, 1] + - !!python/tuple [29, 3] + - !!python/tuple [3, 30] + - !!python/tuple [10, 11] + - !!python/tuple [0, 8] + - !!python/tuple [5, 25] + - !!python/tuple [9, 27] + - !!python/tuple [2, 25] + - !!python/tuple [2, 2] + - !!python/tuple [17, 20] + - !!python/tuple [27, 21] + - !!python/tuple [13, 9] + - !!python/tuple [26, 7] + - !!python/tuple [11, 20] + - !!python/tuple [18, 11] + - !!python/tuple [4, 29] + - !!python/tuple [10, 22] + - !!python/tuple [1, 10] + - !!python/tuple [27, 1] + - !!python/tuple [19, 0] + - !!python/tuple [17, 15] + - !!python/tuple [22, 29] + - !!python/tuple [27, 3] + - !!python/tuple [1, 19] + - !!python/tuple [1, 1] + - !!python/tuple [19, 25] + - !!python/tuple [29, 30] + - !!python/tuple [10, 15] + - !!python/tuple [29, 21] + - !!python/tuple [18, 20] + - !!python/tuple [2, 13] + - !!python/tuple [28, 0] + - !!python/tuple [13, 3] + - !!python/tuple [18, 31] + - !!python/tuple [9, 6] + - !!python/tuple [30, 6] + - !!python/tuple [14, 31] + - !!python/tuple [13, 16] + - !!python/tuple [8, 23] + - !!python/tuple [8, 26] + - !!python/tuple [0, 26] + - !!python/tuple [27, 28] + - !!python/tuple [23, 24] + - !!python/tuple [14, 29] + - !!python/tuple [5, 21] + - !!python/tuple [1, 30] + - !!python/tuple [6, 18] + - !!python/tuple [14, 9] + - !!python/tuple [2, 29] + - !!python/tuple [0, 17] + - !!python/tuple [10, 23] + - !!python/tuple [1, 13] + - !!python/tuple [5, 8] + - !!python/tuple [1, 31] + - !!python/tuple [31, 7] + - !!python/tuple [0, 6] + - !!python/tuple [31, 30] + - !!python/tuple [1, 15] + - !!python/tuple [4, 15] + - !!python/tuple [22, 13] + - !!python/tuple [20, 23] + - !!python/tuple [22, 17] + - !!python/tuple [27, 10] + - !!python/tuple [30, 13] + - !!python/tuple [13, 0] + - !!python/tuple [0, 28] + - !!python/tuple [1, 8] + - !!python/tuple [19, 22] + - !!python/tuple [1, 14] + - !!python/tuple [4, 14] + - !!python/tuple [23, 21] + - !!python/tuple [25, 30] + - !!python/tuple [12, 17] + - !!python/tuple [28, 20] + - !!python/tuple [5, 3] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex92.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex92.yaml new file mode 100644 index 0000000..a29f43b --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex92.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [22, 12] + name: agent0 + start: [1, 13] +- goal: [18, 30] + name: agent1 + start: [2, 10] +- goal: [6, 9] + name: agent2 + start: [22, 28] +- goal: [1, 8] + name: agent3 + start: [29, 28] +- goal: [10, 15] + name: agent4 + start: [29, 3] +- goal: [31, 19] + name: agent5 + start: [16, 16] +- goal: [30, 6] + name: agent6 + start: [17, 4] +- goal: [10, 0] + name: agent7 + start: [17, 6] +- goal: [14, 6] + name: agent8 + start: [25, 11] +- goal: [27, 12] + name: agent9 + start: [17, 0] +- goal: [2, 23] + name: agent10 + start: [29, 31] +- goal: [30, 8] + name: agent11 + start: [8, 28] +- goal: [24, 3] + name: agent12 + start: [26, 18] +- goal: [0, 10] + name: agent13 + start: [16, 3] +- goal: [11, 21] + name: agent14 + start: [30, 26] +- goal: [28, 29] + name: agent15 + start: [10, 13] +- goal: [13, 8] + name: agent16 + start: [11, 28] +- goal: [26, 27] + name: agent17 + start: [17, 23] +- goal: [21, 10] + name: agent18 + start: [10, 14] +- goal: [29, 22] + name: agent19 + start: [5, 4] +- goal: [21, 26] + name: agent20 + start: [16, 4] +- goal: [19, 20] + name: agent21 + start: [25, 26] +- goal: [2, 12] + name: agent22 + start: [24, 11] +- goal: [17, 9] + name: agent23 + start: [0, 31] +- goal: [10, 4] + name: agent24 + start: [10, 21] +- goal: [10, 13] + name: agent25 + start: [20, 27] +- goal: [31, 5] + name: agent26 + start: [5, 9] +- goal: [22, 10] + name: agent27 + start: [3, 9] +- goal: [0, 23] + name: agent28 + start: [29, 26] +- goal: [20, 13] + name: agent29 + start: [27, 6] +- goal: [22, 26] + name: agent30 + start: [20, 26] +- goal: [6, 5] + name: agent31 + start: [30, 25] +- goal: [27, 0] + name: agent32 + start: [9, 12] +- goal: [1, 27] + name: agent33 + start: [26, 11] +- goal: [3, 26] + name: agent34 + start: [2, 5] +- goal: [30, 30] + name: agent35 + start: [17, 12] +- goal: [31, 27] + name: agent36 + start: [12, 16] +- goal: [9, 17] + name: agent37 + start: [15, 4] +- goal: [29, 11] + name: agent38 + start: [22, 26] +- goal: [13, 27] + name: agent39 + start: [15, 11] +- goal: [18, 9] + name: agent40 + start: [30, 7] +- goal: [14, 9] + name: agent41 + start: [29, 18] +- goal: [19, 11] + name: agent42 + start: [27, 5] +- goal: [16, 24] + name: agent43 + start: [31, 27] +- goal: [26, 7] + name: agent44 + start: [27, 13] +- goal: [14, 31] + name: agent45 + start: [30, 15] +- goal: [5, 7] + name: agent46 + start: [0, 29] +- goal: [3, 25] + name: agent47 + start: [21, 19] +- goal: [3, 11] + name: agent48 + start: [8, 22] +- goal: [9, 12] + name: agent49 + start: [4, 30] +- goal: [0, 0] + name: agent50 + start: [3, 0] +- goal: [31, 7] + name: agent51 + start: [10, 24] +- goal: [30, 13] + name: agent52 + start: [30, 22] +- goal: [14, 19] + name: agent53 + start: [25, 12] +- goal: [0, 6] + name: agent54 + start: [2, 30] +- goal: [25, 15] + name: agent55 + start: [22, 24] +- goal: [20, 24] + name: agent56 + start: [27, 10] +- goal: [14, 4] + name: agent57 + start: [0, 3] +- goal: [7, 29] + name: agent58 + start: [27, 7] +- goal: [18, 20] + name: agent59 + start: [15, 23] +- goal: [15, 26] + name: agent60 + start: [21, 3] +- goal: [4, 19] + name: agent61 + start: [18, 6] +- goal: [15, 21] + name: agent62 + start: [11, 9] +- goal: [23, 20] + name: agent63 + start: [29, 15] +- goal: [22, 19] + name: agent64 + start: [3, 1] +- goal: [30, 26] + name: agent65 + start: [9, 24] +- goal: [2, 10] + name: agent66 + start: [19, 26] +- goal: [7, 4] + name: agent67 + start: [8, 4] +- goal: [8, 26] + name: agent68 + start: [10, 19] +- goal: [7, 1] + name: agent69 + start: [27, 3] +- goal: [27, 26] + name: agent70 + start: [6, 22] +- goal: [13, 25] + name: agent71 + start: [14, 7] +- goal: [6, 7] + name: agent72 + start: [8, 2] +- goal: [15, 12] + name: agent73 + start: [2, 15] +- goal: [15, 15] + name: agent74 + start: [10, 8] +- goal: [20, 27] + name: agent75 + start: [11, 10] +- goal: [20, 23] + name: agent76 + start: [2, 0] +- goal: [22, 7] + name: agent77 + start: [26, 9] +- goal: [11, 29] + name: agent78 + start: [2, 16] +- goal: [25, 3] + name: agent79 + start: [20, 10] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [8, 6] + - !!python/tuple [22, 30] + - !!python/tuple [5, 0] + - !!python/tuple [20, 9] + - !!python/tuple [3, 23] + - !!python/tuple [3, 12] + - !!python/tuple [16, 29] + - !!python/tuple [6, 18] + - !!python/tuple [19, 27] + - !!python/tuple [3, 7] + - !!python/tuple [31, 18] + - !!python/tuple [15, 24] + - !!python/tuple [6, 4] + - !!python/tuple [17, 30] + - !!python/tuple [3, 20] + - !!python/tuple [23, 18] + - !!python/tuple [24, 5] + - !!python/tuple [0, 25] + - !!python/tuple [12, 8] + - !!python/tuple [21, 7] + - !!python/tuple [7, 30] + - !!python/tuple [19, 8] + - !!python/tuple [17, 7] + - !!python/tuple [29, 8] + - !!python/tuple [22, 0] + - !!python/tuple [15, 10] + - !!python/tuple [2, 31] + - !!python/tuple [14, 28] + - !!python/tuple [7, 14] + - !!python/tuple [2, 27] + - !!python/tuple [29, 14] + - !!python/tuple [13, 23] + - !!python/tuple [7, 12] + - !!python/tuple [6, 10] + - !!python/tuple [7, 5] + - !!python/tuple [15, 13] + - !!python/tuple [23, 1] + - !!python/tuple [1, 18] + - !!python/tuple [31, 9] + - !!python/tuple [20, 8] + - !!python/tuple [14, 1] + - !!python/tuple [1, 20] + - !!python/tuple [2, 8] + - !!python/tuple [2, 13] + - !!python/tuple [1, 11] + - !!python/tuple [29, 2] + - !!python/tuple [20, 4] + - !!python/tuple [25, 29] + - !!python/tuple [15, 9] + - !!python/tuple [14, 20] + - !!python/tuple [23, 7] + - !!python/tuple [27, 17] + - !!python/tuple [11, 2] + - !!python/tuple [26, 10] + - !!python/tuple [9, 13] + - !!python/tuple [20, 3] + - !!python/tuple [15, 14] + - !!python/tuple [1, 29] + - !!python/tuple [26, 3] + - !!python/tuple [18, 19] + - !!python/tuple [26, 24] + - !!python/tuple [30, 18] + - !!python/tuple [16, 28] + - !!python/tuple [30, 5] + - !!python/tuple [21, 25] + - !!python/tuple [29, 27] + - !!python/tuple [13, 28] + - !!python/tuple [16, 25] + - !!python/tuple [13, 20] + - !!python/tuple [4, 1] + - !!python/tuple [28, 23] + - !!python/tuple [4, 28] + - !!python/tuple [19, 12] + - !!python/tuple [8, 3] + - !!python/tuple [6, 31] + - !!python/tuple [18, 25] + - !!python/tuple [12, 29] + - !!python/tuple [3, 24] + - !!python/tuple [28, 1] + - !!python/tuple [29, 17] + - !!python/tuple [28, 2] + - !!python/tuple [4, 17] + - !!python/tuple [22, 23] + - !!python/tuple [5, 22] + - !!python/tuple [26, 0] + - !!python/tuple [1, 15] + - !!python/tuple [9, 26] + - !!python/tuple [20, 29] + - !!python/tuple [12, 12] + - !!python/tuple [9, 20] + - !!python/tuple [8, 14] + - !!python/tuple [0, 4] + - !!python/tuple [11, 6] + - !!python/tuple [23, 21] + - !!python/tuple [7, 10] + - !!python/tuple [4, 25] + - !!python/tuple [11, 20] + - !!python/tuple [14, 11] + - !!python/tuple [26, 21] + - !!python/tuple [31, 15] + - !!python/tuple [17, 2] + - !!python/tuple [21, 15] + - !!python/tuple [26, 5] + - !!python/tuple [20, 15] + - !!python/tuple [13, 3] + - !!python/tuple [21, 14] + - !!python/tuple [26, 28] + - !!python/tuple [23, 26] + - !!python/tuple [26, 17] + - !!python/tuple [8, 24] + - !!python/tuple [3, 19] + - !!python/tuple [21, 9] + - !!python/tuple [17, 13] + - !!python/tuple [18, 7] + - !!python/tuple [25, 19] + - !!python/tuple [23, 5] + - !!python/tuple [2, 25] + - !!python/tuple [2, 24] + - !!python/tuple [8, 17] + - !!python/tuple [16, 2] + - !!python/tuple [10, 11] + - !!python/tuple [14, 26] + - !!python/tuple [12, 18] + - !!python/tuple [18, 17] + - !!python/tuple [27, 18] + - !!python/tuple [25, 16] + - !!python/tuple [1, 6] + - !!python/tuple [6, 8] + - !!python/tuple [17, 29] + - !!python/tuple [15, 17] + - !!python/tuple [9, 29] + - !!python/tuple [19, 24] + - !!python/tuple [4, 12] + - !!python/tuple [24, 16] + - !!python/tuple [21, 29] + - !!python/tuple [21, 11] + - !!python/tuple [21, 13] + - !!python/tuple [19, 30] + - !!python/tuple [18, 13] + - !!python/tuple [19, 4] + - !!python/tuple [1, 26] + - !!python/tuple [28, 27] + - !!python/tuple [12, 14] + - !!python/tuple [16, 30] + - !!python/tuple [5, 23] + - !!python/tuple [16, 31] + - !!python/tuple [20, 18] + - !!python/tuple [18, 18] + - !!python/tuple [5, 18] + - !!python/tuple [26, 26] + - !!python/tuple [30, 19] + - !!python/tuple [19, 0] + - !!python/tuple [17, 28] + - !!python/tuple [10, 7] + - !!python/tuple [14, 30] + - !!python/tuple [16, 13] + - !!python/tuple [29, 9] + - !!python/tuple [19, 22] + - !!python/tuple [9, 6] + - !!python/tuple [5, 3] + - !!python/tuple [17, 16] + - !!python/tuple [2, 26] + - !!python/tuple [5, 16] + - !!python/tuple [30, 27] + - !!python/tuple [4, 29] + - !!python/tuple [24, 23] + - !!python/tuple [21, 28] + - !!python/tuple [22, 3] + - !!python/tuple [0, 1] + - !!python/tuple [0, 18] + - !!python/tuple [15, 31] + - !!python/tuple [17, 5] + - !!python/tuple [27, 25] + - !!python/tuple [28, 24] + - !!python/tuple [5, 31] + - !!python/tuple [0, 7] + - !!python/tuple [31, 30] + - !!python/tuple [20, 20] + - !!python/tuple [28, 20] + - !!python/tuple [0, 15] + - !!python/tuple [14, 27] + - !!python/tuple [20, 6] + - !!python/tuple [30, 1] + - !!python/tuple [14, 25] + - !!python/tuple [13, 2] + - !!python/tuple [12, 20] + - !!python/tuple [10, 10] + - !!python/tuple [12, 22] + - !!python/tuple [25, 14] + - !!python/tuple [15, 18] + - !!python/tuple [21, 6] + - !!python/tuple [23, 23] + - !!python/tuple [19, 14] + - !!python/tuple [9, 30] + - !!python/tuple [25, 23] + - !!python/tuple [7, 2] + - !!python/tuple [27, 15] + - !!python/tuple [13, 17] + - !!python/tuple [4, 15] + - !!python/tuple [23, 31] + - !!python/tuple [9, 25] + - !!python/tuple [19, 25] + - !!python/tuple [17, 27] + - !!python/tuple [7, 17] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex93.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex93.yaml new file mode 100644 index 0000000..85c892e --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex93.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [22, 0] + name: agent0 + start: [27, 3] +- goal: [23, 15] + name: agent1 + start: [28, 19] +- goal: [14, 26] + name: agent2 + start: [12, 3] +- goal: [11, 29] + name: agent3 + start: [17, 20] +- goal: [6, 24] + name: agent4 + start: [0, 1] +- goal: [23, 18] + name: agent5 + start: [27, 10] +- goal: [0, 17] + name: agent6 + start: [26, 15] +- goal: [29, 20] + name: agent7 + start: [14, 21] +- goal: [20, 16] + name: agent8 + start: [1, 10] +- goal: [27, 7] + name: agent9 + start: [22, 21] +- goal: [5, 27] + name: agent10 + start: [25, 23] +- goal: [10, 17] + name: agent11 + start: [7, 17] +- goal: [11, 28] + name: agent12 + start: [10, 19] +- goal: [15, 8] + name: agent13 + start: [21, 6] +- goal: [13, 13] + name: agent14 + start: [10, 3] +- goal: [6, 14] + name: agent15 + start: [29, 6] +- goal: [18, 0] + name: agent16 + start: [19, 22] +- goal: [23, 17] + name: agent17 + start: [18, 16] +- goal: [25, 10] + name: agent18 + start: [9, 1] +- goal: [17, 30] + name: agent19 + start: [23, 4] +- goal: [23, 13] + name: agent20 + start: [21, 19] +- goal: [21, 20] + name: agent21 + start: [16, 4] +- goal: [11, 16] + name: agent22 + start: [31, 30] +- goal: [13, 25] + name: agent23 + start: [29, 0] +- goal: [8, 8] + name: agent24 + start: [23, 16] +- goal: [3, 15] + name: agent25 + start: [11, 30] +- goal: [21, 29] + name: agent26 + start: [24, 0] +- goal: [19, 16] + name: agent27 + start: [1, 1] +- goal: [30, 1] + name: agent28 + start: [17, 30] +- goal: [12, 16] + name: agent29 + start: [10, 8] +- goal: [9, 19] + name: agent30 + start: [3, 21] +- goal: [8, 22] + name: agent31 + start: [21, 20] +- goal: [20, 10] + name: agent32 + start: [11, 13] +- goal: [23, 31] + name: agent33 + start: [17, 22] +- goal: [26, 15] + name: agent34 + start: [26, 26] +- goal: [15, 29] + name: agent35 + start: [18, 0] +- goal: [24, 18] + name: agent36 + start: [31, 15] +- goal: [27, 27] + name: agent37 + start: [10, 26] +- goal: [11, 1] + name: agent38 + start: [12, 18] +- goal: [9, 29] + name: agent39 + start: [31, 11] +- goal: [22, 26] + name: agent40 + start: [6, 11] +- goal: [22, 10] + name: agent41 + start: [24, 16] +- goal: [28, 27] + name: agent42 + start: [13, 14] +- goal: [2, 29] + name: agent43 + start: [21, 13] +- goal: [24, 23] + name: agent44 + start: [23, 31] +- goal: [13, 2] + name: agent45 + start: [29, 18] +- goal: [26, 7] + name: agent46 + start: [30, 28] +- goal: [3, 24] + name: agent47 + start: [13, 23] +- goal: [28, 4] + name: agent48 + start: [18, 10] +- goal: [19, 17] + name: agent49 + start: [22, 18] +- goal: [18, 6] + name: agent50 + start: [2, 14] +- goal: [12, 26] + name: agent51 + start: [25, 31] +- goal: [27, 10] + name: agent52 + start: [10, 10] +- goal: [28, 5] + name: agent53 + start: [28, 8] +- goal: [0, 6] + name: agent54 + start: [1, 27] +- goal: [28, 16] + name: agent55 + start: [4, 28] +- goal: [27, 15] + name: agent56 + start: [26, 30] +- goal: [26, 16] + name: agent57 + start: [31, 13] +- goal: [16, 21] + name: agent58 + start: [7, 30] +- goal: [13, 16] + name: agent59 + start: [16, 31] +- goal: [9, 25] + name: agent60 + start: [1, 21] +- goal: [10, 13] + name: agent61 + start: [7, 23] +- goal: [31, 3] + name: agent62 + start: [20, 0] +- goal: [27, 13] + name: agent63 + start: [7, 19] +- goal: [23, 19] + name: agent64 + start: [15, 12] +- goal: [8, 25] + name: agent65 + start: [9, 30] +- goal: [14, 16] + name: agent66 + start: [9, 20] +- goal: [31, 28] + name: agent67 + start: [4, 13] +- goal: [6, 21] + name: agent68 + start: [31, 8] +- goal: [25, 14] + name: agent69 + start: [13, 11] +- goal: [0, 22] + name: agent70 + start: [16, 18] +- goal: [21, 6] + name: agent71 + start: [13, 29] +- goal: [3, 12] + name: agent72 + start: [13, 21] +- goal: [25, 17] + name: agent73 + start: [4, 30] +- goal: [24, 13] + name: agent74 + start: [0, 14] +- goal: [18, 28] + name: agent75 + start: [28, 18] +- goal: [3, 17] + name: agent76 + start: [20, 24] +- goal: [11, 9] + name: agent77 + start: [18, 27] +- goal: [8, 30] + name: agent78 + start: [0, 6] +- goal: [8, 23] + name: agent79 + start: [31, 4] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [29, 10] + - !!python/tuple [7, 18] + - !!python/tuple [22, 25] + - !!python/tuple [26, 19] + - !!python/tuple [31, 19] + - !!python/tuple [20, 9] + - !!python/tuple [17, 11] + - !!python/tuple [8, 20] + - !!python/tuple [21, 5] + - !!python/tuple [0, 0] + - !!python/tuple [17, 16] + - !!python/tuple [17, 21] + - !!python/tuple [29, 29] + - !!python/tuple [18, 24] + - !!python/tuple [24, 20] + - !!python/tuple [30, 20] + - !!python/tuple [15, 6] + - !!python/tuple [0, 27] + - !!python/tuple [29, 28] + - !!python/tuple [20, 13] + - !!python/tuple [2, 15] + - !!python/tuple [0, 29] + - !!python/tuple [1, 22] + - !!python/tuple [25, 13] + - !!python/tuple [9, 11] + - !!python/tuple [5, 12] + - !!python/tuple [4, 9] + - !!python/tuple [16, 19] + - !!python/tuple [11, 25] + - !!python/tuple [4, 8] + - !!python/tuple [31, 7] + - !!python/tuple [15, 24] + - !!python/tuple [8, 26] + - !!python/tuple [4, 24] + - !!python/tuple [24, 2] + - !!python/tuple [17, 23] + - !!python/tuple [27, 8] + - !!python/tuple [19, 25] + - !!python/tuple [31, 16] + - !!python/tuple [13, 5] + - !!python/tuple [14, 10] + - !!python/tuple [13, 26] + - !!python/tuple [6, 31] + - !!python/tuple [20, 17] + - !!python/tuple [5, 20] + - !!python/tuple [19, 8] + - !!python/tuple [3, 10] + - !!python/tuple [9, 17] + - !!python/tuple [20, 8] + - !!python/tuple [18, 2] + - !!python/tuple [17, 1] + - !!python/tuple [27, 23] + - !!python/tuple [19, 23] + - !!python/tuple [31, 23] + - !!python/tuple [21, 16] + - !!python/tuple [23, 0] + - !!python/tuple [29, 26] + - !!python/tuple [9, 21] + - !!python/tuple [22, 20] + - !!python/tuple [26, 0] + - !!python/tuple [21, 0] + - !!python/tuple [16, 28] + - !!python/tuple [21, 12] + - !!python/tuple [26, 13] + - !!python/tuple [9, 15] + - !!python/tuple [0, 10] + - !!python/tuple [6, 15] + - !!python/tuple [22, 16] + - !!python/tuple [30, 31] + - !!python/tuple [30, 15] + - !!python/tuple [9, 24] + - !!python/tuple [16, 11] + - !!python/tuple [19, 15] + - !!python/tuple [2, 11] + - !!python/tuple [1, 23] + - !!python/tuple [12, 14] + - !!python/tuple [2, 7] + - !!python/tuple [4, 27] + - !!python/tuple [14, 19] + - !!python/tuple [13, 0] + - !!python/tuple [2, 17] + - !!python/tuple [14, 20] + - !!python/tuple [4, 16] + - !!python/tuple [4, 10] + - !!python/tuple [30, 9] + - !!python/tuple [2, 3] + - !!python/tuple [30, 7] + - !!python/tuple [29, 5] + - !!python/tuple [31, 10] + - !!python/tuple [24, 26] + - !!python/tuple [24, 8] + - !!python/tuple [28, 25] + - !!python/tuple [15, 11] + - !!python/tuple [29, 7] + - !!python/tuple [7, 28] + - !!python/tuple [9, 10] + - !!python/tuple [27, 12] + - !!python/tuple [21, 22] + - !!python/tuple [19, 28] + - !!python/tuple [1, 0] + - !!python/tuple [0, 26] + - !!python/tuple [2, 19] + - !!python/tuple [21, 21] + - !!python/tuple [7, 24] + - !!python/tuple [28, 29] + - !!python/tuple [19, 6] + - !!python/tuple [0, 20] + - !!python/tuple [15, 13] + - !!python/tuple [10, 27] + - !!python/tuple [23, 26] + - !!python/tuple [19, 13] + - !!python/tuple [25, 4] + - !!python/tuple [20, 14] + - !!python/tuple [12, 31] + - !!python/tuple [16, 8] + - !!python/tuple [12, 27] + - !!python/tuple [21, 30] + - !!python/tuple [10, 22] + - !!python/tuple [19, 4] + - !!python/tuple [29, 4] + - !!python/tuple [0, 7] + - !!python/tuple [23, 25] + - !!python/tuple [30, 5] + - !!python/tuple [20, 20] + - !!python/tuple [15, 2] + - !!python/tuple [20, 3] + - !!python/tuple [24, 28] + - !!python/tuple [13, 20] + - !!python/tuple [1, 30] + - !!python/tuple [7, 31] + - !!python/tuple [11, 27] + - !!python/tuple [19, 9] + - !!python/tuple [9, 3] + - !!python/tuple [16, 2] + - !!python/tuple [16, 30] + - !!python/tuple [23, 29] + - !!python/tuple [17, 28] + - !!python/tuple [2, 2] + - !!python/tuple [18, 3] + - !!python/tuple [31, 29] + - !!python/tuple [26, 20] + - !!python/tuple [13, 28] + - !!python/tuple [18, 22] + - !!python/tuple [10, 6] + - !!python/tuple [20, 2] + - !!python/tuple [14, 28] + - !!python/tuple [13, 4] + - !!python/tuple [11, 22] + - !!python/tuple [19, 3] + - !!python/tuple [29, 25] + - !!python/tuple [17, 6] + - !!python/tuple [3, 29] + - !!python/tuple [20, 15] + - !!python/tuple [6, 27] + - !!python/tuple [8, 13] + - !!python/tuple [16, 20] + - !!python/tuple [4, 20] + - !!python/tuple [0, 30] + - !!python/tuple [24, 11] + - !!python/tuple [18, 17] + - !!python/tuple [14, 3] + - !!python/tuple [16, 6] + - !!python/tuple [18, 23] + - !!python/tuple [12, 6] + - !!python/tuple [30, 6] + - !!python/tuple [13, 17] + - !!python/tuple [26, 8] + - !!python/tuple [22, 4] + - !!python/tuple [18, 1] + - !!python/tuple [22, 15] + - !!python/tuple [8, 15] + - !!python/tuple [22, 8] + - !!python/tuple [2, 26] + - !!python/tuple [15, 3] + - !!python/tuple [7, 6] + - !!python/tuple [20, 18] + - !!python/tuple [28, 7] + - !!python/tuple [29, 19] + - !!python/tuple [1, 13] + - !!python/tuple [0, 25] + - !!python/tuple [31, 22] + - !!python/tuple [0, 24] + - !!python/tuple [8, 1] + - !!python/tuple [0, 23] + - !!python/tuple [14, 12] + - !!python/tuple [10, 29] + - !!python/tuple [18, 14] + - !!python/tuple [25, 11] + - !!python/tuple [4, 15] + - !!python/tuple [1, 18] + - !!python/tuple [20, 27] + - !!python/tuple [23, 23] + - !!python/tuple [6, 9] + - !!python/tuple [15, 16] + - !!python/tuple [6, 13] + - !!python/tuple [19, 24] + - !!python/tuple [3, 19] + - !!python/tuple [26, 14] + - !!python/tuple [15, 15] + - !!python/tuple [16, 29] + - !!python/tuple [4, 22] + - !!python/tuple [4, 14] + - !!python/tuple [6, 30] + - !!python/tuple [22, 13] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex94.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex94.yaml new file mode 100644 index 0000000..83aa57f --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex94.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [5, 24] + name: agent0 + start: [30, 3] +- goal: [2, 20] + name: agent1 + start: [0, 13] +- goal: [24, 0] + name: agent2 + start: [23, 20] +- goal: [15, 10] + name: agent3 + start: [0, 14] +- goal: [22, 1] + name: agent4 + start: [13, 22] +- goal: [9, 0] + name: agent5 + start: [30, 31] +- goal: [29, 27] + name: agent6 + start: [30, 5] +- goal: [16, 21] + name: agent7 + start: [14, 21] +- goal: [6, 9] + name: agent8 + start: [0, 10] +- goal: [5, 2] + name: agent9 + start: [5, 29] +- goal: [31, 17] + name: agent10 + start: [16, 16] +- goal: [6, 21] + name: agent11 + start: [18, 17] +- goal: [3, 19] + name: agent12 + start: [23, 29] +- goal: [26, 14] + name: agent13 + start: [23, 26] +- goal: [25, 7] + name: agent14 + start: [10, 19] +- goal: [3, 29] + name: agent15 + start: [16, 7] +- goal: [1, 13] + name: agent16 + start: [14, 25] +- goal: [20, 26] + name: agent17 + start: [21, 29] +- goal: [19, 7] + name: agent18 + start: [8, 3] +- goal: [5, 27] + name: agent19 + start: [6, 23] +- goal: [29, 22] + name: agent20 + start: [13, 19] +- goal: [9, 29] + name: agent21 + start: [18, 20] +- goal: [27, 19] + name: agent22 + start: [30, 2] +- goal: [13, 2] + name: agent23 + start: [19, 2] +- goal: [17, 13] + name: agent24 + start: [1, 13] +- goal: [23, 20] + name: agent25 + start: [23, 31] +- goal: [21, 17] + name: agent26 + start: [20, 4] +- goal: [6, 4] + name: agent27 + start: [26, 21] +- goal: [2, 8] + name: agent28 + start: [13, 11] +- goal: [17, 2] + name: agent29 + start: [22, 14] +- goal: [0, 9] + name: agent30 + start: [21, 12] +- goal: [22, 23] + name: agent31 + start: [13, 17] +- goal: [4, 20] + name: agent32 + start: [16, 23] +- goal: [24, 27] + name: agent33 + start: [10, 2] +- goal: [15, 24] + name: agent34 + start: [9, 11] +- goal: [11, 26] + name: agent35 + start: [13, 29] +- goal: [13, 3] + name: agent36 + start: [11, 21] +- goal: [30, 19] + name: agent37 + start: [0, 23] +- goal: [8, 4] + name: agent38 + start: [28, 29] +- goal: [30, 13] + name: agent39 + start: [25, 21] +- goal: [4, 27] + name: agent40 + start: [8, 15] +- goal: [12, 29] + name: agent41 + start: [12, 11] +- goal: [6, 16] + name: agent42 + start: [29, 13] +- goal: [28, 26] + name: agent43 + start: [11, 17] +- goal: [1, 30] + name: agent44 + start: [29, 0] +- goal: [14, 11] + name: agent45 + start: [2, 21] +- goal: [23, 7] + name: agent46 + start: [13, 31] +- goal: [9, 19] + name: agent47 + start: [2, 23] +- goal: [23, 30] + name: agent48 + start: [6, 2] +- goal: [2, 21] + name: agent49 + start: [15, 0] +- goal: [13, 30] + name: agent50 + start: [4, 21] +- goal: [5, 7] + name: agent51 + start: [9, 29] +- goal: [15, 21] + name: agent52 + start: [19, 1] +- goal: [5, 18] + name: agent53 + start: [12, 13] +- goal: [29, 11] + name: agent54 + start: [6, 1] +- goal: [18, 21] + name: agent55 + start: [31, 19] +- goal: [24, 1] + name: agent56 + start: [16, 27] +- goal: [26, 9] + name: agent57 + start: [27, 9] +- goal: [15, 9] + name: agent58 + start: [24, 21] +- goal: [25, 8] + name: agent59 + start: [4, 15] +- goal: [18, 10] + name: agent60 + start: [6, 28] +- goal: [12, 16] + name: agent61 + start: [29, 12] +- goal: [15, 8] + name: agent62 + start: [31, 31] +- goal: [20, 1] + name: agent63 + start: [25, 22] +- goal: [3, 5] + name: agent64 + start: [31, 10] +- goal: [2, 11] + name: agent65 + start: [10, 23] +- goal: [19, 9] + name: agent66 + start: [10, 5] +- goal: [10, 28] + name: agent67 + start: [24, 2] +- goal: [30, 17] + name: agent68 + start: [5, 4] +- goal: [24, 11] + name: agent69 + start: [30, 29] +- goal: [27, 28] + name: agent70 + start: [28, 31] +- goal: [8, 20] + name: agent71 + start: [0, 27] +- goal: [9, 13] + name: agent72 + start: [8, 21] +- goal: [7, 8] + name: agent73 + start: [3, 14] +- goal: [1, 20] + name: agent74 + start: [23, 10] +- goal: [7, 13] + name: agent75 + start: [11, 18] +- goal: [4, 18] + name: agent76 + start: [12, 12] +- goal: [5, 9] + name: agent77 + start: [13, 0] +- goal: [17, 21] + name: agent78 + start: [11, 6] +- goal: [27, 4] + name: agent79 + start: [13, 8] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [9, 20] + - !!python/tuple [4, 25] + - !!python/tuple [25, 30] + - !!python/tuple [31, 20] + - !!python/tuple [19, 0] + - !!python/tuple [23, 14] + - !!python/tuple [10, 25] + - !!python/tuple [18, 1] + - !!python/tuple [17, 26] + - !!python/tuple [5, 26] + - !!python/tuple [21, 15] + - !!python/tuple [23, 0] + - !!python/tuple [18, 12] + - !!python/tuple [22, 27] + - !!python/tuple [9, 9] + - !!python/tuple [2, 31] + - !!python/tuple [1, 19] + - !!python/tuple [17, 28] + - !!python/tuple [11, 13] + - !!python/tuple [17, 17] + - !!python/tuple [30, 11] + - !!python/tuple [1, 1] + - !!python/tuple [28, 3] + - !!python/tuple [26, 4] + - !!python/tuple [14, 30] + - !!python/tuple [13, 1] + - !!python/tuple [8, 23] + - !!python/tuple [11, 4] + - !!python/tuple [23, 24] + - !!python/tuple [3, 18] + - !!python/tuple [10, 8] + - !!python/tuple [13, 6] + - !!python/tuple [12, 28] + - !!python/tuple [25, 20] + - !!python/tuple [16, 5] + - !!python/tuple [30, 30] + - !!python/tuple [4, 5] + - !!python/tuple [2, 22] + - !!python/tuple [21, 1] + - !!python/tuple [17, 4] + - !!python/tuple [26, 23] + - !!python/tuple [28, 17] + - !!python/tuple [31, 2] + - !!python/tuple [6, 17] + - !!python/tuple [31, 29] + - !!python/tuple [26, 15] + - !!python/tuple [31, 12] + - !!python/tuple [12, 9] + - !!python/tuple [10, 0] + - !!python/tuple [12, 25] + - !!python/tuple [21, 13] + - !!python/tuple [11, 10] + - !!python/tuple [8, 26] + - !!python/tuple [24, 8] + - !!python/tuple [16, 20] + - !!python/tuple [2, 7] + - !!python/tuple [10, 21] + - !!python/tuple [28, 6] + - !!python/tuple [5, 10] + - !!python/tuple [17, 8] + - !!python/tuple [6, 5] + - !!python/tuple [16, 10] + - !!python/tuple [2, 26] + - !!python/tuple [1, 2] + - !!python/tuple [21, 20] + - !!python/tuple [22, 25] + - !!python/tuple [3, 7] + - !!python/tuple [0, 1] + - !!python/tuple [21, 28] + - !!python/tuple [3, 2] + - !!python/tuple [5, 22] + - !!python/tuple [22, 22] + - !!python/tuple [0, 22] + - !!python/tuple [11, 24] + - !!python/tuple [8, 10] + - !!python/tuple [17, 6] + - !!python/tuple [20, 5] + - !!python/tuple [10, 14] + - !!python/tuple [28, 25] + - !!python/tuple [19, 15] + - !!python/tuple [22, 20] + - !!python/tuple [14, 6] + - !!python/tuple [19, 3] + - !!python/tuple [18, 29] + - !!python/tuple [24, 28] + - !!python/tuple [24, 17] + - !!python/tuple [17, 20] + - !!python/tuple [18, 6] + - !!python/tuple [0, 8] + - !!python/tuple [25, 28] + - !!python/tuple [30, 15] + - !!python/tuple [26, 17] + - !!python/tuple [3, 28] + - !!python/tuple [7, 0] + - !!python/tuple [16, 4] + - !!python/tuple [20, 19] + - !!python/tuple [31, 4] + - !!python/tuple [4, 29] + - !!python/tuple [21, 3] + - !!python/tuple [1, 6] + - !!python/tuple [25, 11] + - !!python/tuple [21, 22] + - !!python/tuple [6, 15] + - !!python/tuple [2, 13] + - !!python/tuple [1, 16] + - !!python/tuple [26, 2] + - !!python/tuple [9, 14] + - !!python/tuple [10, 18] + - !!python/tuple [12, 15] + - !!python/tuple [2, 3] + - !!python/tuple [2, 4] + - !!python/tuple [18, 0] + - !!python/tuple [9, 17] + - !!python/tuple [15, 29] + - !!python/tuple [0, 18] + - !!python/tuple [11, 20] + - !!python/tuple [16, 31] + - !!python/tuple [4, 16] + - !!python/tuple [29, 3] + - !!python/tuple [26, 28] + - !!python/tuple [26, 11] + - !!python/tuple [6, 29] + - !!python/tuple [1, 10] + - !!python/tuple [27, 6] + - !!python/tuple [28, 20] + - !!python/tuple [5, 19] + - !!python/tuple [1, 17] + - !!python/tuple [10, 15] + - !!python/tuple [9, 22] + - !!python/tuple [1, 14] + - !!python/tuple [18, 3] + - !!python/tuple [6, 27] + - !!python/tuple [11, 27] + - !!python/tuple [23, 11] + - !!python/tuple [27, 10] + - !!python/tuple [7, 9] + - !!python/tuple [19, 11] + - !!python/tuple [1, 22] + - !!python/tuple [10, 9] + - !!python/tuple [24, 24] + - !!python/tuple [4, 7] + - !!python/tuple [10, 24] + - !!python/tuple [11, 19] + - !!python/tuple [12, 0] + - !!python/tuple [19, 25] + - !!python/tuple [10, 10] + - !!python/tuple [0, 26] + - !!python/tuple [9, 5] + - !!python/tuple [4, 26] + - !!python/tuple [17, 7] + - !!python/tuple [20, 22] + - !!python/tuple [25, 18] + - !!python/tuple [19, 30] + - !!python/tuple [1, 0] + - !!python/tuple [4, 13] + - !!python/tuple [19, 31] + - !!python/tuple [8, 19] + - !!python/tuple [22, 29] + - !!python/tuple [26, 1] + - !!python/tuple [7, 10] + - !!python/tuple [26, 6] + - !!python/tuple [0, 17] + - !!python/tuple [26, 8] + - !!python/tuple [18, 14] + - !!python/tuple [30, 8] + - !!python/tuple [28, 11] + - !!python/tuple [18, 9] + - !!python/tuple [22, 19] + - !!python/tuple [14, 15] + - !!python/tuple [26, 3] + - !!python/tuple [1, 7] + - !!python/tuple [8, 14] + - !!python/tuple [21, 19] + - !!python/tuple [3, 4] + - !!python/tuple [18, 31] + - !!python/tuple [5, 8] + - !!python/tuple [14, 20] + - !!python/tuple [21, 5] + - !!python/tuple [14, 13] + - !!python/tuple [7, 22] + - !!python/tuple [19, 18] + - !!python/tuple [4, 4] + - !!python/tuple [5, 23] + - !!python/tuple [21, 16] + - !!python/tuple [30, 7] + - !!python/tuple [20, 13] + - !!python/tuple [5, 12] + - !!python/tuple [27, 8] + - !!python/tuple [30, 21] + - !!python/tuple [25, 25] + - !!python/tuple [8, 5] + - !!python/tuple [26, 19] + - !!python/tuple [27, 13] + - !!python/tuple [9, 4] + - !!python/tuple [22, 6] + - !!python/tuple [14, 7] + - !!python/tuple [2, 14] + - !!python/tuple [31, 26] + - !!python/tuple [17, 10] + - !!python/tuple [30, 24] + - !!python/tuple [1, 26] + - !!python/tuple [4, 19] + - !!python/tuple [24, 14] + - !!python/tuple [9, 31] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex95.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex95.yaml new file mode 100644 index 0000000..289400d --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex95.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [29, 30] + name: agent0 + start: [5, 8] +- goal: [2, 28] + name: agent1 + start: [2, 26] +- goal: [25, 24] + name: agent2 + start: [27, 23] +- goal: [1, 10] + name: agent3 + start: [8, 15] +- goal: [13, 21] + name: agent4 + start: [24, 28] +- goal: [2, 20] + name: agent5 + start: [12, 2] +- goal: [12, 26] + name: agent6 + start: [25, 26] +- goal: [2, 6] + name: agent7 + start: [10, 22] +- goal: [18, 9] + name: agent8 + start: [19, 14] +- goal: [1, 5] + name: agent9 + start: [29, 17] +- goal: [16, 16] + name: agent10 + start: [7, 3] +- goal: [10, 8] + name: agent11 + start: [20, 30] +- goal: [9, 13] + name: agent12 + start: [25, 31] +- goal: [4, 9] + name: agent13 + start: [2, 19] +- goal: [21, 14] + name: agent14 + start: [17, 16] +- goal: [20, 17] + name: agent15 + start: [14, 3] +- goal: [19, 18] + name: agent16 + start: [31, 20] +- goal: [24, 25] + name: agent17 + start: [8, 12] +- goal: [24, 5] + name: agent18 + start: [27, 24] +- goal: [22, 4] + name: agent19 + start: [19, 8] +- goal: [1, 8] + name: agent20 + start: [26, 11] +- goal: [6, 22] + name: agent21 + start: [5, 11] +- goal: [16, 21] + name: agent22 + start: [0, 25] +- goal: [14, 9] + name: agent23 + start: [13, 18] +- goal: [22, 12] + name: agent24 + start: [31, 4] +- goal: [8, 31] + name: agent25 + start: [18, 10] +- goal: [6, 20] + name: agent26 + start: [22, 2] +- goal: [8, 9] + name: agent27 + start: [11, 2] +- goal: [29, 8] + name: agent28 + start: [31, 5] +- goal: [29, 4] + name: agent29 + start: [21, 31] +- goal: [8, 6] + name: agent30 + start: [27, 11] +- goal: [1, 27] + name: agent31 + start: [18, 4] +- goal: [15, 6] + name: agent32 + start: [22, 7] +- goal: [21, 1] + name: agent33 + start: [23, 22] +- goal: [24, 17] + name: agent34 + start: [27, 6] +- goal: [29, 20] + name: agent35 + start: [15, 24] +- goal: [29, 26] + name: agent36 + start: [15, 17] +- goal: [12, 20] + name: agent37 + start: [5, 7] +- goal: [28, 18] + name: agent38 + start: [2, 17] +- goal: [19, 1] + name: agent39 + start: [24, 5] +- goal: [7, 24] + name: agent40 + start: [27, 31] +- goal: [8, 30] + name: agent41 + start: [13, 15] +- goal: [20, 20] + name: agent42 + start: [28, 4] +- goal: [28, 21] + name: agent43 + start: [0, 5] +- goal: [10, 10] + name: agent44 + start: [26, 27] +- goal: [11, 15] + name: agent45 + start: [11, 30] +- goal: [9, 1] + name: agent46 + start: [26, 30] +- goal: [28, 24] + name: agent47 + start: [0, 22] +- goal: [9, 8] + name: agent48 + start: [17, 14] +- goal: [25, 0] + name: agent49 + start: [1, 23] +- goal: [27, 19] + name: agent50 + start: [13, 16] +- goal: [31, 22] + name: agent51 + start: [13, 1] +- goal: [15, 25] + name: agent52 + start: [12, 4] +- goal: [19, 20] + name: agent53 + start: [26, 12] +- goal: [16, 22] + name: agent54 + start: [24, 30] +- goal: [8, 15] + name: agent55 + start: [6, 16] +- goal: [3, 28] + name: agent56 + start: [14, 20] +- goal: [29, 9] + name: agent57 + start: [10, 25] +- goal: [31, 23] + name: agent58 + start: [21, 16] +- goal: [9, 2] + name: agent59 + start: [22, 3] +- goal: [13, 29] + name: agent60 + start: [11, 18] +- goal: [18, 28] + name: agent61 + start: [10, 11] +- goal: [10, 2] + name: agent62 + start: [22, 21] +- goal: [12, 24] + name: agent63 + start: [6, 14] +- goal: [10, 12] + name: agent64 + start: [7, 5] +- goal: [30, 21] + name: agent65 + start: [4, 22] +- goal: [17, 13] + name: agent66 + start: [0, 30] +- goal: [4, 26] + name: agent67 + start: [28, 29] +- goal: [5, 26] + name: agent68 + start: [21, 21] +- goal: [18, 7] + name: agent69 + start: [1, 0] +- goal: [22, 14] + name: agent70 + start: [24, 31] +- goal: [5, 29] + name: agent71 + start: [7, 2] +- goal: [22, 27] + name: agent72 + start: [2, 6] +- goal: [13, 23] + name: agent73 + start: [28, 11] +- goal: [5, 15] + name: agent74 + start: [6, 18] +- goal: [7, 18] + name: agent75 + start: [1, 25] +- goal: [20, 28] + name: agent76 + start: [4, 30] +- goal: [11, 29] + name: agent77 + start: [17, 7] +- goal: [5, 28] + name: agent78 + start: [1, 24] +- goal: [13, 20] + name: agent79 + start: [9, 14] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [9, 23] + - !!python/tuple [0, 29] + - !!python/tuple [3, 12] + - !!python/tuple [20, 4] + - !!python/tuple [19, 19] + - !!python/tuple [14, 11] + - !!python/tuple [19, 23] + - !!python/tuple [7, 8] + - !!python/tuple [15, 11] + - !!python/tuple [31, 31] + - !!python/tuple [2, 15] + - !!python/tuple [13, 7] + - !!python/tuple [14, 6] + - !!python/tuple [29, 7] + - !!python/tuple [20, 3] + - !!python/tuple [15, 3] + - !!python/tuple [17, 26] + - !!python/tuple [6, 31] + - !!python/tuple [12, 13] + - !!python/tuple [0, 1] + - !!python/tuple [20, 16] + - !!python/tuple [25, 11] + - !!python/tuple [1, 20] + - !!python/tuple [15, 1] + - !!python/tuple [13, 8] + - !!python/tuple [14, 30] + - !!python/tuple [21, 3] + - !!python/tuple [23, 5] + - !!python/tuple [8, 2] + - !!python/tuple [24, 15] + - !!python/tuple [21, 17] + - !!python/tuple [8, 11] + - !!python/tuple [9, 31] + - !!python/tuple [25, 10] + - !!python/tuple [11, 3] + - !!python/tuple [15, 19] + - !!python/tuple [31, 21] + - !!python/tuple [13, 27] + - !!python/tuple [5, 2] + - !!python/tuple [27, 12] + - !!python/tuple [26, 14] + - !!python/tuple [27, 30] + - !!python/tuple [5, 9] + - !!python/tuple [12, 8] + - !!python/tuple [20, 10] + - !!python/tuple [15, 9] + - !!python/tuple [12, 11] + - !!python/tuple [18, 1] + - !!python/tuple [25, 25] + - !!python/tuple [19, 3] + - !!python/tuple [12, 19] + - !!python/tuple [17, 23] + - !!python/tuple [25, 12] + - !!python/tuple [30, 16] + - !!python/tuple [17, 0] + - !!python/tuple [25, 28] + - !!python/tuple [6, 9] + - !!python/tuple [5, 0] + - !!python/tuple [23, 18] + - !!python/tuple [3, 26] + - !!python/tuple [21, 24] + - !!python/tuple [14, 19] + - !!python/tuple [14, 21] + - !!python/tuple [1, 22] + - !!python/tuple [9, 25] + - !!python/tuple [29, 5] + - !!python/tuple [24, 20] + - !!python/tuple [5, 24] + - !!python/tuple [24, 11] + - !!python/tuple [4, 24] + - !!python/tuple [3, 17] + - !!python/tuple [12, 12] + - !!python/tuple [19, 16] + - !!python/tuple [0, 3] + - !!python/tuple [27, 15] + - !!python/tuple [14, 25] + - !!python/tuple [9, 24] + - !!python/tuple [26, 13] + - !!python/tuple [20, 15] + - !!python/tuple [29, 24] + - !!python/tuple [6, 30] + - !!python/tuple [14, 23] + - !!python/tuple [17, 27] + - !!python/tuple [0, 2] + - !!python/tuple [13, 24] + - !!python/tuple [29, 11] + - !!python/tuple [17, 8] + - !!python/tuple [18, 15] + - !!python/tuple [29, 1] + - !!python/tuple [18, 18] + - !!python/tuple [3, 2] + - !!python/tuple [30, 10] + - !!python/tuple [22, 15] + - !!python/tuple [19, 29] + - !!python/tuple [13, 19] + - !!python/tuple [5, 31] + - !!python/tuple [20, 14] + - !!python/tuple [11, 5] + - !!python/tuple [30, 18] + - !!python/tuple [0, 17] + - !!python/tuple [5, 6] + - !!python/tuple [31, 25] + - !!python/tuple [10, 16] + - !!python/tuple [2, 1] + - !!python/tuple [2, 9] + - !!python/tuple [24, 16] + - !!python/tuple [17, 2] + - !!python/tuple [2, 25] + - !!python/tuple [13, 12] + - !!python/tuple [9, 6] + - !!python/tuple [8, 13] + - !!python/tuple [20, 18] + - !!python/tuple [18, 29] + - !!python/tuple [17, 1] + - !!python/tuple [23, 0] + - !!python/tuple [10, 13] + - !!python/tuple [29, 14] + - !!python/tuple [21, 12] + - !!python/tuple [8, 5] + - !!python/tuple [29, 16] + - !!python/tuple [17, 19] + - !!python/tuple [17, 25] + - !!python/tuple [25, 20] + - !!python/tuple [0, 10] + - !!python/tuple [21, 23] + - !!python/tuple [1, 28] + - !!python/tuple [30, 19] + - !!python/tuple [25, 13] + - !!python/tuple [0, 0] + - !!python/tuple [28, 9] + - !!python/tuple [26, 5] + - !!python/tuple [19, 12] + - !!python/tuple [6, 26] + - !!python/tuple [15, 7] + - !!python/tuple [30, 20] + - !!python/tuple [18, 20] + - !!python/tuple [12, 28] + - !!python/tuple [19, 22] + - !!python/tuple [25, 16] + - !!python/tuple [27, 8] + - !!python/tuple [28, 5] + - !!python/tuple [0, 14] + - !!python/tuple [17, 30] + - !!python/tuple [9, 12] + - !!python/tuple [9, 4] + - !!python/tuple [29, 13] + - !!python/tuple [17, 12] + - !!python/tuple [7, 19] + - !!python/tuple [22, 10] + - !!python/tuple [1, 26] + - !!python/tuple [23, 8] + - !!python/tuple [7, 29] + - !!python/tuple [7, 14] + - !!python/tuple [26, 3] + - !!python/tuple [31, 6] + - !!python/tuple [5, 12] + - !!python/tuple [17, 29] + - !!python/tuple [1, 12] + - !!python/tuple [22, 19] + - !!python/tuple [16, 10] + - !!python/tuple [5, 5] + - !!python/tuple [16, 27] + - !!python/tuple [29, 2] + - !!python/tuple [5, 23] + - !!python/tuple [30, 29] + - !!python/tuple [7, 1] + - !!python/tuple [11, 23] + - !!python/tuple [12, 29] + - !!python/tuple [10, 9] + - !!python/tuple [5, 22] + - !!python/tuple [0, 6] + - !!python/tuple [17, 15] + - !!python/tuple [13, 25] + - !!python/tuple [16, 31] + - !!python/tuple [12, 15] + - !!python/tuple [17, 4] + - !!python/tuple [6, 5] + - !!python/tuple [1, 4] + - !!python/tuple [12, 25] + - !!python/tuple [29, 3] + - !!python/tuple [0, 8] + - !!python/tuple [20, 27] + - !!python/tuple [0, 26] + - !!python/tuple [22, 13] + - !!python/tuple [29, 25] + - !!python/tuple [9, 10] + - !!python/tuple [23, 9] + - !!python/tuple [17, 31] + - !!python/tuple [8, 22] + - !!python/tuple [2, 4] + - !!python/tuple [13, 6] + - !!python/tuple [3, 13] + - !!python/tuple [1, 14] + - !!python/tuple [27, 28] + - !!python/tuple [15, 23] + - !!python/tuple [27, 27] + - !!python/tuple [6, 24] + - !!python/tuple [15, 30] + - !!python/tuple [16, 23] + - !!python/tuple [15, 10] + - !!python/tuple [21, 27] + - !!python/tuple [11, 22] + - !!python/tuple [4, 10] + - !!python/tuple [1, 18] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex96.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex96.yaml new file mode 100644 index 0000000..9a551eb --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex96.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [28, 27] + name: agent0 + start: [10, 25] +- goal: [25, 28] + name: agent1 + start: [1, 24] +- goal: [24, 5] + name: agent2 + start: [0, 20] +- goal: [27, 29] + name: agent3 + start: [22, 7] +- goal: [3, 30] + name: agent4 + start: [12, 22] +- goal: [20, 20] + name: agent5 + start: [2, 20] +- goal: [27, 8] + name: agent6 + start: [24, 8] +- goal: [7, 13] + name: agent7 + start: [8, 19] +- goal: [1, 6] + name: agent8 + start: [2, 11] +- goal: [11, 10] + name: agent9 + start: [28, 4] +- goal: [16, 16] + name: agent10 + start: [22, 9] +- goal: [18, 19] + name: agent11 + start: [18, 19] +- goal: [12, 6] + name: agent12 + start: [6, 11] +- goal: [7, 4] + name: agent13 + start: [13, 7] +- goal: [2, 14] + name: agent14 + start: [7, 1] +- goal: [26, 31] + name: agent15 + start: [19, 8] +- goal: [22, 28] + name: agent16 + start: [13, 20] +- goal: [26, 18] + name: agent17 + start: [17, 0] +- goal: [30, 0] + name: agent18 + start: [12, 8] +- goal: [31, 11] + name: agent19 + start: [31, 21] +- goal: [28, 13] + name: agent20 + start: [20, 0] +- goal: [24, 17] + name: agent21 + start: [9, 22] +- goal: [12, 7] + name: agent22 + start: [7, 11] +- goal: [13, 21] + name: agent23 + start: [18, 24] +- goal: [4, 8] + name: agent24 + start: [21, 21] +- goal: [20, 22] + name: agent25 + start: [11, 26] +- goal: [12, 13] + name: agent26 + start: [27, 14] +- goal: [11, 9] + name: agent27 + start: [20, 22] +- goal: [23, 8] + name: agent28 + start: [4, 5] +- goal: [13, 20] + name: agent29 + start: [22, 10] +- goal: [25, 17] + name: agent30 + start: [25, 27] +- goal: [14, 6] + name: agent31 + start: [14, 25] +- goal: [15, 29] + name: agent32 + start: [5, 26] +- goal: [24, 8] + name: agent33 + start: [7, 21] +- goal: [3, 31] + name: agent34 + start: [6, 8] +- goal: [5, 8] + name: agent35 + start: [0, 1] +- goal: [2, 17] + name: agent36 + start: [14, 15] +- goal: [16, 31] + name: agent37 + start: [26, 2] +- goal: [27, 28] + name: agent38 + start: [19, 16] +- goal: [5, 9] + name: agent39 + start: [9, 11] +- goal: [20, 6] + name: agent40 + start: [16, 6] +- goal: [3, 29] + name: agent41 + start: [24, 1] +- goal: [7, 24] + name: agent42 + start: [25, 24] +- goal: [25, 5] + name: agent43 + start: [28, 26] +- goal: [21, 3] + name: agent44 + start: [21, 15] +- goal: [19, 5] + name: agent45 + start: [24, 18] +- goal: [12, 14] + name: agent46 + start: [18, 26] +- goal: [4, 20] + name: agent47 + start: [27, 16] +- goal: [21, 12] + name: agent48 + start: [19, 30] +- goal: [30, 22] + name: agent49 + start: [16, 21] +- goal: [19, 4] + name: agent50 + start: [3, 0] +- goal: [23, 19] + name: agent51 + start: [3, 5] +- goal: [21, 6] + name: agent52 + start: [23, 26] +- goal: [1, 26] + name: agent53 + start: [8, 7] +- goal: [0, 2] + name: agent54 + start: [29, 8] +- goal: [25, 8] + name: agent55 + start: [31, 27] +- goal: [6, 1] + name: agent56 + start: [28, 22] +- goal: [13, 28] + name: agent57 + start: [24, 19] +- goal: [3, 17] + name: agent58 + start: [15, 19] +- goal: [13, 17] + name: agent59 + start: [29, 16] +- goal: [21, 2] + name: agent60 + start: [25, 25] +- goal: [21, 9] + name: agent61 + start: [30, 16] +- goal: [19, 11] + name: agent62 + start: [10, 26] +- goal: [13, 14] + name: agent63 + start: [17, 2] +- goal: [24, 9] + name: agent64 + start: [29, 17] +- goal: [23, 31] + name: agent65 + start: [29, 29] +- goal: [31, 10] + name: agent66 + start: [22, 14] +- goal: [3, 22] + name: agent67 + start: [17, 26] +- goal: [13, 10] + name: agent68 + start: [16, 12] +- goal: [8, 21] + name: agent69 + start: [4, 23] +- goal: [29, 18] + name: agent70 + start: [8, 20] +- goal: [11, 24] + name: agent71 + start: [12, 9] +- goal: [2, 6] + name: agent72 + start: [25, 9] +- goal: [17, 9] + name: agent73 + start: [24, 2] +- goal: [29, 4] + name: agent74 + start: [21, 28] +- goal: [3, 15] + name: agent75 + start: [4, 4] +- goal: [18, 25] + name: agent76 + start: [25, 20] +- goal: [15, 4] + name: agent77 + start: [9, 26] +- goal: [29, 16] + name: agent78 + start: [9, 21] +- goal: [1, 1] + name: agent79 + start: [27, 6] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [10, 11] + - !!python/tuple [9, 12] + - !!python/tuple [10, 28] + - !!python/tuple [21, 18] + - !!python/tuple [27, 9] + - !!python/tuple [6, 15] + - !!python/tuple [5, 10] + - !!python/tuple [19, 14] + - !!python/tuple [21, 27] + - !!python/tuple [11, 14] + - !!python/tuple [28, 23] + - !!python/tuple [31, 26] + - !!python/tuple [3, 14] + - !!python/tuple [16, 0] + - !!python/tuple [6, 14] + - !!python/tuple [30, 30] + - !!python/tuple [16, 15] + - !!python/tuple [14, 30] + - !!python/tuple [17, 3] + - !!python/tuple [8, 3] + - !!python/tuple [9, 27] + - !!python/tuple [6, 10] + - !!python/tuple [6, 24] + - !!python/tuple [16, 17] + - !!python/tuple [9, 28] + - !!python/tuple [21, 5] + - !!python/tuple [12, 23] + - !!python/tuple [7, 17] + - !!python/tuple [18, 17] + - !!python/tuple [5, 14] + - !!python/tuple [4, 10] + - !!python/tuple [10, 5] + - !!python/tuple [10, 31] + - !!python/tuple [14, 26] + - !!python/tuple [21, 17] + - !!python/tuple [16, 26] + - !!python/tuple [15, 1] + - !!python/tuple [22, 27] + - !!python/tuple [14, 31] + - !!python/tuple [10, 8] + - !!python/tuple [11, 27] + - !!python/tuple [0, 18] + - !!python/tuple [20, 26] + - !!python/tuple [25, 23] + - !!python/tuple [21, 0] + - !!python/tuple [21, 14] + - !!python/tuple [3, 12] + - !!python/tuple [21, 29] + - !!python/tuple [26, 29] + - !!python/tuple [24, 10] + - !!python/tuple [31, 17] + - !!python/tuple [5, 11] + - !!python/tuple [11, 21] + - !!python/tuple [20, 17] + - !!python/tuple [20, 3] + - !!python/tuple [13, 19] + - !!python/tuple [5, 16] + - !!python/tuple [26, 19] + - !!python/tuple [14, 2] + - !!python/tuple [4, 12] + - !!python/tuple [8, 2] + - !!python/tuple [11, 8] + - !!python/tuple [27, 13] + - !!python/tuple [21, 25] + - !!python/tuple [27, 4] + - !!python/tuple [3, 8] + - !!python/tuple [9, 15] + - !!python/tuple [4, 9] + - !!python/tuple [5, 5] + - !!python/tuple [13, 18] + - !!python/tuple [25, 30] + - !!python/tuple [15, 0] + - !!python/tuple [24, 0] + - !!python/tuple [26, 24] + - !!python/tuple [1, 16] + - !!python/tuple [22, 24] + - !!python/tuple [7, 9] + - !!python/tuple [12, 21] + - !!python/tuple [6, 3] + - !!python/tuple [31, 20] + - !!python/tuple [2, 26] + - !!python/tuple [1, 10] + - !!python/tuple [0, 0] + - !!python/tuple [15, 18] + - !!python/tuple [26, 17] + - !!python/tuple [25, 31] + - !!python/tuple [23, 4] + - !!python/tuple [25, 26] + - !!python/tuple [27, 7] + - !!python/tuple [3, 23] + - !!python/tuple [6, 21] + - !!python/tuple [3, 28] + - !!python/tuple [3, 25] + - !!python/tuple [13, 25] + - !!python/tuple [23, 21] + - !!python/tuple [6, 30] + - !!python/tuple [14, 24] + - !!python/tuple [2, 24] + - !!python/tuple [5, 19] + - !!python/tuple [0, 11] + - !!python/tuple [23, 27] + - !!python/tuple [29, 2] + - !!python/tuple [22, 22] + - !!python/tuple [28, 17] + - !!python/tuple [31, 29] + - !!python/tuple [21, 30] + - !!python/tuple [23, 12] + - !!python/tuple [5, 17] + - !!python/tuple [15, 6] + - !!python/tuple [4, 18] + - !!python/tuple [5, 18] + - !!python/tuple [30, 10] + - !!python/tuple [11, 2] + - !!python/tuple [3, 27] + - !!python/tuple [24, 31] + - !!python/tuple [18, 5] + - !!python/tuple [28, 28] + - !!python/tuple [16, 2] + - !!python/tuple [12, 19] + - !!python/tuple [12, 27] + - !!python/tuple [17, 7] + - !!python/tuple [10, 0] + - !!python/tuple [6, 9] + - !!python/tuple [25, 19] + - !!python/tuple [20, 18] + - !!python/tuple [26, 27] + - !!python/tuple [4, 13] + - !!python/tuple [25, 10] + - !!python/tuple [9, 31] + - !!python/tuple [14, 20] + - !!python/tuple [3, 20] + - !!python/tuple [13, 30] + - !!python/tuple [18, 15] + - !!python/tuple [17, 28] + - !!python/tuple [20, 27] + - !!python/tuple [6, 28] + - !!python/tuple [14, 12] + - !!python/tuple [19, 10] + - !!python/tuple [11, 29] + - !!python/tuple [5, 3] + - !!python/tuple [2, 5] + - !!python/tuple [26, 9] + - !!python/tuple [31, 12] + - !!python/tuple [4, 28] + - !!python/tuple [18, 31] + - !!python/tuple [20, 10] + - !!python/tuple [5, 29] + - !!python/tuple [12, 20] + - !!python/tuple [18, 1] + - !!python/tuple [0, 8] + - !!python/tuple [30, 2] + - !!python/tuple [27, 21] + - !!python/tuple [18, 10] + - !!python/tuple [3, 10] + - !!python/tuple [7, 19] + - !!python/tuple [2, 29] + - !!python/tuple [17, 29] + - !!python/tuple [31, 25] + - !!python/tuple [5, 7] + - !!python/tuple [4, 15] + - !!python/tuple [25, 29] + - !!python/tuple [19, 3] + - !!python/tuple [12, 30] + - !!python/tuple [15, 11] + - !!python/tuple [9, 24] + - !!python/tuple [29, 6] + - !!python/tuple [3, 24] + - !!python/tuple [23, 5] + - !!python/tuple [19, 31] + - !!python/tuple [1, 3] + - !!python/tuple [27, 20] + - !!python/tuple [26, 8] + - !!python/tuple [31, 13] + - !!python/tuple [18, 2] + - !!python/tuple [30, 15] + - !!python/tuple [6, 16] + - !!python/tuple [2, 10] + - !!python/tuple [11, 15] + - !!python/tuple [16, 3] + - !!python/tuple [4, 21] + - !!python/tuple [13, 2] + - !!python/tuple [3, 3] + - !!python/tuple [28, 2] + - !!python/tuple [19, 24] + - !!python/tuple [3, 13] + - !!python/tuple [5, 25] + - !!python/tuple [23, 10] + - !!python/tuple [22, 23] + - !!python/tuple [9, 13] + - !!python/tuple [2, 18] + - !!python/tuple [30, 14] + - !!python/tuple [30, 4] + - !!python/tuple [9, 17] + - !!python/tuple [10, 23] + - !!python/tuple [15, 2] + - !!python/tuple [0, 24] + - !!python/tuple [18, 18] + - !!python/tuple [27, 19] + - !!python/tuple [6, 7] + - !!python/tuple [27, 1] + - !!python/tuple [20, 13] + - !!python/tuple [8, 22] + - !!python/tuple [20, 4] + - !!python/tuple [28, 11] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex97.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex97.yaml new file mode 100644 index 0000000..d636361 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex97.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [17, 28] + name: agent0 + start: [21, 0] +- goal: [9, 27] + name: agent1 + start: [28, 1] +- goal: [13, 14] + name: agent2 + start: [28, 3] +- goal: [26, 27] + name: agent3 + start: [11, 13] +- goal: [30, 22] + name: agent4 + start: [21, 15] +- goal: [9, 25] + name: agent5 + start: [30, 2] +- goal: [19, 5] + name: agent6 + start: [29, 2] +- goal: [18, 22] + name: agent7 + start: [11, 16] +- goal: [8, 19] + name: agent8 + start: [3, 1] +- goal: [15, 27] + name: agent9 + start: [14, 19] +- goal: [26, 14] + name: agent10 + start: [15, 25] +- goal: [0, 11] + name: agent11 + start: [23, 16] +- goal: [17, 6] + name: agent12 + start: [0, 29] +- goal: [5, 17] + name: agent13 + start: [28, 13] +- goal: [12, 19] + name: agent14 + start: [24, 30] +- goal: [20, 28] + name: agent15 + start: [2, 6] +- goal: [1, 11] + name: agent16 + start: [7, 7] +- goal: [20, 19] + name: agent17 + start: [27, 3] +- goal: [1, 15] + name: agent18 + start: [4, 17] +- goal: [23, 28] + name: agent19 + start: [17, 6] +- goal: [31, 25] + name: agent20 + start: [0, 16] +- goal: [27, 21] + name: agent21 + start: [17, 8] +- goal: [31, 21] + name: agent22 + start: [17, 18] +- goal: [14, 3] + name: agent23 + start: [31, 20] +- goal: [24, 9] + name: agent24 + start: [31, 28] +- goal: [16, 22] + name: agent25 + start: [14, 2] +- goal: [20, 16] + name: agent26 + start: [14, 27] +- goal: [24, 22] + name: agent27 + start: [12, 31] +- goal: [22, 20] + name: agent28 + start: [17, 29] +- goal: [28, 21] + name: agent29 + start: [19, 19] +- goal: [5, 8] + name: agent30 + start: [25, 15] +- goal: [14, 2] + name: agent31 + start: [20, 20] +- goal: [1, 13] + name: agent32 + start: [26, 13] +- goal: [1, 27] + name: agent33 + start: [30, 27] +- goal: [7, 4] + name: agent34 + start: [8, 12] +- goal: [19, 10] + name: agent35 + start: [26, 16] +- goal: [29, 5] + name: agent36 + start: [25, 4] +- goal: [10, 15] + name: agent37 + start: [21, 18] +- goal: [2, 1] + name: agent38 + start: [23, 12] +- goal: [25, 9] + name: agent39 + start: [24, 31] +- goal: [9, 24] + name: agent40 + start: [23, 29] +- goal: [14, 13] + name: agent41 + start: [30, 12] +- goal: [6, 21] + name: agent42 + start: [23, 3] +- goal: [2, 4] + name: agent43 + start: [4, 27] +- goal: [1, 28] + name: agent44 + start: [31, 29] +- goal: [7, 14] + name: agent45 + start: [18, 23] +- goal: [7, 30] + name: agent46 + start: [30, 14] +- goal: [6, 18] + name: agent47 + start: [9, 9] +- goal: [6, 31] + name: agent48 + start: [6, 6] +- goal: [30, 17] + name: agent49 + start: [21, 26] +- goal: [12, 30] + name: agent50 + start: [22, 8] +- goal: [19, 16] + name: agent51 + start: [28, 15] +- goal: [13, 22] + name: agent52 + start: [17, 5] +- goal: [22, 29] + name: agent53 + start: [18, 11] +- goal: [29, 10] + name: agent54 + start: [14, 1] +- goal: [21, 29] + name: agent55 + start: [20, 10] +- goal: [9, 12] + name: agent56 + start: [5, 10] +- goal: [24, 15] + name: agent57 + start: [24, 27] +- goal: [9, 30] + name: agent58 + start: [13, 1] +- goal: [2, 5] + name: agent59 + start: [22, 29] +- goal: [7, 24] + name: agent60 + start: [22, 9] +- goal: [18, 2] + name: agent61 + start: [17, 1] +- goal: [16, 4] + name: agent62 + start: [15, 26] +- goal: [12, 24] + name: agent63 + start: [16, 26] +- goal: [3, 22] + name: agent64 + start: [30, 3] +- goal: [3, 15] + name: agent65 + start: [25, 20] +- goal: [1, 4] + name: agent66 + start: [0, 25] +- goal: [14, 18] + name: agent67 + start: [6, 28] +- goal: [18, 28] + name: agent68 + start: [3, 28] +- goal: [24, 23] + name: agent69 + start: [14, 14] +- goal: [16, 12] + name: agent70 + start: [1, 13] +- goal: [28, 17] + name: agent71 + start: [16, 25] +- goal: [4, 6] + name: agent72 + start: [4, 30] +- goal: [8, 24] + name: agent73 + start: [1, 16] +- goal: [10, 16] + name: agent74 + start: [29, 11] +- goal: [14, 19] + name: agent75 + start: [2, 1] +- goal: [31, 0] + name: agent76 + start: [13, 3] +- goal: [17, 23] + name: agent77 + start: [18, 10] +- goal: [12, 18] + name: agent78 + start: [11, 5] +- goal: [2, 8] + name: agent79 + start: [20, 31] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [6, 24] + - !!python/tuple [7, 31] + - !!python/tuple [9, 22] + - !!python/tuple [9, 10] + - !!python/tuple [31, 26] + - !!python/tuple [2, 0] + - !!python/tuple [18, 27] + - !!python/tuple [25, 10] + - !!python/tuple [18, 13] + - !!python/tuple [16, 0] + - !!python/tuple [13, 16] + - !!python/tuple [15, 3] + - !!python/tuple [23, 7] + - !!python/tuple [14, 17] + - !!python/tuple [27, 31] + - !!python/tuple [11, 4] + - !!python/tuple [30, 4] + - !!python/tuple [11, 8] + - !!python/tuple [8, 25] + - !!python/tuple [0, 23] + - !!python/tuple [15, 7] + - !!python/tuple [9, 14] + - !!python/tuple [7, 17] + - !!python/tuple [19, 21] + - !!python/tuple [2, 9] + - !!python/tuple [29, 30] + - !!python/tuple [23, 23] + - !!python/tuple [12, 1] + - !!python/tuple [2, 25] + - !!python/tuple [11, 21] + - !!python/tuple [6, 3] + - !!python/tuple [4, 13] + - !!python/tuple [15, 21] + - !!python/tuple [12, 10] + - !!python/tuple [18, 19] + - !!python/tuple [28, 19] + - !!python/tuple [11, 25] + - !!python/tuple [24, 11] + - !!python/tuple [13, 10] + - !!python/tuple [31, 22] + - !!python/tuple [3, 10] + - !!python/tuple [7, 26] + - !!python/tuple [16, 18] + - !!python/tuple [4, 0] + - !!python/tuple [0, 20] + - !!python/tuple [6, 2] + - !!python/tuple [22, 14] + - !!python/tuple [18, 8] + - !!python/tuple [5, 3] + - !!python/tuple [2, 28] + - !!python/tuple [16, 7] + - !!python/tuple [11, 29] + - !!python/tuple [2, 10] + - !!python/tuple [13, 6] + - !!python/tuple [29, 26] + - !!python/tuple [21, 5] + - !!python/tuple [21, 11] + - !!python/tuple [4, 5] + - !!python/tuple [31, 24] + - !!python/tuple [15, 19] + - !!python/tuple [24, 12] + - !!python/tuple [6, 11] + - !!python/tuple [21, 13] + - !!python/tuple [20, 24] + - !!python/tuple [23, 10] + - !!python/tuple [16, 28] + - !!python/tuple [0, 7] + - !!python/tuple [29, 22] + - !!python/tuple [12, 12] + - !!python/tuple [26, 23] + - !!python/tuple [28, 14] + - !!python/tuple [27, 20] + - !!python/tuple [24, 24] + - !!python/tuple [5, 2] + - !!python/tuple [17, 27] + - !!python/tuple [20, 13] + - !!python/tuple [22, 28] + - !!python/tuple [1, 8] + - !!python/tuple [10, 26] + - !!python/tuple [12, 15] + - !!python/tuple [27, 27] + - !!python/tuple [31, 27] + - !!python/tuple [0, 15] + - !!python/tuple [14, 7] + - !!python/tuple [20, 0] + - !!python/tuple [12, 29] + - !!python/tuple [10, 13] + - !!python/tuple [31, 18] + - !!python/tuple [5, 4] + - !!python/tuple [2, 2] + - !!python/tuple [24, 28] + - !!python/tuple [23, 21] + - !!python/tuple [15, 4] + - !!python/tuple [1, 5] + - !!python/tuple [19, 1] + - !!python/tuple [13, 25] + - !!python/tuple [27, 16] + - !!python/tuple [21, 16] + - !!python/tuple [1, 9] + - !!python/tuple [19, 2] + - !!python/tuple [7, 18] + - !!python/tuple [5, 7] + - !!python/tuple [22, 6] + - !!python/tuple [18, 14] + - !!python/tuple [8, 1] + - !!python/tuple [5, 27] + - !!python/tuple [3, 0] + - !!python/tuple [12, 8] + - !!python/tuple [30, 11] + - !!python/tuple [24, 18] + - !!python/tuple [7, 28] + - !!python/tuple [17, 7] + - !!python/tuple [0, 10] + - !!python/tuple [2, 16] + - !!python/tuple [4, 9] + - !!python/tuple [30, 10] + - !!python/tuple [5, 18] + - !!python/tuple [27, 19] + - !!python/tuple [3, 3] + - !!python/tuple [6, 22] + - !!python/tuple [27, 13] + - !!python/tuple [15, 0] + - !!python/tuple [14, 26] + - !!python/tuple [3, 12] + - !!python/tuple [12, 4] + - !!python/tuple [27, 5] + - !!python/tuple [4, 20] + - !!python/tuple [28, 28] + - !!python/tuple [2, 27] + - !!python/tuple [31, 13] + - !!python/tuple [27, 6] + - !!python/tuple [15, 15] + - !!python/tuple [15, 14] + - !!python/tuple [26, 1] + - !!python/tuple [18, 29] + - !!python/tuple [27, 22] + - !!python/tuple [8, 11] + - !!python/tuple [7, 16] + - !!python/tuple [2, 15] + - !!python/tuple [29, 31] + - !!python/tuple [16, 29] + - !!python/tuple [11, 19] + - !!python/tuple [8, 13] + - !!python/tuple [28, 8] + - !!python/tuple [12, 0] + - !!python/tuple [28, 27] + - !!python/tuple [20, 8] + - !!python/tuple [15, 8] + - !!python/tuple [30, 13] + - !!python/tuple [7, 15] + - !!python/tuple [0, 22] + - !!python/tuple [0, 17] + - !!python/tuple [16, 2] + - !!python/tuple [11, 14] + - !!python/tuple [6, 19] + - !!python/tuple [31, 5] + - !!python/tuple [26, 19] + - !!python/tuple [3, 26] + - !!python/tuple [25, 17] + - !!python/tuple [7, 25] + - !!python/tuple [3, 8] + - !!python/tuple [29, 27] + - !!python/tuple [6, 13] + - !!python/tuple [8, 3] + - !!python/tuple [26, 24] + - !!python/tuple [3, 11] + - !!python/tuple [9, 21] + - !!python/tuple [20, 9] + - !!python/tuple [27, 9] + - !!python/tuple [3, 13] + - !!python/tuple [28, 16] + - !!python/tuple [10, 11] + - !!python/tuple [9, 8] + - !!python/tuple [7, 13] + - !!python/tuple [11, 7] + - !!python/tuple [5, 6] + - !!python/tuple [0, 6] + - !!python/tuple [29, 17] + - !!python/tuple [22, 24] + - !!python/tuple [10, 10] + - !!python/tuple [4, 26] + - !!python/tuple [29, 0] + - !!python/tuple [11, 30] + - !!python/tuple [16, 9] + - !!python/tuple [31, 3] + - !!python/tuple [21, 3] + - !!python/tuple [30, 18] + - !!python/tuple [25, 3] + - !!python/tuple [7, 11] + - !!python/tuple [22, 2] + - !!python/tuple [17, 11] + - !!python/tuple [21, 7] + - !!python/tuple [28, 20] + - !!python/tuple [5, 19] + - !!python/tuple [20, 29] + - !!python/tuple [23, 1] + - !!python/tuple [5, 11] + - !!python/tuple [28, 26] + - !!python/tuple [9, 20] + - !!python/tuple [23, 15] + - !!python/tuple [2, 13] + - !!python/tuple [24, 0] + - !!python/tuple [31, 7] + - !!python/tuple [2, 12] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex98.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex98.yaml new file mode 100644 index 0000000..658095f --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex98.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [27, 9] + name: agent0 + start: [24, 30] +- goal: [19, 19] + name: agent1 + start: [15, 19] +- goal: [27, 30] + name: agent2 + start: [25, 28] +- goal: [12, 4] + name: agent3 + start: [7, 0] +- goal: [29, 15] + name: agent4 + start: [0, 24] +- goal: [28, 1] + name: agent5 + start: [17, 31] +- goal: [7, 12] + name: agent6 + start: [0, 13] +- goal: [23, 3] + name: agent7 + start: [20, 28] +- goal: [7, 4] + name: agent8 + start: [4, 17] +- goal: [15, 5] + name: agent9 + start: [29, 14] +- goal: [18, 24] + name: agent10 + start: [17, 25] +- goal: [28, 8] + name: agent11 + start: [16, 4] +- goal: [7, 20] + name: agent12 + start: [5, 0] +- goal: [8, 24] + name: agent13 + start: [16, 21] +- goal: [14, 0] + name: agent14 + start: [12, 25] +- goal: [3, 11] + name: agent15 + start: [3, 24] +- goal: [26, 26] + name: agent16 + start: [9, 28] +- goal: [10, 21] + name: agent17 + start: [19, 6] +- goal: [1, 12] + name: agent18 + start: [30, 21] +- goal: [19, 6] + name: agent19 + start: [26, 26] +- goal: [15, 31] + name: agent20 + start: [6, 10] +- goal: [15, 21] + name: agent21 + start: [27, 25] +- goal: [18, 31] + name: agent22 + start: [27, 4] +- goal: [4, 25] + name: agent23 + start: [0, 12] +- goal: [8, 27] + name: agent24 + start: [26, 31] +- goal: [15, 22] + name: agent25 + start: [29, 9] +- goal: [2, 9] + name: agent26 + start: [29, 1] +- goal: [19, 28] + name: agent27 + start: [7, 11] +- goal: [28, 2] + name: agent28 + start: [5, 26] +- goal: [15, 15] + name: agent29 + start: [24, 0] +- goal: [10, 28] + name: agent30 + start: [13, 7] +- goal: [0, 10] + name: agent31 + start: [13, 9] +- goal: [29, 23] + name: agent32 + start: [7, 23] +- goal: [1, 5] + name: agent33 + start: [29, 10] +- goal: [18, 12] + name: agent34 + start: [20, 4] +- goal: [9, 20] + name: agent35 + start: [25, 31] +- goal: [22, 28] + name: agent36 + start: [8, 25] +- goal: [17, 18] + name: agent37 + start: [20, 27] +- goal: [4, 3] + name: agent38 + start: [16, 27] +- goal: [8, 21] + name: agent39 + start: [18, 6] +- goal: [20, 12] + name: agent40 + start: [15, 6] +- goal: [31, 7] + name: agent41 + start: [1, 16] +- goal: [5, 7] + name: agent42 + start: [21, 9] +- goal: [25, 25] + name: agent43 + start: [23, 8] +- goal: [6, 8] + name: agent44 + start: [4, 25] +- goal: [21, 29] + name: agent45 + start: [5, 13] +- goal: [26, 22] + name: agent46 + start: [23, 19] +- goal: [25, 30] + name: agent47 + start: [15, 11] +- goal: [4, 7] + name: agent48 + start: [26, 17] +- goal: [27, 2] + name: agent49 + start: [21, 18] +- goal: [9, 15] + name: agent50 + start: [8, 29] +- goal: [2, 15] + name: agent51 + start: [3, 1] +- goal: [31, 2] + name: agent52 + start: [1, 11] +- goal: [19, 17] + name: agent53 + start: [19, 19] +- goal: [29, 18] + name: agent54 + start: [2, 31] +- goal: [19, 8] + name: agent55 + start: [6, 9] +- goal: [27, 10] + name: agent56 + start: [28, 25] +- goal: [6, 18] + name: agent57 + start: [22, 28] +- goal: [16, 22] + name: agent58 + start: [6, 8] +- goal: [24, 23] + name: agent59 + start: [18, 18] +- goal: [10, 23] + name: agent60 + start: [5, 21] +- goal: [29, 2] + name: agent61 + start: [13, 2] +- goal: [9, 24] + name: agent62 + start: [6, 16] +- goal: [23, 10] + name: agent63 + start: [12, 4] +- goal: [29, 4] + name: agent64 + start: [28, 23] +- goal: [8, 12] + name: agent65 + start: [13, 21] +- goal: [23, 15] + name: agent66 + start: [25, 24] +- goal: [2, 23] + name: agent67 + start: [17, 22] +- goal: [13, 7] + name: agent68 + start: [18, 0] +- goal: [0, 4] + name: agent69 + start: [23, 30] +- goal: [29, 8] + name: agent70 + start: [5, 12] +- goal: [8, 14] + name: agent71 + start: [27, 6] +- goal: [20, 16] + name: agent72 + start: [5, 6] +- goal: [20, 17] + name: agent73 + start: [4, 18] +- goal: [16, 6] + name: agent74 + start: [10, 22] +- goal: [1, 7] + name: agent75 + start: [16, 8] +- goal: [31, 13] + name: agent76 + start: [6, 18] +- goal: [17, 17] + name: agent77 + start: [5, 2] +- goal: [3, 28] + name: agent78 + start: [6, 5] +- goal: [3, 20] + name: agent79 + start: [6, 23] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [20, 21] + - !!python/tuple [14, 24] + - !!python/tuple [5, 31] + - !!python/tuple [23, 27] + - !!python/tuple [24, 6] + - !!python/tuple [28, 14] + - !!python/tuple [14, 27] + - !!python/tuple [18, 17] + - !!python/tuple [19, 25] + - !!python/tuple [10, 12] + - !!python/tuple [27, 5] + - !!python/tuple [1, 23] + - !!python/tuple [15, 18] + - !!python/tuple [18, 8] + - !!python/tuple [18, 25] + - !!python/tuple [16, 19] + - !!python/tuple [15, 3] + - !!python/tuple [13, 29] + - !!python/tuple [16, 17] + - !!python/tuple [21, 30] + - !!python/tuple [16, 9] + - !!python/tuple [16, 26] + - !!python/tuple [22, 20] + - !!python/tuple [18, 4] + - !!python/tuple [1, 8] + - !!python/tuple [4, 23] + - !!python/tuple [31, 6] + - !!python/tuple [30, 8] + - !!python/tuple [0, 0] + - !!python/tuple [2, 20] + - !!python/tuple [13, 23] + - !!python/tuple [23, 22] + - !!python/tuple [7, 16] + - !!python/tuple [7, 13] + - !!python/tuple [8, 8] + - !!python/tuple [15, 17] + - !!python/tuple [1, 21] + - !!python/tuple [10, 27] + - !!python/tuple [1, 26] + - !!python/tuple [25, 12] + - !!python/tuple [14, 6] + - !!python/tuple [28, 22] + - !!python/tuple [21, 28] + - !!python/tuple [13, 18] + - !!python/tuple [0, 26] + - !!python/tuple [27, 27] + - !!python/tuple [24, 11] + - !!python/tuple [7, 31] + - !!python/tuple [31, 14] + - !!python/tuple [22, 22] + - !!python/tuple [18, 5] + - !!python/tuple [12, 9] + - !!python/tuple [2, 17] + - !!python/tuple [14, 21] + - !!python/tuple [25, 18] + - !!python/tuple [13, 24] + - !!python/tuple [29, 25] + - !!python/tuple [23, 18] + - !!python/tuple [13, 13] + - !!python/tuple [13, 22] + - !!python/tuple [27, 26] + - !!python/tuple [1, 27] + - !!python/tuple [1, 25] + - !!python/tuple [5, 30] + - !!python/tuple [9, 13] + - !!python/tuple [5, 27] + - !!python/tuple [21, 16] + - !!python/tuple [1, 20] + - !!python/tuple [2, 0] + - !!python/tuple [23, 23] + - !!python/tuple [31, 30] + - !!python/tuple [25, 3] + - !!python/tuple [21, 21] + - !!python/tuple [20, 2] + - !!python/tuple [27, 31] + - !!python/tuple [0, 7] + - !!python/tuple [19, 20] + - !!python/tuple [26, 29] + - !!python/tuple [20, 31] + - !!python/tuple [0, 30] + - !!python/tuple [6, 20] + - !!python/tuple [19, 21] + - !!python/tuple [29, 6] + - !!python/tuple [18, 27] + - !!python/tuple [22, 7] + - !!python/tuple [24, 27] + - !!python/tuple [26, 1] + - !!python/tuple [23, 21] + - !!python/tuple [25, 6] + - !!python/tuple [11, 11] + - !!python/tuple [10, 25] + - !!python/tuple [7, 5] + - !!python/tuple [19, 4] + - !!python/tuple [12, 31] + - !!python/tuple [22, 16] + - !!python/tuple [7, 14] + - !!python/tuple [5, 4] + - !!python/tuple [29, 30] + - !!python/tuple [11, 27] + - !!python/tuple [17, 24] + - !!python/tuple [24, 13] + - !!python/tuple [19, 23] + - !!python/tuple [4, 8] + - !!python/tuple [4, 9] + - !!python/tuple [20, 10] + - !!python/tuple [16, 24] + - !!python/tuple [4, 26] + - !!python/tuple [22, 0] + - !!python/tuple [1, 10] + - !!python/tuple [24, 12] + - !!python/tuple [19, 0] + - !!python/tuple [2, 4] + - !!python/tuple [27, 1] + - !!python/tuple [12, 22] + - !!python/tuple [29, 16] + - !!python/tuple [26, 27] + - !!python/tuple [11, 20] + - !!python/tuple [14, 7] + - !!python/tuple [28, 9] + - !!python/tuple [7, 3] + - !!python/tuple [9, 1] + - !!python/tuple [6, 24] + - !!python/tuple [3, 5] + - !!python/tuple [8, 5] + - !!python/tuple [21, 1] + - !!python/tuple [26, 24] + - !!python/tuple [27, 28] + - !!python/tuple [21, 13] + - !!python/tuple [4, 19] + - !!python/tuple [10, 2] + - !!python/tuple [14, 20] + - !!python/tuple [29, 29] + - !!python/tuple [17, 0] + - !!python/tuple [10, 29] + - !!python/tuple [24, 20] + - !!python/tuple [24, 10] + - !!python/tuple [31, 31] + - !!python/tuple [30, 30] + - !!python/tuple [31, 19] + - !!python/tuple [21, 0] + - !!python/tuple [29, 26] + - !!python/tuple [21, 12] + - !!python/tuple [3, 13] + - !!python/tuple [8, 7] + - !!python/tuple [2, 26] + - !!python/tuple [24, 7] + - !!python/tuple [18, 15] + - !!python/tuple [20, 29] + - !!python/tuple [10, 17] + - !!python/tuple [27, 23] + - !!python/tuple [30, 18] + - !!python/tuple [3, 19] + - !!python/tuple [17, 13] + - !!python/tuple [14, 30] + - !!python/tuple [19, 30] + - !!python/tuple [24, 8] + - !!python/tuple [4, 29] + - !!python/tuple [9, 18] + - !!python/tuple [16, 28] + - !!python/tuple [20, 7] + - !!python/tuple [30, 22] + - !!python/tuple [20, 13] + - !!python/tuple [26, 8] + - !!python/tuple [6, 17] + - !!python/tuple [12, 23] + - !!python/tuple [25, 26] + - !!python/tuple [13, 8] + - !!python/tuple [12, 6] + - !!python/tuple [8, 2] + - !!python/tuple [15, 9] + - !!python/tuple [18, 16] + - !!python/tuple [15, 14] + - !!python/tuple [19, 12] + - !!python/tuple [8, 11] + - !!python/tuple [16, 12] + - !!python/tuple [10, 7] + - !!python/tuple [22, 8] + - !!python/tuple [29, 19] + - !!python/tuple [0, 11] + - !!python/tuple [6, 15] + - !!python/tuple [8, 6] + - !!python/tuple [2, 8] + - !!python/tuple [15, 24] + - !!python/tuple [11, 1] + - !!python/tuple [24, 28] + - !!python/tuple [20, 22] + - !!python/tuple [6, 19] + - !!python/tuple [8, 23] + - !!python/tuple [30, 25] + - !!python/tuple [29, 0] + - !!python/tuple [17, 3] + - !!python/tuple [20, 14] + - !!python/tuple [10, 19] + - !!python/tuple [24, 15] + - !!python/tuple [14, 28] + - !!python/tuple [31, 4] + - !!python/tuple [27, 19] + - !!python/tuple [28, 30] + - !!python/tuple [6, 21] + - !!python/tuple [0, 28] + - !!python/tuple [8, 15] + - !!python/tuple [16, 0] + - !!python/tuple [4, 1] + - !!python/tuple [11, 26] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex99.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex99.yaml new file mode 100644 index 0000000..bd28abf --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents80_ex99.yaml @@ -0,0 +1,448 @@ +agents: +- goal: [9, 7] + name: agent0 + start: [27, 24] +- goal: [1, 20] + name: agent1 + start: [28, 6] +- goal: [27, 31] + name: agent2 + start: [9, 13] +- goal: [7, 11] + name: agent3 + start: [6, 25] +- goal: [0, 12] + name: agent4 + start: [7, 18] +- goal: [18, 9] + name: agent5 + start: [14, 4] +- goal: [27, 19] + name: agent6 + start: [24, 13] +- goal: [9, 31] + name: agent7 + start: [8, 2] +- goal: [5, 24] + name: agent8 + start: [9, 1] +- goal: [15, 6] + name: agent9 + start: [1, 13] +- goal: [9, 23] + name: agent10 + start: [30, 9] +- goal: [31, 1] + name: agent11 + start: [19, 23] +- goal: [20, 23] + name: agent12 + start: [16, 21] +- goal: [31, 26] + name: agent13 + start: [28, 20] +- goal: [5, 4] + name: agent14 + start: [9, 24] +- goal: [20, 13] + name: agent15 + start: [14, 6] +- goal: [23, 24] + name: agent16 + start: [23, 24] +- goal: [26, 15] + name: agent17 + start: [15, 15] +- goal: [16, 14] + name: agent18 + start: [17, 9] +- goal: [9, 29] + name: agent19 + start: [13, 28] +- goal: [22, 31] + name: agent20 + start: [17, 16] +- goal: [6, 20] + name: agent21 + start: [9, 8] +- goal: [30, 14] + name: agent22 + start: [8, 8] +- goal: [17, 26] + name: agent23 + start: [1, 16] +- goal: [28, 12] + name: agent24 + start: [0, 20] +- goal: [30, 5] + name: agent25 + start: [22, 8] +- goal: [26, 27] + name: agent26 + start: [14, 19] +- goal: [16, 20] + name: agent27 + start: [25, 0] +- goal: [6, 15] + name: agent28 + start: [27, 7] +- goal: [24, 14] + name: agent29 + start: [0, 23] +- goal: [18, 30] + name: agent30 + start: [25, 6] +- goal: [10, 18] + name: agent31 + start: [25, 5] +- goal: [21, 19] + name: agent32 + start: [19, 27] +- goal: [6, 7] + name: agent33 + start: [31, 9] +- goal: [11, 15] + name: agent34 + start: [5, 16] +- goal: [19, 5] + name: agent35 + start: [28, 12] +- goal: [3, 31] + name: agent36 + start: [16, 23] +- goal: [22, 5] + name: agent37 + start: [13, 20] +- goal: [9, 16] + name: agent38 + start: [14, 1] +- goal: [0, 0] + name: agent39 + start: [22, 1] +- goal: [4, 27] + name: agent40 + start: [8, 10] +- goal: [13, 31] + name: agent41 + start: [11, 4] +- goal: [13, 15] + name: agent42 + start: [12, 25] +- goal: [7, 10] + name: agent43 + start: [23, 6] +- goal: [8, 0] + name: agent44 + start: [3, 23] +- goal: [6, 9] + name: agent45 + start: [14, 0] +- goal: [24, 0] + name: agent46 + start: [27, 1] +- goal: [1, 27] + name: agent47 + start: [7, 28] +- goal: [3, 29] + name: agent48 + start: [21, 26] +- goal: [26, 26] + name: agent49 + start: [10, 17] +- goal: [7, 1] + name: agent50 + start: [8, 12] +- goal: [22, 8] + name: agent51 + start: [15, 1] +- goal: [11, 13] + name: agent52 + start: [22, 5] +- goal: [30, 10] + name: agent53 + start: [21, 29] +- goal: [25, 25] + name: agent54 + start: [26, 19] +- goal: [28, 11] + name: agent55 + start: [17, 27] +- goal: [5, 7] + name: agent56 + start: [15, 12] +- goal: [21, 10] + name: agent57 + start: [20, 3] +- goal: [30, 0] + name: agent58 + start: [7, 8] +- goal: [18, 10] + name: agent59 + start: [24, 2] +- goal: [8, 8] + name: agent60 + start: [24, 3] +- goal: [7, 27] + name: agent61 + start: [27, 16] +- goal: [18, 15] + name: agent62 + start: [5, 17] +- goal: [14, 2] + name: agent63 + start: [9, 7] +- goal: [2, 12] + name: agent64 + start: [1, 28] +- goal: [8, 20] + name: agent65 + start: [21, 10] +- goal: [11, 26] + name: agent66 + start: [8, 19] +- goal: [17, 17] + name: agent67 + start: [11, 18] +- goal: [9, 13] + name: agent68 + start: [21, 14] +- goal: [21, 22] + name: agent69 + start: [7, 27] +- goal: [19, 26] + name: agent70 + start: [24, 22] +- goal: [26, 22] + name: agent71 + start: [5, 3] +- goal: [4, 25] + name: agent72 + start: [6, 29] +- goal: [16, 15] + name: agent73 + start: [23, 9] +- goal: [17, 19] + name: agent74 + start: [21, 27] +- goal: [13, 1] + name: agent75 + start: [18, 24] +- goal: [11, 8] + name: agent76 + start: [6, 18] +- goal: [10, 26] + name: agent77 + start: [25, 30] +- goal: [29, 27] + name: agent78 + start: [14, 11] +- goal: [28, 13] + name: agent79 + start: [11, 25] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [26, 9] + - !!python/tuple [10, 12] + - !!python/tuple [14, 7] + - !!python/tuple [2, 10] + - !!python/tuple [19, 15] + - !!python/tuple [27, 15] + - !!python/tuple [8, 11] + - !!python/tuple [22, 0] + - !!python/tuple [20, 12] + - !!python/tuple [0, 5] + - !!python/tuple [7, 20] + - !!python/tuple [15, 9] + - !!python/tuple [13, 18] + - !!python/tuple [3, 1] + - !!python/tuple [24, 4] + - !!python/tuple [5, 22] + - !!python/tuple [14, 13] + - !!python/tuple [10, 3] + - !!python/tuple [27, 14] + - !!python/tuple [19, 4] + - !!python/tuple [29, 9] + - !!python/tuple [18, 4] + - !!python/tuple [18, 7] + - !!python/tuple [10, 31] + - !!python/tuple [11, 14] + - !!python/tuple [27, 27] + - !!python/tuple [21, 15] + - !!python/tuple [21, 8] + - !!python/tuple [28, 28] + - !!python/tuple [23, 12] + - !!python/tuple [4, 7] + - !!python/tuple [2, 9] + - !!python/tuple [13, 3] + - !!python/tuple [14, 18] + - !!python/tuple [16, 10] + - !!python/tuple [24, 21] + - !!python/tuple [3, 11] + - !!python/tuple [23, 3] + - !!python/tuple [28, 19] + - !!python/tuple [9, 21] + - !!python/tuple [12, 21] + - !!python/tuple [7, 3] + - !!python/tuple [0, 7] + - !!python/tuple [2, 25] + - !!python/tuple [6, 24] + - !!python/tuple [13, 13] + - !!python/tuple [29, 13] + - !!python/tuple [30, 16] + - !!python/tuple [10, 15] + - !!python/tuple [28, 22] + - !!python/tuple [18, 22] + - !!python/tuple [27, 0] + - !!python/tuple [15, 27] + - !!python/tuple [21, 7] + - !!python/tuple [7, 6] + - !!python/tuple [30, 1] + - !!python/tuple [8, 7] + - !!python/tuple [18, 16] + - !!python/tuple [19, 9] + - !!python/tuple [0, 21] + - !!python/tuple [2, 28] + - !!python/tuple [9, 9] + - !!python/tuple [16, 26] + - !!python/tuple [26, 13] + - !!python/tuple [3, 7] + - !!python/tuple [16, 11] + - !!python/tuple [6, 26] + - !!python/tuple [26, 30] + - !!python/tuple [2, 30] + - !!python/tuple [9, 27] + - !!python/tuple [14, 29] + - !!python/tuple [6, 5] + - !!python/tuple [16, 12] + - !!python/tuple [13, 29] + - !!python/tuple [22, 24] + - !!python/tuple [31, 27] + - !!python/tuple [25, 31] + - !!python/tuple [23, 22] + - !!python/tuple [11, 22] + - !!python/tuple [20, 0] + - !!python/tuple [8, 27] + - !!python/tuple [22, 29] + - !!python/tuple [8, 26] + - !!python/tuple [12, 19] + - !!python/tuple [26, 2] + - !!python/tuple [12, 7] + - !!python/tuple [2, 16] + - !!python/tuple [15, 18] + - !!python/tuple [24, 31] + - !!python/tuple [23, 20] + - !!python/tuple [17, 28] + - !!python/tuple [9, 6] + - !!python/tuple [31, 4] + - !!python/tuple [17, 31] + - !!python/tuple [22, 3] + - !!python/tuple [13, 6] + - !!python/tuple [2, 5] + - !!python/tuple [22, 25] + - !!python/tuple [8, 16] + - !!python/tuple [31, 31] + - !!python/tuple [0, 22] + - !!python/tuple [18, 6] + - !!python/tuple [6, 13] + - !!python/tuple [22, 17] + - !!python/tuple [23, 31] + - !!python/tuple [23, 4] + - !!python/tuple [15, 11] + - !!python/tuple [23, 30] + - !!python/tuple [4, 20] + - !!python/tuple [14, 17] + - !!python/tuple [12, 22] + - !!python/tuple [13, 0] + - !!python/tuple [29, 10] + - !!python/tuple [0, 26] + - !!python/tuple [12, 5] + - !!python/tuple [0, 8] + - !!python/tuple [6, 22] + - !!python/tuple [9, 17] + - !!python/tuple [25, 1] + - !!python/tuple [22, 2] + - !!python/tuple [1, 19] + - !!python/tuple [31, 14] + - !!python/tuple [30, 27] + - !!python/tuple [16, 27] + - !!python/tuple [25, 27] + - !!python/tuple [7, 29] + - !!python/tuple [21, 4] + - !!python/tuple [5, 29] + - !!python/tuple [20, 29] + - !!python/tuple [6, 14] + - !!python/tuple [21, 23] + - !!python/tuple [0, 16] + - !!python/tuple [2, 1] + - !!python/tuple [22, 19] + - !!python/tuple [24, 9] + - !!python/tuple [26, 3] + - !!python/tuple [31, 25] + - !!python/tuple [20, 28] + - !!python/tuple [24, 24] + - !!python/tuple [2, 19] + - !!python/tuple [4, 24] + - !!python/tuple [3, 19] + - !!python/tuple [5, 31] + - !!python/tuple [11, 11] + - !!python/tuple [0, 30] + - !!python/tuple [4, 2] + - !!python/tuple [3, 20] + - !!python/tuple [15, 5] + - !!python/tuple [20, 4] + - !!python/tuple [2, 4] + - !!python/tuple [25, 22] + - !!python/tuple [26, 25] + - !!python/tuple [28, 25] + - !!python/tuple [20, 6] + - !!python/tuple [4, 23] + - !!python/tuple [4, 18] + - !!python/tuple [16, 3] + - !!python/tuple [30, 4] + - !!python/tuple [1, 23] + - !!python/tuple [17, 10] + - !!python/tuple [17, 24] + - !!python/tuple [3, 26] + - !!python/tuple [3, 30] + - !!python/tuple [25, 19] + - !!python/tuple [15, 29] + - !!python/tuple [24, 6] + - !!python/tuple [18, 29] + - !!python/tuple [12, 12] + - !!python/tuple [6, 30] + - !!python/tuple [11, 19] + - !!python/tuple [7, 2] + - !!python/tuple [25, 2] + - !!python/tuple [25, 23] + - !!python/tuple [31, 30] + - !!python/tuple [31, 18] + - !!python/tuple [30, 22] + - !!python/tuple [12, 23] + - !!python/tuple [9, 25] + - !!python/tuple [27, 22] + - !!python/tuple [0, 19] + - !!python/tuple [7, 4] + - !!python/tuple [9, 22] + - !!python/tuple [12, 26] + - !!python/tuple [3, 2] + - !!python/tuple [6, 8] + - !!python/tuple [16, 16] + - !!python/tuple [0, 4] + - !!python/tuple [19, 8] + - !!python/tuple [5, 9] + - !!python/tuple [7, 17] + - !!python/tuple [12, 0] + - !!python/tuple [3, 17] + - !!python/tuple [16, 1] + - !!python/tuple [30, 17] + - !!python/tuple [22, 16] + - !!python/tuple [20, 24] + - !!python/tuple [4, 12] + - !!python/tuple [19, 2] + - !!python/tuple [3, 12] + - !!python/tuple [20, 18] + - !!python/tuple [19, 25] + - !!python/tuple [12, 10] + - !!python/tuple [2, 24] + - !!python/tuple [8, 25] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex0.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex0.yaml new file mode 100644 index 0000000..7233316 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex0.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [9, 7] + name: agent0 + start: [14, 12] +- goal: [31, 18] + name: agent1 + start: [9, 18] +- goal: [16, 11] + name: agent2 + start: [30, 19] +- goal: [31, 23] + name: agent3 + start: [4, 12] +- goal: [13, 12] + name: agent4 + start: [29, 3] +- goal: [1, 10] + name: agent5 + start: [22, 3] +- goal: [11, 7] + name: agent6 + start: [24, 20] +- goal: [17, 14] + name: agent7 + start: [16, 20] +- goal: [6, 25] + name: agent8 + start: [31, 18] +- goal: [1, 31] + name: agent9 + start: [0, 19] +- goal: [24, 6] + name: agent10 + start: [29, 0] +- goal: [22, 8] + name: agent11 + start: [11, 21] +- goal: [15, 30] + name: agent12 + start: [7, 26] +- goal: [5, 9] + name: agent13 + start: [21, 27] +- goal: [18, 20] + name: agent14 + start: [5, 22] +- goal: [29, 24] + name: agent15 + start: [26, 19] +- goal: [19, 21] + name: agent16 + start: [2, 13] +- goal: [28, 5] + name: agent17 + start: [3, 25] +- goal: [25, 4] + name: agent18 + start: [25, 15] +- goal: [4, 13] + name: agent19 + start: [19, 8] +- goal: [3, 26] + name: agent20 + start: [18, 28] +- goal: [18, 28] + name: agent21 + start: [22, 1] +- goal: [6, 10] + name: agent22 + start: [20, 11] +- goal: [22, 11] + name: agent23 + start: [29, 11] +- goal: [3, 25] + name: agent24 + start: [31, 22] +- goal: [18, 21] + name: agent25 + start: [26, 20] +- goal: [26, 21] + name: agent26 + start: [28, 15] +- goal: [4, 15] + name: agent27 + start: [13, 26] +- goal: [20, 27] + name: agent28 + start: [11, 13] +- goal: [21, 0] + name: agent29 + start: [14, 7] +- goal: [13, 20] + name: agent30 + start: [29, 19] +- goal: [29, 22] + name: agent31 + start: [17, 1] +- goal: [4, 7] + name: agent32 + start: [27, 22] +- goal: [9, 27] + name: agent33 + start: [5, 19] +- goal: [10, 5] + name: agent34 + start: [6, 5] +- goal: [21, 16] + name: agent35 + start: [7, 28] +- goal: [16, 2] + name: agent36 + start: [12, 11] +- goal: [31, 27] + name: agent37 + start: [26, 29] +- goal: [24, 16] + name: agent38 + start: [11, 22] +- goal: [18, 19] + name: agent39 + start: [10, 28] +- goal: [20, 22] + name: agent40 + start: [28, 22] +- goal: [5, 6] + name: agent41 + start: [22, 20] +- goal: [17, 20] + name: agent42 + start: [15, 5] +- goal: [0, 6] + name: agent43 + start: [25, 1] +- goal: [30, 12] + name: agent44 + start: [9, 11] +- goal: [8, 4] + name: agent45 + start: [13, 31] +- goal: [12, 5] + name: agent46 + start: [15, 10] +- goal: [0, 0] + name: agent47 + start: [19, 21] +- goal: [5, 8] + name: agent48 + start: [29, 12] +- goal: [28, 17] + name: agent49 + start: [27, 1] +- goal: [26, 13] + name: agent50 + start: [7, 4] +- goal: [18, 26] + name: agent51 + start: [19, 25] +- goal: [6, 29] + name: agent52 + start: [15, 6] +- goal: [22, 9] + name: agent53 + start: [31, 5] +- goal: [4, 14] + name: agent54 + start: [13, 4] +- goal: [22, 21] + name: agent55 + start: [12, 0] +- goal: [9, 2] + name: agent56 + start: [4, 14] +- goal: [9, 28] + name: agent57 + start: [23, 25] +- goal: [16, 25] + name: agent58 + start: [5, 27] +- goal: [17, 29] + name: agent59 + start: [31, 9] +- goal: [8, 19] + name: agent60 + start: [22, 19] +- goal: [15, 24] + name: agent61 + start: [28, 8] +- goal: [15, 13] + name: agent62 + start: [4, 24] +- goal: [0, 15] + name: agent63 + start: [11, 20] +- goal: [21, 24] + name: agent64 + start: [9, 16] +- goal: [26, 18] + name: agent65 + start: [16, 10] +- goal: [2, 21] + name: agent66 + start: [23, 27] +- goal: [5, 4] + name: agent67 + start: [18, 23] +- goal: [12, 26] + name: agent68 + start: [26, 1] +- goal: [18, 17] + name: agent69 + start: [4, 27] +- goal: [22, 3] + name: agent70 + start: [2, 7] +- goal: [9, 17] + name: agent71 + start: [4, 6] +- goal: [1, 3] + name: agent72 + start: [31, 27] +- goal: [30, 26] + name: agent73 + start: [1, 7] +- goal: [3, 24] + name: agent74 + start: [6, 16] +- goal: [12, 8] + name: agent75 + start: [11, 3] +- goal: [12, 4] + name: agent76 + start: [19, 9] +- goal: [1, 19] + name: agent77 + start: [28, 17] +- goal: [14, 23] + name: agent78 + start: [13, 6] +- goal: [24, 27] + name: agent79 + start: [29, 1] +- goal: [12, 23] + name: agent80 + start: [7, 11] +- goal: [2, 24] + name: agent81 + start: [9, 31] +- goal: [5, 0] + name: agent82 + start: [29, 29] +- goal: [10, 23] + name: agent83 + start: [10, 15] +- goal: [14, 27] + name: agent84 + start: [0, 14] +- goal: [12, 22] + name: agent85 + start: [0, 13] +- goal: [21, 12] + name: agent86 + start: [29, 22] +- goal: [18, 25] + name: agent87 + start: [17, 28] +- goal: [18, 27] + name: agent88 + start: [22, 18] +- goal: [6, 12] + name: agent89 + start: [17, 10] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [27, 9] + - !!python/tuple [24, 10] + - !!python/tuple [12, 17] + - !!python/tuple [18, 22] + - !!python/tuple [13, 23] + - !!python/tuple [4, 8] + - !!python/tuple [15, 31] + - !!python/tuple [0, 28] + - !!python/tuple [6, 20] + - !!python/tuple [28, 26] + - !!python/tuple [6, 13] + - !!python/tuple [28, 9] + - !!python/tuple [2, 10] + - !!python/tuple [7, 12] + - !!python/tuple [17, 22] + - !!python/tuple [16, 13] + - !!python/tuple [25, 6] + - !!python/tuple [17, 3] + - !!python/tuple [24, 8] + - !!python/tuple [0, 2] + - !!python/tuple [31, 8] + - !!python/tuple [11, 18] + - !!python/tuple [21, 21] + - !!python/tuple [10, 9] + - !!python/tuple [5, 11] + - !!python/tuple [23, 7] + - !!python/tuple [27, 5] + - !!python/tuple [2, 27] + - !!python/tuple [20, 1] + - !!python/tuple [8, 31] + - !!python/tuple [1, 15] + - !!python/tuple [0, 27] + - !!python/tuple [14, 26] + - !!python/tuple [18, 4] + - !!python/tuple [31, 6] + - !!python/tuple [26, 8] + - !!python/tuple [5, 18] + - !!python/tuple [25, 29] + - !!python/tuple [7, 2] + - !!python/tuple [8, 8] + - !!python/tuple [21, 2] + - !!python/tuple [0, 18] + - !!python/tuple [2, 4] + - !!python/tuple [1, 14] + - !!python/tuple [29, 20] + - !!python/tuple [23, 22] + - !!python/tuple [28, 14] + - !!python/tuple [3, 22] + - !!python/tuple [13, 1] + - !!python/tuple [0, 21] + - !!python/tuple [14, 21] + - !!python/tuple [21, 19] + - !!python/tuple [24, 7] + - !!python/tuple [7, 10] + - !!python/tuple [31, 10] + - !!python/tuple [5, 13] + - !!python/tuple [16, 29] + - !!python/tuple [7, 22] + - !!python/tuple [23, 9] + - !!python/tuple [30, 25] + - !!python/tuple [1, 21] + - !!python/tuple [10, 29] + - !!python/tuple [3, 31] + - !!python/tuple [31, 25] + - !!python/tuple [19, 4] + - !!python/tuple [28, 3] + - !!python/tuple [17, 11] + - !!python/tuple [21, 4] + - !!python/tuple [10, 11] + - !!python/tuple [12, 16] + - !!python/tuple [25, 19] + - !!python/tuple [24, 30] + - !!python/tuple [30, 21] + - !!python/tuple [14, 18] + - !!python/tuple [12, 31] + - !!python/tuple [27, 26] + - !!python/tuple [11, 5] + - !!python/tuple [19, 30] + - !!python/tuple [29, 21] + - !!python/tuple [29, 13] + - !!python/tuple [24, 18] + - !!python/tuple [14, 2] + - !!python/tuple [31, 19] + - !!python/tuple [18, 2] + - !!python/tuple [2, 18] + - !!python/tuple [26, 3] + - !!python/tuple [16, 26] + - !!python/tuple [26, 28] + - !!python/tuple [12, 24] + - !!python/tuple [16, 9] + - !!python/tuple [24, 5] + - !!python/tuple [11, 8] + - !!python/tuple [2, 30] + - !!python/tuple [9, 3] + - !!python/tuple [10, 24] + - !!python/tuple [11, 9] + - !!python/tuple [31, 17] + - !!python/tuple [14, 3] + - !!python/tuple [8, 2] + - !!python/tuple [10, 1] + - !!python/tuple [29, 28] + - !!python/tuple [19, 18] + - !!python/tuple [2, 29] + - !!python/tuple [1, 27] + - !!python/tuple [7, 8] + - !!python/tuple [10, 14] + - !!python/tuple [27, 3] + - !!python/tuple [22, 29] + - !!python/tuple [8, 1] + - !!python/tuple [27, 15] + - !!python/tuple [12, 21] + - !!python/tuple [3, 19] + - !!python/tuple [0, 12] + - !!python/tuple [22, 30] + - !!python/tuple [22, 25] + - !!python/tuple [0, 5] + - !!python/tuple [29, 30] + - !!python/tuple [22, 24] + - !!python/tuple [21, 9] + - !!python/tuple [3, 1] + - !!python/tuple [29, 18] + - !!python/tuple [27, 10] + - !!python/tuple [15, 11] + - !!python/tuple [14, 24] + - !!python/tuple [0, 26] + - !!python/tuple [16, 0] + - !!python/tuple [28, 16] + - !!python/tuple [5, 10] + - !!python/tuple [17, 30] + - !!python/tuple [27, 16] + - !!python/tuple [24, 11] + - !!python/tuple [18, 30] + - !!python/tuple [13, 7] + - !!python/tuple [14, 14] + - !!python/tuple [8, 23] + - !!python/tuple [14, 13] + - !!python/tuple [7, 24] + - !!python/tuple [5, 5] + - !!python/tuple [26, 10] + - !!python/tuple [18, 1] + - !!python/tuple [8, 11] + - !!python/tuple [1, 9] + - !!python/tuple [29, 25] + - !!python/tuple [21, 7] + - !!python/tuple [13, 28] + - !!python/tuple [13, 14] + - !!python/tuple [3, 12] + - !!python/tuple [27, 6] + - !!python/tuple [4, 19] + - !!python/tuple [12, 28] + - !!python/tuple [10, 8] + - !!python/tuple [23, 17] + - !!python/tuple [24, 24] + - !!python/tuple [19, 19] + - !!python/tuple [22, 6] + - !!python/tuple [14, 20] + - !!python/tuple [25, 17] + - !!python/tuple [10, 18] + - !!python/tuple [28, 0] + - !!python/tuple [7, 15] + - !!python/tuple [12, 27] + - !!python/tuple [2, 23] + - !!python/tuple [24, 4] + - !!python/tuple [31, 30] + - !!python/tuple [17, 4] + - !!python/tuple [29, 27] + - !!python/tuple [10, 0] + - !!python/tuple [18, 5] + - !!python/tuple [17, 5] + - !!python/tuple [23, 4] + - !!python/tuple [19, 7] + - !!python/tuple [23, 0] + - !!python/tuple [17, 23] + - !!python/tuple [23, 19] + - !!python/tuple [5, 24] + - !!python/tuple [30, 1] + - !!python/tuple [12, 7] + - !!python/tuple [28, 20] + - !!python/tuple [22, 12] + - !!python/tuple [14, 8] + - !!python/tuple [25, 2] + - !!python/tuple [4, 30] + - !!python/tuple [14, 17] + - !!python/tuple [13, 25] + - !!python/tuple [7, 20] + - !!python/tuple [21, 11] + - !!python/tuple [5, 14] + - !!python/tuple [19, 6] + - !!python/tuple [21, 3] + - !!python/tuple [21, 28] + - !!python/tuple [13, 21] + - !!python/tuple [29, 5] + - !!python/tuple [2, 8] + - !!python/tuple [13, 13] + - !!python/tuple [0, 11] + - !!python/tuple [14, 22] + - !!python/tuple [28, 1] + - !!python/tuple [3, 18] + - !!python/tuple [6, 1] + - !!python/tuple [4, 29] + - !!python/tuple [20, 29] + - !!python/tuple [6, 3] + - !!python/tuple [26, 16] + - !!python/tuple [2, 26] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex1.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex1.yaml new file mode 100644 index 0000000..6f6bb75 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex1.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [7, 19] + name: agent0 + start: [3, 28] +- goal: [4, 31] + name: agent1 + start: [16, 11] +- goal: [24, 24] + name: agent2 + start: [28, 19] +- goal: [7, 7] + name: agent3 + start: [12, 6] +- goal: [31, 15] + name: agent4 + start: [7, 4] +- goal: [28, 30] + name: agent5 + start: [21, 5] +- goal: [29, 1] + name: agent6 + start: [17, 31] +- goal: [28, 24] + name: agent7 + start: [24, 26] +- goal: [8, 18] + name: agent8 + start: [24, 12] +- goal: [22, 19] + name: agent9 + start: [25, 4] +- goal: [8, 20] + name: agent10 + start: [12, 14] +- goal: [13, 26] + name: agent11 + start: [14, 10] +- goal: [12, 19] + name: agent12 + start: [24, 15] +- goal: [28, 7] + name: agent13 + start: [22, 22] +- goal: [24, 30] + name: agent14 + start: [31, 26] +- goal: [20, 2] + name: agent15 + start: [10, 8] +- goal: [7, 15] + name: agent16 + start: [24, 20] +- goal: [1, 1] + name: agent17 + start: [25, 3] +- goal: [24, 8] + name: agent18 + start: [26, 19] +- goal: [4, 14] + name: agent19 + start: [16, 13] +- goal: [14, 22] + name: agent20 + start: [16, 3] +- goal: [26, 7] + name: agent21 + start: [6, 23] +- goal: [30, 4] + name: agent22 + start: [18, 9] +- goal: [11, 2] + name: agent23 + start: [5, 4] +- goal: [8, 15] + name: agent24 + start: [19, 20] +- goal: [25, 30] + name: agent25 + start: [4, 11] +- goal: [26, 6] + name: agent26 + start: [10, 18] +- goal: [5, 14] + name: agent27 + start: [24, 18] +- goal: [0, 0] + name: agent28 + start: [31, 27] +- goal: [23, 25] + name: agent29 + start: [15, 26] +- goal: [29, 20] + name: agent30 + start: [20, 28] +- goal: [8, 27] + name: agent31 + start: [23, 18] +- goal: [3, 11] + name: agent32 + start: [14, 29] +- goal: [5, 1] + name: agent33 + start: [1, 12] +- goal: [29, 8] + name: agent34 + start: [24, 24] +- goal: [27, 12] + name: agent35 + start: [17, 1] +- goal: [18, 19] + name: agent36 + start: [0, 3] +- goal: [18, 12] + name: agent37 + start: [24, 7] +- goal: [3, 30] + name: agent38 + start: [5, 27] +- goal: [23, 2] + name: agent39 + start: [5, 17] +- goal: [27, 16] + name: agent40 + start: [9, 22] +- goal: [7, 18] + name: agent41 + start: [12, 20] +- goal: [15, 17] + name: agent42 + start: [5, 10] +- goal: [30, 16] + name: agent43 + start: [5, 0] +- goal: [10, 4] + name: agent44 + start: [9, 0] +- goal: [16, 31] + name: agent45 + start: [2, 12] +- goal: [22, 11] + name: agent46 + start: [23, 19] +- goal: [13, 2] + name: agent47 + start: [30, 4] +- goal: [11, 26] + name: agent48 + start: [30, 19] +- goal: [15, 11] + name: agent49 + start: [23, 31] +- goal: [17, 8] + name: agent50 + start: [22, 30] +- goal: [2, 28] + name: agent51 + start: [11, 17] +- goal: [30, 31] + name: agent52 + start: [18, 16] +- goal: [10, 19] + name: agent53 + start: [17, 20] +- goal: [18, 31] + name: agent54 + start: [9, 25] +- goal: [12, 5] + name: agent55 + start: [15, 13] +- goal: [4, 24] + name: agent56 + start: [17, 8] +- goal: [1, 20] + name: agent57 + start: [18, 22] +- goal: [19, 7] + name: agent58 + start: [28, 1] +- goal: [22, 28] + name: agent59 + start: [26, 27] +- goal: [0, 24] + name: agent60 + start: [16, 26] +- goal: [26, 1] + name: agent61 + start: [25, 29] +- goal: [21, 14] + name: agent62 + start: [11, 9] +- goal: [18, 26] + name: agent63 + start: [25, 30] +- goal: [1, 21] + name: agent64 + start: [31, 20] +- goal: [15, 25] + name: agent65 + start: [11, 2] +- goal: [8, 1] + name: agent66 + start: [4, 19] +- goal: [15, 10] + name: agent67 + start: [23, 25] +- goal: [26, 8] + name: agent68 + start: [17, 21] +- goal: [16, 17] + name: agent69 + start: [13, 30] +- goal: [22, 17] + name: agent70 + start: [23, 29] +- goal: [15, 30] + name: agent71 + start: [28, 26] +- goal: [13, 10] + name: agent72 + start: [30, 22] +- goal: [1, 29] + name: agent73 + start: [15, 23] +- goal: [30, 17] + name: agent74 + start: [3, 30] +- goal: [10, 1] + name: agent75 + start: [27, 2] +- goal: [24, 7] + name: agent76 + start: [14, 1] +- goal: [5, 22] + name: agent77 + start: [21, 28] +- goal: [16, 20] + name: agent78 + start: [17, 6] +- goal: [29, 14] + name: agent79 + start: [1, 0] +- goal: [11, 6] + name: agent80 + start: [3, 23] +- goal: [10, 6] + name: agent81 + start: [10, 4] +- goal: [25, 4] + name: agent82 + start: [8, 10] +- goal: [8, 5] + name: agent83 + start: [4, 6] +- goal: [16, 23] + name: agent84 + start: [16, 22] +- goal: [23, 26] + name: agent85 + start: [9, 8] +- goal: [21, 2] + name: agent86 + start: [9, 3] +- goal: [5, 8] + name: agent87 + start: [21, 7] +- goal: [6, 19] + name: agent88 + start: [19, 8] +- goal: [10, 26] + name: agent89 + start: [24, 14] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [22, 12] + - !!python/tuple [5, 6] + - !!python/tuple [23, 1] + - !!python/tuple [12, 22] + - !!python/tuple [21, 0] + - !!python/tuple [30, 11] + - !!python/tuple [17, 0] + - !!python/tuple [26, 2] + - !!python/tuple [7, 23] + - !!python/tuple [6, 12] + - !!python/tuple [7, 5] + - !!python/tuple [29, 0] + - !!python/tuple [9, 9] + - !!python/tuple [29, 16] + - !!python/tuple [15, 0] + - !!python/tuple [28, 18] + - !!python/tuple [22, 25] + - !!python/tuple [25, 16] + - !!python/tuple [13, 8] + - !!python/tuple [28, 29] + - !!python/tuple [28, 4] + - !!python/tuple [7, 16] + - !!python/tuple [8, 24] + - !!python/tuple [29, 3] + - !!python/tuple [11, 21] + - !!python/tuple [9, 19] + - !!python/tuple [26, 24] + - !!python/tuple [23, 16] + - !!python/tuple [5, 28] + - !!python/tuple [2, 29] + - !!python/tuple [28, 16] + - !!python/tuple [17, 12] + - !!python/tuple [19, 3] + - !!python/tuple [10, 24] + - !!python/tuple [20, 31] + - !!python/tuple [2, 24] + - !!python/tuple [22, 3] + - !!python/tuple [26, 30] + - !!python/tuple [27, 25] + - !!python/tuple [18, 4] + - !!python/tuple [16, 25] + - !!python/tuple [3, 6] + - !!python/tuple [15, 27] + - !!python/tuple [13, 11] + - !!python/tuple [0, 29] + - !!python/tuple [4, 17] + - !!python/tuple [27, 7] + - !!python/tuple [17, 26] + - !!python/tuple [3, 20] + - !!python/tuple [21, 25] + - !!python/tuple [17, 19] + - !!python/tuple [10, 29] + - !!python/tuple [10, 31] + - !!python/tuple [6, 16] + - !!python/tuple [1, 5] + - !!python/tuple [18, 24] + - !!python/tuple [6, 29] + - !!python/tuple [26, 5] + - !!python/tuple [4, 27] + - !!python/tuple [24, 4] + - !!python/tuple [27, 3] + - !!python/tuple [11, 5] + - !!python/tuple [10, 13] + - !!python/tuple [12, 0] + - !!python/tuple [29, 2] + - !!python/tuple [2, 6] + - !!python/tuple [9, 10] + - !!python/tuple [12, 1] + - !!python/tuple [20, 25] + - !!python/tuple [4, 12] + - !!python/tuple [11, 7] + - !!python/tuple [8, 22] + - !!python/tuple [19, 14] + - !!python/tuple [4, 9] + - !!python/tuple [1, 10] + - !!python/tuple [0, 2] + - !!python/tuple [28, 10] + - !!python/tuple [24, 31] + - !!python/tuple [12, 30] + - !!python/tuple [17, 3] + - !!python/tuple [21, 11] + - !!python/tuple [0, 14] + - !!python/tuple [4, 10] + - !!python/tuple [3, 29] + - !!python/tuple [10, 12] + - !!python/tuple [2, 10] + - !!python/tuple [2, 5] + - !!python/tuple [26, 16] + - !!python/tuple [14, 20] + - !!python/tuple [14, 0] + - !!python/tuple [17, 14] + - !!python/tuple [24, 0] + - !!python/tuple [0, 25] + - !!python/tuple [25, 15] + - !!python/tuple [18, 28] + - !!python/tuple [7, 21] + - !!python/tuple [25, 25] + - !!python/tuple [31, 28] + - !!python/tuple [29, 19] + - !!python/tuple [26, 28] + - !!python/tuple [17, 24] + - !!python/tuple [0, 11] + - !!python/tuple [21, 16] + - !!python/tuple [0, 6] + - !!python/tuple [4, 0] + - !!python/tuple [0, 9] + - !!python/tuple [18, 18] + - !!python/tuple [15, 12] + - !!python/tuple [7, 0] + - !!python/tuple [26, 17] + - !!python/tuple [16, 14] + - !!python/tuple [0, 12] + - !!python/tuple [26, 22] + - !!python/tuple [28, 9] + - !!python/tuple [11, 19] + - !!python/tuple [7, 10] + - !!python/tuple [4, 26] + - !!python/tuple [22, 9] + - !!python/tuple [12, 18] + - !!python/tuple [11, 3] + - !!python/tuple [4, 16] + - !!python/tuple [26, 15] + - !!python/tuple [20, 30] + - !!python/tuple [27, 27] + - !!python/tuple [1, 30] + - !!python/tuple [5, 31] + - !!python/tuple [30, 26] + - !!python/tuple [30, 28] + - !!python/tuple [29, 9] + - !!python/tuple [1, 6] + - !!python/tuple [12, 27] + - !!python/tuple [3, 1] + - !!python/tuple [23, 23] + - !!python/tuple [24, 25] + - !!python/tuple [28, 27] + - !!python/tuple [29, 21] + - !!python/tuple [0, 15] + - !!python/tuple [8, 23] + - !!python/tuple [21, 31] + - !!python/tuple [30, 14] + - !!python/tuple [2, 14] + - !!python/tuple [20, 18] + - !!python/tuple [27, 23] + - !!python/tuple [7, 14] + - !!python/tuple [21, 3] + - !!python/tuple [19, 24] + - !!python/tuple [31, 9] + - !!python/tuple [12, 3] + - !!python/tuple [20, 1] + - !!python/tuple [24, 10] + - !!python/tuple [31, 23] + - !!python/tuple [19, 10] + - !!python/tuple [26, 11] + - !!python/tuple [28, 25] + - !!python/tuple [21, 23] + - !!python/tuple [8, 14] + - !!python/tuple [23, 0] + - !!python/tuple [12, 15] + - !!python/tuple [16, 16] + - !!python/tuple [22, 2] + - !!python/tuple [2, 9] + - !!python/tuple [26, 0] + - !!python/tuple [3, 18] + - !!python/tuple [16, 21] + - !!python/tuple [27, 17] + - !!python/tuple [22, 14] + - !!python/tuple [7, 12] + - !!python/tuple [18, 2] + - !!python/tuple [2, 4] + - !!python/tuple [6, 15] + - !!python/tuple [17, 9] + - !!python/tuple [1, 14] + - !!python/tuple [1, 31] + - !!python/tuple [25, 7] + - !!python/tuple [17, 27] + - !!python/tuple [30, 3] + - !!python/tuple [10, 0] + - !!python/tuple [6, 22] + - !!python/tuple [25, 23] + - !!python/tuple [5, 12] + - !!python/tuple [22, 20] + - !!python/tuple [25, 26] + - !!python/tuple [26, 21] + - !!python/tuple [18, 7] + - !!python/tuple [18, 10] + - !!python/tuple [24, 16] + - !!python/tuple [23, 20] + - !!python/tuple [14, 13] + - !!python/tuple [8, 11] + - !!python/tuple [30, 10] + - !!python/tuple [7, 11] + - !!python/tuple [14, 16] + - !!python/tuple [19, 11] + - !!python/tuple [8, 3] + - !!python/tuple [24, 21] + - !!python/tuple [10, 3] + - !!python/tuple [8, 19] + - !!python/tuple [13, 9] + - !!python/tuple [15, 7] + - !!python/tuple [5, 26] + - !!python/tuple [29, 4] + - !!python/tuple [21, 8] + - !!python/tuple [24, 17] + - !!python/tuple [19, 13] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex10.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex10.yaml new file mode 100644 index 0000000..bfecfcd --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex10.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [22, 19] + name: agent0 + start: [24, 0] +- goal: [10, 20] + name: agent1 + start: [1, 21] +- goal: [3, 4] + name: agent2 + start: [1, 5] +- goal: [25, 3] + name: agent3 + start: [7, 5] +- goal: [0, 27] + name: agent4 + start: [21, 2] +- goal: [14, 9] + name: agent5 + start: [30, 13] +- goal: [22, 3] + name: agent6 + start: [5, 2] +- goal: [16, 3] + name: agent7 + start: [6, 29] +- goal: [5, 11] + name: agent8 + start: [0, 14] +- goal: [5, 6] + name: agent9 + start: [14, 20] +- goal: [18, 25] + name: agent10 + start: [25, 9] +- goal: [31, 15] + name: agent11 + start: [27, 4] +- goal: [13, 10] + name: agent12 + start: [21, 29] +- goal: [31, 26] + name: agent13 + start: [19, 24] +- goal: [27, 12] + name: agent14 + start: [15, 3] +- goal: [6, 13] + name: agent15 + start: [24, 5] +- goal: [24, 9] + name: agent16 + start: [20, 23] +- goal: [27, 30] + name: agent17 + start: [27, 19] +- goal: [1, 31] + name: agent18 + start: [12, 20] +- goal: [5, 18] + name: agent19 + start: [4, 16] +- goal: [2, 26] + name: agent20 + start: [26, 22] +- goal: [9, 25] + name: agent21 + start: [2, 10] +- goal: [17, 19] + name: agent22 + start: [18, 4] +- goal: [26, 27] + name: agent23 + start: [26, 24] +- goal: [11, 7] + name: agent24 + start: [0, 17] +- goal: [2, 9] + name: agent25 + start: [28, 0] +- goal: [14, 8] + name: agent26 + start: [28, 29] +- goal: [9, 28] + name: agent27 + start: [3, 10] +- goal: [25, 24] + name: agent28 + start: [26, 29] +- goal: [28, 28] + name: agent29 + start: [26, 13] +- goal: [2, 3] + name: agent30 + start: [17, 25] +- goal: [8, 28] + name: agent31 + start: [2, 16] +- goal: [23, 26] + name: agent32 + start: [11, 27] +- goal: [27, 8] + name: agent33 + start: [20, 3] +- goal: [20, 18] + name: agent34 + start: [26, 3] +- goal: [11, 5] + name: agent35 + start: [3, 13] +- goal: [16, 29] + name: agent36 + start: [8, 10] +- goal: [6, 5] + name: agent37 + start: [13, 7] +- goal: [24, 4] + name: agent38 + start: [25, 7] +- goal: [27, 18] + name: agent39 + start: [4, 5] +- goal: [28, 19] + name: agent40 + start: [12, 18] +- goal: [25, 16] + name: agent41 + start: [13, 19] +- goal: [11, 30] + name: agent42 + start: [13, 11] +- goal: [7, 14] + name: agent43 + start: [13, 30] +- goal: [5, 4] + name: agent44 + start: [2, 31] +- goal: [4, 14] + name: agent45 + start: [11, 20] +- goal: [6, 1] + name: agent46 + start: [16, 12] +- goal: [10, 4] + name: agent47 + start: [13, 21] +- goal: [31, 3] + name: agent48 + start: [6, 14] +- goal: [2, 1] + name: agent49 + start: [26, 21] +- goal: [4, 26] + name: agent50 + start: [7, 19] +- goal: [21, 15] + name: agent51 + start: [15, 27] +- goal: [8, 26] + name: agent52 + start: [8, 12] +- goal: [31, 21] + name: agent53 + start: [30, 0] +- goal: [17, 16] + name: agent54 + start: [8, 20] +- goal: [24, 25] + name: agent55 + start: [10, 5] +- goal: [16, 19] + name: agent56 + start: [16, 26] +- goal: [15, 2] + name: agent57 + start: [2, 4] +- goal: [3, 25] + name: agent58 + start: [22, 2] +- goal: [14, 0] + name: agent59 + start: [16, 27] +- goal: [28, 30] + name: agent60 + start: [24, 20] +- goal: [18, 1] + name: agent61 + start: [22, 25] +- goal: [2, 19] + name: agent62 + start: [7, 6] +- goal: [21, 14] + name: agent63 + start: [24, 7] +- goal: [10, 6] + name: agent64 + start: [6, 8] +- goal: [20, 2] + name: agent65 + start: [8, 2] +- goal: [30, 14] + name: agent66 + start: [22, 8] +- goal: [18, 16] + name: agent67 + start: [20, 8] +- goal: [11, 12] + name: agent68 + start: [2, 26] +- goal: [22, 4] + name: agent69 + start: [6, 26] +- goal: [9, 24] + name: agent70 + start: [18, 8] +- goal: [24, 14] + name: agent71 + start: [11, 17] +- goal: [16, 13] + name: agent72 + start: [20, 31] +- goal: [1, 22] + name: agent73 + start: [21, 3] +- goal: [20, 4] + name: agent74 + start: [22, 5] +- goal: [21, 7] + name: agent75 + start: [19, 27] +- goal: [18, 15] + name: agent76 + start: [25, 6] +- goal: [0, 14] + name: agent77 + start: [20, 14] +- goal: [30, 7] + name: agent78 + start: [1, 8] +- goal: [11, 20] + name: agent79 + start: [3, 21] +- goal: [30, 24] + name: agent80 + start: [28, 6] +- goal: [14, 18] + name: agent81 + start: [8, 14] +- goal: [0, 23] + name: agent82 + start: [7, 20] +- goal: [14, 16] + name: agent83 + start: [1, 30] +- goal: [25, 26] + name: agent84 + start: [14, 31] +- goal: [24, 11] + name: agent85 + start: [19, 9] +- goal: [24, 30] + name: agent86 + start: [11, 6] +- goal: [17, 31] + name: agent87 + start: [29, 2] +- goal: [26, 26] + name: agent88 + start: [15, 13] +- goal: [11, 0] + name: agent89 + start: [21, 18] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [3, 30] + - !!python/tuple [23, 30] + - !!python/tuple [19, 8] + - !!python/tuple [16, 31] + - !!python/tuple [21, 23] + - !!python/tuple [17, 23] + - !!python/tuple [0, 16] + - !!python/tuple [22, 22] + - !!python/tuple [6, 27] + - !!python/tuple [29, 12] + - !!python/tuple [25, 30] + - !!python/tuple [16, 5] + - !!python/tuple [29, 0] + - !!python/tuple [10, 1] + - !!python/tuple [28, 13] + - !!python/tuple [4, 11] + - !!python/tuple [7, 18] + - !!python/tuple [17, 7] + - !!python/tuple [21, 13] + - !!python/tuple [24, 27] + - !!python/tuple [0, 10] + - !!python/tuple [14, 13] + - !!python/tuple [16, 0] + - !!python/tuple [3, 29] + - !!python/tuple [20, 1] + - !!python/tuple [24, 29] + - !!python/tuple [23, 25] + - !!python/tuple [23, 27] + - !!python/tuple [4, 28] + - !!python/tuple [11, 11] + - !!python/tuple [16, 24] + - !!python/tuple [5, 27] + - !!python/tuple [11, 21] + - !!python/tuple [23, 12] + - !!python/tuple [26, 19] + - !!python/tuple [14, 6] + - !!python/tuple [6, 31] + - !!python/tuple [0, 8] + - !!python/tuple [17, 20] + - !!python/tuple [19, 26] + - !!python/tuple [4, 20] + - !!python/tuple [28, 24] + - !!python/tuple [16, 30] + - !!python/tuple [21, 0] + - !!python/tuple [29, 27] + - !!python/tuple [13, 26] + - !!python/tuple [24, 19] + - !!python/tuple [18, 22] + - !!python/tuple [16, 15] + - !!python/tuple [16, 2] + - !!python/tuple [17, 21] + - !!python/tuple [29, 30] + - !!python/tuple [12, 30] + - !!python/tuple [27, 3] + - !!python/tuple [26, 9] + - !!python/tuple [25, 0] + - !!python/tuple [8, 24] + - !!python/tuple [23, 19] + - !!python/tuple [30, 1] + - !!python/tuple [29, 1] + - !!python/tuple [29, 4] + - !!python/tuple [9, 11] + - !!python/tuple [26, 11] + - !!python/tuple [13, 25] + - !!python/tuple [15, 30] + - !!python/tuple [7, 3] + - !!python/tuple [14, 26] + - !!python/tuple [6, 17] + - !!python/tuple [4, 22] + - !!python/tuple [1, 17] + - !!python/tuple [26, 14] + - !!python/tuple [26, 6] + - !!python/tuple [15, 5] + - !!python/tuple [3, 17] + - !!python/tuple [5, 7] + - !!python/tuple [18, 10] + - !!python/tuple [30, 30] + - !!python/tuple [0, 1] + - !!python/tuple [27, 10] + - !!python/tuple [6, 9] + - !!python/tuple [18, 29] + - !!python/tuple [28, 26] + - !!python/tuple [30, 27] + - !!python/tuple [28, 5] + - !!python/tuple [12, 13] + - !!python/tuple [23, 5] + - !!python/tuple [14, 14] + - !!python/tuple [17, 4] + - !!python/tuple [4, 27] + - !!python/tuple [10, 18] + - !!python/tuple [21, 20] + - !!python/tuple [1, 7] + - !!python/tuple [1, 12] + - !!python/tuple [14, 7] + - !!python/tuple [10, 3] + - !!python/tuple [5, 10] + - !!python/tuple [17, 29] + - !!python/tuple [9, 18] + - !!python/tuple [31, 31] + - !!python/tuple [0, 5] + - !!python/tuple [10, 13] + - !!python/tuple [9, 29] + - !!python/tuple [28, 10] + - !!python/tuple [7, 9] + - !!python/tuple [19, 10] + - !!python/tuple [30, 20] + - !!python/tuple [12, 6] + - !!python/tuple [28, 14] + - !!python/tuple [8, 27] + - !!python/tuple [28, 8] + - !!python/tuple [27, 22] + - !!python/tuple [24, 8] + - !!python/tuple [16, 21] + - !!python/tuple [27, 29] + - !!python/tuple [11, 4] + - !!python/tuple [31, 30] + - !!python/tuple [6, 19] + - !!python/tuple [17, 14] + - !!python/tuple [26, 10] + - !!python/tuple [23, 9] + - !!python/tuple [15, 21] + - !!python/tuple [29, 15] + - !!python/tuple [25, 12] + - !!python/tuple [13, 2] + - !!python/tuple [0, 7] + - !!python/tuple [8, 3] + - !!python/tuple [6, 20] + - !!python/tuple [20, 24] + - !!python/tuple [9, 4] + - !!python/tuple [13, 24] + - !!python/tuple [23, 17] + - !!python/tuple [19, 22] + - !!python/tuple [6, 28] + - !!python/tuple [12, 23] + - !!python/tuple [4, 8] + - !!python/tuple [22, 9] + - !!python/tuple [7, 4] + - !!python/tuple [14, 3] + - !!python/tuple [18, 20] + - !!python/tuple [9, 9] + - !!python/tuple [15, 22] + - !!python/tuple [4, 13] + - !!python/tuple [18, 13] + - !!python/tuple [30, 19] + - !!python/tuple [13, 31] + - !!python/tuple [23, 29] + - !!python/tuple [3, 23] + - !!python/tuple [4, 17] + - !!python/tuple [30, 10] + - !!python/tuple [31, 4] + - !!python/tuple [18, 21] + - !!python/tuple [4, 24] + - !!python/tuple [22, 27] + - !!python/tuple [9, 2] + - !!python/tuple [4, 2] + - !!python/tuple [30, 25] + - !!python/tuple [14, 29] + - !!python/tuple [13, 28] + - !!python/tuple [11, 26] + - !!python/tuple [16, 1] + - !!python/tuple [12, 12] + - !!python/tuple [27, 31] + - !!python/tuple [19, 4] + - !!python/tuple [29, 26] + - !!python/tuple [10, 17] + - !!python/tuple [12, 10] + - !!python/tuple [9, 23] + - !!python/tuple [3, 16] + - !!python/tuple [18, 30] + - !!python/tuple [18, 7] + - !!python/tuple [13, 20] + - !!python/tuple [9, 6] + - !!python/tuple [10, 22] + - !!python/tuple [13, 0] + - !!python/tuple [12, 26] + - !!python/tuple [5, 22] + - !!python/tuple [11, 8] + - !!python/tuple [15, 8] + - !!python/tuple [12, 22] + - !!python/tuple [30, 8] + - !!python/tuple [16, 20] + - !!python/tuple [25, 1] + - !!python/tuple [0, 26] + - !!python/tuple [31, 10] + - !!python/tuple [12, 27] + - !!python/tuple [12, 11] + - !!python/tuple [5, 20] + - !!python/tuple [23, 28] + - !!python/tuple [0, 13] + - !!python/tuple [4, 23] + - !!python/tuple [27, 13] + - !!python/tuple [15, 23] + - !!python/tuple [12, 7] + - !!python/tuple [22, 11] + - !!python/tuple [3, 26] + - !!python/tuple [22, 13] + - !!python/tuple [16, 25] + - !!python/tuple [5, 28] + - !!python/tuple [7, 7] + - !!python/tuple [9, 27] + - !!python/tuple [15, 18] + - !!python/tuple [19, 23] + - !!python/tuple [25, 17] + - !!python/tuple [2, 7] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex11.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex11.yaml new file mode 100644 index 0000000..a4bc33c --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex11.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [23, 16] + name: agent0 + start: [22, 22] +- goal: [15, 19] + name: agent1 + start: [5, 26] +- goal: [4, 28] + name: agent2 + start: [22, 7] +- goal: [31, 1] + name: agent3 + start: [8, 6] +- goal: [19, 24] + name: agent4 + start: [30, 19] +- goal: [16, 24] + name: agent5 + start: [18, 30] +- goal: [2, 13] + name: agent6 + start: [30, 28] +- goal: [31, 25] + name: agent7 + start: [24, 11] +- goal: [17, 16] + name: agent8 + start: [30, 18] +- goal: [26, 31] + name: agent9 + start: [0, 2] +- goal: [0, 30] + name: agent10 + start: [19, 10] +- goal: [31, 6] + name: agent11 + start: [3, 8] +- goal: [24, 29] + name: agent12 + start: [17, 9] +- goal: [22, 10] + name: agent13 + start: [11, 21] +- goal: [23, 30] + name: agent14 + start: [23, 31] +- goal: [4, 27] + name: agent15 + start: [0, 21] +- goal: [15, 14] + name: agent16 + start: [21, 14] +- goal: [4, 31] + name: agent17 + start: [25, 19] +- goal: [22, 26] + name: agent18 + start: [31, 4] +- goal: [9, 16] + name: agent19 + start: [23, 26] +- goal: [31, 19] + name: agent20 + start: [16, 31] +- goal: [27, 22] + name: agent21 + start: [18, 21] +- goal: [9, 0] + name: agent22 + start: [7, 19] +- goal: [8, 9] + name: agent23 + start: [7, 18] +- goal: [5, 13] + name: agent24 + start: [12, 6] +- goal: [15, 11] + name: agent25 + start: [1, 23] +- goal: [8, 28] + name: agent26 + start: [0, 8] +- goal: [16, 4] + name: agent27 + start: [27, 19] +- goal: [29, 29] + name: agent28 + start: [20, 21] +- goal: [26, 10] + name: agent29 + start: [25, 24] +- goal: [19, 6] + name: agent30 + start: [19, 13] +- goal: [8, 16] + name: agent31 + start: [22, 12] +- goal: [24, 7] + name: agent32 + start: [15, 6] +- goal: [21, 2] + name: agent33 + start: [28, 1] +- goal: [19, 22] + name: agent34 + start: [31, 12] +- goal: [26, 21] + name: agent35 + start: [18, 29] +- goal: [28, 6] + name: agent36 + start: [5, 18] +- goal: [12, 6] + name: agent37 + start: [11, 16] +- goal: [29, 8] + name: agent38 + start: [2, 14] +- goal: [30, 17] + name: agent39 + start: [8, 26] +- goal: [6, 28] + name: agent40 + start: [11, 22] +- goal: [22, 29] + name: agent41 + start: [10, 25] +- goal: [4, 10] + name: agent42 + start: [16, 29] +- goal: [11, 25] + name: agent43 + start: [21, 13] +- goal: [9, 7] + name: agent44 + start: [27, 31] +- goal: [25, 1] + name: agent45 + start: [21, 29] +- goal: [21, 10] + name: agent46 + start: [0, 15] +- goal: [7, 15] + name: agent47 + start: [18, 0] +- goal: [3, 17] + name: agent48 + start: [25, 2] +- goal: [23, 4] + name: agent49 + start: [4, 8] +- goal: [14, 11] + name: agent50 + start: [31, 1] +- goal: [19, 7] + name: agent51 + start: [15, 3] +- goal: [16, 28] + name: agent52 + start: [24, 22] +- goal: [3, 30] + name: agent53 + start: [17, 4] +- goal: [0, 2] + name: agent54 + start: [31, 6] +- goal: [14, 7] + name: agent55 + start: [13, 10] +- goal: [19, 25] + name: agent56 + start: [15, 27] +- goal: [28, 5] + name: agent57 + start: [28, 14] +- goal: [30, 27] + name: agent58 + start: [21, 22] +- goal: [29, 19] + name: agent59 + start: [2, 4] +- goal: [20, 3] + name: agent60 + start: [6, 10] +- goal: [23, 7] + name: agent61 + start: [10, 21] +- goal: [21, 14] + name: agent62 + start: [3, 20] +- goal: [2, 9] + name: agent63 + start: [0, 22] +- goal: [13, 8] + name: agent64 + start: [31, 0] +- goal: [4, 9] + name: agent65 + start: [20, 14] +- goal: [29, 30] + name: agent66 + start: [25, 28] +- goal: [19, 30] + name: agent67 + start: [18, 5] +- goal: [16, 3] + name: agent68 + start: [30, 0] +- goal: [19, 16] + name: agent69 + start: [16, 7] +- goal: [5, 12] + name: agent70 + start: [30, 12] +- goal: [1, 0] + name: agent71 + start: [19, 24] +- goal: [3, 2] + name: agent72 + start: [20, 5] +- goal: [28, 8] + name: agent73 + start: [8, 29] +- goal: [5, 6] + name: agent74 + start: [2, 19] +- goal: [4, 12] + name: agent75 + start: [29, 9] +- goal: [15, 25] + name: agent76 + start: [7, 26] +- goal: [10, 6] + name: agent77 + start: [2, 20] +- goal: [18, 21] + name: agent78 + start: [12, 20] +- goal: [1, 10] + name: agent79 + start: [9, 0] +- goal: [13, 4] + name: agent80 + start: [13, 0] +- goal: [30, 30] + name: agent81 + start: [11, 15] +- goal: [28, 28] + name: agent82 + start: [13, 8] +- goal: [9, 14] + name: agent83 + start: [13, 28] +- goal: [18, 8] + name: agent84 + start: [0, 0] +- goal: [5, 27] + name: agent85 + start: [20, 6] +- goal: [28, 9] + name: agent86 + start: [12, 4] +- goal: [20, 29] + name: agent87 + start: [22, 15] +- goal: [20, 11] + name: agent88 + start: [1, 29] +- goal: [19, 3] + name: agent89 + start: [11, 6] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [29, 23] + - !!python/tuple [2, 11] + - !!python/tuple [0, 14] + - !!python/tuple [6, 19] + - !!python/tuple [6, 27] + - !!python/tuple [18, 26] + - !!python/tuple [13, 9] + - !!python/tuple [25, 13] + - !!python/tuple [30, 1] + - !!python/tuple [21, 5] + - !!python/tuple [24, 13] + - !!python/tuple [25, 10] + - !!python/tuple [20, 25] + - !!python/tuple [7, 28] + - !!python/tuple [27, 30] + - !!python/tuple [15, 8] + - !!python/tuple [7, 0] + - !!python/tuple [16, 11] + - !!python/tuple [5, 20] + - !!python/tuple [24, 3] + - !!python/tuple [18, 9] + - !!python/tuple [0, 19] + - !!python/tuple [2, 1] + - !!python/tuple [8, 12] + - !!python/tuple [6, 4] + - !!python/tuple [14, 18] + - !!python/tuple [17, 10] + - !!python/tuple [20, 20] + - !!python/tuple [13, 22] + - !!python/tuple [9, 31] + - !!python/tuple [23, 3] + - !!python/tuple [11, 1] + - !!python/tuple [26, 24] + - !!python/tuple [28, 13] + - !!python/tuple [5, 1] + - !!python/tuple [2, 2] + - !!python/tuple [29, 20] + - !!python/tuple [14, 24] + - !!python/tuple [24, 16] + - !!python/tuple [17, 13] + - !!python/tuple [28, 19] + - !!python/tuple [19, 8] + - !!python/tuple [0, 25] + - !!python/tuple [31, 13] + - !!python/tuple [18, 10] + - !!python/tuple [30, 24] + - !!python/tuple [15, 23] + - !!python/tuple [26, 0] + - !!python/tuple [23, 19] + - !!python/tuple [30, 20] + - !!python/tuple [25, 6] + - !!python/tuple [19, 20] + - !!python/tuple [1, 4] + - !!python/tuple [14, 5] + - !!python/tuple [24, 26] + - !!python/tuple [14, 13] + - !!python/tuple [24, 4] + - !!python/tuple [27, 17] + - !!python/tuple [16, 6] + - !!python/tuple [17, 18] + - !!python/tuple [15, 13] + - !!python/tuple [27, 26] + - !!python/tuple [8, 4] + - !!python/tuple [15, 24] + - !!python/tuple [13, 16] + - !!python/tuple [22, 6] + - !!python/tuple [17, 23] + - !!python/tuple [7, 8] + - !!python/tuple [26, 4] + - !!python/tuple [28, 4] + - !!python/tuple [12, 1] + - !!python/tuple [4, 7] + - !!python/tuple [31, 21] + - !!python/tuple [8, 31] + - !!python/tuple [18, 6] + - !!python/tuple [15, 20] + - !!python/tuple [6, 21] + - !!python/tuple [3, 28] + - !!python/tuple [16, 16] + - !!python/tuple [30, 25] + - !!python/tuple [7, 12] + - !!python/tuple [0, 4] + - !!python/tuple [4, 0] + - !!python/tuple [6, 0] + - !!python/tuple [21, 19] + - !!python/tuple [15, 29] + - !!python/tuple [26, 27] + - !!python/tuple [10, 1] + - !!python/tuple [15, 28] + - !!python/tuple [5, 15] + - !!python/tuple [26, 30] + - !!python/tuple [18, 23] + - !!python/tuple [6, 15] + - !!python/tuple [12, 0] + - !!python/tuple [27, 0] + - !!python/tuple [29, 1] + - !!python/tuple [31, 28] + - !!python/tuple [12, 23] + - !!python/tuple [27, 23] + - !!python/tuple [10, 8] + - !!python/tuple [8, 25] + - !!python/tuple [3, 11] + - !!python/tuple [18, 25] + - !!python/tuple [17, 8] + - !!python/tuple [12, 22] + - !!python/tuple [13, 6] + - !!python/tuple [21, 6] + - !!python/tuple [30, 4] + - !!python/tuple [23, 2] + - !!python/tuple [17, 24] + - !!python/tuple [24, 1] + - !!python/tuple [6, 5] + - !!python/tuple [15, 15] + - !!python/tuple [31, 8] + - !!python/tuple [26, 8] + - !!python/tuple [14, 25] + - !!python/tuple [27, 21] + - !!python/tuple [17, 5] + - !!python/tuple [3, 14] + - !!python/tuple [8, 3] + - !!python/tuple [26, 7] + - !!python/tuple [12, 30] + - !!python/tuple [26, 26] + - !!python/tuple [30, 10] + - !!python/tuple [31, 9] + - !!python/tuple [23, 23] + - !!python/tuple [0, 20] + - !!python/tuple [11, 24] + - !!python/tuple [11, 27] + - !!python/tuple [30, 7] + - !!python/tuple [24, 20] + - !!python/tuple [29, 26] + - !!python/tuple [1, 18] + - !!python/tuple [18, 11] + - !!python/tuple [6, 16] + - !!python/tuple [9, 18] + - !!python/tuple [2, 12] + - !!python/tuple [9, 29] + - !!python/tuple [30, 29] + - !!python/tuple [8, 23] + - !!python/tuple [22, 14] + - !!python/tuple [29, 0] + - !!python/tuple [9, 5] + - !!python/tuple [3, 3] + - !!python/tuple [23, 11] + - !!python/tuple [15, 4] + - !!python/tuple [28, 15] + - !!python/tuple [5, 19] + - !!python/tuple [15, 31] + - !!python/tuple [5, 17] + - !!python/tuple [7, 21] + - !!python/tuple [24, 17] + - !!python/tuple [23, 12] + - !!python/tuple [16, 19] + - !!python/tuple [13, 7] + - !!python/tuple [10, 3] + - !!python/tuple [7, 6] + - !!python/tuple [3, 12] + - !!python/tuple [31, 26] + - !!python/tuple [16, 8] + - !!python/tuple [3, 5] + - !!python/tuple [9, 9] + - !!python/tuple [12, 16] + - !!python/tuple [12, 17] + - !!python/tuple [14, 6] + - !!python/tuple [9, 23] + - !!python/tuple [23, 14] + - !!python/tuple [22, 16] + - !!python/tuple [11, 5] + - !!python/tuple [3, 27] + - !!python/tuple [9, 6] + - !!python/tuple [10, 27] + - !!python/tuple [12, 31] + - !!python/tuple [19, 4] + - !!python/tuple [24, 12] + - !!python/tuple [3, 9] + - !!python/tuple [21, 28] + - !!python/tuple [20, 1] + - !!python/tuple [1, 12] + - !!python/tuple [9, 8] + - !!python/tuple [22, 17] + - !!python/tuple [5, 11] + - !!python/tuple [28, 22] + - !!python/tuple [0, 5] + - !!python/tuple [23, 1] + - !!python/tuple [2, 17] + - !!python/tuple [14, 3] + - !!python/tuple [1, 28] + - !!python/tuple [18, 16] + - !!python/tuple [21, 7] + - !!python/tuple [16, 23] + - !!python/tuple [14, 22] + - !!python/tuple [30, 14] + - !!python/tuple [10, 13] + - !!python/tuple [13, 12] + - !!python/tuple [1, 11] + - !!python/tuple [17, 30] + - !!python/tuple [31, 27] + - !!python/tuple [16, 20] + - !!python/tuple [0, 29] + - !!python/tuple [11, 30] + - !!python/tuple [25, 17] + - !!python/tuple [27, 24] + - !!python/tuple [0, 1] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex12.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex12.yaml new file mode 100644 index 0000000..4cf10b7 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex12.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [3, 17] + name: agent0 + start: [21, 6] +- goal: [26, 9] + name: agent1 + start: [21, 0] +- goal: [26, 27] + name: agent2 + start: [9, 8] +- goal: [30, 8] + name: agent3 + start: [29, 30] +- goal: [5, 20] + name: agent4 + start: [11, 7] +- goal: [23, 4] + name: agent5 + start: [2, 20] +- goal: [23, 14] + name: agent6 + start: [1, 27] +- goal: [13, 28] + name: agent7 + start: [14, 19] +- goal: [30, 22] + name: agent8 + start: [6, 13] +- goal: [9, 29] + name: agent9 + start: [4, 18] +- goal: [13, 6] + name: agent10 + start: [29, 11] +- goal: [28, 16] + name: agent11 + start: [29, 20] +- goal: [31, 2] + name: agent12 + start: [18, 27] +- goal: [18, 9] + name: agent13 + start: [13, 30] +- goal: [11, 22] + name: agent14 + start: [29, 16] +- goal: [21, 14] + name: agent15 + start: [23, 29] +- goal: [11, 3] + name: agent16 + start: [7, 31] +- goal: [22, 28] + name: agent17 + start: [0, 30] +- goal: [7, 30] + name: agent18 + start: [27, 22] +- goal: [7, 23] + name: agent19 + start: [8, 26] +- goal: [28, 1] + name: agent20 + start: [1, 15] +- goal: [23, 19] + name: agent21 + start: [15, 7] +- goal: [27, 15] + name: agent22 + start: [7, 6] +- goal: [19, 18] + name: agent23 + start: [28, 21] +- goal: [8, 13] + name: agent24 + start: [28, 3] +- goal: [19, 29] + name: agent25 + start: [0, 15] +- goal: [14, 14] + name: agent26 + start: [1, 9] +- goal: [1, 15] + name: agent27 + start: [21, 20] +- goal: [13, 3] + name: agent28 + start: [14, 10] +- goal: [12, 5] + name: agent29 + start: [27, 23] +- goal: [5, 0] + name: agent30 + start: [15, 31] +- goal: [3, 31] + name: agent31 + start: [6, 2] +- goal: [6, 28] + name: agent32 + start: [20, 29] +- goal: [10, 29] + name: agent33 + start: [16, 6] +- goal: [13, 11] + name: agent34 + start: [19, 27] +- goal: [12, 12] + name: agent35 + start: [9, 25] +- goal: [15, 9] + name: agent36 + start: [5, 0] +- goal: [31, 21] + name: agent37 + start: [22, 20] +- goal: [1, 22] + name: agent38 + start: [29, 7] +- goal: [12, 11] + name: agent39 + start: [1, 10] +- goal: [8, 29] + name: agent40 + start: [17, 21] +- goal: [9, 1] + name: agent41 + start: [12, 4] +- goal: [4, 15] + name: agent42 + start: [31, 17] +- goal: [25, 27] + name: agent43 + start: [4, 16] +- goal: [15, 14] + name: agent44 + start: [29, 12] +- goal: [25, 5] + name: agent45 + start: [13, 21] +- goal: [7, 21] + name: agent46 + start: [23, 24] +- goal: [21, 2] + name: agent47 + start: [30, 29] +- goal: [19, 10] + name: agent48 + start: [10, 8] +- goal: [15, 29] + name: agent49 + start: [10, 6] +- goal: [21, 19] + name: agent50 + start: [26, 22] +- goal: [14, 26] + name: agent51 + start: [24, 0] +- goal: [12, 20] + name: agent52 + start: [6, 15] +- goal: [4, 29] + name: agent53 + start: [4, 2] +- goal: [4, 23] + name: agent54 + start: [24, 7] +- goal: [0, 20] + name: agent55 + start: [3, 30] +- goal: [3, 6] + name: agent56 + start: [13, 24] +- goal: [29, 31] + name: agent57 + start: [28, 1] +- goal: [5, 5] + name: agent58 + start: [4, 4] +- goal: [25, 3] + name: agent59 + start: [22, 27] +- goal: [12, 28] + name: agent60 + start: [9, 28] +- goal: [24, 11] + name: agent61 + start: [29, 22] +- goal: [28, 4] + name: agent62 + start: [22, 5] +- goal: [29, 6] + name: agent63 + start: [12, 31] +- goal: [1, 27] + name: agent64 + start: [8, 9] +- goal: [17, 28] + name: agent65 + start: [21, 15] +- goal: [30, 25] + name: agent66 + start: [12, 15] +- goal: [21, 30] + name: agent67 + start: [21, 11] +- goal: [20, 13] + name: agent68 + start: [29, 13] +- goal: [0, 8] + name: agent69 + start: [15, 1] +- goal: [14, 5] + name: agent70 + start: [19, 14] +- goal: [16, 10] + name: agent71 + start: [5, 3] +- goal: [29, 12] + name: agent72 + start: [30, 16] +- goal: [23, 27] + name: agent73 + start: [23, 3] +- goal: [5, 11] + name: agent74 + start: [26, 8] +- goal: [30, 31] + name: agent75 + start: [19, 18] +- goal: [13, 15] + name: agent76 + start: [25, 12] +- goal: [9, 17] + name: agent77 + start: [30, 6] +- goal: [17, 21] + name: agent78 + start: [27, 26] +- goal: [24, 8] + name: agent79 + start: [16, 5] +- goal: [31, 12] + name: agent80 + start: [21, 19] +- goal: [31, 29] + name: agent81 + start: [26, 9] +- goal: [20, 2] + name: agent82 + start: [11, 13] +- goal: [4, 17] + name: agent83 + start: [31, 4] +- goal: [10, 2] + name: agent84 + start: [17, 28] +- goal: [13, 29] + name: agent85 + start: [5, 24] +- goal: [17, 19] + name: agent86 + start: [11, 1] +- goal: [28, 15] + name: agent87 + start: [1, 7] +- goal: [9, 21] + name: agent88 + start: [19, 29] +- goal: [2, 24] + name: agent89 + start: [7, 3] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [12, 23] + - !!python/tuple [0, 23] + - !!python/tuple [16, 11] + - !!python/tuple [19, 4] + - !!python/tuple [26, 4] + - !!python/tuple [4, 1] + - !!python/tuple [9, 4] + - !!python/tuple [8, 4] + - !!python/tuple [24, 1] + - !!python/tuple [18, 4] + - !!python/tuple [17, 18] + - !!python/tuple [20, 12] + - !!python/tuple [14, 20] + - !!python/tuple [28, 23] + - !!python/tuple [20, 4] + - !!python/tuple [30, 30] + - !!python/tuple [3, 19] + - !!python/tuple [14, 2] + - !!python/tuple [11, 11] + - !!python/tuple [23, 22] + - !!python/tuple [0, 9] + - !!python/tuple [31, 5] + - !!python/tuple [14, 11] + - !!python/tuple [22, 21] + - !!python/tuple [31, 0] + - !!python/tuple [28, 5] + - !!python/tuple [18, 31] + - !!python/tuple [22, 26] + - !!python/tuple [11, 29] + - !!python/tuple [20, 18] + - !!python/tuple [20, 31] + - !!python/tuple [6, 7] + - !!python/tuple [7, 10] + - !!python/tuple [17, 26] + - !!python/tuple [20, 16] + - !!python/tuple [1, 1] + - !!python/tuple [24, 28] + - !!python/tuple [16, 23] + - !!python/tuple [18, 30] + - !!python/tuple [11, 17] + - !!python/tuple [25, 18] + - !!python/tuple [29, 24] + - !!python/tuple [20, 23] + - !!python/tuple [23, 6] + - !!python/tuple [14, 8] + - !!python/tuple [2, 25] + - !!python/tuple [2, 11] + - !!python/tuple [19, 26] + - !!python/tuple [6, 29] + - !!python/tuple [20, 24] + - !!python/tuple [6, 4] + - !!python/tuple [6, 6] + - !!python/tuple [24, 23] + - !!python/tuple [1, 0] + - !!python/tuple [16, 30] + - !!python/tuple [1, 23] + - !!python/tuple [16, 25] + - !!python/tuple [6, 1] + - !!python/tuple [4, 31] + - !!python/tuple [30, 23] + - !!python/tuple [5, 6] + - !!python/tuple [29, 19] + - !!python/tuple [22, 11] + - !!python/tuple [30, 3] + - !!python/tuple [26, 20] + - !!python/tuple [12, 17] + - !!python/tuple [7, 4] + - !!python/tuple [27, 0] + - !!python/tuple [26, 21] + - !!python/tuple [18, 10] + - !!python/tuple [11, 6] + - !!python/tuple [3, 27] + - !!python/tuple [22, 4] + - !!python/tuple [30, 2] + - !!python/tuple [0, 0] + - !!python/tuple [19, 22] + - !!python/tuple [14, 3] + - !!python/tuple [0, 6] + - !!python/tuple [3, 8] + - !!python/tuple [27, 10] + - !!python/tuple [15, 2] + - !!python/tuple [5, 19] + - !!python/tuple [7, 20] + - !!python/tuple [27, 2] + - !!python/tuple [15, 3] + - !!python/tuple [10, 5] + - !!python/tuple [31, 3] + - !!python/tuple [31, 8] + - !!python/tuple [12, 21] + - !!python/tuple [30, 19] + - !!python/tuple [17, 16] + - !!python/tuple [25, 24] + - !!python/tuple [30, 13] + - !!python/tuple [26, 23] + - !!python/tuple [18, 3] + - !!python/tuple [19, 0] + - !!python/tuple [10, 16] + - !!python/tuple [13, 12] + - !!python/tuple [1, 14] + - !!python/tuple [23, 11] + - !!python/tuple [30, 15] + - !!python/tuple [30, 12] + - !!python/tuple [15, 6] + - !!python/tuple [18, 15] + - !!python/tuple [18, 18] + - !!python/tuple [29, 14] + - !!python/tuple [15, 23] + - !!python/tuple [14, 17] + - !!python/tuple [6, 27] + - !!python/tuple [14, 29] + - !!python/tuple [6, 11] + - !!python/tuple [17, 6] + - !!python/tuple [19, 31] + - !!python/tuple [1, 16] + - !!python/tuple [14, 1] + - !!python/tuple [0, 27] + - !!python/tuple [2, 21] + - !!python/tuple [9, 15] + - !!python/tuple [21, 9] + - !!python/tuple [22, 13] + - !!python/tuple [5, 28] + - !!python/tuple [20, 22] + - !!python/tuple [10, 9] + - !!python/tuple [7, 1] + - !!python/tuple [31, 7] + - !!python/tuple [15, 17] + - !!python/tuple [31, 27] + - !!python/tuple [12, 29] + - !!python/tuple [21, 3] + - !!python/tuple [0, 3] + - !!python/tuple [7, 22] + - !!python/tuple [23, 2] + - !!python/tuple [7, 27] + - !!python/tuple [8, 6] + - !!python/tuple [31, 15] + - !!python/tuple [7, 2] + - !!python/tuple [15, 28] + - !!python/tuple [19, 28] + - !!python/tuple [30, 0] + - !!python/tuple [30, 20] + - !!python/tuple [20, 20] + - !!python/tuple [5, 4] + - !!python/tuple [26, 19] + - !!python/tuple [11, 2] + - !!python/tuple [3, 2] + - !!python/tuple [16, 29] + - !!python/tuple [20, 1] + - !!python/tuple [18, 11] + - !!python/tuple [24, 12] + - !!python/tuple [25, 23] + - !!python/tuple [6, 17] + - !!python/tuple [14, 0] + - !!python/tuple [28, 13] + - !!python/tuple [6, 0] + - !!python/tuple [8, 0] + - !!python/tuple [8, 14] + - !!python/tuple [3, 4] + - !!python/tuple [6, 16] + - !!python/tuple [7, 11] + - !!python/tuple [8, 28] + - !!python/tuple [6, 10] + - !!python/tuple [21, 17] + - !!python/tuple [12, 25] + - !!python/tuple [27, 18] + - !!python/tuple [7, 24] + - !!python/tuple [13, 10] + - !!python/tuple [31, 13] + - !!python/tuple [24, 31] + - !!python/tuple [8, 10] + - !!python/tuple [22, 10] + - !!python/tuple [9, 3] + - !!python/tuple [16, 2] + - !!python/tuple [13, 17] + - !!python/tuple [9, 0] + - !!python/tuple [29, 21] + - !!python/tuple [14, 6] + - !!python/tuple [5, 8] + - !!python/tuple [28, 7] + - !!python/tuple [24, 21] + - !!python/tuple [13, 14] + - !!python/tuple [13, 8] + - !!python/tuple [5, 27] + - !!python/tuple [21, 18] + - !!python/tuple [16, 20] + - !!python/tuple [5, 9] + - !!python/tuple [21, 8] + - !!python/tuple [24, 10] + - !!python/tuple [9, 31] + - !!python/tuple [25, 0] + - !!python/tuple [16, 13] + - !!python/tuple [2, 22] + - !!python/tuple [1, 21] + - !!python/tuple [2, 29] + - !!python/tuple [1, 31] + - !!python/tuple [26, 13] + - !!python/tuple [4, 19] + - !!python/tuple [5, 31] + - !!python/tuple [8, 30] + - !!python/tuple [21, 29] + - !!python/tuple [12, 13] + - !!python/tuple [13, 25] + - !!python/tuple [26, 14] + - !!python/tuple [28, 27] + - !!python/tuple [10, 22] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex13.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex13.yaml new file mode 100644 index 0000000..47ddce5 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex13.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [22, 18] + name: agent0 + start: [12, 31] +- goal: [6, 21] + name: agent1 + start: [7, 12] +- goal: [26, 9] + name: agent2 + start: [20, 28] +- goal: [6, 31] + name: agent3 + start: [27, 18] +- goal: [20, 24] + name: agent4 + start: [22, 16] +- goal: [11, 27] + name: agent5 + start: [9, 20] +- goal: [20, 29] + name: agent6 + start: [29, 14] +- goal: [3, 22] + name: agent7 + start: [7, 11] +- goal: [8, 3] + name: agent8 + start: [14, 22] +- goal: [19, 28] + name: agent9 + start: [11, 2] +- goal: [15, 0] + name: agent10 + start: [20, 14] +- goal: [18, 22] + name: agent11 + start: [27, 8] +- goal: [3, 8] + name: agent12 + start: [10, 18] +- goal: [23, 13] + name: agent13 + start: [5, 1] +- goal: [6, 3] + name: agent14 + start: [7, 13] +- goal: [9, 26] + name: agent15 + start: [11, 25] +- goal: [1, 3] + name: agent16 + start: [28, 5] +- goal: [19, 8] + name: agent17 + start: [25, 6] +- goal: [13, 16] + name: agent18 + start: [0, 27] +- goal: [2, 15] + name: agent19 + start: [7, 4] +- goal: [8, 20] + name: agent20 + start: [26, 31] +- goal: [7, 12] + name: agent21 + start: [18, 23] +- goal: [12, 10] + name: agent22 + start: [15, 1] +- goal: [7, 16] + name: agent23 + start: [11, 16] +- goal: [1, 25] + name: agent24 + start: [21, 31] +- goal: [10, 28] + name: agent25 + start: [11, 31] +- goal: [26, 24] + name: agent26 + start: [15, 13] +- goal: [29, 31] + name: agent27 + start: [4, 31] +- goal: [21, 23] + name: agent28 + start: [23, 3] +- goal: [7, 24] + name: agent29 + start: [3, 2] +- goal: [24, 31] + name: agent30 + start: [10, 27] +- goal: [8, 22] + name: agent31 + start: [4, 18] +- goal: [9, 10] + name: agent32 + start: [13, 30] +- goal: [4, 28] + name: agent33 + start: [2, 13] +- goal: [4, 2] + name: agent34 + start: [21, 23] +- goal: [14, 11] + name: agent35 + start: [22, 30] +- goal: [13, 23] + name: agent36 + start: [24, 12] +- goal: [2, 9] + name: agent37 + start: [1, 16] +- goal: [25, 6] + name: agent38 + start: [3, 12] +- goal: [8, 25] + name: agent39 + start: [20, 15] +- goal: [19, 1] + name: agent40 + start: [7, 28] +- goal: [5, 8] + name: agent41 + start: [13, 0] +- goal: [6, 5] + name: agent42 + start: [6, 10] +- goal: [29, 17] + name: agent43 + start: [11, 29] +- goal: [15, 20] + name: agent44 + start: [11, 0] +- goal: [22, 28] + name: agent45 + start: [20, 9] +- goal: [8, 31] + name: agent46 + start: [6, 16] +- goal: [0, 17] + name: agent47 + start: [29, 8] +- goal: [18, 15] + name: agent48 + start: [30, 13] +- goal: [27, 11] + name: agent49 + start: [12, 8] +- goal: [5, 29] + name: agent50 + start: [29, 3] +- goal: [4, 6] + name: agent51 + start: [24, 14] +- goal: [28, 17] + name: agent52 + start: [17, 1] +- goal: [19, 2] + name: agent53 + start: [23, 12] +- goal: [9, 16] + name: agent54 + start: [22, 5] +- goal: [2, 26] + name: agent55 + start: [19, 26] +- goal: [13, 0] + name: agent56 + start: [22, 2] +- goal: [13, 6] + name: agent57 + start: [31, 23] +- goal: [6, 22] + name: agent58 + start: [5, 26] +- goal: [25, 9] + name: agent59 + start: [23, 16] +- goal: [5, 18] + name: agent60 + start: [20, 27] +- goal: [1, 22] + name: agent61 + start: [7, 26] +- goal: [18, 20] + name: agent62 + start: [5, 8] +- goal: [24, 6] + name: agent63 + start: [23, 2] +- goal: [11, 15] + name: agent64 + start: [10, 5] +- goal: [2, 0] + name: agent65 + start: [2, 16] +- goal: [4, 5] + name: agent66 + start: [29, 17] +- goal: [30, 23] + name: agent67 + start: [5, 6] +- goal: [1, 29] + name: agent68 + start: [10, 9] +- goal: [20, 1] + name: agent69 + start: [10, 7] +- goal: [7, 27] + name: agent70 + start: [8, 19] +- goal: [17, 8] + name: agent71 + start: [17, 7] +- goal: [15, 9] + name: agent72 + start: [13, 21] +- goal: [5, 5] + name: agent73 + start: [0, 4] +- goal: [13, 30] + name: agent74 + start: [16, 1] +- goal: [12, 15] + name: agent75 + start: [30, 5] +- goal: [23, 18] + name: agent76 + start: [8, 1] +- goal: [29, 8] + name: agent77 + start: [26, 12] +- goal: [20, 9] + name: agent78 + start: [4, 12] +- goal: [22, 21] + name: agent79 + start: [6, 2] +- goal: [2, 17] + name: agent80 + start: [22, 7] +- goal: [4, 13] + name: agent81 + start: [14, 12] +- goal: [21, 31] + name: agent82 + start: [30, 30] +- goal: [29, 13] + name: agent83 + start: [30, 7] +- goal: [26, 12] + name: agent84 + start: [27, 23] +- goal: [18, 19] + name: agent85 + start: [6, 15] +- goal: [23, 24] + name: agent86 + start: [25, 8] +- goal: [6, 25] + name: agent87 + start: [15, 0] +- goal: [30, 24] + name: agent88 + start: [15, 9] +- goal: [19, 16] + name: agent89 + start: [21, 15] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [17, 30] + - !!python/tuple [29, 16] + - !!python/tuple [2, 27] + - !!python/tuple [27, 25] + - !!python/tuple [2, 2] + - !!python/tuple [16, 11] + - !!python/tuple [23, 7] + - !!python/tuple [14, 14] + - !!python/tuple [15, 27] + - !!python/tuple [21, 14] + - !!python/tuple [15, 19] + - !!python/tuple [7, 10] + - !!python/tuple [28, 20] + - !!python/tuple [9, 3] + - !!python/tuple [11, 20] + - !!python/tuple [13, 24] + - !!python/tuple [18, 1] + - !!python/tuple [12, 14] + - !!python/tuple [8, 23] + - !!python/tuple [27, 26] + - !!python/tuple [19, 4] + - !!python/tuple [15, 3] + - !!python/tuple [5, 27] + - !!python/tuple [8, 9] + - !!python/tuple [28, 2] + - !!python/tuple [3, 19] + - !!python/tuple [30, 8] + - !!python/tuple [22, 6] + - !!python/tuple [15, 2] + - !!python/tuple [14, 9] + - !!python/tuple [27, 3] + - !!python/tuple [26, 26] + - !!python/tuple [4, 10] + - !!python/tuple [24, 1] + - !!python/tuple [24, 26] + - !!python/tuple [1, 2] + - !!python/tuple [20, 3] + - !!python/tuple [12, 21] + - !!python/tuple [8, 2] + - !!python/tuple [26, 18] + - !!python/tuple [10, 3] + - !!python/tuple [1, 10] + - !!python/tuple [18, 6] + - !!python/tuple [15, 23] + - !!python/tuple [5, 17] + - !!python/tuple [30, 11] + - !!python/tuple [25, 23] + - !!python/tuple [30, 22] + - !!python/tuple [11, 10] + - !!python/tuple [27, 28] + - !!python/tuple [29, 23] + - !!python/tuple [16, 0] + - !!python/tuple [12, 0] + - !!python/tuple [2, 6] + - !!python/tuple [20, 0] + - !!python/tuple [17, 21] + - !!python/tuple [30, 3] + - !!python/tuple [23, 23] + - !!python/tuple [5, 9] + - !!python/tuple [24, 4] + - !!python/tuple [26, 17] + - !!python/tuple [27, 22] + - !!python/tuple [10, 30] + - !!python/tuple [22, 26] + - !!python/tuple [24, 24] + - !!python/tuple [0, 23] + - !!python/tuple [0, 12] + - !!python/tuple [11, 12] + - !!python/tuple [4, 29] + - !!python/tuple [4, 8] + - !!python/tuple [18, 31] + - !!python/tuple [5, 21] + - !!python/tuple [24, 2] + - !!python/tuple [31, 17] + - !!python/tuple [27, 27] + - !!python/tuple [28, 9] + - !!python/tuple [3, 4] + - !!python/tuple [11, 7] + - !!python/tuple [21, 6] + - !!python/tuple [8, 12] + - !!python/tuple [12, 26] + - !!python/tuple [24, 20] + - !!python/tuple [5, 14] + - !!python/tuple [2, 21] + - !!python/tuple [0, 19] + - !!python/tuple [4, 11] + - !!python/tuple [13, 22] + - !!python/tuple [28, 10] + - !!python/tuple [7, 25] + - !!python/tuple [28, 15] + - !!python/tuple [19, 17] + - !!python/tuple [9, 18] + - !!python/tuple [26, 13] + - !!python/tuple [14, 19] + - !!python/tuple [23, 30] + - !!python/tuple [16, 18] + - !!python/tuple [29, 7] + - !!python/tuple [9, 5] + - !!python/tuple [10, 15] + - !!python/tuple [3, 31] + - !!python/tuple [31, 8] + - !!python/tuple [20, 4] + - !!python/tuple [0, 15] + - !!python/tuple [18, 14] + - !!python/tuple [25, 21] + - !!python/tuple [18, 10] + - !!python/tuple [27, 21] + - !!python/tuple [9, 14] + - !!python/tuple [23, 26] + - !!python/tuple [29, 0] + - !!python/tuple [9, 4] + - !!python/tuple [21, 16] + - !!python/tuple [1, 18] + - !!python/tuple [26, 5] + - !!python/tuple [14, 15] + - !!python/tuple [10, 8] + - !!python/tuple [9, 15] + - !!python/tuple [9, 17] + - !!python/tuple [25, 30] + - !!python/tuple [10, 1] + - !!python/tuple [12, 27] + - !!python/tuple [10, 26] + - !!python/tuple [26, 22] + - !!python/tuple [4, 19] + - !!python/tuple [26, 27] + - !!python/tuple [15, 15] + - !!python/tuple [13, 13] + - !!python/tuple [29, 28] + - !!python/tuple [2, 25] + - !!python/tuple [8, 24] + - !!python/tuple [0, 20] + - !!python/tuple [26, 21] + - !!python/tuple [26, 10] + - !!python/tuple [16, 14] + - !!python/tuple [21, 7] + - !!python/tuple [12, 5] + - !!python/tuple [3, 30] + - !!python/tuple [7, 5] + - !!python/tuple [30, 1] + - !!python/tuple [1, 6] + - !!python/tuple [13, 27] + - !!python/tuple [19, 11] + - !!python/tuple [1, 26] + - !!python/tuple [0, 14] + - !!python/tuple [13, 26] + - !!python/tuple [23, 25] + - !!python/tuple [23, 28] + - !!python/tuple [1, 19] + - !!python/tuple [19, 23] + - !!python/tuple [10, 10] + - !!python/tuple [4, 4] + - !!python/tuple [21, 3] + - !!python/tuple [31, 15] + - !!python/tuple [8, 13] + - !!python/tuple [24, 11] + - !!python/tuple [26, 28] + - !!python/tuple [29, 21] + - !!python/tuple [11, 1] + - !!python/tuple [26, 3] + - !!python/tuple [24, 18] + - !!python/tuple [10, 19] + - !!python/tuple [11, 24] + - !!python/tuple [4, 3] + - !!python/tuple [10, 6] + - !!python/tuple [0, 5] + - !!python/tuple [23, 9] + - !!python/tuple [31, 6] + - !!python/tuple [5, 4] + - !!python/tuple [25, 28] + - !!python/tuple [1, 13] + - !!python/tuple [9, 23] + - !!python/tuple [2, 1] + - !!python/tuple [29, 12] + - !!python/tuple [23, 15] + - !!python/tuple [14, 17] + - !!python/tuple [0, 25] + - !!python/tuple [10, 24] + - !!python/tuple [30, 16] + - !!python/tuple [0, 7] + - !!python/tuple [12, 30] + - !!python/tuple [19, 27] + - !!python/tuple [16, 22] + - !!python/tuple [16, 15] + - !!python/tuple [14, 16] + - !!python/tuple [6, 14] + - !!python/tuple [29, 2] + - !!python/tuple [0, 16] + - !!python/tuple [20, 22] + - !!python/tuple [21, 8] + - !!python/tuple [17, 15] + - !!python/tuple [5, 15] + - !!python/tuple [27, 15] + - !!python/tuple [31, 4] + - !!python/tuple [6, 19] + - !!python/tuple [3, 20] + - !!python/tuple [22, 22] + - !!python/tuple [31, 24] + - !!python/tuple [9, 6] + - !!python/tuple [8, 4] + - !!python/tuple [26, 29] + - !!python/tuple [23, 14] + - !!python/tuple [18, 29] + - !!python/tuple [27, 6] + - !!python/tuple [1, 4] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex14.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex14.yaml new file mode 100644 index 0000000..7e6cc1d --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex14.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [0, 9] + name: agent0 + start: [25, 4] +- goal: [3, 7] + name: agent1 + start: [26, 30] +- goal: [2, 2] + name: agent2 + start: [12, 0] +- goal: [24, 26] + name: agent3 + start: [26, 7] +- goal: [14, 12] + name: agent4 + start: [14, 5] +- goal: [26, 19] + name: agent5 + start: [20, 16] +- goal: [26, 29] + name: agent6 + start: [4, 31] +- goal: [11, 31] + name: agent7 + start: [6, 3] +- goal: [22, 21] + name: agent8 + start: [14, 22] +- goal: [22, 26] + name: agent9 + start: [14, 7] +- goal: [21, 21] + name: agent10 + start: [21, 17] +- goal: [22, 11] + name: agent11 + start: [28, 10] +- goal: [19, 6] + name: agent12 + start: [21, 28] +- goal: [21, 28] + name: agent13 + start: [1, 1] +- goal: [30, 7] + name: agent14 + start: [18, 28] +- goal: [2, 14] + name: agent15 + start: [14, 20] +- goal: [8, 21] + name: agent16 + start: [27, 22] +- goal: [31, 10] + name: agent17 + start: [15, 3] +- goal: [21, 29] + name: agent18 + start: [29, 17] +- goal: [27, 10] + name: agent19 + start: [21, 25] +- goal: [17, 20] + name: agent20 + start: [7, 12] +- goal: [30, 19] + name: agent21 + start: [5, 16] +- goal: [30, 30] + name: agent22 + start: [22, 12] +- goal: [30, 28] + name: agent23 + start: [14, 15] +- goal: [11, 24] + name: agent24 + start: [4, 27] +- goal: [27, 12] + name: agent25 + start: [26, 28] +- goal: [5, 11] + name: agent26 + start: [31, 31] +- goal: [9, 5] + name: agent27 + start: [13, 21] +- goal: [25, 4] + name: agent28 + start: [25, 22] +- goal: [13, 27] + name: agent29 + start: [0, 31] +- goal: [9, 17] + name: agent30 + start: [24, 4] +- goal: [3, 26] + name: agent31 + start: [0, 30] +- goal: [30, 6] + name: agent32 + start: [14, 11] +- goal: [6, 2] + name: agent33 + start: [20, 4] +- goal: [13, 17] + name: agent34 + start: [10, 24] +- goal: [13, 25] + name: agent35 + start: [2, 21] +- goal: [12, 12] + name: agent36 + start: [11, 31] +- goal: [23, 15] + name: agent37 + start: [22, 14] +- goal: [19, 8] + name: agent38 + start: [19, 27] +- goal: [29, 9] + name: agent39 + start: [26, 18] +- goal: [6, 30] + name: agent40 + start: [27, 24] +- goal: [5, 1] + name: agent41 + start: [25, 12] +- goal: [17, 0] + name: agent42 + start: [15, 15] +- goal: [26, 22] + name: agent43 + start: [22, 31] +- goal: [6, 12] + name: agent44 + start: [28, 15] +- goal: [26, 8] + name: agent45 + start: [16, 4] +- goal: [7, 5] + name: agent46 + start: [23, 6] +- goal: [31, 22] + name: agent47 + start: [29, 11] +- goal: [30, 13] + name: agent48 + start: [11, 13] +- goal: [25, 23] + name: agent49 + start: [11, 25] +- goal: [17, 25] + name: agent50 + start: [22, 22] +- goal: [6, 18] + name: agent51 + start: [14, 16] +- goal: [28, 26] + name: agent52 + start: [25, 17] +- goal: [15, 11] + name: agent53 + start: [0, 10] +- goal: [23, 27] + name: agent54 + start: [29, 5] +- goal: [18, 0] + name: agent55 + start: [7, 26] +- goal: [27, 1] + name: agent56 + start: [30, 16] +- goal: [23, 4] + name: agent57 + start: [7, 21] +- goal: [4, 24] + name: agent58 + start: [6, 30] +- goal: [1, 0] + name: agent59 + start: [29, 19] +- goal: [24, 20] + name: agent60 + start: [0, 4] +- goal: [17, 31] + name: agent61 + start: [26, 25] +- goal: [3, 20] + name: agent62 + start: [23, 17] +- goal: [19, 14] + name: agent63 + start: [26, 31] +- goal: [1, 28] + name: agent64 + start: [9, 21] +- goal: [14, 5] + name: agent65 + start: [19, 20] +- goal: [14, 10] + name: agent66 + start: [16, 14] +- goal: [22, 24] + name: agent67 + start: [14, 4] +- goal: [14, 22] + name: agent68 + start: [13, 24] +- goal: [1, 1] + name: agent69 + start: [30, 27] +- goal: [7, 7] + name: agent70 + start: [29, 4] +- goal: [6, 25] + name: agent71 + start: [2, 31] +- goal: [12, 0] + name: agent72 + start: [20, 25] +- goal: [17, 3] + name: agent73 + start: [24, 10] +- goal: [12, 6] + name: agent74 + start: [10, 0] +- goal: [2, 17] + name: agent75 + start: [20, 9] +- goal: [28, 23] + name: agent76 + start: [3, 16] +- goal: [1, 12] + name: agent77 + start: [31, 30] +- goal: [0, 29] + name: agent78 + start: [16, 22] +- goal: [12, 14] + name: agent79 + start: [9, 6] +- goal: [23, 13] + name: agent80 + start: [23, 13] +- goal: [20, 22] + name: agent81 + start: [26, 1] +- goal: [9, 7] + name: agent82 + start: [9, 29] +- goal: [20, 31] + name: agent83 + start: [23, 15] +- goal: [17, 13] + name: agent84 + start: [28, 4] +- goal: [25, 21] + name: agent85 + start: [9, 15] +- goal: [31, 24] + name: agent86 + start: [2, 16] +- goal: [4, 23] + name: agent87 + start: [4, 9] +- goal: [3, 9] + name: agent88 + start: [0, 6] +- goal: [30, 29] + name: agent89 + start: [26, 4] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [4, 7] + - !!python/tuple [6, 1] + - !!python/tuple [19, 18] + - !!python/tuple [10, 2] + - !!python/tuple [15, 24] + - !!python/tuple [22, 28] + - !!python/tuple [18, 14] + - !!python/tuple [24, 27] + - !!python/tuple [13, 4] + - !!python/tuple [11, 28] + - !!python/tuple [1, 25] + - !!python/tuple [16, 21] + - !!python/tuple [9, 16] + - !!python/tuple [4, 14] + - !!python/tuple [19, 16] + - !!python/tuple [27, 2] + - !!python/tuple [18, 22] + - !!python/tuple [2, 28] + - !!python/tuple [18, 5] + - !!python/tuple [27, 7] + - !!python/tuple [2, 23] + - !!python/tuple [13, 11] + - !!python/tuple [1, 21] + - !!python/tuple [18, 31] + - !!python/tuple [30, 31] + - !!python/tuple [17, 26] + - !!python/tuple [20, 17] + - !!python/tuple [17, 14] + - !!python/tuple [21, 23] + - !!python/tuple [10, 31] + - !!python/tuple [5, 26] + - !!python/tuple [1, 13] + - !!python/tuple [11, 12] + - !!python/tuple [7, 24] + - !!python/tuple [8, 22] + - !!python/tuple [23, 2] + - !!python/tuple [30, 2] + - !!python/tuple [12, 22] + - !!python/tuple [17, 11] + - !!python/tuple [31, 6] + - !!python/tuple [16, 17] + - !!python/tuple [10, 19] + - !!python/tuple [7, 13] + - !!python/tuple [12, 26] + - !!python/tuple [31, 5] + - !!python/tuple [4, 30] + - !!python/tuple [29, 22] + - !!python/tuple [16, 20] + - !!python/tuple [26, 13] + - !!python/tuple [30, 10] + - !!python/tuple [0, 7] + - !!python/tuple [20, 29] + - !!python/tuple [17, 19] + - !!python/tuple [11, 5] + - !!python/tuple [19, 2] + - !!python/tuple [28, 0] + - !!python/tuple [31, 28] + - !!python/tuple [4, 19] + - !!python/tuple [17, 29] + - !!python/tuple [20, 1] + - !!python/tuple [21, 30] + - !!python/tuple [13, 9] + - !!python/tuple [1, 20] + - !!python/tuple [22, 1] + - !!python/tuple [19, 0] + - !!python/tuple [2, 1] + - !!python/tuple [22, 15] + - !!python/tuple [12, 23] + - !!python/tuple [13, 20] + - !!python/tuple [20, 19] + - !!python/tuple [8, 10] + - !!python/tuple [31, 27] + - !!python/tuple [18, 24] + - !!python/tuple [25, 7] + - !!python/tuple [23, 10] + - !!python/tuple [6, 21] + - !!python/tuple [17, 27] + - !!python/tuple [21, 27] + - !!python/tuple [7, 20] + - !!python/tuple [23, 25] + - !!python/tuple [5, 0] + - !!python/tuple [28, 17] + - !!python/tuple [8, 1] + - !!python/tuple [30, 4] + - !!python/tuple [13, 8] + - !!python/tuple [4, 16] + - !!python/tuple [15, 21] + - !!python/tuple [19, 10] + - !!python/tuple [0, 0] + - !!python/tuple [27, 29] + - !!python/tuple [27, 17] + - !!python/tuple [29, 6] + - !!python/tuple [14, 19] + - !!python/tuple [2, 0] + - !!python/tuple [12, 16] + - !!python/tuple [15, 6] + - !!python/tuple [16, 19] + - !!python/tuple [13, 18] + - !!python/tuple [11, 6] + - !!python/tuple [19, 3] + - !!python/tuple [16, 10] + - !!python/tuple [0, 28] + - !!python/tuple [6, 8] + - !!python/tuple [25, 6] + - !!python/tuple [11, 14] + - !!python/tuple [4, 28] + - !!python/tuple [16, 23] + - !!python/tuple [4, 4] + - !!python/tuple [5, 3] + - !!python/tuple [4, 8] + - !!python/tuple [0, 22] + - !!python/tuple [23, 31] + - !!python/tuple [5, 12] + - !!python/tuple [0, 24] + - !!python/tuple [12, 28] + - !!python/tuple [6, 28] + - !!python/tuple [12, 8] + - !!python/tuple [28, 29] + - !!python/tuple [14, 1] + - !!python/tuple [14, 3] + - !!python/tuple [5, 15] + - !!python/tuple [19, 1] + - !!python/tuple [24, 30] + - !!python/tuple [15, 28] + - !!python/tuple [13, 12] + - !!python/tuple [30, 23] + - !!python/tuple [0, 25] + - !!python/tuple [26, 3] + - !!python/tuple [5, 28] + - !!python/tuple [19, 31] + - !!python/tuple [9, 31] + - !!python/tuple [0, 19] + - !!python/tuple [25, 15] + - !!python/tuple [19, 23] + - !!python/tuple [23, 28] + - !!python/tuple [19, 11] + - !!python/tuple [13, 31] + - !!python/tuple [20, 23] + - !!python/tuple [15, 2] + - !!python/tuple [15, 25] + - !!python/tuple [8, 24] + - !!python/tuple [7, 6] + - !!python/tuple [17, 30] + - !!python/tuple [10, 9] + - !!python/tuple [7, 14] + - !!python/tuple [10, 15] + - !!python/tuple [6, 14] + - !!python/tuple [22, 20] + - !!python/tuple [27, 28] + - !!python/tuple [18, 3] + - !!python/tuple [16, 24] + - !!python/tuple [1, 9] + - !!python/tuple [29, 3] + - !!python/tuple [7, 30] + - !!python/tuple [1, 16] + - !!python/tuple [3, 28] + - !!python/tuple [8, 7] + - !!python/tuple [6, 10] + - !!python/tuple [10, 5] + - !!python/tuple [27, 25] + - !!python/tuple [17, 1] + - !!python/tuple [14, 18] + - !!python/tuple [28, 31] + - !!python/tuple [17, 23] + - !!python/tuple [4, 10] + - !!python/tuple [18, 1] + - !!python/tuple [7, 0] + - !!python/tuple [16, 1] + - !!python/tuple [9, 2] + - !!python/tuple [14, 14] + - !!python/tuple [6, 22] + - !!python/tuple [30, 25] + - !!python/tuple [17, 2] + - !!python/tuple [2, 11] + - !!python/tuple [11, 2] + - !!python/tuple [8, 8] + - !!python/tuple [3, 5] + - !!python/tuple [21, 18] + - !!python/tuple [5, 14] + - !!python/tuple [12, 4] + - !!python/tuple [10, 14] + - !!python/tuple [17, 15] + - !!python/tuple [19, 13] + - !!python/tuple [25, 29] + - !!python/tuple [17, 21] + - !!python/tuple [20, 5] + - !!python/tuple [23, 22] + - !!python/tuple [0, 26] + - !!python/tuple [18, 30] + - !!python/tuple [27, 19] + - !!python/tuple [24, 13] + - !!python/tuple [19, 19] + - !!python/tuple [27, 6] + - !!python/tuple [15, 27] + - !!python/tuple [26, 27] + - !!python/tuple [0, 5] + - !!python/tuple [2, 7] + - !!python/tuple [4, 25] + - !!python/tuple [22, 29] + - !!python/tuple [29, 18] + - !!python/tuple [31, 0] + - !!python/tuple [25, 18] + - !!python/tuple [18, 19] + - !!python/tuple [14, 24] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex15.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex15.yaml new file mode 100644 index 0000000..9e5489c --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex15.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [20, 20] + name: agent0 + start: [30, 11] +- goal: [28, 29] + name: agent1 + start: [27, 6] +- goal: [20, 1] + name: agent2 + start: [8, 25] +- goal: [2, 18] + name: agent3 + start: [17, 1] +- goal: [5, 22] + name: agent4 + start: [10, 11] +- goal: [1, 8] + name: agent5 + start: [23, 26] +- goal: [23, 3] + name: agent6 + start: [29, 6] +- goal: [26, 25] + name: agent7 + start: [2, 22] +- goal: [3, 9] + name: agent8 + start: [1, 0] +- goal: [14, 29] + name: agent9 + start: [7, 13] +- goal: [9, 30] + name: agent10 + start: [21, 19] +- goal: [28, 4] + name: agent11 + start: [8, 7] +- goal: [18, 3] + name: agent12 + start: [28, 30] +- goal: [16, 26] + name: agent13 + start: [20, 27] +- goal: [11, 4] + name: agent14 + start: [12, 17] +- goal: [13, 15] + name: agent15 + start: [2, 0] +- goal: [24, 31] + name: agent16 + start: [5, 19] +- goal: [21, 23] + name: agent17 + start: [23, 3] +- goal: [19, 0] + name: agent18 + start: [28, 20] +- goal: [5, 24] + name: agent19 + start: [21, 27] +- goal: [10, 20] + name: agent20 + start: [12, 24] +- goal: [22, 28] + name: agent21 + start: [18, 8] +- goal: [8, 3] + name: agent22 + start: [3, 18] +- goal: [1, 23] + name: agent23 + start: [20, 7] +- goal: [8, 4] + name: agent24 + start: [15, 30] +- goal: [28, 17] + name: agent25 + start: [18, 6] +- goal: [10, 9] + name: agent26 + start: [28, 4] +- goal: [31, 11] + name: agent27 + start: [20, 8] +- goal: [30, 4] + name: agent28 + start: [7, 27] +- goal: [7, 4] + name: agent29 + start: [31, 18] +- goal: [21, 26] + name: agent30 + start: [18, 22] +- goal: [10, 26] + name: agent31 + start: [26, 25] +- goal: [7, 27] + name: agent32 + start: [31, 24] +- goal: [7, 10] + name: agent33 + start: [18, 9] +- goal: [19, 1] + name: agent34 + start: [8, 4] +- goal: [7, 6] + name: agent35 + start: [9, 15] +- goal: [17, 27] + name: agent36 + start: [3, 13] +- goal: [24, 8] + name: agent37 + start: [13, 8] +- goal: [13, 7] + name: agent38 + start: [29, 10] +- goal: [0, 12] + name: agent39 + start: [12, 21] +- goal: [5, 30] + name: agent40 + start: [3, 17] +- goal: [28, 13] + name: agent41 + start: [26, 13] +- goal: [24, 14] + name: agent42 + start: [12, 19] +- goal: [11, 20] + name: agent43 + start: [3, 9] +- goal: [22, 26] + name: agent44 + start: [11, 12] +- goal: [18, 14] + name: agent45 + start: [30, 8] +- goal: [26, 0] + name: agent46 + start: [28, 21] +- goal: [6, 5] + name: agent47 + start: [8, 15] +- goal: [8, 25] + name: agent48 + start: [4, 29] +- goal: [17, 1] + name: agent49 + start: [14, 2] +- goal: [26, 5] + name: agent50 + start: [18, 3] +- goal: [26, 12] + name: agent51 + start: [28, 12] +- goal: [28, 21] + name: agent52 + start: [19, 8] +- goal: [10, 10] + name: agent53 + start: [17, 29] +- goal: [27, 5] + name: agent54 + start: [15, 18] +- goal: [10, 5] + name: agent55 + start: [25, 3] +- goal: [16, 5] + name: agent56 + start: [3, 30] +- goal: [0, 0] + name: agent57 + start: [20, 20] +- goal: [26, 20] + name: agent58 + start: [15, 4] +- goal: [11, 26] + name: agent59 + start: [19, 22] +- goal: [30, 3] + name: agent60 + start: [26, 0] +- goal: [11, 7] + name: agent61 + start: [10, 6] +- goal: [10, 31] + name: agent62 + start: [5, 16] +- goal: [5, 20] + name: agent63 + start: [16, 31] +- goal: [26, 7] + name: agent64 + start: [0, 19] +- goal: [0, 26] + name: agent65 + start: [3, 6] +- goal: [25, 30] + name: agent66 + start: [17, 14] +- goal: [31, 25] + name: agent67 + start: [1, 30] +- goal: [13, 6] + name: agent68 + start: [15, 11] +- goal: [19, 5] + name: agent69 + start: [19, 4] +- goal: [4, 2] + name: agent70 + start: [19, 1] +- goal: [14, 0] + name: agent71 + start: [2, 26] +- goal: [28, 23] + name: agent72 + start: [20, 25] +- goal: [6, 29] + name: agent73 + start: [28, 5] +- goal: [8, 27] + name: agent74 + start: [25, 24] +- goal: [10, 17] + name: agent75 + start: [23, 7] +- goal: [0, 8] + name: agent76 + start: [13, 26] +- goal: [1, 18] + name: agent77 + start: [27, 3] +- goal: [3, 24] + name: agent78 + start: [22, 0] +- goal: [15, 21] + name: agent79 + start: [22, 15] +- goal: [13, 13] + name: agent80 + start: [27, 19] +- goal: [3, 15] + name: agent81 + start: [8, 12] +- goal: [10, 7] + name: agent82 + start: [15, 5] +- goal: [29, 25] + name: agent83 + start: [24, 15] +- goal: [23, 30] + name: agent84 + start: [1, 3] +- goal: [4, 7] + name: agent85 + start: [30, 1] +- goal: [17, 12] + name: agent86 + start: [21, 25] +- goal: [1, 31] + name: agent87 + start: [31, 10] +- goal: [28, 25] + name: agent88 + start: [31, 21] +- goal: [2, 14] + name: agent89 + start: [0, 2] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [24, 2] + - !!python/tuple [29, 15] + - !!python/tuple [13, 5] + - !!python/tuple [24, 7] + - !!python/tuple [27, 2] + - !!python/tuple [8, 10] + - !!python/tuple [23, 22] + - !!python/tuple [16, 1] + - !!python/tuple [5, 0] + - !!python/tuple [19, 12] + - !!python/tuple [30, 2] + - !!python/tuple [13, 1] + - !!python/tuple [24, 4] + - !!python/tuple [8, 1] + - !!python/tuple [2, 1] + - !!python/tuple [2, 31] + - !!python/tuple [3, 20] + - !!python/tuple [25, 27] + - !!python/tuple [17, 16] + - !!python/tuple [15, 7] + - !!python/tuple [15, 29] + - !!python/tuple [11, 30] + - !!python/tuple [31, 27] + - !!python/tuple [27, 9] + - !!python/tuple [29, 7] + - !!python/tuple [29, 16] + - !!python/tuple [1, 12] + - !!python/tuple [1, 16] + - !!python/tuple [13, 0] + - !!python/tuple [20, 16] + - !!python/tuple [16, 29] + - !!python/tuple [13, 3] + - !!python/tuple [27, 12] + - !!python/tuple [2, 11] + - !!python/tuple [1, 5] + - !!python/tuple [0, 14] + - !!python/tuple [3, 29] + - !!python/tuple [22, 6] + - !!python/tuple [12, 23] + - !!python/tuple [8, 9] + - !!python/tuple [22, 12] + - !!python/tuple [19, 7] + - !!python/tuple [27, 0] + - !!python/tuple [28, 14] + - !!python/tuple [18, 21] + - !!python/tuple [30, 17] + - !!python/tuple [11, 21] + - !!python/tuple [25, 29] + - !!python/tuple [19, 2] + - !!python/tuple [18, 24] + - !!python/tuple [22, 5] + - !!python/tuple [23, 31] + - !!python/tuple [28, 22] + - !!python/tuple [7, 2] + - !!python/tuple [19, 9] + - !!python/tuple [22, 14] + - !!python/tuple [11, 18] + - !!python/tuple [30, 30] + - !!python/tuple [4, 13] + - !!python/tuple [18, 17] + - !!python/tuple [17, 24] + - !!python/tuple [25, 14] + - !!python/tuple [20, 3] + - !!python/tuple [12, 31] + - !!python/tuple [14, 24] + - !!python/tuple [14, 17] + - !!python/tuple [4, 6] + - !!python/tuple [5, 18] + - !!python/tuple [29, 29] + - !!python/tuple [1, 19] + - !!python/tuple [22, 1] + - !!python/tuple [3, 7] + - !!python/tuple [24, 25] + - !!python/tuple [16, 20] + - !!python/tuple [6, 1] + - !!python/tuple [31, 17] + - !!python/tuple [6, 0] + - !!python/tuple [13, 16] + - !!python/tuple [21, 13] + - !!python/tuple [7, 25] + - !!python/tuple [30, 10] + - !!python/tuple [30, 13] + - !!python/tuple [9, 2] + - !!python/tuple [13, 17] + - !!python/tuple [9, 0] + - !!python/tuple [3, 27] + - !!python/tuple [10, 22] + - !!python/tuple [31, 29] + - !!python/tuple [16, 9] + - !!python/tuple [9, 8] + - !!python/tuple [14, 23] + - !!python/tuple [25, 9] + - !!python/tuple [18, 20] + - !!python/tuple [15, 22] + - !!python/tuple [31, 3] + - !!python/tuple [11, 25] + - !!python/tuple [15, 19] + - !!python/tuple [3, 3] + - !!python/tuple [20, 21] + - !!python/tuple [9, 3] + - !!python/tuple [9, 17] + - !!python/tuple [14, 5] + - !!python/tuple [9, 21] + - !!python/tuple [10, 14] + - !!python/tuple [4, 16] + - !!python/tuple [2, 21] + - !!python/tuple [15, 25] + - !!python/tuple [14, 27] + - !!python/tuple [25, 25] + - !!python/tuple [11, 17] + - !!python/tuple [23, 16] + - !!python/tuple [9, 12] + - !!python/tuple [20, 22] + - !!python/tuple [10, 1] + - !!python/tuple [31, 20] + - !!python/tuple [15, 24] + - !!python/tuple [0, 21] + - !!python/tuple [29, 8] + - !!python/tuple [22, 29] + - !!python/tuple [12, 13] + - !!python/tuple [0, 20] + - !!python/tuple [9, 27] + - !!python/tuple [11, 2] + - !!python/tuple [22, 9] + - !!python/tuple [31, 13] + - !!python/tuple [9, 16] + - !!python/tuple [27, 20] + - !!python/tuple [27, 22] + - !!python/tuple [20, 23] + - !!python/tuple [8, 23] + - !!python/tuple [23, 27] + - !!python/tuple [4, 31] + - !!python/tuple [19, 21] + - !!python/tuple [21, 16] + - !!python/tuple [18, 13] + - !!python/tuple [27, 10] + - !!python/tuple [13, 20] + - !!python/tuple [22, 3] + - !!python/tuple [16, 4] + - !!python/tuple [6, 11] + - !!python/tuple [0, 30] + - !!python/tuple [30, 20] + - !!python/tuple [0, 16] + - !!python/tuple [9, 20] + - !!python/tuple [17, 23] + - !!python/tuple [22, 19] + - !!python/tuple [16, 10] + - !!python/tuple [8, 11] + - !!python/tuple [26, 21] + - !!python/tuple [14, 28] + - !!python/tuple [10, 2] + - !!python/tuple [8, 13] + - !!python/tuple [16, 25] + - !!python/tuple [9, 9] + - !!python/tuple [23, 0] + - !!python/tuple [28, 11] + - !!python/tuple [25, 15] + - !!python/tuple [11, 23] + - !!python/tuple [21, 28] + - !!python/tuple [28, 24] + - !!python/tuple [20, 13] + - !!python/tuple [14, 31] + - !!python/tuple [2, 25] + - !!python/tuple [17, 22] + - !!python/tuple [30, 25] + - !!python/tuple [21, 20] + - !!python/tuple [26, 10] + - !!python/tuple [20, 15] + - !!python/tuple [6, 6] + - !!python/tuple [15, 27] + - !!python/tuple [3, 1] + - !!python/tuple [18, 28] + - !!python/tuple [22, 13] + - !!python/tuple [13, 9] + - !!python/tuple [30, 31] + - !!python/tuple [3, 4] + - !!python/tuple [14, 7] + - !!python/tuple [17, 26] + - !!python/tuple [17, 4] + - !!python/tuple [5, 3] + - !!python/tuple [14, 14] + - !!python/tuple [21, 10] + - !!python/tuple [29, 31] + - !!python/tuple [28, 15] + - !!python/tuple [17, 11] + - !!python/tuple [20, 12] + - !!python/tuple [2, 9] + - !!python/tuple [27, 28] + - !!python/tuple [16, 0] + - !!python/tuple [1, 29] + - !!python/tuple [8, 31] + - !!python/tuple [16, 15] + - !!python/tuple [27, 16] + - !!python/tuple [23, 17] + - !!python/tuple [9, 6] + - !!python/tuple [25, 4] + - !!python/tuple [22, 8] + - !!python/tuple [17, 6] + - !!python/tuple [1, 9] + - !!python/tuple [10, 16] + - !!python/tuple [3, 28] + - !!python/tuple [18, 30] + - !!python/tuple [9, 26] + - !!python/tuple [16, 21] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex16.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex16.yaml new file mode 100644 index 0000000..13e8cfa --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex16.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [8, 29] + name: agent0 + start: [12, 6] +- goal: [3, 15] + name: agent1 + start: [18, 20] +- goal: [21, 14] + name: agent2 + start: [0, 15] +- goal: [5, 29] + name: agent3 + start: [20, 20] +- goal: [31, 18] + name: agent4 + start: [10, 23] +- goal: [16, 23] + name: agent5 + start: [15, 14] +- goal: [0, 30] + name: agent6 + start: [20, 31] +- goal: [26, 11] + name: agent7 + start: [15, 3] +- goal: [16, 4] + name: agent8 + start: [8, 15] +- goal: [29, 14] + name: agent9 + start: [20, 5] +- goal: [7, 2] + name: agent10 + start: [28, 17] +- goal: [15, 2] + name: agent11 + start: [22, 27] +- goal: [23, 27] + name: agent12 + start: [19, 22] +- goal: [26, 22] + name: agent13 + start: [17, 20] +- goal: [21, 24] + name: agent14 + start: [11, 12] +- goal: [14, 11] + name: agent15 + start: [2, 17] +- goal: [18, 11] + name: agent16 + start: [1, 11] +- goal: [23, 13] + name: agent17 + start: [5, 29] +- goal: [1, 12] + name: agent18 + start: [26, 30] +- goal: [3, 17] + name: agent19 + start: [21, 18] +- goal: [7, 24] + name: agent20 + start: [29, 31] +- goal: [11, 1] + name: agent21 + start: [5, 24] +- goal: [11, 2] + name: agent22 + start: [29, 30] +- goal: [2, 12] + name: agent23 + start: [16, 21] +- goal: [8, 8] + name: agent24 + start: [4, 26] +- goal: [6, 12] + name: agent25 + start: [25, 19] +- goal: [2, 0] + name: agent26 + start: [30, 23] +- goal: [1, 0] + name: agent27 + start: [26, 27] +- goal: [27, 10] + name: agent28 + start: [27, 0] +- goal: [30, 5] + name: agent29 + start: [3, 23] +- goal: [5, 18] + name: agent30 + start: [16, 31] +- goal: [3, 11] + name: agent31 + start: [21, 25] +- goal: [29, 31] + name: agent32 + start: [11, 26] +- goal: [27, 6] + name: agent33 + start: [5, 30] +- goal: [29, 3] + name: agent34 + start: [12, 17] +- goal: [22, 18] + name: agent35 + start: [22, 11] +- goal: [21, 31] + name: agent36 + start: [12, 1] +- goal: [5, 9] + name: agent37 + start: [4, 29] +- goal: [11, 0] + name: agent38 + start: [13, 22] +- goal: [0, 8] + name: agent39 + start: [13, 16] +- goal: [7, 21] + name: agent40 + start: [30, 4] +- goal: [29, 8] + name: agent41 + start: [20, 13] +- goal: [11, 17] + name: agent42 + start: [19, 26] +- goal: [15, 4] + name: agent43 + start: [27, 18] +- goal: [10, 21] + name: agent44 + start: [29, 7] +- goal: [19, 11] + name: agent45 + start: [16, 23] +- goal: [24, 27] + name: agent46 + start: [20, 19] +- goal: [11, 3] + name: agent47 + start: [9, 30] +- goal: [6, 8] + name: agent48 + start: [31, 12] +- goal: [2, 4] + name: agent49 + start: [28, 31] +- goal: [4, 6] + name: agent50 + start: [31, 8] +- goal: [10, 6] + name: agent51 + start: [22, 15] +- goal: [17, 28] + name: agent52 + start: [14, 12] +- goal: [20, 19] + name: agent53 + start: [3, 2] +- goal: [29, 6] + name: agent54 + start: [27, 1] +- goal: [20, 6] + name: agent55 + start: [11, 27] +- goal: [31, 0] + name: agent56 + start: [28, 5] +- goal: [6, 7] + name: agent57 + start: [6, 28] +- goal: [29, 19] + name: agent58 + start: [25, 26] +- goal: [15, 27] + name: agent59 + start: [23, 1] +- goal: [15, 14] + name: agent60 + start: [26, 15] +- goal: [16, 11] + name: agent61 + start: [10, 28] +- goal: [27, 27] + name: agent62 + start: [10, 6] +- goal: [31, 29] + name: agent63 + start: [11, 13] +- goal: [12, 7] + name: agent64 + start: [21, 5] +- goal: [14, 16] + name: agent65 + start: [19, 9] +- goal: [26, 27] + name: agent66 + start: [9, 22] +- goal: [25, 11] + name: agent67 + start: [10, 16] +- goal: [31, 14] + name: agent68 + start: [5, 20] +- goal: [26, 21] + name: agent69 + start: [18, 26] +- goal: [6, 28] + name: agent70 + start: [2, 0] +- goal: [6, 27] + name: agent71 + start: [24, 18] +- goal: [0, 31] + name: agent72 + start: [25, 7] +- goal: [3, 20] + name: agent73 + start: [21, 28] +- goal: [4, 10] + name: agent74 + start: [25, 4] +- goal: [24, 1] + name: agent75 + start: [29, 20] +- goal: [14, 21] + name: agent76 + start: [15, 20] +- goal: [11, 18] + name: agent77 + start: [31, 16] +- goal: [22, 13] + name: agent78 + start: [19, 30] +- goal: [5, 7] + name: agent79 + start: [26, 28] +- goal: [11, 14] + name: agent80 + start: [29, 8] +- goal: [16, 3] + name: agent81 + start: [10, 14] +- goal: [21, 10] + name: agent82 + start: [3, 9] +- goal: [10, 9] + name: agent83 + start: [1, 23] +- goal: [6, 9] + name: agent84 + start: [1, 25] +- goal: [16, 6] + name: agent85 + start: [15, 21] +- goal: [19, 15] + name: agent86 + start: [25, 28] +- goal: [17, 25] + name: agent87 + start: [18, 4] +- goal: [8, 18] + name: agent88 + start: [1, 9] +- goal: [28, 8] + name: agent89 + start: [26, 23] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [30, 12] + - !!python/tuple [27, 16] + - !!python/tuple [6, 15] + - !!python/tuple [1, 27] + - !!python/tuple [11, 19] + - !!python/tuple [9, 23] + - !!python/tuple [5, 27] + - !!python/tuple [21, 22] + - !!python/tuple [8, 17] + - !!python/tuple [6, 29] + - !!python/tuple [16, 13] + - !!python/tuple [15, 1] + - !!python/tuple [16, 9] + - !!python/tuple [13, 10] + - !!python/tuple [10, 26] + - !!python/tuple [18, 29] + - !!python/tuple [6, 13] + - !!python/tuple [4, 22] + - !!python/tuple [22, 25] + - !!python/tuple [23, 16] + - !!python/tuple [29, 28] + - !!python/tuple [28, 10] + - !!python/tuple [3, 8] + - !!python/tuple [19, 5] + - !!python/tuple [5, 28] + - !!python/tuple [24, 2] + - !!python/tuple [18, 3] + - !!python/tuple [17, 7] + - !!python/tuple [24, 31] + - !!python/tuple [8, 23] + - !!python/tuple [18, 24] + - !!python/tuple [26, 17] + - !!python/tuple [31, 23] + - !!python/tuple [18, 22] + - !!python/tuple [6, 3] + - !!python/tuple [9, 28] + - !!python/tuple [5, 16] + - !!python/tuple [22, 5] + - !!python/tuple [25, 0] + - !!python/tuple [22, 14] + - !!python/tuple [18, 12] + - !!python/tuple [16, 14] + - !!python/tuple [26, 16] + - !!python/tuple [5, 26] + - !!python/tuple [16, 17] + - !!python/tuple [29, 25] + - !!python/tuple [9, 13] + - !!python/tuple [19, 19] + - !!python/tuple [2, 23] + - !!python/tuple [8, 30] + - !!python/tuple [28, 24] + - !!python/tuple [2, 5] + - !!python/tuple [4, 15] + - !!python/tuple [2, 25] + - !!python/tuple [1, 30] + - !!python/tuple [26, 7] + - !!python/tuple [4, 30] + - !!python/tuple [18, 15] + - !!python/tuple [24, 6] + - !!python/tuple [7, 31] + - !!python/tuple [27, 12] + - !!python/tuple [23, 17] + - !!python/tuple [22, 22] + - !!python/tuple [9, 11] + - !!python/tuple [14, 14] + - !!python/tuple [14, 28] + - !!python/tuple [6, 20] + - !!python/tuple [14, 29] + - !!python/tuple [28, 19] + - !!python/tuple [1, 22] + - !!python/tuple [9, 29] + - !!python/tuple [6, 19] + - !!python/tuple [26, 26] + - !!python/tuple [27, 20] + - !!python/tuple [4, 23] + - !!python/tuple [23, 14] + - !!python/tuple [26, 29] + - !!python/tuple [25, 2] + - !!python/tuple [1, 2] + - !!python/tuple [6, 11] + - !!python/tuple [17, 26] + - !!python/tuple [25, 22] + - !!python/tuple [3, 10] + - !!python/tuple [15, 18] + - !!python/tuple [24, 28] + - !!python/tuple [19, 4] + - !!python/tuple [25, 15] + - !!python/tuple [10, 8] + - !!python/tuple [15, 30] + - !!python/tuple [7, 1] + - !!python/tuple [6, 22] + - !!python/tuple [6, 23] + - !!python/tuple [31, 22] + - !!python/tuple [12, 15] + - !!python/tuple [4, 24] + - !!python/tuple [0, 17] + - !!python/tuple [12, 19] + - !!python/tuple [14, 13] + - !!python/tuple [24, 29] + - !!python/tuple [22, 0] + - !!python/tuple [8, 19] + - !!python/tuple [0, 14] + - !!python/tuple [14, 8] + - !!python/tuple [30, 24] + - !!python/tuple [25, 31] + - !!python/tuple [27, 28] + - !!python/tuple [23, 11] + - !!python/tuple [10, 11] + - !!python/tuple [11, 8] + - !!python/tuple [28, 18] + - !!python/tuple [2, 14] + - !!python/tuple [0, 0] + - !!python/tuple [22, 4] + - !!python/tuple [27, 25] + - !!python/tuple [22, 12] + - !!python/tuple [6, 31] + - !!python/tuple [17, 29] + - !!python/tuple [20, 3] + - !!python/tuple [22, 9] + - !!python/tuple [28, 4] + - !!python/tuple [26, 18] + - !!python/tuple [4, 8] + - !!python/tuple [21, 15] + - !!python/tuple [26, 10] + - !!python/tuple [21, 19] + - !!python/tuple [17, 21] + - !!python/tuple [0, 18] + - !!python/tuple [22, 31] + - !!python/tuple [28, 2] + - !!python/tuple [29, 10] + - !!python/tuple [12, 26] + - !!python/tuple [21, 3] + - !!python/tuple [21, 11] + - !!python/tuple [15, 11] + - !!python/tuple [25, 10] + - !!python/tuple [8, 0] + - !!python/tuple [10, 30] + - !!python/tuple [11, 10] + - !!python/tuple [15, 26] + - !!python/tuple [22, 29] + - !!python/tuple [31, 30] + - !!python/tuple [25, 30] + - !!python/tuple [1, 5] + - !!python/tuple [8, 9] + - !!python/tuple [18, 0] + - !!python/tuple [29, 2] + - !!python/tuple [28, 16] + - !!python/tuple [19, 8] + - !!python/tuple [6, 4] + - !!python/tuple [23, 20] + - !!python/tuple [21, 13] + - !!python/tuple [30, 0] + - !!python/tuple [16, 24] + - !!python/tuple [28, 1] + - !!python/tuple [29, 24] + - !!python/tuple [10, 24] + - !!python/tuple [18, 9] + - !!python/tuple [8, 25] + - !!python/tuple [13, 27] + - !!python/tuple [0, 26] + - !!python/tuple [20, 2] + - !!python/tuple [19, 20] + - !!python/tuple [12, 30] + - !!python/tuple [13, 6] + - !!python/tuple [2, 18] + - !!python/tuple [12, 16] + - !!python/tuple [8, 22] + - !!python/tuple [23, 31] + - !!python/tuple [0, 25] + - !!python/tuple [10, 1] + - !!python/tuple [18, 17] + - !!python/tuple [29, 21] + - !!python/tuple [11, 24] + - !!python/tuple [0, 7] + - !!python/tuple [7, 11] + - !!python/tuple [16, 12] + - !!python/tuple [26, 2] + - !!python/tuple [31, 31] + - !!python/tuple [25, 1] + - !!python/tuple [0, 4] + - !!python/tuple [27, 13] + - !!python/tuple [17, 15] + - !!python/tuple [30, 7] + - !!python/tuple [30, 21] + - !!python/tuple [5, 15] + - !!python/tuple [12, 14] + - !!python/tuple [26, 19] + - !!python/tuple [19, 13] + - !!python/tuple [13, 5] + - !!python/tuple [21, 29] + - !!python/tuple [9, 4] + - !!python/tuple [0, 9] + - !!python/tuple [11, 23] + - !!python/tuple [27, 4] + - !!python/tuple [12, 4] + - !!python/tuple [4, 14] + - !!python/tuple [0, 22] + - !!python/tuple [14, 18] + - !!python/tuple [1, 17] + - !!python/tuple [30, 30] + - !!python/tuple [9, 1] + - !!python/tuple [1, 6] + - !!python/tuple [3, 1] + - !!python/tuple [8, 2] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex17.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex17.yaml new file mode 100644 index 0000000..b3d31da --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex17.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [11, 29] + name: agent0 + start: [31, 30] +- goal: [2, 23] + name: agent1 + start: [23, 20] +- goal: [23, 7] + name: agent2 + start: [28, 0] +- goal: [11, 0] + name: agent3 + start: [9, 5] +- goal: [19, 12] + name: agent4 + start: [23, 0] +- goal: [16, 3] + name: agent5 + start: [11, 5] +- goal: [17, 24] + name: agent6 + start: [7, 19] +- goal: [10, 0] + name: agent7 + start: [10, 0] +- goal: [27, 17] + name: agent8 + start: [31, 21] +- goal: [24, 18] + name: agent9 + start: [21, 11] +- goal: [23, 21] + name: agent10 + start: [12, 27] +- goal: [16, 24] + name: agent11 + start: [4, 24] +- goal: [1, 3] + name: agent12 + start: [2, 23] +- goal: [0, 20] + name: agent13 + start: [15, 11] +- goal: [22, 27] + name: agent14 + start: [20, 17] +- goal: [31, 31] + name: agent15 + start: [10, 23] +- goal: [19, 3] + name: agent16 + start: [25, 30] +- goal: [20, 1] + name: agent17 + start: [7, 26] +- goal: [9, 26] + name: agent18 + start: [10, 7] +- goal: [20, 27] + name: agent19 + start: [14, 29] +- goal: [15, 2] + name: agent20 + start: [5, 28] +- goal: [23, 31] + name: agent21 + start: [7, 21] +- goal: [26, 8] + name: agent22 + start: [0, 26] +- goal: [7, 14] + name: agent23 + start: [16, 3] +- goal: [11, 3] + name: agent24 + start: [11, 0] +- goal: [3, 17] + name: agent25 + start: [16, 2] +- goal: [5, 11] + name: agent26 + start: [25, 17] +- goal: [6, 25] + name: agent27 + start: [30, 24] +- goal: [28, 25] + name: agent28 + start: [29, 30] +- goal: [21, 19] + name: agent29 + start: [11, 29] +- goal: [31, 2] + name: agent30 + start: [5, 22] +- goal: [21, 12] + name: agent31 + start: [6, 26] +- goal: [13, 6] + name: agent32 + start: [13, 16] +- goal: [7, 23] + name: agent33 + start: [22, 11] +- goal: [2, 31] + name: agent34 + start: [11, 11] +- goal: [16, 28] + name: agent35 + start: [12, 26] +- goal: [15, 18] + name: agent36 + start: [9, 3] +- goal: [26, 21] + name: agent37 + start: [17, 26] +- goal: [10, 25] + name: agent38 + start: [21, 22] +- goal: [17, 27] + name: agent39 + start: [16, 1] +- goal: [31, 20] + name: agent40 + start: [22, 24] +- goal: [11, 22] + name: agent41 + start: [25, 5] +- goal: [18, 22] + name: agent42 + start: [18, 8] +- goal: [17, 8] + name: agent43 + start: [11, 8] +- goal: [6, 29] + name: agent44 + start: [9, 21] +- goal: [3, 18] + name: agent45 + start: [15, 22] +- goal: [18, 21] + name: agent46 + start: [29, 26] +- goal: [28, 27] + name: agent47 + start: [18, 9] +- goal: [27, 6] + name: agent48 + start: [30, 12] +- goal: [6, 22] + name: agent49 + start: [12, 8] +- goal: [4, 9] + name: agent50 + start: [19, 11] +- goal: [26, 13] + name: agent51 + start: [2, 27] +- goal: [17, 17] + name: agent52 + start: [8, 9] +- goal: [5, 13] + name: agent53 + start: [26, 10] +- goal: [4, 14] + name: agent54 + start: [6, 31] +- goal: [29, 10] + name: agent55 + start: [4, 1] +- goal: [18, 6] + name: agent56 + start: [20, 1] +- goal: [26, 22] + name: agent57 + start: [27, 31] +- goal: [3, 0] + name: agent58 + start: [5, 17] +- goal: [1, 2] + name: agent59 + start: [27, 24] +- goal: [14, 7] + name: agent60 + start: [26, 20] +- goal: [29, 20] + name: agent61 + start: [17, 27] +- goal: [20, 24] + name: agent62 + start: [21, 31] +- goal: [29, 1] + name: agent63 + start: [10, 31] +- goal: [7, 11] + name: agent64 + start: [27, 25] +- goal: [5, 7] + name: agent65 + start: [8, 25] +- goal: [31, 10] + name: agent66 + start: [14, 31] +- goal: [14, 9] + name: agent67 + start: [8, 5] +- goal: [21, 8] + name: agent68 + start: [15, 18] +- goal: [6, 2] + name: agent69 + start: [1, 20] +- goal: [4, 10] + name: agent70 + start: [20, 11] +- goal: [26, 3] + name: agent71 + start: [15, 12] +- goal: [15, 17] + name: agent72 + start: [20, 13] +- goal: [9, 31] + name: agent73 + start: [10, 6] +- goal: [7, 26] + name: agent74 + start: [16, 24] +- goal: [18, 27] + name: agent75 + start: [17, 24] +- goal: [14, 15] + name: agent76 + start: [19, 12] +- goal: [24, 31] + name: agent77 + start: [13, 18] +- goal: [24, 1] + name: agent78 + start: [4, 19] +- goal: [16, 6] + name: agent79 + start: [31, 22] +- goal: [8, 26] + name: agent80 + start: [26, 6] +- goal: [2, 0] + name: agent81 + start: [8, 23] +- goal: [25, 6] + name: agent82 + start: [27, 1] +- goal: [4, 22] + name: agent83 + start: [2, 24] +- goal: [6, 24] + name: agent84 + start: [30, 6] +- goal: [21, 7] + name: agent85 + start: [10, 30] +- goal: [20, 18] + name: agent86 + start: [18, 18] +- goal: [25, 22] + name: agent87 + start: [9, 11] +- goal: [5, 4] + name: agent88 + start: [28, 20] +- goal: [0, 25] + name: agent89 + start: [5, 31] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [25, 11] + - !!python/tuple [6, 21] + - !!python/tuple [21, 2] + - !!python/tuple [23, 15] + - !!python/tuple [17, 9] + - !!python/tuple [2, 1] + - !!python/tuple [27, 15] + - !!python/tuple [26, 18] + - !!python/tuple [26, 29] + - !!python/tuple [3, 22] + - !!python/tuple [31, 17] + - !!python/tuple [13, 7] + - !!python/tuple [8, 3] + - !!python/tuple [22, 17] + - !!python/tuple [1, 13] + - !!python/tuple [25, 8] + - !!python/tuple [12, 14] + - !!python/tuple [19, 22] + - !!python/tuple [12, 9] + - !!python/tuple [29, 23] + - !!python/tuple [22, 10] + - !!python/tuple [7, 16] + - !!python/tuple [30, 31] + - !!python/tuple [28, 7] + - !!python/tuple [5, 8] + - !!python/tuple [12, 23] + - !!python/tuple [3, 29] + - !!python/tuple [11, 31] + - !!python/tuple [3, 28] + - !!python/tuple [28, 29] + - !!python/tuple [28, 21] + - !!python/tuple [16, 8] + - !!python/tuple [20, 7] + - !!python/tuple [8, 21] + - !!python/tuple [27, 19] + - !!python/tuple [7, 10] + - !!python/tuple [4, 8] + - !!python/tuple [21, 27] + - !!python/tuple [7, 17] + - !!python/tuple [15, 29] + - !!python/tuple [2, 17] + - !!python/tuple [4, 29] + - !!python/tuple [6, 9] + - !!python/tuple [11, 30] + - !!python/tuple [1, 1] + - !!python/tuple [7, 18] + - !!python/tuple [22, 14] + - !!python/tuple [25, 21] + - !!python/tuple [23, 12] + - !!python/tuple [16, 17] + - !!python/tuple [15, 28] + - !!python/tuple [15, 30] + - !!python/tuple [4, 5] + - !!python/tuple [3, 12] + - !!python/tuple [9, 28] + - !!python/tuple [0, 13] + - !!python/tuple [23, 25] + - !!python/tuple [13, 22] + - !!python/tuple [3, 10] + - !!python/tuple [31, 4] + - !!python/tuple [5, 10] + - !!python/tuple [6, 16] + - !!python/tuple [10, 11] + - !!python/tuple [7, 20] + - !!python/tuple [17, 28] + - !!python/tuple [29, 29] + - !!python/tuple [2, 4] + - !!python/tuple [23, 10] + - !!python/tuple [11, 25] + - !!python/tuple [8, 29] + - !!python/tuple [14, 27] + - !!python/tuple [28, 18] + - !!python/tuple [24, 21] + - !!python/tuple [3, 14] + - !!python/tuple [24, 27] + - !!python/tuple [3, 3] + - !!python/tuple [18, 16] + - !!python/tuple [27, 7] + - !!python/tuple [21, 5] + - !!python/tuple [31, 3] + - !!python/tuple [15, 8] + - !!python/tuple [13, 12] + - !!python/tuple [0, 0] + - !!python/tuple [23, 4] + - !!python/tuple [22, 3] + - !!python/tuple [7, 2] + - !!python/tuple [0, 17] + - !!python/tuple [13, 26] + - !!python/tuple [2, 28] + - !!python/tuple [8, 20] + - !!python/tuple [11, 26] + - !!python/tuple [21, 15] + - !!python/tuple [25, 18] + - !!python/tuple [6, 17] + - !!python/tuple [6, 23] + - !!python/tuple [8, 8] + - !!python/tuple [26, 15] + - !!python/tuple [25, 15] + - !!python/tuple [23, 16] + - !!python/tuple [20, 9] + - !!python/tuple [21, 24] + - !!python/tuple [11, 19] + - !!python/tuple [13, 9] + - !!python/tuple [23, 5] + - !!python/tuple [18, 30] + - !!python/tuple [13, 10] + - !!python/tuple [9, 12] + - !!python/tuple [14, 21] + - !!python/tuple [3, 5] + - !!python/tuple [12, 12] + - !!python/tuple [15, 10] + - !!python/tuple [8, 14] + - !!python/tuple [5, 20] + - !!python/tuple [3, 31] + - !!python/tuple [30, 21] + - !!python/tuple [14, 16] + - !!python/tuple [30, 20] + - !!python/tuple [1, 18] + - !!python/tuple [16, 10] + - !!python/tuple [18, 10] + - !!python/tuple [22, 28] + - !!python/tuple [10, 18] + - !!python/tuple [24, 22] + - !!python/tuple [5, 6] + - !!python/tuple [29, 27] + - !!python/tuple [17, 22] + - !!python/tuple [2, 16] + - !!python/tuple [29, 5] + - !!python/tuple [13, 19] + - !!python/tuple [27, 20] + - !!python/tuple [11, 21] + - !!python/tuple [19, 7] + - !!python/tuple [4, 25] + - !!python/tuple [31, 15] + - !!python/tuple [23, 11] + - !!python/tuple [0, 3] + - !!python/tuple [13, 14] + - !!python/tuple [5, 23] + - !!python/tuple [30, 16] + - !!python/tuple [29, 8] + - !!python/tuple [13, 0] + - !!python/tuple [16, 16] + - !!python/tuple [24, 3] + - !!python/tuple [28, 19] + - !!python/tuple [16, 19] + - !!python/tuple [12, 29] + - !!python/tuple [11, 1] + - !!python/tuple [8, 18] + - !!python/tuple [19, 24] + - !!python/tuple [19, 5] + - !!python/tuple [9, 15] + - !!python/tuple [24, 15] + - !!python/tuple [28, 6] + - !!python/tuple [12, 1] + - !!python/tuple [18, 24] + - !!python/tuple [31, 11] + - !!python/tuple [4, 26] + - !!python/tuple [1, 7] + - !!python/tuple [5, 1] + - !!python/tuple [10, 12] + - !!python/tuple [31, 19] + - !!python/tuple [14, 19] + - !!python/tuple [10, 19] + - !!python/tuple [1, 31] + - !!python/tuple [21, 30] + - !!python/tuple [18, 19] + - !!python/tuple [18, 25] + - !!python/tuple [17, 20] + - !!python/tuple [10, 13] + - !!python/tuple [19, 4] + - !!python/tuple [12, 11] + - !!python/tuple [4, 13] + - !!python/tuple [3, 7] + - !!python/tuple [19, 6] + - !!python/tuple [4, 30] + - !!python/tuple [18, 20] + - !!python/tuple [5, 9] + - !!python/tuple [7, 24] + - !!python/tuple [0, 24] + - !!python/tuple [4, 7] + - !!python/tuple [24, 24] + - !!python/tuple [28, 2] + - !!python/tuple [11, 12] + - !!python/tuple [15, 4] + - !!python/tuple [21, 10] + - !!python/tuple [29, 25] + - !!python/tuple [29, 3] + - !!python/tuple [25, 29] + - !!python/tuple [0, 2] + - !!python/tuple [14, 8] + - !!python/tuple [27, 23] + - !!python/tuple [5, 30] + - !!python/tuple [13, 23] + - !!python/tuple [11, 15] + - !!python/tuple [21, 16] + - !!python/tuple [12, 2] + - !!python/tuple [8, 31] + - !!python/tuple [23, 30] + - !!python/tuple [29, 14] + - !!python/tuple [10, 26] + - !!python/tuple [15, 23] + - !!python/tuple [20, 31] + - !!python/tuple [7, 30] + - !!python/tuple [0, 29] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex18.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex18.yaml new file mode 100644 index 0000000..ecf721d --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex18.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [8, 14] + name: agent0 + start: [26, 23] +- goal: [24, 0] + name: agent1 + start: [6, 12] +- goal: [21, 0] + name: agent2 + start: [24, 12] +- goal: [26, 1] + name: agent3 + start: [5, 23] +- goal: [17, 14] + name: agent4 + start: [0, 5] +- goal: [22, 3] + name: agent5 + start: [30, 0] +- goal: [24, 5] + name: agent6 + start: [3, 4] +- goal: [15, 31] + name: agent7 + start: [4, 15] +- goal: [18, 21] + name: agent8 + start: [29, 7] +- goal: [14, 22] + name: agent9 + start: [10, 18] +- goal: [30, 13] + name: agent10 + start: [7, 11] +- goal: [31, 3] + name: agent11 + start: [20, 30] +- goal: [6, 15] + name: agent12 + start: [28, 8] +- goal: [8, 11] + name: agent13 + start: [19, 10] +- goal: [16, 5] + name: agent14 + start: [17, 24] +- goal: [14, 21] + name: agent15 + start: [13, 26] +- goal: [11, 24] + name: agent16 + start: [17, 15] +- goal: [29, 4] + name: agent17 + start: [30, 10] +- goal: [23, 30] + name: agent18 + start: [23, 21] +- goal: [10, 2] + name: agent19 + start: [17, 16] +- goal: [27, 11] + name: agent20 + start: [30, 18] +- goal: [24, 18] + name: agent21 + start: [3, 23] +- goal: [10, 18] + name: agent22 + start: [23, 15] +- goal: [24, 2] + name: agent23 + start: [2, 14] +- goal: [10, 25] + name: agent24 + start: [0, 13] +- goal: [29, 5] + name: agent25 + start: [20, 24] +- goal: [1, 15] + name: agent26 + start: [25, 10] +- goal: [4, 10] + name: agent27 + start: [22, 4] +- goal: [22, 20] + name: agent28 + start: [6, 19] +- goal: [19, 18] + name: agent29 + start: [14, 13] +- goal: [22, 14] + name: agent30 + start: [4, 31] +- goal: [20, 6] + name: agent31 + start: [0, 24] +- goal: [23, 1] + name: agent32 + start: [18, 13] +- goal: [0, 4] + name: agent33 + start: [18, 11] +- goal: [4, 6] + name: agent34 + start: [17, 27] +- goal: [2, 10] + name: agent35 + start: [0, 2] +- goal: [28, 31] + name: agent36 + start: [29, 10] +- goal: [31, 12] + name: agent37 + start: [31, 11] +- goal: [23, 21] + name: agent38 + start: [6, 5] +- goal: [18, 2] + name: agent39 + start: [1, 0] +- goal: [13, 17] + name: agent40 + start: [10, 24] +- goal: [27, 20] + name: agent41 + start: [27, 1] +- goal: [1, 14] + name: agent42 + start: [30, 23] +- goal: [24, 24] + name: agent43 + start: [20, 5] +- goal: [22, 28] + name: agent44 + start: [13, 31] +- goal: [16, 3] + name: agent45 + start: [2, 12] +- goal: [4, 25] + name: agent46 + start: [11, 24] +- goal: [2, 8] + name: agent47 + start: [31, 31] +- goal: [18, 30] + name: agent48 + start: [15, 23] +- goal: [13, 20] + name: agent49 + start: [27, 20] +- goal: [25, 26] + name: agent50 + start: [7, 29] +- goal: [20, 28] + name: agent51 + start: [24, 11] +- goal: [18, 7] + name: agent52 + start: [23, 22] +- goal: [13, 2] + name: agent53 + start: [30, 3] +- goal: [27, 30] + name: agent54 + start: [18, 23] +- goal: [25, 0] + name: agent55 + start: [21, 22] +- goal: [27, 21] + name: agent56 + start: [18, 5] +- goal: [28, 12] + name: agent57 + start: [14, 4] +- goal: [7, 15] + name: agent58 + start: [23, 30] +- goal: [11, 23] + name: agent59 + start: [24, 27] +- goal: [11, 2] + name: agent60 + start: [0, 23] +- goal: [21, 12] + name: agent61 + start: [17, 2] +- goal: [5, 3] + name: agent62 + start: [26, 29] +- goal: [2, 30] + name: agent63 + start: [29, 31] +- goal: [29, 2] + name: agent64 + start: [11, 10] +- goal: [9, 10] + name: agent65 + start: [31, 28] +- goal: [0, 19] + name: agent66 + start: [1, 27] +- goal: [28, 4] + name: agent67 + start: [0, 31] +- goal: [30, 27] + name: agent68 + start: [2, 27] +- goal: [13, 9] + name: agent69 + start: [27, 18] +- goal: [1, 24] + name: agent70 + start: [24, 21] +- goal: [25, 4] + name: agent71 + start: [4, 10] +- goal: [10, 23] + name: agent72 + start: [21, 4] +- goal: [0, 0] + name: agent73 + start: [17, 14] +- goal: [29, 24] + name: agent74 + start: [29, 0] +- goal: [10, 17] + name: agent75 + start: [15, 27] +- goal: [4, 26] + name: agent76 + start: [24, 0] +- goal: [14, 28] + name: agent77 + start: [10, 30] +- goal: [9, 28] + name: agent78 + start: [18, 6] +- goal: [5, 11] + name: agent79 + start: [8, 11] +- goal: [19, 1] + name: agent80 + start: [28, 13] +- goal: [14, 30] + name: agent81 + start: [11, 3] +- goal: [23, 23] + name: agent82 + start: [0, 3] +- goal: [30, 29] + name: agent83 + start: [31, 21] +- goal: [18, 9] + name: agent84 + start: [6, 16] +- goal: [12, 26] + name: agent85 + start: [1, 13] +- goal: [7, 27] + name: agent86 + start: [8, 2] +- goal: [29, 23] + name: agent87 + start: [13, 7] +- goal: [11, 10] + name: agent88 + start: [15, 13] +- goal: [29, 9] + name: agent89 + start: [7, 31] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [6, 14] + - !!python/tuple [3, 2] + - !!python/tuple [10, 13] + - !!python/tuple [28, 24] + - !!python/tuple [2, 2] + - !!python/tuple [26, 3] + - !!python/tuple [12, 21] + - !!python/tuple [8, 12] + - !!python/tuple [22, 9] + - !!python/tuple [22, 15] + - !!python/tuple [31, 26] + - !!python/tuple [25, 16] + - !!python/tuple [22, 7] + - !!python/tuple [23, 28] + - !!python/tuple [31, 0] + - !!python/tuple [15, 12] + - !!python/tuple [30, 9] + - !!python/tuple [17, 11] + - !!python/tuple [2, 23] + - !!python/tuple [7, 17] + - !!python/tuple [10, 5] + - !!python/tuple [13, 4] + - !!python/tuple [23, 13] + - !!python/tuple [5, 8] + - !!python/tuple [5, 29] + - !!python/tuple [18, 1] + - !!python/tuple [8, 8] + - !!python/tuple [17, 0] + - !!python/tuple [21, 17] + - !!python/tuple [30, 25] + - !!python/tuple [21, 29] + - !!python/tuple [7, 1] + - !!python/tuple [12, 31] + - !!python/tuple [10, 14] + - !!python/tuple [17, 19] + - !!python/tuple [11, 4] + - !!python/tuple [28, 27] + - !!python/tuple [1, 16] + - !!python/tuple [27, 4] + - !!python/tuple [29, 1] + - !!python/tuple [14, 29] + - !!python/tuple [25, 13] + - !!python/tuple [31, 22] + - !!python/tuple [6, 7] + - !!python/tuple [6, 27] + - !!python/tuple [22, 25] + - !!python/tuple [20, 15] + - !!python/tuple [27, 7] + - !!python/tuple [26, 22] + - !!python/tuple [22, 22] + - !!python/tuple [31, 6] + - !!python/tuple [2, 24] + - !!python/tuple [1, 10] + - !!python/tuple [7, 26] + - !!python/tuple [30, 24] + - !!python/tuple [4, 13] + - !!python/tuple [29, 25] + - !!python/tuple [11, 22] + - !!python/tuple [30, 6] + - !!python/tuple [1, 11] + - !!python/tuple [17, 29] + - !!python/tuple [4, 29] + - !!python/tuple [1, 17] + - !!python/tuple [28, 14] + - !!python/tuple [18, 4] + - !!python/tuple [9, 6] + - !!python/tuple [17, 6] + - !!python/tuple [5, 13] + - !!python/tuple [1, 6] + - !!python/tuple [5, 6] + - !!python/tuple [28, 22] + - !!python/tuple [7, 0] + - !!python/tuple [8, 13] + - !!python/tuple [27, 15] + - !!python/tuple [5, 28] + - !!python/tuple [8, 20] + - !!python/tuple [23, 19] + - !!python/tuple [9, 7] + - !!python/tuple [23, 17] + - !!python/tuple [6, 17] + - !!python/tuple [26, 24] + - !!python/tuple [25, 14] + - !!python/tuple [26, 9] + - !!python/tuple [7, 24] + - !!python/tuple [1, 18] + - !!python/tuple [11, 8] + - !!python/tuple [16, 22] + - !!python/tuple [8, 3] + - !!python/tuple [4, 28] + - !!python/tuple [10, 29] + - !!python/tuple [23, 29] + - !!python/tuple [23, 7] + - !!python/tuple [3, 10] + - !!python/tuple [13, 29] + - !!python/tuple [11, 19] + - !!python/tuple [8, 30] + - !!python/tuple [4, 4] + - !!python/tuple [24, 6] + - !!python/tuple [29, 15] + - !!python/tuple [2, 20] + - !!python/tuple [29, 29] + - !!python/tuple [5, 22] + - !!python/tuple [24, 7] + - !!python/tuple [3, 1] + - !!python/tuple [13, 14] + - !!python/tuple [11, 13] + - !!python/tuple [14, 7] + - !!python/tuple [31, 13] + - !!python/tuple [4, 22] + - !!python/tuple [1, 21] + - !!python/tuple [28, 16] + - !!python/tuple [18, 29] + - !!python/tuple [27, 14] + - !!python/tuple [23, 16] + - !!python/tuple [16, 31] + - !!python/tuple [9, 31] + - !!python/tuple [22, 24] + - !!python/tuple [5, 20] + - !!python/tuple [16, 8] + - !!python/tuple [29, 28] + - !!python/tuple [10, 16] + - !!python/tuple [27, 16] + - !!python/tuple [4, 0] + - !!python/tuple [18, 28] + - !!python/tuple [23, 5] + - !!python/tuple [14, 9] + - !!python/tuple [7, 13] + - !!python/tuple [6, 9] + - !!python/tuple [27, 22] + - !!python/tuple [26, 28] + - !!python/tuple [18, 19] + - !!python/tuple [10, 27] + - !!python/tuple [19, 25] + - !!python/tuple [3, 22] + - !!python/tuple [18, 14] + - !!python/tuple [31, 29] + - !!python/tuple [23, 11] + - !!python/tuple [0, 9] + - !!python/tuple [25, 24] + - !!python/tuple [9, 16] + - !!python/tuple [22, 16] + - !!python/tuple [22, 2] + - !!python/tuple [27, 31] + - !!python/tuple [2, 29] + - !!python/tuple [13, 18] + - !!python/tuple [19, 5] + - !!python/tuple [5, 16] + - !!python/tuple [4, 27] + - !!python/tuple [1, 23] + - !!python/tuple [31, 25] + - !!python/tuple [22, 30] + - !!python/tuple [3, 9] + - !!python/tuple [13, 24] + - !!python/tuple [30, 11] + - !!python/tuple [17, 12] + - !!python/tuple [19, 21] + - !!python/tuple [23, 14] + - !!python/tuple [25, 11] + - !!python/tuple [11, 18] + - !!python/tuple [6, 1] + - !!python/tuple [25, 9] + - !!python/tuple [20, 14] + - !!python/tuple [13, 1] + - !!python/tuple [22, 11] + - !!python/tuple [30, 20] + - !!python/tuple [21, 21] + - !!python/tuple [8, 22] + - !!python/tuple [13, 16] + - !!python/tuple [23, 3] + - !!python/tuple [11, 7] + - !!python/tuple [13, 10] + - !!python/tuple [2, 5] + - !!python/tuple [10, 21] + - !!python/tuple [6, 18] + - !!python/tuple [17, 30] + - !!python/tuple [1, 9] + - !!python/tuple [5, 14] + - !!python/tuple [16, 20] + - !!python/tuple [24, 10] + - !!python/tuple [16, 15] + - !!python/tuple [14, 15] + - !!python/tuple [24, 30] + - !!python/tuple [2, 22] + - !!python/tuple [20, 10] + - !!python/tuple [16, 28] + - !!python/tuple [30, 26] + - !!python/tuple [23, 18] + - !!python/tuple [31, 2] + - !!python/tuple [6, 3] + - !!python/tuple [15, 29] + - !!python/tuple [23, 24] + - !!python/tuple [29, 14] + - !!python/tuple [28, 3] + - !!python/tuple [13, 6] + - !!python/tuple [23, 0] + - !!python/tuple [16, 21] + - !!python/tuple [6, 24] + - !!python/tuple [16, 10] + - !!python/tuple [21, 11] + - !!python/tuple [5, 4] + - !!python/tuple [16, 30] + - !!python/tuple [23, 27] + - !!python/tuple [0, 1] + - !!python/tuple [30, 16] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex19.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex19.yaml new file mode 100644 index 0000000..095f9e1 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex19.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [11, 11] + name: agent0 + start: [29, 19] +- goal: [14, 21] + name: agent1 + start: [29, 30] +- goal: [10, 21] + name: agent2 + start: [29, 17] +- goal: [12, 23] + name: agent3 + start: [26, 31] +- goal: [19, 5] + name: agent4 + start: [26, 6] +- goal: [31, 8] + name: agent5 + start: [14, 14] +- goal: [22, 14] + name: agent6 + start: [23, 7] +- goal: [14, 13] + name: agent7 + start: [8, 19] +- goal: [11, 3] + name: agent8 + start: [1, 11] +- goal: [28, 29] + name: agent9 + start: [31, 14] +- goal: [12, 27] + name: agent10 + start: [18, 8] +- goal: [12, 25] + name: agent11 + start: [25, 20] +- goal: [24, 21] + name: agent12 + start: [9, 28] +- goal: [10, 16] + name: agent13 + start: [2, 6] +- goal: [21, 0] + name: agent14 + start: [28, 19] +- goal: [2, 10] + name: agent15 + start: [2, 28] +- goal: [16, 23] + name: agent16 + start: [28, 31] +- goal: [12, 29] + name: agent17 + start: [20, 17] +- goal: [31, 24] + name: agent18 + start: [2, 22] +- goal: [20, 0] + name: agent19 + start: [26, 7] +- goal: [26, 29] + name: agent20 + start: [9, 13] +- goal: [5, 11] + name: agent21 + start: [16, 27] +- goal: [2, 8] + name: agent22 + start: [16, 17] +- goal: [15, 0] + name: agent23 + start: [21, 11] +- goal: [27, 27] + name: agent24 + start: [21, 0] +- goal: [7, 1] + name: agent25 + start: [20, 1] +- goal: [30, 13] + name: agent26 + start: [0, 18] +- goal: [22, 4] + name: agent27 + start: [14, 6] +- goal: [20, 6] + name: agent28 + start: [28, 18] +- goal: [22, 2] + name: agent29 + start: [11, 9] +- goal: [26, 19] + name: agent30 + start: [27, 21] +- goal: [24, 16] + name: agent31 + start: [28, 20] +- goal: [11, 2] + name: agent32 + start: [8, 22] +- goal: [20, 5] + name: agent33 + start: [8, 11] +- goal: [25, 6] + name: agent34 + start: [30, 24] +- goal: [25, 0] + name: agent35 + start: [21, 29] +- goal: [24, 8] + name: agent36 + start: [17, 13] +- goal: [2, 24] + name: agent37 + start: [26, 14] +- goal: [2, 13] + name: agent38 + start: [17, 27] +- goal: [28, 12] + name: agent39 + start: [1, 8] +- goal: [14, 19] + name: agent40 + start: [2, 25] +- goal: [1, 7] + name: agent41 + start: [0, 12] +- goal: [10, 18] + name: agent42 + start: [17, 12] +- goal: [14, 5] + name: agent43 + start: [4, 15] +- goal: [25, 10] + name: agent44 + start: [18, 1] +- goal: [9, 29] + name: agent45 + start: [14, 16] +- goal: [21, 24] + name: agent46 + start: [3, 11] +- goal: [30, 1] + name: agent47 + start: [9, 29] +- goal: [24, 15] + name: agent48 + start: [0, 3] +- goal: [8, 13] + name: agent49 + start: [3, 20] +- goal: [25, 4] + name: agent50 + start: [0, 30] +- goal: [20, 13] + name: agent51 + start: [16, 1] +- goal: [30, 10] + name: agent52 + start: [16, 0] +- goal: [19, 23] + name: agent53 + start: [28, 3] +- goal: [18, 27] + name: agent54 + start: [28, 4] +- goal: [11, 27] + name: agent55 + start: [3, 14] +- goal: [19, 29] + name: agent56 + start: [28, 29] +- goal: [20, 7] + name: agent57 + start: [27, 20] +- goal: [8, 11] + name: agent58 + start: [19, 22] +- goal: [26, 11] + name: agent59 + start: [4, 28] +- goal: [21, 11] + name: agent60 + start: [30, 16] +- goal: [3, 31] + name: agent61 + start: [9, 1] +- goal: [15, 18] + name: agent62 + start: [12, 18] +- goal: [30, 12] + name: agent63 + start: [1, 2] +- goal: [17, 3] + name: agent64 + start: [27, 22] +- goal: [13, 1] + name: agent65 + start: [9, 19] +- goal: [10, 6] + name: agent66 + start: [4, 5] +- goal: [22, 28] + name: agent67 + start: [19, 17] +- goal: [20, 31] + name: agent68 + start: [7, 23] +- goal: [26, 3] + name: agent69 + start: [22, 18] +- goal: [29, 8] + name: agent70 + start: [7, 25] +- goal: [18, 17] + name: agent71 + start: [18, 26] +- goal: [23, 12] + name: agent72 + start: [20, 10] +- goal: [9, 20] + name: agent73 + start: [25, 23] +- goal: [29, 19] + name: agent74 + start: [23, 1] +- goal: [22, 8] + name: agent75 + start: [17, 21] +- goal: [9, 8] + name: agent76 + start: [22, 15] +- goal: [8, 27] + name: agent77 + start: [30, 6] +- goal: [13, 4] + name: agent78 + start: [4, 26] +- goal: [26, 27] + name: agent79 + start: [10, 4] +- goal: [5, 29] + name: agent80 + start: [20, 9] +- goal: [1, 5] + name: agent81 + start: [12, 8] +- goal: [12, 17] + name: agent82 + start: [24, 13] +- goal: [9, 14] + name: agent83 + start: [14, 24] +- goal: [16, 4] + name: agent84 + start: [11, 27] +- goal: [28, 17] + name: agent85 + start: [12, 19] +- goal: [21, 30] + name: agent86 + start: [29, 21] +- goal: [11, 25] + name: agent87 + start: [26, 20] +- goal: [29, 20] + name: agent88 + start: [22, 26] +- goal: [7, 25] + name: agent89 + start: [24, 2] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [6, 13] + - !!python/tuple [29, 13] + - !!python/tuple [30, 18] + - !!python/tuple [29, 11] + - !!python/tuple [15, 2] + - !!python/tuple [8, 29] + - !!python/tuple [26, 28] + - !!python/tuple [15, 6] + - !!python/tuple [10, 22] + - !!python/tuple [9, 22] + - !!python/tuple [7, 4] + - !!python/tuple [13, 5] + - !!python/tuple [30, 9] + - !!python/tuple [1, 27] + - !!python/tuple [13, 16] + - !!python/tuple [2, 4] + - !!python/tuple [25, 27] + - !!python/tuple [31, 21] + - !!python/tuple [8, 12] + - !!python/tuple [23, 20] + - !!python/tuple [4, 21] + - !!python/tuple [18, 11] + - !!python/tuple [29, 22] + - !!python/tuple [22, 10] + - !!python/tuple [21, 16] + - !!python/tuple [15, 28] + - !!python/tuple [28, 14] + - !!python/tuple [1, 6] + - !!python/tuple [15, 11] + - !!python/tuple [7, 19] + - !!python/tuple [6, 19] + - !!python/tuple [2, 2] + - !!python/tuple [6, 27] + - !!python/tuple [17, 26] + - !!python/tuple [29, 6] + - !!python/tuple [26, 16] + - !!python/tuple [5, 0] + - !!python/tuple [17, 22] + - !!python/tuple [17, 18] + - !!python/tuple [2, 12] + - !!python/tuple [6, 15] + - !!python/tuple [5, 6] + - !!python/tuple [16, 6] + - !!python/tuple [24, 19] + - !!python/tuple [22, 31] + - !!python/tuple [8, 28] + - !!python/tuple [16, 26] + - !!python/tuple [0, 13] + - !!python/tuple [0, 21] + - !!python/tuple [19, 16] + - !!python/tuple [10, 17] + - !!python/tuple [31, 3] + - !!python/tuple [22, 9] + - !!python/tuple [14, 31] + - !!python/tuple [1, 16] + - !!python/tuple [19, 14] + - !!python/tuple [7, 11] + - !!python/tuple [16, 7] + - !!python/tuple [23, 6] + - !!python/tuple [27, 3] + - !!python/tuple [8, 1] + - !!python/tuple [4, 23] + - !!python/tuple [12, 28] + - !!python/tuple [24, 20] + - !!python/tuple [1, 20] + - !!python/tuple [16, 9] + - !!python/tuple [21, 25] + - !!python/tuple [23, 31] + - !!python/tuple [26, 9] + - !!python/tuple [11, 17] + - !!python/tuple [22, 27] + - !!python/tuple [24, 25] + - !!python/tuple [13, 14] + - !!python/tuple [6, 9] + - !!python/tuple [6, 5] + - !!python/tuple [7, 16] + - !!python/tuple [11, 23] + - !!python/tuple [4, 29] + - !!python/tuple [8, 16] + - !!python/tuple [4, 10] + - !!python/tuple [16, 20] + - !!python/tuple [29, 23] + - !!python/tuple [3, 7] + - !!python/tuple [17, 9] + - !!python/tuple [0, 0] + - !!python/tuple [16, 24] + - !!python/tuple [11, 19] + - !!python/tuple [25, 8] + - !!python/tuple [22, 5] + - !!python/tuple [4, 13] + - !!python/tuple [24, 31] + - !!python/tuple [10, 5] + - !!python/tuple [4, 27] + - !!python/tuple [7, 26] + - !!python/tuple [23, 30] + - !!python/tuple [9, 31] + - !!python/tuple [1, 14] + - !!python/tuple [24, 18] + - !!python/tuple [4, 30] + - !!python/tuple [18, 0] + - !!python/tuple [23, 29] + - !!python/tuple [0, 1] + - !!python/tuple [2, 11] + - !!python/tuple [11, 26] + - !!python/tuple [7, 27] + - !!python/tuple [27, 8] + - !!python/tuple [9, 27] + - !!python/tuple [11, 29] + - !!python/tuple [15, 17] + - !!python/tuple [21, 28] + - !!python/tuple [7, 20] + - !!python/tuple [25, 17] + - !!python/tuple [26, 12] + - !!python/tuple [16, 19] + - !!python/tuple [20, 2] + - !!python/tuple [16, 30] + - !!python/tuple [29, 24] + - !!python/tuple [24, 12] + - !!python/tuple [8, 21] + - !!python/tuple [28, 28] + - !!python/tuple [16, 25] + - !!python/tuple [13, 25] + - !!python/tuple [12, 7] + - !!python/tuple [31, 25] + - !!python/tuple [5, 25] + - !!python/tuple [1, 9] + - !!python/tuple [0, 27] + - !!python/tuple [26, 25] + - !!python/tuple [3, 16] + - !!python/tuple [20, 19] + - !!python/tuple [15, 14] + - !!python/tuple [7, 9] + - !!python/tuple [30, 28] + - !!python/tuple [31, 0] + - !!python/tuple [11, 28] + - !!python/tuple [27, 24] + - !!python/tuple [0, 5] + - !!python/tuple [9, 7] + - !!python/tuple [8, 24] + - !!python/tuple [25, 5] + - !!python/tuple [3, 13] + - !!python/tuple [19, 2] + - !!python/tuple [29, 31] + - !!python/tuple [13, 19] + - !!python/tuple [23, 5] + - !!python/tuple [9, 11] + - !!python/tuple [13, 18] + - !!python/tuple [9, 21] + - !!python/tuple [18, 19] + - !!python/tuple [22, 0] + - !!python/tuple [15, 15] + - !!python/tuple [9, 4] + - !!python/tuple [17, 7] + - !!python/tuple [5, 14] + - !!python/tuple [13, 28] + - !!python/tuple [16, 21] + - !!python/tuple [27, 4] + - !!python/tuple [28, 22] + - !!python/tuple [15, 12] + - !!python/tuple [21, 1] + - !!python/tuple [8, 3] + - !!python/tuple [25, 21] + - !!python/tuple [26, 13] + - !!python/tuple [31, 20] + - !!python/tuple [2, 7] + - !!python/tuple [16, 10] + - !!python/tuple [4, 17] + - !!python/tuple [22, 12] + - !!python/tuple [6, 20] + - !!python/tuple [7, 2] + - !!python/tuple [30, 19] + - !!python/tuple [12, 31] + - !!python/tuple [9, 0] + - !!python/tuple [9, 12] + - !!python/tuple [26, 2] + - !!python/tuple [11, 22] + - !!python/tuple [20, 4] + - !!python/tuple [4, 1] + - !!python/tuple [7, 8] + - !!python/tuple [20, 18] + - !!python/tuple [6, 28] + - !!python/tuple [6, 0] + - !!python/tuple [29, 4] + - !!python/tuple [20, 16] + - !!python/tuple [30, 15] + - !!python/tuple [7, 0] + - !!python/tuple [12, 1] + - !!python/tuple [31, 12] + - !!python/tuple [19, 20] + - !!python/tuple [0, 28] + - !!python/tuple [3, 4] + - !!python/tuple [22, 20] + - !!python/tuple [6, 3] + - !!python/tuple [17, 5] + - !!python/tuple [16, 14] + - !!python/tuple [23, 28] + - !!python/tuple [29, 12] + - !!python/tuple [28, 24] + - !!python/tuple [11, 8] + - !!python/tuple [21, 26] + - !!python/tuple [24, 1] + - !!python/tuple [28, 0] + - !!python/tuple [28, 7] + - !!python/tuple [28, 8] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex2.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex2.yaml new file mode 100644 index 0000000..8b3a7a1 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex2.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [16, 21] + name: agent0 + start: [15, 31] +- goal: [13, 17] + name: agent1 + start: [3, 3] +- goal: [22, 26] + name: agent2 + start: [0, 5] +- goal: [30, 6] + name: agent3 + start: [1, 13] +- goal: [6, 14] + name: agent4 + start: [12, 25] +- goal: [31, 19] + name: agent5 + start: [0, 7] +- goal: [8, 29] + name: agent6 + start: [20, 9] +- goal: [29, 2] + name: agent7 + start: [28, 29] +- goal: [4, 22] + name: agent8 + start: [31, 30] +- goal: [5, 23] + name: agent9 + start: [27, 3] +- goal: [12, 24] + name: agent10 + start: [25, 16] +- goal: [19, 0] + name: agent11 + start: [7, 26] +- goal: [4, 19] + name: agent12 + start: [23, 0] +- goal: [26, 20] + name: agent13 + start: [15, 23] +- goal: [2, 8] + name: agent14 + start: [29, 24] +- goal: [13, 16] + name: agent15 + start: [1, 7] +- goal: [14, 28] + name: agent16 + start: [2, 28] +- goal: [25, 19] + name: agent17 + start: [2, 17] +- goal: [21, 11] + name: agent18 + start: [15, 0] +- goal: [26, 29] + name: agent19 + start: [25, 27] +- goal: [20, 23] + name: agent20 + start: [5, 14] +- goal: [20, 3] + name: agent21 + start: [31, 13] +- goal: [26, 14] + name: agent22 + start: [19, 20] +- goal: [4, 13] + name: agent23 + start: [23, 9] +- goal: [7, 31] + name: agent24 + start: [5, 24] +- goal: [23, 15] + name: agent25 + start: [7, 8] +- goal: [25, 16] + name: agent26 + start: [11, 24] +- goal: [18, 17] + name: agent27 + start: [10, 19] +- goal: [30, 15] + name: agent28 + start: [18, 23] +- goal: [16, 1] + name: agent29 + start: [19, 25] +- goal: [7, 15] + name: agent30 + start: [27, 12] +- goal: [15, 7] + name: agent31 + start: [5, 2] +- goal: [17, 13] + name: agent32 + start: [19, 11] +- goal: [11, 3] + name: agent33 + start: [21, 22] +- goal: [7, 25] + name: agent34 + start: [4, 26] +- goal: [15, 2] + name: agent35 + start: [22, 27] +- goal: [28, 27] + name: agent36 + start: [13, 23] +- goal: [20, 11] + name: agent37 + start: [30, 16] +- goal: [11, 9] + name: agent38 + start: [30, 5] +- goal: [23, 25] + name: agent39 + start: [19, 6] +- goal: [1, 3] + name: agent40 + start: [20, 14] +- goal: [15, 22] + name: agent41 + start: [6, 17] +- goal: [11, 28] + name: agent42 + start: [31, 10] +- goal: [24, 10] + name: agent43 + start: [11, 16] +- goal: [22, 17] + name: agent44 + start: [21, 15] +- goal: [11, 1] + name: agent45 + start: [15, 10] +- goal: [9, 17] + name: agent46 + start: [5, 7] +- goal: [31, 18] + name: agent47 + start: [17, 10] +- goal: [6, 6] + name: agent48 + start: [19, 10] +- goal: [28, 23] + name: agent49 + start: [27, 15] +- goal: [5, 20] + name: agent50 + start: [0, 9] +- goal: [19, 25] + name: agent51 + start: [14, 1] +- goal: [13, 30] + name: agent52 + start: [14, 25] +- goal: [10, 9] + name: agent53 + start: [26, 24] +- goal: [19, 14] + name: agent54 + start: [26, 15] +- goal: [9, 22] + name: agent55 + start: [26, 19] +- goal: [14, 4] + name: agent56 + start: [22, 23] +- goal: [17, 11] + name: agent57 + start: [31, 8] +- goal: [25, 28] + name: agent58 + start: [17, 28] +- goal: [28, 0] + name: agent59 + start: [2, 25] +- goal: [29, 19] + name: agent60 + start: [30, 17] +- goal: [18, 10] + name: agent61 + start: [12, 29] +- goal: [14, 16] + name: agent62 + start: [0, 14] +- goal: [2, 24] + name: agent63 + start: [15, 18] +- goal: [8, 23] + name: agent64 + start: [28, 4] +- goal: [12, 2] + name: agent65 + start: [17, 22] +- goal: [1, 25] + name: agent66 + start: [31, 6] +- goal: [31, 5] + name: agent67 + start: [7, 29] +- goal: [24, 24] + name: agent68 + start: [5, 18] +- goal: [22, 24] + name: agent69 + start: [21, 10] +- goal: [0, 29] + name: agent70 + start: [30, 4] +- goal: [6, 21] + name: agent71 + start: [13, 12] +- goal: [26, 27] + name: agent72 + start: [8, 21] +- goal: [16, 7] + name: agent73 + start: [9, 23] +- goal: [5, 30] + name: agent74 + start: [6, 20] +- goal: [0, 20] + name: agent75 + start: [15, 13] +- goal: [11, 19] + name: agent76 + start: [29, 15] +- goal: [19, 5] + name: agent77 + start: [11, 27] +- goal: [28, 30] + name: agent78 + start: [18, 8] +- goal: [16, 25] + name: agent79 + start: [18, 3] +- goal: [26, 11] + name: agent80 + start: [17, 12] +- goal: [14, 30] + name: agent81 + start: [14, 8] +- goal: [4, 7] + name: agent82 + start: [13, 22] +- goal: [28, 5] + name: agent83 + start: [6, 1] +- goal: [5, 25] + name: agent84 + start: [29, 5] +- goal: [3, 12] + name: agent85 + start: [19, 19] +- goal: [27, 13] + name: agent86 + start: [16, 21] +- goal: [6, 0] + name: agent87 + start: [4, 31] +- goal: [22, 0] + name: agent88 + start: [2, 2] +- goal: [9, 0] + name: agent89 + start: [9, 26] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [6, 19] + - !!python/tuple [25, 2] + - !!python/tuple [14, 15] + - !!python/tuple [26, 6] + - !!python/tuple [17, 29] + - !!python/tuple [27, 21] + - !!python/tuple [4, 15] + - !!python/tuple [27, 9] + - !!python/tuple [9, 28] + - !!python/tuple [5, 11] + - !!python/tuple [22, 9] + - !!python/tuple [5, 21] + - !!python/tuple [1, 10] + - !!python/tuple [21, 12] + - !!python/tuple [7, 11] + - !!python/tuple [1, 12] + - !!python/tuple [15, 29] + - !!python/tuple [1, 2] + - !!python/tuple [13, 0] + - !!python/tuple [11, 12] + - !!python/tuple [6, 13] + - !!python/tuple [14, 9] + - !!python/tuple [22, 13] + - !!python/tuple [17, 20] + - !!python/tuple [17, 26] + - !!python/tuple [8, 9] + - !!python/tuple [5, 4] + - !!python/tuple [11, 13] + - !!python/tuple [0, 13] + - !!python/tuple [12, 21] + - !!python/tuple [14, 24] + - !!python/tuple [13, 1] + - !!python/tuple [16, 19] + - !!python/tuple [18, 2] + - !!python/tuple [9, 12] + - !!python/tuple [3, 9] + - !!python/tuple [0, 18] + - !!python/tuple [31, 27] + - !!python/tuple [30, 12] + - !!python/tuple [3, 16] + - !!python/tuple [3, 18] + - !!python/tuple [21, 26] + - !!python/tuple [17, 18] + - !!python/tuple [25, 26] + - !!python/tuple [30, 1] + - !!python/tuple [0, 0] + - !!python/tuple [6, 25] + - !!python/tuple [17, 31] + - !!python/tuple [24, 12] + - !!python/tuple [18, 7] + - !!python/tuple [4, 14] + - !!python/tuple [10, 13] + - !!python/tuple [10, 6] + - !!python/tuple [21, 28] + - !!python/tuple [16, 30] + - !!python/tuple [11, 2] + - !!python/tuple [19, 16] + - !!python/tuple [30, 21] + - !!python/tuple [16, 23] + - !!python/tuple [22, 20] + - !!python/tuple [8, 18] + - !!python/tuple [12, 11] + - !!python/tuple [13, 5] + - !!python/tuple [19, 26] + - !!python/tuple [30, 20] + - !!python/tuple [18, 6] + - !!python/tuple [23, 16] + - !!python/tuple [12, 27] + - !!python/tuple [22, 14] + - !!python/tuple [16, 27] + - !!python/tuple [2, 27] + - !!python/tuple [16, 18] + - !!python/tuple [30, 14] + - !!python/tuple [2, 19] + - !!python/tuple [7, 18] + - !!python/tuple [27, 11] + - !!python/tuple [26, 17] + - !!python/tuple [17, 17] + - !!python/tuple [26, 0] + - !!python/tuple [5, 16] + - !!python/tuple [5, 5] + - !!python/tuple [25, 21] + - !!python/tuple [2, 7] + - !!python/tuple [0, 21] + - !!python/tuple [22, 22] + - !!python/tuple [4, 23] + - !!python/tuple [24, 11] + - !!python/tuple [20, 27] + - !!python/tuple [29, 8] + - !!python/tuple [19, 23] + - !!python/tuple [29, 16] + - !!python/tuple [31, 15] + - !!python/tuple [12, 7] + - !!python/tuple [6, 10] + - !!python/tuple [10, 21] + - !!python/tuple [22, 3] + - !!python/tuple [20, 10] + - !!python/tuple [4, 20] + - !!python/tuple [20, 17] + - !!python/tuple [27, 8] + - !!python/tuple [31, 14] + - !!python/tuple [13, 27] + - !!python/tuple [28, 18] + - !!python/tuple [3, 6] + - !!python/tuple [23, 26] + - !!python/tuple [20, 2] + - !!python/tuple [2, 4] + - !!python/tuple [27, 10] + - !!python/tuple [18, 25] + - !!python/tuple [0, 4] + - !!python/tuple [10, 30] + - !!python/tuple [5, 9] + - !!python/tuple [15, 11] + - !!python/tuple [11, 18] + - !!python/tuple [6, 31] + - !!python/tuple [23, 10] + - !!python/tuple [23, 22] + - !!python/tuple [6, 2] + - !!python/tuple [27, 2] + - !!python/tuple [30, 2] + - !!python/tuple [17, 15] + - !!python/tuple [26, 21] + - !!python/tuple [20, 5] + - !!python/tuple [0, 11] + - !!python/tuple [31, 26] + - !!python/tuple [13, 29] + - !!python/tuple [15, 28] + - !!python/tuple [3, 29] + - !!python/tuple [11, 6] + - !!python/tuple [5, 22] + - !!python/tuple [23, 24] + - !!python/tuple [10, 31] + - !!python/tuple [12, 23] + - !!python/tuple [19, 15] + - !!python/tuple [1, 16] + - !!python/tuple [21, 1] + - !!python/tuple [3, 26] + - !!python/tuple [7, 28] + - !!python/tuple [13, 9] + - !!python/tuple [25, 9] + - !!python/tuple [15, 6] + - !!python/tuple [17, 7] + - !!python/tuple [8, 28] + - !!python/tuple [1, 27] + - !!python/tuple [11, 23] + - !!python/tuple [27, 22] + - !!python/tuple [24, 0] + - !!python/tuple [18, 14] + - !!python/tuple [12, 4] + - !!python/tuple [14, 21] + - !!python/tuple [15, 4] + - !!python/tuple [29, 1] + - !!python/tuple [0, 15] + - !!python/tuple [9, 9] + - !!python/tuple [4, 2] + - !!python/tuple [27, 29] + - !!python/tuple [21, 20] + - !!python/tuple [12, 12] + - !!python/tuple [18, 21] + - !!python/tuple [4, 1] + - !!python/tuple [29, 20] + - !!python/tuple [14, 19] + - !!python/tuple [5, 13] + - !!python/tuple [30, 28] + - !!python/tuple [18, 11] + - !!python/tuple [16, 5] + - !!python/tuple [30, 23] + - !!python/tuple [30, 0] + - !!python/tuple [26, 8] + - !!python/tuple [31, 29] + - !!python/tuple [2, 30] + - !!python/tuple [27, 16] + - !!python/tuple [8, 3] + - !!python/tuple [26, 12] + - !!python/tuple [23, 8] + - !!python/tuple [28, 6] + - !!python/tuple [4, 11] + - !!python/tuple [3, 10] + - !!python/tuple [23, 18] + - !!python/tuple [16, 16] + - !!python/tuple [11, 0] + - !!python/tuple [22, 12] + - !!python/tuple [2, 0] + - !!python/tuple [27, 1] + - !!python/tuple [7, 17] + - !!python/tuple [23, 20] + - !!python/tuple [14, 3] + - !!python/tuple [30, 24] + - !!python/tuple [31, 2] + - !!python/tuple [31, 17] + - !!python/tuple [30, 13] + - !!python/tuple [19, 31] + - !!python/tuple [9, 29] + - !!python/tuple [10, 7] + - !!python/tuple [7, 24] + - !!python/tuple [25, 14] + - !!python/tuple [19, 9] + - !!python/tuple [31, 16] + - !!python/tuple [5, 17] + - !!python/tuple [26, 1] + - !!python/tuple [28, 11] + - !!python/tuple [29, 23] + - !!python/tuple [8, 10] + - !!python/tuple [23, 30] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex20.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex20.yaml new file mode 100644 index 0000000..200f770 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex20.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [21, 13] + name: agent0 + start: [28, 19] +- goal: [21, 20] + name: agent1 + start: [31, 21] +- goal: [28, 20] + name: agent2 + start: [24, 0] +- goal: [25, 11] + name: agent3 + start: [2, 2] +- goal: [11, 3] + name: agent4 + start: [19, 25] +- goal: [25, 3] + name: agent5 + start: [19, 0] +- goal: [9, 8] + name: agent6 + start: [31, 31] +- goal: [20, 20] + name: agent7 + start: [6, 21] +- goal: [10, 18] + name: agent8 + start: [0, 15] +- goal: [13, 23] + name: agent9 + start: [27, 23] +- goal: [0, 20] + name: agent10 + start: [9, 23] +- goal: [24, 4] + name: agent11 + start: [10, 19] +- goal: [30, 17] + name: agent12 + start: [12, 15] +- goal: [4, 29] + name: agent13 + start: [2, 27] +- goal: [21, 22] + name: agent14 + start: [29, 4] +- goal: [21, 3] + name: agent15 + start: [2, 24] +- goal: [22, 28] + name: agent16 + start: [19, 28] +- goal: [20, 14] + name: agent17 + start: [26, 12] +- goal: [18, 13] + name: agent18 + start: [2, 26] +- goal: [19, 20] + name: agent19 + start: [5, 28] +- goal: [27, 5] + name: agent20 + start: [25, 25] +- goal: [20, 3] + name: agent21 + start: [22, 6] +- goal: [5, 30] + name: agent22 + start: [16, 25] +- goal: [30, 21] + name: agent23 + start: [24, 22] +- goal: [5, 9] + name: agent24 + start: [9, 19] +- goal: [25, 2] + name: agent25 + start: [23, 0] +- goal: [3, 4] + name: agent26 + start: [3, 3] +- goal: [10, 7] + name: agent27 + start: [27, 18] +- goal: [13, 30] + name: agent28 + start: [9, 30] +- goal: [4, 25] + name: agent29 + start: [26, 22] +- goal: [27, 16] + name: agent30 + start: [30, 9] +- goal: [13, 5] + name: agent31 + start: [10, 10] +- goal: [3, 18] + name: agent32 + start: [1, 25] +- goal: [23, 7] + name: agent33 + start: [20, 9] +- goal: [9, 28] + name: agent34 + start: [28, 20] +- goal: [6, 23] + name: agent35 + start: [7, 22] +- goal: [3, 13] + name: agent36 + start: [29, 25] +- goal: [21, 28] + name: agent37 + start: [30, 29] +- goal: [20, 24] + name: agent38 + start: [24, 28] +- goal: [0, 3] + name: agent39 + start: [21, 17] +- goal: [27, 2] + name: agent40 + start: [18, 15] +- goal: [29, 27] + name: agent41 + start: [28, 22] +- goal: [27, 27] + name: agent42 + start: [9, 27] +- goal: [17, 14] + name: agent43 + start: [0, 1] +- goal: [24, 1] + name: agent44 + start: [0, 29] +- goal: [25, 31] + name: agent45 + start: [11, 31] +- goal: [6, 9] + name: agent46 + start: [13, 6] +- goal: [12, 18] + name: agent47 + start: [12, 1] +- goal: [6, 2] + name: agent48 + start: [30, 3] +- goal: [4, 30] + name: agent49 + start: [10, 30] +- goal: [2, 10] + name: agent50 + start: [8, 4] +- goal: [30, 13] + name: agent51 + start: [14, 6] +- goal: [15, 25] + name: agent52 + start: [22, 23] +- goal: [17, 1] + name: agent53 + start: [23, 23] +- goal: [22, 1] + name: agent54 + start: [7, 7] +- goal: [31, 21] + name: agent55 + start: [16, 2] +- goal: [1, 29] + name: agent56 + start: [2, 11] +- goal: [21, 21] + name: agent57 + start: [3, 9] +- goal: [8, 9] + name: agent58 + start: [20, 14] +- goal: [6, 10] + name: agent59 + start: [3, 30] +- goal: [10, 8] + name: agent60 + start: [19, 31] +- goal: [14, 30] + name: agent61 + start: [16, 26] +- goal: [21, 1] + name: agent62 + start: [19, 3] +- goal: [3, 22] + name: agent63 + start: [22, 29] +- goal: [1, 10] + name: agent64 + start: [25, 17] +- goal: [1, 28] + name: agent65 + start: [11, 9] +- goal: [15, 24] + name: agent66 + start: [26, 4] +- goal: [27, 11] + name: agent67 + start: [6, 17] +- goal: [5, 6] + name: agent68 + start: [23, 28] +- goal: [11, 19] + name: agent69 + start: [31, 25] +- goal: [22, 14] + name: agent70 + start: [11, 28] +- goal: [17, 30] + name: agent71 + start: [2, 31] +- goal: [11, 14] + name: agent72 + start: [7, 15] +- goal: [12, 4] + name: agent73 + start: [30, 13] +- goal: [29, 5] + name: agent74 + start: [19, 21] +- goal: [19, 14] + name: agent75 + start: [24, 29] +- goal: [17, 27] + name: agent76 + start: [24, 21] +- goal: [23, 9] + name: agent77 + start: [27, 4] +- goal: [17, 22] + name: agent78 + start: [7, 30] +- goal: [17, 15] + name: agent79 + start: [30, 16] +- goal: [14, 25] + name: agent80 + start: [17, 4] +- goal: [26, 8] + name: agent81 + start: [2, 3] +- goal: [14, 9] + name: agent82 + start: [8, 31] +- goal: [7, 12] + name: agent83 + start: [21, 15] +- goal: [19, 4] + name: agent84 + start: [12, 24] +- goal: [5, 3] + name: agent85 + start: [4, 27] +- goal: [11, 20] + name: agent86 + start: [25, 1] +- goal: [14, 6] + name: agent87 + start: [1, 17] +- goal: [29, 18] + name: agent88 + start: [13, 0] +- goal: [24, 10] + name: agent89 + start: [19, 14] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [1, 20] + - !!python/tuple [19, 12] + - !!python/tuple [25, 24] + - !!python/tuple [28, 14] + - !!python/tuple [16, 21] + - !!python/tuple [31, 26] + - !!python/tuple [15, 15] + - !!python/tuple [4, 6] + - !!python/tuple [12, 11] + - !!python/tuple [10, 21] + - !!python/tuple [26, 3] + - !!python/tuple [5, 13] + - !!python/tuple [5, 18] + - !!python/tuple [19, 16] + - !!python/tuple [12, 17] + - !!python/tuple [18, 22] + - !!python/tuple [8, 15] + - !!python/tuple [13, 29] + - !!python/tuple [23, 1] + - !!python/tuple [26, 23] + - !!python/tuple [18, 4] + - !!python/tuple [21, 26] + - !!python/tuple [13, 8] + - !!python/tuple [4, 14] + - !!python/tuple [20, 17] + - !!python/tuple [1, 9] + - !!python/tuple [22, 19] + - !!python/tuple [29, 24] + - !!python/tuple [26, 0] + - !!python/tuple [24, 24] + - !!python/tuple [15, 13] + - !!python/tuple [17, 18] + - !!python/tuple [24, 30] + - !!python/tuple [15, 17] + - !!python/tuple [18, 23] + - !!python/tuple [15, 7] + - !!python/tuple [16, 19] + - !!python/tuple [0, 19] + - !!python/tuple [14, 15] + - !!python/tuple [4, 7] + - !!python/tuple [12, 3] + - !!python/tuple [3, 23] + - !!python/tuple [18, 0] + - !!python/tuple [3, 14] + - !!python/tuple [15, 6] + - !!python/tuple [10, 0] + - !!python/tuple [15, 0] + - !!python/tuple [2, 25] + - !!python/tuple [31, 15] + - !!python/tuple [7, 2] + - !!python/tuple [30, 25] + - !!python/tuple [12, 20] + - !!python/tuple [29, 1] + - !!python/tuple [0, 16] + - !!python/tuple [31, 0] + - !!python/tuple [3, 10] + - !!python/tuple [23, 26] + - !!python/tuple [22, 9] + - !!python/tuple [5, 27] + - !!python/tuple [8, 8] + - !!python/tuple [16, 13] + - !!python/tuple [20, 0] + - !!python/tuple [14, 7] + - !!python/tuple [23, 19] + - !!python/tuple [14, 11] + - !!python/tuple [3, 17] + - !!python/tuple [1, 2] + - !!python/tuple [8, 29] + - !!python/tuple [18, 9] + - !!python/tuple [31, 30] + - !!python/tuple [26, 1] + - !!python/tuple [10, 23] + - !!python/tuple [13, 15] + - !!python/tuple [13, 11] + - !!python/tuple [11, 22] + - !!python/tuple [22, 20] + - !!python/tuple [8, 24] + - !!python/tuple [10, 24] + - !!python/tuple [3, 26] + - !!python/tuple [5, 7] + - !!python/tuple [15, 2] + - !!python/tuple [1, 21] + - !!python/tuple [23, 18] + - !!python/tuple [5, 10] + - !!python/tuple [19, 6] + - !!python/tuple [30, 22] + - !!python/tuple [6, 7] + - !!python/tuple [26, 5] + - !!python/tuple [20, 7] + - !!python/tuple [11, 24] + - !!python/tuple [16, 16] + - !!python/tuple [2, 5] + - !!python/tuple [22, 16] + - !!python/tuple [13, 10] + - !!python/tuple [31, 7] + - !!python/tuple [31, 5] + - !!python/tuple [9, 24] + - !!python/tuple [0, 4] + - !!python/tuple [5, 17] + - !!python/tuple [28, 12] + - !!python/tuple [19, 17] + - !!python/tuple [31, 16] + - !!python/tuple [22, 2] + - !!python/tuple [2, 14] + - !!python/tuple [28, 28] + - !!python/tuple [5, 21] + - !!python/tuple [28, 21] + - !!python/tuple [14, 31] + - !!python/tuple [27, 13] + - !!python/tuple [27, 7] + - !!python/tuple [8, 14] + - !!python/tuple [19, 8] + - !!python/tuple [3, 21] + - !!python/tuple [29, 23] + - !!python/tuple [4, 9] + - !!python/tuple [2, 15] + - !!python/tuple [16, 23] + - !!python/tuple [20, 4] + - !!python/tuple [21, 6] + - !!python/tuple [3, 12] + - !!python/tuple [31, 18] + - !!python/tuple [16, 1] + - !!python/tuple [28, 15] + - !!python/tuple [18, 12] + - !!python/tuple [5, 12] + - !!python/tuple [1, 12] + - !!python/tuple [29, 19] + - !!python/tuple [6, 27] + - !!python/tuple [4, 21] + - !!python/tuple [16, 20] + - !!python/tuple [21, 18] + - !!python/tuple [24, 20] + - !!python/tuple [21, 31] + - !!python/tuple [22, 31] + - !!python/tuple [3, 7] + - !!python/tuple [26, 28] + - !!python/tuple [4, 20] + - !!python/tuple [28, 9] + - !!python/tuple [4, 8] + - !!python/tuple [13, 16] + - !!python/tuple [4, 0] + - !!python/tuple [27, 17] + - !!python/tuple [28, 26] + - !!python/tuple [4, 19] + - !!python/tuple [27, 0] + - !!python/tuple [16, 6] + - !!python/tuple [27, 19] + - !!python/tuple [11, 4] + - !!python/tuple [19, 30] + - !!python/tuple [14, 19] + - !!python/tuple [9, 10] + - !!python/tuple [10, 15] + - !!python/tuple [28, 1] + - !!python/tuple [2, 7] + - !!python/tuple [7, 21] + - !!python/tuple [8, 11] + - !!python/tuple [0, 10] + - !!python/tuple [4, 31] + - !!python/tuple [10, 16] + - !!python/tuple [7, 13] + - !!python/tuple [26, 14] + - !!python/tuple [11, 25] + - !!python/tuple [16, 0] + - !!python/tuple [15, 20] + - !!python/tuple [10, 27] + - !!python/tuple [29, 29] + - !!python/tuple [7, 6] + - !!python/tuple [1, 0] + - !!python/tuple [24, 19] + - !!python/tuple [14, 3] + - !!python/tuple [26, 15] + - !!python/tuple [5, 4] + - !!python/tuple [28, 17] + - !!python/tuple [19, 26] + - !!python/tuple [24, 8] + - !!python/tuple [31, 28] + - !!python/tuple [1, 24] + - !!python/tuple [5, 31] + - !!python/tuple [24, 13] + - !!python/tuple [12, 14] + - !!python/tuple [27, 29] + - !!python/tuple [27, 31] + - !!python/tuple [10, 20] + - !!python/tuple [20, 21] + - !!python/tuple [31, 13] + - !!python/tuple [13, 1] + - !!python/tuple [2, 22] + - !!python/tuple [9, 3] + - !!python/tuple [23, 24] + - !!python/tuple [7, 26] + - !!python/tuple [26, 6] + - !!python/tuple [23, 14] + - !!python/tuple [23, 10] + - !!python/tuple [28, 29] + - !!python/tuple [20, 23] + - !!python/tuple [29, 16] + - !!python/tuple [19, 18] + - !!python/tuple [31, 17] + - !!python/tuple [14, 26] + - !!python/tuple [20, 2] + - !!python/tuple [22, 8] + - !!python/tuple [11, 1] + - !!python/tuple [12, 16] + - !!python/tuple [6, 24] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex21.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex21.yaml new file mode 100644 index 0000000..6bb5069 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex21.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [26, 16] + name: agent0 + start: [9, 7] +- goal: [2, 4] + name: agent1 + start: [15, 29] +- goal: [0, 14] + name: agent2 + start: [22, 9] +- goal: [21, 17] + name: agent3 + start: [29, 3] +- goal: [17, 9] + name: agent4 + start: [21, 0] +- goal: [8, 0] + name: agent5 + start: [6, 31] +- goal: [21, 2] + name: agent6 + start: [6, 11] +- goal: [17, 26] + name: agent7 + start: [19, 7] +- goal: [10, 2] + name: agent8 + start: [25, 5] +- goal: [20, 13] + name: agent9 + start: [24, 14] +- goal: [8, 2] + name: agent10 + start: [22, 17] +- goal: [17, 27] + name: agent11 + start: [18, 13] +- goal: [22, 0] + name: agent12 + start: [10, 7] +- goal: [1, 21] + name: agent13 + start: [8, 11] +- goal: [18, 2] + name: agent14 + start: [24, 19] +- goal: [26, 0] + name: agent15 + start: [16, 22] +- goal: [7, 31] + name: agent16 + start: [25, 20] +- goal: [5, 12] + name: agent17 + start: [1, 27] +- goal: [23, 2] + name: agent18 + start: [23, 12] +- goal: [21, 31] + name: agent19 + start: [7, 1] +- goal: [9, 21] + name: agent20 + start: [17, 16] +- goal: [3, 15] + name: agent21 + start: [23, 4] +- goal: [20, 15] + name: agent22 + start: [11, 5] +- goal: [14, 24] + name: agent23 + start: [29, 15] +- goal: [7, 11] + name: agent24 + start: [3, 0] +- goal: [23, 12] + name: agent25 + start: [5, 3] +- goal: [30, 0] + name: agent26 + start: [18, 29] +- goal: [30, 26] + name: agent27 + start: [30, 20] +- goal: [5, 23] + name: agent28 + start: [31, 9] +- goal: [7, 1] + name: agent29 + start: [9, 10] +- goal: [2, 21] + name: agent30 + start: [25, 10] +- goal: [3, 26] + name: agent31 + start: [31, 28] +- goal: [0, 11] + name: agent32 + start: [19, 19] +- goal: [21, 25] + name: agent33 + start: [22, 1] +- goal: [5, 8] + name: agent34 + start: [25, 3] +- goal: [22, 12] + name: agent35 + start: [28, 27] +- goal: [21, 15] + name: agent36 + start: [14, 9] +- goal: [5, 15] + name: agent37 + start: [21, 11] +- goal: [16, 12] + name: agent38 + start: [16, 12] +- goal: [3, 27] + name: agent39 + start: [22, 11] +- goal: [15, 26] + name: agent40 + start: [20, 16] +- goal: [14, 28] + name: agent41 + start: [9, 11] +- goal: [9, 25] + name: agent42 + start: [2, 12] +- goal: [22, 14] + name: agent43 + start: [23, 14] +- goal: [27, 28] + name: agent44 + start: [27, 6] +- goal: [21, 16] + name: agent45 + start: [17, 3] +- goal: [31, 3] + name: agent46 + start: [4, 19] +- goal: [1, 30] + name: agent47 + start: [22, 18] +- goal: [14, 30] + name: agent48 + start: [10, 21] +- goal: [19, 27] + name: agent49 + start: [1, 14] +- goal: [12, 16] + name: agent50 + start: [12, 24] +- goal: [21, 10] + name: agent51 + start: [15, 2] +- goal: [19, 12] + name: agent52 + start: [20, 29] +- goal: [14, 14] + name: agent53 + start: [5, 26] +- goal: [19, 10] + name: agent54 + start: [26, 2] +- goal: [13, 22] + name: agent55 + start: [28, 2] +- goal: [27, 30] + name: agent56 + start: [7, 31] +- goal: [14, 31] + name: agent57 + start: [16, 7] +- goal: [28, 27] + name: agent58 + start: [17, 10] +- goal: [8, 10] + name: agent59 + start: [16, 25] +- goal: [26, 12] + name: agent60 + start: [7, 9] +- goal: [26, 5] + name: agent61 + start: [21, 13] +- goal: [10, 21] + name: agent62 + start: [29, 31] +- goal: [9, 18] + name: agent63 + start: [0, 29] +- goal: [25, 28] + name: agent64 + start: [10, 29] +- goal: [1, 29] + name: agent65 + start: [6, 4] +- goal: [6, 10] + name: agent66 + start: [5, 22] +- goal: [20, 24] + name: agent67 + start: [22, 15] +- goal: [17, 0] + name: agent68 + start: [29, 25] +- goal: [19, 19] + name: agent69 + start: [13, 10] +- goal: [8, 16] + name: agent70 + start: [27, 17] +- goal: [28, 29] + name: agent71 + start: [24, 9] +- goal: [27, 10] + name: agent72 + start: [24, 25] +- goal: [14, 9] + name: agent73 + start: [14, 8] +- goal: [17, 14] + name: agent74 + start: [8, 25] +- goal: [13, 12] + name: agent75 + start: [20, 15] +- goal: [8, 25] + name: agent76 + start: [11, 29] +- goal: [0, 7] + name: agent77 + start: [20, 21] +- goal: [3, 4] + name: agent78 + start: [19, 28] +- goal: [26, 3] + name: agent79 + start: [2, 13] +- goal: [24, 21] + name: agent80 + start: [25, 14] +- goal: [6, 5] + name: agent81 + start: [30, 31] +- goal: [18, 21] + name: agent82 + start: [19, 0] +- goal: [4, 3] + name: agent83 + start: [2, 6] +- goal: [11, 20] + name: agent84 + start: [31, 5] +- goal: [31, 23] + name: agent85 + start: [30, 24] +- goal: [6, 6] + name: agent86 + start: [29, 24] +- goal: [2, 26] + name: agent87 + start: [2, 4] +- goal: [6, 14] + name: agent88 + start: [25, 21] +- goal: [5, 20] + name: agent89 + start: [7, 3] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [6, 8] + - !!python/tuple [27, 9] + - !!python/tuple [16, 28] + - !!python/tuple [22, 26] + - !!python/tuple [18, 14] + - !!python/tuple [10, 3] + - !!python/tuple [9, 13] + - !!python/tuple [1, 8] + - !!python/tuple [27, 11] + - !!python/tuple [30, 17] + - !!python/tuple [25, 6] + - !!python/tuple [15, 14] + - !!python/tuple [3, 16] + - !!python/tuple [22, 10] + - !!python/tuple [29, 10] + - !!python/tuple [14, 19] + - !!python/tuple [17, 25] + - !!python/tuple [8, 3] + - !!python/tuple [11, 1] + - !!python/tuple [25, 29] + - !!python/tuple [3, 1] + - !!python/tuple [8, 1] + - !!python/tuple [6, 0] + - !!python/tuple [20, 20] + - !!python/tuple [3, 10] + - !!python/tuple [18, 31] + - !!python/tuple [24, 13] + - !!python/tuple [15, 0] + - !!python/tuple [30, 29] + - !!python/tuple [8, 21] + - !!python/tuple [8, 23] + - !!python/tuple [17, 29] + - !!python/tuple [10, 8] + - !!python/tuple [27, 15] + - !!python/tuple [19, 3] + - !!python/tuple [4, 22] + - !!python/tuple [19, 24] + - !!python/tuple [7, 2] + - !!python/tuple [6, 13] + - !!python/tuple [17, 23] + - !!python/tuple [12, 6] + - !!python/tuple [30, 5] + - !!python/tuple [27, 5] + - !!python/tuple [31, 16] + - !!python/tuple [12, 14] + - !!python/tuple [1, 17] + - !!python/tuple [0, 8] + - !!python/tuple [3, 13] + - !!python/tuple [19, 16] + - !!python/tuple [29, 17] + - !!python/tuple [10, 9] + - !!python/tuple [23, 3] + - !!python/tuple [14, 12] + - !!python/tuple [10, 16] + - !!python/tuple [21, 23] + - !!python/tuple [4, 2] + - !!python/tuple [15, 25] + - !!python/tuple [6, 22] + - !!python/tuple [9, 8] + - !!python/tuple [21, 6] + - !!python/tuple [26, 27] + - !!python/tuple [19, 30] + - !!python/tuple [11, 9] + - !!python/tuple [7, 15] + - !!python/tuple [24, 31] + - !!python/tuple [8, 26] + - !!python/tuple [0, 1] + - !!python/tuple [28, 23] + - !!python/tuple [19, 23] + - !!python/tuple [11, 13] + - !!python/tuple [30, 13] + - !!python/tuple [14, 20] + - !!python/tuple [10, 17] + - !!python/tuple [8, 6] + - !!python/tuple [6, 17] + - !!python/tuple [13, 16] + - !!python/tuple [0, 27] + - !!python/tuple [0, 5] + - !!python/tuple [23, 20] + - !!python/tuple [12, 11] + - !!python/tuple [7, 28] + - !!python/tuple [7, 10] + - !!python/tuple [31, 10] + - !!python/tuple [16, 20] + - !!python/tuple [9, 16] + - !!python/tuple [31, 27] + - !!python/tuple [22, 5] + - !!python/tuple [21, 22] + - !!python/tuple [7, 12] + - !!python/tuple [0, 22] + - !!python/tuple [31, 24] + - !!python/tuple [24, 30] + - !!python/tuple [14, 0] + - !!python/tuple [26, 20] + - !!python/tuple [4, 26] + - !!python/tuple [27, 1] + - !!python/tuple [20, 30] + - !!python/tuple [17, 24] + - !!python/tuple [10, 24] + - !!python/tuple [19, 11] + - !!python/tuple [17, 5] + - !!python/tuple [28, 28] + - !!python/tuple [6, 27] + - !!python/tuple [11, 0] + - !!python/tuple [20, 26] + - !!python/tuple [24, 4] + - !!python/tuple [15, 31] + - !!python/tuple [10, 25] + - !!python/tuple [22, 21] + - !!python/tuple [28, 8] + - !!python/tuple [23, 23] + - !!python/tuple [28, 25] + - !!python/tuple [18, 24] + - !!python/tuple [6, 3] + - !!python/tuple [25, 0] + - !!python/tuple [29, 27] + - !!python/tuple [20, 28] + - !!python/tuple [23, 18] + - !!python/tuple [2, 5] + - !!python/tuple [9, 30] + - !!python/tuple [25, 31] + - !!python/tuple [23, 16] + - !!python/tuple [22, 25] + - !!python/tuple [11, 12] + - !!python/tuple [17, 2] + - !!python/tuple [23, 26] + - !!python/tuple [10, 6] + - !!python/tuple [9, 15] + - !!python/tuple [26, 24] + - !!python/tuple [6, 28] + - !!python/tuple [19, 21] + - !!python/tuple [8, 17] + - !!python/tuple [11, 31] + - !!python/tuple [24, 15] + - !!python/tuple [28, 17] + - !!python/tuple [9, 3] + - !!python/tuple [18, 5] + - !!python/tuple [20, 1] + - !!python/tuple [4, 9] + - !!python/tuple [23, 27] + - !!python/tuple [0, 26] + - !!python/tuple [3, 12] + - !!python/tuple [13, 1] + - !!python/tuple [25, 11] + - !!python/tuple [10, 22] + - !!python/tuple [29, 28] + - !!python/tuple [26, 31] + - !!python/tuple [2, 22] + - !!python/tuple [4, 10] + - !!python/tuple [28, 1] + - !!python/tuple [15, 7] + - !!python/tuple [13, 25] + - !!python/tuple [11, 11] + - !!python/tuple [16, 4] + - !!python/tuple [23, 25] + - !!python/tuple [24, 22] + - !!python/tuple [13, 24] + - !!python/tuple [1, 12] + - !!python/tuple [0, 16] + - !!python/tuple [2, 8] + - !!python/tuple [19, 9] + - !!python/tuple [19, 17] + - !!python/tuple [31, 2] + - !!python/tuple [24, 10] + - !!python/tuple [22, 16] + - !!python/tuple [16, 19] + - !!python/tuple [24, 17] + - !!python/tuple [7, 17] + - !!python/tuple [18, 20] + - !!python/tuple [13, 28] + - !!python/tuple [20, 10] + - !!python/tuple [12, 2] + - !!python/tuple [24, 7] + - !!python/tuple [30, 28] + - !!python/tuple [0, 24] + - !!python/tuple [8, 5] + - !!python/tuple [0, 23] + - !!python/tuple [19, 14] + - !!python/tuple [21, 9] + - !!python/tuple [29, 11] + - !!python/tuple [6, 9] + - !!python/tuple [26, 9] + - !!python/tuple [19, 4] + - !!python/tuple [12, 9] + - !!python/tuple [10, 11] + - !!python/tuple [1, 18] + - !!python/tuple [29, 0] + - !!python/tuple [15, 12] + - !!python/tuple [2, 10] + - !!python/tuple [4, 4] + - !!python/tuple [31, 25] + - !!python/tuple [31, 13] + - !!python/tuple [13, 31] + - !!python/tuple [23, 28] + - !!python/tuple [4, 7] + - !!python/tuple [11, 27] + - !!python/tuple [25, 2] + - !!python/tuple [26, 11] + - !!python/tuple [4, 12] + - !!python/tuple [2, 9] + - !!python/tuple [12, 28] + - !!python/tuple [29, 22] + - !!python/tuple [3, 28] + - !!python/tuple [29, 20] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex22.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex22.yaml new file mode 100644 index 0000000..438867f --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex22.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [5, 27] + name: agent0 + start: [18, 30] +- goal: [12, 9] + name: agent1 + start: [6, 1] +- goal: [4, 22] + name: agent2 + start: [26, 26] +- goal: [25, 0] + name: agent3 + start: [17, 27] +- goal: [2, 17] + name: agent4 + start: [23, 27] +- goal: [17, 29] + name: agent5 + start: [5, 19] +- goal: [12, 3] + name: agent6 + start: [14, 13] +- goal: [7, 27] + name: agent7 + start: [25, 10] +- goal: [4, 15] + name: agent8 + start: [21, 4] +- goal: [26, 1] + name: agent9 + start: [6, 12] +- goal: [12, 10] + name: agent10 + start: [18, 18] +- goal: [27, 3] + name: agent11 + start: [3, 22] +- goal: [20, 22] + name: agent12 + start: [19, 7] +- goal: [27, 13] + name: agent13 + start: [8, 10] +- goal: [19, 0] + name: agent14 + start: [15, 8] +- goal: [5, 10] + name: agent15 + start: [23, 23] +- goal: [26, 20] + name: agent16 + start: [20, 14] +- goal: [20, 8] + name: agent17 + start: [23, 22] +- goal: [13, 27] + name: agent18 + start: [10, 9] +- goal: [31, 26] + name: agent19 + start: [2, 4] +- goal: [2, 20] + name: agent20 + start: [4, 21] +- goal: [20, 11] + name: agent21 + start: [4, 3] +- goal: [16, 2] + name: agent22 + start: [24, 13] +- goal: [10, 17] + name: agent23 + start: [29, 19] +- goal: [8, 17] + name: agent24 + start: [27, 8] +- goal: [12, 30] + name: agent25 + start: [4, 4] +- goal: [8, 21] + name: agent26 + start: [3, 30] +- goal: [20, 25] + name: agent27 + start: [22, 7] +- goal: [20, 19] + name: agent28 + start: [0, 5] +- goal: [15, 6] + name: agent29 + start: [15, 20] +- goal: [15, 25] + name: agent30 + start: [20, 10] +- goal: [3, 30] + name: agent31 + start: [21, 15] +- goal: [29, 5] + name: agent32 + start: [30, 11] +- goal: [27, 9] + name: agent33 + start: [3, 29] +- goal: [20, 18] + name: agent34 + start: [12, 12] +- goal: [28, 3] + name: agent35 + start: [11, 9] +- goal: [16, 10] + name: agent36 + start: [22, 6] +- goal: [29, 20] + name: agent37 + start: [10, 1] +- goal: [27, 19] + name: agent38 + start: [29, 17] +- goal: [13, 15] + name: agent39 + start: [26, 7] +- goal: [6, 25] + name: agent40 + start: [7, 21] +- goal: [21, 16] + name: agent41 + start: [4, 28] +- goal: [12, 12] + name: agent42 + start: [23, 0] +- goal: [9, 18] + name: agent43 + start: [17, 6] +- goal: [6, 17] + name: agent44 + start: [22, 0] +- goal: [11, 5] + name: agent45 + start: [25, 31] +- goal: [7, 13] + name: agent46 + start: [20, 19] +- goal: [25, 8] + name: agent47 + start: [1, 7] +- goal: [29, 29] + name: agent48 + start: [29, 6] +- goal: [16, 4] + name: agent49 + start: [5, 16] +- goal: [11, 21] + name: agent50 + start: [25, 20] +- goal: [6, 1] + name: agent51 + start: [16, 28] +- goal: [27, 24] + name: agent52 + start: [22, 4] +- goal: [25, 21] + name: agent53 + start: [15, 28] +- goal: [13, 31] + name: agent54 + start: [21, 26] +- goal: [25, 18] + name: agent55 + start: [3, 13] +- goal: [21, 25] + name: agent56 + start: [1, 10] +- goal: [22, 30] + name: agent57 + start: [31, 15] +- goal: [13, 25] + name: agent58 + start: [30, 14] +- goal: [29, 26] + name: agent59 + start: [5, 15] +- goal: [14, 30] + name: agent60 + start: [8, 27] +- goal: [22, 5] + name: agent61 + start: [26, 22] +- goal: [19, 2] + name: agent62 + start: [17, 1] +- goal: [9, 5] + name: agent63 + start: [10, 18] +- goal: [19, 19] + name: agent64 + start: [21, 28] +- goal: [27, 21] + name: agent65 + start: [14, 29] +- goal: [0, 29] + name: agent66 + start: [0, 19] +- goal: [7, 5] + name: agent67 + start: [15, 2] +- goal: [16, 3] + name: agent68 + start: [30, 20] +- goal: [17, 24] + name: agent69 + start: [16, 31] +- goal: [3, 29] + name: agent70 + start: [20, 26] +- goal: [20, 28] + name: agent71 + start: [21, 19] +- goal: [9, 21] + name: agent72 + start: [13, 4] +- goal: [0, 31] + name: agent73 + start: [24, 22] +- goal: [4, 20] + name: agent74 + start: [1, 29] +- goal: [19, 11] + name: agent75 + start: [8, 31] +- goal: [25, 14] + name: agent76 + start: [1, 3] +- goal: [4, 8] + name: agent77 + start: [1, 15] +- goal: [10, 8] + name: agent78 + start: [22, 31] +- goal: [24, 15] + name: agent79 + start: [6, 13] +- goal: [26, 24] + name: agent80 + start: [20, 13] +- goal: [7, 6] + name: agent81 + start: [30, 12] +- goal: [27, 29] + name: agent82 + start: [1, 28] +- goal: [25, 11] + name: agent83 + start: [27, 16] +- goal: [2, 7] + name: agent84 + start: [19, 4] +- goal: [5, 5] + name: agent85 + start: [30, 13] +- goal: [24, 25] + name: agent86 + start: [12, 13] +- goal: [17, 14] + name: agent87 + start: [31, 7] +- goal: [3, 5] + name: agent88 + start: [8, 24] +- goal: [10, 20] + name: agent89 + start: [3, 10] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [24, 5] + - !!python/tuple [26, 17] + - !!python/tuple [24, 27] + - !!python/tuple [30, 17] + - !!python/tuple [22, 22] + - !!python/tuple [16, 6] + - !!python/tuple [7, 23] + - !!python/tuple [3, 9] + - !!python/tuple [9, 0] + - !!python/tuple [11, 13] + - !!python/tuple [25, 4] + - !!python/tuple [12, 18] + - !!python/tuple [17, 18] + - !!python/tuple [0, 27] + - !!python/tuple [17, 13] + - !!python/tuple [15, 15] + - !!python/tuple [26, 29] + - !!python/tuple [13, 19] + - !!python/tuple [19, 15] + - !!python/tuple [9, 30] + - !!python/tuple [0, 4] + - !!python/tuple [8, 3] + - !!python/tuple [26, 5] + - !!python/tuple [22, 12] + - !!python/tuple [5, 22] + - !!python/tuple [5, 9] + - !!python/tuple [13, 2] + - !!python/tuple [25, 12] + - !!python/tuple [27, 23] + - !!python/tuple [19, 21] + - !!python/tuple [10, 22] + - !!python/tuple [5, 12] + - !!python/tuple [27, 20] + - !!python/tuple [22, 27] + - !!python/tuple [28, 16] + - !!python/tuple [31, 1] + - !!python/tuple [7, 3] + - !!python/tuple [13, 16] + - !!python/tuple [10, 25] + - !!python/tuple [24, 3] + - !!python/tuple [21, 9] + - !!python/tuple [7, 1] + - !!python/tuple [14, 17] + - !!python/tuple [28, 14] + - !!python/tuple [6, 9] + - !!python/tuple [27, 26] + - !!python/tuple [22, 19] + - !!python/tuple [29, 1] + - !!python/tuple [27, 25] + - !!python/tuple [0, 2] + - !!python/tuple [1, 9] + - !!python/tuple [1, 18] + - !!python/tuple [14, 0] + - !!python/tuple [16, 8] + - !!python/tuple [15, 18] + - !!python/tuple [24, 2] + - !!python/tuple [30, 19] + - !!python/tuple [22, 13] + - !!python/tuple [5, 21] + - !!python/tuple [4, 5] + - !!python/tuple [9, 15] + - !!python/tuple [0, 11] + - !!python/tuple [13, 22] + - !!python/tuple [15, 3] + - !!python/tuple [12, 14] + - !!python/tuple [25, 16] + - !!python/tuple [7, 30] + - !!python/tuple [1, 8] + - !!python/tuple [22, 11] + - !!python/tuple [16, 26] + - !!python/tuple [11, 29] + - !!python/tuple [24, 4] + - !!python/tuple [26, 31] + - !!python/tuple [22, 2] + - !!python/tuple [30, 24] + - !!python/tuple [24, 31] + - !!python/tuple [9, 4] + - !!python/tuple [10, 12] + - !!python/tuple [28, 31] + - !!python/tuple [21, 27] + - !!python/tuple [15, 14] + - !!python/tuple [28, 21] + - !!python/tuple [9, 29] + - !!python/tuple [13, 1] + - !!python/tuple [30, 23] + - !!python/tuple [18, 17] + - !!python/tuple [14, 3] + - !!python/tuple [4, 24] + - !!python/tuple [26, 0] + - !!python/tuple [5, 6] + - !!python/tuple [15, 24] + - !!python/tuple [23, 14] + - !!python/tuple [7, 12] + - !!python/tuple [4, 30] + - !!python/tuple [3, 6] + - !!python/tuple [18, 11] + - !!python/tuple [8, 18] + - !!python/tuple [6, 4] + - !!python/tuple [2, 2] + - !!python/tuple [2, 23] + - !!python/tuple [14, 25] + - !!python/tuple [29, 18] + - !!python/tuple [5, 26] + - !!python/tuple [25, 9] + - !!python/tuple [31, 13] + - !!python/tuple [18, 31] + - !!python/tuple [3, 21] + - !!python/tuple [0, 21] + - !!python/tuple [30, 29] + - !!python/tuple [29, 16] + - !!python/tuple [11, 4] + - !!python/tuple [16, 1] + - !!python/tuple [31, 0] + - !!python/tuple [18, 2] + - !!python/tuple [18, 15] + - !!python/tuple [16, 15] + - !!python/tuple [27, 2] + - !!python/tuple [14, 1] + - !!python/tuple [22, 25] + - !!python/tuple [1, 21] + - !!python/tuple [30, 0] + - !!python/tuple [30, 9] + - !!python/tuple [5, 25] + - !!python/tuple [26, 4] + - !!python/tuple [20, 7] + - !!python/tuple [14, 4] + - !!python/tuple [7, 2] + - !!python/tuple [4, 18] + - !!python/tuple [30, 31] + - !!python/tuple [12, 0] + - !!python/tuple [23, 19] + - !!python/tuple [0, 7] + - !!python/tuple [20, 30] + - !!python/tuple [26, 25] + - !!python/tuple [21, 21] + - !!python/tuple [0, 15] + - !!python/tuple [24, 16] + - !!python/tuple [19, 3] + - !!python/tuple [8, 7] + - !!python/tuple [22, 3] + - !!python/tuple [11, 8] + - !!python/tuple [19, 23] + - !!python/tuple [3, 11] + - !!python/tuple [26, 23] + - !!python/tuple [24, 0] + - !!python/tuple [27, 30] + - !!python/tuple [0, 10] + - !!python/tuple [3, 26] + - !!python/tuple [31, 23] + - !!python/tuple [17, 9] + - !!python/tuple [28, 7] + - !!python/tuple [29, 12] + - !!python/tuple [23, 7] + - !!python/tuple [1, 31] + - !!python/tuple [10, 27] + - !!python/tuple [7, 25] + - !!python/tuple [11, 25] + - !!python/tuple [9, 27] + - !!python/tuple [15, 5] + - !!python/tuple [21, 14] + - !!python/tuple [15, 30] + - !!python/tuple [20, 16] + - !!python/tuple [31, 17] + - !!python/tuple [8, 15] + - !!python/tuple [9, 25] + - !!python/tuple [9, 8] + - !!python/tuple [31, 30] + - !!python/tuple [26, 3] + - !!python/tuple [30, 2] + - !!python/tuple [26, 11] + - !!python/tuple [18, 25] + - !!python/tuple [15, 19] + - !!python/tuple [30, 26] + - !!python/tuple [27, 1] + - !!python/tuple [22, 15] + - !!python/tuple [17, 3] + - !!python/tuple [12, 11] + - !!python/tuple [24, 17] + - !!python/tuple [29, 13] + - !!python/tuple [18, 27] + - !!python/tuple [2, 1] + - !!python/tuple [15, 11] + - !!python/tuple [31, 28] + - !!python/tuple [30, 4] + - !!python/tuple [31, 8] + - !!python/tuple [6, 21] + - !!python/tuple [3, 3] + - !!python/tuple [6, 10] + - !!python/tuple [25, 2] + - !!python/tuple [1, 20] + - !!python/tuple [7, 16] + - !!python/tuple [6, 18] + - !!python/tuple [20, 31] + - !!python/tuple [11, 26] + - !!python/tuple [30, 22] + - !!python/tuple [2, 26] + - !!python/tuple [17, 28] + - !!python/tuple [2, 3] + - !!python/tuple [31, 31] + - !!python/tuple [14, 31] + - !!python/tuple [11, 19] + - !!python/tuple [6, 29] + - !!python/tuple [14, 8] + - !!python/tuple [11, 15] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex23.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex23.yaml new file mode 100644 index 0000000..3b774ca --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex23.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [5, 23] + name: agent0 + start: [31, 4] +- goal: [1, 20] + name: agent1 + start: [31, 26] +- goal: [15, 20] + name: agent2 + start: [17, 21] +- goal: [3, 14] + name: agent3 + start: [15, 15] +- goal: [3, 5] + name: agent4 + start: [16, 23] +- goal: [8, 5] + name: agent5 + start: [29, 11] +- goal: [24, 9] + name: agent6 + start: [16, 31] +- goal: [5, 6] + name: agent7 + start: [29, 31] +- goal: [10, 6] + name: agent8 + start: [13, 11] +- goal: [13, 28] + name: agent9 + start: [26, 3] +- goal: [3, 30] + name: agent10 + start: [3, 3] +- goal: [6, 0] + name: agent11 + start: [18, 18] +- goal: [3, 12] + name: agent12 + start: [1, 10] +- goal: [21, 25] + name: agent13 + start: [11, 15] +- goal: [17, 2] + name: agent14 + start: [0, 31] +- goal: [22, 2] + name: agent15 + start: [2, 9] +- goal: [29, 22] + name: agent16 + start: [7, 2] +- goal: [12, 27] + name: agent17 + start: [8, 1] +- goal: [9, 20] + name: agent18 + start: [0, 22] +- goal: [6, 24] + name: agent19 + start: [7, 11] +- goal: [11, 29] + name: agent20 + start: [12, 1] +- goal: [30, 13] + name: agent21 + start: [8, 27] +- goal: [30, 18] + name: agent22 + start: [12, 14] +- goal: [5, 12] + name: agent23 + start: [17, 19] +- goal: [17, 8] + name: agent24 + start: [28, 20] +- goal: [31, 14] + name: agent25 + start: [16, 12] +- goal: [27, 17] + name: agent26 + start: [14, 9] +- goal: [25, 15] + name: agent27 + start: [26, 13] +- goal: [25, 1] + name: agent28 + start: [11, 12] +- goal: [14, 19] + name: agent29 + start: [1, 23] +- goal: [14, 12] + name: agent30 + start: [20, 1] +- goal: [21, 5] + name: agent31 + start: [20, 7] +- goal: [7, 8] + name: agent32 + start: [1, 4] +- goal: [21, 4] + name: agent33 + start: [30, 0] +- goal: [19, 19] + name: agent34 + start: [29, 10] +- goal: [30, 11] + name: agent35 + start: [2, 15] +- goal: [2, 17] + name: agent36 + start: [23, 19] +- goal: [18, 17] + name: agent37 + start: [19, 20] +- goal: [18, 8] + name: agent38 + start: [15, 8] +- goal: [0, 6] + name: agent39 + start: [10, 7] +- goal: [11, 16] + name: agent40 + start: [8, 28] +- goal: [1, 7] + name: agent41 + start: [0, 14] +- goal: [30, 21] + name: agent42 + start: [0, 2] +- goal: [7, 29] + name: agent43 + start: [8, 4] +- goal: [14, 30] + name: agent44 + start: [14, 3] +- goal: [16, 23] + name: agent45 + start: [8, 2] +- goal: [4, 20] + name: agent46 + start: [3, 18] +- goal: [14, 4] + name: agent47 + start: [22, 8] +- goal: [3, 6] + name: agent48 + start: [23, 29] +- goal: [2, 29] + name: agent49 + start: [26, 17] +- goal: [5, 10] + name: agent50 + start: [9, 5] +- goal: [15, 22] + name: agent51 + start: [4, 27] +- goal: [14, 13] + name: agent52 + start: [2, 10] +- goal: [23, 14] + name: agent53 + start: [0, 7] +- goal: [5, 7] + name: agent54 + start: [15, 22] +- goal: [24, 22] + name: agent55 + start: [9, 23] +- goal: [13, 11] + name: agent56 + start: [26, 0] +- goal: [7, 30] + name: agent57 + start: [22, 28] +- goal: [22, 25] + name: agent58 + start: [20, 5] +- goal: [26, 3] + name: agent59 + start: [13, 25] +- goal: [17, 11] + name: agent60 + start: [10, 19] +- goal: [24, 19] + name: agent61 + start: [23, 13] +- goal: [30, 8] + name: agent62 + start: [21, 0] +- goal: [17, 23] + name: agent63 + start: [14, 8] +- goal: [3, 10] + name: agent64 + start: [24, 2] +- goal: [28, 31] + name: agent65 + start: [21, 16] +- goal: [25, 11] + name: agent66 + start: [23, 11] +- goal: [29, 19] + name: agent67 + start: [27, 10] +- goal: [31, 1] + name: agent68 + start: [23, 23] +- goal: [0, 12] + name: agent69 + start: [22, 30] +- goal: [8, 2] + name: agent70 + start: [22, 6] +- goal: [15, 31] + name: agent71 + start: [24, 13] +- goal: [17, 16] + name: agent72 + start: [28, 19] +- goal: [27, 5] + name: agent73 + start: [30, 21] +- goal: [22, 19] + name: agent74 + start: [0, 21] +- goal: [15, 2] + name: agent75 + start: [6, 6] +- goal: [16, 10] + name: agent76 + start: [29, 20] +- goal: [20, 13] + name: agent77 + start: [27, 1] +- goal: [26, 28] + name: agent78 + start: [14, 16] +- goal: [11, 1] + name: agent79 + start: [24, 11] +- goal: [23, 5] + name: agent80 + start: [31, 9] +- goal: [23, 25] + name: agent81 + start: [0, 19] +- goal: [15, 1] + name: agent82 + start: [14, 18] +- goal: [8, 14] + name: agent83 + start: [1, 12] +- goal: [6, 21] + name: agent84 + start: [15, 2] +- goal: [20, 18] + name: agent85 + start: [10, 26] +- goal: [15, 3] + name: agent86 + start: [1, 28] +- goal: [20, 0] + name: agent87 + start: [31, 14] +- goal: [16, 8] + name: agent88 + start: [1, 16] +- goal: [1, 28] + name: agent89 + start: [2, 11] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [27, 20] + - !!python/tuple [7, 15] + - !!python/tuple [2, 22] + - !!python/tuple [6, 22] + - !!python/tuple [15, 5] + - !!python/tuple [9, 26] + - !!python/tuple [3, 2] + - !!python/tuple [16, 2] + - !!python/tuple [18, 6] + - !!python/tuple [28, 8] + - !!python/tuple [28, 21] + - !!python/tuple [12, 18] + - !!python/tuple [2, 3] + - !!python/tuple [13, 5] + - !!python/tuple [6, 29] + - !!python/tuple [2, 5] + - !!python/tuple [12, 12] + - !!python/tuple [10, 0] + - !!python/tuple [14, 14] + - !!python/tuple [31, 18] + - !!python/tuple [19, 12] + - !!python/tuple [12, 3] + - !!python/tuple [15, 21] + - !!python/tuple [20, 10] + - !!python/tuple [4, 22] + - !!python/tuple [20, 15] + - !!python/tuple [31, 12] + - !!python/tuple [11, 25] + - !!python/tuple [23, 1] + - !!python/tuple [18, 28] + - !!python/tuple [13, 22] + - !!python/tuple [13, 1] + - !!python/tuple [5, 13] + - !!python/tuple [14, 25] + - !!python/tuple [4, 12] + - !!python/tuple [16, 16] + - !!python/tuple [22, 10] + - !!python/tuple [17, 25] + - !!python/tuple [12, 30] + - !!python/tuple [5, 27] + - !!python/tuple [17, 14] + - !!python/tuple [8, 22] + - !!python/tuple [27, 7] + - !!python/tuple [31, 0] + - !!python/tuple [1, 15] + - !!python/tuple [16, 7] + - !!python/tuple [16, 20] + - !!python/tuple [29, 26] + - !!python/tuple [2, 25] + - !!python/tuple [15, 4] + - !!python/tuple [9, 22] + - !!python/tuple [14, 27] + - !!python/tuple [15, 13] + - !!python/tuple [20, 4] + - !!python/tuple [22, 15] + - !!python/tuple [13, 4] + - !!python/tuple [12, 29] + - !!python/tuple [22, 29] + - !!python/tuple [13, 19] + - !!python/tuple [30, 12] + - !!python/tuple [25, 20] + - !!python/tuple [29, 0] + - !!python/tuple [27, 23] + - !!python/tuple [24, 29] + - !!python/tuple [9, 29] + - !!python/tuple [4, 23] + - !!python/tuple [25, 17] + - !!python/tuple [3, 21] + - !!python/tuple [21, 28] + - !!python/tuple [19, 11] + - !!python/tuple [3, 26] + - !!python/tuple [31, 5] + - !!python/tuple [6, 10] + - !!python/tuple [7, 19] + - !!python/tuple [15, 23] + - !!python/tuple [17, 15] + - !!python/tuple [10, 28] + - !!python/tuple [12, 5] + - !!python/tuple [23, 4] + - !!python/tuple [13, 10] + - !!python/tuple [13, 15] + - !!python/tuple [7, 9] + - !!python/tuple [16, 9] + - !!python/tuple [10, 16] + - !!python/tuple [13, 6] + - !!python/tuple [25, 9] + - !!python/tuple [4, 0] + - !!python/tuple [21, 2] + - !!python/tuple [21, 27] + - !!python/tuple [28, 24] + - !!python/tuple [23, 0] + - !!python/tuple [29, 15] + - !!python/tuple [7, 13] + - !!python/tuple [12, 21] + - !!python/tuple [7, 16] + - !!python/tuple [18, 24] + - !!python/tuple [18, 4] + - !!python/tuple [8, 18] + - !!python/tuple [13, 0] + - !!python/tuple [27, 24] + - !!python/tuple [20, 11] + - !!python/tuple [24, 21] + - !!python/tuple [21, 19] + - !!python/tuple [5, 4] + - !!python/tuple [22, 1] + - !!python/tuple [26, 24] + - !!python/tuple [7, 12] + - !!python/tuple [16, 13] + - !!python/tuple [8, 25] + - !!python/tuple [18, 23] + - !!python/tuple [24, 3] + - !!python/tuple [2, 12] + - !!python/tuple [25, 28] + - !!python/tuple [17, 9] + - !!python/tuple [0, 25] + - !!python/tuple [5, 11] + - !!python/tuple [30, 26] + - !!python/tuple [14, 5] + - !!python/tuple [5, 18] + - !!python/tuple [26, 30] + - !!python/tuple [5, 28] + - !!python/tuple [21, 17] + - !!python/tuple [23, 31] + - !!python/tuple [11, 9] + - !!python/tuple [23, 6] + - !!python/tuple [16, 5] + - !!python/tuple [25, 27] + - !!python/tuple [17, 4] + - !!python/tuple [6, 19] + - !!python/tuple [1, 5] + - !!python/tuple [29, 27] + - !!python/tuple [1, 31] + - !!python/tuple [15, 14] + - !!python/tuple [27, 9] + - !!python/tuple [30, 29] + - !!python/tuple [31, 19] + - !!python/tuple [16, 18] + - !!python/tuple [21, 12] + - !!python/tuple [11, 14] + - !!python/tuple [20, 24] + - !!python/tuple [11, 5] + - !!python/tuple [18, 21] + - !!python/tuple [26, 22] + - !!python/tuple [29, 12] + - !!python/tuple [23, 26] + - !!python/tuple [18, 15] + - !!python/tuple [25, 2] + - !!python/tuple [29, 4] + - !!python/tuple [4, 30] + - !!python/tuple [8, 19] + - !!python/tuple [19, 15] + - !!python/tuple [24, 0] + - !!python/tuple [0, 10] + - !!python/tuple [3, 11] + - !!python/tuple [11, 24] + - !!python/tuple [26, 29] + - !!python/tuple [9, 10] + - !!python/tuple [20, 3] + - !!python/tuple [17, 22] + - !!python/tuple [24, 30] + - !!python/tuple [15, 25] + - !!python/tuple [31, 31] + - !!python/tuple [15, 27] + - !!python/tuple [24, 12] + - !!python/tuple [26, 5] + - !!python/tuple [2, 24] + - !!python/tuple [9, 19] + - !!python/tuple [31, 27] + - !!python/tuple [17, 3] + - !!python/tuple [15, 29] + - !!python/tuple [20, 23] + - !!python/tuple [18, 13] + - !!python/tuple [16, 29] + - !!python/tuple [14, 7] + - !!python/tuple [29, 18] + - !!python/tuple [16, 19] + - !!python/tuple [12, 4] + - !!python/tuple [23, 7] + - !!python/tuple [7, 7] + - !!python/tuple [25, 19] + - !!python/tuple [10, 3] + - !!python/tuple [18, 1] + - !!python/tuple [16, 26] + - !!python/tuple [4, 21] + - !!python/tuple [11, 20] + - !!python/tuple [25, 4] + - !!python/tuple [31, 21] + - !!python/tuple [17, 28] + - !!python/tuple [5, 15] + - !!python/tuple [6, 5] + - !!python/tuple [11, 27] + - !!python/tuple [19, 18] + - !!python/tuple [19, 6] + - !!python/tuple [22, 12] + - !!python/tuple [13, 20] + - !!python/tuple [16, 3] + - !!python/tuple [20, 25] + - !!python/tuple [7, 0] + - !!python/tuple [31, 10] + - !!python/tuple [12, 8] + - !!python/tuple [28, 26] + - !!python/tuple [24, 6] + - !!python/tuple [28, 29] + - !!python/tuple [14, 15] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex24.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex24.yaml new file mode 100644 index 0000000..c942fe5 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex24.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [8, 12] + name: agent0 + start: [13, 13] +- goal: [19, 18] + name: agent1 + start: [20, 20] +- goal: [0, 28] + name: agent2 + start: [24, 13] +- goal: [20, 1] + name: agent3 + start: [30, 26] +- goal: [21, 2] + name: agent4 + start: [9, 18] +- goal: [12, 19] + name: agent5 + start: [2, 27] +- goal: [0, 29] + name: agent6 + start: [21, 13] +- goal: [20, 19] + name: agent7 + start: [14, 9] +- goal: [0, 11] + name: agent8 + start: [18, 7] +- goal: [19, 12] + name: agent9 + start: [11, 13] +- goal: [2, 1] + name: agent10 + start: [5, 21] +- goal: [29, 19] + name: agent11 + start: [25, 29] +- goal: [6, 22] + name: agent12 + start: [20, 3] +- goal: [0, 7] + name: agent13 + start: [11, 11] +- goal: [24, 11] + name: agent14 + start: [30, 14] +- goal: [11, 20] + name: agent15 + start: [14, 26] +- goal: [11, 23] + name: agent16 + start: [7, 31] +- goal: [2, 4] + name: agent17 + start: [16, 9] +- goal: [27, 28] + name: agent18 + start: [24, 8] +- goal: [24, 12] + name: agent19 + start: [5, 19] +- goal: [23, 19] + name: agent20 + start: [17, 2] +- goal: [30, 14] + name: agent21 + start: [2, 21] +- goal: [12, 0] + name: agent22 + start: [13, 7] +- goal: [16, 23] + name: agent23 + start: [31, 20] +- goal: [12, 25] + name: agent24 + start: [13, 30] +- goal: [2, 19] + name: agent25 + start: [17, 22] +- goal: [27, 31] + name: agent26 + start: [14, 22] +- goal: [13, 17] + name: agent27 + start: [16, 0] +- goal: [6, 9] + name: agent28 + start: [13, 19] +- goal: [7, 25] + name: agent29 + start: [14, 31] +- goal: [12, 4] + name: agent30 + start: [28, 23] +- goal: [11, 31] + name: agent31 + start: [30, 1] +- goal: [16, 7] + name: agent32 + start: [8, 12] +- goal: [6, 6] + name: agent33 + start: [22, 15] +- goal: [29, 5] + name: agent34 + start: [6, 11] +- goal: [23, 21] + name: agent35 + start: [26, 14] +- goal: [6, 10] + name: agent36 + start: [18, 25] +- goal: [7, 1] + name: agent37 + start: [28, 20] +- goal: [5, 28] + name: agent38 + start: [15, 2] +- goal: [21, 25] + name: agent39 + start: [25, 12] +- goal: [12, 2] + name: agent40 + start: [8, 24] +- goal: [26, 30] + name: agent41 + start: [28, 21] +- goal: [6, 8] + name: agent42 + start: [12, 18] +- goal: [28, 1] + name: agent43 + start: [9, 10] +- goal: [0, 9] + name: agent44 + start: [1, 10] +- goal: [3, 7] + name: agent45 + start: [15, 0] +- goal: [5, 25] + name: agent46 + start: [25, 18] +- goal: [20, 15] + name: agent47 + start: [31, 8] +- goal: [30, 24] + name: agent48 + start: [17, 24] +- goal: [10, 31] + name: agent49 + start: [4, 8] +- goal: [29, 1] + name: agent50 + start: [3, 20] +- goal: [7, 24] + name: agent51 + start: [2, 15] +- goal: [27, 23] + name: agent52 + start: [23, 11] +- goal: [18, 29] + name: agent53 + start: [4, 14] +- goal: [29, 16] + name: agent54 + start: [31, 25] +- goal: [14, 11] + name: agent55 + start: [22, 29] +- goal: [18, 3] + name: agent56 + start: [7, 1] +- goal: [8, 17] + name: agent57 + start: [14, 24] +- goal: [26, 31] + name: agent58 + start: [7, 22] +- goal: [11, 8] + name: agent59 + start: [4, 15] +- goal: [29, 17] + name: agent60 + start: [10, 0] +- goal: [10, 21] + name: agent61 + start: [23, 25] +- goal: [4, 15] + name: agent62 + start: [18, 15] +- goal: [18, 31] + name: agent63 + start: [9, 3] +- goal: [17, 17] + name: agent64 + start: [3, 17] +- goal: [18, 21] + name: agent65 + start: [12, 12] +- goal: [1, 12] + name: agent66 + start: [21, 31] +- goal: [31, 13] + name: agent67 + start: [16, 21] +- goal: [12, 5] + name: agent68 + start: [27, 25] +- goal: [16, 18] + name: agent69 + start: [25, 24] +- goal: [31, 27] + name: agent70 + start: [25, 20] +- goal: [1, 5] + name: agent71 + start: [4, 26] +- goal: [31, 9] + name: agent72 + start: [1, 15] +- goal: [30, 29] + name: agent73 + start: [28, 2] +- goal: [30, 18] + name: agent74 + start: [17, 19] +- goal: [6, 28] + name: agent75 + start: [21, 7] +- goal: [2, 11] + name: agent76 + start: [8, 30] +- goal: [8, 5] + name: agent77 + start: [1, 17] +- goal: [14, 30] + name: agent78 + start: [27, 9] +- goal: [27, 11] + name: agent79 + start: [27, 22] +- goal: [7, 12] + name: agent80 + start: [12, 15] +- goal: [13, 7] + name: agent81 + start: [11, 3] +- goal: [3, 21] + name: agent82 + start: [25, 7] +- goal: [11, 25] + name: agent83 + start: [19, 31] +- goal: [23, 6] + name: agent84 + start: [24, 9] +- goal: [17, 21] + name: agent85 + start: [30, 16] +- goal: [29, 3] + name: agent86 + start: [19, 25] +- goal: [28, 9] + name: agent87 + start: [22, 16] +- goal: [7, 8] + name: agent88 + start: [8, 16] +- goal: [31, 15] + name: agent89 + start: [6, 25] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [11, 4] + - !!python/tuple [26, 18] + - !!python/tuple [14, 19] + - !!python/tuple [2, 3] + - !!python/tuple [6, 4] + - !!python/tuple [21, 14] + - !!python/tuple [25, 30] + - !!python/tuple [16, 5] + - !!python/tuple [14, 25] + - !!python/tuple [0, 24] + - !!python/tuple [22, 18] + - !!python/tuple [11, 15] + - !!python/tuple [0, 23] + - !!python/tuple [14, 20] + - !!python/tuple [26, 24] + - !!python/tuple [13, 28] + - !!python/tuple [8, 9] + - !!python/tuple [2, 9] + - !!python/tuple [22, 3] + - !!python/tuple [23, 13] + - !!python/tuple [14, 27] + - !!python/tuple [15, 17] + - !!python/tuple [17, 3] + - !!python/tuple [0, 0] + - !!python/tuple [11, 16] + - !!python/tuple [27, 15] + - !!python/tuple [0, 2] + - !!python/tuple [30, 23] + - !!python/tuple [30, 10] + - !!python/tuple [11, 9] + - !!python/tuple [14, 15] + - !!python/tuple [7, 13] + - !!python/tuple [7, 27] + - !!python/tuple [16, 31] + - !!python/tuple [14, 0] + - !!python/tuple [18, 26] + - !!python/tuple [1, 16] + - !!python/tuple [5, 12] + - !!python/tuple [5, 8] + - !!python/tuple [7, 26] + - !!python/tuple [20, 28] + - !!python/tuple [21, 10] + - !!python/tuple [15, 12] + - !!python/tuple [31, 5] + - !!python/tuple [13, 5] + - !!python/tuple [4, 27] + - !!python/tuple [26, 22] + - !!python/tuple [22, 5] + - !!python/tuple [25, 22] + - !!python/tuple [31, 12] + - !!python/tuple [30, 17] + - !!python/tuple [3, 4] + - !!python/tuple [26, 21] + - !!python/tuple [0, 13] + - !!python/tuple [1, 19] + - !!python/tuple [8, 0] + - !!python/tuple [3, 31] + - !!python/tuple [19, 3] + - !!python/tuple [22, 19] + - !!python/tuple [19, 17] + - !!python/tuple [7, 9] + - !!python/tuple [15, 26] + - !!python/tuple [24, 21] + - !!python/tuple [0, 20] + - !!python/tuple [21, 18] + - !!python/tuple [3, 3] + - !!python/tuple [4, 24] + - !!python/tuple [19, 30] + - !!python/tuple [19, 15] + - !!python/tuple [14, 13] + - !!python/tuple [27, 20] + - !!python/tuple [24, 4] + - !!python/tuple [11, 30] + - !!python/tuple [20, 21] + - !!python/tuple [13, 11] + - !!python/tuple [19, 28] + - !!python/tuple [23, 15] + - !!python/tuple [14, 7] + - !!python/tuple [3, 18] + - !!python/tuple [17, 18] + - !!python/tuple [4, 25] + - !!python/tuple [5, 9] + - !!python/tuple [14, 5] + - !!python/tuple [25, 0] + - !!python/tuple [28, 30] + - !!python/tuple [9, 17] + - !!python/tuple [23, 22] + - !!python/tuple [14, 3] + - !!python/tuple [7, 0] + - !!python/tuple [8, 14] + - !!python/tuple [17, 29] + - !!python/tuple [10, 14] + - !!python/tuple [26, 11] + - !!python/tuple [23, 27] + - !!python/tuple [7, 21] + - !!python/tuple [4, 4] + - !!python/tuple [30, 3] + - !!python/tuple [16, 3] + - !!python/tuple [19, 2] + - !!python/tuple [18, 6] + - !!python/tuple [23, 23] + - !!python/tuple [6, 27] + - !!python/tuple [24, 19] + - !!python/tuple [25, 5] + - !!python/tuple [24, 23] + - !!python/tuple [9, 27] + - !!python/tuple [19, 16] + - !!python/tuple [5, 27] + - !!python/tuple [8, 26] + - !!python/tuple [1, 24] + - !!python/tuple [25, 2] + - !!python/tuple [26, 5] + - !!python/tuple [30, 11] + - !!python/tuple [15, 23] + - !!python/tuple [9, 31] + - !!python/tuple [6, 30] + - !!python/tuple [9, 8] + - !!python/tuple [7, 10] + - !!python/tuple [30, 13] + - !!python/tuple [25, 25] + - !!python/tuple [9, 21] + - !!python/tuple [19, 0] + - !!python/tuple [10, 11] + - !!python/tuple [5, 20] + - !!python/tuple [5, 18] + - !!python/tuple [12, 7] + - !!python/tuple [27, 0] + - !!python/tuple [1, 31] + - !!python/tuple [29, 0] + - !!python/tuple [5, 13] + - !!python/tuple [0, 16] + - !!python/tuple [5, 15] + - !!python/tuple [31, 21] + - !!python/tuple [15, 18] + - !!python/tuple [20, 9] + - !!python/tuple [13, 24] + - !!python/tuple [22, 21] + - !!python/tuple [2, 16] + - !!python/tuple [5, 2] + - !!python/tuple [20, 13] + - !!python/tuple [21, 11] + - !!python/tuple [3, 5] + - !!python/tuple [13, 22] + - !!python/tuple [30, 12] + - !!python/tuple [11, 27] + - !!python/tuple [16, 17] + - !!python/tuple [25, 1] + - !!python/tuple [27, 1] + - !!python/tuple [10, 10] + - !!python/tuple [23, 2] + - !!python/tuple [14, 6] + - !!python/tuple [16, 14] + - !!python/tuple [12, 17] + - !!python/tuple [24, 16] + - !!python/tuple [29, 20] + - !!python/tuple [22, 6] + - !!python/tuple [27, 2] + - !!python/tuple [29, 31] + - !!python/tuple [17, 27] + - !!python/tuple [29, 22] + - !!python/tuple [30, 28] + - !!python/tuple [28, 25] + - !!python/tuple [10, 28] + - !!python/tuple [27, 27] + - !!python/tuple [7, 4] + - !!python/tuple [29, 13] + - !!python/tuple [3, 27] + - !!python/tuple [17, 9] + - !!python/tuple [12, 1] + - !!python/tuple [14, 18] + - !!python/tuple [31, 22] + - !!python/tuple [26, 9] + - !!python/tuple [5, 24] + - !!python/tuple [25, 14] + - !!python/tuple [4, 18] + - !!python/tuple [16, 29] + - !!python/tuple [10, 20] + - !!python/tuple [12, 9] + - !!python/tuple [10, 4] + - !!python/tuple [6, 19] + - !!python/tuple [8, 1] + - !!python/tuple [31, 30] + - !!python/tuple [30, 19] + - !!python/tuple [22, 7] + - !!python/tuple [19, 13] + - !!python/tuple [3, 11] + - !!python/tuple [2, 17] + - !!python/tuple [25, 27] + - !!python/tuple [25, 31] + - !!python/tuple [27, 16] + - !!python/tuple [3, 19] + - !!python/tuple [13, 29] + - !!python/tuple [25, 26] + - !!python/tuple [4, 0] + - !!python/tuple [21, 9] + - !!python/tuple [18, 17] + - !!python/tuple [10, 27] + - !!python/tuple [1, 8] + - !!python/tuple [2, 12] + - !!python/tuple [27, 12] + - !!python/tuple [27, 8] + - !!python/tuple [23, 31] + - !!python/tuple [20, 27] + - !!python/tuple [5, 1] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex25.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex25.yaml new file mode 100644 index 0000000..f4dd1e6 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex25.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [30, 0] + name: agent0 + start: [28, 25] +- goal: [14, 23] + name: agent1 + start: [8, 2] +- goal: [11, 29] + name: agent2 + start: [7, 11] +- goal: [9, 13] + name: agent3 + start: [1, 2] +- goal: [25, 13] + name: agent4 + start: [3, 10] +- goal: [15, 28] + name: agent5 + start: [23, 28] +- goal: [24, 10] + name: agent6 + start: [13, 29] +- goal: [11, 23] + name: agent7 + start: [25, 3] +- goal: [19, 30] + name: agent8 + start: [4, 31] +- goal: [7, 16] + name: agent9 + start: [10, 8] +- goal: [15, 17] + name: agent10 + start: [13, 19] +- goal: [29, 29] + name: agent11 + start: [25, 24] +- goal: [9, 24] + name: agent12 + start: [6, 26] +- goal: [19, 24] + name: agent13 + start: [4, 19] +- goal: [27, 16] + name: agent14 + start: [29, 7] +- goal: [27, 27] + name: agent15 + start: [31, 17] +- goal: [29, 13] + name: agent16 + start: [3, 15] +- goal: [26, 27] + name: agent17 + start: [21, 3] +- goal: [11, 6] + name: agent18 + start: [28, 22] +- goal: [25, 30] + name: agent19 + start: [27, 5] +- goal: [14, 25] + name: agent20 + start: [25, 22] +- goal: [7, 12] + name: agent21 + start: [1, 23] +- goal: [19, 0] + name: agent22 + start: [30, 15] +- goal: [28, 29] + name: agent23 + start: [7, 9] +- goal: [0, 6] + name: agent24 + start: [20, 25] +- goal: [16, 25] + name: agent25 + start: [24, 13] +- goal: [15, 29] + name: agent26 + start: [29, 0] +- goal: [17, 2] + name: agent27 + start: [16, 2] +- goal: [31, 17] + name: agent28 + start: [16, 17] +- goal: [15, 24] + name: agent29 + start: [27, 9] +- goal: [0, 25] + name: agent30 + start: [22, 20] +- goal: [8, 3] + name: agent31 + start: [2, 5] +- goal: [24, 5] + name: agent32 + start: [1, 3] +- goal: [17, 26] + name: agent33 + start: [5, 3] +- goal: [18, 27] + name: agent34 + start: [18, 31] +- goal: [8, 28] + name: agent35 + start: [24, 4] +- goal: [28, 11] + name: agent36 + start: [20, 27] +- goal: [7, 25] + name: agent37 + start: [7, 17] +- goal: [29, 7] + name: agent38 + start: [7, 8] +- goal: [12, 3] + name: agent39 + start: [27, 6] +- goal: [5, 31] + name: agent40 + start: [2, 23] +- goal: [24, 21] + name: agent41 + start: [31, 13] +- goal: [30, 7] + name: agent42 + start: [5, 5] +- goal: [19, 17] + name: agent43 + start: [15, 1] +- goal: [11, 31] + name: agent44 + start: [29, 9] +- goal: [27, 24] + name: agent45 + start: [19, 1] +- goal: [4, 30] + name: agent46 + start: [14, 28] +- goal: [14, 1] + name: agent47 + start: [2, 9] +- goal: [21, 18] + name: agent48 + start: [20, 12] +- goal: [11, 1] + name: agent49 + start: [10, 31] +- goal: [9, 0] + name: agent50 + start: [28, 10] +- goal: [19, 9] + name: agent51 + start: [23, 29] +- goal: [18, 18] + name: agent52 + start: [2, 15] +- goal: [26, 10] + name: agent53 + start: [23, 6] +- goal: [21, 12] + name: agent54 + start: [17, 16] +- goal: [17, 25] + name: agent55 + start: [15, 2] +- goal: [2, 30] + name: agent56 + start: [16, 14] +- goal: [10, 7] + name: agent57 + start: [10, 29] +- goal: [14, 19] + name: agent58 + start: [10, 20] +- goal: [16, 14] + name: agent59 + start: [23, 30] +- goal: [1, 7] + name: agent60 + start: [3, 17] +- goal: [4, 11] + name: agent61 + start: [14, 22] +- goal: [19, 26] + name: agent62 + start: [0, 29] +- goal: [25, 26] + name: agent63 + start: [1, 15] +- goal: [23, 12] + name: agent64 + start: [30, 16] +- goal: [19, 1] + name: agent65 + start: [6, 24] +- goal: [7, 10] + name: agent66 + start: [9, 15] +- goal: [9, 15] + name: agent67 + start: [14, 24] +- goal: [3, 16] + name: agent68 + start: [5, 8] +- goal: [9, 16] + name: agent69 + start: [14, 3] +- goal: [6, 29] + name: agent70 + start: [4, 26] +- goal: [8, 31] + name: agent71 + start: [26, 10] +- goal: [13, 15] + name: agent72 + start: [17, 17] +- goal: [1, 25] + name: agent73 + start: [30, 27] +- goal: [22, 7] + name: agent74 + start: [29, 19] +- goal: [24, 19] + name: agent75 + start: [21, 5] +- goal: [7, 17] + name: agent76 + start: [16, 16] +- goal: [3, 5] + name: agent77 + start: [14, 7] +- goal: [24, 20] + name: agent78 + start: [5, 17] +- goal: [30, 11] + name: agent79 + start: [17, 31] +- goal: [17, 18] + name: agent80 + start: [12, 9] +- goal: [14, 10] + name: agent81 + start: [5, 26] +- goal: [22, 3] + name: agent82 + start: [23, 4] +- goal: [12, 17] + name: agent83 + start: [8, 0] +- goal: [15, 15] + name: agent84 + start: [10, 13] +- goal: [18, 31] + name: agent85 + start: [7, 20] +- goal: [16, 0] + name: agent86 + start: [3, 4] +- goal: [9, 2] + name: agent87 + start: [27, 29] +- goal: [10, 1] + name: agent88 + start: [17, 12] +- goal: [12, 9] + name: agent89 + start: [11, 28] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [29, 30] + - !!python/tuple [27, 15] + - !!python/tuple [21, 14] + - !!python/tuple [2, 21] + - !!python/tuple [15, 25] + - !!python/tuple [24, 25] + - !!python/tuple [5, 12] + - !!python/tuple [8, 25] + - !!python/tuple [17, 3] + - !!python/tuple [23, 31] + - !!python/tuple [21, 15] + - !!python/tuple [21, 6] + - !!python/tuple [21, 7] + - !!python/tuple [14, 31] + - !!python/tuple [6, 10] + - !!python/tuple [11, 27] + - !!python/tuple [31, 28] + - !!python/tuple [11, 2] + - !!python/tuple [2, 31] + - !!python/tuple [16, 12] + - !!python/tuple [10, 15] + - !!python/tuple [5, 10] + - !!python/tuple [24, 7] + - !!python/tuple [5, 20] + - !!python/tuple [30, 29] + - !!python/tuple [7, 28] + - !!python/tuple [9, 31] + - !!python/tuple [6, 30] + - !!python/tuple [28, 16] + - !!python/tuple [27, 26] + - !!python/tuple [28, 15] + - !!python/tuple [13, 4] + - !!python/tuple [2, 20] + - !!python/tuple [3, 9] + - !!python/tuple [11, 5] + - !!python/tuple [13, 22] + - !!python/tuple [14, 11] + - !!python/tuple [9, 9] + - !!python/tuple [31, 2] + - !!python/tuple [4, 14] + - !!python/tuple [18, 11] + - !!python/tuple [19, 25] + - !!python/tuple [16, 6] + - !!python/tuple [26, 5] + - !!python/tuple [22, 11] + - !!python/tuple [10, 28] + - !!python/tuple [27, 18] + - !!python/tuple [11, 26] + - !!python/tuple [14, 26] + - !!python/tuple [28, 13] + - !!python/tuple [6, 17] + - !!python/tuple [24, 8] + - !!python/tuple [16, 28] + - !!python/tuple [16, 29] + - !!python/tuple [20, 31] + - !!python/tuple [2, 25] + - !!python/tuple [21, 22] + - !!python/tuple [15, 14] + - !!python/tuple [16, 4] + - !!python/tuple [20, 29] + - !!python/tuple [4, 0] + - !!python/tuple [0, 18] + - !!python/tuple [3, 7] + - !!python/tuple [16, 5] + - !!python/tuple [27, 4] + - !!python/tuple [20, 13] + - !!python/tuple [2, 7] + - !!python/tuple [13, 12] + - !!python/tuple [20, 5] + - !!python/tuple [20, 6] + - !!python/tuple [15, 3] + - !!python/tuple [3, 14] + - !!python/tuple [16, 22] + - !!python/tuple [20, 28] + - !!python/tuple [14, 2] + - !!python/tuple [7, 18] + - !!python/tuple [5, 2] + - !!python/tuple [3, 6] + - !!python/tuple [19, 5] + - !!python/tuple [19, 4] + - !!python/tuple [25, 10] + - !!python/tuple [29, 26] + - !!python/tuple [5, 4] + - !!python/tuple [30, 13] + - !!python/tuple [19, 15] + - !!python/tuple [27, 23] + - !!python/tuple [14, 21] + - !!python/tuple [25, 15] + - !!python/tuple [15, 13] + - !!python/tuple [26, 18] + - !!python/tuple [31, 3] + - !!python/tuple [18, 5] + - !!python/tuple [18, 8] + - !!python/tuple [19, 7] + - !!python/tuple [1, 22] + - !!python/tuple [18, 2] + - !!python/tuple [4, 2] + - !!python/tuple [19, 8] + - !!python/tuple [29, 17] + - !!python/tuple [10, 27] + - !!python/tuple [4, 22] + - !!python/tuple [4, 15] + - !!python/tuple [26, 22] + - !!python/tuple [9, 28] + - !!python/tuple [3, 8] + - !!python/tuple [16, 1] + - !!python/tuple [8, 29] + - !!python/tuple [3, 31] + - !!python/tuple [12, 30] + - !!python/tuple [10, 6] + - !!python/tuple [21, 23] + - !!python/tuple [6, 3] + - !!python/tuple [15, 6] + - !!python/tuple [2, 13] + - !!python/tuple [18, 20] + - !!python/tuple [13, 10] + - !!python/tuple [14, 13] + - !!python/tuple [26, 16] + - !!python/tuple [28, 12] + - !!python/tuple [29, 4] + - !!python/tuple [27, 3] + - !!python/tuple [28, 5] + - !!python/tuple [22, 1] + - !!python/tuple [18, 28] + - !!python/tuple [24, 2] + - !!python/tuple [17, 23] + - !!python/tuple [15, 4] + - !!python/tuple [5, 27] + - !!python/tuple [0, 14] + - !!python/tuple [3, 1] + - !!python/tuple [21, 24] + - !!python/tuple [12, 16] + - !!python/tuple [19, 19] + - !!python/tuple [14, 6] + - !!python/tuple [30, 28] + - !!python/tuple [18, 26] + - !!python/tuple [10, 25] + - !!python/tuple [30, 6] + - !!python/tuple [12, 13] + - !!python/tuple [21, 19] + - !!python/tuple [9, 19] + - !!python/tuple [14, 4] + - !!python/tuple [26, 31] + - !!python/tuple [6, 31] + - !!python/tuple [3, 25] + - !!python/tuple [12, 1] + - !!python/tuple [31, 0] + - !!python/tuple [27, 22] + - !!python/tuple [13, 16] + - !!python/tuple [11, 30] + - !!python/tuple [11, 9] + - !!python/tuple [19, 20] + - !!python/tuple [18, 7] + - !!python/tuple [13, 30] + - !!python/tuple [21, 16] + - !!python/tuple [29, 22] + - !!python/tuple [20, 21] + - !!python/tuple [21, 0] + - !!python/tuple [29, 5] + - !!python/tuple [6, 27] + - !!python/tuple [24, 22] + - !!python/tuple [18, 12] + - !!python/tuple [5, 30] + - !!python/tuple [21, 28] + - !!python/tuple [31, 29] + - !!python/tuple [2, 29] + - !!python/tuple [8, 5] + - !!python/tuple [27, 13] + - !!python/tuple [16, 23] + - !!python/tuple [1, 29] + - !!python/tuple [21, 21] + - !!python/tuple [15, 16] + - !!python/tuple [9, 3] + - !!python/tuple [15, 11] + - !!python/tuple [2, 14] + - !!python/tuple [9, 20] + - !!python/tuple [5, 11] + - !!python/tuple [27, 31] + - !!python/tuple [0, 31] + - !!python/tuple [16, 19] + - !!python/tuple [25, 4] + - !!python/tuple [0, 1] + - !!python/tuple [5, 1] + - !!python/tuple [23, 23] + - !!python/tuple [25, 29] + - !!python/tuple [10, 3] + - !!python/tuple [4, 6] + - !!python/tuple [24, 0] + - !!python/tuple [29, 2] + - !!python/tuple [1, 8] + - !!python/tuple [7, 2] + - !!python/tuple [30, 25] + - !!python/tuple [10, 17] + - !!python/tuple [9, 4] + - !!python/tuple [22, 12] + - !!python/tuple [16, 18] + - !!python/tuple [18, 14] + - !!python/tuple [4, 21] + - !!python/tuple [5, 14] + - !!python/tuple [31, 9] + - !!python/tuple [16, 30] + - !!python/tuple [0, 3] + - !!python/tuple [0, 24] + - !!python/tuple [20, 16] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex26.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex26.yaml new file mode 100644 index 0000000..a0257a7 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex26.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [15, 17] + name: agent0 + start: [5, 10] +- goal: [18, 4] + name: agent1 + start: [26, 8] +- goal: [18, 31] + name: agent2 + start: [2, 14] +- goal: [0, 30] + name: agent3 + start: [13, 2] +- goal: [28, 29] + name: agent4 + start: [16, 10] +- goal: [13, 4] + name: agent5 + start: [11, 19] +- goal: [28, 17] + name: agent6 + start: [31, 29] +- goal: [25, 17] + name: agent7 + start: [8, 14] +- goal: [12, 10] + name: agent8 + start: [4, 5] +- goal: [24, 23] + name: agent9 + start: [0, 12] +- goal: [28, 11] + name: agent10 + start: [15, 14] +- goal: [10, 10] + name: agent11 + start: [5, 2] +- goal: [8, 8] + name: agent12 + start: [2, 9] +- goal: [28, 14] + name: agent13 + start: [11, 7] +- goal: [19, 18] + name: agent14 + start: [15, 6] +- goal: [5, 4] + name: agent15 + start: [28, 27] +- goal: [18, 5] + name: agent16 + start: [0, 26] +- goal: [29, 19] + name: agent17 + start: [22, 6] +- goal: [15, 19] + name: agent18 + start: [2, 2] +- goal: [31, 1] + name: agent19 + start: [12, 21] +- goal: [11, 24] + name: agent20 + start: [2, 3] +- goal: [15, 21] + name: agent21 + start: [6, 23] +- goal: [7, 18] + name: agent22 + start: [27, 5] +- goal: [26, 14] + name: agent23 + start: [8, 18] +- goal: [31, 25] + name: agent24 + start: [29, 5] +- goal: [23, 20] + name: agent25 + start: [27, 0] +- goal: [23, 6] + name: agent26 + start: [31, 26] +- goal: [31, 18] + name: agent27 + start: [26, 12] +- goal: [25, 7] + name: agent28 + start: [9, 13] +- goal: [2, 3] + name: agent29 + start: [4, 24] +- goal: [3, 27] + name: agent30 + start: [17, 2] +- goal: [30, 17] + name: agent31 + start: [8, 3] +- goal: [15, 28] + name: agent32 + start: [29, 25] +- goal: [23, 19] + name: agent33 + start: [27, 17] +- goal: [23, 2] + name: agent34 + start: [3, 17] +- goal: [0, 25] + name: agent35 + start: [9, 21] +- goal: [16, 19] + name: agent36 + start: [15, 29] +- goal: [15, 31] + name: agent37 + start: [29, 16] +- goal: [18, 21] + name: agent38 + start: [3, 27] +- goal: [2, 7] + name: agent39 + start: [10, 16] +- goal: [19, 1] + name: agent40 + start: [9, 30] +- goal: [24, 11] + name: agent41 + start: [13, 17] +- goal: [17, 24] + name: agent42 + start: [14, 7] +- goal: [27, 22] + name: agent43 + start: [12, 6] +- goal: [3, 29] + name: agent44 + start: [23, 31] +- goal: [26, 23] + name: agent45 + start: [1, 11] +- goal: [19, 3] + name: agent46 + start: [24, 31] +- goal: [25, 20] + name: agent47 + start: [28, 0] +- goal: [23, 7] + name: agent48 + start: [6, 25] +- goal: [21, 26] + name: agent49 + start: [31, 25] +- goal: [4, 4] + name: agent50 + start: [27, 14] +- goal: [20, 12] + name: agent51 + start: [11, 13] +- goal: [26, 19] + name: agent52 + start: [11, 3] +- goal: [17, 26] + name: agent53 + start: [25, 30] +- goal: [23, 1] + name: agent54 + start: [12, 15] +- goal: [23, 9] + name: agent55 + start: [27, 1] +- goal: [8, 18] + name: agent56 + start: [25, 20] +- goal: [27, 3] + name: agent57 + start: [26, 13] +- goal: [7, 19] + name: agent58 + start: [6, 4] +- goal: [27, 6] + name: agent59 + start: [16, 19] +- goal: [16, 18] + name: agent60 + start: [17, 4] +- goal: [4, 17] + name: agent61 + start: [14, 18] +- goal: [10, 8] + name: agent62 + start: [24, 7] +- goal: [7, 10] + name: agent63 + start: [31, 5] +- goal: [15, 5] + name: agent64 + start: [6, 5] +- goal: [29, 3] + name: agent65 + start: [2, 8] +- goal: [18, 11] + name: agent66 + start: [8, 20] +- goal: [1, 10] + name: agent67 + start: [9, 12] +- goal: [15, 6] + name: agent68 + start: [28, 6] +- goal: [27, 20] + name: agent69 + start: [18, 3] +- goal: [12, 15] + name: agent70 + start: [23, 4] +- goal: [17, 19] + name: agent71 + start: [18, 26] +- goal: [16, 12] + name: agent72 + start: [10, 23] +- goal: [16, 28] + name: agent73 + start: [15, 16] +- goal: [3, 18] + name: agent74 + start: [29, 20] +- goal: [27, 18] + name: agent75 + start: [9, 25] +- goal: [21, 2] + name: agent76 + start: [14, 6] +- goal: [10, 6] + name: agent77 + start: [5, 18] +- goal: [28, 8] + name: agent78 + start: [2, 5] +- goal: [29, 7] + name: agent79 + start: [26, 5] +- goal: [15, 4] + name: agent80 + start: [30, 25] +- goal: [17, 23] + name: agent81 + start: [27, 8] +- goal: [30, 5] + name: agent82 + start: [21, 2] +- goal: [27, 14] + name: agent83 + start: [22, 15] +- goal: [15, 14] + name: agent84 + start: [20, 17] +- goal: [1, 3] + name: agent85 + start: [28, 5] +- goal: [14, 9] + name: agent86 + start: [5, 3] +- goal: [21, 4] + name: agent87 + start: [27, 22] +- goal: [31, 21] + name: agent88 + start: [20, 22] +- goal: [13, 20] + name: agent89 + start: [28, 19] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [1, 26] + - !!python/tuple [3, 19] + - !!python/tuple [16, 8] + - !!python/tuple [1, 2] + - !!python/tuple [30, 30] + - !!python/tuple [22, 26] + - !!python/tuple [18, 9] + - !!python/tuple [13, 25] + - !!python/tuple [27, 28] + - !!python/tuple [26, 11] + - !!python/tuple [15, 8] + - !!python/tuple [12, 23] + - !!python/tuple [3, 1] + - !!python/tuple [30, 14] + - !!python/tuple [3, 6] + - !!python/tuple [18, 18] + - !!python/tuple [10, 12] + - !!python/tuple [14, 4] + - !!python/tuple [7, 24] + - !!python/tuple [14, 1] + - !!python/tuple [10, 15] + - !!python/tuple [26, 25] + - !!python/tuple [4, 22] + - !!python/tuple [2, 29] + - !!python/tuple [0, 31] + - !!python/tuple [31, 8] + - !!python/tuple [18, 12] + - !!python/tuple [27, 15] + - !!python/tuple [29, 27] + - !!python/tuple [25, 5] + - !!python/tuple [19, 5] + - !!python/tuple [9, 1] + - !!python/tuple [10, 9] + - !!python/tuple [25, 11] + - !!python/tuple [26, 26] + - !!python/tuple [22, 10] + - !!python/tuple [2, 6] + - !!python/tuple [21, 17] + - !!python/tuple [0, 7] + - !!python/tuple [21, 22] + - !!python/tuple [14, 16] + - !!python/tuple [24, 17] + - !!python/tuple [0, 11] + - !!python/tuple [13, 28] + - !!python/tuple [22, 22] + - !!python/tuple [19, 0] + - !!python/tuple [29, 6] + - !!python/tuple [29, 11] + - !!python/tuple [5, 5] + - !!python/tuple [2, 12] + - !!python/tuple [10, 24] + - !!python/tuple [14, 22] + - !!python/tuple [8, 30] + - !!python/tuple [14, 3] + - !!python/tuple [22, 21] + - !!python/tuple [26, 24] + - !!python/tuple [4, 31] + - !!python/tuple [9, 10] + - !!python/tuple [22, 12] + - !!python/tuple [30, 6] + - !!python/tuple [13, 21] + - !!python/tuple [27, 10] + - !!python/tuple [22, 2] + - !!python/tuple [22, 1] + - !!python/tuple [24, 2] + - !!python/tuple [1, 14] + - !!python/tuple [7, 3] + - !!python/tuple [18, 28] + - !!python/tuple [25, 13] + - !!python/tuple [4, 25] + - !!python/tuple [9, 19] + - !!python/tuple [7, 5] + - !!python/tuple [2, 28] + - !!python/tuple [0, 8] + - !!python/tuple [1, 12] + - !!python/tuple [30, 1] + - !!python/tuple [22, 4] + - !!python/tuple [2, 25] + - !!python/tuple [30, 9] + - !!python/tuple [12, 16] + - !!python/tuple [11, 30] + - !!python/tuple [15, 2] + - !!python/tuple [22, 17] + - !!python/tuple [29, 29] + - !!python/tuple [15, 27] + - !!python/tuple [9, 0] + - !!python/tuple [14, 14] + - !!python/tuple [19, 27] + - !!python/tuple [23, 23] + - !!python/tuple [8, 0] + - !!python/tuple [17, 30] + - !!python/tuple [15, 10] + - !!python/tuple [6, 15] + - !!python/tuple [0, 23] + - !!python/tuple [11, 26] + - !!python/tuple [7, 28] + - !!python/tuple [4, 9] + - !!python/tuple [8, 16] + - !!python/tuple [25, 14] + - !!python/tuple [27, 11] + - !!python/tuple [27, 31] + - !!python/tuple [8, 4] + - !!python/tuple [29, 14] + - !!python/tuple [27, 21] + - !!python/tuple [22, 18] + - !!python/tuple [24, 16] + - !!python/tuple [17, 13] + - !!python/tuple [31, 17] + - !!python/tuple [5, 11] + - !!python/tuple [29, 9] + - !!python/tuple [16, 13] + - !!python/tuple [21, 13] + - !!python/tuple [16, 17] + - !!python/tuple [12, 4] + - !!python/tuple [9, 23] + - !!python/tuple [2, 30] + - !!python/tuple [1, 29] + - !!python/tuple [5, 17] + - !!python/tuple [14, 0] + - !!python/tuple [19, 11] + - !!python/tuple [2, 16] + - !!python/tuple [11, 28] + - !!python/tuple [31, 4] + - !!python/tuple [6, 31] + - !!python/tuple [30, 21] + - !!python/tuple [1, 6] + - !!python/tuple [17, 20] + - !!python/tuple [23, 12] + - !!python/tuple [1, 22] + - !!python/tuple [14, 8] + - !!python/tuple [19, 12] + - !!python/tuple [7, 6] + - !!python/tuple [0, 1] + - !!python/tuple [11, 12] + - !!python/tuple [13, 8] + - !!python/tuple [21, 6] + - !!python/tuple [18, 19] + - !!python/tuple [12, 8] + - !!python/tuple [30, 11] + - !!python/tuple [24, 3] + - !!python/tuple [26, 17] + - !!python/tuple [17, 25] + - !!python/tuple [26, 31] + - !!python/tuple [28, 16] + - !!python/tuple [23, 24] + - !!python/tuple [24, 25] + - !!python/tuple [8, 17] + - !!python/tuple [20, 6] + - !!python/tuple [12, 29] + - !!python/tuple [2, 18] + - !!python/tuple [3, 7] + - !!python/tuple [13, 7] + - !!python/tuple [17, 8] + - !!python/tuple [3, 26] + - !!python/tuple [14, 28] + - !!python/tuple [4, 19] + - !!python/tuple [7, 21] + - !!python/tuple [11, 20] + - !!python/tuple [3, 2] + - !!python/tuple [12, 19] + - !!python/tuple [29, 8] + - !!python/tuple [30, 10] + - !!python/tuple [9, 16] + - !!python/tuple [3, 16] + - !!python/tuple [4, 7] + - !!python/tuple [16, 20] + - !!python/tuple [15, 9] + - !!python/tuple [16, 22] + - !!python/tuple [27, 27] + - !!python/tuple [0, 27] + - !!python/tuple [12, 27] + - !!python/tuple [20, 3] + - !!python/tuple [10, 19] + - !!python/tuple [19, 8] + - !!python/tuple [17, 3] + - !!python/tuple [3, 3] + - !!python/tuple [28, 24] + - !!python/tuple [25, 8] + - !!python/tuple [19, 29] + - !!python/tuple [22, 23] + - !!python/tuple [6, 30] + - !!python/tuple [11, 23] + - !!python/tuple [21, 25] + - !!python/tuple [21, 31] + - !!python/tuple [17, 9] + - !!python/tuple [29, 13] + - !!python/tuple [18, 27] + - !!python/tuple [26, 30] + - !!python/tuple [17, 27] + - !!python/tuple [12, 26] + - !!python/tuple [27, 29] + - !!python/tuple [31, 20] + - !!python/tuple [5, 20] + - !!python/tuple [17, 0] + - !!python/tuple [6, 9] + - !!python/tuple [17, 14] + - !!python/tuple [6, 29] + - !!python/tuple [8, 26] + - !!python/tuple [26, 27] + - !!python/tuple [28, 18] + - !!python/tuple [19, 20] + - !!python/tuple [30, 22] + - !!python/tuple [9, 22] + - !!python/tuple [30, 24] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex27.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex27.yaml new file mode 100644 index 0000000..1b5dc63 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex27.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [5, 21] + name: agent0 + start: [30, 2] +- goal: [31, 9] + name: agent1 + start: [28, 7] +- goal: [18, 17] + name: agent2 + start: [2, 9] +- goal: [30, 17] + name: agent3 + start: [6, 8] +- goal: [8, 25] + name: agent4 + start: [20, 0] +- goal: [12, 16] + name: agent5 + start: [11, 24] +- goal: [28, 4] + name: agent6 + start: [11, 16] +- goal: [9, 10] + name: agent7 + start: [14, 29] +- goal: [5, 31] + name: agent8 + start: [0, 12] +- goal: [9, 30] + name: agent9 + start: [16, 23] +- goal: [3, 12] + name: agent10 + start: [2, 11] +- goal: [30, 5] + name: agent11 + start: [5, 0] +- goal: [29, 31] + name: agent12 + start: [20, 16] +- goal: [15, 14] + name: agent13 + start: [6, 9] +- goal: [6, 6] + name: agent14 + start: [1, 25] +- goal: [21, 24] + name: agent15 + start: [24, 22] +- goal: [11, 7] + name: agent16 + start: [23, 24] +- goal: [26, 24] + name: agent17 + start: [11, 31] +- goal: [25, 24] + name: agent18 + start: [27, 7] +- goal: [3, 19] + name: agent19 + start: [31, 21] +- goal: [12, 28] + name: agent20 + start: [31, 28] +- goal: [14, 18] + name: agent21 + start: [6, 1] +- goal: [22, 6] + name: agent22 + start: [22, 31] +- goal: [1, 28] + name: agent23 + start: [24, 16] +- goal: [30, 12] + name: agent24 + start: [5, 3] +- goal: [10, 11] + name: agent25 + start: [21, 7] +- goal: [6, 8] + name: agent26 + start: [9, 5] +- goal: [31, 24] + name: agent27 + start: [4, 17] +- goal: [9, 6] + name: agent28 + start: [16, 7] +- goal: [10, 8] + name: agent29 + start: [30, 8] +- goal: [11, 22] + name: agent30 + start: [5, 28] +- goal: [16, 27] + name: agent31 + start: [26, 3] +- goal: [20, 15] + name: agent32 + start: [19, 9] +- goal: [7, 26] + name: agent33 + start: [10, 7] +- goal: [20, 25] + name: agent34 + start: [12, 27] +- goal: [3, 27] + name: agent35 + start: [17, 19] +- goal: [25, 31] + name: agent36 + start: [24, 19] +- goal: [1, 13] + name: agent37 + start: [23, 6] +- goal: [6, 30] + name: agent38 + start: [13, 10] +- goal: [3, 17] + name: agent39 + start: [30, 27] +- goal: [26, 26] + name: agent40 + start: [28, 3] +- goal: [3, 22] + name: agent41 + start: [24, 31] +- goal: [8, 1] + name: agent42 + start: [5, 22] +- goal: [10, 9] + name: agent43 + start: [23, 0] +- goal: [1, 27] + name: agent44 + start: [8, 13] +- goal: [8, 12] + name: agent45 + start: [12, 19] +- goal: [25, 15] + name: agent46 + start: [28, 17] +- goal: [8, 4] + name: agent47 + start: [29, 20] +- goal: [18, 7] + name: agent48 + start: [5, 11] +- goal: [16, 2] + name: agent49 + start: [4, 21] +- goal: [16, 7] + name: agent50 + start: [30, 0] +- goal: [24, 10] + name: agent51 + start: [0, 8] +- goal: [29, 10] + name: agent52 + start: [25, 20] +- goal: [10, 23] + name: agent53 + start: [6, 25] +- goal: [3, 10] + name: agent54 + start: [9, 26] +- goal: [31, 29] + name: agent55 + start: [2, 6] +- goal: [24, 31] + name: agent56 + start: [8, 2] +- goal: [20, 6] + name: agent57 + start: [9, 6] +- goal: [9, 14] + name: agent58 + start: [17, 15] +- goal: [21, 0] + name: agent59 + start: [13, 13] +- goal: [14, 19] + name: agent60 + start: [21, 2] +- goal: [10, 19] + name: agent61 + start: [9, 14] +- goal: [16, 31] + name: agent62 + start: [30, 10] +- goal: [13, 25] + name: agent63 + start: [26, 8] +- goal: [13, 28] + name: agent64 + start: [31, 16] +- goal: [17, 31] + name: agent65 + start: [3, 5] +- goal: [1, 14] + name: agent66 + start: [16, 27] +- goal: [25, 9] + name: agent67 + start: [24, 0] +- goal: [22, 0] + name: agent68 + start: [6, 2] +- goal: [17, 15] + name: agent69 + start: [17, 0] +- goal: [6, 2] + name: agent70 + start: [29, 15] +- goal: [29, 9] + name: agent71 + start: [2, 31] +- goal: [1, 10] + name: agent72 + start: [11, 13] +- goal: [9, 27] + name: agent73 + start: [10, 8] +- goal: [29, 17] + name: agent74 + start: [5, 23] +- goal: [18, 22] + name: agent75 + start: [30, 29] +- goal: [21, 8] + name: agent76 + start: [12, 0] +- goal: [15, 15] + name: agent77 + start: [2, 25] +- goal: [1, 31] + name: agent78 + start: [0, 0] +- goal: [13, 17] + name: agent79 + start: [31, 25] +- goal: [1, 6] + name: agent80 + start: [21, 10] +- goal: [24, 26] + name: agent81 + start: [21, 8] +- goal: [6, 24] + name: agent82 + start: [30, 24] +- goal: [10, 28] + name: agent83 + start: [28, 21] +- goal: [13, 19] + name: agent84 + start: [4, 6] +- goal: [20, 12] + name: agent85 + start: [7, 29] +- goal: [9, 4] + name: agent86 + start: [23, 23] +- goal: [11, 13] + name: agent87 + start: [10, 23] +- goal: [4, 6] + name: agent88 + start: [28, 19] +- goal: [19, 17] + name: agent89 + start: [14, 27] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [31, 15] + - !!python/tuple [5, 16] + - !!python/tuple [7, 1] + - !!python/tuple [6, 20] + - !!python/tuple [23, 7] + - !!python/tuple [6, 13] + - !!python/tuple [23, 12] + - !!python/tuple [19, 1] + - !!python/tuple [23, 29] + - !!python/tuple [3, 18] + - !!python/tuple [18, 29] + - !!python/tuple [28, 13] + - !!python/tuple [9, 23] + - !!python/tuple [17, 1] + - !!python/tuple [9, 19] + - !!python/tuple [17, 5] + - !!python/tuple [2, 30] + - !!python/tuple [0, 31] + - !!python/tuple [0, 30] + - !!python/tuple [9, 16] + - !!python/tuple [14, 14] + - !!python/tuple [28, 25] + - !!python/tuple [2, 20] + - !!python/tuple [14, 23] + - !!python/tuple [0, 29] + - !!python/tuple [18, 15] + - !!python/tuple [14, 5] + - !!python/tuple [27, 13] + - !!python/tuple [17, 9] + - !!python/tuple [16, 28] + - !!python/tuple [17, 29] + - !!python/tuple [25, 10] + - !!python/tuple [15, 6] + - !!python/tuple [13, 4] + - !!python/tuple [21, 13] + - !!python/tuple [21, 30] + - !!python/tuple [17, 13] + - !!python/tuple [7, 15] + - !!python/tuple [20, 4] + - !!python/tuple [7, 7] + - !!python/tuple [10, 12] + - !!python/tuple [24, 23] + - !!python/tuple [12, 26] + - !!python/tuple [21, 16] + - !!python/tuple [27, 26] + - !!python/tuple [19, 16] + - !!python/tuple [14, 3] + - !!python/tuple [4, 25] + - !!python/tuple [28, 0] + - !!python/tuple [19, 11] + - !!python/tuple [21, 31] + - !!python/tuple [31, 2] + - !!python/tuple [27, 21] + - !!python/tuple [23, 5] + - !!python/tuple [18, 19] + - !!python/tuple [31, 27] + - !!python/tuple [2, 27] + - !!python/tuple [27, 5] + - !!python/tuple [27, 3] + - !!python/tuple [21, 21] + - !!python/tuple [30, 25] + - !!python/tuple [4, 22] + - !!python/tuple [19, 23] + - !!python/tuple [25, 13] + - !!python/tuple [16, 17] + - !!python/tuple [18, 11] + - !!python/tuple [16, 12] + - !!python/tuple [11, 30] + - !!python/tuple [6, 15] + - !!python/tuple [3, 29] + - !!python/tuple [28, 16] + - !!python/tuple [6, 23] + - !!python/tuple [25, 28] + - !!python/tuple [27, 10] + - !!python/tuple [12, 21] + - !!python/tuple [17, 30] + - !!python/tuple [13, 7] + - !!python/tuple [21, 26] + - !!python/tuple [7, 25] + - !!python/tuple [27, 0] + - !!python/tuple [0, 25] + - !!python/tuple [23, 30] + - !!python/tuple [18, 18] + - !!python/tuple [12, 6] + - !!python/tuple [18, 6] + - !!python/tuple [24, 3] + - !!python/tuple [13, 8] + - !!python/tuple [7, 11] + - !!python/tuple [4, 0] + - !!python/tuple [4, 15] + - !!python/tuple [11, 15] + - !!python/tuple [15, 22] + - !!python/tuple [7, 6] + - !!python/tuple [10, 18] + - !!python/tuple [8, 27] + - !!python/tuple [1, 9] + - !!python/tuple [6, 19] + - !!python/tuple [5, 12] + - !!python/tuple [12, 1] + - !!python/tuple [7, 22] + - !!python/tuple [11, 27] + - !!python/tuple [13, 29] + - !!python/tuple [27, 8] + - !!python/tuple [13, 31] + - !!python/tuple [28, 9] + - !!python/tuple [30, 9] + - !!python/tuple [23, 1] + - !!python/tuple [7, 30] + - !!python/tuple [27, 31] + - !!python/tuple [11, 5] + - !!python/tuple [25, 17] + - !!python/tuple [24, 1] + - !!python/tuple [27, 2] + - !!python/tuple [3, 16] + - !!python/tuple [15, 1] + - !!python/tuple [30, 6] + - !!python/tuple [10, 25] + - !!python/tuple [27, 4] + - !!python/tuple [31, 6] + - !!python/tuple [16, 6] + - !!python/tuple [28, 8] + - !!python/tuple [18, 26] + - !!python/tuple [21, 17] + - !!python/tuple [0, 9] + - !!python/tuple [0, 26] + - !!python/tuple [31, 0] + - !!python/tuple [9, 11] + - !!python/tuple [20, 28] + - !!python/tuple [2, 16] + - !!python/tuple [26, 27] + - !!python/tuple [9, 15] + - !!python/tuple [30, 30] + - !!python/tuple [14, 16] + - !!python/tuple [12, 12] + - !!python/tuple [18, 27] + - !!python/tuple [3, 30] + - !!python/tuple [31, 17] + - !!python/tuple [19, 21] + - !!python/tuple [4, 2] + - !!python/tuple [24, 17] + - !!python/tuple [5, 2] + - !!python/tuple [20, 24] + - !!python/tuple [13, 26] + - !!python/tuple [31, 8] + - !!python/tuple [24, 14] + - !!python/tuple [22, 17] + - !!python/tuple [25, 23] + - !!python/tuple [19, 15] + - !!python/tuple [16, 20] + - !!python/tuple [1, 15] + - !!python/tuple [11, 28] + - !!python/tuple [21, 5] + - !!python/tuple [22, 26] + - !!python/tuple [5, 9] + - !!python/tuple [0, 2] + - !!python/tuple [11, 3] + - !!python/tuple [16, 22] + - !!python/tuple [6, 18] + - !!python/tuple [15, 8] + - !!python/tuple [23, 31] + - !!python/tuple [15, 3] + - !!python/tuple [11, 29] + - !!python/tuple [4, 23] + - !!python/tuple [5, 14] + - !!python/tuple [15, 11] + - !!python/tuple [26, 16] + - !!python/tuple [28, 23] + - !!python/tuple [9, 9] + - !!python/tuple [27, 12] + - !!python/tuple [18, 24] + - !!python/tuple [16, 16] + - !!python/tuple [26, 5] + - !!python/tuple [4, 27] + - !!python/tuple [4, 16] + - !!python/tuple [26, 20] + - !!python/tuple [24, 28] + - !!python/tuple [20, 18] + - !!python/tuple [6, 4] + - !!python/tuple [23, 25] + - !!python/tuple [17, 7] + - !!python/tuple [14, 0] + - !!python/tuple [0, 14] + - !!python/tuple [30, 13] + - !!python/tuple [12, 23] + - !!python/tuple [16, 4] + - !!python/tuple [15, 10] + - !!python/tuple [11, 4] + - !!python/tuple [7, 9] + - !!python/tuple [8, 23] + - !!python/tuple [29, 19] + - !!python/tuple [22, 10] + - !!python/tuple [24, 25] + - !!python/tuple [13, 6] + - !!python/tuple [0, 4] + - !!python/tuple [13, 2] + - !!python/tuple [23, 9] + - !!python/tuple [10, 15] + - !!python/tuple [7, 18] + - !!python/tuple [9, 0] + - !!python/tuple [14, 11] + - !!python/tuple [19, 24] + - !!python/tuple [14, 26] + - !!python/tuple [9, 31] + - !!python/tuple [8, 28] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex28.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex28.yaml new file mode 100644 index 0000000..b12ed0c --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex28.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [30, 14] + name: agent0 + start: [5, 21] +- goal: [29, 5] + name: agent1 + start: [25, 21] +- goal: [12, 2] + name: agent2 + start: [17, 28] +- goal: [6, 31] + name: agent3 + start: [19, 25] +- goal: [5, 18] + name: agent4 + start: [6, 13] +- goal: [22, 23] + name: agent5 + start: [15, 2] +- goal: [2, 27] + name: agent6 + start: [7, 14] +- goal: [28, 4] + name: agent7 + start: [29, 10] +- goal: [5, 8] + name: agent8 + start: [29, 29] +- goal: [26, 24] + name: agent9 + start: [19, 1] +- goal: [25, 31] + name: agent10 + start: [15, 24] +- goal: [22, 2] + name: agent11 + start: [9, 14] +- goal: [28, 28] + name: agent12 + start: [7, 2] +- goal: [26, 8] + name: agent13 + start: [13, 17] +- goal: [1, 0] + name: agent14 + start: [30, 2] +- goal: [27, 18] + name: agent15 + start: [22, 10] +- goal: [11, 7] + name: agent16 + start: [19, 12] +- goal: [19, 12] + name: agent17 + start: [18, 3] +- goal: [11, 8] + name: agent18 + start: [30, 11] +- goal: [26, 16] + name: agent19 + start: [22, 29] +- goal: [22, 1] + name: agent20 + start: [18, 28] +- goal: [15, 4] + name: agent21 + start: [2, 28] +- goal: [9, 18] + name: agent22 + start: [20, 25] +- goal: [29, 23] + name: agent23 + start: [8, 24] +- goal: [1, 24] + name: agent24 + start: [31, 5] +- goal: [13, 3] + name: agent25 + start: [21, 28] +- goal: [0, 23] + name: agent26 + start: [29, 19] +- goal: [27, 24] + name: agent27 + start: [7, 4] +- goal: [22, 14] + name: agent28 + start: [7, 16] +- goal: [15, 19] + name: agent29 + start: [28, 5] +- goal: [31, 3] + name: agent30 + start: [12, 13] +- goal: [21, 2] + name: agent31 + start: [27, 8] +- goal: [6, 12] + name: agent32 + start: [13, 5] +- goal: [5, 11] + name: agent33 + start: [23, 20] +- goal: [23, 26] + name: agent34 + start: [23, 13] +- goal: [21, 20] + name: agent35 + start: [23, 27] +- goal: [14, 17] + name: agent36 + start: [27, 25] +- goal: [29, 24] + name: agent37 + start: [14, 8] +- goal: [29, 22] + name: agent38 + start: [11, 11] +- goal: [9, 16] + name: agent39 + start: [19, 6] +- goal: [21, 23] + name: agent40 + start: [3, 19] +- goal: [15, 11] + name: agent41 + start: [0, 2] +- goal: [5, 15] + name: agent42 + start: [10, 17] +- goal: [1, 28] + name: agent43 + start: [26, 31] +- goal: [7, 22] + name: agent44 + start: [9, 28] +- goal: [9, 14] + name: agent45 + start: [26, 3] +- goal: [13, 28] + name: agent46 + start: [6, 16] +- goal: [15, 28] + name: agent47 + start: [21, 23] +- goal: [31, 29] + name: agent48 + start: [24, 13] +- goal: [27, 5] + name: agent49 + start: [1, 8] +- goal: [5, 26] + name: agent50 + start: [26, 4] +- goal: [31, 5] + name: agent51 + start: [2, 17] +- goal: [15, 22] + name: agent52 + start: [0, 4] +- goal: [24, 26] + name: agent53 + start: [23, 2] +- goal: [29, 15] + name: agent54 + start: [21, 0] +- goal: [7, 21] + name: agent55 + start: [0, 26] +- goal: [23, 10] + name: agent56 + start: [12, 25] +- goal: [4, 13] + name: agent57 + start: [5, 27] +- goal: [2, 23] + name: agent58 + start: [20, 11] +- goal: [9, 5] + name: agent59 + start: [6, 14] +- goal: [16, 0] + name: agent60 + start: [4, 25] +- goal: [15, 16] + name: agent61 + start: [19, 27] +- goal: [22, 18] + name: agent62 + start: [7, 25] +- goal: [30, 1] + name: agent63 + start: [14, 16] +- goal: [9, 28] + name: agent64 + start: [19, 18] +- goal: [21, 6] + name: agent65 + start: [4, 3] +- goal: [24, 21] + name: agent66 + start: [0, 5] +- goal: [24, 24] + name: agent67 + start: [0, 24] +- goal: [1, 26] + name: agent68 + start: [13, 2] +- goal: [28, 15] + name: agent69 + start: [21, 3] +- goal: [4, 28] + name: agent70 + start: [15, 1] +- goal: [22, 3] + name: agent71 + start: [22, 23] +- goal: [22, 11] + name: agent72 + start: [26, 24] +- goal: [22, 12] + name: agent73 + start: [19, 20] +- goal: [0, 3] + name: agent74 + start: [30, 9] +- goal: [15, 29] + name: agent75 + start: [12, 30] +- goal: [21, 21] + name: agent76 + start: [17, 14] +- goal: [13, 15] + name: agent77 + start: [18, 29] +- goal: [15, 13] + name: agent78 + start: [31, 9] +- goal: [17, 31] + name: agent79 + start: [4, 10] +- goal: [12, 3] + name: agent80 + start: [5, 15] +- goal: [27, 28] + name: agent81 + start: [29, 11] +- goal: [15, 18] + name: agent82 + start: [13, 7] +- goal: [28, 16] + name: agent83 + start: [11, 15] +- goal: [18, 9] + name: agent84 + start: [19, 10] +- goal: [30, 24] + name: agent85 + start: [8, 1] +- goal: [22, 24] + name: agent86 + start: [10, 26] +- goal: [6, 9] + name: agent87 + start: [4, 7] +- goal: [1, 22] + name: agent88 + start: [0, 9] +- goal: [27, 29] + name: agent89 + start: [13, 10] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [7, 26] + - !!python/tuple [19, 9] + - !!python/tuple [21, 25] + - !!python/tuple [5, 12] + - !!python/tuple [2, 16] + - !!python/tuple [3, 27] + - !!python/tuple [25, 18] + - !!python/tuple [11, 19] + - !!python/tuple [13, 16] + - !!python/tuple [16, 26] + - !!python/tuple [5, 17] + - !!python/tuple [15, 26] + - !!python/tuple [1, 27] + - !!python/tuple [6, 5] + - !!python/tuple [10, 13] + - !!python/tuple [17, 17] + - !!python/tuple [24, 27] + - !!python/tuple [8, 16] + - !!python/tuple [23, 5] + - !!python/tuple [17, 9] + - !!python/tuple [5, 4] + - !!python/tuple [14, 11] + - !!python/tuple [31, 25] + - !!python/tuple [4, 1] + - !!python/tuple [10, 25] + - !!python/tuple [20, 16] + - !!python/tuple [15, 17] + - !!python/tuple [10, 23] + - !!python/tuple [4, 17] + - !!python/tuple [0, 17] + - !!python/tuple [2, 1] + - !!python/tuple [17, 26] + - !!python/tuple [4, 11] + - !!python/tuple [4, 30] + - !!python/tuple [21, 24] + - !!python/tuple [18, 12] + - !!python/tuple [19, 7] + - !!python/tuple [3, 21] + - !!python/tuple [13, 8] + - !!python/tuple [28, 0] + - !!python/tuple [9, 3] + - !!python/tuple [0, 28] + - !!python/tuple [14, 27] + - !!python/tuple [27, 9] + - !!python/tuple [0, 11] + - !!python/tuple [13, 29] + - !!python/tuple [25, 9] + - !!python/tuple [15, 12] + - !!python/tuple [17, 13] + - !!python/tuple [20, 15] + - !!python/tuple [10, 24] + - !!python/tuple [5, 13] + - !!python/tuple [23, 25] + - !!python/tuple [28, 20] + - !!python/tuple [24, 16] + - !!python/tuple [25, 30] + - !!python/tuple [4, 22] + - !!python/tuple [21, 12] + - !!python/tuple [3, 28] + - !!python/tuple [27, 14] + - !!python/tuple [12, 4] + - !!python/tuple [7, 5] + - !!python/tuple [16, 24] + - !!python/tuple [0, 15] + - !!python/tuple [26, 25] + - !!python/tuple [30, 26] + - !!python/tuple [13, 30] + - !!python/tuple [27, 10] + - !!python/tuple [13, 25] + - !!python/tuple [22, 9] + - !!python/tuple [22, 5] + - !!python/tuple [5, 2] + - !!python/tuple [9, 23] + - !!python/tuple [23, 15] + - !!python/tuple [8, 7] + - !!python/tuple [24, 22] + - !!python/tuple [20, 4] + - !!python/tuple [17, 0] + - !!python/tuple [20, 7] + - !!python/tuple [26, 9] + - !!python/tuple [15, 25] + - !!python/tuple [25, 8] + - !!python/tuple [26, 17] + - !!python/tuple [12, 27] + - !!python/tuple [18, 2] + - !!python/tuple [30, 17] + - !!python/tuple [23, 16] + - !!python/tuple [5, 20] + - !!python/tuple [11, 13] + - !!python/tuple [19, 24] + - !!python/tuple [7, 1] + - !!python/tuple [15, 10] + - !!python/tuple [9, 9] + - !!python/tuple [9, 25] + - !!python/tuple [9, 20] + - !!python/tuple [0, 18] + - !!python/tuple [12, 6] + - !!python/tuple [6, 1] + - !!python/tuple [2, 12] + - !!python/tuple [8, 28] + - !!python/tuple [13, 27] + - !!python/tuple [6, 20] + - !!python/tuple [11, 29] + - !!python/tuple [23, 30] + - !!python/tuple [2, 20] + - !!python/tuple [28, 25] + - !!python/tuple [30, 6] + - !!python/tuple [23, 4] + - !!python/tuple [25, 26] + - !!python/tuple [5, 1] + - !!python/tuple [24, 28] + - !!python/tuple [14, 13] + - !!python/tuple [14, 4] + - !!python/tuple [12, 17] + - !!python/tuple [12, 19] + - !!python/tuple [9, 8] + - !!python/tuple [23, 8] + - !!python/tuple [29, 9] + - !!python/tuple [5, 6] + - !!python/tuple [18, 5] + - !!python/tuple [21, 11] + - !!python/tuple [13, 20] + - !!python/tuple [16, 12] + - !!python/tuple [25, 15] + - !!python/tuple [30, 29] + - !!python/tuple [26, 1] + - !!python/tuple [31, 4] + - !!python/tuple [5, 30] + - !!python/tuple [9, 15] + - !!python/tuple [18, 7] + - !!python/tuple [12, 22] + - !!python/tuple [16, 15] + - !!python/tuple [3, 30] + - !!python/tuple [19, 4] + - !!python/tuple [1, 3] + - !!python/tuple [22, 6] + - !!python/tuple [19, 2] + - !!python/tuple [4, 20] + - !!python/tuple [1, 23] + - !!python/tuple [3, 4] + - !!python/tuple [31, 1] + - !!python/tuple [23, 18] + - !!python/tuple [29, 0] + - !!python/tuple [31, 26] + - !!python/tuple [19, 8] + - !!python/tuple [23, 23] + - !!python/tuple [26, 0] + - !!python/tuple [11, 21] + - !!python/tuple [6, 21] + - !!python/tuple [31, 13] + - !!python/tuple [22, 28] + - !!python/tuple [16, 31] + - !!python/tuple [31, 18] + - !!python/tuple [3, 12] + - !!python/tuple [8, 19] + - !!python/tuple [5, 0] + - !!python/tuple [10, 7] + - !!python/tuple [22, 17] + - !!python/tuple [4, 31] + - !!python/tuple [24, 30] + - !!python/tuple [31, 21] + - !!python/tuple [8, 14] + - !!python/tuple [3, 16] + - !!python/tuple [23, 1] + - !!python/tuple [7, 23] + - !!python/tuple [25, 3] + - !!python/tuple [30, 7] + - !!python/tuple [8, 25] + - !!python/tuple [3, 6] + - !!python/tuple [8, 30] + - !!python/tuple [21, 1] + - !!python/tuple [6, 30] + - !!python/tuple [20, 18] + - !!python/tuple [18, 27] + - !!python/tuple [2, 7] + - !!python/tuple [14, 1] + - !!python/tuple [12, 7] + - !!python/tuple [13, 1] + - !!python/tuple [8, 3] + - !!python/tuple [5, 23] + - !!python/tuple [16, 8] + - !!python/tuple [26, 11] + - !!python/tuple [27, 22] + - !!python/tuple [15, 7] + - !!python/tuple [7, 18] + - !!python/tuple [10, 10] + - !!python/tuple [11, 20] + - !!python/tuple [10, 21] + - !!python/tuple [29, 30] + - !!python/tuple [0, 6] + - !!python/tuple [9, 10] + - !!python/tuple [24, 4] + - !!python/tuple [8, 31] + - !!python/tuple [27, 11] + - !!python/tuple [18, 26] + - !!python/tuple [26, 28] + - !!python/tuple [22, 21] + - !!python/tuple [17, 27] + - !!python/tuple [7, 3] + - !!python/tuple [29, 17] + - !!python/tuple [24, 12] + - !!python/tuple [17, 7] + - !!python/tuple [29, 28] + - !!python/tuple [2, 24] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex29.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex29.yaml new file mode 100644 index 0000000..88e897a --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex29.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [29, 14] + name: agent0 + start: [1, 2] +- goal: [0, 10] + name: agent1 + start: [19, 17] +- goal: [18, 17] + name: agent2 + start: [7, 21] +- goal: [0, 22] + name: agent3 + start: [26, 10] +- goal: [30, 7] + name: agent4 + start: [22, 17] +- goal: [3, 16] + name: agent5 + start: [14, 19] +- goal: [16, 11] + name: agent6 + start: [2, 29] +- goal: [30, 28] + name: agent7 + start: [13, 3] +- goal: [10, 9] + name: agent8 + start: [14, 11] +- goal: [10, 0] + name: agent9 + start: [25, 24] +- goal: [10, 10] + name: agent10 + start: [20, 4] +- goal: [17, 14] + name: agent11 + start: [5, 8] +- goal: [18, 18] + name: agent12 + start: [27, 13] +- goal: [29, 5] + name: agent13 + start: [24, 13] +- goal: [29, 28] + name: agent14 + start: [27, 19] +- goal: [7, 28] + name: agent15 + start: [5, 16] +- goal: [0, 11] + name: agent16 + start: [0, 23] +- goal: [7, 4] + name: agent17 + start: [12, 31] +- goal: [26, 23] + name: agent18 + start: [29, 6] +- goal: [29, 9] + name: agent19 + start: [25, 2] +- goal: [28, 9] + name: agent20 + start: [11, 30] +- goal: [27, 21] + name: agent21 + start: [3, 21] +- goal: [7, 16] + name: agent22 + start: [28, 20] +- goal: [20, 2] + name: agent23 + start: [19, 0] +- goal: [26, 8] + name: agent24 + start: [15, 10] +- goal: [31, 11] + name: agent25 + start: [5, 22] +- goal: [5, 29] + name: agent26 + start: [22, 4] +- goal: [3, 22] + name: agent27 + start: [25, 16] +- goal: [2, 14] + name: agent28 + start: [29, 4] +- goal: [6, 28] + name: agent29 + start: [21, 30] +- goal: [9, 9] + name: agent30 + start: [12, 1] +- goal: [0, 7] + name: agent31 + start: [30, 7] +- goal: [16, 25] + name: agent32 + start: [4, 17] +- goal: [5, 25] + name: agent33 + start: [12, 27] +- goal: [1, 22] + name: agent34 + start: [4, 23] +- goal: [20, 6] + name: agent35 + start: [28, 9] +- goal: [4, 30] + name: agent36 + start: [29, 20] +- goal: [11, 26] + name: agent37 + start: [6, 2] +- goal: [19, 16] + name: agent38 + start: [29, 29] +- goal: [10, 11] + name: agent39 + start: [8, 9] +- goal: [15, 30] + name: agent40 + start: [22, 10] +- goal: [7, 21] + name: agent41 + start: [8, 3] +- goal: [6, 15] + name: agent42 + start: [14, 4] +- goal: [17, 0] + name: agent43 + start: [5, 2] +- goal: [21, 23] + name: agent44 + start: [24, 31] +- goal: [0, 3] + name: agent45 + start: [31, 30] +- goal: [28, 18] + name: agent46 + start: [16, 0] +- goal: [1, 24] + name: agent47 + start: [25, 28] +- goal: [21, 25] + name: agent48 + start: [13, 26] +- goal: [28, 26] + name: agent49 + start: [1, 28] +- goal: [25, 23] + name: agent50 + start: [5, 14] +- goal: [14, 9] + name: agent51 + start: [4, 16] +- goal: [19, 26] + name: agent52 + start: [13, 0] +- goal: [21, 1] + name: agent53 + start: [13, 18] +- goal: [20, 27] + name: agent54 + start: [9, 1] +- goal: [24, 10] + name: agent55 + start: [24, 20] +- goal: [14, 20] + name: agent56 + start: [6, 16] +- goal: [28, 15] + name: agent57 + start: [21, 17] +- goal: [21, 5] + name: agent58 + start: [4, 13] +- goal: [18, 4] + name: agent59 + start: [28, 19] +- goal: [21, 30] + name: agent60 + start: [0, 10] +- goal: [27, 13] + name: agent61 + start: [10, 28] +- goal: [15, 11] + name: agent62 + start: [27, 24] +- goal: [9, 14] + name: agent63 + start: [4, 9] +- goal: [2, 3] + name: agent64 + start: [11, 5] +- goal: [27, 9] + name: agent65 + start: [8, 23] +- goal: [25, 8] + name: agent66 + start: [13, 2] +- goal: [2, 4] + name: agent67 + start: [31, 5] +- goal: [11, 15] + name: agent68 + start: [0, 3] +- goal: [2, 0] + name: agent69 + start: [7, 18] +- goal: [29, 1] + name: agent70 + start: [17, 26] +- goal: [19, 15] + name: agent71 + start: [16, 16] +- goal: [26, 0] + name: agent72 + start: [11, 18] +- goal: [25, 1] + name: agent73 + start: [17, 7] +- goal: [4, 10] + name: agent74 + start: [9, 0] +- goal: [24, 0] + name: agent75 + start: [21, 28] +- goal: [23, 8] + name: agent76 + start: [12, 29] +- goal: [24, 1] + name: agent77 + start: [4, 15] +- goal: [21, 24] + name: agent78 + start: [21, 16] +- goal: [5, 13] + name: agent79 + start: [17, 20] +- goal: [21, 22] + name: agent80 + start: [11, 9] +- goal: [22, 8] + name: agent81 + start: [0, 14] +- goal: [10, 21] + name: agent82 + start: [23, 28] +- goal: [2, 17] + name: agent83 + start: [4, 30] +- goal: [14, 19] + name: agent84 + start: [20, 26] +- goal: [29, 26] + name: agent85 + start: [19, 14] +- goal: [17, 15] + name: agent86 + start: [1, 23] +- goal: [15, 1] + name: agent87 + start: [5, 25] +- goal: [0, 23] + name: agent88 + start: [13, 30] +- goal: [25, 18] + name: agent89 + start: [12, 19] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [5, 11] + - !!python/tuple [28, 28] + - !!python/tuple [2, 7] + - !!python/tuple [10, 20] + - !!python/tuple [20, 25] + - !!python/tuple [17, 5] + - !!python/tuple [18, 14] + - !!python/tuple [20, 12] + - !!python/tuple [7, 14] + - !!python/tuple [27, 0] + - !!python/tuple [7, 1] + - !!python/tuple [6, 26] + - !!python/tuple [26, 27] + - !!python/tuple [0, 5] + - !!python/tuple [29, 30] + - !!python/tuple [17, 18] + - !!python/tuple [6, 9] + - !!python/tuple [3, 14] + - !!python/tuple [5, 27] + - !!python/tuple [4, 25] + - !!python/tuple [15, 16] + - !!python/tuple [8, 27] + - !!python/tuple [29, 22] + - !!python/tuple [30, 24] + - !!python/tuple [4, 8] + - !!python/tuple [17, 30] + - !!python/tuple [9, 17] + - !!python/tuple [20, 14] + - !!python/tuple [2, 1] + - !!python/tuple [14, 17] + - !!python/tuple [18, 11] + - !!python/tuple [28, 1] + - !!python/tuple [23, 17] + - !!python/tuple [30, 4] + - !!python/tuple [9, 16] + - !!python/tuple [6, 29] + - !!python/tuple [12, 2] + - !!python/tuple [18, 3] + - !!python/tuple [22, 0] + - !!python/tuple [1, 12] + - !!python/tuple [20, 28] + - !!python/tuple [19, 1] + - !!python/tuple [20, 11] + - !!python/tuple [17, 10] + - !!python/tuple [21, 14] + - !!python/tuple [21, 27] + - !!python/tuple [29, 12] + - !!python/tuple [24, 28] + - !!python/tuple [13, 25] + - !!python/tuple [12, 21] + - !!python/tuple [23, 9] + - !!python/tuple [6, 5] + - !!python/tuple [9, 20] + - !!python/tuple [30, 5] + - !!python/tuple [1, 30] + - !!python/tuple [23, 5] + - !!python/tuple [24, 12] + - !!python/tuple [27, 15] + - !!python/tuple [26, 30] + - !!python/tuple [22, 5] + - !!python/tuple [0, 9] + - !!python/tuple [13, 16] + - !!python/tuple [17, 13] + - !!python/tuple [17, 8] + - !!python/tuple [14, 22] + - !!python/tuple [11, 6] + - !!python/tuple [8, 12] + - !!python/tuple [15, 9] + - !!python/tuple [10, 16] + - !!python/tuple [1, 29] + - !!python/tuple [31, 7] + - !!python/tuple [11, 24] + - !!python/tuple [0, 17] + - !!python/tuple [13, 15] + - !!python/tuple [2, 25] + - !!python/tuple [3, 15] + - !!python/tuple [25, 27] + - !!python/tuple [30, 26] + - !!python/tuple [0, 1] + - !!python/tuple [13, 12] + - !!python/tuple [26, 28] + - !!python/tuple [5, 6] + - !!python/tuple [25, 4] + - !!python/tuple [18, 27] + - !!python/tuple [11, 16] + - !!python/tuple [24, 27] + - !!python/tuple [11, 2] + - !!python/tuple [9, 24] + - !!python/tuple [15, 15] + - !!python/tuple [26, 25] + - !!python/tuple [23, 19] + - !!python/tuple [7, 24] + - !!python/tuple [3, 10] + - !!python/tuple [1, 19] + - !!python/tuple [14, 3] + - !!python/tuple [24, 24] + - !!python/tuple [26, 21] + - !!python/tuple [22, 9] + - !!python/tuple [15, 2] + - !!python/tuple [8, 14] + - !!python/tuple [21, 11] + - !!python/tuple [30, 19] + - !!python/tuple [13, 4] + - !!python/tuple [6, 3] + - !!python/tuple [29, 19] + - !!python/tuple [14, 23] + - !!python/tuple [11, 13] + - !!python/tuple [24, 4] + - !!python/tuple [26, 20] + - !!python/tuple [7, 23] + - !!python/tuple [12, 0] + - !!python/tuple [15, 7] + - !!python/tuple [26, 7] + - !!python/tuple [8, 11] + - !!python/tuple [1, 17] + - !!python/tuple [6, 13] + - !!python/tuple [11, 3] + - !!python/tuple [16, 14] + - !!python/tuple [29, 3] + - !!python/tuple [24, 22] + - !!python/tuple [13, 10] + - !!python/tuple [11, 0] + - !!python/tuple [21, 7] + - !!python/tuple [23, 31] + - !!python/tuple [18, 19] + - !!python/tuple [30, 27] + - !!python/tuple [30, 16] + - !!python/tuple [10, 1] + - !!python/tuple [20, 24] + - !!python/tuple [6, 31] + - !!python/tuple [24, 7] + - !!python/tuple [14, 26] + - !!python/tuple [9, 13] + - !!python/tuple [23, 23] + - !!python/tuple [14, 2] + - !!python/tuple [31, 12] + - !!python/tuple [2, 9] + - !!python/tuple [25, 13] + - !!python/tuple [21, 10] + - !!python/tuple [19, 6] + - !!python/tuple [3, 25] + - !!python/tuple [7, 12] + - !!python/tuple [22, 30] + - !!python/tuple [16, 2] + - !!python/tuple [4, 28] + - !!python/tuple [0, 8] + - !!python/tuple [25, 19] + - !!python/tuple [22, 29] + - !!python/tuple [8, 0] + - !!python/tuple [27, 1] + - !!python/tuple [6, 0] + - !!python/tuple [15, 31] + - !!python/tuple [20, 18] + - !!python/tuple [23, 20] + - !!python/tuple [11, 10] + - !!python/tuple [31, 19] + - !!python/tuple [29, 23] + - !!python/tuple [31, 17] + - !!python/tuple [19, 3] + - !!python/tuple [18, 31] + - !!python/tuple [0, 30] + - !!python/tuple [14, 31] + - !!python/tuple [18, 1] + - !!python/tuple [25, 25] + - !!python/tuple [9, 19] + - !!python/tuple [30, 9] + - !!python/tuple [30, 25] + - !!python/tuple [31, 20] + - !!python/tuple [23, 22] + - !!python/tuple [29, 0] + - !!python/tuple [6, 11] + - !!python/tuple [3, 19] + - !!python/tuple [21, 29] + - !!python/tuple [4, 11] + - !!python/tuple [21, 12] + - !!python/tuple [29, 21] + - !!python/tuple [12, 9] + - !!python/tuple [25, 14] + - !!python/tuple [29, 24] + - !!python/tuple [27, 12] + - !!python/tuple [19, 28] + - !!python/tuple [14, 6] + - !!python/tuple [22, 22] + - !!python/tuple [3, 11] + - !!python/tuple [26, 5] + - !!python/tuple [18, 5] + - !!python/tuple [0, 18] + - !!python/tuple [16, 27] + - !!python/tuple [4, 2] + - !!python/tuple [26, 26] + - !!python/tuple [3, 31] + - !!python/tuple [4, 24] + - !!python/tuple [12, 28] + - !!python/tuple [2, 5] + - !!python/tuple [9, 25] + - !!python/tuple [3, 3] + - !!python/tuple [22, 21] + - !!python/tuple [3, 8] + - !!python/tuple [5, 23] + - !!python/tuple [13, 20] + - !!python/tuple [9, 26] + - !!python/tuple [25, 30] + - !!python/tuple [6, 27] + - !!python/tuple [8, 29] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex3.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex3.yaml new file mode 100644 index 0000000..d129405 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex3.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [4, 12] + name: agent0 + start: [12, 20] +- goal: [25, 30] + name: agent1 + start: [12, 6] +- goal: [28, 4] + name: agent2 + start: [21, 4] +- goal: [2, 31] + name: agent3 + start: [30, 31] +- goal: [10, 9] + name: agent4 + start: [20, 26] +- goal: [1, 2] + name: agent5 + start: [0, 26] +- goal: [17, 16] + name: agent6 + start: [21, 26] +- goal: [9, 12] + name: agent7 + start: [22, 7] +- goal: [26, 29] + name: agent8 + start: [13, 8] +- goal: [29, 28] + name: agent9 + start: [28, 4] +- goal: [10, 18] + name: agent10 + start: [27, 15] +- goal: [17, 4] + name: agent11 + start: [29, 10] +- goal: [31, 15] + name: agent12 + start: [30, 15] +- goal: [18, 7] + name: agent13 + start: [24, 13] +- goal: [22, 11] + name: agent14 + start: [14, 25] +- goal: [8, 25] + name: agent15 + start: [30, 26] +- goal: [1, 31] + name: agent16 + start: [29, 27] +- goal: [18, 25] + name: agent17 + start: [8, 17] +- goal: [29, 15] + name: agent18 + start: [31, 4] +- goal: [5, 24] + name: agent19 + start: [19, 1] +- goal: [31, 6] + name: agent20 + start: [10, 3] +- goal: [23, 1] + name: agent21 + start: [12, 8] +- goal: [15, 1] + name: agent22 + start: [0, 1] +- goal: [18, 22] + name: agent23 + start: [16, 28] +- goal: [7, 23] + name: agent24 + start: [5, 6] +- goal: [30, 10] + name: agent25 + start: [11, 17] +- goal: [4, 14] + name: agent26 + start: [18, 14] +- goal: [29, 17] + name: agent27 + start: [11, 24] +- goal: [4, 22] + name: agent28 + start: [23, 7] +- goal: [16, 8] + name: agent29 + start: [6, 5] +- goal: [27, 3] + name: agent30 + start: [24, 21] +- goal: [12, 30] + name: agent31 + start: [6, 3] +- goal: [24, 8] + name: agent32 + start: [10, 27] +- goal: [17, 22] + name: agent33 + start: [6, 30] +- goal: [9, 9] + name: agent34 + start: [14, 14] +- goal: [15, 9] + name: agent35 + start: [8, 11] +- goal: [5, 21] + name: agent36 + start: [25, 0] +- goal: [8, 8] + name: agent37 + start: [11, 21] +- goal: [12, 10] + name: agent38 + start: [27, 16] +- goal: [24, 5] + name: agent39 + start: [9, 12] +- goal: [19, 2] + name: agent40 + start: [25, 8] +- goal: [12, 9] + name: agent41 + start: [16, 30] +- goal: [4, 15] + name: agent42 + start: [3, 26] +- goal: [5, 23] + name: agent43 + start: [14, 20] +- goal: [18, 10] + name: agent44 + start: [22, 5] +- goal: [15, 25] + name: agent45 + start: [17, 4] +- goal: [6, 12] + name: agent46 + start: [16, 29] +- goal: [29, 2] + name: agent47 + start: [18, 15] +- goal: [29, 5] + name: agent48 + start: [10, 2] +- goal: [0, 30] + name: agent49 + start: [17, 26] +- goal: [22, 18] + name: agent50 + start: [25, 23] +- goal: [7, 19] + name: agent51 + start: [9, 27] +- goal: [7, 1] + name: agent52 + start: [7, 12] +- goal: [19, 4] + name: agent53 + start: [19, 14] +- goal: [29, 23] + name: agent54 + start: [1, 29] +- goal: [14, 4] + name: agent55 + start: [6, 17] +- goal: [21, 3] + name: agent56 + start: [3, 4] +- goal: [30, 22] + name: agent57 + start: [29, 16] +- goal: [20, 2] + name: agent58 + start: [24, 11] +- goal: [13, 1] + name: agent59 + start: [19, 3] +- goal: [12, 1] + name: agent60 + start: [4, 16] +- goal: [14, 13] + name: agent61 + start: [28, 18] +- goal: [16, 14] + name: agent62 + start: [20, 18] +- goal: [17, 26] + name: agent63 + start: [5, 27] +- goal: [17, 9] + name: agent64 + start: [21, 20] +- goal: [11, 3] + name: agent65 + start: [7, 9] +- goal: [18, 24] + name: agent66 + start: [31, 30] +- goal: [29, 31] + name: agent67 + start: [25, 30] +- goal: [23, 28] + name: agent68 + start: [7, 20] +- goal: [27, 25] + name: agent69 + start: [1, 13] +- goal: [14, 23] + name: agent70 + start: [19, 12] +- goal: [19, 31] + name: agent71 + start: [23, 19] +- goal: [1, 10] + name: agent72 + start: [13, 12] +- goal: [27, 12] + name: agent73 + start: [8, 20] +- goal: [20, 10] + name: agent74 + start: [30, 11] +- goal: [3, 23] + name: agent75 + start: [28, 13] +- goal: [18, 18] + name: agent76 + start: [8, 19] +- goal: [28, 23] + name: agent77 + start: [21, 30] +- goal: [9, 8] + name: agent78 + start: [13, 15] +- goal: [15, 31] + name: agent79 + start: [18, 18] +- goal: [6, 31] + name: agent80 + start: [30, 28] +- goal: [9, 7] + name: agent81 + start: [26, 27] +- goal: [26, 14] + name: agent82 + start: [23, 20] +- goal: [0, 14] + name: agent83 + start: [26, 1] +- goal: [2, 24] + name: agent84 + start: [26, 24] +- goal: [1, 11] + name: agent85 + start: [11, 20] +- goal: [21, 20] + name: agent86 + start: [19, 10] +- goal: [30, 2] + name: agent87 + start: [6, 16] +- goal: [5, 20] + name: agent88 + start: [7, 2] +- goal: [30, 0] + name: agent89 + start: [24, 31] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [18, 27] + - !!python/tuple [27, 23] + - !!python/tuple [14, 24] + - !!python/tuple [6, 21] + - !!python/tuple [7, 28] + - !!python/tuple [25, 22] + - !!python/tuple [19, 21] + - !!python/tuple [10, 20] + - !!python/tuple [22, 31] + - !!python/tuple [19, 22] + - !!python/tuple [26, 19] + - !!python/tuple [8, 31] + - !!python/tuple [7, 14] + - !!python/tuple [9, 22] + - !!python/tuple [2, 20] + - !!python/tuple [20, 6] + - !!python/tuple [28, 3] + - !!python/tuple [10, 6] + - !!python/tuple [21, 27] + - !!python/tuple [1, 8] + - !!python/tuple [4, 21] + - !!python/tuple [0, 27] + - !!python/tuple [13, 25] + - !!python/tuple [4, 18] + - !!python/tuple [22, 23] + - !!python/tuple [8, 0] + - !!python/tuple [26, 28] + - !!python/tuple [26, 16] + - !!python/tuple [23, 21] + - !!python/tuple [2, 0] + - !!python/tuple [18, 21] + - !!python/tuple [20, 20] + - !!python/tuple [2, 3] + - !!python/tuple [7, 4] + - !!python/tuple [6, 18] + - !!python/tuple [18, 16] + - !!python/tuple [4, 31] + - !!python/tuple [21, 25] + - !!python/tuple [25, 5] + - !!python/tuple [31, 10] + - !!python/tuple [29, 4] + - !!python/tuple [9, 31] + - !!python/tuple [6, 22] + - !!python/tuple [28, 7] + - !!python/tuple [30, 30] + - !!python/tuple [29, 30] + - !!python/tuple [0, 31] + - !!python/tuple [14, 2] + - !!python/tuple [11, 25] + - !!python/tuple [5, 13] + - !!python/tuple [8, 10] + - !!python/tuple [14, 15] + - !!python/tuple [0, 28] + - !!python/tuple [13, 4] + - !!python/tuple [8, 29] + - !!python/tuple [14, 22] + - !!python/tuple [21, 11] + - !!python/tuple [10, 23] + - !!python/tuple [25, 12] + - !!python/tuple [17, 3] + - !!python/tuple [24, 26] + - !!python/tuple [2, 23] + - !!python/tuple [31, 29] + - !!python/tuple [1, 6] + - !!python/tuple [2, 28] + - !!python/tuple [27, 9] + - !!python/tuple [8, 5] + - !!python/tuple [28, 1] + - !!python/tuple [20, 22] + - !!python/tuple [15, 12] + - !!python/tuple [8, 14] + - !!python/tuple [25, 10] + - !!python/tuple [15, 17] + - !!python/tuple [24, 15] + - !!python/tuple [22, 10] + - !!python/tuple [30, 1] + - !!python/tuple [2, 15] + - !!python/tuple [12, 26] + - !!python/tuple [30, 18] + - !!python/tuple [26, 5] + - !!python/tuple [9, 24] + - !!python/tuple [12, 4] + - !!python/tuple [24, 6] + - !!python/tuple [0, 20] + - !!python/tuple [19, 18] + - !!python/tuple [15, 13] + - !!python/tuple [11, 18] + - !!python/tuple [6, 4] + - !!python/tuple [21, 8] + - !!python/tuple [4, 7] + - !!python/tuple [17, 15] + - !!python/tuple [28, 12] + - !!python/tuple [11, 6] + - !!python/tuple [22, 30] + - !!python/tuple [13, 24] + - !!python/tuple [15, 7] + - !!python/tuple [10, 16] + - !!python/tuple [9, 30] + - !!python/tuple [4, 23] + - !!python/tuple [15, 19] + - !!python/tuple [5, 9] + - !!python/tuple [25, 15] + - !!python/tuple [30, 14] + - !!python/tuple [20, 5] + - !!python/tuple [24, 17] + - !!python/tuple [30, 20] + - !!python/tuple [0, 12] + - !!python/tuple [26, 0] + - !!python/tuple [11, 14] + - !!python/tuple [7, 24] + - !!python/tuple [0, 5] + - !!python/tuple [16, 25] + - !!python/tuple [16, 16] + - !!python/tuple [5, 26] + - !!python/tuple [27, 5] + - !!python/tuple [24, 1] + - !!python/tuple [3, 28] + - !!python/tuple [25, 26] + - !!python/tuple [11, 5] + - !!python/tuple [21, 2] + - !!python/tuple [7, 30] + - !!python/tuple [13, 6] + - !!python/tuple [19, 27] + - !!python/tuple [12, 28] + - !!python/tuple [2, 1] + - !!python/tuple [26, 8] + - !!python/tuple [20, 9] + - !!python/tuple [3, 14] + - !!python/tuple [15, 2] + - !!python/tuple [31, 0] + - !!python/tuple [16, 13] + - !!python/tuple [14, 26] + - !!python/tuple [21, 21] + - !!python/tuple [10, 25] + - !!python/tuple [19, 9] + - !!python/tuple [9, 29] + - !!python/tuple [30, 9] + - !!python/tuple [13, 21] + - !!python/tuple [26, 15] + - !!python/tuple [6, 24] + - !!python/tuple [30, 21] + - !!python/tuple [5, 16] + - !!python/tuple [12, 12] + - !!python/tuple [22, 26] + - !!python/tuple [6, 26] + - !!python/tuple [7, 13] + - !!python/tuple [13, 20] + - !!python/tuple [12, 11] + - !!python/tuple [30, 27] + - !!python/tuple [31, 22] + - !!python/tuple [12, 2] + - !!python/tuple [22, 17] + - !!python/tuple [25, 31] + - !!python/tuple [31, 18] + - !!python/tuple [21, 12] + - !!python/tuple [5, 25] + - !!python/tuple [6, 13] + - !!python/tuple [3, 25] + - !!python/tuple [11, 22] + - !!python/tuple [11, 10] + - !!python/tuple [26, 7] + - !!python/tuple [21, 13] + - !!python/tuple [25, 2] + - !!python/tuple [0, 2] + - !!python/tuple [8, 18] + - !!python/tuple [1, 26] + - !!python/tuple [4, 25] + - !!python/tuple [4, 3] + - !!python/tuple [14, 16] + - !!python/tuple [16, 6] + - !!python/tuple [2, 26] + - !!python/tuple [12, 21] + - !!python/tuple [2, 8] + - !!python/tuple [13, 7] + - !!python/tuple [7, 0] + - !!python/tuple [27, 20] + - !!python/tuple [8, 28] + - !!python/tuple [18, 11] + - !!python/tuple [20, 12] + - !!python/tuple [24, 7] + - !!python/tuple [28, 26] + - !!python/tuple [17, 8] + - !!python/tuple [1, 4] + - !!python/tuple [22, 28] + - !!python/tuple [3, 9] + - !!python/tuple [2, 21] + - !!python/tuple [24, 24] + - !!python/tuple [22, 16] + - !!python/tuple [1, 21] + - !!python/tuple [22, 4] + - !!python/tuple [22, 8] + - !!python/tuple [12, 24] + - !!python/tuple [25, 19] + - !!python/tuple [1, 27] + - !!python/tuple [7, 16] + - !!python/tuple [0, 22] + - !!python/tuple [3, 10] + - !!python/tuple [10, 31] + - !!python/tuple [10, 22] + - !!python/tuple [14, 0] + - !!python/tuple [5, 1] + - !!python/tuple [7, 6] + - !!python/tuple [29, 19] + - !!python/tuple [20, 23] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex30.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex30.yaml new file mode 100644 index 0000000..e4f5e49 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex30.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [25, 7] + name: agent0 + start: [5, 21] +- goal: [7, 6] + name: agent1 + start: [16, 14] +- goal: [3, 4] + name: agent2 + start: [4, 11] +- goal: [23, 9] + name: agent3 + start: [10, 23] +- goal: [4, 11] + name: agent4 + start: [9, 7] +- goal: [30, 24] + name: agent5 + start: [9, 19] +- goal: [17, 31] + name: agent6 + start: [3, 1] +- goal: [25, 14] + name: agent7 + start: [21, 0] +- goal: [27, 14] + name: agent8 + start: [12, 8] +- goal: [19, 10] + name: agent9 + start: [15, 31] +- goal: [28, 26] + name: agent10 + start: [3, 29] +- goal: [22, 18] + name: agent11 + start: [14, 19] +- goal: [13, 23] + name: agent12 + start: [27, 8] +- goal: [7, 21] + name: agent13 + start: [21, 21] +- goal: [5, 4] + name: agent14 + start: [12, 12] +- goal: [6, 14] + name: agent15 + start: [0, 18] +- goal: [21, 23] + name: agent16 + start: [7, 25] +- goal: [10, 12] + name: agent17 + start: [0, 16] +- goal: [23, 15] + name: agent18 + start: [4, 21] +- goal: [7, 17] + name: agent19 + start: [27, 7] +- goal: [2, 21] + name: agent20 + start: [8, 21] +- goal: [2, 23] + name: agent21 + start: [7, 24] +- goal: [15, 17] + name: agent22 + start: [11, 2] +- goal: [20, 26] + name: agent23 + start: [16, 20] +- goal: [20, 19] + name: agent24 + start: [17, 31] +- goal: [27, 5] + name: agent25 + start: [0, 4] +- goal: [4, 31] + name: agent26 + start: [4, 15] +- goal: [5, 15] + name: agent27 + start: [8, 20] +- goal: [25, 0] + name: agent28 + start: [1, 25] +- goal: [1, 12] + name: agent29 + start: [10, 18] +- goal: [14, 11] + name: agent30 + start: [1, 6] +- goal: [8, 13] + name: agent31 + start: [15, 19] +- goal: [12, 10] + name: agent32 + start: [11, 10] +- goal: [10, 23] + name: agent33 + start: [10, 29] +- goal: [15, 6] + name: agent34 + start: [17, 13] +- goal: [24, 2] + name: agent35 + start: [8, 2] +- goal: [12, 16] + name: agent36 + start: [26, 0] +- goal: [24, 15] + name: agent37 + start: [5, 29] +- goal: [16, 27] + name: agent38 + start: [12, 15] +- goal: [9, 24] + name: agent39 + start: [26, 20] +- goal: [20, 13] + name: agent40 + start: [0, 9] +- goal: [19, 27] + name: agent41 + start: [0, 1] +- goal: [0, 21] + name: agent42 + start: [25, 21] +- goal: [17, 23] + name: agent43 + start: [18, 11] +- goal: [13, 16] + name: agent44 + start: [22, 22] +- goal: [13, 21] + name: agent45 + start: [16, 17] +- goal: [11, 8] + name: agent46 + start: [9, 15] +- goal: [15, 20] + name: agent47 + start: [20, 27] +- goal: [5, 13] + name: agent48 + start: [21, 23] +- goal: [9, 10] + name: agent49 + start: [14, 5] +- goal: [15, 9] + name: agent50 + start: [14, 28] +- goal: [23, 4] + name: agent51 + start: [30, 10] +- goal: [26, 20] + name: agent52 + start: [30, 30] +- goal: [9, 31] + name: agent53 + start: [12, 4] +- goal: [15, 8] + name: agent54 + start: [21, 30] +- goal: [4, 21] + name: agent55 + start: [17, 15] +- goal: [11, 0] + name: agent56 + start: [26, 2] +- goal: [24, 8] + name: agent57 + start: [6, 16] +- goal: [2, 6] + name: agent58 + start: [22, 18] +- goal: [22, 19] + name: agent59 + start: [16, 11] +- goal: [1, 5] + name: agent60 + start: [9, 8] +- goal: [0, 24] + name: agent61 + start: [29, 26] +- goal: [1, 6] + name: agent62 + start: [14, 24] +- goal: [30, 2] + name: agent63 + start: [16, 31] +- goal: [6, 27] + name: agent64 + start: [30, 13] +- goal: [2, 27] + name: agent65 + start: [8, 4] +- goal: [22, 14] + name: agent66 + start: [24, 5] +- goal: [12, 23] + name: agent67 + start: [6, 28] +- goal: [4, 3] + name: agent68 + start: [0, 0] +- goal: [0, 0] + name: agent69 + start: [2, 12] +- goal: [12, 7] + name: agent70 + start: [5, 7] +- goal: [3, 18] + name: agent71 + start: [26, 7] +- goal: [7, 8] + name: agent72 + start: [19, 25] +- goal: [21, 18] + name: agent73 + start: [25, 14] +- goal: [13, 5] + name: agent74 + start: [3, 22] +- goal: [0, 23] + name: agent75 + start: [31, 23] +- goal: [1, 8] + name: agent76 + start: [29, 11] +- goal: [31, 25] + name: agent77 + start: [7, 16] +- goal: [5, 25] + name: agent78 + start: [7, 15] +- goal: [11, 16] + name: agent79 + start: [9, 18] +- goal: [31, 28] + name: agent80 + start: [16, 3] +- goal: [19, 26] + name: agent81 + start: [16, 28] +- goal: [25, 5] + name: agent82 + start: [25, 25] +- goal: [26, 4] + name: agent83 + start: [30, 23] +- goal: [6, 2] + name: agent84 + start: [0, 24] +- goal: [7, 31] + name: agent85 + start: [4, 23] +- goal: [16, 26] + name: agent86 + start: [8, 0] +- goal: [27, 25] + name: agent87 + start: [30, 22] +- goal: [29, 1] + name: agent88 + start: [25, 3] +- goal: [19, 16] + name: agent89 + start: [10, 14] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [30, 14] + - !!python/tuple [5, 10] + - !!python/tuple [0, 6] + - !!python/tuple [19, 12] + - !!python/tuple [2, 14] + - !!python/tuple [10, 0] + - !!python/tuple [1, 28] + - !!python/tuple [1, 11] + - !!python/tuple [13, 29] + - !!python/tuple [19, 19] + - !!python/tuple [11, 7] + - !!python/tuple [9, 6] + - !!python/tuple [6, 17] + - !!python/tuple [20, 23] + - !!python/tuple [4, 19] + - !!python/tuple [10, 3] + - !!python/tuple [16, 16] + - !!python/tuple [11, 28] + - !!python/tuple [11, 24] + - !!python/tuple [12, 26] + - !!python/tuple [5, 19] + - !!python/tuple [14, 9] + - !!python/tuple [18, 7] + - !!python/tuple [30, 7] + - !!python/tuple [28, 31] + - !!python/tuple [13, 26] + - !!python/tuple [18, 26] + - !!python/tuple [5, 12] + - !!python/tuple [30, 3] + - !!python/tuple [11, 9] + - !!python/tuple [3, 28] + - !!python/tuple [14, 6] + - !!python/tuple [9, 17] + - !!python/tuple [7, 29] + - !!python/tuple [23, 20] + - !!python/tuple [26, 18] + - !!python/tuple [29, 2] + - !!python/tuple [14, 30] + - !!python/tuple [3, 17] + - !!python/tuple [10, 19] + - !!python/tuple [12, 28] + - !!python/tuple [7, 20] + - !!python/tuple [27, 17] + - !!python/tuple [3, 9] + - !!python/tuple [1, 1] + - !!python/tuple [28, 5] + - !!python/tuple [13, 11] + - !!python/tuple [8, 31] + - !!python/tuple [0, 22] + - !!python/tuple [2, 25] + - !!python/tuple [15, 27] + - !!python/tuple [25, 19] + - !!python/tuple [31, 27] + - !!python/tuple [20, 24] + - !!python/tuple [26, 22] + - !!python/tuple [26, 31] + - !!python/tuple [23, 6] + - !!python/tuple [26, 21] + - !!python/tuple [6, 23] + - !!python/tuple [29, 22] + - !!python/tuple [18, 22] + - !!python/tuple [27, 18] + - !!python/tuple [10, 25] + - !!python/tuple [27, 23] + - !!python/tuple [9, 21] + - !!python/tuple [29, 27] + - !!python/tuple [6, 3] + - !!python/tuple [8, 22] + - !!python/tuple [1, 3] + - !!python/tuple [25, 29] + - !!python/tuple [8, 3] + - !!python/tuple [18, 20] + - !!python/tuple [13, 3] + - !!python/tuple [14, 15] + - !!python/tuple [21, 16] + - !!python/tuple [23, 22] + - !!python/tuple [14, 0] + - !!python/tuple [4, 25] + - !!python/tuple [1, 13] + - !!python/tuple [4, 17] + - !!python/tuple [25, 1] + - !!python/tuple [2, 0] + - !!python/tuple [2, 13] + - !!python/tuple [6, 11] + - !!python/tuple [3, 30] + - !!python/tuple [27, 2] + - !!python/tuple [22, 7] + - !!python/tuple [7, 26] + - !!python/tuple [6, 6] + - !!python/tuple [6, 26] + - !!python/tuple [7, 11] + - !!python/tuple [24, 0] + - !!python/tuple [0, 20] + - !!python/tuple [17, 6] + - !!python/tuple [23, 21] + - !!python/tuple [0, 12] + - !!python/tuple [22, 15] + - !!python/tuple [7, 9] + - !!python/tuple [26, 17] + - !!python/tuple [8, 15] + - !!python/tuple [13, 13] + - !!python/tuple [1, 24] + - !!python/tuple [28, 11] + - !!python/tuple [22, 21] + - !!python/tuple [1, 23] + - !!python/tuple [30, 19] + - !!python/tuple [12, 3] + - !!python/tuple [18, 31] + - !!python/tuple [19, 3] + - !!python/tuple [29, 18] + - !!python/tuple [26, 28] + - !!python/tuple [23, 0] + - !!python/tuple [12, 1] + - !!python/tuple [6, 9] + - !!python/tuple [22, 0] + - !!python/tuple [8, 5] + - !!python/tuple [16, 2] + - !!python/tuple [22, 23] + - !!python/tuple [2, 29] + - !!python/tuple [30, 15] + - !!python/tuple [2, 19] + - !!python/tuple [12, 13] + - !!python/tuple [25, 2] + - !!python/tuple [28, 10] + - !!python/tuple [0, 14] + - !!python/tuple [9, 23] + - !!python/tuple [2, 7] + - !!python/tuple [12, 11] + - !!python/tuple [30, 12] + - !!python/tuple [28, 30] + - !!python/tuple [17, 30] + - !!python/tuple [14, 8] + - !!python/tuple [27, 9] + - !!python/tuple [25, 9] + - !!python/tuple [8, 30] + - !!python/tuple [14, 1] + - !!python/tuple [30, 17] + - !!python/tuple [28, 18] + - !!python/tuple [28, 23] + - !!python/tuple [23, 1] + - !!python/tuple [6, 4] + - !!python/tuple [26, 15] + - !!python/tuple [5, 30] + - !!python/tuple [28, 14] + - !!python/tuple [20, 9] + - !!python/tuple [28, 19] + - !!python/tuple [24, 17] + - !!python/tuple [7, 27] + - !!python/tuple [23, 29] + - !!python/tuple [21, 5] + - !!python/tuple [2, 9] + - !!python/tuple [28, 12] + - !!python/tuple [25, 27] + - !!python/tuple [25, 12] + - !!python/tuple [31, 22] + - !!python/tuple [14, 17] + - !!python/tuple [1, 15] + - !!python/tuple [10, 2] + - !!python/tuple [18, 23] + - !!python/tuple [13, 10] + - !!python/tuple [15, 21] + - !!python/tuple [27, 27] + - !!python/tuple [17, 11] + - !!python/tuple [11, 13] + - !!python/tuple [1, 0] + - !!python/tuple [29, 10] + - !!python/tuple [13, 14] + - !!python/tuple [3, 2] + - !!python/tuple [13, 28] + - !!python/tuple [22, 12] + - !!python/tuple [20, 14] + - !!python/tuple [21, 6] + - !!python/tuple [24, 7] + - !!python/tuple [10, 5] + - !!python/tuple [14, 16] + - !!python/tuple [10, 24] + - !!python/tuple [17, 10] + - !!python/tuple [7, 3] + - !!python/tuple [12, 24] + - !!python/tuple [31, 19] + - !!python/tuple [31, 15] + - !!python/tuple [0, 29] + - !!python/tuple [9, 25] + - !!python/tuple [2, 31] + - !!python/tuple [18, 6] + - !!python/tuple [14, 13] + - !!python/tuple [5, 8] + - !!python/tuple [19, 9] + - !!python/tuple [15, 12] + - !!python/tuple [18, 18] + - !!python/tuple [27, 19] + - !!python/tuple [19, 7] + - !!python/tuple [7, 4] + - !!python/tuple [12, 18] + - !!python/tuple [12, 20] + - !!python/tuple [9, 14] + - !!python/tuple [22, 13] + - !!python/tuple [29, 7] + - !!python/tuple [29, 4] + - !!python/tuple [24, 14] + - !!python/tuple [5, 22] + - !!python/tuple [16, 4] + - !!python/tuple [23, 10] + - !!python/tuple [19, 2] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex31.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex31.yaml new file mode 100644 index 0000000..054e952 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex31.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [23, 20] + name: agent0 + start: [21, 4] +- goal: [16, 12] + name: agent1 + start: [13, 11] +- goal: [1, 17] + name: agent2 + start: [6, 0] +- goal: [11, 20] + name: agent3 + start: [19, 21] +- goal: [1, 3] + name: agent4 + start: [26, 22] +- goal: [0, 9] + name: agent5 + start: [16, 23] +- goal: [31, 11] + name: agent6 + start: [27, 23] +- goal: [3, 19] + name: agent7 + start: [13, 14] +- goal: [4, 5] + name: agent8 + start: [26, 31] +- goal: [22, 3] + name: agent9 + start: [3, 26] +- goal: [26, 30] + name: agent10 + start: [20, 17] +- goal: [23, 18] + name: agent11 + start: [29, 6] +- goal: [4, 23] + name: agent12 + start: [16, 13] +- goal: [18, 28] + name: agent13 + start: [30, 27] +- goal: [4, 30] + name: agent14 + start: [28, 8] +- goal: [12, 3] + name: agent15 + start: [17, 28] +- goal: [25, 21] + name: agent16 + start: [20, 15] +- goal: [20, 3] + name: agent17 + start: [18, 5] +- goal: [4, 15] + name: agent18 + start: [6, 17] +- goal: [27, 21] + name: agent19 + start: [28, 13] +- goal: [29, 7] + name: agent20 + start: [20, 29] +- goal: [24, 25] + name: agent21 + start: [21, 10] +- goal: [23, 16] + name: agent22 + start: [13, 30] +- goal: [4, 17] + name: agent23 + start: [31, 31] +- goal: [23, 0] + name: agent24 + start: [16, 14] +- goal: [27, 31] + name: agent25 + start: [4, 14] +- goal: [24, 20] + name: agent26 + start: [18, 2] +- goal: [5, 0] + name: agent27 + start: [9, 4] +- goal: [15, 13] + name: agent28 + start: [22, 10] +- goal: [17, 13] + name: agent29 + start: [2, 29] +- goal: [7, 21] + name: agent30 + start: [27, 3] +- goal: [24, 23] + name: agent31 + start: [6, 4] +- goal: [17, 0] + name: agent32 + start: [5, 24] +- goal: [27, 3] + name: agent33 + start: [26, 29] +- goal: [19, 27] + name: agent34 + start: [20, 12] +- goal: [15, 22] + name: agent35 + start: [23, 5] +- goal: [8, 28] + name: agent36 + start: [15, 27] +- goal: [12, 7] + name: agent37 + start: [2, 19] +- goal: [11, 14] + name: agent38 + start: [27, 24] +- goal: [30, 13] + name: agent39 + start: [22, 17] +- goal: [15, 18] + name: agent40 + start: [9, 17] +- goal: [21, 1] + name: agent41 + start: [23, 16] +- goal: [1, 14] + name: agent42 + start: [30, 1] +- goal: [16, 13] + name: agent43 + start: [10, 15] +- goal: [29, 8] + name: agent44 + start: [25, 23] +- goal: [22, 13] + name: agent45 + start: [25, 17] +- goal: [16, 17] + name: agent46 + start: [30, 30] +- goal: [28, 14] + name: agent47 + start: [14, 21] +- goal: [28, 13] + name: agent48 + start: [27, 21] +- goal: [15, 28] + name: agent49 + start: [17, 10] +- goal: [20, 1] + name: agent50 + start: [10, 3] +- goal: [7, 26] + name: agent51 + start: [20, 19] +- goal: [6, 1] + name: agent52 + start: [5, 26] +- goal: [30, 16] + name: agent53 + start: [15, 0] +- goal: [2, 4] + name: agent54 + start: [10, 21] +- goal: [11, 31] + name: agent55 + start: [8, 11] +- goal: [18, 30] + name: agent56 + start: [0, 26] +- goal: [23, 23] + name: agent57 + start: [13, 9] +- goal: [26, 10] + name: agent58 + start: [2, 11] +- goal: [18, 14] + name: agent59 + start: [26, 19] +- goal: [27, 25] + name: agent60 + start: [2, 5] +- goal: [4, 1] + name: agent61 + start: [5, 14] +- goal: [16, 11] + name: agent62 + start: [24, 21] +- goal: [24, 29] + name: agent63 + start: [9, 21] +- goal: [17, 19] + name: agent64 + start: [0, 1] +- goal: [10, 4] + name: agent65 + start: [31, 14] +- goal: [25, 4] + name: agent66 + start: [30, 7] +- goal: [30, 21] + name: agent67 + start: [19, 1] +- goal: [5, 9] + name: agent68 + start: [4, 12] +- goal: [0, 2] + name: agent69 + start: [8, 19] +- goal: [4, 26] + name: agent70 + start: [5, 5] +- goal: [26, 22] + name: agent71 + start: [8, 7] +- goal: [11, 3] + name: agent72 + start: [6, 2] +- goal: [5, 24] + name: agent73 + start: [30, 12] +- goal: [22, 20] + name: agent74 + start: [8, 17] +- goal: [3, 25] + name: agent75 + start: [21, 25] +- goal: [28, 6] + name: agent76 + start: [29, 21] +- goal: [31, 12] + name: agent77 + start: [6, 20] +- goal: [30, 28] + name: agent78 + start: [18, 14] +- goal: [11, 13] + name: agent79 + start: [16, 10] +- goal: [22, 25] + name: agent80 + start: [30, 25] +- goal: [30, 20] + name: agent81 + start: [29, 2] +- goal: [1, 26] + name: agent82 + start: [7, 29] +- goal: [15, 25] + name: agent83 + start: [29, 25] +- goal: [24, 11] + name: agent84 + start: [14, 0] +- goal: [28, 10] + name: agent85 + start: [0, 9] +- goal: [21, 17] + name: agent86 + start: [2, 17] +- goal: [24, 17] + name: agent87 + start: [27, 29] +- goal: [16, 26] + name: agent88 + start: [1, 27] +- goal: [15, 6] + name: agent89 + start: [28, 20] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [27, 28] + - !!python/tuple [10, 13] + - !!python/tuple [13, 10] + - !!python/tuple [25, 25] + - !!python/tuple [22, 14] + - !!python/tuple [9, 9] + - !!python/tuple [11, 28] + - !!python/tuple [3, 15] + - !!python/tuple [6, 23] + - !!python/tuple [3, 3] + - !!python/tuple [21, 27] + - !!python/tuple [26, 25] + - !!python/tuple [11, 0] + - !!python/tuple [17, 2] + - !!python/tuple [21, 9] + - !!python/tuple [7, 15] + - !!python/tuple [10, 17] + - !!python/tuple [2, 15] + - !!python/tuple [25, 3] + - !!python/tuple [19, 26] + - !!python/tuple [8, 29] + - !!python/tuple [3, 30] + - !!python/tuple [6, 15] + - !!python/tuple [8, 2] + - !!python/tuple [16, 9] + - !!python/tuple [2, 1] + - !!python/tuple [26, 21] + - !!python/tuple [23, 6] + - !!python/tuple [17, 5] + - !!python/tuple [2, 12] + - !!python/tuple [18, 7] + - !!python/tuple [23, 2] + - !!python/tuple [18, 21] + - !!python/tuple [13, 12] + - !!python/tuple [0, 17] + - !!python/tuple [21, 31] + - !!python/tuple [5, 31] + - !!python/tuple [14, 27] + - !!python/tuple [25, 9] + - !!python/tuple [23, 25] + - !!python/tuple [3, 18] + - !!python/tuple [1, 12] + - !!python/tuple [13, 26] + - !!python/tuple [5, 10] + - !!python/tuple [11, 27] + - !!python/tuple [3, 5] + - !!python/tuple [7, 8] + - !!python/tuple [23, 12] + - !!python/tuple [14, 26] + - !!python/tuple [10, 28] + - !!python/tuple [2, 6] + - !!python/tuple [30, 10] + - !!python/tuple [29, 12] + - !!python/tuple [23, 9] + - !!python/tuple [23, 7] + - !!python/tuple [12, 16] + - !!python/tuple [25, 1] + - !!python/tuple [24, 18] + - !!python/tuple [17, 15] + - !!python/tuple [13, 25] + - !!python/tuple [5, 19] + - !!python/tuple [12, 30] + - !!python/tuple [8, 31] + - !!python/tuple [4, 24] + - !!python/tuple [9, 13] + - !!python/tuple [16, 18] + - !!python/tuple [26, 28] + - !!python/tuple [31, 0] + - !!python/tuple [18, 19] + - !!python/tuple [13, 29] + - !!python/tuple [2, 8] + - !!python/tuple [26, 6] + - !!python/tuple [0, 0] + - !!python/tuple [26, 26] + - !!python/tuple [13, 7] + - !!python/tuple [21, 26] + - !!python/tuple [9, 27] + - !!python/tuple [12, 10] + - !!python/tuple [25, 15] + - !!python/tuple [29, 19] + - !!python/tuple [29, 29] + - !!python/tuple [26, 12] + - !!python/tuple [11, 2] + - !!python/tuple [15, 3] + - !!python/tuple [0, 27] + - !!python/tuple [20, 8] + - !!python/tuple [1, 31] + - !!python/tuple [6, 22] + - !!python/tuple [13, 1] + - !!python/tuple [3, 11] + - !!python/tuple [18, 0] + - !!python/tuple [24, 5] + - !!python/tuple [21, 18] + - !!python/tuple [22, 22] + - !!python/tuple [17, 29] + - !!python/tuple [13, 15] + - !!python/tuple [20, 14] + - !!python/tuple [13, 3] + - !!python/tuple [6, 18] + - !!python/tuple [0, 12] + - !!python/tuple [13, 2] + - !!python/tuple [15, 15] + - !!python/tuple [15, 29] + - !!python/tuple [15, 5] + - !!python/tuple [29, 16] + - !!python/tuple [9, 3] + - !!python/tuple [28, 15] + - !!python/tuple [24, 9] + - !!python/tuple [8, 20] + - !!python/tuple [28, 2] + - !!python/tuple [8, 15] + - !!python/tuple [10, 26] + - !!python/tuple [28, 18] + - !!python/tuple [11, 19] + - !!python/tuple [15, 24] + - !!python/tuple [5, 16] + - !!python/tuple [30, 5] + - !!python/tuple [22, 26] + - !!python/tuple [13, 20] + - !!python/tuple [6, 26] + - !!python/tuple [2, 30] + - !!python/tuple [1, 29] + - !!python/tuple [13, 13] + - !!python/tuple [4, 18] + - !!python/tuple [5, 20] + - !!python/tuple [25, 7] + - !!python/tuple [6, 27] + - !!python/tuple [26, 3] + - !!python/tuple [6, 16] + - !!python/tuple [1, 2] + - !!python/tuple [18, 31] + - !!python/tuple [3, 1] + - !!python/tuple [21, 19] + - !!python/tuple [20, 9] + - !!python/tuple [12, 22] + - !!python/tuple [10, 27] + - !!python/tuple [17, 24] + - !!python/tuple [10, 0] + - !!python/tuple [2, 31] + - !!python/tuple [25, 16] + - !!python/tuple [12, 19] + - !!python/tuple [8, 5] + - !!python/tuple [20, 23] + - !!python/tuple [18, 16] + - !!python/tuple [21, 3] + - !!python/tuple [9, 29] + - !!python/tuple [7, 1] + - !!python/tuple [21, 0] + - !!python/tuple [0, 5] + - !!python/tuple [27, 8] + - !!python/tuple [15, 23] + - !!python/tuple [17, 7] + - !!python/tuple [24, 1] + - !!python/tuple [21, 12] + - !!python/tuple [24, 14] + - !!python/tuple [4, 8] + - !!python/tuple [27, 22] + - !!python/tuple [31, 18] + - !!python/tuple [25, 13] + - !!python/tuple [16, 22] + - !!python/tuple [24, 7] + - !!python/tuple [18, 15] + - !!python/tuple [16, 25] + - !!python/tuple [20, 11] + - !!python/tuple [23, 27] + - !!python/tuple [18, 17] + - !!python/tuple [22, 30] + - !!python/tuple [21, 14] + - !!python/tuple [1, 7] + - !!python/tuple [31, 29] + - !!python/tuple [12, 2] + - !!python/tuple [19, 20] + - !!python/tuple [24, 16] + - !!python/tuple [30, 8] + - !!python/tuple [22, 7] + - !!python/tuple [6, 19] + - !!python/tuple [9, 11] + - !!python/tuple [25, 27] + - !!python/tuple [20, 4] + - !!python/tuple [31, 24] + - !!python/tuple [1, 15] + - !!python/tuple [15, 7] + - !!python/tuple [26, 8] + - !!python/tuple [8, 6] + - !!python/tuple [9, 12] + - !!python/tuple [2, 2] + - !!python/tuple [10, 6] + - !!python/tuple [23, 13] + - !!python/tuple [27, 9] + - !!python/tuple [0, 23] + - !!python/tuple [19, 8] + - !!python/tuple [22, 29] + - !!python/tuple [22, 9] + - !!python/tuple [0, 8] + - !!python/tuple [29, 3] + - !!python/tuple [2, 23] + - !!python/tuple [0, 14] + - !!python/tuple [29, 1] + - !!python/tuple [26, 23] + - !!python/tuple [1, 4] + - !!python/tuple [12, 4] + - !!python/tuple [14, 1] + - !!python/tuple [31, 28] + - !!python/tuple [28, 17] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex32.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex32.yaml new file mode 100644 index 0000000..1a89a3b --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex32.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [21, 6] + name: agent0 + start: [20, 3] +- goal: [14, 27] + name: agent1 + start: [28, 30] +- goal: [15, 8] + name: agent2 + start: [2, 6] +- goal: [3, 12] + name: agent3 + start: [18, 13] +- goal: [27, 30] + name: agent4 + start: [1, 20] +- goal: [19, 18] + name: agent5 + start: [10, 31] +- goal: [18, 31] + name: agent6 + start: [4, 6] +- goal: [24, 21] + name: agent7 + start: [21, 6] +- goal: [2, 6] + name: agent8 + start: [8, 8] +- goal: [7, 23] + name: agent9 + start: [4, 16] +- goal: [21, 14] + name: agent10 + start: [6, 2] +- goal: [21, 23] + name: agent11 + start: [25, 12] +- goal: [7, 8] + name: agent12 + start: [20, 12] +- goal: [25, 23] + name: agent13 + start: [28, 22] +- goal: [7, 27] + name: agent14 + start: [15, 1] +- goal: [29, 6] + name: agent15 + start: [19, 12] +- goal: [4, 9] + name: agent16 + start: [19, 1] +- goal: [1, 28] + name: agent17 + start: [27, 0] +- goal: [20, 5] + name: agent18 + start: [29, 11] +- goal: [23, 7] + name: agent19 + start: [31, 12] +- goal: [10, 20] + name: agent20 + start: [17, 19] +- goal: [31, 22] + name: agent21 + start: [22, 28] +- goal: [24, 25] + name: agent22 + start: [18, 10] +- goal: [6, 30] + name: agent23 + start: [13, 26] +- goal: [7, 11] + name: agent24 + start: [3, 11] +- goal: [5, 0] + name: agent25 + start: [19, 23] +- goal: [5, 31] + name: agent26 + start: [20, 22] +- goal: [7, 29] + name: agent27 + start: [25, 16] +- goal: [8, 4] + name: agent28 + start: [0, 1] +- goal: [12, 20] + name: agent29 + start: [26, 29] +- goal: [4, 22] + name: agent30 + start: [22, 21] +- goal: [0, 14] + name: agent31 + start: [31, 26] +- goal: [15, 18] + name: agent32 + start: [26, 13] +- goal: [1, 7] + name: agent33 + start: [19, 14] +- goal: [6, 3] + name: agent34 + start: [25, 28] +- goal: [30, 6] + name: agent35 + start: [23, 30] +- goal: [1, 30] + name: agent36 + start: [23, 31] +- goal: [15, 25] + name: agent37 + start: [6, 5] +- goal: [22, 30] + name: agent38 + start: [22, 26] +- goal: [16, 17] + name: agent39 + start: [2, 16] +- goal: [20, 31] + name: agent40 + start: [23, 10] +- goal: [11, 14] + name: agent41 + start: [2, 1] +- goal: [15, 11] + name: agent42 + start: [12, 9] +- goal: [1, 8] + name: agent43 + start: [30, 8] +- goal: [25, 4] + name: agent44 + start: [31, 10] +- goal: [0, 31] + name: agent45 + start: [12, 1] +- goal: [15, 4] + name: agent46 + start: [7, 17] +- goal: [14, 12] + name: agent47 + start: [2, 13] +- goal: [8, 21] + name: agent48 + start: [10, 22] +- goal: [26, 1] + name: agent49 + start: [19, 16] +- goal: [11, 6] + name: agent50 + start: [22, 12] +- goal: [18, 26] + name: agent51 + start: [15, 9] +- goal: [16, 1] + name: agent52 + start: [15, 26] +- goal: [4, 2] + name: agent53 + start: [28, 9] +- goal: [8, 5] + name: agent54 + start: [23, 2] +- goal: [1, 4] + name: agent55 + start: [22, 11] +- goal: [15, 15] + name: agent56 + start: [17, 14] +- goal: [0, 11] + name: agent57 + start: [25, 21] +- goal: [13, 4] + name: agent58 + start: [23, 1] +- goal: [15, 24] + name: agent59 + start: [24, 13] +- goal: [16, 5] + name: agent60 + start: [5, 5] +- goal: [6, 28] + name: agent61 + start: [29, 3] +- goal: [2, 19] + name: agent62 + start: [21, 5] +- goal: [31, 8] + name: agent63 + start: [10, 12] +- goal: [28, 31] + name: agent64 + start: [2, 28] +- goal: [5, 24] + name: agent65 + start: [12, 18] +- goal: [16, 26] + name: agent66 + start: [24, 4] +- goal: [9, 0] + name: agent67 + start: [20, 15] +- goal: [7, 24] + name: agent68 + start: [24, 25] +- goal: [15, 1] + name: agent69 + start: [11, 28] +- goal: [9, 25] + name: agent70 + start: [16, 10] +- goal: [29, 17] + name: agent71 + start: [28, 13] +- goal: [0, 26] + name: agent72 + start: [31, 7] +- goal: [20, 0] + name: agent73 + start: [26, 9] +- goal: [4, 5] + name: agent74 + start: [9, 5] +- goal: [23, 6] + name: agent75 + start: [14, 16] +- goal: [16, 0] + name: agent76 + start: [1, 15] +- goal: [3, 6] + name: agent77 + start: [5, 27] +- goal: [26, 7] + name: agent78 + start: [3, 13] +- goal: [12, 31] + name: agent79 + start: [6, 26] +- goal: [18, 23] + name: agent80 + start: [25, 26] +- goal: [25, 21] + name: agent81 + start: [11, 9] +- goal: [2, 12] + name: agent82 + start: [29, 13] +- goal: [22, 26] + name: agent83 + start: [18, 19] +- goal: [6, 13] + name: agent84 + start: [25, 10] +- goal: [15, 31] + name: agent85 + start: [28, 31] +- goal: [27, 23] + name: agent86 + start: [18, 18] +- goal: [27, 0] + name: agent87 + start: [10, 10] +- goal: [1, 23] + name: agent88 + start: [31, 13] +- goal: [16, 30] + name: agent89 + start: [21, 14] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [11, 4] + - !!python/tuple [2, 30] + - !!python/tuple [1, 5] + - !!python/tuple [3, 19] + - !!python/tuple [28, 8] + - !!python/tuple [19, 7] + - !!python/tuple [6, 20] + - !!python/tuple [24, 19] + - !!python/tuple [28, 21] + - !!python/tuple [8, 9] + - !!python/tuple [28, 4] + - !!python/tuple [17, 18] + - !!python/tuple [20, 9] + - !!python/tuple [2, 7] + - !!python/tuple [17, 28] + - !!python/tuple [28, 14] + - !!python/tuple [28, 27] + - !!python/tuple [29, 24] + - !!python/tuple [4, 25] + - !!python/tuple [16, 31] + - !!python/tuple [16, 21] + - !!python/tuple [25, 0] + - !!python/tuple [17, 12] + - !!python/tuple [23, 25] + - !!python/tuple [0, 16] + - !!python/tuple [16, 16] + - !!python/tuple [6, 0] + - !!python/tuple [4, 31] + - !!python/tuple [17, 22] + - !!python/tuple [30, 12] + - !!python/tuple [17, 29] + - !!python/tuple [20, 16] + - !!python/tuple [4, 4] + - !!python/tuple [7, 22] + - !!python/tuple [11, 21] + - !!python/tuple [19, 2] + - !!python/tuple [21, 22] + - !!python/tuple [31, 20] + - !!python/tuple [23, 27] + - !!python/tuple [18, 15] + - !!python/tuple [14, 25] + - !!python/tuple [8, 17] + - !!python/tuple [17, 13] + - !!python/tuple [17, 23] + - !!python/tuple [13, 10] + - !!python/tuple [0, 15] + - !!python/tuple [8, 18] + - !!python/tuple [5, 21] + - !!python/tuple [10, 19] + - !!python/tuple [30, 14] + - !!python/tuple [24, 24] + - !!python/tuple [7, 12] + - !!python/tuple [10, 28] + - !!python/tuple [13, 27] + - !!python/tuple [28, 0] + - !!python/tuple [4, 1] + - !!python/tuple [7, 7] + - !!python/tuple [18, 11] + - !!python/tuple [10, 14] + - !!python/tuple [8, 29] + - !!python/tuple [17, 30] + - !!python/tuple [18, 20] + - !!python/tuple [16, 18] + - !!python/tuple [24, 16] + - !!python/tuple [0, 30] + - !!python/tuple [13, 21] + - !!python/tuple [18, 27] + - !!python/tuple [2, 29] + - !!python/tuple [11, 24] + - !!python/tuple [17, 11] + - !!python/tuple [12, 26] + - !!python/tuple [3, 28] + - !!python/tuple [17, 5] + - !!python/tuple [20, 19] + - !!python/tuple [23, 14] + - !!python/tuple [5, 4] + - !!python/tuple [30, 9] + - !!python/tuple [13, 30] + - !!python/tuple [12, 16] + - !!python/tuple [27, 10] + - !!python/tuple [27, 13] + - !!python/tuple [8, 13] + - !!python/tuple [11, 8] + - !!python/tuple [23, 9] + - !!python/tuple [21, 11] + - !!python/tuple [26, 21] + - !!python/tuple [4, 20] + - !!python/tuple [15, 16] + - !!python/tuple [0, 25] + - !!python/tuple [27, 3] + - !!python/tuple [20, 28] + - !!python/tuple [4, 8] + - !!python/tuple [5, 26] + - !!python/tuple [7, 26] + - !!python/tuple [24, 2] + - !!python/tuple [10, 3] + - !!python/tuple [21, 15] + - !!python/tuple [9, 16] + - !!python/tuple [5, 23] + - !!python/tuple [13, 5] + - !!python/tuple [7, 5] + - !!python/tuple [18, 28] + - !!python/tuple [9, 28] + - !!python/tuple [16, 9] + - !!python/tuple [25, 3] + - !!python/tuple [20, 14] + - !!python/tuple [29, 1] + - !!python/tuple [22, 24] + - !!python/tuple [5, 20] + - !!python/tuple [11, 30] + - !!python/tuple [2, 22] + - !!python/tuple [16, 24] + - !!python/tuple [30, 28] + - !!python/tuple [23, 21] + - !!python/tuple [22, 14] + - !!python/tuple [17, 2] + - !!python/tuple [9, 4] + - !!python/tuple [2, 3] + - !!python/tuple [16, 11] + - !!python/tuple [9, 9] + - !!python/tuple [14, 5] + - !!python/tuple [1, 1] + - !!python/tuple [3, 17] + - !!python/tuple [13, 23] + - !!python/tuple [16, 12] + - !!python/tuple [7, 28] + - !!python/tuple [26, 31] + - !!python/tuple [29, 21] + - !!python/tuple [23, 0] + - !!python/tuple [17, 4] + - !!python/tuple [16, 6] + - !!python/tuple [7, 3] + - !!python/tuple [29, 12] + - !!python/tuple [8, 1] + - !!python/tuple [26, 16] + - !!python/tuple [9, 6] + - !!python/tuple [24, 20] + - !!python/tuple [21, 25] + - !!python/tuple [6, 9] + - !!python/tuple [5, 30] + - !!python/tuple [23, 29] + - !!python/tuple [17, 17] + - !!python/tuple [8, 28] + - !!python/tuple [28, 23] + - !!python/tuple [19, 13] + - !!python/tuple [12, 3] + - !!python/tuple [23, 17] + - !!python/tuple [17, 15] + - !!python/tuple [30, 23] + - !!python/tuple [17, 7] + - !!python/tuple [17, 8] + - !!python/tuple [5, 16] + - !!python/tuple [9, 8] + - !!python/tuple [5, 2] + - !!python/tuple [9, 10] + - !!python/tuple [24, 7] + - !!python/tuple [26, 15] + - !!python/tuple [20, 1] + - !!python/tuple [6, 1] + - !!python/tuple [19, 8] + - !!python/tuple [21, 4] + - !!python/tuple [2, 8] + - !!python/tuple [13, 24] + - !!python/tuple [23, 23] + - !!python/tuple [24, 30] + - !!python/tuple [30, 2] + - !!python/tuple [0, 8] + - !!python/tuple [9, 22] + - !!python/tuple [1, 26] + - !!python/tuple [16, 25] + - !!python/tuple [2, 15] + - !!python/tuple [19, 27] + - !!python/tuple [21, 1] + - !!python/tuple [27, 28] + - !!python/tuple [13, 18] + - !!python/tuple [1, 0] + - !!python/tuple [10, 21] + - !!python/tuple [7, 6] + - !!python/tuple [14, 28] + - !!python/tuple [22, 1] + - !!python/tuple [3, 16] + - !!python/tuple [30, 16] + - !!python/tuple [19, 26] + - !!python/tuple [8, 12] + - !!python/tuple [2, 27] + - !!python/tuple [31, 21] + - !!python/tuple [3, 20] + - !!python/tuple [25, 17] + - !!python/tuple [28, 7] + - !!python/tuple [18, 0] + - !!python/tuple [15, 7] + - !!python/tuple [22, 8] + - !!python/tuple [24, 8] + - !!python/tuple [18, 3] + - !!python/tuple [2, 23] + - !!python/tuple [31, 3] + - !!python/tuple [25, 11] + - !!python/tuple [3, 7] + - !!python/tuple [20, 10] + - !!python/tuple [15, 13] + - !!python/tuple [7, 2] + - !!python/tuple [21, 12] + - !!python/tuple [24, 5] + - !!python/tuple [30, 5] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex33.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex33.yaml new file mode 100644 index 0000000..ba1eb5a --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex33.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [21, 9] + name: agent0 + start: [27, 18] +- goal: [15, 17] + name: agent1 + start: [18, 29] +- goal: [16, 27] + name: agent2 + start: [1, 30] +- goal: [0, 9] + name: agent3 + start: [9, 27] +- goal: [8, 8] + name: agent4 + start: [15, 27] +- goal: [24, 18] + name: agent5 + start: [0, 15] +- goal: [5, 12] + name: agent6 + start: [31, 23] +- goal: [19, 27] + name: agent7 + start: [24, 21] +- goal: [26, 12] + name: agent8 + start: [31, 0] +- goal: [2, 2] + name: agent9 + start: [6, 24] +- goal: [4, 23] + name: agent10 + start: [23, 3] +- goal: [17, 15] + name: agent11 + start: [21, 11] +- goal: [30, 21] + name: agent12 + start: [27, 19] +- goal: [12, 23] + name: agent13 + start: [3, 20] +- goal: [6, 15] + name: agent14 + start: [2, 29] +- goal: [5, 26] + name: agent15 + start: [8, 23] +- goal: [9, 18] + name: agent16 + start: [2, 0] +- goal: [27, 19] + name: agent17 + start: [21, 18] +- goal: [23, 25] + name: agent18 + start: [18, 0] +- goal: [0, 4] + name: agent19 + start: [24, 26] +- goal: [9, 6] + name: agent20 + start: [12, 13] +- goal: [17, 30] + name: agent21 + start: [16, 10] +- goal: [17, 26] + name: agent22 + start: [11, 4] +- goal: [15, 10] + name: agent23 + start: [20, 5] +- goal: [28, 1] + name: agent24 + start: [15, 7] +- goal: [14, 5] + name: agent25 + start: [5, 27] +- goal: [15, 11] + name: agent26 + start: [31, 17] +- goal: [14, 3] + name: agent27 + start: [19, 17] +- goal: [9, 8] + name: agent28 + start: [27, 7] +- goal: [1, 3] + name: agent29 + start: [21, 25] +- goal: [30, 8] + name: agent30 + start: [11, 11] +- goal: [9, 20] + name: agent31 + start: [28, 29] +- goal: [8, 29] + name: agent32 + start: [6, 10] +- goal: [28, 31] + name: agent33 + start: [13, 6] +- goal: [14, 29] + name: agent34 + start: [8, 22] +- goal: [30, 17] + name: agent35 + start: [29, 19] +- goal: [17, 10] + name: agent36 + start: [30, 29] +- goal: [14, 17] + name: agent37 + start: [12, 21] +- goal: [7, 8] + name: agent38 + start: [14, 9] +- goal: [9, 12] + name: agent39 + start: [0, 6] +- goal: [22, 29] + name: agent40 + start: [26, 0] +- goal: [4, 20] + name: agent41 + start: [11, 13] +- goal: [21, 28] + name: agent42 + start: [13, 21] +- goal: [11, 30] + name: agent43 + start: [15, 17] +- goal: [26, 1] + name: agent44 + start: [0, 26] +- goal: [18, 10] + name: agent45 + start: [10, 19] +- goal: [22, 31] + name: agent46 + start: [15, 20] +- goal: [20, 15] + name: agent47 + start: [28, 4] +- goal: [16, 28] + name: agent48 + start: [5, 11] +- goal: [31, 29] + name: agent49 + start: [17, 10] +- goal: [29, 28] + name: agent50 + start: [12, 5] +- goal: [28, 30] + name: agent51 + start: [27, 12] +- goal: [15, 12] + name: agent52 + start: [19, 22] +- goal: [22, 0] + name: agent53 + start: [28, 30] +- goal: [25, 31] + name: agent54 + start: [23, 5] +- goal: [31, 13] + name: agent55 + start: [1, 4] +- goal: [14, 25] + name: agent56 + start: [26, 1] +- goal: [12, 28] + name: agent57 + start: [9, 31] +- goal: [6, 28] + name: agent58 + start: [0, 17] +- goal: [18, 11] + name: agent59 + start: [10, 10] +- goal: [22, 19] + name: agent60 + start: [27, 25] +- goal: [31, 22] + name: agent61 + start: [10, 31] +- goal: [22, 13] + name: agent62 + start: [20, 6] +- goal: [31, 1] + name: agent63 + start: [24, 5] +- goal: [29, 7] + name: agent64 + start: [15, 13] +- goal: [19, 22] + name: agent65 + start: [28, 0] +- goal: [21, 20] + name: agent66 + start: [8, 15] +- goal: [11, 17] + name: agent67 + start: [15, 22] +- goal: [11, 8] + name: agent68 + start: [7, 15] +- goal: [30, 12] + name: agent69 + start: [20, 8] +- goal: [28, 15] + name: agent70 + start: [31, 13] +- goal: [21, 22] + name: agent71 + start: [1, 16] +- goal: [13, 28] + name: agent72 + start: [18, 31] +- goal: [27, 14] + name: agent73 + start: [17, 17] +- goal: [20, 28] + name: agent74 + start: [4, 15] +- goal: [9, 24] + name: agent75 + start: [26, 25] +- goal: [22, 6] + name: agent76 + start: [11, 19] +- goal: [21, 15] + name: agent77 + start: [26, 12] +- goal: [1, 19] + name: agent78 + start: [7, 6] +- goal: [25, 30] + name: agent79 + start: [8, 6] +- goal: [22, 22] + name: agent80 + start: [24, 20] +- goal: [0, 25] + name: agent81 + start: [2, 24] +- goal: [31, 21] + name: agent82 + start: [4, 8] +- goal: [16, 0] + name: agent83 + start: [30, 6] +- goal: [29, 11] + name: agent84 + start: [13, 2] +- goal: [11, 11] + name: agent85 + start: [12, 7] +- goal: [25, 4] + name: agent86 + start: [31, 22] +- goal: [11, 28] + name: agent87 + start: [24, 4] +- goal: [25, 29] + name: agent88 + start: [0, 25] +- goal: [5, 11] + name: agent89 + start: [31, 16] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [18, 13] + - !!python/tuple [14, 4] + - !!python/tuple [9, 7] + - !!python/tuple [5, 1] + - !!python/tuple [0, 18] + - !!python/tuple [21, 0] + - !!python/tuple [31, 14] + - !!python/tuple [6, 9] + - !!python/tuple [29, 21] + - !!python/tuple [13, 8] + - !!python/tuple [31, 7] + - !!python/tuple [25, 13] + - !!python/tuple [6, 27] + - !!python/tuple [4, 16] + - !!python/tuple [24, 17] + - !!python/tuple [2, 4] + - !!python/tuple [25, 25] + - !!python/tuple [2, 15] + - !!python/tuple [13, 4] + - !!python/tuple [13, 7] + - !!python/tuple [10, 30] + - !!python/tuple [21, 3] + - !!python/tuple [30, 5] + - !!python/tuple [9, 2] + - !!python/tuple [2, 1] + - !!python/tuple [21, 26] + - !!python/tuple [23, 14] + - !!python/tuple [10, 3] + - !!python/tuple [31, 5] + - !!python/tuple [28, 25] + - !!python/tuple [3, 15] + - !!python/tuple [29, 23] + - !!python/tuple [16, 9] + - !!python/tuple [9, 0] + - !!python/tuple [3, 12] + - !!python/tuple [11, 15] + - !!python/tuple [1, 6] + - !!python/tuple [14, 24] + - !!python/tuple [31, 6] + - !!python/tuple [10, 18] + - !!python/tuple [9, 23] + - !!python/tuple [8, 27] + - !!python/tuple [14, 19] + - !!python/tuple [26, 6] + - !!python/tuple [20, 29] + - !!python/tuple [26, 15] + - !!python/tuple [28, 19] + - !!python/tuple [20, 16] + - !!python/tuple [19, 13] + - !!python/tuple [29, 29] + - !!python/tuple [25, 12] + - !!python/tuple [10, 22] + - !!python/tuple [25, 17] + - !!python/tuple [22, 16] + - !!python/tuple [31, 26] + - !!python/tuple [14, 18] + - !!python/tuple [6, 14] + - !!python/tuple [16, 6] + - !!python/tuple [13, 20] + - !!python/tuple [4, 26] + - !!python/tuple [1, 10] + - !!python/tuple [13, 10] + - !!python/tuple [0, 2] + - !!python/tuple [0, 20] + - !!python/tuple [7, 27] + - !!python/tuple [13, 27] + - !!python/tuple [18, 22] + - !!python/tuple [25, 16] + - !!python/tuple [29, 12] + - !!python/tuple [24, 11] + - !!python/tuple [13, 29] + - !!python/tuple [1, 17] + - !!python/tuple [15, 2] + - !!python/tuple [18, 19] + - !!python/tuple [25, 22] + - !!python/tuple [6, 2] + - !!python/tuple [12, 24] + - !!python/tuple [22, 25] + - !!python/tuple [1, 20] + - !!python/tuple [22, 12] + - !!python/tuple [27, 3] + - !!python/tuple [0, 13] + - !!python/tuple [7, 4] + - !!python/tuple [26, 4] + - !!python/tuple [4, 22] + - !!python/tuple [18, 7] + - !!python/tuple [2, 27] + - !!python/tuple [22, 10] + - !!python/tuple [0, 12] + - !!python/tuple [9, 1] + - !!python/tuple [23, 24] + - !!python/tuple [31, 4] + - !!python/tuple [2, 16] + - !!python/tuple [15, 31] + - !!python/tuple [16, 21] + - !!python/tuple [30, 13] + - !!python/tuple [27, 28] + - !!python/tuple [25, 15] + - !!python/tuple [26, 10] + - !!python/tuple [23, 28] + - !!python/tuple [6, 7] + - !!python/tuple [12, 25] + - !!python/tuple [30, 4] + - !!python/tuple [16, 11] + - !!python/tuple [5, 28] + - !!python/tuple [3, 19] + - !!python/tuple [11, 7] + - !!python/tuple [13, 9] + - !!python/tuple [24, 2] + - !!python/tuple [25, 3] + - !!python/tuple [9, 17] + - !!python/tuple [4, 13] + - !!python/tuple [27, 10] + - !!python/tuple [18, 30] + - !!python/tuple [29, 18] + - !!python/tuple [3, 8] + - !!python/tuple [2, 28] + - !!python/tuple [8, 31] + - !!python/tuple [10, 1] + - !!python/tuple [26, 18] + - !!python/tuple [26, 5] + - !!python/tuple [13, 24] + - !!python/tuple [6, 11] + - !!python/tuple [23, 16] + - !!python/tuple [16, 13] + - !!python/tuple [7, 18] + - !!python/tuple [26, 7] + - !!python/tuple [5, 16] + - !!python/tuple [9, 11] + - !!python/tuple [0, 19] + - !!python/tuple [24, 30] + - !!python/tuple [22, 18] + - !!python/tuple [30, 27] + - !!python/tuple [2, 7] + - !!python/tuple [13, 31] + - !!python/tuple [20, 27] + - !!python/tuple [17, 13] + - !!python/tuple [31, 10] + - !!python/tuple [4, 0] + - !!python/tuple [23, 30] + - !!python/tuple [19, 20] + - !!python/tuple [16, 29] + - !!python/tuple [8, 3] + - !!python/tuple [4, 30] + - !!python/tuple [21, 17] + - !!python/tuple [24, 28] + - !!python/tuple [27, 20] + - !!python/tuple [11, 12] + - !!python/tuple [12, 22] + - !!python/tuple [0, 22] + - !!python/tuple [17, 22] + - !!python/tuple [5, 30] + - !!python/tuple [0, 8] + - !!python/tuple [8, 9] + - !!python/tuple [1, 15] + - !!python/tuple [31, 9] + - !!python/tuple [26, 24] + - !!python/tuple [29, 14] + - !!python/tuple [1, 11] + - !!python/tuple [4, 21] + - !!python/tuple [7, 28] + - !!python/tuple [30, 16] + - !!python/tuple [30, 7] + - !!python/tuple [24, 7] + - !!python/tuple [31, 28] + - !!python/tuple [2, 26] + - !!python/tuple [19, 3] + - !!python/tuple [18, 8] + - !!python/tuple [6, 26] + - !!python/tuple [17, 12] + - !!python/tuple [5, 18] + - !!python/tuple [23, 27] + - !!python/tuple [18, 24] + - !!python/tuple [24, 15] + - !!python/tuple [9, 21] + - !!python/tuple [8, 21] + - !!python/tuple [21, 19] + - !!python/tuple [7, 12] + - !!python/tuple [1, 1] + - !!python/tuple [23, 23] + - !!python/tuple [3, 4] + - !!python/tuple [2, 14] + - !!python/tuple [15, 28] + - !!python/tuple [3, 24] + - !!python/tuple [4, 10] + - !!python/tuple [4, 17] + - !!python/tuple [22, 2] + - !!python/tuple [2, 6] + - !!python/tuple [17, 20] + - !!python/tuple [5, 9] + - !!python/tuple [19, 23] + - !!python/tuple [28, 14] + - !!python/tuple [23, 22] + - !!python/tuple [25, 20] + - !!python/tuple [0, 23] + - !!python/tuple [17, 0] + - !!python/tuple [28, 13] + - !!python/tuple [23, 19] + - !!python/tuple [27, 4] + - !!python/tuple [29, 3] + - !!python/tuple [29, 1] + - !!python/tuple [2, 8] + - !!python/tuple [5, 15] + - !!python/tuple [2, 10] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex34.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex34.yaml new file mode 100644 index 0000000..9a2d840 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex34.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [9, 10] + name: agent0 + start: [4, 16] +- goal: [28, 31] + name: agent1 + start: [27, 17] +- goal: [8, 12] + name: agent2 + start: [30, 18] +- goal: [12, 11] + name: agent3 + start: [28, 14] +- goal: [8, 26] + name: agent4 + start: [5, 21] +- goal: [13, 16] + name: agent5 + start: [11, 15] +- goal: [17, 9] + name: agent6 + start: [12, 21] +- goal: [25, 1] + name: agent7 + start: [27, 25] +- goal: [30, 30] + name: agent8 + start: [8, 31] +- goal: [3, 14] + name: agent9 + start: [7, 25] +- goal: [22, 15] + name: agent10 + start: [26, 9] +- goal: [22, 3] + name: agent11 + start: [16, 6] +- goal: [8, 15] + name: agent12 + start: [29, 15] +- goal: [13, 28] + name: agent13 + start: [27, 9] +- goal: [27, 1] + name: agent14 + start: [0, 2] +- goal: [17, 23] + name: agent15 + start: [11, 28] +- goal: [28, 23] + name: agent16 + start: [16, 1] +- goal: [4, 6] + name: agent17 + start: [3, 28] +- goal: [18, 17] + name: agent18 + start: [7, 3] +- goal: [2, 27] + name: agent19 + start: [22, 2] +- goal: [2, 30] + name: agent20 + start: [14, 9] +- goal: [6, 16] + name: agent21 + start: [3, 16] +- goal: [19, 16] + name: agent22 + start: [17, 25] +- goal: [14, 10] + name: agent23 + start: [27, 30] +- goal: [2, 29] + name: agent24 + start: [26, 1] +- goal: [13, 7] + name: agent25 + start: [4, 15] +- goal: [26, 17] + name: agent26 + start: [24, 16] +- goal: [18, 0] + name: agent27 + start: [25, 23] +- goal: [15, 26] + name: agent28 + start: [2, 27] +- goal: [21, 13] + name: agent29 + start: [26, 15] +- goal: [24, 24] + name: agent30 + start: [7, 9] +- goal: [23, 11] + name: agent31 + start: [29, 22] +- goal: [27, 4] + name: agent32 + start: [4, 19] +- goal: [7, 20] + name: agent33 + start: [0, 12] +- goal: [26, 20] + name: agent34 + start: [13, 26] +- goal: [16, 13] + name: agent35 + start: [28, 22] +- goal: [12, 25] + name: agent36 + start: [8, 1] +- goal: [22, 13] + name: agent37 + start: [4, 5] +- goal: [0, 16] + name: agent38 + start: [31, 5] +- goal: [9, 4] + name: agent39 + start: [29, 26] +- goal: [29, 3] + name: agent40 + start: [8, 15] +- goal: [5, 29] + name: agent41 + start: [16, 25] +- goal: [6, 29] + name: agent42 + start: [2, 3] +- goal: [23, 12] + name: agent43 + start: [15, 19] +- goal: [0, 31] + name: agent44 + start: [30, 29] +- goal: [18, 31] + name: agent45 + start: [28, 23] +- goal: [15, 20] + name: agent46 + start: [7, 7] +- goal: [18, 27] + name: agent47 + start: [9, 7] +- goal: [31, 9] + name: agent48 + start: [18, 4] +- goal: [12, 3] + name: agent49 + start: [2, 2] +- goal: [18, 26] + name: agent50 + start: [30, 22] +- goal: [7, 22] + name: agent51 + start: [2, 24] +- goal: [3, 16] + name: agent52 + start: [9, 11] +- goal: [16, 31] + name: agent53 + start: [27, 2] +- goal: [12, 22] + name: agent54 + start: [0, 19] +- goal: [8, 31] + name: agent55 + start: [28, 4] +- goal: [29, 16] + name: agent56 + start: [11, 13] +- goal: [7, 31] + name: agent57 + start: [9, 24] +- goal: [7, 9] + name: agent58 + start: [27, 6] +- goal: [30, 26] + name: agent59 + start: [23, 17] +- goal: [21, 30] + name: agent60 + start: [10, 1] +- goal: [1, 29] + name: agent61 + start: [27, 12] +- goal: [30, 12] + name: agent62 + start: [30, 3] +- goal: [12, 2] + name: agent63 + start: [21, 25] +- goal: [3, 17] + name: agent64 + start: [29, 28] +- goal: [28, 30] + name: agent65 + start: [19, 1] +- goal: [29, 5] + name: agent66 + start: [15, 7] +- goal: [19, 0] + name: agent67 + start: [9, 20] +- goal: [2, 3] + name: agent68 + start: [16, 15] +- goal: [22, 0] + name: agent69 + start: [6, 28] +- goal: [26, 14] + name: agent70 + start: [21, 3] +- goal: [17, 20] + name: agent71 + start: [11, 20] +- goal: [14, 18] + name: agent72 + start: [23, 29] +- goal: [1, 9] + name: agent73 + start: [4, 29] +- goal: [7, 5] + name: agent74 + start: [24, 3] +- goal: [20, 6] + name: agent75 + start: [17, 12] +- goal: [1, 0] + name: agent76 + start: [4, 8] +- goal: [16, 6] + name: agent77 + start: [27, 5] +- goal: [28, 15] + name: agent78 + start: [1, 18] +- goal: [25, 10] + name: agent79 + start: [11, 14] +- goal: [24, 8] + name: agent80 + start: [29, 20] +- goal: [10, 18] + name: agent81 + start: [26, 13] +- goal: [12, 16] + name: agent82 + start: [2, 11] +- goal: [21, 31] + name: agent83 + start: [13, 24] +- goal: [29, 11] + name: agent84 + start: [29, 11] +- goal: [22, 6] + name: agent85 + start: [16, 9] +- goal: [26, 21] + name: agent86 + start: [7, 2] +- goal: [23, 4] + name: agent87 + start: [19, 28] +- goal: [24, 26] + name: agent88 + start: [5, 0] +- goal: [31, 4] + name: agent89 + start: [2, 31] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [8, 10] + - !!python/tuple [19, 5] + - !!python/tuple [28, 5] + - !!python/tuple [20, 16] + - !!python/tuple [15, 28] + - !!python/tuple [10, 25] + - !!python/tuple [28, 28] + - !!python/tuple [2, 8] + - !!python/tuple [16, 3] + - !!python/tuple [1, 1] + - !!python/tuple [21, 17] + - !!python/tuple [22, 16] + - !!python/tuple [19, 20] + - !!python/tuple [1, 25] + - !!python/tuple [23, 26] + - !!python/tuple [25, 19] + - !!python/tuple [17, 2] + - !!python/tuple [8, 13] + - !!python/tuple [13, 15] + - !!python/tuple [5, 18] + - !!python/tuple [11, 16] + - !!python/tuple [6, 20] + - !!python/tuple [23, 22] + - !!python/tuple [25, 21] + - !!python/tuple [15, 25] + - !!python/tuple [22, 30] + - !!python/tuple [18, 22] + - !!python/tuple [17, 8] + - !!python/tuple [1, 23] + - !!python/tuple [6, 23] + - !!python/tuple [0, 17] + - !!python/tuple [6, 13] + - !!python/tuple [16, 5] + - !!python/tuple [19, 6] + - !!python/tuple [1, 28] + - !!python/tuple [31, 29] + - !!python/tuple [24, 2] + - !!python/tuple [28, 8] + - !!python/tuple [4, 22] + - !!python/tuple [14, 27] + - !!python/tuple [7, 4] + - !!python/tuple [31, 17] + - !!python/tuple [27, 31] + - !!python/tuple [25, 16] + - !!python/tuple [27, 19] + - !!python/tuple [17, 13] + - !!python/tuple [29, 0] + - !!python/tuple [15, 11] + - !!python/tuple [22, 24] + - !!python/tuple [13, 0] + - !!python/tuple [14, 15] + - !!python/tuple [31, 16] + - !!python/tuple [20, 1] + - !!python/tuple [11, 30] + - !!python/tuple [24, 11] + - !!python/tuple [17, 17] + - !!python/tuple [12, 29] + - !!python/tuple [5, 27] + - !!python/tuple [26, 2] + - !!python/tuple [10, 27] + - !!python/tuple [8, 24] + - !!python/tuple [5, 22] + - !!python/tuple [18, 19] + - !!python/tuple [17, 7] + - !!python/tuple [21, 28] + - !!python/tuple [11, 6] + - !!python/tuple [19, 11] + - !!python/tuple [20, 20] + - !!python/tuple [10, 8] + - !!python/tuple [10, 6] + - !!python/tuple [4, 9] + - !!python/tuple [22, 19] + - !!python/tuple [9, 9] + - !!python/tuple [7, 1] + - !!python/tuple [31, 8] + - !!python/tuple [5, 17] + - !!python/tuple [17, 19] + - !!python/tuple [10, 14] + - !!python/tuple [27, 15] + - !!python/tuple [21, 1] + - !!python/tuple [8, 3] + - !!python/tuple [26, 30] + - !!python/tuple [28, 19] + - !!python/tuple [18, 16] + - !!python/tuple [8, 29] + - !!python/tuple [24, 20] + - !!python/tuple [29, 13] + - !!python/tuple [12, 23] + - !!python/tuple [5, 3] + - !!python/tuple [23, 13] + - !!python/tuple [25, 29] + - !!python/tuple [15, 27] + - !!python/tuple [17, 5] + - !!python/tuple [2, 28] + - !!python/tuple [30, 23] + - !!python/tuple [21, 5] + - !!python/tuple [25, 8] + - !!python/tuple [15, 24] + - !!python/tuple [5, 4] + - !!python/tuple [7, 28] + - !!python/tuple [20, 29] + - !!python/tuple [1, 24] + - !!python/tuple [16, 8] + - !!python/tuple [31, 11] + - !!python/tuple [27, 27] + - !!python/tuple [0, 20] + - !!python/tuple [12, 0] + - !!python/tuple [31, 13] + - !!python/tuple [4, 13] + - !!python/tuple [28, 1] + - !!python/tuple [10, 13] + - !!python/tuple [7, 19] + - !!python/tuple [4, 14] + - !!python/tuple [13, 10] + - !!python/tuple [0, 25] + - !!python/tuple [9, 17] + - !!python/tuple [27, 29] + - !!python/tuple [12, 19] + - !!python/tuple [10, 3] + - !!python/tuple [24, 4] + - !!python/tuple [4, 12] + - !!python/tuple [20, 26] + - !!python/tuple [31, 22] + - !!python/tuple [12, 1] + - !!python/tuple [19, 2] + - !!python/tuple [18, 18] + - !!python/tuple [7, 10] + - !!python/tuple [14, 3] + - !!python/tuple [20, 10] + - !!python/tuple [12, 24] + - !!python/tuple [11, 27] + - !!python/tuple [19, 12] + - !!python/tuple [4, 17] + - !!python/tuple [5, 20] + - !!python/tuple [2, 26] + - !!python/tuple [30, 15] + - !!python/tuple [8, 27] + - !!python/tuple [30, 16] + - !!python/tuple [21, 29] + - !!python/tuple [6, 3] + - !!python/tuple [7, 30] + - !!python/tuple [26, 11] + - !!python/tuple [21, 2] + - !!python/tuple [24, 23] + - !!python/tuple [9, 14] + - !!python/tuple [4, 31] + - !!python/tuple [12, 14] + - !!python/tuple [22, 9] + - !!python/tuple [29, 14] + - !!python/tuple [24, 12] + - !!python/tuple [11, 12] + - !!python/tuple [27, 21] + - !!python/tuple [12, 27] + - !!python/tuple [17, 16] + - !!python/tuple [15, 3] + - !!python/tuple [1, 15] + - !!python/tuple [20, 27] + - !!python/tuple [20, 15] + - !!python/tuple [30, 4] + - !!python/tuple [22, 4] + - !!python/tuple [20, 21] + - !!python/tuple [2, 7] + - !!python/tuple [16, 20] + - !!python/tuple [10, 20] + - !!python/tuple [14, 11] + - !!python/tuple [10, 4] + - !!python/tuple [8, 25] + - !!python/tuple [18, 28] + - !!python/tuple [26, 7] + - !!python/tuple [16, 0] + - !!python/tuple [9, 26] + - !!python/tuple [12, 12] + - !!python/tuple [3, 2] + - !!python/tuple [22, 17] + - !!python/tuple [12, 31] + - !!python/tuple [20, 13] + - !!python/tuple [25, 12] + - !!python/tuple [10, 10] + - !!python/tuple [21, 10] + - !!python/tuple [0, 0] + - !!python/tuple [18, 30] + - !!python/tuple [25, 14] + - !!python/tuple [6, 14] + - !!python/tuple [16, 29] + - !!python/tuple [7, 8] + - !!python/tuple [9, 16] + - !!python/tuple [21, 9] + - !!python/tuple [4, 24] + - !!python/tuple [11, 11] + - !!python/tuple [4, 27] + - !!python/tuple [29, 24] + - !!python/tuple [0, 27] + - !!python/tuple [5, 15] + - !!python/tuple [4, 2] + - !!python/tuple [15, 31] + - !!python/tuple [14, 30] + - !!python/tuple [9, 19] + - !!python/tuple [31, 25] + - !!python/tuple [7, 17] + - !!python/tuple [30, 9] + - !!python/tuple [16, 17] + - !!python/tuple [18, 21] + - !!python/tuple [9, 2] + - !!python/tuple [17, 15] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex35.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex35.yaml new file mode 100644 index 0000000..11daf34 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex35.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [6, 19] + name: agent0 + start: [31, 11] +- goal: [8, 8] + name: agent1 + start: [30, 0] +- goal: [28, 30] + name: agent2 + start: [15, 23] +- goal: [23, 14] + name: agent3 + start: [26, 19] +- goal: [13, 5] + name: agent4 + start: [6, 27] +- goal: [20, 14] + name: agent5 + start: [14, 21] +- goal: [28, 1] + name: agent6 + start: [18, 27] +- goal: [29, 19] + name: agent7 + start: [26, 10] +- goal: [5, 9] + name: agent8 + start: [1, 2] +- goal: [5, 21] + name: agent9 + start: [6, 25] +- goal: [28, 20] + name: agent10 + start: [29, 1] +- goal: [7, 19] + name: agent11 + start: [27, 11] +- goal: [18, 26] + name: agent12 + start: [6, 18] +- goal: [24, 21] + name: agent13 + start: [23, 17] +- goal: [31, 5] + name: agent14 + start: [4, 29] +- goal: [12, 19] + name: agent15 + start: [5, 24] +- goal: [20, 22] + name: agent16 + start: [20, 12] +- goal: [6, 31] + name: agent17 + start: [20, 29] +- goal: [0, 12] + name: agent18 + start: [13, 27] +- goal: [6, 15] + name: agent19 + start: [0, 18] +- goal: [0, 10] + name: agent20 + start: [1, 30] +- goal: [27, 4] + name: agent21 + start: [13, 29] +- goal: [25, 11] + name: agent22 + start: [28, 22] +- goal: [10, 23] + name: agent23 + start: [30, 24] +- goal: [5, 8] + name: agent24 + start: [24, 2] +- goal: [29, 18] + name: agent25 + start: [12, 25] +- goal: [17, 19] + name: agent26 + start: [21, 30] +- goal: [28, 18] + name: agent27 + start: [25, 17] +- goal: [1, 13] + name: agent28 + start: [4, 7] +- goal: [1, 2] + name: agent29 + start: [16, 28] +- goal: [29, 21] + name: agent30 + start: [25, 16] +- goal: [12, 3] + name: agent31 + start: [10, 15] +- goal: [22, 18] + name: agent32 + start: [12, 9] +- goal: [0, 31] + name: agent33 + start: [30, 6] +- goal: [27, 22] + name: agent34 + start: [15, 14] +- goal: [10, 20] + name: agent35 + start: [11, 15] +- goal: [20, 11] + name: agent36 + start: [11, 17] +- goal: [19, 30] + name: agent37 + start: [0, 17] +- goal: [10, 11] + name: agent38 + start: [23, 5] +- goal: [7, 26] + name: agent39 + start: [21, 2] +- goal: [23, 25] + name: agent40 + start: [29, 13] +- goal: [31, 30] + name: agent41 + start: [27, 29] +- goal: [22, 6] + name: agent42 + start: [6, 0] +- goal: [27, 23] + name: agent43 + start: [27, 8] +- goal: [11, 30] + name: agent44 + start: [30, 20] +- goal: [16, 2] + name: agent45 + start: [17, 14] +- goal: [28, 28] + name: agent46 + start: [20, 13] +- goal: [20, 20] + name: agent47 + start: [25, 26] +- goal: [17, 12] + name: agent48 + start: [1, 5] +- goal: [5, 0] + name: agent49 + start: [14, 10] +- goal: [9, 9] + name: agent50 + start: [4, 17] +- goal: [9, 27] + name: agent51 + start: [3, 4] +- goal: [1, 19] + name: agent52 + start: [25, 12] +- goal: [22, 11] + name: agent53 + start: [27, 7] +- goal: [21, 30] + name: agent54 + start: [21, 4] +- goal: [27, 29] + name: agent55 + start: [21, 14] +- goal: [21, 2] + name: agent56 + start: [3, 12] +- goal: [5, 14] + name: agent57 + start: [26, 9] +- goal: [8, 3] + name: agent58 + start: [15, 22] +- goal: [17, 13] + name: agent59 + start: [17, 9] +- goal: [26, 28] + name: agent60 + start: [15, 4] +- goal: [13, 21] + name: agent61 + start: [1, 22] +- goal: [29, 24] + name: agent62 + start: [29, 11] +- goal: [21, 9] + name: agent63 + start: [13, 23] +- goal: [1, 30] + name: agent64 + start: [14, 15] +- goal: [27, 25] + name: agent65 + start: [0, 25] +- goal: [31, 6] + name: agent66 + start: [9, 4] +- goal: [19, 22] + name: agent67 + start: [17, 0] +- goal: [14, 19] + name: agent68 + start: [0, 13] +- goal: [22, 3] + name: agent69 + start: [26, 30] +- goal: [18, 13] + name: agent70 + start: [20, 20] +- goal: [30, 18] + name: agent71 + start: [30, 8] +- goal: [4, 20] + name: agent72 + start: [22, 16] +- goal: [1, 5] + name: agent73 + start: [3, 21] +- goal: [3, 8] + name: agent74 + start: [13, 7] +- goal: [9, 24] + name: agent75 + start: [16, 3] +- goal: [22, 10] + name: agent76 + start: [6, 23] +- goal: [8, 28] + name: agent77 + start: [17, 20] +- goal: [11, 29] + name: agent78 + start: [26, 18] +- goal: [12, 26] + name: agent79 + start: [21, 6] +- goal: [27, 26] + name: agent80 + start: [14, 3] +- goal: [1, 27] + name: agent81 + start: [26, 27] +- goal: [21, 23] + name: agent82 + start: [27, 23] +- goal: [10, 29] + name: agent83 + start: [30, 18] +- goal: [24, 12] + name: agent84 + start: [18, 24] +- goal: [10, 31] + name: agent85 + start: [15, 0] +- goal: [0, 22] + name: agent86 + start: [11, 10] +- goal: [23, 20] + name: agent87 + start: [2, 6] +- goal: [6, 21] + name: agent88 + start: [29, 7] +- goal: [3, 12] + name: agent89 + start: [30, 25] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [29, 26] + - !!python/tuple [14, 31] + - !!python/tuple [17, 29] + - !!python/tuple [7, 18] + - !!python/tuple [9, 6] + - !!python/tuple [3, 15] + - !!python/tuple [7, 15] + - !!python/tuple [16, 10] + - !!python/tuple [1, 12] + - !!python/tuple [0, 5] + - !!python/tuple [29, 28] + - !!python/tuple [24, 6] + - !!python/tuple [16, 21] + - !!python/tuple [29, 9] + - !!python/tuple [30, 9] + - !!python/tuple [22, 12] + - !!python/tuple [24, 10] + - !!python/tuple [24, 11] + - !!python/tuple [13, 13] + - !!python/tuple [2, 4] + - !!python/tuple [31, 3] + - !!python/tuple [15, 31] + - !!python/tuple [30, 12] + - !!python/tuple [31, 19] + - !!python/tuple [25, 5] + - !!python/tuple [19, 31] + - !!python/tuple [11, 5] + - !!python/tuple [18, 5] + - !!python/tuple [28, 9] + - !!python/tuple [28, 2] + - !!python/tuple [22, 4] + - !!python/tuple [20, 24] + - !!python/tuple [25, 20] + - !!python/tuple [31, 16] + - !!python/tuple [4, 15] + - !!python/tuple [14, 13] + - !!python/tuple [17, 17] + - !!python/tuple [10, 4] + - !!python/tuple [22, 28] + - !!python/tuple [16, 5] + - !!python/tuple [12, 15] + - !!python/tuple [24, 28] + - !!python/tuple [23, 0] + - !!python/tuple [8, 4] + - !!python/tuple [5, 27] + - !!python/tuple [28, 0] + - !!python/tuple [11, 26] + - !!python/tuple [13, 26] + - !!python/tuple [13, 17] + - !!python/tuple [12, 12] + - !!python/tuple [12, 1] + - !!python/tuple [11, 4] + - !!python/tuple [4, 6] + - !!python/tuple [21, 31] + - !!python/tuple [1, 8] + - !!python/tuple [11, 6] + - !!python/tuple [8, 14] + - !!python/tuple [5, 31] + - !!python/tuple [19, 12] + - !!python/tuple [4, 21] + - !!python/tuple [19, 10] + - !!python/tuple [22, 26] + - !!python/tuple [4, 11] + - !!python/tuple [5, 10] + - !!python/tuple [15, 21] + - !!python/tuple [8, 16] + - !!python/tuple [14, 30] + - !!python/tuple [3, 27] + - !!python/tuple [19, 27] + - !!python/tuple [28, 12] + - !!python/tuple [3, 3] + - !!python/tuple [4, 27] + - !!python/tuple [19, 4] + - !!python/tuple [8, 22] + - !!python/tuple [5, 20] + - !!python/tuple [13, 6] + - !!python/tuple [12, 22] + - !!python/tuple [0, 26] + - !!python/tuple [14, 5] + - !!python/tuple [1, 28] + - !!python/tuple [27, 12] + - !!python/tuple [21, 24] + - !!python/tuple [31, 8] + - !!python/tuple [5, 17] + - !!python/tuple [30, 11] + - !!python/tuple [6, 3] + - !!python/tuple [0, 7] + - !!python/tuple [11, 19] + - !!python/tuple [24, 25] + - !!python/tuple [7, 11] + - !!python/tuple [23, 24] + - !!python/tuple [3, 5] + - !!python/tuple [15, 26] + - !!python/tuple [23, 13] + - !!python/tuple [20, 21] + - !!python/tuple [1, 6] + - !!python/tuple [14, 17] + - !!python/tuple [10, 24] + - !!python/tuple [19, 18] + - !!python/tuple [23, 30] + - !!python/tuple [4, 5] + - !!python/tuple [18, 2] + - !!python/tuple [26, 23] + - !!python/tuple [26, 24] + - !!python/tuple [6, 9] + - !!python/tuple [14, 11] + - !!python/tuple [6, 8] + - !!python/tuple [15, 13] + - !!python/tuple [15, 11] + - !!python/tuple [11, 22] + - !!python/tuple [31, 23] + - !!python/tuple [2, 12] + - !!python/tuple [24, 26] + - !!python/tuple [0, 4] + - !!python/tuple [13, 18] + - !!python/tuple [9, 25] + - !!python/tuple [16, 8] + - !!python/tuple [7, 5] + - !!python/tuple [23, 29] + - !!python/tuple [0, 27] + - !!python/tuple [29, 6] + - !!python/tuple [18, 8] + - !!python/tuple [29, 27] + - !!python/tuple [21, 8] + - !!python/tuple [8, 6] + - !!python/tuple [6, 16] + - !!python/tuple [5, 15] + - !!python/tuple [19, 2] + - !!python/tuple [17, 24] + - !!python/tuple [7, 21] + - !!python/tuple [21, 27] + - !!python/tuple [1, 20] + - !!python/tuple [9, 14] + - !!python/tuple [23, 27] + - !!python/tuple [16, 17] + - !!python/tuple [2, 23] + - !!python/tuple [27, 0] + - !!python/tuple [22, 9] + - !!python/tuple [23, 31] + - !!python/tuple [25, 27] + - !!python/tuple [0, 29] + - !!python/tuple [18, 12] + - !!python/tuple [29, 22] + - !!python/tuple [2, 1] + - !!python/tuple [12, 18] + - !!python/tuple [25, 19] + - !!python/tuple [19, 11] + - !!python/tuple [25, 3] + - !!python/tuple [11, 25] + - !!python/tuple [7, 24] + - !!python/tuple [17, 25] + - !!python/tuple [3, 14] + - !!python/tuple [6, 6] + - !!python/tuple [1, 23] + - !!python/tuple [2, 0] + - !!python/tuple [6, 12] + - !!python/tuple [15, 5] + - !!python/tuple [25, 30] + - !!python/tuple [22, 30] + - !!python/tuple [5, 13] + - !!python/tuple [29, 8] + - !!python/tuple [4, 16] + - !!python/tuple [29, 20] + - !!python/tuple [30, 13] + - !!python/tuple [6, 29] + - !!python/tuple [22, 15] + - !!python/tuple [1, 18] + - !!python/tuple [2, 14] + - !!python/tuple [3, 29] + - !!python/tuple [9, 7] + - !!python/tuple [4, 13] + - !!python/tuple [2, 13] + - !!python/tuple [25, 28] + - !!python/tuple [14, 2] + - !!python/tuple [25, 15] + - !!python/tuple [20, 3] + - !!python/tuple [13, 11] + - !!python/tuple [18, 9] + - !!python/tuple [14, 29] + - !!python/tuple [12, 2] + - !!python/tuple [2, 17] + - !!python/tuple [21, 13] + - !!python/tuple [18, 30] + - !!python/tuple [1, 26] + - !!python/tuple [29, 4] + - !!python/tuple [31, 7] + - !!python/tuple [21, 16] + - !!python/tuple [24, 9] + - !!python/tuple [21, 12] + - !!python/tuple [10, 22] + - !!python/tuple [10, 16] + - !!python/tuple [6, 1] + - !!python/tuple [1, 1] + - !!python/tuple [12, 24] + - !!python/tuple [21, 21] + - !!python/tuple [28, 10] + - !!python/tuple [28, 31] + - !!python/tuple [23, 19] + - !!python/tuple [12, 0] + - !!python/tuple [13, 10] + - !!python/tuple [5, 4] + - !!python/tuple [29, 23] + - !!python/tuple [26, 21] + - !!python/tuple [10, 10] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex36.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex36.yaml new file mode 100644 index 0000000..8628637 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex36.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [10, 3] + name: agent0 + start: [5, 6] +- goal: [26, 25] + name: agent1 + start: [21, 27] +- goal: [23, 16] + name: agent2 + start: [4, 5] +- goal: [31, 23] + name: agent3 + start: [14, 23] +- goal: [23, 0] + name: agent4 + start: [22, 3] +- goal: [31, 12] + name: agent5 + start: [29, 16] +- goal: [8, 4] + name: agent6 + start: [24, 25] +- goal: [10, 19] + name: agent7 + start: [23, 25] +- goal: [15, 12] + name: agent8 + start: [7, 4] +- goal: [31, 13] + name: agent9 + start: [18, 13] +- goal: [11, 7] + name: agent10 + start: [23, 27] +- goal: [11, 5] + name: agent11 + start: [12, 4] +- goal: [3, 9] + name: agent12 + start: [5, 15] +- goal: [6, 5] + name: agent13 + start: [5, 14] +- goal: [9, 22] + name: agent14 + start: [3, 15] +- goal: [18, 9] + name: agent15 + start: [12, 3] +- goal: [2, 6] + name: agent16 + start: [3, 26] +- goal: [3, 10] + name: agent17 + start: [0, 21] +- goal: [23, 7] + name: agent18 + start: [8, 30] +- goal: [25, 0] + name: agent19 + start: [14, 19] +- goal: [30, 20] + name: agent20 + start: [20, 31] +- goal: [7, 30] + name: agent21 + start: [29, 9] +- goal: [10, 10] + name: agent22 + start: [17, 18] +- goal: [12, 4] + name: agent23 + start: [10, 9] +- goal: [29, 15] + name: agent24 + start: [20, 7] +- goal: [17, 18] + name: agent25 + start: [24, 0] +- goal: [23, 9] + name: agent26 + start: [19, 30] +- goal: [21, 7] + name: agent27 + start: [0, 22] +- goal: [7, 2] + name: agent28 + start: [24, 11] +- goal: [20, 18] + name: agent29 + start: [21, 4] +- goal: [4, 16] + name: agent30 + start: [6, 5] +- goal: [29, 8] + name: agent31 + start: [6, 1] +- goal: [10, 8] + name: agent32 + start: [14, 29] +- goal: [14, 21] + name: agent33 + start: [24, 24] +- goal: [27, 14] + name: agent34 + start: [2, 10] +- goal: [10, 1] + name: agent35 + start: [4, 11] +- goal: [16, 25] + name: agent36 + start: [26, 22] +- goal: [14, 17] + name: agent37 + start: [15, 23] +- goal: [3, 12] + name: agent38 + start: [17, 22] +- goal: [26, 10] + name: agent39 + start: [20, 8] +- goal: [30, 10] + name: agent40 + start: [26, 24] +- goal: [8, 6] + name: agent41 + start: [11, 21] +- goal: [24, 13] + name: agent42 + start: [13, 11] +- goal: [12, 29] + name: agent43 + start: [1, 20] +- goal: [23, 21] + name: agent44 + start: [8, 11] +- goal: [2, 9] + name: agent45 + start: [22, 16] +- goal: [24, 3] + name: agent46 + start: [13, 10] +- goal: [9, 21] + name: agent47 + start: [0, 19] +- goal: [30, 12] + name: agent48 + start: [25, 3] +- goal: [2, 30] + name: agent49 + start: [19, 17] +- goal: [2, 25] + name: agent50 + start: [0, 12] +- goal: [28, 12] + name: agent51 + start: [7, 18] +- goal: [8, 21] + name: agent52 + start: [17, 21] +- goal: [4, 26] + name: agent53 + start: [24, 18] +- goal: [0, 8] + name: agent54 + start: [16, 2] +- goal: [8, 26] + name: agent55 + start: [14, 18] +- goal: [14, 8] + name: agent56 + start: [23, 10] +- goal: [31, 0] + name: agent57 + start: [3, 12] +- goal: [31, 17] + name: agent58 + start: [20, 4] +- goal: [28, 28] + name: agent59 + start: [25, 30] +- goal: [17, 21] + name: agent60 + start: [24, 23] +- goal: [6, 3] + name: agent61 + start: [24, 12] +- goal: [25, 24] + name: agent62 + start: [20, 0] +- goal: [15, 31] + name: agent63 + start: [9, 8] +- goal: [16, 23] + name: agent64 + start: [10, 7] +- goal: [9, 31] + name: agent65 + start: [31, 27] +- goal: [27, 28] + name: agent66 + start: [16, 25] +- goal: [8, 17] + name: agent67 + start: [16, 23] +- goal: [28, 10] + name: agent68 + start: [2, 16] +- goal: [21, 5] + name: agent69 + start: [12, 6] +- goal: [0, 13] + name: agent70 + start: [10, 12] +- goal: [23, 3] + name: agent71 + start: [22, 26] +- goal: [27, 9] + name: agent72 + start: [19, 11] +- goal: [6, 26] + name: agent73 + start: [0, 9] +- goal: [26, 17] + name: agent74 + start: [20, 21] +- goal: [6, 9] + name: agent75 + start: [29, 6] +- goal: [26, 24] + name: agent76 + start: [16, 3] +- goal: [30, 18] + name: agent77 + start: [1, 19] +- goal: [24, 2] + name: agent78 + start: [10, 11] +- goal: [25, 15] + name: agent79 + start: [8, 14] +- goal: [7, 24] + name: agent80 + start: [30, 30] +- goal: [16, 2] + name: agent81 + start: [3, 7] +- goal: [17, 31] + name: agent82 + start: [10, 1] +- goal: [25, 25] + name: agent83 + start: [15, 7] +- goal: [31, 20] + name: agent84 + start: [18, 20] +- goal: [10, 28] + name: agent85 + start: [17, 16] +- goal: [22, 29] + name: agent86 + start: [3, 27] +- goal: [8, 3] + name: agent87 + start: [23, 19] +- goal: [14, 22] + name: agent88 + start: [9, 31] +- goal: [29, 23] + name: agent89 + start: [3, 2] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [25, 19] + - !!python/tuple [9, 15] + - !!python/tuple [24, 8] + - !!python/tuple [1, 5] + - !!python/tuple [16, 11] + - !!python/tuple [29, 21] + - !!python/tuple [27, 4] + - !!python/tuple [7, 14] + - !!python/tuple [29, 24] + - !!python/tuple [5, 31] + - !!python/tuple [18, 31] + - !!python/tuple [13, 23] + - !!python/tuple [2, 1] + - !!python/tuple [16, 8] + - !!python/tuple [27, 0] + - !!python/tuple [25, 21] + - !!python/tuple [19, 10] + - !!python/tuple [31, 16] + - !!python/tuple [25, 2] + - !!python/tuple [17, 1] + - !!python/tuple [17, 10] + - !!python/tuple [3, 29] + - !!python/tuple [9, 25] + - !!python/tuple [16, 1] + - !!python/tuple [21, 22] + - !!python/tuple [11, 6] + - !!python/tuple [11, 0] + - !!python/tuple [15, 19] + - !!python/tuple [10, 14] + - !!python/tuple [12, 12] + - !!python/tuple [5, 1] + - !!python/tuple [1, 22] + - !!python/tuple [2, 26] + - !!python/tuple [21, 8] + - !!python/tuple [12, 26] + - !!python/tuple [26, 18] + - !!python/tuple [15, 20] + - !!python/tuple [20, 23] + - !!python/tuple [13, 2] + - !!python/tuple [7, 16] + - !!python/tuple [25, 12] + - !!python/tuple [9, 28] + - !!python/tuple [9, 5] + - !!python/tuple [23, 22] + - !!python/tuple [9, 23] + - !!python/tuple [18, 21] + - !!python/tuple [31, 24] + - !!python/tuple [17, 11] + - !!python/tuple [17, 23] + - !!python/tuple [29, 5] + - !!python/tuple [20, 3] + - !!python/tuple [26, 20] + - !!python/tuple [28, 5] + - !!python/tuple [29, 28] + - !!python/tuple [15, 9] + - !!python/tuple [7, 26] + - !!python/tuple [9, 24] + - !!python/tuple [14, 30] + - !!python/tuple [13, 30] + - !!python/tuple [7, 21] + - !!python/tuple [30, 0] + - !!python/tuple [19, 26] + - !!python/tuple [15, 28] + - !!python/tuple [6, 16] + - !!python/tuple [14, 9] + - !!python/tuple [16, 12] + - !!python/tuple [13, 25] + - !!python/tuple [8, 19] + - !!python/tuple [22, 19] + - !!python/tuple [6, 31] + - !!python/tuple [22, 28] + - !!python/tuple [4, 31] + - !!python/tuple [18, 3] + - !!python/tuple [14, 13] + - !!python/tuple [1, 13] + - !!python/tuple [30, 23] + - !!python/tuple [13, 18] + - !!python/tuple [11, 24] + - !!python/tuple [17, 26] + - !!python/tuple [7, 23] + - !!python/tuple [16, 17] + - !!python/tuple [17, 9] + - !!python/tuple [21, 26] + - !!python/tuple [14, 16] + - !!python/tuple [24, 22] + - !!python/tuple [8, 27] + - !!python/tuple [1, 16] + - !!python/tuple [15, 30] + - !!python/tuple [10, 4] + - !!python/tuple [18, 26] + - !!python/tuple [3, 11] + - !!python/tuple [13, 7] + - !!python/tuple [19, 9] + - !!python/tuple [25, 4] + - !!python/tuple [16, 16] + - !!python/tuple [15, 10] + - !!python/tuple [16, 22] + - !!python/tuple [4, 22] + - !!python/tuple [0, 7] + - !!python/tuple [11, 22] + - !!python/tuple [2, 18] + - !!python/tuple [15, 27] + - !!python/tuple [8, 28] + - !!python/tuple [5, 16] + - !!python/tuple [19, 7] + - !!python/tuple [9, 27] + - !!python/tuple [6, 27] + - !!python/tuple [22, 11] + - !!python/tuple [9, 14] + - !!python/tuple [6, 20] + - !!python/tuple [2, 13] + - !!python/tuple [5, 10] + - !!python/tuple [31, 25] + - !!python/tuple [6, 22] + - !!python/tuple [14, 20] + - !!python/tuple [18, 6] + - !!python/tuple [24, 17] + - !!python/tuple [17, 27] + - !!python/tuple [29, 30] + - !!python/tuple [7, 29] + - !!python/tuple [5, 30] + - !!python/tuple [15, 25] + - !!python/tuple [26, 15] + - !!python/tuple [4, 30] + - !!python/tuple [3, 24] + - !!python/tuple [27, 11] + - !!python/tuple [23, 11] + - !!python/tuple [26, 11] + - !!python/tuple [5, 28] + - !!python/tuple [1, 10] + - !!python/tuple [9, 26] + - !!python/tuple [22, 31] + - !!python/tuple [18, 11] + - !!python/tuple [28, 31] + - !!python/tuple [29, 20] + - !!python/tuple [27, 25] + - !!python/tuple [18, 5] + - !!python/tuple [21, 24] + - !!python/tuple [4, 9] + - !!python/tuple [4, 20] + - !!python/tuple [9, 30] + - !!python/tuple [13, 29] + - !!python/tuple [11, 4] + - !!python/tuple [28, 30] + - !!python/tuple [7, 9] + - !!python/tuple [2, 0] + - !!python/tuple [13, 16] + - !!python/tuple [6, 10] + - !!python/tuple [18, 2] + - !!python/tuple [30, 15] + - !!python/tuple [16, 18] + - !!python/tuple [17, 19] + - !!python/tuple [25, 7] + - !!python/tuple [6, 29] + - !!python/tuple [26, 19] + - !!python/tuple [6, 14] + - !!python/tuple [13, 1] + - !!python/tuple [9, 4] + - !!python/tuple [1, 30] + - !!python/tuple [20, 6] + - !!python/tuple [4, 1] + - !!python/tuple [22, 18] + - !!python/tuple [5, 25] + - !!python/tuple [8, 2] + - !!python/tuple [5, 22] + - !!python/tuple [11, 29] + - !!python/tuple [4, 14] + - !!python/tuple [4, 3] + - !!python/tuple [19, 31] + - !!python/tuple [8, 13] + - !!python/tuple [28, 17] + - !!python/tuple [19, 29] + - !!python/tuple [2, 28] + - !!python/tuple [21, 9] + - !!python/tuple [3, 23] + - !!python/tuple [28, 18] + - !!python/tuple [22, 2] + - !!python/tuple [17, 29] + - !!python/tuple [1, 3] + - !!python/tuple [27, 10] + - !!python/tuple [22, 1] + - !!python/tuple [31, 6] + - !!python/tuple [6, 24] + - !!python/tuple [31, 4] + - !!python/tuple [11, 30] + - !!python/tuple [2, 5] + - !!python/tuple [12, 7] + - !!python/tuple [8, 29] + - !!python/tuple [11, 31] + - !!python/tuple [11, 11] + - !!python/tuple [3, 1] + - !!python/tuple [28, 24] + - !!python/tuple [29, 18] + - !!python/tuple [2, 7] + - !!python/tuple [21, 13] + - !!python/tuple [14, 2] + - !!python/tuple [29, 17] + - !!python/tuple [3, 17] + - !!python/tuple [18, 12] + - !!python/tuple [2, 17] + - !!python/tuple [25, 17] + - !!python/tuple [26, 7] + - !!python/tuple [11, 28] + - !!python/tuple [31, 19] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex37.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex37.yaml new file mode 100644 index 0000000..2527d06 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex37.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [3, 29] + name: agent0 + start: [22, 23] +- goal: [7, 8] + name: agent1 + start: [26, 16] +- goal: [15, 24] + name: agent2 + start: [15, 21] +- goal: [23, 28] + name: agent3 + start: [26, 9] +- goal: [0, 17] + name: agent4 + start: [10, 21] +- goal: [15, 26] + name: agent5 + start: [14, 22] +- goal: [1, 30] + name: agent6 + start: [27, 12] +- goal: [23, 14] + name: agent7 + start: [20, 21] +- goal: [21, 14] + name: agent8 + start: [25, 17] +- goal: [2, 6] + name: agent9 + start: [27, 17] +- goal: [14, 14] + name: agent10 + start: [1, 14] +- goal: [4, 19] + name: agent11 + start: [9, 23] +- goal: [8, 2] + name: agent12 + start: [2, 19] +- goal: [18, 13] + name: agent13 + start: [6, 20] +- goal: [10, 8] + name: agent14 + start: [25, 1] +- goal: [10, 10] + name: agent15 + start: [28, 1] +- goal: [11, 11] + name: agent16 + start: [11, 13] +- goal: [10, 0] + name: agent17 + start: [0, 26] +- goal: [31, 2] + name: agent18 + start: [22, 4] +- goal: [5, 1] + name: agent19 + start: [16, 30] +- goal: [23, 21] + name: agent20 + start: [1, 25] +- goal: [18, 26] + name: agent21 + start: [3, 3] +- goal: [26, 16] + name: agent22 + start: [8, 7] +- goal: [9, 3] + name: agent23 + start: [20, 29] +- goal: [13, 22] + name: agent24 + start: [3, 24] +- goal: [20, 10] + name: agent25 + start: [29, 4] +- goal: [21, 12] + name: agent26 + start: [11, 18] +- goal: [8, 16] + name: agent27 + start: [16, 0] +- goal: [15, 4] + name: agent28 + start: [10, 29] +- goal: [15, 21] + name: agent29 + start: [13, 22] +- goal: [3, 21] + name: agent30 + start: [6, 17] +- goal: [19, 12] + name: agent31 + start: [24, 5] +- goal: [23, 6] + name: agent32 + start: [0, 27] +- goal: [13, 10] + name: agent33 + start: [14, 1] +- goal: [15, 22] + name: agent34 + start: [23, 29] +- goal: [9, 8] + name: agent35 + start: [28, 22] +- goal: [8, 9] + name: agent36 + start: [0, 19] +- goal: [9, 13] + name: agent37 + start: [7, 3] +- goal: [5, 3] + name: agent38 + start: [26, 14] +- goal: [26, 3] + name: agent39 + start: [28, 11] +- goal: [26, 2] + name: agent40 + start: [17, 17] +- goal: [13, 0] + name: agent41 + start: [5, 14] +- goal: [4, 15] + name: agent42 + start: [17, 22] +- goal: [8, 27] + name: agent43 + start: [28, 6] +- goal: [10, 11] + name: agent44 + start: [24, 17] +- goal: [5, 10] + name: agent45 + start: [0, 20] +- goal: [29, 16] + name: agent46 + start: [24, 26] +- goal: [12, 17] + name: agent47 + start: [14, 14] +- goal: [6, 10] + name: agent48 + start: [12, 19] +- goal: [7, 21] + name: agent49 + start: [7, 17] +- goal: [27, 28] + name: agent50 + start: [29, 22] +- goal: [23, 0] + name: agent51 + start: [17, 31] +- goal: [3, 9] + name: agent52 + start: [27, 14] +- goal: [14, 27] + name: agent53 + start: [26, 3] +- goal: [27, 17] + name: agent54 + start: [14, 2] +- goal: [0, 6] + name: agent55 + start: [20, 16] +- goal: [23, 19] + name: agent56 + start: [3, 27] +- goal: [0, 31] + name: agent57 + start: [2, 9] +- goal: [5, 8] + name: agent58 + start: [3, 15] +- goal: [25, 15] + name: agent59 + start: [5, 22] +- goal: [0, 27] + name: agent60 + start: [21, 3] +- goal: [6, 27] + name: agent61 + start: [21, 1] +- goal: [20, 11] + name: agent62 + start: [30, 30] +- goal: [23, 26] + name: agent63 + start: [1, 7] +- goal: [16, 18] + name: agent64 + start: [24, 0] +- goal: [14, 12] + name: agent65 + start: [3, 10] +- goal: [14, 5] + name: agent66 + start: [8, 17] +- goal: [28, 26] + name: agent67 + start: [10, 27] +- goal: [11, 12] + name: agent68 + start: [13, 21] +- goal: [10, 2] + name: agent69 + start: [6, 9] +- goal: [5, 26] + name: agent70 + start: [22, 28] +- goal: [18, 27] + name: agent71 + start: [10, 11] +- goal: [9, 0] + name: agent72 + start: [13, 29] +- goal: [16, 26] + name: agent73 + start: [24, 28] +- goal: [21, 0] + name: agent74 + start: [12, 23] +- goal: [2, 25] + name: agent75 + start: [9, 10] +- goal: [23, 4] + name: agent76 + start: [17, 1] +- goal: [9, 17] + name: agent77 + start: [8, 23] +- goal: [25, 8] + name: agent78 + start: [1, 13] +- goal: [11, 7] + name: agent79 + start: [29, 8] +- goal: [2, 7] + name: agent80 + start: [9, 18] +- goal: [5, 31] + name: agent81 + start: [13, 12] +- goal: [29, 15] + name: agent82 + start: [7, 10] +- goal: [14, 24] + name: agent83 + start: [1, 22] +- goal: [23, 29] + name: agent84 + start: [19, 1] +- goal: [21, 21] + name: agent85 + start: [16, 28] +- goal: [6, 20] + name: agent86 + start: [7, 26] +- goal: [3, 23] + name: agent87 + start: [19, 26] +- goal: [14, 20] + name: agent88 + start: [15, 16] +- goal: [17, 22] + name: agent89 + start: [7, 28] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [18, 21] + - !!python/tuple [4, 26] + - !!python/tuple [17, 5] + - !!python/tuple [7, 14] + - !!python/tuple [19, 14] + - !!python/tuple [23, 5] + - !!python/tuple [26, 12] + - !!python/tuple [7, 15] + - !!python/tuple [3, 31] + - !!python/tuple [18, 1] + - !!python/tuple [14, 3] + - !!python/tuple [31, 1] + - !!python/tuple [31, 8] + - !!python/tuple [14, 25] + - !!python/tuple [28, 15] + - !!python/tuple [7, 29] + - !!python/tuple [30, 0] + - !!python/tuple [2, 20] + - !!python/tuple [28, 10] + - !!python/tuple [18, 20] + - !!python/tuple [18, 24] + - !!python/tuple [13, 19] + - !!python/tuple [21, 10] + - !!python/tuple [20, 4] + - !!python/tuple [5, 25] + - !!python/tuple [12, 1] + - !!python/tuple [26, 21] + - !!python/tuple [18, 8] + - !!python/tuple [18, 19] + - !!python/tuple [21, 9] + - !!python/tuple [17, 27] + - !!python/tuple [12, 7] + - !!python/tuple [1, 12] + - !!python/tuple [26, 29] + - !!python/tuple [10, 1] + - !!python/tuple [11, 0] + - !!python/tuple [1, 24] + - !!python/tuple [21, 13] + - !!python/tuple [27, 21] + - !!python/tuple [10, 22] + - !!python/tuple [2, 2] + - !!python/tuple [30, 14] + - !!python/tuple [15, 6] + - !!python/tuple [6, 7] + - !!python/tuple [17, 4] + - !!python/tuple [31, 28] + - !!python/tuple [0, 11] + - !!python/tuple [22, 14] + - !!python/tuple [14, 19] + - !!python/tuple [24, 21] + - !!python/tuple [13, 23] + - !!python/tuple [22, 15] + - !!python/tuple [23, 10] + - !!python/tuple [10, 24] + - !!python/tuple [20, 26] + - !!python/tuple [23, 7] + - !!python/tuple [28, 0] + - !!python/tuple [12, 26] + - !!python/tuple [22, 16] + - !!python/tuple [9, 5] + - !!python/tuple [25, 4] + - !!python/tuple [6, 11] + - !!python/tuple [15, 25] + - !!python/tuple [1, 1] + - !!python/tuple [0, 18] + - !!python/tuple [7, 31] + - !!python/tuple [10, 30] + - !!python/tuple [16, 7] + - !!python/tuple [17, 28] + - !!python/tuple [21, 31] + - !!python/tuple [20, 9] + - !!python/tuple [11, 10] + - !!python/tuple [7, 11] + - !!python/tuple [0, 4] + - !!python/tuple [7, 5] + - !!python/tuple [29, 23] + - !!python/tuple [4, 4] + - !!python/tuple [13, 15] + - !!python/tuple [5, 7] + - !!python/tuple [30, 15] + - !!python/tuple [2, 31] + - !!python/tuple [4, 22] + - !!python/tuple [26, 4] + - !!python/tuple [13, 24] + - !!python/tuple [0, 14] + - !!python/tuple [15, 18] + - !!python/tuple [31, 29] + - !!python/tuple [11, 25] + - !!python/tuple [8, 5] + - !!python/tuple [6, 4] + - !!python/tuple [26, 20] + - !!python/tuple [13, 7] + - !!python/tuple [10, 12] + - !!python/tuple [5, 16] + - !!python/tuple [1, 29] + - !!python/tuple [4, 14] + - !!python/tuple [3, 19] + - !!python/tuple [4, 1] + - !!python/tuple [18, 11] + - !!python/tuple [7, 16] + - !!python/tuple [20, 28] + - !!python/tuple [6, 16] + - !!python/tuple [21, 29] + - !!python/tuple [2, 26] + - !!python/tuple [26, 18] + - !!python/tuple [13, 2] + - !!python/tuple [31, 20] + - !!python/tuple [31, 27] + - !!python/tuple [22, 31] + - !!python/tuple [30, 28] + - !!python/tuple [13, 31] + - !!python/tuple [24, 6] + - !!python/tuple [27, 6] + - !!python/tuple [16, 4] + - !!python/tuple [7, 7] + - !!python/tuple [19, 19] + - !!python/tuple [24, 15] + - !!python/tuple [8, 15] + - !!python/tuple [23, 16] + - !!python/tuple [4, 6] + - !!python/tuple [14, 0] + - !!python/tuple [9, 20] + - !!python/tuple [19, 31] + - !!python/tuple [27, 24] + - !!python/tuple [3, 1] + - !!python/tuple [21, 26] + - !!python/tuple [17, 3] + - !!python/tuple [21, 17] + - !!python/tuple [17, 15] + - !!python/tuple [4, 3] + - !!python/tuple [5, 4] + - !!python/tuple [6, 29] + - !!python/tuple [3, 20] + - !!python/tuple [2, 8] + - !!python/tuple [13, 26] + - !!python/tuple [13, 9] + - !!python/tuple [13, 13] + - !!python/tuple [9, 9] + - !!python/tuple [24, 23] + - !!python/tuple [23, 18] + - !!python/tuple [0, 2] + - !!python/tuple [19, 10] + - !!python/tuple [29, 13] + - !!python/tuple [4, 27] + - !!python/tuple [2, 24] + - !!python/tuple [6, 30] + - !!python/tuple [9, 27] + - !!python/tuple [20, 14] + - !!python/tuple [31, 9] + - !!python/tuple [4, 17] + - !!python/tuple [21, 20] + - !!python/tuple [21, 30] + - !!python/tuple [23, 8] + - !!python/tuple [7, 2] + - !!python/tuple [25, 11] + - !!python/tuple [20, 23] + - !!python/tuple [0, 16] + - !!python/tuple [29, 19] + - !!python/tuple [18, 29] + - !!python/tuple [2, 30] + - !!python/tuple [14, 31] + - !!python/tuple [20, 27] + - !!python/tuple [27, 0] + - !!python/tuple [3, 18] + - !!python/tuple [22, 17] + - !!python/tuple [7, 27] + - !!python/tuple [20, 20] + - !!python/tuple [4, 13] + - !!python/tuple [20, 8] + - !!python/tuple [30, 18] + - !!python/tuple [14, 10] + - !!python/tuple [11, 26] + - !!python/tuple [7, 30] + - !!python/tuple [5, 2] + - !!python/tuple [18, 31] + - !!python/tuple [1, 10] + - !!python/tuple [30, 7] + - !!python/tuple [2, 11] + - !!python/tuple [11, 14] + - !!python/tuple [30, 13] + - !!python/tuple [28, 18] + - !!python/tuple [17, 21] + - !!python/tuple [1, 26] + - !!python/tuple [10, 9] + - !!python/tuple [9, 28] + - !!python/tuple [8, 6] + - !!python/tuple [3, 7] + - !!python/tuple [14, 11] + - !!python/tuple [30, 12] + - !!python/tuple [8, 0] + - !!python/tuple [0, 7] + - !!python/tuple [26, 7] + - !!python/tuple [25, 10] + - !!python/tuple [15, 15] + - !!python/tuple [21, 25] + - !!python/tuple [29, 2] + - !!python/tuple [24, 31] + - !!python/tuple [29, 31] + - !!python/tuple [19, 20] + - !!python/tuple [10, 25] + - !!python/tuple [16, 10] + - !!python/tuple [22, 12] + - !!python/tuple [9, 4] + - !!python/tuple [9, 24] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex38.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex38.yaml new file mode 100644 index 0000000..7a7ea85 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex38.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [11, 17] + name: agent0 + start: [4, 3] +- goal: [23, 5] + name: agent1 + start: [12, 31] +- goal: [27, 18] + name: agent2 + start: [22, 9] +- goal: [21, 27] + name: agent3 + start: [1, 7] +- goal: [21, 12] + name: agent4 + start: [20, 19] +- goal: [19, 18] + name: agent5 + start: [10, 24] +- goal: [0, 25] + name: agent6 + start: [12, 14] +- goal: [20, 29] + name: agent7 + start: [10, 30] +- goal: [26, 28] + name: agent8 + start: [8, 23] +- goal: [8, 24] + name: agent9 + start: [2, 25] +- goal: [11, 11] + name: agent10 + start: [18, 15] +- goal: [24, 6] + name: agent11 + start: [30, 31] +- goal: [30, 8] + name: agent12 + start: [17, 30] +- goal: [26, 12] + name: agent13 + start: [28, 14] +- goal: [15, 1] + name: agent14 + start: [6, 11] +- goal: [26, 31] + name: agent15 + start: [28, 29] +- goal: [19, 9] + name: agent16 + start: [28, 30] +- goal: [10, 0] + name: agent17 + start: [31, 31] +- goal: [20, 3] + name: agent18 + start: [18, 20] +- goal: [26, 13] + name: agent19 + start: [0, 12] +- goal: [26, 8] + name: agent20 + start: [20, 15] +- goal: [5, 3] + name: agent21 + start: [6, 13] +- goal: [19, 6] + name: agent22 + start: [16, 24] +- goal: [22, 13] + name: agent23 + start: [31, 28] +- goal: [13, 18] + name: agent24 + start: [13, 14] +- goal: [23, 20] + name: agent25 + start: [9, 14] +- goal: [14, 31] + name: agent26 + start: [2, 8] +- goal: [17, 2] + name: agent27 + start: [17, 3] +- goal: [2, 4] + name: agent28 + start: [21, 22] +- goal: [1, 4] + name: agent29 + start: [8, 1] +- goal: [3, 9] + name: agent30 + start: [29, 30] +- goal: [16, 14] + name: agent31 + start: [8, 8] +- goal: [21, 21] + name: agent32 + start: [13, 19] +- goal: [29, 11] + name: agent33 + start: [4, 11] +- goal: [27, 25] + name: agent34 + start: [13, 22] +- goal: [28, 20] + name: agent35 + start: [6, 12] +- goal: [29, 0] + name: agent36 + start: [19, 30] +- goal: [29, 30] + name: agent37 + start: [26, 13] +- goal: [22, 23] + name: agent38 + start: [3, 10] +- goal: [8, 7] + name: agent39 + start: [4, 31] +- goal: [3, 19] + name: agent40 + start: [5, 27] +- goal: [30, 4] + name: agent41 + start: [8, 5] +- goal: [7, 1] + name: agent42 + start: [4, 18] +- goal: [18, 18] + name: agent43 + start: [22, 0] +- goal: [27, 0] + name: agent44 + start: [31, 27] +- goal: [2, 10] + name: agent45 + start: [23, 4] +- goal: [28, 0] + name: agent46 + start: [11, 17] +- goal: [30, 30] + name: agent47 + start: [17, 22] +- goal: [12, 14] + name: agent48 + start: [3, 29] +- goal: [6, 12] + name: agent49 + start: [10, 11] +- goal: [0, 2] + name: agent50 + start: [22, 19] +- goal: [17, 25] + name: agent51 + start: [0, 17] +- goal: [12, 30] + name: agent52 + start: [7, 20] +- goal: [19, 28] + name: agent53 + start: [13, 24] +- goal: [7, 31] + name: agent54 + start: [15, 28] +- goal: [29, 19] + name: agent55 + start: [2, 0] +- goal: [12, 17] + name: agent56 + start: [30, 1] +- goal: [3, 13] + name: agent57 + start: [25, 16] +- goal: [20, 19] + name: agent58 + start: [8, 4] +- goal: [15, 2] + name: agent59 + start: [8, 10] +- goal: [29, 26] + name: agent60 + start: [29, 16] +- goal: [21, 22] + name: agent61 + start: [30, 26] +- goal: [24, 7] + name: agent62 + start: [21, 27] +- goal: [16, 24] + name: agent63 + start: [29, 1] +- goal: [29, 4] + name: agent64 + start: [7, 13] +- goal: [19, 27] + name: agent65 + start: [12, 9] +- goal: [30, 15] + name: agent66 + start: [12, 12] +- goal: [28, 23] + name: agent67 + start: [1, 26] +- goal: [3, 1] + name: agent68 + start: [5, 13] +- goal: [14, 23] + name: agent69 + start: [26, 22] +- goal: [5, 13] + name: agent70 + start: [5, 23] +- goal: [22, 6] + name: agent71 + start: [20, 17] +- goal: [6, 25] + name: agent72 + start: [30, 7] +- goal: [15, 23] + name: agent73 + start: [29, 31] +- goal: [5, 4] + name: agent74 + start: [7, 14] +- goal: [28, 19] + name: agent75 + start: [20, 30] +- goal: [2, 17] + name: agent76 + start: [9, 5] +- goal: [13, 2] + name: agent77 + start: [19, 11] +- goal: [14, 12] + name: agent78 + start: [11, 6] +- goal: [5, 29] + name: agent79 + start: [30, 4] +- goal: [23, 23] + name: agent80 + start: [21, 28] +- goal: [5, 31] + name: agent81 + start: [30, 19] +- goal: [5, 15] + name: agent82 + start: [24, 3] +- goal: [25, 12] + name: agent83 + start: [0, 2] +- goal: [28, 12] + name: agent84 + start: [8, 3] +- goal: [29, 15] + name: agent85 + start: [19, 31] +- goal: [20, 12] + name: agent86 + start: [23, 1] +- goal: [9, 22] + name: agent87 + start: [30, 6] +- goal: [4, 3] + name: agent88 + start: [1, 22] +- goal: [10, 13] + name: agent89 + start: [12, 10] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [17, 8] + - !!python/tuple [2, 24] + - !!python/tuple [25, 0] + - !!python/tuple [29, 22] + - !!python/tuple [17, 14] + - !!python/tuple [16, 20] + - !!python/tuple [4, 19] + - !!python/tuple [24, 18] + - !!python/tuple [14, 7] + - !!python/tuple [10, 10] + - !!python/tuple [17, 11] + - !!python/tuple [6, 28] + - !!python/tuple [3, 21] + - !!python/tuple [27, 20] + - !!python/tuple [20, 28] + - !!python/tuple [15, 18] + - !!python/tuple [26, 14] + - !!python/tuple [23, 14] + - !!python/tuple [25, 23] + - !!python/tuple [16, 9] + - !!python/tuple [22, 30] + - !!python/tuple [0, 22] + - !!python/tuple [9, 21] + - !!python/tuple [28, 2] + - !!python/tuple [7, 2] + - !!python/tuple [6, 5] + - !!python/tuple [14, 14] + - !!python/tuple [17, 1] + - !!python/tuple [22, 8] + - !!python/tuple [13, 6] + - !!python/tuple [0, 11] + - !!python/tuple [8, 18] + - !!python/tuple [0, 18] + - !!python/tuple [0, 24] + - !!python/tuple [4, 5] + - !!python/tuple [24, 0] + - !!python/tuple [12, 29] + - !!python/tuple [9, 24] + - !!python/tuple [1, 5] + - !!python/tuple [13, 21] + - !!python/tuple [10, 1] + - !!python/tuple [18, 14] + - !!python/tuple [6, 14] + - !!python/tuple [27, 12] + - !!python/tuple [4, 28] + - !!python/tuple [18, 31] + - !!python/tuple [21, 31] + - !!python/tuple [24, 12] + - !!python/tuple [18, 0] + - !!python/tuple [2, 30] + - !!python/tuple [18, 23] + - !!python/tuple [18, 9] + - !!python/tuple [27, 13] + - !!python/tuple [29, 24] + - !!python/tuple [2, 14] + - !!python/tuple [31, 13] + - !!python/tuple [26, 7] + - !!python/tuple [0, 4] + - !!python/tuple [23, 27] + - !!python/tuple [7, 10] + - !!python/tuple [7, 19] + - !!python/tuple [17, 26] + - !!python/tuple [8, 20] + - !!python/tuple [4, 21] + - !!python/tuple [30, 20] + - !!python/tuple [1, 30] + - !!python/tuple [23, 12] + - !!python/tuple [17, 23] + - !!python/tuple [8, 27] + - !!python/tuple [22, 27] + - !!python/tuple [31, 14] + - !!python/tuple [26, 3] + - !!python/tuple [11, 14] + - !!python/tuple [5, 9] + - !!python/tuple [24, 15] + - !!python/tuple [12, 28] + - !!python/tuple [31, 3] + - !!python/tuple [24, 26] + - !!python/tuple [27, 30] + - !!python/tuple [10, 19] + - !!python/tuple [28, 9] + - !!python/tuple [28, 21] + - !!python/tuple [13, 15] + - !!python/tuple [24, 24] + - !!python/tuple [19, 23] + - !!python/tuple [12, 2] + - !!python/tuple [14, 20] + - !!python/tuple [14, 10] + - !!python/tuple [12, 22] + - !!python/tuple [1, 20] + - !!python/tuple [17, 29] + - !!python/tuple [19, 2] + - !!python/tuple [15, 12] + - !!python/tuple [7, 30] + - !!python/tuple [28, 17] + - !!python/tuple [12, 3] + - !!python/tuple [15, 14] + - !!python/tuple [3, 27] + - !!python/tuple [14, 25] + - !!python/tuple [20, 5] + - !!python/tuple [12, 26] + - !!python/tuple [20, 2] + - !!python/tuple [2, 15] + - !!python/tuple [29, 27] + - !!python/tuple [27, 29] + - !!python/tuple [2, 11] + - !!python/tuple [6, 9] + - !!python/tuple [0, 27] + - !!python/tuple [16, 3] + - !!python/tuple [20, 10] + - !!python/tuple [25, 14] + - !!python/tuple [23, 30] + - !!python/tuple [13, 29] + - !!python/tuple [15, 30] + - !!python/tuple [14, 4] + - !!python/tuple [14, 2] + - !!python/tuple [6, 0] + - !!python/tuple [1, 17] + - !!python/tuple [15, 17] + - !!python/tuple [10, 27] + - !!python/tuple [6, 29] + - !!python/tuple [31, 20] + - !!python/tuple [16, 8] + - !!python/tuple [20, 24] + - !!python/tuple [9, 20] + - !!python/tuple [21, 1] + - !!python/tuple [15, 13] + - !!python/tuple [24, 5] + - !!python/tuple [1, 21] + - !!python/tuple [15, 16] + - !!python/tuple [24, 30] + - !!python/tuple [11, 26] + - !!python/tuple [13, 20] + - !!python/tuple [6, 1] + - !!python/tuple [11, 7] + - !!python/tuple [1, 19] + - !!python/tuple [25, 25] + - !!python/tuple [25, 19] + - !!python/tuple [10, 29] + - !!python/tuple [9, 23] + - !!python/tuple [14, 16] + - !!python/tuple [17, 0] + - !!python/tuple [8, 0] + - !!python/tuple [13, 17] + - !!python/tuple [15, 3] + - !!python/tuple [17, 17] + - !!python/tuple [15, 29] + - !!python/tuple [10, 21] + - !!python/tuple [26, 5] + - !!python/tuple [2, 19] + - !!python/tuple [18, 6] + - !!python/tuple [23, 16] + - !!python/tuple [21, 13] + - !!python/tuple [13, 8] + - !!python/tuple [25, 6] + - !!python/tuple [15, 4] + - !!python/tuple [9, 31] + - !!python/tuple [16, 25] + - !!python/tuple [27, 22] + - !!python/tuple [1, 8] + - !!python/tuple [4, 24] + - !!python/tuple [12, 15] + - !!python/tuple [25, 29] + - !!python/tuple [24, 17] + - !!python/tuple [2, 21] + - !!python/tuple [24, 29] + - !!python/tuple [7, 26] + - !!python/tuple [8, 31] + - !!python/tuple [2, 18] + - !!python/tuple [30, 13] + - !!python/tuple [24, 20] + - !!python/tuple [5, 12] + - !!python/tuple [8, 30] + - !!python/tuple [15, 25] + - !!python/tuple [29, 21] + - !!python/tuple [17, 28] + - !!python/tuple [17, 13] + - !!python/tuple [14, 1] + - !!python/tuple [7, 22] + - !!python/tuple [27, 31] + - !!python/tuple [16, 0] + - !!python/tuple [16, 11] + - !!python/tuple [21, 24] + - !!python/tuple [3, 18] + - !!python/tuple [4, 14] + - !!python/tuple [2, 6] + - !!python/tuple [13, 7] + - !!python/tuple [10, 7] + - !!python/tuple [23, 10] + - !!python/tuple [15, 27] + - !!python/tuple [11, 27] + - !!python/tuple [20, 11] + - !!python/tuple [11, 0] + - !!python/tuple [3, 30] + - !!python/tuple [24, 27] + - !!python/tuple [29, 2] + - !!python/tuple [6, 16] + - !!python/tuple [20, 7] + - !!python/tuple [4, 4] + - !!python/tuple [25, 13] + - !!python/tuple [9, 3] + - !!python/tuple [9, 25] + - !!python/tuple [6, 8] + - !!python/tuple [9, 16] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex39.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex39.yaml new file mode 100644 index 0000000..ac1d60f --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex39.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [12, 14] + name: agent0 + start: [12, 25] +- goal: [11, 6] + name: agent1 + start: [5, 1] +- goal: [7, 1] + name: agent2 + start: [1, 29] +- goal: [11, 18] + name: agent3 + start: [27, 9] +- goal: [31, 25] + name: agent4 + start: [17, 9] +- goal: [0, 0] + name: agent5 + start: [6, 20] +- goal: [16, 22] + name: agent6 + start: [30, 0] +- goal: [25, 9] + name: agent7 + start: [27, 13] +- goal: [15, 26] + name: agent8 + start: [7, 4] +- goal: [30, 28] + name: agent9 + start: [6, 25] +- goal: [22, 22] + name: agent10 + start: [21, 4] +- goal: [20, 10] + name: agent11 + start: [13, 7] +- goal: [27, 19] + name: agent12 + start: [28, 13] +- goal: [15, 25] + name: agent13 + start: [24, 3] +- goal: [0, 25] + name: agent14 + start: [9, 2] +- goal: [0, 23] + name: agent15 + start: [19, 4] +- goal: [24, 22] + name: agent16 + start: [16, 29] +- goal: [3, 28] + name: agent17 + start: [3, 4] +- goal: [10, 17] + name: agent18 + start: [7, 27] +- goal: [27, 31] + name: agent19 + start: [16, 17] +- goal: [11, 22] + name: agent20 + start: [6, 16] +- goal: [1, 27] + name: agent21 + start: [0, 6] +- goal: [24, 29] + name: agent22 + start: [12, 27] +- goal: [3, 24] + name: agent23 + start: [7, 30] +- goal: [18, 29] + name: agent24 + start: [2, 24] +- goal: [22, 20] + name: agent25 + start: [19, 19] +- goal: [18, 5] + name: agent26 + start: [29, 0] +- goal: [26, 15] + name: agent27 + start: [6, 12] +- goal: [18, 31] + name: agent28 + start: [0, 11] +- goal: [7, 22] + name: agent29 + start: [19, 24] +- goal: [31, 27] + name: agent30 + start: [8, 9] +- goal: [30, 4] + name: agent31 + start: [13, 6] +- goal: [0, 24] + name: agent32 + start: [11, 5] +- goal: [9, 6] + name: agent33 + start: [5, 16] +- goal: [15, 18] + name: agent34 + start: [0, 5] +- goal: [31, 26] + name: agent35 + start: [17, 20] +- goal: [18, 4] + name: agent36 + start: [29, 22] +- goal: [3, 10] + name: agent37 + start: [4, 28] +- goal: [12, 31] + name: agent38 + start: [10, 10] +- goal: [30, 18] + name: agent39 + start: [3, 20] +- goal: [0, 19] + name: agent40 + start: [27, 18] +- goal: [21, 1] + name: agent41 + start: [6, 11] +- goal: [22, 25] + name: agent42 + start: [17, 13] +- goal: [12, 5] + name: agent43 + start: [18, 16] +- goal: [13, 3] + name: agent44 + start: [30, 11] +- goal: [3, 20] + name: agent45 + start: [10, 2] +- goal: [21, 25] + name: agent46 + start: [26, 16] +- goal: [14, 11] + name: agent47 + start: [7, 21] +- goal: [13, 9] + name: agent48 + start: [16, 23] +- goal: [17, 4] + name: agent49 + start: [24, 29] +- goal: [7, 7] + name: agent50 + start: [20, 9] +- goal: [2, 24] + name: agent51 + start: [15, 27] +- goal: [21, 15] + name: agent52 + start: [31, 25] +- goal: [4, 15] + name: agent53 + start: [24, 5] +- goal: [15, 4] + name: agent54 + start: [31, 18] +- goal: [1, 3] + name: agent55 + start: [6, 5] +- goal: [31, 20] + name: agent56 + start: [20, 18] +- goal: [21, 23] + name: agent57 + start: [19, 1] +- goal: [8, 10] + name: agent58 + start: [17, 22] +- goal: [21, 12] + name: agent59 + start: [23, 6] +- goal: [11, 31] + name: agent60 + start: [7, 2] +- goal: [26, 24] + name: agent61 + start: [2, 30] +- goal: [0, 14] + name: agent62 + start: [28, 18] +- goal: [19, 13] + name: agent63 + start: [23, 4] +- goal: [6, 13] + name: agent64 + start: [21, 20] +- goal: [27, 30] + name: agent65 + start: [21, 8] +- goal: [4, 23] + name: agent66 + start: [17, 12] +- goal: [23, 31] + name: agent67 + start: [10, 1] +- goal: [30, 31] + name: agent68 + start: [21, 28] +- goal: [22, 5] + name: agent69 + start: [20, 21] +- goal: [2, 3] + name: agent70 + start: [18, 31] +- goal: [18, 21] + name: agent71 + start: [31, 16] +- goal: [21, 5] + name: agent72 + start: [28, 25] +- goal: [25, 24] + name: agent73 + start: [13, 22] +- goal: [19, 15] + name: agent74 + start: [30, 22] +- goal: [24, 1] + name: agent75 + start: [18, 27] +- goal: [1, 0] + name: agent76 + start: [1, 16] +- goal: [27, 20] + name: agent77 + start: [10, 18] +- goal: [30, 12] + name: agent78 + start: [17, 7] +- goal: [1, 22] + name: agent79 + start: [4, 13] +- goal: [27, 9] + name: agent80 + start: [23, 29] +- goal: [27, 10] + name: agent81 + start: [10, 12] +- goal: [5, 14] + name: agent82 + start: [2, 17] +- goal: [30, 19] + name: agent83 + start: [24, 20] +- goal: [3, 14] + name: agent84 + start: [4, 6] +- goal: [17, 23] + name: agent85 + start: [28, 17] +- goal: [12, 26] + name: agent86 + start: [30, 18] +- goal: [8, 2] + name: agent87 + start: [26, 17] +- goal: [27, 5] + name: agent88 + start: [0, 2] +- goal: [25, 21] + name: agent89 + start: [24, 31] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [29, 28] + - !!python/tuple [19, 31] + - !!python/tuple [10, 13] + - !!python/tuple [15, 1] + - !!python/tuple [21, 11] + - !!python/tuple [11, 10] + - !!python/tuple [24, 16] + - !!python/tuple [27, 2] + - !!python/tuple [11, 14] + - !!python/tuple [31, 9] + - !!python/tuple [4, 30] + - !!python/tuple [24, 17] + - !!python/tuple [5, 20] + - !!python/tuple [19, 17] + - !!python/tuple [14, 20] + - !!python/tuple [14, 3] + - !!python/tuple [2, 26] + - !!python/tuple [4, 29] + - !!python/tuple [10, 24] + - !!python/tuple [30, 3] + - !!python/tuple [29, 15] + - !!python/tuple [31, 11] + - !!python/tuple [29, 6] + - !!python/tuple [5, 15] + - !!python/tuple [19, 22] + - !!python/tuple [19, 20] + - !!python/tuple [28, 22] + - !!python/tuple [1, 10] + - !!python/tuple [16, 24] + - !!python/tuple [9, 4] + - !!python/tuple [0, 30] + - !!python/tuple [7, 31] + - !!python/tuple [29, 12] + - !!python/tuple [18, 18] + - !!python/tuple [3, 23] + - !!python/tuple [23, 3] + - !!python/tuple [7, 29] + - !!python/tuple [12, 18] + - !!python/tuple [11, 19] + - !!python/tuple [5, 10] + - !!python/tuple [2, 18] + - !!python/tuple [11, 2] + - !!python/tuple [7, 6] + - !!python/tuple [25, 27] + - !!python/tuple [4, 12] + - !!python/tuple [9, 28] + - !!python/tuple [15, 17] + - !!python/tuple [3, 26] + - !!python/tuple [10, 27] + - !!python/tuple [10, 28] + - !!python/tuple [6, 0] + - !!python/tuple [8, 21] + - !!python/tuple [22, 14] + - !!python/tuple [22, 30] + - !!python/tuple [16, 12] + - !!python/tuple [3, 19] + - !!python/tuple [23, 5] + - !!python/tuple [25, 14] + - !!python/tuple [14, 0] + - !!python/tuple [26, 4] + - !!python/tuple [24, 7] + - !!python/tuple [20, 12] + - !!python/tuple [5, 3] + - !!python/tuple [22, 24] + - !!python/tuple [4, 3] + - !!python/tuple [23, 23] + - !!python/tuple [21, 2] + - !!python/tuple [3, 15] + - !!python/tuple [11, 26] + - !!python/tuple [6, 23] + - !!python/tuple [31, 2] + - !!python/tuple [9, 25] + - !!python/tuple [20, 30] + - !!python/tuple [10, 8] + - !!python/tuple [20, 13] + - !!python/tuple [12, 13] + - !!python/tuple [13, 30] + - !!python/tuple [18, 22] + - !!python/tuple [15, 22] + - !!python/tuple [23, 25] + - !!python/tuple [28, 0] + - !!python/tuple [9, 14] + - !!python/tuple [7, 0] + - !!python/tuple [22, 13] + - !!python/tuple [15, 12] + - !!python/tuple [19, 6] + - !!python/tuple [8, 1] + - !!python/tuple [28, 23] + - !!python/tuple [3, 7] + - !!python/tuple [6, 7] + - !!python/tuple [7, 15] + - !!python/tuple [5, 26] + - !!python/tuple [30, 6] + - !!python/tuple [17, 6] + - !!python/tuple [26, 22] + - !!python/tuple [26, 14] + - !!python/tuple [16, 9] + - !!python/tuple [4, 27] + - !!python/tuple [5, 27] + - !!python/tuple [4, 31] + - !!python/tuple [22, 16] + - !!python/tuple [29, 2] + - !!python/tuple [16, 5] + - !!python/tuple [21, 27] + - !!python/tuple [20, 6] + - !!python/tuple [8, 15] + - !!python/tuple [2, 14] + - !!python/tuple [25, 25] + - !!python/tuple [31, 14] + - !!python/tuple [12, 2] + - !!python/tuple [10, 15] + - !!python/tuple [11, 17] + - !!python/tuple [30, 24] + - !!python/tuple [28, 20] + - !!python/tuple [22, 8] + - !!python/tuple [29, 24] + - !!python/tuple [27, 26] + - !!python/tuple [27, 23] + - !!python/tuple [0, 9] + - !!python/tuple [8, 24] + - !!python/tuple [13, 26] + - !!python/tuple [6, 1] + - !!python/tuple [31, 23] + - !!python/tuple [27, 1] + - !!python/tuple [2, 1] + - !!python/tuple [23, 11] + - !!python/tuple [23, 16] + - !!python/tuple [13, 19] + - !!python/tuple [9, 31] + - !!python/tuple [12, 8] + - !!python/tuple [3, 13] + - !!python/tuple [11, 11] + - !!python/tuple [30, 30] + - !!python/tuple [23, 19] + - !!python/tuple [27, 4] + - !!python/tuple [28, 28] + - !!python/tuple [15, 7] + - !!python/tuple [7, 24] + - !!python/tuple [30, 16] + - !!python/tuple [2, 0] + - !!python/tuple [4, 8] + - !!python/tuple [17, 29] + - !!python/tuple [11, 3] + - !!python/tuple [2, 12] + - !!python/tuple [20, 23] + - !!python/tuple [22, 2] + - !!python/tuple [26, 11] + - !!python/tuple [16, 30] + - !!python/tuple [18, 0] + - !!python/tuple [18, 15] + - !!python/tuple [0, 4] + - !!python/tuple [24, 24] + - !!python/tuple [28, 27] + - !!python/tuple [15, 5] + - !!python/tuple [27, 11] + - !!python/tuple [12, 16] + - !!python/tuple [16, 14] + - !!python/tuple [26, 3] + - !!python/tuple [0, 27] + - !!python/tuple [0, 21] + - !!python/tuple [24, 13] + - !!python/tuple [7, 3] + - !!python/tuple [0, 31] + - !!python/tuple [25, 18] + - !!python/tuple [17, 11] + - !!python/tuple [9, 5] + - !!python/tuple [5, 0] + - !!python/tuple [22, 3] + - !!python/tuple [21, 13] + - !!python/tuple [18, 20] + - !!python/tuple [14, 8] + - !!python/tuple [31, 19] + - !!python/tuple [23, 9] + - !!python/tuple [11, 25] + - !!python/tuple [8, 25] + - !!python/tuple [19, 9] + - !!python/tuple [8, 31] + - !!python/tuple [18, 24] + - !!python/tuple [15, 19] + - !!python/tuple [27, 29] + - !!python/tuple [14, 28] + - !!python/tuple [31, 8] + - !!python/tuple [23, 2] + - !!python/tuple [10, 26] + - !!python/tuple [25, 4] + - !!python/tuple [8, 19] + - !!python/tuple [7, 18] + - !!python/tuple [13, 8] + - !!python/tuple [10, 31] + - !!python/tuple [11, 16] + - !!python/tuple [0, 13] + - !!python/tuple [2, 13] + - !!python/tuple [29, 18] + - !!python/tuple [12, 23] + - !!python/tuple [7, 12] + - !!python/tuple [13, 18] + - !!python/tuple [23, 28] + - !!python/tuple [12, 3] + - !!python/tuple [22, 21] + - !!python/tuple [14, 1] + - !!python/tuple [13, 14] + - !!python/tuple [19, 26] + - !!python/tuple [21, 26] + - !!python/tuple [3, 22] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex4.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex4.yaml new file mode 100644 index 0000000..c5f68d7 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex4.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [12, 25] + name: agent0 + start: [20, 19] +- goal: [13, 3] + name: agent1 + start: [6, 5] +- goal: [27, 28] + name: agent2 + start: [29, 14] +- goal: [14, 18] + name: agent3 + start: [1, 14] +- goal: [11, 6] + name: agent4 + start: [27, 21] +- goal: [30, 24] + name: agent5 + start: [27, 14] +- goal: [6, 5] + name: agent6 + start: [29, 7] +- goal: [8, 5] + name: agent7 + start: [28, 30] +- goal: [9, 30] + name: agent8 + start: [29, 1] +- goal: [9, 8] + name: agent9 + start: [19, 16] +- goal: [22, 25] + name: agent10 + start: [28, 10] +- goal: [25, 4] + name: agent11 + start: [0, 21] +- goal: [26, 28] + name: agent12 + start: [10, 19] +- goal: [4, 12] + name: agent13 + start: [16, 9] +- goal: [5, 12] + name: agent14 + start: [12, 15] +- goal: [22, 20] + name: agent15 + start: [11, 11] +- goal: [27, 2] + name: agent16 + start: [20, 12] +- goal: [3, 29] + name: agent17 + start: [2, 30] +- goal: [3, 5] + name: agent18 + start: [16, 0] +- goal: [5, 6] + name: agent19 + start: [10, 1] +- goal: [31, 0] + name: agent20 + start: [21, 11] +- goal: [27, 29] + name: agent21 + start: [28, 28] +- goal: [8, 3] + name: agent22 + start: [9, 8] +- goal: [8, 25] + name: agent23 + start: [21, 3] +- goal: [3, 27] + name: agent24 + start: [22, 3] +- goal: [8, 15] + name: agent25 + start: [12, 29] +- goal: [2, 22] + name: agent26 + start: [24, 30] +- goal: [0, 12] + name: agent27 + start: [23, 29] +- goal: [10, 11] + name: agent28 + start: [4, 28] +- goal: [20, 29] + name: agent29 + start: [19, 25] +- goal: [6, 4] + name: agent30 + start: [19, 11] +- goal: [4, 21] + name: agent31 + start: [15, 7] +- goal: [7, 7] + name: agent32 + start: [29, 15] +- goal: [2, 3] + name: agent33 + start: [28, 5] +- goal: [13, 19] + name: agent34 + start: [11, 1] +- goal: [9, 31] + name: agent35 + start: [23, 28] +- goal: [19, 24] + name: agent36 + start: [24, 10] +- goal: [5, 1] + name: agent37 + start: [14, 11] +- goal: [1, 19] + name: agent38 + start: [31, 30] +- goal: [20, 10] + name: agent39 + start: [15, 24] +- goal: [4, 7] + name: agent40 + start: [16, 28] +- goal: [23, 22] + name: agent41 + start: [30, 25] +- goal: [12, 18] + name: agent42 + start: [26, 13] +- goal: [9, 0] + name: agent43 + start: [22, 27] +- goal: [2, 13] + name: agent44 + start: [31, 15] +- goal: [5, 14] + name: agent45 + start: [13, 8] +- goal: [23, 27] + name: agent46 + start: [12, 2] +- goal: [13, 17] + name: agent47 + start: [15, 9] +- goal: [13, 23] + name: agent48 + start: [28, 22] +- goal: [4, 28] + name: agent49 + start: [12, 16] +- goal: [26, 30] + name: agent50 + start: [15, 26] +- goal: [14, 13] + name: agent51 + start: [26, 23] +- goal: [6, 29] + name: agent52 + start: [23, 19] +- goal: [20, 28] + name: agent53 + start: [2, 6] +- goal: [27, 16] + name: agent54 + start: [9, 4] +- goal: [2, 7] + name: agent55 + start: [5, 14] +- goal: [16, 22] + name: agent56 + start: [30, 13] +- goal: [12, 0] + name: agent57 + start: [6, 7] +- goal: [12, 26] + name: agent58 + start: [11, 31] +- goal: [22, 16] + name: agent59 + start: [6, 22] +- goal: [20, 25] + name: agent60 + start: [5, 17] +- goal: [0, 4] + name: agent61 + start: [25, 18] +- goal: [2, 9] + name: agent62 + start: [4, 13] +- goal: [18, 30] + name: agent63 + start: [10, 14] +- goal: [19, 7] + name: agent64 + start: [0, 11] +- goal: [22, 15] + name: agent65 + start: [12, 7] +- goal: [21, 1] + name: agent66 + start: [2, 24] +- goal: [30, 29] + name: agent67 + start: [30, 6] +- goal: [0, 8] + name: agent68 + start: [0, 27] +- goal: [7, 25] + name: agent69 + start: [24, 22] +- goal: [13, 13] + name: agent70 + start: [27, 1] +- goal: [12, 24] + name: agent71 + start: [22, 30] +- goal: [3, 31] + name: agent72 + start: [8, 19] +- goal: [26, 22] + name: agent73 + start: [27, 10] +- goal: [28, 14] + name: agent74 + start: [24, 19] +- goal: [26, 19] + name: agent75 + start: [21, 25] +- goal: [28, 24] + name: agent76 + start: [24, 2] +- goal: [12, 15] + name: agent77 + start: [12, 0] +- goal: [31, 6] + name: agent78 + start: [13, 11] +- goal: [7, 29] + name: agent79 + start: [7, 8] +- goal: [9, 22] + name: agent80 + start: [7, 10] +- goal: [26, 31] + name: agent81 + start: [29, 23] +- goal: [22, 23] + name: agent82 + start: [3, 0] +- goal: [16, 15] + name: agent83 + start: [16, 27] +- goal: [31, 29] + name: agent84 + start: [7, 22] +- goal: [7, 13] + name: agent85 + start: [10, 25] +- goal: [27, 8] + name: agent86 + start: [7, 9] +- goal: [13, 8] + name: agent87 + start: [3, 24] +- goal: [31, 25] + name: agent88 + start: [15, 27] +- goal: [11, 22] + name: agent89 + start: [3, 13] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [1, 2] + - !!python/tuple [17, 3] + - !!python/tuple [11, 17] + - !!python/tuple [25, 11] + - !!python/tuple [31, 24] + - !!python/tuple [31, 11] + - !!python/tuple [25, 21] + - !!python/tuple [30, 4] + - !!python/tuple [21, 20] + - !!python/tuple [13, 28] + - !!python/tuple [22, 24] + - !!python/tuple [2, 15] + - !!python/tuple [8, 12] + - !!python/tuple [21, 31] + - !!python/tuple [19, 20] + - !!python/tuple [30, 20] + - !!python/tuple [18, 6] + - !!python/tuple [28, 15] + - !!python/tuple [27, 26] + - !!python/tuple [15, 23] + - !!python/tuple [13, 25] + - !!python/tuple [14, 9] + - !!python/tuple [3, 3] + - !!python/tuple [17, 22] + - !!python/tuple [14, 31] + - !!python/tuple [20, 18] + - !!python/tuple [4, 3] + - !!python/tuple [0, 25] + - !!python/tuple [24, 20] + - !!python/tuple [12, 4] + - !!python/tuple [20, 1] + - !!python/tuple [22, 4] + - !!python/tuple [8, 24] + - !!python/tuple [18, 24] + - !!python/tuple [16, 25] + - !!python/tuple [2, 14] + - !!python/tuple [18, 9] + - !!python/tuple [18, 31] + - !!python/tuple [3, 25] + - !!python/tuple [12, 23] + - !!python/tuple [17, 19] + - !!python/tuple [10, 24] + - !!python/tuple [6, 24] + - !!python/tuple [22, 1] + - !!python/tuple [14, 23] + - !!python/tuple [22, 19] + - !!python/tuple [22, 21] + - !!python/tuple [16, 6] + - !!python/tuple [4, 30] + - !!python/tuple [11, 19] + - !!python/tuple [2, 11] + - !!python/tuple [11, 9] + - !!python/tuple [6, 26] + - !!python/tuple [12, 28] + - !!python/tuple [16, 30] + - !!python/tuple [5, 29] + - !!python/tuple [23, 4] + - !!python/tuple [31, 4] + - !!python/tuple [9, 13] + - !!python/tuple [11, 29] + - !!python/tuple [16, 10] + - !!python/tuple [14, 5] + - !!python/tuple [24, 9] + - !!python/tuple [28, 25] + - !!python/tuple [31, 17] + - !!python/tuple [9, 6] + - !!python/tuple [20, 20] + - !!python/tuple [20, 16] + - !!python/tuple [27, 15] + - !!python/tuple [0, 9] + - !!python/tuple [26, 0] + - !!python/tuple [31, 10] + - !!python/tuple [11, 13] + - !!python/tuple [11, 27] + - !!python/tuple [24, 11] + - !!python/tuple [23, 10] + - !!python/tuple [31, 26] + - !!python/tuple [22, 5] + - !!python/tuple [7, 23] + - !!python/tuple [13, 6] + - !!python/tuple [2, 19] + - !!python/tuple [4, 1] + - !!python/tuple [28, 20] + - !!python/tuple [29, 16] + - !!python/tuple [21, 0] + - !!python/tuple [4, 6] + - !!python/tuple [25, 7] + - !!python/tuple [2, 26] + - !!python/tuple [20, 31] + - !!python/tuple [9, 9] + - !!python/tuple [10, 22] + - !!python/tuple [3, 30] + - !!python/tuple [27, 6] + - !!python/tuple [5, 11] + - !!python/tuple [18, 12] + - !!python/tuple [1, 30] + - !!python/tuple [4, 19] + - !!python/tuple [20, 14] + - !!python/tuple [25, 23] + - !!python/tuple [25, 31] + - !!python/tuple [15, 1] + - !!python/tuple [11, 21] + - !!python/tuple [11, 24] + - !!python/tuple [22, 13] + - !!python/tuple [6, 31] + - !!python/tuple [26, 5] + - !!python/tuple [21, 30] + - !!python/tuple [12, 22] + - !!python/tuple [28, 9] + - !!python/tuple [17, 0] + - !!python/tuple [18, 26] + - !!python/tuple [27, 5] + - !!python/tuple [5, 20] + - !!python/tuple [19, 8] + - !!python/tuple [10, 8] + - !!python/tuple [5, 31] + - !!python/tuple [24, 1] + - !!python/tuple [0, 23] + - !!python/tuple [1, 31] + - !!python/tuple [6, 17] + - !!python/tuple [13, 27] + - !!python/tuple [8, 1] + - !!python/tuple [26, 8] + - !!python/tuple [7, 2] + - !!python/tuple [30, 22] + - !!python/tuple [24, 7] + - !!python/tuple [7, 15] + - !!python/tuple [25, 25] + - !!python/tuple [6, 2] + - !!python/tuple [20, 27] + - !!python/tuple [25, 0] + - !!python/tuple [19, 26] + - !!python/tuple [27, 9] + - !!python/tuple [3, 6] + - !!python/tuple [10, 3] + - !!python/tuple [0, 28] + - !!python/tuple [3, 15] + - !!python/tuple [31, 7] + - !!python/tuple [21, 13] + - !!python/tuple [7, 30] + - !!python/tuple [9, 15] + - !!python/tuple [28, 3] + - !!python/tuple [8, 26] + - !!python/tuple [12, 3] + - !!python/tuple [20, 3] + - !!python/tuple [23, 16] + - !!python/tuple [4, 2] + - !!python/tuple [13, 15] + - !!python/tuple [25, 22] + - !!python/tuple [0, 7] + - !!python/tuple [17, 17] + - !!python/tuple [25, 28] + - !!python/tuple [15, 0] + - !!python/tuple [24, 21] + - !!python/tuple [27, 4] + - !!python/tuple [17, 25] + - !!python/tuple [7, 26] + - !!python/tuple [0, 15] + - !!python/tuple [30, 9] + - !!python/tuple [22, 10] + - !!python/tuple [27, 17] + - !!python/tuple [18, 4] + - !!python/tuple [3, 17] + - !!python/tuple [0, 5] + - !!python/tuple [30, 2] + - !!python/tuple [5, 18] + - !!python/tuple [18, 5] + - !!python/tuple [19, 29] + - !!python/tuple [21, 4] + - !!python/tuple [7, 14] + - !!python/tuple [16, 12] + - !!python/tuple [23, 24] + - !!python/tuple [3, 14] + - !!python/tuple [17, 9] + - !!python/tuple [6, 12] + - !!python/tuple [9, 28] + - !!python/tuple [20, 2] + - !!python/tuple [3, 20] + - !!python/tuple [26, 15] + - !!python/tuple [0, 10] + - !!python/tuple [7, 3] + - !!python/tuple [13, 14] + - !!python/tuple [13, 21] + - !!python/tuple [27, 22] + - !!python/tuple [15, 16] + - !!python/tuple [23, 13] + - !!python/tuple [18, 1] + - !!python/tuple [7, 12] + - !!python/tuple [30, 30] + - !!python/tuple [8, 9] + - !!python/tuple [9, 14] + - !!python/tuple [27, 11] + - !!python/tuple [25, 2] + - !!python/tuple [20, 8] + - !!python/tuple [1, 29] + - !!python/tuple [26, 18] + - !!python/tuple [16, 29] + - !!python/tuple [8, 20] + - !!python/tuple [17, 16] + - !!python/tuple [26, 11] + - !!python/tuple [25, 5] + - !!python/tuple [22, 14] + - !!python/tuple [23, 23] + - !!python/tuple [23, 15] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex40.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex40.yaml new file mode 100644 index 0000000..70e9431 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex40.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [30, 15] + name: agent0 + start: [14, 27] +- goal: [18, 7] + name: agent1 + start: [18, 18] +- goal: [27, 12] + name: agent2 + start: [15, 4] +- goal: [20, 29] + name: agent3 + start: [3, 22] +- goal: [19, 10] + name: agent4 + start: [28, 4] +- goal: [6, 16] + name: agent5 + start: [10, 13] +- goal: [8, 1] + name: agent6 + start: [9, 6] +- goal: [5, 18] + name: agent7 + start: [7, 15] +- goal: [25, 4] + name: agent8 + start: [11, 30] +- goal: [4, 29] + name: agent9 + start: [29, 19] +- goal: [12, 23] + name: agent10 + start: [7, 9] +- goal: [0, 20] + name: agent11 + start: [0, 9] +- goal: [30, 1] + name: agent12 + start: [31, 4] +- goal: [13, 11] + name: agent13 + start: [24, 11] +- goal: [11, 8] + name: agent14 + start: [2, 30] +- goal: [1, 12] + name: agent15 + start: [5, 17] +- goal: [11, 14] + name: agent16 + start: [6, 22] +- goal: [12, 8] + name: agent17 + start: [13, 26] +- goal: [6, 10] + name: agent18 + start: [3, 23] +- goal: [28, 2] + name: agent19 + start: [17, 25] +- goal: [14, 16] + name: agent20 + start: [3, 9] +- goal: [2, 12] + name: agent21 + start: [6, 20] +- goal: [8, 3] + name: agent22 + start: [0, 24] +- goal: [29, 20] + name: agent23 + start: [26, 12] +- goal: [2, 24] + name: agent24 + start: [13, 20] +- goal: [28, 18] + name: agent25 + start: [11, 28] +- goal: [13, 18] + name: agent26 + start: [25, 6] +- goal: [25, 8] + name: agent27 + start: [20, 19] +- goal: [8, 26] + name: agent28 + start: [9, 8] +- goal: [21, 9] + name: agent29 + start: [27, 26] +- goal: [26, 26] + name: agent30 + start: [6, 3] +- goal: [15, 18] + name: agent31 + start: [31, 23] +- goal: [17, 23] + name: agent32 + start: [30, 27] +- goal: [27, 5] + name: agent33 + start: [17, 11] +- goal: [23, 29] + name: agent34 + start: [13, 4] +- goal: [3, 25] + name: agent35 + start: [30, 14] +- goal: [9, 9] + name: agent36 + start: [28, 24] +- goal: [14, 13] + name: agent37 + start: [27, 22] +- goal: [18, 29] + name: agent38 + start: [11, 7] +- goal: [11, 3] + name: agent39 + start: [31, 31] +- goal: [30, 17] + name: agent40 + start: [18, 15] +- goal: [20, 17] + name: agent41 + start: [12, 9] +- goal: [27, 1] + name: agent42 + start: [29, 7] +- goal: [18, 4] + name: agent43 + start: [9, 27] +- goal: [23, 8] + name: agent44 + start: [9, 2] +- goal: [6, 13] + name: agent45 + start: [2, 11] +- goal: [8, 22] + name: agent46 + start: [13, 14] +- goal: [13, 2] + name: agent47 + start: [20, 14] +- goal: [26, 2] + name: agent48 + start: [24, 31] +- goal: [2, 1] + name: agent49 + start: [22, 24] +- goal: [12, 2] + name: agent50 + start: [21, 7] +- goal: [16, 19] + name: agent51 + start: [20, 17] +- goal: [4, 26] + name: agent52 + start: [1, 20] +- goal: [12, 30] + name: agent53 + start: [26, 25] +- goal: [0, 16] + name: agent54 + start: [25, 10] +- goal: [1, 26] + name: agent55 + start: [23, 7] +- goal: [12, 29] + name: agent56 + start: [7, 19] +- goal: [23, 30] + name: agent57 + start: [25, 26] +- goal: [4, 23] + name: agent58 + start: [16, 18] +- goal: [9, 24] + name: agent59 + start: [26, 15] +- goal: [29, 18] + name: agent60 + start: [17, 17] +- goal: [15, 5] + name: agent61 + start: [27, 19] +- goal: [24, 25] + name: agent62 + start: [5, 16] +- goal: [4, 16] + name: agent63 + start: [16, 25] +- goal: [8, 0] + name: agent64 + start: [16, 14] +- goal: [27, 23] + name: agent65 + start: [10, 18] +- goal: [6, 30] + name: agent66 + start: [14, 12] +- goal: [22, 15] + name: agent67 + start: [25, 30] +- goal: [12, 26] + name: agent68 + start: [21, 30] +- goal: [31, 28] + name: agent69 + start: [4, 3] +- goal: [14, 28] + name: agent70 + start: [23, 11] +- goal: [17, 7] + name: agent71 + start: [27, 0] +- goal: [26, 5] + name: agent72 + start: [19, 26] +- goal: [18, 2] + name: agent73 + start: [1, 25] +- goal: [9, 12] + name: agent74 + start: [24, 23] +- goal: [6, 24] + name: agent75 + start: [2, 21] +- goal: [29, 29] + name: agent76 + start: [5, 8] +- goal: [5, 23] + name: agent77 + start: [20, 21] +- goal: [11, 6] + name: agent78 + start: [26, 18] +- goal: [30, 27] + name: agent79 + start: [23, 8] +- goal: [19, 9] + name: agent80 + start: [21, 18] +- goal: [15, 19] + name: agent81 + start: [28, 3] +- goal: [18, 19] + name: agent82 + start: [28, 5] +- goal: [9, 3] + name: agent83 + start: [9, 22] +- goal: [25, 16] + name: agent84 + start: [4, 1] +- goal: [26, 18] + name: agent85 + start: [9, 12] +- goal: [26, 1] + name: agent86 + start: [24, 25] +- goal: [5, 13] + name: agent87 + start: [25, 24] +- goal: [26, 20] + name: agent88 + start: [12, 7] +- goal: [3, 22] + name: agent89 + start: [13, 5] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [23, 25] + - !!python/tuple [10, 19] + - !!python/tuple [19, 0] + - !!python/tuple [29, 27] + - !!python/tuple [19, 27] + - !!python/tuple [14, 11] + - !!python/tuple [18, 17] + - !!python/tuple [27, 8] + - !!python/tuple [18, 25] + - !!python/tuple [7, 17] + - !!python/tuple [7, 23] + - !!python/tuple [22, 25] + - !!python/tuple [17, 4] + - !!python/tuple [29, 3] + - !!python/tuple [9, 31] + - !!python/tuple [2, 23] + - !!python/tuple [28, 23] + - !!python/tuple [11, 11] + - !!python/tuple [27, 14] + - !!python/tuple [11, 16] + - !!python/tuple [23, 13] + - !!python/tuple [18, 8] + - !!python/tuple [30, 4] + - !!python/tuple [23, 9] + - !!python/tuple [13, 10] + - !!python/tuple [10, 20] + - !!python/tuple [31, 0] + - !!python/tuple [28, 7] + - !!python/tuple [10, 3] + - !!python/tuple [7, 29] + - !!python/tuple [2, 0] + - !!python/tuple [0, 14] + - !!python/tuple [15, 0] + - !!python/tuple [27, 30] + - !!python/tuple [9, 5] + - !!python/tuple [3, 26] + - !!python/tuple [27, 2] + - !!python/tuple [6, 27] + - !!python/tuple [0, 5] + - !!python/tuple [5, 10] + - !!python/tuple [6, 31] + - !!python/tuple [26, 13] + - !!python/tuple [30, 21] + - !!python/tuple [27, 28] + - !!python/tuple [5, 2] + - !!python/tuple [16, 10] + - !!python/tuple [17, 22] + - !!python/tuple [14, 3] + - !!python/tuple [21, 15] + - !!python/tuple [20, 3] + - !!python/tuple [1, 28] + - !!python/tuple [26, 19] + - !!python/tuple [7, 16] + - !!python/tuple [16, 13] + - !!python/tuple [22, 18] + - !!python/tuple [20, 28] + - !!python/tuple [13, 31] + - !!python/tuple [3, 20] + - !!python/tuple [2, 31] + - !!python/tuple [6, 19] + - !!python/tuple [20, 30] + - !!python/tuple [23, 17] + - !!python/tuple [7, 24] + - !!python/tuple [10, 1] + - !!python/tuple [12, 22] + - !!python/tuple [26, 4] + - !!python/tuple [18, 10] + - !!python/tuple [13, 21] + - !!python/tuple [5, 31] + - !!python/tuple [22, 1] + - !!python/tuple [5, 6] + - !!python/tuple [31, 17] + - !!python/tuple [3, 15] + - !!python/tuple [27, 16] + - !!python/tuple [3, 4] + - !!python/tuple [25, 9] + - !!python/tuple [10, 27] + - !!python/tuple [4, 4] + - !!python/tuple [19, 18] + - !!python/tuple [5, 15] + - !!python/tuple [13, 23] + - !!python/tuple [31, 19] + - !!python/tuple [20, 25] + - !!python/tuple [14, 4] + - !!python/tuple [5, 22] + - !!python/tuple [2, 17] + - !!python/tuple [24, 20] + - !!python/tuple [11, 18] + - !!python/tuple [24, 1] + - !!python/tuple [19, 30] + - !!python/tuple [15, 12] + - !!python/tuple [19, 2] + - !!python/tuple [1, 7] + - !!python/tuple [29, 5] + - !!python/tuple [17, 21] + - !!python/tuple [14, 7] + - !!python/tuple [11, 25] + - !!python/tuple [21, 27] + - !!python/tuple [0, 22] + - !!python/tuple [10, 4] + - !!python/tuple [21, 4] + - !!python/tuple [8, 27] + - !!python/tuple [8, 12] + - !!python/tuple [0, 1] + - !!python/tuple [22, 20] + - !!python/tuple [17, 19] + - !!python/tuple [11, 27] + - !!python/tuple [25, 22] + - !!python/tuple [27, 25] + - !!python/tuple [24, 2] + - !!python/tuple [4, 12] + - !!python/tuple [7, 31] + - !!python/tuple [31, 2] + - !!python/tuple [20, 12] + - !!python/tuple [30, 9] + - !!python/tuple [15, 13] + - !!python/tuple [0, 23] + - !!python/tuple [8, 4] + - !!python/tuple [4, 24] + - !!python/tuple [17, 10] + - !!python/tuple [27, 6] + - !!python/tuple [0, 19] + - !!python/tuple [15, 10] + - !!python/tuple [26, 3] + - !!python/tuple [26, 21] + - !!python/tuple [21, 23] + - !!python/tuple [29, 4] + - !!python/tuple [26, 23] + - !!python/tuple [31, 1] + - !!python/tuple [19, 1] + - !!python/tuple [29, 13] + - !!python/tuple [11, 29] + - !!python/tuple [19, 20] + - !!python/tuple [21, 3] + - !!python/tuple [16, 27] + - !!python/tuple [27, 3] + - !!python/tuple [25, 25] + - !!python/tuple [5, 11] + - !!python/tuple [10, 6] + - !!python/tuple [28, 13] + - !!python/tuple [21, 12] + - !!python/tuple [8, 28] + - !!python/tuple [8, 30] + - !!python/tuple [8, 24] + - !!python/tuple [25, 31] + - !!python/tuple [19, 15] + - !!python/tuple [5, 29] + - !!python/tuple [2, 16] + - !!python/tuple [16, 21] + - !!python/tuple [13, 22] + - !!python/tuple [31, 12] + - !!python/tuple [2, 19] + - !!python/tuple [9, 7] + - !!python/tuple [28, 31] + - !!python/tuple [7, 13] + - !!python/tuple [31, 20] + - !!python/tuple [7, 2] + - !!python/tuple [1, 5] + - !!python/tuple [24, 9] + - !!python/tuple [10, 10] + - !!python/tuple [7, 3] + - !!python/tuple [16, 20] + - !!python/tuple [16, 8] + - !!python/tuple [10, 15] + - !!python/tuple [8, 23] + - !!python/tuple [14, 30] + - !!python/tuple [15, 22] + - !!python/tuple [7, 11] + - !!python/tuple [24, 3] + - !!python/tuple [22, 22] + - !!python/tuple [17, 1] + - !!python/tuple [17, 30] + - !!python/tuple [16, 9] + - !!python/tuple [21, 19] + - !!python/tuple [30, 23] + - !!python/tuple [28, 9] + - !!python/tuple [20, 24] + - !!python/tuple [20, 13] + - !!python/tuple [2, 29] + - !!python/tuple [13, 9] + - !!python/tuple [22, 10] + - !!python/tuple [6, 5] + - !!python/tuple [23, 24] + - !!python/tuple [23, 28] + - !!python/tuple [21, 31] + - !!python/tuple [7, 6] + - !!python/tuple [20, 9] + - !!python/tuple [0, 29] + - !!python/tuple [24, 12] + - !!python/tuple [25, 13] + - !!python/tuple [1, 31] + - !!python/tuple [0, 11] + - !!python/tuple [18, 28] + - !!python/tuple [29, 24] + - !!python/tuple [18, 6] + - !!python/tuple [15, 25] + - !!python/tuple [9, 14] + - !!python/tuple [4, 31] + - !!python/tuple [22, 13] + - !!python/tuple [20, 16] + - !!python/tuple [10, 24] + - !!python/tuple [16, 24] + - !!python/tuple [4, 30] + - !!python/tuple [14, 22] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex41.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex41.yaml new file mode 100644 index 0000000..bd8edea --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex41.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [0, 6] + name: agent0 + start: [16, 0] +- goal: [28, 25] + name: agent1 + start: [9, 17] +- goal: [31, 29] + name: agent2 + start: [10, 30] +- goal: [14, 22] + name: agent3 + start: [21, 12] +- goal: [25, 2] + name: agent4 + start: [24, 6] +- goal: [20, 15] + name: agent5 + start: [27, 2] +- goal: [1, 3] + name: agent6 + start: [1, 29] +- goal: [11, 6] + name: agent7 + start: [14, 3] +- goal: [11, 29] + name: agent8 + start: [26, 3] +- goal: [25, 29] + name: agent9 + start: [14, 16] +- goal: [27, 15] + name: agent10 + start: [26, 4] +- goal: [13, 25] + name: agent11 + start: [12, 1] +- goal: [3, 5] + name: agent12 + start: [15, 17] +- goal: [16, 22] + name: agent13 + start: [18, 30] +- goal: [19, 3] + name: agent14 + start: [28, 25] +- goal: [3, 21] + name: agent15 + start: [20, 23] +- goal: [18, 22] + name: agent16 + start: [31, 3] +- goal: [16, 4] + name: agent17 + start: [17, 27] +- goal: [12, 19] + name: agent18 + start: [10, 24] +- goal: [2, 4] + name: agent19 + start: [15, 27] +- goal: [21, 1] + name: agent20 + start: [11, 22] +- goal: [18, 9] + name: agent21 + start: [2, 18] +- goal: [25, 3] + name: agent22 + start: [12, 0] +- goal: [21, 4] + name: agent23 + start: [10, 11] +- goal: [13, 30] + name: agent24 + start: [27, 5] +- goal: [19, 6] + name: agent25 + start: [7, 4] +- goal: [26, 12] + name: agent26 + start: [5, 15] +- goal: [18, 16] + name: agent27 + start: [9, 19] +- goal: [17, 29] + name: agent28 + start: [12, 21] +- goal: [28, 0] + name: agent29 + start: [22, 26] +- goal: [19, 20] + name: agent30 + start: [1, 30] +- goal: [25, 11] + name: agent31 + start: [25, 28] +- goal: [24, 0] + name: agent32 + start: [3, 0] +- goal: [26, 28] + name: agent33 + start: [2, 19] +- goal: [30, 10] + name: agent34 + start: [11, 31] +- goal: [8, 6] + name: agent35 + start: [18, 0] +- goal: [1, 18] + name: agent36 + start: [12, 7] +- goal: [1, 6] + name: agent37 + start: [12, 22] +- goal: [23, 11] + name: agent38 + start: [0, 11] +- goal: [20, 29] + name: agent39 + start: [28, 22] +- goal: [26, 7] + name: agent40 + start: [22, 12] +- goal: [15, 30] + name: agent41 + start: [30, 12] +- goal: [19, 19] + name: agent42 + start: [8, 18] +- goal: [8, 31] + name: agent43 + start: [7, 15] +- goal: [19, 30] + name: agent44 + start: [26, 9] +- goal: [4, 2] + name: agent45 + start: [29, 18] +- goal: [15, 23] + name: agent46 + start: [17, 4] +- goal: [17, 28] + name: agent47 + start: [9, 16] +- goal: [4, 14] + name: agent48 + start: [30, 26] +- goal: [2, 5] + name: agent49 + start: [30, 22] +- goal: [7, 13] + name: agent50 + start: [26, 31] +- goal: [6, 15] + name: agent51 + start: [17, 31] +- goal: [30, 3] + name: agent52 + start: [23, 18] +- goal: [9, 10] + name: agent53 + start: [7, 17] +- goal: [9, 21] + name: agent54 + start: [6, 21] +- goal: [19, 25] + name: agent55 + start: [7, 11] +- goal: [11, 11] + name: agent56 + start: [20, 28] +- goal: [2, 14] + name: agent57 + start: [22, 30] +- goal: [28, 27] + name: agent58 + start: [17, 1] +- goal: [30, 30] + name: agent59 + start: [11, 7] +- goal: [8, 23] + name: agent60 + start: [23, 14] +- goal: [15, 0] + name: agent61 + start: [12, 29] +- goal: [1, 27] + name: agent62 + start: [9, 2] +- goal: [17, 7] + name: agent63 + start: [31, 29] +- goal: [0, 25] + name: agent64 + start: [10, 0] +- goal: [5, 1] + name: agent65 + start: [28, 23] +- goal: [29, 30] + name: agent66 + start: [12, 6] +- goal: [10, 9] + name: agent67 + start: [23, 25] +- goal: [21, 26] + name: agent68 + start: [25, 3] +- goal: [25, 6] + name: agent69 + start: [17, 7] +- goal: [7, 7] + name: agent70 + start: [3, 22] +- goal: [23, 29] + name: agent71 + start: [2, 13] +- goal: [19, 10] + name: agent72 + start: [21, 14] +- goal: [31, 30] + name: agent73 + start: [7, 28] +- goal: [9, 7] + name: agent74 + start: [9, 18] +- goal: [20, 5] + name: agent75 + start: [21, 5] +- goal: [16, 25] + name: agent76 + start: [7, 10] +- goal: [14, 30] + name: agent77 + start: [10, 18] +- goal: [22, 15] + name: agent78 + start: [17, 22] +- goal: [16, 15] + name: agent79 + start: [11, 21] +- goal: [5, 25] + name: agent80 + start: [19, 30] +- goal: [28, 8] + name: agent81 + start: [13, 2] +- goal: [1, 16] + name: agent82 + start: [8, 14] +- goal: [18, 21] + name: agent83 + start: [30, 2] +- goal: [7, 28] + name: agent84 + start: [16, 16] +- goal: [14, 12] + name: agent85 + start: [24, 0] +- goal: [28, 7] + name: agent86 + start: [18, 21] +- goal: [15, 10] + name: agent87 + start: [8, 28] +- goal: [25, 16] + name: agent88 + start: [11, 28] +- goal: [5, 18] + name: agent89 + start: [24, 13] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [25, 4] + - !!python/tuple [23, 4] + - !!python/tuple [11, 15] + - !!python/tuple [8, 10] + - !!python/tuple [9, 22] + - !!python/tuple [27, 25] + - !!python/tuple [17, 19] + - !!python/tuple [22, 3] + - !!python/tuple [23, 20] + - !!python/tuple [19, 17] + - !!python/tuple [19, 26] + - !!python/tuple [2, 20] + - !!python/tuple [1, 31] + - !!python/tuple [28, 6] + - !!python/tuple [16, 21] + - !!python/tuple [2, 9] + - !!python/tuple [9, 3] + - !!python/tuple [27, 18] + - !!python/tuple [18, 12] + - !!python/tuple [24, 16] + - !!python/tuple [15, 12] + - !!python/tuple [15, 11] + - !!python/tuple [5, 28] + - !!python/tuple [23, 0] + - !!python/tuple [15, 19] + - !!python/tuple [8, 12] + - !!python/tuple [0, 13] + - !!python/tuple [1, 10] + - !!python/tuple [30, 20] + - !!python/tuple [24, 24] + - !!python/tuple [29, 7] + - !!python/tuple [23, 12] + - !!python/tuple [21, 6] + - !!python/tuple [4, 3] + - !!python/tuple [0, 26] + - !!python/tuple [0, 2] + - !!python/tuple [25, 22] + - !!python/tuple [20, 9] + - !!python/tuple [14, 11] + - !!python/tuple [13, 13] + - !!python/tuple [10, 10] + - !!python/tuple [12, 16] + - !!python/tuple [22, 23] + - !!python/tuple [6, 28] + - !!python/tuple [15, 2] + - !!python/tuple [5, 8] + - !!python/tuple [11, 27] + - !!python/tuple [16, 7] + - !!python/tuple [22, 18] + - !!python/tuple [6, 1] + - !!python/tuple [11, 19] + - !!python/tuple [22, 29] + - !!python/tuple [11, 4] + - !!python/tuple [16, 18] + - !!python/tuple [0, 24] + - !!python/tuple [7, 12] + - !!python/tuple [18, 11] + - !!python/tuple [31, 1] + - !!python/tuple [8, 30] + - !!python/tuple [1, 0] + - !!python/tuple [19, 12] + - !!python/tuple [9, 4] + - !!python/tuple [8, 8] + - !!python/tuple [2, 22] + - !!python/tuple [15, 3] + - !!python/tuple [22, 17] + - !!python/tuple [26, 14] + - !!python/tuple [2, 27] + - !!python/tuple [30, 4] + - !!python/tuple [22, 25] + - !!python/tuple [26, 2] + - !!python/tuple [23, 17] + - !!python/tuple [4, 5] + - !!python/tuple [4, 1] + - !!python/tuple [26, 27] + - !!python/tuple [24, 28] + - !!python/tuple [12, 4] + - !!python/tuple [16, 9] + - !!python/tuple [5, 4] + - !!python/tuple [27, 8] + - !!python/tuple [10, 14] + - !!python/tuple [5, 5] + - !!python/tuple [20, 1] + - !!python/tuple [6, 18] + - !!python/tuple [10, 19] + - !!python/tuple [2, 29] + - !!python/tuple [18, 2] + - !!python/tuple [21, 18] + - !!python/tuple [6, 22] + - !!python/tuple [31, 21] + - !!python/tuple [15, 29] + - !!python/tuple [19, 13] + - !!python/tuple [20, 12] + - !!python/tuple [24, 18] + - !!python/tuple [28, 1] + - !!python/tuple [10, 28] + - !!python/tuple [2, 2] + - !!python/tuple [23, 15] + - !!python/tuple [27, 1] + - !!python/tuple [9, 31] + - !!python/tuple [23, 26] + - !!python/tuple [4, 11] + - !!python/tuple [19, 22] + - !!python/tuple [21, 24] + - !!python/tuple [13, 6] + - !!python/tuple [3, 29] + - !!python/tuple [17, 12] + - !!python/tuple [23, 22] + - !!python/tuple [4, 20] + - !!python/tuple [28, 12] + - !!python/tuple [22, 6] + - !!python/tuple [4, 18] + - !!python/tuple [7, 26] + - !!python/tuple [31, 25] + - !!python/tuple [29, 21] + - !!python/tuple [1, 1] + - !!python/tuple [24, 4] + - !!python/tuple [15, 20] + - !!python/tuple [20, 4] + - !!python/tuple [21, 19] + - !!python/tuple [21, 20] + - !!python/tuple [15, 26] + - !!python/tuple [24, 9] + - !!python/tuple [30, 0] + - !!python/tuple [29, 22] + - !!python/tuple [26, 18] + - !!python/tuple [19, 4] + - !!python/tuple [10, 23] + - !!python/tuple [23, 5] + - !!python/tuple [2, 3] + - !!python/tuple [22, 21] + - !!python/tuple [3, 25] + - !!python/tuple [5, 11] + - !!python/tuple [28, 17] + - !!python/tuple [27, 13] + - !!python/tuple [0, 8] + - !!python/tuple [12, 2] + - !!python/tuple [12, 9] + - !!python/tuple [26, 24] + - !!python/tuple [31, 27] + - !!python/tuple [28, 11] + - !!python/tuple [18, 4] + - !!python/tuple [25, 24] + - !!python/tuple [12, 30] + - !!python/tuple [8, 4] + - !!python/tuple [1, 22] + - !!python/tuple [16, 3] + - !!python/tuple [15, 15] + - !!python/tuple [18, 17] + - !!python/tuple [30, 11] + - !!python/tuple [6, 2] + - !!python/tuple [29, 2] + - !!python/tuple [19, 8] + - !!python/tuple [21, 22] + - !!python/tuple [11, 8] + - !!python/tuple [23, 30] + - !!python/tuple [11, 3] + - !!python/tuple [20, 13] + - !!python/tuple [15, 16] + - !!python/tuple [16, 11] + - !!python/tuple [31, 22] + - !!python/tuple [9, 13] + - !!python/tuple [26, 8] + - !!python/tuple [6, 20] + - !!python/tuple [29, 17] + - !!python/tuple [3, 13] + - !!python/tuple [7, 22] + - !!python/tuple [26, 17] + - !!python/tuple [4, 6] + - !!python/tuple [31, 0] + - !!python/tuple [21, 31] + - !!python/tuple [20, 17] + - !!python/tuple [2, 7] + - !!python/tuple [1, 13] + - !!python/tuple [17, 16] + - !!python/tuple [25, 8] + - !!python/tuple [6, 13] + - !!python/tuple [22, 16] + - !!python/tuple [10, 29] + - !!python/tuple [6, 11] + - !!python/tuple [28, 24] + - !!python/tuple [24, 8] + - !!python/tuple [12, 15] + - !!python/tuple [16, 2] + - !!python/tuple [29, 5] + - !!python/tuple [29, 25] + - !!python/tuple [9, 20] + - !!python/tuple [24, 12] + - !!python/tuple [3, 3] + - !!python/tuple [4, 25] + - !!python/tuple [24, 5] + - !!python/tuple [27, 10] + - !!python/tuple [25, 21] + - !!python/tuple [11, 12] + - !!python/tuple [24, 17] + - !!python/tuple [29, 1] + - !!python/tuple [2, 17] + - !!python/tuple [12, 31] + - !!python/tuple [11, 0] + - !!python/tuple [19, 5] + - !!python/tuple [28, 21] + - !!python/tuple [21, 10] + - !!python/tuple [22, 4] + - !!python/tuple [5, 29] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex42.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex42.yaml new file mode 100644 index 0000000..593a505 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex42.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [31, 12] + name: agent0 + start: [22, 9] +- goal: [21, 8] + name: agent1 + start: [24, 0] +- goal: [9, 31] + name: agent2 + start: [5, 1] +- goal: [12, 24] + name: agent3 + start: [14, 28] +- goal: [8, 20] + name: agent4 + start: [30, 26] +- goal: [8, 2] + name: agent5 + start: [8, 24] +- goal: [2, 0] + name: agent6 + start: [1, 19] +- goal: [21, 24] + name: agent7 + start: [17, 22] +- goal: [6, 30] + name: agent8 + start: [5, 13] +- goal: [7, 18] + name: agent9 + start: [29, 25] +- goal: [12, 3] + name: agent10 + start: [11, 16] +- goal: [11, 18] + name: agent11 + start: [23, 25] +- goal: [27, 5] + name: agent12 + start: [26, 17] +- goal: [13, 19] + name: agent13 + start: [21, 0] +- goal: [22, 2] + name: agent14 + start: [15, 19] +- goal: [28, 21] + name: agent15 + start: [2, 9] +- goal: [5, 0] + name: agent16 + start: [25, 3] +- goal: [6, 19] + name: agent17 + start: [14, 12] +- goal: [10, 21] + name: agent18 + start: [6, 17] +- goal: [29, 9] + name: agent19 + start: [17, 31] +- goal: [29, 27] + name: agent20 + start: [19, 9] +- goal: [21, 22] + name: agent21 + start: [5, 0] +- goal: [5, 27] + name: agent22 + start: [22, 4] +- goal: [25, 12] + name: agent23 + start: [26, 20] +- goal: [0, 20] + name: agent24 + start: [16, 5] +- goal: [8, 17] + name: agent25 + start: [22, 31] +- goal: [8, 3] + name: agent26 + start: [2, 27] +- goal: [18, 25] + name: agent27 + start: [6, 29] +- goal: [22, 27] + name: agent28 + start: [19, 12] +- goal: [21, 27] + name: agent29 + start: [16, 15] +- goal: [0, 28] + name: agent30 + start: [19, 7] +- goal: [6, 14] + name: agent31 + start: [12, 7] +- goal: [2, 25] + name: agent32 + start: [21, 20] +- goal: [27, 2] + name: agent33 + start: [6, 10] +- goal: [7, 17] + name: agent34 + start: [10, 17] +- goal: [25, 26] + name: agent35 + start: [3, 3] +- goal: [29, 17] + name: agent36 + start: [28, 7] +- goal: [10, 27] + name: agent37 + start: [18, 31] +- goal: [29, 26] + name: agent38 + start: [8, 16] +- goal: [3, 22] + name: agent39 + start: [19, 14] +- goal: [11, 26] + name: agent40 + start: [0, 18] +- goal: [13, 11] + name: agent41 + start: [19, 3] +- goal: [5, 30] + name: agent42 + start: [31, 14] +- goal: [10, 14] + name: agent43 + start: [30, 23] +- goal: [27, 30] + name: agent44 + start: [25, 25] +- goal: [10, 17] + name: agent45 + start: [31, 24] +- goal: [7, 13] + name: agent46 + start: [18, 8] +- goal: [18, 30] + name: agent47 + start: [24, 13] +- goal: [18, 29] + name: agent48 + start: [12, 2] +- goal: [8, 26] + name: agent49 + start: [4, 19] +- goal: [31, 31] + name: agent50 + start: [9, 18] +- goal: [22, 6] + name: agent51 + start: [21, 5] +- goal: [19, 21] + name: agent52 + start: [1, 21] +- goal: [3, 20] + name: agent53 + start: [26, 5] +- goal: [19, 1] + name: agent54 + start: [5, 28] +- goal: [30, 14] + name: agent55 + start: [4, 23] +- goal: [21, 2] + name: agent56 + start: [28, 19] +- goal: [15, 3] + name: agent57 + start: [4, 16] +- goal: [22, 28] + name: agent58 + start: [5, 2] +- goal: [15, 28] + name: agent59 + start: [17, 27] +- goal: [11, 29] + name: agent60 + start: [17, 25] +- goal: [28, 9] + name: agent61 + start: [25, 6] +- goal: [13, 1] + name: agent62 + start: [19, 22] +- goal: [22, 10] + name: agent63 + start: [30, 5] +- goal: [16, 11] + name: agent64 + start: [3, 25] +- goal: [30, 21] + name: agent65 + start: [21, 2] +- goal: [14, 12] + name: agent66 + start: [15, 12] +- goal: [9, 29] + name: agent67 + start: [9, 28] +- goal: [12, 25] + name: agent68 + start: [7, 16] +- goal: [0, 3] + name: agent69 + start: [29, 31] +- goal: [7, 6] + name: agent70 + start: [14, 15] +- goal: [26, 2] + name: agent71 + start: [27, 24] +- goal: [16, 24] + name: agent72 + start: [23, 28] +- goal: [3, 14] + name: agent73 + start: [27, 7] +- goal: [22, 23] + name: agent74 + start: [28, 14] +- goal: [23, 16] + name: agent75 + start: [31, 6] +- goal: [11, 4] + name: agent76 + start: [9, 1] +- goal: [26, 25] + name: agent77 + start: [6, 9] +- goal: [29, 18] + name: agent78 + start: [27, 4] +- goal: [16, 1] + name: agent79 + start: [15, 28] +- goal: [22, 18] + name: agent80 + start: [16, 27] +- goal: [31, 0] + name: agent81 + start: [13, 10] +- goal: [23, 22] + name: agent82 + start: [3, 9] +- goal: [6, 1] + name: agent83 + start: [23, 12] +- goal: [4, 16] + name: agent84 + start: [23, 10] +- goal: [23, 12] + name: agent85 + start: [22, 12] +- goal: [9, 1] + name: agent86 + start: [3, 8] +- goal: [18, 17] + name: agent87 + start: [21, 22] +- goal: [28, 15] + name: agent88 + start: [31, 1] +- goal: [8, 27] + name: agent89 + start: [30, 28] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [14, 17] + - !!python/tuple [26, 12] + - !!python/tuple [22, 14] + - !!python/tuple [4, 22] + - !!python/tuple [28, 18] + - !!python/tuple [19, 29] + - !!python/tuple [14, 2] + - !!python/tuple [17, 29] + - !!python/tuple [20, 8] + - !!python/tuple [21, 4] + - !!python/tuple [5, 16] + - !!python/tuple [13, 0] + - !!python/tuple [24, 30] + - !!python/tuple [10, 25] + - !!python/tuple [11, 3] + - !!python/tuple [0, 24] + - !!python/tuple [11, 21] + - !!python/tuple [30, 6] + - !!python/tuple [10, 20] + - !!python/tuple [8, 23] + - !!python/tuple [25, 23] + - !!python/tuple [5, 25] + - !!python/tuple [26, 8] + - !!python/tuple [22, 13] + - !!python/tuple [30, 3] + - !!python/tuple [15, 21] + - !!python/tuple [25, 27] + - !!python/tuple [23, 18] + - !!python/tuple [12, 26] + - !!python/tuple [19, 15] + - !!python/tuple [24, 2] + - !!python/tuple [4, 20] + - !!python/tuple [8, 28] + - !!python/tuple [9, 7] + - !!python/tuple [10, 6] + - !!python/tuple [28, 27] + - !!python/tuple [25, 19] + - !!python/tuple [23, 19] + - !!python/tuple [29, 19] + - !!python/tuple [26, 29] + - !!python/tuple [27, 26] + - !!python/tuple [28, 5] + - !!python/tuple [12, 14] + - !!python/tuple [11, 1] + - !!python/tuple [30, 9] + - !!python/tuple [29, 30] + - !!python/tuple [28, 16] + - !!python/tuple [13, 6] + - !!python/tuple [17, 18] + - !!python/tuple [11, 10] + - !!python/tuple [20, 9] + - !!python/tuple [24, 6] + - !!python/tuple [3, 21] + - !!python/tuple [3, 18] + - !!python/tuple [4, 25] + - !!python/tuple [20, 12] + - !!python/tuple [6, 22] + - !!python/tuple [10, 23] + - !!python/tuple [14, 10] + - !!python/tuple [17, 28] + - !!python/tuple [17, 16] + - !!python/tuple [23, 29] + - !!python/tuple [20, 11] + - !!python/tuple [15, 5] + - !!python/tuple [2, 26] + - !!python/tuple [26, 22] + - !!python/tuple [2, 4] + - !!python/tuple [6, 6] + - !!python/tuple [10, 13] + - !!python/tuple [6, 18] + - !!python/tuple [11, 30] + - !!python/tuple [26, 19] + - !!python/tuple [25, 7] + - !!python/tuple [15, 31] + - !!python/tuple [7, 8] + - !!python/tuple [16, 14] + - !!python/tuple [30, 15] + - !!python/tuple [1, 12] + - !!python/tuple [12, 20] + - !!python/tuple [11, 6] + - !!python/tuple [9, 8] + - !!python/tuple [1, 24] + - !!python/tuple [18, 24] + - !!python/tuple [19, 17] + - !!python/tuple [29, 28] + - !!python/tuple [6, 24] + - !!python/tuple [18, 3] + - !!python/tuple [1, 29] + - !!python/tuple [19, 18] + - !!python/tuple [27, 21] + - !!python/tuple [16, 17] + - !!python/tuple [29, 20] + - !!python/tuple [16, 4] + - !!python/tuple [9, 26] + - !!python/tuple [28, 3] + - !!python/tuple [9, 0] + - !!python/tuple [3, 7] + - !!python/tuple [31, 23] + - !!python/tuple [3, 17] + - !!python/tuple [19, 28] + - !!python/tuple [29, 21] + - !!python/tuple [31, 3] + - !!python/tuple [22, 21] + - !!python/tuple [0, 10] + - !!python/tuple [27, 22] + - !!python/tuple [22, 20] + - !!python/tuple [9, 12] + - !!python/tuple [22, 3] + - !!python/tuple [12, 15] + - !!python/tuple [4, 17] + - !!python/tuple [14, 22] + - !!python/tuple [2, 20] + - !!python/tuple [11, 17] + - !!python/tuple [14, 7] + - !!python/tuple [13, 14] + - !!python/tuple [4, 30] + - !!python/tuple [13, 8] + - !!python/tuple [6, 11] + - !!python/tuple [31, 10] + - !!python/tuple [29, 11] + - !!python/tuple [16, 0] + - !!python/tuple [16, 21] + - !!python/tuple [6, 28] + - !!python/tuple [19, 31] + - !!python/tuple [3, 0] + - !!python/tuple [31, 15] + - !!python/tuple [17, 1] + - !!python/tuple [29, 13] + - !!python/tuple [2, 18] + - !!python/tuple [8, 12] + - !!python/tuple [2, 6] + - !!python/tuple [2, 12] + - !!python/tuple [10, 24] + - !!python/tuple [20, 19] + - !!python/tuple [25, 4] + - !!python/tuple [5, 18] + - !!python/tuple [23, 1] + - !!python/tuple [24, 28] + - !!python/tuple [23, 3] + - !!python/tuple [31, 8] + - !!python/tuple [9, 30] + - !!python/tuple [27, 19] + - !!python/tuple [8, 13] + - !!python/tuple [26, 31] + - !!python/tuple [25, 28] + - !!python/tuple [20, 20] + - !!python/tuple [1, 17] + - !!python/tuple [23, 8] + - !!python/tuple [12, 19] + - !!python/tuple [4, 14] + - !!python/tuple [7, 27] + - !!python/tuple [27, 10] + - !!python/tuple [20, 23] + - !!python/tuple [7, 23] + - !!python/tuple [23, 21] + - !!python/tuple [4, 26] + - !!python/tuple [8, 8] + - !!python/tuple [6, 0] + - !!python/tuple [25, 20] + - !!python/tuple [9, 5] + - !!python/tuple [30, 24] + - !!python/tuple [28, 1] + - !!python/tuple [0, 27] + - !!python/tuple [10, 16] + - !!python/tuple [29, 16] + - !!python/tuple [2, 1] + - !!python/tuple [1, 18] + - !!python/tuple [5, 3] + - !!python/tuple [0, 12] + - !!python/tuple [18, 28] + - !!python/tuple [15, 16] + - !!python/tuple [26, 14] + - !!python/tuple [24, 25] + - !!python/tuple [17, 9] + - !!python/tuple [18, 21] + - !!python/tuple [5, 14] + - !!python/tuple [25, 17] + - !!python/tuple [9, 9] + - !!python/tuple [20, 22] + - !!python/tuple [6, 26] + - !!python/tuple [4, 8] + - !!python/tuple [22, 0] + - !!python/tuple [1, 30] + - !!python/tuple [16, 16] + - !!python/tuple [28, 2] + - !!python/tuple [16, 8] + - !!python/tuple [16, 26] + - !!python/tuple [7, 22] + - !!python/tuple [7, 28] + - !!python/tuple [2, 8] + - !!python/tuple [9, 2] + - !!python/tuple [7, 15] + - !!python/tuple [25, 2] + - !!python/tuple [0, 1] + - !!python/tuple [5, 4] + - !!python/tuple [5, 21] + - !!python/tuple [1, 16] + - !!python/tuple [12, 9] + - !!python/tuple [24, 8] + - !!python/tuple [27, 23] + - !!python/tuple [14, 5] + - !!python/tuple [12, 6] + - !!python/tuple [16, 12] + - !!python/tuple [27, 29] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex43.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex43.yaml new file mode 100644 index 0000000..76d4d21 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex43.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [19, 23] + name: agent0 + start: [10, 5] +- goal: [9, 29] + name: agent1 + start: [20, 6] +- goal: [19, 12] + name: agent2 + start: [18, 2] +- goal: [21, 11] + name: agent3 + start: [2, 1] +- goal: [25, 18] + name: agent4 + start: [27, 30] +- goal: [0, 6] + name: agent5 + start: [27, 24] +- goal: [31, 20] + name: agent6 + start: [28, 19] +- goal: [15, 4] + name: agent7 + start: [13, 17] +- goal: [28, 4] + name: agent8 + start: [8, 9] +- goal: [9, 8] + name: agent9 + start: [7, 10] +- goal: [5, 5] + name: agent10 + start: [19, 25] +- goal: [6, 2] + name: agent11 + start: [23, 14] +- goal: [0, 10] + name: agent12 + start: [9, 18] +- goal: [24, 6] + name: agent13 + start: [15, 13] +- goal: [31, 21] + name: agent14 + start: [14, 3] +- goal: [20, 16] + name: agent15 + start: [14, 23] +- goal: [30, 1] + name: agent16 + start: [25, 21] +- goal: [6, 15] + name: agent17 + start: [21, 25] +- goal: [20, 5] + name: agent18 + start: [30, 4] +- goal: [15, 27] + name: agent19 + start: [26, 17] +- goal: [7, 28] + name: agent20 + start: [4, 8] +- goal: [4, 11] + name: agent21 + start: [1, 15] +- goal: [11, 16] + name: agent22 + start: [25, 31] +- goal: [21, 13] + name: agent23 + start: [10, 18] +- goal: [17, 27] + name: agent24 + start: [25, 6] +- goal: [29, 11] + name: agent25 + start: [10, 21] +- goal: [11, 2] + name: agent26 + start: [3, 18] +- goal: [12, 3] + name: agent27 + start: [27, 4] +- goal: [19, 28] + name: agent28 + start: [25, 4] +- goal: [9, 11] + name: agent29 + start: [17, 23] +- goal: [22, 21] + name: agent30 + start: [22, 12] +- goal: [20, 13] + name: agent31 + start: [15, 5] +- goal: [18, 15] + name: agent32 + start: [6, 26] +- goal: [0, 12] + name: agent33 + start: [23, 16] +- goal: [2, 6] + name: agent34 + start: [24, 15] +- goal: [1, 26] + name: agent35 + start: [13, 13] +- goal: [18, 11] + name: agent36 + start: [2, 28] +- goal: [4, 7] + name: agent37 + start: [17, 13] +- goal: [20, 1] + name: agent38 + start: [18, 17] +- goal: [3, 22] + name: agent39 + start: [2, 5] +- goal: [10, 5] + name: agent40 + start: [30, 24] +- goal: [8, 22] + name: agent41 + start: [6, 24] +- goal: [2, 27] + name: agent42 + start: [18, 22] +- goal: [18, 2] + name: agent43 + start: [31, 28] +- goal: [6, 5] + name: agent44 + start: [17, 17] +- goal: [3, 27] + name: agent45 + start: [27, 9] +- goal: [16, 23] + name: agent46 + start: [30, 31] +- goal: [12, 1] + name: agent47 + start: [21, 22] +- goal: [1, 7] + name: agent48 + start: [29, 16] +- goal: [30, 19] + name: agent49 + start: [23, 5] +- goal: [19, 24] + name: agent50 + start: [28, 8] +- goal: [30, 31] + name: agent51 + start: [6, 2] +- goal: [25, 31] + name: agent52 + start: [23, 20] +- goal: [22, 30] + name: agent53 + start: [1, 21] +- goal: [21, 21] + name: agent54 + start: [11, 19] +- goal: [26, 14] + name: agent55 + start: [28, 1] +- goal: [26, 25] + name: agent56 + start: [26, 11] +- goal: [11, 1] + name: agent57 + start: [9, 10] +- goal: [15, 0] + name: agent58 + start: [30, 5] +- goal: [5, 11] + name: agent59 + start: [22, 5] +- goal: [3, 6] + name: agent60 + start: [24, 30] +- goal: [7, 5] + name: agent61 + start: [31, 10] +- goal: [30, 27] + name: agent62 + start: [8, 6] +- goal: [5, 23] + name: agent63 + start: [19, 27] +- goal: [21, 3] + name: agent64 + start: [29, 0] +- goal: [10, 24] + name: agent65 + start: [13, 26] +- goal: [14, 20] + name: agent66 + start: [16, 17] +- goal: [24, 15] + name: agent67 + start: [12, 6] +- goal: [1, 25] + name: agent68 + start: [5, 12] +- goal: [23, 25] + name: agent69 + start: [1, 4] +- goal: [16, 19] + name: agent70 + start: [2, 9] +- goal: [13, 9] + name: agent71 + start: [1, 6] +- goal: [20, 30] + name: agent72 + start: [19, 11] +- goal: [2, 0] + name: agent73 + start: [5, 15] +- goal: [21, 9] + name: agent74 + start: [21, 2] +- goal: [22, 5] + name: agent75 + start: [22, 25] +- goal: [17, 17] + name: agent76 + start: [6, 29] +- goal: [26, 7] + name: agent77 + start: [17, 6] +- goal: [29, 7] + name: agent78 + start: [3, 13] +- goal: [8, 8] + name: agent79 + start: [31, 6] +- goal: [9, 3] + name: agent80 + start: [15, 25] +- goal: [30, 6] + name: agent81 + start: [15, 7] +- goal: [4, 31] + name: agent82 + start: [5, 25] +- goal: [29, 27] + name: agent83 + start: [13, 4] +- goal: [3, 13] + name: agent84 + start: [16, 27] +- goal: [17, 18] + name: agent85 + start: [6, 20] +- goal: [17, 3] + name: agent86 + start: [29, 7] +- goal: [1, 14] + name: agent87 + start: [11, 17] +- goal: [11, 24] + name: agent88 + start: [28, 10] +- goal: [31, 17] + name: agent89 + start: [28, 11] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [21, 31] + - !!python/tuple [17, 21] + - !!python/tuple [18, 16] + - !!python/tuple [19, 9] + - !!python/tuple [23, 27] + - !!python/tuple [13, 0] + - !!python/tuple [0, 22] + - !!python/tuple [13, 5] + - !!python/tuple [29, 13] + - !!python/tuple [1, 23] + - !!python/tuple [22, 18] + - !!python/tuple [20, 15] + - !!python/tuple [30, 8] + - !!python/tuple [7, 19] + - !!python/tuple [14, 5] + - !!python/tuple [7, 9] + - !!python/tuple [1, 5] + - !!python/tuple [29, 15] + - !!python/tuple [24, 5] + - !!python/tuple [28, 15] + - !!python/tuple [5, 14] + - !!python/tuple [23, 26] + - !!python/tuple [4, 2] + - !!python/tuple [7, 22] + - !!python/tuple [10, 22] + - !!python/tuple [6, 28] + - !!python/tuple [22, 10] + - !!python/tuple [10, 8] + - !!python/tuple [18, 5] + - !!python/tuple [28, 6] + - !!python/tuple [4, 10] + - !!python/tuple [25, 19] + - !!python/tuple [22, 0] + - !!python/tuple [6, 16] + - !!python/tuple [25, 25] + - !!python/tuple [23, 21] + - !!python/tuple [26, 24] + - !!python/tuple [25, 12] + - !!python/tuple [11, 25] + - !!python/tuple [20, 12] + - !!python/tuple [8, 1] + - !!python/tuple [19, 2] + - !!python/tuple [15, 8] + - !!python/tuple [16, 2] + - !!python/tuple [6, 9] + - !!python/tuple [3, 8] + - !!python/tuple [0, 15] + - !!python/tuple [24, 31] + - !!python/tuple [13, 27] + - !!python/tuple [31, 30] + - !!python/tuple [30, 0] + - !!python/tuple [20, 0] + - !!python/tuple [29, 24] + - !!python/tuple [24, 28] + - !!python/tuple [1, 13] + - !!python/tuple [13, 21] + - !!python/tuple [16, 24] + - !!python/tuple [31, 11] + - !!python/tuple [8, 31] + - !!python/tuple [26, 10] + - !!python/tuple [4, 16] + - !!python/tuple [9, 24] + - !!python/tuple [14, 28] + - !!python/tuple [17, 19] + - !!python/tuple [0, 21] + - !!python/tuple [16, 11] + - !!python/tuple [0, 20] + - !!python/tuple [17, 12] + - !!python/tuple [30, 20] + - !!python/tuple [31, 3] + - !!python/tuple [14, 29] + - !!python/tuple [8, 18] + - !!python/tuple [21, 0] + - !!python/tuple [21, 14] + - !!python/tuple [13, 25] + - !!python/tuple [21, 30] + - !!python/tuple [15, 18] + - !!python/tuple [19, 20] + - !!python/tuple [6, 14] + - !!python/tuple [20, 22] + - !!python/tuple [23, 19] + - !!python/tuple [3, 9] + - !!python/tuple [28, 29] + - !!python/tuple [17, 1] + - !!python/tuple [22, 15] + - !!python/tuple [31, 31] + - !!python/tuple [21, 15] + - !!python/tuple [9, 23] + - !!python/tuple [10, 11] + - !!python/tuple [6, 8] + - !!python/tuple [20, 25] + - !!python/tuple [17, 28] + - !!python/tuple [9, 9] + - !!python/tuple [30, 16] + - !!python/tuple [3, 16] + - !!python/tuple [30, 14] + - !!python/tuple [30, 7] + - !!python/tuple [9, 17] + - !!python/tuple [19, 18] + - !!python/tuple [0, 5] + - !!python/tuple [0, 8] + - !!python/tuple [13, 1] + - !!python/tuple [7, 11] + - !!python/tuple [14, 6] + - !!python/tuple [25, 15] + - !!python/tuple [1, 24] + - !!python/tuple [10, 12] + - !!python/tuple [27, 13] + - !!python/tuple [15, 2] + - !!python/tuple [3, 30] + - !!python/tuple [9, 26] + - !!python/tuple [12, 13] + - !!python/tuple [4, 5] + - !!python/tuple [15, 10] + - !!python/tuple [6, 19] + - !!python/tuple [19, 6] + - !!python/tuple [11, 6] + - !!python/tuple [15, 14] + - !!python/tuple [13, 31] + - !!python/tuple [8, 15] + - !!python/tuple [0, 19] + - !!python/tuple [31, 4] + - !!python/tuple [30, 3] + - !!python/tuple [2, 18] + - !!python/tuple [30, 13] + - !!python/tuple [18, 4] + - !!python/tuple [10, 29] + - !!python/tuple [7, 30] + - !!python/tuple [31, 2] + - !!python/tuple [16, 25] + - !!python/tuple [10, 3] + - !!python/tuple [3, 2] + - !!python/tuple [9, 0] + - !!python/tuple [23, 4] + - !!python/tuple [1, 1] + - !!python/tuple [26, 23] + - !!python/tuple [16, 30] + - !!python/tuple [29, 21] + - !!python/tuple [0, 23] + - !!python/tuple [1, 22] + - !!python/tuple [15, 11] + - !!python/tuple [30, 11] + - !!python/tuple [8, 2] + - !!python/tuple [20, 10] + - !!python/tuple [22, 24] + - !!python/tuple [16, 12] + - !!python/tuple [2, 25] + - !!python/tuple [22, 19] + - !!python/tuple [11, 5] + - !!python/tuple [19, 8] + - !!python/tuple [11, 18] + - !!python/tuple [12, 4] + - !!python/tuple [5, 24] + - !!python/tuple [15, 23] + - !!python/tuple [22, 20] + - !!python/tuple [12, 30] + - !!python/tuple [31, 7] + - !!python/tuple [6, 12] + - !!python/tuple [31, 13] + - !!python/tuple [29, 12] + - !!python/tuple [25, 29] + - !!python/tuple [1, 8] + - !!python/tuple [19, 7] + - !!python/tuple [9, 16] + - !!python/tuple [4, 15] + - !!python/tuple [22, 22] + - !!python/tuple [24, 21] + - !!python/tuple [11, 21] + - !!python/tuple [15, 22] + - !!python/tuple [20, 24] + - !!python/tuple [29, 29] + - !!python/tuple [29, 18] + - !!python/tuple [9, 20] + - !!python/tuple [20, 28] + - !!python/tuple [17, 4] + - !!python/tuple [11, 12] + - !!python/tuple [22, 8] + - !!python/tuple [25, 13] + - !!python/tuple [23, 7] + - !!python/tuple [1, 19] + - !!python/tuple [16, 16] + - !!python/tuple [11, 30] + - !!python/tuple [10, 17] + - !!python/tuple [1, 12] + - !!python/tuple [18, 26] + - !!python/tuple [18, 19] + - !!python/tuple [0, 28] + - !!python/tuple [5, 21] + - !!python/tuple [18, 20] + - !!python/tuple [10, 13] + - !!python/tuple [14, 18] + - !!python/tuple [6, 13] + - !!python/tuple [8, 23] + - !!python/tuple [3, 31] + - !!python/tuple [8, 16] + - !!python/tuple [22, 1] + - !!python/tuple [4, 14] + - !!python/tuple [1, 3] + - !!python/tuple [30, 23] + - !!python/tuple [5, 22] + - !!python/tuple [13, 7] + - !!python/tuple [25, 10] + - !!python/tuple [25, 26] + - !!python/tuple [0, 7] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex44.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex44.yaml new file mode 100644 index 0000000..77c53a3 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex44.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [25, 30] + name: agent0 + start: [20, 12] +- goal: [29, 29] + name: agent1 + start: [8, 7] +- goal: [20, 4] + name: agent2 + start: [30, 2] +- goal: [17, 19] + name: agent3 + start: [5, 14] +- goal: [3, 18] + name: agent4 + start: [28, 27] +- goal: [24, 21] + name: agent5 + start: [12, 23] +- goal: [25, 19] + name: agent6 + start: [7, 17] +- goal: [6, 26] + name: agent7 + start: [8, 3] +- goal: [28, 18] + name: agent8 + start: [3, 6] +- goal: [15, 4] + name: agent9 + start: [4, 15] +- goal: [15, 18] + name: agent10 + start: [16, 3] +- goal: [20, 29] + name: agent11 + start: [4, 17] +- goal: [20, 9] + name: agent12 + start: [17, 2] +- goal: [9, 5] + name: agent13 + start: [19, 2] +- goal: [23, 8] + name: agent14 + start: [31, 28] +- goal: [21, 28] + name: agent15 + start: [20, 27] +- goal: [20, 21] + name: agent16 + start: [3, 12] +- goal: [20, 20] + name: agent17 + start: [18, 19] +- goal: [3, 0] + name: agent18 + start: [29, 6] +- goal: [0, 17] + name: agent19 + start: [20, 0] +- goal: [12, 30] + name: agent20 + start: [3, 7] +- goal: [14, 20] + name: agent21 + start: [14, 0] +- goal: [28, 31] + name: agent22 + start: [5, 10] +- goal: [28, 14] + name: agent23 + start: [21, 27] +- goal: [14, 9] + name: agent24 + start: [13, 28] +- goal: [25, 31] + name: agent25 + start: [3, 11] +- goal: [27, 24] + name: agent26 + start: [12, 30] +- goal: [26, 1] + name: agent27 + start: [12, 1] +- goal: [10, 4] + name: agent28 + start: [20, 13] +- goal: [14, 16] + name: agent29 + start: [11, 9] +- goal: [19, 27] + name: agent30 + start: [19, 24] +- goal: [11, 6] + name: agent31 + start: [15, 4] +- goal: [5, 6] + name: agent32 + start: [30, 11] +- goal: [13, 30] + name: agent33 + start: [25, 2] +- goal: [26, 29] + name: agent34 + start: [24, 25] +- goal: [3, 23] + name: agent35 + start: [6, 17] +- goal: [19, 31] + name: agent36 + start: [24, 30] +- goal: [5, 22] + name: agent37 + start: [25, 8] +- goal: [10, 26] + name: agent38 + start: [18, 2] +- goal: [20, 30] + name: agent39 + start: [12, 9] +- goal: [0, 20] + name: agent40 + start: [9, 12] +- goal: [4, 25] + name: agent41 + start: [2, 9] +- goal: [18, 10] + name: agent42 + start: [5, 24] +- goal: [25, 7] + name: agent43 + start: [22, 12] +- goal: [12, 22] + name: agent44 + start: [24, 3] +- goal: [19, 18] + name: agent45 + start: [3, 8] +- goal: [27, 26] + name: agent46 + start: [12, 10] +- goal: [17, 14] + name: agent47 + start: [12, 22] +- goal: [30, 8] + name: agent48 + start: [30, 18] +- goal: [13, 19] + name: agent49 + start: [29, 13] +- goal: [28, 0] + name: agent50 + start: [7, 1] +- goal: [31, 24] + name: agent51 + start: [19, 6] +- goal: [13, 25] + name: agent52 + start: [21, 18] +- goal: [30, 6] + name: agent53 + start: [23, 27] +- goal: [9, 16] + name: agent54 + start: [30, 21] +- goal: [4, 10] + name: agent55 + start: [4, 19] +- goal: [21, 4] + name: agent56 + start: [2, 27] +- goal: [30, 24] + name: agent57 + start: [5, 7] +- goal: [29, 17] + name: agent58 + start: [5, 13] +- goal: [6, 19] + name: agent59 + start: [19, 0] +- goal: [13, 23] + name: agent60 + start: [15, 29] +- goal: [23, 12] + name: agent61 + start: [12, 2] +- goal: [15, 3] + name: agent62 + start: [17, 21] +- goal: [9, 8] + name: agent63 + start: [23, 13] +- goal: [5, 27] + name: agent64 + start: [15, 5] +- goal: [5, 31] + name: agent65 + start: [7, 7] +- goal: [24, 19] + name: agent66 + start: [9, 9] +- goal: [1, 28] + name: agent67 + start: [15, 25] +- goal: [1, 2] + name: agent68 + start: [9, 21] +- goal: [7, 14] + name: agent69 + start: [5, 26] +- goal: [8, 10] + name: agent70 + start: [0, 11] +- goal: [1, 8] + name: agent71 + start: [30, 27] +- goal: [4, 4] + name: agent72 + start: [25, 31] +- goal: [26, 11] + name: agent73 + start: [16, 31] +- goal: [15, 17] + name: agent74 + start: [0, 30] +- goal: [6, 29] + name: agent75 + start: [2, 5] +- goal: [18, 4] + name: agent76 + start: [6, 9] +- goal: [1, 23] + name: agent77 + start: [2, 29] +- goal: [13, 29] + name: agent78 + start: [0, 9] +- goal: [5, 23] + name: agent79 + start: [27, 10] +- goal: [24, 3] + name: agent80 + start: [25, 5] +- goal: [8, 16] + name: agent81 + start: [9, 4] +- goal: [18, 17] + name: agent82 + start: [4, 5] +- goal: [12, 2] + name: agent83 + start: [0, 21] +- goal: [21, 0] + name: agent84 + start: [26, 11] +- goal: [12, 10] + name: agent85 + start: [6, 16] +- goal: [0, 0] + name: agent86 + start: [8, 2] +- goal: [18, 20] + name: agent87 + start: [14, 2] +- goal: [22, 17] + name: agent88 + start: [4, 11] +- goal: [5, 9] + name: agent89 + start: [10, 30] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [28, 26] + - !!python/tuple [10, 15] + - !!python/tuple [0, 4] + - !!python/tuple [8, 29] + - !!python/tuple [28, 20] + - !!python/tuple [2, 20] + - !!python/tuple [5, 25] + - !!python/tuple [3, 5] + - !!python/tuple [12, 13] + - !!python/tuple [19, 15] + - !!python/tuple [1, 21] + - !!python/tuple [6, 2] + - !!python/tuple [17, 10] + - !!python/tuple [18, 28] + - !!python/tuple [10, 17] + - !!python/tuple [7, 30] + - !!python/tuple [14, 5] + - !!python/tuple [4, 0] + - !!python/tuple [29, 22] + - !!python/tuple [1, 3] + - !!python/tuple [29, 30] + - !!python/tuple [28, 2] + - !!python/tuple [15, 13] + - !!python/tuple [13, 2] + - !!python/tuple [29, 3] + - !!python/tuple [29, 4] + - !!python/tuple [14, 8] + - !!python/tuple [0, 27] + - !!python/tuple [21, 1] + - !!python/tuple [19, 7] + - !!python/tuple [21, 8] + - !!python/tuple [0, 16] + - !!python/tuple [15, 22] + - !!python/tuple [15, 15] + - !!python/tuple [13, 17] + - !!python/tuple [13, 5] + - !!python/tuple [27, 1] + - !!python/tuple [0, 15] + - !!python/tuple [28, 29] + - !!python/tuple [11, 5] + - !!python/tuple [0, 31] + - !!python/tuple [1, 26] + - !!python/tuple [8, 17] + - !!python/tuple [31, 12] + - !!python/tuple [25, 27] + - !!python/tuple [15, 31] + - !!python/tuple [3, 31] + - !!python/tuple [9, 28] + - !!python/tuple [27, 21] + - !!python/tuple [17, 12] + - !!python/tuple [6, 7] + - !!python/tuple [7, 9] + - !!python/tuple [23, 5] + - !!python/tuple [1, 6] + - !!python/tuple [15, 24] + - !!python/tuple [16, 25] + - !!python/tuple [9, 24] + - !!python/tuple [4, 30] + - !!python/tuple [24, 0] + - !!python/tuple [9, 23] + - !!python/tuple [0, 6] + - !!python/tuple [15, 7] + - !!python/tuple [29, 31] + - !!python/tuple [29, 1] + - !!python/tuple [20, 31] + - !!python/tuple [3, 21] + - !!python/tuple [10, 1] + - !!python/tuple [2, 18] + - !!python/tuple [25, 29] + - !!python/tuple [18, 11] + - !!python/tuple [7, 25] + - !!python/tuple [23, 6] + - !!python/tuple [3, 3] + - !!python/tuple [7, 31] + - !!python/tuple [28, 19] + - !!python/tuple [4, 24] + - !!python/tuple [5, 17] + - !!python/tuple [16, 4] + - !!python/tuple [29, 12] + - !!python/tuple [28, 24] + - !!python/tuple [10, 18] + - !!python/tuple [18, 6] + - !!python/tuple [12, 18] + - !!python/tuple [7, 27] + - !!python/tuple [14, 12] + - !!python/tuple [21, 21] + - !!python/tuple [23, 21] + - !!python/tuple [9, 26] + - !!python/tuple [2, 4] + - !!python/tuple [29, 16] + - !!python/tuple [20, 5] + - !!python/tuple [20, 17] + - !!python/tuple [31, 2] + - !!python/tuple [27, 3] + - !!python/tuple [24, 31] + - !!python/tuple [21, 17] + - !!python/tuple [25, 14] + - !!python/tuple [31, 22] + - !!python/tuple [8, 31] + - !!python/tuple [7, 16] + - !!python/tuple [23, 31] + - !!python/tuple [8, 1] + - !!python/tuple [14, 23] + - !!python/tuple [30, 26] + - !!python/tuple [16, 6] + - !!python/tuple [25, 0] + - !!python/tuple [4, 9] + - !!python/tuple [2, 26] + - !!python/tuple [28, 8] + - !!python/tuple [24, 13] + - !!python/tuple [6, 18] + - !!python/tuple [2, 2] + - !!python/tuple [22, 31] + - !!python/tuple [9, 1] + - !!python/tuple [0, 28] + - !!python/tuple [27, 17] + - !!python/tuple [4, 23] + - !!python/tuple [22, 20] + - !!python/tuple [10, 11] + - !!python/tuple [19, 17] + - !!python/tuple [27, 0] + - !!python/tuple [25, 17] + - !!python/tuple [2, 12] + - !!python/tuple [1, 7] + - !!python/tuple [15, 6] + - !!python/tuple [6, 11] + - !!python/tuple [19, 10] + - !!python/tuple [26, 10] + - !!python/tuple [28, 23] + - !!python/tuple [3, 15] + - !!python/tuple [10, 13] + - !!python/tuple [5, 2] + - !!python/tuple [7, 13] + - !!python/tuple [12, 5] + - !!python/tuple [5, 0] + - !!python/tuple [31, 11] + - !!python/tuple [21, 24] + - !!python/tuple [16, 24] + - !!python/tuple [26, 13] + - !!python/tuple [20, 26] + - !!python/tuple [4, 12] + - !!python/tuple [23, 0] + - !!python/tuple [14, 6] + - !!python/tuple [2, 16] + - !!python/tuple [15, 23] + - !!python/tuple [30, 30] + - !!python/tuple [11, 30] + - !!python/tuple [17, 3] + - !!python/tuple [7, 0] + - !!python/tuple [23, 17] + - !!python/tuple [22, 2] + - !!python/tuple [14, 24] + - !!python/tuple [0, 12] + - !!python/tuple [22, 27] + - !!python/tuple [1, 20] + - !!python/tuple [6, 24] + - !!python/tuple [9, 27] + - !!python/tuple [21, 7] + - !!python/tuple [8, 11] + - !!python/tuple [21, 15] + - !!python/tuple [2, 21] + - !!python/tuple [28, 30] + - !!python/tuple [27, 8] + - !!python/tuple [25, 24] + - !!python/tuple [26, 9] + - !!python/tuple [21, 2] + - !!python/tuple [27, 23] + - !!python/tuple [25, 16] + - !!python/tuple [19, 4] + - !!python/tuple [4, 13] + - !!python/tuple [23, 18] + - !!python/tuple [12, 15] + - !!python/tuple [1, 14] + - !!python/tuple [17, 18] + - !!python/tuple [31, 1] + - !!python/tuple [2, 1] + - !!python/tuple [9, 0] + - !!python/tuple [17, 5] + - !!python/tuple [4, 27] + - !!python/tuple [15, 11] + - !!python/tuple [9, 22] + - !!python/tuple [27, 27] + - !!python/tuple [19, 12] + - !!python/tuple [20, 6] + - !!python/tuple [18, 29] + - !!python/tuple [4, 7] + - !!python/tuple [27, 18] + - !!python/tuple [11, 15] + - !!python/tuple [31, 31] + - !!python/tuple [18, 26] + - !!python/tuple [31, 9] + - !!python/tuple [9, 20] + - !!python/tuple [15, 20] + - !!python/tuple [29, 20] + - !!python/tuple [16, 27] + - !!python/tuple [28, 28] + - !!python/tuple [23, 24] + - !!python/tuple [24, 18] + - !!python/tuple [1, 9] + - !!python/tuple [21, 16] + - !!python/tuple [11, 25] + - !!python/tuple [23, 1] + - !!python/tuple [22, 30] + - !!python/tuple [7, 24] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex45.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex45.yaml new file mode 100644 index 0000000..65b362e --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex45.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [22, 28] + name: agent0 + start: [3, 16] +- goal: [30, 4] + name: agent1 + start: [6, 10] +- goal: [10, 13] + name: agent2 + start: [24, 29] +- goal: [1, 21] + name: agent3 + start: [11, 31] +- goal: [6, 23] + name: agent4 + start: [12, 9] +- goal: [0, 28] + name: agent5 + start: [3, 13] +- goal: [13, 1] + name: agent6 + start: [13, 16] +- goal: [19, 14] + name: agent7 + start: [7, 9] +- goal: [25, 22] + name: agent8 + start: [4, 11] +- goal: [1, 2] + name: agent9 + start: [7, 18] +- goal: [17, 2] + name: agent10 + start: [20, 30] +- goal: [4, 16] + name: agent11 + start: [6, 23] +- goal: [27, 14] + name: agent12 + start: [14, 10] +- goal: [6, 28] + name: agent13 + start: [31, 31] +- goal: [23, 19] + name: agent14 + start: [27, 14] +- goal: [12, 20] + name: agent15 + start: [29, 22] +- goal: [28, 29] + name: agent16 + start: [14, 17] +- goal: [11, 4] + name: agent17 + start: [21, 9] +- goal: [20, 17] + name: agent18 + start: [17, 5] +- goal: [13, 14] + name: agent19 + start: [24, 21] +- goal: [11, 29] + name: agent20 + start: [22, 16] +- goal: [7, 16] + name: agent21 + start: [21, 16] +- goal: [31, 5] + name: agent22 + start: [8, 5] +- goal: [10, 20] + name: agent23 + start: [10, 30] +- goal: [1, 14] + name: agent24 + start: [0, 2] +- goal: [9, 26] + name: agent25 + start: [25, 28] +- goal: [27, 12] + name: agent26 + start: [14, 6] +- goal: [4, 27] + name: agent27 + start: [4, 15] +- goal: [22, 18] + name: agent28 + start: [16, 8] +- goal: [19, 29] + name: agent29 + start: [30, 25] +- goal: [15, 5] + name: agent30 + start: [24, 26] +- goal: [25, 17] + name: agent31 + start: [26, 11] +- goal: [21, 25] + name: agent32 + start: [18, 20] +- goal: [31, 22] + name: agent33 + start: [18, 19] +- goal: [31, 7] + name: agent34 + start: [27, 5] +- goal: [3, 20] + name: agent35 + start: [6, 3] +- goal: [31, 30] + name: agent36 + start: [27, 10] +- goal: [7, 21] + name: agent37 + start: [15, 27] +- goal: [12, 31] + name: agent38 + start: [13, 20] +- goal: [3, 1] + name: agent39 + start: [9, 21] +- goal: [9, 31] + name: agent40 + start: [14, 20] +- goal: [16, 7] + name: agent41 + start: [31, 5] +- goal: [24, 0] + name: agent42 + start: [11, 20] +- goal: [25, 28] + name: agent43 + start: [15, 18] +- goal: [17, 20] + name: agent44 + start: [0, 31] +- goal: [13, 27] + name: agent45 + start: [29, 21] +- goal: [21, 4] + name: agent46 + start: [19, 22] +- goal: [28, 23] + name: agent47 + start: [29, 7] +- goal: [21, 13] + name: agent48 + start: [18, 2] +- goal: [31, 14] + name: agent49 + start: [20, 0] +- goal: [28, 8] + name: agent50 + start: [0, 14] +- goal: [9, 0] + name: agent51 + start: [20, 22] +- goal: [2, 13] + name: agent52 + start: [0, 21] +- goal: [26, 7] + name: agent53 + start: [15, 11] +- goal: [8, 27] + name: agent54 + start: [4, 30] +- goal: [17, 27] + name: agent55 + start: [20, 18] +- goal: [10, 29] + name: agent56 + start: [24, 19] +- goal: [1, 16] + name: agent57 + start: [12, 5] +- goal: [1, 5] + name: agent58 + start: [29, 15] +- goal: [23, 14] + name: agent59 + start: [16, 30] +- goal: [4, 0] + name: agent60 + start: [17, 10] +- goal: [24, 26] + name: agent61 + start: [14, 7] +- goal: [27, 21] + name: agent62 + start: [15, 17] +- goal: [27, 27] + name: agent63 + start: [1, 21] +- goal: [20, 22] + name: agent64 + start: [10, 11] +- goal: [8, 21] + name: agent65 + start: [8, 22] +- goal: [18, 2] + name: agent66 + start: [15, 4] +- goal: [10, 11] + name: agent67 + start: [30, 26] +- goal: [22, 14] + name: agent68 + start: [17, 30] +- goal: [21, 22] + name: agent69 + start: [10, 15] +- goal: [2, 16] + name: agent70 + start: [11, 29] +- goal: [19, 1] + name: agent71 + start: [30, 1] +- goal: [11, 8] + name: agent72 + start: [29, 25] +- goal: [3, 21] + name: agent73 + start: [27, 30] +- goal: [21, 0] + name: agent74 + start: [9, 18] +- goal: [22, 1] + name: agent75 + start: [14, 1] +- goal: [2, 26] + name: agent76 + start: [0, 27] +- goal: [27, 17] + name: agent77 + start: [11, 14] +- goal: [12, 8] + name: agent78 + start: [3, 6] +- goal: [4, 19] + name: agent79 + start: [2, 12] +- goal: [7, 31] + name: agent80 + start: [7, 26] +- goal: [9, 8] + name: agent81 + start: [29, 14] +- goal: [14, 5] + name: agent82 + start: [28, 17] +- goal: [1, 24] + name: agent83 + start: [9, 11] +- goal: [3, 4] + name: agent84 + start: [9, 17] +- goal: [7, 3] + name: agent85 + start: [17, 22] +- goal: [31, 4] + name: agent86 + start: [6, 5] +- goal: [24, 29] + name: agent87 + start: [2, 17] +- goal: [26, 30] + name: agent88 + start: [25, 12] +- goal: [19, 4] + name: agent89 + start: [26, 3] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [1, 8] + - !!python/tuple [23, 30] + - !!python/tuple [20, 26] + - !!python/tuple [10, 7] + - !!python/tuple [27, 31] + - !!python/tuple [28, 4] + - !!python/tuple [15, 28] + - !!python/tuple [3, 14] + - !!python/tuple [18, 26] + - !!python/tuple [8, 7] + - !!python/tuple [26, 16] + - !!python/tuple [0, 6] + - !!python/tuple [10, 26] + - !!python/tuple [16, 16] + - !!python/tuple [21, 17] + - !!python/tuple [28, 1] + - !!python/tuple [1, 10] + - !!python/tuple [0, 8] + - !!python/tuple [14, 13] + - !!python/tuple [5, 25] + - !!python/tuple [3, 30] + - !!python/tuple [26, 23] + - !!python/tuple [3, 12] + - !!python/tuple [21, 8] + - !!python/tuple [9, 30] + - !!python/tuple [11, 23] + - !!python/tuple [13, 13] + - !!python/tuple [7, 10] + - !!python/tuple [2, 25] + - !!python/tuple [18, 1] + - !!python/tuple [12, 21] + - !!python/tuple [5, 19] + - !!python/tuple [18, 6] + - !!python/tuple [30, 28] + - !!python/tuple [12, 10] + - !!python/tuple [31, 10] + - !!python/tuple [26, 24] + - !!python/tuple [31, 16] + - !!python/tuple [24, 17] + - !!python/tuple [20, 4] + - !!python/tuple [25, 13] + - !!python/tuple [6, 4] + - !!python/tuple [26, 13] + - !!python/tuple [0, 26] + - !!python/tuple [26, 9] + - !!python/tuple [19, 9] + - !!python/tuple [29, 1] + - !!python/tuple [17, 28] + - !!python/tuple [4, 31] + - !!python/tuple [31, 6] + - !!python/tuple [9, 4] + - !!python/tuple [10, 6] + - !!python/tuple [9, 16] + - !!python/tuple [8, 19] + - !!python/tuple [26, 12] + - !!python/tuple [1, 12] + - !!python/tuple [13, 9] + - !!python/tuple [13, 30] + - !!python/tuple [7, 7] + - !!python/tuple [0, 7] + - !!python/tuple [22, 21] + - !!python/tuple [27, 9] + - !!python/tuple [24, 14] + - !!python/tuple [2, 14] + - !!python/tuple [8, 18] + - !!python/tuple [23, 29] + - !!python/tuple [9, 29] + - !!python/tuple [12, 3] + - !!python/tuple [6, 22] + - !!python/tuple [20, 5] + - !!python/tuple [23, 25] + - !!python/tuple [1, 11] + - !!python/tuple [16, 23] + - !!python/tuple [24, 30] + - !!python/tuple [8, 10] + - !!python/tuple [23, 7] + - !!python/tuple [9, 9] + - !!python/tuple [13, 11] + - !!python/tuple [29, 18] + - !!python/tuple [27, 4] + - !!python/tuple [4, 9] + - !!python/tuple [25, 27] + - !!python/tuple [16, 4] + - !!python/tuple [4, 20] + - !!python/tuple [29, 6] + - !!python/tuple [25, 4] + - !!python/tuple [1, 28] + - !!python/tuple [24, 4] + - !!python/tuple [31, 9] + - !!python/tuple [10, 5] + - !!python/tuple [2, 30] + - !!python/tuple [1, 27] + - !!python/tuple [16, 5] + - !!python/tuple [27, 28] + - !!python/tuple [10, 3] + - !!python/tuple [7, 4] + - !!python/tuple [20, 1] + - !!python/tuple [28, 24] + - !!python/tuple [16, 13] + - !!python/tuple [22, 7] + - !!python/tuple [13, 10] + - !!python/tuple [22, 9] + - !!python/tuple [21, 6] + - !!python/tuple [4, 22] + - !!python/tuple [7, 24] + - !!python/tuple [23, 4] + - !!python/tuple [18, 0] + - !!python/tuple [14, 3] + - !!python/tuple [27, 2] + - !!python/tuple [13, 19] + - !!python/tuple [9, 27] + - !!python/tuple [0, 10] + - !!python/tuple [0, 1] + - !!python/tuple [31, 28] + - !!python/tuple [17, 8] + - !!python/tuple [9, 20] + - !!python/tuple [16, 21] + - !!python/tuple [19, 2] + - !!python/tuple [14, 4] + - !!python/tuple [31, 3] + - !!python/tuple [8, 11] + - !!python/tuple [23, 20] + - !!python/tuple [11, 11] + - !!python/tuple [3, 17] + - !!python/tuple [16, 29] + - !!python/tuple [24, 3] + - !!python/tuple [29, 23] + - !!python/tuple [4, 3] + - !!python/tuple [11, 15] + - !!python/tuple [1, 19] + - !!python/tuple [22, 12] + - !!python/tuple [8, 8] + - !!python/tuple [10, 0] + - !!python/tuple [28, 2] + - !!python/tuple [13, 6] + - !!python/tuple [22, 29] + - !!python/tuple [11, 6] + - !!python/tuple [27, 6] + - !!python/tuple [23, 1] + - !!python/tuple [22, 2] + - !!python/tuple [17, 29] + - !!python/tuple [28, 12] + - !!python/tuple [20, 29] + - !!python/tuple [26, 26] + - !!python/tuple [14, 19] + - !!python/tuple [0, 23] + - !!python/tuple [13, 26] + - !!python/tuple [0, 22] + - !!python/tuple [12, 26] + - !!python/tuple [15, 22] + - !!python/tuple [16, 22] + - !!python/tuple [23, 17] + - !!python/tuple [8, 24] + - !!python/tuple [30, 31] + - !!python/tuple [26, 10] + - !!python/tuple [17, 16] + - !!python/tuple [1, 25] + - !!python/tuple [14, 14] + - !!python/tuple [12, 2] + - !!python/tuple [28, 14] + - !!python/tuple [17, 6] + - !!python/tuple [3, 5] + - !!python/tuple [17, 1] + - !!python/tuple [15, 12] + - !!python/tuple [24, 10] + - !!python/tuple [31, 23] + - !!python/tuple [28, 6] + - !!python/tuple [14, 27] + - !!python/tuple [10, 22] + - !!python/tuple [18, 29] + - !!python/tuple [4, 25] + - !!python/tuple [3, 28] + - !!python/tuple [31, 21] + - !!python/tuple [12, 1] + - !!python/tuple [30, 27] + - !!python/tuple [21, 28] + - !!python/tuple [17, 12] + - !!python/tuple [26, 29] + - !!python/tuple [16, 19] + - !!python/tuple [9, 19] + - !!python/tuple [28, 18] + - !!python/tuple [22, 24] + - !!python/tuple [3, 31] + - !!python/tuple [19, 20] + - !!python/tuple [13, 17] + - !!python/tuple [7, 22] + - !!python/tuple [3, 26] + - !!python/tuple [10, 28] + - !!python/tuple [21, 11] + - !!python/tuple [24, 23] + - !!python/tuple [30, 7] + - !!python/tuple [4, 18] + - !!python/tuple [10, 10] + - !!python/tuple [16, 15] + - !!python/tuple [5, 5] + - !!python/tuple [12, 15] + - !!python/tuple [8, 26] + - !!python/tuple [21, 30] + - !!python/tuple [30, 24] + - !!python/tuple [21, 23] + - !!python/tuple [14, 18] + - !!python/tuple [26, 20] + - !!python/tuple [22, 17] + - !!python/tuple [6, 20] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex46.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex46.yaml new file mode 100644 index 0000000..2114d6a --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex46.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [15, 9] + name: agent0 + start: [23, 14] +- goal: [8, 19] + name: agent1 + start: [22, 9] +- goal: [7, 8] + name: agent2 + start: [6, 19] +- goal: [2, 17] + name: agent3 + start: [14, 6] +- goal: [20, 19] + name: agent4 + start: [4, 17] +- goal: [8, 27] + name: agent5 + start: [10, 12] +- goal: [25, 1] + name: agent6 + start: [10, 4] +- goal: [14, 26] + name: agent7 + start: [15, 2] +- goal: [16, 2] + name: agent8 + start: [12, 5] +- goal: [23, 25] + name: agent9 + start: [20, 14] +- goal: [26, 11] + name: agent10 + start: [21, 0] +- goal: [12, 2] + name: agent11 + start: [9, 0] +- goal: [19, 27] + name: agent12 + start: [18, 10] +- goal: [12, 17] + name: agent13 + start: [0, 23] +- goal: [16, 19] + name: agent14 + start: [30, 3] +- goal: [27, 12] + name: agent15 + start: [17, 21] +- goal: [2, 24] + name: agent16 + start: [28, 19] +- goal: [31, 11] + name: agent17 + start: [6, 14] +- goal: [27, 20] + name: agent18 + start: [7, 24] +- goal: [26, 17] + name: agent19 + start: [29, 26] +- goal: [9, 20] + name: agent20 + start: [23, 22] +- goal: [19, 21] + name: agent21 + start: [20, 0] +- goal: [15, 28] + name: agent22 + start: [1, 5] +- goal: [23, 22] + name: agent23 + start: [7, 29] +- goal: [2, 13] + name: agent24 + start: [31, 10] +- goal: [30, 28] + name: agent25 + start: [30, 20] +- goal: [14, 27] + name: agent26 + start: [9, 9] +- goal: [16, 21] + name: agent27 + start: [1, 16] +- goal: [13, 16] + name: agent28 + start: [3, 20] +- goal: [14, 0] + name: agent29 + start: [31, 1] +- goal: [27, 29] + name: agent30 + start: [30, 31] +- goal: [28, 29] + name: agent31 + start: [26, 9] +- goal: [29, 31] + name: agent32 + start: [9, 31] +- goal: [30, 21] + name: agent33 + start: [0, 16] +- goal: [13, 28] + name: agent34 + start: [8, 10] +- goal: [9, 16] + name: agent35 + start: [1, 13] +- goal: [23, 30] + name: agent36 + start: [28, 14] +- goal: [19, 19] + name: agent37 + start: [24, 27] +- goal: [16, 31] + name: agent38 + start: [1, 2] +- goal: [11, 3] + name: agent39 + start: [2, 1] +- goal: [12, 4] + name: agent40 + start: [6, 2] +- goal: [25, 12] + name: agent41 + start: [10, 6] +- goal: [17, 20] + name: agent42 + start: [31, 28] +- goal: [25, 14] + name: agent43 + start: [29, 0] +- goal: [14, 8] + name: agent44 + start: [28, 21] +- goal: [30, 23] + name: agent45 + start: [8, 1] +- goal: [1, 22] + name: agent46 + start: [18, 21] +- goal: [6, 12] + name: agent47 + start: [14, 5] +- goal: [28, 8] + name: agent48 + start: [1, 26] +- goal: [19, 20] + name: agent49 + start: [20, 17] +- goal: [22, 23] + name: agent50 + start: [27, 2] +- goal: [24, 23] + name: agent51 + start: [9, 21] +- goal: [25, 4] + name: agent52 + start: [31, 23] +- goal: [21, 8] + name: agent53 + start: [9, 16] +- goal: [29, 30] + name: agent54 + start: [9, 5] +- goal: [12, 25] + name: agent55 + start: [19, 3] +- goal: [15, 11] + name: agent56 + start: [16, 30] +- goal: [24, 1] + name: agent57 + start: [7, 17] +- goal: [31, 5] + name: agent58 + start: [15, 11] +- goal: [3, 21] + name: agent59 + start: [16, 29] +- goal: [22, 12] + name: agent60 + start: [24, 22] +- goal: [19, 15] + name: agent61 + start: [29, 6] +- goal: [7, 10] + name: agent62 + start: [1, 7] +- goal: [0, 4] + name: agent63 + start: [4, 7] +- goal: [1, 8] + name: agent64 + start: [15, 29] +- goal: [21, 17] + name: agent65 + start: [24, 1] +- goal: [2, 19] + name: agent66 + start: [13, 26] +- goal: [10, 16] + name: agent67 + start: [28, 25] +- goal: [18, 31] + name: agent68 + start: [3, 19] +- goal: [5, 11] + name: agent69 + start: [17, 16] +- goal: [7, 30] + name: agent70 + start: [25, 5] +- goal: [1, 25] + name: agent71 + start: [21, 6] +- goal: [21, 25] + name: agent72 + start: [23, 28] +- goal: [19, 0] + name: agent73 + start: [1, 3] +- goal: [5, 12] + name: agent74 + start: [18, 13] +- goal: [21, 16] + name: agent75 + start: [2, 30] +- goal: [22, 9] + name: agent76 + start: [8, 27] +- goal: [9, 5] + name: agent77 + start: [25, 10] +- goal: [7, 21] + name: agent78 + start: [29, 25] +- goal: [12, 20] + name: agent79 + start: [23, 15] +- goal: [5, 14] + name: agent80 + start: [31, 17] +- goal: [10, 15] + name: agent81 + start: [26, 1] +- goal: [22, 22] + name: agent82 + start: [6, 31] +- goal: [10, 30] + name: agent83 + start: [13, 9] +- goal: [7, 14] + name: agent84 + start: [14, 22] +- goal: [8, 9] + name: agent85 + start: [2, 19] +- goal: [6, 5] + name: agent86 + start: [17, 25] +- goal: [3, 27] + name: agent87 + start: [23, 24] +- goal: [6, 16] + name: agent88 + start: [13, 1] +- goal: [9, 26] + name: agent89 + start: [25, 6] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [16, 10] + - !!python/tuple [9, 6] + - !!python/tuple [31, 0] + - !!python/tuple [29, 5] + - !!python/tuple [24, 25] + - !!python/tuple [19, 16] + - !!python/tuple [30, 12] + - !!python/tuple [23, 10] + - !!python/tuple [29, 2] + - !!python/tuple [25, 9] + - !!python/tuple [4, 10] + - !!python/tuple [12, 1] + - !!python/tuple [26, 10] + - !!python/tuple [15, 26] + - !!python/tuple [5, 24] + - !!python/tuple [3, 12] + - !!python/tuple [11, 16] + - !!python/tuple [23, 27] + - !!python/tuple [13, 7] + - !!python/tuple [24, 4] + - !!python/tuple [25, 21] + - !!python/tuple [4, 1] + - !!python/tuple [5, 6] + - !!python/tuple [20, 29] + - !!python/tuple [4, 16] + - !!python/tuple [21, 31] + - !!python/tuple [20, 20] + - !!python/tuple [14, 7] + - !!python/tuple [14, 23] + - !!python/tuple [1, 29] + - !!python/tuple [24, 10] + - !!python/tuple [8, 18] + - !!python/tuple [14, 19] + - !!python/tuple [7, 4] + - !!python/tuple [11, 20] + - !!python/tuple [31, 24] + - !!python/tuple [10, 10] + - !!python/tuple [6, 10] + - !!python/tuple [20, 7] + - !!python/tuple [27, 30] + - !!python/tuple [23, 1] + - !!python/tuple [25, 7] + - !!python/tuple [8, 21] + - !!python/tuple [20, 15] + - !!python/tuple [10, 25] + - !!python/tuple [30, 19] + - !!python/tuple [2, 27] + - !!python/tuple [11, 7] + - !!python/tuple [11, 15] + - !!python/tuple [21, 30] + - !!python/tuple [15, 13] + - !!python/tuple [7, 20] + - !!python/tuple [16, 9] + - !!python/tuple [11, 19] + - !!python/tuple [31, 20] + - !!python/tuple [28, 27] + - !!python/tuple [29, 21] + - !!python/tuple [5, 19] + - !!python/tuple [26, 27] + - !!python/tuple [11, 22] + - !!python/tuple [25, 31] + - !!python/tuple [12, 6] + - !!python/tuple [6, 24] + - !!python/tuple [4, 13] + - !!python/tuple [10, 24] + - !!python/tuple [9, 25] + - !!python/tuple [20, 8] + - !!python/tuple [0, 5] + - !!python/tuple [19, 30] + - !!python/tuple [4, 22] + - !!python/tuple [0, 26] + - !!python/tuple [1, 4] + - !!python/tuple [26, 28] + - !!python/tuple [20, 10] + - !!python/tuple [21, 15] + - !!python/tuple [24, 0] + - !!python/tuple [13, 21] + - !!python/tuple [11, 24] + - !!python/tuple [10, 13] + - !!python/tuple [17, 8] + - !!python/tuple [16, 23] + - !!python/tuple [16, 1] + - !!python/tuple [24, 19] + - !!python/tuple [23, 13] + - !!python/tuple [4, 29] + - !!python/tuple [3, 8] + - !!python/tuple [15, 16] + - !!python/tuple [25, 17] + - !!python/tuple [16, 28] + - !!python/tuple [22, 10] + - !!python/tuple [21, 29] + - !!python/tuple [26, 6] + - !!python/tuple [17, 6] + - !!python/tuple [28, 7] + - !!python/tuple [31, 18] + - !!python/tuple [20, 1] + - !!python/tuple [0, 11] + - !!python/tuple [19, 29] + - !!python/tuple [15, 5] + - !!python/tuple [13, 8] + - !!python/tuple [20, 21] + - !!python/tuple [19, 12] + - !!python/tuple [22, 2] + - !!python/tuple [29, 14] + - !!python/tuple [29, 7] + - !!python/tuple [9, 8] + - !!python/tuple [23, 11] + - !!python/tuple [16, 5] + - !!python/tuple [22, 5] + - !!python/tuple [5, 27] + - !!python/tuple [11, 29] + - !!python/tuple [14, 3] + - !!python/tuple [15, 10] + - !!python/tuple [12, 29] + - !!python/tuple [21, 10] + - !!python/tuple [27, 13] + - !!python/tuple [25, 8] + - !!python/tuple [27, 4] + - !!python/tuple [3, 6] + - !!python/tuple [1, 9] + - !!python/tuple [9, 3] + - !!python/tuple [16, 0] + - !!python/tuple [22, 28] + - !!python/tuple [31, 19] + - !!python/tuple [15, 6] + - !!python/tuple [14, 30] + - !!python/tuple [0, 12] + - !!python/tuple [30, 5] + - !!python/tuple [7, 2] + - !!python/tuple [13, 31] + - !!python/tuple [13, 6] + - !!python/tuple [17, 10] + - !!python/tuple [21, 14] + - !!python/tuple [17, 15] + - !!python/tuple [18, 23] + - !!python/tuple [14, 28] + - !!python/tuple [3, 3] + - !!python/tuple [10, 0] + - !!python/tuple [3, 14] + - !!python/tuple [20, 2] + - !!python/tuple [11, 25] + - !!python/tuple [27, 8] + - !!python/tuple [27, 21] + - !!python/tuple [11, 6] + - !!python/tuple [3, 10] + - !!python/tuple [28, 22] + - !!python/tuple [6, 13] + - !!python/tuple [28, 11] + - !!python/tuple [24, 16] + - !!python/tuple [15, 30] + - !!python/tuple [21, 12] + - !!python/tuple [16, 12] + - !!python/tuple [29, 23] + - !!python/tuple [14, 11] + - !!python/tuple [5, 1] + - !!python/tuple [6, 29] + - !!python/tuple [10, 26] + - !!python/tuple [19, 1] + - !!python/tuple [0, 1] + - !!python/tuple [3, 30] + - !!python/tuple [17, 14] + - !!python/tuple [13, 24] + - !!python/tuple [7, 25] + - !!python/tuple [3, 31] + - !!python/tuple [5, 17] + - !!python/tuple [4, 21] + - !!python/tuple [16, 24] + - !!python/tuple [26, 3] + - !!python/tuple [7, 1] + - !!python/tuple [3, 5] + - !!python/tuple [26, 13] + - !!python/tuple [18, 2] + - !!python/tuple [6, 0] + - !!python/tuple [11, 8] + - !!python/tuple [8, 28] + - !!python/tuple [17, 30] + - !!python/tuple [30, 4] + - !!python/tuple [2, 14] + - !!python/tuple [17, 5] + - !!python/tuple [9, 12] + - !!python/tuple [2, 4] + - !!python/tuple [2, 2] + - !!python/tuple [3, 11] + - !!python/tuple [22, 1] + - !!python/tuple [23, 9] + - !!python/tuple [15, 23] + - !!python/tuple [13, 3] + - !!python/tuple [22, 6] + - !!python/tuple [29, 11] + - !!python/tuple [18, 19] + - !!python/tuple [5, 7] + - !!python/tuple [10, 28] + - !!python/tuple [6, 17] + - !!python/tuple [22, 16] + - !!python/tuple [5, 20] + - !!python/tuple [12, 7] + - !!python/tuple [13, 18] + - !!python/tuple [11, 26] + - !!python/tuple [15, 12] + - !!python/tuple [24, 28] + - !!python/tuple [1, 12] + - !!python/tuple [0, 8] + - !!python/tuple [10, 27] + - !!python/tuple [31, 2] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex47.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex47.yaml new file mode 100644 index 0000000..d5e77bb --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex47.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [9, 11] + name: agent0 + start: [31, 9] +- goal: [20, 26] + name: agent1 + start: [13, 20] +- goal: [13, 19] + name: agent2 + start: [6, 0] +- goal: [5, 18] + name: agent3 + start: [11, 31] +- goal: [27, 15] + name: agent4 + start: [31, 4] +- goal: [11, 13] + name: agent5 + start: [23, 4] +- goal: [10, 4] + name: agent6 + start: [7, 3] +- goal: [25, 28] + name: agent7 + start: [22, 20] +- goal: [15, 2] + name: agent8 + start: [7, 15] +- goal: [5, 26] + name: agent9 + start: [22, 16] +- goal: [22, 16] + name: agent10 + start: [18, 16] +- goal: [11, 3] + name: agent11 + start: [5, 20] +- goal: [5, 29] + name: agent12 + start: [1, 23] +- goal: [15, 28] + name: agent13 + start: [22, 11] +- goal: [3, 14] + name: agent14 + start: [21, 28] +- goal: [0, 6] + name: agent15 + start: [2, 3] +- goal: [4, 25] + name: agent16 + start: [25, 17] +- goal: [13, 24] + name: agent17 + start: [2, 24] +- goal: [31, 25] + name: agent18 + start: [4, 28] +- goal: [28, 20] + name: agent19 + start: [0, 9] +- goal: [5, 8] + name: agent20 + start: [16, 8] +- goal: [18, 26] + name: agent21 + start: [20, 8] +- goal: [6, 7] + name: agent22 + start: [16, 13] +- goal: [26, 8] + name: agent23 + start: [19, 29] +- goal: [10, 8] + name: agent24 + start: [16, 15] +- goal: [31, 3] + name: agent25 + start: [16, 22] +- goal: [25, 24] + name: agent26 + start: [4, 15] +- goal: [2, 18] + name: agent27 + start: [6, 9] +- goal: [3, 29] + name: agent28 + start: [11, 14] +- goal: [21, 6] + name: agent29 + start: [7, 27] +- goal: [19, 25] + name: agent30 + start: [20, 10] +- goal: [4, 3] + name: agent31 + start: [12, 5] +- goal: [12, 30] + name: agent32 + start: [25, 27] +- goal: [24, 15] + name: agent33 + start: [5, 28] +- goal: [19, 23] + name: agent34 + start: [30, 22] +- goal: [12, 27] + name: agent35 + start: [6, 12] +- goal: [6, 31] + name: agent36 + start: [27, 25] +- goal: [28, 11] + name: agent37 + start: [1, 14] +- goal: [22, 24] + name: agent38 + start: [1, 20] +- goal: [30, 22] + name: agent39 + start: [18, 26] +- goal: [4, 9] + name: agent40 + start: [6, 15] +- goal: [25, 0] + name: agent41 + start: [27, 4] +- goal: [2, 4] + name: agent42 + start: [28, 2] +- goal: [14, 6] + name: agent43 + start: [23, 15] +- goal: [26, 18] + name: agent44 + start: [15, 0] +- goal: [8, 8] + name: agent45 + start: [14, 1] +- goal: [8, 9] + name: agent46 + start: [16, 29] +- goal: [12, 14] + name: agent47 + start: [27, 30] +- goal: [16, 24] + name: agent48 + start: [6, 17] +- goal: [17, 7] + name: agent49 + start: [18, 8] +- goal: [30, 6] + name: agent50 + start: [22, 6] +- goal: [8, 11] + name: agent51 + start: [1, 3] +- goal: [2, 16] + name: agent52 + start: [0, 26] +- goal: [10, 24] + name: agent53 + start: [7, 30] +- goal: [21, 13] + name: agent54 + start: [11, 8] +- goal: [18, 13] + name: agent55 + start: [10, 1] +- goal: [1, 1] + name: agent56 + start: [25, 1] +- goal: [25, 14] + name: agent57 + start: [9, 0] +- goal: [27, 27] + name: agent58 + start: [10, 6] +- goal: [27, 5] + name: agent59 + start: [30, 1] +- goal: [23, 11] + name: agent60 + start: [15, 7] +- goal: [6, 16] + name: agent61 + start: [29, 22] +- goal: [0, 31] + name: agent62 + start: [19, 27] +- goal: [20, 11] + name: agent63 + start: [4, 20] +- goal: [29, 1] + name: agent64 + start: [19, 0] +- goal: [6, 25] + name: agent65 + start: [28, 4] +- goal: [9, 14] + name: agent66 + start: [9, 31] +- goal: [17, 26] + name: agent67 + start: [15, 10] +- goal: [10, 19] + name: agent68 + start: [13, 5] +- goal: [28, 18] + name: agent69 + start: [19, 24] +- goal: [31, 9] + name: agent70 + start: [26, 8] +- goal: [18, 0] + name: agent71 + start: [23, 9] +- goal: [14, 12] + name: agent72 + start: [15, 19] +- goal: [1, 30] + name: agent73 + start: [3, 7] +- goal: [6, 27] + name: agent74 + start: [27, 12] +- goal: [2, 9] + name: agent75 + start: [13, 19] +- goal: [31, 16] + name: agent76 + start: [14, 14] +- goal: [31, 26] + name: agent77 + start: [28, 26] +- goal: [31, 31] + name: agent78 + start: [14, 13] +- goal: [21, 16] + name: agent79 + start: [24, 14] +- goal: [20, 13] + name: agent80 + start: [11, 2] +- goal: [5, 22] + name: agent81 + start: [20, 13] +- goal: [7, 5] + name: agent82 + start: [21, 27] +- goal: [30, 24] + name: agent83 + start: [17, 25] +- goal: [21, 14] + name: agent84 + start: [0, 8] +- goal: [5, 3] + name: agent85 + start: [17, 0] +- goal: [9, 10] + name: agent86 + start: [16, 6] +- goal: [21, 18] + name: agent87 + start: [10, 19] +- goal: [4, 12] + name: agent88 + start: [28, 14] +- goal: [14, 25] + name: agent89 + start: [20, 26] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [1, 0] + - !!python/tuple [20, 0] + - !!python/tuple [12, 28] + - !!python/tuple [1, 28] + - !!python/tuple [6, 22] + - !!python/tuple [3, 24] + - !!python/tuple [23, 21] + - !!python/tuple [6, 30] + - !!python/tuple [6, 14] + - !!python/tuple [11, 15] + - !!python/tuple [3, 8] + - !!python/tuple [8, 25] + - !!python/tuple [8, 12] + - !!python/tuple [25, 16] + - !!python/tuple [3, 6] + - !!python/tuple [15, 16] + - !!python/tuple [13, 22] + - !!python/tuple [29, 2] + - !!python/tuple [25, 30] + - !!python/tuple [7, 12] + - !!python/tuple [7, 20] + - !!python/tuple [19, 31] + - !!python/tuple [2, 10] + - !!python/tuple [1, 9] + - !!python/tuple [13, 0] + - !!python/tuple [22, 13] + - !!python/tuple [26, 24] + - !!python/tuple [28, 19] + - !!python/tuple [10, 10] + - !!python/tuple [6, 10] + - !!python/tuple [25, 6] + - !!python/tuple [9, 19] + - !!python/tuple [17, 17] + - !!python/tuple [5, 10] + - !!python/tuple [15, 15] + - !!python/tuple [16, 5] + - !!python/tuple [24, 22] + - !!python/tuple [16, 17] + - !!python/tuple [17, 30] + - !!python/tuple [30, 11] + - !!python/tuple [17, 3] + - !!python/tuple [24, 23] + - !!python/tuple [13, 28] + - !!python/tuple [28, 16] + - !!python/tuple [21, 3] + - !!python/tuple [14, 11] + - !!python/tuple [15, 24] + - !!python/tuple [30, 17] + - !!python/tuple [24, 19] + - !!python/tuple [22, 23] + - !!python/tuple [4, 24] + - !!python/tuple [10, 31] + - !!python/tuple [28, 17] + - !!python/tuple [30, 7] + - !!python/tuple [17, 19] + - !!python/tuple [16, 25] + - !!python/tuple [25, 3] + - !!python/tuple [18, 7] + - !!python/tuple [21, 15] + - !!python/tuple [3, 3] + - !!python/tuple [25, 9] + - !!python/tuple [24, 29] + - !!python/tuple [18, 22] + - !!python/tuple [7, 19] + - !!python/tuple [21, 9] + - !!python/tuple [0, 18] + - !!python/tuple [17, 31] + - !!python/tuple [17, 12] + - !!python/tuple [28, 13] + - !!python/tuple [3, 9] + - !!python/tuple [13, 25] + - !!python/tuple [10, 29] + - !!python/tuple [22, 4] + - !!python/tuple [21, 2] + - !!python/tuple [6, 8] + - !!python/tuple [30, 3] + - !!python/tuple [3, 26] + - !!python/tuple [23, 16] + - !!python/tuple [27, 10] + - !!python/tuple [9, 1] + - !!python/tuple [19, 13] + - !!python/tuple [3, 20] + - !!python/tuple [7, 8] + - !!python/tuple [5, 14] + - !!python/tuple [14, 20] + - !!python/tuple [12, 3] + - !!python/tuple [3, 16] + - !!python/tuple [14, 5] + - !!python/tuple [20, 7] + - !!python/tuple [13, 23] + - !!python/tuple [20, 12] + - !!python/tuple [3, 25] + - !!python/tuple [26, 28] + - !!python/tuple [19, 30] + - !!python/tuple [26, 31] + - !!python/tuple [26, 26] + - !!python/tuple [10, 12] + - !!python/tuple [24, 0] + - !!python/tuple [14, 29] + - !!python/tuple [6, 19] + - !!python/tuple [30, 16] + - !!python/tuple [2, 2] + - !!python/tuple [27, 26] + - !!python/tuple [17, 23] + - !!python/tuple [6, 1] + - !!python/tuple [13, 8] + - !!python/tuple [21, 29] + - !!python/tuple [26, 1] + - !!python/tuple [6, 13] + - !!python/tuple [30, 4] + - !!python/tuple [9, 8] + - !!python/tuple [15, 26] + - !!python/tuple [19, 19] + - !!python/tuple [16, 2] + - !!python/tuple [18, 12] + - !!python/tuple [12, 29] + - !!python/tuple [18, 4] + - !!python/tuple [30, 18] + - !!python/tuple [5, 9] + - !!python/tuple [25, 10] + - !!python/tuple [4, 8] + - !!python/tuple [26, 9] + - !!python/tuple [15, 30] + - !!python/tuple [22, 18] + - !!python/tuple [20, 5] + - !!python/tuple [11, 10] + - !!python/tuple [24, 24] + - !!python/tuple [7, 24] + - !!python/tuple [10, 13] + - !!python/tuple [14, 2] + - !!python/tuple [10, 22] + - !!python/tuple [29, 30] + - !!python/tuple [4, 19] + - !!python/tuple [20, 29] + - !!python/tuple [15, 29] + - !!python/tuple [19, 21] + - !!python/tuple [12, 23] + - !!python/tuple [29, 18] + - !!python/tuple [6, 20] + - !!python/tuple [1, 12] + - !!python/tuple [19, 6] + - !!python/tuple [22, 29] + - !!python/tuple [29, 6] + - !!python/tuple [28, 31] + - !!python/tuple [7, 11] + - !!python/tuple [14, 26] + - !!python/tuple [28, 15] + - !!python/tuple [2, 31] + - !!python/tuple [29, 5] + - !!python/tuple [15, 31] + - !!python/tuple [27, 0] + - !!python/tuple [24, 1] + - !!python/tuple [18, 15] + - !!python/tuple [18, 28] + - !!python/tuple [13, 21] + - !!python/tuple [9, 6] + - !!python/tuple [23, 28] + - !!python/tuple [27, 3] + - !!python/tuple [21, 21] + - !!python/tuple [29, 8] + - !!python/tuple [18, 14] + - !!python/tuple [3, 5] + - !!python/tuple [19, 14] + - !!python/tuple [1, 6] + - !!python/tuple [25, 4] + - !!python/tuple [27, 7] + - !!python/tuple [28, 24] + - !!python/tuple [31, 11] + - !!python/tuple [30, 10] + - !!python/tuple [17, 6] + - !!python/tuple [23, 8] + - !!python/tuple [0, 3] + - !!python/tuple [12, 11] + - !!python/tuple [24, 7] + - !!python/tuple [26, 17] + - !!python/tuple [13, 11] + - !!python/tuple [3, 2] + - !!python/tuple [16, 4] + - !!python/tuple [13, 2] + - !!python/tuple [10, 14] + - !!python/tuple [16, 14] + - !!python/tuple [15, 17] + - !!python/tuple [19, 3] + - !!python/tuple [19, 4] + - !!python/tuple [12, 15] + - !!python/tuple [9, 21] + - !!python/tuple [0, 12] + - !!python/tuple [24, 4] + - !!python/tuple [10, 17] + - !!python/tuple [9, 26] + - !!python/tuple [29, 0] + - !!python/tuple [13, 31] + - !!python/tuple [23, 13] + - !!python/tuple [15, 20] + - !!python/tuple [26, 6] + - !!python/tuple [0, 25] + - !!python/tuple [8, 10] + - !!python/tuple [7, 22] + - !!python/tuple [25, 23] + - !!python/tuple [18, 10] + - !!python/tuple [27, 9] + - !!python/tuple [22, 1] + - !!python/tuple [17, 15] + - !!python/tuple [21, 24] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex48.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex48.yaml new file mode 100644 index 0000000..d1f7d8d --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex48.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [4, 3] + name: agent0 + start: [4, 24] +- goal: [4, 17] + name: agent1 + start: [16, 26] +- goal: [3, 14] + name: agent2 + start: [3, 25] +- goal: [27, 8] + name: agent3 + start: [4, 27] +- goal: [10, 7] + name: agent4 + start: [2, 8] +- goal: [10, 22] + name: agent5 + start: [7, 3] +- goal: [1, 20] + name: agent6 + start: [29, 29] +- goal: [19, 17] + name: agent7 + start: [28, 30] +- goal: [8, 11] + name: agent8 + start: [9, 0] +- goal: [18, 31] + name: agent9 + start: [30, 17] +- goal: [16, 22] + name: agent10 + start: [27, 11] +- goal: [8, 8] + name: agent11 + start: [31, 26] +- goal: [13, 20] + name: agent12 + start: [30, 8] +- goal: [25, 5] + name: agent13 + start: [2, 6] +- goal: [28, 0] + name: agent14 + start: [5, 8] +- goal: [15, 2] + name: agent15 + start: [26, 16] +- goal: [3, 0] + name: agent16 + start: [25, 16] +- goal: [7, 16] + name: agent17 + start: [23, 9] +- goal: [10, 6] + name: agent18 + start: [24, 3] +- goal: [27, 9] + name: agent19 + start: [22, 6] +- goal: [7, 4] + name: agent20 + start: [23, 27] +- goal: [14, 0] + name: agent21 + start: [4, 29] +- goal: [11, 16] + name: agent22 + start: [1, 31] +- goal: [19, 23] + name: agent23 + start: [18, 16] +- goal: [13, 14] + name: agent24 + start: [26, 28] +- goal: [21, 25] + name: agent25 + start: [12, 29] +- goal: [30, 15] + name: agent26 + start: [11, 21] +- goal: [12, 0] + name: agent27 + start: [30, 19] +- goal: [13, 28] + name: agent28 + start: [19, 13] +- goal: [18, 11] + name: agent29 + start: [12, 8] +- goal: [0, 25] + name: agent30 + start: [28, 27] +- goal: [26, 5] + name: agent31 + start: [28, 29] +- goal: [6, 14] + name: agent32 + start: [30, 16] +- goal: [14, 11] + name: agent33 + start: [14, 20] +- goal: [26, 31] + name: agent34 + start: [12, 2] +- goal: [12, 26] + name: agent35 + start: [2, 30] +- goal: [21, 2] + name: agent36 + start: [10, 13] +- goal: [23, 0] + name: agent37 + start: [3, 16] +- goal: [17, 23] + name: agent38 + start: [25, 26] +- goal: [15, 13] + name: agent39 + start: [8, 18] +- goal: [19, 10] + name: agent40 + start: [7, 1] +- goal: [18, 25] + name: agent41 + start: [3, 18] +- goal: [0, 9] + name: agent42 + start: [4, 21] +- goal: [30, 14] + name: agent43 + start: [16, 19] +- goal: [25, 31] + name: agent44 + start: [1, 18] +- goal: [6, 29] + name: agent45 + start: [3, 28] +- goal: [20, 18] + name: agent46 + start: [25, 15] +- goal: [18, 14] + name: agent47 + start: [28, 28] +- goal: [16, 9] + name: agent48 + start: [6, 3] +- goal: [14, 30] + name: agent49 + start: [8, 20] +- goal: [6, 22] + name: agent50 + start: [15, 0] +- goal: [22, 5] + name: agent51 + start: [29, 22] +- goal: [29, 20] + name: agent52 + start: [6, 18] +- goal: [29, 5] + name: agent53 + start: [17, 6] +- goal: [12, 23] + name: agent54 + start: [4, 2] +- goal: [24, 20] + name: agent55 + start: [24, 17] +- goal: [30, 8] + name: agent56 + start: [22, 9] +- goal: [11, 7] + name: agent57 + start: [10, 7] +- goal: [28, 20] + name: agent58 + start: [4, 10] +- goal: [15, 18] + name: agent59 + start: [4, 9] +- goal: [2, 4] + name: agent60 + start: [12, 17] +- goal: [26, 12] + name: agent61 + start: [30, 15] +- goal: [28, 29] + name: agent62 + start: [20, 16] +- goal: [21, 26] + name: agent63 + start: [27, 8] +- goal: [12, 27] + name: agent64 + start: [11, 8] +- goal: [6, 23] + name: agent65 + start: [2, 24] +- goal: [13, 10] + name: agent66 + start: [14, 17] +- goal: [29, 7] + name: agent67 + start: [21, 22] +- goal: [6, 1] + name: agent68 + start: [21, 19] +- goal: [14, 13] + name: agent69 + start: [13, 11] +- goal: [12, 10] + name: agent70 + start: [25, 14] +- goal: [21, 21] + name: agent71 + start: [11, 0] +- goal: [26, 7] + name: agent72 + start: [16, 17] +- goal: [23, 28] + name: agent73 + start: [0, 2] +- goal: [1, 10] + name: agent74 + start: [5, 12] +- goal: [10, 4] + name: agent75 + start: [19, 6] +- goal: [30, 28] + name: agent76 + start: [14, 12] +- goal: [15, 0] + name: agent77 + start: [28, 13] +- goal: [3, 16] + name: agent78 + start: [17, 20] +- goal: [21, 0] + name: agent79 + start: [19, 21] +- goal: [12, 22] + name: agent80 + start: [8, 16] +- goal: [19, 12] + name: agent81 + start: [6, 22] +- goal: [5, 2] + name: agent82 + start: [8, 1] +- goal: [1, 23] + name: agent83 + start: [7, 26] +- goal: [17, 0] + name: agent84 + start: [16, 12] +- goal: [31, 23] + name: agent85 + start: [4, 12] +- goal: [31, 13] + name: agent86 + start: [2, 21] +- goal: [17, 9] + name: agent87 + start: [10, 18] +- goal: [28, 30] + name: agent88 + start: [17, 11] +- goal: [25, 28] + name: agent89 + start: [31, 31] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [16, 30] + - !!python/tuple [21, 31] + - !!python/tuple [10, 27] + - !!python/tuple [26, 2] + - !!python/tuple [0, 13] + - !!python/tuple [24, 30] + - !!python/tuple [17, 19] + - !!python/tuple [17, 22] + - !!python/tuple [6, 30] + - !!python/tuple [30, 5] + - !!python/tuple [10, 2] + - !!python/tuple [31, 19] + - !!python/tuple [20, 23] + - !!python/tuple [24, 23] + - !!python/tuple [29, 13] + - !!python/tuple [25, 18] + - !!python/tuple [22, 2] + - !!python/tuple [22, 29] + - !!python/tuple [22, 1] + - !!python/tuple [1, 1] + - !!python/tuple [15, 29] + - !!python/tuple [2, 29] + - !!python/tuple [25, 20] + - !!python/tuple [16, 1] + - !!python/tuple [3, 9] + - !!python/tuple [8, 4] + - !!python/tuple [19, 9] + - !!python/tuple [17, 31] + - !!python/tuple [26, 17] + - !!python/tuple [25, 17] + - !!python/tuple [22, 26] + - !!python/tuple [21, 9] + - !!python/tuple [29, 26] + - !!python/tuple [21, 6] + - !!python/tuple [23, 5] + - !!python/tuple [20, 12] + - !!python/tuple [30, 0] + - !!python/tuple [18, 29] + - !!python/tuple [12, 14] + - !!python/tuple [23, 23] + - !!python/tuple [11, 12] + - !!python/tuple [15, 8] + - !!python/tuple [26, 26] + - !!python/tuple [30, 3] + - !!python/tuple [4, 18] + - !!python/tuple [11, 15] + - !!python/tuple [13, 0] + - !!python/tuple [15, 17] + - !!python/tuple [14, 27] + - !!python/tuple [28, 4] + - !!python/tuple [6, 27] + - !!python/tuple [17, 16] + - !!python/tuple [7, 2] + - !!python/tuple [5, 13] + - !!python/tuple [20, 17] + - !!python/tuple [6, 5] + - !!python/tuple [0, 16] + - !!python/tuple [13, 31] + - !!python/tuple [8, 17] + - !!python/tuple [10, 20] + - !!python/tuple [18, 9] + - !!python/tuple [5, 26] + - !!python/tuple [18, 17] + - !!python/tuple [23, 24] + - !!python/tuple [9, 21] + - !!python/tuple [27, 10] + - !!python/tuple [24, 13] + - !!python/tuple [29, 2] + - !!python/tuple [4, 22] + - !!python/tuple [11, 22] + - !!python/tuple [5, 20] + - !!python/tuple [28, 17] + - !!python/tuple [7, 12] + - !!python/tuple [0, 4] + - !!python/tuple [28, 6] + - !!python/tuple [16, 28] + - !!python/tuple [21, 30] + - !!python/tuple [14, 28] + - !!python/tuple [16, 21] + - !!python/tuple [27, 31] + - !!python/tuple [26, 11] + - !!python/tuple [11, 17] + - !!python/tuple [0, 22] + - !!python/tuple [18, 28] + - !!python/tuple [8, 29] + - !!python/tuple [23, 19] + - !!python/tuple [13, 18] + - !!python/tuple [22, 31] + - !!python/tuple [28, 11] + - !!python/tuple [31, 22] + - !!python/tuple [22, 18] + - !!python/tuple [23, 13] + - !!python/tuple [17, 8] + - !!python/tuple [9, 31] + - !!python/tuple [13, 24] + - !!python/tuple [6, 16] + - !!python/tuple [4, 31] + - !!python/tuple [8, 9] + - !!python/tuple [2, 12] + - !!python/tuple [0, 7] + - !!python/tuple [10, 17] + - !!python/tuple [9, 15] + - !!python/tuple [16, 4] + - !!python/tuple [6, 17] + - !!python/tuple [4, 16] + - !!python/tuple [16, 27] + - !!python/tuple [6, 21] + - !!python/tuple [30, 30] + - !!python/tuple [3, 6] + - !!python/tuple [1, 6] + - !!python/tuple [16, 10] + - !!python/tuple [15, 7] + - !!python/tuple [28, 5] + - !!python/tuple [7, 7] + - !!python/tuple [17, 13] + - !!python/tuple [11, 3] + - !!python/tuple [21, 5] + - !!python/tuple [15, 23] + - !!python/tuple [12, 21] + - !!python/tuple [6, 6] + - !!python/tuple [24, 6] + - !!python/tuple [7, 14] + - !!python/tuple [28, 12] + - !!python/tuple [14, 24] + - !!python/tuple [10, 3] + - !!python/tuple [16, 15] + - !!python/tuple [5, 0] + - !!python/tuple [25, 1] + - !!python/tuple [31, 24] + - !!python/tuple [20, 3] + - !!python/tuple [7, 6] + - !!python/tuple [19, 18] + - !!python/tuple [14, 29] + - !!python/tuple [16, 11] + - !!python/tuple [6, 12] + - !!python/tuple [30, 24] + - !!python/tuple [5, 1] + - !!python/tuple [28, 25] + - !!python/tuple [20, 25] + - !!python/tuple [0, 21] + - !!python/tuple [9, 8] + - !!python/tuple [23, 15] + - !!python/tuple [15, 9] + - !!python/tuple [31, 5] + - !!python/tuple [14, 22] + - !!python/tuple [5, 31] + - !!python/tuple [18, 23] + - !!python/tuple [22, 15] + - !!python/tuple [12, 4] + - !!python/tuple [5, 3] + - !!python/tuple [9, 13] + - !!python/tuple [13, 25] + - !!python/tuple [9, 26] + - !!python/tuple [23, 12] + - !!python/tuple [17, 24] + - !!python/tuple [0, 17] + - !!python/tuple [31, 10] + - !!python/tuple [27, 3] + - !!python/tuple [1, 7] + - !!python/tuple [6, 31] + - !!python/tuple [6, 4] + - !!python/tuple [28, 3] + - !!python/tuple [9, 9] + - !!python/tuple [25, 10] + - !!python/tuple [7, 5] + - !!python/tuple [24, 9] + - !!python/tuple [29, 24] + - !!python/tuple [3, 23] + - !!python/tuple [28, 16] + - !!python/tuple [15, 14] + - !!python/tuple [30, 26] + - !!python/tuple [1, 0] + - !!python/tuple [26, 8] + - !!python/tuple [19, 3] + - !!python/tuple [24, 18] + - !!python/tuple [12, 11] + - !!python/tuple [31, 2] + - !!python/tuple [11, 10] + - !!python/tuple [10, 21] + - !!python/tuple [17, 18] + - !!python/tuple [9, 18] + - !!python/tuple [1, 5] + - !!python/tuple [17, 29] + - !!python/tuple [19, 11] + - !!python/tuple [18, 24] + - !!python/tuple [20, 8] + - !!python/tuple [10, 5] + - !!python/tuple [23, 22] + - !!python/tuple [22, 22] + - !!python/tuple [29, 25] + - !!python/tuple [15, 21] + - !!python/tuple [19, 30] + - !!python/tuple [17, 3] + - !!python/tuple [20, 2] + - !!python/tuple [26, 29] + - !!python/tuple [2, 31] + - !!python/tuple [3, 5] + - !!python/tuple [20, 24] + - !!python/tuple [16, 2] + - !!python/tuple [12, 1] + - !!python/tuple [19, 26] + - !!python/tuple [15, 26] + - !!python/tuple [27, 4] + - !!python/tuple [27, 20] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex49.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex49.yaml new file mode 100644 index 0000000..5613cce --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex49.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [14, 15] + name: agent0 + start: [3, 14] +- goal: [26, 9] + name: agent1 + start: [12, 4] +- goal: [14, 25] + name: agent2 + start: [1, 5] +- goal: [19, 21] + name: agent3 + start: [5, 7] +- goal: [20, 14] + name: agent4 + start: [19, 29] +- goal: [1, 10] + name: agent5 + start: [7, 5] +- goal: [15, 1] + name: agent6 + start: [21, 21] +- goal: [18, 13] + name: agent7 + start: [17, 27] +- goal: [4, 9] + name: agent8 + start: [21, 5] +- goal: [3, 24] + name: agent9 + start: [5, 20] +- goal: [26, 28] + name: agent10 + start: [2, 8] +- goal: [17, 10] + name: agent11 + start: [5, 5] +- goal: [19, 9] + name: agent12 + start: [26, 26] +- goal: [12, 0] + name: agent13 + start: [11, 0] +- goal: [31, 14] + name: agent14 + start: [8, 7] +- goal: [22, 18] + name: agent15 + start: [5, 25] +- goal: [0, 3] + name: agent16 + start: [16, 30] +- goal: [15, 23] + name: agent17 + start: [4, 4] +- goal: [22, 6] + name: agent18 + start: [0, 24] +- goal: [4, 17] + name: agent19 + start: [12, 16] +- goal: [10, 4] + name: agent20 + start: [21, 10] +- goal: [14, 5] + name: agent21 + start: [2, 12] +- goal: [30, 11] + name: agent22 + start: [22, 3] +- goal: [31, 4] + name: agent23 + start: [17, 15] +- goal: [24, 6] + name: agent24 + start: [10, 12] +- goal: [1, 31] + name: agent25 + start: [7, 0] +- goal: [26, 25] + name: agent26 + start: [10, 16] +- goal: [23, 28] + name: agent27 + start: [29, 11] +- goal: [3, 13] + name: agent28 + start: [30, 23] +- goal: [18, 8] + name: agent29 + start: [28, 26] +- goal: [3, 16] + name: agent30 + start: [22, 2] +- goal: [21, 3] + name: agent31 + start: [28, 22] +- goal: [2, 27] + name: agent32 + start: [2, 10] +- goal: [7, 17] + name: agent33 + start: [5, 18] +- goal: [26, 7] + name: agent34 + start: [9, 22] +- goal: [1, 8] + name: agent35 + start: [24, 17] +- goal: [9, 20] + name: agent36 + start: [13, 20] +- goal: [15, 12] + name: agent37 + start: [12, 13] +- goal: [29, 15] + name: agent38 + start: [13, 28] +- goal: [29, 9] + name: agent39 + start: [15, 4] +- goal: [19, 24] + name: agent40 + start: [5, 16] +- goal: [4, 4] + name: agent41 + start: [25, 1] +- goal: [2, 31] + name: agent42 + start: [0, 8] +- goal: [22, 3] + name: agent43 + start: [24, 15] +- goal: [10, 26] + name: agent44 + start: [2, 20] +- goal: [9, 3] + name: agent45 + start: [15, 31] +- goal: [27, 28] + name: agent46 + start: [11, 8] +- goal: [6, 31] + name: agent47 + start: [25, 4] +- goal: [9, 13] + name: agent48 + start: [2, 0] +- goal: [16, 17] + name: agent49 + start: [31, 20] +- goal: [12, 12] + name: agent50 + start: [14, 6] +- goal: [11, 12] + name: agent51 + start: [27, 21] +- goal: [22, 31] + name: agent52 + start: [7, 29] +- goal: [13, 15] + name: agent53 + start: [15, 23] +- goal: [23, 27] + name: agent54 + start: [11, 7] +- goal: [30, 4] + name: agent55 + start: [18, 11] +- goal: [23, 15] + name: agent56 + start: [31, 23] +- goal: [28, 11] + name: agent57 + start: [5, 6] +- goal: [15, 30] + name: agent58 + start: [17, 23] +- goal: [18, 14] + name: agent59 + start: [6, 16] +- goal: [2, 9] + name: agent60 + start: [5, 29] +- goal: [0, 6] + name: agent61 + start: [21, 25] +- goal: [30, 18] + name: agent62 + start: [30, 20] +- goal: [4, 11] + name: agent63 + start: [30, 8] +- goal: [8, 2] + name: agent64 + start: [27, 28] +- goal: [8, 28] + name: agent65 + start: [31, 10] +- goal: [4, 13] + name: agent66 + start: [25, 11] +- goal: [15, 14] + name: agent67 + start: [8, 12] +- goal: [29, 23] + name: agent68 + start: [19, 22] +- goal: [10, 31] + name: agent69 + start: [5, 23] +- goal: [29, 28] + name: agent70 + start: [27, 5] +- goal: [17, 31] + name: agent71 + start: [31, 25] +- goal: [6, 27] + name: agent72 + start: [20, 11] +- goal: [15, 6] + name: agent73 + start: [27, 23] +- goal: [18, 21] + name: agent74 + start: [11, 25] +- goal: [30, 20] + name: agent75 + start: [17, 10] +- goal: [20, 1] + name: agent76 + start: [24, 26] +- goal: [3, 17] + name: agent77 + start: [22, 19] +- goal: [14, 1] + name: agent78 + start: [11, 6] +- goal: [16, 5] + name: agent79 + start: [28, 4] +- goal: [26, 19] + name: agent80 + start: [18, 22] +- goal: [29, 27] + name: agent81 + start: [4, 31] +- goal: [21, 1] + name: agent82 + start: [8, 28] +- goal: [4, 21] + name: agent83 + start: [3, 13] +- goal: [29, 18] + name: agent84 + start: [25, 6] +- goal: [9, 19] + name: agent85 + start: [20, 0] +- goal: [26, 21] + name: agent86 + start: [9, 1] +- goal: [9, 4] + name: agent87 + start: [23, 21] +- goal: [2, 28] + name: agent88 + start: [17, 9] +- goal: [30, 0] + name: agent89 + start: [11, 13] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [9, 23] + - !!python/tuple [10, 14] + - !!python/tuple [23, 4] + - !!python/tuple [20, 15] + - !!python/tuple [29, 17] + - !!python/tuple [10, 8] + - !!python/tuple [12, 11] + - !!python/tuple [28, 9] + - !!python/tuple [27, 26] + - !!python/tuple [4, 27] + - !!python/tuple [5, 8] + - !!python/tuple [2, 7] + - !!python/tuple [0, 15] + - !!python/tuple [1, 25] + - !!python/tuple [25, 5] + - !!python/tuple [21, 17] + - !!python/tuple [4, 23] + - !!python/tuple [6, 24] + - !!python/tuple [13, 24] + - !!python/tuple [23, 30] + - !!python/tuple [15, 7] + - !!python/tuple [29, 12] + - !!python/tuple [17, 11] + - !!python/tuple [7, 26] + - !!python/tuple [1, 6] + - !!python/tuple [23, 0] + - !!python/tuple [7, 10] + - !!python/tuple [9, 29] + - !!python/tuple [19, 12] + - !!python/tuple [26, 13] + - !!python/tuple [19, 19] + - !!python/tuple [5, 22] + - !!python/tuple [3, 12] + - !!python/tuple [17, 8] + - !!python/tuple [15, 8] + - !!python/tuple [30, 29] + - !!python/tuple [16, 8] + - !!python/tuple [10, 1] + - !!python/tuple [20, 20] + - !!python/tuple [26, 15] + - !!python/tuple [9, 15] + - !!python/tuple [14, 29] + - !!python/tuple [27, 22] + - !!python/tuple [26, 2] + - !!python/tuple [19, 13] + - !!python/tuple [28, 7] + - !!python/tuple [7, 14] + - !!python/tuple [24, 16] + - !!python/tuple [5, 13] + - !!python/tuple [12, 15] + - !!python/tuple [3, 0] + - !!python/tuple [25, 19] + - !!python/tuple [1, 18] + - !!python/tuple [2, 3] + - !!python/tuple [23, 5] + - !!python/tuple [10, 6] + - !!python/tuple [23, 26] + - !!python/tuple [17, 5] + - !!python/tuple [21, 20] + - !!python/tuple [21, 11] + - !!python/tuple [18, 23] + - !!python/tuple [31, 5] + - !!python/tuple [22, 21] + - !!python/tuple [18, 19] + - !!python/tuple [27, 27] + - !!python/tuple [23, 13] + - !!python/tuple [21, 15] + - !!python/tuple [24, 3] + - !!python/tuple [27, 10] + - !!python/tuple [8, 30] + - !!python/tuple [15, 19] + - !!python/tuple [11, 17] + - !!python/tuple [22, 8] + - !!python/tuple [27, 8] + - !!python/tuple [16, 4] + - !!python/tuple [9, 6] + - !!python/tuple [7, 16] + - !!python/tuple [31, 18] + - !!python/tuple [8, 10] + - !!python/tuple [1, 1] + - !!python/tuple [0, 20] + - !!python/tuple [26, 4] + - !!python/tuple [7, 25] + - !!python/tuple [19, 0] + - !!python/tuple [6, 29] + - !!python/tuple [1, 4] + - !!python/tuple [14, 17] + - !!python/tuple [24, 30] + - !!python/tuple [2, 16] + - !!python/tuple [14, 30] + - !!python/tuple [1, 19] + - !!python/tuple [15, 13] + - !!python/tuple [14, 31] + - !!python/tuple [25, 28] + - !!python/tuple [22, 26] + - !!python/tuple [16, 14] + - !!python/tuple [15, 16] + - !!python/tuple [30, 22] + - !!python/tuple [29, 31] + - !!python/tuple [1, 30] + - !!python/tuple [25, 15] + - !!python/tuple [7, 24] + - !!python/tuple [28, 19] + - !!python/tuple [31, 12] + - !!python/tuple [24, 13] + - !!python/tuple [24, 18] + - !!python/tuple [11, 26] + - !!python/tuple [24, 19] + - !!python/tuple [3, 2] + - !!python/tuple [20, 8] + - !!python/tuple [1, 21] + - !!python/tuple [2, 30] + - !!python/tuple [30, 6] + - !!python/tuple [15, 29] + - !!python/tuple [10, 29] + - !!python/tuple [1, 0] + - !!python/tuple [25, 10] + - !!python/tuple [27, 14] + - !!python/tuple [25, 29] + - !!python/tuple [15, 25] + - !!python/tuple [8, 6] + - !!python/tuple [5, 27] + - !!python/tuple [31, 31] + - !!python/tuple [4, 3] + - !!python/tuple [6, 2] + - !!python/tuple [23, 10] + - !!python/tuple [6, 10] + - !!python/tuple [26, 17] + - !!python/tuple [13, 26] + - !!python/tuple [24, 22] + - !!python/tuple [20, 24] + - !!python/tuple [2, 26] + - !!python/tuple [7, 4] + - !!python/tuple [28, 20] + - !!python/tuple [22, 29] + - !!python/tuple [21, 8] + - !!python/tuple [4, 2] + - !!python/tuple [5, 2] + - !!python/tuple [17, 20] + - !!python/tuple [0, 13] + - !!python/tuple [29, 20] + - !!python/tuple [4, 0] + - !!python/tuple [21, 28] + - !!python/tuple [3, 21] + - !!python/tuple [8, 25] + - !!python/tuple [14, 9] + - !!python/tuple [23, 14] + - !!python/tuple [14, 3] + - !!python/tuple [17, 0] + - !!python/tuple [3, 23] + - !!python/tuple [1, 20] + - !!python/tuple [18, 5] + - !!python/tuple [28, 10] + - !!python/tuple [6, 21] + - !!python/tuple [29, 16] + - !!python/tuple [0, 1] + - !!python/tuple [25, 2] + - !!python/tuple [20, 7] + - !!python/tuple [20, 29] + - !!python/tuple [6, 9] + - !!python/tuple [26, 24] + - !!python/tuple [13, 13] + - !!python/tuple [16, 15] + - !!python/tuple [15, 0] + - !!python/tuple [8, 31] + - !!python/tuple [29, 3] + - !!python/tuple [13, 1] + - !!python/tuple [17, 21] + - !!python/tuple [26, 22] + - !!python/tuple [19, 18] + - !!python/tuple [27, 15] + - !!python/tuple [7, 19] + - !!python/tuple [30, 26] + - !!python/tuple [20, 18] + - !!python/tuple [26, 23] + - !!python/tuple [4, 25] + - !!python/tuple [11, 31] + - !!python/tuple [10, 2] + - !!python/tuple [25, 0] + - !!python/tuple [31, 24] + - !!python/tuple [22, 30] + - !!python/tuple [8, 4] + - !!python/tuple [19, 2] + - !!python/tuple [31, 11] + - !!python/tuple [25, 16] + - !!python/tuple [11, 22] + - !!python/tuple [9, 7] + - !!python/tuple [8, 20] + - !!python/tuple [24, 28] + - !!python/tuple [12, 25] + - !!python/tuple [15, 9] + - !!python/tuple [13, 29] + - !!python/tuple [20, 9] + - !!python/tuple [23, 31] + - !!python/tuple [7, 18] + - !!python/tuple [30, 3] + - !!python/tuple [14, 18] + - !!python/tuple [10, 25] + - !!python/tuple [27, 19] + - !!python/tuple [14, 4] + - !!python/tuple [16, 31] + - !!python/tuple [2, 5] + - !!python/tuple [21, 14] + - !!python/tuple [11, 16] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex5.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex5.yaml new file mode 100644 index 0000000..bb8c6ed --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex5.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [23, 13] + name: agent0 + start: [9, 23] +- goal: [21, 4] + name: agent1 + start: [15, 17] +- goal: [1, 20] + name: agent2 + start: [24, 9] +- goal: [13, 10] + name: agent3 + start: [2, 0] +- goal: [22, 13] + name: agent4 + start: [16, 30] +- goal: [17, 0] + name: agent5 + start: [19, 2] +- goal: [16, 20] + name: agent6 + start: [3, 10] +- goal: [5, 2] + name: agent7 + start: [25, 15] +- goal: [15, 13] + name: agent8 + start: [8, 21] +- goal: [29, 20] + name: agent9 + start: [0, 4] +- goal: [1, 4] + name: agent10 + start: [29, 22] +- goal: [21, 11] + name: agent11 + start: [23, 16] +- goal: [0, 30] + name: agent12 + start: [31, 7] +- goal: [10, 18] + name: agent13 + start: [12, 3] +- goal: [16, 2] + name: agent14 + start: [7, 18] +- goal: [18, 18] + name: agent15 + start: [9, 6] +- goal: [29, 25] + name: agent16 + start: [13, 27] +- goal: [22, 25] + name: agent17 + start: [8, 8] +- goal: [5, 29] + name: agent18 + start: [23, 31] +- goal: [0, 31] + name: agent19 + start: [26, 3] +- goal: [30, 15] + name: agent20 + start: [20, 3] +- goal: [2, 0] + name: agent21 + start: [26, 22] +- goal: [15, 0] + name: agent22 + start: [25, 29] +- goal: [7, 2] + name: agent23 + start: [24, 3] +- goal: [30, 4] + name: agent24 + start: [29, 8] +- goal: [27, 11] + name: agent25 + start: [15, 3] +- goal: [27, 8] + name: agent26 + start: [20, 8] +- goal: [9, 18] + name: agent27 + start: [19, 28] +- goal: [2, 6] + name: agent28 + start: [9, 2] +- goal: [2, 10] + name: agent29 + start: [28, 11] +- goal: [24, 3] + name: agent30 + start: [28, 19] +- goal: [16, 24] + name: agent31 + start: [13, 18] +- goal: [21, 19] + name: agent32 + start: [10, 15] +- goal: [22, 23] + name: agent33 + start: [9, 27] +- goal: [17, 20] + name: agent34 + start: [15, 11] +- goal: [4, 14] + name: agent35 + start: [15, 29] +- goal: [30, 16] + name: agent36 + start: [2, 4] +- goal: [2, 15] + name: agent37 + start: [9, 16] +- goal: [22, 29] + name: agent38 + start: [13, 17] +- goal: [13, 19] + name: agent39 + start: [16, 3] +- goal: [0, 19] + name: agent40 + start: [8, 2] +- goal: [19, 25] + name: agent41 + start: [8, 26] +- goal: [7, 15] + name: agent42 + start: [30, 1] +- goal: [27, 22] + name: agent43 + start: [4, 5] +- goal: [20, 24] + name: agent44 + start: [24, 17] +- goal: [16, 12] + name: agent45 + start: [18, 18] +- goal: [21, 14] + name: agent46 + start: [2, 30] +- goal: [31, 11] + name: agent47 + start: [14, 14] +- goal: [13, 27] + name: agent48 + start: [1, 18] +- goal: [19, 12] + name: agent49 + start: [6, 18] +- goal: [26, 20] + name: agent50 + start: [31, 11] +- goal: [5, 7] + name: agent51 + start: [7, 28] +- goal: [30, 25] + name: agent52 + start: [3, 19] +- goal: [23, 4] + name: agent53 + start: [12, 25] +- goal: [17, 7] + name: agent54 + start: [19, 6] +- goal: [19, 16] + name: agent55 + start: [9, 18] +- goal: [13, 7] + name: agent56 + start: [28, 4] +- goal: [26, 6] + name: agent57 + start: [30, 22] +- goal: [23, 11] + name: agent58 + start: [2, 23] +- goal: [3, 31] + name: agent59 + start: [29, 16] +- goal: [1, 9] + name: agent60 + start: [30, 10] +- goal: [27, 12] + name: agent61 + start: [10, 1] +- goal: [23, 10] + name: agent62 + start: [27, 2] +- goal: [30, 23] + name: agent63 + start: [9, 28] +- goal: [23, 29] + name: agent64 + start: [6, 0] +- goal: [12, 10] + name: agent65 + start: [11, 19] +- goal: [17, 27] + name: agent66 + start: [18, 29] +- goal: [3, 6] + name: agent67 + start: [0, 30] +- goal: [19, 3] + name: agent68 + start: [0, 10] +- goal: [24, 29] + name: agent69 + start: [24, 14] +- goal: [14, 19] + name: agent70 + start: [6, 22] +- goal: [5, 0] + name: agent71 + start: [23, 27] +- goal: [8, 19] + name: agent72 + start: [2, 5] +- goal: [0, 11] + name: agent73 + start: [27, 28] +- goal: [3, 10] + name: agent74 + start: [25, 26] +- goal: [31, 5] + name: agent75 + start: [21, 22] +- goal: [15, 7] + name: agent76 + start: [26, 16] +- goal: [14, 8] + name: agent77 + start: [17, 13] +- goal: [1, 8] + name: agent78 + start: [27, 10] +- goal: [21, 5] + name: agent79 + start: [17, 24] +- goal: [20, 1] + name: agent80 + start: [31, 15] +- goal: [6, 20] + name: agent81 + start: [30, 29] +- goal: [26, 3] + name: agent82 + start: [26, 10] +- goal: [1, 1] + name: agent83 + start: [16, 13] +- goal: [5, 22] + name: agent84 + start: [16, 8] +- goal: [16, 15] + name: agent85 + start: [24, 18] +- goal: [7, 30] + name: agent86 + start: [29, 5] +- goal: [15, 3] + name: agent87 + start: [5, 27] +- goal: [6, 19] + name: agent88 + start: [29, 27] +- goal: [3, 9] + name: agent89 + start: [16, 18] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [10, 8] + - !!python/tuple [23, 7] + - !!python/tuple [17, 25] + - !!python/tuple [2, 26] + - !!python/tuple [3, 29] + - !!python/tuple [28, 13] + - !!python/tuple [2, 19] + - !!python/tuple [2, 13] + - !!python/tuple [6, 23] + - !!python/tuple [18, 16] + - !!python/tuple [25, 4] + - !!python/tuple [13, 9] + - !!python/tuple [24, 23] + - !!python/tuple [23, 3] + - !!python/tuple [8, 24] + - !!python/tuple [10, 14] + - !!python/tuple [8, 3] + - !!python/tuple [0, 21] + - !!python/tuple [19, 5] + - !!python/tuple [23, 14] + - !!python/tuple [25, 24] + - !!python/tuple [20, 5] + - !!python/tuple [28, 0] + - !!python/tuple [24, 27] + - !!python/tuple [11, 6] + - !!python/tuple [12, 19] + - !!python/tuple [2, 17] + - !!python/tuple [30, 14] + - !!python/tuple [29, 3] + - !!python/tuple [14, 23] + - !!python/tuple [28, 23] + - !!python/tuple [30, 5] + - !!python/tuple [11, 1] + - !!python/tuple [30, 12] + - !!python/tuple [1, 19] + - !!python/tuple [30, 11] + - !!python/tuple [9, 14] + - !!python/tuple [25, 5] + - !!python/tuple [18, 9] + - !!python/tuple [18, 21] + - !!python/tuple [28, 17] + - !!python/tuple [8, 29] + - !!python/tuple [7, 17] + - !!python/tuple [0, 7] + - !!python/tuple [11, 14] + - !!python/tuple [21, 21] + - !!python/tuple [8, 28] + - !!python/tuple [21, 25] + - !!python/tuple [10, 16] + - !!python/tuple [20, 16] + - !!python/tuple [12, 16] + - !!python/tuple [15, 19] + - !!python/tuple [21, 1] + - !!python/tuple [1, 12] + - !!python/tuple [16, 29] + - !!python/tuple [19, 24] + - !!python/tuple [13, 6] + - !!python/tuple [10, 19] + - !!python/tuple [29, 31] + - !!python/tuple [25, 3] + - !!python/tuple [27, 31] + - !!python/tuple [8, 23] + - !!python/tuple [6, 25] + - !!python/tuple [13, 3] + - !!python/tuple [6, 3] + - !!python/tuple [18, 4] + - !!python/tuple [14, 21] + - !!python/tuple [15, 20] + - !!python/tuple [14, 18] + - !!python/tuple [7, 5] + - !!python/tuple [23, 12] + - !!python/tuple [21, 7] + - !!python/tuple [4, 9] + - !!python/tuple [3, 26] + - !!python/tuple [29, 1] + - !!python/tuple [8, 14] + - !!python/tuple [10, 17] + - !!python/tuple [12, 9] + - !!python/tuple [9, 3] + - !!python/tuple [27, 25] + - !!python/tuple [17, 2] + - !!python/tuple [20, 29] + - !!python/tuple [28, 3] + - !!python/tuple [18, 10] + - !!python/tuple [5, 8] + - !!python/tuple [19, 13] + - !!python/tuple [1, 27] + - !!python/tuple [17, 16] + - !!python/tuple [14, 29] + - !!python/tuple [0, 17] + - !!python/tuple [14, 15] + - !!python/tuple [8, 10] + - !!python/tuple [22, 4] + - !!python/tuple [28, 5] + - !!python/tuple [24, 1] + - !!python/tuple [0, 16] + - !!python/tuple [25, 7] + - !!python/tuple [19, 17] + - !!python/tuple [16, 27] + - !!python/tuple [29, 12] + - !!python/tuple [11, 13] + - !!python/tuple [10, 20] + - !!python/tuple [0, 14] + - !!python/tuple [18, 7] + - !!python/tuple [12, 30] + - !!python/tuple [10, 29] + - !!python/tuple [7, 0] + - !!python/tuple [28, 8] + - !!python/tuple [27, 3] + - !!python/tuple [17, 26] + - !!python/tuple [7, 20] + - !!python/tuple [22, 28] + - !!python/tuple [26, 12] + - !!python/tuple [14, 31] + - !!python/tuple [19, 26] + - !!python/tuple [5, 23] + - !!python/tuple [2, 2] + - !!python/tuple [28, 14] + - !!python/tuple [27, 7] + - !!python/tuple [13, 20] + - !!python/tuple [24, 21] + - !!python/tuple [6, 26] + - !!python/tuple [13, 21] + - !!python/tuple [30, 7] + - !!python/tuple [13, 12] + - !!python/tuple [6, 7] + - !!python/tuple [4, 29] + - !!python/tuple [21, 30] + - !!python/tuple [26, 21] + - !!python/tuple [19, 14] + - !!python/tuple [15, 18] + - !!python/tuple [22, 19] + - !!python/tuple [18, 31] + - !!python/tuple [27, 29] + - !!python/tuple [8, 20] + - !!python/tuple [6, 9] + - !!python/tuple [28, 9] + - !!python/tuple [26, 4] + - !!python/tuple [3, 1] + - !!python/tuple [7, 23] + - !!python/tuple [23, 0] + - !!python/tuple [27, 13] + - !!python/tuple [12, 2] + - !!python/tuple [25, 31] + - !!python/tuple [11, 9] + - !!python/tuple [10, 0] + - !!python/tuple [8, 6] + - !!python/tuple [16, 21] + - !!python/tuple [29, 4] + - !!python/tuple [28, 29] + - !!python/tuple [6, 21] + - !!python/tuple [27, 9] + - !!python/tuple [28, 7] + - !!python/tuple [22, 14] + - !!python/tuple [14, 26] + - !!python/tuple [3, 14] + - !!python/tuple [23, 26] + - !!python/tuple [31, 6] + - !!python/tuple [19, 29] + - !!python/tuple [31, 19] + - !!python/tuple [30, 26] + - !!python/tuple [29, 28] + - !!python/tuple [11, 5] + - !!python/tuple [19, 10] + - !!python/tuple [5, 24] + - !!python/tuple [12, 11] + - !!python/tuple [26, 15] + - !!python/tuple [15, 25] + - !!python/tuple [14, 9] + - !!python/tuple [26, 9] + - !!python/tuple [28, 24] + - !!python/tuple [4, 17] + - !!python/tuple [17, 1] + - !!python/tuple [10, 7] + - !!python/tuple [20, 19] + - !!python/tuple [23, 21] + - !!python/tuple [10, 5] + - !!python/tuple [27, 17] + - !!python/tuple [6, 31] + - !!python/tuple [28, 27] + - !!python/tuple [9, 22] + - !!python/tuple [21, 24] + - !!python/tuple [6, 11] + - !!python/tuple [1, 22] + - !!python/tuple [18, 11] + - !!python/tuple [22, 7] + - !!python/tuple [12, 24] + - !!python/tuple [16, 4] + - !!python/tuple [10, 22] + - !!python/tuple [27, 27] + - !!python/tuple [7, 12] + - !!python/tuple [4, 16] + - !!python/tuple [20, 26] + - !!python/tuple [1, 21] + - !!python/tuple [26, 7] + - !!python/tuple [8, 1] + - !!python/tuple [31, 24] + - !!python/tuple [13, 26] + - !!python/tuple [31, 31] + - !!python/tuple [1, 16] + - !!python/tuple [0, 1] + - !!python/tuple [17, 29] + - !!python/tuple [2, 8] + - !!python/tuple [22, 3] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex50.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex50.yaml new file mode 100644 index 0000000..398ded5 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex50.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [25, 28] + name: agent0 + start: [0, 6] +- goal: [14, 14] + name: agent1 + start: [11, 24] +- goal: [30, 12] + name: agent2 + start: [4, 25] +- goal: [11, 12] + name: agent3 + start: [3, 12] +- goal: [25, 30] + name: agent4 + start: [16, 21] +- goal: [2, 5] + name: agent5 + start: [24, 20] +- goal: [20, 25] + name: agent6 + start: [20, 8] +- goal: [22, 13] + name: agent7 + start: [1, 21] +- goal: [21, 8] + name: agent8 + start: [7, 18] +- goal: [4, 8] + name: agent9 + start: [16, 2] +- goal: [16, 4] + name: agent10 + start: [2, 8] +- goal: [9, 23] + name: agent11 + start: [7, 9] +- goal: [16, 23] + name: agent12 + start: [11, 22] +- goal: [3, 24] + name: agent13 + start: [13, 7] +- goal: [6, 25] + name: agent14 + start: [19, 25] +- goal: [12, 16] + name: agent15 + start: [25, 25] +- goal: [17, 14] + name: agent16 + start: [30, 22] +- goal: [16, 25] + name: agent17 + start: [9, 17] +- goal: [31, 8] + name: agent18 + start: [15, 11] +- goal: [31, 22] + name: agent19 + start: [31, 16] +- goal: [0, 22] + name: agent20 + start: [23, 4] +- goal: [18, 19] + name: agent21 + start: [1, 24] +- goal: [1, 11] + name: agent22 + start: [16, 23] +- goal: [21, 2] + name: agent23 + start: [7, 14] +- goal: [7, 16] + name: agent24 + start: [4, 28] +- goal: [25, 29] + name: agent25 + start: [30, 1] +- goal: [29, 16] + name: agent26 + start: [22, 24] +- goal: [14, 25] + name: agent27 + start: [0, 16] +- goal: [0, 25] + name: agent28 + start: [7, 20] +- goal: [26, 3] + name: agent29 + start: [19, 29] +- goal: [18, 13] + name: agent30 + start: [30, 9] +- goal: [12, 22] + name: agent31 + start: [1, 9] +- goal: [28, 0] + name: agent32 + start: [2, 29] +- goal: [21, 17] + name: agent33 + start: [8, 12] +- goal: [16, 19] + name: agent34 + start: [16, 27] +- goal: [27, 8] + name: agent35 + start: [12, 17] +- goal: [13, 10] + name: agent36 + start: [21, 14] +- goal: [2, 31] + name: agent37 + start: [13, 18] +- goal: [27, 19] + name: agent38 + start: [30, 12] +- goal: [9, 7] + name: agent39 + start: [13, 24] +- goal: [6, 2] + name: agent40 + start: [21, 2] +- goal: [0, 13] + name: agent41 + start: [25, 3] +- goal: [6, 31] + name: agent42 + start: [26, 7] +- goal: [3, 19] + name: agent43 + start: [12, 5] +- goal: [7, 14] + name: agent44 + start: [3, 15] +- goal: [24, 22] + name: agent45 + start: [25, 9] +- goal: [14, 6] + name: agent46 + start: [28, 2] +- goal: [31, 15] + name: agent47 + start: [17, 1] +- goal: [14, 9] + name: agent48 + start: [7, 13] +- goal: [2, 24] + name: agent49 + start: [7, 24] +- goal: [21, 9] + name: agent50 + start: [9, 9] +- goal: [9, 6] + name: agent51 + start: [14, 29] +- goal: [27, 18] + name: agent52 + start: [27, 9] +- goal: [29, 23] + name: agent53 + start: [20, 12] +- goal: [20, 10] + name: agent54 + start: [20, 10] +- goal: [11, 11] + name: agent55 + start: [23, 22] +- goal: [14, 7] + name: agent56 + start: [5, 24] +- goal: [29, 19] + name: agent57 + start: [0, 14] +- goal: [6, 6] + name: agent58 + start: [29, 17] +- goal: [12, 30] + name: agent59 + start: [14, 0] +- goal: [17, 10] + name: agent60 + start: [7, 12] +- goal: [13, 21] + name: agent61 + start: [20, 2] +- goal: [19, 27] + name: agent62 + start: [27, 12] +- goal: [10, 17] + name: agent63 + start: [28, 0] +- goal: [11, 10] + name: agent64 + start: [1, 0] +- goal: [30, 7] + name: agent65 + start: [17, 9] +- goal: [22, 5] + name: agent66 + start: [14, 15] +- goal: [11, 20] + name: agent67 + start: [11, 19] +- goal: [25, 19] + name: agent68 + start: [14, 10] +- goal: [27, 1] + name: agent69 + start: [13, 5] +- goal: [8, 3] + name: agent70 + start: [9, 0] +- goal: [27, 21] + name: agent71 + start: [30, 18] +- goal: [25, 27] + name: agent72 + start: [30, 31] +- goal: [6, 24] + name: agent73 + start: [8, 8] +- goal: [22, 30] + name: agent74 + start: [29, 23] +- goal: [14, 0] + name: agent75 + start: [27, 23] +- goal: [24, 9] + name: agent76 + start: [27, 17] +- goal: [4, 28] + name: agent77 + start: [23, 1] +- goal: [18, 14] + name: agent78 + start: [3, 13] +- goal: [0, 16] + name: agent79 + start: [20, 31] +- goal: [4, 4] + name: agent80 + start: [2, 31] +- goal: [5, 28] + name: agent81 + start: [31, 24] +- goal: [14, 22] + name: agent82 + start: [27, 5] +- goal: [19, 13] + name: agent83 + start: [2, 5] +- goal: [31, 19] + name: agent84 + start: [2, 6] +- goal: [13, 9] + name: agent85 + start: [24, 1] +- goal: [30, 27] + name: agent86 + start: [19, 18] +- goal: [12, 4] + name: agent87 + start: [8, 19] +- goal: [21, 25] + name: agent88 + start: [20, 0] +- goal: [7, 19] + name: agent89 + start: [30, 10] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [14, 31] + - !!python/tuple [26, 22] + - !!python/tuple [2, 9] + - !!python/tuple [28, 1] + - !!python/tuple [21, 23] + - !!python/tuple [29, 2] + - !!python/tuple [15, 17] + - !!python/tuple [25, 1] + - !!python/tuple [2, 28] + - !!python/tuple [3, 16] + - !!python/tuple [27, 13] + - !!python/tuple [31, 30] + - !!python/tuple [20, 22] + - !!python/tuple [15, 3] + - !!python/tuple [23, 29] + - !!python/tuple [23, 27] + - !!python/tuple [22, 28] + - !!python/tuple [17, 4] + - !!python/tuple [11, 14] + - !!python/tuple [4, 29] + - !!python/tuple [13, 1] + - !!python/tuple [5, 25] + - !!python/tuple [21, 6] + - !!python/tuple [28, 7] + - !!python/tuple [25, 24] + - !!python/tuple [28, 25] + - !!python/tuple [11, 1] + - !!python/tuple [24, 28] + - !!python/tuple [1, 2] + - !!python/tuple [17, 21] + - !!python/tuple [14, 8] + - !!python/tuple [2, 12] + - !!python/tuple [20, 17] + - !!python/tuple [1, 30] + - !!python/tuple [15, 0] + - !!python/tuple [30, 25] + - !!python/tuple [10, 1] + - !!python/tuple [17, 12] + - !!python/tuple [29, 9] + - !!python/tuple [18, 12] + - !!python/tuple [0, 5] + - !!python/tuple [6, 20] + - !!python/tuple [24, 10] + - !!python/tuple [6, 17] + - !!python/tuple [7, 8] + - !!python/tuple [15, 12] + - !!python/tuple [28, 22] + - !!python/tuple [2, 17] + - !!python/tuple [3, 7] + - !!python/tuple [26, 12] + - !!python/tuple [2, 18] + - !!python/tuple [18, 8] + - !!python/tuple [3, 6] + - !!python/tuple [28, 30] + - !!python/tuple [9, 20] + - !!python/tuple [20, 23] + - !!python/tuple [10, 8] + - !!python/tuple [19, 6] + - !!python/tuple [30, 24] + - !!python/tuple [23, 9] + - !!python/tuple [29, 31] + - !!python/tuple [30, 2] + - !!python/tuple [23, 11] + - !!python/tuple [16, 14] + - !!python/tuple [6, 11] + - !!python/tuple [29, 21] + - !!python/tuple [13, 2] + - !!python/tuple [9, 1] + - !!python/tuple [1, 27] + - !!python/tuple [10, 20] + - !!python/tuple [22, 12] + - !!python/tuple [28, 14] + - !!python/tuple [3, 4] + - !!python/tuple [5, 16] + - !!python/tuple [26, 0] + - !!python/tuple [15, 28] + - !!python/tuple [5, 20] + - !!python/tuple [28, 11] + - !!python/tuple [14, 19] + - !!python/tuple [4, 7] + - !!python/tuple [20, 30] + - !!python/tuple [9, 19] + - !!python/tuple [8, 25] + - !!python/tuple [19, 2] + - !!python/tuple [5, 12] + - !!python/tuple [15, 10] + - !!python/tuple [10, 26] + - !!python/tuple [23, 30] + - !!python/tuple [25, 12] + - !!python/tuple [1, 10] + - !!python/tuple [2, 21] + - !!python/tuple [25, 8] + - !!python/tuple [31, 0] + - !!python/tuple [12, 14] + - !!python/tuple [11, 16] + - !!python/tuple [6, 22] + - !!python/tuple [2, 0] + - !!python/tuple [6, 15] + - !!python/tuple [16, 18] + - !!python/tuple [11, 28] + - !!python/tuple [14, 17] + - !!python/tuple [25, 2] + - !!python/tuple [12, 20] + - !!python/tuple [23, 10] + - !!python/tuple [24, 18] + - !!python/tuple [13, 28] + - !!python/tuple [20, 3] + - !!python/tuple [8, 20] + - !!python/tuple [26, 1] + - !!python/tuple [27, 20] + - !!python/tuple [2, 20] + - !!python/tuple [26, 17] + - !!python/tuple [30, 14] + - !!python/tuple [12, 25] + - !!python/tuple [17, 28] + - !!python/tuple [10, 29] + - !!python/tuple [21, 30] + - !!python/tuple [15, 21] + - !!python/tuple [17, 7] + - !!python/tuple [10, 24] + - !!python/tuple [7, 22] + - !!python/tuple [4, 27] + - !!python/tuple [7, 28] + - !!python/tuple [26, 11] + - !!python/tuple [19, 23] + - !!python/tuple [26, 6] + - !!python/tuple [1, 16] + - !!python/tuple [31, 29] + - !!python/tuple [8, 27] + - !!python/tuple [1, 20] + - !!python/tuple [16, 9] + - !!python/tuple [16, 5] + - !!python/tuple [4, 16] + - !!python/tuple [0, 30] + - !!python/tuple [22, 20] + - !!python/tuple [3, 10] + - !!python/tuple [26, 18] + - !!python/tuple [0, 23] + - !!python/tuple [4, 21] + - !!python/tuple [16, 12] + - !!python/tuple [10, 11] + - !!python/tuple [5, 17] + - !!python/tuple [0, 31] + - !!python/tuple [7, 5] + - !!python/tuple [31, 18] + - !!python/tuple [3, 3] + - !!python/tuple [12, 21] + - !!python/tuple [12, 31] + - !!python/tuple [23, 17] + - !!python/tuple [15, 26] + - !!python/tuple [28, 27] + - !!python/tuple [14, 3] + - !!python/tuple [17, 24] + - !!python/tuple [19, 15] + - !!python/tuple [21, 20] + - !!python/tuple [24, 21] + - !!python/tuple [9, 12] + - !!python/tuple [25, 16] + - !!python/tuple [16, 28] + - !!python/tuple [21, 27] + - !!python/tuple [7, 17] + - !!python/tuple [23, 7] + - !!python/tuple [22, 1] + - !!python/tuple [0, 28] + - !!python/tuple [21, 15] + - !!python/tuple [3, 14] + - !!python/tuple [1, 15] + - !!python/tuple [3, 20] + - !!python/tuple [6, 7] + - !!python/tuple [29, 14] + - !!python/tuple [18, 29] + - !!python/tuple [3, 17] + - !!python/tuple [14, 27] + - !!python/tuple [20, 14] + - !!python/tuple [29, 12] + - !!python/tuple [7, 23] + - !!python/tuple [10, 18] + - !!python/tuple [17, 27] + - !!python/tuple [25, 5] + - !!python/tuple [31, 4] + - !!python/tuple [0, 20] + - !!python/tuple [27, 6] + - !!python/tuple [12, 11] + - !!python/tuple [15, 25] + - !!python/tuple [17, 18] + - !!python/tuple [26, 21] + - !!python/tuple [22, 4] + - !!python/tuple [30, 21] + - !!python/tuple [18, 5] + - !!python/tuple [31, 25] + - !!python/tuple [18, 23] + - !!python/tuple [19, 22] + - !!python/tuple [11, 26] + - !!python/tuple [13, 8] + - !!python/tuple [15, 9] + - !!python/tuple [29, 10] + - !!python/tuple [5, 2] + - !!python/tuple [4, 19] + - !!python/tuple [8, 7] + - !!python/tuple [9, 10] + - !!python/tuple [1, 25] + - !!python/tuple [8, 26] + - !!python/tuple [12, 3] + - !!python/tuple [26, 26] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex51.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex51.yaml new file mode 100644 index 0000000..1274102 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex51.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [19, 23] + name: agent0 + start: [29, 12] +- goal: [4, 2] + name: agent1 + start: [7, 23] +- goal: [18, 30] + name: agent2 + start: [27, 26] +- goal: [23, 21] + name: agent3 + start: [1, 8] +- goal: [23, 11] + name: agent4 + start: [0, 14] +- goal: [23, 31] + name: agent5 + start: [4, 16] +- goal: [21, 14] + name: agent6 + start: [11, 4] +- goal: [31, 14] + name: agent7 + start: [4, 18] +- goal: [15, 2] + name: agent8 + start: [26, 29] +- goal: [19, 25] + name: agent9 + start: [18, 8] +- goal: [31, 12] + name: agent10 + start: [18, 29] +- goal: [4, 31] + name: agent11 + start: [25, 16] +- goal: [10, 23] + name: agent12 + start: [22, 24] +- goal: [9, 20] + name: agent13 + start: [13, 16] +- goal: [31, 23] + name: agent14 + start: [2, 26] +- goal: [5, 10] + name: agent15 + start: [14, 0] +- goal: [13, 23] + name: agent16 + start: [27, 28] +- goal: [23, 5] + name: agent17 + start: [17, 7] +- goal: [2, 1] + name: agent18 + start: [0, 15] +- goal: [14, 17] + name: agent19 + start: [14, 1] +- goal: [0, 28] + name: agent20 + start: [30, 30] +- goal: [16, 15] + name: agent21 + start: [7, 3] +- goal: [5, 18] + name: agent22 + start: [15, 17] +- goal: [8, 7] + name: agent23 + start: [24, 15] +- goal: [5, 13] + name: agent24 + start: [20, 7] +- goal: [18, 29] + name: agent25 + start: [14, 20] +- goal: [8, 12] + name: agent26 + start: [27, 1] +- goal: [14, 28] + name: agent27 + start: [14, 8] +- goal: [7, 16] + name: agent28 + start: [14, 31] +- goal: [25, 3] + name: agent29 + start: [31, 8] +- goal: [1, 1] + name: agent30 + start: [31, 19] +- goal: [21, 7] + name: agent31 + start: [28, 3] +- goal: [7, 8] + name: agent32 + start: [9, 23] +- goal: [9, 21] + name: agent33 + start: [10, 20] +- goal: [20, 10] + name: agent34 + start: [11, 15] +- goal: [30, 12] + name: agent35 + start: [15, 3] +- goal: [23, 12] + name: agent36 + start: [17, 31] +- goal: [2, 27] + name: agent37 + start: [8, 4] +- goal: [24, 5] + name: agent38 + start: [2, 1] +- goal: [7, 2] + name: agent39 + start: [0, 8] +- goal: [18, 14] + name: agent40 + start: [17, 16] +- goal: [1, 10] + name: agent41 + start: [4, 2] +- goal: [0, 16] + name: agent42 + start: [15, 20] +- goal: [26, 13] + name: agent43 + start: [7, 1] +- goal: [9, 25] + name: agent44 + start: [27, 15] +- goal: [13, 20] + name: agent45 + start: [0, 4] +- goal: [20, 29] + name: agent46 + start: [12, 30] +- goal: [12, 25] + name: agent47 + start: [21, 23] +- goal: [22, 17] + name: agent48 + start: [21, 8] +- goal: [12, 14] + name: agent49 + start: [23, 29] +- goal: [3, 12] + name: agent50 + start: [3, 15] +- goal: [4, 29] + name: agent51 + start: [9, 17] +- goal: [23, 25] + name: agent52 + start: [26, 31] +- goal: [12, 12] + name: agent53 + start: [22, 21] +- goal: [14, 27] + name: agent54 + start: [19, 15] +- goal: [6, 27] + name: agent55 + start: [10, 10] +- goal: [9, 27] + name: agent56 + start: [21, 0] +- goal: [9, 15] + name: agent57 + start: [0, 29] +- goal: [5, 28] + name: agent58 + start: [17, 1] +- goal: [2, 2] + name: agent59 + start: [26, 5] +- goal: [17, 8] + name: agent60 + start: [16, 11] +- goal: [20, 4] + name: agent61 + start: [29, 3] +- goal: [21, 24] + name: agent62 + start: [3, 4] +- goal: [9, 18] + name: agent63 + start: [19, 9] +- goal: [14, 21] + name: agent64 + start: [24, 14] +- goal: [19, 24] + name: agent65 + start: [20, 26] +- goal: [30, 30] + name: agent66 + start: [31, 1] +- goal: [8, 28] + name: agent67 + start: [10, 25] +- goal: [20, 31] + name: agent68 + start: [31, 9] +- goal: [24, 8] + name: agent69 + start: [28, 22] +- goal: [2, 0] + name: agent70 + start: [21, 27] +- goal: [21, 2] + name: agent71 + start: [31, 27] +- goal: [8, 19] + name: agent72 + start: [0, 21] +- goal: [1, 18] + name: agent73 + start: [10, 26] +- goal: [30, 6] + name: agent74 + start: [9, 10] +- goal: [22, 3] + name: agent75 + start: [28, 13] +- goal: [28, 19] + name: agent76 + start: [26, 17] +- goal: [4, 5] + name: agent77 + start: [3, 30] +- goal: [2, 16] + name: agent78 + start: [25, 24] +- goal: [29, 25] + name: agent79 + start: [11, 16] +- goal: [28, 2] + name: agent80 + start: [16, 17] +- goal: [0, 22] + name: agent81 + start: [5, 25] +- goal: [11, 11] + name: agent82 + start: [17, 17] +- goal: [6, 1] + name: agent83 + start: [16, 5] +- goal: [25, 13] + name: agent84 + start: [5, 0] +- goal: [25, 1] + name: agent85 + start: [20, 9] +- goal: [26, 15] + name: agent86 + start: [31, 14] +- goal: [1, 9] + name: agent87 + start: [30, 12] +- goal: [20, 11] + name: agent88 + start: [0, 25] +- goal: [31, 24] + name: agent89 + start: [16, 15] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [2, 24] + - !!python/tuple [29, 0] + - !!python/tuple [11, 13] + - !!python/tuple [30, 19] + - !!python/tuple [25, 27] + - !!python/tuple [25, 20] + - !!python/tuple [4, 9] + - !!python/tuple [4, 10] + - !!python/tuple [12, 17] + - !!python/tuple [4, 12] + - !!python/tuple [9, 30] + - !!python/tuple [20, 22] + - !!python/tuple [5, 4] + - !!python/tuple [10, 3] + - !!python/tuple [13, 29] + - !!python/tuple [29, 28] + - !!python/tuple [24, 9] + - !!python/tuple [12, 8] + - !!python/tuple [20, 24] + - !!python/tuple [20, 25] + - !!python/tuple [6, 10] + - !!python/tuple [2, 15] + - !!python/tuple [17, 10] + - !!python/tuple [22, 26] + - !!python/tuple [6, 26] + - !!python/tuple [18, 26] + - !!python/tuple [20, 20] + - !!python/tuple [19, 7] + - !!python/tuple [3, 5] + - !!python/tuple [11, 9] + - !!python/tuple [21, 30] + - !!python/tuple [21, 11] + - !!python/tuple [29, 23] + - !!python/tuple [20, 3] + - !!python/tuple [17, 3] + - !!python/tuple [10, 22] + - !!python/tuple [18, 17] + - !!python/tuple [15, 24] + - !!python/tuple [17, 26] + - !!python/tuple [20, 30] + - !!python/tuple [8, 3] + - !!python/tuple [3, 3] + - !!python/tuple [25, 30] + - !!python/tuple [28, 26] + - !!python/tuple [29, 7] + - !!python/tuple [3, 29] + - !!python/tuple [4, 28] + - !!python/tuple [6, 28] + - !!python/tuple [25, 10] + - !!python/tuple [25, 18] + - !!python/tuple [14, 3] + - !!python/tuple [16, 27] + - !!python/tuple [6, 6] + - !!python/tuple [1, 28] + - !!python/tuple [4, 1] + - !!python/tuple [12, 10] + - !!python/tuple [26, 7] + - !!python/tuple [10, 0] + - !!python/tuple [3, 1] + - !!python/tuple [10, 4] + - !!python/tuple [26, 19] + - !!python/tuple [4, 13] + - !!python/tuple [29, 9] + - !!python/tuple [10, 12] + - !!python/tuple [6, 11] + - !!python/tuple [1, 23] + - !!python/tuple [26, 20] + - !!python/tuple [3, 13] + - !!python/tuple [15, 19] + - !!python/tuple [7, 10] + - !!python/tuple [12, 3] + - !!python/tuple [21, 19] + - !!python/tuple [5, 15] + - !!python/tuple [24, 29] + - !!python/tuple [10, 18] + - !!python/tuple [20, 13] + - !!python/tuple [11, 7] + - !!python/tuple [15, 23] + - !!python/tuple [7, 25] + - !!python/tuple [24, 30] + - !!python/tuple [11, 29] + - !!python/tuple [30, 9] + - !!python/tuple [12, 19] + - !!python/tuple [31, 15] + - !!python/tuple [21, 9] + - !!python/tuple [22, 6] + - !!python/tuple [6, 4] + - !!python/tuple [29, 31] + - !!python/tuple [5, 26] + - !!python/tuple [31, 17] + - !!python/tuple [18, 18] + - !!python/tuple [8, 8] + - !!python/tuple [1, 19] + - !!python/tuple [28, 1] + - !!python/tuple [19, 0] + - !!python/tuple [7, 14] + - !!python/tuple [27, 4] + - !!python/tuple [5, 27] + - !!python/tuple [23, 0] + - !!python/tuple [28, 5] + - !!python/tuple [27, 27] + - !!python/tuple [2, 6] + - !!python/tuple [27, 18] + - !!python/tuple [0, 13] + - !!python/tuple [31, 25] + - !!python/tuple [17, 21] + - !!python/tuple [6, 21] + - !!python/tuple [1, 12] + - !!python/tuple [22, 10] + - !!python/tuple [7, 29] + - !!python/tuple [23, 24] + - !!python/tuple [25, 4] + - !!python/tuple [4, 17] + - !!python/tuple [8, 21] + - !!python/tuple [5, 20] + - !!python/tuple [20, 17] + - !!python/tuple [4, 3] + - !!python/tuple [16, 3] + - !!python/tuple [19, 27] + - !!python/tuple [15, 13] + - !!python/tuple [10, 19] + - !!python/tuple [4, 4] + - !!python/tuple [24, 13] + - !!python/tuple [1, 24] + - !!python/tuple [4, 23] + - !!python/tuple [27, 23] + - !!python/tuple [17, 20] + - !!python/tuple [8, 11] + - !!python/tuple [8, 6] + - !!python/tuple [30, 10] + - !!python/tuple [3, 14] + - !!python/tuple [2, 12] + - !!python/tuple [10, 29] + - !!python/tuple [11, 20] + - !!python/tuple [17, 2] + - !!python/tuple [3, 19] + - !!python/tuple [9, 14] + - !!python/tuple [13, 6] + - !!python/tuple [16, 18] + - !!python/tuple [22, 11] + - !!python/tuple [23, 16] + - !!python/tuple [2, 21] + - !!python/tuple [25, 25] + - !!python/tuple [16, 4] + - !!python/tuple [30, 4] + - !!python/tuple [16, 0] + - !!python/tuple [14, 10] + - !!python/tuple [28, 18] + - !!python/tuple [4, 15] + - !!python/tuple [22, 13] + - !!python/tuple [25, 7] + - !!python/tuple [9, 0] + - !!python/tuple [19, 26] + - !!python/tuple [20, 2] + - !!python/tuple [4, 14] + - !!python/tuple [30, 2] + - !!python/tuple [18, 25] + - !!python/tuple [17, 11] + - !!python/tuple [6, 8] + - !!python/tuple [15, 26] + - !!python/tuple [12, 22] + - !!python/tuple [30, 21] + - !!python/tuple [23, 30] + - !!python/tuple [5, 9] + - !!python/tuple [18, 24] + - !!python/tuple [6, 30] + - !!python/tuple [10, 2] + - !!python/tuple [13, 4] + - !!python/tuple [4, 22] + - !!python/tuple [27, 10] + - !!python/tuple [2, 31] + - !!python/tuple [26, 25] + - !!python/tuple [21, 6] + - !!python/tuple [26, 18] + - !!python/tuple [28, 4] + - !!python/tuple [15, 10] + - !!python/tuple [6, 7] + - !!python/tuple [27, 29] + - !!python/tuple [13, 30] + - !!python/tuple [19, 28] + - !!python/tuple [24, 22] + - !!python/tuple [15, 28] + - !!python/tuple [28, 9] + - !!python/tuple [0, 3] + - !!python/tuple [22, 30] + - !!python/tuple [22, 14] + - !!python/tuple [16, 26] + - !!python/tuple [7, 12] + - !!python/tuple [0, 24] + - !!python/tuple [31, 28] + - !!python/tuple [18, 13] + - !!python/tuple [14, 9] + - !!python/tuple [19, 13] + - !!python/tuple [22, 2] + - !!python/tuple [7, 31] + - !!python/tuple [20, 15] + - !!python/tuple [12, 2] + - !!python/tuple [25, 28] + - !!python/tuple [27, 3] + - !!python/tuple [29, 17] + - !!python/tuple [15, 7] + - !!python/tuple [27, 11] + - !!python/tuple [2, 13] + - !!python/tuple [27, 19] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex52.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex52.yaml new file mode 100644 index 0000000..9e0851a --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex52.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [10, 10] + name: agent0 + start: [7, 0] +- goal: [12, 10] + name: agent1 + start: [16, 20] +- goal: [11, 13] + name: agent2 + start: [31, 29] +- goal: [28, 7] + name: agent3 + start: [5, 25] +- goal: [7, 29] + name: agent4 + start: [23, 18] +- goal: [21, 13] + name: agent5 + start: [29, 27] +- goal: [25, 22] + name: agent6 + start: [17, 31] +- goal: [20, 13] + name: agent7 + start: [26, 27] +- goal: [19, 9] + name: agent8 + start: [24, 14] +- goal: [25, 24] + name: agent9 + start: [17, 20] +- goal: [5, 27] + name: agent10 + start: [31, 28] +- goal: [2, 7] + name: agent11 + start: [4, 19] +- goal: [15, 4] + name: agent12 + start: [11, 7] +- goal: [2, 20] + name: agent13 + start: [7, 2] +- goal: [0, 31] + name: agent14 + start: [19, 31] +- goal: [16, 0] + name: agent15 + start: [8, 7] +- goal: [21, 25] + name: agent16 + start: [3, 19] +- goal: [1, 2] + name: agent17 + start: [14, 4] +- goal: [19, 30] + name: agent18 + start: [4, 15] +- goal: [3, 29] + name: agent19 + start: [5, 28] +- goal: [13, 26] + name: agent20 + start: [24, 26] +- goal: [30, 8] + name: agent21 + start: [20, 21] +- goal: [26, 25] + name: agent22 + start: [7, 16] +- goal: [6, 5] + name: agent23 + start: [26, 1] +- goal: [13, 1] + name: agent24 + start: [19, 8] +- goal: [17, 1] + name: agent25 + start: [3, 9] +- goal: [15, 20] + name: agent26 + start: [16, 30] +- goal: [8, 4] + name: agent27 + start: [5, 4] +- goal: [14, 31] + name: agent28 + start: [0, 18] +- goal: [30, 20] + name: agent29 + start: [12, 19] +- goal: [26, 3] + name: agent30 + start: [11, 13] +- goal: [14, 11] + name: agent31 + start: [19, 23] +- goal: [15, 31] + name: agent32 + start: [0, 10] +- goal: [27, 27] + name: agent33 + start: [25, 25] +- goal: [15, 6] + name: agent34 + start: [4, 21] +- goal: [0, 26] + name: agent35 + start: [23, 6] +- goal: [27, 1] + name: agent36 + start: [24, 8] +- goal: [6, 1] + name: agent37 + start: [30, 8] +- goal: [17, 7] + name: agent38 + start: [29, 30] +- goal: [31, 3] + name: agent39 + start: [2, 7] +- goal: [28, 30] + name: agent40 + start: [15, 18] +- goal: [3, 18] + name: agent41 + start: [31, 30] +- goal: [23, 29] + name: agent42 + start: [20, 17] +- goal: [12, 18] + name: agent43 + start: [21, 14] +- goal: [31, 13] + name: agent44 + start: [25, 13] +- goal: [2, 18] + name: agent45 + start: [2, 31] +- goal: [26, 14] + name: agent46 + start: [17, 29] +- goal: [20, 27] + name: agent47 + start: [15, 17] +- goal: [8, 24] + name: agent48 + start: [6, 22] +- goal: [21, 11] + name: agent49 + start: [10, 23] +- goal: [7, 20] + name: agent50 + start: [7, 22] +- goal: [10, 25] + name: agent51 + start: [5, 9] +- goal: [1, 1] + name: agent52 + start: [26, 7] +- goal: [18, 17] + name: agent53 + start: [13, 30] +- goal: [26, 15] + name: agent54 + start: [25, 30] +- goal: [8, 9] + name: agent55 + start: [21, 1] +- goal: [24, 22] + name: agent56 + start: [24, 6] +- goal: [17, 29] + name: agent57 + start: [20, 11] +- goal: [10, 2] + name: agent58 + start: [30, 12] +- goal: [14, 23] + name: agent59 + start: [29, 17] +- goal: [1, 28] + name: agent60 + start: [24, 25] +- goal: [25, 26] + name: agent61 + start: [28, 8] +- goal: [6, 16] + name: agent62 + start: [23, 21] +- goal: [1, 27] + name: agent63 + start: [16, 7] +- goal: [10, 3] + name: agent64 + start: [22, 28] +- goal: [7, 21] + name: agent65 + start: [5, 30] +- goal: [24, 14] + name: agent66 + start: [7, 10] +- goal: [15, 30] + name: agent67 + start: [29, 25] +- goal: [8, 10] + name: agent68 + start: [18, 30] +- goal: [13, 20] + name: agent69 + start: [26, 22] +- goal: [30, 15] + name: agent70 + start: [13, 26] +- goal: [29, 13] + name: agent71 + start: [12, 14] +- goal: [25, 30] + name: agent72 + start: [18, 20] +- goal: [13, 18] + name: agent73 + start: [6, 25] +- goal: [12, 28] + name: agent74 + start: [30, 27] +- goal: [2, 0] + name: agent75 + start: [17, 30] +- goal: [4, 19] + name: agent76 + start: [24, 3] +- goal: [24, 19] + name: agent77 + start: [20, 18] +- goal: [30, 4] + name: agent78 + start: [6, 4] +- goal: [22, 5] + name: agent79 + start: [3, 18] +- goal: [2, 27] + name: agent80 + start: [28, 19] +- goal: [20, 18] + name: agent81 + start: [9, 0] +- goal: [31, 31] + name: agent82 + start: [13, 13] +- goal: [1, 19] + name: agent83 + start: [21, 12] +- goal: [7, 30] + name: agent84 + start: [25, 31] +- goal: [22, 22] + name: agent85 + start: [3, 12] +- goal: [25, 20] + name: agent86 + start: [3, 5] +- goal: [22, 29] + name: agent87 + start: [8, 14] +- goal: [20, 1] + name: agent88 + start: [12, 30] +- goal: [19, 23] + name: agent89 + start: [1, 26] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [25, 18] + - !!python/tuple [5, 22] + - !!python/tuple [27, 4] + - !!python/tuple [15, 14] + - !!python/tuple [6, 28] + - !!python/tuple [15, 3] + - !!python/tuple [13, 27] + - !!python/tuple [4, 6] + - !!python/tuple [24, 17] + - !!python/tuple [12, 3] + - !!python/tuple [4, 2] + - !!python/tuple [12, 22] + - !!python/tuple [22, 27] + - !!python/tuple [10, 27] + - !!python/tuple [0, 5] + - !!python/tuple [30, 31] + - !!python/tuple [14, 21] + - !!python/tuple [23, 3] + - !!python/tuple [2, 16] + - !!python/tuple [3, 10] + - !!python/tuple [30, 6] + - !!python/tuple [9, 28] + - !!python/tuple [13, 15] + - !!python/tuple [14, 3] + - !!python/tuple [9, 12] + - !!python/tuple [21, 4] + - !!python/tuple [7, 8] + - !!python/tuple [16, 19] + - !!python/tuple [27, 25] + - !!python/tuple [13, 3] + - !!python/tuple [17, 16] + - !!python/tuple [9, 29] + - !!python/tuple [4, 14] + - !!python/tuple [28, 26] + - !!python/tuple [11, 31] + - !!python/tuple [28, 3] + - !!python/tuple [29, 4] + - !!python/tuple [12, 17] + - !!python/tuple [5, 1] + - !!python/tuple [31, 5] + - !!python/tuple [13, 22] + - !!python/tuple [21, 24] + - !!python/tuple [8, 0] + - !!python/tuple [25, 16] + - !!python/tuple [28, 16] + - !!python/tuple [0, 15] + - !!python/tuple [14, 14] + - !!python/tuple [17, 10] + - !!python/tuple [10, 17] + - !!python/tuple [30, 2] + - !!python/tuple [1, 20] + - !!python/tuple [23, 11] + - !!python/tuple [5, 12] + - !!python/tuple [13, 28] + - !!python/tuple [28, 14] + - !!python/tuple [7, 19] + - !!python/tuple [28, 2] + - !!python/tuple [29, 19] + - !!python/tuple [27, 14] + - !!python/tuple [9, 30] + - !!python/tuple [3, 17] + - !!python/tuple [5, 24] + - !!python/tuple [18, 29] + - !!python/tuple [0, 28] + - !!python/tuple [9, 7] + - !!python/tuple [7, 15] + - !!python/tuple [24, 2] + - !!python/tuple [22, 11] + - !!python/tuple [22, 12] + - !!python/tuple [21, 17] + - !!python/tuple [18, 2] + - !!python/tuple [19, 25] + - !!python/tuple [21, 9] + - !!python/tuple [15, 13] + - !!python/tuple [27, 26] + - !!python/tuple [10, 18] + - !!python/tuple [28, 21] + - !!python/tuple [31, 7] + - !!python/tuple [29, 7] + - !!python/tuple [19, 7] + - !!python/tuple [22, 25] + - !!python/tuple [29, 10] + - !!python/tuple [14, 13] + - !!python/tuple [9, 14] + - !!python/tuple [29, 16] + - !!python/tuple [25, 11] + - !!python/tuple [30, 19] + - !!python/tuple [3, 14] + - !!python/tuple [7, 24] + - !!python/tuple [19, 16] + - !!python/tuple [9, 11] + - !!python/tuple [0, 0] + - !!python/tuple [11, 29] + - !!python/tuple [19, 26] + - !!python/tuple [29, 1] + - !!python/tuple [23, 27] + - !!python/tuple [8, 30] + - !!python/tuple [30, 0] + - !!python/tuple [29, 20] + - !!python/tuple [29, 14] + - !!python/tuple [23, 24] + - !!python/tuple [12, 23] + - !!python/tuple [6, 6] + - !!python/tuple [21, 22] + - !!python/tuple [9, 1] + - !!python/tuple [18, 10] + - !!python/tuple [8, 11] + - !!python/tuple [8, 19] + - !!python/tuple [16, 6] + - !!python/tuple [8, 26] + - !!python/tuple [20, 14] + - !!python/tuple [27, 13] + - !!python/tuple [4, 30] + - !!python/tuple [23, 30] + - !!python/tuple [0, 6] + - !!python/tuple [26, 21] + - !!python/tuple [1, 7] + - !!python/tuple [11, 0] + - !!python/tuple [27, 15] + - !!python/tuple [6, 10] + - !!python/tuple [25, 27] + - !!python/tuple [5, 20] + - !!python/tuple [5, 6] + - !!python/tuple [21, 21] + - !!python/tuple [30, 22] + - !!python/tuple [11, 10] + - !!python/tuple [5, 31] + - !!python/tuple [23, 5] + - !!python/tuple [22, 17] + - !!python/tuple [25, 3] + - !!python/tuple [25, 10] + - !!python/tuple [27, 6] + - !!python/tuple [16, 21] + - !!python/tuple [25, 6] + - !!python/tuple [1, 30] + - !!python/tuple [11, 26] + - !!python/tuple [10, 21] + - !!python/tuple [8, 2] + - !!python/tuple [2, 12] + - !!python/tuple [8, 27] + - !!python/tuple [7, 31] + - !!python/tuple [19, 28] + - !!python/tuple [31, 14] + - !!python/tuple [28, 20] + - !!python/tuple [20, 30] + - !!python/tuple [15, 8] + - !!python/tuple [11, 9] + - !!python/tuple [30, 11] + - !!python/tuple [2, 3] + - !!python/tuple [30, 14] + - !!python/tuple [20, 19] + - !!python/tuple [18, 28] + - !!python/tuple [22, 24] + - !!python/tuple [14, 7] + - !!python/tuple [14, 28] + - !!python/tuple [22, 31] + - !!python/tuple [10, 26] + - !!python/tuple [17, 4] + - !!python/tuple [22, 0] + - !!python/tuple [19, 22] + - !!python/tuple [27, 2] + - !!python/tuple [12, 0] + - !!python/tuple [13, 14] + - !!python/tuple [18, 23] + - !!python/tuple [0, 25] + - !!python/tuple [23, 22] + - !!python/tuple [12, 31] + - !!python/tuple [9, 4] + - !!python/tuple [10, 9] + - !!python/tuple [9, 25] + - !!python/tuple [30, 24] + - !!python/tuple [7, 18] + - !!python/tuple [1, 18] + - !!python/tuple [27, 30] + - !!python/tuple [16, 25] + - !!python/tuple [15, 22] + - !!python/tuple [16, 24] + - !!python/tuple [2, 26] + - !!python/tuple [29, 22] + - !!python/tuple [20, 20] + - !!python/tuple [8, 15] + - !!python/tuple [4, 17] + - !!python/tuple [14, 15] + - !!python/tuple [8, 28] + - !!python/tuple [5, 5] + - !!python/tuple [20, 10] + - !!python/tuple [16, 13] + - !!python/tuple [21, 16] + - !!python/tuple [13, 29] + - !!python/tuple [9, 2] + - !!python/tuple [11, 4] + - !!python/tuple [9, 22] + - !!python/tuple [23, 26] + - !!python/tuple [14, 22] + - !!python/tuple [10, 19] + - !!python/tuple [21, 20] + - !!python/tuple [20, 2] + - !!python/tuple [6, 27] + - !!python/tuple [14, 16] + - !!python/tuple [28, 23] + - !!python/tuple [7, 17] + - !!python/tuple [27, 18] + - !!python/tuple [28, 15] + - !!python/tuple [20, 29] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex53.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex53.yaml new file mode 100644 index 0000000..e400118 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex53.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [15, 21] + name: agent0 + start: [13, 8] +- goal: [21, 0] + name: agent1 + start: [12, 16] +- goal: [25, 1] + name: agent2 + start: [21, 4] +- goal: [12, 30] + name: agent3 + start: [18, 29] +- goal: [10, 13] + name: agent4 + start: [12, 8] +- goal: [28, 27] + name: agent5 + start: [16, 9] +- goal: [26, 15] + name: agent6 + start: [0, 16] +- goal: [27, 18] + name: agent7 + start: [12, 6] +- goal: [3, 29] + name: agent8 + start: [26, 12] +- goal: [6, 5] + name: agent9 + start: [3, 0] +- goal: [19, 14] + name: agent10 + start: [28, 5] +- goal: [9, 30] + name: agent11 + start: [13, 17] +- goal: [18, 5] + name: agent12 + start: [18, 11] +- goal: [26, 6] + name: agent13 + start: [16, 17] +- goal: [21, 19] + name: agent14 + start: [11, 31] +- goal: [12, 3] + name: agent15 + start: [8, 17] +- goal: [16, 18] + name: agent16 + start: [3, 18] +- goal: [18, 7] + name: agent17 + start: [7, 7] +- goal: [18, 24] + name: agent18 + start: [19, 25] +- goal: [22, 31] + name: agent19 + start: [21, 31] +- goal: [16, 3] + name: agent20 + start: [1, 26] +- goal: [10, 29] + name: agent21 + start: [2, 27] +- goal: [12, 13] + name: agent22 + start: [6, 1] +- goal: [20, 12] + name: agent23 + start: [6, 2] +- goal: [20, 8] + name: agent24 + start: [20, 27] +- goal: [26, 20] + name: agent25 + start: [4, 6] +- goal: [17, 17] + name: agent26 + start: [7, 21] +- goal: [24, 29] + name: agent27 + start: [18, 25] +- goal: [17, 7] + name: agent28 + start: [5, 7] +- goal: [18, 8] + name: agent29 + start: [21, 10] +- goal: [19, 21] + name: agent30 + start: [9, 4] +- goal: [2, 11] + name: agent31 + start: [21, 8] +- goal: [22, 26] + name: agent32 + start: [13, 12] +- goal: [7, 16] + name: agent33 + start: [4, 8] +- goal: [4, 13] + name: agent34 + start: [21, 3] +- goal: [15, 3] + name: agent35 + start: [23, 14] +- goal: [2, 15] + name: agent36 + start: [3, 8] +- goal: [22, 2] + name: agent37 + start: [4, 25] +- goal: [12, 2] + name: agent38 + start: [24, 15] +- goal: [13, 3] + name: agent39 + start: [24, 10] +- goal: [17, 22] + name: agent40 + start: [23, 13] +- goal: [24, 25] + name: agent41 + start: [24, 6] +- goal: [24, 23] + name: agent42 + start: [9, 24] +- goal: [29, 19] + name: agent43 + start: [22, 31] +- goal: [10, 11] + name: agent44 + start: [13, 2] +- goal: [10, 2] + name: agent45 + start: [2, 22] +- goal: [25, 18] + name: agent46 + start: [29, 31] +- goal: [28, 5] + name: agent47 + start: [29, 22] +- goal: [24, 15] + name: agent48 + start: [0, 14] +- goal: [1, 21] + name: agent49 + start: [9, 23] +- goal: [20, 17] + name: agent50 + start: [12, 3] +- goal: [26, 8] + name: agent51 + start: [20, 18] +- goal: [6, 2] + name: agent52 + start: [0, 21] +- goal: [6, 9] + name: agent53 + start: [7, 3] +- goal: [8, 23] + name: agent54 + start: [18, 24] +- goal: [17, 29] + name: agent55 + start: [25, 8] +- goal: [12, 15] + name: agent56 + start: [1, 5] +- goal: [27, 31] + name: agent57 + start: [2, 13] +- goal: [16, 11] + name: agent58 + start: [1, 25] +- goal: [26, 11] + name: agent59 + start: [22, 13] +- goal: [6, 31] + name: agent60 + start: [8, 25] +- goal: [30, 9] + name: agent61 + start: [29, 4] +- goal: [13, 27] + name: agent62 + start: [13, 6] +- goal: [21, 7] + name: agent63 + start: [5, 15] +- goal: [2, 2] + name: agent64 + start: [8, 13] +- goal: [8, 27] + name: agent65 + start: [14, 10] +- goal: [30, 24] + name: agent66 + start: [20, 28] +- goal: [24, 1] + name: agent67 + start: [11, 30] +- goal: [16, 16] + name: agent68 + start: [25, 14] +- goal: [17, 25] + name: agent69 + start: [12, 18] +- goal: [15, 29] + name: agent70 + start: [4, 29] +- goal: [12, 5] + name: agent71 + start: [9, 30] +- goal: [7, 1] + name: agent72 + start: [3, 17] +- goal: [25, 19] + name: agent73 + start: [21, 7] +- goal: [0, 14] + name: agent74 + start: [4, 19] +- goal: [1, 8] + name: agent75 + start: [10, 5] +- goal: [9, 4] + name: agent76 + start: [31, 16] +- goal: [2, 28] + name: agent77 + start: [13, 19] +- goal: [16, 1] + name: agent78 + start: [26, 1] +- goal: [24, 14] + name: agent79 + start: [16, 7] +- goal: [24, 3] + name: agent80 + start: [31, 15] +- goal: [9, 1] + name: agent81 + start: [15, 23] +- goal: [10, 12] + name: agent82 + start: [8, 27] +- goal: [26, 16] + name: agent83 + start: [28, 27] +- goal: [7, 11] + name: agent84 + start: [13, 27] +- goal: [27, 25] + name: agent85 + start: [1, 27] +- goal: [19, 26] + name: agent86 + start: [4, 1] +- goal: [15, 17] + name: agent87 + start: [11, 2] +- goal: [4, 16] + name: agent88 + start: [29, 19] +- goal: [8, 12] + name: agent89 + start: [4, 20] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [10, 20] + - !!python/tuple [29, 27] + - !!python/tuple [8, 8] + - !!python/tuple [27, 19] + - !!python/tuple [21, 21] + - !!python/tuple [1, 9] + - !!python/tuple [29, 28] + - !!python/tuple [2, 10] + - !!python/tuple [27, 9] + - !!python/tuple [9, 28] + - !!python/tuple [30, 23] + - !!python/tuple [0, 20] + - !!python/tuple [23, 29] + - !!python/tuple [16, 23] + - !!python/tuple [2, 17] + - !!python/tuple [26, 2] + - !!python/tuple [2, 4] + - !!python/tuple [29, 30] + - !!python/tuple [11, 18] + - !!python/tuple [25, 27] + - !!python/tuple [19, 24] + - !!python/tuple [15, 19] + - !!python/tuple [5, 21] + - !!python/tuple [9, 15] + - !!python/tuple [27, 0] + - !!python/tuple [30, 19] + - !!python/tuple [16, 8] + - !!python/tuple [30, 21] + - !!python/tuple [10, 27] + - !!python/tuple [17, 21] + - !!python/tuple [14, 3] + - !!python/tuple [29, 6] + - !!python/tuple [14, 1] + - !!python/tuple [6, 15] + - !!python/tuple [19, 3] + - !!python/tuple [1, 3] + - !!python/tuple [4, 5] + - !!python/tuple [13, 9] + - !!python/tuple [27, 3] + - !!python/tuple [21, 24] + - !!python/tuple [15, 31] + - !!python/tuple [7, 6] + - !!python/tuple [13, 20] + - !!python/tuple [29, 2] + - !!python/tuple [13, 0] + - !!python/tuple [23, 25] + - !!python/tuple [30, 30] + - !!python/tuple [4, 12] + - !!python/tuple [13, 21] + - !!python/tuple [12, 26] + - !!python/tuple [5, 19] + - !!python/tuple [13, 31] + - !!python/tuple [21, 16] + - !!python/tuple [6, 4] + - !!python/tuple [31, 2] + - !!python/tuple [30, 7] + - !!python/tuple [27, 26] + - !!python/tuple [23, 26] + - !!python/tuple [0, 28] + - !!python/tuple [16, 12] + - !!python/tuple [15, 28] + - !!python/tuple [28, 8] + - !!python/tuple [10, 16] + - !!python/tuple [25, 7] + - !!python/tuple [2, 8] + - !!python/tuple [11, 22] + - !!python/tuple [26, 21] + - !!python/tuple [11, 20] + - !!python/tuple [28, 30] + - !!python/tuple [1, 0] + - !!python/tuple [31, 29] + - !!python/tuple [31, 11] + - !!python/tuple [27, 27] + - !!python/tuple [14, 15] + - !!python/tuple [26, 30] + - !!python/tuple [16, 0] + - !!python/tuple [29, 25] + - !!python/tuple [8, 3] + - !!python/tuple [25, 30] + - !!python/tuple [27, 30] + - !!python/tuple [14, 16] + - !!python/tuple [11, 1] + - !!python/tuple [26, 13] + - !!python/tuple [29, 7] + - !!python/tuple [21, 27] + - !!python/tuple [18, 30] + - !!python/tuple [16, 2] + - !!python/tuple [11, 28] + - !!python/tuple [17, 19] + - !!python/tuple [1, 6] + - !!python/tuple [24, 28] + - !!python/tuple [1, 14] + - !!python/tuple [11, 26] + - !!python/tuple [14, 5] + - !!python/tuple [16, 4] + - !!python/tuple [9, 10] + - !!python/tuple [1, 2] + - !!python/tuple [5, 31] + - !!python/tuple [15, 2] + - !!python/tuple [6, 27] + - !!python/tuple [18, 26] + - !!python/tuple [6, 20] + - !!python/tuple [25, 3] + - !!python/tuple [14, 13] + - !!python/tuple [18, 10] + - !!python/tuple [21, 6] + - !!python/tuple [12, 1] + - !!python/tuple [30, 15] + - !!python/tuple [8, 19] + - !!python/tuple [27, 12] + - !!python/tuple [8, 6] + - !!python/tuple [24, 13] + - !!python/tuple [5, 13] + - !!python/tuple [11, 19] + - !!python/tuple [7, 4] + - !!python/tuple [0, 31] + - !!python/tuple [24, 11] + - !!python/tuple [10, 10] + - !!python/tuple [3, 12] + - !!python/tuple [0, 15] + - !!python/tuple [23, 19] + - !!python/tuple [18, 2] + - !!python/tuple [0, 9] + - !!python/tuple [30, 25] + - !!python/tuple [23, 6] + - !!python/tuple [22, 11] + - !!python/tuple [25, 24] + - !!python/tuple [3, 1] + - !!python/tuple [18, 15] + - !!python/tuple [19, 5] + - !!python/tuple [31, 6] + - !!python/tuple [17, 28] + - !!python/tuple [23, 3] + - !!python/tuple [15, 12] + - !!python/tuple [6, 29] + - !!python/tuple [9, 14] + - !!python/tuple [26, 7] + - !!python/tuple [26, 27] + - !!python/tuple [6, 17] + - !!python/tuple [28, 16] + - !!python/tuple [30, 11] + - !!python/tuple [6, 10] + - !!python/tuple [30, 2] + - !!python/tuple [24, 5] + - !!python/tuple [29, 10] + - !!python/tuple [29, 1] + - !!python/tuple [23, 5] + - !!python/tuple [0, 24] + - !!python/tuple [30, 26] + - !!python/tuple [14, 23] + - !!python/tuple [3, 31] + - !!python/tuple [6, 30] + - !!python/tuple [25, 12] + - !!python/tuple [25, 26] + - !!python/tuple [16, 15] + - !!python/tuple [10, 15] + - !!python/tuple [29, 13] + - !!python/tuple [8, 20] + - !!python/tuple [23, 9] + - !!python/tuple [16, 29] + - !!python/tuple [17, 18] + - !!python/tuple [0, 2] + - !!python/tuple [4, 7] + - !!python/tuple [31, 31] + - !!python/tuple [14, 28] + - !!python/tuple [29, 26] + - !!python/tuple [15, 9] + - !!python/tuple [16, 26] + - !!python/tuple [0, 10] + - !!python/tuple [11, 13] + - !!python/tuple [2, 1] + - !!python/tuple [19, 31] + - !!python/tuple [28, 29] + - !!python/tuple [3, 6] + - !!python/tuple [25, 17] + - !!python/tuple [3, 23] + - !!python/tuple [9, 7] + - !!python/tuple [9, 20] + - !!python/tuple [5, 25] + - !!python/tuple [22, 6] + - !!python/tuple [9, 21] + - !!python/tuple [24, 18] + - !!python/tuple [3, 21] + - !!python/tuple [19, 9] + - !!python/tuple [26, 5] + - !!python/tuple [23, 24] + - !!python/tuple [19, 8] + - !!python/tuple [18, 17] + - !!python/tuple [28, 21] + - !!python/tuple [23, 22] + - !!python/tuple [31, 7] + - !!python/tuple [8, 9] + - !!python/tuple [21, 28] + - !!python/tuple [15, 10] + - !!python/tuple [2, 26] + - !!python/tuple [3, 20] + - !!python/tuple [9, 27] + - !!python/tuple [17, 26] + - !!python/tuple [3, 25] + - !!python/tuple [31, 10] + - !!python/tuple [14, 25] + - !!python/tuple [11, 6] + - !!python/tuple [25, 29] + - !!python/tuple [5, 0] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex54.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex54.yaml new file mode 100644 index 0000000..dbc52a2 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex54.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [17, 13] + name: agent0 + start: [10, 10] +- goal: [6, 17] + name: agent1 + start: [20, 15] +- goal: [25, 3] + name: agent2 + start: [18, 24] +- goal: [15, 19] + name: agent3 + start: [9, 31] +- goal: [29, 12] + name: agent4 + start: [21, 30] +- goal: [1, 0] + name: agent5 + start: [7, 20] +- goal: [31, 8] + name: agent6 + start: [12, 9] +- goal: [23, 9] + name: agent7 + start: [9, 12] +- goal: [7, 26] + name: agent8 + start: [9, 13] +- goal: [25, 20] + name: agent9 + start: [26, 27] +- goal: [17, 20] + name: agent10 + start: [11, 1] +- goal: [4, 4] + name: agent11 + start: [5, 1] +- goal: [26, 28] + name: agent12 + start: [22, 16] +- goal: [11, 27] + name: agent13 + start: [1, 6] +- goal: [13, 26] + name: agent14 + start: [18, 18] +- goal: [25, 12] + name: agent15 + start: [25, 14] +- goal: [26, 18] + name: agent16 + start: [10, 3] +- goal: [15, 15] + name: agent17 + start: [19, 24] +- goal: [20, 17] + name: agent18 + start: [9, 8] +- goal: [2, 19] + name: agent19 + start: [26, 1] +- goal: [21, 7] + name: agent20 + start: [19, 27] +- goal: [11, 11] + name: agent21 + start: [13, 20] +- goal: [4, 25] + name: agent22 + start: [12, 19] +- goal: [8, 31] + name: agent23 + start: [27, 7] +- goal: [19, 2] + name: agent24 + start: [17, 30] +- goal: [8, 9] + name: agent25 + start: [27, 14] +- goal: [24, 5] + name: agent26 + start: [23, 20] +- goal: [18, 16] + name: agent27 + start: [26, 21] +- goal: [18, 17] + name: agent28 + start: [29, 30] +- goal: [8, 6] + name: agent29 + start: [26, 30] +- goal: [16, 19] + name: agent30 + start: [15, 17] +- goal: [30, 31] + name: agent31 + start: [18, 10] +- goal: [14, 6] + name: agent32 + start: [20, 11] +- goal: [10, 19] + name: agent33 + start: [16, 5] +- goal: [30, 28] + name: agent34 + start: [21, 26] +- goal: [24, 1] + name: agent35 + start: [17, 16] +- goal: [23, 18] + name: agent36 + start: [29, 8] +- goal: [6, 2] + name: agent37 + start: [8, 0] +- goal: [27, 31] + name: agent38 + start: [13, 3] +- goal: [12, 8] + name: agent39 + start: [7, 22] +- goal: [13, 31] + name: agent40 + start: [1, 19] +- goal: [31, 11] + name: agent41 + start: [12, 29] +- goal: [8, 5] + name: agent42 + start: [25, 11] +- goal: [18, 20] + name: agent43 + start: [2, 3] +- goal: [3, 11] + name: agent44 + start: [29, 21] +- goal: [24, 9] + name: agent45 + start: [16, 26] +- goal: [28, 5] + name: agent46 + start: [29, 9] +- goal: [8, 8] + name: agent47 + start: [11, 10] +- goal: [22, 21] + name: agent48 + start: [12, 1] +- goal: [19, 0] + name: agent49 + start: [12, 23] +- goal: [7, 21] + name: agent50 + start: [31, 18] +- goal: [14, 30] + name: agent51 + start: [6, 2] +- goal: [2, 4] + name: agent52 + start: [14, 10] +- goal: [17, 11] + name: agent53 + start: [23, 24] +- goal: [24, 22] + name: agent54 + start: [19, 12] +- goal: [3, 3] + name: agent55 + start: [10, 26] +- goal: [6, 29] + name: agent56 + start: [24, 17] +- goal: [9, 10] + name: agent57 + start: [12, 13] +- goal: [21, 17] + name: agent58 + start: [15, 9] +- goal: [13, 19] + name: agent59 + start: [19, 7] +- goal: [25, 21] + name: agent60 + start: [21, 27] +- goal: [30, 19] + name: agent61 + start: [23, 25] +- goal: [1, 2] + name: agent62 + start: [6, 7] +- goal: [17, 19] + name: agent63 + start: [16, 20] +- goal: [2, 17] + name: agent64 + start: [26, 28] +- goal: [15, 18] + name: agent65 + start: [21, 29] +- goal: [29, 28] + name: agent66 + start: [17, 7] +- goal: [28, 7] + name: agent67 + start: [0, 30] +- goal: [27, 10] + name: agent68 + start: [8, 5] +- goal: [30, 7] + name: agent69 + start: [17, 6] +- goal: [8, 4] + name: agent70 + start: [30, 2] +- goal: [9, 7] + name: agent71 + start: [1, 2] +- goal: [4, 29] + name: agent72 + start: [5, 15] +- goal: [20, 13] + name: agent73 + start: [16, 12] +- goal: [16, 0] + name: agent74 + start: [2, 27] +- goal: [22, 0] + name: agent75 + start: [12, 27] +- goal: [15, 2] + name: agent76 + start: [19, 1] +- goal: [28, 22] + name: agent77 + start: [11, 28] +- goal: [30, 20] + name: agent78 + start: [10, 12] +- goal: [10, 26] + name: agent79 + start: [17, 26] +- goal: [15, 0] + name: agent80 + start: [27, 3] +- goal: [7, 14] + name: agent81 + start: [4, 15] +- goal: [31, 3] + name: agent82 + start: [2, 28] +- goal: [28, 26] + name: agent83 + start: [6, 8] +- goal: [14, 28] + name: agent84 + start: [22, 24] +- goal: [4, 26] + name: agent85 + start: [23, 4] +- goal: [14, 11] + name: agent86 + start: [9, 25] +- goal: [3, 19] + name: agent87 + start: [13, 14] +- goal: [12, 15] + name: agent88 + start: [10, 2] +- goal: [13, 24] + name: agent89 + start: [23, 27] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [4, 20] + - !!python/tuple [10, 13] + - !!python/tuple [4, 14] + - !!python/tuple [5, 3] + - !!python/tuple [7, 27] + - !!python/tuple [13, 0] + - !!python/tuple [9, 6] + - !!python/tuple [31, 2] + - !!python/tuple [23, 0] + - !!python/tuple [10, 1] + - !!python/tuple [11, 18] + - !!python/tuple [10, 29] + - !!python/tuple [4, 5] + - !!python/tuple [29, 3] + - !!python/tuple [31, 31] + - !!python/tuple [6, 1] + - !!python/tuple [29, 25] + - !!python/tuple [2, 30] + - !!python/tuple [8, 10] + - !!python/tuple [3, 7] + - !!python/tuple [7, 12] + - !!python/tuple [23, 11] + - !!python/tuple [29, 26] + - !!python/tuple [1, 25] + - !!python/tuple [25, 17] + - !!python/tuple [20, 3] + - !!python/tuple [9, 5] + - !!python/tuple [8, 3] + - !!python/tuple [25, 16] + - !!python/tuple [11, 23] + - !!python/tuple [22, 14] + - !!python/tuple [12, 12] + - !!python/tuple [7, 31] + - !!python/tuple [25, 19] + - !!python/tuple [10, 27] + - !!python/tuple [26, 6] + - !!python/tuple [27, 23] + - !!python/tuple [18, 22] + - !!python/tuple [25, 24] + - !!python/tuple [31, 5] + - !!python/tuple [1, 12] + - !!python/tuple [16, 11] + - !!python/tuple [7, 5] + - !!python/tuple [3, 26] + - !!python/tuple [5, 24] + - !!python/tuple [7, 8] + - !!python/tuple [16, 22] + - !!python/tuple [0, 7] + - !!python/tuple [13, 7] + - !!python/tuple [28, 1] + - !!python/tuple [31, 7] + - !!python/tuple [15, 11] + - !!python/tuple [6, 14] + - !!python/tuple [2, 10] + - !!python/tuple [11, 30] + - !!python/tuple [5, 13] + - !!python/tuple [18, 7] + - !!python/tuple [14, 22] + - !!python/tuple [26, 9] + - !!python/tuple [27, 18] + - !!python/tuple [14, 31] + - !!python/tuple [12, 5] + - !!python/tuple [24, 0] + - !!python/tuple [3, 27] + - !!python/tuple [6, 27] + - !!python/tuple [31, 13] + - !!python/tuple [27, 5] + - !!python/tuple [23, 8] + - !!python/tuple [0, 11] + - !!python/tuple [4, 8] + - !!python/tuple [26, 14] + - !!python/tuple [12, 4] + - !!python/tuple [2, 29] + - !!python/tuple [29, 4] + - !!python/tuple [22, 7] + - !!python/tuple [22, 25] + - !!python/tuple [1, 10] + - !!python/tuple [2, 9] + - !!python/tuple [28, 8] + - !!python/tuple [29, 1] + - !!python/tuple [26, 10] + - !!python/tuple [13, 2] + - !!python/tuple [1, 24] + - !!python/tuple [16, 31] + - !!python/tuple [23, 2] + - !!python/tuple [21, 4] + - !!python/tuple [14, 1] + - !!python/tuple [17, 9] + - !!python/tuple [4, 30] + - !!python/tuple [22, 22] + - !!python/tuple [24, 6] + - !!python/tuple [0, 4] + - !!python/tuple [15, 8] + - !!python/tuple [30, 16] + - !!python/tuple [2, 12] + - !!python/tuple [9, 14] + - !!python/tuple [7, 17] + - !!python/tuple [11, 13] + - !!python/tuple [3, 25] + - !!python/tuple [16, 24] + - !!python/tuple [24, 11] + - !!python/tuple [23, 22] + - !!python/tuple [23, 13] + - !!python/tuple [3, 13] + - !!python/tuple [12, 6] + - !!python/tuple [20, 2] + - !!python/tuple [0, 21] + - !!python/tuple [14, 17] + - !!python/tuple [30, 22] + - !!python/tuple [26, 12] + - !!python/tuple [3, 14] + - !!python/tuple [9, 30] + - !!python/tuple [2, 6] + - !!python/tuple [16, 10] + - !!python/tuple [14, 16] + - !!python/tuple [24, 3] + - !!python/tuple [0, 15] + - !!python/tuple [3, 20] + - !!python/tuple [15, 30] + - !!python/tuple [30, 5] + - !!python/tuple [2, 8] + - !!python/tuple [30, 30] + - !!python/tuple [26, 15] + - !!python/tuple [14, 24] + - !!python/tuple [14, 4] + - !!python/tuple [23, 19] + - !!python/tuple [26, 5] + - !!python/tuple [17, 24] + - !!python/tuple [6, 24] + - !!python/tuple [10, 25] + - !!python/tuple [28, 13] + - !!python/tuple [24, 15] + - !!python/tuple [30, 25] + - !!python/tuple [5, 8] + - !!python/tuple [6, 6] + - !!python/tuple [30, 12] + - !!python/tuple [10, 14] + - !!python/tuple [19, 16] + - !!python/tuple [31, 1] + - !!python/tuple [4, 0] + - !!python/tuple [2, 26] + - !!python/tuple [22, 4] + - !!python/tuple [28, 11] + - !!python/tuple [1, 7] + - !!python/tuple [8, 11] + - !!python/tuple [15, 22] + - !!python/tuple [30, 24] + - !!python/tuple [9, 18] + - !!python/tuple [7, 10] + - !!python/tuple [1, 15] + - !!python/tuple [18, 1] + - !!python/tuple [2, 22] + - !!python/tuple [27, 27] + - !!python/tuple [14, 2] + - !!python/tuple [10, 17] + - !!python/tuple [15, 10] + - !!python/tuple [25, 5] + - !!python/tuple [22, 20] + - !!python/tuple [2, 18] + - !!python/tuple [4, 12] + - !!python/tuple [7, 15] + - !!python/tuple [1, 3] + - !!python/tuple [21, 24] + - !!python/tuple [10, 6] + - !!python/tuple [2, 25] + - !!python/tuple [7, 25] + - !!python/tuple [1, 20] + - !!python/tuple [7, 3] + - !!python/tuple [19, 3] + - !!python/tuple [9, 21] + - !!python/tuple [24, 23] + - !!python/tuple [10, 4] + - !!python/tuple [10, 16] + - !!python/tuple [11, 16] + - !!python/tuple [27, 20] + - !!python/tuple [24, 7] + - !!python/tuple [14, 26] + - !!python/tuple [9, 4] + - !!python/tuple [19, 20] + - !!python/tuple [24, 25] + - !!python/tuple [30, 4] + - !!python/tuple [2, 24] + - !!python/tuple [1, 9] + - !!python/tuple [24, 14] + - !!python/tuple [12, 31] + - !!python/tuple [29, 10] + - !!python/tuple [3, 29] + - !!python/tuple [23, 21] + - !!python/tuple [19, 14] + - !!python/tuple [31, 14] + - !!python/tuple [22, 18] + - !!python/tuple [19, 9] + - !!python/tuple [26, 24] + - !!python/tuple [5, 16] + - !!python/tuple [5, 25] + - !!python/tuple [17, 18] + - !!python/tuple [16, 2] + - !!python/tuple [15, 21] + - !!python/tuple [8, 27] + - !!python/tuple [14, 21] + - !!python/tuple [5, 4] + - !!python/tuple [17, 23] + - !!python/tuple [28, 18] + - !!python/tuple [14, 7] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex55.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex55.yaml new file mode 100644 index 0000000..4572518 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex55.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [1, 5] + name: agent0 + start: [2, 1] +- goal: [24, 7] + name: agent1 + start: [3, 10] +- goal: [2, 16] + name: agent2 + start: [8, 29] +- goal: [2, 1] + name: agent3 + start: [11, 4] +- goal: [20, 17] + name: agent4 + start: [30, 15] +- goal: [1, 3] + name: agent5 + start: [28, 15] +- goal: [20, 21] + name: agent6 + start: [24, 12] +- goal: [0, 20] + name: agent7 + start: [0, 8] +- goal: [23, 29] + name: agent8 + start: [24, 16] +- goal: [27, 26] + name: agent9 + start: [1, 28] +- goal: [0, 2] + name: agent10 + start: [23, 6] +- goal: [26, 24] + name: agent11 + start: [29, 7] +- goal: [26, 8] + name: agent12 + start: [24, 24] +- goal: [11, 10] + name: agent13 + start: [10, 13] +- goal: [4, 16] + name: agent14 + start: [25, 29] +- goal: [3, 26] + name: agent15 + start: [24, 2] +- goal: [14, 23] + name: agent16 + start: [10, 17] +- goal: [11, 30] + name: agent17 + start: [1, 12] +- goal: [15, 22] + name: agent18 + start: [20, 8] +- goal: [22, 14] + name: agent19 + start: [27, 13] +- goal: [28, 0] + name: agent20 + start: [26, 28] +- goal: [21, 20] + name: agent21 + start: [30, 19] +- goal: [0, 7] + name: agent22 + start: [24, 17] +- goal: [24, 27] + name: agent23 + start: [2, 13] +- goal: [0, 28] + name: agent24 + start: [25, 10] +- goal: [6, 22] + name: agent25 + start: [19, 10] +- goal: [16, 9] + name: agent26 + start: [1, 8] +- goal: [29, 21] + name: agent27 + start: [24, 25] +- goal: [8, 17] + name: agent28 + start: [8, 17] +- goal: [31, 10] + name: agent29 + start: [25, 19] +- goal: [10, 1] + name: agent30 + start: [21, 7] +- goal: [10, 18] + name: agent31 + start: [4, 22] +- goal: [26, 27] + name: agent32 + start: [29, 4] +- goal: [29, 17] + name: agent33 + start: [3, 28] +- goal: [1, 30] + name: agent34 + start: [6, 8] +- goal: [14, 27] + name: agent35 + start: [12, 22] +- goal: [7, 4] + name: agent36 + start: [15, 25] +- goal: [27, 4] + name: agent37 + start: [15, 6] +- goal: [18, 21] + name: agent38 + start: [10, 27] +- goal: [6, 17] + name: agent39 + start: [30, 23] +- goal: [9, 7] + name: agent40 + start: [0, 6] +- goal: [22, 4] + name: agent41 + start: [11, 7] +- goal: [11, 9] + name: agent42 + start: [16, 4] +- goal: [23, 20] + name: agent43 + start: [19, 22] +- goal: [18, 12] + name: agent44 + start: [8, 31] +- goal: [6, 25] + name: agent45 + start: [20, 25] +- goal: [15, 10] + name: agent46 + start: [2, 25] +- goal: [23, 15] + name: agent47 + start: [31, 20] +- goal: [6, 13] + name: agent48 + start: [2, 27] +- goal: [3, 0] + name: agent49 + start: [14, 0] +- goal: [13, 7] + name: agent50 + start: [19, 25] +- goal: [17, 31] + name: agent51 + start: [15, 8] +- goal: [7, 17] + name: agent52 + start: [12, 20] +- goal: [14, 5] + name: agent53 + start: [13, 26] +- goal: [10, 21] + name: agent54 + start: [20, 15] +- goal: [7, 27] + name: agent55 + start: [10, 16] +- goal: [0, 27] + name: agent56 + start: [28, 2] +- goal: [15, 14] + name: agent57 + start: [19, 28] +- goal: [13, 25] + name: agent58 + start: [3, 7] +- goal: [1, 22] + name: agent59 + start: [5, 20] +- goal: [19, 27] + name: agent60 + start: [3, 31] +- goal: [19, 18] + name: agent61 + start: [10, 19] +- goal: [29, 2] + name: agent62 + start: [8, 6] +- goal: [6, 12] + name: agent63 + start: [7, 25] +- goal: [24, 0] + name: agent64 + start: [17, 21] +- goal: [25, 2] + name: agent65 + start: [30, 11] +- goal: [24, 30] + name: agent66 + start: [5, 21] +- goal: [6, 21] + name: agent67 + start: [12, 4] +- goal: [13, 1] + name: agent68 + start: [27, 11] +- goal: [26, 22] + name: agent69 + start: [13, 31] +- goal: [18, 2] + name: agent70 + start: [11, 25] +- goal: [21, 23] + name: agent71 + start: [25, 8] +- goal: [12, 19] + name: agent72 + start: [21, 23] +- goal: [26, 7] + name: agent73 + start: [18, 28] +- goal: [13, 20] + name: agent74 + start: [28, 10] +- goal: [13, 15] + name: agent75 + start: [27, 15] +- goal: [12, 2] + name: agent76 + start: [28, 16] +- goal: [19, 13] + name: agent77 + start: [0, 14] +- goal: [16, 13] + name: agent78 + start: [23, 21] +- goal: [4, 6] + name: agent79 + start: [8, 3] +- goal: [5, 16] + name: agent80 + start: [10, 24] +- goal: [26, 23] + name: agent81 + start: [22, 21] +- goal: [28, 11] + name: agent82 + start: [1, 4] +- goal: [24, 25] + name: agent83 + start: [26, 3] +- goal: [25, 14] + name: agent84 + start: [10, 26] +- goal: [4, 13] + name: agent85 + start: [28, 28] +- goal: [31, 14] + name: agent86 + start: [30, 5] +- goal: [9, 16] + name: agent87 + start: [3, 13] +- goal: [29, 20] + name: agent88 + start: [0, 13] +- goal: [16, 31] + name: agent89 + start: [18, 31] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [17, 27] + - !!python/tuple [27, 21] + - !!python/tuple [21, 21] + - !!python/tuple [28, 9] + - !!python/tuple [17, 24] + - !!python/tuple [10, 23] + - !!python/tuple [9, 26] + - !!python/tuple [29, 14] + - !!python/tuple [23, 7] + - !!python/tuple [28, 20] + - !!python/tuple [28, 14] + - !!python/tuple [5, 27] + - !!python/tuple [5, 31] + - !!python/tuple [13, 21] + - !!python/tuple [4, 31] + - !!python/tuple [5, 1] + - !!python/tuple [31, 30] + - !!python/tuple [0, 21] + - !!python/tuple [29, 5] + - !!python/tuple [24, 1] + - !!python/tuple [23, 4] + - !!python/tuple [17, 11] + - !!python/tuple [23, 24] + - !!python/tuple [1, 13] + - !!python/tuple [5, 9] + - !!python/tuple [7, 10] + - !!python/tuple [5, 5] + - !!python/tuple [8, 19] + - !!python/tuple [22, 30] + - !!python/tuple [15, 11] + - !!python/tuple [28, 25] + - !!python/tuple [19, 11] + - !!python/tuple [20, 23] + - !!python/tuple [3, 21] + - !!python/tuple [13, 8] + - !!python/tuple [12, 26] + - !!python/tuple [29, 15] + - !!python/tuple [28, 1] + - !!python/tuple [0, 15] + - !!python/tuple [9, 5] + - !!python/tuple [13, 10] + - !!python/tuple [2, 12] + - !!python/tuple [22, 5] + - !!python/tuple [27, 24] + - !!python/tuple [29, 6] + - !!python/tuple [9, 10] + - !!python/tuple [29, 1] + - !!python/tuple [18, 7] + - !!python/tuple [19, 30] + - !!python/tuple [23, 25] + - !!python/tuple [24, 8] + - !!python/tuple [29, 29] + - !!python/tuple [1, 26] + - !!python/tuple [12, 1] + - !!python/tuple [30, 3] + - !!python/tuple [17, 0] + - !!python/tuple [2, 24] + - !!python/tuple [24, 29] + - !!python/tuple [31, 16] + - !!python/tuple [2, 22] + - !!python/tuple [5, 8] + - !!python/tuple [11, 26] + - !!python/tuple [25, 30] + - !!python/tuple [7, 29] + - !!python/tuple [22, 22] + - !!python/tuple [17, 28] + - !!python/tuple [24, 18] + - !!python/tuple [0, 11] + - !!python/tuple [3, 29] + - !!python/tuple [8, 22] + - !!python/tuple [20, 19] + - !!python/tuple [20, 30] + - !!python/tuple [13, 4] + - !!python/tuple [11, 23] + - !!python/tuple [29, 12] + - !!python/tuple [31, 23] + - !!python/tuple [14, 29] + - !!python/tuple [31, 25] + - !!python/tuple [15, 17] + - !!python/tuple [31, 13] + - !!python/tuple [19, 19] + - !!python/tuple [24, 20] + - !!python/tuple [25, 25] + - !!python/tuple [2, 31] + - !!python/tuple [31, 8] + - !!python/tuple [5, 30] + - !!python/tuple [15, 15] + - !!python/tuple [30, 14] + - !!python/tuple [30, 21] + - !!python/tuple [1, 15] + - !!python/tuple [22, 24] + - !!python/tuple [6, 9] + - !!python/tuple [8, 28] + - !!python/tuple [7, 5] + - !!python/tuple [21, 9] + - !!python/tuple [27, 6] + - !!python/tuple [22, 28] + - !!python/tuple [18, 10] + - !!python/tuple [12, 16] + - !!python/tuple [25, 16] + - !!python/tuple [18, 23] + - !!python/tuple [11, 1] + - !!python/tuple [11, 29] + - !!python/tuple [3, 2] + - !!python/tuple [6, 15] + - !!python/tuple [28, 5] + - !!python/tuple [3, 18] + - !!python/tuple [22, 26] + - !!python/tuple [16, 11] + - !!python/tuple [1, 20] + - !!python/tuple [19, 17] + - !!python/tuple [15, 24] + - !!python/tuple [14, 14] + - !!python/tuple [6, 6] + - !!python/tuple [20, 31] + - !!python/tuple [20, 29] + - !!python/tuple [8, 26] + - !!python/tuple [13, 27] + - !!python/tuple [6, 29] + - !!python/tuple [15, 19] + - !!python/tuple [26, 21] + - !!python/tuple [10, 22] + - !!python/tuple [16, 17] + - !!python/tuple [9, 13] + - !!python/tuple [18, 13] + - !!python/tuple [5, 25] + - !!python/tuple [20, 26] + - !!python/tuple [5, 12] + - !!python/tuple [14, 30] + - !!python/tuple [25, 15] + - !!python/tuple [13, 23] + - !!python/tuple [17, 14] + - !!python/tuple [22, 2] + - !!python/tuple [15, 2] + - !!python/tuple [22, 3] + - !!python/tuple [22, 16] + - !!python/tuple [27, 27] + - !!python/tuple [6, 20] + - !!python/tuple [14, 8] + - !!python/tuple [9, 23] + - !!python/tuple [1, 6] + - !!python/tuple [17, 6] + - !!python/tuple [10, 25] + - !!python/tuple [18, 0] + - !!python/tuple [2, 9] + - !!python/tuple [3, 3] + - !!python/tuple [0, 1] + - !!python/tuple [3, 27] + - !!python/tuple [10, 10] + - !!python/tuple [29, 25] + - !!python/tuple [29, 10] + - !!python/tuple [31, 17] + - !!python/tuple [2, 14] + - !!python/tuple [2, 8] + - !!python/tuple [9, 29] + - !!python/tuple [29, 30] + - !!python/tuple [4, 5] + - !!python/tuple [13, 2] + - !!python/tuple [10, 14] + - !!python/tuple [9, 2] + - !!python/tuple [22, 20] + - !!python/tuple [7, 3] + - !!python/tuple [1, 29] + - !!python/tuple [18, 8] + - !!python/tuple [0, 5] + - !!python/tuple [14, 11] + - !!python/tuple [29, 8] + - !!python/tuple [2, 15] + - !!python/tuple [29, 27] + - !!python/tuple [25, 24] + - !!python/tuple [8, 0] + - !!python/tuple [13, 5] + - !!python/tuple [25, 11] + - !!python/tuple [19, 0] + - !!python/tuple [12, 24] + - !!python/tuple [2, 26] + - !!python/tuple [20, 14] + - !!python/tuple [24, 11] + - !!python/tuple [14, 26] + - !!python/tuple [20, 7] + - !!python/tuple [31, 3] + - !!python/tuple [25, 4] + - !!python/tuple [7, 20] + - !!python/tuple [4, 0] + - !!python/tuple [26, 15] + - !!python/tuple [13, 11] + - !!python/tuple [22, 10] + - !!python/tuple [19, 16] + - !!python/tuple [1, 23] + - !!python/tuple [9, 12] + - !!python/tuple [24, 28] + - !!python/tuple [17, 19] + - !!python/tuple [17, 17] + - !!python/tuple [2, 4] + - !!python/tuple [10, 30] + - !!python/tuple [10, 7] + - !!python/tuple [2, 11] + - !!python/tuple [17, 8] + - !!python/tuple [3, 16] + - !!python/tuple [21, 19] + - !!python/tuple [9, 30] + - !!python/tuple [19, 1] + - !!python/tuple [7, 2] + - !!python/tuple [27, 14] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex56.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex56.yaml new file mode 100644 index 0000000..876400d --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex56.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [22, 19] + name: agent0 + start: [23, 3] +- goal: [15, 10] + name: agent1 + start: [11, 6] +- goal: [23, 9] + name: agent2 + start: [27, 6] +- goal: [10, 19] + name: agent3 + start: [24, 25] +- goal: [1, 28] + name: agent4 + start: [22, 11] +- goal: [30, 3] + name: agent5 + start: [26, 24] +- goal: [6, 1] + name: agent6 + start: [6, 16] +- goal: [5, 25] + name: agent7 + start: [14, 4] +- goal: [19, 25] + name: agent8 + start: [31, 5] +- goal: [24, 16] + name: agent9 + start: [19, 17] +- goal: [12, 12] + name: agent10 + start: [26, 2] +- goal: [11, 19] + name: agent11 + start: [8, 22] +- goal: [16, 0] + name: agent12 + start: [21, 8] +- goal: [30, 27] + name: agent13 + start: [31, 29] +- goal: [5, 30] + name: agent14 + start: [30, 14] +- goal: [17, 22] + name: agent15 + start: [30, 7] +- goal: [28, 24] + name: agent16 + start: [2, 16] +- goal: [8, 14] + name: agent17 + start: [30, 9] +- goal: [1, 20] + name: agent18 + start: [29, 24] +- goal: [3, 16] + name: agent19 + start: [21, 29] +- goal: [30, 21] + name: agent20 + start: [1, 15] +- goal: [4, 31] + name: agent21 + start: [13, 26] +- goal: [31, 3] + name: agent22 + start: [13, 9] +- goal: [21, 18] + name: agent23 + start: [24, 6] +- goal: [2, 18] + name: agent24 + start: [27, 0] +- goal: [8, 20] + name: agent25 + start: [24, 4] +- goal: [2, 3] + name: agent26 + start: [18, 30] +- goal: [8, 26] + name: agent27 + start: [2, 19] +- goal: [7, 20] + name: agent28 + start: [14, 5] +- goal: [30, 2] + name: agent29 + start: [20, 5] +- goal: [12, 29] + name: agent30 + start: [17, 31] +- goal: [29, 8] + name: agent31 + start: [17, 24] +- goal: [12, 9] + name: agent32 + start: [31, 15] +- goal: [9, 16] + name: agent33 + start: [17, 4] +- goal: [2, 6] + name: agent34 + start: [10, 23] +- goal: [17, 3] + name: agent35 + start: [13, 24] +- goal: [18, 24] + name: agent36 + start: [9, 10] +- goal: [28, 2] + name: agent37 + start: [4, 7] +- goal: [18, 22] + name: agent38 + start: [5, 31] +- goal: [30, 5] + name: agent39 + start: [9, 23] +- goal: [0, 9] + name: agent40 + start: [14, 27] +- goal: [25, 2] + name: agent41 + start: [10, 26] +- goal: [24, 18] + name: agent42 + start: [17, 3] +- goal: [14, 11] + name: agent43 + start: [19, 14] +- goal: [25, 12] + name: agent44 + start: [8, 18] +- goal: [14, 31] + name: agent45 + start: [16, 19] +- goal: [27, 30] + name: agent46 + start: [5, 22] +- goal: [21, 26] + name: agent47 + start: [20, 19] +- goal: [3, 13] + name: agent48 + start: [18, 11] +- goal: [7, 18] + name: agent49 + start: [23, 30] +- goal: [29, 27] + name: agent50 + start: [11, 16] +- goal: [18, 17] + name: agent51 + start: [24, 29] +- goal: [16, 24] + name: agent52 + start: [11, 19] +- goal: [29, 30] + name: agent53 + start: [18, 5] +- goal: [9, 1] + name: agent54 + start: [1, 30] +- goal: [14, 15] + name: agent55 + start: [31, 2] +- goal: [2, 24] + name: agent56 + start: [22, 27] +- goal: [15, 17] + name: agent57 + start: [0, 0] +- goal: [11, 5] + name: agent58 + start: [22, 4] +- goal: [5, 9] + name: agent59 + start: [13, 27] +- goal: [5, 31] + name: agent60 + start: [30, 20] +- goal: [3, 29] + name: agent61 + start: [11, 21] +- goal: [8, 9] + name: agent62 + start: [9, 28] +- goal: [30, 31] + name: agent63 + start: [5, 15] +- goal: [12, 27] + name: agent64 + start: [19, 21] +- goal: [15, 22] + name: agent65 + start: [26, 19] +- goal: [23, 0] + name: agent66 + start: [13, 6] +- goal: [21, 7] + name: agent67 + start: [1, 20] +- goal: [31, 31] + name: agent68 + start: [10, 7] +- goal: [4, 13] + name: agent69 + start: [23, 19] +- goal: [26, 22] + name: agent70 + start: [20, 23] +- goal: [2, 30] + name: agent71 + start: [29, 5] +- goal: [29, 6] + name: agent72 + start: [14, 29] +- goal: [14, 30] + name: agent73 + start: [4, 18] +- goal: [10, 18] + name: agent74 + start: [26, 9] +- goal: [25, 9] + name: agent75 + start: [0, 21] +- goal: [0, 4] + name: agent76 + start: [25, 15] +- goal: [12, 31] + name: agent77 + start: [2, 28] +- goal: [28, 19] + name: agent78 + start: [13, 18] +- goal: [24, 19] + name: agent79 + start: [5, 4] +- goal: [22, 11] + name: agent80 + start: [2, 26] +- goal: [3, 25] + name: agent81 + start: [19, 1] +- goal: [22, 0] + name: agent82 + start: [25, 31] +- goal: [1, 16] + name: agent83 + start: [16, 15] +- goal: [0, 10] + name: agent84 + start: [6, 4] +- goal: [3, 14] + name: agent85 + start: [1, 4] +- goal: [25, 25] + name: agent86 + start: [9, 24] +- goal: [0, 11] + name: agent87 + start: [15, 5] +- goal: [13, 14] + name: agent88 + start: [0, 27] +- goal: [17, 10] + name: agent89 + start: [8, 11] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [26, 20] + - !!python/tuple [17, 20] + - !!python/tuple [22, 12] + - !!python/tuple [21, 13] + - !!python/tuple [22, 9] + - !!python/tuple [0, 23] + - !!python/tuple [20, 25] + - !!python/tuple [23, 21] + - !!python/tuple [18, 21] + - !!python/tuple [12, 4] + - !!python/tuple [4, 22] + - !!python/tuple [29, 16] + - !!python/tuple [15, 12] + - !!python/tuple [13, 12] + - !!python/tuple [20, 30] + - !!python/tuple [10, 12] + - !!python/tuple [6, 28] + - !!python/tuple [31, 11] + - !!python/tuple [10, 10] + - !!python/tuple [29, 20] + - !!python/tuple [21, 27] + - !!python/tuple [9, 4] + - !!python/tuple [21, 23] + - !!python/tuple [11, 9] + - !!python/tuple [17, 17] + - !!python/tuple [23, 15] + - !!python/tuple [2, 11] + - !!python/tuple [17, 16] + - !!python/tuple [17, 8] + - !!python/tuple [23, 20] + - !!python/tuple [14, 8] + - !!python/tuple [6, 31] + - !!python/tuple [30, 16] + - !!python/tuple [11, 17] + - !!python/tuple [8, 1] + - !!python/tuple [16, 7] + - !!python/tuple [12, 3] + - !!python/tuple [21, 3] + - !!python/tuple [31, 14] + - !!python/tuple [23, 18] + - !!python/tuple [30, 11] + - !!python/tuple [26, 13] + - !!python/tuple [5, 7] + - !!python/tuple [9, 9] + - !!python/tuple [5, 21] + - !!python/tuple [2, 1] + - !!python/tuple [20, 3] + - !!python/tuple [5, 3] + - !!python/tuple [11, 12] + - !!python/tuple [8, 16] + - !!python/tuple [22, 25] + - !!python/tuple [5, 6] + - !!python/tuple [0, 26] + - !!python/tuple [0, 29] + - !!python/tuple [7, 17] + - !!python/tuple [28, 27] + - !!python/tuple [30, 10] + - !!python/tuple [29, 29] + - !!python/tuple [17, 15] + - !!python/tuple [22, 2] + - !!python/tuple [15, 4] + - !!python/tuple [20, 31] + - !!python/tuple [16, 14] + - !!python/tuple [11, 8] + - !!python/tuple [24, 1] + - !!python/tuple [1, 17] + - !!python/tuple [5, 19] + - !!python/tuple [15, 1] + - !!python/tuple [19, 13] + - !!python/tuple [30, 8] + - !!python/tuple [2, 9] + - !!python/tuple [31, 19] + - !!python/tuple [20, 28] + - !!python/tuple [30, 26] + - !!python/tuple [27, 7] + - !!python/tuple [28, 5] + - !!python/tuple [23, 5] + - !!python/tuple [29, 4] + - !!python/tuple [14, 17] + - !!python/tuple [4, 29] + - !!python/tuple [4, 4] + - !!python/tuple [8, 12] + - !!python/tuple [25, 11] + - !!python/tuple [29, 22] + - !!python/tuple [30, 30] + - !!python/tuple [18, 4] + - !!python/tuple [13, 11] + - !!python/tuple [9, 30] + - !!python/tuple [27, 27] + - !!python/tuple [1, 24] + - !!python/tuple [27, 5] + - !!python/tuple [11, 4] + - !!python/tuple [31, 6] + - !!python/tuple [13, 21] + - !!python/tuple [21, 12] + - !!python/tuple [8, 4] + - !!python/tuple [26, 12] + - !!python/tuple [31, 8] + - !!python/tuple [26, 7] + - !!python/tuple [1, 31] + - !!python/tuple [6, 10] + - !!python/tuple [12, 26] + - !!python/tuple [10, 4] + - !!python/tuple [27, 8] + - !!python/tuple [29, 17] + - !!python/tuple [10, 15] + - !!python/tuple [10, 22] + - !!python/tuple [23, 27] + - !!python/tuple [10, 24] + - !!python/tuple [15, 28] + - !!python/tuple [27, 17] + - !!python/tuple [19, 18] + - !!python/tuple [18, 29] + - !!python/tuple [30, 22] + - !!python/tuple [24, 2] + - !!python/tuple [11, 1] + - !!python/tuple [27, 14] + - !!python/tuple [4, 14] + - !!python/tuple [7, 29] + - !!python/tuple [7, 24] + - !!python/tuple [27, 29] + - !!python/tuple [1, 19] + - !!python/tuple [14, 20] + - !!python/tuple [27, 15] + - !!python/tuple [12, 16] + - !!python/tuple [18, 28] + - !!python/tuple [3, 15] + - !!python/tuple [30, 0] + - !!python/tuple [3, 8] + - !!python/tuple [9, 25] + - !!python/tuple [5, 1] + - !!python/tuple [10, 29] + - !!python/tuple [28, 12] + - !!python/tuple [20, 10] + - !!python/tuple [22, 7] + - !!python/tuple [6, 27] + - !!python/tuple [23, 26] + - !!python/tuple [27, 4] + - !!python/tuple [25, 27] + - !!python/tuple [22, 23] + - !!python/tuple [21, 22] + - !!python/tuple [22, 31] + - !!python/tuple [16, 2] + - !!python/tuple [6, 26] + - !!python/tuple [18, 27] + - !!python/tuple [27, 24] + - !!python/tuple [29, 31] + - !!python/tuple [11, 27] + - !!python/tuple [9, 2] + - !!python/tuple [16, 30] + - !!python/tuple [1, 11] + - !!python/tuple [1, 6] + - !!python/tuple [28, 29] + - !!python/tuple [0, 22] + - !!python/tuple [17, 7] + - !!python/tuple [24, 20] + - !!python/tuple [22, 1] + - !!python/tuple [3, 0] + - !!python/tuple [11, 30] + - !!python/tuple [5, 10] + - !!python/tuple [1, 12] + - !!python/tuple [18, 31] + - !!python/tuple [30, 4] + - !!python/tuple [20, 17] + - !!python/tuple [7, 22] + - !!python/tuple [12, 5] + - !!python/tuple [25, 8] + - !!python/tuple [3, 23] + - !!python/tuple [7, 16] + - !!python/tuple [1, 3] + - !!python/tuple [16, 27] + - !!python/tuple [4, 25] + - !!python/tuple [19, 10] + - !!python/tuple [27, 10] + - !!python/tuple [5, 28] + - !!python/tuple [23, 17] + - !!python/tuple [6, 2] + - !!python/tuple [1, 1] + - !!python/tuple [3, 31] + - !!python/tuple [17, 28] + - !!python/tuple [29, 21] + - !!python/tuple [24, 30] + - !!python/tuple [4, 8] + - !!python/tuple [12, 18] + - !!python/tuple [23, 31] + - !!python/tuple [15, 13] + - !!python/tuple [16, 13] + - !!python/tuple [20, 20] + - !!python/tuple [7, 28] + - !!python/tuple [11, 15] + - !!python/tuple [25, 16] + - !!python/tuple [11, 3] + - !!python/tuple [6, 12] + - !!python/tuple [18, 7] + - !!python/tuple [25, 10] + - !!python/tuple [20, 9] + - !!python/tuple [9, 6] + - !!python/tuple [29, 18] + - !!python/tuple [3, 30] + - !!python/tuple [21, 4] + - !!python/tuple [20, 0] + - !!python/tuple [12, 28] + - !!python/tuple [7, 27] + - !!python/tuple [20, 16] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex57.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex57.yaml new file mode 100644 index 0000000..7246ca1 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex57.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [30, 8] + name: agent0 + start: [2, 9] +- goal: [30, 2] + name: agent1 + start: [21, 14] +- goal: [16, 2] + name: agent2 + start: [3, 9] +- goal: [3, 24] + name: agent3 + start: [16, 27] +- goal: [4, 15] + name: agent4 + start: [18, 15] +- goal: [28, 30] + name: agent5 + start: [16, 18] +- goal: [31, 7] + name: agent6 + start: [22, 29] +- goal: [16, 15] + name: agent7 + start: [27, 14] +- goal: [21, 26] + name: agent8 + start: [16, 31] +- goal: [13, 23] + name: agent9 + start: [9, 7] +- goal: [27, 10] + name: agent10 + start: [7, 26] +- goal: [27, 29] + name: agent11 + start: [10, 1] +- goal: [5, 22] + name: agent12 + start: [8, 16] +- goal: [6, 29] + name: agent13 + start: [23, 8] +- goal: [16, 14] + name: agent14 + start: [14, 22] +- goal: [2, 31] + name: agent15 + start: [9, 3] +- goal: [4, 2] + name: agent16 + start: [10, 29] +- goal: [12, 18] + name: agent17 + start: [20, 24] +- goal: [3, 23] + name: agent18 + start: [21, 10] +- goal: [0, 4] + name: agent19 + start: [3, 10] +- goal: [26, 18] + name: agent20 + start: [10, 6] +- goal: [13, 28] + name: agent21 + start: [0, 6] +- goal: [16, 13] + name: agent22 + start: [8, 19] +- goal: [15, 20] + name: agent23 + start: [19, 10] +- goal: [28, 27] + name: agent24 + start: [22, 15] +- goal: [22, 23] + name: agent25 + start: [26, 0] +- goal: [21, 29] + name: agent26 + start: [10, 8] +- goal: [29, 30] + name: agent27 + start: [29, 7] +- goal: [27, 30] + name: agent28 + start: [5, 3] +- goal: [23, 30] + name: agent29 + start: [5, 2] +- goal: [25, 23] + name: agent30 + start: [31, 9] +- goal: [7, 16] + name: agent31 + start: [13, 14] +- goal: [2, 17] + name: agent32 + start: [31, 25] +- goal: [22, 3] + name: agent33 + start: [3, 2] +- goal: [30, 30] + name: agent34 + start: [15, 31] +- goal: [10, 19] + name: agent35 + start: [9, 20] +- goal: [10, 20] + name: agent36 + start: [28, 3] +- goal: [18, 22] + name: agent37 + start: [24, 23] +- goal: [11, 21] + name: agent38 + start: [29, 26] +- goal: [27, 5] + name: agent39 + start: [8, 3] +- goal: [15, 23] + name: agent40 + start: [1, 22] +- goal: [20, 29] + name: agent41 + start: [30, 5] +- goal: [25, 29] + name: agent42 + start: [16, 10] +- goal: [30, 1] + name: agent43 + start: [2, 29] +- goal: [31, 5] + name: agent44 + start: [26, 30] +- goal: [9, 16] + name: agent45 + start: [24, 26] +- goal: [30, 27] + name: agent46 + start: [19, 22] +- goal: [13, 26] + name: agent47 + start: [27, 16] +- goal: [8, 11] + name: agent48 + start: [14, 15] +- goal: [9, 28] + name: agent49 + start: [19, 31] +- goal: [22, 18] + name: agent50 + start: [3, 0] +- goal: [24, 27] + name: agent51 + start: [12, 30] +- goal: [1, 15] + name: agent52 + start: [23, 24] +- goal: [11, 1] + name: agent53 + start: [30, 30] +- goal: [10, 25] + name: agent54 + start: [12, 16] +- goal: [4, 12] + name: agent55 + start: [4, 27] +- goal: [19, 16] + name: agent56 + start: [17, 22] +- goal: [0, 24] + name: agent57 + start: [26, 24] +- goal: [8, 9] + name: agent58 + start: [3, 25] +- goal: [2, 14] + name: agent59 + start: [24, 12] +- goal: [31, 30] + name: agent60 + start: [9, 26] +- goal: [27, 0] + name: agent61 + start: [15, 11] +- goal: [28, 31] + name: agent62 + start: [9, 11] +- goal: [2, 29] + name: agent63 + start: [18, 12] +- goal: [29, 4] + name: agent64 + start: [5, 0] +- goal: [5, 12] + name: agent65 + start: [17, 30] +- goal: [12, 13] + name: agent66 + start: [23, 5] +- goal: [26, 20] + name: agent67 + start: [15, 30] +- goal: [4, 6] + name: agent68 + start: [27, 11] +- goal: [21, 25] + name: agent69 + start: [27, 5] +- goal: [14, 8] + name: agent70 + start: [17, 21] +- goal: [21, 2] + name: agent71 + start: [16, 4] +- goal: [12, 11] + name: agent72 + start: [23, 28] +- goal: [19, 3] + name: agent73 + start: [0, 27] +- goal: [14, 19] + name: agent74 + start: [29, 16] +- goal: [21, 24] + name: agent75 + start: [23, 30] +- goal: [8, 17] + name: agent76 + start: [5, 6] +- goal: [2, 13] + name: agent77 + start: [14, 19] +- goal: [6, 12] + name: agent78 + start: [25, 3] +- goal: [21, 28] + name: agent79 + start: [17, 2] +- goal: [28, 20] + name: agent80 + start: [28, 6] +- goal: [28, 23] + name: agent81 + start: [26, 16] +- goal: [18, 21] + name: agent82 + start: [26, 29] +- goal: [28, 9] + name: agent83 + start: [14, 29] +- goal: [18, 9] + name: agent84 + start: [18, 0] +- goal: [25, 22] + name: agent85 + start: [13, 15] +- goal: [13, 31] + name: agent86 + start: [17, 6] +- goal: [14, 7] + name: agent87 + start: [10, 15] +- goal: [8, 22] + name: agent88 + start: [8, 22] +- goal: [10, 21] + name: agent89 + start: [22, 31] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [24, 31] + - !!python/tuple [21, 7] + - !!python/tuple [1, 11] + - !!python/tuple [0, 15] + - !!python/tuple [3, 7] + - !!python/tuple [22, 2] + - !!python/tuple [14, 16] + - !!python/tuple [19, 1] + - !!python/tuple [8, 30] + - !!python/tuple [0, 1] + - !!python/tuple [2, 30] + - !!python/tuple [26, 23] + - !!python/tuple [29, 27] + - !!python/tuple [20, 20] + - !!python/tuple [7, 4] + - !!python/tuple [27, 7] + - !!python/tuple [25, 6] + - !!python/tuple [5, 15] + - !!python/tuple [10, 3] + - !!python/tuple [14, 27] + - !!python/tuple [16, 5] + - !!python/tuple [20, 3] + - !!python/tuple [1, 6] + - !!python/tuple [14, 21] + - !!python/tuple [23, 26] + - !!python/tuple [3, 28] + - !!python/tuple [15, 13] + - !!python/tuple [9, 10] + - !!python/tuple [15, 24] + - !!python/tuple [20, 31] + - !!python/tuple [6, 19] + - !!python/tuple [22, 13] + - !!python/tuple [12, 25] + - !!python/tuple [3, 8] + - !!python/tuple [17, 11] + - !!python/tuple [29, 28] + - !!python/tuple [30, 25] + - !!python/tuple [30, 11] + - !!python/tuple [16, 19] + - !!python/tuple [13, 16] + - !!python/tuple [13, 4] + - !!python/tuple [11, 28] + - !!python/tuple [17, 26] + - !!python/tuple [0, 5] + - !!python/tuple [0, 8] + - !!python/tuple [14, 20] + - !!python/tuple [2, 12] + - !!python/tuple [1, 17] + - !!python/tuple [5, 19] + - !!python/tuple [7, 10] + - !!python/tuple [13, 22] + - !!python/tuple [28, 1] + - !!python/tuple [29, 14] + - !!python/tuple [6, 18] + - !!python/tuple [30, 19] + - !!python/tuple [21, 11] + - !!python/tuple [14, 13] + - !!python/tuple [16, 20] + - !!python/tuple [4, 22] + - !!python/tuple [4, 11] + - !!python/tuple [14, 28] + - !!python/tuple [24, 24] + - !!python/tuple [8, 26] + - !!python/tuple [16, 7] + - !!python/tuple [7, 29] + - !!python/tuple [2, 26] + - !!python/tuple [23, 29] + - !!python/tuple [4, 5] + - !!python/tuple [6, 11] + - !!python/tuple [5, 1] + - !!python/tuple [11, 29] + - !!python/tuple [5, 28] + - !!python/tuple [23, 7] + - !!python/tuple [2, 8] + - !!python/tuple [31, 2] + - !!python/tuple [7, 18] + - !!python/tuple [12, 15] + - !!python/tuple [5, 16] + - !!python/tuple [23, 21] + - !!python/tuple [26, 8] + - !!python/tuple [20, 26] + - !!python/tuple [0, 16] + - !!python/tuple [25, 19] + - !!python/tuple [17, 25] + - !!python/tuple [31, 20] + - !!python/tuple [19, 20] + - !!python/tuple [24, 0] + - !!python/tuple [10, 30] + - !!python/tuple [31, 18] + - !!python/tuple [4, 7] + - !!python/tuple [12, 1] + - !!python/tuple [1, 8] + - !!python/tuple [12, 9] + - !!python/tuple [0, 31] + - !!python/tuple [12, 5] + - !!python/tuple [30, 14] + - !!python/tuple [3, 18] + - !!python/tuple [1, 21] + - !!python/tuple [3, 26] + - !!python/tuple [29, 17] + - !!python/tuple [29, 3] + - !!python/tuple [15, 12] + - !!python/tuple [23, 2] + - !!python/tuple [2, 3] + - !!python/tuple [29, 13] + - !!python/tuple [1, 20] + - !!python/tuple [0, 0] + - !!python/tuple [8, 28] + - !!python/tuple [12, 17] + - !!python/tuple [25, 31] + - !!python/tuple [7, 8] + - !!python/tuple [16, 23] + - !!python/tuple [27, 27] + - !!python/tuple [30, 26] + - !!python/tuple [4, 1] + - !!python/tuple [25, 12] + - !!python/tuple [9, 18] + - !!python/tuple [21, 13] + - !!python/tuple [22, 24] + - !!python/tuple [26, 12] + - !!python/tuple [18, 19] + - !!python/tuple [28, 15] + - !!python/tuple [19, 27] + - !!python/tuple [20, 12] + - !!python/tuple [30, 7] + - !!python/tuple [1, 2] + - !!python/tuple [25, 28] + - !!python/tuple [7, 1] + - !!python/tuple [7, 11] + - !!python/tuple [12, 4] + - !!python/tuple [30, 28] + - !!python/tuple [12, 2] + - !!python/tuple [8, 29] + - !!python/tuple [29, 18] + - !!python/tuple [24, 17] + - !!python/tuple [5, 21] + - !!python/tuple [17, 19] + - !!python/tuple [4, 30] + - !!python/tuple [27, 25] + - !!python/tuple [18, 26] + - !!python/tuple [24, 14] + - !!python/tuple [7, 24] + - !!python/tuple [25, 21] + - !!python/tuple [26, 3] + - !!python/tuple [1, 24] + - !!python/tuple [11, 3] + - !!python/tuple [6, 9] + - !!python/tuple [9, 31] + - !!python/tuple [14, 2] + - !!python/tuple [3, 31] + - !!python/tuple [18, 2] + - !!python/tuple [15, 22] + - !!python/tuple [4, 19] + - !!python/tuple [9, 23] + - !!python/tuple [16, 11] + - !!python/tuple [16, 22] + - !!python/tuple [1, 28] + - !!python/tuple [31, 16] + - !!python/tuple [17, 1] + - !!python/tuple [23, 19] + - !!python/tuple [5, 24] + - !!python/tuple [26, 7] + - !!python/tuple [1, 0] + - !!python/tuple [9, 6] + - !!python/tuple [4, 21] + - !!python/tuple [5, 5] + - !!python/tuple [11, 18] + - !!python/tuple [22, 19] + - !!python/tuple [27, 23] + - !!python/tuple [8, 23] + - !!python/tuple [0, 22] + - !!python/tuple [26, 21] + - !!python/tuple [16, 21] + - !!python/tuple [5, 18] + - !!python/tuple [11, 27] + - !!python/tuple [17, 7] + - !!python/tuple [29, 19] + - !!python/tuple [28, 14] + - !!python/tuple [5, 8] + - !!python/tuple [1, 13] + - !!python/tuple [24, 6] + - !!python/tuple [0, 10] + - !!python/tuple [18, 27] + - !!python/tuple [18, 23] + - !!python/tuple [29, 10] + - !!python/tuple [7, 5] + - !!python/tuple [11, 30] + - !!python/tuple [25, 10] + - !!python/tuple [31, 24] + - !!python/tuple [0, 11] + - !!python/tuple [20, 9] + - !!python/tuple [29, 29] + - !!python/tuple [14, 11] + - !!python/tuple [21, 23] + - !!python/tuple [18, 31] + - !!python/tuple [29, 20] + - !!python/tuple [24, 2] + - !!python/tuple [21, 5] + - !!python/tuple [11, 22] + - !!python/tuple [20, 22] + - !!python/tuple [3, 29] + - !!python/tuple [18, 8] + - !!python/tuple [28, 4] + - !!python/tuple [0, 28] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex58.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex58.yaml new file mode 100644 index 0000000..9a178fe --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex58.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [30, 13] + name: agent0 + start: [20, 27] +- goal: [15, 29] + name: agent1 + start: [14, 18] +- goal: [26, 24] + name: agent2 + start: [19, 1] +- goal: [15, 3] + name: agent3 + start: [7, 0] +- goal: [2, 27] + name: agent4 + start: [30, 27] +- goal: [28, 31] + name: agent5 + start: [31, 2] +- goal: [12, 21] + name: agent6 + start: [18, 13] +- goal: [10, 20] + name: agent7 + start: [30, 6] +- goal: [27, 17] + name: agent8 + start: [25, 15] +- goal: [23, 20] + name: agent9 + start: [14, 23] +- goal: [25, 24] + name: agent10 + start: [20, 29] +- goal: [3, 20] + name: agent11 + start: [3, 4] +- goal: [10, 15] + name: agent12 + start: [1, 13] +- goal: [10, 30] + name: agent13 + start: [7, 4] +- goal: [23, 26] + name: agent14 + start: [14, 12] +- goal: [9, 21] + name: agent15 + start: [30, 28] +- goal: [13, 0] + name: agent16 + start: [29, 29] +- goal: [2, 1] + name: agent17 + start: [0, 16] +- goal: [3, 15] + name: agent18 + start: [25, 9] +- goal: [27, 16] + name: agent19 + start: [4, 23] +- goal: [12, 9] + name: agent20 + start: [1, 28] +- goal: [20, 29] + name: agent21 + start: [7, 5] +- goal: [28, 30] + name: agent22 + start: [11, 16] +- goal: [29, 11] + name: agent23 + start: [13, 20] +- goal: [30, 16] + name: agent24 + start: [8, 4] +- goal: [5, 18] + name: agent25 + start: [12, 16] +- goal: [17, 16] + name: agent26 + start: [12, 1] +- goal: [16, 5] + name: agent27 + start: [12, 18] +- goal: [18, 11] + name: agent28 + start: [1, 6] +- goal: [3, 3] + name: agent29 + start: [8, 17] +- goal: [9, 17] + name: agent30 + start: [21, 22] +- goal: [15, 1] + name: agent31 + start: [27, 14] +- goal: [10, 5] + name: agent32 + start: [15, 17] +- goal: [12, 12] + name: agent33 + start: [15, 24] +- goal: [24, 30] + name: agent34 + start: [1, 8] +- goal: [27, 8] + name: agent35 + start: [18, 29] +- goal: [12, 13] + name: agent36 + start: [3, 10] +- goal: [30, 3] + name: agent37 + start: [26, 16] +- goal: [27, 2] + name: agent38 + start: [31, 0] +- goal: [8, 23] + name: agent39 + start: [29, 26] +- goal: [8, 19] + name: agent40 + start: [12, 31] +- goal: [31, 20] + name: agent41 + start: [7, 17] +- goal: [8, 17] + name: agent42 + start: [6, 10] +- goal: [19, 27] + name: agent43 + start: [16, 1] +- goal: [1, 9] + name: agent44 + start: [4, 29] +- goal: [8, 2] + name: agent45 + start: [23, 23] +- goal: [7, 8] + name: agent46 + start: [28, 25] +- goal: [2, 3] + name: agent47 + start: [1, 14] +- goal: [2, 10] + name: agent48 + start: [28, 13] +- goal: [29, 29] + name: agent49 + start: [16, 15] +- goal: [1, 25] + name: agent50 + start: [0, 19] +- goal: [16, 16] + name: agent51 + start: [15, 5] +- goal: [19, 5] + name: agent52 + start: [1, 21] +- goal: [7, 30] + name: agent53 + start: [13, 22] +- goal: [15, 19] + name: agent54 + start: [13, 7] +- goal: [13, 15] + name: agent55 + start: [3, 28] +- goal: [3, 31] + name: agent56 + start: [7, 2] +- goal: [12, 31] + name: agent57 + start: [10, 2] +- goal: [11, 24] + name: agent58 + start: [5, 4] +- goal: [7, 1] + name: agent59 + start: [21, 27] +- goal: [11, 20] + name: agent60 + start: [21, 21] +- goal: [0, 18] + name: agent61 + start: [1, 23] +- goal: [28, 8] + name: agent62 + start: [17, 3] +- goal: [25, 4] + name: agent63 + start: [13, 16] +- goal: [15, 11] + name: agent64 + start: [0, 13] +- goal: [22, 15] + name: agent65 + start: [19, 4] +- goal: [30, 4] + name: agent66 + start: [8, 16] +- goal: [28, 1] + name: agent67 + start: [8, 8] +- goal: [23, 19] + name: agent68 + start: [13, 9] +- goal: [25, 7] + name: agent69 + start: [6, 28] +- goal: [12, 1] + name: agent70 + start: [3, 3] +- goal: [9, 29] + name: agent71 + start: [17, 19] +- goal: [12, 29] + name: agent72 + start: [28, 26] +- goal: [11, 31] + name: agent73 + start: [13, 3] +- goal: [4, 9] + name: agent74 + start: [24, 21] +- goal: [4, 12] + name: agent75 + start: [2, 8] +- goal: [10, 17] + name: agent76 + start: [30, 2] +- goal: [30, 27] + name: agent77 + start: [5, 7] +- goal: [28, 3] + name: agent78 + start: [21, 24] +- goal: [14, 4] + name: agent79 + start: [19, 26] +- goal: [2, 13] + name: agent80 + start: [15, 13] +- goal: [23, 12] + name: agent81 + start: [14, 5] +- goal: [27, 12] + name: agent82 + start: [15, 3] +- goal: [5, 13] + name: agent83 + start: [1, 31] +- goal: [0, 23] + name: agent84 + start: [20, 2] +- goal: [3, 29] + name: agent85 + start: [7, 31] +- goal: [4, 25] + name: agent86 + start: [8, 27] +- goal: [24, 28] + name: agent87 + start: [8, 31] +- goal: [13, 1] + name: agent88 + start: [0, 29] +- goal: [7, 6] + name: agent89 + start: [16, 0] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [15, 15] + - !!python/tuple [13, 10] + - !!python/tuple [21, 23] + - !!python/tuple [5, 15] + - !!python/tuple [15, 23] + - !!python/tuple [19, 18] + - !!python/tuple [8, 25] + - !!python/tuple [31, 26] + - !!python/tuple [9, 1] + - !!python/tuple [24, 29] + - !!python/tuple [16, 13] + - !!python/tuple [26, 2] + - !!python/tuple [31, 13] + - !!python/tuple [0, 5] + - !!python/tuple [8, 20] + - !!python/tuple [21, 3] + - !!python/tuple [28, 5] + - !!python/tuple [24, 26] + - !!python/tuple [18, 28] + - !!python/tuple [13, 19] + - !!python/tuple [14, 31] + - !!python/tuple [10, 18] + - !!python/tuple [12, 2] + - !!python/tuple [19, 11] + - !!python/tuple [9, 30] + - !!python/tuple [19, 29] + - !!python/tuple [13, 29] + - !!python/tuple [18, 19] + - !!python/tuple [7, 9] + - !!python/tuple [2, 25] + - !!python/tuple [17, 15] + - !!python/tuple [12, 14] + - !!python/tuple [24, 25] + - !!python/tuple [26, 21] + - !!python/tuple [2, 28] + - !!python/tuple [31, 11] + - !!python/tuple [2, 14] + - !!python/tuple [2, 30] + - !!python/tuple [25, 20] + - !!python/tuple [16, 17] + - !!python/tuple [8, 3] + - !!python/tuple [3, 12] + - !!python/tuple [29, 21] + - !!python/tuple [8, 13] + - !!python/tuple [9, 15] + - !!python/tuple [3, 19] + - !!python/tuple [28, 21] + - !!python/tuple [2, 4] + - !!python/tuple [15, 7] + - !!python/tuple [27, 4] + - !!python/tuple [29, 17] + - !!python/tuple [1, 16] + - !!python/tuple [5, 14] + - !!python/tuple [4, 18] + - !!python/tuple [20, 20] + - !!python/tuple [0, 8] + - !!python/tuple [13, 6] + - !!python/tuple [9, 22] + - !!python/tuple [18, 23] + - !!python/tuple [1, 15] + - !!python/tuple [12, 7] + - !!python/tuple [31, 5] + - !!python/tuple [22, 30] + - !!python/tuple [9, 23] + - !!python/tuple [5, 29] + - !!python/tuple [15, 31] + - !!python/tuple [4, 21] + - !!python/tuple [14, 26] + - !!python/tuple [18, 3] + - !!python/tuple [23, 25] + - !!python/tuple [10, 0] + - !!python/tuple [31, 6] + - !!python/tuple [8, 28] + - !!python/tuple [13, 14] + - !!python/tuple [24, 31] + - !!python/tuple [16, 4] + - !!python/tuple [16, 30] + - !!python/tuple [3, 30] + - !!python/tuple [2, 7] + - !!python/tuple [14, 3] + - !!python/tuple [23, 16] + - !!python/tuple [19, 7] + - !!python/tuple [18, 9] + - !!python/tuple [25, 3] + - !!python/tuple [6, 26] + - !!python/tuple [24, 15] + - !!python/tuple [2, 5] + - !!python/tuple [1, 1] + - !!python/tuple [14, 2] + - !!python/tuple [2, 21] + - !!python/tuple [13, 21] + - !!python/tuple [18, 10] + - !!python/tuple [0, 21] + - !!python/tuple [1, 17] + - !!python/tuple [28, 24] + - !!python/tuple [1, 29] + - !!python/tuple [11, 3] + - !!python/tuple [11, 6] + - !!python/tuple [20, 0] + - !!python/tuple [1, 7] + - !!python/tuple [9, 14] + - !!python/tuple [2, 9] + - !!python/tuple [10, 11] + - !!python/tuple [13, 28] + - !!python/tuple [16, 22] + - !!python/tuple [9, 28] + - !!python/tuple [2, 19] + - !!python/tuple [25, 19] + - !!python/tuple [6, 15] + - !!python/tuple [15, 6] + - !!python/tuple [3, 18] + - !!python/tuple [27, 13] + - !!python/tuple [27, 25] + - !!python/tuple [23, 15] + - !!python/tuple [20, 10] + - !!python/tuple [6, 13] + - !!python/tuple [31, 1] + - !!python/tuple [15, 18] + - !!python/tuple [6, 19] + - !!python/tuple [27, 6] + - !!python/tuple [27, 7] + - !!python/tuple [27, 0] + - !!python/tuple [30, 30] + - !!python/tuple [16, 10] + - !!python/tuple [21, 18] + - !!python/tuple [1, 10] + - !!python/tuple [19, 21] + - !!python/tuple [7, 27] + - !!python/tuple [4, 31] + - !!python/tuple [31, 21] + - !!python/tuple [9, 27] + - !!python/tuple [31, 15] + - !!python/tuple [13, 23] + - !!python/tuple [24, 1] + - !!python/tuple [9, 6] + - !!python/tuple [15, 21] + - !!python/tuple [14, 7] + - !!python/tuple [11, 23] + - !!python/tuple [11, 27] + - !!python/tuple [7, 15] + - !!python/tuple [20, 3] + - !!python/tuple [27, 26] + - !!python/tuple [31, 30] + - !!python/tuple [13, 26] + - !!python/tuple [10, 24] + - !!python/tuple [16, 14] + - !!python/tuple [11, 30] + - !!python/tuple [19, 23] + - !!python/tuple [5, 10] + - !!python/tuple [6, 2] + - !!python/tuple [22, 0] + - !!python/tuple [0, 27] + - !!python/tuple [28, 4] + - !!python/tuple [3, 25] + - !!python/tuple [21, 6] + - !!python/tuple [1, 2] + - !!python/tuple [17, 11] + - !!python/tuple [23, 0] + - !!python/tuple [25, 26] + - !!python/tuple [27, 24] + - !!python/tuple [0, 7] + - !!python/tuple [3, 9] + - !!python/tuple [8, 24] + - !!python/tuple [8, 11] + - !!python/tuple [9, 18] + - !!python/tuple [14, 8] + - !!python/tuple [5, 3] + - !!python/tuple [8, 29] + - !!python/tuple [2, 23] + - !!python/tuple [23, 30] + - !!python/tuple [14, 9] + - !!python/tuple [5, 1] + - !!python/tuple [28, 14] + - !!python/tuple [17, 26] + - !!python/tuple [20, 22] + - !!python/tuple [14, 14] + - !!python/tuple [9, 7] + - !!python/tuple [26, 22] + - !!python/tuple [5, 30] + - !!python/tuple [4, 16] + - !!python/tuple [10, 23] + - !!python/tuple [25, 22] + - !!python/tuple [20, 11] + - !!python/tuple [24, 4] + - !!python/tuple [4, 1] + - !!python/tuple [18, 17] + - !!python/tuple [7, 14] + - !!python/tuple [23, 14] + - !!python/tuple [29, 24] + - !!python/tuple [15, 27] + - !!python/tuple [17, 18] + - !!python/tuple [14, 21] + - !!python/tuple [29, 31] + - !!python/tuple [28, 19] + - !!python/tuple [16, 24] + - !!python/tuple [23, 9] + - !!python/tuple [0, 20] + - !!python/tuple [2, 29] + - !!python/tuple [23, 11] + - !!python/tuple [16, 21] + - !!python/tuple [9, 12] + - !!python/tuple [3, 17] + - !!python/tuple [27, 15] + - !!python/tuple [21, 13] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex59.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex59.yaml new file mode 100644 index 0000000..a2ce0b6 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex59.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [18, 1] + name: agent0 + start: [1, 26] +- goal: [11, 11] + name: agent1 + start: [17, 12] +- goal: [16, 16] + name: agent2 + start: [16, 29] +- goal: [25, 13] + name: agent3 + start: [15, 29] +- goal: [3, 11] + name: agent4 + start: [7, 5] +- goal: [31, 31] + name: agent5 + start: [13, 4] +- goal: [11, 31] + name: agent6 + start: [27, 14] +- goal: [4, 27] + name: agent7 + start: [7, 20] +- goal: [0, 23] + name: agent8 + start: [29, 3] +- goal: [4, 5] + name: agent9 + start: [14, 27] +- goal: [12, 14] + name: agent10 + start: [12, 25] +- goal: [23, 12] + name: agent11 + start: [10, 29] +- goal: [23, 21] + name: agent12 + start: [4, 2] +- goal: [27, 3] + name: agent13 + start: [18, 21] +- goal: [30, 26] + name: agent14 + start: [7, 14] +- goal: [26, 0] + name: agent15 + start: [19, 17] +- goal: [31, 24] + name: agent16 + start: [13, 24] +- goal: [27, 10] + name: agent17 + start: [4, 15] +- goal: [22, 30] + name: agent18 + start: [24, 10] +- goal: [28, 9] + name: agent19 + start: [23, 11] +- goal: [23, 13] + name: agent20 + start: [27, 3] +- goal: [13, 1] + name: agent21 + start: [12, 30] +- goal: [1, 15] + name: agent22 + start: [21, 18] +- goal: [24, 1] + name: agent23 + start: [16, 26] +- goal: [22, 7] + name: agent24 + start: [18, 22] +- goal: [15, 10] + name: agent25 + start: [28, 2] +- goal: [20, 17] + name: agent26 + start: [28, 8] +- goal: [3, 29] + name: agent27 + start: [17, 17] +- goal: [19, 8] + name: agent28 + start: [4, 22] +- goal: [13, 21] + name: agent29 + start: [12, 8] +- goal: [30, 18] + name: agent30 + start: [15, 3] +- goal: [29, 18] + name: agent31 + start: [31, 26] +- goal: [17, 23] + name: agent32 + start: [15, 2] +- goal: [8, 9] + name: agent33 + start: [20, 22] +- goal: [28, 12] + name: agent34 + start: [15, 15] +- goal: [7, 24] + name: agent35 + start: [30, 31] +- goal: [19, 2] + name: agent36 + start: [26, 8] +- goal: [6, 29] + name: agent37 + start: [14, 0] +- goal: [17, 15] + name: agent38 + start: [9, 5] +- goal: [17, 5] + name: agent39 + start: [5, 2] +- goal: [10, 15] + name: agent40 + start: [7, 31] +- goal: [4, 20] + name: agent41 + start: [30, 9] +- goal: [3, 27] + name: agent42 + start: [20, 3] +- goal: [9, 8] + name: agent43 + start: [18, 7] +- goal: [28, 15] + name: agent44 + start: [23, 1] +- goal: [22, 23] + name: agent45 + start: [11, 19] +- goal: [9, 13] + name: agent46 + start: [18, 6] +- goal: [11, 8] + name: agent47 + start: [15, 7] +- goal: [15, 0] + name: agent48 + start: [6, 8] +- goal: [4, 17] + name: agent49 + start: [16, 21] +- goal: [28, 26] + name: agent50 + start: [6, 27] +- goal: [2, 22] + name: agent51 + start: [2, 20] +- goal: [3, 6] + name: agent52 + start: [10, 2] +- goal: [7, 20] + name: agent53 + start: [1, 14] +- goal: [21, 18] + name: agent54 + start: [20, 1] +- goal: [7, 25] + name: agent55 + start: [16, 22] +- goal: [30, 24] + name: agent56 + start: [0, 15] +- goal: [23, 15] + name: agent57 + start: [11, 9] +- goal: [3, 5] + name: agent58 + start: [29, 25] +- goal: [8, 2] + name: agent59 + start: [26, 10] +- goal: [26, 8] + name: agent60 + start: [14, 9] +- goal: [15, 14] + name: agent61 + start: [23, 15] +- goal: [13, 24] + name: agent62 + start: [26, 17] +- goal: [8, 11] + name: agent63 + start: [4, 26] +- goal: [29, 10] + name: agent64 + start: [6, 19] +- goal: [17, 21] + name: agent65 + start: [12, 2] +- goal: [24, 30] + name: agent66 + start: [24, 21] +- goal: [8, 3] + name: agent67 + start: [19, 18] +- goal: [27, 14] + name: agent68 + start: [8, 16] +- goal: [16, 24] + name: agent69 + start: [7, 21] +- goal: [6, 11] + name: agent70 + start: [25, 2] +- goal: [1, 26] + name: agent71 + start: [0, 12] +- goal: [24, 5] + name: agent72 + start: [11, 8] +- goal: [21, 17] + name: agent73 + start: [1, 13] +- goal: [18, 10] + name: agent74 + start: [9, 21] +- goal: [3, 13] + name: agent75 + start: [2, 28] +- goal: [3, 28] + name: agent76 + start: [19, 11] +- goal: [15, 8] + name: agent77 + start: [19, 1] +- goal: [23, 22] + name: agent78 + start: [31, 18] +- goal: [23, 24] + name: agent79 + start: [24, 16] +- goal: [3, 20] + name: agent80 + start: [2, 11] +- goal: [29, 9] + name: agent81 + start: [5, 30] +- goal: [13, 8] + name: agent82 + start: [26, 9] +- goal: [24, 13] + name: agent83 + start: [13, 7] +- goal: [23, 10] + name: agent84 + start: [31, 23] +- goal: [17, 10] + name: agent85 + start: [8, 1] +- goal: [31, 4] + name: agent86 + start: [4, 27] +- goal: [23, 11] + name: agent87 + start: [0, 26] +- goal: [6, 9] + name: agent88 + start: [11, 22] +- goal: [12, 2] + name: agent89 + start: [6, 5] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [13, 16] + - !!python/tuple [12, 10] + - !!python/tuple [0, 0] + - !!python/tuple [3, 19] + - !!python/tuple [10, 0] + - !!python/tuple [29, 28] + - !!python/tuple [8, 22] + - !!python/tuple [16, 7] + - !!python/tuple [0, 9] + - !!python/tuple [23, 8] + - !!python/tuple [4, 23] + - !!python/tuple [15, 31] + - !!python/tuple [29, 5] + - !!python/tuple [24, 18] + - !!python/tuple [21, 7] + - !!python/tuple [0, 13] + - !!python/tuple [17, 31] + - !!python/tuple [27, 25] + - !!python/tuple [10, 9] + - !!python/tuple [31, 9] + - !!python/tuple [2, 26] + - !!python/tuple [2, 30] + - !!python/tuple [26, 15] + - !!python/tuple [28, 31] + - !!python/tuple [16, 12] + - !!python/tuple [28, 27] + - !!python/tuple [6, 31] + - !!python/tuple [31, 12] + - !!python/tuple [12, 24] + - !!python/tuple [15, 21] + - !!python/tuple [7, 28] + - !!python/tuple [6, 15] + - !!python/tuple [26, 20] + - !!python/tuple [6, 20] + - !!python/tuple [25, 4] + - !!python/tuple [25, 1] + - !!python/tuple [13, 5] + - !!python/tuple [19, 4] + - !!python/tuple [7, 0] + - !!python/tuple [18, 27] + - !!python/tuple [14, 19] + - !!python/tuple [0, 4] + - !!python/tuple [30, 14] + - !!python/tuple [8, 24] + - !!python/tuple [28, 29] + - !!python/tuple [1, 27] + - !!python/tuple [4, 18] + - !!python/tuple [21, 0] + - !!python/tuple [7, 19] + - !!python/tuple [12, 0] + - !!python/tuple [30, 16] + - !!python/tuple [12, 27] + - !!python/tuple [11, 13] + - !!python/tuple [6, 22] + - !!python/tuple [11, 10] + - !!python/tuple [16, 18] + - !!python/tuple [6, 4] + - !!python/tuple [25, 31] + - !!python/tuple [1, 2] + - !!python/tuple [28, 0] + - !!python/tuple [3, 4] + - !!python/tuple [8, 31] + - !!python/tuple [27, 12] + - !!python/tuple [20, 4] + - !!python/tuple [14, 15] + - !!python/tuple [14, 11] + - !!python/tuple [18, 0] + - !!python/tuple [15, 19] + - !!python/tuple [23, 5] + - !!python/tuple [3, 24] + - !!python/tuple [10, 19] + - !!python/tuple [29, 30] + - !!python/tuple [19, 10] + - !!python/tuple [29, 8] + - !!python/tuple [1, 18] + - !!python/tuple [4, 9] + - !!python/tuple [2, 1] + - !!python/tuple [23, 2] + - !!python/tuple [4, 10] + - !!python/tuple [10, 31] + - !!python/tuple [18, 17] + - !!python/tuple [31, 3] + - !!python/tuple [22, 15] + - !!python/tuple [12, 18] + - !!python/tuple [29, 7] + - !!python/tuple [30, 13] + - !!python/tuple [25, 17] + - !!python/tuple [17, 8] + - !!python/tuple [3, 10] + - !!python/tuple [18, 9] + - !!python/tuple [16, 30] + - !!python/tuple [19, 22] + - !!python/tuple [11, 1] + - !!python/tuple [31, 16] + - !!python/tuple [14, 29] + - !!python/tuple [21, 28] + - !!python/tuple [11, 6] + - !!python/tuple [11, 29] + - !!python/tuple [29, 2] + - !!python/tuple [13, 12] + - !!python/tuple [2, 5] + - !!python/tuple [12, 29] + - !!python/tuple [12, 28] + - !!python/tuple [7, 22] + - !!python/tuple [2, 6] + - !!python/tuple [6, 23] + - !!python/tuple [5, 1] + - !!python/tuple [20, 27] + - !!python/tuple [10, 12] + - !!python/tuple [4, 28] + - !!python/tuple [19, 0] + - !!python/tuple [4, 12] + - !!python/tuple [22, 27] + - !!python/tuple [22, 10] + - !!python/tuple [6, 24] + - !!python/tuple [28, 28] + - !!python/tuple [27, 9] + - !!python/tuple [22, 12] + - !!python/tuple [2, 2] + - !!python/tuple [3, 31] + - !!python/tuple [5, 27] + - !!python/tuple [6, 2] + - !!python/tuple [11, 24] + - !!python/tuple [2, 3] + - !!python/tuple [20, 7] + - !!python/tuple [18, 18] + - !!python/tuple [22, 16] + - !!python/tuple [12, 7] + - !!python/tuple [1, 4] + - !!python/tuple [8, 14] + - !!python/tuple [24, 23] + - !!python/tuple [28, 20] + - !!python/tuple [25, 7] + - !!python/tuple [25, 19] + - !!python/tuple [9, 14] + - !!python/tuple [7, 18] + - !!python/tuple [27, 0] + - !!python/tuple [23, 28] + - !!python/tuple [25, 29] + - !!python/tuple [3, 22] + - !!python/tuple [15, 26] + - !!python/tuple [16, 31] + - !!python/tuple [28, 25] + - !!python/tuple [26, 28] + - !!python/tuple [20, 12] + - !!python/tuple [5, 23] + - !!python/tuple [27, 26] + - !!python/tuple [2, 4] + - !!python/tuple [6, 30] + - !!python/tuple [20, 10] + - !!python/tuple [12, 6] + - !!python/tuple [15, 18] + - !!python/tuple [20, 31] + - !!python/tuple [5, 29] + - !!python/tuple [15, 22] + - !!python/tuple [8, 0] + - !!python/tuple [26, 24] + - !!python/tuple [31, 6] + - !!python/tuple [27, 18] + - !!python/tuple [28, 6] + - !!python/tuple [19, 9] + - !!python/tuple [29, 11] + - !!python/tuple [18, 26] + - !!python/tuple [0, 17] + - !!python/tuple [31, 30] + - !!python/tuple [0, 16] + - !!python/tuple [7, 9] + - !!python/tuple [10, 16] + - !!python/tuple [12, 21] + - !!python/tuple [10, 20] + - !!python/tuple [5, 7] + - !!python/tuple [25, 21] + - !!python/tuple [2, 21] + - !!python/tuple [4, 16] + - !!python/tuple [3, 1] + - !!python/tuple [25, 16] + - !!python/tuple [12, 9] + - !!python/tuple [6, 12] + - !!python/tuple [6, 25] + - !!python/tuple [14, 23] + - !!python/tuple [1, 20] + - !!python/tuple [4, 7] + - !!python/tuple [13, 23] + - !!python/tuple [14, 1] + - !!python/tuple [11, 15] + - !!python/tuple [1, 21] + - !!python/tuple [17, 2] + - !!python/tuple [7, 12] + - !!python/tuple [24, 14] + - !!python/tuple [19, 7] + - !!python/tuple [28, 14] + - !!python/tuple [1, 25] + - !!python/tuple [28, 23] + - !!python/tuple [24, 8] + - !!python/tuple [17, 28] + - !!python/tuple [9, 2] + - !!python/tuple [14, 18] + - !!python/tuple [24, 28] + - !!python/tuple [9, 7] + - !!python/tuple [25, 27] + - !!python/tuple [28, 5] + - !!python/tuple [26, 11] + - !!python/tuple [0, 19] + - !!python/tuple [0, 30] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex6.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex6.yaml new file mode 100644 index 0000000..26ba826 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex6.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [14, 20] + name: agent0 + start: [19, 27] +- goal: [27, 18] + name: agent1 + start: [18, 3] +- goal: [26, 20] + name: agent2 + start: [12, 27] +- goal: [29, 19] + name: agent3 + start: [10, 0] +- goal: [1, 31] + name: agent4 + start: [13, 5] +- goal: [3, 1] + name: agent5 + start: [8, 1] +- goal: [25, 26] + name: agent6 + start: [24, 4] +- goal: [22, 3] + name: agent7 + start: [11, 8] +- goal: [2, 26] + name: agent8 + start: [28, 31] +- goal: [23, 23] + name: agent9 + start: [4, 30] +- goal: [9, 3] + name: agent10 + start: [26, 19] +- goal: [3, 11] + name: agent11 + start: [1, 16] +- goal: [3, 30] + name: agent12 + start: [22, 9] +- goal: [15, 8] + name: agent13 + start: [0, 30] +- goal: [16, 18] + name: agent14 + start: [18, 14] +- goal: [28, 8] + name: agent15 + start: [18, 2] +- goal: [11, 6] + name: agent16 + start: [14, 1] +- goal: [21, 12] + name: agent17 + start: [17, 14] +- goal: [24, 30] + name: agent18 + start: [0, 11] +- goal: [2, 10] + name: agent19 + start: [16, 11] +- goal: [9, 28] + name: agent20 + start: [24, 26] +- goal: [16, 28] + name: agent21 + start: [9, 8] +- goal: [12, 9] + name: agent22 + start: [2, 21] +- goal: [8, 13] + name: agent23 + start: [22, 15] +- goal: [22, 9] + name: agent24 + start: [25, 9] +- goal: [22, 0] + name: agent25 + start: [22, 26] +- goal: [13, 15] + name: agent26 + start: [6, 15] +- goal: [1, 1] + name: agent27 + start: [5, 4] +- goal: [1, 21] + name: agent28 + start: [31, 21] +- goal: [0, 26] + name: agent29 + start: [14, 4] +- goal: [18, 24] + name: agent30 + start: [12, 24] +- goal: [27, 27] + name: agent31 + start: [3, 21] +- goal: [22, 28] + name: agent32 + start: [20, 9] +- goal: [2, 11] + name: agent33 + start: [0, 0] +- goal: [10, 16] + name: agent34 + start: [24, 22] +- goal: [18, 27] + name: agent35 + start: [23, 19] +- goal: [0, 27] + name: agent36 + start: [5, 11] +- goal: [7, 20] + name: agent37 + start: [19, 28] +- goal: [10, 3] + name: agent38 + start: [31, 12] +- goal: [15, 22] + name: agent39 + start: [5, 17] +- goal: [20, 10] + name: agent40 + start: [18, 31] +- goal: [3, 3] + name: agent41 + start: [7, 28] +- goal: [26, 19] + name: agent42 + start: [20, 16] +- goal: [22, 21] + name: agent43 + start: [12, 10] +- goal: [22, 15] + name: agent44 + start: [28, 11] +- goal: [25, 3] + name: agent45 + start: [30, 20] +- goal: [1, 4] + name: agent46 + start: [18, 30] +- goal: [10, 30] + name: agent47 + start: [16, 31] +- goal: [1, 19] + name: agent48 + start: [21, 20] +- goal: [3, 2] + name: agent49 + start: [16, 18] +- goal: [0, 21] + name: agent50 + start: [18, 21] +- goal: [27, 10] + name: agent51 + start: [12, 5] +- goal: [19, 19] + name: agent52 + start: [4, 0] +- goal: [10, 20] + name: agent53 + start: [29, 11] +- goal: [7, 13] + name: agent54 + start: [12, 4] +- goal: [4, 21] + name: agent55 + start: [21, 19] +- goal: [26, 26] + name: agent56 + start: [21, 4] +- goal: [0, 5] + name: agent57 + start: [21, 6] +- goal: [4, 6] + name: agent58 + start: [25, 14] +- goal: [2, 2] + name: agent59 + start: [19, 25] +- goal: [25, 16] + name: agent60 + start: [12, 29] +- goal: [9, 20] + name: agent61 + start: [5, 10] +- goal: [27, 2] + name: agent62 + start: [21, 24] +- goal: [18, 9] + name: agent63 + start: [27, 24] +- goal: [17, 30] + name: agent64 + start: [5, 3] +- goal: [17, 12] + name: agent65 + start: [19, 7] +- goal: [24, 20] + name: agent66 + start: [11, 9] +- goal: [0, 12] + name: agent67 + start: [22, 8] +- goal: [20, 30] + name: agent68 + start: [10, 16] +- goal: [29, 4] + name: agent69 + start: [13, 15] +- goal: [16, 25] + name: agent70 + start: [25, 28] +- goal: [25, 11] + name: agent71 + start: [7, 11] +- goal: [19, 21] + name: agent72 + start: [5, 30] +- goal: [20, 23] + name: agent73 + start: [21, 7] +- goal: [4, 11] + name: agent74 + start: [23, 5] +- goal: [21, 5] + name: agent75 + start: [21, 27] +- goal: [2, 1] + name: agent76 + start: [19, 5] +- goal: [30, 18] + name: agent77 + start: [15, 1] +- goal: [25, 15] + name: agent78 + start: [24, 24] +- goal: [1, 12] + name: agent79 + start: [10, 23] +- goal: [17, 19] + name: agent80 + start: [28, 9] +- goal: [31, 15] + name: agent81 + start: [16, 15] +- goal: [6, 17] + name: agent82 + start: [15, 20] +- goal: [11, 4] + name: agent83 + start: [31, 13] +- goal: [12, 26] + name: agent84 + start: [18, 16] +- goal: [20, 2] + name: agent85 + start: [4, 20] +- goal: [13, 8] + name: agent86 + start: [17, 5] +- goal: [29, 0] + name: agent87 + start: [23, 1] +- goal: [8, 3] + name: agent88 + start: [29, 15] +- goal: [11, 1] + name: agent89 + start: [31, 6] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [18, 12] + - !!python/tuple [29, 31] + - !!python/tuple [7, 24] + - !!python/tuple [19, 10] + - !!python/tuple [1, 9] + - !!python/tuple [27, 7] + - !!python/tuple [22, 18] + - !!python/tuple [31, 1] + - !!python/tuple [10, 26] + - !!python/tuple [7, 16] + - !!python/tuple [31, 11] + - !!python/tuple [12, 20] + - !!python/tuple [7, 3] + - !!python/tuple [8, 10] + - !!python/tuple [16, 5] + - !!python/tuple [6, 24] + - !!python/tuple [27, 20] + - !!python/tuple [31, 24] + - !!python/tuple [23, 31] + - !!python/tuple [18, 28] + - !!python/tuple [20, 31] + - !!python/tuple [15, 7] + - !!python/tuple [19, 23] + - !!python/tuple [16, 21] + - !!python/tuple [31, 25] + - !!python/tuple [11, 24] + - !!python/tuple [23, 16] + - !!python/tuple [29, 13] + - !!python/tuple [20, 18] + - !!python/tuple [13, 29] + - !!python/tuple [23, 29] + - !!python/tuple [28, 0] + - !!python/tuple [19, 30] + - !!python/tuple [6, 27] + - !!python/tuple [0, 19] + - !!python/tuple [25, 5] + - !!python/tuple [25, 19] + - !!python/tuple [11, 18] + - !!python/tuple [3, 22] + - !!python/tuple [30, 25] + - !!python/tuple [28, 22] + - !!python/tuple [14, 25] + - !!python/tuple [26, 10] + - !!python/tuple [15, 19] + - !!python/tuple [16, 26] + - !!python/tuple [5, 21] + - !!python/tuple [24, 11] + - !!python/tuple [16, 19] + - !!python/tuple [1, 5] + - !!python/tuple [14, 18] + - !!python/tuple [1, 22] + - !!python/tuple [31, 26] + - !!python/tuple [1, 18] + - !!python/tuple [16, 9] + - !!python/tuple [0, 28] + - !!python/tuple [10, 22] + - !!python/tuple [3, 15] + - !!python/tuple [17, 20] + - !!python/tuple [1, 17] + - !!python/tuple [29, 30] + - !!python/tuple [15, 14] + - !!python/tuple [2, 8] + - !!python/tuple [4, 17] + - !!python/tuple [19, 1] + - !!python/tuple [7, 1] + - !!python/tuple [8, 20] + - !!python/tuple [19, 22] + - !!python/tuple [11, 23] + - !!python/tuple [16, 12] + - !!python/tuple [22, 7] + - !!python/tuple [28, 13] + - !!python/tuple [12, 11] + - !!python/tuple [14, 10] + - !!python/tuple [8, 6] + - !!python/tuple [28, 17] + - !!python/tuple [24, 16] + - !!python/tuple [17, 10] + - !!python/tuple [23, 0] + - !!python/tuple [0, 14] + - !!python/tuple [26, 28] + - !!python/tuple [25, 4] + - !!python/tuple [21, 28] + - !!python/tuple [30, 6] + - !!python/tuple [16, 4] + - !!python/tuple [14, 31] + - !!python/tuple [26, 17] + - !!python/tuple [4, 19] + - !!python/tuple [19, 3] + - !!python/tuple [11, 29] + - !!python/tuple [14, 16] + - !!python/tuple [7, 27] + - !!python/tuple [20, 1] + - !!python/tuple [27, 11] + - !!python/tuple [27, 31] + - !!python/tuple [30, 11] + - !!python/tuple [7, 0] + - !!python/tuple [4, 3] + - !!python/tuple [13, 10] + - !!python/tuple [1, 7] + - !!python/tuple [20, 5] + - !!python/tuple [24, 29] + - !!python/tuple [27, 16] + - !!python/tuple [9, 15] + - !!python/tuple [26, 12] + - !!python/tuple [26, 23] + - !!python/tuple [24, 21] + - !!python/tuple [14, 0] + - !!python/tuple [10, 28] + - !!python/tuple [24, 5] + - !!python/tuple [27, 9] + - !!python/tuple [26, 7] + - !!python/tuple [10, 21] + - !!python/tuple [14, 13] + - !!python/tuple [7, 4] + - !!python/tuple [10, 7] + - !!python/tuple [27, 28] + - !!python/tuple [28, 7] + - !!python/tuple [24, 3] + - !!python/tuple [11, 5] + - !!python/tuple [14, 27] + - !!python/tuple [6, 26] + - !!python/tuple [22, 22] + - !!python/tuple [19, 18] + - !!python/tuple [15, 15] + - !!python/tuple [18, 8] + - !!python/tuple [12, 15] + - !!python/tuple [5, 29] + - !!python/tuple [23, 24] + - !!python/tuple [19, 20] + - !!python/tuple [10, 24] + - !!python/tuple [5, 18] + - !!python/tuple [13, 19] + - !!python/tuple [0, 13] + - !!python/tuple [10, 9] + - !!python/tuple [19, 2] + - !!python/tuple [17, 1] + - !!python/tuple [22, 23] + - !!python/tuple [30, 12] + - !!python/tuple [21, 25] + - !!python/tuple [26, 16] + - !!python/tuple [3, 9] + - !!python/tuple [12, 0] + - !!python/tuple [2, 6] + - !!python/tuple [8, 26] + - !!python/tuple [3, 24] + - !!python/tuple [4, 22] + - !!python/tuple [26, 14] + - !!python/tuple [15, 6] + - !!python/tuple [10, 12] + - !!python/tuple [27, 22] + - !!python/tuple [26, 29] + - !!python/tuple [19, 14] + - !!python/tuple [24, 28] + - !!python/tuple [7, 19] + - !!python/tuple [8, 7] + - !!python/tuple [21, 13] + - !!python/tuple [5, 1] + - !!python/tuple [2, 19] + - !!python/tuple [24, 9] + - !!python/tuple [6, 29] + - !!python/tuple [30, 8] + - !!python/tuple [24, 19] + - !!python/tuple [5, 31] + - !!python/tuple [29, 20] + - !!python/tuple [9, 1] + - !!python/tuple [1, 28] + - !!python/tuple [22, 1] + - !!python/tuple [29, 16] + - !!python/tuple [11, 12] + - !!python/tuple [30, 31] + - !!python/tuple [11, 10] + - !!python/tuple [12, 6] + - !!python/tuple [27, 17] + - !!python/tuple [10, 15] + - !!python/tuple [6, 10] + - !!python/tuple [27, 6] + - !!python/tuple [27, 29] + - !!python/tuple [8, 0] + - !!python/tuple [31, 22] + - !!python/tuple [5, 9] + - !!python/tuple [0, 2] + - !!python/tuple [9, 0] + - !!python/tuple [7, 18] + - !!python/tuple [31, 23] + - !!python/tuple [20, 3] + - !!python/tuple [13, 23] + - !!python/tuple [26, 24] + - !!python/tuple [28, 24] + - !!python/tuple [15, 0] + - !!python/tuple [6, 3] + - !!python/tuple [24, 2] + - !!python/tuple [21, 18] + - !!python/tuple [15, 5] + - !!python/tuple [15, 24] + - !!python/tuple [17, 0] + - !!python/tuple [8, 22] + - !!python/tuple [28, 4] + - !!python/tuple [26, 11] + - !!python/tuple [1, 2] + - !!python/tuple [16, 13] + - !!python/tuple [22, 6] + - !!python/tuple [4, 14] + - !!python/tuple [29, 21] + - !!python/tuple [26, 22] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex60.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex60.yaml new file mode 100644 index 0000000..7670db1 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex60.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [31, 27] + name: agent0 + start: [4, 16] +- goal: [11, 15] + name: agent1 + start: [3, 16] +- goal: [19, 13] + name: agent2 + start: [17, 29] +- goal: [24, 10] + name: agent3 + start: [6, 23] +- goal: [30, 3] + name: agent4 + start: [6, 5] +- goal: [6, 10] + name: agent5 + start: [14, 27] +- goal: [29, 8] + name: agent6 + start: [2, 13] +- goal: [22, 7] + name: agent7 + start: [16, 27] +- goal: [1, 22] + name: agent8 + start: [7, 7] +- goal: [18, 11] + name: agent9 + start: [14, 15] +- goal: [1, 28] + name: agent10 + start: [30, 29] +- goal: [18, 13] + name: agent11 + start: [11, 22] +- goal: [11, 31] + name: agent12 + start: [2, 3] +- goal: [30, 5] + name: agent13 + start: [5, 18] +- goal: [19, 24] + name: agent14 + start: [26, 3] +- goal: [4, 18] + name: agent15 + start: [4, 14] +- goal: [1, 13] + name: agent16 + start: [26, 23] +- goal: [29, 24] + name: agent17 + start: [16, 30] +- goal: [6, 24] + name: agent18 + start: [6, 20] +- goal: [31, 14] + name: agent19 + start: [9, 2] +- goal: [18, 20] + name: agent20 + start: [5, 31] +- goal: [22, 17] + name: agent21 + start: [18, 24] +- goal: [7, 26] + name: agent22 + start: [12, 7] +- goal: [20, 8] + name: agent23 + start: [19, 31] +- goal: [21, 24] + name: agent24 + start: [20, 27] +- goal: [5, 12] + name: agent25 + start: [9, 7] +- goal: [0, 25] + name: agent26 + start: [2, 6] +- goal: [1, 4] + name: agent27 + start: [7, 4] +- goal: [2, 6] + name: agent28 + start: [24, 29] +- goal: [28, 3] + name: agent29 + start: [7, 13] +- goal: [14, 27] + name: agent30 + start: [26, 30] +- goal: [4, 11] + name: agent31 + start: [26, 7] +- goal: [5, 27] + name: agent32 + start: [11, 7] +- goal: [15, 8] + name: agent33 + start: [6, 9] +- goal: [8, 18] + name: agent34 + start: [31, 30] +- goal: [5, 6] + name: agent35 + start: [6, 19] +- goal: [26, 18] + name: agent36 + start: [4, 4] +- goal: [2, 27] + name: agent37 + start: [27, 11] +- goal: [11, 16] + name: agent38 + start: [16, 12] +- goal: [18, 21] + name: agent39 + start: [8, 22] +- goal: [14, 11] + name: agent40 + start: [10, 25] +- goal: [11, 24] + name: agent41 + start: [9, 5] +- goal: [12, 9] + name: agent42 + start: [0, 19] +- goal: [9, 17] + name: agent43 + start: [18, 7] +- goal: [21, 11] + name: agent44 + start: [18, 5] +- goal: [29, 19] + name: agent45 + start: [17, 28] +- goal: [10, 1] + name: agent46 + start: [2, 8] +- goal: [17, 19] + name: agent47 + start: [13, 8] +- goal: [29, 15] + name: agent48 + start: [22, 27] +- goal: [14, 24] + name: agent49 + start: [13, 15] +- goal: [23, 0] + name: agent50 + start: [13, 7] +- goal: [19, 17] + name: agent51 + start: [21, 29] +- goal: [24, 2] + name: agent52 + start: [19, 16] +- goal: [15, 12] + name: agent53 + start: [29, 20] +- goal: [13, 25] + name: agent54 + start: [13, 27] +- goal: [29, 23] + name: agent55 + start: [31, 9] +- goal: [1, 3] + name: agent56 + start: [20, 6] +- goal: [17, 14] + name: agent57 + start: [10, 12] +- goal: [24, 22] + name: agent58 + start: [17, 17] +- goal: [15, 31] + name: agent59 + start: [29, 5] +- goal: [20, 6] + name: agent60 + start: [19, 7] +- goal: [25, 5] + name: agent61 + start: [29, 7] +- goal: [7, 1] + name: agent62 + start: [0, 27] +- goal: [30, 24] + name: agent63 + start: [7, 5] +- goal: [20, 24] + name: agent64 + start: [9, 30] +- goal: [24, 27] + name: agent65 + start: [25, 28] +- goal: [5, 22] + name: agent66 + start: [18, 18] +- goal: [7, 25] + name: agent67 + start: [8, 30] +- goal: [29, 29] + name: agent68 + start: [3, 2] +- goal: [23, 29] + name: agent69 + start: [12, 6] +- goal: [0, 13] + name: agent70 + start: [6, 24] +- goal: [15, 10] + name: agent71 + start: [0, 23] +- goal: [14, 18] + name: agent72 + start: [18, 29] +- goal: [16, 23] + name: agent73 + start: [15, 12] +- goal: [22, 31] + name: agent74 + start: [15, 30] +- goal: [27, 5] + name: agent75 + start: [26, 2] +- goal: [2, 9] + name: agent76 + start: [27, 3] +- goal: [23, 21] + name: agent77 + start: [22, 18] +- goal: [28, 27] + name: agent78 + start: [13, 30] +- goal: [8, 5] + name: agent79 + start: [5, 12] +- goal: [1, 1] + name: agent80 + start: [3, 1] +- goal: [5, 11] + name: agent81 + start: [17, 7] +- goal: [15, 20] + name: agent82 + start: [26, 21] +- goal: [5, 31] + name: agent83 + start: [27, 13] +- goal: [12, 30] + name: agent84 + start: [26, 17] +- goal: [21, 31] + name: agent85 + start: [5, 0] +- goal: [0, 19] + name: agent86 + start: [30, 2] +- goal: [9, 10] + name: agent87 + start: [19, 11] +- goal: [26, 30] + name: agent88 + start: [15, 13] +- goal: [3, 22] + name: agent89 + start: [18, 15] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [27, 10] + - !!python/tuple [10, 28] + - !!python/tuple [26, 20] + - !!python/tuple [28, 15] + - !!python/tuple [21, 10] + - !!python/tuple [24, 18] + - !!python/tuple [30, 30] + - !!python/tuple [1, 29] + - !!python/tuple [18, 4] + - !!python/tuple [22, 26] + - !!python/tuple [19, 30] + - !!python/tuple [13, 31] + - !!python/tuple [5, 28] + - !!python/tuple [16, 4] + - !!python/tuple [23, 10] + - !!python/tuple [30, 11] + - !!python/tuple [2, 29] + - !!python/tuple [6, 7] + - !!python/tuple [12, 8] + - !!python/tuple [23, 19] + - !!python/tuple [11, 12] + - !!python/tuple [20, 20] + - !!python/tuple [26, 22] + - !!python/tuple [0, 26] + - !!python/tuple [29, 2] + - !!python/tuple [3, 18] + - !!python/tuple [27, 12] + - !!python/tuple [21, 6] + - !!python/tuple [25, 0] + - !!python/tuple [2, 15] + - !!python/tuple [17, 11] + - !!python/tuple [6, 25] + - !!python/tuple [12, 11] + - !!python/tuple [6, 0] + - !!python/tuple [30, 0] + - !!python/tuple [8, 17] + - !!python/tuple [29, 28] + - !!python/tuple [23, 3] + - !!python/tuple [16, 2] + - !!python/tuple [28, 9] + - !!python/tuple [5, 24] + - !!python/tuple [18, 25] + - !!python/tuple [3, 24] + - !!python/tuple [28, 20] + - !!python/tuple [6, 28] + - !!python/tuple [2, 19] + - !!python/tuple [10, 20] + - !!python/tuple [13, 5] + - !!python/tuple [3, 28] + - !!python/tuple [20, 18] + - !!python/tuple [22, 2] + - !!python/tuple [12, 25] + - !!python/tuple [14, 20] + - !!python/tuple [6, 22] + - !!python/tuple [14, 14] + - !!python/tuple [15, 18] + - !!python/tuple [19, 20] + - !!python/tuple [10, 9] + - !!python/tuple [15, 14] + - !!python/tuple [11, 2] + - !!python/tuple [23, 28] + - !!python/tuple [1, 5] + - !!python/tuple [25, 30] + - !!python/tuple [16, 5] + - !!python/tuple [13, 12] + - !!python/tuple [22, 19] + - !!python/tuple [30, 22] + - !!python/tuple [28, 28] + - !!python/tuple [6, 16] + - !!python/tuple [20, 29] + - !!python/tuple [18, 12] + - !!python/tuple [22, 1] + - !!python/tuple [17, 6] + - !!python/tuple [20, 9] + - !!python/tuple [19, 10] + - !!python/tuple [26, 6] + - !!python/tuple [18, 30] + - !!python/tuple [19, 14] + - !!python/tuple [28, 0] + - !!python/tuple [20, 25] + - !!python/tuple [29, 17] + - !!python/tuple [25, 18] + - !!python/tuple [14, 8] + - !!python/tuple [23, 17] + - !!python/tuple [21, 8] + - !!python/tuple [11, 19] + - !!python/tuple [28, 30] + - !!python/tuple [6, 31] + - !!python/tuple [28, 16] + - !!python/tuple [7, 21] + - !!python/tuple [30, 16] + - !!python/tuple [31, 16] + - !!python/tuple [17, 1] + - !!python/tuple [9, 16] + - !!python/tuple [27, 26] + - !!python/tuple [30, 19] + - !!python/tuple [7, 19] + - !!python/tuple [24, 11] + - !!python/tuple [20, 22] + - !!python/tuple [24, 12] + - !!python/tuple [10, 21] + - !!python/tuple [25, 6] + - !!python/tuple [11, 13] + - !!python/tuple [1, 20] + - !!python/tuple [7, 27] + - !!python/tuple [4, 23] + - !!python/tuple [20, 23] + - !!python/tuple [17, 0] + - !!python/tuple [26, 10] + - !!python/tuple [4, 5] + - !!python/tuple [12, 21] + - !!python/tuple [20, 17] + - !!python/tuple [6, 17] + - !!python/tuple [13, 29] + - !!python/tuple [5, 26] + - !!python/tuple [9, 29] + - !!python/tuple [29, 16] + - !!python/tuple [17, 13] + - !!python/tuple [18, 1] + - !!python/tuple [27, 6] + - !!python/tuple [28, 8] + - !!python/tuple [23, 4] + - !!python/tuple [19, 8] + - !!python/tuple [31, 20] + - !!python/tuple [12, 3] + - !!python/tuple [28, 6] + - !!python/tuple [8, 13] + - !!python/tuple [20, 0] + - !!python/tuple [31, 22] + - !!python/tuple [10, 13] + - !!python/tuple [22, 25] + - !!python/tuple [14, 23] + - !!python/tuple [27, 31] + - !!python/tuple [5, 30] + - !!python/tuple [7, 9] + - !!python/tuple [31, 6] + - !!python/tuple [13, 14] + - !!python/tuple [3, 20] + - !!python/tuple [26, 28] + - !!python/tuple [3, 30] + - !!python/tuple [26, 0] + - !!python/tuple [2, 5] + - !!python/tuple [19, 3] + - !!python/tuple [17, 9] + - !!python/tuple [2, 4] + - !!python/tuple [2, 21] + - !!python/tuple [12, 13] + - !!python/tuple [15, 22] + - !!python/tuple [28, 14] + - !!python/tuple [18, 6] + - !!python/tuple [12, 10] + - !!python/tuple [7, 18] + - !!python/tuple [13, 20] + - !!python/tuple [28, 31] + - !!python/tuple [4, 3] + - !!python/tuple [23, 8] + - !!python/tuple [30, 25] + - !!python/tuple [27, 27] + - !!python/tuple [5, 4] + - !!python/tuple [1, 7] + - !!python/tuple [0, 7] + - !!python/tuple [25, 12] + - !!python/tuple [9, 12] + - !!python/tuple [16, 25] + - !!python/tuple [7, 3] + - !!python/tuple [18, 9] + - !!python/tuple [22, 6] + - !!python/tuple [19, 0] + - !!python/tuple [11, 11] + - !!python/tuple [0, 9] + - !!python/tuple [9, 4] + - !!python/tuple [2, 2] + - !!python/tuple [8, 15] + - !!python/tuple [22, 23] + - !!python/tuple [29, 13] + - !!python/tuple [23, 14] + - !!python/tuple [19, 1] + - !!python/tuple [9, 25] + - !!python/tuple [29, 4] + - !!python/tuple [24, 5] + - !!python/tuple [27, 19] + - !!python/tuple [9, 0] + - !!python/tuple [11, 20] + - !!python/tuple [28, 7] + - !!python/tuple [29, 1] + - !!python/tuple [9, 21] + - !!python/tuple [7, 22] + - !!python/tuple [1, 19] + - !!python/tuple [4, 25] + - !!python/tuple [14, 4] + - !!python/tuple [10, 30] + - !!python/tuple [31, 26] + - !!python/tuple [1, 24] + - !!python/tuple [31, 4] + - !!python/tuple [31, 15] + - !!python/tuple [25, 24] + - !!python/tuple [28, 10] + - !!python/tuple [0, 29] + - !!python/tuple [18, 23] + - !!python/tuple [16, 20] + - !!python/tuple [0, 12] + - !!python/tuple [31, 5] + - !!python/tuple [18, 0] + - !!python/tuple [10, 24] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex61.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex61.yaml new file mode 100644 index 0000000..56f50bc --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex61.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [8, 10] + name: agent0 + start: [22, 14] +- goal: [1, 7] + name: agent1 + start: [9, 5] +- goal: [6, 17] + name: agent2 + start: [30, 0] +- goal: [8, 16] + name: agent3 + start: [27, 25] +- goal: [21, 20] + name: agent4 + start: [11, 1] +- goal: [4, 12] + name: agent5 + start: [5, 26] +- goal: [20, 8] + name: agent6 + start: [28, 5] +- goal: [25, 15] + name: agent7 + start: [19, 4] +- goal: [2, 20] + name: agent8 + start: [31, 21] +- goal: [31, 10] + name: agent9 + start: [26, 9] +- goal: [24, 30] + name: agent10 + start: [31, 28] +- goal: [8, 23] + name: agent11 + start: [1, 14] +- goal: [17, 20] + name: agent12 + start: [18, 16] +- goal: [3, 29] + name: agent13 + start: [7, 11] +- goal: [4, 6] + name: agent14 + start: [31, 2] +- goal: [30, 26] + name: agent15 + start: [12, 30] +- goal: [26, 12] + name: agent16 + start: [26, 15] +- goal: [25, 2] + name: agent17 + start: [15, 10] +- goal: [19, 28] + name: agent18 + start: [12, 14] +- goal: [5, 6] + name: agent19 + start: [6, 25] +- goal: [23, 24] + name: agent20 + start: [19, 20] +- goal: [29, 9] + name: agent21 + start: [19, 21] +- goal: [28, 6] + name: agent22 + start: [6, 3] +- goal: [21, 27] + name: agent23 + start: [10, 20] +- goal: [26, 19] + name: agent24 + start: [19, 16] +- goal: [1, 28] + name: agent25 + start: [5, 12] +- goal: [26, 31] + name: agent26 + start: [19, 30] +- goal: [5, 31] + name: agent27 + start: [7, 13] +- goal: [8, 3] + name: agent28 + start: [26, 31] +- goal: [27, 18] + name: agent29 + start: [1, 24] +- goal: [14, 29] + name: agent30 + start: [18, 19] +- goal: [25, 1] + name: agent31 + start: [11, 20] +- goal: [9, 31] + name: agent32 + start: [19, 31] +- goal: [3, 19] + name: agent33 + start: [16, 30] +- goal: [6, 16] + name: agent34 + start: [17, 14] +- goal: [20, 22] + name: agent35 + start: [26, 8] +- goal: [4, 2] + name: agent36 + start: [23, 17] +- goal: [16, 16] + name: agent37 + start: [12, 0] +- goal: [24, 28] + name: agent38 + start: [26, 14] +- goal: [15, 23] + name: agent39 + start: [13, 3] +- goal: [17, 4] + name: agent40 + start: [13, 25] +- goal: [1, 2] + name: agent41 + start: [7, 0] +- goal: [9, 13] + name: agent42 + start: [26, 12] +- goal: [9, 14] + name: agent43 + start: [21, 29] +- goal: [19, 26] + name: agent44 + start: [27, 18] +- goal: [21, 6] + name: agent45 + start: [23, 29] +- goal: [1, 20] + name: agent46 + start: [16, 8] +- goal: [31, 26] + name: agent47 + start: [4, 17] +- goal: [13, 4] + name: agent48 + start: [21, 6] +- goal: [6, 28] + name: agent49 + start: [21, 7] +- goal: [30, 1] + name: agent50 + start: [15, 30] +- goal: [23, 25] + name: agent51 + start: [22, 31] +- goal: [23, 12] + name: agent52 + start: [0, 15] +- goal: [7, 6] + name: agent53 + start: [6, 6] +- goal: [10, 6] + name: agent54 + start: [25, 14] +- goal: [5, 15] + name: agent55 + start: [27, 24] +- goal: [23, 6] + name: agent56 + start: [21, 24] +- goal: [23, 22] + name: agent57 + start: [7, 4] +- goal: [13, 2] + name: agent58 + start: [28, 25] +- goal: [7, 29] + name: agent59 + start: [29, 16] +- goal: [3, 28] + name: agent60 + start: [12, 10] +- goal: [22, 2] + name: agent61 + start: [16, 18] +- goal: [31, 16] + name: agent62 + start: [28, 18] +- goal: [25, 27] + name: agent63 + start: [17, 6] +- goal: [0, 17] + name: agent64 + start: [7, 26] +- goal: [10, 22] + name: agent65 + start: [9, 10] +- goal: [27, 0] + name: agent66 + start: [5, 16] +- goal: [19, 7] + name: agent67 + start: [3, 11] +- goal: [17, 3] + name: agent68 + start: [31, 30] +- goal: [4, 31] + name: agent69 + start: [11, 28] +- goal: [24, 12] + name: agent70 + start: [13, 4] +- goal: [24, 22] + name: agent71 + start: [18, 27] +- goal: [31, 20] + name: agent72 + start: [23, 3] +- goal: [16, 13] + name: agent73 + start: [28, 15] +- goal: [31, 5] + name: agent74 + start: [1, 2] +- goal: [30, 18] + name: agent75 + start: [8, 1] +- goal: [29, 20] + name: agent76 + start: [4, 25] +- goal: [16, 21] + name: agent77 + start: [13, 10] +- goal: [19, 0] + name: agent78 + start: [4, 30] +- goal: [13, 18] + name: agent79 + start: [12, 21] +- goal: [31, 8] + name: agent80 + start: [17, 3] +- goal: [18, 25] + name: agent81 + start: [23, 24] +- goal: [26, 10] + name: agent82 + start: [14, 4] +- goal: [23, 23] + name: agent83 + start: [13, 24] +- goal: [31, 28] + name: agent84 + start: [0, 6] +- goal: [25, 20] + name: agent85 + start: [29, 11] +- goal: [5, 28] + name: agent86 + start: [27, 3] +- goal: [29, 11] + name: agent87 + start: [6, 20] +- goal: [27, 19] + name: agent88 + start: [12, 2] +- goal: [5, 0] + name: agent89 + start: [27, 6] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [27, 31] + - !!python/tuple [15, 22] + - !!python/tuple [15, 0] + - !!python/tuple [7, 21] + - !!python/tuple [7, 8] + - !!python/tuple [18, 18] + - !!python/tuple [22, 17] + - !!python/tuple [10, 14] + - !!python/tuple [24, 0] + - !!python/tuple [20, 12] + - !!python/tuple [23, 8] + - !!python/tuple [26, 11] + - !!python/tuple [29, 18] + - !!python/tuple [21, 15] + - !!python/tuple [4, 24] + - !!python/tuple [1, 22] + - !!python/tuple [17, 19] + - !!python/tuple [20, 13] + - !!python/tuple [19, 2] + - !!python/tuple [6, 30] + - !!python/tuple [17, 23] + - !!python/tuple [10, 5] + - !!python/tuple [17, 0] + - !!python/tuple [10, 19] + - !!python/tuple [12, 27] + - !!python/tuple [21, 26] + - !!python/tuple [16, 7] + - !!python/tuple [30, 8] + - !!python/tuple [3, 2] + - !!python/tuple [26, 7] + - !!python/tuple [11, 25] + - !!python/tuple [16, 5] + - !!python/tuple [12, 16] + - !!python/tuple [31, 27] + - !!python/tuple [4, 15] + - !!python/tuple [29, 28] + - !!python/tuple [28, 7] + - !!python/tuple [3, 25] + - !!python/tuple [19, 27] + - !!python/tuple [25, 9] + - !!python/tuple [5, 29] + - !!python/tuple [0, 13] + - !!python/tuple [9, 2] + - !!python/tuple [24, 27] + - !!python/tuple [21, 14] + - !!python/tuple [5, 4] + - !!python/tuple [0, 0] + - !!python/tuple [25, 7] + - !!python/tuple [28, 31] + - !!python/tuple [6, 4] + - !!python/tuple [5, 9] + - !!python/tuple [8, 2] + - !!python/tuple [22, 7] + - !!python/tuple [24, 19] + - !!python/tuple [28, 12] + - !!python/tuple [4, 9] + - !!python/tuple [15, 1] + - !!python/tuple [11, 7] + - !!python/tuple [7, 23] + - !!python/tuple [11, 31] + - !!python/tuple [16, 3] + - !!python/tuple [27, 20] + - !!python/tuple [19, 22] + - !!python/tuple [31, 4] + - !!python/tuple [2, 30] + - !!python/tuple [17, 31] + - !!python/tuple [14, 14] + - !!python/tuple [23, 21] + - !!python/tuple [6, 23] + - !!python/tuple [11, 8] + - !!python/tuple [12, 24] + - !!python/tuple [31, 11] + - !!python/tuple [29, 23] + - !!python/tuple [10, 17] + - !!python/tuple [15, 6] + - !!python/tuple [7, 25] + - !!python/tuple [21, 0] + - !!python/tuple [22, 25] + - !!python/tuple [14, 6] + - !!python/tuple [23, 18] + - !!python/tuple [11, 17] + - !!python/tuple [26, 0] + - !!python/tuple [22, 28] + - !!python/tuple [14, 10] + - !!python/tuple [0, 19] + - !!python/tuple [22, 12] + - !!python/tuple [5, 22] + - !!python/tuple [22, 26] + - !!python/tuple [9, 25] + - !!python/tuple [2, 6] + - !!python/tuple [3, 17] + - !!python/tuple [8, 12] + - !!python/tuple [22, 20] + - !!python/tuple [3, 6] + - !!python/tuple [24, 18] + - !!python/tuple [23, 20] + - !!python/tuple [16, 29] + - !!python/tuple [3, 14] + - !!python/tuple [15, 27] + - !!python/tuple [31, 9] + - !!python/tuple [9, 12] + - !!python/tuple [10, 15] + - !!python/tuple [10, 21] + - !!python/tuple [26, 28] + - !!python/tuple [17, 16] + - !!python/tuple [27, 17] + - !!python/tuple [23, 27] + - !!python/tuple [17, 1] + - !!python/tuple [27, 30] + - !!python/tuple [7, 18] + - !!python/tuple [24, 5] + - !!python/tuple [19, 19] + - !!python/tuple [17, 5] + - !!python/tuple [22, 23] + - !!python/tuple [29, 5] + - !!python/tuple [7, 3] + - !!python/tuple [12, 3] + - !!python/tuple [29, 2] + - !!python/tuple [28, 23] + - !!python/tuple [23, 11] + - !!python/tuple [14, 17] + - !!python/tuple [17, 26] + - !!python/tuple [20, 15] + - !!python/tuple [2, 11] + - !!python/tuple [17, 10] + - !!python/tuple [11, 12] + - !!python/tuple [6, 31] + - !!python/tuple [14, 30] + - !!python/tuple [14, 31] + - !!python/tuple [31, 3] + - !!python/tuple [23, 31] + - !!python/tuple [6, 14] + - !!python/tuple [8, 22] + - !!python/tuple [14, 23] + - !!python/tuple [5, 14] + - !!python/tuple [22, 19] + - !!python/tuple [17, 30] + - !!python/tuple [27, 12] + - !!python/tuple [10, 13] + - !!python/tuple [0, 12] + - !!python/tuple [24, 10] + - !!python/tuple [4, 0] + - !!python/tuple [23, 9] + - !!python/tuple [4, 16] + - !!python/tuple [0, 9] + - !!python/tuple [12, 5] + - !!python/tuple [23, 4] + - !!python/tuple [21, 30] + - !!python/tuple [28, 28] + - !!python/tuple [29, 26] + - !!python/tuple [6, 8] + - !!python/tuple [3, 22] + - !!python/tuple [5, 19] + - !!python/tuple [18, 14] + - !!python/tuple [0, 5] + - !!python/tuple [29, 4] + - !!python/tuple [26, 25] + - !!python/tuple [19, 13] + - !!python/tuple [5, 25] + - !!python/tuple [3, 13] + - !!python/tuple [26, 2] + - !!python/tuple [27, 29] + - !!python/tuple [12, 1] + - !!python/tuple [2, 27] + - !!python/tuple [11, 10] + - !!python/tuple [3, 16] + - !!python/tuple [30, 15] + - !!python/tuple [13, 27] + - !!python/tuple [1, 4] + - !!python/tuple [14, 3] + - !!python/tuple [21, 25] + - !!python/tuple [11, 14] + - !!python/tuple [30, 23] + - !!python/tuple [29, 15] + - !!python/tuple [22, 0] + - !!python/tuple [2, 10] + - !!python/tuple [26, 16] + - !!python/tuple [27, 26] + - !!python/tuple [30, 4] + - !!python/tuple [20, 26] + - !!python/tuple [28, 2] + - !!python/tuple [29, 19] + - !!python/tuple [15, 15] + - !!python/tuple [7, 31] + - !!python/tuple [4, 23] + - !!python/tuple [7, 24] + - !!python/tuple [28, 21] + - !!python/tuple [0, 8] + - !!python/tuple [0, 1] + - !!python/tuple [19, 10] + - !!python/tuple [16, 25] + - !!python/tuple [26, 23] + - !!python/tuple [9, 26] + - !!python/tuple [28, 0] + - !!python/tuple [29, 25] + - !!python/tuple [21, 10] + - !!python/tuple [13, 11] + - !!python/tuple [5, 8] + - !!python/tuple [10, 11] + - !!python/tuple [28, 14] + - !!python/tuple [18, 17] + - !!python/tuple [0, 26] + - !!python/tuple [4, 11] + - !!python/tuple [29, 7] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex62.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex62.yaml new file mode 100644 index 0000000..c36712e --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex62.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [0, 29] + name: agent0 + start: [19, 6] +- goal: [4, 10] + name: agent1 + start: [15, 14] +- goal: [23, 18] + name: agent2 + start: [0, 31] +- goal: [5, 10] + name: agent3 + start: [24, 27] +- goal: [18, 8] + name: agent4 + start: [14, 21] +- goal: [17, 31] + name: agent5 + start: [2, 14] +- goal: [31, 3] + name: agent6 + start: [14, 5] +- goal: [25, 31] + name: agent7 + start: [1, 7] +- goal: [21, 10] + name: agent8 + start: [20, 22] +- goal: [20, 25] + name: agent9 + start: [29, 24] +- goal: [15, 7] + name: agent10 + start: [27, 8] +- goal: [1, 12] + name: agent11 + start: [31, 0] +- goal: [16, 14] + name: agent12 + start: [25, 22] +- goal: [22, 16] + name: agent13 + start: [28, 26] +- goal: [16, 11] + name: agent14 + start: [14, 9] +- goal: [4, 0] + name: agent15 + start: [10, 2] +- goal: [21, 29] + name: agent16 + start: [22, 4] +- goal: [18, 18] + name: agent17 + start: [28, 9] +- goal: [24, 2] + name: agent18 + start: [17, 3] +- goal: [15, 3] + name: agent19 + start: [21, 4] +- goal: [29, 24] + name: agent20 + start: [10, 26] +- goal: [28, 7] + name: agent21 + start: [0, 12] +- goal: [14, 10] + name: agent22 + start: [12, 22] +- goal: [1, 16] + name: agent23 + start: [7, 0] +- goal: [4, 30] + name: agent24 + start: [12, 4] +- goal: [19, 16] + name: agent25 + start: [30, 7] +- goal: [12, 0] + name: agent26 + start: [19, 30] +- goal: [2, 12] + name: agent27 + start: [27, 28] +- goal: [6, 6] + name: agent28 + start: [5, 14] +- goal: [30, 9] + name: agent29 + start: [11, 2] +- goal: [0, 24] + name: agent30 + start: [30, 17] +- goal: [17, 21] + name: agent31 + start: [14, 14] +- goal: [30, 22] + name: agent32 + start: [16, 24] +- goal: [26, 31] + name: agent33 + start: [23, 1] +- goal: [3, 2] + name: agent34 + start: [29, 18] +- goal: [5, 1] + name: agent35 + start: [30, 18] +- goal: [13, 5] + name: agent36 + start: [17, 31] +- goal: [16, 27] + name: agent37 + start: [6, 14] +- goal: [17, 2] + name: agent38 + start: [26, 28] +- goal: [21, 14] + name: agent39 + start: [29, 15] +- goal: [24, 24] + name: agent40 + start: [1, 15] +- goal: [3, 27] + name: agent41 + start: [3, 3] +- goal: [4, 8] + name: agent42 + start: [20, 1] +- goal: [13, 13] + name: agent43 + start: [27, 0] +- goal: [30, 25] + name: agent44 + start: [16, 3] +- goal: [8, 1] + name: agent45 + start: [19, 14] +- goal: [3, 30] + name: agent46 + start: [3, 6] +- goal: [6, 3] + name: agent47 + start: [18, 17] +- goal: [7, 6] + name: agent48 + start: [26, 31] +- goal: [13, 12] + name: agent49 + start: [27, 25] +- goal: [19, 30] + name: agent50 + start: [1, 20] +- goal: [29, 8] + name: agent51 + start: [17, 4] +- goal: [6, 20] + name: agent52 + start: [29, 8] +- goal: [21, 30] + name: agent53 + start: [4, 8] +- goal: [22, 14] + name: agent54 + start: [11, 0] +- goal: [0, 19] + name: agent55 + start: [0, 1] +- goal: [23, 24] + name: agent56 + start: [16, 26] +- goal: [15, 28] + name: agent57 + start: [31, 8] +- goal: [12, 6] + name: agent58 + start: [24, 18] +- goal: [27, 3] + name: agent59 + start: [0, 20] +- goal: [7, 8] + name: agent60 + start: [26, 11] +- goal: [10, 7] + name: agent61 + start: [13, 24] +- goal: [20, 27] + name: agent62 + start: [28, 15] +- goal: [6, 7] + name: agent63 + start: [15, 23] +- goal: [11, 10] + name: agent64 + start: [0, 10] +- goal: [26, 14] + name: agent65 + start: [17, 28] +- goal: [31, 27] + name: agent66 + start: [31, 31] +- goal: [30, 21] + name: agent67 + start: [2, 15] +- goal: [24, 17] + name: agent68 + start: [27, 27] +- goal: [20, 16] + name: agent69 + start: [18, 25] +- goal: [5, 7] + name: agent70 + start: [25, 0] +- goal: [9, 29] + name: agent71 + start: [2, 4] +- goal: [9, 6] + name: agent72 + start: [3, 12] +- goal: [2, 20] + name: agent73 + start: [1, 26] +- goal: [6, 13] + name: agent74 + start: [7, 21] +- goal: [2, 17] + name: agent75 + start: [23, 12] +- goal: [21, 17] + name: agent76 + start: [30, 25] +- goal: [26, 11] + name: agent77 + start: [22, 25] +- goal: [13, 16] + name: agent78 + start: [16, 22] +- goal: [26, 19] + name: agent79 + start: [19, 21] +- goal: [4, 16] + name: agent80 + start: [28, 16] +- goal: [13, 0] + name: agent81 + start: [27, 7] +- goal: [16, 4] + name: agent82 + start: [24, 30] +- goal: [16, 17] + name: agent83 + start: [9, 22] +- goal: [5, 18] + name: agent84 + start: [0, 29] +- goal: [15, 15] + name: agent85 + start: [11, 19] +- goal: [24, 25] + name: agent86 + start: [18, 12] +- goal: [8, 4] + name: agent87 + start: [10, 16] +- goal: [31, 7] + name: agent88 + start: [7, 30] +- goal: [7, 3] + name: agent89 + start: [9, 17] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [20, 28] + - !!python/tuple [20, 9] + - !!python/tuple [24, 3] + - !!python/tuple [14, 1] + - !!python/tuple [7, 26] + - !!python/tuple [28, 22] + - !!python/tuple [11, 7] + - !!python/tuple [3, 20] + - !!python/tuple [19, 26] + - !!python/tuple [13, 22] + - !!python/tuple [23, 8] + - !!python/tuple [15, 12] + - !!python/tuple [13, 10] + - !!python/tuple [19, 7] + - !!python/tuple [25, 17] + - !!python/tuple [10, 11] + - !!python/tuple [17, 24] + - !!python/tuple [11, 6] + - !!python/tuple [1, 10] + - !!python/tuple [11, 18] + - !!python/tuple [22, 3] + - !!python/tuple [23, 10] + - !!python/tuple [22, 22] + - !!python/tuple [15, 10] + - !!python/tuple [10, 22] + - !!python/tuple [2, 16] + - !!python/tuple [5, 11] + - !!python/tuple [16, 21] + - !!python/tuple [21, 13] + - !!python/tuple [8, 27] + - !!python/tuple [23, 13] + - !!python/tuple [20, 14] + - !!python/tuple [17, 8] + - !!python/tuple [18, 21] + - !!python/tuple [9, 23] + - !!python/tuple [18, 9] + - !!python/tuple [10, 25] + - !!python/tuple [8, 18] + - !!python/tuple [13, 6] + - !!python/tuple [27, 11] + - !!python/tuple [13, 14] + - !!python/tuple [6, 31] + - !!python/tuple [13, 11] + - !!python/tuple [8, 13] + - !!python/tuple [8, 22] + - !!python/tuple [28, 4] + - !!python/tuple [5, 23] + - !!python/tuple [4, 18] + - !!python/tuple [4, 12] + - !!python/tuple [28, 23] + - !!python/tuple [17, 11] + - !!python/tuple [29, 0] + - !!python/tuple [1, 11] + - !!python/tuple [25, 24] + - !!python/tuple [25, 21] + - !!python/tuple [25, 5] + - !!python/tuple [0, 2] + - !!python/tuple [8, 0] + - !!python/tuple [7, 16] + - !!python/tuple [0, 16] + - !!python/tuple [11, 28] + - !!python/tuple [12, 19] + - !!python/tuple [0, 28] + - !!python/tuple [31, 17] + - !!python/tuple [14, 22] + - !!python/tuple [22, 1] + - !!python/tuple [24, 20] + - !!python/tuple [12, 9] + - !!python/tuple [28, 18] + - !!python/tuple [12, 18] + - !!python/tuple [20, 19] + - !!python/tuple [26, 9] + - !!python/tuple [0, 27] + - !!python/tuple [9, 30] + - !!python/tuple [5, 8] + - !!python/tuple [27, 29] + - !!python/tuple [15, 29] + - !!python/tuple [12, 20] + - !!python/tuple [29, 23] + - !!python/tuple [14, 6] + - !!python/tuple [3, 31] + - !!python/tuple [24, 11] + - !!python/tuple [24, 14] + - !!python/tuple [8, 29] + - !!python/tuple [26, 12] + - !!python/tuple [8, 12] + - !!python/tuple [4, 23] + - !!python/tuple [26, 10] + - !!python/tuple [31, 30] + - !!python/tuple [1, 21] + - !!python/tuple [25, 6] + - !!python/tuple [11, 29] + - !!python/tuple [18, 26] + - !!python/tuple [18, 27] + - !!python/tuple [0, 8] + - !!python/tuple [2, 28] + - !!python/tuple [31, 15] + - !!python/tuple [14, 23] + - !!python/tuple [7, 27] + - !!python/tuple [24, 31] + - !!python/tuple [30, 19] + - !!python/tuple [20, 5] + - !!python/tuple [27, 20] + - !!python/tuple [10, 1] + - !!python/tuple [20, 30] + - !!python/tuple [17, 19] + - !!python/tuple [19, 15] + - !!python/tuple [18, 22] + - !!python/tuple [18, 15] + - !!python/tuple [21, 21] + - !!python/tuple [20, 2] + - !!python/tuple [31, 12] + - !!python/tuple [20, 23] + - !!python/tuple [9, 27] + - !!python/tuple [20, 13] + - !!python/tuple [5, 17] + - !!python/tuple [13, 25] + - !!python/tuple [2, 0] + - !!python/tuple [10, 14] + - !!python/tuple [17, 29] + - !!python/tuple [25, 9] + - !!python/tuple [23, 29] + - !!python/tuple [15, 22] + - !!python/tuple [12, 8] + - !!python/tuple [20, 3] + - !!python/tuple [25, 29] + - !!python/tuple [1, 8] + - !!python/tuple [0, 17] + - !!python/tuple [13, 9] + - !!python/tuple [3, 25] + - !!python/tuple [2, 5] + - !!python/tuple [4, 24] + - !!python/tuple [23, 27] + - !!python/tuple [10, 20] + - !!python/tuple [20, 0] + - !!python/tuple [29, 13] + - !!python/tuple [29, 19] + - !!python/tuple [13, 20] + - !!python/tuple [15, 16] + - !!python/tuple [12, 11] + - !!python/tuple [6, 25] + - !!python/tuple [3, 10] + - !!python/tuple [12, 16] + - !!python/tuple [15, 27] + - !!python/tuple [5, 25] + - !!python/tuple [10, 12] + - !!python/tuple [11, 4] + - !!python/tuple [10, 31] + - !!python/tuple [6, 12] + - !!python/tuple [27, 1] + - !!python/tuple [31, 16] + - !!python/tuple [11, 21] + - !!python/tuple [4, 15] + - !!python/tuple [19, 29] + - !!python/tuple [13, 7] + - !!python/tuple [18, 14] + - !!python/tuple [15, 26] + - !!python/tuple [14, 13] + - !!python/tuple [9, 1] + - !!python/tuple [3, 22] + - !!python/tuple [21, 5] + - !!python/tuple [30, 13] + - !!python/tuple [0, 13] + - !!python/tuple [31, 10] + - !!python/tuple [11, 25] + - !!python/tuple [15, 1] + - !!python/tuple [5, 24] + - !!python/tuple [13, 31] + - !!python/tuple [27, 12] + - !!python/tuple [27, 14] + - !!python/tuple [11, 15] + - !!python/tuple [10, 13] + - !!python/tuple [14, 30] + - !!python/tuple [11, 24] + - !!python/tuple [29, 9] + - !!python/tuple [16, 18] + - !!python/tuple [6, 18] + - !!python/tuple [23, 30] + - !!python/tuple [8, 19] + - !!python/tuple [29, 12] + - !!python/tuple [11, 1] + - !!python/tuple [16, 23] + - !!python/tuple [2, 8] + - !!python/tuple [16, 10] + - !!python/tuple [6, 26] + - !!python/tuple [8, 15] + - !!python/tuple [7, 9] + - !!python/tuple [26, 23] + - !!python/tuple [12, 2] + - !!python/tuple [28, 5] + - !!python/tuple [23, 28] + - !!python/tuple [27, 13] + - !!python/tuple [26, 8] + - !!python/tuple [1, 4] + - !!python/tuple [31, 11] + - !!python/tuple [14, 25] + - !!python/tuple [12, 26] + - !!python/tuple [0, 25] + - !!python/tuple [11, 26] + - !!python/tuple [19, 10] + - !!python/tuple [20, 12] + - !!python/tuple [15, 17] + - !!python/tuple [27, 10] + - !!python/tuple [24, 15] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex63.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex63.yaml new file mode 100644 index 0000000..7136f9a --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex63.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [5, 21] + name: agent0 + start: [31, 18] +- goal: [31, 4] + name: agent1 + start: [27, 15] +- goal: [2, 31] + name: agent2 + start: [16, 13] +- goal: [8, 9] + name: agent3 + start: [4, 6] +- goal: [28, 11] + name: agent4 + start: [21, 8] +- goal: [30, 7] + name: agent5 + start: [29, 28] +- goal: [7, 11] + name: agent6 + start: [8, 14] +- goal: [22, 31] + name: agent7 + start: [24, 1] +- goal: [11, 6] + name: agent8 + start: [9, 10] +- goal: [16, 23] + name: agent9 + start: [22, 25] +- goal: [5, 3] + name: agent10 + start: [26, 19] +- goal: [26, 5] + name: agent11 + start: [28, 13] +- goal: [25, 29] + name: agent12 + start: [29, 11] +- goal: [1, 2] + name: agent13 + start: [5, 11] +- goal: [28, 9] + name: agent14 + start: [13, 29] +- goal: [20, 4] + name: agent15 + start: [20, 4] +- goal: [29, 22] + name: agent16 + start: [4, 26] +- goal: [2, 3] + name: agent17 + start: [31, 26] +- goal: [0, 12] + name: agent18 + start: [27, 0] +- goal: [1, 17] + name: agent19 + start: [25, 27] +- goal: [9, 10] + name: agent20 + start: [0, 8] +- goal: [4, 16] + name: agent21 + start: [21, 10] +- goal: [3, 6] + name: agent22 + start: [19, 13] +- goal: [19, 7] + name: agent23 + start: [3, 21] +- goal: [20, 14] + name: agent24 + start: [19, 1] +- goal: [11, 23] + name: agent25 + start: [1, 12] +- goal: [12, 11] + name: agent26 + start: [12, 7] +- goal: [29, 30] + name: agent27 + start: [30, 18] +- goal: [2, 7] + name: agent28 + start: [25, 30] +- goal: [13, 29] + name: agent29 + start: [26, 2] +- goal: [7, 30] + name: agent30 + start: [30, 1] +- goal: [13, 11] + name: agent31 + start: [5, 16] +- goal: [28, 8] + name: agent32 + start: [9, 6] +- goal: [23, 24] + name: agent33 + start: [26, 26] +- goal: [12, 17] + name: agent34 + start: [26, 30] +- goal: [17, 5] + name: agent35 + start: [24, 6] +- goal: [22, 19] + name: agent36 + start: [12, 3] +- goal: [8, 31] + name: agent37 + start: [1, 19] +- goal: [4, 0] + name: agent38 + start: [29, 25] +- goal: [21, 27] + name: agent39 + start: [29, 30] +- goal: [29, 12] + name: agent40 + start: [0, 14] +- goal: [17, 24] + name: agent41 + start: [21, 16] +- goal: [12, 15] + name: agent42 + start: [23, 28] +- goal: [14, 3] + name: agent43 + start: [21, 13] +- goal: [1, 0] + name: agent44 + start: [28, 8] +- goal: [26, 22] + name: agent45 + start: [31, 21] +- goal: [23, 17] + name: agent46 + start: [25, 29] +- goal: [30, 9] + name: agent47 + start: [10, 0] +- goal: [21, 1] + name: agent48 + start: [11, 29] +- goal: [15, 1] + name: agent49 + start: [16, 6] +- goal: [24, 30] + name: agent50 + start: [26, 5] +- goal: [20, 9] + name: agent51 + start: [4, 17] +- goal: [9, 3] + name: agent52 + start: [13, 16] +- goal: [24, 13] + name: agent53 + start: [12, 20] +- goal: [1, 9] + name: agent54 + start: [12, 26] +- goal: [19, 23] + name: agent55 + start: [2, 27] +- goal: [18, 4] + name: agent56 + start: [5, 13] +- goal: [4, 25] + name: agent57 + start: [10, 24] +- goal: [27, 18] + name: agent58 + start: [14, 19] +- goal: [30, 6] + name: agent59 + start: [13, 31] +- goal: [8, 12] + name: agent60 + start: [18, 11] +- goal: [23, 11] + name: agent61 + start: [3, 16] +- goal: [0, 1] + name: agent62 + start: [27, 27] +- goal: [25, 4] + name: agent63 + start: [0, 23] +- goal: [26, 28] + name: agent64 + start: [19, 0] +- goal: [4, 3] + name: agent65 + start: [28, 0] +- goal: [31, 13] + name: agent66 + start: [15, 25] +- goal: [5, 20] + name: agent67 + start: [19, 4] +- goal: [9, 5] + name: agent68 + start: [16, 20] +- goal: [2, 8] + name: agent69 + start: [15, 6] +- goal: [8, 15] + name: agent70 + start: [28, 30] +- goal: [8, 28] + name: agent71 + start: [28, 14] +- goal: [13, 28] + name: agent72 + start: [24, 21] +- goal: [4, 24] + name: agent73 + start: [29, 15] +- goal: [16, 19] + name: agent74 + start: [18, 24] +- goal: [19, 13] + name: agent75 + start: [0, 21] +- goal: [9, 17] + name: agent76 + start: [9, 23] +- goal: [6, 17] + name: agent77 + start: [30, 26] +- goal: [12, 20] + name: agent78 + start: [0, 15] +- goal: [5, 24] + name: agent79 + start: [29, 16] +- goal: [7, 20] + name: agent80 + start: [20, 23] +- goal: [17, 31] + name: agent81 + start: [28, 2] +- goal: [25, 0] + name: agent82 + start: [24, 13] +- goal: [3, 9] + name: agent83 + start: [18, 28] +- goal: [2, 25] + name: agent84 + start: [24, 2] +- goal: [17, 30] + name: agent85 + start: [21, 23] +- goal: [30, 1] + name: agent86 + start: [21, 2] +- goal: [29, 5] + name: agent87 + start: [27, 17] +- goal: [10, 9] + name: agent88 + start: [16, 21] +- goal: [28, 14] + name: agent89 + start: [4, 31] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [7, 22] + - !!python/tuple [13, 13] + - !!python/tuple [19, 14] + - !!python/tuple [30, 4] + - !!python/tuple [25, 9] + - !!python/tuple [27, 31] + - !!python/tuple [13, 12] + - !!python/tuple [23, 3] + - !!python/tuple [25, 10] + - !!python/tuple [9, 12] + - !!python/tuple [2, 11] + - !!python/tuple [22, 20] + - !!python/tuple [19, 5] + - !!python/tuple [13, 21] + - !!python/tuple [25, 1] + - !!python/tuple [24, 8] + - !!python/tuple [7, 4] + - !!python/tuple [9, 0] + - !!python/tuple [21, 19] + - !!python/tuple [29, 10] + - !!python/tuple [17, 12] + - !!python/tuple [9, 13] + - !!python/tuple [22, 7] + - !!python/tuple [6, 18] + - !!python/tuple [0, 26] + - !!python/tuple [15, 17] + - !!python/tuple [14, 15] + - !!python/tuple [14, 5] + - !!python/tuple [17, 9] + - !!python/tuple [1, 29] + - !!python/tuple [27, 13] + - !!python/tuple [2, 16] + - !!python/tuple [1, 10] + - !!python/tuple [6, 15] + - !!python/tuple [29, 29] + - !!python/tuple [29, 14] + - !!python/tuple [31, 7] + - !!python/tuple [11, 30] + - !!python/tuple [30, 14] + - !!python/tuple [14, 6] + - !!python/tuple [17, 23] + - !!python/tuple [18, 16] + - !!python/tuple [2, 26] + - !!python/tuple [7, 23] + - !!python/tuple [24, 16] + - !!python/tuple [8, 10] + - !!python/tuple [17, 17] + - !!python/tuple [21, 11] + - !!python/tuple [17, 28] + - !!python/tuple [16, 24] + - !!python/tuple [10, 29] + - !!python/tuple [14, 24] + - !!python/tuple [31, 29] + - !!python/tuple [5, 23] + - !!python/tuple [6, 11] + - !!python/tuple [21, 20] + - !!python/tuple [12, 1] + - !!python/tuple [5, 1] + - !!python/tuple [31, 3] + - !!python/tuple [16, 30] + - !!python/tuple [5, 9] + - !!python/tuple [17, 27] + - !!python/tuple [18, 30] + - !!python/tuple [17, 19] + - !!python/tuple [29, 17] + - !!python/tuple [11, 24] + - !!python/tuple [7, 16] + - !!python/tuple [19, 31] + - !!python/tuple [8, 16] + - !!python/tuple [30, 23] + - !!python/tuple [18, 15] + - !!python/tuple [30, 30] + - !!python/tuple [2, 15] + - !!python/tuple [25, 14] + - !!python/tuple [8, 25] + - !!python/tuple [17, 10] + - !!python/tuple [7, 12] + - !!python/tuple [22, 23] + - !!python/tuple [10, 21] + - !!python/tuple [27, 29] + - !!python/tuple [4, 5] + - !!python/tuple [17, 25] + - !!python/tuple [7, 14] + - !!python/tuple [20, 1] + - !!python/tuple [3, 29] + - !!python/tuple [29, 23] + - !!python/tuple [5, 10] + - !!python/tuple [29, 1] + - !!python/tuple [31, 14] + - !!python/tuple [1, 28] + - !!python/tuple [18, 7] + - !!python/tuple [21, 30] + - !!python/tuple [20, 12] + - !!python/tuple [1, 14] + - !!python/tuple [18, 21] + - !!python/tuple [25, 2] + - !!python/tuple [29, 4] + - !!python/tuple [26, 6] + - !!python/tuple [6, 26] + - !!python/tuple [28, 6] + - !!python/tuple [13, 8] + - !!python/tuple [0, 0] + - !!python/tuple [11, 27] + - !!python/tuple [23, 26] + - !!python/tuple [19, 11] + - !!python/tuple [25, 16] + - !!python/tuple [26, 23] + - !!python/tuple [22, 26] + - !!python/tuple [13, 0] + - !!python/tuple [2, 23] + - !!python/tuple [4, 1] + - !!python/tuple [24, 5] + - !!python/tuple [13, 25] + - !!python/tuple [20, 31] + - !!python/tuple [1, 1] + - !!python/tuple [3, 15] + - !!python/tuple [12, 24] + - !!python/tuple [28, 12] + - !!python/tuple [0, 10] + - !!python/tuple [18, 14] + - !!python/tuple [14, 9] + - !!python/tuple [25, 22] + - !!python/tuple [4, 12] + - !!python/tuple [21, 14] + - !!python/tuple [14, 2] + - !!python/tuple [17, 3] + - !!python/tuple [2, 20] + - !!python/tuple [28, 25] + - !!python/tuple [13, 7] + - !!python/tuple [14, 4] + - !!python/tuple [25, 3] + - !!python/tuple [18, 22] + - !!python/tuple [4, 20] + - !!python/tuple [3, 3] + - !!python/tuple [22, 10] + - !!python/tuple [2, 2] + - !!python/tuple [24, 23] + - !!python/tuple [16, 16] + - !!python/tuple [22, 9] + - !!python/tuple [25, 18] + - !!python/tuple [4, 18] + - !!python/tuple [26, 0] + - !!python/tuple [3, 4] + - !!python/tuple [24, 7] + - !!python/tuple [23, 5] + - !!python/tuple [21, 26] + - !!python/tuple [13, 17] + - !!python/tuple [22, 4] + - !!python/tuple [31, 30] + - !!python/tuple [3, 19] + - !!python/tuple [11, 11] + - !!python/tuple [17, 13] + - !!python/tuple [7, 26] + - !!python/tuple [16, 26] + - !!python/tuple [20, 8] + - !!python/tuple [19, 8] + - !!python/tuple [19, 18] + - !!python/tuple [11, 0] + - !!python/tuple [31, 19] + - !!python/tuple [15, 7] + - !!python/tuple [4, 28] + - !!python/tuple [30, 0] + - !!python/tuple [11, 20] + - !!python/tuple [22, 24] + - !!python/tuple [6, 31] + - !!python/tuple [14, 16] + - !!python/tuple [17, 6] + - !!python/tuple [9, 22] + - !!python/tuple [21, 22] + - !!python/tuple [4, 11] + - !!python/tuple [26, 14] + - !!python/tuple [20, 17] + - !!python/tuple [16, 17] + - !!python/tuple [13, 9] + - !!python/tuple [22, 0] + - !!python/tuple [7, 25] + - !!python/tuple [29, 13] + - !!python/tuple [3, 27] + - !!python/tuple [10, 2] + - !!python/tuple [19, 19] + - !!python/tuple [2, 9] + - !!python/tuple [1, 27] + - !!python/tuple [20, 29] + - !!python/tuple [23, 15] + - !!python/tuple [18, 23] + - !!python/tuple [25, 26] + - !!python/tuple [16, 10] + - !!python/tuple [18, 31] + - !!python/tuple [7, 18] + - !!python/tuple [8, 6] + - !!python/tuple [1, 3] + - !!python/tuple [0, 20] + - !!python/tuple [1, 18] + - !!python/tuple [9, 29] + - !!python/tuple [28, 16] + - !!python/tuple [10, 13] + - !!python/tuple [11, 14] + - !!python/tuple [30, 20] + - !!python/tuple [8, 5] + - !!python/tuple [19, 17] + - !!python/tuple [30, 3] + - !!python/tuple [21, 15] + - !!python/tuple [14, 11] + - !!python/tuple [4, 10] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex64.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex64.yaml new file mode 100644 index 0000000..be81bbf --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex64.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [21, 14] + name: agent0 + start: [3, 1] +- goal: [6, 9] + name: agent1 + start: [18, 1] +- goal: [24, 7] + name: agent2 + start: [26, 28] +- goal: [13, 5] + name: agent3 + start: [15, 17] +- goal: [6, 4] + name: agent4 + start: [8, 1] +- goal: [22, 20] + name: agent5 + start: [9, 12] +- goal: [30, 6] + name: agent6 + start: [5, 18] +- goal: [23, 29] + name: agent7 + start: [17, 24] +- goal: [12, 28] + name: agent8 + start: [20, 25] +- goal: [7, 9] + name: agent9 + start: [21, 0] +- goal: [15, 1] + name: agent10 + start: [1, 18] +- goal: [25, 25] + name: agent11 + start: [12, 27] +- goal: [31, 5] + name: agent12 + start: [17, 30] +- goal: [6, 18] + name: agent13 + start: [21, 7] +- goal: [21, 4] + name: agent14 + start: [18, 18] +- goal: [6, 22] + name: agent15 + start: [5, 2] +- goal: [25, 10] + name: agent16 + start: [18, 22] +- goal: [2, 24] + name: agent17 + start: [11, 10] +- goal: [17, 27] + name: agent18 + start: [25, 2] +- goal: [11, 29] + name: agent19 + start: [1, 1] +- goal: [28, 5] + name: agent20 + start: [13, 23] +- goal: [10, 11] + name: agent21 + start: [3, 23] +- goal: [0, 27] + name: agent22 + start: [28, 7] +- goal: [29, 7] + name: agent23 + start: [25, 11] +- goal: [4, 24] + name: agent24 + start: [24, 3] +- goal: [18, 14] + name: agent25 + start: [17, 4] +- goal: [8, 22] + name: agent26 + start: [21, 22] +- goal: [9, 30] + name: agent27 + start: [29, 10] +- goal: [12, 26] + name: agent28 + start: [18, 29] +- goal: [30, 1] + name: agent29 + start: [27, 15] +- goal: [12, 31] + name: agent30 + start: [13, 26] +- goal: [20, 8] + name: agent31 + start: [27, 9] +- goal: [12, 15] + name: agent32 + start: [18, 23] +- goal: [1, 22] + name: agent33 + start: [15, 3] +- goal: [2, 5] + name: agent34 + start: [30, 22] +- goal: [9, 5] + name: agent35 + start: [22, 28] +- goal: [15, 29] + name: agent36 + start: [14, 22] +- goal: [16, 21] + name: agent37 + start: [8, 24] +- goal: [0, 10] + name: agent38 + start: [10, 30] +- goal: [0, 25] + name: agent39 + start: [0, 20] +- goal: [16, 12] + name: agent40 + start: [29, 4] +- goal: [31, 23] + name: agent41 + start: [4, 23] +- goal: [4, 5] + name: agent42 + start: [16, 23] +- goal: [1, 14] + name: agent43 + start: [23, 24] +- goal: [30, 20] + name: agent44 + start: [3, 18] +- goal: [24, 31] + name: agent45 + start: [16, 27] +- goal: [11, 4] + name: agent46 + start: [4, 20] +- goal: [11, 10] + name: agent47 + start: [3, 2] +- goal: [2, 6] + name: agent48 + start: [21, 5] +- goal: [19, 6] + name: agent49 + start: [13, 22] +- goal: [13, 17] + name: agent50 + start: [18, 19] +- goal: [27, 11] + name: agent51 + start: [12, 6] +- goal: [19, 13] + name: agent52 + start: [15, 14] +- goal: [25, 12] + name: agent53 + start: [30, 0] +- goal: [9, 29] + name: agent54 + start: [18, 17] +- goal: [30, 17] + name: agent55 + start: [12, 25] +- goal: [7, 23] + name: agent56 + start: [1, 30] +- goal: [12, 21] + name: agent57 + start: [15, 12] +- goal: [2, 22] + name: agent58 + start: [31, 21] +- goal: [21, 0] + name: agent59 + start: [20, 26] +- goal: [19, 7] + name: agent60 + start: [26, 15] +- goal: [15, 19] + name: agent61 + start: [19, 6] +- goal: [1, 10] + name: agent62 + start: [8, 13] +- goal: [29, 11] + name: agent63 + start: [25, 22] +- goal: [15, 10] + name: agent64 + start: [27, 31] +- goal: [27, 22] + name: agent65 + start: [29, 31] +- goal: [22, 16] + name: agent66 + start: [23, 27] +- goal: [1, 13] + name: agent67 + start: [24, 7] +- goal: [21, 1] + name: agent68 + start: [3, 6] +- goal: [22, 0] + name: agent69 + start: [24, 30] +- goal: [14, 29] + name: agent70 + start: [21, 17] +- goal: [27, 5] + name: agent71 + start: [29, 1] +- goal: [0, 19] + name: agent72 + start: [8, 3] +- goal: [9, 15] + name: agent73 + start: [27, 11] +- goal: [15, 28] + name: agent74 + start: [18, 0] +- goal: [14, 15] + name: agent75 + start: [1, 12] +- goal: [29, 14] + name: agent76 + start: [22, 23] +- goal: [18, 27] + name: agent77 + start: [31, 15] +- goal: [5, 31] + name: agent78 + start: [7, 18] +- goal: [10, 23] + name: agent79 + start: [10, 0] +- goal: [22, 21] + name: agent80 + start: [5, 10] +- goal: [27, 21] + name: agent81 + start: [31, 6] +- goal: [30, 23] + name: agent82 + start: [21, 4] +- goal: [26, 3] + name: agent83 + start: [8, 15] +- goal: [13, 16] + name: agent84 + start: [17, 14] +- goal: [11, 5] + name: agent85 + start: [1, 24] +- goal: [25, 8] + name: agent86 + start: [27, 6] +- goal: [14, 30] + name: agent87 + start: [29, 15] +- goal: [14, 25] + name: agent88 + start: [8, 31] +- goal: [26, 13] + name: agent89 + start: [19, 16] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [6, 5] + - !!python/tuple [10, 14] + - !!python/tuple [7, 6] + - !!python/tuple [17, 29] + - !!python/tuple [14, 13] + - !!python/tuple [31, 18] + - !!python/tuple [7, 25] + - !!python/tuple [3, 4] + - !!python/tuple [26, 20] + - !!python/tuple [10, 27] + - !!python/tuple [2, 23] + - !!python/tuple [16, 2] + - !!python/tuple [12, 24] + - !!python/tuple [29, 8] + - !!python/tuple [6, 10] + - !!python/tuple [3, 3] + - !!python/tuple [27, 20] + - !!python/tuple [26, 23] + - !!python/tuple [9, 13] + - !!python/tuple [3, 13] + - !!python/tuple [12, 2] + - !!python/tuple [7, 11] + - !!python/tuple [7, 28] + - !!python/tuple [0, 31] + - !!python/tuple [25, 3] + - !!python/tuple [2, 17] + - !!python/tuple [21, 18] + - !!python/tuple [1, 20] + - !!python/tuple [13, 1] + - !!python/tuple [16, 7] + - !!python/tuple [11, 23] + - !!python/tuple [8, 29] + - !!python/tuple [10, 24] + - !!python/tuple [29, 19] + - !!python/tuple [12, 0] + - !!python/tuple [2, 21] + - !!python/tuple [11, 8] + - !!python/tuple [31, 9] + - !!python/tuple [21, 30] + - !!python/tuple [28, 10] + - !!python/tuple [13, 10] + - !!python/tuple [14, 24] + - !!python/tuple [19, 18] + - !!python/tuple [3, 8] + - !!python/tuple [25, 1] + - !!python/tuple [19, 30] + - !!python/tuple [27, 14] + - !!python/tuple [25, 17] + - !!python/tuple [7, 30] + - !!python/tuple [24, 22] + - !!python/tuple [24, 26] + - !!python/tuple [6, 16] + - !!python/tuple [18, 3] + - !!python/tuple [11, 0] + - !!python/tuple [0, 23] + - !!python/tuple [6, 3] + - !!python/tuple [22, 11] + - !!python/tuple [30, 4] + - !!python/tuple [17, 1] + - !!python/tuple [25, 30] + - !!python/tuple [8, 12] + - !!python/tuple [13, 19] + - !!python/tuple [24, 16] + - !!python/tuple [6, 6] + - !!python/tuple [11, 16] + - !!python/tuple [0, 8] + - !!python/tuple [27, 10] + - !!python/tuple [19, 9] + - !!python/tuple [21, 26] + - !!python/tuple [31, 0] + - !!python/tuple [13, 24] + - !!python/tuple [0, 16] + - !!python/tuple [1, 9] + - !!python/tuple [12, 17] + - !!python/tuple [25, 5] + - !!python/tuple [31, 26] + - !!python/tuple [24, 5] + - !!python/tuple [21, 3] + - !!python/tuple [14, 1] + - !!python/tuple [8, 19] + - !!python/tuple [10, 8] + - !!python/tuple [3, 19] + - !!python/tuple [23, 11] + - !!python/tuple [26, 18] + - !!python/tuple [2, 20] + - !!python/tuple [28, 22] + - !!python/tuple [31, 2] + - !!python/tuple [30, 31] + - !!python/tuple [23, 8] + - !!python/tuple [20, 23] + - !!python/tuple [12, 13] + - !!python/tuple [15, 13] + - !!python/tuple [22, 27] + - !!python/tuple [29, 23] + - !!python/tuple [27, 23] + - !!python/tuple [0, 6] + - !!python/tuple [8, 25] + - !!python/tuple [12, 4] + - !!python/tuple [28, 4] + - !!python/tuple [20, 2] + - !!python/tuple [27, 0] + - !!python/tuple [8, 26] + - !!python/tuple [10, 2] + - !!python/tuple [1, 23] + - !!python/tuple [30, 27] + - !!python/tuple [27, 2] + - !!python/tuple [6, 1] + - !!python/tuple [25, 9] + - !!python/tuple [13, 4] + - !!python/tuple [13, 13] + - !!python/tuple [23, 12] + - !!python/tuple [26, 1] + - !!python/tuple [22, 25] + - !!python/tuple [15, 22] + - !!python/tuple [17, 18] + - !!python/tuple [2, 26] + - !!python/tuple [11, 21] + - !!python/tuple [30, 11] + - !!python/tuple [11, 28] + - !!python/tuple [1, 29] + - !!python/tuple [21, 28] + - !!python/tuple [14, 4] + - !!python/tuple [23, 7] + - !!python/tuple [28, 30] + - !!python/tuple [16, 13] + - !!python/tuple [20, 3] + - !!python/tuple [28, 12] + - !!python/tuple [17, 31] + - !!python/tuple [24, 28] + - !!python/tuple [19, 28] + - !!python/tuple [20, 14] + - !!python/tuple [2, 3] + - !!python/tuple [30, 16] + - !!python/tuple [1, 11] + - !!python/tuple [7, 8] + - !!python/tuple [7, 21] + - !!python/tuple [26, 26] + - !!python/tuple [7, 5] + - !!python/tuple [5, 9] + - !!python/tuple [9, 23] + - !!python/tuple [19, 20] + - !!python/tuple [28, 29] + - !!python/tuple [2, 29] + - !!python/tuple [4, 17] + - !!python/tuple [4, 21] + - !!python/tuple [10, 10] + - !!python/tuple [31, 10] + - !!python/tuple [12, 30] + - !!python/tuple [19, 5] + - !!python/tuple [18, 24] + - !!python/tuple [7, 20] + - !!python/tuple [4, 25] + - !!python/tuple [13, 29] + - !!python/tuple [15, 21] + - !!python/tuple [4, 1] + - !!python/tuple [16, 0] + - !!python/tuple [20, 11] + - !!python/tuple [8, 23] + - !!python/tuple [21, 11] + - !!python/tuple [23, 13] + - !!python/tuple [5, 15] + - !!python/tuple [0, 15] + - !!python/tuple [29, 30] + - !!python/tuple [11, 24] + - !!python/tuple [1, 6] + - !!python/tuple [10, 6] + - !!python/tuple [20, 4] + - !!python/tuple [21, 24] + - !!python/tuple [24, 14] + - !!python/tuple [26, 11] + - !!python/tuple [12, 19] + - !!python/tuple [17, 3] + - !!python/tuple [18, 10] + - !!python/tuple [11, 7] + - !!python/tuple [22, 5] + - !!python/tuple [4, 2] + - !!python/tuple [30, 15] + - !!python/tuple [20, 28] + - !!python/tuple [0, 24] + - !!python/tuple [11, 1] + - !!python/tuple [10, 29] + - !!python/tuple [25, 19] + - !!python/tuple [18, 26] + - !!python/tuple [0, 12] + - !!python/tuple [5, 4] + - !!python/tuple [20, 31] + - !!python/tuple [5, 28] + - !!python/tuple [7, 16] + - !!python/tuple [8, 28] + - !!python/tuple [27, 3] + - !!python/tuple [8, 6] + - !!python/tuple [16, 25] + - !!python/tuple [20, 6] + - !!python/tuple [27, 24] + - !!python/tuple [0, 0] + - !!python/tuple [10, 3] + - !!python/tuple [9, 20] + - !!python/tuple [14, 23] + - !!python/tuple [5, 21] + - !!python/tuple [6, 17] + - !!python/tuple [23, 2] + - !!python/tuple [8, 27] + - !!python/tuple [25, 18] + - !!python/tuple [18, 25] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex65.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex65.yaml new file mode 100644 index 0000000..15adc86 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex65.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [23, 31] + name: agent0 + start: [15, 13] +- goal: [14, 12] + name: agent1 + start: [30, 30] +- goal: [26, 29] + name: agent2 + start: [17, 7] +- goal: [10, 0] + name: agent3 + start: [23, 18] +- goal: [13, 0] + name: agent4 + start: [11, 2] +- goal: [13, 12] + name: agent5 + start: [26, 3] +- goal: [24, 16] + name: agent6 + start: [16, 29] +- goal: [19, 26] + name: agent7 + start: [15, 8] +- goal: [14, 9] + name: agent8 + start: [23, 12] +- goal: [20, 10] + name: agent9 + start: [19, 30] +- goal: [26, 21] + name: agent10 + start: [15, 31] +- goal: [12, 0] + name: agent11 + start: [28, 12] +- goal: [22, 28] + name: agent12 + start: [2, 29] +- goal: [18, 21] + name: agent13 + start: [6, 21] +- goal: [31, 28] + name: agent14 + start: [24, 18] +- goal: [16, 17] + name: agent15 + start: [19, 5] +- goal: [26, 3] + name: agent16 + start: [19, 26] +- goal: [29, 19] + name: agent17 + start: [16, 16] +- goal: [21, 18] + name: agent18 + start: [12, 13] +- goal: [31, 12] + name: agent19 + start: [0, 16] +- goal: [24, 28] + name: agent20 + start: [24, 28] +- goal: [17, 21] + name: agent21 + start: [8, 9] +- goal: [10, 1] + name: agent22 + start: [4, 30] +- goal: [14, 7] + name: agent23 + start: [17, 13] +- goal: [24, 22] + name: agent24 + start: [4, 13] +- goal: [6, 9] + name: agent25 + start: [16, 18] +- goal: [24, 8] + name: agent26 + start: [20, 30] +- goal: [31, 14] + name: agent27 + start: [7, 8] +- goal: [0, 15] + name: agent28 + start: [29, 26] +- goal: [18, 30] + name: agent29 + start: [27, 5] +- goal: [2, 21] + name: agent30 + start: [11, 0] +- goal: [5, 31] + name: agent31 + start: [1, 26] +- goal: [4, 12] + name: agent32 + start: [28, 1] +- goal: [7, 30] + name: agent33 + start: [16, 6] +- goal: [17, 0] + name: agent34 + start: [23, 6] +- goal: [2, 22] + name: agent35 + start: [16, 1] +- goal: [26, 24] + name: agent36 + start: [4, 25] +- goal: [3, 20] + name: agent37 + start: [28, 21] +- goal: [19, 30] + name: agent38 + start: [0, 2] +- goal: [7, 7] + name: agent39 + start: [18, 29] +- goal: [17, 27] + name: agent40 + start: [20, 11] +- goal: [21, 1] + name: agent41 + start: [28, 25] +- goal: [10, 10] + name: agent42 + start: [13, 27] +- goal: [28, 13] + name: agent43 + start: [3, 2] +- goal: [25, 31] + name: agent44 + start: [7, 26] +- goal: [0, 19] + name: agent45 + start: [24, 23] +- goal: [31, 27] + name: agent46 + start: [5, 4] +- goal: [22, 8] + name: agent47 + start: [9, 18] +- goal: [15, 31] + name: agent48 + start: [26, 31] +- goal: [17, 16] + name: agent49 + start: [30, 28] +- goal: [9, 29] + name: agent50 + start: [16, 23] +- goal: [29, 9] + name: agent51 + start: [14, 3] +- goal: [23, 19] + name: agent52 + start: [18, 30] +- goal: [22, 1] + name: agent53 + start: [31, 17] +- goal: [14, 21] + name: agent54 + start: [1, 18] +- goal: [3, 5] + name: agent55 + start: [1, 6] +- goal: [18, 16] + name: agent56 + start: [28, 18] +- goal: [2, 26] + name: agent57 + start: [7, 16] +- goal: [30, 12] + name: agent58 + start: [22, 3] +- goal: [27, 21] + name: agent59 + start: [20, 21] +- goal: [4, 20] + name: agent60 + start: [17, 6] +- goal: [17, 28] + name: agent61 + start: [0, 19] +- goal: [30, 29] + name: agent62 + start: [28, 9] +- goal: [5, 5] + name: agent63 + start: [30, 27] +- goal: [13, 9] + name: agent64 + start: [3, 11] +- goal: [6, 2] + name: agent65 + start: [26, 21] +- goal: [23, 20] + name: agent66 + start: [23, 28] +- goal: [14, 2] + name: agent67 + start: [20, 19] +- goal: [0, 1] + name: agent68 + start: [13, 21] +- goal: [13, 18] + name: agent69 + start: [31, 28] +- goal: [14, 11] + name: agent70 + start: [18, 4] +- goal: [31, 24] + name: agent71 + start: [7, 25] +- goal: [29, 1] + name: agent72 + start: [30, 24] +- goal: [26, 31] + name: agent73 + start: [10, 8] +- goal: [10, 9] + name: agent74 + start: [3, 6] +- goal: [4, 22] + name: agent75 + start: [5, 23] +- goal: [16, 27] + name: agent76 + start: [13, 18] +- goal: [30, 27] + name: agent77 + start: [13, 28] +- goal: [14, 28] + name: agent78 + start: [13, 16] +- goal: [28, 19] + name: agent79 + start: [20, 23] +- goal: [3, 19] + name: agent80 + start: [12, 28] +- goal: [18, 24] + name: agent81 + start: [16, 28] +- goal: [29, 22] + name: agent82 + start: [21, 12] +- goal: [15, 9] + name: agent83 + start: [12, 23] +- goal: [18, 31] + name: agent84 + start: [30, 18] +- goal: [1, 23] + name: agent85 + start: [17, 30] +- goal: [18, 0] + name: agent86 + start: [29, 24] +- goal: [2, 14] + name: agent87 + start: [16, 25] +- goal: [0, 28] + name: agent88 + start: [27, 25] +- goal: [7, 19] + name: agent89 + start: [9, 28] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [11, 8] + - !!python/tuple [20, 6] + - !!python/tuple [12, 24] + - !!python/tuple [13, 29] + - !!python/tuple [21, 24] + - !!python/tuple [23, 29] + - !!python/tuple [2, 4] + - !!python/tuple [7, 9] + - !!python/tuple [8, 0] + - !!python/tuple [30, 22] + - !!python/tuple [5, 18] + - !!python/tuple [14, 27] + - !!python/tuple [23, 27] + - !!python/tuple [21, 7] + - !!python/tuple [7, 2] + - !!python/tuple [7, 5] + - !!python/tuple [10, 27] + - !!python/tuple [26, 28] + - !!python/tuple [22, 22] + - !!python/tuple [6, 7] + - !!python/tuple [0, 3] + - !!python/tuple [23, 24] + - !!python/tuple [20, 26] + - !!python/tuple [19, 19] + - !!python/tuple [6, 18] + - !!python/tuple [30, 6] + - !!python/tuple [31, 18] + - !!python/tuple [28, 27] + - !!python/tuple [24, 6] + - !!python/tuple [8, 5] + - !!python/tuple [12, 1] + - !!python/tuple [11, 16] + - !!python/tuple [10, 17] + - !!python/tuple [23, 1] + - !!python/tuple [27, 19] + - !!python/tuple [9, 16] + - !!python/tuple [12, 21] + - !!python/tuple [11, 22] + - !!python/tuple [26, 8] + - !!python/tuple [15, 14] + - !!python/tuple [24, 0] + - !!python/tuple [2, 1] + - !!python/tuple [22, 0] + - !!python/tuple [0, 0] + - !!python/tuple [31, 30] + - !!python/tuple [29, 17] + - !!python/tuple [15, 21] + - !!python/tuple [20, 2] + - !!python/tuple [30, 3] + - !!python/tuple [31, 2] + - !!python/tuple [17, 17] + - !!python/tuple [23, 13] + - !!python/tuple [2, 13] + - !!python/tuple [2, 3] + - !!python/tuple [31, 19] + - !!python/tuple [25, 25] + - !!python/tuple [29, 12] + - !!python/tuple [27, 16] + - !!python/tuple [0, 29] + - !!python/tuple [0, 18] + - !!python/tuple [7, 6] + - !!python/tuple [14, 1] + - !!python/tuple [24, 14] + - !!python/tuple [19, 7] + - !!python/tuple [10, 14] + - !!python/tuple [22, 2] + - !!python/tuple [25, 26] + - !!python/tuple [12, 2] + - !!python/tuple [8, 11] + - !!python/tuple [1, 7] + - !!python/tuple [27, 29] + - !!python/tuple [24, 2] + - !!python/tuple [2, 16] + - !!python/tuple [5, 21] + - !!python/tuple [4, 14] + - !!python/tuple [4, 15] + - !!python/tuple [10, 4] + - !!python/tuple [29, 15] + - !!python/tuple [23, 23] + - !!python/tuple [1, 1] + - !!python/tuple [5, 11] + - !!python/tuple [11, 3] + - !!python/tuple [8, 26] + - !!python/tuple [19, 9] + - !!python/tuple [7, 4] + - !!python/tuple [9, 24] + - !!python/tuple [28, 10] + - !!python/tuple [28, 15] + - !!python/tuple [11, 5] + - !!python/tuple [12, 18] + - !!python/tuple [9, 3] + - !!python/tuple [8, 6] + - !!python/tuple [0, 12] + - !!python/tuple [8, 3] + - !!python/tuple [17, 5] + - !!python/tuple [13, 25] + - !!python/tuple [20, 3] + - !!python/tuple [25, 18] + - !!python/tuple [4, 26] + - !!python/tuple [8, 22] + - !!python/tuple [11, 26] + - !!python/tuple [15, 23] + - !!python/tuple [8, 1] + - !!python/tuple [21, 11] + - !!python/tuple [6, 11] + - !!python/tuple [31, 23] + - !!python/tuple [30, 13] + - !!python/tuple [9, 0] + - !!python/tuple [18, 2] + - !!python/tuple [24, 9] + - !!python/tuple [23, 15] + - !!python/tuple [27, 6] + - !!python/tuple [9, 22] + - !!python/tuple [6, 0] + - !!python/tuple [29, 0] + - !!python/tuple [22, 17] + - !!python/tuple [2, 19] + - !!python/tuple [1, 22] + - !!python/tuple [29, 2] + - !!python/tuple [31, 7] + - !!python/tuple [20, 22] + - !!python/tuple [22, 25] + - !!python/tuple [7, 15] + - !!python/tuple [17, 2] + - !!python/tuple [14, 24] + - !!python/tuple [31, 26] + - !!python/tuple [14, 23] + - !!python/tuple [6, 3] + - !!python/tuple [28, 29] + - !!python/tuple [24, 3] + - !!python/tuple [18, 8] + - !!python/tuple [31, 20] + - !!python/tuple [6, 4] + - !!python/tuple [20, 28] + - !!python/tuple [17, 23] + - !!python/tuple [27, 17] + - !!python/tuple [4, 3] + - !!python/tuple [7, 28] + - !!python/tuple [31, 29] + - !!python/tuple [24, 20] + - !!python/tuple [25, 27] + - !!python/tuple [23, 8] + - !!python/tuple [23, 3] + - !!python/tuple [22, 20] + - !!python/tuple [29, 4] + - !!python/tuple [30, 21] + - !!python/tuple [6, 16] + - !!python/tuple [9, 4] + - !!python/tuple [27, 23] + - !!python/tuple [10, 13] + - !!python/tuple [4, 18] + - !!python/tuple [17, 14] + - !!python/tuple [21, 23] + - !!python/tuple [29, 5] + - !!python/tuple [8, 18] + - !!python/tuple [28, 6] + - !!python/tuple [17, 25] + - !!python/tuple [19, 2] + - !!python/tuple [6, 8] + - !!python/tuple [29, 3] + - !!python/tuple [23, 7] + - !!python/tuple [1, 31] + - !!python/tuple [8, 13] + - !!python/tuple [16, 4] + - !!python/tuple [21, 27] + - !!python/tuple [29, 30] + - !!python/tuple [5, 27] + - !!python/tuple [25, 23] + - !!python/tuple [22, 19] + - !!python/tuple [28, 8] + - !!python/tuple [5, 15] + - !!python/tuple [19, 27] + - !!python/tuple [9, 26] + - !!python/tuple [15, 3] + - !!python/tuple [23, 11] + - !!python/tuple [1, 28] + - !!python/tuple [18, 22] + - !!python/tuple [5, 26] + - !!python/tuple [26, 10] + - !!python/tuple [12, 30] + - !!python/tuple [0, 30] + - !!python/tuple [15, 22] + - !!python/tuple [16, 7] + - !!python/tuple [12, 10] + - !!python/tuple [17, 1] + - !!python/tuple [8, 12] + - !!python/tuple [30, 11] + - !!python/tuple [29, 27] + - !!python/tuple [31, 3] + - !!python/tuple [29, 20] + - !!python/tuple [30, 9] + - !!python/tuple [14, 30] + - !!python/tuple [15, 10] + - !!python/tuple [19, 8] + - !!python/tuple [24, 17] + - !!python/tuple [20, 12] + - !!python/tuple [10, 3] + - !!python/tuple [5, 6] + - !!python/tuple [3, 12] + - !!python/tuple [26, 4] + - !!python/tuple [19, 31] + - !!python/tuple [10, 24] + - !!python/tuple [13, 11] + - !!python/tuple [28, 22] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex66.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex66.yaml new file mode 100644 index 0000000..f5005cb --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex66.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [21, 2] + name: agent0 + start: [27, 24] +- goal: [29, 30] + name: agent1 + start: [19, 31] +- goal: [28, 19] + name: agent2 + start: [24, 2] +- goal: [25, 0] + name: agent3 + start: [9, 19] +- goal: [0, 23] + name: agent4 + start: [15, 1] +- goal: [14, 30] + name: agent5 + start: [11, 3] +- goal: [1, 3] + name: agent6 + start: [21, 5] +- goal: [3, 2] + name: agent7 + start: [6, 26] +- goal: [6, 26] + name: agent8 + start: [24, 4] +- goal: [23, 19] + name: agent9 + start: [17, 0] +- goal: [30, 2] + name: agent10 + start: [31, 29] +- goal: [27, 7] + name: agent11 + start: [0, 23] +- goal: [5, 30] + name: agent12 + start: [21, 16] +- goal: [28, 17] + name: agent13 + start: [19, 19] +- goal: [22, 27] + name: agent14 + start: [2, 14] +- goal: [1, 25] + name: agent15 + start: [24, 11] +- goal: [29, 15] + name: agent16 + start: [0, 13] +- goal: [28, 26] + name: agent17 + start: [10, 31] +- goal: [31, 9] + name: agent18 + start: [21, 8] +- goal: [9, 14] + name: agent19 + start: [28, 12] +- goal: [20, 23] + name: agent20 + start: [3, 21] +- goal: [22, 24] + name: agent21 + start: [31, 18] +- goal: [25, 14] + name: agent22 + start: [5, 21] +- goal: [20, 25] + name: agent23 + start: [23, 6] +- goal: [9, 8] + name: agent24 + start: [1, 29] +- goal: [17, 17] + name: agent25 + start: [23, 0] +- goal: [8, 7] + name: agent26 + start: [29, 14] +- goal: [4, 25] + name: agent27 + start: [17, 20] +- goal: [27, 29] + name: agent28 + start: [16, 30] +- goal: [17, 12] + name: agent29 + start: [16, 10] +- goal: [14, 3] + name: agent30 + start: [9, 9] +- goal: [5, 12] + name: agent31 + start: [31, 23] +- goal: [24, 19] + name: agent32 + start: [1, 31] +- goal: [30, 19] + name: agent33 + start: [13, 20] +- goal: [1, 27] + name: agent34 + start: [11, 18] +- goal: [31, 7] + name: agent35 + start: [14, 26] +- goal: [10, 10] + name: agent36 + start: [0, 30] +- goal: [20, 7] + name: agent37 + start: [25, 11] +- goal: [13, 28] + name: agent38 + start: [7, 1] +- goal: [21, 23] + name: agent39 + start: [4, 1] +- goal: [7, 1] + name: agent40 + start: [9, 12] +- goal: [13, 8] + name: agent41 + start: [23, 7] +- goal: [29, 5] + name: agent42 + start: [10, 1] +- goal: [7, 13] + name: agent43 + start: [7, 29] +- goal: [24, 15] + name: agent44 + start: [24, 27] +- goal: [14, 10] + name: agent45 + start: [8, 27] +- goal: [24, 21] + name: agent46 + start: [19, 20] +- goal: [0, 28] + name: agent47 + start: [13, 5] +- goal: [5, 16] + name: agent48 + start: [0, 15] +- goal: [3, 14] + name: agent49 + start: [31, 21] +- goal: [30, 22] + name: agent50 + start: [22, 30] +- goal: [21, 4] + name: agent51 + start: [7, 12] +- goal: [24, 27] + name: agent52 + start: [15, 2] +- goal: [28, 7] + name: agent53 + start: [22, 31] +- goal: [26, 27] + name: agent54 + start: [7, 13] +- goal: [30, 5] + name: agent55 + start: [20, 14] +- goal: [11, 14] + name: agent56 + start: [21, 19] +- goal: [11, 4] + name: agent57 + start: [28, 6] +- goal: [28, 16] + name: agent58 + start: [20, 22] +- goal: [21, 8] + name: agent59 + start: [4, 30] +- goal: [14, 20] + name: agent60 + start: [3, 6] +- goal: [24, 10] + name: agent61 + start: [17, 2] +- goal: [6, 3] + name: agent62 + start: [3, 11] +- goal: [1, 11] + name: agent63 + start: [22, 20] +- goal: [9, 24] + name: agent64 + start: [13, 31] +- goal: [16, 3] + name: agent65 + start: [13, 21] +- goal: [12, 5] + name: agent66 + start: [20, 21] +- goal: [29, 28] + name: agent67 + start: [21, 27] +- goal: [14, 5] + name: agent68 + start: [10, 28] +- goal: [2, 20] + name: agent69 + start: [31, 5] +- goal: [17, 5] + name: agent70 + start: [11, 23] +- goal: [20, 8] + name: agent71 + start: [6, 14] +- goal: [28, 2] + name: agent72 + start: [11, 11] +- goal: [18, 1] + name: agent73 + start: [4, 16] +- goal: [12, 13] + name: agent74 + start: [12, 27] +- goal: [4, 24] + name: agent75 + start: [22, 19] +- goal: [20, 17] + name: agent76 + start: [24, 24] +- goal: [3, 0] + name: agent77 + start: [1, 13] +- goal: [8, 23] + name: agent78 + start: [12, 10] +- goal: [21, 11] + name: agent79 + start: [20, 15] +- goal: [24, 24] + name: agent80 + start: [26, 23] +- goal: [8, 0] + name: agent81 + start: [25, 23] +- goal: [16, 22] + name: agent82 + start: [30, 12] +- goal: [14, 22] + name: agent83 + start: [27, 28] +- goal: [27, 24] + name: agent84 + start: [0, 3] +- goal: [21, 24] + name: agent85 + start: [23, 24] +- goal: [27, 28] + name: agent86 + start: [7, 22] +- goal: [3, 24] + name: agent87 + start: [20, 9] +- goal: [10, 3] + name: agent88 + start: [19, 0] +- goal: [14, 12] + name: agent89 + start: [6, 30] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [20, 26] + - !!python/tuple [28, 14] + - !!python/tuple [13, 6] + - !!python/tuple [13, 0] + - !!python/tuple [10, 2] + - !!python/tuple [15, 21] + - !!python/tuple [4, 4] + - !!python/tuple [19, 9] + - !!python/tuple [1, 19] + - !!python/tuple [6, 8] + - !!python/tuple [13, 7] + - !!python/tuple [30, 31] + - !!python/tuple [20, 5] + - !!python/tuple [30, 1] + - !!python/tuple [8, 1] + - !!python/tuple [25, 6] + - !!python/tuple [8, 12] + - !!python/tuple [9, 27] + - !!python/tuple [2, 12] + - !!python/tuple [29, 25] + - !!python/tuple [3, 27] + - !!python/tuple [18, 24] + - !!python/tuple [6, 22] + - !!python/tuple [4, 8] + - !!python/tuple [14, 25] + - !!python/tuple [29, 23] + - !!python/tuple [2, 18] + - !!python/tuple [10, 7] + - !!python/tuple [18, 15] + - !!python/tuple [12, 16] + - !!python/tuple [24, 23] + - !!python/tuple [2, 17] + - !!python/tuple [15, 20] + - !!python/tuple [21, 1] + - !!python/tuple [9, 0] + - !!python/tuple [1, 17] + - !!python/tuple [21, 25] + - !!python/tuple [11, 6] + - !!python/tuple [22, 26] + - !!python/tuple [10, 25] + - !!python/tuple [10, 26] + - !!python/tuple [14, 14] + - !!python/tuple [17, 3] + - !!python/tuple [1, 28] + - !!python/tuple [13, 14] + - !!python/tuple [0, 22] + - !!python/tuple [11, 2] + - !!python/tuple [12, 21] + - !!python/tuple [23, 20] + - !!python/tuple [10, 29] + - !!python/tuple [31, 17] + - !!python/tuple [28, 22] + - !!python/tuple [7, 16] + - !!python/tuple [21, 29] + - !!python/tuple [31, 2] + - !!python/tuple [25, 19] + - !!python/tuple [15, 30] + - !!python/tuple [8, 17] + - !!python/tuple [24, 13] + - !!python/tuple [7, 17] + - !!python/tuple [11, 15] + - !!python/tuple [23, 3] + - !!python/tuple [17, 15] + - !!python/tuple [0, 8] + - !!python/tuple [0, 10] + - !!python/tuple [31, 31] + - !!python/tuple [19, 1] + - !!python/tuple [18, 29] + - !!python/tuple [17, 9] + - !!python/tuple [31, 16] + - !!python/tuple [10, 21] + - !!python/tuple [26, 31] + - !!python/tuple [12, 31] + - !!python/tuple [29, 8] + - !!python/tuple [11, 20] + - !!python/tuple [6, 9] + - !!python/tuple [25, 21] + - !!python/tuple [27, 4] + - !!python/tuple [24, 29] + - !!python/tuple [2, 28] + - !!python/tuple [19, 16] + - !!python/tuple [29, 7] + - !!python/tuple [3, 18] + - !!python/tuple [28, 24] + - !!python/tuple [17, 22] + - !!python/tuple [1, 21] + - !!python/tuple [21, 12] + - !!python/tuple [0, 12] + - !!python/tuple [26, 17] + - !!python/tuple [17, 4] + - !!python/tuple [22, 7] + - !!python/tuple [22, 23] + - !!python/tuple [6, 7] + - !!python/tuple [31, 14] + - !!python/tuple [28, 10] + - !!python/tuple [11, 29] + - !!python/tuple [29, 27] + - !!python/tuple [15, 29] + - !!python/tuple [17, 19] + - !!python/tuple [6, 15] + - !!python/tuple [21, 13] + - !!python/tuple [25, 27] + - !!python/tuple [10, 6] + - !!python/tuple [21, 15] + - !!python/tuple [0, 17] + - !!python/tuple [0, 18] + - !!python/tuple [16, 11] + - !!python/tuple [20, 19] + - !!python/tuple [3, 23] + - !!python/tuple [21, 20] + - !!python/tuple [0, 11] + - !!python/tuple [4, 5] + - !!python/tuple [31, 20] + - !!python/tuple [30, 11] + - !!python/tuple [2, 1] + - !!python/tuple [12, 23] + - !!python/tuple [16, 23] + - !!python/tuple [27, 31] + - !!python/tuple [14, 15] + - !!python/tuple [2, 22] + - !!python/tuple [18, 14] + - !!python/tuple [21, 10] + - !!python/tuple [30, 24] + - !!python/tuple [29, 22] + - !!python/tuple [13, 27] + - !!python/tuple [8, 24] + - !!python/tuple [22, 0] + - !!python/tuple [19, 26] + - !!python/tuple [13, 11] + - !!python/tuple [26, 16] + - !!python/tuple [31, 26] + - !!python/tuple [15, 27] + - !!python/tuple [26, 11] + - !!python/tuple [17, 16] + - !!python/tuple [13, 1] + - !!python/tuple [25, 3] + - !!python/tuple [0, 0] + - !!python/tuple [11, 9] + - !!python/tuple [2, 13] + - !!python/tuple [5, 18] + - !!python/tuple [21, 9] + - !!python/tuple [26, 0] + - !!python/tuple [5, 8] + - !!python/tuple [6, 0] + - !!python/tuple [8, 18] + - !!python/tuple [0, 27] + - !!python/tuple [12, 4] + - !!python/tuple [1, 23] + - !!python/tuple [18, 3] + - !!python/tuple [21, 26] + - !!python/tuple [2, 21] + - !!python/tuple [4, 17] + - !!python/tuple [3, 5] + - !!python/tuple [16, 18] + - !!python/tuple [19, 28] + - !!python/tuple [28, 21] + - !!python/tuple [8, 19] + - !!python/tuple [22, 16] + - !!python/tuple [5, 26] + - !!python/tuple [10, 15] + - !!python/tuple [20, 13] + - !!python/tuple [18, 30] + - !!python/tuple [27, 16] + - !!python/tuple [8, 2] + - !!python/tuple [22, 2] + - !!python/tuple [5, 2] + - !!python/tuple [25, 16] + - !!python/tuple [3, 20] + - !!python/tuple [25, 31] + - !!python/tuple [20, 4] + - !!python/tuple [16, 31] + - !!python/tuple [13, 4] + - !!python/tuple [13, 24] + - !!python/tuple [19, 8] + - !!python/tuple [25, 24] + - !!python/tuple [23, 5] + - !!python/tuple [27, 19] + - !!python/tuple [15, 6] + - !!python/tuple [30, 14] + - !!python/tuple [31, 1] + - !!python/tuple [12, 0] + - !!python/tuple [20, 31] + - !!python/tuple [13, 17] + - !!python/tuple [31, 24] + - !!python/tuple [27, 5] + - !!python/tuple [9, 23] + - !!python/tuple [11, 25] + - !!python/tuple [13, 22] + - !!python/tuple [7, 20] + - !!python/tuple [23, 23] + - !!python/tuple [4, 13] + - !!python/tuple [7, 8] + - !!python/tuple [18, 31] + - !!python/tuple [20, 20] + - !!python/tuple [15, 8] + - !!python/tuple [27, 26] + - !!python/tuple [19, 3] + - !!python/tuple [14, 28] + - !!python/tuple [16, 19] + - !!python/tuple [1, 15] + - !!python/tuple [10, 5] + - !!python/tuple [18, 0] + - !!python/tuple [5, 27] + - !!python/tuple [8, 6] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex67.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex67.yaml new file mode 100644 index 0000000..7bab8d9 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex67.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [20, 14] + name: agent0 + start: [28, 22] +- goal: [21, 1] + name: agent1 + start: [22, 17] +- goal: [22, 2] + name: agent2 + start: [0, 31] +- goal: [27, 28] + name: agent3 + start: [8, 24] +- goal: [8, 5] + name: agent4 + start: [10, 12] +- goal: [9, 17] + name: agent5 + start: [18, 0] +- goal: [13, 6] + name: agent6 + start: [16, 9] +- goal: [13, 7] + name: agent7 + start: [9, 20] +- goal: [7, 4] + name: agent8 + start: [29, 27] +- goal: [17, 10] + name: agent9 + start: [17, 24] +- goal: [2, 2] + name: agent10 + start: [1, 3] +- goal: [22, 18] + name: agent11 + start: [27, 8] +- goal: [12, 20] + name: agent12 + start: [25, 5] +- goal: [7, 14] + name: agent13 + start: [27, 23] +- goal: [30, 17] + name: agent14 + start: [24, 27] +- goal: [29, 23] + name: agent15 + start: [17, 10] +- goal: [7, 28] + name: agent16 + start: [23, 27] +- goal: [20, 30] + name: agent17 + start: [7, 16] +- goal: [3, 24] + name: agent18 + start: [31, 18] +- goal: [3, 15] + name: agent19 + start: [14, 5] +- goal: [24, 7] + name: agent20 + start: [21, 5] +- goal: [1, 30] + name: agent21 + start: [14, 6] +- goal: [10, 17] + name: agent22 + start: [23, 20] +- goal: [17, 31] + name: agent23 + start: [15, 13] +- goal: [16, 6] + name: agent24 + start: [5, 2] +- goal: [8, 31] + name: agent25 + start: [6, 11] +- goal: [4, 3] + name: agent26 + start: [17, 0] +- goal: [19, 14] + name: agent27 + start: [5, 14] +- goal: [17, 13] + name: agent28 + start: [30, 13] +- goal: [0, 0] + name: agent29 + start: [24, 17] +- goal: [23, 17] + name: agent30 + start: [24, 22] +- goal: [13, 15] + name: agent31 + start: [7, 30] +- goal: [3, 1] + name: agent32 + start: [25, 10] +- goal: [24, 27] + name: agent33 + start: [29, 25] +- goal: [4, 5] + name: agent34 + start: [31, 12] +- goal: [0, 28] + name: agent35 + start: [23, 10] +- goal: [19, 12] + name: agent36 + start: [1, 20] +- goal: [31, 16] + name: agent37 + start: [30, 31] +- goal: [12, 28] + name: agent38 + start: [16, 7] +- goal: [30, 26] + name: agent39 + start: [22, 5] +- goal: [16, 7] + name: agent40 + start: [11, 30] +- goal: [12, 8] + name: agent41 + start: [15, 25] +- goal: [19, 2] + name: agent42 + start: [14, 25] +- goal: [29, 31] + name: agent43 + start: [17, 9] +- goal: [11, 27] + name: agent44 + start: [15, 24] +- goal: [11, 13] + name: agent45 + start: [25, 8] +- goal: [1, 23] + name: agent46 + start: [6, 1] +- goal: [18, 24] + name: agent47 + start: [21, 22] +- goal: [23, 27] + name: agent48 + start: [30, 8] +- goal: [7, 10] + name: agent49 + start: [8, 8] +- goal: [0, 31] + name: agent50 + start: [18, 3] +- goal: [18, 19] + name: agent51 + start: [29, 31] +- goal: [1, 22] + name: agent52 + start: [12, 16] +- goal: [8, 13] + name: agent53 + start: [25, 26] +- goal: [18, 20] + name: agent54 + start: [2, 7] +- goal: [29, 3] + name: agent55 + start: [18, 28] +- goal: [28, 11] + name: agent56 + start: [5, 15] +- goal: [0, 4] + name: agent57 + start: [23, 16] +- goal: [12, 17] + name: agent58 + start: [11, 29] +- goal: [28, 7] + name: agent59 + start: [17, 19] +- goal: [30, 23] + name: agent60 + start: [23, 31] +- goal: [0, 22] + name: agent61 + start: [29, 21] +- goal: [31, 4] + name: agent62 + start: [4, 11] +- goal: [11, 29] + name: agent63 + start: [6, 17] +- goal: [22, 15] + name: agent64 + start: [20, 15] +- goal: [23, 28] + name: agent65 + start: [25, 2] +- goal: [27, 27] + name: agent66 + start: [4, 12] +- goal: [28, 5] + name: agent67 + start: [4, 15] +- goal: [9, 23] + name: agent68 + start: [25, 20] +- goal: [25, 31] + name: agent69 + start: [28, 11] +- goal: [23, 0] + name: agent70 + start: [31, 28] +- goal: [21, 12] + name: agent71 + start: [13, 20] +- goal: [1, 20] + name: agent72 + start: [24, 13] +- goal: [8, 23] + name: agent73 + start: [8, 15] +- goal: [6, 19] + name: agent74 + start: [13, 8] +- goal: [30, 20] + name: agent75 + start: [26, 6] +- goal: [8, 3] + name: agent76 + start: [20, 12] +- goal: [27, 5] + name: agent77 + start: [3, 1] +- goal: [5, 6] + name: agent78 + start: [23, 1] +- goal: [12, 24] + name: agent79 + start: [2, 21] +- goal: [18, 15] + name: agent80 + start: [4, 22] +- goal: [1, 3] + name: agent81 + start: [16, 21] +- goal: [7, 27] + name: agent82 + start: [18, 25] +- goal: [15, 2] + name: agent83 + start: [31, 17] +- goal: [24, 4] + name: agent84 + start: [16, 2] +- goal: [23, 23] + name: agent85 + start: [6, 29] +- goal: [18, 28] + name: agent86 + start: [1, 18] +- goal: [8, 2] + name: agent87 + start: [13, 2] +- goal: [30, 2] + name: agent88 + start: [16, 19] +- goal: [31, 2] + name: agent89 + start: [5, 22] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [0, 11] + - !!python/tuple [11, 24] + - !!python/tuple [5, 11] + - !!python/tuple [12, 13] + - !!python/tuple [27, 20] + - !!python/tuple [8, 30] + - !!python/tuple [2, 9] + - !!python/tuple [6, 24] + - !!python/tuple [3, 29] + - !!python/tuple [2, 30] + - !!python/tuple [13, 19] + - !!python/tuple [8, 6] + - !!python/tuple [31, 25] + - !!python/tuple [24, 11] + - !!python/tuple [20, 19] + - !!python/tuple [22, 6] + - !!python/tuple [30, 19] + - !!python/tuple [3, 25] + - !!python/tuple [13, 29] + - !!python/tuple [27, 14] + - !!python/tuple [14, 15] + - !!python/tuple [28, 26] + - !!python/tuple [13, 16] + - !!python/tuple [20, 28] + - !!python/tuple [18, 17] + - !!python/tuple [27, 11] + - !!python/tuple [5, 24] + - !!python/tuple [30, 1] + - !!python/tuple [8, 29] + - !!python/tuple [23, 3] + - !!python/tuple [25, 28] + - !!python/tuple [16, 31] + - !!python/tuple [2, 12] + - !!python/tuple [12, 26] + - !!python/tuple [28, 28] + - !!python/tuple [18, 7] + - !!python/tuple [17, 25] + - !!python/tuple [21, 14] + - !!python/tuple [11, 12] + - !!python/tuple [26, 10] + - !!python/tuple [3, 19] + - !!python/tuple [6, 14] + - !!python/tuple [17, 26] + - !!python/tuple [5, 1] + - !!python/tuple [13, 10] + - !!python/tuple [15, 5] + - !!python/tuple [9, 24] + - !!python/tuple [4, 0] + - !!python/tuple [21, 2] + - !!python/tuple [4, 17] + - !!python/tuple [17, 22] + - !!python/tuple [0, 23] + - !!python/tuple [4, 24] + - !!python/tuple [8, 4] + - !!python/tuple [9, 6] + - !!python/tuple [27, 12] + - !!python/tuple [11, 28] + - !!python/tuple [6, 8] + - !!python/tuple [2, 4] + - !!python/tuple [6, 26] + - !!python/tuple [16, 18] + - !!python/tuple [4, 20] + - !!python/tuple [15, 15] + - !!python/tuple [15, 21] + - !!python/tuple [12, 0] + - !!python/tuple [5, 29] + - !!python/tuple [27, 29] + - !!python/tuple [23, 18] + - !!python/tuple [11, 18] + - !!python/tuple [30, 15] + - !!python/tuple [27, 15] + - !!python/tuple [15, 1] + - !!python/tuple [10, 5] + - !!python/tuple [26, 14] + - !!python/tuple [26, 28] + - !!python/tuple [19, 27] + - !!python/tuple [23, 4] + - !!python/tuple [21, 0] + - !!python/tuple [6, 23] + - !!python/tuple [26, 9] + - !!python/tuple [25, 7] + - !!python/tuple [17, 4] + - !!python/tuple [5, 17] + - !!python/tuple [10, 15] + - !!python/tuple [16, 28] + - !!python/tuple [21, 24] + - !!python/tuple [19, 6] + - !!python/tuple [29, 20] + - !!python/tuple [1, 12] + - !!python/tuple [23, 25] + - !!python/tuple [6, 7] + - !!python/tuple [3, 12] + - !!python/tuple [5, 13] + - !!python/tuple [16, 17] + - !!python/tuple [1, 21] + - !!python/tuple [29, 4] + - !!python/tuple [27, 0] + - !!python/tuple [3, 6] + - !!python/tuple [0, 12] + - !!python/tuple [24, 8] + - !!python/tuple [8, 26] + - !!python/tuple [23, 30] + - !!python/tuple [0, 1] + - !!python/tuple [12, 25] + - !!python/tuple [12, 19] + - !!python/tuple [3, 18] + - !!python/tuple [28, 20] + - !!python/tuple [0, 30] + - !!python/tuple [28, 30] + - !!python/tuple [29, 8] + - !!python/tuple [7, 3] + - !!python/tuple [17, 5] + - !!python/tuple [4, 1] + - !!python/tuple [21, 6] + - !!python/tuple [27, 6] + - !!python/tuple [4, 18] + - !!python/tuple [28, 24] + - !!python/tuple [12, 4] + - !!python/tuple [23, 21] + - !!python/tuple [9, 30] + - !!python/tuple [14, 23] + - !!python/tuple [18, 22] + - !!python/tuple [7, 20] + - !!python/tuple [21, 4] + - !!python/tuple [15, 11] + - !!python/tuple [3, 30] + - !!python/tuple [11, 23] + - !!python/tuple [23, 19] + - !!python/tuple [3, 9] + - !!python/tuple [10, 16] + - !!python/tuple [24, 5] + - !!python/tuple [18, 18] + - !!python/tuple [12, 2] + - !!python/tuple [26, 5] + - !!python/tuple [22, 24] + - !!python/tuple [6, 21] + - !!python/tuple [22, 9] + - !!python/tuple [11, 25] + - !!python/tuple [9, 19] + - !!python/tuple [19, 24] + - !!python/tuple [31, 24] + - !!python/tuple [29, 22] + - !!python/tuple [2, 27] + - !!python/tuple [10, 10] + - !!python/tuple [2, 6] + - !!python/tuple [6, 2] + - !!python/tuple [22, 1] + - !!python/tuple [20, 31] + - !!python/tuple [11, 22] + - !!python/tuple [8, 28] + - !!python/tuple [10, 30] + - !!python/tuple [15, 29] + - !!python/tuple [13, 21] + - !!python/tuple [30, 22] + - !!python/tuple [1, 27] + - !!python/tuple [5, 18] + - !!python/tuple [27, 13] + - !!python/tuple [9, 27] + - !!python/tuple [2, 22] + - !!python/tuple [18, 12] + - !!python/tuple [12, 31] + - !!python/tuple [17, 3] + - !!python/tuple [13, 1] + - !!python/tuple [19, 1] + - !!python/tuple [4, 31] + - !!python/tuple [25, 0] + - !!python/tuple [22, 14] + - !!python/tuple [13, 14] + - !!python/tuple [26, 19] + - !!python/tuple [6, 0] + - !!python/tuple [3, 21] + - !!python/tuple [25, 6] + - !!python/tuple [12, 3] + - !!python/tuple [26, 20] + - !!python/tuple [29, 12] + - !!python/tuple [3, 11] + - !!python/tuple [21, 25] + - !!python/tuple [31, 8] + - !!python/tuple [10, 24] + - !!python/tuple [30, 10] + - !!python/tuple [14, 0] + - !!python/tuple [24, 6] + - !!python/tuple [29, 17] + - !!python/tuple [0, 7] + - !!python/tuple [29, 19] + - !!python/tuple [19, 17] + - !!python/tuple [11, 19] + - !!python/tuple [16, 30] + - !!python/tuple [22, 13] + - !!python/tuple [9, 26] + - !!python/tuple [2, 14] + - !!python/tuple [10, 19] + - !!python/tuple [4, 25] + - !!python/tuple [10, 28] + - !!python/tuple [14, 16] + - !!python/tuple [1, 5] + - !!python/tuple [11, 16] + - !!python/tuple [9, 3] + - !!python/tuple [2, 28] + - !!python/tuple [8, 27] + - !!python/tuple [10, 11] + - !!python/tuple [21, 20] + - !!python/tuple [0, 13] + - !!python/tuple [6, 27] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex68.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex68.yaml new file mode 100644 index 0000000..1538a0f --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex68.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [29, 25] + name: agent0 + start: [30, 7] +- goal: [20, 2] + name: agent1 + start: [0, 10] +- goal: [20, 17] + name: agent2 + start: [2, 9] +- goal: [2, 7] + name: agent3 + start: [6, 26] +- goal: [30, 26] + name: agent4 + start: [9, 2] +- goal: [8, 17] + name: agent5 + start: [14, 27] +- goal: [16, 13] + name: agent6 + start: [20, 7] +- goal: [27, 23] + name: agent7 + start: [20, 27] +- goal: [28, 10] + name: agent8 + start: [14, 31] +- goal: [4, 21] + name: agent9 + start: [22, 7] +- goal: [2, 16] + name: agent10 + start: [1, 17] +- goal: [27, 15] + name: agent11 + start: [7, 11] +- goal: [3, 5] + name: agent12 + start: [29, 7] +- goal: [28, 17] + name: agent13 + start: [30, 16] +- goal: [7, 14] + name: agent14 + start: [28, 1] +- goal: [2, 22] + name: agent15 + start: [15, 30] +- goal: [21, 22] + name: agent16 + start: [16, 30] +- goal: [20, 4] + name: agent17 + start: [16, 3] +- goal: [15, 24] + name: agent18 + start: [22, 27] +- goal: [28, 28] + name: agent19 + start: [30, 11] +- goal: [1, 16] + name: agent20 + start: [1, 14] +- goal: [4, 17] + name: agent21 + start: [23, 24] +- goal: [4, 6] + name: agent22 + start: [6, 17] +- goal: [9, 24] + name: agent23 + start: [19, 18] +- goal: [0, 21] + name: agent24 + start: [18, 27] +- goal: [17, 20] + name: agent25 + start: [14, 19] +- goal: [19, 9] + name: agent26 + start: [29, 16] +- goal: [21, 16] + name: agent27 + start: [10, 21] +- goal: [16, 23] + name: agent28 + start: [6, 6] +- goal: [3, 22] + name: agent29 + start: [22, 31] +- goal: [20, 5] + name: agent30 + start: [26, 3] +- goal: [25, 1] + name: agent31 + start: [10, 9] +- goal: [17, 24] + name: agent32 + start: [3, 31] +- goal: [8, 22] + name: agent33 + start: [9, 25] +- goal: [10, 25] + name: agent34 + start: [19, 21] +- goal: [5, 11] + name: agent35 + start: [19, 6] +- goal: [20, 0] + name: agent36 + start: [28, 17] +- goal: [31, 1] + name: agent37 + start: [8, 31] +- goal: [6, 13] + name: agent38 + start: [25, 26] +- goal: [16, 24] + name: agent39 + start: [0, 21] +- goal: [28, 6] + name: agent40 + start: [10, 6] +- goal: [2, 17] + name: agent41 + start: [5, 17] +- goal: [8, 26] + name: agent42 + start: [26, 31] +- goal: [1, 18] + name: agent43 + start: [29, 20] +- goal: [25, 18] + name: agent44 + start: [12, 29] +- goal: [14, 19] + name: agent45 + start: [17, 5] +- goal: [16, 10] + name: agent46 + start: [11, 16] +- goal: [10, 29] + name: agent47 + start: [8, 0] +- goal: [5, 28] + name: agent48 + start: [18, 0] +- goal: [29, 22] + name: agent49 + start: [23, 23] +- goal: [3, 2] + name: agent50 + start: [22, 25] +- goal: [31, 19] + name: agent51 + start: [18, 11] +- goal: [4, 31] + name: agent52 + start: [25, 1] +- goal: [8, 15] + name: agent53 + start: [30, 14] +- goal: [27, 7] + name: agent54 + start: [20, 0] +- goal: [4, 20] + name: agent55 + start: [25, 25] +- goal: [22, 1] + name: agent56 + start: [5, 13] +- goal: [2, 31] + name: agent57 + start: [0, 4] +- goal: [6, 1] + name: agent58 + start: [23, 21] +- goal: [2, 0] + name: agent59 + start: [29, 8] +- goal: [18, 20] + name: agent60 + start: [10, 25] +- goal: [5, 18] + name: agent61 + start: [30, 2] +- goal: [4, 0] + name: agent62 + start: [23, 26] +- goal: [18, 9] + name: agent63 + start: [18, 3] +- goal: [2, 19] + name: agent64 + start: [27, 27] +- goal: [24, 8] + name: agent65 + start: [4, 15] +- goal: [18, 22] + name: agent66 + start: [0, 6] +- goal: [9, 28] + name: agent67 + start: [22, 13] +- goal: [17, 14] + name: agent68 + start: [10, 11] +- goal: [30, 30] + name: agent69 + start: [13, 4] +- goal: [18, 21] + name: agent70 + start: [2, 30] +- goal: [11, 31] + name: agent71 + start: [20, 1] +- goal: [16, 16] + name: agent72 + start: [20, 30] +- goal: [27, 20] + name: agent73 + start: [31, 30] +- goal: [6, 9] + name: agent74 + start: [29, 2] +- goal: [14, 0] + name: agent75 + start: [3, 1] +- goal: [16, 19] + name: agent76 + start: [17, 30] +- goal: [2, 28] + name: agent77 + start: [1, 12] +- goal: [23, 9] + name: agent78 + start: [8, 21] +- goal: [21, 26] + name: agent79 + start: [9, 9] +- goal: [9, 27] + name: agent80 + start: [12, 9] +- goal: [6, 23] + name: agent81 + start: [27, 3] +- goal: [15, 15] + name: agent82 + start: [22, 19] +- goal: [4, 22] + name: agent83 + start: [7, 1] +- goal: [7, 8] + name: agent84 + start: [23, 27] +- goal: [2, 15] + name: agent85 + start: [18, 13] +- goal: [0, 5] + name: agent86 + start: [12, 3] +- goal: [17, 26] + name: agent87 + start: [30, 18] +- goal: [0, 6] + name: agent88 + start: [14, 29] +- goal: [10, 19] + name: agent89 + start: [23, 2] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [25, 16] + - !!python/tuple [19, 2] + - !!python/tuple [22, 22] + - !!python/tuple [25, 22] + - !!python/tuple [29, 19] + - !!python/tuple [26, 12] + - !!python/tuple [30, 20] + - !!python/tuple [11, 25] + - !!python/tuple [0, 23] + - !!python/tuple [3, 15] + - !!python/tuple [26, 13] + - !!python/tuple [12, 0] + - !!python/tuple [18, 25] + - !!python/tuple [11, 4] + - !!python/tuple [29, 12] + - !!python/tuple [23, 14] + - !!python/tuple [12, 25] + - !!python/tuple [14, 30] + - !!python/tuple [10, 26] + - !!python/tuple [28, 23] + - !!python/tuple [4, 2] + - !!python/tuple [3, 0] + - !!python/tuple [12, 1] + - !!python/tuple [6, 8] + - !!python/tuple [24, 28] + - !!python/tuple [21, 0] + - !!python/tuple [16, 31] + - !!python/tuple [5, 4] + - !!python/tuple [28, 21] + - !!python/tuple [31, 23] + - !!python/tuple [9, 0] + - !!python/tuple [31, 31] + - !!python/tuple [23, 31] + - !!python/tuple [11, 30] + - !!python/tuple [26, 4] + - !!python/tuple [30, 3] + - !!python/tuple [31, 7] + - !!python/tuple [0, 27] + - !!python/tuple [0, 14] + - !!python/tuple [12, 4] + - !!python/tuple [13, 25] + - !!python/tuple [16, 25] + - !!python/tuple [7, 13] + - !!python/tuple [11, 14] + - !!python/tuple [2, 12] + - !!python/tuple [8, 5] + - !!python/tuple [6, 19] + - !!python/tuple [11, 12] + - !!python/tuple [25, 31] + - !!python/tuple [31, 16] + - !!python/tuple [21, 19] + - !!python/tuple [10, 10] + - !!python/tuple [7, 23] + - !!python/tuple [22, 15] + - !!python/tuple [12, 13] + - !!python/tuple [14, 17] + - !!python/tuple [13, 24] + - !!python/tuple [19, 3] + - !!python/tuple [4, 24] + - !!python/tuple [7, 29] + - !!python/tuple [28, 25] + - !!python/tuple [27, 31] + - !!python/tuple [4, 27] + - !!python/tuple [23, 13] + - !!python/tuple [24, 13] + - !!python/tuple [9, 16] + - !!python/tuple [13, 29] + - !!python/tuple [11, 5] + - !!python/tuple [19, 22] + - !!python/tuple [14, 6] + - !!python/tuple [4, 28] + - !!python/tuple [18, 5] + - !!python/tuple [7, 2] + - !!python/tuple [20, 18] + - !!python/tuple [31, 2] + - !!python/tuple [16, 18] + - !!python/tuple [17, 17] + - !!python/tuple [29, 11] + - !!python/tuple [28, 14] + - !!python/tuple [7, 15] + - !!python/tuple [13, 10] + - !!python/tuple [9, 30] + - !!python/tuple [9, 20] + - !!python/tuple [6, 18] + - !!python/tuple [8, 23] + - !!python/tuple [25, 12] + - !!python/tuple [7, 27] + - !!python/tuple [8, 13] + - !!python/tuple [8, 2] + - !!python/tuple [17, 23] + - !!python/tuple [4, 4] + - !!python/tuple [25, 17] + - !!python/tuple [18, 4] + - !!python/tuple [6, 27] + - !!python/tuple [30, 17] + - !!python/tuple [26, 26] + - !!python/tuple [28, 13] + - !!python/tuple [7, 5] + - !!python/tuple [31, 15] + - !!python/tuple [13, 27] + - !!python/tuple [7, 9] + - !!python/tuple [28, 18] + - !!python/tuple [1, 24] + - !!python/tuple [3, 20] + - !!python/tuple [7, 22] + - !!python/tuple [15, 22] + - !!python/tuple [18, 31] + - !!python/tuple [17, 31] + - !!python/tuple [13, 12] + - !!python/tuple [23, 28] + - !!python/tuple [2, 2] + - !!python/tuple [14, 13] + - !!python/tuple [5, 31] + - !!python/tuple [22, 23] + - !!python/tuple [22, 24] + - !!python/tuple [21, 5] + - !!python/tuple [4, 12] + - !!python/tuple [15, 5] + - !!python/tuple [7, 3] + - !!python/tuple [0, 8] + - !!python/tuple [23, 12] + - !!python/tuple [23, 18] + - !!python/tuple [15, 29] + - !!python/tuple [16, 6] + - !!python/tuple [27, 1] + - !!python/tuple [16, 11] + - !!python/tuple [15, 20] + - !!python/tuple [8, 8] + - !!python/tuple [14, 21] + - !!python/tuple [3, 26] + - !!python/tuple [26, 23] + - !!python/tuple [14, 10] + - !!python/tuple [1, 29] + - !!python/tuple [17, 11] + - !!python/tuple [12, 28] + - !!python/tuple [0, 26] + - !!python/tuple [3, 14] + - !!python/tuple [0, 22] + - !!python/tuple [25, 10] + - !!python/tuple [22, 17] + - !!python/tuple [21, 11] + - !!python/tuple [7, 28] + - !!python/tuple [10, 2] + - !!python/tuple [25, 8] + - !!python/tuple [5, 22] + - !!python/tuple [14, 15] + - !!python/tuple [13, 1] + - !!python/tuple [14, 26] + - !!python/tuple [12, 15] + - !!python/tuple [27, 19] + - !!python/tuple [6, 4] + - !!python/tuple [24, 24] + - !!python/tuple [5, 14] + - !!python/tuple [28, 29] + - !!python/tuple [19, 8] + - !!python/tuple [29, 28] + - !!python/tuple [15, 7] + - !!python/tuple [4, 8] + - !!python/tuple [28, 11] + - !!python/tuple [28, 4] + - !!python/tuple [26, 8] + - !!python/tuple [15, 4] + - !!python/tuple [9, 3] + - !!python/tuple [30, 4] + - !!python/tuple [24, 14] + - !!python/tuple [31, 5] + - !!python/tuple [21, 28] + - !!python/tuple [15, 21] + - !!python/tuple [24, 31] + - !!python/tuple [11, 22] + - !!python/tuple [23, 8] + - !!python/tuple [10, 1] + - !!python/tuple [14, 5] + - !!python/tuple [13, 14] + - !!python/tuple [30, 0] + - !!python/tuple [5, 9] + - !!python/tuple [6, 22] + - !!python/tuple [25, 27] + - !!python/tuple [7, 25] + - !!python/tuple [5, 7] + - !!python/tuple [20, 3] + - !!python/tuple [3, 19] + - !!python/tuple [16, 0] + - !!python/tuple [3, 30] + - !!python/tuple [25, 6] + - !!python/tuple [21, 2] + - !!python/tuple [20, 21] + - !!python/tuple [31, 12] + - !!python/tuple [15, 2] + - !!python/tuple [19, 24] + - !!python/tuple [24, 19] + - !!python/tuple [3, 10] + - !!python/tuple [12, 26] + - !!python/tuple [1, 19] + - !!python/tuple [28, 0] + - !!python/tuple [19, 30] + - !!python/tuple [1, 3] + - !!python/tuple [13, 11] + - !!python/tuple [21, 12] + - !!python/tuple [19, 27] + - !!python/tuple [19, 15] + - !!python/tuple [14, 2] + - !!python/tuple [12, 30] + - !!python/tuple [10, 31] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex69.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex69.yaml new file mode 100644 index 0000000..07b7bc6 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex69.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [24, 26] + name: agent0 + start: [31, 30] +- goal: [17, 12] + name: agent1 + start: [5, 18] +- goal: [2, 26] + name: agent2 + start: [27, 28] +- goal: [18, 30] + name: agent3 + start: [21, 6] +- goal: [29, 14] + name: agent4 + start: [10, 14] +- goal: [14, 8] + name: agent5 + start: [18, 21] +- goal: [23, 10] + name: agent6 + start: [18, 19] +- goal: [13, 12] + name: agent7 + start: [5, 7] +- goal: [31, 18] + name: agent8 + start: [13, 14] +- goal: [0, 21] + name: agent9 + start: [14, 23] +- goal: [28, 12] + name: agent10 + start: [0, 28] +- goal: [12, 28] + name: agent11 + start: [5, 9] +- goal: [5, 3] + name: agent12 + start: [10, 17] +- goal: [10, 10] + name: agent13 + start: [10, 7] +- goal: [16, 5] + name: agent14 + start: [20, 11] +- goal: [14, 15] + name: agent15 + start: [22, 22] +- goal: [12, 5] + name: agent16 + start: [6, 11] +- goal: [0, 11] + name: agent17 + start: [4, 30] +- goal: [4, 19] + name: agent18 + start: [19, 3] +- goal: [20, 18] + name: agent19 + start: [10, 11] +- goal: [1, 1] + name: agent20 + start: [17, 3] +- goal: [12, 31] + name: agent21 + start: [8, 7] +- goal: [14, 20] + name: agent22 + start: [27, 16] +- goal: [14, 27] + name: agent23 + start: [5, 22] +- goal: [11, 29] + name: agent24 + start: [2, 27] +- goal: [18, 27] + name: agent25 + start: [11, 29] +- goal: [8, 26] + name: agent26 + start: [22, 7] +- goal: [16, 3] + name: agent27 + start: [19, 23] +- goal: [14, 11] + name: agent28 + start: [2, 18] +- goal: [20, 17] + name: agent29 + start: [24, 20] +- goal: [14, 12] + name: agent30 + start: [19, 16] +- goal: [9, 21] + name: agent31 + start: [8, 20] +- goal: [24, 8] + name: agent32 + start: [30, 4] +- goal: [7, 1] + name: agent33 + start: [5, 13] +- goal: [27, 11] + name: agent34 + start: [9, 10] +- goal: [17, 8] + name: agent35 + start: [22, 16] +- goal: [18, 9] + name: agent36 + start: [11, 9] +- goal: [24, 24] + name: agent37 + start: [13, 7] +- goal: [0, 9] + name: agent38 + start: [5, 14] +- goal: [2, 20] + name: agent39 + start: [7, 24] +- goal: [12, 1] + name: agent40 + start: [19, 5] +- goal: [2, 19] + name: agent41 + start: [26, 19] +- goal: [10, 14] + name: agent42 + start: [2, 10] +- goal: [8, 19] + name: agent43 + start: [24, 25] +- goal: [15, 23] + name: agent44 + start: [10, 23] +- goal: [21, 24] + name: agent45 + start: [9, 28] +- goal: [1, 0] + name: agent46 + start: [0, 23] +- goal: [16, 22] + name: agent47 + start: [16, 1] +- goal: [0, 30] + name: agent48 + start: [29, 24] +- goal: [17, 31] + name: agent49 + start: [25, 18] +- goal: [20, 19] + name: agent50 + start: [31, 29] +- goal: [30, 0] + name: agent51 + start: [1, 6] +- goal: [26, 14] + name: agent52 + start: [9, 24] +- goal: [21, 20] + name: agent53 + start: [21, 7] +- goal: [7, 7] + name: agent54 + start: [23, 18] +- goal: [3, 10] + name: agent55 + start: [21, 23] +- goal: [15, 21] + name: agent56 + start: [0, 8] +- goal: [12, 14] + name: agent57 + start: [27, 2] +- goal: [16, 24] + name: agent58 + start: [13, 18] +- goal: [3, 6] + name: agent59 + start: [12, 22] +- goal: [10, 15] + name: agent60 + start: [23, 26] +- goal: [9, 24] + name: agent61 + start: [12, 21] +- goal: [2, 0] + name: agent62 + start: [29, 14] +- goal: [5, 26] + name: agent63 + start: [5, 10] +- goal: [8, 24] + name: agent64 + start: [13, 29] +- goal: [19, 10] + name: agent65 + start: [6, 0] +- goal: [29, 28] + name: agent66 + start: [8, 5] +- goal: [16, 8] + name: agent67 + start: [11, 0] +- goal: [1, 9] + name: agent68 + start: [27, 22] +- goal: [24, 21] + name: agent69 + start: [18, 31] +- goal: [11, 6] + name: agent70 + start: [17, 28] +- goal: [7, 6] + name: agent71 + start: [23, 5] +- goal: [1, 4] + name: agent72 + start: [11, 8] +- goal: [17, 9] + name: agent73 + start: [3, 17] +- goal: [23, 14] + name: agent74 + start: [26, 28] +- goal: [28, 1] + name: agent75 + start: [24, 1] +- goal: [8, 27] + name: agent76 + start: [16, 21] +- goal: [24, 9] + name: agent77 + start: [8, 10] +- goal: [28, 27] + name: agent78 + start: [8, 14] +- goal: [30, 31] + name: agent79 + start: [6, 20] +- goal: [23, 7] + name: agent80 + start: [12, 9] +- goal: [9, 13] + name: agent81 + start: [0, 29] +- goal: [12, 22] + name: agent82 + start: [4, 1] +- goal: [17, 19] + name: agent83 + start: [9, 9] +- goal: [0, 24] + name: agent84 + start: [11, 18] +- goal: [1, 30] + name: agent85 + start: [1, 0] +- goal: [13, 14] + name: agent86 + start: [24, 31] +- goal: [10, 23] + name: agent87 + start: [1, 23] +- goal: [2, 21] + name: agent88 + start: [2, 28] +- goal: [2, 23] + name: agent89 + start: [25, 9] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [16, 7] + - !!python/tuple [30, 27] + - !!python/tuple [28, 26] + - !!python/tuple [26, 8] + - !!python/tuple [29, 12] + - !!python/tuple [14, 18] + - !!python/tuple [11, 22] + - !!python/tuple [12, 13] + - !!python/tuple [19, 8] + - !!python/tuple [25, 4] + - !!python/tuple [9, 12] + - !!python/tuple [16, 29] + - !!python/tuple [22, 11] + - !!python/tuple [1, 10] + - !!python/tuple [13, 21] + - !!python/tuple [4, 11] + - !!python/tuple [3, 23] + - !!python/tuple [2, 17] + - !!python/tuple [11, 16] + - !!python/tuple [19, 30] + - !!python/tuple [0, 3] + - !!python/tuple [28, 19] + - !!python/tuple [19, 27] + - !!python/tuple [1, 25] + - !!python/tuple [18, 28] + - !!python/tuple [28, 21] + - !!python/tuple [23, 21] + - !!python/tuple [25, 19] + - !!python/tuple [3, 13] + - !!python/tuple [13, 15] + - !!python/tuple [19, 26] + - !!python/tuple [20, 29] + - !!python/tuple [29, 2] + - !!python/tuple [22, 20] + - !!python/tuple [8, 15] + - !!python/tuple [20, 3] + - !!python/tuple [4, 25] + - !!python/tuple [31, 22] + - !!python/tuple [25, 26] + - !!python/tuple [25, 31] + - !!python/tuple [18, 24] + - !!python/tuple [4, 22] + - !!python/tuple [3, 11] + - !!python/tuple [20, 31] + - !!python/tuple [28, 25] + - !!python/tuple [14, 5] + - !!python/tuple [2, 22] + - !!python/tuple [20, 15] + - !!python/tuple [20, 13] + - !!python/tuple [10, 30] + - !!python/tuple [7, 13] + - !!python/tuple [22, 27] + - !!python/tuple [9, 3] + - !!python/tuple [20, 16] + - !!python/tuple [1, 13] + - !!python/tuple [18, 12] + - !!python/tuple [4, 13] + - !!python/tuple [30, 26] + - !!python/tuple [14, 10] + - !!python/tuple [15, 8] + - !!python/tuple [19, 24] + - !!python/tuple [11, 23] + - !!python/tuple [15, 18] + - !!python/tuple [26, 25] + - !!python/tuple [23, 1] + - !!python/tuple [16, 23] + - !!python/tuple [11, 2] + - !!python/tuple [23, 29] + - !!python/tuple [26, 16] + - !!python/tuple [28, 3] + - !!python/tuple [27, 4] + - !!python/tuple [16, 15] + - !!python/tuple [23, 24] + - !!python/tuple [10, 6] + - !!python/tuple [5, 8] + - !!python/tuple [31, 6] + - !!python/tuple [12, 2] + - !!python/tuple [12, 7] + - !!python/tuple [2, 24] + - !!python/tuple [14, 22] + - !!python/tuple [22, 3] + - !!python/tuple [14, 9] + - !!python/tuple [21, 12] + - !!python/tuple [31, 11] + - !!python/tuple [7, 29] + - !!python/tuple [5, 20] + - !!python/tuple [5, 15] + - !!python/tuple [31, 3] + - !!python/tuple [17, 11] + - !!python/tuple [22, 21] + - !!python/tuple [21, 11] + - !!python/tuple [3, 7] + - !!python/tuple [23, 17] + - !!python/tuple [31, 23] + - !!python/tuple [5, 27] + - !!python/tuple [18, 3] + - !!python/tuple [27, 15] + - !!python/tuple [6, 31] + - !!python/tuple [22, 26] + - !!python/tuple [21, 26] + - !!python/tuple [15, 9] + - !!python/tuple [3, 24] + - !!python/tuple [25, 12] + - !!python/tuple [7, 30] + - !!python/tuple [4, 18] + - !!python/tuple [6, 19] + - !!python/tuple [15, 24] + - !!python/tuple [5, 5] + - !!python/tuple [30, 22] + - !!python/tuple [27, 14] + - !!python/tuple [31, 7] + - !!python/tuple [6, 4] + - !!python/tuple [13, 6] + - !!python/tuple [18, 26] + - !!python/tuple [31, 26] + - !!python/tuple [25, 10] + - !!python/tuple [29, 20] + - !!python/tuple [28, 14] + - !!python/tuple [12, 19] + - !!python/tuple [20, 28] + - !!python/tuple [25, 25] + - !!python/tuple [11, 21] + - !!python/tuple [16, 9] + - !!python/tuple [31, 19] + - !!python/tuple [19, 14] + - !!python/tuple [1, 2] + - !!python/tuple [13, 9] + - !!python/tuple [14, 17] + - !!python/tuple [28, 7] + - !!python/tuple [27, 5] + - !!python/tuple [2, 11] + - !!python/tuple [16, 18] + - !!python/tuple [1, 24] + - !!python/tuple [19, 29] + - !!python/tuple [14, 30] + - !!python/tuple [21, 0] + - !!python/tuple [11, 27] + - !!python/tuple [10, 13] + - !!python/tuple [15, 20] + - !!python/tuple [16, 6] + - !!python/tuple [7, 27] + - !!python/tuple [19, 18] + - !!python/tuple [20, 20] + - !!python/tuple [5, 6] + - !!python/tuple [26, 22] + - !!python/tuple [0, 1] + - !!python/tuple [14, 6] + - !!python/tuple [24, 28] + - !!python/tuple [12, 3] + - !!python/tuple [16, 28] + - !!python/tuple [20, 26] + - !!python/tuple [6, 5] + - !!python/tuple [1, 5] + - !!python/tuple [19, 1] + - !!python/tuple [4, 14] + - !!python/tuple [30, 10] + - !!python/tuple [31, 5] + - !!python/tuple [23, 20] + - !!python/tuple [16, 2] + - !!python/tuple [9, 30] + - !!python/tuple [11, 17] + - !!python/tuple [4, 27] + - !!python/tuple [18, 0] + - !!python/tuple [24, 14] + - !!python/tuple [28, 4] + - !!python/tuple [27, 21] + - !!python/tuple [15, 4] + - !!python/tuple [8, 23] + - !!python/tuple [4, 2] + - !!python/tuple [5, 12] + - !!python/tuple [15, 6] + - !!python/tuple [16, 30] + - !!python/tuple [8, 25] + - !!python/tuple [12, 23] + - !!python/tuple [17, 13] + - !!python/tuple [8, 13] + - !!python/tuple [13, 1] + - !!python/tuple [30, 24] + - !!python/tuple [27, 26] + - !!python/tuple [7, 0] + - !!python/tuple [18, 6] + - !!python/tuple [1, 16] + - !!python/tuple [6, 30] + - !!python/tuple [13, 13] + - !!python/tuple [15, 30] + - !!python/tuple [29, 3] + - !!python/tuple [10, 12] + - !!python/tuple [22, 31] + - !!python/tuple [18, 14] + - !!python/tuple [27, 8] + - !!python/tuple [19, 21] + - !!python/tuple [30, 1] + - !!python/tuple [4, 8] + - !!python/tuple [31, 9] + - !!python/tuple [28, 29] + - !!python/tuple [12, 4] + - !!python/tuple [6, 1] + - !!python/tuple [26, 17] + - !!python/tuple [20, 9] + - !!python/tuple [28, 24] + - !!python/tuple [0, 26] + - !!python/tuple [2, 2] + - !!python/tuple [17, 2] + - !!python/tuple [23, 2] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex7.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex7.yaml new file mode 100644 index 0000000..2c2b1ae --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex7.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [21, 30] + name: agent0 + start: [27, 8] +- goal: [18, 20] + name: agent1 + start: [28, 11] +- goal: [23, 15] + name: agent2 + start: [28, 7] +- goal: [18, 8] + name: agent3 + start: [2, 11] +- goal: [1, 16] + name: agent4 + start: [25, 12] +- goal: [5, 23] + name: agent5 + start: [6, 2] +- goal: [26, 18] + name: agent6 + start: [31, 10] +- goal: [11, 16] + name: agent7 + start: [25, 3] +- goal: [11, 17] + name: agent8 + start: [16, 23] +- goal: [12, 24] + name: agent9 + start: [21, 28] +- goal: [31, 17] + name: agent10 + start: [21, 29] +- goal: [17, 1] + name: agent11 + start: [10, 2] +- goal: [14, 6] + name: agent12 + start: [30, 26] +- goal: [15, 24] + name: agent13 + start: [0, 6] +- goal: [10, 18] + name: agent14 + start: [8, 2] +- goal: [16, 17] + name: agent15 + start: [17, 29] +- goal: [17, 17] + name: agent16 + start: [9, 3] +- goal: [1, 9] + name: agent17 + start: [4, 13] +- goal: [12, 15] + name: agent18 + start: [7, 16] +- goal: [25, 1] + name: agent19 + start: [8, 23] +- goal: [6, 2] + name: agent20 + start: [25, 25] +- goal: [20, 29] + name: agent21 + start: [21, 30] +- goal: [30, 10] + name: agent22 + start: [1, 30] +- goal: [23, 31] + name: agent23 + start: [0, 29] +- goal: [22, 27] + name: agent24 + start: [24, 6] +- goal: [2, 2] + name: agent25 + start: [4, 16] +- goal: [24, 9] + name: agent26 + start: [22, 4] +- goal: [2, 26] + name: agent27 + start: [0, 10] +- goal: [26, 8] + name: agent28 + start: [4, 30] +- goal: [27, 31] + name: agent29 + start: [13, 8] +- goal: [23, 9] + name: agent30 + start: [23, 25] +- goal: [13, 26] + name: agent31 + start: [3, 21] +- goal: [17, 10] + name: agent32 + start: [21, 20] +- goal: [22, 10] + name: agent33 + start: [28, 16] +- goal: [24, 14] + name: agent34 + start: [7, 14] +- goal: [28, 0] + name: agent35 + start: [10, 7] +- goal: [5, 17] + name: agent36 + start: [17, 30] +- goal: [20, 28] + name: agent37 + start: [0, 7] +- goal: [16, 4] + name: agent38 + start: [22, 10] +- goal: [12, 4] + name: agent39 + start: [3, 31] +- goal: [8, 1] + name: agent40 + start: [27, 6] +- goal: [25, 7] + name: agent41 + start: [31, 12] +- goal: [1, 25] + name: agent42 + start: [9, 4] +- goal: [6, 15] + name: agent43 + start: [28, 2] +- goal: [12, 9] + name: agent44 + start: [15, 21] +- goal: [19, 17] + name: agent45 + start: [1, 0] +- goal: [4, 16] + name: agent46 + start: [25, 7] +- goal: [6, 21] + name: agent47 + start: [15, 24] +- goal: [19, 12] + name: agent48 + start: [24, 28] +- goal: [21, 12] + name: agent49 + start: [2, 16] +- goal: [20, 20] + name: agent50 + start: [21, 6] +- goal: [22, 13] + name: agent51 + start: [20, 24] +- goal: [15, 3] + name: agent52 + start: [29, 29] +- goal: [11, 13] + name: agent53 + start: [15, 1] +- goal: [31, 2] + name: agent54 + start: [15, 25] +- goal: [20, 16] + name: agent55 + start: [19, 22] +- goal: [27, 3] + name: agent56 + start: [28, 30] +- goal: [19, 0] + name: agent57 + start: [29, 25] +- goal: [20, 24] + name: agent58 + start: [29, 5] +- goal: [17, 18] + name: agent59 + start: [8, 9] +- goal: [15, 8] + name: agent60 + start: [5, 4] +- goal: [3, 24] + name: agent61 + start: [13, 15] +- goal: [25, 27] + name: agent62 + start: [28, 22] +- goal: [3, 10] + name: agent63 + start: [7, 7] +- goal: [29, 25] + name: agent64 + start: [10, 18] +- goal: [4, 29] + name: agent65 + start: [23, 19] +- goal: [14, 21] + name: agent66 + start: [13, 5] +- goal: [18, 25] + name: agent67 + start: [12, 16] +- goal: [30, 22] + name: agent68 + start: [3, 30] +- goal: [11, 25] + name: agent69 + start: [3, 29] +- goal: [4, 18] + name: agent70 + start: [4, 2] +- goal: [9, 25] + name: agent71 + start: [5, 5] +- goal: [31, 5] + name: agent72 + start: [10, 25] +- goal: [18, 7] + name: agent73 + start: [10, 24] +- goal: [5, 11] + name: agent74 + start: [6, 31] +- goal: [5, 2] + name: agent75 + start: [14, 28] +- goal: [21, 15] + name: agent76 + start: [7, 27] +- goal: [12, 5] + name: agent77 + start: [7, 23] +- goal: [1, 5] + name: agent78 + start: [19, 5] +- goal: [24, 29] + name: agent79 + start: [13, 17] +- goal: [10, 21] + name: agent80 + start: [3, 5] +- goal: [15, 2] + name: agent81 + start: [7, 0] +- goal: [25, 30] + name: agent82 + start: [22, 19] +- goal: [28, 17] + name: agent83 + start: [10, 6] +- goal: [10, 11] + name: agent84 + start: [7, 30] +- goal: [21, 21] + name: agent85 + start: [15, 15] +- goal: [9, 22] + name: agent86 + start: [0, 9] +- goal: [10, 7] + name: agent87 + start: [18, 11] +- goal: [18, 21] + name: agent88 + start: [1, 2] +- goal: [8, 16] + name: agent89 + start: [20, 30] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [21, 19] + - !!python/tuple [26, 1] + - !!python/tuple [13, 29] + - !!python/tuple [13, 28] + - !!python/tuple [13, 0] + - !!python/tuple [10, 3] + - !!python/tuple [18, 6] + - !!python/tuple [8, 28] + - !!python/tuple [2, 3] + - !!python/tuple [21, 0] + - !!python/tuple [8, 31] + - !!python/tuple [27, 19] + - !!python/tuple [27, 20] + - !!python/tuple [31, 30] + - !!python/tuple [5, 29] + - !!python/tuple [3, 9] + - !!python/tuple [10, 20] + - !!python/tuple [25, 29] + - !!python/tuple [12, 20] + - !!python/tuple [16, 16] + - !!python/tuple [9, 0] + - !!python/tuple [19, 11] + - !!python/tuple [22, 30] + - !!python/tuple [10, 27] + - !!python/tuple [31, 27] + - !!python/tuple [9, 16] + - !!python/tuple [3, 2] + - !!python/tuple [13, 21] + - !!python/tuple [21, 9] + - !!python/tuple [10, 1] + - !!python/tuple [29, 30] + - !!python/tuple [2, 21] + - !!python/tuple [9, 7] + - !!python/tuple [4, 28] + - !!python/tuple [22, 12] + - !!python/tuple [29, 14] + - !!python/tuple [29, 13] + - !!python/tuple [20, 1] + - !!python/tuple [19, 15] + - !!python/tuple [11, 5] + - !!python/tuple [3, 0] + - !!python/tuple [28, 5] + - !!python/tuple [16, 26] + - !!python/tuple [16, 24] + - !!python/tuple [26, 17] + - !!python/tuple [3, 12] + - !!python/tuple [28, 4] + - !!python/tuple [24, 10] + - !!python/tuple [30, 19] + - !!python/tuple [16, 3] + - !!python/tuple [9, 28] + - !!python/tuple [8, 12] + - !!python/tuple [14, 31] + - !!python/tuple [24, 27] + - !!python/tuple [1, 23] + - !!python/tuple [10, 30] + - !!python/tuple [28, 25] + - !!python/tuple [24, 22] + - !!python/tuple [4, 1] + - !!python/tuple [20, 15] + - !!python/tuple [6, 3] + - !!python/tuple [15, 11] + - !!python/tuple [22, 31] + - !!python/tuple [28, 29] + - !!python/tuple [30, 28] + - !!python/tuple [17, 4] + - !!python/tuple [12, 25] + - !!python/tuple [1, 11] + - !!python/tuple [22, 25] + - !!python/tuple [18, 24] + - !!python/tuple [4, 8] + - !!python/tuple [21, 31] + - !!python/tuple [4, 5] + - !!python/tuple [22, 8] + - !!python/tuple [10, 17] + - !!python/tuple [29, 7] + - !!python/tuple [18, 17] + - !!python/tuple [26, 5] + - !!python/tuple [17, 6] + - !!python/tuple [8, 5] + - !!python/tuple [27, 28] + - !!python/tuple [20, 31] + - !!python/tuple [6, 18] + - !!python/tuple [18, 14] + - !!python/tuple [25, 0] + - !!python/tuple [27, 25] + - !!python/tuple [19, 3] + - !!python/tuple [9, 1] + - !!python/tuple [29, 8] + - !!python/tuple [12, 22] + - !!python/tuple [19, 14] + - !!python/tuple [17, 19] + - !!python/tuple [26, 9] + - !!python/tuple [25, 26] + - !!python/tuple [24, 23] + - !!python/tuple [14, 9] + - !!python/tuple [5, 16] + - !!python/tuple [26, 3] + - !!python/tuple [26, 16] + - !!python/tuple [28, 15] + - !!python/tuple [29, 16] + - !!python/tuple [6, 28] + - !!python/tuple [31, 31] + - !!python/tuple [8, 14] + - !!python/tuple [20, 6] + - !!python/tuple [23, 27] + - !!python/tuple [22, 2] + - !!python/tuple [5, 14] + - !!python/tuple [29, 18] + - !!python/tuple [16, 18] + - !!python/tuple [24, 12] + - !!python/tuple [9, 9] + - !!python/tuple [20, 0] + - !!python/tuple [31, 19] + - !!python/tuple [20, 2] + - !!python/tuple [20, 21] + - !!python/tuple [26, 2] + - !!python/tuple [11, 21] + - !!python/tuple [2, 18] + - !!python/tuple [20, 17] + - !!python/tuple [0, 1] + - !!python/tuple [3, 3] + - !!python/tuple [13, 14] + - !!python/tuple [0, 17] + - !!python/tuple [15, 22] + - !!python/tuple [20, 23] + - !!python/tuple [20, 11] + - !!python/tuple [13, 31] + - !!python/tuple [21, 2] + - !!python/tuple [10, 26] + - !!python/tuple [9, 11] + - !!python/tuple [20, 8] + - !!python/tuple [22, 26] + - !!python/tuple [4, 17] + - !!python/tuple [2, 17] + - !!python/tuple [13, 16] + - !!python/tuple [14, 0] + - !!python/tuple [1, 24] + - !!python/tuple [29, 31] + - !!python/tuple [3, 18] + - !!python/tuple [8, 18] + - !!python/tuple [6, 1] + - !!python/tuple [14, 12] + - !!python/tuple [24, 4] + - !!python/tuple [11, 12] + - !!python/tuple [29, 27] + - !!python/tuple [16, 0] + - !!python/tuple [13, 22] + - !!python/tuple [29, 17] + - !!python/tuple [30, 13] + - !!python/tuple [24, 31] + - !!python/tuple [19, 20] + - !!python/tuple [0, 23] + - !!python/tuple [17, 27] + - !!python/tuple [24, 24] + - !!python/tuple [29, 20] + - !!python/tuple [24, 0] + - !!python/tuple [24, 21] + - !!python/tuple [12, 17] + - !!python/tuple [26, 27] + - !!python/tuple [4, 11] + - !!python/tuple [0, 0] + - !!python/tuple [9, 12] + - !!python/tuple [7, 26] + - !!python/tuple [22, 14] + - !!python/tuple [0, 13] + - !!python/tuple [5, 20] + - !!python/tuple [0, 22] + - !!python/tuple [28, 9] + - !!python/tuple [23, 24] + - !!python/tuple [1, 21] + - !!python/tuple [1, 8] + - !!python/tuple [5, 0] + - !!python/tuple [31, 26] + - !!python/tuple [5, 24] + - !!python/tuple [16, 31] + - !!python/tuple [2, 23] + - !!python/tuple [29, 12] + - !!python/tuple [4, 21] + - !!python/tuple [9, 26] + - !!python/tuple [3, 17] + - !!python/tuple [7, 2] + - !!python/tuple [16, 1] + - !!python/tuple [10, 19] + - !!python/tuple [28, 3] + - !!python/tuple [8, 30] + - !!python/tuple [18, 2] + - !!python/tuple [8, 26] + - !!python/tuple [12, 30] + - !!python/tuple [2, 8] + - !!python/tuple [7, 20] + - !!python/tuple [2, 7] + - !!python/tuple [6, 16] + - !!python/tuple [17, 31] + - !!python/tuple [5, 1] + - !!python/tuple [8, 27] + - !!python/tuple [9, 29] + - !!python/tuple [8, 20] + - !!python/tuple [18, 13] + - !!python/tuple [23, 13] + - !!python/tuple [22, 11] + - !!python/tuple [7, 31] + - !!python/tuple [31, 18] + - !!python/tuple [17, 0] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex70.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex70.yaml new file mode 100644 index 0000000..2a18dac --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex70.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [12, 16] + name: agent0 + start: [2, 25] +- goal: [17, 7] + name: agent1 + start: [31, 24] +- goal: [18, 15] + name: agent2 + start: [27, 8] +- goal: [1, 15] + name: agent3 + start: [4, 28] +- goal: [27, 16] + name: agent4 + start: [21, 27] +- goal: [19, 1] + name: agent5 + start: [0, 8] +- goal: [11, 15] + name: agent6 + start: [28, 7] +- goal: [20, 29] + name: agent7 + start: [3, 26] +- goal: [30, 27] + name: agent8 + start: [15, 21] +- goal: [15, 5] + name: agent9 + start: [30, 30] +- goal: [26, 0] + name: agent10 + start: [27, 16] +- goal: [10, 1] + name: agent11 + start: [10, 24] +- goal: [23, 13] + name: agent12 + start: [18, 26] +- goal: [6, 5] + name: agent13 + start: [24, 31] +- goal: [26, 19] + name: agent14 + start: [2, 23] +- goal: [6, 12] + name: agent15 + start: [2, 31] +- goal: [0, 7] + name: agent16 + start: [0, 19] +- goal: [12, 8] + name: agent17 + start: [25, 13] +- goal: [21, 27] + name: agent18 + start: [10, 25] +- goal: [9, 19] + name: agent19 + start: [27, 27] +- goal: [17, 20] + name: agent20 + start: [12, 19] +- goal: [15, 2] + name: agent21 + start: [13, 6] +- goal: [17, 8] + name: agent22 + start: [14, 0] +- goal: [9, 20] + name: agent23 + start: [31, 9] +- goal: [2, 27] + name: agent24 + start: [4, 6] +- goal: [0, 25] + name: agent25 + start: [2, 6] +- goal: [18, 20] + name: agent26 + start: [16, 19] +- goal: [16, 4] + name: agent27 + start: [24, 1] +- goal: [22, 5] + name: agent28 + start: [19, 9] +- goal: [3, 6] + name: agent29 + start: [5, 7] +- goal: [15, 20] + name: agent30 + start: [2, 19] +- goal: [3, 19] + name: agent31 + start: [11, 23] +- goal: [6, 22] + name: agent32 + start: [29, 26] +- goal: [16, 25] + name: agent33 + start: [24, 17] +- goal: [8, 16] + name: agent34 + start: [23, 9] +- goal: [28, 26] + name: agent35 + start: [13, 0] +- goal: [0, 2] + name: agent36 + start: [10, 9] +- goal: [7, 19] + name: agent37 + start: [20, 7] +- goal: [6, 26] + name: agent38 + start: [3, 19] +- goal: [28, 28] + name: agent39 + start: [26, 13] +- goal: [29, 22] + name: agent40 + start: [2, 8] +- goal: [30, 18] + name: agent41 + start: [12, 26] +- goal: [9, 29] + name: agent42 + start: [2, 12] +- goal: [9, 24] + name: agent43 + start: [31, 19] +- goal: [7, 30] + name: agent44 + start: [15, 10] +- goal: [4, 0] + name: agent45 + start: [9, 18] +- goal: [9, 18] + name: agent46 + start: [22, 12] +- goal: [3, 10] + name: agent47 + start: [18, 17] +- goal: [15, 12] + name: agent48 + start: [21, 4] +- goal: [19, 24] + name: agent49 + start: [17, 20] +- goal: [11, 14] + name: agent50 + start: [2, 14] +- goal: [5, 6] + name: agent51 + start: [28, 13] +- goal: [24, 30] + name: agent52 + start: [17, 2] +- goal: [2, 15] + name: agent53 + start: [23, 17] +- goal: [1, 25] + name: agent54 + start: [1, 28] +- goal: [2, 5] + name: agent55 + start: [1, 21] +- goal: [31, 22] + name: agent56 + start: [20, 0] +- goal: [30, 23] + name: agent57 + start: [8, 27] +- goal: [3, 17] + name: agent58 + start: [15, 23] +- goal: [12, 13] + name: agent59 + start: [28, 28] +- goal: [28, 19] + name: agent60 + start: [21, 20] +- goal: [14, 18] + name: agent61 + start: [4, 12] +- goal: [26, 1] + name: agent62 + start: [18, 15] +- goal: [15, 27] + name: agent63 + start: [31, 20] +- goal: [13, 9] + name: agent64 + start: [14, 24] +- goal: [22, 20] + name: agent65 + start: [12, 5] +- goal: [18, 28] + name: agent66 + start: [18, 8] +- goal: [8, 21] + name: agent67 + start: [13, 11] +- goal: [22, 17] + name: agent68 + start: [12, 10] +- goal: [29, 19] + name: agent69 + start: [7, 1] +- goal: [25, 11] + name: agent70 + start: [28, 12] +- goal: [22, 1] + name: agent71 + start: [22, 20] +- goal: [29, 11] + name: agent72 + start: [12, 0] +- goal: [25, 22] + name: agent73 + start: [18, 21] +- goal: [28, 27] + name: agent74 + start: [16, 5] +- goal: [22, 4] + name: agent75 + start: [14, 7] +- goal: [10, 28] + name: agent76 + start: [31, 8] +- goal: [12, 20] + name: agent77 + start: [20, 9] +- goal: [27, 10] + name: agent78 + start: [24, 14] +- goal: [8, 11] + name: agent79 + start: [6, 0] +- goal: [23, 20] + name: agent80 + start: [17, 25] +- goal: [27, 6] + name: agent81 + start: [4, 1] +- goal: [7, 1] + name: agent82 + start: [24, 5] +- goal: [5, 9] + name: agent83 + start: [1, 13] +- goal: [31, 11] + name: agent84 + start: [31, 27] +- goal: [15, 3] + name: agent85 + start: [30, 16] +- goal: [3, 29] + name: agent86 + start: [6, 11] +- goal: [7, 12] + name: agent87 + start: [4, 9] +- goal: [20, 3] + name: agent88 + start: [8, 12] +- goal: [22, 26] + name: agent89 + start: [2, 27] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [11, 21] + - !!python/tuple [9, 31] + - !!python/tuple [16, 22] + - !!python/tuple [9, 26] + - !!python/tuple [23, 25] + - !!python/tuple [10, 31] + - !!python/tuple [15, 13] + - !!python/tuple [28, 3] + - !!python/tuple [13, 21] + - !!python/tuple [23, 24] + - !!python/tuple [4, 29] + - !!python/tuple [28, 14] + - !!python/tuple [2, 1] + - !!python/tuple [25, 26] + - !!python/tuple [27, 21] + - !!python/tuple [14, 2] + - !!python/tuple [15, 22] + - !!python/tuple [24, 23] + - !!python/tuple [27, 11] + - !!python/tuple [25, 27] + - !!python/tuple [21, 13] + - !!python/tuple [31, 26] + - !!python/tuple [4, 10] + - !!python/tuple [21, 31] + - !!python/tuple [24, 21] + - !!python/tuple [29, 5] + - !!python/tuple [17, 26] + - !!python/tuple [23, 29] + - !!python/tuple [31, 4] + - !!python/tuple [18, 5] + - !!python/tuple [29, 25] + - !!python/tuple [4, 11] + - !!python/tuple [26, 26] + - !!python/tuple [14, 1] + - !!python/tuple [16, 12] + - !!python/tuple [13, 28] + - !!python/tuple [19, 18] + - !!python/tuple [6, 1] + - !!python/tuple [12, 28] + - !!python/tuple [4, 24] + - !!python/tuple [9, 0] + - !!python/tuple [15, 24] + - !!python/tuple [19, 25] + - !!python/tuple [15, 14] + - !!python/tuple [7, 8] + - !!python/tuple [9, 21] + - !!python/tuple [19, 7] + - !!python/tuple [7, 0] + - !!python/tuple [4, 3] + - !!python/tuple [29, 9] + - !!python/tuple [14, 15] + - !!python/tuple [25, 18] + - !!python/tuple [18, 24] + - !!python/tuple [21, 1] + - !!python/tuple [16, 0] + - !!python/tuple [23, 23] + - !!python/tuple [18, 18] + - !!python/tuple [4, 25] + - !!python/tuple [9, 27] + - !!python/tuple [19, 2] + - !!python/tuple [0, 18] + - !!python/tuple [27, 14] + - !!python/tuple [14, 16] + - !!python/tuple [17, 31] + - !!python/tuple [17, 19] + - !!python/tuple [21, 14] + - !!python/tuple [27, 24] + - !!python/tuple [7, 18] + - !!python/tuple [21, 5] + - !!python/tuple [7, 25] + - !!python/tuple [20, 31] + - !!python/tuple [21, 11] + - !!python/tuple [16, 20] + - !!python/tuple [6, 13] + - !!python/tuple [22, 23] + - !!python/tuple [20, 21] + - !!python/tuple [22, 29] + - !!python/tuple [12, 24] + - !!python/tuple [6, 8] + - !!python/tuple [29, 16] + - !!python/tuple [26, 20] + - !!python/tuple [30, 3] + - !!python/tuple [30, 6] + - !!python/tuple [11, 20] + - !!python/tuple [15, 30] + - !!python/tuple [2, 17] + - !!python/tuple [15, 25] + - !!python/tuple [26, 24] + - !!python/tuple [20, 13] + - !!python/tuple [14, 20] + - !!python/tuple [9, 13] + - !!python/tuple [26, 12] + - !!python/tuple [31, 15] + - !!python/tuple [10, 18] + - !!python/tuple [24, 3] + - !!python/tuple [31, 28] + - !!python/tuple [7, 15] + - !!python/tuple [2, 4] + - !!python/tuple [23, 30] + - !!python/tuple [20, 16] + - !!python/tuple [30, 19] + - !!python/tuple [30, 12] + - !!python/tuple [23, 14] + - !!python/tuple [8, 20] + - !!python/tuple [28, 21] + - !!python/tuple [30, 24] + - !!python/tuple [16, 17] + - !!python/tuple [20, 11] + - !!python/tuple [12, 3] + - !!python/tuple [24, 25] + - !!python/tuple [3, 11] + - !!python/tuple [17, 28] + - !!python/tuple [18, 16] + - !!python/tuple [30, 29] + - !!python/tuple [14, 22] + - !!python/tuple [27, 18] + - !!python/tuple [13, 31] + - !!python/tuple [14, 5] + - !!python/tuple [27, 13] + - !!python/tuple [5, 13] + - !!python/tuple [30, 22] + - !!python/tuple [10, 27] + - !!python/tuple [29, 4] + - !!python/tuple [19, 29] + - !!python/tuple [26, 30] + - !!python/tuple [24, 4] + - !!python/tuple [6, 9] + - !!python/tuple [19, 6] + - !!python/tuple [22, 15] + - !!python/tuple [8, 10] + - !!python/tuple [28, 8] + - !!python/tuple [31, 29] + - !!python/tuple [1, 10] + - !!python/tuple [28, 15] + - !!python/tuple [30, 13] + - !!python/tuple [25, 28] + - !!python/tuple [6, 19] + - !!python/tuple [15, 1] + - !!python/tuple [15, 0] + - !!python/tuple [7, 27] + - !!python/tuple [14, 29] + - !!python/tuple [27, 22] + - !!python/tuple [11, 11] + - !!python/tuple [7, 9] + - !!python/tuple [20, 22] + - !!python/tuple [10, 26] + - !!python/tuple [14, 4] + - !!python/tuple [26, 23] + - !!python/tuple [16, 14] + - !!python/tuple [12, 7] + - !!python/tuple [29, 8] + - !!python/tuple [4, 14] + - !!python/tuple [13, 1] + - !!python/tuple [10, 13] + - !!python/tuple [27, 26] + - !!python/tuple [28, 29] + - !!python/tuple [20, 30] + - !!python/tuple [22, 11] + - !!python/tuple [0, 22] + - !!python/tuple [26, 18] + - !!python/tuple [9, 4] + - !!python/tuple [13, 23] + - !!python/tuple [18, 9] + - !!python/tuple [6, 25] + - !!python/tuple [29, 12] + - !!python/tuple [20, 17] + - !!python/tuple [18, 7] + - !!python/tuple [9, 23] + - !!python/tuple [19, 20] + - !!python/tuple [12, 6] + - !!python/tuple [13, 13] + - !!python/tuple [5, 21] + - !!python/tuple [21, 12] + - !!python/tuple [24, 11] + - !!python/tuple [22, 7] + - !!python/tuple [13, 24] + - !!python/tuple [7, 5] + - !!python/tuple [12, 25] + - !!python/tuple [7, 2] + - !!python/tuple [16, 3] + - !!python/tuple [6, 7] + - !!python/tuple [1, 8] + - !!python/tuple [28, 5] + - !!python/tuple [10, 22] + - !!python/tuple [26, 22] + - !!python/tuple [8, 19] + - !!python/tuple [28, 6] + - !!python/tuple [13, 25] + - !!python/tuple [27, 12] + - !!python/tuple [17, 29] + - !!python/tuple [6, 3] + - !!python/tuple [1, 7] + - !!python/tuple [23, 18] + - !!python/tuple [16, 18] + - !!python/tuple [13, 30] + - !!python/tuple [6, 16] + - !!python/tuple [29, 30] + - !!python/tuple [8, 13] + - !!python/tuple [29, 10] + - !!python/tuple [22, 6] + - !!python/tuple [17, 27] + - !!python/tuple [24, 0] + - !!python/tuple [20, 24] + - !!python/tuple [11, 22] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex71.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex71.yaml new file mode 100644 index 0000000..83c09d9 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex71.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [8, 9] + name: agent0 + start: [4, 10] +- goal: [5, 7] + name: agent1 + start: [2, 2] +- goal: [5, 18] + name: agent2 + start: [13, 27] +- goal: [18, 20] + name: agent3 + start: [15, 25] +- goal: [18, 5] + name: agent4 + start: [5, 27] +- goal: [4, 0] + name: agent5 + start: [17, 9] +- goal: [10, 13] + name: agent6 + start: [2, 3] +- goal: [1, 10] + name: agent7 + start: [5, 25] +- goal: [18, 11] + name: agent8 + start: [17, 4] +- goal: [17, 20] + name: agent9 + start: [23, 23] +- goal: [14, 1] + name: agent10 + start: [21, 5] +- goal: [5, 1] + name: agent11 + start: [14, 8] +- goal: [1, 19] + name: agent12 + start: [0, 22] +- goal: [4, 5] + name: agent13 + start: [29, 14] +- goal: [24, 19] + name: agent14 + start: [10, 25] +- goal: [6, 14] + name: agent15 + start: [24, 21] +- goal: [30, 31] + name: agent16 + start: [4, 1] +- goal: [30, 5] + name: agent17 + start: [6, 14] +- goal: [28, 14] + name: agent18 + start: [12, 24] +- goal: [5, 22] + name: agent19 + start: [20, 31] +- goal: [15, 3] + name: agent20 + start: [1, 19] +- goal: [16, 3] + name: agent21 + start: [18, 16] +- goal: [18, 13] + name: agent22 + start: [21, 9] +- goal: [16, 26] + name: agent23 + start: [1, 3] +- goal: [23, 23] + name: agent24 + start: [22, 23] +- goal: [6, 2] + name: agent25 + start: [9, 30] +- goal: [19, 26] + name: agent26 + start: [19, 11] +- goal: [4, 22] + name: agent27 + start: [14, 6] +- goal: [2, 31] + name: agent28 + start: [17, 6] +- goal: [28, 30] + name: agent29 + start: [13, 4] +- goal: [18, 21] + name: agent30 + start: [9, 4] +- goal: [25, 21] + name: agent31 + start: [31, 5] +- goal: [9, 12] + name: agent32 + start: [23, 12] +- goal: [24, 25] + name: agent33 + start: [16, 28] +- goal: [1, 7] + name: agent34 + start: [24, 15] +- goal: [14, 0] + name: agent35 + start: [5, 9] +- goal: [27, 3] + name: agent36 + start: [3, 6] +- goal: [15, 15] + name: agent37 + start: [16, 22] +- goal: [27, 11] + name: agent38 + start: [30, 11] +- goal: [16, 11] + name: agent39 + start: [28, 1] +- goal: [17, 5] + name: agent40 + start: [25, 19] +- goal: [0, 26] + name: agent41 + start: [25, 24] +- goal: [24, 23] + name: agent42 + start: [30, 5] +- goal: [24, 24] + name: agent43 + start: [20, 20] +- goal: [25, 0] + name: agent44 + start: [0, 13] +- goal: [20, 13] + name: agent45 + start: [6, 7] +- goal: [22, 7] + name: agent46 + start: [12, 26] +- goal: [4, 11] + name: agent47 + start: [4, 27] +- goal: [18, 28] + name: agent48 + start: [17, 31] +- goal: [13, 10] + name: agent49 + start: [29, 12] +- goal: [6, 29] + name: agent50 + start: [16, 16] +- goal: [29, 6] + name: agent51 + start: [26, 13] +- goal: [24, 0] + name: agent52 + start: [11, 28] +- goal: [29, 23] + name: agent53 + start: [1, 29] +- goal: [9, 20] + name: agent54 + start: [5, 11] +- goal: [4, 4] + name: agent55 + start: [3, 19] +- goal: [7, 11] + name: agent56 + start: [22, 31] +- goal: [29, 4] + name: agent57 + start: [15, 27] +- goal: [14, 29] + name: agent58 + start: [8, 19] +- goal: [29, 14] + name: agent59 + start: [19, 30] +- goal: [24, 10] + name: agent60 + start: [2, 11] +- goal: [1, 9] + name: agent61 + start: [29, 31] +- goal: [25, 6] + name: agent62 + start: [16, 3] +- goal: [7, 0] + name: agent63 + start: [13, 11] +- goal: [18, 2] + name: agent64 + start: [2, 17] +- goal: [3, 28] + name: agent65 + start: [29, 23] +- goal: [11, 2] + name: agent66 + start: [11, 9] +- goal: [0, 2] + name: agent67 + start: [27, 21] +- goal: [27, 7] + name: agent68 + start: [5, 28] +- goal: [1, 4] + name: agent69 + start: [30, 3] +- goal: [30, 1] + name: agent70 + start: [18, 14] +- goal: [20, 26] + name: agent71 + start: [7, 25] +- goal: [6, 13] + name: agent72 + start: [17, 11] +- goal: [20, 8] + name: agent73 + start: [30, 25] +- goal: [11, 27] + name: agent74 + start: [5, 21] +- goal: [2, 16] + name: agent75 + start: [27, 20] +- goal: [13, 24] + name: agent76 + start: [31, 23] +- goal: [29, 12] + name: agent77 + start: [28, 12] +- goal: [1, 31] + name: agent78 + start: [23, 0] +- goal: [22, 3] + name: agent79 + start: [18, 7] +- goal: [7, 27] + name: agent80 + start: [22, 6] +- goal: [14, 9] + name: agent81 + start: [10, 13] +- goal: [14, 2] + name: agent82 + start: [4, 29] +- goal: [6, 12] + name: agent83 + start: [14, 14] +- goal: [12, 25] + name: agent84 + start: [0, 8] +- goal: [26, 8] + name: agent85 + start: [16, 19] +- goal: [8, 16] + name: agent86 + start: [14, 29] +- goal: [11, 22] + name: agent87 + start: [20, 28] +- goal: [23, 13] + name: agent88 + start: [24, 8] +- goal: [9, 26] + name: agent89 + start: [3, 29] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [9, 11] + - !!python/tuple [22, 5] + - !!python/tuple [0, 16] + - !!python/tuple [17, 1] + - !!python/tuple [28, 2] + - !!python/tuple [23, 5] + - !!python/tuple [16, 25] + - !!python/tuple [13, 7] + - !!python/tuple [16, 10] + - !!python/tuple [6, 26] + - !!python/tuple [23, 7] + - !!python/tuple [19, 9] + - !!python/tuple [8, 18] + - !!python/tuple [21, 17] + - !!python/tuple [19, 1] + - !!python/tuple [9, 1] + - !!python/tuple [18, 6] + - !!python/tuple [14, 10] + - !!python/tuple [4, 15] + - !!python/tuple [24, 3] + - !!python/tuple [15, 4] + - !!python/tuple [24, 4] + - !!python/tuple [17, 27] + - !!python/tuple [7, 20] + - !!python/tuple [7, 23] + - !!python/tuple [26, 4] + - !!python/tuple [11, 12] + - !!python/tuple [1, 8] + - !!python/tuple [21, 14] + - !!python/tuple [20, 19] + - !!python/tuple [22, 21] + - !!python/tuple [17, 2] + - !!python/tuple [12, 16] + - !!python/tuple [21, 27] + - !!python/tuple [25, 23] + - !!python/tuple [8, 2] + - !!python/tuple [16, 27] + - !!python/tuple [26, 1] + - !!python/tuple [22, 16] + - !!python/tuple [11, 7] + - !!python/tuple [23, 6] + - !!python/tuple [5, 14] + - !!python/tuple [0, 6] + - !!python/tuple [6, 5] + - !!python/tuple [15, 1] + - !!python/tuple [30, 16] + - !!python/tuple [4, 26] + - !!python/tuple [2, 27] + - !!python/tuple [26, 29] + - !!python/tuple [16, 0] + - !!python/tuple [9, 2] + - !!python/tuple [6, 9] + - !!python/tuple [27, 19] + - !!python/tuple [20, 10] + - !!python/tuple [11, 31] + - !!python/tuple [22, 13] + - !!python/tuple [4, 24] + - !!python/tuple [2, 10] + - !!python/tuple [12, 1] + - !!python/tuple [25, 7] + - !!python/tuple [10, 28] + - !!python/tuple [28, 10] + - !!python/tuple [18, 25] + - !!python/tuple [10, 31] + - !!python/tuple [20, 7] + - !!python/tuple [17, 28] + - !!python/tuple [21, 6] + - !!python/tuple [23, 21] + - !!python/tuple [27, 10] + - !!python/tuple [31, 19] + - !!python/tuple [19, 31] + - !!python/tuple [21, 12] + - !!python/tuple [29, 21] + - !!python/tuple [3, 8] + - !!python/tuple [21, 30] + - !!python/tuple [21, 20] + - !!python/tuple [29, 8] + - !!python/tuple [12, 22] + - !!python/tuple [28, 11] + - !!python/tuple [29, 17] + - !!python/tuple [9, 9] + - !!python/tuple [26, 11] + - !!python/tuple [7, 13] + - !!python/tuple [8, 26] + - !!python/tuple [13, 1] + - !!python/tuple [19, 5] + - !!python/tuple [8, 7] + - !!python/tuple [19, 24] + - !!python/tuple [7, 28] + - !!python/tuple [9, 21] + - !!python/tuple [8, 30] + - !!python/tuple [23, 16] + - !!python/tuple [10, 21] + - !!python/tuple [13, 17] + - !!python/tuple [14, 31] + - !!python/tuple [0, 12] + - !!python/tuple [2, 26] + - !!python/tuple [14, 28] + - !!python/tuple [21, 29] + - !!python/tuple [26, 9] + - !!python/tuple [21, 31] + - !!python/tuple [15, 29] + - !!python/tuple [22, 25] + - !!python/tuple [19, 29] + - !!python/tuple [19, 8] + - !!python/tuple [28, 13] + - !!python/tuple [28, 5] + - !!python/tuple [17, 7] + - !!python/tuple [5, 30] + - !!python/tuple [11, 15] + - !!python/tuple [28, 28] + - !!python/tuple [25, 30] + - !!python/tuple [1, 12] + - !!python/tuple [22, 1] + - !!python/tuple [5, 5] + - !!python/tuple [7, 16] + - !!python/tuple [0, 27] + - !!python/tuple [14, 20] + - !!python/tuple [16, 9] + - !!python/tuple [26, 0] + - !!python/tuple [23, 31] + - !!python/tuple [9, 14] + - !!python/tuple [8, 25] + - !!python/tuple [4, 14] + - !!python/tuple [17, 22] + - !!python/tuple [13, 8] + - !!python/tuple [3, 17] + - !!python/tuple [18, 17] + - !!python/tuple [5, 6] + - !!python/tuple [4, 28] + - !!python/tuple [26, 24] + - !!python/tuple [25, 11] + - !!python/tuple [0, 3] + - !!python/tuple [22, 28] + - !!python/tuple [2, 28] + - !!python/tuple [2, 0] + - !!python/tuple [14, 7] + - !!python/tuple [23, 17] + - !!python/tuple [8, 14] + - !!python/tuple [1, 15] + - !!python/tuple [23, 10] + - !!python/tuple [2, 5] + - !!python/tuple [2, 12] + - !!python/tuple [21, 4] + - !!python/tuple [10, 18] + - !!python/tuple [20, 23] + - !!python/tuple [9, 18] + - !!python/tuple [5, 16] + - !!python/tuple [29, 7] + - !!python/tuple [9, 7] + - !!python/tuple [6, 15] + - !!python/tuple [21, 25] + - !!python/tuple [17, 10] + - !!python/tuple [1, 5] + - !!python/tuple [14, 15] + - !!python/tuple [22, 14] + - !!python/tuple [3, 22] + - !!python/tuple [12, 2] + - !!python/tuple [18, 18] + - !!python/tuple [11, 0] + - !!python/tuple [11, 26] + - !!python/tuple [15, 5] + - !!python/tuple [17, 16] + - !!python/tuple [2, 4] + - !!python/tuple [27, 9] + - !!python/tuple [7, 31] + - !!python/tuple [18, 9] + - !!python/tuple [3, 5] + - !!python/tuple [1, 30] + - !!python/tuple [25, 20] + - !!python/tuple [19, 22] + - !!python/tuple [10, 17] + - !!python/tuple [29, 27] + - !!python/tuple [21, 3] + - !!python/tuple [12, 28] + - !!python/tuple [18, 30] + - !!python/tuple [29, 2] + - !!python/tuple [28, 16] + - !!python/tuple [18, 12] + - !!python/tuple [12, 11] + - !!python/tuple [6, 17] + - !!python/tuple [18, 3] + - !!python/tuple [12, 29] + - !!python/tuple [19, 15] + - !!python/tuple [15, 30] + - !!python/tuple [20, 12] + - !!python/tuple [12, 13] + - !!python/tuple [27, 23] + - !!python/tuple [26, 6] + - !!python/tuple [30, 28] + - !!python/tuple [19, 21] + - !!python/tuple [2, 6] + - !!python/tuple [11, 17] + - !!python/tuple [23, 11] + - !!python/tuple [18, 15] + - !!python/tuple [27, 8] + - !!python/tuple [8, 1] + - !!python/tuple [3, 21] + - !!python/tuple [0, 0] + - !!python/tuple [13, 29] + - !!python/tuple [18, 31] + - !!python/tuple [15, 6] + - !!python/tuple [8, 11] + - !!python/tuple [20, 15] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex72.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex72.yaml new file mode 100644 index 0000000..10f12e5 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex72.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [2, 29] + name: agent0 + start: [19, 30] +- goal: [17, 5] + name: agent1 + start: [26, 14] +- goal: [9, 22] + name: agent2 + start: [22, 4] +- goal: [0, 17] + name: agent3 + start: [1, 0] +- goal: [13, 18] + name: agent4 + start: [18, 14] +- goal: [28, 24] + name: agent5 + start: [21, 22] +- goal: [15, 0] + name: agent6 + start: [7, 10] +- goal: [5, 11] + name: agent7 + start: [1, 25] +- goal: [0, 31] + name: agent8 + start: [26, 24] +- goal: [26, 7] + name: agent9 + start: [28, 24] +- goal: [11, 30] + name: agent10 + start: [6, 20] +- goal: [16, 25] + name: agent11 + start: [12, 5] +- goal: [15, 29] + name: agent12 + start: [20, 7] +- goal: [6, 23] + name: agent13 + start: [16, 8] +- goal: [19, 16] + name: agent14 + start: [20, 14] +- goal: [5, 8] + name: agent15 + start: [23, 4] +- goal: [6, 13] + name: agent16 + start: [21, 30] +- goal: [8, 24] + name: agent17 + start: [7, 26] +- goal: [13, 9] + name: agent18 + start: [30, 30] +- goal: [23, 13] + name: agent19 + start: [3, 2] +- goal: [12, 16] + name: agent20 + start: [11, 1] +- goal: [30, 27] + name: agent21 + start: [8, 0] +- goal: [29, 16] + name: agent22 + start: [26, 11] +- goal: [23, 24] + name: agent23 + start: [0, 5] +- goal: [22, 1] + name: agent24 + start: [0, 19] +- goal: [31, 17] + name: agent25 + start: [8, 19] +- goal: [8, 20] + name: agent26 + start: [31, 14] +- goal: [15, 21] + name: agent27 + start: [28, 18] +- goal: [25, 1] + name: agent28 + start: [29, 4] +- goal: [20, 4] + name: agent29 + start: [16, 19] +- goal: [0, 8] + name: agent30 + start: [19, 18] +- goal: [18, 31] + name: agent31 + start: [23, 3] +- goal: [5, 22] + name: agent32 + start: [22, 22] +- goal: [18, 15] + name: agent33 + start: [1, 21] +- goal: [0, 10] + name: agent34 + start: [20, 23] +- goal: [27, 2] + name: agent35 + start: [17, 31] +- goal: [31, 1] + name: agent36 + start: [8, 31] +- goal: [1, 26] + name: agent37 + start: [3, 10] +- goal: [7, 8] + name: agent38 + start: [29, 26] +- goal: [25, 19] + name: agent39 + start: [18, 29] +- goal: [28, 31] + name: agent40 + start: [26, 29] +- goal: [17, 15] + name: agent41 + start: [11, 4] +- goal: [14, 2] + name: agent42 + start: [6, 22] +- goal: [12, 22] + name: agent43 + start: [24, 30] +- goal: [24, 10] + name: agent44 + start: [12, 19] +- goal: [30, 24] + name: agent45 + start: [26, 2] +- goal: [10, 28] + name: agent46 + start: [13, 29] +- goal: [5, 6] + name: agent47 + start: [19, 13] +- goal: [0, 12] + name: agent48 + start: [25, 16] +- goal: [4, 8] + name: agent49 + start: [21, 21] +- goal: [13, 14] + name: agent50 + start: [14, 7] +- goal: [23, 12] + name: agent51 + start: [12, 13] +- goal: [12, 7] + name: agent52 + start: [4, 15] +- goal: [3, 1] + name: agent53 + start: [23, 18] +- goal: [24, 18] + name: agent54 + start: [21, 7] +- goal: [16, 15] + name: agent55 + start: [30, 23] +- goal: [9, 13] + name: agent56 + start: [31, 23] +- goal: [29, 30] + name: agent57 + start: [8, 7] +- goal: [25, 30] + name: agent58 + start: [6, 18] +- goal: [17, 2] + name: agent59 + start: [2, 21] +- goal: [6, 6] + name: agent60 + start: [20, 28] +- goal: [1, 9] + name: agent61 + start: [4, 10] +- goal: [26, 3] + name: agent62 + start: [10, 26] +- goal: [20, 3] + name: agent63 + start: [8, 5] +- goal: [14, 8] + name: agent64 + start: [16, 26] +- goal: [8, 11] + name: agent65 + start: [21, 19] +- goal: [15, 15] + name: agent66 + start: [15, 3] +- goal: [31, 0] + name: agent67 + start: [3, 25] +- goal: [28, 21] + name: agent68 + start: [19, 11] +- goal: [8, 15] + name: agent69 + start: [27, 22] +- goal: [25, 18] + name: agent70 + start: [4, 26] +- goal: [28, 30] + name: agent71 + start: [24, 10] +- goal: [8, 7] + name: agent72 + start: [29, 24] +- goal: [13, 5] + name: agent73 + start: [12, 10] +- goal: [12, 18] + name: agent74 + start: [20, 15] +- goal: [8, 19] + name: agent75 + start: [14, 1] +- goal: [15, 22] + name: agent76 + start: [28, 10] +- goal: [25, 22] + name: agent77 + start: [1, 2] +- goal: [25, 20] + name: agent78 + start: [0, 20] +- goal: [22, 2] + name: agent79 + start: [1, 16] +- goal: [30, 12] + name: agent80 + start: [24, 0] +- goal: [13, 19] + name: agent81 + start: [12, 2] +- goal: [31, 9] + name: agent82 + start: [24, 15] +- goal: [17, 29] + name: agent83 + start: [25, 19] +- goal: [11, 24] + name: agent84 + start: [9, 25] +- goal: [16, 18] + name: agent85 + start: [12, 23] +- goal: [2, 15] + name: agent86 + start: [25, 27] +- goal: [29, 17] + name: agent87 + start: [25, 30] +- goal: [18, 10] + name: agent88 + start: [20, 10] +- goal: [29, 22] + name: agent89 + start: [30, 20] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [28, 25] + - !!python/tuple [28, 7] + - !!python/tuple [1, 10] + - !!python/tuple [11, 12] + - !!python/tuple [28, 23] + - !!python/tuple [20, 29] + - !!python/tuple [25, 21] + - !!python/tuple [13, 25] + - !!python/tuple [31, 15] + - !!python/tuple [2, 30] + - !!python/tuple [1, 11] + - !!python/tuple [12, 8] + - !!python/tuple [31, 18] + - !!python/tuple [1, 22] + - !!python/tuple [0, 14] + - !!python/tuple [15, 6] + - !!python/tuple [15, 27] + - !!python/tuple [31, 24] + - !!python/tuple [18, 23] + - !!python/tuple [13, 4] + - !!python/tuple [2, 22] + - !!python/tuple [21, 1] + - !!python/tuple [23, 11] + - !!python/tuple [18, 4] + - !!python/tuple [15, 9] + - !!python/tuple [22, 18] + - !!python/tuple [10, 25] + - !!python/tuple [14, 13] + - !!python/tuple [30, 6] + - !!python/tuple [18, 6] + - !!python/tuple [24, 22] + - !!python/tuple [21, 28] + - !!python/tuple [15, 19] + - !!python/tuple [26, 27] + - !!python/tuple [27, 7] + - !!python/tuple [10, 3] + - !!python/tuple [23, 27] + - !!python/tuple [15, 30] + - !!python/tuple [1, 5] + - !!python/tuple [16, 13] + - !!python/tuple [31, 22] + - !!python/tuple [24, 8] + - !!python/tuple [17, 0] + - !!python/tuple [2, 12] + - !!python/tuple [21, 16] + - !!python/tuple [11, 22] + - !!python/tuple [20, 12] + - !!python/tuple [23, 29] + - !!python/tuple [18, 28] + - !!python/tuple [30, 19] + - !!python/tuple [17, 28] + - !!python/tuple [25, 7] + - !!python/tuple [28, 28] + - !!python/tuple [24, 23] + - !!python/tuple [7, 15] + - !!python/tuple [23, 16] + - !!python/tuple [19, 9] + - !!python/tuple [26, 13] + - !!python/tuple [13, 30] + - !!python/tuple [28, 22] + - !!python/tuple [4, 6] + - !!python/tuple [24, 31] + - !!python/tuple [13, 17] + - !!python/tuple [15, 25] + - !!python/tuple [29, 8] + - !!python/tuple [9, 20] + - !!python/tuple [21, 24] + - !!python/tuple [15, 18] + - !!python/tuple [2, 24] + - !!python/tuple [3, 6] + - !!python/tuple [2, 31] + - !!python/tuple [11, 16] + - !!python/tuple [28, 6] + - !!python/tuple [22, 7] + - !!python/tuple [7, 29] + - !!python/tuple [16, 0] + - !!python/tuple [5, 20] + - !!python/tuple [6, 15] + - !!python/tuple [9, 28] + - !!python/tuple [9, 2] + - !!python/tuple [9, 12] + - !!python/tuple [18, 17] + - !!python/tuple [21, 5] + - !!python/tuple [24, 19] + - !!python/tuple [23, 22] + - !!python/tuple [20, 20] + - !!python/tuple [9, 4] + - !!python/tuple [7, 14] + - !!python/tuple [29, 2] + - !!python/tuple [13, 7] + - !!python/tuple [4, 21] + - !!python/tuple [1, 28] + - !!python/tuple [16, 31] + - !!python/tuple [1, 14] + - !!python/tuple [24, 16] + - !!python/tuple [23, 30] + - !!python/tuple [13, 2] + - !!python/tuple [1, 4] + - !!python/tuple [2, 11] + - !!python/tuple [0, 16] + - !!python/tuple [30, 22] + - !!python/tuple [22, 9] + - !!python/tuple [3, 0] + - !!python/tuple [31, 12] + - !!python/tuple [14, 15] + - !!python/tuple [23, 14] + - !!python/tuple [17, 3] + - !!python/tuple [15, 10] + - !!python/tuple [28, 12] + - !!python/tuple [9, 31] + - !!python/tuple [13, 11] + - !!python/tuple [19, 12] + - !!python/tuple [23, 20] + - !!python/tuple [29, 15] + - !!python/tuple [26, 12] + - !!python/tuple [17, 11] + - !!python/tuple [12, 24] + - !!python/tuple [20, 16] + - !!python/tuple [25, 29] + - !!python/tuple [21, 3] + - !!python/tuple [11, 13] + - !!python/tuple [30, 31] + - !!python/tuple [27, 3] + - !!python/tuple [3, 15] + - !!python/tuple [31, 26] + - !!python/tuple [28, 4] + - !!python/tuple [12, 26] + - !!python/tuple [23, 5] + - !!python/tuple [22, 20] + - !!python/tuple [10, 0] + - !!python/tuple [18, 11] + - !!python/tuple [31, 16] + - !!python/tuple [28, 8] + - !!python/tuple [12, 25] + - !!python/tuple [15, 13] + - !!python/tuple [18, 0] + - !!python/tuple [0, 18] + - !!python/tuple [0, 29] + - !!python/tuple [30, 8] + - !!python/tuple [23, 8] + - !!python/tuple [6, 5] + - !!python/tuple [24, 4] + - !!python/tuple [11, 20] + - !!python/tuple [9, 17] + - !!python/tuple [4, 12] + - !!python/tuple [5, 9] + - !!python/tuple [27, 8] + - !!python/tuple [7, 23] + - !!python/tuple [2, 20] + - !!python/tuple [14, 27] + - !!python/tuple [8, 29] + - !!python/tuple [2, 23] + - !!python/tuple [11, 3] + - !!python/tuple [22, 29] + - !!python/tuple [9, 10] + - !!python/tuple [22, 8] + - !!python/tuple [28, 2] + - !!python/tuple [12, 21] + - !!python/tuple [10, 5] + - !!python/tuple [16, 30] + - !!python/tuple [21, 20] + - !!python/tuple [10, 24] + - !!python/tuple [29, 25] + - !!python/tuple [17, 27] + - !!python/tuple [3, 23] + - !!python/tuple [17, 26] + - !!python/tuple [9, 21] + - !!python/tuple [8, 28] + - !!python/tuple [27, 25] + - !!python/tuple [15, 24] + - !!python/tuple [13, 21] + - !!python/tuple [14, 12] + - !!python/tuple [19, 1] + - !!python/tuple [31, 21] + - !!python/tuple [6, 3] + - !!python/tuple [5, 12] + - !!python/tuple [25, 13] + - !!python/tuple [14, 25] + - !!python/tuple [1, 24] + - !!python/tuple [17, 7] + - !!python/tuple [22, 17] + - !!python/tuple [26, 17] + - !!python/tuple [27, 6] + - !!python/tuple [18, 12] + - !!python/tuple [29, 13] + - !!python/tuple [23, 10] + - !!python/tuple [10, 17] + - !!python/tuple [17, 18] + - !!python/tuple [23, 15] + - !!python/tuple [7, 1] + - !!python/tuple [15, 5] + - !!python/tuple [6, 30] + - !!python/tuple [22, 12] + - !!python/tuple [13, 13] + - !!python/tuple [22, 23] + - !!python/tuple [7, 13] + - !!python/tuple [29, 31] + - !!python/tuple [16, 9] + - !!python/tuple [3, 30] + - !!python/tuple [24, 29] + - !!python/tuple [3, 22] + - !!python/tuple [20, 18] + - !!python/tuple [29, 27] + - !!python/tuple [5, 30] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex73.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex73.yaml new file mode 100644 index 0000000..7c0621a --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex73.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [4, 2] + name: agent0 + start: [5, 14] +- goal: [31, 12] + name: agent1 + start: [25, 13] +- goal: [8, 3] + name: agent2 + start: [1, 2] +- goal: [7, 21] + name: agent3 + start: [0, 1] +- goal: [30, 19] + name: agent4 + start: [20, 13] +- goal: [28, 23] + name: agent5 + start: [23, 21] +- goal: [26, 27] + name: agent6 + start: [11, 24] +- goal: [2, 12] + name: agent7 + start: [23, 17] +- goal: [6, 15] + name: agent8 + start: [12, 9] +- goal: [31, 1] + name: agent9 + start: [7, 1] +- goal: [3, 7] + name: agent10 + start: [7, 26] +- goal: [18, 14] + name: agent11 + start: [0, 9] +- goal: [14, 14] + name: agent12 + start: [17, 23] +- goal: [15, 3] + name: agent13 + start: [15, 3] +- goal: [30, 31] + name: agent14 + start: [1, 26] +- goal: [18, 12] + name: agent15 + start: [21, 0] +- goal: [20, 14] + name: agent16 + start: [19, 29] +- goal: [8, 17] + name: agent17 + start: [22, 30] +- goal: [22, 29] + name: agent18 + start: [4, 10] +- goal: [30, 26] + name: agent19 + start: [31, 29] +- goal: [10, 18] + name: agent20 + start: [18, 12] +- goal: [4, 1] + name: agent21 + start: [19, 6] +- goal: [11, 22] + name: agent22 + start: [29, 7] +- goal: [19, 21] + name: agent23 + start: [20, 1] +- goal: [29, 13] + name: agent24 + start: [17, 7] +- goal: [15, 25] + name: agent25 + start: [9, 9] +- goal: [11, 27] + name: agent26 + start: [31, 10] +- goal: [2, 21] + name: agent27 + start: [12, 22] +- goal: [16, 8] + name: agent28 + start: [24, 9] +- goal: [0, 9] + name: agent29 + start: [20, 29] +- goal: [16, 26] + name: agent30 + start: [2, 4] +- goal: [27, 1] + name: agent31 + start: [2, 10] +- goal: [13, 4] + name: agent32 + start: [4, 26] +- goal: [16, 19] + name: agent33 + start: [11, 22] +- goal: [19, 0] + name: agent34 + start: [3, 30] +- goal: [2, 27] + name: agent35 + start: [20, 19] +- goal: [22, 23] + name: agent36 + start: [5, 19] +- goal: [7, 16] + name: agent37 + start: [20, 6] +- goal: [26, 6] + name: agent38 + start: [22, 6] +- goal: [22, 2] + name: agent39 + start: [10, 28] +- goal: [21, 27] + name: agent40 + start: [10, 6] +- goal: [26, 26] + name: agent41 + start: [19, 5] +- goal: [21, 4] + name: agent42 + start: [27, 31] +- goal: [11, 31] + name: agent43 + start: [22, 18] +- goal: [20, 13] + name: agent44 + start: [1, 3] +- goal: [31, 9] + name: agent45 + start: [15, 0] +- goal: [19, 5] + name: agent46 + start: [16, 23] +- goal: [10, 23] + name: agent47 + start: [22, 27] +- goal: [7, 5] + name: agent48 + start: [8, 24] +- goal: [22, 17] + name: agent49 + start: [10, 15] +- goal: [29, 14] + name: agent50 + start: [26, 11] +- goal: [17, 31] + name: agent51 + start: [0, 29] +- goal: [4, 24] + name: agent52 + start: [15, 17] +- goal: [28, 18] + name: agent53 + start: [24, 30] +- goal: [6, 16] + name: agent54 + start: [25, 26] +- goal: [18, 17] + name: agent55 + start: [31, 8] +- goal: [30, 29] + name: agent56 + start: [2, 14] +- goal: [7, 10] + name: agent57 + start: [8, 25] +- goal: [13, 30] + name: agent58 + start: [26, 7] +- goal: [28, 28] + name: agent59 + start: [29, 13] +- goal: [3, 11] + name: agent60 + start: [16, 14] +- goal: [10, 16] + name: agent61 + start: [7, 5] +- goal: [31, 5] + name: agent62 + start: [30, 23] +- goal: [6, 4] + name: agent63 + start: [9, 28] +- goal: [31, 22] + name: agent64 + start: [29, 27] +- goal: [24, 0] + name: agent65 + start: [21, 28] +- goal: [5, 3] + name: agent66 + start: [6, 10] +- goal: [28, 12] + name: agent67 + start: [24, 15] +- goal: [20, 29] + name: agent68 + start: [22, 31] +- goal: [17, 0] + name: agent69 + start: [19, 16] +- goal: [7, 9] + name: agent70 + start: [2, 23] +- goal: [8, 26] + name: agent71 + start: [0, 17] +- goal: [18, 28] + name: agent72 + start: [14, 22] +- goal: [13, 2] + name: agent73 + start: [28, 12] +- goal: [30, 30] + name: agent74 + start: [30, 17] +- goal: [27, 12] + name: agent75 + start: [19, 18] +- goal: [12, 18] + name: agent76 + start: [13, 20] +- goal: [0, 2] + name: agent77 + start: [30, 10] +- goal: [26, 9] + name: agent78 + start: [11, 6] +- goal: [24, 21] + name: agent79 + start: [13, 14] +- goal: [17, 9] + name: agent80 + start: [17, 5] +- goal: [24, 4] + name: agent81 + start: [0, 6] +- goal: [15, 2] + name: agent82 + start: [6, 17] +- goal: [21, 2] + name: agent83 + start: [0, 30] +- goal: [9, 25] + name: agent84 + start: [24, 28] +- goal: [1, 15] + name: agent85 + start: [25, 25] +- goal: [16, 13] + name: agent86 + start: [0, 4] +- goal: [2, 11] + name: agent87 + start: [26, 5] +- goal: [0, 24] + name: agent88 + start: [23, 9] +- goal: [4, 10] + name: agent89 + start: [30, 11] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [7, 14] + - !!python/tuple [20, 24] + - !!python/tuple [19, 19] + - !!python/tuple [2, 0] + - !!python/tuple [27, 7] + - !!python/tuple [5, 28] + - !!python/tuple [16, 30] + - !!python/tuple [5, 29] + - !!python/tuple [12, 26] + - !!python/tuple [13, 8] + - !!python/tuple [6, 22] + - !!python/tuple [14, 30] + - !!python/tuple [29, 26] + - !!python/tuple [26, 20] + - !!python/tuple [24, 12] + - !!python/tuple [11, 21] + - !!python/tuple [25, 9] + - !!python/tuple [28, 25] + - !!python/tuple [14, 4] + - !!python/tuple [19, 28] + - !!python/tuple [12, 4] + - !!python/tuple [21, 1] + - !!python/tuple [2, 5] + - !!python/tuple [17, 11] + - !!python/tuple [0, 21] + - !!python/tuple [10, 26] + - !!python/tuple [19, 9] + - !!python/tuple [18, 31] + - !!python/tuple [17, 28] + - !!python/tuple [11, 18] + - !!python/tuple [21, 15] + - !!python/tuple [6, 18] + - !!python/tuple [22, 7] + - !!python/tuple [29, 10] + - !!python/tuple [6, 6] + - !!python/tuple [26, 8] + - !!python/tuple [15, 15] + - !!python/tuple [25, 10] + - !!python/tuple [8, 14] + - !!python/tuple [13, 21] + - !!python/tuple [9, 3] + - !!python/tuple [19, 12] + - !!python/tuple [7, 31] + - !!python/tuple [6, 21] + - !!python/tuple [11, 2] + - !!python/tuple [18, 7] + - !!python/tuple [12, 21] + - !!python/tuple [4, 14] + - !!python/tuple [24, 10] + - !!python/tuple [25, 20] + - !!python/tuple [12, 6] + - !!python/tuple [31, 21] + - !!python/tuple [24, 2] + - !!python/tuple [10, 14] + - !!python/tuple [19, 14] + - !!python/tuple [4, 28] + - !!python/tuple [17, 21] + - !!python/tuple [18, 18] + - !!python/tuple [20, 28] + - !!python/tuple [31, 6] + - !!python/tuple [10, 5] + - !!python/tuple [13, 3] + - !!python/tuple [14, 10] + - !!python/tuple [5, 15] + - !!python/tuple [17, 29] + - !!python/tuple [10, 31] + - !!python/tuple [7, 8] + - !!python/tuple [14, 27] + - !!python/tuple [23, 24] + - !!python/tuple [8, 5] + - !!python/tuple [19, 7] + - !!python/tuple [13, 23] + - !!python/tuple [2, 1] + - !!python/tuple [16, 28] + - !!python/tuple [8, 13] + - !!python/tuple [4, 15] + - !!python/tuple [23, 10] + - !!python/tuple [3, 29] + - !!python/tuple [4, 9] + - !!python/tuple [0, 16] + - !!python/tuple [5, 27] + - !!python/tuple [13, 22] + - !!python/tuple [3, 19] + - !!python/tuple [24, 13] + - !!python/tuple [9, 0] + - !!python/tuple [5, 8] + - !!python/tuple [30, 1] + - !!python/tuple [4, 7] + - !!python/tuple [26, 15] + - !!python/tuple [18, 3] + - !!python/tuple [13, 28] + - !!python/tuple [25, 19] + - !!python/tuple [1, 8] + - !!python/tuple [31, 17] + - !!python/tuple [15, 9] + - !!python/tuple [6, 3] + - !!python/tuple [28, 21] + - !!python/tuple [6, 31] + - !!python/tuple [0, 22] + - !!python/tuple [22, 11] + - !!python/tuple [18, 19] + - !!python/tuple [29, 18] + - !!python/tuple [0, 19] + - !!python/tuple [12, 10] + - !!python/tuple [11, 4] + - !!python/tuple [23, 3] + - !!python/tuple [20, 3] + - !!python/tuple [2, 28] + - !!python/tuple [3, 26] + - !!python/tuple [3, 9] + - !!python/tuple [19, 13] + - !!python/tuple [21, 8] + - !!python/tuple [12, 8] + - !!python/tuple [11, 29] + - !!python/tuple [14, 0] + - !!python/tuple [0, 23] + - !!python/tuple [21, 20] + - !!python/tuple [22, 10] + - !!python/tuple [12, 25] + - !!python/tuple [21, 23] + - !!python/tuple [9, 11] + - !!python/tuple [5, 30] + - !!python/tuple [25, 4] + - !!python/tuple [17, 26] + - !!python/tuple [7, 11] + - !!python/tuple [29, 9] + - !!python/tuple [6, 30] + - !!python/tuple [27, 15] + - !!python/tuple [25, 31] + - !!python/tuple [1, 14] + - !!python/tuple [4, 23] + - !!python/tuple [13, 27] + - !!python/tuple [16, 15] + - !!python/tuple [11, 16] + - !!python/tuple [8, 8] + - !!python/tuple [31, 11] + - !!python/tuple [25, 22] + - !!python/tuple [4, 18] + - !!python/tuple [18, 5] + - !!python/tuple [23, 23] + - !!python/tuple [2, 16] + - !!python/tuple [6, 29] + - !!python/tuple [5, 12] + - !!python/tuple [8, 10] + - !!python/tuple [21, 22] + - !!python/tuple [15, 7] + - !!python/tuple [13, 24] + - !!python/tuple [11, 3] + - !!python/tuple [22, 22] + - !!python/tuple [27, 4] + - !!python/tuple [23, 26] + - !!python/tuple [14, 2] + - !!python/tuple [4, 25] + - !!python/tuple [12, 20] + - !!python/tuple [26, 18] + - !!python/tuple [17, 16] + - !!python/tuple [0, 18] + - !!python/tuple [9, 20] + - !!python/tuple [23, 16] + - !!python/tuple [20, 11] + - !!python/tuple [14, 15] + - !!python/tuple [14, 19] + - !!python/tuple [27, 13] + - !!python/tuple [4, 0] + - !!python/tuple [9, 4] + - !!python/tuple [10, 25] + - !!python/tuple [3, 16] + - !!python/tuple [1, 11] + - !!python/tuple [18, 24] + - !!python/tuple [12, 3] + - !!python/tuple [9, 31] + - !!python/tuple [21, 21] + - !!python/tuple [20, 10] + - !!python/tuple [5, 4] + - !!python/tuple [4, 19] + - !!python/tuple [10, 7] + - !!python/tuple [23, 5] + - !!python/tuple [24, 23] + - !!python/tuple [11, 19] + - !!python/tuple [12, 17] + - !!python/tuple [23, 22] + - !!python/tuple [5, 31] + - !!python/tuple [28, 7] + - !!python/tuple [1, 12] + - !!python/tuple [19, 11] + - !!python/tuple [3, 4] + - !!python/tuple [6, 9] + - !!python/tuple [27, 27] + - !!python/tuple [26, 22] + - !!python/tuple [26, 21] + - !!python/tuple [13, 9] + - !!python/tuple [17, 12] + - !!python/tuple [18, 15] + - !!python/tuple [26, 23] + - !!python/tuple [23, 7] + - !!python/tuple [0, 28] + - !!python/tuple [25, 23] + - !!python/tuple [7, 20] + - !!python/tuple [27, 5] + - !!python/tuple [11, 17] + - !!python/tuple [29, 2] + - !!python/tuple [18, 6] + - !!python/tuple [24, 7] + - !!python/tuple [15, 18] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex74.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex74.yaml new file mode 100644 index 0000000..ce89d52 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex74.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [20, 19] + name: agent0 + start: [12, 21] +- goal: [18, 17] + name: agent1 + start: [9, 18] +- goal: [10, 17] + name: agent2 + start: [0, 26] +- goal: [29, 24] + name: agent3 + start: [30, 13] +- goal: [8, 17] + name: agent4 + start: [24, 10] +- goal: [6, 11] + name: agent5 + start: [1, 13] +- goal: [18, 14] + name: agent6 + start: [6, 24] +- goal: [12, 20] + name: agent7 + start: [30, 1] +- goal: [6, 15] + name: agent8 + start: [11, 0] +- goal: [31, 28] + name: agent9 + start: [2, 14] +- goal: [11, 2] + name: agent10 + start: [22, 7] +- goal: [24, 7] + name: agent11 + start: [0, 29] +- goal: [31, 2] + name: agent12 + start: [0, 1] +- goal: [9, 2] + name: agent13 + start: [22, 30] +- goal: [21, 12] + name: agent14 + start: [8, 17] +- goal: [20, 25] + name: agent15 + start: [17, 20] +- goal: [24, 10] + name: agent16 + start: [31, 10] +- goal: [8, 15] + name: agent17 + start: [23, 30] +- goal: [21, 8] + name: agent18 + start: [13, 28] +- goal: [8, 27] + name: agent19 + start: [10, 8] +- goal: [8, 10] + name: agent20 + start: [1, 3] +- goal: [17, 2] + name: agent21 + start: [10, 21] +- goal: [11, 22] + name: agent22 + start: [31, 15] +- goal: [27, 23] + name: agent23 + start: [7, 31] +- goal: [19, 13] + name: agent24 + start: [3, 14] +- goal: [25, 2] + name: agent25 + start: [17, 18] +- goal: [13, 10] + name: agent26 + start: [3, 24] +- goal: [13, 0] + name: agent27 + start: [17, 8] +- goal: [14, 17] + name: agent28 + start: [26, 16] +- goal: [21, 9] + name: agent29 + start: [5, 13] +- goal: [3, 23] + name: agent30 + start: [31, 17] +- goal: [4, 18] + name: agent31 + start: [1, 5] +- goal: [30, 20] + name: agent32 + start: [19, 14] +- goal: [25, 9] + name: agent33 + start: [17, 5] +- goal: [26, 23] + name: agent34 + start: [13, 7] +- goal: [30, 18] + name: agent35 + start: [27, 14] +- goal: [18, 10] + name: agent36 + start: [29, 27] +- goal: [23, 9] + name: agent37 + start: [25, 5] +- goal: [28, 26] + name: agent38 + start: [9, 14] +- goal: [9, 8] + name: agent39 + start: [21, 13] +- goal: [19, 24] + name: agent40 + start: [31, 2] +- goal: [12, 16] + name: agent41 + start: [22, 2] +- goal: [17, 6] + name: agent42 + start: [16, 9] +- goal: [4, 30] + name: agent43 + start: [17, 13] +- goal: [28, 14] + name: agent44 + start: [26, 29] +- goal: [13, 13] + name: agent45 + start: [3, 29] +- goal: [28, 25] + name: agent46 + start: [26, 0] +- goal: [11, 11] + name: agent47 + start: [16, 18] +- goal: [12, 5] + name: agent48 + start: [30, 30] +- goal: [21, 24] + name: agent49 + start: [6, 13] +- goal: [26, 2] + name: agent50 + start: [27, 0] +- goal: [1, 10] + name: agent51 + start: [11, 15] +- goal: [28, 5] + name: agent52 + start: [25, 25] +- goal: [28, 15] + name: agent53 + start: [7, 18] +- goal: [10, 9] + name: agent54 + start: [13, 18] +- goal: [5, 17] + name: agent55 + start: [25, 22] +- goal: [16, 6] + name: agent56 + start: [29, 3] +- goal: [23, 8] + name: agent57 + start: [27, 7] +- goal: [22, 24] + name: agent58 + start: [19, 13] +- goal: [1, 0] + name: agent59 + start: [29, 6] +- goal: [30, 1] + name: agent60 + start: [26, 17] +- goal: [19, 30] + name: agent61 + start: [20, 23] +- goal: [29, 8] + name: agent62 + start: [9, 29] +- goal: [16, 26] + name: agent63 + start: [31, 3] +- goal: [12, 27] + name: agent64 + start: [11, 16] +- goal: [13, 26] + name: agent65 + start: [16, 17] +- goal: [6, 22] + name: agent66 + start: [30, 27] +- goal: [17, 31] + name: agent67 + start: [28, 5] +- goal: [4, 16] + name: agent68 + start: [29, 1] +- goal: [15, 6] + name: agent69 + start: [25, 0] +- goal: [25, 25] + name: agent70 + start: [26, 14] +- goal: [1, 13] + name: agent71 + start: [12, 31] +- goal: [7, 22] + name: agent72 + start: [19, 17] +- goal: [26, 30] + name: agent73 + start: [28, 31] +- goal: [5, 3] + name: agent74 + start: [8, 2] +- goal: [27, 14] + name: agent75 + start: [5, 31] +- goal: [23, 10] + name: agent76 + start: [20, 1] +- goal: [3, 4] + name: agent77 + start: [14, 3] +- goal: [25, 18] + name: agent78 + start: [23, 27] +- goal: [25, 17] + name: agent79 + start: [13, 11] +- goal: [29, 25] + name: agent80 + start: [8, 27] +- goal: [15, 9] + name: agent81 + start: [14, 1] +- goal: [19, 31] + name: agent82 + start: [23, 14] +- goal: [27, 0] + name: agent83 + start: [6, 23] +- goal: [3, 31] + name: agent84 + start: [30, 18] +- goal: [29, 19] + name: agent85 + start: [18, 9] +- goal: [4, 15] + name: agent86 + start: [16, 28] +- goal: [16, 17] + name: agent87 + start: [27, 20] +- goal: [2, 13] + name: agent88 + start: [24, 6] +- goal: [26, 8] + name: agent89 + start: [25, 27] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [19, 29] + - !!python/tuple [1, 14] + - !!python/tuple [0, 25] + - !!python/tuple [23, 12] + - !!python/tuple [9, 28] + - !!python/tuple [31, 9] + - !!python/tuple [23, 24] + - !!python/tuple [20, 9] + - !!python/tuple [3, 20] + - !!python/tuple [6, 29] + - !!python/tuple [19, 3] + - !!python/tuple [18, 20] + - !!python/tuple [19, 20] + - !!python/tuple [18, 7] + - !!python/tuple [23, 31] + - !!python/tuple [14, 13] + - !!python/tuple [9, 23] + - !!python/tuple [20, 28] + - !!python/tuple [12, 17] + - !!python/tuple [1, 1] + - !!python/tuple [4, 3] + - !!python/tuple [5, 4] + - !!python/tuple [13, 30] + - !!python/tuple [2, 25] + - !!python/tuple [28, 13] + - !!python/tuple [20, 12] + - !!python/tuple [24, 17] + - !!python/tuple [8, 20] + - !!python/tuple [18, 8] + - !!python/tuple [4, 24] + - !!python/tuple [16, 21] + - !!python/tuple [22, 25] + - !!python/tuple [0, 30] + - !!python/tuple [21, 20] + - !!python/tuple [4, 1] + - !!python/tuple [17, 4] + - !!python/tuple [10, 2] + - !!python/tuple [26, 10] + - !!python/tuple [24, 29] + - !!python/tuple [7, 3] + - !!python/tuple [7, 25] + - !!python/tuple [6, 25] + - !!python/tuple [26, 26] + - !!python/tuple [9, 7] + - !!python/tuple [31, 8] + - !!python/tuple [10, 31] + - !!python/tuple [3, 0] + - !!python/tuple [26, 1] + - !!python/tuple [13, 27] + - !!python/tuple [11, 21] + - !!python/tuple [14, 10] + - !!python/tuple [14, 30] + - !!python/tuple [25, 31] + - !!python/tuple [7, 8] + - !!python/tuple [23, 7] + - !!python/tuple [18, 28] + - !!python/tuple [14, 5] + - !!python/tuple [15, 8] + - !!python/tuple [13, 16] + - !!python/tuple [18, 3] + - !!python/tuple [25, 10] + - !!python/tuple [13, 2] + - !!python/tuple [21, 14] + - !!python/tuple [31, 31] + - !!python/tuple [1, 23] + - !!python/tuple [27, 24] + - !!python/tuple [19, 21] + - !!python/tuple [17, 16] + - !!python/tuple [29, 12] + - !!python/tuple [19, 28] + - !!python/tuple [29, 21] + - !!python/tuple [14, 18] + - !!python/tuple [23, 29] + - !!python/tuple [28, 9] + - !!python/tuple [31, 26] + - !!python/tuple [7, 24] + - !!python/tuple [7, 13] + - !!python/tuple [15, 22] + - !!python/tuple [0, 31] + - !!python/tuple [15, 18] + - !!python/tuple [3, 22] + - !!python/tuple [3, 16] + - !!python/tuple [13, 31] + - !!python/tuple [17, 3] + - !!python/tuple [17, 7] + - !!python/tuple [30, 8] + - !!python/tuple [12, 1] + - !!python/tuple [2, 12] + - !!python/tuple [0, 27] + - !!python/tuple [20, 14] + - !!python/tuple [8, 23] + - !!python/tuple [4, 6] + - !!python/tuple [21, 1] + - !!python/tuple [5, 6] + - !!python/tuple [0, 16] + - !!python/tuple [31, 27] + - !!python/tuple [27, 27] + - !!python/tuple [4, 28] + - !!python/tuple [14, 22] + - !!python/tuple [30, 31] + - !!python/tuple [26, 3] + - !!python/tuple [11, 4] + - !!python/tuple [28, 3] + - !!python/tuple [1, 20] + - !!python/tuple [6, 18] + - !!python/tuple [12, 18] + - !!python/tuple [28, 24] + - !!python/tuple [10, 25] + - !!python/tuple [2, 5] + - !!python/tuple [6, 10] + - !!python/tuple [18, 30] + - !!python/tuple [2, 22] + - !!python/tuple [0, 20] + - !!python/tuple [14, 8] + - !!python/tuple [24, 23] + - !!python/tuple [24, 8] + - !!python/tuple [9, 17] + - !!python/tuple [2, 9] + - !!python/tuple [10, 18] + - !!python/tuple [1, 6] + - !!python/tuple [24, 11] + - !!python/tuple [31, 4] + - !!python/tuple [17, 0] + - !!python/tuple [10, 12] + - !!python/tuple [16, 12] + - !!python/tuple [3, 8] + - !!python/tuple [7, 14] + - !!python/tuple [4, 0] + - !!python/tuple [12, 25] + - !!python/tuple [15, 16] + - !!python/tuple [12, 13] + - !!python/tuple [27, 8] + - !!python/tuple [20, 21] + - !!python/tuple [0, 11] + - !!python/tuple [2, 11] + - !!python/tuple [9, 12] + - !!python/tuple [24, 0] + - !!python/tuple [30, 21] + - !!python/tuple [4, 22] + - !!python/tuple [2, 1] + - !!python/tuple [8, 26] + - !!python/tuple [11, 5] + - !!python/tuple [10, 24] + - !!python/tuple [24, 1] + - !!python/tuple [2, 18] + - !!python/tuple [4, 21] + - !!python/tuple [26, 13] + - !!python/tuple [31, 6] + - !!python/tuple [11, 6] + - !!python/tuple [18, 23] + - !!python/tuple [0, 21] + - !!python/tuple [19, 27] + - !!python/tuple [10, 14] + - !!python/tuple [3, 27] + - !!python/tuple [24, 22] + - !!python/tuple [1, 17] + - !!python/tuple [0, 12] + - !!python/tuple [0, 8] + - !!python/tuple [18, 11] + - !!python/tuple [2, 24] + - !!python/tuple [12, 23] + - !!python/tuple [9, 22] + - !!python/tuple [26, 9] + - !!python/tuple [10, 29] + - !!python/tuple [10, 6] + - !!python/tuple [9, 9] + - !!python/tuple [1, 31] + - !!python/tuple [11, 17] + - !!python/tuple [15, 20] + - !!python/tuple [21, 25] + - !!python/tuple [7, 28] + - !!python/tuple [31, 18] + - !!python/tuple [5, 28] + - !!python/tuple [9, 1] + - !!python/tuple [10, 26] + - !!python/tuple [24, 4] + - !!python/tuple [15, 25] + - !!python/tuple [7, 17] + - !!python/tuple [17, 11] + - !!python/tuple [19, 16] + - !!python/tuple [18, 26] + - !!python/tuple [0, 15] + - !!python/tuple [27, 12] + - !!python/tuple [14, 9] + - !!python/tuple [2, 17] + - !!python/tuple [15, 2] + - !!python/tuple [20, 15] + - !!python/tuple [10, 27] + - !!python/tuple [14, 14] + - !!python/tuple [21, 19] + - !!python/tuple [10, 13] + - !!python/tuple [22, 21] + - !!python/tuple [19, 8] + - !!python/tuple [26, 19] + - !!python/tuple [13, 12] + - !!python/tuple [27, 15] + - !!python/tuple [0, 18] + - !!python/tuple [26, 28] + - !!python/tuple [14, 27] + - !!python/tuple [0, 6] + - !!python/tuple [29, 0] + - !!python/tuple [13, 15] + - !!python/tuple [4, 29] + - !!python/tuple [14, 28] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex75.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex75.yaml new file mode 100644 index 0000000..6a929de --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex75.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [0, 13] + name: agent0 + start: [31, 0] +- goal: [18, 28] + name: agent1 + start: [2, 20] +- goal: [16, 27] + name: agent2 + start: [22, 17] +- goal: [22, 6] + name: agent3 + start: [9, 22] +- goal: [12, 16] + name: agent4 + start: [7, 3] +- goal: [25, 0] + name: agent5 + start: [31, 16] +- goal: [15, 13] + name: agent6 + start: [26, 8] +- goal: [16, 9] + name: agent7 + start: [20, 21] +- goal: [20, 0] + name: agent8 + start: [23, 14] +- goal: [25, 15] + name: agent9 + start: [20, 0] +- goal: [6, 17] + name: agent10 + start: [12, 10] +- goal: [29, 2] + name: agent11 + start: [13, 4] +- goal: [11, 7] + name: agent12 + start: [9, 31] +- goal: [7, 21] + name: agent13 + start: [12, 20] +- goal: [1, 20] + name: agent14 + start: [27, 25] +- goal: [17, 3] + name: agent15 + start: [13, 0] +- goal: [17, 21] + name: agent16 + start: [27, 6] +- goal: [29, 4] + name: agent17 + start: [23, 2] +- goal: [1, 0] + name: agent18 + start: [25, 13] +- goal: [13, 7] + name: agent19 + start: [20, 16] +- goal: [28, 24] + name: agent20 + start: [0, 12] +- goal: [15, 26] + name: agent21 + start: [7, 15] +- goal: [0, 22] + name: agent22 + start: [15, 6] +- goal: [2, 6] + name: agent23 + start: [9, 30] +- goal: [28, 1] + name: agent24 + start: [8, 18] +- goal: [26, 7] + name: agent25 + start: [10, 11] +- goal: [4, 27] + name: agent26 + start: [9, 28] +- goal: [20, 18] + name: agent27 + start: [8, 2] +- goal: [9, 0] + name: agent28 + start: [16, 8] +- goal: [31, 3] + name: agent29 + start: [24, 21] +- goal: [12, 5] + name: agent30 + start: [3, 21] +- goal: [6, 3] + name: agent31 + start: [22, 29] +- goal: [4, 20] + name: agent32 + start: [3, 26] +- goal: [25, 27] + name: agent33 + start: [31, 19] +- goal: [3, 13] + name: agent34 + start: [1, 8] +- goal: [22, 16] + name: agent35 + start: [11, 0] +- goal: [22, 13] + name: agent36 + start: [13, 1] +- goal: [5, 25] + name: agent37 + start: [30, 21] +- goal: [12, 22] + name: agent38 + start: [11, 20] +- goal: [4, 30] + name: agent39 + start: [17, 30] +- goal: [24, 17] + name: agent40 + start: [19, 17] +- goal: [6, 13] + name: agent41 + start: [5, 14] +- goal: [26, 15] + name: agent42 + start: [17, 7] +- goal: [17, 30] + name: agent43 + start: [8, 16] +- goal: [28, 26] + name: agent44 + start: [29, 31] +- goal: [9, 16] + name: agent45 + start: [14, 20] +- goal: [4, 7] + name: agent46 + start: [5, 10] +- goal: [3, 31] + name: agent47 + start: [6, 16] +- goal: [11, 5] + name: agent48 + start: [22, 12] +- goal: [22, 4] + name: agent49 + start: [29, 6] +- goal: [27, 12] + name: agent50 + start: [13, 13] +- goal: [3, 24] + name: agent51 + start: [13, 16] +- goal: [17, 8] + name: agent52 + start: [17, 11] +- goal: [9, 26] + name: agent53 + start: [23, 1] +- goal: [16, 14] + name: agent54 + start: [27, 16] +- goal: [20, 29] + name: agent55 + start: [2, 25] +- goal: [31, 24] + name: agent56 + start: [7, 7] +- goal: [24, 23] + name: agent57 + start: [3, 11] +- goal: [17, 7] + name: agent58 + start: [16, 14] +- goal: [16, 8] + name: agent59 + start: [31, 17] +- goal: [9, 6] + name: agent60 + start: [29, 12] +- goal: [7, 14] + name: agent61 + start: [30, 20] +- goal: [9, 14] + name: agent62 + start: [12, 0] +- goal: [10, 24] + name: agent63 + start: [9, 19] +- goal: [26, 4] + name: agent64 + start: [20, 25] +- goal: [11, 17] + name: agent65 + start: [24, 3] +- goal: [11, 0] + name: agent66 + start: [21, 4] +- goal: [25, 24] + name: agent67 + start: [3, 14] +- goal: [26, 28] + name: agent68 + start: [19, 4] +- goal: [21, 30] + name: agent69 + start: [11, 8] +- goal: [11, 30] + name: agent70 + start: [14, 11] +- goal: [1, 14] + name: agent71 + start: [7, 19] +- goal: [4, 3] + name: agent72 + start: [4, 19] +- goal: [11, 10] + name: agent73 + start: [4, 23] +- goal: [20, 10] + name: agent74 + start: [21, 3] +- goal: [6, 26] + name: agent75 + start: [26, 3] +- goal: [26, 9] + name: agent76 + start: [8, 29] +- goal: [15, 3] + name: agent77 + start: [19, 7] +- goal: [9, 31] + name: agent78 + start: [18, 9] +- goal: [9, 25] + name: agent79 + start: [5, 2] +- goal: [8, 18] + name: agent80 + start: [22, 13] +- goal: [1, 30] + name: agent81 + start: [26, 30] +- goal: [21, 4] + name: agent82 + start: [10, 28] +- goal: [21, 3] + name: agent83 + start: [11, 3] +- goal: [11, 21] + name: agent84 + start: [25, 28] +- goal: [25, 4] + name: agent85 + start: [24, 8] +- goal: [23, 10] + name: agent86 + start: [22, 16] +- goal: [25, 1] + name: agent87 + start: [7, 28] +- goal: [4, 31] + name: agent88 + start: [25, 26] +- goal: [9, 9] + name: agent89 + start: [10, 15] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [26, 23] + - !!python/tuple [17, 0] + - !!python/tuple [15, 18] + - !!python/tuple [6, 25] + - !!python/tuple [25, 17] + - !!python/tuple [12, 25] + - !!python/tuple [21, 21] + - !!python/tuple [31, 8] + - !!python/tuple [0, 1] + - !!python/tuple [2, 5] + - !!python/tuple [23, 22] + - !!python/tuple [5, 12] + - !!python/tuple [10, 16] + - !!python/tuple [31, 13] + - !!python/tuple [21, 24] + - !!python/tuple [5, 6] + - !!python/tuple [0, 6] + - !!python/tuple [15, 16] + - !!python/tuple [16, 2] + - !!python/tuple [30, 26] + - !!python/tuple [7, 9] + - !!python/tuple [21, 27] + - !!python/tuple [9, 1] + - !!python/tuple [8, 21] + - !!python/tuple [16, 23] + - !!python/tuple [18, 19] + - !!python/tuple [1, 7] + - !!python/tuple [6, 1] + - !!python/tuple [5, 13] + - !!python/tuple [19, 9] + - !!python/tuple [22, 5] + - !!python/tuple [2, 1] + - !!python/tuple [4, 28] + - !!python/tuple [22, 24] + - !!python/tuple [23, 0] + - !!python/tuple [9, 8] + - !!python/tuple [0, 3] + - !!python/tuple [25, 21] + - !!python/tuple [11, 19] + - !!python/tuple [19, 18] + - !!python/tuple [28, 3] + - !!python/tuple [31, 25] + - !!python/tuple [13, 21] + - !!python/tuple [8, 27] + - !!python/tuple [28, 25] + - !!python/tuple [18, 2] + - !!python/tuple [25, 7] + - !!python/tuple [8, 8] + - !!python/tuple [12, 13] + - !!python/tuple [6, 7] + - !!python/tuple [0, 11] + - !!python/tuple [10, 2] + - !!python/tuple [22, 22] + - !!python/tuple [14, 27] + - !!python/tuple [12, 29] + - !!python/tuple [19, 19] + - !!python/tuple [4, 11] + - !!python/tuple [18, 15] + - !!python/tuple [26, 20] + - !!python/tuple [3, 2] + - !!python/tuple [5, 26] + - !!python/tuple [2, 31] + - !!python/tuple [23, 26] + - !!python/tuple [28, 12] + - !!python/tuple [14, 28] + - !!python/tuple [30, 11] + - !!python/tuple [17, 5] + - !!python/tuple [17, 16] + - !!python/tuple [14, 7] + - !!python/tuple [11, 13] + - !!python/tuple [30, 31] + - !!python/tuple [2, 17] + - !!python/tuple [2, 9] + - !!python/tuple [29, 30] + - !!python/tuple [15, 14] + - !!python/tuple [28, 20] + - !!python/tuple [7, 10] + - !!python/tuple [14, 13] + - !!python/tuple [30, 0] + - !!python/tuple [13, 30] + - !!python/tuple [22, 10] + - !!python/tuple [3, 3] + - !!python/tuple [6, 29] + - !!python/tuple [4, 22] + - !!python/tuple [13, 12] + - !!python/tuple [29, 18] + - !!python/tuple [28, 0] + - !!python/tuple [17, 2] + - !!python/tuple [30, 1] + - !!python/tuple [14, 16] + - !!python/tuple [21, 22] + - !!python/tuple [3, 8] + - !!python/tuple [28, 30] + - !!python/tuple [25, 16] + - !!python/tuple [16, 13] + - !!python/tuple [30, 29] + - !!python/tuple [8, 22] + - !!python/tuple [2, 4] + - !!python/tuple [8, 15] + - !!python/tuple [11, 1] + - !!python/tuple [27, 23] + - !!python/tuple [21, 17] + - !!python/tuple [5, 21] + - !!python/tuple [20, 11] + - !!python/tuple [17, 10] + - !!python/tuple [29, 16] + - !!python/tuple [29, 0] + - !!python/tuple [13, 5] + - !!python/tuple [6, 14] + - !!python/tuple [9, 12] + - !!python/tuple [31, 6] + - !!python/tuple [14, 26] + - !!python/tuple [29, 17] + - !!python/tuple [2, 19] + - !!python/tuple [10, 8] + - !!python/tuple [28, 19] + - !!python/tuple [21, 23] + - !!python/tuple [18, 13] + - !!python/tuple [31, 29] + - !!python/tuple [16, 1] + - !!python/tuple [1, 27] + - !!python/tuple [14, 29] + - !!python/tuple [24, 9] + - !!python/tuple [1, 22] + - !!python/tuple [18, 18] + - !!python/tuple [10, 10] + - !!python/tuple [2, 12] + - !!python/tuple [7, 16] + - !!python/tuple [10, 27] + - !!python/tuple [30, 6] + - !!python/tuple [24, 20] + - !!python/tuple [4, 21] + - !!python/tuple [8, 26] + - !!python/tuple [17, 27] + - !!python/tuple [27, 2] + - !!python/tuple [24, 1] + - !!python/tuple [15, 19] + - !!python/tuple [28, 18] + - !!python/tuple [12, 18] + - !!python/tuple [13, 24] + - !!python/tuple [10, 9] + - !!python/tuple [15, 7] + - !!python/tuple [20, 12] + - !!python/tuple [24, 5] + - !!python/tuple [30, 30] + - !!python/tuple [1, 5] + - !!python/tuple [18, 0] + - !!python/tuple [12, 14] + - !!python/tuple [13, 9] + - !!python/tuple [4, 29] + - !!python/tuple [23, 20] + - !!python/tuple [19, 30] + - !!python/tuple [10, 31] + - !!python/tuple [5, 18] + - !!python/tuple [7, 0] + - !!python/tuple [15, 22] + - !!python/tuple [5, 15] + - !!python/tuple [1, 11] + - !!python/tuple [5, 16] + - !!python/tuple [12, 15] + - !!python/tuple [6, 18] + - !!python/tuple [21, 8] + - !!python/tuple [1, 24] + - !!python/tuple [24, 28] + - !!python/tuple [4, 26] + - !!python/tuple [21, 12] + - !!python/tuple [8, 13] + - !!python/tuple [16, 16] + - !!python/tuple [1, 21] + - !!python/tuple [14, 14] + - !!python/tuple [11, 14] + - !!python/tuple [10, 0] + - !!python/tuple [28, 8] + - !!python/tuple [12, 3] + - !!python/tuple [27, 19] + - !!python/tuple [0, 18] + - !!python/tuple [15, 31] + - !!python/tuple [19, 26] + - !!python/tuple [21, 14] + - !!python/tuple [0, 4] + - !!python/tuple [4, 5] + - !!python/tuple [7, 31] + - !!python/tuple [14, 3] + - !!python/tuple [19, 31] + - !!python/tuple [9, 29] + - !!python/tuple [6, 0] + - !!python/tuple [19, 2] + - !!python/tuple [6, 30] + - !!python/tuple [9, 18] + - !!python/tuple [18, 29] + - !!python/tuple [20, 20] + - !!python/tuple [25, 11] + - !!python/tuple [22, 8] + - !!python/tuple [11, 2] + - !!python/tuple [10, 18] + - !!python/tuple [2, 18] + - !!python/tuple [29, 19] + - !!python/tuple [15, 20] + - !!python/tuple [19, 28] + - !!python/tuple [3, 5] + - !!python/tuple [1, 29] + - !!python/tuple [11, 12] + - !!python/tuple [2, 8] + - !!python/tuple [3, 27] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex76.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex76.yaml new file mode 100644 index 0000000..958be49 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex76.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [0, 20] + name: agent0 + start: [6, 31] +- goal: [23, 30] + name: agent1 + start: [11, 5] +- goal: [11, 11] + name: agent2 + start: [2, 9] +- goal: [10, 20] + name: agent3 + start: [6, 22] +- goal: [17, 6] + name: agent4 + start: [2, 20] +- goal: [18, 12] + name: agent5 + start: [3, 4] +- goal: [30, 9] + name: agent6 + start: [24, 3] +- goal: [13, 12] + name: agent7 + start: [10, 17] +- goal: [24, 3] + name: agent8 + start: [26, 28] +- goal: [12, 24] + name: agent9 + start: [13, 0] +- goal: [0, 21] + name: agent10 + start: [0, 9] +- goal: [12, 27] + name: agent11 + start: [5, 24] +- goal: [10, 21] + name: agent12 + start: [3, 31] +- goal: [1, 7] + name: agent13 + start: [4, 17] +- goal: [22, 25] + name: agent14 + start: [16, 5] +- goal: [26, 7] + name: agent15 + start: [30, 21] +- goal: [11, 12] + name: agent16 + start: [28, 28] +- goal: [24, 8] + name: agent17 + start: [18, 5] +- goal: [15, 5] + name: agent18 + start: [7, 16] +- goal: [20, 9] + name: agent19 + start: [7, 22] +- goal: [9, 4] + name: agent20 + start: [24, 5] +- goal: [9, 12] + name: agent21 + start: [6, 29] +- goal: [25, 5] + name: agent22 + start: [7, 14] +- goal: [17, 20] + name: agent23 + start: [15, 10] +- goal: [21, 0] + name: agent24 + start: [28, 14] +- goal: [9, 9] + name: agent25 + start: [11, 29] +- goal: [19, 21] + name: agent26 + start: [29, 18] +- goal: [17, 17] + name: agent27 + start: [2, 29] +- goal: [17, 4] + name: agent28 + start: [1, 27] +- goal: [25, 16] + name: agent29 + start: [7, 9] +- goal: [0, 13] + name: agent30 + start: [5, 22] +- goal: [14, 1] + name: agent31 + start: [28, 5] +- goal: [12, 30] + name: agent32 + start: [16, 0] +- goal: [6, 11] + name: agent33 + start: [3, 19] +- goal: [31, 1] + name: agent34 + start: [15, 18] +- goal: [1, 11] + name: agent35 + start: [19, 6] +- goal: [28, 19] + name: agent36 + start: [31, 21] +- goal: [6, 31] + name: agent37 + start: [17, 2] +- goal: [10, 25] + name: agent38 + start: [22, 16] +- goal: [13, 30] + name: agent39 + start: [13, 5] +- goal: [2, 25] + name: agent40 + start: [4, 24] +- goal: [26, 4] + name: agent41 + start: [19, 23] +- goal: [7, 5] + name: agent42 + start: [21, 12] +- goal: [0, 6] + name: agent43 + start: [9, 9] +- goal: [26, 19] + name: agent44 + start: [29, 5] +- goal: [15, 18] + name: agent45 + start: [31, 28] +- goal: [24, 11] + name: agent46 + start: [15, 26] +- goal: [15, 1] + name: agent47 + start: [18, 10] +- goal: [20, 3] + name: agent48 + start: [22, 9] +- goal: [18, 17] + name: agent49 + start: [9, 7] +- goal: [13, 23] + name: agent50 + start: [0, 4] +- goal: [14, 24] + name: agent51 + start: [15, 4] +- goal: [20, 22] + name: agent52 + start: [21, 5] +- goal: [17, 22] + name: agent53 + start: [28, 22] +- goal: [17, 15] + name: agent54 + start: [20, 9] +- goal: [21, 19] + name: agent55 + start: [17, 6] +- goal: [0, 27] + name: agent56 + start: [17, 24] +- goal: [4, 11] + name: agent57 + start: [0, 1] +- goal: [7, 9] + name: agent58 + start: [13, 1] +- goal: [5, 24] + name: agent59 + start: [18, 29] +- goal: [12, 6] + name: agent60 + start: [6, 28] +- goal: [1, 22] + name: agent61 + start: [10, 5] +- goal: [10, 7] + name: agent62 + start: [31, 15] +- goal: [26, 28] + name: agent63 + start: [21, 19] +- goal: [22, 19] + name: agent64 + start: [4, 28] +- goal: [8, 30] + name: agent65 + start: [11, 16] +- goal: [23, 29] + name: agent66 + start: [19, 24] +- goal: [22, 14] + name: agent67 + start: [7, 18] +- goal: [28, 12] + name: agent68 + start: [6, 5] +- goal: [6, 6] + name: agent69 + start: [3, 29] +- goal: [22, 11] + name: agent70 + start: [15, 11] +- goal: [11, 24] + name: agent71 + start: [26, 21] +- goal: [6, 18] + name: agent72 + start: [28, 8] +- goal: [8, 13] + name: agent73 + start: [0, 2] +- goal: [14, 30] + name: agent74 + start: [10, 0] +- goal: [15, 28] + name: agent75 + start: [8, 24] +- goal: [31, 21] + name: agent76 + start: [17, 20] +- goal: [14, 19] + name: agent77 + start: [10, 20] +- goal: [17, 21] + name: agent78 + start: [22, 23] +- goal: [19, 5] + name: agent79 + start: [14, 7] +- goal: [8, 31] + name: agent80 + start: [28, 4] +- goal: [19, 13] + name: agent81 + start: [12, 16] +- goal: [11, 28] + name: agent82 + start: [18, 14] +- goal: [6, 22] + name: agent83 + start: [22, 18] +- goal: [8, 29] + name: agent84 + start: [7, 6] +- goal: [3, 1] + name: agent85 + start: [31, 17] +- goal: [10, 14] + name: agent86 + start: [20, 16] +- goal: [20, 10] + name: agent87 + start: [4, 30] +- goal: [16, 12] + name: agent88 + start: [31, 2] +- goal: [13, 27] + name: agent89 + start: [30, 20] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [0, 29] + - !!python/tuple [29, 30] + - !!python/tuple [12, 2] + - !!python/tuple [13, 4] + - !!python/tuple [1, 19] + - !!python/tuple [8, 5] + - !!python/tuple [1, 18] + - !!python/tuple [16, 9] + - !!python/tuple [29, 21] + - !!python/tuple [15, 19] + - !!python/tuple [31, 10] + - !!python/tuple [12, 17] + - !!python/tuple [4, 12] + - !!python/tuple [5, 13] + - !!python/tuple [18, 24] + - !!python/tuple [5, 26] + - !!python/tuple [27, 31] + - !!python/tuple [11, 8] + - !!python/tuple [19, 9] + - !!python/tuple [24, 2] + - !!python/tuple [19, 31] + - !!python/tuple [21, 22] + - !!python/tuple [16, 20] + - !!python/tuple [4, 13] + - !!python/tuple [20, 19] + - !!python/tuple [28, 2] + - !!python/tuple [25, 6] + - !!python/tuple [27, 10] + - !!python/tuple [8, 12] + - !!python/tuple [17, 27] + - !!python/tuple [28, 29] + - !!python/tuple [9, 10] + - !!python/tuple [3, 3] + - !!python/tuple [23, 17] + - !!python/tuple [26, 12] + - !!python/tuple [2, 8] + - !!python/tuple [22, 4] + - !!python/tuple [19, 14] + - !!python/tuple [16, 23] + - !!python/tuple [14, 8] + - !!python/tuple [1, 10] + - !!python/tuple [20, 1] + - !!python/tuple [25, 21] + - !!python/tuple [7, 11] + - !!python/tuple [3, 21] + - !!python/tuple [30, 5] + - !!python/tuple [20, 20] + - !!python/tuple [10, 3] + - !!python/tuple [7, 30] + - !!python/tuple [28, 3] + - !!python/tuple [14, 15] + - !!python/tuple [8, 26] + - !!python/tuple [15, 21] + - !!python/tuple [3, 26] + - !!python/tuple [1, 13] + - !!python/tuple [16, 3] + - !!python/tuple [23, 24] + - !!python/tuple [27, 6] + - !!python/tuple [16, 27] + - !!python/tuple [10, 11] + - !!python/tuple [28, 0] + - !!python/tuple [17, 28] + - !!python/tuple [23, 18] + - !!python/tuple [19, 8] + - !!python/tuple [8, 27] + - !!python/tuple [21, 30] + - !!python/tuple [24, 6] + - !!python/tuple [23, 5] + - !!python/tuple [7, 8] + - !!python/tuple [20, 5] + - !!python/tuple [30, 22] + - !!python/tuple [9, 17] + - !!python/tuple [17, 8] + - !!python/tuple [8, 3] + - !!python/tuple [27, 21] + - !!python/tuple [26, 0] + - !!python/tuple [25, 12] + - !!python/tuple [0, 31] + - !!python/tuple [7, 0] + - !!python/tuple [9, 5] + - !!python/tuple [8, 21] + - !!python/tuple [21, 8] + - !!python/tuple [8, 4] + - !!python/tuple [15, 8] + - !!python/tuple [16, 8] + - !!python/tuple [10, 18] + - !!python/tuple [11, 30] + - !!python/tuple [24, 27] + - !!python/tuple [7, 23] + - !!python/tuple [27, 3] + - !!python/tuple [24, 17] + - !!python/tuple [23, 31] + - !!python/tuple [25, 28] + - !!python/tuple [29, 10] + - !!python/tuple [0, 18] + - !!python/tuple [22, 31] + - !!python/tuple [23, 27] + - !!python/tuple [29, 29] + - !!python/tuple [0, 3] + - !!python/tuple [0, 23] + - !!python/tuple [9, 25] + - !!python/tuple [15, 3] + - !!python/tuple [4, 8] + - !!python/tuple [14, 25] + - !!python/tuple [19, 1] + - !!python/tuple [27, 22] + - !!python/tuple [9, 27] + - !!python/tuple [23, 6] + - !!python/tuple [16, 17] + - !!python/tuple [18, 13] + - !!python/tuple [6, 23] + - !!python/tuple [13, 21] + - !!python/tuple [10, 31] + - !!python/tuple [31, 0] + - !!python/tuple [2, 26] + - !!python/tuple [15, 15] + - !!python/tuple [1, 28] + - !!python/tuple [27, 8] + - !!python/tuple [16, 31] + - !!python/tuple [22, 21] + - !!python/tuple [7, 2] + - !!python/tuple [1, 26] + - !!python/tuple [18, 30] + - !!python/tuple [9, 26] + - !!python/tuple [13, 15] + - !!python/tuple [29, 25] + - !!python/tuple [13, 20] + - !!python/tuple [15, 2] + - !!python/tuple [31, 29] + - !!python/tuple [20, 23] + - !!python/tuple [12, 1] + - !!python/tuple [21, 9] + - !!python/tuple [19, 27] + - !!python/tuple [31, 22] + - !!python/tuple [17, 31] + - !!python/tuple [12, 11] + - !!python/tuple [6, 12] + - !!python/tuple [22, 8] + - !!python/tuple [23, 22] + - !!python/tuple [27, 30] + - !!python/tuple [22, 20] + - !!python/tuple [29, 1] + - !!python/tuple [3, 12] + - !!python/tuple [18, 26] + - !!python/tuple [23, 10] + - !!python/tuple [1, 15] + - !!python/tuple [31, 26] + - !!python/tuple [11, 23] + - !!python/tuple [13, 9] + - !!python/tuple [31, 30] + - !!python/tuple [26, 3] + - !!python/tuple [13, 7] + - !!python/tuple [23, 13] + - !!python/tuple [15, 16] + - !!python/tuple [20, 0] + - !!python/tuple [2, 22] + - !!python/tuple [1, 12] + - !!python/tuple [26, 9] + - !!python/tuple [23, 14] + - !!python/tuple [20, 28] + - !!python/tuple [6, 13] + - !!python/tuple [19, 4] + - !!python/tuple [17, 1] + - !!python/tuple [29, 16] + - !!python/tuple [29, 23] + - !!python/tuple [14, 18] + - !!python/tuple [14, 14] + - !!python/tuple [16, 30] + - !!python/tuple [29, 15] + - !!python/tuple [30, 25] + - !!python/tuple [19, 18] + - !!python/tuple [8, 16] + - !!python/tuple [22, 7] + - !!python/tuple [14, 6] + - !!python/tuple [31, 3] + - !!python/tuple [29, 20] + - !!python/tuple [21, 29] + - !!python/tuple [14, 21] + - !!python/tuple [15, 31] + - !!python/tuple [31, 8] + - !!python/tuple [11, 2] + - !!python/tuple [25, 7] + - !!python/tuple [2, 21] + - !!python/tuple [28, 6] + - !!python/tuple [18, 1] + - !!python/tuple [21, 7] + - !!python/tuple [28, 24] + - !!python/tuple [21, 28] + - !!python/tuple [15, 25] + - !!python/tuple [15, 29] + - !!python/tuple [23, 1] + - !!python/tuple [0, 10] + - !!python/tuple [9, 2] + - !!python/tuple [27, 14] + - !!python/tuple [11, 6] + - !!python/tuple [5, 5] + - !!python/tuple [14, 20] + - !!python/tuple [15, 30] + - !!python/tuple [10, 12] + - !!python/tuple [21, 15] + - !!python/tuple [11, 4] + - !!python/tuple [16, 6] + - !!python/tuple [9, 13] + - !!python/tuple [11, 10] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex77.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex77.yaml new file mode 100644 index 0000000..ae894d4 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex77.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [14, 25] + name: agent0 + start: [29, 23] +- goal: [4, 31] + name: agent1 + start: [22, 7] +- goal: [26, 26] + name: agent2 + start: [6, 23] +- goal: [22, 27] + name: agent3 + start: [2, 1] +- goal: [28, 2] + name: agent4 + start: [16, 28] +- goal: [19, 1] + name: agent5 + start: [22, 29] +- goal: [16, 30] + name: agent6 + start: [3, 26] +- goal: [24, 17] + name: agent7 + start: [3, 28] +- goal: [10, 28] + name: agent8 + start: [4, 21] +- goal: [19, 13] + name: agent9 + start: [12, 22] +- goal: [4, 0] + name: agent10 + start: [5, 12] +- goal: [28, 17] + name: agent11 + start: [30, 16] +- goal: [13, 21] + name: agent12 + start: [16, 30] +- goal: [25, 24] + name: agent13 + start: [22, 3] +- goal: [22, 17] + name: agent14 + start: [27, 12] +- goal: [7, 4] + name: agent15 + start: [10, 24] +- goal: [26, 28] + name: agent16 + start: [30, 12] +- goal: [29, 24] + name: agent17 + start: [19, 25] +- goal: [20, 20] + name: agent18 + start: [23, 14] +- goal: [28, 11] + name: agent19 + start: [1, 0] +- goal: [13, 18] + name: agent20 + start: [7, 12] +- goal: [0, 5] + name: agent21 + start: [7, 0] +- goal: [11, 16] + name: agent22 + start: [25, 23] +- goal: [19, 15] + name: agent23 + start: [13, 25] +- goal: [0, 22] + name: agent24 + start: [28, 24] +- goal: [6, 21] + name: agent25 + start: [15, 24] +- goal: [22, 23] + name: agent26 + start: [9, 24] +- goal: [29, 4] + name: agent27 + start: [0, 6] +- goal: [25, 2] + name: agent28 + start: [19, 23] +- goal: [24, 21] + name: agent29 + start: [16, 18] +- goal: [25, 10] + name: agent30 + start: [21, 5] +- goal: [19, 10] + name: agent31 + start: [1, 19] +- goal: [21, 14] + name: agent32 + start: [29, 16] +- goal: [10, 23] + name: agent33 + start: [30, 2] +- goal: [12, 17] + name: agent34 + start: [27, 3] +- goal: [12, 8] + name: agent35 + start: [6, 9] +- goal: [5, 28] + name: agent36 + start: [23, 8] +- goal: [31, 23] + name: agent37 + start: [5, 5] +- goal: [29, 21] + name: agent38 + start: [26, 12] +- goal: [2, 22] + name: agent39 + start: [24, 4] +- goal: [4, 29] + name: agent40 + start: [7, 13] +- goal: [6, 12] + name: agent41 + start: [24, 14] +- goal: [1, 6] + name: agent42 + start: [21, 24] +- goal: [3, 4] + name: agent43 + start: [19, 13] +- goal: [14, 16] + name: agent44 + start: [24, 19] +- goal: [2, 4] + name: agent45 + start: [2, 11] +- goal: [0, 17] + name: agent46 + start: [7, 22] +- goal: [9, 19] + name: agent47 + start: [6, 31] +- goal: [10, 6] + name: agent48 + start: [25, 26] +- goal: [29, 7] + name: agent49 + start: [12, 31] +- goal: [30, 3] + name: agent50 + start: [23, 5] +- goal: [21, 18] + name: agent51 + start: [2, 22] +- goal: [23, 21] + name: agent52 + start: [15, 23] +- goal: [19, 16] + name: agent53 + start: [14, 24] +- goal: [0, 3] + name: agent54 + start: [22, 30] +- goal: [15, 25] + name: agent55 + start: [19, 5] +- goal: [14, 19] + name: agent56 + start: [22, 4] +- goal: [21, 3] + name: agent57 + start: [31, 10] +- goal: [26, 4] + name: agent58 + start: [4, 18] +- goal: [30, 27] + name: agent59 + start: [29, 26] +- goal: [31, 10] + name: agent60 + start: [21, 27] +- goal: [27, 25] + name: agent61 + start: [26, 13] +- goal: [19, 9] + name: agent62 + start: [27, 6] +- goal: [29, 18] + name: agent63 + start: [1, 14] +- goal: [6, 31] + name: agent64 + start: [17, 27] +- goal: [27, 26] + name: agent65 + start: [28, 20] +- goal: [3, 8] + name: agent66 + start: [0, 2] +- goal: [9, 21] + name: agent67 + start: [14, 9] +- goal: [23, 8] + name: agent68 + start: [23, 2] +- goal: [1, 0] + name: agent69 + start: [25, 31] +- goal: [15, 14] + name: agent70 + start: [24, 12] +- goal: [14, 14] + name: agent71 + start: [5, 3] +- goal: [20, 2] + name: agent72 + start: [24, 7] +- goal: [13, 25] + name: agent73 + start: [18, 1] +- goal: [13, 6] + name: agent74 + start: [2, 21] +- goal: [8, 7] + name: agent75 + start: [29, 8] +- goal: [1, 4] + name: agent76 + start: [27, 20] +- goal: [22, 18] + name: agent77 + start: [12, 28] +- goal: [23, 18] + name: agent78 + start: [26, 2] +- goal: [14, 29] + name: agent79 + start: [21, 19] +- goal: [6, 3] + name: agent80 + start: [19, 1] +- goal: [22, 31] + name: agent81 + start: [15, 2] +- goal: [16, 3] + name: agent82 + start: [16, 3] +- goal: [24, 19] + name: agent83 + start: [0, 11] +- goal: [5, 30] + name: agent84 + start: [6, 24] +- goal: [5, 8] + name: agent85 + start: [18, 21] +- goal: [17, 5] + name: agent86 + start: [11, 15] +- goal: [3, 25] + name: agent87 + start: [6, 22] +- goal: [25, 16] + name: agent88 + start: [15, 7] +- goal: [27, 16] + name: agent89 + start: [20, 23] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [8, 12] + - !!python/tuple [20, 13] + - !!python/tuple [3, 12] + - !!python/tuple [18, 9] + - !!python/tuple [1, 16] + - !!python/tuple [14, 2] + - !!python/tuple [3, 31] + - !!python/tuple [10, 26] + - !!python/tuple [8, 27] + - !!python/tuple [26, 10] + - !!python/tuple [9, 10] + - !!python/tuple [12, 29] + - !!python/tuple [22, 9] + - !!python/tuple [7, 29] + - !!python/tuple [29, 19] + - !!python/tuple [23, 19] + - !!python/tuple [19, 3] + - !!python/tuple [5, 17] + - !!python/tuple [20, 25] + - !!python/tuple [9, 31] + - !!python/tuple [10, 20] + - !!python/tuple [1, 3] + - !!python/tuple [10, 16] + - !!python/tuple [19, 6] + - !!python/tuple [16, 9] + - !!python/tuple [31, 15] + - !!python/tuple [7, 17] + - !!python/tuple [18, 30] + - !!python/tuple [24, 8] + - !!python/tuple [13, 17] + - !!python/tuple [5, 10] + - !!python/tuple [13, 29] + - !!python/tuple [26, 21] + - !!python/tuple [22, 8] + - !!python/tuple [30, 22] + - !!python/tuple [17, 23] + - !!python/tuple [1, 12] + - !!python/tuple [14, 22] + - !!python/tuple [27, 1] + - !!python/tuple [22, 28] + - !!python/tuple [10, 4] + - !!python/tuple [26, 0] + - !!python/tuple [5, 19] + - !!python/tuple [17, 20] + - !!python/tuple [28, 21] + - !!python/tuple [11, 14] + - !!python/tuple [31, 13] + - !!python/tuple [7, 26] + - !!python/tuple [29, 1] + - !!python/tuple [13, 15] + - !!python/tuple [18, 22] + - !!python/tuple [9, 7] + - !!python/tuple [3, 3] + - !!python/tuple [0, 21] + - !!python/tuple [2, 7] + - !!python/tuple [12, 21] + - !!python/tuple [24, 15] + - !!python/tuple [10, 11] + - !!python/tuple [14, 18] + - !!python/tuple [4, 28] + - !!python/tuple [28, 13] + - !!python/tuple [14, 30] + - !!python/tuple [9, 20] + - !!python/tuple [15, 16] + - !!python/tuple [11, 21] + - !!python/tuple [24, 9] + - !!python/tuple [6, 8] + - !!python/tuple [27, 11] + - !!python/tuple [15, 18] + - !!python/tuple [2, 18] + - !!python/tuple [25, 18] + - !!python/tuple [3, 27] + - !!python/tuple [10, 25] + - !!python/tuple [4, 12] + - !!python/tuple [29, 12] + - !!python/tuple [1, 20] + - !!python/tuple [30, 30] + - !!python/tuple [24, 16] + - !!python/tuple [14, 21] + - !!python/tuple [5, 25] + - !!python/tuple [26, 25] + - !!python/tuple [8, 17] + - !!python/tuple [4, 14] + - !!python/tuple [26, 8] + - !!python/tuple [13, 13] + - !!python/tuple [18, 27] + - !!python/tuple [24, 13] + - !!python/tuple [30, 23] + - !!python/tuple [12, 11] + - !!python/tuple [30, 10] + - !!python/tuple [0, 23] + - !!python/tuple [26, 6] + - !!python/tuple [29, 20] + - !!python/tuple [4, 10] + - !!python/tuple [9, 11] + - !!python/tuple [4, 6] + - !!python/tuple [11, 4] + - !!python/tuple [27, 7] + - !!python/tuple [8, 31] + - !!python/tuple [15, 27] + - !!python/tuple [3, 20] + - !!python/tuple [23, 0] + - !!python/tuple [25, 6] + - !!python/tuple [26, 18] + - !!python/tuple [24, 29] + - !!python/tuple [5, 31] + - !!python/tuple [3, 10] + - !!python/tuple [15, 29] + - !!python/tuple [31, 25] + - !!python/tuple [29, 30] + - !!python/tuple [22, 15] + - !!python/tuple [28, 28] + - !!python/tuple [1, 15] + - !!python/tuple [29, 9] + - !!python/tuple [30, 4] + - !!python/tuple [4, 17] + - !!python/tuple [31, 16] + - !!python/tuple [22, 20] + - !!python/tuple [16, 25] + - !!python/tuple [19, 7] + - !!python/tuple [17, 6] + - !!python/tuple [0, 7] + - !!python/tuple [29, 27] + - !!python/tuple [25, 8] + - !!python/tuple [18, 20] + - !!python/tuple [29, 0] + - !!python/tuple [13, 26] + - !!python/tuple [8, 26] + - !!python/tuple [7, 11] + - !!python/tuple [20, 4] + - !!python/tuple [6, 16] + - !!python/tuple [9, 16] + - !!python/tuple [31, 11] + - !!python/tuple [21, 21] + - !!python/tuple [7, 1] + - !!python/tuple [8, 28] + - !!python/tuple [2, 23] + - !!python/tuple [8, 1] + - !!python/tuple [17, 26] + - !!python/tuple [25, 21] + - !!python/tuple [23, 26] + - !!python/tuple [8, 14] + - !!python/tuple [17, 16] + - !!python/tuple [13, 28] + - !!python/tuple [18, 10] + - !!python/tuple [15, 30] + - !!python/tuple [22, 22] + - !!python/tuple [20, 16] + - !!python/tuple [20, 31] + - !!python/tuple [15, 19] + - !!python/tuple [27, 17] + - !!python/tuple [7, 10] + - !!python/tuple [11, 26] + - !!python/tuple [17, 2] + - !!python/tuple [15, 17] + - !!python/tuple [4, 16] + - !!python/tuple [12, 6] + - !!python/tuple [12, 15] + - !!python/tuple [20, 21] + - !!python/tuple [30, 26] + - !!python/tuple [27, 28] + - !!python/tuple [28, 7] + - !!python/tuple [16, 13] + - !!python/tuple [19, 20] + - !!python/tuple [19, 0] + - !!python/tuple [0, 27] + - !!python/tuple [9, 26] + - !!python/tuple [11, 9] + - !!python/tuple [11, 6] + - !!python/tuple [24, 28] + - !!python/tuple [25, 20] + - !!python/tuple [5, 7] + - !!python/tuple [28, 18] + - !!python/tuple [11, 23] + - !!python/tuple [10, 29] + - !!python/tuple [18, 11] + - !!python/tuple [30, 18] + - !!python/tuple [20, 29] + - !!python/tuple [23, 4] + - !!python/tuple [19, 30] + - !!python/tuple [21, 30] + - !!python/tuple [13, 30] + - !!python/tuple [23, 29] + - !!python/tuple [28, 16] + - !!python/tuple [26, 23] + - !!python/tuple [0, 29] + - !!python/tuple [26, 3] + - !!python/tuple [21, 0] + - !!python/tuple [22, 26] + - !!python/tuple [19, 24] + - !!python/tuple [13, 4] + - !!python/tuple [10, 5] + - !!python/tuple [31, 27] + - !!python/tuple [2, 6] + - !!python/tuple [3, 15] + - !!python/tuple [28, 26] + - !!python/tuple [23, 11] + - !!python/tuple [29, 14] + - !!python/tuple [13, 9] + - !!python/tuple [0, 18] + - !!python/tuple [14, 17] + - !!python/tuple [26, 24] + - !!python/tuple [21, 11] + - !!python/tuple [25, 14] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex78.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex78.yaml new file mode 100644 index 0000000..01db094 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex78.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [23, 3] + name: agent0 + start: [11, 10] +- goal: [20, 29] + name: agent1 + start: [1, 17] +- goal: [6, 0] + name: agent2 + start: [15, 28] +- goal: [24, 21] + name: agent3 + start: [25, 24] +- goal: [14, 17] + name: agent4 + start: [20, 10] +- goal: [26, 11] + name: agent5 + start: [21, 15] +- goal: [7, 1] + name: agent6 + start: [13, 21] +- goal: [2, 22] + name: agent7 + start: [2, 25] +- goal: [0, 3] + name: agent8 + start: [16, 3] +- goal: [14, 30] + name: agent9 + start: [31, 29] +- goal: [2, 26] + name: agent10 + start: [22, 6] +- goal: [29, 15] + name: agent11 + start: [15, 31] +- goal: [10, 11] + name: agent12 + start: [29, 16] +- goal: [27, 10] + name: agent13 + start: [15, 6] +- goal: [26, 13] + name: agent14 + start: [9, 17] +- goal: [17, 24] + name: agent15 + start: [21, 13] +- goal: [11, 16] + name: agent16 + start: [2, 19] +- goal: [25, 0] + name: agent17 + start: [12, 7] +- goal: [7, 2] + name: agent18 + start: [21, 19] +- goal: [29, 0] + name: agent19 + start: [18, 13] +- goal: [9, 21] + name: agent20 + start: [3, 3] +- goal: [19, 11] + name: agent21 + start: [13, 7] +- goal: [20, 12] + name: agent22 + start: [17, 9] +- goal: [19, 8] + name: agent23 + start: [28, 22] +- goal: [3, 12] + name: agent24 + start: [31, 24] +- goal: [11, 12] + name: agent25 + start: [1, 14] +- goal: [12, 2] + name: agent26 + start: [6, 16] +- goal: [9, 19] + name: agent27 + start: [6, 15] +- goal: [29, 3] + name: agent28 + start: [3, 22] +- goal: [10, 2] + name: agent29 + start: [27, 5] +- goal: [18, 1] + name: agent30 + start: [25, 17] +- goal: [13, 23] + name: agent31 + start: [23, 3] +- goal: [31, 10] + name: agent32 + start: [24, 10] +- goal: [29, 1] + name: agent33 + start: [23, 18] +- goal: [26, 0] + name: agent34 + start: [25, 0] +- goal: [15, 14] + name: agent35 + start: [11, 17] +- goal: [7, 24] + name: agent36 + start: [9, 30] +- goal: [28, 23] + name: agent37 + start: [23, 28] +- goal: [13, 17] + name: agent38 + start: [14, 28] +- goal: [22, 4] + name: agent39 + start: [6, 9] +- goal: [3, 24] + name: agent40 + start: [24, 4] +- goal: [28, 24] + name: agent41 + start: [23, 12] +- goal: [3, 2] + name: agent42 + start: [21, 26] +- goal: [14, 20] + name: agent43 + start: [12, 13] +- goal: [0, 17] + name: agent44 + start: [25, 10] +- goal: [29, 14] + name: agent45 + start: [3, 30] +- goal: [13, 6] + name: agent46 + start: [13, 0] +- goal: [6, 23] + name: agent47 + start: [14, 15] +- goal: [20, 26] + name: agent48 + start: [21, 12] +- goal: [14, 28] + name: agent49 + start: [15, 4] +- goal: [16, 25] + name: agent50 + start: [4, 26] +- goal: [13, 21] + name: agent51 + start: [31, 31] +- goal: [17, 5] + name: agent52 + start: [14, 11] +- goal: [11, 20] + name: agent53 + start: [31, 4] +- goal: [21, 17] + name: agent54 + start: [4, 2] +- goal: [4, 13] + name: agent55 + start: [28, 12] +- goal: [4, 15] + name: agent56 + start: [7, 13] +- goal: [20, 6] + name: agent57 + start: [10, 19] +- goal: [4, 0] + name: agent58 + start: [18, 27] +- goal: [25, 29] + name: agent59 + start: [23, 13] +- goal: [3, 16] + name: agent60 + start: [4, 10] +- goal: [13, 29] + name: agent61 + start: [23, 8] +- goal: [19, 3] + name: agent62 + start: [3, 13] +- goal: [12, 10] + name: agent63 + start: [11, 25] +- goal: [10, 28] + name: agent64 + start: [10, 2] +- goal: [7, 8] + name: agent65 + start: [31, 8] +- goal: [23, 14] + name: agent66 + start: [20, 17] +- goal: [30, 30] + name: agent67 + start: [2, 29] +- goal: [13, 31] + name: agent68 + start: [20, 15] +- goal: [25, 24] + name: agent69 + start: [9, 29] +- goal: [0, 4] + name: agent70 + start: [11, 21] +- goal: [7, 20] + name: agent71 + start: [6, 10] +- goal: [3, 6] + name: agent72 + start: [20, 8] +- goal: [31, 9] + name: agent73 + start: [16, 21] +- goal: [23, 29] + name: agent74 + start: [0, 13] +- goal: [2, 8] + name: agent75 + start: [9, 14] +- goal: [11, 15] + name: agent76 + start: [20, 7] +- goal: [2, 2] + name: agent77 + start: [2, 23] +- goal: [5, 23] + name: agent78 + start: [5, 13] +- goal: [13, 20] + name: agent79 + start: [16, 10] +- goal: [4, 14] + name: agent80 + start: [19, 14] +- goal: [30, 17] + name: agent81 + start: [12, 18] +- goal: [10, 13] + name: agent82 + start: [26, 22] +- goal: [13, 0] + name: agent83 + start: [29, 15] +- goal: [4, 30] + name: agent84 + start: [21, 11] +- goal: [12, 16] + name: agent85 + start: [5, 23] +- goal: [0, 26] + name: agent86 + start: [14, 2] +- goal: [22, 27] + name: agent87 + start: [18, 22] +- goal: [27, 9] + name: agent88 + start: [9, 2] +- goal: [28, 13] + name: agent89 + start: [27, 8] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [8, 25] + - !!python/tuple [15, 22] + - !!python/tuple [18, 30] + - !!python/tuple [20, 23] + - !!python/tuple [17, 28] + - !!python/tuple [5, 18] + - !!python/tuple [14, 6] + - !!python/tuple [24, 11] + - !!python/tuple [21, 4] + - !!python/tuple [10, 1] + - !!python/tuple [18, 23] + - !!python/tuple [25, 7] + - !!python/tuple [8, 26] + - !!python/tuple [24, 16] + - !!python/tuple [13, 25] + - !!python/tuple [28, 1] + - !!python/tuple [31, 7] + - !!python/tuple [1, 18] + - !!python/tuple [14, 26] + - !!python/tuple [2, 7] + - !!python/tuple [15, 19] + - !!python/tuple [19, 20] + - !!python/tuple [16, 6] + - !!python/tuple [28, 0] + - !!python/tuple [18, 25] + - !!python/tuple [30, 6] + - !!python/tuple [22, 17] + - !!python/tuple [28, 7] + - !!python/tuple [4, 18] + - !!python/tuple [1, 27] + - !!python/tuple [20, 11] + - !!python/tuple [11, 1] + - !!python/tuple [10, 31] + - !!python/tuple [28, 26] + - !!python/tuple [28, 10] + - !!python/tuple [3, 20] + - !!python/tuple [26, 8] + - !!python/tuple [16, 27] + - !!python/tuple [28, 28] + - !!python/tuple [25, 3] + - !!python/tuple [11, 19] + - !!python/tuple [20, 14] + - !!python/tuple [29, 10] + - !!python/tuple [18, 6] + - !!python/tuple [21, 23] + - !!python/tuple [8, 17] + - !!python/tuple [30, 28] + - !!python/tuple [23, 11] + - !!python/tuple [20, 16] + - !!python/tuple [19, 6] + - !!python/tuple [24, 22] + - !!python/tuple [20, 9] + - !!python/tuple [12, 1] + - !!python/tuple [0, 19] + - !!python/tuple [25, 6] + - !!python/tuple [5, 7] + - !!python/tuple [1, 9] + - !!python/tuple [9, 8] + - !!python/tuple [23, 21] + - !!python/tuple [8, 18] + - !!python/tuple [26, 15] + - !!python/tuple [25, 18] + - !!python/tuple [13, 5] + - !!python/tuple [2, 21] + - !!python/tuple [24, 7] + - !!python/tuple [21, 1] + - !!python/tuple [8, 15] + - !!python/tuple [14, 25] + - !!python/tuple [27, 0] + - !!python/tuple [16, 19] + - !!python/tuple [22, 3] + - !!python/tuple [18, 4] + - !!python/tuple [3, 7] + - !!python/tuple [5, 22] + - !!python/tuple [6, 4] + - !!python/tuple [23, 31] + - !!python/tuple [14, 21] + - !!python/tuple [28, 15] + - !!python/tuple [9, 28] + - !!python/tuple [24, 26] + - !!python/tuple [22, 24] + - !!python/tuple [12, 5] + - !!python/tuple [3, 8] + - !!python/tuple [3, 11] + - !!python/tuple [25, 23] + - !!python/tuple [19, 27] + - !!python/tuple [26, 17] + - !!python/tuple [27, 23] + - !!python/tuple [19, 28] + - !!python/tuple [28, 6] + - !!python/tuple [16, 23] + - !!python/tuple [7, 11] + - !!python/tuple [8, 29] + - !!python/tuple [8, 16] + - !!python/tuple [7, 17] + - !!python/tuple [18, 17] + - !!python/tuple [15, 25] + - !!python/tuple [15, 10] + - !!python/tuple [22, 20] + - !!python/tuple [6, 27] + - !!python/tuple [22, 7] + - !!python/tuple [30, 4] + - !!python/tuple [15, 20] + - !!python/tuple [0, 28] + - !!python/tuple [5, 0] + - !!python/tuple [14, 7] + - !!python/tuple [13, 28] + - !!python/tuple [23, 23] + - !!python/tuple [26, 16] + - !!python/tuple [30, 10] + - !!python/tuple [22, 19] + - !!python/tuple [19, 17] + - !!python/tuple [1, 25] + - !!python/tuple [1, 11] + - !!python/tuple [6, 17] + - !!python/tuple [30, 3] + - !!python/tuple [21, 3] + - !!python/tuple [6, 12] + - !!python/tuple [25, 21] + - !!python/tuple [17, 2] + - !!python/tuple [14, 10] + - !!python/tuple [20, 21] + - !!python/tuple [5, 3] + - !!python/tuple [21, 10] + - !!python/tuple [20, 18] + - !!python/tuple [28, 19] + - !!python/tuple [7, 12] + - !!python/tuple [25, 14] + - !!python/tuple [9, 3] + - !!python/tuple [9, 31] + - !!python/tuple [4, 8] + - !!python/tuple [25, 5] + - !!python/tuple [9, 4] + - !!python/tuple [7, 21] + - !!python/tuple [18, 0] + - !!python/tuple [8, 8] + - !!python/tuple [13, 16] + - !!python/tuple [0, 12] + - !!python/tuple [26, 7] + - !!python/tuple [9, 24] + - !!python/tuple [10, 4] + - !!python/tuple [21, 29] + - !!python/tuple [19, 29] + - !!python/tuple [10, 23] + - !!python/tuple [6, 7] + - !!python/tuple [12, 20] + - !!python/tuple [19, 23] + - !!python/tuple [24, 29] + - !!python/tuple [11, 29] + - !!python/tuple [31, 30] + - !!python/tuple [18, 2] + - !!python/tuple [12, 17] + - !!python/tuple [21, 30] + - !!python/tuple [6, 19] + - !!python/tuple [6, 25] + - !!python/tuple [28, 17] + - !!python/tuple [18, 11] + - !!python/tuple [7, 26] + - !!python/tuple [31, 12] + - !!python/tuple [5, 25] + - !!python/tuple [10, 30] + - !!python/tuple [5, 20] + - !!python/tuple [27, 4] + - !!python/tuple [21, 2] + - !!python/tuple [16, 16] + - !!python/tuple [9, 15] + - !!python/tuple [11, 5] + - !!python/tuple [31, 15] + - !!python/tuple [16, 4] + - !!python/tuple [31, 17] + - !!python/tuple [16, 28] + - !!python/tuple [10, 3] + - !!python/tuple [1, 4] + - !!python/tuple [15, 11] + - !!python/tuple [31, 14] + - !!python/tuple [8, 11] + - !!python/tuple [12, 25] + - !!python/tuple [15, 1] + - !!python/tuple [31, 25] + - !!python/tuple [16, 26] + - !!python/tuple [23, 16] + - !!python/tuple [12, 21] + - !!python/tuple [8, 10] + - !!python/tuple [21, 25] + - !!python/tuple [2, 14] + - !!python/tuple [3, 25] + - !!python/tuple [17, 27] + - !!python/tuple [31, 3] + - !!python/tuple [31, 19] + - !!python/tuple [0, 23] + - !!python/tuple [29, 13] + - !!python/tuple [27, 24] + - !!python/tuple [21, 8] + - !!python/tuple [13, 14] + - !!python/tuple [2, 30] + - !!python/tuple [19, 16] + - !!python/tuple [29, 11] + - !!python/tuple [22, 18] + - !!python/tuple [5, 4] + - !!python/tuple [0, 1] + - !!python/tuple [25, 1] + - !!python/tuple [16, 31] + - !!python/tuple [18, 31] + - !!python/tuple [12, 4] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex79.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex79.yaml new file mode 100644 index 0000000..af5dc9a --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex79.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [27, 14] + name: agent0 + start: [2, 22] +- goal: [2, 4] + name: agent1 + start: [0, 6] +- goal: [12, 1] + name: agent2 + start: [17, 2] +- goal: [25, 8] + name: agent3 + start: [3, 19] +- goal: [6, 1] + name: agent4 + start: [18, 29] +- goal: [0, 12] + name: agent5 + start: [28, 31] +- goal: [2, 5] + name: agent6 + start: [14, 27] +- goal: [24, 7] + name: agent7 + start: [24, 3] +- goal: [6, 19] + name: agent8 + start: [29, 25] +- goal: [15, 10] + name: agent9 + start: [27, 25] +- goal: [12, 4] + name: agent10 + start: [22, 16] +- goal: [4, 26] + name: agent11 + start: [13, 31] +- goal: [23, 17] + name: agent12 + start: [17, 25] +- goal: [17, 19] + name: agent13 + start: [15, 23] +- goal: [3, 13] + name: agent14 + start: [28, 12] +- goal: [31, 21] + name: agent15 + start: [6, 20] +- goal: [27, 23] + name: agent16 + start: [26, 22] +- goal: [20, 8] + name: agent17 + start: [2, 14] +- goal: [7, 17] + name: agent18 + start: [13, 30] +- goal: [26, 13] + name: agent19 + start: [24, 9] +- goal: [18, 11] + name: agent20 + start: [22, 7] +- goal: [6, 5] + name: agent21 + start: [20, 15] +- goal: [0, 25] + name: agent22 + start: [24, 23] +- goal: [29, 17] + name: agent23 + start: [10, 5] +- goal: [1, 19] + name: agent24 + start: [2, 8] +- goal: [9, 19] + name: agent25 + start: [4, 12] +- goal: [27, 12] + name: agent26 + start: [13, 20] +- goal: [15, 18] + name: agent27 + start: [9, 6] +- goal: [22, 26] + name: agent28 + start: [31, 5] +- goal: [26, 12] + name: agent29 + start: [0, 31] +- goal: [28, 7] + name: agent30 + start: [3, 7] +- goal: [2, 16] + name: agent31 + start: [7, 17] +- goal: [4, 4] + name: agent32 + start: [19, 6] +- goal: [25, 28] + name: agent33 + start: [31, 29] +- goal: [10, 7] + name: agent34 + start: [2, 25] +- goal: [0, 15] + name: agent35 + start: [17, 29] +- goal: [7, 23] + name: agent36 + start: [1, 7] +- goal: [16, 24] + name: agent37 + start: [26, 3] +- goal: [10, 5] + name: agent38 + start: [25, 22] +- goal: [8, 8] + name: agent39 + start: [6, 10] +- goal: [16, 8] + name: agent40 + start: [2, 28] +- goal: [30, 21] + name: agent41 + start: [27, 10] +- goal: [20, 7] + name: agent42 + start: [16, 7] +- goal: [1, 28] + name: agent43 + start: [9, 9] +- goal: [21, 19] + name: agent44 + start: [30, 30] +- goal: [6, 28] + name: agent45 + start: [31, 12] +- goal: [7, 7] + name: agent46 + start: [9, 29] +- goal: [20, 9] + name: agent47 + start: [2, 11] +- goal: [15, 9] + name: agent48 + start: [12, 26] +- goal: [5, 15] + name: agent49 + start: [20, 10] +- goal: [23, 23] + name: agent50 + start: [26, 28] +- goal: [3, 21] + name: agent51 + start: [31, 31] +- goal: [19, 16] + name: agent52 + start: [5, 5] +- goal: [9, 4] + name: agent53 + start: [30, 10] +- goal: [0, 7] + name: agent54 + start: [30, 15] +- goal: [29, 6] + name: agent55 + start: [23, 15] +- goal: [15, 28] + name: agent56 + start: [10, 26] +- goal: [29, 20] + name: agent57 + start: [4, 27] +- goal: [16, 4] + name: agent58 + start: [2, 6] +- goal: [27, 21] + name: agent59 + start: [23, 7] +- goal: [4, 10] + name: agent60 + start: [13, 7] +- goal: [9, 13] + name: agent61 + start: [28, 22] +- goal: [11, 9] + name: agent62 + start: [21, 28] +- goal: [28, 3] + name: agent63 + start: [11, 23] +- goal: [2, 27] + name: agent64 + start: [15, 17] +- goal: [27, 9] + name: agent65 + start: [1, 19] +- goal: [1, 31] + name: agent66 + start: [19, 10] +- goal: [3, 12] + name: agent67 + start: [4, 30] +- goal: [24, 3] + name: agent68 + start: [5, 0] +- goal: [17, 25] + name: agent69 + start: [23, 1] +- goal: [0, 8] + name: agent70 + start: [10, 3] +- goal: [24, 24] + name: agent71 + start: [1, 11] +- goal: [1, 1] + name: agent72 + start: [17, 14] +- goal: [27, 27] + name: agent73 + start: [6, 28] +- goal: [23, 11] + name: agent74 + start: [18, 4] +- goal: [28, 1] + name: agent75 + start: [25, 18] +- goal: [12, 9] + name: agent76 + start: [28, 17] +- goal: [19, 12] + name: agent77 + start: [20, 24] +- goal: [25, 14] + name: agent78 + start: [3, 20] +- goal: [22, 22] + name: agent79 + start: [6, 3] +- goal: [6, 2] + name: agent80 + start: [25, 26] +- goal: [30, 22] + name: agent81 + start: [12, 6] +- goal: [15, 17] + name: agent82 + start: [18, 17] +- goal: [26, 7] + name: agent83 + start: [27, 23] +- goal: [30, 16] + name: agent84 + start: [11, 31] +- goal: [23, 15] + name: agent85 + start: [10, 11] +- goal: [11, 29] + name: agent86 + start: [0, 7] +- goal: [2, 1] + name: agent87 + start: [20, 18] +- goal: [20, 25] + name: agent88 + start: [28, 23] +- goal: [9, 20] + name: agent89 + start: [16, 24] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [13, 4] + - !!python/tuple [25, 23] + - !!python/tuple [7, 6] + - !!python/tuple [15, 16] + - !!python/tuple [0, 27] + - !!python/tuple [9, 10] + - !!python/tuple [10, 4] + - !!python/tuple [23, 31] + - !!python/tuple [1, 21] + - !!python/tuple [10, 22] + - !!python/tuple [5, 31] + - !!python/tuple [17, 21] + - !!python/tuple [19, 5] + - !!python/tuple [0, 28] + - !!python/tuple [19, 26] + - !!python/tuple [19, 18] + - !!python/tuple [26, 21] + - !!python/tuple [12, 13] + - !!python/tuple [1, 6] + - !!python/tuple [14, 10] + - !!python/tuple [12, 29] + - !!python/tuple [10, 10] + - !!python/tuple [27, 29] + - !!python/tuple [7, 26] + - !!python/tuple [28, 8] + - !!python/tuple [25, 31] + - !!python/tuple [17, 1] + - !!python/tuple [30, 0] + - !!python/tuple [15, 24] + - !!python/tuple [13, 5] + - !!python/tuple [24, 12] + - !!python/tuple [0, 20] + - !!python/tuple [6, 25] + - !!python/tuple [14, 5] + - !!python/tuple [7, 14] + - !!python/tuple [31, 25] + - !!python/tuple [15, 21] + - !!python/tuple [19, 2] + - !!python/tuple [29, 0] + - !!python/tuple [6, 13] + - !!python/tuple [0, 1] + - !!python/tuple [11, 3] + - !!python/tuple [19, 21] + - !!python/tuple [27, 19] + - !!python/tuple [29, 21] + - !!python/tuple [27, 7] + - !!python/tuple [14, 22] + - !!python/tuple [16, 31] + - !!python/tuple [18, 15] + - !!python/tuple [4, 19] + - !!python/tuple [13, 11] + - !!python/tuple [31, 1] + - !!python/tuple [4, 20] + - !!python/tuple [14, 0] + - !!python/tuple [23, 10] + - !!python/tuple [10, 18] + - !!python/tuple [23, 5] + - !!python/tuple [8, 6] + - !!python/tuple [0, 0] + - !!python/tuple [2, 12] + - !!python/tuple [27, 0] + - !!python/tuple [1, 3] + - !!python/tuple [1, 0] + - !!python/tuple [24, 25] + - !!python/tuple [5, 26] + - !!python/tuple [13, 16] + - !!python/tuple [31, 30] + - !!python/tuple [3, 29] + - !!python/tuple [26, 25] + - !!python/tuple [24, 8] + - !!python/tuple [3, 9] + - !!python/tuple [25, 6] + - !!python/tuple [1, 17] + - !!python/tuple [28, 4] + - !!python/tuple [0, 13] + - !!python/tuple [8, 31] + - !!python/tuple [25, 16] + - !!python/tuple [15, 1] + - !!python/tuple [9, 12] + - !!python/tuple [7, 22] + - !!python/tuple [12, 7] + - !!python/tuple [21, 31] + - !!python/tuple [17, 18] + - !!python/tuple [30, 14] + - !!python/tuple [19, 1] + - !!python/tuple [4, 14] + - !!python/tuple [15, 26] + - !!python/tuple [5, 20] + - !!python/tuple [10, 16] + - !!python/tuple [31, 6] + - !!python/tuple [27, 16] + - !!python/tuple [31, 22] + - !!python/tuple [27, 30] + - !!python/tuple [16, 15] + - !!python/tuple [21, 14] + - !!python/tuple [0, 21] + - !!python/tuple [18, 16] + - !!python/tuple [27, 4] + - !!python/tuple [19, 3] + - !!python/tuple [27, 31] + - !!python/tuple [13, 12] + - !!python/tuple [14, 9] + - !!python/tuple [10, 25] + - !!python/tuple [8, 15] + - !!python/tuple [25, 7] + - !!python/tuple [12, 25] + - !!python/tuple [11, 19] + - !!python/tuple [8, 0] + - !!python/tuple [8, 17] + - !!python/tuple [16, 9] + - !!python/tuple [31, 13] + - !!python/tuple [5, 14] + - !!python/tuple [7, 0] + - !!python/tuple [8, 20] + - !!python/tuple [20, 5] + - !!python/tuple [11, 1] + - !!python/tuple [26, 24] + - !!python/tuple [16, 20] + - !!python/tuple [7, 3] + - !!python/tuple [21, 10] + - !!python/tuple [6, 11] + - !!python/tuple [27, 22] + - !!python/tuple [15, 5] + - !!python/tuple [11, 8] + - !!python/tuple [20, 28] + - !!python/tuple [23, 16] + - !!python/tuple [18, 20] + - !!python/tuple [11, 20] + - !!python/tuple [0, 11] + - !!python/tuple [7, 18] + - !!python/tuple [14, 17] + - !!python/tuple [18, 28] + - !!python/tuple [26, 30] + - !!python/tuple [0, 17] + - !!python/tuple [31, 8] + - !!python/tuple [13, 8] + - !!python/tuple [16, 28] + - !!python/tuple [21, 16] + - !!python/tuple [20, 27] + - !!python/tuple [12, 0] + - !!python/tuple [6, 12] + - !!python/tuple [0, 4] + - !!python/tuple [3, 28] + - !!python/tuple [1, 5] + - !!python/tuple [10, 14] + - !!python/tuple [28, 24] + - !!python/tuple [17, 30] + - !!python/tuple [15, 15] + - !!python/tuple [20, 11] + - !!python/tuple [20, 16] + - !!python/tuple [30, 13] + - !!python/tuple [7, 31] + - !!python/tuple [4, 3] + - !!python/tuple [26, 2] + - !!python/tuple [1, 26] + - !!python/tuple [29, 22] + - !!python/tuple [31, 19] + - !!python/tuple [16, 12] + - !!python/tuple [24, 29] + - !!python/tuple [3, 25] + - !!python/tuple [14, 31] + - !!python/tuple [13, 24] + - !!python/tuple [3, 24] + - !!python/tuple [1, 29] + - !!python/tuple [22, 11] + - !!python/tuple [16, 22] + - !!python/tuple [8, 9] + - !!python/tuple [28, 29] + - !!python/tuple [8, 10] + - !!python/tuple [6, 6] + - !!python/tuple [19, 29] + - !!python/tuple [31, 18] + - !!python/tuple [28, 27] + - !!python/tuple [6, 16] + - !!python/tuple [8, 23] + - !!python/tuple [23, 19] + - !!python/tuple [30, 18] + - !!python/tuple [4, 5] + - !!python/tuple [9, 11] + - !!python/tuple [23, 26] + - !!python/tuple [9, 17] + - !!python/tuple [4, 2] + - !!python/tuple [27, 18] + - !!python/tuple [23, 14] + - !!python/tuple [7, 19] + - !!python/tuple [14, 29] + - !!python/tuple [28, 21] + - !!python/tuple [9, 3] + - !!python/tuple [27, 15] + - !!python/tuple [31, 2] + - !!python/tuple [24, 16] + - !!python/tuple [21, 21] + - !!python/tuple [29, 28] + - !!python/tuple [9, 15] + - !!python/tuple [18, 18] + - !!python/tuple [3, 1] + - !!python/tuple [5, 22] + - !!python/tuple [19, 8] + - !!python/tuple [8, 16] + - !!python/tuple [29, 13] + - !!python/tuple [29, 4] + - !!python/tuple [4, 7] + - !!python/tuple [5, 18] + - !!python/tuple [12, 5] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex8.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex8.yaml new file mode 100644 index 0000000..27cdd44 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex8.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [27, 5] + name: agent0 + start: [16, 4] +- goal: [0, 6] + name: agent1 + start: [31, 29] +- goal: [26, 1] + name: agent2 + start: [18, 30] +- goal: [0, 17] + name: agent3 + start: [2, 2] +- goal: [6, 6] + name: agent4 + start: [5, 27] +- goal: [21, 23] + name: agent5 + start: [14, 5] +- goal: [29, 7] + name: agent6 + start: [12, 27] +- goal: [30, 25] + name: agent7 + start: [23, 3] +- goal: [30, 2] + name: agent8 + start: [30, 13] +- goal: [29, 21] + name: agent9 + start: [11, 31] +- goal: [11, 22] + name: agent10 + start: [8, 20] +- goal: [22, 8] + name: agent11 + start: [29, 0] +- goal: [24, 24] + name: agent12 + start: [5, 3] +- goal: [26, 7] + name: agent13 + start: [11, 15] +- goal: [23, 31] + name: agent14 + start: [23, 6] +- goal: [1, 1] + name: agent15 + start: [20, 9] +- goal: [19, 18] + name: agent16 + start: [11, 27] +- goal: [20, 7] + name: agent17 + start: [9, 20] +- goal: [25, 9] + name: agent18 + start: [0, 30] +- goal: [30, 21] + name: agent19 + start: [4, 17] +- goal: [6, 11] + name: agent20 + start: [17, 2] +- goal: [29, 5] + name: agent21 + start: [11, 16] +- goal: [11, 1] + name: agent22 + start: [28, 21] +- goal: [16, 1] + name: agent23 + start: [24, 0] +- goal: [27, 7] + name: agent24 + start: [1, 9] +- goal: [13, 19] + name: agent25 + start: [26, 11] +- goal: [5, 3] + name: agent26 + start: [27, 23] +- goal: [19, 9] + name: agent27 + start: [18, 7] +- goal: [10, 18] + name: agent28 + start: [10, 27] +- goal: [5, 16] + name: agent29 + start: [26, 30] +- goal: [18, 13] + name: agent30 + start: [13, 1] +- goal: [9, 16] + name: agent31 + start: [25, 16] +- goal: [18, 24] + name: agent32 + start: [30, 22] +- goal: [4, 1] + name: agent33 + start: [21, 31] +- goal: [21, 6] + name: agent34 + start: [18, 19] +- goal: [26, 29] + name: agent35 + start: [5, 13] +- goal: [17, 26] + name: agent36 + start: [4, 25] +- goal: [28, 28] + name: agent37 + start: [30, 17] +- goal: [22, 21] + name: agent38 + start: [20, 26] +- goal: [6, 14] + name: agent39 + start: [5, 23] +- goal: [11, 13] + name: agent40 + start: [21, 3] +- goal: [12, 31] + name: agent41 + start: [19, 26] +- goal: [1, 9] + name: agent42 + start: [3, 31] +- goal: [18, 3] + name: agent43 + start: [11, 3] +- goal: [21, 12] + name: agent44 + start: [5, 30] +- goal: [27, 26] + name: agent45 + start: [0, 13] +- goal: [0, 30] + name: agent46 + start: [1, 21] +- goal: [0, 26] + name: agent47 + start: [5, 7] +- goal: [14, 1] + name: agent48 + start: [5, 22] +- goal: [15, 14] + name: agent49 + start: [0, 29] +- goal: [3, 1] + name: agent50 + start: [23, 13] +- goal: [21, 5] + name: agent51 + start: [10, 20] +- goal: [28, 25] + name: agent52 + start: [25, 18] +- goal: [18, 9] + name: agent53 + start: [24, 25] +- goal: [29, 15] + name: agent54 + start: [4, 9] +- goal: [29, 4] + name: agent55 + start: [16, 15] +- goal: [6, 1] + name: agent56 + start: [14, 25] +- goal: [10, 30] + name: agent57 + start: [21, 8] +- goal: [27, 15] + name: agent58 + start: [14, 12] +- goal: [26, 6] + name: agent59 + start: [10, 28] +- goal: [26, 10] + name: agent60 + start: [3, 8] +- goal: [21, 29] + name: agent61 + start: [17, 20] +- goal: [19, 3] + name: agent62 + start: [15, 6] +- goal: [11, 4] + name: agent63 + start: [7, 16] +- goal: [6, 2] + name: agent64 + start: [5, 14] +- goal: [11, 31] + name: agent65 + start: [31, 6] +- goal: [9, 20] + name: agent66 + start: [7, 2] +- goal: [2, 22] + name: agent67 + start: [21, 13] +- goal: [2, 16] + name: agent68 + start: [12, 26] +- goal: [23, 19] + name: agent69 + start: [18, 23] +- goal: [22, 22] + name: agent70 + start: [12, 30] +- goal: [5, 30] + name: agent71 + start: [10, 9] +- goal: [8, 4] + name: agent72 + start: [19, 28] +- goal: [16, 28] + name: agent73 + start: [6, 9] +- goal: [17, 11] + name: agent74 + start: [1, 5] +- goal: [1, 3] + name: agent75 + start: [6, 10] +- goal: [6, 26] + name: agent76 + start: [26, 7] +- goal: [1, 13] + name: agent77 + start: [16, 11] +- goal: [27, 29] + name: agent78 + start: [16, 1] +- goal: [2, 12] + name: agent79 + start: [5, 17] +- goal: [12, 4] + name: agent80 + start: [12, 21] +- goal: [28, 20] + name: agent81 + start: [7, 27] +- goal: [20, 2] + name: agent82 + start: [19, 20] +- goal: [19, 28] + name: agent83 + start: [7, 12] +- goal: [23, 5] + name: agent84 + start: [9, 14] +- goal: [9, 9] + name: agent85 + start: [17, 13] +- goal: [31, 7] + name: agent86 + start: [28, 14] +- goal: [30, 13] + name: agent87 + start: [3, 30] +- goal: [10, 26] + name: agent88 + start: [28, 10] +- goal: [23, 20] + name: agent89 + start: [12, 12] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [8, 14] + - !!python/tuple [17, 22] + - !!python/tuple [8, 26] + - !!python/tuple [7, 1] + - !!python/tuple [28, 7] + - !!python/tuple [19, 30] + - !!python/tuple [8, 16] + - !!python/tuple [1, 4] + - !!python/tuple [29, 25] + - !!python/tuple [25, 14] + - !!python/tuple [8, 1] + - !!python/tuple [8, 11] + - !!python/tuple [9, 29] + - !!python/tuple [30, 30] + - !!python/tuple [18, 11] + - !!python/tuple [10, 7] + - !!python/tuple [4, 15] + - !!python/tuple [5, 31] + - !!python/tuple [18, 22] + - !!python/tuple [3, 14] + - !!python/tuple [0, 7] + - !!python/tuple [23, 28] + - !!python/tuple [27, 0] + - !!python/tuple [7, 30] + - !!python/tuple [18, 8] + - !!python/tuple [14, 20] + - !!python/tuple [20, 22] + - !!python/tuple [16, 25] + - !!python/tuple [20, 30] + - !!python/tuple [28, 13] + - !!python/tuple [6, 17] + - !!python/tuple [15, 11] + - !!python/tuple [5, 8] + - !!python/tuple [7, 10] + - !!python/tuple [19, 23] + - !!python/tuple [9, 26] + - !!python/tuple [22, 26] + - !!python/tuple [15, 22] + - !!python/tuple [24, 22] + - !!python/tuple [17, 16] + - !!python/tuple [1, 8] + - !!python/tuple [16, 27] + - !!python/tuple [14, 16] + - !!python/tuple [8, 6] + - !!python/tuple [26, 28] + - !!python/tuple [5, 9] + - !!python/tuple [16, 31] + - !!python/tuple [28, 23] + - !!python/tuple [17, 9] + - !!python/tuple [9, 3] + - !!python/tuple [23, 11] + - !!python/tuple [2, 23] + - !!python/tuple [3, 23] + - !!python/tuple [10, 14] + - !!python/tuple [18, 26] + - !!python/tuple [29, 22] + - !!python/tuple [11, 17] + - !!python/tuple [1, 29] + - !!python/tuple [3, 19] + - !!python/tuple [26, 23] + - !!python/tuple [25, 24] + - !!python/tuple [5, 24] + - !!python/tuple [1, 25] + - !!python/tuple [15, 29] + - !!python/tuple [31, 2] + - !!python/tuple [0, 12] + - !!python/tuple [30, 15] + - !!python/tuple [18, 2] + - !!python/tuple [19, 0] + - !!python/tuple [9, 11] + - !!python/tuple [0, 23] + - !!python/tuple [10, 12] + - !!python/tuple [5, 11] + - !!python/tuple [1, 18] + - !!python/tuple [29, 26] + - !!python/tuple [7, 31] + - !!python/tuple [13, 7] + - !!python/tuple [0, 21] + - !!python/tuple [20, 14] + - !!python/tuple [31, 16] + - !!python/tuple [10, 15] + - !!python/tuple [25, 31] + - !!python/tuple [13, 6] + - !!python/tuple [23, 30] + - !!python/tuple [25, 25] + - !!python/tuple [13, 29] + - !!python/tuple [1, 17] + - !!python/tuple [17, 31] + - !!python/tuple [3, 7] + - !!python/tuple [22, 25] + - !!python/tuple [24, 31] + - !!python/tuple [6, 31] + - !!python/tuple [25, 13] + - !!python/tuple [9, 7] + - !!python/tuple [28, 27] + - !!python/tuple [1, 7] + - !!python/tuple [28, 11] + - !!python/tuple [4, 7] + - !!python/tuple [30, 3] + - !!python/tuple [4, 22] + - !!python/tuple [15, 30] + - !!python/tuple [17, 28] + - !!python/tuple [12, 7] + - !!python/tuple [21, 15] + - !!python/tuple [27, 21] + - !!python/tuple [6, 4] + - !!python/tuple [7, 23] + - !!python/tuple [20, 12] + - !!python/tuple [11, 24] + - !!python/tuple [20, 6] + - !!python/tuple [23, 26] + - !!python/tuple [20, 21] + - !!python/tuple [29, 1] + - !!python/tuple [24, 29] + - !!python/tuple [7, 24] + - !!python/tuple [8, 30] + - !!python/tuple [15, 19] + - !!python/tuple [9, 12] + - !!python/tuple [15, 16] + - !!python/tuple [11, 30] + - !!python/tuple [25, 23] + - !!python/tuple [16, 24] + - !!python/tuple [26, 25] + - !!python/tuple [13, 8] + - !!python/tuple [25, 3] + - !!python/tuple [26, 19] + - !!python/tuple [20, 13] + - !!python/tuple [7, 25] + - !!python/tuple [15, 1] + - !!python/tuple [12, 17] + - !!python/tuple [17, 21] + - !!python/tuple [22, 30] + - !!python/tuple [18, 15] + - !!python/tuple [6, 16] + - !!python/tuple [1, 20] + - !!python/tuple [8, 17] + - !!python/tuple [13, 5] + - !!python/tuple [11, 23] + - !!python/tuple [27, 3] + - !!python/tuple [25, 22] + - !!python/tuple [25, 15] + - !!python/tuple [2, 10] + - !!python/tuple [29, 14] + - !!python/tuple [16, 6] + - !!python/tuple [6, 21] + - !!python/tuple [17, 27] + - !!python/tuple [8, 28] + - !!python/tuple [15, 10] + - !!python/tuple [0, 14] + - !!python/tuple [24, 28] + - !!python/tuple [14, 24] + - !!python/tuple [11, 2] + - !!python/tuple [20, 24] + - !!python/tuple [6, 15] + - !!python/tuple [18, 29] + - !!python/tuple [0, 11] + - !!python/tuple [21, 16] + - !!python/tuple [10, 10] + - !!python/tuple [6, 28] + - !!python/tuple [20, 19] + - !!python/tuple [21, 25] + - !!python/tuple [24, 21] + - !!python/tuple [27, 9] + - !!python/tuple [22, 3] + - !!python/tuple [22, 29] + - !!python/tuple [23, 27] + - !!python/tuple [6, 22] + - !!python/tuple [21, 22] + - !!python/tuple [24, 5] + - !!python/tuple [13, 28] + - !!python/tuple [14, 30] + - !!python/tuple [10, 19] + - !!python/tuple [4, 10] + - !!python/tuple [17, 15] + - !!python/tuple [24, 17] + - !!python/tuple [30, 23] + - !!python/tuple [17, 23] + - !!python/tuple [0, 5] + - !!python/tuple [21, 30] + - !!python/tuple [11, 19] + - !!python/tuple [12, 24] + - !!python/tuple [10, 21] + - !!python/tuple [31, 20] + - !!python/tuple [27, 16] + - !!python/tuple [25, 5] + - !!python/tuple [22, 6] + - !!python/tuple [17, 19] + - !!python/tuple [24, 4] + - !!python/tuple [6, 30] + - !!python/tuple [13, 2] + - !!python/tuple [2, 26] + - !!python/tuple [29, 16] + - !!python/tuple [5, 12] + - !!python/tuple [3, 12] + - !!python/tuple [19, 14] + - !!python/tuple [12, 15] + - !!python/tuple [12, 29] + - !!python/tuple [25, 29] + - !!python/tuple [25, 26] + - !!python/tuple [0, 0] + - !!python/tuple [0, 10] + - !!python/tuple [29, 6] + - !!python/tuple [1, 27] + - !!python/tuple [20, 10] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex80.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex80.yaml new file mode 100644 index 0000000..758b615 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex80.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [29, 20] + name: agent0 + start: [28, 21] +- goal: [19, 5] + name: agent1 + start: [23, 11] +- goal: [27, 16] + name: agent2 + start: [22, 10] +- goal: [16, 5] + name: agent3 + start: [28, 11] +- goal: [16, 22] + name: agent4 + start: [9, 9] +- goal: [19, 4] + name: agent5 + start: [26, 14] +- goal: [8, 30] + name: agent6 + start: [10, 2] +- goal: [28, 23] + name: agent7 + start: [19, 28] +- goal: [9, 0] + name: agent8 + start: [8, 4] +- goal: [0, 26] + name: agent9 + start: [30, 22] +- goal: [0, 13] + name: agent10 + start: [21, 13] +- goal: [2, 18] + name: agent11 + start: [18, 24] +- goal: [27, 22] + name: agent12 + start: [27, 26] +- goal: [5, 22] + name: agent13 + start: [10, 24] +- goal: [18, 10] + name: agent14 + start: [16, 16] +- goal: [1, 5] + name: agent15 + start: [6, 22] +- goal: [3, 28] + name: agent16 + start: [28, 25] +- goal: [30, 3] + name: agent17 + start: [27, 21] +- goal: [15, 26] + name: agent18 + start: [27, 19] +- goal: [0, 12] + name: agent19 + start: [11, 24] +- goal: [24, 6] + name: agent20 + start: [25, 18] +- goal: [3, 18] + name: agent21 + start: [17, 29] +- goal: [27, 7] + name: agent22 + start: [25, 20] +- goal: [29, 21] + name: agent23 + start: [26, 15] +- goal: [27, 31] + name: agent24 + start: [12, 17] +- goal: [19, 10] + name: agent25 + start: [7, 19] +- goal: [31, 4] + name: agent26 + start: [10, 17] +- goal: [28, 0] + name: agent27 + start: [9, 31] +- goal: [14, 6] + name: agent28 + start: [9, 0] +- goal: [18, 23] + name: agent29 + start: [20, 5] +- goal: [8, 4] + name: agent30 + start: [28, 10] +- goal: [9, 26] + name: agent31 + start: [13, 28] +- goal: [31, 9] + name: agent32 + start: [4, 2] +- goal: [16, 15] + name: agent33 + start: [12, 23] +- goal: [24, 2] + name: agent34 + start: [15, 12] +- goal: [10, 11] + name: agent35 + start: [0, 4] +- goal: [25, 6] + name: agent36 + start: [31, 19] +- goal: [5, 17] + name: agent37 + start: [17, 19] +- goal: [12, 12] + name: agent38 + start: [11, 29] +- goal: [5, 21] + name: agent39 + start: [24, 6] +- goal: [8, 17] + name: agent40 + start: [11, 11] +- goal: [3, 1] + name: agent41 + start: [31, 3] +- goal: [0, 10] + name: agent42 + start: [16, 7] +- goal: [15, 28] + name: agent43 + start: [13, 13] +- goal: [29, 6] + name: agent44 + start: [2, 28] +- goal: [31, 1] + name: agent45 + start: [31, 9] +- goal: [25, 21] + name: agent46 + start: [2, 21] +- goal: [5, 14] + name: agent47 + start: [6, 24] +- goal: [12, 17] + name: agent48 + start: [26, 23] +- goal: [7, 2] + name: agent49 + start: [22, 1] +- goal: [18, 30] + name: agent50 + start: [8, 31] +- goal: [24, 10] + name: agent51 + start: [0, 12] +- goal: [13, 12] + name: agent52 + start: [19, 21] +- goal: [29, 12] + name: agent53 + start: [15, 29] +- goal: [27, 15] + name: agent54 + start: [8, 13] +- goal: [6, 10] + name: agent55 + start: [11, 4] +- goal: [10, 31] + name: agent56 + start: [24, 26] +- goal: [21, 23] + name: agent57 + start: [26, 13] +- goal: [8, 24] + name: agent58 + start: [9, 26] +- goal: [27, 24] + name: agent59 + start: [3, 24] +- goal: [14, 10] + name: agent60 + start: [21, 23] +- goal: [13, 0] + name: agent61 + start: [26, 1] +- goal: [23, 22] + name: agent62 + start: [22, 26] +- goal: [12, 7] + name: agent63 + start: [9, 5] +- goal: [26, 20] + name: agent64 + start: [3, 1] +- goal: [6, 13] + name: agent65 + start: [17, 21] +- goal: [18, 22] + name: agent66 + start: [5, 16] +- goal: [7, 30] + name: agent67 + start: [22, 4] +- goal: [30, 21] + name: agent68 + start: [14, 3] +- goal: [26, 21] + name: agent69 + start: [1, 14] +- goal: [20, 31] + name: agent70 + start: [21, 7] +- goal: [26, 19] + name: agent71 + start: [4, 12] +- goal: [7, 29] + name: agent72 + start: [23, 21] +- goal: [9, 23] + name: agent73 + start: [2, 22] +- goal: [3, 29] + name: agent74 + start: [12, 10] +- goal: [17, 5] + name: agent75 + start: [19, 4] +- goal: [11, 28] + name: agent76 + start: [4, 8] +- goal: [26, 27] + name: agent77 + start: [3, 6] +- goal: [2, 3] + name: agent78 + start: [8, 8] +- goal: [13, 17] + name: agent79 + start: [9, 2] +- goal: [15, 29] + name: agent80 + start: [0, 15] +- goal: [26, 9] + name: agent81 + start: [2, 6] +- goal: [4, 5] + name: agent82 + start: [27, 28] +- goal: [9, 25] + name: agent83 + start: [17, 26] +- goal: [10, 10] + name: agent84 + start: [23, 10] +- goal: [13, 24] + name: agent85 + start: [10, 8] +- goal: [15, 31] + name: agent86 + start: [22, 8] +- goal: [29, 19] + name: agent87 + start: [27, 0] +- goal: [1, 7] + name: agent88 + start: [13, 2] +- goal: [0, 18] + name: agent89 + start: [1, 18] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [8, 12] + - !!python/tuple [15, 17] + - !!python/tuple [8, 10] + - !!python/tuple [21, 20] + - !!python/tuple [10, 22] + - !!python/tuple [22, 11] + - !!python/tuple [6, 20] + - !!python/tuple [7, 8] + - !!python/tuple [25, 24] + - !!python/tuple [21, 0] + - !!python/tuple [2, 7] + - !!python/tuple [15, 11] + - !!python/tuple [4, 28] + - !!python/tuple [5, 23] + - !!python/tuple [25, 31] + - !!python/tuple [18, 15] + - !!python/tuple [6, 3] + - !!python/tuple [31, 10] + - !!python/tuple [16, 30] + - !!python/tuple [15, 1] + - !!python/tuple [7, 1] + - !!python/tuple [6, 8] + - !!python/tuple [7, 0] + - !!python/tuple [19, 31] + - !!python/tuple [28, 5] + - !!python/tuple [24, 4] + - !!python/tuple [11, 1] + - !!python/tuple [15, 24] + - !!python/tuple [13, 7] + - !!python/tuple [20, 8] + - !!python/tuple [2, 13] + - !!python/tuple [5, 9] + - !!python/tuple [17, 7] + - !!python/tuple [26, 29] + - !!python/tuple [16, 10] + - !!python/tuple [5, 24] + - !!python/tuple [16, 28] + - !!python/tuple [31, 11] + - !!python/tuple [13, 3] + - !!python/tuple [17, 11] + - !!python/tuple [14, 12] + - !!python/tuple [19, 18] + - !!python/tuple [31, 0] + - !!python/tuple [27, 20] + - !!python/tuple [4, 26] + - !!python/tuple [29, 17] + - !!python/tuple [20, 23] + - !!python/tuple [14, 19] + - !!python/tuple [20, 26] + - !!python/tuple [24, 29] + - !!python/tuple [3, 27] + - !!python/tuple [18, 31] + - !!python/tuple [6, 9] + - !!python/tuple [11, 0] + - !!python/tuple [10, 20] + - !!python/tuple [8, 27] + - !!python/tuple [23, 26] + - !!python/tuple [24, 11] + - !!python/tuple [22, 22] + - !!python/tuple [23, 1] + - !!python/tuple [9, 24] + - !!python/tuple [21, 9] + - !!python/tuple [25, 12] + - !!python/tuple [0, 23] + - !!python/tuple [13, 22] + - !!python/tuple [3, 5] + - !!python/tuple [6, 0] + - !!python/tuple [29, 7] + - !!python/tuple [4, 9] + - !!python/tuple [9, 27] + - !!python/tuple [27, 3] + - !!python/tuple [21, 5] + - !!python/tuple [0, 20] + - !!python/tuple [10, 12] + - !!python/tuple [6, 2] + - !!python/tuple [10, 15] + - !!python/tuple [18, 2] + - !!python/tuple [24, 25] + - !!python/tuple [7, 10] + - !!python/tuple [14, 14] + - !!python/tuple [27, 13] + - !!python/tuple [8, 5] + - !!python/tuple [21, 10] + - !!python/tuple [19, 22] + - !!python/tuple [9, 19] + - !!python/tuple [26, 6] + - !!python/tuple [15, 25] + - !!python/tuple [3, 12] + - !!python/tuple [20, 6] + - !!python/tuple [23, 17] + - !!python/tuple [16, 9] + - !!python/tuple [13, 4] + - !!python/tuple [14, 29] + - !!python/tuple [31, 29] + - !!python/tuple [9, 28] + - !!python/tuple [19, 17] + - !!python/tuple [15, 30] + - !!python/tuple [18, 27] + - !!python/tuple [4, 18] + - !!python/tuple [19, 15] + - !!python/tuple [25, 19] + - !!python/tuple [22, 14] + - !!python/tuple [5, 20] + - !!python/tuple [23, 7] + - !!python/tuple [24, 13] + - !!python/tuple [14, 7] + - !!python/tuple [16, 12] + - !!python/tuple [12, 22] + - !!python/tuple [29, 29] + - !!python/tuple [24, 15] + - !!python/tuple [3, 11] + - !!python/tuple [19, 1] + - !!python/tuple [4, 19] + - !!python/tuple [1, 25] + - !!python/tuple [2, 12] + - !!python/tuple [29, 28] + - !!python/tuple [28, 27] + - !!python/tuple [10, 3] + - !!python/tuple [24, 8] + - !!python/tuple [30, 5] + - !!python/tuple [28, 9] + - !!python/tuple [3, 9] + - !!python/tuple [11, 20] + - !!python/tuple [20, 22] + - !!python/tuple [13, 26] + - !!python/tuple [15, 19] + - !!python/tuple [1, 12] + - !!python/tuple [0, 6] + - !!python/tuple [7, 5] + - !!python/tuple [21, 24] + - !!python/tuple [13, 6] + - !!python/tuple [4, 3] + - !!python/tuple [1, 30] + - !!python/tuple [6, 17] + - !!python/tuple [30, 30] + - !!python/tuple [27, 17] + - !!python/tuple [25, 8] + - !!python/tuple [23, 19] + - !!python/tuple [26, 2] + - !!python/tuple [0, 1] + - !!python/tuple [6, 16] + - !!python/tuple [29, 3] + - !!python/tuple [21, 31] + - !!python/tuple [31, 23] + - !!python/tuple [23, 5] + - !!python/tuple [17, 20] + - !!python/tuple [11, 26] + - !!python/tuple [31, 15] + - !!python/tuple [23, 16] + - !!python/tuple [7, 17] + - !!python/tuple [17, 13] + - !!python/tuple [11, 31] + - !!python/tuple [21, 21] + - !!python/tuple [30, 24] + - !!python/tuple [29, 4] + - !!python/tuple [0, 21] + - !!python/tuple [26, 31] + - !!python/tuple [26, 8] + - !!python/tuple [26, 0] + - !!python/tuple [13, 23] + - !!python/tuple [6, 19] + - !!python/tuple [26, 5] + - !!python/tuple [8, 9] + - !!python/tuple [28, 20] + - !!python/tuple [29, 16] + - !!python/tuple [5, 5] + - !!python/tuple [10, 14] + - !!python/tuple [10, 1] + - !!python/tuple [26, 30] + - !!python/tuple [16, 25] + - !!python/tuple [29, 10] + - !!python/tuple [1, 22] + - !!python/tuple [31, 17] + - !!python/tuple [8, 14] + - !!python/tuple [22, 21] + - !!python/tuple [19, 24] + - !!python/tuple [20, 25] + - !!python/tuple [0, 0] + - !!python/tuple [0, 27] + - !!python/tuple [14, 16] + - !!python/tuple [11, 7] + - !!python/tuple [8, 23] + - !!python/tuple [31, 21] + - !!python/tuple [13, 15] + - !!python/tuple [25, 3] + - !!python/tuple [23, 27] + - !!python/tuple [22, 28] + - !!python/tuple [0, 3] + - !!python/tuple [21, 29] + - !!python/tuple [26, 4] + - !!python/tuple [20, 14] + - !!python/tuple [26, 26] + - !!python/tuple [29, 13] + - !!python/tuple [23, 4] + - !!python/tuple [29, 31] + - !!python/tuple [1, 13] + - !!python/tuple [27, 30] + - !!python/tuple [11, 13] + - !!python/tuple [31, 8] + - !!python/tuple [27, 25] + - !!python/tuple [30, 6] + - !!python/tuple [17, 25] + - !!python/tuple [22, 5] + - !!python/tuple [0, 31] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex81.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex81.yaml new file mode 100644 index 0000000..63fad1d --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex81.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [29, 30] + name: agent0 + start: [11, 12] +- goal: [18, 24] + name: agent1 + start: [13, 11] +- goal: [22, 21] + name: agent2 + start: [23, 8] +- goal: [29, 17] + name: agent3 + start: [2, 9] +- goal: [20, 15] + name: agent4 + start: [10, 11] +- goal: [26, 8] + name: agent5 + start: [31, 29] +- goal: [11, 2] + name: agent6 + start: [28, 14] +- goal: [6, 5] + name: agent7 + start: [17, 4] +- goal: [31, 17] + name: agent8 + start: [20, 18] +- goal: [28, 31] + name: agent9 + start: [25, 11] +- goal: [28, 10] + name: agent10 + start: [21, 14] +- goal: [8, 10] + name: agent11 + start: [25, 27] +- goal: [2, 6] + name: agent12 + start: [11, 23] +- goal: [5, 12] + name: agent13 + start: [17, 25] +- goal: [21, 28] + name: agent14 + start: [17, 17] +- goal: [16, 7] + name: agent15 + start: [15, 0] +- goal: [25, 5] + name: agent16 + start: [29, 0] +- goal: [15, 28] + name: agent17 + start: [5, 30] +- goal: [11, 4] + name: agent18 + start: [25, 5] +- goal: [17, 29] + name: agent19 + start: [9, 12] +- goal: [31, 14] + name: agent20 + start: [13, 18] +- goal: [15, 23] + name: agent21 + start: [9, 4] +- goal: [10, 21] + name: agent22 + start: [25, 25] +- goal: [30, 1] + name: agent23 + start: [2, 0] +- goal: [17, 6] + name: agent24 + start: [9, 16] +- goal: [23, 13] + name: agent25 + start: [18, 11] +- goal: [28, 2] + name: agent26 + start: [25, 18] +- goal: [29, 1] + name: agent27 + start: [8, 31] +- goal: [25, 8] + name: agent28 + start: [31, 2] +- goal: [1, 16] + name: agent29 + start: [0, 0] +- goal: [16, 6] + name: agent30 + start: [30, 28] +- goal: [3, 23] + name: agent31 + start: [19, 15] +- goal: [4, 11] + name: agent32 + start: [15, 17] +- goal: [10, 27] + name: agent33 + start: [12, 24] +- goal: [18, 23] + name: agent34 + start: [7, 27] +- goal: [24, 11] + name: agent35 + start: [26, 15] +- goal: [11, 23] + name: agent36 + start: [31, 30] +- goal: [22, 13] + name: agent37 + start: [19, 25] +- goal: [17, 31] + name: agent38 + start: [21, 8] +- goal: [16, 25] + name: agent39 + start: [5, 1] +- goal: [26, 3] + name: agent40 + start: [27, 20] +- goal: [30, 8] + name: agent41 + start: [25, 3] +- goal: [7, 26] + name: agent42 + start: [13, 13] +- goal: [1, 1] + name: agent43 + start: [4, 28] +- goal: [19, 1] + name: agent44 + start: [28, 0] +- goal: [11, 17] + name: agent45 + start: [4, 24] +- goal: [12, 4] + name: agent46 + start: [5, 2] +- goal: [23, 17] + name: agent47 + start: [29, 8] +- goal: [13, 28] + name: agent48 + start: [24, 25] +- goal: [22, 14] + name: agent49 + start: [22, 21] +- goal: [27, 20] + name: agent50 + start: [25, 9] +- goal: [17, 15] + name: agent51 + start: [19, 22] +- goal: [31, 29] + name: agent52 + start: [11, 7] +- goal: [15, 22] + name: agent53 + start: [8, 24] +- goal: [12, 21] + name: agent54 + start: [7, 24] +- goal: [4, 23] + name: agent55 + start: [8, 14] +- goal: [30, 3] + name: agent56 + start: [15, 20] +- goal: [5, 27] + name: agent57 + start: [3, 13] +- goal: [10, 13] + name: agent58 + start: [11, 5] +- goal: [4, 17] + name: agent59 + start: [23, 31] +- goal: [2, 27] + name: agent60 + start: [18, 15] +- goal: [11, 21] + name: agent61 + start: [17, 31] +- goal: [9, 30] + name: agent62 + start: [10, 1] +- goal: [8, 3] + name: agent63 + start: [1, 15] +- goal: [8, 23] + name: agent64 + start: [12, 29] +- goal: [31, 15] + name: agent65 + start: [25, 31] +- goal: [29, 18] + name: agent66 + start: [21, 2] +- goal: [24, 21] + name: agent67 + start: [5, 9] +- goal: [15, 6] + name: agent68 + start: [10, 30] +- goal: [14, 19] + name: agent69 + start: [4, 14] +- goal: [0, 16] + name: agent70 + start: [9, 28] +- goal: [17, 21] + name: agent71 + start: [9, 8] +- goal: [15, 26] + name: agent72 + start: [2, 12] +- goal: [18, 11] + name: agent73 + start: [12, 11] +- goal: [8, 9] + name: agent74 + start: [18, 2] +- goal: [8, 4] + name: agent75 + start: [13, 17] +- goal: [5, 25] + name: agent76 + start: [3, 11] +- goal: [29, 6] + name: agent77 + start: [8, 8] +- goal: [30, 30] + name: agent78 + start: [18, 29] +- goal: [6, 31] + name: agent79 + start: [16, 2] +- goal: [28, 17] + name: agent80 + start: [2, 22] +- goal: [23, 2] + name: agent81 + start: [30, 22] +- goal: [10, 18] + name: agent82 + start: [7, 17] +- goal: [8, 5] + name: agent83 + start: [14, 24] +- goal: [2, 30] + name: agent84 + start: [21, 3] +- goal: [1, 18] + name: agent85 + start: [5, 10] +- goal: [10, 2] + name: agent86 + start: [0, 9] +- goal: [29, 26] + name: agent87 + start: [10, 17] +- goal: [13, 7] + name: agent88 + start: [16, 23] +- goal: [6, 15] + name: agent89 + start: [10, 9] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [22, 19] + - !!python/tuple [7, 28] + - !!python/tuple [6, 29] + - !!python/tuple [25, 1] + - !!python/tuple [25, 26] + - !!python/tuple [11, 30] + - !!python/tuple [1, 29] + - !!python/tuple [17, 14] + - !!python/tuple [25, 19] + - !!python/tuple [2, 24] + - !!python/tuple [6, 20] + - !!python/tuple [0, 5] + - !!python/tuple [30, 20] + - !!python/tuple [20, 6] + - !!python/tuple [25, 12] + - !!python/tuple [10, 4] + - !!python/tuple [3, 19] + - !!python/tuple [15, 12] + - !!python/tuple [29, 2] + - !!python/tuple [0, 22] + - !!python/tuple [11, 22] + - !!python/tuple [7, 9] + - !!python/tuple [12, 9] + - !!python/tuple [2, 14] + - !!python/tuple [1, 17] + - !!python/tuple [6, 19] + - !!python/tuple [26, 14] + - !!python/tuple [28, 13] + - !!python/tuple [25, 24] + - !!python/tuple [29, 21] + - !!python/tuple [23, 0] + - !!python/tuple [16, 22] + - !!python/tuple [0, 15] + - !!python/tuple [16, 12] + - !!python/tuple [13, 30] + - !!python/tuple [2, 31] + - !!python/tuple [30, 0] + - !!python/tuple [28, 12] + - !!python/tuple [29, 19] + - !!python/tuple [11, 18] + - !!python/tuple [24, 29] + - !!python/tuple [16, 0] + - !!python/tuple [16, 8] + - !!python/tuple [3, 8] + - !!python/tuple [23, 1] + - !!python/tuple [22, 27] + - !!python/tuple [9, 1] + - !!python/tuple [28, 4] + - !!python/tuple [18, 17] + - !!python/tuple [29, 25] + - !!python/tuple [11, 27] + - !!python/tuple [20, 0] + - !!python/tuple [10, 24] + - !!python/tuple [4, 30] + - !!python/tuple [2, 4] + - !!python/tuple [28, 6] + - !!python/tuple [17, 18] + - !!python/tuple [31, 10] + - !!python/tuple [28, 27] + - !!python/tuple [0, 20] + - !!python/tuple [0, 3] + - !!python/tuple [30, 24] + - !!python/tuple [20, 8] + - !!python/tuple [19, 30] + - !!python/tuple [19, 21] + - !!python/tuple [12, 20] + - !!python/tuple [20, 16] + - !!python/tuple [9, 27] + - !!python/tuple [9, 29] + - !!python/tuple [14, 20] + - !!python/tuple [1, 25] + - !!python/tuple [16, 29] + - !!python/tuple [13, 1] + - !!python/tuple [4, 13] + - !!python/tuple [20, 22] + - !!python/tuple [26, 12] + - !!python/tuple [27, 28] + - !!python/tuple [3, 15] + - !!python/tuple [27, 21] + - !!python/tuple [13, 26] + - !!python/tuple [5, 5] + - !!python/tuple [31, 7] + - !!python/tuple [28, 18] + - !!python/tuple [11, 15] + - !!python/tuple [23, 23] + - !!python/tuple [29, 29] + - !!python/tuple [19, 9] + - !!python/tuple [17, 19] + - !!python/tuple [13, 16] + - !!python/tuple [7, 0] + - !!python/tuple [27, 3] + - !!python/tuple [11, 9] + - !!python/tuple [8, 21] + - !!python/tuple [20, 20] + - !!python/tuple [14, 5] + - !!python/tuple [3, 24] + - !!python/tuple [11, 19] + - !!python/tuple [21, 1] + - !!python/tuple [19, 26] + - !!python/tuple [3, 29] + - !!python/tuple [5, 8] + - !!python/tuple [30, 23] + - !!python/tuple [25, 20] + - !!python/tuple [12, 5] + - !!python/tuple [18, 0] + - !!python/tuple [12, 30] + - !!python/tuple [18, 27] + - !!python/tuple [10, 20] + - !!python/tuple [0, 2] + - !!python/tuple [31, 28] + - !!python/tuple [4, 0] + - !!python/tuple [13, 23] + - !!python/tuple [27, 4] + - !!python/tuple [22, 28] + - !!python/tuple [29, 31] + - !!python/tuple [1, 11] + - !!python/tuple [26, 18] + - !!python/tuple [2, 23] + - !!python/tuple [14, 17] + - !!python/tuple [20, 25] + - !!python/tuple [29, 13] + - !!python/tuple [27, 11] + - !!python/tuple [10, 28] + - !!python/tuple [4, 25] + - !!python/tuple [14, 13] + - !!python/tuple [27, 13] + - !!python/tuple [7, 30] + - !!python/tuple [28, 8] + - !!python/tuple [25, 23] + - !!python/tuple [27, 2] + - !!python/tuple [19, 13] + - !!python/tuple [12, 17] + - !!python/tuple [16, 17] + - !!python/tuple [8, 19] + - !!python/tuple [28, 3] + - !!python/tuple [19, 11] + - !!python/tuple [2, 18] + - !!python/tuple [19, 5] + - !!python/tuple [15, 8] + - !!python/tuple [25, 21] + - !!python/tuple [8, 6] + - !!python/tuple [26, 16] + - !!python/tuple [25, 0] + - !!python/tuple [19, 12] + - !!python/tuple [23, 25] + - !!python/tuple [4, 6] + - !!python/tuple [6, 13] + - !!python/tuple [18, 30] + - !!python/tuple [24, 3] + - !!python/tuple [3, 0] + - !!python/tuple [7, 3] + - !!python/tuple [11, 29] + - !!python/tuple [8, 25] + - !!python/tuple [19, 17] + - !!python/tuple [23, 10] + - !!python/tuple [17, 11] + - !!python/tuple [3, 17] + - !!python/tuple [22, 12] + - !!python/tuple [24, 31] + - !!python/tuple [9, 14] + - !!python/tuple [28, 29] + - !!python/tuple [3, 21] + - !!python/tuple [2, 2] + - !!python/tuple [5, 24] + - !!python/tuple [24, 28] + - !!python/tuple [10, 10] + - !!python/tuple [14, 4] + - !!python/tuple [10, 16] + - !!python/tuple [20, 2] + - !!python/tuple [20, 21] + - !!python/tuple [2, 1] + - !!python/tuple [5, 15] + - !!python/tuple [25, 29] + - !!python/tuple [9, 0] + - !!python/tuple [19, 16] + - !!python/tuple [29, 10] + - !!python/tuple [1, 14] + - !!python/tuple [12, 15] + - !!python/tuple [7, 18] + - !!python/tuple [17, 13] + - !!python/tuple [15, 31] + - !!python/tuple [30, 15] + - !!python/tuple [21, 25] + - !!python/tuple [2, 26] + - !!python/tuple [26, 0] + - !!python/tuple [10, 31] + - !!python/tuple [30, 12] + - !!python/tuple [18, 20] + - !!python/tuple [13, 2] + - !!python/tuple [0, 18] + - !!python/tuple [14, 26] + - !!python/tuple [22, 1] + - !!python/tuple [27, 15] + - !!python/tuple [23, 4] + - !!python/tuple [28, 23] + - !!python/tuple [26, 6] + - !!python/tuple [24, 10] + - !!python/tuple [12, 12] + - !!python/tuple [8, 11] + - !!python/tuple [11, 0] + - !!python/tuple [30, 25] + - !!python/tuple [28, 15] + - !!python/tuple [14, 23] + - !!python/tuple [9, 3] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex82.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex82.yaml new file mode 100644 index 0000000..d3a5d2b --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex82.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [13, 14] + name: agent0 + start: [22, 11] +- goal: [21, 21] + name: agent1 + start: [8, 23] +- goal: [3, 19] + name: agent2 + start: [8, 24] +- goal: [25, 14] + name: agent3 + start: [30, 28] +- goal: [10, 9] + name: agent4 + start: [2, 13] +- goal: [6, 6] + name: agent5 + start: [12, 30] +- goal: [6, 11] + name: agent6 + start: [16, 0] +- goal: [28, 27] + name: agent7 + start: [19, 0] +- goal: [9, 31] + name: agent8 + start: [20, 12] +- goal: [1, 15] + name: agent9 + start: [23, 5] +- goal: [7, 27] + name: agent10 + start: [10, 22] +- goal: [31, 1] + name: agent11 + start: [3, 13] +- goal: [30, 17] + name: agent12 + start: [30, 15] +- goal: [3, 20] + name: agent13 + start: [6, 25] +- goal: [11, 0] + name: agent14 + start: [12, 4] +- goal: [30, 19] + name: agent15 + start: [9, 8] +- goal: [9, 17] + name: agent16 + start: [24, 3] +- goal: [0, 2] + name: agent17 + start: [9, 22] +- goal: [14, 11] + name: agent18 + start: [26, 19] +- goal: [21, 11] + name: agent19 + start: [30, 14] +- goal: [24, 30] + name: agent20 + start: [20, 8] +- goal: [26, 31] + name: agent21 + start: [11, 9] +- goal: [7, 3] + name: agent22 + start: [16, 5] +- goal: [6, 20] + name: agent23 + start: [0, 20] +- goal: [0, 20] + name: agent24 + start: [17, 8] +- goal: [8, 10] + name: agent25 + start: [31, 10] +- goal: [11, 29] + name: agent26 + start: [31, 2] +- goal: [21, 14] + name: agent27 + start: [18, 17] +- goal: [5, 30] + name: agent28 + start: [24, 4] +- goal: [25, 11] + name: agent29 + start: [24, 18] +- goal: [27, 3] + name: agent30 + start: [9, 13] +- goal: [28, 3] + name: agent31 + start: [9, 25] +- goal: [18, 10] + name: agent32 + start: [13, 10] +- goal: [20, 0] + name: agent33 + start: [3, 9] +- goal: [20, 10] + name: agent34 + start: [11, 22] +- goal: [27, 23] + name: agent35 + start: [16, 25] +- goal: [29, 15] + name: agent36 + start: [25, 11] +- goal: [0, 26] + name: agent37 + start: [16, 19] +- goal: [26, 28] + name: agent38 + start: [3, 2] +- goal: [12, 9] + name: agent39 + start: [8, 18] +- goal: [3, 5] + name: agent40 + start: [30, 11] +- goal: [22, 10] + name: agent41 + start: [31, 13] +- goal: [28, 25] + name: agent42 + start: [10, 10] +- goal: [9, 8] + name: agent43 + start: [23, 20] +- goal: [6, 14] + name: agent44 + start: [6, 15] +- goal: [20, 19] + name: agent45 + start: [22, 30] +- goal: [12, 31] + name: agent46 + start: [17, 11] +- goal: [26, 29] + name: agent47 + start: [17, 12] +- goal: [19, 29] + name: agent48 + start: [19, 1] +- goal: [6, 24] + name: agent49 + start: [23, 3] +- goal: [29, 17] + name: agent50 + start: [28, 16] +- goal: [18, 0] + name: agent51 + start: [8, 0] +- goal: [17, 13] + name: agent52 + start: [16, 7] +- goal: [4, 17] + name: agent53 + start: [11, 31] +- goal: [15, 26] + name: agent54 + start: [29, 21] +- goal: [13, 28] + name: agent55 + start: [21, 30] +- goal: [13, 7] + name: agent56 + start: [9, 4] +- goal: [2, 30] + name: agent57 + start: [19, 17] +- goal: [26, 5] + name: agent58 + start: [24, 25] +- goal: [8, 15] + name: agent59 + start: [16, 26] +- goal: [1, 1] + name: agent60 + start: [21, 11] +- goal: [28, 19] + name: agent61 + start: [30, 30] +- goal: [12, 26] + name: agent62 + start: [23, 28] +- goal: [6, 13] + name: agent63 + start: [26, 26] +- goal: [10, 14] + name: agent64 + start: [7, 28] +- goal: [25, 28] + name: agent65 + start: [29, 13] +- goal: [30, 12] + name: agent66 + start: [0, 7] +- goal: [31, 14] + name: agent67 + start: [1, 21] +- goal: [30, 22] + name: agent68 + start: [22, 6] +- goal: [28, 7] + name: agent69 + start: [0, 3] +- goal: [16, 5] + name: agent70 + start: [28, 23] +- goal: [14, 3] + name: agent71 + start: [1, 13] +- goal: [26, 15] + name: agent72 + start: [21, 2] +- goal: [18, 2] + name: agent73 + start: [20, 11] +- goal: [3, 12] + name: agent74 + start: [18, 0] +- goal: [15, 5] + name: agent75 + start: [8, 9] +- goal: [22, 18] + name: agent76 + start: [0, 10] +- goal: [11, 19] + name: agent77 + start: [18, 18] +- goal: [2, 19] + name: agent78 + start: [0, 12] +- goal: [19, 30] + name: agent79 + start: [22, 8] +- goal: [16, 1] + name: agent80 + start: [1, 28] +- goal: [17, 29] + name: agent81 + start: [30, 17] +- goal: [2, 17] + name: agent82 + start: [6, 26] +- goal: [26, 19] + name: agent83 + start: [9, 29] +- goal: [0, 17] + name: agent84 + start: [29, 11] +- goal: [14, 30] + name: agent85 + start: [28, 8] +- goal: [1, 31] + name: agent86 + start: [11, 23] +- goal: [2, 10] + name: agent87 + start: [16, 11] +- goal: [3, 15] + name: agent88 + start: [2, 3] +- goal: [9, 21] + name: agent89 + start: [4, 13] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [14, 9] + - !!python/tuple [15, 24] + - !!python/tuple [23, 16] + - !!python/tuple [19, 4] + - !!python/tuple [5, 8] + - !!python/tuple [17, 5] + - !!python/tuple [11, 21] + - !!python/tuple [22, 0] + - !!python/tuple [4, 23] + - !!python/tuple [30, 20] + - !!python/tuple [14, 0] + - !!python/tuple [11, 28] + - !!python/tuple [7, 14] + - !!python/tuple [20, 2] + - !!python/tuple [19, 26] + - !!python/tuple [30, 6] + - !!python/tuple [21, 22] + - !!python/tuple [10, 5] + - !!python/tuple [19, 12] + - !!python/tuple [18, 28] + - !!python/tuple [10, 25] + - !!python/tuple [11, 8] + - !!python/tuple [13, 16] + - !!python/tuple [6, 21] + - !!python/tuple [22, 19] + - !!python/tuple [13, 24] + - !!python/tuple [22, 16] + - !!python/tuple [12, 29] + - !!python/tuple [11, 17] + - !!python/tuple [6, 30] + - !!python/tuple [6, 29] + - !!python/tuple [17, 7] + - !!python/tuple [24, 17] + - !!python/tuple [20, 28] + - !!python/tuple [16, 22] + - !!python/tuple [25, 3] + - !!python/tuple [5, 11] + - !!python/tuple [7, 26] + - !!python/tuple [3, 24] + - !!python/tuple [12, 17] + - !!python/tuple [4, 18] + - !!python/tuple [29, 19] + - !!python/tuple [28, 14] + - !!python/tuple [27, 17] + - !!python/tuple [13, 26] + - !!python/tuple [26, 17] + - !!python/tuple [24, 9] + - !!python/tuple [31, 3] + - !!python/tuple [15, 30] + - !!python/tuple [17, 21] + - !!python/tuple [8, 22] + - !!python/tuple [9, 5] + - !!python/tuple [5, 14] + - !!python/tuple [3, 25] + - !!python/tuple [29, 2] + - !!python/tuple [0, 19] + - !!python/tuple [25, 5] + - !!python/tuple [16, 28] + - !!python/tuple [7, 2] + - !!python/tuple [15, 19] + - !!python/tuple [6, 9] + - !!python/tuple [7, 31] + - !!python/tuple [5, 29] + - !!python/tuple [7, 22] + - !!python/tuple [18, 21] + - !!python/tuple [26, 1] + - !!python/tuple [17, 22] + - !!python/tuple [27, 29] + - !!python/tuple [11, 11] + - !!python/tuple [14, 14] + - !!python/tuple [12, 21] + - !!python/tuple [2, 21] + - !!python/tuple [3, 17] + - !!python/tuple [8, 2] + - !!python/tuple [2, 27] + - !!python/tuple [4, 5] + - !!python/tuple [19, 2] + - !!python/tuple [28, 0] + - !!python/tuple [3, 6] + - !!python/tuple [23, 31] + - !!python/tuple [3, 21] + - !!python/tuple [5, 3] + - !!python/tuple [15, 31] + - !!python/tuple [26, 30] + - !!python/tuple [0, 13] + - !!python/tuple [23, 11] + - !!python/tuple [7, 16] + - !!python/tuple [25, 17] + - !!python/tuple [1, 9] + - !!python/tuple [5, 7] + - !!python/tuple [21, 3] + - !!python/tuple [30, 13] + - !!python/tuple [2, 6] + - !!python/tuple [27, 1] + - !!python/tuple [13, 5] + - !!python/tuple [10, 20] + - !!python/tuple [29, 28] + - !!python/tuple [25, 16] + - !!python/tuple [31, 19] + - !!python/tuple [24, 31] + - !!python/tuple [15, 22] + - !!python/tuple [22, 27] + - !!python/tuple [8, 27] + - !!python/tuple [24, 6] + - !!python/tuple [25, 21] + - !!python/tuple [11, 25] + - !!python/tuple [23, 18] + - !!python/tuple [25, 29] + - !!python/tuple [15, 7] + - !!python/tuple [29, 4] + - !!python/tuple [29, 5] + - !!python/tuple [9, 7] + - !!python/tuple [0, 6] + - !!python/tuple [11, 4] + - !!python/tuple [20, 24] + - !!python/tuple [0, 22] + - !!python/tuple [0, 30] + - !!python/tuple [0, 4] + - !!python/tuple [25, 9] + - !!python/tuple [23, 6] + - !!python/tuple [23, 14] + - !!python/tuple [1, 2] + - !!python/tuple [31, 7] + - !!python/tuple [30, 21] + - !!python/tuple [2, 1] + - !!python/tuple [0, 5] + - !!python/tuple [16, 9] + - !!python/tuple [10, 13] + - !!python/tuple [31, 20] + - !!python/tuple [22, 12] + - !!python/tuple [15, 1] + - !!python/tuple [17, 31] + - !!python/tuple [13, 18] + - !!python/tuple [21, 25] + - !!python/tuple [17, 17] + - !!python/tuple [7, 18] + - !!python/tuple [3, 27] + - !!python/tuple [31, 9] + - !!python/tuple [7, 30] + - !!python/tuple [30, 3] + - !!python/tuple [8, 1] + - !!python/tuple [14, 5] + - !!python/tuple [24, 19] + - !!python/tuple [30, 16] + - !!python/tuple [31, 28] + - !!python/tuple [16, 18] + - !!python/tuple [9, 0] + - !!python/tuple [27, 6] + - !!python/tuple [5, 21] + - !!python/tuple [16, 2] + - !!python/tuple [14, 8] + - !!python/tuple [4, 7] + - !!python/tuple [11, 18] + - !!python/tuple [29, 27] + - !!python/tuple [23, 0] + - !!python/tuple [31, 27] + - !!python/tuple [5, 9] + - !!python/tuple [22, 31] + - !!python/tuple [5, 16] + - !!python/tuple [17, 19] + - !!python/tuple [11, 12] + - !!python/tuple [20, 1] + - !!python/tuple [6, 18] + - !!python/tuple [5, 27] + - !!python/tuple [26, 7] + - !!python/tuple [18, 31] + - !!python/tuple [2, 18] + - !!python/tuple [20, 3] + - !!python/tuple [24, 22] + - !!python/tuple [24, 20] + - !!python/tuple [23, 25] + - !!python/tuple [0, 0] + - !!python/tuple [6, 2] + - !!python/tuple [2, 9] + - !!python/tuple [27, 25] + - !!python/tuple [14, 13] + - !!python/tuple [16, 30] + - !!python/tuple [14, 21] + - !!python/tuple [17, 27] + - !!python/tuple [30, 25] + - !!python/tuple [18, 6] + - !!python/tuple [7, 13] + - !!python/tuple [15, 4] + - !!python/tuple [26, 21] + - !!python/tuple [31, 23] + - !!python/tuple [31, 21] + - !!python/tuple [27, 7] + - !!python/tuple [2, 4] + - !!python/tuple [18, 27] + - !!python/tuple [23, 21] + - !!python/tuple [13, 1] + - !!python/tuple [19, 3] + - !!python/tuple [4, 11] + - !!python/tuple [18, 11] + - !!python/tuple [10, 6] + - !!python/tuple [9, 14] + - !!python/tuple [22, 24] + - !!python/tuple [8, 19] + - !!python/tuple [8, 31] + - !!python/tuple [5, 24] + - !!python/tuple [28, 5] + - !!python/tuple [4, 15] + - !!python/tuple [12, 0] + - !!python/tuple [5, 5] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex83.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex83.yaml new file mode 100644 index 0000000..568ef34 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex83.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [16, 30] + name: agent0 + start: [13, 2] +- goal: [31, 8] + name: agent1 + start: [16, 19] +- goal: [4, 15] + name: agent2 + start: [10, 0] +- goal: [3, 18] + name: agent3 + start: [17, 18] +- goal: [14, 12] + name: agent4 + start: [22, 11] +- goal: [27, 3] + name: agent5 + start: [7, 1] +- goal: [24, 29] + name: agent6 + start: [6, 19] +- goal: [20, 15] + name: agent7 + start: [30, 13] +- goal: [23, 16] + name: agent8 + start: [3, 3] +- goal: [18, 30] + name: agent9 + start: [5, 31] +- goal: [20, 23] + name: agent10 + start: [15, 30] +- goal: [26, 22] + name: agent11 + start: [15, 24] +- goal: [9, 8] + name: agent12 + start: [26, 12] +- goal: [15, 12] + name: agent13 + start: [4, 5] +- goal: [3, 0] + name: agent14 + start: [11, 28] +- goal: [29, 27] + name: agent15 + start: [11, 7] +- goal: [28, 12] + name: agent16 + start: [10, 5] +- goal: [6, 25] + name: agent17 + start: [31, 15] +- goal: [15, 29] + name: agent18 + start: [30, 29] +- goal: [17, 29] + name: agent19 + start: [0, 23] +- goal: [26, 28] + name: agent20 + start: [23, 12] +- goal: [21, 21] + name: agent21 + start: [11, 25] +- goal: [20, 0] + name: agent22 + start: [23, 27] +- goal: [24, 10] + name: agent23 + start: [17, 27] +- goal: [29, 21] + name: agent24 + start: [27, 20] +- goal: [19, 22] + name: agent25 + start: [6, 2] +- goal: [25, 18] + name: agent26 + start: [9, 18] +- goal: [1, 17] + name: agent27 + start: [20, 20] +- goal: [15, 25] + name: agent28 + start: [24, 12] +- goal: [15, 13] + name: agent29 + start: [20, 18] +- goal: [12, 5] + name: agent30 + start: [20, 17] +- goal: [5, 13] + name: agent31 + start: [30, 24] +- goal: [13, 30] + name: agent32 + start: [0, 11] +- goal: [10, 29] + name: agent33 + start: [22, 7] +- goal: [23, 21] + name: agent34 + start: [30, 4] +- goal: [18, 25] + name: agent35 + start: [18, 14] +- goal: [13, 3] + name: agent36 + start: [29, 13] +- goal: [31, 2] + name: agent37 + start: [8, 11] +- goal: [6, 1] + name: agent38 + start: [3, 27] +- goal: [24, 26] + name: agent39 + start: [27, 27] +- goal: [17, 22] + name: agent40 + start: [24, 16] +- goal: [24, 4] + name: agent41 + start: [14, 22] +- goal: [29, 19] + name: agent42 + start: [10, 20] +- goal: [31, 12] + name: agent43 + start: [7, 8] +- goal: [7, 16] + name: agent44 + start: [20, 10] +- goal: [14, 28] + name: agent45 + start: [26, 19] +- goal: [7, 4] + name: agent46 + start: [23, 0] +- goal: [2, 0] + name: agent47 + start: [29, 15] +- goal: [19, 31] + name: agent48 + start: [25, 28] +- goal: [19, 9] + name: agent49 + start: [24, 24] +- goal: [1, 26] + name: agent50 + start: [1, 9] +- goal: [7, 18] + name: agent51 + start: [22, 8] +- goal: [25, 30] + name: agent52 + start: [27, 14] +- goal: [20, 21] + name: agent53 + start: [10, 6] +- goal: [1, 3] + name: agent54 + start: [2, 17] +- goal: [6, 21] + name: agent55 + start: [19, 13] +- goal: [18, 28] + name: agent56 + start: [23, 7] +- goal: [8, 27] + name: agent57 + start: [14, 3] +- goal: [7, 31] + name: agent58 + start: [30, 30] +- goal: [12, 28] + name: agent59 + start: [8, 1] +- goal: [10, 5] + name: agent60 + start: [20, 25] +- goal: [26, 26] + name: agent61 + start: [0, 26] +- goal: [31, 4] + name: agent62 + start: [15, 17] +- goal: [31, 27] + name: agent63 + start: [30, 23] +- goal: [11, 5] + name: agent64 + start: [24, 13] +- goal: [12, 30] + name: agent65 + start: [28, 4] +- goal: [23, 13] + name: agent66 + start: [25, 29] +- goal: [31, 11] + name: agent67 + start: [12, 15] +- goal: [13, 7] + name: agent68 + start: [21, 20] +- goal: [20, 30] + name: agent69 + start: [29, 27] +- goal: [3, 16] + name: agent70 + start: [16, 16] +- goal: [17, 25] + name: agent71 + start: [13, 31] +- goal: [3, 27] + name: agent72 + start: [8, 22] +- goal: [21, 24] + name: agent73 + start: [26, 28] +- goal: [17, 9] + name: agent74 + start: [17, 17] +- goal: [0, 10] + name: agent75 + start: [20, 31] +- goal: [11, 10] + name: agent76 + start: [5, 9] +- goal: [23, 27] + name: agent77 + start: [16, 24] +- goal: [7, 28] + name: agent78 + start: [26, 18] +- goal: [30, 5] + name: agent79 + start: [17, 3] +- goal: [30, 10] + name: agent80 + start: [26, 27] +- goal: [4, 11] + name: agent81 + start: [2, 21] +- goal: [26, 27] + name: agent82 + start: [28, 18] +- goal: [15, 30] + name: agent83 + start: [13, 11] +- goal: [29, 20] + name: agent84 + start: [11, 8] +- goal: [23, 12] + name: agent85 + start: [15, 5] +- goal: [19, 3] + name: agent86 + start: [24, 25] +- goal: [29, 2] + name: agent87 + start: [29, 22] +- goal: [15, 21] + name: agent88 + start: [10, 16] +- goal: [23, 18] + name: agent89 + start: [15, 19] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [23, 9] + - !!python/tuple [19, 10] + - !!python/tuple [15, 20] + - !!python/tuple [15, 4] + - !!python/tuple [6, 12] + - !!python/tuple [11, 23] + - !!python/tuple [0, 16] + - !!python/tuple [27, 25] + - !!python/tuple [15, 27] + - !!python/tuple [30, 2] + - !!python/tuple [2, 9] + - !!python/tuple [11, 21] + - !!python/tuple [1, 12] + - !!python/tuple [4, 13] + - !!python/tuple [26, 15] + - !!python/tuple [30, 9] + - !!python/tuple [27, 23] + - !!python/tuple [13, 28] + - !!python/tuple [24, 0] + - !!python/tuple [9, 2] + - !!python/tuple [11, 19] + - !!python/tuple [31, 6] + - !!python/tuple [3, 10] + - !!python/tuple [19, 0] + - !!python/tuple [10, 21] + - !!python/tuple [27, 21] + - !!python/tuple [11, 11] + - !!python/tuple [20, 12] + - !!python/tuple [11, 0] + - !!python/tuple [9, 5] + - !!python/tuple [7, 23] + - !!python/tuple [31, 24] + - !!python/tuple [0, 19] + - !!python/tuple [6, 14] + - !!python/tuple [15, 7] + - !!python/tuple [23, 15] + - !!python/tuple [20, 3] + - !!python/tuple [12, 18] + - !!python/tuple [3, 28] + - !!python/tuple [28, 7] + - !!python/tuple [20, 22] + - !!python/tuple [5, 4] + - !!python/tuple [7, 24] + - !!python/tuple [24, 23] + - !!python/tuple [15, 9] + - !!python/tuple [24, 28] + - !!python/tuple [18, 1] + - !!python/tuple [29, 18] + - !!python/tuple [10, 8] + - !!python/tuple [0, 18] + - !!python/tuple [11, 17] + - !!python/tuple [8, 14] + - !!python/tuple [5, 17] + - !!python/tuple [4, 29] + - !!python/tuple [4, 26] + - !!python/tuple [2, 8] + - !!python/tuple [2, 15] + - !!python/tuple [5, 14] + - !!python/tuple [20, 26] + - !!python/tuple [27, 12] + - !!python/tuple [22, 30] + - !!python/tuple [3, 8] + - !!python/tuple [0, 28] + - !!python/tuple [22, 3] + - !!python/tuple [20, 27] + - !!python/tuple [27, 8] + - !!python/tuple [20, 14] + - !!python/tuple [19, 24] + - !!python/tuple [10, 30] + - !!python/tuple [10, 2] + - !!python/tuple [24, 31] + - !!python/tuple [21, 13] + - !!python/tuple [13, 22] + - !!python/tuple [30, 27] + - !!python/tuple [9, 4] + - !!python/tuple [18, 23] + - !!python/tuple [13, 14] + - !!python/tuple [23, 4] + - !!python/tuple [30, 0] + - !!python/tuple [16, 17] + - !!python/tuple [14, 8] + - !!python/tuple [21, 8] + - !!python/tuple [4, 21] + - !!python/tuple [21, 3] + - !!python/tuple [25, 17] + - !!python/tuple [14, 16] + - !!python/tuple [28, 16] + - !!python/tuple [13, 15] + - !!python/tuple [17, 23] + - !!python/tuple [4, 9] + - !!python/tuple [31, 26] + - !!python/tuple [17, 0] + - !!python/tuple [17, 10] + - !!python/tuple [29, 6] + - !!python/tuple [27, 29] + - !!python/tuple [27, 28] + - !!python/tuple [21, 23] + - !!python/tuple [17, 21] + - !!python/tuple [5, 2] + - !!python/tuple [27, 31] + - !!python/tuple [30, 11] + - !!python/tuple [26, 7] + - !!python/tuple [22, 26] + - !!python/tuple [13, 6] + - !!python/tuple [30, 3] + - !!python/tuple [5, 10] + - !!python/tuple [10, 3] + - !!python/tuple [29, 24] + - !!python/tuple [10, 19] + - !!python/tuple [21, 2] + - !!python/tuple [14, 17] + - !!python/tuple [31, 14] + - !!python/tuple [23, 6] + - !!python/tuple [12, 16] + - !!python/tuple [3, 19] + - !!python/tuple [5, 19] + - !!python/tuple [22, 9] + - !!python/tuple [11, 3] + - !!python/tuple [7, 9] + - !!python/tuple [8, 4] + - !!python/tuple [19, 28] + - !!python/tuple [0, 29] + - !!python/tuple [28, 21] + - !!python/tuple [27, 17] + - !!python/tuple [8, 5] + - !!python/tuple [21, 12] + - !!python/tuple [18, 15] + - !!python/tuple [24, 27] + - !!python/tuple [5, 27] + - !!python/tuple [13, 24] + - !!python/tuple [11, 6] + - !!python/tuple [1, 23] + - !!python/tuple [15, 16] + - !!python/tuple [18, 16] + - !!python/tuple [23, 11] + - !!python/tuple [0, 21] + - !!python/tuple [20, 19] + - !!python/tuple [13, 20] + - !!python/tuple [10, 18] + - !!python/tuple [11, 29] + - !!python/tuple [23, 2] + - !!python/tuple [0, 6] + - !!python/tuple [24, 3] + - !!python/tuple [17, 20] + - !!python/tuple [7, 11] + - !!python/tuple [20, 8] + - !!python/tuple [30, 18] + - !!python/tuple [25, 7] + - !!python/tuple [12, 29] + - !!python/tuple [4, 30] + - !!python/tuple [9, 27] + - !!python/tuple [29, 8] + - !!python/tuple [9, 16] + - !!python/tuple [28, 2] + - !!python/tuple [18, 31] + - !!python/tuple [8, 18] + - !!python/tuple [10, 31] + - !!python/tuple [27, 22] + - !!python/tuple [14, 25] + - !!python/tuple [9, 10] + - !!python/tuple [0, 31] + - !!python/tuple [12, 1] + - !!python/tuple [10, 1] + - !!python/tuple [8, 10] + - !!python/tuple [16, 15] + - !!python/tuple [6, 28] + - !!python/tuple [13, 10] + - !!python/tuple [2, 27] + - !!python/tuple [26, 9] + - !!python/tuple [26, 4] + - !!python/tuple [2, 7] + - !!python/tuple [11, 4] + - !!python/tuple [30, 21] + - !!python/tuple [9, 13] + - !!python/tuple [3, 31] + - !!python/tuple [26, 13] + - !!python/tuple [8, 16] + - !!python/tuple [31, 7] + - !!python/tuple [13, 18] + - !!python/tuple [5, 7] + - !!python/tuple [7, 26] + - !!python/tuple [22, 5] + - !!python/tuple [9, 25] + - !!python/tuple [7, 13] + - !!python/tuple [8, 19] + - !!python/tuple [10, 10] + - !!python/tuple [25, 25] + - !!python/tuple [25, 4] + - !!python/tuple [6, 15] + - !!python/tuple [27, 19] + - !!python/tuple [18, 11] + - !!python/tuple [29, 0] + - !!python/tuple [0, 13] + - !!python/tuple [25, 13] + - !!python/tuple [8, 30] + - !!python/tuple [27, 1] + - !!python/tuple [18, 29] + - !!python/tuple [12, 0] + - !!python/tuple [7, 15] + - !!python/tuple [3, 12] + - !!python/tuple [23, 17] + - !!python/tuple [2, 22] + - !!python/tuple [29, 12] + - !!python/tuple [2, 26] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex84.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex84.yaml new file mode 100644 index 0000000..709edcf --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex84.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [16, 21] + name: agent0 + start: [20, 27] +- goal: [0, 30] + name: agent1 + start: [9, 19] +- goal: [21, 19] + name: agent2 + start: [2, 8] +- goal: [10, 26] + name: agent3 + start: [26, 27] +- goal: [19, 21] + name: agent4 + start: [20, 14] +- goal: [1, 19] + name: agent5 + start: [15, 8] +- goal: [7, 23] + name: agent6 + start: [1, 12] +- goal: [26, 21] + name: agent7 + start: [7, 27] +- goal: [1, 1] + name: agent8 + start: [23, 8] +- goal: [2, 18] + name: agent9 + start: [22, 5] +- goal: [21, 18] + name: agent10 + start: [16, 14] +- goal: [17, 26] + name: agent11 + start: [6, 0] +- goal: [28, 1] + name: agent12 + start: [10, 19] +- goal: [21, 12] + name: agent13 + start: [28, 18] +- goal: [3, 11] + name: agent14 + start: [4, 20] +- goal: [5, 10] + name: agent15 + start: [7, 25] +- goal: [4, 5] + name: agent16 + start: [0, 28] +- goal: [30, 22] + name: agent17 + start: [10, 21] +- goal: [18, 27] + name: agent18 + start: [27, 17] +- goal: [6, 28] + name: agent19 + start: [0, 14] +- goal: [11, 18] + name: agent20 + start: [10, 0] +- goal: [29, 24] + name: agent21 + start: [18, 3] +- goal: [17, 16] + name: agent22 + start: [28, 22] +- goal: [23, 13] + name: agent23 + start: [16, 18] +- goal: [0, 2] + name: agent24 + start: [28, 9] +- goal: [18, 11] + name: agent25 + start: [2, 28] +- goal: [12, 9] + name: agent26 + start: [7, 26] +- goal: [1, 23] + name: agent27 + start: [19, 0] +- goal: [25, 18] + name: agent28 + start: [5, 18] +- goal: [6, 3] + name: agent29 + start: [11, 18] +- goal: [12, 21] + name: agent30 + start: [13, 3] +- goal: [22, 11] + name: agent31 + start: [23, 12] +- goal: [12, 17] + name: agent32 + start: [9, 8] +- goal: [14, 1] + name: agent33 + start: [3, 23] +- goal: [10, 11] + name: agent34 + start: [13, 4] +- goal: [0, 11] + name: agent35 + start: [0, 6] +- goal: [31, 19] + name: agent36 + start: [23, 19] +- goal: [22, 16] + name: agent37 + start: [4, 30] +- goal: [17, 22] + name: agent38 + start: [19, 2] +- goal: [26, 6] + name: agent39 + start: [26, 0] +- goal: [8, 14] + name: agent40 + start: [16, 26] +- goal: [30, 17] + name: agent41 + start: [28, 17] +- goal: [3, 0] + name: agent42 + start: [13, 5] +- goal: [20, 6] + name: agent43 + start: [3, 1] +- goal: [3, 26] + name: agent44 + start: [27, 6] +- goal: [15, 16] + name: agent45 + start: [1, 1] +- goal: [21, 13] + name: agent46 + start: [9, 16] +- goal: [16, 9] + name: agent47 + start: [8, 2] +- goal: [0, 29] + name: agent48 + start: [28, 30] +- goal: [3, 14] + name: agent49 + start: [26, 7] +- goal: [14, 11] + name: agent50 + start: [12, 14] +- goal: [26, 20] + name: agent51 + start: [6, 12] +- goal: [27, 19] + name: agent52 + start: [8, 14] +- goal: [11, 17] + name: agent53 + start: [21, 21] +- goal: [14, 19] + name: agent54 + start: [23, 3] +- goal: [31, 12] + name: agent55 + start: [15, 18] +- goal: [26, 3] + name: agent56 + start: [19, 9] +- goal: [25, 4] + name: agent57 + start: [1, 13] +- goal: [21, 17] + name: agent58 + start: [9, 24] +- goal: [22, 17] + name: agent59 + start: [19, 3] +- goal: [6, 24] + name: agent60 + start: [24, 29] +- goal: [20, 7] + name: agent61 + start: [17, 8] +- goal: [30, 31] + name: agent62 + start: [1, 6] +- goal: [28, 5] + name: agent63 + start: [14, 29] +- goal: [11, 25] + name: agent64 + start: [2, 30] +- goal: [21, 8] + name: agent65 + start: [7, 13] +- goal: [14, 8] + name: agent66 + start: [18, 17] +- goal: [23, 20] + name: agent67 + start: [28, 8] +- goal: [23, 8] + name: agent68 + start: [3, 5] +- goal: [28, 22] + name: agent69 + start: [8, 7] +- goal: [9, 15] + name: agent70 + start: [25, 17] +- goal: [21, 23] + name: agent71 + start: [30, 15] +- goal: [15, 6] + name: agent72 + start: [31, 15] +- goal: [18, 5] + name: agent73 + start: [6, 4] +- goal: [2, 26] + name: agent74 + start: [15, 21] +- goal: [28, 23] + name: agent75 + start: [21, 17] +- goal: [18, 10] + name: agent76 + start: [14, 18] +- goal: [21, 7] + name: agent77 + start: [30, 22] +- goal: [22, 5] + name: agent78 + start: [13, 31] +- goal: [5, 13] + name: agent79 + start: [0, 17] +- goal: [27, 13] + name: agent80 + start: [13, 9] +- goal: [15, 27] + name: agent81 + start: [23, 9] +- goal: [9, 22] + name: agent82 + start: [30, 2] +- goal: [11, 9] + name: agent83 + start: [26, 11] +- goal: [0, 27] + name: agent84 + start: [18, 10] +- goal: [15, 11] + name: agent85 + start: [21, 2] +- goal: [19, 0] + name: agent86 + start: [9, 4] +- goal: [7, 8] + name: agent87 + start: [12, 16] +- goal: [17, 29] + name: agent88 + start: [10, 11] +- goal: [2, 5] + name: agent89 + start: [28, 24] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [0, 1] + - !!python/tuple [31, 8] + - !!python/tuple [23, 21] + - !!python/tuple [11, 5] + - !!python/tuple [24, 12] + - !!python/tuple [26, 23] + - !!python/tuple [0, 4] + - !!python/tuple [18, 22] + - !!python/tuple [24, 5] + - !!python/tuple [14, 25] + - !!python/tuple [18, 16] + - !!python/tuple [3, 31] + - !!python/tuple [26, 4] + - !!python/tuple [9, 14] + - !!python/tuple [0, 21] + - !!python/tuple [4, 24] + - !!python/tuple [15, 3] + - !!python/tuple [3, 12] + - !!python/tuple [15, 1] + - !!python/tuple [10, 31] + - !!python/tuple [24, 14] + - !!python/tuple [29, 1] + - !!python/tuple [19, 13] + - !!python/tuple [2, 15] + - !!python/tuple [24, 7] + - !!python/tuple [4, 10] + - !!python/tuple [27, 9] + - !!python/tuple [19, 25] + - !!python/tuple [23, 2] + - !!python/tuple [18, 21] + - !!python/tuple [24, 10] + - !!python/tuple [5, 7] + - !!python/tuple [27, 2] + - !!python/tuple [17, 11] + - !!python/tuple [30, 18] + - !!python/tuple [22, 20] + - !!python/tuple [22, 6] + - !!python/tuple [22, 15] + - !!python/tuple [24, 0] + - !!python/tuple [14, 12] + - !!python/tuple [12, 0] + - !!python/tuple [17, 3] + - !!python/tuple [11, 22] + - !!python/tuple [15, 0] + - !!python/tuple [17, 21] + - !!python/tuple [20, 31] + - !!python/tuple [0, 9] + - !!python/tuple [11, 20] + - !!python/tuple [13, 11] + - !!python/tuple [26, 8] + - !!python/tuple [7, 30] + - !!python/tuple [7, 7] + - !!python/tuple [5, 20] + - !!python/tuple [13, 28] + - !!python/tuple [0, 15] + - !!python/tuple [7, 11] + - !!python/tuple [12, 7] + - !!python/tuple [29, 20] + - !!python/tuple [8, 17] + - !!python/tuple [21, 6] + - !!python/tuple [1, 30] + - !!python/tuple [29, 9] + - !!python/tuple [14, 6] + - !!python/tuple [18, 0] + - !!python/tuple [5, 28] + - !!python/tuple [28, 28] + - !!python/tuple [8, 13] + - !!python/tuple [5, 22] + - !!python/tuple [22, 22] + - !!python/tuple [11, 16] + - !!python/tuple [16, 5] + - !!python/tuple [11, 6] + - !!python/tuple [10, 6] + - !!python/tuple [27, 27] + - !!python/tuple [28, 13] + - !!python/tuple [10, 28] + - !!python/tuple [8, 27] + - !!python/tuple [20, 15] + - !!python/tuple [20, 4] + - !!python/tuple [13, 16] + - !!python/tuple [24, 19] + - !!python/tuple [1, 2] + - !!python/tuple [3, 16] + - !!python/tuple [9, 30] + - !!python/tuple [9, 20] + - !!python/tuple [27, 23] + - !!python/tuple [4, 4] + - !!python/tuple [25, 23] + - !!python/tuple [30, 0] + - !!python/tuple [30, 9] + - !!python/tuple [11, 29] + - !!python/tuple [20, 12] + - !!python/tuple [0, 5] + - !!python/tuple [23, 7] + - !!python/tuple [19, 23] + - !!python/tuple [19, 5] + - !!python/tuple [8, 26] + - !!python/tuple [18, 13] + - !!python/tuple [12, 29] + - !!python/tuple [27, 24] + - !!python/tuple [10, 10] + - !!python/tuple [15, 5] + - !!python/tuple [17, 18] + - !!python/tuple [26, 26] + - !!python/tuple [8, 20] + - !!python/tuple [3, 29] + - !!python/tuple [24, 28] + - !!python/tuple [13, 27] + - !!python/tuple [0, 25] + - !!python/tuple [15, 19] + - !!python/tuple [15, 2] + - !!python/tuple [5, 19] + - !!python/tuple [16, 31] + - !!python/tuple [9, 0] + - !!python/tuple [4, 9] + - !!python/tuple [22, 3] + - !!python/tuple [25, 21] + - !!python/tuple [28, 26] + - !!python/tuple [18, 23] + - !!python/tuple [4, 18] + - !!python/tuple [18, 28] + - !!python/tuple [1, 26] + - !!python/tuple [4, 22] + - !!python/tuple [13, 7] + - !!python/tuple [13, 20] + - !!python/tuple [0, 22] + - !!python/tuple [5, 15] + - !!python/tuple [5, 5] + - !!python/tuple [0, 12] + - !!python/tuple [18, 6] + - !!python/tuple [22, 21] + - !!python/tuple [5, 17] + - !!python/tuple [31, 21] + - !!python/tuple [20, 3] + - !!python/tuple [2, 4] + - !!python/tuple [6, 25] + - !!python/tuple [25, 20] + - !!python/tuple [17, 0] + - !!python/tuple [3, 28] + - !!python/tuple [25, 29] + - !!python/tuple [8, 4] + - !!python/tuple [14, 30] + - !!python/tuple [25, 16] + - !!python/tuple [27, 16] + - !!python/tuple [5, 27] + - !!python/tuple [19, 16] + - !!python/tuple [1, 9] + - !!python/tuple [20, 11] + - !!python/tuple [22, 27] + - !!python/tuple [24, 18] + - !!python/tuple [14, 0] + - !!python/tuple [21, 10] + - !!python/tuple [7, 21] + - !!python/tuple [9, 7] + - !!python/tuple [14, 14] + - !!python/tuple [19, 12] + - !!python/tuple [14, 21] + - !!python/tuple [30, 30] + - !!python/tuple [14, 9] + - !!python/tuple [11, 7] + - !!python/tuple [22, 29] + - !!python/tuple [0, 26] + - !!python/tuple [31, 28] + - !!python/tuple [30, 12] + - !!python/tuple [3, 8] + - !!python/tuple [4, 31] + - !!python/tuple [1, 4] + - !!python/tuple [12, 13] + - !!python/tuple [20, 1] + - !!python/tuple [27, 30] + - !!python/tuple [27, 0] + - !!python/tuple [20, 20] + - !!python/tuple [25, 26] + - !!python/tuple [20, 30] + - !!python/tuple [22, 1] + - !!python/tuple [0, 31] + - !!python/tuple [9, 1] + - !!python/tuple [17, 13] + - !!python/tuple [22, 12] + - !!python/tuple [25, 25] + - !!python/tuple [15, 4] + - !!python/tuple [21, 1] + - !!python/tuple [18, 19] + - !!python/tuple [10, 24] + - !!python/tuple [21, 9] + - !!python/tuple [27, 18] + - !!python/tuple [26, 30] + - !!python/tuple [23, 23] + - !!python/tuple [26, 5] + - !!python/tuple [22, 19] + - !!python/tuple [1, 18] + - !!python/tuple [14, 22] + - !!python/tuple [2, 6] + - !!python/tuple [18, 1] + - !!python/tuple [13, 10] + - !!python/tuple [22, 25] + - !!python/tuple [12, 28] + - !!python/tuple [27, 11] + - !!python/tuple [17, 25] + - !!python/tuple [18, 18] + - !!python/tuple [23, 1] + - !!python/tuple [20, 2] + - !!python/tuple [7, 18] + - !!python/tuple [14, 13] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex85.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex85.yaml new file mode 100644 index 0000000..f8e53cb --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex85.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [23, 11] + name: agent0 + start: [2, 13] +- goal: [17, 17] + name: agent1 + start: [23, 5] +- goal: [16, 11] + name: agent2 + start: [24, 11] +- goal: [8, 26] + name: agent3 + start: [16, 8] +- goal: [7, 7] + name: agent4 + start: [1, 16] +- goal: [26, 9] + name: agent5 + start: [17, 4] +- goal: [27, 19] + name: agent6 + start: [8, 20] +- goal: [13, 17] + name: agent7 + start: [29, 21] +- goal: [29, 24] + name: agent8 + start: [28, 31] +- goal: [25, 4] + name: agent9 + start: [24, 1] +- goal: [27, 0] + name: agent10 + start: [19, 23] +- goal: [30, 11] + name: agent11 + start: [14, 8] +- goal: [10, 31] + name: agent12 + start: [18, 11] +- goal: [13, 29] + name: agent13 + start: [4, 9] +- goal: [9, 2] + name: agent14 + start: [3, 31] +- goal: [31, 16] + name: agent15 + start: [30, 28] +- goal: [20, 16] + name: agent16 + start: [1, 31] +- goal: [4, 10] + name: agent17 + start: [29, 10] +- goal: [11, 13] + name: agent18 + start: [16, 29] +- goal: [19, 17] + name: agent19 + start: [0, 20] +- goal: [25, 29] + name: agent20 + start: [26, 23] +- goal: [4, 25] + name: agent21 + start: [29, 22] +- goal: [9, 1] + name: agent22 + start: [1, 20] +- goal: [29, 31] + name: agent23 + start: [4, 17] +- goal: [17, 5] + name: agent24 + start: [27, 29] +- goal: [0, 28] + name: agent25 + start: [10, 23] +- goal: [30, 20] + name: agent26 + start: [19, 14] +- goal: [1, 31] + name: agent27 + start: [24, 19] +- goal: [3, 20] + name: agent28 + start: [3, 2] +- goal: [0, 19] + name: agent29 + start: [22, 30] +- goal: [24, 22] + name: agent30 + start: [25, 3] +- goal: [29, 8] + name: agent31 + start: [27, 4] +- goal: [0, 22] + name: agent32 + start: [8, 7] +- goal: [25, 20] + name: agent33 + start: [25, 15] +- goal: [17, 11] + name: agent34 + start: [30, 24] +- goal: [20, 15] + name: agent35 + start: [15, 6] +- goal: [0, 16] + name: agent36 + start: [2, 27] +- goal: [26, 15] + name: agent37 + start: [28, 24] +- goal: [19, 2] + name: agent38 + start: [28, 12] +- goal: [25, 14] + name: agent39 + start: [6, 1] +- goal: [31, 21] + name: agent40 + start: [27, 9] +- goal: [4, 28] + name: agent41 + start: [18, 24] +- goal: [26, 28] + name: agent42 + start: [10, 10] +- goal: [1, 7] + name: agent43 + start: [15, 28] +- goal: [13, 30] + name: agent44 + start: [17, 12] +- goal: [18, 16] + name: agent45 + start: [16, 0] +- goal: [23, 18] + name: agent46 + start: [2, 1] +- goal: [2, 15] + name: agent47 + start: [27, 30] +- goal: [28, 28] + name: agent48 + start: [4, 8] +- goal: [13, 7] + name: agent49 + start: [19, 2] +- goal: [13, 12] + name: agent50 + start: [23, 18] +- goal: [21, 21] + name: agent51 + start: [30, 16] +- goal: [22, 18] + name: agent52 + start: [29, 4] +- goal: [9, 19] + name: agent53 + start: [9, 19] +- goal: [23, 10] + name: agent54 + start: [6, 25] +- goal: [15, 4] + name: agent55 + start: [0, 24] +- goal: [27, 2] + name: agent56 + start: [9, 23] +- goal: [0, 25] + name: agent57 + start: [13, 1] +- goal: [15, 29] + name: agent58 + start: [30, 14] +- goal: [22, 10] + name: agent59 + start: [24, 21] +- goal: [13, 22] + name: agent60 + start: [7, 6] +- goal: [18, 12] + name: agent61 + start: [20, 14] +- goal: [2, 31] + name: agent62 + start: [7, 26] +- goal: [7, 20] + name: agent63 + start: [25, 1] +- goal: [12, 14] + name: agent64 + start: [14, 3] +- goal: [7, 16] + name: agent65 + start: [30, 21] +- goal: [23, 14] + name: agent66 + start: [11, 8] +- goal: [17, 26] + name: agent67 + start: [31, 31] +- goal: [21, 18] + name: agent68 + start: [14, 6] +- goal: [16, 21] + name: agent69 + start: [23, 21] +- goal: [18, 28] + name: agent70 + start: [2, 9] +- goal: [7, 19] + name: agent71 + start: [27, 5] +- goal: [2, 1] + name: agent72 + start: [2, 0] +- goal: [2, 17] + name: agent73 + start: [21, 14] +- goal: [2, 24] + name: agent74 + start: [1, 0] +- goal: [12, 17] + name: agent75 + start: [23, 30] +- goal: [6, 29] + name: agent76 + start: [26, 20] +- goal: [31, 7] + name: agent77 + start: [19, 9] +- goal: [20, 8] + name: agent78 + start: [13, 11] +- goal: [9, 23] + name: agent79 + start: [3, 21] +- goal: [15, 5] + name: agent80 + start: [28, 18] +- goal: [23, 3] + name: agent81 + start: [0, 2] +- goal: [16, 18] + name: agent82 + start: [22, 26] +- goal: [16, 31] + name: agent83 + start: [17, 23] +- goal: [28, 24] + name: agent84 + start: [22, 21] +- goal: [11, 29] + name: agent85 + start: [23, 10] +- goal: [21, 22] + name: agent86 + start: [21, 19] +- goal: [10, 2] + name: agent87 + start: [22, 12] +- goal: [26, 20] + name: agent88 + start: [27, 28] +- goal: [25, 1] + name: agent89 + start: [15, 14] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [13, 14] + - !!python/tuple [0, 30] + - !!python/tuple [13, 2] + - !!python/tuple [6, 30] + - !!python/tuple [6, 22] + - !!python/tuple [19, 26] + - !!python/tuple [3, 10] + - !!python/tuple [24, 18] + - !!python/tuple [5, 16] + - !!python/tuple [10, 7] + - !!python/tuple [7, 2] + - !!python/tuple [7, 24] + - !!python/tuple [26, 2] + - !!python/tuple [7, 28] + - !!python/tuple [20, 25] + - !!python/tuple [24, 9] + - !!python/tuple [20, 28] + - !!python/tuple [30, 1] + - !!python/tuple [0, 0] + - !!python/tuple [11, 0] + - !!python/tuple [13, 28] + - !!python/tuple [22, 27] + - !!python/tuple [22, 17] + - !!python/tuple [26, 8] + - !!python/tuple [14, 18] + - !!python/tuple [29, 15] + - !!python/tuple [11, 3] + - !!python/tuple [30, 13] + - !!python/tuple [14, 31] + - !!python/tuple [30, 4] + - !!python/tuple [12, 27] + - !!python/tuple [22, 7] + - !!python/tuple [7, 1] + - !!python/tuple [10, 0] + - !!python/tuple [2, 29] + - !!python/tuple [3, 23] + - !!python/tuple [13, 13] + - !!python/tuple [23, 17] + - !!python/tuple [23, 1] + - !!python/tuple [19, 12] + - !!python/tuple [0, 14] + - !!python/tuple [15, 3] + - !!python/tuple [31, 24] + - !!python/tuple [27, 31] + - !!python/tuple [25, 21] + - !!python/tuple [28, 16] + - !!python/tuple [29, 5] + - !!python/tuple [9, 28] + - !!python/tuple [31, 13] + - !!python/tuple [7, 18] + - !!python/tuple [13, 19] + - !!python/tuple [6, 23] + - !!python/tuple [20, 27] + - !!python/tuple [30, 17] + - !!python/tuple [28, 0] + - !!python/tuple [17, 27] + - !!python/tuple [3, 0] + - !!python/tuple [27, 13] + - !!python/tuple [17, 31] + - !!python/tuple [26, 12] + - !!python/tuple [4, 4] + - !!python/tuple [16, 13] + - !!python/tuple [25, 24] + - !!python/tuple [31, 8] + - !!python/tuple [6, 24] + - !!python/tuple [12, 9] + - !!python/tuple [3, 7] + - !!python/tuple [13, 5] + - !!python/tuple [15, 7] + - !!python/tuple [0, 6] + - !!python/tuple [15, 8] + - !!python/tuple [24, 20] + - !!python/tuple [31, 28] + - !!python/tuple [14, 19] + - !!python/tuple [4, 18] + - !!python/tuple [22, 8] + - !!python/tuple [5, 29] + - !!python/tuple [12, 12] + - !!python/tuple [29, 30] + - !!python/tuple [27, 21] + - !!python/tuple [22, 13] + - !!python/tuple [10, 14] + - !!python/tuple [28, 15] + - !!python/tuple [19, 10] + - !!python/tuple [12, 6] + - !!python/tuple [10, 16] + - !!python/tuple [11, 18] + - !!python/tuple [3, 17] + - !!python/tuple [14, 17] + - !!python/tuple [18, 21] + - !!python/tuple [26, 6] + - !!python/tuple [1, 30] + - !!python/tuple [28, 25] + - !!python/tuple [4, 3] + - !!python/tuple [0, 10] + - !!python/tuple [16, 27] + - !!python/tuple [25, 30] + - !!python/tuple [28, 7] + - !!python/tuple [10, 11] + - !!python/tuple [20, 13] + - !!python/tuple [1, 10] + - !!python/tuple [1, 2] + - !!python/tuple [21, 23] + - !!python/tuple [8, 13] + - !!python/tuple [18, 29] + - !!python/tuple [10, 13] + - !!python/tuple [29, 0] + - !!python/tuple [8, 5] + - !!python/tuple [6, 15] + - !!python/tuple [11, 19] + - !!python/tuple [3, 16] + - !!python/tuple [8, 0] + - !!python/tuple [13, 25] + - !!python/tuple [5, 25] + - !!python/tuple [12, 3] + - !!python/tuple [25, 11] + - !!python/tuple [10, 12] + - !!python/tuple [9, 21] + - !!python/tuple [20, 3] + - !!python/tuple [12, 13] + - !!python/tuple [7, 0] + - !!python/tuple [3, 19] + - !!python/tuple [2, 16] + - !!python/tuple [18, 17] + - !!python/tuple [9, 4] + - !!python/tuple [11, 10] + - !!python/tuple [1, 15] + - !!python/tuple [18, 13] + - !!python/tuple [6, 18] + - !!python/tuple [14, 22] + - !!python/tuple [3, 3] + - !!python/tuple [24, 2] + - !!python/tuple [5, 10] + - !!python/tuple [0, 7] + - !!python/tuple [8, 14] + - !!python/tuple [11, 21] + - !!python/tuple [8, 28] + - !!python/tuple [31, 19] + - !!python/tuple [9, 11] + - !!python/tuple [6, 28] + - !!python/tuple [8, 4] + - !!python/tuple [16, 26] + - !!python/tuple [4, 2] + - !!python/tuple [23, 16] + - !!python/tuple [6, 19] + - !!python/tuple [25, 7] + - !!python/tuple [2, 25] + - !!python/tuple [3, 5] + - !!python/tuple [6, 20] + - !!python/tuple [5, 8] + - !!python/tuple [6, 3] + - !!python/tuple [4, 11] + - !!python/tuple [31, 25] + - !!python/tuple [5, 6] + - !!python/tuple [14, 15] + - !!python/tuple [30, 10] + - !!python/tuple [20, 23] + - !!python/tuple [1, 29] + - !!python/tuple [15, 27] + - !!python/tuple [20, 22] + - !!python/tuple [16, 12] + - !!python/tuple [25, 23] + - !!python/tuple [19, 24] + - !!python/tuple [1, 8] + - !!python/tuple [17, 15] + - !!python/tuple [6, 31] + - !!python/tuple [28, 3] + - !!python/tuple [7, 22] + - !!python/tuple [27, 22] + - !!python/tuple [10, 17] + - !!python/tuple [7, 4] + - !!python/tuple [25, 25] + - !!python/tuple [23, 8] + - !!python/tuple [11, 11] + - !!python/tuple [20, 20] + - !!python/tuple [1, 1] + - !!python/tuple [27, 15] + - !!python/tuple [9, 22] + - !!python/tuple [9, 30] + - !!python/tuple [26, 0] + - !!python/tuple [17, 1] + - !!python/tuple [12, 21] + - !!python/tuple [23, 25] + - !!python/tuple [31, 18] + - !!python/tuple [28, 4] + - !!python/tuple [6, 10] + - !!python/tuple [5, 31] + - !!python/tuple [9, 3] + - !!python/tuple [6, 7] + - !!python/tuple [12, 22] + - !!python/tuple [24, 29] + - !!python/tuple [22, 14] + - !!python/tuple [29, 16] + - !!python/tuple [0, 9] + - !!python/tuple [18, 18] + - !!python/tuple [4, 1] + - !!python/tuple [10, 4] + - !!python/tuple [0, 23] + - !!python/tuple [26, 3] + - !!python/tuple [11, 26] + - !!python/tuple [20, 12] + - !!python/tuple [22, 3] + - !!python/tuple [31, 11] + - !!python/tuple [23, 7] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex86.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex86.yaml new file mode 100644 index 0000000..d2cfec7 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex86.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [26, 21] + name: agent0 + start: [28, 16] +- goal: [20, 12] + name: agent1 + start: [30, 28] +- goal: [2, 9] + name: agent2 + start: [29, 20] +- goal: [26, 14] + name: agent3 + start: [3, 25] +- goal: [29, 22] + name: agent4 + start: [31, 1] +- goal: [0, 13] + name: agent5 + start: [14, 4] +- goal: [20, 28] + name: agent6 + start: [0, 29] +- goal: [25, 25] + name: agent7 + start: [30, 26] +- goal: [10, 9] + name: agent8 + start: [5, 1] +- goal: [6, 11] + name: agent9 + start: [25, 28] +- goal: [2, 25] + name: agent10 + start: [16, 13] +- goal: [19, 6] + name: agent11 + start: [25, 18] +- goal: [29, 8] + name: agent12 + start: [10, 26] +- goal: [17, 31] + name: agent13 + start: [19, 22] +- goal: [16, 12] + name: agent14 + start: [23, 23] +- goal: [12, 9] + name: agent15 + start: [15, 8] +- goal: [28, 11] + name: agent16 + start: [30, 29] +- goal: [9, 14] + name: agent17 + start: [19, 17] +- goal: [24, 13] + name: agent18 + start: [5, 18] +- goal: [29, 19] + name: agent19 + start: [15, 30] +- goal: [30, 26] + name: agent20 + start: [30, 11] +- goal: [3, 24] + name: agent21 + start: [25, 15] +- goal: [23, 8] + name: agent22 + start: [25, 25] +- goal: [27, 10] + name: agent23 + start: [6, 22] +- goal: [9, 8] + name: agent24 + start: [29, 6] +- goal: [24, 5] + name: agent25 + start: [2, 24] +- goal: [8, 10] + name: agent26 + start: [28, 19] +- goal: [20, 19] + name: agent27 + start: [13, 7] +- goal: [0, 18] + name: agent28 + start: [2, 17] +- goal: [29, 4] + name: agent29 + start: [31, 22] +- goal: [7, 18] + name: agent30 + start: [1, 15] +- goal: [19, 29] + name: agent31 + start: [5, 22] +- goal: [25, 0] + name: agent32 + start: [20, 13] +- goal: [1, 31] + name: agent33 + start: [15, 21] +- goal: [4, 7] + name: agent34 + start: [14, 26] +- goal: [18, 26] + name: agent35 + start: [24, 27] +- goal: [30, 9] + name: agent36 + start: [28, 8] +- goal: [15, 30] + name: agent37 + start: [5, 31] +- goal: [8, 20] + name: agent38 + start: [0, 2] +- goal: [24, 4] + name: agent39 + start: [5, 29] +- goal: [27, 15] + name: agent40 + start: [22, 0] +- goal: [7, 23] + name: agent41 + start: [7, 22] +- goal: [30, 22] + name: agent42 + start: [13, 21] +- goal: [14, 26] + name: agent43 + start: [16, 27] +- goal: [8, 29] + name: agent44 + start: [30, 21] +- goal: [31, 5] + name: agent45 + start: [4, 20] +- goal: [11, 11] + name: agent46 + start: [2, 29] +- goal: [18, 21] + name: agent47 + start: [15, 16] +- goal: [7, 27] + name: agent48 + start: [0, 18] +- goal: [24, 17] + name: agent49 + start: [28, 10] +- goal: [5, 18] + name: agent50 + start: [7, 1] +- goal: [26, 25] + name: agent51 + start: [17, 31] +- goal: [21, 9] + name: agent52 + start: [6, 11] +- goal: [19, 16] + name: agent53 + start: [30, 6] +- goal: [18, 25] + name: agent54 + start: [14, 22] +- goal: [17, 13] + name: agent55 + start: [2, 11] +- goal: [21, 24] + name: agent56 + start: [31, 14] +- goal: [24, 16] + name: agent57 + start: [7, 18] +- goal: [12, 15] + name: agent58 + start: [19, 8] +- goal: [14, 10] + name: agent59 + start: [28, 29] +- goal: [5, 24] + name: agent60 + start: [4, 28] +- goal: [14, 19] + name: agent61 + start: [28, 17] +- goal: [7, 8] + name: agent62 + start: [26, 26] +- goal: [16, 0] + name: agent63 + start: [25, 11] +- goal: [7, 17] + name: agent64 + start: [29, 16] +- goal: [5, 29] + name: agent65 + start: [7, 4] +- goal: [18, 0] + name: agent66 + start: [23, 15] +- goal: [20, 2] + name: agent67 + start: [16, 21] +- goal: [0, 2] + name: agent68 + start: [31, 28] +- goal: [10, 3] + name: agent69 + start: [24, 12] +- goal: [1, 21] + name: agent70 + start: [2, 23] +- goal: [5, 12] + name: agent71 + start: [23, 25] +- goal: [18, 17] + name: agent72 + start: [4, 26] +- goal: [14, 29] + name: agent73 + start: [29, 15] +- goal: [19, 3] + name: agent74 + start: [19, 28] +- goal: [4, 27] + name: agent75 + start: [24, 6] +- goal: [16, 29] + name: agent76 + start: [13, 10] +- goal: [23, 3] + name: agent77 + start: [11, 7] +- goal: [19, 4] + name: agent78 + start: [7, 11] +- goal: [10, 11] + name: agent79 + start: [24, 21] +- goal: [22, 10] + name: agent80 + start: [13, 8] +- goal: [15, 19] + name: agent81 + start: [8, 16] +- goal: [3, 5] + name: agent82 + start: [17, 6] +- goal: [16, 31] + name: agent83 + start: [3, 27] +- goal: [3, 23] + name: agent84 + start: [16, 9] +- goal: [3, 29] + name: agent85 + start: [29, 14] +- goal: [17, 27] + name: agent86 + start: [16, 8] +- goal: [13, 13] + name: agent87 + start: [9, 22] +- goal: [20, 17] + name: agent88 + start: [18, 14] +- goal: [18, 20] + name: agent89 + start: [5, 25] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [23, 4] + - !!python/tuple [3, 26] + - !!python/tuple [16, 18] + - !!python/tuple [1, 30] + - !!python/tuple [25, 7] + - !!python/tuple [4, 2] + - !!python/tuple [21, 8] + - !!python/tuple [6, 5] + - !!python/tuple [25, 31] + - !!python/tuple [11, 8] + - !!python/tuple [3, 28] + - !!python/tuple [5, 10] + - !!python/tuple [31, 25] + - !!python/tuple [28, 31] + - !!python/tuple [18, 16] + - !!python/tuple [27, 31] + - !!python/tuple [9, 23] + - !!python/tuple [25, 30] + - !!python/tuple [15, 31] + - !!python/tuple [16, 19] + - !!python/tuple [28, 23] + - !!python/tuple [19, 19] + - !!python/tuple [11, 18] + - !!python/tuple [31, 20] + - !!python/tuple [2, 14] + - !!python/tuple [22, 6] + - !!python/tuple [23, 7] + - !!python/tuple [30, 16] + - !!python/tuple [26, 8] + - !!python/tuple [0, 10] + - !!python/tuple [28, 27] + - !!python/tuple [19, 12] + - !!python/tuple [21, 18] + - !!python/tuple [3, 12] + - !!python/tuple [16, 6] + - !!python/tuple [26, 4] + - !!python/tuple [8, 1] + - !!python/tuple [30, 14] + - !!python/tuple [3, 20] + - !!python/tuple [10, 28] + - !!python/tuple [26, 5] + - !!python/tuple [10, 10] + - !!python/tuple [15, 17] + - !!python/tuple [23, 1] + - !!python/tuple [29, 31] + - !!python/tuple [23, 17] + - !!python/tuple [11, 5] + - !!python/tuple [12, 22] + - !!python/tuple [12, 0] + - !!python/tuple [31, 19] + - !!python/tuple [21, 22] + - !!python/tuple [24, 2] + - !!python/tuple [28, 21] + - !!python/tuple [25, 26] + - !!python/tuple [21, 2] + - !!python/tuple [21, 27] + - !!python/tuple [14, 16] + - !!python/tuple [9, 5] + - !!python/tuple [2, 27] + - !!python/tuple [10, 25] + - !!python/tuple [29, 11] + - !!python/tuple [6, 3] + - !!python/tuple [27, 25] + - !!python/tuple [26, 6] + - !!python/tuple [21, 1] + - !!python/tuple [12, 3] + - !!python/tuple [12, 23] + - !!python/tuple [4, 4] + - !!python/tuple [8, 13] + - !!python/tuple [27, 18] + - !!python/tuple [25, 22] + - !!python/tuple [31, 18] + - !!python/tuple [17, 26] + - !!python/tuple [12, 14] + - !!python/tuple [18, 18] + - !!python/tuple [17, 1] + - !!python/tuple [29, 3] + - !!python/tuple [0, 25] + - !!python/tuple [2, 12] + - !!python/tuple [22, 17] + - !!python/tuple [28, 18] + - !!python/tuple [9, 4] + - !!python/tuple [3, 2] + - !!python/tuple [30, 17] + - !!python/tuple [15, 15] + - !!python/tuple [9, 31] + - !!python/tuple [1, 25] + - !!python/tuple [1, 4] + - !!python/tuple [7, 3] + - !!python/tuple [13, 0] + - !!python/tuple [14, 31] + - !!python/tuple [4, 18] + - !!python/tuple [16, 14] + - !!python/tuple [0, 4] + - !!python/tuple [11, 20] + - !!python/tuple [10, 30] + - !!python/tuple [8, 9] + - !!python/tuple [2, 26] + - !!python/tuple [8, 11] + - !!python/tuple [6, 7] + - !!python/tuple [14, 6] + - !!python/tuple [2, 7] + - !!python/tuple [15, 29] + - !!python/tuple [19, 14] + - !!python/tuple [6, 27] + - !!python/tuple [6, 4] + - !!python/tuple [27, 6] + - !!python/tuple [0, 21] + - !!python/tuple [22, 19] + - !!python/tuple [9, 29] + - !!python/tuple [1, 6] + - !!python/tuple [12, 28] + - !!python/tuple [9, 0] + - !!python/tuple [7, 2] + - !!python/tuple [0, 17] + - !!python/tuple [1, 16] + - !!python/tuple [7, 26] + - !!python/tuple [0, 1] + - !!python/tuple [0, 15] + - !!python/tuple [17, 28] + - !!python/tuple [11, 30] + - !!python/tuple [4, 23] + - !!python/tuple [9, 21] + - !!python/tuple [5, 9] + - !!python/tuple [23, 19] + - !!python/tuple [31, 7] + - !!python/tuple [30, 13] + - !!python/tuple [18, 3] + - !!python/tuple [29, 2] + - !!python/tuple [24, 23] + - !!python/tuple [18, 15] + - !!python/tuple [26, 31] + - !!python/tuple [17, 24] + - !!python/tuple [22, 15] + - !!python/tuple [20, 26] + - !!python/tuple [22, 3] + - !!python/tuple [26, 10] + - !!python/tuple [16, 5] + - !!python/tuple [6, 6] + - !!python/tuple [23, 12] + - !!python/tuple [21, 10] + - !!python/tuple [3, 6] + - !!python/tuple [28, 28] + - !!python/tuple [4, 9] + - !!python/tuple [29, 25] + - !!python/tuple [20, 31] + - !!python/tuple [4, 16] + - !!python/tuple [30, 25] + - !!python/tuple [24, 9] + - !!python/tuple [12, 8] + - !!python/tuple [13, 16] + - !!python/tuple [17, 23] + - !!python/tuple [20, 29] + - !!python/tuple [17, 11] + - !!python/tuple [25, 2] + - !!python/tuple [7, 7] + - !!python/tuple [13, 1] + - !!python/tuple [21, 3] + - !!python/tuple [26, 29] + - !!python/tuple [11, 6] + - !!python/tuple [26, 30] + - !!python/tuple [30, 30] + - !!python/tuple [28, 25] + - !!python/tuple [10, 0] + - !!python/tuple [17, 12] + - !!python/tuple [24, 19] + - !!python/tuple [10, 23] + - !!python/tuple [5, 19] + - !!python/tuple [1, 3] + - !!python/tuple [14, 21] + - !!python/tuple [31, 10] + - !!python/tuple [4, 25] + - !!python/tuple [17, 18] + - !!python/tuple [27, 0] + - !!python/tuple [17, 4] + - !!python/tuple [6, 26] + - !!python/tuple [21, 26] + - !!python/tuple [20, 21] + - !!python/tuple [24, 11] + - !!python/tuple [23, 24] + - !!python/tuple [1, 14] + - !!python/tuple [19, 2] + - !!python/tuple [0, 28] + - !!python/tuple [23, 13] + - !!python/tuple [14, 12] + - !!python/tuple [10, 24] + - !!python/tuple [18, 24] + - !!python/tuple [21, 25] + - !!python/tuple [0, 22] + - !!python/tuple [11, 21] + - !!python/tuple [31, 24] + - !!python/tuple [2, 5] + - !!python/tuple [7, 9] + - !!python/tuple [15, 0] + - !!python/tuple [3, 9] + - !!python/tuple [24, 20] + - !!python/tuple [6, 23] + - !!python/tuple [8, 2] + - !!python/tuple [27, 26] + - !!python/tuple [11, 17] + - !!python/tuple [4, 5] + - !!python/tuple [21, 11] + - !!python/tuple [21, 12] + - !!python/tuple [13, 11] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex87.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex87.yaml new file mode 100644 index 0000000..30b06fd --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex87.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [3, 18] + name: agent0 + start: [28, 11] +- goal: [21, 30] + name: agent1 + start: [15, 22] +- goal: [19, 2] + name: agent2 + start: [11, 23] +- goal: [27, 27] + name: agent3 + start: [2, 9] +- goal: [28, 11] + name: agent4 + start: [23, 18] +- goal: [1, 6] + name: agent5 + start: [29, 3] +- goal: [29, 16] + name: agent6 + start: [3, 4] +- goal: [18, 14] + name: agent7 + start: [28, 2] +- goal: [19, 22] + name: agent8 + start: [25, 5] +- goal: [23, 19] + name: agent9 + start: [24, 30] +- goal: [18, 29] + name: agent10 + start: [28, 13] +- goal: [22, 17] + name: agent11 + start: [6, 18] +- goal: [23, 11] + name: agent12 + start: [8, 6] +- goal: [15, 18] + name: agent13 + start: [24, 21] +- goal: [9, 9] + name: agent14 + start: [0, 19] +- goal: [1, 2] + name: agent15 + start: [21, 26] +- goal: [28, 2] + name: agent16 + start: [8, 8] +- goal: [28, 20] + name: agent17 + start: [23, 31] +- goal: [18, 17] + name: agent18 + start: [13, 4] +- goal: [23, 26] + name: agent19 + start: [9, 18] +- goal: [23, 0] + name: agent20 + start: [26, 19] +- goal: [20, 11] + name: agent21 + start: [21, 12] +- goal: [14, 26] + name: agent22 + start: [2, 1] +- goal: [31, 25] + name: agent23 + start: [13, 24] +- goal: [9, 24] + name: agent24 + start: [21, 21] +- goal: [8, 11] + name: agent25 + start: [13, 18] +- goal: [25, 11] + name: agent26 + start: [6, 5] +- goal: [13, 7] + name: agent27 + start: [6, 28] +- goal: [19, 9] + name: agent28 + start: [14, 6] +- goal: [28, 25] + name: agent29 + start: [1, 12] +- goal: [6, 21] + name: agent30 + start: [0, 26] +- goal: [0, 2] + name: agent31 + start: [0, 25] +- goal: [14, 12] + name: agent32 + start: [18, 31] +- goal: [30, 6] + name: agent33 + start: [28, 23] +- goal: [15, 16] + name: agent34 + start: [31, 13] +- goal: [5, 6] + name: agent35 + start: [15, 23] +- goal: [7, 30] + name: agent36 + start: [27, 31] +- goal: [3, 20] + name: agent37 + start: [1, 10] +- goal: [18, 22] + name: agent38 + start: [18, 0] +- goal: [16, 3] + name: agent39 + start: [20, 26] +- goal: [9, 4] + name: agent40 + start: [16, 15] +- goal: [24, 11] + name: agent41 + start: [18, 14] +- goal: [19, 15] + name: agent42 + start: [10, 16] +- goal: [18, 11] + name: agent43 + start: [7, 2] +- goal: [26, 30] + name: agent44 + start: [21, 7] +- goal: [28, 7] + name: agent45 + start: [19, 24] +- goal: [20, 6] + name: agent46 + start: [0, 3] +- goal: [24, 19] + name: agent47 + start: [6, 1] +- goal: [17, 31] + name: agent48 + start: [5, 27] +- goal: [7, 2] + name: agent49 + start: [12, 1] +- goal: [27, 23] + name: agent50 + start: [27, 27] +- goal: [13, 12] + name: agent51 + start: [14, 24] +- goal: [11, 1] + name: agent52 + start: [13, 5] +- goal: [19, 3] + name: agent53 + start: [15, 26] +- goal: [23, 20] + name: agent54 + start: [18, 19] +- goal: [22, 25] + name: agent55 + start: [12, 18] +- goal: [6, 22] + name: agent56 + start: [22, 28] +- goal: [27, 10] + name: agent57 + start: [21, 29] +- goal: [12, 3] + name: agent58 + start: [18, 5] +- goal: [25, 8] + name: agent59 + start: [12, 27] +- goal: [25, 5] + name: agent60 + start: [3, 22] +- goal: [27, 15] + name: agent61 + start: [5, 0] +- goal: [4, 16] + name: agent62 + start: [14, 29] +- goal: [5, 16] + name: agent63 + start: [24, 14] +- goal: [17, 7] + name: agent64 + start: [18, 27] +- goal: [0, 21] + name: agent65 + start: [19, 4] +- goal: [11, 22] + name: agent66 + start: [26, 20] +- goal: [4, 19] + name: agent67 + start: [18, 26] +- goal: [31, 13] + name: agent68 + start: [27, 20] +- goal: [24, 3] + name: agent69 + start: [16, 21] +- goal: [21, 14] + name: agent70 + start: [15, 4] +- goal: [1, 9] + name: agent71 + start: [5, 23] +- goal: [15, 15] + name: agent72 + start: [23, 25] +- goal: [12, 8] + name: agent73 + start: [18, 17] +- goal: [23, 14] + name: agent74 + start: [28, 5] +- goal: [24, 14] + name: agent75 + start: [8, 0] +- goal: [19, 26] + name: agent76 + start: [19, 6] +- goal: [14, 8] + name: agent77 + start: [0, 24] +- goal: [5, 2] + name: agent78 + start: [12, 23] +- goal: [8, 12] + name: agent79 + start: [30, 13] +- goal: [20, 24] + name: agent80 + start: [8, 25] +- goal: [31, 7] + name: agent81 + start: [20, 23] +- goal: [6, 14] + name: agent82 + start: [28, 31] +- goal: [14, 6] + name: agent83 + start: [13, 26] +- goal: [3, 17] + name: agent84 + start: [3, 5] +- goal: [13, 23] + name: agent85 + start: [13, 10] +- goal: [17, 10] + name: agent86 + start: [23, 5] +- goal: [26, 17] + name: agent87 + start: [19, 30] +- goal: [20, 18] + name: agent88 + start: [29, 26] +- goal: [11, 9] + name: agent89 + start: [6, 4] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [12, 21] + - !!python/tuple [27, 19] + - !!python/tuple [1, 17] + - !!python/tuple [20, 14] + - !!python/tuple [14, 16] + - !!python/tuple [17, 14] + - !!python/tuple [4, 9] + - !!python/tuple [10, 20] + - !!python/tuple [15, 17] + - !!python/tuple [3, 26] + - !!python/tuple [3, 0] + - !!python/tuple [1, 20] + - !!python/tuple [3, 16] + - !!python/tuple [15, 11] + - !!python/tuple [16, 10] + - !!python/tuple [8, 1] + - !!python/tuple [27, 9] + - !!python/tuple [21, 8] + - !!python/tuple [5, 24] + - !!python/tuple [4, 0] + - !!python/tuple [22, 7] + - !!python/tuple [21, 20] + - !!python/tuple [11, 19] + - !!python/tuple [9, 17] + - !!python/tuple [29, 1] + - !!python/tuple [13, 29] + - !!python/tuple [19, 18] + - !!python/tuple [2, 29] + - !!python/tuple [13, 15] + - !!python/tuple [1, 22] + - !!python/tuple [4, 21] + - !!python/tuple [18, 3] + - !!python/tuple [1, 26] + - !!python/tuple [16, 14] + - !!python/tuple [10, 18] + - !!python/tuple [15, 1] + - !!python/tuple [14, 1] + - !!python/tuple [4, 1] + - !!python/tuple [25, 27] + - !!python/tuple [14, 25] + - !!python/tuple [11, 10] + - !!python/tuple [24, 13] + - !!python/tuple [12, 5] + - !!python/tuple [30, 21] + - !!python/tuple [3, 31] + - !!python/tuple [12, 25] + - !!python/tuple [1, 29] + - !!python/tuple [26, 5] + - !!python/tuple [11, 18] + - !!python/tuple [11, 15] + - !!python/tuple [28, 24] + - !!python/tuple [17, 26] + - !!python/tuple [24, 4] + - !!python/tuple [5, 5] + - !!python/tuple [20, 0] + - !!python/tuple [25, 31] + - !!python/tuple [13, 14] + - !!python/tuple [4, 22] + - !!python/tuple [11, 13] + - !!python/tuple [14, 17] + - !!python/tuple [8, 17] + - !!python/tuple [16, 19] + - !!python/tuple [13, 30] + - !!python/tuple [11, 28] + - !!python/tuple [21, 18] + - !!python/tuple [5, 8] + - !!python/tuple [14, 22] + - !!python/tuple [20, 4] + - !!python/tuple [0, 9] + - !!python/tuple [21, 15] + - !!python/tuple [20, 16] + - !!python/tuple [27, 7] + - !!python/tuple [6, 7] + - !!python/tuple [4, 10] + - !!python/tuple [1, 24] + - !!python/tuple [11, 4] + - !!python/tuple [19, 27] + - !!python/tuple [25, 23] + - !!python/tuple [0, 7] + - !!python/tuple [25, 28] + - !!python/tuple [19, 10] + - !!python/tuple [16, 24] + - !!python/tuple [23, 29] + - !!python/tuple [26, 9] + - !!python/tuple [31, 9] + - !!python/tuple [26, 29] + - !!python/tuple [22, 24] + - !!python/tuple [30, 19] + - !!python/tuple [29, 22] + - !!python/tuple [3, 8] + - !!python/tuple [10, 1] + - !!python/tuple [6, 29] + - !!python/tuple [25, 20] + - !!python/tuple [4, 13] + - !!python/tuple [23, 1] + - !!python/tuple [17, 28] + - !!python/tuple [0, 30] + - !!python/tuple [22, 10] + - !!python/tuple [16, 1] + - !!python/tuple [31, 3] + - !!python/tuple [22, 21] + - !!python/tuple [6, 23] + - !!python/tuple [14, 19] + - !!python/tuple [5, 14] + - !!python/tuple [6, 9] + - !!python/tuple [31, 27] + - !!python/tuple [3, 30] + - !!python/tuple [28, 15] + - !!python/tuple [25, 21] + - !!python/tuple [14, 10] + - !!python/tuple [26, 31] + - !!python/tuple [15, 13] + - !!python/tuple [16, 7] + - !!python/tuple [26, 21] + - !!python/tuple [29, 24] + - !!python/tuple [26, 0] + - !!python/tuple [14, 28] + - !!python/tuple [6, 16] + - !!python/tuple [6, 31] + - !!python/tuple [15, 28] + - !!python/tuple [4, 8] + - !!python/tuple [29, 12] + - !!python/tuple [24, 5] + - !!python/tuple [6, 8] + - !!python/tuple [30, 23] + - !!python/tuple [4, 27] + - !!python/tuple [14, 13] + - !!python/tuple [10, 9] + - !!python/tuple [20, 10] + - !!python/tuple [29, 23] + - !!python/tuple [30, 24] + - !!python/tuple [30, 30] + - !!python/tuple [11, 16] + - !!python/tuple [6, 25] + - !!python/tuple [0, 31] + - !!python/tuple [8, 18] + - !!python/tuple [10, 27] + - !!python/tuple [3, 21] + - !!python/tuple [1, 3] + - !!python/tuple [13, 0] + - !!python/tuple [2, 21] + - !!python/tuple [30, 31] + - !!python/tuple [29, 13] + - !!python/tuple [26, 1] + - !!python/tuple [21, 3] + - !!python/tuple [13, 3] + - !!python/tuple [21, 0] + - !!python/tuple [29, 9] + - !!python/tuple [11, 17] + - !!python/tuple [30, 5] + - !!python/tuple [29, 10] + - !!python/tuple [5, 15] + - !!python/tuple [20, 22] + - !!python/tuple [28, 8] + - !!python/tuple [14, 0] + - !!python/tuple [15, 0] + - !!python/tuple [29, 4] + - !!python/tuple [22, 1] + - !!python/tuple [20, 1] + - !!python/tuple [15, 21] + - !!python/tuple [18, 1] + - !!python/tuple [2, 5] + - !!python/tuple [22, 16] + - !!python/tuple [15, 31] + - !!python/tuple [0, 22] + - !!python/tuple [3, 28] + - !!python/tuple [21, 2] + - !!python/tuple [17, 21] + - !!python/tuple [7, 26] + - !!python/tuple [10, 5] + - !!python/tuple [2, 25] + - !!python/tuple [27, 4] + - !!python/tuple [16, 2] + - !!python/tuple [8, 26] + - !!python/tuple [3, 10] + - !!python/tuple [24, 18] + - !!python/tuple [14, 5] + - !!python/tuple [30, 15] + - !!python/tuple [10, 7] + - !!python/tuple [19, 13] + - !!python/tuple [30, 16] + - !!python/tuple [8, 23] + - !!python/tuple [7, 7] + - !!python/tuple [24, 1] + - !!python/tuple [28, 17] + - !!python/tuple [2, 13] + - !!python/tuple [11, 20] + - !!python/tuple [10, 31] + - !!python/tuple [26, 16] + - !!python/tuple [25, 9] + - !!python/tuple [3, 3] + - !!python/tuple [5, 19] + - !!python/tuple [16, 8] + - !!python/tuple [18, 2] + - !!python/tuple [19, 16] + - !!python/tuple [19, 17] + - !!python/tuple [28, 6] + - !!python/tuple [19, 0] + - !!python/tuple [17, 23] + - !!python/tuple [29, 21] + - !!python/tuple [16, 6] + - !!python/tuple [16, 17] + - !!python/tuple [24, 25] + - !!python/tuple [10, 10] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex88.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex88.yaml new file mode 100644 index 0000000..b5ca3af --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex88.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [29, 23] + name: agent0 + start: [4, 26] +- goal: [0, 5] + name: agent1 + start: [16, 0] +- goal: [22, 26] + name: agent2 + start: [2, 30] +- goal: [27, 17] + name: agent3 + start: [21, 29] +- goal: [18, 24] + name: agent4 + start: [10, 25] +- goal: [14, 11] + name: agent5 + start: [11, 9] +- goal: [30, 8] + name: agent6 + start: [24, 5] +- goal: [15, 14] + name: agent7 + start: [1, 7] +- goal: [4, 25] + name: agent8 + start: [23, 28] +- goal: [0, 23] + name: agent9 + start: [17, 18] +- goal: [21, 23] + name: agent10 + start: [11, 27] +- goal: [18, 1] + name: agent11 + start: [2, 29] +- goal: [15, 13] + name: agent12 + start: [4, 4] +- goal: [31, 15] + name: agent13 + start: [9, 5] +- goal: [10, 5] + name: agent14 + start: [3, 18] +- goal: [18, 31] + name: agent15 + start: [6, 13] +- goal: [10, 25] + name: agent16 + start: [29, 11] +- goal: [2, 20] + name: agent17 + start: [18, 29] +- goal: [21, 22] + name: agent18 + start: [23, 23] +- goal: [18, 15] + name: agent19 + start: [30, 22] +- goal: [11, 4] + name: agent20 + start: [16, 25] +- goal: [12, 9] + name: agent21 + start: [26, 13] +- goal: [25, 27] + name: agent22 + start: [0, 0] +- goal: [22, 1] + name: agent23 + start: [18, 14] +- goal: [16, 8] + name: agent24 + start: [23, 30] +- goal: [22, 25] + name: agent25 + start: [30, 28] +- goal: [31, 23] + name: agent26 + start: [3, 2] +- goal: [11, 6] + name: agent27 + start: [31, 27] +- goal: [16, 19] + name: agent28 + start: [2, 7] +- goal: [6, 15] + name: agent29 + start: [11, 2] +- goal: [18, 26] + name: agent30 + start: [29, 10] +- goal: [20, 24] + name: agent31 + start: [19, 30] +- goal: [3, 11] + name: agent32 + start: [24, 18] +- goal: [30, 28] + name: agent33 + start: [1, 1] +- goal: [23, 26] + name: agent34 + start: [17, 31] +- goal: [4, 19] + name: agent35 + start: [13, 11] +- goal: [11, 14] + name: agent36 + start: [23, 0] +- goal: [0, 4] + name: agent37 + start: [1, 4] +- goal: [9, 10] + name: agent38 + start: [16, 29] +- goal: [1, 23] + name: agent39 + start: [6, 16] +- goal: [23, 20] + name: agent40 + start: [18, 0] +- goal: [25, 26] + name: agent41 + start: [30, 9] +- goal: [17, 8] + name: agent42 + start: [14, 16] +- goal: [7, 17] + name: agent43 + start: [9, 22] +- goal: [30, 19] + name: agent44 + start: [30, 2] +- goal: [2, 10] + name: agent45 + start: [23, 12] +- goal: [14, 22] + name: agent46 + start: [12, 10] +- goal: [27, 22] + name: agent47 + start: [17, 27] +- goal: [0, 14] + name: agent48 + start: [4, 23] +- goal: [4, 29] + name: agent49 + start: [4, 29] +- goal: [15, 12] + name: agent50 + start: [25, 17] +- goal: [16, 30] + name: agent51 + start: [24, 11] +- goal: [25, 30] + name: agent52 + start: [2, 22] +- goal: [17, 14] + name: agent53 + start: [23, 11] +- goal: [0, 10] + name: agent54 + start: [26, 27] +- goal: [13, 21] + name: agent55 + start: [2, 11] +- goal: [14, 6] + name: agent56 + start: [8, 22] +- goal: [26, 12] + name: agent57 + start: [14, 25] +- goal: [4, 28] + name: agent58 + start: [7, 12] +- goal: [5, 1] + name: agent59 + start: [21, 6] +- goal: [21, 17] + name: agent60 + start: [27, 18] +- goal: [1, 13] + name: agent61 + start: [21, 10] +- goal: [23, 13] + name: agent62 + start: [17, 3] +- goal: [11, 17] + name: agent63 + start: [18, 12] +- goal: [29, 31] + name: agent64 + start: [7, 10] +- goal: [20, 4] + name: agent65 + start: [8, 17] +- goal: [19, 4] + name: agent66 + start: [2, 18] +- goal: [9, 15] + name: agent67 + start: [0, 5] +- goal: [4, 26] + name: agent68 + start: [23, 14] +- goal: [2, 25] + name: agent69 + start: [19, 6] +- goal: [27, 7] + name: agent70 + start: [10, 31] +- goal: [30, 22] + name: agent71 + start: [6, 3] +- goal: [23, 29] + name: agent72 + start: [6, 5] +- goal: [11, 3] + name: agent73 + start: [18, 27] +- goal: [14, 31] + name: agent74 + start: [1, 27] +- goal: [13, 3] + name: agent75 + start: [30, 20] +- goal: [4, 14] + name: agent76 + start: [12, 21] +- goal: [14, 7] + name: agent77 + start: [30, 6] +- goal: [13, 2] + name: agent78 + start: [8, 13] +- goal: [7, 20] + name: agent79 + start: [18, 10] +- goal: [20, 20] + name: agent80 + start: [22, 15] +- goal: [8, 14] + name: agent81 + start: [17, 10] +- goal: [1, 16] + name: agent82 + start: [25, 9] +- goal: [16, 6] + name: agent83 + start: [27, 16] +- goal: [28, 12] + name: agent84 + start: [22, 29] +- goal: [5, 14] + name: agent85 + start: [21, 28] +- goal: [8, 25] + name: agent86 + start: [10, 22] +- goal: [16, 24] + name: agent87 + start: [22, 13] +- goal: [10, 9] + name: agent88 + start: [23, 20] +- goal: [25, 31] + name: agent89 + start: [12, 27] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [24, 27] + - !!python/tuple [3, 6] + - !!python/tuple [12, 8] + - !!python/tuple [8, 18] + - !!python/tuple [31, 29] + - !!python/tuple [1, 26] + - !!python/tuple [28, 11] + - !!python/tuple [28, 25] + - !!python/tuple [4, 11] + - !!python/tuple [23, 17] + - !!python/tuple [28, 16] + - !!python/tuple [4, 9] + - !!python/tuple [14, 17] + - !!python/tuple [21, 12] + - !!python/tuple [29, 1] + - !!python/tuple [20, 9] + - !!python/tuple [3, 26] + - !!python/tuple [20, 6] + - !!python/tuple [19, 20] + - !!python/tuple [27, 8] + - !!python/tuple [17, 15] + - !!python/tuple [26, 23] + - !!python/tuple [28, 3] + - !!python/tuple [3, 19] + - !!python/tuple [19, 16] + - !!python/tuple [16, 16] + - !!python/tuple [20, 18] + - !!python/tuple [19, 13] + - !!python/tuple [9, 7] + - !!python/tuple [31, 16] + - !!python/tuple [15, 15] + - !!python/tuple [21, 21] + - !!python/tuple [14, 15] + - !!python/tuple [18, 21] + - !!python/tuple [5, 28] + - !!python/tuple [1, 0] + - !!python/tuple [22, 27] + - !!python/tuple [8, 23] + - !!python/tuple [21, 4] + - !!python/tuple [3, 13] + - !!python/tuple [21, 26] + - !!python/tuple [25, 22] + - !!python/tuple [30, 29] + - !!python/tuple [21, 2] + - !!python/tuple [26, 24] + - !!python/tuple [8, 3] + - !!python/tuple [2, 3] + - !!python/tuple [8, 28] + - !!python/tuple [15, 19] + - !!python/tuple [13, 27] + - !!python/tuple [2, 26] + - !!python/tuple [0, 30] + - !!python/tuple [15, 8] + - !!python/tuple [9, 28] + - !!python/tuple [16, 18] + - !!python/tuple [22, 10] + - !!python/tuple [9, 18] + - !!python/tuple [11, 22] + - !!python/tuple [11, 20] + - !!python/tuple [28, 4] + - !!python/tuple [26, 3] + - !!python/tuple [12, 6] + - !!python/tuple [21, 1] + - !!python/tuple [17, 12] + - !!python/tuple [20, 7] + - !!python/tuple [12, 20] + - !!python/tuple [28, 28] + - !!python/tuple [9, 4] + - !!python/tuple [30, 16] + - !!python/tuple [29, 0] + - !!python/tuple [13, 8] + - !!python/tuple [15, 18] + - !!python/tuple [25, 2] + - !!python/tuple [3, 1] + - !!python/tuple [10, 26] + - !!python/tuple [21, 25] + - !!python/tuple [6, 18] + - !!python/tuple [30, 14] + - !!python/tuple [28, 13] + - !!python/tuple [7, 29] + - !!python/tuple [4, 27] + - !!python/tuple [18, 5] + - !!python/tuple [11, 10] + - !!python/tuple [21, 16] + - !!python/tuple [17, 5] + - !!python/tuple [6, 31] + - !!python/tuple [13, 0] + - !!python/tuple [11, 30] + - !!python/tuple [11, 31] + - !!python/tuple [24, 12] + - !!python/tuple [2, 24] + - !!python/tuple [13, 29] + - !!python/tuple [5, 3] + - !!python/tuple [6, 10] + - !!python/tuple [22, 7] + - !!python/tuple [5, 26] + - !!python/tuple [19, 22] + - !!python/tuple [4, 31] + - !!python/tuple [10, 17] + - !!python/tuple [7, 1] + - !!python/tuple [27, 13] + - !!python/tuple [3, 25] + - !!python/tuple [26, 26] + - !!python/tuple [7, 14] + - !!python/tuple [28, 10] + - !!python/tuple [3, 30] + - !!python/tuple [9, 13] + - !!python/tuple [17, 11] + - !!python/tuple [23, 15] + - !!python/tuple [20, 2] + - !!python/tuple [20, 19] + - !!python/tuple [20, 17] + - !!python/tuple [4, 5] + - !!python/tuple [20, 22] + - !!python/tuple [14, 28] + - !!python/tuple [17, 4] + - !!python/tuple [7, 21] + - !!python/tuple [18, 20] + - !!python/tuple [5, 0] + - !!python/tuple [12, 16] + - !!python/tuple [24, 6] + - !!python/tuple [27, 23] + - !!python/tuple [27, 28] + - !!python/tuple [6, 4] + - !!python/tuple [3, 10] + - !!python/tuple [8, 30] + - !!python/tuple [14, 9] + - !!python/tuple [10, 13] + - !!python/tuple [24, 14] + - !!python/tuple [16, 31] + - !!python/tuple [0, 6] + - !!python/tuple [11, 1] + - !!python/tuple [28, 22] + - !!python/tuple [0, 2] + - !!python/tuple [5, 27] + - !!python/tuple [23, 19] + - !!python/tuple [27, 30] + - !!python/tuple [1, 5] + - !!python/tuple [6, 21] + - !!python/tuple [23, 25] + - !!python/tuple [18, 25] + - !!python/tuple [13, 9] + - !!python/tuple [2, 1] + - !!python/tuple [17, 22] + - !!python/tuple [16, 9] + - !!python/tuple [3, 5] + - !!python/tuple [31, 28] + - !!python/tuple [31, 31] + - !!python/tuple [25, 14] + - !!python/tuple [13, 25] + - !!python/tuple [5, 17] + - !!python/tuple [9, 31] + - !!python/tuple [19, 27] + - !!python/tuple [4, 1] + - !!python/tuple [19, 7] + - !!python/tuple [5, 25] + - !!python/tuple [31, 30] + - !!python/tuple [17, 16] + - !!python/tuple [26, 2] + - !!python/tuple [29, 25] + - !!python/tuple [17, 26] + - !!python/tuple [11, 5] + - !!python/tuple [8, 5] + - !!python/tuple [12, 26] + - !!python/tuple [29, 13] + - !!python/tuple [26, 25] + - !!python/tuple [2, 15] + - !!python/tuple [5, 16] + - !!python/tuple [24, 28] + - !!python/tuple [9, 21] + - !!python/tuple [12, 31] + - !!python/tuple [23, 8] + - !!python/tuple [12, 15] + - !!python/tuple [1, 10] + - !!python/tuple [23, 16] + - !!python/tuple [5, 7] + - !!python/tuple [31, 17] + - !!python/tuple [17, 7] + - !!python/tuple [6, 19] + - !!python/tuple [27, 19] + - !!python/tuple [15, 28] + - !!python/tuple [7, 22] + - !!python/tuple [5, 12] + - !!python/tuple [24, 0] + - !!python/tuple [27, 11] + - !!python/tuple [15, 24] + - !!python/tuple [24, 17] + - !!python/tuple [5, 23] + - !!python/tuple [30, 27] + - !!python/tuple [15, 21] + - !!python/tuple [30, 4] + - !!python/tuple [21, 24] + - !!python/tuple [18, 30] + - !!python/tuple [12, 12] + - !!python/tuple [26, 30] + - !!python/tuple [27, 10] + - !!python/tuple [10, 2] + - !!python/tuple [12, 29] + - !!python/tuple [5, 10] + - !!python/tuple [20, 11] + - !!python/tuple [2, 0] + - !!python/tuple [29, 24] + - !!python/tuple [18, 11] + - !!python/tuple [21, 5] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex89.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex89.yaml new file mode 100644 index 0000000..feb4158 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex89.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [2, 22] + name: agent0 + start: [4, 9] +- goal: [8, 30] + name: agent1 + start: [27, 20] +- goal: [16, 7] + name: agent2 + start: [12, 4] +- goal: [4, 4] + name: agent3 + start: [19, 24] +- goal: [21, 23] + name: agent4 + start: [13, 6] +- goal: [24, 6] + name: agent5 + start: [20, 28] +- goal: [3, 30] + name: agent6 + start: [25, 16] +- goal: [0, 25] + name: agent7 + start: [22, 10] +- goal: [23, 3] + name: agent8 + start: [26, 30] +- goal: [20, 25] + name: agent9 + start: [31, 27] +- goal: [17, 12] + name: agent10 + start: [5, 12] +- goal: [15, 2] + name: agent11 + start: [26, 5] +- goal: [11, 9] + name: agent12 + start: [14, 9] +- goal: [29, 22] + name: agent13 + start: [3, 31] +- goal: [24, 23] + name: agent14 + start: [25, 5] +- goal: [4, 30] + name: agent15 + start: [1, 30] +- goal: [25, 16] + name: agent16 + start: [24, 27] +- goal: [26, 10] + name: agent17 + start: [4, 14] +- goal: [11, 31] + name: agent18 + start: [29, 31] +- goal: [31, 13] + name: agent19 + start: [4, 0] +- goal: [23, 1] + name: agent20 + start: [14, 24] +- goal: [25, 9] + name: agent21 + start: [20, 27] +- goal: [5, 3] + name: agent22 + start: [31, 17] +- goal: [5, 8] + name: agent23 + start: [23, 3] +- goal: [15, 26] + name: agent24 + start: [6, 6] +- goal: [30, 0] + name: agent25 + start: [28, 10] +- goal: [6, 26] + name: agent26 + start: [7, 26] +- goal: [0, 28] + name: agent27 + start: [15, 27] +- goal: [2, 14] + name: agent28 + start: [0, 25] +- goal: [24, 3] + name: agent29 + start: [18, 17] +- goal: [13, 0] + name: agent30 + start: [9, 23] +- goal: [18, 30] + name: agent31 + start: [10, 19] +- goal: [2, 11] + name: agent32 + start: [31, 21] +- goal: [3, 13] + name: agent33 + start: [5, 21] +- goal: [18, 11] + name: agent34 + start: [8, 25] +- goal: [11, 16] + name: agent35 + start: [17, 14] +- goal: [14, 0] + name: agent36 + start: [14, 26] +- goal: [9, 0] + name: agent37 + start: [24, 14] +- goal: [7, 28] + name: agent38 + start: [16, 2] +- goal: [2, 12] + name: agent39 + start: [28, 15] +- goal: [15, 27] + name: agent40 + start: [15, 12] +- goal: [22, 15] + name: agent41 + start: [0, 4] +- goal: [15, 11] + name: agent42 + start: [23, 11] +- goal: [3, 22] + name: agent43 + start: [8, 4] +- goal: [14, 16] + name: agent44 + start: [1, 27] +- goal: [31, 10] + name: agent45 + start: [11, 4] +- goal: [27, 29] + name: agent46 + start: [9, 15] +- goal: [26, 17] + name: agent47 + start: [13, 19] +- goal: [9, 24] + name: agent48 + start: [11, 8] +- goal: [29, 8] + name: agent49 + start: [22, 12] +- goal: [16, 15] + name: agent50 + start: [5, 0] +- goal: [19, 13] + name: agent51 + start: [24, 11] +- goal: [24, 17] + name: agent52 + start: [7, 11] +- goal: [21, 16] + name: agent53 + start: [22, 22] +- goal: [27, 3] + name: agent54 + start: [29, 15] +- goal: [14, 22] + name: agent55 + start: [26, 10] +- goal: [26, 26] + name: agent56 + start: [0, 11] +- goal: [0, 7] + name: agent57 + start: [20, 17] +- goal: [21, 13] + name: agent58 + start: [5, 13] +- goal: [12, 21] + name: agent59 + start: [17, 30] +- goal: [29, 18] + name: agent60 + start: [29, 3] +- goal: [0, 20] + name: agent61 + start: [19, 15] +- goal: [8, 29] + name: agent62 + start: [29, 29] +- goal: [16, 23] + name: agent63 + start: [23, 26] +- goal: [7, 21] + name: agent64 + start: [0, 18] +- goal: [14, 15] + name: agent65 + start: [10, 2] +- goal: [11, 19] + name: agent66 + start: [21, 12] +- goal: [8, 0] + name: agent67 + start: [17, 22] +- goal: [3, 31] + name: agent68 + start: [20, 19] +- goal: [23, 7] + name: agent69 + start: [6, 15] +- goal: [28, 14] + name: agent70 + start: [23, 31] +- goal: [27, 23] + name: agent71 + start: [14, 23] +- goal: [14, 7] + name: agent72 + start: [7, 0] +- goal: [31, 15] + name: agent73 + start: [0, 23] +- goal: [11, 30] + name: agent74 + start: [0, 6] +- goal: [24, 0] + name: agent75 + start: [19, 10] +- goal: [1, 30] + name: agent76 + start: [29, 18] +- goal: [7, 14] + name: agent77 + start: [27, 15] +- goal: [6, 27] + name: agent78 + start: [15, 17] +- goal: [19, 26] + name: agent79 + start: [23, 2] +- goal: [21, 7] + name: agent80 + start: [16, 10] +- goal: [12, 3] + name: agent81 + start: [20, 6] +- goal: [26, 3] + name: agent82 + start: [26, 16] +- goal: [28, 6] + name: agent83 + start: [25, 22] +- goal: [0, 17] + name: agent84 + start: [10, 21] +- goal: [14, 13] + name: agent85 + start: [18, 4] +- goal: [4, 25] + name: agent86 + start: [4, 4] +- goal: [27, 12] + name: agent87 + start: [17, 16] +- goal: [9, 21] + name: agent88 + start: [29, 30] +- goal: [22, 9] + name: agent89 + start: [0, 10] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [27, 26] + - !!python/tuple [29, 10] + - !!python/tuple [17, 3] + - !!python/tuple [10, 9] + - !!python/tuple [22, 5] + - !!python/tuple [7, 10] + - !!python/tuple [24, 15] + - !!python/tuple [30, 15] + - !!python/tuple [11, 25] + - !!python/tuple [23, 20] + - !!python/tuple [24, 13] + - !!python/tuple [11, 21] + - !!python/tuple [8, 18] + - !!python/tuple [26, 1] + - !!python/tuple [30, 3] + - !!python/tuple [12, 28] + - !!python/tuple [10, 6] + - !!python/tuple [25, 0] + - !!python/tuple [29, 0] + - !!python/tuple [23, 18] + - !!python/tuple [11, 18] + - !!python/tuple [8, 14] + - !!python/tuple [5, 29] + - !!python/tuple [30, 25] + - !!python/tuple [12, 14] + - !!python/tuple [25, 20] + - !!python/tuple [12, 18] + - !!python/tuple [8, 5] + - !!python/tuple [8, 8] + - !!python/tuple [16, 18] + - !!python/tuple [12, 12] + - !!python/tuple [8, 13] + - !!python/tuple [25, 30] + - !!python/tuple [3, 26] + - !!python/tuple [28, 0] + - !!python/tuple [20, 4] + - !!python/tuple [11, 17] + - !!python/tuple [26, 13] + - !!python/tuple [4, 1] + - !!python/tuple [2, 28] + - !!python/tuple [19, 20] + - !!python/tuple [23, 21] + - !!python/tuple [19, 23] + - !!python/tuple [0, 27] + - !!python/tuple [23, 9] + - !!python/tuple [19, 4] + - !!python/tuple [26, 6] + - !!python/tuple [18, 5] + - !!python/tuple [16, 11] + - !!python/tuple [10, 25] + - !!python/tuple [2, 7] + - !!python/tuple [15, 10] + - !!python/tuple [28, 29] + - !!python/tuple [20, 30] + - !!python/tuple [27, 24] + - !!python/tuple [19, 0] + - !!python/tuple [8, 22] + - !!python/tuple [14, 29] + - !!python/tuple [9, 30] + - !!python/tuple [9, 11] + - !!python/tuple [29, 26] + - !!python/tuple [6, 24] + - !!python/tuple [14, 14] + - !!python/tuple [25, 28] + - !!python/tuple [0, 16] + - !!python/tuple [17, 8] + - !!python/tuple [1, 6] + - !!python/tuple [21, 8] + - !!python/tuple [26, 23] + - !!python/tuple [1, 14] + - !!python/tuple [7, 3] + - !!python/tuple [5, 27] + - !!python/tuple [12, 17] + - !!python/tuple [15, 1] + - !!python/tuple [28, 13] + - !!python/tuple [27, 25] + - !!python/tuple [2, 20] + - !!python/tuple [18, 27] + - !!python/tuple [0, 22] + - !!python/tuple [14, 11] + - !!python/tuple [17, 31] + - !!python/tuple [17, 0] + - !!python/tuple [10, 8] + - !!python/tuple [5, 23] + - !!python/tuple [7, 7] + - !!python/tuple [27, 6] + - !!python/tuple [17, 28] + - !!python/tuple [12, 23] + - !!python/tuple [2, 27] + - !!python/tuple [13, 22] + - !!python/tuple [28, 17] + - !!python/tuple [17, 19] + - !!python/tuple [20, 26] + - !!python/tuple [10, 29] + - !!python/tuple [3, 21] + - !!python/tuple [7, 6] + - !!python/tuple [24, 18] + - !!python/tuple [9, 29] + - !!python/tuple [16, 19] + - !!python/tuple [14, 25] + - !!python/tuple [7, 24] + - !!python/tuple [8, 7] + - !!python/tuple [24, 31] + - !!python/tuple [4, 22] + - !!python/tuple [12, 16] + - !!python/tuple [9, 10] + - !!python/tuple [10, 16] + - !!python/tuple [19, 18] + - !!python/tuple [26, 21] + - !!python/tuple [26, 14] + - !!python/tuple [21, 28] + - !!python/tuple [23, 24] + - !!python/tuple [16, 8] + - !!python/tuple [29, 2] + - !!python/tuple [24, 19] + - !!python/tuple [21, 4] + - !!python/tuple [20, 29] + - !!python/tuple [26, 20] + - !!python/tuple [16, 29] + - !!python/tuple [22, 31] + - !!python/tuple [30, 4] + - !!python/tuple [17, 5] + - !!python/tuple [23, 27] + - !!python/tuple [28, 18] + - !!python/tuple [25, 7] + - !!python/tuple [3, 6] + - !!python/tuple [19, 16] + - !!python/tuple [9, 16] + - !!python/tuple [14, 27] + - !!python/tuple [28, 4] + - !!python/tuple [4, 5] + - !!python/tuple [28, 1] + - !!python/tuple [18, 8] + - !!python/tuple [18, 14] + - !!python/tuple [14, 18] + - !!python/tuple [30, 24] + - !!python/tuple [21, 30] + - !!python/tuple [4, 7] + - !!python/tuple [10, 22] + - !!python/tuple [1, 8] + - !!python/tuple [28, 16] + - !!python/tuple [5, 5] + - !!python/tuple [5, 18] + - !!python/tuple [19, 19] + - !!python/tuple [21, 2] + - !!python/tuple [27, 16] + - !!python/tuple [25, 24] + - !!python/tuple [30, 19] + - !!python/tuple [21, 31] + - !!python/tuple [3, 7] + - !!python/tuple [22, 1] + - !!python/tuple [13, 31] + - !!python/tuple [6, 20] + - !!python/tuple [11, 14] + - !!python/tuple [28, 30] + - !!python/tuple [25, 18] + - !!python/tuple [11, 24] + - !!python/tuple [24, 7] + - !!python/tuple [0, 15] + - !!python/tuple [29, 21] + - !!python/tuple [2, 2] + - !!python/tuple [21, 11] + - !!python/tuple [8, 11] + - !!python/tuple [0, 5] + - !!python/tuple [8, 16] + - !!python/tuple [1, 12] + - !!python/tuple [24, 16] + - !!python/tuple [20, 5] + - !!python/tuple [20, 7] + - !!python/tuple [17, 10] + - !!python/tuple [28, 23] + - !!python/tuple [29, 14] + - !!python/tuple [3, 3] + - !!python/tuple [14, 12] + - !!python/tuple [8, 15] + - !!python/tuple [11, 13] + - !!python/tuple [28, 22] + - !!python/tuple [4, 24] + - !!python/tuple [13, 30] + - !!python/tuple [28, 9] + - !!python/tuple [21, 21] + - !!python/tuple [15, 23] + - !!python/tuple [17, 26] + - !!python/tuple [13, 27] + - !!python/tuple [17, 15] + - !!python/tuple [5, 1] + - !!python/tuple [22, 29] + - !!python/tuple [30, 2] + - !!python/tuple [18, 25] + - !!python/tuple [4, 17] + - !!python/tuple [9, 31] + - !!python/tuple [21, 25] + - !!python/tuple [16, 31] + - !!python/tuple [26, 18] + - !!python/tuple [13, 26] + - !!python/tuple [26, 25] + - !!python/tuple [11, 11] + - !!python/tuple [29, 25] + - !!python/tuple [12, 0] + - !!python/tuple [17, 17] + - !!python/tuple [18, 10] + - !!python/tuple [26, 27] + - !!python/tuple [15, 14] + - !!python/tuple [9, 9] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex9.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex9.yaml new file mode 100644 index 0000000..87367be --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex9.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [23, 17] + name: agent0 + start: [8, 28] +- goal: [31, 12] + name: agent1 + start: [25, 28] +- goal: [20, 18] + name: agent2 + start: [5, 22] +- goal: [23, 9] + name: agent3 + start: [23, 8] +- goal: [24, 8] + name: agent4 + start: [23, 7] +- goal: [30, 24] + name: agent5 + start: [12, 13] +- goal: [1, 24] + name: agent6 + start: [22, 9] +- goal: [13, 4] + name: agent7 + start: [4, 30] +- goal: [21, 30] + name: agent8 + start: [23, 24] +- goal: [16, 15] + name: agent9 + start: [7, 0] +- goal: [21, 25] + name: agent10 + start: [15, 13] +- goal: [12, 17] + name: agent11 + start: [30, 10] +- goal: [0, 19] + name: agent12 + start: [28, 23] +- goal: [30, 16] + name: agent13 + start: [9, 9] +- goal: [18, 15] + name: agent14 + start: [0, 8] +- goal: [12, 22] + name: agent15 + start: [3, 15] +- goal: [26, 16] + name: agent16 + start: [28, 3] +- goal: [25, 20] + name: agent17 + start: [5, 11] +- goal: [22, 23] + name: agent18 + start: [14, 16] +- goal: [21, 20] + name: agent19 + start: [9, 1] +- goal: [2, 10] + name: agent20 + start: [31, 5] +- goal: [15, 26] + name: agent21 + start: [23, 10] +- goal: [11, 29] + name: agent22 + start: [28, 29] +- goal: [26, 25] + name: agent23 + start: [8, 12] +- goal: [25, 0] + name: agent24 + start: [24, 24] +- goal: [23, 22] + name: agent25 + start: [16, 16] +- goal: [6, 4] + name: agent26 + start: [26, 12] +- goal: [7, 8] + name: agent27 + start: [1, 19] +- goal: [1, 5] + name: agent28 + start: [27, 9] +- goal: [21, 8] + name: agent29 + start: [22, 4] +- goal: [12, 12] + name: agent30 + start: [15, 14] +- goal: [12, 3] + name: agent31 + start: [18, 28] +- goal: [11, 28] + name: agent32 + start: [5, 27] +- goal: [20, 24] + name: agent33 + start: [10, 17] +- goal: [31, 3] + name: agent34 + start: [21, 20] +- goal: [5, 29] + name: agent35 + start: [15, 19] +- goal: [26, 27] + name: agent36 + start: [1, 2] +- goal: [3, 26] + name: agent37 + start: [5, 9] +- goal: [19, 17] + name: agent38 + start: [31, 11] +- goal: [14, 27] + name: agent39 + start: [23, 6] +- goal: [5, 26] + name: agent40 + start: [2, 10] +- goal: [23, 12] + name: agent41 + start: [30, 28] +- goal: [22, 8] + name: agent42 + start: [4, 13] +- goal: [25, 21] + name: agent43 + start: [19, 14] +- goal: [3, 13] + name: agent44 + start: [18, 16] +- goal: [26, 3] + name: agent45 + start: [1, 16] +- goal: [28, 8] + name: agent46 + start: [13, 20] +- goal: [8, 8] + name: agent47 + start: [16, 24] +- goal: [16, 10] + name: agent48 + start: [31, 12] +- goal: [17, 6] + name: agent49 + start: [24, 18] +- goal: [22, 15] + name: agent50 + start: [27, 20] +- goal: [2, 22] + name: agent51 + start: [3, 28] +- goal: [9, 30] + name: agent52 + start: [6, 21] +- goal: [29, 30] + name: agent53 + start: [17, 19] +- goal: [29, 11] + name: agent54 + start: [23, 16] +- goal: [29, 23] + name: agent55 + start: [15, 25] +- goal: [0, 9] + name: agent56 + start: [25, 24] +- goal: [15, 4] + name: agent57 + start: [7, 28] +- goal: [27, 18] + name: agent58 + start: [16, 14] +- goal: [15, 10] + name: agent59 + start: [17, 28] +- goal: [31, 6] + name: agent60 + start: [28, 11] +- goal: [19, 28] + name: agent61 + start: [9, 0] +- goal: [21, 5] + name: agent62 + start: [9, 19] +- goal: [12, 4] + name: agent63 + start: [23, 28] +- goal: [6, 0] + name: agent64 + start: [2, 15] +- goal: [19, 6] + name: agent65 + start: [30, 3] +- goal: [1, 16] + name: agent66 + start: [11, 27] +- goal: [18, 25] + name: agent67 + start: [24, 0] +- goal: [9, 11] + name: agent68 + start: [22, 18] +- goal: [19, 3] + name: agent69 + start: [9, 8] +- goal: [5, 23] + name: agent70 + start: [29, 1] +- goal: [26, 2] + name: agent71 + start: [6, 30] +- goal: [9, 25] + name: agent72 + start: [20, 1] +- goal: [19, 11] + name: agent73 + start: [24, 15] +- goal: [4, 29] + name: agent74 + start: [10, 3] +- goal: [1, 26] + name: agent75 + start: [4, 17] +- goal: [25, 29] + name: agent76 + start: [3, 13] +- goal: [16, 0] + name: agent77 + start: [12, 15] +- goal: [27, 29] + name: agent78 + start: [11, 3] +- goal: [1, 17] + name: agent79 + start: [27, 2] +- goal: [22, 20] + name: agent80 + start: [24, 9] +- goal: [19, 4] + name: agent81 + start: [8, 24] +- goal: [2, 27] + name: agent82 + start: [8, 7] +- goal: [8, 20] + name: agent83 + start: [13, 22] +- goal: [11, 31] + name: agent84 + start: [21, 5] +- goal: [9, 15] + name: agent85 + start: [26, 29] +- goal: [22, 12] + name: agent86 + start: [5, 19] +- goal: [4, 22] + name: agent87 + start: [13, 23] +- goal: [4, 2] + name: agent88 + start: [27, 19] +- goal: [1, 0] + name: agent89 + start: [9, 26] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [1, 13] + - !!python/tuple [13, 31] + - !!python/tuple [7, 27] + - !!python/tuple [13, 8] + - !!python/tuple [8, 14] + - !!python/tuple [10, 15] + - !!python/tuple [16, 27] + - !!python/tuple [6, 9] + - !!python/tuple [17, 0] + - !!python/tuple [8, 27] + - !!python/tuple [16, 7] + - !!python/tuple [15, 16] + - !!python/tuple [3, 7] + - !!python/tuple [0, 13] + - !!python/tuple [6, 29] + - !!python/tuple [23, 15] + - !!python/tuple [4, 8] + - !!python/tuple [5, 6] + - !!python/tuple [21, 19] + - !!python/tuple [17, 3] + - !!python/tuple [13, 5] + - !!python/tuple [15, 22] + - !!python/tuple [20, 11] + - !!python/tuple [10, 21] + - !!python/tuple [15, 0] + - !!python/tuple [30, 13] + - !!python/tuple [16, 31] + - !!python/tuple [13, 1] + - !!python/tuple [19, 10] + - !!python/tuple [16, 12] + - !!python/tuple [17, 23] + - !!python/tuple [21, 29] + - !!python/tuple [25, 15] + - !!python/tuple [0, 30] + - !!python/tuple [29, 4] + - !!python/tuple [26, 26] + - !!python/tuple [29, 19] + - !!python/tuple [28, 6] + - !!python/tuple [12, 24] + - !!python/tuple [18, 7] + - !!python/tuple [24, 19] + - !!python/tuple [27, 27] + - !!python/tuple [31, 26] + - !!python/tuple [31, 7] + - !!python/tuple [16, 28] + - !!python/tuple [24, 28] + - !!python/tuple [6, 28] + - !!python/tuple [2, 1] + - !!python/tuple [19, 2] + - !!python/tuple [2, 30] + - !!python/tuple [6, 20] + - !!python/tuple [1, 30] + - !!python/tuple [26, 6] + - !!python/tuple [16, 20] + - !!python/tuple [14, 22] + - !!python/tuple [23, 4] + - !!python/tuple [28, 10] + - !!python/tuple [24, 22] + - !!python/tuple [21, 16] + - !!python/tuple [22, 11] + - !!python/tuple [30, 11] + - !!python/tuple [3, 31] + - !!python/tuple [8, 0] + - !!python/tuple [6, 14] + - !!python/tuple [20, 22] + - !!python/tuple [2, 20] + - !!python/tuple [31, 8] + - !!python/tuple [11, 17] + - !!python/tuple [29, 14] + - !!python/tuple [18, 10] + - !!python/tuple [30, 1] + - !!python/tuple [4, 5] + - !!python/tuple [11, 19] + - !!python/tuple [0, 26] + - !!python/tuple [7, 11] + - !!python/tuple [0, 2] + - !!python/tuple [28, 9] + - !!python/tuple [3, 18] + - !!python/tuple [15, 17] + - !!python/tuple [2, 5] + - !!python/tuple [17, 24] + - !!python/tuple [7, 7] + - !!python/tuple [17, 17] + - !!python/tuple [0, 4] + - !!python/tuple [8, 10] + - !!python/tuple [6, 18] + - !!python/tuple [8, 11] + - !!python/tuple [27, 24] + - !!python/tuple [31, 27] + - !!python/tuple [1, 6] + - !!python/tuple [30, 29] + - !!python/tuple [28, 28] + - !!python/tuple [2, 2] + - !!python/tuple [21, 17] + - !!python/tuple [26, 10] + - !!python/tuple [2, 28] + - !!python/tuple [10, 0] + - !!python/tuple [24, 14] + - !!python/tuple [22, 26] + - !!python/tuple [2, 13] + - !!python/tuple [7, 29] + - !!python/tuple [29, 27] + - !!python/tuple [18, 2] + - !!python/tuple [16, 25] + - !!python/tuple [11, 12] + - !!python/tuple [6, 22] + - !!python/tuple [14, 19] + - !!python/tuple [13, 29] + - !!python/tuple [7, 5] + - !!python/tuple [2, 18] + - !!python/tuple [8, 16] + - !!python/tuple [30, 4] + - !!python/tuple [12, 5] + - !!python/tuple [28, 31] + - !!python/tuple [7, 25] + - !!python/tuple [4, 20] + - !!python/tuple [15, 28] + - !!python/tuple [28, 0] + - !!python/tuple [28, 19] + - !!python/tuple [4, 31] + - !!python/tuple [15, 9] + - !!python/tuple [29, 8] + - !!python/tuple [25, 16] + - !!python/tuple [23, 5] + - !!python/tuple [21, 31] + - !!python/tuple [25, 6] + - !!python/tuple [3, 23] + - !!python/tuple [10, 19] + - !!python/tuple [9, 18] + - !!python/tuple [12, 23] + - !!python/tuple [24, 11] + - !!python/tuple [28, 17] + - !!python/tuple [7, 26] + - !!python/tuple [31, 9] + - !!python/tuple [26, 20] + - !!python/tuple [3, 5] + - !!python/tuple [6, 24] + - !!python/tuple [17, 10] + - !!python/tuple [29, 10] + - !!python/tuple [23, 19] + - !!python/tuple [25, 5] + - !!python/tuple [9, 22] + - !!python/tuple [21, 4] + - !!python/tuple [0, 11] + - !!python/tuple [17, 1] + - !!python/tuple [5, 17] + - !!python/tuple [5, 20] + - !!python/tuple [21, 9] + - !!python/tuple [31, 13] + - !!python/tuple [17, 18] + - !!python/tuple [6, 26] + - !!python/tuple [10, 24] + - !!python/tuple [26, 17] + - !!python/tuple [25, 14] + - !!python/tuple [31, 4] + - !!python/tuple [2, 11] + - !!python/tuple [19, 15] + - !!python/tuple [30, 8] + - !!python/tuple [30, 19] + - !!python/tuple [8, 25] + - !!python/tuple [2, 24] + - !!python/tuple [28, 13] + - !!python/tuple [6, 1] + - !!python/tuple [16, 23] + - !!python/tuple [15, 30] + - !!python/tuple [27, 4] + - !!python/tuple [24, 31] + - !!python/tuple [20, 16] + - !!python/tuple [16, 8] + - !!python/tuple [20, 27] + - !!python/tuple [14, 13] + - !!python/tuple [28, 18] + - !!python/tuple [20, 4] + - !!python/tuple [10, 9] + - !!python/tuple [1, 12] + - !!python/tuple [18, 23] + - !!python/tuple [25, 17] + - !!python/tuple [21, 28] + - !!python/tuple [1, 11] + - !!python/tuple [3, 12] + - !!python/tuple [11, 7] + - !!python/tuple [1, 22] + - !!python/tuple [16, 4] + - !!python/tuple [11, 24] + - !!python/tuple [12, 27] + - !!python/tuple [20, 13] + - !!python/tuple [17, 22] + - !!python/tuple [4, 15] + - !!python/tuple [16, 3] + - !!python/tuple [22, 10] + - !!python/tuple [12, 28] + - !!python/tuple [27, 15] + - !!python/tuple [4, 23] + - !!python/tuple [5, 24] + - !!python/tuple [18, 13] + - !!python/tuple [10, 5] + - !!python/tuple [10, 16] + - !!python/tuple [25, 11] + - !!python/tuple [5, 28] + - !!python/tuple [6, 25] + - !!python/tuple [17, 26] + - !!python/tuple [3, 25] + - !!python/tuple [6, 3] + - !!python/tuple [18, 19] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex90.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex90.yaml new file mode 100644 index 0000000..87f685d --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex90.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [0, 0] + name: agent0 + start: [12, 0] +- goal: [22, 1] + name: agent1 + start: [31, 18] +- goal: [16, 0] + name: agent2 + start: [17, 2] +- goal: [24, 24] + name: agent3 + start: [14, 18] +- goal: [10, 23] + name: agent4 + start: [8, 31] +- goal: [1, 21] + name: agent5 + start: [29, 5] +- goal: [27, 2] + name: agent6 + start: [31, 12] +- goal: [20, 26] + name: agent7 + start: [25, 28] +- goal: [1, 10] + name: agent8 + start: [23, 4] +- goal: [7, 6] + name: agent9 + start: [14, 1] +- goal: [14, 0] + name: agent10 + start: [24, 30] +- goal: [17, 14] + name: agent11 + start: [29, 16] +- goal: [23, 19] + name: agent12 + start: [27, 13] +- goal: [18, 23] + name: agent13 + start: [19, 27] +- goal: [27, 18] + name: agent14 + start: [25, 12] +- goal: [30, 19] + name: agent15 + start: [23, 28] +- goal: [29, 5] + name: agent16 + start: [22, 12] +- goal: [18, 1] + name: agent17 + start: [27, 7] +- goal: [5, 24] + name: agent18 + start: [16, 25] +- goal: [21, 10] + name: agent19 + start: [21, 19] +- goal: [22, 22] + name: agent20 + start: [3, 6] +- goal: [8, 9] + name: agent21 + start: [21, 14] +- goal: [28, 15] + name: agent22 + start: [21, 29] +- goal: [19, 6] + name: agent23 + start: [21, 16] +- goal: [25, 21] + name: agent24 + start: [5, 6] +- goal: [28, 30] + name: agent25 + start: [30, 11] +- goal: [11, 4] + name: agent26 + start: [14, 11] +- goal: [19, 15] + name: agent27 + start: [0, 15] +- goal: [30, 10] + name: agent28 + start: [11, 20] +- goal: [3, 11] + name: agent29 + start: [9, 29] +- goal: [9, 4] + name: agent30 + start: [20, 4] +- goal: [16, 1] + name: agent31 + start: [10, 7] +- goal: [0, 29] + name: agent32 + start: [24, 2] +- goal: [31, 24] + name: agent33 + start: [27, 1] +- goal: [24, 5] + name: agent34 + start: [15, 29] +- goal: [23, 22] + name: agent35 + start: [7, 16] +- goal: [11, 22] + name: agent36 + start: [22, 30] +- goal: [9, 16] + name: agent37 + start: [4, 19] +- goal: [5, 18] + name: agent38 + start: [23, 27] +- goal: [23, 5] + name: agent39 + start: [16, 30] +- goal: [11, 10] + name: agent40 + start: [13, 18] +- goal: [24, 27] + name: agent41 + start: [2, 6] +- goal: [26, 15] + name: agent42 + start: [13, 31] +- goal: [14, 20] + name: agent43 + start: [1, 12] +- goal: [23, 27] + name: agent44 + start: [7, 7] +- goal: [30, 16] + name: agent45 + start: [11, 23] +- goal: [2, 20] + name: agent46 + start: [2, 5] +- goal: [2, 3] + name: agent47 + start: [21, 11] +- goal: [17, 0] + name: agent48 + start: [10, 24] +- goal: [5, 1] + name: agent49 + start: [16, 0] +- goal: [30, 21] + name: agent50 + start: [22, 11] +- goal: [21, 27] + name: agent51 + start: [9, 11] +- goal: [10, 15] + name: agent52 + start: [14, 17] +- goal: [0, 6] + name: agent53 + start: [12, 24] +- goal: [13, 5] + name: agent54 + start: [15, 13] +- goal: [10, 8] + name: agent55 + start: [8, 3] +- goal: [2, 19] + name: agent56 + start: [18, 20] +- goal: [31, 18] + name: agent57 + start: [8, 28] +- goal: [23, 14] + name: agent58 + start: [20, 29] +- goal: [20, 31] + name: agent59 + start: [23, 16] +- goal: [0, 15] + name: agent60 + start: [5, 31] +- goal: [6, 11] + name: agent61 + start: [1, 7] +- goal: [10, 3] + name: agent62 + start: [0, 17] +- goal: [29, 17] + name: agent63 + start: [22, 18] +- goal: [24, 14] + name: agent64 + start: [3, 11] +- goal: [15, 29] + name: agent65 + start: [7, 14] +- goal: [29, 6] + name: agent66 + start: [6, 7] +- goal: [8, 24] + name: agent67 + start: [2, 2] +- goal: [15, 1] + name: agent68 + start: [5, 26] +- goal: [29, 27] + name: agent69 + start: [8, 26] +- goal: [3, 17] + name: agent70 + start: [19, 29] +- goal: [31, 16] + name: agent71 + start: [14, 24] +- goal: [23, 28] + name: agent72 + start: [16, 2] +- goal: [13, 0] + name: agent73 + start: [20, 23] +- goal: [4, 18] + name: agent74 + start: [2, 26] +- goal: [7, 26] + name: agent75 + start: [0, 19] +- goal: [25, 31] + name: agent76 + start: [3, 23] +- goal: [11, 6] + name: agent77 + start: [0, 3] +- goal: [21, 11] + name: agent78 + start: [18, 23] +- goal: [14, 21] + name: agent79 + start: [14, 19] +- goal: [27, 10] + name: agent80 + start: [20, 6] +- goal: [4, 31] + name: agent81 + start: [19, 12] +- goal: [30, 9] + name: agent82 + start: [29, 23] +- goal: [1, 9] + name: agent83 + start: [22, 17] +- goal: [20, 7] + name: agent84 + start: [29, 25] +- goal: [19, 13] + name: agent85 + start: [29, 6] +- goal: [24, 1] + name: agent86 + start: [4, 31] +- goal: [17, 21] + name: agent87 + start: [19, 14] +- goal: [11, 27] + name: agent88 + start: [1, 13] +- goal: [20, 2] + name: agent89 + start: [11, 5] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [24, 18] + - !!python/tuple [0, 22] + - !!python/tuple [17, 22] + - !!python/tuple [12, 1] + - !!python/tuple [12, 26] + - !!python/tuple [2, 25] + - !!python/tuple [31, 10] + - !!python/tuple [26, 28] + - !!python/tuple [23, 26] + - !!python/tuple [1, 3] + - !!python/tuple [7, 11] + - !!python/tuple [11, 31] + - !!python/tuple [3, 27] + - !!python/tuple [31, 14] + - !!python/tuple [10, 27] + - !!python/tuple [22, 10] + - !!python/tuple [28, 4] + - !!python/tuple [22, 16] + - !!python/tuple [1, 0] + - !!python/tuple [30, 8] + - !!python/tuple [12, 13] + - !!python/tuple [3, 15] + - !!python/tuple [24, 8] + - !!python/tuple [1, 5] + - !!python/tuple [7, 9] + - !!python/tuple [7, 30] + - !!python/tuple [24, 9] + - !!python/tuple [3, 0] + - !!python/tuple [6, 10] + - !!python/tuple [0, 24] + - !!python/tuple [14, 27] + - !!python/tuple [0, 7] + - !!python/tuple [8, 10] + - !!python/tuple [0, 5] + - !!python/tuple [4, 15] + - !!python/tuple [10, 6] + - !!python/tuple [22, 13] + - !!python/tuple [8, 27] + - !!python/tuple [28, 7] + - !!python/tuple [29, 22] + - !!python/tuple [25, 2] + - !!python/tuple [5, 10] + - !!python/tuple [9, 25] + - !!python/tuple [23, 7] + - !!python/tuple [18, 13] + - !!python/tuple [10, 18] + - !!python/tuple [24, 15] + - !!python/tuple [18, 11] + - !!python/tuple [2, 28] + - !!python/tuple [13, 22] + - !!python/tuple [9, 22] + - !!python/tuple [16, 16] + - !!python/tuple [13, 19] + - !!python/tuple [23, 20] + - !!python/tuple [11, 0] + - !!python/tuple [11, 15] + - !!python/tuple [31, 11] + - !!python/tuple [9, 17] + - !!python/tuple [28, 2] + - !!python/tuple [26, 18] + - !!python/tuple [16, 19] + - !!python/tuple [12, 25] + - !!python/tuple [17, 27] + - !!python/tuple [12, 15] + - !!python/tuple [17, 13] + - !!python/tuple [7, 23] + - !!python/tuple [25, 19] + - !!python/tuple [9, 7] + - !!python/tuple [0, 9] + - !!python/tuple [4, 10] + - !!python/tuple [8, 13] + - !!python/tuple [16, 28] + - !!python/tuple [9, 14] + - !!python/tuple [13, 24] + - !!python/tuple [16, 21] + - !!python/tuple [12, 11] + - !!python/tuple [5, 11] + - !!python/tuple [13, 27] + - !!python/tuple [12, 14] + - !!python/tuple [19, 7] + - !!python/tuple [4, 22] + - !!python/tuple [31, 0] + - !!python/tuple [21, 9] + - !!python/tuple [8, 16] + - !!python/tuple [2, 22] + - !!python/tuple [21, 30] + - !!python/tuple [30, 3] + - !!python/tuple [0, 8] + - !!python/tuple [15, 4] + - !!python/tuple [30, 0] + - !!python/tuple [3, 3] + - !!python/tuple [31, 5] + - !!python/tuple [1, 17] + - !!python/tuple [11, 26] + - !!python/tuple [3, 8] + - !!python/tuple [23, 13] + - !!python/tuple [6, 27] + - !!python/tuple [31, 30] + - !!python/tuple [27, 15] + - !!python/tuple [9, 5] + - !!python/tuple [4, 6] + - !!python/tuple [4, 23] + - !!python/tuple [1, 31] + - !!python/tuple [24, 28] + - !!python/tuple [0, 30] + - !!python/tuple [30, 27] + - !!python/tuple [26, 30] + - !!python/tuple [0, 14] + - !!python/tuple [7, 21] + - !!python/tuple [2, 10] + - !!python/tuple [16, 10] + - !!python/tuple [29, 18] + - !!python/tuple [29, 13] + - !!python/tuple [3, 9] + - !!python/tuple [4, 21] + - !!python/tuple [13, 4] + - !!python/tuple [13, 7] + - !!python/tuple [19, 1] + - !!python/tuple [31, 13] + - !!python/tuple [14, 16] + - !!python/tuple [20, 27] + - !!python/tuple [12, 5] + - !!python/tuple [0, 27] + - !!python/tuple [28, 20] + - !!python/tuple [19, 31] + - !!python/tuple [21, 21] + - !!python/tuple [5, 7] + - !!python/tuple [6, 19] + - !!python/tuple [31, 22] + - !!python/tuple [15, 11] + - !!python/tuple [19, 20] + - !!python/tuple [9, 20] + - !!python/tuple [29, 29] + - !!python/tuple [29, 30] + - !!python/tuple [26, 14] + - !!python/tuple [11, 25] + - !!python/tuple [6, 22] + - !!python/tuple [22, 26] + - !!python/tuple [22, 2] + - !!python/tuple [3, 20] + - !!python/tuple [2, 17] + - !!python/tuple [1, 24] + - !!python/tuple [30, 22] + - !!python/tuple [26, 20] + - !!python/tuple [12, 6] + - !!python/tuple [16, 11] + - !!python/tuple [1, 14] + - !!python/tuple [0, 28] + - !!python/tuple [18, 2] + - !!python/tuple [28, 13] + - !!python/tuple [2, 14] + - !!python/tuple [30, 7] + - !!python/tuple [12, 9] + - !!python/tuple [15, 24] + - !!python/tuple [28, 11] + - !!python/tuple [14, 10] + - !!python/tuple [9, 0] + - !!python/tuple [29, 9] + - !!python/tuple [13, 3] + - !!python/tuple [11, 17] + - !!python/tuple [16, 6] + - !!python/tuple [22, 23] + - !!python/tuple [20, 5] + - !!python/tuple [29, 26] + - !!python/tuple [28, 21] + - !!python/tuple [19, 23] + - !!python/tuple [23, 23] + - !!python/tuple [14, 5] + - !!python/tuple [27, 16] + - !!python/tuple [27, 24] + - !!python/tuple [16, 17] + - !!python/tuple [26, 1] + - !!python/tuple [23, 29] + - !!python/tuple [21, 3] + - !!python/tuple [15, 27] + - !!python/tuple [8, 29] + - !!python/tuple [30, 30] + - !!python/tuple [7, 24] + - !!python/tuple [8, 8] + - !!python/tuple [31, 1] + - !!python/tuple [17, 4] + - !!python/tuple [29, 11] + - !!python/tuple [16, 8] + - !!python/tuple [5, 27] + - !!python/tuple [20, 19] + - !!python/tuple [10, 26] + - !!python/tuple [0, 13] + - !!python/tuple [1, 27] + - !!python/tuple [23, 15] + - !!python/tuple [6, 20] + - !!python/tuple [26, 6] + - !!python/tuple [15, 15] + - !!python/tuple [14, 7] + - !!python/tuple [28, 8] + - !!python/tuple [4, 7] + - !!python/tuple [5, 19] + - !!python/tuple [4, 2] + - !!python/tuple [3, 29] + - !!python/tuple [29, 31] + - !!python/tuple [18, 12] + - !!python/tuple [24, 12] + - !!python/tuple [27, 3] + - !!python/tuple [6, 3] + - !!python/tuple [7, 3] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex91.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex91.yaml new file mode 100644 index 0000000..ab036f2 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex91.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [17, 27] + name: agent0 + start: [0, 16] +- goal: [5, 28] + name: agent1 + start: [6, 2] +- goal: [1, 25] + name: agent2 + start: [20, 29] +- goal: [27, 16] + name: agent3 + start: [15, 15] +- goal: [28, 16] + name: agent4 + start: [30, 17] +- goal: [6, 29] + name: agent5 + start: [5, 17] +- goal: [4, 2] + name: agent6 + start: [8, 25] +- goal: [19, 4] + name: agent7 + start: [26, 17] +- goal: [31, 14] + name: agent8 + start: [21, 9] +- goal: [1, 4] + name: agent9 + start: [25, 15] +- goal: [13, 4] + name: agent10 + start: [18, 2] +- goal: [30, 27] + name: agent11 + start: [22, 0] +- goal: [29, 16] + name: agent12 + start: [11, 12] +- goal: [3, 2] + name: agent13 + start: [30, 7] +- goal: [16, 17] + name: agent14 + start: [27, 22] +- goal: [13, 17] + name: agent15 + start: [22, 5] +- goal: [12, 31] + name: agent16 + start: [27, 0] +- goal: [6, 19] + name: agent17 + start: [21, 0] +- goal: [26, 24] + name: agent18 + start: [28, 14] +- goal: [16, 0] + name: agent19 + start: [4, 11] +- goal: [1, 20] + name: agent20 + start: [1, 24] +- goal: [0, 12] + name: agent21 + start: [17, 0] +- goal: [27, 9] + name: agent22 + start: [15, 19] +- goal: [0, 30] + name: agent23 + start: [18, 20] +- goal: [1, 30] + name: agent24 + start: [23, 0] +- goal: [5, 12] + name: agent25 + start: [1, 27] +- goal: [28, 30] + name: agent26 + start: [11, 19] +- goal: [28, 2] + name: agent27 + start: [24, 18] +- goal: [3, 25] + name: agent28 + start: [23, 27] +- goal: [16, 15] + name: agent29 + start: [31, 4] +- goal: [28, 4] + name: agent30 + start: [30, 16] +- goal: [25, 0] + name: agent31 + start: [23, 11] +- goal: [30, 31] + name: agent32 + start: [3, 30] +- goal: [31, 17] + name: agent33 + start: [14, 16] +- goal: [25, 1] + name: agent34 + start: [12, 25] +- goal: [9, 1] + name: agent35 + start: [31, 11] +- goal: [2, 17] + name: agent36 + start: [4, 30] +- goal: [10, 20] + name: agent37 + start: [4, 9] +- goal: [12, 22] + name: agent38 + start: [2, 19] +- goal: [30, 20] + name: agent39 + start: [11, 26] +- goal: [3, 27] + name: agent40 + start: [10, 20] +- goal: [26, 17] + name: agent41 + start: [24, 29] +- goal: [21, 12] + name: agent42 + start: [30, 19] +- goal: [31, 21] + name: agent43 + start: [12, 26] +- goal: [25, 18] + name: agent44 + start: [29, 16] +- goal: [31, 5] + name: agent45 + start: [16, 1] +- goal: [16, 27] + name: agent46 + start: [18, 12] +- goal: [12, 5] + name: agent47 + start: [11, 27] +- goal: [27, 25] + name: agent48 + start: [20, 6] +- goal: [27, 11] + name: agent49 + start: [6, 29] +- goal: [17, 6] + name: agent50 + start: [27, 25] +- goal: [8, 29] + name: agent51 + start: [25, 5] +- goal: [4, 4] + name: agent52 + start: [12, 7] +- goal: [23, 20] + name: agent53 + start: [22, 12] +- goal: [9, 5] + name: agent54 + start: [26, 5] +- goal: [21, 15] + name: agent55 + start: [16, 5] +- goal: [4, 7] + name: agent56 + start: [28, 1] +- goal: [9, 24] + name: agent57 + start: [17, 19] +- goal: [19, 11] + name: agent58 + start: [13, 10] +- goal: [9, 4] + name: agent59 + start: [31, 1] +- goal: [5, 2] + name: agent60 + start: [17, 22] +- goal: [9, 29] + name: agent61 + start: [31, 8] +- goal: [6, 22] + name: agent62 + start: [27, 9] +- goal: [23, 18] + name: agent63 + start: [23, 26] +- goal: [16, 11] + name: agent64 + start: [17, 4] +- goal: [2, 23] + name: agent65 + start: [21, 13] +- goal: [4, 8] + name: agent66 + start: [12, 19] +- goal: [23, 9] + name: agent67 + start: [8, 28] +- goal: [8, 25] + name: agent68 + start: [17, 23] +- goal: [8, 22] + name: agent69 + start: [18, 31] +- goal: [8, 28] + name: agent70 + start: [28, 7] +- goal: [9, 21] + name: agent71 + start: [28, 20] +- goal: [4, 16] + name: agent72 + start: [17, 26] +- goal: [5, 23] + name: agent73 + start: [18, 10] +- goal: [10, 11] + name: agent74 + start: [25, 18] +- goal: [5, 21] + name: agent75 + start: [28, 12] +- goal: [13, 23] + name: agent76 + start: [3, 31] +- goal: [16, 4] + name: agent77 + start: [5, 22] +- goal: [20, 24] + name: agent78 + start: [19, 5] +- goal: [26, 31] + name: agent79 + start: [0, 27] +- goal: [8, 7] + name: agent80 + start: [16, 21] +- goal: [27, 2] + name: agent81 + start: [9, 3] +- goal: [31, 0] + name: agent82 + start: [8, 29] +- goal: [19, 18] + name: agent83 + start: [21, 29] +- goal: [18, 5] + name: agent84 + start: [23, 29] +- goal: [24, 9] + name: agent85 + start: [6, 14] +- goal: [15, 3] + name: agent86 + start: [23, 24] +- goal: [13, 15] + name: agent87 + start: [19, 1] +- goal: [27, 18] + name: agent88 + start: [20, 1] +- goal: [3, 31] + name: agent89 + start: [4, 16] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [17, 1] + - !!python/tuple [18, 16] + - !!python/tuple [15, 5] + - !!python/tuple [2, 9] + - !!python/tuple [13, 8] + - !!python/tuple [15, 10] + - !!python/tuple [27, 7] + - !!python/tuple [30, 14] + - !!python/tuple [22, 2] + - !!python/tuple [15, 29] + - !!python/tuple [25, 2] + - !!python/tuple [20, 27] + - !!python/tuple [27, 17] + - !!python/tuple [22, 20] + - !!python/tuple [17, 8] + - !!python/tuple [30, 8] + - !!python/tuple [17, 18] + - !!python/tuple [7, 14] + - !!python/tuple [12, 17] + - !!python/tuple [10, 17] + - !!python/tuple [29, 23] + - !!python/tuple [27, 8] + - !!python/tuple [27, 23] + - !!python/tuple [0, 18] + - !!python/tuple [6, 11] + - !!python/tuple [24, 19] + - !!python/tuple [27, 24] + - !!python/tuple [15, 13] + - !!python/tuple [7, 27] + - !!python/tuple [10, 4] + - !!python/tuple [4, 14] + - !!python/tuple [31, 7] + - !!python/tuple [0, 19] + - !!python/tuple [3, 12] + - !!python/tuple [7, 28] + - !!python/tuple [6, 5] + - !!python/tuple [15, 9] + - !!python/tuple [4, 17] + - !!python/tuple [26, 11] + - !!python/tuple [30, 6] + - !!python/tuple [27, 3] + - !!python/tuple [7, 12] + - !!python/tuple [1, 6] + - !!python/tuple [1, 18] + - !!python/tuple [23, 25] + - !!python/tuple [16, 10] + - !!python/tuple [2, 15] + - !!python/tuple [25, 19] + - !!python/tuple [6, 23] + - !!python/tuple [29, 26] + - !!python/tuple [18, 25] + - !!python/tuple [29, 14] + - !!python/tuple [24, 25] + - !!python/tuple [9, 8] + - !!python/tuple [19, 2] + - !!python/tuple [27, 12] + - !!python/tuple [9, 14] + - !!python/tuple [28, 9] + - !!python/tuple [0, 3] + - !!python/tuple [14, 22] + - !!python/tuple [30, 11] + - !!python/tuple [31, 26] + - !!python/tuple [30, 15] + - !!python/tuple [20, 31] + - !!python/tuple [13, 11] + - !!python/tuple [22, 30] + - !!python/tuple [3, 15] + - !!python/tuple [30, 24] + - !!python/tuple [5, 6] + - !!python/tuple [7, 7] + - !!python/tuple [3, 7] + - !!python/tuple [24, 14] + - !!python/tuple [23, 4] + - !!python/tuple [8, 18] + - !!python/tuple [5, 18] + - !!python/tuple [8, 24] + - !!python/tuple [2, 16] + - !!python/tuple [30, 5] + - !!python/tuple [8, 13] + - !!python/tuple [8, 31] + - !!python/tuple [15, 21] + - !!python/tuple [25, 3] + - !!python/tuple [9, 10] + - !!python/tuple [8, 17] + - !!python/tuple [3, 0] + - !!python/tuple [13, 26] + - !!python/tuple [26, 1] + - !!python/tuple [29, 8] + - !!python/tuple [10, 2] + - !!python/tuple [17, 16] + - !!python/tuple [10, 3] + - !!python/tuple [7, 23] + - !!python/tuple [6, 10] + - !!python/tuple [5, 20] + - !!python/tuple [26, 14] + - !!python/tuple [21, 8] + - !!python/tuple [25, 13] + - !!python/tuple [31, 13] + - !!python/tuple [12, 24] + - !!python/tuple [20, 30] + - !!python/tuple [9, 31] + - !!python/tuple [1, 5] + - !!python/tuple [14, 21] + - !!python/tuple [31, 12] + - !!python/tuple [9, 22] + - !!python/tuple [8, 12] + - !!python/tuple [18, 17] + - !!python/tuple [7, 9] + - !!python/tuple [10, 12] + - !!python/tuple [13, 19] + - !!python/tuple [9, 20] + - !!python/tuple [17, 31] + - !!python/tuple [30, 28] + - !!python/tuple [19, 26] + - !!python/tuple [12, 13] + - !!python/tuple [26, 13] + - !!python/tuple [28, 17] + - !!python/tuple [22, 22] + - !!python/tuple [10, 7] + - !!python/tuple [3, 14] + - !!python/tuple [13, 6] + - !!python/tuple [21, 25] + - !!python/tuple [10, 10] + - !!python/tuple [4, 22] + - !!python/tuple [15, 8] + - !!python/tuple [14, 2] + - !!python/tuple [20, 18] + - !!python/tuple [15, 1] + - !!python/tuple [11, 21] + - !!python/tuple [9, 2] + - !!python/tuple [15, 30] + - !!python/tuple [31, 25] + - !!python/tuple [19, 8] + - !!python/tuple [2, 10] + - !!python/tuple [20, 5] + - !!python/tuple [21, 31] + - !!python/tuple [14, 13] + - !!python/tuple [3, 21] + - !!python/tuple [20, 10] + - !!python/tuple [1, 2] + - !!python/tuple [0, 17] + - !!python/tuple [23, 23] + - !!python/tuple [2, 28] + - !!python/tuple [4, 28] + - !!python/tuple [10, 8] + - !!python/tuple [10, 27] + - !!python/tuple [30, 1] + - !!python/tuple [2, 24] + - !!python/tuple [25, 11] + - !!python/tuple [9, 9] + - !!python/tuple [15, 25] + - !!python/tuple [12, 20] + - !!python/tuple [19, 21] + - !!python/tuple [14, 28] + - !!python/tuple [29, 1] + - !!python/tuple [13, 12] + - !!python/tuple [27, 6] + - !!python/tuple [18, 3] + - !!python/tuple [15, 23] + - !!python/tuple [2, 30] + - !!python/tuple [10, 13] + - !!python/tuple [3, 28] + - !!python/tuple [14, 19] + - !!python/tuple [17, 10] + - !!python/tuple [7, 22] + - !!python/tuple [14, 12] + - !!python/tuple [31, 30] + - !!python/tuple [14, 6] + - !!python/tuple [2, 8] + - !!python/tuple [12, 0] + - !!python/tuple [29, 15] + - !!python/tuple [0, 4] + - !!python/tuple [8, 0] + - !!python/tuple [0, 2] + - !!python/tuple [13, 2] + - !!python/tuple [10, 19] + - !!python/tuple [27, 5] + - !!python/tuple [28, 24] + - !!python/tuple [8, 3] + - !!python/tuple [25, 12] + - !!python/tuple [18, 23] + - !!python/tuple [0, 26] + - !!python/tuple [2, 3] + - !!python/tuple [9, 13] + - !!python/tuple [26, 16] + - !!python/tuple [9, 16] + - !!python/tuple [0, 13] + - !!python/tuple [22, 7] + - !!python/tuple [23, 14] + - !!python/tuple [7, 16] + - !!python/tuple [15, 20] + - !!python/tuple [14, 27] + - !!python/tuple [23, 21] + - !!python/tuple [15, 14] + - !!python/tuple [20, 3] + - !!python/tuple [12, 18] + - !!python/tuple [6, 12] + - !!python/tuple [19, 24] + - !!python/tuple [25, 23] + - !!python/tuple [18, 8] + - !!python/tuple [25, 10] + - !!python/tuple [24, 24] + - !!python/tuple [3, 24] + - !!python/tuple [17, 13] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex92.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex92.yaml new file mode 100644 index 0000000..b977948 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex92.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [24, 29] + name: agent0 + start: [25, 23] +- goal: [31, 3] + name: agent1 + start: [3, 24] +- goal: [27, 29] + name: agent2 + start: [1, 16] +- goal: [22, 27] + name: agent3 + start: [0, 23] +- goal: [0, 14] + name: agent4 + start: [16, 4] +- goal: [30, 1] + name: agent5 + start: [6, 6] +- goal: [19, 9] + name: agent6 + start: [3, 7] +- goal: [27, 0] + name: agent7 + start: [23, 1] +- goal: [13, 16] + name: agent8 + start: [24, 28] +- goal: [24, 1] + name: agent9 + start: [19, 31] +- goal: [18, 14] + name: agent10 + start: [24, 31] +- goal: [5, 10] + name: agent11 + start: [23, 18] +- goal: [5, 17] + name: agent12 + start: [13, 0] +- goal: [14, 22] + name: agent13 + start: [25, 28] +- goal: [3, 1] + name: agent14 + start: [23, 11] +- goal: [31, 21] + name: agent15 + start: [16, 18] +- goal: [5, 8] + name: agent16 + start: [29, 17] +- goal: [26, 7] + name: agent17 + start: [19, 22] +- goal: [31, 25] + name: agent18 + start: [31, 31] +- goal: [15, 27] + name: agent19 + start: [15, 13] +- goal: [19, 0] + name: agent20 + start: [31, 14] +- goal: [21, 20] + name: agent21 + start: [26, 19] +- goal: [4, 19] + name: agent22 + start: [22, 27] +- goal: [19, 22] + name: agent23 + start: [18, 7] +- goal: [27, 5] + name: agent24 + start: [5, 20] +- goal: [1, 25] + name: agent25 + start: [8, 21] +- goal: [7, 11] + name: agent26 + start: [24, 6] +- goal: [12, 31] + name: agent27 + start: [18, 2] +- goal: [4, 18] + name: agent28 + start: [25, 24] +- goal: [0, 6] + name: agent29 + start: [25, 7] +- goal: [0, 11] + name: agent30 + start: [1, 7] +- goal: [3, 29] + name: agent31 + start: [22, 0] +- goal: [4, 25] + name: agent32 + start: [13, 16] +- goal: [15, 23] + name: agent33 + start: [3, 0] +- goal: [0, 30] + name: agent34 + start: [0, 17] +- goal: [27, 15] + name: agent35 + start: [15, 10] +- goal: [18, 6] + name: agent36 + start: [5, 15] +- goal: [24, 28] + name: agent37 + start: [27, 26] +- goal: [11, 19] + name: agent38 + start: [30, 6] +- goal: [23, 30] + name: agent39 + start: [19, 2] +- goal: [7, 15] + name: agent40 + start: [27, 2] +- goal: [25, 14] + name: agent41 + start: [7, 15] +- goal: [2, 23] + name: agent42 + start: [3, 27] +- goal: [15, 17] + name: agent43 + start: [31, 24] +- goal: [16, 28] + name: agent44 + start: [20, 12] +- goal: [12, 4] + name: agent45 + start: [30, 1] +- goal: [29, 17] + name: agent46 + start: [25, 26] +- goal: [3, 18] + name: agent47 + start: [5, 26] +- goal: [21, 23] + name: agent48 + start: [29, 24] +- goal: [3, 13] + name: agent49 + start: [2, 11] +- goal: [10, 19] + name: agent50 + start: [24, 7] +- goal: [16, 9] + name: agent51 + start: [26, 7] +- goal: [4, 27] + name: agent52 + start: [10, 3] +- goal: [11, 7] + name: agent53 + start: [6, 19] +- goal: [2, 16] + name: agent54 + start: [20, 3] +- goal: [8, 0] + name: agent55 + start: [15, 14] +- goal: [21, 11] + name: agent56 + start: [16, 3] +- goal: [10, 17] + name: agent57 + start: [13, 27] +- goal: [6, 16] + name: agent58 + start: [9, 8] +- goal: [21, 26] + name: agent59 + start: [30, 16] +- goal: [22, 1] + name: agent60 + start: [23, 23] +- goal: [25, 11] + name: agent61 + start: [5, 4] +- goal: [19, 19] + name: agent62 + start: [16, 14] +- goal: [14, 20] + name: agent63 + start: [11, 5] +- goal: [6, 19] + name: agent64 + start: [12, 23] +- goal: [26, 12] + name: agent65 + start: [17, 18] +- goal: [1, 8] + name: agent66 + start: [17, 9] +- goal: [31, 17] + name: agent67 + start: [22, 5] +- goal: [18, 15] + name: agent68 + start: [13, 14] +- goal: [30, 0] + name: agent69 + start: [29, 12] +- goal: [21, 19] + name: agent70 + start: [26, 22] +- goal: [24, 3] + name: agent71 + start: [11, 3] +- goal: [18, 28] + name: agent72 + start: [8, 3] +- goal: [1, 15] + name: agent73 + start: [15, 24] +- goal: [20, 3] + name: agent74 + start: [6, 22] +- goal: [9, 25] + name: agent75 + start: [29, 18] +- goal: [4, 11] + name: agent76 + start: [14, 27] +- goal: [14, 14] + name: agent77 + start: [15, 8] +- goal: [18, 31] + name: agent78 + start: [19, 21] +- goal: [25, 23] + name: agent79 + start: [7, 17] +- goal: [18, 7] + name: agent80 + start: [16, 17] +- goal: [14, 18] + name: agent81 + start: [5, 9] +- goal: [26, 10] + name: agent82 + start: [26, 29] +- goal: [1, 23] + name: agent83 + start: [3, 25] +- goal: [2, 24] + name: agent84 + start: [9, 31] +- goal: [21, 3] + name: agent85 + start: [26, 10] +- goal: [12, 19] + name: agent86 + start: [29, 6] +- goal: [20, 12] + name: agent87 + start: [27, 0] +- goal: [8, 2] + name: agent88 + start: [4, 2] +- goal: [0, 27] + name: agent89 + start: [13, 4] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [11, 11] + - !!python/tuple [17, 1] + - !!python/tuple [5, 2] + - !!python/tuple [14, 7] + - !!python/tuple [6, 18] + - !!python/tuple [1, 10] + - !!python/tuple [28, 8] + - !!python/tuple [18, 27] + - !!python/tuple [12, 24] + - !!python/tuple [14, 25] + - !!python/tuple [15, 2] + - !!python/tuple [23, 6] + - !!python/tuple [2, 5] + - !!python/tuple [11, 17] + - !!python/tuple [0, 3] + - !!python/tuple [2, 18] + - !!python/tuple [31, 22] + - !!python/tuple [1, 26] + - !!python/tuple [5, 25] + - !!python/tuple [2, 19] + - !!python/tuple [30, 12] + - !!python/tuple [20, 27] + - !!python/tuple [22, 22] + - !!python/tuple [4, 9] + - !!python/tuple [13, 21] + - !!python/tuple [7, 0] + - !!python/tuple [11, 1] + - !!python/tuple [9, 24] + - !!python/tuple [18, 19] + - !!python/tuple [9, 20] + - !!python/tuple [17, 29] + - !!python/tuple [3, 4] + - !!python/tuple [22, 31] + - !!python/tuple [21, 14] + - !!python/tuple [4, 6] + - !!python/tuple [17, 2] + - !!python/tuple [21, 1] + - !!python/tuple [19, 16] + - !!python/tuple [2, 10] + - !!python/tuple [28, 20] + - !!python/tuple [17, 21] + - !!python/tuple [0, 20] + - !!python/tuple [7, 25] + - !!python/tuple [17, 6] + - !!python/tuple [7, 20] + - !!python/tuple [22, 15] + - !!python/tuple [13, 15] + - !!python/tuple [24, 0] + - !!python/tuple [24, 26] + - !!python/tuple [3, 19] + - !!python/tuple [17, 22] + - !!python/tuple [10, 4] + - !!python/tuple [4, 14] + - !!python/tuple [13, 9] + - !!python/tuple [28, 24] + - !!python/tuple [15, 12] + - !!python/tuple [27, 6] + - !!python/tuple [12, 17] + - !!python/tuple [13, 8] + - !!python/tuple [14, 12] + - !!python/tuple [8, 13] + - !!python/tuple [17, 27] + - !!python/tuple [4, 3] + - !!python/tuple [14, 1] + - !!python/tuple [17, 24] + - !!python/tuple [2, 26] + - !!python/tuple [28, 9] + - !!python/tuple [12, 13] + - !!python/tuple [14, 19] + - !!python/tuple [13, 31] + - !!python/tuple [5, 19] + - !!python/tuple [29, 21] + - !!python/tuple [6, 5] + - !!python/tuple [30, 21] + - !!python/tuple [10, 31] + - !!python/tuple [18, 21] + - !!python/tuple [2, 22] + - !!python/tuple [3, 30] + - !!python/tuple [26, 27] + - !!python/tuple [28, 3] + - !!python/tuple [18, 12] + - !!python/tuple [15, 21] + - !!python/tuple [14, 4] + - !!python/tuple [20, 19] + - !!python/tuple [21, 17] + - !!python/tuple [11, 18] + - !!python/tuple [13, 13] + - !!python/tuple [15, 26] + - !!python/tuple [3, 31] + - !!python/tuple [10, 8] + - !!python/tuple [13, 3] + - !!python/tuple [13, 2] + - !!python/tuple [18, 22] + - !!python/tuple [4, 26] + - !!python/tuple [27, 14] + - !!python/tuple [14, 30] + - !!python/tuple [1, 20] + - !!python/tuple [22, 7] + - !!python/tuple [17, 31] + - !!python/tuple [23, 7] + - !!python/tuple [3, 6] + - !!python/tuple [9, 2] + - !!python/tuple [0, 22] + - !!python/tuple [0, 31] + - !!python/tuple [1, 30] + - !!python/tuple [23, 10] + - !!python/tuple [10, 27] + - !!python/tuple [6, 1] + - !!python/tuple [4, 22] + - !!python/tuple [24, 25] + - !!python/tuple [7, 30] + - !!python/tuple [16, 21] + - !!python/tuple [0, 1] + - !!python/tuple [28, 22] + - !!python/tuple [5, 29] + - !!python/tuple [15, 6] + - !!python/tuple [1, 31] + - !!python/tuple [5, 18] + - !!python/tuple [6, 29] + - !!python/tuple [18, 8] + - !!python/tuple [7, 29] + - !!python/tuple [13, 25] + - !!python/tuple [24, 19] + - !!python/tuple [26, 26] + - !!python/tuple [6, 20] + - !!python/tuple [4, 23] + - !!python/tuple [29, 31] + - !!python/tuple [2, 13] + - !!python/tuple [18, 29] + - !!python/tuple [1, 19] + - !!python/tuple [30, 14] + - !!python/tuple [18, 25] + - !!python/tuple [17, 8] + - !!python/tuple [5, 6] + - !!python/tuple [1, 6] + - !!python/tuple [19, 8] + - !!python/tuple [22, 11] + - !!python/tuple [9, 5] + - !!python/tuple [1, 22] + - !!python/tuple [7, 8] + - !!python/tuple [30, 2] + - !!python/tuple [16, 0] + - !!python/tuple [8, 31] + - !!python/tuple [11, 16] + - !!python/tuple [28, 25] + - !!python/tuple [25, 2] + - !!python/tuple [29, 19] + - !!python/tuple [18, 16] + - !!python/tuple [21, 18] + - !!python/tuple [30, 17] + - !!python/tuple [16, 29] + - !!python/tuple [0, 0] + - !!python/tuple [23, 13] + - !!python/tuple [22, 24] + - !!python/tuple [6, 0] + - !!python/tuple [28, 21] + - !!python/tuple [28, 17] + - !!python/tuple [20, 22] + - !!python/tuple [30, 29] + - !!python/tuple [10, 10] + - !!python/tuple [29, 22] + - !!python/tuple [7, 14] + - !!python/tuple [27, 30] + - !!python/tuple [26, 2] + - !!python/tuple [28, 29] + - !!python/tuple [30, 23] + - !!python/tuple [0, 2] + - !!python/tuple [30, 19] + - !!python/tuple [4, 30] + - !!python/tuple [25, 20] + - !!python/tuple [13, 22] + - !!python/tuple [17, 14] + - !!python/tuple [10, 7] + - !!python/tuple [24, 24] + - !!python/tuple [18, 18] + - !!python/tuple [6, 2] + - !!python/tuple [4, 4] + - !!python/tuple [12, 22] + - !!python/tuple [21, 29] + - !!python/tuple [13, 18] + - !!python/tuple [31, 11] + - !!python/tuple [8, 12] + - !!python/tuple [27, 23] + - !!python/tuple [8, 15] + - !!python/tuple [21, 28] + - !!python/tuple [19, 10] + - !!python/tuple [10, 0] + - !!python/tuple [9, 27] + - !!python/tuple [29, 13] + - !!python/tuple [18, 11] + - !!python/tuple [8, 28] + - !!python/tuple [25, 13] + - !!python/tuple [15, 30] + - !!python/tuple [8, 26] + - !!python/tuple [9, 17] + - !!python/tuple [13, 30] + - !!python/tuple [12, 27] + - !!python/tuple [28, 31] + - !!python/tuple [7, 22] + - !!python/tuple [30, 15] + - !!python/tuple [28, 27] + - !!python/tuple [27, 7] + - !!python/tuple [1, 9] + - !!python/tuple [8, 17] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex93.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex93.yaml new file mode 100644 index 0000000..06dc4cd --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex93.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [3, 6] + name: agent0 + start: [26, 5] +- goal: [25, 20] + name: agent1 + start: [23, 20] +- goal: [12, 5] + name: agent2 + start: [1, 2] +- goal: [9, 13] + name: agent3 + start: [20, 0] +- goal: [4, 22] + name: agent4 + start: [4, 0] +- goal: [1, 6] + name: agent5 + start: [4, 3] +- goal: [5, 2] + name: agent6 + start: [13, 17] +- goal: [20, 0] + name: agent7 + start: [26, 13] +- goal: [12, 20] + name: agent8 + start: [20, 25] +- goal: [3, 19] + name: agent9 + start: [26, 24] +- goal: [10, 16] + name: agent10 + start: [20, 9] +- goal: [24, 7] + name: agent11 + start: [20, 20] +- goal: [9, 25] + name: agent12 + start: [19, 11] +- goal: [12, 9] + name: agent13 + start: [16, 7] +- goal: [2, 23] + name: agent14 + start: [23, 22] +- goal: [7, 8] + name: agent15 + start: [7, 22] +- goal: [9, 30] + name: agent16 + start: [17, 1] +- goal: [18, 14] + name: agent17 + start: [25, 25] +- goal: [21, 4] + name: agent18 + start: [20, 5] +- goal: [11, 11] + name: agent19 + start: [30, 14] +- goal: [30, 0] + name: agent20 + start: [3, 0] +- goal: [14, 31] + name: agent21 + start: [4, 31] +- goal: [14, 5] + name: agent22 + start: [30, 21] +- goal: [31, 29] + name: agent23 + start: [10, 2] +- goal: [19, 20] + name: agent24 + start: [15, 2] +- goal: [23, 24] + name: agent25 + start: [12, 10] +- goal: [15, 20] + name: agent26 + start: [3, 13] +- goal: [15, 16] + name: agent27 + start: [21, 17] +- goal: [25, 15] + name: agent28 + start: [30, 8] +- goal: [30, 7] + name: agent29 + start: [0, 26] +- goal: [20, 3] + name: agent30 + start: [9, 18] +- goal: [10, 14] + name: agent31 + start: [21, 27] +- goal: [29, 7] + name: agent32 + start: [27, 24] +- goal: [5, 3] + name: agent33 + start: [11, 31] +- goal: [31, 4] + name: agent34 + start: [29, 8] +- goal: [19, 11] + name: agent35 + start: [6, 7] +- goal: [25, 21] + name: agent36 + start: [5, 10] +- goal: [20, 31] + name: agent37 + start: [27, 27] +- goal: [3, 28] + name: agent38 + start: [15, 17] +- goal: [23, 14] + name: agent39 + start: [20, 10] +- goal: [20, 12] + name: agent40 + start: [18, 10] +- goal: [12, 27] + name: agent41 + start: [6, 26] +- goal: [18, 19] + name: agent42 + start: [2, 27] +- goal: [27, 13] + name: agent43 + start: [1, 3] +- goal: [24, 2] + name: agent44 + start: [3, 16] +- goal: [29, 10] + name: agent45 + start: [6, 8] +- goal: [2, 25] + name: agent46 + start: [31, 31] +- goal: [19, 10] + name: agent47 + start: [23, 1] +- goal: [21, 10] + name: agent48 + start: [13, 16] +- goal: [27, 20] + name: agent49 + start: [31, 5] +- goal: [30, 4] + name: agent50 + start: [8, 23] +- goal: [0, 19] + name: agent51 + start: [0, 28] +- goal: [20, 5] + name: agent52 + start: [6, 19] +- goal: [24, 9] + name: agent53 + start: [17, 11] +- goal: [17, 24] + name: agent54 + start: [29, 2] +- goal: [24, 5] + name: agent55 + start: [27, 5] +- goal: [11, 10] + name: agent56 + start: [31, 26] +- goal: [11, 4] + name: agent57 + start: [27, 2] +- goal: [19, 18] + name: agent58 + start: [23, 10] +- goal: [16, 20] + name: agent59 + start: [23, 5] +- goal: [18, 29] + name: agent60 + start: [22, 4] +- goal: [1, 24] + name: agent61 + start: [12, 29] +- goal: [30, 15] + name: agent62 + start: [9, 25] +- goal: [16, 7] + name: agent63 + start: [10, 22] +- goal: [27, 11] + name: agent64 + start: [29, 22] +- goal: [28, 14] + name: agent65 + start: [23, 19] +- goal: [30, 27] + name: agent66 + start: [6, 15] +- goal: [12, 0] + name: agent67 + start: [6, 24] +- goal: [14, 12] + name: agent68 + start: [13, 12] +- goal: [5, 13] + name: agent69 + start: [10, 6] +- goal: [29, 11] + name: agent70 + start: [30, 22] +- goal: [25, 2] + name: agent71 + start: [31, 23] +- goal: [10, 12] + name: agent72 + start: [13, 19] +- goal: [17, 21] + name: agent73 + start: [1, 10] +- goal: [2, 12] + name: agent74 + start: [31, 8] +- goal: [10, 19] + name: agent75 + start: [1, 9] +- goal: [28, 10] + name: agent76 + start: [20, 8] +- goal: [11, 12] + name: agent77 + start: [20, 26] +- goal: [14, 0] + name: agent78 + start: [10, 11] +- goal: [1, 30] + name: agent79 + start: [2, 24] +- goal: [11, 3] + name: agent80 + start: [5, 17] +- goal: [0, 18] + name: agent81 + start: [12, 21] +- goal: [25, 25] + name: agent82 + start: [2, 5] +- goal: [0, 1] + name: agent83 + start: [25, 8] +- goal: [4, 1] + name: agent84 + start: [25, 5] +- goal: [16, 2] + name: agent85 + start: [5, 25] +- goal: [26, 11] + name: agent86 + start: [22, 21] +- goal: [28, 3] + name: agent87 + start: [0, 19] +- goal: [25, 14] + name: agent88 + start: [16, 9] +- goal: [24, 1] + name: agent89 + start: [0, 4] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [12, 8] + - !!python/tuple [6, 0] + - !!python/tuple [5, 28] + - !!python/tuple [7, 18] + - !!python/tuple [5, 0] + - !!python/tuple [27, 15] + - !!python/tuple [19, 0] + - !!python/tuple [6, 31] + - !!python/tuple [3, 23] + - !!python/tuple [5, 16] + - !!python/tuple [16, 13] + - !!python/tuple [13, 18] + - !!python/tuple [1, 16] + - !!python/tuple [13, 0] + - !!python/tuple [31, 1] + - !!python/tuple [24, 31] + - !!python/tuple [29, 9] + - !!python/tuple [13, 2] + - !!python/tuple [15, 19] + - !!python/tuple [24, 29] + - !!python/tuple [11, 21] + - !!python/tuple [25, 24] + - !!python/tuple [14, 21] + - !!python/tuple [27, 22] + - !!python/tuple [16, 3] + - !!python/tuple [14, 7] + - !!python/tuple [16, 27] + - !!python/tuple [9, 15] + - !!python/tuple [29, 21] + - !!python/tuple [25, 13] + - !!python/tuple [15, 28] + - !!python/tuple [10, 28] + - !!python/tuple [21, 28] + - !!python/tuple [27, 3] + - !!python/tuple [22, 11] + - !!python/tuple [0, 9] + - !!python/tuple [9, 1] + - !!python/tuple [24, 6] + - !!python/tuple [22, 24] + - !!python/tuple [14, 27] + - !!python/tuple [8, 14] + - !!python/tuple [16, 26] + - !!python/tuple [8, 0] + - !!python/tuple [6, 22] + - !!python/tuple [17, 15] + - !!python/tuple [7, 12] + - !!python/tuple [8, 31] + - !!python/tuple [25, 11] + - !!python/tuple [21, 1] + - !!python/tuple [0, 2] + - !!python/tuple [14, 3] + - !!python/tuple [3, 25] + - !!python/tuple [5, 20] + - !!python/tuple [4, 6] + - !!python/tuple [24, 3] + - !!python/tuple [19, 26] + - !!python/tuple [3, 31] + - !!python/tuple [15, 10] + - !!python/tuple [24, 4] + - !!python/tuple [26, 27] + - !!python/tuple [15, 30] + - !!python/tuple [11, 25] + - !!python/tuple [5, 31] + - !!python/tuple [22, 1] + - !!python/tuple [14, 24] + - !!python/tuple [24, 18] + - !!python/tuple [27, 21] + - !!python/tuple [4, 24] + - !!python/tuple [27, 10] + - !!python/tuple [8, 11] + - !!python/tuple [30, 29] + - !!python/tuple [30, 19] + - !!python/tuple [6, 2] + - !!python/tuple [19, 2] + - !!python/tuple [14, 28] + - !!python/tuple [2, 22] + - !!python/tuple [0, 22] + - !!python/tuple [14, 26] + - !!python/tuple [2, 19] + - !!python/tuple [7, 26] + - !!python/tuple [23, 28] + - !!python/tuple [24, 19] + - !!python/tuple [7, 0] + - !!python/tuple [29, 26] + - !!python/tuple [1, 19] + - !!python/tuple [10, 18] + - !!python/tuple [21, 5] + - !!python/tuple [27, 4] + - !!python/tuple [1, 18] + - !!python/tuple [13, 27] + - !!python/tuple [23, 27] + - !!python/tuple [18, 26] + - !!python/tuple [11, 5] + - !!python/tuple [10, 7] + - !!python/tuple [1, 29] + - !!python/tuple [21, 19] + - !!python/tuple [28, 5] + - !!python/tuple [12, 11] + - !!python/tuple [23, 29] + - !!python/tuple [10, 31] + - !!python/tuple [23, 8] + - !!python/tuple [19, 21] + - !!python/tuple [13, 28] + - !!python/tuple [13, 1] + - !!python/tuple [27, 17] + - !!python/tuple [2, 2] + - !!python/tuple [5, 29] + - !!python/tuple [11, 6] + - !!python/tuple [28, 31] + - !!python/tuple [15, 7] + - !!python/tuple [14, 18] + - !!python/tuple [12, 6] + - !!python/tuple [14, 19] + - !!python/tuple [6, 14] + - !!python/tuple [14, 30] + - !!python/tuple [11, 15] + - !!python/tuple [19, 15] + - !!python/tuple [29, 6] + - !!python/tuple [18, 25] + - !!python/tuple [23, 21] + - !!python/tuple [11, 24] + - !!python/tuple [26, 22] + - !!python/tuple [24, 27] + - !!python/tuple [23, 13] + - !!python/tuple [30, 1] + - !!python/tuple [21, 23] + - !!python/tuple [12, 16] + - !!python/tuple [27, 1] + - !!python/tuple [21, 0] + - !!python/tuple [11, 14] + - !!python/tuple [17, 22] + - !!python/tuple [13, 8] + - !!python/tuple [20, 30] + - !!python/tuple [9, 6] + - !!python/tuple [22, 28] + - !!python/tuple [15, 14] + - !!python/tuple [7, 7] + - !!python/tuple [22, 23] + - !!python/tuple [20, 28] + - !!python/tuple [21, 29] + - !!python/tuple [6, 10] + - !!python/tuple [12, 30] + - !!python/tuple [17, 20] + - !!python/tuple [8, 4] + - !!python/tuple [7, 4] + - !!python/tuple [7, 6] + - !!python/tuple [21, 8] + - !!python/tuple [20, 4] + - !!python/tuple [22, 5] + - !!python/tuple [18, 21] + - !!python/tuple [23, 18] + - !!python/tuple [14, 4] + - !!python/tuple [29, 20] + - !!python/tuple [11, 16] + - !!python/tuple [20, 24] + - !!python/tuple [27, 31] + - !!python/tuple [25, 9] + - !!python/tuple [8, 9] + - !!python/tuple [29, 23] + - !!python/tuple [24, 30] + - !!python/tuple [29, 14] + - !!python/tuple [21, 20] + - !!python/tuple [6, 23] + - !!python/tuple [16, 25] + - !!python/tuple [6, 6] + - !!python/tuple [29, 31] + - !!python/tuple [17, 4] + - !!python/tuple [11, 1] + - !!python/tuple [4, 18] + - !!python/tuple [2, 29] + - !!python/tuple [2, 17] + - !!python/tuple [14, 25] + - !!python/tuple [17, 23] + - !!python/tuple [9, 14] + - !!python/tuple [18, 5] + - !!python/tuple [15, 31] + - !!python/tuple [25, 23] + - !!python/tuple [16, 31] + - !!python/tuple [26, 12] + - !!python/tuple [5, 26] + - !!python/tuple [17, 8] + - !!python/tuple [25, 4] + - !!python/tuple [21, 14] + - !!python/tuple [10, 3] + - !!python/tuple [17, 9] + - !!python/tuple [16, 5] + - !!python/tuple [27, 23] + - !!python/tuple [28, 17] + - !!python/tuple [20, 29] + - !!python/tuple [21, 31] + - !!python/tuple [29, 24] + - !!python/tuple [2, 10] + - !!python/tuple [4, 14] + - !!python/tuple [16, 10] + - !!python/tuple [19, 7] + - !!python/tuple [26, 30] + - !!python/tuple [14, 13] + - !!python/tuple [25, 10] + - !!python/tuple [9, 16] + - !!python/tuple [7, 25] + - !!python/tuple [15, 15] + - !!python/tuple [11, 27] + - !!python/tuple [14, 29] + - !!python/tuple [7, 29] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex94.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex94.yaml new file mode 100644 index 0000000..697a8a4 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex94.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [23, 11] + name: agent0 + start: [31, 0] +- goal: [12, 7] + name: agent1 + start: [17, 11] +- goal: [22, 11] + name: agent2 + start: [18, 27] +- goal: [22, 16] + name: agent3 + start: [21, 19] +- goal: [27, 29] + name: agent4 + start: [30, 12] +- goal: [20, 31] + name: agent5 + start: [22, 26] +- goal: [31, 10] + name: agent6 + start: [7, 10] +- goal: [14, 29] + name: agent7 + start: [19, 2] +- goal: [7, 23] + name: agent8 + start: [1, 5] +- goal: [17, 4] + name: agent9 + start: [5, 22] +- goal: [31, 22] + name: agent10 + start: [13, 31] +- goal: [26, 12] + name: agent11 + start: [27, 20] +- goal: [17, 30] + name: agent12 + start: [0, 25] +- goal: [11, 0] + name: agent13 + start: [11, 29] +- goal: [28, 22] + name: agent14 + start: [31, 28] +- goal: [5, 12] + name: agent15 + start: [7, 12] +- goal: [31, 18] + name: agent16 + start: [6, 2] +- goal: [24, 0] + name: agent17 + start: [31, 22] +- goal: [24, 9] + name: agent18 + start: [11, 13] +- goal: [23, 3] + name: agent19 + start: [3, 19] +- goal: [31, 1] + name: agent20 + start: [17, 22] +- goal: [0, 16] + name: agent21 + start: [15, 7] +- goal: [21, 6] + name: agent22 + start: [25, 15] +- goal: [15, 7] + name: agent23 + start: [14, 21] +- goal: [19, 23] + name: agent24 + start: [24, 31] +- goal: [30, 13] + name: agent25 + start: [14, 26] +- goal: [20, 26] + name: agent26 + start: [16, 10] +- goal: [18, 0] + name: agent27 + start: [18, 13] +- goal: [8, 2] + name: agent28 + start: [19, 11] +- goal: [8, 14] + name: agent29 + start: [18, 29] +- goal: [18, 6] + name: agent30 + start: [19, 14] +- goal: [27, 25] + name: agent31 + start: [23, 25] +- goal: [20, 6] + name: agent32 + start: [31, 17] +- goal: [0, 11] + name: agent33 + start: [5, 14] +- goal: [8, 7] + name: agent34 + start: [0, 11] +- goal: [12, 27] + name: agent35 + start: [30, 30] +- goal: [12, 4] + name: agent36 + start: [11, 16] +- goal: [15, 17] + name: agent37 + start: [16, 30] +- goal: [29, 26] + name: agent38 + start: [17, 1] +- goal: [24, 10] + name: agent39 + start: [22, 0] +- goal: [4, 22] + name: agent40 + start: [22, 1] +- goal: [29, 13] + name: agent41 + start: [0, 2] +- goal: [0, 17] + name: agent42 + start: [8, 8] +- goal: [17, 23] + name: agent43 + start: [23, 9] +- goal: [7, 27] + name: agent44 + start: [3, 18] +- goal: [17, 12] + name: agent45 + start: [23, 3] +- goal: [24, 23] + name: agent46 + start: [17, 7] +- goal: [19, 21] + name: agent47 + start: [8, 25] +- goal: [5, 22] + name: agent48 + start: [30, 8] +- goal: [4, 26] + name: agent49 + start: [16, 17] +- goal: [18, 27] + name: agent50 + start: [17, 25] +- goal: [2, 7] + name: agent51 + start: [27, 13] +- goal: [22, 24] + name: agent52 + start: [29, 3] +- goal: [28, 2] + name: agent53 + start: [20, 19] +- goal: [2, 29] + name: agent54 + start: [6, 9] +- goal: [14, 1] + name: agent55 + start: [17, 18] +- goal: [11, 20] + name: agent56 + start: [8, 26] +- goal: [27, 28] + name: agent57 + start: [3, 3] +- goal: [26, 3] + name: agent58 + start: [14, 28] +- goal: [17, 22] + name: agent59 + start: [26, 19] +- goal: [22, 31] + name: agent60 + start: [27, 22] +- goal: [25, 3] + name: agent61 + start: [16, 31] +- goal: [18, 12] + name: agent62 + start: [31, 10] +- goal: [26, 10] + name: agent63 + start: [24, 27] +- goal: [9, 22] + name: agent64 + start: [16, 3] +- goal: [1, 13] + name: agent65 + start: [14, 7] +- goal: [27, 14] + name: agent66 + start: [15, 26] +- goal: [21, 27] + name: agent67 + start: [1, 17] +- goal: [2, 11] + name: agent68 + start: [23, 23] +- goal: [25, 15] + name: agent69 + start: [6, 5] +- goal: [9, 0] + name: agent70 + start: [24, 24] +- goal: [7, 18] + name: agent71 + start: [9, 25] +- goal: [19, 22] + name: agent72 + start: [31, 6] +- goal: [13, 5] + name: agent73 + start: [14, 25] +- goal: [30, 30] + name: agent74 + start: [22, 31] +- goal: [7, 11] + name: agent75 + start: [30, 3] +- goal: [13, 23] + name: agent76 + start: [18, 8] +- goal: [28, 20] + name: agent77 + start: [5, 17] +- goal: [13, 20] + name: agent78 + start: [4, 4] +- goal: [7, 30] + name: agent79 + start: [30, 9] +- goal: [26, 30] + name: agent80 + start: [25, 24] +- goal: [5, 27] + name: agent81 + start: [20, 29] +- goal: [11, 30] + name: agent82 + start: [25, 5] +- goal: [19, 14] + name: agent83 + start: [12, 20] +- goal: [18, 13] + name: agent84 + start: [21, 14] +- goal: [4, 31] + name: agent85 + start: [24, 1] +- goal: [8, 28] + name: agent86 + start: [23, 4] +- goal: [15, 22] + name: agent87 + start: [21, 9] +- goal: [19, 29] + name: agent88 + start: [26, 12] +- goal: [22, 28] + name: agent89 + start: [5, 24] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [15, 6] + - !!python/tuple [15, 30] + - !!python/tuple [5, 20] + - !!python/tuple [12, 16] + - !!python/tuple [0, 1] + - !!python/tuple [4, 1] + - !!python/tuple [28, 15] + - !!python/tuple [19, 9] + - !!python/tuple [28, 21] + - !!python/tuple [24, 19] + - !!python/tuple [0, 22] + - !!python/tuple [18, 19] + - !!python/tuple [22, 6] + - !!python/tuple [15, 23] + - !!python/tuple [28, 1] + - !!python/tuple [4, 17] + - !!python/tuple [21, 11] + - !!python/tuple [25, 4] + - !!python/tuple [5, 0] + - !!python/tuple [8, 21] + - !!python/tuple [21, 23] + - !!python/tuple [19, 27] + - !!python/tuple [7, 22] + - !!python/tuple [9, 14] + - !!python/tuple [21, 1] + - !!python/tuple [30, 7] + - !!python/tuple [9, 24] + - !!python/tuple [11, 25] + - !!python/tuple [3, 9] + - !!python/tuple [7, 24] + - !!python/tuple [27, 30] + - !!python/tuple [22, 20] + - !!python/tuple [20, 15] + - !!python/tuple [21, 20] + - !!python/tuple [23, 7] + - !!python/tuple [30, 26] + - !!python/tuple [7, 19] + - !!python/tuple [5, 31] + - !!python/tuple [30, 28] + - !!python/tuple [31, 4] + - !!python/tuple [15, 12] + - !!python/tuple [13, 14] + - !!python/tuple [29, 28] + - !!python/tuple [11, 27] + - !!python/tuple [22, 5] + - !!python/tuple [17, 17] + - !!python/tuple [19, 16] + - !!python/tuple [17, 27] + - !!python/tuple [27, 6] + - !!python/tuple [15, 16] + - !!python/tuple [4, 5] + - !!python/tuple [5, 26] + - !!python/tuple [21, 26] + - !!python/tuple [25, 6] + - !!python/tuple [8, 1] + - !!python/tuple [4, 3] + - !!python/tuple [24, 17] + - !!python/tuple [8, 16] + - !!python/tuple [19, 19] + - !!python/tuple [20, 3] + - !!python/tuple [3, 1] + - !!python/tuple [19, 0] + - !!python/tuple [27, 21] + - !!python/tuple [18, 28] + - !!python/tuple [10, 17] + - !!python/tuple [5, 3] + - !!python/tuple [14, 13] + - !!python/tuple [7, 21] + - !!python/tuple [19, 18] + - !!python/tuple [3, 0] + - !!python/tuple [9, 18] + - !!python/tuple [19, 12] + - !!python/tuple [7, 25] + - !!python/tuple [13, 22] + - !!python/tuple [14, 10] + - !!python/tuple [30, 5] + - !!python/tuple [15, 3] + - !!python/tuple [4, 19] + - !!python/tuple [11, 7] + - !!python/tuple [28, 31] + - !!python/tuple [17, 5] + - !!python/tuple [10, 1] + - !!python/tuple [2, 24] + - !!python/tuple [16, 29] + - !!python/tuple [1, 26] + - !!python/tuple [17, 14] + - !!python/tuple [20, 8] + - !!python/tuple [6, 18] + - !!python/tuple [16, 1] + - !!python/tuple [20, 4] + - !!python/tuple [20, 13] + - !!python/tuple [24, 21] + - !!python/tuple [18, 7] + - !!python/tuple [23, 12] + - !!python/tuple [23, 14] + - !!python/tuple [0, 21] + - !!python/tuple [13, 24] + - !!python/tuple [15, 13] + - !!python/tuple [9, 9] + - !!python/tuple [15, 25] + - !!python/tuple [14, 16] + - !!python/tuple [7, 3] + - !!python/tuple [13, 8] + - !!python/tuple [4, 10] + - !!python/tuple [26, 31] + - !!python/tuple [28, 28] + - !!python/tuple [15, 18] + - !!python/tuple [28, 11] + - !!python/tuple [25, 12] + - !!python/tuple [17, 19] + - !!python/tuple [13, 28] + - !!python/tuple [16, 25] + - !!python/tuple [14, 17] + - !!python/tuple [23, 18] + - !!python/tuple [22, 9] + - !!python/tuple [25, 11] + - !!python/tuple [13, 13] + - !!python/tuple [4, 0] + - !!python/tuple [14, 11] + - !!python/tuple [30, 0] + - !!python/tuple [16, 6] + - !!python/tuple [29, 7] + - !!python/tuple [4, 30] + - !!python/tuple [11, 28] + - !!python/tuple [31, 23] + - !!python/tuple [14, 0] + - !!python/tuple [9, 19] + - !!python/tuple [2, 19] + - !!python/tuple [6, 14] + - !!python/tuple [28, 13] + - !!python/tuple [26, 21] + - !!python/tuple [12, 17] + - !!python/tuple [9, 30] + - !!python/tuple [15, 29] + - !!python/tuple [21, 0] + - !!python/tuple [8, 9] + - !!python/tuple [4, 25] + - !!python/tuple [20, 24] + - !!python/tuple [23, 5] + - !!python/tuple [1, 8] + - !!python/tuple [26, 24] + - !!python/tuple [19, 28] + - !!python/tuple [31, 11] + - !!python/tuple [5, 13] + - !!python/tuple [28, 25] + - !!python/tuple [20, 16] + - !!python/tuple [25, 7] + - !!python/tuple [10, 23] + - !!python/tuple [17, 3] + - !!python/tuple [0, 24] + - !!python/tuple [12, 8] + - !!python/tuple [18, 24] + - !!python/tuple [23, 19] + - !!python/tuple [25, 27] + - !!python/tuple [22, 19] + - !!python/tuple [18, 14] + - !!python/tuple [10, 24] + - !!python/tuple [1, 12] + - !!python/tuple [19, 1] + - !!python/tuple [3, 30] + - !!python/tuple [25, 29] + - !!python/tuple [13, 19] + - !!python/tuple [14, 6] + - !!python/tuple [25, 1] + - !!python/tuple [22, 13] + - !!python/tuple [9, 20] + - !!python/tuple [16, 13] + - !!python/tuple [28, 18] + - !!python/tuple [15, 14] + - !!python/tuple [14, 14] + - !!python/tuple [18, 15] + - !!python/tuple [6, 30] + - !!python/tuple [1, 11] + - !!python/tuple [13, 10] + - !!python/tuple [10, 31] + - !!python/tuple [21, 31] + - !!python/tuple [29, 0] + - !!python/tuple [6, 22] + - !!python/tuple [29, 29] + - !!python/tuple [13, 16] + - !!python/tuple [0, 28] + - !!python/tuple [30, 24] + - !!python/tuple [19, 15] + - !!python/tuple [0, 4] + - !!python/tuple [27, 10] + - !!python/tuple [9, 15] + - !!python/tuple [31, 24] + - !!python/tuple [25, 10] + - !!python/tuple [10, 0] + - !!python/tuple [24, 2] + - !!python/tuple [11, 18] + - !!python/tuple [5, 11] + - !!python/tuple [16, 22] + - !!python/tuple [15, 8] + - !!python/tuple [30, 27] + - !!python/tuple [16, 5] + - !!python/tuple [14, 27] + - !!python/tuple [14, 22] + - !!python/tuple [7, 14] + - !!python/tuple [8, 22] + - !!python/tuple [6, 12] + - !!python/tuple [20, 17] + - !!python/tuple [7, 4] + - !!python/tuple [30, 11] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex95.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex95.yaml new file mode 100644 index 0000000..1a62cf6 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex95.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [25, 28] + name: agent0 + start: [5, 25] +- goal: [11, 8] + name: agent1 + start: [20, 2] +- goal: [8, 9] + name: agent2 + start: [29, 18] +- goal: [12, 14] + name: agent3 + start: [27, 29] +- goal: [10, 13] + name: agent4 + start: [1, 12] +- goal: [9, 13] + name: agent5 + start: [19, 18] +- goal: [6, 4] + name: agent6 + start: [5, 9] +- goal: [20, 16] + name: agent7 + start: [18, 28] +- goal: [30, 22] + name: agent8 + start: [15, 17] +- goal: [28, 23] + name: agent9 + start: [4, 0] +- goal: [1, 23] + name: agent10 + start: [3, 19] +- goal: [18, 4] + name: agent11 + start: [28, 17] +- goal: [19, 29] + name: agent12 + start: [8, 6] +- goal: [15, 11] + name: agent13 + start: [1, 5] +- goal: [28, 18] + name: agent14 + start: [20, 18] +- goal: [27, 10] + name: agent15 + start: [0, 20] +- goal: [16, 14] + name: agent16 + start: [7, 28] +- goal: [8, 8] + name: agent17 + start: [30, 31] +- goal: [13, 24] + name: agent18 + start: [5, 13] +- goal: [9, 12] + name: agent19 + start: [0, 8] +- goal: [13, 26] + name: agent20 + start: [15, 5] +- goal: [26, 24] + name: agent21 + start: [26, 29] +- goal: [1, 24] + name: agent22 + start: [16, 5] +- goal: [29, 25] + name: agent23 + start: [10, 6] +- goal: [5, 31] + name: agent24 + start: [28, 11] +- goal: [13, 1] + name: agent25 + start: [30, 3] +- goal: [6, 10] + name: agent26 + start: [10, 11] +- goal: [0, 16] + name: agent27 + start: [8, 18] +- goal: [26, 29] + name: agent28 + start: [11, 10] +- goal: [28, 31] + name: agent29 + start: [1, 0] +- goal: [23, 21] + name: agent30 + start: [2, 21] +- goal: [12, 18] + name: agent31 + start: [15, 15] +- goal: [28, 19] + name: agent32 + start: [9, 20] +- goal: [0, 24] + name: agent33 + start: [18, 15] +- goal: [2, 30] + name: agent34 + start: [3, 14] +- goal: [2, 2] + name: agent35 + start: [26, 3] +- goal: [19, 12] + name: agent36 + start: [28, 2] +- goal: [20, 12] + name: agent37 + start: [17, 29] +- goal: [27, 5] + name: agent38 + start: [12, 13] +- goal: [21, 30] + name: agent39 + start: [0, 27] +- goal: [26, 14] + name: agent40 + start: [7, 15] +- goal: [21, 24] + name: agent41 + start: [24, 5] +- goal: [8, 20] + name: agent42 + start: [12, 29] +- goal: [20, 15] + name: agent43 + start: [1, 2] +- goal: [13, 15] + name: agent44 + start: [31, 8] +- goal: [2, 1] + name: agent45 + start: [8, 13] +- goal: [14, 17] + name: agent46 + start: [17, 24] +- goal: [6, 5] + name: agent47 + start: [19, 31] +- goal: [15, 26] + name: agent48 + start: [22, 3] +- goal: [24, 31] + name: agent49 + start: [2, 13] +- goal: [3, 5] + name: agent50 + start: [12, 22] +- goal: [25, 24] + name: agent51 + start: [14, 27] +- goal: [1, 15] + name: agent52 + start: [26, 8] +- goal: [15, 14] + name: agent53 + start: [20, 4] +- goal: [13, 8] + name: agent54 + start: [28, 28] +- goal: [29, 13] + name: agent55 + start: [9, 14] +- goal: [5, 26] + name: agent56 + start: [25, 28] +- goal: [31, 7] + name: agent57 + start: [23, 20] +- goal: [22, 12] + name: agent58 + start: [28, 0] +- goal: [28, 11] + name: agent59 + start: [31, 5] +- goal: [25, 15] + name: agent60 + start: [29, 14] +- goal: [3, 3] + name: agent61 + start: [20, 7] +- goal: [31, 13] + name: agent62 + start: [19, 12] +- goal: [17, 22] + name: agent63 + start: [30, 13] +- goal: [3, 10] + name: agent64 + start: [17, 16] +- goal: [0, 12] + name: agent65 + start: [15, 29] +- goal: [1, 7] + name: agent66 + start: [27, 28] +- goal: [0, 26] + name: agent67 + start: [7, 31] +- goal: [16, 29] + name: agent68 + start: [3, 29] +- goal: [29, 11] + name: agent69 + start: [22, 2] +- goal: [9, 4] + name: agent70 + start: [11, 7] +- goal: [6, 15] + name: agent71 + start: [12, 16] +- goal: [23, 18] + name: agent72 + start: [16, 21] +- goal: [30, 2] + name: agent73 + start: [16, 2] +- goal: [19, 26] + name: agent74 + start: [22, 27] +- goal: [22, 7] + name: agent75 + start: [5, 8] +- goal: [27, 26] + name: agent76 + start: [1, 13] +- goal: [22, 6] + name: agent77 + start: [26, 24] +- goal: [8, 4] + name: agent78 + start: [25, 0] +- goal: [4, 31] + name: agent79 + start: [28, 9] +- goal: [11, 9] + name: agent80 + start: [0, 12] +- goal: [19, 18] + name: agent81 + start: [2, 3] +- goal: [13, 0] + name: agent82 + start: [7, 19] +- goal: [29, 2] + name: agent83 + start: [14, 14] +- goal: [16, 27] + name: agent84 + start: [30, 1] +- goal: [3, 24] + name: agent85 + start: [29, 16] +- goal: [27, 20] + name: agent86 + start: [10, 14] +- goal: [6, 27] + name: agent87 + start: [18, 17] +- goal: [23, 24] + name: agent88 + start: [24, 28] +- goal: [14, 19] + name: agent89 + start: [11, 23] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [27, 30] + - !!python/tuple [25, 18] + - !!python/tuple [31, 15] + - !!python/tuple [20, 3] + - !!python/tuple [25, 25] + - !!python/tuple [12, 3] + - !!python/tuple [17, 27] + - !!python/tuple [10, 8] + - !!python/tuple [13, 19] + - !!python/tuple [13, 14] + - !!python/tuple [30, 25] + - !!python/tuple [23, 16] + - !!python/tuple [8, 1] + - !!python/tuple [6, 31] + - !!python/tuple [16, 4] + - !!python/tuple [23, 27] + - !!python/tuple [5, 7] + - !!python/tuple [12, 26] + - !!python/tuple [18, 20] + - !!python/tuple [12, 7] + - !!python/tuple [29, 15] + - !!python/tuple [16, 16] + - !!python/tuple [3, 30] + - !!python/tuple [16, 30] + - !!python/tuple [1, 14] + - !!python/tuple [10, 7] + - !!python/tuple [24, 20] + - !!python/tuple [3, 13] + - !!python/tuple [25, 3] + - !!python/tuple [28, 7] + - !!python/tuple [18, 22] + - !!python/tuple [31, 24] + - !!python/tuple [31, 4] + - !!python/tuple [30, 0] + - !!python/tuple [30, 4] + - !!python/tuple [26, 13] + - !!python/tuple [18, 24] + - !!python/tuple [28, 3] + - !!python/tuple [5, 14] + - !!python/tuple [6, 12] + - !!python/tuple [28, 15] + - !!python/tuple [26, 7] + - !!python/tuple [11, 19] + - !!python/tuple [20, 31] + - !!python/tuple [13, 5] + - !!python/tuple [7, 4] + - !!python/tuple [16, 0] + - !!python/tuple [0, 11] + - !!python/tuple [6, 14] + - !!python/tuple [25, 16] + - !!python/tuple [10, 4] + - !!python/tuple [22, 21] + - !!python/tuple [11, 11] + - !!python/tuple [13, 30] + - !!python/tuple [27, 12] + - !!python/tuple [13, 31] + - !!python/tuple [4, 4] + - !!python/tuple [1, 10] + - !!python/tuple [8, 7] + - !!python/tuple [23, 13] + - !!python/tuple [0, 25] + - !!python/tuple [15, 13] + - !!python/tuple [2, 10] + - !!python/tuple [10, 28] + - !!python/tuple [11, 4] + - !!python/tuple [19, 21] + - !!python/tuple [21, 10] + - !!python/tuple [18, 27] + - !!python/tuple [15, 19] + - !!python/tuple [15, 0] + - !!python/tuple [2, 20] + - !!python/tuple [12, 31] + - !!python/tuple [14, 15] + - !!python/tuple [16, 23] + - !!python/tuple [7, 23] + - !!python/tuple [29, 7] + - !!python/tuple [25, 23] + - !!python/tuple [11, 28] + - !!python/tuple [24, 19] + - !!python/tuple [11, 24] + - !!python/tuple [24, 8] + - !!python/tuple [31, 0] + - !!python/tuple [1, 31] + - !!python/tuple [30, 11] + - !!python/tuple [21, 21] + - !!python/tuple [28, 13] + - !!python/tuple [18, 21] + - !!python/tuple [2, 19] + - !!python/tuple [18, 30] + - !!python/tuple [6, 18] + - !!python/tuple [20, 29] + - !!python/tuple [4, 9] + - !!python/tuple [2, 16] + - !!python/tuple [4, 25] + - !!python/tuple [6, 17] + - !!python/tuple [13, 29] + - !!python/tuple [1, 30] + - !!python/tuple [1, 6] + - !!python/tuple [26, 19] + - !!python/tuple [12, 17] + - !!python/tuple [20, 19] + - !!python/tuple [24, 17] + - !!python/tuple [31, 3] + - !!python/tuple [23, 12] + - !!python/tuple [2, 23] + - !!python/tuple [27, 18] + - !!python/tuple [6, 28] + - !!python/tuple [31, 2] + - !!python/tuple [12, 23] + - !!python/tuple [15, 25] + - !!python/tuple [7, 18] + - !!python/tuple [14, 23] + - !!python/tuple [15, 18] + - !!python/tuple [1, 4] + - !!python/tuple [18, 5] + - !!python/tuple [11, 27] + - !!python/tuple [27, 6] + - !!python/tuple [17, 0] + - !!python/tuple [8, 23] + - !!python/tuple [12, 30] + - !!python/tuple [19, 11] + - !!python/tuple [10, 0] + - !!python/tuple [4, 1] + - !!python/tuple [26, 11] + - !!python/tuple [12, 4] + - !!python/tuple [14, 13] + - !!python/tuple [12, 12] + - !!python/tuple [11, 14] + - !!python/tuple [24, 0] + - !!python/tuple [19, 17] + - !!python/tuple [3, 12] + - !!python/tuple [24, 24] + - !!python/tuple [20, 14] + - !!python/tuple [7, 29] + - !!python/tuple [4, 23] + - !!python/tuple [8, 2] + - !!python/tuple [20, 26] + - !!python/tuple [31, 26] + - !!python/tuple [22, 10] + - !!python/tuple [6, 13] + - !!python/tuple [4, 13] + - !!python/tuple [6, 25] + - !!python/tuple [15, 27] + - !!python/tuple [10, 9] + - !!python/tuple [3, 16] + - !!python/tuple [18, 31] + - !!python/tuple [30, 6] + - !!python/tuple [31, 6] + - !!python/tuple [24, 9] + - !!python/tuple [19, 5] + - !!python/tuple [31, 11] + - !!python/tuple [21, 12] + - !!python/tuple [17, 15] + - !!python/tuple [19, 27] + - !!python/tuple [20, 13] + - !!python/tuple [10, 27] + - !!python/tuple [13, 11] + - !!python/tuple [16, 8] + - !!python/tuple [15, 8] + - !!python/tuple [23, 0] + - !!python/tuple [19, 9] + - !!python/tuple [2, 27] + - !!python/tuple [21, 31] + - !!python/tuple [28, 26] + - !!python/tuple [29, 27] + - !!python/tuple [28, 29] + - !!python/tuple [3, 8] + - !!python/tuple [9, 23] + - !!python/tuple [21, 17] + - !!python/tuple [5, 27] + - !!python/tuple [10, 15] + - !!python/tuple [30, 7] + - !!python/tuple [30, 8] + - !!python/tuple [30, 10] + - !!python/tuple [21, 18] + - !!python/tuple [16, 17] + - !!python/tuple [5, 22] + - !!python/tuple [26, 22] + - !!python/tuple [0, 7] + - !!python/tuple [14, 30] + - !!python/tuple [6, 2] + - !!python/tuple [8, 3] + - !!python/tuple [11, 13] + - !!python/tuple [14, 7] + - !!python/tuple [19, 4] + - !!python/tuple [31, 19] + - !!python/tuple [4, 27] + - !!python/tuple [30, 20] + - !!python/tuple [28, 21] + - !!python/tuple [21, 0] + - !!python/tuple [8, 22] + - !!python/tuple [5, 10] + - !!python/tuple [3, 4] + - !!python/tuple [26, 17] + - !!python/tuple [28, 25] + - !!python/tuple [5, 18] + - !!python/tuple [27, 17] + - !!python/tuple [15, 9] + - !!python/tuple [24, 16] + - !!python/tuple [23, 3] + - !!python/tuple [13, 20] + - !!python/tuple [27, 14] + - !!python/tuple [27, 13] + - !!python/tuple [19, 10] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex96.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex96.yaml new file mode 100644 index 0000000..0af7b0a --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex96.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [11, 24] + name: agent0 + start: [16, 16] +- goal: [9, 2] + name: agent1 + start: [12, 29] +- goal: [27, 31] + name: agent2 + start: [16, 2] +- goal: [2, 14] + name: agent3 + start: [8, 22] +- goal: [26, 5] + name: agent4 + start: [31, 12] +- goal: [23, 15] + name: agent5 + start: [2, 0] +- goal: [17, 6] + name: agent6 + start: [16, 8] +- goal: [3, 13] + name: agent7 + start: [5, 5] +- goal: [25, 25] + name: agent8 + start: [11, 4] +- goal: [27, 14] + name: agent9 + start: [18, 29] +- goal: [4, 25] + name: agent10 + start: [17, 12] +- goal: [22, 10] + name: agent11 + start: [21, 25] +- goal: [6, 15] + name: agent12 + start: [9, 28] +- goal: [26, 28] + name: agent13 + start: [25, 26] +- goal: [0, 23] + name: agent14 + start: [22, 20] +- goal: [25, 2] + name: agent15 + start: [11, 3] +- goal: [27, 7] + name: agent16 + start: [14, 8] +- goal: [19, 16] + name: agent17 + start: [26, 8] +- goal: [14, 1] + name: agent18 + start: [1, 16] +- goal: [7, 9] + name: agent19 + start: [0, 7] +- goal: [19, 13] + name: agent20 + start: [6, 6] +- goal: [19, 14] + name: agent21 + start: [30, 25] +- goal: [20, 28] + name: agent22 + start: [21, 22] +- goal: [22, 20] + name: agent23 + start: [21, 10] +- goal: [13, 21] + name: agent24 + start: [3, 18] +- goal: [11, 10] + name: agent25 + start: [7, 1] +- goal: [1, 4] + name: agent26 + start: [8, 16] +- goal: [11, 26] + name: agent27 + start: [21, 29] +- goal: [5, 18] + name: agent28 + start: [0, 1] +- goal: [6, 14] + name: agent29 + start: [9, 23] +- goal: [30, 12] + name: agent30 + start: [19, 4] +- goal: [7, 19] + name: agent31 + start: [2, 16] +- goal: [23, 12] + name: agent32 + start: [2, 31] +- goal: [17, 31] + name: agent33 + start: [8, 18] +- goal: [27, 21] + name: agent34 + start: [28, 18] +- goal: [11, 3] + name: agent35 + start: [3, 7] +- goal: [17, 18] + name: agent36 + start: [23, 17] +- goal: [23, 5] + name: agent37 + start: [5, 1] +- goal: [3, 2] + name: agent38 + start: [10, 1] +- goal: [26, 25] + name: agent39 + start: [8, 25] +- goal: [16, 9] + name: agent40 + start: [8, 3] +- goal: [24, 14] + name: agent41 + start: [30, 6] +- goal: [15, 28] + name: agent42 + start: [6, 2] +- goal: [12, 0] + name: agent43 + start: [12, 31] +- goal: [14, 15] + name: agent44 + start: [16, 22] +- goal: [1, 25] + name: agent45 + start: [0, 12] +- goal: [1, 8] + name: agent46 + start: [27, 5] +- goal: [21, 10] + name: agent47 + start: [25, 6] +- goal: [27, 1] + name: agent48 + start: [15, 31] +- goal: [21, 7] + name: agent49 + start: [18, 2] +- goal: [28, 10] + name: agent50 + start: [27, 9] +- goal: [12, 25] + name: agent51 + start: [24, 26] +- goal: [5, 28] + name: agent52 + start: [6, 9] +- goal: [16, 21] + name: agent53 + start: [5, 19] +- goal: [1, 0] + name: agent54 + start: [4, 18] +- goal: [22, 24] + name: agent55 + start: [1, 25] +- goal: [2, 31] + name: agent56 + start: [12, 26] +- goal: [9, 13] + name: agent57 + start: [23, 24] +- goal: [28, 16] + name: agent58 + start: [27, 11] +- goal: [8, 27] + name: agent59 + start: [21, 17] +- goal: [8, 29] + name: agent60 + start: [28, 24] +- goal: [1, 2] + name: agent61 + start: [30, 12] +- goal: [8, 12] + name: agent62 + start: [28, 0] +- goal: [29, 21] + name: agent63 + start: [10, 17] +- goal: [15, 25] + name: agent64 + start: [17, 18] +- goal: [28, 11] + name: agent65 + start: [28, 17] +- goal: [20, 31] + name: agent66 + start: [23, 25] +- goal: [11, 17] + name: agent67 + start: [10, 5] +- goal: [23, 4] + name: agent68 + start: [17, 15] +- goal: [17, 12] + name: agent69 + start: [14, 1] +- goal: [22, 4] + name: agent70 + start: [28, 28] +- goal: [9, 27] + name: agent71 + start: [17, 9] +- goal: [22, 25] + name: agent72 + start: [6, 3] +- goal: [1, 23] + name: agent73 + start: [28, 11] +- goal: [27, 19] + name: agent74 + start: [3, 9] +- goal: [29, 3] + name: agent75 + start: [7, 23] +- goal: [9, 16] + name: agent76 + start: [3, 17] +- goal: [0, 5] + name: agent77 + start: [5, 14] +- goal: [15, 0] + name: agent78 + start: [14, 25] +- goal: [25, 20] + name: agent79 + start: [13, 8] +- goal: [15, 3] + name: agent80 + start: [6, 7] +- goal: [1, 3] + name: agent81 + start: [8, 0] +- goal: [12, 27] + name: agent82 + start: [8, 1] +- goal: [25, 1] + name: agent83 + start: [4, 17] +- goal: [9, 25] + name: agent84 + start: [8, 12] +- goal: [30, 19] + name: agent85 + start: [10, 23] +- goal: [14, 11] + name: agent86 + start: [19, 6] +- goal: [6, 27] + name: agent87 + start: [19, 14] +- goal: [15, 27] + name: agent88 + start: [11, 17] +- goal: [22, 12] + name: agent89 + start: [17, 10] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [2, 15] + - !!python/tuple [25, 30] + - !!python/tuple [15, 18] + - !!python/tuple [15, 16] + - !!python/tuple [20, 8] + - !!python/tuple [26, 10] + - !!python/tuple [11, 25] + - !!python/tuple [31, 3] + - !!python/tuple [4, 16] + - !!python/tuple [24, 10] + - !!python/tuple [18, 0] + - !!python/tuple [18, 12] + - !!python/tuple [19, 30] + - !!python/tuple [0, 10] + - !!python/tuple [16, 12] + - !!python/tuple [14, 16] + - !!python/tuple [13, 5] + - !!python/tuple [28, 27] + - !!python/tuple [12, 10] + - !!python/tuple [0, 29] + - !!python/tuple [1, 19] + - !!python/tuple [10, 7] + - !!python/tuple [22, 16] + - !!python/tuple [0, 9] + - !!python/tuple [29, 25] + - !!python/tuple [24, 22] + - !!python/tuple [29, 28] + - !!python/tuple [0, 6] + - !!python/tuple [23, 28] + - !!python/tuple [26, 24] + - !!python/tuple [31, 22] + - !!python/tuple [1, 5] + - !!python/tuple [20, 22] + - !!python/tuple [29, 1] + - !!python/tuple [12, 28] + - !!python/tuple [30, 3] + - !!python/tuple [5, 9] + - !!python/tuple [25, 14] + - !!python/tuple [31, 27] + - !!python/tuple [14, 9] + - !!python/tuple [29, 5] + - !!python/tuple [19, 7] + - !!python/tuple [11, 27] + - !!python/tuple [16, 29] + - !!python/tuple [7, 22] + - !!python/tuple [12, 14] + - !!python/tuple [23, 1] + - !!python/tuple [28, 9] + - !!python/tuple [30, 23] + - !!python/tuple [30, 11] + - !!python/tuple [28, 22] + - !!python/tuple [13, 31] + - !!python/tuple [30, 2] + - !!python/tuple [9, 7] + - !!python/tuple [11, 15] + - !!python/tuple [3, 30] + - !!python/tuple [13, 30] + - !!python/tuple [9, 9] + - !!python/tuple [29, 17] + - !!python/tuple [21, 6] + - !!python/tuple [30, 21] + - !!python/tuple [6, 4] + - !!python/tuple [4, 12] + - !!python/tuple [19, 3] + - !!python/tuple [6, 10] + - !!python/tuple [1, 6] + - !!python/tuple [13, 0] + - !!python/tuple [31, 26] + - !!python/tuple [24, 6] + - !!python/tuple [8, 9] + - !!python/tuple [22, 8] + - !!python/tuple [0, 8] + - !!python/tuple [10, 31] + - !!python/tuple [14, 5] + - !!python/tuple [11, 23] + - !!python/tuple [12, 12] + - !!python/tuple [18, 11] + - !!python/tuple [23, 16] + - !!python/tuple [19, 20] + - !!python/tuple [20, 30] + - !!python/tuple [22, 27] + - !!python/tuple [4, 10] + - !!python/tuple [13, 26] + - !!python/tuple [20, 20] + - !!python/tuple [7, 13] + - !!python/tuple [28, 21] + - !!python/tuple [10, 15] + - !!python/tuple [7, 25] + - !!python/tuple [4, 14] + - !!python/tuple [0, 17] + - !!python/tuple [0, 28] + - !!python/tuple [24, 28] + - !!python/tuple [27, 16] + - !!python/tuple [31, 25] + - !!python/tuple [2, 21] + - !!python/tuple [17, 8] + - !!python/tuple [26, 3] + - !!python/tuple [23, 11] + - !!python/tuple [5, 23] + - !!python/tuple [12, 4] + - !!python/tuple [21, 5] + - !!python/tuple [17, 26] + - !!python/tuple [24, 31] + - !!python/tuple [7, 7] + - !!python/tuple [16, 24] + - !!python/tuple [23, 9] + - !!python/tuple [24, 24] + - !!python/tuple [2, 3] + - !!python/tuple [29, 15] + - !!python/tuple [18, 21] + - !!python/tuple [18, 18] + - !!python/tuple [28, 25] + - !!python/tuple [18, 24] + - !!python/tuple [6, 30] + - !!python/tuple [15, 12] + - !!python/tuple [19, 1] + - !!python/tuple [11, 9] + - !!python/tuple [9, 30] + - !!python/tuple [29, 7] + - !!python/tuple [18, 6] + - !!python/tuple [31, 7] + - !!python/tuple [2, 20] + - !!python/tuple [24, 19] + - !!python/tuple [19, 19] + - !!python/tuple [5, 20] + - !!python/tuple [19, 17] + - !!python/tuple [11, 0] + - !!python/tuple [1, 10] + - !!python/tuple [17, 30] + - !!python/tuple [20, 11] + - !!python/tuple [27, 17] + - !!python/tuple [22, 26] + - !!python/tuple [9, 22] + - !!python/tuple [9, 24] + - !!python/tuple [31, 19] + - !!python/tuple [3, 12] + - !!python/tuple [18, 26] + - !!python/tuple [18, 30] + - !!python/tuple [30, 18] + - !!python/tuple [18, 14] + - !!python/tuple [5, 11] + - !!python/tuple [18, 23] + - !!python/tuple [17, 19] + - !!python/tuple [3, 16] + - !!python/tuple [26, 31] + - !!python/tuple [31, 16] + - !!python/tuple [0, 14] + - !!python/tuple [7, 16] + - !!python/tuple [24, 17] + - !!python/tuple [18, 13] + - !!python/tuple [15, 10] + - !!python/tuple [9, 0] + - !!python/tuple [24, 1] + - !!python/tuple [31, 13] + - !!python/tuple [4, 26] + - !!python/tuple [12, 17] + - !!python/tuple [27, 8] + - !!python/tuple [24, 8] + - !!python/tuple [1, 12] + - !!python/tuple [21, 16] + - !!python/tuple [21, 28] + - !!python/tuple [11, 6] + - !!python/tuple [20, 24] + - !!python/tuple [30, 20] + - !!python/tuple [20, 4] + - !!python/tuple [8, 26] + - !!python/tuple [13, 28] + - !!python/tuple [22, 7] + - !!python/tuple [26, 29] + - !!python/tuple [2, 2] + - !!python/tuple [19, 26] + - !!python/tuple [14, 0] + - !!python/tuple [1, 24] + - !!python/tuple [26, 22] + - !!python/tuple [5, 12] + - !!python/tuple [29, 24] + - !!python/tuple [22, 0] + - !!python/tuple [5, 24] + - !!python/tuple [29, 11] + - !!python/tuple [10, 29] + - !!python/tuple [7, 21] + - !!python/tuple [11, 28] + - !!python/tuple [12, 23] + - !!python/tuple [16, 27] + - !!python/tuple [4, 8] + - !!python/tuple [12, 21] + - !!python/tuple [30, 4] + - !!python/tuple [25, 27] + - !!python/tuple [10, 6] + - !!python/tuple [0, 18] + - !!python/tuple [12, 16] + - !!python/tuple [11, 16] + - !!python/tuple [26, 27] + - !!python/tuple [2, 1] + - !!python/tuple [19, 12] + - !!python/tuple [0, 3] + - !!python/tuple [24, 7] + - !!python/tuple [18, 8] + - !!python/tuple [25, 15] + - !!python/tuple [21, 13] + - !!python/tuple [7, 18] + - !!python/tuple [22, 5] + - !!python/tuple [30, 31] + - !!python/tuple [3, 19] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex97.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex97.yaml new file mode 100644 index 0000000..65a7116 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex97.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [26, 28] + name: agent0 + start: [19, 18] +- goal: [23, 20] + name: agent1 + start: [15, 20] +- goal: [22, 19] + name: agent2 + start: [25, 20] +- goal: [30, 28] + name: agent3 + start: [2, 14] +- goal: [13, 9] + name: agent4 + start: [25, 19] +- goal: [6, 19] + name: agent5 + start: [25, 31] +- goal: [31, 1] + name: agent6 + start: [19, 28] +- goal: [5, 8] + name: agent7 + start: [12, 21] +- goal: [0, 11] + name: agent8 + start: [31, 24] +- goal: [27, 14] + name: agent9 + start: [0, 12] +- goal: [0, 30] + name: agent10 + start: [15, 8] +- goal: [2, 14] + name: agent11 + start: [23, 29] +- goal: [31, 10] + name: agent12 + start: [15, 13] +- goal: [26, 27] + name: agent13 + start: [12, 28] +- goal: [17, 26] + name: agent14 + start: [28, 22] +- goal: [29, 30] + name: agent15 + start: [3, 10] +- goal: [14, 6] + name: agent16 + start: [19, 19] +- goal: [13, 6] + name: agent17 + start: [27, 24] +- goal: [11, 6] + name: agent18 + start: [11, 2] +- goal: [17, 30] + name: agent19 + start: [12, 11] +- goal: [21, 17] + name: agent20 + start: [25, 18] +- goal: [10, 6] + name: agent21 + start: [19, 4] +- goal: [24, 27] + name: agent22 + start: [28, 18] +- goal: [18, 21] + name: agent23 + start: [24, 13] +- goal: [29, 12] + name: agent24 + start: [20, 6] +- goal: [22, 2] + name: agent25 + start: [14, 7] +- goal: [16, 27] + name: agent26 + start: [30, 30] +- goal: [2, 22] + name: agent27 + start: [8, 12] +- goal: [6, 31] + name: agent28 + start: [30, 20] +- goal: [9, 28] + name: agent29 + start: [16, 15] +- goal: [15, 1] + name: agent30 + start: [21, 10] +- goal: [2, 7] + name: agent31 + start: [4, 22] +- goal: [13, 3] + name: agent32 + start: [17, 15] +- goal: [15, 9] + name: agent33 + start: [22, 0] +- goal: [27, 23] + name: agent34 + start: [12, 19] +- goal: [13, 21] + name: agent35 + start: [27, 14] +- goal: [1, 19] + name: agent36 + start: [25, 10] +- goal: [27, 29] + name: agent37 + start: [22, 16] +- goal: [23, 30] + name: agent38 + start: [31, 7] +- goal: [28, 6] + name: agent39 + start: [12, 29] +- goal: [18, 26] + name: agent40 + start: [20, 18] +- goal: [24, 29] + name: agent41 + start: [0, 11] +- goal: [23, 11] + name: agent42 + start: [27, 28] +- goal: [19, 23] + name: agent43 + start: [29, 28] +- goal: [21, 18] + name: agent44 + start: [6, 11] +- goal: [13, 7] + name: agent45 + start: [6, 16] +- goal: [11, 14] + name: agent46 + start: [6, 12] +- goal: [3, 11] + name: agent47 + start: [8, 27] +- goal: [0, 10] + name: agent48 + start: [20, 11] +- goal: [17, 29] + name: agent49 + start: [28, 17] +- goal: [25, 27] + name: agent50 + start: [5, 11] +- goal: [29, 3] + name: agent51 + start: [7, 2] +- goal: [27, 27] + name: agent52 + start: [19, 17] +- goal: [20, 8] + name: agent53 + start: [2, 18] +- goal: [7, 18] + name: agent54 + start: [17, 20] +- goal: [13, 4] + name: agent55 + start: [28, 7] +- goal: [9, 8] + name: agent56 + start: [15, 21] +- goal: [15, 20] + name: agent57 + start: [5, 30] +- goal: [24, 28] + name: agent58 + start: [23, 6] +- goal: [21, 1] + name: agent59 + start: [6, 10] +- goal: [24, 6] + name: agent60 + start: [10, 16] +- goal: [22, 4] + name: agent61 + start: [28, 23] +- goal: [0, 23] + name: agent62 + start: [26, 13] +- goal: [4, 25] + name: agent63 + start: [8, 8] +- goal: [11, 11] + name: agent64 + start: [20, 5] +- goal: [31, 28] + name: agent65 + start: [27, 15] +- goal: [17, 19] + name: agent66 + start: [1, 13] +- goal: [0, 9] + name: agent67 + start: [18, 29] +- goal: [19, 1] + name: agent68 + start: [26, 27] +- goal: [10, 5] + name: agent69 + start: [4, 23] +- goal: [26, 4] + name: agent70 + start: [31, 5] +- goal: [5, 11] + name: agent71 + start: [28, 2] +- goal: [11, 4] + name: agent72 + start: [15, 19] +- goal: [10, 29] + name: agent73 + start: [18, 17] +- goal: [27, 28] + name: agent74 + start: [6, 13] +- goal: [15, 2] + name: agent75 + start: [12, 5] +- goal: [26, 31] + name: agent76 + start: [4, 14] +- goal: [27, 22] + name: agent77 + start: [13, 17] +- goal: [0, 26] + name: agent78 + start: [11, 1] +- goal: [25, 14] + name: agent79 + start: [15, 16] +- goal: [9, 29] + name: agent80 + start: [3, 0] +- goal: [26, 30] + name: agent81 + start: [15, 3] +- goal: [11, 20] + name: agent82 + start: [29, 30] +- goal: [25, 0] + name: agent83 + start: [20, 24] +- goal: [12, 24] + name: agent84 + start: [16, 3] +- goal: [20, 30] + name: agent85 + start: [26, 22] +- goal: [5, 17] + name: agent86 + start: [3, 19] +- goal: [3, 20] + name: agent87 + start: [27, 17] +- goal: [13, 28] + name: agent88 + start: [30, 27] +- goal: [31, 18] + name: agent89 + start: [25, 12] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [0, 24] + - !!python/tuple [8, 6] + - !!python/tuple [13, 16] + - !!python/tuple [11, 16] + - !!python/tuple [5, 23] + - !!python/tuple [5, 5] + - !!python/tuple [7, 1] + - !!python/tuple [25, 11] + - !!python/tuple [9, 9] + - !!python/tuple [3, 13] + - !!python/tuple [16, 23] + - !!python/tuple [20, 0] + - !!python/tuple [24, 2] + - !!python/tuple [12, 1] + - !!python/tuple [8, 20] + - !!python/tuple [28, 26] + - !!python/tuple [3, 30] + - !!python/tuple [3, 28] + - !!python/tuple [30, 15] + - !!python/tuple [8, 10] + - !!python/tuple [27, 31] + - !!python/tuple [11, 9] + - !!python/tuple [21, 31] + - !!python/tuple [9, 24] + - !!python/tuple [25, 7] + - !!python/tuple [13, 8] + - !!python/tuple [12, 17] + - !!python/tuple [14, 28] + - !!python/tuple [19, 11] + - !!python/tuple [21, 2] + - !!python/tuple [28, 1] + - !!python/tuple [31, 19] + - !!python/tuple [14, 0] + - !!python/tuple [19, 13] + - !!python/tuple [25, 4] + - !!python/tuple [28, 0] + - !!python/tuple [24, 8] + - !!python/tuple [5, 14] + - !!python/tuple [16, 22] + - !!python/tuple [12, 15] + - !!python/tuple [28, 10] + - !!python/tuple [23, 19] + - !!python/tuple [3, 1] + - !!python/tuple [8, 28] + - !!python/tuple [27, 20] + - !!python/tuple [26, 10] + - !!python/tuple [1, 8] + - !!python/tuple [12, 27] + - !!python/tuple [16, 16] + - !!python/tuple [3, 6] + - !!python/tuple [1, 26] + - !!python/tuple [3, 4] + - !!python/tuple [2, 9] + - !!python/tuple [8, 31] + - !!python/tuple [7, 25] + - !!python/tuple [11, 30] + - !!python/tuple [21, 4] + - !!python/tuple [15, 29] + - !!python/tuple [15, 25] + - !!python/tuple [4, 1] + - !!python/tuple [4, 19] + - !!python/tuple [1, 18] + - !!python/tuple [31, 22] + - !!python/tuple [4, 26] + - !!python/tuple [22, 3] + - !!python/tuple [11, 0] + - !!python/tuple [29, 16] + - !!python/tuple [27, 30] + - !!python/tuple [9, 19] + - !!python/tuple [6, 25] + - !!python/tuple [0, 13] + - !!python/tuple [21, 22] + - !!python/tuple [19, 27] + - !!python/tuple [7, 26] + - !!python/tuple [4, 27] + - !!python/tuple [4, 28] + - !!python/tuple [8, 14] + - !!python/tuple [22, 17] + - !!python/tuple [14, 21] + - !!python/tuple [5, 19] + - !!python/tuple [4, 0] + - !!python/tuple [22, 30] + - !!python/tuple [9, 2] + - !!python/tuple [8, 19] + - !!python/tuple [25, 30] + - !!python/tuple [16, 28] + - !!python/tuple [20, 16] + - !!python/tuple [24, 0] + - !!python/tuple [25, 1] + - !!python/tuple [29, 7] + - !!python/tuple [7, 27] + - !!python/tuple [12, 22] + - !!python/tuple [10, 30] + - !!python/tuple [17, 12] + - !!python/tuple [12, 26] + - !!python/tuple [6, 28] + - !!python/tuple [21, 25] + - !!python/tuple [27, 12] + - !!python/tuple [27, 25] + - !!python/tuple [12, 23] + - !!python/tuple [23, 2] + - !!python/tuple [20, 20] + - !!python/tuple [24, 15] + - !!python/tuple [29, 23] + - !!python/tuple [15, 18] + - !!python/tuple [5, 25] + - !!python/tuple [0, 31] + - !!python/tuple [16, 0] + - !!python/tuple [14, 24] + - !!python/tuple [23, 24] + - !!python/tuple [18, 2] + - !!python/tuple [2, 24] + - !!python/tuple [1, 4] + - !!python/tuple [9, 4] + - !!python/tuple [26, 12] + - !!python/tuple [23, 4] + - !!python/tuple [31, 2] + - !!python/tuple [14, 22] + - !!python/tuple [16, 17] + - !!python/tuple [10, 21] + - !!python/tuple [31, 23] + - !!python/tuple [22, 26] + - !!python/tuple [31, 25] + - !!python/tuple [28, 29] + - !!python/tuple [25, 17] + - !!python/tuple [18, 23] + - !!python/tuple [17, 22] + - !!python/tuple [7, 20] + - !!python/tuple [13, 19] + - !!python/tuple [15, 17] + - !!python/tuple [8, 21] + - !!python/tuple [29, 19] + - !!python/tuple [8, 17] + - !!python/tuple [11, 12] + - !!python/tuple [29, 0] + - !!python/tuple [17, 9] + - !!python/tuple [14, 27] + - !!python/tuple [29, 15] + - !!python/tuple [24, 17] + - !!python/tuple [23, 23] + - !!python/tuple [2, 3] + - !!python/tuple [22, 13] + - !!python/tuple [24, 21] + - !!python/tuple [24, 10] + - !!python/tuple [31, 14] + - !!python/tuple [17, 23] + - !!python/tuple [21, 5] + - !!python/tuple [7, 31] + - !!python/tuple [1, 9] + - !!python/tuple [6, 23] + - !!python/tuple [23, 14] + - !!python/tuple [19, 8] + - !!python/tuple [31, 0] + - !!python/tuple [4, 2] + - !!python/tuple [28, 15] + - !!python/tuple [27, 7] + - !!python/tuple [10, 20] + - !!python/tuple [20, 4] + - !!python/tuple [6, 21] + - !!python/tuple [11, 3] + - !!python/tuple [19, 20] + - !!python/tuple [19, 21] + - !!python/tuple [13, 10] + - !!python/tuple [21, 28] + - !!python/tuple [19, 2] + - !!python/tuple [23, 27] + - !!python/tuple [7, 3] + - !!python/tuple [29, 20] + - !!python/tuple [28, 4] + - !!python/tuple [24, 9] + - !!python/tuple [13, 25] + - !!python/tuple [20, 25] + - !!python/tuple [24, 18] + - !!python/tuple [30, 22] + - !!python/tuple [30, 29] + - !!python/tuple [0, 22] + - !!python/tuple [20, 3] + - !!python/tuple [28, 21] + - !!python/tuple [5, 12] + - !!python/tuple [23, 12] + - !!python/tuple [14, 13] + - !!python/tuple [9, 16] + - !!python/tuple [0, 20] + - !!python/tuple [16, 18] + - !!python/tuple [5, 3] + - !!python/tuple [1, 1] + - !!python/tuple [21, 29] + - !!python/tuple [5, 16] + - !!python/tuple [31, 12] + - !!python/tuple [29, 8] + - !!python/tuple [30, 4] + - !!python/tuple [25, 15] + - !!python/tuple [22, 18] + - !!python/tuple [1, 5] + - !!python/tuple [22, 21] + - !!python/tuple [11, 27] + - !!python/tuple [28, 24] + - !!python/tuple [9, 11] + - !!python/tuple [19, 12] + - !!python/tuple [23, 31] + - !!python/tuple [13, 26] + - !!python/tuple [27, 2] + - !!python/tuple [20, 7] + - !!python/tuple [16, 12] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex98.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex98.yaml new file mode 100644 index 0000000..8b0e581 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex98.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [0, 14] + name: agent0 + start: [4, 9] +- goal: [4, 21] + name: agent1 + start: [30, 4] +- goal: [30, 23] + name: agent2 + start: [19, 31] +- goal: [29, 8] + name: agent3 + start: [11, 15] +- goal: [10, 29] + name: agent4 + start: [20, 23] +- goal: [8, 7] + name: agent5 + start: [13, 20] +- goal: [15, 10] + name: agent6 + start: [23, 10] +- goal: [9, 13] + name: agent7 + start: [5, 31] +- goal: [11, 6] + name: agent8 + start: [30, 15] +- goal: [6, 27] + name: agent9 + start: [7, 17] +- goal: [21, 28] + name: agent10 + start: [7, 8] +- goal: [10, 11] + name: agent11 + start: [9, 20] +- goal: [14, 1] + name: agent12 + start: [6, 21] +- goal: [9, 24] + name: agent13 + start: [8, 23] +- goal: [21, 20] + name: agent14 + start: [10, 25] +- goal: [12, 19] + name: agent15 + start: [5, 27] +- goal: [16, 4] + name: agent16 + start: [16, 30] +- goal: [20, 20] + name: agent17 + start: [23, 12] +- goal: [8, 0] + name: agent18 + start: [7, 19] +- goal: [21, 4] + name: agent19 + start: [12, 14] +- goal: [6, 8] + name: agent20 + start: [1, 10] +- goal: [11, 4] + name: agent21 + start: [25, 15] +- goal: [20, 23] + name: agent22 + start: [7, 30] +- goal: [3, 12] + name: agent23 + start: [27, 11] +- goal: [28, 16] + name: agent24 + start: [0, 12] +- goal: [30, 14] + name: agent25 + start: [6, 15] +- goal: [20, 16] + name: agent26 + start: [17, 23] +- goal: [20, 10] + name: agent27 + start: [0, 18] +- goal: [18, 6] + name: agent28 + start: [18, 4] +- goal: [27, 24] + name: agent29 + start: [24, 18] +- goal: [17, 29] + name: agent30 + start: [23, 27] +- goal: [22, 28] + name: agent31 + start: [9, 2] +- goal: [24, 22] + name: agent32 + start: [19, 26] +- goal: [0, 19] + name: agent33 + start: [14, 7] +- goal: [7, 19] + name: agent34 + start: [24, 7] +- goal: [0, 9] + name: agent35 + start: [30, 31] +- goal: [2, 17] + name: agent36 + start: [31, 19] +- goal: [17, 25] + name: agent37 + start: [2, 17] +- goal: [7, 16] + name: agent38 + start: [5, 15] +- goal: [3, 27] + name: agent39 + start: [4, 22] +- goal: [24, 0] + name: agent40 + start: [10, 14] +- goal: [12, 30] + name: agent41 + start: [22, 26] +- goal: [0, 20] + name: agent42 + start: [13, 7] +- goal: [26, 12] + name: agent43 + start: [4, 25] +- goal: [5, 25] + name: agent44 + start: [18, 22] +- goal: [11, 18] + name: agent45 + start: [18, 17] +- goal: [19, 13] + name: agent46 + start: [13, 2] +- goal: [31, 11] + name: agent47 + start: [9, 0] +- goal: [16, 2] + name: agent48 + start: [6, 1] +- goal: [7, 5] + name: agent49 + start: [3, 28] +- goal: [24, 11] + name: agent50 + start: [23, 16] +- goal: [17, 1] + name: agent51 + start: [0, 9] +- goal: [1, 22] + name: agent52 + start: [13, 4] +- goal: [17, 23] + name: agent53 + start: [19, 22] +- goal: [26, 8] + name: agent54 + start: [8, 11] +- goal: [12, 0] + name: agent55 + start: [15, 4] +- goal: [22, 26] + name: agent56 + start: [4, 21] +- goal: [1, 27] + name: agent57 + start: [25, 20] +- goal: [18, 16] + name: agent58 + start: [17, 29] +- goal: [23, 6] + name: agent59 + start: [3, 8] +- goal: [18, 29] + name: agent60 + start: [6, 22] +- goal: [5, 21] + name: agent61 + start: [9, 21] +- goal: [25, 29] + name: agent62 + start: [11, 8] +- goal: [29, 7] + name: agent63 + start: [6, 14] +- goal: [4, 13] + name: agent64 + start: [28, 4] +- goal: [17, 0] + name: agent65 + start: [24, 12] +- goal: [17, 13] + name: agent66 + start: [4, 17] +- goal: [10, 24] + name: agent67 + start: [20, 22] +- goal: [29, 5] + name: agent68 + start: [17, 17] +- goal: [20, 9] + name: agent69 + start: [5, 5] +- goal: [12, 29] + name: agent70 + start: [0, 29] +- goal: [6, 1] + name: agent71 + start: [1, 0] +- goal: [4, 24] + name: agent72 + start: [18, 31] +- goal: [23, 0] + name: agent73 + start: [23, 19] +- goal: [23, 3] + name: agent74 + start: [10, 12] +- goal: [31, 16] + name: agent75 + start: [10, 23] +- goal: [10, 14] + name: agent76 + start: [27, 4] +- goal: [3, 0] + name: agent77 + start: [16, 20] +- goal: [31, 29] + name: agent78 + start: [0, 7] +- goal: [18, 14] + name: agent79 + start: [10, 15] +- goal: [25, 30] + name: agent80 + start: [13, 17] +- goal: [25, 20] + name: agent81 + start: [7, 2] +- goal: [7, 31] + name: agent82 + start: [3, 0] +- goal: [3, 20] + name: agent83 + start: [7, 7] +- goal: [10, 3] + name: agent84 + start: [13, 21] +- goal: [20, 30] + name: agent85 + start: [25, 25] +- goal: [21, 21] + name: agent86 + start: [3, 2] +- goal: [11, 21] + name: agent87 + start: [10, 11] +- goal: [13, 2] + name: agent88 + start: [25, 10] +- goal: [1, 19] + name: agent89 + start: [20, 9] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [17, 21] + - !!python/tuple [1, 30] + - !!python/tuple [25, 26] + - !!python/tuple [24, 16] + - !!python/tuple [31, 10] + - !!python/tuple [30, 10] + - !!python/tuple [14, 31] + - !!python/tuple [4, 1] + - !!python/tuple [14, 29] + - !!python/tuple [28, 12] + - !!python/tuple [29, 27] + - !!python/tuple [12, 20] + - !!python/tuple [10, 27] + - !!python/tuple [21, 25] + - !!python/tuple [8, 27] + - !!python/tuple [15, 24] + - !!python/tuple [6, 25] + - !!python/tuple [20, 7] + - !!python/tuple [19, 7] + - !!python/tuple [0, 28] + - !!python/tuple [2, 26] + - !!python/tuple [5, 1] + - !!python/tuple [7, 9] + - !!python/tuple [8, 4] + - !!python/tuple [6, 4] + - !!python/tuple [3, 14] + - !!python/tuple [2, 29] + - !!python/tuple [27, 18] + - !!python/tuple [11, 28] + - !!python/tuple [22, 30] + - !!python/tuple [25, 27] + - !!python/tuple [9, 6] + - !!python/tuple [16, 3] + - !!python/tuple [2, 11] + - !!python/tuple [22, 2] + - !!python/tuple [18, 9] + - !!python/tuple [18, 0] + - !!python/tuple [23, 2] + - !!python/tuple [24, 1] + - !!python/tuple [21, 11] + - !!python/tuple [15, 19] + - !!python/tuple [24, 13] + - !!python/tuple [6, 12] + - !!python/tuple [6, 11] + - !!python/tuple [21, 6] + - !!python/tuple [23, 22] + - !!python/tuple [18, 27] + - !!python/tuple [26, 16] + - !!python/tuple [10, 13] + - !!python/tuple [28, 19] + - !!python/tuple [15, 23] + - !!python/tuple [26, 28] + - !!python/tuple [4, 11] + - !!python/tuple [15, 5] + - !!python/tuple [16, 15] + - !!python/tuple [7, 23] + - !!python/tuple [22, 21] + - !!python/tuple [26, 22] + - !!python/tuple [24, 4] + - !!python/tuple [15, 6] + - !!python/tuple [10, 21] + - !!python/tuple [15, 15] + - !!python/tuple [13, 15] + - !!python/tuple [30, 6] + - !!python/tuple [23, 25] + - !!python/tuple [25, 19] + - !!python/tuple [11, 29] + - !!python/tuple [31, 20] + - !!python/tuple [30, 17] + - !!python/tuple [26, 30] + - !!python/tuple [8, 19] + - !!python/tuple [30, 24] + - !!python/tuple [25, 18] + - !!python/tuple [16, 16] + - !!python/tuple [12, 21] + - !!python/tuple [21, 31] + - !!python/tuple [6, 7] + - !!python/tuple [9, 11] + - !!python/tuple [2, 30] + - !!python/tuple [18, 23] + - !!python/tuple [4, 8] + - !!python/tuple [27, 7] + - !!python/tuple [16, 6] + - !!python/tuple [11, 16] + - !!python/tuple [30, 22] + - !!python/tuple [19, 12] + - !!python/tuple [3, 7] + - !!python/tuple [2, 6] + - !!python/tuple [25, 1] + - !!python/tuple [26, 18] + - !!python/tuple [9, 25] + - !!python/tuple [26, 11] + - !!python/tuple [19, 3] + - !!python/tuple [28, 10] + - !!python/tuple [24, 28] + - !!python/tuple [17, 9] + - !!python/tuple [12, 3] + - !!python/tuple [24, 9] + - !!python/tuple [26, 2] + - !!python/tuple [0, 16] + - !!python/tuple [28, 6] + - !!python/tuple [29, 12] + - !!python/tuple [2, 20] + - !!python/tuple [16, 17] + - !!python/tuple [5, 23] + - !!python/tuple [29, 2] + - !!python/tuple [19, 20] + - !!python/tuple [5, 20] + - !!python/tuple [18, 19] + - !!python/tuple [24, 23] + - !!python/tuple [16, 21] + - !!python/tuple [18, 26] + - !!python/tuple [1, 7] + - !!python/tuple [25, 3] + - !!python/tuple [20, 31] + - !!python/tuple [11, 25] + - !!python/tuple [9, 8] + - !!python/tuple [3, 31] + - !!python/tuple [3, 6] + - !!python/tuple [22, 25] + - !!python/tuple [17, 6] + - !!python/tuple [17, 18] + - !!python/tuple [11, 10] + - !!python/tuple [11, 1] + - !!python/tuple [7, 13] + - !!python/tuple [20, 19] + - !!python/tuple [2, 24] + - !!python/tuple [13, 29] + - !!python/tuple [14, 21] + - !!python/tuple [7, 4] + - !!python/tuple [29, 23] + - !!python/tuple [4, 20] + - !!python/tuple [0, 15] + - !!python/tuple [28, 5] + - !!python/tuple [14, 0] + - !!python/tuple [4, 31] + - !!python/tuple [13, 9] + - !!python/tuple [10, 8] + - !!python/tuple [17, 11] + - !!python/tuple [25, 8] + - !!python/tuple [12, 8] + - !!python/tuple [7, 0] + - !!python/tuple [23, 4] + - !!python/tuple [12, 9] + - !!python/tuple [2, 1] + - !!python/tuple [5, 8] + - !!python/tuple [2, 13] + - !!python/tuple [2, 5] + - !!python/tuple [5, 10] + - !!python/tuple [17, 19] + - !!python/tuple [24, 24] + - !!python/tuple [4, 6] + - !!python/tuple [17, 20] + - !!python/tuple [15, 22] + - !!python/tuple [14, 18] + - !!python/tuple [3, 30] + - !!python/tuple [26, 25] + - !!python/tuple [18, 30] + - !!python/tuple [30, 11] + - !!python/tuple [27, 1] + - !!python/tuple [3, 4] + - !!python/tuple [12, 17] + - !!python/tuple [31, 5] + - !!python/tuple [12, 11] + - !!python/tuple [1, 1] + - !!python/tuple [19, 16] + - !!python/tuple [25, 14] + - !!python/tuple [0, 6] + - !!python/tuple [16, 22] + - !!python/tuple [9, 22] + - !!python/tuple [19, 19] + - !!python/tuple [11, 24] + - !!python/tuple [14, 20] + - !!python/tuple [12, 1] + - !!python/tuple [1, 25] + - !!python/tuple [10, 16] + - !!python/tuple [1, 24] + - !!python/tuple [21, 14] + - !!python/tuple [28, 27] + - !!python/tuple [22, 27] + - !!python/tuple [0, 1] + - !!python/tuple [30, 7] + - !!python/tuple [6, 26] + - !!python/tuple [1, 8] + - !!python/tuple [6, 2] + - !!python/tuple [6, 18] + - !!python/tuple [23, 23] + - !!python/tuple [18, 12] + - !!python/tuple [24, 8] + - !!python/tuple [13, 23] + - !!python/tuple [23, 28] + - !!python/tuple [7, 1] + - !!python/tuple [9, 17] + - !!python/tuple [22, 24] + - !!python/tuple [19, 24] + - !!python/tuple [21, 2] + - !!python/tuple [10, 10] + - !!python/tuple [5, 24] + - !!python/tuple [14, 5] + - !!python/tuple [18, 10] + - !!python/tuple [31, 22] + - !!python/tuple [9, 29] + - !!python/tuple [28, 20] + - !!python/tuple [19, 21] diff --git a/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex99.yaml b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex99.yaml new file mode 100644 index 0000000..dde68e9 --- /dev/null +++ b/dot_planner/centralized/benchmark/32x32_obst204/map_32by32_obst204_agents90_ex99.yaml @@ -0,0 +1,478 @@ +agents: +- goal: [23, 16] + name: agent0 + start: [26, 1] +- goal: [14, 9] + name: agent1 + start: [28, 29] +- goal: [20, 22] + name: agent2 + start: [17, 26] +- goal: [23, 30] + name: agent3 + start: [15, 20] +- goal: [25, 12] + name: agent4 + start: [30, 6] +- goal: [11, 22] + name: agent5 + start: [22, 30] +- goal: [18, 20] + name: agent6 + start: [13, 9] +- goal: [29, 21] + name: agent7 + start: [17, 23] +- goal: [8, 7] + name: agent8 + start: [22, 7] +- goal: [20, 20] + name: agent9 + start: [22, 13] +- goal: [0, 8] + name: agent10 + start: [8, 28] +- goal: [29, 15] + name: agent11 + start: [3, 16] +- goal: [20, 6] + name: agent12 + start: [12, 27] +- goal: [18, 7] + name: agent13 + start: [24, 0] +- goal: [28, 6] + name: agent14 + start: [29, 25] +- goal: [0, 28] + name: agent15 + start: [21, 17] +- goal: [22, 13] + name: agent16 + start: [2, 1] +- goal: [11, 17] + name: agent17 + start: [23, 30] +- goal: [30, 4] + name: agent18 + start: [23, 18] +- goal: [0, 21] + name: agent19 + start: [5, 7] +- goal: [13, 3] + name: agent20 + start: [16, 7] +- goal: [22, 7] + name: agent21 + start: [23, 14] +- goal: [30, 9] + name: agent22 + start: [3, 11] +- goal: [27, 10] + name: agent23 + start: [3, 28] +- goal: [31, 6] + name: agent24 + start: [20, 27] +- goal: [11, 27] + name: agent25 + start: [11, 4] +- goal: [25, 29] + name: agent26 + start: [1, 3] +- goal: [18, 8] + name: agent27 + start: [13, 12] +- goal: [4, 3] + name: agent28 + start: [29, 15] +- goal: [7, 31] + name: agent29 + start: [30, 1] +- goal: [29, 26] + name: agent30 + start: [14, 21] +- goal: [3, 16] + name: agent31 + start: [13, 31] +- goal: [18, 30] + name: agent32 + start: [5, 27] +- goal: [2, 16] + name: agent33 + start: [14, 28] +- goal: [4, 4] + name: agent34 + start: [11, 28] +- goal: [23, 18] + name: agent35 + start: [13, 2] +- goal: [11, 25] + name: agent36 + start: [27, 24] +- goal: [19, 29] + name: agent37 + start: [13, 28] +- goal: [30, 1] + name: agent38 + start: [6, 1] +- goal: [14, 29] + name: agent39 + start: [1, 26] +- goal: [13, 15] + name: agent40 + start: [18, 18] +- goal: [12, 5] + name: agent41 + start: [15, 24] +- goal: [28, 1] + name: agent42 + start: [24, 5] +- goal: [12, 1] + name: agent43 + start: [13, 11] +- goal: [17, 26] + name: agent44 + start: [31, 0] +- goal: [27, 15] + name: agent45 + start: [25, 20] +- goal: [10, 23] + name: agent46 + start: [5, 15] +- goal: [10, 10] + name: agent47 + start: [11, 9] +- goal: [13, 2] + name: agent48 + start: [2, 2] +- goal: [24, 17] + name: agent49 + start: [3, 5] +- goal: [15, 24] + name: agent50 + start: [22, 6] +- goal: [23, 22] + name: agent51 + start: [11, 19] +- goal: [18, 1] + name: agent52 + start: [25, 2] +- goal: [25, 26] + name: agent53 + start: [31, 22] +- goal: [17, 18] + name: agent54 + start: [10, 18] +- goal: [26, 14] + name: agent55 + start: [7, 20] +- goal: [5, 27] + name: agent56 + start: [1, 0] +- goal: [11, 2] + name: agent57 + start: [15, 15] +- goal: [30, 16] + name: agent58 + start: [6, 4] +- goal: [14, 6] + name: agent59 + start: [5, 30] +- goal: [1, 27] + name: agent60 + start: [24, 22] +- goal: [28, 30] + name: agent61 + start: [0, 22] +- goal: [23, 14] + name: agent62 + start: [3, 22] +- goal: [10, 28] + name: agent63 + start: [17, 1] +- goal: [5, 21] + name: agent64 + start: [10, 4] +- goal: [21, 27] + name: agent65 + start: [31, 18] +- goal: [4, 11] + name: agent66 + start: [25, 21] +- goal: [29, 16] + name: agent67 + start: [20, 10] +- goal: [2, 27] + name: agent68 + start: [28, 4] +- goal: [7, 16] + name: agent69 + start: [21, 22] +- goal: [10, 9] + name: agent70 + start: [18, 30] +- goal: [30, 31] + name: agent71 + start: [17, 7] +- goal: [20, 21] + name: agent72 + start: [17, 16] +- goal: [15, 12] + name: agent73 + start: [12, 31] +- goal: [21, 30] + name: agent74 + start: [4, 12] +- goal: [16, 5] + name: agent75 + start: [23, 5] +- goal: [3, 24] + name: agent76 + start: [9, 20] +- goal: [11, 8] + name: agent77 + start: [3, 17] +- goal: [24, 22] + name: agent78 + start: [21, 3] +- goal: [5, 30] + name: agent79 + start: [4, 29] +- goal: [23, 2] + name: agent80 + start: [6, 17] +- goal: [12, 24] + name: agent81 + start: [12, 29] +- goal: [19, 7] + name: agent82 + start: [29, 6] +- goal: [20, 4] + name: agent83 + start: [11, 25] +- goal: [30, 12] + name: agent84 + start: [29, 7] +- goal: [14, 27] + name: agent85 + start: [15, 23] +- goal: [3, 0] + name: agent86 + start: [11, 1] +- goal: [26, 12] + name: agent87 + start: [24, 25] +- goal: [14, 1] + name: agent88 + start: [0, 26] +- goal: [15, 19] + name: agent89 + start: [15, 1] +map: + dimensions: [32, 32] + obstacles: + - !!python/tuple [5, 31] + - !!python/tuple [23, 8] + - !!python/tuple [18, 13] + - !!python/tuple [10, 15] + - !!python/tuple [25, 5] + - !!python/tuple [9, 2] + - !!python/tuple [7, 9] + - !!python/tuple [22, 28] + - !!python/tuple [4, 25] + - !!python/tuple [22, 2] + - !!python/tuple [14, 26] + - !!python/tuple [9, 6] + - !!python/tuple [14, 8] + - !!python/tuple [4, 0] + - !!python/tuple [16, 18] + - !!python/tuple [26, 9] + - !!python/tuple [22, 20] + - !!python/tuple [4, 13] + - !!python/tuple [26, 8] + - !!python/tuple [16, 30] + - !!python/tuple [8, 12] + - !!python/tuple [17, 19] + - !!python/tuple [9, 26] + - !!python/tuple [30, 11] + - !!python/tuple [24, 21] + - !!python/tuple [11, 14] + - !!python/tuple [3, 7] + - !!python/tuple [21, 10] + - !!python/tuple [12, 13] + - !!python/tuple [21, 24] + - !!python/tuple [2, 30] + - !!python/tuple [16, 14] + - !!python/tuple [22, 10] + - !!python/tuple [19, 3] + - !!python/tuple [30, 14] + - !!python/tuple [14, 3] + - !!python/tuple [9, 23] + - !!python/tuple [6, 20] + - !!python/tuple [22, 29] + - !!python/tuple [31, 23] + - !!python/tuple [0, 30] + - !!python/tuple [27, 28] + - !!python/tuple [17, 4] + - !!python/tuple [27, 30] + - !!python/tuple [19, 23] + - !!python/tuple [7, 17] + - !!python/tuple [2, 12] + - !!python/tuple [20, 28] + - !!python/tuple [8, 4] + - !!python/tuple [18, 28] + - !!python/tuple [19, 27] + - !!python/tuple [17, 3] + - !!python/tuple [23, 4] + - !!python/tuple [10, 12] + - !!python/tuple [7, 11] + - !!python/tuple [21, 5] + - !!python/tuple [18, 19] + - !!python/tuple [22, 18] + - !!python/tuple [4, 14] + - !!python/tuple [30, 20] + - !!python/tuple [7, 27] + - !!python/tuple [23, 21] + - !!python/tuple [9, 0] + - !!python/tuple [18, 5] + - !!python/tuple [3, 1] + - !!python/tuple [0, 13] + - !!python/tuple [6, 19] + - !!python/tuple [19, 17] + - !!python/tuple [4, 1] + - !!python/tuple [19, 21] + - !!python/tuple [9, 18] + - !!python/tuple [19, 16] + - !!python/tuple [31, 14] + - !!python/tuple [12, 17] + - !!python/tuple [21, 15] + - !!python/tuple [23, 12] + - !!python/tuple [28, 12] + - !!python/tuple [30, 21] + - !!python/tuple [30, 17] + - !!python/tuple [26, 29] + - !!python/tuple [10, 31] + - !!python/tuple [22, 25] + - !!python/tuple [15, 22] + - !!python/tuple [27, 14] + - !!python/tuple [24, 30] + - !!python/tuple [29, 24] + - !!python/tuple [22, 16] + - !!python/tuple [0, 3] + - !!python/tuple [20, 29] + - !!python/tuple [22, 26] + - !!python/tuple [8, 3] + - !!python/tuple [27, 21] + - !!python/tuple [22, 22] + - !!python/tuple [12, 23] + - !!python/tuple [31, 4] + - !!python/tuple [19, 15] + - !!python/tuple [15, 14] + - !!python/tuple [21, 12] + - !!python/tuple [20, 18] + - !!python/tuple [29, 5] + - !!python/tuple [24, 15] + - !!python/tuple [18, 15] + - !!python/tuple [28, 26] + - !!python/tuple [1, 9] + - !!python/tuple [20, 1] + - !!python/tuple [11, 5] + - !!python/tuple [4, 10] + - !!python/tuple [22, 19] + - !!python/tuple [3, 6] + - !!python/tuple [25, 10] + - !!python/tuple [25, 18] + - !!python/tuple [26, 3] + - !!python/tuple [24, 13] + - !!python/tuple [1, 14] + - !!python/tuple [4, 2] + - !!python/tuple [3, 19] + - !!python/tuple [16, 6] + - !!python/tuple [15, 27] + - !!python/tuple [4, 30] + - !!python/tuple [9, 27] + - !!python/tuple [1, 20] + - !!python/tuple [17, 10] + - !!python/tuple [21, 2] + - !!python/tuple [15, 26] + - !!python/tuple [25, 14] + - !!python/tuple [4, 9] + - !!python/tuple [19, 4] + - !!python/tuple [31, 1] + - !!python/tuple [28, 23] + - !!python/tuple [14, 20] + - !!python/tuple [25, 25] + - !!python/tuple [26, 6] + - !!python/tuple [29, 28] + - !!python/tuple [7, 10] + - !!python/tuple [7, 24] + - !!python/tuple [15, 29] + - !!python/tuple [15, 21] + - !!python/tuple [17, 15] + - !!python/tuple [18, 14] + - !!python/tuple [9, 21] + - !!python/tuple [18, 3] + - !!python/tuple [1, 7] + - !!python/tuple [7, 4] + - !!python/tuple [1, 24] + - !!python/tuple [13, 29] + - !!python/tuple [15, 2] + - !!python/tuple [16, 19] + - !!python/tuple [27, 13] + - !!python/tuple [16, 11] + - !!python/tuple [26, 19] + - !!python/tuple [10, 21] + - !!python/tuple [28, 11] + - !!python/tuple [19, 5] + - !!python/tuple [9, 12] + - !!python/tuple [23, 7] + - !!python/tuple [18, 24] + - !!python/tuple [14, 22] + - !!python/tuple [7, 30] + - !!python/tuple [24, 16] + - !!python/tuple [30, 29] + - !!python/tuple [30, 19] + - !!python/tuple [24, 31] + - !!python/tuple [10, 7] + - !!python/tuple [10, 0] + - !!python/tuple [18, 17] + - !!python/tuple [27, 7] + - !!python/tuple [0, 5] + - !!python/tuple [21, 1] + - !!python/tuple [27, 4] + - !!python/tuple [1, 13] + - !!python/tuple [8, 27] + - !!python/tuple [22, 31] + - !!python/tuple [13, 13] + - !!python/tuple [29, 12] + - !!python/tuple [12, 3] + - !!python/tuple [29, 19] + - !!python/tuple [3, 31] + - !!python/tuple [30, 25] + - !!python/tuple [26, 16] + - !!python/tuple [0, 24] + - !!python/tuple [0, 27] + - !!python/tuple [9, 8] + - !!python/tuple [22, 15] + - !!python/tuple [25, 17] + - !!python/tuple [0, 16] + - !!python/tuple [27, 12] + - !!python/tuple [5, 20] + - !!python/tuple [7, 5] + - !!python/tuple [21, 19] + - !!python/tuple [31, 31] + - !!python/tuple [8, 5] + - !!python/tuple [13, 18] + - !!python/tuple [30, 10] + - !!python/tuple [16, 13] + - !!python/tuple [14, 17] + - !!python/tuple [29, 30] + - !!python/tuple [29, 31] + - !!python/tuple [23, 6] + - !!python/tuple [7, 28] + - !!python/tuple [29, 1] + - !!python/tuple [26, 27] + - !!python/tuple [28, 19] + - !!python/tuple [0, 25] + - !!python/tuple [7, 18] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex0.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex0.yaml new file mode 100644 index 0000000..da1818d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex0.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [6, 3] + name: agent0 + start: [1, 7] +- goal: [1, 1] + name: agent1 + start: [5, 1] +- goal: [1, 2] + name: agent2 + start: [2, 2] +- goal: [4, 3] + name: agent3 + start: [1, 1] +- goal: [1, 7] + name: agent4 + start: [4, 3] +- goal: [3, 5] + name: agent5 + start: [0, 1] +- goal: [6, 5] + name: agent6 + start: [3, 3] +- goal: [3, 4] + name: agent7 + start: [7, 7] +- goal: [1, 3] + name: agent8 + start: [4, 2] +- goal: [6, 1] + name: agent9 + start: [0, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 5] + - !!python/tuple [4, 6] + - !!python/tuple [3, 6] + - !!python/tuple [3, 2] + - !!python/tuple [0, 0] + - !!python/tuple [7, 3] + - !!python/tuple [2, 7] + - !!python/tuple [1, 0] + - !!python/tuple [1, 6] + - !!python/tuple [3, 0] + - !!python/tuple [5, 2] + - !!python/tuple [1, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex1.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex1.yaml new file mode 100644 index 0000000..402515e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex1.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [1, 6] + name: agent0 + start: [0, 0] +- goal: [7, 0] + name: agent1 + start: [2, 7] +- goal: [7, 7] + name: agent2 + start: [1, 5] +- goal: [3, 2] + name: agent3 + start: [5, 5] +- goal: [0, 6] + name: agent4 + start: [5, 0] +- goal: [1, 3] + name: agent5 + start: [0, 5] +- goal: [2, 0] + name: agent6 + start: [3, 1] +- goal: [6, 1] + name: agent7 + start: [0, 4] +- goal: [4, 1] + name: agent8 + start: [2, 3] +- goal: [3, 6] + name: agent9 + start: [2, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 2] + - !!python/tuple [5, 4] + - !!python/tuple [6, 3] + - !!python/tuple [5, 1] + - !!python/tuple [7, 5] + - !!python/tuple [3, 0] + - !!python/tuple [7, 2] + - !!python/tuple [5, 3] + - !!python/tuple [1, 1] + - !!python/tuple [0, 1] + - !!python/tuple [4, 4] + - !!python/tuple [4, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex10.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex10.yaml new file mode 100644 index 0000000..7085cd1 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex10.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [6, 7] + name: agent0 + start: [5, 2] +- goal: [0, 1] + name: agent1 + start: [1, 1] +- goal: [4, 7] + name: agent2 + start: [2, 7] +- goal: [4, 0] + name: agent3 + start: [3, 6] +- goal: [1, 7] + name: agent4 + start: [6, 3] +- goal: [4, 4] + name: agent5 + start: [0, 0] +- goal: [2, 1] + name: agent6 + start: [7, 2] +- goal: [2, 6] + name: agent7 + start: [1, 2] +- goal: [3, 0] + name: agent8 + start: [7, 7] +- goal: [6, 1] + name: agent9 + start: [1, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 0] + - !!python/tuple [4, 3] + - !!python/tuple [6, 2] + - !!python/tuple [7, 1] + - !!python/tuple [3, 7] + - !!python/tuple [4, 2] + - !!python/tuple [3, 4] + - !!python/tuple [3, 2] + - !!python/tuple [6, 6] + - !!python/tuple [0, 4] + - !!python/tuple [5, 5] + - !!python/tuple [0, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex11.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex11.yaml new file mode 100644 index 0000000..aae6c6a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex11.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [2, 1] + name: agent0 + start: [7, 5] +- goal: [4, 5] + name: agent1 + start: [4, 3] +- goal: [0, 1] + name: agent2 + start: [1, 4] +- goal: [4, 6] + name: agent3 + start: [2, 1] +- goal: [4, 4] + name: agent4 + start: [2, 4] +- goal: [5, 5] + name: agent5 + start: [7, 0] +- goal: [7, 6] + name: agent6 + start: [0, 3] +- goal: [2, 7] + name: agent7 + start: [4, 5] +- goal: [7, 3] + name: agent8 + start: [6, 1] +- goal: [1, 7] + name: agent9 + start: [6, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 5] + - !!python/tuple [7, 2] + - !!python/tuple [5, 2] + - !!python/tuple [0, 6] + - !!python/tuple [1, 1] + - !!python/tuple [3, 4] + - !!python/tuple [2, 2] + - !!python/tuple [7, 1] + - !!python/tuple [1, 3] + - !!python/tuple [4, 0] + - !!python/tuple [1, 2] + - !!python/tuple [5, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex12.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex12.yaml new file mode 100644 index 0000000..42f87d0 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex12.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [1, 6] + name: agent0 + start: [0, 0] +- goal: [6, 4] + name: agent1 + start: [3, 7] +- goal: [3, 2] + name: agent2 + start: [0, 6] +- goal: [3, 0] + name: agent3 + start: [4, 5] +- goal: [4, 7] + name: agent4 + start: [5, 2] +- goal: [2, 4] + name: agent5 + start: [0, 3] +- goal: [7, 3] + name: agent6 + start: [2, 6] +- goal: [3, 7] + name: agent7 + start: [5, 7] +- goal: [7, 4] + name: agent8 + start: [7, 2] +- goal: [0, 5] + name: agent9 + start: [5, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 6] + - !!python/tuple [7, 6] + - !!python/tuple [6, 1] + - !!python/tuple [4, 1] + - !!python/tuple [4, 6] + - !!python/tuple [1, 4] + - !!python/tuple [6, 5] + - !!python/tuple [4, 3] + - !!python/tuple [7, 5] + - !!python/tuple [1, 1] + - !!python/tuple [2, 5] + - !!python/tuple [1, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex13.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex13.yaml new file mode 100644 index 0000000..9f8ce0d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex13.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [0, 4] + name: agent0 + start: [4, 0] +- goal: [0, 6] + name: agent1 + start: [7, 2] +- goal: [7, 4] + name: agent2 + start: [5, 2] +- goal: [7, 2] + name: agent3 + start: [4, 5] +- goal: [5, 4] + name: agent4 + start: [5, 4] +- goal: [1, 3] + name: agent5 + start: [2, 5] +- goal: [6, 6] + name: agent6 + start: [4, 3] +- goal: [1, 6] + name: agent7 + start: [5, 6] +- goal: [5, 3] + name: agent8 + start: [5, 1] +- goal: [0, 7] + name: agent9 + start: [6, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 3] + - !!python/tuple [0, 0] + - !!python/tuple [3, 6] + - !!python/tuple [3, 1] + - !!python/tuple [2, 0] + - !!python/tuple [1, 4] + - !!python/tuple [7, 6] + - !!python/tuple [4, 2] + - !!python/tuple [6, 7] + - !!python/tuple [6, 2] + - !!python/tuple [3, 3] + - !!python/tuple [5, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex14.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex14.yaml new file mode 100644 index 0000000..1904027 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex14.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [5, 4] + name: agent0 + start: [4, 4] +- goal: [1, 5] + name: agent1 + start: [5, 4] +- goal: [0, 1] + name: agent2 + start: [6, 6] +- goal: [2, 1] + name: agent3 + start: [0, 6] +- goal: [3, 3] + name: agent4 + start: [5, 5] +- goal: [7, 5] + name: agent5 + start: [4, 2] +- goal: [4, 0] + name: agent6 + start: [5, 7] +- goal: [4, 3] + name: agent7 + start: [1, 5] +- goal: [5, 1] + name: agent8 + start: [0, 2] +- goal: [4, 4] + name: agent9 + start: [1, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 6] + - !!python/tuple [2, 2] + - !!python/tuple [6, 2] + - !!python/tuple [7, 3] + - !!python/tuple [4, 7] + - !!python/tuple [2, 3] + - !!python/tuple [6, 3] + - !!python/tuple [2, 4] + - !!python/tuple [1, 2] + - !!python/tuple [4, 5] + - !!python/tuple [2, 5] + - !!python/tuple [1, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex15.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex15.yaml new file mode 100644 index 0000000..e4dc80f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex15.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [4, 2] + name: agent0 + start: [3, 6] +- goal: [1, 5] + name: agent1 + start: [7, 3] +- goal: [6, 7] + name: agent2 + start: [5, 3] +- goal: [0, 7] + name: agent3 + start: [0, 6] +- goal: [7, 2] + name: agent4 + start: [0, 4] +- goal: [6, 5] + name: agent5 + start: [4, 1] +- goal: [0, 5] + name: agent6 + start: [1, 1] +- goal: [2, 3] + name: agent7 + start: [3, 2] +- goal: [3, 0] + name: agent8 + start: [7, 2] +- goal: [6, 1] + name: agent9 + start: [0, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 6] + - !!python/tuple [1, 4] + - !!python/tuple [7, 5] + - !!python/tuple [1, 0] + - !!python/tuple [2, 0] + - !!python/tuple [3, 3] + - !!python/tuple [0, 1] + - !!python/tuple [3, 5] + - !!python/tuple [7, 4] + - !!python/tuple [7, 6] + - !!python/tuple [5, 2] + - !!python/tuple [0, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex16.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex16.yaml new file mode 100644 index 0000000..a1eaff4 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex16.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [3, 1] + name: agent0 + start: [2, 7] +- goal: [4, 3] + name: agent1 + start: [6, 5] +- goal: [3, 5] + name: agent2 + start: [2, 5] +- goal: [1, 4] + name: agent3 + start: [5, 4] +- goal: [7, 6] + name: agent4 + start: [3, 5] +- goal: [1, 3] + name: agent5 + start: [4, 7] +- goal: [0, 2] + name: agent6 + start: [1, 3] +- goal: [2, 3] + name: agent7 + start: [0, 6] +- goal: [3, 0] + name: agent8 + start: [6, 3] +- goal: [6, 1] + name: agent9 + start: [5, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 0] + - !!python/tuple [4, 5] + - !!python/tuple [1, 0] + - !!python/tuple [2, 6] + - !!python/tuple [1, 7] + - !!python/tuple [3, 6] + - !!python/tuple [0, 4] + - !!python/tuple [5, 7] + - !!python/tuple [6, 7] + - !!python/tuple [6, 6] + - !!python/tuple [6, 0] + - !!python/tuple [4, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex17.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex17.yaml new file mode 100644 index 0000000..4631fa3 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex17.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [6, 6] + name: agent0 + start: [1, 4] +- goal: [1, 4] + name: agent1 + start: [4, 5] +- goal: [1, 0] + name: agent2 + start: [3, 0] +- goal: [5, 7] + name: agent3 + start: [5, 1] +- goal: [4, 5] + name: agent4 + start: [6, 7] +- goal: [4, 0] + name: agent5 + start: [4, 4] +- goal: [1, 6] + name: agent6 + start: [1, 6] +- goal: [2, 7] + name: agent7 + start: [0, 2] +- goal: [5, 5] + name: agent8 + start: [1, 2] +- goal: [6, 0] + name: agent9 + start: [7, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 1] + - !!python/tuple [3, 6] + - !!python/tuple [6, 2] + - !!python/tuple [2, 0] + - !!python/tuple [1, 1] + - !!python/tuple [0, 7] + - !!python/tuple [5, 0] + - !!python/tuple [4, 6] + - !!python/tuple [7, 4] + - !!python/tuple [6, 4] + - !!python/tuple [3, 4] + - !!python/tuple [7, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex18.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex18.yaml new file mode 100644 index 0000000..3d2e85e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex18.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [0, 0] + name: agent0 + start: [5, 6] +- goal: [7, 7] + name: agent1 + start: [2, 7] +- goal: [1, 7] + name: agent2 + start: [6, 4] +- goal: [4, 0] + name: agent3 + start: [4, 7] +- goal: [1, 3] + name: agent4 + start: [4, 6] +- goal: [5, 5] + name: agent5 + start: [7, 5] +- goal: [2, 1] + name: agent6 + start: [5, 0] +- goal: [2, 4] + name: agent7 + start: [6, 7] +- goal: [7, 1] + name: agent8 + start: [3, 7] +- goal: [5, 1] + name: agent9 + start: [5, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 3] + - !!python/tuple [3, 3] + - !!python/tuple [6, 1] + - !!python/tuple [0, 2] + - !!python/tuple [3, 4] + - !!python/tuple [5, 2] + - !!python/tuple [0, 1] + - !!python/tuple [4, 5] + - !!python/tuple [2, 2] + - !!python/tuple [5, 7] + - !!python/tuple [0, 3] + - !!python/tuple [1, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex19.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex19.yaml new file mode 100644 index 0000000..546bcc3 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex19.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [6, 6] + name: agent0 + start: [3, 7] +- goal: [4, 1] + name: agent1 + start: [6, 5] +- goal: [1, 6] + name: agent2 + start: [4, 1] +- goal: [1, 7] + name: agent3 + start: [4, 0] +- goal: [5, 2] + name: agent4 + start: [7, 7] +- goal: [7, 1] + name: agent5 + start: [1, 0] +- goal: [3, 1] + name: agent6 + start: [6, 0] +- goal: [0, 3] + name: agent7 + start: [1, 5] +- goal: [1, 0] + name: agent8 + start: [2, 4] +- goal: [4, 7] + name: agent9 + start: [3, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 3] + - !!python/tuple [6, 2] + - !!python/tuple [7, 6] + - !!python/tuple [1, 4] + - !!python/tuple [2, 7] + - !!python/tuple [4, 3] + - !!python/tuple [7, 4] + - !!python/tuple [2, 1] + - !!python/tuple [5, 5] + - !!python/tuple [3, 3] + - !!python/tuple [2, 2] + - !!python/tuple [3, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex2.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex2.yaml new file mode 100644 index 0000000..a57fd6e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex2.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [4, 2] + name: agent0 + start: [5, 5] +- goal: [6, 4] + name: agent1 + start: [2, 5] +- goal: [7, 1] + name: agent2 + start: [4, 5] +- goal: [6, 5] + name: agent3 + start: [6, 4] +- goal: [6, 0] + name: agent4 + start: [0, 6] +- goal: [0, 6] + name: agent5 + start: [4, 7] +- goal: [2, 1] + name: agent6 + start: [3, 1] +- goal: [3, 5] + name: agent7 + start: [3, 5] +- goal: [1, 0] + name: agent8 + start: [1, 2] +- goal: [2, 3] + name: agent9 + start: [3, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 7] + - !!python/tuple [0, 4] + - !!python/tuple [6, 7] + - !!python/tuple [5, 3] + - !!python/tuple [3, 0] + - !!python/tuple [6, 6] + - !!python/tuple [4, 3] + - !!python/tuple [4, 1] + - !!python/tuple [6, 2] + - !!python/tuple [5, 6] + - !!python/tuple [0, 2] + - !!python/tuple [2, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex20.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex20.yaml new file mode 100644 index 0000000..ab04674 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex20.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [6, 2] + name: agent0 + start: [4, 7] +- goal: [0, 7] + name: agent1 + start: [2, 7] +- goal: [2, 4] + name: agent2 + start: [6, 5] +- goal: [1, 7] + name: agent3 + start: [4, 4] +- goal: [2, 2] + name: agent4 + start: [6, 6] +- goal: [7, 0] + name: agent5 + start: [7, 0] +- goal: [5, 4] + name: agent6 + start: [6, 3] +- goal: [4, 3] + name: agent7 + start: [7, 3] +- goal: [2, 3] + name: agent8 + start: [2, 3] +- goal: [6, 5] + name: agent9 + start: [1, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 1] + - !!python/tuple [0, 5] + - !!python/tuple [4, 5] + - !!python/tuple [7, 2] + - !!python/tuple [7, 1] + - !!python/tuple [4, 6] + - !!python/tuple [5, 1] + - !!python/tuple [0, 1] + - !!python/tuple [7, 7] + - !!python/tuple [5, 6] + - !!python/tuple [1, 2] + - !!python/tuple [2, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex21.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex21.yaml new file mode 100644 index 0000000..89a62b3 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex21.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [0, 4] + name: agent0 + start: [5, 6] +- goal: [7, 1] + name: agent1 + start: [0, 6] +- goal: [0, 3] + name: agent2 + start: [2, 7] +- goal: [3, 4] + name: agent3 + start: [3, 7] +- goal: [1, 5] + name: agent4 + start: [5, 1] +- goal: [7, 7] + name: agent5 + start: [3, 0] +- goal: [3, 3] + name: agent6 + start: [3, 6] +- goal: [5, 0] + name: agent7 + start: [7, 7] +- goal: [5, 5] + name: agent8 + start: [6, 2] +- goal: [0, 5] + name: agent9 + start: [5, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 5] + - !!python/tuple [2, 2] + - !!python/tuple [2, 0] + - !!python/tuple [6, 6] + - !!python/tuple [6, 4] + - !!python/tuple [7, 6] + - !!python/tuple [0, 2] + - !!python/tuple [7, 4] + - !!python/tuple [3, 5] + - !!python/tuple [4, 0] + - !!python/tuple [6, 5] + - !!python/tuple [1, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex22.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex22.yaml new file mode 100644 index 0000000..abacbe9 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex22.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [5, 0] + name: agent0 + start: [5, 1] +- goal: [6, 7] + name: agent1 + start: [6, 7] +- goal: [7, 0] + name: agent2 + start: [7, 4] +- goal: [0, 5] + name: agent3 + start: [6, 0] +- goal: [5, 5] + name: agent4 + start: [4, 5] +- goal: [4, 2] + name: agent5 + start: [0, 1] +- goal: [5, 7] + name: agent6 + start: [0, 3] +- goal: [5, 4] + name: agent7 + start: [5, 0] +- goal: [5, 1] + name: agent8 + start: [1, 1] +- goal: [4, 4] + name: agent9 + start: [7, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 4] + - !!python/tuple [1, 5] + - !!python/tuple [5, 3] + - !!python/tuple [7, 3] + - !!python/tuple [0, 0] + - !!python/tuple [2, 7] + - !!python/tuple [0, 6] + - !!python/tuple [5, 2] + - !!python/tuple [4, 3] + - !!python/tuple [5, 6] + - !!python/tuple [3, 1] + - !!python/tuple [0, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex23.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex23.yaml new file mode 100644 index 0000000..476299e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex23.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [2, 7] + name: agent0 + start: [1, 4] +- goal: [7, 0] + name: agent1 + start: [0, 4] +- goal: [0, 2] + name: agent2 + start: [4, 0] +- goal: [2, 3] + name: agent3 + start: [7, 1] +- goal: [6, 0] + name: agent4 + start: [3, 5] +- goal: [4, 5] + name: agent5 + start: [6, 0] +- goal: [1, 2] + name: agent6 + start: [3, 2] +- goal: [4, 1] + name: agent7 + start: [2, 2] +- goal: [4, 3] + name: agent8 + start: [6, 1] +- goal: [5, 7] + name: agent9 + start: [6, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 6] + - !!python/tuple [2, 4] + - !!python/tuple [3, 3] + - !!python/tuple [3, 4] + - !!python/tuple [3, 1] + - !!python/tuple [3, 0] + - !!python/tuple [2, 1] + - !!python/tuple [5, 3] + - !!python/tuple [7, 3] + - !!python/tuple [5, 4] + - !!python/tuple [7, 5] + - !!python/tuple [2, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex24.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex24.yaml new file mode 100644 index 0000000..316e5df --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex24.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [7, 2] + name: agent0 + start: [3, 7] +- goal: [3, 3] + name: agent1 + start: [4, 3] +- goal: [2, 2] + name: agent2 + start: [6, 2] +- goal: [0, 6] + name: agent3 + start: [3, 0] +- goal: [1, 6] + name: agent4 + start: [2, 5] +- goal: [4, 4] + name: agent5 + start: [6, 7] +- goal: [1, 4] + name: agent6 + start: [7, 2] +- goal: [5, 3] + name: agent7 + start: [5, 1] +- goal: [0, 4] + name: agent8 + start: [2, 7] +- goal: [6, 0] + name: agent9 + start: [7, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 2] + - !!python/tuple [7, 0] + - !!python/tuple [2, 3] + - !!python/tuple [1, 1] + - !!python/tuple [1, 3] + - !!python/tuple [6, 6] + - !!python/tuple [3, 1] + - !!python/tuple [7, 6] + - !!python/tuple [6, 1] + - !!python/tuple [5, 2] + - !!python/tuple [2, 6] + - !!python/tuple [0, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex25.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex25.yaml new file mode 100644 index 0000000..364a484 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex25.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [3, 0] + name: agent0 + start: [4, 6] +- goal: [7, 2] + name: agent1 + start: [7, 6] +- goal: [1, 7] + name: agent2 + start: [0, 3] +- goal: [2, 0] + name: agent3 + start: [2, 0] +- goal: [0, 1] + name: agent4 + start: [3, 3] +- goal: [0, 0] + name: agent5 + start: [5, 5] +- goal: [5, 4] + name: agent6 + start: [6, 3] +- goal: [4, 0] + name: agent7 + start: [4, 4] +- goal: [2, 5] + name: agent8 + start: [3, 6] +- goal: [6, 4] + name: agent9 + start: [5, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 1] + - !!python/tuple [0, 7] + - !!python/tuple [4, 7] + - !!python/tuple [5, 0] + - !!python/tuple [0, 4] + - !!python/tuple [2, 6] + - !!python/tuple [2, 1] + - !!python/tuple [2, 2] + - !!python/tuple [1, 4] + - !!python/tuple [0, 2] + - !!python/tuple [5, 3] + - !!python/tuple [7, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex26.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex26.yaml new file mode 100644 index 0000000..0b0e0c8 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex26.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [4, 0] + name: agent0 + start: [3, 6] +- goal: [4, 3] + name: agent1 + start: [0, 4] +- goal: [7, 5] + name: agent2 + start: [5, 5] +- goal: [5, 7] + name: agent3 + start: [3, 0] +- goal: [2, 7] + name: agent4 + start: [2, 4] +- goal: [1, 0] + name: agent5 + start: [6, 4] +- goal: [7, 1] + name: agent6 + start: [5, 7] +- goal: [2, 6] + name: agent7 + start: [2, 0] +- goal: [1, 6] + name: agent8 + start: [3, 1] +- goal: [0, 1] + name: agent9 + start: [4, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 2] + - !!python/tuple [1, 3] + - !!python/tuple [3, 5] + - !!python/tuple [5, 3] + - !!python/tuple [3, 2] + - !!python/tuple [0, 7] + - !!python/tuple [4, 2] + - !!python/tuple [4, 6] + - !!python/tuple [0, 5] + - !!python/tuple [1, 5] + - !!python/tuple [7, 2] + - !!python/tuple [6, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex27.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex27.yaml new file mode 100644 index 0000000..7658f87 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex27.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [7, 6] + name: agent0 + start: [6, 7] +- goal: [5, 6] + name: agent1 + start: [2, 7] +- goal: [3, 5] + name: agent2 + start: [6, 2] +- goal: [4, 6] + name: agent3 + start: [7, 6] +- goal: [4, 3] + name: agent4 + start: [1, 7] +- goal: [3, 0] + name: agent5 + start: [2, 2] +- goal: [2, 0] + name: agent6 + start: [3, 0] +- goal: [0, 4] + name: agent7 + start: [2, 0] +- goal: [1, 4] + name: agent8 + start: [1, 5] +- goal: [0, 0] + name: agent9 + start: [1, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 7] + - !!python/tuple [1, 3] + - !!python/tuple [5, 0] + - !!python/tuple [2, 3] + - !!python/tuple [6, 1] + - !!python/tuple [4, 4] + - !!python/tuple [4, 7] + - !!python/tuple [5, 1] + - !!python/tuple [5, 2] + - !!python/tuple [0, 6] + - !!python/tuple [7, 3] + - !!python/tuple [7, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex28.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex28.yaml new file mode 100644 index 0000000..766f6fe --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex28.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [4, 5] + name: agent0 + start: [5, 4] +- goal: [4, 3] + name: agent1 + start: [7, 1] +- goal: [0, 0] + name: agent2 + start: [2, 3] +- goal: [3, 7] + name: agent3 + start: [5, 7] +- goal: [3, 6] + name: agent4 + start: [1, 2] +- goal: [3, 0] + name: agent5 + start: [3, 5] +- goal: [2, 7] + name: agent6 + start: [5, 5] +- goal: [5, 3] + name: agent7 + start: [2, 7] +- goal: [2, 2] + name: agent8 + start: [0, 2] +- goal: [4, 2] + name: agent9 + start: [6, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 1] + - !!python/tuple [2, 6] + - !!python/tuple [7, 7] + - !!python/tuple [4, 6] + - !!python/tuple [0, 5] + - !!python/tuple [2, 0] + - !!python/tuple [1, 5] + - !!python/tuple [0, 7] + - !!python/tuple [5, 6] + - !!python/tuple [1, 3] + - !!python/tuple [4, 7] + - !!python/tuple [7, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex29.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex29.yaml new file mode 100644 index 0000000..c155995 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex29.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [6, 0] + name: agent0 + start: [0, 6] +- goal: [2, 1] + name: agent1 + start: [2, 5] +- goal: [3, 3] + name: agent2 + start: [1, 7] +- goal: [6, 4] + name: agent3 + start: [4, 2] +- goal: [5, 5] + name: agent4 + start: [2, 4] +- goal: [4, 3] + name: agent5 + start: [6, 3] +- goal: [2, 7] + name: agent6 + start: [4, 1] +- goal: [1, 3] + name: agent7 + start: [1, 1] +- goal: [3, 4] + name: agent8 + start: [5, 5] +- goal: [1, 1] + name: agent9 + start: [3, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 6] + - !!python/tuple [1, 2] + - !!python/tuple [2, 2] + - !!python/tuple [7, 2] + - !!python/tuple [2, 6] + - !!python/tuple [4, 7] + - !!python/tuple [2, 0] + - !!python/tuple [3, 6] + - !!python/tuple [0, 3] + - !!python/tuple [0, 2] + - !!python/tuple [3, 0] + - !!python/tuple [7, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex3.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex3.yaml new file mode 100644 index 0000000..d4496a7 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex3.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [7, 6] + name: agent0 + start: [5, 1] +- goal: [0, 1] + name: agent1 + start: [6, 1] +- goal: [6, 0] + name: agent2 + start: [1, 1] +- goal: [4, 4] + name: agent3 + start: [0, 4] +- goal: [5, 1] + name: agent4 + start: [4, 3] +- goal: [5, 5] + name: agent5 + start: [5, 3] +- goal: [6, 1] + name: agent6 + start: [0, 1] +- goal: [0, 5] + name: agent7 + start: [7, 2] +- goal: [7, 7] + name: agent8 + start: [0, 7] +- goal: [5, 7] + name: agent9 + start: [2, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 2] + - !!python/tuple [4, 7] + - !!python/tuple [2, 7] + - !!python/tuple [4, 1] + - !!python/tuple [3, 1] + - !!python/tuple [3, 5] + - !!python/tuple [7, 1] + - !!python/tuple [0, 3] + - !!python/tuple [2, 6] + - !!python/tuple [5, 6] + - !!python/tuple [2, 4] + - !!python/tuple [7, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex30.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex30.yaml new file mode 100644 index 0000000..cb77f46 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex30.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [3, 2] + name: agent0 + start: [4, 2] +- goal: [1, 3] + name: agent1 + start: [4, 5] +- goal: [5, 4] + name: agent2 + start: [5, 7] +- goal: [5, 2] + name: agent3 + start: [7, 7] +- goal: [0, 5] + name: agent4 + start: [3, 6] +- goal: [3, 3] + name: agent5 + start: [6, 1] +- goal: [7, 1] + name: agent6 + start: [3, 3] +- goal: [1, 4] + name: agent7 + start: [0, 5] +- goal: [2, 4] + name: agent8 + start: [2, 1] +- goal: [6, 2] + name: agent9 + start: [1, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 5] + - !!python/tuple [3, 1] + - !!python/tuple [4, 3] + - !!python/tuple [5, 0] + - !!python/tuple [2, 2] + - !!python/tuple [4, 1] + - !!python/tuple [3, 5] + - !!python/tuple [7, 6] + - !!python/tuple [7, 4] + - !!python/tuple [6, 6] + - !!python/tuple [6, 4] + - !!python/tuple [3, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex31.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex31.yaml new file mode 100644 index 0000000..306f874 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex31.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [2, 5] + name: agent0 + start: [5, 7] +- goal: [7, 7] + name: agent1 + start: [6, 3] +- goal: [5, 2] + name: agent2 + start: [4, 6] +- goal: [1, 4] + name: agent3 + start: [7, 7] +- goal: [6, 0] + name: agent4 + start: [3, 0] +- goal: [5, 0] + name: agent5 + start: [6, 7] +- goal: [1, 7] + name: agent6 + start: [1, 7] +- goal: [5, 1] + name: agent7 + start: [3, 5] +- goal: [3, 6] + name: agent8 + start: [3, 7] +- goal: [0, 3] + name: agent9 + start: [4, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 5] + - !!python/tuple [0, 2] + - !!python/tuple [0, 6] + - !!python/tuple [2, 2] + - !!python/tuple [4, 1] + - !!python/tuple [3, 2] + - !!python/tuple [5, 5] + - !!python/tuple [7, 3] + - !!python/tuple [2, 6] + - !!python/tuple [1, 0] + - !!python/tuple [2, 0] + - !!python/tuple [6, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex32.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex32.yaml new file mode 100644 index 0000000..4bcc28a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex32.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [4, 6] + name: agent0 + start: [7, 2] +- goal: [0, 3] + name: agent1 + start: [3, 0] +- goal: [5, 0] + name: agent2 + start: [3, 4] +- goal: [3, 6] + name: agent3 + start: [7, 6] +- goal: [0, 1] + name: agent4 + start: [4, 5] +- goal: [7, 2] + name: agent5 + start: [7, 3] +- goal: [3, 4] + name: agent6 + start: [0, 5] +- goal: [0, 2] + name: agent7 + start: [5, 5] +- goal: [4, 4] + name: agent8 + start: [4, 0] +- goal: [7, 3] + name: agent9 + start: [7, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 4] + - !!python/tuple [4, 2] + - !!python/tuple [2, 7] + - !!python/tuple [2, 3] + - !!python/tuple [4, 3] + - !!python/tuple [1, 7] + - !!python/tuple [7, 0] + - !!python/tuple [7, 4] + - !!python/tuple [4, 1] + - !!python/tuple [3, 7] + - !!python/tuple [5, 1] + - !!python/tuple [1, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex33.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex33.yaml new file mode 100644 index 0000000..f126b26 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex33.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [5, 2] + name: agent0 + start: [7, 2] +- goal: [0, 5] + name: agent1 + start: [5, 6] +- goal: [7, 3] + name: agent2 + start: [4, 6] +- goal: [1, 4] + name: agent3 + start: [6, 3] +- goal: [5, 4] + name: agent4 + start: [4, 5] +- goal: [4, 7] + name: agent5 + start: [3, 7] +- goal: [7, 7] + name: agent6 + start: [3, 6] +- goal: [6, 3] + name: agent7 + start: [7, 3] +- goal: [5, 3] + name: agent8 + start: [1, 7] +- goal: [7, 2] + name: agent9 + start: [7, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 0] + - !!python/tuple [4, 1] + - !!python/tuple [7, 1] + - !!python/tuple [6, 4] + - !!python/tuple [0, 4] + - !!python/tuple [2, 2] + - !!python/tuple [2, 1] + - !!python/tuple [3, 2] + - !!python/tuple [0, 0] + - !!python/tuple [5, 1] + - !!python/tuple [1, 2] + - !!python/tuple [0, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex34.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex34.yaml new file mode 100644 index 0000000..2bb82ca --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex34.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [5, 1] + name: agent0 + start: [6, 2] +- goal: [6, 7] + name: agent1 + start: [6, 3] +- goal: [2, 6] + name: agent2 + start: [5, 2] +- goal: [6, 0] + name: agent3 + start: [7, 5] +- goal: [2, 1] + name: agent4 + start: [5, 3] +- goal: [1, 2] + name: agent5 + start: [3, 0] +- goal: [1, 3] + name: agent6 + start: [7, 0] +- goal: [7, 7] + name: agent7 + start: [6, 5] +- goal: [5, 2] + name: agent8 + start: [3, 7] +- goal: [1, 7] + name: agent9 + start: [6, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 0] + - !!python/tuple [5, 4] + - !!python/tuple [3, 6] + - !!python/tuple [4, 0] + - !!python/tuple [7, 3] + - !!python/tuple [2, 4] + - !!python/tuple [3, 3] + - !!python/tuple [5, 7] + - !!python/tuple [1, 0] + - !!python/tuple [7, 1] + - !!python/tuple [1, 1] + - !!python/tuple [0, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex35.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex35.yaml new file mode 100644 index 0000000..b1bf3d0 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex35.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [0, 1] + name: agent0 + start: [1, 6] +- goal: [0, 2] + name: agent1 + start: [2, 2] +- goal: [5, 2] + name: agent2 + start: [7, 2] +- goal: [5, 1] + name: agent3 + start: [0, 1] +- goal: [1, 2] + name: agent4 + start: [4, 4] +- goal: [4, 1] + name: agent5 + start: [6, 5] +- goal: [5, 3] + name: agent6 + start: [6, 6] +- goal: [7, 7] + name: agent7 + start: [7, 7] +- goal: [2, 7] + name: agent8 + start: [5, 0] +- goal: [0, 4] + name: agent9 + start: [1, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 0] + - !!python/tuple [4, 3] + - !!python/tuple [7, 5] + - !!python/tuple [2, 0] + - !!python/tuple [5, 4] + - !!python/tuple [1, 5] + - !!python/tuple [3, 1] + - !!python/tuple [0, 7] + - !!python/tuple [6, 2] + - !!python/tuple [3, 3] + - !!python/tuple [1, 1] + - !!python/tuple [6, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex36.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex36.yaml new file mode 100644 index 0000000..d330410 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex36.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [6, 1] + name: agent0 + start: [7, 0] +- goal: [0, 2] + name: agent1 + start: [2, 2] +- goal: [2, 4] + name: agent2 + start: [2, 1] +- goal: [7, 6] + name: agent3 + start: [3, 0] +- goal: [4, 0] + name: agent4 + start: [1, 0] +- goal: [5, 1] + name: agent5 + start: [7, 3] +- goal: [1, 0] + name: agent6 + start: [0, 2] +- goal: [1, 2] + name: agent7 + start: [3, 7] +- goal: [2, 7] + name: agent8 + start: [6, 3] +- goal: [6, 4] + name: agent9 + start: [4, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 6] + - !!python/tuple [4, 7] + - !!python/tuple [0, 7] + - !!python/tuple [5, 6] + - !!python/tuple [6, 0] + - !!python/tuple [3, 3] + - !!python/tuple [1, 3] + - !!python/tuple [2, 3] + - !!python/tuple [0, 0] + - !!python/tuple [5, 7] + - !!python/tuple [3, 2] + - !!python/tuple [4, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex37.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex37.yaml new file mode 100644 index 0000000..596b191 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex37.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [2, 6] + name: agent0 + start: [1, 5] +- goal: [4, 1] + name: agent1 + start: [3, 5] +- goal: [4, 6] + name: agent2 + start: [4, 1] +- goal: [2, 4] + name: agent3 + start: [0, 4] +- goal: [5, 0] + name: agent4 + start: [7, 1] +- goal: [1, 7] + name: agent5 + start: [3, 6] +- goal: [0, 5] + name: agent6 + start: [5, 1] +- goal: [7, 3] + name: agent7 + start: [2, 6] +- goal: [0, 3] + name: agent8 + start: [2, 4] +- goal: [6, 7] + name: agent9 + start: [7, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 1] + - !!python/tuple [1, 3] + - !!python/tuple [5, 3] + - !!python/tuple [7, 4] + - !!python/tuple [2, 7] + - !!python/tuple [2, 3] + - !!python/tuple [4, 7] + - !!python/tuple [1, 2] + - !!python/tuple [2, 2] + - !!python/tuple [6, 6] + - !!python/tuple [1, 4] + - !!python/tuple [5, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex38.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex38.yaml new file mode 100644 index 0000000..e17d34d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex38.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [1, 4] + name: agent0 + start: [3, 3] +- goal: [1, 0] + name: agent1 + start: [0, 2] +- goal: [2, 4] + name: agent2 + start: [5, 7] +- goal: [3, 7] + name: agent3 + start: [3, 7] +- goal: [2, 1] + name: agent4 + start: [6, 2] +- goal: [1, 7] + name: agent5 + start: [3, 2] +- goal: [5, 5] + name: agent6 + start: [7, 3] +- goal: [3, 1] + name: agent7 + start: [0, 0] +- goal: [3, 6] + name: agent8 + start: [2, 7] +- goal: [2, 5] + name: agent9 + start: [4, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 6] + - !!python/tuple [6, 0] + - !!python/tuple [3, 5] + - !!python/tuple [0, 3] + - !!python/tuple [6, 7] + - !!python/tuple [0, 6] + - !!python/tuple [1, 5] + - !!python/tuple [4, 1] + - !!python/tuple [1, 3] + - !!python/tuple [7, 7] + - !!python/tuple [1, 6] + - !!python/tuple [6, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex39.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex39.yaml new file mode 100644 index 0000000..d203c69 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex39.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [6, 6] + name: agent0 + start: [6, 2] +- goal: [1, 6] + name: agent1 + start: [0, 5] +- goal: [3, 1] + name: agent2 + start: [7, 7] +- goal: [0, 3] + name: agent3 + start: [1, 3] +- goal: [5, 6] + name: agent4 + start: [2, 3] +- goal: [6, 5] + name: agent5 + start: [5, 6] +- goal: [7, 6] + name: agent6 + start: [5, 3] +- goal: [6, 1] + name: agent7 + start: [2, 4] +- goal: [0, 2] + name: agent8 + start: [1, 1] +- goal: [5, 4] + name: agent9 + start: [5, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 7] + - !!python/tuple [4, 0] + - !!python/tuple [3, 7] + - !!python/tuple [2, 0] + - !!python/tuple [2, 7] + - !!python/tuple [0, 7] + - !!python/tuple [5, 2] + - !!python/tuple [3, 6] + - !!python/tuple [7, 1] + - !!python/tuple [7, 4] + - !!python/tuple [0, 1] + - !!python/tuple [2, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex4.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex4.yaml new file mode 100644 index 0000000..c2e03dd --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex4.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [3, 6] + name: agent0 + start: [1, 6] +- goal: [5, 4] + name: agent1 + start: [3, 5] +- goal: [3, 4] + name: agent2 + start: [1, 5] +- goal: [4, 2] + name: agent3 + start: [6, 6] +- goal: [5, 5] + name: agent4 + start: [0, 0] +- goal: [7, 6] + name: agent5 + start: [1, 7] +- goal: [6, 5] + name: agent6 + start: [0, 1] +- goal: [0, 2] + name: agent7 + start: [3, 4] +- goal: [3, 3] + name: agent8 + start: [0, 6] +- goal: [0, 5] + name: agent9 + start: [3, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 2] + - !!python/tuple [3, 2] + - !!python/tuple [4, 7] + - !!python/tuple [5, 3] + - !!python/tuple [3, 0] + - !!python/tuple [2, 4] + - !!python/tuple [4, 6] + - !!python/tuple [6, 2] + - !!python/tuple [1, 1] + - !!python/tuple [2, 3] + - !!python/tuple [7, 1] + - !!python/tuple [4, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex40.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex40.yaml new file mode 100644 index 0000000..23ccc93 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex40.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [0, 7] + name: agent0 + start: [2, 5] +- goal: [4, 1] + name: agent1 + start: [5, 7] +- goal: [1, 7] + name: agent2 + start: [1, 6] +- goal: [2, 5] + name: agent3 + start: [5, 2] +- goal: [1, 2] + name: agent4 + start: [6, 6] +- goal: [0, 1] + name: agent5 + start: [3, 5] +- goal: [1, 5] + name: agent6 + start: [3, 2] +- goal: [3, 4] + name: agent7 + start: [5, 0] +- goal: [2, 2] + name: agent8 + start: [0, 0] +- goal: [5, 6] + name: agent9 + start: [6, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 7] + - !!python/tuple [2, 1] + - !!python/tuple [0, 3] + - !!python/tuple [7, 6] + - !!python/tuple [3, 7] + - !!python/tuple [2, 0] + - !!python/tuple [4, 3] + - !!python/tuple [3, 1] + - !!python/tuple [4, 5] + - !!python/tuple [4, 7] + - !!python/tuple [1, 4] + - !!python/tuple [5, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex41.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex41.yaml new file mode 100644 index 0000000..f19b1a7 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex41.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [6, 2] + name: agent0 + start: [4, 0] +- goal: [5, 2] + name: agent1 + start: [7, 5] +- goal: [5, 5] + name: agent2 + start: [3, 6] +- goal: [6, 6] + name: agent3 + start: [3, 2] +- goal: [3, 4] + name: agent4 + start: [1, 0] +- goal: [7, 4] + name: agent5 + start: [2, 3] +- goal: [2, 7] + name: agent6 + start: [6, 2] +- goal: [2, 3] + name: agent7 + start: [3, 4] +- goal: [5, 7] + name: agent8 + start: [2, 5] +- goal: [0, 5] + name: agent9 + start: [5, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 1] + - !!python/tuple [5, 1] + - !!python/tuple [4, 5] + - !!python/tuple [6, 5] + - !!python/tuple [0, 3] + - !!python/tuple [2, 2] + - !!python/tuple [1, 7] + - !!python/tuple [0, 2] + - !!python/tuple [6, 7] + - !!python/tuple [0, 7] + - !!python/tuple [2, 1] + - !!python/tuple [7, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex42.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex42.yaml new file mode 100644 index 0000000..75be1dd --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex42.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [7, 4] + name: agent0 + start: [0, 3] +- goal: [6, 0] + name: agent1 + start: [3, 6] +- goal: [2, 6] + name: agent2 + start: [4, 7] +- goal: [5, 6] + name: agent3 + start: [7, 4] +- goal: [5, 7] + name: agent4 + start: [5, 5] +- goal: [7, 6] + name: agent5 + start: [2, 6] +- goal: [6, 4] + name: agent6 + start: [3, 3] +- goal: [2, 7] + name: agent7 + start: [2, 4] +- goal: [0, 1] + name: agent8 + start: [2, 0] +- goal: [0, 2] + name: agent9 + start: [1, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 7] + - !!python/tuple [6, 6] + - !!python/tuple [0, 4] + - !!python/tuple [3, 2] + - !!python/tuple [3, 0] + - !!python/tuple [3, 4] + - !!python/tuple [0, 5] + - !!python/tuple [4, 5] + - !!python/tuple [5, 2] + - !!python/tuple [1, 0] + - !!python/tuple [1, 5] + - !!python/tuple [1, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex43.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex43.yaml new file mode 100644 index 0000000..9b37a4c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex43.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [0, 4] + name: agent0 + start: [5, 4] +- goal: [7, 2] + name: agent1 + start: [6, 1] +- goal: [5, 7] + name: agent2 + start: [1, 7] +- goal: [2, 7] + name: agent3 + start: [0, 2] +- goal: [1, 6] + name: agent4 + start: [7, 0] +- goal: [3, 1] + name: agent5 + start: [0, 4] +- goal: [7, 4] + name: agent6 + start: [3, 1] +- goal: [5, 5] + name: agent7 + start: [2, 7] +- goal: [5, 6] + name: agent8 + start: [0, 5] +- goal: [6, 5] + name: agent9 + start: [2, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 0] + - !!python/tuple [6, 0] + - !!python/tuple [2, 4] + - !!python/tuple [4, 3] + - !!python/tuple [3, 2] + - !!python/tuple [0, 6] + - !!python/tuple [1, 0] + - !!python/tuple [6, 6] + - !!python/tuple [3, 4] + - !!python/tuple [0, 1] + - !!python/tuple [3, 6] + - !!python/tuple [7, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex44.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex44.yaml new file mode 100644 index 0000000..ca008d4 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex44.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [1, 1] + name: agent0 + start: [5, 0] +- goal: [3, 5] + name: agent1 + start: [1, 5] +- goal: [7, 5] + name: agent2 + start: [2, 4] +- goal: [3, 4] + name: agent3 + start: [1, 1] +- goal: [2, 0] + name: agent4 + start: [3, 4] +- goal: [0, 1] + name: agent5 + start: [0, 5] +- goal: [5, 3] + name: agent6 + start: [5, 6] +- goal: [0, 0] + name: agent7 + start: [3, 2] +- goal: [5, 6] + name: agent8 + start: [5, 1] +- goal: [7, 0] + name: agent9 + start: [4, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 7] + - !!python/tuple [6, 1] + - !!python/tuple [5, 7] + - !!python/tuple [1, 2] + - !!python/tuple [1, 7] + - !!python/tuple [1, 3] + - !!python/tuple [2, 1] + - !!python/tuple [4, 1] + - !!python/tuple [7, 1] + - !!python/tuple [4, 6] + - !!python/tuple [6, 6] + - !!python/tuple [0, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex45.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex45.yaml new file mode 100644 index 0000000..a6f725f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex45.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [3, 0] + name: agent0 + start: [1, 7] +- goal: [4, 0] + name: agent1 + start: [4, 0] +- goal: [0, 1] + name: agent2 + start: [0, 5] +- goal: [7, 7] + name: agent3 + start: [6, 6] +- goal: [4, 3] + name: agent4 + start: [2, 7] +- goal: [0, 2] + name: agent5 + start: [2, 0] +- goal: [4, 4] + name: agent6 + start: [1, 4] +- goal: [2, 2] + name: agent7 + start: [2, 1] +- goal: [6, 0] + name: agent8 + start: [6, 1] +- goal: [5, 1] + name: agent9 + start: [6, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 5] + - !!python/tuple [1, 1] + - !!python/tuple [2, 6] + - !!python/tuple [7, 5] + - !!python/tuple [3, 3] + - !!python/tuple [0, 4] + - !!python/tuple [6, 3] + - !!python/tuple [5, 4] + - !!python/tuple [1, 3] + - !!python/tuple [1, 2] + - !!python/tuple [7, 1] + - !!python/tuple [4, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex46.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex46.yaml new file mode 100644 index 0000000..dd3ac17 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex46.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [6, 0] + name: agent0 + start: [3, 0] +- goal: [3, 2] + name: agent1 + start: [0, 7] +- goal: [5, 0] + name: agent2 + start: [4, 3] +- goal: [7, 0] + name: agent3 + start: [7, 1] +- goal: [1, 4] + name: agent4 + start: [3, 3] +- goal: [6, 7] + name: agent5 + start: [7, 6] +- goal: [7, 6] + name: agent6 + start: [1, 4] +- goal: [0, 6] + name: agent7 + start: [0, 5] +- goal: [3, 7] + name: agent8 + start: [7, 5] +- goal: [7, 2] + name: agent9 + start: [5, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 7] + - !!python/tuple [0, 3] + - !!python/tuple [7, 4] + - !!python/tuple [5, 3] + - !!python/tuple [6, 5] + - !!python/tuple [7, 3] + - !!python/tuple [1, 2] + - !!python/tuple [5, 4] + - !!python/tuple [2, 3] + - !!python/tuple [2, 1] + - !!python/tuple [2, 6] + - !!python/tuple [2, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex47.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex47.yaml new file mode 100644 index 0000000..1a88c4e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex47.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [4, 4] + name: agent0 + start: [2, 6] +- goal: [6, 3] + name: agent1 + start: [6, 0] +- goal: [4, 6] + name: agent2 + start: [4, 0] +- goal: [5, 0] + name: agent3 + start: [6, 7] +- goal: [4, 3] + name: agent4 + start: [7, 7] +- goal: [7, 0] + name: agent5 + start: [7, 5] +- goal: [7, 1] + name: agent6 + start: [6, 1] +- goal: [2, 6] + name: agent7 + start: [1, 5] +- goal: [3, 4] + name: agent8 + start: [6, 2] +- goal: [7, 4] + name: agent9 + start: [5, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 3] + - !!python/tuple [2, 0] + - !!python/tuple [6, 4] + - !!python/tuple [1, 1] + - !!python/tuple [0, 4] + - !!python/tuple [5, 4] + - !!python/tuple [7, 6] + - !!python/tuple [5, 5] + - !!python/tuple [7, 2] + - !!python/tuple [5, 7] + - !!python/tuple [0, 0] + - !!python/tuple [3, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex48.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex48.yaml new file mode 100644 index 0000000..3867d9b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex48.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [5, 6] + name: agent0 + start: [0, 5] +- goal: [2, 3] + name: agent1 + start: [2, 3] +- goal: [6, 1] + name: agent2 + start: [0, 4] +- goal: [3, 1] + name: agent3 + start: [6, 1] +- goal: [2, 7] + name: agent4 + start: [7, 4] +- goal: [6, 3] + name: agent5 + start: [6, 6] +- goal: [4, 1] + name: agent6 + start: [7, 7] +- goal: [1, 1] + name: agent7 + start: [3, 1] +- goal: [0, 2] + name: agent8 + start: [4, 5] +- goal: [3, 2] + name: agent9 + start: [4, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 4] + - !!python/tuple [0, 0] + - !!python/tuple [6, 0] + - !!python/tuple [3, 0] + - !!python/tuple [7, 2] + - !!python/tuple [2, 6] + - !!python/tuple [5, 1] + - !!python/tuple [5, 2] + - !!python/tuple [7, 0] + - !!python/tuple [6, 5] + - !!python/tuple [7, 3] + - !!python/tuple [4, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex49.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex49.yaml new file mode 100644 index 0000000..0438e0a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex49.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [0, 2] + name: agent0 + start: [2, 1] +- goal: [4, 3] + name: agent1 + start: [3, 6] +- goal: [4, 7] + name: agent2 + start: [3, 7] +- goal: [6, 4] + name: agent3 + start: [1, 3] +- goal: [6, 3] + name: agent4 + start: [2, 4] +- goal: [3, 5] + name: agent5 + start: [1, 7] +- goal: [2, 3] + name: agent6 + start: [6, 4] +- goal: [2, 4] + name: agent7 + start: [0, 1] +- goal: [5, 3] + name: agent8 + start: [1, 5] +- goal: [5, 4] + name: agent9 + start: [5, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 4] + - !!python/tuple [2, 6] + - !!python/tuple [6, 5] + - !!python/tuple [0, 4] + - !!python/tuple [5, 7] + - !!python/tuple [7, 3] + - !!python/tuple [7, 1] + - !!python/tuple [1, 0] + - !!python/tuple [4, 1] + - !!python/tuple [3, 0] + - !!python/tuple [2, 5] + - !!python/tuple [1, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex5.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex5.yaml new file mode 100644 index 0000000..07c7be4 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex5.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [3, 0] + name: agent0 + start: [6, 2] +- goal: [2, 3] + name: agent1 + start: [7, 5] +- goal: [4, 2] + name: agent2 + start: [0, 7] +- goal: [7, 2] + name: agent3 + start: [4, 7] +- goal: [7, 3] + name: agent4 + start: [5, 4] +- goal: [1, 5] + name: agent5 + start: [3, 5] +- goal: [6, 7] + name: agent6 + start: [1, 3] +- goal: [5, 4] + name: agent7 + start: [2, 6] +- goal: [7, 1] + name: agent8 + start: [6, 5] +- goal: [5, 5] + name: agent9 + start: [7, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 5] + - !!python/tuple [5, 7] + - !!python/tuple [1, 7] + - !!python/tuple [3, 6] + - !!python/tuple [4, 5] + - !!python/tuple [7, 7] + - !!python/tuple [3, 7] + - !!python/tuple [4, 3] + - !!python/tuple [5, 3] + - !!python/tuple [1, 2] + - !!python/tuple [1, 4] + - !!python/tuple [2, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex50.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex50.yaml new file mode 100644 index 0000000..7f0a22a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex50.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [5, 4] + name: agent0 + start: [6, 7] +- goal: [1, 1] + name: agent1 + start: [7, 7] +- goal: [5, 7] + name: agent2 + start: [4, 7] +- goal: [5, 1] + name: agent3 + start: [2, 3] +- goal: [0, 0] + name: agent4 + start: [0, 6] +- goal: [6, 1] + name: agent5 + start: [5, 4] +- goal: [0, 6] + name: agent6 + start: [6, 3] +- goal: [6, 7] + name: agent7 + start: [0, 0] +- goal: [7, 0] + name: agent8 + start: [0, 7] +- goal: [6, 5] + name: agent9 + start: [6, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 1] + - !!python/tuple [1, 0] + - !!python/tuple [3, 7] + - !!python/tuple [6, 2] + - !!python/tuple [4, 5] + - !!python/tuple [2, 7] + - !!python/tuple [0, 3] + - !!python/tuple [6, 4] + - !!python/tuple [3, 3] + - !!python/tuple [2, 2] + - !!python/tuple [0, 5] + - !!python/tuple [1, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex51.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex51.yaml new file mode 100644 index 0000000..e0469fe --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex51.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [7, 0] + name: agent0 + start: [7, 0] +- goal: [6, 2] + name: agent1 + start: [4, 3] +- goal: [7, 4] + name: agent2 + start: [6, 6] +- goal: [6, 0] + name: agent3 + start: [5, 0] +- goal: [6, 7] + name: agent4 + start: [7, 5] +- goal: [0, 4] + name: agent5 + start: [3, 1] +- goal: [3, 1] + name: agent6 + start: [2, 7] +- goal: [7, 2] + name: agent7 + start: [1, 6] +- goal: [0, 1] + name: agent8 + start: [1, 2] +- goal: [4, 0] + name: agent9 + start: [5, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 3] + - !!python/tuple [5, 7] + - !!python/tuple [3, 6] + - !!python/tuple [2, 6] + - !!python/tuple [1, 1] + - !!python/tuple [2, 5] + - !!python/tuple [2, 3] + - !!python/tuple [4, 7] + - !!python/tuple [0, 6] + - !!python/tuple [5, 5] + - !!python/tuple [1, 0] + - !!python/tuple [7, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex52.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex52.yaml new file mode 100644 index 0000000..b2bff32 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex52.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [4, 1] + name: agent0 + start: [1, 3] +- goal: [1, 7] + name: agent1 + start: [0, 1] +- goal: [0, 6] + name: agent2 + start: [3, 0] +- goal: [4, 7] + name: agent3 + start: [7, 0] +- goal: [3, 1] + name: agent4 + start: [5, 1] +- goal: [2, 0] + name: agent5 + start: [2, 0] +- goal: [6, 4] + name: agent6 + start: [1, 6] +- goal: [7, 0] + name: agent7 + start: [5, 5] +- goal: [2, 5] + name: agent8 + start: [2, 2] +- goal: [4, 0] + name: agent9 + start: [0, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 3] + - !!python/tuple [5, 0] + - !!python/tuple [6, 2] + - !!python/tuple [7, 4] + - !!python/tuple [3, 7] + - !!python/tuple [2, 4] + - !!python/tuple [3, 5] + - !!python/tuple [7, 6] + - !!python/tuple [0, 7] + - !!python/tuple [4, 5] + - !!python/tuple [3, 2] + - !!python/tuple [3, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex53.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex53.yaml new file mode 100644 index 0000000..21244b5 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex53.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [2, 6] + name: agent0 + start: [2, 0] +- goal: [7, 7] + name: agent1 + start: [0, 4] +- goal: [0, 2] + name: agent2 + start: [0, 6] +- goal: [2, 2] + name: agent3 + start: [2, 2] +- goal: [6, 3] + name: agent4 + start: [4, 5] +- goal: [0, 4] + name: agent5 + start: [5, 5] +- goal: [5, 0] + name: agent6 + start: [2, 4] +- goal: [1, 1] + name: agent7 + start: [3, 2] +- goal: [5, 5] + name: agent8 + start: [4, 6] +- goal: [4, 3] + name: agent9 + start: [7, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 6] + - !!python/tuple [3, 0] + - !!python/tuple [3, 1] + - !!python/tuple [3, 3] + - !!python/tuple [2, 5] + - !!python/tuple [0, 3] + - !!python/tuple [4, 1] + - !!python/tuple [6, 0] + - !!python/tuple [1, 7] + - !!python/tuple [7, 2] + - !!python/tuple [7, 5] + - !!python/tuple [1, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex54.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex54.yaml new file mode 100644 index 0000000..d12d75e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex54.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [3, 4] + name: agent0 + start: [1, 3] +- goal: [0, 1] + name: agent1 + start: [5, 5] +- goal: [0, 3] + name: agent2 + start: [4, 0] +- goal: [1, 7] + name: agent3 + start: [7, 3] +- goal: [1, 4] + name: agent4 + start: [3, 0] +- goal: [5, 6] + name: agent5 + start: [5, 0] +- goal: [2, 7] + name: agent6 + start: [7, 5] +- goal: [3, 6] + name: agent7 + start: [5, 3] +- goal: [1, 6] + name: agent8 + start: [4, 4] +- goal: [2, 3] + name: agent9 + start: [2, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 4] + - !!python/tuple [2, 4] + - !!python/tuple [0, 0] + - !!python/tuple [2, 1] + - !!python/tuple [6, 2] + - !!python/tuple [4, 2] + - !!python/tuple [7, 1] + - !!python/tuple [1, 0] + - !!python/tuple [5, 7] + - !!python/tuple [4, 1] + - !!python/tuple [7, 2] + - !!python/tuple [3, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex55.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex55.yaml new file mode 100644 index 0000000..7ae751b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex55.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [7, 4] + name: agent0 + start: [6, 4] +- goal: [6, 0] + name: agent1 + start: [5, 6] +- goal: [1, 4] + name: agent2 + start: [2, 0] +- goal: [2, 6] + name: agent3 + start: [6, 0] +- goal: [2, 5] + name: agent4 + start: [6, 3] +- goal: [5, 7] + name: agent5 + start: [1, 6] +- goal: [4, 6] + name: agent6 + start: [0, 3] +- goal: [3, 7] + name: agent7 + start: [0, 0] +- goal: [1, 6] + name: agent8 + start: [4, 7] +- goal: [5, 2] + name: agent9 + start: [7, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 2] + - !!python/tuple [7, 6] + - !!python/tuple [1, 7] + - !!python/tuple [5, 5] + - !!python/tuple [3, 5] + - !!python/tuple [0, 2] + - !!python/tuple [1, 3] + - !!python/tuple [4, 2] + - !!python/tuple [3, 6] + - !!python/tuple [7, 0] + - !!python/tuple [6, 6] + - !!python/tuple [0, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex56.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex56.yaml new file mode 100644 index 0000000..c2162f4 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex56.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [6, 0] + name: agent0 + start: [0, 2] +- goal: [4, 3] + name: agent1 + start: [4, 6] +- goal: [6, 6] + name: agent2 + start: [1, 7] +- goal: [1, 3] + name: agent3 + start: [2, 1] +- goal: [0, 2] + name: agent4 + start: [6, 2] +- goal: [5, 1] + name: agent5 + start: [0, 5] +- goal: [7, 1] + name: agent6 + start: [3, 1] +- goal: [4, 0] + name: agent7 + start: [7, 4] +- goal: [0, 3] + name: agent8 + start: [3, 2] +- goal: [2, 6] + name: agent9 + start: [4, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 1] + - !!python/tuple [3, 4] + - !!python/tuple [1, 5] + - !!python/tuple [2, 4] + - !!python/tuple [6, 5] + - !!python/tuple [1, 0] + - !!python/tuple [0, 6] + - !!python/tuple [7, 3] + - !!python/tuple [6, 1] + - !!python/tuple [0, 7] + - !!python/tuple [0, 0] + - !!python/tuple [4, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex57.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex57.yaml new file mode 100644 index 0000000..4b8d619 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex57.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [5, 5] + name: agent0 + start: [4, 0] +- goal: [3, 2] + name: agent1 + start: [2, 4] +- goal: [7, 1] + name: agent2 + start: [4, 5] +- goal: [2, 2] + name: agent3 + start: [0, 4] +- goal: [2, 0] + name: agent4 + start: [7, 6] +- goal: [0, 5] + name: agent5 + start: [5, 6] +- goal: [7, 3] + name: agent6 + start: [6, 0] +- goal: [0, 1] + name: agent7 + start: [1, 2] +- goal: [4, 2] + name: agent8 + start: [4, 1] +- goal: [1, 7] + name: agent9 + start: [0, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 5] + - !!python/tuple [5, 2] + - !!python/tuple [2, 7] + - !!python/tuple [3, 3] + - !!python/tuple [5, 4] + - !!python/tuple [5, 7] + - !!python/tuple [0, 6] + - !!python/tuple [5, 1] + - !!python/tuple [0, 2] + - !!python/tuple [3, 1] + - !!python/tuple [6, 6] + - !!python/tuple [3, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex58.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex58.yaml new file mode 100644 index 0000000..e25a650 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex58.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [5, 1] + name: agent0 + start: [0, 0] +- goal: [2, 2] + name: agent1 + start: [7, 5] +- goal: [7, 3] + name: agent2 + start: [2, 6] +- goal: [6, 4] + name: agent3 + start: [3, 6] +- goal: [5, 6] + name: agent4 + start: [3, 4] +- goal: [5, 2] + name: agent5 + start: [1, 0] +- goal: [4, 0] + name: agent6 + start: [4, 2] +- goal: [6, 7] + name: agent7 + start: [7, 6] +- goal: [7, 5] + name: agent8 + start: [5, 6] +- goal: [2, 7] + name: agent9 + start: [3, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 3] + - !!python/tuple [0, 6] + - !!python/tuple [7, 2] + - !!python/tuple [4, 7] + - !!python/tuple [1, 7] + - !!python/tuple [2, 4] + - !!python/tuple [1, 2] + - !!python/tuple [7, 4] + - !!python/tuple [0, 5] + - !!python/tuple [1, 3] + - !!python/tuple [3, 3] + - !!python/tuple [1, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex59.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex59.yaml new file mode 100644 index 0000000..b10115b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex59.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [0, 2] + name: agent0 + start: [0, 5] +- goal: [2, 4] + name: agent1 + start: [3, 5] +- goal: [6, 3] + name: agent2 + start: [3, 1] +- goal: [4, 7] + name: agent3 + start: [1, 3] +- goal: [6, 6] + name: agent4 + start: [0, 0] +- goal: [6, 2] + name: agent5 + start: [4, 6] +- goal: [2, 2] + name: agent6 + start: [2, 1] +- goal: [2, 7] + name: agent7 + start: [3, 6] +- goal: [4, 4] + name: agent8 + start: [7, 4] +- goal: [0, 1] + name: agent9 + start: [4, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 4] + - !!python/tuple [7, 1] + - !!python/tuple [0, 6] + - !!python/tuple [2, 5] + - !!python/tuple [3, 0] + - !!python/tuple [5, 2] + - !!python/tuple [7, 3] + - !!python/tuple [7, 0] + - !!python/tuple [5, 1] + - !!python/tuple [5, 4] + - !!python/tuple [5, 7] + - !!python/tuple [1, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex6.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex6.yaml new file mode 100644 index 0000000..baceb75 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex6.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [5, 7] + name: agent0 + start: [6, 3] +- goal: [0, 0] + name: agent1 + start: [4, 6] +- goal: [6, 3] + name: agent2 + start: [6, 5] +- goal: [1, 4] + name: agent3 + start: [5, 0] +- goal: [6, 2] + name: agent4 + start: [7, 6] +- goal: [2, 5] + name: agent5 + start: [3, 5] +- goal: [0, 3] + name: agent6 + start: [0, 3] +- goal: [5, 1] + name: agent7 + start: [1, 5] +- goal: [4, 1] + name: agent8 + start: [1, 1] +- goal: [4, 0] + name: agent9 + start: [5, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 7] + - !!python/tuple [3, 1] + - !!python/tuple [2, 4] + - !!python/tuple [1, 3] + - !!python/tuple [4, 4] + - !!python/tuple [1, 2] + - !!python/tuple [2, 7] + - !!python/tuple [1, 6] + - !!python/tuple [5, 4] + - !!python/tuple [2, 0] + - !!python/tuple [0, 7] + - !!python/tuple [2, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex60.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex60.yaml new file mode 100644 index 0000000..e20abb1 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex60.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [5, 3] + name: agent0 + start: [0, 6] +- goal: [4, 7] + name: agent1 + start: [7, 1] +- goal: [1, 7] + name: agent2 + start: [0, 4] +- goal: [5, 5] + name: agent3 + start: [4, 0] +- goal: [0, 0] + name: agent4 + start: [5, 1] +- goal: [4, 6] + name: agent5 + start: [7, 6] +- goal: [7, 0] + name: agent6 + start: [4, 1] +- goal: [6, 3] + name: agent7 + start: [3, 6] +- goal: [4, 3] + name: agent8 + start: [2, 2] +- goal: [5, 4] + name: agent9 + start: [2, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 0] + - !!python/tuple [0, 3] + - !!python/tuple [0, 5] + - !!python/tuple [0, 7] + - !!python/tuple [2, 3] + - !!python/tuple [6, 2] + - !!python/tuple [3, 5] + - !!python/tuple [1, 5] + - !!python/tuple [7, 3] + - !!python/tuple [1, 1] + - !!python/tuple [4, 5] + - !!python/tuple [1, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex61.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex61.yaml new file mode 100644 index 0000000..465d131 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex61.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [5, 1] + name: agent0 + start: [6, 4] +- goal: [7, 3] + name: agent1 + start: [5, 4] +- goal: [6, 7] + name: agent2 + start: [7, 1] +- goal: [5, 5] + name: agent3 + start: [6, 7] +- goal: [0, 0] + name: agent4 + start: [4, 6] +- goal: [2, 0] + name: agent5 + start: [7, 4] +- goal: [3, 2] + name: agent6 + start: [3, 0] +- goal: [1, 7] + name: agent7 + start: [7, 7] +- goal: [2, 1] + name: agent8 + start: [3, 1] +- goal: [3, 5] + name: agent9 + start: [2, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 6] + - !!python/tuple [3, 7] + - !!python/tuple [5, 6] + - !!python/tuple [7, 6] + - !!python/tuple [6, 3] + - !!python/tuple [0, 1] + - !!python/tuple [6, 5] + - !!python/tuple [2, 2] + - !!python/tuple [7, 0] + - !!python/tuple [5, 2] + - !!python/tuple [7, 2] + - !!python/tuple [0, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex62.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex62.yaml new file mode 100644 index 0000000..f5d785d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex62.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [6, 7] + name: agent0 + start: [3, 1] +- goal: [3, 6] + name: agent1 + start: [0, 2] +- goal: [5, 2] + name: agent2 + start: [1, 7] +- goal: [0, 2] + name: agent3 + start: [7, 5] +- goal: [3, 2] + name: agent4 + start: [0, 1] +- goal: [5, 6] + name: agent5 + start: [0, 7] +- goal: [3, 5] + name: agent6 + start: [2, 5] +- goal: [3, 4] + name: agent7 + start: [3, 5] +- goal: [1, 7] + name: agent8 + start: [6, 4] +- goal: [4, 7] + name: agent9 + start: [3, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 3] + - !!python/tuple [4, 0] + - !!python/tuple [5, 4] + - !!python/tuple [1, 5] + - !!python/tuple [6, 5] + - !!python/tuple [5, 0] + - !!python/tuple [0, 6] + - !!python/tuple [5, 3] + - !!python/tuple [2, 1] + - !!python/tuple [7, 3] + - !!python/tuple [0, 4] + - !!python/tuple [6, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex63.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex63.yaml new file mode 100644 index 0000000..366ca14 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex63.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [2, 7] + name: agent0 + start: [3, 7] +- goal: [7, 2] + name: agent1 + start: [0, 3] +- goal: [2, 3] + name: agent2 + start: [3, 6] +- goal: [1, 4] + name: agent3 + start: [1, 3] +- goal: [1, 2] + name: agent4 + start: [4, 3] +- goal: [5, 4] + name: agent5 + start: [0, 7] +- goal: [3, 5] + name: agent6 + start: [7, 6] +- goal: [3, 3] + name: agent7 + start: [1, 1] +- goal: [3, 6] + name: agent8 + start: [3, 1] +- goal: [0, 7] + name: agent9 + start: [2, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 7] + - !!python/tuple [4, 7] + - !!python/tuple [1, 5] + - !!python/tuple [5, 7] + - !!python/tuple [2, 0] + - !!python/tuple [0, 1] + - !!python/tuple [3, 2] + - !!python/tuple [7, 4] + - !!python/tuple [5, 2] + - !!python/tuple [6, 5] + - !!python/tuple [5, 5] + - !!python/tuple [0, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex64.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex64.yaml new file mode 100644 index 0000000..59deb4c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex64.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [2, 1] + name: agent0 + start: [2, 3] +- goal: [3, 2] + name: agent1 + start: [3, 6] +- goal: [3, 6] + name: agent2 + start: [0, 4] +- goal: [4, 0] + name: agent3 + start: [2, 2] +- goal: [4, 3] + name: agent4 + start: [5, 5] +- goal: [1, 2] + name: agent5 + start: [0, 3] +- goal: [6, 1] + name: agent6 + start: [5, 7] +- goal: [0, 6] + name: agent7 + start: [0, 7] +- goal: [7, 2] + name: agent8 + start: [6, 0] +- goal: [4, 2] + name: agent9 + start: [4, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 6] + - !!python/tuple [7, 6] + - !!python/tuple [1, 1] + - !!python/tuple [5, 1] + - !!python/tuple [1, 3] + - !!python/tuple [3, 1] + - !!python/tuple [7, 7] + - !!python/tuple [4, 1] + - !!python/tuple [0, 5] + - !!python/tuple [2, 7] + - !!python/tuple [5, 4] + - !!python/tuple [2, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex65.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex65.yaml new file mode 100644 index 0000000..f5c2659 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex65.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [2, 5] + name: agent0 + start: [2, 0] +- goal: [6, 5] + name: agent1 + start: [1, 2] +- goal: [7, 6] + name: agent2 + start: [7, 4] +- goal: [4, 3] + name: agent3 + start: [6, 1] +- goal: [3, 6] + name: agent4 + start: [0, 4] +- goal: [1, 3] + name: agent5 + start: [4, 6] +- goal: [0, 5] + name: agent6 + start: [3, 4] +- goal: [5, 4] + name: agent7 + start: [5, 0] +- goal: [1, 5] + name: agent8 + start: [4, 2] +- goal: [1, 0] + name: agent9 + start: [7, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 6] + - !!python/tuple [2, 4] + - !!python/tuple [2, 7] + - !!python/tuple [4, 7] + - !!python/tuple [5, 5] + - !!python/tuple [6, 2] + - !!python/tuple [0, 7] + - !!python/tuple [1, 7] + - !!python/tuple [3, 7] + - !!python/tuple [2, 3] + - !!python/tuple [6, 7] + - !!python/tuple [2, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex66.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex66.yaml new file mode 100644 index 0000000..7a4bb8c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex66.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [5, 2] + name: agent0 + start: [5, 6] +- goal: [4, 7] + name: agent1 + start: [1, 1] +- goal: [0, 2] + name: agent2 + start: [7, 1] +- goal: [1, 6] + name: agent3 + start: [0, 4] +- goal: [0, 3] + name: agent4 + start: [0, 1] +- goal: [3, 6] + name: agent5 + start: [7, 7] +- goal: [6, 3] + name: agent6 + start: [0, 2] +- goal: [5, 6] + name: agent7 + start: [5, 7] +- goal: [2, 7] + name: agent8 + start: [2, 7] +- goal: [0, 0] + name: agent9 + start: [7, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 5] + - !!python/tuple [3, 7] + - !!python/tuple [2, 0] + - !!python/tuple [5, 4] + - !!python/tuple [7, 3] + - !!python/tuple [6, 5] + - !!python/tuple [6, 1] + - !!python/tuple [3, 2] + - !!python/tuple [5, 3] + - !!python/tuple [3, 3] + - !!python/tuple [3, 1] + - !!python/tuple [2, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex67.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex67.yaml new file mode 100644 index 0000000..1656356 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex67.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [6, 3] + name: agent0 + start: [5, 3] +- goal: [6, 5] + name: agent1 + start: [0, 4] +- goal: [3, 7] + name: agent2 + start: [4, 0] +- goal: [2, 4] + name: agent3 + start: [2, 5] +- goal: [2, 5] + name: agent4 + start: [3, 7] +- goal: [5, 3] + name: agent5 + start: [2, 0] +- goal: [5, 6] + name: agent6 + start: [2, 7] +- goal: [4, 0] + name: agent7 + start: [1, 5] +- goal: [5, 2] + name: agent8 + start: [0, 0] +- goal: [2, 3] + name: agent9 + start: [5, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 2] + - !!python/tuple [1, 4] + - !!python/tuple [1, 3] + - !!python/tuple [7, 7] + - !!python/tuple [5, 4] + - !!python/tuple [0, 7] + - !!python/tuple [0, 6] + - !!python/tuple [0, 2] + - !!python/tuple [2, 1] + - !!python/tuple [3, 2] + - !!python/tuple [5, 1] + - !!python/tuple [5, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex68.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex68.yaml new file mode 100644 index 0000000..4f569d3 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex68.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [3, 6] + name: agent0 + start: [3, 4] +- goal: [5, 3] + name: agent1 + start: [1, 7] +- goal: [4, 1] + name: agent2 + start: [4, 0] +- goal: [6, 5] + name: agent3 + start: [2, 7] +- goal: [7, 5] + name: agent4 + start: [6, 4] +- goal: [0, 2] + name: agent5 + start: [3, 6] +- goal: [3, 5] + name: agent6 + start: [7, 0] +- goal: [6, 0] + name: agent7 + start: [7, 6] +- goal: [4, 6] + name: agent8 + start: [1, 3] +- goal: [0, 6] + name: agent9 + start: [5, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 1] + - !!python/tuple [1, 5] + - !!python/tuple [4, 2] + - !!python/tuple [1, 6] + - !!python/tuple [4, 3] + - !!python/tuple [2, 0] + - !!python/tuple [6, 1] + - !!python/tuple [2, 3] + - !!python/tuple [5, 1] + - !!python/tuple [3, 0] + - !!python/tuple [2, 4] + - !!python/tuple [6, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex69.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex69.yaml new file mode 100644 index 0000000..00a7c52 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex69.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [4, 2] + name: agent0 + start: [2, 3] +- goal: [0, 4] + name: agent1 + start: [1, 1] +- goal: [2, 6] + name: agent2 + start: [6, 7] +- goal: [3, 4] + name: agent3 + start: [7, 7] +- goal: [2, 7] + name: agent4 + start: [2, 2] +- goal: [7, 7] + name: agent5 + start: [0, 1] +- goal: [0, 3] + name: agent6 + start: [6, 3] +- goal: [7, 1] + name: agent7 + start: [1, 0] +- goal: [4, 6] + name: agent8 + start: [1, 2] +- goal: [1, 4] + name: agent9 + start: [3, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 3] + - !!python/tuple [2, 0] + - !!python/tuple [7, 4] + - !!python/tuple [0, 6] + - !!python/tuple [7, 2] + - !!python/tuple [2, 1] + - !!python/tuple [7, 0] + - !!python/tuple [3, 1] + - !!python/tuple [5, 4] + - !!python/tuple [5, 1] + - !!python/tuple [2, 4] + - !!python/tuple [4, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex7.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex7.yaml new file mode 100644 index 0000000..78c8936 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex7.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [6, 0] + name: agent0 + start: [5, 4] +- goal: [3, 2] + name: agent1 + start: [5, 0] +- goal: [5, 7] + name: agent2 + start: [6, 1] +- goal: [1, 2] + name: agent3 + start: [2, 0] +- goal: [3, 4] + name: agent4 + start: [2, 1] +- goal: [6, 7] + name: agent5 + start: [5, 7] +- goal: [5, 2] + name: agent6 + start: [6, 5] +- goal: [3, 3] + name: agent7 + start: [0, 2] +- goal: [2, 7] + name: agent8 + start: [5, 1] +- goal: [2, 4] + name: agent9 + start: [4, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 3] + - !!python/tuple [5, 5] + - !!python/tuple [7, 6] + - !!python/tuple [1, 1] + - !!python/tuple [6, 6] + - !!python/tuple [1, 0] + - !!python/tuple [0, 7] + - !!python/tuple [1, 3] + - !!python/tuple [6, 2] + - !!python/tuple [7, 1] + - !!python/tuple [7, 4] + - !!python/tuple [3, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex70.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex70.yaml new file mode 100644 index 0000000..2fa8393 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex70.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [7, 5] + name: agent0 + start: [1, 1] +- goal: [0, 1] + name: agent1 + start: [3, 6] +- goal: [3, 0] + name: agent2 + start: [3, 4] +- goal: [1, 1] + name: agent3 + start: [5, 0] +- goal: [3, 1] + name: agent4 + start: [0, 1] +- goal: [5, 7] + name: agent5 + start: [1, 6] +- goal: [6, 3] + name: agent6 + start: [4, 7] +- goal: [4, 1] + name: agent7 + start: [7, 2] +- goal: [2, 1] + name: agent8 + start: [1, 3] +- goal: [1, 3] + name: agent9 + start: [7, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 5] + - !!python/tuple [3, 5] + - !!python/tuple [5, 5] + - !!python/tuple [7, 0] + - !!python/tuple [4, 0] + - !!python/tuple [6, 4] + - !!python/tuple [4, 6] + - !!python/tuple [5, 6] + - !!python/tuple [0, 5] + - !!python/tuple [2, 3] + - !!python/tuple [6, 6] + - !!python/tuple [6, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex71.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex71.yaml new file mode 100644 index 0000000..491c0d6 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex71.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [4, 2] + name: agent0 + start: [5, 1] +- goal: [5, 2] + name: agent1 + start: [0, 2] +- goal: [4, 6] + name: agent2 + start: [4, 5] +- goal: [6, 0] + name: agent3 + start: [4, 3] +- goal: [0, 1] + name: agent4 + start: [1, 2] +- goal: [1, 7] + name: agent5 + start: [2, 3] +- goal: [5, 5] + name: agent6 + start: [3, 4] +- goal: [5, 1] + name: agent7 + start: [3, 5] +- goal: [2, 7] + name: agent8 + start: [7, 4] +- goal: [4, 3] + name: agent9 + start: [6, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 2] + - !!python/tuple [0, 3] + - !!python/tuple [3, 3] + - !!python/tuple [7, 7] + - !!python/tuple [1, 6] + - !!python/tuple [2, 2] + - !!python/tuple [3, 0] + - !!python/tuple [7, 5] + - !!python/tuple [5, 3] + - !!python/tuple [6, 6] + - !!python/tuple [1, 5] + - !!python/tuple [7, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex72.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex72.yaml new file mode 100644 index 0000000..2f5c24f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex72.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [5, 4] + name: agent0 + start: [5, 4] +- goal: [3, 1] + name: agent1 + start: [0, 4] +- goal: [5, 1] + name: agent2 + start: [7, 2] +- goal: [5, 3] + name: agent3 + start: [5, 5] +- goal: [1, 3] + name: agent4 + start: [6, 7] +- goal: [0, 4] + name: agent5 + start: [3, 2] +- goal: [4, 3] + name: agent6 + start: [4, 6] +- goal: [1, 1] + name: agent7 + start: [7, 0] +- goal: [4, 7] + name: agent8 + start: [7, 1] +- goal: [7, 6] + name: agent9 + start: [4, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 2] + - !!python/tuple [5, 6] + - !!python/tuple [4, 5] + - !!python/tuple [7, 7] + - !!python/tuple [0, 7] + - !!python/tuple [1, 2] + - !!python/tuple [6, 1] + - !!python/tuple [3, 5] + - !!python/tuple [5, 0] + - !!python/tuple [2, 3] + - !!python/tuple [0, 0] + - !!python/tuple [7, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex73.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex73.yaml new file mode 100644 index 0000000..a88d625 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex73.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [4, 2] + name: agent0 + start: [5, 2] +- goal: [1, 5] + name: agent1 + start: [6, 1] +- goal: [6, 7] + name: agent2 + start: [3, 0] +- goal: [6, 5] + name: agent3 + start: [4, 5] +- goal: [2, 5] + name: agent4 + start: [1, 7] +- goal: [4, 6] + name: agent5 + start: [0, 6] +- goal: [2, 0] + name: agent6 + start: [0, 7] +- goal: [1, 2] + name: agent7 + start: [0, 2] +- goal: [3, 7] + name: agent8 + start: [6, 3] +- goal: [3, 3] + name: agent9 + start: [1, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 0] + - !!python/tuple [2, 4] + - !!python/tuple [7, 2] + - !!python/tuple [7, 0] + - !!python/tuple [5, 4] + - !!python/tuple [4, 4] + - !!python/tuple [6, 6] + - !!python/tuple [1, 3] + - !!python/tuple [7, 3] + - !!python/tuple [7, 6] + - !!python/tuple [2, 3] + - !!python/tuple [5, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex74.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex74.yaml new file mode 100644 index 0000000..c0d8434 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex74.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [6, 6] + name: agent0 + start: [0, 7] +- goal: [1, 2] + name: agent1 + start: [6, 0] +- goal: [4, 2] + name: agent2 + start: [0, 5] +- goal: [0, 3] + name: agent3 + start: [1, 2] +- goal: [7, 4] + name: agent4 + start: [6, 3] +- goal: [3, 6] + name: agent5 + start: [4, 3] +- goal: [4, 4] + name: agent6 + start: [1, 6] +- goal: [6, 1] + name: agent7 + start: [3, 5] +- goal: [5, 3] + name: agent8 + start: [2, 6] +- goal: [5, 2] + name: agent9 + start: [5, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 7] + - !!python/tuple [2, 0] + - !!python/tuple [3, 0] + - !!python/tuple [2, 1] + - !!python/tuple [4, 6] + - !!python/tuple [7, 6] + - !!python/tuple [1, 0] + - !!python/tuple [4, 1] + - !!python/tuple [5, 0] + - !!python/tuple [3, 3] + - !!python/tuple [6, 4] + - !!python/tuple [7, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex75.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex75.yaml new file mode 100644 index 0000000..5946d20 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex75.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [4, 4] + name: agent0 + start: [6, 5] +- goal: [0, 4] + name: agent1 + start: [3, 3] +- goal: [5, 6] + name: agent2 + start: [7, 7] +- goal: [2, 1] + name: agent3 + start: [5, 5] +- goal: [6, 6] + name: agent4 + start: [2, 3] +- goal: [0, 3] + name: agent5 + start: [3, 5] +- goal: [4, 2] + name: agent6 + start: [5, 6] +- goal: [3, 5] + name: agent7 + start: [0, 6] +- goal: [2, 4] + name: agent8 + start: [5, 4] +- goal: [1, 4] + name: agent9 + start: [4, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 7] + - !!python/tuple [2, 6] + - !!python/tuple [5, 7] + - !!python/tuple [6, 3] + - !!python/tuple [0, 1] + - !!python/tuple [5, 0] + - !!python/tuple [6, 4] + - !!python/tuple [6, 0] + - !!python/tuple [4, 6] + - !!python/tuple [7, 5] + - !!python/tuple [4, 0] + - !!python/tuple [4, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex76.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex76.yaml new file mode 100644 index 0000000..40761d1 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex76.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [6, 6] + name: agent0 + start: [4, 6] +- goal: [0, 2] + name: agent1 + start: [6, 5] +- goal: [5, 6] + name: agent2 + start: [7, 1] +- goal: [4, 0] + name: agent3 + start: [4, 3] +- goal: [2, 4] + name: agent4 + start: [6, 3] +- goal: [3, 3] + name: agent5 + start: [7, 5] +- goal: [1, 4] + name: agent6 + start: [1, 7] +- goal: [3, 0] + name: agent7 + start: [0, 7] +- goal: [2, 1] + name: agent8 + start: [7, 4] +- goal: [7, 4] + name: agent9 + start: [6, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 4] + - !!python/tuple [1, 6] + - !!python/tuple [2, 2] + - !!python/tuple [1, 1] + - !!python/tuple [4, 4] + - !!python/tuple [7, 6] + - !!python/tuple [3, 5] + - !!python/tuple [6, 4] + - !!python/tuple [4, 2] + - !!python/tuple [0, 0] + - !!python/tuple [7, 7] + - !!python/tuple [2, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex77.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex77.yaml new file mode 100644 index 0000000..6b6f6b4 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex77.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [6, 3] + name: agent0 + start: [1, 5] +- goal: [0, 6] + name: agent1 + start: [2, 4] +- goal: [5, 7] + name: agent2 + start: [3, 2] +- goal: [1, 2] + name: agent3 + start: [1, 2] +- goal: [2, 2] + name: agent4 + start: [3, 7] +- goal: [2, 6] + name: agent5 + start: [0, 3] +- goal: [3, 2] + name: agent6 + start: [5, 4] +- goal: [6, 5] + name: agent7 + start: [0, 1] +- goal: [2, 5] + name: agent8 + start: [4, 1] +- goal: [0, 5] + name: agent9 + start: [3, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 0] + - !!python/tuple [3, 0] + - !!python/tuple [3, 6] + - !!python/tuple [5, 2] + - !!python/tuple [3, 4] + - !!python/tuple [7, 2] + - !!python/tuple [2, 7] + - !!python/tuple [0, 2] + - !!python/tuple [7, 3] + - !!python/tuple [6, 1] + - !!python/tuple [4, 5] + - !!python/tuple [2, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex78.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex78.yaml new file mode 100644 index 0000000..4315510 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex78.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [1, 5] + name: agent0 + start: [1, 1] +- goal: [5, 2] + name: agent1 + start: [3, 7] +- goal: [5, 6] + name: agent2 + start: [4, 2] +- goal: [0, 7] + name: agent3 + start: [7, 5] +- goal: [1, 6] + name: agent4 + start: [5, 5] +- goal: [5, 5] + name: agent5 + start: [3, 5] +- goal: [2, 2] + name: agent6 + start: [3, 1] +- goal: [7, 1] + name: agent7 + start: [4, 7] +- goal: [4, 1] + name: agent8 + start: [1, 6] +- goal: [6, 5] + name: agent9 + start: [4, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 6] + - !!python/tuple [7, 2] + - !!python/tuple [4, 5] + - !!python/tuple [6, 3] + - !!python/tuple [2, 1] + - !!python/tuple [3, 4] + - !!python/tuple [1, 4] + - !!python/tuple [5, 3] + - !!python/tuple [4, 4] + - !!python/tuple [5, 0] + - !!python/tuple [1, 2] + - !!python/tuple [5, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex79.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex79.yaml new file mode 100644 index 0000000..c405e49 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex79.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [7, 3] + name: agent0 + start: [6, 1] +- goal: [5, 5] + name: agent1 + start: [2, 0] +- goal: [6, 6] + name: agent2 + start: [4, 4] +- goal: [7, 0] + name: agent3 + start: [3, 6] +- goal: [3, 1] + name: agent4 + start: [5, 5] +- goal: [4, 7] + name: agent5 + start: [6, 7] +- goal: [5, 6] + name: agent6 + start: [3, 7] +- goal: [6, 2] + name: agent7 + start: [4, 7] +- goal: [2, 7] + name: agent8 + start: [7, 6] +- goal: [5, 0] + name: agent9 + start: [6, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 0] + - !!python/tuple [0, 6] + - !!python/tuple [0, 5] + - !!python/tuple [5, 2] + - !!python/tuple [4, 3] + - !!python/tuple [5, 7] + - !!python/tuple [6, 4] + - !!python/tuple [0, 0] + - !!python/tuple [5, 4] + - !!python/tuple [0, 3] + - !!python/tuple [1, 1] + - !!python/tuple [1, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex8.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex8.yaml new file mode 100644 index 0000000..879068e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex8.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [3, 3] + name: agent0 + start: [6, 5] +- goal: [5, 0] + name: agent1 + start: [6, 2] +- goal: [6, 7] + name: agent2 + start: [7, 6] +- goal: [7, 6] + name: agent3 + start: [3, 2] +- goal: [3, 1] + name: agent4 + start: [3, 0] +- goal: [3, 2] + name: agent5 + start: [5, 5] +- goal: [5, 7] + name: agent6 + start: [4, 5] +- goal: [7, 0] + name: agent7 + start: [5, 1] +- goal: [4, 6] + name: agent8 + start: [0, 2] +- goal: [7, 3] + name: agent9 + start: [1, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 5] + - !!python/tuple [4, 4] + - !!python/tuple [2, 6] + - !!python/tuple [0, 4] + - !!python/tuple [2, 1] + - !!python/tuple [7, 2] + - !!python/tuple [2, 0] + - !!python/tuple [0, 3] + - !!python/tuple [2, 2] + - !!python/tuple [5, 4] + - !!python/tuple [2, 7] + - !!python/tuple [0, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex80.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex80.yaml new file mode 100644 index 0000000..41a7685 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex80.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [2, 7] + name: agent0 + start: [7, 4] +- goal: [1, 0] + name: agent1 + start: [6, 2] +- goal: [1, 3] + name: agent2 + start: [0, 2] +- goal: [6, 0] + name: agent3 + start: [1, 0] +- goal: [6, 3] + name: agent4 + start: [6, 0] +- goal: [7, 1] + name: agent5 + start: [5, 0] +- goal: [5, 2] + name: agent6 + start: [0, 7] +- goal: [4, 1] + name: agent7 + start: [5, 7] +- goal: [1, 7] + name: agent8 + start: [1, 3] +- goal: [1, 5] + name: agent9 + start: [2, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 0] + - !!python/tuple [3, 7] + - !!python/tuple [5, 4] + - !!python/tuple [0, 6] + - !!python/tuple [0, 3] + - !!python/tuple [5, 5] + - !!python/tuple [3, 2] + - !!python/tuple [2, 6] + - !!python/tuple [7, 0] + - !!python/tuple [4, 5] + - !!python/tuple [7, 7] + - !!python/tuple [0, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex81.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex81.yaml new file mode 100644 index 0000000..f3a8886 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex81.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [2, 4] + name: agent0 + start: [5, 0] +- goal: [1, 7] + name: agent1 + start: [7, 3] +- goal: [5, 1] + name: agent2 + start: [6, 5] +- goal: [0, 5] + name: agent3 + start: [0, 0] +- goal: [2, 2] + name: agent4 + start: [7, 4] +- goal: [0, 1] + name: agent5 + start: [0, 1] +- goal: [1, 0] + name: agent6 + start: [1, 6] +- goal: [4, 2] + name: agent7 + start: [6, 4] +- goal: [0, 3] + name: agent8 + start: [1, 1] +- goal: [7, 7] + name: agent9 + start: [4, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 0] + - !!python/tuple [4, 1] + - !!python/tuple [0, 7] + - !!python/tuple [5, 5] + - !!python/tuple [2, 5] + - !!python/tuple [7, 2] + - !!python/tuple [7, 0] + - !!python/tuple [3, 7] + - !!python/tuple [4, 6] + - !!python/tuple [6, 2] + - !!python/tuple [6, 6] + - !!python/tuple [3, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex82.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex82.yaml new file mode 100644 index 0000000..7d94898 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex82.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [0, 7] + name: agent0 + start: [7, 7] +- goal: [5, 5] + name: agent1 + start: [5, 3] +- goal: [0, 3] + name: agent2 + start: [5, 2] +- goal: [2, 2] + name: agent3 + start: [6, 3] +- goal: [4, 2] + name: agent4 + start: [6, 2] +- goal: [3, 7] + name: agent5 + start: [5, 6] +- goal: [6, 7] + name: agent6 + start: [2, 0] +- goal: [3, 6] + name: agent7 + start: [3, 7] +- goal: [7, 0] + name: agent8 + start: [4, 0] +- goal: [7, 2] + name: agent9 + start: [1, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 4] + - !!python/tuple [1, 3] + - !!python/tuple [6, 6] + - !!python/tuple [4, 7] + - !!python/tuple [0, 4] + - !!python/tuple [4, 1] + - !!python/tuple [7, 5] + - !!python/tuple [2, 3] + - !!python/tuple [2, 4] + - !!python/tuple [1, 1] + - !!python/tuple [1, 4] + - !!python/tuple [3, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex83.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex83.yaml new file mode 100644 index 0000000..48487a4 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex83.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [0, 5] + name: agent0 + start: [5, 4] +- goal: [4, 3] + name: agent1 + start: [6, 6] +- goal: [6, 6] + name: agent2 + start: [0, 1] +- goal: [0, 1] + name: agent3 + start: [3, 6] +- goal: [6, 7] + name: agent4 + start: [2, 3] +- goal: [3, 3] + name: agent5 + start: [5, 3] +- goal: [6, 3] + name: agent6 + start: [6, 1] +- goal: [3, 4] + name: agent7 + start: [6, 2] +- goal: [3, 2] + name: agent8 + start: [1, 3] +- goal: [2, 6] + name: agent9 + start: [1, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 0] + - !!python/tuple [0, 7] + - !!python/tuple [7, 6] + - !!python/tuple [2, 4] + - !!python/tuple [2, 1] + - !!python/tuple [0, 3] + - !!python/tuple [3, 7] + - !!python/tuple [7, 3] + - !!python/tuple [6, 4] + - !!python/tuple [0, 6] + - !!python/tuple [3, 1] + - !!python/tuple [4, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex84.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex84.yaml new file mode 100644 index 0000000..2c41c4b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex84.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [7, 1] + name: agent0 + start: [4, 5] +- goal: [6, 4] + name: agent1 + start: [3, 6] +- goal: [1, 6] + name: agent2 + start: [0, 2] +- goal: [4, 7] + name: agent3 + start: [1, 1] +- goal: [4, 6] + name: agent4 + start: [7, 0] +- goal: [3, 2] + name: agent5 + start: [5, 5] +- goal: [6, 7] + name: agent6 + start: [5, 6] +- goal: [1, 3] + name: agent7 + start: [2, 0] +- goal: [7, 6] + name: agent8 + start: [0, 3] +- goal: [6, 3] + name: agent9 + start: [2, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 5] + - !!python/tuple [1, 0] + - !!python/tuple [4, 0] + - !!python/tuple [7, 3] + - !!python/tuple [2, 2] + - !!python/tuple [4, 3] + - !!python/tuple [0, 0] + - !!python/tuple [3, 4] + - !!python/tuple [4, 1] + - !!python/tuple [5, 4] + - !!python/tuple [7, 5] + - !!python/tuple [0, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex85.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex85.yaml new file mode 100644 index 0000000..0782ba0 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex85.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [4, 3] + name: agent0 + start: [6, 7] +- goal: [4, 7] + name: agent1 + start: [1, 5] +- goal: [2, 7] + name: agent2 + start: [6, 0] +- goal: [2, 2] + name: agent3 + start: [5, 5] +- goal: [2, 5] + name: agent4 + start: [1, 1] +- goal: [7, 7] + name: agent5 + start: [5, 7] +- goal: [0, 2] + name: agent6 + start: [2, 5] +- goal: [5, 5] + name: agent7 + start: [7, 4] +- goal: [4, 6] + name: agent8 + start: [3, 2] +- goal: [3, 2] + name: agent9 + start: [7, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 3] + - !!python/tuple [6, 4] + - !!python/tuple [0, 6] + - !!python/tuple [6, 5] + - !!python/tuple [3, 3] + - !!python/tuple [3, 0] + - !!python/tuple [7, 2] + - !!python/tuple [5, 2] + - !!python/tuple [0, 1] + - !!python/tuple [4, 4] + - !!python/tuple [1, 6] + - !!python/tuple [1, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex86.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex86.yaml new file mode 100644 index 0000000..1f6ad5e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex86.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [6, 4] + name: agent0 + start: [6, 1] +- goal: [0, 1] + name: agent1 + start: [2, 4] +- goal: [2, 3] + name: agent2 + start: [0, 0] +- goal: [3, 0] + name: agent3 + start: [2, 3] +- goal: [5, 4] + name: agent4 + start: [0, 2] +- goal: [7, 0] + name: agent5 + start: [1, 6] +- goal: [6, 3] + name: agent6 + start: [3, 0] +- goal: [7, 7] + name: agent7 + start: [1, 5] +- goal: [2, 1] + name: agent8 + start: [7, 3] +- goal: [6, 1] + name: agent9 + start: [6, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 7] + - !!python/tuple [3, 6] + - !!python/tuple [1, 0] + - !!python/tuple [2, 0] + - !!python/tuple [5, 1] + - !!python/tuple [2, 5] + - !!python/tuple [3, 1] + - !!python/tuple [6, 5] + - !!python/tuple [7, 6] + - !!python/tuple [1, 4] + - !!python/tuple [4, 4] + - !!python/tuple [1, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex87.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex87.yaml new file mode 100644 index 0000000..e14ac19 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex87.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [0, 3] + name: agent0 + start: [0, 6] +- goal: [0, 7] + name: agent1 + start: [0, 3] +- goal: [4, 0] + name: agent2 + start: [3, 0] +- goal: [0, 1] + name: agent3 + start: [7, 3] +- goal: [7, 5] + name: agent4 + start: [3, 3] +- goal: [2, 7] + name: agent5 + start: [1, 5] +- goal: [7, 7] + name: agent6 + start: [1, 6] +- goal: [2, 2] + name: agent7 + start: [2, 3] +- goal: [7, 3] + name: agent8 + start: [7, 4] +- goal: [6, 2] + name: agent9 + start: [0, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 2] + - !!python/tuple [5, 6] + - !!python/tuple [1, 3] + - !!python/tuple [0, 2] + - !!python/tuple [5, 5] + - !!python/tuple [4, 4] + - !!python/tuple [6, 4] + - !!python/tuple [4, 7] + - !!python/tuple [3, 6] + - !!python/tuple [7, 6] + - !!python/tuple [6, 0] + - !!python/tuple [4, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex88.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex88.yaml new file mode 100644 index 0000000..b60787d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex88.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [3, 3] + name: agent0 + start: [0, 0] +- goal: [7, 4] + name: agent1 + start: [1, 5] +- goal: [3, 4] + name: agent2 + start: [1, 2] +- goal: [5, 0] + name: agent3 + start: [5, 5] +- goal: [1, 0] + name: agent4 + start: [5, 7] +- goal: [5, 5] + name: agent5 + start: [2, 5] +- goal: [7, 6] + name: agent6 + start: [4, 5] +- goal: [4, 5] + name: agent7 + start: [3, 2] +- goal: [4, 2] + name: agent8 + start: [7, 6] +- goal: [4, 4] + name: agent9 + start: [7, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 3] + - !!python/tuple [0, 1] + - !!python/tuple [1, 4] + - !!python/tuple [4, 0] + - !!python/tuple [0, 6] + - !!python/tuple [2, 1] + - !!python/tuple [6, 4] + - !!python/tuple [2, 7] + - !!python/tuple [6, 7] + - !!python/tuple [6, 5] + - !!python/tuple [6, 3] + - !!python/tuple [2, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex89.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex89.yaml new file mode 100644 index 0000000..147a83c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex89.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [1, 6] + name: agent0 + start: [6, 6] +- goal: [2, 0] + name: agent1 + start: [6, 3] +- goal: [5, 3] + name: agent2 + start: [0, 3] +- goal: [7, 7] + name: agent3 + start: [3, 6] +- goal: [2, 7] + name: agent4 + start: [7, 4] +- goal: [0, 7] + name: agent5 + start: [1, 1] +- goal: [4, 4] + name: agent6 + start: [2, 6] +- goal: [1, 2] + name: agent7 + start: [7, 1] +- goal: [7, 2] + name: agent8 + start: [6, 4] +- goal: [6, 1] + name: agent9 + start: [5, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 3] + - !!python/tuple [7, 5] + - !!python/tuple [7, 0] + - !!python/tuple [5, 1] + - !!python/tuple [2, 3] + - !!python/tuple [0, 5] + - !!python/tuple [4, 6] + - !!python/tuple [0, 4] + - !!python/tuple [1, 5] + - !!python/tuple [4, 0] + - !!python/tuple [2, 1] + - !!python/tuple [0, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex9.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex9.yaml new file mode 100644 index 0000000..d7c9264 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex9.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [0, 1] + name: agent0 + start: [6, 0] +- goal: [3, 4] + name: agent1 + start: [7, 1] +- goal: [6, 0] + name: agent2 + start: [3, 0] +- goal: [6, 7] + name: agent3 + start: [7, 6] +- goal: [0, 0] + name: agent4 + start: [7, 3] +- goal: [3, 7] + name: agent5 + start: [6, 3] +- goal: [0, 6] + name: agent6 + start: [1, 4] +- goal: [1, 3] + name: agent7 + start: [7, 5] +- goal: [5, 6] + name: agent8 + start: [3, 4] +- goal: [4, 2] + name: agent9 + start: [2, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 6] + - !!python/tuple [4, 3] + - !!python/tuple [0, 7] + - !!python/tuple [1, 7] + - !!python/tuple [4, 1] + - !!python/tuple [0, 5] + - !!python/tuple [4, 6] + - !!python/tuple [5, 5] + - !!python/tuple [0, 2] + - !!python/tuple [4, 4] + - !!python/tuple [4, 0] + - !!python/tuple [6, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex90.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex90.yaml new file mode 100644 index 0000000..c0927fd --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex90.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [4, 1] + name: agent0 + start: [5, 4] +- goal: [7, 5] + name: agent1 + start: [7, 2] +- goal: [3, 7] + name: agent2 + start: [7, 3] +- goal: [3, 5] + name: agent3 + start: [0, 4] +- goal: [1, 5] + name: agent4 + start: [7, 7] +- goal: [0, 2] + name: agent5 + start: [3, 1] +- goal: [2, 5] + name: agent6 + start: [7, 4] +- goal: [5, 3] + name: agent7 + start: [1, 4] +- goal: [5, 4] + name: agent8 + start: [2, 7] +- goal: [4, 5] + name: agent9 + start: [5, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 0] + - !!python/tuple [3, 4] + - !!python/tuple [4, 2] + - !!python/tuple [4, 0] + - !!python/tuple [3, 2] + - !!python/tuple [1, 7] + - !!python/tuple [7, 0] + - !!python/tuple [1, 1] + - !!python/tuple [0, 3] + - !!python/tuple [4, 4] + - !!python/tuple [4, 7] + - !!python/tuple [6, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex91.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex91.yaml new file mode 100644 index 0000000..e6a555d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex91.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [6, 5] + name: agent0 + start: [4, 6] +- goal: [1, 2] + name: agent1 + start: [0, 4] +- goal: [0, 5] + name: agent2 + start: [3, 1] +- goal: [3, 7] + name: agent3 + start: [0, 6] +- goal: [7, 2] + name: agent4 + start: [3, 2] +- goal: [2, 4] + name: agent5 + start: [7, 3] +- goal: [5, 7] + name: agent6 + start: [5, 3] +- goal: [0, 3] + name: agent7 + start: [1, 1] +- goal: [6, 7] + name: agent8 + start: [3, 7] +- goal: [0, 0] + name: agent9 + start: [1, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 2] + - !!python/tuple [4, 0] + - !!python/tuple [5, 5] + - !!python/tuple [2, 0] + - !!python/tuple [1, 5] + - !!python/tuple [4, 7] + - !!python/tuple [3, 3] + - !!python/tuple [3, 4] + - !!python/tuple [3, 5] + - !!python/tuple [5, 0] + - !!python/tuple [6, 1] + - !!python/tuple [7, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex92.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex92.yaml new file mode 100644 index 0000000..9bf1a0c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex92.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [3, 0] + name: agent0 + start: [7, 6] +- goal: [1, 2] + name: agent1 + start: [4, 0] +- goal: [4, 3] + name: agent2 + start: [7, 5] +- goal: [7, 4] + name: agent3 + start: [2, 3] +- goal: [6, 2] + name: agent4 + start: [3, 1] +- goal: [3, 1] + name: agent5 + start: [5, 2] +- goal: [1, 3] + name: agent6 + start: [4, 1] +- goal: [4, 4] + name: agent7 + start: [6, 5] +- goal: [3, 5] + name: agent8 + start: [6, 1] +- goal: [1, 0] + name: agent9 + start: [0, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 7] + - !!python/tuple [5, 6] + - !!python/tuple [5, 7] + - !!python/tuple [1, 4] + - !!python/tuple [7, 3] + - !!python/tuple [2, 0] + - !!python/tuple [7, 7] + - !!python/tuple [4, 5] + - !!python/tuple [6, 4] + - !!python/tuple [4, 6] + - !!python/tuple [0, 4] + - !!python/tuple [3, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex93.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex93.yaml new file mode 100644 index 0000000..24c3208 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex93.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [1, 3] + name: agent0 + start: [3, 0] +- goal: [3, 7] + name: agent1 + start: [5, 3] +- goal: [1, 0] + name: agent2 + start: [2, 3] +- goal: [7, 2] + name: agent3 + start: [4, 5] +- goal: [1, 5] + name: agent4 + start: [1, 4] +- goal: [2, 3] + name: agent5 + start: [0, 5] +- goal: [4, 2] + name: agent6 + start: [3, 7] +- goal: [6, 2] + name: agent7 + start: [6, 5] +- goal: [7, 7] + name: agent8 + start: [6, 0] +- goal: [2, 6] + name: agent9 + start: [6, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 7] + - !!python/tuple [0, 6] + - !!python/tuple [2, 7] + - !!python/tuple [2, 4] + - !!python/tuple [6, 7] + - !!python/tuple [0, 2] + - !!python/tuple [2, 5] + - !!python/tuple [1, 6] + - !!python/tuple [5, 5] + - !!python/tuple [1, 1] + - !!python/tuple [4, 7] + - !!python/tuple [2, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex94.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex94.yaml new file mode 100644 index 0000000..45a795e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex94.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [1, 6] + name: agent0 + start: [7, 3] +- goal: [4, 1] + name: agent1 + start: [6, 4] +- goal: [7, 1] + name: agent2 + start: [0, 7] +- goal: [7, 7] + name: agent3 + start: [1, 6] +- goal: [6, 3] + name: agent4 + start: [2, 3] +- goal: [3, 5] + name: agent5 + start: [0, 4] +- goal: [6, 2] + name: agent6 + start: [6, 3] +- goal: [0, 3] + name: agent7 + start: [4, 5] +- goal: [1, 4] + name: agent8 + start: [1, 3] +- goal: [4, 7] + name: agent9 + start: [6, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 0] + - !!python/tuple [0, 0] + - !!python/tuple [5, 1] + - !!python/tuple [4, 4] + - !!python/tuple [1, 5] + - !!python/tuple [4, 6] + - !!python/tuple [4, 3] + - !!python/tuple [7, 4] + - !!python/tuple [5, 7] + - !!python/tuple [4, 2] + - !!python/tuple [6, 5] + - !!python/tuple [0, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex95.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex95.yaml new file mode 100644 index 0000000..8278209 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex95.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [5, 0] + name: agent0 + start: [6, 3] +- goal: [1, 3] + name: agent1 + start: [7, 6] +- goal: [7, 3] + name: agent2 + start: [0, 3] +- goal: [1, 5] + name: agent3 + start: [1, 6] +- goal: [7, 2] + name: agent4 + start: [7, 5] +- goal: [5, 4] + name: agent5 + start: [2, 1] +- goal: [3, 3] + name: agent6 + start: [4, 5] +- goal: [0, 7] + name: agent7 + start: [7, 4] +- goal: [5, 7] + name: agent8 + start: [3, 7] +- goal: [5, 2] + name: agent9 + start: [1, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 5] + - !!python/tuple [3, 1] + - !!python/tuple [1, 1] + - !!python/tuple [0, 2] + - !!python/tuple [3, 2] + - !!python/tuple [1, 2] + - !!python/tuple [4, 2] + - !!python/tuple [0, 0] + - !!python/tuple [4, 1] + - !!python/tuple [2, 3] + - !!python/tuple [7, 1] + - !!python/tuple [0, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex96.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex96.yaml new file mode 100644 index 0000000..b245014 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex96.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [1, 1] + name: agent0 + start: [6, 6] +- goal: [4, 6] + name: agent1 + start: [0, 7] +- goal: [2, 1] + name: agent2 + start: [2, 0] +- goal: [5, 5] + name: agent3 + start: [5, 7] +- goal: [1, 6] + name: agent4 + start: [7, 7] +- goal: [7, 3] + name: agent5 + start: [1, 4] +- goal: [3, 3] + name: agent6 + start: [4, 2] +- goal: [1, 5] + name: agent7 + start: [2, 1] +- goal: [1, 0] + name: agent8 + start: [7, 6] +- goal: [1, 2] + name: agent9 + start: [3, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 4] + - !!python/tuple [6, 5] + - !!python/tuple [0, 6] + - !!python/tuple [7, 2] + - !!python/tuple [3, 5] + - !!python/tuple [6, 1] + - !!python/tuple [3, 7] + - !!python/tuple [5, 2] + - !!python/tuple [0, 4] + - !!python/tuple [3, 0] + - !!python/tuple [7, 5] + - !!python/tuple [4, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex97.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex97.yaml new file mode 100644 index 0000000..f664e50 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex97.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [6, 1] + name: agent0 + start: [5, 5] +- goal: [2, 2] + name: agent1 + start: [7, 1] +- goal: [7, 6] + name: agent2 + start: [5, 1] +- goal: [5, 3] + name: agent3 + start: [6, 7] +- goal: [1, 5] + name: agent4 + start: [6, 6] +- goal: [7, 5] + name: agent5 + start: [7, 3] +- goal: [5, 4] + name: agent6 + start: [0, 0] +- goal: [4, 5] + name: agent7 + start: [2, 4] +- goal: [3, 2] + name: agent8 + start: [3, 4] +- goal: [4, 1] + name: agent9 + start: [2, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 4] + - !!python/tuple [4, 7] + - !!python/tuple [4, 6] + - !!python/tuple [5, 7] + - !!python/tuple [3, 6] + - !!python/tuple [7, 7] + - !!python/tuple [2, 6] + - !!python/tuple [2, 7] + - !!python/tuple [6, 2] + - !!python/tuple [4, 2] + - !!python/tuple [1, 6] + - !!python/tuple [0, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex98.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex98.yaml new file mode 100644 index 0000000..3a3ba12 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex98.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [7, 2] + name: agent0 + start: [7, 7] +- goal: [0, 7] + name: agent1 + start: [0, 7] +- goal: [6, 6] + name: agent2 + start: [7, 4] +- goal: [7, 3] + name: agent3 + start: [2, 7] +- goal: [2, 0] + name: agent4 + start: [7, 6] +- goal: [4, 0] + name: agent5 + start: [6, 7] +- goal: [6, 4] + name: agent6 + start: [0, 0] +- goal: [1, 1] + name: agent7 + start: [2, 1] +- goal: [4, 3] + name: agent8 + start: [7, 1] +- goal: [4, 5] + name: agent9 + start: [4, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 0] + - !!python/tuple [1, 3] + - !!python/tuple [6, 1] + - !!python/tuple [4, 4] + - !!python/tuple [2, 3] + - !!python/tuple [4, 1] + - !!python/tuple [5, 6] + - !!python/tuple [4, 2] + - !!python/tuple [5, 2] + - !!python/tuple [0, 2] + - !!python/tuple [1, 2] + - !!python/tuple [6, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex99.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex99.yaml new file mode 100644 index 0000000..44b4fcc --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents10_ex99.yaml @@ -0,0 +1,46 @@ +agents: +- goal: [2, 7] + name: agent0 + start: [7, 4] +- goal: [1, 3] + name: agent1 + start: [7, 3] +- goal: [0, 1] + name: agent2 + start: [3, 5] +- goal: [0, 4] + name: agent3 + start: [6, 3] +- goal: [7, 7] + name: agent4 + start: [3, 1] +- goal: [6, 7] + name: agent5 + start: [1, 3] +- goal: [3, 0] + name: agent6 + start: [0, 0] +- goal: [1, 5] + name: agent7 + start: [6, 2] +- goal: [3, 3] + name: agent8 + start: [5, 1] +- goal: [5, 6] + name: agent9 + start: [2, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 1] + - !!python/tuple [0, 6] + - !!python/tuple [1, 7] + - !!python/tuple [1, 0] + - !!python/tuple [6, 1] + - !!python/tuple [2, 6] + - !!python/tuple [2, 0] + - !!python/tuple [4, 2] + - !!python/tuple [4, 0] + - !!python/tuple [3, 4] + - !!python/tuple [4, 4] + - !!python/tuple [4, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex0.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex0.yaml new file mode 100644 index 0000000..7c49dcc --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex0.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [4, 4] + name: agent0 + start: [7, 7] +- goal: [0, 3] + name: agent1 + start: [7, 4] +- goal: [3, 6] + name: agent2 + start: [5, 5] +- goal: [7, 2] + name: agent3 + start: [7, 5] +- goal: [5, 5] + name: agent4 + start: [1, 5] +- goal: [7, 5] + name: agent5 + start: [6, 0] +- goal: [4, 3] + name: agent6 + start: [6, 7] +- goal: [0, 1] + name: agent7 + start: [5, 7] +- goal: [1, 3] + name: agent8 + start: [2, 0] +- goal: [0, 6] + name: agent9 + start: [0, 1] +- goal: [1, 5] + name: agent10 + start: [5, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 4] + - !!python/tuple [6, 5] + - !!python/tuple [1, 0] + - !!python/tuple [4, 6] + - !!python/tuple [4, 0] + - !!python/tuple [2, 7] + - !!python/tuple [2, 2] + - !!python/tuple [5, 2] + - !!python/tuple [3, 7] + - !!python/tuple [1, 7] + - !!python/tuple [6, 2] + - !!python/tuple [2, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex1.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex1.yaml new file mode 100644 index 0000000..ddab2b1 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex1.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [6, 3] + name: agent0 + start: [4, 6] +- goal: [5, 0] + name: agent1 + start: [1, 5] +- goal: [5, 7] + name: agent2 + start: [1, 4] +- goal: [2, 7] + name: agent3 + start: [2, 1] +- goal: [7, 2] + name: agent4 + start: [6, 0] +- goal: [2, 1] + name: agent5 + start: [5, 1] +- goal: [5, 5] + name: agent6 + start: [2, 6] +- goal: [4, 4] + name: agent7 + start: [3, 4] +- goal: [5, 2] + name: agent8 + start: [2, 5] +- goal: [6, 1] + name: agent9 + start: [3, 5] +- goal: [3, 2] + name: agent10 + start: [4, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 3] + - !!python/tuple [6, 2] + - !!python/tuple [2, 2] + - !!python/tuple [7, 0] + - !!python/tuple [3, 1] + - !!python/tuple [7, 4] + - !!python/tuple [6, 7] + - !!python/tuple [5, 4] + - !!python/tuple [1, 7] + - !!python/tuple [0, 4] + - !!python/tuple [6, 6] + - !!python/tuple [6, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex10.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex10.yaml new file mode 100644 index 0000000..3a43dda --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex10.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [7, 2] + name: agent0 + start: [0, 2] +- goal: [1, 6] + name: agent1 + start: [6, 4] +- goal: [3, 5] + name: agent2 + start: [3, 6] +- goal: [1, 5] + name: agent3 + start: [3, 3] +- goal: [0, 5] + name: agent4 + start: [4, 7] +- goal: [5, 3] + name: agent5 + start: [2, 1] +- goal: [3, 6] + name: agent6 + start: [6, 5] +- goal: [4, 3] + name: agent7 + start: [5, 6] +- goal: [5, 4] + name: agent8 + start: [0, 6] +- goal: [7, 1] + name: agent9 + start: [2, 2] +- goal: [1, 1] + name: agent10 + start: [0, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 3] + - !!python/tuple [2, 7] + - !!python/tuple [1, 7] + - !!python/tuple [6, 3] + - !!python/tuple [2, 4] + - !!python/tuple [6, 7] + - !!python/tuple [4, 6] + - !!python/tuple [3, 1] + - !!python/tuple [6, 1] + - !!python/tuple [1, 3] + - !!python/tuple [0, 0] + - !!python/tuple [2, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex11.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex11.yaml new file mode 100644 index 0000000..a72e9af --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex11.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [4, 2] + name: agent0 + start: [0, 5] +- goal: [6, 1] + name: agent1 + start: [7, 6] +- goal: [3, 0] + name: agent2 + start: [5, 0] +- goal: [5, 1] + name: agent3 + start: [6, 4] +- goal: [6, 0] + name: agent4 + start: [3, 3] +- goal: [1, 6] + name: agent5 + start: [2, 3] +- goal: [5, 4] + name: agent6 + start: [5, 5] +- goal: [2, 0] + name: agent7 + start: [1, 2] +- goal: [2, 5] + name: agent8 + start: [7, 7] +- goal: [6, 3] + name: agent9 + start: [6, 0] +- goal: [4, 4] + name: agent10 + start: [0, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 1] + - !!python/tuple [0, 7] + - !!python/tuple [0, 1] + - !!python/tuple [1, 3] + - !!python/tuple [3, 4] + - !!python/tuple [7, 3] + - !!python/tuple [1, 7] + - !!python/tuple [4, 3] + - !!python/tuple [3, 5] + - !!python/tuple [1, 5] + - !!python/tuple [2, 7] + - !!python/tuple [0, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex12.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex12.yaml new file mode 100644 index 0000000..a6d4d17 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex12.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [0, 6] + name: agent0 + start: [2, 2] +- goal: [7, 0] + name: agent1 + start: [1, 7] +- goal: [2, 5] + name: agent2 + start: [0, 2] +- goal: [2, 2] + name: agent3 + start: [5, 0] +- goal: [4, 1] + name: agent4 + start: [5, 4] +- goal: [7, 4] + name: agent5 + start: [1, 2] +- goal: [2, 3] + name: agent6 + start: [7, 4] +- goal: [4, 2] + name: agent7 + start: [6, 6] +- goal: [2, 6] + name: agent8 + start: [2, 3] +- goal: [3, 5] + name: agent9 + start: [5, 7] +- goal: [3, 6] + name: agent10 + start: [6, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 4] + - !!python/tuple [0, 7] + - !!python/tuple [5, 3] + - !!python/tuple [7, 3] + - !!python/tuple [3, 4] + - !!python/tuple [2, 1] + - !!python/tuple [0, 4] + - !!python/tuple [4, 6] + - !!python/tuple [3, 7] + - !!python/tuple [5, 6] + - !!python/tuple [1, 5] + - !!python/tuple [6, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex13.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex13.yaml new file mode 100644 index 0000000..83964ee --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex13.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [1, 6] + name: agent0 + start: [3, 3] +- goal: [0, 7] + name: agent1 + start: [7, 6] +- goal: [2, 6] + name: agent2 + start: [1, 3] +- goal: [4, 6] + name: agent3 + start: [6, 1] +- goal: [3, 6] + name: agent4 + start: [6, 2] +- goal: [3, 3] + name: agent5 + start: [6, 7] +- goal: [0, 2] + name: agent6 + start: [5, 7] +- goal: [0, 3] + name: agent7 + start: [0, 1] +- goal: [5, 5] + name: agent8 + start: [3, 6] +- goal: [0, 4] + name: agent9 + start: [0, 7] +- goal: [2, 4] + name: agent10 + start: [2, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 6] + - !!python/tuple [3, 4] + - !!python/tuple [4, 1] + - !!python/tuple [1, 0] + - !!python/tuple [1, 2] + - !!python/tuple [3, 5] + - !!python/tuple [7, 7] + - !!python/tuple [7, 2] + - !!python/tuple [5, 4] + - !!python/tuple [6, 3] + - !!python/tuple [5, 0] + - !!python/tuple [0, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex14.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex14.yaml new file mode 100644 index 0000000..5ced6d3 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex14.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [3, 2] + name: agent0 + start: [0, 1] +- goal: [1, 7] + name: agent1 + start: [7, 4] +- goal: [6, 0] + name: agent2 + start: [7, 3] +- goal: [4, 3] + name: agent3 + start: [1, 2] +- goal: [1, 0] + name: agent4 + start: [6, 2] +- goal: [5, 2] + name: agent5 + start: [6, 4] +- goal: [6, 3] + name: agent6 + start: [7, 5] +- goal: [0, 6] + name: agent7 + start: [2, 6] +- goal: [1, 5] + name: agent8 + start: [7, 7] +- goal: [5, 0] + name: agent9 + start: [7, 6] +- goal: [4, 7] + name: agent10 + start: [6, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 2] + - !!python/tuple [7, 1] + - !!python/tuple [3, 4] + - !!python/tuple [6, 6] + - !!python/tuple [4, 0] + - !!python/tuple [2, 7] + - !!python/tuple [3, 6] + - !!python/tuple [2, 4] + - !!python/tuple [1, 4] + - !!python/tuple [2, 0] + - !!python/tuple [0, 2] + - !!python/tuple [7, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex15.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex15.yaml new file mode 100644 index 0000000..7364b06 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex15.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [0, 5] + name: agent0 + start: [7, 2] +- goal: [6, 0] + name: agent1 + start: [2, 2] +- goal: [4, 5] + name: agent2 + start: [2, 1] +- goal: [1, 6] + name: agent3 + start: [6, 3] +- goal: [2, 2] + name: agent4 + start: [5, 4] +- goal: [4, 6] + name: agent5 + start: [0, 2] +- goal: [3, 2] + name: agent6 + start: [3, 3] +- goal: [0, 3] + name: agent7 + start: [4, 1] +- goal: [4, 1] + name: agent8 + start: [4, 3] +- goal: [0, 7] + name: agent9 + start: [0, 6] +- goal: [4, 0] + name: agent10 + start: [7, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 0] + - !!python/tuple [7, 1] + - !!python/tuple [5, 6] + - !!python/tuple [5, 3] + - !!python/tuple [1, 1] + - !!python/tuple [1, 3] + - !!python/tuple [6, 2] + - !!python/tuple [6, 6] + - !!python/tuple [5, 7] + - !!python/tuple [0, 4] + - !!python/tuple [6, 4] + - !!python/tuple [2, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex16.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex16.yaml new file mode 100644 index 0000000..104cf05 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex16.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [0, 7] + name: agent0 + start: [4, 2] +- goal: [7, 6] + name: agent1 + start: [7, 2] +- goal: [5, 2] + name: agent2 + start: [7, 7] +- goal: [5, 4] + name: agent3 + start: [6, 6] +- goal: [0, 4] + name: agent4 + start: [2, 1] +- goal: [6, 6] + name: agent5 + start: [5, 0] +- goal: [4, 7] + name: agent6 + start: [5, 4] +- goal: [4, 2] + name: agent7 + start: [0, 5] +- goal: [6, 4] + name: agent8 + start: [2, 6] +- goal: [6, 5] + name: agent9 + start: [1, 6] +- goal: [3, 2] + name: agent10 + start: [0, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 3] + - !!python/tuple [7, 4] + - !!python/tuple [7, 1] + - !!python/tuple [1, 0] + - !!python/tuple [2, 2] + - !!python/tuple [5, 1] + - !!python/tuple [6, 1] + - !!python/tuple [4, 4] + - !!python/tuple [6, 0] + - !!python/tuple [7, 0] + - !!python/tuple [3, 4] + - !!python/tuple [3, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex17.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex17.yaml new file mode 100644 index 0000000..9a8add6 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex17.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [4, 3] + name: agent0 + start: [4, 5] +- goal: [1, 2] + name: agent1 + start: [0, 0] +- goal: [0, 7] + name: agent2 + start: [1, 0] +- goal: [1, 0] + name: agent3 + start: [0, 3] +- goal: [4, 2] + name: agent4 + start: [0, 5] +- goal: [1, 3] + name: agent5 + start: [7, 0] +- goal: [0, 1] + name: agent6 + start: [2, 5] +- goal: [5, 7] + name: agent7 + start: [1, 5] +- goal: [1, 1] + name: agent8 + start: [3, 6] +- goal: [2, 7] + name: agent9 + start: [6, 1] +- goal: [5, 0] + name: agent10 + start: [2, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 7] + - !!python/tuple [7, 6] + - !!python/tuple [0, 4] + - !!python/tuple [5, 1] + - !!python/tuple [6, 3] + - !!python/tuple [5, 5] + - !!python/tuple [5, 4] + - !!python/tuple [4, 1] + - !!python/tuple [7, 5] + - !!python/tuple [0, 6] + - !!python/tuple [7, 3] + - !!python/tuple [3, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex18.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex18.yaml new file mode 100644 index 0000000..96720e0 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex18.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [3, 0] + name: agent0 + start: [7, 2] +- goal: [1, 7] + name: agent1 + start: [0, 0] +- goal: [7, 7] + name: agent2 + start: [7, 0] +- goal: [0, 4] + name: agent3 + start: [0, 3] +- goal: [1, 5] + name: agent4 + start: [6, 4] +- goal: [0, 3] + name: agent5 + start: [2, 3] +- goal: [5, 6] + name: agent6 + start: [0, 4] +- goal: [0, 1] + name: agent7 + start: [3, 3] +- goal: [7, 5] + name: agent8 + start: [4, 4] +- goal: [6, 4] + name: agent9 + start: [6, 0] +- goal: [6, 5] + name: agent10 + start: [3, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 2] + - !!python/tuple [1, 3] + - !!python/tuple [1, 2] + - !!python/tuple [3, 1] + - !!python/tuple [4, 5] + - !!python/tuple [5, 7] + - !!python/tuple [1, 1] + - !!python/tuple [4, 6] + - !!python/tuple [3, 7] + - !!python/tuple [5, 2] + - !!python/tuple [0, 5] + - !!python/tuple [6, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex19.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex19.yaml new file mode 100644 index 0000000..7dc2bc6 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex19.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [6, 3] + name: agent0 + start: [7, 6] +- goal: [1, 7] + name: agent1 + start: [0, 7] +- goal: [1, 3] + name: agent2 + start: [2, 0] +- goal: [3, 6] + name: agent3 + start: [6, 5] +- goal: [2, 2] + name: agent4 + start: [3, 0] +- goal: [5, 6] + name: agent5 + start: [1, 1] +- goal: [6, 1] + name: agent6 + start: [5, 4] +- goal: [5, 1] + name: agent7 + start: [3, 1] +- goal: [6, 5] + name: agent8 + start: [2, 1] +- goal: [7, 5] + name: agent9 + start: [7, 2] +- goal: [7, 3] + name: agent10 + start: [7, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 5] + - !!python/tuple [2, 3] + - !!python/tuple [2, 7] + - !!python/tuple [0, 0] + - !!python/tuple [1, 6] + - !!python/tuple [1, 2] + - !!python/tuple [4, 3] + - !!python/tuple [6, 7] + - !!python/tuple [6, 4] + - !!python/tuple [3, 3] + - !!python/tuple [5, 0] + - !!python/tuple [6, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex2.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex2.yaml new file mode 100644 index 0000000..1796386 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex2.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [2, 3] + name: agent0 + start: [6, 4] +- goal: [2, 0] + name: agent1 + start: [3, 6] +- goal: [4, 6] + name: agent2 + start: [5, 4] +- goal: [0, 1] + name: agent3 + start: [3, 0] +- goal: [6, 0] + name: agent4 + start: [2, 3] +- goal: [5, 3] + name: agent5 + start: [1, 2] +- goal: [4, 4] + name: agent6 + start: [1, 4] +- goal: [6, 3] + name: agent7 + start: [2, 2] +- goal: [5, 2] + name: agent8 + start: [6, 3] +- goal: [3, 0] + name: agent9 + start: [0, 5] +- goal: [1, 3] + name: agent10 + start: [6, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 1] + - !!python/tuple [5, 5] + - !!python/tuple [5, 1] + - !!python/tuple [1, 5] + - !!python/tuple [3, 4] + - !!python/tuple [7, 3] + - !!python/tuple [4, 5] + - !!python/tuple [7, 6] + - !!python/tuple [4, 2] + - !!python/tuple [5, 6] + - !!python/tuple [1, 0] + - !!python/tuple [2, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex20.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex20.yaml new file mode 100644 index 0000000..766b927 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex20.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [6, 2] + name: agent0 + start: [2, 6] +- goal: [4, 4] + name: agent1 + start: [7, 2] +- goal: [5, 0] + name: agent2 + start: [6, 2] +- goal: [0, 5] + name: agent3 + start: [2, 3] +- goal: [7, 6] + name: agent4 + start: [6, 7] +- goal: [2, 5] + name: agent5 + start: [1, 3] +- goal: [2, 6] + name: agent6 + start: [6, 4] +- goal: [4, 7] + name: agent7 + start: [3, 2] +- goal: [7, 1] + name: agent8 + start: [3, 3] +- goal: [5, 4] + name: agent9 + start: [5, 4] +- goal: [7, 2] + name: agent10 + start: [4, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 5] + - !!python/tuple [1, 6] + - !!python/tuple [0, 7] + - !!python/tuple [3, 5] + - !!python/tuple [2, 1] + - !!python/tuple [1, 2] + - !!python/tuple [6, 0] + - !!python/tuple [5, 6] + - !!python/tuple [4, 0] + - !!python/tuple [5, 7] + - !!python/tuple [2, 7] + - !!python/tuple [0, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex21.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex21.yaml new file mode 100644 index 0000000..c71979d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex21.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [0, 0] + name: agent0 + start: [5, 6] +- goal: [0, 1] + name: agent1 + start: [5, 5] +- goal: [7, 7] + name: agent2 + start: [1, 4] +- goal: [7, 1] + name: agent3 + start: [7, 6] +- goal: [1, 1] + name: agent4 + start: [0, 7] +- goal: [2, 3] + name: agent5 + start: [4, 1] +- goal: [4, 6] + name: agent6 + start: [1, 1] +- goal: [6, 2] + name: agent7 + start: [5, 4] +- goal: [0, 7] + name: agent8 + start: [6, 2] +- goal: [6, 6] + name: agent9 + start: [5, 2] +- goal: [4, 1] + name: agent10 + start: [1, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 0] + - !!python/tuple [3, 0] + - !!python/tuple [7, 0] + - !!python/tuple [2, 2] + - !!python/tuple [1, 5] + - !!python/tuple [1, 3] + - !!python/tuple [6, 1] + - !!python/tuple [4, 3] + - !!python/tuple [4, 5] + - !!python/tuple [3, 6] + - !!python/tuple [3, 4] + - !!python/tuple [6, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex22.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex22.yaml new file mode 100644 index 0000000..1f3beb2 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex22.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [1, 7] + name: agent0 + start: [5, 4] +- goal: [2, 1] + name: agent1 + start: [6, 0] +- goal: [0, 4] + name: agent2 + start: [1, 2] +- goal: [2, 6] + name: agent3 + start: [7, 5] +- goal: [5, 7] + name: agent4 + start: [2, 6] +- goal: [7, 7] + name: agent5 + start: [4, 3] +- goal: [2, 2] + name: agent6 + start: [0, 4] +- goal: [1, 6] + name: agent7 + start: [6, 4] +- goal: [7, 3] + name: agent8 + start: [0, 6] +- goal: [0, 5] + name: agent9 + start: [0, 2] +- goal: [7, 2] + name: agent10 + start: [2, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 7] + - !!python/tuple [5, 5] + - !!python/tuple [3, 0] + - !!python/tuple [6, 5] + - !!python/tuple [2, 0] + - !!python/tuple [1, 3] + - !!python/tuple [4, 4] + - !!python/tuple [1, 4] + - !!python/tuple [7, 0] + - !!python/tuple [1, 1] + - !!python/tuple [5, 1] + - !!python/tuple [4, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex23.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex23.yaml new file mode 100644 index 0000000..181cac6 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex23.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [7, 4] + name: agent0 + start: [5, 4] +- goal: [1, 6] + name: agent1 + start: [2, 3] +- goal: [7, 0] + name: agent2 + start: [4, 6] +- goal: [2, 4] + name: agent3 + start: [7, 4] +- goal: [1, 5] + name: agent4 + start: [1, 6] +- goal: [2, 1] + name: agent5 + start: [6, 2] +- goal: [6, 3] + name: agent6 + start: [7, 7] +- goal: [4, 2] + name: agent7 + start: [0, 7] +- goal: [7, 2] + name: agent8 + start: [3, 5] +- goal: [6, 7] + name: agent9 + start: [2, 0] +- goal: [3, 5] + name: agent10 + start: [1, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 6] + - !!python/tuple [4, 4] + - !!python/tuple [5, 1] + - !!python/tuple [1, 0] + - !!python/tuple [5, 3] + - !!python/tuple [2, 2] + - !!python/tuple [1, 7] + - !!python/tuple [3, 0] + - !!python/tuple [2, 7] + - !!python/tuple [0, 4] + - !!python/tuple [1, 4] + - !!python/tuple [5, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex24.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex24.yaml new file mode 100644 index 0000000..3ecd3bb --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex24.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [4, 4] + name: agent0 + start: [7, 1] +- goal: [5, 2] + name: agent1 + start: [2, 0] +- goal: [3, 4] + name: agent2 + start: [5, 5] +- goal: [7, 1] + name: agent3 + start: [1, 3] +- goal: [6, 3] + name: agent4 + start: [5, 4] +- goal: [1, 2] + name: agent5 + start: [1, 2] +- goal: [3, 5] + name: agent6 + start: [2, 1] +- goal: [4, 5] + name: agent7 + start: [5, 7] +- goal: [3, 6] + name: agent8 + start: [3, 1] +- goal: [0, 1] + name: agent9 + start: [4, 7] +- goal: [0, 6] + name: agent10 + start: [6, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 3] + - !!python/tuple [2, 4] + - !!python/tuple [7, 0] + - !!python/tuple [0, 7] + - !!python/tuple [3, 2] + - !!python/tuple [0, 4] + - !!python/tuple [2, 7] + - !!python/tuple [4, 3] + - !!python/tuple [6, 1] + - !!python/tuple [7, 4] + - !!python/tuple [7, 7] + - !!python/tuple [5, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex25.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex25.yaml new file mode 100644 index 0000000..546cca2 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex25.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [3, 6] + name: agent0 + start: [6, 6] +- goal: [3, 0] + name: agent1 + start: [3, 0] +- goal: [0, 5] + name: agent2 + start: [2, 3] +- goal: [7, 3] + name: agent3 + start: [6, 4] +- goal: [1, 0] + name: agent4 + start: [1, 2] +- goal: [4, 6] + name: agent5 + start: [4, 5] +- goal: [2, 0] + name: agent6 + start: [4, 3] +- goal: [3, 2] + name: agent7 + start: [7, 3] +- goal: [2, 1] + name: agent8 + start: [2, 7] +- goal: [6, 2] + name: agent9 + start: [0, 3] +- goal: [2, 3] + name: agent10 + start: [2, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 4] + - !!python/tuple [5, 2] + - !!python/tuple [5, 0] + - !!python/tuple [4, 0] + - !!python/tuple [7, 2] + - !!python/tuple [3, 7] + - !!python/tuple [0, 2] + - !!python/tuple [5, 4] + - !!python/tuple [0, 1] + - !!python/tuple [2, 2] + - !!python/tuple [6, 1] + - !!python/tuple [4, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex26.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex26.yaml new file mode 100644 index 0000000..b5ccf82 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex26.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [4, 3] + name: agent0 + start: [4, 1] +- goal: [4, 2] + name: agent1 + start: [7, 1] +- goal: [0, 0] + name: agent2 + start: [3, 0] +- goal: [6, 1] + name: agent3 + start: [0, 0] +- goal: [5, 0] + name: agent4 + start: [2, 1] +- goal: [6, 7] + name: agent5 + start: [1, 5] +- goal: [3, 0] + name: agent6 + start: [5, 6] +- goal: [1, 1] + name: agent7 + start: [4, 3] +- goal: [3, 1] + name: agent8 + start: [3, 5] +- goal: [3, 2] + name: agent9 + start: [6, 3] +- goal: [2, 6] + name: agent10 + start: [3, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 7] + - !!python/tuple [4, 7] + - !!python/tuple [5, 2] + - !!python/tuple [6, 4] + - !!python/tuple [2, 7] + - !!python/tuple [7, 4] + - !!python/tuple [6, 2] + - !!python/tuple [3, 4] + - !!python/tuple [0, 5] + - !!python/tuple [1, 6] + - !!python/tuple [0, 3] + - !!python/tuple [7, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex27.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex27.yaml new file mode 100644 index 0000000..04c8998 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex27.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [4, 1] + name: agent0 + start: [6, 2] +- goal: [3, 6] + name: agent1 + start: [5, 7] +- goal: [4, 0] + name: agent2 + start: [5, 5] +- goal: [0, 7] + name: agent3 + start: [4, 4] +- goal: [1, 2] + name: agent4 + start: [3, 2] +- goal: [4, 6] + name: agent5 + start: [0, 1] +- goal: [7, 1] + name: agent6 + start: [0, 7] +- goal: [0, 1] + name: agent7 + start: [2, 5] +- goal: [7, 3] + name: agent8 + start: [2, 6] +- goal: [4, 7] + name: agent9 + start: [5, 6] +- goal: [4, 5] + name: agent10 + start: [6, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 7] + - !!python/tuple [5, 2] + - !!python/tuple [5, 3] + - !!python/tuple [0, 2] + - !!python/tuple [6, 5] + - !!python/tuple [3, 1] + - !!python/tuple [1, 0] + - !!python/tuple [7, 0] + - !!python/tuple [2, 4] + - !!python/tuple [1, 6] + - !!python/tuple [2, 0] + - !!python/tuple [1, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex28.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex28.yaml new file mode 100644 index 0000000..7f3b261 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex28.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [7, 5] + name: agent0 + start: [0, 5] +- goal: [4, 7] + name: agent1 + start: [7, 7] +- goal: [0, 1] + name: agent2 + start: [1, 4] +- goal: [4, 4] + name: agent3 + start: [6, 3] +- goal: [3, 1] + name: agent4 + start: [7, 2] +- goal: [1, 7] + name: agent5 + start: [3, 7] +- goal: [0, 0] + name: agent6 + start: [7, 3] +- goal: [7, 7] + name: agent7 + start: [3, 4] +- goal: [3, 0] + name: agent8 + start: [3, 2] +- goal: [4, 2] + name: agent9 + start: [7, 4] +- goal: [1, 2] + name: agent10 + start: [2, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 4] + - !!python/tuple [5, 0] + - !!python/tuple [4, 3] + - !!python/tuple [5, 1] + - !!python/tuple [4, 6] + - !!python/tuple [1, 5] + - !!python/tuple [5, 3] + - !!python/tuple [1, 0] + - !!python/tuple [1, 1] + - !!python/tuple [4, 0] + - !!python/tuple [6, 0] + - !!python/tuple [6, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex29.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex29.yaml new file mode 100644 index 0000000..4a4e783 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex29.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [0, 1] + name: agent0 + start: [0, 3] +- goal: [4, 5] + name: agent1 + start: [6, 2] +- goal: [7, 6] + name: agent2 + start: [4, 7] +- goal: [3, 5] + name: agent3 + start: [1, 0] +- goal: [5, 2] + name: agent4 + start: [7, 5] +- goal: [6, 4] + name: agent5 + start: [0, 1] +- goal: [1, 3] + name: agent6 + start: [3, 6] +- goal: [2, 7] + name: agent7 + start: [7, 4] +- goal: [5, 7] + name: agent8 + start: [5, 0] +- goal: [4, 0] + name: agent9 + start: [6, 6] +- goal: [1, 1] + name: agent10 + start: [2, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 1] + - !!python/tuple [4, 1] + - !!python/tuple [7, 3] + - !!python/tuple [5, 6] + - !!python/tuple [1, 6] + - !!python/tuple [1, 4] + - !!python/tuple [5, 4] + - !!python/tuple [0, 0] + - !!python/tuple [0, 5] + - !!python/tuple [3, 4] + - !!python/tuple [1, 7] + - !!python/tuple [2, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex3.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex3.yaml new file mode 100644 index 0000000..24b62f2 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex3.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [3, 0] + name: agent0 + start: [5, 6] +- goal: [4, 0] + name: agent1 + start: [5, 3] +- goal: [3, 6] + name: agent2 + start: [5, 7] +- goal: [3, 7] + name: agent3 + start: [3, 5] +- goal: [4, 3] + name: agent4 + start: [1, 1] +- goal: [6, 7] + name: agent5 + start: [3, 6] +- goal: [0, 3] + name: agent6 + start: [6, 0] +- goal: [2, 2] + name: agent7 + start: [1, 7] +- goal: [4, 2] + name: agent8 + start: [0, 5] +- goal: [5, 3] + name: agent9 + start: [2, 4] +- goal: [5, 2] + name: agent10 + start: [6, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 1] + - !!python/tuple [6, 2] + - !!python/tuple [5, 4] + - !!python/tuple [4, 4] + - !!python/tuple [7, 2] + - !!python/tuple [0, 6] + - !!python/tuple [7, 4] + - !!python/tuple [7, 3] + - !!python/tuple [6, 3] + - !!python/tuple [2, 7] + - !!python/tuple [4, 6] + - !!python/tuple [1, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex30.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex30.yaml new file mode 100644 index 0000000..10c2f11 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex30.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [1, 4] + name: agent0 + start: [3, 2] +- goal: [6, 1] + name: agent1 + start: [6, 7] +- goal: [7, 4] + name: agent2 + start: [5, 4] +- goal: [4, 7] + name: agent3 + start: [1, 2] +- goal: [5, 5] + name: agent4 + start: [0, 0] +- goal: [2, 5] + name: agent5 + start: [0, 7] +- goal: [4, 0] + name: agent6 + start: [6, 1] +- goal: [2, 6] + name: agent7 + start: [7, 4] +- goal: [0, 6] + name: agent8 + start: [7, 3] +- goal: [1, 7] + name: agent9 + start: [0, 1] +- goal: [2, 7] + name: agent10 + start: [0, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 7] + - !!python/tuple [0, 2] + - !!python/tuple [4, 3] + - !!python/tuple [2, 3] + - !!python/tuple [3, 0] + - !!python/tuple [7, 5] + - !!python/tuple [3, 1] + - !!python/tuple [0, 4] + - !!python/tuple [0, 3] + - !!python/tuple [0, 5] + - !!python/tuple [1, 5] + - !!python/tuple [1, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex31.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex31.yaml new file mode 100644 index 0000000..0c8377b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex31.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [6, 4] + name: agent0 + start: [2, 5] +- goal: [1, 2] + name: agent1 + start: [1, 2] +- goal: [2, 6] + name: agent2 + start: [4, 3] +- goal: [6, 1] + name: agent3 + start: [4, 5] +- goal: [0, 2] + name: agent4 + start: [6, 6] +- goal: [2, 7] + name: agent5 + start: [5, 7] +- goal: [3, 6] + name: agent6 + start: [4, 0] +- goal: [5, 2] + name: agent7 + start: [2, 0] +- goal: [2, 5] + name: agent8 + start: [1, 5] +- goal: [1, 6] + name: agent9 + start: [7, 3] +- goal: [5, 5] + name: agent10 + start: [4, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 1] + - !!python/tuple [1, 1] + - !!python/tuple [5, 1] + - !!python/tuple [6, 7] + - !!python/tuple [0, 7] + - !!python/tuple [7, 4] + - !!python/tuple [7, 0] + - !!python/tuple [3, 7] + - !!python/tuple [6, 0] + - !!python/tuple [3, 4] + - !!python/tuple [4, 4] + - !!python/tuple [0, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex32.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex32.yaml new file mode 100644 index 0000000..a58cbf1 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex32.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [4, 3] + name: agent0 + start: [1, 0] +- goal: [2, 4] + name: agent1 + start: [4, 1] +- goal: [3, 5] + name: agent2 + start: [7, 3] +- goal: [1, 2] + name: agent3 + start: [2, 6] +- goal: [7, 6] + name: agent4 + start: [2, 2] +- goal: [6, 4] + name: agent5 + start: [3, 1] +- goal: [7, 3] + name: agent6 + start: [3, 0] +- goal: [3, 6] + name: agent7 + start: [4, 2] +- goal: [2, 2] + name: agent8 + start: [2, 5] +- goal: [2, 0] + name: agent9 + start: [3, 2] +- goal: [5, 5] + name: agent10 + start: [6, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 4] + - !!python/tuple [3, 7] + - !!python/tuple [6, 5] + - !!python/tuple [7, 7] + - !!python/tuple [5, 4] + - !!python/tuple [3, 3] + - !!python/tuple [1, 1] + - !!python/tuple [6, 0] + - !!python/tuple [0, 2] + - !!python/tuple [4, 7] + - !!python/tuple [1, 7] + - !!python/tuple [5, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex33.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex33.yaml new file mode 100644 index 0000000..2f550c8 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex33.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [3, 3] + name: agent0 + start: [1, 2] +- goal: [5, 7] + name: agent1 + start: [7, 6] +- goal: [7, 7] + name: agent2 + start: [1, 4] +- goal: [4, 2] + name: agent3 + start: [0, 4] +- goal: [4, 6] + name: agent4 + start: [0, 3] +- goal: [7, 2] + name: agent5 + start: [4, 3] +- goal: [0, 1] + name: agent6 + start: [2, 5] +- goal: [4, 7] + name: agent7 + start: [5, 4] +- goal: [1, 7] + name: agent8 + start: [7, 1] +- goal: [4, 1] + name: agent9 + start: [4, 5] +- goal: [0, 2] + name: agent10 + start: [4, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 5] + - !!python/tuple [1, 3] + - !!python/tuple [1, 5] + - !!python/tuple [3, 5] + - !!python/tuple [1, 1] + - !!python/tuple [7, 0] + - !!python/tuple [6, 0] + - !!python/tuple [3, 4] + - !!python/tuple [2, 0] + - !!python/tuple [6, 6] + - !!python/tuple [7, 4] + - !!python/tuple [5, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex34.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex34.yaml new file mode 100644 index 0000000..7224c2d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex34.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [4, 4] + name: agent0 + start: [5, 1] +- goal: [5, 3] + name: agent1 + start: [3, 5] +- goal: [1, 2] + name: agent2 + start: [1, 5] +- goal: [5, 1] + name: agent3 + start: [7, 7] +- goal: [0, 7] + name: agent4 + start: [4, 1] +- goal: [2, 0] + name: agent5 + start: [2, 2] +- goal: [7, 6] + name: agent6 + start: [7, 6] +- goal: [6, 0] + name: agent7 + start: [2, 4] +- goal: [6, 3] + name: agent8 + start: [4, 7] +- goal: [0, 2] + name: agent9 + start: [0, 0] +- goal: [3, 4] + name: agent10 + start: [6, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 3] + - !!python/tuple [4, 6] + - !!python/tuple [2, 6] + - !!python/tuple [7, 5] + - !!python/tuple [7, 4] + - !!python/tuple [6, 6] + - !!python/tuple [7, 3] + - !!python/tuple [4, 5] + - !!python/tuple [5, 5] + - !!python/tuple [3, 0] + - !!python/tuple [2, 7] + - !!python/tuple [7, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex35.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex35.yaml new file mode 100644 index 0000000..ea4af34 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex35.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [2, 3] + name: agent0 + start: [7, 7] +- goal: [1, 3] + name: agent1 + start: [4, 0] +- goal: [5, 2] + name: agent2 + start: [2, 3] +- goal: [5, 0] + name: agent3 + start: [5, 6] +- goal: [2, 6] + name: agent4 + start: [1, 0] +- goal: [4, 3] + name: agent5 + start: [7, 3] +- goal: [4, 5] + name: agent6 + start: [7, 4] +- goal: [1, 0] + name: agent7 + start: [1, 3] +- goal: [7, 2] + name: agent8 + start: [3, 6] +- goal: [2, 0] + name: agent9 + start: [1, 7] +- goal: [0, 1] + name: agent10 + start: [3, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 5] + - !!python/tuple [5, 3] + - !!python/tuple [5, 7] + - !!python/tuple [2, 1] + - !!python/tuple [7, 5] + - !!python/tuple [4, 6] + - !!python/tuple [4, 7] + - !!python/tuple [3, 4] + - !!python/tuple [1, 5] + - !!python/tuple [5, 1] + - !!python/tuple [7, 0] + - !!python/tuple [1, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex36.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex36.yaml new file mode 100644 index 0000000..60106eb --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex36.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [3, 2] + name: agent0 + start: [5, 1] +- goal: [4, 5] + name: agent1 + start: [6, 7] +- goal: [7, 5] + name: agent2 + start: [4, 1] +- goal: [6, 0] + name: agent3 + start: [7, 5] +- goal: [6, 3] + name: agent4 + start: [2, 4] +- goal: [3, 4] + name: agent5 + start: [7, 4] +- goal: [3, 7] + name: agent6 + start: [3, 0] +- goal: [3, 0] + name: agent7 + start: [5, 6] +- goal: [3, 1] + name: agent8 + start: [3, 4] +- goal: [5, 6] + name: agent9 + start: [6, 0] +- goal: [1, 6] + name: agent10 + start: [4, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 0] + - !!python/tuple [6, 5] + - !!python/tuple [4, 6] + - !!python/tuple [2, 1] + - !!python/tuple [6, 2] + - !!python/tuple [5, 0] + - !!python/tuple [4, 3] + - !!python/tuple [7, 1] + - !!python/tuple [7, 2] + - !!python/tuple [0, 5] + - !!python/tuple [7, 0] + - !!python/tuple [1, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex37.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex37.yaml new file mode 100644 index 0000000..6852a70 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex37.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [3, 7] + name: agent0 + start: [1, 1] +- goal: [1, 4] + name: agent1 + start: [7, 6] +- goal: [0, 3] + name: agent2 + start: [6, 1] +- goal: [4, 1] + name: agent3 + start: [4, 4] +- goal: [7, 0] + name: agent4 + start: [6, 3] +- goal: [0, 2] + name: agent5 + start: [3, 5] +- goal: [3, 2] + name: agent6 + start: [3, 0] +- goal: [4, 3] + name: agent7 + start: [3, 6] +- goal: [1, 1] + name: agent8 + start: [2, 3] +- goal: [0, 6] + name: agent9 + start: [7, 5] +- goal: [2, 5] + name: agent10 + start: [3, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 4] + - !!python/tuple [2, 0] + - !!python/tuple [0, 1] + - !!python/tuple [4, 5] + - !!python/tuple [0, 0] + - !!python/tuple [4, 7] + - !!python/tuple [5, 0] + - !!python/tuple [7, 3] + - !!python/tuple [1, 6] + - !!python/tuple [3, 3] + - !!python/tuple [7, 7] + - !!python/tuple [6, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex38.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex38.yaml new file mode 100644 index 0000000..0701890 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex38.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [4, 0] + name: agent0 + start: [6, 6] +- goal: [4, 6] + name: agent1 + start: [6, 3] +- goal: [6, 2] + name: agent2 + start: [2, 5] +- goal: [7, 4] + name: agent3 + start: [2, 4] +- goal: [1, 4] + name: agent4 + start: [0, 7] +- goal: [3, 2] + name: agent5 + start: [0, 5] +- goal: [5, 2] + name: agent6 + start: [0, 6] +- goal: [0, 6] + name: agent7 + start: [6, 0] +- goal: [5, 4] + name: agent8 + start: [6, 4] +- goal: [5, 0] + name: agent9 + start: [1, 7] +- goal: [2, 4] + name: agent10 + start: [5, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 3] + - !!python/tuple [3, 1] + - !!python/tuple [3, 0] + - !!python/tuple [2, 7] + - !!python/tuple [1, 6] + - !!python/tuple [7, 5] + - !!python/tuple [2, 6] + - !!python/tuple [1, 3] + - !!python/tuple [5, 1] + - !!python/tuple [2, 2] + - !!python/tuple [5, 7] + - !!python/tuple [0, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex39.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex39.yaml new file mode 100644 index 0000000..00c4296 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex39.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [7, 1] + name: agent0 + start: [1, 6] +- goal: [2, 1] + name: agent1 + start: [6, 4] +- goal: [4, 1] + name: agent2 + start: [5, 6] +- goal: [6, 5] + name: agent3 + start: [3, 1] +- goal: [7, 2] + name: agent4 + start: [1, 7] +- goal: [2, 6] + name: agent5 + start: [5, 7] +- goal: [2, 0] + name: agent6 + start: [7, 3] +- goal: [2, 7] + name: agent7 + start: [2, 5] +- goal: [4, 7] + name: agent8 + start: [6, 7] +- goal: [1, 4] + name: agent9 + start: [0, 1] +- goal: [7, 0] + name: agent10 + start: [4, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 5] + - !!python/tuple [1, 1] + - !!python/tuple [6, 0] + - !!python/tuple [6, 1] + - !!python/tuple [7, 5] + - !!python/tuple [2, 2] + - !!python/tuple [3, 4] + - !!python/tuple [1, 3] + - !!python/tuple [0, 6] + - !!python/tuple [5, 3] + - !!python/tuple [0, 0] + - !!python/tuple [3, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex4.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex4.yaml new file mode 100644 index 0000000..a4abfc0 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex4.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [1, 5] + name: agent0 + start: [4, 7] +- goal: [2, 5] + name: agent1 + start: [2, 5] +- goal: [3, 0] + name: agent2 + start: [5, 6] +- goal: [7, 1] + name: agent3 + start: [1, 2] +- goal: [3, 3] + name: agent4 + start: [2, 7] +- goal: [0, 1] + name: agent5 + start: [4, 1] +- goal: [2, 2] + name: agent6 + start: [1, 0] +- goal: [6, 6] + name: agent7 + start: [7, 2] +- goal: [0, 4] + name: agent8 + start: [4, 6] +- goal: [2, 3] + name: agent9 + start: [3, 6] +- goal: [3, 7] + name: agent10 + start: [0, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 0] + - !!python/tuple [7, 7] + - !!python/tuple [3, 2] + - !!python/tuple [1, 3] + - !!python/tuple [5, 7] + - !!python/tuple [4, 4] + - !!python/tuple [4, 2] + - !!python/tuple [0, 6] + - !!python/tuple [0, 7] + - !!python/tuple [6, 5] + - !!python/tuple [1, 4] + - !!python/tuple [6, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex40.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex40.yaml new file mode 100644 index 0000000..07f5857 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex40.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [5, 6] + name: agent0 + start: [2, 7] +- goal: [7, 0] + name: agent1 + start: [4, 4] +- goal: [1, 6] + name: agent2 + start: [6, 0] +- goal: [6, 7] + name: agent3 + start: [7, 1] +- goal: [4, 4] + name: agent4 + start: [7, 6] +- goal: [6, 1] + name: agent5 + start: [3, 6] +- goal: [3, 5] + name: agent6 + start: [7, 7] +- goal: [2, 7] + name: agent7 + start: [0, 1] +- goal: [6, 3] + name: agent8 + start: [4, 2] +- goal: [0, 3] + name: agent9 + start: [1, 2] +- goal: [7, 2] + name: agent10 + start: [3, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 6] + - !!python/tuple [2, 4] + - !!python/tuple [3, 1] + - !!python/tuple [7, 3] + - !!python/tuple [0, 5] + - !!python/tuple [2, 2] + - !!python/tuple [3, 7] + - !!python/tuple [5, 7] + - !!python/tuple [5, 1] + - !!python/tuple [1, 4] + - !!python/tuple [2, 6] + - !!python/tuple [4, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex41.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex41.yaml new file mode 100644 index 0000000..e3bbf18 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex41.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [2, 0] + name: agent0 + start: [4, 7] +- goal: [4, 3] + name: agent1 + start: [4, 2] +- goal: [5, 6] + name: agent2 + start: [5, 5] +- goal: [3, 0] + name: agent3 + start: [2, 1] +- goal: [3, 3] + name: agent4 + start: [5, 6] +- goal: [3, 5] + name: agent5 + start: [3, 6] +- goal: [2, 7] + name: agent6 + start: [4, 0] +- goal: [2, 6] + name: agent7 + start: [3, 2] +- goal: [0, 1] + name: agent8 + start: [3, 3] +- goal: [5, 2] + name: agent9 + start: [5, 7] +- goal: [5, 5] + name: agent10 + start: [2, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 3] + - !!python/tuple [7, 2] + - !!python/tuple [7, 0] + - !!python/tuple [0, 5] + - !!python/tuple [6, 2] + - !!python/tuple [0, 3] + - !!python/tuple [7, 7] + - !!python/tuple [4, 5] + - !!python/tuple [6, 5] + - !!python/tuple [4, 1] + - !!python/tuple [0, 7] + - !!python/tuple [7, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex42.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex42.yaml new file mode 100644 index 0000000..f5edb18 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex42.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [1, 0] + name: agent0 + start: [2, 0] +- goal: [2, 5] + name: agent1 + start: [0, 5] +- goal: [5, 4] + name: agent2 + start: [7, 1] +- goal: [0, 0] + name: agent3 + start: [6, 1] +- goal: [6, 4] + name: agent4 + start: [4, 4] +- goal: [6, 0] + name: agent5 + start: [2, 7] +- goal: [2, 4] + name: agent6 + start: [7, 3] +- goal: [2, 0] + name: agent7 + start: [6, 3] +- goal: [0, 5] + name: agent8 + start: [2, 4] +- goal: [1, 2] + name: agent9 + start: [1, 0] +- goal: [5, 1] + name: agent10 + start: [2, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 6] + - !!python/tuple [6, 5] + - !!python/tuple [4, 7] + - !!python/tuple [6, 7] + - !!python/tuple [1, 4] + - !!python/tuple [1, 5] + - !!python/tuple [7, 4] + - !!python/tuple [1, 6] + - !!python/tuple [5, 7] + - !!python/tuple [0, 1] + - !!python/tuple [2, 6] + - !!python/tuple [4, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex43.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex43.yaml new file mode 100644 index 0000000..113d973 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex43.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [0, 5] + name: agent0 + start: [4, 1] +- goal: [2, 4] + name: agent1 + start: [6, 4] +- goal: [5, 1] + name: agent2 + start: [5, 1] +- goal: [2, 1] + name: agent3 + start: [6, 7] +- goal: [5, 0] + name: agent4 + start: [2, 0] +- goal: [4, 5] + name: agent5 + start: [5, 7] +- goal: [3, 2] + name: agent6 + start: [3, 2] +- goal: [6, 5] + name: agent7 + start: [2, 1] +- goal: [7, 1] + name: agent8 + start: [5, 2] +- goal: [7, 2] + name: agent9 + start: [3, 3] +- goal: [5, 5] + name: agent10 + start: [7, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 4] + - !!python/tuple [4, 6] + - !!python/tuple [5, 3] + - !!python/tuple [0, 6] + - !!python/tuple [1, 5] + - !!python/tuple [3, 6] + - !!python/tuple [6, 3] + - !!python/tuple [4, 7] + - !!python/tuple [7, 5] + - !!python/tuple [1, 3] + - !!python/tuple [5, 6] + - !!python/tuple [2, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex44.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex44.yaml new file mode 100644 index 0000000..beb7c9e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex44.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [3, 0] + name: agent0 + start: [5, 7] +- goal: [6, 1] + name: agent1 + start: [7, 6] +- goal: [0, 5] + name: agent2 + start: [2, 0] +- goal: [3, 2] + name: agent3 + start: [1, 3] +- goal: [1, 1] + name: agent4 + start: [2, 1] +- goal: [7, 2] + name: agent5 + start: [4, 3] +- goal: [2, 0] + name: agent6 + start: [7, 2] +- goal: [2, 3] + name: agent7 + start: [2, 4] +- goal: [4, 1] + name: agent8 + start: [0, 2] +- goal: [2, 7] + name: agent9 + start: [5, 3] +- goal: [2, 2] + name: agent10 + start: [4, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 7] + - !!python/tuple [1, 0] + - !!python/tuple [7, 0] + - !!python/tuple [5, 0] + - !!python/tuple [4, 5] + - !!python/tuple [3, 1] + - !!python/tuple [2, 6] + - !!python/tuple [1, 7] + - !!python/tuple [0, 7] + - !!python/tuple [1, 6] + - !!python/tuple [6, 0] + - !!python/tuple [0, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex45.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex45.yaml new file mode 100644 index 0000000..8213a7b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex45.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [0, 7] + name: agent0 + start: [3, 4] +- goal: [4, 4] + name: agent1 + start: [5, 2] +- goal: [3, 4] + name: agent2 + start: [6, 4] +- goal: [0, 4] + name: agent3 + start: [2, 6] +- goal: [5, 0] + name: agent4 + start: [3, 7] +- goal: [2, 2] + name: agent5 + start: [6, 6] +- goal: [6, 6] + name: agent6 + start: [1, 3] +- goal: [5, 2] + name: agent7 + start: [7, 0] +- goal: [1, 5] + name: agent8 + start: [1, 2] +- goal: [3, 5] + name: agent9 + start: [5, 4] +- goal: [6, 5] + name: agent10 + start: [6, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 2] + - !!python/tuple [1, 6] + - !!python/tuple [7, 6] + - !!python/tuple [1, 1] + - !!python/tuple [1, 0] + - !!python/tuple [6, 3] + - !!python/tuple [7, 5] + - !!python/tuple [4, 1] + - !!python/tuple [4, 5] + - !!python/tuple [2, 1] + - !!python/tuple [0, 2] + - !!python/tuple [6, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex46.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex46.yaml new file mode 100644 index 0000000..fbede34 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex46.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [5, 6] + name: agent0 + start: [1, 1] +- goal: [1, 5] + name: agent1 + start: [0, 3] +- goal: [6, 1] + name: agent2 + start: [3, 2] +- goal: [4, 2] + name: agent3 + start: [1, 5] +- goal: [4, 6] + name: agent4 + start: [2, 4] +- goal: [6, 4] + name: agent5 + start: [7, 2] +- goal: [1, 1] + name: agent6 + start: [5, 2] +- goal: [3, 2] + name: agent7 + start: [4, 4] +- goal: [6, 3] + name: agent8 + start: [5, 4] +- goal: [1, 7] + name: agent9 + start: [4, 3] +- goal: [4, 7] + name: agent10 + start: [1, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 3] + - !!python/tuple [3, 5] + - !!python/tuple [7, 7] + - !!python/tuple [2, 6] + - !!python/tuple [6, 0] + - !!python/tuple [3, 3] + - !!python/tuple [5, 0] + - !!python/tuple [4, 0] + - !!python/tuple [4, 5] + - !!python/tuple [2, 5] + - !!python/tuple [2, 0] + - !!python/tuple [7, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex47.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex47.yaml new file mode 100644 index 0000000..c0c2a33 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex47.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [3, 5] + name: agent0 + start: [2, 2] +- goal: [3, 6] + name: agent1 + start: [3, 6] +- goal: [4, 2] + name: agent2 + start: [2, 6] +- goal: [4, 4] + name: agent3 + start: [1, 2] +- goal: [3, 4] + name: agent4 + start: [5, 3] +- goal: [7, 1] + name: agent5 + start: [4, 7] +- goal: [5, 3] + name: agent6 + start: [7, 1] +- goal: [4, 0] + name: agent7 + start: [4, 3] +- goal: [2, 3] + name: agent8 + start: [0, 3] +- goal: [0, 4] + name: agent9 + start: [0, 2] +- goal: [5, 1] + name: agent10 + start: [6, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 0] + - !!python/tuple [0, 6] + - !!python/tuple [0, 1] + - !!python/tuple [5, 5] + - !!python/tuple [6, 3] + - !!python/tuple [7, 7] + - !!python/tuple [6, 6] + - !!python/tuple [2, 4] + - !!python/tuple [5, 4] + - !!python/tuple [3, 3] + - !!python/tuple [6, 2] + - !!python/tuple [7, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex48.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex48.yaml new file mode 100644 index 0000000..e44f1fe --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex48.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [5, 1] + name: agent0 + start: [5, 2] +- goal: [6, 3] + name: agent1 + start: [7, 5] +- goal: [5, 0] + name: agent2 + start: [4, 3] +- goal: [4, 0] + name: agent3 + start: [5, 4] +- goal: [0, 3] + name: agent4 + start: [7, 7] +- goal: [7, 3] + name: agent5 + start: [1, 3] +- goal: [7, 2] + name: agent6 + start: [1, 4] +- goal: [0, 0] + name: agent7 + start: [5, 1] +- goal: [6, 6] + name: agent8 + start: [6, 6] +- goal: [0, 2] + name: agent9 + start: [2, 3] +- goal: [5, 4] + name: agent10 + start: [1, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 0] + - !!python/tuple [0, 1] + - !!python/tuple [3, 4] + - !!python/tuple [4, 6] + - !!python/tuple [6, 7] + - !!python/tuple [6, 1] + - !!python/tuple [5, 7] + - !!python/tuple [5, 6] + - !!python/tuple [0, 7] + - !!python/tuple [7, 1] + - !!python/tuple [3, 7] + - !!python/tuple [2, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex49.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex49.yaml new file mode 100644 index 0000000..0a84dfa --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex49.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [0, 2] + name: agent0 + start: [1, 7] +- goal: [0, 0] + name: agent1 + start: [5, 1] +- goal: [7, 7] + name: agent2 + start: [7, 1] +- goal: [3, 5] + name: agent3 + start: [5, 4] +- goal: [6, 2] + name: agent4 + start: [1, 2] +- goal: [7, 5] + name: agent5 + start: [4, 3] +- goal: [7, 4] + name: agent6 + start: [0, 2] +- goal: [7, 6] + name: agent7 + start: [4, 1] +- goal: [0, 1] + name: agent8 + start: [5, 3] +- goal: [4, 1] + name: agent9 + start: [5, 7] +- goal: [2, 6] + name: agent10 + start: [3, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 7] + - !!python/tuple [6, 0] + - !!python/tuple [7, 2] + - !!python/tuple [0, 3] + - !!python/tuple [3, 0] + - !!python/tuple [2, 7] + - !!python/tuple [3, 3] + - !!python/tuple [7, 3] + - !!python/tuple [4, 6] + - !!python/tuple [0, 7] + - !!python/tuple [4, 5] + - !!python/tuple [6, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex5.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex5.yaml new file mode 100644 index 0000000..edbcbf7 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex5.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [3, 3] + name: agent0 + start: [6, 0] +- goal: [2, 6] + name: agent1 + start: [4, 5] +- goal: [4, 3] + name: agent2 + start: [2, 2] +- goal: [4, 2] + name: agent3 + start: [6, 7] +- goal: [3, 4] + name: agent4 + start: [3, 5] +- goal: [0, 6] + name: agent5 + start: [7, 0] +- goal: [2, 1] + name: agent6 + start: [7, 3] +- goal: [0, 2] + name: agent7 + start: [0, 2] +- goal: [5, 5] + name: agent8 + start: [0, 7] +- goal: [2, 4] + name: agent9 + start: [2, 6] +- goal: [7, 2] + name: agent10 + start: [0, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 1] + - !!python/tuple [6, 6] + - !!python/tuple [0, 0] + - !!python/tuple [2, 0] + - !!python/tuple [3, 0] + - !!python/tuple [2, 3] + - !!python/tuple [4, 0] + - !!python/tuple [2, 7] + - !!python/tuple [7, 7] + - !!python/tuple [1, 6] + - !!python/tuple [4, 7] + - !!python/tuple [3, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex50.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex50.yaml new file mode 100644 index 0000000..a8e4aea --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex50.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [3, 7] + name: agent0 + start: [6, 7] +- goal: [0, 2] + name: agent1 + start: [7, 7] +- goal: [2, 2] + name: agent2 + start: [1, 0] +- goal: [5, 0] + name: agent3 + start: [5, 5] +- goal: [1, 5] + name: agent4 + start: [0, 5] +- goal: [6, 7] + name: agent5 + start: [2, 0] +- goal: [2, 1] + name: agent6 + start: [0, 3] +- goal: [6, 0] + name: agent7 + start: [3, 1] +- goal: [1, 4] + name: agent8 + start: [7, 1] +- goal: [6, 4] + name: agent9 + start: [6, 2] +- goal: [7, 4] + name: agent10 + start: [6, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 5] + - !!python/tuple [4, 0] + - !!python/tuple [3, 5] + - !!python/tuple [7, 6] + - !!python/tuple [0, 4] + - !!python/tuple [1, 2] + - !!python/tuple [5, 3] + - !!python/tuple [3, 0] + - !!python/tuple [7, 3] + - !!python/tuple [3, 3] + - !!python/tuple [3, 6] + - !!python/tuple [7, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex51.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex51.yaml new file mode 100644 index 0000000..3eb07c4 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex51.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [7, 4] + name: agent0 + start: [0, 1] +- goal: [1, 4] + name: agent1 + start: [4, 6] +- goal: [7, 6] + name: agent2 + start: [2, 0] +- goal: [3, 7] + name: agent3 + start: [5, 1] +- goal: [2, 2] + name: agent4 + start: [4, 5] +- goal: [3, 0] + name: agent5 + start: [3, 7] +- goal: [1, 7] + name: agent6 + start: [6, 7] +- goal: [0, 4] + name: agent7 + start: [1, 2] +- goal: [1, 3] + name: agent8 + start: [3, 3] +- goal: [5, 1] + name: agent9 + start: [1, 4] +- goal: [5, 6] + name: agent10 + start: [1, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 7] + - !!python/tuple [5, 2] + - !!python/tuple [3, 2] + - !!python/tuple [3, 1] + - !!python/tuple [4, 0] + - !!python/tuple [7, 3] + - !!python/tuple [6, 1] + - !!python/tuple [0, 0] + - !!python/tuple [2, 5] + - !!python/tuple [6, 4] + - !!python/tuple [2, 3] + - !!python/tuple [5, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex52.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex52.yaml new file mode 100644 index 0000000..434da81 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex52.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [1, 7] + name: agent0 + start: [4, 0] +- goal: [7, 2] + name: agent1 + start: [4, 4] +- goal: [0, 4] + name: agent2 + start: [5, 6] +- goal: [5, 7] + name: agent3 + start: [2, 7] +- goal: [1, 5] + name: agent4 + start: [2, 4] +- goal: [2, 1] + name: agent5 + start: [4, 2] +- goal: [5, 0] + name: agent6 + start: [5, 0] +- goal: [0, 7] + name: agent7 + start: [3, 5] +- goal: [1, 0] + name: agent8 + start: [7, 1] +- goal: [2, 5] + name: agent9 + start: [6, 6] +- goal: [3, 3] + name: agent10 + start: [2, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 4] + - !!python/tuple [1, 1] + - !!python/tuple [7, 3] + - !!python/tuple [5, 5] + - !!python/tuple [3, 7] + - !!python/tuple [6, 0] + - !!python/tuple [7, 5] + - !!python/tuple [3, 0] + - !!python/tuple [3, 6] + - !!python/tuple [3, 1] + - !!python/tuple [2, 6] + - !!python/tuple [4, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex53.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex53.yaml new file mode 100644 index 0000000..00b3124 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex53.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [0, 4] + name: agent0 + start: [7, 1] +- goal: [1, 1] + name: agent1 + start: [0, 3] +- goal: [5, 5] + name: agent2 + start: [1, 5] +- goal: [1, 4] + name: agent3 + start: [6, 7] +- goal: [4, 2] + name: agent4 + start: [0, 5] +- goal: [2, 0] + name: agent5 + start: [5, 4] +- goal: [5, 4] + name: agent6 + start: [7, 3] +- goal: [4, 1] + name: agent7 + start: [3, 3] +- goal: [6, 5] + name: agent8 + start: [0, 4] +- goal: [4, 5] + name: agent9 + start: [2, 5] +- goal: [5, 1] + name: agent10 + start: [4, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 1] + - !!python/tuple [4, 3] + - !!python/tuple [6, 4] + - !!python/tuple [5, 0] + - !!python/tuple [0, 7] + - !!python/tuple [1, 3] + - !!python/tuple [3, 4] + - !!python/tuple [4, 0] + - !!python/tuple [1, 0] + - !!python/tuple [6, 0] + - !!python/tuple [4, 6] + - !!python/tuple [0, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex54.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex54.yaml new file mode 100644 index 0000000..31f95fd --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex54.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [3, 7] + name: agent0 + start: [5, 3] +- goal: [0, 7] + name: agent1 + start: [7, 4] +- goal: [0, 3] + name: agent2 + start: [6, 4] +- goal: [1, 3] + name: agent3 + start: [7, 0] +- goal: [2, 1] + name: agent4 + start: [3, 5] +- goal: [2, 3] + name: agent5 + start: [6, 7] +- goal: [3, 6] + name: agent6 + start: [0, 0] +- goal: [5, 3] + name: agent7 + start: [4, 1] +- goal: [6, 0] + name: agent8 + start: [7, 1] +- goal: [6, 2] + name: agent9 + start: [3, 0] +- goal: [5, 6] + name: agent10 + start: [0, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 4] + - !!python/tuple [7, 6] + - !!python/tuple [0, 1] + - !!python/tuple [0, 2] + - !!python/tuple [6, 3] + - !!python/tuple [4, 2] + - !!python/tuple [2, 6] + - !!python/tuple [3, 3] + - !!python/tuple [2, 7] + - !!python/tuple [4, 6] + - !!python/tuple [7, 3] + - !!python/tuple [4, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex55.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex55.yaml new file mode 100644 index 0000000..078249c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex55.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [0, 4] + name: agent0 + start: [1, 6] +- goal: [7, 5] + name: agent1 + start: [5, 3] +- goal: [0, 0] + name: agent2 + start: [4, 0] +- goal: [1, 7] + name: agent3 + start: [5, 2] +- goal: [0, 3] + name: agent4 + start: [3, 5] +- goal: [7, 0] + name: agent5 + start: [5, 1] +- goal: [5, 4] + name: agent6 + start: [1, 5] +- goal: [6, 6] + name: agent7 + start: [3, 2] +- goal: [6, 7] + name: agent8 + start: [1, 0] +- goal: [7, 4] + name: agent9 + start: [4, 6] +- goal: [7, 7] + name: agent10 + start: [3, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 4] + - !!python/tuple [3, 4] + - !!python/tuple [1, 3] + - !!python/tuple [0, 7] + - !!python/tuple [0, 1] + - !!python/tuple [1, 4] + - !!python/tuple [2, 5] + - !!python/tuple [6, 1] + - !!python/tuple [7, 2] + - !!python/tuple [3, 1] + - !!python/tuple [1, 2] + - !!python/tuple [7, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex56.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex56.yaml new file mode 100644 index 0000000..505f769 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex56.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [0, 2] + name: agent0 + start: [3, 2] +- goal: [6, 3] + name: agent1 + start: [5, 5] +- goal: [5, 1] + name: agent2 + start: [2, 0] +- goal: [2, 4] + name: agent3 + start: [2, 2] +- goal: [7, 0] + name: agent4 + start: [3, 7] +- goal: [3, 2] + name: agent5 + start: [2, 5] +- goal: [0, 6] + name: agent6 + start: [0, 0] +- goal: [1, 4] + name: agent7 + start: [5, 6] +- goal: [3, 3] + name: agent8 + start: [3, 3] +- goal: [6, 0] + name: agent9 + start: [3, 1] +- goal: [3, 7] + name: agent10 + start: [1, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 7] + - !!python/tuple [0, 3] + - !!python/tuple [4, 4] + - !!python/tuple [3, 0] + - !!python/tuple [0, 7] + - !!python/tuple [1, 2] + - !!python/tuple [2, 3] + - !!python/tuple [0, 4] + - !!python/tuple [2, 7] + - !!python/tuple [4, 2] + - !!python/tuple [7, 3] + - !!python/tuple [3, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex57.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex57.yaml new file mode 100644 index 0000000..94e8904 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex57.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [0, 1] + name: agent0 + start: [0, 7] +- goal: [3, 4] + name: agent1 + start: [6, 5] +- goal: [6, 2] + name: agent2 + start: [3, 0] +- goal: [6, 1] + name: agent3 + start: [3, 2] +- goal: [6, 7] + name: agent4 + start: [2, 4] +- goal: [3, 1] + name: agent5 + start: [2, 7] +- goal: [4, 3] + name: agent6 + start: [7, 4] +- goal: [2, 1] + name: agent7 + start: [4, 7] +- goal: [1, 3] + name: agent8 + start: [6, 1] +- goal: [3, 2] + name: agent9 + start: [7, 5] +- goal: [6, 0] + name: agent10 + start: [7, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 0] + - !!python/tuple [6, 6] + - !!python/tuple [3, 3] + - !!python/tuple [1, 0] + - !!python/tuple [6, 3] + - !!python/tuple [7, 6] + - !!python/tuple [2, 2] + - !!python/tuple [1, 2] + - !!python/tuple [3, 7] + - !!python/tuple [5, 5] + - !!python/tuple [2, 3] + - !!python/tuple [3, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex58.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex58.yaml new file mode 100644 index 0000000..b9da035 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex58.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [4, 1] + name: agent0 + start: [2, 6] +- goal: [5, 3] + name: agent1 + start: [5, 5] +- goal: [1, 6] + name: agent2 + start: [2, 0] +- goal: [6, 2] + name: agent3 + start: [1, 1] +- goal: [2, 6] + name: agent4 + start: [1, 6] +- goal: [0, 7] + name: agent5 + start: [4, 1] +- goal: [5, 5] + name: agent6 + start: [3, 4] +- goal: [3, 7] + name: agent7 + start: [0, 5] +- goal: [4, 7] + name: agent8 + start: [5, 2] +- goal: [3, 2] + name: agent9 + start: [7, 7] +- goal: [0, 2] + name: agent10 + start: [3, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 1] + - !!python/tuple [2, 1] + - !!python/tuple [7, 1] + - !!python/tuple [1, 3] + - !!python/tuple [3, 3] + - !!python/tuple [2, 5] + - !!python/tuple [1, 5] + - !!python/tuple [6, 0] + - !!python/tuple [3, 5] + - !!python/tuple [6, 5] + - !!python/tuple [4, 4] + - !!python/tuple [7, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex59.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex59.yaml new file mode 100644 index 0000000..90b31a4 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex59.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [5, 0] + name: agent0 + start: [1, 5] +- goal: [2, 5] + name: agent1 + start: [7, 5] +- goal: [4, 3] + name: agent2 + start: [5, 3] +- goal: [1, 3] + name: agent3 + start: [7, 2] +- goal: [4, 7] + name: agent4 + start: [3, 0] +- goal: [7, 2] + name: agent5 + start: [2, 6] +- goal: [1, 6] + name: agent6 + start: [4, 1] +- goal: [1, 4] + name: agent7 + start: [7, 1] +- goal: [7, 6] + name: agent8 + start: [4, 7] +- goal: [6, 7] + name: agent9 + start: [3, 1] +- goal: [7, 0] + name: agent10 + start: [1, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 2] + - !!python/tuple [4, 4] + - !!python/tuple [3, 6] + - !!python/tuple [6, 6] + - !!python/tuple [4, 5] + - !!python/tuple [3, 5] + - !!python/tuple [2, 1] + - !!python/tuple [2, 2] + - !!python/tuple [6, 5] + - !!python/tuple [7, 7] + - !!python/tuple [6, 1] + - !!python/tuple [1, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex6.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex6.yaml new file mode 100644 index 0000000..d03419b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex6.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [4, 6] + name: agent0 + start: [6, 6] +- goal: [7, 6] + name: agent1 + start: [5, 3] +- goal: [1, 2] + name: agent2 + start: [3, 4] +- goal: [2, 6] + name: agent3 + start: [6, 0] +- goal: [2, 0] + name: agent4 + start: [2, 1] +- goal: [4, 2] + name: agent5 + start: [0, 1] +- goal: [6, 7] + name: agent6 + start: [7, 2] +- goal: [7, 5] + name: agent7 + start: [5, 6] +- goal: [3, 3] + name: agent8 + start: [5, 0] +- goal: [0, 1] + name: agent9 + start: [7, 3] +- goal: [3, 4] + name: agent10 + start: [2, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 2] + - !!python/tuple [6, 3] + - !!python/tuple [7, 4] + - !!python/tuple [6, 2] + - !!python/tuple [0, 5] + - !!python/tuple [4, 3] + - !!python/tuple [6, 1] + - !!python/tuple [6, 4] + - !!python/tuple [1, 1] + - !!python/tuple [5, 4] + - !!python/tuple [7, 7] + - !!python/tuple [4, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex60.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex60.yaml new file mode 100644 index 0000000..619e51a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex60.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [0, 6] + name: agent0 + start: [7, 2] +- goal: [4, 7] + name: agent1 + start: [3, 2] +- goal: [1, 5] + name: agent2 + start: [0, 1] +- goal: [3, 2] + name: agent3 + start: [6, 2] +- goal: [1, 3] + name: agent4 + start: [1, 6] +- goal: [4, 6] + name: agent5 + start: [4, 7] +- goal: [1, 4] + name: agent6 + start: [2, 0] +- goal: [0, 5] + name: agent7 + start: [0, 6] +- goal: [7, 6] + name: agent8 + start: [0, 4] +- goal: [2, 6] + name: agent9 + start: [5, 5] +- goal: [4, 0] + name: agent10 + start: [2, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 7] + - !!python/tuple [4, 2] + - !!python/tuple [1, 1] + - !!python/tuple [3, 6] + - !!python/tuple [6, 3] + - !!python/tuple [6, 6] + - !!python/tuple [2, 1] + - !!python/tuple [5, 3] + - !!python/tuple [4, 1] + - !!python/tuple [5, 2] + - !!python/tuple [7, 4] + - !!python/tuple [3, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex61.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex61.yaml new file mode 100644 index 0000000..24a010e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex61.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [0, 3] + name: agent0 + start: [0, 4] +- goal: [6, 6] + name: agent1 + start: [3, 0] +- goal: [7, 7] + name: agent2 + start: [1, 3] +- goal: [5, 1] + name: agent3 + start: [5, 4] +- goal: [6, 2] + name: agent4 + start: [1, 5] +- goal: [7, 6] + name: agent5 + start: [7, 0] +- goal: [2, 4] + name: agent6 + start: [4, 6] +- goal: [2, 6] + name: agent7 + start: [4, 3] +- goal: [6, 5] + name: agent8 + start: [6, 0] +- goal: [3, 0] + name: agent9 + start: [3, 2] +- goal: [6, 4] + name: agent10 + start: [6, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 0] + - !!python/tuple [1, 7] + - !!python/tuple [2, 1] + - !!python/tuple [3, 6] + - !!python/tuple [0, 5] + - !!python/tuple [4, 5] + - !!python/tuple [5, 7] + - !!python/tuple [3, 4] + - !!python/tuple [4, 4] + - !!python/tuple [2, 5] + - !!python/tuple [4, 1] + - !!python/tuple [7, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex62.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex62.yaml new file mode 100644 index 0000000..9a58cd2 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex62.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [4, 7] + name: agent0 + start: [7, 4] +- goal: [5, 0] + name: agent1 + start: [3, 4] +- goal: [1, 0] + name: agent2 + start: [6, 0] +- goal: [2, 6] + name: agent3 + start: [0, 7] +- goal: [7, 5] + name: agent4 + start: [0, 0] +- goal: [6, 2] + name: agent5 + start: [2, 4] +- goal: [0, 6] + name: agent6 + start: [4, 6] +- goal: [7, 7] + name: agent7 + start: [5, 0] +- goal: [7, 4] + name: agent8 + start: [4, 7] +- goal: [2, 7] + name: agent9 + start: [5, 5] +- goal: [6, 6] + name: agent10 + start: [3, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 7] + - !!python/tuple [6, 7] + - !!python/tuple [4, 0] + - !!python/tuple [4, 3] + - !!python/tuple [5, 4] + - !!python/tuple [1, 3] + - !!python/tuple [4, 1] + - !!python/tuple [7, 1] + - !!python/tuple [1, 1] + - !!python/tuple [5, 2] + - !!python/tuple [2, 0] + - !!python/tuple [2, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex63.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex63.yaml new file mode 100644 index 0000000..4055f00 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex63.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [7, 2] + name: agent0 + start: [2, 5] +- goal: [5, 5] + name: agent1 + start: [0, 1] +- goal: [0, 3] + name: agent2 + start: [4, 3] +- goal: [4, 6] + name: agent3 + start: [2, 0] +- goal: [6, 5] + name: agent4 + start: [3, 1] +- goal: [0, 5] + name: agent5 + start: [5, 2] +- goal: [0, 7] + name: agent6 + start: [7, 0] +- goal: [3, 4] + name: agent7 + start: [5, 0] +- goal: [1, 4] + name: agent8 + start: [1, 2] +- goal: [7, 0] + name: agent9 + start: [5, 4] +- goal: [5, 4] + name: agent10 + start: [1, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 6] + - !!python/tuple [4, 0] + - !!python/tuple [6, 2] + - !!python/tuple [7, 3] + - !!python/tuple [4, 5] + - !!python/tuple [1, 6] + - !!python/tuple [1, 0] + - !!python/tuple [7, 4] + - !!python/tuple [4, 1] + - !!python/tuple [2, 1] + - !!python/tuple [2, 6] + - !!python/tuple [6, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex64.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex64.yaml new file mode 100644 index 0000000..58ab2b1 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex64.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [2, 0] + name: agent0 + start: [1, 7] +- goal: [3, 3] + name: agent1 + start: [2, 2] +- goal: [1, 2] + name: agent2 + start: [5, 6] +- goal: [2, 1] + name: agent3 + start: [6, 3] +- goal: [5, 7] + name: agent4 + start: [7, 5] +- goal: [5, 6] + name: agent5 + start: [3, 3] +- goal: [1, 7] + name: agent6 + start: [6, 7] +- goal: [3, 6] + name: agent7 + start: [6, 1] +- goal: [5, 1] + name: agent8 + start: [2, 6] +- goal: [6, 1] + name: agent9 + start: [5, 4] +- goal: [6, 7] + name: agent10 + start: [3, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 1] + - !!python/tuple [5, 5] + - !!python/tuple [4, 6] + - !!python/tuple [4, 2] + - !!python/tuple [0, 6] + - !!python/tuple [0, 2] + - !!python/tuple [6, 4] + - !!python/tuple [2, 4] + - !!python/tuple [3, 0] + - !!python/tuple [3, 1] + - !!python/tuple [1, 3] + - !!python/tuple [7, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex65.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex65.yaml new file mode 100644 index 0000000..f01d995 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex65.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [5, 3] + name: agent0 + start: [0, 2] +- goal: [0, 3] + name: agent1 + start: [0, 3] +- goal: [1, 6] + name: agent2 + start: [3, 7] +- goal: [7, 6] + name: agent3 + start: [5, 0] +- goal: [5, 2] + name: agent4 + start: [4, 2] +- goal: [3, 7] + name: agent5 + start: [1, 2] +- goal: [1, 7] + name: agent6 + start: [2, 6] +- goal: [1, 2] + name: agent7 + start: [1, 5] +- goal: [5, 6] + name: agent8 + start: [7, 4] +- goal: [6, 3] + name: agent9 + start: [2, 5] +- goal: [2, 3] + name: agent10 + start: [6, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 4] + - !!python/tuple [7, 1] + - !!python/tuple [5, 5] + - !!python/tuple [5, 7] + - !!python/tuple [5, 1] + - !!python/tuple [0, 4] + - !!python/tuple [3, 3] + - !!python/tuple [2, 1] + - !!python/tuple [4, 0] + - !!python/tuple [6, 4] + - !!python/tuple [2, 2] + - !!python/tuple [3, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex66.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex66.yaml new file mode 100644 index 0000000..aae6240 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex66.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [1, 5] + name: agent0 + start: [2, 7] +- goal: [7, 4] + name: agent1 + start: [3, 7] +- goal: [6, 5] + name: agent2 + start: [1, 3] +- goal: [3, 4] + name: agent3 + start: [6, 5] +- goal: [2, 6] + name: agent4 + start: [3, 4] +- goal: [3, 2] + name: agent5 + start: [6, 3] +- goal: [0, 6] + name: agent6 + start: [7, 4] +- goal: [1, 0] + name: agent7 + start: [6, 1] +- goal: [5, 2] + name: agent8 + start: [1, 7] +- goal: [4, 4] + name: agent9 + start: [0, 6] +- goal: [0, 1] + name: agent10 + start: [3, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 1] + - !!python/tuple [6, 0] + - !!python/tuple [1, 4] + - !!python/tuple [7, 7] + - !!python/tuple [2, 0] + - !!python/tuple [1, 6] + - !!python/tuple [5, 5] + - !!python/tuple [1, 2] + - !!python/tuple [6, 4] + - !!python/tuple [6, 6] + - !!python/tuple [0, 4] + - !!python/tuple [3, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex67.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex67.yaml new file mode 100644 index 0000000..f20f672 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex67.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [2, 4] + name: agent0 + start: [4, 7] +- goal: [7, 0] + name: agent1 + start: [0, 3] +- goal: [2, 0] + name: agent2 + start: [0, 4] +- goal: [5, 6] + name: agent3 + start: [2, 2] +- goal: [4, 1] + name: agent4 + start: [0, 0] +- goal: [5, 5] + name: agent5 + start: [5, 7] +- goal: [6, 4] + name: agent6 + start: [7, 7] +- goal: [1, 2] + name: agent7 + start: [1, 7] +- goal: [5, 3] + name: agent8 + start: [3, 1] +- goal: [3, 2] + name: agent9 + start: [3, 2] +- goal: [1, 0] + name: agent10 + start: [5, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 7] + - !!python/tuple [0, 2] + - !!python/tuple [7, 3] + - !!python/tuple [7, 5] + - !!python/tuple [1, 1] + - !!python/tuple [3, 4] + - !!python/tuple [6, 6] + - !!python/tuple [0, 6] + - !!python/tuple [7, 4] + - !!python/tuple [5, 4] + - !!python/tuple [2, 3] + - !!python/tuple [0, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex68.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex68.yaml new file mode 100644 index 0000000..e3b2040 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex68.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [0, 4] + name: agent0 + start: [0, 3] +- goal: [7, 2] + name: agent1 + start: [3, 3] +- goal: [2, 0] + name: agent2 + start: [4, 6] +- goal: [6, 2] + name: agent3 + start: [2, 1] +- goal: [5, 2] + name: agent4 + start: [2, 3] +- goal: [7, 0] + name: agent5 + start: [7, 0] +- goal: [7, 1] + name: agent6 + start: [7, 4] +- goal: [5, 0] + name: agent7 + start: [6, 0] +- goal: [0, 6] + name: agent8 + start: [0, 7] +- goal: [2, 1] + name: agent9 + start: [5, 5] +- goal: [7, 5] + name: agent10 + start: [1, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 3] + - !!python/tuple [6, 4] + - !!python/tuple [1, 3] + - !!python/tuple [0, 5] + - !!python/tuple [5, 7] + - !!python/tuple [4, 1] + - !!python/tuple [2, 5] + - !!python/tuple [0, 1] + - !!python/tuple [1, 5] + - !!python/tuple [5, 6] + - !!python/tuple [5, 1] + - !!python/tuple [6, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex69.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex69.yaml new file mode 100644 index 0000000..b3ff3e0 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex69.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [2, 2] + name: agent0 + start: [1, 5] +- goal: [0, 5] + name: agent1 + start: [5, 6] +- goal: [5, 0] + name: agent2 + start: [4, 0] +- goal: [2, 4] + name: agent3 + start: [7, 2] +- goal: [2, 7] + name: agent4 + start: [4, 3] +- goal: [4, 1] + name: agent5 + start: [6, 0] +- goal: [1, 3] + name: agent6 + start: [5, 3] +- goal: [5, 4] + name: agent7 + start: [0, 5] +- goal: [5, 5] + name: agent8 + start: [2, 3] +- goal: [2, 1] + name: agent9 + start: [7, 0] +- goal: [6, 0] + name: agent10 + start: [2, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 6] + - !!python/tuple [3, 0] + - !!python/tuple [3, 7] + - !!python/tuple [4, 7] + - !!python/tuple [2, 5] + - !!python/tuple [6, 7] + - !!python/tuple [0, 1] + - !!python/tuple [0, 0] + - !!python/tuple [4, 4] + - !!python/tuple [1, 1] + - !!python/tuple [0, 3] + - !!python/tuple [0, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex7.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex7.yaml new file mode 100644 index 0000000..2fad107 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex7.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [4, 1] + name: agent0 + start: [6, 1] +- goal: [4, 2] + name: agent1 + start: [6, 2] +- goal: [6, 1] + name: agent2 + start: [5, 3] +- goal: [4, 4] + name: agent3 + start: [1, 5] +- goal: [4, 3] + name: agent4 + start: [6, 0] +- goal: [0, 5] + name: agent5 + start: [1, 3] +- goal: [6, 2] + name: agent6 + start: [2, 3] +- goal: [0, 6] + name: agent7 + start: [1, 1] +- goal: [7, 7] + name: agent8 + start: [7, 6] +- goal: [1, 1] + name: agent9 + start: [4, 5] +- goal: [0, 2] + name: agent10 + start: [7, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 6] + - !!python/tuple [1, 7] + - !!python/tuple [6, 5] + - !!python/tuple [2, 1] + - !!python/tuple [3, 5] + - !!python/tuple [2, 4] + - !!python/tuple [7, 2] + - !!python/tuple [7, 0] + - !!python/tuple [1, 6] + - !!python/tuple [3, 1] + - !!python/tuple [4, 6] + - !!python/tuple [5, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex70.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex70.yaml new file mode 100644 index 0000000..87cb7a4 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex70.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [6, 3] + name: agent0 + start: [4, 0] +- goal: [7, 6] + name: agent1 + start: [7, 1] +- goal: [6, 1] + name: agent2 + start: [1, 4] +- goal: [2, 3] + name: agent3 + start: [3, 0] +- goal: [4, 7] + name: agent4 + start: [5, 3] +- goal: [0, 3] + name: agent5 + start: [6, 1] +- goal: [5, 2] + name: agent6 + start: [6, 0] +- goal: [1, 5] + name: agent7 + start: [1, 2] +- goal: [3, 7] + name: agent8 + start: [3, 4] +- goal: [5, 5] + name: agent9 + start: [7, 6] +- goal: [7, 7] + name: agent10 + start: [2, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 7] + - !!python/tuple [2, 2] + - !!python/tuple [1, 7] + - !!python/tuple [6, 2] + - !!python/tuple [6, 7] + - !!python/tuple [5, 0] + - !!python/tuple [0, 1] + - !!python/tuple [0, 5] + - !!python/tuple [1, 1] + - !!python/tuple [1, 0] + - !!python/tuple [1, 6] + - !!python/tuple [4, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex71.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex71.yaml new file mode 100644 index 0000000..0658dc7 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex71.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [2, 2] + name: agent0 + start: [0, 5] +- goal: [2, 5] + name: agent1 + start: [2, 1] +- goal: [7, 6] + name: agent2 + start: [7, 1] +- goal: [4, 3] + name: agent3 + start: [7, 0] +- goal: [1, 0] + name: agent4 + start: [6, 3] +- goal: [4, 2] + name: agent5 + start: [7, 3] +- goal: [4, 4] + name: agent6 + start: [4, 7] +- goal: [3, 0] + name: agent7 + start: [4, 5] +- goal: [0, 7] + name: agent8 + start: [0, 0] +- goal: [1, 5] + name: agent9 + start: [1, 7] +- goal: [4, 7] + name: agent10 + start: [0, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 6] + - !!python/tuple [3, 3] + - !!python/tuple [3, 2] + - !!python/tuple [6, 4] + - !!python/tuple [2, 4] + - !!python/tuple [2, 3] + - !!python/tuple [5, 7] + - !!python/tuple [6, 2] + - !!python/tuple [0, 1] + - !!python/tuple [6, 6] + - !!python/tuple [7, 7] + - !!python/tuple [1, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex72.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex72.yaml new file mode 100644 index 0000000..697f3ab --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex72.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [6, 6] + name: agent0 + start: [5, 4] +- goal: [3, 7] + name: agent1 + start: [0, 2] +- goal: [2, 4] + name: agent2 + start: [3, 6] +- goal: [2, 2] + name: agent3 + start: [5, 6] +- goal: [0, 6] + name: agent4 + start: [2, 4] +- goal: [5, 5] + name: agent5 + start: [1, 3] +- goal: [6, 0] + name: agent6 + start: [2, 5] +- goal: [6, 2] + name: agent7 + start: [5, 0] +- goal: [6, 5] + name: agent8 + start: [2, 6] +- goal: [2, 6] + name: agent9 + start: [6, 0] +- goal: [2, 5] + name: agent10 + start: [2, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 4] + - !!python/tuple [4, 4] + - !!python/tuple [4, 6] + - !!python/tuple [7, 6] + - !!python/tuple [3, 2] + - !!python/tuple [6, 1] + - !!python/tuple [1, 7] + - !!python/tuple [5, 3] + - !!python/tuple [4, 7] + - !!python/tuple [3, 0] + - !!python/tuple [5, 2] + - !!python/tuple [6, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex73.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex73.yaml new file mode 100644 index 0000000..5b10283 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex73.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [0, 2] + name: agent0 + start: [5, 2] +- goal: [6, 7] + name: agent1 + start: [4, 5] +- goal: [0, 4] + name: agent2 + start: [4, 1] +- goal: [6, 4] + name: agent3 + start: [0, 6] +- goal: [2, 5] + name: agent4 + start: [6, 7] +- goal: [1, 1] + name: agent5 + start: [3, 6] +- goal: [1, 7] + name: agent6 + start: [6, 4] +- goal: [5, 5] + name: agent7 + start: [1, 3] +- goal: [6, 5] + name: agent8 + start: [6, 5] +- goal: [3, 7] + name: agent9 + start: [1, 4] +- goal: [7, 3] + name: agent10 + start: [0, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 6] + - !!python/tuple [7, 2] + - !!python/tuple [5, 6] + - !!python/tuple [5, 3] + - !!python/tuple [6, 2] + - !!python/tuple [2, 2] + - !!python/tuple [3, 2] + - !!python/tuple [4, 2] + - !!python/tuple [7, 0] + - !!python/tuple [2, 7] + - !!python/tuple [0, 3] + - !!python/tuple [6, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex74.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex74.yaml new file mode 100644 index 0000000..28aa656 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex74.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [7, 1] + name: agent0 + start: [7, 0] +- goal: [3, 5] + name: agent1 + start: [2, 5] +- goal: [3, 3] + name: agent2 + start: [5, 3] +- goal: [4, 0] + name: agent3 + start: [7, 2] +- goal: [0, 0] + name: agent4 + start: [0, 2] +- goal: [3, 2] + name: agent5 + start: [7, 4] +- goal: [5, 1] + name: agent6 + start: [2, 7] +- goal: [2, 7] + name: agent7 + start: [2, 1] +- goal: [0, 2] + name: agent8 + start: [0, 6] +- goal: [7, 6] + name: agent9 + start: [3, 7] +- goal: [6, 2] + name: agent10 + start: [7, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 3] + - !!python/tuple [4, 3] + - !!python/tuple [0, 5] + - !!python/tuple [0, 7] + - !!python/tuple [1, 3] + - !!python/tuple [1, 0] + - !!python/tuple [1, 1] + - !!python/tuple [1, 7] + - !!python/tuple [5, 4] + - !!python/tuple [3, 0] + - !!python/tuple [0, 4] + - !!python/tuple [4, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex75.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex75.yaml new file mode 100644 index 0000000..13f0144 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex75.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [0, 0] + name: agent0 + start: [3, 7] +- goal: [1, 3] + name: agent1 + start: [6, 3] +- goal: [6, 6] + name: agent2 + start: [0, 3] +- goal: [3, 2] + name: agent3 + start: [7, 4] +- goal: [2, 0] + name: agent4 + start: [7, 1] +- goal: [2, 6] + name: agent5 + start: [7, 2] +- goal: [5, 3] + name: agent6 + start: [6, 5] +- goal: [5, 2] + name: agent7 + start: [7, 6] +- goal: [5, 4] + name: agent8 + start: [0, 1] +- goal: [0, 6] + name: agent9 + start: [3, 2] +- goal: [1, 6] + name: agent10 + start: [3, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 2] + - !!python/tuple [1, 1] + - !!python/tuple [4, 6] + - !!python/tuple [1, 0] + - !!python/tuple [3, 0] + - !!python/tuple [0, 7] + - !!python/tuple [6, 7] + - !!python/tuple [4, 4] + - !!python/tuple [4, 1] + - !!python/tuple [5, 1] + - !!python/tuple [5, 6] + - !!python/tuple [1, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex76.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex76.yaml new file mode 100644 index 0000000..1558aad --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex76.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [6, 5] + name: agent0 + start: [6, 4] +- goal: [2, 5] + name: agent1 + start: [7, 6] +- goal: [3, 4] + name: agent2 + start: [3, 1] +- goal: [1, 4] + name: agent3 + start: [1, 4] +- goal: [3, 1] + name: agent4 + start: [5, 5] +- goal: [0, 3] + name: agent5 + start: [5, 3] +- goal: [2, 4] + name: agent6 + start: [0, 2] +- goal: [5, 6] + name: agent7 + start: [7, 5] +- goal: [0, 6] + name: agent8 + start: [2, 1] +- goal: [6, 6] + name: agent9 + start: [6, 3] +- goal: [4, 2] + name: agent10 + start: [7, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 0] + - !!python/tuple [4, 3] + - !!python/tuple [5, 4] + - !!python/tuple [5, 7] + - !!python/tuple [6, 0] + - !!python/tuple [0, 4] + - !!python/tuple [7, 3] + - !!python/tuple [3, 7] + - !!python/tuple [4, 4] + - !!python/tuple [1, 7] + - !!python/tuple [7, 4] + - !!python/tuple [7, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex77.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex77.yaml new file mode 100644 index 0000000..98e8200 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex77.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [2, 0] + name: agent0 + start: [7, 2] +- goal: [6, 3] + name: agent1 + start: [5, 0] +- goal: [1, 6] + name: agent2 + start: [5, 2] +- goal: [4, 6] + name: agent3 + start: [1, 1] +- goal: [4, 0] + name: agent4 + start: [3, 0] +- goal: [1, 2] + name: agent5 + start: [5, 6] +- goal: [4, 3] + name: agent6 + start: [7, 6] +- goal: [0, 2] + name: agent7 + start: [5, 1] +- goal: [1, 7] + name: agent8 + start: [7, 1] +- goal: [5, 1] + name: agent9 + start: [0, 2] +- goal: [4, 7] + name: agent10 + start: [4, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 3] + - !!python/tuple [1, 4] + - !!python/tuple [3, 7] + - !!python/tuple [5, 7] + - !!python/tuple [1, 3] + - !!python/tuple [6, 6] + - !!python/tuple [0, 0] + - !!python/tuple [3, 3] + - !!python/tuple [7, 3] + - !!python/tuple [7, 4] + - !!python/tuple [3, 2] + - !!python/tuple [6, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex78.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex78.yaml new file mode 100644 index 0000000..54c0059 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex78.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [6, 4] + name: agent0 + start: [2, 7] +- goal: [7, 7] + name: agent1 + start: [4, 2] +- goal: [1, 5] + name: agent2 + start: [6, 6] +- goal: [0, 7] + name: agent3 + start: [1, 2] +- goal: [3, 3] + name: agent4 + start: [4, 4] +- goal: [4, 6] + name: agent5 + start: [3, 4] +- goal: [0, 2] + name: agent6 + start: [2, 6] +- goal: [5, 5] + name: agent7 + start: [3, 7] +- goal: [1, 3] + name: agent8 + start: [6, 3] +- goal: [0, 5] + name: agent9 + start: [4, 7] +- goal: [7, 0] + name: agent10 + start: [7, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 1] + - !!python/tuple [2, 5] + - !!python/tuple [5, 7] + - !!python/tuple [6, 2] + - !!python/tuple [0, 4] + - !!python/tuple [0, 0] + - !!python/tuple [5, 6] + - !!python/tuple [3, 6] + - !!python/tuple [2, 3] + - !!python/tuple [5, 4] + - !!python/tuple [4, 5] + - !!python/tuple [3, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex79.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex79.yaml new file mode 100644 index 0000000..22e8e32 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex79.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [1, 1] + name: agent0 + start: [4, 1] +- goal: [1, 0] + name: agent1 + start: [3, 6] +- goal: [0, 3] + name: agent2 + start: [5, 3] +- goal: [4, 1] + name: agent3 + start: [0, 1] +- goal: [4, 7] + name: agent4 + start: [5, 2] +- goal: [2, 5] + name: agent5 + start: [6, 5] +- goal: [2, 7] + name: agent6 + start: [1, 6] +- goal: [3, 7] + name: agent7 + start: [5, 4] +- goal: [7, 1] + name: agent8 + start: [0, 5] +- goal: [1, 5] + name: agent9 + start: [2, 1] +- goal: [6, 1] + name: agent10 + start: [6, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 4] + - !!python/tuple [4, 0] + - !!python/tuple [5, 0] + - !!python/tuple [4, 4] + - !!python/tuple [7, 5] + - !!python/tuple [1, 7] + - !!python/tuple [7, 0] + - !!python/tuple [3, 0] + - !!python/tuple [3, 4] + - !!python/tuple [5, 7] + - !!python/tuple [2, 2] + - !!python/tuple [7, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex8.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex8.yaml new file mode 100644 index 0000000..f8f52b3 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex8.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [0, 4] + name: agent0 + start: [2, 0] +- goal: [1, 6] + name: agent1 + start: [1, 1] +- goal: [1, 5] + name: agent2 + start: [4, 1] +- goal: [2, 0] + name: agent3 + start: [1, 2] +- goal: [4, 6] + name: agent4 + start: [1, 5] +- goal: [5, 5] + name: agent5 + start: [5, 7] +- goal: [2, 6] + name: agent6 + start: [0, 3] +- goal: [3, 1] + name: agent7 + start: [5, 1] +- goal: [1, 0] + name: agent8 + start: [1, 7] +- goal: [3, 5] + name: agent9 + start: [0, 4] +- goal: [5, 1] + name: agent10 + start: [0, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 5] + - !!python/tuple [4, 5] + - !!python/tuple [7, 7] + - !!python/tuple [0, 0] + - !!python/tuple [5, 6] + - !!python/tuple [0, 7] + - !!python/tuple [4, 7] + - !!python/tuple [7, 0] + - !!python/tuple [2, 5] + - !!python/tuple [4, 4] + - !!python/tuple [0, 6] + - !!python/tuple [7, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex80.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex80.yaml new file mode 100644 index 0000000..cf4f89d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex80.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [7, 1] + name: agent0 + start: [5, 4] +- goal: [1, 7] + name: agent1 + start: [1, 5] +- goal: [5, 3] + name: agent2 + start: [2, 3] +- goal: [2, 3] + name: agent3 + start: [0, 1] +- goal: [4, 5] + name: agent4 + start: [3, 0] +- goal: [5, 1] + name: agent5 + start: [5, 3] +- goal: [1, 3] + name: agent6 + start: [2, 0] +- goal: [4, 1] + name: agent7 + start: [5, 6] +- goal: [7, 6] + name: agent8 + start: [6, 3] +- goal: [3, 0] + name: agent9 + start: [4, 6] +- goal: [3, 2] + name: agent10 + start: [7, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 2] + - !!python/tuple [3, 6] + - !!python/tuple [0, 0] + - !!python/tuple [2, 4] + - !!python/tuple [0, 3] + - !!python/tuple [6, 1] + - !!python/tuple [7, 4] + - !!python/tuple [0, 7] + - !!python/tuple [7, 3] + - !!python/tuple [3, 3] + - !!python/tuple [1, 1] + - !!python/tuple [6, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex81.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex81.yaml new file mode 100644 index 0000000..e1b6354 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex81.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [2, 1] + name: agent0 + start: [4, 2] +- goal: [6, 4] + name: agent1 + start: [0, 7] +- goal: [7, 4] + name: agent2 + start: [6, 0] +- goal: [5, 4] + name: agent3 + start: [6, 4] +- goal: [1, 4] + name: agent4 + start: [4, 1] +- goal: [3, 0] + name: agent5 + start: [5, 2] +- goal: [0, 1] + name: agent6 + start: [1, 3] +- goal: [2, 5] + name: agent7 + start: [0, 3] +- goal: [5, 6] + name: agent8 + start: [7, 2] +- goal: [0, 5] + name: agent9 + start: [5, 0] +- goal: [7, 3] + name: agent10 + start: [0, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 6] + - !!python/tuple [3, 6] + - !!python/tuple [3, 4] + - !!python/tuple [2, 4] + - !!python/tuple [1, 1] + - !!python/tuple [2, 7] + - !!python/tuple [6, 3] + - !!python/tuple [7, 7] + - !!python/tuple [5, 5] + - !!python/tuple [0, 0] + - !!python/tuple [1, 7] + - !!python/tuple [4, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex82.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex82.yaml new file mode 100644 index 0000000..57c5b6f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex82.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [7, 3] + name: agent0 + start: [3, 4] +- goal: [4, 5] + name: agent1 + start: [7, 6] +- goal: [1, 7] + name: agent2 + start: [7, 1] +- goal: [4, 1] + name: agent3 + start: [3, 7] +- goal: [5, 0] + name: agent4 + start: [0, 1] +- goal: [6, 6] + name: agent5 + start: [4, 5] +- goal: [5, 7] + name: agent6 + start: [6, 5] +- goal: [5, 3] + name: agent7 + start: [0, 3] +- goal: [4, 2] + name: agent8 + start: [5, 3] +- goal: [7, 6] + name: agent9 + start: [1, 6] +- goal: [0, 1] + name: agent10 + start: [1, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 4] + - !!python/tuple [0, 2] + - !!python/tuple [0, 5] + - !!python/tuple [1, 2] + - !!python/tuple [3, 6] + - !!python/tuple [4, 7] + - !!python/tuple [7, 5] + - !!python/tuple [4, 3] + - !!python/tuple [3, 2] + - !!python/tuple [1, 3] + - !!python/tuple [5, 2] + - !!python/tuple [0, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex83.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex83.yaml new file mode 100644 index 0000000..9b46867 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex83.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [7, 1] + name: agent0 + start: [1, 2] +- goal: [1, 0] + name: agent1 + start: [2, 2] +- goal: [0, 2] + name: agent2 + start: [7, 5] +- goal: [7, 3] + name: agent3 + start: [6, 0] +- goal: [5, 5] + name: agent4 + start: [6, 1] +- goal: [5, 6] + name: agent5 + start: [5, 7] +- goal: [6, 4] + name: agent6 + start: [3, 3] +- goal: [4, 6] + name: agent7 + start: [3, 7] +- goal: [3, 7] + name: agent8 + start: [4, 3] +- goal: [2, 2] + name: agent9 + start: [6, 4] +- goal: [0, 1] + name: agent10 + start: [3, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 4] + - !!python/tuple [5, 4] + - !!python/tuple [0, 0] + - !!python/tuple [7, 2] + - !!python/tuple [7, 6] + - !!python/tuple [2, 7] + - !!python/tuple [5, 2] + - !!python/tuple [0, 3] + - !!python/tuple [2, 6] + - !!python/tuple [1, 4] + - !!python/tuple [2, 5] + - !!python/tuple [4, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex84.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex84.yaml new file mode 100644 index 0000000..168a57e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex84.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [6, 0] + name: agent0 + start: [6, 1] +- goal: [4, 1] + name: agent1 + start: [0, 5] +- goal: [0, 6] + name: agent2 + start: [0, 2] +- goal: [4, 0] + name: agent3 + start: [3, 4] +- goal: [0, 7] + name: agent4 + start: [0, 7] +- goal: [5, 3] + name: agent5 + start: [2, 7] +- goal: [6, 2] + name: agent6 + start: [4, 1] +- goal: [2, 1] + name: agent7 + start: [0, 1] +- goal: [1, 4] + name: agent8 + start: [1, 1] +- goal: [3, 0] + name: agent9 + start: [2, 0] +- goal: [3, 4] + name: agent10 + start: [0, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 5] + - !!python/tuple [3, 7] + - !!python/tuple [5, 1] + - !!python/tuple [3, 3] + - !!python/tuple [7, 2] + - !!python/tuple [7, 5] + - !!python/tuple [2, 4] + - !!python/tuple [7, 0] + - !!python/tuple [5, 5] + - !!python/tuple [6, 6] + - !!python/tuple [4, 6] + - !!python/tuple [5, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex85.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex85.yaml new file mode 100644 index 0000000..42642a0 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex85.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [0, 5] + name: agent0 + start: [7, 3] +- goal: [1, 1] + name: agent1 + start: [3, 2] +- goal: [4, 6] + name: agent2 + start: [0, 4] +- goal: [7, 5] + name: agent3 + start: [7, 6] +- goal: [5, 0] + name: agent4 + start: [3, 7] +- goal: [2, 3] + name: agent5 + start: [1, 2] +- goal: [4, 5] + name: agent6 + start: [7, 2] +- goal: [4, 2] + name: agent7 + start: [5, 4] +- goal: [7, 3] + name: agent8 + start: [6, 4] +- goal: [4, 3] + name: agent9 + start: [2, 4] +- goal: [7, 6] + name: agent10 + start: [4, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 6] + - !!python/tuple [6, 6] + - !!python/tuple [5, 7] + - !!python/tuple [7, 7] + - !!python/tuple [7, 1] + - !!python/tuple [5, 6] + - !!python/tuple [3, 5] + - !!python/tuple [0, 2] + - !!python/tuple [5, 5] + - !!python/tuple [0, 1] + - !!python/tuple [1, 5] + - !!python/tuple [3, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex86.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex86.yaml new file mode 100644 index 0000000..1f86e6a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex86.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [6, 2] + name: agent0 + start: [2, 0] +- goal: [5, 5] + name: agent1 + start: [2, 1] +- goal: [3, 6] + name: agent2 + start: [0, 0] +- goal: [1, 0] + name: agent3 + start: [2, 6] +- goal: [7, 6] + name: agent4 + start: [5, 1] +- goal: [3, 5] + name: agent5 + start: [7, 3] +- goal: [2, 2] + name: agent6 + start: [5, 5] +- goal: [0, 3] + name: agent7 + start: [7, 1] +- goal: [2, 6] + name: agent8 + start: [3, 1] +- goal: [4, 6] + name: agent9 + start: [6, 3] +- goal: [7, 0] + name: agent10 + start: [4, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 5] + - !!python/tuple [1, 4] + - !!python/tuple [0, 4] + - !!python/tuple [0, 1] + - !!python/tuple [5, 6] + - !!python/tuple [3, 0] + - !!python/tuple [0, 6] + - !!python/tuple [6, 6] + - !!python/tuple [4, 3] + - !!python/tuple [0, 7] + - !!python/tuple [4, 0] + - !!python/tuple [6, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex87.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex87.yaml new file mode 100644 index 0000000..1bd9a1d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex87.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [5, 2] + name: agent0 + start: [6, 1] +- goal: [4, 2] + name: agent1 + start: [5, 7] +- goal: [2, 5] + name: agent2 + start: [4, 6] +- goal: [3, 2] + name: agent3 + start: [5, 3] +- goal: [3, 5] + name: agent4 + start: [6, 3] +- goal: [3, 0] + name: agent5 + start: [2, 7] +- goal: [3, 4] + name: agent6 + start: [7, 4] +- goal: [3, 7] + name: agent7 + start: [5, 1] +- goal: [3, 1] + name: agent8 + start: [5, 2] +- goal: [4, 4] + name: agent9 + start: [1, 4] +- goal: [3, 3] + name: agent10 + start: [0, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 7] + - !!python/tuple [7, 6] + - !!python/tuple [4, 1] + - !!python/tuple [1, 1] + - !!python/tuple [0, 0] + - !!python/tuple [5, 5] + - !!python/tuple [7, 3] + - !!python/tuple [6, 2] + - !!python/tuple [0, 4] + - !!python/tuple [7, 7] + - !!python/tuple [7, 1] + - !!python/tuple [1, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex88.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex88.yaml new file mode 100644 index 0000000..fe1a028 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex88.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [2, 5] + name: agent0 + start: [5, 3] +- goal: [7, 6] + name: agent1 + start: [0, 5] +- goal: [5, 4] + name: agent2 + start: [3, 7] +- goal: [3, 7] + name: agent3 + start: [0, 4] +- goal: [6, 4] + name: agent4 + start: [7, 7] +- goal: [3, 3] + name: agent5 + start: [2, 7] +- goal: [5, 6] + name: agent6 + start: [2, 5] +- goal: [6, 1] + name: agent7 + start: [1, 5] +- goal: [3, 1] + name: agent8 + start: [6, 5] +- goal: [5, 1] + name: agent9 + start: [4, 0] +- goal: [5, 7] + name: agent10 + start: [5, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 6] + - !!python/tuple [4, 1] + - !!python/tuple [1, 3] + - !!python/tuple [1, 0] + - !!python/tuple [6, 0] + - !!python/tuple [4, 2] + - !!python/tuple [1, 7] + - !!python/tuple [5, 5] + - !!python/tuple [2, 6] + - !!python/tuple [7, 4] + - !!python/tuple [4, 7] + - !!python/tuple [2, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex89.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex89.yaml new file mode 100644 index 0000000..6e1b134 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex89.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [0, 3] + name: agent0 + start: [3, 1] +- goal: [1, 0] + name: agent1 + start: [7, 7] +- goal: [2, 2] + name: agent2 + start: [3, 2] +- goal: [4, 2] + name: agent3 + start: [6, 2] +- goal: [1, 7] + name: agent4 + start: [1, 6] +- goal: [7, 1] + name: agent5 + start: [3, 7] +- goal: [0, 6] + name: agent6 + start: [1, 0] +- goal: [1, 2] + name: agent7 + start: [6, 6] +- goal: [5, 3] + name: agent8 + start: [2, 3] +- goal: [6, 7] + name: agent9 + start: [0, 3] +- goal: [7, 0] + name: agent10 + start: [0, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 1] + - !!python/tuple [7, 6] + - !!python/tuple [4, 5] + - !!python/tuple [5, 0] + - !!python/tuple [3, 3] + - !!python/tuple [7, 3] + - !!python/tuple [6, 4] + - !!python/tuple [6, 5] + - !!python/tuple [0, 5] + - !!python/tuple [7, 4] + - !!python/tuple [1, 5] + - !!python/tuple [0, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex9.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex9.yaml new file mode 100644 index 0000000..2d192cc --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex9.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [0, 3] + name: agent0 + start: [0, 7] +- goal: [2, 3] + name: agent1 + start: [5, 1] +- goal: [0, 5] + name: agent2 + start: [1, 7] +- goal: [4, 4] + name: agent3 + start: [6, 6] +- goal: [3, 4] + name: agent4 + start: [0, 3] +- goal: [5, 6] + name: agent5 + start: [0, 2] +- goal: [6, 0] + name: agent6 + start: [5, 0] +- goal: [6, 1] + name: agent7 + start: [5, 2] +- goal: [4, 7] + name: agent8 + start: [2, 5] +- goal: [2, 2] + name: agent9 + start: [2, 3] +- goal: [6, 7] + name: agent10 + start: [2, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 2] + - !!python/tuple [3, 2] + - !!python/tuple [4, 2] + - !!python/tuple [7, 3] + - !!python/tuple [4, 0] + - !!python/tuple [6, 4] + - !!python/tuple [5, 4] + - !!python/tuple [7, 0] + - !!python/tuple [7, 2] + - !!python/tuple [1, 6] + - !!python/tuple [0, 4] + - !!python/tuple [3, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex90.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex90.yaml new file mode 100644 index 0000000..72ef5b5 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex90.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [2, 1] + name: agent0 + start: [1, 7] +- goal: [3, 4] + name: agent1 + start: [5, 3] +- goal: [0, 2] + name: agent2 + start: [7, 5] +- goal: [1, 6] + name: agent3 + start: [4, 5] +- goal: [1, 7] + name: agent4 + start: [5, 7] +- goal: [7, 7] + name: agent5 + start: [1, 1] +- goal: [2, 4] + name: agent6 + start: [4, 6] +- goal: [3, 3] + name: agent7 + start: [5, 5] +- goal: [0, 1] + name: agent8 + start: [3, 7] +- goal: [7, 0] + name: agent9 + start: [7, 6] +- goal: [7, 6] + name: agent10 + start: [4, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 3] + - !!python/tuple [4, 3] + - !!python/tuple [4, 4] + - !!python/tuple [6, 7] + - !!python/tuple [3, 2] + - !!python/tuple [1, 5] + - !!python/tuple [0, 3] + - !!python/tuple [7, 3] + - !!python/tuple [0, 0] + - !!python/tuple [6, 3] + - !!python/tuple [5, 6] + - !!python/tuple [1, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex91.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex91.yaml new file mode 100644 index 0000000..5518c5c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex91.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [1, 0] + name: agent0 + start: [1, 4] +- goal: [6, 0] + name: agent1 + start: [7, 6] +- goal: [7, 6] + name: agent2 + start: [5, 6] +- goal: [6, 5] + name: agent3 + start: [1, 1] +- goal: [6, 1] + name: agent4 + start: [5, 2] +- goal: [1, 2] + name: agent5 + start: [0, 6] +- goal: [1, 6] + name: agent6 + start: [0, 0] +- goal: [5, 5] + name: agent7 + start: [3, 6] +- goal: [5, 1] + name: agent8 + start: [4, 2] +- goal: [5, 2] + name: agent9 + start: [6, 0] +- goal: [4, 2] + name: agent10 + start: [0, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 7] + - !!python/tuple [5, 7] + - !!python/tuple [2, 0] + - !!python/tuple [7, 3] + - !!python/tuple [7, 4] + - !!python/tuple [7, 7] + - !!python/tuple [1, 7] + - !!python/tuple [2, 5] + - !!python/tuple [0, 2] + - !!python/tuple [7, 1] + - !!python/tuple [2, 3] + - !!python/tuple [7, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex92.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex92.yaml new file mode 100644 index 0000000..cab1315 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex92.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [0, 1] + name: agent0 + start: [0, 1] +- goal: [1, 2] + name: agent1 + start: [5, 5] +- goal: [6, 2] + name: agent2 + start: [1, 6] +- goal: [7, 3] + name: agent3 + start: [4, 1] +- goal: [7, 7] + name: agent4 + start: [2, 2] +- goal: [0, 4] + name: agent5 + start: [3, 0] +- goal: [7, 6] + name: agent6 + start: [2, 6] +- goal: [2, 2] + name: agent7 + start: [5, 4] +- goal: [4, 7] + name: agent8 + start: [5, 1] +- goal: [0, 6] + name: agent9 + start: [3, 7] +- goal: [4, 5] + name: agent10 + start: [7, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 2] + - !!python/tuple [1, 7] + - !!python/tuple [2, 4] + - !!python/tuple [7, 5] + - !!python/tuple [7, 4] + - !!python/tuple [7, 0] + - !!python/tuple [1, 5] + - !!python/tuple [0, 7] + - !!python/tuple [6, 6] + - !!python/tuple [4, 6] + - !!python/tuple [6, 1] + - !!python/tuple [3, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex93.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex93.yaml new file mode 100644 index 0000000..c71fe47 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex93.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [6, 0] + name: agent0 + start: [1, 4] +- goal: [5, 6] + name: agent1 + start: [1, 0] +- goal: [5, 4] + name: agent2 + start: [6, 5] +- goal: [7, 6] + name: agent3 + start: [0, 0] +- goal: [5, 3] + name: agent4 + start: [6, 4] +- goal: [3, 5] + name: agent5 + start: [7, 0] +- goal: [7, 2] + name: agent6 + start: [7, 5] +- goal: [3, 3] + name: agent7 + start: [3, 7] +- goal: [2, 1] + name: agent8 + start: [0, 5] +- goal: [0, 6] + name: agent9 + start: [4, 4] +- goal: [4, 4] + name: agent10 + start: [1, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 7] + - !!python/tuple [6, 3] + - !!python/tuple [2, 7] + - !!python/tuple [0, 7] + - !!python/tuple [1, 1] + - !!python/tuple [1, 6] + - !!python/tuple [2, 3] + - !!python/tuple [6, 2] + - !!python/tuple [3, 1] + - !!python/tuple [4, 0] + - !!python/tuple [5, 5] + - !!python/tuple [4, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex94.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex94.yaml new file mode 100644 index 0000000..6cd5df9 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex94.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [0, 5] + name: agent0 + start: [5, 7] +- goal: [5, 6] + name: agent1 + start: [0, 2] +- goal: [4, 1] + name: agent2 + start: [1, 6] +- goal: [1, 2] + name: agent3 + start: [0, 3] +- goal: [5, 0] + name: agent4 + start: [3, 1] +- goal: [0, 3] + name: agent5 + start: [0, 0] +- goal: [4, 2] + name: agent6 + start: [2, 6] +- goal: [5, 2] + name: agent7 + start: [1, 2] +- goal: [1, 1] + name: agent8 + start: [2, 7] +- goal: [4, 0] + name: agent9 + start: [5, 3] +- goal: [5, 7] + name: agent10 + start: [2, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 4] + - !!python/tuple [4, 7] + - !!python/tuple [6, 0] + - !!python/tuple [3, 0] + - !!python/tuple [0, 4] + - !!python/tuple [2, 2] + - !!python/tuple [6, 2] + - !!python/tuple [7, 0] + - !!python/tuple [7, 2] + - !!python/tuple [3, 3] + - !!python/tuple [2, 5] + - !!python/tuple [1, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex95.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex95.yaml new file mode 100644 index 0000000..dd778a9 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex95.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [7, 0] + name: agent0 + start: [3, 4] +- goal: [3, 1] + name: agent1 + start: [5, 0] +- goal: [4, 5] + name: agent2 + start: [0, 0] +- goal: [1, 7] + name: agent3 + start: [5, 1] +- goal: [4, 6] + name: agent4 + start: [0, 4] +- goal: [0, 5] + name: agent5 + start: [2, 7] +- goal: [1, 2] + name: agent6 + start: [7, 0] +- goal: [3, 5] + name: agent7 + start: [2, 1] +- goal: [7, 7] + name: agent8 + start: [2, 5] +- goal: [4, 0] + name: agent9 + start: [7, 1] +- goal: [0, 4] + name: agent10 + start: [6, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 6] + - !!python/tuple [5, 3] + - !!python/tuple [5, 4] + - !!python/tuple [7, 5] + - !!python/tuple [3, 3] + - !!python/tuple [2, 4] + - !!python/tuple [2, 0] + - !!python/tuple [6, 7] + - !!python/tuple [1, 1] + - !!python/tuple [6, 0] + - !!python/tuple [5, 7] + - !!python/tuple [4, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex96.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex96.yaml new file mode 100644 index 0000000..c1569ac --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex96.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [3, 0] + name: agent0 + start: [6, 6] +- goal: [2, 2] + name: agent1 + start: [7, 6] +- goal: [1, 7] + name: agent2 + start: [3, 7] +- goal: [2, 4] + name: agent3 + start: [6, 2] +- goal: [4, 6] + name: agent4 + start: [0, 1] +- goal: [6, 0] + name: agent5 + start: [5, 5] +- goal: [5, 4] + name: agent6 + start: [7, 5] +- goal: [2, 3] + name: agent7 + start: [6, 4] +- goal: [7, 1] + name: agent8 + start: [2, 1] +- goal: [1, 2] + name: agent9 + start: [3, 6] +- goal: [2, 5] + name: agent10 + start: [7, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 1] + - !!python/tuple [1, 5] + - !!python/tuple [5, 6] + - !!python/tuple [5, 0] + - !!python/tuple [5, 7] + - !!python/tuple [4, 5] + - !!python/tuple [3, 4] + - !!python/tuple [3, 2] + - !!python/tuple [7, 7] + - !!python/tuple [7, 0] + - !!python/tuple [4, 1] + - !!python/tuple [2, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex97.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex97.yaml new file mode 100644 index 0000000..f352748 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex97.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [0, 4] + name: agent0 + start: [5, 6] +- goal: [2, 1] + name: agent1 + start: [6, 2] +- goal: [0, 5] + name: agent2 + start: [3, 1] +- goal: [1, 7] + name: agent3 + start: [6, 6] +- goal: [3, 1] + name: agent4 + start: [0, 2] +- goal: [0, 6] + name: agent5 + start: [5, 7] +- goal: [6, 7] + name: agent6 + start: [4, 0] +- goal: [7, 4] + name: agent7 + start: [0, 0] +- goal: [0, 1] + name: agent8 + start: [6, 3] +- goal: [7, 1] + name: agent9 + start: [2, 1] +- goal: [6, 1] + name: agent10 + start: [7, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 1] + - !!python/tuple [4, 5] + - !!python/tuple [7, 0] + - !!python/tuple [3, 7] + - !!python/tuple [2, 4] + - !!python/tuple [1, 3] + - !!python/tuple [6, 4] + - !!python/tuple [2, 5] + - !!python/tuple [3, 4] + - !!python/tuple [5, 2] + - !!python/tuple [3, 5] + - !!python/tuple [1, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex98.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex98.yaml new file mode 100644 index 0000000..c7cf783 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex98.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [5, 2] + name: agent0 + start: [2, 4] +- goal: [5, 4] + name: agent1 + start: [0, 6] +- goal: [3, 1] + name: agent2 + start: [2, 1] +- goal: [4, 7] + name: agent3 + start: [4, 6] +- goal: [7, 2] + name: agent4 + start: [0, 5] +- goal: [1, 7] + name: agent5 + start: [4, 2] +- goal: [3, 0] + name: agent6 + start: [1, 2] +- goal: [5, 7] + name: agent7 + start: [0, 4] +- goal: [2, 3] + name: agent8 + start: [4, 0] +- goal: [7, 4] + name: agent9 + start: [6, 5] +- goal: [0, 2] + name: agent10 + start: [7, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 2] + - !!python/tuple [3, 7] + - !!python/tuple [5, 6] + - !!python/tuple [6, 6] + - !!python/tuple [7, 0] + - !!python/tuple [4, 4] + - !!python/tuple [6, 3] + - !!python/tuple [0, 1] + - !!python/tuple [5, 3] + - !!python/tuple [5, 5] + - !!python/tuple [5, 1] + - !!python/tuple [4, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex99.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex99.yaml new file mode 100644 index 0000000..e6de35c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents11_ex99.yaml @@ -0,0 +1,49 @@ +agents: +- goal: [4, 3] + name: agent0 + start: [3, 5] +- goal: [6, 4] + name: agent1 + start: [4, 6] +- goal: [4, 7] + name: agent2 + start: [7, 7] +- goal: [6, 3] + name: agent3 + start: [7, 3] +- goal: [1, 2] + name: agent4 + start: [7, 2] +- goal: [0, 6] + name: agent5 + start: [6, 2] +- goal: [2, 7] + name: agent6 + start: [0, 6] +- goal: [5, 0] + name: agent7 + start: [6, 1] +- goal: [2, 1] + name: agent8 + start: [7, 6] +- goal: [7, 5] + name: agent9 + start: [2, 1] +- goal: [2, 0] + name: agent10 + start: [0, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 5] + - !!python/tuple [3, 6] + - !!python/tuple [0, 7] + - !!python/tuple [3, 3] + - !!python/tuple [4, 4] + - !!python/tuple [1, 7] + - !!python/tuple [0, 2] + - !!python/tuple [3, 1] + - !!python/tuple [1, 0] + - !!python/tuple [1, 5] + - !!python/tuple [2, 3] + - !!python/tuple [6, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex0.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex0.yaml new file mode 100644 index 0000000..0749c34 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex0.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [4, 7] + name: agent0 + start: [4, 2] +- goal: [0, 5] + name: agent1 + start: [2, 4] +- goal: [0, 3] + name: agent2 + start: [5, 5] +- goal: [3, 1] + name: agent3 + start: [6, 2] +- goal: [6, 2] + name: agent4 + start: [1, 0] +- goal: [4, 0] + name: agent5 + start: [1, 4] +- goal: [2, 1] + name: agent6 + start: [4, 4] +- goal: [7, 2] + name: agent7 + start: [3, 0] +- goal: [4, 3] + name: agent8 + start: [0, 0] +- goal: [2, 6] + name: agent9 + start: [6, 3] +- goal: [0, 6] + name: agent10 + start: [4, 1] +- goal: [2, 0] + name: agent11 + start: [1, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 7] + - !!python/tuple [5, 4] + - !!python/tuple [3, 2] + - !!python/tuple [1, 1] + - !!python/tuple [5, 6] + - !!python/tuple [3, 5] + - !!python/tuple [2, 7] + - !!python/tuple [5, 7] + - !!python/tuple [6, 7] + - !!python/tuple [7, 6] + - !!python/tuple [0, 2] + - !!python/tuple [6, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex1.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex1.yaml new file mode 100644 index 0000000..bddbc40 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex1.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [3, 1] + name: agent0 + start: [0, 5] +- goal: [2, 5] + name: agent1 + start: [1, 7] +- goal: [5, 5] + name: agent2 + start: [2, 2] +- goal: [0, 0] + name: agent3 + start: [0, 3] +- goal: [1, 5] + name: agent4 + start: [2, 3] +- goal: [0, 5] + name: agent5 + start: [7, 2] +- goal: [0, 7] + name: agent6 + start: [0, 2] +- goal: [0, 2] + name: agent7 + start: [4, 1] +- goal: [7, 7] + name: agent8 + start: [5, 6] +- goal: [4, 2] + name: agent9 + start: [4, 2] +- goal: [7, 3] + name: agent10 + start: [3, 6] +- goal: [2, 2] + name: agent11 + start: [6, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 2] + - !!python/tuple [3, 7] + - !!python/tuple [6, 5] + - !!python/tuple [4, 7] + - !!python/tuple [4, 4] + - !!python/tuple [6, 3] + - !!python/tuple [4, 6] + - !!python/tuple [6, 2] + - !!python/tuple [1, 6] + - !!python/tuple [2, 7] + - !!python/tuple [5, 1] + - !!python/tuple [2, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex10.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex10.yaml new file mode 100644 index 0000000..327166d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex10.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [5, 3] + name: agent0 + start: [1, 2] +- goal: [0, 6] + name: agent1 + start: [3, 7] +- goal: [2, 6] + name: agent2 + start: [3, 4] +- goal: [3, 6] + name: agent3 + start: [1, 6] +- goal: [7, 4] + name: agent4 + start: [3, 0] +- goal: [1, 6] + name: agent5 + start: [2, 2] +- goal: [1, 5] + name: agent6 + start: [4, 5] +- goal: [4, 6] + name: agent7 + start: [7, 1] +- goal: [6, 5] + name: agent8 + start: [6, 4] +- goal: [6, 3] + name: agent9 + start: [4, 6] +- goal: [7, 1] + name: agent10 + start: [7, 5] +- goal: [3, 1] + name: agent11 + start: [7, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 6] + - !!python/tuple [5, 5] + - !!python/tuple [1, 7] + - !!python/tuple [6, 0] + - !!python/tuple [4, 4] + - !!python/tuple [6, 2] + - !!python/tuple [5, 2] + - !!python/tuple [4, 0] + - !!python/tuple [5, 0] + - !!python/tuple [0, 0] + - !!python/tuple [4, 3] + - !!python/tuple [0, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex11.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex11.yaml new file mode 100644 index 0000000..b4778b2 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex11.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [2, 7] + name: agent0 + start: [2, 7] +- goal: [6, 2] + name: agent1 + start: [0, 4] +- goal: [0, 5] + name: agent2 + start: [6, 3] +- goal: [3, 3] + name: agent3 + start: [6, 4] +- goal: [6, 4] + name: agent4 + start: [2, 1] +- goal: [7, 7] + name: agent5 + start: [3, 2] +- goal: [1, 4] + name: agent6 + start: [6, 0] +- goal: [5, 5] + name: agent7 + start: [4, 2] +- goal: [0, 0] + name: agent8 + start: [7, 7] +- goal: [0, 2] + name: agent9 + start: [7, 3] +- goal: [5, 3] + name: agent10 + start: [5, 3] +- goal: [2, 4] + name: agent11 + start: [5, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 6] + - !!python/tuple [7, 2] + - !!python/tuple [1, 3] + - !!python/tuple [3, 5] + - !!python/tuple [2, 5] + - !!python/tuple [2, 6] + - !!python/tuple [4, 4] + - !!python/tuple [7, 1] + - !!python/tuple [3, 6] + - !!python/tuple [5, 0] + - !!python/tuple [0, 6] + - !!python/tuple [4, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex12.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex12.yaml new file mode 100644 index 0000000..722d73c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex12.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [6, 0] + name: agent0 + start: [5, 2] +- goal: [5, 1] + name: agent1 + start: [1, 7] +- goal: [2, 2] + name: agent2 + start: [0, 6] +- goal: [0, 6] + name: agent3 + start: [3, 7] +- goal: [2, 6] + name: agent4 + start: [6, 4] +- goal: [0, 7] + name: agent5 + start: [3, 4] +- goal: [4, 5] + name: agent6 + start: [4, 1] +- goal: [3, 2] + name: agent7 + start: [5, 3] +- goal: [6, 2] + name: agent8 + start: [6, 0] +- goal: [1, 7] + name: agent9 + start: [5, 5] +- goal: [2, 7] + name: agent10 + start: [5, 7] +- goal: [3, 7] + name: agent11 + start: [0, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 4] + - !!python/tuple [7, 5] + - !!python/tuple [4, 7] + - !!python/tuple [2, 5] + - !!python/tuple [3, 3] + - !!python/tuple [4, 6] + - !!python/tuple [6, 7] + - !!python/tuple [5, 0] + - !!python/tuple [2, 1] + - !!python/tuple [0, 3] + - !!python/tuple [7, 0] + - !!python/tuple [7, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex13.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex13.yaml new file mode 100644 index 0000000..c195f62 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex13.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [6, 6] + name: agent0 + start: [3, 5] +- goal: [5, 1] + name: agent1 + start: [2, 6] +- goal: [2, 3] + name: agent2 + start: [3, 6] +- goal: [0, 1] + name: agent3 + start: [1, 0] +- goal: [5, 5] + name: agent4 + start: [3, 1] +- goal: [4, 1] + name: agent5 + start: [6, 5] +- goal: [0, 2] + name: agent6 + start: [1, 5] +- goal: [3, 2] + name: agent7 + start: [0, 6] +- goal: [5, 0] + name: agent8 + start: [2, 5] +- goal: [7, 5] + name: agent9 + start: [2, 4] +- goal: [2, 6] + name: agent10 + start: [5, 1] +- goal: [6, 0] + name: agent11 + start: [5, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 7] + - !!python/tuple [6, 7] + - !!python/tuple [6, 2] + - !!python/tuple [2, 0] + - !!python/tuple [5, 7] + - !!python/tuple [4, 4] + - !!python/tuple [7, 7] + - !!python/tuple [5, 4] + - !!python/tuple [1, 3] + - !!python/tuple [1, 4] + - !!python/tuple [3, 3] + - !!python/tuple [3, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex14.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex14.yaml new file mode 100644 index 0000000..44de6a5 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex14.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [4, 7] + name: agent0 + start: [5, 5] +- goal: [0, 1] + name: agent1 + start: [5, 1] +- goal: [5, 2] + name: agent2 + start: [5, 0] +- goal: [1, 1] + name: agent3 + start: [4, 5] +- goal: [3, 4] + name: agent4 + start: [7, 2] +- goal: [7, 2] + name: agent5 + start: [6, 2] +- goal: [6, 5] + name: agent6 + start: [1, 0] +- goal: [1, 5] + name: agent7 + start: [4, 3] +- goal: [1, 6] + name: agent8 + start: [2, 7] +- goal: [5, 5] + name: agent9 + start: [5, 4] +- goal: [2, 5] + name: agent10 + start: [3, 2] +- goal: [0, 4] + name: agent11 + start: [7, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 0] + - !!python/tuple [5, 7] + - !!python/tuple [7, 0] + - !!python/tuple [5, 3] + - !!python/tuple [3, 1] + - !!python/tuple [7, 6] + - !!python/tuple [6, 6] + - !!python/tuple [6, 1] + - !!python/tuple [6, 4] + - !!python/tuple [3, 6] + - !!python/tuple [7, 7] + - !!python/tuple [4, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex15.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex15.yaml new file mode 100644 index 0000000..12c0928 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex15.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [6, 1] + name: agent0 + start: [5, 1] +- goal: [2, 0] + name: agent1 + start: [5, 7] +- goal: [3, 5] + name: agent2 + start: [7, 0] +- goal: [3, 7] + name: agent3 + start: [4, 7] +- goal: [0, 0] + name: agent4 + start: [0, 7] +- goal: [0, 5] + name: agent5 + start: [2, 4] +- goal: [3, 2] + name: agent6 + start: [0, 5] +- goal: [7, 7] + name: agent7 + start: [4, 2] +- goal: [3, 0] + name: agent8 + start: [7, 3] +- goal: [1, 6] + name: agent9 + start: [1, 2] +- goal: [7, 6] + name: agent10 + start: [3, 7] +- goal: [4, 1] + name: agent11 + start: [6, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 3] + - !!python/tuple [0, 3] + - !!python/tuple [7, 5] + - !!python/tuple [1, 7] + - !!python/tuple [6, 7] + - !!python/tuple [2, 7] + - !!python/tuple [5, 6] + - !!python/tuple [3, 4] + - !!python/tuple [2, 2] + - !!python/tuple [5, 2] + - !!python/tuple [7, 4] + - !!python/tuple [2, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex16.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex16.yaml new file mode 100644 index 0000000..e6c5a30 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex16.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [5, 3] + name: agent0 + start: [6, 2] +- goal: [6, 7] + name: agent1 + start: [1, 1] +- goal: [1, 3] + name: agent2 + start: [1, 4] +- goal: [3, 7] + name: agent3 + start: [0, 5] +- goal: [7, 3] + name: agent4 + start: [0, 1] +- goal: [1, 4] + name: agent5 + start: [5, 7] +- goal: [5, 4] + name: agent6 + start: [5, 0] +- goal: [5, 1] + name: agent7 + start: [2, 6] +- goal: [2, 0] + name: agent8 + start: [3, 6] +- goal: [2, 2] + name: agent9 + start: [7, 3] +- goal: [6, 6] + name: agent10 + start: [3, 5] +- goal: [5, 0] + name: agent11 + start: [7, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 4] + - !!python/tuple [0, 2] + - !!python/tuple [5, 5] + - !!python/tuple [7, 6] + - !!python/tuple [4, 5] + - !!python/tuple [4, 4] + - !!python/tuple [3, 2] + - !!python/tuple [2, 4] + - !!python/tuple [1, 6] + - !!python/tuple [3, 3] + - !!python/tuple [1, 7] + - !!python/tuple [0, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex17.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex17.yaml new file mode 100644 index 0000000..e507048 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex17.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [0, 0] + name: agent0 + start: [7, 4] +- goal: [2, 3] + name: agent1 + start: [4, 4] +- goal: [1, 4] + name: agent2 + start: [5, 1] +- goal: [0, 2] + name: agent3 + start: [6, 2] +- goal: [1, 1] + name: agent4 + start: [1, 1] +- goal: [0, 4] + name: agent5 + start: [5, 6] +- goal: [1, 6] + name: agent6 + start: [7, 1] +- goal: [4, 7] + name: agent7 + start: [0, 3] +- goal: [7, 3] + name: agent8 + start: [7, 5] +- goal: [4, 1] + name: agent9 + start: [4, 1] +- goal: [5, 4] + name: agent10 + start: [5, 5] +- goal: [6, 6] + name: agent11 + start: [5, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 7] + - !!python/tuple [4, 3] + - !!python/tuple [2, 1] + - !!python/tuple [3, 6] + - !!python/tuple [7, 7] + - !!python/tuple [4, 0] + - !!python/tuple [1, 3] + - !!python/tuple [7, 0] + - !!python/tuple [0, 5] + - !!python/tuple [3, 7] + - !!python/tuple [0, 7] + - !!python/tuple [6, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex18.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex18.yaml new file mode 100644 index 0000000..22ec1bc --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex18.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [4, 0] + name: agent0 + start: [0, 7] +- goal: [7, 2] + name: agent1 + start: [3, 2] +- goal: [0, 4] + name: agent2 + start: [1, 3] +- goal: [0, 6] + name: agent3 + start: [1, 5] +- goal: [2, 7] + name: agent4 + start: [7, 1] +- goal: [2, 1] + name: agent5 + start: [7, 5] +- goal: [6, 6] + name: agent6 + start: [2, 7] +- goal: [2, 5] + name: agent7 + start: [6, 6] +- goal: [0, 2] + name: agent8 + start: [1, 0] +- goal: [3, 0] + name: agent9 + start: [5, 3] +- goal: [7, 4] + name: agent10 + start: [2, 2] +- goal: [3, 4] + name: agent11 + start: [4, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 0] + - !!python/tuple [1, 7] + - !!python/tuple [4, 5] + - !!python/tuple [3, 3] + - !!python/tuple [5, 1] + - !!python/tuple [4, 3] + - !!python/tuple [6, 0] + - !!python/tuple [0, 1] + - !!python/tuple [3, 5] + - !!python/tuple [2, 3] + - !!python/tuple [5, 7] + - !!python/tuple [4, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex19.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex19.yaml new file mode 100644 index 0000000..d334301 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex19.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [5, 4] + name: agent0 + start: [1, 0] +- goal: [5, 5] + name: agent1 + start: [6, 7] +- goal: [6, 1] + name: agent2 + start: [1, 7] +- goal: [2, 3] + name: agent3 + start: [4, 2] +- goal: [0, 6] + name: agent4 + start: [2, 3] +- goal: [3, 7] + name: agent5 + start: [3, 1] +- goal: [3, 0] + name: agent6 + start: [2, 2] +- goal: [7, 4] + name: agent7 + start: [5, 4] +- goal: [5, 1] + name: agent8 + start: [6, 6] +- goal: [1, 1] + name: agent9 + start: [0, 2] +- goal: [2, 5] + name: agent10 + start: [7, 3] +- goal: [7, 3] + name: agent11 + start: [1, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 5] + - !!python/tuple [7, 0] + - !!python/tuple [4, 6] + - !!python/tuple [2, 6] + - !!python/tuple [1, 5] + - !!python/tuple [3, 3] + - !!python/tuple [5, 0] + - !!python/tuple [3, 5] + - !!python/tuple [6, 0] + - !!python/tuple [6, 3] + - !!python/tuple [1, 4] + - !!python/tuple [4, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex2.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex2.yaml new file mode 100644 index 0000000..e503c1b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex2.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [1, 2] + name: agent0 + start: [1, 5] +- goal: [0, 0] + name: agent1 + start: [2, 3] +- goal: [5, 1] + name: agent2 + start: [4, 0] +- goal: [3, 0] + name: agent3 + start: [1, 7] +- goal: [3, 3] + name: agent4 + start: [4, 2] +- goal: [2, 0] + name: agent5 + start: [1, 4] +- goal: [2, 3] + name: agent6 + start: [5, 3] +- goal: [1, 0] + name: agent7 + start: [5, 4] +- goal: [3, 2] + name: agent8 + start: [3, 2] +- goal: [7, 1] + name: agent9 + start: [3, 3] +- goal: [3, 1] + name: agent10 + start: [4, 4] +- goal: [3, 6] + name: agent11 + start: [6, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 5] + - !!python/tuple [4, 5] + - !!python/tuple [0, 2] + - !!python/tuple [7, 4] + - !!python/tuple [4, 3] + - !!python/tuple [5, 5] + - !!python/tuple [2, 6] + - !!python/tuple [5, 7] + - !!python/tuple [0, 3] + - !!python/tuple [6, 0] + - !!python/tuple [7, 0] + - !!python/tuple [6, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex20.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex20.yaml new file mode 100644 index 0000000..9b2728d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex20.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [4, 2] + name: agent0 + start: [7, 2] +- goal: [3, 0] + name: agent1 + start: [5, 7] +- goal: [1, 6] + name: agent2 + start: [5, 3] +- goal: [5, 4] + name: agent3 + start: [4, 3] +- goal: [4, 3] + name: agent4 + start: [3, 1] +- goal: [7, 5] + name: agent5 + start: [4, 2] +- goal: [1, 4] + name: agent6 + start: [6, 0] +- goal: [4, 7] + name: agent7 + start: [1, 7] +- goal: [7, 3] + name: agent8 + start: [7, 3] +- goal: [1, 0] + name: agent9 + start: [4, 1] +- goal: [6, 4] + name: agent10 + start: [3, 3] +- goal: [1, 7] + name: agent11 + start: [0, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 1] + - !!python/tuple [0, 6] + - !!python/tuple [2, 5] + - !!python/tuple [2, 2] + - !!python/tuple [6, 1] + - !!python/tuple [0, 2] + - !!python/tuple [7, 7] + - !!python/tuple [0, 7] + - !!python/tuple [0, 1] + - !!python/tuple [1, 3] + - !!python/tuple [7, 6] + - !!python/tuple [3, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex21.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex21.yaml new file mode 100644 index 0000000..c914367 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex21.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [4, 3] + name: agent0 + start: [3, 1] +- goal: [0, 2] + name: agent1 + start: [2, 4] +- goal: [1, 7] + name: agent2 + start: [4, 7] +- goal: [0, 4] + name: agent3 + start: [0, 7] +- goal: [3, 6] + name: agent4 + start: [7, 3] +- goal: [1, 6] + name: agent5 + start: [7, 1] +- goal: [0, 5] + name: agent6 + start: [3, 7] +- goal: [5, 5] + name: agent7 + start: [0, 5] +- goal: [2, 0] + name: agent8 + start: [4, 0] +- goal: [3, 2] + name: agent9 + start: [3, 2] +- goal: [4, 6] + name: agent10 + start: [7, 7] +- goal: [6, 2] + name: agent11 + start: [2, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 3] + - !!python/tuple [6, 1] + - !!python/tuple [5, 2] + - !!python/tuple [3, 0] + - !!python/tuple [6, 5] + - !!python/tuple [2, 6] + - !!python/tuple [1, 4] + - !!python/tuple [6, 7] + - !!python/tuple [0, 0] + - !!python/tuple [3, 5] + - !!python/tuple [5, 7] + - !!python/tuple [7, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex22.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex22.yaml new file mode 100644 index 0000000..820a60e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex22.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [2, 5] + name: agent0 + start: [0, 0] +- goal: [0, 3] + name: agent1 + start: [0, 1] +- goal: [2, 2] + name: agent2 + start: [5, 5] +- goal: [3, 5] + name: agent3 + start: [0, 6] +- goal: [7, 7] + name: agent4 + start: [0, 2] +- goal: [7, 3] + name: agent5 + start: [0, 5] +- goal: [0, 2] + name: agent6 + start: [1, 7] +- goal: [1, 3] + name: agent7 + start: [4, 0] +- goal: [7, 6] + name: agent8 + start: [7, 3] +- goal: [0, 5] + name: agent9 + start: [2, 4] +- goal: [2, 6] + name: agent10 + start: [7, 1] +- goal: [5, 2] + name: agent11 + start: [7, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 3] + - !!python/tuple [6, 7] + - !!python/tuple [1, 1] + - !!python/tuple [6, 6] + - !!python/tuple [3, 2] + - !!python/tuple [7, 2] + - !!python/tuple [2, 3] + - !!python/tuple [5, 6] + - !!python/tuple [5, 7] + - !!python/tuple [5, 4] + - !!python/tuple [1, 5] + - !!python/tuple [5, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex23.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex23.yaml new file mode 100644 index 0000000..3722000 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex23.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [1, 0] + name: agent0 + start: [5, 6] +- goal: [7, 0] + name: agent1 + start: [5, 5] +- goal: [2, 5] + name: agent2 + start: [4, 2] +- goal: [3, 6] + name: agent3 + start: [2, 4] +- goal: [2, 1] + name: agent4 + start: [6, 3] +- goal: [6, 4] + name: agent5 + start: [0, 5] +- goal: [4, 6] + name: agent6 + start: [7, 0] +- goal: [1, 7] + name: agent7 + start: [3, 6] +- goal: [7, 2] + name: agent8 + start: [3, 2] +- goal: [7, 5] + name: agent9 + start: [1, 0] +- goal: [1, 3] + name: agent10 + start: [6, 2] +- goal: [5, 6] + name: agent11 + start: [7, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 1] + - !!python/tuple [0, 1] + - !!python/tuple [6, 0] + - !!python/tuple [6, 6] + - !!python/tuple [7, 4] + - !!python/tuple [4, 3] + - !!python/tuple [2, 0] + - !!python/tuple [0, 7] + - !!python/tuple [0, 2] + - !!python/tuple [4, 5] + - !!python/tuple [3, 0] + - !!python/tuple [5, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex24.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex24.yaml new file mode 100644 index 0000000..a5592dc --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex24.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [6, 4] + name: agent0 + start: [0, 3] +- goal: [5, 4] + name: agent1 + start: [6, 2] +- goal: [6, 2] + name: agent2 + start: [0, 4] +- goal: [5, 0] + name: agent3 + start: [3, 0] +- goal: [3, 0] + name: agent4 + start: [0, 5] +- goal: [5, 6] + name: agent5 + start: [7, 2] +- goal: [3, 2] + name: agent6 + start: [4, 7] +- goal: [0, 7] + name: agent7 + start: [2, 0] +- goal: [0, 5] + name: agent8 + start: [1, 2] +- goal: [2, 5] + name: agent9 + start: [3, 6] +- goal: [7, 7] + name: agent10 + start: [2, 4] +- goal: [6, 0] + name: agent11 + start: [7, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 2] + - !!python/tuple [4, 1] + - !!python/tuple [5, 1] + - !!python/tuple [4, 4] + - !!python/tuple [7, 4] + - !!python/tuple [7, 1] + - !!python/tuple [7, 3] + - !!python/tuple [2, 1] + - !!python/tuple [5, 7] + - !!python/tuple [3, 7] + - !!python/tuple [5, 5] + - !!python/tuple [1, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex25.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex25.yaml new file mode 100644 index 0000000..11344e2 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex25.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [7, 4] + name: agent0 + start: [0, 5] +- goal: [6, 7] + name: agent1 + start: [5, 5] +- goal: [3, 7] + name: agent2 + start: [7, 6] +- goal: [7, 2] + name: agent3 + start: [2, 7] +- goal: [1, 2] + name: agent4 + start: [7, 4] +- goal: [4, 1] + name: agent5 + start: [2, 5] +- goal: [7, 3] + name: agent6 + start: [7, 3] +- goal: [0, 6] + name: agent7 + start: [1, 5] +- goal: [2, 1] + name: agent8 + start: [3, 7] +- goal: [0, 4] + name: agent9 + start: [5, 2] +- goal: [0, 3] + name: agent10 + start: [3, 4] +- goal: [3, 2] + name: agent11 + start: [4, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 4] + - !!python/tuple [1, 1] + - !!python/tuple [6, 2] + - !!python/tuple [3, 6] + - !!python/tuple [0, 2] + - !!python/tuple [1, 0] + - !!python/tuple [5, 1] + - !!python/tuple [6, 0] + - !!python/tuple [7, 0] + - !!python/tuple [1, 3] + - !!python/tuple [4, 5] + - !!python/tuple [2, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex26.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex26.yaml new file mode 100644 index 0000000..898237a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex26.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [6, 5] + name: agent0 + start: [7, 5] +- goal: [5, 6] + name: agent1 + start: [7, 2] +- goal: [5, 3] + name: agent2 + start: [3, 6] +- goal: [3, 7] + name: agent3 + start: [0, 2] +- goal: [1, 6] + name: agent4 + start: [3, 7] +- goal: [1, 1] + name: agent5 + start: [5, 7] +- goal: [5, 2] + name: agent6 + start: [0, 7] +- goal: [0, 6] + name: agent7 + start: [1, 3] +- goal: [4, 5] + name: agent8 + start: [4, 5] +- goal: [2, 1] + name: agent9 + start: [7, 3] +- goal: [1, 3] + name: agent10 + start: [7, 4] +- goal: [2, 2] + name: agent11 + start: [0, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 2] + - !!python/tuple [4, 6] + - !!python/tuple [3, 0] + - !!python/tuple [4, 1] + - !!python/tuple [3, 4] + - !!python/tuple [2, 4] + - !!python/tuple [5, 4] + - !!python/tuple [0, 3] + - !!python/tuple [4, 2] + - !!python/tuple [6, 2] + - !!python/tuple [2, 7] + - !!python/tuple [0, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex27.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex27.yaml new file mode 100644 index 0000000..9601763 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex27.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [3, 1] + name: agent0 + start: [1, 4] +- goal: [5, 2] + name: agent1 + start: [3, 6] +- goal: [4, 0] + name: agent2 + start: [5, 1] +- goal: [4, 4] + name: agent3 + start: [0, 4] +- goal: [2, 1] + name: agent4 + start: [4, 4] +- goal: [1, 3] + name: agent5 + start: [0, 6] +- goal: [4, 7] + name: agent6 + start: [6, 1] +- goal: [7, 5] + name: agent7 + start: [3, 4] +- goal: [0, 4] + name: agent8 + start: [7, 2] +- goal: [3, 5] + name: agent9 + start: [2, 5] +- goal: [1, 1] + name: agent10 + start: [0, 2] +- goal: [1, 4] + name: agent11 + start: [5, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 1] + - !!python/tuple [4, 5] + - !!python/tuple [6, 6] + - !!python/tuple [1, 2] + - !!python/tuple [7, 3] + - !!python/tuple [1, 7] + - !!python/tuple [6, 0] + - !!python/tuple [4, 2] + - !!python/tuple [4, 6] + - !!python/tuple [1, 0] + - !!python/tuple [3, 3] + - !!python/tuple [5, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex28.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex28.yaml new file mode 100644 index 0000000..a76b046 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex28.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [5, 3] + name: agent0 + start: [0, 6] +- goal: [7, 6] + name: agent1 + start: [1, 7] +- goal: [5, 1] + name: agent2 + start: [0, 1] +- goal: [3, 4] + name: agent3 + start: [0, 5] +- goal: [5, 4] + name: agent4 + start: [7, 3] +- goal: [7, 7] + name: agent5 + start: [7, 4] +- goal: [2, 0] + name: agent6 + start: [4, 0] +- goal: [0, 6] + name: agent7 + start: [2, 0] +- goal: [4, 3] + name: agent8 + start: [0, 3] +- goal: [1, 2] + name: agent9 + start: [5, 1] +- goal: [1, 1] + name: agent10 + start: [7, 2] +- goal: [0, 2] + name: agent11 + start: [3, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 4] + - !!python/tuple [1, 6] + - !!python/tuple [4, 1] + - !!python/tuple [6, 3] + - !!python/tuple [6, 5] + - !!python/tuple [7, 5] + - !!python/tuple [2, 1] + - !!python/tuple [7, 0] + - !!python/tuple [6, 4] + - !!python/tuple [6, 6] + - !!python/tuple [2, 3] + - !!python/tuple [3, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex29.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex29.yaml new file mode 100644 index 0000000..ff2342d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex29.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [3, 1] + name: agent0 + start: [7, 4] +- goal: [4, 6] + name: agent1 + start: [6, 4] +- goal: [3, 0] + name: agent2 + start: [1, 0] +- goal: [0, 1] + name: agent3 + start: [5, 2] +- goal: [5, 7] + name: agent4 + start: [5, 7] +- goal: [0, 4] + name: agent5 + start: [3, 0] +- goal: [7, 1] + name: agent6 + start: [4, 0] +- goal: [2, 2] + name: agent7 + start: [3, 4] +- goal: [4, 5] + name: agent8 + start: [3, 6] +- goal: [6, 1] + name: agent9 + start: [1, 3] +- goal: [3, 6] + name: agent10 + start: [6, 0] +- goal: [7, 5] + name: agent11 + start: [7, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 1] + - !!python/tuple [5, 4] + - !!python/tuple [6, 3] + - !!python/tuple [2, 1] + - !!python/tuple [7, 6] + - !!python/tuple [1, 5] + - !!python/tuple [4, 7] + - !!python/tuple [1, 1] + - !!python/tuple [6, 6] + - !!python/tuple [3, 3] + - !!python/tuple [4, 1] + - !!python/tuple [2, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex3.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex3.yaml new file mode 100644 index 0000000..9e378ec --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex3.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [1, 4] + name: agent0 + start: [5, 5] +- goal: [0, 1] + name: agent1 + start: [5, 1] +- goal: [4, 5] + name: agent2 + start: [5, 6] +- goal: [7, 6] + name: agent3 + start: [4, 6] +- goal: [4, 7] + name: agent4 + start: [3, 1] +- goal: [5, 6] + name: agent5 + start: [5, 4] +- goal: [3, 3] + name: agent6 + start: [4, 1] +- goal: [2, 0] + name: agent7 + start: [6, 4] +- goal: [4, 4] + name: agent8 + start: [3, 7] +- goal: [7, 3] + name: agent9 + start: [3, 3] +- goal: [6, 7] + name: agent10 + start: [0, 1] +- goal: [7, 1] + name: agent11 + start: [4, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 5] + - !!python/tuple [1, 6] + - !!python/tuple [2, 3] + - !!python/tuple [6, 0] + - !!python/tuple [7, 0] + - !!python/tuple [4, 2] + - !!python/tuple [5, 0] + - !!python/tuple [5, 7] + - !!python/tuple [5, 3] + - !!python/tuple [0, 7] + - !!python/tuple [2, 6] + - !!python/tuple [3, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex30.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex30.yaml new file mode 100644 index 0000000..54af0e8 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex30.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [6, 3] + name: agent0 + start: [7, 4] +- goal: [0, 2] + name: agent1 + start: [2, 6] +- goal: [3, 5] + name: agent2 + start: [1, 2] +- goal: [3, 1] + name: agent3 + start: [2, 2] +- goal: [6, 7] + name: agent4 + start: [2, 7] +- goal: [0, 3] + name: agent5 + start: [3, 5] +- goal: [0, 6] + name: agent6 + start: [2, 1] +- goal: [2, 6] + name: agent7 + start: [7, 0] +- goal: [2, 0] + name: agent8 + start: [0, 0] +- goal: [5, 1] + name: agent9 + start: [3, 7] +- goal: [2, 5] + name: agent10 + start: [4, 0] +- goal: [5, 6] + name: agent11 + start: [5, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 5] + - !!python/tuple [1, 7] + - !!python/tuple [6, 5] + - !!python/tuple [4, 3] + - !!python/tuple [7, 1] + - !!python/tuple [6, 6] + - !!python/tuple [7, 7] + - !!python/tuple [5, 0] + - !!python/tuple [1, 4] + - !!python/tuple [2, 3] + - !!python/tuple [3, 2] + - !!python/tuple [0, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex31.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex31.yaml new file mode 100644 index 0000000..7b088cc --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex31.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [1, 7] + name: agent0 + start: [0, 7] +- goal: [7, 5] + name: agent1 + start: [1, 4] +- goal: [6, 7] + name: agent2 + start: [4, 1] +- goal: [7, 1] + name: agent3 + start: [1, 7] +- goal: [7, 7] + name: agent4 + start: [2, 6] +- goal: [6, 4] + name: agent5 + start: [0, 2] +- goal: [2, 6] + name: agent6 + start: [1, 0] +- goal: [3, 7] + name: agent7 + start: [0, 5] +- goal: [3, 2] + name: agent8 + start: [3, 3] +- goal: [5, 1] + name: agent9 + start: [3, 2] +- goal: [6, 1] + name: agent10 + start: [3, 5] +- goal: [2, 1] + name: agent11 + start: [3, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 6] + - !!python/tuple [4, 2] + - !!python/tuple [7, 4] + - !!python/tuple [1, 1] + - !!python/tuple [4, 4] + - !!python/tuple [5, 4] + - !!python/tuple [4, 0] + - !!python/tuple [7, 3] + - !!python/tuple [1, 2] + - !!python/tuple [0, 1] + - !!python/tuple [7, 6] + - !!python/tuple [4, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex32.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex32.yaml new file mode 100644 index 0000000..d19f6b8 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex32.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [2, 2] + name: agent0 + start: [7, 7] +- goal: [3, 3] + name: agent1 + start: [2, 1] +- goal: [7, 1] + name: agent2 + start: [2, 2] +- goal: [0, 5] + name: agent3 + start: [0, 5] +- goal: [6, 1] + name: agent4 + start: [7, 5] +- goal: [5, 5] + name: agent5 + start: [5, 5] +- goal: [4, 6] + name: agent6 + start: [0, 0] +- goal: [5, 4] + name: agent7 + start: [2, 3] +- goal: [7, 4] + name: agent8 + start: [4, 3] +- goal: [5, 6] + name: agent9 + start: [0, 4] +- goal: [7, 7] + name: agent10 + start: [1, 6] +- goal: [4, 2] + name: agent11 + start: [2, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 1] + - !!python/tuple [1, 2] + - !!python/tuple [2, 5] + - !!python/tuple [3, 6] + - !!python/tuple [1, 1] + - !!python/tuple [0, 2] + - !!python/tuple [4, 1] + - !!python/tuple [7, 2] + - !!python/tuple [6, 4] + - !!python/tuple [6, 6] + - !!python/tuple [5, 7] + - !!python/tuple [1, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex33.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex33.yaml new file mode 100644 index 0000000..6f97cff --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex33.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [5, 4] + name: agent0 + start: [4, 5] +- goal: [2, 7] + name: agent1 + start: [6, 0] +- goal: [7, 3] + name: agent2 + start: [5, 0] +- goal: [0, 1] + name: agent3 + start: [0, 4] +- goal: [5, 3] + name: agent4 + start: [2, 0] +- goal: [6, 7] + name: agent5 + start: [7, 6] +- goal: [1, 1] + name: agent6 + start: [6, 4] +- goal: [1, 6] + name: agent7 + start: [7, 5] +- goal: [4, 7] + name: agent8 + start: [4, 2] +- goal: [7, 5] + name: agent9 + start: [5, 7] +- goal: [0, 7] + name: agent10 + start: [0, 6] +- goal: [4, 4] + name: agent11 + start: [5, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 5] + - !!python/tuple [2, 4] + - !!python/tuple [5, 1] + - !!python/tuple [3, 6] + - !!python/tuple [6, 6] + - !!python/tuple [7, 4] + - !!python/tuple [3, 0] + - !!python/tuple [4, 3] + - !!python/tuple [1, 3] + - !!python/tuple [4, 6] + - !!python/tuple [2, 3] + - !!python/tuple [4, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex34.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex34.yaml new file mode 100644 index 0000000..1d67eb1 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex34.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [4, 5] + name: agent0 + start: [3, 3] +- goal: [0, 5] + name: agent1 + start: [3, 6] +- goal: [6, 2] + name: agent2 + start: [5, 7] +- goal: [4, 2] + name: agent3 + start: [3, 5] +- goal: [2, 0] + name: agent4 + start: [4, 0] +- goal: [3, 4] + name: agent5 + start: [3, 0] +- goal: [1, 0] + name: agent6 + start: [2, 4] +- goal: [3, 6] + name: agent7 + start: [2, 6] +- goal: [5, 4] + name: agent8 + start: [6, 4] +- goal: [2, 2] + name: agent9 + start: [3, 4] +- goal: [7, 3] + name: agent10 + start: [6, 1] +- goal: [3, 1] + name: agent11 + start: [6, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 7] + - !!python/tuple [4, 6] + - !!python/tuple [4, 3] + - !!python/tuple [2, 1] + - !!python/tuple [7, 7] + - !!python/tuple [0, 6] + - !!python/tuple [5, 3] + - !!python/tuple [6, 5] + - !!python/tuple [6, 3] + - !!python/tuple [7, 4] + - !!python/tuple [2, 7] + - !!python/tuple [1, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex35.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex35.yaml new file mode 100644 index 0000000..ef0f386 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex35.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [6, 6] + name: agent0 + start: [2, 4] +- goal: [3, 4] + name: agent1 + start: [0, 4] +- goal: [2, 4] + name: agent2 + start: [6, 5] +- goal: [3, 2] + name: agent3 + start: [2, 1] +- goal: [3, 5] + name: agent4 + start: [4, 4] +- goal: [2, 2] + name: agent5 + start: [5, 1] +- goal: [1, 6] + name: agent6 + start: [2, 2] +- goal: [1, 4] + name: agent7 + start: [1, 6] +- goal: [2, 6] + name: agent8 + start: [7, 6] +- goal: [3, 3] + name: agent9 + start: [0, 7] +- goal: [1, 3] + name: agent10 + start: [2, 5] +- goal: [4, 1] + name: agent11 + start: [3, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 2] + - !!python/tuple [1, 1] + - !!python/tuple [5, 2] + - !!python/tuple [6, 3] + - !!python/tuple [0, 5] + - !!python/tuple [2, 7] + - !!python/tuple [2, 3] + - !!python/tuple [3, 6] + - !!python/tuple [3, 7] + - !!python/tuple [5, 7] + - !!python/tuple [7, 3] + - !!python/tuple [4, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex36.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex36.yaml new file mode 100644 index 0000000..717f739 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex36.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [6, 4] + name: agent0 + start: [1, 4] +- goal: [7, 0] + name: agent1 + start: [2, 6] +- goal: [2, 6] + name: agent2 + start: [1, 0] +- goal: [1, 0] + name: agent3 + start: [4, 7] +- goal: [1, 3] + name: agent4 + start: [0, 0] +- goal: [0, 7] + name: agent5 + start: [5, 7] +- goal: [4, 0] + name: agent6 + start: [3, 3] +- goal: [2, 7] + name: agent7 + start: [5, 0] +- goal: [5, 3] + name: agent8 + start: [2, 3] +- goal: [3, 2] + name: agent9 + start: [2, 7] +- goal: [0, 3] + name: agent10 + start: [7, 2] +- goal: [6, 6] + name: agent11 + start: [6, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 5] + - !!python/tuple [4, 3] + - !!python/tuple [4, 5] + - !!python/tuple [3, 7] + - !!python/tuple [1, 1] + - !!python/tuple [3, 5] + - !!python/tuple [4, 4] + - !!python/tuple [0, 5] + - !!python/tuple [6, 1] + - !!python/tuple [1, 5] + - !!python/tuple [2, 5] + - !!python/tuple [0, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex37.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex37.yaml new file mode 100644 index 0000000..e69dfb6 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex37.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [2, 6] + name: agent0 + start: [6, 0] +- goal: [3, 0] + name: agent1 + start: [7, 3] +- goal: [2, 1] + name: agent2 + start: [4, 4] +- goal: [6, 4] + name: agent3 + start: [2, 5] +- goal: [1, 3] + name: agent4 + start: [6, 1] +- goal: [0, 3] + name: agent5 + start: [1, 3] +- goal: [1, 7] + name: agent6 + start: [5, 0] +- goal: [0, 7] + name: agent7 + start: [3, 6] +- goal: [5, 2] + name: agent8 + start: [2, 3] +- goal: [2, 0] + name: agent9 + start: [5, 1] +- goal: [3, 4] + name: agent10 + start: [5, 5] +- goal: [7, 0] + name: agent11 + start: [0, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 7] + - !!python/tuple [3, 2] + - !!python/tuple [7, 1] + - !!python/tuple [6, 3] + - !!python/tuple [3, 3] + - !!python/tuple [1, 5] + - !!python/tuple [5, 6] + - !!python/tuple [0, 0] + - !!python/tuple [7, 4] + - !!python/tuple [2, 2] + - !!python/tuple [0, 6] + - !!python/tuple [0, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex38.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex38.yaml new file mode 100644 index 0000000..c013262 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex38.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [1, 3] + name: agent0 + start: [1, 2] +- goal: [4, 6] + name: agent1 + start: [4, 2] +- goal: [5, 0] + name: agent2 + start: [0, 1] +- goal: [6, 1] + name: agent3 + start: [6, 4] +- goal: [2, 7] + name: agent4 + start: [0, 5] +- goal: [7, 5] + name: agent5 + start: [0, 7] +- goal: [5, 1] + name: agent6 + start: [7, 6] +- goal: [2, 4] + name: agent7 + start: [5, 4] +- goal: [2, 6] + name: agent8 + start: [7, 4] +- goal: [5, 5] + name: agent9 + start: [1, 4] +- goal: [3, 6] + name: agent10 + start: [3, 2] +- goal: [3, 2] + name: agent11 + start: [1, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 3] + - !!python/tuple [5, 6] + - !!python/tuple [2, 2] + - !!python/tuple [0, 0] + - !!python/tuple [5, 7] + - !!python/tuple [3, 3] + - !!python/tuple [6, 6] + - !!python/tuple [6, 3] + - !!python/tuple [3, 7] + - !!python/tuple [0, 3] + - !!python/tuple [1, 1] + - !!python/tuple [5, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex39.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex39.yaml new file mode 100644 index 0000000..85d3682 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex39.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [5, 4] + name: agent0 + start: [5, 7] +- goal: [1, 6] + name: agent1 + start: [6, 0] +- goal: [6, 0] + name: agent2 + start: [5, 1] +- goal: [3, 2] + name: agent3 + start: [3, 0] +- goal: [2, 2] + name: agent4 + start: [5, 2] +- goal: [7, 1] + name: agent5 + start: [1, 7] +- goal: [2, 5] + name: agent6 + start: [5, 5] +- goal: [5, 3] + name: agent7 + start: [1, 0] +- goal: [1, 5] + name: agent8 + start: [5, 4] +- goal: [3, 6] + name: agent9 + start: [7, 5] +- goal: [2, 7] + name: agent10 + start: [4, 3] +- goal: [7, 0] + name: agent11 + start: [6, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 4] + - !!python/tuple [6, 6] + - !!python/tuple [0, 6] + - !!python/tuple [1, 2] + - !!python/tuple [4, 5] + - !!python/tuple [2, 6] + - !!python/tuple [1, 3] + - !!python/tuple [0, 5] + - !!python/tuple [5, 0] + - !!python/tuple [0, 3] + - !!python/tuple [3, 4] + - !!python/tuple [1, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex4.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex4.yaml new file mode 100644 index 0000000..257238a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex4.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [3, 5] + name: agent0 + start: [2, 6] +- goal: [0, 3] + name: agent1 + start: [3, 2] +- goal: [6, 0] + name: agent2 + start: [6, 0] +- goal: [4, 5] + name: agent3 + start: [7, 5] +- goal: [0, 0] + name: agent4 + start: [1, 3] +- goal: [5, 6] + name: agent5 + start: [4, 1] +- goal: [1, 1] + name: agent6 + start: [1, 2] +- goal: [1, 4] + name: agent7 + start: [3, 5] +- goal: [4, 3] + name: agent8 + start: [0, 1] +- goal: [7, 0] + name: agent9 + start: [3, 0] +- goal: [3, 7] + name: agent10 + start: [3, 1] +- goal: [2, 5] + name: agent11 + start: [7, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 2] + - !!python/tuple [7, 4] + - !!python/tuple [5, 5] + - !!python/tuple [0, 2] + - !!python/tuple [2, 1] + - !!python/tuple [4, 7] + - !!python/tuple [4, 2] + - !!python/tuple [0, 7] + - !!python/tuple [6, 4] + - !!python/tuple [1, 5] + - !!python/tuple [2, 0] + - !!python/tuple [0, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex40.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex40.yaml new file mode 100644 index 0000000..bde2cac --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex40.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [5, 2] + name: agent0 + start: [0, 7] +- goal: [6, 0] + name: agent1 + start: [6, 1] +- goal: [0, 7] + name: agent2 + start: [4, 2] +- goal: [1, 1] + name: agent3 + start: [0, 0] +- goal: [0, 0] + name: agent4 + start: [3, 6] +- goal: [2, 2] + name: agent5 + start: [2, 5] +- goal: [1, 7] + name: agent6 + start: [6, 7] +- goal: [3, 1] + name: agent7 + start: [0, 6] +- goal: [7, 1] + name: agent8 + start: [3, 2] +- goal: [5, 7] + name: agent9 + start: [2, 6] +- goal: [1, 4] + name: agent10 + start: [5, 0] +- goal: [0, 2] + name: agent11 + start: [1, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 7] + - !!python/tuple [4, 0] + - !!python/tuple [4, 4] + - !!python/tuple [1, 5] + - !!python/tuple [0, 1] + - !!python/tuple [6, 6] + - !!python/tuple [4, 3] + - !!python/tuple [4, 1] + - !!python/tuple [5, 1] + - !!python/tuple [6, 3] + - !!python/tuple [0, 3] + - !!python/tuple [2, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex41.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex41.yaml new file mode 100644 index 0000000..09d6bd6 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex41.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [6, 3] + name: agent0 + start: [4, 4] +- goal: [2, 6] + name: agent1 + start: [6, 0] +- goal: [2, 7] + name: agent2 + start: [2, 0] +- goal: [0, 5] + name: agent3 + start: [5, 3] +- goal: [0, 1] + name: agent4 + start: [2, 6] +- goal: [5, 3] + name: agent5 + start: [2, 7] +- goal: [2, 3] + name: agent6 + start: [2, 1] +- goal: [6, 2] + name: agent7 + start: [5, 5] +- goal: [3, 0] + name: agent8 + start: [6, 3] +- goal: [6, 5] + name: agent9 + start: [4, 5] +- goal: [1, 5] + name: agent10 + start: [3, 4] +- goal: [2, 2] + name: agent11 + start: [5, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 2] + - !!python/tuple [3, 6] + - !!python/tuple [7, 0] + - !!python/tuple [1, 7] + - !!python/tuple [1, 2] + - !!python/tuple [1, 6] + - !!python/tuple [7, 4] + - !!python/tuple [1, 3] + - !!python/tuple [7, 3] + - !!python/tuple [3, 1] + - !!python/tuple [3, 5] + - !!python/tuple [7, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex42.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex42.yaml new file mode 100644 index 0000000..d8e917e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex42.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [0, 2] + name: agent0 + start: [0, 4] +- goal: [4, 3] + name: agent1 + start: [6, 7] +- goal: [6, 3] + name: agent2 + start: [4, 5] +- goal: [3, 4] + name: agent3 + start: [4, 6] +- goal: [7, 7] + name: agent4 + start: [4, 7] +- goal: [6, 6] + name: agent5 + start: [4, 2] +- goal: [7, 1] + name: agent6 + start: [5, 4] +- goal: [1, 1] + name: agent7 + start: [4, 0] +- goal: [7, 4] + name: agent8 + start: [7, 0] +- goal: [5, 1] + name: agent9 + start: [3, 2] +- goal: [6, 2] + name: agent10 + start: [7, 5] +- goal: [4, 1] + name: agent11 + start: [1, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 5] + - !!python/tuple [3, 5] + - !!python/tuple [0, 6] + - !!python/tuple [4, 4] + - !!python/tuple [3, 6] + - !!python/tuple [2, 3] + - !!python/tuple [3, 3] + - !!python/tuple [2, 5] + - !!python/tuple [1, 7] + - !!python/tuple [5, 2] + - !!python/tuple [6, 4] + - !!python/tuple [6, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex43.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex43.yaml new file mode 100644 index 0000000..e5378ee --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex43.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [2, 1] + name: agent0 + start: [5, 0] +- goal: [4, 6] + name: agent1 + start: [0, 4] +- goal: [6, 6] + name: agent2 + start: [5, 3] +- goal: [0, 2] + name: agent3 + start: [7, 4] +- goal: [1, 1] + name: agent4 + start: [0, 0] +- goal: [3, 6] + name: agent5 + start: [2, 4] +- goal: [0, 7] + name: agent6 + start: [4, 3] +- goal: [5, 2] + name: agent7 + start: [6, 4] +- goal: [4, 7] + name: agent8 + start: [0, 5] +- goal: [2, 4] + name: agent9 + start: [1, 1] +- goal: [5, 3] + name: agent10 + start: [3, 0] +- goal: [2, 2] + name: agent11 + start: [3, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 3] + - !!python/tuple [6, 5] + - !!python/tuple [4, 5] + - !!python/tuple [2, 7] + - !!python/tuple [7, 1] + - !!python/tuple [7, 0] + - !!python/tuple [1, 0] + - !!python/tuple [5, 4] + - !!python/tuple [7, 6] + - !!python/tuple [2, 0] + - !!python/tuple [4, 0] + - !!python/tuple [2, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex44.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex44.yaml new file mode 100644 index 0000000..ce820cf --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex44.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [4, 4] + name: agent0 + start: [3, 7] +- goal: [1, 2] + name: agent1 + start: [6, 6] +- goal: [7, 7] + name: agent2 + start: [4, 0] +- goal: [1, 4] + name: agent3 + start: [0, 1] +- goal: [0, 4] + name: agent4 + start: [1, 2] +- goal: [3, 4] + name: agent5 + start: [5, 2] +- goal: [1, 6] + name: agent6 + start: [3, 5] +- goal: [3, 0] + name: agent7 + start: [2, 3] +- goal: [5, 2] + name: agent8 + start: [4, 1] +- goal: [6, 6] + name: agent9 + start: [5, 5] +- goal: [3, 5] + name: agent10 + start: [2, 7] +- goal: [7, 4] + name: agent11 + start: [6, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 1] + - !!python/tuple [2, 1] + - !!python/tuple [7, 3] + - !!python/tuple [5, 1] + - !!python/tuple [6, 2] + - !!python/tuple [6, 0] + - !!python/tuple [2, 5] + - !!python/tuple [1, 3] + - !!python/tuple [7, 0] + - !!python/tuple [2, 2] + - !!python/tuple [0, 0] + - !!python/tuple [4, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex45.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex45.yaml new file mode 100644 index 0000000..e0cf636 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex45.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [3, 4] + name: agent0 + start: [0, 2] +- goal: [1, 4] + name: agent1 + start: [0, 4] +- goal: [6, 1] + name: agent2 + start: [3, 6] +- goal: [0, 4] + name: agent3 + start: [1, 7] +- goal: [1, 3] + name: agent4 + start: [2, 4] +- goal: [5, 3] + name: agent5 + start: [6, 1] +- goal: [4, 7] + name: agent6 + start: [5, 4] +- goal: [2, 5] + name: agent7 + start: [5, 2] +- goal: [1, 6] + name: agent8 + start: [1, 0] +- goal: [2, 6] + name: agent9 + start: [0, 0] +- goal: [1, 7] + name: agent10 + start: [7, 2] +- goal: [7, 1] + name: agent11 + start: [7, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 5] + - !!python/tuple [6, 2] + - !!python/tuple [6, 0] + - !!python/tuple [4, 6] + - !!python/tuple [2, 3] + - !!python/tuple [5, 5] + - !!python/tuple [7, 5] + - !!python/tuple [0, 3] + - !!python/tuple [3, 5] + - !!python/tuple [4, 5] + - !!python/tuple [5, 7] + - !!python/tuple [3, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex46.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex46.yaml new file mode 100644 index 0000000..84d845f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex46.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [7, 0] + name: agent0 + start: [1, 2] +- goal: [2, 1] + name: agent1 + start: [5, 7] +- goal: [4, 2] + name: agent2 + start: [5, 4] +- goal: [0, 6] + name: agent3 + start: [6, 2] +- goal: [3, 4] + name: agent4 + start: [3, 3] +- goal: [4, 5] + name: agent5 + start: [6, 5] +- goal: [7, 5] + name: agent6 + start: [6, 7] +- goal: [3, 6] + name: agent7 + start: [1, 0] +- goal: [5, 0] + name: agent8 + start: [1, 1] +- goal: [4, 1] + name: agent9 + start: [2, 2] +- goal: [1, 5] + name: agent10 + start: [0, 1] +- goal: [6, 6] + name: agent11 + start: [7, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 2] + - !!python/tuple [2, 3] + - !!python/tuple [0, 3] + - !!python/tuple [4, 3] + - !!python/tuple [0, 5] + - !!python/tuple [1, 3] + - !!python/tuple [3, 5] + - !!python/tuple [5, 1] + - !!python/tuple [0, 2] + - !!python/tuple [5, 6] + - !!python/tuple [1, 4] + - !!python/tuple [2, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex47.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex47.yaml new file mode 100644 index 0000000..7bfaa56 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex47.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [2, 4] + name: agent0 + start: [5, 5] +- goal: [3, 1] + name: agent1 + start: [2, 7] +- goal: [3, 5] + name: agent2 + start: [3, 6] +- goal: [1, 4] + name: agent3 + start: [0, 4] +- goal: [0, 5] + name: agent4 + start: [5, 0] +- goal: [4, 4] + name: agent5 + start: [6, 2] +- goal: [1, 5] + name: agent6 + start: [4, 4] +- goal: [2, 1] + name: agent7 + start: [4, 7] +- goal: [1, 3] + name: agent8 + start: [6, 7] +- goal: [0, 0] + name: agent9 + start: [6, 6] +- goal: [3, 7] + name: agent10 + start: [7, 0] +- goal: [5, 5] + name: agent11 + start: [4, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 4] + - !!python/tuple [0, 7] + - !!python/tuple [5, 3] + - !!python/tuple [1, 7] + - !!python/tuple [4, 2] + - !!python/tuple [5, 4] + - !!python/tuple [7, 6] + - !!python/tuple [5, 6] + - !!python/tuple [5, 1] + - !!python/tuple [1, 6] + - !!python/tuple [1, 0] + - !!python/tuple [7, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex48.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex48.yaml new file mode 100644 index 0000000..8419cc6 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex48.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [6, 7] + name: agent0 + start: [0, 1] +- goal: [2, 2] + name: agent1 + start: [7, 2] +- goal: [0, 3] + name: agent2 + start: [6, 0] +- goal: [3, 2] + name: agent3 + start: [6, 2] +- goal: [5, 0] + name: agent4 + start: [1, 7] +- goal: [1, 5] + name: agent5 + start: [3, 4] +- goal: [2, 1] + name: agent6 + start: [4, 0] +- goal: [3, 4] + name: agent7 + start: [2, 2] +- goal: [6, 3] + name: agent8 + start: [5, 2] +- goal: [7, 0] + name: agent9 + start: [5, 3] +- goal: [7, 7] + name: agent10 + start: [5, 0] +- goal: [4, 5] + name: agent11 + start: [2, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 7] + - !!python/tuple [1, 0] + - !!python/tuple [6, 5] + - !!python/tuple [3, 0] + - !!python/tuple [3, 5] + - !!python/tuple [1, 2] + - !!python/tuple [6, 4] + - !!python/tuple [4, 1] + - !!python/tuple [5, 1] + - !!python/tuple [6, 6] + - !!python/tuple [7, 4] + - !!python/tuple [4, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex49.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex49.yaml new file mode 100644 index 0000000..d3b8b9d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex49.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [3, 1] + name: agent0 + start: [5, 3] +- goal: [5, 3] + name: agent1 + start: [3, 2] +- goal: [5, 0] + name: agent2 + start: [4, 4] +- goal: [4, 4] + name: agent3 + start: [2, 4] +- goal: [2, 1] + name: agent4 + start: [1, 0] +- goal: [6, 2] + name: agent5 + start: [4, 3] +- goal: [2, 6] + name: agent6 + start: [0, 4] +- goal: [5, 1] + name: agent7 + start: [0, 0] +- goal: [0, 6] + name: agent8 + start: [3, 4] +- goal: [0, 7] + name: agent9 + start: [7, 0] +- goal: [3, 0] + name: agent10 + start: [4, 2] +- goal: [7, 6] + name: agent11 + start: [3, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 5] + - !!python/tuple [1, 4] + - !!python/tuple [0, 2] + - !!python/tuple [6, 5] + - !!python/tuple [2, 2] + - !!python/tuple [7, 4] + - !!python/tuple [4, 1] + - !!python/tuple [2, 7] + - !!python/tuple [6, 4] + - !!python/tuple [5, 5] + - !!python/tuple [3, 3] + - !!python/tuple [6, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex5.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex5.yaml new file mode 100644 index 0000000..68067db --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex5.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [7, 7] + name: agent0 + start: [3, 2] +- goal: [4, 4] + name: agent1 + start: [6, 1] +- goal: [7, 0] + name: agent2 + start: [7, 7] +- goal: [4, 7] + name: agent3 + start: [5, 2] +- goal: [2, 3] + name: agent4 + start: [0, 6] +- goal: [2, 7] + name: agent5 + start: [1, 2] +- goal: [6, 0] + name: agent6 + start: [7, 1] +- goal: [0, 6] + name: agent7 + start: [1, 4] +- goal: [5, 2] + name: agent8 + start: [2, 3] +- goal: [3, 2] + name: agent9 + start: [0, 1] +- goal: [1, 7] + name: agent10 + start: [0, 5] +- goal: [2, 5] + name: agent11 + start: [4, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 3] + - !!python/tuple [6, 2] + - !!python/tuple [6, 6] + - !!python/tuple [2, 6] + - !!python/tuple [6, 4] + - !!python/tuple [7, 2] + - !!python/tuple [1, 5] + - !!python/tuple [4, 6] + - !!python/tuple [2, 4] + - !!python/tuple [7, 4] + - !!python/tuple [3, 0] + - !!python/tuple [0, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex50.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex50.yaml new file mode 100644 index 0000000..12f1d10 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex50.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [0, 5] + name: agent0 + start: [2, 0] +- goal: [3, 7] + name: agent1 + start: [1, 1] +- goal: [1, 0] + name: agent2 + start: [6, 4] +- goal: [4, 4] + name: agent3 + start: [7, 0] +- goal: [5, 0] + name: agent4 + start: [6, 6] +- goal: [6, 0] + name: agent5 + start: [3, 2] +- goal: [5, 7] + name: agent6 + start: [0, 7] +- goal: [5, 2] + name: agent7 + start: [3, 1] +- goal: [7, 2] + name: agent8 + start: [6, 5] +- goal: [1, 4] + name: agent9 + start: [4, 2] +- goal: [2, 0] + name: agent10 + start: [0, 6] +- goal: [6, 2] + name: agent11 + start: [7, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 2] + - !!python/tuple [1, 6] + - !!python/tuple [7, 3] + - !!python/tuple [7, 6] + - !!python/tuple [1, 5] + - !!python/tuple [6, 1] + - !!python/tuple [0, 3] + - !!python/tuple [2, 1] + - !!python/tuple [3, 6] + - !!python/tuple [7, 4] + - !!python/tuple [5, 4] + - !!python/tuple [7, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex51.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex51.yaml new file mode 100644 index 0000000..02e710b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex51.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [0, 6] + name: agent0 + start: [0, 1] +- goal: [3, 6] + name: agent1 + start: [5, 3] +- goal: [4, 4] + name: agent2 + start: [0, 2] +- goal: [3, 3] + name: agent3 + start: [6, 5] +- goal: [5, 6] + name: agent4 + start: [7, 6] +- goal: [3, 7] + name: agent5 + start: [3, 2] +- goal: [6, 2] + name: agent6 + start: [3, 6] +- goal: [1, 0] + name: agent7 + start: [0, 6] +- goal: [3, 0] + name: agent8 + start: [1, 5] +- goal: [7, 0] + name: agent9 + start: [2, 2] +- goal: [7, 2] + name: agent10 + start: [4, 6] +- goal: [0, 5] + name: agent11 + start: [5, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 5] + - !!python/tuple [5, 5] + - !!python/tuple [2, 4] + - !!python/tuple [0, 3] + - !!python/tuple [0, 7] + - !!python/tuple [1, 7] + - !!python/tuple [6, 6] + - !!python/tuple [4, 1] + - !!python/tuple [5, 7] + - !!python/tuple [2, 5] + - !!python/tuple [1, 3] + - !!python/tuple [1, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex52.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex52.yaml new file mode 100644 index 0000000..234c1ea --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex52.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [3, 3] + name: agent0 + start: [6, 3] +- goal: [4, 7] + name: agent1 + start: [7, 2] +- goal: [6, 0] + name: agent2 + start: [7, 0] +- goal: [4, 5] + name: agent3 + start: [2, 5] +- goal: [5, 6] + name: agent4 + start: [1, 4] +- goal: [7, 5] + name: agent5 + start: [6, 2] +- goal: [0, 1] + name: agent6 + start: [4, 0] +- goal: [1, 7] + name: agent7 + start: [5, 6] +- goal: [1, 3] + name: agent8 + start: [4, 6] +- goal: [0, 3] + name: agent9 + start: [0, 3] +- goal: [7, 3] + name: agent10 + start: [3, 2] +- goal: [3, 6] + name: agent11 + start: [7, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 1] + - !!python/tuple [2, 3] + - !!python/tuple [1, 5] + - !!python/tuple [2, 0] + - !!python/tuple [4, 2] + - !!python/tuple [7, 7] + - !!python/tuple [6, 4] + - !!python/tuple [4, 4] + - !!python/tuple [0, 6] + - !!python/tuple [0, 5] + - !!python/tuple [6, 7] + - !!python/tuple [0, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex53.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex53.yaml new file mode 100644 index 0000000..ee0b0d1 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex53.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [3, 7] + name: agent0 + start: [0, 3] +- goal: [7, 4] + name: agent1 + start: [5, 4] +- goal: [2, 3] + name: agent2 + start: [2, 3] +- goal: [5, 7] + name: agent3 + start: [3, 4] +- goal: [6, 3] + name: agent4 + start: [0, 6] +- goal: [7, 0] + name: agent5 + start: [3, 6] +- goal: [4, 4] + name: agent6 + start: [7, 4] +- goal: [6, 2] + name: agent7 + start: [3, 0] +- goal: [2, 2] + name: agent8 + start: [7, 5] +- goal: [1, 5] + name: agent9 + start: [3, 1] +- goal: [6, 6] + name: agent10 + start: [1, 5] +- goal: [7, 3] + name: agent11 + start: [0, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 2] + - !!python/tuple [0, 0] + - !!python/tuple [5, 6] + - !!python/tuple [2, 0] + - !!python/tuple [1, 3] + - !!python/tuple [4, 5] + - !!python/tuple [4, 3] + - !!python/tuple [2, 5] + - !!python/tuple [1, 2] + - !!python/tuple [4, 6] + - !!python/tuple [4, 2] + - !!python/tuple [0, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex54.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex54.yaml new file mode 100644 index 0000000..f47b5c1 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex54.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [2, 6] + name: agent0 + start: [5, 0] +- goal: [7, 6] + name: agent1 + start: [6, 2] +- goal: [5, 2] + name: agent2 + start: [2, 0] +- goal: [3, 4] + name: agent3 + start: [7, 0] +- goal: [0, 6] + name: agent4 + start: [2, 1] +- goal: [7, 4] + name: agent5 + start: [7, 1] +- goal: [7, 0] + name: agent6 + start: [4, 6] +- goal: [6, 7] + name: agent7 + start: [6, 5] +- goal: [5, 1] + name: agent8 + start: [5, 6] +- goal: [6, 5] + name: agent9 + start: [7, 5] +- goal: [0, 2] + name: agent10 + start: [4, 2] +- goal: [6, 3] + name: agent11 + start: [3, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 0] + - !!python/tuple [2, 4] + - !!python/tuple [7, 7] + - !!python/tuple [5, 7] + - !!python/tuple [2, 2] + - !!python/tuple [6, 0] + - !!python/tuple [4, 1] + - !!python/tuple [4, 5] + - !!python/tuple [4, 4] + - !!python/tuple [3, 0] + - !!python/tuple [5, 4] + - !!python/tuple [0, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex55.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex55.yaml new file mode 100644 index 0000000..e737fdf --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex55.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [3, 4] + name: agent0 + start: [0, 6] +- goal: [7, 6] + name: agent1 + start: [2, 0] +- goal: [1, 6] + name: agent2 + start: [6, 7] +- goal: [3, 0] + name: agent3 + start: [5, 0] +- goal: [6, 0] + name: agent4 + start: [5, 2] +- goal: [0, 0] + name: agent5 + start: [3, 7] +- goal: [7, 1] + name: agent6 + start: [2, 2] +- goal: [0, 7] + name: agent7 + start: [5, 7] +- goal: [2, 5] + name: agent8 + start: [4, 4] +- goal: [1, 5] + name: agent9 + start: [3, 2] +- goal: [2, 6] + name: agent10 + start: [3, 4] +- goal: [1, 2] + name: agent11 + start: [5, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 5] + - !!python/tuple [5, 4] + - !!python/tuple [1, 4] + - !!python/tuple [7, 7] + - !!python/tuple [1, 0] + - !!python/tuple [5, 5] + - !!python/tuple [0, 5] + - !!python/tuple [4, 2] + - !!python/tuple [0, 3] + - !!python/tuple [4, 7] + - !!python/tuple [3, 1] + - !!python/tuple [0, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex56.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex56.yaml new file mode 100644 index 0000000..6ebc107 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex56.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [0, 1] + name: agent0 + start: [0, 6] +- goal: [4, 6] + name: agent1 + start: [6, 0] +- goal: [6, 0] + name: agent2 + start: [2, 5] +- goal: [4, 4] + name: agent3 + start: [4, 4] +- goal: [3, 3] + name: agent4 + start: [0, 0] +- goal: [2, 7] + name: agent5 + start: [4, 6] +- goal: [6, 4] + name: agent6 + start: [2, 4] +- goal: [5, 4] + name: agent7 + start: [1, 7] +- goal: [4, 1] + name: agent8 + start: [6, 3] +- goal: [1, 5] + name: agent9 + start: [3, 7] +- goal: [5, 5] + name: agent10 + start: [6, 1] +- goal: [3, 6] + name: agent11 + start: [1, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 5] + - !!python/tuple [1, 1] + - !!python/tuple [4, 7] + - !!python/tuple [7, 6] + - !!python/tuple [7, 5] + - !!python/tuple [4, 2] + - !!python/tuple [6, 7] + - !!python/tuple [0, 4] + - !!python/tuple [7, 7] + - !!python/tuple [2, 6] + - !!python/tuple [5, 6] + - !!python/tuple [3, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex57.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex57.yaml new file mode 100644 index 0000000..0ed7c53 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex57.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [3, 6] + name: agent0 + start: [3, 4] +- goal: [6, 2] + name: agent1 + start: [7, 1] +- goal: [4, 5] + name: agent2 + start: [7, 2] +- goal: [2, 3] + name: agent3 + start: [7, 0] +- goal: [3, 2] + name: agent4 + start: [2, 5] +- goal: [6, 6] + name: agent5 + start: [4, 5] +- goal: [7, 7] + name: agent6 + start: [5, 0] +- goal: [6, 3] + name: agent7 + start: [3, 1] +- goal: [1, 2] + name: agent8 + start: [5, 5] +- goal: [0, 3] + name: agent9 + start: [1, 2] +- goal: [7, 5] + name: agent10 + start: [5, 2] +- goal: [4, 1] + name: agent11 + start: [0, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 3] + - !!python/tuple [4, 6] + - !!python/tuple [6, 0] + - !!python/tuple [2, 4] + - !!python/tuple [2, 2] + - !!python/tuple [2, 7] + - !!python/tuple [6, 7] + - !!python/tuple [1, 6] + - !!python/tuple [0, 4] + - !!python/tuple [0, 6] + - !!python/tuple [0, 5] + - !!python/tuple [6, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex58.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex58.yaml new file mode 100644 index 0000000..174a77d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex58.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [7, 4] + name: agent0 + start: [6, 7] +- goal: [6, 1] + name: agent1 + start: [2, 5] +- goal: [7, 3] + name: agent2 + start: [2, 0] +- goal: [0, 2] + name: agent3 + start: [6, 3] +- goal: [3, 4] + name: agent4 + start: [5, 0] +- goal: [2, 3] + name: agent5 + start: [4, 1] +- goal: [5, 4] + name: agent6 + start: [4, 3] +- goal: [1, 0] + name: agent7 + start: [7, 4] +- goal: [4, 4] + name: agent8 + start: [6, 1] +- goal: [6, 7] + name: agent9 + start: [3, 6] +- goal: [6, 5] + name: agent10 + start: [7, 3] +- goal: [6, 6] + name: agent11 + start: [0, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 2] + - !!python/tuple [4, 5] + - !!python/tuple [0, 1] + - !!python/tuple [0, 6] + - !!python/tuple [0, 0] + - !!python/tuple [1, 5] + - !!python/tuple [6, 2] + - !!python/tuple [3, 5] + - !!python/tuple [1, 4] + - !!python/tuple [5, 6] + - !!python/tuple [4, 7] + - !!python/tuple [5, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex59.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex59.yaml new file mode 100644 index 0000000..1fbb6ac --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex59.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [4, 4] + name: agent0 + start: [0, 7] +- goal: [1, 3] + name: agent1 + start: [5, 4] +- goal: [4, 0] + name: agent2 + start: [7, 1] +- goal: [6, 0] + name: agent3 + start: [6, 6] +- goal: [6, 7] + name: agent4 + start: [6, 5] +- goal: [7, 3] + name: agent5 + start: [4, 0] +- goal: [7, 1] + name: agent6 + start: [0, 1] +- goal: [6, 2] + name: agent7 + start: [5, 1] +- goal: [2, 6] + name: agent8 + start: [5, 3] +- goal: [0, 7] + name: agent9 + start: [7, 4] +- goal: [0, 5] + name: agent10 + start: [1, 0] +- goal: [1, 6] + name: agent11 + start: [3, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 5] + - !!python/tuple [0, 3] + - !!python/tuple [1, 7] + - !!python/tuple [7, 7] + - !!python/tuple [5, 6] + - !!python/tuple [1, 2] + - !!python/tuple [5, 2] + - !!python/tuple [6, 1] + - !!python/tuple [7, 2] + - !!python/tuple [4, 3] + - !!python/tuple [1, 4] + - !!python/tuple [4, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex6.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex6.yaml new file mode 100644 index 0000000..c38fa31 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex6.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [6, 0] + name: agent0 + start: [2, 0] +- goal: [5, 6] + name: agent1 + start: [2, 4] +- goal: [5, 5] + name: agent2 + start: [4, 4] +- goal: [6, 5] + name: agent3 + start: [0, 6] +- goal: [3, 1] + name: agent4 + start: [3, 5] +- goal: [2, 4] + name: agent5 + start: [4, 3] +- goal: [6, 1] + name: agent6 + start: [7, 5] +- goal: [4, 1] + name: agent7 + start: [0, 2] +- goal: [1, 0] + name: agent8 + start: [6, 3] +- goal: [6, 2] + name: agent9 + start: [1, 1] +- goal: [0, 1] + name: agent10 + start: [4, 1] +- goal: [1, 1] + name: agent11 + start: [7, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 2] + - !!python/tuple [7, 7] + - !!python/tuple [0, 0] + - !!python/tuple [6, 7] + - !!python/tuple [7, 6] + - !!python/tuple [1, 6] + - !!python/tuple [7, 4] + - !!python/tuple [3, 6] + - !!python/tuple [1, 4] + - !!python/tuple [7, 1] + - !!python/tuple [2, 5] + - !!python/tuple [1, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex60.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex60.yaml new file mode 100644 index 0000000..a61c6ba --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex60.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [4, 5] + name: agent0 + start: [4, 7] +- goal: [2, 1] + name: agent1 + start: [1, 5] +- goal: [6, 6] + name: agent2 + start: [5, 6] +- goal: [1, 0] + name: agent3 + start: [4, 5] +- goal: [0, 5] + name: agent4 + start: [1, 1] +- goal: [2, 3] + name: agent5 + start: [7, 7] +- goal: [1, 1] + name: agent6 + start: [1, 6] +- goal: [6, 5] + name: agent7 + start: [2, 5] +- goal: [1, 6] + name: agent8 + start: [6, 7] +- goal: [2, 6] + name: agent9 + start: [5, 5] +- goal: [2, 7] + name: agent10 + start: [6, 5] +- goal: [7, 4] + name: agent11 + start: [7, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 1] + - !!python/tuple [6, 4] + - !!python/tuple [0, 6] + - !!python/tuple [5, 2] + - !!python/tuple [5, 3] + - !!python/tuple [5, 7] + - !!python/tuple [7, 5] + - !!python/tuple [4, 2] + - !!python/tuple [3, 4] + - !!python/tuple [6, 0] + - !!python/tuple [1, 7] + - !!python/tuple [5, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex61.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex61.yaml new file mode 100644 index 0000000..6a5b493 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex61.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [6, 4] + name: agent0 + start: [7, 5] +- goal: [4, 1] + name: agent1 + start: [4, 5] +- goal: [6, 3] + name: agent2 + start: [4, 7] +- goal: [0, 7] + name: agent3 + start: [3, 1] +- goal: [0, 1] + name: agent4 + start: [1, 3] +- goal: [2, 2] + name: agent5 + start: [3, 7] +- goal: [2, 3] + name: agent6 + start: [7, 7] +- goal: [3, 1] + name: agent7 + start: [2, 3] +- goal: [7, 6] + name: agent8 + start: [0, 1] +- goal: [3, 4] + name: agent9 + start: [1, 5] +- goal: [3, 2] + name: agent10 + start: [2, 1] +- goal: [7, 0] + name: agent11 + start: [6, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 0] + - !!python/tuple [4, 4] + - !!python/tuple [6, 7] + - !!python/tuple [6, 5] + - !!python/tuple [5, 1] + - !!python/tuple [1, 4] + - !!python/tuple [6, 6] + - !!python/tuple [5, 2] + - !!python/tuple [5, 3] + - !!python/tuple [0, 0] + - !!python/tuple [0, 6] + - !!python/tuple [7, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex62.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex62.yaml new file mode 100644 index 0000000..39f5421 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex62.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [0, 6] + name: agent0 + start: [7, 5] +- goal: [5, 0] + name: agent1 + start: [6, 1] +- goal: [3, 3] + name: agent2 + start: [4, 7] +- goal: [6, 1] + name: agent3 + start: [0, 7] +- goal: [0, 5] + name: agent4 + start: [4, 1] +- goal: [0, 3] + name: agent5 + start: [3, 5] +- goal: [5, 6] + name: agent6 + start: [4, 0] +- goal: [4, 4] + name: agent7 + start: [6, 3] +- goal: [0, 0] + name: agent8 + start: [3, 4] +- goal: [4, 2] + name: agent9 + start: [7, 0] +- goal: [3, 0] + name: agent10 + start: [5, 5] +- goal: [7, 3] + name: agent11 + start: [4, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 2] + - !!python/tuple [2, 6] + - !!python/tuple [7, 6] + - !!python/tuple [6, 0] + - !!python/tuple [2, 1] + - !!python/tuple [1, 0] + - !!python/tuple [2, 5] + - !!python/tuple [2, 7] + - !!python/tuple [1, 7] + - !!python/tuple [2, 3] + - !!python/tuple [6, 2] + - !!python/tuple [6, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex63.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex63.yaml new file mode 100644 index 0000000..75eca95 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex63.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [1, 2] + name: agent0 + start: [7, 6] +- goal: [4, 7] + name: agent1 + start: [0, 0] +- goal: [2, 2] + name: agent2 + start: [0, 2] +- goal: [2, 7] + name: agent3 + start: [2, 7] +- goal: [0, 4] + name: agent4 + start: [0, 3] +- goal: [5, 0] + name: agent5 + start: [5, 1] +- goal: [7, 6] + name: agent6 + start: [5, 2] +- goal: [0, 7] + name: agent7 + start: [0, 7] +- goal: [5, 5] + name: agent8 + start: [5, 7] +- goal: [0, 3] + name: agent9 + start: [5, 5] +- goal: [0, 0] + name: agent10 + start: [3, 6] +- goal: [5, 6] + name: agent11 + start: [1, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 7] + - !!python/tuple [7, 4] + - !!python/tuple [6, 1] + - !!python/tuple [7, 0] + - !!python/tuple [6, 2] + - !!python/tuple [2, 0] + - !!python/tuple [4, 5] + - !!python/tuple [0, 6] + - !!python/tuple [6, 5] + - !!python/tuple [1, 7] + - !!python/tuple [2, 1] + - !!python/tuple [7, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex64.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex64.yaml new file mode 100644 index 0000000..a9ef721 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex64.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [7, 5] + name: agent0 + start: [2, 4] +- goal: [0, 1] + name: agent1 + start: [4, 4] +- goal: [4, 2] + name: agent2 + start: [4, 1] +- goal: [6, 4] + name: agent3 + start: [1, 2] +- goal: [2, 3] + name: agent4 + start: [4, 2] +- goal: [6, 7] + name: agent5 + start: [4, 5] +- goal: [7, 0] + name: agent6 + start: [7, 7] +- goal: [4, 5] + name: agent7 + start: [0, 7] +- goal: [4, 7] + name: agent8 + start: [1, 7] +- goal: [4, 4] + name: agent9 + start: [2, 6] +- goal: [7, 7] + name: agent10 + start: [0, 0] +- goal: [6, 5] + name: agent11 + start: [6, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 1] + - !!python/tuple [7, 4] + - !!python/tuple [6, 1] + - !!python/tuple [0, 6] + - !!python/tuple [5, 2] + - !!python/tuple [5, 7] + - !!python/tuple [3, 1] + - !!python/tuple [4, 6] + - !!python/tuple [6, 3] + - !!python/tuple [2, 0] + - !!python/tuple [1, 6] + - !!python/tuple [4, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex65.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex65.yaml new file mode 100644 index 0000000..13e24b2 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex65.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [4, 0] + name: agent0 + start: [4, 0] +- goal: [6, 5] + name: agent1 + start: [4, 6] +- goal: [6, 7] + name: agent2 + start: [5, 0] +- goal: [7, 1] + name: agent3 + start: [5, 1] +- goal: [5, 6] + name: agent4 + start: [5, 7] +- goal: [1, 0] + name: agent5 + start: [4, 3] +- goal: [2, 0] + name: agent6 + start: [4, 5] +- goal: [0, 4] + name: agent7 + start: [6, 6] +- goal: [0, 0] + name: agent8 + start: [7, 7] +- goal: [3, 5] + name: agent9 + start: [1, 3] +- goal: [7, 0] + name: agent10 + start: [3, 6] +- goal: [1, 4] + name: agent11 + start: [6, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 5] + - !!python/tuple [2, 7] + - !!python/tuple [6, 2] + - !!python/tuple [6, 0] + - !!python/tuple [6, 3] + - !!python/tuple [3, 1] + - !!python/tuple [2, 1] + - !!python/tuple [5, 2] + - !!python/tuple [1, 7] + - !!python/tuple [5, 3] + - !!python/tuple [6, 1] + - !!python/tuple [0, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex66.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex66.yaml new file mode 100644 index 0000000..1f8a0a8 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex66.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [0, 5] + name: agent0 + start: [0, 0] +- goal: [1, 6] + name: agent1 + start: [0, 5] +- goal: [6, 3] + name: agent2 + start: [5, 5] +- goal: [5, 6] + name: agent3 + start: [3, 0] +- goal: [3, 1] + name: agent4 + start: [3, 1] +- goal: [0, 7] + name: agent5 + start: [4, 6] +- goal: [5, 7] + name: agent6 + start: [6, 6] +- goal: [4, 6] + name: agent7 + start: [0, 6] +- goal: [0, 6] + name: agent8 + start: [5, 0] +- goal: [4, 4] + name: agent9 + start: [3, 6] +- goal: [3, 7] + name: agent10 + start: [7, 6] +- goal: [7, 7] + name: agent11 + start: [6, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 5] + - !!python/tuple [1, 4] + - !!python/tuple [1, 1] + - !!python/tuple [4, 2] + - !!python/tuple [0, 1] + - !!python/tuple [7, 4] + - !!python/tuple [1, 2] + - !!python/tuple [7, 5] + - !!python/tuple [4, 3] + - !!python/tuple [0, 4] + - !!python/tuple [6, 5] + - !!python/tuple [0, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex67.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex67.yaml new file mode 100644 index 0000000..edab119 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex67.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [3, 0] + name: agent0 + start: [0, 3] +- goal: [5, 1] + name: agent1 + start: [7, 6] +- goal: [0, 0] + name: agent2 + start: [1, 4] +- goal: [5, 2] + name: agent3 + start: [5, 2] +- goal: [1, 1] + name: agent4 + start: [6, 2] +- goal: [2, 2] + name: agent5 + start: [5, 0] +- goal: [2, 6] + name: agent6 + start: [5, 5] +- goal: [7, 5] + name: agent7 + start: [0, 1] +- goal: [4, 7] + name: agent8 + start: [5, 7] +- goal: [4, 5] + name: agent9 + start: [6, 6] +- goal: [7, 1] + name: agent10 + start: [3, 1] +- goal: [5, 3] + name: agent11 + start: [4, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 0] + - !!python/tuple [1, 7] + - !!python/tuple [6, 1] + - !!python/tuple [0, 6] + - !!python/tuple [4, 0] + - !!python/tuple [6, 3] + - !!python/tuple [6, 7] + - !!python/tuple [4, 6] + - !!python/tuple [6, 4] + - !!python/tuple [4, 3] + - !!python/tuple [4, 2] + - !!python/tuple [2, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex68.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex68.yaml new file mode 100644 index 0000000..60bb2ac --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex68.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [1, 4] + name: agent0 + start: [7, 5] +- goal: [7, 5] + name: agent1 + start: [5, 1] +- goal: [1, 5] + name: agent2 + start: [2, 6] +- goal: [4, 6] + name: agent3 + start: [6, 5] +- goal: [3, 5] + name: agent4 + start: [5, 6] +- goal: [0, 1] + name: agent5 + start: [1, 0] +- goal: [7, 6] + name: agent6 + start: [0, 2] +- goal: [6, 5] + name: agent7 + start: [0, 7] +- goal: [7, 2] + name: agent8 + start: [1, 5] +- goal: [3, 6] + name: agent9 + start: [3, 7] +- goal: [6, 4] + name: agent10 + start: [6, 7] +- goal: [6, 2] + name: agent11 + start: [4, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 0] + - !!python/tuple [2, 0] + - !!python/tuple [1, 6] + - !!python/tuple [5, 4] + - !!python/tuple [2, 4] + - !!python/tuple [3, 4] + - !!python/tuple [7, 4] + - !!python/tuple [4, 2] + - !!python/tuple [6, 1] + - !!python/tuple [4, 7] + - !!python/tuple [0, 4] + - !!python/tuple [3, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex69.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex69.yaml new file mode 100644 index 0000000..f346b8a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex69.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [3, 5] + name: agent0 + start: [6, 6] +- goal: [6, 0] + name: agent1 + start: [5, 2] +- goal: [4, 4] + name: agent2 + start: [0, 3] +- goal: [3, 3] + name: agent3 + start: [6, 4] +- goal: [7, 5] + name: agent4 + start: [2, 2] +- goal: [6, 5] + name: agent5 + start: [4, 3] +- goal: [2, 7] + name: agent6 + start: [2, 7] +- goal: [5, 6] + name: agent7 + start: [5, 6] +- goal: [4, 6] + name: agent8 + start: [2, 4] +- goal: [0, 7] + name: agent9 + start: [0, 7] +- goal: [5, 5] + name: agent10 + start: [6, 7] +- goal: [0, 3] + name: agent11 + start: [0, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 0] + - !!python/tuple [0, 4] + - !!python/tuple [1, 3] + - !!python/tuple [4, 1] + - !!python/tuple [4, 7] + - !!python/tuple [7, 4] + - !!python/tuple [5, 1] + - !!python/tuple [0, 6] + - !!python/tuple [3, 4] + - !!python/tuple [1, 0] + - !!python/tuple [4, 5] + - !!python/tuple [1, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex7.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex7.yaml new file mode 100644 index 0000000..caccf17 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex7.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [2, 6] + name: agent0 + start: [5, 1] +- goal: [5, 3] + name: agent1 + start: [6, 1] +- goal: [2, 4] + name: agent2 + start: [4, 6] +- goal: [4, 4] + name: agent3 + start: [4, 4] +- goal: [6, 4] + name: agent4 + start: [6, 3] +- goal: [0, 5] + name: agent5 + start: [0, 3] +- goal: [4, 6] + name: agent6 + start: [7, 6] +- goal: [4, 0] + name: agent7 + start: [3, 2] +- goal: [7, 6] + name: agent8 + start: [2, 1] +- goal: [6, 2] + name: agent9 + start: [2, 4] +- goal: [1, 0] + name: agent10 + start: [2, 6] +- goal: [0, 0] + name: agent11 + start: [3, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 7] + - !!python/tuple [1, 1] + - !!python/tuple [7, 0] + - !!python/tuple [5, 0] + - !!python/tuple [0, 7] + - !!python/tuple [3, 5] + - !!python/tuple [2, 2] + - !!python/tuple [1, 6] + - !!python/tuple [2, 7] + - !!python/tuple [1, 4] + - !!python/tuple [3, 3] + - !!python/tuple [7, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex70.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex70.yaml new file mode 100644 index 0000000..c344d18 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex70.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [5, 1] + name: agent0 + start: [1, 7] +- goal: [4, 5] + name: agent1 + start: [4, 1] +- goal: [6, 4] + name: agent2 + start: [3, 7] +- goal: [4, 6] + name: agent3 + start: [3, 0] +- goal: [3, 1] + name: agent4 + start: [7, 2] +- goal: [4, 1] + name: agent5 + start: [7, 6] +- goal: [1, 6] + name: agent6 + start: [2, 3] +- goal: [5, 6] + name: agent7 + start: [4, 6] +- goal: [6, 1] + name: agent8 + start: [7, 3] +- goal: [6, 5] + name: agent9 + start: [4, 4] +- goal: [5, 5] + name: agent10 + start: [5, 2] +- goal: [1, 1] + name: agent11 + start: [1, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 5] + - !!python/tuple [3, 4] + - !!python/tuple [3, 2] + - !!python/tuple [6, 7] + - !!python/tuple [7, 5] + - !!python/tuple [0, 3] + - !!python/tuple [4, 3] + - !!python/tuple [6, 2] + - !!python/tuple [5, 7] + - !!python/tuple [1, 5] + - !!python/tuple [1, 4] + - !!python/tuple [6, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex71.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex71.yaml new file mode 100644 index 0000000..7b98dfe --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex71.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [2, 6] + name: agent0 + start: [6, 4] +- goal: [0, 5] + name: agent1 + start: [6, 6] +- goal: [2, 0] + name: agent2 + start: [2, 5] +- goal: [0, 2] + name: agent3 + start: [2, 0] +- goal: [6, 4] + name: agent4 + start: [7, 6] +- goal: [2, 3] + name: agent5 + start: [1, 0] +- goal: [0, 7] + name: agent6 + start: [0, 2] +- goal: [4, 6] + name: agent7 + start: [6, 5] +- goal: [6, 5] + name: agent8 + start: [2, 2] +- goal: [3, 4] + name: agent9 + start: [7, 0] +- goal: [3, 3] + name: agent10 + start: [5, 6] +- goal: [6, 2] + name: agent11 + start: [1, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 6] + - !!python/tuple [7, 1] + - !!python/tuple [6, 3] + - !!python/tuple [1, 3] + - !!python/tuple [3, 1] + - !!python/tuple [5, 7] + - !!python/tuple [2, 1] + - !!python/tuple [6, 1] + - !!python/tuple [7, 5] + - !!python/tuple [0, 4] + - !!python/tuple [2, 7] + - !!python/tuple [5, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex72.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex72.yaml new file mode 100644 index 0000000..6fb8f9c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex72.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [4, 6] + name: agent0 + start: [0, 1] +- goal: [5, 7] + name: agent1 + start: [4, 2] +- goal: [7, 3] + name: agent2 + start: [5, 3] +- goal: [1, 4] + name: agent3 + start: [4, 1] +- goal: [6, 0] + name: agent4 + start: [0, 3] +- goal: [6, 4] + name: agent5 + start: [6, 2] +- goal: [5, 1] + name: agent6 + start: [2, 7] +- goal: [4, 0] + name: agent7 + start: [4, 4] +- goal: [3, 2] + name: agent8 + start: [1, 5] +- goal: [3, 7] + name: agent9 + start: [7, 4] +- goal: [2, 7] + name: agent10 + start: [7, 2] +- goal: [2, 2] + name: agent11 + start: [3, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 1] + - !!python/tuple [7, 5] + - !!python/tuple [2, 5] + - !!python/tuple [6, 5] + - !!python/tuple [5, 0] + - !!python/tuple [2, 6] + - !!python/tuple [1, 1] + - !!python/tuple [3, 5] + - !!python/tuple [0, 6] + - !!python/tuple [0, 0] + - !!python/tuple [5, 4] + - !!python/tuple [1, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex73.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex73.yaml new file mode 100644 index 0000000..720059f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex73.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [3, 1] + name: agent0 + start: [7, 4] +- goal: [4, 5] + name: agent1 + start: [0, 1] +- goal: [5, 7] + name: agent2 + start: [5, 3] +- goal: [4, 3] + name: agent3 + start: [0, 0] +- goal: [3, 2] + name: agent4 + start: [4, 7] +- goal: [6, 0] + name: agent5 + start: [4, 6] +- goal: [1, 2] + name: agent6 + start: [6, 0] +- goal: [2, 1] + name: agent7 + start: [0, 4] +- goal: [2, 5] + name: agent8 + start: [4, 1] +- goal: [0, 7] + name: agent9 + start: [5, 1] +- goal: [4, 0] + name: agent10 + start: [0, 6] +- goal: [2, 3] + name: agent11 + start: [1, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 2] + - !!python/tuple [5, 6] + - !!python/tuple [5, 4] + - !!python/tuple [6, 7] + - !!python/tuple [0, 5] + - !!python/tuple [7, 1] + - !!python/tuple [3, 6] + - !!python/tuple [6, 5] + - !!python/tuple [5, 2] + - !!python/tuple [7, 5] + - !!python/tuple [7, 3] + - !!python/tuple [3, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex74.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex74.yaml new file mode 100644 index 0000000..3b199fd --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex74.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [6, 1] + name: agent0 + start: [1, 4] +- goal: [4, 4] + name: agent1 + start: [2, 2] +- goal: [5, 2] + name: agent2 + start: [4, 6] +- goal: [4, 6] + name: agent3 + start: [7, 4] +- goal: [3, 0] + name: agent4 + start: [1, 1] +- goal: [6, 7] + name: agent5 + start: [5, 7] +- goal: [0, 6] + name: agent6 + start: [6, 1] +- goal: [2, 3] + name: agent7 + start: [1, 3] +- goal: [3, 6] + name: agent8 + start: [0, 5] +- goal: [0, 3] + name: agent9 + start: [2, 7] +- goal: [7, 0] + name: agent10 + start: [4, 0] +- goal: [2, 0] + name: agent11 + start: [1, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 2] + - !!python/tuple [2, 6] + - !!python/tuple [6, 5] + - !!python/tuple [5, 0] + - !!python/tuple [4, 7] + - !!python/tuple [4, 3] + - !!python/tuple [5, 5] + - !!python/tuple [2, 5] + - !!python/tuple [7, 6] + - !!python/tuple [6, 3] + - !!python/tuple [3, 5] + - !!python/tuple [7, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex75.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex75.yaml new file mode 100644 index 0000000..dee85f0 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex75.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [0, 1] + name: agent0 + start: [5, 1] +- goal: [7, 4] + name: agent1 + start: [2, 1] +- goal: [3, 0] + name: agent2 + start: [5, 6] +- goal: [7, 3] + name: agent3 + start: [1, 1] +- goal: [7, 7] + name: agent4 + start: [2, 3] +- goal: [4, 5] + name: agent5 + start: [6, 3] +- goal: [1, 5] + name: agent6 + start: [7, 7] +- goal: [3, 1] + name: agent7 + start: [1, 5] +- goal: [0, 5] + name: agent8 + start: [4, 6] +- goal: [1, 1] + name: agent9 + start: [2, 0] +- goal: [6, 0] + name: agent10 + start: [4, 0] +- goal: [3, 5] + name: agent11 + start: [3, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 4] + - !!python/tuple [2, 2] + - !!python/tuple [1, 7] + - !!python/tuple [2, 7] + - !!python/tuple [5, 0] + - !!python/tuple [5, 3] + - !!python/tuple [0, 3] + - !!python/tuple [1, 0] + - !!python/tuple [7, 1] + - !!python/tuple [6, 5] + - !!python/tuple [7, 2] + - !!python/tuple [0, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex76.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex76.yaml new file mode 100644 index 0000000..83fb20d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex76.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [5, 4] + name: agent0 + start: [2, 2] +- goal: [0, 6] + name: agent1 + start: [7, 0] +- goal: [5, 1] + name: agent2 + start: [1, 7] +- goal: [4, 6] + name: agent3 + start: [3, 4] +- goal: [0, 2] + name: agent4 + start: [2, 3] +- goal: [5, 2] + name: agent5 + start: [1, 0] +- goal: [6, 4] + name: agent6 + start: [6, 0] +- goal: [6, 0] + name: agent7 + start: [3, 5] +- goal: [3, 6] + name: agent8 + start: [5, 7] +- goal: [4, 3] + name: agent9 + start: [4, 6] +- goal: [7, 3] + name: agent10 + start: [0, 7] +- goal: [6, 7] + name: agent11 + start: [0, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 2] + - !!python/tuple [2, 0] + - !!python/tuple [7, 2] + - !!python/tuple [1, 5] + - !!python/tuple [0, 5] + - !!python/tuple [5, 3] + - !!python/tuple [7, 4] + - !!python/tuple [1, 4] + - !!python/tuple [3, 7] + - !!python/tuple [3, 3] + - !!python/tuple [4, 1] + - !!python/tuple [1, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex77.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex77.yaml new file mode 100644 index 0000000..5eea158 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex77.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [0, 0] + name: agent0 + start: [0, 4] +- goal: [1, 1] + name: agent1 + start: [2, 6] +- goal: [0, 4] + name: agent2 + start: [3, 7] +- goal: [7, 1] + name: agent3 + start: [0, 0] +- goal: [2, 5] + name: agent4 + start: [1, 4] +- goal: [0, 5] + name: agent5 + start: [1, 1] +- goal: [3, 2] + name: agent6 + start: [6, 2] +- goal: [6, 3] + name: agent7 + start: [4, 1] +- goal: [1, 6] + name: agent8 + start: [7, 7] +- goal: [6, 1] + name: agent9 + start: [3, 5] +- goal: [7, 2] + name: agent10 + start: [1, 6] +- goal: [4, 3] + name: agent11 + start: [2, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 3] + - !!python/tuple [1, 2] + - !!python/tuple [3, 1] + - !!python/tuple [1, 5] + - !!python/tuple [6, 5] + - !!python/tuple [6, 7] + - !!python/tuple [0, 6] + - !!python/tuple [4, 5] + - !!python/tuple [4, 2] + - !!python/tuple [0, 2] + - !!python/tuple [0, 7] + - !!python/tuple [5, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex78.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex78.yaml new file mode 100644 index 0000000..63e8a14 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex78.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [4, 5] + name: agent0 + start: [0, 4] +- goal: [4, 2] + name: agent1 + start: [2, 0] +- goal: [4, 7] + name: agent2 + start: [3, 2] +- goal: [3, 7] + name: agent3 + start: [7, 3] +- goal: [2, 6] + name: agent4 + start: [4, 7] +- goal: [0, 6] + name: agent5 + start: [0, 2] +- goal: [0, 2] + name: agent6 + start: [4, 0] +- goal: [1, 0] + name: agent7 + start: [0, 7] +- goal: [3, 0] + name: agent8 + start: [4, 5] +- goal: [7, 4] + name: agent9 + start: [4, 4] +- goal: [2, 2] + name: agent10 + start: [1, 7] +- goal: [7, 6] + name: agent11 + start: [6, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 1] + - !!python/tuple [5, 4] + - !!python/tuple [7, 0] + - !!python/tuple [2, 7] + - !!python/tuple [6, 0] + - !!python/tuple [2, 1] + - !!python/tuple [0, 0] + - !!python/tuple [5, 6] + - !!python/tuple [7, 5] + - !!python/tuple [4, 1] + - !!python/tuple [0, 3] + - !!python/tuple [6, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex79.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex79.yaml new file mode 100644 index 0000000..e38eebd --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex79.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [3, 7] + name: agent0 + start: [7, 5] +- goal: [5, 5] + name: agent1 + start: [5, 2] +- goal: [2, 7] + name: agent2 + start: [2, 1] +- goal: [3, 4] + name: agent3 + start: [6, 7] +- goal: [4, 1] + name: agent4 + start: [1, 2] +- goal: [5, 7] + name: agent5 + start: [1, 4] +- goal: [5, 0] + name: agent6 + start: [6, 1] +- goal: [1, 6] + name: agent7 + start: [2, 5] +- goal: [3, 5] + name: agent8 + start: [3, 4] +- goal: [4, 7] + name: agent9 + start: [6, 2] +- goal: [2, 3] + name: agent10 + start: [2, 0] +- goal: [6, 4] + name: agent11 + start: [1, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 3] + - !!python/tuple [3, 6] + - !!python/tuple [7, 1] + - !!python/tuple [4, 6] + - !!python/tuple [4, 4] + - !!python/tuple [7, 7] + - !!python/tuple [0, 1] + - !!python/tuple [1, 5] + - !!python/tuple [4, 0] + - !!python/tuple [7, 3] + - !!python/tuple [0, 5] + - !!python/tuple [0, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex8.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex8.yaml new file mode 100644 index 0000000..fadfbb0 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex8.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [5, 2] + name: agent0 + start: [5, 7] +- goal: [5, 5] + name: agent1 + start: [5, 6] +- goal: [3, 3] + name: agent2 + start: [6, 3] +- goal: [4, 1] + name: agent3 + start: [0, 0] +- goal: [3, 4] + name: agent4 + start: [4, 4] +- goal: [7, 2] + name: agent5 + start: [5, 2] +- goal: [4, 0] + name: agent6 + start: [5, 3] +- goal: [6, 1] + name: agent7 + start: [0, 3] +- goal: [0, 3] + name: agent8 + start: [4, 7] +- goal: [4, 3] + name: agent9 + start: [6, 0] +- goal: [5, 3] + name: agent10 + start: [0, 5] +- goal: [7, 3] + name: agent11 + start: [7, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 6] + - !!python/tuple [2, 7] + - !!python/tuple [1, 0] + - !!python/tuple [2, 5] + - !!python/tuple [2, 6] + - !!python/tuple [1, 1] + - !!python/tuple [5, 0] + - !!python/tuple [1, 3] + - !!python/tuple [5, 1] + - !!python/tuple [7, 4] + - !!python/tuple [3, 2] + - !!python/tuple [3, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex80.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex80.yaml new file mode 100644 index 0000000..a6b43c0 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex80.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [4, 5] + name: agent0 + start: [6, 5] +- goal: [7, 0] + name: agent1 + start: [4, 4] +- goal: [5, 5] + name: agent2 + start: [1, 1] +- goal: [0, 6] + name: agent3 + start: [0, 7] +- goal: [2, 7] + name: agent4 + start: [2, 2] +- goal: [1, 4] + name: agent5 + start: [5, 5] +- goal: [2, 0] + name: agent6 + start: [4, 1] +- goal: [1, 2] + name: agent7 + start: [5, 1] +- goal: [5, 0] + name: agent8 + start: [4, 0] +- goal: [5, 7] + name: agent9 + start: [3, 2] +- goal: [0, 3] + name: agent10 + start: [2, 7] +- goal: [1, 5] + name: agent11 + start: [5, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 7] + - !!python/tuple [0, 0] + - !!python/tuple [4, 3] + - !!python/tuple [3, 3] + - !!python/tuple [7, 5] + - !!python/tuple [2, 5] + - !!python/tuple [7, 2] + - !!python/tuple [0, 1] + - !!python/tuple [7, 6] + - !!python/tuple [6, 3] + - !!python/tuple [0, 2] + - !!python/tuple [2, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex81.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex81.yaml new file mode 100644 index 0000000..200d98f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex81.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [7, 4] + name: agent0 + start: [4, 4] +- goal: [5, 0] + name: agent1 + start: [1, 3] +- goal: [1, 7] + name: agent2 + start: [5, 5] +- goal: [3, 4] + name: agent3 + start: [3, 6] +- goal: [1, 0] + name: agent4 + start: [6, 2] +- goal: [5, 3] + name: agent5 + start: [2, 6] +- goal: [1, 6] + name: agent6 + start: [2, 3] +- goal: [5, 4] + name: agent7 + start: [4, 6] +- goal: [6, 7] + name: agent8 + start: [6, 7] +- goal: [5, 1] + name: agent9 + start: [5, 1] +- goal: [6, 5] + name: agent10 + start: [4, 3] +- goal: [3, 1] + name: agent11 + start: [3, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 2] + - !!python/tuple [0, 6] + - !!python/tuple [4, 5] + - !!python/tuple [6, 0] + - !!python/tuple [7, 7] + - !!python/tuple [2, 1] + - !!python/tuple [5, 7] + - !!python/tuple [0, 7] + - !!python/tuple [3, 5] + - !!python/tuple [2, 0] + - !!python/tuple [1, 5] + - !!python/tuple [0, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex82.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex82.yaml new file mode 100644 index 0000000..383d7b1 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex82.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [1, 3] + name: agent0 + start: [4, 3] +- goal: [6, 1] + name: agent1 + start: [1, 6] +- goal: [4, 6] + name: agent2 + start: [1, 2] +- goal: [2, 4] + name: agent3 + start: [3, 4] +- goal: [4, 7] + name: agent4 + start: [2, 6] +- goal: [1, 5] + name: agent5 + start: [3, 6] +- goal: [5, 2] + name: agent6 + start: [3, 1] +- goal: [4, 4] + name: agent7 + start: [7, 5] +- goal: [0, 5] + name: agent8 + start: [5, 5] +- goal: [0, 4] + name: agent9 + start: [1, 4] +- goal: [6, 0] + name: agent10 + start: [7, 3] +- goal: [2, 3] + name: agent11 + start: [6, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 0] + - !!python/tuple [1, 7] + - !!python/tuple [2, 5] + - !!python/tuple [4, 1] + - !!python/tuple [6, 5] + - !!python/tuple [1, 1] + - !!python/tuple [0, 7] + - !!python/tuple [7, 6] + - !!python/tuple [0, 6] + - !!python/tuple [0, 3] + - !!python/tuple [5, 7] + - !!python/tuple [4, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex83.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex83.yaml new file mode 100644 index 0000000..1b7a504 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex83.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [4, 7] + name: agent0 + start: [4, 0] +- goal: [6, 6] + name: agent1 + start: [0, 0] +- goal: [3, 4] + name: agent2 + start: [0, 1] +- goal: [0, 1] + name: agent3 + start: [7, 3] +- goal: [7, 7] + name: agent4 + start: [6, 4] +- goal: [7, 3] + name: agent5 + start: [3, 1] +- goal: [4, 0] + name: agent6 + start: [7, 7] +- goal: [2, 6] + name: agent7 + start: [2, 1] +- goal: [6, 5] + name: agent8 + start: [4, 5] +- goal: [5, 7] + name: agent9 + start: [1, 7] +- goal: [7, 4] + name: agent10 + start: [6, 7] +- goal: [6, 7] + name: agent11 + start: [6, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 0] + - !!python/tuple [2, 4] + - !!python/tuple [3, 2] + - !!python/tuple [5, 1] + - !!python/tuple [1, 4] + - !!python/tuple [4, 4] + - !!python/tuple [7, 0] + - !!python/tuple [2, 2] + - !!python/tuple [6, 2] + - !!python/tuple [1, 0] + - !!python/tuple [0, 4] + - !!python/tuple [4, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex84.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex84.yaml new file mode 100644 index 0000000..b0af028 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex84.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [2, 2] + name: agent0 + start: [1, 4] +- goal: [1, 5] + name: agent1 + start: [7, 2] +- goal: [0, 0] + name: agent2 + start: [1, 6] +- goal: [0, 5] + name: agent3 + start: [6, 6] +- goal: [4, 7] + name: agent4 + start: [5, 1] +- goal: [3, 0] + name: agent5 + start: [3, 7] +- goal: [7, 0] + name: agent6 + start: [1, 5] +- goal: [6, 2] + name: agent7 + start: [7, 7] +- goal: [5, 7] + name: agent8 + start: [7, 4] +- goal: [3, 3] + name: agent9 + start: [1, 1] +- goal: [4, 6] + name: agent10 + start: [4, 2] +- goal: [4, 2] + name: agent11 + start: [4, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 6] + - !!python/tuple [2, 4] + - !!python/tuple [1, 3] + - !!python/tuple [6, 0] + - !!python/tuple [2, 3] + - !!python/tuple [3, 4] + - !!python/tuple [6, 4] + - !!python/tuple [5, 3] + - !!python/tuple [4, 4] + - !!python/tuple [1, 7] + - !!python/tuple [5, 6] + - !!python/tuple [7, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex85.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex85.yaml new file mode 100644 index 0000000..f11af8d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex85.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [7, 4] + name: agent0 + start: [0, 0] +- goal: [3, 7] + name: agent1 + start: [7, 5] +- goal: [1, 4] + name: agent2 + start: [2, 4] +- goal: [1, 6] + name: agent3 + start: [7, 7] +- goal: [5, 4] + name: agent4 + start: [4, 1] +- goal: [2, 3] + name: agent5 + start: [2, 5] +- goal: [0, 6] + name: agent6 + start: [0, 7] +- goal: [5, 1] + name: agent7 + start: [5, 7] +- goal: [3, 6] + name: agent8 + start: [5, 2] +- goal: [6, 6] + name: agent9 + start: [4, 4] +- goal: [3, 2] + name: agent10 + start: [1, 3] +- goal: [1, 1] + name: agent11 + start: [0, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 1] + - !!python/tuple [4, 3] + - !!python/tuple [0, 4] + - !!python/tuple [7, 6] + - !!python/tuple [1, 0] + - !!python/tuple [7, 3] + - !!python/tuple [5, 3] + - !!python/tuple [4, 6] + - !!python/tuple [6, 5] + - !!python/tuple [5, 5] + - !!python/tuple [3, 5] + - !!python/tuple [1, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex86.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex86.yaml new file mode 100644 index 0000000..4da86bb --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex86.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [7, 3] + name: agent0 + start: [4, 3] +- goal: [5, 3] + name: agent1 + start: [7, 7] +- goal: [5, 5] + name: agent2 + start: [0, 7] +- goal: [6, 7] + name: agent3 + start: [2, 0] +- goal: [4, 7] + name: agent4 + start: [4, 6] +- goal: [6, 5] + name: agent5 + start: [5, 1] +- goal: [2, 3] + name: agent6 + start: [5, 6] +- goal: [7, 4] + name: agent7 + start: [5, 2] +- goal: [0, 0] + name: agent8 + start: [4, 5] +- goal: [1, 5] + name: agent9 + start: [3, 6] +- goal: [2, 1] + name: agent10 + start: [2, 1] +- goal: [6, 6] + name: agent11 + start: [5, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 3] + - !!python/tuple [3, 7] + - !!python/tuple [4, 2] + - !!python/tuple [3, 0] + - !!python/tuple [1, 4] + - !!python/tuple [7, 1] + - !!python/tuple [1, 6] + - !!python/tuple [3, 3] + - !!python/tuple [7, 6] + - !!python/tuple [3, 5] + - !!python/tuple [3, 2] + - !!python/tuple [1, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex87.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex87.yaml new file mode 100644 index 0000000..1ee742c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex87.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [2, 2] + name: agent0 + start: [3, 6] +- goal: [7, 7] + name: agent1 + start: [0, 4] +- goal: [3, 0] + name: agent2 + start: [2, 3] +- goal: [6, 0] + name: agent3 + start: [1, 7] +- goal: [4, 1] + name: agent4 + start: [2, 4] +- goal: [2, 6] + name: agent5 + start: [3, 1] +- goal: [5, 1] + name: agent6 + start: [5, 3] +- goal: [5, 0] + name: agent7 + start: [5, 1] +- goal: [6, 2] + name: agent8 + start: [4, 5] +- goal: [6, 3] + name: agent9 + start: [1, 3] +- goal: [4, 5] + name: agent10 + start: [0, 3] +- goal: [1, 2] + name: agent11 + start: [7, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 5] + - !!python/tuple [4, 3] + - !!python/tuple [3, 3] + - !!python/tuple [5, 5] + - !!python/tuple [1, 6] + - !!python/tuple [5, 6] + - !!python/tuple [5, 7] + - !!python/tuple [6, 7] + - !!python/tuple [3, 2] + - !!python/tuple [4, 4] + - !!python/tuple [4, 2] + - !!python/tuple [5, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex88.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex88.yaml new file mode 100644 index 0000000..a3bc123 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex88.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [2, 3] + name: agent0 + start: [2, 4] +- goal: [2, 6] + name: agent1 + start: [0, 5] +- goal: [4, 7] + name: agent2 + start: [1, 2] +- goal: [6, 5] + name: agent3 + start: [6, 5] +- goal: [4, 2] + name: agent4 + start: [0, 6] +- goal: [7, 7] + name: agent5 + start: [0, 1] +- goal: [5, 3] + name: agent6 + start: [4, 0] +- goal: [4, 6] + name: agent7 + start: [7, 0] +- goal: [0, 5] + name: agent8 + start: [1, 5] +- goal: [0, 3] + name: agent9 + start: [0, 2] +- goal: [6, 0] + name: agent10 + start: [4, 6] +- goal: [6, 3] + name: agent11 + start: [5, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 2] + - !!python/tuple [5, 2] + - !!python/tuple [7, 2] + - !!python/tuple [3, 0] + - !!python/tuple [2, 5] + - !!python/tuple [5, 6] + - !!python/tuple [7, 1] + - !!python/tuple [2, 0] + - !!python/tuple [7, 3] + - !!python/tuple [1, 6] + - !!python/tuple [5, 7] + - !!python/tuple [0, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex89.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex89.yaml new file mode 100644 index 0000000..5c44793 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex89.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [2, 5] + name: agent0 + start: [1, 2] +- goal: [6, 4] + name: agent1 + start: [0, 4] +- goal: [0, 6] + name: agent2 + start: [5, 0] +- goal: [0, 7] + name: agent3 + start: [4, 2] +- goal: [2, 2] + name: agent4 + start: [3, 7] +- goal: [1, 0] + name: agent5 + start: [7, 4] +- goal: [5, 3] + name: agent6 + start: [7, 5] +- goal: [6, 5] + name: agent7 + start: [6, 5] +- goal: [2, 4] + name: agent8 + start: [3, 3] +- goal: [1, 6] + name: agent9 + start: [1, 3] +- goal: [3, 7] + name: agent10 + start: [7, 1] +- goal: [4, 5] + name: agent11 + start: [6, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 1] + - !!python/tuple [6, 6] + - !!python/tuple [4, 0] + - !!python/tuple [3, 2] + - !!python/tuple [6, 7] + - !!python/tuple [4, 1] + - !!python/tuple [4, 3] + - !!python/tuple [1, 5] + - !!python/tuple [4, 4] + - !!python/tuple [2, 0] + - !!python/tuple [4, 6] + - !!python/tuple [0, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex9.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex9.yaml new file mode 100644 index 0000000..3570d43 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex9.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [3, 0] + name: agent0 + start: [6, 2] +- goal: [1, 2] + name: agent1 + start: [0, 3] +- goal: [2, 1] + name: agent2 + start: [1, 6] +- goal: [6, 5] + name: agent3 + start: [1, 4] +- goal: [5, 5] + name: agent4 + start: [2, 4] +- goal: [5, 7] + name: agent5 + start: [7, 1] +- goal: [2, 6] + name: agent6 + start: [4, 3] +- goal: [6, 2] + name: agent7 + start: [7, 4] +- goal: [7, 4] + name: agent8 + start: [5, 1] +- goal: [6, 0] + name: agent9 + start: [2, 1] +- goal: [5, 2] + name: agent10 + start: [2, 0] +- goal: [6, 6] + name: agent11 + start: [2, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 0] + - !!python/tuple [0, 7] + - !!python/tuple [2, 3] + - !!python/tuple [1, 7] + - !!python/tuple [3, 3] + - !!python/tuple [3, 7] + - !!python/tuple [0, 1] + - !!python/tuple [0, 0] + - !!python/tuple [7, 3] + - !!python/tuple [6, 4] + - !!python/tuple [0, 6] + - !!python/tuple [4, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex90.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex90.yaml new file mode 100644 index 0000000..6f929af --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex90.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [5, 7] + name: agent0 + start: [4, 5] +- goal: [0, 5] + name: agent1 + start: [7, 3] +- goal: [5, 4] + name: agent2 + start: [0, 6] +- goal: [3, 7] + name: agent3 + start: [2, 7] +- goal: [3, 6] + name: agent4 + start: [0, 4] +- goal: [1, 3] + name: agent5 + start: [4, 7] +- goal: [2, 7] + name: agent6 + start: [5, 4] +- goal: [0, 1] + name: agent7 + start: [6, 5] +- goal: [6, 0] + name: agent8 + start: [6, 3] +- goal: [4, 5] + name: agent9 + start: [1, 5] +- goal: [5, 5] + name: agent10 + start: [3, 5] +- goal: [6, 7] + name: agent11 + start: [2, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 1] + - !!python/tuple [6, 6] + - !!python/tuple [4, 1] + - !!python/tuple [5, 6] + - !!python/tuple [1, 4] + - !!python/tuple [0, 0] + - !!python/tuple [1, 2] + - !!python/tuple [2, 2] + - !!python/tuple [2, 5] + - !!python/tuple [4, 2] + - !!python/tuple [5, 2] + - !!python/tuple [1, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex91.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex91.yaml new file mode 100644 index 0000000..13d72fd --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex91.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [3, 0] + name: agent0 + start: [5, 4] +- goal: [7, 4] + name: agent1 + start: [5, 0] +- goal: [0, 1] + name: agent2 + start: [7, 3] +- goal: [6, 7] + name: agent3 + start: [2, 1] +- goal: [3, 3] + name: agent4 + start: [7, 1] +- goal: [2, 3] + name: agent5 + start: [4, 5] +- goal: [6, 2] + name: agent6 + start: [0, 1] +- goal: [7, 2] + name: agent7 + start: [3, 5] +- goal: [3, 5] + name: agent8 + start: [3, 3] +- goal: [4, 2] + name: agent9 + start: [2, 2] +- goal: [3, 4] + name: agent10 + start: [2, 7] +- goal: [3, 7] + name: agent11 + start: [4, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 6] + - !!python/tuple [7, 6] + - !!python/tuple [2, 0] + - !!python/tuple [5, 1] + - !!python/tuple [7, 5] + - !!python/tuple [1, 5] + - !!python/tuple [1, 7] + - !!python/tuple [4, 0] + - !!python/tuple [4, 4] + - !!python/tuple [2, 5] + - !!python/tuple [4, 1] + - !!python/tuple [0, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex92.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex92.yaml new file mode 100644 index 0000000..a3bd91a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex92.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [1, 2] + name: agent0 + start: [4, 5] +- goal: [1, 3] + name: agent1 + start: [2, 3] +- goal: [7, 3] + name: agent2 + start: [2, 7] +- goal: [3, 7] + name: agent3 + start: [0, 1] +- goal: [6, 1] + name: agent4 + start: [7, 5] +- goal: [3, 5] + name: agent5 + start: [6, 2] +- goal: [7, 0] + name: agent6 + start: [6, 4] +- goal: [0, 4] + name: agent7 + start: [7, 2] +- goal: [0, 0] + name: agent8 + start: [7, 7] +- goal: [7, 1] + name: agent9 + start: [4, 0] +- goal: [7, 7] + name: agent10 + start: [5, 1] +- goal: [3, 2] + name: agent11 + start: [7, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 5] + - !!python/tuple [1, 7] + - !!python/tuple [4, 2] + - !!python/tuple [1, 6] + - !!python/tuple [5, 3] + - !!python/tuple [6, 3] + - !!python/tuple [0, 2] + - !!python/tuple [6, 7] + - !!python/tuple [0, 5] + - !!python/tuple [0, 3] + - !!python/tuple [5, 5] + - !!python/tuple [5, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex93.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex93.yaml new file mode 100644 index 0000000..d7a6d21 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex93.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [4, 0] + name: agent0 + start: [5, 2] +- goal: [3, 0] + name: agent1 + start: [4, 3] +- goal: [6, 0] + name: agent2 + start: [4, 1] +- goal: [3, 5] + name: agent3 + start: [6, 5] +- goal: [1, 5] + name: agent4 + start: [4, 7] +- goal: [5, 0] + name: agent5 + start: [5, 0] +- goal: [2, 4] + name: agent6 + start: [7, 6] +- goal: [1, 4] + name: agent7 + start: [6, 0] +- goal: [2, 0] + name: agent8 + start: [2, 7] +- goal: [4, 2] + name: agent9 + start: [7, 3] +- goal: [3, 3] + name: agent10 + start: [3, 7] +- goal: [0, 5] + name: agent11 + start: [6, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 1] + - !!python/tuple [0, 7] + - !!python/tuple [1, 0] + - !!python/tuple [0, 2] + - !!python/tuple [1, 3] + - !!python/tuple [7, 0] + - !!python/tuple [5, 5] + - !!python/tuple [5, 3] + - !!python/tuple [7, 7] + - !!python/tuple [6, 3] + - !!python/tuple [1, 1] + - !!python/tuple [3, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex94.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex94.yaml new file mode 100644 index 0000000..454dfd2 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex94.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [4, 0] + name: agent0 + start: [0, 5] +- goal: [0, 2] + name: agent1 + start: [2, 5] +- goal: [2, 4] + name: agent2 + start: [1, 1] +- goal: [2, 1] + name: agent3 + start: [6, 7] +- goal: [4, 7] + name: agent4 + start: [1, 4] +- goal: [4, 3] + name: agent5 + start: [2, 1] +- goal: [6, 0] + name: agent6 + start: [5, 2] +- goal: [2, 0] + name: agent7 + start: [0, 1] +- goal: [2, 5] + name: agent8 + start: [0, 0] +- goal: [2, 3] + name: agent9 + start: [6, 1] +- goal: [7, 3] + name: agent10 + start: [7, 2] +- goal: [1, 6] + name: agent11 + start: [2, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 6] + - !!python/tuple [1, 2] + - !!python/tuple [3, 7] + - !!python/tuple [3, 0] + - !!python/tuple [3, 5] + - !!python/tuple [7, 1] + - !!python/tuple [7, 4] + - !!python/tuple [5, 3] + - !!python/tuple [5, 4] + - !!python/tuple [6, 4] + - !!python/tuple [0, 7] + - !!python/tuple [6, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex95.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex95.yaml new file mode 100644 index 0000000..09edf33 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex95.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [2, 1] + name: agent0 + start: [0, 7] +- goal: [3, 4] + name: agent1 + start: [2, 4] +- goal: [1, 5] + name: agent2 + start: [6, 3] +- goal: [5, 3] + name: agent3 + start: [1, 7] +- goal: [7, 4] + name: agent4 + start: [0, 4] +- goal: [4, 1] + name: agent5 + start: [0, 0] +- goal: [2, 5] + name: agent6 + start: [4, 1] +- goal: [1, 2] + name: agent7 + start: [1, 5] +- goal: [3, 6] + name: agent8 + start: [4, 3] +- goal: [4, 3] + name: agent9 + start: [7, 6] +- goal: [7, 0] + name: agent10 + start: [0, 5] +- goal: [4, 7] + name: agent11 + start: [7, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 2] + - !!python/tuple [7, 1] + - !!python/tuple [7, 3] + - !!python/tuple [6, 4] + - !!python/tuple [4, 4] + - !!python/tuple [5, 2] + - !!python/tuple [2, 0] + - !!python/tuple [7, 2] + - !!python/tuple [7, 7] + - !!python/tuple [3, 5] + - !!python/tuple [5, 7] + - !!python/tuple [1, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex96.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex96.yaml new file mode 100644 index 0000000..124e780 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex96.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [2, 4] + name: agent0 + start: [0, 2] +- goal: [6, 2] + name: agent1 + start: [7, 6] +- goal: [6, 0] + name: agent2 + start: [3, 0] +- goal: [5, 2] + name: agent3 + start: [3, 7] +- goal: [3, 0] + name: agent4 + start: [3, 6] +- goal: [1, 1] + name: agent5 + start: [3, 1] +- goal: [0, 0] + name: agent6 + start: [4, 2] +- goal: [6, 4] + name: agent7 + start: [0, 7] +- goal: [4, 2] + name: agent8 + start: [2, 3] +- goal: [4, 6] + name: agent9 + start: [1, 1] +- goal: [1, 5] + name: agent10 + start: [1, 5] +- goal: [5, 7] + name: agent11 + start: [1, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 4] + - !!python/tuple [3, 2] + - !!python/tuple [4, 0] + - !!python/tuple [0, 1] + - !!python/tuple [2, 1] + - !!python/tuple [5, 3] + - !!python/tuple [2, 5] + - !!python/tuple [7, 4] + - !!python/tuple [0, 4] + - !!python/tuple [0, 3] + - !!python/tuple [4, 3] + - !!python/tuple [7, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex97.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex97.yaml new file mode 100644 index 0000000..45137fb --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex97.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [7, 1] + name: agent0 + start: [1, 2] +- goal: [3, 1] + name: agent1 + start: [7, 1] +- goal: [7, 7] + name: agent2 + start: [1, 7] +- goal: [4, 4] + name: agent3 + start: [3, 6] +- goal: [2, 1] + name: agent4 + start: [6, 0] +- goal: [2, 7] + name: agent5 + start: [7, 2] +- goal: [1, 7] + name: agent6 + start: [0, 4] +- goal: [2, 2] + name: agent7 + start: [2, 2] +- goal: [4, 6] + name: agent8 + start: [2, 7] +- goal: [6, 6] + name: agent9 + start: [5, 4] +- goal: [6, 4] + name: agent10 + start: [2, 0] +- goal: [3, 5] + name: agent11 + start: [7, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 5] + - !!python/tuple [1, 5] + - !!python/tuple [4, 1] + - !!python/tuple [6, 2] + - !!python/tuple [5, 7] + - !!python/tuple [5, 6] + - !!python/tuple [0, 6] + - !!python/tuple [0, 2] + - !!python/tuple [4, 7] + - !!python/tuple [4, 3] + - !!python/tuple [2, 3] + - !!python/tuple [3, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex98.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex98.yaml new file mode 100644 index 0000000..df38681 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex98.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [3, 2] + name: agent0 + start: [2, 5] +- goal: [1, 7] + name: agent1 + start: [7, 5] +- goal: [5, 1] + name: agent2 + start: [4, 2] +- goal: [1, 4] + name: agent3 + start: [4, 1] +- goal: [3, 7] + name: agent4 + start: [5, 0] +- goal: [4, 7] + name: agent5 + start: [3, 1] +- goal: [6, 5] + name: agent6 + start: [1, 7] +- goal: [3, 3] + name: agent7 + start: [4, 4] +- goal: [5, 4] + name: agent8 + start: [5, 2] +- goal: [3, 1] + name: agent9 + start: [2, 0] +- goal: [0, 5] + name: agent10 + start: [4, 7] +- goal: [4, 2] + name: agent11 + start: [6, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 4] + - !!python/tuple [2, 1] + - !!python/tuple [6, 1] + - !!python/tuple [7, 2] + - !!python/tuple [4, 0] + - !!python/tuple [6, 2] + - !!python/tuple [4, 5] + - !!python/tuple [7, 0] + - !!python/tuple [2, 6] + - !!python/tuple [1, 0] + - !!python/tuple [1, 6] + - !!python/tuple [1, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex99.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex99.yaml new file mode 100644 index 0000000..8910c78 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents12_ex99.yaml @@ -0,0 +1,52 @@ +agents: +- goal: [4, 2] + name: agent0 + start: [5, 0] +- goal: [5, 6] + name: agent1 + start: [1, 2] +- goal: [2, 1] + name: agent2 + start: [3, 2] +- goal: [4, 1] + name: agent3 + start: [3, 1] +- goal: [4, 6] + name: agent4 + start: [7, 0] +- goal: [2, 7] + name: agent5 + start: [2, 7] +- goal: [3, 1] + name: agent6 + start: [1, 5] +- goal: [1, 2] + name: agent7 + start: [2, 1] +- goal: [6, 6] + name: agent8 + start: [3, 5] +- goal: [6, 7] + name: agent9 + start: [1, 6] +- goal: [4, 0] + name: agent10 + start: [0, 2] +- goal: [2, 2] + name: agent11 + start: [6, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 7] + - !!python/tuple [5, 5] + - !!python/tuple [7, 1] + - !!python/tuple [0, 5] + - !!python/tuple [5, 2] + - !!python/tuple [7, 2] + - !!python/tuple [1, 7] + - !!python/tuple [2, 4] + - !!python/tuple [2, 0] + - !!python/tuple [5, 1] + - !!python/tuple [1, 0] + - !!python/tuple [1, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex0.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex0.yaml new file mode 100644 index 0000000..50b3b33 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex0.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [0, 4] + name: agent0 + start: [3, 7] +- goal: [5, 6] + name: agent1 + start: [7, 1] +- goal: [1, 4] + name: agent2 + start: [6, 6] +- goal: [7, 5] + name: agent3 + start: [0, 4] +- goal: [5, 1] + name: agent4 + start: [5, 7] +- goal: [3, 2] + name: agent5 + start: [7, 4] +- goal: [6, 1] + name: agent6 + start: [5, 2] +- goal: [7, 1] + name: agent7 + start: [0, 7] +- goal: [0, 3] + name: agent8 + start: [7, 5] +- goal: [6, 3] + name: agent9 + start: [6, 1] +- goal: [0, 0] + name: agent10 + start: [5, 0] +- goal: [6, 6] + name: agent11 + start: [6, 5] +- goal: [4, 2] + name: agent12 + start: [1, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 6] + - !!python/tuple [6, 7] + - !!python/tuple [4, 5] + - !!python/tuple [2, 7] + - !!python/tuple [7, 3] + - !!python/tuple [7, 0] + - !!python/tuple [3, 0] + - !!python/tuple [4, 1] + - !!python/tuple [6, 4] + - !!python/tuple [2, 3] + - !!python/tuple [3, 1] + - !!python/tuple [5, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex1.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex1.yaml new file mode 100644 index 0000000..44b3419 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex1.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [0, 6] + name: agent0 + start: [3, 5] +- goal: [5, 3] + name: agent1 + start: [5, 4] +- goal: [2, 2] + name: agent2 + start: [0, 7] +- goal: [5, 0] + name: agent3 + start: [5, 5] +- goal: [5, 2] + name: agent4 + start: [5, 1] +- goal: [1, 7] + name: agent5 + start: [0, 6] +- goal: [2, 7] + name: agent6 + start: [3, 7] +- goal: [3, 0] + name: agent7 + start: [6, 7] +- goal: [3, 1] + name: agent8 + start: [4, 6] +- goal: [0, 7] + name: agent9 + start: [6, 4] +- goal: [6, 4] + name: agent10 + start: [2, 4] +- goal: [7, 2] + name: agent11 + start: [5, 7] +- goal: [4, 6] + name: agent12 + start: [0, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 5] + - !!python/tuple [2, 5] + - !!python/tuple [4, 2] + - !!python/tuple [0, 0] + - !!python/tuple [1, 5] + - !!python/tuple [3, 3] + - !!python/tuple [3, 6] + - !!python/tuple [0, 1] + - !!python/tuple [4, 1] + - !!python/tuple [7, 6] + - !!python/tuple [2, 6] + - !!python/tuple [5, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex10.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex10.yaml new file mode 100644 index 0000000..1540023 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex10.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [5, 5] + name: agent0 + start: [3, 0] +- goal: [2, 2] + name: agent1 + start: [1, 7] +- goal: [3, 2] + name: agent2 + start: [7, 4] +- goal: [3, 1] + name: agent3 + start: [1, 4] +- goal: [1, 6] + name: agent4 + start: [4, 1] +- goal: [0, 2] + name: agent5 + start: [0, 7] +- goal: [6, 1] + name: agent6 + start: [0, 4] +- goal: [7, 4] + name: agent7 + start: [0, 2] +- goal: [6, 5] + name: agent8 + start: [6, 2] +- goal: [5, 1] + name: agent9 + start: [5, 1] +- goal: [2, 6] + name: agent10 + start: [5, 2] +- goal: [1, 0] + name: agent11 + start: [6, 1] +- goal: [1, 7] + name: agent12 + start: [7, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 4] + - !!python/tuple [7, 1] + - !!python/tuple [6, 3] + - !!python/tuple [4, 6] + - !!python/tuple [0, 0] + - !!python/tuple [5, 4] + - !!python/tuple [4, 3] + - !!python/tuple [5, 6] + - !!python/tuple [2, 0] + - !!python/tuple [4, 5] + - !!python/tuple [4, 0] + - !!python/tuple [6, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex11.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex11.yaml new file mode 100644 index 0000000..fccacef --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex11.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [5, 3] + name: agent0 + start: [5, 3] +- goal: [0, 6] + name: agent1 + start: [5, 1] +- goal: [2, 7] + name: agent2 + start: [0, 7] +- goal: [5, 4] + name: agent3 + start: [7, 7] +- goal: [2, 2] + name: agent4 + start: [6, 6] +- goal: [6, 0] + name: agent5 + start: [2, 2] +- goal: [1, 7] + name: agent6 + start: [0, 2] +- goal: [0, 2] + name: agent7 + start: [1, 7] +- goal: [3, 2] + name: agent8 + start: [6, 5] +- goal: [7, 4] + name: agent9 + start: [2, 6] +- goal: [7, 7] + name: agent10 + start: [3, 4] +- goal: [4, 5] + name: agent11 + start: [3, 5] +- goal: [5, 1] + name: agent12 + start: [5, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 6] + - !!python/tuple [5, 5] + - !!python/tuple [4, 2] + - !!python/tuple [6, 2] + - !!python/tuple [1, 2] + - !!python/tuple [2, 5] + - !!python/tuple [7, 6] + - !!python/tuple [3, 1] + - !!python/tuple [3, 6] + - !!python/tuple [3, 0] + - !!python/tuple [7, 0] + - !!python/tuple [0, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex12.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex12.yaml new file mode 100644 index 0000000..c11130a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex12.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [4, 2] + name: agent0 + start: [0, 4] +- goal: [7, 5] + name: agent1 + start: [7, 1] +- goal: [0, 4] + name: agent2 + start: [2, 2] +- goal: [6, 1] + name: agent3 + start: [4, 1] +- goal: [7, 2] + name: agent4 + start: [2, 0] +- goal: [2, 7] + name: agent5 + start: [1, 7] +- goal: [7, 7] + name: agent6 + start: [3, 2] +- goal: [2, 1] + name: agent7 + start: [7, 7] +- goal: [0, 6] + name: agent8 + start: [5, 7] +- goal: [6, 5] + name: agent9 + start: [1, 1] +- goal: [5, 6] + name: agent10 + start: [7, 0] +- goal: [6, 6] + name: agent11 + start: [6, 3] +- goal: [5, 2] + name: agent12 + start: [7, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 4] + - !!python/tuple [3, 5] + - !!python/tuple [1, 2] + - !!python/tuple [4, 7] + - !!python/tuple [3, 3] + - !!python/tuple [4, 3] + - !!python/tuple [5, 1] + - !!python/tuple [3, 7] + - !!python/tuple [7, 6] + - !!python/tuple [3, 0] + - !!python/tuple [5, 4] + - !!python/tuple [2, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex13.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex13.yaml new file mode 100644 index 0000000..1e03efe --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex13.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [3, 3] + name: agent0 + start: [2, 1] +- goal: [4, 0] + name: agent1 + start: [7, 6] +- goal: [0, 6] + name: agent2 + start: [4, 4] +- goal: [2, 1] + name: agent3 + start: [3, 6] +- goal: [7, 5] + name: agent4 + start: [5, 1] +- goal: [5, 0] + name: agent5 + start: [1, 5] +- goal: [1, 6] + name: agent6 + start: [4, 1] +- goal: [0, 5] + name: agent7 + start: [5, 7] +- goal: [4, 6] + name: agent8 + start: [0, 7] +- goal: [6, 1] + name: agent9 + start: [0, 0] +- goal: [4, 4] + name: agent10 + start: [4, 6] +- goal: [7, 4] + name: agent11 + start: [5, 5] +- goal: [1, 4] + name: agent12 + start: [6, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 7] + - !!python/tuple [6, 6] + - !!python/tuple [3, 7] + - !!python/tuple [0, 2] + - !!python/tuple [4, 7] + - !!python/tuple [1, 1] + - !!python/tuple [2, 3] + - !!python/tuple [3, 1] + - !!python/tuple [1, 2] + - !!python/tuple [4, 2] + - !!python/tuple [7, 0] + - !!python/tuple [6, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex14.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex14.yaml new file mode 100644 index 0000000..c977f05 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex14.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [6, 4] + name: agent0 + start: [1, 7] +- goal: [6, 0] + name: agent1 + start: [4, 0] +- goal: [5, 2] + name: agent2 + start: [7, 1] +- goal: [3, 7] + name: agent3 + start: [3, 1] +- goal: [4, 3] + name: agent4 + start: [7, 3] +- goal: [7, 6] + name: agent5 + start: [5, 2] +- goal: [2, 4] + name: agent6 + start: [5, 4] +- goal: [5, 3] + name: agent7 + start: [4, 6] +- goal: [4, 6] + name: agent8 + start: [5, 6] +- goal: [0, 4] + name: agent9 + start: [4, 3] +- goal: [7, 1] + name: agent10 + start: [7, 5] +- goal: [2, 1] + name: agent11 + start: [6, 6] +- goal: [7, 0] + name: agent12 + start: [7, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 2] + - !!python/tuple [4, 2] + - !!python/tuple [0, 1] + - !!python/tuple [2, 6] + - !!python/tuple [1, 1] + - !!python/tuple [2, 0] + - !!python/tuple [4, 7] + - !!python/tuple [3, 0] + - !!python/tuple [6, 1] + - !!python/tuple [5, 5] + - !!python/tuple [2, 3] + - !!python/tuple [6, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex15.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex15.yaml new file mode 100644 index 0000000..e2778e5 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex15.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [3, 6] + name: agent0 + start: [0, 6] +- goal: [6, 1] + name: agent1 + start: [5, 7] +- goal: [0, 2] + name: agent2 + start: [3, 7] +- goal: [5, 6] + name: agent3 + start: [0, 1] +- goal: [1, 4] + name: agent4 + start: [1, 4] +- goal: [6, 3] + name: agent5 + start: [4, 5] +- goal: [3, 4] + name: agent6 + start: [6, 2] +- goal: [2, 2] + name: agent7 + start: [7, 2] +- goal: [1, 6] + name: agent8 + start: [6, 5] +- goal: [0, 0] + name: agent9 + start: [5, 6] +- goal: [2, 3] + name: agent10 + start: [1, 6] +- goal: [2, 6] + name: agent11 + start: [2, 7] +- goal: [1, 7] + name: agent12 + start: [2, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 5] + - !!python/tuple [3, 2] + - !!python/tuple [5, 5] + - !!python/tuple [2, 4] + - !!python/tuple [0, 5] + - !!python/tuple [5, 0] + - !!python/tuple [0, 3] + - !!python/tuple [7, 0] + - !!python/tuple [2, 5] + - !!python/tuple [5, 1] + - !!python/tuple [2, 0] + - !!python/tuple [4, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex16.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex16.yaml new file mode 100644 index 0000000..7174d4a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex16.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [2, 1] + name: agent0 + start: [3, 0] +- goal: [7, 2] + name: agent1 + start: [1, 0] +- goal: [4, 4] + name: agent2 + start: [6, 5] +- goal: [5, 1] + name: agent3 + start: [4, 6] +- goal: [7, 4] + name: agent4 + start: [5, 6] +- goal: [0, 4] + name: agent5 + start: [4, 4] +- goal: [4, 1] + name: agent6 + start: [0, 0] +- goal: [5, 2] + name: agent7 + start: [5, 5] +- goal: [0, 6] + name: agent8 + start: [5, 0] +- goal: [3, 3] + name: agent9 + start: [6, 4] +- goal: [0, 1] + name: agent10 + start: [3, 4] +- goal: [5, 3] + name: agent11 + start: [5, 2] +- goal: [6, 2] + name: agent12 + start: [1, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 1] + - !!python/tuple [4, 5] + - !!python/tuple [3, 7] + - !!python/tuple [6, 1] + - !!python/tuple [7, 1] + - !!python/tuple [6, 0] + - !!python/tuple [6, 3] + - !!python/tuple [6, 7] + - !!python/tuple [1, 2] + - !!python/tuple [1, 3] + - !!python/tuple [7, 5] + - !!python/tuple [0, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex17.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex17.yaml new file mode 100644 index 0000000..b146fc6 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex17.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [5, 5] + name: agent0 + start: [2, 2] +- goal: [2, 7] + name: agent1 + start: [2, 0] +- goal: [4, 1] + name: agent2 + start: [5, 7] +- goal: [6, 3] + name: agent3 + start: [7, 3] +- goal: [0, 7] + name: agent4 + start: [4, 6] +- goal: [7, 3] + name: agent5 + start: [1, 5] +- goal: [4, 6] + name: agent6 + start: [5, 6] +- goal: [5, 0] + name: agent7 + start: [3, 3] +- goal: [2, 5] + name: agent8 + start: [4, 3] +- goal: [2, 3] + name: agent9 + start: [4, 7] +- goal: [2, 6] + name: agent10 + start: [7, 0] +- goal: [5, 1] + name: agent11 + start: [2, 6] +- goal: [5, 7] + name: agent12 + start: [6, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 7] + - !!python/tuple [0, 0] + - !!python/tuple [3, 4] + - !!python/tuple [7, 5] + - !!python/tuple [1, 1] + - !!python/tuple [1, 6] + - !!python/tuple [4, 5] + - !!python/tuple [6, 6] + - !!python/tuple [1, 0] + - !!python/tuple [6, 2] + - !!python/tuple [0, 3] + - !!python/tuple [6, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex18.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex18.yaml new file mode 100644 index 0000000..19b07f7 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex18.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [1, 6] + name: agent0 + start: [7, 3] +- goal: [6, 6] + name: agent1 + start: [0, 7] +- goal: [2, 1] + name: agent2 + start: [5, 7] +- goal: [4, 1] + name: agent3 + start: [3, 5] +- goal: [5, 5] + name: agent4 + start: [7, 6] +- goal: [3, 1] + name: agent5 + start: [0, 6] +- goal: [7, 2] + name: agent6 + start: [0, 1] +- goal: [4, 2] + name: agent7 + start: [3, 3] +- goal: [0, 0] + name: agent8 + start: [2, 2] +- goal: [7, 3] + name: agent9 + start: [4, 0] +- goal: [6, 7] + name: agent10 + start: [5, 1] +- goal: [5, 4] + name: agent11 + start: [2, 5] +- goal: [0, 3] + name: agent12 + start: [7, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 1] + - !!python/tuple [1, 3] + - !!python/tuple [6, 3] + - !!python/tuple [4, 3] + - !!python/tuple [4, 5] + - !!python/tuple [2, 3] + - !!python/tuple [0, 2] + - !!python/tuple [5, 0] + - !!python/tuple [4, 4] + - !!python/tuple [5, 6] + - !!python/tuple [1, 4] + - !!python/tuple [1, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex19.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex19.yaml new file mode 100644 index 0000000..a5f7c21 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex19.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [7, 4] + name: agent0 + start: [1, 6] +- goal: [2, 6] + name: agent1 + start: [4, 6] +- goal: [1, 1] + name: agent2 + start: [5, 0] +- goal: [4, 1] + name: agent3 + start: [7, 5] +- goal: [0, 1] + name: agent4 + start: [7, 7] +- goal: [4, 2] + name: agent5 + start: [5, 6] +- goal: [7, 7] + name: agent6 + start: [3, 0] +- goal: [6, 7] + name: agent7 + start: [4, 5] +- goal: [4, 7] + name: agent8 + start: [6, 0] +- goal: [3, 0] + name: agent9 + start: [5, 1] +- goal: [5, 5] + name: agent10 + start: [0, 7] +- goal: [7, 2] + name: agent11 + start: [7, 2] +- goal: [2, 1] + name: agent12 + start: [5, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 4] + - !!python/tuple [3, 5] + - !!python/tuple [4, 3] + - !!python/tuple [2, 3] + - !!python/tuple [3, 7] + - !!python/tuple [2, 5] + - !!python/tuple [1, 2] + - !!python/tuple [5, 7] + - !!python/tuple [6, 6] + - !!python/tuple [4, 4] + - !!python/tuple [2, 2] + - !!python/tuple [0, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex2.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex2.yaml new file mode 100644 index 0000000..6e587ca --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex2.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [3, 3] + name: agent0 + start: [1, 5] +- goal: [6, 2] + name: agent1 + start: [7, 3] +- goal: [7, 3] + name: agent2 + start: [3, 2] +- goal: [2, 4] + name: agent3 + start: [5, 7] +- goal: [2, 3] + name: agent4 + start: [5, 2] +- goal: [2, 2] + name: agent5 + start: [6, 6] +- goal: [1, 0] + name: agent6 + start: [4, 7] +- goal: [7, 6] + name: agent7 + start: [5, 3] +- goal: [1, 3] + name: agent8 + start: [0, 4] +- goal: [0, 4] + name: agent9 + start: [2, 6] +- goal: [5, 2] + name: agent10 + start: [6, 3] +- goal: [5, 5] + name: agent11 + start: [2, 4] +- goal: [6, 6] + name: agent12 + start: [5, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 3] + - !!python/tuple [2, 1] + - !!python/tuple [6, 0] + - !!python/tuple [2, 0] + - !!python/tuple [7, 0] + - !!python/tuple [4, 4] + - !!python/tuple [5, 4] + - !!python/tuple [3, 5] + - !!python/tuple [5, 6] + - !!python/tuple [0, 2] + - !!python/tuple [1, 7] + - !!python/tuple [4, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex20.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex20.yaml new file mode 100644 index 0000000..dbeace4 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex20.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [6, 4] + name: agent0 + start: [2, 7] +- goal: [4, 5] + name: agent1 + start: [4, 1] +- goal: [6, 1] + name: agent2 + start: [0, 0] +- goal: [7, 0] + name: agent3 + start: [2, 2] +- goal: [0, 3] + name: agent4 + start: [7, 6] +- goal: [1, 4] + name: agent5 + start: [6, 2] +- goal: [6, 3] + name: agent6 + start: [0, 4] +- goal: [0, 1] + name: agent7 + start: [0, 7] +- goal: [3, 0] + name: agent8 + start: [6, 7] +- goal: [1, 6] + name: agent9 + start: [6, 1] +- goal: [2, 2] + name: agent10 + start: [4, 4] +- goal: [0, 6] + name: agent11 + start: [3, 3] +- goal: [5, 2] + name: agent12 + start: [0, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 6] + - !!python/tuple [7, 7] + - !!python/tuple [1, 0] + - !!python/tuple [2, 1] + - !!python/tuple [1, 7] + - !!python/tuple [4, 0] + - !!python/tuple [3, 5] + - !!python/tuple [2, 5] + - !!python/tuple [4, 7] + - !!python/tuple [4, 2] + - !!python/tuple [3, 6] + - !!python/tuple [4, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex21.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex21.yaml new file mode 100644 index 0000000..5d4d666 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex21.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [3, 1] + name: agent0 + start: [0, 5] +- goal: [6, 4] + name: agent1 + start: [0, 4] +- goal: [1, 7] + name: agent2 + start: [1, 3] +- goal: [0, 0] + name: agent3 + start: [1, 0] +- goal: [6, 1] + name: agent4 + start: [2, 6] +- goal: [5, 5] + name: agent5 + start: [3, 4] +- goal: [5, 1] + name: agent6 + start: [7, 2] +- goal: [5, 2] + name: agent7 + start: [6, 3] +- goal: [0, 1] + name: agent8 + start: [4, 4] +- goal: [1, 5] + name: agent9 + start: [7, 4] +- goal: [7, 4] + name: agent10 + start: [5, 0] +- goal: [0, 2] + name: agent11 + start: [0, 7] +- goal: [4, 5] + name: agent12 + start: [0, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 6] + - !!python/tuple [2, 3] + - !!python/tuple [5, 4] + - !!python/tuple [1, 2] + - !!python/tuple [7, 5] + - !!python/tuple [2, 0] + - !!python/tuple [4, 3] + - !!python/tuple [5, 6] + - !!python/tuple [6, 5] + - !!python/tuple [3, 3] + - !!python/tuple [3, 6] + - !!python/tuple [4, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex22.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex22.yaml new file mode 100644 index 0000000..dacc04d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex22.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [0, 0] + name: agent0 + start: [5, 2] +- goal: [5, 1] + name: agent1 + start: [3, 5] +- goal: [7, 5] + name: agent2 + start: [4, 0] +- goal: [4, 1] + name: agent3 + start: [5, 7] +- goal: [4, 3] + name: agent4 + start: [7, 3] +- goal: [7, 4] + name: agent5 + start: [1, 5] +- goal: [6, 5] + name: agent6 + start: [7, 4] +- goal: [3, 2] + name: agent7 + start: [2, 7] +- goal: [0, 6] + name: agent8 + start: [6, 4] +- goal: [1, 4] + name: agent9 + start: [7, 1] +- goal: [5, 4] + name: agent10 + start: [1, 7] +- goal: [5, 2] + name: agent11 + start: [2, 6] +- goal: [2, 4] + name: agent12 + start: [4, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 2] + - !!python/tuple [4, 2] + - !!python/tuple [6, 3] + - !!python/tuple [1, 2] + - !!python/tuple [4, 6] + - !!python/tuple [7, 7] + - !!python/tuple [3, 6] + - !!python/tuple [6, 0] + - !!python/tuple [3, 3] + - !!python/tuple [0, 7] + - !!python/tuple [1, 3] + - !!python/tuple [2, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex23.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex23.yaml new file mode 100644 index 0000000..1829d94 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex23.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [6, 1] + name: agent0 + start: [0, 4] +- goal: [0, 0] + name: agent1 + start: [0, 0] +- goal: [6, 5] + name: agent2 + start: [2, 3] +- goal: [2, 2] + name: agent3 + start: [4, 4] +- goal: [1, 6] + name: agent4 + start: [7, 2] +- goal: [0, 1] + name: agent5 + start: [7, 4] +- goal: [6, 6] + name: agent6 + start: [3, 7] +- goal: [3, 2] + name: agent7 + start: [4, 0] +- goal: [4, 3] + name: agent8 + start: [7, 5] +- goal: [5, 7] + name: agent9 + start: [2, 7] +- goal: [4, 4] + name: agent10 + start: [6, 1] +- goal: [5, 1] + name: agent11 + start: [6, 4] +- goal: [2, 5] + name: agent12 + start: [2, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 3] + - !!python/tuple [0, 5] + - !!python/tuple [4, 2] + - !!python/tuple [1, 5] + - !!python/tuple [1, 7] + - !!python/tuple [7, 0] + - !!python/tuple [7, 6] + - !!python/tuple [1, 3] + - !!python/tuple [1, 0] + - !!python/tuple [5, 3] + - !!python/tuple [0, 6] + - !!python/tuple [3, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex24.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex24.yaml new file mode 100644 index 0000000..98e7e49 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex24.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [4, 6] + name: agent0 + start: [0, 2] +- goal: [4, 1] + name: agent1 + start: [4, 7] +- goal: [6, 1] + name: agent2 + start: [1, 7] +- goal: [2, 4] + name: agent3 + start: [7, 3] +- goal: [4, 2] + name: agent4 + start: [1, 1] +- goal: [6, 7] + name: agent5 + start: [7, 5] +- goal: [5, 1] + name: agent6 + start: [6, 7] +- goal: [7, 2] + name: agent7 + start: [3, 4] +- goal: [4, 7] + name: agent8 + start: [7, 6] +- goal: [2, 1] + name: agent9 + start: [5, 7] +- goal: [6, 4] + name: agent10 + start: [2, 4] +- goal: [3, 6] + name: agent11 + start: [6, 3] +- goal: [0, 6] + name: agent12 + start: [5, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 2] + - !!python/tuple [1, 2] + - !!python/tuple [0, 5] + - !!python/tuple [4, 4] + - !!python/tuple [2, 0] + - !!python/tuple [7, 1] + - !!python/tuple [0, 4] + - !!python/tuple [5, 2] + - !!python/tuple [5, 3] + - !!python/tuple [3, 0] + - !!python/tuple [7, 7] + - !!python/tuple [3, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex25.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex25.yaml new file mode 100644 index 0000000..aa26e64 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex25.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [7, 1] + name: agent0 + start: [1, 4] +- goal: [7, 0] + name: agent1 + start: [2, 3] +- goal: [1, 1] + name: agent2 + start: [1, 3] +- goal: [1, 0] + name: agent3 + start: [4, 5] +- goal: [4, 5] + name: agent4 + start: [4, 2] +- goal: [2, 0] + name: agent5 + start: [0, 0] +- goal: [5, 7] + name: agent6 + start: [5, 6] +- goal: [3, 5] + name: agent7 + start: [0, 3] +- goal: [2, 2] + name: agent8 + start: [0, 2] +- goal: [1, 3] + name: agent9 + start: [2, 0] +- goal: [3, 7] + name: agent10 + start: [2, 7] +- goal: [4, 0] + name: agent11 + start: [3, 1] +- goal: [0, 0] + name: agent12 + start: [3, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 4] + - !!python/tuple [5, 1] + - !!python/tuple [5, 5] + - !!python/tuple [7, 3] + - !!python/tuple [3, 0] + - !!python/tuple [4, 7] + - !!python/tuple [1, 6] + - !!python/tuple [0, 5] + - !!python/tuple [4, 6] + - !!python/tuple [5, 3] + - !!python/tuple [0, 4] + - !!python/tuple [6, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex26.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex26.yaml new file mode 100644 index 0000000..ccf1472 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex26.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [1, 5] + name: agent0 + start: [7, 7] +- goal: [4, 5] + name: agent1 + start: [2, 1] +- goal: [3, 4] + name: agent2 + start: [3, 3] +- goal: [5, 3] + name: agent3 + start: [1, 5] +- goal: [2, 3] + name: agent4 + start: [5, 6] +- goal: [0, 5] + name: agent5 + start: [2, 3] +- goal: [2, 6] + name: agent6 + start: [6, 6] +- goal: [1, 2] + name: agent7 + start: [7, 3] +- goal: [7, 2] + name: agent8 + start: [0, 1] +- goal: [3, 0] + name: agent9 + start: [7, 4] +- goal: [3, 1] + name: agent10 + start: [0, 5] +- goal: [3, 7] + name: agent11 + start: [0, 2] +- goal: [2, 7] + name: agent12 + start: [4, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 7] + - !!python/tuple [0, 0] + - !!python/tuple [5, 0] + - !!python/tuple [1, 6] + - !!python/tuple [0, 3] + - !!python/tuple [5, 4] + - !!python/tuple [2, 2] + - !!python/tuple [0, 4] + - !!python/tuple [6, 2] + - !!python/tuple [0, 6] + - !!python/tuple [1, 7] + - !!python/tuple [5, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex27.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex27.yaml new file mode 100644 index 0000000..da38b48 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex27.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [2, 1] + name: agent0 + start: [3, 4] +- goal: [1, 1] + name: agent1 + start: [5, 0] +- goal: [3, 0] + name: agent2 + start: [4, 5] +- goal: [4, 1] + name: agent3 + start: [1, 6] +- goal: [3, 4] + name: agent4 + start: [2, 2] +- goal: [0, 1] + name: agent5 + start: [3, 6] +- goal: [2, 0] + name: agent6 + start: [6, 3] +- goal: [3, 1] + name: agent7 + start: [3, 3] +- goal: [3, 7] + name: agent8 + start: [0, 6] +- goal: [1, 3] + name: agent9 + start: [4, 2] +- goal: [4, 5] + name: agent10 + start: [7, 2] +- goal: [5, 3] + name: agent11 + start: [3, 0] +- goal: [5, 7] + name: agent12 + start: [7, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 5] + - !!python/tuple [5, 2] + - !!python/tuple [1, 0] + - !!python/tuple [1, 4] + - !!python/tuple [2, 5] + - !!python/tuple [4, 0] + - !!python/tuple [6, 7] + - !!python/tuple [2, 6] + - !!python/tuple [4, 6] + - !!python/tuple [5, 6] + - !!python/tuple [7, 7] + - !!python/tuple [2, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex28.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex28.yaml new file mode 100644 index 0000000..9143d0c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex28.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [0, 7] + name: agent0 + start: [1, 0] +- goal: [3, 1] + name: agent1 + start: [4, 1] +- goal: [0, 1] + name: agent2 + start: [6, 4] +- goal: [4, 2] + name: agent3 + start: [3, 1] +- goal: [3, 7] + name: agent4 + start: [3, 7] +- goal: [4, 7] + name: agent5 + start: [2, 3] +- goal: [6, 1] + name: agent6 + start: [7, 1] +- goal: [4, 4] + name: agent7 + start: [1, 7] +- goal: [5, 3] + name: agent8 + start: [6, 0] +- goal: [1, 0] + name: agent9 + start: [7, 6] +- goal: [6, 3] + name: agent10 + start: [0, 7] +- goal: [6, 2] + name: agent11 + start: [4, 5] +- goal: [1, 6] + name: agent12 + start: [7, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 6] + - !!python/tuple [5, 1] + - !!python/tuple [5, 0] + - !!python/tuple [7, 2] + - !!python/tuple [7, 0] + - !!python/tuple [2, 6] + - !!python/tuple [4, 0] + - !!python/tuple [2, 7] + - !!python/tuple [7, 7] + - !!python/tuple [0, 4] + - !!python/tuple [6, 7] + - !!python/tuple [7, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex29.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex29.yaml new file mode 100644 index 0000000..abdbb49 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex29.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [3, 3] + name: agent0 + start: [0, 2] +- goal: [2, 4] + name: agent1 + start: [4, 3] +- goal: [3, 4] + name: agent2 + start: [0, 1] +- goal: [0, 6] + name: agent3 + start: [6, 5] +- goal: [4, 7] + name: agent4 + start: [7, 2] +- goal: [7, 2] + name: agent5 + start: [7, 5] +- goal: [7, 5] + name: agent6 + start: [4, 1] +- goal: [3, 6] + name: agent7 + start: [5, 7] +- goal: [5, 1] + name: agent8 + start: [6, 6] +- goal: [5, 2] + name: agent9 + start: [7, 3] +- goal: [3, 7] + name: agent10 + start: [2, 5] +- goal: [1, 5] + name: agent11 + start: [6, 4] +- goal: [2, 3] + name: agent12 + start: [0, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 7] + - !!python/tuple [6, 3] + - !!python/tuple [5, 0] + - !!python/tuple [3, 1] + - !!python/tuple [4, 2] + - !!python/tuple [1, 4] + - !!python/tuple [5, 6] + - !!python/tuple [4, 5] + - !!python/tuple [4, 4] + - !!python/tuple [5, 4] + - !!python/tuple [6, 2] + - !!python/tuple [0, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex3.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex3.yaml new file mode 100644 index 0000000..0503bf3 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex3.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [4, 4] + name: agent0 + start: [3, 5] +- goal: [3, 2] + name: agent1 + start: [7, 5] +- goal: [5, 4] + name: agent2 + start: [3, 7] +- goal: [3, 5] + name: agent3 + start: [2, 5] +- goal: [2, 3] + name: agent4 + start: [0, 4] +- goal: [5, 7] + name: agent5 + start: [2, 7] +- goal: [0, 2] + name: agent6 + start: [5, 6] +- goal: [5, 1] + name: agent7 + start: [2, 6] +- goal: [2, 4] + name: agent8 + start: [0, 2] +- goal: [2, 1] + name: agent9 + start: [6, 3] +- goal: [3, 4] + name: agent10 + start: [6, 6] +- goal: [3, 1] + name: agent11 + start: [1, 5] +- goal: [0, 4] + name: agent12 + start: [2, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 5] + - !!python/tuple [6, 1] + - !!python/tuple [6, 5] + - !!python/tuple [7, 0] + - !!python/tuple [0, 7] + - !!python/tuple [0, 3] + - !!python/tuple [3, 0] + - !!python/tuple [1, 6] + - !!python/tuple [6, 7] + - !!python/tuple [4, 7] + - !!python/tuple [5, 0] + - !!python/tuple [1, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex30.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex30.yaml new file mode 100644 index 0000000..fb2992a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex30.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [3, 2] + name: agent0 + start: [2, 2] +- goal: [1, 0] + name: agent1 + start: [3, 6] +- goal: [5, 1] + name: agent2 + start: [3, 7] +- goal: [1, 5] + name: agent3 + start: [5, 2] +- goal: [3, 1] + name: agent4 + start: [5, 5] +- goal: [7, 1] + name: agent5 + start: [5, 3] +- goal: [0, 4] + name: agent6 + start: [5, 4] +- goal: [3, 4] + name: agent7 + start: [6, 4] +- goal: [4, 3] + name: agent8 + start: [5, 0] +- goal: [7, 2] + name: agent9 + start: [1, 2] +- goal: [6, 2] + name: agent10 + start: [1, 5] +- goal: [2, 6] + name: agent11 + start: [6, 2] +- goal: [0, 6] + name: agent12 + start: [2, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 6] + - !!python/tuple [6, 3] + - !!python/tuple [2, 3] + - !!python/tuple [3, 5] + - !!python/tuple [4, 5] + - !!python/tuple [6, 5] + - !!python/tuple [6, 6] + - !!python/tuple [7, 3] + - !!python/tuple [0, 1] + - !!python/tuple [7, 6] + - !!python/tuple [5, 7] + - !!python/tuple [0, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex31.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex31.yaml new file mode 100644 index 0000000..da40efd --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex31.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [3, 6] + name: agent0 + start: [6, 4] +- goal: [0, 4] + name: agent1 + start: [4, 5] +- goal: [3, 0] + name: agent2 + start: [6, 1] +- goal: [6, 6] + name: agent3 + start: [1, 0] +- goal: [4, 3] + name: agent4 + start: [0, 3] +- goal: [4, 5] + name: agent5 + start: [7, 3] +- goal: [6, 3] + name: agent6 + start: [2, 5] +- goal: [5, 5] + name: agent7 + start: [5, 6] +- goal: [0, 6] + name: agent8 + start: [5, 4] +- goal: [1, 3] + name: agent9 + start: [0, 2] +- goal: [4, 6] + name: agent10 + start: [1, 2] +- goal: [7, 2] + name: agent11 + start: [1, 7] +- goal: [4, 7] + name: agent12 + start: [6, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 1] + - !!python/tuple [7, 7] + - !!python/tuple [3, 2] + - !!python/tuple [3, 5] + - !!python/tuple [6, 0] + - !!python/tuple [6, 5] + - !!python/tuple [1, 5] + - !!python/tuple [5, 2] + - !!python/tuple [6, 7] + - !!python/tuple [3, 7] + - !!python/tuple [7, 4] + - !!python/tuple [7, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex32.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex32.yaml new file mode 100644 index 0000000..959fe12 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex32.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [7, 0] + name: agent0 + start: [1, 3] +- goal: [4, 1] + name: agent1 + start: [5, 7] +- goal: [1, 3] + name: agent2 + start: [5, 6] +- goal: [3, 1] + name: agent3 + start: [3, 1] +- goal: [6, 3] + name: agent4 + start: [4, 4] +- goal: [0, 2] + name: agent5 + start: [7, 2] +- goal: [4, 3] + name: agent6 + start: [1, 5] +- goal: [3, 7] + name: agent7 + start: [5, 5] +- goal: [5, 2] + name: agent8 + start: [4, 2] +- goal: [6, 2] + name: agent9 + start: [5, 1] +- goal: [0, 0] + name: agent10 + start: [3, 6] +- goal: [5, 1] + name: agent11 + start: [6, 1] +- goal: [3, 6] + name: agent12 + start: [0, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 0] + - !!python/tuple [5, 4] + - !!python/tuple [5, 0] + - !!python/tuple [3, 4] + - !!python/tuple [1, 7] + - !!python/tuple [6, 0] + - !!python/tuple [2, 7] + - !!python/tuple [1, 2] + - !!python/tuple [6, 4] + - !!python/tuple [7, 5] + - !!python/tuple [3, 5] + - !!python/tuple [7, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex33.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex33.yaml new file mode 100644 index 0000000..b6b0a73 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex33.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [0, 4] + name: agent0 + start: [6, 7] +- goal: [6, 4] + name: agent1 + start: [2, 2] +- goal: [3, 5] + name: agent2 + start: [1, 0] +- goal: [6, 0] + name: agent3 + start: [6, 6] +- goal: [5, 1] + name: agent4 + start: [7, 7] +- goal: [7, 7] + name: agent5 + start: [1, 5] +- goal: [6, 6] + name: agent6 + start: [3, 4] +- goal: [6, 3] + name: agent7 + start: [7, 3] +- goal: [4, 5] + name: agent8 + start: [2, 3] +- goal: [3, 7] + name: agent9 + start: [1, 3] +- goal: [5, 4] + name: agent10 + start: [5, 1] +- goal: [2, 0] + name: agent11 + start: [3, 5] +- goal: [5, 0] + name: agent12 + start: [1, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 7] + - !!python/tuple [3, 2] + - !!python/tuple [6, 1] + - !!python/tuple [7, 4] + - !!python/tuple [4, 0] + - !!python/tuple [1, 1] + - !!python/tuple [5, 6] + - !!python/tuple [4, 1] + - !!python/tuple [0, 7] + - !!python/tuple [5, 2] + - !!python/tuple [0, 2] + - !!python/tuple [7, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex34.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex34.yaml new file mode 100644 index 0000000..e664cb9 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex34.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [4, 7] + name: agent0 + start: [3, 1] +- goal: [7, 5] + name: agent1 + start: [1, 0] +- goal: [5, 2] + name: agent2 + start: [5, 4] +- goal: [0, 2] + name: agent3 + start: [1, 5] +- goal: [1, 2] + name: agent4 + start: [2, 0] +- goal: [3, 0] + name: agent5 + start: [1, 1] +- goal: [3, 6] + name: agent6 + start: [3, 5] +- goal: [7, 3] + name: agent7 + start: [3, 4] +- goal: [1, 5] + name: agent8 + start: [7, 7] +- goal: [0, 6] + name: agent9 + start: [1, 7] +- goal: [5, 6] + name: agent10 + start: [2, 6] +- goal: [5, 7] + name: agent11 + start: [6, 3] +- goal: [3, 7] + name: agent12 + start: [7, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 4] + - !!python/tuple [2, 5] + - !!python/tuple [7, 6] + - !!python/tuple [7, 1] + - !!python/tuple [2, 4] + - !!python/tuple [7, 4] + - !!python/tuple [0, 3] + - !!python/tuple [0, 4] + - !!python/tuple [4, 3] + - !!python/tuple [1, 4] + - !!python/tuple [6, 0] + - !!python/tuple [0, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex35.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex35.yaml new file mode 100644 index 0000000..31e372a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex35.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [2, 6] + name: agent0 + start: [3, 4] +- goal: [0, 6] + name: agent1 + start: [2, 4] +- goal: [1, 5] + name: agent2 + start: [5, 2] +- goal: [4, 3] + name: agent3 + start: [4, 4] +- goal: [6, 7] + name: agent4 + start: [2, 6] +- goal: [4, 2] + name: agent5 + start: [7, 2] +- goal: [0, 5] + name: agent6 + start: [4, 3] +- goal: [6, 4] + name: agent7 + start: [2, 3] +- goal: [5, 6] + name: agent8 + start: [6, 7] +- goal: [1, 7] + name: agent9 + start: [4, 5] +- goal: [0, 4] + name: agent10 + start: [6, 1] +- goal: [3, 6] + name: agent11 + start: [3, 2] +- goal: [2, 7] + name: agent12 + start: [5, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 1] + - !!python/tuple [4, 7] + - !!python/tuple [7, 0] + - !!python/tuple [2, 0] + - !!python/tuple [6, 6] + - !!python/tuple [3, 7] + - !!python/tuple [0, 2] + - !!python/tuple [6, 3] + - !!python/tuple [5, 3] + - !!python/tuple [4, 1] + - !!python/tuple [6, 5] + - !!python/tuple [6, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex36.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex36.yaml new file mode 100644 index 0000000..91df9de --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex36.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [0, 1] + name: agent0 + start: [0, 2] +- goal: [3, 7] + name: agent1 + start: [5, 0] +- goal: [4, 0] + name: agent2 + start: [4, 5] +- goal: [3, 6] + name: agent3 + start: [4, 2] +- goal: [2, 6] + name: agent4 + start: [3, 0] +- goal: [6, 4] + name: agent5 + start: [5, 5] +- goal: [3, 5] + name: agent6 + start: [2, 0] +- goal: [7, 7] + name: agent7 + start: [0, 6] +- goal: [0, 4] + name: agent8 + start: [1, 2] +- goal: [4, 4] + name: agent9 + start: [2, 1] +- goal: [5, 3] + name: agent10 + start: [6, 6] +- goal: [5, 0] + name: agent11 + start: [0, 4] +- goal: [2, 1] + name: agent12 + start: [7, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 1] + - !!python/tuple [6, 0] + - !!python/tuple [1, 0] + - !!python/tuple [2, 7] + - !!python/tuple [3, 4] + - !!python/tuple [1, 5] + - !!python/tuple [3, 2] + - !!python/tuple [7, 0] + - !!python/tuple [2, 3] + - !!python/tuple [5, 7] + - !!python/tuple [2, 4] + - !!python/tuple [3, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex37.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex37.yaml new file mode 100644 index 0000000..f91e9ac --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex37.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [5, 3] + name: agent0 + start: [4, 7] +- goal: [1, 2] + name: agent1 + start: [7, 6] +- goal: [2, 4] + name: agent2 + start: [5, 6] +- goal: [6, 5] + name: agent3 + start: [7, 4] +- goal: [1, 0] + name: agent4 + start: [0, 2] +- goal: [0, 1] + name: agent5 + start: [1, 0] +- goal: [0, 5] + name: agent6 + start: [4, 2] +- goal: [3, 5] + name: agent7 + start: [3, 6] +- goal: [3, 2] + name: agent8 + start: [5, 3] +- goal: [5, 4] + name: agent9 + start: [0, 0] +- goal: [7, 6] + name: agent10 + start: [6, 5] +- goal: [5, 1] + name: agent11 + start: [5, 0] +- goal: [4, 3] + name: agent12 + start: [5, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 2] + - !!python/tuple [1, 1] + - !!python/tuple [7, 0] + - !!python/tuple [6, 6] + - !!python/tuple [0, 4] + - !!python/tuple [6, 1] + - !!python/tuple [4, 4] + - !!python/tuple [1, 7] + - !!python/tuple [5, 7] + - !!python/tuple [6, 2] + - !!python/tuple [6, 4] + - !!python/tuple [1, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex38.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex38.yaml new file mode 100644 index 0000000..d9d80f9 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex38.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [1, 3] + name: agent0 + start: [2, 4] +- goal: [3, 7] + name: agent1 + start: [5, 7] +- goal: [0, 4] + name: agent2 + start: [5, 0] +- goal: [2, 1] + name: agent3 + start: [1, 7] +- goal: [4, 6] + name: agent4 + start: [6, 5] +- goal: [5, 0] + name: agent5 + start: [7, 3] +- goal: [6, 6] + name: agent6 + start: [7, 4] +- goal: [2, 7] + name: agent7 + start: [5, 3] +- goal: [1, 0] + name: agent8 + start: [5, 2] +- goal: [6, 3] + name: agent9 + start: [1, 3] +- goal: [7, 7] + name: agent10 + start: [2, 6] +- goal: [2, 3] + name: agent11 + start: [0, 2] +- goal: [0, 6] + name: agent12 + start: [4, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 5] + - !!python/tuple [7, 0] + - !!python/tuple [4, 3] + - !!python/tuple [5, 6] + - !!python/tuple [7, 6] + - !!python/tuple [3, 1] + - !!python/tuple [5, 4] + - !!python/tuple [7, 1] + - !!python/tuple [3, 5] + - !!python/tuple [6, 2] + - !!python/tuple [0, 3] + - !!python/tuple [1, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex39.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex39.yaml new file mode 100644 index 0000000..218b4bc --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex39.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [5, 2] + name: agent0 + start: [1, 1] +- goal: [6, 4] + name: agent1 + start: [7, 6] +- goal: [0, 1] + name: agent2 + start: [3, 4] +- goal: [0, 3] + name: agent3 + start: [7, 0] +- goal: [4, 3] + name: agent4 + start: [6, 4] +- goal: [4, 2] + name: agent5 + start: [7, 1] +- goal: [1, 5] + name: agent6 + start: [2, 0] +- goal: [0, 2] + name: agent7 + start: [4, 6] +- goal: [2, 3] + name: agent8 + start: [3, 2] +- goal: [7, 1] + name: agent9 + start: [6, 6] +- goal: [1, 2] + name: agent10 + start: [1, 5] +- goal: [6, 7] + name: agent11 + start: [4, 0] +- goal: [1, 7] + name: agent12 + start: [1, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 2] + - !!python/tuple [6, 2] + - !!python/tuple [0, 5] + - !!python/tuple [2, 1] + - !!python/tuple [4, 1] + - !!python/tuple [3, 7] + - !!python/tuple [2, 6] + - !!python/tuple [0, 0] + - !!python/tuple [1, 6] + - !!python/tuple [4, 5] + - !!python/tuple [5, 4] + - !!python/tuple [0, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex4.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex4.yaml new file mode 100644 index 0000000..35ec234 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex4.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [1, 7] + name: agent0 + start: [1, 4] +- goal: [0, 4] + name: agent1 + start: [7, 0] +- goal: [2, 1] + name: agent2 + start: [7, 3] +- goal: [0, 5] + name: agent3 + start: [7, 5] +- goal: [0, 3] + name: agent4 + start: [2, 1] +- goal: [1, 3] + name: agent5 + start: [6, 0] +- goal: [2, 7] + name: agent6 + start: [4, 3] +- goal: [5, 2] + name: agent7 + start: [6, 2] +- goal: [6, 4] + name: agent8 + start: [2, 0] +- goal: [3, 0] + name: agent9 + start: [5, 1] +- goal: [6, 2] + name: agent10 + start: [0, 1] +- goal: [7, 2] + name: agent11 + start: [3, 0] +- goal: [3, 6] + name: agent12 + start: [0, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 1] + - !!python/tuple [3, 3] + - !!python/tuple [4, 6] + - !!python/tuple [4, 5] + - !!python/tuple [3, 7] + - !!python/tuple [2, 2] + - !!python/tuple [2, 4] + - !!python/tuple [3, 5] + - !!python/tuple [1, 5] + - !!python/tuple [0, 7] + - !!python/tuple [6, 6] + - !!python/tuple [7, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex40.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex40.yaml new file mode 100644 index 0000000..046face --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex40.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [6, 3] + name: agent0 + start: [6, 5] +- goal: [4, 0] + name: agent1 + start: [7, 7] +- goal: [1, 2] + name: agent2 + start: [5, 3] +- goal: [2, 1] + name: agent3 + start: [6, 6] +- goal: [6, 1] + name: agent4 + start: [3, 2] +- goal: [3, 1] + name: agent5 + start: [1, 1] +- goal: [4, 2] + name: agent6 + start: [6, 2] +- goal: [3, 2] + name: agent7 + start: [6, 3] +- goal: [5, 6] + name: agent8 + start: [7, 5] +- goal: [1, 3] + name: agent9 + start: [5, 7] +- goal: [6, 4] + name: agent10 + start: [5, 0] +- goal: [6, 0] + name: agent11 + start: [2, 0] +- goal: [4, 3] + name: agent12 + start: [6, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 1] + - !!python/tuple [1, 4] + - !!python/tuple [7, 4] + - !!python/tuple [2, 5] + - !!python/tuple [5, 5] + - !!python/tuple [4, 7] + - !!python/tuple [3, 6] + - !!python/tuple [0, 4] + - !!python/tuple [4, 6] + - !!python/tuple [7, 0] + - !!python/tuple [2, 2] + - !!python/tuple [3, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex41.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex41.yaml new file mode 100644 index 0000000..0140b6a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex41.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [6, 3] + name: agent0 + start: [6, 3] +- goal: [3, 0] + name: agent1 + start: [2, 2] +- goal: [7, 0] + name: agent2 + start: [3, 5] +- goal: [3, 4] + name: agent3 + start: [0, 7] +- goal: [7, 3] + name: agent4 + start: [7, 6] +- goal: [0, 5] + name: agent5 + start: [1, 4] +- goal: [4, 2] + name: agent6 + start: [2, 5] +- goal: [6, 7] + name: agent7 + start: [2, 6] +- goal: [3, 2] + name: agent8 + start: [6, 0] +- goal: [6, 1] + name: agent9 + start: [1, 2] +- goal: [5, 5] + name: agent10 + start: [5, 6] +- goal: [5, 6] + name: agent11 + start: [5, 5] +- goal: [0, 3] + name: agent12 + start: [6, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 4] + - !!python/tuple [0, 6] + - !!python/tuple [5, 2] + - !!python/tuple [5, 0] + - !!python/tuple [7, 7] + - !!python/tuple [1, 0] + - !!python/tuple [7, 1] + - !!python/tuple [4, 6] + - !!python/tuple [3, 1] + - !!python/tuple [5, 7] + - !!python/tuple [3, 6] + - !!python/tuple [7, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex42.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex42.yaml new file mode 100644 index 0000000..3c1b269 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex42.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [5, 5] + name: agent0 + start: [6, 3] +- goal: [0, 7] + name: agent1 + start: [0, 1] +- goal: [4, 7] + name: agent2 + start: [7, 0] +- goal: [2, 1] + name: agent3 + start: [4, 3] +- goal: [6, 6] + name: agent4 + start: [3, 3] +- goal: [0, 2] + name: agent5 + start: [5, 7] +- goal: [6, 7] + name: agent6 + start: [6, 2] +- goal: [0, 4] + name: agent7 + start: [5, 2] +- goal: [5, 7] + name: agent8 + start: [0, 7] +- goal: [6, 0] + name: agent9 + start: [0, 3] +- goal: [5, 4] + name: agent10 + start: [4, 7] +- goal: [7, 2] + name: agent11 + start: [7, 2] +- goal: [2, 3] + name: agent12 + start: [7, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 6] + - !!python/tuple [3, 4] + - !!python/tuple [7, 7] + - !!python/tuple [4, 4] + - !!python/tuple [0, 5] + - !!python/tuple [4, 1] + - !!python/tuple [7, 4] + - !!python/tuple [6, 1] + - !!python/tuple [1, 3] + - !!python/tuple [3, 0] + - !!python/tuple [2, 7] + - !!python/tuple [5, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex43.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex43.yaml new file mode 100644 index 0000000..3a85367 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex43.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [2, 2] + name: agent0 + start: [6, 2] +- goal: [0, 4] + name: agent1 + start: [0, 6] +- goal: [7, 4] + name: agent2 + start: [1, 4] +- goal: [4, 1] + name: agent3 + start: [0, 5] +- goal: [2, 5] + name: agent4 + start: [7, 7] +- goal: [7, 2] + name: agent5 + start: [7, 6] +- goal: [7, 5] + name: agent6 + start: [3, 5] +- goal: [6, 3] + name: agent7 + start: [7, 2] +- goal: [2, 7] + name: agent8 + start: [4, 7] +- goal: [2, 1] + name: agent9 + start: [4, 0] +- goal: [5, 4] + name: agent10 + start: [6, 3] +- goal: [7, 6] + name: agent11 + start: [1, 1] +- goal: [1, 2] + name: agent12 + start: [5, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 5] + - !!python/tuple [0, 0] + - !!python/tuple [5, 0] + - !!python/tuple [4, 4] + - !!python/tuple [7, 1] + - !!python/tuple [6, 4] + - !!python/tuple [1, 3] + - !!python/tuple [4, 6] + - !!python/tuple [4, 5] + - !!python/tuple [6, 5] + - !!python/tuple [6, 7] + - !!python/tuple [1, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex44.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex44.yaml new file mode 100644 index 0000000..8227d5e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex44.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [4, 4] + name: agent0 + start: [4, 7] +- goal: [5, 7] + name: agent1 + start: [2, 3] +- goal: [5, 5] + name: agent2 + start: [6, 3] +- goal: [4, 3] + name: agent3 + start: [5, 5] +- goal: [4, 5] + name: agent4 + start: [4, 5] +- goal: [3, 1] + name: agent5 + start: [3, 5] +- goal: [3, 7] + name: agent6 + start: [3, 6] +- goal: [3, 5] + name: agent7 + start: [7, 0] +- goal: [4, 1] + name: agent8 + start: [4, 1] +- goal: [4, 7] + name: agent9 + start: [6, 7] +- goal: [3, 3] + name: agent10 + start: [0, 7] +- goal: [3, 4] + name: agent11 + start: [4, 3] +- goal: [4, 6] + name: agent12 + start: [5, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 5] + - !!python/tuple [6, 4] + - !!python/tuple [7, 3] + - !!python/tuple [5, 1] + - !!python/tuple [6, 1] + - !!python/tuple [2, 7] + - !!python/tuple [0, 6] + - !!python/tuple [4, 2] + - !!python/tuple [4, 0] + - !!python/tuple [5, 4] + - !!python/tuple [0, 1] + - !!python/tuple [0, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex45.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex45.yaml new file mode 100644 index 0000000..6a3be49 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex45.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [4, 0] + name: agent0 + start: [2, 7] +- goal: [4, 5] + name: agent1 + start: [0, 3] +- goal: [2, 6] + name: agent2 + start: [3, 2] +- goal: [5, 0] + name: agent3 + start: [7, 2] +- goal: [6, 5] + name: agent4 + start: [5, 6] +- goal: [7, 0] + name: agent5 + start: [4, 6] +- goal: [3, 5] + name: agent6 + start: [7, 0] +- goal: [5, 7] + name: agent7 + start: [3, 7] +- goal: [5, 4] + name: agent8 + start: [4, 0] +- goal: [5, 2] + name: agent9 + start: [1, 3] +- goal: [3, 3] + name: agent10 + start: [7, 6] +- goal: [1, 4] + name: agent11 + start: [3, 5] +- goal: [0, 6] + name: agent12 + start: [5, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 3] + - !!python/tuple [2, 3] + - !!python/tuple [4, 4] + - !!python/tuple [0, 5] + - !!python/tuple [7, 3] + - !!python/tuple [0, 7] + - !!python/tuple [1, 7] + - !!python/tuple [6, 0] + - !!python/tuple [2, 0] + - !!python/tuple [5, 5] + - !!python/tuple [5, 1] + - !!python/tuple [6, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex46.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex46.yaml new file mode 100644 index 0000000..fcc9bbb --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex46.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [4, 6] + name: agent0 + start: [1, 4] +- goal: [4, 3] + name: agent1 + start: [1, 6] +- goal: [4, 7] + name: agent2 + start: [5, 7] +- goal: [1, 2] + name: agent3 + start: [4, 0] +- goal: [3, 6] + name: agent4 + start: [0, 4] +- goal: [5, 6] + name: agent5 + start: [2, 7] +- goal: [5, 2] + name: agent6 + start: [7, 0] +- goal: [2, 4] + name: agent7 + start: [3, 6] +- goal: [7, 1] + name: agent8 + start: [7, 4] +- goal: [0, 1] + name: agent9 + start: [5, 2] +- goal: [6, 6] + name: agent10 + start: [3, 0] +- goal: [5, 7] + name: agent11 + start: [0, 0] +- goal: [0, 3] + name: agent12 + start: [4, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 3] + - !!python/tuple [5, 1] + - !!python/tuple [2, 1] + - !!python/tuple [2, 3] + - !!python/tuple [6, 5] + - !!python/tuple [1, 7] + - !!python/tuple [4, 2] + - !!python/tuple [7, 6] + - !!python/tuple [5, 4] + - !!python/tuple [4, 1] + - !!python/tuple [0, 5] + - !!python/tuple [3, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex47.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex47.yaml new file mode 100644 index 0000000..36cb7a0 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex47.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [4, 0] + name: agent0 + start: [1, 6] +- goal: [5, 3] + name: agent1 + start: [3, 3] +- goal: [5, 4] + name: agent2 + start: [7, 1] +- goal: [1, 5] + name: agent3 + start: [0, 3] +- goal: [1, 2] + name: agent4 + start: [1, 2] +- goal: [5, 6] + name: agent5 + start: [3, 1] +- goal: [7, 4] + name: agent6 + start: [0, 6] +- goal: [3, 4] + name: agent7 + start: [5, 5] +- goal: [5, 2] + name: agent8 + start: [2, 6] +- goal: [2, 5] + name: agent9 + start: [1, 5] +- goal: [7, 6] + name: agent10 + start: [5, 7] +- goal: [6, 6] + name: agent11 + start: [4, 2] +- goal: [2, 0] + name: agent12 + start: [6, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 0] + - !!python/tuple [4, 3] + - !!python/tuple [5, 0] + - !!python/tuple [7, 7] + - !!python/tuple [6, 2] + - !!python/tuple [4, 5] + - !!python/tuple [2, 4] + - !!python/tuple [3, 0] + - !!python/tuple [5, 1] + - !!python/tuple [0, 2] + - !!python/tuple [3, 2] + - !!python/tuple [0, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex48.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex48.yaml new file mode 100644 index 0000000..12cd38b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex48.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [7, 7] + name: agent0 + start: [1, 6] +- goal: [4, 5] + name: agent1 + start: [0, 3] +- goal: [1, 5] + name: agent2 + start: [3, 1] +- goal: [3, 2] + name: agent3 + start: [6, 2] +- goal: [4, 3] + name: agent4 + start: [0, 0] +- goal: [1, 0] + name: agent5 + start: [0, 4] +- goal: [0, 3] + name: agent6 + start: [4, 6] +- goal: [7, 6] + name: agent7 + start: [7, 1] +- goal: [1, 6] + name: agent8 + start: [4, 7] +- goal: [4, 2] + name: agent9 + start: [3, 7] +- goal: [5, 7] + name: agent10 + start: [6, 5] +- goal: [3, 7] + name: agent11 + start: [4, 4] +- goal: [6, 3] + name: agent12 + start: [5, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 2] + - !!python/tuple [3, 3] + - !!python/tuple [1, 1] + - !!python/tuple [4, 1] + - !!python/tuple [6, 1] + - !!python/tuple [5, 0] + - !!python/tuple [2, 4] + - !!python/tuple [7, 3] + - !!python/tuple [7, 4] + - !!python/tuple [6, 7] + - !!python/tuple [2, 7] + - !!python/tuple [7, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex49.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex49.yaml new file mode 100644 index 0000000..bdd8585 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex49.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [2, 0] + name: agent0 + start: [4, 7] +- goal: [2, 7] + name: agent1 + start: [3, 5] +- goal: [6, 3] + name: agent2 + start: [3, 7] +- goal: [5, 1] + name: agent3 + start: [1, 0] +- goal: [4, 7] + name: agent4 + start: [5, 0] +- goal: [5, 3] + name: agent5 + start: [2, 2] +- goal: [6, 5] + name: agent6 + start: [4, 2] +- goal: [0, 5] + name: agent7 + start: [2, 3] +- goal: [3, 1] + name: agent8 + start: [1, 1] +- goal: [6, 0] + name: agent9 + start: [5, 3] +- goal: [5, 0] + name: agent10 + start: [6, 1] +- goal: [3, 2] + name: agent11 + start: [4, 1] +- goal: [7, 3] + name: agent12 + start: [1, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 6] + - !!python/tuple [2, 6] + - !!python/tuple [0, 2] + - !!python/tuple [7, 4] + - !!python/tuple [2, 5] + - !!python/tuple [7, 7] + - !!python/tuple [1, 4] + - !!python/tuple [5, 5] + - !!python/tuple [0, 4] + - !!python/tuple [5, 2] + - !!python/tuple [1, 2] + - !!python/tuple [1, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex5.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex5.yaml new file mode 100644 index 0000000..472b16c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex5.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [5, 3] + name: agent0 + start: [7, 0] +- goal: [6, 4] + name: agent1 + start: [1, 1] +- goal: [6, 2] + name: agent2 + start: [5, 3] +- goal: [5, 7] + name: agent3 + start: [0, 3] +- goal: [4, 4] + name: agent4 + start: [5, 7] +- goal: [2, 0] + name: agent5 + start: [2, 0] +- goal: [3, 3] + name: agent6 + start: [3, 7] +- goal: [0, 1] + name: agent7 + start: [7, 6] +- goal: [5, 5] + name: agent8 + start: [3, 3] +- goal: [3, 2] + name: agent9 + start: [4, 3] +- goal: [2, 5] + name: agent10 + start: [0, 0] +- goal: [2, 7] + name: agent11 + start: [6, 3] +- goal: [6, 3] + name: agent12 + start: [2, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 1] + - !!python/tuple [5, 2] + - !!python/tuple [1, 6] + - !!python/tuple [2, 2] + - !!python/tuple [2, 4] + - !!python/tuple [3, 4] + - !!python/tuple [4, 0] + - !!python/tuple [1, 4] + - !!python/tuple [3, 0] + - !!python/tuple [4, 5] + - !!python/tuple [6, 7] + - !!python/tuple [7, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex50.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex50.yaml new file mode 100644 index 0000000..90c7927 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex50.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [6, 2] + name: agent0 + start: [4, 6] +- goal: [7, 6] + name: agent1 + start: [1, 4] +- goal: [5, 3] + name: agent2 + start: [5, 4] +- goal: [0, 4] + name: agent3 + start: [4, 4] +- goal: [5, 4] + name: agent4 + start: [0, 2] +- goal: [7, 5] + name: agent5 + start: [3, 6] +- goal: [3, 1] + name: agent6 + start: [0, 0] +- goal: [0, 2] + name: agent7 + start: [3, 1] +- goal: [1, 5] + name: agent8 + start: [6, 2] +- goal: [7, 7] + name: agent9 + start: [5, 7] +- goal: [0, 7] + name: agent10 + start: [0, 6] +- goal: [2, 6] + name: agent11 + start: [0, 4] +- goal: [7, 3] + name: agent12 + start: [4, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 1] + - !!python/tuple [1, 7] + - !!python/tuple [1, 6] + - !!python/tuple [1, 1] + - !!python/tuple [1, 0] + - !!python/tuple [4, 7] + - !!python/tuple [7, 4] + - !!python/tuple [6, 3] + - !!python/tuple [6, 6] + - !!python/tuple [7, 1] + - !!python/tuple [3, 4] + - !!python/tuple [3, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex51.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex51.yaml new file mode 100644 index 0000000..3928574 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex51.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [0, 2] + name: agent0 + start: [2, 0] +- goal: [6, 5] + name: agent1 + start: [6, 7] +- goal: [5, 2] + name: agent2 + start: [4, 4] +- goal: [2, 3] + name: agent3 + start: [2, 1] +- goal: [4, 3] + name: agent4 + start: [5, 4] +- goal: [2, 0] + name: agent5 + start: [1, 0] +- goal: [1, 0] + name: agent6 + start: [4, 6] +- goal: [5, 7] + name: agent7 + start: [7, 7] +- goal: [6, 6] + name: agent8 + start: [3, 0] +- goal: [3, 6] + name: agent9 + start: [2, 3] +- goal: [3, 0] + name: agent10 + start: [5, 5] +- goal: [1, 7] + name: agent11 + start: [6, 5] +- goal: [4, 0] + name: agent12 + start: [1, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 1] + - !!python/tuple [3, 7] + - !!python/tuple [0, 0] + - !!python/tuple [5, 1] + - !!python/tuple [5, 6] + - !!python/tuple [0, 1] + - !!python/tuple [3, 2] + - !!python/tuple [2, 7] + - !!python/tuple [7, 5] + - !!python/tuple [2, 4] + - !!python/tuple [3, 4] + - !!python/tuple [4, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex52.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex52.yaml new file mode 100644 index 0000000..41ca16a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex52.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [1, 1] + name: agent0 + start: [5, 6] +- goal: [1, 2] + name: agent1 + start: [1, 4] +- goal: [3, 2] + name: agent2 + start: [7, 6] +- goal: [7, 2] + name: agent3 + start: [1, 0] +- goal: [6, 2] + name: agent4 + start: [3, 6] +- goal: [3, 5] + name: agent5 + start: [6, 6] +- goal: [4, 7] + name: agent6 + start: [4, 4] +- goal: [0, 3] + name: agent7 + start: [4, 1] +- goal: [6, 0] + name: agent8 + start: [6, 5] +- goal: [0, 0] + name: agent9 + start: [4, 2] +- goal: [6, 7] + name: agent10 + start: [0, 0] +- goal: [4, 6] + name: agent11 + start: [6, 1] +- goal: [4, 1] + name: agent12 + start: [5, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 2] + - !!python/tuple [2, 6] + - !!python/tuple [4, 5] + - !!python/tuple [5, 0] + - !!python/tuple [7, 4] + - !!python/tuple [7, 7] + - !!python/tuple [5, 4] + - !!python/tuple [2, 1] + - !!python/tuple [1, 3] + - !!python/tuple [7, 1] + - !!python/tuple [4, 3] + - !!python/tuple [5, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex53.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex53.yaml new file mode 100644 index 0000000..671a094 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex53.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [0, 6] + name: agent0 + start: [5, 2] +- goal: [4, 0] + name: agent1 + start: [6, 6] +- goal: [6, 2] + name: agent2 + start: [4, 7] +- goal: [5, 0] + name: agent3 + start: [5, 7] +- goal: [5, 4] + name: agent4 + start: [3, 4] +- goal: [6, 1] + name: agent5 + start: [3, 6] +- goal: [4, 2] + name: agent6 + start: [4, 5] +- goal: [6, 7] + name: agent7 + start: [0, 7] +- goal: [2, 5] + name: agent8 + start: [1, 6] +- goal: [3, 6] + name: agent9 + start: [6, 3] +- goal: [6, 3] + name: agent10 + start: [0, 1] +- goal: [5, 7] + name: agent11 + start: [5, 6] +- goal: [0, 1] + name: agent12 + start: [4, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 5] + - !!python/tuple [1, 0] + - !!python/tuple [4, 3] + - !!python/tuple [7, 1] + - !!python/tuple [6, 4] + - !!python/tuple [4, 6] + - !!python/tuple [5, 5] + - !!python/tuple [7, 3] + - !!python/tuple [3, 5] + - !!python/tuple [2, 6] + - !!python/tuple [1, 3] + - !!python/tuple [7, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex54.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex54.yaml new file mode 100644 index 0000000..dbf80e9 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex54.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [2, 3] + name: agent0 + start: [6, 6] +- goal: [0, 1] + name: agent1 + start: [3, 1] +- goal: [2, 6] + name: agent2 + start: [1, 6] +- goal: [5, 3] + name: agent3 + start: [7, 6] +- goal: [6, 1] + name: agent4 + start: [7, 5] +- goal: [4, 4] + name: agent5 + start: [5, 0] +- goal: [4, 2] + name: agent6 + start: [2, 1] +- goal: [2, 1] + name: agent7 + start: [2, 3] +- goal: [2, 5] + name: agent8 + start: [6, 5] +- goal: [3, 6] + name: agent9 + start: [1, 0] +- goal: [0, 4] + name: agent10 + start: [5, 1] +- goal: [3, 2] + name: agent11 + start: [0, 4] +- goal: [1, 3] + name: agent12 + start: [7, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 0] + - !!python/tuple [1, 1] + - !!python/tuple [0, 5] + - !!python/tuple [4, 3] + - !!python/tuple [5, 2] + - !!python/tuple [2, 2] + - !!python/tuple [0, 3] + - !!python/tuple [5, 5] + - !!python/tuple [7, 1] + - !!python/tuple [2, 4] + - !!python/tuple [0, 7] + - !!python/tuple [4, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex55.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex55.yaml new file mode 100644 index 0000000..e66794a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex55.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [1, 6] + name: agent0 + start: [4, 0] +- goal: [3, 3] + name: agent1 + start: [4, 4] +- goal: [0, 5] + name: agent2 + start: [7, 2] +- goal: [7, 2] + name: agent3 + start: [6, 1] +- goal: [2, 1] + name: agent4 + start: [2, 4] +- goal: [2, 3] + name: agent5 + start: [3, 6] +- goal: [2, 2] + name: agent6 + start: [4, 2] +- goal: [5, 5] + name: agent7 + start: [1, 1] +- goal: [0, 3] + name: agent8 + start: [7, 7] +- goal: [0, 2] + name: agent9 + start: [0, 6] +- goal: [3, 4] + name: agent10 + start: [1, 2] +- goal: [7, 4] + name: agent11 + start: [2, 1] +- goal: [5, 0] + name: agent12 + start: [4, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 6] + - !!python/tuple [3, 0] + - !!python/tuple [5, 3] + - !!python/tuple [5, 1] + - !!python/tuple [2, 7] + - !!python/tuple [4, 1] + - !!python/tuple [6, 4] + - !!python/tuple [0, 4] + - !!python/tuple [6, 6] + - !!python/tuple [1, 7] + - !!python/tuple [0, 7] + - !!python/tuple [3, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex56.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex56.yaml new file mode 100644 index 0000000..10c26b3 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex56.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [5, 5] + name: agent0 + start: [1, 1] +- goal: [0, 5] + name: agent1 + start: [2, 4] +- goal: [6, 5] + name: agent2 + start: [3, 4] +- goal: [2, 2] + name: agent3 + start: [6, 0] +- goal: [5, 2] + name: agent4 + start: [5, 2] +- goal: [4, 0] + name: agent5 + start: [5, 5] +- goal: [4, 3] + name: agent6 + start: [2, 3] +- goal: [1, 5] + name: agent7 + start: [5, 7] +- goal: [0, 7] + name: agent8 + start: [4, 4] +- goal: [5, 3] + name: agent9 + start: [7, 4] +- goal: [2, 3] + name: agent10 + start: [2, 6] +- goal: [2, 1] + name: agent11 + start: [4, 5] +- goal: [4, 5] + name: agent12 + start: [7, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 1] + - !!python/tuple [1, 0] + - !!python/tuple [2, 7] + - !!python/tuple [3, 1] + - !!python/tuple [7, 5] + - !!python/tuple [1, 7] + - !!python/tuple [7, 3] + - !!python/tuple [0, 1] + - !!python/tuple [5, 0] + - !!python/tuple [3, 3] + - !!python/tuple [7, 7] + - !!python/tuple [3, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex57.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex57.yaml new file mode 100644 index 0000000..54f5749 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex57.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [1, 1] + name: agent0 + start: [2, 6] +- goal: [4, 0] + name: agent1 + start: [4, 3] +- goal: [7, 0] + name: agent2 + start: [7, 1] +- goal: [4, 1] + name: agent3 + start: [6, 1] +- goal: [0, 1] + name: agent4 + start: [5, 0] +- goal: [1, 6] + name: agent5 + start: [3, 4] +- goal: [5, 2] + name: agent6 + start: [1, 2] +- goal: [0, 5] + name: agent7 + start: [4, 2] +- goal: [2, 4] + name: agent8 + start: [6, 2] +- goal: [7, 1] + name: agent9 + start: [1, 1] +- goal: [6, 1] + name: agent10 + start: [3, 5] +- goal: [5, 0] + name: agent11 + start: [0, 0] +- goal: [1, 4] + name: agent12 + start: [4, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 4] + - !!python/tuple [4, 5] + - !!python/tuple [4, 7] + - !!python/tuple [2, 2] + - !!python/tuple [7, 3] + - !!python/tuple [5, 6] + - !!python/tuple [3, 0] + - !!python/tuple [6, 4] + - !!python/tuple [3, 7] + - !!python/tuple [7, 2] + - !!python/tuple [6, 6] + - !!python/tuple [6, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex58.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex58.yaml new file mode 100644 index 0000000..983a0cf --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex58.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [3, 2] + name: agent0 + start: [6, 0] +- goal: [4, 7] + name: agent1 + start: [1, 4] +- goal: [1, 2] + name: agent2 + start: [5, 0] +- goal: [5, 4] + name: agent3 + start: [4, 2] +- goal: [7, 3] + name: agent4 + start: [2, 5] +- goal: [2, 4] + name: agent5 + start: [5, 5] +- goal: [7, 2] + name: agent6 + start: [1, 3] +- goal: [6, 5] + name: agent7 + start: [5, 6] +- goal: [0, 0] + name: agent8 + start: [1, 1] +- goal: [7, 4] + name: agent9 + start: [6, 1] +- goal: [0, 1] + name: agent10 + start: [6, 5] +- goal: [6, 6] + name: agent11 + start: [0, 6] +- goal: [1, 6] + name: agent12 + start: [4, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 5] + - !!python/tuple [4, 0] + - !!python/tuple [7, 5] + - !!python/tuple [1, 0] + - !!python/tuple [2, 7] + - !!python/tuple [1, 7] + - !!python/tuple [3, 6] + - !!python/tuple [4, 3] + - !!python/tuple [1, 5] + - !!python/tuple [3, 1] + - !!python/tuple [2, 3] + - !!python/tuple [0, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex59.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex59.yaml new file mode 100644 index 0000000..35735f5 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex59.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [7, 7] + name: agent0 + start: [3, 1] +- goal: [2, 7] + name: agent1 + start: [1, 6] +- goal: [0, 2] + name: agent2 + start: [7, 7] +- goal: [0, 1] + name: agent3 + start: [5, 7] +- goal: [5, 7] + name: agent4 + start: [0, 2] +- goal: [7, 0] + name: agent5 + start: [4, 1] +- goal: [4, 5] + name: agent6 + start: [3, 2] +- goal: [6, 3] + name: agent7 + start: [2, 4] +- goal: [1, 7] + name: agent8 + start: [0, 5] +- goal: [1, 2] + name: agent9 + start: [5, 6] +- goal: [3, 7] + name: agent10 + start: [0, 1] +- goal: [4, 7] + name: agent11 + start: [4, 7] +- goal: [0, 3] + name: agent12 + start: [7, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 2] + - !!python/tuple [5, 3] + - !!python/tuple [6, 1] + - !!python/tuple [6, 6] + - !!python/tuple [5, 0] + - !!python/tuple [0, 6] + - !!python/tuple [3, 6] + - !!python/tuple [5, 5] + - !!python/tuple [3, 3] + - !!python/tuple [4, 4] + - !!python/tuple [7, 3] + - !!python/tuple [2, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex6.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex6.yaml new file mode 100644 index 0000000..a6db8f4 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex6.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [7, 7] + name: agent0 + start: [1, 3] +- goal: [6, 4] + name: agent1 + start: [7, 2] +- goal: [3, 7] + name: agent2 + start: [4, 3] +- goal: [0, 6] + name: agent3 + start: [2, 3] +- goal: [7, 1] + name: agent4 + start: [1, 5] +- goal: [6, 3] + name: agent5 + start: [3, 5] +- goal: [5, 7] + name: agent6 + start: [0, 5] +- goal: [0, 1] + name: agent7 + start: [1, 1] +- goal: [7, 0] + name: agent8 + start: [5, 3] +- goal: [1, 2] + name: agent9 + start: [3, 1] +- goal: [0, 4] + name: agent10 + start: [3, 3] +- goal: [0, 0] + name: agent11 + start: [6, 6] +- goal: [4, 0] + name: agent12 + start: [6, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 2] + - !!python/tuple [2, 1] + - !!python/tuple [5, 4] + - !!python/tuple [3, 0] + - !!python/tuple [5, 5] + - !!python/tuple [5, 2] + - !!python/tuple [2, 7] + - !!python/tuple [5, 6] + - !!python/tuple [2, 0] + - !!python/tuple [7, 3] + - !!python/tuple [4, 2] + - !!python/tuple [1, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex60.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex60.yaml new file mode 100644 index 0000000..33a592e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex60.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [0, 5] + name: agent0 + start: [4, 0] +- goal: [2, 7] + name: agent1 + start: [0, 5] +- goal: [6, 2] + name: agent2 + start: [3, 0] +- goal: [5, 0] + name: agent3 + start: [0, 6] +- goal: [4, 7] + name: agent4 + start: [7, 5] +- goal: [0, 2] + name: agent5 + start: [1, 3] +- goal: [4, 4] + name: agent6 + start: [3, 5] +- goal: [1, 1] + name: agent7 + start: [5, 6] +- goal: [4, 6] + name: agent8 + start: [6, 0] +- goal: [3, 5] + name: agent9 + start: [7, 2] +- goal: [7, 1] + name: agent10 + start: [2, 2] +- goal: [1, 2] + name: agent11 + start: [4, 7] +- goal: [7, 2] + name: agent12 + start: [4, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 0] + - !!python/tuple [1, 4] + - !!python/tuple [3, 3] + - !!python/tuple [7, 4] + - !!python/tuple [2, 4] + - !!python/tuple [3, 2] + - !!python/tuple [6, 4] + - !!python/tuple [3, 4] + - !!python/tuple [6, 6] + - !!python/tuple [2, 5] + - !!python/tuple [6, 5] + - !!python/tuple [5, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex61.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex61.yaml new file mode 100644 index 0000000..3696fd6 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex61.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [3, 4] + name: agent0 + start: [5, 7] +- goal: [0, 7] + name: agent1 + start: [7, 1] +- goal: [1, 7] + name: agent2 + start: [6, 6] +- goal: [3, 2] + name: agent3 + start: [5, 1] +- goal: [1, 1] + name: agent4 + start: [1, 1] +- goal: [7, 4] + name: agent5 + start: [4, 5] +- goal: [0, 5] + name: agent6 + start: [5, 5] +- goal: [5, 0] + name: agent7 + start: [2, 2] +- goal: [4, 0] + name: agent8 + start: [5, 6] +- goal: [7, 0] + name: agent9 + start: [1, 0] +- goal: [5, 6] + name: agent10 + start: [2, 3] +- goal: [1, 6] + name: agent11 + start: [2, 0] +- goal: [7, 5] + name: agent12 + start: [1, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 5] + - !!python/tuple [7, 7] + - !!python/tuple [4, 6] + - !!python/tuple [0, 1] + - !!python/tuple [4, 1] + - !!python/tuple [3, 0] + - !!python/tuple [2, 6] + - !!python/tuple [3, 3] + - !!python/tuple [3, 7] + - !!python/tuple [4, 3] + - !!python/tuple [6, 7] + - !!python/tuple [6, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex62.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex62.yaml new file mode 100644 index 0000000..7d47897 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex62.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [3, 0] + name: agent0 + start: [0, 3] +- goal: [7, 1] + name: agent1 + start: [3, 4] +- goal: [0, 0] + name: agent2 + start: [6, 5] +- goal: [5, 4] + name: agent3 + start: [5, 0] +- goal: [5, 7] + name: agent4 + start: [2, 0] +- goal: [4, 1] + name: agent5 + start: [5, 1] +- goal: [1, 4] + name: agent6 + start: [3, 2] +- goal: [0, 1] + name: agent7 + start: [2, 4] +- goal: [3, 7] + name: agent8 + start: [1, 5] +- goal: [4, 5] + name: agent9 + start: [3, 1] +- goal: [2, 0] + name: agent10 + start: [2, 1] +- goal: [7, 4] + name: agent11 + start: [1, 1] +- goal: [4, 2] + name: agent12 + start: [7, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 6] + - !!python/tuple [2, 3] + - !!python/tuple [0, 5] + - !!python/tuple [2, 7] + - !!python/tuple [2, 6] + - !!python/tuple [4, 4] + - !!python/tuple [3, 6] + - !!python/tuple [2, 2] + - !!python/tuple [7, 5] + - !!python/tuple [3, 5] + - !!python/tuple [6, 3] + - !!python/tuple [6, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex63.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex63.yaml new file mode 100644 index 0000000..f4e4e5a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex63.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [2, 4] + name: agent0 + start: [3, 7] +- goal: [4, 1] + name: agent1 + start: [6, 7] +- goal: [5, 0] + name: agent2 + start: [3, 3] +- goal: [1, 3] + name: agent3 + start: [2, 4] +- goal: [4, 4] + name: agent4 + start: [6, 2] +- goal: [3, 4] + name: agent5 + start: [2, 2] +- goal: [6, 5] + name: agent6 + start: [1, 0] +- goal: [2, 7] + name: agent7 + start: [5, 4] +- goal: [1, 0] + name: agent8 + start: [6, 1] +- goal: [7, 6] + name: agent9 + start: [3, 6] +- goal: [5, 6] + name: agent10 + start: [2, 5] +- goal: [6, 1] + name: agent11 + start: [4, 4] +- goal: [6, 4] + name: agent12 + start: [4, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 2] + - !!python/tuple [6, 0] + - !!python/tuple [1, 2] + - !!python/tuple [7, 2] + - !!python/tuple [2, 6] + - !!python/tuple [0, 1] + - !!python/tuple [1, 6] + - !!python/tuple [4, 5] + - !!python/tuple [5, 7] + - !!python/tuple [4, 7] + - !!python/tuple [2, 3] + - !!python/tuple [7, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex64.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex64.yaml new file mode 100644 index 0000000..668f776 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex64.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [0, 1] + name: agent0 + start: [5, 7] +- goal: [6, 0] + name: agent1 + start: [5, 1] +- goal: [7, 0] + name: agent2 + start: [0, 7] +- goal: [0, 5] + name: agent3 + start: [0, 0] +- goal: [6, 2] + name: agent4 + start: [0, 4] +- goal: [6, 7] + name: agent5 + start: [3, 0] +- goal: [1, 6] + name: agent6 + start: [6, 6] +- goal: [2, 5] + name: agent7 + start: [1, 7] +- goal: [1, 0] + name: agent8 + start: [0, 5] +- goal: [1, 1] + name: agent9 + start: [7, 5] +- goal: [1, 5] + name: agent10 + start: [6, 1] +- goal: [4, 5] + name: agent11 + start: [3, 7] +- goal: [3, 7] + name: agent12 + start: [5, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 4] + - !!python/tuple [7, 1] + - !!python/tuple [2, 2] + - !!python/tuple [4, 2] + - !!python/tuple [5, 3] + - !!python/tuple [5, 0] + - !!python/tuple [5, 6] + - !!python/tuple [0, 6] + - !!python/tuple [3, 4] + - !!python/tuple [2, 4] + - !!python/tuple [0, 3] + - !!python/tuple [7, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex65.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex65.yaml new file mode 100644 index 0000000..098dbb8 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex65.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [6, 3] + name: agent0 + start: [6, 4] +- goal: [6, 5] + name: agent1 + start: [3, 6] +- goal: [6, 6] + name: agent2 + start: [5, 5] +- goal: [6, 0] + name: agent3 + start: [7, 3] +- goal: [0, 7] + name: agent4 + start: [7, 0] +- goal: [7, 4] + name: agent5 + start: [6, 7] +- goal: [4, 7] + name: agent6 + start: [4, 7] +- goal: [2, 4] + name: agent7 + start: [3, 4] +- goal: [0, 6] + name: agent8 + start: [7, 6] +- goal: [7, 3] + name: agent9 + start: [0, 2] +- goal: [1, 4] + name: agent10 + start: [7, 1] +- goal: [5, 5] + name: agent11 + start: [1, 4] +- goal: [6, 2] + name: agent12 + start: [0, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 7] + - !!python/tuple [2, 3] + - !!python/tuple [0, 0] + - !!python/tuple [1, 0] + - !!python/tuple [0, 5] + - !!python/tuple [1, 7] + - !!python/tuple [3, 0] + - !!python/tuple [2, 0] + - !!python/tuple [3, 5] + - !!python/tuple [3, 1] + - !!python/tuple [5, 2] + - !!python/tuple [4, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex66.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex66.yaml new file mode 100644 index 0000000..2807608 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex66.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [5, 2] + name: agent0 + start: [0, 6] +- goal: [2, 4] + name: agent1 + start: [1, 0] +- goal: [3, 3] + name: agent2 + start: [7, 7] +- goal: [2, 6] + name: agent3 + start: [3, 5] +- goal: [2, 2] + name: agent4 + start: [4, 6] +- goal: [6, 5] + name: agent5 + start: [6, 5] +- goal: [3, 0] + name: agent6 + start: [7, 2] +- goal: [3, 7] + name: agent7 + start: [2, 6] +- goal: [5, 5] + name: agent8 + start: [6, 4] +- goal: [7, 6] + name: agent9 + start: [4, 7] +- goal: [6, 1] + name: agent10 + start: [3, 4] +- goal: [1, 6] + name: agent11 + start: [2, 1] +- goal: [1, 3] + name: agent12 + start: [0, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 4] + - !!python/tuple [2, 3] + - !!python/tuple [6, 6] + - !!python/tuple [0, 7] + - !!python/tuple [3, 6] + - !!python/tuple [0, 4] + - !!python/tuple [5, 4] + - !!python/tuple [6, 0] + - !!python/tuple [0, 0] + - !!python/tuple [4, 2] + - !!python/tuple [4, 0] + - !!python/tuple [2, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex67.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex67.yaml new file mode 100644 index 0000000..128aaa5 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex67.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [5, 0] + name: agent0 + start: [2, 7] +- goal: [7, 5] + name: agent1 + start: [2, 0] +- goal: [7, 6] + name: agent2 + start: [2, 2] +- goal: [0, 7] + name: agent3 + start: [6, 2] +- goal: [5, 6] + name: agent4 + start: [4, 5] +- goal: [0, 1] + name: agent5 + start: [3, 2] +- goal: [4, 6] + name: agent6 + start: [0, 1] +- goal: [7, 7] + name: agent7 + start: [5, 6] +- goal: [6, 3] + name: agent8 + start: [2, 1] +- goal: [6, 6] + name: agent9 + start: [2, 3] +- goal: [1, 6] + name: agent10 + start: [6, 1] +- goal: [2, 5] + name: agent11 + start: [7, 2] +- goal: [1, 3] + name: agent12 + start: [6, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 4] + - !!python/tuple [3, 3] + - !!python/tuple [1, 4] + - !!python/tuple [1, 0] + - !!python/tuple [5, 2] + - !!python/tuple [4, 3] + - !!python/tuple [0, 5] + - !!python/tuple [3, 4] + - !!python/tuple [3, 1] + - !!python/tuple [7, 0] + - !!python/tuple [6, 4] + - !!python/tuple [1, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex68.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex68.yaml new file mode 100644 index 0000000..a2bd350 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex68.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [5, 6] + name: agent0 + start: [0, 0] +- goal: [6, 7] + name: agent1 + start: [0, 6] +- goal: [3, 6] + name: agent2 + start: [5, 4] +- goal: [7, 6] + name: agent3 + start: [0, 4] +- goal: [5, 0] + name: agent4 + start: [4, 5] +- goal: [5, 7] + name: agent5 + start: [1, 5] +- goal: [6, 0] + name: agent6 + start: [3, 3] +- goal: [3, 5] + name: agent7 + start: [5, 6] +- goal: [7, 3] + name: agent8 + start: [7, 3] +- goal: [7, 4] + name: agent9 + start: [0, 7] +- goal: [2, 0] + name: agent10 + start: [1, 2] +- goal: [5, 3] + name: agent11 + start: [6, 2] +- goal: [7, 5] + name: agent12 + start: [3, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 4] + - !!python/tuple [2, 2] + - !!python/tuple [0, 1] + - !!python/tuple [4, 0] + - !!python/tuple [2, 1] + - !!python/tuple [3, 4] + - !!python/tuple [7, 1] + - !!python/tuple [0, 2] + - !!python/tuple [4, 7] + - !!python/tuple [3, 1] + - !!python/tuple [4, 6] + - !!python/tuple [5, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex69.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex69.yaml new file mode 100644 index 0000000..d04eff6 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex69.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [6, 7] + name: agent0 + start: [2, 3] +- goal: [4, 0] + name: agent1 + start: [6, 5] +- goal: [7, 0] + name: agent2 + start: [2, 2] +- goal: [1, 5] + name: agent3 + start: [3, 2] +- goal: [1, 2] + name: agent4 + start: [6, 3] +- goal: [3, 2] + name: agent5 + start: [2, 1] +- goal: [5, 3] + name: agent6 + start: [2, 6] +- goal: [2, 6] + name: agent7 + start: [5, 1] +- goal: [0, 2] + name: agent8 + start: [7, 0] +- goal: [6, 4] + name: agent9 + start: [2, 7] +- goal: [4, 6] + name: agent10 + start: [6, 7] +- goal: [5, 6] + name: agent11 + start: [5, 6] +- goal: [3, 0] + name: agent12 + start: [4, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 7] + - !!python/tuple [1, 4] + - !!python/tuple [3, 1] + - !!python/tuple [5, 4] + - !!python/tuple [1, 7] + - !!python/tuple [1, 0] + - !!python/tuple [5, 0] + - !!python/tuple [1, 1] + - !!python/tuple [0, 3] + - !!python/tuple [0, 1] + - !!python/tuple [3, 4] + - !!python/tuple [7, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex7.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex7.yaml new file mode 100644 index 0000000..86ff401 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex7.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [7, 4] + name: agent0 + start: [4, 0] +- goal: [6, 4] + name: agent1 + start: [5, 0] +- goal: [4, 2] + name: agent2 + start: [6, 1] +- goal: [5, 0] + name: agent3 + start: [4, 7] +- goal: [6, 3] + name: agent4 + start: [3, 3] +- goal: [7, 3] + name: agent5 + start: [4, 6] +- goal: [6, 5] + name: agent6 + start: [1, 4] +- goal: [1, 1] + name: agent7 + start: [4, 3] +- goal: [5, 1] + name: agent8 + start: [7, 4] +- goal: [1, 5] + name: agent9 + start: [1, 1] +- goal: [6, 1] + name: agent10 + start: [3, 1] +- goal: [5, 2] + name: agent11 + start: [1, 0] +- goal: [0, 0] + name: agent12 + start: [1, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 7] + - !!python/tuple [0, 3] + - !!python/tuple [6, 0] + - !!python/tuple [7, 7] + - !!python/tuple [2, 2] + - !!python/tuple [3, 7] + - !!python/tuple [0, 6] + - !!python/tuple [7, 5] + - !!python/tuple [6, 6] + - !!python/tuple [0, 4] + - !!python/tuple [7, 6] + - !!python/tuple [3, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex70.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex70.yaml new file mode 100644 index 0000000..9537fbe --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex70.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [6, 6] + name: agent0 + start: [1, 2] +- goal: [3, 2] + name: agent1 + start: [5, 3] +- goal: [1, 3] + name: agent2 + start: [7, 7] +- goal: [4, 0] + name: agent3 + start: [0, 3] +- goal: [3, 1] + name: agent4 + start: [6, 6] +- goal: [0, 3] + name: agent5 + start: [5, 7] +- goal: [1, 7] + name: agent6 + start: [1, 3] +- goal: [2, 1] + name: agent7 + start: [7, 2] +- goal: [5, 5] + name: agent8 + start: [0, 0] +- goal: [0, 6] + name: agent9 + start: [3, 2] +- goal: [1, 5] + name: agent10 + start: [3, 4] +- goal: [5, 6] + name: agent11 + start: [1, 0] +- goal: [2, 5] + name: agent12 + start: [3, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 7] + - !!python/tuple [2, 7] + - !!python/tuple [5, 1] + - !!python/tuple [5, 2] + - !!python/tuple [0, 7] + - !!python/tuple [6, 4] + - !!python/tuple [4, 7] + - !!python/tuple [0, 2] + - !!python/tuple [3, 5] + - !!python/tuple [0, 1] + - !!python/tuple [6, 0] + - !!python/tuple [7, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex71.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex71.yaml new file mode 100644 index 0000000..4f5bea9 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex71.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [5, 1] + name: agent0 + start: [0, 0] +- goal: [2, 4] + name: agent1 + start: [4, 4] +- goal: [3, 1] + name: agent2 + start: [4, 3] +- goal: [4, 0] + name: agent3 + start: [0, 5] +- goal: [5, 3] + name: agent4 + start: [5, 5] +- goal: [4, 4] + name: agent5 + start: [1, 2] +- goal: [1, 3] + name: agent6 + start: [6, 7] +- goal: [4, 5] + name: agent7 + start: [5, 6] +- goal: [6, 1] + name: agent8 + start: [2, 4] +- goal: [7, 3] + name: agent9 + start: [7, 1] +- goal: [4, 7] + name: agent10 + start: [1, 0] +- goal: [6, 7] + name: agent11 + start: [4, 7] +- goal: [7, 0] + name: agent12 + start: [5, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 6] + - !!python/tuple [2, 3] + - !!python/tuple [3, 6] + - !!python/tuple [6, 3] + - !!python/tuple [3, 3] + - !!python/tuple [0, 6] + - !!python/tuple [5, 0] + - !!python/tuple [3, 4] + - !!python/tuple [2, 0] + - !!python/tuple [3, 7] + - !!python/tuple [4, 2] + - !!python/tuple [2, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex72.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex72.yaml new file mode 100644 index 0000000..709cac5 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex72.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [2, 1] + name: agent0 + start: [6, 4] +- goal: [0, 5] + name: agent1 + start: [6, 0] +- goal: [2, 0] + name: agent2 + start: [5, 4] +- goal: [7, 0] + name: agent3 + start: [7, 7] +- goal: [3, 3] + name: agent4 + start: [4, 6] +- goal: [0, 2] + name: agent5 + start: [1, 1] +- goal: [4, 2] + name: agent6 + start: [1, 0] +- goal: [5, 5] + name: agent7 + start: [4, 2] +- goal: [2, 3] + name: agent8 + start: [2, 0] +- goal: [0, 7] + name: agent9 + start: [0, 5] +- goal: [7, 6] + name: agent10 + start: [3, 6] +- goal: [7, 3] + name: agent11 + start: [7, 2] +- goal: [1, 7] + name: agent12 + start: [4, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 6] + - !!python/tuple [0, 4] + - !!python/tuple [3, 5] + - !!python/tuple [2, 7] + - !!python/tuple [6, 6] + - !!python/tuple [6, 1] + - !!python/tuple [7, 5] + - !!python/tuple [3, 2] + - !!python/tuple [1, 6] + - !!python/tuple [1, 2] + - !!python/tuple [3, 4] + - !!python/tuple [5, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex73.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex73.yaml new file mode 100644 index 0000000..1079d69 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex73.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [5, 1] + name: agent0 + start: [1, 3] +- goal: [3, 1] + name: agent1 + start: [3, 3] +- goal: [1, 7] + name: agent2 + start: [2, 5] +- goal: [0, 3] + name: agent3 + start: [0, 1] +- goal: [6, 4] + name: agent4 + start: [3, 1] +- goal: [2, 2] + name: agent5 + start: [4, 5] +- goal: [4, 5] + name: agent6 + start: [5, 0] +- goal: [3, 5] + name: agent7 + start: [6, 3] +- goal: [7, 3] + name: agent8 + start: [0, 0] +- goal: [6, 6] + name: agent9 + start: [1, 0] +- goal: [4, 2] + name: agent10 + start: [0, 4] +- goal: [7, 5] + name: agent11 + start: [0, 5] +- goal: [5, 5] + name: agent12 + start: [1, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 3] + - !!python/tuple [0, 6] + - !!python/tuple [6, 7] + - !!python/tuple [3, 0] + - !!python/tuple [3, 6] + - !!python/tuple [7, 1] + - !!python/tuple [1, 1] + - !!python/tuple [4, 6] + - !!python/tuple [0, 7] + - !!python/tuple [6, 2] + - !!python/tuple [4, 7] + - !!python/tuple [6, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex74.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex74.yaml new file mode 100644 index 0000000..9cafb1c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex74.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [2, 7] + name: agent0 + start: [7, 6] +- goal: [7, 6] + name: agent1 + start: [6, 5] +- goal: [0, 6] + name: agent2 + start: [6, 0] +- goal: [4, 4] + name: agent3 + start: [6, 1] +- goal: [1, 0] + name: agent4 + start: [7, 2] +- goal: [5, 6] + name: agent5 + start: [7, 3] +- goal: [1, 1] + name: agent6 + start: [6, 4] +- goal: [2, 3] + name: agent7 + start: [5, 2] +- goal: [3, 2] + name: agent8 + start: [3, 2] +- goal: [7, 7] + name: agent9 + start: [0, 3] +- goal: [6, 5] + name: agent10 + start: [1, 4] +- goal: [3, 6] + name: agent11 + start: [7, 7] +- goal: [4, 1] + name: agent12 + start: [5, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 6] + - !!python/tuple [7, 1] + - !!python/tuple [6, 6] + - !!python/tuple [3, 1] + - !!python/tuple [3, 5] + - !!python/tuple [5, 0] + - !!python/tuple [0, 1] + - !!python/tuple [2, 5] + - !!python/tuple [7, 4] + - !!python/tuple [7, 5] + - !!python/tuple [1, 2] + - !!python/tuple [2, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex75.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex75.yaml new file mode 100644 index 0000000..d518dbc --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex75.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [0, 6] + name: agent0 + start: [3, 0] +- goal: [6, 7] + name: agent1 + start: [3, 3] +- goal: [7, 0] + name: agent2 + start: [4, 7] +- goal: [1, 0] + name: agent3 + start: [1, 5] +- goal: [4, 5] + name: agent4 + start: [5, 4] +- goal: [7, 7] + name: agent5 + start: [6, 6] +- goal: [5, 7] + name: agent6 + start: [7, 1] +- goal: [6, 4] + name: agent7 + start: [0, 2] +- goal: [2, 3] + name: agent8 + start: [1, 7] +- goal: [3, 6] + name: agent9 + start: [1, 3] +- goal: [3, 1] + name: agent10 + start: [2, 1] +- goal: [7, 5] + name: agent11 + start: [4, 0] +- goal: [2, 1] + name: agent12 + start: [7, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 6] + - !!python/tuple [0, 5] + - !!python/tuple [0, 3] + - !!python/tuple [7, 4] + - !!python/tuple [5, 3] + - !!python/tuple [7, 6] + - !!python/tuple [6, 3] + - !!python/tuple [0, 0] + - !!python/tuple [4, 3] + - !!python/tuple [5, 6] + - !!python/tuple [0, 7] + - !!python/tuple [4, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex76.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex76.yaml new file mode 100644 index 0000000..ff76120 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex76.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [0, 4] + name: agent0 + start: [2, 3] +- goal: [5, 6] + name: agent1 + start: [5, 0] +- goal: [1, 5] + name: agent2 + start: [7, 5] +- goal: [7, 5] + name: agent3 + start: [4, 3] +- goal: [3, 3] + name: agent4 + start: [4, 1] +- goal: [7, 3] + name: agent5 + start: [6, 4] +- goal: [4, 3] + name: agent6 + start: [4, 4] +- goal: [3, 7] + name: agent7 + start: [5, 7] +- goal: [7, 6] + name: agent8 + start: [0, 5] +- goal: [2, 2] + name: agent9 + start: [7, 4] +- goal: [1, 6] + name: agent10 + start: [4, 2] +- goal: [1, 0] + name: agent11 + start: [1, 0] +- goal: [6, 6] + name: agent12 + start: [5, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 0] + - !!python/tuple [4, 6] + - !!python/tuple [7, 0] + - !!python/tuple [6, 5] + - !!python/tuple [6, 2] + - !!python/tuple [5, 2] + - !!python/tuple [5, 4] + - !!python/tuple [5, 5] + - !!python/tuple [1, 1] + - !!python/tuple [0, 2] + - !!python/tuple [0, 0] + - !!python/tuple [3, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex77.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex77.yaml new file mode 100644 index 0000000..6675d26 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex77.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [7, 0] + name: agent0 + start: [4, 1] +- goal: [1, 7] + name: agent1 + start: [2, 2] +- goal: [5, 7] + name: agent2 + start: [3, 0] +- goal: [0, 0] + name: agent3 + start: [6, 6] +- goal: [4, 5] + name: agent4 + start: [1, 5] +- goal: [7, 6] + name: agent5 + start: [0, 2] +- goal: [3, 2] + name: agent6 + start: [3, 1] +- goal: [0, 2] + name: agent7 + start: [0, 1] +- goal: [2, 6] + name: agent8 + start: [0, 6] +- goal: [5, 6] + name: agent9 + start: [0, 7] +- goal: [1, 6] + name: agent10 + start: [7, 3] +- goal: [2, 2] + name: agent11 + start: [2, 4] +- goal: [3, 4] + name: agent12 + start: [1, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 3] + - !!python/tuple [4, 3] + - !!python/tuple [6, 0] + - !!python/tuple [1, 4] + - !!python/tuple [7, 5] + - !!python/tuple [3, 7] + - !!python/tuple [5, 4] + - !!python/tuple [4, 7] + - !!python/tuple [0, 4] + - !!python/tuple [1, 1] + - !!python/tuple [1, 3] + - !!python/tuple [3, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex78.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex78.yaml new file mode 100644 index 0000000..16adf6a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex78.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [2, 2] + name: agent0 + start: [0, 4] +- goal: [3, 6] + name: agent1 + start: [1, 7] +- goal: [4, 6] + name: agent2 + start: [5, 4] +- goal: [6, 3] + name: agent3 + start: [0, 6] +- goal: [3, 3] + name: agent4 + start: [6, 1] +- goal: [5, 1] + name: agent5 + start: [7, 6] +- goal: [2, 1] + name: agent6 + start: [3, 6] +- goal: [3, 2] + name: agent7 + start: [4, 2] +- goal: [7, 2] + name: agent8 + start: [2, 1] +- goal: [2, 3] + name: agent9 + start: [3, 0] +- goal: [7, 6] + name: agent10 + start: [2, 4] +- goal: [4, 5] + name: agent11 + start: [3, 3] +- goal: [5, 7] + name: agent12 + start: [6, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 4] + - !!python/tuple [0, 2] + - !!python/tuple [7, 3] + - !!python/tuple [5, 2] + - !!python/tuple [1, 2] + - !!python/tuple [1, 4] + - !!python/tuple [5, 0] + - !!python/tuple [1, 1] + - !!python/tuple [6, 0] + - !!python/tuple [0, 3] + - !!python/tuple [6, 6] + - !!python/tuple [2, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex79.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex79.yaml new file mode 100644 index 0000000..74a4076 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex79.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [7, 0] + name: agent0 + start: [7, 3] +- goal: [7, 1] + name: agent1 + start: [7, 4] +- goal: [1, 6] + name: agent2 + start: [6, 1] +- goal: [2, 0] + name: agent3 + start: [0, 0] +- goal: [3, 5] + name: agent4 + start: [5, 1] +- goal: [6, 3] + name: agent5 + start: [0, 5] +- goal: [7, 4] + name: agent6 + start: [2, 1] +- goal: [3, 7] + name: agent7 + start: [3, 4] +- goal: [4, 4] + name: agent8 + start: [4, 0] +- goal: [5, 2] + name: agent9 + start: [1, 0] +- goal: [7, 3] + name: agent10 + start: [3, 2] +- goal: [3, 0] + name: agent11 + start: [0, 6] +- goal: [5, 4] + name: agent12 + start: [0, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 5] + - !!python/tuple [4, 5] + - !!python/tuple [0, 7] + - !!python/tuple [5, 0] + - !!python/tuple [6, 0] + - !!python/tuple [0, 3] + - !!python/tuple [2, 3] + - !!python/tuple [1, 1] + - !!python/tuple [6, 4] + - !!python/tuple [2, 7] + - !!python/tuple [6, 5] + - !!python/tuple [2, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex8.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex8.yaml new file mode 100644 index 0000000..9da993e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex8.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [2, 0] + name: agent0 + start: [4, 0] +- goal: [7, 3] + name: agent1 + start: [2, 2] +- goal: [4, 2] + name: agent2 + start: [2, 6] +- goal: [2, 4] + name: agent3 + start: [2, 0] +- goal: [3, 5] + name: agent4 + start: [2, 7] +- goal: [0, 7] + name: agent5 + start: [2, 4] +- goal: [6, 4] + name: agent6 + start: [6, 6] +- goal: [2, 6] + name: agent7 + start: [3, 7] +- goal: [0, 2] + name: agent8 + start: [3, 3] +- goal: [5, 5] + name: agent9 + start: [7, 2] +- goal: [4, 4] + name: agent10 + start: [5, 4] +- goal: [4, 7] + name: agent11 + start: [3, 5] +- goal: [5, 4] + name: agent12 + start: [5, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 3] + - !!python/tuple [1, 0] + - !!python/tuple [6, 0] + - !!python/tuple [1, 5] + - !!python/tuple [0, 3] + - !!python/tuple [6, 1] + - !!python/tuple [6, 2] + - !!python/tuple [4, 5] + - !!python/tuple [7, 5] + - !!python/tuple [7, 4] + - !!python/tuple [0, 4] + - !!python/tuple [5, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex80.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex80.yaml new file mode 100644 index 0000000..70c2f07 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex80.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [2, 2] + name: agent0 + start: [5, 6] +- goal: [2, 0] + name: agent1 + start: [7, 6] +- goal: [3, 3] + name: agent2 + start: [0, 4] +- goal: [4, 5] + name: agent3 + start: [3, 0] +- goal: [6, 3] + name: agent4 + start: [3, 2] +- goal: [7, 1] + name: agent5 + start: [7, 7] +- goal: [7, 7] + name: agent6 + start: [7, 4] +- goal: [6, 2] + name: agent7 + start: [7, 2] +- goal: [7, 0] + name: agent8 + start: [3, 5] +- goal: [6, 4] + name: agent9 + start: [6, 1] +- goal: [5, 3] + name: agent10 + start: [0, 5] +- goal: [5, 6] + name: agent11 + start: [7, 0] +- goal: [7, 3] + name: agent12 + start: [3, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 2] + - !!python/tuple [2, 6] + - !!python/tuple [2, 4] + - !!python/tuple [4, 0] + - !!python/tuple [2, 1] + - !!python/tuple [0, 3] + - !!python/tuple [4, 7] + - !!python/tuple [0, 0] + - !!python/tuple [1, 6] + - !!python/tuple [3, 7] + - !!python/tuple [1, 0] + - !!python/tuple [0, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex81.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex81.yaml new file mode 100644 index 0000000..1b8d363 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex81.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [6, 5] + name: agent0 + start: [2, 4] +- goal: [2, 7] + name: agent1 + start: [5, 6] +- goal: [6, 6] + name: agent2 + start: [6, 7] +- goal: [0, 1] + name: agent3 + start: [5, 4] +- goal: [0, 5] + name: agent4 + start: [4, 1] +- goal: [0, 7] + name: agent5 + start: [2, 1] +- goal: [2, 5] + name: agent6 + start: [1, 1] +- goal: [2, 2] + name: agent7 + start: [0, 3] +- goal: [0, 3] + name: agent8 + start: [1, 0] +- goal: [4, 3] + name: agent9 + start: [6, 3] +- goal: [1, 7] + name: agent10 + start: [2, 7] +- goal: [3, 6] + name: agent11 + start: [4, 3] +- goal: [7, 7] + name: agent12 + start: [1, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 4] + - !!python/tuple [2, 0] + - !!python/tuple [2, 3] + - !!python/tuple [3, 3] + - !!python/tuple [7, 1] + - !!python/tuple [0, 4] + - !!python/tuple [5, 2] + - !!python/tuple [2, 6] + - !!python/tuple [4, 6] + - !!python/tuple [4, 7] + - !!python/tuple [5, 7] + - !!python/tuple [1, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex82.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex82.yaml new file mode 100644 index 0000000..63f6c64 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex82.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [2, 1] + name: agent0 + start: [0, 4] +- goal: [6, 7] + name: agent1 + start: [5, 1] +- goal: [5, 4] + name: agent2 + start: [5, 7] +- goal: [0, 6] + name: agent3 + start: [2, 7] +- goal: [3, 6] + name: agent4 + start: [0, 1] +- goal: [3, 5] + name: agent5 + start: [3, 5] +- goal: [6, 2] + name: agent6 + start: [4, 5] +- goal: [4, 5] + name: agent7 + start: [4, 1] +- goal: [4, 2] + name: agent8 + start: [6, 1] +- goal: [4, 4] + name: agent9 + start: [7, 6] +- goal: [1, 2] + name: agent10 + start: [4, 6] +- goal: [1, 6] + name: agent11 + start: [4, 4] +- goal: [5, 3] + name: agent12 + start: [3, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 7] + - !!python/tuple [5, 5] + - !!python/tuple [6, 4] + - !!python/tuple [6, 5] + - !!python/tuple [1, 0] + - !!python/tuple [7, 1] + - !!python/tuple [1, 7] + - !!python/tuple [5, 0] + - !!python/tuple [1, 4] + - !!python/tuple [4, 7] + - !!python/tuple [5, 6] + - !!python/tuple [2, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex83.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex83.yaml new file mode 100644 index 0000000..d909604 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex83.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [3, 6] + name: agent0 + start: [6, 2] +- goal: [6, 6] + name: agent1 + start: [6, 3] +- goal: [6, 7] + name: agent2 + start: [7, 2] +- goal: [5, 6] + name: agent3 + start: [0, 1] +- goal: [6, 4] + name: agent4 + start: [7, 3] +- goal: [3, 0] + name: agent5 + start: [1, 2] +- goal: [6, 3] + name: agent6 + start: [6, 6] +- goal: [1, 5] + name: agent7 + start: [7, 5] +- goal: [0, 6] + name: agent8 + start: [5, 2] +- goal: [6, 0] + name: agent9 + start: [4, 5] +- goal: [4, 7] + name: agent10 + start: [3, 7] +- goal: [0, 0] + name: agent11 + start: [0, 4] +- goal: [1, 7] + name: agent12 + start: [6, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 5] + - !!python/tuple [1, 1] + - !!python/tuple [5, 4] + - !!python/tuple [4, 1] + - !!python/tuple [5, 7] + - !!python/tuple [2, 5] + - !!python/tuple [4, 0] + - !!python/tuple [3, 5] + - !!python/tuple [2, 7] + - !!python/tuple [2, 1] + - !!python/tuple [5, 3] + - !!python/tuple [7, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex84.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex84.yaml new file mode 100644 index 0000000..7aa2a88 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex84.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [6, 4] + name: agent0 + start: [6, 4] +- goal: [3, 4] + name: agent1 + start: [0, 4] +- goal: [6, 1] + name: agent2 + start: [7, 0] +- goal: [0, 3] + name: agent3 + start: [5, 6] +- goal: [5, 2] + name: agent4 + start: [0, 2] +- goal: [5, 0] + name: agent5 + start: [1, 2] +- goal: [2, 4] + name: agent6 + start: [2, 1] +- goal: [2, 7] + name: agent7 + start: [6, 1] +- goal: [6, 0] + name: agent8 + start: [5, 0] +- goal: [5, 4] + name: agent9 + start: [3, 2] +- goal: [2, 3] + name: agent10 + start: [2, 6] +- goal: [5, 6] + name: agent11 + start: [2, 2] +- goal: [0, 2] + name: agent12 + start: [0, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 6] + - !!python/tuple [3, 1] + - !!python/tuple [0, 5] + - !!python/tuple [6, 3] + - !!python/tuple [3, 5] + - !!python/tuple [3, 6] + - !!python/tuple [4, 7] + - !!python/tuple [1, 7] + - !!python/tuple [7, 4] + - !!python/tuple [5, 3] + - !!python/tuple [7, 7] + - !!python/tuple [7, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex85.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex85.yaml new file mode 100644 index 0000000..d07fbc5 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex85.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [4, 6] + name: agent0 + start: [4, 1] +- goal: [5, 3] + name: agent1 + start: [3, 3] +- goal: [5, 6] + name: agent2 + start: [2, 0] +- goal: [1, 6] + name: agent3 + start: [3, 4] +- goal: [4, 7] + name: agent4 + start: [3, 6] +- goal: [3, 1] + name: agent5 + start: [7, 2] +- goal: [1, 5] + name: agent6 + start: [0, 5] +- goal: [0, 2] + name: agent7 + start: [0, 3] +- goal: [4, 3] + name: agent8 + start: [4, 7] +- goal: [5, 7] + name: agent9 + start: [5, 1] +- goal: [7, 6] + name: agent10 + start: [0, 4] +- goal: [0, 0] + name: agent11 + start: [0, 1] +- goal: [7, 3] + name: agent12 + start: [6, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 2] + - !!python/tuple [7, 4] + - !!python/tuple [4, 0] + - !!python/tuple [3, 2] + - !!python/tuple [6, 1] + - !!python/tuple [2, 6] + - !!python/tuple [5, 2] + - !!python/tuple [5, 4] + - !!python/tuple [7, 5] + - !!python/tuple [6, 6] + - !!python/tuple [1, 7] + - !!python/tuple [1, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex86.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex86.yaml new file mode 100644 index 0000000..96bf1e4 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex86.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [7, 4] + name: agent0 + start: [6, 5] +- goal: [5, 5] + name: agent1 + start: [4, 7] +- goal: [5, 6] + name: agent2 + start: [1, 1] +- goal: [1, 4] + name: agent3 + start: [2, 2] +- goal: [7, 7] + name: agent4 + start: [2, 7] +- goal: [4, 4] + name: agent5 + start: [5, 7] +- goal: [2, 7] + name: agent6 + start: [5, 3] +- goal: [2, 1] + name: agent7 + start: [3, 1] +- goal: [0, 3] + name: agent8 + start: [5, 6] +- goal: [6, 5] + name: agent9 + start: [0, 3] +- goal: [1, 6] + name: agent10 + start: [3, 7] +- goal: [4, 7] + name: agent11 + start: [2, 1] +- goal: [1, 1] + name: agent12 + start: [6, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 3] + - !!python/tuple [7, 6] + - !!python/tuple [7, 1] + - !!python/tuple [2, 5] + - !!python/tuple [0, 2] + - !!python/tuple [7, 0] + - !!python/tuple [6, 6] + - !!python/tuple [2, 0] + - !!python/tuple [1, 2] + - !!python/tuple [3, 6] + - !!python/tuple [7, 5] + - !!python/tuple [3, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex87.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex87.yaml new file mode 100644 index 0000000..e7b9e96 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex87.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [7, 4] + name: agent0 + start: [6, 0] +- goal: [5, 6] + name: agent1 + start: [4, 2] +- goal: [3, 0] + name: agent2 + start: [1, 2] +- goal: [2, 5] + name: agent3 + start: [2, 5] +- goal: [6, 6] + name: agent4 + start: [3, 0] +- goal: [5, 3] + name: agent5 + start: [2, 4] +- goal: [0, 7] + name: agent6 + start: [2, 3] +- goal: [0, 1] + name: agent7 + start: [7, 3] +- goal: [1, 5] + name: agent8 + start: [2, 1] +- goal: [7, 3] + name: agent9 + start: [7, 1] +- goal: [6, 2] + name: agent10 + start: [3, 3] +- goal: [3, 7] + name: agent11 + start: [5, 3] +- goal: [1, 2] + name: agent12 + start: [1, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 3] + - !!python/tuple [6, 4] + - !!python/tuple [3, 4] + - !!python/tuple [3, 1] + - !!python/tuple [3, 5] + - !!python/tuple [7, 0] + - !!python/tuple [5, 7] + - !!python/tuple [4, 0] + - !!python/tuple [4, 5] + - !!python/tuple [1, 1] + - !!python/tuple [5, 4] + - !!python/tuple [1, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex88.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex88.yaml new file mode 100644 index 0000000..a7f14d1 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex88.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [5, 6] + name: agent0 + start: [6, 0] +- goal: [2, 2] + name: agent1 + start: [0, 5] +- goal: [4, 5] + name: agent2 + start: [1, 3] +- goal: [2, 4] + name: agent3 + start: [1, 5] +- goal: [5, 0] + name: agent4 + start: [3, 5] +- goal: [0, 0] + name: agent5 + start: [6, 5] +- goal: [3, 1] + name: agent6 + start: [5, 6] +- goal: [5, 2] + name: agent7 + start: [0, 1] +- goal: [1, 7] + name: agent8 + start: [7, 0] +- goal: [0, 3] + name: agent9 + start: [4, 4] +- goal: [7, 4] + name: agent10 + start: [7, 6] +- goal: [2, 0] + name: agent11 + start: [4, 0] +- goal: [1, 3] + name: agent12 + start: [4, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 0] + - !!python/tuple [0, 2] + - !!python/tuple [3, 3] + - !!python/tuple [5, 4] + - !!python/tuple [3, 6] + - !!python/tuple [7, 7] + - !!python/tuple [7, 3] + - !!python/tuple [0, 7] + - !!python/tuple [2, 3] + - !!python/tuple [1, 0] + - !!python/tuple [5, 7] + - !!python/tuple [6, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex89.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex89.yaml new file mode 100644 index 0000000..2e52f7d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex89.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [7, 6] + name: agent0 + start: [5, 2] +- goal: [0, 0] + name: agent1 + start: [0, 0] +- goal: [5, 5] + name: agent2 + start: [5, 1] +- goal: [5, 1] + name: agent3 + start: [3, 5] +- goal: [6, 5] + name: agent4 + start: [5, 5] +- goal: [5, 2] + name: agent5 + start: [1, 7] +- goal: [0, 6] + name: agent6 + start: [2, 5] +- goal: [2, 7] + name: agent7 + start: [5, 7] +- goal: [0, 5] + name: agent8 + start: [0, 4] +- goal: [4, 7] + name: agent9 + start: [3, 3] +- goal: [7, 4] + name: agent10 + start: [6, 0] +- goal: [2, 6] + name: agent11 + start: [4, 2] +- goal: [2, 0] + name: agent12 + start: [2, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 2] + - !!python/tuple [7, 5] + - !!python/tuple [3, 1] + - !!python/tuple [1, 6] + - !!python/tuple [3, 0] + - !!python/tuple [1, 5] + - !!python/tuple [0, 3] + - !!python/tuple [4, 0] + - !!python/tuple [6, 3] + - !!python/tuple [3, 2] + - !!python/tuple [7, 3] + - !!python/tuple [4, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex9.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex9.yaml new file mode 100644 index 0000000..8587f8b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex9.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [7, 2] + name: agent0 + start: [1, 2] +- goal: [0, 0] + name: agent1 + start: [4, 4] +- goal: [6, 0] + name: agent2 + start: [7, 4] +- goal: [1, 3] + name: agent3 + start: [7, 1] +- goal: [7, 4] + name: agent4 + start: [4, 7] +- goal: [6, 4] + name: agent5 + start: [1, 3] +- goal: [6, 5] + name: agent6 + start: [7, 2] +- goal: [0, 7] + name: agent7 + start: [7, 3] +- goal: [2, 7] + name: agent8 + start: [3, 1] +- goal: [6, 6] + name: agent9 + start: [5, 0] +- goal: [7, 1] + name: agent10 + start: [4, 1] +- goal: [1, 1] + name: agent11 + start: [1, 7] +- goal: [3, 1] + name: agent12 + start: [1, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 2] + - !!python/tuple [5, 5] + - !!python/tuple [0, 5] + - !!python/tuple [6, 3] + - !!python/tuple [7, 6] + - !!python/tuple [6, 7] + - !!python/tuple [4, 3] + - !!python/tuple [0, 2] + - !!python/tuple [0, 4] + - !!python/tuple [2, 1] + - !!python/tuple [4, 0] + - !!python/tuple [2, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex90.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex90.yaml new file mode 100644 index 0000000..505f5d3 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex90.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [0, 3] + name: agent0 + start: [6, 0] +- goal: [4, 5] + name: agent1 + start: [1, 2] +- goal: [5, 2] + name: agent2 + start: [2, 5] +- goal: [7, 1] + name: agent3 + start: [7, 1] +- goal: [3, 0] + name: agent4 + start: [5, 6] +- goal: [2, 6] + name: agent5 + start: [2, 3] +- goal: [4, 3] + name: agent6 + start: [0, 2] +- goal: [0, 6] + name: agent7 + start: [3, 3] +- goal: [5, 5] + name: agent8 + start: [5, 1] +- goal: [1, 7] + name: agent9 + start: [1, 7] +- goal: [3, 7] + name: agent10 + start: [7, 0] +- goal: [2, 2] + name: agent11 + start: [6, 3] +- goal: [6, 0] + name: agent12 + start: [1, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 4] + - !!python/tuple [4, 1] + - !!python/tuple [3, 2] + - !!python/tuple [7, 3] + - !!python/tuple [3, 1] + - !!python/tuple [6, 6] + - !!python/tuple [2, 4] + - !!python/tuple [6, 4] + - !!python/tuple [5, 3] + - !!python/tuple [7, 4] + - !!python/tuple [2, 1] + - !!python/tuple [3, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex91.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex91.yaml new file mode 100644 index 0000000..9fe550f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex91.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [4, 0] + name: agent0 + start: [1, 6] +- goal: [0, 3] + name: agent1 + start: [2, 4] +- goal: [3, 0] + name: agent2 + start: [2, 0] +- goal: [5, 7] + name: agent3 + start: [7, 0] +- goal: [1, 6] + name: agent4 + start: [4, 6] +- goal: [6, 1] + name: agent5 + start: [3, 3] +- goal: [3, 4] + name: agent6 + start: [4, 2] +- goal: [0, 4] + name: agent7 + start: [1, 5] +- goal: [1, 3] + name: agent8 + start: [0, 4] +- goal: [7, 6] + name: agent9 + start: [6, 0] +- goal: [5, 3] + name: agent10 + start: [6, 5] +- goal: [2, 0] + name: agent11 + start: [3, 7] +- goal: [0, 0] + name: agent12 + start: [7, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 7] + - !!python/tuple [2, 7] + - !!python/tuple [1, 4] + - !!python/tuple [5, 6] + - !!python/tuple [5, 4] + - !!python/tuple [0, 1] + - !!python/tuple [3, 2] + - !!python/tuple [1, 2] + - !!python/tuple [6, 7] + - !!python/tuple [7, 5] + - !!python/tuple [5, 5] + - !!python/tuple [0, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex92.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex92.yaml new file mode 100644 index 0000000..2be15f5 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex92.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [3, 2] + name: agent0 + start: [3, 6] +- goal: [7, 3] + name: agent1 + start: [0, 1] +- goal: [0, 5] + name: agent2 + start: [7, 5] +- goal: [5, 1] + name: agent3 + start: [1, 1] +- goal: [3, 6] + name: agent4 + start: [2, 3] +- goal: [2, 3] + name: agent5 + start: [4, 7] +- goal: [0, 1] + name: agent6 + start: [1, 5] +- goal: [6, 1] + name: agent7 + start: [0, 5] +- goal: [7, 2] + name: agent8 + start: [6, 5] +- goal: [0, 4] + name: agent9 + start: [2, 2] +- goal: [7, 1] + name: agent10 + start: [3, 4] +- goal: [1, 3] + name: agent11 + start: [0, 2] +- goal: [6, 2] + name: agent12 + start: [0, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 6] + - !!python/tuple [4, 5] + - !!python/tuple [3, 1] + - !!python/tuple [3, 0] + - !!python/tuple [2, 1] + - !!python/tuple [3, 7] + - !!python/tuple [2, 0] + - !!python/tuple [5, 0] + - !!python/tuple [5, 2] + - !!python/tuple [1, 2] + - !!python/tuple [4, 6] + - !!python/tuple [7, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex93.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex93.yaml new file mode 100644 index 0000000..7f65a62 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex93.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [6, 1] + name: agent0 + start: [4, 6] +- goal: [2, 6] + name: agent1 + start: [5, 3] +- goal: [3, 0] + name: agent2 + start: [5, 7] +- goal: [0, 0] + name: agent3 + start: [5, 0] +- goal: [7, 5] + name: agent4 + start: [3, 6] +- goal: [7, 2] + name: agent5 + start: [3, 5] +- goal: [0, 1] + name: agent6 + start: [0, 4] +- goal: [1, 6] + name: agent7 + start: [7, 1] +- goal: [6, 2] + name: agent8 + start: [0, 0] +- goal: [1, 0] + name: agent9 + start: [3, 3] +- goal: [4, 4] + name: agent10 + start: [6, 0] +- goal: [3, 4] + name: agent11 + start: [0, 1] +- goal: [7, 3] + name: agent12 + start: [2, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 5] + - !!python/tuple [2, 1] + - !!python/tuple [3, 1] + - !!python/tuple [1, 3] + - !!python/tuple [0, 7] + - !!python/tuple [6, 3] + - !!python/tuple [3, 7] + - !!python/tuple [2, 3] + - !!python/tuple [5, 5] + - !!python/tuple [6, 4] + - !!python/tuple [6, 7] + - !!python/tuple [6, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex94.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex94.yaml new file mode 100644 index 0000000..fec294c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex94.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [3, 7] + name: agent0 + start: [4, 1] +- goal: [0, 0] + name: agent1 + start: [5, 3] +- goal: [4, 3] + name: agent2 + start: [4, 0] +- goal: [4, 5] + name: agent3 + start: [7, 2] +- goal: [1, 1] + name: agent4 + start: [4, 6] +- goal: [6, 2] + name: agent5 + start: [3, 1] +- goal: [6, 3] + name: agent6 + start: [3, 5] +- goal: [6, 5] + name: agent7 + start: [0, 0] +- goal: [7, 4] + name: agent8 + start: [4, 3] +- goal: [4, 6] + name: agent9 + start: [0, 2] +- goal: [7, 0] + name: agent10 + start: [7, 7] +- goal: [1, 4] + name: agent11 + start: [3, 4] +- goal: [3, 1] + name: agent12 + start: [4, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 7] + - !!python/tuple [5, 6] + - !!python/tuple [0, 6] + - !!python/tuple [1, 5] + - !!python/tuple [6, 6] + - !!python/tuple [1, 6] + - !!python/tuple [0, 1] + - !!python/tuple [6, 4] + - !!python/tuple [1, 2] + - !!python/tuple [3, 3] + - !!python/tuple [5, 5] + - !!python/tuple [2, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex95.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex95.yaml new file mode 100644 index 0000000..7f96fb6 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex95.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [5, 0] + name: agent0 + start: [5, 4] +- goal: [3, 0] + name: agent1 + start: [4, 1] +- goal: [2, 7] + name: agent2 + start: [3, 1] +- goal: [5, 3] + name: agent3 + start: [6, 4] +- goal: [2, 3] + name: agent4 + start: [5, 7] +- goal: [1, 4] + name: agent5 + start: [5, 0] +- goal: [3, 6] + name: agent6 + start: [6, 7] +- goal: [6, 4] + name: agent7 + start: [4, 0] +- goal: [5, 1] + name: agent8 + start: [4, 4] +- goal: [4, 3] + name: agent9 + start: [4, 5] +- goal: [5, 2] + name: agent10 + start: [2, 6] +- goal: [0, 2] + name: agent11 + start: [4, 7] +- goal: [0, 4] + name: agent12 + start: [4, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 1] + - !!python/tuple [4, 6] + - !!python/tuple [3, 2] + - !!python/tuple [3, 3] + - !!python/tuple [2, 2] + - !!python/tuple [1, 6] + - !!python/tuple [0, 6] + - !!python/tuple [6, 1] + - !!python/tuple [0, 5] + - !!python/tuple [1, 0] + - !!python/tuple [5, 5] + - !!python/tuple [7, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex96.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex96.yaml new file mode 100644 index 0000000..ab88e61 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex96.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [6, 1] + name: agent0 + start: [2, 3] +- goal: [4, 0] + name: agent1 + start: [3, 5] +- goal: [6, 7] + name: agent2 + start: [2, 0] +- goal: [4, 7] + name: agent3 + start: [5, 2] +- goal: [6, 3] + name: agent4 + start: [4, 3] +- goal: [3, 5] + name: agent5 + start: [4, 6] +- goal: [4, 4] + name: agent6 + start: [1, 5] +- goal: [4, 5] + name: agent7 + start: [6, 0] +- goal: [3, 2] + name: agent8 + start: [7, 7] +- goal: [6, 2] + name: agent9 + start: [4, 0] +- goal: [5, 7] + name: agent10 + start: [0, 1] +- goal: [0, 1] + name: agent11 + start: [7, 4] +- goal: [5, 0] + name: agent12 + start: [3, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 2] + - !!python/tuple [7, 0] + - !!python/tuple [7, 5] + - !!python/tuple [5, 6] + - !!python/tuple [1, 2] + - !!python/tuple [7, 3] + - !!python/tuple [4, 2] + - !!python/tuple [5, 1] + - !!python/tuple [2, 1] + - !!python/tuple [0, 5] + - !!python/tuple [2, 6] + - !!python/tuple [0, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex97.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex97.yaml new file mode 100644 index 0000000..b9b20ed --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex97.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [4, 2] + name: agent0 + start: [7, 6] +- goal: [4, 5] + name: agent1 + start: [6, 0] +- goal: [6, 7] + name: agent2 + start: [5, 6] +- goal: [3, 2] + name: agent3 + start: [4, 2] +- goal: [2, 2] + name: agent4 + start: [2, 5] +- goal: [1, 6] + name: agent5 + start: [7, 3] +- goal: [6, 1] + name: agent6 + start: [7, 1] +- goal: [4, 6] + name: agent7 + start: [6, 6] +- goal: [6, 2] + name: agent8 + start: [4, 5] +- goal: [4, 7] + name: agent9 + start: [2, 3] +- goal: [2, 7] + name: agent10 + start: [4, 4] +- goal: [0, 2] + name: agent11 + start: [1, 4] +- goal: [6, 0] + name: agent12 + start: [7, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 2] + - !!python/tuple [4, 0] + - !!python/tuple [3, 0] + - !!python/tuple [5, 4] + - !!python/tuple [3, 3] + - !!python/tuple [0, 0] + - !!python/tuple [0, 4] + - !!python/tuple [5, 0] + - !!python/tuple [3, 5] + - !!python/tuple [2, 6] + - !!python/tuple [6, 3] + - !!python/tuple [0, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex98.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex98.yaml new file mode 100644 index 0000000..da60d92 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex98.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [6, 0] + name: agent0 + start: [5, 7] +- goal: [7, 2] + name: agent1 + start: [5, 0] +- goal: [7, 6] + name: agent2 + start: [6, 6] +- goal: [3, 1] + name: agent3 + start: [7, 4] +- goal: [7, 3] + name: agent4 + start: [1, 5] +- goal: [6, 1] + name: agent5 + start: [6, 4] +- goal: [6, 4] + name: agent6 + start: [6, 2] +- goal: [2, 2] + name: agent7 + start: [0, 3] +- goal: [3, 2] + name: agent8 + start: [5, 5] +- goal: [0, 4] + name: agent9 + start: [4, 6] +- goal: [4, 4] + name: agent10 + start: [2, 5] +- goal: [2, 5] + name: agent11 + start: [5, 2] +- goal: [7, 1] + name: agent12 + start: [4, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 7] + - !!python/tuple [7, 5] + - !!python/tuple [7, 0] + - !!python/tuple [1, 4] + - !!python/tuple [5, 6] + - !!python/tuple [1, 2] + - !!python/tuple [1, 0] + - !!python/tuple [0, 7] + - !!python/tuple [2, 0] + - !!python/tuple [4, 3] + - !!python/tuple [3, 7] + - !!python/tuple [2, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex99.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex99.yaml new file mode 100644 index 0000000..45b368e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents13_ex99.yaml @@ -0,0 +1,55 @@ +agents: +- goal: [3, 0] + name: agent0 + start: [6, 7] +- goal: [7, 4] + name: agent1 + start: [3, 0] +- goal: [4, 3] + name: agent2 + start: [4, 1] +- goal: [6, 2] + name: agent3 + start: [1, 6] +- goal: [5, 7] + name: agent4 + start: [4, 4] +- goal: [3, 4] + name: agent5 + start: [5, 6] +- goal: [2, 6] + name: agent6 + start: [1, 1] +- goal: [5, 5] + name: agent7 + start: [1, 2] +- goal: [0, 4] + name: agent8 + start: [5, 1] +- goal: [4, 5] + name: agent9 + start: [3, 6] +- goal: [2, 4] + name: agent10 + start: [4, 5] +- goal: [4, 2] + name: agent11 + start: [0, 6] +- goal: [1, 5] + name: agent12 + start: [7, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 1] + - !!python/tuple [4, 0] + - !!python/tuple [7, 2] + - !!python/tuple [7, 7] + - !!python/tuple [6, 1] + - !!python/tuple [6, 4] + - !!python/tuple [0, 0] + - !!python/tuple [2, 3] + - !!python/tuple [1, 7] + - !!python/tuple [1, 3] + - !!python/tuple [0, 1] + - !!python/tuple [3, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex0.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex0.yaml new file mode 100644 index 0000000..922a11d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex0.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [3, 2] + name: agent0 + start: [0, 1] +- goal: [1, 0] + name: agent1 + start: [1, 5] +- goal: [1, 3] + name: agent2 + start: [0, 5] +- goal: [6, 7] + name: agent3 + start: [4, 3] +- goal: [7, 1] + name: agent4 + start: [4, 4] +- goal: [2, 4] + name: agent5 + start: [2, 2] +- goal: [0, 1] + name: agent6 + start: [4, 0] +- goal: [4, 7] + name: agent7 + start: [2, 5] +- goal: [3, 5] + name: agent8 + start: [2, 0] +- goal: [4, 6] + name: agent9 + start: [1, 6] +- goal: [6, 2] + name: agent10 + start: [3, 1] +- goal: [7, 0] + name: agent11 + start: [3, 6] +- goal: [4, 0] + name: agent12 + start: [1, 2] +- goal: [6, 1] + name: agent13 + start: [7, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 2] + - !!python/tuple [7, 5] + - !!python/tuple [7, 6] + - !!python/tuple [7, 7] + - !!python/tuple [4, 1] + - !!python/tuple [3, 4] + - !!python/tuple [6, 3] + - !!python/tuple [5, 6] + - !!python/tuple [0, 0] + - !!python/tuple [2, 7] + - !!python/tuple [2, 1] + - !!python/tuple [3, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex1.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex1.yaml new file mode 100644 index 0000000..3b9a054 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex1.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [1, 6] + name: agent0 + start: [4, 4] +- goal: [1, 2] + name: agent1 + start: [0, 6] +- goal: [1, 5] + name: agent2 + start: [3, 1] +- goal: [2, 2] + name: agent3 + start: [7, 1] +- goal: [1, 4] + name: agent4 + start: [3, 0] +- goal: [6, 3] + name: agent5 + start: [6, 3] +- goal: [0, 5] + name: agent6 + start: [3, 7] +- goal: [0, 0] + name: agent7 + start: [1, 5] +- goal: [7, 3] + name: agent8 + start: [0, 7] +- goal: [1, 3] + name: agent9 + start: [6, 7] +- goal: [7, 2] + name: agent10 + start: [7, 3] +- goal: [3, 4] + name: agent11 + start: [4, 1] +- goal: [5, 5] + name: agent12 + start: [5, 4] +- goal: [4, 7] + name: agent13 + start: [2, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 4] + - !!python/tuple [5, 6] + - !!python/tuple [4, 5] + - !!python/tuple [1, 7] + - !!python/tuple [4, 2] + - !!python/tuple [7, 5] + - !!python/tuple [6, 1] + - !!python/tuple [2, 5] + - !!python/tuple [7, 7] + - !!python/tuple [5, 7] + - !!python/tuple [7, 4] + - !!python/tuple [5, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex10.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex10.yaml new file mode 100644 index 0000000..cc62a67 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex10.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [7, 4] + name: agent0 + start: [6, 0] +- goal: [0, 1] + name: agent1 + start: [7, 6] +- goal: [6, 0] + name: agent2 + start: [0, 1] +- goal: [3, 5] + name: agent3 + start: [2, 4] +- goal: [1, 1] + name: agent4 + start: [0, 6] +- goal: [3, 7] + name: agent5 + start: [6, 7] +- goal: [2, 1] + name: agent6 + start: [4, 6] +- goal: [7, 3] + name: agent7 + start: [1, 0] +- goal: [1, 5] + name: agent8 + start: [7, 7] +- goal: [0, 4] + name: agent9 + start: [7, 3] +- goal: [0, 2] + name: agent10 + start: [2, 5] +- goal: [5, 2] + name: agent11 + start: [0, 3] +- goal: [1, 6] + name: agent12 + start: [3, 2] +- goal: [1, 2] + name: agent13 + start: [4, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 4] + - !!python/tuple [1, 7] + - !!python/tuple [7, 2] + - !!python/tuple [3, 4] + - !!python/tuple [6, 5] + - !!python/tuple [0, 0] + - !!python/tuple [7, 0] + - !!python/tuple [6, 3] + - !!python/tuple [6, 2] + - !!python/tuple [4, 3] + - !!python/tuple [2, 7] + - !!python/tuple [4, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex11.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex11.yaml new file mode 100644 index 0000000..ac84edc --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex11.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [5, 4] + name: agent0 + start: [6, 3] +- goal: [3, 3] + name: agent1 + start: [3, 4] +- goal: [4, 5] + name: agent2 + start: [6, 2] +- goal: [1, 0] + name: agent3 + start: [5, 0] +- goal: [0, 4] + name: agent4 + start: [5, 2] +- goal: [0, 5] + name: agent5 + start: [1, 3] +- goal: [1, 7] + name: agent6 + start: [1, 7] +- goal: [3, 0] + name: agent7 + start: [4, 6] +- goal: [0, 1] + name: agent8 + start: [2, 7] +- goal: [3, 5] + name: agent9 + start: [6, 6] +- goal: [2, 4] + name: agent10 + start: [4, 7] +- goal: [7, 2] + name: agent11 + start: [6, 5] +- goal: [7, 3] + name: agent12 + start: [2, 1] +- goal: [4, 2] + name: agent13 + start: [7, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 2] + - !!python/tuple [5, 7] + - !!python/tuple [7, 7] + - !!python/tuple [3, 6] + - !!python/tuple [0, 3] + - !!python/tuple [0, 6] + - !!python/tuple [5, 6] + - !!python/tuple [0, 2] + - !!python/tuple [1, 2] + - !!python/tuple [0, 0] + - !!python/tuple [6, 7] + - !!python/tuple [2, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex12.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex12.yaml new file mode 100644 index 0000000..010e207 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex12.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [7, 4] + name: agent0 + start: [5, 3] +- goal: [5, 6] + name: agent1 + start: [7, 0] +- goal: [0, 5] + name: agent2 + start: [1, 4] +- goal: [1, 0] + name: agent3 + start: [3, 5] +- goal: [6, 5] + name: agent4 + start: [7, 2] +- goal: [6, 0] + name: agent5 + start: [6, 0] +- goal: [0, 6] + name: agent6 + start: [6, 2] +- goal: [1, 2] + name: agent7 + start: [2, 7] +- goal: [7, 7] + name: agent8 + start: [7, 3] +- goal: [4, 5] + name: agent9 + start: [6, 6] +- goal: [6, 6] + name: agent10 + start: [2, 1] +- goal: [5, 2] + name: agent11 + start: [0, 3] +- goal: [3, 5] + name: agent12 + start: [3, 4] +- goal: [2, 5] + name: agent13 + start: [3, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 7] + - !!python/tuple [1, 1] + - !!python/tuple [4, 7] + - !!python/tuple [5, 7] + - !!python/tuple [4, 1] + - !!python/tuple [2, 3] + - !!python/tuple [1, 6] + - !!python/tuple [7, 1] + - !!python/tuple [6, 4] + - !!python/tuple [0, 2] + - !!python/tuple [0, 0] + - !!python/tuple [0, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex13.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex13.yaml new file mode 100644 index 0000000..8d06595 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex13.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [5, 4] + name: agent0 + start: [6, 7] +- goal: [4, 0] + name: agent1 + start: [3, 7] +- goal: [2, 5] + name: agent2 + start: [0, 2] +- goal: [0, 3] + name: agent3 + start: [7, 0] +- goal: [1, 1] + name: agent4 + start: [3, 1] +- goal: [5, 1] + name: agent5 + start: [3, 2] +- goal: [1, 2] + name: agent6 + start: [5, 2] +- goal: [1, 5] + name: agent7 + start: [1, 7] +- goal: [5, 2] + name: agent8 + start: [7, 1] +- goal: [2, 1] + name: agent9 + start: [1, 5] +- goal: [2, 4] + name: agent10 + start: [0, 7] +- goal: [1, 3] + name: agent11 + start: [4, 3] +- goal: [1, 4] + name: agent12 + start: [4, 1] +- goal: [3, 2] + name: agent13 + start: [3, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 5] + - !!python/tuple [7, 5] + - !!python/tuple [6, 2] + - !!python/tuple [1, 0] + - !!python/tuple [2, 0] + - !!python/tuple [1, 6] + - !!python/tuple [2, 3] + - !!python/tuple [5, 6] + - !!python/tuple [5, 5] + - !!python/tuple [6, 5] + - !!python/tuple [0, 1] + - !!python/tuple [3, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex14.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex14.yaml new file mode 100644 index 0000000..1e0fba9 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex14.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [3, 6] + name: agent0 + start: [0, 1] +- goal: [5, 1] + name: agent1 + start: [6, 0] +- goal: [2, 3] + name: agent2 + start: [0, 2] +- goal: [3, 3] + name: agent3 + start: [1, 0] +- goal: [0, 3] + name: agent4 + start: [5, 0] +- goal: [6, 1] + name: agent5 + start: [2, 2] +- goal: [7, 3] + name: agent6 + start: [0, 6] +- goal: [7, 5] + name: agent7 + start: [1, 6] +- goal: [0, 6] + name: agent8 + start: [0, 3] +- goal: [5, 5] + name: agent9 + start: [7, 4] +- goal: [7, 7] + name: agent10 + start: [5, 3] +- goal: [6, 7] + name: agent11 + start: [4, 0] +- goal: [5, 3] + name: agent12 + start: [3, 4] +- goal: [3, 4] + name: agent13 + start: [5, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 0] + - !!python/tuple [4, 5] + - !!python/tuple [5, 7] + - !!python/tuple [4, 1] + - !!python/tuple [4, 2] + - !!python/tuple [6, 2] + - !!python/tuple [1, 4] + - !!python/tuple [1, 3] + - !!python/tuple [3, 2] + - !!python/tuple [4, 6] + - !!python/tuple [3, 1] + - !!python/tuple [7, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex15.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex15.yaml new file mode 100644 index 0000000..cf82f4c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex15.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [2, 7] + name: agent0 + start: [6, 2] +- goal: [3, 4] + name: agent1 + start: [4, 6] +- goal: [4, 2] + name: agent2 + start: [0, 7] +- goal: [0, 4] + name: agent3 + start: [0, 6] +- goal: [5, 4] + name: agent4 + start: [3, 1] +- goal: [7, 2] + name: agent5 + start: [5, 2] +- goal: [6, 3] + name: agent6 + start: [1, 5] +- goal: [1, 2] + name: agent7 + start: [5, 4] +- goal: [0, 2] + name: agent8 + start: [6, 3] +- goal: [4, 6] + name: agent9 + start: [1, 0] +- goal: [5, 7] + name: agent10 + start: [7, 7] +- goal: [5, 3] + name: agent11 + start: [1, 4] +- goal: [3, 1] + name: agent12 + start: [0, 2] +- goal: [1, 1] + name: agent13 + start: [4, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 0] + - !!python/tuple [0, 5] + - !!python/tuple [5, 5] + - !!python/tuple [4, 5] + - !!python/tuple [7, 3] + - !!python/tuple [7, 1] + - !!python/tuple [3, 5] + - !!python/tuple [3, 0] + - !!python/tuple [3, 7] + - !!python/tuple [6, 1] + - !!python/tuple [6, 6] + - !!python/tuple [5, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex16.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex16.yaml new file mode 100644 index 0000000..60b39e6 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex16.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [3, 1] + name: agent0 + start: [5, 3] +- goal: [6, 3] + name: agent1 + start: [2, 1] +- goal: [2, 6] + name: agent2 + start: [1, 1] +- goal: [3, 0] + name: agent3 + start: [0, 4] +- goal: [5, 4] + name: agent4 + start: [2, 4] +- goal: [2, 5] + name: agent5 + start: [4, 4] +- goal: [6, 7] + name: agent6 + start: [7, 4] +- goal: [1, 1] + name: agent7 + start: [5, 7] +- goal: [4, 0] + name: agent8 + start: [4, 2] +- goal: [5, 3] + name: agent9 + start: [2, 3] +- goal: [4, 6] + name: agent10 + start: [1, 6] +- goal: [1, 6] + name: agent11 + start: [3, 1] +- goal: [7, 5] + name: agent12 + start: [7, 0] +- goal: [5, 6] + name: agent13 + start: [3, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 6] + - !!python/tuple [0, 0] + - !!python/tuple [5, 0] + - !!python/tuple [5, 1] + - !!python/tuple [2, 2] + - !!python/tuple [3, 7] + - !!python/tuple [1, 3] + - !!python/tuple [2, 7] + - !!python/tuple [6, 2] + - !!python/tuple [4, 1] + - !!python/tuple [5, 2] + - !!python/tuple [1, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex17.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex17.yaml new file mode 100644 index 0000000..ea9e83c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex17.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [6, 2] + name: agent0 + start: [6, 7] +- goal: [0, 1] + name: agent1 + start: [2, 4] +- goal: [6, 0] + name: agent2 + start: [3, 7] +- goal: [0, 3] + name: agent3 + start: [6, 6] +- goal: [7, 7] + name: agent4 + start: [1, 2] +- goal: [3, 3] + name: agent5 + start: [1, 4] +- goal: [6, 7] + name: agent6 + start: [7, 1] +- goal: [0, 2] + name: agent7 + start: [3, 6] +- goal: [4, 2] + name: agent8 + start: [0, 2] +- goal: [2, 3] + name: agent9 + start: [4, 2] +- goal: [0, 0] + name: agent10 + start: [5, 3] +- goal: [7, 3] + name: agent11 + start: [3, 1] +- goal: [7, 1] + name: agent12 + start: [2, 2] +- goal: [5, 1] + name: agent13 + start: [7, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 1] + - !!python/tuple [4, 7] + - !!python/tuple [3, 2] + - !!python/tuple [6, 4] + - !!python/tuple [2, 5] + - !!python/tuple [6, 1] + - !!python/tuple [5, 4] + - !!python/tuple [5, 7] + - !!python/tuple [5, 6] + - !!python/tuple [5, 0] + - !!python/tuple [5, 2] + - !!python/tuple [1, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex18.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex18.yaml new file mode 100644 index 0000000..fe721d2 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex18.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [3, 4] + name: agent0 + start: [6, 4] +- goal: [1, 1] + name: agent1 + start: [6, 0] +- goal: [0, 6] + name: agent2 + start: [2, 4] +- goal: [3, 7] + name: agent3 + start: [3, 4] +- goal: [2, 3] + name: agent4 + start: [1, 7] +- goal: [7, 0] + name: agent5 + start: [2, 2] +- goal: [4, 6] + name: agent6 + start: [7, 5] +- goal: [5, 5] + name: agent7 + start: [5, 4] +- goal: [5, 4] + name: agent8 + start: [7, 2] +- goal: [4, 5] + name: agent9 + start: [4, 0] +- goal: [7, 7] + name: agent10 + start: [0, 4] +- goal: [3, 3] + name: agent11 + start: [6, 3] +- goal: [2, 0] + name: agent12 + start: [1, 6] +- goal: [4, 2] + name: agent13 + start: [1, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 1] + - !!python/tuple [6, 5] + - !!python/tuple [2, 7] + - !!python/tuple [0, 7] + - !!python/tuple [5, 6] + - !!python/tuple [0, 2] + - !!python/tuple [3, 5] + - !!python/tuple [6, 1] + - !!python/tuple [4, 3] + - !!python/tuple [5, 2] + - !!python/tuple [7, 1] + - !!python/tuple [1, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex19.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex19.yaml new file mode 100644 index 0000000..7b8cf33 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex19.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [6, 2] + name: agent0 + start: [6, 0] +- goal: [2, 6] + name: agent1 + start: [7, 4] +- goal: [6, 7] + name: agent2 + start: [3, 0] +- goal: [0, 1] + name: agent3 + start: [4, 7] +- goal: [2, 4] + name: agent4 + start: [7, 5] +- goal: [7, 1] + name: agent5 + start: [1, 2] +- goal: [6, 0] + name: agent6 + start: [5, 4] +- goal: [7, 6] + name: agent7 + start: [0, 4] +- goal: [6, 3] + name: agent8 + start: [4, 5] +- goal: [0, 3] + name: agent9 + start: [6, 3] +- goal: [4, 1] + name: agent10 + start: [1, 3] +- goal: [3, 3] + name: agent11 + start: [7, 3] +- goal: [1, 7] + name: agent12 + start: [6, 6] +- goal: [5, 6] + name: agent13 + start: [2, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 5] + - !!python/tuple [3, 1] + - !!python/tuple [1, 0] + - !!python/tuple [3, 5] + - !!python/tuple [3, 6] + - !!python/tuple [4, 4] + - !!python/tuple [7, 2] + - !!python/tuple [0, 7] + - !!python/tuple [1, 4] + - !!python/tuple [2, 5] + - !!python/tuple [3, 2] + - !!python/tuple [5, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex2.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex2.yaml new file mode 100644 index 0000000..c9f99bc --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex2.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [0, 1] + name: agent0 + start: [2, 1] +- goal: [7, 3] + name: agent1 + start: [5, 6] +- goal: [5, 1] + name: agent2 + start: [7, 0] +- goal: [1, 7] + name: agent3 + start: [1, 7] +- goal: [1, 5] + name: agent4 + start: [6, 1] +- goal: [1, 4] + name: agent5 + start: [5, 7] +- goal: [0, 2] + name: agent6 + start: [7, 6] +- goal: [4, 1] + name: agent7 + start: [3, 3] +- goal: [4, 7] + name: agent8 + start: [7, 5] +- goal: [7, 2] + name: agent9 + start: [3, 6] +- goal: [0, 7] + name: agent10 + start: [7, 7] +- goal: [0, 0] + name: agent11 + start: [4, 6] +- goal: [1, 2] + name: agent12 + start: [0, 3] +- goal: [6, 6] + name: agent13 + start: [4, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 6] + - !!python/tuple [6, 5] + - !!python/tuple [5, 2] + - !!python/tuple [1, 1] + - !!python/tuple [3, 4] + - !!python/tuple [6, 2] + - !!python/tuple [4, 3] + - !!python/tuple [4, 4] + - !!python/tuple [2, 5] + - !!python/tuple [4, 5] + - !!python/tuple [2, 4] + - !!python/tuple [6, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex20.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex20.yaml new file mode 100644 index 0000000..b66fcac --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex20.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [6, 7] + name: agent0 + start: [2, 7] +- goal: [3, 6] + name: agent1 + start: [2, 0] +- goal: [3, 7] + name: agent2 + start: [4, 2] +- goal: [0, 7] + name: agent3 + start: [4, 7] +- goal: [1, 5] + name: agent4 + start: [5, 3] +- goal: [4, 0] + name: agent5 + start: [4, 1] +- goal: [1, 0] + name: agent6 + start: [6, 0] +- goal: [1, 2] + name: agent7 + start: [5, 2] +- goal: [5, 5] + name: agent8 + start: [0, 7] +- goal: [7, 3] + name: agent9 + start: [5, 6] +- goal: [2, 1] + name: agent10 + start: [1, 1] +- goal: [6, 6] + name: agent11 + start: [6, 5] +- goal: [0, 0] + name: agent12 + start: [1, 4] +- goal: [6, 4] + name: agent13 + start: [3, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 2] + - !!python/tuple [6, 2] + - !!python/tuple [0, 4] + - !!python/tuple [3, 4] + - !!python/tuple [7, 6] + - !!python/tuple [7, 2] + - !!python/tuple [7, 4] + - !!python/tuple [0, 5] + - !!python/tuple [3, 3] + - !!python/tuple [0, 2] + - !!python/tuple [4, 3] + - !!python/tuple [3, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex21.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex21.yaml new file mode 100644 index 0000000..63841cf --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex21.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [3, 1] + name: agent0 + start: [2, 2] +- goal: [3, 0] + name: agent1 + start: [7, 6] +- goal: [2, 6] + name: agent2 + start: [2, 6] +- goal: [0, 5] + name: agent3 + start: [0, 2] +- goal: [7, 2] + name: agent4 + start: [1, 7] +- goal: [6, 2] + name: agent5 + start: [3, 6] +- goal: [0, 3] + name: agent6 + start: [7, 5] +- goal: [1, 3] + name: agent7 + start: [2, 5] +- goal: [0, 1] + name: agent8 + start: [6, 2] +- goal: [0, 7] + name: agent9 + start: [7, 1] +- goal: [6, 3] + name: agent10 + start: [4, 5] +- goal: [4, 0] + name: agent11 + start: [3, 3] +- goal: [5, 1] + name: agent12 + start: [5, 7] +- goal: [5, 0] + name: agent13 + start: [4, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 4] + - !!python/tuple [1, 2] + - !!python/tuple [4, 1] + - !!python/tuple [4, 4] + - !!python/tuple [3, 2] + - !!python/tuple [5, 5] + - !!python/tuple [1, 1] + - !!python/tuple [7, 4] + - !!python/tuple [7, 7] + - !!python/tuple [3, 4] + - !!python/tuple [5, 2] + - !!python/tuple [1, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex22.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex22.yaml new file mode 100644 index 0000000..d9581e7 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex22.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [3, 3] + name: agent0 + start: [7, 5] +- goal: [1, 0] + name: agent1 + start: [3, 3] +- goal: [0, 4] + name: agent2 + start: [4, 0] +- goal: [6, 1] + name: agent3 + start: [4, 2] +- goal: [5, 2] + name: agent4 + start: [7, 4] +- goal: [7, 7] + name: agent5 + start: [5, 6] +- goal: [4, 6] + name: agent6 + start: [2, 3] +- goal: [3, 0] + name: agent7 + start: [3, 0] +- goal: [0, 3] + name: agent8 + start: [2, 6] +- goal: [6, 7] + name: agent9 + start: [6, 2] +- goal: [5, 0] + name: agent10 + start: [0, 4] +- goal: [7, 4] + name: agent11 + start: [4, 3] +- goal: [4, 2] + name: agent12 + start: [3, 2] +- goal: [2, 6] + name: agent13 + start: [5, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 0] + - !!python/tuple [1, 5] + - !!python/tuple [7, 1] + - !!python/tuple [7, 2] + - !!python/tuple [6, 0] + - !!python/tuple [5, 7] + - !!python/tuple [0, 5] + - !!python/tuple [2, 7] + - !!python/tuple [1, 2] + - !!python/tuple [5, 4] + - !!python/tuple [5, 5] + - !!python/tuple [5, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex23.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex23.yaml new file mode 100644 index 0000000..1cb5700 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex23.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [7, 0] + name: agent0 + start: [5, 7] +- goal: [5, 4] + name: agent1 + start: [6, 2] +- goal: [6, 3] + name: agent2 + start: [5, 1] +- goal: [3, 5] + name: agent3 + start: [1, 1] +- goal: [0, 6] + name: agent4 + start: [3, 5] +- goal: [4, 0] + name: agent5 + start: [0, 2] +- goal: [2, 7] + name: agent6 + start: [6, 5] +- goal: [0, 5] + name: agent7 + start: [6, 1] +- goal: [5, 2] + name: agent8 + start: [7, 0] +- goal: [5, 7] + name: agent9 + start: [6, 0] +- goal: [1, 2] + name: agent10 + start: [1, 6] +- goal: [4, 1] + name: agent11 + start: [0, 7] +- goal: [2, 2] + name: agent12 + start: [2, 5] +- goal: [4, 5] + name: agent13 + start: [4, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 1] + - !!python/tuple [6, 7] + - !!python/tuple [3, 0] + - !!python/tuple [2, 0] + - !!python/tuple [4, 7] + - !!python/tuple [3, 6] + - !!python/tuple [7, 5] + - !!python/tuple [3, 2] + - !!python/tuple [4, 4] + - !!python/tuple [3, 1] + - !!python/tuple [5, 3] + - !!python/tuple [7, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex24.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex24.yaml new file mode 100644 index 0000000..52f9619 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex24.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [7, 1] + name: agent0 + start: [5, 7] +- goal: [6, 6] + name: agent1 + start: [7, 3] +- goal: [5, 6] + name: agent2 + start: [5, 5] +- goal: [2, 3] + name: agent3 + start: [0, 2] +- goal: [6, 4] + name: agent4 + start: [2, 1] +- goal: [5, 5] + name: agent5 + start: [1, 2] +- goal: [0, 7] + name: agent6 + start: [6, 0] +- goal: [1, 2] + name: agent7 + start: [3, 3] +- goal: [5, 2] + name: agent8 + start: [4, 6] +- goal: [1, 6] + name: agent9 + start: [7, 5] +- goal: [0, 5] + name: agent10 + start: [0, 7] +- goal: [4, 4] + name: agent11 + start: [4, 3] +- goal: [5, 0] + name: agent12 + start: [0, 0] +- goal: [6, 0] + name: agent13 + start: [6, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 1] + - !!python/tuple [7, 2] + - !!python/tuple [2, 4] + - !!python/tuple [3, 0] + - !!python/tuple [0, 1] + - !!python/tuple [6, 5] + - !!python/tuple [0, 4] + - !!python/tuple [1, 7] + - !!python/tuple [4, 0] + - !!python/tuple [2, 0] + - !!python/tuple [4, 1] + - !!python/tuple [7, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex25.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex25.yaml new file mode 100644 index 0000000..ff725db --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex25.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [2, 2] + name: agent0 + start: [3, 6] +- goal: [7, 6] + name: agent1 + start: [2, 0] +- goal: [1, 5] + name: agent2 + start: [3, 1] +- goal: [3, 2] + name: agent3 + start: [2, 5] +- goal: [1, 4] + name: agent4 + start: [2, 7] +- goal: [2, 7] + name: agent5 + start: [3, 0] +- goal: [0, 0] + name: agent6 + start: [5, 4] +- goal: [6, 1] + name: agent7 + start: [6, 4] +- goal: [0, 1] + name: agent8 + start: [1, 4] +- goal: [5, 5] + name: agent9 + start: [5, 1] +- goal: [0, 3] + name: agent10 + start: [1, 5] +- goal: [3, 6] + name: agent11 + start: [0, 5] +- goal: [3, 4] + name: agent12 + start: [0, 2] +- goal: [1, 3] + name: agent13 + start: [4, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 7] + - !!python/tuple [1, 6] + - !!python/tuple [1, 0] + - !!python/tuple [2, 6] + - !!python/tuple [6, 2] + - !!python/tuple [7, 3] + - !!python/tuple [0, 4] + - !!python/tuple [6, 3] + - !!python/tuple [6, 5] + - !!python/tuple [5, 3] + - !!python/tuple [7, 7] + - !!python/tuple [0, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex26.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex26.yaml new file mode 100644 index 0000000..5b4b671 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex26.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [5, 6] + name: agent0 + start: [0, 4] +- goal: [6, 5] + name: agent1 + start: [5, 5] +- goal: [3, 0] + name: agent2 + start: [6, 2] +- goal: [4, 2] + name: agent3 + start: [4, 4] +- goal: [1, 2] + name: agent4 + start: [4, 0] +- goal: [5, 1] + name: agent5 + start: [5, 0] +- goal: [7, 5] + name: agent6 + start: [3, 1] +- goal: [6, 4] + name: agent7 + start: [2, 2] +- goal: [1, 4] + name: agent8 + start: [1, 2] +- goal: [4, 4] + name: agent9 + start: [3, 4] +- goal: [6, 0] + name: agent10 + start: [6, 5] +- goal: [5, 7] + name: agent11 + start: [0, 0] +- goal: [4, 0] + name: agent12 + start: [1, 0] +- goal: [6, 6] + name: agent13 + start: [7, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 1] + - !!python/tuple [1, 3] + - !!python/tuple [6, 3] + - !!python/tuple [7, 1] + - !!python/tuple [3, 5] + - !!python/tuple [2, 3] + - !!python/tuple [4, 6] + - !!python/tuple [7, 6] + - !!python/tuple [1, 1] + - !!python/tuple [1, 6] + - !!python/tuple [6, 7] + - !!python/tuple [2, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex27.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex27.yaml new file mode 100644 index 0000000..915bedf --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex27.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [3, 6] + name: agent0 + start: [5, 2] +- goal: [2, 4] + name: agent1 + start: [3, 6] +- goal: [1, 7] + name: agent2 + start: [7, 2] +- goal: [5, 2] + name: agent3 + start: [4, 4] +- goal: [7, 0] + name: agent4 + start: [0, 3] +- goal: [1, 3] + name: agent5 + start: [2, 5] +- goal: [1, 4] + name: agent6 + start: [3, 4] +- goal: [3, 3] + name: agent7 + start: [3, 2] +- goal: [5, 1] + name: agent8 + start: [7, 5] +- goal: [4, 0] + name: agent9 + start: [1, 2] +- goal: [7, 1] + name: agent10 + start: [5, 6] +- goal: [2, 7] + name: agent11 + start: [2, 0] +- goal: [1, 2] + name: agent12 + start: [4, 3] +- goal: [3, 4] + name: agent13 + start: [5, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 0] + - !!python/tuple [3, 1] + - !!python/tuple [3, 0] + - !!python/tuple [0, 2] + - !!python/tuple [4, 5] + - !!python/tuple [0, 1] + - !!python/tuple [5, 3] + - !!python/tuple [6, 6] + - !!python/tuple [6, 7] + - !!python/tuple [1, 0] + - !!python/tuple [4, 6] + - !!python/tuple [3, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex28.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex28.yaml new file mode 100644 index 0000000..5fc005e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex28.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [5, 2] + name: agent0 + start: [7, 1] +- goal: [0, 3] + name: agent1 + start: [4, 2] +- goal: [6, 0] + name: agent2 + start: [0, 7] +- goal: [3, 3] + name: agent3 + start: [4, 1] +- goal: [0, 0] + name: agent4 + start: [3, 4] +- goal: [0, 6] + name: agent5 + start: [3, 7] +- goal: [1, 4] + name: agent6 + start: [5, 7] +- goal: [0, 4] + name: agent7 + start: [2, 1] +- goal: [6, 7] + name: agent8 + start: [4, 4] +- goal: [1, 5] + name: agent9 + start: [1, 5] +- goal: [7, 0] + name: agent10 + start: [6, 2] +- goal: [4, 4] + name: agent11 + start: [2, 2] +- goal: [4, 6] + name: agent12 + start: [6, 1] +- goal: [2, 3] + name: agent13 + start: [6, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 3] + - !!python/tuple [5, 6] + - !!python/tuple [0, 5] + - !!python/tuple [2, 0] + - !!python/tuple [6, 6] + - !!python/tuple [5, 0] + - !!python/tuple [5, 1] + - !!python/tuple [6, 3] + - !!python/tuple [2, 5] + - !!python/tuple [1, 3] + - !!python/tuple [4, 5] + - !!python/tuple [5, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex29.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex29.yaml new file mode 100644 index 0000000..7b8be13 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex29.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [1, 5] + name: agent0 + start: [2, 0] +- goal: [5, 4] + name: agent1 + start: [3, 6] +- goal: [1, 3] + name: agent2 + start: [1, 3] +- goal: [7, 6] + name: agent3 + start: [3, 4] +- goal: [6, 6] + name: agent4 + start: [6, 0] +- goal: [3, 3] + name: agent5 + start: [7, 7] +- goal: [6, 5] + name: agent6 + start: [1, 5] +- goal: [3, 1] + name: agent7 + start: [2, 7] +- goal: [2, 5] + name: agent8 + start: [5, 7] +- goal: [4, 7] + name: agent9 + start: [3, 1] +- goal: [6, 1] + name: agent10 + start: [1, 4] +- goal: [7, 4] + name: agent11 + start: [1, 7] +- goal: [4, 2] + name: agent12 + start: [0, 6] +- goal: [7, 2] + name: agent13 + start: [0, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 7] + - !!python/tuple [2, 3] + - !!python/tuple [2, 1] + - !!python/tuple [3, 2] + - !!python/tuple [7, 1] + - !!python/tuple [0, 4] + - !!python/tuple [3, 5] + - !!python/tuple [5, 5] + - !!python/tuple [6, 3] + - !!python/tuple [6, 7] + - !!python/tuple [3, 0] + - !!python/tuple [7, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex3.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex3.yaml new file mode 100644 index 0000000..9901613 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex3.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [5, 5] + name: agent0 + start: [2, 1] +- goal: [1, 4] + name: agent1 + start: [0, 4] +- goal: [2, 2] + name: agent2 + start: [0, 3] +- goal: [1, 7] + name: agent3 + start: [4, 3] +- goal: [2, 6] + name: agent4 + start: [5, 4] +- goal: [0, 7] + name: agent5 + start: [5, 5] +- goal: [7, 4] + name: agent6 + start: [2, 5] +- goal: [5, 4] + name: agent7 + start: [3, 2] +- goal: [2, 3] + name: agent8 + start: [7, 3] +- goal: [6, 2] + name: agent9 + start: [0, 1] +- goal: [4, 7] + name: agent10 + start: [1, 3] +- goal: [4, 2] + name: agent11 + start: [7, 5] +- goal: [1, 1] + name: agent12 + start: [3, 5] +- goal: [1, 3] + name: agent13 + start: [3, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 1] + - !!python/tuple [3, 0] + - !!python/tuple [4, 5] + - !!python/tuple [1, 0] + - !!python/tuple [3, 4] + - !!python/tuple [6, 0] + - !!python/tuple [2, 7] + - !!python/tuple [7, 7] + - !!python/tuple [0, 2] + - !!python/tuple [5, 6] + - !!python/tuple [1, 6] + - !!python/tuple [7, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex30.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex30.yaml new file mode 100644 index 0000000..746f9fb --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex30.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [3, 6] + name: agent0 + start: [1, 5] +- goal: [4, 2] + name: agent1 + start: [3, 3] +- goal: [4, 4] + name: agent2 + start: [0, 5] +- goal: [5, 1] + name: agent3 + start: [5, 4] +- goal: [1, 2] + name: agent4 + start: [3, 7] +- goal: [0, 0] + name: agent5 + start: [3, 2] +- goal: [6, 7] + name: agent6 + start: [0, 3] +- goal: [1, 6] + name: agent7 + start: [5, 7] +- goal: [2, 1] + name: agent8 + start: [0, 1] +- goal: [3, 4] + name: agent9 + start: [2, 5] +- goal: [3, 2] + name: agent10 + start: [7, 4] +- goal: [3, 7] + name: agent11 + start: [3, 5] +- goal: [3, 5] + name: agent12 + start: [3, 4] +- goal: [7, 6] + name: agent13 + start: [6, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 7] + - !!python/tuple [0, 4] + - !!python/tuple [4, 0] + - !!python/tuple [5, 0] + - !!python/tuple [5, 6] + - !!python/tuple [6, 0] + - !!python/tuple [1, 3] + - !!python/tuple [4, 1] + - !!python/tuple [6, 6] + - !!python/tuple [6, 5] + - !!python/tuple [2, 7] + - !!python/tuple [1, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex31.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex31.yaml new file mode 100644 index 0000000..2eb7220 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex31.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [4, 7] + name: agent0 + start: [7, 0] +- goal: [6, 1] + name: agent1 + start: [1, 0] +- goal: [6, 3] + name: agent2 + start: [2, 7] +- goal: [0, 2] + name: agent3 + start: [3, 5] +- goal: [4, 1] + name: agent4 + start: [0, 4] +- goal: [7, 3] + name: agent5 + start: [6, 1] +- goal: [5, 6] + name: agent6 + start: [2, 6] +- goal: [6, 7] + name: agent7 + start: [3, 0] +- goal: [3, 7] + name: agent8 + start: [4, 6] +- goal: [3, 6] + name: agent9 + start: [7, 1] +- goal: [4, 6] + name: agent10 + start: [4, 4] +- goal: [7, 7] + name: agent11 + start: [0, 3] +- goal: [0, 0] + name: agent12 + start: [4, 1] +- goal: [1, 4] + name: agent13 + start: [4, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 0] + - !!python/tuple [2, 2] + - !!python/tuple [4, 2] + - !!python/tuple [5, 1] + - !!python/tuple [1, 7] + - !!python/tuple [7, 5] + - !!python/tuple [3, 1] + - !!python/tuple [1, 6] + - !!python/tuple [6, 0] + - !!python/tuple [5, 3] + - !!python/tuple [2, 3] + - !!python/tuple [3, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex32.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex32.yaml new file mode 100644 index 0000000..d22c67e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex32.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [4, 1] + name: agent0 + start: [1, 6] +- goal: [2, 1] + name: agent1 + start: [0, 7] +- goal: [1, 7] + name: agent2 + start: [4, 7] +- goal: [4, 5] + name: agent3 + start: [4, 2] +- goal: [0, 0] + name: agent4 + start: [3, 7] +- goal: [1, 1] + name: agent5 + start: [0, 4] +- goal: [3, 4] + name: agent6 + start: [0, 2] +- goal: [7, 4] + name: agent7 + start: [6, 0] +- goal: [5, 5] + name: agent8 + start: [6, 7] +- goal: [1, 0] + name: agent9 + start: [7, 1] +- goal: [5, 2] + name: agent10 + start: [3, 2] +- goal: [3, 0] + name: agent11 + start: [5, 6] +- goal: [3, 2] + name: agent12 + start: [0, 0] +- goal: [2, 7] + name: agent13 + start: [5, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 6] + - !!python/tuple [0, 3] + - !!python/tuple [0, 5] + - !!python/tuple [3, 5] + - !!python/tuple [6, 6] + - !!python/tuple [2, 4] + - !!python/tuple [2, 2] + - !!python/tuple [3, 3] + - !!python/tuple [4, 3] + - !!python/tuple [4, 0] + - !!python/tuple [2, 0] + - !!python/tuple [1, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex33.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex33.yaml new file mode 100644 index 0000000..a5512c6 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex33.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [0, 7] + name: agent0 + start: [6, 4] +- goal: [2, 6] + name: agent1 + start: [5, 7] +- goal: [4, 0] + name: agent2 + start: [4, 3] +- goal: [4, 5] + name: agent3 + start: [3, 1] +- goal: [7, 6] + name: agent4 + start: [5, 5] +- goal: [1, 3] + name: agent5 + start: [2, 7] +- goal: [3, 5] + name: agent6 + start: [0, 6] +- goal: [3, 1] + name: agent7 + start: [7, 1] +- goal: [6, 4] + name: agent8 + start: [0, 7] +- goal: [1, 6] + name: agent9 + start: [3, 4] +- goal: [1, 5] + name: agent10 + start: [5, 1] +- goal: [0, 5] + name: agent11 + start: [6, 3] +- goal: [4, 7] + name: agent12 + start: [1, 6] +- goal: [2, 5] + name: agent13 + start: [5, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 1] + - !!python/tuple [0, 1] + - !!python/tuple [3, 0] + - !!python/tuple [1, 4] + - !!python/tuple [5, 3] + - !!python/tuple [1, 7] + - !!python/tuple [4, 4] + - !!python/tuple [1, 0] + - !!python/tuple [0, 4] + - !!python/tuple [6, 2] + - !!python/tuple [0, 0] + - !!python/tuple [2, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex34.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex34.yaml new file mode 100644 index 0000000..13c1c20 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex34.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [3, 5] + name: agent0 + start: [6, 0] +- goal: [6, 6] + name: agent1 + start: [5, 1] +- goal: [1, 1] + name: agent2 + start: [0, 1] +- goal: [0, 4] + name: agent3 + start: [7, 3] +- goal: [7, 4] + name: agent4 + start: [0, 2] +- goal: [5, 5] + name: agent5 + start: [4, 4] +- goal: [4, 7] + name: agent6 + start: [3, 7] +- goal: [1, 2] + name: agent7 + start: [4, 2] +- goal: [7, 1] + name: agent8 + start: [1, 4] +- goal: [2, 1] + name: agent9 + start: [5, 0] +- goal: [0, 6] + name: agent10 + start: [2, 2] +- goal: [2, 3] + name: agent11 + start: [5, 4] +- goal: [7, 6] + name: agent12 + start: [1, 0] +- goal: [5, 0] + name: agent13 + start: [0, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 0] + - !!python/tuple [3, 4] + - !!python/tuple [0, 0] + - !!python/tuple [1, 7] + - !!python/tuple [6, 4] + - !!python/tuple [1, 6] + - !!python/tuple [3, 3] + - !!python/tuple [2, 7] + - !!python/tuple [3, 1] + - !!python/tuple [5, 6] + - !!python/tuple [1, 5] + - !!python/tuple [4, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex35.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex35.yaml new file mode 100644 index 0000000..f60718f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex35.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [7, 3] + name: agent0 + start: [4, 4] +- goal: [2, 0] + name: agent1 + start: [6, 0] +- goal: [7, 7] + name: agent2 + start: [0, 0] +- goal: [6, 2] + name: agent3 + start: [1, 0] +- goal: [7, 1] + name: agent4 + start: [2, 2] +- goal: [7, 6] + name: agent5 + start: [0, 4] +- goal: [5, 6] + name: agent6 + start: [2, 6] +- goal: [6, 6] + name: agent7 + start: [5, 6] +- goal: [2, 6] + name: agent8 + start: [3, 1] +- goal: [6, 4] + name: agent9 + start: [0, 5] +- goal: [4, 7] + name: agent10 + start: [7, 5] +- goal: [7, 5] + name: agent11 + start: [7, 1] +- goal: [4, 1] + name: agent12 + start: [3, 5] +- goal: [3, 1] + name: agent13 + start: [5, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 4] + - !!python/tuple [3, 4] + - !!python/tuple [3, 2] + - !!python/tuple [4, 3] + - !!python/tuple [6, 3] + - !!python/tuple [3, 6] + - !!python/tuple [1, 2] + - !!python/tuple [5, 5] + - !!python/tuple [4, 0] + - !!python/tuple [1, 3] + - !!python/tuple [2, 3] + - !!python/tuple [1, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex36.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex36.yaml new file mode 100644 index 0000000..9ddf677 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex36.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [7, 2] + name: agent0 + start: [1, 5] +- goal: [3, 2] + name: agent1 + start: [2, 4] +- goal: [0, 3] + name: agent2 + start: [1, 1] +- goal: [0, 0] + name: agent3 + start: [7, 3] +- goal: [6, 2] + name: agent4 + start: [2, 2] +- goal: [0, 2] + name: agent5 + start: [4, 2] +- goal: [5, 6] + name: agent6 + start: [6, 0] +- goal: [5, 4] + name: agent7 + start: [7, 0] +- goal: [1, 6] + name: agent8 + start: [6, 5] +- goal: [4, 1] + name: agent9 + start: [1, 2] +- goal: [7, 1] + name: agent10 + start: [5, 7] +- goal: [6, 3] + name: agent11 + start: [3, 2] +- goal: [4, 2] + name: agent12 + start: [3, 6] +- goal: [7, 3] + name: agent13 + start: [0, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 6] + - !!python/tuple [1, 0] + - !!python/tuple [6, 4] + - !!python/tuple [1, 3] + - !!python/tuple [1, 4] + - !!python/tuple [4, 0] + - !!python/tuple [3, 0] + - !!python/tuple [3, 5] + - !!python/tuple [5, 5] + - !!python/tuple [7, 7] + - !!python/tuple [5, 1] + - !!python/tuple [2, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex37.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex37.yaml new file mode 100644 index 0000000..aa94cdf --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex37.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [5, 1] + name: agent0 + start: [4, 0] +- goal: [1, 1] + name: agent1 + start: [5, 2] +- goal: [5, 0] + name: agent2 + start: [1, 6] +- goal: [4, 0] + name: agent3 + start: [1, 4] +- goal: [5, 5] + name: agent4 + start: [2, 3] +- goal: [2, 3] + name: agent5 + start: [4, 7] +- goal: [7, 5] + name: agent6 + start: [0, 6] +- goal: [5, 4] + name: agent7 + start: [3, 5] +- goal: [2, 5] + name: agent8 + start: [1, 3] +- goal: [4, 1] + name: agent9 + start: [5, 7] +- goal: [5, 7] + name: agent10 + start: [1, 7] +- goal: [6, 7] + name: agent11 + start: [4, 5] +- goal: [4, 5] + name: agent12 + start: [4, 4] +- goal: [5, 3] + name: agent13 + start: [2, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 4] + - !!python/tuple [1, 5] + - !!python/tuple [0, 3] + - !!python/tuple [5, 6] + - !!python/tuple [7, 7] + - !!python/tuple [6, 6] + - !!python/tuple [0, 4] + - !!python/tuple [0, 2] + - !!python/tuple [7, 3] + - !!python/tuple [3, 0] + - !!python/tuple [2, 6] + - !!python/tuple [3, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex38.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex38.yaml new file mode 100644 index 0000000..8c0818d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex38.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [0, 2] + name: agent0 + start: [4, 3] +- goal: [3, 5] + name: agent1 + start: [2, 7] +- goal: [7, 3] + name: agent2 + start: [5, 4] +- goal: [7, 5] + name: agent3 + start: [2, 5] +- goal: [3, 7] + name: agent4 + start: [5, 3] +- goal: [3, 4] + name: agent5 + start: [2, 3] +- goal: [2, 3] + name: agent6 + start: [7, 0] +- goal: [6, 4] + name: agent7 + start: [7, 6] +- goal: [3, 6] + name: agent8 + start: [3, 1] +- goal: [2, 2] + name: agent9 + start: [2, 1] +- goal: [2, 7] + name: agent10 + start: [7, 5] +- goal: [4, 2] + name: agent11 + start: [0, 1] +- goal: [2, 1] + name: agent12 + start: [4, 5] +- goal: [3, 0] + name: agent13 + start: [1, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 7] + - !!python/tuple [6, 0] + - !!python/tuple [0, 7] + - !!python/tuple [5, 5] + - !!python/tuple [1, 5] + - !!python/tuple [2, 4] + - !!python/tuple [6, 7] + - !!python/tuple [1, 0] + - !!python/tuple [4, 0] + - !!python/tuple [0, 3] + - !!python/tuple [5, 2] + - !!python/tuple [1, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex39.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex39.yaml new file mode 100644 index 0000000..a609942 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex39.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [3, 6] + name: agent0 + start: [3, 2] +- goal: [2, 1] + name: agent1 + start: [3, 3] +- goal: [3, 2] + name: agent2 + start: [3, 5] +- goal: [4, 3] + name: agent3 + start: [4, 3] +- goal: [3, 1] + name: agent4 + start: [6, 7] +- goal: [0, 6] + name: agent5 + start: [4, 2] +- goal: [3, 0] + name: agent6 + start: [1, 7] +- goal: [5, 0] + name: agent7 + start: [5, 6] +- goal: [2, 5] + name: agent8 + start: [5, 0] +- goal: [0, 7] + name: agent9 + start: [2, 6] +- goal: [4, 7] + name: agent10 + start: [0, 6] +- goal: [4, 0] + name: agent11 + start: [7, 3] +- goal: [2, 2] + name: agent12 + start: [5, 3] +- goal: [4, 1] + name: agent13 + start: [3, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 0] + - !!python/tuple [6, 2] + - !!python/tuple [7, 1] + - !!python/tuple [2, 0] + - !!python/tuple [6, 4] + - !!python/tuple [5, 4] + - !!python/tuple [5, 1] + - !!python/tuple [6, 0] + - !!python/tuple [2, 3] + - !!python/tuple [3, 4] + - !!python/tuple [7, 7] + - !!python/tuple [4, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex4.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex4.yaml new file mode 100644 index 0000000..373d664 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex4.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [7, 7] + name: agent0 + start: [7, 5] +- goal: [0, 5] + name: agent1 + start: [0, 2] +- goal: [7, 5] + name: agent2 + start: [5, 6] +- goal: [5, 6] + name: agent3 + start: [6, 6] +- goal: [0, 1] + name: agent4 + start: [0, 1] +- goal: [1, 1] + name: agent5 + start: [0, 5] +- goal: [5, 5] + name: agent6 + start: [4, 5] +- goal: [3, 3] + name: agent7 + start: [0, 4] +- goal: [3, 6] + name: agent8 + start: [0, 3] +- goal: [4, 2] + name: agent9 + start: [4, 3] +- goal: [4, 5] + name: agent10 + start: [1, 1] +- goal: [1, 5] + name: agent11 + start: [4, 4] +- goal: [5, 1] + name: agent12 + start: [3, 0] +- goal: [2, 6] + name: agent13 + start: [3, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 0] + - !!python/tuple [2, 7] + - !!python/tuple [6, 3] + - !!python/tuple [6, 5] + - !!python/tuple [1, 3] + - !!python/tuple [3, 4] + - !!python/tuple [2, 3] + - !!python/tuple [1, 7] + - !!python/tuple [4, 0] + - !!python/tuple [5, 2] + - !!python/tuple [1, 2] + - !!python/tuple [7, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex40.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex40.yaml new file mode 100644 index 0000000..a4f98ec --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex40.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [7, 1] + name: agent0 + start: [1, 7] +- goal: [6, 1] + name: agent1 + start: [6, 0] +- goal: [3, 1] + name: agent2 + start: [3, 0] +- goal: [1, 0] + name: agent3 + start: [6, 4] +- goal: [4, 3] + name: agent4 + start: [4, 3] +- goal: [3, 6] + name: agent5 + start: [0, 5] +- goal: [0, 5] + name: agent6 + start: [2, 6] +- goal: [4, 2] + name: agent7 + start: [7, 1] +- goal: [5, 0] + name: agent8 + start: [4, 1] +- goal: [3, 2] + name: agent9 + start: [2, 5] +- goal: [5, 6] + name: agent10 + start: [5, 3] +- goal: [0, 6] + name: agent11 + start: [5, 4] +- goal: [6, 7] + name: agent12 + start: [2, 2] +- goal: [6, 3] + name: agent13 + start: [0, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 3] + - !!python/tuple [4, 4] + - !!python/tuple [4, 6] + - !!python/tuple [1, 6] + - !!python/tuple [7, 2] + - !!python/tuple [7, 4] + - !!python/tuple [2, 1] + - !!python/tuple [1, 1] + - !!python/tuple [0, 2] + - !!python/tuple [2, 7] + - !!python/tuple [7, 5] + - !!python/tuple [7, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex41.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex41.yaml new file mode 100644 index 0000000..550f291 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex41.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [3, 6] + name: agent0 + start: [6, 0] +- goal: [7, 3] + name: agent1 + start: [2, 7] +- goal: [6, 3] + name: agent2 + start: [6, 4] +- goal: [3, 2] + name: agent3 + start: [3, 2] +- goal: [4, 0] + name: agent4 + start: [6, 2] +- goal: [5, 0] + name: agent5 + start: [6, 5] +- goal: [5, 7] + name: agent6 + start: [4, 1] +- goal: [2, 5] + name: agent7 + start: [4, 0] +- goal: [7, 2] + name: agent8 + start: [1, 3] +- goal: [5, 6] + name: agent9 + start: [3, 4] +- goal: [3, 4] + name: agent10 + start: [4, 4] +- goal: [0, 6] + name: agent11 + start: [2, 5] +- goal: [7, 1] + name: agent12 + start: [0, 6] +- goal: [6, 6] + name: agent13 + start: [6, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 1] + - !!python/tuple [0, 3] + - !!python/tuple [5, 5] + - !!python/tuple [3, 1] + - !!python/tuple [7, 7] + - !!python/tuple [1, 5] + - !!python/tuple [5, 2] + - !!python/tuple [4, 2] + - !!python/tuple [2, 0] + - !!python/tuple [0, 1] + - !!python/tuple [1, 2] + - !!python/tuple [2, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex42.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex42.yaml new file mode 100644 index 0000000..6298874 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex42.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [2, 6] + name: agent0 + start: [7, 7] +- goal: [0, 2] + name: agent1 + start: [3, 5] +- goal: [6, 2] + name: agent2 + start: [1, 7] +- goal: [1, 1] + name: agent3 + start: [2, 6] +- goal: [6, 6] + name: agent4 + start: [6, 6] +- goal: [4, 0] + name: agent5 + start: [0, 5] +- goal: [1, 3] + name: agent6 + start: [5, 5] +- goal: [5, 5] + name: agent7 + start: [1, 3] +- goal: [3, 0] + name: agent8 + start: [2, 5] +- goal: [7, 0] + name: agent9 + start: [3, 3] +- goal: [4, 1] + name: agent10 + start: [0, 3] +- goal: [0, 7] + name: agent11 + start: [5, 3] +- goal: [1, 5] + name: agent12 + start: [3, 6] +- goal: [3, 3] + name: agent13 + start: [1, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 3] + - !!python/tuple [6, 3] + - !!python/tuple [7, 2] + - !!python/tuple [0, 0] + - !!python/tuple [0, 6] + - !!python/tuple [7, 5] + - !!python/tuple [6, 4] + - !!python/tuple [7, 4] + - !!python/tuple [3, 2] + - !!python/tuple [1, 2] + - !!python/tuple [1, 4] + - !!python/tuple [2, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex43.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex43.yaml new file mode 100644 index 0000000..8e8f174 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex43.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [3, 3] + name: agent0 + start: [1, 0] +- goal: [1, 3] + name: agent1 + start: [4, 2] +- goal: [7, 0] + name: agent2 + start: [2, 7] +- goal: [1, 7] + name: agent3 + start: [6, 0] +- goal: [1, 5] + name: agent4 + start: [1, 6] +- goal: [1, 6] + name: agent5 + start: [7, 2] +- goal: [2, 0] + name: agent6 + start: [4, 5] +- goal: [1, 4] + name: agent7 + start: [6, 4] +- goal: [2, 7] + name: agent8 + start: [1, 5] +- goal: [2, 5] + name: agent9 + start: [7, 1] +- goal: [7, 3] + name: agent10 + start: [3, 1] +- goal: [3, 2] + name: agent11 + start: [5, 5] +- goal: [4, 5] + name: agent12 + start: [4, 0] +- goal: [2, 6] + name: agent13 + start: [5, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 6] + - !!python/tuple [6, 7] + - !!python/tuple [1, 2] + - !!python/tuple [0, 0] + - !!python/tuple [0, 2] + - !!python/tuple [3, 6] + - !!python/tuple [0, 4] + - !!python/tuple [1, 1] + - !!python/tuple [4, 1] + - !!python/tuple [5, 6] + - !!python/tuple [2, 1] + - !!python/tuple [6, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex44.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex44.yaml new file mode 100644 index 0000000..1b1b657 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex44.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [3, 0] + name: agent0 + start: [2, 6] +- goal: [4, 3] + name: agent1 + start: [2, 5] +- goal: [7, 6] + name: agent2 + start: [6, 2] +- goal: [2, 3] + name: agent3 + start: [2, 2] +- goal: [0, 1] + name: agent4 + start: [4, 4] +- goal: [4, 5] + name: agent5 + start: [0, 1] +- goal: [7, 0] + name: agent6 + start: [1, 1] +- goal: [6, 4] + name: agent7 + start: [1, 6] +- goal: [7, 3] + name: agent8 + start: [4, 3] +- goal: [5, 0] + name: agent9 + start: [6, 4] +- goal: [6, 7] + name: agent10 + start: [1, 7] +- goal: [7, 5] + name: agent11 + start: [4, 5] +- goal: [0, 4] + name: agent12 + start: [7, 2] +- goal: [2, 6] + name: agent13 + start: [6, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 0] + - !!python/tuple [5, 6] + - !!python/tuple [1, 0] + - !!python/tuple [1, 3] + - !!python/tuple [5, 4] + - !!python/tuple [7, 1] + - !!python/tuple [5, 1] + - !!python/tuple [3, 7] + - !!python/tuple [7, 4] + - !!python/tuple [2, 1] + - !!python/tuple [6, 3] + - !!python/tuple [3, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex45.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex45.yaml new file mode 100644 index 0000000..3b30585 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex45.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [0, 3] + name: agent0 + start: [4, 3] +- goal: [5, 7] + name: agent1 + start: [7, 1] +- goal: [2, 6] + name: agent2 + start: [6, 4] +- goal: [4, 4] + name: agent3 + start: [4, 0] +- goal: [7, 5] + name: agent4 + start: [4, 4] +- goal: [1, 2] + name: agent5 + start: [2, 3] +- goal: [0, 1] + name: agent6 + start: [1, 6] +- goal: [6, 7] + name: agent7 + start: [5, 6] +- goal: [0, 4] + name: agent8 + start: [4, 1] +- goal: [6, 3] + name: agent9 + start: [4, 6] +- goal: [6, 4] + name: agent10 + start: [3, 4] +- goal: [0, 6] + name: agent11 + start: [5, 2] +- goal: [7, 0] + name: agent12 + start: [4, 7] +- goal: [7, 6] + name: agent13 + start: [0, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 1] + - !!python/tuple [6, 0] + - !!python/tuple [3, 2] + - !!python/tuple [3, 1] + - !!python/tuple [5, 0] + - !!python/tuple [1, 7] + - !!python/tuple [2, 5] + - !!python/tuple [3, 6] + - !!python/tuple [1, 3] + - !!python/tuple [1, 0] + - !!python/tuple [5, 4] + - !!python/tuple [4, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex46.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex46.yaml new file mode 100644 index 0000000..83bd932 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex46.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [0, 6] + name: agent0 + start: [6, 7] +- goal: [1, 5] + name: agent1 + start: [2, 6] +- goal: [7, 2] + name: agent2 + start: [3, 3] +- goal: [1, 6] + name: agent3 + start: [0, 7] +- goal: [2, 0] + name: agent4 + start: [4, 1] +- goal: [6, 7] + name: agent5 + start: [7, 1] +- goal: [7, 7] + name: agent6 + start: [1, 6] +- goal: [2, 2] + name: agent7 + start: [1, 0] +- goal: [2, 5] + name: agent8 + start: [7, 7] +- goal: [0, 1] + name: agent9 + start: [5, 0] +- goal: [5, 1] + name: agent10 + start: [5, 4] +- goal: [5, 5] + name: agent11 + start: [2, 0] +- goal: [6, 2] + name: agent12 + start: [3, 2] +- goal: [6, 6] + name: agent13 + start: [2, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 6] + - !!python/tuple [3, 5] + - !!python/tuple [6, 3] + - !!python/tuple [5, 6] + - !!python/tuple [3, 1] + - !!python/tuple [1, 1] + - !!python/tuple [3, 0] + - !!python/tuple [4, 3] + - !!python/tuple [6, 4] + - !!python/tuple [5, 7] + - !!python/tuple [7, 4] + - !!python/tuple [4, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex47.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex47.yaml new file mode 100644 index 0000000..0c79f69 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex47.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [4, 7] + name: agent0 + start: [0, 3] +- goal: [6, 1] + name: agent1 + start: [1, 3] +- goal: [7, 2] + name: agent2 + start: [6, 6] +- goal: [6, 4] + name: agent3 + start: [5, 7] +- goal: [1, 4] + name: agent4 + start: [7, 4] +- goal: [7, 4] + name: agent5 + start: [3, 7] +- goal: [1, 0] + name: agent6 + start: [1, 0] +- goal: [0, 3] + name: agent7 + start: [7, 2] +- goal: [5, 5] + name: agent8 + start: [3, 3] +- goal: [3, 1] + name: agent9 + start: [2, 6] +- goal: [7, 0] + name: agent10 + start: [4, 2] +- goal: [2, 2] + name: agent11 + start: [2, 7] +- goal: [5, 4] + name: agent12 + start: [2, 1] +- goal: [7, 3] + name: agent13 + start: [0, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 4] + - !!python/tuple [3, 5] + - !!python/tuple [5, 2] + - !!python/tuple [2, 0] + - !!python/tuple [6, 2] + - !!python/tuple [1, 1] + - !!python/tuple [4, 3] + - !!python/tuple [3, 2] + - !!python/tuple [1, 7] + - !!python/tuple [1, 5] + - !!python/tuple [5, 1] + - !!python/tuple [1, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex48.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex48.yaml new file mode 100644 index 0000000..f8a90bf --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex48.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [2, 3] + name: agent0 + start: [2, 5] +- goal: [6, 0] + name: agent1 + start: [6, 0] +- goal: [3, 7] + name: agent2 + start: [0, 3] +- goal: [5, 2] + name: agent3 + start: [5, 4] +- goal: [5, 3] + name: agent4 + start: [6, 5] +- goal: [1, 3] + name: agent5 + start: [2, 6] +- goal: [3, 6] + name: agent6 + start: [0, 1] +- goal: [1, 4] + name: agent7 + start: [3, 7] +- goal: [7, 5] + name: agent8 + start: [1, 6] +- goal: [6, 3] + name: agent9 + start: [1, 3] +- goal: [4, 7] + name: agent10 + start: [3, 1] +- goal: [2, 2] + name: agent11 + start: [1, 5] +- goal: [0, 5] + name: agent12 + start: [2, 0] +- goal: [2, 1] + name: agent13 + start: [5, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 4] + - !!python/tuple [4, 2] + - !!python/tuple [4, 0] + - !!python/tuple [0, 4] + - !!python/tuple [1, 1] + - !!python/tuple [0, 0] + - !!python/tuple [5, 6] + - !!python/tuple [5, 5] + - !!python/tuple [3, 0] + - !!python/tuple [3, 3] + - !!python/tuple [0, 6] + - !!python/tuple [6, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex49.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex49.yaml new file mode 100644 index 0000000..3bffb36 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex49.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [0, 3] + name: agent0 + start: [5, 5] +- goal: [6, 7] + name: agent1 + start: [5, 0] +- goal: [5, 5] + name: agent2 + start: [3, 2] +- goal: [4, 3] + name: agent3 + start: [0, 4] +- goal: [6, 6] + name: agent4 + start: [4, 3] +- goal: [4, 1] + name: agent5 + start: [5, 1] +- goal: [2, 5] + name: agent6 + start: [3, 1] +- goal: [6, 4] + name: agent7 + start: [5, 4] +- goal: [4, 6] + name: agent8 + start: [6, 7] +- goal: [0, 5] + name: agent9 + start: [4, 1] +- goal: [6, 5] + name: agent10 + start: [1, 4] +- goal: [0, 1] + name: agent11 + start: [4, 6] +- goal: [4, 4] + name: agent12 + start: [7, 2] +- goal: [1, 6] + name: agent13 + start: [4, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 2] + - !!python/tuple [2, 3] + - !!python/tuple [1, 3] + - !!python/tuple [6, 3] + - !!python/tuple [1, 7] + - !!python/tuple [1, 0] + - !!python/tuple [7, 3] + - !!python/tuple [2, 2] + - !!python/tuple [2, 0] + - !!python/tuple [7, 0] + - !!python/tuple [5, 7] + - !!python/tuple [2, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex5.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex5.yaml new file mode 100644 index 0000000..5fbd9e8 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex5.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [0, 3] + name: agent0 + start: [3, 0] +- goal: [1, 6] + name: agent1 + start: [6, 5] +- goal: [2, 1] + name: agent2 + start: [1, 1] +- goal: [2, 7] + name: agent3 + start: [4, 5] +- goal: [6, 5] + name: agent4 + start: [7, 2] +- goal: [0, 2] + name: agent5 + start: [0, 7] +- goal: [7, 2] + name: agent6 + start: [0, 6] +- goal: [5, 6] + name: agent7 + start: [2, 1] +- goal: [2, 4] + name: agent8 + start: [0, 3] +- goal: [4, 1] + name: agent9 + start: [3, 7] +- goal: [3, 5] + name: agent10 + start: [1, 5] +- goal: [1, 4] + name: agent11 + start: [7, 5] +- goal: [3, 1] + name: agent12 + start: [0, 5] +- goal: [2, 5] + name: agent13 + start: [6, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 7] + - !!python/tuple [3, 6] + - !!python/tuple [1, 2] + - !!python/tuple [1, 3] + - !!python/tuple [5, 3] + - !!python/tuple [6, 2] + - !!python/tuple [5, 5] + - !!python/tuple [3, 4] + - !!python/tuple [1, 0] + - !!python/tuple [2, 6] + - !!python/tuple [4, 6] + - !!python/tuple [7, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex50.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex50.yaml new file mode 100644 index 0000000..0678368 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex50.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [0, 2] + name: agent0 + start: [7, 0] +- goal: [2, 0] + name: agent1 + start: [3, 5] +- goal: [1, 5] + name: agent2 + start: [3, 2] +- goal: [0, 5] + name: agent3 + start: [3, 7] +- goal: [5, 0] + name: agent4 + start: [1, 7] +- goal: [4, 1] + name: agent5 + start: [4, 0] +- goal: [3, 4] + name: agent6 + start: [1, 6] +- goal: [7, 2] + name: agent7 + start: [4, 6] +- goal: [7, 4] + name: agent8 + start: [3, 4] +- goal: [7, 3] + name: agent9 + start: [5, 7] +- goal: [7, 7] + name: agent10 + start: [7, 1] +- goal: [1, 4] + name: agent11 + start: [0, 4] +- goal: [5, 6] + name: agent12 + start: [7, 5] +- goal: [5, 4] + name: agent13 + start: [4, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 6] + - !!python/tuple [1, 3] + - !!python/tuple [5, 5] + - !!python/tuple [3, 0] + - !!python/tuple [6, 6] + - !!python/tuple [3, 1] + - !!python/tuple [5, 2] + - !!python/tuple [0, 7] + - !!python/tuple [4, 7] + - !!python/tuple [6, 1] + - !!python/tuple [6, 2] + - !!python/tuple [6, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex51.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex51.yaml new file mode 100644 index 0000000..9a76477 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex51.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [5, 0] + name: agent0 + start: [1, 2] +- goal: [7, 7] + name: agent1 + start: [6, 7] +- goal: [3, 5] + name: agent2 + start: [0, 2] +- goal: [2, 1] + name: agent3 + start: [7, 1] +- goal: [0, 1] + name: agent4 + start: [7, 0] +- goal: [2, 0] + name: agent5 + start: [4, 5] +- goal: [3, 4] + name: agent6 + start: [7, 7] +- goal: [0, 4] + name: agent7 + start: [2, 0] +- goal: [2, 3] + name: agent8 + start: [3, 1] +- goal: [4, 1] + name: agent9 + start: [1, 7] +- goal: [6, 4] + name: agent10 + start: [7, 3] +- goal: [0, 5] + name: agent11 + start: [2, 7] +- goal: [1, 4] + name: agent12 + start: [3, 0] +- goal: [5, 6] + name: agent13 + start: [5, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 6] + - !!python/tuple [2, 2] + - !!python/tuple [3, 7] + - !!python/tuple [3, 6] + - !!python/tuple [4, 0] + - !!python/tuple [0, 0] + - !!python/tuple [4, 3] + - !!python/tuple [1, 0] + - !!python/tuple [0, 3] + - !!python/tuple [1, 3] + - !!python/tuple [5, 5] + - !!python/tuple [5, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex52.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex52.yaml new file mode 100644 index 0000000..c48b83b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex52.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [1, 4] + name: agent0 + start: [7, 4] +- goal: [3, 4] + name: agent1 + start: [6, 6] +- goal: [5, 6] + name: agent2 + start: [6, 5] +- goal: [3, 0] + name: agent3 + start: [4, 7] +- goal: [6, 5] + name: agent4 + start: [1, 4] +- goal: [4, 3] + name: agent5 + start: [7, 1] +- goal: [7, 0] + name: agent6 + start: [5, 4] +- goal: [1, 5] + name: agent7 + start: [1, 5] +- goal: [7, 6] + name: agent8 + start: [2, 0] +- goal: [0, 1] + name: agent9 + start: [2, 2] +- goal: [2, 3] + name: agent10 + start: [4, 5] +- goal: [4, 5] + name: agent11 + start: [3, 3] +- goal: [2, 4] + name: agent12 + start: [7, 7] +- goal: [1, 3] + name: agent13 + start: [0, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 3] + - !!python/tuple [0, 7] + - !!python/tuple [1, 0] + - !!python/tuple [1, 1] + - !!python/tuple [3, 1] + - !!python/tuple [5, 2] + - !!python/tuple [3, 5] + - !!python/tuple [6, 3] + - !!python/tuple [0, 0] + - !!python/tuple [5, 1] + - !!python/tuple [0, 5] + - !!python/tuple [6, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex53.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex53.yaml new file mode 100644 index 0000000..bab58b7 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex53.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [5, 3] + name: agent0 + start: [4, 4] +- goal: [6, 7] + name: agent1 + start: [6, 4] +- goal: [3, 5] + name: agent2 + start: [7, 3] +- goal: [5, 7] + name: agent3 + start: [5, 7] +- goal: [4, 4] + name: agent4 + start: [5, 0] +- goal: [3, 7] + name: agent5 + start: [7, 0] +- goal: [1, 5] + name: agent6 + start: [5, 5] +- goal: [0, 5] + name: agent7 + start: [0, 4] +- goal: [1, 6] + name: agent8 + start: [4, 3] +- goal: [2, 5] + name: agent9 + start: [4, 6] +- goal: [4, 0] + name: agent10 + start: [1, 4] +- goal: [5, 6] + name: agent11 + start: [4, 0] +- goal: [7, 1] + name: agent12 + start: [6, 5] +- goal: [0, 2] + name: agent13 + start: [1, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 7] + - !!python/tuple [4, 5] + - !!python/tuple [2, 4] + - !!python/tuple [3, 1] + - !!python/tuple [5, 2] + - !!python/tuple [7, 6] + - !!python/tuple [7, 2] + - !!python/tuple [0, 1] + - !!python/tuple [0, 3] + - !!python/tuple [2, 0] + - !!python/tuple [7, 5] + - !!python/tuple [2, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex54.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex54.yaml new file mode 100644 index 0000000..f8aa9b2 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex54.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [2, 0] + name: agent0 + start: [4, 6] +- goal: [3, 0] + name: agent1 + start: [0, 4] +- goal: [3, 5] + name: agent2 + start: [3, 3] +- goal: [1, 2] + name: agent3 + start: [2, 6] +- goal: [4, 3] + name: agent4 + start: [7, 2] +- goal: [3, 2] + name: agent5 + start: [2, 1] +- goal: [4, 0] + name: agent6 + start: [2, 2] +- goal: [5, 2] + name: agent7 + start: [4, 3] +- goal: [6, 6] + name: agent8 + start: [5, 1] +- goal: [6, 7] + name: agent9 + start: [2, 7] +- goal: [3, 4] + name: agent10 + start: [7, 4] +- goal: [7, 7] + name: agent11 + start: [5, 3] +- goal: [6, 2] + name: agent12 + start: [1, 4] +- goal: [3, 7] + name: agent13 + start: [2, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 6] + - !!python/tuple [7, 5] + - !!python/tuple [4, 4] + - !!python/tuple [7, 1] + - !!python/tuple [7, 0] + - !!python/tuple [2, 3] + - !!python/tuple [0, 6] + - !!python/tuple [4, 1] + - !!python/tuple [1, 0] + - !!python/tuple [5, 7] + - !!python/tuple [4, 2] + - !!python/tuple [7, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex55.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex55.yaml new file mode 100644 index 0000000..d9a61f7 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex55.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [1, 3] + name: agent0 + start: [5, 4] +- goal: [5, 2] + name: agent1 + start: [1, 0] +- goal: [6, 4] + name: agent2 + start: [5, 3] +- goal: [6, 3] + name: agent3 + start: [6, 4] +- goal: [0, 7] + name: agent4 + start: [4, 3] +- goal: [0, 5] + name: agent5 + start: [3, 6] +- goal: [0, 4] + name: agent6 + start: [6, 6] +- goal: [3, 6] + name: agent7 + start: [3, 5] +- goal: [3, 4] + name: agent8 + start: [2, 1] +- goal: [3, 2] + name: agent9 + start: [3, 1] +- goal: [0, 2] + name: agent10 + start: [1, 4] +- goal: [2, 0] + name: agent11 + start: [6, 0] +- goal: [7, 2] + name: agent12 + start: [0, 3] +- goal: [2, 5] + name: agent13 + start: [5, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 3] + - !!python/tuple [4, 6] + - !!python/tuple [4, 0] + - !!python/tuple [7, 4] + - !!python/tuple [4, 2] + - !!python/tuple [1, 1] + - !!python/tuple [5, 5] + - !!python/tuple [1, 7] + - !!python/tuple [7, 7] + - !!python/tuple [4, 4] + - !!python/tuple [1, 5] + - !!python/tuple [1, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex56.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex56.yaml new file mode 100644 index 0000000..0021917 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex56.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [1, 2] + name: agent0 + start: [0, 7] +- goal: [0, 5] + name: agent1 + start: [4, 5] +- goal: [7, 7] + name: agent2 + start: [7, 5] +- goal: [3, 2] + name: agent3 + start: [6, 6] +- goal: [5, 4] + name: agent4 + start: [4, 7] +- goal: [6, 5] + name: agent5 + start: [2, 7] +- goal: [3, 0] + name: agent6 + start: [2, 1] +- goal: [1, 1] + name: agent7 + start: [1, 6] +- goal: [5, 0] + name: agent8 + start: [7, 3] +- goal: [0, 7] + name: agent9 + start: [2, 5] +- goal: [3, 7] + name: agent10 + start: [5, 1] +- goal: [7, 4] + name: agent11 + start: [7, 4] +- goal: [0, 4] + name: agent12 + start: [1, 2] +- goal: [6, 6] + name: agent13 + start: [1, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 0] + - !!python/tuple [6, 0] + - !!python/tuple [6, 7] + - !!python/tuple [5, 6] + - !!python/tuple [4, 0] + - !!python/tuple [1, 0] + - !!python/tuple [0, 3] + - !!python/tuple [3, 5] + - !!python/tuple [4, 4] + - !!python/tuple [1, 5] + - !!python/tuple [6, 4] + - !!python/tuple [5, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex57.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex57.yaml new file mode 100644 index 0000000..5aba689 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex57.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [7, 2] + name: agent0 + start: [1, 0] +- goal: [6, 5] + name: agent1 + start: [4, 6] +- goal: [6, 1] + name: agent2 + start: [4, 2] +- goal: [4, 0] + name: agent3 + start: [2, 2] +- goal: [2, 5] + name: agent4 + start: [2, 4] +- goal: [1, 0] + name: agent5 + start: [4, 4] +- goal: [6, 6] + name: agent6 + start: [2, 0] +- goal: [4, 5] + name: agent7 + start: [7, 4] +- goal: [2, 1] + name: agent8 + start: [4, 0] +- goal: [0, 5] + name: agent9 + start: [3, 4] +- goal: [2, 7] + name: agent10 + start: [6, 5] +- goal: [7, 0] + name: agent11 + start: [7, 5] +- goal: [5, 1] + name: agent12 + start: [4, 7] +- goal: [1, 3] + name: agent13 + start: [5, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 6] + - !!python/tuple [2, 3] + - !!python/tuple [3, 3] + - !!python/tuple [1, 4] + - !!python/tuple [0, 7] + - !!python/tuple [1, 1] + - !!python/tuple [5, 0] + - !!python/tuple [5, 7] + - !!python/tuple [6, 7] + - !!python/tuple [0, 1] + - !!python/tuple [1, 2] + - !!python/tuple [5, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex58.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex58.yaml new file mode 100644 index 0000000..e299582 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex58.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [6, 1] + name: agent0 + start: [3, 6] +- goal: [5, 1] + name: agent1 + start: [5, 1] +- goal: [3, 0] + name: agent2 + start: [3, 3] +- goal: [7, 5] + name: agent3 + start: [1, 3] +- goal: [6, 3] + name: agent4 + start: [7, 5] +- goal: [4, 2] + name: agent5 + start: [7, 2] +- goal: [4, 4] + name: agent6 + start: [6, 0] +- goal: [5, 6] + name: agent7 + start: [3, 2] +- goal: [1, 6] + name: agent8 + start: [6, 5] +- goal: [6, 7] + name: agent9 + start: [6, 2] +- goal: [7, 7] + name: agent10 + start: [0, 1] +- goal: [7, 2] + name: agent11 + start: [5, 6] +- goal: [2, 4] + name: agent12 + start: [2, 5] +- goal: [1, 0] + name: agent13 + start: [4, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 1] + - !!python/tuple [7, 4] + - !!python/tuple [5, 2] + - !!python/tuple [0, 7] + - !!python/tuple [0, 0] + - !!python/tuple [2, 7] + - !!python/tuple [4, 7] + - !!python/tuple [4, 3] + - !!python/tuple [4, 6] + - !!python/tuple [3, 4] + - !!python/tuple [5, 5] + - !!python/tuple [1, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex59.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex59.yaml new file mode 100644 index 0000000..1a5b0c6 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex59.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [0, 0] + name: agent0 + start: [3, 4] +- goal: [3, 6] + name: agent1 + start: [1, 3] +- goal: [3, 1] + name: agent2 + start: [4, 1] +- goal: [6, 2] + name: agent3 + start: [7, 3] +- goal: [2, 3] + name: agent4 + start: [3, 6] +- goal: [6, 1] + name: agent5 + start: [5, 3] +- goal: [7, 3] + name: agent6 + start: [5, 6] +- goal: [6, 3] + name: agent7 + start: [4, 2] +- goal: [3, 3] + name: agent8 + start: [3, 0] +- goal: [5, 7] + name: agent9 + start: [7, 5] +- goal: [2, 5] + name: agent10 + start: [1, 7] +- goal: [2, 4] + name: agent11 + start: [6, 7] +- goal: [7, 7] + name: agent12 + start: [2, 3] +- goal: [3, 2] + name: agent13 + start: [4, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 0] + - !!python/tuple [2, 2] + - !!python/tuple [0, 3] + - !!python/tuple [1, 5] + - !!python/tuple [5, 5] + - !!python/tuple [7, 1] + - !!python/tuple [0, 5] + - !!python/tuple [4, 7] + - !!python/tuple [6, 0] + - !!python/tuple [5, 0] + - !!python/tuple [2, 0] + - !!python/tuple [4, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex6.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex6.yaml new file mode 100644 index 0000000..beb5b13 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex6.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [3, 1] + name: agent0 + start: [3, 1] +- goal: [0, 6] + name: agent1 + start: [4, 4] +- goal: [7, 4] + name: agent2 + start: [7, 1] +- goal: [5, 4] + name: agent3 + start: [2, 7] +- goal: [6, 7] + name: agent4 + start: [0, 4] +- goal: [4, 7] + name: agent5 + start: [2, 0] +- goal: [7, 3] + name: agent6 + start: [0, 2] +- goal: [7, 7] + name: agent7 + start: [3, 6] +- goal: [1, 3] + name: agent8 + start: [0, 5] +- goal: [7, 2] + name: agent9 + start: [6, 4] +- goal: [7, 1] + name: agent10 + start: [1, 1] +- goal: [1, 4] + name: agent11 + start: [5, 2] +- goal: [2, 7] + name: agent12 + start: [1, 4] +- goal: [7, 5] + name: agent13 + start: [7, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 7] + - !!python/tuple [5, 6] + - !!python/tuple [2, 1] + - !!python/tuple [2, 2] + - !!python/tuple [1, 0] + - !!python/tuple [3, 4] + - !!python/tuple [4, 5] + - !!python/tuple [0, 7] + - !!python/tuple [5, 3] + - !!python/tuple [1, 6] + - !!python/tuple [1, 2] + - !!python/tuple [2, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex60.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex60.yaml new file mode 100644 index 0000000..59621c9 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex60.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [0, 4] + name: agent0 + start: [4, 2] +- goal: [6, 5] + name: agent1 + start: [3, 7] +- goal: [7, 4] + name: agent2 + start: [6, 7] +- goal: [3, 6] + name: agent3 + start: [4, 0] +- goal: [5, 6] + name: agent4 + start: [1, 2] +- goal: [2, 1] + name: agent5 + start: [0, 3] +- goal: [0, 3] + name: agent6 + start: [0, 4] +- goal: [6, 7] + name: agent7 + start: [7, 2] +- goal: [5, 0] + name: agent8 + start: [2, 2] +- goal: [5, 7] + name: agent9 + start: [7, 1] +- goal: [1, 7] + name: agent10 + start: [0, 6] +- goal: [6, 4] + name: agent11 + start: [2, 7] +- goal: [0, 1] + name: agent12 + start: [4, 7] +- goal: [0, 7] + name: agent13 + start: [6, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 4] + - !!python/tuple [3, 0] + - !!python/tuple [3, 2] + - !!python/tuple [1, 4] + - !!python/tuple [7, 6] + - !!python/tuple [4, 1] + - !!python/tuple [6, 3] + - !!python/tuple [4, 6] + - !!python/tuple [1, 3] + - !!python/tuple [7, 3] + - !!python/tuple [5, 4] + - !!python/tuple [2, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex61.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex61.yaml new file mode 100644 index 0000000..2a8ab09 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex61.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [3, 5] + name: agent0 + start: [7, 4] +- goal: [5, 4] + name: agent1 + start: [4, 6] +- goal: [7, 1] + name: agent2 + start: [1, 7] +- goal: [1, 7] + name: agent3 + start: [6, 1] +- goal: [7, 3] + name: agent4 + start: [1, 6] +- goal: [5, 3] + name: agent5 + start: [6, 5] +- goal: [3, 2] + name: agent6 + start: [4, 3] +- goal: [3, 3] + name: agent7 + start: [4, 1] +- goal: [4, 0] + name: agent8 + start: [6, 4] +- goal: [2, 5] + name: agent9 + start: [1, 0] +- goal: [6, 7] + name: agent10 + start: [5, 7] +- goal: [7, 7] + name: agent11 + start: [2, 4] +- goal: [4, 3] + name: agent12 + start: [5, 4] +- goal: [2, 7] + name: agent13 + start: [6, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 4] + - !!python/tuple [2, 6] + - !!python/tuple [7, 2] + - !!python/tuple [5, 2] + - !!python/tuple [6, 6] + - !!python/tuple [0, 2] + - !!python/tuple [5, 1] + - !!python/tuple [0, 6] + - !!python/tuple [0, 5] + - !!python/tuple [1, 4] + - !!python/tuple [1, 3] + - !!python/tuple [2, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex62.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex62.yaml new file mode 100644 index 0000000..d0b053f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex62.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [0, 5] + name: agent0 + start: [0, 6] +- goal: [7, 4] + name: agent1 + start: [7, 1] +- goal: [0, 6] + name: agent2 + start: [7, 0] +- goal: [5, 2] + name: agent3 + start: [3, 7] +- goal: [3, 3] + name: agent4 + start: [5, 5] +- goal: [1, 3] + name: agent5 + start: [0, 3] +- goal: [6, 1] + name: agent6 + start: [1, 6] +- goal: [5, 3] + name: agent7 + start: [1, 3] +- goal: [3, 2] + name: agent8 + start: [1, 5] +- goal: [4, 1] + name: agent9 + start: [6, 6] +- goal: [1, 2] + name: agent10 + start: [6, 3] +- goal: [1, 1] + name: agent11 + start: [2, 3] +- goal: [5, 4] + name: agent12 + start: [4, 3] +- goal: [1, 6] + name: agent13 + start: [2, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 7] + - !!python/tuple [0, 1] + - !!python/tuple [2, 2] + - !!python/tuple [3, 0] + - !!python/tuple [6, 5] + - !!python/tuple [2, 4] + - !!python/tuple [4, 5] + - !!python/tuple [2, 1] + - !!python/tuple [4, 6] + - !!python/tuple [4, 2] + - !!python/tuple [2, 6] + - !!python/tuple [3, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex63.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex63.yaml new file mode 100644 index 0000000..092bf09 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex63.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [5, 6] + name: agent0 + start: [6, 6] +- goal: [1, 4] + name: agent1 + start: [4, 4] +- goal: [2, 5] + name: agent2 + start: [6, 5] +- goal: [6, 7] + name: agent3 + start: [4, 2] +- goal: [4, 6] + name: agent4 + start: [3, 6] +- goal: [4, 0] + name: agent5 + start: [0, 2] +- goal: [7, 5] + name: agent6 + start: [6, 1] +- goal: [6, 6] + name: agent7 + start: [4, 7] +- goal: [4, 2] + name: agent8 + start: [1, 5] +- goal: [3, 4] + name: agent9 + start: [5, 5] +- goal: [5, 1] + name: agent10 + start: [3, 4] +- goal: [1, 0] + name: agent11 + start: [6, 3] +- goal: [7, 3] + name: agent12 + start: [7, 5] +- goal: [3, 1] + name: agent13 + start: [5, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 3] + - !!python/tuple [2, 3] + - !!python/tuple [2, 0] + - !!python/tuple [1, 6] + - !!python/tuple [0, 5] + - !!python/tuple [3, 7] + - !!python/tuple [0, 6] + - !!python/tuple [7, 6] + - !!python/tuple [4, 5] + - !!python/tuple [2, 6] + - !!python/tuple [2, 4] + - !!python/tuple [2, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex64.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex64.yaml new file mode 100644 index 0000000..a579fe8 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex64.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [2, 3] + name: agent0 + start: [4, 4] +- goal: [7, 4] + name: agent1 + start: [7, 1] +- goal: [4, 0] + name: agent2 + start: [1, 0] +- goal: [7, 7] + name: agent3 + start: [0, 2] +- goal: [1, 4] + name: agent4 + start: [5, 7] +- goal: [2, 2] + name: agent5 + start: [0, 3] +- goal: [0, 4] + name: agent6 + start: [7, 2] +- goal: [1, 7] + name: agent7 + start: [3, 1] +- goal: [6, 0] + name: agent8 + start: [4, 5] +- goal: [6, 4] + name: agent9 + start: [7, 3] +- goal: [4, 2] + name: agent10 + start: [5, 2] +- goal: [6, 2] + name: agent11 + start: [7, 4] +- goal: [7, 1] + name: agent12 + start: [0, 0] +- goal: [0, 0] + name: agent13 + start: [6, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 0] + - !!python/tuple [6, 6] + - !!python/tuple [3, 7] + - !!python/tuple [7, 0] + - !!python/tuple [1, 5] + - !!python/tuple [1, 1] + - !!python/tuple [4, 6] + - !!python/tuple [3, 3] + - !!python/tuple [1, 2] + - !!python/tuple [3, 4] + - !!python/tuple [1, 6] + - !!python/tuple [0, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex65.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex65.yaml new file mode 100644 index 0000000..f286203 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex65.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [6, 6] + name: agent0 + start: [3, 0] +- goal: [6, 4] + name: agent1 + start: [5, 1] +- goal: [2, 6] + name: agent2 + start: [2, 0] +- goal: [1, 7] + name: agent3 + start: [7, 3] +- goal: [5, 2] + name: agent4 + start: [0, 7] +- goal: [4, 7] + name: agent5 + start: [6, 0] +- goal: [6, 5] + name: agent6 + start: [5, 3] +- goal: [1, 5] + name: agent7 + start: [6, 5] +- goal: [2, 4] + name: agent8 + start: [7, 1] +- goal: [7, 0] + name: agent9 + start: [5, 0] +- goal: [4, 4] + name: agent10 + start: [2, 3] +- goal: [5, 6] + name: agent11 + start: [3, 1] +- goal: [1, 1] + name: agent12 + start: [3, 5] +- goal: [4, 0] + name: agent13 + start: [6, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 5] + - !!python/tuple [6, 1] + - !!python/tuple [0, 3] + - !!python/tuple [2, 7] + - !!python/tuple [1, 2] + - !!python/tuple [2, 2] + - !!python/tuple [3, 7] + - !!python/tuple [1, 3] + - !!python/tuple [4, 6] + - !!python/tuple [3, 3] + - !!python/tuple [7, 5] + - !!python/tuple [4, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex66.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex66.yaml new file mode 100644 index 0000000..8b546c2 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex66.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [4, 5] + name: agent0 + start: [1, 2] +- goal: [0, 2] + name: agent1 + start: [6, 3] +- goal: [0, 3] + name: agent2 + start: [7, 1] +- goal: [7, 2] + name: agent3 + start: [0, 7] +- goal: [4, 0] + name: agent4 + start: [2, 6] +- goal: [0, 7] + name: agent5 + start: [2, 4] +- goal: [3, 0] + name: agent6 + start: [1, 1] +- goal: [3, 7] + name: agent7 + start: [3, 3] +- goal: [1, 2] + name: agent8 + start: [3, 2] +- goal: [5, 0] + name: agent9 + start: [4, 5] +- goal: [1, 5] + name: agent10 + start: [1, 7] +- goal: [1, 1] + name: agent11 + start: [0, 2] +- goal: [1, 7] + name: agent12 + start: [0, 6] +- goal: [3, 6] + name: agent13 + start: [5, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 7] + - !!python/tuple [7, 0] + - !!python/tuple [6, 5] + - !!python/tuple [1, 0] + - !!python/tuple [2, 5] + - !!python/tuple [0, 5] + - !!python/tuple [0, 0] + - !!python/tuple [5, 5] + - !!python/tuple [4, 6] + - !!python/tuple [4, 7] + - !!python/tuple [3, 4] + - !!python/tuple [7, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex67.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex67.yaml new file mode 100644 index 0000000..0d71470 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex67.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [4, 3] + name: agent0 + start: [4, 2] +- goal: [6, 4] + name: agent1 + start: [4, 4] +- goal: [0, 7] + name: agent2 + start: [4, 5] +- goal: [7, 3] + name: agent3 + start: [5, 4] +- goal: [6, 2] + name: agent4 + start: [6, 4] +- goal: [5, 6] + name: agent5 + start: [3, 0] +- goal: [5, 7] + name: agent6 + start: [1, 1] +- goal: [0, 5] + name: agent7 + start: [7, 2] +- goal: [0, 2] + name: agent8 + start: [0, 2] +- goal: [3, 0] + name: agent9 + start: [6, 5] +- goal: [7, 5] + name: agent10 + start: [4, 6] +- goal: [1, 6] + name: agent11 + start: [2, 7] +- goal: [6, 6] + name: agent12 + start: [1, 7] +- goal: [3, 5] + name: agent13 + start: [2, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 6] + - !!python/tuple [1, 3] + - !!python/tuple [2, 6] + - !!python/tuple [7, 0] + - !!python/tuple [3, 3] + - !!python/tuple [0, 1] + - !!python/tuple [6, 1] + - !!python/tuple [4, 1] + - !!python/tuple [6, 0] + - !!python/tuple [4, 0] + - !!python/tuple [5, 1] + - !!python/tuple [2, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex68.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex68.yaml new file mode 100644 index 0000000..4a656c8 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex68.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [3, 1] + name: agent0 + start: [5, 0] +- goal: [2, 3] + name: agent1 + start: [6, 3] +- goal: [1, 1] + name: agent2 + start: [5, 7] +- goal: [6, 1] + name: agent3 + start: [4, 0] +- goal: [4, 2] + name: agent4 + start: [0, 4] +- goal: [4, 1] + name: agent5 + start: [4, 6] +- goal: [5, 4] + name: agent6 + start: [2, 3] +- goal: [7, 2] + name: agent7 + start: [2, 2] +- goal: [2, 5] + name: agent8 + start: [6, 0] +- goal: [4, 7] + name: agent9 + start: [4, 1] +- goal: [3, 5] + name: agent10 + start: [1, 3] +- goal: [1, 0] + name: agent11 + start: [3, 2] +- goal: [1, 4] + name: agent12 + start: [6, 5] +- goal: [5, 1] + name: agent13 + start: [5, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 4] + - !!python/tuple [6, 6] + - !!python/tuple [5, 5] + - !!python/tuple [7, 0] + - !!python/tuple [1, 2] + - !!python/tuple [1, 7] + - !!python/tuple [7, 6] + - !!python/tuple [2, 6] + - !!python/tuple [5, 6] + - !!python/tuple [2, 0] + - !!python/tuple [6, 7] + - !!python/tuple [2, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex69.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex69.yaml new file mode 100644 index 0000000..b19e8e7 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex69.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [6, 5] + name: agent0 + start: [0, 5] +- goal: [6, 2] + name: agent1 + start: [3, 4] +- goal: [3, 6] + name: agent2 + start: [4, 6] +- goal: [0, 3] + name: agent3 + start: [1, 4] +- goal: [6, 7] + name: agent4 + start: [3, 1] +- goal: [7, 7] + name: agent5 + start: [4, 4] +- goal: [2, 1] + name: agent6 + start: [2, 3] +- goal: [1, 7] + name: agent7 + start: [3, 0] +- goal: [7, 3] + name: agent8 + start: [5, 1] +- goal: [6, 6] + name: agent9 + start: [5, 3] +- goal: [5, 2] + name: agent10 + start: [1, 6] +- goal: [4, 3] + name: agent11 + start: [2, 6] +- goal: [1, 5] + name: agent12 + start: [4, 5] +- goal: [2, 3] + name: agent13 + start: [0, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 5] + - !!python/tuple [0, 1] + - !!python/tuple [5, 0] + - !!python/tuple [0, 0] + - !!python/tuple [5, 4] + - !!python/tuple [2, 2] + - !!python/tuple [4, 7] + - !!python/tuple [5, 6] + - !!python/tuple [6, 4] + - !!python/tuple [1, 2] + - !!python/tuple [2, 4] + - !!python/tuple [7, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex7.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex7.yaml new file mode 100644 index 0000000..1cb7dfc --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex7.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [0, 6] + name: agent0 + start: [5, 4] +- goal: [5, 1] + name: agent1 + start: [1, 1] +- goal: [3, 2] + name: agent2 + start: [0, 0] +- goal: [2, 7] + name: agent3 + start: [1, 5] +- goal: [2, 5] + name: agent4 + start: [5, 1] +- goal: [0, 0] + name: agent5 + start: [5, 2] +- goal: [1, 7] + name: agent6 + start: [6, 4] +- goal: [6, 7] + name: agent7 + start: [5, 7] +- goal: [5, 3] + name: agent8 + start: [2, 0] +- goal: [6, 0] + name: agent9 + start: [3, 6] +- goal: [1, 5] + name: agent10 + start: [2, 1] +- goal: [6, 1] + name: agent11 + start: [7, 6] +- goal: [1, 3] + name: agent12 + start: [5, 5] +- goal: [7, 2] + name: agent13 + start: [1, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 5] + - !!python/tuple [0, 1] + - !!python/tuple [0, 7] + - !!python/tuple [1, 4] + - !!python/tuple [0, 2] + - !!python/tuple [0, 4] + - !!python/tuple [4, 3] + - !!python/tuple [2, 4] + - !!python/tuple [4, 4] + - !!python/tuple [1, 6] + - !!python/tuple [3, 1] + - !!python/tuple [4, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex70.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex70.yaml new file mode 100644 index 0000000..20f7883 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex70.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [7, 5] + name: agent0 + start: [2, 2] +- goal: [3, 2] + name: agent1 + start: [0, 4] +- goal: [6, 3] + name: agent2 + start: [2, 6] +- goal: [6, 5] + name: agent3 + start: [1, 2] +- goal: [2, 3] + name: agent4 + start: [6, 4] +- goal: [3, 6] + name: agent5 + start: [5, 3] +- goal: [0, 7] + name: agent6 + start: [4, 4] +- goal: [5, 6] + name: agent7 + start: [1, 6] +- goal: [4, 3] + name: agent8 + start: [7, 0] +- goal: [0, 6] + name: agent9 + start: [0, 7] +- goal: [6, 2] + name: agent10 + start: [6, 5] +- goal: [1, 7] + name: agent11 + start: [6, 6] +- goal: [6, 4] + name: agent12 + start: [6, 3] +- goal: [1, 6] + name: agent13 + start: [2, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 6] + - !!python/tuple [3, 7] + - !!python/tuple [2, 5] + - !!python/tuple [2, 0] + - !!python/tuple [1, 3] + - !!python/tuple [5, 2] + - !!python/tuple [4, 5] + - !!python/tuple [1, 5] + - !!python/tuple [5, 7] + - !!python/tuple [5, 5] + - !!python/tuple [4, 7] + - !!python/tuple [7, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex71.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex71.yaml new file mode 100644 index 0000000..4f1083d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex71.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [2, 5] + name: agent0 + start: [6, 5] +- goal: [0, 4] + name: agent1 + start: [5, 5] +- goal: [7, 4] + name: agent2 + start: [4, 2] +- goal: [7, 1] + name: agent3 + start: [7, 1] +- goal: [5, 3] + name: agent4 + start: [3, 3] +- goal: [3, 4] + name: agent5 + start: [6, 6] +- goal: [6, 5] + name: agent6 + start: [0, 2] +- goal: [4, 7] + name: agent7 + start: [0, 7] +- goal: [0, 7] + name: agent8 + start: [2, 6] +- goal: [5, 4] + name: agent9 + start: [6, 0] +- goal: [7, 3] + name: agent10 + start: [1, 5] +- goal: [1, 6] + name: agent11 + start: [4, 7] +- goal: [2, 0] + name: agent12 + start: [4, 4] +- goal: [0, 0] + name: agent13 + start: [5, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 3] + - !!python/tuple [5, 7] + - !!python/tuple [2, 3] + - !!python/tuple [7, 2] + - !!python/tuple [4, 0] + - !!python/tuple [2, 7] + - !!python/tuple [3, 0] + - !!python/tuple [3, 6] + - !!python/tuple [7, 7] + - !!python/tuple [3, 1] + - !!python/tuple [3, 7] + - !!python/tuple [1, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex72.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex72.yaml new file mode 100644 index 0000000..6dfca7a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex72.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [2, 4] + name: agent0 + start: [3, 0] +- goal: [5, 3] + name: agent1 + start: [2, 4] +- goal: [1, 1] + name: agent2 + start: [2, 5] +- goal: [7, 3] + name: agent3 + start: [4, 7] +- goal: [7, 4] + name: agent4 + start: [0, 7] +- goal: [0, 5] + name: agent5 + start: [7, 4] +- goal: [5, 0] + name: agent6 + start: [1, 5] +- goal: [7, 7] + name: agent7 + start: [1, 6] +- goal: [3, 3] + name: agent8 + start: [1, 0] +- goal: [2, 6] + name: agent9 + start: [0, 0] +- goal: [2, 5] + name: agent10 + start: [0, 4] +- goal: [5, 1] + name: agent11 + start: [4, 2] +- goal: [6, 7] + name: agent12 + start: [0, 3] +- goal: [6, 2] + name: agent13 + start: [2, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 4] + - !!python/tuple [2, 0] + - !!python/tuple [7, 5] + - !!python/tuple [0, 2] + - !!python/tuple [5, 2] + - !!python/tuple [4, 6] + - !!python/tuple [7, 1] + - !!python/tuple [6, 5] + - !!python/tuple [4, 3] + - !!python/tuple [3, 7] + - !!python/tuple [7, 6] + - !!python/tuple [1, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex73.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex73.yaml new file mode 100644 index 0000000..ac699fb --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex73.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [0, 1] + name: agent0 + start: [7, 7] +- goal: [1, 7] + name: agent1 + start: [1, 4] +- goal: [2, 3] + name: agent2 + start: [0, 1] +- goal: [1, 6] + name: agent3 + start: [3, 7] +- goal: [4, 7] + name: agent4 + start: [1, 6] +- goal: [2, 6] + name: agent5 + start: [1, 3] +- goal: [4, 0] + name: agent6 + start: [1, 5] +- goal: [3, 4] + name: agent7 + start: [4, 0] +- goal: [1, 3] + name: agent8 + start: [2, 6] +- goal: [2, 5] + name: agent9 + start: [1, 2] +- goal: [4, 1] + name: agent10 + start: [3, 0] +- goal: [0, 0] + name: agent11 + start: [7, 1] +- goal: [1, 2] + name: agent12 + start: [7, 6] +- goal: [5, 1] + name: agent13 + start: [0, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 7] + - !!python/tuple [7, 2] + - !!python/tuple [3, 1] + - !!python/tuple [3, 3] + - !!python/tuple [5, 4] + - !!python/tuple [2, 1] + - !!python/tuple [6, 3] + - !!python/tuple [7, 0] + - !!python/tuple [0, 2] + - !!python/tuple [2, 0] + - !!python/tuple [3, 6] + - !!python/tuple [2, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex74.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex74.yaml new file mode 100644 index 0000000..dd71f75 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex74.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [4, 0] + name: agent0 + start: [6, 3] +- goal: [3, 2] + name: agent1 + start: [6, 4] +- goal: [0, 4] + name: agent2 + start: [7, 1] +- goal: [0, 2] + name: agent3 + start: [3, 6] +- goal: [0, 1] + name: agent4 + start: [7, 3] +- goal: [2, 4] + name: agent5 + start: [3, 5] +- goal: [1, 6] + name: agent6 + start: [7, 0] +- goal: [6, 3] + name: agent7 + start: [0, 3] +- goal: [5, 5] + name: agent8 + start: [7, 7] +- goal: [6, 2] + name: agent9 + start: [4, 2] +- goal: [0, 7] + name: agent10 + start: [6, 0] +- goal: [6, 4] + name: agent11 + start: [6, 1] +- goal: [2, 2] + name: agent12 + start: [7, 6] +- goal: [6, 0] + name: agent13 + start: [5, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 0] + - !!python/tuple [4, 1] + - !!python/tuple [2, 1] + - !!python/tuple [4, 5] + - !!python/tuple [3, 3] + - !!python/tuple [5, 6] + - !!python/tuple [4, 7] + - !!python/tuple [5, 0] + - !!python/tuple [1, 5] + - !!python/tuple [7, 2] + - !!python/tuple [5, 7] + - !!python/tuple [1, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex75.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex75.yaml new file mode 100644 index 0000000..893bd1d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex75.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [0, 6] + name: agent0 + start: [7, 6] +- goal: [5, 2] + name: agent1 + start: [7, 0] +- goal: [2, 4] + name: agent2 + start: [4, 5] +- goal: [2, 6] + name: agent3 + start: [2, 4] +- goal: [5, 5] + name: agent4 + start: [4, 2] +- goal: [1, 4] + name: agent5 + start: [2, 7] +- goal: [5, 1] + name: agent6 + start: [1, 7] +- goal: [3, 2] + name: agent7 + start: [3, 2] +- goal: [4, 4] + name: agent8 + start: [1, 4] +- goal: [7, 3] + name: agent9 + start: [0, 6] +- goal: [4, 3] + name: agent10 + start: [5, 4] +- goal: [4, 1] + name: agent11 + start: [4, 7] +- goal: [6, 6] + name: agent12 + start: [6, 3] +- goal: [6, 0] + name: agent13 + start: [4, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 3] + - !!python/tuple [1, 3] + - !!python/tuple [0, 2] + - !!python/tuple [2, 0] + - !!python/tuple [1, 0] + - !!python/tuple [3, 5] + - !!python/tuple [7, 1] + - !!python/tuple [5, 0] + - !!python/tuple [3, 7] + - !!python/tuple [3, 0] + - !!python/tuple [7, 5] + - !!python/tuple [5, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex76.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex76.yaml new file mode 100644 index 0000000..d519781 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex76.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [4, 1] + name: agent0 + start: [7, 2] +- goal: [6, 6] + name: agent1 + start: [1, 3] +- goal: [1, 2] + name: agent2 + start: [1, 7] +- goal: [2, 4] + name: agent3 + start: [6, 4] +- goal: [2, 7] + name: agent4 + start: [3, 2] +- goal: [4, 2] + name: agent5 + start: [6, 0] +- goal: [3, 1] + name: agent6 + start: [5, 2] +- goal: [2, 2] + name: agent7 + start: [7, 6] +- goal: [3, 2] + name: agent8 + start: [5, 5] +- goal: [7, 5] + name: agent9 + start: [3, 5] +- goal: [6, 4] + name: agent10 + start: [4, 1] +- goal: [3, 5] + name: agent11 + start: [3, 1] +- goal: [1, 6] + name: agent12 + start: [2, 1] +- goal: [5, 6] + name: agent13 + start: [0, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 1] + - !!python/tuple [1, 4] + - !!python/tuple [4, 4] + - !!python/tuple [0, 6] + - !!python/tuple [4, 0] + - !!python/tuple [4, 3] + - !!python/tuple [0, 4] + - !!python/tuple [0, 1] + - !!python/tuple [4, 5] + - !!python/tuple [5, 3] + - !!python/tuple [3, 7] + - !!python/tuple [1, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex77.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex77.yaml new file mode 100644 index 0000000..5a8ed68 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex77.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [4, 4] + name: agent0 + start: [3, 0] +- goal: [3, 1] + name: agent1 + start: [3, 2] +- goal: [1, 1] + name: agent2 + start: [7, 6] +- goal: [1, 7] + name: agent3 + start: [7, 0] +- goal: [6, 6] + name: agent4 + start: [1, 7] +- goal: [7, 7] + name: agent5 + start: [6, 2] +- goal: [4, 5] + name: agent6 + start: [4, 4] +- goal: [0, 7] + name: agent7 + start: [5, 6] +- goal: [7, 1] + name: agent8 + start: [4, 6] +- goal: [3, 0] + name: agent9 + start: [3, 5] +- goal: [4, 2] + name: agent10 + start: [0, 6] +- goal: [5, 4] + name: agent11 + start: [2, 6] +- goal: [7, 0] + name: agent12 + start: [2, 2] +- goal: [0, 4] + name: agent13 + start: [5, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 3] + - !!python/tuple [3, 7] + - !!python/tuple [5, 7] + - !!python/tuple [6, 3] + - !!python/tuple [4, 1] + - !!python/tuple [5, 1] + - !!python/tuple [5, 0] + - !!python/tuple [7, 5] + - !!python/tuple [7, 2] + - !!python/tuple [3, 4] + - !!python/tuple [2, 0] + - !!python/tuple [2, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex78.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex78.yaml new file mode 100644 index 0000000..29d26dc --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex78.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [1, 4] + name: agent0 + start: [6, 0] +- goal: [1, 3] + name: agent1 + start: [2, 0] +- goal: [4, 5] + name: agent2 + start: [6, 1] +- goal: [1, 1] + name: agent3 + start: [5, 1] +- goal: [5, 3] + name: agent4 + start: [7, 0] +- goal: [0, 7] + name: agent5 + start: [5, 5] +- goal: [5, 1] + name: agent6 + start: [4, 4] +- goal: [7, 6] + name: agent7 + start: [3, 1] +- goal: [0, 0] + name: agent8 + start: [1, 1] +- goal: [6, 0] + name: agent9 + start: [5, 2] +- goal: [3, 0] + name: agent10 + start: [2, 3] +- goal: [6, 1] + name: agent11 + start: [1, 2] +- goal: [5, 7] + name: agent12 + start: [5, 0] +- goal: [5, 6] + name: agent13 + start: [6, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 2] + - !!python/tuple [4, 7] + - !!python/tuple [4, 6] + - !!python/tuple [0, 3] + - !!python/tuple [6, 3] + - !!python/tuple [4, 3] + - !!python/tuple [4, 2] + - !!python/tuple [2, 6] + - !!python/tuple [2, 4] + - !!python/tuple [7, 2] + - !!python/tuple [7, 7] + - !!python/tuple [0, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex79.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex79.yaml new file mode 100644 index 0000000..c59c33e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex79.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [3, 5] + name: agent0 + start: [3, 7] +- goal: [7, 3] + name: agent1 + start: [2, 1] +- goal: [2, 0] + name: agent2 + start: [3, 5] +- goal: [0, 4] + name: agent3 + start: [6, 3] +- goal: [0, 1] + name: agent4 + start: [0, 6] +- goal: [7, 4] + name: agent5 + start: [5, 7] +- goal: [2, 2] + name: agent6 + start: [5, 1] +- goal: [6, 3] + name: agent7 + start: [5, 6] +- goal: [4, 2] + name: agent8 + start: [4, 2] +- goal: [0, 2] + name: agent9 + start: [6, 6] +- goal: [0, 6] + name: agent10 + start: [3, 2] +- goal: [3, 3] + name: agent11 + start: [0, 0] +- goal: [5, 2] + name: agent12 + start: [1, 2] +- goal: [4, 1] + name: agent13 + start: [0, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 7] + - !!python/tuple [1, 6] + - !!python/tuple [6, 4] + - !!python/tuple [0, 5] + - !!python/tuple [2, 6] + - !!python/tuple [7, 5] + - !!python/tuple [2, 3] + - !!python/tuple [6, 0] + - !!python/tuple [1, 0] + - !!python/tuple [5, 3] + - !!python/tuple [4, 0] + - !!python/tuple [6, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex8.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex8.yaml new file mode 100644 index 0000000..d57299c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex8.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [0, 4] + name: agent0 + start: [1, 1] +- goal: [1, 5] + name: agent1 + start: [2, 1] +- goal: [2, 7] + name: agent2 + start: [6, 7] +- goal: [0, 1] + name: agent3 + start: [1, 3] +- goal: [2, 4] + name: agent4 + start: [1, 2] +- goal: [6, 5] + name: agent5 + start: [5, 1] +- goal: [4, 3] + name: agent6 + start: [0, 4] +- goal: [3, 2] + name: agent7 + start: [0, 6] +- goal: [3, 7] + name: agent8 + start: [6, 6] +- goal: [3, 0] + name: agent9 + start: [7, 6] +- goal: [7, 2] + name: agent10 + start: [7, 5] +- goal: [5, 3] + name: agent11 + start: [7, 4] +- goal: [4, 0] + name: agent12 + start: [7, 7] +- goal: [2, 0] + name: agent13 + start: [3, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 4] + - !!python/tuple [4, 5] + - !!python/tuple [1, 6] + - !!python/tuple [2, 6] + - !!python/tuple [5, 7] + - !!python/tuple [7, 0] + - !!python/tuple [6, 0] + - !!python/tuple [5, 6] + - !!python/tuple [6, 1] + - !!python/tuple [0, 7] + - !!python/tuple [2, 2] + - !!python/tuple [5, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex80.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex80.yaml new file mode 100644 index 0000000..78eadd2 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex80.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [7, 0] + name: agent0 + start: [4, 1] +- goal: [6, 3] + name: agent1 + start: [4, 4] +- goal: [4, 4] + name: agent2 + start: [5, 5] +- goal: [6, 0] + name: agent3 + start: [6, 3] +- goal: [0, 2] + name: agent4 + start: [4, 2] +- goal: [5, 4] + name: agent5 + start: [5, 3] +- goal: [1, 6] + name: agent6 + start: [7, 7] +- goal: [3, 0] + name: agent7 + start: [3, 7] +- goal: [2, 2] + name: agent8 + start: [0, 6] +- goal: [2, 0] + name: agent9 + start: [2, 0] +- goal: [6, 7] + name: agent10 + start: [5, 2] +- goal: [2, 1] + name: agent11 + start: [6, 7] +- goal: [4, 2] + name: agent12 + start: [0, 4] +- goal: [0, 1] + name: agent13 + start: [1, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 1] + - !!python/tuple [4, 3] + - !!python/tuple [5, 1] + - !!python/tuple [3, 5] + - !!python/tuple [0, 5] + - !!python/tuple [3, 2] + - !!python/tuple [1, 2] + - !!python/tuple [2, 4] + - !!python/tuple [7, 1] + - !!python/tuple [0, 7] + - !!python/tuple [4, 0] + - !!python/tuple [3, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex81.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex81.yaml new file mode 100644 index 0000000..d4efded --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex81.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [4, 1] + name: agent0 + start: [7, 0] +- goal: [7, 2] + name: agent1 + start: [1, 3] +- goal: [1, 6] + name: agent2 + start: [0, 6] +- goal: [2, 7] + name: agent3 + start: [7, 6] +- goal: [5, 2] + name: agent4 + start: [3, 5] +- goal: [7, 7] + name: agent5 + start: [5, 6] +- goal: [6, 0] + name: agent6 + start: [4, 1] +- goal: [0, 2] + name: agent7 + start: [1, 0] +- goal: [0, 1] + name: agent8 + start: [0, 1] +- goal: [5, 3] + name: agent9 + start: [1, 1] +- goal: [0, 6] + name: agent10 + start: [3, 3] +- goal: [2, 3] + name: agent11 + start: [4, 2] +- goal: [7, 3] + name: agent12 + start: [3, 4] +- goal: [4, 0] + name: agent13 + start: [1, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 5] + - !!python/tuple [7, 1] + - !!python/tuple [5, 0] + - !!python/tuple [6, 2] + - !!python/tuple [1, 7] + - !!python/tuple [6, 4] + - !!python/tuple [4, 5] + - !!python/tuple [3, 2] + - !!python/tuple [5, 5] + - !!python/tuple [5, 4] + - !!python/tuple [6, 7] + - !!python/tuple [2, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex82.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex82.yaml new file mode 100644 index 0000000..386f246 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex82.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [0, 6] + name: agent0 + start: [4, 6] +- goal: [1, 2] + name: agent1 + start: [6, 7] +- goal: [7, 5] + name: agent2 + start: [4, 7] +- goal: [2, 6] + name: agent3 + start: [2, 7] +- goal: [4, 2] + name: agent4 + start: [2, 2] +- goal: [4, 0] + name: agent5 + start: [3, 5] +- goal: [5, 7] + name: agent6 + start: [7, 1] +- goal: [2, 0] + name: agent7 + start: [0, 5] +- goal: [7, 1] + name: agent8 + start: [0, 6] +- goal: [3, 6] + name: agent9 + start: [0, 3] +- goal: [0, 2] + name: agent10 + start: [3, 7] +- goal: [0, 1] + name: agent11 + start: [1, 1] +- goal: [3, 1] + name: agent12 + start: [4, 5] +- goal: [7, 6] + name: agent13 + start: [4, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 7] + - !!python/tuple [1, 5] + - !!python/tuple [3, 4] + - !!python/tuple [2, 1] + - !!python/tuple [5, 1] + - !!python/tuple [2, 5] + - !!python/tuple [7, 7] + - !!python/tuple [1, 0] + - !!python/tuple [5, 3] + - !!python/tuple [6, 5] + - !!python/tuple [7, 3] + - !!python/tuple [6, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex83.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex83.yaml new file mode 100644 index 0000000..1f6f27b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex83.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [7, 7] + name: agent0 + start: [0, 1] +- goal: [1, 3] + name: agent1 + start: [5, 4] +- goal: [1, 0] + name: agent2 + start: [5, 1] +- goal: [5, 6] + name: agent3 + start: [3, 5] +- goal: [4, 2] + name: agent4 + start: [7, 0] +- goal: [2, 4] + name: agent5 + start: [3, 4] +- goal: [3, 2] + name: agent6 + start: [4, 7] +- goal: [1, 4] + name: agent7 + start: [1, 4] +- goal: [2, 3] + name: agent8 + start: [0, 2] +- goal: [2, 1] + name: agent9 + start: [3, 2] +- goal: [0, 1] + name: agent10 + start: [3, 6] +- goal: [0, 7] + name: agent11 + start: [6, 2] +- goal: [5, 4] + name: agent12 + start: [3, 1] +- goal: [1, 2] + name: agent13 + start: [1, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 7] + - !!python/tuple [2, 0] + - !!python/tuple [0, 3] + - !!python/tuple [1, 6] + - !!python/tuple [0, 4] + - !!python/tuple [7, 4] + - !!python/tuple [4, 5] + - !!python/tuple [3, 7] + - !!python/tuple [1, 5] + - !!python/tuple [0, 6] + - !!python/tuple [4, 0] + - !!python/tuple [7, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex84.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex84.yaml new file mode 100644 index 0000000..d99da7f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex84.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [6, 4] + name: agent0 + start: [4, 7] +- goal: [6, 1] + name: agent1 + start: [4, 0] +- goal: [4, 2] + name: agent2 + start: [1, 4] +- goal: [3, 6] + name: agent3 + start: [5, 5] +- goal: [2, 2] + name: agent4 + start: [2, 4] +- goal: [7, 5] + name: agent5 + start: [6, 1] +- goal: [1, 6] + name: agent6 + start: [2, 6] +- goal: [4, 4] + name: agent7 + start: [1, 2] +- goal: [3, 5] + name: agent8 + start: [7, 5] +- goal: [1, 1] + name: agent9 + start: [7, 7] +- goal: [0, 2] + name: agent10 + start: [3, 7] +- goal: [3, 2] + name: agent11 + start: [2, 0] +- goal: [7, 7] + name: agent12 + start: [0, 1] +- goal: [6, 5] + name: agent13 + start: [6, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 3] + - !!python/tuple [7, 2] + - !!python/tuple [7, 4] + - !!python/tuple [4, 1] + - !!python/tuple [1, 5] + - !!python/tuple [3, 3] + - !!python/tuple [1, 7] + - !!python/tuple [5, 0] + - !!python/tuple [5, 6] + - !!python/tuple [3, 4] + - !!python/tuple [0, 0] + - !!python/tuple [5, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex85.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex85.yaml new file mode 100644 index 0000000..81c50aa --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex85.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [7, 7] + name: agent0 + start: [0, 7] +- goal: [7, 1] + name: agent1 + start: [4, 7] +- goal: [5, 7] + name: agent2 + start: [3, 7] +- goal: [7, 4] + name: agent3 + start: [2, 6] +- goal: [2, 2] + name: agent4 + start: [4, 5] +- goal: [6, 1] + name: agent5 + start: [7, 3] +- goal: [1, 5] + name: agent6 + start: [4, 0] +- goal: [5, 6] + name: agent7 + start: [4, 2] +- goal: [7, 0] + name: agent8 + start: [5, 5] +- goal: [0, 7] + name: agent9 + start: [2, 2] +- goal: [7, 5] + name: agent10 + start: [1, 6] +- goal: [4, 0] + name: agent11 + start: [1, 4] +- goal: [3, 3] + name: agent12 + start: [5, 2] +- goal: [5, 4] + name: agent13 + start: [7, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 3] + - !!python/tuple [6, 6] + - !!python/tuple [3, 1] + - !!python/tuple [7, 6] + - !!python/tuple [1, 2] + - !!python/tuple [4, 3] + - !!python/tuple [2, 7] + - !!python/tuple [0, 5] + - !!python/tuple [2, 1] + - !!python/tuple [4, 1] + - !!python/tuple [3, 0] + - !!python/tuple [2, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex86.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex86.yaml new file mode 100644 index 0000000..f5dc633 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex86.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [5, 5] + name: agent0 + start: [0, 0] +- goal: [5, 7] + name: agent1 + start: [4, 5] +- goal: [2, 1] + name: agent2 + start: [1, 7] +- goal: [1, 5] + name: agent3 + start: [1, 3] +- goal: [1, 7] + name: agent4 + start: [7, 0] +- goal: [5, 3] + name: agent5 + start: [0, 2] +- goal: [4, 4] + name: agent6 + start: [7, 5] +- goal: [7, 1] + name: agent7 + start: [1, 0] +- goal: [4, 5] + name: agent8 + start: [1, 5] +- goal: [0, 4] + name: agent9 + start: [0, 3] +- goal: [5, 6] + name: agent10 + start: [5, 5] +- goal: [4, 7] + name: agent11 + start: [4, 0] +- goal: [0, 3] + name: agent12 + start: [4, 4] +- goal: [7, 4] + name: agent13 + start: [7, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 1] + - !!python/tuple [4, 2] + - !!python/tuple [5, 2] + - !!python/tuple [2, 7] + - !!python/tuple [6, 4] + - !!python/tuple [1, 2] + - !!python/tuple [4, 1] + - !!python/tuple [4, 3] + - !!python/tuple [3, 7] + - !!python/tuple [6, 7] + - !!python/tuple [3, 5] + - !!python/tuple [2, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex87.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex87.yaml new file mode 100644 index 0000000..388f605 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex87.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [2, 4] + name: agent0 + start: [6, 7] +- goal: [6, 6] + name: agent1 + start: [4, 2] +- goal: [6, 5] + name: agent2 + start: [7, 3] +- goal: [4, 4] + name: agent3 + start: [7, 4] +- goal: [1, 0] + name: agent4 + start: [0, 2] +- goal: [0, 7] + name: agent5 + start: [2, 1] +- goal: [0, 6] + name: agent6 + start: [0, 3] +- goal: [0, 0] + name: agent7 + start: [3, 2] +- goal: [6, 7] + name: agent8 + start: [7, 1] +- goal: [5, 5] + name: agent9 + start: [5, 1] +- goal: [3, 1] + name: agent10 + start: [1, 4] +- goal: [5, 4] + name: agent11 + start: [5, 3] +- goal: [4, 1] + name: agent12 + start: [7, 2] +- goal: [5, 7] + name: agent13 + start: [0, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 0] + - !!python/tuple [1, 6] + - !!python/tuple [7, 0] + - !!python/tuple [6, 4] + - !!python/tuple [3, 7] + - !!python/tuple [3, 4] + - !!python/tuple [0, 1] + - !!python/tuple [7, 6] + - !!python/tuple [2, 5] + - !!python/tuple [3, 3] + - !!python/tuple [3, 6] + - !!python/tuple [4, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex88.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex88.yaml new file mode 100644 index 0000000..740ef2a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex88.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [5, 2] + name: agent0 + start: [2, 6] +- goal: [1, 7] + name: agent1 + start: [4, 0] +- goal: [6, 6] + name: agent2 + start: [5, 5] +- goal: [6, 5] + name: agent3 + start: [5, 3] +- goal: [4, 4] + name: agent4 + start: [4, 1] +- goal: [4, 5] + name: agent5 + start: [3, 1] +- goal: [0, 1] + name: agent6 + start: [4, 5] +- goal: [3, 6] + name: agent7 + start: [3, 6] +- goal: [7, 6] + name: agent8 + start: [1, 6] +- goal: [1, 5] + name: agent9 + start: [5, 2] +- goal: [0, 6] + name: agent10 + start: [0, 6] +- goal: [1, 0] + name: agent11 + start: [5, 0] +- goal: [3, 1] + name: agent12 + start: [1, 7] +- goal: [1, 6] + name: agent13 + start: [6, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 4] + - !!python/tuple [3, 0] + - !!python/tuple [3, 4] + - !!python/tuple [7, 1] + - !!python/tuple [6, 2] + - !!python/tuple [7, 5] + - !!python/tuple [7, 0] + - !!python/tuple [6, 3] + - !!python/tuple [1, 3] + - !!python/tuple [0, 7] + - !!python/tuple [0, 5] + - !!python/tuple [7, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex89.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex89.yaml new file mode 100644 index 0000000..28f5218 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex89.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [7, 5] + name: agent0 + start: [0, 2] +- goal: [2, 6] + name: agent1 + start: [0, 0] +- goal: [7, 7] + name: agent2 + start: [4, 3] +- goal: [7, 3] + name: agent3 + start: [6, 6] +- goal: [5, 2] + name: agent4 + start: [3, 3] +- goal: [1, 3] + name: agent5 + start: [6, 3] +- goal: [4, 4] + name: agent6 + start: [7, 3] +- goal: [3, 7] + name: agent7 + start: [7, 2] +- goal: [1, 7] + name: agent8 + start: [1, 2] +- goal: [7, 2] + name: agent9 + start: [2, 4] +- goal: [5, 1] + name: agent10 + start: [4, 7] +- goal: [4, 0] + name: agent11 + start: [5, 2] +- goal: [3, 6] + name: agent12 + start: [1, 6] +- goal: [1, 2] + name: agent13 + start: [5, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 3] + - !!python/tuple [7, 0] + - !!python/tuple [3, 4] + - !!python/tuple [5, 7] + - !!python/tuple [0, 6] + - !!python/tuple [1, 1] + - !!python/tuple [1, 4] + - !!python/tuple [1, 5] + - !!python/tuple [2, 1] + - !!python/tuple [2, 5] + - !!python/tuple [5, 5] + - !!python/tuple [7, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex9.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex9.yaml new file mode 100644 index 0000000..c49ee29 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex9.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [6, 6] + name: agent0 + start: [3, 4] +- goal: [0, 6] + name: agent1 + start: [7, 6] +- goal: [0, 7] + name: agent2 + start: [5, 5] +- goal: [2, 2] + name: agent3 + start: [2, 7] +- goal: [5, 2] + name: agent4 + start: [6, 2] +- goal: [1, 2] + name: agent5 + start: [4, 5] +- goal: [1, 6] + name: agent6 + start: [6, 0] +- goal: [4, 4] + name: agent7 + start: [2, 3] +- goal: [5, 7] + name: agent8 + start: [7, 2] +- goal: [4, 1] + name: agent9 + start: [2, 6] +- goal: [5, 3] + name: agent10 + start: [3, 2] +- goal: [3, 3] + name: agent11 + start: [6, 1] +- goal: [2, 7] + name: agent12 + start: [0, 7] +- goal: [7, 7] + name: agent13 + start: [3, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 3] + - !!python/tuple [4, 7] + - !!python/tuple [7, 0] + - !!python/tuple [7, 3] + - !!python/tuple [3, 5] + - !!python/tuple [1, 3] + - !!python/tuple [1, 4] + - !!python/tuple [0, 5] + - !!python/tuple [3, 6] + - !!python/tuple [5, 4] + - !!python/tuple [1, 7] + - !!python/tuple [7, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex90.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex90.yaml new file mode 100644 index 0000000..5d8a76e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex90.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [4, 3] + name: agent0 + start: [1, 7] +- goal: [2, 0] + name: agent1 + start: [5, 2] +- goal: [7, 0] + name: agent2 + start: [1, 6] +- goal: [3, 0] + name: agent3 + start: [6, 4] +- goal: [6, 4] + name: agent4 + start: [2, 0] +- goal: [6, 2] + name: agent5 + start: [2, 2] +- goal: [1, 7] + name: agent6 + start: [2, 3] +- goal: [6, 6] + name: agent7 + start: [3, 3] +- goal: [7, 3] + name: agent8 + start: [0, 3] +- goal: [2, 6] + name: agent9 + start: [1, 3] +- goal: [7, 7] + name: agent10 + start: [7, 2] +- goal: [5, 5] + name: agent11 + start: [5, 4] +- goal: [2, 2] + name: agent12 + start: [4, 3] +- goal: [2, 3] + name: agent13 + start: [2, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 5] + - !!python/tuple [1, 5] + - !!python/tuple [3, 4] + - !!python/tuple [3, 6] + - !!python/tuple [4, 7] + - !!python/tuple [3, 1] + - !!python/tuple [0, 5] + - !!python/tuple [4, 1] + - !!python/tuple [5, 7] + - !!python/tuple [6, 0] + - !!python/tuple [3, 2] + - !!python/tuple [3, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex91.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex91.yaml new file mode 100644 index 0000000..839da46 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex91.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [0, 0] + name: agent0 + start: [4, 5] +- goal: [5, 0] + name: agent1 + start: [2, 6] +- goal: [6, 0] + name: agent2 + start: [0, 5] +- goal: [0, 6] + name: agent3 + start: [0, 0] +- goal: [2, 3] + name: agent4 + start: [3, 2] +- goal: [6, 7] + name: agent5 + start: [3, 3] +- goal: [4, 4] + name: agent6 + start: [5, 0] +- goal: [1, 1] + name: agent7 + start: [5, 4] +- goal: [2, 6] + name: agent8 + start: [6, 2] +- goal: [6, 2] + name: agent9 + start: [0, 7] +- goal: [1, 7] + name: agent10 + start: [0, 3] +- goal: [7, 4] + name: agent11 + start: [2, 5] +- goal: [3, 0] + name: agent12 + start: [4, 1] +- goal: [4, 5] + name: agent13 + start: [1, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 4] + - !!python/tuple [4, 2] + - !!python/tuple [3, 5] + - !!python/tuple [7, 5] + - !!python/tuple [5, 1] + - !!python/tuple [1, 0] + - !!python/tuple [4, 3] + - !!python/tuple [7, 7] + - !!python/tuple [7, 0] + - !!python/tuple [7, 1] + - !!python/tuple [6, 6] + - !!python/tuple [2, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex92.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex92.yaml new file mode 100644 index 0000000..5f97016 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex92.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [1, 5] + name: agent0 + start: [3, 1] +- goal: [7, 3] + name: agent1 + start: [1, 5] +- goal: [7, 4] + name: agent2 + start: [1, 6] +- goal: [1, 1] + name: agent3 + start: [1, 7] +- goal: [5, 5] + name: agent4 + start: [5, 5] +- goal: [0, 3] + name: agent5 + start: [0, 7] +- goal: [5, 0] + name: agent6 + start: [7, 2] +- goal: [0, 6] + name: agent7 + start: [6, 5] +- goal: [7, 7] + name: agent8 + start: [6, 0] +- goal: [4, 0] + name: agent9 + start: [3, 6] +- goal: [5, 2] + name: agent10 + start: [6, 1] +- goal: [3, 6] + name: agent11 + start: [5, 4] +- goal: [2, 7] + name: agent12 + start: [0, 6] +- goal: [6, 5] + name: agent13 + start: [6, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 7] + - !!python/tuple [2, 5] + - !!python/tuple [1, 4] + - !!python/tuple [3, 4] + - !!python/tuple [1, 2] + - !!python/tuple [3, 3] + - !!python/tuple [3, 2] + - !!python/tuple [4, 2] + - !!python/tuple [4, 5] + - !!python/tuple [4, 7] + - !!python/tuple [6, 4] + - !!python/tuple [3, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex93.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex93.yaml new file mode 100644 index 0000000..25097f2 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex93.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [0, 5] + name: agent0 + start: [0, 6] +- goal: [7, 4] + name: agent1 + start: [1, 1] +- goal: [3, 3] + name: agent2 + start: [0, 1] +- goal: [7, 1] + name: agent3 + start: [4, 0] +- goal: [2, 2] + name: agent4 + start: [2, 4] +- goal: [4, 6] + name: agent5 + start: [2, 2] +- goal: [6, 7] + name: agent6 + start: [5, 6] +- goal: [4, 4] + name: agent7 + start: [7, 4] +- goal: [4, 7] + name: agent8 + start: [5, 7] +- goal: [1, 5] + name: agent9 + start: [5, 1] +- goal: [7, 3] + name: agent10 + start: [0, 2] +- goal: [0, 6] + name: agent11 + start: [1, 7] +- goal: [3, 0] + name: agent12 + start: [7, 1] +- goal: [5, 5] + name: agent13 + start: [0, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 6] + - !!python/tuple [1, 0] + - !!python/tuple [3, 2] + - !!python/tuple [7, 5] + - !!python/tuple [6, 6] + - !!python/tuple [5, 2] + - !!python/tuple [6, 3] + - !!python/tuple [4, 5] + - !!python/tuple [2, 6] + - !!python/tuple [7, 7] + - !!python/tuple [2, 1] + - !!python/tuple [0, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex94.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex94.yaml new file mode 100644 index 0000000..ed92814 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex94.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [6, 5] + name: agent0 + start: [0, 5] +- goal: [5, 7] + name: agent1 + start: [5, 7] +- goal: [7, 3] + name: agent2 + start: [7, 4] +- goal: [0, 6] + name: agent3 + start: [1, 7] +- goal: [3, 7] + name: agent4 + start: [3, 5] +- goal: [0, 3] + name: agent5 + start: [0, 1] +- goal: [2, 2] + name: agent6 + start: [2, 1] +- goal: [0, 4] + name: agent7 + start: [4, 7] +- goal: [3, 5] + name: agent8 + start: [1, 1] +- goal: [2, 6] + name: agent9 + start: [7, 6] +- goal: [5, 1] + name: agent10 + start: [4, 1] +- goal: [2, 4] + name: agent11 + start: [7, 3] +- goal: [0, 5] + name: agent12 + start: [5, 1] +- goal: [7, 4] + name: agent13 + start: [0, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 1] + - !!python/tuple [5, 2] + - !!python/tuple [1, 0] + - !!python/tuple [0, 7] + - !!python/tuple [0, 2] + - !!python/tuple [5, 6] + - !!python/tuple [6, 3] + - !!python/tuple [7, 5] + - !!python/tuple [3, 1] + - !!python/tuple [3, 4] + - !!python/tuple [2, 0] + - !!python/tuple [2, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex95.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex95.yaml new file mode 100644 index 0000000..ad7e27f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex95.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [7, 1] + name: agent0 + start: [0, 6] +- goal: [1, 1] + name: agent1 + start: [5, 4] +- goal: [5, 6] + name: agent2 + start: [6, 1] +- goal: [2, 3] + name: agent3 + start: [5, 7] +- goal: [4, 1] + name: agent4 + start: [1, 3] +- goal: [6, 2] + name: agent5 + start: [7, 2] +- goal: [1, 2] + name: agent6 + start: [1, 7] +- goal: [6, 5] + name: agent7 + start: [6, 6] +- goal: [3, 2] + name: agent8 + start: [4, 4] +- goal: [0, 5] + name: agent9 + start: [3, 2] +- goal: [5, 5] + name: agent10 + start: [5, 6] +- goal: [2, 1] + name: agent11 + start: [6, 2] +- goal: [6, 7] + name: agent12 + start: [7, 5] +- goal: [7, 7] + name: agent13 + start: [4, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 0] + - !!python/tuple [4, 5] + - !!python/tuple [3, 0] + - !!python/tuple [5, 2] + - !!python/tuple [3, 4] + - !!python/tuple [0, 7] + - !!python/tuple [5, 0] + - !!python/tuple [2, 0] + - !!python/tuple [2, 6] + - !!python/tuple [1, 4] + - !!python/tuple [5, 3] + - !!python/tuple [4, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex96.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex96.yaml new file mode 100644 index 0000000..66db25a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex96.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [6, 3] + name: agent0 + start: [4, 3] +- goal: [1, 2] + name: agent1 + start: [2, 1] +- goal: [1, 5] + name: agent2 + start: [1, 1] +- goal: [1, 7] + name: agent3 + start: [4, 2] +- goal: [0, 1] + name: agent4 + start: [1, 6] +- goal: [2, 7] + name: agent5 + start: [7, 0] +- goal: [0, 0] + name: agent6 + start: [7, 4] +- goal: [7, 0] + name: agent7 + start: [7, 5] +- goal: [0, 4] + name: agent8 + start: [4, 1] +- goal: [5, 5] + name: agent9 + start: [1, 0] +- goal: [5, 4] + name: agent10 + start: [2, 6] +- goal: [4, 3] + name: agent11 + start: [7, 6] +- goal: [2, 6] + name: agent12 + start: [6, 6] +- goal: [0, 2] + name: agent13 + start: [1, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 7] + - !!python/tuple [0, 3] + - !!python/tuple [7, 1] + - !!python/tuple [6, 7] + - !!python/tuple [4, 5] + - !!python/tuple [2, 2] + - !!python/tuple [7, 2] + - !!python/tuple [3, 4] + - !!python/tuple [4, 4] + - !!python/tuple [4, 0] + - !!python/tuple [3, 5] + - !!python/tuple [5, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex97.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex97.yaml new file mode 100644 index 0000000..d6b80d8 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex97.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [1, 7] + name: agent0 + start: [7, 0] +- goal: [6, 2] + name: agent1 + start: [7, 2] +- goal: [2, 6] + name: agent2 + start: [0, 1] +- goal: [6, 4] + name: agent3 + start: [2, 2] +- goal: [6, 1] + name: agent4 + start: [4, 5] +- goal: [1, 2] + name: agent5 + start: [2, 6] +- goal: [5, 6] + name: agent6 + start: [5, 4] +- goal: [1, 1] + name: agent7 + start: [2, 5] +- goal: [3, 6] + name: agent8 + start: [5, 2] +- goal: [0, 7] + name: agent9 + start: [1, 5] +- goal: [5, 0] + name: agent10 + start: [5, 6] +- goal: [5, 5] + name: agent11 + start: [5, 0] +- goal: [2, 5] + name: agent12 + start: [6, 2] +- goal: [3, 1] + name: agent13 + start: [6, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 3] + - !!python/tuple [2, 3] + - !!python/tuple [7, 6] + - !!python/tuple [0, 4] + - !!python/tuple [7, 7] + - !!python/tuple [0, 3] + - !!python/tuple [6, 5] + - !!python/tuple [3, 0] + - !!python/tuple [4, 3] + - !!python/tuple [0, 0] + - !!python/tuple [6, 6] + - !!python/tuple [4, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex98.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex98.yaml new file mode 100644 index 0000000..33bfbc1 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex98.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [4, 7] + name: agent0 + start: [0, 5] +- goal: [0, 4] + name: agent1 + start: [5, 7] +- goal: [1, 4] + name: agent2 + start: [1, 2] +- goal: [0, 6] + name: agent3 + start: [7, 0] +- goal: [2, 3] + name: agent4 + start: [4, 1] +- goal: [4, 5] + name: agent5 + start: [2, 3] +- goal: [1, 3] + name: agent6 + start: [5, 3] +- goal: [1, 2] + name: agent7 + start: [2, 0] +- goal: [0, 7] + name: agent8 + start: [5, 6] +- goal: [1, 1] + name: agent9 + start: [0, 2] +- goal: [4, 1] + name: agent10 + start: [1, 6] +- goal: [6, 4] + name: agent11 + start: [5, 4] +- goal: [4, 3] + name: agent12 + start: [3, 2] +- goal: [3, 5] + name: agent13 + start: [2, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 3] + - !!python/tuple [5, 0] + - !!python/tuple [6, 0] + - !!python/tuple [7, 3] + - !!python/tuple [0, 0] + - !!python/tuple [6, 3] + - !!python/tuple [2, 6] + - !!python/tuple [7, 2] + - !!python/tuple [3, 4] + - !!python/tuple [0, 3] + - !!python/tuple [1, 7] + - !!python/tuple [3, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex99.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex99.yaml new file mode 100644 index 0000000..1da142d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents14_ex99.yaml @@ -0,0 +1,58 @@ +agents: +- goal: [6, 0] + name: agent0 + start: [6, 4] +- goal: [1, 6] + name: agent1 + start: [5, 5] +- goal: [6, 5] + name: agent2 + start: [6, 1] +- goal: [6, 2] + name: agent3 + start: [7, 5] +- goal: [2, 5] + name: agent4 + start: [6, 6] +- goal: [7, 6] + name: agent5 + start: [7, 4] +- goal: [7, 3] + name: agent6 + start: [4, 3] +- goal: [2, 4] + name: agent7 + start: [3, 3] +- goal: [7, 1] + name: agent8 + start: [5, 3] +- goal: [4, 3] + name: agent9 + start: [0, 4] +- goal: [3, 3] + name: agent10 + start: [6, 0] +- goal: [5, 5] + name: agent11 + start: [0, 2] +- goal: [4, 7] + name: agent12 + start: [6, 2] +- goal: [3, 5] + name: agent13 + start: [4, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 6] + - !!python/tuple [1, 5] + - !!python/tuple [4, 2] + - !!python/tuple [5, 1] + - !!python/tuple [5, 6] + - !!python/tuple [1, 7] + - !!python/tuple [3, 7] + - !!python/tuple [1, 4] + - !!python/tuple [2, 6] + - !!python/tuple [2, 0] + - !!python/tuple [4, 0] + - !!python/tuple [4, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex0.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex0.yaml new file mode 100644 index 0000000..8de63dd --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex0.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [3, 3] + name: agent0 + start: [4, 6] +- goal: [1, 1] + name: agent1 + start: [4, 7] +- goal: [6, 1] + name: agent2 + start: [5, 5] +- goal: [1, 2] + name: agent3 + start: [1, 3] +- goal: [1, 5] + name: agent4 + start: [4, 1] +- goal: [2, 4] + name: agent5 + start: [2, 4] +- goal: [1, 3] + name: agent6 + start: [4, 3] +- goal: [0, 7] + name: agent7 + start: [5, 3] +- goal: [6, 3] + name: agent8 + start: [3, 0] +- goal: [2, 7] + name: agent9 + start: [6, 4] +- goal: [4, 6] + name: agent10 + start: [1, 6] +- goal: [3, 5] + name: agent11 + start: [2, 6] +- goal: [5, 5] + name: agent12 + start: [0, 0] +- goal: [2, 5] + name: agent13 + start: [3, 3] +- goal: [3, 4] + name: agent14 + start: [0, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 2] + - !!python/tuple [5, 6] + - !!python/tuple [1, 7] + - !!python/tuple [6, 7] + - !!python/tuple [7, 6] + - !!python/tuple [0, 5] + - !!python/tuple [6, 5] + - !!python/tuple [3, 2] + - !!python/tuple [3, 7] + - !!python/tuple [5, 4] + - !!python/tuple [7, 0] + - !!python/tuple [7, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex1.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex1.yaml new file mode 100644 index 0000000..1c0bba9 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex1.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [3, 0] + name: agent0 + start: [4, 0] +- goal: [0, 5] + name: agent1 + start: [1, 1] +- goal: [5, 2] + name: agent2 + start: [6, 5] +- goal: [1, 2] + name: agent3 + start: [5, 5] +- goal: [7, 1] + name: agent4 + start: [0, 1] +- goal: [2, 6] + name: agent5 + start: [5, 6] +- goal: [7, 3] + name: agent6 + start: [7, 0] +- goal: [4, 4] + name: agent7 + start: [2, 6] +- goal: [2, 2] + name: agent8 + start: [1, 2] +- goal: [0, 0] + name: agent9 + start: [7, 3] +- goal: [2, 7] + name: agent10 + start: [5, 2] +- goal: [3, 3] + name: agent11 + start: [2, 0] +- goal: [0, 4] + name: agent12 + start: [0, 5] +- goal: [6, 1] + name: agent13 + start: [3, 6] +- goal: [1, 0] + name: agent14 + start: [7, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 5] + - !!python/tuple [4, 2] + - !!python/tuple [6, 6] + - !!python/tuple [3, 5] + - !!python/tuple [6, 4] + - !!python/tuple [5, 0] + - !!python/tuple [0, 6] + - !!python/tuple [1, 7] + - !!python/tuple [1, 3] + - !!python/tuple [1, 6] + - !!python/tuple [7, 7] + - !!python/tuple [5, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex10.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex10.yaml new file mode 100644 index 0000000..d5c253a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex10.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [3, 7] + name: agent0 + start: [0, 2] +- goal: [3, 1] + name: agent1 + start: [5, 5] +- goal: [5, 1] + name: agent2 + start: [4, 6] +- goal: [1, 6] + name: agent3 + start: [6, 7] +- goal: [1, 7] + name: agent4 + start: [2, 1] +- goal: [1, 1] + name: agent5 + start: [6, 5] +- goal: [4, 2] + name: agent6 + start: [4, 4] +- goal: [6, 1] + name: agent7 + start: [7, 5] +- goal: [1, 2] + name: agent8 + start: [6, 3] +- goal: [0, 1] + name: agent9 + start: [1, 2] +- goal: [4, 4] + name: agent10 + start: [5, 6] +- goal: [3, 3] + name: agent11 + start: [3, 1] +- goal: [4, 1] + name: agent12 + start: [1, 1] +- goal: [5, 7] + name: agent13 + start: [5, 4] +- goal: [3, 0] + name: agent14 + start: [4, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 3] + - !!python/tuple [5, 3] + - !!python/tuple [2, 4] + - !!python/tuple [2, 6] + - !!python/tuple [3, 2] + - !!python/tuple [7, 2] + - !!python/tuple [2, 3] + - !!python/tuple [7, 1] + - !!python/tuple [0, 3] + - !!python/tuple [6, 0] + - !!python/tuple [5, 0] + - !!python/tuple [0, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex11.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex11.yaml new file mode 100644 index 0000000..412ba10 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex11.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [6, 5] + name: agent0 + start: [0, 4] +- goal: [0, 4] + name: agent1 + start: [4, 3] +- goal: [5, 7] + name: agent2 + start: [2, 3] +- goal: [1, 0] + name: agent3 + start: [2, 0] +- goal: [4, 4] + name: agent4 + start: [5, 6] +- goal: [1, 1] + name: agent5 + start: [6, 3] +- goal: [6, 1] + name: agent6 + start: [2, 7] +- goal: [6, 3] + name: agent7 + start: [7, 3] +- goal: [0, 7] + name: agent8 + start: [7, 7] +- goal: [2, 1] + name: agent9 + start: [5, 4] +- goal: [6, 6] + name: agent10 + start: [0, 2] +- goal: [4, 1] + name: agent11 + start: [5, 1] +- goal: [7, 3] + name: agent12 + start: [1, 6] +- goal: [4, 5] + name: agent13 + start: [1, 1] +- goal: [0, 6] + name: agent14 + start: [2, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 5] + - !!python/tuple [1, 4] + - !!python/tuple [0, 0] + - !!python/tuple [6, 2] + - !!python/tuple [2, 4] + - !!python/tuple [2, 6] + - !!python/tuple [6, 4] + - !!python/tuple [3, 1] + - !!python/tuple [1, 5] + - !!python/tuple [1, 2] + - !!python/tuple [6, 7] + - !!python/tuple [3, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex12.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex12.yaml new file mode 100644 index 0000000..8720d25 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex12.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [5, 6] + name: agent0 + start: [6, 2] +- goal: [7, 5] + name: agent1 + start: [6, 0] +- goal: [2, 6] + name: agent2 + start: [3, 3] +- goal: [5, 2] + name: agent3 + start: [5, 7] +- goal: [6, 4] + name: agent4 + start: [0, 3] +- goal: [2, 5] + name: agent5 + start: [4, 4] +- goal: [1, 4] + name: agent6 + start: [6, 5] +- goal: [5, 1] + name: agent7 + start: [5, 0] +- goal: [1, 7] + name: agent8 + start: [1, 7] +- goal: [7, 7] + name: agent9 + start: [2, 0] +- goal: [1, 2] + name: agent10 + start: [7, 5] +- goal: [2, 0] + name: agent11 + start: [2, 5] +- goal: [1, 1] + name: agent12 + start: [2, 2] +- goal: [0, 6] + name: agent13 + start: [4, 6] +- goal: [5, 4] + name: agent14 + start: [0, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 2] + - !!python/tuple [3, 6] + - !!python/tuple [1, 6] + - !!python/tuple [3, 1] + - !!python/tuple [2, 3] + - !!python/tuple [5, 3] + - !!python/tuple [2, 4] + - !!python/tuple [7, 0] + - !!python/tuple [7, 6] + - !!python/tuple [4, 1] + - !!python/tuple [7, 2] + - !!python/tuple [4, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex13.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex13.yaml new file mode 100644 index 0000000..df41c48 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex13.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [0, 2] + name: agent0 + start: [3, 1] +- goal: [3, 6] + name: agent1 + start: [1, 7] +- goal: [1, 2] + name: agent2 + start: [3, 4] +- goal: [1, 4] + name: agent3 + start: [3, 5] +- goal: [2, 0] + name: agent4 + start: [3, 7] +- goal: [3, 2] + name: agent5 + start: [2, 3] +- goal: [5, 6] + name: agent6 + start: [4, 6] +- goal: [6, 7] + name: agent7 + start: [1, 2] +- goal: [7, 4] + name: agent8 + start: [4, 5] +- goal: [7, 2] + name: agent9 + start: [0, 5] +- goal: [4, 7] + name: agent10 + start: [7, 1] +- goal: [3, 7] + name: agent11 + start: [4, 0] +- goal: [5, 0] + name: agent12 + start: [6, 1] +- goal: [5, 1] + name: agent13 + start: [4, 3] +- goal: [5, 7] + name: agent14 + start: [7, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 1] + - !!python/tuple [7, 0] + - !!python/tuple [6, 3] + - !!python/tuple [5, 5] + - !!python/tuple [4, 4] + - !!python/tuple [0, 3] + - !!python/tuple [0, 0] + - !!python/tuple [2, 6] + - !!python/tuple [2, 2] + - !!python/tuple [1, 3] + - !!python/tuple [0, 4] + - !!python/tuple [1, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex14.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex14.yaml new file mode 100644 index 0000000..42df6ed --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex14.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [0, 0] + name: agent0 + start: [2, 0] +- goal: [2, 1] + name: agent1 + start: [5, 7] +- goal: [5, 0] + name: agent2 + start: [2, 2] +- goal: [6, 4] + name: agent3 + start: [1, 1] +- goal: [3, 0] + name: agent4 + start: [3, 0] +- goal: [2, 5] + name: agent5 + start: [3, 4] +- goal: [6, 5] + name: agent6 + start: [1, 7] +- goal: [0, 1] + name: agent7 + start: [2, 3] +- goal: [6, 1] + name: agent8 + start: [7, 5] +- goal: [4, 0] + name: agent9 + start: [1, 6] +- goal: [7, 3] + name: agent10 + start: [3, 6] +- goal: [3, 7] + name: agent11 + start: [5, 2] +- goal: [1, 2] + name: agent12 + start: [0, 0] +- goal: [6, 2] + name: agent13 + start: [1, 5] +- goal: [1, 7] + name: agent14 + start: [4, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 0] + - !!python/tuple [5, 5] + - !!python/tuple [2, 7] + - !!python/tuple [2, 4] + - !!python/tuple [4, 6] + - !!python/tuple [3, 5] + - !!python/tuple [6, 7] + - !!python/tuple [4, 2] + - !!python/tuple [7, 1] + - !!python/tuple [1, 0] + - !!python/tuple [6, 3] + - !!python/tuple [0, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex15.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex15.yaml new file mode 100644 index 0000000..ab8450a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex15.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [7, 5] + name: agent0 + start: [3, 3] +- goal: [7, 2] + name: agent1 + start: [7, 1] +- goal: [4, 6] + name: agent2 + start: [2, 3] +- goal: [0, 3] + name: agent3 + start: [6, 3] +- goal: [4, 2] + name: agent4 + start: [3, 6] +- goal: [3, 1] + name: agent5 + start: [1, 3] +- goal: [5, 7] + name: agent6 + start: [3, 1] +- goal: [0, 0] + name: agent7 + start: [2, 7] +- goal: [1, 1] + name: agent8 + start: [1, 4] +- goal: [2, 0] + name: agent9 + start: [6, 5] +- goal: [7, 0] + name: agent10 + start: [1, 1] +- goal: [6, 5] + name: agent11 + start: [0, 2] +- goal: [5, 0] + name: agent12 + start: [7, 2] +- goal: [7, 1] + name: agent13 + start: [1, 0] +- goal: [1, 5] + name: agent14 + start: [1, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 0] + - !!python/tuple [0, 6] + - !!python/tuple [3, 5] + - !!python/tuple [5, 2] + - !!python/tuple [3, 7] + - !!python/tuple [6, 7] + - !!python/tuple [0, 1] + - !!python/tuple [7, 7] + - !!python/tuple [2, 5] + - !!python/tuple [5, 4] + - !!python/tuple [7, 6] + - !!python/tuple [5, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex16.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex16.yaml new file mode 100644 index 0000000..94fe9bf --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex16.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [0, 1] + name: agent0 + start: [6, 3] +- goal: [2, 0] + name: agent1 + start: [7, 3] +- goal: [6, 5] + name: agent2 + start: [1, 1] +- goal: [1, 5] + name: agent3 + start: [0, 3] +- goal: [2, 5] + name: agent4 + start: [1, 3] +- goal: [7, 1] + name: agent5 + start: [5, 4] +- goal: [6, 4] + name: agent6 + start: [3, 0] +- goal: [2, 3] + name: agent7 + start: [7, 4] +- goal: [6, 2] + name: agent8 + start: [5, 1] +- goal: [5, 4] + name: agent9 + start: [1, 0] +- goal: [3, 4] + name: agent10 + start: [3, 4] +- goal: [5, 1] + name: agent11 + start: [2, 3] +- goal: [3, 3] + name: agent12 + start: [4, 7] +- goal: [4, 0] + name: agent13 + start: [5, 0] +- goal: [5, 2] + name: agent14 + start: [5, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 4] + - !!python/tuple [2, 6] + - !!python/tuple [7, 2] + - !!python/tuple [3, 7] + - !!python/tuple [3, 1] + - !!python/tuple [5, 5] + - !!python/tuple [2, 1] + - !!python/tuple [2, 2] + - !!python/tuple [4, 4] + - !!python/tuple [3, 2] + - !!python/tuple [0, 6] + - !!python/tuple [0, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex17.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex17.yaml new file mode 100644 index 0000000..16e34a0 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex17.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [2, 1] + name: agent0 + start: [2, 3] +- goal: [3, 2] + name: agent1 + start: [1, 6] +- goal: [1, 3] + name: agent2 + start: [7, 3] +- goal: [4, 6] + name: agent3 + start: [6, 0] +- goal: [1, 0] + name: agent4 + start: [0, 5] +- goal: [5, 7] + name: agent5 + start: [7, 6] +- goal: [7, 5] + name: agent6 + start: [7, 0] +- goal: [0, 7] + name: agent7 + start: [1, 0] +- goal: [2, 0] + name: agent8 + start: [2, 2] +- goal: [0, 2] + name: agent9 + start: [4, 0] +- goal: [0, 4] + name: agent10 + start: [0, 4] +- goal: [4, 3] + name: agent11 + start: [3, 7] +- goal: [7, 2] + name: agent12 + start: [3, 2] +- goal: [1, 1] + name: agent13 + start: [4, 3] +- goal: [2, 3] + name: agent14 + start: [5, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 2] + - !!python/tuple [1, 5] + - !!python/tuple [6, 4] + - !!python/tuple [3, 0] + - !!python/tuple [6, 3] + - !!python/tuple [2, 6] + - !!python/tuple [0, 3] + - !!python/tuple [2, 5] + - !!python/tuple [3, 6] + - !!python/tuple [5, 2] + - !!python/tuple [6, 6] + - !!python/tuple [3, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex18.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex18.yaml new file mode 100644 index 0000000..a3d497a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex18.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [0, 6] + name: agent0 + start: [2, 5] +- goal: [0, 1] + name: agent1 + start: [3, 6] +- goal: [2, 7] + name: agent2 + start: [7, 3] +- goal: [1, 5] + name: agent3 + start: [6, 4] +- goal: [1, 7] + name: agent4 + start: [5, 7] +- goal: [5, 7] + name: agent5 + start: [0, 6] +- goal: [6, 6] + name: agent6 + start: [3, 1] +- goal: [4, 4] + name: agent7 + start: [1, 5] +- goal: [3, 1] + name: agent8 + start: [4, 1] +- goal: [1, 1] + name: agent9 + start: [7, 6] +- goal: [1, 6] + name: agent10 + start: [3, 0] +- goal: [2, 1] + name: agent11 + start: [6, 1] +- goal: [3, 3] + name: agent12 + start: [1, 1] +- goal: [7, 2] + name: agent13 + start: [2, 3] +- goal: [5, 2] + name: agent14 + start: [1, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 0] + - !!python/tuple [3, 5] + - !!python/tuple [5, 6] + - !!python/tuple [7, 7] + - !!python/tuple [1, 0] + - !!python/tuple [4, 7] + - !!python/tuple [5, 4] + - !!python/tuple [0, 4] + - !!python/tuple [1, 3] + - !!python/tuple [2, 0] + - !!python/tuple [7, 5] + - !!python/tuple [2, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex19.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex19.yaml new file mode 100644 index 0000000..e21bc85 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex19.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [6, 2] + name: agent0 + start: [2, 6] +- goal: [4, 4] + name: agent1 + start: [3, 4] +- goal: [6, 4] + name: agent2 + start: [4, 4] +- goal: [1, 3] + name: agent3 + start: [7, 7] +- goal: [0, 3] + name: agent4 + start: [1, 1] +- goal: [5, 3] + name: agent5 + start: [7, 4] +- goal: [2, 5] + name: agent6 + start: [3, 7] +- goal: [4, 5] + name: agent7 + start: [2, 2] +- goal: [1, 7] + name: agent8 + start: [1, 0] +- goal: [2, 6] + name: agent9 + start: [3, 2] +- goal: [4, 0] + name: agent10 + start: [3, 6] +- goal: [6, 6] + name: agent11 + start: [7, 3] +- goal: [1, 0] + name: agent12 + start: [6, 3] +- goal: [5, 7] + name: agent13 + start: [5, 0] +- goal: [1, 5] + name: agent14 + start: [7, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 6] + - !!python/tuple [7, 5] + - !!python/tuple [6, 5] + - !!python/tuple [1, 4] + - !!python/tuple [5, 2] + - !!python/tuple [0, 4] + - !!python/tuple [1, 6] + - !!python/tuple [2, 7] + - !!python/tuple [5, 4] + - !!python/tuple [4, 2] + - !!python/tuple [7, 1] + - !!python/tuple [4, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex2.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex2.yaml new file mode 100644 index 0000000..dd9060d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex2.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [7, 2] + name: agent0 + start: [7, 1] +- goal: [6, 7] + name: agent1 + start: [1, 4] +- goal: [3, 1] + name: agent2 + start: [6, 1] +- goal: [2, 5] + name: agent3 + start: [6, 3] +- goal: [2, 2] + name: agent4 + start: [2, 0] +- goal: [4, 7] + name: agent5 + start: [1, 0] +- goal: [3, 7] + name: agent6 + start: [7, 4] +- goal: [3, 4] + name: agent7 + start: [7, 0] +- goal: [6, 2] + name: agent8 + start: [7, 5] +- goal: [0, 5] + name: agent9 + start: [4, 3] +- goal: [4, 1] + name: agent10 + start: [1, 6] +- goal: [6, 5] + name: agent11 + start: [2, 3] +- goal: [5, 7] + name: agent12 + start: [0, 2] +- goal: [6, 0] + name: agent13 + start: [5, 7] +- goal: [5, 0] + name: agent14 + start: [3, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 4] + - !!python/tuple [0, 0] + - !!python/tuple [4, 6] + - !!python/tuple [4, 0] + - !!python/tuple [2, 6] + - !!python/tuple [1, 3] + - !!python/tuple [0, 6] + - !!python/tuple [2, 4] + - !!python/tuple [1, 1] + - !!python/tuple [2, 1] + - !!python/tuple [5, 5] + - !!python/tuple [5, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex20.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex20.yaml new file mode 100644 index 0000000..2da9a65 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex20.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [6, 4] + name: agent0 + start: [6, 4] +- goal: [2, 6] + name: agent1 + start: [0, 4] +- goal: [4, 5] + name: agent2 + start: [7, 4] +- goal: [4, 2] + name: agent3 + start: [3, 7] +- goal: [6, 0] + name: agent4 + start: [0, 7] +- goal: [2, 1] + name: agent5 + start: [5, 2] +- goal: [0, 6] + name: agent6 + start: [3, 2] +- goal: [5, 3] + name: agent7 + start: [4, 7] +- goal: [7, 0] + name: agent8 + start: [3, 5] +- goal: [0, 3] + name: agent9 + start: [5, 3] +- goal: [3, 1] + name: agent10 + start: [4, 1] +- goal: [6, 3] + name: agent11 + start: [1, 5] +- goal: [1, 5] + name: agent12 + start: [7, 3] +- goal: [7, 3] + name: agent13 + start: [2, 4] +- goal: [6, 6] + name: agent14 + start: [0, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 1] + - !!python/tuple [5, 6] + - !!python/tuple [5, 4] + - !!python/tuple [1, 3] + - !!python/tuple [2, 7] + - !!python/tuple [7, 5] + - !!python/tuple [1, 6] + - !!python/tuple [3, 0] + - !!python/tuple [1, 0] + - !!python/tuple [2, 0] + - !!python/tuple [4, 4] + - !!python/tuple [7, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex21.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex21.yaml new file mode 100644 index 0000000..b6daa34 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex21.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [2, 7] + name: agent0 + start: [7, 5] +- goal: [6, 2] + name: agent1 + start: [7, 2] +- goal: [7, 4] + name: agent2 + start: [6, 3] +- goal: [3, 3] + name: agent3 + start: [6, 1] +- goal: [0, 0] + name: agent4 + start: [7, 3] +- goal: [1, 6] + name: agent5 + start: [2, 6] +- goal: [3, 2] + name: agent6 + start: [0, 1] +- goal: [4, 1] + name: agent7 + start: [1, 1] +- goal: [6, 0] + name: agent8 + start: [1, 3] +- goal: [4, 0] + name: agent9 + start: [4, 2] +- goal: [7, 3] + name: agent10 + start: [7, 4] +- goal: [5, 0] + name: agent11 + start: [5, 0] +- goal: [1, 3] + name: agent12 + start: [4, 5] +- goal: [7, 5] + name: agent13 + start: [6, 5] +- goal: [2, 3] + name: agent14 + start: [2, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 3] + - !!python/tuple [1, 4] + - !!python/tuple [5, 6] + - !!python/tuple [6, 4] + - !!python/tuple [1, 5] + - !!python/tuple [1, 0] + - !!python/tuple [4, 6] + - !!python/tuple [2, 2] + - !!python/tuple [4, 3] + - !!python/tuple [2, 5] + - !!python/tuple [3, 6] + - !!python/tuple [0, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex22.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex22.yaml new file mode 100644 index 0000000..fa26a8c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex22.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [5, 5] + name: agent0 + start: [5, 2] +- goal: [0, 0] + name: agent1 + start: [4, 2] +- goal: [0, 5] + name: agent2 + start: [6, 1] +- goal: [2, 7] + name: agent3 + start: [2, 5] +- goal: [6, 2] + name: agent4 + start: [1, 4] +- goal: [7, 2] + name: agent5 + start: [4, 1] +- goal: [1, 2] + name: agent6 + start: [5, 6] +- goal: [4, 2] + name: agent7 + start: [7, 2] +- goal: [6, 5] + name: agent8 + start: [2, 0] +- goal: [0, 2] + name: agent9 + start: [5, 7] +- goal: [4, 1] + name: agent10 + start: [3, 4] +- goal: [3, 5] + name: agent11 + start: [7, 5] +- goal: [4, 6] + name: agent12 + start: [7, 7] +- goal: [1, 3] + name: agent13 + start: [4, 4] +- goal: [4, 5] + name: agent14 + start: [3, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 0] + - !!python/tuple [6, 3] + - !!python/tuple [4, 0] + - !!python/tuple [1, 5] + - !!python/tuple [5, 4] + - !!python/tuple [2, 1] + - !!python/tuple [6, 4] + - !!python/tuple [1, 1] + - !!python/tuple [7, 3] + - !!python/tuple [3, 6] + - !!python/tuple [7, 4] + - !!python/tuple [0, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex23.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex23.yaml new file mode 100644 index 0000000..bb9c68a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex23.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [6, 7] + name: agent0 + start: [0, 3] +- goal: [1, 0] + name: agent1 + start: [4, 7] +- goal: [1, 4] + name: agent2 + start: [2, 5] +- goal: [6, 3] + name: agent3 + start: [1, 0] +- goal: [3, 6] + name: agent4 + start: [4, 6] +- goal: [2, 2] + name: agent5 + start: [2, 6] +- goal: [7, 1] + name: agent6 + start: [0, 4] +- goal: [4, 7] + name: agent7 + start: [4, 5] +- goal: [5, 1] + name: agent8 + start: [1, 1] +- goal: [5, 0] + name: agent9 + start: [7, 2] +- goal: [7, 3] + name: agent10 + start: [0, 6] +- goal: [4, 5] + name: agent11 + start: [2, 2] +- goal: [2, 4] + name: agent12 + start: [5, 1] +- goal: [0, 6] + name: agent13 + start: [3, 5] +- goal: [3, 7] + name: agent14 + start: [2, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 1] + - !!python/tuple [1, 2] + - !!python/tuple [3, 0] + - !!python/tuple [6, 5] + - !!python/tuple [4, 4] + - !!python/tuple [1, 3] + - !!python/tuple [5, 5] + - !!python/tuple [0, 0] + - !!python/tuple [7, 4] + - !!python/tuple [4, 2] + - !!python/tuple [7, 5] + - !!python/tuple [0, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex24.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex24.yaml new file mode 100644 index 0000000..6a6e80f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex24.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [5, 1] + name: agent0 + start: [7, 7] +- goal: [1, 1] + name: agent1 + start: [6, 2] +- goal: [6, 1] + name: agent2 + start: [2, 0] +- goal: [3, 4] + name: agent3 + start: [0, 4] +- goal: [0, 2] + name: agent4 + start: [2, 1] +- goal: [4, 5] + name: agent5 + start: [6, 7] +- goal: [2, 2] + name: agent6 + start: [3, 4] +- goal: [5, 6] + name: agent7 + start: [3, 0] +- goal: [7, 5] + name: agent8 + start: [5, 0] +- goal: [7, 1] + name: agent9 + start: [4, 2] +- goal: [6, 4] + name: agent10 + start: [3, 3] +- goal: [6, 7] + name: agent11 + start: [4, 4] +- goal: [3, 7] + name: agent12 + start: [0, 3] +- goal: [4, 7] + name: agent13 + start: [1, 2] +- goal: [4, 2] + name: agent14 + start: [0, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 4] + - !!python/tuple [0, 0] + - !!python/tuple [7, 0] + - !!python/tuple [3, 1] + - !!python/tuple [7, 3] + - !!python/tuple [5, 4] + - !!python/tuple [3, 2] + - !!python/tuple [1, 6] + - !!python/tuple [6, 5] + - !!python/tuple [5, 2] + - !!python/tuple [1, 5] + - !!python/tuple [4, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex25.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex25.yaml new file mode 100644 index 0000000..e8ed2f8 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex25.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [6, 3] + name: agent0 + start: [1, 6] +- goal: [3, 7] + name: agent1 + start: [5, 0] +- goal: [5, 4] + name: agent2 + start: [1, 4] +- goal: [3, 1] + name: agent3 + start: [0, 5] +- goal: [2, 7] + name: agent4 + start: [0, 7] +- goal: [3, 4] + name: agent5 + start: [2, 5] +- goal: [3, 2] + name: agent6 + start: [4, 7] +- goal: [2, 1] + name: agent7 + start: [0, 2] +- goal: [6, 7] + name: agent8 + start: [1, 3] +- goal: [1, 2] + name: agent9 + start: [3, 2] +- goal: [4, 0] + name: agent10 + start: [3, 7] +- goal: [7, 4] + name: agent11 + start: [5, 7] +- goal: [2, 4] + name: agent12 + start: [0, 3] +- goal: [7, 3] + name: agent13 + start: [1, 0] +- goal: [0, 4] + name: agent14 + start: [1, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 6] + - !!python/tuple [2, 0] + - !!python/tuple [0, 1] + - !!python/tuple [7, 6] + - !!python/tuple [6, 0] + - !!python/tuple [7, 0] + - !!python/tuple [2, 2] + - !!python/tuple [1, 7] + - !!python/tuple [6, 4] + - !!python/tuple [3, 0] + - !!python/tuple [6, 2] + - !!python/tuple [6, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex26.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex26.yaml new file mode 100644 index 0000000..b8a6cdb --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex26.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [3, 4] + name: agent0 + start: [2, 3] +- goal: [0, 6] + name: agent1 + start: [7, 7] +- goal: [0, 0] + name: agent2 + start: [3, 5] +- goal: [3, 2] + name: agent3 + start: [7, 2] +- goal: [6, 6] + name: agent4 + start: [1, 5] +- goal: [7, 7] + name: agent5 + start: [5, 0] +- goal: [4, 5] + name: agent6 + start: [4, 7] +- goal: [7, 4] + name: agent7 + start: [6, 7] +- goal: [4, 3] + name: agent8 + start: [2, 6] +- goal: [7, 6] + name: agent9 + start: [4, 0] +- goal: [4, 6] + name: agent10 + start: [2, 4] +- goal: [1, 1] + name: agent11 + start: [6, 6] +- goal: [7, 5] + name: agent12 + start: [1, 7] +- goal: [3, 5] + name: agent13 + start: [0, 7] +- goal: [5, 4] + name: agent14 + start: [2, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 5] + - !!python/tuple [3, 7] + - !!python/tuple [5, 5] + - !!python/tuple [6, 5] + - !!python/tuple [3, 6] + - !!python/tuple [5, 7] + - !!python/tuple [3, 3] + - !!python/tuple [6, 4] + - !!python/tuple [2, 7] + - !!python/tuple [4, 1] + - !!python/tuple [6, 2] + - !!python/tuple [1, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex27.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex27.yaml new file mode 100644 index 0000000..8a43f20 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex27.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [2, 2] + name: agent0 + start: [1, 0] +- goal: [5, 0] + name: agent1 + start: [2, 6] +- goal: [2, 3] + name: agent2 + start: [6, 2] +- goal: [2, 1] + name: agent3 + start: [2, 2] +- goal: [4, 0] + name: agent4 + start: [7, 3] +- goal: [3, 2] + name: agent5 + start: [2, 1] +- goal: [2, 7] + name: agent6 + start: [3, 5] +- goal: [3, 4] + name: agent7 + start: [4, 1] +- goal: [6, 2] + name: agent8 + start: [3, 0] +- goal: [7, 2] + name: agent9 + start: [5, 4] +- goal: [1, 0] + name: agent10 + start: [0, 4] +- goal: [1, 4] + name: agent11 + start: [4, 2] +- goal: [3, 5] + name: agent12 + start: [1, 7] +- goal: [2, 5] + name: agent13 + start: [5, 2] +- goal: [4, 7] + name: agent14 + start: [5, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 3] + - !!python/tuple [7, 7] + - !!python/tuple [4, 6] + - !!python/tuple [6, 6] + - !!python/tuple [6, 0] + - !!python/tuple [0, 5] + - !!python/tuple [5, 6] + - !!python/tuple [5, 1] + - !!python/tuple [0, 6] + - !!python/tuple [4, 5] + - !!python/tuple [6, 5] + - !!python/tuple [0, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex28.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex28.yaml new file mode 100644 index 0000000..977aac3 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex28.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [0, 3] + name: agent0 + start: [7, 5] +- goal: [3, 6] + name: agent1 + start: [3, 0] +- goal: [1, 0] + name: agent2 + start: [6, 6] +- goal: [0, 4] + name: agent3 + start: [3, 4] +- goal: [6, 0] + name: agent4 + start: [7, 4] +- goal: [3, 1] + name: agent5 + start: [7, 0] +- goal: [7, 2] + name: agent6 + start: [5, 2] +- goal: [2, 6] + name: agent7 + start: [5, 3] +- goal: [3, 4] + name: agent8 + start: [5, 6] +- goal: [6, 1] + name: agent9 + start: [1, 5] +- goal: [1, 1] + name: agent10 + start: [3, 1] +- goal: [2, 4] + name: agent11 + start: [0, 2] +- goal: [1, 5] + name: agent12 + start: [4, 6] +- goal: [5, 3] + name: agent13 + start: [3, 6] +- goal: [0, 6] + name: agent14 + start: [0, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 5] + - !!python/tuple [5, 1] + - !!python/tuple [7, 3] + - !!python/tuple [3, 3] + - !!python/tuple [0, 1] + - !!python/tuple [6, 7] + - !!python/tuple [1, 6] + - !!python/tuple [4, 2] + - !!python/tuple [4, 7] + - !!python/tuple [7, 6] + - !!python/tuple [3, 5] + - !!python/tuple [3, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex29.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex29.yaml new file mode 100644 index 0000000..f5b0aac --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex29.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [5, 2] + name: agent0 + start: [7, 0] +- goal: [4, 7] + name: agent1 + start: [6, 6] +- goal: [6, 1] + name: agent2 + start: [1, 5] +- goal: [0, 3] + name: agent3 + start: [5, 6] +- goal: [3, 6] + name: agent4 + start: [1, 4] +- goal: [7, 6] + name: agent5 + start: [1, 1] +- goal: [3, 3] + name: agent6 + start: [2, 5] +- goal: [7, 2] + name: agent7 + start: [2, 7] +- goal: [2, 2] + name: agent8 + start: [6, 5] +- goal: [1, 6] + name: agent9 + start: [7, 6] +- goal: [1, 0] + name: agent10 + start: [0, 2] +- goal: [0, 6] + name: agent11 + start: [7, 2] +- goal: [6, 2] + name: agent12 + start: [3, 1] +- goal: [5, 7] + name: agent13 + start: [2, 6] +- goal: [6, 7] + name: agent14 + start: [4, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 2] + - !!python/tuple [2, 1] + - !!python/tuple [7, 7] + - !!python/tuple [7, 3] + - !!python/tuple [4, 6] + - !!python/tuple [1, 2] + - !!python/tuple [3, 5] + - !!python/tuple [4, 4] + - !!python/tuple [5, 5] + - !!python/tuple [5, 0] + - !!python/tuple [5, 1] + - !!python/tuple [0, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex3.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex3.yaml new file mode 100644 index 0000000..758e533 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex3.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [0, 0] + name: agent0 + start: [4, 5] +- goal: [7, 4] + name: agent1 + start: [1, 2] +- goal: [1, 7] + name: agent2 + start: [1, 1] +- goal: [2, 3] + name: agent3 + start: [7, 4] +- goal: [1, 2] + name: agent4 + start: [6, 5] +- goal: [6, 3] + name: agent5 + start: [2, 7] +- goal: [1, 0] + name: agent6 + start: [2, 3] +- goal: [5, 7] + name: agent7 + start: [0, 3] +- goal: [3, 3] + name: agent8 + start: [3, 3] +- goal: [5, 3] + name: agent9 + start: [5, 1] +- goal: [5, 2] + name: agent10 + start: [4, 7] +- goal: [2, 7] + name: agent11 + start: [0, 4] +- goal: [0, 4] + name: agent12 + start: [5, 7] +- goal: [4, 1] + name: agent13 + start: [5, 4] +- goal: [1, 1] + name: agent14 + start: [0, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 1] + - !!python/tuple [0, 5] + - !!python/tuple [6, 0] + - !!python/tuple [1, 3] + - !!python/tuple [2, 1] + - !!python/tuple [2, 6] + - !!python/tuple [0, 6] + - !!python/tuple [1, 5] + - !!python/tuple [4, 3] + - !!python/tuple [6, 1] + - !!python/tuple [7, 0] + - !!python/tuple [7, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex30.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex30.yaml new file mode 100644 index 0000000..840d43d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex30.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [2, 2] + name: agent0 + start: [1, 6] +- goal: [2, 3] + name: agent1 + start: [7, 6] +- goal: [2, 7] + name: agent2 + start: [3, 1] +- goal: [6, 7] + name: agent3 + start: [7, 0] +- goal: [2, 5] + name: agent4 + start: [4, 7] +- goal: [1, 3] + name: agent5 + start: [7, 3] +- goal: [5, 3] + name: agent6 + start: [5, 4] +- goal: [4, 0] + name: agent7 + start: [6, 3] +- goal: [7, 2] + name: agent8 + start: [2, 7] +- goal: [1, 0] + name: agent9 + start: [1, 4] +- goal: [2, 4] + name: agent10 + start: [5, 3] +- goal: [5, 2] + name: agent11 + start: [3, 2] +- goal: [3, 3] + name: agent12 + start: [4, 6] +- goal: [0, 3] + name: agent13 + start: [2, 3] +- goal: [1, 2] + name: agent14 + start: [0, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 7] + - !!python/tuple [4, 4] + - !!python/tuple [5, 7] + - !!python/tuple [0, 7] + - !!python/tuple [6, 4] + - !!python/tuple [2, 0] + - !!python/tuple [3, 0] + - !!python/tuple [0, 6] + - !!python/tuple [6, 5] + - !!python/tuple [0, 5] + - !!python/tuple [4, 5] + - !!python/tuple [0, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex31.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex31.yaml new file mode 100644 index 0000000..a0d6987 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex31.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [0, 3] + name: agent0 + start: [7, 1] +- goal: [7, 5] + name: agent1 + start: [6, 4] +- goal: [4, 4] + name: agent2 + start: [7, 4] +- goal: [5, 5] + name: agent3 + start: [1, 6] +- goal: [4, 5] + name: agent4 + start: [2, 3] +- goal: [4, 0] + name: agent5 + start: [0, 4] +- goal: [6, 3] + name: agent6 + start: [5, 2] +- goal: [1, 4] + name: agent7 + start: [1, 3] +- goal: [7, 4] + name: agent8 + start: [3, 6] +- goal: [2, 0] + name: agent9 + start: [3, 7] +- goal: [3, 3] + name: agent10 + start: [3, 0] +- goal: [3, 1] + name: agent11 + start: [3, 4] +- goal: [2, 5] + name: agent12 + start: [6, 7] +- goal: [0, 2] + name: agent13 + start: [5, 0] +- goal: [4, 3] + name: agent14 + start: [5, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 0] + - !!python/tuple [4, 1] + - !!python/tuple [2, 4] + - !!python/tuple [6, 5] + - !!python/tuple [7, 2] + - !!python/tuple [0, 0] + - !!python/tuple [5, 4] + - !!python/tuple [6, 2] + - !!python/tuple [1, 2] + - !!python/tuple [6, 1] + - !!python/tuple [0, 6] + - !!python/tuple [5, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex32.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex32.yaml new file mode 100644 index 0000000..8d710c5 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex32.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [4, 7] + name: agent0 + start: [1, 1] +- goal: [3, 3] + name: agent1 + start: [2, 2] +- goal: [5, 4] + name: agent2 + start: [6, 5] +- goal: [6, 2] + name: agent3 + start: [1, 4] +- goal: [7, 6] + name: agent4 + start: [7, 2] +- goal: [6, 6] + name: agent5 + start: [4, 5] +- goal: [5, 3] + name: agent6 + start: [0, 7] +- goal: [2, 2] + name: agent7 + start: [2, 1] +- goal: [2, 5] + name: agent8 + start: [7, 5] +- goal: [6, 1] + name: agent9 + start: [1, 7] +- goal: [7, 2] + name: agent10 + start: [2, 7] +- goal: [7, 4] + name: agent11 + start: [1, 0] +- goal: [4, 1] + name: agent12 + start: [2, 4] +- goal: [3, 6] + name: agent13 + start: [6, 2] +- goal: [0, 7] + name: agent14 + start: [2, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 2] + - !!python/tuple [1, 6] + - !!python/tuple [5, 7] + - !!python/tuple [4, 0] + - !!python/tuple [5, 1] + - !!python/tuple [3, 4] + - !!python/tuple [3, 0] + - !!python/tuple [0, 4] + - !!python/tuple [4, 2] + - !!python/tuple [4, 6] + - !!python/tuple [7, 3] + - !!python/tuple [7, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex33.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex33.yaml new file mode 100644 index 0000000..f42dec4 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex33.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [5, 2] + name: agent0 + start: [5, 3] +- goal: [0, 3] + name: agent1 + start: [0, 0] +- goal: [1, 3] + name: agent2 + start: [0, 2] +- goal: [1, 7] + name: agent3 + start: [0, 7] +- goal: [5, 7] + name: agent4 + start: [5, 5] +- goal: [0, 1] + name: agent5 + start: [3, 2] +- goal: [5, 4] + name: agent6 + start: [4, 6] +- goal: [1, 5] + name: agent7 + start: [4, 7] +- goal: [4, 7] + name: agent8 + start: [7, 2] +- goal: [1, 4] + name: agent9 + start: [4, 3] +- goal: [2, 3] + name: agent10 + start: [7, 6] +- goal: [3, 1] + name: agent11 + start: [7, 5] +- goal: [1, 1] + name: agent12 + start: [6, 3] +- goal: [2, 4] + name: agent13 + start: [2, 1] +- goal: [4, 1] + name: agent14 + start: [3, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 4] + - !!python/tuple [2, 2] + - !!python/tuple [7, 3] + - !!python/tuple [6, 0] + - !!python/tuple [0, 4] + - !!python/tuple [1, 6] + - !!python/tuple [3, 6] + - !!python/tuple [0, 6] + - !!python/tuple [6, 2] + - !!python/tuple [3, 0] + - !!python/tuple [0, 5] + - !!python/tuple [2, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex34.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex34.yaml new file mode 100644 index 0000000..b0f9269 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex34.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [6, 1] + name: agent0 + start: [4, 5] +- goal: [6, 0] + name: agent1 + start: [2, 1] +- goal: [3, 0] + name: agent2 + start: [5, 6] +- goal: [6, 6] + name: agent3 + start: [5, 7] +- goal: [6, 4] + name: agent4 + start: [1, 3] +- goal: [1, 5] + name: agent5 + start: [6, 7] +- goal: [3, 4] + name: agent6 + start: [3, 0] +- goal: [2, 1] + name: agent7 + start: [5, 4] +- goal: [3, 2] + name: agent8 + start: [1, 5] +- goal: [2, 6] + name: agent9 + start: [7, 3] +- goal: [7, 3] + name: agent10 + start: [6, 5] +- goal: [0, 7] + name: agent11 + start: [3, 1] +- goal: [5, 7] + name: agent12 + start: [5, 3] +- goal: [4, 2] + name: agent13 + start: [6, 4] +- goal: [5, 6] + name: agent14 + start: [7, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 5] + - !!python/tuple [7, 0] + - !!python/tuple [2, 3] + - !!python/tuple [4, 3] + - !!python/tuple [2, 7] + - !!python/tuple [5, 5] + - !!python/tuple [4, 1] + - !!python/tuple [1, 7] + - !!python/tuple [5, 2] + - !!python/tuple [2, 5] + - !!python/tuple [7, 2] + - !!python/tuple [0, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex35.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex35.yaml new file mode 100644 index 0000000..03ad01b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex35.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [0, 1] + name: agent0 + start: [3, 1] +- goal: [3, 3] + name: agent1 + start: [1, 2] +- goal: [2, 3] + name: agent2 + start: [3, 7] +- goal: [4, 5] + name: agent3 + start: [7, 4] +- goal: [5, 6] + name: agent4 + start: [7, 1] +- goal: [3, 7] + name: agent5 + start: [3, 2] +- goal: [7, 1] + name: agent6 + start: [4, 0] +- goal: [2, 2] + name: agent7 + start: [5, 1] +- goal: [4, 3] + name: agent8 + start: [2, 6] +- goal: [5, 3] + name: agent9 + start: [4, 3] +- goal: [5, 5] + name: agent10 + start: [4, 2] +- goal: [6, 6] + name: agent11 + start: [1, 0] +- goal: [2, 0] + name: agent12 + start: [0, 1] +- goal: [0, 0] + name: agent13 + start: [5, 2] +- goal: [6, 7] + name: agent14 + start: [4, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 0] + - !!python/tuple [6, 1] + - !!python/tuple [5, 7] + - !!python/tuple [0, 2] + - !!python/tuple [1, 3] + - !!python/tuple [4, 6] + - !!python/tuple [2, 7] + - !!python/tuple [3, 0] + - !!python/tuple [7, 6] + - !!python/tuple [6, 3] + - !!python/tuple [3, 4] + - !!python/tuple [1, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex36.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex36.yaml new file mode 100644 index 0000000..201d162 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex36.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [7, 6] + name: agent0 + start: [5, 0] +- goal: [4, 1] + name: agent1 + start: [0, 4] +- goal: [7, 5] + name: agent2 + start: [5, 3] +- goal: [0, 4] + name: agent3 + start: [5, 2] +- goal: [4, 7] + name: agent4 + start: [7, 2] +- goal: [4, 4] + name: agent5 + start: [4, 6] +- goal: [2, 3] + name: agent6 + start: [3, 4] +- goal: [0, 2] + name: agent7 + start: [7, 3] +- goal: [4, 3] + name: agent8 + start: [3, 7] +- goal: [4, 6] + name: agent9 + start: [6, 5] +- goal: [3, 0] + name: agent10 + start: [5, 4] +- goal: [6, 7] + name: agent11 + start: [0, 6] +- goal: [5, 0] + name: agent12 + start: [1, 7] +- goal: [3, 2] + name: agent13 + start: [3, 0] +- goal: [1, 4] + name: agent14 + start: [1, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 0] + - !!python/tuple [1, 6] + - !!python/tuple [6, 6] + - !!python/tuple [1, 5] + - !!python/tuple [2, 4] + - !!python/tuple [7, 1] + - !!python/tuple [6, 2] + - !!python/tuple [2, 1] + - !!python/tuple [2, 6] + - !!python/tuple [0, 1] + - !!python/tuple [1, 0] + - !!python/tuple [4, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex37.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex37.yaml new file mode 100644 index 0000000..123c71a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex37.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [1, 6] + name: agent0 + start: [7, 0] +- goal: [2, 1] + name: agent1 + start: [0, 4] +- goal: [6, 1] + name: agent2 + start: [3, 5] +- goal: [3, 4] + name: agent3 + start: [2, 7] +- goal: [2, 5] + name: agent4 + start: [0, 2] +- goal: [3, 7] + name: agent5 + start: [0, 5] +- goal: [1, 5] + name: agent6 + start: [7, 7] +- goal: [6, 5] + name: agent7 + start: [1, 5] +- goal: [7, 0] + name: agent8 + start: [4, 5] +- goal: [3, 1] + name: agent9 + start: [4, 2] +- goal: [3, 0] + name: agent10 + start: [6, 7] +- goal: [4, 6] + name: agent11 + start: [0, 3] +- goal: [5, 5] + name: agent12 + start: [5, 7] +- goal: [1, 0] + name: agent13 + start: [4, 1] +- goal: [5, 1] + name: agent14 + start: [6, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 2] + - !!python/tuple [7, 4] + - !!python/tuple [5, 6] + - !!python/tuple [4, 0] + - !!python/tuple [0, 6] + - !!python/tuple [7, 1] + - !!python/tuple [0, 7] + - !!python/tuple [4, 3] + - !!python/tuple [2, 6] + - !!python/tuple [0, 1] + - !!python/tuple [1, 3] + - !!python/tuple [2, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex38.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex38.yaml new file mode 100644 index 0000000..15ca0cc --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex38.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [4, 4] + name: agent0 + start: [2, 2] +- goal: [2, 5] + name: agent1 + start: [2, 0] +- goal: [4, 1] + name: agent2 + start: [7, 1] +- goal: [6, 1] + name: agent3 + start: [5, 1] +- goal: [3, 0] + name: agent4 + start: [7, 6] +- goal: [4, 6] + name: agent5 + start: [2, 1] +- goal: [6, 6] + name: agent6 + start: [6, 4] +- goal: [3, 1] + name: agent7 + start: [3, 3] +- goal: [5, 1] + name: agent8 + start: [0, 5] +- goal: [7, 3] + name: agent9 + start: [4, 2] +- goal: [3, 7] + name: agent10 + start: [4, 7] +- goal: [1, 4] + name: agent11 + start: [7, 4] +- goal: [2, 1] + name: agent12 + start: [1, 7] +- goal: [4, 0] + name: agent13 + start: [1, 4] +- goal: [3, 6] + name: agent14 + start: [2, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 0] + - !!python/tuple [5, 4] + - !!python/tuple [5, 6] + - !!python/tuple [3, 4] + - !!python/tuple [6, 3] + - !!python/tuple [6, 7] + - !!python/tuple [6, 0] + - !!python/tuple [2, 6] + - !!python/tuple [0, 0] + - !!python/tuple [2, 4] + - !!python/tuple [7, 5] + - !!python/tuple [7, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex39.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex39.yaml new file mode 100644 index 0000000..a13568a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex39.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [6, 6] + name: agent0 + start: [3, 1] +- goal: [4, 0] + name: agent1 + start: [1, 0] +- goal: [3, 4] + name: agent2 + start: [3, 3] +- goal: [1, 4] + name: agent3 + start: [5, 1] +- goal: [6, 0] + name: agent4 + start: [4, 1] +- goal: [0, 5] + name: agent5 + start: [5, 5] +- goal: [4, 7] + name: agent6 + start: [6, 6] +- goal: [0, 1] + name: agent7 + start: [7, 4] +- goal: [6, 1] + name: agent8 + start: [6, 1] +- goal: [4, 1] + name: agent9 + start: [7, 5] +- goal: [3, 0] + name: agent10 + start: [1, 5] +- goal: [2, 5] + name: agent11 + start: [5, 7] +- goal: [3, 5] + name: agent12 + start: [4, 4] +- goal: [7, 2] + name: agent13 + start: [0, 4] +- goal: [7, 5] + name: agent14 + start: [0, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 6] + - !!python/tuple [7, 0] + - !!python/tuple [0, 0] + - !!python/tuple [6, 2] + - !!python/tuple [3, 7] + - !!python/tuple [3, 6] + - !!python/tuple [1, 3] + - !!python/tuple [3, 2] + - !!python/tuple [7, 3] + - !!python/tuple [2, 0] + - !!python/tuple [1, 7] + - !!python/tuple [6, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex4.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex4.yaml new file mode 100644 index 0000000..43bc78c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex4.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [5, 4] + name: agent0 + start: [6, 1] +- goal: [3, 0] + name: agent1 + start: [7, 0] +- goal: [0, 1] + name: agent2 + start: [2, 4] +- goal: [6, 1] + name: agent3 + start: [2, 2] +- goal: [0, 3] + name: agent4 + start: [1, 0] +- goal: [4, 0] + name: agent5 + start: [5, 0] +- goal: [4, 4] + name: agent6 + start: [6, 4] +- goal: [2, 7] + name: agent7 + start: [3, 7] +- goal: [7, 7] + name: agent8 + start: [0, 3] +- goal: [3, 2] + name: agent9 + start: [7, 4] +- goal: [3, 4] + name: agent10 + start: [6, 6] +- goal: [2, 1] + name: agent11 + start: [5, 3] +- goal: [7, 0] + name: agent12 + start: [2, 1] +- goal: [7, 4] + name: agent13 + start: [7, 5] +- goal: [6, 0] + name: agent14 + start: [6, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 3] + - !!python/tuple [5, 5] + - !!python/tuple [2, 5] + - !!python/tuple [6, 3] + - !!python/tuple [4, 7] + - !!python/tuple [7, 1] + - !!python/tuple [1, 4] + - !!python/tuple [0, 5] + - !!python/tuple [0, 7] + - !!python/tuple [0, 6] + - !!python/tuple [1, 7] + - !!python/tuple [1, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex40.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex40.yaml new file mode 100644 index 0000000..90f8476 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex40.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [1, 2] + name: agent0 + start: [4, 0] +- goal: [1, 6] + name: agent1 + start: [3, 0] +- goal: [5, 2] + name: agent2 + start: [5, 3] +- goal: [0, 6] + name: agent3 + start: [7, 0] +- goal: [2, 7] + name: agent4 + start: [5, 1] +- goal: [7, 1] + name: agent5 + start: [0, 5] +- goal: [0, 5] + name: agent6 + start: [0, 0] +- goal: [1, 7] + name: agent7 + start: [3, 1] +- goal: [3, 2] + name: agent8 + start: [1, 4] +- goal: [5, 1] + name: agent9 + start: [1, 1] +- goal: [6, 3] + name: agent10 + start: [6, 7] +- goal: [3, 7] + name: agent11 + start: [0, 2] +- goal: [3, 1] + name: agent12 + start: [2, 3] +- goal: [2, 3] + name: agent13 + start: [0, 7] +- goal: [6, 2] + name: agent14 + start: [2, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 5] + - !!python/tuple [5, 7] + - !!python/tuple [2, 5] + - !!python/tuple [5, 4] + - !!python/tuple [4, 1] + - !!python/tuple [2, 6] + - !!python/tuple [0, 4] + - !!python/tuple [7, 5] + - !!python/tuple [3, 6] + - !!python/tuple [5, 0] + - !!python/tuple [7, 4] + - !!python/tuple [4, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex41.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex41.yaml new file mode 100644 index 0000000..fd46e24 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex41.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [1, 2] + name: agent0 + start: [2, 7] +- goal: [6, 7] + name: agent1 + start: [5, 5] +- goal: [1, 0] + name: agent2 + start: [6, 3] +- goal: [1, 6] + name: agent3 + start: [1, 0] +- goal: [5, 1] + name: agent4 + start: [1, 4] +- goal: [6, 5] + name: agent5 + start: [3, 6] +- goal: [1, 7] + name: agent6 + start: [7, 5] +- goal: [3, 7] + name: agent7 + start: [0, 5] +- goal: [7, 3] + name: agent8 + start: [6, 0] +- goal: [0, 5] + name: agent9 + start: [6, 2] +- goal: [6, 6] + name: agent10 + start: [6, 6] +- goal: [6, 3] + name: agent11 + start: [1, 5] +- goal: [7, 6] + name: agent12 + start: [1, 3] +- goal: [3, 0] + name: agent13 + start: [2, 2] +- goal: [5, 2] + name: agent14 + start: [7, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 4] + - !!python/tuple [2, 1] + - !!python/tuple [3, 5] + - !!python/tuple [0, 6] + - !!python/tuple [3, 3] + - !!python/tuple [6, 1] + - !!python/tuple [3, 2] + - !!python/tuple [4, 5] + - !!python/tuple [7, 0] + - !!python/tuple [3, 1] + - !!python/tuple [7, 4] + - !!python/tuple [4, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex42.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex42.yaml new file mode 100644 index 0000000..f2cb683 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex42.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [6, 7] + name: agent0 + start: [6, 3] +- goal: [0, 5] + name: agent1 + start: [0, 4] +- goal: [5, 1] + name: agent2 + start: [1, 4] +- goal: [7, 1] + name: agent3 + start: [4, 0] +- goal: [6, 1] + name: agent4 + start: [3, 2] +- goal: [7, 0] + name: agent5 + start: [4, 2] +- goal: [2, 6] + name: agent6 + start: [4, 5] +- goal: [3, 0] + name: agent7 + start: [4, 3] +- goal: [2, 2] + name: agent8 + start: [7, 6] +- goal: [0, 7] + name: agent9 + start: [1, 1] +- goal: [4, 7] + name: agent10 + start: [6, 7] +- goal: [6, 0] + name: agent11 + start: [7, 0] +- goal: [6, 4] + name: agent12 + start: [1, 2] +- goal: [3, 2] + name: agent13 + start: [2, 2] +- goal: [0, 6] + name: agent14 + start: [3, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 2] + - !!python/tuple [5, 7] + - !!python/tuple [6, 5] + - !!python/tuple [3, 3] + - !!python/tuple [2, 4] + - !!python/tuple [6, 6] + - !!python/tuple [5, 4] + - !!python/tuple [2, 3] + - !!python/tuple [5, 2] + - !!python/tuple [0, 1] + - !!python/tuple [5, 0] + - !!python/tuple [1, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex43.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex43.yaml new file mode 100644 index 0000000..bf7ffe5 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex43.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [5, 4] + name: agent0 + start: [1, 4] +- goal: [2, 3] + name: agent1 + start: [3, 6] +- goal: [1, 0] + name: agent2 + start: [2, 0] +- goal: [2, 7] + name: agent3 + start: [4, 4] +- goal: [2, 5] + name: agent4 + start: [5, 4] +- goal: [7, 5] + name: agent5 + start: [6, 5] +- goal: [5, 5] + name: agent6 + start: [2, 2] +- goal: [7, 1] + name: agent7 + start: [5, 3] +- goal: [1, 2] + name: agent8 + start: [5, 0] +- goal: [6, 1] + name: agent9 + start: [7, 6] +- goal: [3, 4] + name: agent10 + start: [6, 6] +- goal: [3, 3] + name: agent11 + start: [1, 2] +- goal: [5, 1] + name: agent12 + start: [5, 1] +- goal: [1, 4] + name: agent13 + start: [1, 7] +- goal: [4, 1] + name: agent14 + start: [4, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 7] + - !!python/tuple [4, 5] + - !!python/tuple [4, 6] + - !!python/tuple [7, 2] + - !!python/tuple [0, 7] + - !!python/tuple [3, 2] + - !!python/tuple [4, 2] + - !!python/tuple [7, 4] + - !!python/tuple [6, 3] + - !!python/tuple [7, 0] + - !!python/tuple [5, 2] + - !!python/tuple [1, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex44.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex44.yaml new file mode 100644 index 0000000..4aeecf4 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex44.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [5, 1] + name: agent0 + start: [2, 7] +- goal: [0, 6] + name: agent1 + start: [5, 0] +- goal: [3, 3] + name: agent2 + start: [0, 7] +- goal: [3, 0] + name: agent3 + start: [6, 3] +- goal: [0, 4] + name: agent4 + start: [7, 6] +- goal: [6, 4] + name: agent5 + start: [2, 6] +- goal: [1, 5] + name: agent6 + start: [3, 3] +- goal: [6, 3] + name: agent7 + start: [7, 1] +- goal: [6, 7] + name: agent8 + start: [6, 2] +- goal: [2, 2] + name: agent9 + start: [2, 5] +- goal: [7, 6] + name: agent10 + start: [3, 1] +- goal: [5, 2] + name: agent11 + start: [4, 3] +- goal: [4, 3] + name: agent12 + start: [3, 6] +- goal: [4, 0] + name: agent13 + start: [4, 0] +- goal: [2, 3] + name: agent14 + start: [2, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 2] + - !!python/tuple [3, 2] + - !!python/tuple [1, 0] + - !!python/tuple [5, 7] + - !!python/tuple [1, 4] + - !!python/tuple [0, 1] + - !!python/tuple [5, 6] + - !!python/tuple [4, 5] + - !!python/tuple [1, 2] + - !!python/tuple [4, 6] + - !!python/tuple [7, 3] + - !!python/tuple [1, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex45.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex45.yaml new file mode 100644 index 0000000..0daf6a5 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex45.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [0, 3] + name: agent0 + start: [1, 5] +- goal: [2, 5] + name: agent1 + start: [4, 6] +- goal: [6, 5] + name: agent2 + start: [3, 6] +- goal: [5, 3] + name: agent3 + start: [2, 4] +- goal: [7, 0] + name: agent4 + start: [0, 6] +- goal: [7, 7] + name: agent5 + start: [4, 0] +- goal: [3, 1] + name: agent6 + start: [1, 3] +- goal: [4, 5] + name: agent7 + start: [1, 2] +- goal: [4, 7] + name: agent8 + start: [4, 7] +- goal: [5, 7] + name: agent9 + start: [6, 7] +- goal: [5, 4] + name: agent10 + start: [1, 0] +- goal: [3, 7] + name: agent11 + start: [4, 5] +- goal: [2, 3] + name: agent12 + start: [7, 1] +- goal: [4, 6] + name: agent13 + start: [4, 1] +- goal: [2, 0] + name: agent14 + start: [1, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 2] + - !!python/tuple [0, 7] + - !!python/tuple [3, 2] + - !!python/tuple [7, 2] + - !!python/tuple [5, 5] + - !!python/tuple [6, 4] + - !!python/tuple [1, 1] + - !!python/tuple [2, 6] + - !!python/tuple [7, 6] + - !!python/tuple [3, 3] + - !!python/tuple [0, 4] + - !!python/tuple [5, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex46.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex46.yaml new file mode 100644 index 0000000..eb8c12b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex46.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [5, 2] + name: agent0 + start: [1, 7] +- goal: [0, 0] + name: agent1 + start: [0, 2] +- goal: [7, 2] + name: agent2 + start: [3, 5] +- goal: [6, 7] + name: agent3 + start: [3, 2] +- goal: [6, 4] + name: agent4 + start: [7, 5] +- goal: [3, 2] + name: agent5 + start: [0, 0] +- goal: [1, 4] + name: agent6 + start: [7, 7] +- goal: [6, 3] + name: agent7 + start: [5, 2] +- goal: [5, 1] + name: agent8 + start: [1, 3] +- goal: [2, 7] + name: agent9 + start: [1, 5] +- goal: [4, 7] + name: agent10 + start: [4, 3] +- goal: [4, 5] + name: agent11 + start: [1, 0] +- goal: [4, 6] + name: agent12 + start: [3, 4] +- goal: [4, 4] + name: agent13 + start: [0, 7] +- goal: [5, 0] + name: agent14 + start: [4, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 3] + - !!python/tuple [4, 2] + - !!python/tuple [3, 0] + - !!python/tuple [1, 2] + - !!python/tuple [0, 5] + - !!python/tuple [5, 3] + - !!python/tuple [2, 4] + - !!python/tuple [3, 7] + - !!python/tuple [7, 4] + - !!python/tuple [6, 2] + - !!python/tuple [5, 4] + - !!python/tuple [0, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex47.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex47.yaml new file mode 100644 index 0000000..c4bb35d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex47.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [5, 4] + name: agent0 + start: [1, 5] +- goal: [6, 7] + name: agent1 + start: [3, 4] +- goal: [2, 0] + name: agent2 + start: [3, 0] +- goal: [6, 0] + name: agent3 + start: [6, 3] +- goal: [3, 4] + name: agent4 + start: [6, 5] +- goal: [6, 2] + name: agent5 + start: [7, 4] +- goal: [1, 5] + name: agent6 + start: [2, 1] +- goal: [5, 0] + name: agent7 + start: [0, 4] +- goal: [1, 3] + name: agent8 + start: [3, 5] +- goal: [5, 5] + name: agent9 + start: [1, 3] +- goal: [0, 3] + name: agent10 + start: [5, 4] +- goal: [4, 2] + name: agent11 + start: [6, 1] +- goal: [4, 1] + name: agent12 + start: [7, 2] +- goal: [3, 0] + name: agent13 + start: [1, 1] +- goal: [1, 4] + name: agent14 + start: [7, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 0] + - !!python/tuple [4, 3] + - !!python/tuple [0, 6] + - !!python/tuple [3, 6] + - !!python/tuple [0, 1] + - !!python/tuple [2, 2] + - !!python/tuple [2, 3] + - !!python/tuple [4, 4] + - !!python/tuple [5, 1] + - !!python/tuple [4, 7] + - !!python/tuple [5, 2] + - !!python/tuple [7, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex48.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex48.yaml new file mode 100644 index 0000000..35bfe83 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex48.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [5, 5] + name: agent0 + start: [1, 6] +- goal: [6, 4] + name: agent1 + start: [3, 1] +- goal: [5, 6] + name: agent2 + start: [2, 2] +- goal: [5, 4] + name: agent3 + start: [3, 0] +- goal: [5, 2] + name: agent4 + start: [0, 5] +- goal: [3, 6] + name: agent5 + start: [7, 4] +- goal: [1, 4] + name: agent6 + start: [2, 1] +- goal: [1, 0] + name: agent7 + start: [2, 5] +- goal: [3, 3] + name: agent8 + start: [1, 0] +- goal: [6, 0] + name: agent9 + start: [7, 3] +- goal: [6, 5] + name: agent10 + start: [3, 3] +- goal: [3, 4] + name: agent11 + start: [5, 2] +- goal: [4, 1] + name: agent12 + start: [7, 2] +- goal: [2, 0] + name: agent13 + start: [4, 4] +- goal: [0, 0] + name: agent14 + start: [6, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 7] + - !!python/tuple [0, 7] + - !!python/tuple [7, 6] + - !!python/tuple [2, 6] + - !!python/tuple [5, 0] + - !!python/tuple [7, 0] + - !!python/tuple [3, 5] + - !!python/tuple [1, 2] + - !!python/tuple [0, 6] + - !!python/tuple [6, 6] + - !!python/tuple [2, 4] + - !!python/tuple [7, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex49.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex49.yaml new file mode 100644 index 0000000..7c3c9aa --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex49.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [7, 2] + name: agent0 + start: [1, 4] +- goal: [5, 1] + name: agent1 + start: [7, 0] +- goal: [1, 0] + name: agent2 + start: [3, 7] +- goal: [4, 6] + name: agent3 + start: [4, 6] +- goal: [6, 4] + name: agent4 + start: [3, 0] +- goal: [4, 3] + name: agent5 + start: [0, 4] +- goal: [6, 1] + name: agent6 + start: [7, 3] +- goal: [3, 1] + name: agent7 + start: [4, 1] +- goal: [4, 1] + name: agent8 + start: [6, 5] +- goal: [5, 3] + name: agent9 + start: [4, 4] +- goal: [2, 4] + name: agent10 + start: [6, 0] +- goal: [0, 3] + name: agent11 + start: [7, 2] +- goal: [0, 1] + name: agent12 + start: [0, 3] +- goal: [1, 1] + name: agent13 + start: [6, 1] +- goal: [4, 4] + name: agent14 + start: [6, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 7] + - !!python/tuple [3, 3] + - !!python/tuple [2, 7] + - !!python/tuple [4, 7] + - !!python/tuple [1, 2] + - !!python/tuple [0, 0] + - !!python/tuple [3, 4] + - !!python/tuple [4, 5] + - !!python/tuple [3, 5] + - !!python/tuple [5, 2] + - !!python/tuple [2, 2] + - !!python/tuple [2, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex5.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex5.yaml new file mode 100644 index 0000000..5a6f194 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex5.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [6, 1] + name: agent0 + start: [1, 6] +- goal: [0, 1] + name: agent1 + start: [5, 0] +- goal: [3, 4] + name: agent2 + start: [6, 5] +- goal: [3, 2] + name: agent3 + start: [3, 7] +- goal: [0, 4] + name: agent4 + start: [0, 7] +- goal: [3, 5] + name: agent5 + start: [7, 7] +- goal: [7, 1] + name: agent6 + start: [3, 4] +- goal: [1, 2] + name: agent7 + start: [4, 1] +- goal: [7, 4] + name: agent8 + start: [0, 1] +- goal: [2, 3] + name: agent9 + start: [1, 5] +- goal: [0, 7] + name: agent10 + start: [3, 2] +- goal: [0, 3] + name: agent11 + start: [4, 7] +- goal: [2, 2] + name: agent12 + start: [6, 0] +- goal: [5, 0] + name: agent13 + start: [5, 6] +- goal: [7, 5] + name: agent14 + start: [2, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 5] + - !!python/tuple [1, 7] + - !!python/tuple [2, 7] + - !!python/tuple [4, 6] + - !!python/tuple [2, 6] + - !!python/tuple [3, 6] + - !!python/tuple [5, 2] + - !!python/tuple [6, 4] + - !!python/tuple [4, 3] + - !!python/tuple [4, 4] + - !!python/tuple [0, 0] + - !!python/tuple [1, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex50.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex50.yaml new file mode 100644 index 0000000..d7b6bb9 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex50.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [7, 2] + name: agent0 + start: [4, 2] +- goal: [6, 7] + name: agent1 + start: [2, 3] +- goal: [0, 5] + name: agent2 + start: [1, 2] +- goal: [2, 2] + name: agent3 + start: [1, 1] +- goal: [3, 6] + name: agent4 + start: [1, 5] +- goal: [5, 1] + name: agent5 + start: [2, 1] +- goal: [0, 1] + name: agent6 + start: [6, 2] +- goal: [4, 1] + name: agent7 + start: [4, 1] +- goal: [1, 3] + name: agent8 + start: [3, 2] +- goal: [5, 5] + name: agent9 + start: [7, 0] +- goal: [2, 3] + name: agent10 + start: [2, 7] +- goal: [1, 5] + name: agent11 + start: [5, 0] +- goal: [3, 2] + name: agent12 + start: [4, 5] +- goal: [5, 3] + name: agent13 + start: [3, 1] +- goal: [2, 4] + name: agent14 + start: [2, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 4] + - !!python/tuple [6, 4] + - !!python/tuple [6, 5] + - !!python/tuple [1, 4] + - !!python/tuple [7, 6] + - !!python/tuple [1, 6] + - !!python/tuple [1, 0] + - !!python/tuple [6, 6] + - !!python/tuple [0, 6] + - !!python/tuple [7, 5] + - !!python/tuple [4, 7] + - !!python/tuple [1, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex51.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex51.yaml new file mode 100644 index 0000000..48c167e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex51.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [0, 2] + name: agent0 + start: [6, 7] +- goal: [3, 4] + name: agent1 + start: [3, 2] +- goal: [2, 1] + name: agent2 + start: [1, 2] +- goal: [4, 2] + name: agent3 + start: [5, 6] +- goal: [7, 3] + name: agent4 + start: [3, 6] +- goal: [3, 2] + name: agent5 + start: [6, 0] +- goal: [1, 2] + name: agent6 + start: [4, 0] +- goal: [5, 3] + name: agent7 + start: [0, 2] +- goal: [1, 7] + name: agent8 + start: [3, 4] +- goal: [5, 0] + name: agent9 + start: [2, 6] +- goal: [2, 4] + name: agent10 + start: [5, 0] +- goal: [4, 5] + name: agent11 + start: [2, 2] +- goal: [4, 1] + name: agent12 + start: [6, 5] +- goal: [4, 4] + name: agent13 + start: [7, 3] +- goal: [4, 3] + name: agent14 + start: [5, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 3] + - !!python/tuple [1, 0] + - !!python/tuple [0, 1] + - !!python/tuple [3, 0] + - !!python/tuple [7, 2] + - !!python/tuple [4, 6] + - !!python/tuple [0, 6] + - !!python/tuple [0, 4] + - !!python/tuple [6, 4] + - !!python/tuple [0, 0] + - !!python/tuple [6, 3] + - !!python/tuple [1, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex52.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex52.yaml new file mode 100644 index 0000000..11dcc57 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex52.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [5, 0] + name: agent0 + start: [0, 7] +- goal: [1, 1] + name: agent1 + start: [2, 0] +- goal: [4, 3] + name: agent2 + start: [2, 4] +- goal: [6, 1] + name: agent3 + start: [3, 6] +- goal: [6, 7] + name: agent4 + start: [1, 0] +- goal: [2, 7] + name: agent5 + start: [0, 2] +- goal: [3, 5] + name: agent6 + start: [3, 4] +- goal: [5, 3] + name: agent7 + start: [5, 3] +- goal: [0, 0] + name: agent8 + start: [7, 6] +- goal: [3, 2] + name: agent9 + start: [4, 6] +- goal: [5, 6] + name: agent10 + start: [0, 6] +- goal: [1, 5] + name: agent11 + start: [5, 5] +- goal: [7, 4] + name: agent12 + start: [1, 2] +- goal: [1, 4] + name: agent13 + start: [4, 4] +- goal: [3, 6] + name: agent14 + start: [7, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 0] + - !!python/tuple [4, 1] + - !!python/tuple [7, 1] + - !!python/tuple [2, 6] + - !!python/tuple [7, 2] + - !!python/tuple [0, 1] + - !!python/tuple [6, 4] + - !!python/tuple [3, 0] + - !!python/tuple [3, 7] + - !!python/tuple [4, 5] + - !!python/tuple [5, 2] + - !!python/tuple [6, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex53.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex53.yaml new file mode 100644 index 0000000..bb9f74c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex53.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [3, 7] + name: agent0 + start: [5, 1] +- goal: [1, 7] + name: agent1 + start: [3, 3] +- goal: [1, 3] + name: agent2 + start: [7, 6] +- goal: [4, 3] + name: agent3 + start: [3, 1] +- goal: [3, 1] + name: agent4 + start: [5, 3] +- goal: [5, 7] + name: agent5 + start: [4, 0] +- goal: [5, 1] + name: agent6 + start: [0, 1] +- goal: [4, 6] + name: agent7 + start: [2, 3] +- goal: [1, 0] + name: agent8 + start: [2, 6] +- goal: [4, 1] + name: agent9 + start: [1, 5] +- goal: [6, 6] + name: agent10 + start: [5, 6] +- goal: [5, 4] + name: agent11 + start: [2, 1] +- goal: [6, 5] + name: agent12 + start: [0, 5] +- goal: [1, 2] + name: agent13 + start: [2, 5] +- goal: [2, 6] + name: agent14 + start: [3, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 2] + - !!python/tuple [3, 0] + - !!python/tuple [0, 4] + - !!python/tuple [2, 7] + - !!python/tuple [4, 4] + - !!python/tuple [0, 0] + - !!python/tuple [0, 7] + - !!python/tuple [6, 2] + - !!python/tuple [4, 7] + - !!python/tuple [7, 2] + - !!python/tuple [6, 3] + - !!python/tuple [5, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex54.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex54.yaml new file mode 100644 index 0000000..6686b5f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex54.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [7, 5] + name: agent0 + start: [2, 4] +- goal: [1, 2] + name: agent1 + start: [1, 2] +- goal: [7, 7] + name: agent2 + start: [6, 3] +- goal: [4, 0] + name: agent3 + start: [3, 6] +- goal: [4, 1] + name: agent4 + start: [1, 1] +- goal: [4, 5] + name: agent5 + start: [0, 2] +- goal: [7, 2] + name: agent6 + start: [3, 1] +- goal: [6, 0] + name: agent7 + start: [4, 4] +- goal: [3, 5] + name: agent8 + start: [1, 3] +- goal: [7, 6] + name: agent9 + start: [5, 4] +- goal: [3, 4] + name: agent10 + start: [6, 2] +- goal: [0, 4] + name: agent11 + start: [7, 1] +- goal: [2, 0] + name: agent12 + start: [5, 7] +- goal: [6, 4] + name: agent13 + start: [7, 0] +- goal: [2, 6] + name: agent14 + start: [5, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 3] + - !!python/tuple [0, 0] + - !!python/tuple [1, 4] + - !!python/tuple [2, 7] + - !!python/tuple [5, 2] + - !!python/tuple [4, 6] + - !!python/tuple [3, 3] + - !!python/tuple [0, 5] + - !!python/tuple [6, 6] + - !!python/tuple [3, 0] + - !!python/tuple [4, 3] + - !!python/tuple [6, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex55.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex55.yaml new file mode 100644 index 0000000..95bfe42 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex55.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [6, 0] + name: agent0 + start: [7, 3] +- goal: [0, 4] + name: agent1 + start: [5, 3] +- goal: [7, 1] + name: agent2 + start: [7, 6] +- goal: [0, 1] + name: agent3 + start: [0, 7] +- goal: [5, 0] + name: agent4 + start: [0, 5] +- goal: [4, 3] + name: agent5 + start: [2, 4] +- goal: [0, 5] + name: agent6 + start: [6, 2] +- goal: [5, 2] + name: agent7 + start: [1, 2] +- goal: [5, 3] + name: agent8 + start: [0, 6] +- goal: [1, 1] + name: agent9 + start: [2, 0] +- goal: [1, 5] + name: agent10 + start: [6, 4] +- goal: [6, 5] + name: agent11 + start: [1, 7] +- goal: [6, 6] + name: agent12 + start: [4, 6] +- goal: [6, 2] + name: agent13 + start: [3, 4] +- goal: [2, 7] + name: agent14 + start: [4, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 4] + - !!python/tuple [3, 7] + - !!python/tuple [2, 3] + - !!python/tuple [5, 4] + - !!python/tuple [0, 3] + - !!python/tuple [2, 2] + - !!python/tuple [1, 3] + - !!python/tuple [7, 0] + - !!python/tuple [4, 1] + - !!python/tuple [2, 5] + - !!python/tuple [5, 6] + - !!python/tuple [1, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex56.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex56.yaml new file mode 100644 index 0000000..55e1d60 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex56.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [7, 7] + name: agent0 + start: [0, 5] +- goal: [6, 1] + name: agent1 + start: [2, 7] +- goal: [7, 3] + name: agent2 + start: [7, 0] +- goal: [4, 7] + name: agent3 + start: [7, 4] +- goal: [1, 5] + name: agent4 + start: [2, 3] +- goal: [3, 2] + name: agent5 + start: [3, 1] +- goal: [5, 7] + name: agent6 + start: [2, 1] +- goal: [6, 3] + name: agent7 + start: [7, 5] +- goal: [0, 0] + name: agent8 + start: [4, 2] +- goal: [3, 3] + name: agent9 + start: [0, 2] +- goal: [5, 0] + name: agent10 + start: [1, 2] +- goal: [3, 6] + name: agent11 + start: [4, 7] +- goal: [7, 6] + name: agent12 + start: [3, 7] +- goal: [6, 4] + name: agent13 + start: [6, 2] +- goal: [1, 4] + name: agent14 + start: [7, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 6] + - !!python/tuple [0, 6] + - !!python/tuple [5, 1] + - !!python/tuple [2, 4] + - !!python/tuple [4, 0] + - !!python/tuple [1, 7] + - !!python/tuple [1, 1] + - !!python/tuple [6, 5] + - !!python/tuple [4, 5] + - !!python/tuple [4, 4] + - !!python/tuple [5, 3] + - !!python/tuple [5, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex57.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex57.yaml new file mode 100644 index 0000000..74d7710 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex57.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [7, 2] + name: agent0 + start: [2, 4] +- goal: [2, 4] + name: agent1 + start: [5, 1] +- goal: [2, 3] + name: agent2 + start: [2, 3] +- goal: [3, 1] + name: agent3 + start: [2, 0] +- goal: [5, 4] + name: agent4 + start: [6, 2] +- goal: [4, 4] + name: agent5 + start: [7, 2] +- goal: [0, 4] + name: agent6 + start: [4, 6] +- goal: [1, 5] + name: agent7 + start: [3, 4] +- goal: [4, 7] + name: agent8 + start: [7, 3] +- goal: [2, 0] + name: agent9 + start: [2, 1] +- goal: [7, 1] + name: agent10 + start: [0, 3] +- goal: [4, 3] + name: agent11 + start: [3, 5] +- goal: [2, 5] + name: agent12 + start: [5, 6] +- goal: [0, 7] + name: agent13 + start: [4, 7] +- goal: [6, 5] + name: agent14 + start: [7, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 1] + - !!python/tuple [7, 5] + - !!python/tuple [7, 0] + - !!python/tuple [3, 7] + - !!python/tuple [1, 4] + - !!python/tuple [4, 0] + - !!python/tuple [1, 6] + - !!python/tuple [5, 7] + - !!python/tuple [5, 2] + - !!python/tuple [0, 6] + - !!python/tuple [7, 4] + - !!python/tuple [5, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex58.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex58.yaml new file mode 100644 index 0000000..f4e665b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex58.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [3, 2] + name: agent0 + start: [7, 1] +- goal: [6, 2] + name: agent1 + start: [7, 5] +- goal: [6, 5] + name: agent2 + start: [6, 2] +- goal: [7, 1] + name: agent3 + start: [6, 4] +- goal: [7, 4] + name: agent4 + start: [2, 0] +- goal: [7, 3] + name: agent5 + start: [0, 1] +- goal: [7, 5] + name: agent6 + start: [3, 6] +- goal: [3, 3] + name: agent7 + start: [6, 7] +- goal: [5, 7] + name: agent8 + start: [6, 0] +- goal: [1, 1] + name: agent9 + start: [7, 7] +- goal: [1, 4] + name: agent10 + start: [4, 7] +- goal: [6, 7] + name: agent11 + start: [4, 1] +- goal: [3, 0] + name: agent12 + start: [5, 3] +- goal: [5, 0] + name: agent13 + start: [5, 7] +- goal: [5, 6] + name: agent14 + start: [3, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 2] + - !!python/tuple [4, 3] + - !!python/tuple [0, 2] + - !!python/tuple [7, 6] + - !!python/tuple [2, 3] + - !!python/tuple [5, 4] + - !!python/tuple [5, 5] + - !!python/tuple [0, 3] + - !!python/tuple [0, 4] + - !!python/tuple [0, 6] + - !!python/tuple [2, 7] + - !!python/tuple [1, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex59.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex59.yaml new file mode 100644 index 0000000..832be81 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex59.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [2, 6] + name: agent0 + start: [4, 5] +- goal: [5, 6] + name: agent1 + start: [3, 7] +- goal: [7, 6] + name: agent2 + start: [7, 1] +- goal: [0, 7] + name: agent3 + start: [5, 5] +- goal: [2, 5] + name: agent4 + start: [5, 4] +- goal: [3, 4] + name: agent5 + start: [4, 4] +- goal: [0, 1] + name: agent6 + start: [7, 6] +- goal: [7, 3] + name: agent7 + start: [7, 0] +- goal: [4, 1] + name: agent8 + start: [7, 3] +- goal: [4, 4] + name: agent9 + start: [2, 2] +- goal: [1, 2] + name: agent10 + start: [2, 5] +- goal: [5, 4] + name: agent11 + start: [2, 4] +- goal: [1, 5] + name: agent12 + start: [1, 1] +- goal: [4, 6] + name: agent13 + start: [6, 3] +- goal: [6, 5] + name: agent14 + start: [5, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 6] + - !!python/tuple [2, 0] + - !!python/tuple [2, 7] + - !!python/tuple [6, 1] + - !!python/tuple [1, 7] + - !!python/tuple [6, 6] + - !!python/tuple [4, 0] + - !!python/tuple [7, 5] + - !!python/tuple [3, 2] + - !!python/tuple [0, 4] + - !!python/tuple [3, 5] + - !!python/tuple [6, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex6.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex6.yaml new file mode 100644 index 0000000..6f9026b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex6.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [0, 5] + name: agent0 + start: [0, 1] +- goal: [7, 7] + name: agent1 + start: [0, 5] +- goal: [3, 2] + name: agent2 + start: [3, 2] +- goal: [5, 3] + name: agent3 + start: [3, 0] +- goal: [7, 1] + name: agent4 + start: [0, 0] +- goal: [7, 5] + name: agent5 + start: [1, 3] +- goal: [4, 3] + name: agent6 + start: [7, 4] +- goal: [7, 3] + name: agent7 + start: [3, 4] +- goal: [7, 6] + name: agent8 + start: [6, 5] +- goal: [0, 2] + name: agent9 + start: [1, 1] +- goal: [3, 0] + name: agent10 + start: [3, 6] +- goal: [3, 1] + name: agent11 + start: [2, 1] +- goal: [2, 2] + name: agent12 + start: [1, 7] +- goal: [4, 6] + name: agent13 + start: [4, 2] +- goal: [4, 1] + name: agent14 + start: [7, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 6] + - !!python/tuple [5, 2] + - !!python/tuple [2, 3] + - !!python/tuple [1, 4] + - !!python/tuple [2, 7] + - !!python/tuple [0, 4] + - !!python/tuple [4, 7] + - !!python/tuple [1, 6] + - !!python/tuple [7, 2] + - !!python/tuple [1, 2] + - !!python/tuple [5, 5] + - !!python/tuple [4, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex60.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex60.yaml new file mode 100644 index 0000000..b3fa005 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex60.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [5, 6] + name: agent0 + start: [0, 7] +- goal: [3, 0] + name: agent1 + start: [3, 7] +- goal: [5, 7] + name: agent2 + start: [1, 5] +- goal: [3, 7] + name: agent3 + start: [2, 1] +- goal: [4, 3] + name: agent4 + start: [6, 4] +- goal: [4, 4] + name: agent5 + start: [1, 7] +- goal: [2, 0] + name: agent6 + start: [3, 2] +- goal: [2, 6] + name: agent7 + start: [7, 2] +- goal: [1, 1] + name: agent8 + start: [4, 1] +- goal: [3, 2] + name: agent9 + start: [1, 2] +- goal: [7, 4] + name: agent10 + start: [1, 1] +- goal: [2, 1] + name: agent11 + start: [0, 2] +- goal: [5, 0] + name: agent12 + start: [2, 3] +- goal: [6, 4] + name: agent13 + start: [3, 5] +- goal: [5, 1] + name: agent14 + start: [4, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 2] + - !!python/tuple [2, 2] + - !!python/tuple [6, 0] + - !!python/tuple [7, 0] + - !!python/tuple [0, 3] + - !!python/tuple [4, 7] + - !!python/tuple [1, 6] + - !!python/tuple [3, 3] + - !!python/tuple [3, 1] + - !!python/tuple [3, 4] + - !!python/tuple [0, 1] + - !!python/tuple [0, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex61.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex61.yaml new file mode 100644 index 0000000..49f28a7 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex61.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [3, 1] + name: agent0 + start: [3, 4] +- goal: [7, 5] + name: agent1 + start: [4, 4] +- goal: [6, 7] + name: agent2 + start: [4, 3] +- goal: [3, 0] + name: agent3 + start: [4, 0] +- goal: [1, 1] + name: agent4 + start: [4, 1] +- goal: [1, 0] + name: agent5 + start: [0, 2] +- goal: [4, 3] + name: agent6 + start: [1, 5] +- goal: [4, 4] + name: agent7 + start: [7, 7] +- goal: [4, 7] + name: agent8 + start: [3, 1] +- goal: [1, 4] + name: agent9 + start: [2, 3] +- goal: [2, 5] + name: agent10 + start: [1, 7] +- goal: [4, 0] + name: agent11 + start: [0, 1] +- goal: [0, 6] + name: agent12 + start: [4, 2] +- goal: [0, 1] + name: agent13 + start: [2, 5] +- goal: [6, 5] + name: agent14 + start: [5, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 7] + - !!python/tuple [7, 4] + - !!python/tuple [3, 2] + - !!python/tuple [7, 1] + - !!python/tuple [7, 2] + - !!python/tuple [0, 7] + - !!python/tuple [0, 0] + - !!python/tuple [2, 4] + - !!python/tuple [0, 3] + - !!python/tuple [0, 4] + - !!python/tuple [3, 6] + - !!python/tuple [1, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex62.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex62.yaml new file mode 100644 index 0000000..7bc3e65 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex62.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [7, 0] + name: agent0 + start: [5, 3] +- goal: [1, 5] + name: agent1 + start: [1, 2] +- goal: [4, 0] + name: agent2 + start: [7, 6] +- goal: [0, 0] + name: agent3 + start: [2, 2] +- goal: [3, 7] + name: agent4 + start: [0, 6] +- goal: [5, 3] + name: agent5 + start: [5, 4] +- goal: [6, 7] + name: agent6 + start: [2, 0] +- goal: [7, 1] + name: agent7 + start: [0, 5] +- goal: [4, 4] + name: agent8 + start: [4, 0] +- goal: [5, 1] + name: agent9 + start: [3, 5] +- goal: [4, 6] + name: agent10 + start: [1, 3] +- goal: [6, 6] + name: agent11 + start: [0, 2] +- goal: [0, 2] + name: agent12 + start: [6, 0] +- goal: [1, 6] + name: agent13 + start: [7, 4] +- goal: [6, 2] + name: agent14 + start: [3, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 5] + - !!python/tuple [1, 0] + - !!python/tuple [7, 7] + - !!python/tuple [0, 7] + - !!python/tuple [2, 3] + - !!python/tuple [3, 2] + - !!python/tuple [2, 4] + - !!python/tuple [5, 0] + - !!python/tuple [6, 4] + - !!python/tuple [7, 5] + - !!python/tuple [3, 3] + - !!python/tuple [6, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex63.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex63.yaml new file mode 100644 index 0000000..ed6cf6e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex63.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [1, 1] + name: agent0 + start: [1, 1] +- goal: [0, 3] + name: agent1 + start: [6, 0] +- goal: [1, 0] + name: agent2 + start: [2, 0] +- goal: [1, 5] + name: agent3 + start: [5, 3] +- goal: [0, 1] + name: agent4 + start: [2, 6] +- goal: [2, 3] + name: agent5 + start: [3, 1] +- goal: [7, 5] + name: agent6 + start: [7, 2] +- goal: [5, 3] + name: agent7 + start: [0, 3] +- goal: [6, 0] + name: agent8 + start: [0, 2] +- goal: [4, 3] + name: agent9 + start: [3, 5] +- goal: [0, 7] + name: agent10 + start: [2, 4] +- goal: [3, 0] + name: agent11 + start: [5, 1] +- goal: [5, 4] + name: agent12 + start: [1, 0] +- goal: [0, 2] + name: agent13 + start: [3, 0] +- goal: [4, 5] + name: agent14 + start: [6, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 2] + - !!python/tuple [5, 6] + - !!python/tuple [1, 3] + - !!python/tuple [3, 7] + - !!python/tuple [6, 3] + - !!python/tuple [3, 6] + - !!python/tuple [5, 5] + - !!python/tuple [6, 4] + - !!python/tuple [1, 4] + - !!python/tuple [4, 6] + - !!python/tuple [6, 7] + - !!python/tuple [7, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex64.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex64.yaml new file mode 100644 index 0000000..f79c28e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex64.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [1, 5] + name: agent0 + start: [6, 6] +- goal: [0, 2] + name: agent1 + start: [7, 2] +- goal: [7, 6] + name: agent2 + start: [1, 5] +- goal: [1, 2] + name: agent3 + start: [1, 4] +- goal: [6, 6] + name: agent4 + start: [7, 5] +- goal: [5, 1] + name: agent5 + start: [5, 0] +- goal: [2, 5] + name: agent6 + start: [6, 4] +- goal: [4, 7] + name: agent7 + start: [3, 1] +- goal: [1, 7] + name: agent8 + start: [5, 6] +- goal: [4, 2] + name: agent9 + start: [4, 1] +- goal: [2, 3] + name: agent10 + start: [6, 5] +- goal: [1, 1] + name: agent11 + start: [2, 7] +- goal: [5, 0] + name: agent12 + start: [7, 3] +- goal: [0, 1] + name: agent13 + start: [1, 2] +- goal: [4, 5] + name: agent14 + start: [2, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 4] + - !!python/tuple [0, 4] + - !!python/tuple [3, 7] + - !!python/tuple [1, 6] + - !!python/tuple [3, 5] + - !!python/tuple [0, 6] + - !!python/tuple [6, 2] + - !!python/tuple [5, 3] + - !!python/tuple [5, 2] + - !!python/tuple [6, 0] + - !!python/tuple [3, 0] + - !!python/tuple [4, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex65.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex65.yaml new file mode 100644 index 0000000..2375cec --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex65.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [4, 7] + name: agent0 + start: [7, 4] +- goal: [0, 1] + name: agent1 + start: [3, 0] +- goal: [0, 5] + name: agent2 + start: [3, 1] +- goal: [7, 1] + name: agent3 + start: [6, 1] +- goal: [6, 1] + name: agent4 + start: [2, 7] +- goal: [7, 4] + name: agent5 + start: [0, 7] +- goal: [3, 1] + name: agent6 + start: [1, 3] +- goal: [2, 6] + name: agent7 + start: [7, 5] +- goal: [2, 4] + name: agent8 + start: [3, 2] +- goal: [1, 6] + name: agent9 + start: [6, 2] +- goal: [6, 5] + name: agent10 + start: [5, 1] +- goal: [7, 7] + name: agent11 + start: [7, 6] +- goal: [6, 0] + name: agent12 + start: [4, 3] +- goal: [0, 7] + name: agent13 + start: [0, 4] +- goal: [7, 6] + name: agent14 + start: [5, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 0] + - !!python/tuple [5, 6] + - !!python/tuple [4, 4] + - !!python/tuple [1, 5] + - !!python/tuple [2, 2] + - !!python/tuple [4, 0] + - !!python/tuple [0, 6] + - !!python/tuple [3, 5] + - !!python/tuple [3, 7] + - !!python/tuple [6, 4] + - !!python/tuple [6, 3] + - !!python/tuple [6, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex66.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex66.yaml new file mode 100644 index 0000000..4bb8f6c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex66.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [3, 1] + name: agent0 + start: [0, 6] +- goal: [1, 4] + name: agent1 + start: [6, 2] +- goal: [1, 2] + name: agent2 + start: [0, 5] +- goal: [5, 1] + name: agent3 + start: [1, 6] +- goal: [2, 0] + name: agent4 + start: [7, 0] +- goal: [1, 3] + name: agent5 + start: [1, 4] +- goal: [7, 7] + name: agent6 + start: [3, 7] +- goal: [5, 5] + name: agent7 + start: [2, 1] +- goal: [0, 5] + name: agent8 + start: [4, 2] +- goal: [4, 1] + name: agent9 + start: [7, 3] +- goal: [2, 6] + name: agent10 + start: [5, 7] +- goal: [2, 7] + name: agent11 + start: [7, 5] +- goal: [7, 4] + name: agent12 + start: [5, 6] +- goal: [6, 6] + name: agent13 + start: [5, 5] +- goal: [6, 3] + name: agent14 + start: [2, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 7] + - !!python/tuple [4, 6] + - !!python/tuple [3, 3] + - !!python/tuple [2, 3] + - !!python/tuple [1, 0] + - !!python/tuple [0, 4] + - !!python/tuple [2, 5] + - !!python/tuple [0, 3] + - !!python/tuple [4, 0] + - !!python/tuple [4, 3] + - !!python/tuple [4, 7] + - !!python/tuple [6, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex67.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex67.yaml new file mode 100644 index 0000000..b951c92 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex67.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [1, 4] + name: agent0 + start: [0, 6] +- goal: [0, 6] + name: agent1 + start: [3, 4] +- goal: [5, 0] + name: agent2 + start: [5, 3] +- goal: [2, 1] + name: agent3 + start: [1, 2] +- goal: [5, 4] + name: agent4 + start: [4, 5] +- goal: [5, 5] + name: agent5 + start: [0, 0] +- goal: [1, 3] + name: agent6 + start: [3, 2] +- goal: [2, 0] + name: agent7 + start: [2, 1] +- goal: [2, 5] + name: agent8 + start: [6, 3] +- goal: [4, 1] + name: agent9 + start: [3, 7] +- goal: [2, 4] + name: agent10 + start: [2, 5] +- goal: [0, 5] + name: agent11 + start: [7, 4] +- goal: [4, 4] + name: agent12 + start: [1, 5] +- goal: [3, 2] + name: agent13 + start: [6, 0] +- goal: [6, 5] + name: agent14 + start: [1, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 1] + - !!python/tuple [0, 2] + - !!python/tuple [4, 7] + - !!python/tuple [5, 7] + - !!python/tuple [6, 7] + - !!python/tuple [2, 7] + - !!python/tuple [2, 6] + - !!python/tuple [4, 0] + - !!python/tuple [5, 6] + - !!python/tuple [7, 1] + - !!python/tuple [7, 7] + - !!python/tuple [0, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex68.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex68.yaml new file mode 100644 index 0000000..46c49bd --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex68.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [3, 3] + name: agent0 + start: [4, 0] +- goal: [0, 5] + name: agent1 + start: [0, 5] +- goal: [5, 5] + name: agent2 + start: [1, 3] +- goal: [4, 6] + name: agent3 + start: [4, 5] +- goal: [0, 7] + name: agent4 + start: [4, 4] +- goal: [7, 2] + name: agent5 + start: [4, 7] +- goal: [1, 5] + name: agent6 + start: [7, 2] +- goal: [0, 0] + name: agent7 + start: [4, 2] +- goal: [2, 5] + name: agent8 + start: [1, 2] +- goal: [3, 0] + name: agent9 + start: [5, 0] +- goal: [4, 0] + name: agent10 + start: [6, 5] +- goal: [0, 6] + name: agent11 + start: [3, 5] +- goal: [3, 4] + name: agent12 + start: [7, 5] +- goal: [0, 2] + name: agent13 + start: [3, 0] +- goal: [7, 0] + name: agent14 + start: [5, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 3] + - !!python/tuple [5, 3] + - !!python/tuple [6, 1] + - !!python/tuple [4, 1] + - !!python/tuple [7, 1] + - !!python/tuple [2, 7] + - !!python/tuple [1, 6] + - !!python/tuple [6, 7] + - !!python/tuple [3, 7] + - !!python/tuple [7, 6] + - !!python/tuple [2, 0] + - !!python/tuple [5, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex69.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex69.yaml new file mode 100644 index 0000000..bb4fae1 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex69.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [5, 4] + name: agent0 + start: [5, 4] +- goal: [6, 5] + name: agent1 + start: [5, 1] +- goal: [1, 6] + name: agent2 + start: [0, 5] +- goal: [3, 2] + name: agent3 + start: [1, 4] +- goal: [0, 6] + name: agent4 + start: [3, 6] +- goal: [0, 5] + name: agent5 + start: [2, 0] +- goal: [4, 7] + name: agent6 + start: [2, 3] +- goal: [1, 0] + name: agent7 + start: [4, 2] +- goal: [3, 0] + name: agent8 + start: [0, 2] +- goal: [7, 2] + name: agent9 + start: [2, 5] +- goal: [6, 2] + name: agent10 + start: [6, 2] +- goal: [3, 6] + name: agent11 + start: [6, 3] +- goal: [7, 5] + name: agent12 + start: [4, 3] +- goal: [0, 0] + name: agent13 + start: [1, 6] +- goal: [2, 4] + name: agent14 + start: [7, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 6] + - !!python/tuple [0, 7] + - !!python/tuple [6, 4] + - !!python/tuple [5, 7] + - !!python/tuple [5, 5] + - !!python/tuple [4, 1] + - !!python/tuple [1, 5] + - !!python/tuple [6, 1] + - !!python/tuple [3, 1] + - !!python/tuple [6, 6] + - !!python/tuple [3, 3] + - !!python/tuple [0, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex7.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex7.yaml new file mode 100644 index 0000000..cd5777d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex7.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [4, 7] + name: agent0 + start: [4, 7] +- goal: [4, 5] + name: agent1 + start: [0, 4] +- goal: [5, 7] + name: agent2 + start: [5, 6] +- goal: [7, 4] + name: agent3 + start: [5, 4] +- goal: [7, 0] + name: agent4 + start: [1, 6] +- goal: [3, 2] + name: agent5 + start: [4, 2] +- goal: [5, 4] + name: agent6 + start: [0, 1] +- goal: [1, 2] + name: agent7 + start: [0, 0] +- goal: [1, 1] + name: agent8 + start: [2, 0] +- goal: [0, 1] + name: agent9 + start: [1, 0] +- goal: [2, 4] + name: agent10 + start: [2, 7] +- goal: [3, 3] + name: agent11 + start: [6, 0] +- goal: [5, 3] + name: agent12 + start: [2, 3] +- goal: [6, 1] + name: agent13 + start: [1, 1] +- goal: [1, 6] + name: agent14 + start: [4, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 4] + - !!python/tuple [5, 0] + - !!python/tuple [1, 3] + - !!python/tuple [6, 7] + - !!python/tuple [2, 5] + - !!python/tuple [4, 6] + - !!python/tuple [4, 1] + - !!python/tuple [3, 1] + - !!python/tuple [1, 5] + - !!python/tuple [5, 1] + - !!python/tuple [6, 2] + - !!python/tuple [6, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex70.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex70.yaml new file mode 100644 index 0000000..c5a237a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex70.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [3, 6] + name: agent0 + start: [0, 7] +- goal: [7, 1] + name: agent1 + start: [4, 1] +- goal: [1, 4] + name: agent2 + start: [7, 2] +- goal: [3, 4] + name: agent3 + start: [2, 2] +- goal: [4, 6] + name: agent4 + start: [3, 3] +- goal: [6, 7] + name: agent5 + start: [6, 2] +- goal: [2, 5] + name: agent6 + start: [5, 5] +- goal: [1, 7] + name: agent7 + start: [2, 1] +- goal: [1, 3] + name: agent8 + start: [6, 5] +- goal: [5, 3] + name: agent9 + start: [7, 1] +- goal: [1, 6] + name: agent10 + start: [4, 5] +- goal: [0, 1] + name: agent11 + start: [1, 5] +- goal: [7, 5] + name: agent12 + start: [1, 3] +- goal: [3, 1] + name: agent13 + start: [5, 0] +- goal: [4, 0] + name: agent14 + start: [7, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 6] + - !!python/tuple [0, 4] + - !!python/tuple [4, 3] + - !!python/tuple [3, 0] + - !!python/tuple [6, 0] + - !!python/tuple [3, 5] + - !!python/tuple [4, 7] + - !!python/tuple [7, 4] + - !!python/tuple [4, 4] + - !!python/tuple [0, 6] + - !!python/tuple [5, 7] + - !!python/tuple [1, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex71.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex71.yaml new file mode 100644 index 0000000..34e7138 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex71.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [0, 2] + name: agent0 + start: [5, 2] +- goal: [5, 2] + name: agent1 + start: [2, 4] +- goal: [7, 1] + name: agent2 + start: [7, 2] +- goal: [2, 5] + name: agent3 + start: [7, 1] +- goal: [7, 5] + name: agent4 + start: [4, 7] +- goal: [5, 0] + name: agent5 + start: [3, 6] +- goal: [0, 6] + name: agent6 + start: [3, 3] +- goal: [5, 6] + name: agent7 + start: [6, 6] +- goal: [2, 0] + name: agent8 + start: [4, 0] +- goal: [3, 6] + name: agent9 + start: [0, 6] +- goal: [6, 6] + name: agent10 + start: [0, 1] +- goal: [3, 3] + name: agent11 + start: [5, 0] +- goal: [5, 5] + name: agent12 + start: [6, 0] +- goal: [1, 7] + name: agent13 + start: [3, 1] +- goal: [0, 0] + name: agent14 + start: [4, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 4] + - !!python/tuple [5, 7] + - !!python/tuple [7, 6] + - !!python/tuple [1, 4] + - !!python/tuple [7, 0] + - !!python/tuple [4, 2] + - !!python/tuple [2, 3] + - !!python/tuple [1, 5] + - !!python/tuple [4, 6] + - !!python/tuple [4, 3] + - !!python/tuple [6, 2] + - !!python/tuple [7, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex72.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex72.yaml new file mode 100644 index 0000000..ddd3482 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex72.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [3, 5] + name: agent0 + start: [0, 1] +- goal: [4, 3] + name: agent1 + start: [4, 3] +- goal: [3, 0] + name: agent2 + start: [7, 1] +- goal: [2, 2] + name: agent3 + start: [2, 2] +- goal: [7, 0] + name: agent4 + start: [1, 6] +- goal: [2, 3] + name: agent5 + start: [3, 6] +- goal: [1, 0] + name: agent6 + start: [2, 7] +- goal: [5, 0] + name: agent7 + start: [5, 7] +- goal: [3, 1] + name: agent8 + start: [6, 0] +- goal: [2, 7] + name: agent9 + start: [5, 4] +- goal: [5, 6] + name: agent10 + start: [0, 4] +- goal: [7, 6] + name: agent11 + start: [0, 2] +- goal: [0, 1] + name: agent12 + start: [3, 2] +- goal: [5, 1] + name: agent13 + start: [6, 6] +- goal: [0, 4] + name: agent14 + start: [2, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 4] + - !!python/tuple [7, 7] + - !!python/tuple [5, 5] + - !!python/tuple [3, 7] + - !!python/tuple [4, 4] + - !!python/tuple [2, 0] + - !!python/tuple [4, 7] + - !!python/tuple [5, 2] + - !!python/tuple [1, 7] + - !!python/tuple [7, 4] + - !!python/tuple [7, 2] + - !!python/tuple [4, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex73.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex73.yaml new file mode 100644 index 0000000..caad8dc --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex73.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [1, 5] + name: agent0 + start: [4, 5] +- goal: [0, 2] + name: agent1 + start: [3, 4] +- goal: [4, 3] + name: agent2 + start: [0, 5] +- goal: [0, 5] + name: agent3 + start: [5, 2] +- goal: [0, 1] + name: agent4 + start: [6, 6] +- goal: [1, 4] + name: agent5 + start: [6, 0] +- goal: [3, 3] + name: agent6 + start: [1, 3] +- goal: [7, 5] + name: agent7 + start: [1, 7] +- goal: [1, 3] + name: agent8 + start: [6, 3] +- goal: [6, 0] + name: agent9 + start: [3, 1] +- goal: [4, 6] + name: agent10 + start: [3, 6] +- goal: [5, 2] + name: agent11 + start: [5, 0] +- goal: [3, 5] + name: agent12 + start: [3, 5] +- goal: [5, 5] + name: agent13 + start: [6, 1] +- goal: [1, 1] + name: agent14 + start: [2, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 5] + - !!python/tuple [4, 7] + - !!python/tuple [7, 7] + - !!python/tuple [3, 7] + - !!python/tuple [6, 2] + - !!python/tuple [5, 6] + - !!python/tuple [5, 4] + - !!python/tuple [6, 7] + - !!python/tuple [2, 1] + - !!python/tuple [4, 0] + - !!python/tuple [2, 4] + - !!python/tuple [1, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex74.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex74.yaml new file mode 100644 index 0000000..c4cf98b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex74.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [4, 2] + name: agent0 + start: [6, 7] +- goal: [3, 4] + name: agent1 + start: [3, 7] +- goal: [0, 6] + name: agent2 + start: [3, 2] +- goal: [1, 3] + name: agent3 + start: [2, 5] +- goal: [4, 7] + name: agent4 + start: [2, 0] +- goal: [7, 6] + name: agent5 + start: [6, 5] +- goal: [1, 1] + name: agent6 + start: [2, 2] +- goal: [2, 3] + name: agent7 + start: [5, 0] +- goal: [5, 0] + name: agent8 + start: [1, 2] +- goal: [6, 7] + name: agent9 + start: [1, 4] +- goal: [3, 2] + name: agent10 + start: [5, 1] +- goal: [5, 1] + name: agent11 + start: [4, 0] +- goal: [3, 5] + name: agent12 + start: [1, 5] +- goal: [2, 1] + name: agent13 + start: [2, 6] +- goal: [2, 6] + name: agent14 + start: [4, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 1] + - !!python/tuple [3, 1] + - !!python/tuple [1, 0] + - !!python/tuple [6, 0] + - !!python/tuple [0, 1] + - !!python/tuple [6, 4] + - !!python/tuple [0, 2] + - !!python/tuple [7, 7] + - !!python/tuple [4, 3] + - !!python/tuple [4, 5] + - !!python/tuple [3, 6] + - !!python/tuple [3, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex75.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex75.yaml new file mode 100644 index 0000000..9498c29 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex75.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [4, 2] + name: agent0 + start: [3, 0] +- goal: [2, 6] + name: agent1 + start: [4, 2] +- goal: [2, 5] + name: agent2 + start: [6, 7] +- goal: [7, 7] + name: agent3 + start: [1, 2] +- goal: [4, 3] + name: agent4 + start: [1, 4] +- goal: [4, 5] + name: agent5 + start: [4, 1] +- goal: [3, 5] + name: agent6 + start: [2, 2] +- goal: [6, 3] + name: agent7 + start: [0, 0] +- goal: [6, 7] + name: agent8 + start: [6, 5] +- goal: [5, 2] + name: agent9 + start: [2, 6] +- goal: [2, 4] + name: agent10 + start: [2, 1] +- goal: [1, 7] + name: agent11 + start: [7, 4] +- goal: [6, 5] + name: agent12 + start: [0, 3] +- goal: [1, 5] + name: agent13 + start: [4, 4] +- goal: [2, 7] + name: agent14 + start: [0, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 1] + - !!python/tuple [5, 1] + - !!python/tuple [2, 3] + - !!python/tuple [3, 3] + - !!python/tuple [1, 6] + - !!python/tuple [7, 6] + - !!python/tuple [7, 0] + - !!python/tuple [0, 1] + - !!python/tuple [6, 4] + - !!python/tuple [0, 7] + - !!python/tuple [7, 2] + - !!python/tuple [4, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex76.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex76.yaml new file mode 100644 index 0000000..291905d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex76.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [2, 2] + name: agent0 + start: [5, 0] +- goal: [5, 0] + name: agent1 + start: [3, 4] +- goal: [6, 5] + name: agent2 + start: [1, 7] +- goal: [5, 4] + name: agent3 + start: [6, 3] +- goal: [4, 2] + name: agent4 + start: [2, 4] +- goal: [1, 6] + name: agent5 + start: [0, 5] +- goal: [1, 0] + name: agent6 + start: [5, 6] +- goal: [1, 3] + name: agent7 + start: [2, 5] +- goal: [0, 0] + name: agent8 + start: [1, 0] +- goal: [2, 3] + name: agent9 + start: [6, 1] +- goal: [0, 1] + name: agent10 + start: [6, 4] +- goal: [4, 6] + name: agent11 + start: [4, 4] +- goal: [1, 2] + name: agent12 + start: [3, 7] +- goal: [3, 2] + name: agent13 + start: [2, 0] +- goal: [2, 5] + name: agent14 + start: [4, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 3] + - !!python/tuple [7, 5] + - !!python/tuple [3, 0] + - !!python/tuple [7, 3] + - !!python/tuple [0, 7] + - !!python/tuple [0, 2] + - !!python/tuple [2, 7] + - !!python/tuple [0, 3] + - !!python/tuple [5, 5] + - !!python/tuple [1, 5] + - !!python/tuple [4, 3] + - !!python/tuple [5, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex77.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex77.yaml new file mode 100644 index 0000000..dbbbf0d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex77.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [5, 2] + name: agent0 + start: [1, 6] +- goal: [2, 7] + name: agent1 + start: [0, 5] +- goal: [2, 2] + name: agent2 + start: [7, 4] +- goal: [6, 1] + name: agent3 + start: [3, 7] +- goal: [4, 2] + name: agent4 + start: [1, 7] +- goal: [1, 5] + name: agent5 + start: [4, 1] +- goal: [6, 3] + name: agent6 + start: [6, 1] +- goal: [2, 4] + name: agent7 + start: [5, 1] +- goal: [0, 4] + name: agent8 + start: [0, 6] +- goal: [1, 7] + name: agent9 + start: [1, 5] +- goal: [2, 3] + name: agent10 + start: [6, 5] +- goal: [7, 5] + name: agent11 + start: [0, 1] +- goal: [1, 3] + name: agent12 + start: [5, 4] +- goal: [0, 3] + name: agent13 + start: [6, 4] +- goal: [2, 1] + name: agent14 + start: [7, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 0] + - !!python/tuple [6, 6] + - !!python/tuple [5, 7] + - !!python/tuple [7, 7] + - !!python/tuple [4, 0] + - !!python/tuple [3, 5] + - !!python/tuple [6, 2] + - !!python/tuple [5, 0] + - !!python/tuple [0, 0] + - !!python/tuple [3, 0] + - !!python/tuple [3, 6] + - !!python/tuple [1, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex78.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex78.yaml new file mode 100644 index 0000000..66159bd --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex78.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [2, 2] + name: agent0 + start: [6, 6] +- goal: [5, 7] + name: agent1 + start: [2, 5] +- goal: [6, 7] + name: agent2 + start: [7, 3] +- goal: [1, 1] + name: agent3 + start: [5, 6] +- goal: [3, 1] + name: agent4 + start: [2, 2] +- goal: [0, 3] + name: agent5 + start: [0, 4] +- goal: [0, 5] + name: agent6 + start: [1, 5] +- goal: [5, 5] + name: agent7 + start: [6, 4] +- goal: [3, 2] + name: agent8 + start: [7, 1] +- goal: [3, 5] + name: agent9 + start: [3, 2] +- goal: [0, 7] + name: agent10 + start: [4, 5] +- goal: [0, 4] + name: agent11 + start: [1, 0] +- goal: [1, 7] + name: agent12 + start: [6, 3] +- goal: [2, 0] + name: agent13 + start: [2, 0] +- goal: [4, 0] + name: agent14 + start: [1, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 6] + - !!python/tuple [4, 6] + - !!python/tuple [7, 6] + - !!python/tuple [6, 5] + - !!python/tuple [2, 1] + - !!python/tuple [7, 7] + - !!python/tuple [3, 4] + - !!python/tuple [7, 2] + - !!python/tuple [3, 0] + - !!python/tuple [5, 3] + - !!python/tuple [7, 4] + - !!python/tuple [5, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex79.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex79.yaml new file mode 100644 index 0000000..c86a518 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex79.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [7, 0] + name: agent0 + start: [2, 2] +- goal: [6, 4] + name: agent1 + start: [6, 1] +- goal: [1, 3] + name: agent2 + start: [5, 4] +- goal: [3, 5] + name: agent3 + start: [5, 7] +- goal: [7, 1] + name: agent4 + start: [7, 5] +- goal: [4, 1] + name: agent5 + start: [7, 3] +- goal: [0, 5] + name: agent6 + start: [7, 1] +- goal: [5, 3] + name: agent7 + start: [2, 5] +- goal: [1, 4] + name: agent8 + start: [3, 3] +- goal: [2, 1] + name: agent9 + start: [6, 7] +- goal: [5, 0] + name: agent10 + start: [7, 2] +- goal: [2, 2] + name: agent11 + start: [4, 7] +- goal: [4, 5] + name: agent12 + start: [1, 6] +- goal: [4, 7] + name: agent13 + start: [5, 2] +- goal: [4, 6] + name: agent14 + start: [7, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 2] + - !!python/tuple [1, 2] + - !!python/tuple [1, 7] + - !!python/tuple [6, 5] + - !!python/tuple [3, 0] + - !!python/tuple [2, 3] + - !!python/tuple [7, 7] + - !!python/tuple [0, 7] + - !!python/tuple [3, 7] + - !!python/tuple [0, 2] + - !!python/tuple [6, 3] + - !!python/tuple [3, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex8.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex8.yaml new file mode 100644 index 0000000..7a3b1e9 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex8.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [0, 3] + name: agent0 + start: [0, 3] +- goal: [4, 2] + name: agent1 + start: [7, 3] +- goal: [1, 1] + name: agent2 + start: [2, 1] +- goal: [1, 4] + name: agent3 + start: [5, 1] +- goal: [4, 1] + name: agent4 + start: [1, 2] +- goal: [7, 3] + name: agent5 + start: [3, 6] +- goal: [4, 6] + name: agent6 + start: [1, 6] +- goal: [2, 6] + name: agent7 + start: [2, 3] +- goal: [1, 6] + name: agent8 + start: [6, 5] +- goal: [0, 1] + name: agent9 + start: [4, 2] +- goal: [2, 5] + name: agent10 + start: [5, 4] +- goal: [1, 0] + name: agent11 + start: [3, 7] +- goal: [6, 4] + name: agent12 + start: [0, 1] +- goal: [3, 7] + name: agent13 + start: [4, 0] +- goal: [6, 6] + name: agent14 + start: [3, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 5] + - !!python/tuple [3, 3] + - !!python/tuple [4, 4] + - !!python/tuple [5, 7] + - !!python/tuple [4, 7] + - !!python/tuple [6, 2] + - !!python/tuple [4, 5] + - !!python/tuple [1, 7] + - !!python/tuple [2, 0] + - !!python/tuple [0, 2] + - !!python/tuple [2, 2] + - !!python/tuple [0, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex80.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex80.yaml new file mode 100644 index 0000000..d3506fa --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex80.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [0, 0] + name: agent0 + start: [5, 1] +- goal: [6, 7] + name: agent1 + start: [3, 6] +- goal: [1, 3] + name: agent2 + start: [2, 4] +- goal: [5, 2] + name: agent3 + start: [0, 3] +- goal: [6, 5] + name: agent4 + start: [2, 2] +- goal: [7, 7] + name: agent5 + start: [2, 6] +- goal: [1, 7] + name: agent6 + start: [0, 0] +- goal: [2, 4] + name: agent7 + start: [6, 2] +- goal: [6, 6] + name: agent8 + start: [7, 3] +- goal: [1, 4] + name: agent9 + start: [4, 0] +- goal: [5, 1] + name: agent10 + start: [2, 5] +- goal: [0, 6] + name: agent11 + start: [3, 2] +- goal: [2, 6] + name: agent12 + start: [7, 5] +- goal: [5, 6] + name: agent13 + start: [5, 4] +- goal: [2, 3] + name: agent14 + start: [1, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 7] + - !!python/tuple [0, 7] + - !!python/tuple [6, 0] + - !!python/tuple [7, 1] + - !!python/tuple [4, 3] + - !!python/tuple [1, 1] + - !!python/tuple [3, 5] + - !!python/tuple [4, 6] + - !!python/tuple [7, 6] + - !!python/tuple [2, 0] + - !!python/tuple [3, 3] + - !!python/tuple [2, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex81.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex81.yaml new file mode 100644 index 0000000..6b9068f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex81.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [5, 6] + name: agent0 + start: [7, 6] +- goal: [5, 2] + name: agent1 + start: [2, 3] +- goal: [1, 6] + name: agent2 + start: [5, 7] +- goal: [0, 4] + name: agent3 + start: [2, 7] +- goal: [1, 1] + name: agent4 + start: [4, 1] +- goal: [0, 5] + name: agent5 + start: [0, 0] +- goal: [7, 5] + name: agent6 + start: [5, 2] +- goal: [4, 1] + name: agent7 + start: [6, 5] +- goal: [7, 3] + name: agent8 + start: [4, 6] +- goal: [0, 1] + name: agent9 + start: [3, 1] +- goal: [6, 1] + name: agent10 + start: [1, 6] +- goal: [3, 5] + name: agent11 + start: [2, 6] +- goal: [7, 4] + name: agent12 + start: [7, 4] +- goal: [5, 0] + name: agent13 + start: [4, 0] +- goal: [3, 2] + name: agent14 + start: [5, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 0] + - !!python/tuple [4, 5] + - !!python/tuple [5, 3] + - !!python/tuple [4, 3] + - !!python/tuple [4, 4] + - !!python/tuple [7, 7] + - !!python/tuple [7, 0] + - !!python/tuple [1, 4] + - !!python/tuple [1, 3] + - !!python/tuple [2, 2] + - !!python/tuple [7, 1] + - !!python/tuple [3, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex82.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex82.yaml new file mode 100644 index 0000000..713ac98 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex82.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [7, 0] + name: agent0 + start: [5, 2] +- goal: [2, 0] + name: agent1 + start: [0, 4] +- goal: [6, 7] + name: agent2 + start: [2, 4] +- goal: [3, 3] + name: agent3 + start: [1, 0] +- goal: [7, 6] + name: agent4 + start: [3, 1] +- goal: [6, 1] + name: agent5 + start: [3, 0] +- goal: [5, 6] + name: agent6 + start: [3, 4] +- goal: [0, 1] + name: agent7 + start: [6, 2] +- goal: [0, 0] + name: agent8 + start: [3, 7] +- goal: [3, 0] + name: agent9 + start: [2, 3] +- goal: [4, 6] + name: agent10 + start: [6, 5] +- goal: [5, 3] + name: agent11 + start: [5, 1] +- goal: [1, 6] + name: agent12 + start: [1, 4] +- goal: [5, 0] + name: agent13 + start: [4, 4] +- goal: [3, 1] + name: agent14 + start: [6, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 3] + - !!python/tuple [6, 4] + - !!python/tuple [7, 4] + - !!python/tuple [7, 2] + - !!python/tuple [1, 5] + - !!python/tuple [2, 5] + - !!python/tuple [0, 2] + - !!python/tuple [4, 2] + - !!python/tuple [1, 3] + - !!python/tuple [0, 7] + - !!python/tuple [2, 2] + - !!python/tuple [3, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex83.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex83.yaml new file mode 100644 index 0000000..fd553e1 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex83.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [0, 0] + name: agent0 + start: [7, 4] +- goal: [6, 2] + name: agent1 + start: [0, 6] +- goal: [5, 3] + name: agent2 + start: [6, 1] +- goal: [6, 6] + name: agent3 + start: [2, 2] +- goal: [2, 7] + name: agent4 + start: [2, 7] +- goal: [3, 4] + name: agent5 + start: [3, 5] +- goal: [7, 2] + name: agent6 + start: [0, 0] +- goal: [0, 6] + name: agent7 + start: [3, 1] +- goal: [1, 6] + name: agent8 + start: [3, 2] +- goal: [3, 0] + name: agent9 + start: [4, 0] +- goal: [4, 7] + name: agent10 + start: [6, 4] +- goal: [1, 0] + name: agent11 + start: [6, 7] +- goal: [5, 4] + name: agent12 + start: [7, 1] +- goal: [4, 3] + name: agent13 + start: [7, 5] +- goal: [1, 2] + name: agent14 + start: [5, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 6] + - !!python/tuple [3, 3] + - !!python/tuple [5, 0] + - !!python/tuple [3, 6] + - !!python/tuple [4, 5] + - !!python/tuple [0, 3] + - !!python/tuple [4, 4] + - !!python/tuple [4, 6] + - !!python/tuple [3, 7] + - !!python/tuple [5, 2] + - !!python/tuple [2, 4] + - !!python/tuple [1, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex84.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex84.yaml new file mode 100644 index 0000000..f49f0a7 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex84.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [2, 4] + name: agent0 + start: [1, 4] +- goal: [0, 5] + name: agent1 + start: [1, 1] +- goal: [7, 3] + name: agent2 + start: [5, 7] +- goal: [2, 2] + name: agent3 + start: [7, 4] +- goal: [6, 5] + name: agent4 + start: [1, 5] +- goal: [3, 3] + name: agent5 + start: [3, 0] +- goal: [1, 7] + name: agent6 + start: [2, 6] +- goal: [6, 0] + name: agent7 + start: [5, 2] +- goal: [6, 3] + name: agent8 + start: [5, 6] +- goal: [4, 2] + name: agent9 + start: [3, 3] +- goal: [7, 4] + name: agent10 + start: [2, 1] +- goal: [4, 7] + name: agent11 + start: [6, 3] +- goal: [0, 0] + name: agent12 + start: [0, 1] +- goal: [1, 2] + name: agent13 + start: [5, 0] +- goal: [3, 4] + name: agent14 + start: [5, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 5] + - !!python/tuple [0, 4] + - !!python/tuple [0, 3] + - !!python/tuple [5, 3] + - !!python/tuple [1, 3] + - !!python/tuple [6, 6] + - !!python/tuple [0, 6] + - !!python/tuple [4, 4] + - !!python/tuple [7, 6] + - !!python/tuple [2, 0] + - !!python/tuple [6, 4] + - !!python/tuple [7, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex85.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex85.yaml new file mode 100644 index 0000000..005db08 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex85.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [0, 1] + name: agent0 + start: [7, 7] +- goal: [4, 3] + name: agent1 + start: [6, 2] +- goal: [7, 4] + name: agent2 + start: [1, 3] +- goal: [6, 4] + name: agent3 + start: [1, 6] +- goal: [0, 7] + name: agent4 + start: [6, 7] +- goal: [0, 4] + name: agent5 + start: [2, 4] +- goal: [3, 3] + name: agent6 + start: [1, 2] +- goal: [2, 6] + name: agent7 + start: [5, 1] +- goal: [4, 6] + name: agent8 + start: [7, 1] +- goal: [0, 3] + name: agent9 + start: [4, 0] +- goal: [3, 6] + name: agent10 + start: [0, 0] +- goal: [1, 0] + name: agent11 + start: [6, 5] +- goal: [4, 5] + name: agent12 + start: [0, 7] +- goal: [4, 7] + name: agent13 + start: [4, 2] +- goal: [7, 7] + name: agent14 + start: [1, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 1] + - !!python/tuple [2, 5] + - !!python/tuple [1, 7] + - !!python/tuple [6, 3] + - !!python/tuple [2, 7] + - !!python/tuple [4, 4] + - !!python/tuple [7, 0] + - !!python/tuple [5, 7] + - !!python/tuple [5, 2] + - !!python/tuple [0, 5] + - !!python/tuple [2, 2] + - !!python/tuple [1, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex86.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex86.yaml new file mode 100644 index 0000000..614c372 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex86.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [5, 1] + name: agent0 + start: [3, 6] +- goal: [1, 1] + name: agent1 + start: [1, 1] +- goal: [4, 1] + name: agent2 + start: [1, 7] +- goal: [4, 5] + name: agent3 + start: [2, 1] +- goal: [6, 1] + name: agent4 + start: [4, 7] +- goal: [2, 5] + name: agent5 + start: [5, 6] +- goal: [3, 1] + name: agent6 + start: [6, 0] +- goal: [6, 6] + name: agent7 + start: [0, 5] +- goal: [1, 7] + name: agent8 + start: [6, 6] +- goal: [7, 3] + name: agent9 + start: [0, 1] +- goal: [4, 4] + name: agent10 + start: [5, 2] +- goal: [6, 4] + name: agent11 + start: [7, 6] +- goal: [5, 2] + name: agent12 + start: [7, 7] +- goal: [5, 7] + name: agent13 + start: [4, 4] +- goal: [0, 2] + name: agent14 + start: [0, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 5] + - !!python/tuple [7, 5] + - !!python/tuple [3, 4] + - !!python/tuple [2, 4] + - !!python/tuple [3, 7] + - !!python/tuple [4, 3] + - !!python/tuple [7, 0] + - !!python/tuple [5, 5] + - !!python/tuple [7, 1] + - !!python/tuple [7, 4] + - !!python/tuple [6, 7] + - !!python/tuple [1, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex87.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex87.yaml new file mode 100644 index 0000000..af7c376 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex87.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [5, 6] + name: agent0 + start: [0, 7] +- goal: [5, 3] + name: agent1 + start: [3, 3] +- goal: [2, 7] + name: agent2 + start: [0, 6] +- goal: [0, 4] + name: agent3 + start: [6, 5] +- goal: [7, 2] + name: agent4 + start: [2, 4] +- goal: [7, 6] + name: agent5 + start: [4, 1] +- goal: [0, 5] + name: agent6 + start: [3, 0] +- goal: [4, 4] + name: agent7 + start: [6, 4] +- goal: [6, 6] + name: agent8 + start: [7, 4] +- goal: [3, 7] + name: agent9 + start: [5, 0] +- goal: [5, 7] + name: agent10 + start: [6, 0] +- goal: [4, 2] + name: agent11 + start: [0, 5] +- goal: [7, 3] + name: agent12 + start: [4, 3] +- goal: [7, 7] + name: agent13 + start: [2, 6] +- goal: [2, 1] + name: agent14 + start: [1, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 6] + - !!python/tuple [3, 2] + - !!python/tuple [4, 0] + - !!python/tuple [1, 5] + - !!python/tuple [6, 2] + - !!python/tuple [7, 0] + - !!python/tuple [0, 0] + - !!python/tuple [1, 2] + - !!python/tuple [7, 5] + - !!python/tuple [4, 5] + - !!python/tuple [0, 2] + - !!python/tuple [6, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex88.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex88.yaml new file mode 100644 index 0000000..b77aac7 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex88.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [3, 7] + name: agent0 + start: [3, 7] +- goal: [6, 1] + name: agent1 + start: [2, 5] +- goal: [7, 3] + name: agent2 + start: [5, 1] +- goal: [5, 7] + name: agent3 + start: [2, 7] +- goal: [1, 0] + name: agent4 + start: [2, 2] +- goal: [1, 4] + name: agent5 + start: [1, 4] +- goal: [0, 1] + name: agent6 + start: [6, 3] +- goal: [0, 5] + name: agent7 + start: [6, 2] +- goal: [4, 2] + name: agent8 + start: [4, 4] +- goal: [0, 3] + name: agent9 + start: [6, 4] +- goal: [1, 7] + name: agent10 + start: [3, 1] +- goal: [3, 4] + name: agent11 + start: [1, 2] +- goal: [7, 1] + name: agent12 + start: [1, 5] +- goal: [7, 7] + name: agent13 + start: [5, 3] +- goal: [6, 6] + name: agent14 + start: [5, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 6] + - !!python/tuple [3, 3] + - !!python/tuple [0, 0] + - !!python/tuple [5, 5] + - !!python/tuple [0, 6] + - !!python/tuple [4, 5] + - !!python/tuple [5, 2] + - !!python/tuple [3, 0] + - !!python/tuple [4, 7] + - !!python/tuple [4, 1] + - !!python/tuple [5, 6] + - !!python/tuple [4, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex89.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex89.yaml new file mode 100644 index 0000000..b140d36 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex89.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [2, 5] + name: agent0 + start: [6, 7] +- goal: [2, 3] + name: agent1 + start: [2, 7] +- goal: [3, 4] + name: agent2 + start: [3, 4] +- goal: [3, 2] + name: agent3 + start: [6, 5] +- goal: [1, 2] + name: agent4 + start: [3, 2] +- goal: [3, 3] + name: agent5 + start: [6, 2] +- goal: [2, 1] + name: agent6 + start: [0, 0] +- goal: [7, 6] + name: agent7 + start: [3, 6] +- goal: [0, 1] + name: agent8 + start: [7, 3] +- goal: [1, 6] + name: agent9 + start: [1, 4] +- goal: [2, 6] + name: agent10 + start: [0, 2] +- goal: [2, 7] + name: agent11 + start: [7, 5] +- goal: [7, 2] + name: agent12 + start: [6, 3] +- goal: [4, 6] + name: agent13 + start: [2, 5] +- goal: [4, 5] + name: agent14 + start: [2, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 3] + - !!python/tuple [6, 6] + - !!python/tuple [3, 0] + - !!python/tuple [1, 5] + - !!python/tuple [4, 7] + - !!python/tuple [0, 7] + - !!python/tuple [5, 2] + - !!python/tuple [3, 7] + - !!python/tuple [5, 5] + - !!python/tuple [6, 1] + - !!python/tuple [4, 1] + - !!python/tuple [7, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex9.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex9.yaml new file mode 100644 index 0000000..7d989cf --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex9.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [2, 5] + name: agent0 + start: [7, 6] +- goal: [4, 7] + name: agent1 + start: [2, 6] +- goal: [1, 1] + name: agent2 + start: [5, 7] +- goal: [7, 3] + name: agent3 + start: [1, 1] +- goal: [2, 2] + name: agent4 + start: [1, 6] +- goal: [0, 7] + name: agent5 + start: [2, 7] +- goal: [5, 6] + name: agent6 + start: [5, 4] +- goal: [7, 0] + name: agent7 + start: [4, 3] +- goal: [5, 2] + name: agent8 + start: [0, 5] +- goal: [1, 2] + name: agent9 + start: [7, 2] +- goal: [4, 3] + name: agent10 + start: [0, 4] +- goal: [3, 2] + name: agent11 + start: [4, 1] +- goal: [4, 2] + name: agent12 + start: [7, 7] +- goal: [3, 4] + name: agent13 + start: [0, 7] +- goal: [7, 1] + name: agent14 + start: [6, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 5] + - !!python/tuple [6, 1] + - !!python/tuple [0, 0] + - !!python/tuple [6, 5] + - !!python/tuple [1, 3] + - !!python/tuple [5, 1] + - !!python/tuple [3, 5] + - !!python/tuple [2, 3] + - !!python/tuple [1, 4] + - !!python/tuple [6, 7] + - !!python/tuple [6, 3] + - !!python/tuple [1, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex90.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex90.yaml new file mode 100644 index 0000000..458f16e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex90.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [6, 3] + name: agent0 + start: [1, 7] +- goal: [1, 2] + name: agent1 + start: [3, 0] +- goal: [4, 4] + name: agent2 + start: [4, 0] +- goal: [5, 1] + name: agent3 + start: [7, 1] +- goal: [2, 4] + name: agent4 + start: [6, 2] +- goal: [7, 1] + name: agent5 + start: [3, 7] +- goal: [0, 2] + name: agent6 + start: [3, 6] +- goal: [3, 7] + name: agent7 + start: [4, 3] +- goal: [6, 0] + name: agent8 + start: [6, 3] +- goal: [5, 5] + name: agent9 + start: [0, 4] +- goal: [3, 5] + name: agent10 + start: [4, 1] +- goal: [1, 7] + name: agent11 + start: [7, 0] +- goal: [7, 0] + name: agent12 + start: [6, 6] +- goal: [6, 2] + name: agent13 + start: [6, 5] +- goal: [1, 4] + name: agent14 + start: [5, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 5] + - !!python/tuple [5, 2] + - !!python/tuple [5, 0] + - !!python/tuple [0, 3] + - !!python/tuple [4, 6] + - !!python/tuple [3, 2] + - !!python/tuple [3, 1] + - !!python/tuple [2, 0] + - !!python/tuple [2, 7] + - !!python/tuple [2, 3] + - !!python/tuple [7, 7] + - !!python/tuple [7, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex91.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex91.yaml new file mode 100644 index 0000000..feba4e7 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex91.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [7, 3] + name: agent0 + start: [6, 5] +- goal: [3, 1] + name: agent1 + start: [3, 1] +- goal: [1, 0] + name: agent2 + start: [5, 0] +- goal: [3, 5] + name: agent3 + start: [6, 1] +- goal: [0, 0] + name: agent4 + start: [5, 1] +- goal: [7, 1] + name: agent5 + start: [7, 2] +- goal: [6, 1] + name: agent6 + start: [6, 6] +- goal: [3, 0] + name: agent7 + start: [7, 7] +- goal: [0, 3] + name: agent8 + start: [5, 5] +- goal: [6, 3] + name: agent9 + start: [7, 3] +- goal: [3, 3] + name: agent10 + start: [3, 0] +- goal: [6, 5] + name: agent11 + start: [0, 0] +- goal: [3, 7] + name: agent12 + start: [7, 6] +- goal: [1, 4] + name: agent13 + start: [3, 4] +- goal: [1, 1] + name: agent14 + start: [4, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 0] + - !!python/tuple [2, 1] + - !!python/tuple [0, 5] + - !!python/tuple [1, 2] + - !!python/tuple [7, 0] + - !!python/tuple [1, 6] + - !!python/tuple [2, 5] + - !!python/tuple [5, 6] + - !!python/tuple [2, 6] + - !!python/tuple [3, 2] + - !!python/tuple [4, 5] + - !!python/tuple [0, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex92.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex92.yaml new file mode 100644 index 0000000..a7065ff --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex92.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [4, 5] + name: agent0 + start: [4, 5] +- goal: [1, 3] + name: agent1 + start: [7, 4] +- goal: [2, 3] + name: agent2 + start: [4, 3] +- goal: [0, 4] + name: agent3 + start: [1, 5] +- goal: [1, 5] + name: agent4 + start: [3, 1] +- goal: [0, 1] + name: agent5 + start: [0, 1] +- goal: [6, 1] + name: agent6 + start: [1, 7] +- goal: [4, 0] + name: agent7 + start: [0, 2] +- goal: [4, 2] + name: agent8 + start: [0, 0] +- goal: [3, 0] + name: agent9 + start: [1, 3] +- goal: [2, 1] + name: agent10 + start: [3, 6] +- goal: [2, 4] + name: agent11 + start: [4, 2] +- goal: [7, 4] + name: agent12 + start: [3, 5] +- goal: [7, 5] + name: agent13 + start: [6, 1] +- goal: [1, 7] + name: agent14 + start: [1, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 5] + - !!python/tuple [3, 3] + - !!python/tuple [2, 7] + - !!python/tuple [0, 3] + - !!python/tuple [4, 7] + - !!python/tuple [6, 2] + - !!python/tuple [0, 6] + - !!python/tuple [2, 0] + - !!python/tuple [5, 6] + - !!python/tuple [5, 5] + - !!python/tuple [3, 7] + - !!python/tuple [7, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex93.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex93.yaml new file mode 100644 index 0000000..e4a54e6 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex93.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [4, 0] + name: agent0 + start: [6, 2] +- goal: [5, 7] + name: agent1 + start: [2, 0] +- goal: [2, 2] + name: agent2 + start: [4, 5] +- goal: [4, 7] + name: agent3 + start: [3, 0] +- goal: [4, 6] + name: agent4 + start: [3, 3] +- goal: [5, 2] + name: agent5 + start: [2, 7] +- goal: [7, 4] + name: agent6 + start: [0, 3] +- goal: [6, 3] + name: agent7 + start: [3, 1] +- goal: [1, 7] + name: agent8 + start: [0, 0] +- goal: [7, 2] + name: agent9 + start: [1, 5] +- goal: [0, 1] + name: agent10 + start: [5, 0] +- goal: [6, 1] + name: agent11 + start: [2, 4] +- goal: [7, 0] + name: agent12 + start: [5, 7] +- goal: [2, 7] + name: agent13 + start: [7, 6] +- goal: [2, 6] + name: agent14 + start: [4, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 2] + - !!python/tuple [5, 4] + - !!python/tuple [0, 4] + - !!python/tuple [2, 1] + - !!python/tuple [0, 5] + - !!python/tuple [6, 5] + - !!python/tuple [6, 7] + - !!python/tuple [4, 2] + - !!python/tuple [6, 0] + - !!python/tuple [1, 1] + - !!python/tuple [1, 6] + - !!python/tuple [0, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex94.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex94.yaml new file mode 100644 index 0000000..e8b4acf --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex94.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [7, 7] + name: agent0 + start: [2, 3] +- goal: [7, 4] + name: agent1 + start: [0, 6] +- goal: [7, 1] + name: agent2 + start: [6, 2] +- goal: [0, 5] + name: agent3 + start: [7, 0] +- goal: [2, 3] + name: agent4 + start: [1, 5] +- goal: [5, 5] + name: agent5 + start: [5, 5] +- goal: [5, 2] + name: agent6 + start: [4, 5] +- goal: [0, 4] + name: agent7 + start: [1, 6] +- goal: [7, 5] + name: agent8 + start: [7, 1] +- goal: [6, 5] + name: agent9 + start: [3, 7] +- goal: [1, 5] + name: agent10 + start: [0, 4] +- goal: [4, 4] + name: agent11 + start: [0, 3] +- goal: [3, 2] + name: agent12 + start: [1, 4] +- goal: [2, 6] + name: agent13 + start: [0, 0] +- goal: [7, 2] + name: agent14 + start: [6, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 7] + - !!python/tuple [4, 0] + - !!python/tuple [4, 6] + - !!python/tuple [1, 2] + - !!python/tuple [2, 7] + - !!python/tuple [3, 4] + - !!python/tuple [2, 5] + - !!python/tuple [2, 1] + - !!python/tuple [6, 7] + - !!python/tuple [5, 4] + - !!python/tuple [5, 3] + - !!python/tuple [2, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex95.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex95.yaml new file mode 100644 index 0000000..d7974db --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex95.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [4, 5] + name: agent0 + start: [5, 7] +- goal: [0, 3] + name: agent1 + start: [4, 7] +- goal: [6, 6] + name: agent2 + start: [0, 3] +- goal: [5, 7] + name: agent3 + start: [4, 6] +- goal: [5, 6] + name: agent4 + start: [7, 3] +- goal: [5, 1] + name: agent5 + start: [5, 1] +- goal: [4, 1] + name: agent6 + start: [5, 6] +- goal: [6, 4] + name: agent7 + start: [1, 3] +- goal: [0, 5] + name: agent8 + start: [2, 3] +- goal: [3, 2] + name: agent9 + start: [4, 4] +- goal: [7, 2] + name: agent10 + start: [3, 4] +- goal: [3, 5] + name: agent11 + start: [7, 4] +- goal: [4, 2] + name: agent12 + start: [0, 2] +- goal: [7, 6] + name: agent13 + start: [3, 5] +- goal: [1, 4] + name: agent14 + start: [2, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 2] + - !!python/tuple [4, 0] + - !!python/tuple [6, 7] + - !!python/tuple [3, 0] + - !!python/tuple [7, 5] + - !!python/tuple [5, 2] + - !!python/tuple [0, 6] + - !!python/tuple [7, 7] + - !!python/tuple [7, 1] + - !!python/tuple [2, 1] + - !!python/tuple [1, 2] + - !!python/tuple [1, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex96.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex96.yaml new file mode 100644 index 0000000..8df419b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex96.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [4, 6] + name: agent0 + start: [7, 4] +- goal: [0, 7] + name: agent1 + start: [1, 0] +- goal: [5, 6] + name: agent2 + start: [2, 0] +- goal: [2, 6] + name: agent3 + start: [5, 1] +- goal: [6, 7] + name: agent4 + start: [4, 5] +- goal: [4, 7] + name: agent5 + start: [3, 4] +- goal: [5, 3] + name: agent6 + start: [4, 1] +- goal: [3, 4] + name: agent7 + start: [6, 6] +- goal: [3, 1] + name: agent8 + start: [7, 7] +- goal: [3, 0] + name: agent9 + start: [2, 6] +- goal: [2, 5] + name: agent10 + start: [1, 6] +- goal: [0, 4] + name: agent11 + start: [2, 5] +- goal: [4, 2] + name: agent12 + start: [3, 7] +- goal: [4, 0] + name: agent13 + start: [3, 3] +- goal: [6, 6] + name: agent14 + start: [3, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 7] + - !!python/tuple [2, 3] + - !!python/tuple [6, 0] + - !!python/tuple [3, 2] + - !!python/tuple [6, 1] + - !!python/tuple [5, 4] + - !!python/tuple [0, 5] + - !!python/tuple [1, 5] + - !!python/tuple [1, 3] + - !!python/tuple [0, 1] + - !!python/tuple [2, 4] + - !!python/tuple [6, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex97.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex97.yaml new file mode 100644 index 0000000..d87ab27 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex97.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [2, 4] + name: agent0 + start: [4, 6] +- goal: [0, 6] + name: agent1 + start: [6, 2] +- goal: [0, 7] + name: agent2 + start: [4, 2] +- goal: [3, 6] + name: agent3 + start: [5, 2] +- goal: [4, 5] + name: agent4 + start: [5, 7] +- goal: [1, 4] + name: agent5 + start: [5, 0] +- goal: [7, 2] + name: agent6 + start: [7, 4] +- goal: [3, 2] + name: agent7 + start: [2, 6] +- goal: [6, 5] + name: agent8 + start: [0, 3] +- goal: [6, 4] + name: agent9 + start: [1, 4] +- goal: [3, 5] + name: agent10 + start: [0, 7] +- goal: [5, 7] + name: agent11 + start: [1, 3] +- goal: [1, 3] + name: agent12 + start: [2, 2] +- goal: [4, 0] + name: agent13 + start: [1, 7] +- goal: [3, 1] + name: agent14 + start: [7, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 2] + - !!python/tuple [2, 7] + - !!python/tuple [3, 3] + - !!python/tuple [2, 0] + - !!python/tuple [5, 6] + - !!python/tuple [5, 4] + - !!python/tuple [2, 5] + - !!python/tuple [7, 3] + - !!python/tuple [0, 2] + - !!python/tuple [6, 7] + - !!python/tuple [2, 1] + - !!python/tuple [4, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex98.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex98.yaml new file mode 100644 index 0000000..d16177c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex98.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [3, 2] + name: agent0 + start: [4, 3] +- goal: [0, 1] + name: agent1 + start: [5, 5] +- goal: [7, 6] + name: agent2 + start: [6, 2] +- goal: [4, 4] + name: agent3 + start: [0, 5] +- goal: [2, 4] + name: agent4 + start: [1, 3] +- goal: [1, 7] + name: agent5 + start: [7, 3] +- goal: [2, 5] + name: agent6 + start: [3, 5] +- goal: [0, 4] + name: agent7 + start: [7, 1] +- goal: [3, 5] + name: agent8 + start: [1, 5] +- goal: [3, 1] + name: agent9 + start: [6, 3] +- goal: [0, 6] + name: agent10 + start: [7, 7] +- goal: [2, 1] + name: agent11 + start: [5, 0] +- goal: [2, 7] + name: agent12 + start: [2, 7] +- goal: [4, 5] + name: agent13 + start: [3, 6] +- goal: [4, 3] + name: agent14 + start: [5, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 6] + - !!python/tuple [2, 2] + - !!python/tuple [7, 4] + - !!python/tuple [0, 7] + - !!python/tuple [1, 6] + - !!python/tuple [7, 5] + - !!python/tuple [4, 2] + - !!python/tuple [0, 2] + - !!python/tuple [5, 7] + - !!python/tuple [0, 3] + - !!python/tuple [7, 2] + - !!python/tuple [4, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex99.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex99.yaml new file mode 100644 index 0000000..cd7beee --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents15_ex99.yaml @@ -0,0 +1,61 @@ +agents: +- goal: [6, 3] + name: agent0 + start: [3, 7] +- goal: [6, 0] + name: agent1 + start: [3, 6] +- goal: [2, 5] + name: agent2 + start: [0, 4] +- goal: [6, 1] + name: agent3 + start: [4, 6] +- goal: [2, 7] + name: agent4 + start: [1, 5] +- goal: [0, 6] + name: agent5 + start: [4, 4] +- goal: [3, 3] + name: agent6 + start: [0, 6] +- goal: [4, 5] + name: agent7 + start: [7, 1] +- goal: [7, 4] + name: agent8 + start: [3, 0] +- goal: [7, 5] + name: agent9 + start: [2, 0] +- goal: [6, 4] + name: agent10 + start: [1, 3] +- goal: [3, 4] + name: agent11 + start: [4, 5] +- goal: [7, 6] + name: agent12 + start: [4, 2] +- goal: [5, 1] + name: agent13 + start: [6, 3] +- goal: [2, 0] + name: agent14 + start: [7, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 6] + - !!python/tuple [7, 0] + - !!python/tuple [1, 1] + - !!python/tuple [5, 0] + - !!python/tuple [0, 1] + - !!python/tuple [7, 7] + - !!python/tuple [6, 2] + - !!python/tuple [4, 3] + - !!python/tuple [7, 2] + - !!python/tuple [6, 6] + - !!python/tuple [0, 3] + - !!python/tuple [1, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex0.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex0.yaml new file mode 100644 index 0000000..22647fc --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex0.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [7, 0] + name: agent0 + start: [5, 3] +- goal: [3, 2] + name: agent1 + start: [3, 3] +- goal: [3, 5] + name: agent2 + start: [7, 5] +- goal: [3, 0] + name: agent3 + start: [6, 7] +- goal: [1, 0] + name: agent4 + start: [5, 0] +- goal: [6, 7] + name: agent5 + start: [7, 3] +- goal: [7, 5] + name: agent6 + start: [2, 3] +- goal: [7, 3] + name: agent7 + start: [7, 6] +- goal: [4, 2] + name: agent8 + start: [1, 1] +- goal: [3, 1] + name: agent9 + start: [1, 2] +- goal: [2, 7] + name: agent10 + start: [4, 5] +- goal: [1, 6] + name: agent11 + start: [5, 6] +- goal: [6, 1] + name: agent12 + start: [0, 7] +- goal: [1, 4] + name: agent13 + start: [0, 5] +- goal: [5, 6] + name: agent14 + start: [6, 5] +- goal: [4, 6] + name: agent15 + start: [4, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 6] + - !!python/tuple [1, 3] + - !!python/tuple [5, 7] + - !!python/tuple [6, 3] + - !!python/tuple [4, 1] + - !!python/tuple [2, 4] + - !!python/tuple [1, 5] + - !!python/tuple [4, 7] + - !!python/tuple [5, 4] + - !!python/tuple [7, 7] + - !!python/tuple [5, 5] + - !!python/tuple [6, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex1.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex1.yaml new file mode 100644 index 0000000..1bcf2f6 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex1.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [2, 1] + name: agent0 + start: [4, 4] +- goal: [1, 1] + name: agent1 + start: [5, 3] +- goal: [5, 1] + name: agent2 + start: [1, 1] +- goal: [4, 0] + name: agent3 + start: [0, 5] +- goal: [0, 5] + name: agent4 + start: [3, 5] +- goal: [2, 6] + name: agent5 + start: [0, 2] +- goal: [5, 2] + name: agent6 + start: [6, 2] +- goal: [5, 5] + name: agent7 + start: [1, 2] +- goal: [6, 2] + name: agent8 + start: [2, 4] +- goal: [2, 7] + name: agent9 + start: [3, 7] +- goal: [3, 5] + name: agent10 + start: [5, 7] +- goal: [0, 7] + name: agent11 + start: [6, 3] +- goal: [1, 2] + name: agent12 + start: [2, 5] +- goal: [1, 4] + name: agent13 + start: [5, 2] +- goal: [0, 2] + name: agent14 + start: [6, 6] +- goal: [1, 3] + name: agent15 + start: [1, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 0] + - !!python/tuple [3, 6] + - !!python/tuple [7, 3] + - !!python/tuple [3, 1] + - !!python/tuple [6, 0] + - !!python/tuple [7, 4] + - !!python/tuple [0, 4] + - !!python/tuple [6, 5] + - !!python/tuple [1, 6] + - !!python/tuple [6, 4] + - !!python/tuple [3, 4] + - !!python/tuple [5, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex10.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex10.yaml new file mode 100644 index 0000000..d435b0c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex10.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [5, 1] + name: agent0 + start: [5, 0] +- goal: [2, 2] + name: agent1 + start: [4, 7] +- goal: [5, 7] + name: agent2 + start: [6, 7] +- goal: [1, 0] + name: agent3 + start: [1, 6] +- goal: [4, 6] + name: agent4 + start: [6, 6] +- goal: [1, 2] + name: agent5 + start: [4, 6] +- goal: [0, 2] + name: agent6 + start: [7, 3] +- goal: [2, 0] + name: agent7 + start: [3, 5] +- goal: [7, 5] + name: agent8 + start: [5, 4] +- goal: [0, 6] + name: agent9 + start: [0, 4] +- goal: [2, 7] + name: agent10 + start: [3, 1] +- goal: [6, 1] + name: agent11 + start: [6, 1] +- goal: [1, 6] + name: agent12 + start: [5, 3] +- goal: [0, 5] + name: agent13 + start: [0, 6] +- goal: [4, 0] + name: agent14 + start: [1, 5] +- goal: [2, 4] + name: agent15 + start: [1, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 6] + - !!python/tuple [4, 3] + - !!python/tuple [3, 3] + - !!python/tuple [0, 3] + - !!python/tuple [4, 5] + - !!python/tuple [4, 1] + - !!python/tuple [1, 4] + - !!python/tuple [6, 0] + - !!python/tuple [6, 2] + - !!python/tuple [2, 6] + - !!python/tuple [7, 1] + - !!python/tuple [0, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex11.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex11.yaml new file mode 100644 index 0000000..404167d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex11.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [1, 5] + name: agent0 + start: [2, 7] +- goal: [7, 0] + name: agent1 + start: [2, 2] +- goal: [3, 5] + name: agent2 + start: [3, 1] +- goal: [5, 1] + name: agent3 + start: [0, 2] +- goal: [4, 5] + name: agent4 + start: [4, 3] +- goal: [2, 3] + name: agent5 + start: [3, 4] +- goal: [3, 4] + name: agent6 + start: [7, 3] +- goal: [3, 2] + name: agent7 + start: [4, 5] +- goal: [7, 1] + name: agent8 + start: [1, 3] +- goal: [3, 6] + name: agent9 + start: [2, 5] +- goal: [6, 1] + name: agent10 + start: [0, 3] +- goal: [4, 0] + name: agent11 + start: [4, 4] +- goal: [5, 7] + name: agent12 + start: [3, 2] +- goal: [0, 2] + name: agent13 + start: [6, 4] +- goal: [1, 4] + name: agent14 + start: [1, 5] +- goal: [3, 1] + name: agent15 + start: [4, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 1] + - !!python/tuple [5, 2] + - !!python/tuple [0, 6] + - !!python/tuple [0, 7] + - !!python/tuple [6, 2] + - !!python/tuple [7, 4] + - !!python/tuple [7, 7] + - !!python/tuple [0, 4] + - !!python/tuple [5, 3] + - !!python/tuple [5, 6] + - !!python/tuple [6, 0] + - !!python/tuple [3, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex12.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex12.yaml new file mode 100644 index 0000000..ca8c73e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex12.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [3, 4] + name: agent0 + start: [3, 4] +- goal: [3, 5] + name: agent1 + start: [6, 0] +- goal: [0, 5] + name: agent2 + start: [2, 1] +- goal: [2, 6] + name: agent3 + start: [6, 4] +- goal: [5, 3] + name: agent4 + start: [7, 3] +- goal: [5, 6] + name: agent5 + start: [0, 6] +- goal: [0, 4] + name: agent6 + start: [0, 5] +- goal: [4, 4] + name: agent7 + start: [5, 6] +- goal: [6, 2] + name: agent8 + start: [1, 6] +- goal: [0, 7] + name: agent9 + start: [2, 7] +- goal: [7, 1] + name: agent10 + start: [4, 3] +- goal: [2, 4] + name: agent11 + start: [2, 3] +- goal: [4, 3] + name: agent12 + start: [3, 5] +- goal: [7, 3] + name: agent13 + start: [7, 7] +- goal: [0, 6] + name: agent14 + start: [4, 1] +- goal: [5, 4] + name: agent15 + start: [6, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 0] + - !!python/tuple [3, 6] + - !!python/tuple [0, 1] + - !!python/tuple [2, 0] + - !!python/tuple [1, 2] + - !!python/tuple [5, 0] + - !!python/tuple [5, 2] + - !!python/tuple [5, 1] + - !!python/tuple [1, 3] + - !!python/tuple [5, 7] + - !!python/tuple [3, 3] + - !!python/tuple [1, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex13.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex13.yaml new file mode 100644 index 0000000..2e9db6f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex13.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [2, 2] + name: agent0 + start: [7, 4] +- goal: [5, 2] + name: agent1 + start: [4, 4] +- goal: [6, 1] + name: agent2 + start: [5, 6] +- goal: [6, 5] + name: agent3 + start: [3, 2] +- goal: [1, 7] + name: agent4 + start: [6, 0] +- goal: [2, 5] + name: agent5 + start: [0, 4] +- goal: [4, 7] + name: agent6 + start: [5, 3] +- goal: [7, 5] + name: agent7 + start: [3, 3] +- goal: [6, 7] + name: agent8 + start: [6, 2] +- goal: [6, 2] + name: agent9 + start: [4, 6] +- goal: [3, 2] + name: agent10 + start: [4, 1] +- goal: [2, 0] + name: agent11 + start: [6, 4] +- goal: [2, 3] + name: agent12 + start: [2, 6] +- goal: [1, 4] + name: agent13 + start: [3, 4] +- goal: [4, 1] + name: agent14 + start: [2, 0] +- goal: [1, 2] + name: agent15 + start: [2, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 6] + - !!python/tuple [3, 6] + - !!python/tuple [5, 1] + - !!python/tuple [0, 5] + - !!python/tuple [6, 6] + - !!python/tuple [7, 7] + - !!python/tuple [2, 7] + - !!python/tuple [7, 1] + - !!python/tuple [2, 1] + - !!python/tuple [5, 5] + - !!python/tuple [1, 3] + - !!python/tuple [7, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex14.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex14.yaml new file mode 100644 index 0000000..8989efb --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex14.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [5, 3] + name: agent0 + start: [6, 0] +- goal: [4, 1] + name: agent1 + start: [6, 1] +- goal: [6, 6] + name: agent2 + start: [4, 5] +- goal: [6, 1] + name: agent3 + start: [0, 5] +- goal: [7, 2] + name: agent4 + start: [6, 4] +- goal: [4, 5] + name: agent5 + start: [0, 1] +- goal: [4, 4] + name: agent6 + start: [4, 2] +- goal: [4, 7] + name: agent7 + start: [0, 4] +- goal: [3, 0] + name: agent8 + start: [7, 3] +- goal: [7, 1] + name: agent9 + start: [5, 6] +- goal: [3, 1] + name: agent10 + start: [2, 5] +- goal: [0, 6] + name: agent11 + start: [0, 3] +- goal: [0, 7] + name: agent12 + start: [2, 2] +- goal: [5, 6] + name: agent13 + start: [7, 5] +- goal: [6, 0] + name: agent14 + start: [6, 7] +- goal: [7, 0] + name: agent15 + start: [2, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 6] + - !!python/tuple [2, 6] + - !!python/tuple [4, 0] + - !!python/tuple [3, 6] + - !!python/tuple [4, 3] + - !!python/tuple [5, 7] + - !!python/tuple [5, 5] + - !!python/tuple [1, 2] + - !!python/tuple [5, 2] + - !!python/tuple [3, 7] + - !!python/tuple [5, 0] + - !!python/tuple [1, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex15.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex15.yaml new file mode 100644 index 0000000..3ee2e8e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex15.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [6, 1] + name: agent0 + start: [3, 1] +- goal: [1, 2] + name: agent1 + start: [0, 7] +- goal: [6, 3] + name: agent2 + start: [3, 3] +- goal: [6, 5] + name: agent3 + start: [4, 6] +- goal: [0, 7] + name: agent4 + start: [2, 0] +- goal: [1, 0] + name: agent5 + start: [4, 3] +- goal: [7, 4] + name: agent6 + start: [0, 5] +- goal: [5, 5] + name: agent7 + start: [6, 5] +- goal: [4, 2] + name: agent8 + start: [6, 4] +- goal: [4, 3] + name: agent9 + start: [6, 3] +- goal: [1, 6] + name: agent10 + start: [4, 5] +- goal: [2, 5] + name: agent11 + start: [5, 2] +- goal: [5, 1] + name: agent12 + start: [0, 3] +- goal: [6, 0] + name: agent13 + start: [5, 6] +- goal: [1, 1] + name: agent14 + start: [6, 0] +- goal: [6, 4] + name: agent15 + start: [2, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 3] + - !!python/tuple [5, 3] + - !!python/tuple [6, 2] + - !!python/tuple [2, 1] + - !!python/tuple [6, 7] + - !!python/tuple [2, 7] + - !!python/tuple [2, 4] + - !!python/tuple [1, 4] + - !!python/tuple [3, 6] + - !!python/tuple [6, 6] + - !!python/tuple [0, 0] + - !!python/tuple [7, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex16.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex16.yaml new file mode 100644 index 0000000..4758dbf --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex16.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [2, 6] + name: agent0 + start: [6, 4] +- goal: [5, 5] + name: agent1 + start: [2, 7] +- goal: [2, 7] + name: agent2 + start: [0, 4] +- goal: [3, 0] + name: agent3 + start: [1, 7] +- goal: [1, 2] + name: agent4 + start: [3, 1] +- goal: [6, 4] + name: agent5 + start: [3, 5] +- goal: [6, 2] + name: agent6 + start: [3, 4] +- goal: [1, 0] + name: agent7 + start: [4, 5] +- goal: [6, 5] + name: agent8 + start: [0, 0] +- goal: [4, 6] + name: agent9 + start: [3, 2] +- goal: [3, 1] + name: agent10 + start: [4, 1] +- goal: [7, 2] + name: agent11 + start: [1, 6] +- goal: [6, 6] + name: agent12 + start: [1, 4] +- goal: [3, 5] + name: agent13 + start: [6, 6] +- goal: [4, 2] + name: agent14 + start: [6, 0] +- goal: [2, 0] + name: agent15 + start: [2, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 4] + - !!python/tuple [7, 6] + - !!python/tuple [5, 0] + - !!python/tuple [1, 1] + - !!python/tuple [2, 5] + - !!python/tuple [5, 6] + - !!python/tuple [4, 7] + - !!python/tuple [0, 1] + - !!python/tuple [6, 7] + - !!python/tuple [0, 3] + - !!python/tuple [6, 3] + - !!python/tuple [1, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex17.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex17.yaml new file mode 100644 index 0000000..a02e3a1 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex17.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [4, 3] + name: agent0 + start: [3, 4] +- goal: [6, 2] + name: agent1 + start: [0, 2] +- goal: [7, 1] + name: agent2 + start: [1, 7] +- goal: [4, 5] + name: agent3 + start: [2, 0] +- goal: [6, 7] + name: agent4 + start: [0, 4] +- goal: [2, 5] + name: agent5 + start: [5, 3] +- goal: [2, 2] + name: agent6 + start: [3, 3] +- goal: [0, 5] + name: agent7 + start: [1, 1] +- goal: [0, 3] + name: agent8 + start: [4, 4] +- goal: [5, 4] + name: agent9 + start: [4, 5] +- goal: [2, 3] + name: agent10 + start: [0, 7] +- goal: [7, 0] + name: agent11 + start: [0, 5] +- goal: [4, 1] + name: agent12 + start: [6, 7] +- goal: [4, 2] + name: agent13 + start: [2, 3] +- goal: [1, 2] + name: agent14 + start: [6, 2] +- goal: [6, 1] + name: agent15 + start: [6, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 4] + - !!python/tuple [1, 0] + - !!python/tuple [5, 0] + - !!python/tuple [2, 6] + - !!python/tuple [0, 0] + - !!python/tuple [5, 5] + - !!python/tuple [7, 5] + - !!python/tuple [7, 2] + - !!python/tuple [4, 0] + - !!python/tuple [7, 4] + - !!python/tuple [2, 7] + - !!python/tuple [5, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex18.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex18.yaml new file mode 100644 index 0000000..dae5375 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex18.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [4, 2] + name: agent0 + start: [1, 5] +- goal: [2, 0] + name: agent1 + start: [3, 4] +- goal: [3, 1] + name: agent2 + start: [2, 0] +- goal: [4, 1] + name: agent3 + start: [6, 5] +- goal: [0, 3] + name: agent4 + start: [0, 2] +- goal: [2, 5] + name: agent5 + start: [2, 2] +- goal: [1, 3] + name: agent6 + start: [6, 2] +- goal: [7, 0] + name: agent7 + start: [0, 0] +- goal: [2, 7] + name: agent8 + start: [2, 3] +- goal: [0, 1] + name: agent9 + start: [6, 1] +- goal: [0, 0] + name: agent10 + start: [1, 6] +- goal: [2, 6] + name: agent11 + start: [2, 5] +- goal: [2, 2] + name: agent12 + start: [2, 6] +- goal: [0, 5] + name: agent13 + start: [1, 7] +- goal: [7, 6] + name: agent14 + start: [6, 6] +- goal: [4, 5] + name: agent15 + start: [1, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 1] + - !!python/tuple [6, 0] + - !!python/tuple [5, 0] + - !!python/tuple [5, 6] + - !!python/tuple [6, 7] + - !!python/tuple [3, 6] + - !!python/tuple [0, 4] + - !!python/tuple [7, 5] + - !!python/tuple [2, 4] + - !!python/tuple [3, 0] + - !!python/tuple [4, 7] + - !!python/tuple [1, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex19.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex19.yaml new file mode 100644 index 0000000..1086ea8 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex19.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [2, 0] + name: agent0 + start: [3, 4] +- goal: [2, 5] + name: agent1 + start: [0, 0] +- goal: [3, 5] + name: agent2 + start: [0, 3] +- goal: [5, 3] + name: agent3 + start: [2, 3] +- goal: [4, 3] + name: agent4 + start: [3, 7] +- goal: [0, 4] + name: agent5 + start: [3, 5] +- goal: [6, 3] + name: agent6 + start: [5, 5] +- goal: [1, 3] + name: agent7 + start: [1, 1] +- goal: [1, 5] + name: agent8 + start: [0, 7] +- goal: [0, 0] + name: agent9 + start: [6, 6] +- goal: [0, 1] + name: agent10 + start: [3, 0] +- goal: [7, 0] + name: agent11 + start: [5, 3] +- goal: [3, 3] + name: agent12 + start: [6, 4] +- goal: [2, 2] + name: agent13 + start: [1, 6] +- goal: [5, 1] + name: agent14 + start: [1, 5] +- goal: [5, 0] + name: agent15 + start: [0, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 6] + - !!python/tuple [4, 6] + - !!python/tuple [7, 5] + - !!python/tuple [6, 1] + - !!python/tuple [5, 4] + - !!python/tuple [1, 2] + - !!python/tuple [6, 2] + - !!python/tuple [4, 5] + - !!python/tuple [7, 7] + - !!python/tuple [0, 2] + - !!python/tuple [7, 6] + - !!python/tuple [0, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex2.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex2.yaml new file mode 100644 index 0000000..dbf0945 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex2.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [0, 3] + name: agent0 + start: [3, 5] +- goal: [2, 7] + name: agent1 + start: [0, 6] +- goal: [4, 3] + name: agent2 + start: [0, 0] +- goal: [2, 4] + name: agent3 + start: [3, 3] +- goal: [0, 2] + name: agent4 + start: [4, 3] +- goal: [5, 4] + name: agent5 + start: [4, 0] +- goal: [4, 6] + name: agent6 + start: [7, 0] +- goal: [1, 6] + name: agent7 + start: [3, 7] +- goal: [7, 3] + name: agent8 + start: [6, 6] +- goal: [3, 1] + name: agent9 + start: [2, 5] +- goal: [5, 1] + name: agent10 + start: [1, 6] +- goal: [0, 0] + name: agent11 + start: [4, 6] +- goal: [7, 4] + name: agent12 + start: [1, 3] +- goal: [4, 0] + name: agent13 + start: [5, 2] +- goal: [3, 3] + name: agent14 + start: [6, 5] +- goal: [6, 6] + name: agent15 + start: [4, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 0] + - !!python/tuple [4, 2] + - !!python/tuple [1, 7] + - !!python/tuple [1, 4] + - !!python/tuple [3, 0] + - !!python/tuple [6, 2] + - !!python/tuple [0, 7] + - !!python/tuple [2, 2] + - !!python/tuple [7, 6] + - !!python/tuple [6, 3] + - !!python/tuple [2, 3] + - !!python/tuple [0, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex20.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex20.yaml new file mode 100644 index 0000000..9f00c26 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex20.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [1, 2] + name: agent0 + start: [5, 7] +- goal: [0, 2] + name: agent1 + start: [5, 6] +- goal: [4, 1] + name: agent2 + start: [6, 7] +- goal: [0, 5] + name: agent3 + start: [7, 1] +- goal: [4, 3] + name: agent4 + start: [5, 5] +- goal: [6, 7] + name: agent5 + start: [0, 2] +- goal: [2, 4] + name: agent6 + start: [6, 1] +- goal: [0, 0] + name: agent7 + start: [0, 4] +- goal: [6, 4] + name: agent8 + start: [3, 1] +- goal: [2, 6] + name: agent9 + start: [5, 2] +- goal: [3, 7] + name: agent10 + start: [0, 5] +- goal: [2, 2] + name: agent11 + start: [2, 2] +- goal: [7, 5] + name: agent12 + start: [4, 5] +- goal: [0, 6] + name: agent13 + start: [1, 1] +- goal: [7, 6] + name: agent14 + start: [3, 5] +- goal: [6, 0] + name: agent15 + start: [7, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 2] + - !!python/tuple [7, 0] + - !!python/tuple [2, 1] + - !!python/tuple [3, 6] + - !!python/tuple [7, 3] + - !!python/tuple [4, 4] + - !!python/tuple [7, 2] + - !!python/tuple [1, 7] + - !!python/tuple [4, 0] + - !!python/tuple [5, 0] + - !!python/tuple [1, 5] + - !!python/tuple [1, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex21.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex21.yaml new file mode 100644 index 0000000..7c43fc5 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex21.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [0, 0] + name: agent0 + start: [3, 0] +- goal: [5, 0] + name: agent1 + start: [5, 3] +- goal: [4, 7] + name: agent2 + start: [4, 6] +- goal: [1, 5] + name: agent3 + start: [3, 6] +- goal: [1, 0] + name: agent4 + start: [1, 5] +- goal: [3, 2] + name: agent5 + start: [0, 2] +- goal: [7, 2] + name: agent6 + start: [1, 0] +- goal: [5, 7] + name: agent7 + start: [4, 7] +- goal: [2, 3] + name: agent8 + start: [4, 4] +- goal: [7, 0] + name: agent9 + start: [1, 4] +- goal: [2, 4] + name: agent10 + start: [7, 7] +- goal: [5, 5] + name: agent11 + start: [4, 3] +- goal: [3, 3] + name: agent12 + start: [7, 4] +- goal: [3, 5] + name: agent13 + start: [5, 2] +- goal: [1, 2] + name: agent14 + start: [7, 3] +- goal: [6, 0] + name: agent15 + start: [2, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 5] + - !!python/tuple [6, 7] + - !!python/tuple [3, 1] + - !!python/tuple [6, 4] + - !!python/tuple [3, 4] + - !!python/tuple [0, 4] + - !!python/tuple [6, 3] + - !!python/tuple [4, 1] + - !!python/tuple [1, 7] + - !!python/tuple [1, 1] + - !!python/tuple [7, 5] + - !!python/tuple [4, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex22.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex22.yaml new file mode 100644 index 0000000..40900f7 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex22.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [1, 0] + name: agent0 + start: [0, 1] +- goal: [4, 2] + name: agent1 + start: [3, 2] +- goal: [7, 0] + name: agent2 + start: [4, 0] +- goal: [6, 7] + name: agent3 + start: [3, 0] +- goal: [4, 6] + name: agent4 + start: [1, 3] +- goal: [4, 0] + name: agent5 + start: [6, 1] +- goal: [6, 3] + name: agent6 + start: [4, 4] +- goal: [5, 0] + name: agent7 + start: [4, 2] +- goal: [3, 7] + name: agent8 + start: [0, 3] +- goal: [6, 5] + name: agent9 + start: [0, 0] +- goal: [1, 6] + name: agent10 + start: [1, 4] +- goal: [5, 3] + name: agent11 + start: [6, 7] +- goal: [6, 2] + name: agent12 + start: [6, 6] +- goal: [7, 5] + name: agent13 + start: [3, 1] +- goal: [1, 7] + name: agent14 + start: [0, 7] +- goal: [5, 5] + name: agent15 + start: [6, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 1] + - !!python/tuple [1, 2] + - !!python/tuple [5, 6] + - !!python/tuple [3, 4] + - !!python/tuple [4, 5] + - !!python/tuple [2, 4] + - !!python/tuple [0, 2] + - !!python/tuple [4, 7] + - !!python/tuple [1, 5] + - !!python/tuple [6, 0] + - !!python/tuple [2, 3] + - !!python/tuple [2, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex23.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex23.yaml new file mode 100644 index 0000000..f8efee6 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex23.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [0, 3] + name: agent0 + start: [6, 5] +- goal: [1, 2] + name: agent1 + start: [2, 7] +- goal: [7, 5] + name: agent2 + start: [0, 1] +- goal: [5, 5] + name: agent3 + start: [6, 3] +- goal: [2, 3] + name: agent4 + start: [3, 0] +- goal: [3, 1] + name: agent5 + start: [6, 4] +- goal: [2, 4] + name: agent6 + start: [3, 6] +- goal: [7, 6] + name: agent7 + start: [6, 0] +- goal: [4, 7] + name: agent8 + start: [6, 2] +- goal: [3, 2] + name: agent9 + start: [2, 6] +- goal: [6, 1] + name: agent10 + start: [5, 3] +- goal: [6, 5] + name: agent11 + start: [4, 2] +- goal: [0, 4] + name: agent12 + start: [2, 5] +- goal: [5, 1] + name: agent13 + start: [3, 7] +- goal: [2, 2] + name: agent14 + start: [1, 6] +- goal: [0, 0] + name: agent15 + start: [7, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 4] + - !!python/tuple [7, 1] + - !!python/tuple [5, 4] + - !!python/tuple [4, 5] + - !!python/tuple [3, 3] + - !!python/tuple [5, 7] + - !!python/tuple [5, 0] + - !!python/tuple [1, 1] + - !!python/tuple [1, 4] + - !!python/tuple [4, 0] + - !!python/tuple [0, 5] + - !!python/tuple [3, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex24.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex24.yaml new file mode 100644 index 0000000..69095cb --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex24.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [2, 4] + name: agent0 + start: [2, 6] +- goal: [4, 5] + name: agent1 + start: [1, 5] +- goal: [4, 0] + name: agent2 + start: [4, 6] +- goal: [0, 0] + name: agent3 + start: [2, 0] +- goal: [0, 6] + name: agent4 + start: [5, 2] +- goal: [3, 0] + name: agent5 + start: [0, 2] +- goal: [2, 6] + name: agent6 + start: [3, 5] +- goal: [3, 5] + name: agent7 + start: [0, 6] +- goal: [4, 2] + name: agent8 + start: [5, 0] +- goal: [7, 0] + name: agent9 + start: [6, 1] +- goal: [6, 4] + name: agent10 + start: [7, 2] +- goal: [6, 0] + name: agent11 + start: [1, 0] +- goal: [5, 4] + name: agent12 + start: [0, 4] +- goal: [5, 7] + name: agent13 + start: [7, 1] +- goal: [0, 2] + name: agent14 + start: [4, 4] +- goal: [5, 0] + name: agent15 + start: [0, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 1] + - !!python/tuple [3, 1] + - !!python/tuple [7, 7] + - !!python/tuple [6, 5] + - !!python/tuple [7, 3] + - !!python/tuple [0, 5] + - !!python/tuple [6, 6] + - !!python/tuple [6, 7] + - !!python/tuple [2, 2] + - !!python/tuple [3, 6] + - !!python/tuple [0, 7] + - !!python/tuple [2, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex25.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex25.yaml new file mode 100644 index 0000000..2beea53 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex25.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [4, 1] + name: agent0 + start: [6, 5] +- goal: [7, 6] + name: agent1 + start: [0, 5] +- goal: [5, 2] + name: agent2 + start: [6, 2] +- goal: [2, 0] + name: agent3 + start: [3, 4] +- goal: [7, 4] + name: agent4 + start: [2, 3] +- goal: [3, 6] + name: agent5 + start: [5, 1] +- goal: [6, 5] + name: agent6 + start: [7, 1] +- goal: [6, 6] + name: agent7 + start: [1, 4] +- goal: [5, 1] + name: agent8 + start: [4, 0] +- goal: [4, 0] + name: agent9 + start: [7, 4] +- goal: [2, 3] + name: agent10 + start: [4, 2] +- goal: [5, 7] + name: agent11 + start: [4, 6] +- goal: [1, 5] + name: agent12 + start: [7, 2] +- goal: [1, 4] + name: agent13 + start: [3, 0] +- goal: [3, 2] + name: agent14 + start: [6, 3] +- goal: [7, 0] + name: agent15 + start: [0, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 0] + - !!python/tuple [5, 3] + - !!python/tuple [2, 5] + - !!python/tuple [0, 2] + - !!python/tuple [1, 2] + - !!python/tuple [3, 3] + - !!python/tuple [7, 5] + - !!python/tuple [0, 3] + - !!python/tuple [2, 7] + - !!python/tuple [3, 5] + - !!python/tuple [3, 7] + - !!python/tuple [2, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex26.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex26.yaml new file mode 100644 index 0000000..40d3373 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex26.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [4, 4] + name: agent0 + start: [6, 0] +- goal: [6, 6] + name: agent1 + start: [3, 4] +- goal: [7, 2] + name: agent2 + start: [1, 2] +- goal: [2, 5] + name: agent3 + start: [4, 4] +- goal: [5, 7] + name: agent4 + start: [0, 2] +- goal: [4, 2] + name: agent5 + start: [7, 1] +- goal: [6, 0] + name: agent6 + start: [5, 6] +- goal: [2, 3] + name: agent7 + start: [4, 3] +- goal: [2, 2] + name: agent8 + start: [3, 5] +- goal: [4, 6] + name: agent9 + start: [0, 5] +- goal: [4, 0] + name: agent10 + start: [6, 1] +- goal: [4, 5] + name: agent11 + start: [4, 6] +- goal: [0, 5] + name: agent12 + start: [7, 2] +- goal: [4, 3] + name: agent13 + start: [2, 0] +- goal: [0, 2] + name: agent14 + start: [1, 6] +- goal: [1, 3] + name: agent15 + start: [3, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 2] + - !!python/tuple [0, 6] + - !!python/tuple [2, 7] + - !!python/tuple [3, 6] + - !!python/tuple [1, 5] + - !!python/tuple [3, 3] + - !!python/tuple [4, 1] + - !!python/tuple [5, 1] + - !!python/tuple [5, 2] + - !!python/tuple [5, 4] + - !!python/tuple [6, 7] + - !!python/tuple [0, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex27.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex27.yaml new file mode 100644 index 0000000..1d6a20a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex27.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [1, 3] + name: agent0 + start: [4, 4] +- goal: [3, 1] + name: agent1 + start: [1, 4] +- goal: [3, 3] + name: agent2 + start: [2, 5] +- goal: [6, 3] + name: agent3 + start: [4, 0] +- goal: [2, 5] + name: agent4 + start: [4, 7] +- goal: [0, 2] + name: agent5 + start: [7, 6] +- goal: [0, 6] + name: agent6 + start: [0, 3] +- goal: [1, 1] + name: agent7 + start: [5, 0] +- goal: [4, 5] + name: agent8 + start: [3, 7] +- goal: [0, 7] + name: agent9 + start: [2, 1] +- goal: [3, 5] + name: agent10 + start: [3, 3] +- goal: [5, 2] + name: agent11 + start: [7, 4] +- goal: [5, 4] + name: agent12 + start: [7, 7] +- goal: [6, 4] + name: agent13 + start: [6, 5] +- goal: [3, 0] + name: agent14 + start: [2, 2] +- goal: [6, 6] + name: agent15 + start: [0, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 6] + - !!python/tuple [6, 2] + - !!python/tuple [7, 0] + - !!python/tuple [1, 5] + - !!python/tuple [3, 4] + - !!python/tuple [1, 7] + - !!python/tuple [4, 6] + - !!python/tuple [0, 1] + - !!python/tuple [3, 6] + - !!python/tuple [4, 2] + - !!python/tuple [4, 1] + - !!python/tuple [7, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex28.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex28.yaml new file mode 100644 index 0000000..3ed19f9 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex28.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [4, 2] + name: agent0 + start: [1, 4] +- goal: [6, 6] + name: agent1 + start: [1, 3] +- goal: [6, 5] + name: agent2 + start: [1, 1] +- goal: [5, 1] + name: agent3 + start: [7, 6] +- goal: [7, 1] + name: agent4 + start: [2, 0] +- goal: [6, 4] + name: agent5 + start: [0, 2] +- goal: [1, 4] + name: agent6 + start: [6, 4] +- goal: [4, 6] + name: agent7 + start: [4, 5] +- goal: [5, 4] + name: agent8 + start: [6, 3] +- goal: [3, 4] + name: agent9 + start: [6, 0] +- goal: [6, 1] + name: agent10 + start: [6, 6] +- goal: [1, 1] + name: agent11 + start: [7, 1] +- goal: [2, 2] + name: agent12 + start: [4, 1] +- goal: [3, 6] + name: agent13 + start: [4, 4] +- goal: [7, 6] + name: agent14 + start: [7, 7] +- goal: [4, 1] + name: agent15 + start: [0, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 4] + - !!python/tuple [7, 5] + - !!python/tuple [0, 6] + - !!python/tuple [2, 5] + - !!python/tuple [1, 2] + - !!python/tuple [5, 7] + - !!python/tuple [7, 3] + - !!python/tuple [4, 7] + - !!python/tuple [2, 7] + - !!python/tuple [5, 6] + - !!python/tuple [2, 6] + - !!python/tuple [2, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex29.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex29.yaml new file mode 100644 index 0000000..c5aa677 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex29.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [3, 3] + name: agent0 + start: [0, 0] +- goal: [6, 3] + name: agent1 + start: [7, 7] +- goal: [0, 0] + name: agent2 + start: [4, 0] +- goal: [3, 0] + name: agent3 + start: [6, 3] +- goal: [7, 2] + name: agent4 + start: [2, 5] +- goal: [0, 7] + name: agent5 + start: [3, 0] +- goal: [3, 5] + name: agent6 + start: [1, 0] +- goal: [6, 7] + name: agent7 + start: [7, 4] +- goal: [4, 7] + name: agent8 + start: [3, 7] +- goal: [3, 1] + name: agent9 + start: [1, 5] +- goal: [7, 0] + name: agent10 + start: [7, 0] +- goal: [2, 7] + name: agent11 + start: [4, 5] +- goal: [0, 4] + name: agent12 + start: [0, 6] +- goal: [2, 3] + name: agent13 + start: [2, 0] +- goal: [0, 5] + name: agent14 + start: [0, 4] +- goal: [0, 6] + name: agent15 + start: [4, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 3] + - !!python/tuple [6, 1] + - !!python/tuple [3, 6] + - !!python/tuple [0, 1] + - !!python/tuple [1, 1] + - !!python/tuple [1, 3] + - !!python/tuple [2, 4] + - !!python/tuple [5, 6] + - !!python/tuple [4, 4] + - !!python/tuple [4, 3] + - !!python/tuple [0, 3] + - !!python/tuple [3, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex3.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex3.yaml new file mode 100644 index 0000000..6ae5c8c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex3.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [5, 1] + name: agent0 + start: [1, 3] +- goal: [4, 1] + name: agent1 + start: [5, 3] +- goal: [3, 4] + name: agent2 + start: [5, 1] +- goal: [7, 4] + name: agent3 + start: [4, 6] +- goal: [7, 2] + name: agent4 + start: [6, 3] +- goal: [5, 7] + name: agent5 + start: [0, 3] +- goal: [7, 6] + name: agent6 + start: [0, 6] +- goal: [3, 3] + name: agent7 + start: [3, 4] +- goal: [1, 5] + name: agent8 + start: [3, 0] +- goal: [7, 7] + name: agent9 + start: [5, 7] +- goal: [1, 4] + name: agent10 + start: [7, 2] +- goal: [1, 3] + name: agent11 + start: [0, 2] +- goal: [0, 5] + name: agent12 + start: [1, 7] +- goal: [3, 5] + name: agent13 + start: [0, 4] +- goal: [4, 7] + name: agent14 + start: [2, 5] +- goal: [5, 2] + name: agent15 + start: [5, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 6] + - !!python/tuple [6, 1] + - !!python/tuple [3, 6] + - !!python/tuple [5, 0] + - !!python/tuple [5, 6] + - !!python/tuple [1, 2] + - !!python/tuple [6, 2] + - !!python/tuple [2, 3] + - !!python/tuple [7, 5] + - !!python/tuple [7, 1] + - !!python/tuple [5, 5] + - !!python/tuple [0, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex30.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex30.yaml new file mode 100644 index 0000000..4ed0fa5 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex30.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [0, 7] + name: agent0 + start: [0, 3] +- goal: [6, 4] + name: agent1 + start: [1, 5] +- goal: [6, 0] + name: agent2 + start: [0, 2] +- goal: [4, 3] + name: agent3 + start: [6, 4] +- goal: [7, 1] + name: agent4 + start: [4, 4] +- goal: [4, 1] + name: agent5 + start: [5, 4] +- goal: [0, 1] + name: agent6 + start: [7, 1] +- goal: [2, 6] + name: agent7 + start: [7, 7] +- goal: [3, 2] + name: agent8 + start: [4, 5] +- goal: [4, 6] + name: agent9 + start: [1, 3] +- goal: [3, 7] + name: agent10 + start: [5, 2] +- goal: [0, 5] + name: agent11 + start: [4, 0] +- goal: [5, 4] + name: agent12 + start: [0, 0] +- goal: [4, 2] + name: agent13 + start: [2, 3] +- goal: [2, 0] + name: agent14 + start: [6, 2] +- goal: [2, 1] + name: agent15 + start: [7, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 4] + - !!python/tuple [5, 3] + - !!python/tuple [6, 5] + - !!python/tuple [1, 6] + - !!python/tuple [3, 0] + - !!python/tuple [2, 2] + - !!python/tuple [6, 3] + - !!python/tuple [3, 1] + - !!python/tuple [2, 5] + - !!python/tuple [4, 7] + - !!python/tuple [1, 0] + - !!python/tuple [7, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex31.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex31.yaml new file mode 100644 index 0000000..d242d91 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex31.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [7, 4] + name: agent0 + start: [3, 6] +- goal: [0, 1] + name: agent1 + start: [5, 3] +- goal: [3, 5] + name: agent2 + start: [7, 2] +- goal: [0, 2] + name: agent3 + start: [1, 1] +- goal: [6, 5] + name: agent4 + start: [1, 6] +- goal: [5, 7] + name: agent5 + start: [7, 0] +- goal: [6, 6] + name: agent6 + start: [1, 3] +- goal: [4, 1] + name: agent7 + start: [3, 2] +- goal: [4, 5] + name: agent8 + start: [5, 0] +- goal: [5, 5] + name: agent9 + start: [7, 1] +- goal: [7, 1] + name: agent10 + start: [2, 7] +- goal: [1, 1] + name: agent11 + start: [0, 3] +- goal: [7, 5] + name: agent12 + start: [2, 0] +- goal: [4, 2] + name: agent13 + start: [1, 7] +- goal: [3, 7] + name: agent14 + start: [0, 2] +- goal: [0, 3] + name: agent15 + start: [2, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 6] + - !!python/tuple [3, 3] + - !!python/tuple [4, 6] + - !!python/tuple [3, 0] + - !!python/tuple [4, 4] + - !!python/tuple [1, 4] + - !!python/tuple [2, 3] + - !!python/tuple [4, 0] + - !!python/tuple [5, 6] + - !!python/tuple [2, 5] + - !!python/tuple [4, 7] + - !!python/tuple [1, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex32.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex32.yaml new file mode 100644 index 0000000..7abebdf --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex32.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [4, 2] + name: agent0 + start: [4, 1] +- goal: [7, 6] + name: agent1 + start: [2, 7] +- goal: [5, 2] + name: agent2 + start: [7, 6] +- goal: [1, 3] + name: agent3 + start: [0, 2] +- goal: [1, 2] + name: agent4 + start: [5, 6] +- goal: [0, 1] + name: agent5 + start: [1, 0] +- goal: [6, 6] + name: agent6 + start: [5, 2] +- goal: [4, 7] + name: agent7 + start: [5, 0] +- goal: [0, 4] + name: agent8 + start: [0, 4] +- goal: [6, 0] + name: agent9 + start: [3, 7] +- goal: [7, 2] + name: agent10 + start: [7, 0] +- goal: [6, 3] + name: agent11 + start: [2, 1] +- goal: [4, 3] + name: agent12 + start: [3, 0] +- goal: [3, 3] + name: agent13 + start: [4, 5] +- goal: [6, 5] + name: agent14 + start: [7, 4] +- goal: [6, 7] + name: agent15 + start: [5, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 5] + - !!python/tuple [5, 3] + - !!python/tuple [7, 1] + - !!python/tuple [2, 0] + - !!python/tuple [0, 3] + - !!python/tuple [1, 1] + - !!python/tuple [2, 6] + - !!python/tuple [5, 4] + - !!python/tuple [3, 4] + - !!python/tuple [4, 4] + - !!python/tuple [0, 7] + - !!python/tuple [6, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex33.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex33.yaml new file mode 100644 index 0000000..5c88a42 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex33.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [0, 7] + name: agent0 + start: [2, 6] +- goal: [4, 5] + name: agent1 + start: [3, 6] +- goal: [6, 5] + name: agent2 + start: [7, 0] +- goal: [6, 3] + name: agent3 + start: [0, 1] +- goal: [7, 1] + name: agent4 + start: [3, 5] +- goal: [0, 5] + name: agent5 + start: [7, 5] +- goal: [5, 0] + name: agent6 + start: [5, 0] +- goal: [1, 2] + name: agent7 + start: [7, 1] +- goal: [4, 2] + name: agent8 + start: [4, 4] +- goal: [1, 0] + name: agent9 + start: [0, 6] +- goal: [6, 0] + name: agent10 + start: [3, 4] +- goal: [4, 3] + name: agent11 + start: [6, 4] +- goal: [3, 7] + name: agent12 + start: [4, 7] +- goal: [4, 0] + name: agent13 + start: [1, 2] +- goal: [5, 1] + name: agent14 + start: [6, 3] +- goal: [6, 7] + name: agent15 + start: [1, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 6] + - !!python/tuple [7, 7] + - !!python/tuple [2, 3] + - !!python/tuple [4, 1] + - !!python/tuple [6, 2] + - !!python/tuple [1, 5] + - !!python/tuple [4, 6] + - !!python/tuple [3, 1] + - !!python/tuple [2, 4] + - !!python/tuple [3, 3] + - !!python/tuple [0, 4] + - !!python/tuple [5, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex34.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex34.yaml new file mode 100644 index 0000000..abc5d3a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex34.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [1, 6] + name: agent0 + start: [7, 1] +- goal: [0, 7] + name: agent1 + start: [6, 7] +- goal: [1, 2] + name: agent2 + start: [5, 2] +- goal: [4, 2] + name: agent3 + start: [3, 5] +- goal: [2, 4] + name: agent4 + start: [0, 3] +- goal: [0, 4] + name: agent5 + start: [3, 2] +- goal: [1, 0] + name: agent6 + start: [1, 1] +- goal: [3, 1] + name: agent7 + start: [7, 4] +- goal: [2, 5] + name: agent8 + start: [3, 6] +- goal: [3, 0] + name: agent9 + start: [4, 2] +- goal: [6, 0] + name: agent10 + start: [1, 5] +- goal: [0, 2] + name: agent11 + start: [5, 7] +- goal: [7, 7] + name: agent12 + start: [2, 3] +- goal: [1, 5] + name: agent13 + start: [4, 5] +- goal: [2, 3] + name: agent14 + start: [7, 6] +- goal: [1, 1] + name: agent15 + start: [2, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 3] + - !!python/tuple [6, 6] + - !!python/tuple [5, 1] + - !!python/tuple [5, 5] + - !!python/tuple [4, 4] + - !!python/tuple [3, 3] + - !!python/tuple [6, 3] + - !!python/tuple [4, 3] + - !!python/tuple [2, 6] + - !!python/tuple [4, 0] + - !!python/tuple [7, 2] + - !!python/tuple [4, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex35.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex35.yaml new file mode 100644 index 0000000..65a016f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex35.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [0, 2] + name: agent0 + start: [0, 1] +- goal: [6, 7] + name: agent1 + start: [5, 2] +- goal: [2, 0] + name: agent2 + start: [3, 3] +- goal: [4, 7] + name: agent3 + start: [4, 6] +- goal: [0, 3] + name: agent4 + start: [1, 3] +- goal: [2, 3] + name: agent5 + start: [6, 7] +- goal: [0, 7] + name: agent6 + start: [0, 7] +- goal: [2, 7] + name: agent7 + start: [2, 6] +- goal: [2, 6] + name: agent8 + start: [4, 7] +- goal: [2, 1] + name: agent9 + start: [2, 4] +- goal: [5, 2] + name: agent10 + start: [4, 1] +- goal: [3, 7] + name: agent11 + start: [2, 5] +- goal: [1, 2] + name: agent12 + start: [1, 0] +- goal: [7, 2] + name: agent13 + start: [6, 1] +- goal: [2, 4] + name: agent14 + start: [4, 5] +- goal: [0, 6] + name: agent15 + start: [3, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 6] + - !!python/tuple [0, 4] + - !!python/tuple [5, 1] + - !!python/tuple [5, 5] + - !!python/tuple [2, 2] + - !!python/tuple [5, 3] + - !!python/tuple [7, 6] + - !!python/tuple [1, 6] + - !!python/tuple [6, 2] + - !!python/tuple [5, 4] + - !!python/tuple [6, 0] + - !!python/tuple [3, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex36.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex36.yaml new file mode 100644 index 0000000..ba7334e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex36.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [2, 3] + name: agent0 + start: [2, 5] +- goal: [5, 5] + name: agent1 + start: [7, 5] +- goal: [5, 6] + name: agent2 + start: [2, 0] +- goal: [5, 7] + name: agent3 + start: [2, 4] +- goal: [3, 6] + name: agent4 + start: [6, 3] +- goal: [1, 6] + name: agent5 + start: [2, 1] +- goal: [6, 3] + name: agent6 + start: [3, 3] +- goal: [4, 1] + name: agent7 + start: [1, 6] +- goal: [0, 2] + name: agent8 + start: [5, 5] +- goal: [7, 5] + name: agent9 + start: [0, 0] +- goal: [0, 7] + name: agent10 + start: [2, 2] +- goal: [7, 7] + name: agent11 + start: [6, 7] +- goal: [5, 0] + name: agent12 + start: [0, 3] +- goal: [6, 0] + name: agent13 + start: [0, 6] +- goal: [2, 1] + name: agent14 + start: [4, 3] +- goal: [4, 2] + name: agent15 + start: [6, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 2] + - !!python/tuple [3, 7] + - !!python/tuple [7, 1] + - !!python/tuple [4, 5] + - !!python/tuple [7, 3] + - !!python/tuple [5, 2] + - !!python/tuple [3, 4] + - !!python/tuple [1, 1] + - !!python/tuple [6, 1] + - !!python/tuple [0, 5] + - !!python/tuple [4, 6] + - !!python/tuple [4, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex37.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex37.yaml new file mode 100644 index 0000000..80eb217 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex37.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [3, 5] + name: agent0 + start: [6, 1] +- goal: [5, 6] + name: agent1 + start: [5, 3] +- goal: [6, 1] + name: agent2 + start: [3, 5] +- goal: [0, 6] + name: agent3 + start: [5, 4] +- goal: [2, 1] + name: agent4 + start: [5, 5] +- goal: [7, 2] + name: agent5 + start: [4, 7] +- goal: [0, 5] + name: agent6 + start: [4, 4] +- goal: [2, 7] + name: agent7 + start: [1, 0] +- goal: [3, 1] + name: agent8 + start: [7, 6] +- goal: [7, 5] + name: agent9 + start: [5, 1] +- goal: [0, 3] + name: agent10 + start: [3, 2] +- goal: [1, 1] + name: agent11 + start: [6, 5] +- goal: [6, 7] + name: agent12 + start: [1, 5] +- goal: [0, 1] + name: agent13 + start: [2, 5] +- goal: [7, 3] + name: agent14 + start: [1, 1] +- goal: [7, 1] + name: agent15 + start: [2, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 6] + - !!python/tuple [2, 3] + - !!python/tuple [6, 6] + - !!python/tuple [4, 5] + - !!python/tuple [7, 4] + - !!python/tuple [4, 6] + - !!python/tuple [5, 2] + - !!python/tuple [4, 3] + - !!python/tuple [6, 4] + - !!python/tuple [0, 4] + - !!python/tuple [3, 0] + - !!python/tuple [6, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex38.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex38.yaml new file mode 100644 index 0000000..01dc626 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex38.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [2, 7] + name: agent0 + start: [5, 4] +- goal: [4, 6] + name: agent1 + start: [5, 0] +- goal: [3, 7] + name: agent2 + start: [4, 4] +- goal: [5, 1] + name: agent3 + start: [7, 6] +- goal: [7, 2] + name: agent4 + start: [2, 1] +- goal: [3, 0] + name: agent5 + start: [4, 6] +- goal: [4, 1] + name: agent6 + start: [4, 0] +- goal: [6, 4] + name: agent7 + start: [0, 0] +- goal: [5, 7] + name: agent8 + start: [4, 7] +- goal: [2, 4] + name: agent9 + start: [2, 4] +- goal: [0, 0] + name: agent10 + start: [4, 5] +- goal: [7, 3] + name: agent11 + start: [7, 7] +- goal: [5, 0] + name: agent12 + start: [6, 2] +- goal: [3, 4] + name: agent13 + start: [7, 4] +- goal: [2, 2] + name: agent14 + start: [1, 3] +- goal: [4, 0] + name: agent15 + start: [5, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 1] + - !!python/tuple [0, 3] + - !!python/tuple [6, 7] + - !!python/tuple [1, 4] + - !!python/tuple [2, 6] + - !!python/tuple [2, 5] + - !!python/tuple [5, 2] + - !!python/tuple [4, 3] + - !!python/tuple [3, 1] + - !!python/tuple [1, 7] + - !!python/tuple [0, 7] + - !!python/tuple [5, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex39.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex39.yaml new file mode 100644 index 0000000..908112c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex39.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [6, 1] + name: agent0 + start: [6, 2] +- goal: [0, 4] + name: agent1 + start: [7, 2] +- goal: [1, 1] + name: agent2 + start: [5, 6] +- goal: [2, 1] + name: agent3 + start: [2, 0] +- goal: [3, 2] + name: agent4 + start: [7, 1] +- goal: [4, 0] + name: agent5 + start: [4, 2] +- goal: [3, 5] + name: agent6 + start: [1, 2] +- goal: [4, 4] + name: agent7 + start: [0, 5] +- goal: [1, 7] + name: agent8 + start: [3, 7] +- goal: [7, 0] + name: agent9 + start: [2, 7] +- goal: [0, 5] + name: agent10 + start: [1, 5] +- goal: [3, 0] + name: agent11 + start: [3, 1] +- goal: [4, 2] + name: agent12 + start: [0, 4] +- goal: [5, 6] + name: agent13 + start: [2, 5] +- goal: [4, 7] + name: agent14 + start: [6, 7] +- goal: [3, 7] + name: agent15 + start: [7, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 3] + - !!python/tuple [0, 0] + - !!python/tuple [6, 6] + - !!python/tuple [7, 5] + - !!python/tuple [2, 4] + - !!python/tuple [3, 6] + - !!python/tuple [4, 1] + - !!python/tuple [0, 6] + - !!python/tuple [7, 7] + - !!python/tuple [5, 2] + - !!python/tuple [2, 3] + - !!python/tuple [4, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex4.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex4.yaml new file mode 100644 index 0000000..2eab9c1 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex4.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [1, 4] + name: agent0 + start: [2, 4] +- goal: [6, 4] + name: agent1 + start: [0, 3] +- goal: [7, 4] + name: agent2 + start: [5, 5] +- goal: [5, 2] + name: agent3 + start: [5, 7] +- goal: [3, 4] + name: agent4 + start: [1, 5] +- goal: [2, 7] + name: agent5 + start: [7, 2] +- goal: [2, 6] + name: agent6 + start: [4, 2] +- goal: [4, 1] + name: agent7 + start: [0, 0] +- goal: [6, 3] + name: agent8 + start: [4, 3] +- goal: [3, 1] + name: agent9 + start: [5, 1] +- goal: [6, 6] + name: agent10 + start: [6, 5] +- goal: [0, 0] + name: agent11 + start: [2, 2] +- goal: [5, 5] + name: agent12 + start: [4, 5] +- goal: [7, 1] + name: agent13 + start: [2, 6] +- goal: [5, 3] + name: agent14 + start: [3, 0] +- goal: [3, 7] + name: agent15 + start: [0, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 7] + - !!python/tuple [5, 4] + - !!python/tuple [1, 0] + - !!python/tuple [2, 3] + - !!python/tuple [6, 7] + - !!python/tuple [0, 6] + - !!python/tuple [7, 6] + - !!python/tuple [1, 3] + - !!python/tuple [1, 6] + - !!python/tuple [7, 5] + - !!python/tuple [6, 1] + - !!python/tuple [3, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex40.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex40.yaml new file mode 100644 index 0000000..935de6f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex40.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [4, 4] + name: agent0 + start: [2, 0] +- goal: [4, 1] + name: agent1 + start: [5, 2] +- goal: [5, 7] + name: agent2 + start: [4, 1] +- goal: [2, 7] + name: agent3 + start: [7, 4] +- goal: [3, 5] + name: agent4 + start: [7, 7] +- goal: [7, 3] + name: agent5 + start: [5, 4] +- goal: [1, 2] + name: agent6 + start: [0, 6] +- goal: [4, 0] + name: agent7 + start: [5, 1] +- goal: [3, 4] + name: agent8 + start: [3, 7] +- goal: [7, 4] + name: agent9 + start: [7, 2] +- goal: [3, 1] + name: agent10 + start: [1, 6] +- goal: [6, 3] + name: agent11 + start: [3, 6] +- goal: [7, 7] + name: agent12 + start: [2, 5] +- goal: [6, 2] + name: agent13 + start: [1, 1] +- goal: [6, 0] + name: agent14 + start: [0, 7] +- goal: [7, 1] + name: agent15 + start: [0, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 3] + - !!python/tuple [1, 7] + - !!python/tuple [4, 7] + - !!python/tuple [6, 5] + - !!python/tuple [1, 3] + - !!python/tuple [2, 1] + - !!python/tuple [7, 6] + - !!python/tuple [0, 1] + - !!python/tuple [2, 2] + - !!python/tuple [3, 3] + - !!python/tuple [0, 3] + - !!python/tuple [5, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex41.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex41.yaml new file mode 100644 index 0000000..d4795aa --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex41.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [7, 7] + name: agent0 + start: [7, 2] +- goal: [7, 3] + name: agent1 + start: [3, 3] +- goal: [1, 0] + name: agent2 + start: [0, 6] +- goal: [6, 5] + name: agent3 + start: [7, 5] +- goal: [1, 1] + name: agent4 + start: [6, 3] +- goal: [3, 3] + name: agent5 + start: [7, 7] +- goal: [3, 7] + name: agent6 + start: [2, 2] +- goal: [5, 5] + name: agent7 + start: [1, 2] +- goal: [2, 3] + name: agent8 + start: [5, 4] +- goal: [0, 5] + name: agent9 + start: [1, 4] +- goal: [5, 6] + name: agent10 + start: [7, 4] +- goal: [1, 4] + name: agent11 + start: [2, 5] +- goal: [6, 7] + name: agent12 + start: [5, 3] +- goal: [0, 1] + name: agent13 + start: [2, 4] +- goal: [2, 4] + name: agent14 + start: [3, 6] +- goal: [6, 4] + name: agent15 + start: [4, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 3] + - !!python/tuple [7, 6] + - !!python/tuple [7, 0] + - !!python/tuple [1, 7] + - !!python/tuple [0, 0] + - !!python/tuple [6, 6] + - !!python/tuple [2, 7] + - !!python/tuple [2, 1] + - !!python/tuple [1, 5] + - !!python/tuple [3, 2] + - !!python/tuple [6, 2] + - !!python/tuple [0, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex42.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex42.yaml new file mode 100644 index 0000000..9bdd202 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex42.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [3, 7] + name: agent0 + start: [6, 0] +- goal: [3, 2] + name: agent1 + start: [4, 3] +- goal: [2, 0] + name: agent2 + start: [6, 4] +- goal: [7, 3] + name: agent3 + start: [2, 5] +- goal: [7, 0] + name: agent4 + start: [1, 0] +- goal: [6, 6] + name: agent5 + start: [2, 7] +- goal: [3, 1] + name: agent6 + start: [5, 2] +- goal: [1, 0] + name: agent7 + start: [2, 1] +- goal: [2, 1] + name: agent8 + start: [2, 6] +- goal: [6, 5] + name: agent9 + start: [3, 6] +- goal: [7, 4] + name: agent10 + start: [0, 5] +- goal: [6, 4] + name: agent11 + start: [3, 1] +- goal: [1, 1] + name: agent12 + start: [4, 1] +- goal: [2, 4] + name: agent13 + start: [7, 7] +- goal: [0, 6] + name: agent14 + start: [1, 6] +- goal: [1, 7] + name: agent15 + start: [0, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 0] + - !!python/tuple [7, 2] + - !!python/tuple [5, 7] + - !!python/tuple [0, 4] + - !!python/tuple [0, 3] + - !!python/tuple [5, 5] + - !!python/tuple [4, 0] + - !!python/tuple [3, 0] + - !!python/tuple [0, 7] + - !!python/tuple [3, 5] + - !!python/tuple [4, 5] + - !!python/tuple [4, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex43.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex43.yaml new file mode 100644 index 0000000..b4d8289 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex43.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [7, 0] + name: agent0 + start: [6, 2] +- goal: [7, 3] + name: agent1 + start: [4, 5] +- goal: [6, 7] + name: agent2 + start: [7, 2] +- goal: [6, 5] + name: agent3 + start: [6, 7] +- goal: [5, 3] + name: agent4 + start: [2, 2] +- goal: [2, 7] + name: agent5 + start: [5, 5] +- goal: [6, 1] + name: agent6 + start: [4, 2] +- goal: [7, 1] + name: agent7 + start: [6, 1] +- goal: [6, 0] + name: agent8 + start: [7, 5] +- goal: [5, 6] + name: agent9 + start: [4, 6] +- goal: [3, 1] + name: agent10 + start: [0, 6] +- goal: [4, 2] + name: agent11 + start: [3, 7] +- goal: [1, 3] + name: agent12 + start: [0, 4] +- goal: [7, 7] + name: agent13 + start: [7, 3] +- goal: [1, 5] + name: agent14 + start: [6, 0] +- goal: [2, 1] + name: agent15 + start: [1, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 0] + - !!python/tuple [0, 2] + - !!python/tuple [2, 6] + - !!python/tuple [5, 4] + - !!python/tuple [1, 2] + - !!python/tuple [2, 3] + - !!python/tuple [2, 5] + - !!python/tuple [0, 5] + - !!python/tuple [1, 0] + - !!python/tuple [0, 7] + - !!python/tuple [3, 4] + - !!python/tuple [1, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex44.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex44.yaml new file mode 100644 index 0000000..78ffaea --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex44.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [7, 3] + name: agent0 + start: [0, 5] +- goal: [4, 1] + name: agent1 + start: [7, 2] +- goal: [6, 0] + name: agent2 + start: [7, 1] +- goal: [5, 5] + name: agent3 + start: [0, 6] +- goal: [5, 3] + name: agent4 + start: [1, 1] +- goal: [3, 4] + name: agent5 + start: [0, 1] +- goal: [4, 0] + name: agent6 + start: [3, 5] +- goal: [3, 1] + name: agent7 + start: [7, 4] +- goal: [6, 7] + name: agent8 + start: [2, 6] +- goal: [6, 6] + name: agent9 + start: [1, 6] +- goal: [6, 2] + name: agent10 + start: [1, 7] +- goal: [0, 0] + name: agent11 + start: [4, 6] +- goal: [5, 2] + name: agent12 + start: [0, 3] +- goal: [5, 6] + name: agent13 + start: [3, 1] +- goal: [3, 5] + name: agent14 + start: [4, 1] +- goal: [2, 4] + name: agent15 + start: [5, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 4] + - !!python/tuple [3, 2] + - !!python/tuple [6, 5] + - !!python/tuple [0, 7] + - !!python/tuple [3, 0] + - !!python/tuple [2, 5] + - !!python/tuple [7, 0] + - !!python/tuple [2, 3] + - !!python/tuple [0, 2] + - !!python/tuple [2, 7] + - !!python/tuple [4, 7] + - !!python/tuple [3, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex45.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex45.yaml new file mode 100644 index 0000000..7202979 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex45.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [1, 6] + name: agent0 + start: [4, 2] +- goal: [7, 4] + name: agent1 + start: [3, 7] +- goal: [2, 0] + name: agent2 + start: [6, 0] +- goal: [6, 0] + name: agent3 + start: [0, 4] +- goal: [5, 3] + name: agent4 + start: [5, 6] +- goal: [1, 4] + name: agent5 + start: [6, 3] +- goal: [0, 3] + name: agent6 + start: [2, 0] +- goal: [7, 6] + name: agent7 + start: [6, 7] +- goal: [6, 7] + name: agent8 + start: [3, 4] +- goal: [3, 4] + name: agent9 + start: [4, 0] +- goal: [4, 1] + name: agent10 + start: [2, 6] +- goal: [7, 1] + name: agent11 + start: [3, 0] +- goal: [5, 6] + name: agent12 + start: [7, 2] +- goal: [7, 2] + name: agent13 + start: [4, 6] +- goal: [7, 5] + name: agent14 + start: [0, 3] +- goal: [2, 1] + name: agent15 + start: [7, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 5] + - !!python/tuple [2, 5] + - !!python/tuple [0, 1] + - !!python/tuple [5, 0] + - !!python/tuple [3, 6] + - !!python/tuple [1, 7] + - !!python/tuple [5, 2] + - !!python/tuple [3, 5] + - !!python/tuple [2, 2] + - !!python/tuple [0, 5] + - !!python/tuple [1, 1] + - !!python/tuple [6, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex46.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex46.yaml new file mode 100644 index 0000000..bfb7661 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex46.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [4, 0] + name: agent0 + start: [0, 0] +- goal: [5, 5] + name: agent1 + start: [6, 4] +- goal: [2, 3] + name: agent2 + start: [6, 6] +- goal: [4, 6] + name: agent3 + start: [0, 5] +- goal: [0, 2] + name: agent4 + start: [5, 2] +- goal: [6, 6] + name: agent5 + start: [7, 6] +- goal: [7, 4] + name: agent6 + start: [3, 2] +- goal: [4, 7] + name: agent7 + start: [5, 3] +- goal: [7, 0] + name: agent8 + start: [6, 2] +- goal: [0, 0] + name: agent9 + start: [1, 6] +- goal: [0, 5] + name: agent10 + start: [4, 2] +- goal: [5, 4] + name: agent11 + start: [4, 5] +- goal: [1, 3] + name: agent12 + start: [7, 2] +- goal: [7, 6] + name: agent13 + start: [6, 7] +- goal: [1, 5] + name: agent14 + start: [7, 4] +- goal: [5, 2] + name: agent15 + start: [3, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 3] + - !!python/tuple [0, 6] + - !!python/tuple [6, 3] + - !!python/tuple [2, 0] + - !!python/tuple [6, 5] + - !!python/tuple [2, 5] + - !!python/tuple [1, 0] + - !!python/tuple [1, 7] + - !!python/tuple [3, 5] + - !!python/tuple [5, 6] + - !!python/tuple [1, 1] + - !!python/tuple [5, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex47.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex47.yaml new file mode 100644 index 0000000..b1a80eb --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex47.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [2, 3] + name: agent0 + start: [5, 6] +- goal: [3, 4] + name: agent1 + start: [4, 2] +- goal: [4, 4] + name: agent2 + start: [3, 7] +- goal: [5, 1] + name: agent3 + start: [0, 6] +- goal: [2, 2] + name: agent4 + start: [2, 2] +- goal: [6, 2] + name: agent5 + start: [3, 0] +- goal: [3, 3] + name: agent6 + start: [3, 4] +- goal: [7, 2] + name: agent7 + start: [5, 4] +- goal: [4, 7] + name: agent8 + start: [5, 2] +- goal: [5, 5] + name: agent9 + start: [7, 1] +- goal: [3, 2] + name: agent10 + start: [4, 5] +- goal: [0, 7] + name: agent11 + start: [4, 3] +- goal: [5, 6] + name: agent12 + start: [1, 1] +- goal: [4, 5] + name: agent13 + start: [4, 6] +- goal: [2, 5] + name: agent14 + start: [1, 2] +- goal: [4, 0] + name: agent15 + start: [2, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 6] + - !!python/tuple [3, 5] + - !!python/tuple [0, 0] + - !!python/tuple [1, 3] + - !!python/tuple [1, 5] + - !!python/tuple [2, 7] + - !!python/tuple [6, 5] + - !!python/tuple [4, 1] + - !!python/tuple [7, 4] + - !!python/tuple [6, 7] + - !!python/tuple [3, 6] + - !!python/tuple [6, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex48.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex48.yaml new file mode 100644 index 0000000..ccea466 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex48.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [3, 1] + name: agent0 + start: [7, 5] +- goal: [6, 4] + name: agent1 + start: [6, 2] +- goal: [6, 6] + name: agent2 + start: [0, 0] +- goal: [6, 5] + name: agent3 + start: [4, 2] +- goal: [5, 4] + name: agent4 + start: [5, 0] +- goal: [7, 0] + name: agent5 + start: [7, 2] +- goal: [1, 3] + name: agent6 + start: [6, 0] +- goal: [7, 4] + name: agent7 + start: [4, 1] +- goal: [2, 7] + name: agent8 + start: [0, 5] +- goal: [5, 3] + name: agent9 + start: [1, 3] +- goal: [7, 3] + name: agent10 + start: [0, 3] +- goal: [1, 4] + name: agent11 + start: [6, 4] +- goal: [4, 4] + name: agent12 + start: [4, 5] +- goal: [2, 6] + name: agent13 + start: [4, 0] +- goal: [7, 7] + name: agent14 + start: [3, 1] +- goal: [1, 5] + name: agent15 + start: [2, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 6] + - !!python/tuple [5, 2] + - !!python/tuple [2, 0] + - !!python/tuple [3, 5] + - !!python/tuple [0, 4] + - !!python/tuple [5, 7] + - !!python/tuple [5, 6] + - !!python/tuple [4, 6] + - !!python/tuple [5, 5] + - !!python/tuple [2, 3] + - !!python/tuple [7, 1] + - !!python/tuple [4, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex49.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex49.yaml new file mode 100644 index 0000000..82a4d2b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex49.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [6, 3] + name: agent0 + start: [6, 3] +- goal: [7, 3] + name: agent1 + start: [3, 3] +- goal: [0, 1] + name: agent2 + start: [6, 6] +- goal: [5, 1] + name: agent3 + start: [1, 1] +- goal: [0, 0] + name: agent4 + start: [5, 7] +- goal: [0, 5] + name: agent5 + start: [0, 6] +- goal: [0, 4] + name: agent6 + start: [7, 7] +- goal: [0, 3] + name: agent7 + start: [6, 1] +- goal: [4, 4] + name: agent8 + start: [4, 0] +- goal: [1, 5] + name: agent9 + start: [2, 0] +- goal: [2, 7] + name: agent10 + start: [4, 7] +- goal: [6, 7] + name: agent11 + start: [5, 2] +- goal: [0, 6] + name: agent12 + start: [5, 3] +- goal: [7, 2] + name: agent13 + start: [1, 2] +- goal: [0, 7] + name: agent14 + start: [0, 7] +- goal: [7, 1] + name: agent15 + start: [1, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 5] + - !!python/tuple [6, 5] + - !!python/tuple [2, 4] + - !!python/tuple [3, 5] + - !!python/tuple [7, 6] + - !!python/tuple [4, 1] + - !!python/tuple [4, 3] + - !!python/tuple [5, 6] + - !!python/tuple [5, 4] + - !!python/tuple [6, 2] + - !!python/tuple [3, 6] + - !!python/tuple [1, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex5.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex5.yaml new file mode 100644 index 0000000..367a9f4 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex5.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [2, 3] + name: agent0 + start: [0, 4] +- goal: [4, 7] + name: agent1 + start: [5, 1] +- goal: [3, 7] + name: agent2 + start: [0, 2] +- goal: [6, 0] + name: agent3 + start: [2, 4] +- goal: [1, 7] + name: agent4 + start: [5, 4] +- goal: [4, 3] + name: agent5 + start: [1, 1] +- goal: [0, 6] + name: agent6 + start: [1, 3] +- goal: [4, 5] + name: agent7 + start: [5, 3] +- goal: [0, 2] + name: agent8 + start: [2, 5] +- goal: [0, 3] + name: agent9 + start: [2, 3] +- goal: [0, 7] + name: agent10 + start: [5, 6] +- goal: [5, 3] + name: agent11 + start: [0, 0] +- goal: [3, 4] + name: agent12 + start: [1, 0] +- goal: [2, 5] + name: agent13 + start: [4, 3] +- goal: [1, 5] + name: agent14 + start: [1, 2] +- goal: [2, 0] + name: agent15 + start: [5, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 7] + - !!python/tuple [4, 4] + - !!python/tuple [4, 2] + - !!python/tuple [1, 6] + - !!python/tuple [2, 1] + - !!python/tuple [7, 0] + - !!python/tuple [7, 5] + - !!python/tuple [5, 5] + - !!python/tuple [6, 2] + - !!python/tuple [3, 1] + - !!python/tuple [7, 4] + - !!python/tuple [6, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex50.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex50.yaml new file mode 100644 index 0000000..654d1b9 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex50.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [5, 4] + name: agent0 + start: [0, 0] +- goal: [5, 3] + name: agent1 + start: [7, 3] +- goal: [3, 2] + name: agent2 + start: [1, 4] +- goal: [3, 5] + name: agent3 + start: [5, 0] +- goal: [3, 7] + name: agent4 + start: [1, 2] +- goal: [3, 1] + name: agent5 + start: [5, 3] +- goal: [2, 4] + name: agent6 + start: [2, 1] +- goal: [6, 6] + name: agent7 + start: [6, 2] +- goal: [1, 0] + name: agent8 + start: [5, 1] +- goal: [4, 1] + name: agent9 + start: [7, 1] +- goal: [6, 7] + name: agent10 + start: [2, 0] +- goal: [6, 5] + name: agent11 + start: [2, 6] +- goal: [2, 0] + name: agent12 + start: [4, 3] +- goal: [2, 7] + name: agent13 + start: [4, 5] +- goal: [0, 5] + name: agent14 + start: [3, 7] +- goal: [4, 4] + name: agent15 + start: [4, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 5] + - !!python/tuple [4, 7] + - !!python/tuple [3, 4] + - !!python/tuple [0, 4] + - !!python/tuple [4, 2] + - !!python/tuple [5, 6] + - !!python/tuple [3, 3] + - !!python/tuple [5, 7] + - !!python/tuple [7, 2] + - !!python/tuple [0, 1] + - !!python/tuple [0, 2] + - !!python/tuple [5, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex51.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex51.yaml new file mode 100644 index 0000000..dd81757 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex51.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [6, 1] + name: agent0 + start: [3, 7] +- goal: [4, 1] + name: agent1 + start: [0, 0] +- goal: [5, 1] + name: agent2 + start: [0, 3] +- goal: [6, 4] + name: agent3 + start: [5, 6] +- goal: [3, 7] + name: agent4 + start: [4, 0] +- goal: [6, 0] + name: agent5 + start: [3, 2] +- goal: [5, 0] + name: agent6 + start: [6, 2] +- goal: [1, 6] + name: agent7 + start: [1, 1] +- goal: [6, 6] + name: agent8 + start: [1, 5] +- goal: [6, 2] + name: agent9 + start: [0, 5] +- goal: [1, 3] + name: agent10 + start: [3, 6] +- goal: [4, 6] + name: agent11 + start: [0, 1] +- goal: [4, 5] + name: agent12 + start: [0, 4] +- goal: [2, 0] + name: agent13 + start: [6, 4] +- goal: [3, 6] + name: agent14 + start: [1, 4] +- goal: [0, 5] + name: agent15 + start: [2, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 7] + - !!python/tuple [7, 0] + - !!python/tuple [0, 2] + - !!python/tuple [4, 7] + - !!python/tuple [6, 5] + - !!python/tuple [7, 6] + - !!python/tuple [7, 2] + - !!python/tuple [7, 4] + - !!python/tuple [3, 0] + - !!python/tuple [3, 1] + - !!python/tuple [0, 6] + - !!python/tuple [6, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex52.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex52.yaml new file mode 100644 index 0000000..f5131d3 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex52.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [5, 3] + name: agent0 + start: [6, 3] +- goal: [7, 0] + name: agent1 + start: [4, 4] +- goal: [6, 0] + name: agent2 + start: [3, 7] +- goal: [0, 1] + name: agent3 + start: [2, 4] +- goal: [5, 2] + name: agent4 + start: [5, 2] +- goal: [3, 6] + name: agent5 + start: [5, 3] +- goal: [0, 5] + name: agent6 + start: [4, 1] +- goal: [5, 7] + name: agent7 + start: [6, 1] +- goal: [4, 4] + name: agent8 + start: [1, 5] +- goal: [6, 2] + name: agent9 + start: [6, 4] +- goal: [4, 5] + name: agent10 + start: [6, 6] +- goal: [2, 5] + name: agent11 + start: [0, 2] +- goal: [0, 2] + name: agent12 + start: [4, 0] +- goal: [1, 3] + name: agent13 + start: [4, 2] +- goal: [7, 3] + name: agent14 + start: [4, 6] +- goal: [4, 2] + name: agent15 + start: [3, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 6] + - !!python/tuple [4, 7] + - !!python/tuple [5, 1] + - !!python/tuple [3, 2] + - !!python/tuple [2, 0] + - !!python/tuple [0, 3] + - !!python/tuple [3, 1] + - !!python/tuple [7, 7] + - !!python/tuple [6, 5] + - !!python/tuple [1, 1] + - !!python/tuple [2, 1] + - !!python/tuple [5, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex53.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex53.yaml new file mode 100644 index 0000000..85ad5f3 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex53.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [0, 0] + name: agent0 + start: [7, 0] +- goal: [3, 7] + name: agent1 + start: [2, 3] +- goal: [4, 0] + name: agent2 + start: [0, 5] +- goal: [1, 3] + name: agent3 + start: [0, 7] +- goal: [1, 1] + name: agent4 + start: [6, 7] +- goal: [6, 5] + name: agent5 + start: [2, 5] +- goal: [6, 6] + name: agent6 + start: [7, 7] +- goal: [2, 6] + name: agent7 + start: [3, 4] +- goal: [3, 2] + name: agent8 + start: [6, 3] +- goal: [7, 3] + name: agent9 + start: [6, 2] +- goal: [1, 2] + name: agent10 + start: [5, 7] +- goal: [1, 4] + name: agent11 + start: [6, 5] +- goal: [6, 1] + name: agent12 + start: [1, 6] +- goal: [7, 0] + name: agent13 + start: [2, 1] +- goal: [7, 6] + name: agent14 + start: [7, 4] +- goal: [0, 5] + name: agent15 + start: [7, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 4] + - !!python/tuple [5, 3] + - !!python/tuple [7, 1] + - !!python/tuple [4, 3] + - !!python/tuple [4, 5] + - !!python/tuple [4, 4] + - !!python/tuple [3, 0] + - !!python/tuple [1, 5] + - !!python/tuple [4, 6] + - !!python/tuple [0, 2] + - !!python/tuple [3, 5] + - !!python/tuple [4, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex54.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex54.yaml new file mode 100644 index 0000000..9c46b79 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex54.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [2, 0] + name: agent0 + start: [7, 7] +- goal: [2, 7] + name: agent1 + start: [3, 4] +- goal: [7, 5] + name: agent2 + start: [3, 6] +- goal: [2, 1] + name: agent3 + start: [3, 7] +- goal: [4, 3] + name: agent4 + start: [7, 5] +- goal: [6, 7] + name: agent5 + start: [1, 2] +- goal: [3, 2] + name: agent6 + start: [0, 7] +- goal: [6, 1] + name: agent7 + start: [1, 1] +- goal: [3, 6] + name: agent8 + start: [4, 5] +- goal: [1, 1] + name: agent9 + start: [7, 2] +- goal: [0, 6] + name: agent10 + start: [6, 1] +- goal: [7, 7] + name: agent11 + start: [3, 0] +- goal: [7, 2] + name: agent12 + start: [2, 0] +- goal: [2, 6] + name: agent13 + start: [6, 0] +- goal: [1, 0] + name: agent14 + start: [4, 0] +- goal: [1, 4] + name: agent15 + start: [2, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 1] + - !!python/tuple [7, 0] + - !!python/tuple [7, 4] + - !!python/tuple [5, 4] + - !!python/tuple [5, 0] + - !!python/tuple [5, 2] + - !!python/tuple [5, 3] + - !!python/tuple [0, 2] + - !!python/tuple [6, 4] + - !!python/tuple [1, 6] + - !!python/tuple [5, 7] + - !!python/tuple [0, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex55.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex55.yaml new file mode 100644 index 0000000..ebd01ce --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex55.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [3, 5] + name: agent0 + start: [1, 2] +- goal: [5, 5] + name: agent1 + start: [7, 5] +- goal: [1, 6] + name: agent2 + start: [1, 5] +- goal: [1, 2] + name: agent3 + start: [6, 3] +- goal: [2, 5] + name: agent4 + start: [7, 4] +- goal: [4, 0] + name: agent5 + start: [7, 1] +- goal: [5, 2] + name: agent6 + start: [6, 0] +- goal: [7, 0] + name: agent7 + start: [5, 2] +- goal: [2, 2] + name: agent8 + start: [0, 5] +- goal: [3, 2] + name: agent9 + start: [7, 2] +- goal: [7, 3] + name: agent10 + start: [5, 3] +- goal: [7, 5] + name: agent11 + start: [0, 4] +- goal: [4, 1] + name: agent12 + start: [1, 4] +- goal: [5, 7] + name: agent13 + start: [3, 7] +- goal: [7, 4] + name: agent14 + start: [2, 2] +- goal: [1, 0] + name: agent15 + start: [3, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 7] + - !!python/tuple [0, 0] + - !!python/tuple [2, 0] + - !!python/tuple [4, 6] + - !!python/tuple [6, 1] + - !!python/tuple [3, 1] + - !!python/tuple [0, 2] + - !!python/tuple [4, 7] + - !!python/tuple [4, 4] + - !!python/tuple [7, 6] + - !!python/tuple [3, 4] + - !!python/tuple [0, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex56.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex56.yaml new file mode 100644 index 0000000..1963099 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex56.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [4, 2] + name: agent0 + start: [5, 6] +- goal: [7, 4] + name: agent1 + start: [4, 7] +- goal: [0, 4] + name: agent2 + start: [0, 5] +- goal: [2, 7] + name: agent3 + start: [2, 2] +- goal: [0, 0] + name: agent4 + start: [2, 3] +- goal: [5, 1] + name: agent5 + start: [2, 0] +- goal: [1, 5] + name: agent6 + start: [6, 6] +- goal: [3, 7] + name: agent7 + start: [7, 7] +- goal: [5, 6] + name: agent8 + start: [1, 7] +- goal: [0, 6] + name: agent9 + start: [0, 6] +- goal: [7, 2] + name: agent10 + start: [3, 7] +- goal: [6, 3] + name: agent11 + start: [6, 4] +- goal: [1, 7] + name: agent12 + start: [4, 3] +- goal: [0, 1] + name: agent13 + start: [5, 4] +- goal: [0, 7] + name: agent14 + start: [6, 7] +- goal: [4, 5] + name: agent15 + start: [7, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 0] + - !!python/tuple [2, 6] + - !!python/tuple [7, 1] + - !!python/tuple [3, 0] + - !!python/tuple [7, 0] + - !!python/tuple [4, 0] + - !!python/tuple [2, 5] + - !!python/tuple [6, 1] + - !!python/tuple [0, 2] + - !!python/tuple [1, 6] + - !!python/tuple [7, 6] + - !!python/tuple [5, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex57.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex57.yaml new file mode 100644 index 0000000..3dcd01d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex57.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [1, 7] + name: agent0 + start: [1, 3] +- goal: [3, 1] + name: agent1 + start: [5, 6] +- goal: [4, 6] + name: agent2 + start: [4, 4] +- goal: [2, 1] + name: agent3 + start: [7, 6] +- goal: [2, 4] + name: agent4 + start: [2, 4] +- goal: [6, 5] + name: agent5 + start: [1, 1] +- goal: [6, 7] + name: agent6 + start: [5, 2] +- goal: [2, 3] + name: agent7 + start: [1, 4] +- goal: [2, 2] + name: agent8 + start: [4, 6] +- goal: [5, 6] + name: agent9 + start: [4, 5] +- goal: [7, 0] + name: agent10 + start: [6, 7] +- goal: [7, 1] + name: agent11 + start: [6, 2] +- goal: [5, 7] + name: agent12 + start: [1, 5] +- goal: [1, 5] + name: agent13 + start: [2, 7] +- goal: [1, 2] + name: agent14 + start: [2, 3] +- goal: [0, 1] + name: agent15 + start: [0, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 2] + - !!python/tuple [6, 1] + - !!python/tuple [2, 5] + - !!python/tuple [5, 5] + - !!python/tuple [3, 5] + - !!python/tuple [3, 2] + - !!python/tuple [5, 1] + - !!python/tuple [4, 3] + - !!python/tuple [1, 6] + - !!python/tuple [0, 5] + - !!python/tuple [0, 4] + - !!python/tuple [0, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex58.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex58.yaml new file mode 100644 index 0000000..3f459a2 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex58.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [1, 5] + name: agent0 + start: [7, 7] +- goal: [7, 5] + name: agent1 + start: [6, 5] +- goal: [4, 0] + name: agent2 + start: [2, 7] +- goal: [4, 7] + name: agent3 + start: [3, 4] +- goal: [5, 5] + name: agent4 + start: [1, 4] +- goal: [4, 3] + name: agent5 + start: [5, 6] +- goal: [3, 3] + name: agent6 + start: [3, 6] +- goal: [4, 2] + name: agent7 + start: [4, 2] +- goal: [3, 4] + name: agent8 + start: [1, 2] +- goal: [6, 4] + name: agent9 + start: [2, 2] +- goal: [7, 1] + name: agent10 + start: [2, 0] +- goal: [5, 6] + name: agent11 + start: [7, 2] +- goal: [3, 7] + name: agent12 + start: [4, 3] +- goal: [6, 0] + name: agent13 + start: [2, 6] +- goal: [4, 1] + name: agent14 + start: [2, 1] +- goal: [2, 7] + name: agent15 + start: [4, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 4] + - !!python/tuple [0, 0] + - !!python/tuple [2, 3] + - !!python/tuple [3, 5] + - !!python/tuple [3, 1] + - !!python/tuple [0, 4] + - !!python/tuple [6, 1] + - !!python/tuple [7, 3] + - !!python/tuple [5, 1] + - !!python/tuple [2, 5] + - !!python/tuple [3, 0] + - !!python/tuple [5, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex59.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex59.yaml new file mode 100644 index 0000000..603d117 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex59.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [4, 1] + name: agent0 + start: [0, 5] +- goal: [2, 5] + name: agent1 + start: [4, 5] +- goal: [3, 0] + name: agent2 + start: [6, 5] +- goal: [7, 7] + name: agent3 + start: [2, 6] +- goal: [0, 6] + name: agent4 + start: [0, 4] +- goal: [1, 2] + name: agent5 + start: [1, 0] +- goal: [1, 0] + name: agent6 + start: [0, 2] +- goal: [2, 4] + name: agent7 + start: [7, 2] +- goal: [6, 0] + name: agent8 + start: [7, 7] +- goal: [7, 6] + name: agent9 + start: [5, 4] +- goal: [1, 4] + name: agent10 + start: [2, 7] +- goal: [6, 4] + name: agent11 + start: [6, 7] +- goal: [5, 4] + name: agent12 + start: [5, 1] +- goal: [0, 1] + name: agent13 + start: [6, 4] +- goal: [2, 7] + name: agent14 + start: [7, 6] +- goal: [3, 4] + name: agent15 + start: [5, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 1] + - !!python/tuple [4, 3] + - !!python/tuple [5, 5] + - !!python/tuple [4, 6] + - !!python/tuple [6, 1] + - !!python/tuple [3, 2] + - !!python/tuple [2, 2] + - !!python/tuple [4, 0] + - !!python/tuple [4, 2] + - !!python/tuple [3, 7] + - !!python/tuple [5, 0] + - !!python/tuple [1, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex6.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex6.yaml new file mode 100644 index 0000000..d4259a5 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex6.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [1, 7] + name: agent0 + start: [2, 3] +- goal: [4, 1] + name: agent1 + start: [0, 2] +- goal: [2, 2] + name: agent2 + start: [3, 5] +- goal: [0, 3] + name: agent3 + start: [6, 5] +- goal: [6, 6] + name: agent4 + start: [5, 2] +- goal: [6, 3] + name: agent5 + start: [7, 5] +- goal: [0, 6] + name: agent6 + start: [4, 4] +- goal: [7, 5] + name: agent7 + start: [0, 6] +- goal: [6, 0] + name: agent8 + start: [2, 1] +- goal: [4, 7] + name: agent9 + start: [7, 7] +- goal: [2, 5] + name: agent10 + start: [4, 7] +- goal: [3, 4] + name: agent11 + start: [0, 3] +- goal: [1, 4] + name: agent12 + start: [3, 3] +- goal: [6, 7] + name: agent13 + start: [1, 6] +- goal: [0, 2] + name: agent14 + start: [7, 0] +- goal: [5, 1] + name: agent15 + start: [4, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 5] + - !!python/tuple [2, 4] + - !!python/tuple [3, 1] + - !!python/tuple [7, 6] + - !!python/tuple [3, 0] + - !!python/tuple [1, 3] + - !!python/tuple [3, 6] + - !!python/tuple [2, 0] + - !!python/tuple [5, 4] + - !!python/tuple [7, 4] + - !!python/tuple [2, 6] + - !!python/tuple [6, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex60.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex60.yaml new file mode 100644 index 0000000..9a4bc5e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex60.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [5, 2] + name: agent0 + start: [2, 2] +- goal: [6, 4] + name: agent1 + start: [4, 3] +- goal: [6, 6] + name: agent2 + start: [2, 7] +- goal: [3, 1] + name: agent3 + start: [3, 4] +- goal: [3, 6] + name: agent4 + start: [1, 6] +- goal: [1, 3] + name: agent5 + start: [2, 0] +- goal: [5, 1] + name: agent6 + start: [6, 5] +- goal: [7, 3] + name: agent7 + start: [6, 4] +- goal: [2, 3] + name: agent8 + start: [6, 0] +- goal: [7, 5] + name: agent9 + start: [2, 6] +- goal: [4, 1] + name: agent10 + start: [5, 4] +- goal: [1, 6] + name: agent11 + start: [4, 1] +- goal: [3, 7] + name: agent12 + start: [5, 5] +- goal: [1, 2] + name: agent13 + start: [0, 3] +- goal: [1, 7] + name: agent14 + start: [5, 0] +- goal: [0, 4] + name: agent15 + start: [7, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 7] + - !!python/tuple [6, 1] + - !!python/tuple [3, 0] + - !!python/tuple [3, 5] + - !!python/tuple [3, 3] + - !!python/tuple [6, 7] + - !!python/tuple [0, 6] + - !!python/tuple [4, 4] + - !!python/tuple [3, 2] + - !!python/tuple [4, 6] + - !!python/tuple [5, 3] + - !!python/tuple [7, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex61.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex61.yaml new file mode 100644 index 0000000..2f25c1c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex61.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [4, 3] + name: agent0 + start: [1, 3] +- goal: [7, 1] + name: agent1 + start: [6, 4] +- goal: [7, 4] + name: agent2 + start: [2, 6] +- goal: [0, 2] + name: agent3 + start: [5, 1] +- goal: [5, 1] + name: agent4 + start: [3, 2] +- goal: [1, 0] + name: agent5 + start: [4, 6] +- goal: [6, 6] + name: agent6 + start: [6, 0] +- goal: [4, 2] + name: agent7 + start: [7, 1] +- goal: [7, 3] + name: agent8 + start: [1, 2] +- goal: [5, 7] + name: agent9 + start: [2, 3] +- goal: [2, 1] + name: agent10 + start: [3, 5] +- goal: [1, 4] + name: agent11 + start: [4, 5] +- goal: [4, 6] + name: agent12 + start: [3, 4] +- goal: [4, 1] + name: agent13 + start: [2, 1] +- goal: [5, 3] + name: agent14 + start: [3, 0] +- goal: [6, 3] + name: agent15 + start: [2, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 7] + - !!python/tuple [7, 6] + - !!python/tuple [6, 1] + - !!python/tuple [6, 7] + - !!python/tuple [4, 0] + - !!python/tuple [2, 4] + - !!python/tuple [0, 0] + - !!python/tuple [1, 6] + - !!python/tuple [1, 5] + - !!python/tuple [3, 7] + - !!python/tuple [0, 6] + - !!python/tuple [1, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex62.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex62.yaml new file mode 100644 index 0000000..d5c4640 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex62.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [2, 6] + name: agent0 + start: [7, 4] +- goal: [2, 5] + name: agent1 + start: [4, 7] +- goal: [2, 1] + name: agent2 + start: [3, 0] +- goal: [1, 3] + name: agent3 + start: [3, 5] +- goal: [6, 6] + name: agent4 + start: [6, 4] +- goal: [5, 2] + name: agent5 + start: [3, 3] +- goal: [6, 0] + name: agent6 + start: [0, 7] +- goal: [0, 1] + name: agent7 + start: [6, 3] +- goal: [6, 4] + name: agent8 + start: [2, 5] +- goal: [7, 1] + name: agent9 + start: [7, 1] +- goal: [7, 2] + name: agent10 + start: [4, 6] +- goal: [1, 5] + name: agent11 + start: [5, 7] +- goal: [5, 6] + name: agent12 + start: [0, 0] +- goal: [5, 3] + name: agent13 + start: [4, 3] +- goal: [7, 0] + name: agent14 + start: [6, 7] +- goal: [3, 0] + name: agent15 + start: [6, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 6] + - !!python/tuple [7, 7] + - !!python/tuple [2, 4] + - !!python/tuple [2, 7] + - !!python/tuple [2, 2] + - !!python/tuple [7, 6] + - !!python/tuple [3, 1] + - !!python/tuple [4, 4] + - !!python/tuple [0, 3] + - !!python/tuple [1, 7] + - !!python/tuple [7, 5] + - !!python/tuple [1, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex63.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex63.yaml new file mode 100644 index 0000000..4f8b85d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex63.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [1, 4] + name: agent0 + start: [6, 4] +- goal: [5, 4] + name: agent1 + start: [5, 4] +- goal: [0, 7] + name: agent2 + start: [1, 1] +- goal: [5, 1] + name: agent3 + start: [3, 7] +- goal: [6, 1] + name: agent4 + start: [7, 7] +- goal: [7, 1] + name: agent5 + start: [3, 4] +- goal: [7, 7] + name: agent6 + start: [3, 1] +- goal: [1, 2] + name: agent7 + start: [4, 7] +- goal: [2, 3] + name: agent8 + start: [6, 3] +- goal: [5, 5] + name: agent9 + start: [7, 3] +- goal: [5, 3] + name: agent10 + start: [1, 3] +- goal: [3, 0] + name: agent11 + start: [0, 4] +- goal: [3, 4] + name: agent12 + start: [3, 3] +- goal: [3, 1] + name: agent13 + start: [5, 1] +- goal: [7, 4] + name: agent14 + start: [3, 5] +- goal: [0, 1] + name: agent15 + start: [4, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 5] + - !!python/tuple [4, 6] + - !!python/tuple [3, 6] + - !!python/tuple [2, 7] + - !!python/tuple [0, 3] + - !!python/tuple [7, 5] + - !!python/tuple [7, 6] + - !!python/tuple [2, 0] + - !!python/tuple [3, 2] + - !!python/tuple [5, 2] + - !!python/tuple [6, 0] + - !!python/tuple [4, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex64.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex64.yaml new file mode 100644 index 0000000..6e40bbf --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex64.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [2, 7] + name: agent0 + start: [6, 5] +- goal: [2, 2] + name: agent1 + start: [5, 4] +- goal: [7, 1] + name: agent2 + start: [0, 6] +- goal: [1, 1] + name: agent3 + start: [2, 2] +- goal: [2, 1] + name: agent4 + start: [6, 7] +- goal: [4, 6] + name: agent5 + start: [3, 5] +- goal: [1, 3] + name: agent6 + start: [7, 7] +- goal: [4, 0] + name: agent7 + start: [0, 3] +- goal: [7, 4] + name: agent8 + start: [4, 1] +- goal: [1, 2] + name: agent9 + start: [2, 0] +- goal: [2, 3] + name: agent10 + start: [4, 0] +- goal: [6, 2] + name: agent11 + start: [6, 6] +- goal: [2, 4] + name: agent12 + start: [5, 1] +- goal: [6, 3] + name: agent13 + start: [2, 5] +- goal: [4, 4] + name: agent14 + start: [0, 0] +- goal: [6, 1] + name: agent15 + start: [7, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 4] + - !!python/tuple [0, 2] + - !!python/tuple [6, 0] + - !!python/tuple [7, 3] + - !!python/tuple [3, 3] + - !!python/tuple [5, 5] + - !!python/tuple [4, 7] + - !!python/tuple [0, 4] + - !!python/tuple [2, 6] + - !!python/tuple [4, 5] + - !!python/tuple [3, 0] + - !!python/tuple [1, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex65.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex65.yaml new file mode 100644 index 0000000..cf7f244 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex65.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [1, 2] + name: agent0 + start: [2, 7] +- goal: [1, 6] + name: agent1 + start: [5, 1] +- goal: [5, 3] + name: agent2 + start: [0, 4] +- goal: [6, 5] + name: agent3 + start: [3, 5] +- goal: [4, 4] + name: agent4 + start: [5, 7] +- goal: [6, 2] + name: agent5 + start: [4, 6] +- goal: [0, 1] + name: agent6 + start: [0, 3] +- goal: [6, 7] + name: agent7 + start: [7, 2] +- goal: [7, 0] + name: agent8 + start: [3, 7] +- goal: [0, 3] + name: agent9 + start: [3, 0] +- goal: [3, 2] + name: agent10 + start: [7, 0] +- goal: [2, 1] + name: agent11 + start: [0, 1] +- goal: [5, 5] + name: agent12 + start: [2, 0] +- goal: [7, 3] + name: agent13 + start: [1, 0] +- goal: [3, 5] + name: agent14 + start: [1, 5] +- goal: [4, 5] + name: agent15 + start: [7, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 6] + - !!python/tuple [0, 2] + - !!python/tuple [1, 7] + - !!python/tuple [4, 7] + - !!python/tuple [6, 1] + - !!python/tuple [2, 2] + - !!python/tuple [5, 2] + - !!python/tuple [4, 0] + - !!python/tuple [3, 6] + - !!python/tuple [1, 3] + - !!python/tuple [2, 4] + - !!python/tuple [6, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex66.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex66.yaml new file mode 100644 index 0000000..5bb62e2 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex66.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [0, 3] + name: agent0 + start: [4, 4] +- goal: [1, 1] + name: agent1 + start: [1, 7] +- goal: [5, 4] + name: agent2 + start: [0, 7] +- goal: [5, 2] + name: agent3 + start: [0, 2] +- goal: [6, 4] + name: agent4 + start: [3, 4] +- goal: [3, 1] + name: agent5 + start: [0, 1] +- goal: [7, 2] + name: agent6 + start: [6, 5] +- goal: [1, 4] + name: agent7 + start: [5, 1] +- goal: [2, 2] + name: agent8 + start: [6, 7] +- goal: [7, 1] + name: agent9 + start: [4, 1] +- goal: [2, 4] + name: agent10 + start: [6, 1] +- goal: [4, 1] + name: agent11 + start: [2, 4] +- goal: [2, 1] + name: agent12 + start: [6, 6] +- goal: [4, 6] + name: agent13 + start: [4, 6] +- goal: [5, 1] + name: agent14 + start: [3, 6] +- goal: [4, 2] + name: agent15 + start: [2, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 7] + - !!python/tuple [0, 5] + - !!python/tuple [7, 4] + - !!python/tuple [6, 3] + - !!python/tuple [7, 0] + - !!python/tuple [3, 0] + - !!python/tuple [4, 3] + - !!python/tuple [0, 0] + - !!python/tuple [2, 3] + - !!python/tuple [7, 3] + - !!python/tuple [6, 0] + - !!python/tuple [6, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex67.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex67.yaml new file mode 100644 index 0000000..4059347 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex67.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [6, 1] + name: agent0 + start: [3, 6] +- goal: [5, 4] + name: agent1 + start: [6, 2] +- goal: [7, 2] + name: agent2 + start: [3, 1] +- goal: [0, 1] + name: agent3 + start: [6, 1] +- goal: [6, 7] + name: agent4 + start: [1, 7] +- goal: [3, 7] + name: agent5 + start: [5, 7] +- goal: [6, 3] + name: agent6 + start: [4, 4] +- goal: [1, 5] + name: agent7 + start: [0, 3] +- goal: [0, 7] + name: agent8 + start: [7, 5] +- goal: [2, 3] + name: agent9 + start: [5, 1] +- goal: [7, 5] + name: agent10 + start: [7, 0] +- goal: [2, 6] + name: agent11 + start: [3, 7] +- goal: [6, 5] + name: agent12 + start: [4, 7] +- goal: [5, 0] + name: agent13 + start: [6, 5] +- goal: [5, 7] + name: agent14 + start: [0, 0] +- goal: [6, 4] + name: agent15 + start: [2, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 7] + - !!python/tuple [5, 6] + - !!python/tuple [6, 6] + - !!python/tuple [4, 5] + - !!python/tuple [1, 4] + - !!python/tuple [3, 5] + - !!python/tuple [7, 1] + - !!python/tuple [2, 1] + - !!python/tuple [4, 2] + - !!python/tuple [7, 4] + - !!python/tuple [5, 5] + - !!python/tuple [1, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex68.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex68.yaml new file mode 100644 index 0000000..817bcf0 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex68.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [5, 3] + name: agent0 + start: [1, 3] +- goal: [6, 1] + name: agent1 + start: [5, 2] +- goal: [7, 5] + name: agent2 + start: [2, 6] +- goal: [3, 1] + name: agent3 + start: [7, 0] +- goal: [0, 6] + name: agent4 + start: [3, 7] +- goal: [3, 0] + name: agent5 + start: [1, 4] +- goal: [2, 5] + name: agent6 + start: [7, 4] +- goal: [5, 4] + name: agent7 + start: [0, 5] +- goal: [6, 3] + name: agent8 + start: [7, 5] +- goal: [7, 2] + name: agent9 + start: [2, 0] +- goal: [7, 0] + name: agent10 + start: [4, 4] +- goal: [1, 4] + name: agent11 + start: [0, 6] +- goal: [4, 6] + name: agent12 + start: [5, 6] +- goal: [2, 3] + name: agent13 + start: [2, 5] +- goal: [2, 1] + name: agent14 + start: [5, 4] +- goal: [0, 4] + name: agent15 + start: [4, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 1] + - !!python/tuple [4, 0] + - !!python/tuple [5, 1] + - !!python/tuple [7, 6] + - !!python/tuple [0, 0] + - !!python/tuple [5, 7] + - !!python/tuple [4, 5] + - !!python/tuple [2, 2] + - !!python/tuple [4, 1] + - !!python/tuple [1, 0] + - !!python/tuple [0, 2] + - !!python/tuple [6, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex69.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex69.yaml new file mode 100644 index 0000000..7941f96 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex69.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [5, 1] + name: agent0 + start: [5, 2] +- goal: [3, 2] + name: agent1 + start: [0, 0] +- goal: [6, 6] + name: agent2 + start: [3, 3] +- goal: [5, 7] + name: agent3 + start: [5, 5] +- goal: [1, 0] + name: agent4 + start: [3, 2] +- goal: [5, 3] + name: agent5 + start: [0, 1] +- goal: [0, 1] + name: agent6 + start: [6, 2] +- goal: [2, 7] + name: agent7 + start: [6, 1] +- goal: [1, 6] + name: agent8 + start: [0, 3] +- goal: [7, 5] + name: agent9 + start: [1, 6] +- goal: [3, 5] + name: agent10 + start: [7, 7] +- goal: [1, 1] + name: agent11 + start: [2, 2] +- goal: [2, 3] + name: agent12 + start: [5, 4] +- goal: [5, 5] + name: agent13 + start: [6, 4] +- goal: [6, 1] + name: agent14 + start: [4, 0] +- goal: [6, 5] + name: agent15 + start: [3, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 7] + - !!python/tuple [1, 3] + - !!python/tuple [4, 4] + - !!python/tuple [1, 5] + - !!python/tuple [3, 1] + - !!python/tuple [2, 5] + - !!python/tuple [7, 1] + - !!python/tuple [0, 6] + - !!python/tuple [7, 0] + - !!python/tuple [1, 7] + - !!python/tuple [7, 3] + - !!python/tuple [0, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex7.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex7.yaml new file mode 100644 index 0000000..dd227c5 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex7.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [3, 6] + name: agent0 + start: [5, 3] +- goal: [1, 1] + name: agent1 + start: [5, 6] +- goal: [7, 6] + name: agent2 + start: [0, 6] +- goal: [6, 6] + name: agent3 + start: [5, 4] +- goal: [5, 2] + name: agent4 + start: [7, 0] +- goal: [7, 1] + name: agent5 + start: [1, 7] +- goal: [5, 0] + name: agent6 + start: [1, 5] +- goal: [7, 7] + name: agent7 + start: [1, 2] +- goal: [1, 5] + name: agent8 + start: [2, 3] +- goal: [5, 3] + name: agent9 + start: [7, 5] +- goal: [1, 7] + name: agent10 + start: [1, 0] +- goal: [0, 1] + name: agent11 + start: [2, 7] +- goal: [2, 1] + name: agent12 + start: [2, 1] +- goal: [7, 5] + name: agent13 + start: [4, 2] +- goal: [0, 6] + name: agent14 + start: [2, 5] +- goal: [2, 3] + name: agent15 + start: [3, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 1] + - !!python/tuple [5, 7] + - !!python/tuple [6, 4] + - !!python/tuple [3, 1] + - !!python/tuple [0, 3] + - !!python/tuple [4, 3] + - !!python/tuple [6, 5] + - !!python/tuple [2, 2] + - !!python/tuple [0, 4] + - !!python/tuple [1, 6] + - !!python/tuple [7, 2] + - !!python/tuple [0, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex70.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex70.yaml new file mode 100644 index 0000000..945aa42 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex70.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [7, 0] + name: agent0 + start: [6, 2] +- goal: [0, 4] + name: agent1 + start: [3, 2] +- goal: [1, 7] + name: agent2 + start: [1, 6] +- goal: [2, 7] + name: agent3 + start: [4, 1] +- goal: [6, 4] + name: agent4 + start: [5, 7] +- goal: [7, 4] + name: agent5 + start: [6, 0] +- goal: [6, 3] + name: agent6 + start: [7, 6] +- goal: [4, 4] + name: agent7 + start: [5, 5] +- goal: [3, 4] + name: agent8 + start: [4, 4] +- goal: [4, 1] + name: agent9 + start: [1, 7] +- goal: [2, 6] + name: agent10 + start: [0, 7] +- goal: [4, 7] + name: agent11 + start: [1, 2] +- goal: [0, 2] + name: agent12 + start: [1, 1] +- goal: [3, 2] + name: agent13 + start: [0, 5] +- goal: [5, 2] + name: agent14 + start: [5, 4] +- goal: [1, 6] + name: agent15 + start: [0, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 0] + - !!python/tuple [3, 1] + - !!python/tuple [3, 3] + - !!python/tuple [7, 2] + - !!python/tuple [7, 3] + - !!python/tuple [4, 3] + - !!python/tuple [6, 7] + - !!python/tuple [2, 5] + - !!python/tuple [0, 1] + - !!python/tuple [6, 6] + - !!python/tuple [3, 0] + - !!python/tuple [2, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex71.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex71.yaml new file mode 100644 index 0000000..16df0ee --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex71.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [6, 4] + name: agent0 + start: [6, 3] +- goal: [4, 5] + name: agent1 + start: [6, 2] +- goal: [7, 3] + name: agent2 + start: [6, 6] +- goal: [3, 4] + name: agent3 + start: [2, 3] +- goal: [0, 3] + name: agent4 + start: [7, 0] +- goal: [3, 6] + name: agent5 + start: [1, 5] +- goal: [3, 7] + name: agent6 + start: [3, 6] +- goal: [3, 0] + name: agent7 + start: [4, 4] +- goal: [5, 4] + name: agent8 + start: [0, 3] +- goal: [1, 5] + name: agent9 + start: [1, 6] +- goal: [1, 1] + name: agent10 + start: [3, 7] +- goal: [1, 2] + name: agent11 + start: [0, 7] +- goal: [5, 7] + name: agent12 + start: [5, 0] +- goal: [2, 6] + name: agent13 + start: [4, 3] +- goal: [7, 6] + name: agent14 + start: [7, 2] +- goal: [5, 0] + name: agent15 + start: [5, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 7] + - !!python/tuple [6, 1] + - !!python/tuple [4, 2] + - !!python/tuple [0, 5] + - !!python/tuple [0, 4] + - !!python/tuple [1, 4] + - !!python/tuple [0, 2] + - !!python/tuple [4, 0] + - !!python/tuple [3, 5] + - !!python/tuple [3, 2] + - !!python/tuple [2, 7] + - !!python/tuple [5, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex72.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex72.yaml new file mode 100644 index 0000000..59a4f42 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex72.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [6, 1] + name: agent0 + start: [5, 7] +- goal: [4, 6] + name: agent1 + start: [7, 3] +- goal: [4, 2] + name: agent2 + start: [6, 0] +- goal: [6, 2] + name: agent3 + start: [6, 2] +- goal: [2, 3] + name: agent4 + start: [2, 5] +- goal: [6, 3] + name: agent5 + start: [1, 7] +- goal: [0, 7] + name: agent6 + start: [0, 3] +- goal: [0, 3] + name: agent7 + start: [1, 0] +- goal: [0, 0] + name: agent8 + start: [6, 3] +- goal: [1, 7] + name: agent9 + start: [3, 5] +- goal: [5, 0] + name: agent10 + start: [6, 5] +- goal: [0, 2] + name: agent11 + start: [0, 0] +- goal: [6, 0] + name: agent12 + start: [5, 1] +- goal: [0, 1] + name: agent13 + start: [6, 6] +- goal: [1, 6] + name: agent14 + start: [2, 3] +- goal: [1, 5] + name: agent15 + start: [0, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 6] + - !!python/tuple [7, 4] + - !!python/tuple [2, 7] + - !!python/tuple [4, 7] + - !!python/tuple [7, 2] + - !!python/tuple [4, 1] + - !!python/tuple [5, 5] + - !!python/tuple [1, 3] + - !!python/tuple [3, 1] + - !!python/tuple [5, 3] + - !!python/tuple [5, 4] + - !!python/tuple [6, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex73.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex73.yaml new file mode 100644 index 0000000..05e6cec --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex73.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [0, 4] + name: agent0 + start: [1, 6] +- goal: [5, 3] + name: agent1 + start: [3, 5] +- goal: [7, 6] + name: agent2 + start: [0, 6] +- goal: [5, 2] + name: agent3 + start: [2, 3] +- goal: [4, 7] + name: agent4 + start: [6, 5] +- goal: [7, 2] + name: agent5 + start: [2, 4] +- goal: [1, 1] + name: agent6 + start: [0, 5] +- goal: [3, 4] + name: agent7 + start: [7, 3] +- goal: [0, 7] + name: agent8 + start: [7, 6] +- goal: [1, 3] + name: agent9 + start: [6, 7] +- goal: [7, 4] + name: agent10 + start: [5, 4] +- goal: [2, 4] + name: agent11 + start: [6, 2] +- goal: [6, 3] + name: agent12 + start: [5, 6] +- goal: [5, 6] + name: agent13 + start: [1, 3] +- goal: [4, 4] + name: agent14 + start: [7, 2] +- goal: [4, 1] + name: agent15 + start: [1, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 0] + - !!python/tuple [1, 4] + - !!python/tuple [2, 5] + - !!python/tuple [6, 4] + - !!python/tuple [6, 1] + - !!python/tuple [3, 2] + - !!python/tuple [7, 0] + - !!python/tuple [5, 5] + - !!python/tuple [7, 7] + - !!python/tuple [2, 2] + - !!python/tuple [1, 5] + - !!python/tuple [1, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex74.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex74.yaml new file mode 100644 index 0000000..9f3019a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex74.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [0, 1] + name: agent0 + start: [0, 0] +- goal: [7, 2] + name: agent1 + start: [4, 6] +- goal: [0, 3] + name: agent2 + start: [0, 3] +- goal: [0, 4] + name: agent3 + start: [4, 1] +- goal: [0, 7] + name: agent4 + start: [7, 5] +- goal: [7, 3] + name: agent5 + start: [4, 5] +- goal: [2, 0] + name: agent6 + start: [1, 7] +- goal: [7, 5] + name: agent7 + start: [1, 2] +- goal: [1, 5] + name: agent8 + start: [0, 1] +- goal: [0, 0] + name: agent9 + start: [6, 1] +- goal: [7, 4] + name: agent10 + start: [2, 0] +- goal: [6, 5] + name: agent11 + start: [5, 0] +- goal: [5, 2] + name: agent12 + start: [5, 6] +- goal: [2, 2] + name: agent13 + start: [5, 2] +- goal: [4, 4] + name: agent14 + start: [4, 7] +- goal: [4, 2] + name: agent15 + start: [6, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 4] + - !!python/tuple [0, 5] + - !!python/tuple [0, 2] + - !!python/tuple [4, 0] + - !!python/tuple [3, 4] + - !!python/tuple [5, 1] + - !!python/tuple [6, 7] + - !!python/tuple [2, 1] + - !!python/tuple [3, 1] + - !!python/tuple [3, 0] + - !!python/tuple [5, 3] + - !!python/tuple [1, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex75.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex75.yaml new file mode 100644 index 0000000..4eb4ba5 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex75.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [7, 1] + name: agent0 + start: [4, 5] +- goal: [2, 2] + name: agent1 + start: [1, 3] +- goal: [4, 7] + name: agent2 + start: [6, 3] +- goal: [4, 6] + name: agent3 + start: [4, 4] +- goal: [6, 2] + name: agent4 + start: [4, 2] +- goal: [2, 4] + name: agent5 + start: [0, 2] +- goal: [1, 2] + name: agent6 + start: [7, 0] +- goal: [4, 3] + name: agent7 + start: [4, 3] +- goal: [3, 4] + name: agent8 + start: [3, 7] +- goal: [1, 5] + name: agent9 + start: [0, 3] +- goal: [0, 6] + name: agent10 + start: [1, 6] +- goal: [1, 1] + name: agent11 + start: [0, 4] +- goal: [6, 1] + name: agent12 + start: [6, 4] +- goal: [4, 0] + name: agent13 + start: [2, 4] +- goal: [1, 0] + name: agent14 + start: [7, 4] +- goal: [0, 3] + name: agent15 + start: [6, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 7] + - !!python/tuple [2, 6] + - !!python/tuple [7, 3] + - !!python/tuple [5, 6] + - !!python/tuple [0, 7] + - !!python/tuple [7, 2] + - !!python/tuple [3, 0] + - !!python/tuple [5, 2] + - !!python/tuple [4, 1] + - !!python/tuple [5, 4] + - !!python/tuple [3, 5] + - !!python/tuple [2, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex76.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex76.yaml new file mode 100644 index 0000000..2be443f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex76.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [4, 2] + name: agent0 + start: [3, 3] +- goal: [2, 7] + name: agent1 + start: [2, 0] +- goal: [2, 5] + name: agent2 + start: [5, 3] +- goal: [7, 7] + name: agent3 + start: [6, 0] +- goal: [1, 4] + name: agent4 + start: [3, 6] +- goal: [1, 5] + name: agent5 + start: [1, 4] +- goal: [4, 1] + name: agent6 + start: [2, 5] +- goal: [5, 5] + name: agent7 + start: [2, 7] +- goal: [1, 7] + name: agent8 + start: [7, 1] +- goal: [1, 3] + name: agent9 + start: [0, 2] +- goal: [5, 1] + name: agent10 + start: [5, 1] +- goal: [6, 4] + name: agent11 + start: [1, 0] +- goal: [2, 1] + name: agent12 + start: [6, 7] +- goal: [6, 2] + name: agent13 + start: [4, 5] +- goal: [2, 4] + name: agent14 + start: [3, 5] +- goal: [7, 2] + name: agent15 + start: [4, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 3] + - !!python/tuple [7, 0] + - !!python/tuple [7, 4] + - !!python/tuple [0, 0] + - !!python/tuple [1, 6] + - !!python/tuple [0, 3] + - !!python/tuple [5, 7] + - !!python/tuple [5, 4] + - !!python/tuple [7, 5] + - !!python/tuple [0, 7] + - !!python/tuple [1, 1] + - !!python/tuple [2, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex77.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex77.yaml new file mode 100644 index 0000000..c50ebcb --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex77.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [6, 7] + name: agent0 + start: [5, 2] +- goal: [1, 5] + name: agent1 + start: [7, 2] +- goal: [1, 4] + name: agent2 + start: [5, 1] +- goal: [5, 2] + name: agent3 + start: [0, 7] +- goal: [0, 3] + name: agent4 + start: [0, 4] +- goal: [6, 2] + name: agent5 + start: [2, 7] +- goal: [2, 0] + name: agent6 + start: [6, 6] +- goal: [0, 6] + name: agent7 + start: [1, 5] +- goal: [6, 1] + name: agent8 + start: [4, 0] +- goal: [7, 0] + name: agent9 + start: [4, 1] +- goal: [2, 7] + name: agent10 + start: [6, 0] +- goal: [6, 4] + name: agent11 + start: [0, 2] +- goal: [5, 6] + name: agent12 + start: [7, 3] +- goal: [5, 5] + name: agent13 + start: [0, 3] +- goal: [0, 7] + name: agent14 + start: [2, 3] +- goal: [1, 1] + name: agent15 + start: [5, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 0] + - !!python/tuple [1, 0] + - !!python/tuple [4, 6] + - !!python/tuple [7, 5] + - !!python/tuple [6, 5] + - !!python/tuple [7, 1] + - !!python/tuple [4, 7] + - !!python/tuple [3, 1] + - !!python/tuple [4, 4] + - !!python/tuple [1, 6] + - !!python/tuple [7, 4] + - !!python/tuple [0, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex78.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex78.yaml new file mode 100644 index 0000000..9cd50fe --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex78.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [7, 3] + name: agent0 + start: [4, 5] +- goal: [7, 2] + name: agent1 + start: [7, 4] +- goal: [7, 5] + name: agent2 + start: [3, 3] +- goal: [2, 4] + name: agent3 + start: [4, 3] +- goal: [4, 4] + name: agent4 + start: [2, 0] +- goal: [4, 2] + name: agent5 + start: [5, 3] +- goal: [6, 5] + name: agent6 + start: [4, 0] +- goal: [1, 7] + name: agent7 + start: [6, 2] +- goal: [4, 5] + name: agent8 + start: [6, 6] +- goal: [1, 6] + name: agent9 + start: [7, 7] +- goal: [0, 0] + name: agent10 + start: [0, 1] +- goal: [4, 6] + name: agent11 + start: [2, 4] +- goal: [4, 0] + name: agent12 + start: [0, 6] +- goal: [7, 6] + name: agent13 + start: [7, 5] +- goal: [0, 7] + name: agent14 + start: [4, 4] +- goal: [2, 5] + name: agent15 + start: [2, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 1] + - !!python/tuple [1, 2] + - !!python/tuple [5, 7] + - !!python/tuple [3, 1] + - !!python/tuple [0, 3] + - !!python/tuple [0, 4] + - !!python/tuple [2, 7] + - !!python/tuple [0, 5] + - !!python/tuple [5, 5] + - !!python/tuple [7, 1] + - !!python/tuple [4, 1] + - !!python/tuple [1, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex79.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex79.yaml new file mode 100644 index 0000000..a81fff3 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex79.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [4, 1] + name: agent0 + start: [4, 6] +- goal: [7, 6] + name: agent1 + start: [6, 2] +- goal: [3, 3] + name: agent2 + start: [7, 5] +- goal: [5, 2] + name: agent3 + start: [6, 7] +- goal: [0, 5] + name: agent4 + start: [7, 4] +- goal: [4, 5] + name: agent5 + start: [3, 7] +- goal: [2, 5] + name: agent6 + start: [7, 7] +- goal: [2, 7] + name: agent7 + start: [0, 6] +- goal: [3, 0] + name: agent8 + start: [5, 5] +- goal: [4, 4] + name: agent9 + start: [5, 3] +- goal: [6, 4] + name: agent10 + start: [2, 0] +- goal: [2, 0] + name: agent11 + start: [6, 3] +- goal: [1, 7] + name: agent12 + start: [0, 0] +- goal: [5, 3] + name: agent13 + start: [6, 4] +- goal: [3, 1] + name: agent14 + start: [1, 7] +- goal: [6, 6] + name: agent15 + start: [2, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 7] + - !!python/tuple [7, 2] + - !!python/tuple [6, 1] + - !!python/tuple [2, 3] + - !!python/tuple [4, 0] + - !!python/tuple [3, 4] + - !!python/tuple [5, 7] + - !!python/tuple [5, 4] + - !!python/tuple [5, 1] + - !!python/tuple [1, 3] + - !!python/tuple [2, 2] + - !!python/tuple [6, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex8.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex8.yaml new file mode 100644 index 0000000..66cc392 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex8.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [5, 2] + name: agent0 + start: [2, 7] +- goal: [1, 6] + name: agent1 + start: [2, 1] +- goal: [1, 1] + name: agent2 + start: [4, 0] +- goal: [0, 6] + name: agent3 + start: [2, 6] +- goal: [6, 7] + name: agent4 + start: [3, 3] +- goal: [6, 1] + name: agent5 + start: [6, 4] +- goal: [3, 3] + name: agent6 + start: [2, 0] +- goal: [1, 4] + name: agent7 + start: [6, 7] +- goal: [7, 3] + name: agent8 + start: [7, 5] +- goal: [4, 2] + name: agent9 + start: [2, 2] +- goal: [6, 6] + name: agent10 + start: [5, 3] +- goal: [4, 0] + name: agent11 + start: [1, 7] +- goal: [3, 6] + name: agent12 + start: [1, 3] +- goal: [1, 7] + name: agent13 + start: [3, 0] +- goal: [0, 3] + name: agent14 + start: [3, 7] +- goal: [7, 1] + name: agent15 + start: [7, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 4] + - !!python/tuple [0, 1] + - !!python/tuple [4, 3] + - !!python/tuple [6, 0] + - !!python/tuple [3, 1] + - !!python/tuple [7, 2] + - !!python/tuple [1, 0] + - !!python/tuple [7, 4] + - !!python/tuple [6, 5] + - !!python/tuple [5, 6] + - !!python/tuple [1, 5] + - !!python/tuple [3, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex80.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex80.yaml new file mode 100644 index 0000000..da1f2b2 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex80.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [2, 7] + name: agent0 + start: [3, 5] +- goal: [6, 1] + name: agent1 + start: [0, 1] +- goal: [5, 7] + name: agent2 + start: [4, 3] +- goal: [6, 3] + name: agent3 + start: [0, 0] +- goal: [0, 7] + name: agent4 + start: [4, 0] +- goal: [4, 5] + name: agent5 + start: [1, 1] +- goal: [6, 2] + name: agent6 + start: [5, 1] +- goal: [0, 0] + name: agent7 + start: [2, 6] +- goal: [3, 7] + name: agent8 + start: [0, 5] +- goal: [3, 4] + name: agent9 + start: [1, 3] +- goal: [5, 3] + name: agent10 + start: [6, 0] +- goal: [0, 5] + name: agent11 + start: [1, 7] +- goal: [2, 3] + name: agent12 + start: [0, 3] +- goal: [3, 3] + name: agent13 + start: [2, 3] +- goal: [7, 2] + name: agent14 + start: [7, 7] +- goal: [1, 2] + name: agent15 + start: [6, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 1] + - !!python/tuple [4, 7] + - !!python/tuple [6, 5] + - !!python/tuple [7, 3] + - !!python/tuple [2, 5] + - !!python/tuple [3, 2] + - !!python/tuple [6, 4] + - !!python/tuple [5, 0] + - !!python/tuple [4, 2] + - !!python/tuple [2, 1] + - !!python/tuple [4, 6] + - !!python/tuple [1, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex81.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex81.yaml new file mode 100644 index 0000000..583524e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex81.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [5, 3] + name: agent0 + start: [6, 4] +- goal: [1, 3] + name: agent1 + start: [4, 7] +- goal: [1, 5] + name: agent2 + start: [3, 0] +- goal: [2, 5] + name: agent3 + start: [0, 4] +- goal: [5, 7] + name: agent4 + start: [2, 5] +- goal: [3, 2] + name: agent5 + start: [5, 3] +- goal: [2, 4] + name: agent6 + start: [1, 1] +- goal: [1, 0] + name: agent7 + start: [0, 0] +- goal: [0, 1] + name: agent8 + start: [2, 6] +- goal: [6, 3] + name: agent9 + start: [4, 2] +- goal: [5, 4] + name: agent10 + start: [1, 0] +- goal: [3, 0] + name: agent11 + start: [5, 7] +- goal: [6, 1] + name: agent12 + start: [5, 5] +- goal: [4, 4] + name: agent13 + start: [7, 1] +- goal: [2, 1] + name: agent14 + start: [4, 5] +- goal: [5, 2] + name: agent15 + start: [2, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 0] + - !!python/tuple [7, 2] + - !!python/tuple [3, 5] + - !!python/tuple [6, 5] + - !!python/tuple [4, 3] + - !!python/tuple [0, 5] + - !!python/tuple [7, 7] + - !!python/tuple [4, 6] + - !!python/tuple [2, 7] + - !!python/tuple [0, 7] + - !!python/tuple [0, 3] + - !!python/tuple [7, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex82.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex82.yaml new file mode 100644 index 0000000..d9a6228 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex82.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [4, 1] + name: agent0 + start: [4, 1] +- goal: [6, 4] + name: agent1 + start: [0, 6] +- goal: [7, 7] + name: agent2 + start: [2, 0] +- goal: [5, 0] + name: agent3 + start: [1, 3] +- goal: [4, 6] + name: agent4 + start: [1, 0] +- goal: [7, 2] + name: agent5 + start: [7, 2] +- goal: [4, 4] + name: agent6 + start: [3, 7] +- goal: [6, 3] + name: agent7 + start: [6, 1] +- goal: [1, 6] + name: agent8 + start: [5, 7] +- goal: [0, 3] + name: agent9 + start: [1, 4] +- goal: [6, 5] + name: agent10 + start: [6, 2] +- goal: [1, 7] + name: agent11 + start: [3, 3] +- goal: [2, 4] + name: agent12 + start: [1, 2] +- goal: [0, 2] + name: agent13 + start: [0, 5] +- goal: [1, 2] + name: agent14 + start: [4, 5] +- goal: [7, 4] + name: agent15 + start: [5, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 1] + - !!python/tuple [3, 5] + - !!python/tuple [6, 0] + - !!python/tuple [4, 3] + - !!python/tuple [1, 1] + - !!python/tuple [7, 0] + - !!python/tuple [0, 0] + - !!python/tuple [6, 6] + - !!python/tuple [2, 3] + - !!python/tuple [5, 5] + - !!python/tuple [0, 7] + - !!python/tuple [5, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex83.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex83.yaml new file mode 100644 index 0000000..e4f42e6 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex83.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [5, 0] + name: agent0 + start: [4, 3] +- goal: [0, 5] + name: agent1 + start: [4, 7] +- goal: [5, 2] + name: agent2 + start: [6, 0] +- goal: [0, 0] + name: agent3 + start: [3, 1] +- goal: [0, 4] + name: agent4 + start: [4, 1] +- goal: [6, 5] + name: agent5 + start: [5, 2] +- goal: [2, 5] + name: agent6 + start: [3, 7] +- goal: [7, 7] + name: agent7 + start: [3, 0] +- goal: [6, 6] + name: agent8 + start: [4, 6] +- goal: [1, 0] + name: agent9 + start: [6, 3] +- goal: [5, 1] + name: agent10 + start: [2, 0] +- goal: [7, 3] + name: agent11 + start: [4, 0] +- goal: [3, 4] + name: agent12 + start: [0, 2] +- goal: [5, 6] + name: agent13 + start: [2, 1] +- goal: [0, 2] + name: agent14 + start: [0, 6] +- goal: [3, 2] + name: agent15 + start: [3, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 7] + - !!python/tuple [2, 4] + - !!python/tuple [5, 5] + - !!python/tuple [1, 5] + - !!python/tuple [3, 5] + - !!python/tuple [7, 6] + - !!python/tuple [0, 7] + - !!python/tuple [5, 7] + - !!python/tuple [2, 7] + - !!python/tuple [1, 1] + - !!python/tuple [7, 4] + - !!python/tuple [0, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex84.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex84.yaml new file mode 100644 index 0000000..3e0b6dc --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex84.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [4, 4] + name: agent0 + start: [1, 1] +- goal: [4, 6] + name: agent1 + start: [5, 0] +- goal: [0, 3] + name: agent2 + start: [6, 2] +- goal: [7, 7] + name: agent3 + start: [2, 4] +- goal: [2, 4] + name: agent4 + start: [4, 5] +- goal: [6, 0] + name: agent5 + start: [6, 0] +- goal: [4, 5] + name: agent6 + start: [2, 0] +- goal: [2, 6] + name: agent7 + start: [2, 1] +- goal: [3, 2] + name: agent8 + start: [4, 1] +- goal: [2, 5] + name: agent9 + start: [3, 0] +- goal: [1, 7] + name: agent10 + start: [5, 1] +- goal: [2, 1] + name: agent11 + start: [3, 7] +- goal: [2, 0] + name: agent12 + start: [3, 2] +- goal: [4, 0] + name: agent13 + start: [5, 4] +- goal: [3, 0] + name: agent14 + start: [0, 2] +- goal: [2, 2] + name: agent15 + start: [1, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 7] + - !!python/tuple [2, 7] + - !!python/tuple [3, 3] + - !!python/tuple [3, 6] + - !!python/tuple [5, 3] + - !!python/tuple [6, 5] + - !!python/tuple [6, 1] + - !!python/tuple [0, 7] + - !!python/tuple [6, 3] + - !!python/tuple [7, 1] + - !!python/tuple [7, 5] + - !!python/tuple [5, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex85.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex85.yaml new file mode 100644 index 0000000..417478b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex85.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [6, 6] + name: agent0 + start: [1, 2] +- goal: [7, 1] + name: agent1 + start: [3, 0] +- goal: [4, 1] + name: agent2 + start: [7, 3] +- goal: [7, 3] + name: agent3 + start: [2, 6] +- goal: [3, 4] + name: agent4 + start: [5, 7] +- goal: [4, 7] + name: agent5 + start: [2, 7] +- goal: [6, 7] + name: agent6 + start: [2, 2] +- goal: [2, 5] + name: agent7 + start: [1, 3] +- goal: [3, 7] + name: agent8 + start: [6, 0] +- goal: [4, 6] + name: agent9 + start: [3, 7] +- goal: [4, 2] + name: agent10 + start: [0, 4] +- goal: [0, 3] + name: agent11 + start: [0, 1] +- goal: [1, 2] + name: agent12 + start: [5, 1] +- goal: [7, 0] + name: agent13 + start: [6, 6] +- goal: [6, 0] + name: agent14 + start: [4, 0] +- goal: [0, 0] + name: agent15 + start: [7, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 3] + - !!python/tuple [3, 3] + - !!python/tuple [6, 4] + - !!python/tuple [1, 6] + - !!python/tuple [0, 6] + - !!python/tuple [3, 2] + - !!python/tuple [1, 5] + - !!python/tuple [5, 4] + - !!python/tuple [5, 3] + - !!python/tuple [3, 6] + - !!python/tuple [1, 7] + - !!python/tuple [2, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex86.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex86.yaml new file mode 100644 index 0000000..5502bea --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex86.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [5, 1] + name: agent0 + start: [6, 2] +- goal: [4, 1] + name: agent1 + start: [2, 5] +- goal: [0, 7] + name: agent2 + start: [0, 3] +- goal: [6, 0] + name: agent3 + start: [4, 3] +- goal: [3, 0] + name: agent4 + start: [7, 1] +- goal: [0, 3] + name: agent5 + start: [1, 3] +- goal: [4, 7] + name: agent6 + start: [3, 4] +- goal: [1, 7] + name: agent7 + start: [0, 5] +- goal: [2, 3] + name: agent8 + start: [4, 0] +- goal: [1, 5] + name: agent9 + start: [7, 5] +- goal: [1, 4] + name: agent10 + start: [2, 4] +- goal: [2, 0] + name: agent11 + start: [1, 4] +- goal: [1, 2] + name: agent12 + start: [5, 3] +- goal: [4, 6] + name: agent13 + start: [6, 5] +- goal: [2, 7] + name: agent14 + start: [7, 7] +- goal: [0, 1] + name: agent15 + start: [1, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 7] + - !!python/tuple [1, 0] + - !!python/tuple [6, 6] + - !!python/tuple [5, 5] + - !!python/tuple [6, 1] + - !!python/tuple [0, 6] + - !!python/tuple [2, 2] + - !!python/tuple [5, 6] + - !!python/tuple [3, 3] + - !!python/tuple [7, 3] + - !!python/tuple [3, 5] + - !!python/tuple [7, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex87.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex87.yaml new file mode 100644 index 0000000..5d8e4e9 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex87.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [7, 2] + name: agent0 + start: [0, 7] +- goal: [5, 6] + name: agent1 + start: [2, 0] +- goal: [4, 2] + name: agent2 + start: [3, 0] +- goal: [6, 0] + name: agent3 + start: [1, 1] +- goal: [2, 0] + name: agent4 + start: [0, 2] +- goal: [3, 2] + name: agent5 + start: [4, 6] +- goal: [4, 4] + name: agent6 + start: [5, 7] +- goal: [5, 2] + name: agent7 + start: [4, 1] +- goal: [5, 3] + name: agent8 + start: [7, 0] +- goal: [2, 6] + name: agent9 + start: [1, 2] +- goal: [2, 4] + name: agent10 + start: [5, 0] +- goal: [5, 0] + name: agent11 + start: [5, 2] +- goal: [4, 6] + name: agent12 + start: [4, 3] +- goal: [4, 5] + name: agent13 + start: [6, 7] +- goal: [3, 3] + name: agent14 + start: [2, 3] +- goal: [1, 5] + name: agent15 + start: [7, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 6] + - !!python/tuple [4, 0] + - !!python/tuple [6, 5] + - !!python/tuple [7, 5] + - !!python/tuple [0, 0] + - !!python/tuple [3, 1] + - !!python/tuple [2, 2] + - !!python/tuple [1, 4] + - !!python/tuple [7, 4] + - !!python/tuple [2, 1] + - !!python/tuple [3, 7] + - !!python/tuple [0, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex88.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex88.yaml new file mode 100644 index 0000000..d3be83c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex88.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [6, 4] + name: agent0 + start: [0, 4] +- goal: [3, 6] + name: agent1 + start: [5, 5] +- goal: [2, 4] + name: agent2 + start: [3, 1] +- goal: [7, 5] + name: agent3 + start: [5, 3] +- goal: [2, 5] + name: agent4 + start: [1, 4] +- goal: [5, 2] + name: agent5 + start: [4, 4] +- goal: [4, 0] + name: agent6 + start: [3, 6] +- goal: [4, 4] + name: agent7 + start: [5, 0] +- goal: [6, 3] + name: agent8 + start: [1, 5] +- goal: [5, 6] + name: agent9 + start: [6, 5] +- goal: [5, 5] + name: agent10 + start: [7, 0] +- goal: [5, 7] + name: agent11 + start: [6, 4] +- goal: [4, 5] + name: agent12 + start: [4, 1] +- goal: [2, 7] + name: agent13 + start: [0, 1] +- goal: [0, 2] + name: agent14 + start: [4, 5] +- goal: [7, 3] + name: agent15 + start: [2, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 1] + - !!python/tuple [2, 3] + - !!python/tuple [4, 3] + - !!python/tuple [7, 2] + - !!python/tuple [7, 6] + - !!python/tuple [6, 7] + - !!python/tuple [3, 7] + - !!python/tuple [3, 0] + - !!python/tuple [0, 7] + - !!python/tuple [4, 2] + - !!python/tuple [7, 1] + - !!python/tuple [0, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex89.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex89.yaml new file mode 100644 index 0000000..6cf3577 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex89.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [6, 5] + name: agent0 + start: [3, 2] +- goal: [7, 1] + name: agent1 + start: [5, 5] +- goal: [0, 7] + name: agent2 + start: [5, 1] +- goal: [0, 5] + name: agent3 + start: [1, 1] +- goal: [7, 5] + name: agent4 + start: [7, 2] +- goal: [7, 0] + name: agent5 + start: [2, 1] +- goal: [6, 1] + name: agent6 + start: [3, 1] +- goal: [5, 1] + name: agent7 + start: [3, 4] +- goal: [4, 3] + name: agent8 + start: [5, 6] +- goal: [0, 6] + name: agent9 + start: [4, 6] +- goal: [5, 6] + name: agent10 + start: [0, 5] +- goal: [4, 6] + name: agent11 + start: [5, 4] +- goal: [7, 7] + name: agent12 + start: [2, 5] +- goal: [1, 0] + name: agent13 + start: [7, 7] +- goal: [4, 2] + name: agent14 + start: [6, 3] +- goal: [6, 7] + name: agent15 + start: [2, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 5] + - !!python/tuple [0, 1] + - !!python/tuple [1, 3] + - !!python/tuple [2, 3] + - !!python/tuple [1, 7] + - !!python/tuple [7, 4] + - !!python/tuple [5, 3] + - !!python/tuple [0, 3] + - !!python/tuple [6, 6] + - !!python/tuple [7, 3] + - !!python/tuple [3, 5] + - !!python/tuple [6, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex9.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex9.yaml new file mode 100644 index 0000000..3049cb8 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex9.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [1, 1] + name: agent0 + start: [0, 0] +- goal: [5, 6] + name: agent1 + start: [6, 7] +- goal: [6, 5] + name: agent2 + start: [2, 5] +- goal: [1, 4] + name: agent3 + start: [7, 2] +- goal: [5, 3] + name: agent4 + start: [2, 4] +- goal: [7, 6] + name: agent5 + start: [4, 1] +- goal: [1, 7] + name: agent6 + start: [6, 3] +- goal: [3, 3] + name: agent7 + start: [5, 4] +- goal: [2, 5] + name: agent8 + start: [4, 7] +- goal: [7, 2] + name: agent9 + start: [2, 0] +- goal: [2, 6] + name: agent10 + start: [1, 7] +- goal: [4, 7] + name: agent11 + start: [3, 6] +- goal: [7, 3] + name: agent12 + start: [1, 3] +- goal: [4, 2] + name: agent13 + start: [7, 5] +- goal: [0, 3] + name: agent14 + start: [3, 3] +- goal: [7, 1] + name: agent15 + start: [6, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 5] + - !!python/tuple [5, 1] + - !!python/tuple [1, 6] + - !!python/tuple [3, 1] + - !!python/tuple [1, 0] + - !!python/tuple [7, 7] + - !!python/tuple [4, 6] + - !!python/tuple [3, 0] + - !!python/tuple [6, 6] + - !!python/tuple [7, 4] + - !!python/tuple [1, 2] + - !!python/tuple [2, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex90.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex90.yaml new file mode 100644 index 0000000..4d0daad --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex90.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [6, 2] + name: agent0 + start: [4, 4] +- goal: [2, 4] + name: agent1 + start: [6, 0] +- goal: [1, 1] + name: agent2 + start: [5, 4] +- goal: [0, 4] + name: agent3 + start: [7, 0] +- goal: [2, 6] + name: agent4 + start: [4, 2] +- goal: [7, 2] + name: agent5 + start: [5, 0] +- goal: [0, 0] + name: agent6 + start: [5, 6] +- goal: [5, 0] + name: agent7 + start: [0, 5] +- goal: [5, 1] + name: agent8 + start: [2, 6] +- goal: [3, 0] + name: agent9 + start: [4, 6] +- goal: [4, 4] + name: agent10 + start: [1, 3] +- goal: [1, 7] + name: agent11 + start: [1, 7] +- goal: [4, 5] + name: agent12 + start: [6, 1] +- goal: [7, 3] + name: agent13 + start: [3, 2] +- goal: [2, 2] + name: agent14 + start: [7, 2] +- goal: [6, 7] + name: agent15 + start: [3, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 0] + - !!python/tuple [6, 4] + - !!python/tuple [0, 2] + - !!python/tuple [7, 6] + - !!python/tuple [0, 6] + - !!python/tuple [2, 5] + - !!python/tuple [2, 7] + - !!python/tuple [3, 3] + - !!python/tuple [5, 5] + - !!python/tuple [7, 4] + - !!python/tuple [2, 1] + - !!python/tuple [5, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex91.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex91.yaml new file mode 100644 index 0000000..b2b8e17 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex91.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [5, 1] + name: agent0 + start: [5, 0] +- goal: [1, 2] + name: agent1 + start: [5, 4] +- goal: [7, 5] + name: agent2 + start: [7, 2] +- goal: [7, 0] + name: agent3 + start: [5, 1] +- goal: [4, 1] + name: agent4 + start: [1, 2] +- goal: [1, 3] + name: agent5 + start: [5, 7] +- goal: [1, 1] + name: agent6 + start: [0, 2] +- goal: [5, 6] + name: agent7 + start: [4, 3] +- goal: [5, 0] + name: agent8 + start: [3, 4] +- goal: [4, 5] + name: agent9 + start: [4, 5] +- goal: [0, 2] + name: agent10 + start: [6, 0] +- goal: [3, 4] + name: agent11 + start: [0, 5] +- goal: [3, 6] + name: agent12 + start: [0, 7] +- goal: [1, 6] + name: agent13 + start: [7, 3] +- goal: [6, 7] + name: agent14 + start: [2, 7] +- goal: [7, 1] + name: agent15 + start: [2, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 3] + - !!python/tuple [4, 7] + - !!python/tuple [0, 3] + - !!python/tuple [3, 0] + - !!python/tuple [1, 0] + - !!python/tuple [5, 3] + - !!python/tuple [7, 6] + - !!python/tuple [0, 1] + - !!python/tuple [3, 5] + - !!python/tuple [6, 2] + - !!python/tuple [4, 4] + - !!python/tuple [7, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex92.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex92.yaml new file mode 100644 index 0000000..9d93647 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex92.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [0, 5] + name: agent0 + start: [3, 4] +- goal: [0, 3] + name: agent1 + start: [0, 4] +- goal: [5, 2] + name: agent2 + start: [3, 2] +- goal: [5, 7] + name: agent3 + start: [0, 5] +- goal: [4, 4] + name: agent4 + start: [0, 6] +- goal: [6, 2] + name: agent5 + start: [3, 3] +- goal: [3, 5] + name: agent6 + start: [2, 7] +- goal: [1, 5] + name: agent7 + start: [1, 5] +- goal: [7, 1] + name: agent8 + start: [7, 1] +- goal: [1, 3] + name: agent9 + start: [4, 7] +- goal: [4, 2] + name: agent10 + start: [1, 0] +- goal: [5, 3] + name: agent11 + start: [5, 3] +- goal: [1, 7] + name: agent12 + start: [2, 2] +- goal: [3, 1] + name: agent13 + start: [0, 7] +- goal: [0, 2] + name: agent14 + start: [2, 5] +- goal: [3, 6] + name: agent15 + start: [0, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 3] + - !!python/tuple [7, 4] + - !!python/tuple [4, 3] + - !!python/tuple [5, 0] + - !!python/tuple [7, 5] + - !!python/tuple [4, 6] + - !!python/tuple [2, 0] + - !!python/tuple [0, 1] + - !!python/tuple [5, 5] + - !!python/tuple [7, 2] + - !!python/tuple [6, 1] + - !!python/tuple [7, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex93.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex93.yaml new file mode 100644 index 0000000..a3d8223 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex93.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [0, 0] + name: agent0 + start: [5, 4] +- goal: [6, 3] + name: agent1 + start: [2, 3] +- goal: [3, 5] + name: agent2 + start: [0, 2] +- goal: [5, 1] + name: agent3 + start: [7, 5] +- goal: [7, 4] + name: agent4 + start: [3, 6] +- goal: [5, 7] + name: agent5 + start: [6, 7] +- goal: [1, 1] + name: agent6 + start: [7, 7] +- goal: [5, 3] + name: agent7 + start: [0, 4] +- goal: [7, 7] + name: agent8 + start: [6, 6] +- goal: [3, 0] + name: agent9 + start: [2, 7] +- goal: [7, 5] + name: agent10 + start: [3, 3] +- goal: [6, 1] + name: agent11 + start: [5, 3] +- goal: [0, 5] + name: agent12 + start: [2, 6] +- goal: [0, 2] + name: agent13 + start: [6, 2] +- goal: [4, 0] + name: agent14 + start: [0, 3] +- goal: [7, 2] + name: agent15 + start: [4, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 0] + - !!python/tuple [7, 0] + - !!python/tuple [1, 2] + - !!python/tuple [0, 7] + - !!python/tuple [6, 4] + - !!python/tuple [7, 6] + - !!python/tuple [2, 5] + - !!python/tuple [7, 1] + - !!python/tuple [0, 1] + - !!python/tuple [3, 2] + - !!python/tuple [4, 5] + - !!python/tuple [5, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex94.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex94.yaml new file mode 100644 index 0000000..e1c9ced --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex94.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [4, 3] + name: agent0 + start: [4, 5] +- goal: [2, 2] + name: agent1 + start: [1, 4] +- goal: [6, 4] + name: agent2 + start: [2, 6] +- goal: [0, 3] + name: agent3 + start: [4, 2] +- goal: [3, 2] + name: agent4 + start: [3, 0] +- goal: [3, 3] + name: agent5 + start: [0, 1] +- goal: [1, 4] + name: agent6 + start: [7, 7] +- goal: [5, 4] + name: agent7 + start: [0, 3] +- goal: [0, 6] + name: agent8 + start: [6, 6] +- goal: [5, 7] + name: agent9 + start: [5, 2] +- goal: [2, 7] + name: agent10 + start: [7, 1] +- goal: [6, 6] + name: agent11 + start: [7, 6] +- goal: [2, 5] + name: agent12 + start: [3, 2] +- goal: [5, 6] + name: agent13 + start: [0, 6] +- goal: [5, 2] + name: agent14 + start: [5, 7] +- goal: [6, 5] + name: agent15 + start: [6, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 1] + - !!python/tuple [7, 5] + - !!python/tuple [5, 3] + - !!python/tuple [3, 6] + - !!python/tuple [1, 6] + - !!python/tuple [2, 1] + - !!python/tuple [1, 3] + - !!python/tuple [1, 0] + - !!python/tuple [7, 2] + - !!python/tuple [7, 0] + - !!python/tuple [3, 1] + - !!python/tuple [2, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex95.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex95.yaml new file mode 100644 index 0000000..6a0da77 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex95.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [5, 3] + name: agent0 + start: [2, 5] +- goal: [2, 1] + name: agent1 + start: [3, 6] +- goal: [6, 0] + name: agent2 + start: [3, 7] +- goal: [1, 2] + name: agent3 + start: [5, 0] +- goal: [0, 5] + name: agent4 + start: [0, 1] +- goal: [7, 7] + name: agent5 + start: [0, 5] +- goal: [4, 0] + name: agent6 + start: [2, 4] +- goal: [0, 2] + name: agent7 + start: [4, 2] +- goal: [4, 4] + name: agent8 + start: [5, 4] +- goal: [3, 6] + name: agent9 + start: [6, 2] +- goal: [5, 5] + name: agent10 + start: [4, 7] +- goal: [0, 4] + name: agent11 + start: [3, 2] +- goal: [2, 4] + name: agent12 + start: [1, 1] +- goal: [3, 4] + name: agent13 + start: [7, 6] +- goal: [4, 7] + name: agent14 + start: [2, 1] +- goal: [5, 4] + name: agent15 + start: [0, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 1] + - !!python/tuple [1, 7] + - !!python/tuple [4, 6] + - !!python/tuple [7, 3] + - !!python/tuple [1, 6] + - !!python/tuple [2, 0] + - !!python/tuple [5, 6] + - !!python/tuple [3, 1] + - !!python/tuple [3, 0] + - !!python/tuple [4, 3] + - !!python/tuple [2, 6] + - !!python/tuple [6, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex96.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex96.yaml new file mode 100644 index 0000000..1a4f6fe --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex96.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [5, 0] + name: agent0 + start: [1, 7] +- goal: [4, 3] + name: agent1 + start: [2, 2] +- goal: [0, 3] + name: agent2 + start: [3, 7] +- goal: [0, 2] + name: agent3 + start: [7, 1] +- goal: [0, 1] + name: agent4 + start: [6, 1] +- goal: [1, 4] + name: agent5 + start: [6, 4] +- goal: [6, 1] + name: agent6 + start: [5, 3] +- goal: [4, 5] + name: agent7 + start: [3, 1] +- goal: [2, 4] + name: agent8 + start: [1, 2] +- goal: [0, 7] + name: agent9 + start: [4, 6] +- goal: [6, 6] + name: agent10 + start: [0, 7] +- goal: [0, 6] + name: agent11 + start: [4, 4] +- goal: [0, 0] + name: agent12 + start: [5, 6] +- goal: [0, 5] + name: agent13 + start: [1, 4] +- goal: [5, 5] + name: agent14 + start: [1, 0] +- goal: [3, 4] + name: agent15 + start: [1, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 1] + - !!python/tuple [4, 2] + - !!python/tuple [7, 6] + - !!python/tuple [2, 5] + - !!python/tuple [6, 5] + - !!python/tuple [7, 5] + - !!python/tuple [1, 6] + - !!python/tuple [2, 6] + - !!python/tuple [5, 7] + - !!python/tuple [7, 2] + - !!python/tuple [3, 0] + - !!python/tuple [4, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex97.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex97.yaml new file mode 100644 index 0000000..284e375 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex97.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [3, 4] + name: agent0 + start: [0, 3] +- goal: [6, 5] + name: agent1 + start: [1, 7] +- goal: [7, 3] + name: agent2 + start: [3, 4] +- goal: [7, 0] + name: agent3 + start: [0, 2] +- goal: [4, 5] + name: agent4 + start: [5, 3] +- goal: [0, 2] + name: agent5 + start: [7, 1] +- goal: [7, 7] + name: agent6 + start: [2, 7] +- goal: [0, 4] + name: agent7 + start: [7, 5] +- goal: [1, 3] + name: agent8 + start: [4, 3] +- goal: [4, 0] + name: agent9 + start: [5, 6] +- goal: [0, 7] + name: agent10 + start: [2, 1] +- goal: [5, 3] + name: agent11 + start: [0, 0] +- goal: [6, 3] + name: agent12 + start: [3, 1] +- goal: [2, 3] + name: agent13 + start: [1, 3] +- goal: [1, 4] + name: agent14 + start: [2, 6] +- goal: [3, 0] + name: agent15 + start: [1, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 5] + - !!python/tuple [0, 6] + - !!python/tuple [3, 2] + - !!python/tuple [1, 5] + - !!python/tuple [3, 7] + - !!python/tuple [4, 4] + - !!python/tuple [2, 4] + - !!python/tuple [2, 0] + - !!python/tuple [4, 1] + - !!python/tuple [6, 4] + - !!python/tuple [4, 7] + - !!python/tuple [6, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex98.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex98.yaml new file mode 100644 index 0000000..d028236 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex98.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [2, 2] + name: agent0 + start: [6, 5] +- goal: [3, 0] + name: agent1 + start: [3, 3] +- goal: [7, 0] + name: agent2 + start: [2, 6] +- goal: [5, 4] + name: agent3 + start: [1, 1] +- goal: [6, 7] + name: agent4 + start: [2, 4] +- goal: [5, 7] + name: agent5 + start: [2, 2] +- goal: [1, 6] + name: agent6 + start: [5, 0] +- goal: [0, 3] + name: agent7 + start: [4, 3] +- goal: [6, 1] + name: agent8 + start: [7, 3] +- goal: [4, 2] + name: agent9 + start: [1, 6] +- goal: [7, 5] + name: agent10 + start: [3, 4] +- goal: [3, 4] + name: agent11 + start: [3, 2] +- goal: [7, 3] + name: agent12 + start: [5, 6] +- goal: [1, 4] + name: agent13 + start: [0, 5] +- goal: [7, 1] + name: agent14 + start: [5, 1] +- goal: [2, 0] + name: agent15 + start: [0, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 6] + - !!python/tuple [7, 4] + - !!python/tuple [1, 5] + - !!python/tuple [0, 2] + - !!python/tuple [2, 7] + - !!python/tuple [2, 5] + - !!python/tuple [3, 6] + - !!python/tuple [4, 1] + - !!python/tuple [3, 1] + - !!python/tuple [0, 0] + - !!python/tuple [4, 6] + - !!python/tuple [1, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex99.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex99.yaml new file mode 100644 index 0000000..dc166ef --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents16_ex99.yaml @@ -0,0 +1,64 @@ +agents: +- goal: [1, 0] + name: agent0 + start: [6, 4] +- goal: [7, 2] + name: agent1 + start: [5, 6] +- goal: [1, 7] + name: agent2 + start: [5, 2] +- goal: [3, 6] + name: agent3 + start: [3, 1] +- goal: [5, 4] + name: agent4 + start: [3, 0] +- goal: [4, 2] + name: agent5 + start: [1, 1] +- goal: [4, 0] + name: agent6 + start: [1, 7] +- goal: [5, 2] + name: agent7 + start: [4, 1] +- goal: [1, 5] + name: agent8 + start: [0, 3] +- goal: [2, 1] + name: agent9 + start: [3, 7] +- goal: [0, 0] + name: agent10 + start: [4, 0] +- goal: [0, 3] + name: agent11 + start: [1, 0] +- goal: [3, 3] + name: agent12 + start: [6, 7] +- goal: [6, 6] + name: agent13 + start: [4, 4] +- goal: [0, 5] + name: agent14 + start: [7, 0] +- goal: [4, 7] + name: agent15 + start: [0, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 3] + - !!python/tuple [3, 5] + - !!python/tuple [5, 7] + - !!python/tuple [7, 5] + - !!python/tuple [2, 0] + - !!python/tuple [0, 6] + - !!python/tuple [6, 0] + - !!python/tuple [5, 3] + - !!python/tuple [7, 3] + - !!python/tuple [4, 6] + - !!python/tuple [7, 7] + - !!python/tuple [6, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex0.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex0.yaml new file mode 100644 index 0000000..cb594ab --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex0.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [2, 4] + name: agent0 + start: [5, 1] +- goal: [1, 1] + name: agent1 + start: [6, 7] +- goal: [7, 4] + name: agent2 + start: [2, 3] +- goal: [7, 2] + name: agent3 + start: [4, 7] +- goal: [5, 7] + name: agent4 + start: [7, 0] +- goal: [1, 0] + name: agent5 + start: [7, 6] +- goal: [2, 5] + name: agent6 + start: [5, 2] +- goal: [2, 6] + name: agent7 + start: [2, 4] +- goal: [0, 3] + name: agent8 + start: [6, 2] +- goal: [2, 1] + name: agent9 + start: [2, 1] +- goal: [7, 1] + name: agent10 + start: [6, 4] +- goal: [2, 0] + name: agent11 + start: [5, 6] +- goal: [5, 0] + name: agent12 + start: [7, 4] +- goal: [3, 1] + name: agent13 + start: [6, 0] +- goal: [1, 7] + name: agent14 + start: [3, 2] +- goal: [3, 5] + name: agent15 + start: [5, 7] +- goal: [6, 2] + name: agent16 + start: [0, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 0] + - !!python/tuple [7, 5] + - !!python/tuple [4, 6] + - !!python/tuple [6, 5] + - !!python/tuple [4, 0] + - !!python/tuple [0, 6] + - !!python/tuple [0, 7] + - !!python/tuple [4, 2] + - !!python/tuple [2, 2] + - !!python/tuple [1, 3] + - !!python/tuple [0, 1] + - !!python/tuple [5, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex1.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex1.yaml new file mode 100644 index 0000000..5c90db5 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex1.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [7, 7] + name: agent0 + start: [4, 5] +- goal: [6, 3] + name: agent1 + start: [4, 7] +- goal: [1, 3] + name: agent2 + start: [1, 0] +- goal: [7, 3] + name: agent3 + start: [3, 2] +- goal: [1, 0] + name: agent4 + start: [5, 6] +- goal: [7, 5] + name: agent5 + start: [6, 3] +- goal: [5, 6] + name: agent6 + start: [1, 6] +- goal: [2, 3] + name: agent7 + start: [7, 3] +- goal: [2, 1] + name: agent8 + start: [0, 0] +- goal: [4, 0] + name: agent9 + start: [0, 5] +- goal: [2, 0] + name: agent10 + start: [6, 6] +- goal: [1, 6] + name: agent11 + start: [5, 5] +- goal: [2, 4] + name: agent12 + start: [7, 4] +- goal: [6, 7] + name: agent13 + start: [5, 4] +- goal: [4, 7] + name: agent14 + start: [5, 7] +- goal: [3, 0] + name: agent15 + start: [0, 4] +- goal: [1, 1] + name: agent16 + start: [4, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 6] + - !!python/tuple [0, 1] + - !!python/tuple [4, 2] + - !!python/tuple [0, 2] + - !!python/tuple [7, 2] + - !!python/tuple [6, 1] + - !!python/tuple [3, 7] + - !!python/tuple [7, 0] + - !!python/tuple [1, 4] + - !!python/tuple [0, 6] + - !!python/tuple [0, 3] + - !!python/tuple [5, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex10.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex10.yaml new file mode 100644 index 0000000..520132b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex10.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [1, 3] + name: agent0 + start: [7, 6] +- goal: [3, 2] + name: agent1 + start: [4, 5] +- goal: [2, 2] + name: agent2 + start: [5, 0] +- goal: [5, 4] + name: agent3 + start: [4, 7] +- goal: [4, 3] + name: agent4 + start: [3, 6] +- goal: [1, 2] + name: agent5 + start: [1, 3] +- goal: [1, 5] + name: agent6 + start: [5, 4] +- goal: [7, 0] + name: agent7 + start: [7, 2] +- goal: [4, 0] + name: agent8 + start: [2, 3] +- goal: [6, 7] + name: agent9 + start: [2, 2] +- goal: [2, 0] + name: agent10 + start: [5, 5] +- goal: [1, 0] + name: agent11 + start: [4, 1] +- goal: [5, 7] + name: agent12 + start: [5, 6] +- goal: [5, 6] + name: agent13 + start: [1, 5] +- goal: [7, 6] + name: agent14 + start: [1, 4] +- goal: [1, 4] + name: agent15 + start: [0, 6] +- goal: [0, 7] + name: agent16 + start: [5, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 4] + - !!python/tuple [2, 6] + - !!python/tuple [2, 7] + - !!python/tuple [2, 1] + - !!python/tuple [0, 4] + - !!python/tuple [6, 3] + - !!python/tuple [3, 1] + - !!python/tuple [6, 6] + - !!python/tuple [4, 2] + - !!python/tuple [3, 4] + - !!python/tuple [6, 5] + - !!python/tuple [4, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex11.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex11.yaml new file mode 100644 index 0000000..caf2aca --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex11.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [4, 1] + name: agent0 + start: [6, 0] +- goal: [6, 4] + name: agent1 + start: [0, 7] +- goal: [3, 2] + name: agent2 + start: [2, 6] +- goal: [1, 1] + name: agent3 + start: [4, 3] +- goal: [5, 3] + name: agent4 + start: [2, 5] +- goal: [2, 5] + name: agent5 + start: [2, 1] +- goal: [3, 1] + name: agent6 + start: [4, 2] +- goal: [1, 3] + name: agent7 + start: [1, 7] +- goal: [7, 4] + name: agent8 + start: [6, 7] +- goal: [3, 5] + name: agent9 + start: [1, 4] +- goal: [3, 0] + name: agent10 + start: [7, 6] +- goal: [5, 0] + name: agent11 + start: [2, 3] +- goal: [5, 7] + name: agent12 + start: [7, 3] +- goal: [2, 4] + name: agent13 + start: [3, 0] +- goal: [1, 4] + name: agent14 + start: [6, 1] +- goal: [1, 7] + name: agent15 + start: [7, 7] +- goal: [4, 5] + name: agent16 + start: [4, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 3] + - !!python/tuple [5, 6] + - !!python/tuple [3, 6] + - !!python/tuple [7, 5] + - !!python/tuple [4, 6] + - !!python/tuple [5, 1] + - !!python/tuple [1, 6] + - !!python/tuple [2, 7] + - !!python/tuple [0, 2] + - !!python/tuple [5, 2] + - !!python/tuple [0, 3] + - !!python/tuple [5, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex12.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex12.yaml new file mode 100644 index 0000000..f7f32a6 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex12.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [2, 4] + name: agent0 + start: [7, 0] +- goal: [0, 0] + name: agent1 + start: [1, 1] +- goal: [5, 0] + name: agent2 + start: [0, 3] +- goal: [7, 6] + name: agent3 + start: [0, 6] +- goal: [6, 5] + name: agent4 + start: [3, 2] +- goal: [3, 3] + name: agent5 + start: [2, 6] +- goal: [6, 2] + name: agent6 + start: [5, 6] +- goal: [6, 3] + name: agent7 + start: [4, 3] +- goal: [7, 4] + name: agent8 + start: [0, 2] +- goal: [6, 4] + name: agent9 + start: [1, 5] +- goal: [5, 6] + name: agent10 + start: [1, 0] +- goal: [5, 3] + name: agent11 + start: [5, 3] +- goal: [5, 5] + name: agent12 + start: [1, 2] +- goal: [5, 7] + name: agent13 + start: [6, 5] +- goal: [2, 0] + name: agent14 + start: [4, 5] +- goal: [3, 1] + name: agent15 + start: [5, 7] +- goal: [1, 1] + name: agent16 + start: [3, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 2] + - !!python/tuple [1, 4] + - !!python/tuple [7, 7] + - !!python/tuple [3, 0] + - !!python/tuple [3, 4] + - !!python/tuple [0, 1] + - !!python/tuple [0, 7] + - !!python/tuple [5, 1] + - !!python/tuple [6, 1] + - !!python/tuple [2, 1] + - !!python/tuple [2, 5] + - !!python/tuple [4, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex13.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex13.yaml new file mode 100644 index 0000000..d43bc70 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex13.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [5, 4] + name: agent0 + start: [5, 2] +- goal: [2, 7] + name: agent1 + start: [1, 1] +- goal: [6, 3] + name: agent2 + start: [5, 1] +- goal: [7, 3] + name: agent3 + start: [3, 7] +- goal: [1, 3] + name: agent4 + start: [0, 7] +- goal: [2, 0] + name: agent5 + start: [2, 7] +- goal: [6, 5] + name: agent6 + start: [1, 3] +- goal: [4, 5] + name: agent7 + start: [4, 2] +- goal: [7, 1] + name: agent8 + start: [3, 3] +- goal: [5, 5] + name: agent9 + start: [2, 0] +- goal: [2, 1] + name: agent10 + start: [0, 1] +- goal: [3, 6] + name: agent11 + start: [1, 5] +- goal: [4, 4] + name: agent12 + start: [0, 0] +- goal: [6, 2] + name: agent13 + start: [6, 4] +- goal: [6, 1] + name: agent14 + start: [0, 5] +- goal: [4, 7] + name: agent15 + start: [4, 0] +- goal: [7, 2] + name: agent16 + start: [1, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 3] + - !!python/tuple [6, 7] + - !!python/tuple [5, 6] + - !!python/tuple [3, 5] + - !!python/tuple [1, 0] + - !!python/tuple [7, 4] + - !!python/tuple [5, 0] + - !!python/tuple [7, 5] + - !!python/tuple [6, 6] + - !!python/tuple [6, 0] + - !!python/tuple [0, 3] + - !!python/tuple [4, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex14.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex14.yaml new file mode 100644 index 0000000..03f77a9 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex14.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [4, 5] + name: agent0 + start: [6, 6] +- goal: [1, 3] + name: agent1 + start: [1, 0] +- goal: [4, 2] + name: agent2 + start: [2, 1] +- goal: [3, 5] + name: agent3 + start: [6, 4] +- goal: [1, 4] + name: agent4 + start: [4, 5] +- goal: [2, 4] + name: agent5 + start: [1, 5] +- goal: [7, 0] + name: agent6 + start: [4, 3] +- goal: [4, 1] + name: agent7 + start: [0, 2] +- goal: [1, 7] + name: agent8 + start: [7, 6] +- goal: [5, 7] + name: agent9 + start: [2, 4] +- goal: [1, 1] + name: agent10 + start: [4, 2] +- goal: [5, 5] + name: agent11 + start: [4, 7] +- goal: [0, 3] + name: agent12 + start: [0, 5] +- goal: [4, 7] + name: agent13 + start: [5, 5] +- goal: [0, 0] + name: agent14 + start: [6, 7] +- goal: [6, 7] + name: agent15 + start: [6, 3] +- goal: [6, 3] + name: agent16 + start: [2, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 7] + - !!python/tuple [5, 2] + - !!python/tuple [2, 3] + - !!python/tuple [3, 6] + - !!python/tuple [2, 2] + - !!python/tuple [6, 5] + - !!python/tuple [7, 3] + - !!python/tuple [2, 5] + - !!python/tuple [5, 4] + - !!python/tuple [4, 6] + - !!python/tuple [3, 3] + - !!python/tuple [7, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex15.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex15.yaml new file mode 100644 index 0000000..dcb0914 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex15.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [4, 2] + name: agent0 + start: [2, 0] +- goal: [0, 1] + name: agent1 + start: [0, 1] +- goal: [2, 7] + name: agent2 + start: [1, 5] +- goal: [4, 1] + name: agent3 + start: [7, 7] +- goal: [5, 7] + name: agent4 + start: [7, 6] +- goal: [1, 7] + name: agent5 + start: [3, 5] +- goal: [1, 2] + name: agent6 + start: [7, 5] +- goal: [5, 4] + name: agent7 + start: [6, 1] +- goal: [6, 5] + name: agent8 + start: [5, 7] +- goal: [0, 3] + name: agent9 + start: [5, 4] +- goal: [1, 0] + name: agent10 + start: [7, 0] +- goal: [2, 2] + name: agent11 + start: [1, 3] +- goal: [6, 1] + name: agent12 + start: [0, 3] +- goal: [4, 3] + name: agent13 + start: [1, 6] +- goal: [0, 7] + name: agent14 + start: [1, 0] +- goal: [1, 6] + name: agent15 + start: [0, 5] +- goal: [3, 0] + name: agent16 + start: [6, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 5] + - !!python/tuple [6, 3] + - !!python/tuple [3, 4] + - !!python/tuple [0, 0] + - !!python/tuple [7, 4] + - !!python/tuple [3, 6] + - !!python/tuple [4, 0] + - !!python/tuple [3, 2] + - !!python/tuple [4, 6] + - !!python/tuple [7, 2] + - !!python/tuple [0, 6] + - !!python/tuple [6, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex16.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex16.yaml new file mode 100644 index 0000000..e53ecd6 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex16.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [7, 0] + name: agent0 + start: [3, 2] +- goal: [5, 7] + name: agent1 + start: [5, 0] +- goal: [1, 5] + name: agent2 + start: [2, 2] +- goal: [7, 1] + name: agent3 + start: [5, 6] +- goal: [7, 7] + name: agent4 + start: [5, 3] +- goal: [2, 3] + name: agent5 + start: [2, 1] +- goal: [3, 3] + name: agent6 + start: [1, 5] +- goal: [3, 6] + name: agent7 + start: [4, 0] +- goal: [3, 7] + name: agent8 + start: [2, 0] +- goal: [2, 5] + name: agent9 + start: [7, 0] +- goal: [3, 2] + name: agent10 + start: [6, 0] +- goal: [3, 0] + name: agent11 + start: [7, 7] +- goal: [2, 0] + name: agent12 + start: [4, 7] +- goal: [4, 3] + name: agent13 + start: [4, 3] +- goal: [1, 3] + name: agent14 + start: [2, 4] +- goal: [1, 1] + name: agent15 + start: [2, 3] +- goal: [2, 6] + name: agent16 + start: [7, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 4] + - !!python/tuple [4, 4] + - !!python/tuple [4, 6] + - !!python/tuple [6, 2] + - !!python/tuple [0, 5] + - !!python/tuple [5, 2] + - !!python/tuple [4, 2] + - !!python/tuple [6, 3] + - !!python/tuple [0, 0] + - !!python/tuple [1, 7] + - !!python/tuple [7, 2] + - !!python/tuple [7, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex17.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex17.yaml new file mode 100644 index 0000000..208a2e4 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex17.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [0, 3] + name: agent0 + start: [4, 7] +- goal: [5, 2] + name: agent1 + start: [3, 5] +- goal: [4, 6] + name: agent2 + start: [3, 3] +- goal: [3, 5] + name: agent3 + start: [7, 5] +- goal: [6, 1] + name: agent4 + start: [5, 7] +- goal: [0, 2] + name: agent5 + start: [0, 3] +- goal: [6, 3] + name: agent6 + start: [3, 7] +- goal: [7, 7] + name: agent7 + start: [6, 7] +- goal: [2, 2] + name: agent8 + start: [5, 0] +- goal: [0, 6] + name: agent9 + start: [7, 4] +- goal: [2, 1] + name: agent10 + start: [0, 1] +- goal: [5, 4] + name: agent11 + start: [4, 6] +- goal: [3, 1] + name: agent12 + start: [7, 6] +- goal: [5, 1] + name: agent13 + start: [3, 1] +- goal: [1, 7] + name: agent14 + start: [1, 1] +- goal: [6, 4] + name: agent15 + start: [0, 4] +- goal: [7, 4] + name: agent16 + start: [0, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 0] + - !!python/tuple [2, 6] + - !!python/tuple [5, 3] + - !!python/tuple [1, 2] + - !!python/tuple [0, 0] + - !!python/tuple [2, 4] + - !!python/tuple [6, 6] + - !!python/tuple [4, 4] + - !!python/tuple [4, 3] + - !!python/tuple [2, 0] + - !!python/tuple [7, 0] + - !!python/tuple [4, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex18.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex18.yaml new file mode 100644 index 0000000..17552df --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex18.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [1, 2] + name: agent0 + start: [4, 4] +- goal: [5, 2] + name: agent1 + start: [4, 2] +- goal: [7, 5] + name: agent2 + start: [0, 6] +- goal: [0, 7] + name: agent3 + start: [3, 4] +- goal: [3, 3] + name: agent4 + start: [0, 7] +- goal: [5, 1] + name: agent5 + start: [5, 1] +- goal: [4, 2] + name: agent6 + start: [1, 2] +- goal: [4, 4] + name: agent7 + start: [0, 0] +- goal: [4, 1] + name: agent8 + start: [7, 0] +- goal: [5, 7] + name: agent9 + start: [0, 2] +- goal: [1, 3] + name: agent10 + start: [7, 7] +- goal: [5, 4] + name: agent11 + start: [4, 3] +- goal: [7, 6] + name: agent12 + start: [5, 2] +- goal: [0, 6] + name: agent13 + start: [0, 5] +- goal: [1, 0] + name: agent14 + start: [5, 4] +- goal: [6, 5] + name: agent15 + start: [7, 3] +- goal: [1, 4] + name: agent16 + start: [7, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 6] + - !!python/tuple [4, 5] + - !!python/tuple [3, 5] + - !!python/tuple [5, 3] + - !!python/tuple [1, 7] + - !!python/tuple [5, 5] + - !!python/tuple [3, 7] + - !!python/tuple [3, 1] + - !!python/tuple [2, 1] + - !!python/tuple [5, 0] + - !!python/tuple [6, 3] + - !!python/tuple [6, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex19.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex19.yaml new file mode 100644 index 0000000..404ed7b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex19.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [4, 7] + name: agent0 + start: [4, 1] +- goal: [0, 2] + name: agent1 + start: [5, 7] +- goal: [4, 2] + name: agent2 + start: [0, 5] +- goal: [6, 2] + name: agent3 + start: [6, 0] +- goal: [2, 0] + name: agent4 + start: [2, 7] +- goal: [7, 0] + name: agent5 + start: [3, 0] +- goal: [7, 7] + name: agent6 + start: [1, 1] +- goal: [3, 4] + name: agent7 + start: [0, 6] +- goal: [1, 0] + name: agent8 + start: [4, 3] +- goal: [6, 1] + name: agent9 + start: [4, 2] +- goal: [0, 6] + name: agent10 + start: [3, 5] +- goal: [3, 6] + name: agent11 + start: [5, 2] +- goal: [2, 2] + name: agent12 + start: [4, 5] +- goal: [1, 5] + name: agent13 + start: [1, 2] +- goal: [6, 4] + name: agent14 + start: [0, 2] +- goal: [2, 7] + name: agent15 + start: [7, 2] +- goal: [1, 7] + name: agent16 + start: [1, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 6] + - !!python/tuple [4, 0] + - !!python/tuple [7, 6] + - !!python/tuple [7, 4] + - !!python/tuple [3, 3] + - !!python/tuple [1, 4] + - !!python/tuple [4, 4] + - !!python/tuple [3, 2] + - !!python/tuple [5, 1] + - !!python/tuple [0, 3] + - !!python/tuple [2, 3] + - !!python/tuple [6, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex2.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex2.yaml new file mode 100644 index 0000000..61399a8 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex2.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [1, 5] + name: agent0 + start: [0, 6] +- goal: [4, 7] + name: agent1 + start: [6, 6] +- goal: [2, 5] + name: agent2 + start: [4, 1] +- goal: [3, 2] + name: agent3 + start: [2, 6] +- goal: [7, 0] + name: agent4 + start: [3, 1] +- goal: [2, 3] + name: agent5 + start: [0, 1] +- goal: [3, 1] + name: agent6 + start: [2, 2] +- goal: [1, 4] + name: agent7 + start: [2, 1] +- goal: [7, 1] + name: agent8 + start: [3, 6] +- goal: [3, 5] + name: agent9 + start: [5, 6] +- goal: [6, 1] + name: agent10 + start: [1, 2] +- goal: [6, 7] + name: agent11 + start: [5, 0] +- goal: [0, 5] + name: agent12 + start: [2, 7] +- goal: [5, 0] + name: agent13 + start: [5, 7] +- goal: [6, 3] + name: agent14 + start: [0, 7] +- goal: [0, 3] + name: agent15 + start: [0, 2] +- goal: [4, 2] + name: agent16 + start: [0, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 4] + - !!python/tuple [0, 0] + - !!python/tuple [1, 0] + - !!python/tuple [6, 2] + - !!python/tuple [2, 0] + - !!python/tuple [4, 0] + - !!python/tuple [6, 5] + - !!python/tuple [5, 5] + - !!python/tuple [7, 6] + - !!python/tuple [3, 3] + - !!python/tuple [7, 7] + - !!python/tuple [5, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex20.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex20.yaml new file mode 100644 index 0000000..8ddd431 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex20.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [0, 5] + name: agent0 + start: [7, 4] +- goal: [7, 3] + name: agent1 + start: [4, 6] +- goal: [1, 2] + name: agent2 + start: [4, 5] +- goal: [6, 2] + name: agent3 + start: [6, 7] +- goal: [0, 3] + name: agent4 + start: [2, 4] +- goal: [4, 4] + name: agent5 + start: [7, 1] +- goal: [4, 6] + name: agent6 + start: [7, 3] +- goal: [4, 2] + name: agent7 + start: [2, 6] +- goal: [3, 2] + name: agent8 + start: [6, 1] +- goal: [3, 4] + name: agent9 + start: [2, 3] +- goal: [2, 6] + name: agent10 + start: [3, 7] +- goal: [7, 1] + name: agent11 + start: [6, 3] +- goal: [1, 3] + name: agent12 + start: [6, 0] +- goal: [1, 6] + name: agent13 + start: [5, 7] +- goal: [1, 0] + name: agent14 + start: [2, 5] +- goal: [7, 7] + name: agent15 + start: [1, 0] +- goal: [7, 6] + name: agent16 + start: [4, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 1] + - !!python/tuple [0, 2] + - !!python/tuple [1, 4] + - !!python/tuple [0, 6] + - !!python/tuple [1, 1] + - !!python/tuple [4, 1] + - !!python/tuple [7, 5] + - !!python/tuple [0, 0] + - !!python/tuple [3, 3] + - !!python/tuple [5, 4] + - !!python/tuple [2, 7] + - !!python/tuple [2, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex21.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex21.yaml new file mode 100644 index 0000000..2b21b22 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex21.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [2, 3] + name: agent0 + start: [7, 2] +- goal: [4, 1] + name: agent1 + start: [1, 2] +- goal: [2, 2] + name: agent2 + start: [2, 0] +- goal: [5, 5] + name: agent3 + start: [6, 6] +- goal: [4, 4] + name: agent4 + start: [2, 2] +- goal: [5, 7] + name: agent5 + start: [7, 3] +- goal: [4, 2] + name: agent6 + start: [7, 4] +- goal: [7, 0] + name: agent7 + start: [4, 4] +- goal: [1, 6] + name: agent8 + start: [4, 7] +- goal: [6, 7] + name: agent9 + start: [4, 6] +- goal: [3, 5] + name: agent10 + start: [7, 0] +- goal: [4, 7] + name: agent11 + start: [4, 0] +- goal: [1, 7] + name: agent12 + start: [4, 2] +- goal: [0, 2] + name: agent13 + start: [0, 0] +- goal: [4, 6] + name: agent14 + start: [2, 7] +- goal: [4, 5] + name: agent15 + start: [2, 1] +- goal: [6, 3] + name: agent16 + start: [4, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 5] + - !!python/tuple [0, 5] + - !!python/tuple [0, 1] + - !!python/tuple [6, 0] + - !!python/tuple [7, 7] + - !!python/tuple [3, 2] + - !!python/tuple [2, 5] + - !!python/tuple [2, 4] + - !!python/tuple [3, 0] + - !!python/tuple [7, 5] + - !!python/tuple [0, 7] + - !!python/tuple [1, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex22.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex22.yaml new file mode 100644 index 0000000..e3f8d2e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex22.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [2, 4] + name: agent0 + start: [1, 2] +- goal: [2, 7] + name: agent1 + start: [5, 5] +- goal: [5, 1] + name: agent2 + start: [7, 2] +- goal: [7, 2] + name: agent3 + start: [0, 6] +- goal: [6, 5] + name: agent4 + start: [4, 2] +- goal: [3, 2] + name: agent5 + start: [3, 6] +- goal: [6, 3] + name: agent6 + start: [0, 0] +- goal: [7, 1] + name: agent7 + start: [7, 6] +- goal: [6, 0] + name: agent8 + start: [2, 7] +- goal: [7, 0] + name: agent9 + start: [2, 6] +- goal: [4, 7] + name: agent10 + start: [4, 6] +- goal: [0, 3] + name: agent11 + start: [1, 4] +- goal: [4, 0] + name: agent12 + start: [4, 5] +- goal: [1, 4] + name: agent13 + start: [6, 5] +- goal: [7, 7] + name: agent14 + start: [3, 1] +- goal: [1, 7] + name: agent15 + start: [4, 3] +- goal: [2, 6] + name: agent16 + start: [7, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 4] + - !!python/tuple [3, 4] + - !!python/tuple [5, 6] + - !!python/tuple [2, 2] + - !!python/tuple [3, 7] + - !!python/tuple [6, 6] + - !!python/tuple [1, 3] + - !!python/tuple [6, 4] + - !!python/tuple [1, 0] + - !!python/tuple [3, 0] + - !!python/tuple [5, 2] + - !!python/tuple [1, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex23.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex23.yaml new file mode 100644 index 0000000..87bd830 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex23.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [5, 4] + name: agent0 + start: [7, 0] +- goal: [7, 4] + name: agent1 + start: [3, 4] +- goal: [7, 3] + name: agent2 + start: [2, 7] +- goal: [3, 3] + name: agent3 + start: [3, 2] +- goal: [4, 5] + name: agent4 + start: [5, 7] +- goal: [1, 3] + name: agent5 + start: [2, 3] +- goal: [0, 5] + name: agent6 + start: [4, 3] +- goal: [5, 5] + name: agent7 + start: [7, 4] +- goal: [2, 6] + name: agent8 + start: [3, 7] +- goal: [7, 6] + name: agent9 + start: [7, 5] +- goal: [7, 2] + name: agent10 + start: [7, 1] +- goal: [3, 7] + name: agent11 + start: [5, 3] +- goal: [1, 4] + name: agent12 + start: [1, 1] +- goal: [2, 0] + name: agent13 + start: [1, 3] +- goal: [0, 2] + name: agent14 + start: [0, 2] +- goal: [6, 4] + name: agent15 + start: [7, 6] +- goal: [6, 1] + name: agent16 + start: [2, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 5] + - !!python/tuple [6, 7] + - !!python/tuple [2, 2] + - !!python/tuple [7, 7] + - !!python/tuple [0, 4] + - !!python/tuple [1, 5] + - !!python/tuple [6, 6] + - !!python/tuple [0, 3] + - !!python/tuple [5, 6] + - !!python/tuple [6, 2] + - !!python/tuple [4, 4] + - !!python/tuple [3, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex24.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex24.yaml new file mode 100644 index 0000000..7d8cba7 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex24.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [0, 1] + name: agent0 + start: [7, 4] +- goal: [0, 2] + name: agent1 + start: [0, 7] +- goal: [3, 7] + name: agent2 + start: [5, 7] +- goal: [4, 1] + name: agent3 + start: [3, 5] +- goal: [1, 4] + name: agent4 + start: [5, 6] +- goal: [1, 1] + name: agent5 + start: [1, 3] +- goal: [3, 5] + name: agent6 + start: [7, 5] +- goal: [7, 6] + name: agent7 + start: [2, 7] +- goal: [2, 0] + name: agent8 + start: [7, 7] +- goal: [2, 1] + name: agent9 + start: [1, 2] +- goal: [5, 3] + name: agent10 + start: [7, 1] +- goal: [5, 2] + name: agent11 + start: [2, 1] +- goal: [5, 1] + name: agent12 + start: [7, 3] +- goal: [0, 7] + name: agent13 + start: [3, 7] +- goal: [6, 2] + name: agent14 + start: [1, 0] +- goal: [1, 7] + name: agent15 + start: [3, 2] +- goal: [3, 2] + name: agent16 + start: [1, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 3] + - !!python/tuple [3, 4] + - !!python/tuple [1, 6] + - !!python/tuple [6, 1] + - !!python/tuple [0, 0] + - !!python/tuple [2, 4] + - !!python/tuple [6, 3] + - !!python/tuple [2, 5] + - !!python/tuple [4, 3] + - !!python/tuple [2, 2] + - !!python/tuple [0, 5] + - !!python/tuple [1, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex25.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex25.yaml new file mode 100644 index 0000000..be965d2 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex25.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [4, 1] + name: agent0 + start: [5, 2] +- goal: [0, 5] + name: agent1 + start: [2, 5] +- goal: [4, 4] + name: agent2 + start: [5, 4] +- goal: [3, 1] + name: agent3 + start: [1, 0] +- goal: [5, 3] + name: agent4 + start: [6, 1] +- goal: [0, 4] + name: agent5 + start: [5, 5] +- goal: [3, 2] + name: agent6 + start: [6, 2] +- goal: [6, 7] + name: agent7 + start: [4, 4] +- goal: [5, 2] + name: agent8 + start: [1, 5] +- goal: [7, 3] + name: agent9 + start: [7, 2] +- goal: [2, 2] + name: agent10 + start: [2, 7] +- goal: [2, 6] + name: agent11 + start: [4, 6] +- goal: [6, 0] + name: agent12 + start: [0, 0] +- goal: [1, 5] + name: agent13 + start: [7, 5] +- goal: [6, 3] + name: agent14 + start: [1, 7] +- goal: [5, 0] + name: agent15 + start: [3, 2] +- goal: [5, 5] + name: agent16 + start: [1, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 5] + - !!python/tuple [4, 7] + - !!python/tuple [1, 6] + - !!python/tuple [7, 7] + - !!python/tuple [0, 6] + - !!python/tuple [7, 1] + - !!python/tuple [3, 5] + - !!python/tuple [0, 1] + - !!python/tuple [3, 0] + - !!python/tuple [3, 6] + - !!python/tuple [1, 1] + - !!python/tuple [6, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex26.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex26.yaml new file mode 100644 index 0000000..c439914 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex26.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [2, 3] + name: agent0 + start: [3, 0] +- goal: [6, 3] + name: agent1 + start: [1, 4] +- goal: [1, 4] + name: agent2 + start: [6, 4] +- goal: [0, 3] + name: agent3 + start: [4, 1] +- goal: [3, 6] + name: agent4 + start: [7, 1] +- goal: [6, 1] + name: agent5 + start: [1, 6] +- goal: [1, 5] + name: agent6 + start: [4, 7] +- goal: [0, 4] + name: agent7 + start: [2, 1] +- goal: [6, 4] + name: agent8 + start: [6, 3] +- goal: [5, 6] + name: agent9 + start: [0, 3] +- goal: [5, 5] + name: agent10 + start: [6, 7] +- goal: [7, 5] + name: agent11 + start: [5, 0] +- goal: [0, 0] + name: agent12 + start: [3, 6] +- goal: [7, 7] + name: agent13 + start: [6, 6] +- goal: [1, 6] + name: agent14 + start: [4, 4] +- goal: [6, 5] + name: agent15 + start: [3, 5] +- goal: [3, 1] + name: agent16 + start: [5, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 4] + - !!python/tuple [0, 6] + - !!python/tuple [4, 0] + - !!python/tuple [3, 7] + - !!python/tuple [5, 2] + - !!python/tuple [4, 5] + - !!python/tuple [2, 2] + - !!python/tuple [1, 7] + - !!python/tuple [4, 2] + - !!python/tuple [1, 3] + - !!python/tuple [3, 3] + - !!python/tuple [3, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex27.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex27.yaml new file mode 100644 index 0000000..2ac7ddb --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex27.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [5, 5] + name: agent0 + start: [3, 2] +- goal: [3, 4] + name: agent1 + start: [3, 4] +- goal: [6, 0] + name: agent2 + start: [7, 3] +- goal: [6, 5] + name: agent3 + start: [3, 1] +- goal: [5, 2] + name: agent4 + start: [0, 1] +- goal: [2, 5] + name: agent5 + start: [7, 5] +- goal: [3, 1] + name: agent6 + start: [4, 5] +- goal: [7, 1] + name: agent7 + start: [6, 4] +- goal: [1, 6] + name: agent8 + start: [3, 5] +- goal: [0, 0] + name: agent9 + start: [4, 0] +- goal: [4, 6] + name: agent10 + start: [4, 7] +- goal: [0, 3] + name: agent11 + start: [1, 3] +- goal: [7, 0] + name: agent12 + start: [1, 1] +- goal: [5, 3] + name: agent13 + start: [4, 4] +- goal: [3, 5] + name: agent14 + start: [6, 2] +- goal: [5, 1] + name: agent15 + start: [7, 0] +- goal: [6, 4] + name: agent16 + start: [1, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 3] + - !!python/tuple [2, 6] + - !!python/tuple [4, 1] + - !!python/tuple [4, 3] + - !!python/tuple [1, 4] + - !!python/tuple [2, 4] + - !!python/tuple [6, 1] + - !!python/tuple [7, 2] + - !!python/tuple [3, 3] + - !!python/tuple [5, 7] + - !!python/tuple [0, 6] + - !!python/tuple [4, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex28.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex28.yaml new file mode 100644 index 0000000..3674ff6 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex28.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [2, 6] + name: agent0 + start: [2, 1] +- goal: [1, 1] + name: agent1 + start: [6, 3] +- goal: [2, 3] + name: agent2 + start: [3, 3] +- goal: [3, 7] + name: agent3 + start: [3, 5] +- goal: [5, 4] + name: agent4 + start: [5, 0] +- goal: [5, 3] + name: agent5 + start: [2, 2] +- goal: [6, 3] + name: agent6 + start: [0, 4] +- goal: [2, 0] + name: agent7 + start: [2, 6] +- goal: [0, 6] + name: agent8 + start: [0, 1] +- goal: [6, 0] + name: agent9 + start: [4, 6] +- goal: [3, 2] + name: agent10 + start: [6, 0] +- goal: [1, 3] + name: agent11 + start: [7, 7] +- goal: [7, 6] + name: agent12 + start: [7, 2] +- goal: [3, 3] + name: agent13 + start: [1, 6] +- goal: [6, 5] + name: agent14 + start: [6, 7] +- goal: [0, 5] + name: agent15 + start: [6, 2] +- goal: [3, 5] + name: agent16 + start: [7, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 4] + - !!python/tuple [6, 1] + - !!python/tuple [1, 5] + - !!python/tuple [7, 4] + - !!python/tuple [7, 0] + - !!python/tuple [1, 4] + - !!python/tuple [4, 4] + - !!python/tuple [0, 3] + - !!python/tuple [3, 1] + - !!python/tuple [1, 0] + - !!python/tuple [3, 0] + - !!python/tuple [4, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex29.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex29.yaml new file mode 100644 index 0000000..e83d033 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex29.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [0, 2] + name: agent0 + start: [4, 2] +- goal: [2, 4] + name: agent1 + start: [1, 7] +- goal: [6, 0] + name: agent2 + start: [5, 2] +- goal: [4, 5] + name: agent3 + start: [2, 2] +- goal: [7, 6] + name: agent4 + start: [4, 3] +- goal: [6, 3] + name: agent5 + start: [1, 0] +- goal: [7, 2] + name: agent6 + start: [5, 3] +- goal: [2, 6] + name: agent7 + start: [0, 4] +- goal: [0, 0] + name: agent8 + start: [2, 6] +- goal: [5, 4] + name: agent9 + start: [7, 7] +- goal: [7, 4] + name: agent10 + start: [0, 5] +- goal: [5, 1] + name: agent11 + start: [3, 1] +- goal: [4, 0] + name: agent12 + start: [7, 0] +- goal: [5, 6] + name: agent13 + start: [1, 5] +- goal: [7, 0] + name: agent14 + start: [7, 1] +- goal: [6, 2] + name: agent15 + start: [4, 4] +- goal: [2, 5] + name: agent16 + start: [6, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 5] + - !!python/tuple [1, 6] + - !!python/tuple [3, 7] + - !!python/tuple [1, 3] + - !!python/tuple [3, 2] + - !!python/tuple [1, 1] + - !!python/tuple [6, 4] + - !!python/tuple [0, 6] + - !!python/tuple [0, 7] + - !!python/tuple [6, 1] + - !!python/tuple [0, 3] + - !!python/tuple [6, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex3.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex3.yaml new file mode 100644 index 0000000..9a2e699 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex3.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [6, 7] + name: agent0 + start: [4, 3] +- goal: [4, 3] + name: agent1 + start: [1, 0] +- goal: [3, 0] + name: agent2 + start: [5, 4] +- goal: [7, 3] + name: agent3 + start: [1, 7] +- goal: [4, 5] + name: agent4 + start: [0, 5] +- goal: [0, 5] + name: agent5 + start: [0, 0] +- goal: [2, 6] + name: agent6 + start: [6, 0] +- goal: [2, 1] + name: agent7 + start: [6, 4] +- goal: [4, 6] + name: agent8 + start: [3, 2] +- goal: [7, 6] + name: agent9 + start: [4, 1] +- goal: [7, 2] + name: agent10 + start: [0, 2] +- goal: [1, 0] + name: agent11 + start: [2, 6] +- goal: [3, 4] + name: agent12 + start: [4, 6] +- goal: [5, 4] + name: agent13 + start: [3, 1] +- goal: [5, 3] + name: agent14 + start: [4, 0] +- goal: [0, 4] + name: agent15 + start: [6, 6] +- goal: [3, 2] + name: agent16 + start: [6, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 4] + - !!python/tuple [5, 0] + - !!python/tuple [5, 5] + - !!python/tuple [2, 2] + - !!python/tuple [1, 2] + - !!python/tuple [0, 7] + - !!python/tuple [7, 1] + - !!python/tuple [6, 3] + - !!python/tuple [4, 7] + - !!python/tuple [1, 6] + - !!python/tuple [3, 7] + - !!python/tuple [5, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex30.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex30.yaml new file mode 100644 index 0000000..35cbaf6 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex30.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [2, 6] + name: agent0 + start: [0, 1] +- goal: [0, 4] + name: agent1 + start: [1, 7] +- goal: [6, 7] + name: agent2 + start: [5, 2] +- goal: [3, 1] + name: agent3 + start: [1, 6] +- goal: [6, 2] + name: agent4 + start: [2, 0] +- goal: [5, 2] + name: agent5 + start: [3, 1] +- goal: [4, 7] + name: agent6 + start: [7, 0] +- goal: [0, 5] + name: agent7 + start: [7, 5] +- goal: [3, 2] + name: agent8 + start: [2, 7] +- goal: [3, 4] + name: agent9 + start: [7, 6] +- goal: [0, 3] + name: agent10 + start: [6, 4] +- goal: [7, 5] + name: agent11 + start: [2, 2] +- goal: [3, 0] + name: agent12 + start: [3, 5] +- goal: [5, 4] + name: agent13 + start: [5, 5] +- goal: [4, 6] + name: agent14 + start: [5, 4] +- goal: [7, 0] + name: agent15 + start: [7, 1] +- goal: [0, 7] + name: agent16 + start: [1, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 1] + - !!python/tuple [4, 5] + - !!python/tuple [5, 7] + - !!python/tuple [1, 3] + - !!python/tuple [7, 2] + - !!python/tuple [5, 1] + - !!python/tuple [2, 3] + - !!python/tuple [3, 3] + - !!python/tuple [1, 4] + - !!python/tuple [6, 5] + - !!python/tuple [6, 3] + - !!python/tuple [6, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex31.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex31.yaml new file mode 100644 index 0000000..20458a0 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex31.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [1, 0] + name: agent0 + start: [0, 3] +- goal: [0, 2] + name: agent1 + start: [7, 0] +- goal: [2, 0] + name: agent2 + start: [6, 4] +- goal: [3, 4] + name: agent3 + start: [5, 6] +- goal: [0, 6] + name: agent4 + start: [2, 7] +- goal: [3, 5] + name: agent5 + start: [5, 5] +- goal: [2, 7] + name: agent6 + start: [1, 3] +- goal: [5, 6] + name: agent7 + start: [0, 4] +- goal: [7, 5] + name: agent8 + start: [1, 1] +- goal: [4, 5] + name: agent9 + start: [4, 5] +- goal: [0, 0] + name: agent10 + start: [1, 0] +- goal: [6, 7] + name: agent11 + start: [0, 1] +- goal: [5, 0] + name: agent12 + start: [7, 1] +- goal: [7, 7] + name: agent13 + start: [7, 4] +- goal: [1, 1] + name: agent14 + start: [3, 3] +- goal: [3, 6] + name: agent15 + start: [7, 7] +- goal: [0, 1] + name: agent16 + start: [5, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 7] + - !!python/tuple [3, 1] + - !!python/tuple [4, 6] + - !!python/tuple [6, 1] + - !!python/tuple [1, 7] + - !!python/tuple [6, 6] + - !!python/tuple [5, 2] + - !!python/tuple [7, 6] + - !!python/tuple [2, 3] + - !!python/tuple [6, 2] + - !!python/tuple [6, 0] + - !!python/tuple [1, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex32.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex32.yaml new file mode 100644 index 0000000..3f02d5c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex32.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [0, 2] + name: agent0 + start: [7, 1] +- goal: [2, 0] + name: agent1 + start: [5, 3] +- goal: [5, 4] + name: agent2 + start: [0, 0] +- goal: [3, 6] + name: agent3 + start: [7, 4] +- goal: [2, 6] + name: agent4 + start: [2, 7] +- goal: [3, 3] + name: agent5 + start: [3, 1] +- goal: [3, 1] + name: agent6 + start: [0, 5] +- goal: [6, 1] + name: agent7 + start: [2, 3] +- goal: [4, 5] + name: agent8 + start: [5, 1] +- goal: [4, 0] + name: agent9 + start: [6, 3] +- goal: [3, 7] + name: agent10 + start: [6, 7] +- goal: [7, 1] + name: agent11 + start: [3, 3] +- goal: [5, 1] + name: agent12 + start: [5, 6] +- goal: [5, 6] + name: agent13 + start: [1, 4] +- goal: [2, 3] + name: agent14 + start: [0, 2] +- goal: [1, 5] + name: agent15 + start: [1, 6] +- goal: [4, 6] + name: agent16 + start: [7, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 7] + - !!python/tuple [5, 0] + - !!python/tuple [7, 2] + - !!python/tuple [3, 2] + - !!python/tuple [4, 1] + - !!python/tuple [5, 5] + - !!python/tuple [2, 4] + - !!python/tuple [0, 4] + - !!python/tuple [5, 2] + - !!python/tuple [4, 3] + - !!python/tuple [7, 0] + - !!python/tuple [6, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex33.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex33.yaml new file mode 100644 index 0000000..fc29260 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex33.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [6, 1] + name: agent0 + start: [4, 1] +- goal: [2, 4] + name: agent1 + start: [5, 7] +- goal: [5, 2] + name: agent2 + start: [0, 1] +- goal: [2, 3] + name: agent3 + start: [5, 5] +- goal: [2, 0] + name: agent4 + start: [7, 7] +- goal: [6, 2] + name: agent5 + start: [4, 0] +- goal: [7, 5] + name: agent6 + start: [3, 3] +- goal: [3, 3] + name: agent7 + start: [7, 6] +- goal: [0, 4] + name: agent8 + start: [5, 1] +- goal: [0, 3] + name: agent9 + start: [3, 4] +- goal: [5, 6] + name: agent10 + start: [2, 0] +- goal: [6, 3] + name: agent11 + start: [0, 4] +- goal: [4, 7] + name: agent12 + start: [6, 3] +- goal: [3, 2] + name: agent13 + start: [1, 3] +- goal: [2, 6] + name: agent14 + start: [0, 0] +- goal: [6, 5] + name: agent15 + start: [6, 1] +- goal: [7, 1] + name: agent16 + start: [0, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 3] + - !!python/tuple [1, 4] + - !!python/tuple [2, 7] + - !!python/tuple [7, 2] + - !!python/tuple [7, 0] + - !!python/tuple [2, 2] + - !!python/tuple [3, 5] + - !!python/tuple [3, 1] + - !!python/tuple [0, 5] + - !!python/tuple [2, 5] + - !!python/tuple [1, 6] + - !!python/tuple [4, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex34.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex34.yaml new file mode 100644 index 0000000..8f3c34e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex34.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [3, 0] + name: agent0 + start: [6, 7] +- goal: [1, 0] + name: agent1 + start: [0, 4] +- goal: [3, 1] + name: agent2 + start: [6, 2] +- goal: [3, 6] + name: agent3 + start: [5, 5] +- goal: [5, 6] + name: agent4 + start: [5, 4] +- goal: [6, 4] + name: agent5 + start: [7, 4] +- goal: [0, 3] + name: agent6 + start: [6, 0] +- goal: [7, 5] + name: agent7 + start: [3, 1] +- goal: [5, 4] + name: agent8 + start: [4, 3] +- goal: [7, 2] + name: agent9 + start: [2, 2] +- goal: [1, 2] + name: agent10 + start: [7, 2] +- goal: [2, 1] + name: agent11 + start: [4, 6] +- goal: [0, 7] + name: agent12 + start: [4, 5] +- goal: [2, 3] + name: agent13 + start: [5, 3] +- goal: [6, 7] + name: agent14 + start: [2, 3] +- goal: [5, 7] + name: agent15 + start: [4, 7] +- goal: [0, 5] + name: agent16 + start: [0, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 2] + - !!python/tuple [2, 4] + - !!python/tuple [1, 4] + - !!python/tuple [1, 6] + - !!python/tuple [4, 1] + - !!python/tuple [0, 2] + - !!python/tuple [4, 4] + - !!python/tuple [3, 5] + - !!python/tuple [3, 2] + - !!python/tuple [4, 0] + - !!python/tuple [3, 4] + - !!python/tuple [7, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex35.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex35.yaml new file mode 100644 index 0000000..d70bb69 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex35.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [1, 4] + name: agent0 + start: [0, 3] +- goal: [5, 2] + name: agent1 + start: [5, 3] +- goal: [7, 3] + name: agent2 + start: [5, 1] +- goal: [6, 2] + name: agent3 + start: [6, 6] +- goal: [6, 5] + name: agent4 + start: [6, 2] +- goal: [5, 5] + name: agent5 + start: [6, 5] +- goal: [1, 2] + name: agent6 + start: [6, 4] +- goal: [5, 3] + name: agent7 + start: [1, 2] +- goal: [5, 0] + name: agent8 + start: [7, 3] +- goal: [3, 5] + name: agent9 + start: [7, 4] +- goal: [5, 7] + name: agent10 + start: [0, 5] +- goal: [3, 0] + name: agent11 + start: [3, 0] +- goal: [7, 0] + name: agent12 + start: [1, 5] +- goal: [6, 7] + name: agent13 + start: [3, 5] +- goal: [0, 5] + name: agent14 + start: [4, 7] +- goal: [0, 3] + name: agent15 + start: [2, 4] +- goal: [7, 7] + name: agent16 + start: [7, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 1] + - !!python/tuple [0, 1] + - !!python/tuple [1, 7] + - !!python/tuple [4, 4] + - !!python/tuple [1, 6] + - !!python/tuple [6, 1] + - !!python/tuple [2, 0] + - !!python/tuple [0, 7] + - !!python/tuple [4, 2] + - !!python/tuple [2, 3] + - !!python/tuple [3, 7] + - !!python/tuple [2, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex36.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex36.yaml new file mode 100644 index 0000000..bcf32ec --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex36.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [4, 7] + name: agent0 + start: [0, 1] +- goal: [4, 6] + name: agent1 + start: [3, 4] +- goal: [4, 0] + name: agent2 + start: [1, 6] +- goal: [3, 5] + name: agent3 + start: [0, 4] +- goal: [5, 3] + name: agent4 + start: [1, 1] +- goal: [6, 7] + name: agent5 + start: [2, 5] +- goal: [3, 2] + name: agent6 + start: [0, 2] +- goal: [3, 1] + name: agent7 + start: [5, 4] +- goal: [5, 2] + name: agent8 + start: [5, 3] +- goal: [1, 3] + name: agent9 + start: [2, 4] +- goal: [4, 1] + name: agent10 + start: [1, 3] +- goal: [2, 5] + name: agent11 + start: [5, 0] +- goal: [2, 0] + name: agent12 + start: [2, 0] +- goal: [5, 5] + name: agent13 + start: [5, 5] +- goal: [5, 6] + name: agent14 + start: [5, 7] +- goal: [0, 7] + name: agent15 + start: [0, 3] +- goal: [7, 7] + name: agent16 + start: [1, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 7] + - !!python/tuple [1, 2] + - !!python/tuple [7, 2] + - !!python/tuple [6, 4] + - !!python/tuple [4, 3] + - !!python/tuple [0, 5] + - !!python/tuple [7, 0] + - !!python/tuple [1, 0] + - !!python/tuple [4, 5] + - !!python/tuple [6, 2] + - !!python/tuple [3, 6] + - !!python/tuple [3, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex37.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex37.yaml new file mode 100644 index 0000000..25e6b6e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex37.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [7, 0] + name: agent0 + start: [7, 4] +- goal: [3, 3] + name: agent1 + start: [5, 1] +- goal: [1, 1] + name: agent2 + start: [2, 3] +- goal: [3, 7] + name: agent3 + start: [4, 3] +- goal: [4, 0] + name: agent4 + start: [5, 3] +- goal: [7, 6] + name: agent5 + start: [1, 0] +- goal: [0, 2] + name: agent6 + start: [4, 6] +- goal: [5, 2] + name: agent7 + start: [0, 4] +- goal: [6, 4] + name: agent8 + start: [7, 7] +- goal: [1, 4] + name: agent9 + start: [7, 3] +- goal: [2, 3] + name: agent10 + start: [7, 6] +- goal: [2, 2] + name: agent11 + start: [0, 6] +- goal: [0, 0] + name: agent12 + start: [1, 3] +- goal: [7, 2] + name: agent13 + start: [4, 0] +- goal: [1, 7] + name: agent14 + start: [7, 5] +- goal: [0, 4] + name: agent15 + start: [0, 5] +- goal: [1, 0] + name: agent16 + start: [6, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 4] + - !!python/tuple [4, 1] + - !!python/tuple [4, 2] + - !!python/tuple [7, 1] + - !!python/tuple [5, 6] + - !!python/tuple [5, 4] + - !!python/tuple [0, 1] + - !!python/tuple [6, 6] + - !!python/tuple [3, 6] + - !!python/tuple [0, 7] + - !!python/tuple [4, 4] + - !!python/tuple [0, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex38.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex38.yaml new file mode 100644 index 0000000..572e293 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex38.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [3, 3] + name: agent0 + start: [0, 6] +- goal: [7, 2] + name: agent1 + start: [6, 1] +- goal: [0, 1] + name: agent2 + start: [3, 3] +- goal: [5, 4] + name: agent3 + start: [1, 4] +- goal: [1, 5] + name: agent4 + start: [5, 2] +- goal: [3, 7] + name: agent5 + start: [0, 4] +- goal: [4, 3] + name: agent6 + start: [5, 0] +- goal: [5, 6] + name: agent7 + start: [5, 5] +- goal: [2, 6] + name: agent8 + start: [3, 7] +- goal: [2, 7] + name: agent9 + start: [5, 4] +- goal: [3, 6] + name: agent10 + start: [2, 7] +- goal: [3, 5] + name: agent11 + start: [1, 0] +- goal: [1, 1] + name: agent12 + start: [6, 5] +- goal: [1, 6] + name: agent13 + start: [4, 5] +- goal: [6, 5] + name: agent14 + start: [7, 0] +- goal: [4, 7] + name: agent15 + start: [6, 2] +- goal: [0, 7] + name: agent16 + start: [4, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 4] + - !!python/tuple [4, 6] + - !!python/tuple [3, 2] + - !!python/tuple [0, 5] + - !!python/tuple [6, 6] + - !!python/tuple [6, 7] + - !!python/tuple [4, 2] + - !!python/tuple [6, 0] + - !!python/tuple [4, 1] + - !!python/tuple [0, 0] + - !!python/tuple [7, 3] + - !!python/tuple [2, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex39.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex39.yaml new file mode 100644 index 0000000..6987c30 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex39.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [2, 2] + name: agent0 + start: [7, 0] +- goal: [1, 7] + name: agent1 + start: [1, 0] +- goal: [6, 6] + name: agent2 + start: [1, 7] +- goal: [4, 0] + name: agent3 + start: [3, 6] +- goal: [3, 7] + name: agent4 + start: [0, 6] +- goal: [4, 7] + name: agent5 + start: [4, 7] +- goal: [3, 3] + name: agent6 + start: [0, 0] +- goal: [3, 2] + name: agent7 + start: [2, 3] +- goal: [7, 0] + name: agent8 + start: [5, 6] +- goal: [1, 1] + name: agent9 + start: [1, 3] +- goal: [6, 5] + name: agent10 + start: [4, 6] +- goal: [5, 5] + name: agent11 + start: [0, 1] +- goal: [2, 6] + name: agent12 + start: [1, 4] +- goal: [3, 0] + name: agent13 + start: [3, 5] +- goal: [0, 1] + name: agent14 + start: [6, 7] +- goal: [7, 2] + name: agent15 + start: [1, 5] +- goal: [3, 5] + name: agent16 + start: [6, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 1] + - !!python/tuple [0, 7] + - !!python/tuple [7, 4] + - !!python/tuple [7, 6] + - !!python/tuple [3, 4] + - !!python/tuple [6, 1] + - !!python/tuple [2, 7] + - !!python/tuple [0, 4] + - !!python/tuple [2, 1] + - !!python/tuple [6, 0] + - !!python/tuple [2, 4] + - !!python/tuple [5, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex4.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex4.yaml new file mode 100644 index 0000000..42c877e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex4.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [3, 2] + name: agent0 + start: [2, 2] +- goal: [0, 4] + name: agent1 + start: [0, 0] +- goal: [0, 5] + name: agent2 + start: [3, 6] +- goal: [1, 7] + name: agent3 + start: [0, 1] +- goal: [1, 3] + name: agent4 + start: [2, 5] +- goal: [3, 5] + name: agent5 + start: [1, 3] +- goal: [7, 4] + name: agent6 + start: [7, 7] +- goal: [3, 3] + name: agent7 + start: [3, 3] +- goal: [3, 6] + name: agent8 + start: [4, 4] +- goal: [2, 5] + name: agent9 + start: [5, 7] +- goal: [1, 0] + name: agent10 + start: [1, 4] +- goal: [3, 1] + name: agent11 + start: [2, 1] +- goal: [1, 5] + name: agent12 + start: [2, 4] +- goal: [7, 5] + name: agent13 + start: [6, 6] +- goal: [0, 1] + name: agent14 + start: [1, 5] +- goal: [2, 4] + name: agent15 + start: [7, 5] +- goal: [1, 4] + name: agent16 + start: [6, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 7] + - !!python/tuple [3, 7] + - !!python/tuple [4, 0] + - !!python/tuple [5, 6] + - !!python/tuple [7, 6] + - !!python/tuple [3, 0] + - !!python/tuple [4, 7] + - !!python/tuple [5, 3] + - !!python/tuple [7, 1] + - !!python/tuple [2, 7] + - !!python/tuple [6, 3] + - !!python/tuple [1, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex40.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex40.yaml new file mode 100644 index 0000000..a8cbcb1 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex40.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [3, 0] + name: agent0 + start: [1, 0] +- goal: [2, 6] + name: agent1 + start: [6, 7] +- goal: [0, 6] + name: agent2 + start: [5, 6] +- goal: [0, 5] + name: agent3 + start: [4, 3] +- goal: [3, 7] + name: agent4 + start: [7, 2] +- goal: [2, 0] + name: agent5 + start: [4, 6] +- goal: [6, 5] + name: agent6 + start: [2, 0] +- goal: [3, 6] + name: agent7 + start: [4, 0] +- goal: [6, 1] + name: agent8 + start: [3, 0] +- goal: [4, 3] + name: agent9 + start: [6, 4] +- goal: [6, 7] + name: agent10 + start: [1, 6] +- goal: [4, 0] + name: agent11 + start: [5, 0] +- goal: [2, 2] + name: agent12 + start: [1, 4] +- goal: [3, 1] + name: agent13 + start: [3, 6] +- goal: [6, 0] + name: agent14 + start: [3, 2] +- goal: [0, 4] + name: agent15 + start: [3, 5] +- goal: [4, 7] + name: agent16 + start: [6, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 1] + - !!python/tuple [7, 5] + - !!python/tuple [5, 3] + - !!python/tuple [7, 4] + - !!python/tuple [0, 0] + - !!python/tuple [3, 4] + - !!python/tuple [2, 7] + - !!python/tuple [4, 2] + - !!python/tuple [5, 4] + - !!python/tuple [2, 1] + - !!python/tuple [7, 1] + - !!python/tuple [7, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex41.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex41.yaml new file mode 100644 index 0000000..57fa587 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex41.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [3, 5] + name: agent0 + start: [3, 5] +- goal: [3, 3] + name: agent1 + start: [0, 1] +- goal: [6, 6] + name: agent2 + start: [0, 0] +- goal: [6, 7] + name: agent3 + start: [3, 2] +- goal: [5, 7] + name: agent4 + start: [7, 3] +- goal: [6, 0] + name: agent5 + start: [4, 0] +- goal: [2, 7] + name: agent6 + start: [4, 3] +- goal: [1, 4] + name: agent7 + start: [2, 4] +- goal: [2, 6] + name: agent8 + start: [6, 6] +- goal: [6, 4] + name: agent9 + start: [5, 7] +- goal: [1, 2] + name: agent10 + start: [7, 5] +- goal: [5, 0] + name: agent11 + start: [4, 6] +- goal: [5, 2] + name: agent12 + start: [3, 1] +- goal: [3, 7] + name: agent13 + start: [2, 2] +- goal: [1, 3] + name: agent14 + start: [4, 2] +- goal: [7, 1] + name: agent15 + start: [6, 4] +- goal: [0, 2] + name: agent16 + start: [6, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 4] + - !!python/tuple [6, 3] + - !!python/tuple [7, 2] + - !!python/tuple [0, 7] + - !!python/tuple [6, 5] + - !!python/tuple [5, 6] + - !!python/tuple [5, 1] + - !!python/tuple [2, 5] + - !!python/tuple [4, 1] + - !!python/tuple [2, 3] + - !!python/tuple [1, 0] + - !!python/tuple [5, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex42.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex42.yaml new file mode 100644 index 0000000..7966259 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex42.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [5, 0] + name: agent0 + start: [5, 6] +- goal: [6, 1] + name: agent1 + start: [2, 7] +- goal: [3, 5] + name: agent2 + start: [0, 1] +- goal: [6, 6] + name: agent3 + start: [1, 6] +- goal: [0, 5] + name: agent4 + start: [5, 1] +- goal: [1, 1] + name: agent5 + start: [5, 0] +- goal: [2, 2] + name: agent6 + start: [4, 2] +- goal: [1, 6] + name: agent7 + start: [5, 5] +- goal: [7, 7] + name: agent8 + start: [6, 7] +- goal: [0, 0] + name: agent9 + start: [7, 7] +- goal: [0, 3] + name: agent10 + start: [4, 1] +- goal: [7, 2] + name: agent11 + start: [0, 6] +- goal: [2, 1] + name: agent12 + start: [6, 1] +- goal: [4, 7] + name: agent13 + start: [0, 0] +- goal: [1, 4] + name: agent14 + start: [5, 3] +- goal: [4, 5] + name: agent15 + start: [3, 2] +- goal: [6, 0] + name: agent16 + start: [4, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 6] + - !!python/tuple [7, 4] + - !!python/tuple [2, 3] + - !!python/tuple [6, 2] + - !!python/tuple [1, 0] + - !!python/tuple [6, 4] + - !!python/tuple [3, 0] + - !!python/tuple [6, 3] + - !!python/tuple [5, 7] + - !!python/tuple [3, 1] + - !!python/tuple [2, 5] + - !!python/tuple [2, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex43.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex43.yaml new file mode 100644 index 0000000..8fe83ad --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex43.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [1, 0] + name: agent0 + start: [2, 0] +- goal: [2, 0] + name: agent1 + start: [1, 6] +- goal: [0, 6] + name: agent2 + start: [2, 6] +- goal: [1, 3] + name: agent3 + start: [3, 3] +- goal: [5, 6] + name: agent4 + start: [1, 7] +- goal: [7, 1] + name: agent5 + start: [4, 0] +- goal: [6, 4] + name: agent6 + start: [4, 5] +- goal: [3, 0] + name: agent7 + start: [0, 3] +- goal: [1, 7] + name: agent8 + start: [6, 5] +- goal: [7, 0] + name: agent9 + start: [1, 5] +- goal: [3, 1] + name: agent10 + start: [6, 3] +- goal: [5, 0] + name: agent11 + start: [4, 4] +- goal: [1, 4] + name: agent12 + start: [5, 5] +- goal: [5, 2] + name: agent13 + start: [7, 7] +- goal: [0, 2] + name: agent14 + start: [5, 1] +- goal: [3, 2] + name: agent15 + start: [7, 3] +- goal: [5, 5] + name: agent16 + start: [1, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 7] + - !!python/tuple [2, 3] + - !!python/tuple [0, 1] + - !!python/tuple [4, 2] + - !!python/tuple [7, 4] + - !!python/tuple [4, 1] + - !!python/tuple [7, 2] + - !!python/tuple [5, 3] + - !!python/tuple [6, 2] + - !!python/tuple [2, 5] + - !!python/tuple [5, 7] + - !!python/tuple [4, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex44.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex44.yaml new file mode 100644 index 0000000..ef5c874 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex44.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [7, 2] + name: agent0 + start: [3, 7] +- goal: [3, 5] + name: agent1 + start: [0, 6] +- goal: [1, 5] + name: agent2 + start: [6, 1] +- goal: [2, 1] + name: agent3 + start: [1, 6] +- goal: [1, 6] + name: agent4 + start: [1, 5] +- goal: [4, 3] + name: agent5 + start: [1, 3] +- goal: [6, 0] + name: agent6 + start: [7, 5] +- goal: [0, 3] + name: agent7 + start: [1, 1] +- goal: [3, 6] + name: agent8 + start: [5, 1] +- goal: [5, 5] + name: agent9 + start: [7, 1] +- goal: [4, 2] + name: agent10 + start: [3, 6] +- goal: [2, 2] + name: agent11 + start: [5, 7] +- goal: [5, 7] + name: agent12 + start: [4, 3] +- goal: [0, 2] + name: agent13 + start: [6, 3] +- goal: [4, 5] + name: agent14 + start: [4, 6] +- goal: [6, 1] + name: agent15 + start: [0, 0] +- goal: [4, 1] + name: agent16 + start: [2, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 0] + - !!python/tuple [0, 1] + - !!python/tuple [2, 7] + - !!python/tuple [5, 2] + - !!python/tuple [3, 2] + - !!python/tuple [7, 6] + - !!python/tuple [5, 3] + - !!python/tuple [2, 0] + - !!python/tuple [0, 7] + - !!python/tuple [6, 6] + - !!python/tuple [2, 6] + - !!python/tuple [0, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex45.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex45.yaml new file mode 100644 index 0000000..d13a9c0 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex45.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [6, 6] + name: agent0 + start: [1, 2] +- goal: [4, 0] + name: agent1 + start: [6, 1] +- goal: [7, 0] + name: agent2 + start: [2, 6] +- goal: [7, 5] + name: agent3 + start: [1, 6] +- goal: [0, 3] + name: agent4 + start: [0, 6] +- goal: [3, 6] + name: agent5 + start: [1, 7] +- goal: [7, 4] + name: agent6 + start: [4, 0] +- goal: [7, 3] + name: agent7 + start: [0, 2] +- goal: [0, 7] + name: agent8 + start: [7, 0] +- goal: [4, 4] + name: agent9 + start: [4, 6] +- goal: [3, 2] + name: agent10 + start: [2, 0] +- goal: [4, 6] + name: agent11 + start: [5, 6] +- goal: [6, 7] + name: agent12 + start: [2, 4] +- goal: [4, 1] + name: agent13 + start: [4, 4] +- goal: [5, 7] + name: agent14 + start: [7, 3] +- goal: [2, 1] + name: agent15 + start: [5, 7] +- goal: [5, 3] + name: agent16 + start: [3, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 4] + - !!python/tuple [2, 2] + - !!python/tuple [1, 5] + - !!python/tuple [3, 0] + - !!python/tuple [1, 1] + - !!python/tuple [2, 5] + - !!python/tuple [3, 5] + - !!python/tuple [3, 7] + - !!python/tuple [6, 2] + - !!python/tuple [4, 7] + - !!python/tuple [7, 2] + - !!python/tuple [3, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex46.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex46.yaml new file mode 100644 index 0000000..549538c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex46.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [2, 0] + name: agent0 + start: [7, 5] +- goal: [6, 4] + name: agent1 + start: [4, 1] +- goal: [2, 2] + name: agent2 + start: [1, 0] +- goal: [4, 5] + name: agent3 + start: [5, 7] +- goal: [1, 2] + name: agent4 + start: [5, 2] +- goal: [5, 6] + name: agent5 + start: [4, 6] +- goal: [3, 0] + name: agent6 + start: [0, 3] +- goal: [0, 3] + name: agent7 + start: [3, 1] +- goal: [7, 1] + name: agent8 + start: [7, 3] +- goal: [5, 2] + name: agent9 + start: [0, 0] +- goal: [5, 1] + name: agent10 + start: [6, 3] +- goal: [5, 4] + name: agent11 + start: [2, 0] +- goal: [0, 0] + name: agent12 + start: [5, 1] +- goal: [4, 0] + name: agent13 + start: [1, 3] +- goal: [3, 7] + name: agent14 + start: [2, 6] +- goal: [5, 3] + name: agent15 + start: [2, 1] +- goal: [0, 6] + name: agent16 + start: [2, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 5] + - !!python/tuple [3, 4] + - !!python/tuple [6, 7] + - !!python/tuple [5, 5] + - !!python/tuple [1, 1] + - !!python/tuple [1, 4] + - !!python/tuple [6, 5] + - !!python/tuple [4, 4] + - !!python/tuple [0, 4] + - !!python/tuple [6, 6] + - !!python/tuple [0, 1] + - !!python/tuple [7, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex47.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex47.yaml new file mode 100644 index 0000000..071940c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex47.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [0, 4] + name: agent0 + start: [2, 1] +- goal: [0, 6] + name: agent1 + start: [4, 1] +- goal: [7, 5] + name: agent2 + start: [6, 0] +- goal: [2, 5] + name: agent3 + start: [1, 1] +- goal: [3, 2] + name: agent4 + start: [0, 1] +- goal: [2, 4] + name: agent5 + start: [2, 0] +- goal: [3, 3] + name: agent6 + start: [5, 6] +- goal: [5, 3] + name: agent7 + start: [2, 5] +- goal: [0, 3] + name: agent8 + start: [5, 2] +- goal: [4, 2] + name: agent9 + start: [2, 2] +- goal: [6, 1] + name: agent10 + start: [1, 7] +- goal: [3, 6] + name: agent11 + start: [7, 0] +- goal: [1, 2] + name: agent12 + start: [5, 1] +- goal: [7, 7] + name: agent13 + start: [4, 2] +- goal: [7, 0] + name: agent14 + start: [6, 2] +- goal: [0, 1] + name: agent15 + start: [5, 3] +- goal: [4, 5] + name: agent16 + start: [1, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 7] + - !!python/tuple [4, 6] + - !!python/tuple [1, 6] + - !!python/tuple [0, 7] + - !!python/tuple [5, 0] + - !!python/tuple [6, 7] + - !!python/tuple [0, 2] + - !!python/tuple [6, 5] + - !!python/tuple [5, 5] + - !!python/tuple [7, 3] + - !!python/tuple [3, 4] + - !!python/tuple [4, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex48.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex48.yaml new file mode 100644 index 0000000..7702b67 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex48.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [1, 5] + name: agent0 + start: [5, 7] +- goal: [5, 6] + name: agent1 + start: [3, 5] +- goal: [0, 5] + name: agent2 + start: [2, 5] +- goal: [3, 0] + name: agent3 + start: [1, 3] +- goal: [0, 6] + name: agent4 + start: [3, 4] +- goal: [7, 1] + name: agent5 + start: [4, 5] +- goal: [2, 4] + name: agent6 + start: [7, 2] +- goal: [7, 5] + name: agent7 + start: [4, 6] +- goal: [6, 3] + name: agent8 + start: [1, 5] +- goal: [5, 3] + name: agent9 + start: [4, 3] +- goal: [3, 4] + name: agent10 + start: [5, 4] +- goal: [4, 0] + name: agent11 + start: [5, 2] +- goal: [4, 6] + name: agent12 + start: [7, 4] +- goal: [0, 1] + name: agent13 + start: [6, 1] +- goal: [2, 6] + name: agent14 + start: [0, 6] +- goal: [3, 1] + name: agent15 + start: [5, 6] +- goal: [7, 7] + name: agent16 + start: [4, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 6] + - !!python/tuple [5, 5] + - !!python/tuple [1, 1] + - !!python/tuple [2, 0] + - !!python/tuple [6, 6] + - !!python/tuple [5, 1] + - !!python/tuple [1, 6] + - !!python/tuple [7, 0] + - !!python/tuple [0, 0] + - !!python/tuple [1, 7] + - !!python/tuple [7, 3] + - !!python/tuple [4, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex49.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex49.yaml new file mode 100644 index 0000000..258b0ea --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex49.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [0, 4] + name: agent0 + start: [2, 3] +- goal: [6, 0] + name: agent1 + start: [1, 6] +- goal: [7, 4] + name: agent2 + start: [2, 2] +- goal: [5, 4] + name: agent3 + start: [7, 6] +- goal: [0, 7] + name: agent4 + start: [6, 2] +- goal: [3, 7] + name: agent5 + start: [4, 3] +- goal: [2, 0] + name: agent6 + start: [5, 4] +- goal: [3, 1] + name: agent7 + start: [2, 1] +- goal: [6, 5] + name: agent8 + start: [0, 6] +- goal: [0, 5] + name: agent9 + start: [4, 6] +- goal: [5, 3] + name: agent10 + start: [6, 7] +- goal: [5, 6] + name: agent11 + start: [1, 4] +- goal: [0, 2] + name: agent12 + start: [5, 5] +- goal: [3, 0] + name: agent13 + start: [7, 7] +- goal: [6, 3] + name: agent14 + start: [7, 4] +- goal: [5, 7] + name: agent15 + start: [4, 7] +- goal: [5, 2] + name: agent16 + start: [3, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 3] + - !!python/tuple [7, 5] + - !!python/tuple [4, 5] + - !!python/tuple [3, 3] + - !!python/tuple [6, 1] + - !!python/tuple [7, 3] + - !!python/tuple [2, 4] + - !!python/tuple [2, 5] + - !!python/tuple [7, 0] + - !!python/tuple [5, 1] + - !!python/tuple [4, 1] + - !!python/tuple [1, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex5.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex5.yaml new file mode 100644 index 0000000..f116666 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex5.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [2, 7] + name: agent0 + start: [5, 0] +- goal: [0, 0] + name: agent1 + start: [6, 0] +- goal: [0, 2] + name: agent2 + start: [4, 7] +- goal: [6, 2] + name: agent3 + start: [2, 7] +- goal: [4, 6] + name: agent4 + start: [5, 3] +- goal: [1, 6] + name: agent5 + start: [2, 1] +- goal: [5, 4] + name: agent6 + start: [6, 6] +- goal: [4, 3] + name: agent7 + start: [3, 6] +- goal: [2, 3] + name: agent8 + start: [4, 1] +- goal: [1, 2] + name: agent9 + start: [1, 3] +- goal: [1, 3] + name: agent10 + start: [7, 4] +- goal: [1, 5] + name: agent11 + start: [0, 1] +- goal: [2, 2] + name: agent12 + start: [4, 5] +- goal: [4, 4] + name: agent13 + start: [5, 1] +- goal: [6, 1] + name: agent14 + start: [1, 1] +- goal: [6, 3] + name: agent15 + start: [5, 6] +- goal: [3, 4] + name: agent16 + start: [0, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 6] + - !!python/tuple [3, 2] + - !!python/tuple [1, 0] + - !!python/tuple [2, 6] + - !!python/tuple [5, 2] + - !!python/tuple [4, 0] + - !!python/tuple [7, 2] + - !!python/tuple [7, 7] + - !!python/tuple [3, 3] + - !!python/tuple [3, 5] + - !!python/tuple [0, 3] + - !!python/tuple [5, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex50.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex50.yaml new file mode 100644 index 0000000..d1b61dd --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex50.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [3, 6] + name: agent0 + start: [0, 7] +- goal: [2, 2] + name: agent1 + start: [3, 1] +- goal: [6, 0] + name: agent2 + start: [2, 4] +- goal: [3, 5] + name: agent3 + start: [0, 1] +- goal: [5, 0] + name: agent4 + start: [6, 5] +- goal: [5, 7] + name: agent5 + start: [7, 5] +- goal: [1, 5] + name: agent6 + start: [0, 3] +- goal: [5, 6] + name: agent7 + start: [4, 4] +- goal: [2, 0] + name: agent8 + start: [5, 4] +- goal: [0, 7] + name: agent9 + start: [6, 2] +- goal: [0, 2] + name: agent10 + start: [5, 5] +- goal: [5, 2] + name: agent11 + start: [7, 1] +- goal: [5, 3] + name: agent12 + start: [3, 2] +- goal: [7, 6] + name: agent13 + start: [0, 0] +- goal: [3, 7] + name: agent14 + start: [5, 3] +- goal: [3, 1] + name: agent15 + start: [7, 2] +- goal: [1, 2] + name: agent16 + start: [5, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 6] + - !!python/tuple [1, 3] + - !!python/tuple [4, 0] + - !!python/tuple [7, 7] + - !!python/tuple [0, 6] + - !!python/tuple [4, 3] + - !!python/tuple [6, 1] + - !!python/tuple [4, 1] + - !!python/tuple [3, 3] + - !!python/tuple [7, 4] + - !!python/tuple [6, 3] + - !!python/tuple [1, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex51.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex51.yaml new file mode 100644 index 0000000..2b0279e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex51.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [0, 4] + name: agent0 + start: [3, 4] +- goal: [7, 2] + name: agent1 + start: [6, 0] +- goal: [5, 4] + name: agent2 + start: [4, 4] +- goal: [2, 2] + name: agent3 + start: [0, 2] +- goal: [1, 2] + name: agent4 + start: [7, 0] +- goal: [6, 2] + name: agent5 + start: [6, 1] +- goal: [1, 1] + name: agent6 + start: [3, 1] +- goal: [0, 2] + name: agent7 + start: [6, 4] +- goal: [5, 2] + name: agent8 + start: [0, 0] +- goal: [4, 7] + name: agent9 + start: [0, 3] +- goal: [1, 5] + name: agent10 + start: [2, 0] +- goal: [7, 1] + name: agent11 + start: [4, 3] +- goal: [3, 3] + name: agent12 + start: [1, 6] +- goal: [6, 4] + name: agent13 + start: [1, 2] +- goal: [2, 4] + name: agent14 + start: [5, 2] +- goal: [7, 6] + name: agent15 + start: [3, 3] +- goal: [4, 4] + name: agent16 + start: [6, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 1] + - !!python/tuple [3, 2] + - !!python/tuple [2, 5] + - !!python/tuple [7, 5] + - !!python/tuple [1, 7] + - !!python/tuple [0, 5] + - !!python/tuple [7, 4] + - !!python/tuple [5, 0] + - !!python/tuple [5, 6] + - !!python/tuple [7, 3] + - !!python/tuple [5, 7] + - !!python/tuple [4, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex52.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex52.yaml new file mode 100644 index 0000000..db2a213 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex52.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [6, 4] + name: agent0 + start: [5, 2] +- goal: [5, 0] + name: agent1 + start: [7, 0] +- goal: [2, 0] + name: agent2 + start: [2, 0] +- goal: [6, 1] + name: agent3 + start: [7, 1] +- goal: [6, 5] + name: agent4 + start: [4, 7] +- goal: [6, 2] + name: agent5 + start: [0, 5] +- goal: [5, 6] + name: agent6 + start: [3, 6] +- goal: [1, 4] + name: agent7 + start: [2, 3] +- goal: [5, 2] + name: agent8 + start: [6, 7] +- goal: [3, 2] + name: agent9 + start: [2, 7] +- goal: [2, 2] + name: agent10 + start: [4, 4] +- goal: [4, 6] + name: agent11 + start: [6, 4] +- goal: [7, 1] + name: agent12 + start: [7, 6] +- goal: [3, 3] + name: agent13 + start: [6, 6] +- goal: [0, 2] + name: agent14 + start: [6, 1] +- goal: [3, 4] + name: agent15 + start: [1, 2] +- goal: [5, 4] + name: agent16 + start: [3, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 3] + - !!python/tuple [1, 1] + - !!python/tuple [0, 6] + - !!python/tuple [7, 7] + - !!python/tuple [1, 5] + - !!python/tuple [0, 1] + - !!python/tuple [2, 6] + - !!python/tuple [7, 5] + - !!python/tuple [1, 7] + - !!python/tuple [2, 4] + - !!python/tuple [4, 3] + - !!python/tuple [5, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex53.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex53.yaml new file mode 100644 index 0000000..0290d76 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex53.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [0, 0] + name: agent0 + start: [6, 4] +- goal: [5, 1] + name: agent1 + start: [5, 4] +- goal: [5, 2] + name: agent2 + start: [0, 0] +- goal: [2, 7] + name: agent3 + start: [3, 0] +- goal: [6, 2] + name: agent4 + start: [4, 2] +- goal: [3, 6] + name: agent5 + start: [3, 2] +- goal: [7, 2] + name: agent6 + start: [0, 3] +- goal: [4, 2] + name: agent7 + start: [1, 7] +- goal: [0, 4] + name: agent8 + start: [4, 6] +- goal: [7, 3] + name: agent9 + start: [5, 6] +- goal: [0, 3] + name: agent10 + start: [1, 1] +- goal: [7, 4] + name: agent11 + start: [4, 5] +- goal: [4, 6] + name: agent12 + start: [2, 4] +- goal: [4, 7] + name: agent13 + start: [6, 2] +- goal: [1, 3] + name: agent14 + start: [1, 2] +- goal: [6, 5] + name: agent15 + start: [3, 7] +- goal: [1, 7] + name: agent16 + start: [2, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 0] + - !!python/tuple [7, 1] + - !!python/tuple [5, 7] + - !!python/tuple [2, 3] + - !!python/tuple [6, 3] + - !!python/tuple [3, 4] + - !!python/tuple [7, 5] + - !!python/tuple [0, 2] + - !!python/tuple [6, 6] + - !!python/tuple [5, 5] + - !!python/tuple [0, 6] + - !!python/tuple [6, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex54.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex54.yaml new file mode 100644 index 0000000..81cd6dc --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex54.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [0, 5] + name: agent0 + start: [4, 0] +- goal: [4, 0] + name: agent1 + start: [6, 7] +- goal: [3, 3] + name: agent2 + start: [3, 7] +- goal: [6, 0] + name: agent3 + start: [2, 2] +- goal: [0, 7] + name: agent4 + start: [7, 0] +- goal: [2, 0] + name: agent5 + start: [3, 3] +- goal: [6, 2] + name: agent6 + start: [7, 4] +- goal: [0, 1] + name: agent7 + start: [5, 5] +- goal: [7, 7] + name: agent8 + start: [1, 3] +- goal: [6, 7] + name: agent9 + start: [0, 6] +- goal: [1, 7] + name: agent10 + start: [0, 0] +- goal: [1, 6] + name: agent11 + start: [7, 5] +- goal: [1, 3] + name: agent12 + start: [1, 7] +- goal: [2, 2] + name: agent13 + start: [4, 1] +- goal: [2, 6] + name: agent14 + start: [4, 7] +- goal: [7, 5] + name: agent15 + start: [1, 2] +- goal: [3, 6] + name: agent16 + start: [1, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 5] + - !!python/tuple [5, 0] + - !!python/tuple [7, 6] + - !!python/tuple [6, 6] + - !!python/tuple [6, 1] + - !!python/tuple [5, 1] + - !!python/tuple [2, 5] + - !!python/tuple [1, 0] + - !!python/tuple [6, 5] + - !!python/tuple [4, 3] + - !!python/tuple [3, 4] + - !!python/tuple [6, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex55.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex55.yaml new file mode 100644 index 0000000..6fa7e91 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex55.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [1, 6] + name: agent0 + start: [6, 1] +- goal: [1, 4] + name: agent1 + start: [3, 4] +- goal: [0, 5] + name: agent2 + start: [4, 1] +- goal: [3, 5] + name: agent3 + start: [0, 0] +- goal: [3, 7] + name: agent4 + start: [4, 6] +- goal: [0, 2] + name: agent5 + start: [7, 2] +- goal: [4, 4] + name: agent6 + start: [4, 5] +- goal: [6, 2] + name: agent7 + start: [7, 5] +- goal: [4, 7] + name: agent8 + start: [7, 1] +- goal: [6, 5] + name: agent9 + start: [6, 6] +- goal: [0, 0] + name: agent10 + start: [1, 6] +- goal: [2, 7] + name: agent11 + start: [2, 7] +- goal: [1, 1] + name: agent12 + start: [4, 2] +- goal: [1, 0] + name: agent13 + start: [6, 7] +- goal: [7, 2] + name: agent14 + start: [3, 0] +- goal: [5, 2] + name: agent15 + start: [5, 3] +- goal: [6, 4] + name: agent16 + start: [6, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 2] + - !!python/tuple [2, 4] + - !!python/tuple [4, 3] + - !!python/tuple [3, 1] + - !!python/tuple [0, 7] + - !!python/tuple [1, 5] + - !!python/tuple [2, 0] + - !!python/tuple [5, 4] + - !!python/tuple [1, 3] + - !!python/tuple [6, 3] + - !!python/tuple [7, 7] + - !!python/tuple [3, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex56.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex56.yaml new file mode 100644 index 0000000..4b3e7bb --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex56.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [4, 7] + name: agent0 + start: [4, 6] +- goal: [3, 5] + name: agent1 + start: [6, 0] +- goal: [1, 0] + name: agent2 + start: [5, 6] +- goal: [7, 7] + name: agent3 + start: [5, 2] +- goal: [7, 1] + name: agent4 + start: [3, 4] +- goal: [2, 4] + name: agent5 + start: [5, 0] +- goal: [2, 5] + name: agent6 + start: [4, 3] +- goal: [6, 2] + name: agent7 + start: [4, 0] +- goal: [1, 4] + name: agent8 + start: [7, 7] +- goal: [3, 7] + name: agent9 + start: [5, 1] +- goal: [3, 6] + name: agent10 + start: [1, 6] +- goal: [0, 0] + name: agent11 + start: [3, 1] +- goal: [5, 1] + name: agent12 + start: [6, 2] +- goal: [0, 7] + name: agent13 + start: [0, 7] +- goal: [3, 1] + name: agent14 + start: [0, 0] +- goal: [0, 6] + name: agent15 + start: [3, 3] +- goal: [1, 5] + name: agent16 + start: [6, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 3] + - !!python/tuple [2, 7] + - !!python/tuple [2, 6] + - !!python/tuple [5, 7] + - !!python/tuple [1, 2] + - !!python/tuple [4, 4] + - !!python/tuple [3, 0] + - !!python/tuple [4, 5] + - !!python/tuple [0, 4] + - !!python/tuple [6, 6] + - !!python/tuple [0, 5] + - !!python/tuple [1, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex57.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex57.yaml new file mode 100644 index 0000000..6d26fae --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex57.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [1, 2] + name: agent0 + start: [2, 5] +- goal: [1, 0] + name: agent1 + start: [7, 5] +- goal: [7, 2] + name: agent2 + start: [5, 6] +- goal: [5, 6] + name: agent3 + start: [0, 5] +- goal: [3, 5] + name: agent4 + start: [6, 1] +- goal: [6, 0] + name: agent5 + start: [2, 3] +- goal: [3, 3] + name: agent6 + start: [7, 3] +- goal: [5, 1] + name: agent7 + start: [5, 3] +- goal: [4, 0] + name: agent8 + start: [3, 1] +- goal: [0, 2] + name: agent9 + start: [6, 6] +- goal: [2, 0] + name: agent10 + start: [4, 5] +- goal: [4, 2] + name: agent11 + start: [4, 0] +- goal: [7, 4] + name: agent12 + start: [5, 5] +- goal: [0, 4] + name: agent13 + start: [3, 6] +- goal: [0, 5] + name: agent14 + start: [4, 6] +- goal: [5, 4] + name: agent15 + start: [1, 1] +- goal: [7, 0] + name: agent16 + start: [5, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 7] + - !!python/tuple [0, 0] + - !!python/tuple [7, 7] + - !!python/tuple [1, 6] + - !!python/tuple [0, 6] + - !!python/tuple [4, 4] + - !!python/tuple [2, 1] + - !!python/tuple [3, 0] + - !!python/tuple [2, 6] + - !!python/tuple [5, 0] + - !!python/tuple [4, 3] + - !!python/tuple [0, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex58.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex58.yaml new file mode 100644 index 0000000..af3b87e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex58.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [5, 2] + name: agent0 + start: [6, 6] +- goal: [6, 0] + name: agent1 + start: [7, 1] +- goal: [1, 0] + name: agent2 + start: [3, 4] +- goal: [7, 3] + name: agent3 + start: [5, 5] +- goal: [7, 7] + name: agent4 + start: [7, 2] +- goal: [7, 2] + name: agent5 + start: [4, 5] +- goal: [2, 5] + name: agent6 + start: [2, 7] +- goal: [6, 2] + name: agent7 + start: [7, 0] +- goal: [6, 3] + name: agent8 + start: [0, 4] +- goal: [4, 4] + name: agent9 + start: [0, 0] +- goal: [7, 0] + name: agent10 + start: [1, 2] +- goal: [3, 7] + name: agent11 + start: [1, 6] +- goal: [5, 7] + name: agent12 + start: [1, 1] +- goal: [4, 5] + name: agent13 + start: [5, 7] +- goal: [1, 3] + name: agent14 + start: [4, 3] +- goal: [4, 1] + name: agent15 + start: [1, 0] +- goal: [3, 6] + name: agent16 + start: [6, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 4] + - !!python/tuple [7, 5] + - !!python/tuple [2, 2] + - !!python/tuple [4, 2] + - !!python/tuple [3, 5] + - !!python/tuple [5, 3] + - !!python/tuple [2, 1] + - !!python/tuple [1, 7] + - !!python/tuple [4, 7] + - !!python/tuple [0, 7] + - !!python/tuple [0, 3] + - !!python/tuple [4, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex59.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex59.yaml new file mode 100644 index 0000000..feea549 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex59.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [2, 6] + name: agent0 + start: [3, 2] +- goal: [4, 6] + name: agent1 + start: [2, 6] +- goal: [6, 2] + name: agent2 + start: [2, 1] +- goal: [6, 0] + name: agent3 + start: [7, 5] +- goal: [7, 2] + name: agent4 + start: [6, 1] +- goal: [3, 1] + name: agent5 + start: [5, 0] +- goal: [0, 5] + name: agent6 + start: [5, 5] +- goal: [2, 1] + name: agent7 + start: [5, 6] +- goal: [6, 7] + name: agent8 + start: [6, 2] +- goal: [0, 3] + name: agent9 + start: [4, 0] +- goal: [2, 0] + name: agent10 + start: [7, 3] +- goal: [5, 6] + name: agent11 + start: [1, 7] +- goal: [3, 6] + name: agent12 + start: [5, 1] +- goal: [7, 5] + name: agent13 + start: [3, 3] +- goal: [7, 4] + name: agent14 + start: [3, 6] +- goal: [1, 4] + name: agent15 + start: [4, 5] +- goal: [7, 6] + name: agent16 + start: [3, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 7] + - !!python/tuple [0, 7] + - !!python/tuple [0, 1] + - !!python/tuple [6, 6] + - !!python/tuple [2, 5] + - !!python/tuple [2, 4] + - !!python/tuple [1, 0] + - !!python/tuple [0, 6] + - !!python/tuple [5, 4] + - !!python/tuple [7, 7] + - !!python/tuple [6, 4] + - !!python/tuple [6, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex6.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex6.yaml new file mode 100644 index 0000000..17fb4b7 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex6.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [5, 2] + name: agent0 + start: [3, 0] +- goal: [0, 1] + name: agent1 + start: [0, 0] +- goal: [4, 3] + name: agent2 + start: [1, 4] +- goal: [1, 1] + name: agent3 + start: [3, 7] +- goal: [7, 3] + name: agent4 + start: [6, 4] +- goal: [2, 4] + name: agent5 + start: [3, 4] +- goal: [0, 0] + name: agent6 + start: [3, 1] +- goal: [0, 4] + name: agent7 + start: [0, 7] +- goal: [7, 6] + name: agent8 + start: [1, 2] +- goal: [5, 1] + name: agent9 + start: [1, 3] +- goal: [3, 5] + name: agent10 + start: [5, 1] +- goal: [4, 7] + name: agent11 + start: [7, 1] +- goal: [2, 1] + name: agent12 + start: [3, 6] +- goal: [2, 7] + name: agent13 + start: [0, 1] +- goal: [5, 5] + name: agent14 + start: [5, 5] +- goal: [6, 6] + name: agent15 + start: [5, 2] +- goal: [2, 0] + name: agent16 + start: [6, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 1] + - !!python/tuple [0, 6] + - !!python/tuple [0, 2] + - !!python/tuple [3, 3] + - !!python/tuple [6, 2] + - !!python/tuple [0, 5] + - !!python/tuple [4, 0] + - !!python/tuple [5, 6] + - !!python/tuple [4, 5] + - !!python/tuple [7, 7] + - !!python/tuple [6, 3] + - !!python/tuple [5, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex60.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex60.yaml new file mode 100644 index 0000000..69a9f22 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex60.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [0, 6] + name: agent0 + start: [5, 7] +- goal: [1, 6] + name: agent1 + start: [2, 4] +- goal: [6, 5] + name: agent2 + start: [6, 3] +- goal: [0, 2] + name: agent3 + start: [0, 6] +- goal: [2, 4] + name: agent4 + start: [6, 6] +- goal: [4, 2] + name: agent5 + start: [1, 5] +- goal: [5, 0] + name: agent6 + start: [0, 5] +- goal: [3, 1] + name: agent7 + start: [0, 1] +- goal: [1, 5] + name: agent8 + start: [3, 1] +- goal: [3, 0] + name: agent9 + start: [3, 3] +- goal: [6, 0] + name: agent10 + start: [5, 3] +- goal: [6, 1] + name: agent11 + start: [0, 2] +- goal: [2, 3] + name: agent12 + start: [4, 6] +- goal: [0, 1] + name: agent13 + start: [6, 0] +- goal: [7, 7] + name: agent14 + start: [4, 2] +- goal: [5, 1] + name: agent15 + start: [3, 6] +- goal: [0, 0] + name: agent16 + start: [7, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 5] + - !!python/tuple [1, 4] + - !!python/tuple [5, 4] + - !!python/tuple [0, 7] + - !!python/tuple [3, 2] + - !!python/tuple [6, 2] + - !!python/tuple [2, 6] + - !!python/tuple [6, 4] + - !!python/tuple [2, 1] + - !!python/tuple [3, 7] + - !!python/tuple [2, 2] + - !!python/tuple [1, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex61.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex61.yaml new file mode 100644 index 0000000..f6fe075 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex61.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [7, 6] + name: agent0 + start: [5, 3] +- goal: [7, 5] + name: agent1 + start: [3, 6] +- goal: [3, 5] + name: agent2 + start: [2, 3] +- goal: [1, 5] + name: agent3 + start: [3, 5] +- goal: [4, 0] + name: agent4 + start: [1, 1] +- goal: [1, 2] + name: agent5 + start: [1, 4] +- goal: [4, 6] + name: agent6 + start: [0, 6] +- goal: [1, 6] + name: agent7 + start: [7, 6] +- goal: [1, 3] + name: agent8 + start: [1, 3] +- goal: [7, 2] + name: agent9 + start: [6, 3] +- goal: [1, 7] + name: agent10 + start: [5, 7] +- goal: [6, 4] + name: agent11 + start: [7, 2] +- goal: [2, 6] + name: agent12 + start: [1, 5] +- goal: [4, 5] + name: agent13 + start: [1, 6] +- goal: [6, 1] + name: agent14 + start: [3, 3] +- goal: [5, 5] + name: agent15 + start: [6, 4] +- goal: [3, 6] + name: agent16 + start: [2, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 1] + - !!python/tuple [7, 1] + - !!python/tuple [4, 7] + - !!python/tuple [5, 2] + - !!python/tuple [2, 5] + - !!python/tuple [0, 7] + - !!python/tuple [5, 4] + - !!python/tuple [2, 1] + - !!python/tuple [2, 0] + - !!python/tuple [6, 2] + - !!python/tuple [5, 6] + - !!python/tuple [4, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex62.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex62.yaml new file mode 100644 index 0000000..38de0c8 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex62.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [5, 1] + name: agent0 + start: [6, 6] +- goal: [7, 4] + name: agent1 + start: [6, 1] +- goal: [2, 5] + name: agent2 + start: [7, 3] +- goal: [6, 5] + name: agent3 + start: [1, 5] +- goal: [3, 5] + name: agent4 + start: [6, 3] +- goal: [1, 2] + name: agent5 + start: [0, 2] +- goal: [2, 6] + name: agent6 + start: [5, 0] +- goal: [4, 2] + name: agent7 + start: [1, 6] +- goal: [4, 6] + name: agent8 + start: [2, 7] +- goal: [2, 7] + name: agent9 + start: [1, 3] +- goal: [6, 6] + name: agent10 + start: [5, 5] +- goal: [7, 1] + name: agent11 + start: [4, 4] +- goal: [0, 7] + name: agent12 + start: [5, 4] +- goal: [0, 4] + name: agent13 + start: [5, 7] +- goal: [5, 0] + name: agent14 + start: [7, 2] +- goal: [7, 5] + name: agent15 + start: [6, 4] +- goal: [7, 7] + name: agent16 + start: [5, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 7] + - !!python/tuple [1, 0] + - !!python/tuple [3, 3] + - !!python/tuple [2, 3] + - !!python/tuple [2, 0] + - !!python/tuple [2, 4] + - !!python/tuple [7, 0] + - !!python/tuple [1, 7] + - !!python/tuple [4, 7] + - !!python/tuple [0, 3] + - !!python/tuple [3, 2] + - !!python/tuple [2, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex63.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex63.yaml new file mode 100644 index 0000000..0cbbe7d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex63.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [0, 0] + name: agent0 + start: [7, 2] +- goal: [2, 3] + name: agent1 + start: [7, 1] +- goal: [4, 7] + name: agent2 + start: [7, 7] +- goal: [1, 2] + name: agent3 + start: [2, 3] +- goal: [1, 6] + name: agent4 + start: [2, 7] +- goal: [5, 4] + name: agent5 + start: [6, 7] +- goal: [6, 3] + name: agent6 + start: [3, 1] +- goal: [1, 1] + name: agent7 + start: [6, 3] +- goal: [6, 1] + name: agent8 + start: [7, 5] +- goal: [2, 1] + name: agent9 + start: [5, 7] +- goal: [4, 5] + name: agent10 + start: [3, 5] +- goal: [5, 0] + name: agent11 + start: [2, 2] +- goal: [5, 6] + name: agent12 + start: [6, 2] +- goal: [6, 7] + name: agent13 + start: [5, 0] +- goal: [4, 1] + name: agent14 + start: [4, 5] +- goal: [7, 6] + name: agent15 + start: [7, 3] +- goal: [3, 1] + name: agent16 + start: [6, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 2] + - !!python/tuple [0, 5] + - !!python/tuple [3, 3] + - !!python/tuple [3, 0] + - !!python/tuple [4, 0] + - !!python/tuple [1, 7] + - !!python/tuple [0, 6] + - !!python/tuple [4, 2] + - !!python/tuple [5, 1] + - !!python/tuple [3, 7] + - !!python/tuple [1, 0] + - !!python/tuple [0, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex64.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex64.yaml new file mode 100644 index 0000000..f782c0f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex64.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [4, 4] + name: agent0 + start: [2, 5] +- goal: [5, 5] + name: agent1 + start: [2, 2] +- goal: [4, 3] + name: agent2 + start: [7, 6] +- goal: [2, 0] + name: agent3 + start: [0, 6] +- goal: [5, 4] + name: agent4 + start: [0, 7] +- goal: [4, 2] + name: agent5 + start: [4, 0] +- goal: [7, 2] + name: agent6 + start: [5, 6] +- goal: [3, 3] + name: agent7 + start: [2, 3] +- goal: [7, 4] + name: agent8 + start: [2, 6] +- goal: [2, 5] + name: agent9 + start: [6, 4] +- goal: [3, 7] + name: agent10 + start: [7, 2] +- goal: [6, 3] + name: agent11 + start: [0, 0] +- goal: [6, 6] + name: agent12 + start: [4, 7] +- goal: [7, 7] + name: agent13 + start: [3, 3] +- goal: [1, 6] + name: agent14 + start: [7, 7] +- goal: [5, 7] + name: agent15 + start: [1, 2] +- goal: [1, 4] + name: agent16 + start: [4, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 0] + - !!python/tuple [0, 3] + - !!python/tuple [5, 1] + - !!python/tuple [3, 6] + - !!python/tuple [6, 0] + - !!python/tuple [0, 1] + - !!python/tuple [5, 2] + - !!python/tuple [3, 1] + - !!python/tuple [2, 4] + - !!python/tuple [3, 2] + - !!python/tuple [5, 3] + - !!python/tuple [7, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex65.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex65.yaml new file mode 100644 index 0000000..ca80bb4 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex65.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [3, 3] + name: agent0 + start: [3, 7] +- goal: [1, 3] + name: agent1 + start: [1, 5] +- goal: [0, 1] + name: agent2 + start: [4, 2] +- goal: [4, 6] + name: agent3 + start: [2, 7] +- goal: [2, 2] + name: agent4 + start: [3, 1] +- goal: [6, 2] + name: agent5 + start: [5, 1] +- goal: [4, 1] + name: agent6 + start: [7, 6] +- goal: [6, 6] + name: agent7 + start: [0, 6] +- goal: [7, 1] + name: agent8 + start: [2, 0] +- goal: [5, 4] + name: agent9 + start: [1, 1] +- goal: [1, 4] + name: agent10 + start: [6, 2] +- goal: [6, 4] + name: agent11 + start: [4, 6] +- goal: [6, 0] + name: agent12 + start: [2, 2] +- goal: [3, 2] + name: agent13 + start: [1, 6] +- goal: [4, 3] + name: agent14 + start: [3, 3] +- goal: [1, 2] + name: agent15 + start: [6, 7] +- goal: [1, 1] + name: agent16 + start: [0, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 4] + - !!python/tuple [5, 7] + - !!python/tuple [6, 5] + - !!python/tuple [2, 4] + - !!python/tuple [0, 4] + - !!python/tuple [6, 3] + - !!python/tuple [0, 3] + - !!python/tuple [3, 6] + - !!python/tuple [1, 0] + - !!python/tuple [2, 3] + - !!python/tuple [4, 5] + - !!python/tuple [2, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex66.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex66.yaml new file mode 100644 index 0000000..5d4f248 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex66.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [1, 3] + name: agent0 + start: [6, 2] +- goal: [2, 1] + name: agent1 + start: [4, 5] +- goal: [0, 0] + name: agent2 + start: [0, 2] +- goal: [0, 2] + name: agent3 + start: [7, 4] +- goal: [1, 4] + name: agent4 + start: [0, 3] +- goal: [3, 6] + name: agent5 + start: [5, 4] +- goal: [3, 2] + name: agent6 + start: [3, 5] +- goal: [7, 3] + name: agent7 + start: [0, 7] +- goal: [7, 0] + name: agent8 + start: [6, 1] +- goal: [4, 1] + name: agent9 + start: [6, 0] +- goal: [0, 1] + name: agent10 + start: [1, 5] +- goal: [0, 5] + name: agent11 + start: [7, 0] +- goal: [4, 5] + name: agent12 + start: [3, 1] +- goal: [0, 7] + name: agent13 + start: [6, 3] +- goal: [2, 7] + name: agent14 + start: [6, 4] +- goal: [4, 3] + name: agent15 + start: [4, 2] +- goal: [5, 2] + name: agent16 + start: [2, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 5] + - !!python/tuple [2, 4] + - !!python/tuple [4, 7] + - !!python/tuple [5, 3] + - !!python/tuple [7, 2] + - !!python/tuple [6, 5] + - !!python/tuple [3, 4] + - !!python/tuple [5, 6] + - !!python/tuple [1, 2] + - !!python/tuple [2, 2] + - !!python/tuple [5, 0] + - !!python/tuple [7, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex67.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex67.yaml new file mode 100644 index 0000000..c79cbc2 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex67.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [5, 7] + name: agent0 + start: [0, 6] +- goal: [1, 5] + name: agent1 + start: [5, 7] +- goal: [0, 4] + name: agent2 + start: [4, 7] +- goal: [1, 2] + name: agent3 + start: [3, 6] +- goal: [2, 0] + name: agent4 + start: [1, 0] +- goal: [2, 1] + name: agent5 + start: [7, 6] +- goal: [4, 7] + name: agent6 + start: [3, 0] +- goal: [4, 0] + name: agent7 + start: [6, 1] +- goal: [2, 7] + name: agent8 + start: [0, 4] +- goal: [3, 2] + name: agent9 + start: [5, 5] +- goal: [5, 0] + name: agent10 + start: [7, 7] +- goal: [2, 2] + name: agent11 + start: [6, 5] +- goal: [3, 0] + name: agent12 + start: [6, 4] +- goal: [5, 2] + name: agent13 + start: [2, 4] +- goal: [7, 2] + name: agent14 + start: [1, 5] +- goal: [7, 1] + name: agent15 + start: [6, 2] +- goal: [4, 1] + name: agent16 + start: [4, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 7] + - !!python/tuple [3, 5] + - !!python/tuple [4, 3] + - !!python/tuple [6, 7] + - !!python/tuple [1, 4] + - !!python/tuple [4, 4] + - !!python/tuple [3, 4] + - !!python/tuple [6, 3] + - !!python/tuple [0, 5] + - !!python/tuple [0, 7] + - !!python/tuple [4, 5] + - !!python/tuple [3, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex68.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex68.yaml new file mode 100644 index 0000000..801a9cd --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex68.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [1, 0] + name: agent0 + start: [5, 3] +- goal: [3, 7] + name: agent1 + start: [2, 1] +- goal: [5, 7] + name: agent2 + start: [3, 7] +- goal: [2, 5] + name: agent3 + start: [2, 2] +- goal: [6, 4] + name: agent4 + start: [3, 1] +- goal: [4, 1] + name: agent5 + start: [4, 7] +- goal: [7, 7] + name: agent6 + start: [5, 6] +- goal: [2, 6] + name: agent7 + start: [3, 3] +- goal: [4, 7] + name: agent8 + start: [1, 7] +- goal: [1, 7] + name: agent9 + start: [0, 7] +- goal: [0, 2] + name: agent10 + start: [3, 5] +- goal: [0, 6] + name: agent11 + start: [0, 0] +- goal: [4, 4] + name: agent12 + start: [3, 2] +- goal: [7, 2] + name: agent13 + start: [7, 5] +- goal: [5, 3] + name: agent14 + start: [2, 3] +- goal: [7, 5] + name: agent15 + start: [2, 7] +- goal: [3, 5] + name: agent16 + start: [6, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 5] + - !!python/tuple [1, 2] + - !!python/tuple [3, 4] + - !!python/tuple [0, 3] + - !!python/tuple [5, 4] + - !!python/tuple [7, 3] + - !!python/tuple [3, 6] + - !!python/tuple [5, 0] + - !!python/tuple [6, 6] + - !!python/tuple [4, 2] + - !!python/tuple [4, 0] + - !!python/tuple [1, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex69.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex69.yaml new file mode 100644 index 0000000..2e916ed --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex69.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [6, 1] + name: agent0 + start: [7, 1] +- goal: [5, 0] + name: agent1 + start: [3, 7] +- goal: [5, 7] + name: agent2 + start: [6, 5] +- goal: [7, 5] + name: agent3 + start: [3, 6] +- goal: [0, 2] + name: agent4 + start: [1, 6] +- goal: [0, 1] + name: agent5 + start: [1, 0] +- goal: [6, 5] + name: agent6 + start: [6, 6] +- goal: [2, 2] + name: agent7 + start: [3, 3] +- goal: [4, 5] + name: agent8 + start: [4, 7] +- goal: [6, 3] + name: agent9 + start: [7, 4] +- goal: [1, 6] + name: agent10 + start: [1, 7] +- goal: [5, 2] + name: agent11 + start: [1, 2] +- goal: [3, 4] + name: agent12 + start: [4, 3] +- goal: [2, 7] + name: agent13 + start: [0, 2] +- goal: [1, 7] + name: agent14 + start: [4, 2] +- goal: [4, 3] + name: agent15 + start: [7, 0] +- goal: [4, 6] + name: agent16 + start: [2, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 5] + - !!python/tuple [5, 4] + - !!python/tuple [7, 3] + - !!python/tuple [5, 1] + - !!python/tuple [1, 1] + - !!python/tuple [3, 2] + - !!python/tuple [4, 1] + - !!python/tuple [2, 0] + - !!python/tuple [2, 6] + - !!python/tuple [7, 7] + - !!python/tuple [6, 7] + - !!python/tuple [7, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex7.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex7.yaml new file mode 100644 index 0000000..862f543 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex7.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [5, 0] + name: agent0 + start: [1, 4] +- goal: [7, 4] + name: agent1 + start: [4, 1] +- goal: [2, 1] + name: agent2 + start: [4, 2] +- goal: [0, 5] + name: agent3 + start: [2, 0] +- goal: [0, 2] + name: agent4 + start: [5, 1] +- goal: [3, 5] + name: agent5 + start: [1, 3] +- goal: [4, 6] + name: agent6 + start: [5, 0] +- goal: [6, 3] + name: agent7 + start: [6, 5] +- goal: [0, 4] + name: agent8 + start: [4, 4] +- goal: [5, 4] + name: agent9 + start: [2, 7] +- goal: [5, 7] + name: agent10 + start: [3, 6] +- goal: [3, 2] + name: agent11 + start: [4, 5] +- goal: [0, 0] + name: agent12 + start: [2, 5] +- goal: [7, 3] + name: agent13 + start: [5, 3] +- goal: [5, 3] + name: agent14 + start: [0, 4] +- goal: [2, 5] + name: agent15 + start: [3, 1] +- goal: [6, 6] + name: agent16 + start: [0, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 7] + - !!python/tuple [4, 3] + - !!python/tuple [2, 3] + - !!python/tuple [7, 1] + - !!python/tuple [0, 3] + - !!python/tuple [2, 2] + - !!python/tuple [3, 3] + - !!python/tuple [6, 2] + - !!python/tuple [6, 1] + - !!python/tuple [0, 7] + - !!python/tuple [6, 4] + - !!python/tuple [1, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex70.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex70.yaml new file mode 100644 index 0000000..5e4df8c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex70.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [0, 4] + name: agent0 + start: [3, 4] +- goal: [5, 4] + name: agent1 + start: [4, 6] +- goal: [2, 4] + name: agent2 + start: [4, 7] +- goal: [6, 5] + name: agent3 + start: [0, 1] +- goal: [2, 5] + name: agent4 + start: [2, 4] +- goal: [0, 1] + name: agent5 + start: [2, 1] +- goal: [3, 6] + name: agent6 + start: [4, 0] +- goal: [7, 2] + name: agent7 + start: [7, 0] +- goal: [6, 7] + name: agent8 + start: [2, 7] +- goal: [6, 3] + name: agent9 + start: [5, 7] +- goal: [1, 2] + name: agent10 + start: [7, 3] +- goal: [4, 3] + name: agent11 + start: [6, 4] +- goal: [3, 7] + name: agent12 + start: [4, 2] +- goal: [5, 3] + name: agent13 + start: [4, 5] +- goal: [4, 7] + name: agent14 + start: [2, 6] +- goal: [4, 4] + name: agent15 + start: [5, 0] +- goal: [0, 5] + name: agent16 + start: [2, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 1] + - !!python/tuple [0, 0] + - !!python/tuple [5, 1] + - !!python/tuple [1, 4] + - !!python/tuple [7, 4] + - !!python/tuple [1, 3] + - !!python/tuple [6, 0] + - !!python/tuple [1, 7] + - !!python/tuple [0, 3] + - !!python/tuple [6, 1] + - !!python/tuple [2, 0] + - !!python/tuple [0, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex71.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex71.yaml new file mode 100644 index 0000000..1f1fdd4 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex71.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [7, 0] + name: agent0 + start: [7, 7] +- goal: [3, 6] + name: agent1 + start: [4, 0] +- goal: [1, 0] + name: agent2 + start: [6, 6] +- goal: [3, 2] + name: agent3 + start: [4, 3] +- goal: [3, 3] + name: agent4 + start: [4, 7] +- goal: [7, 7] + name: agent5 + start: [2, 6] +- goal: [4, 7] + name: agent6 + start: [2, 7] +- goal: [5, 0] + name: agent7 + start: [7, 4] +- goal: [0, 0] + name: agent8 + start: [2, 2] +- goal: [5, 6] + name: agent9 + start: [3, 7] +- goal: [5, 4] + name: agent10 + start: [0, 3] +- goal: [3, 1] + name: agent11 + start: [3, 6] +- goal: [0, 1] + name: agent12 + start: [6, 4] +- goal: [0, 3] + name: agent13 + start: [5, 0] +- goal: [4, 2] + name: agent14 + start: [2, 5] +- goal: [0, 4] + name: agent15 + start: [6, 7] +- goal: [7, 6] + name: agent16 + start: [6, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 0] + - !!python/tuple [4, 1] + - !!python/tuple [3, 5] + - !!python/tuple [7, 1] + - !!python/tuple [1, 5] + - !!python/tuple [5, 7] + - !!python/tuple [1, 7] + - !!python/tuple [2, 0] + - !!python/tuple [1, 1] + - !!python/tuple [5, 1] + - !!python/tuple [5, 3] + - !!python/tuple [1, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex72.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex72.yaml new file mode 100644 index 0000000..fae7ef9 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex72.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [7, 6] + name: agent0 + start: [1, 3] +- goal: [7, 1] + name: agent1 + start: [4, 3] +- goal: [2, 0] + name: agent2 + start: [4, 4] +- goal: [2, 5] + name: agent3 + start: [6, 6] +- goal: [4, 7] + name: agent4 + start: [2, 7] +- goal: [0, 4] + name: agent5 + start: [0, 4] +- goal: [2, 7] + name: agent6 + start: [3, 7] +- goal: [5, 6] + name: agent7 + start: [0, 3] +- goal: [4, 6] + name: agent8 + start: [0, 1] +- goal: [6, 3] + name: agent9 + start: [5, 3] +- goal: [7, 0] + name: agent10 + start: [0, 2] +- goal: [1, 4] + name: agent11 + start: [4, 6] +- goal: [2, 4] + name: agent12 + start: [1, 5] +- goal: [7, 4] + name: agent13 + start: [6, 2] +- goal: [1, 5] + name: agent14 + start: [7, 1] +- goal: [5, 1] + name: agent15 + start: [6, 1] +- goal: [2, 1] + name: agent16 + start: [2, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 2] + - !!python/tuple [3, 0] + - !!python/tuple [4, 2] + - !!python/tuple [3, 6] + - !!python/tuple [4, 0] + - !!python/tuple [5, 2] + - !!python/tuple [0, 7] + - !!python/tuple [3, 2] + - !!python/tuple [4, 1] + - !!python/tuple [7, 2] + - !!python/tuple [1, 0] + - !!python/tuple [0, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex73.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex73.yaml new file mode 100644 index 0000000..9f45c3a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex73.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [4, 3] + name: agent0 + start: [5, 7] +- goal: [3, 5] + name: agent1 + start: [7, 7] +- goal: [5, 0] + name: agent2 + start: [5, 3] +- goal: [4, 4] + name: agent3 + start: [2, 2] +- goal: [5, 1] + name: agent4 + start: [0, 7] +- goal: [3, 1] + name: agent5 + start: [4, 0] +- goal: [7, 1] + name: agent6 + start: [6, 6] +- goal: [3, 6] + name: agent7 + start: [3, 4] +- goal: [4, 1] + name: agent8 + start: [1, 3] +- goal: [1, 5] + name: agent9 + start: [0, 4] +- goal: [0, 3] + name: agent10 + start: [3, 6] +- goal: [6, 6] + name: agent11 + start: [0, 5] +- goal: [5, 7] + name: agent12 + start: [2, 1] +- goal: [6, 1] + name: agent13 + start: [7, 1] +- goal: [0, 7] + name: agent14 + start: [1, 2] +- goal: [5, 2] + name: agent15 + start: [2, 6] +- goal: [0, 5] + name: agent16 + start: [0, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 2] + - !!python/tuple [0, 6] + - !!python/tuple [7, 0] + - !!python/tuple [7, 3] + - !!python/tuple [2, 0] + - !!python/tuple [6, 5] + - !!python/tuple [3, 0] + - !!python/tuple [6, 2] + - !!python/tuple [6, 4] + - !!python/tuple [3, 3] + - !!python/tuple [4, 5] + - !!python/tuple [7, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex74.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex74.yaml new file mode 100644 index 0000000..e38e24c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex74.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [6, 5] + name: agent0 + start: [6, 6] +- goal: [2, 5] + name: agent1 + start: [4, 4] +- goal: [4, 0] + name: agent2 + start: [4, 1] +- goal: [7, 1] + name: agent3 + start: [7, 5] +- goal: [4, 6] + name: agent4 + start: [5, 2] +- goal: [1, 3] + name: agent5 + start: [4, 2] +- goal: [7, 3] + name: agent6 + start: [0, 3] +- goal: [0, 4] + name: agent7 + start: [0, 2] +- goal: [3, 7] + name: agent8 + start: [5, 7] +- goal: [7, 0] + name: agent9 + start: [3, 4] +- goal: [3, 3] + name: agent10 + start: [6, 3] +- goal: [2, 6] + name: agent11 + start: [6, 4] +- goal: [1, 1] + name: agent12 + start: [1, 0] +- goal: [2, 2] + name: agent13 + start: [3, 3] +- goal: [5, 2] + name: agent14 + start: [3, 0] +- goal: [4, 2] + name: agent15 + start: [5, 4] +- goal: [0, 5] + name: agent16 + start: [4, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 6] + - !!python/tuple [6, 0] + - !!python/tuple [7, 4] + - !!python/tuple [3, 6] + - !!python/tuple [2, 7] + - !!python/tuple [7, 2] + - !!python/tuple [1, 2] + - !!python/tuple [2, 4] + - !!python/tuple [4, 5] + - !!python/tuple [5, 1] + - !!python/tuple [2, 1] + - !!python/tuple [3, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex75.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex75.yaml new file mode 100644 index 0000000..114b938 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex75.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [5, 5] + name: agent0 + start: [1, 7] +- goal: [0, 4] + name: agent1 + start: [3, 0] +- goal: [4, 1] + name: agent2 + start: [3, 2] +- goal: [5, 1] + name: agent3 + start: [7, 0] +- goal: [6, 0] + name: agent4 + start: [5, 7] +- goal: [3, 6] + name: agent5 + start: [5, 6] +- goal: [4, 3] + name: agent6 + start: [5, 5] +- goal: [3, 0] + name: agent7 + start: [7, 7] +- goal: [4, 2] + name: agent8 + start: [3, 1] +- goal: [7, 4] + name: agent9 + start: [4, 1] +- goal: [3, 3] + name: agent10 + start: [4, 0] +- goal: [7, 6] + name: agent11 + start: [2, 4] +- goal: [4, 4] + name: agent12 + start: [6, 2] +- goal: [5, 7] + name: agent13 + start: [4, 3] +- goal: [2, 6] + name: agent14 + start: [3, 3] +- goal: [3, 1] + name: agent15 + start: [1, 4] +- goal: [2, 1] + name: agent16 + start: [5, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 3] + - !!python/tuple [6, 5] + - !!python/tuple [1, 2] + - !!python/tuple [2, 5] + - !!python/tuple [7, 1] + - !!python/tuple [6, 3] + - !!python/tuple [0, 0] + - !!python/tuple [3, 7] + - !!python/tuple [0, 3] + - !!python/tuple [3, 4] + - !!python/tuple [4, 5] + - !!python/tuple [2, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex76.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex76.yaml new file mode 100644 index 0000000..c6054ae --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex76.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [2, 4] + name: agent0 + start: [4, 5] +- goal: [5, 2] + name: agent1 + start: [0, 2] +- goal: [1, 6] + name: agent2 + start: [7, 5] +- goal: [6, 5] + name: agent3 + start: [0, 1] +- goal: [6, 7] + name: agent4 + start: [5, 1] +- goal: [5, 4] + name: agent5 + start: [7, 1] +- goal: [1, 2] + name: agent6 + start: [7, 4] +- goal: [6, 1] + name: agent7 + start: [3, 6] +- goal: [4, 2] + name: agent8 + start: [7, 3] +- goal: [4, 3] + name: agent9 + start: [6, 5] +- goal: [7, 6] + name: agent10 + start: [3, 5] +- goal: [4, 5] + name: agent11 + start: [2, 3] +- goal: [3, 4] + name: agent12 + start: [1, 6] +- goal: [2, 5] + name: agent13 + start: [6, 4] +- goal: [4, 4] + name: agent14 + start: [4, 2] +- goal: [0, 7] + name: agent15 + start: [6, 7] +- goal: [5, 0] + name: agent16 + start: [7, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 7] + - !!python/tuple [2, 7] + - !!python/tuple [0, 4] + - !!python/tuple [1, 1] + - !!python/tuple [4, 1] + - !!python/tuple [3, 0] + - !!python/tuple [0, 0] + - !!python/tuple [3, 2] + - !!python/tuple [0, 6] + - !!python/tuple [3, 3] + - !!python/tuple [6, 2] + - !!python/tuple [5, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex77.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex77.yaml new file mode 100644 index 0000000..a81eebd --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex77.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [5, 0] + name: agent0 + start: [0, 4] +- goal: [5, 3] + name: agent1 + start: [0, 7] +- goal: [2, 3] + name: agent2 + start: [4, 6] +- goal: [7, 4] + name: agent3 + start: [6, 6] +- goal: [6, 5] + name: agent4 + start: [6, 4] +- goal: [0, 2] + name: agent5 + start: [6, 5] +- goal: [5, 5] + name: agent6 + start: [1, 4] +- goal: [3, 7] + name: agent7 + start: [7, 6] +- goal: [4, 6] + name: agent8 + start: [5, 3] +- goal: [1, 4] + name: agent9 + start: [6, 7] +- goal: [2, 1] + name: agent10 + start: [7, 1] +- goal: [1, 7] + name: agent11 + start: [7, 5] +- goal: [2, 5] + name: agent12 + start: [2, 1] +- goal: [0, 3] + name: agent13 + start: [2, 0] +- goal: [5, 6] + name: agent14 + start: [5, 6] +- goal: [4, 3] + name: agent15 + start: [1, 5] +- goal: [0, 1] + name: agent16 + start: [6, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 2] + - !!python/tuple [1, 0] + - !!python/tuple [0, 5] + - !!python/tuple [5, 1] + - !!python/tuple [4, 2] + - !!python/tuple [1, 3] + - !!python/tuple [0, 6] + - !!python/tuple [4, 7] + - !!python/tuple [1, 6] + - !!python/tuple [3, 0] + - !!python/tuple [4, 0] + - !!python/tuple [3, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex78.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex78.yaml new file mode 100644 index 0000000..0f0120f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex78.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [4, 7] + name: agent0 + start: [4, 3] +- goal: [5, 5] + name: agent1 + start: [7, 4] +- goal: [6, 6] + name: agent2 + start: [7, 7] +- goal: [2, 6] + name: agent3 + start: [3, 2] +- goal: [0, 4] + name: agent4 + start: [0, 2] +- goal: [4, 6] + name: agent5 + start: [6, 6] +- goal: [3, 2] + name: agent6 + start: [1, 3] +- goal: [6, 4] + name: agent7 + start: [2, 0] +- goal: [7, 5] + name: agent8 + start: [4, 7] +- goal: [3, 3] + name: agent9 + start: [3, 4] +- goal: [6, 1] + name: agent10 + start: [4, 4] +- goal: [4, 4] + name: agent11 + start: [3, 1] +- goal: [6, 2] + name: agent12 + start: [2, 6] +- goal: [7, 7] + name: agent13 + start: [3, 5] +- goal: [1, 4] + name: agent14 + start: [4, 6] +- goal: [5, 0] + name: agent15 + start: [5, 0] +- goal: [7, 2] + name: agent16 + start: [1, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 5] + - !!python/tuple [2, 3] + - !!python/tuple [1, 0] + - !!python/tuple [0, 0] + - !!python/tuple [3, 0] + - !!python/tuple [5, 6] + - !!python/tuple [1, 7] + - !!python/tuple [1, 6] + - !!python/tuple [4, 1] + - !!python/tuple [3, 7] + - !!python/tuple [0, 6] + - !!python/tuple [7, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex79.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex79.yaml new file mode 100644 index 0000000..90b8145 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex79.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [5, 0] + name: agent0 + start: [4, 5] +- goal: [6, 3] + name: agent1 + start: [0, 0] +- goal: [7, 5] + name: agent2 + start: [1, 1] +- goal: [6, 5] + name: agent3 + start: [2, 7] +- goal: [0, 3] + name: agent4 + start: [1, 7] +- goal: [7, 1] + name: agent5 + start: [5, 2] +- goal: [1, 4] + name: agent6 + start: [3, 4] +- goal: [3, 6] + name: agent7 + start: [1, 0] +- goal: [6, 7] + name: agent8 + start: [0, 7] +- goal: [1, 3] + name: agent9 + start: [5, 1] +- goal: [4, 6] + name: agent10 + start: [4, 0] +- goal: [2, 7] + name: agent11 + start: [4, 4] +- goal: [5, 3] + name: agent12 + start: [1, 3] +- goal: [5, 1] + name: agent13 + start: [4, 6] +- goal: [5, 7] + name: agent14 + start: [7, 0] +- goal: [4, 3] + name: agent15 + start: [7, 1] +- goal: [6, 1] + name: agent16 + start: [6, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 2] + - !!python/tuple [2, 4] + - !!python/tuple [3, 1] + - !!python/tuple [5, 4] + - !!python/tuple [5, 6] + - !!python/tuple [3, 7] + - !!python/tuple [4, 1] + - !!python/tuple [7, 2] + - !!python/tuple [2, 3] + - !!python/tuple [3, 3] + - !!python/tuple [2, 1] + - !!python/tuple [4, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex8.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex8.yaml new file mode 100644 index 0000000..eb86aef --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex8.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [1, 3] + name: agent0 + start: [7, 5] +- goal: [2, 0] + name: agent1 + start: [2, 5] +- goal: [5, 6] + name: agent2 + start: [4, 7] +- goal: [7, 5] + name: agent3 + start: [2, 1] +- goal: [2, 2] + name: agent4 + start: [5, 2] +- goal: [6, 7] + name: agent5 + start: [7, 1] +- goal: [5, 1] + name: agent6 + start: [7, 7] +- goal: [2, 5] + name: agent7 + start: [6, 2] +- goal: [5, 3] + name: agent8 + start: [4, 6] +- goal: [5, 2] + name: agent9 + start: [2, 2] +- goal: [3, 1] + name: agent10 + start: [7, 2] +- goal: [2, 3] + name: agent11 + start: [7, 3] +- goal: [1, 1] + name: agent12 + start: [6, 1] +- goal: [1, 4] + name: agent13 + start: [6, 0] +- goal: [7, 4] + name: agent14 + start: [1, 1] +- goal: [1, 5] + name: agent15 + start: [3, 0] +- goal: [0, 7] + name: agent16 + start: [1, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 0] + - !!python/tuple [6, 4] + - !!python/tuple [1, 0] + - !!python/tuple [4, 4] + - !!python/tuple [5, 5] + - !!python/tuple [0, 1] + - !!python/tuple [6, 6] + - !!python/tuple [7, 0] + - !!python/tuple [0, 2] + - !!python/tuple [1, 2] + - !!python/tuple [7, 6] + - !!python/tuple [2, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex80.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex80.yaml new file mode 100644 index 0000000..1098473 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex80.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [7, 7] + name: agent0 + start: [1, 3] +- goal: [7, 5] + name: agent1 + start: [2, 7] +- goal: [4, 1] + name: agent2 + start: [5, 4] +- goal: [4, 5] + name: agent3 + start: [4, 1] +- goal: [3, 3] + name: agent4 + start: [2, 6] +- goal: [3, 4] + name: agent5 + start: [7, 6] +- goal: [0, 6] + name: agent6 + start: [3, 5] +- goal: [6, 0] + name: agent7 + start: [7, 5] +- goal: [4, 2] + name: agent8 + start: [2, 4] +- goal: [5, 0] + name: agent9 + start: [5, 2] +- goal: [6, 5] + name: agent10 + start: [7, 0] +- goal: [6, 3] + name: agent11 + start: [1, 7] +- goal: [1, 0] + name: agent12 + start: [4, 2] +- goal: [5, 5] + name: agent13 + start: [4, 5] +- goal: [1, 1] + name: agent14 + start: [4, 3] +- goal: [3, 6] + name: agent15 + start: [7, 4] +- goal: [2, 0] + name: agent16 + start: [4, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 7] + - !!python/tuple [1, 6] + - !!python/tuple [2, 5] + - !!python/tuple [4, 0] + - !!python/tuple [6, 1] + - !!python/tuple [0, 7] + - !!python/tuple [3, 0] + - !!python/tuple [6, 6] + - !!python/tuple [2, 3] + - !!python/tuple [7, 2] + - !!python/tuple [0, 4] + - !!python/tuple [6, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex81.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex81.yaml new file mode 100644 index 0000000..530d8c3 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex81.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [0, 7] + name: agent0 + start: [0, 5] +- goal: [0, 0] + name: agent1 + start: [1, 2] +- goal: [5, 2] + name: agent2 + start: [5, 1] +- goal: [0, 4] + name: agent3 + start: [4, 5] +- goal: [4, 4] + name: agent4 + start: [3, 0] +- goal: [3, 5] + name: agent5 + start: [6, 7] +- goal: [2, 5] + name: agent6 + start: [2, 0] +- goal: [4, 6] + name: agent7 + start: [4, 6] +- goal: [6, 4] + name: agent8 + start: [3, 7] +- goal: [4, 1] + name: agent9 + start: [1, 0] +- goal: [7, 1] + name: agent10 + start: [7, 1] +- goal: [2, 4] + name: agent11 + start: [7, 2] +- goal: [5, 3] + name: agent12 + start: [7, 7] +- goal: [5, 6] + name: agent13 + start: [3, 5] +- goal: [2, 0] + name: agent14 + start: [6, 2] +- goal: [1, 0] + name: agent15 + start: [5, 0] +- goal: [3, 0] + name: agent16 + start: [0, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 7] + - !!python/tuple [7, 0] + - !!python/tuple [1, 1] + - !!python/tuple [7, 5] + - !!python/tuple [4, 0] + - !!python/tuple [6, 1] + - !!python/tuple [5, 4] + - !!python/tuple [0, 3] + - !!python/tuple [0, 1] + - !!python/tuple [1, 3] + - !!python/tuple [2, 3] + - !!python/tuple [6, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex82.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex82.yaml new file mode 100644 index 0000000..645c4a1 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex82.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [0, 4] + name: agent0 + start: [2, 7] +- goal: [4, 1] + name: agent1 + start: [4, 4] +- goal: [3, 7] + name: agent2 + start: [0, 1] +- goal: [1, 6] + name: agent3 + start: [6, 4] +- goal: [7, 5] + name: agent4 + start: [6, 7] +- goal: [7, 6] + name: agent5 + start: [0, 2] +- goal: [7, 7] + name: agent6 + start: [6, 3] +- goal: [0, 6] + name: agent7 + start: [3, 7] +- goal: [2, 2] + name: agent8 + start: [1, 1] +- goal: [3, 1] + name: agent9 + start: [3, 1] +- goal: [0, 0] + name: agent10 + start: [5, 4] +- goal: [7, 1] + name: agent11 + start: [2, 5] +- goal: [4, 2] + name: agent12 + start: [1, 7] +- goal: [6, 0] + name: agent13 + start: [5, 6] +- goal: [6, 4] + name: agent14 + start: [0, 3] +- goal: [6, 7] + name: agent15 + start: [4, 0] +- goal: [4, 5] + name: agent16 + start: [7, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 4] + - !!python/tuple [7, 3] + - !!python/tuple [4, 7] + - !!python/tuple [6, 5] + - !!python/tuple [6, 2] + - !!python/tuple [4, 3] + - !!python/tuple [1, 2] + - !!python/tuple [7, 4] + - !!python/tuple [3, 6] + - !!python/tuple [1, 5] + - !!python/tuple [7, 0] + - !!python/tuple [1, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex83.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex83.yaml new file mode 100644 index 0000000..f7eb3e5 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex83.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [1, 5] + name: agent0 + start: [1, 1] +- goal: [5, 1] + name: agent1 + start: [3, 3] +- goal: [3, 3] + name: agent2 + start: [2, 4] +- goal: [6, 0] + name: agent3 + start: [7, 6] +- goal: [3, 6] + name: agent4 + start: [2, 6] +- goal: [4, 5] + name: agent5 + start: [2, 0] +- goal: [5, 5] + name: agent6 + start: [0, 2] +- goal: [2, 1] + name: agent7 + start: [4, 5] +- goal: [7, 3] + name: agent8 + start: [5, 2] +- goal: [0, 4] + name: agent9 + start: [7, 7] +- goal: [1, 4] + name: agent10 + start: [6, 2] +- goal: [4, 2] + name: agent11 + start: [4, 2] +- goal: [6, 2] + name: agent12 + start: [7, 5] +- goal: [6, 1] + name: agent13 + start: [2, 1] +- goal: [0, 2] + name: agent14 + start: [5, 6] +- goal: [5, 0] + name: agent15 + start: [7, 1] +- goal: [7, 4] + name: agent16 + start: [6, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 2] + - !!python/tuple [2, 7] + - !!python/tuple [1, 6] + - !!python/tuple [4, 1] + - !!python/tuple [0, 3] + - !!python/tuple [4, 0] + - !!python/tuple [2, 5] + - !!python/tuple [4, 7] + - !!python/tuple [3, 5] + - !!python/tuple [0, 5] + - !!python/tuple [4, 3] + - !!python/tuple [1, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex84.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex84.yaml new file mode 100644 index 0000000..c85294c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex84.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [7, 2] + name: agent0 + start: [7, 7] +- goal: [5, 7] + name: agent1 + start: [3, 0] +- goal: [5, 2] + name: agent2 + start: [0, 7] +- goal: [4, 6] + name: agent3 + start: [1, 0] +- goal: [4, 4] + name: agent4 + start: [2, 3] +- goal: [7, 5] + name: agent5 + start: [3, 5] +- goal: [0, 3] + name: agent6 + start: [2, 0] +- goal: [3, 5] + name: agent7 + start: [1, 4] +- goal: [2, 5] + name: agent8 + start: [3, 2] +- goal: [4, 7] + name: agent9 + start: [4, 5] +- goal: [3, 0] + name: agent10 + start: [2, 2] +- goal: [0, 5] + name: agent11 + start: [6, 3] +- goal: [4, 2] + name: agent12 + start: [7, 5] +- goal: [5, 4] + name: agent13 + start: [1, 2] +- goal: [7, 3] + name: agent14 + start: [2, 5] +- goal: [0, 0] + name: agent15 + start: [5, 2] +- goal: [1, 3] + name: agent16 + start: [7, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 3] + - !!python/tuple [7, 1] + - !!python/tuple [4, 3] + - !!python/tuple [5, 1] + - !!python/tuple [5, 5] + - !!python/tuple [3, 6] + - !!python/tuple [3, 7] + - !!python/tuple [6, 4] + - !!python/tuple [3, 1] + - !!python/tuple [4, 0] + - !!python/tuple [6, 5] + - !!python/tuple [6, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex85.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex85.yaml new file mode 100644 index 0000000..cdc68fc --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex85.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [7, 7] + name: agent0 + start: [1, 3] +- goal: [7, 4] + name: agent1 + start: [4, 3] +- goal: [7, 3] + name: agent2 + start: [0, 1] +- goal: [5, 5] + name: agent3 + start: [5, 0] +- goal: [0, 4] + name: agent4 + start: [1, 5] +- goal: [6, 0] + name: agent5 + start: [7, 0] +- goal: [6, 5] + name: agent6 + start: [0, 3] +- goal: [1, 6] + name: agent7 + start: [6, 1] +- goal: [0, 7] + name: agent8 + start: [4, 1] +- goal: [6, 1] + name: agent9 + start: [4, 0] +- goal: [4, 3] + name: agent10 + start: [4, 2] +- goal: [5, 0] + name: agent11 + start: [7, 6] +- goal: [0, 5] + name: agent12 + start: [6, 3] +- goal: [7, 5] + name: agent13 + start: [3, 5] +- goal: [2, 7] + name: agent14 + start: [6, 7] +- goal: [5, 6] + name: agent15 + start: [5, 3] +- goal: [3, 2] + name: agent16 + start: [7, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 1] + - !!python/tuple [4, 4] + - !!python/tuple [3, 3] + - !!python/tuple [3, 7] + - !!python/tuple [2, 6] + - !!python/tuple [6, 2] + - !!python/tuple [5, 7] + - !!python/tuple [2, 2] + - !!python/tuple [1, 4] + - !!python/tuple [3, 0] + - !!python/tuple [4, 6] + - !!python/tuple [0, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex86.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex86.yaml new file mode 100644 index 0000000..d190481 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex86.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [2, 6] + name: agent0 + start: [0, 0] +- goal: [7, 3] + name: agent1 + start: [6, 0] +- goal: [1, 0] + name: agent2 + start: [4, 6] +- goal: [2, 7] + name: agent3 + start: [2, 7] +- goal: [6, 3] + name: agent4 + start: [6, 5] +- goal: [5, 1] + name: agent5 + start: [4, 0] +- goal: [7, 4] + name: agent6 + start: [2, 0] +- goal: [6, 4] + name: agent7 + start: [6, 4] +- goal: [5, 7] + name: agent8 + start: [6, 3] +- goal: [3, 0] + name: agent9 + start: [5, 4] +- goal: [0, 2] + name: agent10 + start: [2, 3] +- goal: [6, 7] + name: agent11 + start: [2, 2] +- goal: [5, 5] + name: agent12 + start: [6, 1] +- goal: [6, 0] + name: agent13 + start: [1, 7] +- goal: [2, 3] + name: agent14 + start: [1, 4] +- goal: [0, 1] + name: agent15 + start: [3, 2] +- goal: [5, 4] + name: agent16 + start: [5, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 5] + - !!python/tuple [0, 6] + - !!python/tuple [3, 1] + - !!python/tuple [4, 1] + - !!python/tuple [2, 4] + - !!python/tuple [1, 6] + - !!python/tuple [5, 0] + - !!python/tuple [6, 2] + - !!python/tuple [6, 6] + - !!python/tuple [0, 7] + - !!python/tuple [4, 5] + - !!python/tuple [5, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex87.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex87.yaml new file mode 100644 index 0000000..4b84c3f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex87.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [7, 6] + name: agent0 + start: [5, 7] +- goal: [4, 6] + name: agent1 + start: [2, 2] +- goal: [1, 3] + name: agent2 + start: [6, 6] +- goal: [4, 4] + name: agent3 + start: [3, 4] +- goal: [3, 0] + name: agent4 + start: [7, 7] +- goal: [7, 0] + name: agent5 + start: [2, 5] +- goal: [4, 3] + name: agent6 + start: [6, 1] +- goal: [2, 1] + name: agent7 + start: [0, 0] +- goal: [7, 7] + name: agent8 + start: [1, 4] +- goal: [3, 4] + name: agent9 + start: [7, 5] +- goal: [3, 3] + name: agent10 + start: [2, 7] +- goal: [4, 2] + name: agent11 + start: [4, 6] +- goal: [6, 3] + name: agent12 + start: [6, 7] +- goal: [1, 6] + name: agent13 + start: [6, 3] +- goal: [1, 7] + name: agent14 + start: [5, 2] +- goal: [1, 4] + name: agent15 + start: [4, 2] +- goal: [7, 5] + name: agent16 + start: [7, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 5] + - !!python/tuple [5, 6] + - !!python/tuple [3, 2] + - !!python/tuple [3, 7] + - !!python/tuple [5, 1] + - !!python/tuple [1, 5] + - !!python/tuple [5, 4] + - !!python/tuple [6, 0] + - !!python/tuple [4, 5] + - !!python/tuple [0, 1] + - !!python/tuple [2, 6] + - !!python/tuple [1, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex88.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex88.yaml new file mode 100644 index 0000000..d738067 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex88.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [5, 0] + name: agent0 + start: [5, 0] +- goal: [7, 1] + name: agent1 + start: [3, 1] +- goal: [7, 7] + name: agent2 + start: [5, 7] +- goal: [5, 3] + name: agent3 + start: [6, 2] +- goal: [7, 6] + name: agent4 + start: [7, 6] +- goal: [1, 0] + name: agent5 + start: [4, 2] +- goal: [7, 3] + name: agent6 + start: [4, 5] +- goal: [4, 5] + name: agent7 + start: [5, 5] +- goal: [7, 5] + name: agent8 + start: [7, 1] +- goal: [7, 4] + name: agent9 + start: [2, 4] +- goal: [7, 2] + name: agent10 + start: [4, 1] +- goal: [1, 3] + name: agent11 + start: [1, 4] +- goal: [6, 7] + name: agent12 + start: [6, 0] +- goal: [6, 6] + name: agent13 + start: [3, 4] +- goal: [6, 1] + name: agent14 + start: [7, 2] +- goal: [5, 2] + name: agent15 + start: [1, 1] +- goal: [1, 2] + name: agent16 + start: [4, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 6] + - !!python/tuple [1, 7] + - !!python/tuple [2, 7] + - !!python/tuple [4, 4] + - !!python/tuple [0, 4] + - !!python/tuple [3, 5] + - !!python/tuple [0, 5] + - !!python/tuple [0, 2] + - !!python/tuple [5, 6] + - !!python/tuple [3, 2] + - !!python/tuple [1, 6] + - !!python/tuple [1, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex89.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex89.yaml new file mode 100644 index 0000000..e9b40db --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex89.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [2, 4] + name: agent0 + start: [0, 5] +- goal: [3, 3] + name: agent1 + start: [0, 1] +- goal: [0, 6] + name: agent2 + start: [0, 3] +- goal: [4, 6] + name: agent3 + start: [6, 6] +- goal: [6, 3] + name: agent4 + start: [5, 7] +- goal: [1, 4] + name: agent5 + start: [4, 6] +- goal: [5, 6] + name: agent6 + start: [0, 0] +- goal: [1, 5] + name: agent7 + start: [7, 1] +- goal: [5, 2] + name: agent8 + start: [3, 5] +- goal: [5, 5] + name: agent9 + start: [5, 5] +- goal: [7, 7] + name: agent10 + start: [2, 6] +- goal: [2, 5] + name: agent11 + start: [1, 5] +- goal: [0, 1] + name: agent12 + start: [6, 4] +- goal: [3, 2] + name: agent13 + start: [5, 6] +- goal: [6, 5] + name: agent14 + start: [5, 0] +- goal: [1, 6] + name: agent15 + start: [4, 3] +- goal: [6, 6] + name: agent16 + start: [2, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 1] + - !!python/tuple [0, 7] + - !!python/tuple [6, 7] + - !!python/tuple [7, 3] + - !!python/tuple [4, 2] + - !!python/tuple [2, 0] + - !!python/tuple [4, 0] + - !!python/tuple [1, 1] + - !!python/tuple [1, 0] + - !!python/tuple [1, 7] + - !!python/tuple [3, 4] + - !!python/tuple [3, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex9.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex9.yaml new file mode 100644 index 0000000..f4fabae --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex9.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [4, 2] + name: agent0 + start: [3, 2] +- goal: [3, 5] + name: agent1 + start: [6, 6] +- goal: [5, 0] + name: agent2 + start: [1, 2] +- goal: [5, 5] + name: agent3 + start: [0, 6] +- goal: [5, 3] + name: agent4 + start: [7, 4] +- goal: [3, 6] + name: agent5 + start: [6, 0] +- goal: [5, 7] + name: agent6 + start: [5, 3] +- goal: [5, 1] + name: agent7 + start: [3, 7] +- goal: [7, 2] + name: agent8 + start: [1, 4] +- goal: [6, 0] + name: agent9 + start: [2, 4] +- goal: [0, 3] + name: agent10 + start: [3, 3] +- goal: [4, 4] + name: agent11 + start: [5, 1] +- goal: [4, 0] + name: agent12 + start: [5, 2] +- goal: [2, 3] + name: agent13 + start: [1, 3] +- goal: [7, 0] + name: agent14 + start: [5, 7] +- goal: [6, 3] + name: agent15 + start: [3, 5] +- goal: [1, 6] + name: agent16 + start: [4, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 4] + - !!python/tuple [0, 2] + - !!python/tuple [4, 3] + - !!python/tuple [4, 6] + - !!python/tuple [1, 1] + - !!python/tuple [2, 0] + - !!python/tuple [7, 3] + - !!python/tuple [7, 6] + - !!python/tuple [3, 1] + - !!python/tuple [2, 5] + - !!python/tuple [0, 4] + - !!python/tuple [6, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex90.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex90.yaml new file mode 100644 index 0000000..9db2d52 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex90.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [3, 3] + name: agent0 + start: [2, 2] +- goal: [5, 6] + name: agent1 + start: [6, 7] +- goal: [7, 7] + name: agent2 + start: [6, 1] +- goal: [1, 5] + name: agent3 + start: [2, 4] +- goal: [1, 1] + name: agent4 + start: [7, 6] +- goal: [6, 7] + name: agent5 + start: [0, 4] +- goal: [0, 1] + name: agent6 + start: [5, 0] +- goal: [5, 5] + name: agent7 + start: [3, 2] +- goal: [0, 5] + name: agent8 + start: [7, 4] +- goal: [1, 4] + name: agent9 + start: [4, 3] +- goal: [4, 2] + name: agent10 + start: [2, 3] +- goal: [4, 7] + name: agent11 + start: [7, 7] +- goal: [6, 4] + name: agent12 + start: [5, 5] +- goal: [3, 5] + name: agent13 + start: [4, 6] +- goal: [6, 6] + name: agent14 + start: [1, 0] +- goal: [3, 1] + name: agent15 + start: [5, 7] +- goal: [0, 0] + name: agent16 + start: [2, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 7] + - !!python/tuple [4, 4] + - !!python/tuple [4, 5] + - !!python/tuple [5, 3] + - !!python/tuple [3, 7] + - !!python/tuple [7, 5] + - !!python/tuple [0, 6] + - !!python/tuple [1, 6] + - !!python/tuple [5, 4] + - !!python/tuple [7, 0] + - !!python/tuple [1, 7] + - !!python/tuple [6, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex91.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex91.yaml new file mode 100644 index 0000000..7aa12c8 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex91.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [0, 6] + name: agent0 + start: [7, 3] +- goal: [2, 3] + name: agent1 + start: [4, 3] +- goal: [0, 2] + name: agent2 + start: [4, 5] +- goal: [4, 1] + name: agent3 + start: [1, 5] +- goal: [3, 0] + name: agent4 + start: [2, 3] +- goal: [0, 7] + name: agent5 + start: [6, 2] +- goal: [4, 3] + name: agent6 + start: [6, 6] +- goal: [1, 6] + name: agent7 + start: [1, 2] +- goal: [3, 2] + name: agent8 + start: [6, 3] +- goal: [2, 1] + name: agent9 + start: [2, 0] +- goal: [4, 5] + name: agent10 + start: [1, 0] +- goal: [1, 3] + name: agent11 + start: [3, 0] +- goal: [3, 7] + name: agent12 + start: [5, 1] +- goal: [1, 7] + name: agent13 + start: [4, 6] +- goal: [3, 6] + name: agent14 + start: [0, 1] +- goal: [0, 1] + name: agent15 + start: [5, 4] +- goal: [4, 6] + name: agent16 + start: [6, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 0] + - !!python/tuple [6, 7] + - !!python/tuple [7, 7] + - !!python/tuple [4, 4] + - !!python/tuple [2, 4] + - !!python/tuple [0, 4] + - !!python/tuple [4, 7] + - !!python/tuple [3, 3] + - !!python/tuple [3, 1] + - !!python/tuple [3, 4] + - !!python/tuple [5, 0] + - !!python/tuple [0, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex92.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex92.yaml new file mode 100644 index 0000000..ea84764 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex92.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [5, 5] + name: agent0 + start: [1, 6] +- goal: [5, 7] + name: agent1 + start: [0, 7] +- goal: [7, 2] + name: agent2 + start: [3, 1] +- goal: [1, 5] + name: agent3 + start: [3, 7] +- goal: [1, 4] + name: agent4 + start: [2, 1] +- goal: [4, 1] + name: agent5 + start: [0, 6] +- goal: [5, 1] + name: agent6 + start: [7, 0] +- goal: [5, 6] + name: agent7 + start: [4, 4] +- goal: [6, 2] + name: agent8 + start: [4, 6] +- goal: [4, 0] + name: agent9 + start: [3, 3] +- goal: [3, 1] + name: agent10 + start: [4, 5] +- goal: [3, 2] + name: agent11 + start: [3, 5] +- goal: [4, 6] + name: agent12 + start: [6, 7] +- goal: [3, 7] + name: agent13 + start: [4, 2] +- goal: [2, 4] + name: agent14 + start: [1, 5] +- goal: [0, 7] + name: agent15 + start: [7, 6] +- goal: [5, 3] + name: agent16 + start: [5, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 1] + - !!python/tuple [7, 7] + - !!python/tuple [0, 1] + - !!python/tuple [7, 4] + - !!python/tuple [2, 2] + - !!python/tuple [6, 1] + - !!python/tuple [1, 0] + - !!python/tuple [4, 7] + - !!python/tuple [5, 2] + - !!python/tuple [0, 3] + - !!python/tuple [1, 3] + - !!python/tuple [2, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex93.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex93.yaml new file mode 100644 index 0000000..c245c7c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex93.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [2, 6] + name: agent0 + start: [5, 1] +- goal: [4, 1] + name: agent1 + start: [7, 1] +- goal: [5, 3] + name: agent2 + start: [6, 0] +- goal: [2, 7] + name: agent3 + start: [3, 7] +- goal: [6, 7] + name: agent4 + start: [0, 6] +- goal: [6, 2] + name: agent5 + start: [7, 2] +- goal: [1, 5] + name: agent6 + start: [6, 1] +- goal: [0, 1] + name: agent7 + start: [6, 5] +- goal: [7, 3] + name: agent8 + start: [4, 3] +- goal: [5, 2] + name: agent9 + start: [0, 1] +- goal: [4, 6] + name: agent10 + start: [5, 6] +- goal: [2, 4] + name: agent11 + start: [0, 2] +- goal: [3, 1] + name: agent12 + start: [7, 3] +- goal: [0, 3] + name: agent13 + start: [5, 4] +- goal: [6, 1] + name: agent14 + start: [4, 6] +- goal: [6, 5] + name: agent15 + start: [1, 5] +- goal: [1, 0] + name: agent16 + start: [4, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 2] + - !!python/tuple [0, 5] + - !!python/tuple [0, 0] + - !!python/tuple [3, 5] + - !!python/tuple [2, 3] + - !!python/tuple [1, 3] + - !!python/tuple [1, 4] + - !!python/tuple [7, 0] + - !!python/tuple [4, 2] + - !!python/tuple [3, 0] + - !!python/tuple [6, 3] + - !!python/tuple [0, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex94.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex94.yaml new file mode 100644 index 0000000..197e23f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex94.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [3, 4] + name: agent0 + start: [1, 4] +- goal: [7, 5] + name: agent1 + start: [0, 2] +- goal: [6, 5] + name: agent2 + start: [7, 3] +- goal: [2, 7] + name: agent3 + start: [6, 4] +- goal: [1, 6] + name: agent4 + start: [1, 3] +- goal: [5, 7] + name: agent5 + start: [4, 4] +- goal: [2, 1] + name: agent6 + start: [2, 5] +- goal: [4, 5] + name: agent7 + start: [6, 0] +- goal: [0, 2] + name: agent8 + start: [0, 5] +- goal: [3, 0] + name: agent9 + start: [5, 7] +- goal: [1, 2] + name: agent10 + start: [0, 7] +- goal: [5, 0] + name: agent11 + start: [0, 3] +- goal: [2, 0] + name: agent12 + start: [7, 5] +- goal: [6, 2] + name: agent13 + start: [2, 3] +- goal: [2, 3] + name: agent14 + start: [0, 1] +- goal: [5, 6] + name: agent15 + start: [3, 5] +- goal: [7, 6] + name: agent16 + start: [2, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 0] + - !!python/tuple [4, 1] + - !!python/tuple [2, 6] + - !!python/tuple [5, 5] + - !!python/tuple [0, 4] + - !!python/tuple [6, 1] + - !!python/tuple [4, 3] + - !!python/tuple [6, 6] + - !!python/tuple [2, 4] + - !!python/tuple [1, 1] + - !!python/tuple [6, 3] + - !!python/tuple [3, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex95.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex95.yaml new file mode 100644 index 0000000..480aa73 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex95.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [1, 1] + name: agent0 + start: [3, 3] +- goal: [5, 0] + name: agent1 + start: [6, 7] +- goal: [3, 4] + name: agent2 + start: [6, 1] +- goal: [5, 7] + name: agent3 + start: [2, 3] +- goal: [4, 7] + name: agent4 + start: [3, 2] +- goal: [3, 2] + name: agent5 + start: [4, 1] +- goal: [0, 2] + name: agent6 + start: [4, 6] +- goal: [5, 5] + name: agent7 + start: [1, 7] +- goal: [6, 3] + name: agent8 + start: [7, 0] +- goal: [7, 0] + name: agent9 + start: [4, 3] +- goal: [2, 4] + name: agent10 + start: [0, 3] +- goal: [7, 4] + name: agent11 + start: [0, 4] +- goal: [5, 3] + name: agent12 + start: [2, 2] +- goal: [1, 2] + name: agent13 + start: [0, 0] +- goal: [2, 3] + name: agent14 + start: [4, 4] +- goal: [3, 1] + name: agent15 + start: [5, 1] +- goal: [0, 3] + name: agent16 + start: [4, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 1] + - !!python/tuple [6, 5] + - !!python/tuple [0, 1] + - !!python/tuple [0, 6] + - !!python/tuple [3, 6] + - !!python/tuple [6, 2] + - !!python/tuple [3, 7] + - !!python/tuple [6, 6] + - !!python/tuple [0, 7] + - !!python/tuple [7, 5] + - !!python/tuple [5, 6] + - !!python/tuple [1, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex96.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex96.yaml new file mode 100644 index 0000000..e21059b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex96.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [2, 0] + name: agent0 + start: [2, 2] +- goal: [0, 7] + name: agent1 + start: [3, 3] +- goal: [3, 3] + name: agent2 + start: [1, 0] +- goal: [1, 1] + name: agent3 + start: [2, 7] +- goal: [4, 4] + name: agent4 + start: [7, 6] +- goal: [6, 3] + name: agent5 + start: [1, 1] +- goal: [5, 3] + name: agent6 + start: [4, 6] +- goal: [6, 0] + name: agent7 + start: [4, 3] +- goal: [7, 6] + name: agent8 + start: [2, 1] +- goal: [5, 0] + name: agent9 + start: [7, 4] +- goal: [1, 7] + name: agent10 + start: [0, 4] +- goal: [4, 1] + name: agent11 + start: [4, 0] +- goal: [2, 7] + name: agent12 + start: [4, 5] +- goal: [2, 2] + name: agent13 + start: [3, 0] +- goal: [4, 3] + name: agent14 + start: [2, 0] +- goal: [1, 0] + name: agent15 + start: [6, 6] +- goal: [7, 5] + name: agent16 + start: [2, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 6] + - !!python/tuple [1, 3] + - !!python/tuple [6, 1] + - !!python/tuple [3, 1] + - !!python/tuple [0, 3] + - !!python/tuple [1, 2] + - !!python/tuple [6, 4] + - !!python/tuple [5, 1] + - !!python/tuple [4, 2] + - !!python/tuple [3, 7] + - !!python/tuple [0, 1] + - !!python/tuple [6, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex97.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex97.yaml new file mode 100644 index 0000000..9d2d0b7 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex97.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [1, 6] + name: agent0 + start: [0, 6] +- goal: [5, 0] + name: agent1 + start: [6, 4] +- goal: [2, 3] + name: agent2 + start: [7, 1] +- goal: [2, 0] + name: agent3 + start: [1, 1] +- goal: [0, 2] + name: agent4 + start: [7, 2] +- goal: [4, 5] + name: agent5 + start: [5, 0] +- goal: [4, 3] + name: agent6 + start: [3, 4] +- goal: [6, 2] + name: agent7 + start: [3, 7] +- goal: [0, 0] + name: agent8 + start: [6, 3] +- goal: [1, 0] + name: agent9 + start: [7, 5] +- goal: [1, 4] + name: agent10 + start: [2, 7] +- goal: [6, 5] + name: agent11 + start: [5, 2] +- goal: [5, 7] + name: agent12 + start: [7, 0] +- goal: [3, 6] + name: agent13 + start: [5, 5] +- goal: [7, 1] + name: agent14 + start: [4, 4] +- goal: [3, 4] + name: agent15 + start: [4, 6] +- goal: [7, 5] + name: agent16 + start: [4, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 7] + - !!python/tuple [6, 7] + - !!python/tuple [2, 6] + - !!python/tuple [3, 1] + - !!python/tuple [6, 1] + - !!python/tuple [1, 3] + - !!python/tuple [2, 4] + - !!python/tuple [6, 6] + - !!python/tuple [3, 5] + - !!python/tuple [7, 6] + - !!python/tuple [2, 5] + - !!python/tuple [4, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex98.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex98.yaml new file mode 100644 index 0000000..de07499 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex98.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [2, 1] + name: agent0 + start: [5, 2] +- goal: [1, 3] + name: agent1 + start: [7, 2] +- goal: [0, 6] + name: agent2 + start: [1, 3] +- goal: [2, 0] + name: agent3 + start: [2, 4] +- goal: [6, 4] + name: agent4 + start: [5, 7] +- goal: [5, 7] + name: agent5 + start: [4, 7] +- goal: [2, 7] + name: agent6 + start: [2, 7] +- goal: [5, 6] + name: agent7 + start: [0, 2] +- goal: [2, 4] + name: agent8 + start: [2, 3] +- goal: [6, 0] + name: agent9 + start: [4, 0] +- goal: [4, 0] + name: agent10 + start: [2, 2] +- goal: [0, 2] + name: agent11 + start: [0, 3] +- goal: [3, 5] + name: agent12 + start: [5, 0] +- goal: [3, 6] + name: agent13 + start: [7, 6] +- goal: [5, 4] + name: agent14 + start: [4, 5] +- goal: [2, 6] + name: agent15 + start: [7, 1] +- goal: [6, 5] + name: agent16 + start: [7, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 7] + - !!python/tuple [6, 3] + - !!python/tuple [7, 5] + - !!python/tuple [4, 1] + - !!python/tuple [6, 7] + - !!python/tuple [6, 2] + - !!python/tuple [1, 0] + - !!python/tuple [3, 4] + - !!python/tuple [0, 5] + - !!python/tuple [1, 7] + - !!python/tuple [4, 6] + - !!python/tuple [5, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex99.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex99.yaml new file mode 100644 index 0000000..3c8a662 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents17_ex99.yaml @@ -0,0 +1,67 @@ +agents: +- goal: [4, 6] + name: agent0 + start: [2, 7] +- goal: [3, 2] + name: agent1 + start: [5, 1] +- goal: [6, 0] + name: agent2 + start: [3, 7] +- goal: [3, 0] + name: agent3 + start: [6, 6] +- goal: [3, 5] + name: agent4 + start: [2, 1] +- goal: [1, 0] + name: agent5 + start: [7, 3] +- goal: [5, 7] + name: agent6 + start: [4, 0] +- goal: [6, 3] + name: agent7 + start: [4, 4] +- goal: [1, 6] + name: agent8 + start: [3, 1] +- goal: [6, 1] + name: agent9 + start: [7, 1] +- goal: [7, 7] + name: agent10 + start: [5, 6] +- goal: [0, 1] + name: agent11 + start: [4, 7] +- goal: [6, 5] + name: agent12 + start: [5, 2] +- goal: [0, 0] + name: agent13 + start: [3, 2] +- goal: [0, 6] + name: agent14 + start: [0, 2] +- goal: [5, 6] + name: agent15 + start: [6, 4] +- goal: [0, 3] + name: agent16 + start: [5, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 5] + - !!python/tuple [4, 5] + - !!python/tuple [5, 4] + - !!python/tuple [6, 7] + - !!python/tuple [7, 0] + - !!python/tuple [0, 4] + - !!python/tuple [1, 1] + - !!python/tuple [3, 3] + - !!python/tuple [2, 3] + - !!python/tuple [3, 4] + - !!python/tuple [1, 7] + - !!python/tuple [1, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex0.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex0.yaml new file mode 100644 index 0000000..16098fa --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex0.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [7, 7] + name: agent0 + start: [4, 1] +- goal: [7, 3] + name: agent1 + start: [4, 4] +- goal: [2, 0] + name: agent2 + start: [0, 3] +- goal: [6, 0] + name: agent3 + start: [6, 5] +- goal: [6, 5] + name: agent4 + start: [1, 4] +- goal: [1, 1] + name: agent5 + start: [7, 4] +- goal: [2, 3] + name: agent6 + start: [5, 2] +- goal: [4, 1] + name: agent7 + start: [2, 2] +- goal: [2, 7] + name: agent8 + start: [3, 6] +- goal: [7, 0] + name: agent9 + start: [7, 5] +- goal: [4, 0] + name: agent10 + start: [3, 3] +- goal: [6, 2] + name: agent11 + start: [5, 4] +- goal: [4, 5] + name: agent12 + start: [2, 1] +- goal: [0, 4] + name: agent13 + start: [5, 0] +- goal: [2, 1] + name: agent14 + start: [5, 3] +- goal: [3, 4] + name: agent15 + start: [3, 4] +- goal: [2, 2] + name: agent16 + start: [1, 0] +- goal: [3, 7] + name: agent17 + start: [1, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 7] + - !!python/tuple [6, 7] + - !!python/tuple [1, 6] + - !!python/tuple [7, 2] + - !!python/tuple [4, 6] + - !!python/tuple [0, 1] + - !!python/tuple [2, 6] + - !!python/tuple [3, 5] + - !!python/tuple [0, 5] + - !!python/tuple [0, 2] + - !!python/tuple [7, 1] + - !!python/tuple [4, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex1.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex1.yaml new file mode 100644 index 0000000..bee2385 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex1.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [6, 6] + name: agent0 + start: [7, 1] +- goal: [1, 5] + name: agent1 + start: [2, 3] +- goal: [7, 7] + name: agent2 + start: [2, 6] +- goal: [1, 7] + name: agent3 + start: [1, 6] +- goal: [0, 0] + name: agent4 + start: [1, 1] +- goal: [0, 4] + name: agent5 + start: [7, 4] +- goal: [3, 2] + name: agent6 + start: [3, 7] +- goal: [3, 0] + name: agent7 + start: [3, 3] +- goal: [2, 1] + name: agent8 + start: [0, 0] +- goal: [4, 3] + name: agent9 + start: [5, 2] +- goal: [0, 6] + name: agent10 + start: [0, 3] +- goal: [4, 6] + name: agent11 + start: [3, 5] +- goal: [3, 3] + name: agent12 + start: [0, 1] +- goal: [4, 7] + name: agent13 + start: [6, 2] +- goal: [1, 0] + name: agent14 + start: [3, 1] +- goal: [2, 4] + name: agent15 + start: [3, 6] +- goal: [5, 6] + name: agent16 + start: [1, 0] +- goal: [3, 1] + name: agent17 + start: [4, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 7] + - !!python/tuple [0, 7] + - !!python/tuple [5, 4] + - !!python/tuple [3, 4] + - !!python/tuple [4, 4] + - !!python/tuple [5, 0] + - !!python/tuple [0, 5] + - !!python/tuple [6, 7] + - !!python/tuple [4, 2] + - !!python/tuple [1, 2] + - !!python/tuple [1, 3] + - !!python/tuple [4, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex10.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex10.yaml new file mode 100644 index 0000000..7422bb9 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex10.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [6, 3] + name: agent0 + start: [2, 4] +- goal: [1, 2] + name: agent1 + start: [2, 2] +- goal: [2, 7] + name: agent2 + start: [5, 2] +- goal: [4, 3] + name: agent3 + start: [3, 1] +- goal: [6, 6] + name: agent4 + start: [7, 0] +- goal: [0, 1] + name: agent5 + start: [6, 2] +- goal: [5, 0] + name: agent6 + start: [6, 6] +- goal: [0, 7] + name: agent7 + start: [5, 7] +- goal: [7, 0] + name: agent8 + start: [4, 1] +- goal: [7, 7] + name: agent9 + start: [3, 4] +- goal: [4, 5] + name: agent10 + start: [2, 6] +- goal: [0, 6] + name: agent11 + start: [4, 7] +- goal: [3, 7] + name: agent12 + start: [0, 4] +- goal: [5, 2] + name: agent13 + start: [5, 5] +- goal: [5, 7] + name: agent14 + start: [7, 6] +- goal: [1, 4] + name: agent15 + start: [1, 4] +- goal: [2, 4] + name: agent16 + start: [6, 1] +- goal: [5, 5] + name: agent17 + start: [0, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 0] + - !!python/tuple [7, 2] + - !!python/tuple [4, 4] + - !!python/tuple [3, 3] + - !!python/tuple [2, 1] + - !!python/tuple [7, 5] + - !!python/tuple [2, 5] + - !!python/tuple [5, 3] + - !!python/tuple [7, 1] + - !!python/tuple [0, 5] + - !!python/tuple [5, 6] + - !!python/tuple [6, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex11.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex11.yaml new file mode 100644 index 0000000..ec87be8 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex11.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [4, 7] + name: agent0 + start: [0, 4] +- goal: [7, 3] + name: agent1 + start: [0, 6] +- goal: [7, 7] + name: agent2 + start: [6, 7] +- goal: [4, 0] + name: agent3 + start: [7, 6] +- goal: [3, 4] + name: agent4 + start: [1, 2] +- goal: [5, 4] + name: agent5 + start: [0, 3] +- goal: [0, 5] + name: agent6 + start: [5, 7] +- goal: [2, 1] + name: agent7 + start: [6, 3] +- goal: [4, 2] + name: agent8 + start: [2, 1] +- goal: [1, 1] + name: agent9 + start: [7, 3] +- goal: [6, 5] + name: agent10 + start: [7, 5] +- goal: [7, 4] + name: agent11 + start: [4, 0] +- goal: [0, 4] + name: agent12 + start: [0, 1] +- goal: [6, 3] + name: agent13 + start: [3, 6] +- goal: [2, 2] + name: agent14 + start: [2, 3] +- goal: [3, 5] + name: agent15 + start: [7, 4] +- goal: [2, 7] + name: agent16 + start: [3, 1] +- goal: [0, 0] + name: agent17 + start: [4, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 3] + - !!python/tuple [4, 6] + - !!python/tuple [2, 6] + - !!python/tuple [6, 2] + - !!python/tuple [1, 4] + - !!python/tuple [5, 5] + - !!python/tuple [5, 0] + - !!python/tuple [6, 6] + - !!python/tuple [5, 1] + - !!python/tuple [7, 1] + - !!python/tuple [6, 4] + - !!python/tuple [3, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex12.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex12.yaml new file mode 100644 index 0000000..d1e5410 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex12.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [7, 7] + name: agent0 + start: [6, 0] +- goal: [5, 6] + name: agent1 + start: [4, 5] +- goal: [0, 7] + name: agent2 + start: [7, 6] +- goal: [2, 1] + name: agent3 + start: [4, 6] +- goal: [2, 6] + name: agent4 + start: [0, 7] +- goal: [6, 4] + name: agent5 + start: [3, 6] +- goal: [7, 6] + name: agent6 + start: [4, 2] +- goal: [3, 2] + name: agent7 + start: [6, 3] +- goal: [0, 1] + name: agent8 + start: [7, 0] +- goal: [1, 7] + name: agent9 + start: [4, 1] +- goal: [4, 5] + name: agent10 + start: [3, 0] +- goal: [4, 7] + name: agent11 + start: [5, 6] +- goal: [4, 1] + name: agent12 + start: [1, 7] +- goal: [4, 6] + name: agent13 + start: [1, 2] +- goal: [2, 5] + name: agent14 + start: [3, 5] +- goal: [3, 1] + name: agent15 + start: [6, 5] +- goal: [6, 1] + name: agent16 + start: [2, 5] +- goal: [2, 2] + name: agent17 + start: [3, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 5] + - !!python/tuple [0, 6] + - !!python/tuple [1, 1] + - !!python/tuple [3, 4] + - !!python/tuple [0, 0] + - !!python/tuple [2, 0] + - !!python/tuple [7, 2] + - !!python/tuple [1, 4] + - !!python/tuple [0, 4] + - !!python/tuple [6, 2] + - !!python/tuple [1, 5] + - !!python/tuple [5, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex13.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex13.yaml new file mode 100644 index 0000000..2c780fa --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex13.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [6, 7] + name: agent0 + start: [3, 2] +- goal: [2, 3] + name: agent1 + start: [3, 6] +- goal: [0, 6] + name: agent2 + start: [0, 4] +- goal: [3, 0] + name: agent3 + start: [6, 5] +- goal: [6, 4] + name: agent4 + start: [2, 6] +- goal: [2, 2] + name: agent5 + start: [6, 0] +- goal: [1, 7] + name: agent6 + start: [1, 6] +- goal: [3, 6] + name: agent7 + start: [3, 5] +- goal: [3, 7] + name: agent8 + start: [0, 5] +- goal: [4, 7] + name: agent9 + start: [6, 7] +- goal: [3, 4] + name: agent10 + start: [5, 7] +- goal: [5, 7] + name: agent11 + start: [4, 5] +- goal: [1, 6] + name: agent12 + start: [7, 3] +- goal: [6, 0] + name: agent13 + start: [0, 6] +- goal: [7, 7] + name: agent14 + start: [7, 2] +- goal: [5, 6] + name: agent15 + start: [1, 1] +- goal: [0, 1] + name: agent16 + start: [5, 3] +- goal: [0, 2] + name: agent17 + start: [2, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 1] + - !!python/tuple [0, 0] + - !!python/tuple [7, 0] + - !!python/tuple [7, 1] + - !!python/tuple [4, 1] + - !!python/tuple [5, 4] + - !!python/tuple [3, 3] + - !!python/tuple [1, 5] + - !!python/tuple [5, 2] + - !!python/tuple [0, 3] + - !!python/tuple [5, 0] + - !!python/tuple [1, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex14.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex14.yaml new file mode 100644 index 0000000..dd56c5d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex14.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [2, 7] + name: agent0 + start: [3, 6] +- goal: [6, 5] + name: agent1 + start: [6, 5] +- goal: [0, 7] + name: agent2 + start: [4, 0] +- goal: [3, 7] + name: agent3 + start: [5, 0] +- goal: [3, 2] + name: agent4 + start: [4, 6] +- goal: [6, 0] + name: agent5 + start: [0, 1] +- goal: [0, 4] + name: agent6 + start: [5, 6] +- goal: [7, 1] + name: agent7 + start: [1, 5] +- goal: [1, 3] + name: agent8 + start: [2, 3] +- goal: [4, 6] + name: agent9 + start: [0, 2] +- goal: [2, 0] + name: agent10 + start: [1, 4] +- goal: [1, 2] + name: agent11 + start: [5, 2] +- goal: [5, 2] + name: agent12 + start: [0, 0] +- goal: [7, 6] + name: agent13 + start: [7, 6] +- goal: [2, 3] + name: agent14 + start: [3, 0] +- goal: [1, 4] + name: agent15 + start: [7, 1] +- goal: [1, 0] + name: agent16 + start: [2, 0] +- goal: [1, 6] + name: agent17 + start: [1, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 6] + - !!python/tuple [7, 7] + - !!python/tuple [6, 1] + - !!python/tuple [6, 4] + - !!python/tuple [5, 1] + - !!python/tuple [5, 4] + - !!python/tuple [7, 0] + - !!python/tuple [6, 7] + - !!python/tuple [4, 1] + - !!python/tuple [4, 3] + - !!python/tuple [6, 3] + - !!python/tuple [6, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex15.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex15.yaml new file mode 100644 index 0000000..1bd586b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex15.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [3, 1] + name: agent0 + start: [3, 1] +- goal: [6, 1] + name: agent1 + start: [5, 2] +- goal: [4, 0] + name: agent2 + start: [1, 5] +- goal: [0, 6] + name: agent3 + start: [7, 4] +- goal: [7, 1] + name: agent4 + start: [7, 5] +- goal: [6, 7] + name: agent5 + start: [7, 2] +- goal: [7, 6] + name: agent6 + start: [0, 6] +- goal: [6, 4] + name: agent7 + start: [6, 0] +- goal: [5, 6] + name: agent8 + start: [0, 7] +- goal: [0, 1] + name: agent9 + start: [5, 5] +- goal: [7, 4] + name: agent10 + start: [7, 6] +- goal: [0, 3] + name: agent11 + start: [6, 5] +- goal: [1, 5] + name: agent12 + start: [1, 7] +- goal: [2, 2] + name: agent13 + start: [3, 7] +- goal: [7, 2] + name: agent14 + start: [4, 3] +- goal: [1, 7] + name: agent15 + start: [1, 3] +- goal: [3, 4] + name: agent16 + start: [6, 7] +- goal: [3, 7] + name: agent17 + start: [2, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 2] + - !!python/tuple [6, 6] + - !!python/tuple [4, 7] + - !!python/tuple [7, 3] + - !!python/tuple [2, 7] + - !!python/tuple [2, 1] + - !!python/tuple [0, 4] + - !!python/tuple [5, 7] + - !!python/tuple [3, 2] + - !!python/tuple [6, 3] + - !!python/tuple [5, 3] + - !!python/tuple [1, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex16.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex16.yaml new file mode 100644 index 0000000..9bddad0 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex16.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [4, 4] + name: agent0 + start: [3, 1] +- goal: [1, 4] + name: agent1 + start: [6, 4] +- goal: [7, 3] + name: agent2 + start: [1, 3] +- goal: [5, 1] + name: agent3 + start: [6, 7] +- goal: [0, 6] + name: agent4 + start: [5, 2] +- goal: [6, 2] + name: agent5 + start: [5, 6] +- goal: [0, 4] + name: agent6 + start: [0, 3] +- goal: [0, 5] + name: agent7 + start: [0, 2] +- goal: [7, 6] + name: agent8 + start: [7, 5] +- goal: [4, 2] + name: agent9 + start: [2, 6] +- goal: [1, 7] + name: agent10 + start: [4, 7] +- goal: [5, 7] + name: agent11 + start: [3, 0] +- goal: [6, 6] + name: agent12 + start: [1, 7] +- goal: [5, 3] + name: agent13 + start: [6, 0] +- goal: [6, 1] + name: agent14 + start: [4, 6] +- goal: [4, 1] + name: agent15 + start: [6, 3] +- goal: [2, 7] + name: agent16 + start: [1, 6] +- goal: [3, 6] + name: agent17 + start: [2, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 1] + - !!python/tuple [2, 2] + - !!python/tuple [4, 3] + - !!python/tuple [5, 5] + - !!python/tuple [7, 2] + - !!python/tuple [7, 7] + - !!python/tuple [3, 3] + - !!python/tuple [5, 4] + - !!python/tuple [4, 5] + - !!python/tuple [4, 0] + - !!python/tuple [1, 2] + - !!python/tuple [7, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex17.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex17.yaml new file mode 100644 index 0000000..ce78fb5 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex17.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [0, 6] + name: agent0 + start: [2, 1] +- goal: [0, 0] + name: agent1 + start: [2, 0] +- goal: [5, 7] + name: agent2 + start: [3, 1] +- goal: [0, 3] + name: agent3 + start: [2, 3] +- goal: [2, 1] + name: agent4 + start: [1, 0] +- goal: [3, 3] + name: agent5 + start: [5, 2] +- goal: [4, 6] + name: agent6 + start: [5, 0] +- goal: [1, 3] + name: agent7 + start: [1, 3] +- goal: [5, 3] + name: agent8 + start: [2, 7] +- goal: [6, 1] + name: agent9 + start: [4, 7] +- goal: [0, 2] + name: agent10 + start: [5, 3] +- goal: [5, 6] + name: agent11 + start: [7, 0] +- goal: [2, 0] + name: agent12 + start: [7, 4] +- goal: [0, 7] + name: agent13 + start: [4, 2] +- goal: [3, 0] + name: agent14 + start: [6, 7] +- goal: [1, 7] + name: agent15 + start: [6, 3] +- goal: [0, 5] + name: agent16 + start: [2, 6] +- goal: [4, 7] + name: agent17 + start: [7, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 1] + - !!python/tuple [7, 2] + - !!python/tuple [7, 6] + - !!python/tuple [6, 4] + - !!python/tuple [3, 6] + - !!python/tuple [5, 4] + - !!python/tuple [5, 5] + - !!python/tuple [4, 3] + - !!python/tuple [0, 4] + - !!python/tuple [3, 2] + - !!python/tuple [4, 0] + - !!python/tuple [1, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex18.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex18.yaml new file mode 100644 index 0000000..99246e7 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex18.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [3, 5] + name: agent0 + start: [2, 4] +- goal: [0, 4] + name: agent1 + start: [5, 0] +- goal: [6, 7] + name: agent2 + start: [7, 1] +- goal: [1, 7] + name: agent3 + start: [4, 4] +- goal: [2, 4] + name: agent4 + start: [1, 1] +- goal: [7, 3] + name: agent5 + start: [6, 4] +- goal: [2, 3] + name: agent6 + start: [3, 1] +- goal: [7, 0] + name: agent7 + start: [7, 5] +- goal: [5, 7] + name: agent8 + start: [5, 4] +- goal: [2, 5] + name: agent9 + start: [0, 0] +- goal: [6, 2] + name: agent10 + start: [3, 5] +- goal: [7, 4] + name: agent11 + start: [2, 0] +- goal: [3, 0] + name: agent12 + start: [5, 7] +- goal: [2, 2] + name: agent13 + start: [0, 5] +- goal: [5, 5] + name: agent14 + start: [4, 0] +- goal: [5, 2] + name: agent15 + start: [1, 3] +- goal: [2, 0] + name: agent16 + start: [4, 6] +- goal: [1, 0] + name: agent17 + start: [1, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 3] + - !!python/tuple [7, 7] + - !!python/tuple [5, 6] + - !!python/tuple [1, 6] + - !!python/tuple [6, 1] + - !!python/tuple [4, 2] + - !!python/tuple [0, 1] + - !!python/tuple [6, 3] + - !!python/tuple [6, 0] + - !!python/tuple [1, 4] + - !!python/tuple [3, 2] + - !!python/tuple [7, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex19.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex19.yaml new file mode 100644 index 0000000..524064e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex19.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [3, 5] + name: agent0 + start: [4, 3] +- goal: [1, 7] + name: agent1 + start: [2, 3] +- goal: [4, 6] + name: agent2 + start: [6, 2] +- goal: [5, 3] + name: agent3 + start: [1, 2] +- goal: [4, 0] + name: agent4 + start: [3, 7] +- goal: [5, 0] + name: agent5 + start: [1, 3] +- goal: [1, 0] + name: agent6 + start: [1, 6] +- goal: [3, 6] + name: agent7 + start: [2, 6] +- goal: [7, 4] + name: agent8 + start: [4, 1] +- goal: [2, 1] + name: agent9 + start: [0, 6] +- goal: [3, 4] + name: agent10 + start: [7, 6] +- goal: [6, 3] + name: agent11 + start: [4, 7] +- goal: [4, 4] + name: agent12 + start: [6, 6] +- goal: [0, 5] + name: agent13 + start: [4, 6] +- goal: [7, 3] + name: agent14 + start: [0, 5] +- goal: [6, 4] + name: agent15 + start: [3, 6] +- goal: [5, 6] + name: agent16 + start: [0, 2] +- goal: [6, 6] + name: agent17 + start: [7, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 7] + - !!python/tuple [1, 4] + - !!python/tuple [5, 5] + - !!python/tuple [5, 4] + - !!python/tuple [3, 0] + - !!python/tuple [7, 1] + - !!python/tuple [6, 5] + - !!python/tuple [6, 0] + - !!python/tuple [0, 0] + - !!python/tuple [6, 7] + - !!python/tuple [6, 1] + - !!python/tuple [3, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex2.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex2.yaml new file mode 100644 index 0000000..01c1d3e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex2.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [2, 5] + name: agent0 + start: [0, 3] +- goal: [2, 1] + name: agent1 + start: [2, 7] +- goal: [4, 4] + name: agent2 + start: [3, 3] +- goal: [1, 1] + name: agent3 + start: [6, 1] +- goal: [6, 6] + name: agent4 + start: [4, 4] +- goal: [2, 2] + name: agent5 + start: [7, 2] +- goal: [5, 0] + name: agent6 + start: [4, 0] +- goal: [0, 1] + name: agent7 + start: [6, 4] +- goal: [4, 7] + name: agent8 + start: [7, 6] +- goal: [3, 6] + name: agent9 + start: [2, 3] +- goal: [0, 4] + name: agent10 + start: [0, 5] +- goal: [4, 3] + name: agent11 + start: [7, 5] +- goal: [6, 1] + name: agent12 + start: [5, 7] +- goal: [5, 7] + name: agent13 + start: [1, 5] +- goal: [0, 2] + name: agent14 + start: [6, 3] +- goal: [7, 7] + name: agent15 + start: [5, 0] +- goal: [1, 4] + name: agent16 + start: [3, 4] +- goal: [1, 3] + name: agent17 + start: [2, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 5] + - !!python/tuple [4, 2] + - !!python/tuple [1, 2] + - !!python/tuple [7, 0] + - !!python/tuple [7, 1] + - !!python/tuple [5, 4] + - !!python/tuple [1, 6] + - !!python/tuple [5, 2] + - !!python/tuple [4, 5] + - !!python/tuple [1, 7] + - !!python/tuple [2, 6] + - !!python/tuple [5, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex20.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex20.yaml new file mode 100644 index 0000000..8841cd7 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex20.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [2, 7] + name: agent0 + start: [0, 4] +- goal: [3, 4] + name: agent1 + start: [4, 1] +- goal: [0, 4] + name: agent2 + start: [6, 6] +- goal: [7, 4] + name: agent3 + start: [0, 2] +- goal: [6, 3] + name: agent4 + start: [1, 1] +- goal: [2, 2] + name: agent5 + start: [1, 4] +- goal: [2, 5] + name: agent6 + start: [2, 1] +- goal: [0, 3] + name: agent7 + start: [1, 0] +- goal: [1, 6] + name: agent8 + start: [6, 7] +- goal: [6, 2] + name: agent9 + start: [4, 0] +- goal: [1, 0] + name: agent10 + start: [0, 1] +- goal: [6, 0] + name: agent11 + start: [3, 7] +- goal: [0, 6] + name: agent12 + start: [3, 2] +- goal: [6, 7] + name: agent13 + start: [2, 3] +- goal: [0, 0] + name: agent14 + start: [4, 7] +- goal: [4, 7] + name: agent15 + start: [1, 2] +- goal: [7, 5] + name: agent16 + start: [7, 1] +- goal: [0, 2] + name: agent17 + start: [2, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 5] + - !!python/tuple [6, 4] + - !!python/tuple [3, 1] + - !!python/tuple [1, 3] + - !!python/tuple [7, 3] + - !!python/tuple [0, 7] + - !!python/tuple [5, 1] + - !!python/tuple [4, 3] + - !!python/tuple [7, 6] + - !!python/tuple [3, 0] + - !!python/tuple [4, 2] + - !!python/tuple [2, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex21.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex21.yaml new file mode 100644 index 0000000..bcee823 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex21.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [6, 7] + name: agent0 + start: [7, 7] +- goal: [2, 7] + name: agent1 + start: [0, 0] +- goal: [2, 4] + name: agent2 + start: [5, 0] +- goal: [4, 4] + name: agent3 + start: [4, 0] +- goal: [3, 1] + name: agent4 + start: [3, 1] +- goal: [6, 6] + name: agent5 + start: [1, 4] +- goal: [0, 2] + name: agent6 + start: [3, 3] +- goal: [1, 7] + name: agent7 + start: [2, 3] +- goal: [7, 7] + name: agent8 + start: [0, 4] +- goal: [1, 0] + name: agent9 + start: [7, 5] +- goal: [2, 3] + name: agent10 + start: [7, 4] +- goal: [4, 2] + name: agent11 + start: [2, 1] +- goal: [0, 0] + name: agent12 + start: [2, 6] +- goal: [6, 4] + name: agent13 + start: [6, 6] +- goal: [3, 7] + name: agent14 + start: [3, 7] +- goal: [5, 5] + name: agent15 + start: [3, 2] +- goal: [5, 4] + name: agent16 + start: [4, 4] +- goal: [4, 0] + name: agent17 + start: [6, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 6] + - !!python/tuple [1, 3] + - !!python/tuple [0, 5] + - !!python/tuple [6, 2] + - !!python/tuple [0, 1] + - !!python/tuple [3, 0] + - !!python/tuple [7, 6] + - !!python/tuple [5, 1] + - !!python/tuple [1, 6] + - !!python/tuple [2, 0] + - !!python/tuple [2, 2] + - !!python/tuple [5, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex22.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex22.yaml new file mode 100644 index 0000000..7f939b8 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex22.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [4, 3] + name: agent0 + start: [2, 0] +- goal: [4, 6] + name: agent1 + start: [7, 7] +- goal: [2, 2] + name: agent2 + start: [6, 6] +- goal: [1, 5] + name: agent3 + start: [0, 2] +- goal: [5, 6] + name: agent4 + start: [4, 6] +- goal: [0, 3] + name: agent5 + start: [0, 3] +- goal: [2, 0] + name: agent6 + start: [1, 0] +- goal: [7, 2] + name: agent7 + start: [1, 5] +- goal: [5, 1] + name: agent8 + start: [4, 1] +- goal: [6, 3] + name: agent9 + start: [5, 2] +- goal: [4, 1] + name: agent10 + start: [2, 5] +- goal: [2, 5] + name: agent11 + start: [3, 1] +- goal: [3, 2] + name: agent12 + start: [4, 2] +- goal: [6, 7] + name: agent13 + start: [3, 2] +- goal: [6, 4] + name: agent14 + start: [3, 4] +- goal: [6, 2] + name: agent15 + start: [2, 3] +- goal: [2, 1] + name: agent16 + start: [1, 1] +- goal: [7, 1] + name: agent17 + start: [1, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 3] + - !!python/tuple [2, 4] + - !!python/tuple [4, 5] + - !!python/tuple [4, 7] + - !!python/tuple [5, 3] + - !!python/tuple [2, 7] + - !!python/tuple [3, 5] + - !!python/tuple [3, 3] + - !!python/tuple [0, 6] + - !!python/tuple [7, 0] + - !!python/tuple [3, 6] + - !!python/tuple [7, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex23.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex23.yaml new file mode 100644 index 0000000..f1e5544 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex23.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [2, 0] + name: agent0 + start: [6, 5] +- goal: [7, 0] + name: agent1 + start: [2, 4] +- goal: [7, 3] + name: agent2 + start: [3, 2] +- goal: [4, 6] + name: agent3 + start: [5, 1] +- goal: [3, 1] + name: agent4 + start: [4, 1] +- goal: [3, 3] + name: agent5 + start: [4, 3] +- goal: [6, 4] + name: agent6 + start: [5, 6] +- goal: [2, 4] + name: agent7 + start: [1, 2] +- goal: [2, 5] + name: agent8 + start: [0, 1] +- goal: [6, 6] + name: agent9 + start: [1, 3] +- goal: [4, 1] + name: agent10 + start: [4, 2] +- goal: [3, 6] + name: agent11 + start: [6, 4] +- goal: [5, 6] + name: agent12 + start: [6, 0] +- goal: [0, 3] + name: agent13 + start: [3, 5] +- goal: [1, 3] + name: agent14 + start: [6, 3] +- goal: [1, 5] + name: agent15 + start: [4, 6] +- goal: [4, 7] + name: agent16 + start: [2, 2] +- goal: [6, 3] + name: agent17 + start: [0, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 5] + - !!python/tuple [3, 7] + - !!python/tuple [4, 4] + - !!python/tuple [4, 5] + - !!python/tuple [7, 4] + - !!python/tuple [6, 1] + - !!python/tuple [6, 2] + - !!python/tuple [0, 5] + - !!python/tuple [0, 4] + - !!python/tuple [5, 7] + - !!python/tuple [7, 2] + - !!python/tuple [5, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex24.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex24.yaml new file mode 100644 index 0000000..400f2a6 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex24.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [1, 2] + name: agent0 + start: [2, 7] +- goal: [0, 1] + name: agent1 + start: [2, 5] +- goal: [3, 5] + name: agent2 + start: [2, 3] +- goal: [3, 3] + name: agent3 + start: [2, 1] +- goal: [0, 3] + name: agent4 + start: [1, 2] +- goal: [2, 5] + name: agent5 + start: [6, 1] +- goal: [0, 5] + name: agent6 + start: [3, 3] +- goal: [1, 6] + name: agent7 + start: [4, 1] +- goal: [5, 4] + name: agent8 + start: [3, 2] +- goal: [1, 1] + name: agent9 + start: [1, 0] +- goal: [3, 0] + name: agent10 + start: [6, 2] +- goal: [7, 7] + name: agent11 + start: [4, 4] +- goal: [7, 1] + name: agent12 + start: [7, 3] +- goal: [3, 7] + name: agent13 + start: [3, 6] +- goal: [6, 4] + name: agent14 + start: [1, 7] +- goal: [6, 7] + name: agent15 + start: [7, 7] +- goal: [4, 6] + name: agent16 + start: [5, 4] +- goal: [2, 3] + name: agent17 + start: [6, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 6] + - !!python/tuple [7, 2] + - !!python/tuple [4, 0] + - !!python/tuple [5, 1] + - !!python/tuple [6, 0] + - !!python/tuple [7, 0] + - !!python/tuple [0, 0] + - !!python/tuple [3, 4] + - !!python/tuple [5, 6] + - !!python/tuple [4, 2] + - !!python/tuple [1, 3] + - !!python/tuple [7, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex25.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex25.yaml new file mode 100644 index 0000000..503a3e2 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex25.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [6, 5] + name: agent0 + start: [4, 5] +- goal: [2, 3] + name: agent1 + start: [1, 3] +- goal: [4, 1] + name: agent2 + start: [3, 6] +- goal: [1, 3] + name: agent3 + start: [7, 4] +- goal: [7, 6] + name: agent4 + start: [1, 0] +- goal: [5, 1] + name: agent5 + start: [5, 0] +- goal: [2, 7] + name: agent6 + start: [6, 5] +- goal: [2, 4] + name: agent7 + start: [7, 5] +- goal: [6, 1] + name: agent8 + start: [4, 6] +- goal: [6, 0] + name: agent9 + start: [2, 7] +- goal: [0, 3] + name: agent10 + start: [3, 2] +- goal: [0, 2] + name: agent11 + start: [3, 4] +- goal: [5, 6] + name: agent12 + start: [4, 2] +- goal: [1, 0] + name: agent13 + start: [2, 6] +- goal: [2, 0] + name: agent14 + start: [2, 0] +- goal: [1, 2] + name: agent15 + start: [0, 1] +- goal: [5, 3] + name: agent16 + start: [7, 6] +- goal: [7, 3] + name: agent17 + start: [5, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 0] + - !!python/tuple [3, 3] + - !!python/tuple [3, 5] + - !!python/tuple [1, 5] + - !!python/tuple [6, 4] + - !!python/tuple [7, 1] + - !!python/tuple [2, 1] + - !!python/tuple [4, 7] + - !!python/tuple [1, 6] + - !!python/tuple [7, 2] + - !!python/tuple [0, 6] + - !!python/tuple [7, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex26.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex26.yaml new file mode 100644 index 0000000..35ea779 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex26.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [5, 4] + name: agent0 + start: [1, 5] +- goal: [6, 0] + name: agent1 + start: [7, 1] +- goal: [1, 7] + name: agent2 + start: [1, 4] +- goal: [4, 1] + name: agent3 + start: [1, 6] +- goal: [7, 1] + name: agent4 + start: [1, 3] +- goal: [0, 0] + name: agent5 + start: [3, 0] +- goal: [0, 6] + name: agent6 + start: [2, 6] +- goal: [5, 7] + name: agent7 + start: [5, 0] +- goal: [5, 3] + name: agent8 + start: [1, 7] +- goal: [3, 6] + name: agent9 + start: [0, 6] +- goal: [6, 5] + name: agent10 + start: [4, 5] +- goal: [7, 6] + name: agent11 + start: [7, 3] +- goal: [4, 0] + name: agent12 + start: [0, 1] +- goal: [3, 3] + name: agent13 + start: [2, 3] +- goal: [4, 4] + name: agent14 + start: [4, 4] +- goal: [5, 1] + name: agent15 + start: [4, 3] +- goal: [2, 7] + name: agent16 + start: [6, 5] +- goal: [7, 2] + name: agent17 + start: [0, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 2] + - !!python/tuple [5, 6] + - !!python/tuple [0, 3] + - !!python/tuple [6, 6] + - !!python/tuple [6, 2] + - !!python/tuple [2, 0] + - !!python/tuple [1, 0] + - !!python/tuple [7, 5] + - !!python/tuple [6, 3] + - !!python/tuple [2, 5] + - !!python/tuple [1, 1] + - !!python/tuple [5, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex27.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex27.yaml new file mode 100644 index 0000000..59c277a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex27.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [2, 6] + name: agent0 + start: [0, 6] +- goal: [6, 3] + name: agent1 + start: [3, 4] +- goal: [4, 6] + name: agent2 + start: [6, 0] +- goal: [7, 0] + name: agent3 + start: [0, 5] +- goal: [5, 6] + name: agent4 + start: [7, 2] +- goal: [1, 0] + name: agent5 + start: [5, 2] +- goal: [7, 2] + name: agent6 + start: [7, 6] +- goal: [4, 1] + name: agent7 + start: [2, 2] +- goal: [5, 2] + name: agent8 + start: [3, 0] +- goal: [5, 5] + name: agent9 + start: [6, 2] +- goal: [5, 4] + name: agent10 + start: [5, 3] +- goal: [3, 4] + name: agent11 + start: [6, 7] +- goal: [6, 1] + name: agent12 + start: [2, 1] +- goal: [1, 6] + name: agent13 + start: [4, 1] +- goal: [7, 7] + name: agent14 + start: [1, 7] +- goal: [5, 7] + name: agent15 + start: [6, 3] +- goal: [3, 6] + name: agent16 + start: [7, 1] +- goal: [2, 0] + name: agent17 + start: [3, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 3] + - !!python/tuple [6, 4] + - !!python/tuple [1, 5] + - !!python/tuple [3, 7] + - !!python/tuple [2, 3] + - !!python/tuple [7, 4] + - !!python/tuple [5, 0] + - !!python/tuple [4, 5] + - !!python/tuple [7, 3] + - !!python/tuple [4, 3] + - !!python/tuple [4, 2] + - !!python/tuple [4, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex28.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex28.yaml new file mode 100644 index 0000000..e4024df --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex28.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [1, 0] + name: agent0 + start: [6, 7] +- goal: [0, 6] + name: agent1 + start: [7, 5] +- goal: [5, 4] + name: agent2 + start: [0, 6] +- goal: [2, 4] + name: agent3 + start: [0, 4] +- goal: [0, 4] + name: agent4 + start: [7, 4] +- goal: [1, 7] + name: agent5 + start: [6, 3] +- goal: [0, 2] + name: agent6 + start: [2, 3] +- goal: [4, 7] + name: agent7 + start: [0, 5] +- goal: [0, 7] + name: agent8 + start: [3, 2] +- goal: [3, 3] + name: agent9 + start: [1, 3] +- goal: [3, 0] + name: agent10 + start: [4, 2] +- goal: [2, 7] + name: agent11 + start: [1, 5] +- goal: [5, 6] + name: agent12 + start: [3, 6] +- goal: [5, 7] + name: agent13 + start: [0, 0] +- goal: [3, 5] + name: agent14 + start: [5, 5] +- goal: [7, 5] + name: agent15 + start: [5, 6] +- goal: [3, 4] + name: agent16 + start: [4, 1] +- goal: [5, 3] + name: agent17 + start: [6, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 1] + - !!python/tuple [1, 1] + - !!python/tuple [1, 4] + - !!python/tuple [2, 6] + - !!python/tuple [7, 2] + - !!python/tuple [5, 1] + - !!python/tuple [7, 6] + - !!python/tuple [4, 0] + - !!python/tuple [4, 5] + - !!python/tuple [1, 6] + - !!python/tuple [2, 0] + - !!python/tuple [4, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex29.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex29.yaml new file mode 100644 index 0000000..5aec030 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex29.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [2, 3] + name: agent0 + start: [3, 2] +- goal: [7, 1] + name: agent1 + start: [3, 1] +- goal: [5, 3] + name: agent2 + start: [4, 3] +- goal: [3, 7] + name: agent3 + start: [0, 2] +- goal: [1, 6] + name: agent4 + start: [1, 2] +- goal: [1, 0] + name: agent5 + start: [1, 3] +- goal: [5, 5] + name: agent6 + start: [0, 0] +- goal: [2, 1] + name: agent7 + start: [6, 4] +- goal: [0, 0] + name: agent8 + start: [5, 7] +- goal: [0, 2] + name: agent9 + start: [3, 4] +- goal: [3, 4] + name: agent10 + start: [0, 6] +- goal: [7, 3] + name: agent11 + start: [6, 6] +- goal: [3, 2] + name: agent12 + start: [6, 2] +- goal: [0, 6] + name: agent13 + start: [4, 7] +- goal: [4, 7] + name: agent14 + start: [4, 2] +- goal: [0, 4] + name: agent15 + start: [2, 5] +- goal: [7, 2] + name: agent16 + start: [7, 5] +- goal: [1, 3] + name: agent17 + start: [7, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 5] + - !!python/tuple [4, 4] + - !!python/tuple [5, 6] + - !!python/tuple [3, 0] + - !!python/tuple [1, 5] + - !!python/tuple [5, 2] + - !!python/tuple [0, 7] + - !!python/tuple [1, 4] + - !!python/tuple [7, 4] + - !!python/tuple [2, 4] + - !!python/tuple [4, 5] + - !!python/tuple [0, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex3.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex3.yaml new file mode 100644 index 0000000..3322f24 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex3.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [0, 6] + name: agent0 + start: [0, 6] +- goal: [3, 1] + name: agent1 + start: [5, 3] +- goal: [5, 2] + name: agent2 + start: [4, 4] +- goal: [2, 1] + name: agent3 + start: [4, 3] +- goal: [3, 4] + name: agent4 + start: [3, 4] +- goal: [1, 4] + name: agent5 + start: [6, 6] +- goal: [5, 0] + name: agent6 + start: [6, 0] +- goal: [6, 2] + name: agent7 + start: [5, 7] +- goal: [7, 1] + name: agent8 + start: [6, 5] +- goal: [3, 0] + name: agent9 + start: [4, 0] +- goal: [0, 0] + name: agent10 + start: [1, 1] +- goal: [0, 3] + name: agent11 + start: [5, 6] +- goal: [2, 4] + name: agent12 + start: [6, 7] +- goal: [6, 7] + name: agent13 + start: [6, 1] +- goal: [0, 5] + name: agent14 + start: [3, 2] +- goal: [4, 3] + name: agent15 + start: [1, 6] +- goal: [5, 7] + name: agent16 + start: [5, 4] +- goal: [6, 6] + name: agent17 + start: [4, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 2] + - !!python/tuple [7, 0] + - !!python/tuple [3, 5] + - !!python/tuple [7, 5] + - !!python/tuple [2, 5] + - !!python/tuple [7, 3] + - !!python/tuple [3, 6] + - !!python/tuple [2, 6] + - !!python/tuple [3, 3] + - !!python/tuple [3, 7] + - !!python/tuple [7, 2] + - !!python/tuple [2, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex30.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex30.yaml new file mode 100644 index 0000000..f732c10 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex30.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [7, 4] + name: agent0 + start: [3, 0] +- goal: [1, 7] + name: agent1 + start: [7, 4] +- goal: [4, 5] + name: agent2 + start: [4, 3] +- goal: [3, 3] + name: agent3 + start: [2, 6] +- goal: [6, 4] + name: agent4 + start: [7, 2] +- goal: [0, 1] + name: agent5 + start: [0, 2] +- goal: [3, 5] + name: agent6 + start: [4, 7] +- goal: [4, 6] + name: agent7 + start: [4, 4] +- goal: [7, 6] + name: agent8 + start: [2, 3] +- goal: [1, 5] + name: agent9 + start: [0, 7] +- goal: [3, 6] + name: agent10 + start: [7, 1] +- goal: [6, 7] + name: agent11 + start: [4, 5] +- goal: [5, 0] + name: agent12 + start: [1, 4] +- goal: [5, 4] + name: agent13 + start: [3, 3] +- goal: [7, 2] + name: agent14 + start: [1, 1] +- goal: [3, 0] + name: agent15 + start: [7, 5] +- goal: [6, 5] + name: agent16 + start: [3, 5] +- goal: [2, 7] + name: agent17 + start: [1, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 3] + - !!python/tuple [1, 3] + - !!python/tuple [3, 4] + - !!python/tuple [6, 0] + - !!python/tuple [4, 0] + - !!python/tuple [6, 6] + - !!python/tuple [6, 3] + - !!python/tuple [2, 4] + - !!python/tuple [2, 2] + - !!python/tuple [4, 2] + - !!python/tuple [6, 2] + - !!python/tuple [7, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex31.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex31.yaml new file mode 100644 index 0000000..b4335ce --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex31.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [7, 1] + name: agent0 + start: [7, 3] +- goal: [1, 7] + name: agent1 + start: [3, 5] +- goal: [1, 5] + name: agent2 + start: [4, 4] +- goal: [1, 0] + name: agent3 + start: [4, 7] +- goal: [5, 2] + name: agent4 + start: [7, 1] +- goal: [2, 3] + name: agent5 + start: [6, 5] +- goal: [6, 1] + name: agent6 + start: [5, 1] +- goal: [2, 6] + name: agent7 + start: [4, 5] +- goal: [4, 5] + name: agent8 + start: [2, 1] +- goal: [5, 7] + name: agent9 + start: [3, 7] +- goal: [4, 2] + name: agent10 + start: [0, 1] +- goal: [5, 3] + name: agent11 + start: [6, 3] +- goal: [1, 3] + name: agent12 + start: [1, 0] +- goal: [1, 6] + name: agent13 + start: [0, 3] +- goal: [3, 6] + name: agent14 + start: [2, 6] +- goal: [2, 1] + name: agent15 + start: [6, 1] +- goal: [0, 0] + name: agent16 + start: [4, 0] +- goal: [2, 7] + name: agent17 + start: [1, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 5] + - !!python/tuple [6, 7] + - !!python/tuple [1, 2] + - !!python/tuple [7, 6] + - !!python/tuple [5, 5] + - !!python/tuple [3, 1] + - !!python/tuple [7, 4] + - !!python/tuple [7, 7] + - !!python/tuple [4, 1] + - !!python/tuple [0, 7] + - !!python/tuple [4, 3] + - !!python/tuple [5, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex32.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex32.yaml new file mode 100644 index 0000000..ee1053c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex32.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [4, 7] + name: agent0 + start: [0, 5] +- goal: [7, 3] + name: agent1 + start: [3, 2] +- goal: [2, 7] + name: agent2 + start: [2, 6] +- goal: [5, 1] + name: agent3 + start: [1, 6] +- goal: [4, 0] + name: agent4 + start: [0, 3] +- goal: [3, 6] + name: agent5 + start: [5, 7] +- goal: [2, 1] + name: agent6 + start: [3, 1] +- goal: [3, 7] + name: agent7 + start: [7, 7] +- goal: [3, 1] + name: agent8 + start: [3, 0] +- goal: [0, 3] + name: agent9 + start: [7, 3] +- goal: [4, 3] + name: agent10 + start: [0, 7] +- goal: [1, 7] + name: agent11 + start: [3, 5] +- goal: [1, 4] + name: agent12 + start: [7, 2] +- goal: [6, 5] + name: agent13 + start: [1, 0] +- goal: [0, 4] + name: agent14 + start: [0, 2] +- goal: [1, 0] + name: agent15 + start: [0, 4] +- goal: [3, 0] + name: agent16 + start: [4, 6] +- goal: [5, 0] + name: agent17 + start: [2, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 0] + - !!python/tuple [4, 1] + - !!python/tuple [1, 2] + - !!python/tuple [5, 3] + - !!python/tuple [6, 3] + - !!python/tuple [6, 1] + - !!python/tuple [6, 4] + - !!python/tuple [6, 6] + - !!python/tuple [4, 4] + - !!python/tuple [1, 5] + - !!python/tuple [7, 1] + - !!python/tuple [5, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex33.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex33.yaml new file mode 100644 index 0000000..4e64de9 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex33.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [3, 5] + name: agent0 + start: [6, 0] +- goal: [5, 0] + name: agent1 + start: [7, 6] +- goal: [5, 6] + name: agent2 + start: [1, 3] +- goal: [6, 1] + name: agent3 + start: [2, 3] +- goal: [7, 2] + name: agent4 + start: [0, 0] +- goal: [2, 5] + name: agent5 + start: [0, 7] +- goal: [2, 2] + name: agent6 + start: [6, 5] +- goal: [1, 5] + name: agent7 + start: [5, 0] +- goal: [7, 0] + name: agent8 + start: [6, 3] +- goal: [3, 0] + name: agent9 + start: [7, 2] +- goal: [2, 6] + name: agent10 + start: [5, 4] +- goal: [4, 2] + name: agent11 + start: [6, 7] +- goal: [1, 2] + name: agent12 + start: [5, 7] +- goal: [5, 7] + name: agent13 + start: [3, 2] +- goal: [4, 6] + name: agent14 + start: [6, 4] +- goal: [6, 4] + name: agent15 + start: [2, 5] +- goal: [7, 4] + name: agent16 + start: [5, 2] +- goal: [4, 3] + name: agent17 + start: [4, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 5] + - !!python/tuple [4, 4] + - !!python/tuple [1, 6] + - !!python/tuple [0, 6] + - !!python/tuple [3, 7] + - !!python/tuple [3, 6] + - !!python/tuple [3, 4] + - !!python/tuple [2, 4] + - !!python/tuple [4, 5] + - !!python/tuple [4, 7] + - !!python/tuple [0, 2] + - !!python/tuple [0, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex34.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex34.yaml new file mode 100644 index 0000000..901da86 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex34.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [6, 5] + name: agent0 + start: [7, 0] +- goal: [1, 0] + name: agent1 + start: [4, 4] +- goal: [4, 2] + name: agent2 + start: [3, 5] +- goal: [6, 7] + name: agent3 + start: [6, 4] +- goal: [2, 2] + name: agent4 + start: [3, 3] +- goal: [1, 6] + name: agent5 + start: [3, 7] +- goal: [7, 5] + name: agent6 + start: [7, 5] +- goal: [2, 0] + name: agent7 + start: [5, 3] +- goal: [3, 6] + name: agent8 + start: [2, 7] +- goal: [2, 7] + name: agent9 + start: [6, 7] +- goal: [0, 5] + name: agent10 + start: [0, 2] +- goal: [3, 0] + name: agent11 + start: [4, 2] +- goal: [6, 0] + name: agent12 + start: [0, 5] +- goal: [7, 3] + name: agent13 + start: [4, 0] +- goal: [5, 5] + name: agent14 + start: [0, 3] +- goal: [3, 3] + name: agent15 + start: [3, 6] +- goal: [2, 4] + name: agent16 + start: [4, 1] +- goal: [5, 4] + name: agent17 + start: [2, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 3] + - !!python/tuple [1, 7] + - !!python/tuple [3, 4] + - !!python/tuple [0, 6] + - !!python/tuple [0, 4] + - !!python/tuple [5, 6] + - !!python/tuple [2, 1] + - !!python/tuple [6, 3] + - !!python/tuple [4, 3] + - !!python/tuple [1, 3] + - !!python/tuple [3, 1] + - !!python/tuple [0, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex35.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex35.yaml new file mode 100644 index 0000000..e33664b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex35.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [2, 4] + name: agent0 + start: [0, 6] +- goal: [2, 1] + name: agent1 + start: [4, 4] +- goal: [0, 2] + name: agent2 + start: [0, 7] +- goal: [7, 5] + name: agent3 + start: [2, 3] +- goal: [3, 6] + name: agent4 + start: [3, 2] +- goal: [3, 7] + name: agent5 + start: [7, 6] +- goal: [4, 6] + name: agent6 + start: [1, 2] +- goal: [1, 6] + name: agent7 + start: [5, 6] +- goal: [6, 3] + name: agent8 + start: [4, 5] +- goal: [6, 7] + name: agent9 + start: [1, 5] +- goal: [5, 3] + name: agent10 + start: [7, 0] +- goal: [4, 4] + name: agent11 + start: [5, 7] +- goal: [5, 6] + name: agent12 + start: [3, 1] +- goal: [1, 4] + name: agent13 + start: [5, 3] +- goal: [3, 0] + name: agent14 + start: [7, 7] +- goal: [7, 1] + name: agent15 + start: [1, 6] +- goal: [5, 1] + name: agent16 + start: [6, 2] +- goal: [6, 4] + name: agent17 + start: [5, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 2] + - !!python/tuple [4, 1] + - !!python/tuple [3, 3] + - !!python/tuple [2, 5] + - !!python/tuple [2, 2] + - !!python/tuple [0, 4] + - !!python/tuple [4, 0] + - !!python/tuple [4, 3] + - !!python/tuple [5, 5] + - !!python/tuple [5, 4] + - !!python/tuple [6, 0] + - !!python/tuple [0, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex36.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex36.yaml new file mode 100644 index 0000000..9577217 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex36.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [2, 5] + name: agent0 + start: [3, 7] +- goal: [1, 0] + name: agent1 + start: [5, 1] +- goal: [5, 1] + name: agent2 + start: [5, 0] +- goal: [0, 5] + name: agent3 + start: [7, 7] +- goal: [3, 5] + name: agent4 + start: [4, 6] +- goal: [1, 2] + name: agent5 + start: [2, 0] +- goal: [6, 2] + name: agent6 + start: [1, 7] +- goal: [1, 1] + name: agent7 + start: [4, 1] +- goal: [5, 2] + name: agent8 + start: [3, 5] +- goal: [4, 7] + name: agent9 + start: [6, 2] +- goal: [0, 7] + name: agent10 + start: [1, 0] +- goal: [7, 1] + name: agent11 + start: [3, 4] +- goal: [6, 4] + name: agent12 + start: [0, 4] +- goal: [3, 4] + name: agent13 + start: [2, 3] +- goal: [1, 5] + name: agent14 + start: [3, 0] +- goal: [2, 3] + name: agent15 + start: [4, 5] +- goal: [0, 2] + name: agent16 + start: [4, 2] +- goal: [5, 6] + name: agent17 + start: [5, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 4] + - !!python/tuple [7, 3] + - !!python/tuple [6, 7] + - !!python/tuple [3, 6] + - !!python/tuple [6, 1] + - !!python/tuple [7, 5] + - !!python/tuple [7, 4] + - !!python/tuple [4, 0] + - !!python/tuple [4, 3] + - !!python/tuple [4, 4] + - !!python/tuple [0, 3] + - !!python/tuple [3, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex37.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex37.yaml new file mode 100644 index 0000000..2105c9f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex37.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [1, 5] + name: agent0 + start: [6, 7] +- goal: [5, 6] + name: agent1 + start: [3, 1] +- goal: [3, 5] + name: agent2 + start: [6, 0] +- goal: [2, 6] + name: agent3 + start: [0, 5] +- goal: [0, 0] + name: agent4 + start: [1, 5] +- goal: [1, 7] + name: agent5 + start: [2, 7] +- goal: [2, 4] + name: agent6 + start: [4, 5] +- goal: [2, 2] + name: agent7 + start: [1, 0] +- goal: [6, 0] + name: agent8 + start: [7, 1] +- goal: [5, 1] + name: agent9 + start: [3, 7] +- goal: [4, 5] + name: agent10 + start: [5, 2] +- goal: [0, 5] + name: agent11 + start: [6, 4] +- goal: [2, 5] + name: agent12 + start: [7, 4] +- goal: [1, 4] + name: agent13 + start: [0, 4] +- goal: [3, 0] + name: agent14 + start: [6, 6] +- goal: [6, 1] + name: agent15 + start: [5, 7] +- goal: [6, 7] + name: agent16 + start: [6, 2] +- goal: [0, 4] + name: agent17 + start: [4, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 3] + - !!python/tuple [4, 1] + - !!python/tuple [2, 0] + - !!python/tuple [2, 1] + - !!python/tuple [0, 6] + - !!python/tuple [3, 2] + - !!python/tuple [0, 7] + - !!python/tuple [7, 3] + - !!python/tuple [5, 4] + - !!python/tuple [0, 2] + - !!python/tuple [1, 6] + - !!python/tuple [2, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex38.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex38.yaml new file mode 100644 index 0000000..5766cda --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex38.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [7, 5] + name: agent0 + start: [2, 3] +- goal: [0, 5] + name: agent1 + start: [3, 6] +- goal: [0, 2] + name: agent2 + start: [5, 6] +- goal: [7, 4] + name: agent3 + start: [3, 7] +- goal: [4, 3] + name: agent4 + start: [1, 6] +- goal: [6, 6] + name: agent5 + start: [3, 3] +- goal: [5, 7] + name: agent6 + start: [7, 7] +- goal: [1, 0] + name: agent7 + start: [1, 3] +- goal: [5, 1] + name: agent8 + start: [4, 5] +- goal: [6, 0] + name: agent9 + start: [7, 5] +- goal: [4, 0] + name: agent10 + start: [6, 4] +- goal: [4, 5] + name: agent11 + start: [2, 0] +- goal: [4, 2] + name: agent12 + start: [7, 4] +- goal: [0, 3] + name: agent13 + start: [7, 1] +- goal: [6, 3] + name: agent14 + start: [7, 6] +- goal: [3, 7] + name: agent15 + start: [3, 1] +- goal: [7, 1] + name: agent16 + start: [2, 6] +- goal: [3, 1] + name: agent17 + start: [0, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 4] + - !!python/tuple [1, 4] + - !!python/tuple [4, 4] + - !!python/tuple [5, 5] + - !!python/tuple [5, 4] + - !!python/tuple [5, 0] + - !!python/tuple [3, 5] + - !!python/tuple [2, 5] + - !!python/tuple [5, 3] + - !!python/tuple [3, 2] + - !!python/tuple [2, 2] + - !!python/tuple [4, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex39.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex39.yaml new file mode 100644 index 0000000..c02aa64 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex39.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [6, 4] + name: agent0 + start: [1, 4] +- goal: [3, 1] + name: agent1 + start: [6, 0] +- goal: [5, 7] + name: agent2 + start: [7, 1] +- goal: [5, 6] + name: agent3 + start: [0, 4] +- goal: [5, 4] + name: agent4 + start: [5, 2] +- goal: [0, 3] + name: agent5 + start: [7, 5] +- goal: [3, 3] + name: agent6 + start: [5, 6] +- goal: [3, 7] + name: agent7 + start: [2, 0] +- goal: [4, 7] + name: agent8 + start: [5, 4] +- goal: [2, 5] + name: agent9 + start: [1, 7] +- goal: [3, 2] + name: agent10 + start: [0, 3] +- goal: [4, 1] + name: agent11 + start: [4, 2] +- goal: [7, 4] + name: agent12 + start: [2, 1] +- goal: [4, 0] + name: agent13 + start: [5, 1] +- goal: [0, 4] + name: agent14 + start: [1, 2] +- goal: [7, 0] + name: agent15 + start: [3, 0] +- goal: [4, 2] + name: agent16 + start: [1, 5] +- goal: [7, 6] + name: agent17 + start: [2, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 5] + - !!python/tuple [7, 3] + - !!python/tuple [6, 1] + - !!python/tuple [4, 3] + - !!python/tuple [0, 5] + - !!python/tuple [6, 7] + - !!python/tuple [1, 6] + - !!python/tuple [1, 3] + - !!python/tuple [0, 7] + - !!python/tuple [6, 3] + - !!python/tuple [2, 2] + - !!python/tuple [4, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex4.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex4.yaml new file mode 100644 index 0000000..fcc9ef6 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex4.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [6, 0] + name: agent0 + start: [2, 2] +- goal: [5, 0] + name: agent1 + start: [3, 3] +- goal: [2, 3] + name: agent2 + start: [5, 5] +- goal: [1, 1] + name: agent3 + start: [2, 7] +- goal: [7, 7] + name: agent4 + start: [0, 1] +- goal: [5, 4] + name: agent5 + start: [6, 2] +- goal: [5, 5] + name: agent6 + start: [6, 7] +- goal: [6, 2] + name: agent7 + start: [2, 4] +- goal: [0, 1] + name: agent8 + start: [7, 2] +- goal: [7, 6] + name: agent9 + start: [5, 3] +- goal: [7, 2] + name: agent10 + start: [3, 2] +- goal: [7, 5] + name: agent11 + start: [7, 4] +- goal: [2, 7] + name: agent12 + start: [0, 2] +- goal: [4, 3] + name: agent13 + start: [0, 5] +- goal: [2, 6] + name: agent14 + start: [6, 4] +- goal: [3, 0] + name: agent15 + start: [3, 5] +- goal: [5, 2] + name: agent16 + start: [1, 4] +- goal: [0, 4] + name: agent17 + start: [7, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 3] + - !!python/tuple [0, 6] + - !!python/tuple [2, 5] + - !!python/tuple [5, 1] + - !!python/tuple [0, 3] + - !!python/tuple [4, 1] + - !!python/tuple [7, 0] + - !!python/tuple [0, 0] + - !!python/tuple [4, 2] + - !!python/tuple [5, 7] + - !!python/tuple [4, 5] + - !!python/tuple [3, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex40.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex40.yaml new file mode 100644 index 0000000..4cabee7 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex40.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [7, 6] + name: agent0 + start: [4, 2] +- goal: [1, 7] + name: agent1 + start: [6, 1] +- goal: [0, 3] + name: agent2 + start: [3, 4] +- goal: [6, 7] + name: agent3 + start: [3, 3] +- goal: [4, 2] + name: agent4 + start: [7, 5] +- goal: [6, 3] + name: agent5 + start: [7, 3] +- goal: [3, 4] + name: agent6 + start: [7, 2] +- goal: [6, 1] + name: agent7 + start: [4, 4] +- goal: [1, 2] + name: agent8 + start: [6, 5] +- goal: [7, 4] + name: agent9 + start: [0, 0] +- goal: [5, 1] + name: agent10 + start: [3, 2] +- goal: [7, 1] + name: agent11 + start: [7, 7] +- goal: [0, 7] + name: agent12 + start: [0, 5] +- goal: [5, 3] + name: agent13 + start: [3, 6] +- goal: [4, 5] + name: agent14 + start: [1, 6] +- goal: [0, 1] + name: agent15 + start: [3, 0] +- goal: [4, 3] + name: agent16 + start: [1, 5] +- goal: [1, 5] + name: agent17 + start: [4, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 3] + - !!python/tuple [5, 7] + - !!python/tuple [6, 6] + - !!python/tuple [6, 2] + - !!python/tuple [0, 6] + - !!python/tuple [2, 4] + - !!python/tuple [5, 4] + - !!python/tuple [4, 6] + - !!python/tuple [5, 2] + - !!python/tuple [4, 7] + - !!python/tuple [7, 0] + - !!python/tuple [3, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex41.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex41.yaml new file mode 100644 index 0000000..ab0d78d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex41.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [5, 2] + name: agent0 + start: [2, 7] +- goal: [7, 5] + name: agent1 + start: [0, 0] +- goal: [4, 2] + name: agent2 + start: [6, 5] +- goal: [0, 3] + name: agent3 + start: [5, 3] +- goal: [3, 1] + name: agent4 + start: [4, 0] +- goal: [0, 2] + name: agent5 + start: [2, 0] +- goal: [0, 1] + name: agent6 + start: [2, 4] +- goal: [1, 3] + name: agent7 + start: [1, 1] +- goal: [3, 2] + name: agent8 + start: [6, 0] +- goal: [6, 6] + name: agent9 + start: [2, 3] +- goal: [7, 0] + name: agent10 + start: [4, 6] +- goal: [4, 7] + name: agent11 + start: [5, 6] +- goal: [3, 6] + name: agent12 + start: [1, 3] +- goal: [5, 5] + name: agent13 + start: [5, 5] +- goal: [2, 2] + name: agent14 + start: [0, 4] +- goal: [0, 4] + name: agent15 + start: [7, 2] +- goal: [0, 6] + name: agent16 + start: [5, 2] +- goal: [5, 6] + name: agent17 + start: [1, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 2] + - !!python/tuple [7, 4] + - !!python/tuple [3, 3] + - !!python/tuple [3, 4] + - !!python/tuple [3, 7] + - !!python/tuple [2, 1] + - !!python/tuple [4, 1] + - !!python/tuple [7, 6] + - !!python/tuple [5, 7] + - !!python/tuple [1, 5] + - !!python/tuple [0, 7] + - !!python/tuple [7, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex42.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex42.yaml new file mode 100644 index 0000000..e02aac0 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex42.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [7, 6] + name: agent0 + start: [6, 1] +- goal: [5, 5] + name: agent1 + start: [0, 4] +- goal: [6, 4] + name: agent2 + start: [3, 3] +- goal: [5, 0] + name: agent3 + start: [6, 7] +- goal: [5, 4] + name: agent4 + start: [1, 6] +- goal: [6, 7] + name: agent5 + start: [4, 2] +- goal: [4, 4] + name: agent6 + start: [5, 2] +- goal: [2, 2] + name: agent7 + start: [1, 3] +- goal: [0, 4] + name: agent8 + start: [7, 2] +- goal: [3, 1] + name: agent9 + start: [1, 0] +- goal: [3, 7] + name: agent10 + start: [7, 6] +- goal: [1, 6] + name: agent11 + start: [0, 0] +- goal: [3, 2] + name: agent12 + start: [2, 5] +- goal: [3, 5] + name: agent13 + start: [5, 4] +- goal: [1, 2] + name: agent14 + start: [4, 1] +- goal: [4, 6] + name: agent15 + start: [2, 1] +- goal: [0, 5] + name: agent16 + start: [0, 7] +- goal: [1, 4] + name: agent17 + start: [3, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 3] + - !!python/tuple [7, 1] + - !!python/tuple [0, 6] + - !!python/tuple [7, 5] + - !!python/tuple [5, 1] + - !!python/tuple [2, 4] + - !!python/tuple [4, 5] + - !!python/tuple [7, 4] + - !!python/tuple [4, 7] + - !!python/tuple [1, 1] + - !!python/tuple [6, 0] + - !!python/tuple [6, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex43.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex43.yaml new file mode 100644 index 0000000..a354d50 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex43.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [5, 3] + name: agent0 + start: [4, 5] +- goal: [0, 4] + name: agent1 + start: [1, 2] +- goal: [5, 4] + name: agent2 + start: [4, 2] +- goal: [7, 3] + name: agent3 + start: [5, 6] +- goal: [4, 2] + name: agent4 + start: [5, 3] +- goal: [2, 0] + name: agent5 + start: [5, 7] +- goal: [6, 4] + name: agent6 + start: [0, 5] +- goal: [0, 5] + name: agent7 + start: [5, 5] +- goal: [6, 7] + name: agent8 + start: [0, 7] +- goal: [2, 7] + name: agent9 + start: [4, 0] +- goal: [3, 6] + name: agent10 + start: [2, 2] +- goal: [3, 7] + name: agent11 + start: [0, 0] +- goal: [0, 0] + name: agent12 + start: [6, 6] +- goal: [2, 2] + name: agent13 + start: [4, 6] +- goal: [2, 1] + name: agent14 + start: [3, 2] +- goal: [6, 3] + name: agent15 + start: [2, 1] +- goal: [5, 7] + name: agent16 + start: [6, 3] +- goal: [0, 3] + name: agent17 + start: [1, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 4] + - !!python/tuple [7, 4] + - !!python/tuple [0, 6] + - !!python/tuple [1, 0] + - !!python/tuple [4, 1] + - !!python/tuple [5, 0] + - !!python/tuple [7, 2] + - !!python/tuple [6, 5] + - !!python/tuple [6, 2] + - !!python/tuple [3, 4] + - !!python/tuple [5, 2] + - !!python/tuple [0, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex44.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex44.yaml new file mode 100644 index 0000000..8b4473f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex44.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [0, 3] + name: agent0 + start: [7, 0] +- goal: [5, 7] + name: agent1 + start: [6, 0] +- goal: [4, 7] + name: agent2 + start: [4, 4] +- goal: [6, 0] + name: agent3 + start: [4, 1] +- goal: [0, 7] + name: agent4 + start: [7, 3] +- goal: [3, 3] + name: agent5 + start: [6, 1] +- goal: [0, 4] + name: agent6 + start: [3, 5] +- goal: [5, 4] + name: agent7 + start: [0, 3] +- goal: [6, 1] + name: agent8 + start: [0, 4] +- goal: [5, 6] + name: agent9 + start: [1, 2] +- goal: [5, 0] + name: agent10 + start: [6, 5] +- goal: [1, 7] + name: agent11 + start: [2, 3] +- goal: [5, 1] + name: agent12 + start: [1, 7] +- goal: [4, 6] + name: agent13 + start: [5, 0] +- goal: [0, 1] + name: agent14 + start: [4, 7] +- goal: [0, 0] + name: agent15 + start: [7, 5] +- goal: [7, 0] + name: agent16 + start: [1, 6] +- goal: [7, 2] + name: agent17 + start: [0, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 4] + - !!python/tuple [5, 2] + - !!python/tuple [1, 5] + - !!python/tuple [5, 3] + - !!python/tuple [2, 0] + - !!python/tuple [6, 6] + - !!python/tuple [6, 7] + - !!python/tuple [7, 7] + - !!python/tuple [2, 1] + - !!python/tuple [0, 6] + - !!python/tuple [3, 6] + - !!python/tuple [0, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex45.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex45.yaml new file mode 100644 index 0000000..620249d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex45.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [3, 4] + name: agent0 + start: [6, 5] +- goal: [0, 1] + name: agent1 + start: [3, 3] +- goal: [5, 6] + name: agent2 + start: [2, 5] +- goal: [4, 3] + name: agent3 + start: [5, 6] +- goal: [3, 0] + name: agent4 + start: [7, 6] +- goal: [2, 2] + name: agent5 + start: [7, 4] +- goal: [2, 3] + name: agent6 + start: [6, 2] +- goal: [5, 1] + name: agent7 + start: [0, 0] +- goal: [4, 0] + name: agent8 + start: [1, 5] +- goal: [7, 1] + name: agent9 + start: [2, 6] +- goal: [3, 2] + name: agent10 + start: [0, 2] +- goal: [3, 1] + name: agent11 + start: [4, 2] +- goal: [6, 3] + name: agent12 + start: [6, 3] +- goal: [2, 0] + name: agent13 + start: [6, 6] +- goal: [6, 1] + name: agent14 + start: [1, 0] +- goal: [1, 5] + name: agent15 + start: [4, 0] +- goal: [4, 2] + name: agent16 + start: [0, 1] +- goal: [0, 4] + name: agent17 + start: [3, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 0] + - !!python/tuple [7, 2] + - !!python/tuple [1, 1] + - !!python/tuple [2, 7] + - !!python/tuple [2, 4] + - !!python/tuple [1, 6] + - !!python/tuple [6, 0] + - !!python/tuple [0, 5] + - !!python/tuple [2, 1] + - !!python/tuple [3, 5] + - !!python/tuple [7, 7] + - !!python/tuple [1, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex46.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex46.yaml new file mode 100644 index 0000000..886acf4 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex46.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [1, 6] + name: agent0 + start: [6, 3] +- goal: [7, 2] + name: agent1 + start: [7, 6] +- goal: [1, 0] + name: agent2 + start: [2, 0] +- goal: [7, 6] + name: agent3 + start: [6, 6] +- goal: [6, 2] + name: agent4 + start: [2, 4] +- goal: [6, 7] + name: agent5 + start: [0, 7] +- goal: [4, 5] + name: agent6 + start: [4, 5] +- goal: [0, 7] + name: agent7 + start: [5, 7] +- goal: [5, 6] + name: agent8 + start: [5, 0] +- goal: [6, 1] + name: agent9 + start: [6, 4] +- goal: [7, 7] + name: agent10 + start: [5, 6] +- goal: [3, 4] + name: agent11 + start: [6, 1] +- goal: [0, 2] + name: agent12 + start: [3, 0] +- goal: [4, 1] + name: agent13 + start: [5, 4] +- goal: [5, 1] + name: agent14 + start: [0, 6] +- goal: [4, 4] + name: agent15 + start: [6, 0] +- goal: [5, 4] + name: agent16 + start: [6, 2] +- goal: [1, 4] + name: agent17 + start: [5, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 2] + - !!python/tuple [5, 2] + - !!python/tuple [2, 6] + - !!python/tuple [1, 3] + - !!python/tuple [1, 7] + - !!python/tuple [2, 1] + - !!python/tuple [7, 5] + - !!python/tuple [7, 1] + - !!python/tuple [2, 2] + - !!python/tuple [4, 0] + - !!python/tuple [0, 4] + - !!python/tuple [3, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex47.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex47.yaml new file mode 100644 index 0000000..0828ce5 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex47.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [1, 7] + name: agent0 + start: [3, 4] +- goal: [5, 5] + name: agent1 + start: [1, 3] +- goal: [5, 6] + name: agent2 + start: [6, 6] +- goal: [7, 5] + name: agent3 + start: [5, 7] +- goal: [2, 4] + name: agent4 + start: [3, 6] +- goal: [3, 6] + name: agent5 + start: [3, 7] +- goal: [6, 2] + name: agent6 + start: [4, 2] +- goal: [2, 6] + name: agent7 + start: [4, 4] +- goal: [2, 5] + name: agent8 + start: [5, 2] +- goal: [3, 1] + name: agent9 + start: [2, 4] +- goal: [3, 4] + name: agent10 + start: [6, 7] +- goal: [6, 7] + name: agent11 + start: [0, 4] +- goal: [0, 4] + name: agent12 + start: [3, 1] +- goal: [0, 6] + name: agent13 + start: [4, 5] +- goal: [4, 0] + name: agent14 + start: [6, 5] +- goal: [0, 7] + name: agent15 + start: [7, 5] +- goal: [5, 3] + name: agent16 + start: [2, 7] +- goal: [3, 2] + name: agent17 + start: [3, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 5] + - !!python/tuple [4, 7] + - !!python/tuple [2, 3] + - !!python/tuple [3, 0] + - !!python/tuple [1, 6] + - !!python/tuple [4, 3] + - !!python/tuple [6, 3] + - !!python/tuple [1, 4] + - !!python/tuple [4, 6] + - !!python/tuple [2, 2] + - !!python/tuple [5, 0] + - !!python/tuple [7, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex48.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex48.yaml new file mode 100644 index 0000000..f24309e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex48.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [3, 2] + name: agent0 + start: [2, 7] +- goal: [6, 6] + name: agent1 + start: [3, 6] +- goal: [4, 2] + name: agent2 + start: [4, 3] +- goal: [3, 6] + name: agent3 + start: [1, 2] +- goal: [4, 3] + name: agent4 + start: [1, 0] +- goal: [4, 0] + name: agent5 + start: [7, 7] +- goal: [2, 4] + name: agent6 + start: [0, 7] +- goal: [3, 0] + name: agent7 + start: [5, 4] +- goal: [1, 0] + name: agent8 + start: [3, 4] +- goal: [7, 7] + name: agent9 + start: [6, 5] +- goal: [7, 5] + name: agent10 + start: [7, 4] +- goal: [5, 3] + name: agent11 + start: [2, 6] +- goal: [5, 1] + name: agent12 + start: [3, 7] +- goal: [0, 5] + name: agent13 + start: [7, 0] +- goal: [0, 6] + name: agent14 + start: [5, 7] +- goal: [4, 5] + name: agent15 + start: [3, 0] +- goal: [3, 7] + name: agent16 + start: [0, 1] +- goal: [0, 1] + name: agent17 + start: [0, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 6] + - !!python/tuple [3, 1] + - !!python/tuple [4, 1] + - !!python/tuple [0, 4] + - !!python/tuple [1, 1] + - !!python/tuple [7, 3] + - !!python/tuple [7, 6] + - !!python/tuple [2, 2] + - !!python/tuple [6, 2] + - !!python/tuple [4, 6] + - !!python/tuple [6, 1] + - !!python/tuple [7, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex49.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex49.yaml new file mode 100644 index 0000000..6b5d57b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex49.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [5, 5] + name: agent0 + start: [6, 0] +- goal: [0, 0] + name: agent1 + start: [1, 1] +- goal: [7, 5] + name: agent2 + start: [7, 3] +- goal: [7, 6] + name: agent3 + start: [4, 5] +- goal: [2, 2] + name: agent4 + start: [5, 6] +- goal: [5, 7] + name: agent5 + start: [5, 7] +- goal: [2, 6] + name: agent6 + start: [4, 1] +- goal: [6, 4] + name: agent7 + start: [6, 3] +- goal: [2, 5] + name: agent8 + start: [1, 2] +- goal: [3, 0] + name: agent9 + start: [5, 5] +- goal: [6, 6] + name: agent10 + start: [6, 1] +- goal: [0, 1] + name: agent11 + start: [6, 6] +- goal: [4, 4] + name: agent12 + start: [4, 4] +- goal: [6, 3] + name: agent13 + start: [3, 0] +- goal: [6, 7] + name: agent14 + start: [3, 4] +- goal: [3, 5] + name: agent15 + start: [4, 0] +- goal: [7, 1] + name: agent16 + start: [6, 4] +- goal: [7, 4] + name: agent17 + start: [5, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 7] + - !!python/tuple [6, 5] + - !!python/tuple [1, 5] + - !!python/tuple [3, 3] + - !!python/tuple [2, 4] + - !!python/tuple [2, 3] + - !!python/tuple [3, 7] + - !!python/tuple [4, 7] + - !!python/tuple [0, 2] + - !!python/tuple [0, 7] + - !!python/tuple [0, 5] + - !!python/tuple [4, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex5.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex5.yaml new file mode 100644 index 0000000..ff1c463 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex5.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [7, 0] + name: agent0 + start: [4, 0] +- goal: [0, 5] + name: agent1 + start: [0, 6] +- goal: [2, 3] + name: agent2 + start: [6, 7] +- goal: [7, 6] + name: agent3 + start: [1, 1] +- goal: [1, 1] + name: agent4 + start: [5, 1] +- goal: [7, 5] + name: agent5 + start: [5, 0] +- goal: [5, 6] + name: agent6 + start: [0, 3] +- goal: [4, 0] + name: agent7 + start: [6, 5] +- goal: [1, 5] + name: agent8 + start: [1, 5] +- goal: [5, 3] + name: agent9 + start: [4, 7] +- goal: [2, 5] + name: agent10 + start: [0, 4] +- goal: [4, 2] + name: agent11 + start: [6, 0] +- goal: [4, 5] + name: agent12 + start: [1, 7] +- goal: [7, 3] + name: agent13 + start: [3, 0] +- goal: [3, 6] + name: agent14 + start: [5, 3] +- goal: [4, 7] + name: agent15 + start: [1, 6] +- goal: [0, 1] + name: agent16 + start: [2, 3] +- goal: [2, 1] + name: agent17 + start: [7, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 4] + - !!python/tuple [1, 0] + - !!python/tuple [5, 2] + - !!python/tuple [1, 2] + - !!python/tuple [5, 4] + - !!python/tuple [2, 6] + - !!python/tuple [1, 3] + - !!python/tuple [3, 4] + - !!python/tuple [7, 1] + - !!python/tuple [3, 2] + - !!python/tuple [3, 5] + - !!python/tuple [3, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex50.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex50.yaml new file mode 100644 index 0000000..54999fb --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex50.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [6, 6] + name: agent0 + start: [1, 2] +- goal: [4, 5] + name: agent1 + start: [7, 6] +- goal: [1, 4] + name: agent2 + start: [1, 6] +- goal: [7, 4] + name: agent3 + start: [5, 6] +- goal: [1, 3] + name: agent4 + start: [4, 1] +- goal: [2, 3] + name: agent5 + start: [7, 4] +- goal: [0, 7] + name: agent6 + start: [2, 4] +- goal: [0, 3] + name: agent7 + start: [5, 1] +- goal: [2, 6] + name: agent8 + start: [3, 4] +- goal: [2, 7] + name: agent9 + start: [2, 6] +- goal: [7, 3] + name: agent10 + start: [1, 3] +- goal: [3, 0] + name: agent11 + start: [1, 0] +- goal: [1, 0] + name: agent12 + start: [6, 2] +- goal: [4, 6] + name: agent13 + start: [7, 5] +- goal: [7, 2] + name: agent14 + start: [7, 2] +- goal: [6, 3] + name: agent15 + start: [3, 1] +- goal: [0, 5] + name: agent16 + start: [2, 3] +- goal: [5, 1] + name: agent17 + start: [6, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 3] + - !!python/tuple [5, 2] + - !!python/tuple [0, 1] + - !!python/tuple [6, 7] + - !!python/tuple [5, 3] + - !!python/tuple [2, 5] + - !!python/tuple [7, 7] + - !!python/tuple [3, 7] + - !!python/tuple [1, 5] + - !!python/tuple [5, 4] + - !!python/tuple [2, 0] + - !!python/tuple [2, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex51.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex51.yaml new file mode 100644 index 0000000..e4ad5c3 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex51.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [0, 5] + name: agent0 + start: [5, 4] +- goal: [6, 4] + name: agent1 + start: [1, 2] +- goal: [0, 2] + name: agent2 + start: [4, 3] +- goal: [4, 4] + name: agent3 + start: [2, 0] +- goal: [4, 2] + name: agent4 + start: [0, 2] +- goal: [1, 7] + name: agent5 + start: [5, 0] +- goal: [3, 7] + name: agent6 + start: [7, 6] +- goal: [0, 3] + name: agent7 + start: [2, 7] +- goal: [3, 4] + name: agent8 + start: [3, 7] +- goal: [3, 5] + name: agent9 + start: [6, 0] +- goal: [6, 0] + name: agent10 + start: [2, 3] +- goal: [5, 5] + name: agent11 + start: [0, 7] +- goal: [7, 7] + name: agent12 + start: [3, 5] +- goal: [0, 6] + name: agent13 + start: [5, 3] +- goal: [1, 0] + name: agent14 + start: [5, 1] +- goal: [3, 6] + name: agent15 + start: [7, 4] +- goal: [5, 3] + name: agent16 + start: [3, 0] +- goal: [2, 3] + name: agent17 + start: [1, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 1] + - !!python/tuple [1, 6] + - !!python/tuple [0, 4] + - !!python/tuple [3, 2] + - !!python/tuple [7, 0] + - !!python/tuple [6, 3] + - !!python/tuple [5, 6] + - !!python/tuple [1, 3] + - !!python/tuple [6, 1] + - !!python/tuple [7, 3] + - !!python/tuple [7, 5] + - !!python/tuple [2, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex52.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex52.yaml new file mode 100644 index 0000000..67fd38f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex52.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [3, 4] + name: agent0 + start: [4, 2] +- goal: [5, 5] + name: agent1 + start: [3, 0] +- goal: [6, 3] + name: agent2 + start: [3, 6] +- goal: [1, 3] + name: agent3 + start: [1, 2] +- goal: [4, 3] + name: agent4 + start: [0, 1] +- goal: [4, 7] + name: agent5 + start: [6, 5] +- goal: [3, 2] + name: agent6 + start: [7, 0] +- goal: [4, 4] + name: agent7 + start: [5, 4] +- goal: [1, 2] + name: agent8 + start: [0, 5] +- goal: [3, 1] + name: agent9 + start: [4, 3] +- goal: [1, 4] + name: agent10 + start: [1, 0] +- goal: [7, 2] + name: agent11 + start: [2, 1] +- goal: [1, 5] + name: agent12 + start: [4, 1] +- goal: [6, 6] + name: agent13 + start: [1, 6] +- goal: [7, 0] + name: agent14 + start: [5, 5] +- goal: [0, 3] + name: agent15 + start: [7, 1] +- goal: [7, 4] + name: agent16 + start: [5, 7] +- goal: [2, 1] + name: agent17 + start: [5, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 4] + - !!python/tuple [5, 6] + - !!python/tuple [0, 7] + - !!python/tuple [7, 6] + - !!python/tuple [2, 4] + - !!python/tuple [0, 2] + - !!python/tuple [2, 7] + - !!python/tuple [6, 0] + - !!python/tuple [5, 2] + - !!python/tuple [5, 1] + - !!python/tuple [2, 0] + - !!python/tuple [6, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex53.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex53.yaml new file mode 100644 index 0000000..1905605 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex53.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [5, 0] + name: agent0 + start: [1, 4] +- goal: [7, 0] + name: agent1 + start: [1, 2] +- goal: [1, 5] + name: agent2 + start: [1, 7] +- goal: [0, 3] + name: agent3 + start: [0, 0] +- goal: [5, 5] + name: agent4 + start: [7, 7] +- goal: [2, 7] + name: agent5 + start: [2, 4] +- goal: [2, 4] + name: agent6 + start: [5, 0] +- goal: [6, 0] + name: agent7 + start: [7, 0] +- goal: [6, 1] + name: agent8 + start: [5, 2] +- goal: [5, 1] + name: agent9 + start: [7, 2] +- goal: [2, 3] + name: agent10 + start: [1, 0] +- goal: [6, 5] + name: agent11 + start: [0, 2] +- goal: [3, 2] + name: agent12 + start: [3, 1] +- goal: [4, 7] + name: agent13 + start: [0, 6] +- goal: [7, 6] + name: agent14 + start: [4, 4] +- goal: [4, 6] + name: agent15 + start: [5, 5] +- goal: [0, 7] + name: agent16 + start: [7, 4] +- goal: [2, 2] + name: agent17 + start: [5, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 1] + - !!python/tuple [1, 6] + - !!python/tuple [0, 4] + - !!python/tuple [5, 4] + - !!python/tuple [6, 2] + - !!python/tuple [0, 5] + - !!python/tuple [2, 5] + - !!python/tuple [6, 6] + - !!python/tuple [3, 7] + - !!python/tuple [2, 0] + - !!python/tuple [5, 7] + - !!python/tuple [4, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex54.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex54.yaml new file mode 100644 index 0000000..e829d9e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex54.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [2, 5] + name: agent0 + start: [2, 0] +- goal: [5, 0] + name: agent1 + start: [2, 1] +- goal: [6, 1] + name: agent2 + start: [6, 2] +- goal: [6, 6] + name: agent3 + start: [0, 7] +- goal: [5, 7] + name: agent4 + start: [5, 1] +- goal: [3, 5] + name: agent5 + start: [0, 3] +- goal: [7, 7] + name: agent6 + start: [4, 4] +- goal: [2, 1] + name: agent7 + start: [0, 5] +- goal: [0, 3] + name: agent8 + start: [4, 6] +- goal: [6, 0] + name: agent9 + start: [7, 7] +- goal: [4, 7] + name: agent10 + start: [5, 7] +- goal: [5, 1] + name: agent11 + start: [1, 5] +- goal: [2, 0] + name: agent12 + start: [3, 5] +- goal: [7, 1] + name: agent13 + start: [2, 5] +- goal: [6, 4] + name: agent14 + start: [7, 2] +- goal: [6, 3] + name: agent15 + start: [5, 0] +- goal: [1, 6] + name: agent16 + start: [4, 7] +- goal: [3, 7] + name: agent17 + start: [3, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 7] + - !!python/tuple [4, 5] + - !!python/tuple [3, 4] + - !!python/tuple [1, 3] + - !!python/tuple [4, 2] + - !!python/tuple [5, 5] + - !!python/tuple [7, 6] + - !!python/tuple [2, 2] + - !!python/tuple [0, 1] + - !!python/tuple [4, 3] + - !!python/tuple [7, 0] + - !!python/tuple [2, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex55.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex55.yaml new file mode 100644 index 0000000..19efdd8 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex55.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [0, 1] + name: agent0 + start: [6, 4] +- goal: [0, 2] + name: agent1 + start: [4, 2] +- goal: [0, 5] + name: agent2 + start: [3, 0] +- goal: [0, 4] + name: agent3 + start: [0, 0] +- goal: [6, 3] + name: agent4 + start: [0, 6] +- goal: [6, 5] + name: agent5 + start: [2, 7] +- goal: [3, 0] + name: agent6 + start: [5, 7] +- goal: [7, 3] + name: agent7 + start: [1, 1] +- goal: [1, 7] + name: agent8 + start: [4, 0] +- goal: [5, 7] + name: agent9 + start: [6, 2] +- goal: [1, 5] + name: agent10 + start: [4, 7] +- goal: [5, 1] + name: agent11 + start: [2, 1] +- goal: [4, 4] + name: agent12 + start: [0, 5] +- goal: [5, 5] + name: agent13 + start: [7, 3] +- goal: [5, 2] + name: agent14 + start: [2, 6] +- goal: [4, 1] + name: agent15 + start: [3, 3] +- goal: [3, 4] + name: agent16 + start: [4, 4] +- goal: [2, 2] + name: agent17 + start: [3, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 5] + - !!python/tuple [6, 0] + - !!python/tuple [1, 6] + - !!python/tuple [6, 6] + - !!python/tuple [1, 3] + - !!python/tuple [3, 1] + - !!python/tuple [7, 2] + - !!python/tuple [7, 7] + - !!python/tuple [3, 7] + - !!python/tuple [4, 3] + - !!python/tuple [7, 1] + - !!python/tuple [1, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex56.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex56.yaml new file mode 100644 index 0000000..9785e59 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex56.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [6, 1] + name: agent0 + start: [6, 7] +- goal: [4, 1] + name: agent1 + start: [5, 6] +- goal: [1, 7] + name: agent2 + start: [3, 2] +- goal: [7, 7] + name: agent3 + start: [4, 1] +- goal: [6, 5] + name: agent4 + start: [5, 7] +- goal: [6, 6] + name: agent5 + start: [6, 4] +- goal: [4, 6] + name: agent6 + start: [7, 6] +- goal: [3, 1] + name: agent7 + start: [2, 2] +- goal: [3, 5] + name: agent8 + start: [5, 2] +- goal: [2, 0] + name: agent9 + start: [1, 7] +- goal: [5, 3] + name: agent10 + start: [5, 5] +- goal: [1, 4] + name: agent11 + start: [7, 7] +- goal: [0, 6] + name: agent12 + start: [1, 0] +- goal: [7, 2] + name: agent13 + start: [1, 3] +- goal: [7, 4] + name: agent14 + start: [3, 5] +- goal: [1, 6] + name: agent15 + start: [2, 7] +- goal: [5, 4] + name: agent16 + start: [2, 0] +- goal: [2, 1] + name: agent17 + start: [0, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 3] + - !!python/tuple [3, 6] + - !!python/tuple [1, 2] + - !!python/tuple [1, 5] + - !!python/tuple [3, 3] + - !!python/tuple [0, 3] + - !!python/tuple [2, 3] + - !!python/tuple [2, 5] + - !!python/tuple [6, 2] + - !!python/tuple [6, 0] + - !!python/tuple [3, 0] + - !!python/tuple [4, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex57.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex57.yaml new file mode 100644 index 0000000..31c1f52 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex57.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [4, 7] + name: agent0 + start: [4, 4] +- goal: [6, 0] + name: agent1 + start: [3, 2] +- goal: [0, 2] + name: agent2 + start: [1, 7] +- goal: [0, 5] + name: agent3 + start: [2, 3] +- goal: [4, 1] + name: agent4 + start: [5, 5] +- goal: [3, 6] + name: agent5 + start: [6, 6] +- goal: [6, 7] + name: agent6 + start: [4, 7] +- goal: [3, 5] + name: agent7 + start: [7, 4] +- goal: [5, 3] + name: agent8 + start: [6, 2] +- goal: [4, 6] + name: agent9 + start: [3, 1] +- goal: [6, 4] + name: agent10 + start: [4, 3] +- goal: [0, 4] + name: agent11 + start: [1, 5] +- goal: [7, 3] + name: agent12 + start: [5, 3] +- goal: [0, 3] + name: agent13 + start: [5, 2] +- goal: [5, 5] + name: agent14 + start: [0, 3] +- goal: [7, 4] + name: agent15 + start: [0, 5] +- goal: [4, 4] + name: agent16 + start: [6, 4] +- goal: [7, 2] + name: agent17 + start: [4, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 5] + - !!python/tuple [3, 4] + - !!python/tuple [7, 1] + - !!python/tuple [5, 6] + - !!python/tuple [0, 6] + - !!python/tuple [7, 6] + - !!python/tuple [1, 6] + - !!python/tuple [2, 1] + - !!python/tuple [3, 0] + - !!python/tuple [7, 5] + - !!python/tuple [1, 1] + - !!python/tuple [2, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex58.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex58.yaml new file mode 100644 index 0000000..6200888 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex58.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [4, 7] + name: agent0 + start: [5, 0] +- goal: [6, 4] + name: agent1 + start: [2, 0] +- goal: [0, 6] + name: agent2 + start: [6, 3] +- goal: [4, 4] + name: agent3 + start: [3, 0] +- goal: [7, 7] + name: agent4 + start: [1, 1] +- goal: [2, 2] + name: agent5 + start: [5, 5] +- goal: [0, 2] + name: agent6 + start: [4, 2] +- goal: [0, 5] + name: agent7 + start: [3, 5] +- goal: [4, 5] + name: agent8 + start: [4, 1] +- goal: [7, 6] + name: agent9 + start: [1, 3] +- goal: [5, 4] + name: agent10 + start: [2, 1] +- goal: [3, 6] + name: agent11 + start: [0, 6] +- goal: [6, 1] + name: agent12 + start: [3, 4] +- goal: [0, 4] + name: agent13 + start: [0, 1] +- goal: [5, 7] + name: agent14 + start: [5, 7] +- goal: [2, 4] + name: agent15 + start: [6, 1] +- goal: [7, 0] + name: agent16 + start: [3, 6] +- goal: [0, 3] + name: agent17 + start: [6, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 5] + - !!python/tuple [5, 3] + - !!python/tuple [7, 3] + - !!python/tuple [7, 4] + - !!python/tuple [6, 0] + - !!python/tuple [1, 4] + - !!python/tuple [4, 6] + - !!python/tuple [0, 7] + - !!python/tuple [3, 3] + - !!python/tuple [0, 0] + - !!python/tuple [3, 7] + - !!python/tuple [1, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex59.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex59.yaml new file mode 100644 index 0000000..34ae2d9 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex59.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [4, 7] + name: agent0 + start: [4, 5] +- goal: [6, 3] + name: agent1 + start: [0, 1] +- goal: [1, 4] + name: agent2 + start: [2, 6] +- goal: [6, 6] + name: agent3 + start: [7, 4] +- goal: [1, 7] + name: agent4 + start: [7, 0] +- goal: [2, 3] + name: agent5 + start: [2, 3] +- goal: [2, 4] + name: agent6 + start: [7, 3] +- goal: [4, 6] + name: agent7 + start: [3, 4] +- goal: [3, 3] + name: agent8 + start: [6, 0] +- goal: [7, 4] + name: agent9 + start: [2, 4] +- goal: [4, 3] + name: agent10 + start: [0, 0] +- goal: [7, 1] + name: agent11 + start: [4, 1] +- goal: [4, 0] + name: agent12 + start: [3, 7] +- goal: [7, 6] + name: agent13 + start: [7, 6] +- goal: [7, 2] + name: agent14 + start: [6, 3] +- goal: [7, 3] + name: agent15 + start: [0, 7] +- goal: [1, 3] + name: agent16 + start: [5, 5] +- goal: [3, 0] + name: agent17 + start: [0, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 3] + - !!python/tuple [3, 6] + - !!python/tuple [2, 0] + - !!python/tuple [1, 6] + - !!python/tuple [2, 5] + - !!python/tuple [4, 2] + - !!python/tuple [2, 1] + - !!python/tuple [4, 4] + - !!python/tuple [6, 7] + - !!python/tuple [0, 5] + - !!python/tuple [5, 6] + - !!python/tuple [1, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex6.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex6.yaml new file mode 100644 index 0000000..139adf1 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex6.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [4, 5] + name: agent0 + start: [3, 1] +- goal: [1, 2] + name: agent1 + start: [2, 2] +- goal: [5, 4] + name: agent2 + start: [4, 1] +- goal: [5, 0] + name: agent3 + start: [5, 6] +- goal: [7, 4] + name: agent4 + start: [4, 7] +- goal: [1, 4] + name: agent5 + start: [7, 5] +- goal: [6, 4] + name: agent6 + start: [3, 2] +- goal: [3, 2] + name: agent7 + start: [6, 6] +- goal: [6, 3] + name: agent8 + start: [5, 4] +- goal: [3, 5] + name: agent9 + start: [2, 7] +- goal: [6, 2] + name: agent10 + start: [5, 0] +- goal: [2, 1] + name: agent11 + start: [1, 1] +- goal: [3, 1] + name: agent12 + start: [6, 7] +- goal: [7, 6] + name: agent13 + start: [0, 2] +- goal: [1, 1] + name: agent14 + start: [2, 4] +- goal: [7, 0] + name: agent15 + start: [7, 7] +- goal: [4, 1] + name: agent16 + start: [1, 4] +- goal: [3, 6] + name: agent17 + start: [0, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 6] + - !!python/tuple [2, 5] + - !!python/tuple [0, 3] + - !!python/tuple [1, 7] + - !!python/tuple [2, 6] + - !!python/tuple [7, 2] + - !!python/tuple [3, 3] + - !!python/tuple [4, 6] + - !!python/tuple [7, 1] + - !!python/tuple [7, 3] + - !!python/tuple [0, 5] + - !!python/tuple [0, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex60.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex60.yaml new file mode 100644 index 0000000..c51a2f9 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex60.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [5, 3] + name: agent0 + start: [2, 6] +- goal: [2, 6] + name: agent1 + start: [6, 3] +- goal: [1, 7] + name: agent2 + start: [4, 6] +- goal: [1, 0] + name: agent3 + start: [5, 1] +- goal: [7, 5] + name: agent4 + start: [2, 0] +- goal: [1, 4] + name: agent5 + start: [4, 0] +- goal: [4, 2] + name: agent6 + start: [2, 1] +- goal: [7, 7] + name: agent7 + start: [3, 3] +- goal: [5, 4] + name: agent8 + start: [0, 4] +- goal: [4, 0] + name: agent9 + start: [7, 6] +- goal: [0, 4] + name: agent10 + start: [3, 1] +- goal: [0, 3] + name: agent11 + start: [2, 7] +- goal: [3, 7] + name: agent12 + start: [6, 1] +- goal: [3, 5] + name: agent13 + start: [0, 7] +- goal: [7, 3] + name: agent14 + start: [5, 6] +- goal: [5, 1] + name: agent15 + start: [3, 2] +- goal: [1, 6] + name: agent16 + start: [1, 6] +- goal: [3, 3] + name: agent17 + start: [7, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 4] + - !!python/tuple [3, 6] + - !!python/tuple [2, 3] + - !!python/tuple [3, 0] + - !!python/tuple [5, 5] + - !!python/tuple [6, 4] + - !!python/tuple [4, 7] + - !!python/tuple [6, 0] + - !!python/tuple [7, 1] + - !!python/tuple [4, 3] + - !!python/tuple [2, 5] + - !!python/tuple [0, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex61.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex61.yaml new file mode 100644 index 0000000..91729dc --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex61.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [3, 0] + name: agent0 + start: [5, 0] +- goal: [3, 6] + name: agent1 + start: [3, 3] +- goal: [1, 2] + name: agent2 + start: [5, 2] +- goal: [0, 2] + name: agent3 + start: [0, 4] +- goal: [3, 2] + name: agent4 + start: [2, 4] +- goal: [7, 2] + name: agent5 + start: [2, 1] +- goal: [4, 6] + name: agent6 + start: [5, 5] +- goal: [6, 7] + name: agent7 + start: [2, 6] +- goal: [4, 3] + name: agent8 + start: [1, 4] +- goal: [4, 4] + name: agent9 + start: [0, 1] +- goal: [1, 6] + name: agent10 + start: [4, 2] +- goal: [7, 6] + name: agent11 + start: [1, 0] +- goal: [0, 4] + name: agent12 + start: [6, 7] +- goal: [7, 0] + name: agent13 + start: [4, 6] +- goal: [7, 4] + name: agent14 + start: [3, 1] +- goal: [5, 0] + name: agent15 + start: [6, 1] +- goal: [2, 4] + name: agent16 + start: [2, 5] +- goal: [7, 1] + name: agent17 + start: [7, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 1] + - !!python/tuple [0, 7] + - !!python/tuple [2, 7] + - !!python/tuple [3, 5] + - !!python/tuple [6, 2] + - !!python/tuple [2, 2] + - !!python/tuple [5, 7] + - !!python/tuple [6, 4] + - !!python/tuple [2, 3] + - !!python/tuple [0, 0] + - !!python/tuple [6, 3] + - !!python/tuple [6, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex62.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex62.yaml new file mode 100644 index 0000000..2eb2988 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex62.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [4, 4] + name: agent0 + start: [2, 2] +- goal: [4, 1] + name: agent1 + start: [7, 3] +- goal: [0, 7] + name: agent2 + start: [2, 7] +- goal: [2, 3] + name: agent3 + start: [5, 1] +- goal: [5, 7] + name: agent4 + start: [4, 4] +- goal: [3, 0] + name: agent5 + start: [1, 2] +- goal: [1, 5] + name: agent6 + start: [6, 0] +- goal: [5, 1] + name: agent7 + start: [6, 4] +- goal: [1, 0] + name: agent8 + start: [0, 1] +- goal: [6, 7] + name: agent9 + start: [1, 7] +- goal: [3, 5] + name: agent10 + start: [3, 4] +- goal: [0, 1] + name: agent11 + start: [2, 4] +- goal: [2, 4] + name: agent12 + start: [2, 6] +- goal: [6, 6] + name: agent13 + start: [1, 5] +- goal: [1, 7] + name: agent14 + start: [5, 6] +- goal: [0, 0] + name: agent15 + start: [7, 2] +- goal: [2, 2] + name: agent16 + start: [0, 7] +- goal: [2, 7] + name: agent17 + start: [7, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 5] + - !!python/tuple [5, 4] + - !!python/tuple [7, 7] + - !!python/tuple [6, 5] + - !!python/tuple [0, 6] + - !!python/tuple [3, 3] + - !!python/tuple [3, 7] + - !!python/tuple [5, 2] + - !!python/tuple [1, 4] + - !!python/tuple [0, 3] + - !!python/tuple [4, 6] + - !!python/tuple [1, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex63.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex63.yaml new file mode 100644 index 0000000..fa661b5 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex63.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [2, 2] + name: agent0 + start: [4, 2] +- goal: [4, 5] + name: agent1 + start: [2, 7] +- goal: [0, 6] + name: agent2 + start: [5, 2] +- goal: [1, 3] + name: agent3 + start: [1, 1] +- goal: [1, 1] + name: agent4 + start: [3, 2] +- goal: [4, 1] + name: agent5 + start: [5, 4] +- goal: [3, 4] + name: agent6 + start: [1, 4] +- goal: [6, 3] + name: agent7 + start: [5, 5] +- goal: [6, 2] + name: agent8 + start: [2, 2] +- goal: [1, 4] + name: agent9 + start: [1, 3] +- goal: [3, 6] + name: agent10 + start: [3, 5] +- goal: [1, 5] + name: agent11 + start: [1, 6] +- goal: [5, 7] + name: agent12 + start: [1, 0] +- goal: [7, 4] + name: agent13 + start: [6, 3] +- goal: [3, 3] + name: agent14 + start: [7, 6] +- goal: [3, 0] + name: agent15 + start: [0, 4] +- goal: [0, 0] + name: agent16 + start: [0, 1] +- goal: [0, 5] + name: agent17 + start: [5, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 3] + - !!python/tuple [0, 2] + - !!python/tuple [5, 1] + - !!python/tuple [6, 4] + - !!python/tuple [4, 6] + - !!python/tuple [1, 7] + - !!python/tuple [7, 1] + - !!python/tuple [2, 4] + - !!python/tuple [1, 2] + - !!python/tuple [6, 6] + - !!python/tuple [7, 7] + - !!python/tuple [6, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex64.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex64.yaml new file mode 100644 index 0000000..ea36572 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex64.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [7, 5] + name: agent0 + start: [7, 4] +- goal: [5, 6] + name: agent1 + start: [4, 3] +- goal: [3, 4] + name: agent2 + start: [2, 3] +- goal: [1, 6] + name: agent3 + start: [2, 6] +- goal: [2, 5] + name: agent4 + start: [5, 7] +- goal: [3, 0] + name: agent5 + start: [6, 7] +- goal: [7, 6] + name: agent6 + start: [5, 0] +- goal: [2, 4] + name: agent7 + start: [2, 4] +- goal: [3, 3] + name: agent8 + start: [2, 7] +- goal: [5, 4] + name: agent9 + start: [4, 1] +- goal: [5, 5] + name: agent10 + start: [3, 1] +- goal: [3, 1] + name: agent11 + start: [4, 0] +- goal: [1, 5] + name: agent12 + start: [5, 3] +- goal: [0, 6] + name: agent13 + start: [3, 7] +- goal: [7, 1] + name: agent14 + start: [4, 7] +- goal: [0, 1] + name: agent15 + start: [0, 0] +- goal: [6, 3] + name: agent16 + start: [3, 3] +- goal: [6, 1] + name: agent17 + start: [5, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 2] + - !!python/tuple [6, 5] + - !!python/tuple [5, 2] + - !!python/tuple [1, 4] + - !!python/tuple [7, 2] + - !!python/tuple [1, 2] + - !!python/tuple [0, 5] + - !!python/tuple [4, 5] + - !!python/tuple [4, 6] + - !!python/tuple [1, 1] + - !!python/tuple [0, 3] + - !!python/tuple [2, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex65.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex65.yaml new file mode 100644 index 0000000..1cb3eee --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex65.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [6, 3] + name: agent0 + start: [3, 2] +- goal: [1, 4] + name: agent1 + start: [2, 4] +- goal: [1, 2] + name: agent2 + start: [5, 0] +- goal: [1, 1] + name: agent3 + start: [7, 4] +- goal: [3, 3] + name: agent4 + start: [3, 7] +- goal: [4, 2] + name: agent5 + start: [2, 1] +- goal: [6, 5] + name: agent6 + start: [2, 0] +- goal: [4, 7] + name: agent7 + start: [5, 1] +- goal: [7, 3] + name: agent8 + start: [5, 6] +- goal: [3, 1] + name: agent9 + start: [7, 5] +- goal: [6, 2] + name: agent10 + start: [0, 5] +- goal: [5, 2] + name: agent11 + start: [0, 6] +- goal: [1, 6] + name: agent12 + start: [6, 4] +- goal: [5, 7] + name: agent13 + start: [5, 3] +- goal: [7, 1] + name: agent14 + start: [0, 2] +- goal: [3, 2] + name: agent15 + start: [1, 5] +- goal: [5, 6] + name: agent16 + start: [3, 5] +- goal: [5, 3] + name: agent17 + start: [0, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 0] + - !!python/tuple [2, 6] + - !!python/tuple [0, 3] + - !!python/tuple [4, 1] + - !!python/tuple [3, 0] + - !!python/tuple [7, 6] + - !!python/tuple [4, 6] + - !!python/tuple [2, 3] + - !!python/tuple [4, 3] + - !!python/tuple [4, 5] + - !!python/tuple [7, 0] + - !!python/tuple [2, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex66.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex66.yaml new file mode 100644 index 0000000..d0dd8a3 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex66.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [3, 2] + name: agent0 + start: [3, 4] +- goal: [3, 1] + name: agent1 + start: [4, 2] +- goal: [0, 4] + name: agent2 + start: [4, 3] +- goal: [5, 1] + name: agent3 + start: [4, 7] +- goal: [2, 6] + name: agent4 + start: [6, 4] +- goal: [7, 7] + name: agent5 + start: [7, 4] +- goal: [3, 6] + name: agent6 + start: [6, 0] +- goal: [6, 5] + name: agent7 + start: [3, 6] +- goal: [3, 4] + name: agent8 + start: [2, 6] +- goal: [2, 0] + name: agent9 + start: [7, 0] +- goal: [1, 3] + name: agent10 + start: [4, 4] +- goal: [2, 2] + name: agent11 + start: [1, 4] +- goal: [5, 7] + name: agent12 + start: [5, 2] +- goal: [1, 2] + name: agent13 + start: [3, 1] +- goal: [6, 7] + name: agent14 + start: [2, 5] +- goal: [4, 0] + name: agent15 + start: [1, 1] +- goal: [6, 1] + name: agent16 + start: [2, 7] +- goal: [4, 1] + name: agent17 + start: [3, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 4] + - !!python/tuple [7, 2] + - !!python/tuple [7, 1] + - !!python/tuple [3, 5] + - !!python/tuple [0, 7] + - !!python/tuple [5, 3] + - !!python/tuple [2, 4] + - !!python/tuple [6, 3] + - !!python/tuple [2, 3] + - !!python/tuple [0, 2] + - !!python/tuple [5, 0] + - !!python/tuple [5, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex67.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex67.yaml new file mode 100644 index 0000000..daf646a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex67.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [0, 5] + name: agent0 + start: [3, 1] +- goal: [4, 0] + name: agent1 + start: [1, 4] +- goal: [2, 2] + name: agent2 + start: [7, 2] +- goal: [4, 5] + name: agent3 + start: [1, 2] +- goal: [1, 0] + name: agent4 + start: [4, 4] +- goal: [2, 4] + name: agent5 + start: [2, 2] +- goal: [3, 5] + name: agent6 + start: [6, 4] +- goal: [2, 0] + name: agent7 + start: [4, 7] +- goal: [1, 2] + name: agent8 + start: [2, 1] +- goal: [5, 0] + name: agent9 + start: [0, 1] +- goal: [4, 2] + name: agent10 + start: [0, 7] +- goal: [3, 6] + name: agent11 + start: [2, 4] +- goal: [3, 2] + name: agent12 + start: [3, 3] +- goal: [7, 0] + name: agent13 + start: [4, 2] +- goal: [3, 0] + name: agent14 + start: [3, 0] +- goal: [1, 4] + name: agent15 + start: [2, 5] +- goal: [3, 1] + name: agent16 + start: [2, 3] +- goal: [6, 1] + name: agent17 + start: [1, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 4] + - !!python/tuple [6, 5] + - !!python/tuple [0, 3] + - !!python/tuple [6, 7] + - !!python/tuple [5, 7] + - !!python/tuple [7, 4] + - !!python/tuple [2, 6] + - !!python/tuple [0, 0] + - !!python/tuple [4, 6] + - !!python/tuple [5, 5] + - !!python/tuple [5, 4] + - !!python/tuple [5, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex68.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex68.yaml new file mode 100644 index 0000000..69253f6 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex68.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [1, 3] + name: agent0 + start: [3, 5] +- goal: [4, 3] + name: agent1 + start: [7, 3] +- goal: [0, 0] + name: agent2 + start: [1, 4] +- goal: [7, 4] + name: agent3 + start: [4, 2] +- goal: [4, 7] + name: agent4 + start: [7, 2] +- goal: [2, 1] + name: agent5 + start: [0, 0] +- goal: [7, 5] + name: agent6 + start: [0, 1] +- goal: [5, 4] + name: agent7 + start: [5, 2] +- goal: [1, 4] + name: agent8 + start: [3, 0] +- goal: [1, 1] + name: agent9 + start: [1, 3] +- goal: [3, 2] + name: agent10 + start: [5, 1] +- goal: [5, 0] + name: agent11 + start: [6, 0] +- goal: [2, 3] + name: agent12 + start: [6, 1] +- goal: [5, 2] + name: agent13 + start: [2, 3] +- goal: [2, 6] + name: agent14 + start: [3, 3] +- goal: [7, 0] + name: agent15 + start: [4, 3] +- goal: [6, 6] + name: agent16 + start: [1, 6] +- goal: [0, 1] + name: agent17 + start: [1, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 4] + - !!python/tuple [0, 3] + - !!python/tuple [7, 1] + - !!python/tuple [0, 2] + - !!python/tuple [4, 4] + - !!python/tuple [6, 2] + - !!python/tuple [7, 7] + - !!python/tuple [3, 7] + - !!python/tuple [3, 4] + - !!python/tuple [4, 0] + - !!python/tuple [2, 0] + - !!python/tuple [4, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex69.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex69.yaml new file mode 100644 index 0000000..8666cab --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex69.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [6, 2] + name: agent0 + start: [7, 6] +- goal: [0, 1] + name: agent1 + start: [7, 5] +- goal: [3, 2] + name: agent2 + start: [3, 3] +- goal: [2, 2] + name: agent3 + start: [4, 1] +- goal: [0, 0] + name: agent4 + start: [0, 0] +- goal: [5, 2] + name: agent5 + start: [5, 5] +- goal: [3, 6] + name: agent6 + start: [6, 2] +- goal: [0, 2] + name: agent7 + start: [1, 5] +- goal: [4, 2] + name: agent8 + start: [2, 0] +- goal: [4, 5] + name: agent9 + start: [1, 0] +- goal: [6, 6] + name: agent10 + start: [0, 5] +- goal: [3, 0] + name: agent11 + start: [5, 3] +- goal: [7, 7] + name: agent12 + start: [2, 5] +- goal: [3, 1] + name: agent13 + start: [6, 7] +- goal: [2, 5] + name: agent14 + start: [7, 2] +- goal: [2, 1] + name: agent15 + start: [4, 2] +- goal: [4, 4] + name: agent16 + start: [3, 4] +- goal: [2, 0] + name: agent17 + start: [4, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 1] + - !!python/tuple [0, 3] + - !!python/tuple [2, 4] + - !!python/tuple [5, 0] + - !!python/tuple [6, 3] + - !!python/tuple [2, 6] + - !!python/tuple [4, 0] + - !!python/tuple [7, 4] + - !!python/tuple [0, 7] + - !!python/tuple [7, 3] + - !!python/tuple [6, 4] + - !!python/tuple [2, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex7.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex7.yaml new file mode 100644 index 0000000..864fbec --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex7.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [2, 4] + name: agent0 + start: [0, 7] +- goal: [4, 6] + name: agent1 + start: [0, 1] +- goal: [6, 4] + name: agent2 + start: [3, 5] +- goal: [2, 7] + name: agent3 + start: [5, 1] +- goal: [7, 4] + name: agent4 + start: [7, 1] +- goal: [1, 5] + name: agent5 + start: [6, 7] +- goal: [4, 1] + name: agent6 + start: [1, 2] +- goal: [6, 0] + name: agent7 + start: [0, 0] +- goal: [5, 6] + name: agent8 + start: [4, 5] +- goal: [4, 3] + name: agent9 + start: [1, 0] +- goal: [1, 6] + name: agent10 + start: [1, 5] +- goal: [4, 4] + name: agent11 + start: [6, 0] +- goal: [7, 5] + name: agent12 + start: [1, 6] +- goal: [5, 7] + name: agent13 + start: [7, 4] +- goal: [3, 5] + name: agent14 + start: [0, 5] +- goal: [6, 3] + name: agent15 + start: [7, 2] +- goal: [6, 2] + name: agent16 + start: [1, 1] +- goal: [1, 2] + name: agent17 + start: [2, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 2] + - !!python/tuple [0, 4] + - !!python/tuple [2, 6] + - !!python/tuple [2, 5] + - !!python/tuple [3, 2] + - !!python/tuple [5, 0] + - !!python/tuple [2, 2] + - !!python/tuple [4, 7] + - !!python/tuple [1, 4] + - !!python/tuple [7, 6] + - !!python/tuple [7, 7] + - !!python/tuple [2, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex70.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex70.yaml new file mode 100644 index 0000000..28a2c84 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex70.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [0, 1] + name: agent0 + start: [7, 6] +- goal: [2, 7] + name: agent1 + start: [0, 7] +- goal: [4, 3] + name: agent2 + start: [4, 0] +- goal: [2, 4] + name: agent3 + start: [5, 1] +- goal: [6, 7] + name: agent4 + start: [1, 2] +- goal: [7, 7] + name: agent5 + start: [6, 5] +- goal: [5, 6] + name: agent6 + start: [6, 7] +- goal: [7, 4] + name: agent7 + start: [1, 1] +- goal: [3, 3] + name: agent8 + start: [3, 1] +- goal: [6, 0] + name: agent9 + start: [3, 2] +- goal: [5, 0] + name: agent10 + start: [4, 3] +- goal: [3, 2] + name: agent11 + start: [7, 2] +- goal: [3, 0] + name: agent12 + start: [3, 6] +- goal: [3, 7] + name: agent13 + start: [4, 5] +- goal: [2, 0] + name: agent14 + start: [1, 6] +- goal: [7, 6] + name: agent15 + start: [1, 7] +- goal: [4, 2] + name: agent16 + start: [2, 0] +- goal: [1, 6] + name: agent17 + start: [7, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 0] + - !!python/tuple [3, 4] + - !!python/tuple [1, 5] + - !!python/tuple [5, 5] + - !!python/tuple [4, 7] + - !!python/tuple [2, 2] + - !!python/tuple [0, 5] + - !!python/tuple [7, 3] + - !!python/tuple [5, 4] + - !!python/tuple [1, 4] + - !!python/tuple [0, 0] + - !!python/tuple [2, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex71.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex71.yaml new file mode 100644 index 0000000..db76d23 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex71.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [3, 2] + name: agent0 + start: [2, 2] +- goal: [0, 6] + name: agent1 + start: [6, 7] +- goal: [1, 6] + name: agent2 + start: [3, 1] +- goal: [5, 7] + name: agent3 + start: [2, 1] +- goal: [5, 3] + name: agent4 + start: [4, 3] +- goal: [5, 2] + name: agent5 + start: [6, 0] +- goal: [6, 5] + name: agent6 + start: [1, 2] +- goal: [7, 3] + name: agent7 + start: [1, 3] +- goal: [3, 5] + name: agent8 + start: [1, 7] +- goal: [2, 2] + name: agent9 + start: [0, 5] +- goal: [5, 0] + name: agent10 + start: [0, 4] +- goal: [7, 0] + name: agent11 + start: [5, 7] +- goal: [5, 4] + name: agent12 + start: [5, 4] +- goal: [1, 0] + name: agent13 + start: [3, 2] +- goal: [0, 1] + name: agent14 + start: [5, 0] +- goal: [6, 3] + name: agent15 + start: [0, 6] +- goal: [1, 5] + name: agent16 + start: [4, 6] +- goal: [3, 7] + name: agent17 + start: [1, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 7] + - !!python/tuple [4, 2] + - !!python/tuple [5, 1] + - !!python/tuple [3, 4] + - !!python/tuple [7, 7] + - !!python/tuple [4, 1] + - !!python/tuple [0, 2] + - !!python/tuple [3, 6] + - !!python/tuple [7, 6] + - !!python/tuple [3, 0] + - !!python/tuple [1, 1] + - !!python/tuple [2, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex72.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex72.yaml new file mode 100644 index 0000000..e8758ec --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex72.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [1, 1] + name: agent0 + start: [4, 3] +- goal: [5, 3] + name: agent1 + start: [2, 2] +- goal: [0, 7] + name: agent2 + start: [7, 0] +- goal: [1, 6] + name: agent3 + start: [5, 7] +- goal: [6, 6] + name: agent4 + start: [1, 5] +- goal: [1, 4] + name: agent5 + start: [3, 1] +- goal: [4, 3] + name: agent6 + start: [0, 7] +- goal: [3, 6] + name: agent7 + start: [2, 1] +- goal: [6, 3] + name: agent8 + start: [2, 7] +- goal: [3, 3] + name: agent9 + start: [7, 4] +- goal: [5, 2] + name: agent10 + start: [7, 1] +- goal: [1, 5] + name: agent11 + start: [6, 1] +- goal: [4, 0] + name: agent12 + start: [3, 5] +- goal: [2, 2] + name: agent13 + start: [2, 6] +- goal: [6, 2] + name: agent14 + start: [6, 4] +- goal: [6, 1] + name: agent15 + start: [4, 5] +- goal: [5, 5] + name: agent16 + start: [4, 7] +- goal: [2, 1] + name: agent17 + start: [6, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 0] + - !!python/tuple [0, 1] + - !!python/tuple [0, 5] + - !!python/tuple [0, 6] + - !!python/tuple [1, 3] + - !!python/tuple [4, 6] + - !!python/tuple [0, 0] + - !!python/tuple [2, 4] + - !!python/tuple [5, 6] + - !!python/tuple [0, 4] + - !!python/tuple [2, 5] + - !!python/tuple [1, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex73.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex73.yaml new file mode 100644 index 0000000..78b61b5 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex73.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [2, 6] + name: agent0 + start: [4, 2] +- goal: [4, 6] + name: agent1 + start: [3, 7] +- goal: [3, 3] + name: agent2 + start: [2, 3] +- goal: [3, 4] + name: agent3 + start: [7, 4] +- goal: [0, 1] + name: agent4 + start: [0, 1] +- goal: [4, 4] + name: agent5 + start: [0, 6] +- goal: [1, 5] + name: agent6 + start: [3, 2] +- goal: [5, 6] + name: agent7 + start: [3, 4] +- goal: [0, 5] + name: agent8 + start: [7, 6] +- goal: [5, 2] + name: agent9 + start: [4, 4] +- goal: [7, 1] + name: agent10 + start: [7, 3] +- goal: [6, 5] + name: agent11 + start: [5, 3] +- goal: [2, 4] + name: agent12 + start: [5, 2] +- goal: [6, 7] + name: agent13 + start: [5, 0] +- goal: [3, 0] + name: agent14 + start: [1, 6] +- goal: [1, 6] + name: agent15 + start: [4, 5] +- goal: [7, 6] + name: agent16 + start: [5, 1] +- goal: [7, 3] + name: agent17 + start: [5, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 1] + - !!python/tuple [3, 6] + - !!python/tuple [5, 5] + - !!python/tuple [5, 7] + - !!python/tuple [3, 5] + - !!python/tuple [1, 3] + - !!python/tuple [6, 0] + - !!python/tuple [0, 0] + - !!python/tuple [0, 2] + - !!python/tuple [0, 7] + - !!python/tuple [4, 1] + - !!python/tuple [3, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex74.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex74.yaml new file mode 100644 index 0000000..15a409b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex74.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [1, 2] + name: agent0 + start: [0, 6] +- goal: [1, 7] + name: agent1 + start: [1, 5] +- goal: [3, 3] + name: agent2 + start: [1, 1] +- goal: [1, 1] + name: agent3 + start: [7, 6] +- goal: [0, 1] + name: agent4 + start: [5, 3] +- goal: [7, 0] + name: agent5 + start: [3, 7] +- goal: [0, 0] + name: agent6 + start: [2, 7] +- goal: [5, 3] + name: agent7 + start: [6, 4] +- goal: [3, 7] + name: agent8 + start: [6, 0] +- goal: [4, 6] + name: agent9 + start: [0, 0] +- goal: [6, 5] + name: agent10 + start: [5, 5] +- goal: [7, 5] + name: agent11 + start: [7, 0] +- goal: [2, 4] + name: agent12 + start: [0, 3] +- goal: [1, 5] + name: agent13 + start: [7, 1] +- goal: [4, 4] + name: agent14 + start: [2, 3] +- goal: [7, 1] + name: agent15 + start: [1, 0] +- goal: [5, 1] + name: agent16 + start: [1, 6] +- goal: [4, 7] + name: agent17 + start: [4, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 2] + - !!python/tuple [1, 3] + - !!python/tuple [1, 4] + - !!python/tuple [6, 1] + - !!python/tuple [2, 2] + - !!python/tuple [5, 2] + - !!python/tuple [5, 7] + - !!python/tuple [3, 0] + - !!python/tuple [5, 4] + - !!python/tuple [3, 5] + - !!python/tuple [7, 3] + - !!python/tuple [7, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex75.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex75.yaml new file mode 100644 index 0000000..edb8f6a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex75.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [3, 6] + name: agent0 + start: [2, 4] +- goal: [0, 1] + name: agent1 + start: [1, 4] +- goal: [0, 5] + name: agent2 + start: [1, 2] +- goal: [7, 7] + name: agent3 + start: [4, 7] +- goal: [3, 5] + name: agent4 + start: [5, 2] +- goal: [4, 7] + name: agent5 + start: [3, 1] +- goal: [3, 2] + name: agent6 + start: [3, 7] +- goal: [6, 0] + name: agent7 + start: [1, 3] +- goal: [4, 4] + name: agent8 + start: [5, 0] +- goal: [2, 4] + name: agent9 + start: [0, 5] +- goal: [6, 5] + name: agent10 + start: [7, 7] +- goal: [5, 0] + name: agent11 + start: [1, 1] +- goal: [4, 1] + name: agent12 + start: [3, 4] +- goal: [5, 3] + name: agent13 + start: [4, 5] +- goal: [2, 1] + name: agent14 + start: [6, 6] +- goal: [2, 5] + name: agent15 + start: [4, 3] +- goal: [4, 6] + name: agent16 + start: [1, 0] +- goal: [1, 3] + name: agent17 + start: [5, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 2] + - !!python/tuple [7, 6] + - !!python/tuple [0, 6] + - !!python/tuple [4, 2] + - !!python/tuple [0, 7] + - !!python/tuple [6, 2] + - !!python/tuple [5, 5] + - !!python/tuple [3, 3] + - !!python/tuple [6, 1] + - !!python/tuple [7, 3] + - !!python/tuple [2, 3] + - !!python/tuple [7, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex76.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex76.yaml new file mode 100644 index 0000000..1960368 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex76.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [7, 6] + name: agent0 + start: [0, 4] +- goal: [1, 2] + name: agent1 + start: [5, 2] +- goal: [3, 4] + name: agent2 + start: [5, 4] +- goal: [3, 6] + name: agent3 + start: [6, 5] +- goal: [3, 3] + name: agent4 + start: [7, 5] +- goal: [4, 4] + name: agent5 + start: [7, 4] +- goal: [5, 5] + name: agent6 + start: [2, 3] +- goal: [5, 2] + name: agent7 + start: [5, 0] +- goal: [5, 7] + name: agent8 + start: [6, 7] +- goal: [7, 3] + name: agent9 + start: [0, 5] +- goal: [1, 5] + name: agent10 + start: [3, 7] +- goal: [2, 2] + name: agent11 + start: [0, 6] +- goal: [7, 4] + name: agent12 + start: [6, 6] +- goal: [0, 6] + name: agent13 + start: [5, 3] +- goal: [7, 0] + name: agent14 + start: [7, 6] +- goal: [3, 2] + name: agent15 + start: [6, 2] +- goal: [5, 0] + name: agent16 + start: [1, 2] +- goal: [6, 1] + name: agent17 + start: [2, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 4] + - !!python/tuple [3, 1] + - !!python/tuple [1, 0] + - !!python/tuple [1, 1] + - !!python/tuple [4, 3] + - !!python/tuple [2, 5] + - !!python/tuple [0, 2] + - !!python/tuple [3, 5] + - !!python/tuple [1, 3] + - !!python/tuple [4, 1] + - !!python/tuple [0, 7] + - !!python/tuple [4, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex77.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex77.yaml new file mode 100644 index 0000000..c26a4a5 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex77.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [6, 2] + name: agent0 + start: [6, 7] +- goal: [5, 4] + name: agent1 + start: [7, 0] +- goal: [6, 1] + name: agent2 + start: [4, 2] +- goal: [0, 0] + name: agent3 + start: [0, 6] +- goal: [7, 7] + name: agent4 + start: [5, 7] +- goal: [7, 5] + name: agent5 + start: [0, 1] +- goal: [7, 2] + name: agent6 + start: [1, 5] +- goal: [4, 3] + name: agent7 + start: [2, 7] +- goal: [3, 4] + name: agent8 + start: [1, 1] +- goal: [0, 6] + name: agent9 + start: [2, 5] +- goal: [5, 1] + name: agent10 + start: [3, 1] +- goal: [2, 7] + name: agent11 + start: [7, 7] +- goal: [5, 7] + name: agent12 + start: [4, 6] +- goal: [5, 6] + name: agent13 + start: [1, 3] +- goal: [4, 1] + name: agent14 + start: [0, 0] +- goal: [1, 3] + name: agent15 + start: [2, 1] +- goal: [7, 0] + name: agent16 + start: [0, 3] +- goal: [4, 7] + name: agent17 + start: [2, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 3] + - !!python/tuple [0, 2] + - !!python/tuple [7, 1] + - !!python/tuple [1, 4] + - !!python/tuple [2, 0] + - !!python/tuple [1, 2] + - !!python/tuple [7, 4] + - !!python/tuple [1, 6] + - !!python/tuple [0, 5] + - !!python/tuple [3, 7] + - !!python/tuple [1, 0] + - !!python/tuple [4, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex78.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex78.yaml new file mode 100644 index 0000000..757c4ac --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex78.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [5, 6] + name: agent0 + start: [1, 2] +- goal: [7, 4] + name: agent1 + start: [0, 7] +- goal: [4, 6] + name: agent2 + start: [6, 2] +- goal: [4, 5] + name: agent3 + start: [5, 2] +- goal: [0, 7] + name: agent4 + start: [4, 4] +- goal: [4, 4] + name: agent5 + start: [0, 5] +- goal: [6, 0] + name: agent6 + start: [1, 1] +- goal: [2, 4] + name: agent7 + start: [4, 7] +- goal: [1, 2] + name: agent8 + start: [2, 2] +- goal: [6, 3] + name: agent9 + start: [0, 1] +- goal: [2, 2] + name: agent10 + start: [6, 1] +- goal: [6, 5] + name: agent11 + start: [4, 6] +- goal: [7, 3] + name: agent12 + start: [7, 2] +- goal: [1, 3] + name: agent13 + start: [6, 0] +- goal: [4, 3] + name: agent14 + start: [3, 4] +- goal: [6, 1] + name: agent15 + start: [4, 5] +- goal: [6, 7] + name: agent16 + start: [5, 1] +- goal: [5, 7] + name: agent17 + start: [7, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 7] + - !!python/tuple [3, 2] + - !!python/tuple [1, 0] + - !!python/tuple [3, 5] + - !!python/tuple [1, 6] + - !!python/tuple [5, 5] + - !!python/tuple [5, 0] + - !!python/tuple [6, 6] + - !!python/tuple [3, 3] + - !!python/tuple [3, 7] + - !!python/tuple [7, 7] + - !!python/tuple [2, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex79.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex79.yaml new file mode 100644 index 0000000..35b2f7c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex79.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [1, 6] + name: agent0 + start: [0, 4] +- goal: [4, 5] + name: agent1 + start: [5, 6] +- goal: [5, 4] + name: agent2 + start: [4, 6] +- goal: [5, 6] + name: agent3 + start: [4, 3] +- goal: [1, 1] + name: agent4 + start: [7, 3] +- goal: [3, 2] + name: agent5 + start: [6, 4] +- goal: [2, 5] + name: agent6 + start: [6, 5] +- goal: [2, 2] + name: agent7 + start: [2, 6] +- goal: [1, 4] + name: agent8 + start: [2, 7] +- goal: [3, 0] + name: agent9 + start: [7, 7] +- goal: [5, 2] + name: agent10 + start: [6, 3] +- goal: [0, 5] + name: agent11 + start: [2, 5] +- goal: [1, 0] + name: agent12 + start: [1, 4] +- goal: [2, 3] + name: agent13 + start: [3, 2] +- goal: [5, 3] + name: agent14 + start: [7, 2] +- goal: [5, 1] + name: agent15 + start: [4, 4] +- goal: [7, 5] + name: agent16 + start: [6, 2] +- goal: [3, 7] + name: agent17 + start: [1, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 1] + - !!python/tuple [6, 0] + - !!python/tuple [0, 3] + - !!python/tuple [7, 1] + - !!python/tuple [4, 1] + - !!python/tuple [7, 4] + - !!python/tuple [3, 4] + - !!python/tuple [0, 6] + - !!python/tuple [1, 3] + - !!python/tuple [3, 5] + - !!python/tuple [0, 2] + - !!python/tuple [2, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex8.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex8.yaml new file mode 100644 index 0000000..ca5c9c0 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex8.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [0, 4] + name: agent0 + start: [3, 6] +- goal: [2, 1] + name: agent1 + start: [4, 5] +- goal: [3, 5] + name: agent2 + start: [3, 5] +- goal: [3, 6] + name: agent3 + start: [6, 0] +- goal: [2, 3] + name: agent4 + start: [6, 2] +- goal: [7, 6] + name: agent5 + start: [4, 6] +- goal: [6, 7] + name: agent6 + start: [3, 0] +- goal: [3, 2] + name: agent7 + start: [5, 7] +- goal: [5, 7] + name: agent8 + start: [4, 1] +- goal: [4, 5] + name: agent9 + start: [7, 4] +- goal: [7, 0] + name: agent10 + start: [7, 3] +- goal: [7, 5] + name: agent11 + start: [1, 4] +- goal: [0, 2] + name: agent12 + start: [5, 2] +- goal: [6, 3] + name: agent13 + start: [5, 4] +- goal: [3, 0] + name: agent14 + start: [0, 3] +- goal: [4, 6] + name: agent15 + start: [2, 4] +- goal: [2, 0] + name: agent16 + start: [0, 4] +- goal: [6, 0] + name: agent17 + start: [3, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 4] + - !!python/tuple [3, 1] + - !!python/tuple [6, 6] + - !!python/tuple [0, 0] + - !!python/tuple [1, 0] + - !!python/tuple [5, 3] + - !!python/tuple [0, 7] + - !!python/tuple [1, 6] + - !!python/tuple [7, 1] + - !!python/tuple [1, 5] + - !!python/tuple [4, 7] + - !!python/tuple [4, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex80.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex80.yaml new file mode 100644 index 0000000..0916efd --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex80.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [1, 3] + name: agent0 + start: [7, 2] +- goal: [0, 2] + name: agent1 + start: [7, 7] +- goal: [7, 0] + name: agent2 + start: [7, 1] +- goal: [5, 1] + name: agent3 + start: [4, 5] +- goal: [2, 1] + name: agent4 + start: [6, 7] +- goal: [1, 7] + name: agent5 + start: [6, 4] +- goal: [1, 4] + name: agent6 + start: [1, 4] +- goal: [3, 1] + name: agent7 + start: [3, 1] +- goal: [7, 4] + name: agent8 + start: [5, 7] +- goal: [2, 0] + name: agent9 + start: [4, 6] +- goal: [0, 4] + name: agent10 + start: [1, 0] +- goal: [7, 7] + name: agent11 + start: [0, 6] +- goal: [7, 5] + name: agent12 + start: [6, 1] +- goal: [4, 0] + name: agent13 + start: [5, 2] +- goal: [3, 4] + name: agent14 + start: [7, 5] +- goal: [4, 6] + name: agent15 + start: [0, 4] +- goal: [0, 6] + name: agent16 + start: [7, 6] +- goal: [0, 7] + name: agent17 + start: [7, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 6] + - !!python/tuple [6, 5] + - !!python/tuple [5, 3] + - !!python/tuple [1, 1] + - !!python/tuple [3, 5] + - !!python/tuple [4, 2] + - !!python/tuple [2, 7] + - !!python/tuple [1, 5] + - !!python/tuple [7, 3] + - !!python/tuple [2, 6] + - !!python/tuple [6, 2] + - !!python/tuple [1, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex81.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex81.yaml new file mode 100644 index 0000000..ec15256 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex81.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [0, 7] + name: agent0 + start: [4, 6] +- goal: [6, 2] + name: agent1 + start: [0, 7] +- goal: [6, 7] + name: agent2 + start: [6, 2] +- goal: [2, 4] + name: agent3 + start: [1, 5] +- goal: [7, 2] + name: agent4 + start: [7, 3] +- goal: [4, 7] + name: agent5 + start: [2, 7] +- goal: [2, 0] + name: agent6 + start: [6, 3] +- goal: [3, 5] + name: agent7 + start: [5, 7] +- goal: [2, 3] + name: agent8 + start: [4, 4] +- goal: [6, 6] + name: agent9 + start: [2, 2] +- goal: [1, 7] + name: agent10 + start: [5, 0] +- goal: [0, 2] + name: agent11 + start: [2, 6] +- goal: [5, 6] + name: agent12 + start: [4, 5] +- goal: [7, 7] + name: agent13 + start: [5, 2] +- goal: [6, 5] + name: agent14 + start: [5, 5] +- goal: [5, 3] + name: agent15 + start: [6, 6] +- goal: [6, 3] + name: agent16 + start: [0, 2] +- goal: [4, 1] + name: agent17 + start: [6, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 3] + - !!python/tuple [4, 3] + - !!python/tuple [0, 3] + - !!python/tuple [4, 0] + - !!python/tuple [7, 1] + - !!python/tuple [0, 1] + - !!python/tuple [6, 0] + - !!python/tuple [2, 5] + - !!python/tuple [3, 0] + - !!python/tuple [1, 4] + - !!python/tuple [1, 0] + - !!python/tuple [3, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex82.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex82.yaml new file mode 100644 index 0000000..28b8996 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex82.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [5, 4] + name: agent0 + start: [7, 5] +- goal: [6, 2] + name: agent1 + start: [6, 5] +- goal: [4, 3] + name: agent2 + start: [4, 3] +- goal: [2, 5] + name: agent3 + start: [3, 3] +- goal: [3, 6] + name: agent4 + start: [7, 6] +- goal: [5, 2] + name: agent5 + start: [5, 0] +- goal: [4, 0] + name: agent6 + start: [5, 1] +- goal: [0, 1] + name: agent7 + start: [3, 2] +- goal: [3, 1] + name: agent8 + start: [5, 2] +- goal: [4, 7] + name: agent9 + start: [4, 0] +- goal: [5, 0] + name: agent10 + start: [3, 0] +- goal: [2, 7] + name: agent11 + start: [0, 0] +- goal: [4, 4] + name: agent12 + start: [1, 6] +- goal: [5, 6] + name: agent13 + start: [7, 7] +- goal: [5, 1] + name: agent14 + start: [1, 2] +- goal: [3, 5] + name: agent15 + start: [0, 1] +- goal: [1, 3] + name: agent16 + start: [0, 2] +- goal: [4, 6] + name: agent17 + start: [3, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 3] + - !!python/tuple [1, 4] + - !!python/tuple [4, 5] + - !!python/tuple [6, 4] + - !!python/tuple [2, 1] + - !!python/tuple [7, 4] + - !!python/tuple [1, 7] + - !!python/tuple [2, 6] + - !!python/tuple [1, 5] + - !!python/tuple [7, 0] + - !!python/tuple [6, 7] + - !!python/tuple [5, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex83.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex83.yaml new file mode 100644 index 0000000..1e9995d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex83.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [7, 7] + name: agent0 + start: [7, 3] +- goal: [6, 0] + name: agent1 + start: [3, 3] +- goal: [0, 2] + name: agent2 + start: [4, 0] +- goal: [7, 3] + name: agent3 + start: [3, 5] +- goal: [4, 1] + name: agent4 + start: [2, 4] +- goal: [5, 0] + name: agent5 + start: [6, 0] +- goal: [2, 2] + name: agent6 + start: [6, 2] +- goal: [1, 7] + name: agent7 + start: [7, 6] +- goal: [5, 7] + name: agent8 + start: [4, 3] +- goal: [7, 0] + name: agent9 + start: [3, 2] +- goal: [1, 5] + name: agent10 + start: [4, 5] +- goal: [7, 1] + name: agent11 + start: [1, 4] +- goal: [1, 0] + name: agent12 + start: [2, 3] +- goal: [3, 1] + name: agent13 + start: [7, 1] +- goal: [3, 2] + name: agent14 + start: [3, 7] +- goal: [4, 0] + name: agent15 + start: [1, 2] +- goal: [2, 0] + name: agent16 + start: [2, 0] +- goal: [4, 6] + name: agent17 + start: [1, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 6] + - !!python/tuple [6, 3] + - !!python/tuple [6, 1] + - !!python/tuple [0, 4] + - !!python/tuple [3, 4] + - !!python/tuple [2, 7] + - !!python/tuple [2, 5] + - !!python/tuple [2, 6] + - !!python/tuple [7, 5] + - !!python/tuple [1, 1] + - !!python/tuple [0, 0] + - !!python/tuple [0, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex84.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex84.yaml new file mode 100644 index 0000000..2fd1fad --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex84.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [0, 0] + name: agent0 + start: [2, 3] +- goal: [6, 6] + name: agent1 + start: [7, 7] +- goal: [2, 5] + name: agent2 + start: [6, 7] +- goal: [7, 2] + name: agent3 + start: [3, 4] +- goal: [5, 6] + name: agent4 + start: [2, 2] +- goal: [0, 5] + name: agent5 + start: [0, 0] +- goal: [2, 1] + name: agent6 + start: [3, 5] +- goal: [3, 4] + name: agent7 + start: [3, 6] +- goal: [0, 4] + name: agent8 + start: [1, 0] +- goal: [6, 2] + name: agent9 + start: [7, 6] +- goal: [2, 0] + name: agent10 + start: [0, 2] +- goal: [6, 7] + name: agent11 + start: [2, 7] +- goal: [5, 0] + name: agent12 + start: [0, 5] +- goal: [5, 4] + name: agent13 + start: [4, 0] +- goal: [2, 7] + name: agent14 + start: [6, 2] +- goal: [3, 6] + name: agent15 + start: [2, 5] +- goal: [0, 3] + name: agent16 + start: [7, 2] +- goal: [4, 3] + name: agent17 + start: [6, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 3] + - !!python/tuple [0, 1] + - !!python/tuple [6, 1] + - !!python/tuple [5, 2] + - !!python/tuple [1, 7] + - !!python/tuple [3, 0] + - !!python/tuple [4, 5] + - !!python/tuple [1, 1] + - !!python/tuple [5, 1] + - !!python/tuple [5, 5] + - !!python/tuple [0, 6] + - !!python/tuple [1, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex85.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex85.yaml new file mode 100644 index 0000000..4be473f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex85.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [4, 7] + name: agent0 + start: [0, 2] +- goal: [1, 5] + name: agent1 + start: [5, 4] +- goal: [7, 4] + name: agent2 + start: [2, 2] +- goal: [2, 6] + name: agent3 + start: [1, 2] +- goal: [0, 3] + name: agent4 + start: [3, 7] +- goal: [6, 7] + name: agent5 + start: [5, 2] +- goal: [0, 4] + name: agent6 + start: [7, 0] +- goal: [4, 5] + name: agent7 + start: [7, 7] +- goal: [4, 2] + name: agent8 + start: [6, 3] +- goal: [0, 7] + name: agent9 + start: [0, 3] +- goal: [3, 2] + name: agent10 + start: [5, 5] +- goal: [6, 3] + name: agent11 + start: [7, 1] +- goal: [7, 1] + name: agent12 + start: [2, 1] +- goal: [1, 6] + name: agent13 + start: [5, 6] +- goal: [7, 2] + name: agent14 + start: [7, 6] +- goal: [7, 7] + name: agent15 + start: [1, 3] +- goal: [2, 2] + name: agent16 + start: [1, 4] +- goal: [2, 5] + name: agent17 + start: [1, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 0] + - !!python/tuple [4, 6] + - !!python/tuple [3, 4] + - !!python/tuple [6, 5] + - !!python/tuple [6, 2] + - !!python/tuple [2, 7] + - !!python/tuple [2, 4] + - !!python/tuple [4, 3] + - !!python/tuple [2, 3] + - !!python/tuple [5, 0] + - !!python/tuple [4, 0] + - !!python/tuple [5, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex86.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex86.yaml new file mode 100644 index 0000000..8ad239b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex86.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [1, 4] + name: agent0 + start: [5, 4] +- goal: [0, 1] + name: agent1 + start: [4, 4] +- goal: [4, 4] + name: agent2 + start: [0, 3] +- goal: [3, 4] + name: agent3 + start: [0, 0] +- goal: [7, 0] + name: agent4 + start: [1, 2] +- goal: [1, 2] + name: agent5 + start: [7, 1] +- goal: [2, 4] + name: agent6 + start: [5, 2] +- goal: [4, 7] + name: agent7 + start: [2, 1] +- goal: [7, 7] + name: agent8 + start: [2, 6] +- goal: [5, 4] + name: agent9 + start: [5, 0] +- goal: [5, 6] + name: agent10 + start: [1, 5] +- goal: [7, 6] + name: agent11 + start: [5, 1] +- goal: [3, 7] + name: agent12 + start: [6, 6] +- goal: [2, 2] + name: agent13 + start: [6, 0] +- goal: [3, 0] + name: agent14 + start: [7, 6] +- goal: [7, 2] + name: agent15 + start: [6, 1] +- goal: [6, 1] + name: agent16 + start: [1, 1] +- goal: [5, 2] + name: agent17 + start: [3, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 3] + - !!python/tuple [2, 5] + - !!python/tuple [4, 2] + - !!python/tuple [4, 5] + - !!python/tuple [2, 7] + - !!python/tuple [2, 3] + - !!python/tuple [3, 2] + - !!python/tuple [0, 4] + - !!python/tuple [4, 3] + - !!python/tuple [6, 3] + - !!python/tuple [2, 0] + - !!python/tuple [0, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex87.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex87.yaml new file mode 100644 index 0000000..88f8b8a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex87.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [2, 0] + name: agent0 + start: [2, 4] +- goal: [1, 0] + name: agent1 + start: [4, 0] +- goal: [3, 7] + name: agent2 + start: [3, 6] +- goal: [3, 4] + name: agent3 + start: [5, 6] +- goal: [5, 4] + name: agent4 + start: [6, 5] +- goal: [1, 5] + name: agent5 + start: [4, 3] +- goal: [7, 7] + name: agent6 + start: [5, 4] +- goal: [4, 7] + name: agent7 + start: [4, 6] +- goal: [7, 0] + name: agent8 + start: [3, 1] +- goal: [4, 0] + name: agent9 + start: [7, 6] +- goal: [2, 7] + name: agent10 + start: [2, 0] +- goal: [2, 2] + name: agent11 + start: [5, 1] +- goal: [5, 3] + name: agent12 + start: [2, 6] +- goal: [6, 2] + name: agent13 + start: [0, 2] +- goal: [2, 4] + name: agent14 + start: [5, 0] +- goal: [1, 6] + name: agent15 + start: [2, 5] +- goal: [0, 2] + name: agent16 + start: [6, 1] +- goal: [4, 3] + name: agent17 + start: [1, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 5] + - !!python/tuple [0, 5] + - !!python/tuple [1, 7] + - !!python/tuple [0, 3] + - !!python/tuple [4, 2] + - !!python/tuple [7, 3] + - !!python/tuple [1, 3] + - !!python/tuple [3, 3] + - !!python/tuple [3, 0] + - !!python/tuple [7, 4] + - !!python/tuple [4, 4] + - !!python/tuple [6, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex88.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex88.yaml new file mode 100644 index 0000000..ee7fed1 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex88.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [1, 5] + name: agent0 + start: [4, 3] +- goal: [7, 2] + name: agent1 + start: [2, 6] +- goal: [2, 0] + name: agent2 + start: [2, 0] +- goal: [6, 5] + name: agent3 + start: [7, 2] +- goal: [3, 6] + name: agent4 + start: [1, 6] +- goal: [7, 4] + name: agent5 + start: [5, 0] +- goal: [3, 5] + name: agent6 + start: [4, 2] +- goal: [4, 6] + name: agent7 + start: [5, 5] +- goal: [4, 2] + name: agent8 + start: [2, 7] +- goal: [5, 3] + name: agent9 + start: [5, 3] +- goal: [2, 7] + name: agent10 + start: [7, 5] +- goal: [6, 7] + name: agent11 + start: [0, 7] +- goal: [3, 2] + name: agent12 + start: [6, 2] +- goal: [5, 6] + name: agent13 + start: [6, 7] +- goal: [7, 5] + name: agent14 + start: [4, 6] +- goal: [1, 4] + name: agent15 + start: [3, 7] +- goal: [0, 6] + name: agent16 + start: [6, 4] +- goal: [6, 1] + name: agent17 + start: [1, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 2] + - !!python/tuple [7, 3] + - !!python/tuple [5, 4] + - !!python/tuple [3, 0] + - !!python/tuple [0, 3] + - !!python/tuple [1, 3] + - !!python/tuple [1, 0] + - !!python/tuple [4, 0] + - !!python/tuple [6, 0] + - !!python/tuple [1, 1] + - !!python/tuple [1, 2] + - !!python/tuple [6, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex89.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex89.yaml new file mode 100644 index 0000000..bef1af5 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex89.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [3, 2] + name: agent0 + start: [2, 6] +- goal: [3, 3] + name: agent1 + start: [4, 1] +- goal: [5, 6] + name: agent2 + start: [7, 1] +- goal: [6, 2] + name: agent3 + start: [4, 5] +- goal: [6, 3] + name: agent4 + start: [4, 7] +- goal: [2, 1] + name: agent5 + start: [6, 3] +- goal: [7, 1] + name: agent6 + start: [3, 7] +- goal: [7, 0] + name: agent7 + start: [4, 3] +- goal: [0, 0] + name: agent8 + start: [5, 1] +- goal: [1, 7] + name: agent9 + start: [6, 0] +- goal: [4, 6] + name: agent10 + start: [4, 6] +- goal: [4, 4] + name: agent11 + start: [6, 4] +- goal: [3, 7] + name: agent12 + start: [0, 5] +- goal: [0, 5] + name: agent13 + start: [5, 4] +- goal: [0, 6] + name: agent14 + start: [1, 1] +- goal: [5, 0] + name: agent15 + start: [5, 6] +- goal: [7, 7] + name: agent16 + start: [2, 0] +- goal: [0, 1] + name: agent17 + start: [3, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 1] + - !!python/tuple [7, 5] + - !!python/tuple [0, 4] + - !!python/tuple [6, 7] + - !!python/tuple [7, 4] + - !!python/tuple [5, 2] + - !!python/tuple [5, 3] + - !!python/tuple [2, 5] + - !!python/tuple [1, 0] + - !!python/tuple [2, 4] + - !!python/tuple [1, 3] + - !!python/tuple [1, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex9.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex9.yaml new file mode 100644 index 0000000..aabff6d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex9.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [5, 5] + name: agent0 + start: [3, 3] +- goal: [6, 3] + name: agent1 + start: [4, 0] +- goal: [5, 4] + name: agent2 + start: [6, 7] +- goal: [3, 7] + name: agent3 + start: [6, 5] +- goal: [7, 4] + name: agent4 + start: [5, 3] +- goal: [3, 0] + name: agent5 + start: [0, 2] +- goal: [3, 4] + name: agent6 + start: [4, 2] +- goal: [6, 0] + name: agent7 + start: [4, 3] +- goal: [4, 2] + name: agent8 + start: [3, 5] +- goal: [5, 1] + name: agent9 + start: [5, 0] +- goal: [2, 4] + name: agent10 + start: [7, 7] +- goal: [7, 3] + name: agent11 + start: [5, 6] +- goal: [7, 7] + name: agent12 + start: [4, 6] +- goal: [2, 2] + name: agent13 + start: [3, 6] +- goal: [4, 1] + name: agent14 + start: [2, 2] +- goal: [4, 3] + name: agent15 + start: [7, 0] +- goal: [1, 0] + name: agent16 + start: [0, 3] +- goal: [0, 0] + name: agent17 + start: [5, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 5] + - !!python/tuple [0, 4] + - !!python/tuple [6, 6] + - !!python/tuple [2, 7] + - !!python/tuple [0, 1] + - !!python/tuple [6, 4] + - !!python/tuple [7, 1] + - !!python/tuple [7, 6] + - !!python/tuple [4, 7] + - !!python/tuple [1, 5] + - !!python/tuple [2, 6] + - !!python/tuple [1, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex90.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex90.yaml new file mode 100644 index 0000000..8f3c48b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex90.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [7, 5] + name: agent0 + start: [4, 5] +- goal: [4, 1] + name: agent1 + start: [0, 0] +- goal: [4, 5] + name: agent2 + start: [2, 1] +- goal: [3, 2] + name: agent3 + start: [1, 3] +- goal: [4, 3] + name: agent4 + start: [5, 0] +- goal: [1, 3] + name: agent5 + start: [4, 7] +- goal: [2, 1] + name: agent6 + start: [2, 3] +- goal: [0, 1] + name: agent7 + start: [0, 5] +- goal: [2, 3] + name: agent8 + start: [5, 1] +- goal: [5, 1] + name: agent9 + start: [2, 5] +- goal: [6, 5] + name: agent10 + start: [6, 7] +- goal: [6, 7] + name: agent11 + start: [6, 1] +- goal: [5, 5] + name: agent12 + start: [7, 0] +- goal: [6, 4] + name: agent13 + start: [0, 1] +- goal: [1, 5] + name: agent14 + start: [1, 7] +- goal: [7, 0] + name: agent15 + start: [5, 5] +- goal: [6, 3] + name: agent16 + start: [0, 4] +- goal: [3, 7] + name: agent17 + start: [0, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 2] + - !!python/tuple [0, 3] + - !!python/tuple [5, 4] + - !!python/tuple [5, 6] + - !!python/tuple [3, 1] + - !!python/tuple [7, 4] + - !!python/tuple [3, 0] + - !!python/tuple [1, 0] + - !!python/tuple [4, 4] + - !!python/tuple [1, 4] + - !!python/tuple [7, 2] + - !!python/tuple [6, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex91.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex91.yaml new file mode 100644 index 0000000..c2a55cb --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex91.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [4, 6] + name: agent0 + start: [1, 3] +- goal: [3, 0] + name: agent1 + start: [6, 3] +- goal: [4, 7] + name: agent2 + start: [1, 2] +- goal: [7, 4] + name: agent3 + start: [0, 3] +- goal: [6, 2] + name: agent4 + start: [0, 4] +- goal: [5, 5] + name: agent5 + start: [7, 6] +- goal: [2, 6] + name: agent6 + start: [3, 0] +- goal: [2, 4] + name: agent7 + start: [1, 7] +- goal: [7, 7] + name: agent8 + start: [3, 5] +- goal: [5, 4] + name: agent9 + start: [5, 5] +- goal: [2, 1] + name: agent10 + start: [7, 3] +- goal: [0, 4] + name: agent11 + start: [4, 6] +- goal: [3, 4] + name: agent12 + start: [2, 0] +- goal: [1, 3] + name: agent13 + start: [5, 6] +- goal: [0, 2] + name: agent14 + start: [6, 0] +- goal: [6, 0] + name: agent15 + start: [0, 2] +- goal: [6, 5] + name: agent16 + start: [7, 5] +- goal: [2, 3] + name: agent17 + start: [0, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 0] + - !!python/tuple [5, 3] + - !!python/tuple [6, 7] + - !!python/tuple [4, 5] + - !!python/tuple [2, 2] + - !!python/tuple [4, 2] + - !!python/tuple [6, 4] + - !!python/tuple [1, 4] + - !!python/tuple [2, 5] + - !!python/tuple [1, 6] + - !!python/tuple [1, 1] + - !!python/tuple [7, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex92.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex92.yaml new file mode 100644 index 0000000..82aa0a3 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex92.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [2, 5] + name: agent0 + start: [7, 7] +- goal: [7, 4] + name: agent1 + start: [0, 0] +- goal: [1, 2] + name: agent2 + start: [6, 4] +- goal: [3, 0] + name: agent3 + start: [2, 5] +- goal: [3, 1] + name: agent4 + start: [3, 2] +- goal: [2, 7] + name: agent5 + start: [5, 3] +- goal: [3, 4] + name: agent6 + start: [4, 1] +- goal: [4, 5] + name: agent7 + start: [6, 1] +- goal: [4, 3] + name: agent8 + start: [5, 1] +- goal: [3, 7] + name: agent9 + start: [7, 4] +- goal: [5, 0] + name: agent10 + start: [7, 6] +- goal: [6, 7] + name: agent11 + start: [0, 3] +- goal: [7, 1] + name: agent12 + start: [3, 7] +- goal: [3, 6] + name: agent13 + start: [1, 4] +- goal: [4, 2] + name: agent14 + start: [2, 7] +- goal: [7, 0] + name: agent15 + start: [2, 4] +- goal: [6, 6] + name: agent16 + start: [5, 6] +- goal: [2, 1] + name: agent17 + start: [7, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 4] + - !!python/tuple [0, 6] + - !!python/tuple [1, 3] + - !!python/tuple [3, 3] + - !!python/tuple [6, 3] + - !!python/tuple [5, 5] + - !!python/tuple [0, 1] + - !!python/tuple [2, 2] + - !!python/tuple [7, 2] + - !!python/tuple [1, 6] + - !!python/tuple [4, 6] + - !!python/tuple [2, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex93.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex93.yaml new file mode 100644 index 0000000..6ac0be4 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex93.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [4, 6] + name: agent0 + start: [3, 6] +- goal: [6, 4] + name: agent1 + start: [7, 4] +- goal: [3, 7] + name: agent2 + start: [5, 4] +- goal: [3, 6] + name: agent3 + start: [3, 7] +- goal: [2, 7] + name: agent4 + start: [2, 0] +- goal: [5, 1] + name: agent5 + start: [3, 3] +- goal: [1, 2] + name: agent6 + start: [5, 2] +- goal: [2, 6] + name: agent7 + start: [2, 3] +- goal: [7, 2] + name: agent8 + start: [1, 5] +- goal: [2, 3] + name: agent9 + start: [2, 5] +- goal: [4, 2] + name: agent10 + start: [6, 3] +- goal: [1, 5] + name: agent11 + start: [3, 1] +- goal: [5, 2] + name: agent12 + start: [0, 0] +- goal: [3, 3] + name: agent13 + start: [1, 4] +- goal: [4, 4] + name: agent14 + start: [2, 4] +- goal: [7, 4] + name: agent15 + start: [4, 0] +- goal: [2, 1] + name: agent16 + start: [1, 7] +- goal: [2, 4] + name: agent17 + start: [4, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 1] + - !!python/tuple [5, 6] + - !!python/tuple [5, 7] + - !!python/tuple [0, 5] + - !!python/tuple [2, 2] + - !!python/tuple [1, 6] + - !!python/tuple [0, 4] + - !!python/tuple [7, 0] + - !!python/tuple [6, 0] + - !!python/tuple [0, 7] + - !!python/tuple [7, 5] + - !!python/tuple [1, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex94.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex94.yaml new file mode 100644 index 0000000..aa0eb93 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex94.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [3, 0] + name: agent0 + start: [0, 1] +- goal: [2, 4] + name: agent1 + start: [7, 0] +- goal: [4, 1] + name: agent2 + start: [4, 2] +- goal: [2, 1] + name: agent3 + start: [3, 1] +- goal: [0, 6] + name: agent4 + start: [6, 1] +- goal: [3, 5] + name: agent5 + start: [5, 4] +- goal: [5, 4] + name: agent6 + start: [1, 0] +- goal: [4, 5] + name: agent7 + start: [0, 2] +- goal: [2, 7] + name: agent8 + start: [7, 4] +- goal: [0, 7] + name: agent9 + start: [7, 3] +- goal: [6, 4] + name: agent10 + start: [7, 6] +- goal: [2, 0] + name: agent11 + start: [1, 2] +- goal: [1, 2] + name: agent12 + start: [5, 3] +- goal: [5, 7] + name: agent13 + start: [1, 7] +- goal: [1, 6] + name: agent14 + start: [2, 6] +- goal: [5, 3] + name: agent15 + start: [5, 0] +- goal: [4, 3] + name: agent16 + start: [1, 6] +- goal: [5, 0] + name: agent17 + start: [7, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 4] + - !!python/tuple [2, 2] + - !!python/tuple [0, 3] + - !!python/tuple [3, 7] + - !!python/tuple [7, 7] + - !!python/tuple [7, 5] + - !!python/tuple [6, 0] + - !!python/tuple [4, 7] + - !!python/tuple [1, 4] + - !!python/tuple [0, 5] + - !!python/tuple [6, 2] + - !!python/tuple [5, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex95.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex95.yaml new file mode 100644 index 0000000..6fc1a33 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex95.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [1, 6] + name: agent0 + start: [6, 7] +- goal: [2, 5] + name: agent1 + start: [6, 3] +- goal: [1, 1] + name: agent2 + start: [7, 3] +- goal: [1, 5] + name: agent3 + start: [0, 2] +- goal: [1, 2] + name: agent4 + start: [0, 6] +- goal: [7, 5] + name: agent5 + start: [0, 1] +- goal: [5, 0] + name: agent6 + start: [2, 6] +- goal: [1, 7] + name: agent7 + start: [7, 1] +- goal: [0, 2] + name: agent8 + start: [1, 7] +- goal: [3, 3] + name: agent9 + start: [2, 7] +- goal: [5, 2] + name: agent10 + start: [5, 3] +- goal: [0, 1] + name: agent11 + start: [6, 0] +- goal: [5, 3] + name: agent12 + start: [4, 3] +- goal: [7, 0] + name: agent13 + start: [2, 5] +- goal: [7, 4] + name: agent14 + start: [4, 7] +- goal: [3, 1] + name: agent15 + start: [3, 0] +- goal: [4, 5] + name: agent16 + start: [7, 7] +- goal: [4, 1] + name: agent17 + start: [1, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 1] + - !!python/tuple [5, 4] + - !!python/tuple [6, 5] + - !!python/tuple [2, 1] + - !!python/tuple [7, 2] + - !!python/tuple [6, 6] + - !!python/tuple [0, 4] + - !!python/tuple [3, 5] + - !!python/tuple [4, 0] + - !!python/tuple [3, 7] + - !!python/tuple [2, 2] + - !!python/tuple [0, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex96.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex96.yaml new file mode 100644 index 0000000..35b18cd --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex96.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [5, 4] + name: agent0 + start: [7, 2] +- goal: [3, 7] + name: agent1 + start: [0, 3] +- goal: [7, 4] + name: agent2 + start: [2, 2] +- goal: [6, 6] + name: agent3 + start: [5, 7] +- goal: [4, 0] + name: agent4 + start: [1, 6] +- goal: [5, 0] + name: agent5 + start: [1, 4] +- goal: [0, 2] + name: agent6 + start: [7, 7] +- goal: [2, 0] + name: agent7 + start: [6, 1] +- goal: [4, 5] + name: agent8 + start: [0, 5] +- goal: [5, 2] + name: agent9 + start: [2, 3] +- goal: [3, 4] + name: agent10 + start: [1, 5] +- goal: [3, 2] + name: agent11 + start: [4, 7] +- goal: [4, 3] + name: agent12 + start: [4, 4] +- goal: [0, 1] + name: agent13 + start: [2, 4] +- goal: [7, 6] + name: agent14 + start: [7, 6] +- goal: [7, 2] + name: agent15 + start: [5, 4] +- goal: [7, 7] + name: agent16 + start: [2, 0] +- goal: [1, 7] + name: agent17 + start: [3, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 1] + - !!python/tuple [4, 6] + - !!python/tuple [2, 7] + - !!python/tuple [6, 7] + - !!python/tuple [2, 6] + - !!python/tuple [5, 1] + - !!python/tuple [6, 3] + - !!python/tuple [6, 0] + - !!python/tuple [7, 5] + - !!python/tuple [6, 5] + - !!python/tuple [2, 5] + - !!python/tuple [0, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex97.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex97.yaml new file mode 100644 index 0000000..e8ec1cc --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex97.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [3, 5] + name: agent0 + start: [6, 6] +- goal: [7, 6] + name: agent1 + start: [5, 0] +- goal: [4, 7] + name: agent2 + start: [3, 4] +- goal: [2, 1] + name: agent3 + start: [2, 5] +- goal: [5, 1] + name: agent4 + start: [6, 7] +- goal: [3, 2] + name: agent5 + start: [1, 3] +- goal: [0, 0] + name: agent6 + start: [5, 2] +- goal: [0, 3] + name: agent7 + start: [4, 5] +- goal: [7, 0] + name: agent8 + start: [7, 0] +- goal: [2, 5] + name: agent9 + start: [2, 6] +- goal: [6, 2] + name: agent10 + start: [1, 6] +- goal: [5, 0] + name: agent11 + start: [3, 1] +- goal: [1, 7] + name: agent12 + start: [3, 3] +- goal: [3, 4] + name: agent13 + start: [3, 0] +- goal: [5, 3] + name: agent14 + start: [4, 3] +- goal: [0, 7] + name: agent15 + start: [6, 1] +- goal: [3, 0] + name: agent16 + start: [2, 3] +- goal: [2, 6] + name: agent17 + start: [3, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 2] + - !!python/tuple [5, 7] + - !!python/tuple [1, 1] + - !!python/tuple [3, 6] + - !!python/tuple [3, 7] + - !!python/tuple [5, 5] + - !!python/tuple [6, 0] + - !!python/tuple [7, 2] + - !!python/tuple [0, 1] + - !!python/tuple [6, 4] + - !!python/tuple [4, 0] + - !!python/tuple [2, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex98.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex98.yaml new file mode 100644 index 0000000..ed91f98 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex98.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [3, 5] + name: agent0 + start: [7, 4] +- goal: [6, 1] + name: agent1 + start: [4, 0] +- goal: [7, 2] + name: agent2 + start: [3, 3] +- goal: [5, 0] + name: agent3 + start: [7, 2] +- goal: [4, 0] + name: agent4 + start: [2, 6] +- goal: [4, 2] + name: agent5 + start: [6, 3] +- goal: [6, 6] + name: agent6 + start: [6, 4] +- goal: [3, 2] + name: agent7 + start: [2, 2] +- goal: [0, 7] + name: agent8 + start: [7, 7] +- goal: [4, 7] + name: agent9 + start: [2, 3] +- goal: [1, 6] + name: agent10 + start: [1, 4] +- goal: [4, 6] + name: agent11 + start: [5, 0] +- goal: [2, 6] + name: agent12 + start: [1, 7] +- goal: [6, 2] + name: agent13 + start: [1, 6] +- goal: [7, 7] + name: agent14 + start: [5, 4] +- goal: [5, 7] + name: agent15 + start: [2, 5] +- goal: [7, 6] + name: agent16 + start: [6, 6] +- goal: [6, 4] + name: agent17 + start: [3, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 0] + - !!python/tuple [7, 5] + - !!python/tuple [0, 3] + - !!python/tuple [1, 0] + - !!python/tuple [5, 5] + - !!python/tuple [3, 4] + - !!python/tuple [7, 1] + - !!python/tuple [2, 4] + - !!python/tuple [5, 2] + - !!python/tuple [0, 6] + - !!python/tuple [2, 1] + - !!python/tuple [4, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex99.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex99.yaml new file mode 100644 index 0000000..b5153d4 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents18_ex99.yaml @@ -0,0 +1,70 @@ +agents: +- goal: [0, 7] + name: agent0 + start: [2, 6] +- goal: [3, 4] + name: agent1 + start: [0, 4] +- goal: [5, 2] + name: agent2 + start: [0, 6] +- goal: [3, 5] + name: agent3 + start: [0, 3] +- goal: [6, 3] + name: agent4 + start: [0, 0] +- goal: [7, 5] + name: agent5 + start: [2, 5] +- goal: [4, 4] + name: agent6 + start: [4, 1] +- goal: [7, 3] + name: agent7 + start: [3, 5] +- goal: [3, 3] + name: agent8 + start: [2, 3] +- goal: [3, 2] + name: agent9 + start: [0, 2] +- goal: [7, 0] + name: agent10 + start: [5, 5] +- goal: [1, 1] + name: agent11 + start: [4, 4] +- goal: [1, 0] + name: agent12 + start: [3, 4] +- goal: [7, 2] + name: agent13 + start: [4, 7] +- goal: [0, 4] + name: agent14 + start: [2, 7] +- goal: [5, 5] + name: agent15 + start: [7, 0] +- goal: [4, 1] + name: agent16 + start: [1, 6] +- goal: [0, 1] + name: agent17 + start: [5, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 2] + - !!python/tuple [1, 3] + - !!python/tuple [3, 7] + - !!python/tuple [4, 0] + - !!python/tuple [2, 2] + - !!python/tuple [6, 2] + - !!python/tuple [4, 3] + - !!python/tuple [6, 6] + - !!python/tuple [2, 0] + - !!python/tuple [5, 3] + - !!python/tuple [5, 7] + - !!python/tuple [5, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex0.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex0.yaml new file mode 100644 index 0000000..56351a9 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex0.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [0, 0] + name: agent0 + start: [6, 1] +- goal: [1, 5] + name: agent1 + start: [1, 0] +- goal: [6, 5] + name: agent2 + start: [2, 3] +- goal: [5, 4] + name: agent3 + start: [7, 5] +- goal: [4, 1] + name: agent4 + start: [0, 3] +- goal: [1, 1] + name: agent5 + start: [3, 5] +- goal: [4, 4] + name: agent6 + start: [1, 3] +- goal: [5, 5] + name: agent7 + start: [6, 2] +- goal: [6, 0] + name: agent8 + start: [7, 6] +- goal: [7, 5] + name: agent9 + start: [0, 4] +- goal: [4, 6] + name: agent10 + start: [5, 3] +- goal: [7, 0] + name: agent11 + start: [5, 4] +- goal: [0, 5] + name: agent12 + start: [3, 6] +- goal: [0, 2] + name: agent13 + start: [0, 5] +- goal: [5, 0] + name: agent14 + start: [1, 1] +- goal: [3, 2] + name: agent15 + start: [1, 6] +- goal: [5, 7] + name: agent16 + start: [1, 4] +- goal: [3, 6] + name: agent17 + start: [6, 3] +- goal: [2, 0] + name: agent18 + start: [5, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 2] + - !!python/tuple [6, 4] + - !!python/tuple [3, 1] + - !!python/tuple [7, 7] + - !!python/tuple [2, 6] + - !!python/tuple [5, 2] + - !!python/tuple [3, 7] + - !!python/tuple [2, 4] + - !!python/tuple [0, 6] + - !!python/tuple [2, 2] + - !!python/tuple [4, 5] + - !!python/tuple [3, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex1.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex1.yaml new file mode 100644 index 0000000..0a750e7 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex1.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [3, 0] + name: agent0 + start: [2, 3] +- goal: [7, 1] + name: agent1 + start: [6, 0] +- goal: [5, 0] + name: agent2 + start: [4, 5] +- goal: [0, 1] + name: agent3 + start: [5, 6] +- goal: [7, 2] + name: agent4 + start: [3, 5] +- goal: [5, 6] + name: agent5 + start: [5, 2] +- goal: [4, 4] + name: agent6 + start: [3, 1] +- goal: [0, 3] + name: agent7 + start: [4, 6] +- goal: [4, 2] + name: agent8 + start: [7, 4] +- goal: [3, 5] + name: agent9 + start: [7, 1] +- goal: [3, 6] + name: agent10 + start: [6, 3] +- goal: [6, 0] + name: agent11 + start: [1, 1] +- goal: [6, 3] + name: agent12 + start: [1, 5] +- goal: [5, 2] + name: agent13 + start: [2, 7] +- goal: [2, 3] + name: agent14 + start: [5, 0] +- goal: [1, 3] + name: agent15 + start: [0, 0] +- goal: [4, 1] + name: agent16 + start: [3, 2] +- goal: [1, 1] + name: agent17 + start: [0, 3] +- goal: [2, 7] + name: agent18 + start: [4, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 6] + - !!python/tuple [5, 7] + - !!python/tuple [7, 3] + - !!python/tuple [0, 4] + - !!python/tuple [5, 4] + - !!python/tuple [3, 3] + - !!python/tuple [2, 5] + - !!python/tuple [1, 2] + - !!python/tuple [6, 1] + - !!python/tuple [4, 0] + - !!python/tuple [0, 6] + - !!python/tuple [7, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex10.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex10.yaml new file mode 100644 index 0000000..b16ac89 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex10.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [3, 4] + name: agent0 + start: [7, 1] +- goal: [6, 1] + name: agent1 + start: [3, 1] +- goal: [0, 7] + name: agent2 + start: [4, 6] +- goal: [6, 7] + name: agent3 + start: [0, 0] +- goal: [4, 1] + name: agent4 + start: [1, 5] +- goal: [4, 7] + name: agent5 + start: [5, 1] +- goal: [5, 1] + name: agent6 + start: [3, 4] +- goal: [4, 3] + name: agent7 + start: [2, 6] +- goal: [6, 3] + name: agent8 + start: [4, 5] +- goal: [3, 6] + name: agent9 + start: [4, 4] +- goal: [2, 6] + name: agent10 + start: [0, 1] +- goal: [3, 0] + name: agent11 + start: [7, 3] +- goal: [5, 7] + name: agent12 + start: [2, 0] +- goal: [4, 0] + name: agent13 + start: [2, 5] +- goal: [5, 5] + name: agent14 + start: [1, 2] +- goal: [2, 1] + name: agent15 + start: [6, 4] +- goal: [1, 7] + name: agent16 + start: [1, 1] +- goal: [6, 4] + name: agent17 + start: [7, 6] +- goal: [2, 0] + name: agent18 + start: [6, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 5] + - !!python/tuple [2, 4] + - !!python/tuple [6, 0] + - !!python/tuple [6, 5] + - !!python/tuple [7, 0] + - !!python/tuple [7, 4] + - !!python/tuple [0, 6] + - !!python/tuple [2, 2] + - !!python/tuple [3, 3] + - !!python/tuple [7, 7] + - !!python/tuple [0, 3] + - !!python/tuple [7, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex11.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex11.yaml new file mode 100644 index 0000000..a8bf693 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex11.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [3, 5] + name: agent0 + start: [3, 6] +- goal: [1, 1] + name: agent1 + start: [4, 0] +- goal: [1, 3] + name: agent2 + start: [1, 7] +- goal: [0, 6] + name: agent3 + start: [3, 0] +- goal: [4, 0] + name: agent4 + start: [4, 5] +- goal: [0, 4] + name: agent5 + start: [2, 7] +- goal: [5, 7] + name: agent6 + start: [5, 5] +- goal: [3, 1] + name: agent7 + start: [2, 5] +- goal: [2, 5] + name: agent8 + start: [6, 7] +- goal: [3, 4] + name: agent9 + start: [3, 4] +- goal: [1, 7] + name: agent10 + start: [1, 5] +- goal: [4, 2] + name: agent11 + start: [7, 6] +- goal: [4, 1] + name: agent12 + start: [1, 1] +- goal: [2, 2] + name: agent13 + start: [6, 2] +- goal: [1, 5] + name: agent14 + start: [1, 2] +- goal: [0, 7] + name: agent15 + start: [7, 5] +- goal: [0, 2] + name: agent16 + start: [7, 7] +- goal: [6, 7] + name: agent17 + start: [3, 7] +- goal: [3, 7] + name: agent18 + start: [2, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 6] + - !!python/tuple [1, 6] + - !!python/tuple [0, 5] + - !!python/tuple [4, 3] + - !!python/tuple [0, 1] + - !!python/tuple [2, 1] + - !!python/tuple [5, 0] + - !!python/tuple [5, 3] + - !!python/tuple [0, 0] + - !!python/tuple [4, 4] + - !!python/tuple [7, 4] + - !!python/tuple [2, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex12.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex12.yaml new file mode 100644 index 0000000..d657d5a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex12.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [6, 4] + name: agent0 + start: [6, 6] +- goal: [3, 6] + name: agent1 + start: [1, 0] +- goal: [3, 1] + name: agent2 + start: [1, 6] +- goal: [5, 4] + name: agent3 + start: [5, 3] +- goal: [0, 3] + name: agent4 + start: [5, 6] +- goal: [6, 2] + name: agent5 + start: [0, 7] +- goal: [1, 7] + name: agent6 + start: [0, 0] +- goal: [1, 0] + name: agent7 + start: [4, 0] +- goal: [0, 6] + name: agent8 + start: [2, 0] +- goal: [3, 0] + name: agent9 + start: [2, 5] +- goal: [5, 7] + name: agent10 + start: [4, 2] +- goal: [5, 3] + name: agent11 + start: [1, 7] +- goal: [2, 1] + name: agent12 + start: [6, 5] +- goal: [1, 1] + name: agent13 + start: [7, 5] +- goal: [6, 6] + name: agent14 + start: [0, 2] +- goal: [5, 6] + name: agent15 + start: [5, 1] +- goal: [7, 3] + name: agent16 + start: [5, 4] +- goal: [7, 0] + name: agent17 + start: [6, 2] +- goal: [7, 4] + name: agent18 + start: [3, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 1] + - !!python/tuple [4, 6] + - !!python/tuple [0, 5] + - !!python/tuple [3, 2] + - !!python/tuple [0, 1] + - !!python/tuple [0, 4] + - !!python/tuple [4, 4] + - !!python/tuple [3, 4] + - !!python/tuple [4, 5] + - !!python/tuple [2, 2] + - !!python/tuple [1, 5] + - !!python/tuple [2, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex13.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex13.yaml new file mode 100644 index 0000000..d58b29e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex13.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [1, 4] + name: agent0 + start: [3, 0] +- goal: [6, 2] + name: agent1 + start: [4, 6] +- goal: [7, 2] + name: agent2 + start: [7, 6] +- goal: [1, 2] + name: agent3 + start: [2, 2] +- goal: [4, 0] + name: agent4 + start: [0, 1] +- goal: [4, 4] + name: agent5 + start: [2, 4] +- goal: [6, 4] + name: agent6 + start: [1, 6] +- goal: [4, 7] + name: agent7 + start: [5, 6] +- goal: [5, 3] + name: agent8 + start: [2, 1] +- goal: [4, 2] + name: agent9 + start: [0, 0] +- goal: [5, 4] + name: agent10 + start: [6, 4] +- goal: [0, 0] + name: agent11 + start: [4, 2] +- goal: [4, 6] + name: agent12 + start: [5, 3] +- goal: [3, 6] + name: agent13 + start: [0, 4] +- goal: [3, 7] + name: agent14 + start: [1, 7] +- goal: [7, 4] + name: agent15 + start: [4, 3] +- goal: [0, 2] + name: agent16 + start: [7, 2] +- goal: [5, 7] + name: agent17 + start: [3, 4] +- goal: [1, 5] + name: agent18 + start: [4, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 2] + - !!python/tuple [1, 3] + - !!python/tuple [2, 5] + - !!python/tuple [0, 5] + - !!python/tuple [3, 2] + - !!python/tuple [1, 0] + - !!python/tuple [2, 3] + - !!python/tuple [3, 3] + - !!python/tuple [6, 0] + - !!python/tuple [6, 7] + - !!python/tuple [6, 3] + - !!python/tuple [3, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex14.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex14.yaml new file mode 100644 index 0000000..f740411 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex14.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [6, 5] + name: agent0 + start: [4, 2] +- goal: [2, 1] + name: agent1 + start: [5, 4] +- goal: [3, 6] + name: agent2 + start: [5, 7] +- goal: [7, 4] + name: agent3 + start: [6, 4] +- goal: [3, 3] + name: agent4 + start: [1, 4] +- goal: [3, 4] + name: agent5 + start: [1, 3] +- goal: [3, 1] + name: agent6 + start: [5, 5] +- goal: [3, 5] + name: agent7 + start: [3, 0] +- goal: [6, 4] + name: agent8 + start: [6, 0] +- goal: [0, 4] + name: agent9 + start: [6, 7] +- goal: [5, 0] + name: agent10 + start: [1, 0] +- goal: [7, 7] + name: agent11 + start: [0, 1] +- goal: [5, 7] + name: agent12 + start: [0, 2] +- goal: [7, 5] + name: agent13 + start: [7, 6] +- goal: [7, 3] + name: agent14 + start: [2, 5] +- goal: [2, 0] + name: agent15 + start: [3, 6] +- goal: [1, 2] + name: agent16 + start: [3, 5] +- goal: [1, 0] + name: agent17 + start: [3, 1] +- goal: [6, 0] + name: agent18 + start: [6, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 3] + - !!python/tuple [0, 5] + - !!python/tuple [5, 6] + - !!python/tuple [2, 4] + - !!python/tuple [3, 7] + - !!python/tuple [2, 7] + - !!python/tuple [7, 0] + - !!python/tuple [6, 6] + - !!python/tuple [1, 1] + - !!python/tuple [1, 7] + - !!python/tuple [0, 3] + - !!python/tuple [1, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex15.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex15.yaml new file mode 100644 index 0000000..8bf98cb --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex15.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [6, 5] + name: agent0 + start: [3, 5] +- goal: [5, 6] + name: agent1 + start: [5, 6] +- goal: [4, 6] + name: agent2 + start: [7, 0] +- goal: [2, 0] + name: agent3 + start: [2, 7] +- goal: [6, 0] + name: agent4 + start: [4, 6] +- goal: [2, 6] + name: agent5 + start: [2, 5] +- goal: [4, 5] + name: agent6 + start: [4, 2] +- goal: [6, 3] + name: agent7 + start: [6, 5] +- goal: [4, 2] + name: agent8 + start: [3, 0] +- goal: [5, 7] + name: agent9 + start: [2, 6] +- goal: [2, 2] + name: agent10 + start: [4, 7] +- goal: [2, 3] + name: agent11 + start: [0, 0] +- goal: [4, 3] + name: agent12 + start: [0, 7] +- goal: [7, 3] + name: agent13 + start: [0, 3] +- goal: [5, 4] + name: agent14 + start: [7, 1] +- goal: [6, 7] + name: agent15 + start: [2, 0] +- goal: [6, 1] + name: agent16 + start: [5, 4] +- goal: [4, 7] + name: agent17 + start: [6, 6] +- goal: [3, 0] + name: agent18 + start: [5, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 2] + - !!python/tuple [2, 4] + - !!python/tuple [5, 3] + - !!python/tuple [4, 1] + - !!python/tuple [3, 2] + - !!python/tuple [1, 5] + - !!python/tuple [7, 4] + - !!python/tuple [3, 6] + - !!python/tuple [4, 4] + - !!python/tuple [5, 5] + - !!python/tuple [7, 7] + - !!python/tuple [6, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex16.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex16.yaml new file mode 100644 index 0000000..330a716 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex16.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [1, 1] + name: agent0 + start: [3, 4] +- goal: [2, 3] + name: agent1 + start: [6, 4] +- goal: [7, 5] + name: agent2 + start: [2, 1] +- goal: [6, 1] + name: agent3 + start: [6, 6] +- goal: [3, 5] + name: agent4 + start: [3, 1] +- goal: [0, 0] + name: agent5 + start: [0, 1] +- goal: [7, 4] + name: agent6 + start: [5, 4] +- goal: [6, 5] + name: agent7 + start: [2, 2] +- goal: [3, 4] + name: agent8 + start: [4, 3] +- goal: [5, 4] + name: agent9 + start: [6, 5] +- goal: [3, 7] + name: agent10 + start: [6, 1] +- goal: [4, 7] + name: agent11 + start: [7, 4] +- goal: [1, 6] + name: agent12 + start: [0, 5] +- goal: [4, 4] + name: agent13 + start: [5, 1] +- goal: [5, 1] + name: agent14 + start: [4, 5] +- goal: [6, 3] + name: agent15 + start: [1, 7] +- goal: [2, 0] + name: agent16 + start: [4, 4] +- goal: [0, 1] + name: agent17 + start: [3, 3] +- goal: [6, 6] + name: agent18 + start: [7, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 0] + - !!python/tuple [1, 4] + - !!python/tuple [2, 7] + - !!python/tuple [0, 7] + - !!python/tuple [1, 2] + - !!python/tuple [7, 1] + - !!python/tuple [7, 6] + - !!python/tuple [2, 6] + - !!python/tuple [5, 2] + - !!python/tuple [0, 2] + - !!python/tuple [5, 5] + - !!python/tuple [7, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex17.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex17.yaml new file mode 100644 index 0000000..1822664 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex17.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [5, 1] + name: agent0 + start: [1, 7] +- goal: [7, 2] + name: agent1 + start: [5, 2] +- goal: [5, 0] + name: agent2 + start: [1, 1] +- goal: [1, 6] + name: agent3 + start: [6, 0] +- goal: [1, 7] + name: agent4 + start: [4, 4] +- goal: [2, 4] + name: agent5 + start: [3, 5] +- goal: [3, 5] + name: agent6 + start: [3, 4] +- goal: [7, 3] + name: agent7 + start: [3, 2] +- goal: [2, 2] + name: agent8 + start: [6, 1] +- goal: [3, 2] + name: agent9 + start: [4, 0] +- goal: [3, 0] + name: agent10 + start: [2, 3] +- goal: [1, 2] + name: agent11 + start: [2, 2] +- goal: [0, 3] + name: agent12 + start: [7, 5] +- goal: [1, 5] + name: agent13 + start: [7, 2] +- goal: [6, 2] + name: agent14 + start: [1, 5] +- goal: [1, 1] + name: agent15 + start: [2, 1] +- goal: [2, 3] + name: agent16 + start: [6, 4] +- goal: [4, 4] + name: agent17 + start: [7, 1] +- goal: [2, 1] + name: agent18 + start: [3, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 7] + - !!python/tuple [6, 7] + - !!python/tuple [4, 5] + - !!python/tuple [3, 3] + - !!python/tuple [0, 5] + - !!python/tuple [1, 3] + - !!python/tuple [0, 6] + - !!python/tuple [5, 7] + - !!python/tuple [3, 1] + - !!python/tuple [4, 3] + - !!python/tuple [1, 4] + - !!python/tuple [0, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex18.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex18.yaml new file mode 100644 index 0000000..f2bfe6c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex18.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [6, 1] + name: agent0 + start: [0, 2] +- goal: [2, 6] + name: agent1 + start: [5, 3] +- goal: [4, 3] + name: agent2 + start: [5, 2] +- goal: [6, 6] + name: agent3 + start: [6, 4] +- goal: [5, 6] + name: agent4 + start: [2, 7] +- goal: [3, 4] + name: agent5 + start: [4, 1] +- goal: [7, 2] + name: agent6 + start: [7, 1] +- goal: [2, 2] + name: agent7 + start: [2, 1] +- goal: [7, 6] + name: agent8 + start: [3, 2] +- goal: [4, 1] + name: agent9 + start: [7, 7] +- goal: [2, 0] + name: agent10 + start: [5, 0] +- goal: [5, 2] + name: agent11 + start: [0, 6] +- goal: [5, 7] + name: agent12 + start: [4, 4] +- goal: [7, 4] + name: agent13 + start: [1, 7] +- goal: [0, 2] + name: agent14 + start: [2, 4] +- goal: [1, 4] + name: agent15 + start: [0, 3] +- goal: [2, 3] + name: agent16 + start: [7, 4] +- goal: [6, 0] + name: agent17 + start: [1, 4] +- goal: [2, 1] + name: agent18 + start: [6, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 1] + - !!python/tuple [3, 7] + - !!python/tuple [3, 5] + - !!python/tuple [4, 0] + - !!python/tuple [4, 6] + - !!python/tuple [5, 4] + - !!python/tuple [3, 0] + - !!python/tuple [7, 3] + - !!python/tuple [0, 4] + - !!python/tuple [1, 0] + - !!python/tuple [6, 7] + - !!python/tuple [5, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex19.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex19.yaml new file mode 100644 index 0000000..a06767b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex19.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [7, 6] + name: agent0 + start: [3, 5] +- goal: [3, 5] + name: agent1 + start: [3, 6] +- goal: [5, 5] + name: agent2 + start: [2, 6] +- goal: [6, 4] + name: agent3 + start: [5, 6] +- goal: [0, 5] + name: agent4 + start: [4, 0] +- goal: [2, 6] + name: agent5 + start: [1, 7] +- goal: [7, 4] + name: agent6 + start: [7, 5] +- goal: [4, 2] + name: agent7 + start: [3, 0] +- goal: [3, 7] + name: agent8 + start: [0, 5] +- goal: [6, 7] + name: agent9 + start: [0, 7] +- goal: [3, 3] + name: agent10 + start: [0, 3] +- goal: [1, 7] + name: agent11 + start: [1, 2] +- goal: [0, 3] + name: agent12 + start: [1, 6] +- goal: [1, 2] + name: agent13 + start: [2, 4] +- goal: [3, 0] + name: agent14 + start: [3, 3] +- goal: [7, 0] + name: agent15 + start: [7, 7] +- goal: [2, 4] + name: agent16 + start: [5, 5] +- goal: [1, 0] + name: agent17 + start: [4, 6] +- goal: [4, 5] + name: agent18 + start: [1, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 1] + - !!python/tuple [2, 5] + - !!python/tuple [6, 3] + - !!python/tuple [1, 3] + - !!python/tuple [3, 4] + - !!python/tuple [4, 4] + - !!python/tuple [3, 2] + - !!python/tuple [4, 7] + - !!python/tuple [6, 5] + - !!python/tuple [7, 1] + - !!python/tuple [0, 2] + - !!python/tuple [7, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex2.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex2.yaml new file mode 100644 index 0000000..a157e5b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex2.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [7, 2] + name: agent0 + start: [5, 5] +- goal: [1, 4] + name: agent1 + start: [5, 0] +- goal: [3, 7] + name: agent2 + start: [1, 4] +- goal: [5, 3] + name: agent3 + start: [6, 7] +- goal: [5, 7] + name: agent4 + start: [4, 3] +- goal: [3, 3] + name: agent5 + start: [4, 5] +- goal: [6, 4] + name: agent6 + start: [2, 4] +- goal: [3, 0] + name: agent7 + start: [5, 4] +- goal: [1, 3] + name: agent8 + start: [6, 6] +- goal: [0, 5] + name: agent9 + start: [3, 0] +- goal: [4, 5] + name: agent10 + start: [4, 1] +- goal: [2, 3] + name: agent11 + start: [5, 2] +- goal: [0, 2] + name: agent12 + start: [0, 7] +- goal: [7, 1] + name: agent13 + start: [5, 1] +- goal: [0, 0] + name: agent14 + start: [7, 7] +- goal: [2, 4] + name: agent15 + start: [7, 2] +- goal: [2, 7] + name: agent16 + start: [2, 1] +- goal: [6, 6] + name: agent17 + start: [5, 6] +- goal: [7, 4] + name: agent18 + start: [1, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 2] + - !!python/tuple [3, 1] + - !!python/tuple [7, 6] + - !!python/tuple [1, 5] + - !!python/tuple [2, 2] + - !!python/tuple [1, 2] + - !!python/tuple [2, 5] + - !!python/tuple [3, 2] + - !!python/tuple [6, 5] + - !!python/tuple [2, 6] + - !!python/tuple [3, 6] + - !!python/tuple [4, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex20.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex20.yaml new file mode 100644 index 0000000..3a7d2ed --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex20.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [4, 6] + name: agent0 + start: [0, 1] +- goal: [6, 0] + name: agent1 + start: [5, 6] +- goal: [0, 4] + name: agent2 + start: [3, 3] +- goal: [4, 0] + name: agent3 + start: [4, 3] +- goal: [2, 0] + name: agent4 + start: [1, 2] +- goal: [3, 6] + name: agent5 + start: [2, 2] +- goal: [2, 6] + name: agent6 + start: [6, 4] +- goal: [5, 1] + name: agent7 + start: [3, 5] +- goal: [6, 1] + name: agent8 + start: [5, 2] +- goal: [0, 3] + name: agent9 + start: [4, 7] +- goal: [4, 7] + name: agent10 + start: [3, 4] +- goal: [1, 2] + name: agent11 + start: [4, 1] +- goal: [2, 2] + name: agent12 + start: [3, 6] +- goal: [4, 1] + name: agent13 + start: [7, 7] +- goal: [7, 5] + name: agent14 + start: [2, 5] +- goal: [6, 3] + name: agent15 + start: [3, 0] +- goal: [6, 4] + name: agent16 + start: [6, 1] +- goal: [0, 6] + name: agent17 + start: [0, 7] +- goal: [4, 2] + name: agent18 + start: [0, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 0] + - !!python/tuple [0, 0] + - !!python/tuple [2, 7] + - !!python/tuple [1, 6] + - !!python/tuple [7, 0] + - !!python/tuple [7, 2] + - !!python/tuple [2, 1] + - !!python/tuple [4, 5] + - !!python/tuple [1, 5] + - !!python/tuple [5, 4] + - !!python/tuple [0, 5] + - !!python/tuple [5, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex21.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex21.yaml new file mode 100644 index 0000000..1bd83f3 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex21.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [2, 5] + name: agent0 + start: [4, 7] +- goal: [4, 0] + name: agent1 + start: [2, 7] +- goal: [3, 0] + name: agent2 + start: [7, 1] +- goal: [3, 1] + name: agent3 + start: [5, 0] +- goal: [3, 2] + name: agent4 + start: [0, 0] +- goal: [3, 6] + name: agent5 + start: [5, 1] +- goal: [2, 7] + name: agent6 + start: [7, 2] +- goal: [5, 2] + name: agent7 + start: [1, 2] +- goal: [5, 1] + name: agent8 + start: [0, 7] +- goal: [6, 5] + name: agent9 + start: [0, 6] +- goal: [1, 6] + name: agent10 + start: [7, 3] +- goal: [6, 3] + name: agent11 + start: [2, 4] +- goal: [2, 3] + name: agent12 + start: [3, 6] +- goal: [2, 1] + name: agent13 + start: [2, 2] +- goal: [7, 2] + name: agent14 + start: [7, 4] +- goal: [7, 4] + name: agent15 + start: [6, 3] +- goal: [3, 4] + name: agent16 + start: [6, 7] +- goal: [7, 3] + name: agent17 + start: [5, 4] +- goal: [6, 0] + name: agent18 + start: [2, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 6] + - !!python/tuple [6, 4] + - !!python/tuple [1, 5] + - !!python/tuple [4, 3] + - !!python/tuple [7, 0] + - !!python/tuple [6, 2] + - !!python/tuple [1, 7] + - !!python/tuple [5, 7] + - !!python/tuple [5, 5] + - !!python/tuple [1, 3] + - !!python/tuple [5, 6] + - !!python/tuple [1, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex22.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex22.yaml new file mode 100644 index 0000000..859dc44 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex22.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [2, 4] + name: agent0 + start: [5, 1] +- goal: [7, 0] + name: agent1 + start: [1, 7] +- goal: [3, 7] + name: agent2 + start: [2, 5] +- goal: [1, 7] + name: agent3 + start: [4, 0] +- goal: [6, 1] + name: agent4 + start: [7, 3] +- goal: [0, 4] + name: agent5 + start: [0, 5] +- goal: [4, 6] + name: agent6 + start: [2, 2] +- goal: [7, 3] + name: agent7 + start: [0, 4] +- goal: [7, 1] + name: agent8 + start: [5, 3] +- goal: [5, 7] + name: agent9 + start: [4, 6] +- goal: [3, 3] + name: agent10 + start: [3, 5] +- goal: [5, 3] + name: agent11 + start: [5, 7] +- goal: [7, 7] + name: agent12 + start: [7, 7] +- goal: [5, 2] + name: agent13 + start: [6, 7] +- goal: [7, 5] + name: agent14 + start: [4, 3] +- goal: [2, 6] + name: agent15 + start: [0, 7] +- goal: [3, 5] + name: agent16 + start: [5, 4] +- goal: [1, 4] + name: agent17 + start: [6, 3] +- goal: [7, 4] + name: agent18 + start: [4, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 5] + - !!python/tuple [2, 3] + - !!python/tuple [0, 3] + - !!python/tuple [4, 4] + - !!python/tuple [1, 0] + - !!python/tuple [5, 5] + - !!python/tuple [1, 1] + - !!python/tuple [3, 4] + - !!python/tuple [3, 1] + - !!python/tuple [7, 2] + - !!python/tuple [3, 6] + - !!python/tuple [4, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex23.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex23.yaml new file mode 100644 index 0000000..094db49 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex23.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [1, 4] + name: agent0 + start: [1, 7] +- goal: [6, 1] + name: agent1 + start: [5, 5] +- goal: [4, 7] + name: agent2 + start: [4, 4] +- goal: [0, 6] + name: agent3 + start: [0, 4] +- goal: [3, 7] + name: agent4 + start: [4, 1] +- goal: [7, 6] + name: agent5 + start: [6, 5] +- goal: [1, 5] + name: agent6 + start: [1, 2] +- goal: [1, 2] + name: agent7 + start: [7, 4] +- goal: [5, 5] + name: agent8 + start: [0, 2] +- goal: [2, 0] + name: agent9 + start: [3, 6] +- goal: [1, 7] + name: agent10 + start: [7, 3] +- goal: [1, 1] + name: agent11 + start: [5, 0] +- goal: [2, 4] + name: agent12 + start: [2, 6] +- goal: [2, 7] + name: agent13 + start: [3, 5] +- goal: [3, 6] + name: agent14 + start: [0, 6] +- goal: [6, 2] + name: agent15 + start: [1, 5] +- goal: [1, 0] + name: agent16 + start: [7, 1] +- goal: [7, 1] + name: agent17 + start: [6, 6] +- goal: [4, 2] + name: agent18 + start: [4, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 5] + - !!python/tuple [0, 7] + - !!python/tuple [0, 1] + - !!python/tuple [7, 0] + - !!python/tuple [3, 2] + - !!python/tuple [7, 7] + - !!python/tuple [0, 0] + - !!python/tuple [6, 0] + - !!python/tuple [5, 1] + - !!python/tuple [5, 6] + - !!python/tuple [3, 4] + - !!python/tuple [6, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex24.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex24.yaml new file mode 100644 index 0000000..572a8e0 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex24.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [6, 5] + name: agent0 + start: [4, 6] +- goal: [3, 3] + name: agent1 + start: [3, 4] +- goal: [1, 0] + name: agent2 + start: [6, 0] +- goal: [7, 3] + name: agent3 + start: [2, 6] +- goal: [6, 0] + name: agent4 + start: [1, 7] +- goal: [5, 6] + name: agent5 + start: [5, 2] +- goal: [5, 7] + name: agent6 + start: [1, 2] +- goal: [3, 5] + name: agent7 + start: [0, 1] +- goal: [4, 5] + name: agent8 + start: [6, 5] +- goal: [0, 0] + name: agent9 + start: [5, 6] +- goal: [5, 2] + name: agent10 + start: [2, 7] +- goal: [4, 6] + name: agent11 + start: [5, 7] +- goal: [2, 0] + name: agent12 + start: [3, 1] +- goal: [7, 0] + name: agent13 + start: [4, 0] +- goal: [5, 5] + name: agent14 + start: [5, 3] +- goal: [6, 7] + name: agent15 + start: [5, 4] +- goal: [0, 4] + name: agent16 + start: [6, 2] +- goal: [4, 1] + name: agent17 + start: [3, 6] +- goal: [5, 0] + name: agent18 + start: [3, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 6] + - !!python/tuple [0, 2] + - !!python/tuple [7, 7] + - !!python/tuple [2, 5] + - !!python/tuple [2, 1] + - !!python/tuple [3, 7] + - !!python/tuple [7, 5] + - !!python/tuple [4, 3] + - !!python/tuple [1, 5] + - !!python/tuple [1, 1] + - !!python/tuple [1, 4] + - !!python/tuple [1, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex25.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex25.yaml new file mode 100644 index 0000000..c9c464e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex25.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [6, 3] + name: agent0 + start: [5, 6] +- goal: [3, 1] + name: agent1 + start: [1, 3] +- goal: [7, 2] + name: agent2 + start: [0, 0] +- goal: [4, 0] + name: agent3 + start: [1, 6] +- goal: [6, 6] + name: agent4 + start: [4, 2] +- goal: [0, 5] + name: agent5 + start: [3, 3] +- goal: [3, 5] + name: agent6 + start: [0, 5] +- goal: [0, 7] + name: agent7 + start: [3, 0] +- goal: [2, 6] + name: agent8 + start: [4, 0] +- goal: [4, 6] + name: agent9 + start: [7, 6] +- goal: [2, 0] + name: agent10 + start: [2, 6] +- goal: [1, 5] + name: agent11 + start: [3, 7] +- goal: [1, 6] + name: agent12 + start: [1, 7] +- goal: [5, 0] + name: agent13 + start: [1, 1] +- goal: [0, 2] + name: agent14 + start: [5, 7] +- goal: [5, 3] + name: agent15 + start: [0, 2] +- goal: [6, 1] + name: agent16 + start: [5, 0] +- goal: [6, 4] + name: agent17 + start: [4, 1] +- goal: [2, 4] + name: agent18 + start: [3, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 5] + - !!python/tuple [4, 7] + - !!python/tuple [6, 5] + - !!python/tuple [0, 3] + - !!python/tuple [3, 6] + - !!python/tuple [5, 1] + - !!python/tuple [2, 2] + - !!python/tuple [4, 3] + - !!python/tuple [0, 1] + - !!python/tuple [4, 5] + - !!python/tuple [5, 4] + - !!python/tuple [2, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex26.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex26.yaml new file mode 100644 index 0000000..934ac6d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex26.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [5, 0] + name: agent0 + start: [0, 2] +- goal: [0, 1] + name: agent1 + start: [1, 5] +- goal: [1, 1] + name: agent2 + start: [0, 3] +- goal: [6, 2] + name: agent3 + start: [6, 0] +- goal: [1, 4] + name: agent4 + start: [1, 3] +- goal: [1, 0] + name: agent5 + start: [5, 7] +- goal: [4, 6] + name: agent6 + start: [4, 5] +- goal: [4, 0] + name: agent7 + start: [2, 4] +- goal: [7, 1] + name: agent8 + start: [0, 7] +- goal: [4, 1] + name: agent9 + start: [0, 5] +- goal: [7, 5] + name: agent10 + start: [3, 6] +- goal: [2, 7] + name: agent11 + start: [1, 7] +- goal: [6, 6] + name: agent12 + start: [5, 5] +- goal: [3, 4] + name: agent13 + start: [4, 6] +- goal: [3, 5] + name: agent14 + start: [7, 1] +- goal: [0, 3] + name: agent15 + start: [4, 0] +- goal: [4, 7] + name: agent16 + start: [2, 7] +- goal: [1, 3] + name: agent17 + start: [4, 1] +- goal: [5, 7] + name: agent18 + start: [6, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 6] + - !!python/tuple [7, 0] + - !!python/tuple [2, 5] + - !!python/tuple [0, 0] + - !!python/tuple [5, 6] + - !!python/tuple [7, 2] + - !!python/tuple [7, 6] + - !!python/tuple [1, 6] + - !!python/tuple [6, 4] + - !!python/tuple [3, 1] + - !!python/tuple [0, 4] + - !!python/tuple [6, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex27.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex27.yaml new file mode 100644 index 0000000..dd90606 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex27.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [3, 2] + name: agent0 + start: [2, 7] +- goal: [6, 7] + name: agent1 + start: [4, 5] +- goal: [6, 2] + name: agent2 + start: [4, 0] +- goal: [5, 5] + name: agent3 + start: [4, 2] +- goal: [0, 6] + name: agent4 + start: [3, 5] +- goal: [7, 4] + name: agent5 + start: [5, 1] +- goal: [5, 2] + name: agent6 + start: [1, 1] +- goal: [1, 2] + name: agent7 + start: [5, 3] +- goal: [2, 2] + name: agent8 + start: [1, 2] +- goal: [4, 0] + name: agent9 + start: [3, 4] +- goal: [3, 4] + name: agent10 + start: [2, 0] +- goal: [7, 0] + name: agent11 + start: [7, 1] +- goal: [7, 6] + name: agent12 + start: [6, 7] +- goal: [0, 4] + name: agent13 + start: [2, 2] +- goal: [7, 1] + name: agent14 + start: [0, 3] +- goal: [2, 4] + name: agent15 + start: [3, 1] +- goal: [6, 4] + name: agent16 + start: [7, 4] +- goal: [0, 3] + name: agent17 + start: [1, 0] +- goal: [2, 1] + name: agent18 + start: [2, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 3] + - !!python/tuple [0, 0] + - !!python/tuple [3, 6] + - !!python/tuple [0, 7] + - !!python/tuple [0, 2] + - !!python/tuple [1, 6] + - !!python/tuple [5, 7] + - !!python/tuple [4, 7] + - !!python/tuple [5, 6] + - !!python/tuple [1, 5] + - !!python/tuple [1, 7] + - !!python/tuple [0, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex28.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex28.yaml new file mode 100644 index 0000000..4e05290 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex28.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [5, 7] + name: agent0 + start: [1, 5] +- goal: [1, 3] + name: agent1 + start: [5, 7] +- goal: [1, 5] + name: agent2 + start: [4, 5] +- goal: [3, 4] + name: agent3 + start: [1, 1] +- goal: [0, 4] + name: agent4 + start: [7, 0] +- goal: [2, 0] + name: agent5 + start: [4, 2] +- goal: [7, 5] + name: agent6 + start: [0, 1] +- goal: [2, 4] + name: agent7 + start: [6, 6] +- goal: [4, 4] + name: agent8 + start: [0, 7] +- goal: [4, 5] + name: agent9 + start: [2, 3] +- goal: [1, 4] + name: agent10 + start: [5, 2] +- goal: [6, 6] + name: agent11 + start: [3, 0] +- goal: [4, 1] + name: agent12 + start: [1, 0] +- goal: [3, 2] + name: agent13 + start: [3, 2] +- goal: [1, 6] + name: agent14 + start: [0, 2] +- goal: [3, 5] + name: agent15 + start: [7, 5] +- goal: [3, 7] + name: agent16 + start: [7, 3] +- goal: [7, 2] + name: agent17 + start: [2, 0] +- goal: [2, 2] + name: agent18 + start: [3, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 4] + - !!python/tuple [3, 1] + - !!python/tuple [1, 7] + - !!python/tuple [2, 6] + - !!python/tuple [6, 5] + - !!python/tuple [0, 5] + - !!python/tuple [4, 0] + - !!python/tuple [1, 2] + - !!python/tuple [4, 6] + - !!python/tuple [4, 3] + - !!python/tuple [7, 4] + - !!python/tuple [4, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex29.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex29.yaml new file mode 100644 index 0000000..3c2d368 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex29.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [0, 5] + name: agent0 + start: [5, 5] +- goal: [1, 6] + name: agent1 + start: [3, 0] +- goal: [1, 7] + name: agent2 + start: [5, 6] +- goal: [7, 0] + name: agent3 + start: [7, 6] +- goal: [5, 1] + name: agent4 + start: [6, 1] +- goal: [1, 3] + name: agent5 + start: [1, 6] +- goal: [6, 1] + name: agent6 + start: [4, 0] +- goal: [5, 6] + name: agent7 + start: [0, 5] +- goal: [0, 4] + name: agent8 + start: [0, 7] +- goal: [4, 7] + name: agent9 + start: [5, 7] +- goal: [7, 4] + name: agent10 + start: [4, 5] +- goal: [0, 7] + name: agent11 + start: [2, 0] +- goal: [0, 1] + name: agent12 + start: [0, 1] +- goal: [2, 0] + name: agent13 + start: [2, 1] +- goal: [6, 3] + name: agent14 + start: [2, 6] +- goal: [0, 0] + name: agent15 + start: [0, 4] +- goal: [2, 4] + name: agent16 + start: [5, 4] +- goal: [1, 4] + name: agent17 + start: [6, 5] +- goal: [5, 7] + name: agent18 + start: [1, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 7] + - !!python/tuple [4, 2] + - !!python/tuple [1, 1] + - !!python/tuple [1, 2] + - !!python/tuple [7, 5] + - !!python/tuple [3, 2] + - !!python/tuple [2, 5] + - !!python/tuple [3, 3] + - !!python/tuple [7, 3] + - !!python/tuple [4, 4] + - !!python/tuple [7, 7] + - !!python/tuple [5, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex3.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex3.yaml new file mode 100644 index 0000000..f87c0e7 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex3.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [4, 5] + name: agent0 + start: [2, 0] +- goal: [6, 3] + name: agent1 + start: [4, 1] +- goal: [1, 4] + name: agent2 + start: [5, 3] +- goal: [4, 4] + name: agent3 + start: [6, 4] +- goal: [7, 5] + name: agent4 + start: [0, 6] +- goal: [4, 0] + name: agent5 + start: [1, 1] +- goal: [3, 0] + name: agent6 + start: [7, 5] +- goal: [6, 2] + name: agent7 + start: [5, 7] +- goal: [0, 4] + name: agent8 + start: [0, 3] +- goal: [5, 7] + name: agent9 + start: [2, 3] +- goal: [1, 3] + name: agent10 + start: [7, 2] +- goal: [2, 1] + name: agent11 + start: [0, 1] +- goal: [5, 2] + name: agent12 + start: [2, 7] +- goal: [0, 3] + name: agent13 + start: [6, 6] +- goal: [3, 3] + name: agent14 + start: [6, 7] +- goal: [0, 5] + name: agent15 + start: [3, 7] +- goal: [3, 7] + name: agent16 + start: [3, 3] +- goal: [6, 5] + name: agent17 + start: [0, 5] +- goal: [4, 2] + name: agent18 + start: [2, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 4] + - !!python/tuple [5, 0] + - !!python/tuple [7, 1] + - !!python/tuple [0, 7] + - !!python/tuple [6, 0] + - !!python/tuple [6, 1] + - !!python/tuple [0, 2] + - !!python/tuple [5, 4] + - !!python/tuple [0, 0] + - !!python/tuple [7, 3] + - !!python/tuple [2, 2] + - !!python/tuple [5, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex30.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex30.yaml new file mode 100644 index 0000000..6d9b157 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex30.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [0, 6] + name: agent0 + start: [7, 1] +- goal: [1, 6] + name: agent1 + start: [0, 4] +- goal: [6, 2] + name: agent2 + start: [6, 4] +- goal: [2, 0] + name: agent3 + start: [6, 2] +- goal: [5, 7] + name: agent4 + start: [3, 4] +- goal: [1, 2] + name: agent5 + start: [4, 0] +- goal: [2, 3] + name: agent6 + start: [3, 1] +- goal: [3, 7] + name: agent7 + start: [5, 5] +- goal: [5, 2] + name: agent8 + start: [4, 6] +- goal: [4, 3] + name: agent9 + start: [3, 3] +- goal: [7, 1] + name: agent10 + start: [4, 3] +- goal: [1, 1] + name: agent11 + start: [4, 2] +- goal: [3, 3] + name: agent12 + start: [2, 3] +- goal: [6, 5] + name: agent13 + start: [5, 4] +- goal: [3, 1] + name: agent14 + start: [4, 1] +- goal: [2, 1] + name: agent15 + start: [0, 5] +- goal: [4, 1] + name: agent16 + start: [6, 6] +- goal: [5, 4] + name: agent17 + start: [7, 6] +- goal: [5, 3] + name: agent18 + start: [4, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 2] + - !!python/tuple [5, 1] + - !!python/tuple [2, 5] + - !!python/tuple [2, 7] + - !!python/tuple [2, 4] + - !!python/tuple [6, 7] + - !!python/tuple [1, 7] + - !!python/tuple [7, 5] + - !!python/tuple [0, 1] + - !!python/tuple [1, 0] + - !!python/tuple [7, 3] + - !!python/tuple [1, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex31.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex31.yaml new file mode 100644 index 0000000..f6d1203 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex31.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [6, 4] + name: agent0 + start: [2, 2] +- goal: [2, 2] + name: agent1 + start: [7, 3] +- goal: [3, 5] + name: agent2 + start: [3, 5] +- goal: [0, 2] + name: agent3 + start: [1, 5] +- goal: [5, 0] + name: agent4 + start: [0, 4] +- goal: [6, 0] + name: agent5 + start: [0, 6] +- goal: [4, 2] + name: agent6 + start: [5, 2] +- goal: [3, 7] + name: agent7 + start: [0, 5] +- goal: [5, 1] + name: agent8 + start: [3, 3] +- goal: [2, 0] + name: agent9 + start: [4, 1] +- goal: [7, 6] + name: agent10 + start: [7, 7] +- goal: [4, 0] + name: agent11 + start: [3, 1] +- goal: [5, 7] + name: agent12 + start: [6, 7] +- goal: [4, 4] + name: agent13 + start: [4, 5] +- goal: [7, 2] + name: agent14 + start: [0, 0] +- goal: [2, 3] + name: agent15 + start: [2, 3] +- goal: [4, 5] + name: agent16 + start: [7, 2] +- goal: [0, 0] + name: agent17 + start: [4, 4] +- goal: [4, 6] + name: agent18 + start: [5, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 3] + - !!python/tuple [5, 6] + - !!python/tuple [6, 1] + - !!python/tuple [5, 3] + - !!python/tuple [4, 3] + - !!python/tuple [0, 1] + - !!python/tuple [6, 2] + - !!python/tuple [2, 1] + - !!python/tuple [0, 7] + - !!python/tuple [5, 5] + - !!python/tuple [2, 6] + - !!python/tuple [0, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex32.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex32.yaml new file mode 100644 index 0000000..d99d483 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex32.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [0, 6] + name: agent0 + start: [0, 6] +- goal: [5, 6] + name: agent1 + start: [6, 1] +- goal: [6, 6] + name: agent2 + start: [3, 6] +- goal: [1, 5] + name: agent3 + start: [5, 5] +- goal: [6, 0] + name: agent4 + start: [7, 7] +- goal: [3, 5] + name: agent5 + start: [6, 6] +- goal: [6, 1] + name: agent6 + start: [5, 2] +- goal: [3, 2] + name: agent7 + start: [6, 4] +- goal: [2, 4] + name: agent8 + start: [5, 7] +- goal: [1, 6] + name: agent9 + start: [3, 1] +- goal: [4, 4] + name: agent10 + start: [5, 0] +- goal: [4, 6] + name: agent11 + start: [5, 3] +- goal: [6, 4] + name: agent12 + start: [2, 6] +- goal: [3, 6] + name: agent13 + start: [2, 3] +- goal: [5, 2] + name: agent14 + start: [4, 6] +- goal: [6, 2] + name: agent15 + start: [7, 2] +- goal: [7, 0] + name: agent16 + start: [3, 0] +- goal: [2, 2] + name: agent17 + start: [4, 4] +- goal: [6, 5] + name: agent18 + start: [1, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 2] + - !!python/tuple [1, 1] + - !!python/tuple [0, 3] + - !!python/tuple [4, 3] + - !!python/tuple [0, 7] + - !!python/tuple [2, 0] + - !!python/tuple [2, 5] + - !!python/tuple [1, 0] + - !!python/tuple [5, 1] + - !!python/tuple [1, 4] + - !!python/tuple [3, 3] + - !!python/tuple [4, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex33.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex33.yaml new file mode 100644 index 0000000..8891896 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex33.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [7, 5] + name: agent0 + start: [2, 1] +- goal: [7, 1] + name: agent1 + start: [1, 7] +- goal: [1, 7] + name: agent2 + start: [1, 5] +- goal: [4, 3] + name: agent3 + start: [0, 1] +- goal: [7, 0] + name: agent4 + start: [5, 7] +- goal: [4, 6] + name: agent5 + start: [4, 4] +- goal: [0, 2] + name: agent6 + start: [0, 3] +- goal: [6, 5] + name: agent7 + start: [3, 3] +- goal: [1, 6] + name: agent8 + start: [0, 4] +- goal: [6, 1] + name: agent9 + start: [3, 1] +- goal: [5, 6] + name: agent10 + start: [6, 5] +- goal: [5, 1] + name: agent11 + start: [6, 7] +- goal: [3, 5] + name: agent12 + start: [5, 2] +- goal: [2, 3] + name: agent13 + start: [5, 0] +- goal: [7, 4] + name: agent14 + start: [2, 5] +- goal: [0, 5] + name: agent15 + start: [6, 2] +- goal: [4, 1] + name: agent16 + start: [7, 3] +- goal: [1, 5] + name: agent17 + start: [6, 1] +- goal: [5, 5] + name: agent18 + start: [1, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 2] + - !!python/tuple [1, 1] + - !!python/tuple [1, 2] + - !!python/tuple [6, 4] + - !!python/tuple [6, 6] + - !!python/tuple [1, 0] + - !!python/tuple [2, 6] + - !!python/tuple [6, 3] + - !!python/tuple [1, 3] + - !!python/tuple [3, 7] + - !!python/tuple [3, 0] + - !!python/tuple [0, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex34.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex34.yaml new file mode 100644 index 0000000..854d360 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex34.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [0, 3] + name: agent0 + start: [6, 5] +- goal: [2, 5] + name: agent1 + start: [1, 5] +- goal: [0, 2] + name: agent2 + start: [7, 4] +- goal: [1, 7] + name: agent3 + start: [3, 0] +- goal: [2, 4] + name: agent4 + start: [1, 4] +- goal: [0, 7] + name: agent5 + start: [5, 2] +- goal: [5, 5] + name: agent6 + start: [0, 6] +- goal: [6, 5] + name: agent7 + start: [7, 6] +- goal: [4, 5] + name: agent8 + start: [4, 7] +- goal: [6, 7] + name: agent9 + start: [3, 7] +- goal: [4, 7] + name: agent10 + start: [2, 7] +- goal: [7, 5] + name: agent11 + start: [0, 7] +- goal: [6, 1] + name: agent12 + start: [7, 3] +- goal: [5, 2] + name: agent13 + start: [1, 0] +- goal: [3, 0] + name: agent14 + start: [6, 7] +- goal: [1, 2] + name: agent15 + start: [4, 3] +- goal: [0, 4] + name: agent16 + start: [6, 2] +- goal: [5, 6] + name: agent17 + start: [0, 3] +- goal: [4, 4] + name: agent18 + start: [4, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 2] + - !!python/tuple [0, 5] + - !!python/tuple [3, 6] + - !!python/tuple [5, 3] + - !!python/tuple [2, 6] + - !!python/tuple [1, 3] + - !!python/tuple [2, 0] + - !!python/tuple [7, 1] + - !!python/tuple [2, 2] + - !!python/tuple [3, 5] + - !!python/tuple [6, 3] + - !!python/tuple [3, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex35.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex35.yaml new file mode 100644 index 0000000..dfca012 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex35.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [5, 5] + name: agent0 + start: [7, 6] +- goal: [0, 6] + name: agent1 + start: [0, 3] +- goal: [4, 2] + name: agent2 + start: [1, 0] +- goal: [2, 3] + name: agent3 + start: [1, 6] +- goal: [1, 5] + name: agent4 + start: [1, 5] +- goal: [5, 4] + name: agent5 + start: [2, 3] +- goal: [4, 0] + name: agent6 + start: [6, 3] +- goal: [1, 1] + name: agent7 + start: [0, 7] +- goal: [6, 0] + name: agent8 + start: [4, 3] +- goal: [4, 4] + name: agent9 + start: [2, 2] +- goal: [4, 1] + name: agent10 + start: [1, 4] +- goal: [0, 0] + name: agent11 + start: [0, 2] +- goal: [7, 6] + name: agent12 + start: [1, 7] +- goal: [2, 7] + name: agent13 + start: [7, 3] +- goal: [0, 2] + name: agent14 + start: [5, 6] +- goal: [0, 3] + name: agent15 + start: [6, 4] +- goal: [5, 2] + name: agent16 + start: [0, 4] +- goal: [6, 4] + name: agent17 + start: [4, 1] +- goal: [5, 0] + name: agent18 + start: [5, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 1] + - !!python/tuple [4, 7] + - !!python/tuple [5, 1] + - !!python/tuple [7, 0] + - !!python/tuple [1, 2] + - !!python/tuple [3, 2] + - !!python/tuple [4, 6] + - !!python/tuple [6, 2] + - !!python/tuple [6, 7] + - !!python/tuple [3, 6] + - !!python/tuple [0, 5] + - !!python/tuple [3, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex36.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex36.yaml new file mode 100644 index 0000000..239039e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex36.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [1, 1] + name: agent0 + start: [4, 1] +- goal: [4, 1] + name: agent1 + start: [5, 1] +- goal: [7, 1] + name: agent2 + start: [3, 3] +- goal: [1, 2] + name: agent3 + start: [3, 4] +- goal: [5, 0] + name: agent4 + start: [0, 2] +- goal: [3, 4] + name: agent5 + start: [5, 4] +- goal: [5, 6] + name: agent6 + start: [7, 1] +- goal: [2, 4] + name: agent7 + start: [1, 0] +- goal: [4, 4] + name: agent8 + start: [4, 0] +- goal: [1, 4] + name: agent9 + start: [7, 3] +- goal: [7, 0] + name: agent10 + start: [5, 6] +- goal: [1, 0] + name: agent11 + start: [4, 2] +- goal: [6, 2] + name: agent12 + start: [5, 0] +- goal: [7, 3] + name: agent13 + start: [3, 7] +- goal: [6, 6] + name: agent14 + start: [7, 0] +- goal: [1, 3] + name: agent15 + start: [6, 0] +- goal: [4, 3] + name: agent16 + start: [2, 3] +- goal: [6, 5] + name: agent17 + start: [2, 5] +- goal: [3, 1] + name: agent18 + start: [2, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 2] + - !!python/tuple [7, 7] + - !!python/tuple [4, 7] + - !!python/tuple [6, 4] + - !!python/tuple [7, 6] + - !!python/tuple [2, 0] + - !!python/tuple [3, 5] + - !!python/tuple [0, 1] + - !!python/tuple [0, 5] + - !!python/tuple [2, 7] + - !!python/tuple [6, 7] + - !!python/tuple [0, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex37.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex37.yaml new file mode 100644 index 0000000..fd99e45 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex37.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [5, 2] + name: agent0 + start: [4, 7] +- goal: [6, 1] + name: agent1 + start: [5, 2] +- goal: [4, 3] + name: agent2 + start: [7, 1] +- goal: [2, 4] + name: agent3 + start: [0, 2] +- goal: [2, 0] + name: agent4 + start: [6, 0] +- goal: [7, 6] + name: agent5 + start: [0, 1] +- goal: [6, 3] + name: agent6 + start: [1, 6] +- goal: [0, 1] + name: agent7 + start: [2, 4] +- goal: [3, 2] + name: agent8 + start: [2, 0] +- goal: [7, 3] + name: agent9 + start: [7, 2] +- goal: [5, 0] + name: agent10 + start: [3, 0] +- goal: [5, 1] + name: agent11 + start: [2, 6] +- goal: [6, 7] + name: agent12 + start: [4, 5] +- goal: [2, 5] + name: agent13 + start: [7, 0] +- goal: [6, 0] + name: agent14 + start: [2, 1] +- goal: [3, 0] + name: agent15 + start: [1, 5] +- goal: [3, 1] + name: agent16 + start: [4, 4] +- goal: [0, 3] + name: agent17 + start: [5, 5] +- goal: [1, 4] + name: agent18 + start: [0, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 7] + - !!python/tuple [1, 7] + - !!python/tuple [6, 5] + - !!python/tuple [3, 6] + - !!python/tuple [4, 6] + - !!python/tuple [2, 3] + - !!python/tuple [6, 2] + - !!python/tuple [1, 3] + - !!python/tuple [1, 1] + - !!python/tuple [0, 6] + - !!python/tuple [4, 2] + - !!python/tuple [3, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex38.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex38.yaml new file mode 100644 index 0000000..2b7a5e1 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex38.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [7, 6] + name: agent0 + start: [4, 2] +- goal: [1, 0] + name: agent1 + start: [6, 4] +- goal: [0, 7] + name: agent2 + start: [7, 1] +- goal: [4, 7] + name: agent3 + start: [5, 5] +- goal: [3, 3] + name: agent4 + start: [3, 1] +- goal: [3, 7] + name: agent5 + start: [5, 1] +- goal: [3, 1] + name: agent6 + start: [6, 1] +- goal: [4, 3] + name: agent7 + start: [7, 6] +- goal: [7, 3] + name: agent8 + start: [5, 6] +- goal: [6, 3] + name: agent9 + start: [7, 4] +- goal: [4, 0] + name: agent10 + start: [2, 2] +- goal: [0, 3] + name: agent11 + start: [2, 0] +- goal: [5, 4] + name: agent12 + start: [3, 5] +- goal: [5, 2] + name: agent13 + start: [0, 2] +- goal: [1, 7] + name: agent14 + start: [1, 0] +- goal: [7, 0] + name: agent15 + start: [1, 1] +- goal: [6, 1] + name: agent16 + start: [0, 7] +- goal: [2, 3] + name: agent17 + start: [7, 0] +- goal: [2, 1] + name: agent18 + start: [4, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 6] + - !!python/tuple [7, 7] + - !!python/tuple [6, 6] + - !!python/tuple [4, 6] + - !!python/tuple [6, 7] + - !!python/tuple [1, 3] + - !!python/tuple [6, 5] + - !!python/tuple [0, 4] + - !!python/tuple [0, 1] + - !!python/tuple [2, 7] + - !!python/tuple [6, 2] + - !!python/tuple [1, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex39.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex39.yaml new file mode 100644 index 0000000..79acf99 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex39.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [0, 2] + name: agent0 + start: [3, 1] +- goal: [1, 5] + name: agent1 + start: [4, 7] +- goal: [4, 4] + name: agent2 + start: [7, 6] +- goal: [3, 1] + name: agent3 + start: [1, 1] +- goal: [7, 5] + name: agent4 + start: [3, 3] +- goal: [4, 7] + name: agent5 + start: [6, 1] +- goal: [3, 2] + name: agent6 + start: [3, 4] +- goal: [5, 3] + name: agent7 + start: [2, 1] +- goal: [0, 1] + name: agent8 + start: [7, 3] +- goal: [5, 5] + name: agent9 + start: [5, 7] +- goal: [7, 4] + name: agent10 + start: [0, 3] +- goal: [7, 7] + name: agent11 + start: [6, 5] +- goal: [5, 2] + name: agent12 + start: [5, 3] +- goal: [0, 0] + name: agent13 + start: [0, 0] +- goal: [5, 0] + name: agent14 + start: [1, 5] +- goal: [6, 1] + name: agent15 + start: [2, 3] +- goal: [3, 3] + name: agent16 + start: [0, 7] +- goal: [7, 6] + name: agent17 + start: [1, 2] +- goal: [6, 7] + name: agent18 + start: [5, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 7] + - !!python/tuple [1, 0] + - !!python/tuple [1, 6] + - !!python/tuple [7, 0] + - !!python/tuple [3, 0] + - !!python/tuple [6, 3] + - !!python/tuple [7, 2] + - !!python/tuple [3, 6] + - !!python/tuple [2, 2] + - !!python/tuple [6, 0] + - !!python/tuple [3, 7] + - !!python/tuple [1, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex4.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex4.yaml new file mode 100644 index 0000000..60c944a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex4.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [2, 3] + name: agent0 + start: [4, 7] +- goal: [1, 3] + name: agent1 + start: [5, 1] +- goal: [1, 6] + name: agent2 + start: [7, 5] +- goal: [3, 1] + name: agent3 + start: [2, 2] +- goal: [5, 4] + name: agent4 + start: [7, 1] +- goal: [4, 3] + name: agent5 + start: [1, 0] +- goal: [3, 5] + name: agent6 + start: [1, 6] +- goal: [4, 6] + name: agent7 + start: [2, 3] +- goal: [3, 6] + name: agent8 + start: [3, 4] +- goal: [1, 2] + name: agent9 + start: [0, 4] +- goal: [0, 1] + name: agent10 + start: [4, 1] +- goal: [0, 4] + name: agent11 + start: [1, 5] +- goal: [6, 4] + name: agent12 + start: [4, 3] +- goal: [2, 2] + name: agent13 + start: [6, 3] +- goal: [7, 5] + name: agent14 + start: [3, 5] +- goal: [1, 5] + name: agent15 + start: [6, 4] +- goal: [3, 3] + name: agent16 + start: [5, 4] +- goal: [7, 0] + name: agent17 + start: [6, 1] +- goal: [2, 1] + name: agent18 + start: [3, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 0] + - !!python/tuple [5, 7] + - !!python/tuple [0, 7] + - !!python/tuple [5, 2] + - !!python/tuple [6, 6] + - !!python/tuple [2, 0] + - !!python/tuple [5, 5] + - !!python/tuple [7, 3] + - !!python/tuple [6, 2] + - !!python/tuple [3, 2] + - !!python/tuple [0, 0] + - !!python/tuple [0, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex40.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex40.yaml new file mode 100644 index 0000000..8a4846d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex40.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [3, 2] + name: agent0 + start: [4, 6] +- goal: [5, 6] + name: agent1 + start: [4, 5] +- goal: [0, 0] + name: agent2 + start: [2, 0] +- goal: [6, 6] + name: agent3 + start: [4, 0] +- goal: [3, 6] + name: agent4 + start: [3, 7] +- goal: [3, 1] + name: agent5 + start: [7, 2] +- goal: [1, 4] + name: agent6 + start: [5, 1] +- goal: [4, 3] + name: agent7 + start: [6, 4] +- goal: [6, 4] + name: agent8 + start: [7, 3] +- goal: [4, 0] + name: agent9 + start: [5, 7] +- goal: [0, 7] + name: agent10 + start: [4, 7] +- goal: [7, 6] + name: agent11 + start: [5, 0] +- goal: [1, 3] + name: agent12 + start: [7, 1] +- goal: [4, 6] + name: agent13 + start: [4, 2] +- goal: [3, 7] + name: agent14 + start: [4, 4] +- goal: [4, 2] + name: agent15 + start: [2, 7] +- goal: [5, 1] + name: agent16 + start: [5, 2] +- goal: [5, 4] + name: agent17 + start: [2, 6] +- goal: [6, 2] + name: agent18 + start: [1, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 0] + - !!python/tuple [3, 4] + - !!python/tuple [3, 5] + - !!python/tuple [0, 5] + - !!python/tuple [2, 3] + - !!python/tuple [7, 4] + - !!python/tuple [4, 1] + - !!python/tuple [7, 0] + - !!python/tuple [5, 5] + - !!python/tuple [1, 2] + - !!python/tuple [1, 7] + - !!python/tuple [1, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex41.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex41.yaml new file mode 100644 index 0000000..3461951 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex41.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [2, 0] + name: agent0 + start: [2, 0] +- goal: [7, 1] + name: agent1 + start: [2, 7] +- goal: [6, 6] + name: agent2 + start: [4, 3] +- goal: [3, 1] + name: agent3 + start: [0, 2] +- goal: [7, 0] + name: agent4 + start: [0, 5] +- goal: [6, 4] + name: agent5 + start: [0, 7] +- goal: [2, 6] + name: agent6 + start: [4, 6] +- goal: [3, 4] + name: agent7 + start: [4, 1] +- goal: [7, 2] + name: agent8 + start: [2, 2] +- goal: [1, 7] + name: agent9 + start: [2, 1] +- goal: [2, 2] + name: agent10 + start: [1, 4] +- goal: [2, 7] + name: agent11 + start: [1, 6] +- goal: [6, 1] + name: agent12 + start: [0, 1] +- goal: [4, 6] + name: agent13 + start: [4, 4] +- goal: [4, 5] + name: agent14 + start: [1, 5] +- goal: [0, 4] + name: agent15 + start: [1, 2] +- goal: [7, 3] + name: agent16 + start: [6, 5] +- goal: [0, 3] + name: agent17 + start: [1, 0] +- goal: [0, 0] + name: agent18 + start: [3, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 0] + - !!python/tuple [3, 5] + - !!python/tuple [4, 7] + - !!python/tuple [3, 6] + - !!python/tuple [6, 7] + - !!python/tuple [5, 6] + - !!python/tuple [5, 1] + - !!python/tuple [7, 4] + - !!python/tuple [7, 7] + - !!python/tuple [1, 1] + - !!python/tuple [7, 6] + - !!python/tuple [0, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex42.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex42.yaml new file mode 100644 index 0000000..5e81933 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex42.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [5, 0] + name: agent0 + start: [4, 0] +- goal: [0, 4] + name: agent1 + start: [1, 6] +- goal: [5, 1] + name: agent2 + start: [6, 4] +- goal: [7, 1] + name: agent3 + start: [5, 6] +- goal: [6, 2] + name: agent4 + start: [7, 1] +- goal: [0, 1] + name: agent5 + start: [0, 6] +- goal: [2, 0] + name: agent6 + start: [4, 7] +- goal: [1, 1] + name: agent7 + start: [5, 0] +- goal: [2, 2] + name: agent8 + start: [3, 2] +- goal: [4, 0] + name: agent9 + start: [5, 3] +- goal: [7, 4] + name: agent10 + start: [1, 3] +- goal: [0, 6] + name: agent11 + start: [3, 6] +- goal: [7, 3] + name: agent12 + start: [7, 7] +- goal: [5, 6] + name: agent13 + start: [0, 4] +- goal: [0, 3] + name: agent14 + start: [4, 2] +- goal: [3, 1] + name: agent15 + start: [4, 5] +- goal: [3, 0] + name: agent16 + start: [2, 1] +- goal: [5, 7] + name: agent17 + start: [5, 2] +- goal: [6, 1] + name: agent18 + start: [7, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 4] + - !!python/tuple [2, 6] + - !!python/tuple [4, 3] + - !!python/tuple [1, 2] + - !!python/tuple [6, 6] + - !!python/tuple [3, 5] + - !!python/tuple [4, 4] + - !!python/tuple [3, 3] + - !!python/tuple [1, 7] + - !!python/tuple [2, 7] + - !!python/tuple [0, 0] + - !!python/tuple [7, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex43.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex43.yaml new file mode 100644 index 0000000..5c68971 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex43.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [3, 6] + name: agent0 + start: [0, 2] +- goal: [1, 2] + name: agent1 + start: [4, 0] +- goal: [5, 3] + name: agent2 + start: [4, 3] +- goal: [3, 3] + name: agent3 + start: [3, 0] +- goal: [3, 7] + name: agent4 + start: [5, 7] +- goal: [2, 7] + name: agent5 + start: [7, 3] +- goal: [2, 1] + name: agent6 + start: [0, 5] +- goal: [7, 1] + name: agent7 + start: [4, 7] +- goal: [1, 0] + name: agent8 + start: [3, 4] +- goal: [1, 6] + name: agent9 + start: [1, 2] +- goal: [5, 7] + name: agent10 + start: [7, 6] +- goal: [7, 6] + name: agent11 + start: [4, 4] +- goal: [3, 5] + name: agent12 + start: [0, 0] +- goal: [6, 1] + name: agent13 + start: [5, 5] +- goal: [2, 6] + name: agent14 + start: [3, 5] +- goal: [4, 4] + name: agent15 + start: [4, 2] +- goal: [0, 5] + name: agent16 + start: [6, 1] +- goal: [3, 0] + name: agent17 + start: [5, 0] +- goal: [4, 1] + name: agent18 + start: [1, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 4] + - !!python/tuple [5, 6] + - !!python/tuple [4, 5] + - !!python/tuple [0, 3] + - !!python/tuple [7, 2] + - !!python/tuple [2, 0] + - !!python/tuple [7, 5] + - !!python/tuple [0, 4] + - !!python/tuple [2, 5] + - !!python/tuple [2, 3] + - !!python/tuple [6, 0] + - !!python/tuple [1, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex44.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex44.yaml new file mode 100644 index 0000000..fe404c5 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex44.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [4, 1] + name: agent0 + start: [7, 0] +- goal: [2, 5] + name: agent1 + start: [5, 5] +- goal: [7, 0] + name: agent2 + start: [7, 1] +- goal: [2, 2] + name: agent3 + start: [5, 4] +- goal: [0, 1] + name: agent4 + start: [4, 5] +- goal: [0, 3] + name: agent5 + start: [0, 0] +- goal: [0, 7] + name: agent6 + start: [4, 3] +- goal: [7, 6] + name: agent7 + start: [2, 4] +- goal: [1, 1] + name: agent8 + start: [7, 6] +- goal: [5, 1] + name: agent9 + start: [1, 2] +- goal: [5, 3] + name: agent10 + start: [4, 1] +- goal: [2, 0] + name: agent11 + start: [6, 5] +- goal: [2, 3] + name: agent12 + start: [2, 1] +- goal: [3, 0] + name: agent13 + start: [4, 6] +- goal: [2, 4] + name: agent14 + start: [5, 3] +- goal: [6, 0] + name: agent15 + start: [6, 1] +- goal: [5, 7] + name: agent16 + start: [4, 0] +- goal: [7, 7] + name: agent17 + start: [6, 6] +- goal: [4, 3] + name: agent18 + start: [2, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 2] + - !!python/tuple [1, 4] + - !!python/tuple [1, 6] + - !!python/tuple [2, 7] + - !!python/tuple [4, 4] + - !!python/tuple [1, 3] + - !!python/tuple [3, 7] + - !!python/tuple [2, 6] + - !!python/tuple [5, 0] + - !!python/tuple [3, 1] + - !!python/tuple [1, 0] + - !!python/tuple [7, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex45.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex45.yaml new file mode 100644 index 0000000..d8a08f3 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex45.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [1, 6] + name: agent0 + start: [1, 2] +- goal: [4, 1] + name: agent1 + start: [1, 6] +- goal: [7, 4] + name: agent2 + start: [3, 7] +- goal: [4, 3] + name: agent3 + start: [0, 0] +- goal: [7, 5] + name: agent4 + start: [7, 3] +- goal: [5, 2] + name: agent5 + start: [0, 7] +- goal: [2, 2] + name: agent6 + start: [2, 3] +- goal: [1, 4] + name: agent7 + start: [1, 0] +- goal: [4, 7] + name: agent8 + start: [2, 2] +- goal: [5, 1] + name: agent9 + start: [5, 5] +- goal: [7, 3] + name: agent10 + start: [5, 6] +- goal: [5, 6] + name: agent11 + start: [5, 7] +- goal: [5, 7] + name: agent12 + start: [4, 0] +- goal: [0, 6] + name: agent13 + start: [5, 4] +- goal: [4, 5] + name: agent14 + start: [6, 1] +- goal: [5, 4] + name: agent15 + start: [5, 1] +- goal: [3, 1] + name: agent16 + start: [6, 6] +- goal: [2, 7] + name: agent17 + start: [4, 3] +- goal: [2, 3] + name: agent18 + start: [7, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 3] + - !!python/tuple [0, 4] + - !!python/tuple [1, 5] + - !!python/tuple [3, 3] + - !!python/tuple [6, 2] + - !!python/tuple [3, 5] + - !!python/tuple [7, 6] + - !!python/tuple [0, 2] + - !!python/tuple [7, 1] + - !!python/tuple [2, 1] + - !!python/tuple [0, 3] + - !!python/tuple [1, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex46.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex46.yaml new file mode 100644 index 0000000..50ca3b5 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex46.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [7, 6] + name: agent0 + start: [4, 3] +- goal: [4, 0] + name: agent1 + start: [2, 4] +- goal: [3, 0] + name: agent2 + start: [1, 3] +- goal: [1, 5] + name: agent3 + start: [7, 2] +- goal: [0, 0] + name: agent4 + start: [1, 1] +- goal: [4, 1] + name: agent5 + start: [3, 4] +- goal: [0, 6] + name: agent6 + start: [1, 4] +- goal: [3, 4] + name: agent7 + start: [5, 6] +- goal: [5, 1] + name: agent8 + start: [2, 1] +- goal: [2, 3] + name: agent9 + start: [7, 4] +- goal: [5, 5] + name: agent10 + start: [1, 7] +- goal: [6, 1] + name: agent11 + start: [3, 7] +- goal: [5, 3] + name: agent12 + start: [5, 1] +- goal: [0, 5] + name: agent13 + start: [1, 2] +- goal: [1, 1] + name: agent14 + start: [6, 2] +- goal: [6, 5] + name: agent15 + start: [5, 0] +- goal: [7, 2] + name: agent16 + start: [0, 5] +- goal: [6, 7] + name: agent17 + start: [7, 0] +- goal: [2, 4] + name: agent18 + start: [3, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 7] + - !!python/tuple [3, 1] + - !!python/tuple [4, 6] + - !!python/tuple [5, 4] + - !!python/tuple [2, 6] + - !!python/tuple [2, 0] + - !!python/tuple [0, 2] + - !!python/tuple [5, 7] + - !!python/tuple [3, 5] + - !!python/tuple [0, 1] + - !!python/tuple [1, 6] + - !!python/tuple [7, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex47.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex47.yaml new file mode 100644 index 0000000..33077b8 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex47.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [6, 3] + name: agent0 + start: [4, 1] +- goal: [4, 0] + name: agent1 + start: [3, 2] +- goal: [7, 2] + name: agent2 + start: [5, 7] +- goal: [5, 0] + name: agent3 + start: [3, 6] +- goal: [1, 7] + name: agent4 + start: [5, 3] +- goal: [6, 2] + name: agent5 + start: [0, 1] +- goal: [2, 0] + name: agent6 + start: [0, 5] +- goal: [3, 0] + name: agent7 + start: [4, 5] +- goal: [4, 5] + name: agent8 + start: [6, 3] +- goal: [7, 7] + name: agent9 + start: [1, 6] +- goal: [1, 2] + name: agent10 + start: [6, 2] +- goal: [6, 5] + name: agent11 + start: [3, 3] +- goal: [3, 1] + name: agent12 + start: [1, 3] +- goal: [3, 6] + name: agent13 + start: [0, 2] +- goal: [3, 5] + name: agent14 + start: [3, 1] +- goal: [6, 7] + name: agent15 + start: [1, 0] +- goal: [3, 3] + name: agent16 + start: [5, 4] +- goal: [4, 4] + name: agent17 + start: [4, 2] +- goal: [0, 2] + name: agent18 + start: [3, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 5] + - !!python/tuple [7, 3] + - !!python/tuple [3, 4] + - !!python/tuple [5, 6] + - !!python/tuple [2, 5] + - !!python/tuple [0, 0] + - !!python/tuple [7, 1] + - !!python/tuple [6, 0] + - !!python/tuple [2, 4] + - !!python/tuple [0, 6] + - !!python/tuple [6, 6] + - !!python/tuple [5, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex48.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex48.yaml new file mode 100644 index 0000000..36ea3d9 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex48.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [1, 4] + name: agent0 + start: [7, 6] +- goal: [4, 0] + name: agent1 + start: [4, 3] +- goal: [1, 0] + name: agent2 + start: [3, 0] +- goal: [4, 1] + name: agent3 + start: [5, 4] +- goal: [4, 5] + name: agent4 + start: [4, 2] +- goal: [7, 7] + name: agent5 + start: [7, 0] +- goal: [4, 4] + name: agent6 + start: [0, 5] +- goal: [3, 6] + name: agent7 + start: [3, 2] +- goal: [5, 3] + name: agent8 + start: [4, 6] +- goal: [5, 1] + name: agent9 + start: [6, 6] +- goal: [6, 6] + name: agent10 + start: [0, 4] +- goal: [2, 5] + name: agent11 + start: [1, 0] +- goal: [4, 6] + name: agent12 + start: [1, 1] +- goal: [4, 2] + name: agent13 + start: [5, 7] +- goal: [7, 6] + name: agent14 + start: [6, 0] +- goal: [5, 4] + name: agent15 + start: [4, 5] +- goal: [1, 6] + name: agent16 + start: [1, 6] +- goal: [2, 2] + name: agent17 + start: [1, 4] +- goal: [0, 0] + name: agent18 + start: [1, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 6] + - !!python/tuple [6, 1] + - !!python/tuple [6, 3] + - !!python/tuple [5, 2] + - !!python/tuple [7, 2] + - !!python/tuple [0, 6] + - !!python/tuple [1, 2] + - !!python/tuple [1, 5] + - !!python/tuple [2, 4] + - !!python/tuple [3, 7] + - !!python/tuple [0, 3] + - !!python/tuple [6, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex49.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex49.yaml new file mode 100644 index 0000000..cea22e8 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex49.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [6, 3] + name: agent0 + start: [0, 2] +- goal: [5, 1] + name: agent1 + start: [6, 7] +- goal: [7, 6] + name: agent2 + start: [5, 2] +- goal: [6, 7] + name: agent3 + start: [2, 7] +- goal: [4, 1] + name: agent4 + start: [5, 1] +- goal: [4, 4] + name: agent5 + start: [1, 6] +- goal: [7, 1] + name: agent6 + start: [6, 1] +- goal: [5, 7] + name: agent7 + start: [2, 1] +- goal: [4, 5] + name: agent8 + start: [2, 2] +- goal: [6, 6] + name: agent9 + start: [4, 6] +- goal: [1, 1] + name: agent10 + start: [3, 6] +- goal: [2, 7] + name: agent11 + start: [4, 1] +- goal: [7, 5] + name: agent12 + start: [6, 3] +- goal: [2, 1] + name: agent13 + start: [1, 5] +- goal: [0, 6] + name: agent14 + start: [7, 2] +- goal: [0, 5] + name: agent15 + start: [6, 2] +- goal: [0, 2] + name: agent16 + start: [5, 3] +- goal: [7, 3] + name: agent17 + start: [6, 5] +- goal: [1, 0] + name: agent18 + start: [7, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 0] + - !!python/tuple [3, 0] + - !!python/tuple [5, 6] + - !!python/tuple [1, 2] + - !!python/tuple [1, 7] + - !!python/tuple [2, 0] + - !!python/tuple [5, 5] + - !!python/tuple [0, 3] + - !!python/tuple [2, 6] + - !!python/tuple [2, 3] + - !!python/tuple [3, 1] + - !!python/tuple [0, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex5.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex5.yaml new file mode 100644 index 0000000..3537b5e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex5.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [5, 6] + name: agent0 + start: [7, 7] +- goal: [3, 3] + name: agent1 + start: [4, 7] +- goal: [7, 7] + name: agent2 + start: [6, 2] +- goal: [7, 5] + name: agent3 + start: [1, 5] +- goal: [0, 5] + name: agent4 + start: [2, 4] +- goal: [6, 0] + name: agent5 + start: [0, 3] +- goal: [2, 4] + name: agent6 + start: [2, 7] +- goal: [7, 3] + name: agent7 + start: [1, 7] +- goal: [3, 6] + name: agent8 + start: [2, 6] +- goal: [3, 2] + name: agent9 + start: [6, 5] +- goal: [2, 1] + name: agent10 + start: [6, 7] +- goal: [1, 2] + name: agent11 + start: [3, 0] +- goal: [3, 1] + name: agent12 + start: [6, 3] +- goal: [6, 7] + name: agent13 + start: [7, 4] +- goal: [2, 5] + name: agent14 + start: [4, 2] +- goal: [0, 7] + name: agent15 + start: [3, 7] +- goal: [1, 4] + name: agent16 + start: [2, 0] +- goal: [4, 2] + name: agent17 + start: [0, 2] +- goal: [2, 2] + name: agent18 + start: [7, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 3] + - !!python/tuple [7, 2] + - !!python/tuple [6, 4] + - !!python/tuple [3, 5] + - !!python/tuple [4, 6] + - !!python/tuple [0, 1] + - !!python/tuple [1, 0] + - !!python/tuple [1, 6] + - !!python/tuple [5, 3] + - !!python/tuple [5, 7] + - !!python/tuple [5, 4] + - !!python/tuple [5, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex50.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex50.yaml new file mode 100644 index 0000000..0704beb --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex50.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [2, 1] + name: agent0 + start: [1, 7] +- goal: [4, 7] + name: agent1 + start: [2, 0] +- goal: [3, 4] + name: agent2 + start: [5, 7] +- goal: [0, 7] + name: agent3 + start: [5, 0] +- goal: [5, 0] + name: agent4 + start: [1, 3] +- goal: [5, 5] + name: agent5 + start: [5, 2] +- goal: [1, 7] + name: agent6 + start: [6, 2] +- goal: [4, 5] + name: agent7 + start: [0, 3] +- goal: [3, 3] + name: agent8 + start: [7, 0] +- goal: [0, 0] + name: agent9 + start: [4, 0] +- goal: [5, 4] + name: agent10 + start: [4, 1] +- goal: [6, 0] + name: agent11 + start: [4, 3] +- goal: [1, 3] + name: agent12 + start: [3, 2] +- goal: [5, 6] + name: agent13 + start: [4, 5] +- goal: [5, 1] + name: agent14 + start: [1, 2] +- goal: [6, 3] + name: agent15 + start: [1, 0] +- goal: [4, 1] + name: agent16 + start: [4, 6] +- goal: [0, 5] + name: agent17 + start: [0, 5] +- goal: [1, 5] + name: agent18 + start: [6, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 7] + - !!python/tuple [7, 5] + - !!python/tuple [7, 6] + - !!python/tuple [0, 6] + - !!python/tuple [2, 4] + - !!python/tuple [2, 2] + - !!python/tuple [3, 5] + - !!python/tuple [1, 4] + - !!python/tuple [3, 0] + - !!python/tuple [7, 2] + - !!python/tuple [7, 1] + - !!python/tuple [0, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex51.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex51.yaml new file mode 100644 index 0000000..f786a78 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex51.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [7, 1] + name: agent0 + start: [6, 2] +- goal: [6, 5] + name: agent1 + start: [4, 4] +- goal: [6, 4] + name: agent2 + start: [6, 1] +- goal: [4, 2] + name: agent3 + start: [2, 5] +- goal: [6, 6] + name: agent4 + start: [2, 7] +- goal: [5, 5] + name: agent5 + start: [3, 3] +- goal: [0, 7] + name: agent6 + start: [1, 2] +- goal: [2, 7] + name: agent7 + start: [7, 1] +- goal: [1, 6] + name: agent8 + start: [4, 0] +- goal: [6, 1] + name: agent9 + start: [7, 4] +- goal: [5, 0] + name: agent10 + start: [6, 4] +- goal: [5, 1] + name: agent11 + start: [5, 0] +- goal: [2, 2] + name: agent12 + start: [4, 6] +- goal: [3, 4] + name: agent13 + start: [6, 3] +- goal: [5, 3] + name: agent14 + start: [4, 2] +- goal: [3, 2] + name: agent15 + start: [6, 7] +- goal: [4, 5] + name: agent16 + start: [5, 3] +- goal: [6, 7] + name: agent17 + start: [1, 5] +- goal: [5, 4] + name: agent18 + start: [2, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 4] + - !!python/tuple [2, 6] + - !!python/tuple [1, 0] + - !!python/tuple [2, 4] + - !!python/tuple [3, 1] + - !!python/tuple [1, 4] + - !!python/tuple [2, 1] + - !!python/tuple [2, 0] + - !!python/tuple [0, 6] + - !!python/tuple [3, 6] + - !!python/tuple [7, 0] + - !!python/tuple [0, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex52.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex52.yaml new file mode 100644 index 0000000..978067d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex52.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [1, 1] + name: agent0 + start: [0, 3] +- goal: [4, 0] + name: agent1 + start: [7, 6] +- goal: [1, 3] + name: agent2 + start: [6, 2] +- goal: [6, 7] + name: agent3 + start: [3, 1] +- goal: [5, 3] + name: agent4 + start: [6, 4] +- goal: [3, 6] + name: agent5 + start: [2, 6] +- goal: [0, 0] + name: agent6 + start: [3, 2] +- goal: [7, 2] + name: agent7 + start: [5, 3] +- goal: [3, 5] + name: agent8 + start: [0, 1] +- goal: [4, 3] + name: agent9 + start: [2, 5] +- goal: [2, 1] + name: agent10 + start: [4, 0] +- goal: [5, 5] + name: agent11 + start: [5, 5] +- goal: [5, 7] + name: agent12 + start: [5, 2] +- goal: [7, 7] + name: agent13 + start: [7, 2] +- goal: [0, 6] + name: agent14 + start: [3, 4] +- goal: [2, 2] + name: agent15 + start: [4, 5] +- goal: [2, 6] + name: agent16 + start: [1, 5] +- goal: [5, 2] + name: agent17 + start: [4, 1] +- goal: [2, 5] + name: agent18 + start: [5, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 0] + - !!python/tuple [4, 4] + - !!python/tuple [7, 1] + - !!python/tuple [5, 1] + - !!python/tuple [6, 6] + - !!python/tuple [3, 7] + - !!python/tuple [5, 0] + - !!python/tuple [6, 0] + - !!python/tuple [6, 5] + - !!python/tuple [1, 0] + - !!python/tuple [0, 4] + - !!python/tuple [3, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex53.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex53.yaml new file mode 100644 index 0000000..c59ba0a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex53.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [5, 7] + name: agent0 + start: [7, 4] +- goal: [3, 6] + name: agent1 + start: [4, 5] +- goal: [0, 0] + name: agent2 + start: [6, 7] +- goal: [6, 3] + name: agent3 + start: [5, 2] +- goal: [3, 1] + name: agent4 + start: [5, 7] +- goal: [7, 4] + name: agent5 + start: [6, 0] +- goal: [1, 2] + name: agent6 + start: [5, 1] +- goal: [4, 6] + name: agent7 + start: [3, 6] +- goal: [5, 3] + name: agent8 + start: [6, 2] +- goal: [7, 7] + name: agent9 + start: [3, 1] +- goal: [3, 0] + name: agent10 + start: [7, 2] +- goal: [3, 3] + name: agent11 + start: [1, 3] +- goal: [2, 6] + name: agent12 + start: [0, 1] +- goal: [4, 5] + name: agent13 + start: [5, 3] +- goal: [0, 5] + name: agent14 + start: [6, 4] +- goal: [2, 0] + name: agent15 + start: [1, 7] +- goal: [3, 2] + name: agent16 + start: [7, 5] +- goal: [4, 7] + name: agent17 + start: [7, 3] +- goal: [7, 0] + name: agent18 + start: [0, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 4] + - !!python/tuple [4, 3] + - !!python/tuple [1, 5] + - !!python/tuple [6, 1] + - !!python/tuple [3, 4] + - !!python/tuple [4, 0] + - !!python/tuple [5, 5] + - !!python/tuple [4, 4] + - !!python/tuple [3, 7] + - !!python/tuple [4, 2] + - !!python/tuple [5, 4] + - !!python/tuple [3, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex54.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex54.yaml new file mode 100644 index 0000000..68a7ccc --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex54.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [6, 4] + name: agent0 + start: [3, 7] +- goal: [2, 5] + name: agent1 + start: [4, 6] +- goal: [7, 6] + name: agent2 + start: [0, 1] +- goal: [5, 0] + name: agent3 + start: [0, 5] +- goal: [2, 2] + name: agent4 + start: [5, 3] +- goal: [2, 6] + name: agent5 + start: [4, 5] +- goal: [0, 1] + name: agent6 + start: [6, 3] +- goal: [0, 0] + name: agent7 + start: [7, 0] +- goal: [1, 2] + name: agent8 + start: [6, 4] +- goal: [1, 0] + name: agent9 + start: [5, 4] +- goal: [5, 3] + name: agent10 + start: [3, 0] +- goal: [5, 5] + name: agent11 + start: [4, 3] +- goal: [5, 6] + name: agent12 + start: [2, 0] +- goal: [6, 3] + name: agent13 + start: [1, 5] +- goal: [4, 0] + name: agent14 + start: [3, 4] +- goal: [0, 2] + name: agent15 + start: [7, 3] +- goal: [0, 5] + name: agent16 + start: [7, 4] +- goal: [2, 7] + name: agent17 + start: [1, 0] +- goal: [5, 1] + name: agent18 + start: [4, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 2] + - !!python/tuple [6, 1] + - !!python/tuple [4, 2] + - !!python/tuple [1, 3] + - !!python/tuple [3, 3] + - !!python/tuple [3, 5] + - !!python/tuple [7, 5] + - !!python/tuple [7, 7] + - !!python/tuple [7, 1] + - !!python/tuple [1, 1] + - !!python/tuple [0, 7] + - !!python/tuple [3, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex55.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex55.yaml new file mode 100644 index 0000000..915e319 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex55.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [5, 4] + name: agent0 + start: [4, 2] +- goal: [3, 4] + name: agent1 + start: [4, 1] +- goal: [1, 5] + name: agent2 + start: [1, 2] +- goal: [5, 7] + name: agent3 + start: [5, 1] +- goal: [4, 7] + name: agent4 + start: [6, 2] +- goal: [6, 2] + name: agent5 + start: [1, 1] +- goal: [7, 0] + name: agent6 + start: [5, 5] +- goal: [4, 2] + name: agent7 + start: [0, 5] +- goal: [0, 1] + name: agent8 + start: [7, 5] +- goal: [7, 2] + name: agent9 + start: [6, 4] +- goal: [4, 0] + name: agent10 + start: [3, 7] +- goal: [1, 4] + name: agent11 + start: [6, 3] +- goal: [4, 3] + name: agent12 + start: [7, 4] +- goal: [7, 3] + name: agent13 + start: [1, 3] +- goal: [0, 2] + name: agent14 + start: [3, 4] +- goal: [3, 3] + name: agent15 + start: [7, 0] +- goal: [6, 0] + name: agent16 + start: [5, 7] +- goal: [0, 7] + name: agent17 + start: [5, 3] +- goal: [3, 1] + name: agent18 + start: [4, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 0] + - !!python/tuple [0, 6] + - !!python/tuple [0, 3] + - !!python/tuple [6, 7] + - !!python/tuple [2, 7] + - !!python/tuple [1, 0] + - !!python/tuple [5, 0] + - !!python/tuple [2, 1] + - !!python/tuple [3, 5] + - !!python/tuple [2, 6] + - !!python/tuple [7, 1] + - !!python/tuple [5, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex56.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex56.yaml new file mode 100644 index 0000000..30c6f3e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex56.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [7, 0] + name: agent0 + start: [2, 2] +- goal: [4, 0] + name: agent1 + start: [4, 1] +- goal: [5, 0] + name: agent2 + start: [5, 3] +- goal: [6, 4] + name: agent3 + start: [4, 5] +- goal: [7, 7] + name: agent4 + start: [7, 0] +- goal: [5, 6] + name: agent5 + start: [0, 4] +- goal: [5, 5] + name: agent6 + start: [5, 6] +- goal: [7, 3] + name: agent7 + start: [6, 7] +- goal: [0, 3] + name: agent8 + start: [2, 6] +- goal: [1, 0] + name: agent9 + start: [7, 4] +- goal: [2, 3] + name: agent10 + start: [0, 6] +- goal: [6, 7] + name: agent11 + start: [7, 1] +- goal: [3, 7] + name: agent12 + start: [3, 7] +- goal: [1, 1] + name: agent13 + start: [7, 6] +- goal: [3, 3] + name: agent14 + start: [1, 0] +- goal: [3, 2] + name: agent15 + start: [1, 6] +- goal: [3, 5] + name: agent16 + start: [7, 7] +- goal: [6, 0] + name: agent17 + start: [4, 0] +- goal: [0, 0] + name: agent18 + start: [2, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 7] + - !!python/tuple [4, 3] + - !!python/tuple [0, 1] + - !!python/tuple [4, 6] + - !!python/tuple [4, 7] + - !!python/tuple [5, 2] + - !!python/tuple [3, 0] + - !!python/tuple [1, 3] + - !!python/tuple [2, 0] + - !!python/tuple [1, 5] + - !!python/tuple [3, 6] + - !!python/tuple [6, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex57.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex57.yaml new file mode 100644 index 0000000..92ef67d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex57.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [6, 6] + name: agent0 + start: [4, 4] +- goal: [6, 7] + name: agent1 + start: [7, 0] +- goal: [0, 5] + name: agent2 + start: [5, 4] +- goal: [7, 0] + name: agent3 + start: [3, 5] +- goal: [1, 2] + name: agent4 + start: [4, 5] +- goal: [4, 6] + name: agent5 + start: [4, 7] +- goal: [3, 1] + name: agent6 + start: [3, 6] +- goal: [7, 6] + name: agent7 + start: [0, 3] +- goal: [3, 6] + name: agent8 + start: [4, 6] +- goal: [4, 4] + name: agent9 + start: [1, 5] +- goal: [4, 7] + name: agent10 + start: [5, 2] +- goal: [1, 3] + name: agent11 + start: [3, 3] +- goal: [5, 3] + name: agent12 + start: [5, 1] +- goal: [3, 2] + name: agent13 + start: [2, 6] +- goal: [1, 1] + name: agent14 + start: [1, 3] +- goal: [2, 5] + name: agent15 + start: [2, 2] +- goal: [5, 5] + name: agent16 + start: [7, 1] +- goal: [5, 2] + name: agent17 + start: [1, 2] +- goal: [5, 4] + name: agent18 + start: [7, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 6] + - !!python/tuple [4, 2] + - !!python/tuple [3, 4] + - !!python/tuple [5, 7] + - !!python/tuple [1, 6] + - !!python/tuple [3, 7] + - !!python/tuple [6, 2] + - !!python/tuple [2, 7] + - !!python/tuple [7, 7] + - !!python/tuple [2, 0] + - !!python/tuple [0, 0] + - !!python/tuple [4, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex58.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex58.yaml new file mode 100644 index 0000000..e7711ec --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex58.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [4, 2] + name: agent0 + start: [1, 3] +- goal: [5, 1] + name: agent1 + start: [4, 3] +- goal: [0, 7] + name: agent2 + start: [7, 2] +- goal: [1, 3] + name: agent3 + start: [5, 1] +- goal: [0, 6] + name: agent4 + start: [4, 5] +- goal: [6, 4] + name: agent5 + start: [4, 7] +- goal: [7, 0] + name: agent6 + start: [7, 0] +- goal: [6, 2] + name: agent7 + start: [6, 0] +- goal: [3, 4] + name: agent8 + start: [6, 7] +- goal: [5, 5] + name: agent9 + start: [4, 2] +- goal: [7, 7] + name: agent10 + start: [3, 3] +- goal: [7, 3] + name: agent11 + start: [2, 6] +- goal: [2, 6] + name: agent12 + start: [2, 7] +- goal: [7, 4] + name: agent13 + start: [0, 5] +- goal: [0, 5] + name: agent14 + start: [5, 4] +- goal: [7, 2] + name: agent15 + start: [5, 7] +- goal: [4, 1] + name: agent16 + start: [7, 3] +- goal: [6, 6] + name: agent17 + start: [0, 7] +- goal: [0, 4] + name: agent18 + start: [7, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 7] + - !!python/tuple [1, 2] + - !!python/tuple [4, 4] + - !!python/tuple [2, 0] + - !!python/tuple [5, 6] + - !!python/tuple [6, 1] + - !!python/tuple [2, 2] + - !!python/tuple [6, 3] + - !!python/tuple [0, 3] + - !!python/tuple [7, 6] + - !!python/tuple [4, 0] + - !!python/tuple [3, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex59.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex59.yaml new file mode 100644 index 0000000..fdb1a10 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex59.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [7, 6] + name: agent0 + start: [0, 7] +- goal: [4, 0] + name: agent1 + start: [5, 3] +- goal: [2, 6] + name: agent2 + start: [1, 1] +- goal: [5, 4] + name: agent3 + start: [3, 5] +- goal: [4, 6] + name: agent4 + start: [1, 0] +- goal: [6, 5] + name: agent5 + start: [7, 7] +- goal: [0, 5] + name: agent6 + start: [0, 6] +- goal: [4, 5] + name: agent7 + start: [6, 3] +- goal: [1, 7] + name: agent8 + start: [4, 5] +- goal: [5, 5] + name: agent9 + start: [1, 2] +- goal: [1, 3] + name: agent10 + start: [2, 7] +- goal: [6, 2] + name: agent11 + start: [5, 5] +- goal: [1, 2] + name: agent12 + start: [7, 0] +- goal: [3, 5] + name: agent13 + start: [3, 3] +- goal: [4, 4] + name: agent14 + start: [4, 0] +- goal: [2, 1] + name: agent15 + start: [6, 5] +- goal: [2, 3] + name: agent16 + start: [5, 0] +- goal: [2, 0] + name: agent17 + start: [6, 2] +- goal: [6, 7] + name: agent18 + start: [2, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 7] + - !!python/tuple [2, 2] + - !!python/tuple [5, 2] + - !!python/tuple [0, 0] + - !!python/tuple [0, 2] + - !!python/tuple [2, 5] + - !!python/tuple [5, 1] + - !!python/tuple [3, 2] + - !!python/tuple [3, 0] + - !!python/tuple [3, 7] + - !!python/tuple [1, 6] + - !!python/tuple [6, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex6.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex6.yaml new file mode 100644 index 0000000..07a0d2f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex6.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [3, 4] + name: agent0 + start: [3, 3] +- goal: [6, 6] + name: agent1 + start: [0, 2] +- goal: [5, 2] + name: agent2 + start: [1, 1] +- goal: [7, 3] + name: agent3 + start: [4, 4] +- goal: [5, 1] + name: agent4 + start: [5, 6] +- goal: [3, 0] + name: agent5 + start: [0, 3] +- goal: [7, 2] + name: agent6 + start: [1, 4] +- goal: [0, 2] + name: agent7 + start: [0, 5] +- goal: [0, 5] + name: agent8 + start: [2, 0] +- goal: [4, 2] + name: agent9 + start: [6, 1] +- goal: [6, 4] + name: agent10 + start: [4, 3] +- goal: [4, 0] + name: agent11 + start: [5, 5] +- goal: [3, 2] + name: agent12 + start: [1, 2] +- goal: [1, 4] + name: agent13 + start: [5, 7] +- goal: [6, 2] + name: agent14 + start: [0, 6] +- goal: [4, 4] + name: agent15 + start: [6, 4] +- goal: [7, 7] + name: agent16 + start: [2, 1] +- goal: [1, 2] + name: agent17 + start: [7, 5] +- goal: [5, 5] + name: agent18 + start: [7, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 7] + - !!python/tuple [2, 6] + - !!python/tuple [2, 3] + - !!python/tuple [4, 1] + - !!python/tuple [3, 6] + - !!python/tuple [6, 5] + - !!python/tuple [5, 3] + - !!python/tuple [2, 4] + - !!python/tuple [5, 4] + - !!python/tuple [2, 5] + - !!python/tuple [4, 7] + - !!python/tuple [7, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex60.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex60.yaml new file mode 100644 index 0000000..7cf202a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex60.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [5, 0] + name: agent0 + start: [6, 2] +- goal: [6, 7] + name: agent1 + start: [1, 3] +- goal: [0, 2] + name: agent2 + start: [1, 5] +- goal: [6, 5] + name: agent3 + start: [7, 4] +- goal: [2, 6] + name: agent4 + start: [6, 4] +- goal: [4, 2] + name: agent5 + start: [5, 6] +- goal: [1, 2] + name: agent6 + start: [6, 0] +- goal: [3, 7] + name: agent7 + start: [5, 7] +- goal: [7, 2] + name: agent8 + start: [7, 3] +- goal: [1, 4] + name: agent9 + start: [2, 5] +- goal: [7, 4] + name: agent10 + start: [3, 0] +- goal: [2, 5] + name: agent11 + start: [4, 6] +- goal: [1, 3] + name: agent12 + start: [4, 0] +- goal: [6, 3] + name: agent13 + start: [0, 7] +- goal: [7, 1] + name: agent14 + start: [2, 6] +- goal: [6, 4] + name: agent15 + start: [6, 3] +- goal: [5, 1] + name: agent16 + start: [1, 1] +- goal: [2, 2] + name: agent17 + start: [0, 1] +- goal: [0, 6] + name: agent18 + start: [6, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 7] + - !!python/tuple [4, 7] + - !!python/tuple [2, 4] + - !!python/tuple [1, 6] + - !!python/tuple [4, 4] + - !!python/tuple [1, 0] + - !!python/tuple [5, 5] + - !!python/tuple [2, 3] + - !!python/tuple [0, 3] + - !!python/tuple [7, 0] + - !!python/tuple [3, 4] + - !!python/tuple [4, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex61.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex61.yaml new file mode 100644 index 0000000..c12a730 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex61.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [6, 5] + name: agent0 + start: [1, 6] +- goal: [0, 2] + name: agent1 + start: [3, 0] +- goal: [2, 2] + name: agent2 + start: [1, 1] +- goal: [2, 0] + name: agent3 + start: [5, 3] +- goal: [2, 4] + name: agent4 + start: [2, 4] +- goal: [5, 7] + name: agent5 + start: [1, 2] +- goal: [7, 5] + name: agent6 + start: [2, 6] +- goal: [1, 1] + name: agent7 + start: [5, 5] +- goal: [2, 1] + name: agent8 + start: [0, 1] +- goal: [2, 5] + name: agent9 + start: [7, 3] +- goal: [3, 2] + name: agent10 + start: [2, 1] +- goal: [0, 4] + name: agent11 + start: [6, 7] +- goal: [1, 7] + name: agent12 + start: [4, 2] +- goal: [3, 6] + name: agent13 + start: [3, 5] +- goal: [3, 1] + name: agent14 + start: [6, 4] +- goal: [6, 1] + name: agent15 + start: [7, 7] +- goal: [2, 7] + name: agent16 + start: [1, 3] +- goal: [1, 2] + name: agent17 + start: [4, 3] +- goal: [4, 0] + name: agent18 + start: [7, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 3] + - !!python/tuple [4, 5] + - !!python/tuple [3, 3] + - !!python/tuple [6, 6] + - !!python/tuple [1, 5] + - !!python/tuple [1, 0] + - !!python/tuple [7, 0] + - !!python/tuple [0, 7] + - !!python/tuple [0, 6] + - !!python/tuple [6, 0] + - !!python/tuple [0, 5] + - !!python/tuple [7, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex62.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex62.yaml new file mode 100644 index 0000000..e421f00 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex62.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [0, 6] + name: agent0 + start: [3, 0] +- goal: [5, 7] + name: agent1 + start: [5, 6] +- goal: [4, 0] + name: agent2 + start: [6, 1] +- goal: [1, 7] + name: agent3 + start: [6, 0] +- goal: [7, 4] + name: agent4 + start: [7, 7] +- goal: [5, 1] + name: agent5 + start: [3, 1] +- goal: [5, 4] + name: agent6 + start: [1, 7] +- goal: [2, 1] + name: agent7 + start: [5, 7] +- goal: [6, 4] + name: agent8 + start: [1, 5] +- goal: [5, 2] + name: agent9 + start: [7, 1] +- goal: [7, 0] + name: agent10 + start: [6, 6] +- goal: [6, 3] + name: agent11 + start: [5, 1] +- goal: [6, 2] + name: agent12 + start: [4, 3] +- goal: [2, 5] + name: agent13 + start: [1, 6] +- goal: [4, 1] + name: agent14 + start: [4, 7] +- goal: [0, 2] + name: agent15 + start: [2, 7] +- goal: [7, 7] + name: agent16 + start: [7, 6] +- goal: [3, 0] + name: agent17 + start: [7, 2] +- goal: [7, 6] + name: agent18 + start: [2, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 4] + - !!python/tuple [1, 4] + - !!python/tuple [2, 6] + - !!python/tuple [3, 3] + - !!python/tuple [3, 6] + - !!python/tuple [0, 0] + - !!python/tuple [0, 4] + - !!python/tuple [6, 7] + - !!python/tuple [4, 2] + - !!python/tuple [4, 6] + - !!python/tuple [3, 2] + - !!python/tuple [3, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex63.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex63.yaml new file mode 100644 index 0000000..d94cdf8 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex63.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [1, 0] + name: agent0 + start: [7, 6] +- goal: [6, 1] + name: agent1 + start: [6, 7] +- goal: [1, 4] + name: agent2 + start: [3, 4] +- goal: [6, 5] + name: agent3 + start: [5, 6] +- goal: [4, 5] + name: agent4 + start: [3, 6] +- goal: [0, 6] + name: agent5 + start: [2, 1] +- goal: [5, 6] + name: agent6 + start: [2, 2] +- goal: [6, 7] + name: agent7 + start: [1, 7] +- goal: [7, 6] + name: agent8 + start: [0, 6] +- goal: [4, 7] + name: agent9 + start: [5, 2] +- goal: [5, 2] + name: agent10 + start: [5, 0] +- goal: [6, 0] + name: agent11 + start: [4, 7] +- goal: [6, 4] + name: agent12 + start: [4, 5] +- goal: [2, 2] + name: agent13 + start: [2, 3] +- goal: [6, 2] + name: agent14 + start: [4, 6] +- goal: [2, 3] + name: agent15 + start: [5, 3] +- goal: [7, 7] + name: agent16 + start: [2, 5] +- goal: [2, 4] + name: agent17 + start: [6, 6] +- goal: [0, 1] + name: agent18 + start: [6, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 4] + - !!python/tuple [2, 7] + - !!python/tuple [0, 4] + - !!python/tuple [4, 4] + - !!python/tuple [1, 3] + - !!python/tuple [4, 3] + - !!python/tuple [1, 1] + - !!python/tuple [5, 7] + - !!python/tuple [3, 0] + - !!python/tuple [3, 3] + - !!python/tuple [3, 2] + - !!python/tuple [7, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex64.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex64.yaml new file mode 100644 index 0000000..c1ec823 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex64.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [4, 5] + name: agent0 + start: [1, 6] +- goal: [0, 1] + name: agent1 + start: [5, 5] +- goal: [7, 1] + name: agent2 + start: [6, 4] +- goal: [5, 4] + name: agent3 + start: [7, 1] +- goal: [4, 7] + name: agent4 + start: [7, 3] +- goal: [5, 7] + name: agent5 + start: [4, 5] +- goal: [1, 0] + name: agent6 + start: [0, 3] +- goal: [7, 5] + name: agent7 + start: [7, 6] +- goal: [7, 2] + name: agent8 + start: [6, 2] +- goal: [2, 7] + name: agent9 + start: [2, 0] +- goal: [3, 6] + name: agent10 + start: [1, 7] +- goal: [3, 0] + name: agent11 + start: [5, 3] +- goal: [0, 5] + name: agent12 + start: [7, 0] +- goal: [4, 3] + name: agent13 + start: [7, 7] +- goal: [1, 5] + name: agent14 + start: [6, 7] +- goal: [1, 6] + name: agent15 + start: [0, 2] +- goal: [5, 3] + name: agent16 + start: [3, 6] +- goal: [1, 2] + name: agent17 + start: [0, 1] +- goal: [2, 4] + name: agent18 + start: [2, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 4] + - !!python/tuple [4, 1] + - !!python/tuple [5, 1] + - !!python/tuple [1, 3] + - !!python/tuple [6, 0] + - !!python/tuple [5, 6] + - !!python/tuple [3, 3] + - !!python/tuple [6, 5] + - !!python/tuple [3, 5] + - !!python/tuple [2, 5] + - !!python/tuple [6, 1] + - !!python/tuple [0, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex65.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex65.yaml new file mode 100644 index 0000000..6ef4b20 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex65.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [5, 4] + name: agent0 + start: [6, 2] +- goal: [7, 0] + name: agent1 + start: [5, 0] +- goal: [0, 5] + name: agent2 + start: [7, 6] +- goal: [1, 3] + name: agent3 + start: [7, 5] +- goal: [7, 5] + name: agent4 + start: [7, 0] +- goal: [0, 1] + name: agent5 + start: [3, 2] +- goal: [4, 0] + name: agent6 + start: [2, 6] +- goal: [4, 6] + name: agent7 + start: [1, 4] +- goal: [7, 6] + name: agent8 + start: [4, 0] +- goal: [2, 5] + name: agent9 + start: [4, 4] +- goal: [5, 2] + name: agent10 + start: [0, 4] +- goal: [5, 1] + name: agent11 + start: [1, 7] +- goal: [4, 1] + name: agent12 + start: [1, 0] +- goal: [6, 7] + name: agent13 + start: [5, 6] +- goal: [0, 6] + name: agent14 + start: [7, 3] +- goal: [7, 1] + name: agent15 + start: [0, 3] +- goal: [1, 7] + name: agent16 + start: [7, 2] +- goal: [5, 0] + name: agent17 + start: [4, 3] +- goal: [7, 3] + name: agent18 + start: [2, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 5] + - !!python/tuple [6, 3] + - !!python/tuple [5, 7] + - !!python/tuple [2, 2] + - !!python/tuple [2, 7] + - !!python/tuple [6, 0] + - !!python/tuple [5, 3] + - !!python/tuple [2, 3] + - !!python/tuple [1, 2] + - !!python/tuple [3, 4] + - !!python/tuple [0, 2] + - !!python/tuple [3, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex66.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex66.yaml new file mode 100644 index 0000000..d37147a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex66.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [6, 1] + name: agent0 + start: [0, 3] +- goal: [7, 4] + name: agent1 + start: [2, 3] +- goal: [3, 7] + name: agent2 + start: [5, 0] +- goal: [3, 6] + name: agent3 + start: [1, 7] +- goal: [5, 5] + name: agent4 + start: [1, 6] +- goal: [6, 7] + name: agent5 + start: [5, 5] +- goal: [6, 4] + name: agent6 + start: [4, 7] +- goal: [2, 3] + name: agent7 + start: [7, 0] +- goal: [3, 0] + name: agent8 + start: [7, 3] +- goal: [7, 7] + name: agent9 + start: [6, 4] +- goal: [4, 3] + name: agent10 + start: [4, 5] +- goal: [3, 2] + name: agent11 + start: [5, 3] +- goal: [4, 1] + name: agent12 + start: [6, 0] +- goal: [4, 0] + name: agent13 + start: [5, 6] +- goal: [2, 5] + name: agent14 + start: [0, 1] +- goal: [7, 6] + name: agent15 + start: [4, 3] +- goal: [2, 7] + name: agent16 + start: [3, 0] +- goal: [5, 6] + name: agent17 + start: [5, 1] +- goal: [4, 5] + name: agent18 + start: [4, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 2] + - !!python/tuple [1, 3] + - !!python/tuple [0, 7] + - !!python/tuple [2, 6] + - !!python/tuple [0, 4] + - !!python/tuple [4, 4] + - !!python/tuple [6, 2] + - !!python/tuple [1, 2] + - !!python/tuple [3, 1] + - !!python/tuple [3, 5] + - !!python/tuple [4, 6] + - !!python/tuple [6, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex67.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex67.yaml new file mode 100644 index 0000000..18a133a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex67.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [4, 5] + name: agent0 + start: [5, 7] +- goal: [6, 1] + name: agent1 + start: [4, 7] +- goal: [1, 2] + name: agent2 + start: [4, 2] +- goal: [0, 0] + name: agent3 + start: [3, 0] +- goal: [5, 6] + name: agent4 + start: [4, 4] +- goal: [2, 3] + name: agent5 + start: [7, 5] +- goal: [3, 3] + name: agent6 + start: [3, 2] +- goal: [4, 4] + name: agent7 + start: [6, 5] +- goal: [7, 4] + name: agent8 + start: [7, 7] +- goal: [2, 7] + name: agent9 + start: [2, 4] +- goal: [0, 1] + name: agent10 + start: [3, 7] +- goal: [6, 0] + name: agent11 + start: [6, 3] +- goal: [7, 6] + name: agent12 + start: [4, 0] +- goal: [3, 5] + name: agent13 + start: [2, 5] +- goal: [2, 5] + name: agent14 + start: [1, 4] +- goal: [1, 6] + name: agent15 + start: [5, 6] +- goal: [7, 2] + name: agent16 + start: [1, 2] +- goal: [5, 3] + name: agent17 + start: [4, 5] +- goal: [6, 3] + name: agent18 + start: [5, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 6] + - !!python/tuple [0, 7] + - !!python/tuple [1, 7] + - !!python/tuple [5, 1] + - !!python/tuple [0, 6] + - !!python/tuple [5, 2] + - !!python/tuple [2, 0] + - !!python/tuple [4, 6] + - !!python/tuple [6, 4] + - !!python/tuple [3, 4] + - !!python/tuple [7, 0] + - !!python/tuple [1, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex68.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex68.yaml new file mode 100644 index 0000000..117b760 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex68.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [3, 4] + name: agent0 + start: [1, 7] +- goal: [1, 7] + name: agent1 + start: [1, 1] +- goal: [4, 6] + name: agent2 + start: [4, 5] +- goal: [4, 3] + name: agent3 + start: [5, 5] +- goal: [5, 5] + name: agent4 + start: [5, 0] +- goal: [4, 7] + name: agent5 + start: [1, 3] +- goal: [1, 1] + name: agent6 + start: [6, 1] +- goal: [6, 1] + name: agent7 + start: [1, 0] +- goal: [1, 6] + name: agent8 + start: [3, 6] +- goal: [1, 0] + name: agent9 + start: [1, 6] +- goal: [7, 3] + name: agent10 + start: [1, 5] +- goal: [7, 1] + name: agent11 + start: [2, 7] +- goal: [0, 5] + name: agent12 + start: [6, 4] +- goal: [3, 0] + name: agent13 + start: [0, 6] +- goal: [7, 5] + name: agent14 + start: [7, 2] +- goal: [4, 5] + name: agent15 + start: [4, 3] +- goal: [5, 6] + name: agent16 + start: [5, 2] +- goal: [1, 3] + name: agent17 + start: [2, 4] +- goal: [1, 5] + name: agent18 + start: [2, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 2] + - !!python/tuple [3, 5] + - !!python/tuple [3, 3] + - !!python/tuple [4, 0] + - !!python/tuple [4, 1] + - !!python/tuple [0, 7] + - !!python/tuple [5, 7] + - !!python/tuple [7, 6] + - !!python/tuple [4, 2] + - !!python/tuple [0, 4] + - !!python/tuple [7, 7] + - !!python/tuple [4, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex69.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex69.yaml new file mode 100644 index 0000000..a71a1ec --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex69.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [3, 3] + name: agent0 + start: [5, 4] +- goal: [5, 4] + name: agent1 + start: [5, 3] +- goal: [4, 1] + name: agent2 + start: [2, 2] +- goal: [6, 0] + name: agent3 + start: [6, 5] +- goal: [6, 1] + name: agent4 + start: [1, 4] +- goal: [3, 1] + name: agent5 + start: [3, 6] +- goal: [7, 4] + name: agent6 + start: [4, 6] +- goal: [1, 2] + name: agent7 + start: [5, 7] +- goal: [5, 2] + name: agent8 + start: [4, 2] +- goal: [0, 0] + name: agent9 + start: [1, 7] +- goal: [1, 5] + name: agent10 + start: [5, 5] +- goal: [5, 0] + name: agent11 + start: [1, 6] +- goal: [4, 2] + name: agent12 + start: [4, 3] +- goal: [1, 0] + name: agent13 + start: [0, 7] +- goal: [6, 5] + name: agent14 + start: [0, 2] +- goal: [5, 6] + name: agent15 + start: [6, 3] +- goal: [6, 6] + name: agent16 + start: [3, 1] +- goal: [5, 3] + name: agent17 + start: [5, 0] +- goal: [1, 1] + name: agent18 + start: [4, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 1] + - !!python/tuple [2, 0] + - !!python/tuple [4, 5] + - !!python/tuple [2, 7] + - !!python/tuple [2, 4] + - !!python/tuple [6, 7] + - !!python/tuple [7, 6] + - !!python/tuple [6, 4] + - !!python/tuple [3, 4] + - !!python/tuple [0, 6] + - !!python/tuple [3, 5] + - !!python/tuple [2, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex7.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex7.yaml new file mode 100644 index 0000000..77c19b3 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex7.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [2, 3] + name: agent0 + start: [1, 5] +- goal: [0, 6] + name: agent1 + start: [6, 4] +- goal: [0, 4] + name: agent2 + start: [4, 7] +- goal: [3, 1] + name: agent3 + start: [0, 1] +- goal: [6, 1] + name: agent4 + start: [3, 7] +- goal: [5, 2] + name: agent5 + start: [1, 2] +- goal: [6, 4] + name: agent6 + start: [5, 5] +- goal: [2, 0] + name: agent7 + start: [4, 3] +- goal: [5, 5] + name: agent8 + start: [3, 0] +- goal: [1, 7] + name: agent9 + start: [2, 2] +- goal: [5, 6] + name: agent10 + start: [1, 0] +- goal: [3, 6] + name: agent11 + start: [0, 3] +- goal: [4, 6] + name: agent12 + start: [2, 1] +- goal: [4, 0] + name: agent13 + start: [7, 3] +- goal: [7, 3] + name: agent14 + start: [6, 0] +- goal: [5, 4] + name: agent15 + start: [1, 7] +- goal: [4, 7] + name: agent16 + start: [4, 0] +- goal: [2, 6] + name: agent17 + start: [2, 0] +- goal: [7, 2] + name: agent18 + start: [5, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 4] + - !!python/tuple [6, 3] + - !!python/tuple [1, 3] + - !!python/tuple [0, 7] + - !!python/tuple [7, 0] + - !!python/tuple [5, 7] + - !!python/tuple [1, 6] + - !!python/tuple [2, 5] + - !!python/tuple [6, 6] + - !!python/tuple [4, 2] + - !!python/tuple [7, 5] + - !!python/tuple [6, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex70.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex70.yaml new file mode 100644 index 0000000..8008af6 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex70.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [2, 0] + name: agent0 + start: [4, 2] +- goal: [4, 0] + name: agent1 + start: [3, 1] +- goal: [7, 5] + name: agent2 + start: [4, 4] +- goal: [5, 0] + name: agent3 + start: [4, 0] +- goal: [4, 6] + name: agent4 + start: [6, 1] +- goal: [2, 4] + name: agent5 + start: [0, 1] +- goal: [6, 0] + name: agent6 + start: [5, 3] +- goal: [1, 3] + name: agent7 + start: [4, 1] +- goal: [5, 4] + name: agent8 + start: [4, 6] +- goal: [2, 1] + name: agent9 + start: [6, 3] +- goal: [4, 4] + name: agent10 + start: [7, 2] +- goal: [2, 7] + name: agent11 + start: [3, 5] +- goal: [4, 3] + name: agent12 + start: [3, 4] +- goal: [1, 6] + name: agent13 + start: [1, 4] +- goal: [5, 3] + name: agent14 + start: [3, 3] +- goal: [1, 1] + name: agent15 + start: [1, 6] +- goal: [4, 5] + name: agent16 + start: [6, 0] +- goal: [6, 1] + name: agent17 + start: [1, 1] +- goal: [3, 2] + name: agent18 + start: [7, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 1] + - !!python/tuple [7, 6] + - !!python/tuple [4, 7] + - !!python/tuple [0, 4] + - !!python/tuple [1, 0] + - !!python/tuple [6, 5] + - !!python/tuple [0, 7] + - !!python/tuple [2, 6] + - !!python/tuple [5, 6] + - !!python/tuple [2, 3] + - !!python/tuple [1, 7] + - !!python/tuple [7, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex71.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex71.yaml new file mode 100644 index 0000000..98e05f4 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex71.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [3, 6] + name: agent0 + start: [1, 7] +- goal: [3, 0] + name: agent1 + start: [3, 6] +- goal: [5, 6] + name: agent2 + start: [6, 0] +- goal: [7, 0] + name: agent3 + start: [5, 1] +- goal: [4, 0] + name: agent4 + start: [1, 5] +- goal: [5, 0] + name: agent5 + start: [7, 6] +- goal: [3, 3] + name: agent6 + start: [1, 6] +- goal: [3, 1] + name: agent7 + start: [3, 2] +- goal: [0, 5] + name: agent8 + start: [5, 0] +- goal: [7, 2] + name: agent9 + start: [2, 3] +- goal: [0, 2] + name: agent10 + start: [1, 3] +- goal: [7, 5] + name: agent11 + start: [6, 1] +- goal: [2, 3] + name: agent12 + start: [3, 7] +- goal: [7, 4] + name: agent13 + start: [2, 7] +- goal: [5, 1] + name: agent14 + start: [5, 3] +- goal: [1, 0] + name: agent15 + start: [7, 4] +- goal: [3, 7] + name: agent16 + start: [7, 3] +- goal: [0, 3] + name: agent17 + start: [7, 0] +- goal: [4, 3] + name: agent18 + start: [4, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 4] + - !!python/tuple [5, 2] + - !!python/tuple [3, 5] + - !!python/tuple [4, 5] + - !!python/tuple [6, 3] + - !!python/tuple [4, 6] + - !!python/tuple [4, 1] + - !!python/tuple [2, 2] + - !!python/tuple [6, 5] + - !!python/tuple [2, 6] + - !!python/tuple [6, 7] + - !!python/tuple [0, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex72.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex72.yaml new file mode 100644 index 0000000..26f038c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex72.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [1, 5] + name: agent0 + start: [6, 5] +- goal: [2, 6] + name: agent1 + start: [0, 1] +- goal: [5, 5] + name: agent2 + start: [5, 5] +- goal: [1, 2] + name: agent3 + start: [7, 2] +- goal: [7, 0] + name: agent4 + start: [4, 5] +- goal: [0, 0] + name: agent5 + start: [3, 0] +- goal: [7, 2] + name: agent6 + start: [5, 0] +- goal: [5, 0] + name: agent7 + start: [2, 5] +- goal: [6, 3] + name: agent8 + start: [7, 5] +- goal: [4, 2] + name: agent9 + start: [4, 4] +- goal: [7, 7] + name: agent10 + start: [6, 0] +- goal: [2, 3] + name: agent11 + start: [3, 6] +- goal: [1, 3] + name: agent12 + start: [2, 3] +- goal: [1, 4] + name: agent13 + start: [2, 2] +- goal: [7, 1] + name: agent14 + start: [4, 3] +- goal: [4, 3] + name: agent15 + start: [6, 3] +- goal: [5, 1] + name: agent16 + start: [6, 6] +- goal: [5, 4] + name: agent17 + start: [5, 1] +- goal: [7, 3] + name: agent18 + start: [1, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 4] + - !!python/tuple [3, 5] + - !!python/tuple [4, 7] + - !!python/tuple [6, 2] + - !!python/tuple [1, 7] + - !!python/tuple [1, 6] + - !!python/tuple [7, 6] + - !!python/tuple [3, 4] + - !!python/tuple [0, 2] + - !!python/tuple [3, 2] + - !!python/tuple [5, 3] + - !!python/tuple [5, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex73.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex73.yaml new file mode 100644 index 0000000..61197e6 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex73.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [1, 3] + name: agent0 + start: [5, 3] +- goal: [7, 4] + name: agent1 + start: [4, 0] +- goal: [0, 7] + name: agent2 + start: [7, 2] +- goal: [0, 5] + name: agent3 + start: [6, 4] +- goal: [6, 2] + name: agent4 + start: [7, 1] +- goal: [5, 4] + name: agent5 + start: [6, 7] +- goal: [0, 3] + name: agent6 + start: [2, 4] +- goal: [0, 0] + name: agent7 + start: [4, 5] +- goal: [6, 5] + name: agent8 + start: [2, 1] +- goal: [7, 0] + name: agent9 + start: [6, 1] +- goal: [4, 5] + name: agent10 + start: [6, 0] +- goal: [7, 3] + name: agent11 + start: [0, 5] +- goal: [3, 1] + name: agent12 + start: [7, 0] +- goal: [7, 5] + name: agent13 + start: [2, 6] +- goal: [3, 6] + name: agent14 + start: [2, 7] +- goal: [5, 2] + name: agent15 + start: [1, 6] +- goal: [7, 2] + name: agent16 + start: [6, 2] +- goal: [0, 6] + name: agent17 + start: [5, 6] +- goal: [3, 3] + name: agent18 + start: [3, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 1] + - !!python/tuple [4, 1] + - !!python/tuple [7, 7] + - !!python/tuple [3, 7] + - !!python/tuple [2, 3] + - !!python/tuple [2, 5] + - !!python/tuple [4, 4] + - !!python/tuple [1, 7] + - !!python/tuple [4, 3] + - !!python/tuple [1, 4] + - !!python/tuple [2, 2] + - !!python/tuple [3, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex74.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex74.yaml new file mode 100644 index 0000000..2351e68 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex74.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [0, 0] + name: agent0 + start: [2, 5] +- goal: [5, 0] + name: agent1 + start: [2, 0] +- goal: [7, 4] + name: agent2 + start: [3, 7] +- goal: [6, 4] + name: agent3 + start: [4, 6] +- goal: [1, 7] + name: agent4 + start: [2, 4] +- goal: [1, 6] + name: agent5 + start: [1, 0] +- goal: [7, 3] + name: agent6 + start: [5, 4] +- goal: [2, 1] + name: agent7 + start: [7, 2] +- goal: [7, 2] + name: agent8 + start: [5, 0] +- goal: [2, 4] + name: agent9 + start: [6, 0] +- goal: [1, 2] + name: agent10 + start: [3, 6] +- goal: [4, 7] + name: agent11 + start: [5, 3] +- goal: [7, 0] + name: agent12 + start: [4, 0] +- goal: [4, 4] + name: agent13 + start: [4, 3] +- goal: [5, 6] + name: agent14 + start: [5, 1] +- goal: [2, 7] + name: agent15 + start: [0, 7] +- goal: [0, 7] + name: agent16 + start: [3, 0] +- goal: [6, 6] + name: agent17 + start: [2, 6] +- goal: [0, 6] + name: agent18 + start: [1, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 4] + - !!python/tuple [0, 3] + - !!python/tuple [3, 1] + - !!python/tuple [2, 3] + - !!python/tuple [3, 2] + - !!python/tuple [2, 2] + - !!python/tuple [5, 7] + - !!python/tuple [3, 3] + - !!python/tuple [3, 5] + - !!python/tuple [6, 2] + - !!python/tuple [7, 1] + - !!python/tuple [6, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex75.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex75.yaml new file mode 100644 index 0000000..4674468 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex75.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [7, 6] + name: agent0 + start: [5, 7] +- goal: [6, 6] + name: agent1 + start: [7, 3] +- goal: [6, 4] + name: agent2 + start: [6, 6] +- goal: [6, 3] + name: agent3 + start: [4, 6] +- goal: [0, 1] + name: agent4 + start: [4, 7] +- goal: [1, 0] + name: agent5 + start: [5, 5] +- goal: [3, 3] + name: agent6 + start: [2, 1] +- goal: [0, 0] + name: agent7 + start: [1, 0] +- goal: [3, 4] + name: agent8 + start: [4, 1] +- goal: [7, 4] + name: agent9 + start: [7, 5] +- goal: [5, 3] + name: agent10 + start: [1, 2] +- goal: [4, 1] + name: agent11 + start: [3, 7] +- goal: [0, 5] + name: agent12 + start: [0, 5] +- goal: [5, 7] + name: agent13 + start: [5, 3] +- goal: [1, 3] + name: agent14 + start: [0, 0] +- goal: [5, 1] + name: agent15 + start: [3, 1] +- goal: [7, 0] + name: agent16 + start: [1, 7] +- goal: [5, 2] + name: agent17 + start: [3, 6] +- goal: [6, 7] + name: agent18 + start: [5, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 3] + - !!python/tuple [0, 4] + - !!python/tuple [5, 4] + - !!python/tuple [4, 0] + - !!python/tuple [0, 6] + - !!python/tuple [5, 6] + - !!python/tuple [4, 4] + - !!python/tuple [6, 2] + - !!python/tuple [4, 5] + - !!python/tuple [3, 2] + - !!python/tuple [2, 7] + - !!python/tuple [1, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex76.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex76.yaml new file mode 100644 index 0000000..5c58ac4 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex76.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [6, 3] + name: agent0 + start: [2, 2] +- goal: [2, 5] + name: agent1 + start: [0, 2] +- goal: [1, 0] + name: agent2 + start: [7, 6] +- goal: [4, 6] + name: agent3 + start: [3, 4] +- goal: [7, 0] + name: agent4 + start: [2, 0] +- goal: [3, 5] + name: agent5 + start: [6, 1] +- goal: [2, 6] + name: agent6 + start: [2, 5] +- goal: [7, 2] + name: agent7 + start: [2, 6] +- goal: [1, 6] + name: agent8 + start: [5, 0] +- goal: [3, 6] + name: agent9 + start: [4, 2] +- goal: [5, 3] + name: agent10 + start: [7, 5] +- goal: [0, 6] + name: agent11 + start: [6, 0] +- goal: [6, 1] + name: agent12 + start: [7, 1] +- goal: [3, 7] + name: agent13 + start: [5, 6] +- goal: [5, 7] + name: agent14 + start: [4, 3] +- goal: [2, 1] + name: agent15 + start: [6, 7] +- goal: [5, 4] + name: agent16 + start: [3, 3] +- goal: [1, 4] + name: agent17 + start: [1, 3] +- goal: [3, 3] + name: agent18 + start: [0, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 2] + - !!python/tuple [4, 5] + - !!python/tuple [4, 4] + - !!python/tuple [5, 1] + - !!python/tuple [6, 4] + - !!python/tuple [6, 5] + - !!python/tuple [4, 1] + - !!python/tuple [0, 0] + - !!python/tuple [5, 2] + - !!python/tuple [0, 7] + - !!python/tuple [0, 3] + - !!python/tuple [7, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex77.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex77.yaml new file mode 100644 index 0000000..a54476d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex77.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [7, 2] + name: agent0 + start: [5, 1] +- goal: [1, 5] + name: agent1 + start: [2, 5] +- goal: [3, 1] + name: agent2 + start: [5, 3] +- goal: [1, 3] + name: agent3 + start: [4, 3] +- goal: [7, 6] + name: agent4 + start: [0, 7] +- goal: [2, 2] + name: agent5 + start: [1, 2] +- goal: [3, 3] + name: agent6 + start: [6, 5] +- goal: [4, 4] + name: agent7 + start: [0, 2] +- goal: [1, 7] + name: agent8 + start: [0, 4] +- goal: [0, 6] + name: agent9 + start: [6, 6] +- goal: [5, 1] + name: agent10 + start: [1, 7] +- goal: [0, 2] + name: agent11 + start: [3, 7] +- goal: [0, 7] + name: agent12 + start: [5, 7] +- goal: [2, 3] + name: agent13 + start: [6, 3] +- goal: [7, 0] + name: agent14 + start: [3, 3] +- goal: [5, 2] + name: agent15 + start: [1, 6] +- goal: [6, 5] + name: agent16 + start: [0, 3] +- goal: [4, 1] + name: agent17 + start: [4, 7] +- goal: [2, 7] + name: agent18 + start: [4, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 5] + - !!python/tuple [2, 6] + - !!python/tuple [2, 1] + - !!python/tuple [5, 4] + - !!python/tuple [6, 4] + - !!python/tuple [4, 2] + - !!python/tuple [0, 1] + - !!python/tuple [1, 4] + - !!python/tuple [7, 3] + - !!python/tuple [6, 0] + - !!python/tuple [3, 2] + - !!python/tuple [3, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex78.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex78.yaml new file mode 100644 index 0000000..ccc59b3 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex78.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [3, 0] + name: agent0 + start: [5, 4] +- goal: [4, 4] + name: agent1 + start: [6, 1] +- goal: [6, 6] + name: agent2 + start: [4, 5] +- goal: [5, 1] + name: agent3 + start: [7, 0] +- goal: [4, 7] + name: agent4 + start: [7, 4] +- goal: [6, 5] + name: agent5 + start: [0, 5] +- goal: [1, 7] + name: agent6 + start: [3, 0] +- goal: [0, 5] + name: agent7 + start: [2, 1] +- goal: [4, 1] + name: agent8 + start: [5, 6] +- goal: [5, 3] + name: agent9 + start: [6, 7] +- goal: [0, 4] + name: agent10 + start: [2, 5] +- goal: [2, 5] + name: agent11 + start: [3, 1] +- goal: [4, 3] + name: agent12 + start: [3, 4] +- goal: [2, 7] + name: agent13 + start: [0, 2] +- goal: [7, 2] + name: agent14 + start: [2, 6] +- goal: [3, 3] + name: agent15 + start: [7, 7] +- goal: [1, 3] + name: agent16 + start: [7, 5] +- goal: [3, 2] + name: agent17 + start: [6, 6] +- goal: [0, 7] + name: agent18 + start: [1, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 2] + - !!python/tuple [5, 7] + - !!python/tuple [3, 6] + - !!python/tuple [1, 4] + - !!python/tuple [5, 5] + - !!python/tuple [0, 0] + - !!python/tuple [0, 3] + - !!python/tuple [1, 1] + - !!python/tuple [1, 0] + - !!python/tuple [1, 6] + - !!python/tuple [6, 3] + - !!python/tuple [0, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex79.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex79.yaml new file mode 100644 index 0000000..1fbde73 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex79.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [7, 6] + name: agent0 + start: [6, 6] +- goal: [6, 5] + name: agent1 + start: [4, 6] +- goal: [1, 0] + name: agent2 + start: [4, 2] +- goal: [3, 3] + name: agent3 + start: [1, 0] +- goal: [4, 7] + name: agent4 + start: [5, 5] +- goal: [2, 2] + name: agent5 + start: [5, 0] +- goal: [0, 1] + name: agent6 + start: [3, 0] +- goal: [5, 1] + name: agent7 + start: [0, 0] +- goal: [4, 0] + name: agent8 + start: [2, 6] +- goal: [2, 3] + name: agent9 + start: [0, 6] +- goal: [2, 4] + name: agent10 + start: [3, 3] +- goal: [5, 3] + name: agent11 + start: [3, 5] +- goal: [5, 5] + name: agent12 + start: [0, 1] +- goal: [2, 6] + name: agent13 + start: [1, 4] +- goal: [4, 5] + name: agent14 + start: [4, 5] +- goal: [7, 5] + name: agent15 + start: [5, 1] +- goal: [5, 7] + name: agent16 + start: [6, 3] +- goal: [3, 5] + name: agent17 + start: [3, 4] +- goal: [0, 2] + name: agent18 + start: [5, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 1] + - !!python/tuple [6, 7] + - !!python/tuple [3, 1] + - !!python/tuple [5, 2] + - !!python/tuple [6, 1] + - !!python/tuple [6, 0] + - !!python/tuple [5, 4] + - !!python/tuple [5, 6] + - !!python/tuple [3, 7] + - !!python/tuple [1, 2] + - !!python/tuple [1, 1] + - !!python/tuple [2, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex8.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex8.yaml new file mode 100644 index 0000000..faf8311 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex8.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [7, 4] + name: agent0 + start: [7, 5] +- goal: [5, 1] + name: agent1 + start: [4, 6] +- goal: [2, 3] + name: agent2 + start: [4, 7] +- goal: [2, 6] + name: agent3 + start: [6, 0] +- goal: [0, 1] + name: agent4 + start: [6, 7] +- goal: [5, 4] + name: agent5 + start: [1, 1] +- goal: [4, 3] + name: agent6 + start: [3, 0] +- goal: [4, 7] + name: agent7 + start: [1, 0] +- goal: [5, 2] + name: agent8 + start: [2, 2] +- goal: [3, 0] + name: agent9 + start: [4, 4] +- goal: [3, 2] + name: agent10 + start: [6, 6] +- goal: [1, 0] + name: agent11 + start: [6, 3] +- goal: [0, 6] + name: agent12 + start: [7, 4] +- goal: [1, 5] + name: agent13 + start: [3, 4] +- goal: [0, 5] + name: agent14 + start: [2, 5] +- goal: [5, 7] + name: agent15 + start: [5, 3] +- goal: [6, 6] + name: agent16 + start: [7, 1] +- goal: [7, 1] + name: agent17 + start: [3, 6] +- goal: [6, 4] + name: agent18 + start: [3, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 4] + - !!python/tuple [3, 5] + - !!python/tuple [0, 7] + - !!python/tuple [6, 5] + - !!python/tuple [3, 7] + - !!python/tuple [2, 4] + - !!python/tuple [0, 2] + - !!python/tuple [2, 1] + - !!python/tuple [1, 2] + - !!python/tuple [1, 3] + - !!python/tuple [5, 6] + - !!python/tuple [6, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex80.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex80.yaml new file mode 100644 index 0000000..20fdf14 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex80.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [0, 2] + name: agent0 + start: [6, 0] +- goal: [3, 2] + name: agent1 + start: [0, 3] +- goal: [0, 4] + name: agent2 + start: [0, 5] +- goal: [0, 0] + name: agent3 + start: [4, 5] +- goal: [0, 1] + name: agent4 + start: [7, 0] +- goal: [5, 6] + name: agent5 + start: [6, 2] +- goal: [7, 6] + name: agent6 + start: [1, 7] +- goal: [5, 5] + name: agent7 + start: [3, 6] +- goal: [7, 2] + name: agent8 + start: [6, 6] +- goal: [0, 5] + name: agent9 + start: [2, 3] +- goal: [5, 0] + name: agent10 + start: [0, 0] +- goal: [6, 4] + name: agent11 + start: [5, 0] +- goal: [3, 6] + name: agent12 + start: [7, 4] +- goal: [6, 5] + name: agent13 + start: [0, 2] +- goal: [4, 2] + name: agent14 + start: [5, 4] +- goal: [4, 7] + name: agent15 + start: [4, 0] +- goal: [6, 1] + name: agent16 + start: [3, 2] +- goal: [1, 0] + name: agent17 + start: [7, 3] +- goal: [3, 1] + name: agent18 + start: [6, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 6] + - !!python/tuple [1, 5] + - !!python/tuple [2, 0] + - !!python/tuple [5, 1] + - !!python/tuple [4, 4] + - !!python/tuple [3, 5] + - !!python/tuple [4, 1] + - !!python/tuple [5, 7] + - !!python/tuple [5, 2] + - !!python/tuple [1, 6] + - !!python/tuple [1, 4] + - !!python/tuple [1, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex81.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex81.yaml new file mode 100644 index 0000000..fcb7a11 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex81.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [3, 1] + name: agent0 + start: [6, 4] +- goal: [2, 0] + name: agent1 + start: [1, 6] +- goal: [6, 1] + name: agent2 + start: [7, 1] +- goal: [7, 6] + name: agent3 + start: [7, 0] +- goal: [7, 4] + name: agent4 + start: [3, 0] +- goal: [1, 3] + name: agent5 + start: [3, 6] +- goal: [5, 4] + name: agent6 + start: [5, 7] +- goal: [5, 7] + name: agent7 + start: [1, 3] +- goal: [0, 6] + name: agent8 + start: [5, 0] +- goal: [3, 6] + name: agent9 + start: [6, 6] +- goal: [6, 5] + name: agent10 + start: [7, 4] +- goal: [1, 6] + name: agent11 + start: [2, 0] +- goal: [5, 1] + name: agent12 + start: [7, 7] +- goal: [2, 3] + name: agent13 + start: [6, 1] +- goal: [3, 2] + name: agent14 + start: [0, 7] +- goal: [5, 6] + name: agent15 + start: [2, 2] +- goal: [7, 2] + name: agent16 + start: [0, 6] +- goal: [6, 3] + name: agent17 + start: [3, 5] +- goal: [0, 4] + name: agent18 + start: [1, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 5] + - !!python/tuple [5, 5] + - !!python/tuple [6, 7] + - !!python/tuple [3, 4] + - !!python/tuple [2, 7] + - !!python/tuple [7, 3] + - !!python/tuple [5, 3] + - !!python/tuple [4, 3] + - !!python/tuple [4, 6] + - !!python/tuple [5, 2] + - !!python/tuple [4, 2] + - !!python/tuple [3, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex82.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex82.yaml new file mode 100644 index 0000000..4cb131d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex82.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [5, 2] + name: agent0 + start: [3, 1] +- goal: [3, 2] + name: agent1 + start: [4, 1] +- goal: [3, 4] + name: agent2 + start: [2, 5] +- goal: [0, 4] + name: agent3 + start: [6, 5] +- goal: [1, 5] + name: agent4 + start: [3, 7] +- goal: [4, 5] + name: agent5 + start: [7, 0] +- goal: [7, 5] + name: agent6 + start: [7, 1] +- goal: [2, 6] + name: agent7 + start: [1, 1] +- goal: [6, 5] + name: agent8 + start: [2, 3] +- goal: [1, 0] + name: agent9 + start: [3, 4] +- goal: [2, 5] + name: agent10 + start: [5, 2] +- goal: [0, 7] + name: agent11 + start: [3, 2] +- goal: [3, 7] + name: agent12 + start: [6, 3] +- goal: [3, 1] + name: agent13 + start: [2, 2] +- goal: [4, 1] + name: agent14 + start: [0, 2] +- goal: [4, 6] + name: agent15 + start: [4, 4] +- goal: [0, 6] + name: agent16 + start: [4, 5] +- goal: [7, 0] + name: agent17 + start: [7, 3] +- goal: [0, 3] + name: agent18 + start: [2, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 0] + - !!python/tuple [5, 1] + - !!python/tuple [3, 0] + - !!python/tuple [4, 7] + - !!python/tuple [5, 3] + - !!python/tuple [4, 3] + - !!python/tuple [5, 6] + - !!python/tuple [5, 5] + - !!python/tuple [1, 3] + - !!python/tuple [0, 5] + - !!python/tuple [6, 7] + - !!python/tuple [6, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex83.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex83.yaml new file mode 100644 index 0000000..e2577b2 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex83.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [4, 1] + name: agent0 + start: [1, 5] +- goal: [3, 6] + name: agent1 + start: [1, 4] +- goal: [1, 5] + name: agent2 + start: [4, 2] +- goal: [0, 6] + name: agent3 + start: [7, 0] +- goal: [3, 2] + name: agent4 + start: [4, 3] +- goal: [4, 7] + name: agent5 + start: [0, 5] +- goal: [6, 4] + name: agent6 + start: [3, 5] +- goal: [0, 0] + name: agent7 + start: [3, 2] +- goal: [3, 4] + name: agent8 + start: [6, 6] +- goal: [7, 0] + name: agent9 + start: [4, 1] +- goal: [7, 5] + name: agent10 + start: [2, 1] +- goal: [5, 3] + name: agent11 + start: [6, 0] +- goal: [3, 5] + name: agent12 + start: [6, 7] +- goal: [7, 2] + name: agent13 + start: [2, 7] +- goal: [0, 2] + name: agent14 + start: [2, 2] +- goal: [5, 2] + name: agent15 + start: [7, 2] +- goal: [4, 3] + name: agent16 + start: [6, 4] +- goal: [2, 0] + name: agent17 + start: [7, 7] +- goal: [5, 4] + name: agent18 + start: [3, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 3] + - !!python/tuple [4, 6] + - !!python/tuple [3, 7] + - !!python/tuple [4, 0] + - !!python/tuple [6, 3] + - !!python/tuple [5, 6] + - !!python/tuple [3, 0] + - !!python/tuple [7, 4] + - !!python/tuple [1, 2] + - !!python/tuple [4, 4] + - !!python/tuple [0, 1] + - !!python/tuple [3, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex84.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex84.yaml new file mode 100644 index 0000000..5a42a2f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex84.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [7, 2] + name: agent0 + start: [2, 0] +- goal: [7, 0] + name: agent1 + start: [5, 6] +- goal: [4, 3] + name: agent2 + start: [4, 5] +- goal: [6, 7] + name: agent3 + start: [6, 2] +- goal: [4, 4] + name: agent4 + start: [7, 2] +- goal: [3, 6] + name: agent5 + start: [3, 2] +- goal: [2, 2] + name: agent6 + start: [4, 4] +- goal: [3, 7] + name: agent7 + start: [0, 5] +- goal: [2, 1] + name: agent8 + start: [7, 7] +- goal: [3, 0] + name: agent9 + start: [4, 7] +- goal: [0, 5] + name: agent10 + start: [6, 5] +- goal: [2, 0] + name: agent11 + start: [3, 4] +- goal: [6, 1] + name: agent12 + start: [7, 4] +- goal: [6, 2] + name: agent13 + start: [3, 0] +- goal: [3, 5] + name: agent14 + start: [1, 6] +- goal: [2, 5] + name: agent15 + start: [7, 0] +- goal: [5, 7] + name: agent16 + start: [3, 7] +- goal: [7, 4] + name: agent17 + start: [6, 0] +- goal: [6, 6] + name: agent18 + start: [7, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 2] + - !!python/tuple [3, 3] + - !!python/tuple [2, 4] + - !!python/tuple [6, 3] + - !!python/tuple [1, 7] + - !!python/tuple [0, 7] + - !!python/tuple [4, 6] + - !!python/tuple [0, 4] + - !!python/tuple [4, 2] + - !!python/tuple [1, 3] + - !!python/tuple [1, 0] + - !!python/tuple [2, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex85.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex85.yaml new file mode 100644 index 0000000..d24bdea --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex85.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [7, 5] + name: agent0 + start: [0, 6] +- goal: [3, 5] + name: agent1 + start: [2, 3] +- goal: [2, 4] + name: agent2 + start: [3, 1] +- goal: [5, 6] + name: agent3 + start: [6, 4] +- goal: [7, 2] + name: agent4 + start: [3, 6] +- goal: [4, 3] + name: agent5 + start: [6, 7] +- goal: [2, 1] + name: agent6 + start: [2, 6] +- goal: [6, 4] + name: agent7 + start: [0, 3] +- goal: [5, 7] + name: agent8 + start: [6, 1] +- goal: [1, 1] + name: agent9 + start: [4, 5] +- goal: [3, 0] + name: agent10 + start: [5, 0] +- goal: [2, 0] + name: agent11 + start: [4, 3] +- goal: [6, 1] + name: agent12 + start: [0, 5] +- goal: [0, 0] + name: agent13 + start: [0, 2] +- goal: [5, 1] + name: agent14 + start: [0, 4] +- goal: [5, 2] + name: agent15 + start: [4, 7] +- goal: [3, 7] + name: agent16 + start: [6, 3] +- goal: [2, 6] + name: agent17 + start: [4, 1] +- goal: [1, 4] + name: agent18 + start: [1, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 7] + - !!python/tuple [3, 4] + - !!python/tuple [1, 3] + - !!python/tuple [1, 6] + - !!python/tuple [6, 0] + - !!python/tuple [7, 4] + - !!python/tuple [4, 4] + - !!python/tuple [1, 2] + - !!python/tuple [6, 6] + - !!python/tuple [1, 0] + - !!python/tuple [3, 2] + - !!python/tuple [7, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex86.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex86.yaml new file mode 100644 index 0000000..7a86d03 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex86.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [0, 6] + name: agent0 + start: [7, 2] +- goal: [1, 7] + name: agent1 + start: [2, 7] +- goal: [7, 1] + name: agent2 + start: [7, 0] +- goal: [1, 3] + name: agent3 + start: [5, 7] +- goal: [5, 6] + name: agent4 + start: [4, 4] +- goal: [2, 5] + name: agent5 + start: [2, 1] +- goal: [0, 0] + name: agent6 + start: [7, 7] +- goal: [7, 2] + name: agent7 + start: [4, 6] +- goal: [3, 7] + name: agent8 + start: [3, 7] +- goal: [3, 3] + name: agent9 + start: [4, 5] +- goal: [1, 6] + name: agent10 + start: [6, 5] +- goal: [7, 7] + name: agent11 + start: [0, 7] +- goal: [6, 1] + name: agent12 + start: [5, 6] +- goal: [2, 2] + name: agent13 + start: [5, 5] +- goal: [0, 1] + name: agent14 + start: [3, 6] +- goal: [6, 0] + name: agent15 + start: [1, 7] +- goal: [6, 7] + name: agent16 + start: [0, 0] +- goal: [3, 5] + name: agent17 + start: [0, 2] +- goal: [1, 4] + name: agent18 + start: [0, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 5] + - !!python/tuple [5, 3] + - !!python/tuple [4, 1] + - !!python/tuple [2, 4] + - !!python/tuple [5, 2] + - !!python/tuple [0, 3] + - !!python/tuple [5, 4] + - !!python/tuple [6, 6] + - !!python/tuple [4, 7] + - !!python/tuple [4, 3] + - !!python/tuple [6, 3] + - !!python/tuple [1, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex87.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex87.yaml new file mode 100644 index 0000000..aecf37b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex87.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [7, 3] + name: agent0 + start: [7, 5] +- goal: [0, 7] + name: agent1 + start: [2, 4] +- goal: [7, 4] + name: agent2 + start: [7, 4] +- goal: [2, 2] + name: agent3 + start: [3, 0] +- goal: [3, 7] + name: agent4 + start: [6, 1] +- goal: [2, 3] + name: agent5 + start: [6, 6] +- goal: [4, 5] + name: agent6 + start: [3, 6] +- goal: [5, 5] + name: agent7 + start: [2, 3] +- goal: [4, 2] + name: agent8 + start: [3, 5] +- goal: [5, 7] + name: agent9 + start: [1, 4] +- goal: [4, 3] + name: agent10 + start: [4, 7] +- goal: [2, 6] + name: agent11 + start: [4, 3] +- goal: [6, 5] + name: agent12 + start: [5, 3] +- goal: [4, 4] + name: agent13 + start: [2, 7] +- goal: [1, 3] + name: agent14 + start: [4, 2] +- goal: [5, 3] + name: agent15 + start: [6, 0] +- goal: [6, 2] + name: agent16 + start: [1, 3] +- goal: [7, 6] + name: agent17 + start: [2, 5] +- goal: [0, 4] + name: agent18 + start: [4, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 7] + - !!python/tuple [1, 0] + - !!python/tuple [2, 1] + - !!python/tuple [3, 3] + - !!python/tuple [3, 2] + - !!python/tuple [0, 1] + - !!python/tuple [1, 2] + - !!python/tuple [1, 7] + - !!python/tuple [5, 2] + - !!python/tuple [5, 4] + - !!python/tuple [5, 6] + - !!python/tuple [7, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex88.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex88.yaml new file mode 100644 index 0000000..89d0b95 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex88.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [0, 3] + name: agent0 + start: [0, 2] +- goal: [3, 6] + name: agent1 + start: [7, 1] +- goal: [7, 2] + name: agent2 + start: [1, 6] +- goal: [7, 7] + name: agent3 + start: [7, 0] +- goal: [1, 0] + name: agent4 + start: [3, 1] +- goal: [6, 3] + name: agent5 + start: [2, 0] +- goal: [4, 5] + name: agent6 + start: [4, 5] +- goal: [5, 3] + name: agent7 + start: [4, 6] +- goal: [4, 4] + name: agent8 + start: [3, 2] +- goal: [4, 2] + name: agent9 + start: [5, 2] +- goal: [0, 7] + name: agent10 + start: [3, 4] +- goal: [6, 5] + name: agent11 + start: [7, 4] +- goal: [1, 2] + name: agent12 + start: [7, 6] +- goal: [3, 4] + name: agent13 + start: [6, 4] +- goal: [7, 3] + name: agent14 + start: [2, 2] +- goal: [1, 6] + name: agent15 + start: [2, 1] +- goal: [0, 4] + name: agent16 + start: [6, 1] +- goal: [3, 2] + name: agent17 + start: [4, 4] +- goal: [1, 5] + name: agent18 + start: [5, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 7] + - !!python/tuple [1, 3] + - !!python/tuple [4, 3] + - !!python/tuple [0, 6] + - !!python/tuple [4, 7] + - !!python/tuple [6, 0] + - !!python/tuple [3, 7] + - !!python/tuple [2, 6] + - !!python/tuple [0, 1] + - !!python/tuple [1, 1] + - !!python/tuple [5, 4] + - !!python/tuple [2, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex89.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex89.yaml new file mode 100644 index 0000000..9073850 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex89.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [7, 6] + name: agent0 + start: [5, 4] +- goal: [3, 6] + name: agent1 + start: [0, 4] +- goal: [6, 1] + name: agent2 + start: [7, 6] +- goal: [1, 4] + name: agent3 + start: [0, 5] +- goal: [4, 1] + name: agent4 + start: [6, 0] +- goal: [1, 3] + name: agent5 + start: [3, 6] +- goal: [4, 6] + name: agent6 + start: [2, 2] +- goal: [3, 2] + name: agent7 + start: [7, 4] +- goal: [7, 1] + name: agent8 + start: [5, 6] +- goal: [2, 1] + name: agent9 + start: [5, 3] +- goal: [0, 0] + name: agent10 + start: [4, 6] +- goal: [0, 5] + name: agent11 + start: [2, 1] +- goal: [5, 5] + name: agent12 + start: [2, 7] +- goal: [1, 1] + name: agent13 + start: [1, 5] +- goal: [7, 4] + name: agent14 + start: [3, 4] +- goal: [3, 1] + name: agent15 + start: [5, 0] +- goal: [6, 4] + name: agent16 + start: [1, 3] +- goal: [2, 2] + name: agent17 + start: [4, 7] +- goal: [5, 4] + name: agent18 + start: [2, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 7] + - !!python/tuple [7, 2] + - !!python/tuple [4, 2] + - !!python/tuple [6, 5] + - !!python/tuple [0, 1] + - !!python/tuple [4, 5] + - !!python/tuple [0, 3] + - !!python/tuple [5, 1] + - !!python/tuple [4, 3] + - !!python/tuple [4, 4] + - !!python/tuple [3, 0] + - !!python/tuple [7, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex9.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex9.yaml new file mode 100644 index 0000000..f6912ed --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex9.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [3, 3] + name: agent0 + start: [0, 2] +- goal: [2, 7] + name: agent1 + start: [5, 3] +- goal: [4, 6] + name: agent2 + start: [3, 5] +- goal: [4, 0] + name: agent3 + start: [5, 6] +- goal: [5, 1] + name: agent4 + start: [1, 3] +- goal: [7, 1] + name: agent5 + start: [6, 2] +- goal: [5, 0] + name: agent6 + start: [4, 5] +- goal: [4, 4] + name: agent7 + start: [4, 4] +- goal: [5, 7] + name: agent8 + start: [4, 3] +- goal: [0, 3] + name: agent9 + start: [7, 6] +- goal: [4, 1] + name: agent10 + start: [4, 1] +- goal: [4, 7] + name: agent11 + start: [5, 7] +- goal: [4, 3] + name: agent12 + start: [1, 6] +- goal: [1, 5] + name: agent13 + start: [1, 0] +- goal: [5, 3] + name: agent14 + start: [4, 6] +- goal: [3, 1] + name: agent15 + start: [3, 4] +- goal: [7, 7] + name: agent16 + start: [0, 1] +- goal: [3, 6] + name: agent17 + start: [1, 5] +- goal: [4, 2] + name: agent18 + start: [1, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 2] + - !!python/tuple [0, 7] + - !!python/tuple [2, 4] + - !!python/tuple [6, 0] + - !!python/tuple [2, 3] + - !!python/tuple [0, 6] + - !!python/tuple [5, 4] + - !!python/tuple [5, 5] + - !!python/tuple [7, 0] + - !!python/tuple [3, 7] + - !!python/tuple [0, 0] + - !!python/tuple [7, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex90.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex90.yaml new file mode 100644 index 0000000..8c16fbb --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex90.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [1, 2] + name: agent0 + start: [3, 5] +- goal: [1, 0] + name: agent1 + start: [5, 0] +- goal: [6, 4] + name: agent2 + start: [3, 4] +- goal: [4, 1] + name: agent3 + start: [5, 3] +- goal: [1, 4] + name: agent4 + start: [5, 1] +- goal: [2, 3] + name: agent5 + start: [7, 6] +- goal: [4, 6] + name: agent6 + start: [0, 7] +- goal: [4, 7] + name: agent7 + start: [0, 4] +- goal: [5, 7] + name: agent8 + start: [0, 1] +- goal: [3, 6] + name: agent9 + start: [2, 3] +- goal: [3, 5] + name: agent10 + start: [7, 0] +- goal: [1, 1] + name: agent11 + start: [5, 7] +- goal: [3, 2] + name: agent12 + start: [6, 6] +- goal: [0, 4] + name: agent13 + start: [4, 1] +- goal: [2, 1] + name: agent14 + start: [4, 3] +- goal: [7, 0] + name: agent15 + start: [7, 5] +- goal: [6, 6] + name: agent16 + start: [0, 0] +- goal: [7, 4] + name: agent17 + start: [7, 2] +- goal: [1, 3] + name: agent18 + start: [2, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 4] + - !!python/tuple [3, 7] + - !!python/tuple [0, 2] + - !!python/tuple [3, 0] + - !!python/tuple [2, 0] + - !!python/tuple [5, 6] + - !!python/tuple [1, 5] + - !!python/tuple [6, 3] + - !!python/tuple [4, 0] + - !!python/tuple [6, 1] + - !!python/tuple [4, 5] + - !!python/tuple [0, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex91.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex91.yaml new file mode 100644 index 0000000..b9e3452 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex91.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [1, 6] + name: agent0 + start: [3, 7] +- goal: [0, 3] + name: agent1 + start: [7, 1] +- goal: [1, 1] + name: agent2 + start: [6, 5] +- goal: [4, 0] + name: agent3 + start: [0, 3] +- goal: [2, 7] + name: agent4 + start: [0, 2] +- goal: [0, 7] + name: agent5 + start: [6, 4] +- goal: [5, 5] + name: agent6 + start: [4, 6] +- goal: [6, 2] + name: agent7 + start: [6, 3] +- goal: [6, 4] + name: agent8 + start: [3, 3] +- goal: [2, 1] + name: agent9 + start: [0, 4] +- goal: [2, 0] + name: agent10 + start: [0, 6] +- goal: [2, 4] + name: agent11 + start: [4, 5] +- goal: [3, 3] + name: agent12 + start: [0, 0] +- goal: [0, 4] + name: agent13 + start: [6, 7] +- goal: [1, 4] + name: agent14 + start: [3, 1] +- goal: [7, 3] + name: agent15 + start: [3, 4] +- goal: [3, 1] + name: agent16 + start: [7, 6] +- goal: [5, 2] + name: agent17 + start: [2, 2] +- goal: [3, 7] + name: agent18 + start: [7, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 5] + - !!python/tuple [7, 4] + - !!python/tuple [3, 5] + - !!python/tuple [4, 7] + - !!python/tuple [4, 2] + - !!python/tuple [4, 3] + - !!python/tuple [1, 3] + - !!python/tuple [5, 4] + - !!python/tuple [0, 5] + - !!python/tuple [5, 1] + - !!python/tuple [2, 3] + - !!python/tuple [7, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex92.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex92.yaml new file mode 100644 index 0000000..55aa9b1 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex92.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [7, 7] + name: agent0 + start: [1, 7] +- goal: [1, 4] + name: agent1 + start: [3, 6] +- goal: [2, 7] + name: agent2 + start: [3, 4] +- goal: [4, 4] + name: agent3 + start: [1, 3] +- goal: [0, 2] + name: agent4 + start: [0, 7] +- goal: [0, 4] + name: agent5 + start: [6, 4] +- goal: [3, 0] + name: agent6 + start: [5, 4] +- goal: [6, 2] + name: agent7 + start: [5, 6] +- goal: [3, 5] + name: agent8 + start: [4, 3] +- goal: [0, 1] + name: agent9 + start: [4, 6] +- goal: [2, 1] + name: agent10 + start: [2, 1] +- goal: [0, 7] + name: agent11 + start: [3, 5] +- goal: [5, 0] + name: agent12 + start: [5, 2] +- goal: [4, 3] + name: agent13 + start: [3, 0] +- goal: [1, 2] + name: agent14 + start: [6, 2] +- goal: [2, 3] + name: agent15 + start: [2, 6] +- goal: [4, 6] + name: agent16 + start: [5, 7] +- goal: [3, 7] + name: agent17 + start: [0, 0] +- goal: [0, 5] + name: agent18 + start: [7, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 7] + - !!python/tuple [6, 3] + - !!python/tuple [6, 1] + - !!python/tuple [7, 2] + - !!python/tuple [3, 2] + - !!python/tuple [4, 5] + - !!python/tuple [7, 3] + - !!python/tuple [5, 3] + - !!python/tuple [2, 4] + - !!python/tuple [0, 3] + - !!python/tuple [2, 0] + - !!python/tuple [0, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex93.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex93.yaml new file mode 100644 index 0000000..3ccb751 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex93.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [2, 7] + name: agent0 + start: [3, 6] +- goal: [1, 4] + name: agent1 + start: [2, 4] +- goal: [5, 2] + name: agent2 + start: [5, 0] +- goal: [7, 5] + name: agent3 + start: [7, 3] +- goal: [7, 0] + name: agent4 + start: [4, 3] +- goal: [0, 1] + name: agent5 + start: [7, 0] +- goal: [2, 6] + name: agent6 + start: [2, 7] +- goal: [3, 3] + name: agent7 + start: [3, 1] +- goal: [2, 0] + name: agent8 + start: [3, 4] +- goal: [0, 2] + name: agent9 + start: [4, 6] +- goal: [1, 1] + name: agent10 + start: [0, 5] +- goal: [4, 5] + name: agent11 + start: [2, 2] +- goal: [7, 4] + name: agent12 + start: [3, 2] +- goal: [7, 1] + name: agent13 + start: [1, 6] +- goal: [2, 2] + name: agent14 + start: [6, 4] +- goal: [5, 6] + name: agent15 + start: [0, 2] +- goal: [5, 0] + name: agent16 + start: [6, 7] +- goal: [1, 3] + name: agent17 + start: [7, 1] +- goal: [7, 6] + name: agent18 + start: [2, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 0] + - !!python/tuple [5, 1] + - !!python/tuple [5, 4] + - !!python/tuple [2, 5] + - !!python/tuple [0, 7] + - !!python/tuple [7, 2] + - !!python/tuple [0, 0] + - !!python/tuple [6, 2] + - !!python/tuple [6, 3] + - !!python/tuple [1, 0] + - !!python/tuple [0, 4] + - !!python/tuple [4, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex94.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex94.yaml new file mode 100644 index 0000000..3d947ac --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex94.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [5, 4] + name: agent0 + start: [2, 6] +- goal: [2, 5] + name: agent1 + start: [4, 3] +- goal: [6, 6] + name: agent2 + start: [2, 0] +- goal: [4, 3] + name: agent3 + start: [3, 7] +- goal: [5, 7] + name: agent4 + start: [6, 7] +- goal: [1, 0] + name: agent5 + start: [2, 7] +- goal: [5, 5] + name: agent6 + start: [6, 6] +- goal: [2, 0] + name: agent7 + start: [0, 3] +- goal: [2, 7] + name: agent8 + start: [6, 5] +- goal: [6, 7] + name: agent9 + start: [5, 6] +- goal: [5, 6] + name: agent10 + start: [3, 1] +- goal: [1, 3] + name: agent11 + start: [2, 2] +- goal: [3, 4] + name: agent12 + start: [1, 2] +- goal: [2, 3] + name: agent13 + start: [5, 1] +- goal: [3, 1] + name: agent14 + start: [1, 5] +- goal: [4, 5] + name: agent15 + start: [6, 1] +- goal: [4, 2] + name: agent16 + start: [3, 0] +- goal: [7, 0] + name: agent17 + start: [5, 3] +- goal: [0, 7] + name: agent18 + start: [3, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 1] + - !!python/tuple [2, 4] + - !!python/tuple [7, 2] + - !!python/tuple [4, 6] + - !!python/tuple [7, 1] + - !!python/tuple [4, 7] + - !!python/tuple [6, 4] + - !!python/tuple [4, 1] + - !!python/tuple [7, 3] + - !!python/tuple [0, 2] + - !!python/tuple [5, 2] + - !!python/tuple [1, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex95.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex95.yaml new file mode 100644 index 0000000..a96dd38 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex95.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [0, 0] + name: agent0 + start: [4, 7] +- goal: [4, 7] + name: agent1 + start: [7, 7] +- goal: [6, 6] + name: agent2 + start: [3, 0] +- goal: [1, 5] + name: agent3 + start: [4, 4] +- goal: [4, 6] + name: agent4 + start: [4, 2] +- goal: [6, 4] + name: agent5 + start: [2, 2] +- goal: [2, 7] + name: agent6 + start: [1, 1] +- goal: [5, 3] + name: agent7 + start: [1, 5] +- goal: [4, 5] + name: agent8 + start: [7, 4] +- goal: [0, 4] + name: agent9 + start: [2, 6] +- goal: [4, 4] + name: agent10 + start: [4, 1] +- goal: [6, 7] + name: agent11 + start: [3, 3] +- goal: [0, 6] + name: agent12 + start: [5, 2] +- goal: [0, 7] + name: agent13 + start: [3, 7] +- goal: [7, 6] + name: agent14 + start: [6, 7] +- goal: [3, 1] + name: agent15 + start: [1, 0] +- goal: [1, 2] + name: agent16 + start: [6, 2] +- goal: [7, 3] + name: agent17 + start: [6, 6] +- goal: [5, 2] + name: agent18 + start: [0, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 4] + - !!python/tuple [5, 7] + - !!python/tuple [3, 4] + - !!python/tuple [4, 0] + - !!python/tuple [6, 5] + - !!python/tuple [0, 1] + - !!python/tuple [3, 5] + - !!python/tuple [1, 6] + - !!python/tuple [7, 0] + - !!python/tuple [1, 4] + - !!python/tuple [4, 3] + - !!python/tuple [5, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex96.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex96.yaml new file mode 100644 index 0000000..98fd424 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex96.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [6, 5] + name: agent0 + start: [1, 1] +- goal: [6, 1] + name: agent1 + start: [3, 1] +- goal: [1, 4] + name: agent2 + start: [3, 5] +- goal: [1, 5] + name: agent3 + start: [3, 6] +- goal: [3, 4] + name: agent4 + start: [7, 3] +- goal: [6, 2] + name: agent5 + start: [4, 5] +- goal: [2, 7] + name: agent6 + start: [4, 2] +- goal: [0, 2] + name: agent7 + start: [6, 3] +- goal: [3, 1] + name: agent8 + start: [0, 6] +- goal: [6, 3] + name: agent9 + start: [2, 1] +- goal: [0, 4] + name: agent10 + start: [6, 0] +- goal: [4, 4] + name: agent11 + start: [2, 7] +- goal: [7, 6] + name: agent12 + start: [6, 2] +- goal: [1, 2] + name: agent13 + start: [7, 5] +- goal: [4, 2] + name: agent14 + start: [7, 4] +- goal: [4, 5] + name: agent15 + start: [7, 7] +- goal: [7, 2] + name: agent16 + start: [2, 6] +- goal: [1, 6] + name: agent17 + start: [5, 7] +- goal: [3, 7] + name: agent18 + start: [5, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 7] + - !!python/tuple [4, 0] + - !!python/tuple [5, 5] + - !!python/tuple [6, 6] + - !!python/tuple [2, 4] + - !!python/tuple [7, 0] + - !!python/tuple [3, 0] + - !!python/tuple [3, 2] + - !!python/tuple [4, 6] + - !!python/tuple [2, 5] + - !!python/tuple [3, 3] + - !!python/tuple [0, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex97.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex97.yaml new file mode 100644 index 0000000..2e90bc9 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex97.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [6, 6] + name: agent0 + start: [7, 6] +- goal: [2, 1] + name: agent1 + start: [2, 4] +- goal: [6, 3] + name: agent2 + start: [4, 4] +- goal: [3, 6] + name: agent3 + start: [0, 5] +- goal: [0, 3] + name: agent4 + start: [6, 0] +- goal: [0, 7] + name: agent5 + start: [5, 4] +- goal: [4, 5] + name: agent6 + start: [2, 1] +- goal: [7, 6] + name: agent7 + start: [2, 6] +- goal: [7, 1] + name: agent8 + start: [3, 1] +- goal: [5, 4] + name: agent9 + start: [6, 7] +- goal: [0, 5] + name: agent10 + start: [2, 5] +- goal: [5, 6] + name: agent11 + start: [7, 4] +- goal: [3, 0] + name: agent12 + start: [7, 0] +- goal: [1, 5] + name: agent13 + start: [4, 0] +- goal: [3, 2] + name: agent14 + start: [2, 0] +- goal: [7, 0] + name: agent15 + start: [6, 3] +- goal: [7, 3] + name: agent16 + start: [3, 6] +- goal: [4, 4] + name: agent17 + start: [1, 7] +- goal: [6, 2] + name: agent18 + start: [0, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 7] + - !!python/tuple [4, 3] + - !!python/tuple [0, 4] + - !!python/tuple [3, 5] + - !!python/tuple [3, 7] + - !!python/tuple [0, 6] + - !!python/tuple [4, 1] + - !!python/tuple [6, 5] + - !!python/tuple [0, 1] + - !!python/tuple [4, 6] + - !!python/tuple [7, 5] + - !!python/tuple [6, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex98.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex98.yaml new file mode 100644 index 0000000..a1c92c4 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex98.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [2, 6] + name: agent0 + start: [2, 7] +- goal: [0, 1] + name: agent1 + start: [0, 6] +- goal: [3, 5] + name: agent2 + start: [4, 1] +- goal: [7, 7] + name: agent3 + start: [0, 2] +- goal: [3, 2] + name: agent4 + start: [5, 4] +- goal: [3, 7] + name: agent5 + start: [4, 7] +- goal: [7, 0] + name: agent6 + start: [2, 6] +- goal: [5, 5] + name: agent7 + start: [7, 5] +- goal: [2, 7] + name: agent8 + start: [6, 1] +- goal: [7, 4] + name: agent9 + start: [4, 3] +- goal: [1, 4] + name: agent10 + start: [0, 5] +- goal: [2, 3] + name: agent11 + start: [3, 7] +- goal: [3, 4] + name: agent12 + start: [0, 0] +- goal: [4, 0] + name: agent13 + start: [0, 1] +- goal: [6, 6] + name: agent14 + start: [4, 6] +- goal: [5, 7] + name: agent15 + start: [7, 7] +- goal: [0, 0] + name: agent16 + start: [5, 5] +- goal: [2, 0] + name: agent17 + start: [0, 4] +- goal: [4, 1] + name: agent18 + start: [1, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 5] + - !!python/tuple [0, 7] + - !!python/tuple [6, 3] + - !!python/tuple [4, 4] + - !!python/tuple [1, 5] + - !!python/tuple [2, 1] + - !!python/tuple [6, 7] + - !!python/tuple [6, 5] + - !!python/tuple [5, 1] + - !!python/tuple [6, 4] + - !!python/tuple [3, 3] + - !!python/tuple [5, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex99.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex99.yaml new file mode 100644 index 0000000..9147bb5 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents19_ex99.yaml @@ -0,0 +1,73 @@ +agents: +- goal: [5, 5] + name: agent0 + start: [2, 1] +- goal: [2, 2] + name: agent1 + start: [5, 1] +- goal: [6, 4] + name: agent2 + start: [3, 5] +- goal: [6, 7] + name: agent3 + start: [0, 3] +- goal: [7, 0] + name: agent4 + start: [2, 4] +- goal: [5, 1] + name: agent5 + start: [7, 1] +- goal: [4, 1] + name: agent6 + start: [0, 5] +- goal: [3, 1] + name: agent7 + start: [1, 4] +- goal: [0, 7] + name: agent8 + start: [4, 6] +- goal: [1, 2] + name: agent9 + start: [5, 4] +- goal: [0, 5] + name: agent10 + start: [2, 5] +- goal: [2, 5] + name: agent11 + start: [1, 7] +- goal: [7, 7] + name: agent12 + start: [5, 5] +- goal: [0, 6] + name: agent13 + start: [3, 1] +- goal: [6, 3] + name: agent14 + start: [6, 2] +- goal: [7, 2] + name: agent15 + start: [7, 7] +- goal: [0, 2] + name: agent16 + start: [7, 6] +- goal: [4, 5] + name: agent17 + start: [6, 0] +- goal: [7, 6] + name: agent18 + start: [1, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 6] + - !!python/tuple [2, 6] + - !!python/tuple [7, 3] + - !!python/tuple [3, 0] + - !!python/tuple [6, 1] + - !!python/tuple [2, 0] + - !!python/tuple [1, 3] + - !!python/tuple [1, 0] + - !!python/tuple [2, 3] + - !!python/tuple [1, 6] + - !!python/tuple [4, 0] + - !!python/tuple [6, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex0.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex0.yaml new file mode 100644 index 0000000..ceff96a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex0.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [7, 6] + name: agent0 + start: [2, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 3] + - !!python/tuple [4, 3] + - !!python/tuple [7, 1] + - !!python/tuple [4, 4] + - !!python/tuple [3, 7] + - !!python/tuple [5, 4] + - !!python/tuple [4, 6] + - !!python/tuple [7, 3] + - !!python/tuple [1, 2] + - !!python/tuple [1, 7] + - !!python/tuple [2, 1] + - !!python/tuple [3, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex1.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex1.yaml new file mode 100644 index 0000000..fc28098 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex1.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [6, 1] + name: agent0 + start: [2, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 3] + - !!python/tuple [2, 1] + - !!python/tuple [5, 5] + - !!python/tuple [5, 6] + - !!python/tuple [1, 3] + - !!python/tuple [2, 2] + - !!python/tuple [5, 3] + - !!python/tuple [1, 0] + - !!python/tuple [7, 6] + - !!python/tuple [7, 3] + - !!python/tuple [6, 2] + - !!python/tuple [4, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex10.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex10.yaml new file mode 100644 index 0000000..f5cb9ce --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex10.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [2, 0] + name: agent0 + start: [4, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 5] + - !!python/tuple [3, 5] + - !!python/tuple [0, 5] + - !!python/tuple [0, 1] + - !!python/tuple [1, 3] + - !!python/tuple [6, 7] + - !!python/tuple [3, 3] + - !!python/tuple [2, 6] + - !!python/tuple [5, 5] + - !!python/tuple [4, 2] + - !!python/tuple [7, 0] + - !!python/tuple [2, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex11.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex11.yaml new file mode 100644 index 0000000..f0f869a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex11.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [7, 1] + name: agent0 + start: [5, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 1] + - !!python/tuple [4, 3] + - !!python/tuple [2, 0] + - !!python/tuple [1, 0] + - !!python/tuple [5, 0] + - !!python/tuple [3, 2] + - !!python/tuple [0, 7] + - !!python/tuple [6, 7] + - !!python/tuple [1, 2] + - !!python/tuple [0, 5] + - !!python/tuple [7, 4] + - !!python/tuple [7, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex12.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex12.yaml new file mode 100644 index 0000000..3e8161b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex12.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [6, 6] + name: agent0 + start: [7, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 1] + - !!python/tuple [1, 0] + - !!python/tuple [0, 5] + - !!python/tuple [0, 7] + - !!python/tuple [6, 7] + - !!python/tuple [5, 3] + - !!python/tuple [3, 5] + - !!python/tuple [4, 2] + - !!python/tuple [5, 0] + - !!python/tuple [0, 4] + - !!python/tuple [1, 4] + - !!python/tuple [0, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex13.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex13.yaml new file mode 100644 index 0000000..41b05ee --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex13.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [3, 1] + name: agent0 + start: [7, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 5] + - !!python/tuple [6, 2] + - !!python/tuple [6, 3] + - !!python/tuple [3, 0] + - !!python/tuple [2, 1] + - !!python/tuple [5, 2] + - !!python/tuple [7, 2] + - !!python/tuple [0, 6] + - !!python/tuple [5, 7] + - !!python/tuple [2, 2] + - !!python/tuple [6, 1] + - !!python/tuple [1, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex14.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex14.yaml new file mode 100644 index 0000000..4870203 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex14.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [6, 7] + name: agent0 + start: [2, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 6] + - !!python/tuple [5, 6] + - !!python/tuple [3, 4] + - !!python/tuple [5, 7] + - !!python/tuple [6, 2] + - !!python/tuple [1, 3] + - !!python/tuple [1, 1] + - !!python/tuple [0, 3] + - !!python/tuple [4, 1] + - !!python/tuple [3, 6] + - !!python/tuple [7, 7] + - !!python/tuple [2, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex15.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex15.yaml new file mode 100644 index 0000000..34e0b0b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex15.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [2, 1] + name: agent0 + start: [6, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 7] + - !!python/tuple [6, 7] + - !!python/tuple [1, 4] + - !!python/tuple [0, 4] + - !!python/tuple [3, 5] + - !!python/tuple [3, 7] + - !!python/tuple [1, 5] + - !!python/tuple [4, 5] + - !!python/tuple [2, 3] + - !!python/tuple [4, 0] + - !!python/tuple [1, 2] + - !!python/tuple [7, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex16.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex16.yaml new file mode 100644 index 0000000..353a91a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex16.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [2, 4] + name: agent0 + start: [2, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 0] + - !!python/tuple [6, 0] + - !!python/tuple [3, 5] + - !!python/tuple [1, 6] + - !!python/tuple [3, 4] + - !!python/tuple [5, 1] + - !!python/tuple [4, 2] + - !!python/tuple [0, 7] + - !!python/tuple [5, 6] + - !!python/tuple [1, 5] + - !!python/tuple [1, 3] + - !!python/tuple [6, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex17.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex17.yaml new file mode 100644 index 0000000..e27065c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex17.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [6, 3] + name: agent0 + start: [3, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 7] + - !!python/tuple [5, 6] + - !!python/tuple [1, 1] + - !!python/tuple [5, 2] + - !!python/tuple [1, 0] + - !!python/tuple [7, 6] + - !!python/tuple [0, 4] + - !!python/tuple [3, 7] + - !!python/tuple [7, 0] + - !!python/tuple [0, 5] + - !!python/tuple [6, 2] + - !!python/tuple [1, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex18.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex18.yaml new file mode 100644 index 0000000..e6c33d5 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex18.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [3, 1] + name: agent0 + start: [6, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 6] + - !!python/tuple [2, 4] + - !!python/tuple [1, 4] + - !!python/tuple [1, 1] + - !!python/tuple [6, 5] + - !!python/tuple [5, 3] + - !!python/tuple [6, 0] + - !!python/tuple [0, 7] + - !!python/tuple [6, 4] + - !!python/tuple [0, 2] + - !!python/tuple [3, 6] + - !!python/tuple [7, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex19.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex19.yaml new file mode 100644 index 0000000..7a5522e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex19.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [5, 3] + name: agent0 + start: [3, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 2] + - !!python/tuple [5, 6] + - !!python/tuple [6, 2] + - !!python/tuple [3, 2] + - !!python/tuple [4, 0] + - !!python/tuple [0, 7] + - !!python/tuple [4, 6] + - !!python/tuple [3, 0] + - !!python/tuple [1, 6] + - !!python/tuple [0, 2] + - !!python/tuple [4, 4] + - !!python/tuple [7, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex2.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex2.yaml new file mode 100644 index 0000000..abcde2f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex2.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [5, 4] + name: agent0 + start: [0, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 3] + - !!python/tuple [3, 7] + - !!python/tuple [5, 7] + - !!python/tuple [7, 2] + - !!python/tuple [7, 3] + - !!python/tuple [3, 1] + - !!python/tuple [3, 0] + - !!python/tuple [6, 3] + - !!python/tuple [0, 6] + - !!python/tuple [2, 2] + - !!python/tuple [4, 0] + - !!python/tuple [6, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex20.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex20.yaml new file mode 100644 index 0000000..ea21a18 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex20.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [6, 3] + name: agent0 + start: [6, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 5] + - !!python/tuple [5, 0] + - !!python/tuple [0, 1] + - !!python/tuple [6, 0] + - !!python/tuple [6, 1] + - !!python/tuple [1, 0] + - !!python/tuple [0, 5] + - !!python/tuple [4, 4] + - !!python/tuple [7, 6] + - !!python/tuple [2, 6] + - !!python/tuple [2, 2] + - !!python/tuple [1, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex21.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex21.yaml new file mode 100644 index 0000000..c776ea8 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex21.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [0, 1] + name: agent0 + start: [5, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 4] + - !!python/tuple [5, 3] + - !!python/tuple [1, 0] + - !!python/tuple [0, 0] + - !!python/tuple [4, 2] + - !!python/tuple [7, 7] + - !!python/tuple [2, 2] + - !!python/tuple [6, 6] + - !!python/tuple [6, 5] + - !!python/tuple [1, 4] + - !!python/tuple [2, 0] + - !!python/tuple [7, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex22.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex22.yaml new file mode 100644 index 0000000..55fb0de --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex22.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [7, 0] + name: agent0 + start: [4, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 1] + - !!python/tuple [3, 0] + - !!python/tuple [1, 4] + - !!python/tuple [5, 2] + - !!python/tuple [5, 3] + - !!python/tuple [6, 5] + - !!python/tuple [1, 2] + - !!python/tuple [7, 7] + - !!python/tuple [0, 6] + - !!python/tuple [7, 5] + - !!python/tuple [4, 5] + - !!python/tuple [4, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex23.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex23.yaml new file mode 100644 index 0000000..647e042 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex23.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [5, 0] + name: agent0 + start: [3, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 4] + - !!python/tuple [1, 5] + - !!python/tuple [1, 3] + - !!python/tuple [5, 2] + - !!python/tuple [7, 5] + - !!python/tuple [1, 0] + - !!python/tuple [0, 0] + - !!python/tuple [5, 1] + - !!python/tuple [1, 7] + - !!python/tuple [6, 6] + - !!python/tuple [5, 6] + - !!python/tuple [4, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex24.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex24.yaml new file mode 100644 index 0000000..1b095d9 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex24.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [2, 1] + name: agent0 + start: [0, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 6] + - !!python/tuple [3, 1] + - !!python/tuple [6, 5] + - !!python/tuple [3, 5] + - !!python/tuple [1, 0] + - !!python/tuple [3, 6] + - !!python/tuple [7, 0] + - !!python/tuple [5, 5] + - !!python/tuple [7, 5] + - !!python/tuple [2, 2] + - !!python/tuple [0, 4] + - !!python/tuple [2, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex25.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex25.yaml new file mode 100644 index 0000000..4a29b39 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex25.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [3, 4] + name: agent0 + start: [2, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 7] + - !!python/tuple [3, 3] + - !!python/tuple [6, 6] + - !!python/tuple [7, 3] + - !!python/tuple [2, 1] + - !!python/tuple [5, 3] + - !!python/tuple [0, 3] + - !!python/tuple [3, 7] + - !!python/tuple [5, 2] + - !!python/tuple [6, 5] + - !!python/tuple [0, 7] + - !!python/tuple [6, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex26.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex26.yaml new file mode 100644 index 0000000..31444f7 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex26.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [5, 1] + name: agent0 + start: [6, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 3] + - !!python/tuple [6, 0] + - !!python/tuple [3, 5] + - !!python/tuple [0, 6] + - !!python/tuple [7, 6] + - !!python/tuple [6, 1] + - !!python/tuple [0, 7] + - !!python/tuple [4, 6] + - !!python/tuple [7, 1] + - !!python/tuple [1, 3] + - !!python/tuple [7, 5] + - !!python/tuple [3, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex27.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex27.yaml new file mode 100644 index 0000000..c04a508 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex27.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [2, 6] + name: agent0 + start: [0, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 6] + - !!python/tuple [2, 1] + - !!python/tuple [7, 5] + - !!python/tuple [6, 4] + - !!python/tuple [4, 2] + - !!python/tuple [0, 3] + - !!python/tuple [1, 7] + - !!python/tuple [4, 5] + - !!python/tuple [4, 1] + - !!python/tuple [7, 3] + - !!python/tuple [7, 1] + - !!python/tuple [1, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex28.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex28.yaml new file mode 100644 index 0000000..5ea086f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex28.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [7, 7] + name: agent0 + start: [7, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 0] + - !!python/tuple [3, 6] + - !!python/tuple [1, 6] + - !!python/tuple [6, 7] + - !!python/tuple [2, 6] + - !!python/tuple [0, 1] + - !!python/tuple [4, 4] + - !!python/tuple [1, 7] + - !!python/tuple [1, 4] + - !!python/tuple [0, 5] + - !!python/tuple [4, 2] + - !!python/tuple [4, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex29.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex29.yaml new file mode 100644 index 0000000..60786f7 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex29.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [6, 5] + name: agent0 + start: [2, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 5] + - !!python/tuple [6, 7] + - !!python/tuple [0, 3] + - !!python/tuple [5, 7] + - !!python/tuple [0, 6] + - !!python/tuple [1, 7] + - !!python/tuple [3, 3] + - !!python/tuple [0, 7] + - !!python/tuple [0, 5] + - !!python/tuple [3, 2] + - !!python/tuple [4, 1] + - !!python/tuple [6, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex3.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex3.yaml new file mode 100644 index 0000000..bcc541f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex3.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [7, 5] + name: agent0 + start: [0, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 5] + - !!python/tuple [0, 1] + - !!python/tuple [0, 6] + - !!python/tuple [3, 1] + - !!python/tuple [7, 2] + - !!python/tuple [5, 7] + - !!python/tuple [5, 5] + - !!python/tuple [6, 3] + - !!python/tuple [0, 3] + - !!python/tuple [3, 6] + - !!python/tuple [3, 4] + - !!python/tuple [1, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex30.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex30.yaml new file mode 100644 index 0000000..ac524d5 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex30.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [5, 0] + name: agent0 + start: [5, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 7] + - !!python/tuple [3, 6] + - !!python/tuple [5, 4] + - !!python/tuple [4, 0] + - !!python/tuple [6, 6] + - !!python/tuple [6, 0] + - !!python/tuple [4, 5] + - !!python/tuple [5, 5] + - !!python/tuple [3, 1] + - !!python/tuple [0, 2] + - !!python/tuple [4, 7] + - !!python/tuple [1, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex31.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex31.yaml new file mode 100644 index 0000000..227d34e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex31.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [7, 1] + name: agent0 + start: [0, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 7] + - !!python/tuple [5, 2] + - !!python/tuple [2, 4] + - !!python/tuple [3, 1] + - !!python/tuple [5, 3] + - !!python/tuple [5, 0] + - !!python/tuple [7, 7] + - !!python/tuple [2, 5] + - !!python/tuple [3, 2] + - !!python/tuple [6, 4] + - !!python/tuple [5, 1] + - !!python/tuple [1, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex32.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex32.yaml new file mode 100644 index 0000000..1a167df --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex32.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [1, 1] + name: agent0 + start: [2, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 0] + - !!python/tuple [3, 0] + - !!python/tuple [1, 2] + - !!python/tuple [3, 4] + - !!python/tuple [3, 6] + - !!python/tuple [5, 3] + - !!python/tuple [5, 7] + - !!python/tuple [7, 1] + - !!python/tuple [7, 7] + - !!python/tuple [3, 5] + - !!python/tuple [4, 4] + - !!python/tuple [2, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex33.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex33.yaml new file mode 100644 index 0000000..0f05857 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex33.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [4, 3] + name: agent0 + start: [7, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 3] + - !!python/tuple [2, 6] + - !!python/tuple [1, 3] + - !!python/tuple [4, 4] + - !!python/tuple [5, 3] + - !!python/tuple [5, 2] + - !!python/tuple [2, 2] + - !!python/tuple [5, 1] + - !!python/tuple [3, 7] + - !!python/tuple [0, 4] + - !!python/tuple [0, 7] + - !!python/tuple [2, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex34.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex34.yaml new file mode 100644 index 0000000..5aa67e9 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex34.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [0, 0] + name: agent0 + start: [7, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 6] + - !!python/tuple [3, 5] + - !!python/tuple [4, 3] + - !!python/tuple [1, 1] + - !!python/tuple [1, 4] + - !!python/tuple [4, 0] + - !!python/tuple [7, 5] + - !!python/tuple [5, 7] + - !!python/tuple [3, 4] + - !!python/tuple [3, 3] + - !!python/tuple [2, 0] + - !!python/tuple [6, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex35.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex35.yaml new file mode 100644 index 0000000..60e70de --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex35.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [7, 2] + name: agent0 + start: [2, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 7] + - !!python/tuple [5, 4] + - !!python/tuple [2, 7] + - !!python/tuple [3, 3] + - !!python/tuple [7, 1] + - !!python/tuple [4, 7] + - !!python/tuple [5, 1] + - !!python/tuple [2, 2] + - !!python/tuple [4, 0] + - !!python/tuple [0, 3] + - !!python/tuple [7, 3] + - !!python/tuple [6, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex36.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex36.yaml new file mode 100644 index 0000000..6fda839 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex36.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [0, 0] + name: agent0 + start: [4, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 3] + - !!python/tuple [7, 5] + - !!python/tuple [0, 6] + - !!python/tuple [3, 2] + - !!python/tuple [7, 1] + - !!python/tuple [4, 3] + - !!python/tuple [2, 6] + - !!python/tuple [0, 2] + - !!python/tuple [4, 7] + - !!python/tuple [1, 2] + - !!python/tuple [4, 1] + - !!python/tuple [4, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex37.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex37.yaml new file mode 100644 index 0000000..5048f27 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex37.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [1, 7] + name: agent0 + start: [0, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 1] + - !!python/tuple [5, 1] + - !!python/tuple [4, 0] + - !!python/tuple [6, 6] + - !!python/tuple [5, 3] + - !!python/tuple [0, 7] + - !!python/tuple [2, 5] + - !!python/tuple [0, 2] + - !!python/tuple [3, 7] + - !!python/tuple [5, 4] + - !!python/tuple [2, 2] + - !!python/tuple [5, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex38.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex38.yaml new file mode 100644 index 0000000..a6b1f1c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex38.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [3, 6] + name: agent0 + start: [4, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 0] + - !!python/tuple [1, 5] + - !!python/tuple [5, 7] + - !!python/tuple [2, 3] + - !!python/tuple [6, 7] + - !!python/tuple [4, 7] + - !!python/tuple [6, 0] + - !!python/tuple [4, 5] + - !!python/tuple [2, 7] + - !!python/tuple [4, 1] + - !!python/tuple [7, 2] + - !!python/tuple [7, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex39.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex39.yaml new file mode 100644 index 0000000..fef3c1c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex39.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [0, 5] + name: agent0 + start: [4, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 4] + - !!python/tuple [7, 6] + - !!python/tuple [6, 5] + - !!python/tuple [1, 0] + - !!python/tuple [0, 4] + - !!python/tuple [5, 2] + - !!python/tuple [2, 5] + - !!python/tuple [0, 7] + - !!python/tuple [0, 2] + - !!python/tuple [4, 1] + - !!python/tuple [3, 5] + - !!python/tuple [7, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex4.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex4.yaml new file mode 100644 index 0000000..d8f1a20 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex4.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [5, 3] + name: agent0 + start: [3, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 6] + - !!python/tuple [5, 6] + - !!python/tuple [2, 1] + - !!python/tuple [0, 0] + - !!python/tuple [4, 0] + - !!python/tuple [4, 4] + - !!python/tuple [7, 4] + - !!python/tuple [6, 1] + - !!python/tuple [0, 5] + - !!python/tuple [6, 5] + - !!python/tuple [5, 1] + - !!python/tuple [2, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex40.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex40.yaml new file mode 100644 index 0000000..a1d28cb --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex40.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [6, 7] + name: agent0 + start: [0, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 7] + - !!python/tuple [2, 5] + - !!python/tuple [4, 0] + - !!python/tuple [6, 6] + - !!python/tuple [5, 4] + - !!python/tuple [6, 2] + - !!python/tuple [3, 0] + - !!python/tuple [1, 1] + - !!python/tuple [4, 7] + - !!python/tuple [1, 6] + - !!python/tuple [2, 6] + - !!python/tuple [7, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex41.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex41.yaml new file mode 100644 index 0000000..afb341a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex41.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [2, 4] + name: agent0 + start: [2, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 2] + - !!python/tuple [6, 3] + - !!python/tuple [2, 1] + - !!python/tuple [1, 7] + - !!python/tuple [1, 3] + - !!python/tuple [4, 1] + - !!python/tuple [4, 4] + - !!python/tuple [3, 7] + - !!python/tuple [6, 1] + - !!python/tuple [7, 3] + - !!python/tuple [6, 7] + - !!python/tuple [1, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex42.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex42.yaml new file mode 100644 index 0000000..156769b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex42.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [3, 2] + name: agent0 + start: [2, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 4] + - !!python/tuple [4, 1] + - !!python/tuple [1, 4] + - !!python/tuple [1, 1] + - !!python/tuple [1, 7] + - !!python/tuple [3, 0] + - !!python/tuple [0, 1] + - !!python/tuple [0, 4] + - !!python/tuple [2, 4] + - !!python/tuple [4, 4] + - !!python/tuple [6, 6] + - !!python/tuple [4, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex43.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex43.yaml new file mode 100644 index 0000000..da122d6 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex43.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [5, 5] + name: agent0 + start: [7, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 5] + - !!python/tuple [0, 7] + - !!python/tuple [2, 2] + - !!python/tuple [6, 2] + - !!python/tuple [3, 4] + - !!python/tuple [7, 5] + - !!python/tuple [2, 1] + - !!python/tuple [3, 3] + - !!python/tuple [6, 3] + - !!python/tuple [3, 1] + - !!python/tuple [1, 3] + - !!python/tuple [1, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex44.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex44.yaml new file mode 100644 index 0000000..3ec659c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex44.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [5, 5] + name: agent0 + start: [4, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 0] + - !!python/tuple [2, 1] + - !!python/tuple [0, 6] + - !!python/tuple [5, 4] + - !!python/tuple [4, 1] + - !!python/tuple [3, 0] + - !!python/tuple [0, 4] + - !!python/tuple [1, 0] + - !!python/tuple [7, 2] + - !!python/tuple [1, 3] + - !!python/tuple [3, 1] + - !!python/tuple [3, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex45.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex45.yaml new file mode 100644 index 0000000..f24a6aa --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex45.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [5, 7] + name: agent0 + start: [0, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 1] + - !!python/tuple [3, 1] + - !!python/tuple [4, 7] + - !!python/tuple [5, 5] + - !!python/tuple [6, 5] + - !!python/tuple [2, 2] + - !!python/tuple [5, 1] + - !!python/tuple [4, 6] + - !!python/tuple [4, 0] + - !!python/tuple [1, 3] + - !!python/tuple [4, 3] + - !!python/tuple [3, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex46.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex46.yaml new file mode 100644 index 0000000..c6bb2d0 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex46.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [1, 5] + name: agent0 + start: [7, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 5] + - !!python/tuple [7, 1] + - !!python/tuple [1, 3] + - !!python/tuple [5, 7] + - !!python/tuple [4, 4] + - !!python/tuple [5, 2] + - !!python/tuple [3, 0] + - !!python/tuple [2, 4] + - !!python/tuple [3, 1] + - !!python/tuple [4, 3] + - !!python/tuple [0, 2] + - !!python/tuple [6, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex47.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex47.yaml new file mode 100644 index 0000000..e101804 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex47.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [5, 6] + name: agent0 + start: [5, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 4] + - !!python/tuple [7, 4] + - !!python/tuple [7, 6] + - !!python/tuple [6, 7] + - !!python/tuple [2, 5] + - !!python/tuple [6, 2] + - !!python/tuple [4, 5] + - !!python/tuple [0, 7] + - !!python/tuple [3, 6] + - !!python/tuple [6, 6] + - !!python/tuple [1, 5] + - !!python/tuple [6, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex48.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex48.yaml new file mode 100644 index 0000000..e59d74b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex48.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [1, 2] + name: agent0 + start: [5, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 1] + - !!python/tuple [4, 6] + - !!python/tuple [5, 5] + - !!python/tuple [7, 6] + - !!python/tuple [3, 4] + - !!python/tuple [0, 2] + - !!python/tuple [0, 5] + - !!python/tuple [2, 5] + - !!python/tuple [3, 6] + - !!python/tuple [6, 0] + - !!python/tuple [0, 3] + - !!python/tuple [4, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex49.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex49.yaml new file mode 100644 index 0000000..7f3ab1d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex49.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [7, 7] + name: agent0 + start: [2, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 4] + - !!python/tuple [4, 2] + - !!python/tuple [7, 6] + - !!python/tuple [7, 2] + - !!python/tuple [2, 5] + - !!python/tuple [5, 6] + - !!python/tuple [2, 2] + - !!python/tuple [2, 0] + - !!python/tuple [1, 1] + - !!python/tuple [3, 4] + - !!python/tuple [0, 3] + - !!python/tuple [1, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex5.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex5.yaml new file mode 100644 index 0000000..b2622c8 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex5.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [4, 3] + name: agent0 + start: [7, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 1] + - !!python/tuple [7, 6] + - !!python/tuple [3, 3] + - !!python/tuple [2, 2] + - !!python/tuple [1, 3] + - !!python/tuple [7, 3] + - !!python/tuple [2, 0] + - !!python/tuple [5, 6] + - !!python/tuple [1, 2] + - !!python/tuple [4, 7] + - !!python/tuple [4, 4] + - !!python/tuple [1, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex50.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex50.yaml new file mode 100644 index 0000000..7c6222a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex50.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [0, 4] + name: agent0 + start: [1, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 7] + - !!python/tuple [2, 0] + - !!python/tuple [5, 7] + - !!python/tuple [2, 4] + - !!python/tuple [3, 2] + - !!python/tuple [1, 0] + - !!python/tuple [4, 3] + - !!python/tuple [1, 6] + - !!python/tuple [1, 5] + - !!python/tuple [5, 1] + - !!python/tuple [7, 5] + - !!python/tuple [6, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex51.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex51.yaml new file mode 100644 index 0000000..f381128 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex51.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [3, 1] + name: agent0 + start: [5, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 2] + - !!python/tuple [2, 1] + - !!python/tuple [3, 7] + - !!python/tuple [2, 0] + - !!python/tuple [3, 4] + - !!python/tuple [7, 3] + - !!python/tuple [1, 0] + - !!python/tuple [0, 6] + - !!python/tuple [0, 0] + - !!python/tuple [6, 0] + - !!python/tuple [6, 1] + - !!python/tuple [6, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex52.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex52.yaml new file mode 100644 index 0000000..4e5f1cf --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex52.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [7, 4] + name: agent0 + start: [4, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 2] + - !!python/tuple [2, 0] + - !!python/tuple [1, 7] + - !!python/tuple [6, 7] + - !!python/tuple [4, 0] + - !!python/tuple [3, 5] + - !!python/tuple [5, 5] + - !!python/tuple [2, 7] + - !!python/tuple [6, 0] + - !!python/tuple [3, 4] + - !!python/tuple [3, 7] + - !!python/tuple [5, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex53.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex53.yaml new file mode 100644 index 0000000..edd74cf --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex53.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [5, 5] + name: agent0 + start: [6, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 2] + - !!python/tuple [5, 0] + - !!python/tuple [1, 4] + - !!python/tuple [5, 4] + - !!python/tuple [0, 3] + - !!python/tuple [3, 7] + - !!python/tuple [5, 2] + - !!python/tuple [7, 7] + - !!python/tuple [6, 4] + - !!python/tuple [1, 0] + - !!python/tuple [4, 0] + - !!python/tuple [6, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex54.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex54.yaml new file mode 100644 index 0000000..f46c87a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex54.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [4, 1] + name: agent0 + start: [5, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 4] + - !!python/tuple [6, 4] + - !!python/tuple [5, 1] + - !!python/tuple [1, 7] + - !!python/tuple [0, 7] + - !!python/tuple [6, 6] + - !!python/tuple [7, 6] + - !!python/tuple [6, 0] + - !!python/tuple [5, 3] + - !!python/tuple [5, 6] + - !!python/tuple [4, 3] + - !!python/tuple [2, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex55.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex55.yaml new file mode 100644 index 0000000..3500899 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex55.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [1, 0] + name: agent0 + start: [0, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 2] + - !!python/tuple [6, 7] + - !!python/tuple [0, 6] + - !!python/tuple [6, 5] + - !!python/tuple [5, 0] + - !!python/tuple [4, 6] + - !!python/tuple [1, 3] + - !!python/tuple [3, 4] + - !!python/tuple [4, 2] + - !!python/tuple [4, 7] + - !!python/tuple [1, 5] + - !!python/tuple [4, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex56.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex56.yaml new file mode 100644 index 0000000..168acec --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex56.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [1, 6] + name: agent0 + start: [5, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 3] + - !!python/tuple [3, 7] + - !!python/tuple [5, 1] + - !!python/tuple [6, 3] + - !!python/tuple [7, 2] + - !!python/tuple [3, 4] + - !!python/tuple [0, 1] + - !!python/tuple [3, 0] + - !!python/tuple [6, 5] + - !!python/tuple [0, 0] + - !!python/tuple [3, 2] + - !!python/tuple [4, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex57.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex57.yaml new file mode 100644 index 0000000..c6ea7e9 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex57.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [7, 1] + name: agent0 + start: [2, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 7] + - !!python/tuple [3, 7] + - !!python/tuple [0, 4] + - !!python/tuple [4, 6] + - !!python/tuple [0, 1] + - !!python/tuple [4, 3] + - !!python/tuple [2, 4] + - !!python/tuple [2, 1] + - !!python/tuple [7, 7] + - !!python/tuple [5, 4] + - !!python/tuple [0, 7] + - !!python/tuple [2, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex58.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex58.yaml new file mode 100644 index 0000000..b223ece --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex58.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [3, 4] + name: agent0 + start: [3, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 7] + - !!python/tuple [5, 4] + - !!python/tuple [6, 1] + - !!python/tuple [4, 5] + - !!python/tuple [6, 0] + - !!python/tuple [0, 1] + - !!python/tuple [2, 0] + - !!python/tuple [0, 3] + - !!python/tuple [0, 7] + - !!python/tuple [2, 5] + - !!python/tuple [3, 2] + - !!python/tuple [0, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex59.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex59.yaml new file mode 100644 index 0000000..aae02e8 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex59.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [6, 5] + name: agent0 + start: [1, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 6] + - !!python/tuple [4, 4] + - !!python/tuple [2, 2] + - !!python/tuple [7, 2] + - !!python/tuple [3, 7] + - !!python/tuple [3, 6] + - !!python/tuple [7, 6] + - !!python/tuple [4, 1] + - !!python/tuple [6, 7] + - !!python/tuple [6, 4] + - !!python/tuple [7, 3] + - !!python/tuple [0, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex6.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex6.yaml new file mode 100644 index 0000000..a9fb2f4 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex6.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [7, 1] + name: agent0 + start: [2, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 4] + - !!python/tuple [0, 1] + - !!python/tuple [7, 0] + - !!python/tuple [4, 0] + - !!python/tuple [4, 7] + - !!python/tuple [5, 0] + - !!python/tuple [7, 2] + - !!python/tuple [7, 4] + - !!python/tuple [7, 7] + - !!python/tuple [2, 0] + - !!python/tuple [4, 2] + - !!python/tuple [3, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex60.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex60.yaml new file mode 100644 index 0000000..0acde4a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex60.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [5, 0] + name: agent0 + start: [7, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 3] + - !!python/tuple [0, 5] + - !!python/tuple [1, 5] + - !!python/tuple [3, 2] + - !!python/tuple [5, 5] + - !!python/tuple [0, 3] + - !!python/tuple [7, 3] + - !!python/tuple [5, 2] + - !!python/tuple [7, 6] + - !!python/tuple [0, 0] + - !!python/tuple [6, 4] + - !!python/tuple [4, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex61.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex61.yaml new file mode 100644 index 0000000..6624f66 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex61.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [1, 2] + name: agent0 + start: [1, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 5] + - !!python/tuple [2, 7] + - !!python/tuple [5, 5] + - !!python/tuple [2, 2] + - !!python/tuple [7, 5] + - !!python/tuple [4, 0] + - !!python/tuple [1, 6] + - !!python/tuple [2, 6] + - !!python/tuple [0, 4] + - !!python/tuple [1, 7] + - !!python/tuple [3, 1] + - !!python/tuple [4, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex62.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex62.yaml new file mode 100644 index 0000000..3bd91a6 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex62.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [3, 6] + name: agent0 + start: [1, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 2] + - !!python/tuple [3, 1] + - !!python/tuple [4, 4] + - !!python/tuple [3, 4] + - !!python/tuple [0, 4] + - !!python/tuple [7, 7] + - !!python/tuple [2, 7] + - !!python/tuple [6, 7] + - !!python/tuple [2, 0] + - !!python/tuple [5, 3] + - !!python/tuple [5, 4] + - !!python/tuple [2, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex63.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex63.yaml new file mode 100644 index 0000000..7a944ee --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex63.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [6, 0] + name: agent0 + start: [3, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 1] + - !!python/tuple [4, 6] + - !!python/tuple [6, 6] + - !!python/tuple [0, 1] + - !!python/tuple [6, 3] + - !!python/tuple [0, 7] + - !!python/tuple [7, 4] + - !!python/tuple [2, 2] + - !!python/tuple [5, 2] + - !!python/tuple [0, 5] + - !!python/tuple [4, 2] + - !!python/tuple [5, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex64.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex64.yaml new file mode 100644 index 0000000..6196989 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex64.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [7, 6] + name: agent0 + start: [1, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 5] + - !!python/tuple [7, 7] + - !!python/tuple [3, 1] + - !!python/tuple [5, 2] + - !!python/tuple [0, 2] + - !!python/tuple [2, 5] + - !!python/tuple [7, 5] + - !!python/tuple [2, 7] + - !!python/tuple [4, 6] + - !!python/tuple [4, 4] + - !!python/tuple [5, 7] + - !!python/tuple [1, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex65.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex65.yaml new file mode 100644 index 0000000..4825d19 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex65.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [6, 5] + name: agent0 + start: [7, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 3] + - !!python/tuple [5, 2] + - !!python/tuple [2, 2] + - !!python/tuple [0, 2] + - !!python/tuple [5, 3] + - !!python/tuple [4, 6] + - !!python/tuple [4, 0] + - !!python/tuple [6, 2] + - !!python/tuple [1, 1] + - !!python/tuple [0, 1] + - !!python/tuple [4, 4] + - !!python/tuple [6, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex66.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex66.yaml new file mode 100644 index 0000000..e3492d5 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex66.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [7, 1] + name: agent0 + start: [6, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 6] + - !!python/tuple [6, 1] + - !!python/tuple [3, 3] + - !!python/tuple [1, 7] + - !!python/tuple [7, 0] + - !!python/tuple [0, 7] + - !!python/tuple [1, 2] + - !!python/tuple [0, 5] + - !!python/tuple [1, 5] + - !!python/tuple [4, 0] + - !!python/tuple [6, 4] + - !!python/tuple [2, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex67.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex67.yaml new file mode 100644 index 0000000..0751f56 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex67.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [0, 1] + name: agent0 + start: [7, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 7] + - !!python/tuple [0, 6] + - !!python/tuple [7, 5] + - !!python/tuple [6, 6] + - !!python/tuple [3, 5] + - !!python/tuple [4, 4] + - !!python/tuple [2, 7] + - !!python/tuple [4, 1] + - !!python/tuple [6, 4] + - !!python/tuple [0, 2] + - !!python/tuple [5, 4] + - !!python/tuple [5, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex68.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex68.yaml new file mode 100644 index 0000000..1c50723 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex68.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [6, 5] + name: agent0 + start: [1, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 6] + - !!python/tuple [4, 7] + - !!python/tuple [3, 0] + - !!python/tuple [4, 3] + - !!python/tuple [5, 1] + - !!python/tuple [2, 3] + - !!python/tuple [5, 5] + - !!python/tuple [4, 6] + - !!python/tuple [4, 1] + - !!python/tuple [3, 6] + - !!python/tuple [3, 2] + - !!python/tuple [3, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex69.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex69.yaml new file mode 100644 index 0000000..ca41f2d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex69.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [0, 2] + name: agent0 + start: [3, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 5] + - !!python/tuple [5, 4] + - !!python/tuple [7, 5] + - !!python/tuple [7, 6] + - !!python/tuple [6, 6] + - !!python/tuple [0, 3] + - !!python/tuple [6, 4] + - !!python/tuple [3, 7] + - !!python/tuple [4, 2] + - !!python/tuple [2, 6] + - !!python/tuple [6, 0] + - !!python/tuple [2, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex7.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex7.yaml new file mode 100644 index 0000000..a86ab4c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex7.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [5, 6] + name: agent0 + start: [2, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 4] + - !!python/tuple [7, 3] + - !!python/tuple [4, 0] + - !!python/tuple [1, 5] + - !!python/tuple [3, 1] + - !!python/tuple [3, 0] + - !!python/tuple [0, 3] + - !!python/tuple [2, 2] + - !!python/tuple [3, 2] + - !!python/tuple [3, 3] + - !!python/tuple [6, 5] + - !!python/tuple [4, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex70.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex70.yaml new file mode 100644 index 0000000..1eb6b13 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex70.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [0, 0] + name: agent0 + start: [4, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 1] + - !!python/tuple [0, 7] + - !!python/tuple [5, 4] + - !!python/tuple [1, 2] + - !!python/tuple [7, 6] + - !!python/tuple [5, 7] + - !!python/tuple [0, 5] + - !!python/tuple [2, 3] + - !!python/tuple [6, 6] + - !!python/tuple [0, 2] + - !!python/tuple [4, 2] + - !!python/tuple [0, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex71.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex71.yaml new file mode 100644 index 0000000..d4a3233 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex71.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [2, 6] + name: agent0 + start: [4, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 2] + - !!python/tuple [4, 4] + - !!python/tuple [5, 4] + - !!python/tuple [0, 7] + - !!python/tuple [1, 7] + - !!python/tuple [4, 0] + - !!python/tuple [6, 3] + - !!python/tuple [2, 4] + - !!python/tuple [7, 1] + - !!python/tuple [6, 1] + - !!python/tuple [5, 7] + - !!python/tuple [3, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex72.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex72.yaml new file mode 100644 index 0000000..1dbf264 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex72.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [7, 7] + name: agent0 + start: [0, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 5] + - !!python/tuple [5, 6] + - !!python/tuple [2, 0] + - !!python/tuple [5, 3] + - !!python/tuple [7, 5] + - !!python/tuple [3, 4] + - !!python/tuple [7, 0] + - !!python/tuple [6, 4] + - !!python/tuple [6, 5] + - !!python/tuple [6, 3] + - !!python/tuple [3, 7] + - !!python/tuple [0, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex73.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex73.yaml new file mode 100644 index 0000000..6cf12f7 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex73.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [6, 6] + name: agent0 + start: [7, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 3] + - !!python/tuple [2, 6] + - !!python/tuple [3, 2] + - !!python/tuple [1, 3] + - !!python/tuple [0, 1] + - !!python/tuple [5, 5] + - !!python/tuple [3, 0] + - !!python/tuple [1, 5] + - !!python/tuple [7, 2] + - !!python/tuple [2, 3] + - !!python/tuple [4, 5] + - !!python/tuple [3, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex74.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex74.yaml new file mode 100644 index 0000000..afecdd7 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex74.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [6, 7] + name: agent0 + start: [1, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 1] + - !!python/tuple [5, 2] + - !!python/tuple [6, 6] + - !!python/tuple [7, 7] + - !!python/tuple [3, 7] + - !!python/tuple [3, 6] + - !!python/tuple [5, 5] + - !!python/tuple [1, 2] + - !!python/tuple [2, 1] + - !!python/tuple [5, 3] + - !!python/tuple [0, 4] + - !!python/tuple [0, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex75.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex75.yaml new file mode 100644 index 0000000..8f4d84b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex75.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [6, 6] + name: agent0 + start: [2, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 3] + - !!python/tuple [2, 1] + - !!python/tuple [7, 1] + - !!python/tuple [0, 1] + - !!python/tuple [0, 6] + - !!python/tuple [1, 5] + - !!python/tuple [4, 1] + - !!python/tuple [6, 4] + - !!python/tuple [7, 2] + - !!python/tuple [1, 3] + - !!python/tuple [6, 3] + - !!python/tuple [3, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex76.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex76.yaml new file mode 100644 index 0000000..43dabb6 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex76.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [2, 1] + name: agent0 + start: [6, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 1] + - !!python/tuple [1, 1] + - !!python/tuple [4, 4] + - !!python/tuple [3, 7] + - !!python/tuple [3, 4] + - !!python/tuple [4, 0] + - !!python/tuple [7, 0] + - !!python/tuple [4, 1] + - !!python/tuple [4, 3] + - !!python/tuple [5, 7] + - !!python/tuple [4, 2] + - !!python/tuple [5, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex77.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex77.yaml new file mode 100644 index 0000000..efaec36 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex77.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [4, 2] + name: agent0 + start: [6, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 5] + - !!python/tuple [5, 3] + - !!python/tuple [0, 6] + - !!python/tuple [1, 2] + - !!python/tuple [7, 3] + - !!python/tuple [4, 1] + - !!python/tuple [6, 5] + - !!python/tuple [1, 3] + - !!python/tuple [0, 0] + - !!python/tuple [2, 7] + - !!python/tuple [5, 7] + - !!python/tuple [4, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex78.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex78.yaml new file mode 100644 index 0000000..802a99e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex78.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [3, 3] + name: agent0 + start: [0, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 6] + - !!python/tuple [2, 3] + - !!python/tuple [4, 2] + - !!python/tuple [4, 4] + - !!python/tuple [5, 2] + - !!python/tuple [1, 3] + - !!python/tuple [5, 1] + - !!python/tuple [7, 4] + - !!python/tuple [5, 6] + - !!python/tuple [1, 4] + - !!python/tuple [1, 0] + - !!python/tuple [2, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex79.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex79.yaml new file mode 100644 index 0000000..0839f06 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex79.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [7, 4] + name: agent0 + start: [5, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 5] + - !!python/tuple [2, 6] + - !!python/tuple [7, 2] + - !!python/tuple [6, 7] + - !!python/tuple [7, 3] + - !!python/tuple [1, 2] + - !!python/tuple [7, 6] + - !!python/tuple [3, 5] + - !!python/tuple [3, 1] + - !!python/tuple [2, 3] + - !!python/tuple [4, 2] + - !!python/tuple [3, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex8.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex8.yaml new file mode 100644 index 0000000..3cc8325 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex8.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [2, 4] + name: agent0 + start: [6, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 7] + - !!python/tuple [0, 0] + - !!python/tuple [5, 7] + - !!python/tuple [5, 4] + - !!python/tuple [1, 1] + - !!python/tuple [2, 7] + - !!python/tuple [1, 7] + - !!python/tuple [6, 0] + - !!python/tuple [3, 0] + - !!python/tuple [7, 2] + - !!python/tuple [7, 5] + - !!python/tuple [5, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex80.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex80.yaml new file mode 100644 index 0000000..db85549 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex80.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [6, 0] + name: agent0 + start: [7, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 3] + - !!python/tuple [4, 6] + - !!python/tuple [7, 4] + - !!python/tuple [6, 5] + - !!python/tuple [3, 0] + - !!python/tuple [4, 3] + - !!python/tuple [5, 0] + - !!python/tuple [5, 6] + - !!python/tuple [5, 5] + - !!python/tuple [4, 2] + - !!python/tuple [2, 4] + - !!python/tuple [7, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex81.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex81.yaml new file mode 100644 index 0000000..f25aba8 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex81.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [4, 5] + name: agent0 + start: [2, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 2] + - !!python/tuple [1, 5] + - !!python/tuple [7, 1] + - !!python/tuple [7, 6] + - !!python/tuple [0, 6] + - !!python/tuple [4, 3] + - !!python/tuple [7, 0] + - !!python/tuple [6, 5] + - !!python/tuple [6, 2] + - !!python/tuple [6, 7] + - !!python/tuple [3, 4] + - !!python/tuple [4, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex82.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex82.yaml new file mode 100644 index 0000000..4a76229 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex82.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [0, 5] + name: agent0 + start: [1, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 4] + - !!python/tuple [6, 1] + - !!python/tuple [5, 3] + - !!python/tuple [3, 5] + - !!python/tuple [5, 2] + - !!python/tuple [6, 2] + - !!python/tuple [4, 1] + - !!python/tuple [4, 5] + - !!python/tuple [6, 3] + - !!python/tuple [7, 5] + - !!python/tuple [5, 6] + - !!python/tuple [3, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex83.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex83.yaml new file mode 100644 index 0000000..2c98047 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex83.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [0, 4] + name: agent0 + start: [1, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 7] + - !!python/tuple [4, 6] + - !!python/tuple [2, 1] + - !!python/tuple [3, 7] + - !!python/tuple [5, 0] + - !!python/tuple [4, 5] + - !!python/tuple [3, 1] + - !!python/tuple [7, 7] + - !!python/tuple [4, 1] + - !!python/tuple [2, 7] + - !!python/tuple [5, 3] + - !!python/tuple [5, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex84.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex84.yaml new file mode 100644 index 0000000..f552394 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex84.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [7, 2] + name: agent0 + start: [5, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 0] + - !!python/tuple [3, 2] + - !!python/tuple [7, 6] + - !!python/tuple [4, 2] + - !!python/tuple [7, 1] + - !!python/tuple [7, 3] + - !!python/tuple [4, 7] + - !!python/tuple [0, 0] + - !!python/tuple [5, 1] + - !!python/tuple [0, 3] + - !!python/tuple [1, 7] + - !!python/tuple [7, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex85.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex85.yaml new file mode 100644 index 0000000..f55f411 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex85.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [0, 3] + name: agent0 + start: [3, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 7] + - !!python/tuple [2, 7] + - !!python/tuple [3, 7] + - !!python/tuple [4, 3] + - !!python/tuple [3, 2] + - !!python/tuple [4, 6] + - !!python/tuple [4, 7] + - !!python/tuple [2, 2] + - !!python/tuple [0, 0] + - !!python/tuple [5, 5] + - !!python/tuple [3, 4] + - !!python/tuple [4, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex86.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex86.yaml new file mode 100644 index 0000000..f6d6f1c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex86.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [4, 3] + name: agent0 + start: [3, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 3] + - !!python/tuple [5, 6] + - !!python/tuple [7, 1] + - !!python/tuple [2, 7] + - !!python/tuple [2, 5] + - !!python/tuple [6, 6] + - !!python/tuple [5, 4] + - !!python/tuple [6, 0] + - !!python/tuple [1, 1] + - !!python/tuple [0, 4] + - !!python/tuple [3, 0] + - !!python/tuple [6, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex87.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex87.yaml new file mode 100644 index 0000000..a0391ec --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex87.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [1, 5] + name: agent0 + start: [6, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 1] + - !!python/tuple [3, 7] + - !!python/tuple [4, 4] + - !!python/tuple [1, 6] + - !!python/tuple [6, 1] + - !!python/tuple [2, 1] + - !!python/tuple [6, 6] + - !!python/tuple [3, 2] + - !!python/tuple [0, 4] + - !!python/tuple [5, 0] + - !!python/tuple [3, 4] + - !!python/tuple [3, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex88.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex88.yaml new file mode 100644 index 0000000..3a93881 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex88.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [5, 6] + name: agent0 + start: [0, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 7] + - !!python/tuple [7, 4] + - !!python/tuple [5, 7] + - !!python/tuple [0, 6] + - !!python/tuple [5, 1] + - !!python/tuple [6, 1] + - !!python/tuple [6, 2] + - !!python/tuple [7, 7] + - !!python/tuple [2, 4] + - !!python/tuple [2, 3] + - !!python/tuple [7, 6] + - !!python/tuple [4, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex89.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex89.yaml new file mode 100644 index 0000000..197e9ab --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex89.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [0, 5] + name: agent0 + start: [3, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 0] + - !!python/tuple [6, 6] + - !!python/tuple [2, 5] + - !!python/tuple [1, 6] + - !!python/tuple [1, 2] + - !!python/tuple [7, 2] + - !!python/tuple [1, 7] + - !!python/tuple [5, 2] + - !!python/tuple [5, 3] + - !!python/tuple [2, 7] + - !!python/tuple [6, 7] + - !!python/tuple [2, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex9.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex9.yaml new file mode 100644 index 0000000..c5b630b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex9.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [0, 6] + name: agent0 + start: [6, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 0] + - !!python/tuple [4, 2] + - !!python/tuple [3, 3] + - !!python/tuple [1, 3] + - !!python/tuple [7, 4] + - !!python/tuple [3, 5] + - !!python/tuple [5, 5] + - !!python/tuple [5, 4] + - !!python/tuple [1, 7] + - !!python/tuple [2, 1] + - !!python/tuple [6, 1] + - !!python/tuple [5, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex90.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex90.yaml new file mode 100644 index 0000000..9a677f1 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex90.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [3, 4] + name: agent0 + start: [4, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 6] + - !!python/tuple [2, 5] + - !!python/tuple [4, 7] + - !!python/tuple [5, 0] + - !!python/tuple [3, 6] + - !!python/tuple [3, 7] + - !!python/tuple [4, 4] + - !!python/tuple [5, 6] + - !!python/tuple [6, 7] + - !!python/tuple [0, 0] + - !!python/tuple [1, 5] + - !!python/tuple [7, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex91.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex91.yaml new file mode 100644 index 0000000..6eee911 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex91.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [7, 6] + name: agent0 + start: [7, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 3] + - !!python/tuple [0, 6] + - !!python/tuple [4, 6] + - !!python/tuple [1, 4] + - !!python/tuple [5, 0] + - !!python/tuple [5, 4] + - !!python/tuple [2, 7] + - !!python/tuple [5, 7] + - !!python/tuple [4, 0] + - !!python/tuple [2, 6] + - !!python/tuple [3, 5] + - !!python/tuple [7, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex92.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex92.yaml new file mode 100644 index 0000000..f56bb16 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex92.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [5, 6] + name: agent0 + start: [6, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 5] + - !!python/tuple [5, 1] + - !!python/tuple [3, 2] + - !!python/tuple [6, 7] + - !!python/tuple [6, 3] + - !!python/tuple [6, 0] + - !!python/tuple [0, 1] + - !!python/tuple [5, 3] + - !!python/tuple [0, 7] + - !!python/tuple [1, 2] + - !!python/tuple [4, 2] + - !!python/tuple [6, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex93.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex93.yaml new file mode 100644 index 0000000..0eb3c38 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex93.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [1, 2] + name: agent0 + start: [0, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 6] + - !!python/tuple [4, 2] + - !!python/tuple [2, 5] + - !!python/tuple [6, 2] + - !!python/tuple [3, 0] + - !!python/tuple [4, 0] + - !!python/tuple [0, 4] + - !!python/tuple [6, 1] + - !!python/tuple [0, 5] + - !!python/tuple [0, 3] + - !!python/tuple [1, 5] + - !!python/tuple [6, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex94.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex94.yaml new file mode 100644 index 0000000..e69ff67 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex94.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [1, 0] + name: agent0 + start: [5, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 1] + - !!python/tuple [6, 4] + - !!python/tuple [0, 7] + - !!python/tuple [0, 6] + - !!python/tuple [6, 2] + - !!python/tuple [2, 6] + - !!python/tuple [1, 2] + - !!python/tuple [4, 4] + - !!python/tuple [6, 3] + - !!python/tuple [6, 0] + - !!python/tuple [0, 2] + - !!python/tuple [5, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex95.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex95.yaml new file mode 100644 index 0000000..164fdbb --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex95.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [4, 1] + name: agent0 + start: [3, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 3] + - !!python/tuple [3, 3] + - !!python/tuple [4, 5] + - !!python/tuple [5, 7] + - !!python/tuple [3, 1] + - !!python/tuple [5, 0] + - !!python/tuple [1, 4] + - !!python/tuple [0, 0] + - !!python/tuple [3, 2] + - !!python/tuple [2, 1] + - !!python/tuple [3, 4] + - !!python/tuple [0, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex96.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex96.yaml new file mode 100644 index 0000000..b952e4f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex96.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [1, 4] + name: agent0 + start: [6, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 4] + - !!python/tuple [5, 2] + - !!python/tuple [2, 7] + - !!python/tuple [7, 7] + - !!python/tuple [1, 1] + - !!python/tuple [5, 4] + - !!python/tuple [7, 1] + - !!python/tuple [5, 5] + - !!python/tuple [3, 4] + - !!python/tuple [5, 7] + - !!python/tuple [6, 2] + - !!python/tuple [0, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex97.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex97.yaml new file mode 100644 index 0000000..3282f05 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex97.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [4, 7] + name: agent0 + start: [0, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 5] + - !!python/tuple [7, 6] + - !!python/tuple [0, 6] + - !!python/tuple [4, 4] + - !!python/tuple [5, 1] + - !!python/tuple [4, 0] + - !!python/tuple [3, 5] + - !!python/tuple [4, 5] + - !!python/tuple [1, 6] + - !!python/tuple [6, 7] + - !!python/tuple [6, 6] + - !!python/tuple [2, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex98.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex98.yaml new file mode 100644 index 0000000..d1b507c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex98.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [4, 7] + name: agent0 + start: [7, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 2] + - !!python/tuple [5, 2] + - !!python/tuple [2, 0] + - !!python/tuple [6, 1] + - !!python/tuple [0, 0] + - !!python/tuple [0, 3] + - !!python/tuple [3, 5] + - !!python/tuple [5, 6] + - !!python/tuple [2, 1] + - !!python/tuple [0, 5] + - !!python/tuple [1, 4] + - !!python/tuple [5, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex99.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex99.yaml new file mode 100644 index 0000000..8726cc5 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents1_ex99.yaml @@ -0,0 +1,19 @@ +agents: +- goal: [6, 4] + name: agent0 + start: [1, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 4] + - !!python/tuple [7, 4] + - !!python/tuple [7, 0] + - !!python/tuple [6, 7] + - !!python/tuple [5, 0] + - !!python/tuple [1, 5] + - !!python/tuple [2, 3] + - !!python/tuple [4, 1] + - !!python/tuple [5, 1] + - !!python/tuple [3, 5] + - !!python/tuple [0, 4] + - !!python/tuple [0, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex0.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex0.yaml new file mode 100644 index 0000000..f3ea98c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex0.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [6, 7] + name: agent0 + start: [0, 4] +- goal: [3, 7] + name: agent1 + start: [5, 7] +- goal: [4, 4] + name: agent2 + start: [7, 0] +- goal: [7, 1] + name: agent3 + start: [6, 1] +- goal: [6, 0] + name: agent4 + start: [0, 3] +- goal: [0, 6] + name: agent5 + start: [5, 3] +- goal: [1, 5] + name: agent6 + start: [4, 3] +- goal: [5, 5] + name: agent7 + start: [2, 4] +- goal: [6, 4] + name: agent8 + start: [0, 2] +- goal: [3, 1] + name: agent9 + start: [5, 1] +- goal: [5, 3] + name: agent10 + start: [6, 6] +- goal: [1, 3] + name: agent11 + start: [6, 2] +- goal: [4, 7] + name: agent12 + start: [7, 7] +- goal: [7, 3] + name: agent13 + start: [5, 0] +- goal: [0, 4] + name: agent14 + start: [4, 7] +- goal: [5, 4] + name: agent15 + start: [7, 1] +- goal: [1, 7] + name: agent16 + start: [1, 7] +- goal: [1, 4] + name: agent17 + start: [7, 3] +- goal: [7, 7] + name: agent18 + start: [2, 2] +- goal: [4, 2] + name: agent19 + start: [6, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 6] + - !!python/tuple [4, 1] + - !!python/tuple [6, 5] + - !!python/tuple [2, 0] + - !!python/tuple [1, 6] + - !!python/tuple [4, 6] + - !!python/tuple [0, 5] + - !!python/tuple [3, 3] + - !!python/tuple [7, 5] + - !!python/tuple [0, 1] + - !!python/tuple [1, 1] + - !!python/tuple [3, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex1.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex1.yaml new file mode 100644 index 0000000..99d966c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex1.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [4, 5] + name: agent0 + start: [5, 4] +- goal: [3, 4] + name: agent1 + start: [5, 7] +- goal: [3, 5] + name: agent2 + start: [0, 6] +- goal: [4, 2] + name: agent3 + start: [3, 6] +- goal: [2, 6] + name: agent4 + start: [2, 0] +- goal: [5, 6] + name: agent5 + start: [6, 2] +- goal: [7, 7] + name: agent6 + start: [3, 1] +- goal: [2, 0] + name: agent7 + start: [6, 7] +- goal: [6, 4] + name: agent8 + start: [5, 0] +- goal: [2, 1] + name: agent9 + start: [4, 5] +- goal: [1, 6] + name: agent10 + start: [2, 6] +- goal: [7, 2] + name: agent11 + start: [6, 5] +- goal: [1, 1] + name: agent12 + start: [3, 2] +- goal: [7, 5] + name: agent13 + start: [0, 4] +- goal: [7, 3] + name: agent14 + start: [4, 6] +- goal: [0, 7] + name: agent15 + start: [2, 4] +- goal: [0, 5] + name: agent16 + start: [6, 3] +- goal: [1, 5] + name: agent17 + start: [0, 2] +- goal: [5, 0] + name: agent18 + start: [1, 1] +- goal: [3, 1] + name: agent19 + start: [4, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 3] + - !!python/tuple [1, 3] + - !!python/tuple [3, 0] + - !!python/tuple [1, 2] + - !!python/tuple [5, 1] + - !!python/tuple [2, 2] + - !!python/tuple [4, 4] + - !!python/tuple [7, 0] + - !!python/tuple [1, 7] + - !!python/tuple [1, 4] + - !!python/tuple [2, 7] + - !!python/tuple [0, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex10.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex10.yaml new file mode 100644 index 0000000..47a0e77 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex10.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [2, 3] + name: agent0 + start: [5, 1] +- goal: [4, 6] + name: agent1 + start: [1, 6] +- goal: [4, 0] + name: agent2 + start: [5, 5] +- goal: [3, 7] + name: agent3 + start: [7, 2] +- goal: [1, 6] + name: agent4 + start: [2, 3] +- goal: [7, 5] + name: agent5 + start: [6, 2] +- goal: [6, 1] + name: agent6 + start: [1, 1] +- goal: [0, 7] + name: agent7 + start: [4, 0] +- goal: [1, 3] + name: agent8 + start: [7, 5] +- goal: [3, 6] + name: agent9 + start: [5, 4] +- goal: [3, 5] + name: agent10 + start: [2, 6] +- goal: [6, 3] + name: agent11 + start: [5, 0] +- goal: [4, 2] + name: agent12 + start: [1, 0] +- goal: [2, 6] + name: agent13 + start: [6, 5] +- goal: [7, 0] + name: agent14 + start: [4, 6] +- goal: [7, 6] + name: agent15 + start: [2, 4] +- goal: [2, 7] + name: agent16 + start: [7, 3] +- goal: [5, 5] + name: agent17 + start: [7, 6] +- goal: [2, 0] + name: agent18 + start: [2, 7] +- goal: [2, 2] + name: agent19 + start: [3, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 5] + - !!python/tuple [1, 4] + - !!python/tuple [6, 4] + - !!python/tuple [2, 5] + - !!python/tuple [4, 4] + - !!python/tuple [6, 6] + - !!python/tuple [6, 7] + - !!python/tuple [0, 5] + - !!python/tuple [5, 2] + - !!python/tuple [0, 3] + - !!python/tuple [3, 1] + - !!python/tuple [3, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex11.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex11.yaml new file mode 100644 index 0000000..9f0e708 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex11.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [0, 2] + name: agent0 + start: [7, 2] +- goal: [5, 2] + name: agent1 + start: [5, 7] +- goal: [5, 1] + name: agent2 + start: [0, 0] +- goal: [1, 4] + name: agent3 + start: [6, 3] +- goal: [3, 5] + name: agent4 + start: [4, 5] +- goal: [6, 4] + name: agent5 + start: [5, 2] +- goal: [0, 1] + name: agent6 + start: [0, 4] +- goal: [7, 2] + name: agent7 + start: [0, 6] +- goal: [4, 6] + name: agent8 + start: [1, 3] +- goal: [7, 6] + name: agent9 + start: [4, 6] +- goal: [7, 5] + name: agent10 + start: [0, 7] +- goal: [4, 3] + name: agent11 + start: [6, 6] +- goal: [5, 3] + name: agent12 + start: [7, 4] +- goal: [5, 7] + name: agent13 + start: [1, 5] +- goal: [4, 5] + name: agent14 + start: [6, 2] +- goal: [1, 0] + name: agent15 + start: [3, 4] +- goal: [1, 6] + name: agent16 + start: [5, 4] +- goal: [4, 7] + name: agent17 + start: [2, 1] +- goal: [0, 4] + name: agent18 + start: [2, 2] +- goal: [6, 1] + name: agent19 + start: [2, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 5] + - !!python/tuple [7, 0] + - !!python/tuple [4, 1] + - !!python/tuple [2, 0] + - !!python/tuple [1, 1] + - !!python/tuple [2, 6] + - !!python/tuple [3, 2] + - !!python/tuple [7, 7] + - !!python/tuple [2, 3] + - !!python/tuple [3, 3] + - !!python/tuple [4, 2] + - !!python/tuple [6, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex12.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex12.yaml new file mode 100644 index 0000000..8bf88e6 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex12.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [3, 5] + name: agent0 + start: [7, 2] +- goal: [5, 0] + name: agent1 + start: [5, 1] +- goal: [4, 3] + name: agent2 + start: [2, 0] +- goal: [3, 7] + name: agent3 + start: [7, 7] +- goal: [0, 4] + name: agent4 + start: [0, 4] +- goal: [4, 0] + name: agent5 + start: [6, 0] +- goal: [2, 6] + name: agent6 + start: [2, 7] +- goal: [2, 0] + name: agent7 + start: [4, 3] +- goal: [5, 2] + name: agent8 + start: [3, 5] +- goal: [3, 4] + name: agent9 + start: [2, 3] +- goal: [6, 1] + name: agent10 + start: [5, 5] +- goal: [1, 0] + name: agent11 + start: [0, 1] +- goal: [6, 5] + name: agent12 + start: [3, 1] +- goal: [4, 5] + name: agent13 + start: [4, 2] +- goal: [6, 3] + name: agent14 + start: [4, 4] +- goal: [5, 3] + name: agent15 + start: [6, 3] +- goal: [1, 6] + name: agent16 + start: [3, 6] +- goal: [7, 3] + name: agent17 + start: [5, 2] +- goal: [0, 3] + name: agent18 + start: [5, 0] +- goal: [0, 7] + name: agent19 + start: [5, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 4] + - !!python/tuple [6, 6] + - !!python/tuple [7, 0] + - !!python/tuple [1, 3] + - !!python/tuple [5, 6] + - !!python/tuple [0, 2] + - !!python/tuple [0, 0] + - !!python/tuple [7, 4] + - !!python/tuple [3, 2] + - !!python/tuple [1, 5] + - !!python/tuple [4, 6] + - !!python/tuple [7, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex13.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex13.yaml new file mode 100644 index 0000000..8f9c570 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex13.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [5, 3] + name: agent0 + start: [7, 5] +- goal: [7, 2] + name: agent1 + start: [4, 4] +- goal: [6, 7] + name: agent2 + start: [2, 2] +- goal: [1, 4] + name: agent3 + start: [4, 1] +- goal: [4, 7] + name: agent4 + start: [0, 2] +- goal: [2, 1] + name: agent5 + start: [3, 3] +- goal: [2, 3] + name: agent6 + start: [0, 5] +- goal: [1, 6] + name: agent7 + start: [4, 6] +- goal: [1, 1] + name: agent8 + start: [2, 6] +- goal: [3, 0] + name: agent9 + start: [0, 4] +- goal: [0, 4] + name: agent10 + start: [3, 4] +- goal: [2, 2] + name: agent11 + start: [6, 4] +- goal: [6, 6] + name: agent12 + start: [6, 0] +- goal: [2, 5] + name: agent13 + start: [5, 2] +- goal: [2, 6] + name: agent14 + start: [2, 5] +- goal: [6, 5] + name: agent15 + start: [4, 0] +- goal: [6, 4] + name: agent16 + start: [2, 3] +- goal: [5, 5] + name: agent17 + start: [7, 4] +- goal: [1, 3] + name: agent18 + start: [2, 4] +- goal: [4, 2] + name: agent19 + start: [6, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 6] + - !!python/tuple [2, 0] + - !!python/tuple [4, 3] + - !!python/tuple [1, 2] + - !!python/tuple [3, 7] + - !!python/tuple [0, 1] + - !!python/tuple [5, 1] + - !!python/tuple [3, 1] + - !!python/tuple [6, 1] + - !!python/tuple [6, 3] + - !!python/tuple [7, 1] + - !!python/tuple [7, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex14.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex14.yaml new file mode 100644 index 0000000..037e233 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex14.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [2, 1] + name: agent0 + start: [2, 0] +- goal: [3, 2] + name: agent1 + start: [0, 5] +- goal: [3, 3] + name: agent2 + start: [2, 7] +- goal: [4, 5] + name: agent3 + start: [5, 6] +- goal: [4, 4] + name: agent4 + start: [3, 3] +- goal: [4, 3] + name: agent5 + start: [0, 0] +- goal: [1, 1] + name: agent6 + start: [3, 4] +- goal: [6, 6] + name: agent7 + start: [6, 7] +- goal: [5, 6] + name: agent8 + start: [4, 0] +- goal: [7, 7] + name: agent9 + start: [6, 4] +- goal: [0, 0] + name: agent10 + start: [4, 4] +- goal: [6, 7] + name: agent11 + start: [6, 6] +- goal: [0, 4] + name: agent12 + start: [1, 4] +- goal: [3, 7] + name: agent13 + start: [4, 6] +- goal: [2, 6] + name: agent14 + start: [7, 4] +- goal: [3, 0] + name: agent15 + start: [4, 5] +- goal: [2, 0] + name: agent16 + start: [7, 2] +- goal: [2, 2] + name: agent17 + start: [2, 4] +- goal: [4, 1] + name: agent18 + start: [7, 6] +- goal: [3, 1] + name: agent19 + start: [2, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 1] + - !!python/tuple [5, 4] + - !!python/tuple [6, 5] + - !!python/tuple [6, 2] + - !!python/tuple [4, 2] + - !!python/tuple [1, 7] + - !!python/tuple [2, 5] + - !!python/tuple [2, 3] + - !!python/tuple [6, 0] + - !!python/tuple [0, 6] + - !!python/tuple [3, 6] + - !!python/tuple [5, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex15.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex15.yaml new file mode 100644 index 0000000..b230c30 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex15.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [7, 3] + name: agent0 + start: [7, 2] +- goal: [6, 1] + name: agent1 + start: [2, 1] +- goal: [2, 7] + name: agent2 + start: [3, 3] +- goal: [0, 5] + name: agent3 + start: [0, 7] +- goal: [4, 2] + name: agent4 + start: [0, 1] +- goal: [3, 0] + name: agent5 + start: [1, 7] +- goal: [1, 7] + name: agent6 + start: [1, 0] +- goal: [3, 7] + name: agent7 + start: [1, 1] +- goal: [0, 3] + name: agent8 + start: [5, 4] +- goal: [6, 2] + name: agent9 + start: [3, 6] +- goal: [6, 4] + name: agent10 + start: [2, 3] +- goal: [4, 3] + name: agent11 + start: [3, 5] +- goal: [5, 4] + name: agent12 + start: [0, 6] +- goal: [4, 0] + name: agent13 + start: [4, 2] +- goal: [2, 4] + name: agent14 + start: [5, 5] +- goal: [3, 3] + name: agent15 + start: [6, 3] +- goal: [6, 3] + name: agent16 + start: [3, 4] +- goal: [7, 4] + name: agent17 + start: [4, 3] +- goal: [1, 0] + name: agent18 + start: [4, 0] +- goal: [3, 4] + name: agent19 + start: [5, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 4] + - !!python/tuple [1, 2] + - !!python/tuple [2, 0] + - !!python/tuple [4, 1] + - !!python/tuple [7, 5] + - !!python/tuple [5, 7] + - !!python/tuple [1, 4] + - !!python/tuple [6, 0] + - !!python/tuple [4, 7] + - !!python/tuple [5, 3] + - !!python/tuple [6, 6] + - !!python/tuple [7, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex16.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex16.yaml new file mode 100644 index 0000000..5fdec0c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex16.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [4, 0] + name: agent0 + start: [2, 4] +- goal: [1, 1] + name: agent1 + start: [6, 3] +- goal: [1, 3] + name: agent2 + start: [3, 7] +- goal: [6, 2] + name: agent3 + start: [5, 2] +- goal: [7, 0] + name: agent4 + start: [4, 3] +- goal: [2, 3] + name: agent5 + start: [1, 3] +- goal: [7, 4] + name: agent6 + start: [1, 0] +- goal: [2, 0] + name: agent7 + start: [6, 4] +- goal: [4, 7] + name: agent8 + start: [6, 1] +- goal: [0, 3] + name: agent9 + start: [4, 2] +- goal: [1, 0] + name: agent10 + start: [1, 4] +- goal: [3, 1] + name: agent11 + start: [0, 5] +- goal: [6, 5] + name: agent12 + start: [0, 0] +- goal: [6, 7] + name: agent13 + start: [0, 1] +- goal: [7, 2] + name: agent14 + start: [4, 4] +- goal: [5, 0] + name: agent15 + start: [7, 4] +- goal: [2, 5] + name: agent16 + start: [7, 7] +- goal: [4, 6] + name: agent17 + start: [3, 2] +- goal: [5, 1] + name: agent18 + start: [0, 2] +- goal: [5, 5] + name: agent19 + start: [5, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 6] + - !!python/tuple [0, 7] + - !!python/tuple [5, 4] + - !!python/tuple [7, 1] + - !!python/tuple [7, 6] + - !!python/tuple [4, 5] + - !!python/tuple [3, 6] + - !!python/tuple [3, 4] + - !!python/tuple [1, 7] + - !!python/tuple [0, 4] + - !!python/tuple [3, 3] + - !!python/tuple [7, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex17.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex17.yaml new file mode 100644 index 0000000..1bf994b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex17.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [2, 2] + name: agent0 + start: [4, 6] +- goal: [0, 5] + name: agent1 + start: [7, 0] +- goal: [6, 0] + name: agent2 + start: [7, 5] +- goal: [1, 1] + name: agent3 + start: [0, 1] +- goal: [0, 3] + name: agent4 + start: [4, 2] +- goal: [4, 7] + name: agent5 + start: [5, 6] +- goal: [5, 3] + name: agent6 + start: [1, 6] +- goal: [5, 7] + name: agent7 + start: [1, 1] +- goal: [6, 1] + name: agent8 + start: [0, 4] +- goal: [2, 7] + name: agent9 + start: [3, 1] +- goal: [4, 2] + name: agent10 + start: [1, 2] +- goal: [3, 2] + name: agent11 + start: [1, 5] +- goal: [6, 6] + name: agent12 + start: [4, 0] +- goal: [3, 1] + name: agent13 + start: [6, 6] +- goal: [3, 5] + name: agent14 + start: [7, 1] +- goal: [2, 0] + name: agent15 + start: [2, 7] +- goal: [4, 4] + name: agent16 + start: [3, 0] +- goal: [4, 6] + name: agent17 + start: [7, 3] +- goal: [1, 7] + name: agent18 + start: [6, 3] +- goal: [6, 5] + name: agent19 + start: [2, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 4] + - !!python/tuple [5, 2] + - !!python/tuple [1, 3] + - !!python/tuple [7, 4] + - !!python/tuple [5, 1] + - !!python/tuple [3, 6] + - !!python/tuple [7, 7] + - !!python/tuple [0, 0] + - !!python/tuple [2, 6] + - !!python/tuple [3, 7] + - !!python/tuple [4, 5] + - !!python/tuple [1, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex18.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex18.yaml new file mode 100644 index 0000000..a817301 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex18.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [6, 0] + name: agent0 + start: [3, 5] +- goal: [6, 1] + name: agent1 + start: [0, 2] +- goal: [4, 6] + name: agent2 + start: [3, 0] +- goal: [3, 7] + name: agent3 + start: [3, 3] +- goal: [0, 1] + name: agent4 + start: [2, 4] +- goal: [2, 6] + name: agent5 + start: [0, 0] +- goal: [3, 1] + name: agent6 + start: [1, 0] +- goal: [2, 7] + name: agent7 + start: [7, 0] +- goal: [7, 0] + name: agent8 + start: [6, 1] +- goal: [7, 6] + name: agent9 + start: [5, 5] +- goal: [7, 7] + name: agent10 + start: [1, 3] +- goal: [1, 0] + name: agent11 + start: [0, 7] +- goal: [7, 4] + name: agent12 + start: [6, 4] +- goal: [4, 7] + name: agent13 + start: [2, 7] +- goal: [4, 4] + name: agent14 + start: [4, 2] +- goal: [7, 1] + name: agent15 + start: [7, 7] +- goal: [0, 2] + name: agent16 + start: [3, 6] +- goal: [2, 4] + name: agent17 + start: [4, 1] +- goal: [1, 7] + name: agent18 + start: [5, 1] +- goal: [4, 2] + name: agent19 + start: [6, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 2] + - !!python/tuple [6, 7] + - !!python/tuple [5, 6] + - !!python/tuple [0, 5] + - !!python/tuple [1, 2] + - !!python/tuple [1, 4] + - !!python/tuple [7, 5] + - !!python/tuple [5, 0] + - !!python/tuple [1, 5] + - !!python/tuple [2, 1] + - !!python/tuple [5, 4] + - !!python/tuple [1, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex19.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex19.yaml new file mode 100644 index 0000000..a22986f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex19.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [5, 3] + name: agent0 + start: [0, 3] +- goal: [6, 6] + name: agent1 + start: [4, 7] +- goal: [4, 1] + name: agent2 + start: [6, 2] +- goal: [6, 2] + name: agent3 + start: [5, 2] +- goal: [2, 1] + name: agent4 + start: [5, 1] +- goal: [3, 6] + name: agent5 + start: [0, 7] +- goal: [6, 0] + name: agent6 + start: [2, 1] +- goal: [7, 2] + name: agent7 + start: [1, 4] +- goal: [4, 0] + name: agent8 + start: [5, 7] +- goal: [0, 1] + name: agent9 + start: [2, 5] +- goal: [3, 0] + name: agent10 + start: [4, 4] +- goal: [4, 7] + name: agent11 + start: [1, 3] +- goal: [1, 5] + name: agent12 + start: [3, 0] +- goal: [3, 5] + name: agent13 + start: [1, 2] +- goal: [2, 5] + name: agent14 + start: [0, 4] +- goal: [7, 5] + name: agent15 + start: [1, 6] +- goal: [3, 3] + name: agent16 + start: [5, 3] +- goal: [5, 4] + name: agent17 + start: [5, 4] +- goal: [1, 6] + name: agent18 + start: [0, 0] +- goal: [0, 3] + name: agent19 + start: [7, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 0] + - !!python/tuple [7, 0] + - !!python/tuple [7, 6] + - !!python/tuple [7, 3] + - !!python/tuple [0, 6] + - !!python/tuple [4, 6] + - !!python/tuple [3, 7] + - !!python/tuple [0, 2] + - !!python/tuple [3, 1] + - !!python/tuple [4, 3] + - !!python/tuple [0, 5] + - !!python/tuple [4, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex2.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex2.yaml new file mode 100644 index 0000000..94d5335 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex2.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [6, 4] + name: agent0 + start: [3, 0] +- goal: [3, 0] + name: agent1 + start: [5, 2] +- goal: [1, 1] + name: agent2 + start: [4, 7] +- goal: [4, 0] + name: agent3 + start: [5, 1] +- goal: [0, 4] + name: agent4 + start: [2, 2] +- goal: [6, 1] + name: agent5 + start: [6, 4] +- goal: [3, 3] + name: agent6 + start: [1, 2] +- goal: [2, 2] + name: agent7 + start: [1, 1] +- goal: [7, 3] + name: agent8 + start: [7, 0] +- goal: [6, 2] + name: agent9 + start: [0, 7] +- goal: [2, 1] + name: agent10 + start: [6, 5] +- goal: [1, 0] + name: agent11 + start: [7, 2] +- goal: [1, 5] + name: agent12 + start: [7, 6] +- goal: [3, 7] + name: agent13 + start: [3, 1] +- goal: [2, 4] + name: agent14 + start: [3, 4] +- goal: [1, 7] + name: agent15 + start: [6, 1] +- goal: [5, 2] + name: agent16 + start: [2, 1] +- goal: [1, 2] + name: agent17 + start: [1, 0] +- goal: [0, 7] + name: agent18 + start: [6, 2] +- goal: [1, 3] + name: agent19 + start: [1, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 0] + - !!python/tuple [7, 4] + - !!python/tuple [5, 6] + - !!python/tuple [3, 2] + - !!python/tuple [4, 5] + - !!python/tuple [4, 4] + - !!python/tuple [6, 7] + - !!python/tuple [1, 6] + - !!python/tuple [3, 6] + - !!python/tuple [7, 7] + - !!python/tuple [2, 3] + - !!python/tuple [6, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex20.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex20.yaml new file mode 100644 index 0000000..1bbd705 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex20.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [6, 5] + name: agent0 + start: [5, 2] +- goal: [5, 7] + name: agent1 + start: [3, 5] +- goal: [0, 1] + name: agent2 + start: [4, 2] +- goal: [5, 4] + name: agent3 + start: [5, 6] +- goal: [6, 4] + name: agent4 + start: [6, 0] +- goal: [7, 0] + name: agent5 + start: [6, 5] +- goal: [0, 2] + name: agent6 + start: [2, 0] +- goal: [6, 2] + name: agent7 + start: [7, 3] +- goal: [7, 7] + name: agent8 + start: [5, 3] +- goal: [4, 6] + name: agent9 + start: [7, 1] +- goal: [6, 0] + name: agent10 + start: [4, 4] +- goal: [7, 6] + name: agent11 + start: [3, 4] +- goal: [4, 1] + name: agent12 + start: [4, 1] +- goal: [6, 6] + name: agent13 + start: [1, 2] +- goal: [5, 1] + name: agent14 + start: [5, 4] +- goal: [3, 2] + name: agent15 + start: [1, 6] +- goal: [2, 5] + name: agent16 + start: [2, 2] +- goal: [5, 5] + name: agent17 + start: [2, 4] +- goal: [5, 6] + name: agent18 + start: [0, 7] +- goal: [4, 7] + name: agent19 + start: [6, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 6] + - !!python/tuple [4, 5] + - !!python/tuple [7, 5] + - !!python/tuple [3, 0] + - !!python/tuple [3, 3] + - !!python/tuple [3, 6] + - !!python/tuple [0, 4] + - !!python/tuple [2, 3] + - !!python/tuple [4, 0] + - !!python/tuple [1, 0] + - !!python/tuple [1, 3] + - !!python/tuple [0, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex21.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex21.yaml new file mode 100644 index 0000000..3347b26 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex21.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [3, 5] + name: agent0 + start: [1, 6] +- goal: [1, 5] + name: agent1 + start: [1, 5] +- goal: [1, 0] + name: agent2 + start: [5, 5] +- goal: [6, 2] + name: agent3 + start: [1, 2] +- goal: [1, 4] + name: agent4 + start: [4, 4] +- goal: [2, 2] + name: agent5 + start: [5, 4] +- goal: [5, 4] + name: agent6 + start: [1, 0] +- goal: [2, 6] + name: agent7 + start: [4, 2] +- goal: [1, 2] + name: agent8 + start: [5, 0] +- goal: [5, 3] + name: agent9 + start: [6, 6] +- goal: [7, 2] + name: agent10 + start: [3, 3] +- goal: [7, 7] + name: agent11 + start: [6, 5] +- goal: [3, 2] + name: agent12 + start: [3, 7] +- goal: [4, 4] + name: agent13 + start: [1, 3] +- goal: [0, 7] + name: agent14 + start: [7, 5] +- goal: [1, 1] + name: agent15 + start: [3, 5] +- goal: [0, 1] + name: agent16 + start: [7, 7] +- goal: [3, 3] + name: agent17 + start: [2, 6] +- goal: [3, 7] + name: agent18 + start: [3, 6] +- goal: [3, 1] + name: agent19 + start: [2, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 3] + - !!python/tuple [7, 4] + - !!python/tuple [6, 7] + - !!python/tuple [6, 0] + - !!python/tuple [5, 1] + - !!python/tuple [0, 3] + - !!python/tuple [4, 6] + - !!python/tuple [2, 5] + - !!python/tuple [6, 4] + - !!python/tuple [1, 7] + - !!python/tuple [5, 7] + - !!python/tuple [6, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex22.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex22.yaml new file mode 100644 index 0000000..fc26614 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex22.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [6, 4] + name: agent0 + start: [3, 6] +- goal: [4, 5] + name: agent1 + start: [3, 4] +- goal: [5, 1] + name: agent2 + start: [1, 2] +- goal: [2, 4] + name: agent3 + start: [7, 5] +- goal: [1, 1] + name: agent4 + start: [4, 0] +- goal: [3, 6] + name: agent5 + start: [0, 5] +- goal: [0, 4] + name: agent6 + start: [5, 1] +- goal: [4, 3] + name: agent7 + start: [0, 0] +- goal: [7, 0] + name: agent8 + start: [5, 0] +- goal: [4, 1] + name: agent9 + start: [6, 7] +- goal: [2, 2] + name: agent10 + start: [4, 6] +- goal: [1, 6] + name: agent11 + start: [1, 4] +- goal: [7, 3] + name: agent12 + start: [2, 7] +- goal: [0, 2] + name: agent13 + start: [3, 7] +- goal: [5, 3] + name: agent14 + start: [7, 2] +- goal: [3, 7] + name: agent15 + start: [2, 6] +- goal: [7, 2] + name: agent16 + start: [0, 6] +- goal: [0, 5] + name: agent17 + start: [3, 1] +- goal: [2, 3] + name: agent18 + start: [4, 5] +- goal: [6, 5] + name: agent19 + start: [2, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 0] + - !!python/tuple [5, 7] + - !!python/tuple [5, 6] + - !!python/tuple [3, 2] + - !!python/tuple [2, 5] + - !!python/tuple [5, 4] + - !!python/tuple [3, 5] + - !!python/tuple [1, 5] + - !!python/tuple [1, 7] + - !!python/tuple [4, 2] + - !!python/tuple [1, 0] + - !!python/tuple [7, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex23.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex23.yaml new file mode 100644 index 0000000..57a76c1 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex23.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [5, 6] + name: agent0 + start: [4, 2] +- goal: [7, 7] + name: agent1 + start: [2, 1] +- goal: [7, 3] + name: agent2 + start: [6, 2] +- goal: [6, 2] + name: agent3 + start: [2, 7] +- goal: [4, 4] + name: agent4 + start: [6, 7] +- goal: [6, 3] + name: agent5 + start: [3, 6] +- goal: [1, 1] + name: agent6 + start: [6, 3] +- goal: [4, 3] + name: agent7 + start: [7, 1] +- goal: [0, 2] + name: agent8 + start: [3, 3] +- goal: [4, 7] + name: agent9 + start: [5, 4] +- goal: [4, 6] + name: agent10 + start: [3, 0] +- goal: [2, 5] + name: agent11 + start: [6, 5] +- goal: [7, 1] + name: agent12 + start: [5, 5] +- goal: [7, 6] + name: agent13 + start: [5, 1] +- goal: [5, 5] + name: agent14 + start: [7, 7] +- goal: [2, 1] + name: agent15 + start: [3, 2] +- goal: [7, 5] + name: agent16 + start: [3, 4] +- goal: [0, 0] + name: agent17 + start: [2, 5] +- goal: [3, 0] + name: agent18 + start: [4, 4] +- goal: [5, 7] + name: agent19 + start: [4, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 4] + - !!python/tuple [0, 4] + - !!python/tuple [1, 5] + - !!python/tuple [2, 6] + - !!python/tuple [7, 2] + - !!python/tuple [1, 7] + - !!python/tuple [5, 2] + - !!python/tuple [1, 2] + - !!python/tuple [1, 0] + - !!python/tuple [7, 0] + - !!python/tuple [1, 4] + - !!python/tuple [6, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex24.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex24.yaml new file mode 100644 index 0000000..2d626e5 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex24.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [3, 5] + name: agent0 + start: [3, 6] +- goal: [3, 2] + name: agent1 + start: [3, 0] +- goal: [4, 3] + name: agent2 + start: [6, 1] +- goal: [7, 7] + name: agent3 + start: [2, 3] +- goal: [1, 3] + name: agent4 + start: [6, 4] +- goal: [7, 3] + name: agent5 + start: [1, 3] +- goal: [7, 4] + name: agent6 + start: [0, 3] +- goal: [4, 5] + name: agent7 + start: [2, 6] +- goal: [2, 2] + name: agent8 + start: [3, 5] +- goal: [3, 7] + name: agent9 + start: [0, 6] +- goal: [7, 5] + name: agent10 + start: [3, 1] +- goal: [0, 2] + name: agent11 + start: [0, 0] +- goal: [0, 0] + name: agent12 + start: [2, 4] +- goal: [6, 2] + name: agent13 + start: [1, 2] +- goal: [4, 7] + name: agent14 + start: [2, 2] +- goal: [1, 0] + name: agent15 + start: [7, 3] +- goal: [2, 0] + name: agent16 + start: [7, 5] +- goal: [4, 2] + name: agent17 + start: [7, 7] +- goal: [1, 7] + name: agent18 + start: [7, 0] +- goal: [3, 6] + name: agent19 + start: [4, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 5] + - !!python/tuple [5, 7] + - !!python/tuple [1, 1] + - !!python/tuple [7, 1] + - !!python/tuple [6, 3] + - !!python/tuple [2, 1] + - !!python/tuple [4, 6] + - !!python/tuple [5, 3] + - !!python/tuple [5, 5] + - !!python/tuple [5, 2] + - !!python/tuple [3, 3] + - !!python/tuple [6, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex25.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex25.yaml new file mode 100644 index 0000000..37d89ca --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex25.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [3, 5] + name: agent0 + start: [2, 3] +- goal: [2, 6] + name: agent1 + start: [7, 5] +- goal: [0, 1] + name: agent2 + start: [1, 2] +- goal: [3, 2] + name: agent3 + start: [1, 3] +- goal: [0, 5] + name: agent4 + start: [1, 6] +- goal: [2, 1] + name: agent5 + start: [6, 2] +- goal: [4, 5] + name: agent6 + start: [6, 0] +- goal: [0, 7] + name: agent7 + start: [0, 3] +- goal: [2, 7] + name: agent8 + start: [6, 4] +- goal: [1, 3] + name: agent9 + start: [5, 1] +- goal: [6, 7] + name: agent10 + start: [7, 1] +- goal: [3, 6] + name: agent11 + start: [0, 0] +- goal: [1, 6] + name: agent12 + start: [6, 3] +- goal: [6, 5] + name: agent13 + start: [4, 3] +- goal: [7, 2] + name: agent14 + start: [4, 2] +- goal: [2, 5] + name: agent15 + start: [3, 6] +- goal: [3, 1] + name: agent16 + start: [3, 2] +- goal: [0, 3] + name: agent17 + start: [2, 5] +- goal: [2, 2] + name: agent18 + start: [5, 7] +- goal: [0, 4] + name: agent19 + start: [3, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 7] + - !!python/tuple [0, 6] + - !!python/tuple [3, 3] + - !!python/tuple [5, 5] + - !!python/tuple [2, 0] + - !!python/tuple [4, 0] + - !!python/tuple [2, 4] + - !!python/tuple [6, 1] + - !!python/tuple [1, 0] + - !!python/tuple [4, 1] + - !!python/tuple [1, 1] + - !!python/tuple [7, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex26.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex26.yaml new file mode 100644 index 0000000..a6647d5 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex26.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [4, 6] + name: agent0 + start: [6, 6] +- goal: [6, 5] + name: agent1 + start: [3, 7] +- goal: [1, 7] + name: agent2 + start: [5, 4] +- goal: [0, 3] + name: agent3 + start: [0, 6] +- goal: [0, 6] + name: agent4 + start: [2, 0] +- goal: [0, 4] + name: agent5 + start: [0, 2] +- goal: [5, 1] + name: agent6 + start: [6, 2] +- goal: [2, 4] + name: agent7 + start: [7, 7] +- goal: [7, 4] + name: agent8 + start: [4, 4] +- goal: [2, 2] + name: agent9 + start: [6, 1] +- goal: [1, 4] + name: agent10 + start: [6, 0] +- goal: [2, 7] + name: agent11 + start: [1, 6] +- goal: [2, 6] + name: agent12 + start: [3, 3] +- goal: [3, 1] + name: agent13 + start: [1, 1] +- goal: [3, 0] + name: agent14 + start: [2, 1] +- goal: [6, 2] + name: agent15 + start: [7, 0] +- goal: [4, 1] + name: agent16 + start: [0, 5] +- goal: [2, 3] + name: agent17 + start: [0, 7] +- goal: [3, 3] + name: agent18 + start: [5, 5] +- goal: [1, 5] + name: agent19 + start: [1, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 3] + - !!python/tuple [1, 2] + - !!python/tuple [6, 4] + - !!python/tuple [4, 5] + - !!python/tuple [7, 2] + - !!python/tuple [5, 0] + - !!python/tuple [4, 3] + - !!python/tuple [0, 0] + - !!python/tuple [7, 1] + - !!python/tuple [5, 7] + - !!python/tuple [4, 2] + - !!python/tuple [3, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex27.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex27.yaml new file mode 100644 index 0000000..80db34c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex27.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [1, 3] + name: agent0 + start: [3, 5] +- goal: [4, 5] + name: agent1 + start: [4, 7] +- goal: [6, 0] + name: agent2 + start: [1, 5] +- goal: [7, 6] + name: agent3 + start: [7, 6] +- goal: [2, 2] + name: agent4 + start: [3, 0] +- goal: [6, 5] + name: agent5 + start: [5, 7] +- goal: [3, 1] + name: agent6 + start: [0, 3] +- goal: [5, 6] + name: agent7 + start: [4, 0] +- goal: [6, 7] + name: agent8 + start: [0, 4] +- goal: [6, 3] + name: agent9 + start: [0, 7] +- goal: [1, 1] + name: agent10 + start: [6, 1] +- goal: [0, 0] + name: agent11 + start: [3, 1] +- goal: [5, 1] + name: agent12 + start: [5, 5] +- goal: [4, 0] + name: agent13 + start: [0, 6] +- goal: [3, 3] + name: agent14 + start: [1, 2] +- goal: [0, 2] + name: agent15 + start: [1, 0] +- goal: [7, 5] + name: agent16 + start: [2, 5] +- goal: [4, 6] + name: agent17 + start: [6, 7] +- goal: [0, 7] + name: agent18 + start: [4, 1] +- goal: [3, 2] + name: agent19 + start: [5, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 7] + - !!python/tuple [3, 7] + - !!python/tuple [7, 3] + - !!python/tuple [7, 7] + - !!python/tuple [0, 5] + - !!python/tuple [1, 4] + - !!python/tuple [2, 1] + - !!python/tuple [7, 4] + - !!python/tuple [6, 2] + - !!python/tuple [2, 6] + - !!python/tuple [7, 0] + - !!python/tuple [5, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex28.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex28.yaml new file mode 100644 index 0000000..f78147a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex28.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [2, 1] + name: agent0 + start: [2, 2] +- goal: [0, 1] + name: agent1 + start: [7, 6] +- goal: [5, 0] + name: agent2 + start: [3, 4] +- goal: [4, 2] + name: agent3 + start: [0, 4] +- goal: [2, 7] + name: agent4 + start: [4, 3] +- goal: [7, 2] + name: agent5 + start: [1, 0] +- goal: [2, 3] + name: agent6 + start: [7, 1] +- goal: [2, 2] + name: agent7 + start: [5, 3] +- goal: [0, 6] + name: agent8 + start: [1, 3] +- goal: [2, 0] + name: agent9 + start: [7, 5] +- goal: [4, 5] + name: agent10 + start: [7, 3] +- goal: [1, 2] + name: agent11 + start: [1, 2] +- goal: [3, 5] + name: agent12 + start: [7, 2] +- goal: [1, 7] + name: agent13 + start: [6, 0] +- goal: [1, 3] + name: agent14 + start: [4, 0] +- goal: [3, 0] + name: agent15 + start: [0, 6] +- goal: [4, 4] + name: agent16 + start: [4, 5] +- goal: [4, 1] + name: agent17 + start: [2, 6] +- goal: [6, 0] + name: agent18 + start: [2, 1] +- goal: [7, 1] + name: agent19 + start: [4, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 1] + - !!python/tuple [4, 7] + - !!python/tuple [6, 3] + - !!python/tuple [6, 5] + - !!python/tuple [5, 7] + - !!python/tuple [6, 2] + - !!python/tuple [4, 6] + - !!python/tuple [5, 5] + - !!python/tuple [0, 3] + - !!python/tuple [1, 5] + - !!python/tuple [6, 6] + - !!python/tuple [3, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex29.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex29.yaml new file mode 100644 index 0000000..499205a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex29.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [2, 7] + name: agent0 + start: [5, 0] +- goal: [6, 1] + name: agent1 + start: [5, 6] +- goal: [0, 4] + name: agent2 + start: [7, 7] +- goal: [4, 0] + name: agent3 + start: [7, 6] +- goal: [5, 3] + name: agent4 + start: [3, 3] +- goal: [3, 5] + name: agent5 + start: [5, 1] +- goal: [3, 4] + name: agent6 + start: [3, 2] +- goal: [4, 6] + name: agent7 + start: [6, 5] +- goal: [5, 2] + name: agent8 + start: [7, 4] +- goal: [1, 2] + name: agent9 + start: [6, 7] +- goal: [1, 6] + name: agent10 + start: [5, 5] +- goal: [1, 5] + name: agent11 + start: [0, 6] +- goal: [2, 5] + name: agent12 + start: [7, 5] +- goal: [3, 3] + name: agent13 + start: [4, 0] +- goal: [6, 2] + name: agent14 + start: [6, 2] +- goal: [3, 2] + name: agent15 + start: [1, 6] +- goal: [1, 1] + name: agent16 + start: [2, 4] +- goal: [1, 7] + name: agent17 + start: [1, 3] +- goal: [7, 3] + name: agent18 + start: [1, 2] +- goal: [5, 4] + name: agent19 + start: [6, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 0] + - !!python/tuple [2, 3] + - !!python/tuple [4, 3] + - !!python/tuple [2, 0] + - !!python/tuple [3, 0] + - !!python/tuple [4, 1] + - !!python/tuple [3, 6] + - !!python/tuple [7, 0] + - !!python/tuple [0, 3] + - !!python/tuple [4, 2] + - !!python/tuple [7, 2] + - !!python/tuple [6, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex3.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex3.yaml new file mode 100644 index 0000000..671d998 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex3.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [5, 5] + name: agent0 + start: [6, 1] +- goal: [0, 6] + name: agent1 + start: [1, 2] +- goal: [6, 1] + name: agent2 + start: [4, 7] +- goal: [2, 5] + name: agent3 + start: [0, 0] +- goal: [5, 4] + name: agent4 + start: [3, 4] +- goal: [4, 6] + name: agent5 + start: [3, 1] +- goal: [7, 3] + name: agent6 + start: [0, 6] +- goal: [0, 0] + name: agent7 + start: [4, 6] +- goal: [5, 7] + name: agent8 + start: [5, 1] +- goal: [2, 4] + name: agent9 + start: [2, 7] +- goal: [2, 2] + name: agent10 + start: [6, 0] +- goal: [6, 2] + name: agent11 + start: [5, 3] +- goal: [3, 1] + name: agent12 + start: [0, 7] +- goal: [0, 7] + name: agent13 + start: [1, 4] +- goal: [1, 2] + name: agent14 + start: [2, 5] +- goal: [1, 4] + name: agent15 + start: [2, 2] +- goal: [0, 5] + name: agent16 + start: [5, 6] +- goal: [7, 2] + name: agent17 + start: [3, 0] +- goal: [4, 5] + name: agent18 + start: [4, 5] +- goal: [4, 7] + name: agent19 + start: [1, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 4] + - !!python/tuple [2, 3] + - !!python/tuple [1, 0] + - !!python/tuple [0, 4] + - !!python/tuple [1, 5] + - !!python/tuple [2, 6] + - !!python/tuple [6, 3] + - !!python/tuple [4, 3] + - !!python/tuple [1, 6] + - !!python/tuple [2, 0] + - !!python/tuple [3, 6] + - !!python/tuple [5, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex30.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex30.yaml new file mode 100644 index 0000000..b61db4d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex30.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [3, 6] + name: agent0 + start: [3, 3] +- goal: [1, 2] + name: agent1 + start: [6, 0] +- goal: [7, 0] + name: agent2 + start: [5, 1] +- goal: [7, 1] + name: agent3 + start: [4, 1] +- goal: [4, 1] + name: agent4 + start: [3, 1] +- goal: [1, 7] + name: agent5 + start: [4, 0] +- goal: [5, 2] + name: agent6 + start: [6, 2] +- goal: [0, 3] + name: agent7 + start: [2, 7] +- goal: [4, 0] + name: agent8 + start: [5, 2] +- goal: [1, 3] + name: agent9 + start: [3, 4] +- goal: [4, 7] + name: agent10 + start: [6, 4] +- goal: [6, 6] + name: agent11 + start: [3, 6] +- goal: [3, 4] + name: agent12 + start: [6, 5] +- goal: [2, 1] + name: agent13 + start: [1, 0] +- goal: [6, 7] + name: agent14 + start: [7, 1] +- goal: [0, 5] + name: agent15 + start: [0, 5] +- goal: [3, 3] + name: agent16 + start: [6, 6] +- goal: [4, 4] + name: agent17 + start: [2, 3] +- goal: [5, 1] + name: agent18 + start: [1, 2] +- goal: [5, 7] + name: agent19 + start: [6, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 5] + - !!python/tuple [7, 5] + - !!python/tuple [2, 2] + - !!python/tuple [3, 5] + - !!python/tuple [7, 7] + - !!python/tuple [5, 6] + - !!python/tuple [3, 0] + - !!python/tuple [0, 6] + - !!python/tuple [3, 7] + - !!python/tuple [4, 2] + - !!python/tuple [0, 1] + - !!python/tuple [3, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex31.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex31.yaml new file mode 100644 index 0000000..1395a71 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex31.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [2, 6] + name: agent0 + start: [0, 5] +- goal: [7, 7] + name: agent1 + start: [6, 0] +- goal: [3, 4] + name: agent2 + start: [3, 1] +- goal: [7, 5] + name: agent3 + start: [4, 7] +- goal: [1, 5] + name: agent4 + start: [2, 2] +- goal: [6, 6] + name: agent5 + start: [4, 5] +- goal: [3, 2] + name: agent6 + start: [4, 4] +- goal: [1, 3] + name: agent7 + start: [0, 4] +- goal: [0, 5] + name: agent8 + start: [1, 4] +- goal: [1, 7] + name: agent9 + start: [6, 1] +- goal: [6, 1] + name: agent10 + start: [2, 3] +- goal: [2, 5] + name: agent11 + start: [1, 7] +- goal: [2, 4] + name: agent12 + start: [3, 5] +- goal: [2, 1] + name: agent13 + start: [1, 2] +- goal: [4, 0] + name: agent14 + start: [7, 0] +- goal: [2, 3] + name: agent15 + start: [3, 0] +- goal: [7, 4] + name: agent16 + start: [1, 3] +- goal: [0, 3] + name: agent17 + start: [5, 3] +- goal: [6, 0] + name: agent18 + start: [7, 4] +- goal: [3, 5] + name: agent19 + start: [1, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 1] + - !!python/tuple [5, 6] + - !!python/tuple [0, 6] + - !!python/tuple [3, 3] + - !!python/tuple [7, 2] + - !!python/tuple [0, 1] + - !!python/tuple [2, 7] + - !!python/tuple [0, 7] + - !!python/tuple [5, 7] + - !!python/tuple [5, 0] + - !!python/tuple [5, 2] + - !!python/tuple [7, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex32.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex32.yaml new file mode 100644 index 0000000..028eed8 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex32.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [5, 3] + name: agent0 + start: [4, 6] +- goal: [0, 6] + name: agent1 + start: [6, 7] +- goal: [1, 6] + name: agent2 + start: [0, 1] +- goal: [6, 2] + name: agent3 + start: [2, 3] +- goal: [1, 0] + name: agent4 + start: [0, 4] +- goal: [2, 7] + name: agent5 + start: [0, 6] +- goal: [5, 0] + name: agent6 + start: [3, 4] +- goal: [6, 5] + name: agent7 + start: [1, 5] +- goal: [5, 2] + name: agent8 + start: [6, 4] +- goal: [1, 4] + name: agent9 + start: [5, 5] +- goal: [4, 0] + name: agent10 + start: [6, 3] +- goal: [7, 6] + name: agent11 + start: [2, 1] +- goal: [2, 4] + name: agent12 + start: [1, 1] +- goal: [5, 1] + name: agent13 + start: [3, 7] +- goal: [2, 0] + name: agent14 + start: [1, 4] +- goal: [2, 1] + name: agent15 + start: [2, 6] +- goal: [4, 2] + name: agent16 + start: [3, 6] +- goal: [2, 3] + name: agent17 + start: [4, 4] +- goal: [3, 2] + name: agent18 + start: [6, 6] +- goal: [7, 0] + name: agent19 + start: [3, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 5] + - !!python/tuple [4, 7] + - !!python/tuple [0, 7] + - !!python/tuple [0, 3] + - !!python/tuple [5, 4] + - !!python/tuple [7, 3] + - !!python/tuple [0, 2] + - !!python/tuple [6, 1] + - !!python/tuple [6, 0] + - !!python/tuple [7, 4] + - !!python/tuple [3, 1] + - !!python/tuple [4, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex33.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex33.yaml new file mode 100644 index 0000000..3bc98bd --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex33.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [3, 6] + name: agent0 + start: [0, 3] +- goal: [7, 4] + name: agent1 + start: [1, 1] +- goal: [4, 5] + name: agent2 + start: [5, 1] +- goal: [2, 5] + name: agent3 + start: [6, 7] +- goal: [6, 3] + name: agent4 + start: [5, 0] +- goal: [1, 6] + name: agent5 + start: [5, 6] +- goal: [5, 2] + name: agent6 + start: [4, 6] +- goal: [2, 0] + name: agent7 + start: [3, 6] +- goal: [4, 2] + name: agent8 + start: [2, 5] +- goal: [7, 7] + name: agent9 + start: [3, 4] +- goal: [7, 5] + name: agent10 + start: [2, 2] +- goal: [6, 2] + name: agent11 + start: [2, 7] +- goal: [1, 4] + name: agent12 + start: [2, 3] +- goal: [3, 4] + name: agent13 + start: [4, 4] +- goal: [6, 7] + name: agent14 + start: [6, 1] +- goal: [3, 2] + name: agent15 + start: [7, 1] +- goal: [7, 0] + name: agent16 + start: [6, 3] +- goal: [7, 2] + name: agent17 + start: [0, 1] +- goal: [2, 7] + name: agent18 + start: [1, 4] +- goal: [3, 0] + name: agent19 + start: [7, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 0] + - !!python/tuple [4, 1] + - !!python/tuple [0, 2] + - !!python/tuple [4, 3] + - !!python/tuple [5, 4] + - !!python/tuple [0, 5] + - !!python/tuple [3, 1] + - !!python/tuple [6, 5] + - !!python/tuple [4, 7] + - !!python/tuple [2, 6] + - !!python/tuple [5, 5] + - !!python/tuple [1, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex34.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex34.yaml new file mode 100644 index 0000000..b4112cc --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex34.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [3, 6] + name: agent0 + start: [5, 6] +- goal: [5, 2] + name: agent1 + start: [4, 6] +- goal: [0, 7] + name: agent2 + start: [1, 4] +- goal: [2, 4] + name: agent3 + start: [7, 2] +- goal: [0, 4] + name: agent4 + start: [5, 2] +- goal: [3, 0] + name: agent5 + start: [6, 5] +- goal: [2, 7] + name: agent6 + start: [2, 6] +- goal: [7, 4] + name: agent7 + start: [0, 7] +- goal: [0, 6] + name: agent8 + start: [0, 6] +- goal: [6, 0] + name: agent9 + start: [0, 2] +- goal: [1, 5] + name: agent10 + start: [1, 2] +- goal: [3, 4] + name: agent11 + start: [0, 5] +- goal: [7, 6] + name: agent12 + start: [3, 2] +- goal: [3, 5] + name: agent13 + start: [3, 4] +- goal: [5, 3] + name: agent14 + start: [5, 3] +- goal: [5, 1] + name: agent15 + start: [3, 6] +- goal: [2, 5] + name: agent16 + start: [0, 4] +- goal: [5, 7] + name: agent17 + start: [1, 1] +- goal: [0, 1] + name: agent18 + start: [2, 5] +- goal: [6, 4] + name: agent19 + start: [7, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 7] + - !!python/tuple [4, 5] + - !!python/tuple [3, 7] + - !!python/tuple [5, 0] + - !!python/tuple [1, 6] + - !!python/tuple [4, 3] + - !!python/tuple [6, 6] + - !!python/tuple [6, 3] + - !!python/tuple [1, 0] + - !!python/tuple [5, 4] + - !!python/tuple [2, 2] + - !!python/tuple [2, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex35.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex35.yaml new file mode 100644 index 0000000..9a16047 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex35.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [2, 1] + name: agent0 + start: [3, 6] +- goal: [6, 4] + name: agent1 + start: [2, 4] +- goal: [3, 0] + name: agent2 + start: [6, 0] +- goal: [0, 5] + name: agent3 + start: [6, 6] +- goal: [7, 6] + name: agent4 + start: [4, 3] +- goal: [5, 1] + name: agent5 + start: [6, 2] +- goal: [6, 1] + name: agent6 + start: [0, 7] +- goal: [3, 7] + name: agent7 + start: [7, 1] +- goal: [5, 2] + name: agent8 + start: [2, 6] +- goal: [4, 3] + name: agent9 + start: [4, 1] +- goal: [5, 7] + name: agent10 + start: [3, 1] +- goal: [4, 0] + name: agent11 + start: [7, 2] +- goal: [4, 5] + name: agent12 + start: [3, 3] +- goal: [6, 0] + name: agent13 + start: [6, 4] +- goal: [7, 7] + name: agent14 + start: [3, 7] +- goal: [3, 3] + name: agent15 + start: [0, 5] +- goal: [2, 6] + name: agent16 + start: [7, 3] +- goal: [2, 2] + name: agent17 + start: [6, 5] +- goal: [5, 5] + name: agent18 + start: [5, 3] +- goal: [7, 2] + name: agent19 + start: [0, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 7] + - !!python/tuple [3, 2] + - !!python/tuple [1, 5] + - !!python/tuple [7, 5] + - !!python/tuple [1, 0] + - !!python/tuple [3, 5] + - !!python/tuple [4, 2] + - !!python/tuple [2, 7] + - !!python/tuple [4, 7] + - !!python/tuple [0, 2] + - !!python/tuple [4, 6] + - !!python/tuple [6, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex36.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex36.yaml new file mode 100644 index 0000000..66f2177 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex36.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [1, 5] + name: agent0 + start: [0, 3] +- goal: [7, 1] + name: agent1 + start: [1, 5] +- goal: [0, 6] + name: agent2 + start: [0, 6] +- goal: [2, 1] + name: agent3 + start: [6, 4] +- goal: [0, 3] + name: agent4 + start: [5, 1] +- goal: [7, 7] + name: agent5 + start: [1, 4] +- goal: [2, 0] + name: agent6 + start: [7, 2] +- goal: [6, 0] + name: agent7 + start: [7, 4] +- goal: [5, 6] + name: agent8 + start: [5, 4] +- goal: [4, 7] + name: agent9 + start: [2, 7] +- goal: [0, 2] + name: agent10 + start: [7, 0] +- goal: [6, 5] + name: agent11 + start: [7, 7] +- goal: [7, 2] + name: agent12 + start: [0, 5] +- goal: [6, 1] + name: agent13 + start: [1, 7] +- goal: [5, 0] + name: agent14 + start: [6, 7] +- goal: [4, 2] + name: agent15 + start: [2, 3] +- goal: [3, 2] + name: agent16 + start: [3, 6] +- goal: [2, 7] + name: agent17 + start: [6, 5] +- goal: [1, 6] + name: agent18 + start: [1, 1] +- goal: [7, 3] + name: agent19 + start: [0, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 4] + - !!python/tuple [3, 0] + - !!python/tuple [5, 7] + - !!python/tuple [4, 3] + - !!python/tuple [4, 5] + - !!python/tuple [5, 2] + - !!python/tuple [4, 6] + - !!python/tuple [5, 3] + - !!python/tuple [4, 4] + - !!python/tuple [2, 5] + - !!python/tuple [5, 5] + - !!python/tuple [7, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex37.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex37.yaml new file mode 100644 index 0000000..4e024be --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex37.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [6, 3] + name: agent0 + start: [3, 3] +- goal: [2, 5] + name: agent1 + start: [0, 4] +- goal: [0, 1] + name: agent2 + start: [1, 1] +- goal: [0, 6] + name: agent3 + start: [6, 6] +- goal: [5, 6] + name: agent4 + start: [6, 3] +- goal: [4, 7] + name: agent5 + start: [4, 0] +- goal: [4, 0] + name: agent6 + start: [3, 5] +- goal: [3, 3] + name: agent7 + start: [7, 1] +- goal: [2, 3] + name: agent8 + start: [4, 6] +- goal: [5, 3] + name: agent9 + start: [4, 3] +- goal: [6, 1] + name: agent10 + start: [2, 5] +- goal: [1, 2] + name: agent11 + start: [1, 3] +- goal: [5, 4] + name: agent12 + start: [7, 5] +- goal: [4, 1] + name: agent13 + start: [7, 6] +- goal: [0, 3] + name: agent14 + start: [5, 6] +- goal: [3, 4] + name: agent15 + start: [7, 2] +- goal: [0, 0] + name: agent16 + start: [6, 7] +- goal: [4, 2] + name: agent17 + start: [5, 4] +- goal: [0, 4] + name: agent18 + start: [7, 3] +- goal: [3, 2] + name: agent19 + start: [6, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 0] + - !!python/tuple [3, 7] + - !!python/tuple [1, 7] + - !!python/tuple [1, 5] + - !!python/tuple [6, 5] + - !!python/tuple [7, 7] + - !!python/tuple [2, 4] + - !!python/tuple [2, 0] + - !!python/tuple [5, 2] + - !!python/tuple [0, 7] + - !!python/tuple [2, 7] + - !!python/tuple [5, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex38.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex38.yaml new file mode 100644 index 0000000..9bc4154 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex38.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [4, 2] + name: agent0 + start: [1, 5] +- goal: [0, 0] + name: agent1 + start: [2, 0] +- goal: [2, 5] + name: agent2 + start: [6, 6] +- goal: [0, 2] + name: agent3 + start: [3, 4] +- goal: [4, 7] + name: agent4 + start: [3, 6] +- goal: [7, 1] + name: agent5 + start: [1, 4] +- goal: [6, 2] + name: agent6 + start: [4, 4] +- goal: [2, 3] + name: agent7 + start: [3, 5] +- goal: [0, 5] + name: agent8 + start: [5, 6] +- goal: [4, 4] + name: agent9 + start: [7, 5] +- goal: [1, 6] + name: agent10 + start: [2, 6] +- goal: [3, 4] + name: agent11 + start: [5, 5] +- goal: [5, 1] + name: agent12 + start: [2, 2] +- goal: [2, 0] + name: agent13 + start: [5, 2] +- goal: [3, 7] + name: agent14 + start: [6, 1] +- goal: [6, 3] + name: agent15 + start: [3, 0] +- goal: [2, 7] + name: agent16 + start: [0, 7] +- goal: [7, 6] + name: agent17 + start: [1, 6] +- goal: [2, 6] + name: agent18 + start: [6, 0] +- goal: [6, 6] + name: agent19 + start: [1, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 4] + - !!python/tuple [4, 1] + - !!python/tuple [0, 6] + - !!python/tuple [1, 2] + - !!python/tuple [3, 2] + - !!python/tuple [0, 4] + - !!python/tuple [7, 0] + - !!python/tuple [7, 2] + - !!python/tuple [4, 0] + - !!python/tuple [0, 3] + - !!python/tuple [4, 3] + - !!python/tuple [5, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex39.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex39.yaml new file mode 100644 index 0000000..c6552c1 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex39.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [6, 2] + name: agent0 + start: [7, 2] +- goal: [4, 0] + name: agent1 + start: [1, 2] +- goal: [2, 0] + name: agent2 + start: [7, 7] +- goal: [7, 1] + name: agent3 + start: [6, 1] +- goal: [1, 1] + name: agent4 + start: [1, 1] +- goal: [1, 2] + name: agent5 + start: [6, 3] +- goal: [0, 7] + name: agent6 + start: [0, 6] +- goal: [6, 6] + name: agent7 + start: [3, 3] +- goal: [2, 4] + name: agent8 + start: [2, 4] +- goal: [2, 7] + name: agent9 + start: [2, 7] +- goal: [7, 7] + name: agent10 + start: [5, 3] +- goal: [7, 2] + name: agent11 + start: [6, 7] +- goal: [2, 5] + name: agent12 + start: [2, 3] +- goal: [6, 1] + name: agent13 + start: [3, 7] +- goal: [4, 3] + name: agent14 + start: [3, 2] +- goal: [4, 6] + name: agent15 + start: [3, 0] +- goal: [5, 5] + name: agent16 + start: [0, 3] +- goal: [4, 4] + name: agent17 + start: [5, 7] +- goal: [4, 1] + name: agent18 + start: [5, 5] +- goal: [5, 3] + name: agent19 + start: [7, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 1] + - !!python/tuple [1, 6] + - !!python/tuple [7, 5] + - !!python/tuple [4, 2] + - !!python/tuple [1, 5] + - !!python/tuple [5, 0] + - !!python/tuple [5, 6] + - !!python/tuple [3, 1] + - !!python/tuple [2, 1] + - !!python/tuple [6, 4] + - !!python/tuple [3, 4] + - !!python/tuple [7, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex4.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex4.yaml new file mode 100644 index 0000000..f59bc84 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex4.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [2, 0] + name: agent0 + start: [7, 1] +- goal: [1, 2] + name: agent1 + start: [5, 6] +- goal: [1, 0] + name: agent2 + start: [3, 5] +- goal: [6, 7] + name: agent3 + start: [7, 7] +- goal: [7, 5] + name: agent4 + start: [7, 6] +- goal: [5, 1] + name: agent5 + start: [0, 3] +- goal: [7, 3] + name: agent6 + start: [7, 2] +- goal: [7, 0] + name: agent7 + start: [6, 2] +- goal: [5, 2] + name: agent8 + start: [4, 6] +- goal: [6, 2] + name: agent9 + start: [1, 2] +- goal: [6, 0] + name: agent10 + start: [5, 0] +- goal: [0, 4] + name: agent11 + start: [5, 1] +- goal: [0, 6] + name: agent12 + start: [4, 7] +- goal: [7, 2] + name: agent13 + start: [6, 1] +- goal: [4, 7] + name: agent14 + start: [3, 7] +- goal: [6, 5] + name: agent15 + start: [4, 4] +- goal: [1, 1] + name: agent16 + start: [4, 1] +- goal: [4, 4] + name: agent17 + start: [5, 5] +- goal: [0, 5] + name: agent18 + start: [5, 2] +- goal: [2, 1] + name: agent19 + start: [2, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 4] + - !!python/tuple [1, 5] + - !!python/tuple [1, 3] + - !!python/tuple [4, 5] + - !!python/tuple [2, 7] + - !!python/tuple [0, 7] + - !!python/tuple [5, 7] + - !!python/tuple [6, 4] + - !!python/tuple [3, 4] + - !!python/tuple [3, 2] + - !!python/tuple [3, 6] + - !!python/tuple [1, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex40.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex40.yaml new file mode 100644 index 0000000..a18f75d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex40.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [7, 3] + name: agent0 + start: [2, 2] +- goal: [2, 2] + name: agent1 + start: [3, 3] +- goal: [1, 5] + name: agent2 + start: [4, 6] +- goal: [5, 3] + name: agent3 + start: [6, 5] +- goal: [1, 2] + name: agent4 + start: [0, 7] +- goal: [0, 3] + name: agent5 + start: [3, 1] +- goal: [3, 3] + name: agent6 + start: [7, 6] +- goal: [7, 6] + name: agent7 + start: [2, 1] +- goal: [2, 7] + name: agent8 + start: [0, 2] +- goal: [5, 2] + name: agent9 + start: [7, 1] +- goal: [5, 4] + name: agent10 + start: [2, 0] +- goal: [0, 7] + name: agent11 + start: [2, 7] +- goal: [1, 7] + name: agent12 + start: [1, 7] +- goal: [0, 2] + name: agent13 + start: [2, 6] +- goal: [7, 1] + name: agent14 + start: [3, 0] +- goal: [6, 3] + name: agent15 + start: [1, 4] +- goal: [0, 1] + name: agent16 + start: [4, 1] +- goal: [6, 5] + name: agent17 + start: [2, 5] +- goal: [1, 3] + name: agent18 + start: [1, 2] +- goal: [6, 1] + name: agent19 + start: [5, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 4] + - !!python/tuple [0, 5] + - !!python/tuple [4, 2] + - !!python/tuple [4, 4] + - !!python/tuple [2, 3] + - !!python/tuple [1, 0] + - !!python/tuple [0, 0] + - !!python/tuple [3, 7] + - !!python/tuple [7, 5] + - !!python/tuple [5, 1] + - !!python/tuple [3, 5] + - !!python/tuple [7, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex41.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex41.yaml new file mode 100644 index 0000000..5d79b66 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex41.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [4, 5] + name: agent0 + start: [1, 2] +- goal: [1, 7] + name: agent1 + start: [1, 4] +- goal: [7, 6] + name: agent2 + start: [0, 7] +- goal: [7, 3] + name: agent3 + start: [6, 3] +- goal: [3, 3] + name: agent4 + start: [1, 7] +- goal: [6, 7] + name: agent5 + start: [0, 0] +- goal: [2, 4] + name: agent6 + start: [5, 5] +- goal: [0, 7] + name: agent7 + start: [4, 7] +- goal: [3, 7] + name: agent8 + start: [5, 4] +- goal: [0, 2] + name: agent9 + start: [7, 6] +- goal: [0, 5] + name: agent10 + start: [1, 3] +- goal: [3, 4] + name: agent11 + start: [2, 4] +- goal: [1, 3] + name: agent12 + start: [5, 2] +- goal: [4, 7] + name: agent13 + start: [6, 5] +- goal: [3, 2] + name: agent14 + start: [2, 2] +- goal: [0, 0] + name: agent15 + start: [4, 1] +- goal: [2, 5] + name: agent16 + start: [3, 4] +- goal: [6, 3] + name: agent17 + start: [4, 4] +- goal: [1, 2] + name: agent18 + start: [7, 0] +- goal: [5, 7] + name: agent19 + start: [7, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 2] + - !!python/tuple [4, 2] + - !!python/tuple [1, 1] + - !!python/tuple [1, 5] + - !!python/tuple [2, 3] + - !!python/tuple [0, 6] + - !!python/tuple [4, 0] + - !!python/tuple [3, 1] + - !!python/tuple [2, 0] + - !!python/tuple [3, 5] + - !!python/tuple [6, 6] + - !!python/tuple [2, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex42.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex42.yaml new file mode 100644 index 0000000..c27947f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex42.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [0, 0] + name: agent0 + start: [7, 1] +- goal: [3, 0] + name: agent1 + start: [3, 7] +- goal: [4, 7] + name: agent2 + start: [0, 2] +- goal: [3, 3] + name: agent3 + start: [6, 0] +- goal: [4, 1] + name: agent4 + start: [6, 6] +- goal: [0, 2] + name: agent5 + start: [6, 5] +- goal: [5, 4] + name: agent6 + start: [3, 5] +- goal: [6, 1] + name: agent7 + start: [4, 5] +- goal: [7, 5] + name: agent8 + start: [6, 7] +- goal: [7, 2] + name: agent9 + start: [6, 3] +- goal: [6, 6] + name: agent10 + start: [0, 5] +- goal: [4, 4] + name: agent11 + start: [2, 1] +- goal: [0, 4] + name: agent12 + start: [1, 6] +- goal: [2, 0] + name: agent13 + start: [4, 7] +- goal: [2, 6] + name: agent14 + start: [3, 4] +- goal: [1, 7] + name: agent15 + start: [7, 2] +- goal: [1, 2] + name: agent16 + start: [6, 1] +- goal: [4, 5] + name: agent17 + start: [4, 4] +- goal: [1, 1] + name: agent18 + start: [6, 4] +- goal: [0, 5] + name: agent19 + start: [7, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 5] + - !!python/tuple [4, 2] + - !!python/tuple [2, 7] + - !!python/tuple [7, 7] + - !!python/tuple [1, 0] + - !!python/tuple [1, 3] + - !!python/tuple [4, 3] + - !!python/tuple [2, 2] + - !!python/tuple [5, 3] + - !!python/tuple [0, 7] + - !!python/tuple [4, 0] + - !!python/tuple [0, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex43.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex43.yaml new file mode 100644 index 0000000..ab5b59e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex43.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [2, 4] + name: agent0 + start: [0, 0] +- goal: [3, 6] + name: agent1 + start: [6, 4] +- goal: [0, 5] + name: agent2 + start: [6, 7] +- goal: [3, 0] + name: agent3 + start: [5, 4] +- goal: [7, 3] + name: agent4 + start: [7, 4] +- goal: [0, 6] + name: agent5 + start: [7, 7] +- goal: [2, 2] + name: agent6 + start: [0, 7] +- goal: [0, 1] + name: agent7 + start: [3, 3] +- goal: [2, 1] + name: agent8 + start: [5, 5] +- goal: [1, 4] + name: agent9 + start: [1, 7] +- goal: [5, 4] + name: agent10 + start: [7, 0] +- goal: [5, 6] + name: agent11 + start: [1, 4] +- goal: [6, 2] + name: agent12 + start: [5, 6] +- goal: [0, 3] + name: agent13 + start: [2, 4] +- goal: [4, 1] + name: agent14 + start: [1, 5] +- goal: [6, 4] + name: agent15 + start: [3, 0] +- goal: [4, 5] + name: agent16 + start: [6, 3] +- goal: [2, 0] + name: agent17 + start: [7, 3] +- goal: [6, 6] + name: agent18 + start: [0, 2] +- goal: [2, 6] + name: agent19 + start: [4, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 7] + - !!python/tuple [7, 1] + - !!python/tuple [4, 4] + - !!python/tuple [3, 1] + - !!python/tuple [4, 3] + - !!python/tuple [1, 2] + - !!python/tuple [1, 1] + - !!python/tuple [5, 7] + - !!python/tuple [5, 3] + - !!python/tuple [1, 6] + - !!python/tuple [7, 5] + - !!python/tuple [2, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex44.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex44.yaml new file mode 100644 index 0000000..2a894a2 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex44.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [4, 0] + name: agent0 + start: [7, 4] +- goal: [1, 3] + name: agent1 + start: [1, 1] +- goal: [3, 0] + name: agent2 + start: [2, 6] +- goal: [4, 3] + name: agent3 + start: [3, 2] +- goal: [6, 7] + name: agent4 + start: [3, 5] +- goal: [5, 7] + name: agent5 + start: [2, 2] +- goal: [6, 5] + name: agent6 + start: [1, 3] +- goal: [2, 7] + name: agent7 + start: [1, 0] +- goal: [5, 3] + name: agent8 + start: [7, 5] +- goal: [3, 5] + name: agent9 + start: [6, 2] +- goal: [2, 0] + name: agent10 + start: [7, 7] +- goal: [0, 4] + name: agent11 + start: [0, 5] +- goal: [5, 1] + name: agent12 + start: [3, 6] +- goal: [0, 6] + name: agent13 + start: [0, 4] +- goal: [3, 3] + name: agent14 + start: [7, 3] +- goal: [7, 2] + name: agent15 + start: [4, 0] +- goal: [2, 1] + name: agent16 + start: [2, 0] +- goal: [3, 1] + name: agent17 + start: [0, 0] +- goal: [5, 6] + name: agent18 + start: [6, 7] +- goal: [0, 5] + name: agent19 + start: [3, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 6] + - !!python/tuple [4, 1] + - !!python/tuple [4, 5] + - !!python/tuple [5, 2] + - !!python/tuple [1, 5] + - !!python/tuple [4, 6] + - !!python/tuple [0, 2] + - !!python/tuple [5, 5] + - !!python/tuple [0, 1] + - !!python/tuple [2, 3] + - !!python/tuple [4, 4] + - !!python/tuple [1, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex45.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex45.yaml new file mode 100644 index 0000000..8982bd7 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex45.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [4, 2] + name: agent0 + start: [5, 0] +- goal: [4, 0] + name: agent1 + start: [2, 0] +- goal: [1, 7] + name: agent2 + start: [5, 5] +- goal: [5, 6] + name: agent3 + start: [2, 2] +- goal: [6, 7] + name: agent4 + start: [5, 3] +- goal: [7, 0] + name: agent5 + start: [3, 5] +- goal: [6, 2] + name: agent6 + start: [0, 0] +- goal: [2, 4] + name: agent7 + start: [6, 0] +- goal: [2, 7] + name: agent8 + start: [6, 7] +- goal: [1, 0] + name: agent9 + start: [3, 3] +- goal: [5, 0] + name: agent10 + start: [4, 5] +- goal: [4, 4] + name: agent11 + start: [2, 1] +- goal: [0, 7] + name: agent12 + start: [4, 2] +- goal: [7, 1] + name: agent13 + start: [7, 1] +- goal: [6, 0] + name: agent14 + start: [0, 7] +- goal: [0, 0] + name: agent15 + start: [5, 7] +- goal: [4, 7] + name: agent16 + start: [0, 4] +- goal: [7, 7] + name: agent17 + start: [0, 2] +- goal: [3, 3] + name: agent18 + start: [2, 4] +- goal: [5, 2] + name: agent19 + start: [3, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 6] + - !!python/tuple [3, 1] + - !!python/tuple [2, 5] + - !!python/tuple [4, 6] + - !!python/tuple [7, 6] + - !!python/tuple [6, 3] + - !!python/tuple [1, 3] + - !!python/tuple [5, 1] + - !!python/tuple [2, 3] + - !!python/tuple [1, 4] + - !!python/tuple [4, 3] + - !!python/tuple [0, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex46.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex46.yaml new file mode 100644 index 0000000..3058c1b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex46.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [1, 1] + name: agent0 + start: [0, 1] +- goal: [5, 3] + name: agent1 + start: [3, 2] +- goal: [7, 3] + name: agent2 + start: [6, 7] +- goal: [2, 1] + name: agent3 + start: [6, 5] +- goal: [0, 3] + name: agent4 + start: [1, 3] +- goal: [2, 3] + name: agent5 + start: [7, 3] +- goal: [4, 5] + name: agent6 + start: [2, 6] +- goal: [4, 6] + name: agent7 + start: [6, 3] +- goal: [0, 6] + name: agent8 + start: [4, 6] +- goal: [4, 2] + name: agent9 + start: [1, 7] +- goal: [7, 1] + name: agent10 + start: [6, 1] +- goal: [7, 7] + name: agent11 + start: [4, 4] +- goal: [0, 2] + name: agent12 + start: [1, 5] +- goal: [3, 0] + name: agent13 + start: [2, 0] +- goal: [0, 4] + name: agent14 + start: [3, 4] +- goal: [5, 0] + name: agent15 + start: [2, 1] +- goal: [1, 5] + name: agent16 + start: [1, 2] +- goal: [2, 2] + name: agent17 + start: [4, 3] +- goal: [1, 3] + name: agent18 + start: [6, 2] +- goal: [1, 2] + name: agent19 + start: [2, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 7] + - !!python/tuple [5, 5] + - !!python/tuple [0, 5] + - !!python/tuple [5, 1] + - !!python/tuple [5, 4] + - !!python/tuple [4, 1] + - !!python/tuple [3, 1] + - !!python/tuple [3, 5] + - !!python/tuple [4, 7] + - !!python/tuple [5, 2] + - !!python/tuple [6, 4] + - !!python/tuple [7, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex47.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex47.yaml new file mode 100644 index 0000000..6d93009 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex47.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [6, 3] + name: agent0 + start: [2, 2] +- goal: [6, 7] + name: agent1 + start: [3, 3] +- goal: [3, 3] + name: agent2 + start: [7, 0] +- goal: [6, 5] + name: agent3 + start: [5, 0] +- goal: [5, 3] + name: agent4 + start: [1, 5] +- goal: [0, 6] + name: agent5 + start: [4, 3] +- goal: [6, 4] + name: agent6 + start: [4, 7] +- goal: [7, 2] + name: agent7 + start: [6, 1] +- goal: [7, 6] + name: agent8 + start: [2, 0] +- goal: [4, 1] + name: agent9 + start: [0, 1] +- goal: [6, 0] + name: agent10 + start: [6, 6] +- goal: [3, 6] + name: agent11 + start: [3, 6] +- goal: [3, 1] + name: agent12 + start: [7, 2] +- goal: [1, 5] + name: agent13 + start: [3, 0] +- goal: [7, 4] + name: agent14 + start: [2, 3] +- goal: [5, 0] + name: agent15 + start: [4, 2] +- goal: [0, 0] + name: agent16 + start: [6, 4] +- goal: [1, 3] + name: agent17 + start: [0, 4] +- goal: [2, 3] + name: agent18 + start: [1, 6] +- goal: [5, 7] + name: agent19 + start: [3, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 2] + - !!python/tuple [0, 3] + - !!python/tuple [4, 5] + - !!python/tuple [1, 2] + - !!python/tuple [1, 4] + - !!python/tuple [3, 4] + - !!python/tuple [3, 7] + - !!python/tuple [5, 4] + - !!python/tuple [7, 3] + - !!python/tuple [3, 2] + - !!python/tuple [2, 5] + - !!python/tuple [4, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex48.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex48.yaml new file mode 100644 index 0000000..25e4bef --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex48.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [5, 4] + name: agent0 + start: [3, 3] +- goal: [6, 4] + name: agent1 + start: [3, 4] +- goal: [1, 2] + name: agent2 + start: [2, 3] +- goal: [6, 3] + name: agent3 + start: [2, 7] +- goal: [1, 4] + name: agent4 + start: [5, 7] +- goal: [5, 2] + name: agent5 + start: [1, 7] +- goal: [6, 6] + name: agent6 + start: [6, 0] +- goal: [4, 1] + name: agent7 + start: [4, 6] +- goal: [3, 1] + name: agent8 + start: [0, 6] +- goal: [1, 5] + name: agent9 + start: [4, 0] +- goal: [1, 3] + name: agent10 + start: [7, 0] +- goal: [4, 6] + name: agent11 + start: [2, 4] +- goal: [3, 3] + name: agent12 + start: [6, 2] +- goal: [7, 0] + name: agent13 + start: [1, 2] +- goal: [3, 6] + name: agent14 + start: [6, 4] +- goal: [2, 1] + name: agent15 + start: [1, 1] +- goal: [0, 2] + name: agent16 + start: [0, 3] +- goal: [3, 4] + name: agent17 + start: [7, 3] +- goal: [4, 2] + name: agent18 + start: [0, 2] +- goal: [2, 3] + name: agent19 + start: [7, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 7] + - !!python/tuple [1, 6] + - !!python/tuple [7, 4] + - !!python/tuple [3, 0] + - !!python/tuple [5, 6] + - !!python/tuple [3, 7] + - !!python/tuple [2, 0] + - !!python/tuple [1, 0] + - !!python/tuple [5, 0] + - !!python/tuple [5, 5] + - !!python/tuple [7, 5] + - !!python/tuple [7, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex49.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex49.yaml new file mode 100644 index 0000000..568af60 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex49.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [4, 6] + name: agent0 + start: [3, 6] +- goal: [7, 2] + name: agent1 + start: [2, 1] +- goal: [6, 5] + name: agent2 + start: [3, 5] +- goal: [1, 0] + name: agent3 + start: [1, 6] +- goal: [5, 6] + name: agent4 + start: [4, 6] +- goal: [5, 2] + name: agent5 + start: [6, 3] +- goal: [1, 4] + name: agent6 + start: [6, 1] +- goal: [5, 1] + name: agent7 + start: [1, 1] +- goal: [2, 6] + name: agent8 + start: [5, 6] +- goal: [0, 5] + name: agent9 + start: [2, 7] +- goal: [3, 6] + name: agent10 + start: [3, 1] +- goal: [0, 2] + name: agent11 + start: [5, 3] +- goal: [1, 5] + name: agent12 + start: [0, 2] +- goal: [4, 4] + name: agent13 + start: [4, 5] +- goal: [2, 5] + name: agent14 + start: [0, 5] +- goal: [3, 1] + name: agent15 + start: [6, 4] +- goal: [0, 4] + name: agent16 + start: [6, 5] +- goal: [5, 0] + name: agent17 + start: [6, 2] +- goal: [3, 0] + name: agent18 + start: [2, 4] +- goal: [2, 4] + name: agent19 + start: [0, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 0] + - !!python/tuple [0, 1] + - !!python/tuple [7, 6] + - !!python/tuple [7, 3] + - !!python/tuple [0, 6] + - !!python/tuple [4, 2] + - !!python/tuple [7, 7] + - !!python/tuple [0, 0] + - !!python/tuple [1, 2] + - !!python/tuple [5, 5] + - !!python/tuple [1, 7] + - !!python/tuple [7, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex5.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex5.yaml new file mode 100644 index 0000000..9b82cec --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex5.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [6, 1] + name: agent0 + start: [2, 7] +- goal: [4, 6] + name: agent1 + start: [6, 1] +- goal: [5, 6] + name: agent2 + start: [5, 5] +- goal: [0, 4] + name: agent3 + start: [3, 7] +- goal: [1, 5] + name: agent4 + start: [7, 7] +- goal: [5, 1] + name: agent5 + start: [7, 2] +- goal: [7, 0] + name: agent6 + start: [1, 3] +- goal: [3, 1] + name: agent7 + start: [5, 2] +- goal: [0, 3] + name: agent8 + start: [4, 6] +- goal: [6, 0] + name: agent9 + start: [5, 3] +- goal: [0, 5] + name: agent10 + start: [3, 2] +- goal: [5, 2] + name: agent11 + start: [4, 3] +- goal: [7, 7] + name: agent12 + start: [0, 1] +- goal: [6, 6] + name: agent13 + start: [3, 1] +- goal: [5, 7] + name: agent14 + start: [3, 4] +- goal: [2, 7] + name: agent15 + start: [1, 4] +- goal: [4, 2] + name: agent16 + start: [5, 7] +- goal: [1, 6] + name: agent17 + start: [5, 0] +- goal: [6, 7] + name: agent18 + start: [1, 0] +- goal: [0, 6] + name: agent19 + start: [4, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 5] + - !!python/tuple [7, 5] + - !!python/tuple [3, 6] + - !!python/tuple [5, 4] + - !!python/tuple [7, 3] + - !!python/tuple [2, 3] + - !!python/tuple [0, 2] + - !!python/tuple [1, 2] + - !!python/tuple [2, 5] + - !!python/tuple [6, 4] + - !!python/tuple [2, 6] + - !!python/tuple [0, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex50.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex50.yaml new file mode 100644 index 0000000..9e41596 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex50.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [7, 2] + name: agent0 + start: [4, 6] +- goal: [5, 4] + name: agent1 + start: [6, 3] +- goal: [5, 1] + name: agent2 + start: [7, 6] +- goal: [5, 3] + name: agent3 + start: [2, 7] +- goal: [0, 0] + name: agent4 + start: [7, 5] +- goal: [4, 0] + name: agent5 + start: [6, 5] +- goal: [6, 1] + name: agent6 + start: [6, 2] +- goal: [4, 1] + name: agent7 + start: [6, 6] +- goal: [2, 5] + name: agent8 + start: [7, 1] +- goal: [3, 2] + name: agent9 + start: [7, 7] +- goal: [1, 5] + name: agent10 + start: [3, 3] +- goal: [2, 4] + name: agent11 + start: [3, 5] +- goal: [0, 5] + name: agent12 + start: [1, 0] +- goal: [7, 6] + name: agent13 + start: [3, 2] +- goal: [6, 6] + name: agent14 + start: [0, 4] +- goal: [6, 5] + name: agent15 + start: [1, 3] +- goal: [2, 6] + name: agent16 + start: [6, 4] +- goal: [6, 2] + name: agent17 + start: [2, 2] +- goal: [2, 3] + name: agent18 + start: [1, 1] +- goal: [3, 5] + name: agent19 + start: [0, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 4] + - !!python/tuple [4, 3] + - !!python/tuple [4, 7] + - !!python/tuple [5, 0] + - !!python/tuple [6, 0] + - !!python/tuple [0, 7] + - !!python/tuple [1, 7] + - !!python/tuple [1, 2] + - !!python/tuple [7, 4] + - !!python/tuple [3, 4] + - !!python/tuple [5, 6] + - !!python/tuple [0, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex51.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex51.yaml new file mode 100644 index 0000000..4e0eb55 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex51.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [4, 4] + name: agent0 + start: [1, 2] +- goal: [7, 6] + name: agent1 + start: [3, 4] +- goal: [7, 1] + name: agent2 + start: [0, 6] +- goal: [7, 2] + name: agent3 + start: [5, 1] +- goal: [5, 6] + name: agent4 + start: [3, 5] +- goal: [6, 2] + name: agent5 + start: [3, 1] +- goal: [2, 3] + name: agent6 + start: [6, 5] +- goal: [5, 7] + name: agent7 + start: [0, 5] +- goal: [5, 0] + name: agent8 + start: [7, 2] +- goal: [5, 4] + name: agent9 + start: [6, 7] +- goal: [4, 6] + name: agent10 + start: [3, 0] +- goal: [4, 0] + name: agent11 + start: [2, 3] +- goal: [4, 5] + name: agent12 + start: [4, 0] +- goal: [3, 0] + name: agent13 + start: [1, 4] +- goal: [2, 0] + name: agent14 + start: [1, 0] +- goal: [6, 5] + name: agent15 + start: [4, 5] +- goal: [6, 4] + name: agent16 + start: [0, 7] +- goal: [3, 7] + name: agent17 + start: [6, 3] +- goal: [1, 5] + name: agent18 + start: [2, 5] +- goal: [0, 3] + name: agent19 + start: [7, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 7] + - !!python/tuple [2, 2] + - !!python/tuple [5, 5] + - !!python/tuple [7, 0] + - !!python/tuple [0, 2] + - !!python/tuple [6, 0] + - !!python/tuple [7, 4] + - !!python/tuple [3, 6] + - !!python/tuple [4, 3] + - !!python/tuple [5, 3] + - !!python/tuple [2, 6] + - !!python/tuple [7, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex52.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex52.yaml new file mode 100644 index 0000000..f3edc8a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex52.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [6, 4] + name: agent0 + start: [1, 6] +- goal: [1, 0] + name: agent1 + start: [2, 3] +- goal: [2, 3] + name: agent2 + start: [7, 0] +- goal: [2, 0] + name: agent3 + start: [4, 5] +- goal: [3, 1] + name: agent4 + start: [4, 1] +- goal: [1, 4] + name: agent5 + start: [6, 2] +- goal: [2, 5] + name: agent6 + start: [6, 0] +- goal: [5, 3] + name: agent7 + start: [7, 4] +- goal: [4, 0] + name: agent8 + start: [6, 6] +- goal: [0, 7] + name: agent9 + start: [4, 6] +- goal: [5, 0] + name: agent10 + start: [0, 1] +- goal: [7, 7] + name: agent11 + start: [7, 6] +- goal: [6, 5] + name: agent12 + start: [0, 2] +- goal: [1, 2] + name: agent13 + start: [6, 3] +- goal: [0, 2] + name: agent14 + start: [3, 5] +- goal: [0, 1] + name: agent15 + start: [1, 7] +- goal: [4, 5] + name: agent16 + start: [7, 7] +- goal: [4, 7] + name: agent17 + start: [2, 0] +- goal: [0, 0] + name: agent18 + start: [2, 5] +- goal: [6, 2] + name: agent19 + start: [0, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 5] + - !!python/tuple [5, 6] + - !!python/tuple [7, 3] + - !!python/tuple [5, 4] + - !!python/tuple [4, 4] + - !!python/tuple [2, 7] + - !!python/tuple [4, 2] + - !!python/tuple [5, 2] + - !!python/tuple [1, 3] + - !!python/tuple [5, 7] + - !!python/tuple [4, 3] + - !!python/tuple [7, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex53.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex53.yaml new file mode 100644 index 0000000..0ef6edc --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex53.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [4, 2] + name: agent0 + start: [3, 2] +- goal: [1, 0] + name: agent1 + start: [5, 4] +- goal: [3, 0] + name: agent2 + start: [5, 6] +- goal: [1, 2] + name: agent3 + start: [0, 6] +- goal: [4, 1] + name: agent4 + start: [5, 2] +- goal: [0, 4] + name: agent5 + start: [2, 3] +- goal: [1, 7] + name: agent6 + start: [3, 3] +- goal: [5, 4] + name: agent7 + start: [0, 0] +- goal: [6, 2] + name: agent8 + start: [1, 3] +- goal: [2, 6] + name: agent9 + start: [4, 1] +- goal: [6, 5] + name: agent10 + start: [3, 5] +- goal: [1, 3] + name: agent11 + start: [0, 1] +- goal: [2, 4] + name: agent12 + start: [6, 2] +- goal: [0, 3] + name: agent13 + start: [3, 4] +- goal: [2, 3] + name: agent14 + start: [4, 7] +- goal: [4, 0] + name: agent15 + start: [7, 5] +- goal: [5, 0] + name: agent16 + start: [0, 3] +- goal: [5, 2] + name: agent17 + start: [1, 0] +- goal: [5, 1] + name: agent18 + start: [5, 0] +- goal: [6, 4] + name: agent19 + start: [0, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 6] + - !!python/tuple [5, 7] + - !!python/tuple [0, 5] + - !!python/tuple [5, 5] + - !!python/tuple [6, 0] + - !!python/tuple [7, 6] + - !!python/tuple [4, 4] + - !!python/tuple [4, 5] + - !!python/tuple [6, 1] + - !!python/tuple [1, 5] + - !!python/tuple [6, 3] + - !!python/tuple [7, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex54.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex54.yaml new file mode 100644 index 0000000..916f4be --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex54.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [3, 7] + name: agent0 + start: [6, 7] +- goal: [5, 6] + name: agent1 + start: [5, 5] +- goal: [7, 3] + name: agent2 + start: [1, 1] +- goal: [2, 3] + name: agent3 + start: [3, 1] +- goal: [6, 1] + name: agent4 + start: [5, 7] +- goal: [1, 0] + name: agent5 + start: [2, 6] +- goal: [5, 4] + name: agent6 + start: [5, 4] +- goal: [0, 5] + name: agent7 + start: [3, 0] +- goal: [5, 7] + name: agent8 + start: [0, 2] +- goal: [1, 2] + name: agent9 + start: [5, 0] +- goal: [3, 1] + name: agent10 + start: [1, 0] +- goal: [1, 7] + name: agent11 + start: [1, 7] +- goal: [7, 0] + name: agent12 + start: [6, 3] +- goal: [2, 6] + name: agent13 + start: [3, 4] +- goal: [5, 3] + name: agent14 + start: [1, 2] +- goal: [3, 0] + name: agent15 + start: [7, 0] +- goal: [5, 0] + name: agent16 + start: [0, 1] +- goal: [0, 1] + name: agent17 + start: [4, 6] +- goal: [1, 4] + name: agent18 + start: [4, 5] +- goal: [2, 4] + name: agent19 + start: [3, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 5] + - !!python/tuple [1, 3] + - !!python/tuple [4, 1] + - !!python/tuple [0, 3] + - !!python/tuple [6, 6] + - !!python/tuple [2, 1] + - !!python/tuple [7, 7] + - !!python/tuple [4, 2] + - !!python/tuple [1, 5] + - !!python/tuple [7, 4] + - !!python/tuple [7, 5] + - !!python/tuple [2, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex55.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex55.yaml new file mode 100644 index 0000000..4389bb6 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex55.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [2, 0] + name: agent0 + start: [4, 5] +- goal: [0, 5] + name: agent1 + start: [2, 3] +- goal: [0, 1] + name: agent2 + start: [3, 5] +- goal: [4, 7] + name: agent3 + start: [1, 4] +- goal: [7, 2] + name: agent4 + start: [7, 1] +- goal: [4, 0] + name: agent5 + start: [0, 1] +- goal: [3, 6] + name: agent6 + start: [5, 4] +- goal: [5, 5] + name: agent7 + start: [3, 1] +- goal: [1, 3] + name: agent8 + start: [7, 6] +- goal: [2, 4] + name: agent9 + start: [6, 0] +- goal: [3, 1] + name: agent10 + start: [3, 3] +- goal: [6, 0] + name: agent11 + start: [1, 5] +- goal: [1, 2] + name: agent12 + start: [5, 6] +- goal: [3, 0] + name: agent13 + start: [4, 3] +- goal: [2, 2] + name: agent14 + start: [1, 7] +- goal: [3, 5] + name: agent15 + start: [5, 2] +- goal: [0, 4] + name: agent16 + start: [0, 4] +- goal: [3, 3] + name: agent17 + start: [5, 1] +- goal: [4, 5] + name: agent18 + start: [1, 1] +- goal: [5, 7] + name: agent19 + start: [0, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 4] + - !!python/tuple [4, 6] + - !!python/tuple [0, 7] + - !!python/tuple [2, 7] + - !!python/tuple [0, 2] + - !!python/tuple [5, 3] + - !!python/tuple [1, 0] + - !!python/tuple [0, 6] + - !!python/tuple [6, 4] + - !!python/tuple [7, 4] + - !!python/tuple [7, 5] + - !!python/tuple [6, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex56.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex56.yaml new file mode 100644 index 0000000..5cf79ae --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex56.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [0, 7] + name: agent0 + start: [7, 1] +- goal: [7, 7] + name: agent1 + start: [3, 5] +- goal: [1, 0] + name: agent2 + start: [3, 4] +- goal: [3, 2] + name: agent3 + start: [6, 7] +- goal: [5, 4] + name: agent4 + start: [4, 3] +- goal: [0, 0] + name: agent5 + start: [4, 0] +- goal: [5, 3] + name: agent6 + start: [5, 3] +- goal: [1, 3] + name: agent7 + start: [4, 4] +- goal: [4, 2] + name: agent8 + start: [0, 1] +- goal: [3, 3] + name: agent9 + start: [1, 2] +- goal: [2, 3] + name: agent10 + start: [4, 2] +- goal: [3, 1] + name: agent11 + start: [4, 5] +- goal: [6, 4] + name: agent12 + start: [5, 7] +- goal: [6, 0] + name: agent13 + start: [3, 3] +- goal: [6, 5] + name: agent14 + start: [5, 4] +- goal: [4, 4] + name: agent15 + start: [4, 6] +- goal: [7, 1] + name: agent16 + start: [0, 5] +- goal: [0, 5] + name: agent17 + start: [5, 0] +- goal: [1, 4] + name: agent18 + start: [6, 1] +- goal: [6, 6] + name: agent19 + start: [1, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 3] + - !!python/tuple [4, 1] + - !!python/tuple [2, 5] + - !!python/tuple [5, 2] + - !!python/tuple [2, 1] + - !!python/tuple [2, 7] + - !!python/tuple [3, 7] + - !!python/tuple [6, 3] + - !!python/tuple [5, 5] + - !!python/tuple [0, 3] + - !!python/tuple [5, 6] + - !!python/tuple [1, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex57.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex57.yaml new file mode 100644 index 0000000..61c8021 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex57.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [1, 4] + name: agent0 + start: [0, 3] +- goal: [1, 0] + name: agent1 + start: [6, 1] +- goal: [6, 7] + name: agent2 + start: [0, 0] +- goal: [7, 5] + name: agent3 + start: [6, 4] +- goal: [4, 3] + name: agent4 + start: [4, 3] +- goal: [6, 2] + name: agent5 + start: [1, 4] +- goal: [3, 3] + name: agent6 + start: [2, 3] +- goal: [7, 1] + name: agent7 + start: [3, 6] +- goal: [3, 1] + name: agent8 + start: [1, 7] +- goal: [5, 5] + name: agent9 + start: [3, 3] +- goal: [2, 2] + name: agent10 + start: [4, 0] +- goal: [2, 7] + name: agent11 + start: [5, 7] +- goal: [6, 5] + name: agent12 + start: [4, 1] +- goal: [1, 1] + name: agent13 + start: [1, 1] +- goal: [5, 7] + name: agent14 + start: [5, 3] +- goal: [0, 5] + name: agent15 + start: [1, 3] +- goal: [7, 7] + name: agent16 + start: [3, 4] +- goal: [5, 1] + name: agent17 + start: [7, 3] +- goal: [6, 6] + name: agent18 + start: [6, 7] +- goal: [6, 1] + name: agent19 + start: [1, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 6] + - !!python/tuple [5, 6] + - !!python/tuple [4, 5] + - !!python/tuple [5, 2] + - !!python/tuple [4, 4] + - !!python/tuple [3, 2] + - !!python/tuple [4, 2] + - !!python/tuple [6, 0] + - !!python/tuple [5, 4] + - !!python/tuple [7, 4] + - !!python/tuple [0, 7] + - !!python/tuple [4, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex58.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex58.yaml new file mode 100644 index 0000000..a7019e8 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex58.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [0, 6] + name: agent0 + start: [4, 7] +- goal: [1, 6] + name: agent1 + start: [7, 7] +- goal: [7, 0] + name: agent2 + start: [4, 2] +- goal: [0, 1] + name: agent3 + start: [3, 1] +- goal: [6, 7] + name: agent4 + start: [1, 6] +- goal: [2, 1] + name: agent5 + start: [7, 6] +- goal: [3, 4] + name: agent6 + start: [7, 5] +- goal: [0, 7] + name: agent7 + start: [5, 2] +- goal: [3, 1] + name: agent8 + start: [5, 0] +- goal: [5, 7] + name: agent9 + start: [7, 2] +- goal: [5, 3] + name: agent10 + start: [3, 4] +- goal: [0, 2] + name: agent11 + start: [1, 3] +- goal: [5, 0] + name: agent12 + start: [6, 2] +- goal: [7, 2] + name: agent13 + start: [0, 4] +- goal: [0, 0] + name: agent14 + start: [5, 1] +- goal: [4, 5] + name: agent15 + start: [5, 4] +- goal: [5, 5] + name: agent16 + start: [4, 0] +- goal: [5, 1] + name: agent17 + start: [6, 1] +- goal: [7, 3] + name: agent18 + start: [5, 7] +- goal: [1, 2] + name: agent19 + start: [0, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 3] + - !!python/tuple [3, 6] + - !!python/tuple [6, 4] + - !!python/tuple [1, 1] + - !!python/tuple [4, 3] + - !!python/tuple [3, 0] + - !!python/tuple [6, 5] + - !!python/tuple [3, 7] + - !!python/tuple [3, 2] + - !!python/tuple [6, 0] + - !!python/tuple [4, 1] + - !!python/tuple [1, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex59.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex59.yaml new file mode 100644 index 0000000..e54fa04 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex59.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [1, 5] + name: agent0 + start: [5, 1] +- goal: [4, 2] + name: agent1 + start: [3, 4] +- goal: [5, 3] + name: agent2 + start: [6, 7] +- goal: [7, 2] + name: agent3 + start: [2, 5] +- goal: [5, 0] + name: agent4 + start: [4, 5] +- goal: [4, 4] + name: agent5 + start: [5, 4] +- goal: [5, 4] + name: agent6 + start: [7, 7] +- goal: [4, 5] + name: agent7 + start: [1, 0] +- goal: [4, 0] + name: agent8 + start: [1, 2] +- goal: [1, 3] + name: agent9 + start: [3, 1] +- goal: [2, 7] + name: agent10 + start: [0, 6] +- goal: [4, 1] + name: agent11 + start: [0, 5] +- goal: [2, 3] + name: agent12 + start: [5, 0] +- goal: [3, 7] + name: agent13 + start: [0, 0] +- goal: [7, 5] + name: agent14 + start: [0, 2] +- goal: [1, 0] + name: agent15 + start: [7, 3] +- goal: [6, 5] + name: agent16 + start: [0, 7] +- goal: [2, 0] + name: agent17 + start: [2, 7] +- goal: [6, 7] + name: agent18 + start: [0, 1] +- goal: [3, 1] + name: agent19 + start: [2, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 4] + - !!python/tuple [7, 4] + - !!python/tuple [0, 4] + - !!python/tuple [7, 1] + - !!python/tuple [7, 0] + - !!python/tuple [4, 6] + - !!python/tuple [6, 1] + - !!python/tuple [6, 6] + - !!python/tuple [1, 1] + - !!python/tuple [3, 6] + - !!python/tuple [1, 7] + - !!python/tuple [3, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex6.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex6.yaml new file mode 100644 index 0000000..c4c8411 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex6.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [5, 2] + name: agent0 + start: [1, 7] +- goal: [0, 7] + name: agent1 + start: [0, 2] +- goal: [1, 4] + name: agent2 + start: [5, 2] +- goal: [4, 4] + name: agent3 + start: [3, 5] +- goal: [3, 7] + name: agent4 + start: [7, 6] +- goal: [0, 5] + name: agent5 + start: [1, 2] +- goal: [1, 1] + name: agent6 + start: [3, 6] +- goal: [2, 3] + name: agent7 + start: [6, 7] +- goal: [5, 4] + name: agent8 + start: [1, 6] +- goal: [0, 0] + name: agent9 + start: [0, 6] +- goal: [5, 5] + name: agent10 + start: [4, 4] +- goal: [1, 2] + name: agent11 + start: [7, 2] +- goal: [6, 7] + name: agent12 + start: [4, 7] +- goal: [0, 1] + name: agent13 + start: [2, 3] +- goal: [1, 6] + name: agent14 + start: [5, 6] +- goal: [4, 7] + name: agent15 + start: [1, 4] +- goal: [7, 4] + name: agent16 + start: [7, 0] +- goal: [1, 3] + name: agent17 + start: [5, 1] +- goal: [4, 3] + name: agent18 + start: [2, 0] +- goal: [6, 4] + name: agent19 + start: [0, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 3] + - !!python/tuple [6, 1] + - !!python/tuple [3, 0] + - !!python/tuple [7, 7] + - !!python/tuple [5, 7] + - !!python/tuple [3, 4] + - !!python/tuple [4, 5] + - !!python/tuple [2, 7] + - !!python/tuple [7, 5] + - !!python/tuple [1, 5] + - !!python/tuple [4, 0] + - !!python/tuple [2, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex60.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex60.yaml new file mode 100644 index 0000000..f25ef32 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex60.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [5, 0] + name: agent0 + start: [4, 1] +- goal: [0, 1] + name: agent1 + start: [0, 3] +- goal: [3, 0] + name: agent2 + start: [0, 6] +- goal: [3, 3] + name: agent3 + start: [7, 2] +- goal: [2, 1] + name: agent4 + start: [5, 3] +- goal: [1, 6] + name: agent5 + start: [4, 2] +- goal: [4, 1] + name: agent6 + start: [1, 4] +- goal: [2, 7] + name: agent7 + start: [3, 7] +- goal: [4, 3] + name: agent8 + start: [5, 2] +- goal: [2, 4] + name: agent9 + start: [5, 6] +- goal: [6, 7] + name: agent10 + start: [3, 2] +- goal: [5, 6] + name: agent11 + start: [6, 6] +- goal: [4, 2] + name: agent12 + start: [1, 1] +- goal: [1, 4] + name: agent13 + start: [0, 1] +- goal: [7, 4] + name: agent14 + start: [2, 3] +- goal: [6, 0] + name: agent15 + start: [2, 2] +- goal: [1, 2] + name: agent16 + start: [6, 4] +- goal: [3, 6] + name: agent17 + start: [6, 0] +- goal: [5, 2] + name: agent18 + start: [0, 5] +- goal: [1, 1] + name: agent19 + start: [3, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 1] + - !!python/tuple [7, 5] + - !!python/tuple [7, 0] + - !!python/tuple [0, 4] + - !!python/tuple [3, 1] + - !!python/tuple [2, 5] + - !!python/tuple [1, 7] + - !!python/tuple [4, 4] + - !!python/tuple [5, 4] + - !!python/tuple [7, 7] + - !!python/tuple [4, 0] + - !!python/tuple [0, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex61.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex61.yaml new file mode 100644 index 0000000..a094f96 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex61.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [4, 5] + name: agent0 + start: [1, 5] +- goal: [1, 5] + name: agent1 + start: [1, 1] +- goal: [6, 2] + name: agent2 + start: [1, 6] +- goal: [2, 7] + name: agent3 + start: [0, 1] +- goal: [1, 2] + name: agent4 + start: [7, 6] +- goal: [3, 6] + name: agent5 + start: [5, 7] +- goal: [0, 7] + name: agent6 + start: [3, 5] +- goal: [4, 7] + name: agent7 + start: [0, 5] +- goal: [2, 5] + name: agent8 + start: [3, 4] +- goal: [6, 3] + name: agent9 + start: [6, 6] +- goal: [5, 5] + name: agent10 + start: [3, 2] +- goal: [2, 1] + name: agent11 + start: [0, 6] +- goal: [7, 1] + name: agent12 + start: [6, 5] +- goal: [3, 5] + name: agent13 + start: [3, 7] +- goal: [2, 4] + name: agent14 + start: [2, 4] +- goal: [6, 1] + name: agent15 + start: [4, 0] +- goal: [5, 1] + name: agent16 + start: [2, 5] +- goal: [4, 1] + name: agent17 + start: [0, 3] +- goal: [7, 7] + name: agent18 + start: [6, 2] +- goal: [5, 6] + name: agent19 + start: [4, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 1] + - !!python/tuple [6, 0] + - !!python/tuple [7, 3] + - !!python/tuple [0, 4] + - !!python/tuple [1, 7] + - !!python/tuple [4, 6] + - !!python/tuple [7, 2] + - !!python/tuple [5, 4] + - !!python/tuple [7, 0] + - !!python/tuple [3, 0] + - !!python/tuple [0, 2] + - !!python/tuple [2, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex62.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex62.yaml new file mode 100644 index 0000000..0a36558 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex62.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [2, 5] + name: agent0 + start: [0, 1] +- goal: [3, 1] + name: agent1 + start: [4, 0] +- goal: [3, 6] + name: agent2 + start: [2, 1] +- goal: [4, 4] + name: agent3 + start: [4, 3] +- goal: [3, 3] + name: agent4 + start: [3, 1] +- goal: [7, 2] + name: agent5 + start: [6, 4] +- goal: [1, 2] + name: agent6 + start: [0, 5] +- goal: [4, 2] + name: agent7 + start: [4, 2] +- goal: [5, 6] + name: agent8 + start: [6, 2] +- goal: [3, 5] + name: agent9 + start: [3, 5] +- goal: [2, 0] + name: agent10 + start: [3, 6] +- goal: [7, 1] + name: agent11 + start: [2, 0] +- goal: [1, 0] + name: agent12 + start: [1, 7] +- goal: [2, 4] + name: agent13 + start: [2, 5] +- goal: [2, 3] + name: agent14 + start: [5, 6] +- goal: [7, 4] + name: agent15 + start: [2, 2] +- goal: [0, 2] + name: agent16 + start: [3, 2] +- goal: [6, 6] + name: agent17 + start: [6, 7] +- goal: [0, 7] + name: agent18 + start: [2, 4] +- goal: [5, 0] + name: agent19 + start: [4, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 1] + - !!python/tuple [5, 3] + - !!python/tuple [6, 5] + - !!python/tuple [5, 1] + - !!python/tuple [3, 0] + - !!python/tuple [1, 5] + - !!python/tuple [0, 6] + - !!python/tuple [5, 5] + - !!python/tuple [7, 0] + - !!python/tuple [0, 0] + - !!python/tuple [4, 7] + - !!python/tuple [3, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex63.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex63.yaml new file mode 100644 index 0000000..41237df --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex63.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [1, 3] + name: agent0 + start: [3, 5] +- goal: [0, 1] + name: agent1 + start: [3, 6] +- goal: [3, 1] + name: agent2 + start: [1, 5] +- goal: [0, 0] + name: agent3 + start: [2, 3] +- goal: [4, 4] + name: agent4 + start: [6, 6] +- goal: [7, 7] + name: agent5 + start: [5, 4] +- goal: [4, 1] + name: agent6 + start: [2, 1] +- goal: [3, 2] + name: agent7 + start: [0, 3] +- goal: [6, 5] + name: agent8 + start: [6, 1] +- goal: [5, 7] + name: agent9 + start: [7, 5] +- goal: [6, 3] + name: agent10 + start: [5, 2] +- goal: [4, 5] + name: agent11 + start: [7, 1] +- goal: [2, 4] + name: agent12 + start: [1, 6] +- goal: [7, 4] + name: agent13 + start: [1, 4] +- goal: [5, 5] + name: agent14 + start: [1, 7] +- goal: [7, 3] + name: agent15 + start: [7, 7] +- goal: [6, 2] + name: agent16 + start: [2, 0] +- goal: [4, 2] + name: agent17 + start: [0, 1] +- goal: [2, 6] + name: agent18 + start: [7, 2] +- goal: [6, 6] + name: agent19 + start: [6, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 7] + - !!python/tuple [5, 1] + - !!python/tuple [5, 3] + - !!python/tuple [0, 7] + - !!python/tuple [1, 1] + - !!python/tuple [1, 2] + - !!python/tuple [3, 0] + - !!python/tuple [7, 0] + - !!python/tuple [3, 7] + - !!python/tuple [0, 6] + - !!python/tuple [2, 2] + - !!python/tuple [6, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex64.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex64.yaml new file mode 100644 index 0000000..a22f964 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex64.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [7, 6] + name: agent0 + start: [2, 4] +- goal: [1, 5] + name: agent1 + start: [3, 3] +- goal: [0, 5] + name: agent2 + start: [0, 4] +- goal: [7, 2] + name: agent3 + start: [7, 0] +- goal: [5, 7] + name: agent4 + start: [5, 3] +- goal: [6, 7] + name: agent5 + start: [4, 7] +- goal: [4, 1] + name: agent6 + start: [1, 0] +- goal: [0, 7] + name: agent7 + start: [5, 2] +- goal: [5, 6] + name: agent8 + start: [1, 5] +- goal: [4, 5] + name: agent9 + start: [0, 5] +- goal: [1, 2] + name: agent10 + start: [7, 2] +- goal: [6, 3] + name: agent11 + start: [2, 6] +- goal: [0, 2] + name: agent12 + start: [4, 5] +- goal: [1, 4] + name: agent13 + start: [2, 0] +- goal: [2, 6] + name: agent14 + start: [0, 7] +- goal: [0, 4] + name: agent15 + start: [0, 1] +- goal: [5, 5] + name: agent16 + start: [7, 6] +- goal: [4, 0] + name: agent17 + start: [0, 2] +- goal: [1, 3] + name: agent18 + start: [1, 7] +- goal: [3, 2] + name: agent19 + start: [1, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 3] + - !!python/tuple [2, 3] + - !!python/tuple [6, 2] + - !!python/tuple [6, 4] + - !!python/tuple [3, 1] + - !!python/tuple [7, 4] + - !!python/tuple [3, 4] + - !!python/tuple [0, 3] + - !!python/tuple [1, 6] + - !!python/tuple [6, 0] + - !!python/tuple [2, 7] + - !!python/tuple [7, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex65.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex65.yaml new file mode 100644 index 0000000..5b182cb --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex65.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [7, 3] + name: agent0 + start: [0, 3] +- goal: [3, 6] + name: agent1 + start: [2, 2] +- goal: [2, 6] + name: agent2 + start: [4, 1] +- goal: [5, 0] + name: agent3 + start: [2, 6] +- goal: [5, 5] + name: agent4 + start: [6, 0] +- goal: [6, 0] + name: agent5 + start: [4, 7] +- goal: [2, 5] + name: agent6 + start: [2, 5] +- goal: [7, 1] + name: agent7 + start: [1, 1] +- goal: [3, 5] + name: agent8 + start: [0, 4] +- goal: [6, 6] + name: agent9 + start: [5, 0] +- goal: [4, 3] + name: agent10 + start: [1, 0] +- goal: [0, 5] + name: agent11 + start: [6, 1] +- goal: [3, 3] + name: agent12 + start: [4, 4] +- goal: [5, 6] + name: agent13 + start: [3, 3] +- goal: [2, 4] + name: agent14 + start: [1, 6] +- goal: [7, 4] + name: agent15 + start: [5, 7] +- goal: [7, 5] + name: agent16 + start: [3, 6] +- goal: [5, 1] + name: agent17 + start: [3, 5] +- goal: [3, 1] + name: agent18 + start: [2, 0] +- goal: [1, 7] + name: agent19 + start: [5, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 4] + - !!python/tuple [4, 0] + - !!python/tuple [0, 2] + - !!python/tuple [4, 6] + - !!python/tuple [0, 6] + - !!python/tuple [0, 0] + - !!python/tuple [1, 3] + - !!python/tuple [1, 5] + - !!python/tuple [4, 2] + - !!python/tuple [1, 2] + - !!python/tuple [2, 1] + - !!python/tuple [5, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex66.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex66.yaml new file mode 100644 index 0000000..942a2a1 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex66.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [2, 4] + name: agent0 + start: [6, 7] +- goal: [4, 7] + name: agent1 + start: [0, 2] +- goal: [7, 6] + name: agent2 + start: [2, 6] +- goal: [7, 7] + name: agent3 + start: [3, 6] +- goal: [6, 7] + name: agent4 + start: [4, 5] +- goal: [2, 5] + name: agent5 + start: [6, 0] +- goal: [4, 3] + name: agent6 + start: [4, 0] +- goal: [2, 2] + name: agent7 + start: [1, 6] +- goal: [7, 2] + name: agent8 + start: [6, 6] +- goal: [0, 1] + name: agent9 + start: [5, 5] +- goal: [3, 5] + name: agent10 + start: [7, 7] +- goal: [6, 4] + name: agent11 + start: [7, 1] +- goal: [1, 0] + name: agent12 + start: [2, 0] +- goal: [3, 3] + name: agent13 + start: [1, 0] +- goal: [2, 6] + name: agent14 + start: [1, 2] +- goal: [7, 3] + name: agent15 + start: [1, 5] +- goal: [4, 6] + name: agent16 + start: [0, 7] +- goal: [3, 4] + name: agent17 + start: [1, 7] +- goal: [2, 3] + name: agent18 + start: [0, 1] +- goal: [0, 0] + name: agent19 + start: [2, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 1] + - !!python/tuple [5, 6] + - !!python/tuple [3, 1] + - !!python/tuple [1, 3] + - !!python/tuple [1, 4] + - !!python/tuple [2, 7] + - !!python/tuple [3, 0] + - !!python/tuple [3, 2] + - !!python/tuple [0, 5] + - !!python/tuple [1, 1] + - !!python/tuple [5, 1] + - !!python/tuple [4, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex67.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex67.yaml new file mode 100644 index 0000000..b2db523 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex67.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [6, 3] + name: agent0 + start: [3, 5] +- goal: [1, 7] + name: agent1 + start: [7, 2] +- goal: [4, 1] + name: agent2 + start: [2, 1] +- goal: [4, 7] + name: agent3 + start: [4, 1] +- goal: [5, 6] + name: agent4 + start: [1, 0] +- goal: [6, 4] + name: agent5 + start: [0, 3] +- goal: [7, 2] + name: agent6 + start: [0, 5] +- goal: [1, 2] + name: agent7 + start: [3, 0] +- goal: [7, 7] + name: agent8 + start: [4, 2] +- goal: [5, 5] + name: agent9 + start: [7, 3] +- goal: [2, 6] + name: agent10 + start: [1, 4] +- goal: [6, 1] + name: agent11 + start: [6, 3] +- goal: [5, 7] + name: agent12 + start: [3, 7] +- goal: [0, 4] + name: agent13 + start: [2, 4] +- goal: [7, 3] + name: agent14 + start: [0, 4] +- goal: [4, 6] + name: agent15 + start: [2, 7] +- goal: [5, 1] + name: agent16 + start: [6, 4] +- goal: [2, 0] + name: agent17 + start: [1, 2] +- goal: [0, 7] + name: agent18 + start: [4, 0] +- goal: [1, 4] + name: agent19 + start: [7, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 2] + - !!python/tuple [6, 6] + - !!python/tuple [0, 6] + - !!python/tuple [1, 3] + - !!python/tuple [1, 6] + - !!python/tuple [4, 4] + - !!python/tuple [7, 6] + - !!python/tuple [5, 4] + - !!python/tuple [7, 4] + - !!python/tuple [5, 2] + - !!python/tuple [4, 5] + - !!python/tuple [3, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex68.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex68.yaml new file mode 100644 index 0000000..50c353e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex68.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [7, 7] + name: agent0 + start: [2, 5] +- goal: [2, 4] + name: agent1 + start: [7, 2] +- goal: [7, 5] + name: agent2 + start: [3, 1] +- goal: [2, 3] + name: agent3 + start: [7, 7] +- goal: [4, 2] + name: agent4 + start: [6, 3] +- goal: [5, 6] + name: agent5 + start: [2, 6] +- goal: [1, 0] + name: agent6 + start: [5, 5] +- goal: [7, 6] + name: agent7 + start: [3, 5] +- goal: [4, 4] + name: agent8 + start: [3, 4] +- goal: [3, 2] + name: agent9 + start: [2, 1] +- goal: [6, 1] + name: agent10 + start: [2, 7] +- goal: [6, 0] + name: agent11 + start: [6, 0] +- goal: [4, 6] + name: agent12 + start: [1, 5] +- goal: [1, 1] + name: agent13 + start: [4, 3] +- goal: [4, 5] + name: agent14 + start: [2, 4] +- goal: [6, 7] + name: agent15 + start: [3, 0] +- goal: [4, 3] + name: agent16 + start: [1, 6] +- goal: [1, 2] + name: agent17 + start: [0, 4] +- goal: [0, 4] + name: agent18 + start: [4, 0] +- goal: [5, 5] + name: agent19 + start: [5, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 6] + - !!python/tuple [2, 0] + - !!python/tuple [0, 2] + - !!python/tuple [0, 3] + - !!python/tuple [6, 2] + - !!python/tuple [7, 0] + - !!python/tuple [7, 4] + - !!python/tuple [1, 7] + - !!python/tuple [3, 3] + - !!python/tuple [6, 5] + - !!python/tuple [0, 6] + - !!python/tuple [6, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex69.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex69.yaml new file mode 100644 index 0000000..644351f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex69.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [3, 2] + name: agent0 + start: [3, 4] +- goal: [1, 4] + name: agent1 + start: [0, 0] +- goal: [2, 2] + name: agent2 + start: [3, 1] +- goal: [3, 7] + name: agent3 + start: [6, 3] +- goal: [6, 2] + name: agent4 + start: [5, 5] +- goal: [3, 0] + name: agent5 + start: [1, 1] +- goal: [4, 6] + name: agent6 + start: [5, 2] +- goal: [6, 5] + name: agent7 + start: [7, 2] +- goal: [7, 5] + name: agent8 + start: [3, 7] +- goal: [2, 1] + name: agent9 + start: [1, 5] +- goal: [3, 6] + name: agent10 + start: [1, 3] +- goal: [5, 0] + name: agent11 + start: [1, 0] +- goal: [7, 2] + name: agent12 + start: [2, 2] +- goal: [2, 5] + name: agent13 + start: [2, 7] +- goal: [4, 5] + name: agent14 + start: [4, 5] +- goal: [1, 5] + name: agent15 + start: [0, 6] +- goal: [3, 3] + name: agent16 + start: [7, 6] +- goal: [2, 6] + name: agent17 + start: [5, 0] +- goal: [0, 0] + name: agent18 + start: [1, 2] +- goal: [7, 0] + name: agent19 + start: [5, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 3] + - !!python/tuple [6, 4] + - !!python/tuple [0, 4] + - !!python/tuple [7, 1] + - !!python/tuple [6, 6] + - !!python/tuple [4, 1] + - !!python/tuple [6, 7] + - !!python/tuple [4, 7] + - !!python/tuple [0, 7] + - !!python/tuple [5, 6] + - !!python/tuple [0, 2] + - !!python/tuple [0, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex7.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex7.yaml new file mode 100644 index 0000000..139cb8a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex7.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [6, 3] + name: agent0 + start: [3, 3] +- goal: [2, 7] + name: agent1 + start: [4, 6] +- goal: [4, 6] + name: agent2 + start: [5, 4] +- goal: [1, 7] + name: agent3 + start: [2, 2] +- goal: [5, 4] + name: agent4 + start: [7, 4] +- goal: [6, 4] + name: agent5 + start: [2, 4] +- goal: [3, 3] + name: agent6 + start: [1, 4] +- goal: [5, 1] + name: agent7 + start: [5, 2] +- goal: [6, 7] + name: agent8 + start: [7, 2] +- goal: [1, 3] + name: agent9 + start: [4, 4] +- goal: [3, 7] + name: agent10 + start: [1, 1] +- goal: [7, 7] + name: agent11 + start: [3, 1] +- goal: [2, 5] + name: agent12 + start: [5, 3] +- goal: [4, 2] + name: agent13 + start: [7, 3] +- goal: [4, 4] + name: agent14 + start: [6, 1] +- goal: [3, 4] + name: agent15 + start: [1, 7] +- goal: [4, 1] + name: agent16 + start: [7, 1] +- goal: [0, 2] + name: agent17 + start: [0, 1] +- goal: [4, 5] + name: agent18 + start: [2, 3] +- goal: [7, 3] + name: agent19 + start: [7, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 4] + - !!python/tuple [3, 2] + - !!python/tuple [0, 6] + - !!python/tuple [6, 2] + - !!python/tuple [5, 0] + - !!python/tuple [3, 0] + - !!python/tuple [0, 0] + - !!python/tuple [4, 3] + - !!python/tuple [6, 0] + - !!python/tuple [2, 6] + - !!python/tuple [4, 0] + - !!python/tuple [1, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex70.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex70.yaml new file mode 100644 index 0000000..91354f9 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex70.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [1, 5] + name: agent0 + start: [4, 2] +- goal: [5, 7] + name: agent1 + start: [2, 3] +- goal: [1, 0] + name: agent2 + start: [1, 6] +- goal: [3, 2] + name: agent3 + start: [4, 1] +- goal: [6, 5] + name: agent4 + start: [4, 7] +- goal: [0, 1] + name: agent5 + start: [7, 1] +- goal: [1, 1] + name: agent6 + start: [2, 0] +- goal: [7, 3] + name: agent7 + start: [1, 5] +- goal: [4, 3] + name: agent8 + start: [3, 7] +- goal: [5, 6] + name: agent9 + start: [0, 6] +- goal: [3, 1] + name: agent10 + start: [4, 4] +- goal: [7, 5] + name: agent11 + start: [0, 3] +- goal: [6, 4] + name: agent12 + start: [2, 1] +- goal: [4, 2] + name: agent13 + start: [1, 4] +- goal: [6, 2] + name: agent14 + start: [7, 4] +- goal: [3, 3] + name: agent15 + start: [1, 7] +- goal: [0, 7] + name: agent16 + start: [0, 1] +- goal: [1, 3] + name: agent17 + start: [1, 0] +- goal: [4, 7] + name: agent18 + start: [6, 7] +- goal: [0, 5] + name: agent19 + start: [6, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 2] + - !!python/tuple [2, 6] + - !!python/tuple [6, 6] + - !!python/tuple [3, 4] + - !!python/tuple [5, 1] + - !!python/tuple [7, 7] + - !!python/tuple [0, 2] + - !!python/tuple [4, 5] + - !!python/tuple [1, 2] + - !!python/tuple [5, 0] + - !!python/tuple [7, 0] + - !!python/tuple [5, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex71.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex71.yaml new file mode 100644 index 0000000..5bc5ed8 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex71.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [0, 4] + name: agent0 + start: [3, 0] +- goal: [5, 1] + name: agent1 + start: [2, 7] +- goal: [2, 4] + name: agent2 + start: [1, 6] +- goal: [0, 1] + name: agent3 + start: [4, 0] +- goal: [6, 7] + name: agent4 + start: [3, 5] +- goal: [1, 5] + name: agent5 + start: [0, 7] +- goal: [1, 2] + name: agent6 + start: [0, 1] +- goal: [7, 4] + name: agent7 + start: [3, 3] +- goal: [7, 1] + name: agent8 + start: [4, 4] +- goal: [1, 0] + name: agent9 + start: [1, 2] +- goal: [5, 6] + name: agent10 + start: [7, 1] +- goal: [7, 6] + name: agent11 + start: [0, 3] +- goal: [7, 2] + name: agent12 + start: [4, 3] +- goal: [3, 7] + name: agent13 + start: [6, 0] +- goal: [4, 0] + name: agent14 + start: [5, 1] +- goal: [5, 3] + name: agent15 + start: [5, 6] +- goal: [2, 6] + name: agent16 + start: [7, 5] +- goal: [4, 5] + name: agent17 + start: [4, 2] +- goal: [2, 3] + name: agent18 + start: [7, 4] +- goal: [6, 3] + name: agent19 + start: [6, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 5] + - !!python/tuple [1, 3] + - !!python/tuple [3, 1] + - !!python/tuple [5, 5] + - !!python/tuple [6, 4] + - !!python/tuple [0, 5] + - !!python/tuple [0, 2] + - !!python/tuple [5, 7] + - !!python/tuple [6, 6] + - !!python/tuple [3, 6] + - !!python/tuple [0, 6] + - !!python/tuple [2, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex72.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex72.yaml new file mode 100644 index 0000000..fb85948 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex72.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [5, 7] + name: agent0 + start: [2, 3] +- goal: [0, 2] + name: agent1 + start: [3, 5] +- goal: [2, 3] + name: agent2 + start: [6, 6] +- goal: [1, 4] + name: agent3 + start: [6, 3] +- goal: [6, 7] + name: agent4 + start: [1, 2] +- goal: [3, 7] + name: agent5 + start: [3, 0] +- goal: [5, 6] + name: agent6 + start: [4, 3] +- goal: [7, 6] + name: agent7 + start: [2, 7] +- goal: [3, 2] + name: agent8 + start: [5, 1] +- goal: [5, 1] + name: agent9 + start: [2, 6] +- goal: [1, 0] + name: agent10 + start: [6, 4] +- goal: [4, 7] + name: agent11 + start: [0, 3] +- goal: [4, 6] + name: agent12 + start: [5, 3] +- goal: [2, 6] + name: agent13 + start: [1, 4] +- goal: [0, 5] + name: agent14 + start: [6, 5] +- goal: [0, 0] + name: agent15 + start: [7, 6] +- goal: [0, 7] + name: agent16 + start: [0, 0] +- goal: [2, 0] + name: agent17 + start: [0, 4] +- goal: [6, 4] + name: agent18 + start: [7, 4] +- goal: [4, 3] + name: agent19 + start: [1, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 1] + - !!python/tuple [6, 0] + - !!python/tuple [1, 5] + - !!python/tuple [2, 2] + - !!python/tuple [5, 2] + - !!python/tuple [1, 3] + - !!python/tuple [7, 0] + - !!python/tuple [7, 5] + - !!python/tuple [3, 1] + - !!python/tuple [7, 3] + - !!python/tuple [5, 4] + - !!python/tuple [4, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex73.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex73.yaml new file mode 100644 index 0000000..b9795d6 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex73.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [2, 2] + name: agent0 + start: [4, 7] +- goal: [4, 3] + name: agent1 + start: [6, 5] +- goal: [2, 5] + name: agent2 + start: [7, 2] +- goal: [7, 2] + name: agent3 + start: [5, 6] +- goal: [4, 4] + name: agent4 + start: [3, 2] +- goal: [0, 7] + name: agent5 + start: [7, 0] +- goal: [5, 2] + name: agent6 + start: [7, 7] +- goal: [7, 4] + name: agent7 + start: [2, 6] +- goal: [2, 0] + name: agent8 + start: [4, 5] +- goal: [4, 7] + name: agent9 + start: [6, 6] +- goal: [0, 3] + name: agent10 + start: [4, 4] +- goal: [6, 3] + name: agent11 + start: [5, 5] +- goal: [1, 3] + name: agent12 + start: [4, 1] +- goal: [1, 7] + name: agent13 + start: [4, 0] +- goal: [3, 5] + name: agent14 + start: [3, 7] +- goal: [7, 1] + name: agent15 + start: [6, 4] +- goal: [6, 6] + name: agent16 + start: [1, 1] +- goal: [7, 0] + name: agent17 + start: [7, 5] +- goal: [6, 1] + name: agent18 + start: [2, 2] +- goal: [3, 4] + name: agent19 + start: [6, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 2] + - !!python/tuple [1, 0] + - !!python/tuple [4, 6] + - !!python/tuple [6, 0] + - !!python/tuple [3, 6] + - !!python/tuple [5, 0] + - !!python/tuple [6, 2] + - !!python/tuple [4, 2] + - !!python/tuple [0, 1] + - !!python/tuple [0, 0] + - !!python/tuple [2, 4] + - !!python/tuple [1, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex74.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex74.yaml new file mode 100644 index 0000000..883b6ae --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex74.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [2, 0] + name: agent0 + start: [0, 0] +- goal: [3, 5] + name: agent1 + start: [3, 3] +- goal: [0, 2] + name: agent2 + start: [6, 2] +- goal: [5, 2] + name: agent3 + start: [1, 6] +- goal: [4, 3] + name: agent4 + start: [4, 2] +- goal: [6, 7] + name: agent5 + start: [2, 2] +- goal: [4, 4] + name: agent6 + start: [2, 7] +- goal: [7, 0] + name: agent7 + start: [4, 7] +- goal: [2, 4] + name: agent8 + start: [7, 3] +- goal: [6, 4] + name: agent9 + start: [2, 4] +- goal: [5, 0] + name: agent10 + start: [6, 1] +- goal: [2, 5] + name: agent11 + start: [6, 6] +- goal: [6, 0] + name: agent12 + start: [6, 3] +- goal: [4, 0] + name: agent13 + start: [4, 4] +- goal: [5, 7] + name: agent14 + start: [1, 4] +- goal: [7, 6] + name: agent15 + start: [3, 4] +- goal: [1, 1] + name: agent16 + start: [2, 5] +- goal: [7, 5] + name: agent17 + start: [6, 5] +- goal: [2, 3] + name: agent18 + start: [7, 0] +- goal: [3, 6] + name: agent19 + start: [7, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 6] + - !!python/tuple [1, 7] + - !!python/tuple [1, 0] + - !!python/tuple [1, 2] + - !!python/tuple [7, 7] + - !!python/tuple [5, 3] + - !!python/tuple [5, 5] + - !!python/tuple [1, 3] + - !!python/tuple [0, 6] + - !!python/tuple [7, 1] + - !!python/tuple [3, 0] + - !!python/tuple [5, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex75.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex75.yaml new file mode 100644 index 0000000..855a45f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex75.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [7, 1] + name: agent0 + start: [5, 6] +- goal: [7, 0] + name: agent1 + start: [2, 4] +- goal: [2, 4] + name: agent2 + start: [7, 5] +- goal: [1, 2] + name: agent3 + start: [5, 4] +- goal: [4, 4] + name: agent4 + start: [6, 7] +- goal: [1, 7] + name: agent5 + start: [5, 1] +- goal: [3, 7] + name: agent6 + start: [6, 0] +- goal: [6, 2] + name: agent7 + start: [2, 2] +- goal: [0, 7] + name: agent8 + start: [3, 3] +- goal: [6, 3] + name: agent9 + start: [1, 7] +- goal: [4, 1] + name: agent10 + start: [0, 3] +- goal: [2, 6] + name: agent11 + start: [7, 6] +- goal: [2, 7] + name: agent12 + start: [2, 7] +- goal: [3, 3] + name: agent13 + start: [1, 3] +- goal: [2, 3] + name: agent14 + start: [2, 1] +- goal: [0, 6] + name: agent15 + start: [5, 3] +- goal: [7, 4] + name: agent16 + start: [3, 5] +- goal: [3, 5] + name: agent17 + start: [2, 3] +- goal: [0, 4] + name: agent18 + start: [4, 0] +- goal: [1, 5] + name: agent19 + start: [3, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 1] + - !!python/tuple [5, 0] + - !!python/tuple [6, 5] + - !!python/tuple [5, 7] + - !!python/tuple [0, 2] + - !!python/tuple [4, 3] + - !!python/tuple [1, 4] + - !!python/tuple [4, 2] + - !!python/tuple [7, 3] + - !!python/tuple [1, 6] + - !!python/tuple [6, 1] + - !!python/tuple [0, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex76.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex76.yaml new file mode 100644 index 0000000..25561c8 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex76.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [6, 3] + name: agent0 + start: [5, 3] +- goal: [2, 7] + name: agent1 + start: [2, 0] +- goal: [4, 1] + name: agent2 + start: [1, 7] +- goal: [0, 3] + name: agent3 + start: [3, 6] +- goal: [4, 0] + name: agent4 + start: [7, 7] +- goal: [1, 6] + name: agent5 + start: [6, 4] +- goal: [2, 0] + name: agent6 + start: [1, 3] +- goal: [3, 5] + name: agent7 + start: [4, 5] +- goal: [1, 3] + name: agent8 + start: [1, 0] +- goal: [6, 2] + name: agent9 + start: [3, 7] +- goal: [5, 7] + name: agent10 + start: [2, 2] +- goal: [4, 5] + name: agent11 + start: [7, 2] +- goal: [4, 2] + name: agent12 + start: [0, 3] +- goal: [0, 5] + name: agent13 + start: [7, 1] +- goal: [3, 7] + name: agent14 + start: [4, 4] +- goal: [7, 3] + name: agent15 + start: [7, 5] +- goal: [5, 1] + name: agent16 + start: [0, 5] +- goal: [0, 6] + name: agent17 + start: [4, 3] +- goal: [4, 6] + name: agent18 + start: [4, 1] +- goal: [6, 4] + name: agent19 + start: [5, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 2] + - !!python/tuple [1, 4] + - !!python/tuple [6, 6] + - !!python/tuple [2, 4] + - !!python/tuple [3, 3] + - !!python/tuple [1, 5] + - !!python/tuple [1, 1] + - !!python/tuple [5, 6] + - !!python/tuple [3, 4] + - !!python/tuple [7, 4] + - !!python/tuple [5, 2] + - !!python/tuple [3, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex77.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex77.yaml new file mode 100644 index 0000000..db0bc95 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex77.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [0, 6] + name: agent0 + start: [5, 6] +- goal: [2, 0] + name: agent1 + start: [5, 7] +- goal: [1, 1] + name: agent2 + start: [1, 1] +- goal: [5, 6] + name: agent3 + start: [7, 3] +- goal: [0, 5] + name: agent4 + start: [7, 0] +- goal: [3, 1] + name: agent5 + start: [1, 0] +- goal: [5, 2] + name: agent6 + start: [1, 2] +- goal: [2, 1] + name: agent7 + start: [0, 2] +- goal: [7, 5] + name: agent8 + start: [1, 6] +- goal: [6, 5] + name: agent9 + start: [0, 7] +- goal: [6, 0] + name: agent10 + start: [4, 7] +- goal: [6, 1] + name: agent11 + start: [1, 4] +- goal: [5, 0] + name: agent12 + start: [6, 5] +- goal: [0, 0] + name: agent13 + start: [1, 7] +- goal: [0, 2] + name: agent14 + start: [6, 6] +- goal: [3, 4] + name: agent15 + start: [5, 2] +- goal: [0, 3] + name: agent16 + start: [3, 7] +- goal: [4, 0] + name: agent17 + start: [0, 3] +- goal: [6, 4] + name: agent18 + start: [4, 0] +- goal: [2, 6] + name: agent19 + start: [4, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 2] + - !!python/tuple [3, 2] + - !!python/tuple [2, 7] + - !!python/tuple [7, 6] + - !!python/tuple [6, 2] + - !!python/tuple [3, 5] + - !!python/tuple [3, 6] + - !!python/tuple [6, 7] + - !!python/tuple [2, 5] + - !!python/tuple [0, 4] + - !!python/tuple [3, 3] + - !!python/tuple [5, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex78.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex78.yaml new file mode 100644 index 0000000..8401400 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex78.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [0, 2] + name: agent0 + start: [7, 4] +- goal: [5, 3] + name: agent1 + start: [5, 1] +- goal: [7, 4] + name: agent2 + start: [1, 2] +- goal: [7, 7] + name: agent3 + start: [7, 5] +- goal: [7, 5] + name: agent4 + start: [6, 5] +- goal: [5, 7] + name: agent5 + start: [2, 5] +- goal: [5, 6] + name: agent6 + start: [4, 3] +- goal: [0, 3] + name: agent7 + start: [1, 5] +- goal: [1, 3] + name: agent8 + start: [3, 5] +- goal: [2, 6] + name: agent9 + start: [4, 1] +- goal: [4, 3] + name: agent10 + start: [6, 4] +- goal: [6, 1] + name: agent11 + start: [1, 3] +- goal: [2, 2] + name: agent12 + start: [4, 7] +- goal: [1, 7] + name: agent13 + start: [4, 4] +- goal: [7, 0] + name: agent14 + start: [1, 6] +- goal: [6, 6] + name: agent15 + start: [2, 4] +- goal: [0, 5] + name: agent16 + start: [3, 7] +- goal: [5, 0] + name: agent17 + start: [0, 6] +- goal: [0, 4] + name: agent18 + start: [3, 3] +- goal: [3, 7] + name: agent19 + start: [5, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 0] + - !!python/tuple [2, 3] + - !!python/tuple [3, 1] + - !!python/tuple [0, 1] + - !!python/tuple [7, 2] + - !!python/tuple [3, 2] + - !!python/tuple [4, 6] + - !!python/tuple [7, 3] + - !!python/tuple [2, 7] + - !!python/tuple [0, 0] + - !!python/tuple [1, 1] + - !!python/tuple [4, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex79.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex79.yaml new file mode 100644 index 0000000..24af97d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex79.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [0, 4] + name: agent0 + start: [5, 1] +- goal: [7, 3] + name: agent1 + start: [2, 2] +- goal: [0, 0] + name: agent2 + start: [7, 2] +- goal: [5, 1] + name: agent3 + start: [1, 7] +- goal: [1, 3] + name: agent4 + start: [6, 6] +- goal: [3, 4] + name: agent5 + start: [7, 5] +- goal: [4, 4] + name: agent6 + start: [6, 0] +- goal: [7, 5] + name: agent7 + start: [5, 6] +- goal: [6, 4] + name: agent8 + start: [0, 7] +- goal: [3, 1] + name: agent9 + start: [1, 2] +- goal: [2, 1] + name: agent10 + start: [3, 4] +- goal: [6, 2] + name: agent11 + start: [5, 7] +- goal: [3, 7] + name: agent12 + start: [7, 0] +- goal: [1, 1] + name: agent13 + start: [1, 0] +- goal: [4, 1] + name: agent14 + start: [0, 4] +- goal: [7, 2] + name: agent15 + start: [3, 0] +- goal: [6, 7] + name: agent16 + start: [1, 1] +- goal: [5, 6] + name: agent17 + start: [7, 3] +- goal: [3, 0] + name: agent18 + start: [2, 0] +- goal: [5, 4] + name: agent19 + start: [4, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 3] + - !!python/tuple [6, 1] + - !!python/tuple [1, 4] + - !!python/tuple [0, 1] + - !!python/tuple [3, 3] + - !!python/tuple [2, 5] + - !!python/tuple [6, 5] + - !!python/tuple [1, 6] + - !!python/tuple [0, 6] + - !!python/tuple [0, 5] + - !!python/tuple [2, 6] + - !!python/tuple [7, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex8.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex8.yaml new file mode 100644 index 0000000..303fadf --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex8.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [6, 7] + name: agent0 + start: [0, 5] +- goal: [7, 4] + name: agent1 + start: [7, 7] +- goal: [7, 7] + name: agent2 + start: [6, 2] +- goal: [6, 5] + name: agent3 + start: [2, 2] +- goal: [4, 3] + name: agent4 + start: [1, 2] +- goal: [6, 4] + name: agent5 + start: [5, 0] +- goal: [0, 7] + name: agent6 + start: [3, 3] +- goal: [2, 7] + name: agent7 + start: [6, 3] +- goal: [2, 6] + name: agent8 + start: [7, 6] +- goal: [7, 1] + name: agent9 + start: [2, 3] +- goal: [1, 0] + name: agent10 + start: [4, 5] +- goal: [0, 3] + name: agent11 + start: [1, 1] +- goal: [0, 5] + name: agent12 + start: [2, 5] +- goal: [2, 0] + name: agent13 + start: [1, 6] +- goal: [3, 1] + name: agent14 + start: [7, 4] +- goal: [1, 1] + name: agent15 + start: [6, 7] +- goal: [0, 4] + name: agent16 + start: [4, 4] +- goal: [5, 3] + name: agent17 + start: [5, 7] +- goal: [4, 5] + name: agent18 + start: [3, 1] +- goal: [5, 0] + name: agent19 + start: [7, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 0] + - !!python/tuple [2, 4] + - !!python/tuple [0, 0] + - !!python/tuple [7, 5] + - !!python/tuple [0, 1] + - !!python/tuple [5, 2] + - !!python/tuple [4, 2] + - !!python/tuple [6, 1] + - !!python/tuple [4, 6] + - !!python/tuple [4, 7] + - !!python/tuple [3, 0] + - !!python/tuple [5, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex80.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex80.yaml new file mode 100644 index 0000000..fcbbb2d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex80.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [2, 2] + name: agent0 + start: [4, 7] +- goal: [7, 6] + name: agent1 + start: [0, 2] +- goal: [2, 7] + name: agent2 + start: [6, 5] +- goal: [4, 3] + name: agent3 + start: [1, 5] +- goal: [4, 5] + name: agent4 + start: [5, 5] +- goal: [1, 5] + name: agent5 + start: [2, 2] +- goal: [2, 5] + name: agent6 + start: [0, 6] +- goal: [7, 1] + name: agent7 + start: [2, 5] +- goal: [3, 2] + name: agent8 + start: [5, 3] +- goal: [0, 2] + name: agent9 + start: [7, 2] +- goal: [5, 0] + name: agent10 + start: [2, 7] +- goal: [5, 5] + name: agent11 + start: [4, 3] +- goal: [0, 1] + name: agent12 + start: [4, 0] +- goal: [3, 0] + name: agent13 + start: [1, 4] +- goal: [4, 1] + name: agent14 + start: [7, 6] +- goal: [1, 7] + name: agent15 + start: [7, 7] +- goal: [0, 4] + name: agent16 + start: [7, 1] +- goal: [2, 6] + name: agent17 + start: [5, 7] +- goal: [4, 2] + name: agent18 + start: [3, 0] +- goal: [2, 3] + name: agent19 + start: [5, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 3] + - !!python/tuple [6, 2] + - !!python/tuple [3, 7] + - !!python/tuple [6, 0] + - !!python/tuple [3, 3] + - !!python/tuple [2, 1] + - !!python/tuple [5, 2] + - !!python/tuple [0, 0] + - !!python/tuple [4, 4] + - !!python/tuple [2, 4] + - !!python/tuple [3, 5] + - !!python/tuple [1, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex81.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex81.yaml new file mode 100644 index 0000000..42945b8 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex81.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [2, 0] + name: agent0 + start: [5, 5] +- goal: [0, 5] + name: agent1 + start: [3, 5] +- goal: [4, 0] + name: agent2 + start: [4, 1] +- goal: [7, 1] + name: agent3 + start: [4, 3] +- goal: [5, 3] + name: agent4 + start: [6, 6] +- goal: [3, 5] + name: agent5 + start: [5, 6] +- goal: [2, 4] + name: agent6 + start: [5, 4] +- goal: [2, 5] + name: agent7 + start: [1, 5] +- goal: [7, 3] + name: agent8 + start: [6, 5] +- goal: [6, 7] + name: agent9 + start: [7, 1] +- goal: [1, 2] + name: agent10 + start: [3, 4] +- goal: [7, 0] + name: agent11 + start: [5, 0] +- goal: [6, 0] + name: agent12 + start: [4, 6] +- goal: [2, 6] + name: agent13 + start: [1, 1] +- goal: [2, 2] + name: agent14 + start: [6, 7] +- goal: [0, 3] + name: agent15 + start: [1, 2] +- goal: [3, 2] + name: agent16 + start: [5, 3] +- goal: [1, 5] + name: agent17 + start: [5, 1] +- goal: [3, 6] + name: agent18 + start: [4, 0] +- goal: [4, 6] + name: agent19 + start: [7, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 4] + - !!python/tuple [0, 7] + - !!python/tuple [6, 1] + - !!python/tuple [1, 7] + - !!python/tuple [0, 6] + - !!python/tuple [4, 5] + - !!python/tuple [5, 2] + - !!python/tuple [3, 7] + - !!python/tuple [7, 7] + - !!python/tuple [1, 6] + - !!python/tuple [1, 3] + - !!python/tuple [5, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex82.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex82.yaml new file mode 100644 index 0000000..401a97e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex82.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [5, 2] + name: agent0 + start: [6, 1] +- goal: [1, 4] + name: agent1 + start: [7, 0] +- goal: [5, 1] + name: agent2 + start: [6, 4] +- goal: [6, 6] + name: agent3 + start: [7, 3] +- goal: [2, 4] + name: agent4 + start: [2, 5] +- goal: [4, 4] + name: agent5 + start: [5, 6] +- goal: [3, 5] + name: agent6 + start: [0, 1] +- goal: [6, 7] + name: agent7 + start: [7, 5] +- goal: [1, 7] + name: agent8 + start: [5, 5] +- goal: [6, 1] + name: agent9 + start: [2, 6] +- goal: [7, 0] + name: agent10 + start: [6, 6] +- goal: [5, 5] + name: agent11 + start: [5, 2] +- goal: [7, 1] + name: agent12 + start: [6, 0] +- goal: [1, 1] + name: agent13 + start: [0, 6] +- goal: [3, 7] + name: agent14 + start: [1, 0] +- goal: [0, 3] + name: agent15 + start: [2, 2] +- goal: [7, 2] + name: agent16 + start: [3, 6] +- goal: [5, 3] + name: agent17 + start: [1, 1] +- goal: [5, 0] + name: agent18 + start: [0, 3] +- goal: [3, 6] + name: agent19 + start: [0, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 0] + - !!python/tuple [3, 2] + - !!python/tuple [7, 7] + - !!python/tuple [0, 4] + - !!python/tuple [4, 1] + - !!python/tuple [4, 2] + - !!python/tuple [4, 5] + - !!python/tuple [2, 3] + - !!python/tuple [5, 7] + - !!python/tuple [1, 6] + - !!python/tuple [7, 6] + - !!python/tuple [3, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex83.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex83.yaml new file mode 100644 index 0000000..9357ea0 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex83.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [2, 5] + name: agent0 + start: [6, 1] +- goal: [6, 2] + name: agent1 + start: [1, 0] +- goal: [0, 6] + name: agent2 + start: [2, 0] +- goal: [1, 1] + name: agent3 + start: [6, 6] +- goal: [3, 0] + name: agent4 + start: [2, 2] +- goal: [4, 3] + name: agent5 + start: [6, 7] +- goal: [7, 3] + name: agent6 + start: [3, 1] +- goal: [7, 5] + name: agent7 + start: [5, 2] +- goal: [3, 6] + name: agent8 + start: [4, 7] +- goal: [5, 5] + name: agent9 + start: [3, 7] +- goal: [3, 7] + name: agent10 + start: [4, 6] +- goal: [6, 0] + name: agent11 + start: [5, 0] +- goal: [1, 6] + name: agent12 + start: [0, 6] +- goal: [6, 3] + name: agent13 + start: [5, 7] +- goal: [4, 7] + name: agent14 + start: [1, 5] +- goal: [2, 3] + name: agent15 + start: [0, 0] +- goal: [0, 3] + name: agent16 + start: [1, 6] +- goal: [2, 6] + name: agent17 + start: [2, 1] +- goal: [1, 0] + name: agent18 + start: [4, 1] +- goal: [1, 7] + name: agent19 + start: [4, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 5] + - !!python/tuple [4, 0] + - !!python/tuple [4, 4] + - !!python/tuple [3, 5] + - !!python/tuple [2, 7] + - !!python/tuple [4, 2] + - !!python/tuple [0, 4] + - !!python/tuple [0, 5] + - !!python/tuple [5, 4] + - !!python/tuple [0, 2] + - !!python/tuple [2, 4] + - !!python/tuple [5, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex84.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex84.yaml new file mode 100644 index 0000000..d251066 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex84.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [3, 3] + name: agent0 + start: [6, 1] +- goal: [6, 5] + name: agent1 + start: [2, 0] +- goal: [7, 6] + name: agent2 + start: [4, 2] +- goal: [1, 7] + name: agent3 + start: [7, 0] +- goal: [1, 5] + name: agent4 + start: [1, 7] +- goal: [7, 3] + name: agent5 + start: [0, 0] +- goal: [4, 2] + name: agent6 + start: [0, 6] +- goal: [4, 7] + name: agent7 + start: [4, 7] +- goal: [6, 6] + name: agent8 + start: [4, 6] +- goal: [2, 6] + name: agent9 + start: [1, 3] +- goal: [4, 6] + name: agent10 + start: [6, 4] +- goal: [1, 6] + name: agent11 + start: [3, 0] +- goal: [0, 0] + name: agent12 + start: [3, 4] +- goal: [0, 1] + name: agent13 + start: [4, 1] +- goal: [5, 0] + name: agent14 + start: [7, 6] +- goal: [1, 3] + name: agent15 + start: [1, 0] +- goal: [7, 1] + name: agent16 + start: [4, 3] +- goal: [0, 6] + name: agent17 + start: [3, 2] +- goal: [7, 2] + name: agent18 + start: [6, 7] +- goal: [3, 1] + name: agent19 + start: [0, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 3] + - !!python/tuple [6, 0] + - !!python/tuple [0, 7] + - !!python/tuple [2, 7] + - !!python/tuple [5, 5] + - !!python/tuple [7, 4] + - !!python/tuple [0, 5] + - !!python/tuple [2, 1] + - !!python/tuple [5, 7] + - !!python/tuple [1, 1] + - !!python/tuple [5, 4] + - !!python/tuple [2, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex85.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex85.yaml new file mode 100644 index 0000000..89a9d27 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex85.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [6, 1] + name: agent0 + start: [6, 3] +- goal: [5, 0] + name: agent1 + start: [6, 5] +- goal: [3, 4] + name: agent2 + start: [5, 3] +- goal: [2, 6] + name: agent3 + start: [3, 2] +- goal: [6, 7] + name: agent4 + start: [3, 7] +- goal: [5, 3] + name: agent5 + start: [2, 6] +- goal: [4, 6] + name: agent6 + start: [7, 1] +- goal: [5, 5] + name: agent7 + start: [3, 5] +- goal: [1, 0] + name: agent8 + start: [1, 0] +- goal: [5, 2] + name: agent9 + start: [5, 5] +- goal: [4, 7] + name: agent10 + start: [3, 4] +- goal: [5, 1] + name: agent11 + start: [3, 6] +- goal: [5, 7] + name: agent12 + start: [7, 6] +- goal: [1, 3] + name: agent13 + start: [4, 4] +- goal: [3, 3] + name: agent14 + start: [1, 4] +- goal: [6, 6] + name: agent15 + start: [4, 6] +- goal: [5, 4] + name: agent16 + start: [5, 0] +- goal: [0, 4] + name: agent17 + start: [0, 5] +- goal: [1, 2] + name: agent18 + start: [5, 1] +- goal: [6, 5] + name: agent19 + start: [7, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 5] + - !!python/tuple [6, 0] + - !!python/tuple [3, 1] + - !!python/tuple [1, 7] + - !!python/tuple [7, 3] + - !!python/tuple [2, 5] + - !!python/tuple [2, 3] + - !!python/tuple [1, 5] + - !!python/tuple [7, 4] + - !!python/tuple [2, 7] + - !!python/tuple [1, 6] + - !!python/tuple [7, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex86.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex86.yaml new file mode 100644 index 0000000..9896442 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex86.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [5, 2] + name: agent0 + start: [0, 3] +- goal: [4, 6] + name: agent1 + start: [0, 0] +- goal: [2, 5] + name: agent2 + start: [5, 2] +- goal: [2, 4] + name: agent3 + start: [7, 6] +- goal: [7, 2] + name: agent4 + start: [2, 2] +- goal: [1, 5] + name: agent5 + start: [1, 7] +- goal: [3, 4] + name: agent6 + start: [6, 6] +- goal: [1, 6] + name: agent7 + start: [4, 5] +- goal: [2, 0] + name: agent8 + start: [4, 2] +- goal: [3, 6] + name: agent9 + start: [1, 2] +- goal: [6, 4] + name: agent10 + start: [5, 7] +- goal: [4, 3] + name: agent11 + start: [1, 0] +- goal: [6, 1] + name: agent12 + start: [4, 0] +- goal: [1, 7] + name: agent13 + start: [5, 5] +- goal: [6, 7] + name: agent14 + start: [6, 1] +- goal: [2, 3] + name: agent15 + start: [6, 5] +- goal: [3, 3] + name: agent16 + start: [2, 5] +- goal: [4, 2] + name: agent17 + start: [7, 5] +- goal: [0, 6] + name: agent18 + start: [0, 2] +- goal: [1, 2] + name: agent19 + start: [6, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 7] + - !!python/tuple [3, 2] + - !!python/tuple [5, 0] + - !!python/tuple [6, 3] + - !!python/tuple [6, 2] + - !!python/tuple [3, 0] + - !!python/tuple [5, 6] + - !!python/tuple [2, 6] + - !!python/tuple [5, 4] + - !!python/tuple [0, 5] + - !!python/tuple [3, 7] + - !!python/tuple [2, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex87.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex87.yaml new file mode 100644 index 0000000..578cc6e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex87.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [7, 3] + name: agent0 + start: [7, 2] +- goal: [7, 0] + name: agent1 + start: [1, 3] +- goal: [3, 5] + name: agent2 + start: [6, 6] +- goal: [0, 7] + name: agent3 + start: [0, 3] +- goal: [5, 5] + name: agent4 + start: [5, 3] +- goal: [5, 0] + name: agent5 + start: [7, 6] +- goal: [4, 7] + name: agent6 + start: [7, 0] +- goal: [0, 4] + name: agent7 + start: [3, 1] +- goal: [0, 6] + name: agent8 + start: [1, 4] +- goal: [0, 0] + name: agent9 + start: [5, 0] +- goal: [6, 7] + name: agent10 + start: [6, 4] +- goal: [7, 2] + name: agent11 + start: [3, 0] +- goal: [3, 3] + name: agent12 + start: [1, 1] +- goal: [0, 5] + name: agent13 + start: [4, 1] +- goal: [7, 4] + name: agent14 + start: [7, 5] +- goal: [0, 1] + name: agent15 + start: [0, 1] +- goal: [5, 1] + name: agent16 + start: [0, 6] +- goal: [1, 1] + name: agent17 + start: [3, 7] +- goal: [6, 6] + name: agent18 + start: [3, 5] +- goal: [4, 3] + name: agent19 + start: [2, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 2] + - !!python/tuple [3, 4] + - !!python/tuple [4, 2] + - !!python/tuple [4, 5] + - !!python/tuple [2, 1] + - !!python/tuple [1, 5] + - !!python/tuple [5, 6] + - !!python/tuple [7, 7] + - !!python/tuple [1, 2] + - !!python/tuple [5, 2] + - !!python/tuple [3, 2] + - !!python/tuple [4, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex88.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex88.yaml new file mode 100644 index 0000000..1376509 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex88.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [7, 0] + name: agent0 + start: [4, 7] +- goal: [3, 1] + name: agent1 + start: [6, 5] +- goal: [5, 1] + name: agent2 + start: [7, 6] +- goal: [0, 0] + name: agent3 + start: [2, 0] +- goal: [0, 2] + name: agent4 + start: [6, 6] +- goal: [1, 5] + name: agent5 + start: [2, 5] +- goal: [3, 6] + name: agent6 + start: [0, 1] +- goal: [2, 0] + name: agent7 + start: [0, 6] +- goal: [5, 4] + name: agent8 + start: [1, 0] +- goal: [2, 1] + name: agent9 + start: [3, 3] +- goal: [6, 7] + name: agent10 + start: [3, 2] +- goal: [1, 6] + name: agent11 + start: [6, 2] +- goal: [0, 7] + name: agent12 + start: [0, 2] +- goal: [5, 2] + name: agent13 + start: [1, 4] +- goal: [2, 5] + name: agent14 + start: [6, 3] +- goal: [1, 2] + name: agent15 + start: [6, 4] +- goal: [4, 1] + name: agent16 + start: [3, 5] +- goal: [5, 0] + name: agent17 + start: [7, 0] +- goal: [7, 7] + name: agent18 + start: [4, 6] +- goal: [3, 2] + name: agent19 + start: [6, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 3] + - !!python/tuple [4, 0] + - !!python/tuple [0, 4] + - !!python/tuple [2, 2] + - !!python/tuple [6, 1] + - !!python/tuple [7, 3] + - !!python/tuple [4, 3] + - !!python/tuple [0, 5] + - !!python/tuple [0, 3] + - !!python/tuple [3, 0] + - !!python/tuple [2, 6] + - !!python/tuple [4, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex89.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex89.yaml new file mode 100644 index 0000000..3229066 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex89.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [5, 7] + name: agent0 + start: [3, 5] +- goal: [1, 7] + name: agent1 + start: [0, 1] +- goal: [0, 0] + name: agent2 + start: [0, 7] +- goal: [0, 2] + name: agent3 + start: [2, 3] +- goal: [3, 2] + name: agent4 + start: [2, 2] +- goal: [1, 0] + name: agent5 + start: [1, 4] +- goal: [2, 2] + name: agent6 + start: [0, 3] +- goal: [1, 4] + name: agent7 + start: [4, 7] +- goal: [4, 1] + name: agent8 + start: [4, 5] +- goal: [2, 7] + name: agent9 + start: [5, 5] +- goal: [5, 4] + name: agent10 + start: [4, 1] +- goal: [0, 4] + name: agent11 + start: [1, 6] +- goal: [3, 6] + name: agent12 + start: [6, 7] +- goal: [4, 0] + name: agent13 + start: [2, 0] +- goal: [0, 7] + name: agent14 + start: [1, 0] +- goal: [6, 5] + name: agent15 + start: [5, 6] +- goal: [5, 5] + name: agent16 + start: [2, 6] +- goal: [4, 7] + name: agent17 + start: [7, 0] +- goal: [0, 1] + name: agent18 + start: [5, 7] +- goal: [1, 2] + name: agent19 + start: [3, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 1] + - !!python/tuple [2, 4] + - !!python/tuple [7, 3] + - !!python/tuple [6, 1] + - !!python/tuple [6, 2] + - !!python/tuple [4, 2] + - !!python/tuple [2, 5] + - !!python/tuple [7, 7] + - !!python/tuple [4, 4] + - !!python/tuple [1, 1] + - !!python/tuple [7, 6] + - !!python/tuple [3, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex9.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex9.yaml new file mode 100644 index 0000000..c48e595 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex9.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [1, 7] + name: agent0 + start: [4, 5] +- goal: [7, 7] + name: agent1 + start: [5, 0] +- goal: [2, 4] + name: agent2 + start: [2, 1] +- goal: [4, 7] + name: agent3 + start: [0, 5] +- goal: [0, 3] + name: agent4 + start: [7, 7] +- goal: [0, 4] + name: agent5 + start: [6, 0] +- goal: [5, 3] + name: agent6 + start: [7, 4] +- goal: [7, 2] + name: agent7 + start: [3, 7] +- goal: [2, 6] + name: agent8 + start: [1, 2] +- goal: [1, 0] + name: agent9 + start: [4, 6] +- goal: [3, 1] + name: agent10 + start: [5, 4] +- goal: [2, 1] + name: agent11 + start: [2, 7] +- goal: [6, 4] + name: agent12 + start: [2, 0] +- goal: [1, 4] + name: agent13 + start: [7, 5] +- goal: [7, 1] + name: agent14 + start: [1, 3] +- goal: [4, 5] + name: agent15 + start: [5, 3] +- goal: [3, 7] + name: agent16 + start: [7, 0] +- goal: [1, 5] + name: agent17 + start: [0, 6] +- goal: [0, 0] + name: agent18 + start: [4, 3] +- goal: [1, 2] + name: agent19 + start: [2, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 0] + - !!python/tuple [6, 6] + - !!python/tuple [2, 2] + - !!python/tuple [2, 3] + - !!python/tuple [4, 0] + - !!python/tuple [5, 6] + - !!python/tuple [1, 6] + - !!python/tuple [2, 5] + - !!python/tuple [6, 5] + - !!python/tuple [1, 1] + - !!python/tuple [0, 1] + - !!python/tuple [6, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex90.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex90.yaml new file mode 100644 index 0000000..eae3aff --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex90.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [7, 6] + name: agent0 + start: [1, 6] +- goal: [7, 3] + name: agent1 + start: [7, 3] +- goal: [4, 1] + name: agent2 + start: [7, 4] +- goal: [5, 3] + name: agent3 + start: [6, 0] +- goal: [5, 4] + name: agent4 + start: [6, 3] +- goal: [6, 0] + name: agent5 + start: [7, 5] +- goal: [6, 2] + name: agent6 + start: [6, 2] +- goal: [0, 5] + name: agent7 + start: [4, 2] +- goal: [2, 2] + name: agent8 + start: [1, 4] +- goal: [5, 6] + name: agent9 + start: [0, 6] +- goal: [4, 6] + name: agent10 + start: [6, 6] +- goal: [3, 4] + name: agent11 + start: [4, 0] +- goal: [6, 6] + name: agent12 + start: [2, 4] +- goal: [7, 0] + name: agent13 + start: [0, 7] +- goal: [2, 3] + name: agent14 + start: [5, 3] +- goal: [1, 1] + name: agent15 + start: [0, 4] +- goal: [0, 7] + name: agent16 + start: [7, 2] +- goal: [7, 7] + name: agent17 + start: [4, 7] +- goal: [1, 3] + name: agent18 + start: [4, 6] +- goal: [1, 5] + name: agent19 + start: [3, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 1] + - !!python/tuple [1, 2] + - !!python/tuple [5, 0] + - !!python/tuple [6, 4] + - !!python/tuple [5, 1] + - !!python/tuple [2, 7] + - !!python/tuple [4, 4] + - !!python/tuple [6, 7] + - !!python/tuple [1, 0] + - !!python/tuple [3, 0] + - !!python/tuple [2, 5] + - !!python/tuple [5, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex91.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex91.yaml new file mode 100644 index 0000000..73d3b37 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex91.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [6, 3] + name: agent0 + start: [6, 2] +- goal: [7, 6] + name: agent1 + start: [6, 0] +- goal: [3, 0] + name: agent2 + start: [1, 2] +- goal: [3, 7] + name: agent3 + start: [5, 0] +- goal: [0, 2] + name: agent4 + start: [3, 7] +- goal: [0, 5] + name: agent5 + start: [5, 5] +- goal: [7, 3] + name: agent6 + start: [1, 7] +- goal: [2, 0] + name: agent7 + start: [2, 4] +- goal: [4, 6] + name: agent8 + start: [2, 5] +- goal: [2, 5] + name: agent9 + start: [1, 1] +- goal: [1, 5] + name: agent10 + start: [3, 4] +- goal: [5, 5] + name: agent11 + start: [7, 1] +- goal: [0, 4] + name: agent12 + start: [4, 4] +- goal: [5, 1] + name: agent13 + start: [0, 6] +- goal: [0, 1] + name: agent14 + start: [5, 4] +- goal: [2, 2] + name: agent15 + start: [2, 1] +- goal: [5, 7] + name: agent16 + start: [7, 6] +- goal: [5, 2] + name: agent17 + start: [3, 5] +- goal: [3, 6] + name: agent18 + start: [3, 3] +- goal: [1, 6] + name: agent19 + start: [2, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 3] + - !!python/tuple [7, 5] + - !!python/tuple [7, 2] + - !!python/tuple [2, 7] + - !!python/tuple [0, 0] + - !!python/tuple [4, 3] + - !!python/tuple [0, 7] + - !!python/tuple [6, 6] + - !!python/tuple [4, 7] + - !!python/tuple [4, 5] + - !!python/tuple [4, 0] + - !!python/tuple [6, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex92.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex92.yaml new file mode 100644 index 0000000..69a2dd4 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex92.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [2, 6] + name: agent0 + start: [3, 4] +- goal: [0, 5] + name: agent1 + start: [0, 2] +- goal: [1, 6] + name: agent2 + start: [2, 1] +- goal: [2, 7] + name: agent3 + start: [3, 7] +- goal: [4, 5] + name: agent4 + start: [0, 0] +- goal: [5, 0] + name: agent5 + start: [4, 5] +- goal: [0, 4] + name: agent6 + start: [2, 5] +- goal: [7, 4] + name: agent7 + start: [3, 2] +- goal: [4, 6] + name: agent8 + start: [4, 6] +- goal: [7, 0] + name: agent9 + start: [7, 4] +- goal: [3, 7] + name: agent10 + start: [7, 0] +- goal: [7, 2] + name: agent11 + start: [2, 0] +- goal: [2, 0] + name: agent12 + start: [0, 3] +- goal: [4, 4] + name: agent13 + start: [0, 1] +- goal: [3, 6] + name: agent14 + start: [4, 1] +- goal: [3, 2] + name: agent15 + start: [5, 1] +- goal: [6, 3] + name: agent16 + start: [0, 4] +- goal: [4, 1] + name: agent17 + start: [1, 3] +- goal: [5, 1] + name: agent18 + start: [3, 3] +- goal: [1, 2] + name: agent19 + start: [5, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 6] + - !!python/tuple [6, 5] + - !!python/tuple [1, 0] + - !!python/tuple [3, 1] + - !!python/tuple [2, 2] + - !!python/tuple [5, 7] + - !!python/tuple [7, 5] + - !!python/tuple [6, 1] + - !!python/tuple [0, 7] + - !!python/tuple [5, 3] + - !!python/tuple [5, 4] + - !!python/tuple [7, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex93.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex93.yaml new file mode 100644 index 0000000..f2936bb --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex93.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [7, 3] + name: agent0 + start: [6, 7] +- goal: [1, 5] + name: agent1 + start: [5, 0] +- goal: [6, 1] + name: agent2 + start: [1, 5] +- goal: [3, 0] + name: agent3 + start: [2, 6] +- goal: [0, 7] + name: agent4 + start: [1, 6] +- goal: [7, 4] + name: agent5 + start: [5, 7] +- goal: [2, 7] + name: agent6 + start: [7, 3] +- goal: [6, 2] + name: agent7 + start: [4, 6] +- goal: [6, 4] + name: agent8 + start: [3, 2] +- goal: [3, 4] + name: agent9 + start: [3, 5] +- goal: [0, 4] + name: agent10 + start: [2, 7] +- goal: [4, 6] + name: agent11 + start: [7, 4] +- goal: [5, 0] + name: agent12 + start: [2, 4] +- goal: [7, 7] + name: agent13 + start: [4, 1] +- goal: [6, 0] + name: agent14 + start: [6, 5] +- goal: [3, 3] + name: agent15 + start: [5, 6] +- goal: [0, 6] + name: agent16 + start: [0, 6] +- goal: [6, 7] + name: agent17 + start: [4, 4] +- goal: [1, 3] + name: agent18 + start: [1, 4] +- goal: [4, 1] + name: agent19 + start: [3, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 4] + - !!python/tuple [7, 6] + - !!python/tuple [2, 3] + - !!python/tuple [1, 2] + - !!python/tuple [6, 6] + - !!python/tuple [2, 0] + - !!python/tuple [4, 2] + - !!python/tuple [3, 1] + - !!python/tuple [1, 7] + - !!python/tuple [1, 1] + - !!python/tuple [0, 3] + - !!python/tuple [0, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex94.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex94.yaml new file mode 100644 index 0000000..3e5f3be --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex94.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [1, 5] + name: agent0 + start: [0, 6] +- goal: [4, 0] + name: agent1 + start: [2, 3] +- goal: [6, 2] + name: agent2 + start: [5, 7] +- goal: [7, 0] + name: agent3 + start: [3, 7] +- goal: [1, 3] + name: agent4 + start: [7, 0] +- goal: [3, 1] + name: agent5 + start: [2, 6] +- goal: [1, 6] + name: agent6 + start: [3, 4] +- goal: [7, 6] + name: agent7 + start: [7, 3] +- goal: [2, 0] + name: agent8 + start: [0, 0] +- goal: [0, 0] + name: agent9 + start: [0, 3] +- goal: [6, 3] + name: agent10 + start: [7, 5] +- goal: [4, 1] + name: agent11 + start: [1, 2] +- goal: [3, 7] + name: agent12 + start: [4, 2] +- goal: [3, 0] + name: agent13 + start: [7, 4] +- goal: [4, 5] + name: agent14 + start: [0, 5] +- goal: [5, 1] + name: agent15 + start: [4, 7] +- goal: [7, 1] + name: agent16 + start: [6, 0] +- goal: [2, 6] + name: agent17 + start: [0, 2] +- goal: [5, 4] + name: agent18 + start: [1, 0] +- goal: [6, 7] + name: agent19 + start: [2, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 5] + - !!python/tuple [0, 4] + - !!python/tuple [5, 2] + - !!python/tuple [1, 7] + - !!python/tuple [4, 4] + - !!python/tuple [3, 6] + - !!python/tuple [3, 2] + - !!python/tuple [5, 5] + - !!python/tuple [0, 7] + - !!python/tuple [6, 5] + - !!python/tuple [5, 6] + - !!python/tuple [2, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex95.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex95.yaml new file mode 100644 index 0000000..1e76023 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex95.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [4, 1] + name: agent0 + start: [2, 7] +- goal: [7, 3] + name: agent1 + start: [0, 4] +- goal: [0, 4] + name: agent2 + start: [4, 7] +- goal: [2, 2] + name: agent3 + start: [1, 3] +- goal: [2, 4] + name: agent4 + start: [4, 3] +- goal: [1, 7] + name: agent5 + start: [7, 1] +- goal: [3, 4] + name: agent6 + start: [0, 3] +- goal: [5, 3] + name: agent7 + start: [0, 7] +- goal: [0, 1] + name: agent8 + start: [0, 6] +- goal: [6, 5] + name: agent9 + start: [5, 7] +- goal: [2, 0] + name: agent10 + start: [2, 4] +- goal: [1, 0] + name: agent11 + start: [7, 3] +- goal: [5, 7] + name: agent12 + start: [2, 3] +- goal: [0, 7] + name: agent13 + start: [5, 3] +- goal: [1, 6] + name: agent14 + start: [1, 6] +- goal: [7, 0] + name: agent15 + start: [6, 4] +- goal: [4, 3] + name: agent16 + start: [5, 6] +- goal: [0, 0] + name: agent17 + start: [3, 4] +- goal: [6, 1] + name: agent18 + start: [2, 2] +- goal: [4, 0] + name: agent19 + start: [0, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 6] + - !!python/tuple [6, 6] + - !!python/tuple [5, 5] + - !!python/tuple [6, 0] + - !!python/tuple [6, 2] + - !!python/tuple [5, 2] + - !!python/tuple [6, 7] + - !!python/tuple [3, 0] + - !!python/tuple [1, 5] + - !!python/tuple [3, 5] + - !!python/tuple [6, 3] + - !!python/tuple [4, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex96.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex96.yaml new file mode 100644 index 0000000..2dc9291 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex96.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [3, 1] + name: agent0 + start: [1, 3] +- goal: [7, 7] + name: agent1 + start: [7, 6] +- goal: [6, 7] + name: agent2 + start: [2, 4] +- goal: [1, 2] + name: agent3 + start: [6, 7] +- goal: [0, 0] + name: agent4 + start: [2, 1] +- goal: [2, 0] + name: agent5 + start: [5, 5] +- goal: [5, 2] + name: agent6 + start: [4, 0] +- goal: [7, 3] + name: agent7 + start: [7, 0] +- goal: [7, 0] + name: agent8 + start: [3, 0] +- goal: [4, 6] + name: agent9 + start: [3, 2] +- goal: [5, 3] + name: agent10 + start: [7, 5] +- goal: [1, 4] + name: agent11 + start: [5, 0] +- goal: [4, 4] + name: agent12 + start: [0, 2] +- goal: [5, 4] + name: agent13 + start: [0, 3] +- goal: [3, 0] + name: agent14 + start: [3, 3] +- goal: [6, 4] + name: agent15 + start: [4, 4] +- goal: [2, 7] + name: agent16 + start: [6, 4] +- goal: [4, 7] + name: agent17 + start: [5, 3] +- goal: [2, 6] + name: agent18 + start: [1, 7] +- goal: [4, 3] + name: agent19 + start: [4, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 5] + - !!python/tuple [0, 7] + - !!python/tuple [6, 5] + - !!python/tuple [1, 6] + - !!python/tuple [6, 6] + - !!python/tuple [1, 0] + - !!python/tuple [0, 4] + - !!python/tuple [4, 5] + - !!python/tuple [2, 3] + - !!python/tuple [4, 2] + - !!python/tuple [1, 1] + - !!python/tuple [6, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex97.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex97.yaml new file mode 100644 index 0000000..2d744a6 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex97.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [2, 2] + name: agent0 + start: [0, 0] +- goal: [6, 0] + name: agent1 + start: [7, 5] +- goal: [2, 6] + name: agent2 + start: [4, 5] +- goal: [1, 3] + name: agent3 + start: [7, 4] +- goal: [4, 5] + name: agent4 + start: [6, 4] +- goal: [3, 2] + name: agent5 + start: [6, 7] +- goal: [0, 2] + name: agent6 + start: [0, 6] +- goal: [6, 4] + name: agent7 + start: [2, 5] +- goal: [4, 1] + name: agent8 + start: [2, 0] +- goal: [0, 1] + name: agent9 + start: [5, 6] +- goal: [4, 7] + name: agent10 + start: [3, 0] +- goal: [7, 6] + name: agent11 + start: [6, 2] +- goal: [2, 7] + name: agent12 + start: [7, 6] +- goal: [6, 3] + name: agent13 + start: [6, 0] +- goal: [1, 7] + name: agent14 + start: [6, 5] +- goal: [4, 3] + name: agent15 + start: [4, 0] +- goal: [4, 2] + name: agent16 + start: [3, 6] +- goal: [3, 0] + name: agent17 + start: [4, 3] +- goal: [7, 5] + name: agent18 + start: [6, 1] +- goal: [5, 6] + name: agent19 + start: [1, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 4] + - !!python/tuple [1, 0] + - !!python/tuple [1, 2] + - !!python/tuple [3, 4] + - !!python/tuple [5, 5] + - !!python/tuple [2, 1] + - !!python/tuple [5, 1] + - !!python/tuple [3, 3] + - !!python/tuple [4, 6] + - !!python/tuple [6, 6] + - !!python/tuple [7, 3] + - !!python/tuple [3, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex98.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex98.yaml new file mode 100644 index 0000000..6728986 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex98.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [0, 1] + name: agent0 + start: [3, 5] +- goal: [1, 7] + name: agent1 + start: [7, 0] +- goal: [2, 4] + name: agent2 + start: [7, 5] +- goal: [3, 0] + name: agent3 + start: [7, 1] +- goal: [2, 0] + name: agent4 + start: [3, 6] +- goal: [6, 4] + name: agent5 + start: [7, 6] +- goal: [1, 4] + name: agent6 + start: [4, 6] +- goal: [0, 2] + name: agent7 + start: [3, 2] +- goal: [7, 6] + name: agent8 + start: [4, 3] +- goal: [7, 2] + name: agent9 + start: [2, 0] +- goal: [4, 0] + name: agent10 + start: [6, 6] +- goal: [3, 5] + name: agent11 + start: [3, 4] +- goal: [6, 1] + name: agent12 + start: [0, 6] +- goal: [7, 1] + name: agent13 + start: [1, 6] +- goal: [4, 4] + name: agent14 + start: [1, 1] +- goal: [2, 6] + name: agent15 + start: [1, 7] +- goal: [3, 4] + name: agent16 + start: [5, 3] +- goal: [0, 5] + name: agent17 + start: [4, 4] +- goal: [3, 6] + name: agent18 + start: [3, 7] +- goal: [6, 3] + name: agent19 + start: [0, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 6] + - !!python/tuple [6, 7] + - !!python/tuple [4, 2] + - !!python/tuple [1, 3] + - !!python/tuple [5, 7] + - !!python/tuple [0, 3] + - !!python/tuple [7, 3] + - !!python/tuple [4, 7] + - !!python/tuple [1, 5] + - !!python/tuple [5, 4] + - !!python/tuple [0, 7] + - !!python/tuple [4, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex99.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex99.yaml new file mode 100644 index 0000000..2aad2bf --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents20_ex99.yaml @@ -0,0 +1,76 @@ +agents: +- goal: [4, 4] + name: agent0 + start: [4, 6] +- goal: [1, 0] + name: agent1 + start: [1, 6] +- goal: [0, 4] + name: agent2 + start: [4, 4] +- goal: [7, 7] + name: agent3 + start: [6, 2] +- goal: [5, 7] + name: agent4 + start: [3, 4] +- goal: [3, 3] + name: agent5 + start: [6, 0] +- goal: [3, 0] + name: agent6 + start: [7, 7] +- goal: [0, 3] + name: agent7 + start: [5, 4] +- goal: [4, 1] + name: agent8 + start: [5, 5] +- goal: [6, 3] + name: agent9 + start: [4, 1] +- goal: [5, 4] + name: agent10 + start: [5, 3] +- goal: [0, 5] + name: agent11 + start: [3, 6] +- goal: [0, 0] + name: agent12 + start: [4, 3] +- goal: [3, 1] + name: agent13 + start: [5, 1] +- goal: [6, 5] + name: agent14 + start: [3, 1] +- goal: [1, 3] + name: agent15 + start: [0, 6] +- goal: [2, 2] + name: agent16 + start: [0, 3] +- goal: [5, 6] + name: agent17 + start: [1, 2] +- goal: [6, 2] + name: agent18 + start: [3, 5] +- goal: [6, 1] + name: agent19 + start: [4, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 7] + - !!python/tuple [2, 6] + - !!python/tuple [2, 0] + - !!python/tuple [3, 7] + - !!python/tuple [5, 0] + - !!python/tuple [2, 7] + - !!python/tuple [7, 0] + - !!python/tuple [6, 7] + - !!python/tuple [0, 1] + - !!python/tuple [2, 5] + - !!python/tuple [5, 2] + - !!python/tuple [7, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex0.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex0.yaml new file mode 100644 index 0000000..19e338d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex0.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [0, 3] + name: agent0 + start: [5, 2] +- goal: [2, 3] + name: agent1 + start: [0, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 6] + - !!python/tuple [6, 2] + - !!python/tuple [0, 0] + - !!python/tuple [1, 7] + - !!python/tuple [1, 6] + - !!python/tuple [7, 4] + - !!python/tuple [7, 2] + - !!python/tuple [6, 3] + - !!python/tuple [1, 2] + - !!python/tuple [1, 4] + - !!python/tuple [4, 2] + - !!python/tuple [4, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex1.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex1.yaml new file mode 100644 index 0000000..a01cce9 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex1.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [3, 7] + name: agent0 + start: [2, 1] +- goal: [2, 5] + name: agent1 + start: [4, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 3] + - !!python/tuple [0, 7] + - !!python/tuple [4, 5] + - !!python/tuple [1, 1] + - !!python/tuple [3, 3] + - !!python/tuple [3, 0] + - !!python/tuple [6, 0] + - !!python/tuple [7, 2] + - !!python/tuple [2, 4] + - !!python/tuple [5, 3] + - !!python/tuple [0, 3] + - !!python/tuple [5, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex10.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex10.yaml new file mode 100644 index 0000000..68e7b29 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex10.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [6, 2] + name: agent0 + start: [0, 6] +- goal: [2, 0] + name: agent1 + start: [0, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 6] + - !!python/tuple [4, 4] + - !!python/tuple [1, 4] + - !!python/tuple [4, 1] + - !!python/tuple [3, 6] + - !!python/tuple [2, 7] + - !!python/tuple [3, 4] + - !!python/tuple [6, 4] + - !!python/tuple [5, 4] + - !!python/tuple [4, 2] + - !!python/tuple [3, 0] + - !!python/tuple [6, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex11.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex11.yaml new file mode 100644 index 0000000..f120010 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex11.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [4, 0] + name: agent0 + start: [7, 1] +- goal: [6, 0] + name: agent1 + start: [2, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 7] + - !!python/tuple [1, 4] + - !!python/tuple [7, 7] + - !!python/tuple [2, 4] + - !!python/tuple [7, 5] + - !!python/tuple [3, 5] + - !!python/tuple [0, 0] + - !!python/tuple [5, 5] + - !!python/tuple [6, 5] + - !!python/tuple [3, 3] + - !!python/tuple [0, 7] + - !!python/tuple [6, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex12.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex12.yaml new file mode 100644 index 0000000..ed2ad39 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex12.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [0, 0] + name: agent0 + start: [3, 2] +- goal: [6, 2] + name: agent1 + start: [5, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 0] + - !!python/tuple [1, 3] + - !!python/tuple [6, 7] + - !!python/tuple [7, 7] + - !!python/tuple [4, 2] + - !!python/tuple [3, 1] + - !!python/tuple [4, 6] + - !!python/tuple [6, 1] + - !!python/tuple [0, 7] + - !!python/tuple [4, 3] + - !!python/tuple [1, 1] + - !!python/tuple [2, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex13.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex13.yaml new file mode 100644 index 0000000..4476f47 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex13.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [2, 3] + name: agent0 + start: [4, 7] +- goal: [3, 1] + name: agent1 + start: [4, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 4] + - !!python/tuple [2, 5] + - !!python/tuple [5, 5] + - !!python/tuple [6, 4] + - !!python/tuple [0, 7] + - !!python/tuple [5, 1] + - !!python/tuple [1, 0] + - !!python/tuple [6, 0] + - !!python/tuple [3, 7] + - !!python/tuple [0, 3] + - !!python/tuple [2, 6] + - !!python/tuple [3, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex14.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex14.yaml new file mode 100644 index 0000000..b390f02 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex14.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [4, 5] + name: agent0 + start: [1, 3] +- goal: [1, 1] + name: agent1 + start: [6, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 2] + - !!python/tuple [7, 4] + - !!python/tuple [6, 4] + - !!python/tuple [3, 5] + - !!python/tuple [1, 5] + - !!python/tuple [5, 5] + - !!python/tuple [3, 3] + - !!python/tuple [5, 2] + - !!python/tuple [5, 4] + - !!python/tuple [1, 4] + - !!python/tuple [4, 6] + - !!python/tuple [7, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex15.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex15.yaml new file mode 100644 index 0000000..b1b2905 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex15.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [6, 6] + name: agent0 + start: [6, 0] +- goal: [7, 4] + name: agent1 + start: [5, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 5] + - !!python/tuple [0, 4] + - !!python/tuple [0, 5] + - !!python/tuple [2, 5] + - !!python/tuple [2, 7] + - !!python/tuple [7, 6] + - !!python/tuple [5, 7] + - !!python/tuple [3, 2] + - !!python/tuple [5, 6] + - !!python/tuple [1, 7] + - !!python/tuple [4, 5] + - !!python/tuple [2, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex16.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex16.yaml new file mode 100644 index 0000000..ba4aee6 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex16.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [2, 1] + name: agent0 + start: [2, 4] +- goal: [1, 3] + name: agent1 + start: [1, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 7] + - !!python/tuple [2, 0] + - !!python/tuple [3, 1] + - !!python/tuple [5, 5] + - !!python/tuple [2, 5] + - !!python/tuple [0, 1] + - !!python/tuple [7, 7] + - !!python/tuple [0, 0] + - !!python/tuple [3, 7] + - !!python/tuple [5, 7] + - !!python/tuple [4, 4] + - !!python/tuple [6, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex17.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex17.yaml new file mode 100644 index 0000000..801ed39 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex17.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [2, 4] + name: agent0 + start: [2, 1] +- goal: [4, 0] + name: agent1 + start: [6, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 6] + - !!python/tuple [4, 7] + - !!python/tuple [0, 7] + - !!python/tuple [3, 2] + - !!python/tuple [7, 5] + - !!python/tuple [1, 3] + - !!python/tuple [2, 2] + - !!python/tuple [6, 2] + - !!python/tuple [7, 6] + - !!python/tuple [7, 7] + - !!python/tuple [6, 0] + - !!python/tuple [2, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex18.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex18.yaml new file mode 100644 index 0000000..df24eb1 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex18.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [4, 7] + name: agent0 + start: [2, 5] +- goal: [1, 3] + name: agent1 + start: [4, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 5] + - !!python/tuple [3, 2] + - !!python/tuple [6, 3] + - !!python/tuple [1, 1] + - !!python/tuple [0, 7] + - !!python/tuple [6, 2] + - !!python/tuple [1, 7] + - !!python/tuple [7, 0] + - !!python/tuple [5, 4] + - !!python/tuple [4, 4] + - !!python/tuple [3, 3] + - !!python/tuple [6, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex19.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex19.yaml new file mode 100644 index 0000000..18b8a9a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex19.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [1, 2] + name: agent0 + start: [6, 0] +- goal: [2, 3] + name: agent1 + start: [5, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 4] + - !!python/tuple [7, 7] + - !!python/tuple [2, 5] + - !!python/tuple [5, 0] + - !!python/tuple [1, 5] + - !!python/tuple [3, 1] + - !!python/tuple [1, 0] + - !!python/tuple [6, 2] + - !!python/tuple [4, 6] + - !!python/tuple [3, 6] + - !!python/tuple [4, 4] + - !!python/tuple [1, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex2.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex2.yaml new file mode 100644 index 0000000..bbb34fc --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex2.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [2, 0] + name: agent0 + start: [3, 6] +- goal: [4, 5] + name: agent1 + start: [1, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 5] + - !!python/tuple [7, 2] + - !!python/tuple [1, 2] + - !!python/tuple [6, 7] + - !!python/tuple [7, 6] + - !!python/tuple [0, 7] + - !!python/tuple [2, 5] + - !!python/tuple [6, 2] + - !!python/tuple [7, 7] + - !!python/tuple [1, 4] + - !!python/tuple [1, 5] + - !!python/tuple [7, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex20.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex20.yaml new file mode 100644 index 0000000..892245b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex20.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [5, 3] + name: agent0 + start: [0, 3] +- goal: [5, 5] + name: agent1 + start: [5, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 0] + - !!python/tuple [1, 4] + - !!python/tuple [3, 7] + - !!python/tuple [7, 7] + - !!python/tuple [3, 2] + - !!python/tuple [2, 6] + - !!python/tuple [0, 4] + - !!python/tuple [7, 1] + - !!python/tuple [3, 4] + - !!python/tuple [5, 1] + - !!python/tuple [2, 7] + - !!python/tuple [0, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex21.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex21.yaml new file mode 100644 index 0000000..a3aa125 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex21.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [4, 2] + name: agent0 + start: [4, 5] +- goal: [0, 1] + name: agent1 + start: [7, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 1] + - !!python/tuple [5, 0] + - !!python/tuple [1, 0] + - !!python/tuple [1, 7] + - !!python/tuple [5, 6] + - !!python/tuple [3, 2] + - !!python/tuple [6, 4] + - !!python/tuple [7, 4] + - !!python/tuple [1, 1] + - !!python/tuple [5, 1] + - !!python/tuple [0, 4] + - !!python/tuple [1, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex22.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex22.yaml new file mode 100644 index 0000000..f204054 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex22.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [3, 4] + name: agent0 + start: [5, 7] +- goal: [6, 0] + name: agent1 + start: [2, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 3] + - !!python/tuple [5, 1] + - !!python/tuple [3, 2] + - !!python/tuple [6, 3] + - !!python/tuple [0, 7] + - !!python/tuple [4, 4] + - !!python/tuple [7, 0] + - !!python/tuple [7, 5] + - !!python/tuple [4, 7] + - !!python/tuple [1, 4] + - !!python/tuple [3, 0] + - !!python/tuple [0, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex23.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex23.yaml new file mode 100644 index 0000000..7991618 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex23.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [3, 1] + name: agent0 + start: [5, 7] +- goal: [4, 4] + name: agent1 + start: [5, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 1] + - !!python/tuple [6, 6] + - !!python/tuple [7, 4] + - !!python/tuple [2, 6] + - !!python/tuple [0, 2] + - !!python/tuple [7, 6] + - !!python/tuple [1, 3] + - !!python/tuple [0, 7] + - !!python/tuple [1, 7] + - !!python/tuple [3, 7] + - !!python/tuple [7, 5] + - !!python/tuple [0, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex24.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex24.yaml new file mode 100644 index 0000000..02b84a8 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex24.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [7, 0] + name: agent0 + start: [1, 3] +- goal: [5, 3] + name: agent1 + start: [7, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 0] + - !!python/tuple [7, 6] + - !!python/tuple [4, 2] + - !!python/tuple [4, 0] + - !!python/tuple [0, 2] + - !!python/tuple [4, 4] + - !!python/tuple [2, 1] + - !!python/tuple [6, 7] + - !!python/tuple [1, 1] + - !!python/tuple [6, 0] + - !!python/tuple [0, 1] + - !!python/tuple [7, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex25.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex25.yaml new file mode 100644 index 0000000..a383254 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex25.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [5, 4] + name: agent0 + start: [0, 1] +- goal: [6, 6] + name: agent1 + start: [2, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 6] + - !!python/tuple [3, 2] + - !!python/tuple [2, 0] + - !!python/tuple [4, 7] + - !!python/tuple [1, 4] + - !!python/tuple [2, 1] + - !!python/tuple [5, 7] + - !!python/tuple [0, 0] + - !!python/tuple [3, 7] + - !!python/tuple [6, 1] + - !!python/tuple [3, 0] + - !!python/tuple [2, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex26.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex26.yaml new file mode 100644 index 0000000..e9e37a7 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex26.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [5, 5] + name: agent0 + start: [3, 2] +- goal: [1, 2] + name: agent1 + start: [1, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 1] + - !!python/tuple [0, 1] + - !!python/tuple [1, 7] + - !!python/tuple [6, 6] + - !!python/tuple [5, 1] + - !!python/tuple [6, 7] + - !!python/tuple [5, 0] + - !!python/tuple [4, 6] + - !!python/tuple [4, 5] + - !!python/tuple [0, 3] + - !!python/tuple [2, 1] + - !!python/tuple [1, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex27.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex27.yaml new file mode 100644 index 0000000..f1b0e44 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex27.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [7, 0] + name: agent0 + start: [6, 1] +- goal: [4, 7] + name: agent1 + start: [4, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 3] + - !!python/tuple [5, 3] + - !!python/tuple [0, 3] + - !!python/tuple [6, 2] + - !!python/tuple [2, 7] + - !!python/tuple [0, 1] + - !!python/tuple [3, 2] + - !!python/tuple [3, 4] + - !!python/tuple [1, 5] + - !!python/tuple [7, 2] + - !!python/tuple [2, 5] + - !!python/tuple [2, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex28.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex28.yaml new file mode 100644 index 0000000..bad8bcb --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex28.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [6, 1] + name: agent0 + start: [0, 7] +- goal: [5, 2] + name: agent1 + start: [0, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 6] + - !!python/tuple [5, 0] + - !!python/tuple [7, 3] + - !!python/tuple [2, 7] + - !!python/tuple [4, 3] + - !!python/tuple [6, 3] + - !!python/tuple [7, 6] + - !!python/tuple [5, 3] + - !!python/tuple [1, 1] + - !!python/tuple [3, 5] + - !!python/tuple [2, 2] + - !!python/tuple [6, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex29.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex29.yaml new file mode 100644 index 0000000..a2407b9 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex29.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [2, 0] + name: agent0 + start: [2, 7] +- goal: [2, 2] + name: agent1 + start: [4, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 2] + - !!python/tuple [1, 3] + - !!python/tuple [7, 4] + - !!python/tuple [1, 4] + - !!python/tuple [7, 5] + - !!python/tuple [1, 7] + - !!python/tuple [5, 2] + - !!python/tuple [0, 5] + - !!python/tuple [0, 7] + - !!python/tuple [0, 6] + - !!python/tuple [2, 4] + - !!python/tuple [1, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex3.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex3.yaml new file mode 100644 index 0000000..6ba3749 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex3.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [2, 3] + name: agent0 + start: [0, 1] +- goal: [0, 6] + name: agent1 + start: [6, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 7] + - !!python/tuple [0, 5] + - !!python/tuple [7, 0] + - !!python/tuple [3, 6] + - !!python/tuple [1, 1] + - !!python/tuple [7, 5] + - !!python/tuple [2, 0] + - !!python/tuple [3, 2] + - !!python/tuple [7, 2] + - !!python/tuple [7, 6] + - !!python/tuple [4, 5] + - !!python/tuple [6, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex30.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex30.yaml new file mode 100644 index 0000000..032bade --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex30.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [2, 1] + name: agent0 + start: [7, 3] +- goal: [0, 6] + name: agent1 + start: [4, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 2] + - !!python/tuple [1, 7] + - !!python/tuple [5, 0] + - !!python/tuple [0, 7] + - !!python/tuple [4, 0] + - !!python/tuple [4, 6] + - !!python/tuple [1, 4] + - !!python/tuple [5, 5] + - !!python/tuple [6, 2] + - !!python/tuple [3, 4] + - !!python/tuple [2, 2] + - !!python/tuple [6, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex31.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex31.yaml new file mode 100644 index 0000000..edf3e1d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex31.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [1, 3] + name: agent0 + start: [7, 6] +- goal: [1, 4] + name: agent1 + start: [5, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 3] + - !!python/tuple [0, 6] + - !!python/tuple [0, 4] + - !!python/tuple [2, 7] + - !!python/tuple [0, 7] + - !!python/tuple [6, 0] + - !!python/tuple [2, 4] + - !!python/tuple [3, 2] + - !!python/tuple [7, 7] + - !!python/tuple [2, 5] + - !!python/tuple [5, 1] + - !!python/tuple [2, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex32.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex32.yaml new file mode 100644 index 0000000..315e629 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex32.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [5, 7] + name: agent0 + start: [6, 1] +- goal: [4, 0] + name: agent1 + start: [5, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 3] + - !!python/tuple [2, 2] + - !!python/tuple [1, 1] + - !!python/tuple [3, 7] + - !!python/tuple [6, 7] + - !!python/tuple [6, 6] + - !!python/tuple [7, 4] + - !!python/tuple [4, 4] + - !!python/tuple [6, 2] + - !!python/tuple [5, 6] + - !!python/tuple [1, 7] + - !!python/tuple [7, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex33.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex33.yaml new file mode 100644 index 0000000..7365876 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex33.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [0, 3] + name: agent0 + start: [7, 4] +- goal: [2, 5] + name: agent1 + start: [7, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 7] + - !!python/tuple [4, 5] + - !!python/tuple [6, 7] + - !!python/tuple [6, 0] + - !!python/tuple [2, 6] + - !!python/tuple [1, 7] + - !!python/tuple [5, 0] + - !!python/tuple [5, 6] + - !!python/tuple [6, 2] + - !!python/tuple [4, 2] + - !!python/tuple [7, 2] + - !!python/tuple [3, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex34.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex34.yaml new file mode 100644 index 0000000..91e1ffe --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex34.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [1, 3] + name: agent0 + start: [1, 2] +- goal: [0, 3] + name: agent1 + start: [3, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 6] + - !!python/tuple [7, 6] + - !!python/tuple [7, 3] + - !!python/tuple [2, 5] + - !!python/tuple [1, 7] + - !!python/tuple [2, 6] + - !!python/tuple [5, 4] + - !!python/tuple [7, 2] + - !!python/tuple [6, 1] + - !!python/tuple [1, 1] + - !!python/tuple [1, 0] + - !!python/tuple [4, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex35.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex35.yaml new file mode 100644 index 0000000..fcf8ea3 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex35.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [4, 6] + name: agent0 + start: [3, 7] +- goal: [3, 2] + name: agent1 + start: [1, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 4] + - !!python/tuple [2, 3] + - !!python/tuple [5, 7] + - !!python/tuple [1, 0] + - !!python/tuple [4, 2] + - !!python/tuple [3, 0] + - !!python/tuple [2, 7] + - !!python/tuple [2, 2] + - !!python/tuple [3, 1] + - !!python/tuple [5, 0] + - !!python/tuple [6, 5] + - !!python/tuple [6, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex36.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex36.yaml new file mode 100644 index 0000000..4afcb02 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex36.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [2, 5] + name: agent0 + start: [5, 2] +- goal: [4, 1] + name: agent1 + start: [5, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 5] + - !!python/tuple [6, 7] + - !!python/tuple [1, 0] + - !!python/tuple [4, 6] + - !!python/tuple [0, 5] + - !!python/tuple [0, 1] + - !!python/tuple [6, 4] + - !!python/tuple [4, 3] + - !!python/tuple [1, 6] + - !!python/tuple [0, 4] + - !!python/tuple [0, 0] + - !!python/tuple [5, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex37.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex37.yaml new file mode 100644 index 0000000..1fcb95c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex37.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [0, 7] + name: agent0 + start: [6, 3] +- goal: [1, 0] + name: agent1 + start: [3, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 5] + - !!python/tuple [7, 1] + - !!python/tuple [6, 5] + - !!python/tuple [1, 2] + - !!python/tuple [3, 3] + - !!python/tuple [5, 7] + - !!python/tuple [4, 2] + - !!python/tuple [3, 7] + - !!python/tuple [3, 4] + - !!python/tuple [4, 6] + - !!python/tuple [4, 0] + - !!python/tuple [6, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex38.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex38.yaml new file mode 100644 index 0000000..4292463 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex38.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [7, 2] + name: agent0 + start: [7, 5] +- goal: [6, 3] + name: agent1 + start: [3, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 1] + - !!python/tuple [7, 3] + - !!python/tuple [7, 6] + - !!python/tuple [0, 5] + - !!python/tuple [4, 2] + - !!python/tuple [4, 3] + - !!python/tuple [6, 1] + - !!python/tuple [2, 4] + - !!python/tuple [1, 5] + - !!python/tuple [0, 4] + - !!python/tuple [2, 6] + - !!python/tuple [5, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex39.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex39.yaml new file mode 100644 index 0000000..e488c68 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex39.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [6, 5] + name: agent0 + start: [4, 1] +- goal: [1, 1] + name: agent1 + start: [5, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 5] + - !!python/tuple [5, 2] + - !!python/tuple [4, 7] + - !!python/tuple [2, 4] + - !!python/tuple [2, 0] + - !!python/tuple [5, 3] + - !!python/tuple [3, 7] + - !!python/tuple [4, 3] + - !!python/tuple [3, 5] + - !!python/tuple [6, 4] + - !!python/tuple [1, 6] + - !!python/tuple [5, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex4.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex4.yaml new file mode 100644 index 0000000..1c36924 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex4.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [2, 2] + name: agent0 + start: [5, 4] +- goal: [7, 5] + name: agent1 + start: [5, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 2] + - !!python/tuple [1, 6] + - !!python/tuple [7, 2] + - !!python/tuple [6, 0] + - !!python/tuple [7, 0] + - !!python/tuple [4, 0] + - !!python/tuple [7, 6] + - !!python/tuple [5, 5] + - !!python/tuple [0, 7] + - !!python/tuple [3, 5] + - !!python/tuple [4, 1] + - !!python/tuple [2, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex40.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex40.yaml new file mode 100644 index 0000000..ec78e4d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex40.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [7, 7] + name: agent0 + start: [5, 1] +- goal: [6, 2] + name: agent1 + start: [6, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 1] + - !!python/tuple [1, 5] + - !!python/tuple [2, 4] + - !!python/tuple [2, 6] + - !!python/tuple [5, 3] + - !!python/tuple [2, 0] + - !!python/tuple [2, 5] + - !!python/tuple [7, 5] + - !!python/tuple [4, 3] + - !!python/tuple [0, 5] + - !!python/tuple [4, 7] + - !!python/tuple [2, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex41.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex41.yaml new file mode 100644 index 0000000..e6d7488 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex41.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [7, 5] + name: agent0 + start: [3, 3] +- goal: [7, 3] + name: agent1 + start: [7, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 2] + - !!python/tuple [3, 6] + - !!python/tuple [7, 1] + - !!python/tuple [7, 7] + - !!python/tuple [1, 3] + - !!python/tuple [1, 6] + - !!python/tuple [5, 3] + - !!python/tuple [1, 0] + - !!python/tuple [3, 2] + - !!python/tuple [0, 4] + - !!python/tuple [0, 1] + - !!python/tuple [1, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex42.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex42.yaml new file mode 100644 index 0000000..0876108 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex42.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [7, 2] + name: agent0 + start: [4, 6] +- goal: [6, 4] + name: agent1 + start: [3, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 5] + - !!python/tuple [2, 5] + - !!python/tuple [5, 5] + - !!python/tuple [0, 2] + - !!python/tuple [2, 4] + - !!python/tuple [3, 2] + - !!python/tuple [0, 4] + - !!python/tuple [4, 3] + - !!python/tuple [5, 7] + - !!python/tuple [7, 4] + - !!python/tuple [1, 5] + - !!python/tuple [3, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex43.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex43.yaml new file mode 100644 index 0000000..ccdd662 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex43.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [1, 0] + name: agent0 + start: [0, 1] +- goal: [3, 1] + name: agent1 + start: [0, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 3] + - !!python/tuple [7, 4] + - !!python/tuple [5, 0] + - !!python/tuple [3, 5] + - !!python/tuple [6, 5] + - !!python/tuple [0, 4] + - !!python/tuple [7, 2] + - !!python/tuple [7, 6] + - !!python/tuple [3, 6] + - !!python/tuple [1, 4] + - !!python/tuple [3, 3] + - !!python/tuple [6, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex44.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex44.yaml new file mode 100644 index 0000000..32da31d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex44.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [0, 0] + name: agent0 + start: [6, 4] +- goal: [7, 1] + name: agent1 + start: [6, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 4] + - !!python/tuple [1, 4] + - !!python/tuple [2, 1] + - !!python/tuple [2, 5] + - !!python/tuple [6, 0] + - !!python/tuple [0, 3] + - !!python/tuple [2, 7] + - !!python/tuple [7, 0] + - !!python/tuple [0, 5] + - !!python/tuple [1, 1] + - !!python/tuple [0, 2] + - !!python/tuple [7, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex45.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex45.yaml new file mode 100644 index 0000000..f19c98d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex45.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [4, 0] + name: agent0 + start: [7, 3] +- goal: [5, 3] + name: agent1 + start: [3, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 6] + - !!python/tuple [0, 3] + - !!python/tuple [1, 1] + - !!python/tuple [1, 0] + - !!python/tuple [2, 6] + - !!python/tuple [2, 2] + - !!python/tuple [1, 7] + - !!python/tuple [3, 4] + - !!python/tuple [0, 2] + - !!python/tuple [1, 2] + - !!python/tuple [0, 5] + - !!python/tuple [6, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex46.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex46.yaml new file mode 100644 index 0000000..804ec38 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex46.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [5, 3] + name: agent0 + start: [2, 2] +- goal: [0, 0] + name: agent1 + start: [7, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 5] + - !!python/tuple [1, 6] + - !!python/tuple [1, 0] + - !!python/tuple [0, 5] + - !!python/tuple [3, 7] + - !!python/tuple [0, 4] + - !!python/tuple [7, 7] + - !!python/tuple [3, 4] + - !!python/tuple [2, 6] + - !!python/tuple [0, 2] + - !!python/tuple [4, 0] + - !!python/tuple [4, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex47.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex47.yaml new file mode 100644 index 0000000..1b5de7e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex47.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [6, 2] + name: agent0 + start: [5, 7] +- goal: [7, 6] + name: agent1 + start: [3, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 2] + - !!python/tuple [5, 0] + - !!python/tuple [4, 7] + - !!python/tuple [1, 7] + - !!python/tuple [1, 1] + - !!python/tuple [2, 1] + - !!python/tuple [1, 4] + - !!python/tuple [2, 6] + - !!python/tuple [6, 7] + - !!python/tuple [1, 0] + - !!python/tuple [6, 1] + - !!python/tuple [7, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex48.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex48.yaml new file mode 100644 index 0000000..d23b1d0 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex48.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [2, 7] + name: agent0 + start: [4, 3] +- goal: [0, 3] + name: agent1 + start: [2, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 2] + - !!python/tuple [7, 6] + - !!python/tuple [3, 0] + - !!python/tuple [6, 3] + - !!python/tuple [0, 7] + - !!python/tuple [5, 2] + - !!python/tuple [2, 6] + - !!python/tuple [1, 7] + - !!python/tuple [6, 4] + - !!python/tuple [7, 1] + - !!python/tuple [5, 6] + - !!python/tuple [5, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex49.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex49.yaml new file mode 100644 index 0000000..9b97bad --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex49.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [7, 1] + name: agent0 + start: [6, 7] +- goal: [5, 0] + name: agent1 + start: [6, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 0] + - !!python/tuple [6, 4] + - !!python/tuple [0, 4] + - !!python/tuple [3, 3] + - !!python/tuple [2, 2] + - !!python/tuple [6, 5] + - !!python/tuple [3, 2] + - !!python/tuple [0, 5] + - !!python/tuple [6, 0] + - !!python/tuple [2, 0] + - !!python/tuple [7, 3] + - !!python/tuple [1, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex5.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex5.yaml new file mode 100644 index 0000000..7d3d68d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex5.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [1, 0] + name: agent0 + start: [1, 7] +- goal: [4, 3] + name: agent1 + start: [0, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 6] + - !!python/tuple [2, 5] + - !!python/tuple [3, 4] + - !!python/tuple [2, 1] + - !!python/tuple [4, 7] + - !!python/tuple [0, 2] + - !!python/tuple [6, 6] + - !!python/tuple [6, 5] + - !!python/tuple [4, 4] + - !!python/tuple [6, 0] + - !!python/tuple [0, 4] + - !!python/tuple [6, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex50.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex50.yaml new file mode 100644 index 0000000..254171c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex50.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [4, 4] + name: agent0 + start: [4, 0] +- goal: [2, 3] + name: agent1 + start: [1, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 6] + - !!python/tuple [6, 5] + - !!python/tuple [4, 3] + - !!python/tuple [3, 7] + - !!python/tuple [4, 5] + - !!python/tuple [5, 4] + - !!python/tuple [6, 4] + - !!python/tuple [0, 5] + - !!python/tuple [6, 3] + - !!python/tuple [4, 2] + - !!python/tuple [7, 1] + - !!python/tuple [2, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex51.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex51.yaml new file mode 100644 index 0000000..d1717e8 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex51.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [3, 7] + name: agent0 + start: [3, 0] +- goal: [6, 0] + name: agent1 + start: [7, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 5] + - !!python/tuple [5, 1] + - !!python/tuple [1, 1] + - !!python/tuple [5, 6] + - !!python/tuple [7, 4] + - !!python/tuple [4, 0] + - !!python/tuple [5, 3] + - !!python/tuple [5, 2] + - !!python/tuple [6, 3] + - !!python/tuple [6, 1] + - !!python/tuple [2, 1] + - !!python/tuple [0, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex52.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex52.yaml new file mode 100644 index 0000000..21653b5 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex52.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [7, 3] + name: agent0 + start: [5, 0] +- goal: [6, 3] + name: agent1 + start: [0, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 0] + - !!python/tuple [7, 6] + - !!python/tuple [4, 2] + - !!python/tuple [0, 1] + - !!python/tuple [7, 5] + - !!python/tuple [4, 5] + - !!python/tuple [3, 3] + - !!python/tuple [3, 2] + - !!python/tuple [3, 1] + - !!python/tuple [5, 2] + - !!python/tuple [4, 3] + - !!python/tuple [6, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex53.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex53.yaml new file mode 100644 index 0000000..a91bb3b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex53.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [6, 3] + name: agent0 + start: [1, 2] +- goal: [2, 4] + name: agent1 + start: [0, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 3] + - !!python/tuple [0, 4] + - !!python/tuple [2, 2] + - !!python/tuple [2, 0] + - !!python/tuple [5, 0] + - !!python/tuple [2, 6] + - !!python/tuple [3, 1] + - !!python/tuple [3, 0] + - !!python/tuple [0, 7] + - !!python/tuple [3, 2] + - !!python/tuple [6, 4] + - !!python/tuple [0, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex54.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex54.yaml new file mode 100644 index 0000000..e097620 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex54.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [6, 6] + name: agent0 + start: [6, 6] +- goal: [1, 7] + name: agent1 + start: [4, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 0] + - !!python/tuple [0, 0] + - !!python/tuple [4, 4] + - !!python/tuple [3, 5] + - !!python/tuple [2, 4] + - !!python/tuple [0, 5] + - !!python/tuple [5, 4] + - !!python/tuple [3, 7] + - !!python/tuple [2, 5] + - !!python/tuple [5, 1] + - !!python/tuple [5, 5] + - !!python/tuple [6, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex55.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex55.yaml new file mode 100644 index 0000000..c2d3da7 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex55.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [5, 1] + name: agent0 + start: [2, 3] +- goal: [4, 0] + name: agent1 + start: [6, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 7] + - !!python/tuple [0, 6] + - !!python/tuple [4, 7] + - !!python/tuple [5, 4] + - !!python/tuple [7, 4] + - !!python/tuple [2, 2] + - !!python/tuple [0, 2] + - !!python/tuple [2, 4] + - !!python/tuple [0, 1] + - !!python/tuple [7, 0] + - !!python/tuple [5, 3] + - !!python/tuple [1, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex56.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex56.yaml new file mode 100644 index 0000000..86d9cc4 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex56.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [0, 2] + name: agent0 + start: [2, 5] +- goal: [3, 4] + name: agent1 + start: [3, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 5] + - !!python/tuple [7, 3] + - !!python/tuple [5, 0] + - !!python/tuple [1, 4] + - !!python/tuple [7, 0] + - !!python/tuple [1, 0] + - !!python/tuple [4, 6] + - !!python/tuple [4, 4] + - !!python/tuple [5, 7] + - !!python/tuple [2, 4] + - !!python/tuple [4, 7] + - !!python/tuple [6, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex57.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex57.yaml new file mode 100644 index 0000000..0199efc --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex57.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [0, 0] + name: agent0 + start: [7, 7] +- goal: [5, 6] + name: agent1 + start: [3, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 7] + - !!python/tuple [6, 7] + - !!python/tuple [7, 1] + - !!python/tuple [4, 1] + - !!python/tuple [2, 7] + - !!python/tuple [3, 1] + - !!python/tuple [6, 4] + - !!python/tuple [3, 2] + - !!python/tuple [0, 3] + - !!python/tuple [6, 3] + - !!python/tuple [6, 2] + - !!python/tuple [3, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex58.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex58.yaml new file mode 100644 index 0000000..e6244e7 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex58.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [5, 2] + name: agent0 + start: [3, 5] +- goal: [3, 3] + name: agent1 + start: [4, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 6] + - !!python/tuple [1, 1] + - !!python/tuple [4, 2] + - !!python/tuple [2, 1] + - !!python/tuple [1, 3] + - !!python/tuple [6, 4] + - !!python/tuple [1, 4] + - !!python/tuple [4, 5] + - !!python/tuple [7, 6] + - !!python/tuple [7, 2] + - !!python/tuple [4, 4] + - !!python/tuple [0, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex59.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex59.yaml new file mode 100644 index 0000000..45fa50e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex59.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [2, 5] + name: agent0 + start: [5, 1] +- goal: [5, 6] + name: agent1 + start: [4, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 2] + - !!python/tuple [6, 7] + - !!python/tuple [6, 1] + - !!python/tuple [7, 3] + - !!python/tuple [2, 3] + - !!python/tuple [3, 0] + - !!python/tuple [5, 3] + - !!python/tuple [4, 0] + - !!python/tuple [1, 2] + - !!python/tuple [3, 6] + - !!python/tuple [7, 7] + - !!python/tuple [7, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex6.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex6.yaml new file mode 100644 index 0000000..ee59525 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex6.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [2, 0] + name: agent0 + start: [2, 0] +- goal: [6, 2] + name: agent1 + start: [1, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 2] + - !!python/tuple [2, 6] + - !!python/tuple [1, 7] + - !!python/tuple [4, 4] + - !!python/tuple [2, 5] + - !!python/tuple [1, 3] + - !!python/tuple [2, 3] + - !!python/tuple [0, 3] + - !!python/tuple [0, 0] + - !!python/tuple [7, 6] + - !!python/tuple [2, 1] + - !!python/tuple [0, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex60.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex60.yaml new file mode 100644 index 0000000..70049ae --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex60.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [2, 1] + name: agent0 + start: [0, 5] +- goal: [5, 2] + name: agent1 + start: [4, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 0] + - !!python/tuple [4, 7] + - !!python/tuple [3, 2] + - !!python/tuple [2, 6] + - !!python/tuple [5, 3] + - !!python/tuple [0, 1] + - !!python/tuple [0, 0] + - !!python/tuple [5, 1] + - !!python/tuple [2, 7] + - !!python/tuple [6, 5] + - !!python/tuple [7, 3] + - !!python/tuple [0, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex61.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex61.yaml new file mode 100644 index 0000000..ce97edf --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex61.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [5, 6] + name: agent0 + start: [4, 0] +- goal: [4, 0] + name: agent1 + start: [2, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 5] + - !!python/tuple [3, 2] + - !!python/tuple [0, 1] + - !!python/tuple [0, 4] + - !!python/tuple [6, 2] + - !!python/tuple [4, 4] + - !!python/tuple [3, 5] + - !!python/tuple [2, 4] + - !!python/tuple [1, 2] + - !!python/tuple [7, 5] + - !!python/tuple [3, 6] + - !!python/tuple [7, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex62.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex62.yaml new file mode 100644 index 0000000..cf25e8f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex62.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [2, 6] + name: agent0 + start: [6, 6] +- goal: [7, 4] + name: agent1 + start: [2, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 4] + - !!python/tuple [5, 3] + - !!python/tuple [3, 4] + - !!python/tuple [6, 0] + - !!python/tuple [1, 0] + - !!python/tuple [1, 4] + - !!python/tuple [7, 0] + - !!python/tuple [6, 3] + - !!python/tuple [0, 5] + - !!python/tuple [2, 0] + - !!python/tuple [7, 3] + - !!python/tuple [4, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex63.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex63.yaml new file mode 100644 index 0000000..1a325d5 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex63.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [5, 2] + name: agent0 + start: [0, 5] +- goal: [3, 5] + name: agent1 + start: [4, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 1] + - !!python/tuple [3, 2] + - !!python/tuple [3, 6] + - !!python/tuple [2, 2] + - !!python/tuple [2, 5] + - !!python/tuple [2, 1] + - !!python/tuple [1, 2] + - !!python/tuple [1, 5] + - !!python/tuple [1, 4] + - !!python/tuple [0, 6] + - !!python/tuple [7, 3] + - !!python/tuple [4, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex64.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex64.yaml new file mode 100644 index 0000000..081544f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex64.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [7, 5] + name: agent0 + start: [5, 2] +- goal: [4, 1] + name: agent1 + start: [5, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 7] + - !!python/tuple [2, 3] + - !!python/tuple [4, 4] + - !!python/tuple [7, 1] + - !!python/tuple [7, 2] + - !!python/tuple [7, 4] + - !!python/tuple [2, 4] + - !!python/tuple [0, 6] + - !!python/tuple [1, 3] + - !!python/tuple [6, 3] + - !!python/tuple [0, 4] + - !!python/tuple [3, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex65.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex65.yaml new file mode 100644 index 0000000..8969543 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex65.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [4, 1] + name: agent0 + start: [6, 3] +- goal: [1, 6] + name: agent1 + start: [0, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 4] + - !!python/tuple [7, 0] + - !!python/tuple [6, 6] + - !!python/tuple [5, 7] + - !!python/tuple [5, 0] + - !!python/tuple [1, 0] + - !!python/tuple [5, 5] + - !!python/tuple [3, 6] + - !!python/tuple [2, 3] + - !!python/tuple [7, 7] + - !!python/tuple [5, 1] + - !!python/tuple [6, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex66.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex66.yaml new file mode 100644 index 0000000..3779166 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex66.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [5, 6] + name: agent0 + start: [1, 6] +- goal: [0, 3] + name: agent1 + start: [1, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 6] + - !!python/tuple [0, 5] + - !!python/tuple [4, 7] + - !!python/tuple [3, 6] + - !!python/tuple [7, 6] + - !!python/tuple [0, 2] + - !!python/tuple [2, 7] + - !!python/tuple [7, 2] + - !!python/tuple [3, 0] + - !!python/tuple [7, 1] + - !!python/tuple [3, 3] + - !!python/tuple [0, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex67.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex67.yaml new file mode 100644 index 0000000..11daf31 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex67.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [1, 3] + name: agent0 + start: [7, 3] +- goal: [4, 4] + name: agent1 + start: [3, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 2] + - !!python/tuple [4, 5] + - !!python/tuple [7, 2] + - !!python/tuple [5, 0] + - !!python/tuple [0, 0] + - !!python/tuple [3, 1] + - !!python/tuple [2, 0] + - !!python/tuple [6, 0] + - !!python/tuple [2, 5] + - !!python/tuple [4, 1] + - !!python/tuple [6, 2] + - !!python/tuple [4, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex68.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex68.yaml new file mode 100644 index 0000000..98243ed --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex68.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [6, 7] + name: agent0 + start: [7, 3] +- goal: [1, 2] + name: agent1 + start: [4, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 7] + - !!python/tuple [0, 6] + - !!python/tuple [3, 1] + - !!python/tuple [4, 6] + - !!python/tuple [2, 3] + - !!python/tuple [7, 4] + - !!python/tuple [5, 0] + - !!python/tuple [4, 7] + - !!python/tuple [4, 0] + - !!python/tuple [6, 3] + - !!python/tuple [7, 5] + - !!python/tuple [6, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex69.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex69.yaml new file mode 100644 index 0000000..949bccc --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex69.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [1, 3] + name: agent0 + start: [1, 3] +- goal: [1, 5] + name: agent1 + start: [5, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 6] + - !!python/tuple [3, 0] + - !!python/tuple [1, 7] + - !!python/tuple [4, 6] + - !!python/tuple [3, 3] + - !!python/tuple [5, 4] + - !!python/tuple [2, 3] + - !!python/tuple [5, 1] + - !!python/tuple [5, 3] + - !!python/tuple [2, 6] + - !!python/tuple [1, 2] + - !!python/tuple [6, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex7.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex7.yaml new file mode 100644 index 0000000..e4aa86c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex7.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [6, 0] + name: agent0 + start: [5, 0] +- goal: [5, 5] + name: agent1 + start: [6, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 4] + - !!python/tuple [7, 7] + - !!python/tuple [1, 1] + - !!python/tuple [6, 6] + - !!python/tuple [3, 4] + - !!python/tuple [6, 5] + - !!python/tuple [2, 3] + - !!python/tuple [2, 6] + - !!python/tuple [4, 0] + - !!python/tuple [2, 4] + - !!python/tuple [4, 1] + - !!python/tuple [7, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex70.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex70.yaml new file mode 100644 index 0000000..e1cbcb9 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex70.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [5, 0] + name: agent0 + start: [7, 1] +- goal: [2, 6] + name: agent1 + start: [3, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 3] + - !!python/tuple [0, 5] + - !!python/tuple [5, 4] + - !!python/tuple [5, 2] + - !!python/tuple [1, 0] + - !!python/tuple [1, 7] + - !!python/tuple [5, 6] + - !!python/tuple [7, 6] + - !!python/tuple [6, 4] + - !!python/tuple [1, 5] + - !!python/tuple [0, 0] + - !!python/tuple [0, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex71.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex71.yaml new file mode 100644 index 0000000..b5ee9dc --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex71.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [3, 6] + name: agent0 + start: [0, 0] +- goal: [0, 4] + name: agent1 + start: [6, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 5] + - !!python/tuple [2, 2] + - !!python/tuple [1, 1] + - !!python/tuple [7, 1] + - !!python/tuple [6, 1] + - !!python/tuple [2, 1] + - !!python/tuple [4, 7] + - !!python/tuple [3, 7] + - !!python/tuple [4, 2] + - !!python/tuple [7, 2] + - !!python/tuple [5, 5] + - !!python/tuple [0, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex72.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex72.yaml new file mode 100644 index 0000000..280eeda --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex72.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [2, 3] + name: agent0 + start: [4, 5] +- goal: [5, 4] + name: agent1 + start: [7, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 5] + - !!python/tuple [6, 1] + - !!python/tuple [6, 6] + - !!python/tuple [3, 0] + - !!python/tuple [0, 2] + - !!python/tuple [1, 5] + - !!python/tuple [7, 1] + - !!python/tuple [7, 3] + - !!python/tuple [7, 5] + - !!python/tuple [2, 2] + - !!python/tuple [3, 3] + - !!python/tuple [1, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex73.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex73.yaml new file mode 100644 index 0000000..36223b1 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex73.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [7, 5] + name: agent0 + start: [0, 4] +- goal: [6, 5] + name: agent1 + start: [4, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 6] + - !!python/tuple [2, 2] + - !!python/tuple [1, 2] + - !!python/tuple [1, 4] + - !!python/tuple [2, 0] + - !!python/tuple [6, 0] + - !!python/tuple [1, 3] + - !!python/tuple [5, 4] + - !!python/tuple [1, 0] + - !!python/tuple [3, 4] + - !!python/tuple [4, 5] + - !!python/tuple [3, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex74.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex74.yaml new file mode 100644 index 0000000..d4df990 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex74.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [7, 5] + name: agent0 + start: [2, 2] +- goal: [2, 2] + name: agent1 + start: [5, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 6] + - !!python/tuple [1, 4] + - !!python/tuple [3, 0] + - !!python/tuple [5, 7] + - !!python/tuple [0, 2] + - !!python/tuple [2, 0] + - !!python/tuple [7, 7] + - !!python/tuple [6, 5] + - !!python/tuple [4, 2] + - !!python/tuple [0, 1] + - !!python/tuple [5, 0] + - !!python/tuple [1, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex75.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex75.yaml new file mode 100644 index 0000000..32d413e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex75.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [1, 2] + name: agent0 + start: [2, 7] +- goal: [6, 1] + name: agent1 + start: [2, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 3] + - !!python/tuple [6, 2] + - !!python/tuple [3, 1] + - !!python/tuple [1, 7] + - !!python/tuple [0, 6] + - !!python/tuple [0, 4] + - !!python/tuple [4, 1] + - !!python/tuple [6, 7] + - !!python/tuple [3, 3] + - !!python/tuple [4, 6] + - !!python/tuple [0, 0] + - !!python/tuple [0, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex76.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex76.yaml new file mode 100644 index 0000000..9820b1c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex76.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [5, 4] + name: agent0 + start: [5, 5] +- goal: [5, 5] + name: agent1 + start: [6, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 3] + - !!python/tuple [4, 1] + - !!python/tuple [2, 5] + - !!python/tuple [6, 1] + - !!python/tuple [6, 4] + - !!python/tuple [3, 2] + - !!python/tuple [0, 7] + - !!python/tuple [4, 2] + - !!python/tuple [5, 0] + - !!python/tuple [6, 0] + - !!python/tuple [0, 2] + - !!python/tuple [6, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex77.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex77.yaml new file mode 100644 index 0000000..5d224b1 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex77.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [7, 3] + name: agent0 + start: [6, 4] +- goal: [2, 3] + name: agent1 + start: [4, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 4] + - !!python/tuple [0, 0] + - !!python/tuple [1, 3] + - !!python/tuple [6, 2] + - !!python/tuple [7, 4] + - !!python/tuple [5, 1] + - !!python/tuple [6, 5] + - !!python/tuple [3, 0] + - !!python/tuple [4, 6] + - !!python/tuple [0, 5] + - !!python/tuple [1, 2] + - !!python/tuple [2, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex78.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex78.yaml new file mode 100644 index 0000000..7e3ead5 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex78.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [7, 1] + name: agent0 + start: [4, 4] +- goal: [2, 1] + name: agent1 + start: [2, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 4] + - !!python/tuple [0, 1] + - !!python/tuple [5, 7] + - !!python/tuple [5, 1] + - !!python/tuple [3, 0] + - !!python/tuple [4, 5] + - !!python/tuple [3, 7] + - !!python/tuple [0, 7] + - !!python/tuple [7, 5] + - !!python/tuple [2, 3] + - !!python/tuple [0, 2] + - !!python/tuple [6, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex79.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex79.yaml new file mode 100644 index 0000000..703d96d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex79.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [7, 4] + name: agent0 + start: [5, 7] +- goal: [7, 1] + name: agent1 + start: [0, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 2] + - !!python/tuple [3, 5] + - !!python/tuple [3, 4] + - !!python/tuple [3, 1] + - !!python/tuple [0, 7] + - !!python/tuple [6, 4] + - !!python/tuple [0, 6] + - !!python/tuple [2, 2] + - !!python/tuple [6, 0] + - !!python/tuple [4, 3] + - !!python/tuple [3, 6] + - !!python/tuple [0, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex8.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex8.yaml new file mode 100644 index 0000000..cc95518 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex8.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [7, 6] + name: agent0 + start: [6, 4] +- goal: [0, 7] + name: agent1 + start: [3, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 2] + - !!python/tuple [4, 2] + - !!python/tuple [3, 0] + - !!python/tuple [1, 4] + - !!python/tuple [5, 0] + - !!python/tuple [4, 6] + - !!python/tuple [5, 1] + - !!python/tuple [5, 6] + - !!python/tuple [2, 2] + - !!python/tuple [5, 7] + - !!python/tuple [0, 6] + - !!python/tuple [3, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex80.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex80.yaml new file mode 100644 index 0000000..c11dc32 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex80.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [3, 5] + name: agent0 + start: [6, 0] +- goal: [3, 4] + name: agent1 + start: [1, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 3] + - !!python/tuple [7, 0] + - !!python/tuple [2, 0] + - !!python/tuple [7, 1] + - !!python/tuple [6, 5] + - !!python/tuple [7, 2] + - !!python/tuple [6, 3] + - !!python/tuple [0, 7] + - !!python/tuple [0, 4] + - !!python/tuple [0, 1] + - !!python/tuple [2, 5] + - !!python/tuple [1, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex81.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex81.yaml new file mode 100644 index 0000000..0e85be1 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex81.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [4, 3] + name: agent0 + start: [4, 4] +- goal: [3, 1] + name: agent1 + start: [3, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 7] + - !!python/tuple [0, 3] + - !!python/tuple [5, 1] + - !!python/tuple [0, 0] + - !!python/tuple [4, 0] + - !!python/tuple [6, 4] + - !!python/tuple [1, 7] + - !!python/tuple [3, 2] + - !!python/tuple [6, 1] + - !!python/tuple [1, 1] + - !!python/tuple [5, 5] + - !!python/tuple [0, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex82.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex82.yaml new file mode 100644 index 0000000..9cb4352 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex82.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [2, 1] + name: agent0 + start: [3, 5] +- goal: [4, 4] + name: agent1 + start: [2, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 6] + - !!python/tuple [0, 5] + - !!python/tuple [1, 6] + - !!python/tuple [6, 0] + - !!python/tuple [1, 0] + - !!python/tuple [4, 1] + - !!python/tuple [1, 3] + - !!python/tuple [3, 4] + - !!python/tuple [5, 4] + - !!python/tuple [2, 5] + - !!python/tuple [7, 0] + - !!python/tuple [5, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex83.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex83.yaml new file mode 100644 index 0000000..002d717 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex83.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [4, 0] + name: agent0 + start: [4, 7] +- goal: [1, 7] + name: agent1 + start: [3, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 2] + - !!python/tuple [2, 5] + - !!python/tuple [6, 0] + - !!python/tuple [1, 5] + - !!python/tuple [0, 5] + - !!python/tuple [7, 2] + - !!python/tuple [1, 6] + - !!python/tuple [0, 7] + - !!python/tuple [4, 4] + - !!python/tuple [6, 3] + - !!python/tuple [7, 5] + - !!python/tuple [0, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex84.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex84.yaml new file mode 100644 index 0000000..738fbaf --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex84.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [1, 7] + name: agent0 + start: [5, 7] +- goal: [5, 7] + name: agent1 + start: [6, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 4] + - !!python/tuple [4, 4] + - !!python/tuple [3, 5] + - !!python/tuple [1, 1] + - !!python/tuple [5, 3] + - !!python/tuple [3, 1] + - !!python/tuple [7, 6] + - !!python/tuple [3, 7] + - !!python/tuple [1, 3] + - !!python/tuple [2, 2] + - !!python/tuple [4, 5] + - !!python/tuple [2, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex85.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex85.yaml new file mode 100644 index 0000000..56f0703 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex85.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [1, 2] + name: agent0 + start: [7, 6] +- goal: [7, 6] + name: agent1 + start: [4, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 1] + - !!python/tuple [3, 0] + - !!python/tuple [1, 4] + - !!python/tuple [6, 7] + - !!python/tuple [2, 4] + - !!python/tuple [5, 1] + - !!python/tuple [7, 0] + - !!python/tuple [2, 0] + - !!python/tuple [0, 3] + - !!python/tuple [1, 5] + - !!python/tuple [5, 3] + - !!python/tuple [7, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex86.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex86.yaml new file mode 100644 index 0000000..e272457 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex86.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [3, 4] + name: agent0 + start: [6, 6] +- goal: [3, 0] + name: agent1 + start: [7, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 4] + - !!python/tuple [6, 4] + - !!python/tuple [3, 1] + - !!python/tuple [1, 5] + - !!python/tuple [0, 2] + - !!python/tuple [4, 6] + - !!python/tuple [7, 5] + - !!python/tuple [2, 7] + - !!python/tuple [1, 0] + - !!python/tuple [2, 2] + - !!python/tuple [5, 7] + - !!python/tuple [5, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex87.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex87.yaml new file mode 100644 index 0000000..435feee --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex87.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [1, 0] + name: agent0 + start: [2, 0] +- goal: [5, 1] + name: agent1 + start: [2, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 5] + - !!python/tuple [0, 3] + - !!python/tuple [0, 0] + - !!python/tuple [3, 3] + - !!python/tuple [1, 2] + - !!python/tuple [6, 2] + - !!python/tuple [3, 7] + - !!python/tuple [5, 4] + - !!python/tuple [7, 4] + - !!python/tuple [6, 5] + - !!python/tuple [5, 3] + - !!python/tuple [1, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex88.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex88.yaml new file mode 100644 index 0000000..fe5fd0b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex88.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [5, 7] + name: agent0 + start: [3, 3] +- goal: [2, 2] + name: agent1 + start: [3, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 6] + - !!python/tuple [7, 5] + - !!python/tuple [0, 5] + - !!python/tuple [4, 4] + - !!python/tuple [1, 0] + - !!python/tuple [4, 0] + - !!python/tuple [7, 1] + - !!python/tuple [1, 7] + - !!python/tuple [5, 5] + - !!python/tuple [6, 3] + - !!python/tuple [5, 3] + - !!python/tuple [1, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex89.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex89.yaml new file mode 100644 index 0000000..82ba0cf --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex89.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [0, 1] + name: agent0 + start: [0, 5] +- goal: [1, 1] + name: agent1 + start: [6, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 7] + - !!python/tuple [5, 4] + - !!python/tuple [6, 0] + - !!python/tuple [2, 0] + - !!python/tuple [2, 6] + - !!python/tuple [6, 6] + - !!python/tuple [7, 5] + - !!python/tuple [6, 7] + - !!python/tuple [7, 4] + - !!python/tuple [4, 4] + - !!python/tuple [3, 6] + - !!python/tuple [7, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex9.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex9.yaml new file mode 100644 index 0000000..99b8cb2 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex9.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [1, 2] + name: agent0 + start: [1, 3] +- goal: [4, 7] + name: agent1 + start: [7, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 7] + - !!python/tuple [4, 0] + - !!python/tuple [6, 2] + - !!python/tuple [3, 3] + - !!python/tuple [5, 6] + - !!python/tuple [0, 4] + - !!python/tuple [2, 4] + - !!python/tuple [4, 5] + - !!python/tuple [0, 0] + - !!python/tuple [3, 2] + - !!python/tuple [3, 7] + - !!python/tuple [5, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex90.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex90.yaml new file mode 100644 index 0000000..7b8ca8d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex90.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [5, 4] + name: agent0 + start: [5, 0] +- goal: [2, 0] + name: agent1 + start: [4, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 2] + - !!python/tuple [2, 6] + - !!python/tuple [6, 4] + - !!python/tuple [0, 1] + - !!python/tuple [4, 0] + - !!python/tuple [6, 2] + - !!python/tuple [1, 6] + - !!python/tuple [2, 4] + - !!python/tuple [3, 4] + - !!python/tuple [4, 6] + - !!python/tuple [2, 7] + - !!python/tuple [3, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex91.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex91.yaml new file mode 100644 index 0000000..161fdfe --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex91.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [4, 1] + name: agent0 + start: [6, 2] +- goal: [0, 5] + name: agent1 + start: [0, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 2] + - !!python/tuple [2, 2] + - !!python/tuple [5, 0] + - !!python/tuple [5, 2] + - !!python/tuple [4, 5] + - !!python/tuple [6, 6] + - !!python/tuple [7, 2] + - !!python/tuple [6, 4] + - !!python/tuple [1, 0] + - !!python/tuple [5, 3] + - !!python/tuple [6, 7] + - !!python/tuple [5, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex92.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex92.yaml new file mode 100644 index 0000000..cccab8b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex92.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [2, 7] + name: agent0 + start: [0, 5] +- goal: [1, 6] + name: agent1 + start: [6, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 4] + - !!python/tuple [6, 3] + - !!python/tuple [2, 4] + - !!python/tuple [3, 5] + - !!python/tuple [7, 5] + - !!python/tuple [3, 0] + - !!python/tuple [1, 0] + - !!python/tuple [4, 4] + - !!python/tuple [4, 3] + - !!python/tuple [5, 4] + - !!python/tuple [7, 2] + - !!python/tuple [6, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex93.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex93.yaml new file mode 100644 index 0000000..0bf3734 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex93.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [5, 0] + name: agent0 + start: [7, 0] +- goal: [3, 4] + name: agent1 + start: [2, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 3] + - !!python/tuple [5, 2] + - !!python/tuple [4, 0] + - !!python/tuple [7, 4] + - !!python/tuple [1, 6] + - !!python/tuple [3, 1] + - !!python/tuple [0, 4] + - !!python/tuple [5, 6] + - !!python/tuple [0, 2] + - !!python/tuple [3, 6] + - !!python/tuple [5, 3] + - !!python/tuple [7, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex94.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex94.yaml new file mode 100644 index 0000000..2bb146d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex94.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [5, 2] + name: agent0 + start: [7, 7] +- goal: [6, 6] + name: agent1 + start: [4, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 6] + - !!python/tuple [3, 1] + - !!python/tuple [2, 6] + - !!python/tuple [2, 4] + - !!python/tuple [1, 3] + - !!python/tuple [2, 7] + - !!python/tuple [2, 5] + - !!python/tuple [6, 1] + - !!python/tuple [3, 4] + - !!python/tuple [7, 6] + - !!python/tuple [1, 4] + - !!python/tuple [0, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex95.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex95.yaml new file mode 100644 index 0000000..76c36a8 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex95.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [7, 3] + name: agent0 + start: [6, 6] +- goal: [3, 5] + name: agent1 + start: [0, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 1] + - !!python/tuple [5, 3] + - !!python/tuple [5, 7] + - !!python/tuple [5, 5] + - !!python/tuple [0, 0] + - !!python/tuple [6, 4] + - !!python/tuple [5, 2] + - !!python/tuple [7, 6] + - !!python/tuple [3, 2] + - !!python/tuple [7, 1] + - !!python/tuple [1, 6] + - !!python/tuple [2, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex96.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex96.yaml new file mode 100644 index 0000000..cba4f5d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex96.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [1, 0] + name: agent0 + start: [6, 3] +- goal: [6, 3] + name: agent1 + start: [5, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 6] + - !!python/tuple [3, 2] + - !!python/tuple [4, 1] + - !!python/tuple [7, 6] + - !!python/tuple [5, 4] + - !!python/tuple [0, 1] + - !!python/tuple [2, 0] + - !!python/tuple [4, 7] + - !!python/tuple [5, 6] + - !!python/tuple [2, 3] + - !!python/tuple [3, 5] + - !!python/tuple [1, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex97.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex97.yaml new file mode 100644 index 0000000..828d8c9 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex97.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [6, 5] + name: agent0 + start: [3, 6] +- goal: [0, 5] + name: agent1 + start: [5, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 3] + - !!python/tuple [3, 0] + - !!python/tuple [1, 3] + - !!python/tuple [2, 6] + - !!python/tuple [4, 5] + - !!python/tuple [3, 7] + - !!python/tuple [2, 0] + - !!python/tuple [3, 4] + - !!python/tuple [5, 6] + - !!python/tuple [0, 0] + - !!python/tuple [2, 1] + - !!python/tuple [3, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex98.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex98.yaml new file mode 100644 index 0000000..dcedef0 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex98.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [3, 6] + name: agent0 + start: [5, 3] +- goal: [0, 0] + name: agent1 + start: [5, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 7] + - !!python/tuple [1, 4] + - !!python/tuple [6, 4] + - !!python/tuple [1, 6] + - !!python/tuple [4, 5] + - !!python/tuple [7, 1] + - !!python/tuple [2, 6] + - !!python/tuple [4, 4] + - !!python/tuple [3, 7] + - !!python/tuple [4, 2] + - !!python/tuple [0, 5] + - !!python/tuple [4, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex99.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex99.yaml new file mode 100644 index 0000000..8ef58d3 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents2_ex99.yaml @@ -0,0 +1,22 @@ +agents: +- goal: [0, 6] + name: agent0 + start: [7, 2] +- goal: [4, 1] + name: agent1 + start: [6, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 6] + - !!python/tuple [1, 2] + - !!python/tuple [6, 0] + - !!python/tuple [0, 0] + - !!python/tuple [3, 0] + - !!python/tuple [6, 7] + - !!python/tuple [0, 5] + - !!python/tuple [2, 1] + - !!python/tuple [7, 4] + - !!python/tuple [6, 4] + - !!python/tuple [0, 1] + - !!python/tuple [5, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex0.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex0.yaml new file mode 100644 index 0000000..c124c7d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex0.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [3, 1] + name: agent0 + start: [0, 3] +- goal: [2, 7] + name: agent1 + start: [1, 1] +- goal: [4, 5] + name: agent2 + start: [2, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 4] + - !!python/tuple [1, 3] + - !!python/tuple [6, 2] + - !!python/tuple [3, 2] + - !!python/tuple [3, 7] + - !!python/tuple [6, 6] + - !!python/tuple [0, 6] + - !!python/tuple [4, 4] + - !!python/tuple [6, 0] + - !!python/tuple [4, 2] + - !!python/tuple [0, 7] + - !!python/tuple [1, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex1.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex1.yaml new file mode 100644 index 0000000..b454d8a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex1.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [3, 1] + name: agent0 + start: [3, 6] +- goal: [3, 0] + name: agent1 + start: [4, 2] +- goal: [0, 2] + name: agent2 + start: [2, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 4] + - !!python/tuple [4, 6] + - !!python/tuple [5, 2] + - !!python/tuple [4, 4] + - !!python/tuple [5, 1] + - !!python/tuple [5, 3] + - !!python/tuple [0, 5] + - !!python/tuple [5, 0] + - !!python/tuple [7, 6] + - !!python/tuple [7, 3] + - !!python/tuple [6, 0] + - !!python/tuple [4, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex10.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex10.yaml new file mode 100644 index 0000000..31c267e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex10.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [7, 5] + name: agent0 + start: [0, 2] +- goal: [6, 5] + name: agent1 + start: [5, 7] +- goal: [5, 6] + name: agent2 + start: [3, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 0] + - !!python/tuple [4, 0] + - !!python/tuple [1, 0] + - !!python/tuple [3, 3] + - !!python/tuple [7, 3] + - !!python/tuple [0, 5] + - !!python/tuple [5, 4] + - !!python/tuple [1, 2] + - !!python/tuple [1, 6] + - !!python/tuple [4, 7] + - !!python/tuple [3, 4] + - !!python/tuple [7, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex11.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex11.yaml new file mode 100644 index 0000000..2780d34 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex11.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [3, 6] + name: agent0 + start: [7, 3] +- goal: [7, 5] + name: agent1 + start: [3, 2] +- goal: [1, 0] + name: agent2 + start: [4, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 6] + - !!python/tuple [4, 3] + - !!python/tuple [1, 3] + - !!python/tuple [1, 1] + - !!python/tuple [4, 5] + - !!python/tuple [5, 7] + - !!python/tuple [2, 2] + - !!python/tuple [0, 3] + - !!python/tuple [7, 4] + - !!python/tuple [2, 3] + - !!python/tuple [5, 0] + - !!python/tuple [6, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex12.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex12.yaml new file mode 100644 index 0000000..9e19800 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex12.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [2, 4] + name: agent0 + start: [2, 1] +- goal: [5, 6] + name: agent1 + start: [4, 5] +- goal: [0, 1] + name: agent2 + start: [3, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 0] + - !!python/tuple [6, 0] + - !!python/tuple [3, 0] + - !!python/tuple [5, 1] + - !!python/tuple [7, 5] + - !!python/tuple [2, 3] + - !!python/tuple [6, 5] + - !!python/tuple [6, 4] + - !!python/tuple [3, 6] + - !!python/tuple [7, 3] + - !!python/tuple [3, 7] + - !!python/tuple [0, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex13.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex13.yaml new file mode 100644 index 0000000..8df7970 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex13.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [4, 0] + name: agent0 + start: [0, 1] +- goal: [0, 2] + name: agent1 + start: [6, 2] +- goal: [0, 1] + name: agent2 + start: [2, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 0] + - !!python/tuple [7, 1] + - !!python/tuple [6, 6] + - !!python/tuple [7, 7] + - !!python/tuple [7, 0] + - !!python/tuple [0, 5] + - !!python/tuple [5, 6] + - !!python/tuple [2, 0] + - !!python/tuple [6, 5] + - !!python/tuple [5, 5] + - !!python/tuple [0, 3] + - !!python/tuple [2, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex14.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex14.yaml new file mode 100644 index 0000000..a8356d4 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex14.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [2, 1] + name: agent0 + start: [7, 4] +- goal: [1, 3] + name: agent1 + start: [2, 0] +- goal: [7, 4] + name: agent2 + start: [0, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 1] + - !!python/tuple [4, 0] + - !!python/tuple [6, 4] + - !!python/tuple [3, 1] + - !!python/tuple [3, 4] + - !!python/tuple [7, 2] + - !!python/tuple [0, 0] + - !!python/tuple [2, 7] + - !!python/tuple [4, 7] + - !!python/tuple [6, 7] + - !!python/tuple [4, 5] + - !!python/tuple [0, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex15.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex15.yaml new file mode 100644 index 0000000..fda9d56 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex15.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [7, 6] + name: agent0 + start: [3, 5] +- goal: [6, 0] + name: agent1 + start: [0, 1] +- goal: [3, 0] + name: agent2 + start: [0, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 6] + - !!python/tuple [2, 4] + - !!python/tuple [3, 2] + - !!python/tuple [7, 3] + - !!python/tuple [1, 2] + - !!python/tuple [4, 0] + - !!python/tuple [5, 6] + - !!python/tuple [6, 4] + - !!python/tuple [5, 5] + - !!python/tuple [7, 5] + - !!python/tuple [4, 5] + - !!python/tuple [1, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex16.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex16.yaml new file mode 100644 index 0000000..e3ea80b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex16.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [6, 3] + name: agent0 + start: [2, 7] +- goal: [7, 2] + name: agent1 + start: [1, 6] +- goal: [4, 0] + name: agent2 + start: [5, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 0] + - !!python/tuple [5, 6] + - !!python/tuple [6, 6] + - !!python/tuple [5, 4] + - !!python/tuple [0, 0] + - !!python/tuple [1, 0] + - !!python/tuple [1, 2] + - !!python/tuple [4, 7] + - !!python/tuple [7, 4] + - !!python/tuple [0, 3] + - !!python/tuple [6, 1] + - !!python/tuple [3, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex17.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex17.yaml new file mode 100644 index 0000000..8f73735 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex17.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [3, 4] + name: agent0 + start: [4, 4] +- goal: [3, 0] + name: agent1 + start: [0, 2] +- goal: [7, 3] + name: agent2 + start: [5, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 7] + - !!python/tuple [3, 3] + - !!python/tuple [2, 2] + - !!python/tuple [6, 0] + - !!python/tuple [5, 7] + - !!python/tuple [0, 4] + - !!python/tuple [3, 7] + - !!python/tuple [5, 5] + - !!python/tuple [7, 0] + - !!python/tuple [6, 6] + - !!python/tuple [4, 2] + - !!python/tuple [0, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex18.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex18.yaml new file mode 100644 index 0000000..aa0a175 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex18.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [2, 2] + name: agent0 + start: [2, 2] +- goal: [3, 4] + name: agent1 + start: [5, 4] +- goal: [6, 7] + name: agent2 + start: [0, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 3] + - !!python/tuple [3, 3] + - !!python/tuple [3, 0] + - !!python/tuple [6, 2] + - !!python/tuple [4, 1] + - !!python/tuple [3, 1] + - !!python/tuple [4, 5] + - !!python/tuple [2, 6] + - !!python/tuple [7, 0] + - !!python/tuple [0, 6] + - !!python/tuple [7, 5] + - !!python/tuple [0, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex19.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex19.yaml new file mode 100644 index 0000000..c8bdb4f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex19.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [2, 4] + name: agent0 + start: [2, 4] +- goal: [2, 3] + name: agent1 + start: [7, 7] +- goal: [6, 7] + name: agent2 + start: [1, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 7] + - !!python/tuple [4, 4] + - !!python/tuple [0, 5] + - !!python/tuple [0, 2] + - !!python/tuple [3, 6] + - !!python/tuple [2, 7] + - !!python/tuple [4, 5] + - !!python/tuple [3, 7] + - !!python/tuple [6, 5] + - !!python/tuple [4, 2] + - !!python/tuple [5, 6] + - !!python/tuple [1, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex2.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex2.yaml new file mode 100644 index 0000000..ce544e5 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex2.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [7, 7] + name: agent0 + start: [3, 6] +- goal: [0, 7] + name: agent1 + start: [1, 2] +- goal: [5, 7] + name: agent2 + start: [1, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 0] + - !!python/tuple [2, 7] + - !!python/tuple [7, 5] + - !!python/tuple [4, 1] + - !!python/tuple [2, 5] + - !!python/tuple [2, 6] + - !!python/tuple [3, 1] + - !!python/tuple [7, 4] + - !!python/tuple [1, 1] + - !!python/tuple [3, 7] + - !!python/tuple [3, 0] + - !!python/tuple [0, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex20.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex20.yaml new file mode 100644 index 0000000..5d0b493 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex20.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [2, 4] + name: agent0 + start: [0, 6] +- goal: [4, 3] + name: agent1 + start: [2, 2] +- goal: [6, 4] + name: agent2 + start: [7, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 1] + - !!python/tuple [6, 6] + - !!python/tuple [2, 0] + - !!python/tuple [4, 4] + - !!python/tuple [3, 2] + - !!python/tuple [6, 0] + - !!python/tuple [5, 3] + - !!python/tuple [7, 4] + - !!python/tuple [5, 1] + - !!python/tuple [1, 0] + - !!python/tuple [3, 3] + - !!python/tuple [5, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex21.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex21.yaml new file mode 100644 index 0000000..015bdf4 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex21.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [0, 1] + name: agent0 + start: [3, 5] +- goal: [3, 7] + name: agent1 + start: [3, 2] +- goal: [5, 6] + name: agent2 + start: [4, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 6] + - !!python/tuple [3, 3] + - !!python/tuple [7, 1] + - !!python/tuple [1, 4] + - !!python/tuple [1, 3] + - !!python/tuple [7, 4] + - !!python/tuple [2, 4] + - !!python/tuple [0, 3] + - !!python/tuple [1, 6] + - !!python/tuple [2, 6] + - !!python/tuple [5, 2] + - !!python/tuple [6, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex22.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex22.yaml new file mode 100644 index 0000000..1063bea --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex22.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [7, 7] + name: agent0 + start: [7, 4] +- goal: [3, 4] + name: agent1 + start: [1, 2] +- goal: [4, 1] + name: agent2 + start: [2, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 7] + - !!python/tuple [4, 6] + - !!python/tuple [0, 7] + - !!python/tuple [6, 1] + - !!python/tuple [7, 1] + - !!python/tuple [1, 6] + - !!python/tuple [4, 7] + - !!python/tuple [2, 5] + - !!python/tuple [4, 0] + - !!python/tuple [3, 0] + - !!python/tuple [7, 3] + - !!python/tuple [5, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex23.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex23.yaml new file mode 100644 index 0000000..d3efe27 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex23.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [0, 5] + name: agent0 + start: [1, 6] +- goal: [7, 1] + name: agent1 + start: [6, 0] +- goal: [0, 3] + name: agent2 + start: [0, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 0] + - !!python/tuple [1, 0] + - !!python/tuple [3, 4] + - !!python/tuple [5, 2] + - !!python/tuple [2, 4] + - !!python/tuple [7, 6] + - !!python/tuple [4, 6] + - !!python/tuple [1, 7] + - !!python/tuple [3, 7] + - !!python/tuple [0, 4] + - !!python/tuple [5, 7] + - !!python/tuple [6, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex24.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex24.yaml new file mode 100644 index 0000000..75f95be --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex24.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [5, 6] + name: agent0 + start: [4, 4] +- goal: [5, 5] + name: agent1 + start: [0, 6] +- goal: [6, 3] + name: agent2 + start: [5, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 1] + - !!python/tuple [6, 6] + - !!python/tuple [2, 3] + - !!python/tuple [2, 2] + - !!python/tuple [1, 0] + - !!python/tuple [1, 3] + - !!python/tuple [7, 1] + - !!python/tuple [4, 7] + - !!python/tuple [1, 2] + - !!python/tuple [1, 1] + - !!python/tuple [4, 2] + - !!python/tuple [7, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex25.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex25.yaml new file mode 100644 index 0000000..6814d60 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex25.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [1, 0] + name: agent0 + start: [3, 5] +- goal: [3, 1] + name: agent1 + start: [0, 0] +- goal: [4, 1] + name: agent2 + start: [4, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 5] + - !!python/tuple [2, 3] + - !!python/tuple [3, 0] + - !!python/tuple [1, 6] + - !!python/tuple [6, 0] + - !!python/tuple [5, 1] + - !!python/tuple [7, 6] + - !!python/tuple [0, 1] + - !!python/tuple [0, 5] + - !!python/tuple [7, 2] + - !!python/tuple [2, 1] + - !!python/tuple [5, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex26.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex26.yaml new file mode 100644 index 0000000..7629562 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex26.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [2, 5] + name: agent0 + start: [6, 5] +- goal: [2, 6] + name: agent1 + start: [1, 6] +- goal: [5, 3] + name: agent2 + start: [4, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 0] + - !!python/tuple [6, 2] + - !!python/tuple [7, 3] + - !!python/tuple [2, 2] + - !!python/tuple [6, 6] + - !!python/tuple [5, 4] + - !!python/tuple [5, 7] + - !!python/tuple [3, 1] + - !!python/tuple [0, 5] + - !!python/tuple [7, 7] + - !!python/tuple [1, 7] + - !!python/tuple [5, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex27.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex27.yaml new file mode 100644 index 0000000..3975ef5 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex27.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [5, 4] + name: agent0 + start: [7, 4] +- goal: [4, 2] + name: agent1 + start: [5, 4] +- goal: [1, 4] + name: agent2 + start: [5, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 6] + - !!python/tuple [0, 1] + - !!python/tuple [4, 0] + - !!python/tuple [6, 3] + - !!python/tuple [1, 1] + - !!python/tuple [0, 3] + - !!python/tuple [1, 6] + - !!python/tuple [2, 0] + - !!python/tuple [4, 4] + - !!python/tuple [2, 7] + - !!python/tuple [6, 1] + - !!python/tuple [1, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex28.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex28.yaml new file mode 100644 index 0000000..b9f7682 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex28.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [1, 1] + name: agent0 + start: [7, 6] +- goal: [1, 5] + name: agent1 + start: [5, 4] +- goal: [1, 3] + name: agent2 + start: [0, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 0] + - !!python/tuple [5, 3] + - !!python/tuple [2, 6] + - !!python/tuple [2, 0] + - !!python/tuple [7, 5] + - !!python/tuple [7, 3] + - !!python/tuple [5, 1] + - !!python/tuple [3, 2] + - !!python/tuple [0, 5] + - !!python/tuple [6, 4] + - !!python/tuple [7, 4] + - !!python/tuple [5, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex29.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex29.yaml new file mode 100644 index 0000000..8e78e3c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex29.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [3, 4] + name: agent0 + start: [5, 3] +- goal: [4, 5] + name: agent1 + start: [1, 7] +- goal: [2, 4] + name: agent2 + start: [4, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 0] + - !!python/tuple [1, 4] + - !!python/tuple [7, 6] + - !!python/tuple [5, 5] + - !!python/tuple [4, 4] + - !!python/tuple [6, 6] + - !!python/tuple [3, 1] + - !!python/tuple [5, 4] + - !!python/tuple [6, 3] + - !!python/tuple [1, 0] + - !!python/tuple [4, 0] + - !!python/tuple [5, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex3.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex3.yaml new file mode 100644 index 0000000..97f719f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex3.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [3, 0] + name: agent0 + start: [3, 5] +- goal: [4, 3] + name: agent1 + start: [6, 4] +- goal: [0, 6] + name: agent2 + start: [1, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 2] + - !!python/tuple [2, 6] + - !!python/tuple [4, 0] + - !!python/tuple [6, 5] + - !!python/tuple [5, 7] + - !!python/tuple [0, 7] + - !!python/tuple [5, 1] + - !!python/tuple [6, 2] + - !!python/tuple [0, 5] + - !!python/tuple [1, 0] + - !!python/tuple [2, 2] + - !!python/tuple [7, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex30.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex30.yaml new file mode 100644 index 0000000..9c08fbb --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex30.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [0, 1] + name: agent0 + start: [4, 3] +- goal: [6, 1] + name: agent1 + start: [0, 3] +- goal: [0, 6] + name: agent2 + start: [4, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 0] + - !!python/tuple [4, 2] + - !!python/tuple [3, 4] + - !!python/tuple [4, 4] + - !!python/tuple [7, 7] + - !!python/tuple [2, 5] + - !!python/tuple [7, 0] + - !!python/tuple [6, 5] + - !!python/tuple [7, 6] + - !!python/tuple [5, 0] + - !!python/tuple [5, 2] + - !!python/tuple [0, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex31.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex31.yaml new file mode 100644 index 0000000..92070e0 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex31.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [6, 5] + name: agent0 + start: [3, 0] +- goal: [6, 2] + name: agent1 + start: [7, 0] +- goal: [6, 6] + name: agent2 + start: [6, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 4] + - !!python/tuple [3, 4] + - !!python/tuple [2, 6] + - !!python/tuple [5, 6] + - !!python/tuple [4, 7] + - !!python/tuple [0, 0] + - !!python/tuple [2, 7] + - !!python/tuple [5, 3] + - !!python/tuple [3, 2] + - !!python/tuple [1, 0] + - !!python/tuple [3, 3] + - !!python/tuple [4, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex32.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex32.yaml new file mode 100644 index 0000000..4388d1b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex32.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [6, 4] + name: agent0 + start: [1, 1] +- goal: [6, 7] + name: agent1 + start: [1, 0] +- goal: [0, 7] + name: agent2 + start: [5, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 3] + - !!python/tuple [1, 7] + - !!python/tuple [4, 0] + - !!python/tuple [0, 5] + - !!python/tuple [5, 5] + - !!python/tuple [0, 2] + - !!python/tuple [3, 4] + - !!python/tuple [6, 2] + - !!python/tuple [3, 2] + - !!python/tuple [5, 4] + - !!python/tuple [2, 4] + - !!python/tuple [4, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex33.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex33.yaml new file mode 100644 index 0000000..2ee8592 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex33.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [0, 3] + name: agent0 + start: [5, 2] +- goal: [3, 3] + name: agent1 + start: [2, 4] +- goal: [6, 7] + name: agent2 + start: [2, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 2] + - !!python/tuple [1, 0] + - !!python/tuple [7, 4] + - !!python/tuple [6, 3] + - !!python/tuple [3, 5] + - !!python/tuple [7, 7] + - !!python/tuple [4, 5] + - !!python/tuple [5, 0] + - !!python/tuple [1, 6] + - !!python/tuple [3, 7] + - !!python/tuple [3, 4] + - !!python/tuple [1, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex34.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex34.yaml new file mode 100644 index 0000000..29425e3 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex34.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [0, 5] + name: agent0 + start: [3, 6] +- goal: [0, 0] + name: agent1 + start: [4, 3] +- goal: [4, 3] + name: agent2 + start: [2, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 7] + - !!python/tuple [5, 5] + - !!python/tuple [7, 3] + - !!python/tuple [1, 0] + - !!python/tuple [6, 5] + - !!python/tuple [6, 7] + - !!python/tuple [4, 6] + - !!python/tuple [0, 4] + - !!python/tuple [5, 6] + - !!python/tuple [5, 0] + - !!python/tuple [2, 3] + - !!python/tuple [7, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex35.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex35.yaml new file mode 100644 index 0000000..2bcc207 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex35.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [3, 1] + name: agent0 + start: [7, 4] +- goal: [5, 1] + name: agent1 + start: [0, 7] +- goal: [7, 4] + name: agent2 + start: [4, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 3] + - !!python/tuple [1, 4] + - !!python/tuple [3, 0] + - !!python/tuple [5, 6] + - !!python/tuple [2, 5] + - !!python/tuple [6, 3] + - !!python/tuple [0, 0] + - !!python/tuple [6, 1] + - !!python/tuple [6, 6] + - !!python/tuple [6, 0] + - !!python/tuple [0, 1] + - !!python/tuple [1, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex36.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex36.yaml new file mode 100644 index 0000000..523060a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex36.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [4, 6] + name: agent0 + start: [4, 6] +- goal: [3, 0] + name: agent1 + start: [4, 1] +- goal: [1, 7] + name: agent2 + start: [1, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 1] + - !!python/tuple [5, 2] + - !!python/tuple [5, 7] + - !!python/tuple [5, 5] + - !!python/tuple [1, 2] + - !!python/tuple [4, 5] + - !!python/tuple [7, 5] + - !!python/tuple [2, 4] + - !!python/tuple [2, 6] + - !!python/tuple [2, 2] + - !!python/tuple [0, 4] + - !!python/tuple [7, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex37.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex37.yaml new file mode 100644 index 0000000..086e7af --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex37.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [4, 1] + name: agent0 + start: [6, 4] +- goal: [3, 4] + name: agent1 + start: [1, 7] +- goal: [5, 4] + name: agent2 + start: [5, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 0] + - !!python/tuple [2, 0] + - !!python/tuple [1, 4] + - !!python/tuple [5, 0] + - !!python/tuple [3, 2] + - !!python/tuple [2, 6] + - !!python/tuple [3, 0] + - !!python/tuple [0, 0] + - !!python/tuple [5, 3] + - !!python/tuple [0, 1] + - !!python/tuple [0, 5] + - !!python/tuple [4, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex38.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex38.yaml new file mode 100644 index 0000000..80e8543 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex38.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [7, 6] + name: agent0 + start: [3, 5] +- goal: [4, 3] + name: agent1 + start: [4, 5] +- goal: [7, 7] + name: agent2 + start: [4, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 2] + - !!python/tuple [5, 3] + - !!python/tuple [5, 4] + - !!python/tuple [7, 3] + - !!python/tuple [1, 4] + - !!python/tuple [2, 4] + - !!python/tuple [1, 5] + - !!python/tuple [2, 0] + - !!python/tuple [6, 0] + - !!python/tuple [3, 2] + - !!python/tuple [4, 6] + - !!python/tuple [5, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex39.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex39.yaml new file mode 100644 index 0000000..4c61a9f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex39.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [6, 5] + name: agent0 + start: [4, 1] +- goal: [6, 0] + name: agent1 + start: [3, 1] +- goal: [2, 4] + name: agent2 + start: [5, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 6] + - !!python/tuple [4, 0] + - !!python/tuple [0, 6] + - !!python/tuple [1, 2] + - !!python/tuple [5, 3] + - !!python/tuple [0, 4] + - !!python/tuple [4, 4] + - !!python/tuple [4, 7] + - !!python/tuple [2, 3] + - !!python/tuple [1, 5] + - !!python/tuple [3, 5] + - !!python/tuple [0, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex4.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex4.yaml new file mode 100644 index 0000000..4a504a2 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex4.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [7, 5] + name: agent0 + start: [1, 7] +- goal: [2, 4] + name: agent1 + start: [0, 7] +- goal: [5, 7] + name: agent2 + start: [0, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 2] + - !!python/tuple [5, 2] + - !!python/tuple [6, 3] + - !!python/tuple [5, 6] + - !!python/tuple [6, 4] + - !!python/tuple [2, 7] + - !!python/tuple [1, 4] + - !!python/tuple [5, 5] + - !!python/tuple [4, 6] + - !!python/tuple [3, 0] + - !!python/tuple [7, 0] + - !!python/tuple [2, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex40.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex40.yaml new file mode 100644 index 0000000..3f2e4dc --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex40.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [7, 0] + name: agent0 + start: [6, 7] +- goal: [2, 6] + name: agent1 + start: [2, 1] +- goal: [0, 3] + name: agent2 + start: [5, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 2] + - !!python/tuple [1, 4] + - !!python/tuple [7, 4] + - !!python/tuple [1, 0] + - !!python/tuple [6, 6] + - !!python/tuple [4, 5] + - !!python/tuple [2, 4] + - !!python/tuple [6, 1] + - !!python/tuple [0, 1] + - !!python/tuple [4, 7] + - !!python/tuple [5, 0] + - !!python/tuple [5, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex41.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex41.yaml new file mode 100644 index 0000000..f6ed5de --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex41.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [2, 7] + name: agent0 + start: [3, 6] +- goal: [5, 7] + name: agent1 + start: [1, 2] +- goal: [4, 0] + name: agent2 + start: [4, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 6] + - !!python/tuple [5, 4] + - !!python/tuple [3, 7] + - !!python/tuple [2, 5] + - !!python/tuple [4, 4] + - !!python/tuple [6, 6] + - !!python/tuple [3, 5] + - !!python/tuple [1, 0] + - !!python/tuple [1, 5] + - !!python/tuple [0, 5] + - !!python/tuple [4, 3] + - !!python/tuple [7, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex42.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex42.yaml new file mode 100644 index 0000000..d718309 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex42.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [6, 2] + name: agent0 + start: [1, 2] +- goal: [3, 5] + name: agent1 + start: [3, 2] +- goal: [5, 0] + name: agent2 + start: [2, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 7] + - !!python/tuple [0, 6] + - !!python/tuple [5, 6] + - !!python/tuple [7, 4] + - !!python/tuple [7, 2] + - !!python/tuple [2, 3] + - !!python/tuple [7, 1] + - !!python/tuple [7, 7] + - !!python/tuple [3, 1] + - !!python/tuple [0, 2] + - !!python/tuple [5, 4] + - !!python/tuple [7, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex43.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex43.yaml new file mode 100644 index 0000000..4a4d124 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex43.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [1, 4] + name: agent0 + start: [5, 2] +- goal: [4, 6] + name: agent1 + start: [7, 7] +- goal: [7, 1] + name: agent2 + start: [7, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 3] + - !!python/tuple [4, 2] + - !!python/tuple [4, 7] + - !!python/tuple [5, 6] + - !!python/tuple [3, 4] + - !!python/tuple [7, 6] + - !!python/tuple [5, 5] + - !!python/tuple [4, 1] + - !!python/tuple [1, 6] + - !!python/tuple [2, 6] + - !!python/tuple [0, 2] + - !!python/tuple [7, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex44.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex44.yaml new file mode 100644 index 0000000..a150bef --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex44.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [1, 1] + name: agent0 + start: [7, 1] +- goal: [0, 6] + name: agent1 + start: [4, 7] +- goal: [4, 4] + name: agent2 + start: [7, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 2] + - !!python/tuple [2, 1] + - !!python/tuple [6, 0] + - !!python/tuple [1, 4] + - !!python/tuple [3, 2] + - !!python/tuple [4, 5] + - !!python/tuple [5, 0] + - !!python/tuple [1, 0] + - !!python/tuple [6, 2] + - !!python/tuple [5, 1] + - !!python/tuple [1, 3] + - !!python/tuple [3, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex45.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex45.yaml new file mode 100644 index 0000000..6919d1c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex45.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [4, 5] + name: agent0 + start: [5, 3] +- goal: [0, 2] + name: agent1 + start: [0, 4] +- goal: [0, 0] + name: agent2 + start: [6, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 4] + - !!python/tuple [7, 0] + - !!python/tuple [4, 0] + - !!python/tuple [5, 2] + - !!python/tuple [4, 1] + - !!python/tuple [2, 0] + - !!python/tuple [3, 1] + - !!python/tuple [5, 1] + - !!python/tuple [3, 7] + - !!python/tuple [2, 6] + - !!python/tuple [2, 7] + - !!python/tuple [7, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex46.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex46.yaml new file mode 100644 index 0000000..fbf60db --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex46.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [4, 7] + name: agent0 + start: [4, 7] +- goal: [3, 2] + name: agent1 + start: [5, 2] +- goal: [0, 6] + name: agent2 + start: [5, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 4] + - !!python/tuple [4, 5] + - !!python/tuple [1, 0] + - !!python/tuple [5, 1] + - !!python/tuple [7, 6] + - !!python/tuple [4, 1] + - !!python/tuple [3, 0] + - !!python/tuple [5, 4] + - !!python/tuple [0, 3] + - !!python/tuple [6, 1] + - !!python/tuple [4, 2] + - !!python/tuple [3, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex47.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex47.yaml new file mode 100644 index 0000000..87fb2c3 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex47.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [4, 1] + name: agent0 + start: [4, 6] +- goal: [2, 5] + name: agent1 + start: [5, 5] +- goal: [5, 6] + name: agent2 + start: [0, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 1] + - !!python/tuple [4, 7] + - !!python/tuple [3, 6] + - !!python/tuple [5, 2] + - !!python/tuple [5, 4] + - !!python/tuple [7, 1] + - !!python/tuple [1, 3] + - !!python/tuple [1, 5] + - !!python/tuple [3, 2] + - !!python/tuple [5, 3] + - !!python/tuple [1, 4] + - !!python/tuple [5, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex48.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex48.yaml new file mode 100644 index 0000000..e12a007 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex48.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [0, 7] + name: agent0 + start: [6, 4] +- goal: [5, 2] + name: agent1 + start: [5, 7] +- goal: [1, 1] + name: agent2 + start: [2, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 4] + - !!python/tuple [3, 2] + - !!python/tuple [1, 4] + - !!python/tuple [0, 5] + - !!python/tuple [5, 6] + - !!python/tuple [1, 5] + - !!python/tuple [7, 5] + - !!python/tuple [0, 0] + - !!python/tuple [2, 5] + - !!python/tuple [3, 1] + - !!python/tuple [2, 0] + - !!python/tuple [5, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex49.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex49.yaml new file mode 100644 index 0000000..bc29efa --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex49.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [7, 5] + name: agent0 + start: [3, 5] +- goal: [1, 3] + name: agent1 + start: [4, 2] +- goal: [5, 1] + name: agent2 + start: [4, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 7] + - !!python/tuple [4, 3] + - !!python/tuple [1, 6] + - !!python/tuple [0, 1] + - !!python/tuple [4, 1] + - !!python/tuple [1, 0] + - !!python/tuple [5, 3] + - !!python/tuple [2, 2] + - !!python/tuple [2, 0] + - !!python/tuple [1, 7] + - !!python/tuple [2, 7] + - !!python/tuple [3, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex5.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex5.yaml new file mode 100644 index 0000000..27863bd --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex5.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [0, 4] + name: agent0 + start: [2, 4] +- goal: [0, 0] + name: agent1 + start: [0, 1] +- goal: [2, 3] + name: agent2 + start: [4, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 0] + - !!python/tuple [1, 7] + - !!python/tuple [4, 4] + - !!python/tuple [3, 3] + - !!python/tuple [1, 6] + - !!python/tuple [2, 0] + - !!python/tuple [6, 2] + - !!python/tuple [7, 5] + - !!python/tuple [0, 3] + - !!python/tuple [4, 0] + - !!python/tuple [1, 5] + - !!python/tuple [1, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex50.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex50.yaml new file mode 100644 index 0000000..15c900c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex50.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [4, 7] + name: agent0 + start: [0, 4] +- goal: [1, 1] + name: agent1 + start: [5, 0] +- goal: [3, 4] + name: agent2 + start: [6, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 2] + - !!python/tuple [1, 0] + - !!python/tuple [4, 1] + - !!python/tuple [7, 4] + - !!python/tuple [6, 6] + - !!python/tuple [1, 4] + - !!python/tuple [0, 1] + - !!python/tuple [1, 7] + - !!python/tuple [3, 1] + - !!python/tuple [2, 6] + - !!python/tuple [6, 4] + - !!python/tuple [5, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex51.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex51.yaml new file mode 100644 index 0000000..2d11ea3 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex51.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [2, 4] + name: agent0 + start: [7, 0] +- goal: [5, 5] + name: agent1 + start: [1, 1] +- goal: [2, 7] + name: agent2 + start: [1, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 1] + - !!python/tuple [7, 4] + - !!python/tuple [3, 7] + - !!python/tuple [1, 3] + - !!python/tuple [6, 3] + - !!python/tuple [3, 0] + - !!python/tuple [4, 0] + - !!python/tuple [7, 1] + - !!python/tuple [0, 2] + - !!python/tuple [1, 4] + - !!python/tuple [4, 1] + - !!python/tuple [1, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex52.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex52.yaml new file mode 100644 index 0000000..d8c2ad8 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex52.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [6, 5] + name: agent0 + start: [0, 2] +- goal: [4, 1] + name: agent1 + start: [3, 4] +- goal: [3, 1] + name: agent2 + start: [5, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 5] + - !!python/tuple [4, 4] + - !!python/tuple [2, 3] + - !!python/tuple [7, 3] + - !!python/tuple [4, 2] + - !!python/tuple [1, 2] + - !!python/tuple [3, 3] + - !!python/tuple [2, 6] + - !!python/tuple [1, 7] + - !!python/tuple [0, 6] + - !!python/tuple [6, 6] + - !!python/tuple [0, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex53.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex53.yaml new file mode 100644 index 0000000..ecde43b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex53.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [7, 1] + name: agent0 + start: [5, 7] +- goal: [1, 0] + name: agent1 + start: [6, 4] +- goal: [0, 4] + name: agent2 + start: [0, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 4] + - !!python/tuple [5, 1] + - !!python/tuple [1, 3] + - !!python/tuple [7, 3] + - !!python/tuple [0, 7] + - !!python/tuple [6, 7] + - !!python/tuple [3, 0] + - !!python/tuple [2, 5] + - !!python/tuple [5, 4] + - !!python/tuple [6, 2] + - !!python/tuple [0, 2] + - !!python/tuple [4, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex54.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex54.yaml new file mode 100644 index 0000000..db68826 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex54.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [0, 2] + name: agent0 + start: [5, 4] +- goal: [1, 4] + name: agent1 + start: [7, 5] +- goal: [5, 2] + name: agent2 + start: [4, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 5] + - !!python/tuple [3, 5] + - !!python/tuple [0, 3] + - !!python/tuple [2, 2] + - !!python/tuple [6, 7] + - !!python/tuple [3, 2] + - !!python/tuple [5, 3] + - !!python/tuple [0, 0] + - !!python/tuple [7, 3] + - !!python/tuple [5, 1] + - !!python/tuple [2, 5] + - !!python/tuple [2, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex55.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex55.yaml new file mode 100644 index 0000000..77d6190 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex55.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [2, 2] + name: agent0 + start: [7, 3] +- goal: [2, 5] + name: agent1 + start: [4, 0] +- goal: [0, 5] + name: agent2 + start: [7, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 3] + - !!python/tuple [2, 3] + - !!python/tuple [4, 5] + - !!python/tuple [1, 7] + - !!python/tuple [4, 4] + - !!python/tuple [3, 6] + - !!python/tuple [1, 2] + - !!python/tuple [0, 7] + - !!python/tuple [6, 3] + - !!python/tuple [5, 1] + - !!python/tuple [2, 4] + - !!python/tuple [1, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex56.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex56.yaml new file mode 100644 index 0000000..ba31ab4 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex56.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [4, 4] + name: agent0 + start: [5, 6] +- goal: [5, 4] + name: agent1 + start: [1, 7] +- goal: [1, 1] + name: agent2 + start: [7, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 4] + - !!python/tuple [6, 7] + - !!python/tuple [1, 3] + - !!python/tuple [6, 2] + - !!python/tuple [6, 5] + - !!python/tuple [5, 7] + - !!python/tuple [0, 5] + - !!python/tuple [4, 0] + - !!python/tuple [0, 7] + - !!python/tuple [0, 3] + - !!python/tuple [6, 6] + - !!python/tuple [7, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex57.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex57.yaml new file mode 100644 index 0000000..0c1df31 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex57.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [5, 4] + name: agent0 + start: [7, 5] +- goal: [0, 2] + name: agent1 + start: [6, 5] +- goal: [1, 6] + name: agent2 + start: [0, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 1] + - !!python/tuple [0, 0] + - !!python/tuple [4, 0] + - !!python/tuple [2, 3] + - !!python/tuple [0, 6] + - !!python/tuple [4, 1] + - !!python/tuple [5, 5] + - !!python/tuple [6, 7] + - !!python/tuple [1, 1] + - !!python/tuple [4, 5] + - !!python/tuple [7, 6] + - !!python/tuple [3, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex58.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex58.yaml new file mode 100644 index 0000000..f63e0e6 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex58.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [5, 3] + name: agent0 + start: [0, 4] +- goal: [1, 7] + name: agent1 + start: [4, 5] +- goal: [5, 7] + name: agent2 + start: [1, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 4] + - !!python/tuple [1, 1] + - !!python/tuple [2, 2] + - !!python/tuple [6, 0] + - !!python/tuple [7, 4] + - !!python/tuple [5, 2] + - !!python/tuple [4, 1] + - !!python/tuple [2, 3] + - !!python/tuple [0, 7] + - !!python/tuple [3, 7] + - !!python/tuple [5, 5] + - !!python/tuple [4, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex59.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex59.yaml new file mode 100644 index 0000000..a236e46 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex59.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [5, 6] + name: agent0 + start: [7, 1] +- goal: [6, 0] + name: agent1 + start: [5, 1] +- goal: [4, 7] + name: agent2 + start: [4, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 1] + - !!python/tuple [4, 1] + - !!python/tuple [4, 5] + - !!python/tuple [3, 7] + - !!python/tuple [5, 5] + - !!python/tuple [1, 6] + - !!python/tuple [6, 7] + - !!python/tuple [0, 5] + - !!python/tuple [2, 6] + - !!python/tuple [6, 1] + - !!python/tuple [7, 6] + - !!python/tuple [4, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex6.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex6.yaml new file mode 100644 index 0000000..e143290 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex6.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [3, 6] + name: agent0 + start: [1, 5] +- goal: [1, 3] + name: agent1 + start: [3, 5] +- goal: [6, 1] + name: agent2 + start: [3, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 2] + - !!python/tuple [5, 5] + - !!python/tuple [0, 0] + - !!python/tuple [0, 2] + - !!python/tuple [7, 3] + - !!python/tuple [1, 1] + - !!python/tuple [0, 3] + - !!python/tuple [6, 6] + - !!python/tuple [7, 2] + - !!python/tuple [5, 1] + - !!python/tuple [1, 0] + - !!python/tuple [6, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex60.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex60.yaml new file mode 100644 index 0000000..9de4ded --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex60.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [7, 3] + name: agent0 + start: [3, 1] +- goal: [3, 4] + name: agent1 + start: [4, 6] +- goal: [2, 4] + name: agent2 + start: [3, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 0] + - !!python/tuple [5, 3] + - !!python/tuple [3, 6] + - !!python/tuple [2, 3] + - !!python/tuple [1, 0] + - !!python/tuple [5, 7] + - !!python/tuple [1, 1] + - !!python/tuple [4, 3] + - !!python/tuple [0, 5] + - !!python/tuple [1, 3] + - !!python/tuple [0, 0] + - !!python/tuple [7, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex61.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex61.yaml new file mode 100644 index 0000000..6d1feea --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex61.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [7, 6] + name: agent0 + start: [2, 2] +- goal: [0, 7] + name: agent1 + start: [0, 5] +- goal: [0, 2] + name: agent2 + start: [6, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 3] + - !!python/tuple [4, 0] + - !!python/tuple [0, 1] + - !!python/tuple [1, 1] + - !!python/tuple [5, 0] + - !!python/tuple [0, 6] + - !!python/tuple [3, 1] + - !!python/tuple [7, 7] + - !!python/tuple [5, 6] + - !!python/tuple [3, 2] + - !!python/tuple [6, 2] + - !!python/tuple [3, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex62.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex62.yaml new file mode 100644 index 0000000..4cf087c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex62.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [3, 2] + name: agent0 + start: [3, 7] +- goal: [6, 0] + name: agent1 + start: [5, 6] +- goal: [1, 1] + name: agent2 + start: [2, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 6] + - !!python/tuple [7, 7] + - !!python/tuple [1, 5] + - !!python/tuple [3, 3] + - !!python/tuple [6, 7] + - !!python/tuple [4, 4] + - !!python/tuple [5, 1] + - !!python/tuple [7, 1] + - !!python/tuple [1, 3] + - !!python/tuple [3, 5] + - !!python/tuple [5, 0] + - !!python/tuple [7, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex63.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex63.yaml new file mode 100644 index 0000000..05b723d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex63.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [2, 1] + name: agent0 + start: [6, 2] +- goal: [7, 3] + name: agent1 + start: [2, 7] +- goal: [4, 4] + name: agent2 + start: [5, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 5] + - !!python/tuple [1, 5] + - !!python/tuple [2, 3] + - !!python/tuple [5, 6] + - !!python/tuple [2, 2] + - !!python/tuple [0, 0] + - !!python/tuple [1, 7] + - !!python/tuple [6, 5] + - !!python/tuple [1, 6] + - !!python/tuple [7, 6] + - !!python/tuple [3, 1] + - !!python/tuple [6, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex64.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex64.yaml new file mode 100644 index 0000000..636d391 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex64.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [6, 4] + name: agent0 + start: [3, 6] +- goal: [2, 5] + name: agent1 + start: [1, 2] +- goal: [2, 2] + name: agent2 + start: [3, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 4] + - !!python/tuple [6, 5] + - !!python/tuple [7, 4] + - !!python/tuple [5, 7] + - !!python/tuple [6, 6] + - !!python/tuple [0, 1] + - !!python/tuple [4, 6] + - !!python/tuple [1, 1] + - !!python/tuple [0, 2] + - !!python/tuple [1, 0] + - !!python/tuple [3, 3] + - !!python/tuple [4, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex65.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex65.yaml new file mode 100644 index 0000000..05623fa --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex65.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [6, 1] + name: agent0 + start: [5, 7] +- goal: [3, 3] + name: agent1 + start: [0, 2] +- goal: [6, 0] + name: agent2 + start: [2, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 1] + - !!python/tuple [1, 4] + - !!python/tuple [0, 6] + - !!python/tuple [4, 1] + - !!python/tuple [4, 5] + - !!python/tuple [3, 6] + - !!python/tuple [0, 0] + - !!python/tuple [2, 2] + - !!python/tuple [2, 0] + - !!python/tuple [3, 7] + - !!python/tuple [5, 2] + - !!python/tuple [0, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex66.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex66.yaml new file mode 100644 index 0000000..fd50d92 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex66.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [4, 5] + name: agent0 + start: [6, 0] +- goal: [6, 2] + name: agent1 + start: [0, 1] +- goal: [0, 2] + name: agent2 + start: [0, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 0] + - !!python/tuple [3, 3] + - !!python/tuple [5, 6] + - !!python/tuple [7, 0] + - !!python/tuple [4, 4] + - !!python/tuple [1, 4] + - !!python/tuple [3, 5] + - !!python/tuple [2, 5] + - !!python/tuple [2, 7] + - !!python/tuple [6, 5] + - !!python/tuple [2, 4] + - !!python/tuple [2, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex67.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex67.yaml new file mode 100644 index 0000000..62c102f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex67.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [7, 6] + name: agent0 + start: [4, 4] +- goal: [4, 6] + name: agent1 + start: [0, 0] +- goal: [1, 6] + name: agent2 + start: [0, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 3] + - !!python/tuple [7, 7] + - !!python/tuple [7, 5] + - !!python/tuple [3, 7] + - !!python/tuple [1, 0] + - !!python/tuple [6, 1] + - !!python/tuple [2, 0] + - !!python/tuple [6, 7] + - !!python/tuple [4, 5] + - !!python/tuple [6, 5] + - !!python/tuple [2, 6] + - !!python/tuple [2, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex68.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex68.yaml new file mode 100644 index 0000000..75d56e1 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex68.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [6, 6] + name: agent0 + start: [0, 3] +- goal: [0, 1] + name: agent1 + start: [3, 0] +- goal: [7, 0] + name: agent2 + start: [4, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 5] + - !!python/tuple [1, 2] + - !!python/tuple [0, 6] + - !!python/tuple [5, 7] + - !!python/tuple [1, 6] + - !!python/tuple [3, 5] + - !!python/tuple [2, 4] + - !!python/tuple [7, 7] + - !!python/tuple [4, 6] + - !!python/tuple [2, 5] + - !!python/tuple [5, 2] + - !!python/tuple [4, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex69.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex69.yaml new file mode 100644 index 0000000..61b6080 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex69.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [4, 5] + name: agent0 + start: [3, 5] +- goal: [5, 1] + name: agent1 + start: [7, 1] +- goal: [5, 0] + name: agent2 + start: [7, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 6] + - !!python/tuple [6, 2] + - !!python/tuple [4, 1] + - !!python/tuple [1, 4] + - !!python/tuple [4, 2] + - !!python/tuple [0, 3] + - !!python/tuple [5, 5] + - !!python/tuple [4, 0] + - !!python/tuple [1, 5] + - !!python/tuple [2, 7] + - !!python/tuple [4, 4] + - !!python/tuple [0, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex7.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex7.yaml new file mode 100644 index 0000000..c2dab16 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex7.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [4, 1] + name: agent0 + start: [3, 3] +- goal: [0, 6] + name: agent1 + start: [1, 3] +- goal: [2, 5] + name: agent2 + start: [5, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 7] + - !!python/tuple [7, 5] + - !!python/tuple [4, 7] + - !!python/tuple [1, 0] + - !!python/tuple [5, 5] + - !!python/tuple [6, 2] + - !!python/tuple [1, 1] + - !!python/tuple [2, 2] + - !!python/tuple [0, 5] + - !!python/tuple [2, 0] + - !!python/tuple [4, 4] + - !!python/tuple [6, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex70.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex70.yaml new file mode 100644 index 0000000..770f512 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex70.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [3, 6] + name: agent0 + start: [0, 0] +- goal: [0, 3] + name: agent1 + start: [2, 0] +- goal: [4, 2] + name: agent2 + start: [1, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 1] + - !!python/tuple [0, 5] + - !!python/tuple [3, 3] + - !!python/tuple [7, 2] + - !!python/tuple [5, 7] + - !!python/tuple [6, 6] + - !!python/tuple [2, 7] + - !!python/tuple [0, 4] + - !!python/tuple [0, 1] + - !!python/tuple [4, 4] + - !!python/tuple [0, 6] + - !!python/tuple [7, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex71.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex71.yaml new file mode 100644 index 0000000..3084e59 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex71.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [2, 1] + name: agent0 + start: [7, 2] +- goal: [6, 1] + name: agent1 + start: [0, 5] +- goal: [5, 5] + name: agent2 + start: [0, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 1] + - !!python/tuple [4, 5] + - !!python/tuple [4, 2] + - !!python/tuple [3, 0] + - !!python/tuple [0, 4] + - !!python/tuple [6, 0] + - !!python/tuple [1, 2] + - !!python/tuple [7, 0] + - !!python/tuple [7, 7] + - !!python/tuple [4, 3] + - !!python/tuple [2, 0] + - !!python/tuple [3, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex72.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex72.yaml new file mode 100644 index 0000000..fe61f37 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex72.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [5, 0] + name: agent0 + start: [3, 3] +- goal: [7, 5] + name: agent1 + start: [0, 3] +- goal: [1, 2] + name: agent2 + start: [3, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 4] + - !!python/tuple [0, 5] + - !!python/tuple [2, 6] + - !!python/tuple [1, 7] + - !!python/tuple [1, 4] + - !!python/tuple [2, 3] + - !!python/tuple [0, 4] + - !!python/tuple [6, 4] + - !!python/tuple [0, 1] + - !!python/tuple [1, 6] + - !!python/tuple [4, 4] + - !!python/tuple [4, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex73.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex73.yaml new file mode 100644 index 0000000..adea482 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex73.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [7, 1] + name: agent0 + start: [3, 4] +- goal: [6, 0] + name: agent1 + start: [2, 5] +- goal: [3, 2] + name: agent2 + start: [3, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 0] + - !!python/tuple [4, 0] + - !!python/tuple [6, 7] + - !!python/tuple [5, 7] + - !!python/tuple [3, 5] + - !!python/tuple [1, 0] + - !!python/tuple [7, 2] + - !!python/tuple [3, 3] + - !!python/tuple [2, 0] + - !!python/tuple [7, 3] + - !!python/tuple [5, 4] + - !!python/tuple [6, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex74.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex74.yaml new file mode 100644 index 0000000..373cc5e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex74.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [1, 0] + name: agent0 + start: [6, 2] +- goal: [4, 7] + name: agent1 + start: [1, 2] +- goal: [6, 6] + name: agent2 + start: [3, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 6] + - !!python/tuple [2, 4] + - !!python/tuple [5, 6] + - !!python/tuple [0, 5] + - !!python/tuple [4, 3] + - !!python/tuple [6, 4] + - !!python/tuple [1, 4] + - !!python/tuple [3, 5] + - !!python/tuple [0, 6] + - !!python/tuple [2, 7] + - !!python/tuple [7, 5] + - !!python/tuple [2, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex75.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex75.yaml new file mode 100644 index 0000000..5888a17 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex75.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [6, 1] + name: agent0 + start: [6, 0] +- goal: [2, 4] + name: agent1 + start: [1, 5] +- goal: [5, 0] + name: agent2 + start: [3, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 6] + - !!python/tuple [2, 6] + - !!python/tuple [3, 3] + - !!python/tuple [0, 5] + - !!python/tuple [7, 7] + - !!python/tuple [3, 7] + - !!python/tuple [7, 0] + - !!python/tuple [1, 2] + - !!python/tuple [4, 1] + - !!python/tuple [0, 1] + - !!python/tuple [4, 7] + - !!python/tuple [4, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex76.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex76.yaml new file mode 100644 index 0000000..de9cc64 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex76.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [6, 4] + name: agent0 + start: [1, 3] +- goal: [3, 0] + name: agent1 + start: [2, 0] +- goal: [7, 2] + name: agent2 + start: [7, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 7] + - !!python/tuple [6, 0] + - !!python/tuple [4, 3] + - !!python/tuple [6, 1] + - !!python/tuple [7, 7] + - !!python/tuple [2, 2] + - !!python/tuple [1, 5] + - !!python/tuple [2, 4] + - !!python/tuple [5, 4] + - !!python/tuple [4, 6] + - !!python/tuple [4, 1] + - !!python/tuple [5, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex77.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex77.yaml new file mode 100644 index 0000000..0920c00 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex77.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [5, 0] + name: agent0 + start: [4, 2] +- goal: [4, 3] + name: agent1 + start: [6, 4] +- goal: [1, 4] + name: agent2 + start: [0, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 0] + - !!python/tuple [6, 2] + - !!python/tuple [4, 7] + - !!python/tuple [7, 7] + - !!python/tuple [5, 2] + - !!python/tuple [3, 3] + - !!python/tuple [0, 3] + - !!python/tuple [0, 7] + - !!python/tuple [7, 4] + - !!python/tuple [7, 5] + - !!python/tuple [6, 3] + - !!python/tuple [5, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex78.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex78.yaml new file mode 100644 index 0000000..7a017fe --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex78.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [6, 5] + name: agent0 + start: [1, 4] +- goal: [1, 6] + name: agent1 + start: [3, 0] +- goal: [7, 1] + name: agent2 + start: [4, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 0] + - !!python/tuple [0, 7] + - !!python/tuple [7, 5] + - !!python/tuple [5, 5] + - !!python/tuple [5, 7] + - !!python/tuple [5, 6] + - !!python/tuple [2, 2] + - !!python/tuple [4, 5] + - !!python/tuple [0, 5] + - !!python/tuple [1, 7] + - !!python/tuple [1, 3] + - !!python/tuple [5, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex79.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex79.yaml new file mode 100644 index 0000000..4cbf1af --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex79.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [2, 5] + name: agent0 + start: [4, 3] +- goal: [7, 2] + name: agent1 + start: [1, 4] +- goal: [0, 6] + name: agent2 + start: [3, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 0] + - !!python/tuple [5, 3] + - !!python/tuple [7, 5] + - !!python/tuple [5, 0] + - !!python/tuple [4, 6] + - !!python/tuple [6, 1] + - !!python/tuple [4, 7] + - !!python/tuple [5, 2] + - !!python/tuple [1, 0] + - !!python/tuple [2, 1] + - !!python/tuple [5, 1] + - !!python/tuple [0, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex8.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex8.yaml new file mode 100644 index 0000000..c85fe3d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex8.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [2, 7] + name: agent0 + start: [1, 0] +- goal: [1, 2] + name: agent1 + start: [1, 1] +- goal: [0, 6] + name: agent2 + start: [4, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 1] + - !!python/tuple [4, 4] + - !!python/tuple [2, 5] + - !!python/tuple [2, 4] + - !!python/tuple [6, 1] + - !!python/tuple [7, 0] + - !!python/tuple [4, 3] + - !!python/tuple [4, 1] + - !!python/tuple [0, 1] + - !!python/tuple [0, 2] + - !!python/tuple [3, 3] + - !!python/tuple [7, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex80.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex80.yaml new file mode 100644 index 0000000..d5543f7 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex80.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [6, 5] + name: agent0 + start: [5, 5] +- goal: [3, 6] + name: agent1 + start: [1, 4] +- goal: [5, 1] + name: agent2 + start: [1, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 4] + - !!python/tuple [4, 2] + - !!python/tuple [0, 1] + - !!python/tuple [2, 4] + - !!python/tuple [2, 6] + - !!python/tuple [2, 5] + - !!python/tuple [3, 0] + - !!python/tuple [4, 7] + - !!python/tuple [0, 3] + - !!python/tuple [4, 1] + - !!python/tuple [7, 6] + - !!python/tuple [0, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex81.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex81.yaml new file mode 100644 index 0000000..87e9db1 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex81.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [2, 0] + name: agent0 + start: [1, 0] +- goal: [6, 0] + name: agent1 + start: [3, 5] +- goal: [1, 4] + name: agent2 + start: [3, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 2] + - !!python/tuple [4, 5] + - !!python/tuple [0, 3] + - !!python/tuple [0, 6] + - !!python/tuple [2, 2] + - !!python/tuple [3, 0] + - !!python/tuple [2, 4] + - !!python/tuple [4, 7] + - !!python/tuple [7, 1] + - !!python/tuple [1, 3] + - !!python/tuple [2, 3] + - !!python/tuple [4, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex82.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex82.yaml new file mode 100644 index 0000000..2e987aa --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex82.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [4, 4] + name: agent0 + start: [0, 6] +- goal: [3, 3] + name: agent1 + start: [1, 0] +- goal: [2, 1] + name: agent2 + start: [7, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 6] + - !!python/tuple [4, 7] + - !!python/tuple [1, 2] + - !!python/tuple [0, 5] + - !!python/tuple [2, 3] + - !!python/tuple [1, 5] + - !!python/tuple [0, 4] + - !!python/tuple [6, 1] + - !!python/tuple [5, 7] + - !!python/tuple [5, 2] + - !!python/tuple [2, 2] + - !!python/tuple [4, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex83.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex83.yaml new file mode 100644 index 0000000..a433b90 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex83.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [4, 7] + name: agent0 + start: [0, 1] +- goal: [1, 3] + name: agent1 + start: [1, 1] +- goal: [6, 2] + name: agent2 + start: [5, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 2] + - !!python/tuple [5, 3] + - !!python/tuple [4, 6] + - !!python/tuple [1, 0] + - !!python/tuple [6, 6] + - !!python/tuple [4, 5] + - !!python/tuple [3, 6] + - !!python/tuple [1, 2] + - !!python/tuple [0, 6] + - !!python/tuple [5, 0] + - !!python/tuple [1, 6] + - !!python/tuple [2, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex84.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex84.yaml new file mode 100644 index 0000000..6496d05 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex84.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [3, 0] + name: agent0 + start: [1, 1] +- goal: [2, 3] + name: agent1 + start: [5, 7] +- goal: [5, 7] + name: agent2 + start: [5, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 6] + - !!python/tuple [6, 0] + - !!python/tuple [2, 6] + - !!python/tuple [0, 6] + - !!python/tuple [5, 4] + - !!python/tuple [6, 7] + - !!python/tuple [3, 4] + - !!python/tuple [3, 6] + - !!python/tuple [5, 2] + - !!python/tuple [7, 4] + - !!python/tuple [0, 4] + - !!python/tuple [3, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex85.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex85.yaml new file mode 100644 index 0000000..cdc7387 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex85.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [3, 3] + name: agent0 + start: [2, 3] +- goal: [7, 1] + name: agent1 + start: [0, 6] +- goal: [2, 7] + name: agent2 + start: [1, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 7] + - !!python/tuple [1, 6] + - !!python/tuple [7, 2] + - !!python/tuple [5, 6] + - !!python/tuple [4, 1] + - !!python/tuple [1, 1] + - !!python/tuple [2, 2] + - !!python/tuple [3, 4] + - !!python/tuple [6, 4] + - !!python/tuple [5, 7] + - !!python/tuple [3, 6] + - !!python/tuple [6, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex86.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex86.yaml new file mode 100644 index 0000000..f7087a1 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex86.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [7, 0] + name: agent0 + start: [4, 6] +- goal: [6, 0] + name: agent1 + start: [4, 4] +- goal: [6, 1] + name: agent2 + start: [5, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 3] + - !!python/tuple [4, 1] + - !!python/tuple [1, 3] + - !!python/tuple [5, 0] + - !!python/tuple [2, 4] + - !!python/tuple [2, 2] + - !!python/tuple [6, 6] + - !!python/tuple [3, 7] + - !!python/tuple [3, 2] + - !!python/tuple [5, 1] + - !!python/tuple [0, 3] + - !!python/tuple [0, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex87.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex87.yaml new file mode 100644 index 0000000..b710f2f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex87.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [7, 0] + name: agent0 + start: [1, 1] +- goal: [5, 7] + name: agent1 + start: [4, 1] +- goal: [3, 5] + name: agent2 + start: [0, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 5] + - !!python/tuple [2, 1] + - !!python/tuple [6, 4] + - !!python/tuple [3, 1] + - !!python/tuple [6, 5] + - !!python/tuple [4, 6] + - !!python/tuple [7, 5] + - !!python/tuple [3, 0] + - !!python/tuple [3, 4] + - !!python/tuple [5, 4] + - !!python/tuple [5, 6] + - !!python/tuple [5, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex88.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex88.yaml new file mode 100644 index 0000000..3e8a1c7 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex88.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [3, 4] + name: agent0 + start: [6, 1] +- goal: [1, 5] + name: agent1 + start: [1, 2] +- goal: [0, 3] + name: agent2 + start: [7, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 0] + - !!python/tuple [0, 5] + - !!python/tuple [3, 5] + - !!python/tuple [2, 2] + - !!python/tuple [1, 1] + - !!python/tuple [6, 4] + - !!python/tuple [7, 6] + - !!python/tuple [7, 2] + - !!python/tuple [3, 7] + - !!python/tuple [6, 2] + - !!python/tuple [4, 3] + - !!python/tuple [0, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex89.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex89.yaml new file mode 100644 index 0000000..eefe225 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex89.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [3, 6] + name: agent0 + start: [6, 1] +- goal: [4, 2] + name: agent1 + start: [6, 6] +- goal: [7, 0] + name: agent2 + start: [0, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 5] + - !!python/tuple [7, 2] + - !!python/tuple [1, 6] + - !!python/tuple [7, 4] + - !!python/tuple [0, 1] + - !!python/tuple [3, 7] + - !!python/tuple [0, 6] + - !!python/tuple [1, 5] + - !!python/tuple [2, 4] + - !!python/tuple [0, 0] + - !!python/tuple [1, 0] + - !!python/tuple [5, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex9.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex9.yaml new file mode 100644 index 0000000..943262a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex9.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [5, 6] + name: agent0 + start: [7, 1] +- goal: [0, 5] + name: agent1 + start: [3, 3] +- goal: [6, 0] + name: agent2 + start: [5, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 4] + - !!python/tuple [5, 7] + - !!python/tuple [4, 7] + - !!python/tuple [6, 3] + - !!python/tuple [3, 0] + - !!python/tuple [4, 4] + - !!python/tuple [2, 1] + - !!python/tuple [0, 4] + - !!python/tuple [4, 3] + - !!python/tuple [5, 1] + - !!python/tuple [0, 2] + - !!python/tuple [1, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex90.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex90.yaml new file mode 100644 index 0000000..8b50aef --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex90.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [0, 2] + name: agent0 + start: [0, 7] +- goal: [6, 5] + name: agent1 + start: [6, 4] +- goal: [3, 2] + name: agent2 + start: [1, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 6] + - !!python/tuple [3, 4] + - !!python/tuple [1, 2] + - !!python/tuple [6, 3] + - !!python/tuple [2, 4] + - !!python/tuple [5, 2] + - !!python/tuple [4, 4] + - !!python/tuple [5, 6] + - !!python/tuple [0, 0] + - !!python/tuple [1, 6] + - !!python/tuple [4, 1] + - !!python/tuple [6, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex91.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex91.yaml new file mode 100644 index 0000000..5c72992 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex91.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [2, 4] + name: agent0 + start: [1, 1] +- goal: [2, 0] + name: agent1 + start: [4, 3] +- goal: [1, 2] + name: agent2 + start: [5, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 0] + - !!python/tuple [3, 2] + - !!python/tuple [1, 5] + - !!python/tuple [4, 6] + - !!python/tuple [1, 4] + - !!python/tuple [5, 7] + - !!python/tuple [7, 6] + - !!python/tuple [6, 7] + - !!python/tuple [7, 1] + - !!python/tuple [2, 5] + - !!python/tuple [5, 2] + - !!python/tuple [1, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex92.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex92.yaml new file mode 100644 index 0000000..d55c092 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex92.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [1, 5] + name: agent0 + start: [3, 6] +- goal: [4, 1] + name: agent1 + start: [2, 1] +- goal: [1, 7] + name: agent2 + start: [5, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 3] + - !!python/tuple [1, 1] + - !!python/tuple [4, 0] + - !!python/tuple [7, 5] + - !!python/tuple [7, 1] + - !!python/tuple [6, 7] + - !!python/tuple [1, 3] + - !!python/tuple [1, 4] + - !!python/tuple [5, 3] + - !!python/tuple [0, 3] + - !!python/tuple [2, 6] + - !!python/tuple [5, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex93.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex93.yaml new file mode 100644 index 0000000..dbf3cc5 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex93.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [7, 3] + name: agent0 + start: [4, 1] +- goal: [4, 3] + name: agent1 + start: [0, 6] +- goal: [0, 6] + name: agent2 + start: [6, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 7] + - !!python/tuple [6, 1] + - !!python/tuple [1, 7] + - !!python/tuple [4, 2] + - !!python/tuple [1, 6] + - !!python/tuple [3, 2] + - !!python/tuple [5, 7] + - !!python/tuple [3, 0] + - !!python/tuple [3, 4] + - !!python/tuple [2, 3] + - !!python/tuple [1, 4] + - !!python/tuple [1, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex94.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex94.yaml new file mode 100644 index 0000000..d50f473 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex94.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [0, 2] + name: agent0 + start: [1, 5] +- goal: [0, 1] + name: agent1 + start: [4, 4] +- goal: [5, 0] + name: agent2 + start: [6, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 6] + - !!python/tuple [3, 3] + - !!python/tuple [7, 6] + - !!python/tuple [7, 3] + - !!python/tuple [6, 7] + - !!python/tuple [5, 3] + - !!python/tuple [3, 5] + - !!python/tuple [2, 2] + - !!python/tuple [6, 1] + - !!python/tuple [5, 2] + - !!python/tuple [1, 7] + - !!python/tuple [4, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex95.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex95.yaml new file mode 100644 index 0000000..5a6ce39 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex95.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [3, 7] + name: agent0 + start: [3, 0] +- goal: [4, 6] + name: agent1 + start: [5, 4] +- goal: [0, 3] + name: agent2 + start: [6, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 2] + - !!python/tuple [6, 6] + - !!python/tuple [0, 6] + - !!python/tuple [5, 0] + - !!python/tuple [0, 5] + - !!python/tuple [3, 1] + - !!python/tuple [4, 1] + - !!python/tuple [0, 0] + - !!python/tuple [2, 7] + - !!python/tuple [1, 3] + - !!python/tuple [4, 3] + - !!python/tuple [4, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex96.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex96.yaml new file mode 100644 index 0000000..9cd5151 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex96.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [7, 1] + name: agent0 + start: [4, 5] +- goal: [0, 6] + name: agent1 + start: [3, 2] +- goal: [1, 6] + name: agent2 + start: [7, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 7] + - !!python/tuple [7, 6] + - !!python/tuple [4, 7] + - !!python/tuple [0, 3] + - !!python/tuple [2, 3] + - !!python/tuple [3, 6] + - !!python/tuple [0, 4] + - !!python/tuple [7, 2] + - !!python/tuple [6, 1] + - !!python/tuple [5, 2] + - !!python/tuple [3, 0] + - !!python/tuple [0, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex97.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex97.yaml new file mode 100644 index 0000000..5670008 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex97.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [2, 2] + name: agent0 + start: [0, 2] +- goal: [4, 1] + name: agent1 + start: [2, 1] +- goal: [3, 4] + name: agent2 + start: [1, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 6] + - !!python/tuple [0, 7] + - !!python/tuple [4, 0] + - !!python/tuple [5, 1] + - !!python/tuple [5, 6] + - !!python/tuple [0, 6] + - !!python/tuple [5, 2] + - !!python/tuple [7, 4] + - !!python/tuple [3, 3] + - !!python/tuple [6, 6] + - !!python/tuple [6, 3] + - !!python/tuple [0, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex98.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex98.yaml new file mode 100644 index 0000000..d27dae7 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex98.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [7, 4] + name: agent0 + start: [7, 0] +- goal: [0, 4] + name: agent1 + start: [3, 1] +- goal: [3, 2] + name: agent2 + start: [4, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 7] + - !!python/tuple [2, 7] + - !!python/tuple [5, 7] + - !!python/tuple [2, 1] + - !!python/tuple [0, 1] + - !!python/tuple [6, 0] + - !!python/tuple [0, 2] + - !!python/tuple [0, 7] + - !!python/tuple [2, 4] + - !!python/tuple [3, 3] + - !!python/tuple [5, 3] + - !!python/tuple [4, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex99.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex99.yaml new file mode 100644 index 0000000..85219cc --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents3_ex99.yaml @@ -0,0 +1,25 @@ +agents: +- goal: [2, 1] + name: agent0 + start: [4, 5] +- goal: [1, 6] + name: agent1 + start: [1, 2] +- goal: [5, 7] + name: agent2 + start: [0, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 7] + - !!python/tuple [7, 6] + - !!python/tuple [3, 2] + - !!python/tuple [5, 0] + - !!python/tuple [0, 6] + - !!python/tuple [7, 5] + - !!python/tuple [6, 2] + - !!python/tuple [7, 4] + - !!python/tuple [6, 3] + - !!python/tuple [7, 3] + - !!python/tuple [2, 4] + - !!python/tuple [6, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex0.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex0.yaml new file mode 100644 index 0000000..938d4b4 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex0.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [7, 2] + name: agent0 + start: [2, 5] +- goal: [3, 3] + name: agent1 + start: [1, 2] +- goal: [6, 1] + name: agent2 + start: [1, 0] +- goal: [3, 0] + name: agent3 + start: [2, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 7] + - !!python/tuple [1, 1] + - !!python/tuple [7, 5] + - !!python/tuple [5, 1] + - !!python/tuple [3, 4] + - !!python/tuple [3, 7] + - !!python/tuple [6, 7] + - !!python/tuple [6, 6] + - !!python/tuple [3, 1] + - !!python/tuple [7, 1] + - !!python/tuple [6, 4] + - !!python/tuple [1, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex1.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex1.yaml new file mode 100644 index 0000000..678543a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex1.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [1, 0] + name: agent0 + start: [1, 7] +- goal: [6, 4] + name: agent1 + start: [3, 0] +- goal: [7, 1] + name: agent2 + start: [5, 3] +- goal: [4, 3] + name: agent3 + start: [7, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 0] + - !!python/tuple [5, 6] + - !!python/tuple [0, 6] + - !!python/tuple [3, 1] + - !!python/tuple [1, 3] + - !!python/tuple [2, 2] + - !!python/tuple [7, 4] + - !!python/tuple [6, 6] + - !!python/tuple [0, 5] + - !!python/tuple [2, 5] + - !!python/tuple [3, 3] + - !!python/tuple [5, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex10.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex10.yaml new file mode 100644 index 0000000..7e4d6a4 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex10.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [0, 1] + name: agent0 + start: [6, 1] +- goal: [4, 0] + name: agent1 + start: [6, 2] +- goal: [7, 3] + name: agent2 + start: [6, 7] +- goal: [2, 0] + name: agent3 + start: [2, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 6] + - !!python/tuple [5, 1] + - !!python/tuple [5, 4] + - !!python/tuple [5, 7] + - !!python/tuple [6, 5] + - !!python/tuple [0, 0] + - !!python/tuple [0, 2] + - !!python/tuple [7, 5] + - !!python/tuple [6, 4] + - !!python/tuple [4, 1] + - !!python/tuple [0, 6] + - !!python/tuple [1, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex11.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex11.yaml new file mode 100644 index 0000000..a24713b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex11.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [0, 6] + name: agent0 + start: [1, 4] +- goal: [1, 4] + name: agent1 + start: [1, 7] +- goal: [3, 4] + name: agent2 + start: [7, 1] +- goal: [4, 6] + name: agent3 + start: [0, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 2] + - !!python/tuple [0, 1] + - !!python/tuple [0, 3] + - !!python/tuple [1, 2] + - !!python/tuple [6, 5] + - !!python/tuple [1, 1] + - !!python/tuple [7, 7] + - !!python/tuple [0, 5] + - !!python/tuple [2, 5] + - !!python/tuple [7, 2] + - !!python/tuple [0, 0] + - !!python/tuple [2, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex12.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex12.yaml new file mode 100644 index 0000000..9731426 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex12.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [4, 7] + name: agent0 + start: [5, 2] +- goal: [1, 4] + name: agent1 + start: [7, 3] +- goal: [0, 1] + name: agent2 + start: [7, 2] +- goal: [4, 0] + name: agent3 + start: [2, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 3] + - !!python/tuple [5, 4] + - !!python/tuple [6, 1] + - !!python/tuple [5, 6] + - !!python/tuple [6, 0] + - !!python/tuple [5, 7] + - !!python/tuple [3, 1] + - !!python/tuple [3, 7] + - !!python/tuple [0, 0] + - !!python/tuple [1, 3] + - !!python/tuple [2, 0] + - !!python/tuple [0, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex13.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex13.yaml new file mode 100644 index 0000000..33e7b17 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex13.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [0, 1] + name: agent0 + start: [4, 3] +- goal: [3, 6] + name: agent1 + start: [5, 0] +- goal: [2, 6] + name: agent2 + start: [4, 5] +- goal: [0, 7] + name: agent3 + start: [6, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 2] + - !!python/tuple [3, 1] + - !!python/tuple [6, 1] + - !!python/tuple [3, 4] + - !!python/tuple [5, 2] + - !!python/tuple [4, 7] + - !!python/tuple [5, 5] + - !!python/tuple [2, 5] + - !!python/tuple [7, 3] + - !!python/tuple [1, 3] + - !!python/tuple [5, 6] + - !!python/tuple [3, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex14.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex14.yaml new file mode 100644 index 0000000..6bf12e8 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex14.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [0, 3] + name: agent0 + start: [6, 7] +- goal: [1, 0] + name: agent1 + start: [5, 1] +- goal: [6, 0] + name: agent2 + start: [7, 6] +- goal: [5, 1] + name: agent3 + start: [3, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 2] + - !!python/tuple [2, 3] + - !!python/tuple [6, 3] + - !!python/tuple [0, 1] + - !!python/tuple [2, 7] + - !!python/tuple [2, 2] + - !!python/tuple [0, 0] + - !!python/tuple [4, 6] + - !!python/tuple [1, 3] + - !!python/tuple [5, 3] + - !!python/tuple [7, 1] + - !!python/tuple [5, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex15.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex15.yaml new file mode 100644 index 0000000..70ebd29 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex15.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [0, 0] + name: agent0 + start: [5, 0] +- goal: [3, 1] + name: agent1 + start: [0, 1] +- goal: [6, 7] + name: agent2 + start: [7, 1] +- goal: [6, 0] + name: agent3 + start: [4, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 3] + - !!python/tuple [1, 1] + - !!python/tuple [5, 2] + - !!python/tuple [3, 6] + - !!python/tuple [7, 7] + - !!python/tuple [2, 1] + - !!python/tuple [6, 6] + - !!python/tuple [3, 2] + - !!python/tuple [5, 1] + - !!python/tuple [2, 3] + - !!python/tuple [6, 1] + - !!python/tuple [4, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex16.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex16.yaml new file mode 100644 index 0000000..4f82c43 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex16.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [3, 2] + name: agent0 + start: [7, 4] +- goal: [0, 0] + name: agent1 + start: [2, 3] +- goal: [7, 3] + name: agent2 + start: [1, 4] +- goal: [5, 1] + name: agent3 + start: [4, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 5] + - !!python/tuple [2, 4] + - !!python/tuple [1, 7] + - !!python/tuple [4, 4] + - !!python/tuple [7, 1] + - !!python/tuple [3, 1] + - !!python/tuple [7, 6] + - !!python/tuple [1, 1] + - !!python/tuple [0, 1] + - !!python/tuple [6, 7] + - !!python/tuple [5, 4] + - !!python/tuple [2, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex17.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex17.yaml new file mode 100644 index 0000000..0f99abf --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex17.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [4, 6] + name: agent0 + start: [5, 7] +- goal: [2, 3] + name: agent1 + start: [5, 6] +- goal: [5, 3] + name: agent2 + start: [3, 4] +- goal: [2, 5] + name: agent3 + start: [2, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 3] + - !!python/tuple [7, 4] + - !!python/tuple [0, 6] + - !!python/tuple [1, 2] + - !!python/tuple [7, 1] + - !!python/tuple [2, 1] + - !!python/tuple [6, 2] + - !!python/tuple [0, 2] + - !!python/tuple [0, 7] + - !!python/tuple [0, 1] + - !!python/tuple [5, 4] + - !!python/tuple [1, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex18.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex18.yaml new file mode 100644 index 0000000..b1b69f0 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex18.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [6, 4] + name: agent0 + start: [6, 5] +- goal: [3, 4] + name: agent1 + start: [0, 2] +- goal: [4, 7] + name: agent2 + start: [7, 1] +- goal: [0, 6] + name: agent3 + start: [0, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 1] + - !!python/tuple [0, 3] + - !!python/tuple [5, 6] + - !!python/tuple [0, 1] + - !!python/tuple [4, 6] + - !!python/tuple [3, 6] + - !!python/tuple [5, 7] + - !!python/tuple [4, 4] + - !!python/tuple [1, 3] + - !!python/tuple [5, 3] + - !!python/tuple [5, 5] + - !!python/tuple [7, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex19.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex19.yaml new file mode 100644 index 0000000..1423c3f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex19.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [2, 5] + name: agent0 + start: [5, 2] +- goal: [4, 1] + name: agent1 + start: [6, 4] +- goal: [1, 4] + name: agent2 + start: [3, 6] +- goal: [2, 2] + name: agent3 + start: [7, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 7] + - !!python/tuple [4, 2] + - !!python/tuple [6, 1] + - !!python/tuple [3, 2] + - !!python/tuple [6, 3] + - !!python/tuple [4, 7] + - !!python/tuple [1, 0] + - !!python/tuple [3, 7] + - !!python/tuple [6, 2] + - !!python/tuple [1, 2] + - !!python/tuple [1, 6] + - !!python/tuple [3, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex2.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex2.yaml new file mode 100644 index 0000000..a00a013 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex2.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [6, 4] + name: agent0 + start: [1, 1] +- goal: [2, 7] + name: agent1 + start: [7, 1] +- goal: [5, 2] + name: agent2 + start: [0, 2] +- goal: [1, 7] + name: agent3 + start: [2, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 0] + - !!python/tuple [4, 7] + - !!python/tuple [2, 1] + - !!python/tuple [0, 4] + - !!python/tuple [4, 0] + - !!python/tuple [6, 3] + - !!python/tuple [7, 2] + - !!python/tuple [3, 4] + - !!python/tuple [4, 1] + - !!python/tuple [4, 4] + - !!python/tuple [1, 4] + - !!python/tuple [1, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex20.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex20.yaml new file mode 100644 index 0000000..4ebcfaf --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex20.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [1, 1] + name: agent0 + start: [5, 6] +- goal: [0, 7] + name: agent1 + start: [5, 4] +- goal: [2, 1] + name: agent2 + start: [7, 5] +- goal: [6, 5] + name: agent3 + start: [1, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 6] + - !!python/tuple [3, 0] + - !!python/tuple [0, 4] + - !!python/tuple [4, 7] + - !!python/tuple [5, 2] + - !!python/tuple [7, 3] + - !!python/tuple [4, 0] + - !!python/tuple [2, 2] + - !!python/tuple [7, 7] + - !!python/tuple [3, 2] + - !!python/tuple [0, 2] + - !!python/tuple [5, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex21.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex21.yaml new file mode 100644 index 0000000..f1c6118 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex21.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [5, 2] + name: agent0 + start: [3, 2] +- goal: [1, 5] + name: agent1 + start: [1, 2] +- goal: [4, 7] + name: agent2 + start: [3, 5] +- goal: [6, 1] + name: agent3 + start: [2, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 4] + - !!python/tuple [2, 1] + - !!python/tuple [6, 7] + - !!python/tuple [0, 6] + - !!python/tuple [2, 4] + - !!python/tuple [3, 1] + - !!python/tuple [0, 1] + - !!python/tuple [7, 0] + - !!python/tuple [0, 3] + - !!python/tuple [4, 1] + - !!python/tuple [6, 3] + - !!python/tuple [3, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex22.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex22.yaml new file mode 100644 index 0000000..bb88168 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex22.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [1, 7] + name: agent0 + start: [2, 4] +- goal: [1, 6] + name: agent1 + start: [1, 6] +- goal: [1, 2] + name: agent2 + start: [5, 4] +- goal: [7, 2] + name: agent3 + start: [0, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 1] + - !!python/tuple [2, 1] + - !!python/tuple [1, 0] + - !!python/tuple [2, 3] + - !!python/tuple [3, 0] + - !!python/tuple [6, 4] + - !!python/tuple [4, 3] + - !!python/tuple [5, 5] + - !!python/tuple [7, 6] + - !!python/tuple [5, 1] + - !!python/tuple [2, 7] + - !!python/tuple [6, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex23.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex23.yaml new file mode 100644 index 0000000..fef1315 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex23.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [6, 7] + name: agent0 + start: [5, 1] +- goal: [1, 2] + name: agent1 + start: [6, 6] +- goal: [4, 1] + name: agent2 + start: [7, 3] +- goal: [5, 7] + name: agent3 + start: [5, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 3] + - !!python/tuple [7, 4] + - !!python/tuple [3, 6] + - !!python/tuple [4, 3] + - !!python/tuple [3, 5] + - !!python/tuple [0, 7] + - !!python/tuple [4, 4] + - !!python/tuple [5, 6] + - !!python/tuple [7, 7] + - !!python/tuple [3, 1] + - !!python/tuple [1, 6] + - !!python/tuple [6, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex24.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex24.yaml new file mode 100644 index 0000000..751deca --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex24.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [2, 4] + name: agent0 + start: [5, 4] +- goal: [2, 5] + name: agent1 + start: [0, 4] +- goal: [3, 4] + name: agent2 + start: [6, 4] +- goal: [2, 0] + name: agent3 + start: [0, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 1] + - !!python/tuple [7, 0] + - !!python/tuple [3, 2] + - !!python/tuple [4, 5] + - !!python/tuple [1, 7] + - !!python/tuple [7, 6] + - !!python/tuple [7, 7] + - !!python/tuple [3, 0] + - !!python/tuple [6, 2] + - !!python/tuple [3, 1] + - !!python/tuple [5, 6] + - !!python/tuple [4, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex25.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex25.yaml new file mode 100644 index 0000000..3f3bad5 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex25.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [3, 0] + name: agent0 + start: [0, 6] +- goal: [4, 6] + name: agent1 + start: [1, 3] +- goal: [5, 1] + name: agent2 + start: [6, 4] +- goal: [7, 7] + name: agent3 + start: [5, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 0] + - !!python/tuple [4, 4] + - !!python/tuple [7, 6] + - !!python/tuple [4, 7] + - !!python/tuple [6, 3] + - !!python/tuple [5, 3] + - !!python/tuple [7, 2] + - !!python/tuple [3, 7] + - !!python/tuple [3, 3] + - !!python/tuple [5, 5] + - !!python/tuple [2, 1] + - !!python/tuple [2, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex26.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex26.yaml new file mode 100644 index 0000000..143f320 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex26.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [2, 5] + name: agent0 + start: [1, 4] +- goal: [6, 1] + name: agent1 + start: [2, 5] +- goal: [0, 3] + name: agent2 + start: [6, 1] +- goal: [0, 2] + name: agent3 + start: [5, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 5] + - !!python/tuple [4, 6] + - !!python/tuple [4, 1] + - !!python/tuple [3, 1] + - !!python/tuple [0, 0] + - !!python/tuple [6, 0] + - !!python/tuple [7, 6] + - !!python/tuple [6, 4] + - !!python/tuple [2, 6] + - !!python/tuple [0, 5] + - !!python/tuple [1, 7] + - !!python/tuple [5, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex27.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex27.yaml new file mode 100644 index 0000000..15422a3 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex27.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [5, 5] + name: agent0 + start: [1, 4] +- goal: [4, 1] + name: agent1 + start: [7, 7] +- goal: [6, 3] + name: agent2 + start: [5, 4] +- goal: [5, 4] + name: agent3 + start: [6, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 0] + - !!python/tuple [7, 4] + - !!python/tuple [1, 5] + - !!python/tuple [1, 6] + - !!python/tuple [6, 2] + - !!python/tuple [2, 1] + - !!python/tuple [4, 5] + - !!python/tuple [2, 7] + - !!python/tuple [4, 6] + - !!python/tuple [5, 6] + - !!python/tuple [4, 2] + - !!python/tuple [0, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex28.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex28.yaml new file mode 100644 index 0000000..8cee2b6 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex28.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [5, 5] + name: agent0 + start: [2, 0] +- goal: [2, 5] + name: agent1 + start: [3, 0] +- goal: [2, 4] + name: agent2 + start: [1, 3] +- goal: [2, 7] + name: agent3 + start: [3, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 0] + - !!python/tuple [1, 2] + - !!python/tuple [5, 7] + - !!python/tuple [3, 1] + - !!python/tuple [5, 2] + - !!python/tuple [4, 2] + - !!python/tuple [4, 3] + - !!python/tuple [1, 0] + - !!python/tuple [7, 3] + - !!python/tuple [6, 4] + - !!python/tuple [7, 1] + - !!python/tuple [3, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex29.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex29.yaml new file mode 100644 index 0000000..8c9db8c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex29.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [7, 0] + name: agent0 + start: [1, 4] +- goal: [7, 6] + name: agent1 + start: [5, 5] +- goal: [0, 5] + name: agent2 + start: [4, 3] +- goal: [4, 7] + name: agent3 + start: [0, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 6] + - !!python/tuple [5, 6] + - !!python/tuple [4, 0] + - !!python/tuple [5, 1] + - !!python/tuple [2, 1] + - !!python/tuple [0, 1] + - !!python/tuple [6, 5] + - !!python/tuple [2, 2] + - !!python/tuple [2, 3] + - !!python/tuple [1, 3] + - !!python/tuple [4, 6] + - !!python/tuple [2, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex3.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex3.yaml new file mode 100644 index 0000000..008ec59 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex3.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [6, 7] + name: agent0 + start: [0, 7] +- goal: [3, 1] + name: agent1 + start: [1, 7] +- goal: [5, 3] + name: agent2 + start: [6, 0] +- goal: [3, 2] + name: agent3 + start: [5, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 3] + - !!python/tuple [0, 1] + - !!python/tuple [1, 3] + - !!python/tuple [4, 6] + - !!python/tuple [4, 2] + - !!python/tuple [3, 6] + - !!python/tuple [5, 6] + - !!python/tuple [2, 0] + - !!python/tuple [4, 7] + - !!python/tuple [7, 4] + - !!python/tuple [5, 5] + - !!python/tuple [0, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex30.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex30.yaml new file mode 100644 index 0000000..7d5ed51 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex30.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [0, 7] + name: agent0 + start: [7, 4] +- goal: [4, 6] + name: agent1 + start: [7, 3] +- goal: [7, 3] + name: agent2 + start: [2, 4] +- goal: [3, 2] + name: agent3 + start: [3, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 4] + - !!python/tuple [2, 3] + - !!python/tuple [0, 3] + - !!python/tuple [5, 0] + - !!python/tuple [4, 5] + - !!python/tuple [6, 1] + - !!python/tuple [6, 0] + - !!python/tuple [3, 1] + - !!python/tuple [7, 2] + - !!python/tuple [2, 2] + - !!python/tuple [2, 1] + - !!python/tuple [1, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex31.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex31.yaml new file mode 100644 index 0000000..71981dc --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex31.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [6, 1] + name: agent0 + start: [1, 6] +- goal: [2, 0] + name: agent1 + start: [0, 1] +- goal: [1, 1] + name: agent2 + start: [3, 0] +- goal: [3, 2] + name: agent3 + start: [4, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 0] + - !!python/tuple [2, 1] + - !!python/tuple [5, 5] + - !!python/tuple [4, 6] + - !!python/tuple [0, 7] + - !!python/tuple [7, 7] + - !!python/tuple [1, 2] + - !!python/tuple [2, 2] + - !!python/tuple [0, 4] + - !!python/tuple [1, 3] + - !!python/tuple [2, 6] + - !!python/tuple [0, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex32.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex32.yaml new file mode 100644 index 0000000..389137a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex32.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [1, 0] + name: agent0 + start: [7, 2] +- goal: [6, 2] + name: agent1 + start: [5, 3] +- goal: [2, 2] + name: agent2 + start: [0, 6] +- goal: [5, 7] + name: agent3 + start: [5, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 1] + - !!python/tuple [4, 2] + - !!python/tuple [0, 2] + - !!python/tuple [4, 7] + - !!python/tuple [3, 3] + - !!python/tuple [7, 1] + - !!python/tuple [6, 6] + - !!python/tuple [2, 6] + - !!python/tuple [4, 6] + - !!python/tuple [0, 0] + - !!python/tuple [2, 7] + - !!python/tuple [7, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex33.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex33.yaml new file mode 100644 index 0000000..5605577 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex33.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [4, 7] + name: agent0 + start: [3, 7] +- goal: [1, 0] + name: agent1 + start: [7, 3] +- goal: [4, 2] + name: agent2 + start: [6, 2] +- goal: [0, 2] + name: agent3 + start: [1, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 6] + - !!python/tuple [3, 2] + - !!python/tuple [3, 4] + - !!python/tuple [6, 7] + - !!python/tuple [7, 2] + - !!python/tuple [6, 4] + - !!python/tuple [0, 6] + - !!python/tuple [0, 3] + - !!python/tuple [1, 1] + - !!python/tuple [2, 7] + - !!python/tuple [7, 0] + - !!python/tuple [5, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex34.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex34.yaml new file mode 100644 index 0000000..f8a62a8 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex34.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [5, 0] + name: agent0 + start: [0, 3] +- goal: [0, 3] + name: agent1 + start: [3, 6] +- goal: [5, 1] + name: agent2 + start: [2, 4] +- goal: [1, 3] + name: agent3 + start: [5, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 6] + - !!python/tuple [6, 5] + - !!python/tuple [5, 2] + - !!python/tuple [6, 2] + - !!python/tuple [7, 0] + - !!python/tuple [6, 0] + - !!python/tuple [0, 2] + - !!python/tuple [6, 6] + - !!python/tuple [7, 2] + - !!python/tuple [7, 6] + - !!python/tuple [1, 4] + - !!python/tuple [2, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex35.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex35.yaml new file mode 100644 index 0000000..a381b7f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex35.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [2, 7] + name: agent0 + start: [1, 5] +- goal: [5, 7] + name: agent1 + start: [0, 6] +- goal: [0, 5] + name: agent2 + start: [0, 1] +- goal: [7, 7] + name: agent3 + start: [5, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 6] + - !!python/tuple [4, 3] + - !!python/tuple [1, 7] + - !!python/tuple [3, 3] + - !!python/tuple [6, 2] + - !!python/tuple [2, 2] + - !!python/tuple [7, 3] + - !!python/tuple [3, 7] + - !!python/tuple [2, 4] + - !!python/tuple [2, 3] + - !!python/tuple [3, 0] + - !!python/tuple [0, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex36.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex36.yaml new file mode 100644 index 0000000..11ad91d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex36.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [3, 0] + name: agent0 + start: [4, 1] +- goal: [2, 2] + name: agent1 + start: [7, 1] +- goal: [7, 3] + name: agent2 + start: [5, 1] +- goal: [3, 2] + name: agent3 + start: [5, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 2] + - !!python/tuple [3, 6] + - !!python/tuple [6, 6] + - !!python/tuple [0, 1] + - !!python/tuple [6, 5] + - !!python/tuple [5, 3] + - !!python/tuple [3, 4] + - !!python/tuple [6, 3] + - !!python/tuple [7, 5] + - !!python/tuple [6, 1] + - !!python/tuple [5, 4] + - !!python/tuple [2, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex37.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex37.yaml new file mode 100644 index 0000000..9f22ed0 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex37.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [7, 1] + name: agent0 + start: [2, 5] +- goal: [5, 5] + name: agent1 + start: [5, 0] +- goal: [5, 0] + name: agent2 + start: [5, 3] +- goal: [1, 4] + name: agent3 + start: [7, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 6] + - !!python/tuple [0, 2] + - !!python/tuple [4, 2] + - !!python/tuple [3, 6] + - !!python/tuple [1, 3] + - !!python/tuple [2, 4] + - !!python/tuple [4, 6] + - !!python/tuple [3, 7] + - !!python/tuple [1, 2] + - !!python/tuple [2, 6] + - !!python/tuple [7, 0] + - !!python/tuple [3, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex38.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex38.yaml new file mode 100644 index 0000000..7e07a4c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex38.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [1, 0] + name: agent0 + start: [7, 5] +- goal: [5, 0] + name: agent1 + start: [4, 0] +- goal: [1, 1] + name: agent2 + start: [1, 2] +- goal: [6, 1] + name: agent3 + start: [4, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 0] + - !!python/tuple [5, 2] + - !!python/tuple [7, 3] + - !!python/tuple [1, 5] + - !!python/tuple [7, 2] + - !!python/tuple [2, 5] + - !!python/tuple [4, 6] + - !!python/tuple [3, 7] + - !!python/tuple [6, 3] + - !!python/tuple [6, 0] + - !!python/tuple [3, 6] + - !!python/tuple [0, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex39.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex39.yaml new file mode 100644 index 0000000..364d084 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex39.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [2, 7] + name: agent0 + start: [6, 7] +- goal: [6, 4] + name: agent1 + start: [5, 7] +- goal: [7, 1] + name: agent2 + start: [3, 1] +- goal: [7, 6] + name: agent3 + start: [2, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 4] + - !!python/tuple [4, 7] + - !!python/tuple [0, 6] + - !!python/tuple [0, 0] + - !!python/tuple [7, 3] + - !!python/tuple [6, 1] + - !!python/tuple [5, 3] + - !!python/tuple [7, 5] + - !!python/tuple [5, 4] + - !!python/tuple [1, 7] + - !!python/tuple [6, 0] + - !!python/tuple [4, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex4.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex4.yaml new file mode 100644 index 0000000..660bea3 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex4.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [0, 0] + name: agent0 + start: [6, 7] +- goal: [1, 5] + name: agent1 + start: [0, 2] +- goal: [7, 0] + name: agent2 + start: [2, 7] +- goal: [5, 0] + name: agent3 + start: [2, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 7] + - !!python/tuple [4, 7] + - !!python/tuple [7, 5] + - !!python/tuple [1, 1] + - !!python/tuple [3, 3] + - !!python/tuple [4, 3] + - !!python/tuple [5, 1] + - !!python/tuple [4, 6] + - !!python/tuple [7, 3] + - !!python/tuple [4, 4] + - !!python/tuple [7, 6] + - !!python/tuple [0, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex40.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex40.yaml new file mode 100644 index 0000000..ee1609b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex40.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [2, 3] + name: agent0 + start: [0, 6] +- goal: [0, 2] + name: agent1 + start: [7, 2] +- goal: [7, 2] + name: agent2 + start: [3, 1] +- goal: [2, 1] + name: agent3 + start: [5, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 6] + - !!python/tuple [6, 2] + - !!python/tuple [0, 4] + - !!python/tuple [6, 5] + - !!python/tuple [5, 3] + - !!python/tuple [5, 1] + - !!python/tuple [7, 7] + - !!python/tuple [1, 5] + - !!python/tuple [6, 3] + - !!python/tuple [3, 0] + - !!python/tuple [5, 5] + - !!python/tuple [3, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex41.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex41.yaml new file mode 100644 index 0000000..20c859c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex41.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [2, 2] + name: agent0 + start: [0, 1] +- goal: [5, 5] + name: agent1 + start: [0, 4] +- goal: [4, 0] + name: agent2 + start: [1, 2] +- goal: [2, 1] + name: agent3 + start: [0, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 1] + - !!python/tuple [5, 3] + - !!python/tuple [0, 6] + - !!python/tuple [6, 5] + - !!python/tuple [6, 6] + - !!python/tuple [5, 4] + - !!python/tuple [3, 7] + - !!python/tuple [6, 2] + - !!python/tuple [3, 6] + - !!python/tuple [4, 1] + - !!python/tuple [7, 2] + - !!python/tuple [3, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex42.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex42.yaml new file mode 100644 index 0000000..0b7c4aa --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex42.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [0, 7] + name: agent0 + start: [6, 0] +- goal: [2, 6] + name: agent1 + start: [6, 6] +- goal: [0, 2] + name: agent2 + start: [4, 5] +- goal: [5, 6] + name: agent3 + start: [0, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 0] + - !!python/tuple [3, 1] + - !!python/tuple [4, 2] + - !!python/tuple [1, 4] + - !!python/tuple [5, 1] + - !!python/tuple [6, 1] + - !!python/tuple [4, 6] + - !!python/tuple [4, 7] + - !!python/tuple [2, 4] + - !!python/tuple [6, 4] + - !!python/tuple [7, 6] + - !!python/tuple [0, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex43.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex43.yaml new file mode 100644 index 0000000..cfc3dbd --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex43.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [7, 1] + name: agent0 + start: [3, 3] +- goal: [6, 1] + name: agent1 + start: [6, 0] +- goal: [2, 2] + name: agent2 + start: [4, 3] +- goal: [5, 2] + name: agent3 + start: [5, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 0] + - !!python/tuple [5, 7] + - !!python/tuple [2, 7] + - !!python/tuple [1, 7] + - !!python/tuple [5, 4] + - !!python/tuple [4, 7] + - !!python/tuple [4, 6] + - !!python/tuple [0, 6] + - !!python/tuple [2, 5] + - !!python/tuple [7, 3] + - !!python/tuple [4, 1] + - !!python/tuple [7, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex44.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex44.yaml new file mode 100644 index 0000000..d359014 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex44.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [7, 5] + name: agent0 + start: [7, 4] +- goal: [3, 6] + name: agent1 + start: [0, 3] +- goal: [0, 1] + name: agent2 + start: [2, 7] +- goal: [6, 2] + name: agent3 + start: [0, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 7] + - !!python/tuple [6, 6] + - !!python/tuple [5, 2] + - !!python/tuple [4, 7] + - !!python/tuple [3, 7] + - !!python/tuple [5, 4] + - !!python/tuple [0, 5] + - !!python/tuple [3, 3] + - !!python/tuple [2, 1] + - !!python/tuple [4, 2] + - !!python/tuple [5, 0] + - !!python/tuple [1, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex45.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex45.yaml new file mode 100644 index 0000000..ff2a17a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex45.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [1, 4] + name: agent0 + start: [3, 2] +- goal: [0, 5] + name: agent1 + start: [4, 4] +- goal: [3, 1] + name: agent2 + start: [3, 7] +- goal: [1, 1] + name: agent3 + start: [1, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 2] + - !!python/tuple [3, 0] + - !!python/tuple [4, 3] + - !!python/tuple [6, 4] + - !!python/tuple [0, 6] + - !!python/tuple [7, 7] + - !!python/tuple [5, 2] + - !!python/tuple [1, 6] + - !!python/tuple [4, 0] + - !!python/tuple [6, 3] + - !!python/tuple [2, 0] + - !!python/tuple [5, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex46.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex46.yaml new file mode 100644 index 0000000..3902b6c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex46.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [2, 0] + name: agent0 + start: [5, 4] +- goal: [7, 1] + name: agent1 + start: [7, 7] +- goal: [0, 7] + name: agent2 + start: [0, 0] +- goal: [7, 0] + name: agent3 + start: [2, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 1] + - !!python/tuple [1, 1] + - !!python/tuple [3, 7] + - !!python/tuple [7, 3] + - !!python/tuple [6, 5] + - !!python/tuple [2, 2] + - !!python/tuple [1, 4] + - !!python/tuple [3, 1] + - !!python/tuple [4, 1] + - !!python/tuple [1, 7] + - !!python/tuple [1, 2] + - !!python/tuple [5, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex47.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex47.yaml new file mode 100644 index 0000000..c57846b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex47.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [6, 6] + name: agent0 + start: [4, 4] +- goal: [2, 7] + name: agent1 + start: [5, 5] +- goal: [3, 4] + name: agent2 + start: [6, 5] +- goal: [1, 0] + name: agent3 + start: [1, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 0] + - !!python/tuple [0, 4] + - !!python/tuple [1, 3] + - !!python/tuple [0, 0] + - !!python/tuple [1, 5] + - !!python/tuple [1, 7] + - !!python/tuple [3, 7] + - !!python/tuple [1, 1] + - !!python/tuple [3, 3] + - !!python/tuple [5, 1] + - !!python/tuple [5, 2] + - !!python/tuple [1, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex48.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex48.yaml new file mode 100644 index 0000000..639d279 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex48.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [3, 7] + name: agent0 + start: [0, 2] +- goal: [1, 7] + name: agent1 + start: [3, 6] +- goal: [7, 6] + name: agent2 + start: [6, 2] +- goal: [3, 4] + name: agent3 + start: [7, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 6] + - !!python/tuple [3, 1] + - !!python/tuple [4, 5] + - !!python/tuple [5, 4] + - !!python/tuple [7, 5] + - !!python/tuple [7, 0] + - !!python/tuple [2, 5] + - !!python/tuple [5, 7] + - !!python/tuple [3, 3] + - !!python/tuple [4, 4] + - !!python/tuple [4, 6] + - !!python/tuple [0, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex49.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex49.yaml new file mode 100644 index 0000000..d320057 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex49.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [5, 5] + name: agent0 + start: [3, 6] +- goal: [5, 4] + name: agent1 + start: [5, 0] +- goal: [5, 3] + name: agent2 + start: [6, 0] +- goal: [4, 2] + name: agent3 + start: [2, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 2] + - !!python/tuple [3, 0] + - !!python/tuple [7, 3] + - !!python/tuple [7, 5] + - !!python/tuple [5, 7] + - !!python/tuple [4, 4] + - !!python/tuple [7, 2] + - !!python/tuple [2, 5] + - !!python/tuple [6, 3] + - !!python/tuple [4, 0] + - !!python/tuple [3, 2] + - !!python/tuple [0, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex5.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex5.yaml new file mode 100644 index 0000000..2d18327 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex5.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [5, 1] + name: agent0 + start: [4, 2] +- goal: [4, 6] + name: agent1 + start: [2, 0] +- goal: [4, 7] + name: agent2 + start: [5, 4] +- goal: [4, 2] + name: agent3 + start: [4, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 6] + - !!python/tuple [3, 2] + - !!python/tuple [0, 7] + - !!python/tuple [6, 4] + - !!python/tuple [7, 6] + - !!python/tuple [3, 7] + - !!python/tuple [7, 2] + - !!python/tuple [5, 0] + - !!python/tuple [1, 7] + - !!python/tuple [7, 5] + - !!python/tuple [6, 1] + - !!python/tuple [0, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex50.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex50.yaml new file mode 100644 index 0000000..c34c20c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex50.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [5, 0] + name: agent0 + start: [3, 4] +- goal: [1, 2] + name: agent1 + start: [6, 6] +- goal: [2, 3] + name: agent2 + start: [2, 7] +- goal: [1, 5] + name: agent3 + start: [7, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 6] + - !!python/tuple [0, 4] + - !!python/tuple [2, 0] + - !!python/tuple [5, 7] + - !!python/tuple [6, 2] + - !!python/tuple [3, 1] + - !!python/tuple [7, 0] + - !!python/tuple [6, 3] + - !!python/tuple [6, 4] + - !!python/tuple [5, 4] + - !!python/tuple [5, 1] + - !!python/tuple [4, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex51.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex51.yaml new file mode 100644 index 0000000..17d5f6d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex51.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [5, 6] + name: agent0 + start: [3, 6] +- goal: [1, 7] + name: agent1 + start: [7, 4] +- goal: [2, 5] + name: agent2 + start: [0, 5] +- goal: [7, 2] + name: agent3 + start: [5, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 0] + - !!python/tuple [1, 1] + - !!python/tuple [2, 4] + - !!python/tuple [5, 3] + - !!python/tuple [4, 6] + - !!python/tuple [7, 1] + - !!python/tuple [7, 7] + - !!python/tuple [3, 1] + - !!python/tuple [4, 4] + - !!python/tuple [3, 7] + - !!python/tuple [4, 0] + - !!python/tuple [2, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex52.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex52.yaml new file mode 100644 index 0000000..8c4b585 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex52.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [7, 6] + name: agent0 + start: [1, 3] +- goal: [2, 1] + name: agent1 + start: [1, 0] +- goal: [7, 2] + name: agent2 + start: [4, 6] +- goal: [5, 5] + name: agent3 + start: [5, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 5] + - !!python/tuple [6, 7] + - !!python/tuple [7, 3] + - !!python/tuple [5, 0] + - !!python/tuple [3, 3] + - !!python/tuple [1, 2] + - !!python/tuple [4, 0] + - !!python/tuple [5, 6] + - !!python/tuple [1, 1] + - !!python/tuple [1, 4] + - !!python/tuple [6, 3] + - !!python/tuple [0, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex53.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex53.yaml new file mode 100644 index 0000000..096f879 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex53.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [7, 7] + name: agent0 + start: [1, 7] +- goal: [6, 2] + name: agent1 + start: [5, 2] +- goal: [6, 3] + name: agent2 + start: [5, 5] +- goal: [7, 1] + name: agent3 + start: [0, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 7] + - !!python/tuple [1, 0] + - !!python/tuple [3, 6] + - !!python/tuple [3, 3] + - !!python/tuple [1, 5] + - !!python/tuple [6, 5] + - !!python/tuple [0, 2] + - !!python/tuple [5, 1] + - !!python/tuple [3, 5] + - !!python/tuple [5, 0] + - !!python/tuple [4, 0] + - !!python/tuple [4, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex54.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex54.yaml new file mode 100644 index 0000000..7dcb045 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex54.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [6, 4] + name: agent0 + start: [1, 5] +- goal: [4, 7] + name: agent1 + start: [6, 6] +- goal: [6, 6] + name: agent2 + start: [7, 4] +- goal: [7, 5] + name: agent3 + start: [5, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 0] + - !!python/tuple [2, 4] + - !!python/tuple [0, 1] + - !!python/tuple [7, 0] + - !!python/tuple [6, 2] + - !!python/tuple [4, 1] + - !!python/tuple [1, 6] + - !!python/tuple [1, 3] + - !!python/tuple [2, 2] + - !!python/tuple [0, 5] + - !!python/tuple [2, 7] + - !!python/tuple [3, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex55.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex55.yaml new file mode 100644 index 0000000..28f5394 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex55.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [7, 3] + name: agent0 + start: [7, 3] +- goal: [3, 4] + name: agent1 + start: [3, 3] +- goal: [0, 3] + name: agent2 + start: [6, 0] +- goal: [3, 2] + name: agent3 + start: [5, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 5] + - !!python/tuple [7, 4] + - !!python/tuple [2, 1] + - !!python/tuple [5, 2] + - !!python/tuple [1, 5] + - !!python/tuple [6, 4] + - !!python/tuple [4, 7] + - !!python/tuple [5, 7] + - !!python/tuple [2, 0] + - !!python/tuple [1, 4] + - !!python/tuple [6, 3] + - !!python/tuple [1, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex56.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex56.yaml new file mode 100644 index 0000000..78fefab --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex56.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [6, 2] + name: agent0 + start: [3, 0] +- goal: [1, 4] + name: agent1 + start: [6, 5] +- goal: [6, 1] + name: agent2 + start: [7, 5] +- goal: [7, 2] + name: agent3 + start: [6, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 6] + - !!python/tuple [6, 3] + - !!python/tuple [5, 5] + - !!python/tuple [7, 4] + - !!python/tuple [7, 1] + - !!python/tuple [1, 6] + - !!python/tuple [3, 6] + - !!python/tuple [4, 0] + - !!python/tuple [5, 2] + - !!python/tuple [2, 5] + - !!python/tuple [3, 2] + - !!python/tuple [5, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex57.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex57.yaml new file mode 100644 index 0000000..5d97126 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex57.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [6, 0] + name: agent0 + start: [6, 4] +- goal: [3, 0] + name: agent1 + start: [5, 2] +- goal: [2, 7] + name: agent2 + start: [0, 7] +- goal: [3, 5] + name: agent3 + start: [4, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 6] + - !!python/tuple [0, 5] + - !!python/tuple [6, 2] + - !!python/tuple [6, 3] + - !!python/tuple [3, 4] + - !!python/tuple [2, 4] + - !!python/tuple [5, 6] + - !!python/tuple [4, 2] + - !!python/tuple [0, 1] + - !!python/tuple [3, 2] + - !!python/tuple [2, 1] + - !!python/tuple [1, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex58.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex58.yaml new file mode 100644 index 0000000..bf2a64e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex58.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [3, 1] + name: agent0 + start: [1, 0] +- goal: [3, 7] + name: agent1 + start: [1, 1] +- goal: [6, 5] + name: agent2 + start: [4, 1] +- goal: [5, 6] + name: agent3 + start: [2, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 4] + - !!python/tuple [2, 5] + - !!python/tuple [5, 1] + - !!python/tuple [0, 0] + - !!python/tuple [6, 1] + - !!python/tuple [4, 0] + - !!python/tuple [4, 4] + - !!python/tuple [7, 3] + - !!python/tuple [1, 3] + - !!python/tuple [4, 6] + - !!python/tuple [4, 7] + - !!python/tuple [7, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex59.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex59.yaml new file mode 100644 index 0000000..1faa092 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex59.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [6, 7] + name: agent0 + start: [4, 5] +- goal: [2, 2] + name: agent1 + start: [2, 5] +- goal: [3, 0] + name: agent2 + start: [0, 1] +- goal: [1, 1] + name: agent3 + start: [2, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 7] + - !!python/tuple [6, 1] + - !!python/tuple [3, 5] + - !!python/tuple [4, 2] + - !!python/tuple [5, 0] + - !!python/tuple [4, 4] + - !!python/tuple [7, 1] + - !!python/tuple [3, 3] + - !!python/tuple [7, 5] + - !!python/tuple [4, 3] + - !!python/tuple [2, 3] + - !!python/tuple [1, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex6.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex6.yaml new file mode 100644 index 0000000..569ffef --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex6.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [4, 6] + name: agent0 + start: [1, 2] +- goal: [7, 2] + name: agent1 + start: [4, 4] +- goal: [4, 0] + name: agent2 + start: [2, 3] +- goal: [7, 3] + name: agent3 + start: [5, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 6] + - !!python/tuple [4, 1] + - !!python/tuple [2, 7] + - !!python/tuple [6, 3] + - !!python/tuple [0, 3] + - !!python/tuple [6, 6] + - !!python/tuple [3, 0] + - !!python/tuple [1, 4] + - !!python/tuple [5, 5] + - !!python/tuple [1, 5] + - !!python/tuple [1, 6] + - !!python/tuple [1, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex60.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex60.yaml new file mode 100644 index 0000000..e6519ed --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex60.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [4, 0] + name: agent0 + start: [2, 7] +- goal: [4, 3] + name: agent1 + start: [1, 6] +- goal: [5, 7] + name: agent2 + start: [1, 3] +- goal: [1, 3] + name: agent3 + start: [6, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 2] + - !!python/tuple [2, 4] + - !!python/tuple [1, 2] + - !!python/tuple [5, 0] + - !!python/tuple [0, 4] + - !!python/tuple [3, 0] + - !!python/tuple [7, 1] + - !!python/tuple [6, 4] + - !!python/tuple [4, 6] + - !!python/tuple [6, 0] + - !!python/tuple [3, 7] + - !!python/tuple [5, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex61.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex61.yaml new file mode 100644 index 0000000..5c6c15b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex61.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [1, 3] + name: agent0 + start: [7, 4] +- goal: [5, 2] + name: agent1 + start: [6, 2] +- goal: [3, 5] + name: agent2 + start: [6, 4] +- goal: [0, 1] + name: agent3 + start: [7, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 5] + - !!python/tuple [2, 6] + - !!python/tuple [6, 7] + - !!python/tuple [4, 4] + - !!python/tuple [7, 6] + - !!python/tuple [7, 7] + - !!python/tuple [4, 6] + - !!python/tuple [1, 0] + - !!python/tuple [4, 1] + - !!python/tuple [0, 4] + - !!python/tuple [1, 7] + - !!python/tuple [5, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex62.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex62.yaml new file mode 100644 index 0000000..631c92b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex62.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [7, 5] + name: agent0 + start: [6, 5] +- goal: [7, 3] + name: agent1 + start: [6, 3] +- goal: [3, 5] + name: agent2 + start: [7, 7] +- goal: [4, 1] + name: agent3 + start: [2, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 4] + - !!python/tuple [4, 4] + - !!python/tuple [1, 0] + - !!python/tuple [5, 1] + - !!python/tuple [1, 2] + - !!python/tuple [1, 4] + - !!python/tuple [0, 1] + - !!python/tuple [3, 4] + - !!python/tuple [4, 0] + - !!python/tuple [7, 6] + - !!python/tuple [4, 2] + - !!python/tuple [5, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex63.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex63.yaml new file mode 100644 index 0000000..aed7b7b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex63.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [4, 5] + name: agent0 + start: [4, 0] +- goal: [4, 6] + name: agent1 + start: [7, 0] +- goal: [7, 3] + name: agent2 + start: [2, 4] +- goal: [1, 7] + name: agent3 + start: [6, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 6] + - !!python/tuple [1, 1] + - !!python/tuple [5, 2] + - !!python/tuple [6, 2] + - !!python/tuple [7, 7] + - !!python/tuple [7, 6] + - !!python/tuple [1, 3] + - !!python/tuple [7, 2] + - !!python/tuple [0, 6] + - !!python/tuple [3, 1] + - !!python/tuple [0, 1] + - !!python/tuple [7, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex64.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex64.yaml new file mode 100644 index 0000000..39e3c4f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex64.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [2, 1] + name: agent0 + start: [5, 6] +- goal: [2, 2] + name: agent1 + start: [1, 3] +- goal: [5, 3] + name: agent2 + start: [3, 0] +- goal: [6, 0] + name: agent3 + start: [7, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 5] + - !!python/tuple [1, 2] + - !!python/tuple [6, 7] + - !!python/tuple [3, 7] + - !!python/tuple [0, 6] + - !!python/tuple [4, 4] + - !!python/tuple [6, 3] + - !!python/tuple [5, 1] + - !!python/tuple [2, 3] + - !!python/tuple [1, 5] + - !!python/tuple [7, 7] + - !!python/tuple [0, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex65.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex65.yaml new file mode 100644 index 0000000..d3ff7a0 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex65.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [2, 3] + name: agent0 + start: [2, 5] +- goal: [1, 3] + name: agent1 + start: [7, 0] +- goal: [7, 4] + name: agent2 + start: [6, 3] +- goal: [5, 7] + name: agent3 + start: [6, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 5] + - !!python/tuple [5, 5] + - !!python/tuple [1, 2] + - !!python/tuple [7, 6] + - !!python/tuple [4, 5] + - !!python/tuple [0, 1] + - !!python/tuple [0, 3] + - !!python/tuple [4, 1] + - !!python/tuple [4, 6] + - !!python/tuple [2, 7] + - !!python/tuple [2, 4] + - !!python/tuple [3, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex66.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex66.yaml new file mode 100644 index 0000000..b4de925 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex66.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [6, 4] + name: agent0 + start: [3, 1] +- goal: [3, 1] + name: agent1 + start: [7, 5] +- goal: [3, 4] + name: agent2 + start: [7, 2] +- goal: [4, 5] + name: agent3 + start: [2, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 6] + - !!python/tuple [2, 7] + - !!python/tuple [2, 3] + - !!python/tuple [6, 0] + - !!python/tuple [0, 4] + - !!python/tuple [2, 0] + - !!python/tuple [5, 5] + - !!python/tuple [1, 1] + - !!python/tuple [4, 0] + - !!python/tuple [0, 3] + - !!python/tuple [4, 2] + - !!python/tuple [0, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex67.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex67.yaml new file mode 100644 index 0000000..6d7734b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex67.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [6, 5] + name: agent0 + start: [2, 6] +- goal: [0, 0] + name: agent1 + start: [1, 4] +- goal: [7, 0] + name: agent2 + start: [7, 4] +- goal: [2, 6] + name: agent3 + start: [5, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 5] + - !!python/tuple [5, 7] + - !!python/tuple [4, 6] + - !!python/tuple [7, 2] + - !!python/tuple [4, 1] + - !!python/tuple [3, 4] + - !!python/tuple [0, 6] + - !!python/tuple [3, 5] + - !!python/tuple [3, 3] + - !!python/tuple [2, 5] + - !!python/tuple [6, 1] + - !!python/tuple [7, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex68.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex68.yaml new file mode 100644 index 0000000..67fe114 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex68.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [4, 4] + name: agent0 + start: [1, 5] +- goal: [0, 7] + name: agent1 + start: [5, 7] +- goal: [1, 2] + name: agent2 + start: [6, 0] +- goal: [3, 4] + name: agent3 + start: [4, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 2] + - !!python/tuple [2, 0] + - !!python/tuple [2, 3] + - !!python/tuple [2, 6] + - !!python/tuple [2, 1] + - !!python/tuple [7, 1] + - !!python/tuple [7, 7] + - !!python/tuple [3, 6] + - !!python/tuple [5, 5] + - !!python/tuple [0, 1] + - !!python/tuple [0, 5] + - !!python/tuple [5, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex69.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex69.yaml new file mode 100644 index 0000000..bc89c5f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex69.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [4, 7] + name: agent0 + start: [2, 7] +- goal: [3, 2] + name: agent1 + start: [5, 0] +- goal: [6, 6] + name: agent2 + start: [3, 2] +- goal: [0, 5] + name: agent3 + start: [1, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 3] + - !!python/tuple [4, 3] + - !!python/tuple [5, 7] + - !!python/tuple [3, 4] + - !!python/tuple [4, 2] + - !!python/tuple [0, 2] + - !!python/tuple [1, 2] + - !!python/tuple [1, 3] + - !!python/tuple [4, 6] + - !!python/tuple [2, 4] + - !!python/tuple [5, 4] + - !!python/tuple [0, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex7.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex7.yaml new file mode 100644 index 0000000..f726330 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex7.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [0, 7] + name: agent0 + start: [4, 5] +- goal: [2, 0] + name: agent1 + start: [6, 1] +- goal: [7, 1] + name: agent2 + start: [5, 7] +- goal: [0, 2] + name: agent3 + start: [2, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 7] + - !!python/tuple [3, 6] + - !!python/tuple [6, 5] + - !!python/tuple [1, 1] + - !!python/tuple [1, 7] + - !!python/tuple [1, 2] + - !!python/tuple [2, 4] + - !!python/tuple [7, 5] + - !!python/tuple [2, 2] + - !!python/tuple [3, 4] + - !!python/tuple [0, 4] + - !!python/tuple [1, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex70.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex70.yaml new file mode 100644 index 0000000..39fc78e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex70.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [2, 7] + name: agent0 + start: [5, 7] +- goal: [7, 3] + name: agent1 + start: [0, 4] +- goal: [7, 7] + name: agent2 + start: [1, 6] +- goal: [7, 2] + name: agent3 + start: [4, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 3] + - !!python/tuple [3, 5] + - !!python/tuple [5, 2] + - !!python/tuple [0, 0] + - !!python/tuple [0, 2] + - !!python/tuple [3, 4] + - !!python/tuple [7, 6] + - !!python/tuple [4, 3] + - !!python/tuple [6, 6] + - !!python/tuple [3, 7] + - !!python/tuple [1, 7] + - !!python/tuple [1, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex71.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex71.yaml new file mode 100644 index 0000000..b12ffa0 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex71.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [1, 7] + name: agent0 + start: [4, 0] +- goal: [6, 4] + name: agent1 + start: [2, 5] +- goal: [0, 3] + name: agent2 + start: [4, 2] +- goal: [6, 0] + name: agent3 + start: [3, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 4] + - !!python/tuple [5, 1] + - !!python/tuple [7, 1] + - !!python/tuple [7, 6] + - !!python/tuple [2, 4] + - !!python/tuple [3, 0] + - !!python/tuple [7, 0] + - !!python/tuple [6, 7] + - !!python/tuple [4, 6] + - !!python/tuple [0, 5] + - !!python/tuple [1, 1] + - !!python/tuple [0, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex72.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex72.yaml new file mode 100644 index 0000000..004e11a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex72.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [7, 1] + name: agent0 + start: [6, 5] +- goal: [6, 5] + name: agent1 + start: [5, 0] +- goal: [3, 2] + name: agent2 + start: [5, 2] +- goal: [5, 2] + name: agent3 + start: [6, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 2] + - !!python/tuple [7, 5] + - !!python/tuple [3, 7] + - !!python/tuple [3, 0] + - !!python/tuple [3, 5] + - !!python/tuple [1, 3] + - !!python/tuple [1, 5] + - !!python/tuple [5, 6] + - !!python/tuple [2, 2] + - !!python/tuple [1, 4] + - !!python/tuple [2, 6] + - !!python/tuple [0, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex73.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex73.yaml new file mode 100644 index 0000000..007b4ab --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex73.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [1, 2] + name: agent0 + start: [5, 7] +- goal: [6, 3] + name: agent1 + start: [3, 0] +- goal: [0, 1] + name: agent2 + start: [1, 6] +- goal: [7, 7] + name: agent3 + start: [4, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 6] + - !!python/tuple [2, 6] + - !!python/tuple [3, 1] + - !!python/tuple [6, 0] + - !!python/tuple [3, 3] + - !!python/tuple [5, 2] + - !!python/tuple [0, 2] + - !!python/tuple [6, 6] + - !!python/tuple [5, 6] + - !!python/tuple [0, 3] + - !!python/tuple [2, 2] + - !!python/tuple [7, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex74.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex74.yaml new file mode 100644 index 0000000..0a45027 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex74.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [2, 0] + name: agent0 + start: [7, 3] +- goal: [5, 3] + name: agent1 + start: [4, 5] +- goal: [6, 2] + name: agent2 + start: [6, 0] +- goal: [1, 1] + name: agent3 + start: [5, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 5] + - !!python/tuple [3, 1] + - !!python/tuple [6, 3] + - !!python/tuple [0, 6] + - !!python/tuple [0, 7] + - !!python/tuple [0, 3] + - !!python/tuple [7, 5] + - !!python/tuple [1, 2] + - !!python/tuple [5, 7] + - !!python/tuple [0, 1] + - !!python/tuple [7, 1] + - !!python/tuple [6, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex75.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex75.yaml new file mode 100644 index 0000000..5123085 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex75.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [0, 1] + name: agent0 + start: [0, 7] +- goal: [2, 5] + name: agent1 + start: [7, 7] +- goal: [0, 5] + name: agent2 + start: [2, 1] +- goal: [3, 5] + name: agent3 + start: [7, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 4] + - !!python/tuple [1, 2] + - !!python/tuple [3, 2] + - !!python/tuple [1, 7] + - !!python/tuple [3, 3] + - !!python/tuple [7, 4] + - !!python/tuple [0, 0] + - !!python/tuple [2, 6] + - !!python/tuple [6, 4] + - !!python/tuple [6, 0] + - !!python/tuple [3, 1] + - !!python/tuple [5, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex76.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex76.yaml new file mode 100644 index 0000000..77696bf --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex76.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [0, 7] + name: agent0 + start: [1, 3] +- goal: [3, 5] + name: agent1 + start: [0, 6] +- goal: [6, 0] + name: agent2 + start: [1, 2] +- goal: [0, 2] + name: agent3 + start: [5, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 4] + - !!python/tuple [7, 2] + - !!python/tuple [3, 7] + - !!python/tuple [2, 6] + - !!python/tuple [2, 0] + - !!python/tuple [5, 6] + - !!python/tuple [2, 2] + - !!python/tuple [4, 1] + - !!python/tuple [0, 5] + - !!python/tuple [6, 7] + - !!python/tuple [7, 6] + - !!python/tuple [7, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex77.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex77.yaml new file mode 100644 index 0000000..efec460 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex77.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [0, 7] + name: agent0 + start: [4, 5] +- goal: [5, 4] + name: agent1 + start: [3, 6] +- goal: [0, 4] + name: agent2 + start: [2, 6] +- goal: [2, 2] + name: agent3 + start: [5, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 1] + - !!python/tuple [3, 5] + - !!python/tuple [6, 3] + - !!python/tuple [2, 0] + - !!python/tuple [2, 4] + - !!python/tuple [6, 6] + - !!python/tuple [0, 3] + - !!python/tuple [7, 0] + - !!python/tuple [7, 3] + - !!python/tuple [4, 6] + - !!python/tuple [1, 2] + - !!python/tuple [0, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex78.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex78.yaml new file mode 100644 index 0000000..278e4af --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex78.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [5, 4] + name: agent0 + start: [1, 4] +- goal: [0, 7] + name: agent1 + start: [2, 5] +- goal: [6, 2] + name: agent2 + start: [7, 0] +- goal: [3, 5] + name: agent3 + start: [2, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 5] + - !!python/tuple [2, 4] + - !!python/tuple [1, 3] + - !!python/tuple [6, 0] + - !!python/tuple [3, 1] + - !!python/tuple [3, 0] + - !!python/tuple [2, 6] + - !!python/tuple [1, 7] + - !!python/tuple [4, 0] + - !!python/tuple [1, 0] + - !!python/tuple [5, 0] + - !!python/tuple [4, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex79.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex79.yaml new file mode 100644 index 0000000..a9342d2 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex79.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [6, 6] + name: agent0 + start: [2, 3] +- goal: [1, 5] + name: agent1 + start: [1, 1] +- goal: [1, 1] + name: agent2 + start: [6, 3] +- goal: [2, 6] + name: agent3 + start: [4, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 0] + - !!python/tuple [3, 5] + - !!python/tuple [6, 4] + - !!python/tuple [0, 1] + - !!python/tuple [3, 6] + - !!python/tuple [4, 3] + - !!python/tuple [2, 5] + - !!python/tuple [2, 4] + - !!python/tuple [1, 6] + - !!python/tuple [6, 7] + - !!python/tuple [7, 1] + - !!python/tuple [5, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex8.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex8.yaml new file mode 100644 index 0000000..43b3798 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex8.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [2, 5] + name: agent0 + start: [1, 3] +- goal: [3, 1] + name: agent1 + start: [4, 7] +- goal: [5, 4] + name: agent2 + start: [6, 1] +- goal: [0, 1] + name: agent3 + start: [7, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 6] + - !!python/tuple [3, 4] + - !!python/tuple [5, 5] + - !!python/tuple [4, 3] + - !!python/tuple [1, 7] + - !!python/tuple [6, 2] + - !!python/tuple [7, 3] + - !!python/tuple [7, 7] + - !!python/tuple [3, 7] + - !!python/tuple [6, 7] + - !!python/tuple [3, 2] + - !!python/tuple [4, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex80.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex80.yaml new file mode 100644 index 0000000..2d0f314 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex80.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [0, 2] + name: agent0 + start: [2, 4] +- goal: [3, 1] + name: agent1 + start: [0, 2] +- goal: [4, 0] + name: agent2 + start: [1, 3] +- goal: [5, 5] + name: agent3 + start: [6, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 6] + - !!python/tuple [7, 1] + - !!python/tuple [5, 2] + - !!python/tuple [3, 0] + - !!python/tuple [7, 4] + - !!python/tuple [2, 2] + - !!python/tuple [2, 6] + - !!python/tuple [3, 3] + - !!python/tuple [0, 1] + - !!python/tuple [0, 6] + - !!python/tuple [4, 7] + - !!python/tuple [5, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex81.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex81.yaml new file mode 100644 index 0000000..9815303 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex81.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [5, 5] + name: agent0 + start: [7, 2] +- goal: [0, 4] + name: agent1 + start: [7, 0] +- goal: [2, 0] + name: agent2 + start: [7, 5] +- goal: [2, 6] + name: agent3 + start: [7, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 3] + - !!python/tuple [1, 4] + - !!python/tuple [6, 2] + - !!python/tuple [0, 6] + - !!python/tuple [1, 5] + - !!python/tuple [7, 4] + - !!python/tuple [4, 1] + - !!python/tuple [0, 1] + - !!python/tuple [3, 3] + - !!python/tuple [3, 5] + - !!python/tuple [4, 3] + - !!python/tuple [1, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex82.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex82.yaml new file mode 100644 index 0000000..87d1427 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex82.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [2, 2] + name: agent0 + start: [1, 7] +- goal: [4, 1] + name: agent1 + start: [5, 5] +- goal: [7, 1] + name: agent2 + start: [0, 0] +- goal: [1, 4] + name: agent3 + start: [0, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 3] + - !!python/tuple [4, 7] + - !!python/tuple [3, 6] + - !!python/tuple [7, 3] + - !!python/tuple [1, 5] + - !!python/tuple [0, 4] + - !!python/tuple [0, 1] + - !!python/tuple [7, 5] + - !!python/tuple [4, 0] + - !!python/tuple [2, 0] + - !!python/tuple [7, 4] + - !!python/tuple [3, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex83.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex83.yaml new file mode 100644 index 0000000..3fc72d8 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex83.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [2, 3] + name: agent0 + start: [6, 3] +- goal: [4, 4] + name: agent1 + start: [1, 0] +- goal: [1, 4] + name: agent2 + start: [3, 7] +- goal: [5, 3] + name: agent3 + start: [3, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 7] + - !!python/tuple [1, 5] + - !!python/tuple [0, 4] + - !!python/tuple [6, 0] + - !!python/tuple [2, 1] + - !!python/tuple [3, 6] + - !!python/tuple [6, 7] + - !!python/tuple [0, 6] + - !!python/tuple [2, 5] + - !!python/tuple [6, 5] + - !!python/tuple [7, 4] + - !!python/tuple [4, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex84.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex84.yaml new file mode 100644 index 0000000..b4dc897 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex84.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [0, 3] + name: agent0 + start: [6, 6] +- goal: [2, 2] + name: agent1 + start: [4, 1] +- goal: [0, 4] + name: agent2 + start: [1, 5] +- goal: [6, 1] + name: agent3 + start: [0, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 3] + - !!python/tuple [4, 3] + - !!python/tuple [0, 5] + - !!python/tuple [2, 0] + - !!python/tuple [4, 5] + - !!python/tuple [6, 2] + - !!python/tuple [1, 4] + - !!python/tuple [3, 5] + - !!python/tuple [7, 2] + - !!python/tuple [6, 7] + - !!python/tuple [5, 5] + - !!python/tuple [7, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex85.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex85.yaml new file mode 100644 index 0000000..fff5920 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex85.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [3, 0] + name: agent0 + start: [3, 5] +- goal: [6, 2] + name: agent1 + start: [4, 5] +- goal: [4, 4] + name: agent2 + start: [1, 6] +- goal: [2, 4] + name: agent3 + start: [5, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 1] + - !!python/tuple [2, 2] + - !!python/tuple [3, 4] + - !!python/tuple [7, 7] + - !!python/tuple [3, 3] + - !!python/tuple [2, 5] + - !!python/tuple [1, 0] + - !!python/tuple [0, 6] + - !!python/tuple [2, 7] + - !!python/tuple [5, 3] + - !!python/tuple [7, 2] + - !!python/tuple [4, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex86.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex86.yaml new file mode 100644 index 0000000..0b3f61f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex86.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [2, 6] + name: agent0 + start: [4, 7] +- goal: [7, 1] + name: agent1 + start: [4, 5] +- goal: [6, 5] + name: agent2 + start: [0, 6] +- goal: [1, 6] + name: agent3 + start: [7, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 5] + - !!python/tuple [0, 3] + - !!python/tuple [3, 4] + - !!python/tuple [3, 6] + - !!python/tuple [6, 4] + - !!python/tuple [6, 7] + - !!python/tuple [7, 7] + - !!python/tuple [6, 2] + - !!python/tuple [5, 0] + - !!python/tuple [4, 1] + - !!python/tuple [0, 5] + - !!python/tuple [0, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex87.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex87.yaml new file mode 100644 index 0000000..f30a908 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex87.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [7, 2] + name: agent0 + start: [2, 0] +- goal: [0, 1] + name: agent1 + start: [1, 3] +- goal: [6, 3] + name: agent2 + start: [7, 2] +- goal: [7, 5] + name: agent3 + start: [7, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 3] + - !!python/tuple [5, 7] + - !!python/tuple [4, 1] + - !!python/tuple [1, 5] + - !!python/tuple [4, 5] + - !!python/tuple [6, 4] + - !!python/tuple [7, 6] + - !!python/tuple [0, 4] + - !!python/tuple [1, 6] + - !!python/tuple [6, 7] + - !!python/tuple [7, 1] + - !!python/tuple [5, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex88.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex88.yaml new file mode 100644 index 0000000..af53f39 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex88.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [5, 4] + name: agent0 + start: [6, 7] +- goal: [1, 6] + name: agent1 + start: [1, 2] +- goal: [0, 3] + name: agent2 + start: [0, 2] +- goal: [2, 0] + name: agent3 + start: [1, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 4] + - !!python/tuple [6, 1] + - !!python/tuple [4, 4] + - !!python/tuple [5, 7] + - !!python/tuple [1, 1] + - !!python/tuple [6, 6] + - !!python/tuple [4, 6] + - !!python/tuple [4, 1] + - !!python/tuple [4, 0] + - !!python/tuple [1, 5] + - !!python/tuple [4, 3] + - !!python/tuple [0, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex89.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex89.yaml new file mode 100644 index 0000000..d8d76d6 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex89.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [0, 6] + name: agent0 + start: [2, 4] +- goal: [7, 5] + name: agent1 + start: [5, 1] +- goal: [1, 4] + name: agent2 + start: [7, 6] +- goal: [0, 5] + name: agent3 + start: [6, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 2] + - !!python/tuple [4, 3] + - !!python/tuple [2, 6] + - !!python/tuple [4, 2] + - !!python/tuple [3, 5] + - !!python/tuple [2, 5] + - !!python/tuple [4, 4] + - !!python/tuple [5, 6] + - !!python/tuple [0, 1] + - !!python/tuple [1, 2] + - !!python/tuple [4, 6] + - !!python/tuple [6, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex9.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex9.yaml new file mode 100644 index 0000000..9041901 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex9.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [5, 4] + name: agent0 + start: [5, 7] +- goal: [4, 4] + name: agent1 + start: [4, 4] +- goal: [2, 5] + name: agent2 + start: [0, 2] +- goal: [6, 1] + name: agent3 + start: [1, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 4] + - !!python/tuple [5, 0] + - !!python/tuple [6, 6] + - !!python/tuple [0, 5] + - !!python/tuple [0, 1] + - !!python/tuple [2, 4] + - !!python/tuple [1, 0] + - !!python/tuple [4, 7] + - !!python/tuple [3, 0] + - !!python/tuple [2, 1] + - !!python/tuple [5, 6] + - !!python/tuple [0, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex90.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex90.yaml new file mode 100644 index 0000000..ba7617c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex90.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [7, 6] + name: agent0 + start: [2, 1] +- goal: [7, 0] + name: agent1 + start: [6, 4] +- goal: [4, 1] + name: agent2 + start: [5, 2] +- goal: [6, 3] + name: agent3 + start: [0, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 5] + - !!python/tuple [1, 7] + - !!python/tuple [0, 5] + - !!python/tuple [4, 6] + - !!python/tuple [6, 7] + - !!python/tuple [3, 0] + - !!python/tuple [2, 2] + - !!python/tuple [2, 6] + - !!python/tuple [1, 3] + - !!python/tuple [6, 2] + - !!python/tuple [7, 7] + - !!python/tuple [5, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex91.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex91.yaml new file mode 100644 index 0000000..26f0e1e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex91.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [5, 0] + name: agent0 + start: [5, 0] +- goal: [4, 0] + name: agent1 + start: [7, 5] +- goal: [6, 1] + name: agent2 + start: [6, 6] +- goal: [4, 6] + name: agent3 + start: [7, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 5] + - !!python/tuple [5, 5] + - !!python/tuple [7, 0] + - !!python/tuple [0, 7] + - !!python/tuple [5, 7] + - !!python/tuple [1, 3] + - !!python/tuple [2, 7] + - !!python/tuple [0, 1] + - !!python/tuple [0, 0] + - !!python/tuple [1, 5] + - !!python/tuple [7, 4] + - !!python/tuple [7, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex92.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex92.yaml new file mode 100644 index 0000000..5799297 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex92.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [0, 4] + name: agent0 + start: [1, 0] +- goal: [3, 5] + name: agent1 + start: [7, 0] +- goal: [6, 2] + name: agent2 + start: [0, 1] +- goal: [4, 2] + name: agent3 + start: [7, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 1] + - !!python/tuple [4, 4] + - !!python/tuple [7, 5] + - !!python/tuple [5, 1] + - !!python/tuple [2, 1] + - !!python/tuple [7, 7] + - !!python/tuple [2, 7] + - !!python/tuple [7, 6] + - !!python/tuple [2, 4] + - !!python/tuple [6, 5] + - !!python/tuple [5, 6] + - !!python/tuple [5, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex93.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex93.yaml new file mode 100644 index 0000000..8b918fc --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex93.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [0, 0] + name: agent0 + start: [5, 2] +- goal: [3, 1] + name: agent1 + start: [2, 0] +- goal: [5, 2] + name: agent2 + start: [3, 0] +- goal: [4, 7] + name: agent3 + start: [2, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 4] + - !!python/tuple [7, 4] + - !!python/tuple [1, 6] + - !!python/tuple [0, 7] + - !!python/tuple [5, 4] + - !!python/tuple [7, 0] + - !!python/tuple [0, 3] + - !!python/tuple [4, 0] + - !!python/tuple [4, 5] + - !!python/tuple [6, 4] + - !!python/tuple [2, 6] + - !!python/tuple [2, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex94.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex94.yaml new file mode 100644 index 0000000..67655dc --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex94.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [5, 3] + name: agent0 + start: [1, 5] +- goal: [3, 5] + name: agent1 + start: [0, 5] +- goal: [5, 5] + name: agent2 + start: [4, 4] +- goal: [3, 6] + name: agent3 + start: [6, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 6] + - !!python/tuple [3, 7] + - !!python/tuple [6, 7] + - !!python/tuple [4, 5] + - !!python/tuple [6, 3] + - !!python/tuple [6, 0] + - !!python/tuple [6, 1] + - !!python/tuple [0, 6] + - !!python/tuple [5, 1] + - !!python/tuple [0, 4] + - !!python/tuple [4, 3] + - !!python/tuple [1, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex95.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex95.yaml new file mode 100644 index 0000000..91b53d1 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex95.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [5, 4] + name: agent0 + start: [1, 7] +- goal: [1, 7] + name: agent1 + start: [2, 3] +- goal: [0, 0] + name: agent2 + start: [2, 2] +- goal: [2, 0] + name: agent3 + start: [5, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 6] + - !!python/tuple [7, 5] + - !!python/tuple [3, 1] + - !!python/tuple [5, 1] + - !!python/tuple [7, 2] + - !!python/tuple [1, 6] + - !!python/tuple [4, 7] + - !!python/tuple [7, 4] + - !!python/tuple [7, 3] + - !!python/tuple [6, 5] + - !!python/tuple [3, 0] + - !!python/tuple [3, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex96.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex96.yaml new file mode 100644 index 0000000..2e30f13 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex96.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [5, 5] + name: agent0 + start: [7, 6] +- goal: [1, 0] + name: agent1 + start: [2, 0] +- goal: [7, 5] + name: agent2 + start: [1, 6] +- goal: [5, 4] + name: agent3 + start: [6, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 7] + - !!python/tuple [1, 3] + - !!python/tuple [1, 2] + - !!python/tuple [1, 4] + - !!python/tuple [6, 0] + - !!python/tuple [2, 7] + - !!python/tuple [4, 5] + - !!python/tuple [0, 0] + - !!python/tuple [0, 7] + - !!python/tuple [5, 1] + - !!python/tuple [5, 6] + - !!python/tuple [4, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex97.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex97.yaml new file mode 100644 index 0000000..a118e74 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex97.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [3, 6] + name: agent0 + start: [1, 4] +- goal: [2, 3] + name: agent1 + start: [2, 5] +- goal: [3, 1] + name: agent2 + start: [0, 7] +- goal: [2, 1] + name: agent3 + start: [0, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 3] + - !!python/tuple [3, 2] + - !!python/tuple [5, 2] + - !!python/tuple [0, 2] + - !!python/tuple [1, 6] + - !!python/tuple [6, 6] + - !!python/tuple [4, 6] + - !!python/tuple [2, 4] + - !!python/tuple [7, 0] + - !!python/tuple [5, 7] + - !!python/tuple [5, 0] + - !!python/tuple [0, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex98.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex98.yaml new file mode 100644 index 0000000..899bd9d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex98.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [7, 6] + name: agent0 + start: [4, 0] +- goal: [0, 2] + name: agent1 + start: [1, 5] +- goal: [2, 1] + name: agent2 + start: [0, 2] +- goal: [3, 0] + name: agent3 + start: [3, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 3] + - !!python/tuple [6, 5] + - !!python/tuple [0, 1] + - !!python/tuple [4, 5] + - !!python/tuple [2, 3] + - !!python/tuple [2, 5] + - !!python/tuple [4, 3] + - !!python/tuple [0, 5] + - !!python/tuple [5, 3] + - !!python/tuple [4, 1] + - !!python/tuple [6, 3] + - !!python/tuple [6, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex99.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex99.yaml new file mode 100644 index 0000000..61b0c48 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents4_ex99.yaml @@ -0,0 +1,28 @@ +agents: +- goal: [1, 3] + name: agent0 + start: [2, 5] +- goal: [4, 6] + name: agent1 + start: [0, 0] +- goal: [3, 3] + name: agent2 + start: [5, 2] +- goal: [7, 0] + name: agent3 + start: [1, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 0] + - !!python/tuple [0, 3] + - !!python/tuple [2, 3] + - !!python/tuple [1, 7] + - !!python/tuple [6, 6] + - !!python/tuple [2, 2] + - !!python/tuple [0, 5] + - !!python/tuple [7, 4] + - !!python/tuple [6, 3] + - !!python/tuple [3, 7] + - !!python/tuple [3, 2] + - !!python/tuple [5, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex0.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex0.yaml new file mode 100644 index 0000000..eca6c4a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex0.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [0, 3] + name: agent0 + start: [4, 3] +- goal: [6, 1] + name: agent1 + start: [4, 2] +- goal: [0, 4] + name: agent2 + start: [5, 3] +- goal: [2, 1] + name: agent3 + start: [0, 6] +- goal: [5, 3] + name: agent4 + start: [3, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 3] + - !!python/tuple [4, 7] + - !!python/tuple [7, 3] + - !!python/tuple [7, 7] + - !!python/tuple [5, 1] + - !!python/tuple [4, 5] + - !!python/tuple [6, 4] + - !!python/tuple [1, 3] + - !!python/tuple [5, 0] + - !!python/tuple [7, 0] + - !!python/tuple [0, 1] + - !!python/tuple [3, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex1.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex1.yaml new file mode 100644 index 0000000..c3501cb --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex1.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [7, 2] + name: agent0 + start: [5, 6] +- goal: [4, 7] + name: agent1 + start: [0, 1] +- goal: [1, 6] + name: agent2 + start: [6, 6] +- goal: [6, 1] + name: agent3 + start: [3, 2] +- goal: [5, 1] + name: agent4 + start: [6, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 0] + - !!python/tuple [4, 0] + - !!python/tuple [7, 0] + - !!python/tuple [1, 0] + - !!python/tuple [2, 6] + - !!python/tuple [3, 1] + - !!python/tuple [0, 6] + - !!python/tuple [6, 5] + - !!python/tuple [6, 2] + - !!python/tuple [1, 3] + - !!python/tuple [4, 2] + - !!python/tuple [5, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex10.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex10.yaml new file mode 100644 index 0000000..f20a474 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex10.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [3, 3] + name: agent0 + start: [7, 0] +- goal: [5, 6] + name: agent1 + start: [4, 5] +- goal: [2, 5] + name: agent2 + start: [1, 3] +- goal: [5, 1] + name: agent3 + start: [7, 6] +- goal: [2, 6] + name: agent4 + start: [7, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 3] + - !!python/tuple [3, 5] + - !!python/tuple [1, 1] + - !!python/tuple [5, 5] + - !!python/tuple [5, 2] + - !!python/tuple [3, 6] + - !!python/tuple [6, 4] + - !!python/tuple [2, 1] + - !!python/tuple [1, 2] + - !!python/tuple [6, 7] + - !!python/tuple [0, 6] + - !!python/tuple [4, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex11.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex11.yaml new file mode 100644 index 0000000..e23d25e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex11.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [6, 0] + name: agent0 + start: [7, 0] +- goal: [2, 0] + name: agent1 + start: [3, 0] +- goal: [0, 3] + name: agent2 + start: [2, 4] +- goal: [5, 7] + name: agent3 + start: [3, 5] +- goal: [1, 6] + name: agent4 + start: [7, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 4] + - !!python/tuple [5, 6] + - !!python/tuple [6, 1] + - !!python/tuple [1, 4] + - !!python/tuple [2, 3] + - !!python/tuple [7, 7] + - !!python/tuple [0, 7] + - !!python/tuple [5, 3] + - !!python/tuple [7, 6] + - !!python/tuple [4, 1] + - !!python/tuple [5, 5] + - !!python/tuple [2, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex12.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex12.yaml new file mode 100644 index 0000000..6f7cad7 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex12.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [2, 6] + name: agent0 + start: [7, 6] +- goal: [3, 7] + name: agent1 + start: [6, 4] +- goal: [1, 5] + name: agent2 + start: [5, 5] +- goal: [7, 4] + name: agent3 + start: [4, 5] +- goal: [5, 7] + name: agent4 + start: [4, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 1] + - !!python/tuple [2, 7] + - !!python/tuple [2, 2] + - !!python/tuple [3, 6] + - !!python/tuple [7, 2] + - !!python/tuple [7, 3] + - !!python/tuple [5, 3] + - !!python/tuple [0, 2] + - !!python/tuple [2, 0] + - !!python/tuple [0, 0] + - !!python/tuple [4, 1] + - !!python/tuple [4, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex13.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex13.yaml new file mode 100644 index 0000000..8c19a23 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex13.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [6, 7] + name: agent0 + start: [7, 5] +- goal: [1, 7] + name: agent1 + start: [3, 5] +- goal: [6, 6] + name: agent2 + start: [3, 6] +- goal: [0, 0] + name: agent3 + start: [0, 5] +- goal: [5, 1] + name: agent4 + start: [6, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 6] + - !!python/tuple [1, 2] + - !!python/tuple [4, 3] + - !!python/tuple [7, 2] + - !!python/tuple [5, 0] + - !!python/tuple [5, 4] + - !!python/tuple [0, 1] + - !!python/tuple [2, 2] + - !!python/tuple [0, 3] + - !!python/tuple [3, 4] + - !!python/tuple [0, 2] + - !!python/tuple [4, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex14.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex14.yaml new file mode 100644 index 0000000..d4bcd12 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex14.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [6, 5] + name: agent0 + start: [5, 5] +- goal: [7, 2] + name: agent1 + start: [1, 2] +- goal: [5, 5] + name: agent2 + start: [3, 6] +- goal: [5, 7] + name: agent3 + start: [4, 0] +- goal: [6, 3] + name: agent4 + start: [5, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 7] + - !!python/tuple [5, 1] + - !!python/tuple [7, 1] + - !!python/tuple [0, 6] + - !!python/tuple [4, 3] + - !!python/tuple [3, 5] + - !!python/tuple [2, 7] + - !!python/tuple [2, 4] + - !!python/tuple [2, 2] + - !!python/tuple [0, 4] + - !!python/tuple [1, 4] + - !!python/tuple [2, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex15.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex15.yaml new file mode 100644 index 0000000..0011506 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex15.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [4, 1] + name: agent0 + start: [7, 3] +- goal: [6, 5] + name: agent1 + start: [7, 2] +- goal: [4, 2] + name: agent2 + start: [2, 6] +- goal: [5, 5] + name: agent3 + start: [4, 6] +- goal: [0, 7] + name: agent4 + start: [5, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 6] + - !!python/tuple [6, 2] + - !!python/tuple [7, 5] + - !!python/tuple [0, 3] + - !!python/tuple [4, 0] + - !!python/tuple [2, 0] + - !!python/tuple [7, 7] + - !!python/tuple [7, 0] + - !!python/tuple [5, 6] + - !!python/tuple [5, 1] + - !!python/tuple [4, 4] + - !!python/tuple [3, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex16.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex16.yaml new file mode 100644 index 0000000..2e6a242 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex16.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [1, 6] + name: agent0 + start: [6, 5] +- goal: [1, 5] + name: agent1 + start: [6, 7] +- goal: [0, 7] + name: agent2 + start: [7, 3] +- goal: [6, 4] + name: agent3 + start: [7, 5] +- goal: [5, 6] + name: agent4 + start: [4, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 3] + - !!python/tuple [7, 4] + - !!python/tuple [2, 0] + - !!python/tuple [2, 6] + - !!python/tuple [1, 1] + - !!python/tuple [4, 0] + - !!python/tuple [0, 3] + - !!python/tuple [4, 1] + - !!python/tuple [3, 4] + - !!python/tuple [7, 6] + - !!python/tuple [1, 7] + - !!python/tuple [3, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex17.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex17.yaml new file mode 100644 index 0000000..0436091 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex17.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [6, 5] + name: agent0 + start: [3, 2] +- goal: [7, 1] + name: agent1 + start: [0, 0] +- goal: [4, 3] + name: agent2 + start: [6, 2] +- goal: [2, 1] + name: agent3 + start: [4, 0] +- goal: [6, 6] + name: agent4 + start: [7, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 5] + - !!python/tuple [7, 3] + - !!python/tuple [1, 3] + - !!python/tuple [1, 5] + - !!python/tuple [6, 7] + - !!python/tuple [7, 2] + - !!python/tuple [2, 7] + - !!python/tuple [1, 2] + - !!python/tuple [1, 4] + - !!python/tuple [5, 1] + - !!python/tuple [0, 6] + - !!python/tuple [3, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex18.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex18.yaml new file mode 100644 index 0000000..9792144 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex18.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [4, 0] + name: agent0 + start: [0, 6] +- goal: [0, 3] + name: agent1 + start: [5, 5] +- goal: [0, 1] + name: agent2 + start: [0, 0] +- goal: [5, 6] + name: agent3 + start: [0, 1] +- goal: [3, 0] + name: agent4 + start: [2, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 4] + - !!python/tuple [4, 1] + - !!python/tuple [4, 6] + - !!python/tuple [7, 3] + - !!python/tuple [7, 4] + - !!python/tuple [5, 3] + - !!python/tuple [7, 0] + - !!python/tuple [2, 4] + - !!python/tuple [0, 4] + - !!python/tuple [2, 0] + - !!python/tuple [0, 2] + - !!python/tuple [5, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex19.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex19.yaml new file mode 100644 index 0000000..07d37a5 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex19.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [4, 3] + name: agent0 + start: [0, 2] +- goal: [7, 0] + name: agent1 + start: [0, 4] +- goal: [4, 2] + name: agent2 + start: [4, 3] +- goal: [7, 5] + name: agent3 + start: [1, 6] +- goal: [6, 3] + name: agent4 + start: [5, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 5] + - !!python/tuple [5, 7] + - !!python/tuple [2, 2] + - !!python/tuple [5, 3] + - !!python/tuple [2, 3] + - !!python/tuple [7, 4] + - !!python/tuple [6, 4] + - !!python/tuple [2, 1] + - !!python/tuple [5, 2] + - !!python/tuple [0, 7] + - !!python/tuple [6, 2] + - !!python/tuple [5, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex2.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex2.yaml new file mode 100644 index 0000000..beacda8 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex2.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [5, 5] + name: agent0 + start: [2, 2] +- goal: [4, 1] + name: agent1 + start: [2, 3] +- goal: [7, 5] + name: agent2 + start: [7, 7] +- goal: [7, 6] + name: agent3 + start: [6, 7] +- goal: [0, 7] + name: agent4 + start: [7, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 4] + - !!python/tuple [0, 4] + - !!python/tuple [0, 2] + - !!python/tuple [4, 7] + - !!python/tuple [5, 3] + - !!python/tuple [0, 5] + - !!python/tuple [7, 2] + - !!python/tuple [1, 0] + - !!python/tuple [6, 3] + - !!python/tuple [5, 2] + - !!python/tuple [0, 3] + - !!python/tuple [6, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex20.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex20.yaml new file mode 100644 index 0000000..bef9cb6 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex20.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [4, 3] + name: agent0 + start: [4, 1] +- goal: [3, 6] + name: agent1 + start: [3, 2] +- goal: [2, 2] + name: agent2 + start: [0, 3] +- goal: [3, 2] + name: agent3 + start: [7, 3] +- goal: [1, 2] + name: agent4 + start: [3, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 3] + - !!python/tuple [0, 1] + - !!python/tuple [0, 7] + - !!python/tuple [7, 6] + - !!python/tuple [3, 7] + - !!python/tuple [1, 5] + - !!python/tuple [0, 4] + - !!python/tuple [2, 3] + - !!python/tuple [1, 3] + - !!python/tuple [2, 4] + - !!python/tuple [6, 2] + - !!python/tuple [3, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex21.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex21.yaml new file mode 100644 index 0000000..19976b4 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex21.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [6, 0] + name: agent0 + start: [6, 0] +- goal: [4, 1] + name: agent1 + start: [1, 5] +- goal: [2, 2] + name: agent2 + start: [2, 6] +- goal: [6, 1] + name: agent3 + start: [5, 1] +- goal: [7, 4] + name: agent4 + start: [6, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 1] + - !!python/tuple [3, 0] + - !!python/tuple [2, 7] + - !!python/tuple [0, 7] + - !!python/tuple [6, 3] + - !!python/tuple [0, 2] + - !!python/tuple [5, 5] + - !!python/tuple [5, 7] + - !!python/tuple [2, 5] + - !!python/tuple [2, 4] + - !!python/tuple [3, 7] + - !!python/tuple [2, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex22.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex22.yaml new file mode 100644 index 0000000..a3e5189 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex22.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [2, 7] + name: agent0 + start: [3, 2] +- goal: [6, 0] + name: agent1 + start: [3, 6] +- goal: [6, 5] + name: agent2 + start: [2, 1] +- goal: [7, 3] + name: agent3 + start: [5, 7] +- goal: [1, 7] + name: agent4 + start: [1, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 4] + - !!python/tuple [6, 2] + - !!python/tuple [5, 5] + - !!python/tuple [3, 1] + - !!python/tuple [4, 6] + - !!python/tuple [5, 4] + - !!python/tuple [4, 4] + - !!python/tuple [5, 1] + - !!python/tuple [2, 4] + - !!python/tuple [6, 4] + - !!python/tuple [3, 7] + - !!python/tuple [4, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex23.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex23.yaml new file mode 100644 index 0000000..e752578 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex23.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [5, 4] + name: agent0 + start: [0, 7] +- goal: [1, 0] + name: agent1 + start: [3, 7] +- goal: [2, 5] + name: agent2 + start: [1, 6] +- goal: [1, 5] + name: agent3 + start: [6, 2] +- goal: [5, 1] + name: agent4 + start: [2, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 3] + - !!python/tuple [2, 0] + - !!python/tuple [0, 2] + - !!python/tuple [5, 7] + - !!python/tuple [3, 5] + - !!python/tuple [0, 1] + - !!python/tuple [0, 6] + - !!python/tuple [4, 4] + - !!python/tuple [4, 3] + - !!python/tuple [5, 0] + - !!python/tuple [7, 5] + - !!python/tuple [7, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex24.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex24.yaml new file mode 100644 index 0000000..4262d75 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex24.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [4, 6] + name: agent0 + start: [7, 7] +- goal: [6, 5] + name: agent1 + start: [4, 2] +- goal: [5, 6] + name: agent2 + start: [3, 6] +- goal: [1, 2] + name: agent3 + start: [4, 7] +- goal: [2, 1] + name: agent4 + start: [0, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 3] + - !!python/tuple [1, 1] + - !!python/tuple [3, 0] + - !!python/tuple [1, 0] + - !!python/tuple [0, 2] + - !!python/tuple [6, 2] + - !!python/tuple [2, 5] + - !!python/tuple [2, 3] + - !!python/tuple [2, 0] + - !!python/tuple [0, 4] + - !!python/tuple [7, 2] + - !!python/tuple [1, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex25.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex25.yaml new file mode 100644 index 0000000..53a98ed --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex25.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [3, 7] + name: agent0 + start: [7, 4] +- goal: [2, 2] + name: agent1 + start: [2, 4] +- goal: [7, 5] + name: agent2 + start: [3, 7] +- goal: [3, 0] + name: agent3 + start: [0, 1] +- goal: [4, 7] + name: agent4 + start: [6, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 5] + - !!python/tuple [0, 4] + - !!python/tuple [4, 2] + - !!python/tuple [5, 6] + - !!python/tuple [7, 7] + - !!python/tuple [6, 2] + - !!python/tuple [7, 2] + - !!python/tuple [1, 3] + - !!python/tuple [0, 7] + - !!python/tuple [0, 5] + - !!python/tuple [5, 2] + - !!python/tuple [5, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex26.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex26.yaml new file mode 100644 index 0000000..f6bba5a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex26.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [4, 0] + name: agent0 + start: [6, 4] +- goal: [2, 0] + name: agent1 + start: [3, 4] +- goal: [2, 2] + name: agent2 + start: [4, 4] +- goal: [0, 7] + name: agent3 + start: [2, 1] +- goal: [1, 7] + name: agent4 + start: [7, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 0] + - !!python/tuple [5, 7] + - !!python/tuple [3, 7] + - !!python/tuple [7, 4] + - !!python/tuple [2, 3] + - !!python/tuple [5, 6] + - !!python/tuple [5, 4] + - !!python/tuple [7, 3] + - !!python/tuple [0, 4] + - !!python/tuple [1, 1] + - !!python/tuple [0, 5] + - !!python/tuple [0, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex27.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex27.yaml new file mode 100644 index 0000000..b13b231 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex27.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [7, 4] + name: agent0 + start: [2, 6] +- goal: [4, 7] + name: agent1 + start: [4, 2] +- goal: [1, 5] + name: agent2 + start: [6, 6] +- goal: [6, 1] + name: agent3 + start: [7, 0] +- goal: [5, 5] + name: agent4 + start: [5, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 2] + - !!python/tuple [0, 3] + - !!python/tuple [2, 1] + - !!python/tuple [0, 1] + - !!python/tuple [1, 2] + - !!python/tuple [4, 5] + - !!python/tuple [5, 3] + - !!python/tuple [7, 7] + - !!python/tuple [0, 7] + - !!python/tuple [6, 0] + - !!python/tuple [2, 0] + - !!python/tuple [3, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex28.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex28.yaml new file mode 100644 index 0000000..19a2226 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex28.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [4, 6] + name: agent0 + start: [6, 1] +- goal: [0, 3] + name: agent1 + start: [2, 4] +- goal: [0, 1] + name: agent2 + start: [6, 0] +- goal: [0, 4] + name: agent3 + start: [7, 6] +- goal: [5, 5] + name: agent4 + start: [6, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 2] + - !!python/tuple [2, 6] + - !!python/tuple [5, 7] + - !!python/tuple [7, 2] + - !!python/tuple [2, 5] + - !!python/tuple [4, 1] + - !!python/tuple [4, 0] + - !!python/tuple [5, 1] + - !!python/tuple [1, 2] + - !!python/tuple [4, 3] + - !!python/tuple [4, 2] + - !!python/tuple [7, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex29.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex29.yaml new file mode 100644 index 0000000..ab36e79 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex29.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [4, 3] + name: agent0 + start: [3, 7] +- goal: [7, 1] + name: agent1 + start: [7, 1] +- goal: [7, 0] + name: agent2 + start: [1, 1] +- goal: [0, 7] + name: agent3 + start: [7, 0] +- goal: [2, 5] + name: agent4 + start: [4, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 7] + - !!python/tuple [6, 0] + - !!python/tuple [7, 4] + - !!python/tuple [6, 7] + - !!python/tuple [2, 0] + - !!python/tuple [4, 6] + - !!python/tuple [6, 4] + - !!python/tuple [3, 4] + - !!python/tuple [7, 7] + - !!python/tuple [1, 4] + - !!python/tuple [5, 5] + - !!python/tuple [1, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex3.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex3.yaml new file mode 100644 index 0000000..1612f79 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex3.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [0, 4] + name: agent0 + start: [7, 7] +- goal: [1, 6] + name: agent1 + start: [3, 5] +- goal: [4, 0] + name: agent2 + start: [3, 4] +- goal: [1, 3] + name: agent3 + start: [2, 0] +- goal: [3, 3] + name: agent4 + start: [1, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 0] + - !!python/tuple [2, 7] + - !!python/tuple [0, 1] + - !!python/tuple [2, 4] + - !!python/tuple [2, 3] + - !!python/tuple [1, 2] + - !!python/tuple [2, 2] + - !!python/tuple [4, 3] + - !!python/tuple [3, 2] + - !!python/tuple [5, 6] + - !!python/tuple [7, 1] + - !!python/tuple [5, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex30.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex30.yaml new file mode 100644 index 0000000..af2d735 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex30.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [3, 0] + name: agent0 + start: [4, 7] +- goal: [7, 5] + name: agent1 + start: [0, 2] +- goal: [4, 3] + name: agent2 + start: [3, 4] +- goal: [0, 5] + name: agent3 + start: [4, 3] +- goal: [2, 4] + name: agent4 + start: [6, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 5] + - !!python/tuple [7, 7] + - !!python/tuple [4, 4] + - !!python/tuple [6, 2] + - !!python/tuple [2, 0] + - !!python/tuple [1, 3] + - !!python/tuple [0, 6] + - !!python/tuple [6, 1] + - !!python/tuple [0, 3] + - !!python/tuple [1, 5] + - !!python/tuple [5, 4] + - !!python/tuple [3, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex31.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex31.yaml new file mode 100644 index 0000000..b7c5040 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex31.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [3, 3] + name: agent0 + start: [6, 2] +- goal: [5, 6] + name: agent1 + start: [1, 1] +- goal: [0, 6] + name: agent2 + start: [3, 3] +- goal: [1, 1] + name: agent3 + start: [7, 2] +- goal: [6, 0] + name: agent4 + start: [5, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 5] + - !!python/tuple [5, 1] + - !!python/tuple [2, 3] + - !!python/tuple [2, 6] + - !!python/tuple [1, 7] + - !!python/tuple [2, 1] + - !!python/tuple [5, 7] + - !!python/tuple [2, 2] + - !!python/tuple [1, 2] + - !!python/tuple [5, 4] + - !!python/tuple [0, 5] + - !!python/tuple [5, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex32.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex32.yaml new file mode 100644 index 0000000..0acb979 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex32.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [4, 3] + name: agent0 + start: [0, 0] +- goal: [2, 5] + name: agent1 + start: [2, 5] +- goal: [3, 3] + name: agent2 + start: [4, 1] +- goal: [1, 1] + name: agent3 + start: [1, 4] +- goal: [3, 7] + name: agent4 + start: [2, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 3] + - !!python/tuple [5, 3] + - !!python/tuple [0, 6] + - !!python/tuple [4, 5] + - !!python/tuple [6, 2] + - !!python/tuple [0, 1] + - !!python/tuple [4, 2] + - !!python/tuple [4, 7] + - !!python/tuple [0, 5] + - !!python/tuple [7, 4] + - !!python/tuple [2, 6] + - !!python/tuple [0, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex33.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex33.yaml new file mode 100644 index 0000000..89463d0 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex33.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [5, 6] + name: agent0 + start: [4, 6] +- goal: [6, 4] + name: agent1 + start: [7, 3] +- goal: [5, 7] + name: agent2 + start: [1, 0] +- goal: [1, 6] + name: agent3 + start: [3, 3] +- goal: [0, 3] + name: agent4 + start: [4, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 7] + - !!python/tuple [1, 4] + - !!python/tuple [5, 5] + - !!python/tuple [2, 0] + - !!python/tuple [2, 2] + - !!python/tuple [4, 7] + - !!python/tuple [7, 1] + - !!python/tuple [5, 2] + - !!python/tuple [4, 5] + - !!python/tuple [2, 4] + - !!python/tuple [2, 1] + - !!python/tuple [3, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex34.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex34.yaml new file mode 100644 index 0000000..603a627 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex34.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [6, 5] + name: agent0 + start: [1, 4] +- goal: [7, 0] + name: agent1 + start: [3, 7] +- goal: [2, 5] + name: agent2 + start: [3, 5] +- goal: [4, 6] + name: agent3 + start: [3, 0] +- goal: [7, 5] + name: agent4 + start: [2, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 4] + - !!python/tuple [2, 6] + - !!python/tuple [1, 1] + - !!python/tuple [5, 2] + - !!python/tuple [7, 2] + - !!python/tuple [2, 0] + - !!python/tuple [6, 1] + - !!python/tuple [3, 4] + - !!python/tuple [2, 4] + - !!python/tuple [4, 1] + - !!python/tuple [2, 3] + - !!python/tuple [0, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex35.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex35.yaml new file mode 100644 index 0000000..428095d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex35.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [6, 5] + name: agent0 + start: [3, 7] +- goal: [7, 0] + name: agent1 + start: [2, 2] +- goal: [5, 6] + name: agent2 + start: [4, 0] +- goal: [1, 6] + name: agent3 + start: [1, 5] +- goal: [7, 2] + name: agent4 + start: [2, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 7] + - !!python/tuple [3, 4] + - !!python/tuple [6, 2] + - !!python/tuple [2, 4] + - !!python/tuple [4, 5] + - !!python/tuple [0, 6] + - !!python/tuple [7, 5] + - !!python/tuple [0, 5] + - !!python/tuple [5, 4] + - !!python/tuple [2, 7] + - !!python/tuple [2, 0] + - !!python/tuple [1, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex36.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex36.yaml new file mode 100644 index 0000000..51a269c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex36.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [3, 1] + name: agent0 + start: [3, 0] +- goal: [4, 2] + name: agent1 + start: [0, 0] +- goal: [0, 5] + name: agent2 + start: [4, 5] +- goal: [3, 4] + name: agent3 + start: [7, 5] +- goal: [6, 2] + name: agent4 + start: [5, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 7] + - !!python/tuple [4, 0] + - !!python/tuple [4, 4] + - !!python/tuple [5, 0] + - !!python/tuple [2, 6] + - !!python/tuple [6, 6] + - !!python/tuple [3, 6] + - !!python/tuple [4, 6] + - !!python/tuple [6, 7] + - !!python/tuple [6, 3] + - !!python/tuple [6, 1] + - !!python/tuple [0, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex37.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex37.yaml new file mode 100644 index 0000000..2313571 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex37.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [4, 4] + name: agent0 + start: [1, 0] +- goal: [3, 7] + name: agent1 + start: [2, 3] +- goal: [7, 0] + name: agent2 + start: [7, 0] +- goal: [1, 5] + name: agent3 + start: [1, 2] +- goal: [1, 3] + name: agent4 + start: [2, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 2] + - !!python/tuple [0, 2] + - !!python/tuple [6, 2] + - !!python/tuple [1, 1] + - !!python/tuple [4, 2] + - !!python/tuple [6, 3] + - !!python/tuple [0, 3] + - !!python/tuple [1, 4] + - !!python/tuple [2, 7] + - !!python/tuple [4, 3] + - !!python/tuple [5, 3] + - !!python/tuple [0, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex38.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex38.yaml new file mode 100644 index 0000000..a4209e7 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex38.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [0, 4] + name: agent0 + start: [6, 3] +- goal: [6, 2] + name: agent1 + start: [6, 0] +- goal: [1, 7] + name: agent2 + start: [3, 4] +- goal: [4, 2] + name: agent3 + start: [3, 3] +- goal: [0, 1] + name: agent4 + start: [5, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 6] + - !!python/tuple [7, 2] + - !!python/tuple [4, 7] + - !!python/tuple [3, 1] + - !!python/tuple [1, 1] + - !!python/tuple [0, 7] + - !!python/tuple [2, 3] + - !!python/tuple [4, 6] + - !!python/tuple [5, 3] + - !!python/tuple [0, 2] + - !!python/tuple [2, 2] + - !!python/tuple [2, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex39.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex39.yaml new file mode 100644 index 0000000..3a4b2a8 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex39.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [3, 3] + name: agent0 + start: [2, 0] +- goal: [4, 6] + name: agent1 + start: [7, 6] +- goal: [4, 4] + name: agent2 + start: [3, 2] +- goal: [5, 3] + name: agent3 + start: [4, 5] +- goal: [6, 5] + name: agent4 + start: [6, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 5] + - !!python/tuple [0, 7] + - !!python/tuple [0, 3] + - !!python/tuple [3, 7] + - !!python/tuple [2, 5] + - !!python/tuple [7, 1] + - !!python/tuple [4, 2] + - !!python/tuple [6, 7] + - !!python/tuple [6, 0] + - !!python/tuple [1, 6] + - !!python/tuple [7, 5] + - !!python/tuple [4, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex4.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex4.yaml new file mode 100644 index 0000000..0177ced --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex4.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [5, 5] + name: agent0 + start: [2, 5] +- goal: [0, 6] + name: agent1 + start: [2, 2] +- goal: [2, 5] + name: agent2 + start: [1, 1] +- goal: [5, 7] + name: agent3 + start: [3, 5] +- goal: [7, 7] + name: agent4 + start: [6, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 0] + - !!python/tuple [1, 2] + - !!python/tuple [0, 2] + - !!python/tuple [7, 5] + - !!python/tuple [2, 4] + - !!python/tuple [6, 4] + - !!python/tuple [7, 2] + - !!python/tuple [5, 6] + - !!python/tuple [7, 6] + - !!python/tuple [4, 5] + - !!python/tuple [0, 5] + - !!python/tuple [0, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex40.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex40.yaml new file mode 100644 index 0000000..28bc6e0 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex40.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [7, 5] + name: agent0 + start: [4, 0] +- goal: [6, 2] + name: agent1 + start: [6, 4] +- goal: [1, 3] + name: agent2 + start: [0, 3] +- goal: [5, 6] + name: agent3 + start: [6, 2] +- goal: [2, 2] + name: agent4 + start: [2, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 6] + - !!python/tuple [3, 1] + - !!python/tuple [5, 1] + - !!python/tuple [7, 4] + - !!python/tuple [2, 6] + - !!python/tuple [1, 6] + - !!python/tuple [3, 5] + - !!python/tuple [6, 1] + - !!python/tuple [4, 1] + - !!python/tuple [1, 2] + - !!python/tuple [0, 1] + - !!python/tuple [4, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex41.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex41.yaml new file mode 100644 index 0000000..5144e70 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex41.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [4, 3] + name: agent0 + start: [3, 5] +- goal: [4, 2] + name: agent1 + start: [0, 1] +- goal: [6, 7] + name: agent2 + start: [4, 2] +- goal: [0, 5] + name: agent3 + start: [5, 3] +- goal: [3, 5] + name: agent4 + start: [1, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 7] + - !!python/tuple [6, 4] + - !!python/tuple [0, 6] + - !!python/tuple [1, 4] + - !!python/tuple [5, 4] + - !!python/tuple [5, 0] + - !!python/tuple [4, 5] + - !!python/tuple [6, 5] + - !!python/tuple [6, 1] + - !!python/tuple [2, 3] + - !!python/tuple [1, 7] + - !!python/tuple [4, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex42.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex42.yaml new file mode 100644 index 0000000..1b8ed8d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex42.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [0, 5] + name: agent0 + start: [5, 6] +- goal: [7, 4] + name: agent1 + start: [6, 3] +- goal: [6, 4] + name: agent2 + start: [6, 0] +- goal: [7, 5] + name: agent3 + start: [0, 3] +- goal: [6, 0] + name: agent4 + start: [7, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 7] + - !!python/tuple [3, 6] + - !!python/tuple [6, 1] + - !!python/tuple [4, 7] + - !!python/tuple [3, 4] + - !!python/tuple [6, 6] + - !!python/tuple [5, 4] + - !!python/tuple [2, 0] + - !!python/tuple [6, 5] + - !!python/tuple [1, 2] + - !!python/tuple [3, 3] + - !!python/tuple [5, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex43.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex43.yaml new file mode 100644 index 0000000..40cb2c5 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex43.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [7, 2] + name: agent0 + start: [7, 6] +- goal: [4, 3] + name: agent1 + start: [2, 6] +- goal: [7, 5] + name: agent2 + start: [2, 0] +- goal: [7, 4] + name: agent3 + start: [1, 7] +- goal: [4, 5] + name: agent4 + start: [0, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 7] + - !!python/tuple [4, 0] + - !!python/tuple [0, 6] + - !!python/tuple [4, 4] + - !!python/tuple [0, 5] + - !!python/tuple [6, 6] + - !!python/tuple [5, 6] + - !!python/tuple [2, 2] + - !!python/tuple [3, 0] + - !!python/tuple [2, 7] + - !!python/tuple [7, 1] + - !!python/tuple [0, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex44.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex44.yaml new file mode 100644 index 0000000..aab0398 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex44.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [5, 2] + name: agent0 + start: [6, 1] +- goal: [3, 6] + name: agent1 + start: [5, 4] +- goal: [3, 2] + name: agent2 + start: [0, 2] +- goal: [1, 2] + name: agent3 + start: [1, 7] +- goal: [2, 6] + name: agent4 + start: [6, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 1] + - !!python/tuple [5, 3] + - !!python/tuple [4, 0] + - !!python/tuple [6, 6] + - !!python/tuple [2, 4] + - !!python/tuple [7, 6] + - !!python/tuple [3, 3] + - !!python/tuple [2, 0] + - !!python/tuple [3, 7] + - !!python/tuple [4, 2] + - !!python/tuple [4, 1] + - !!python/tuple [1, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex45.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex45.yaml new file mode 100644 index 0000000..133de05 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex45.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [5, 3] + name: agent0 + start: [1, 2] +- goal: [3, 7] + name: agent1 + start: [0, 4] +- goal: [7, 4] + name: agent2 + start: [6, 0] +- goal: [7, 3] + name: agent3 + start: [7, 4] +- goal: [6, 3] + name: agent4 + start: [3, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 6] + - !!python/tuple [3, 5] + - !!python/tuple [4, 3] + - !!python/tuple [1, 7] + - !!python/tuple [4, 4] + - !!python/tuple [4, 6] + - !!python/tuple [6, 7] + - !!python/tuple [5, 5] + - !!python/tuple [0, 5] + - !!python/tuple [3, 4] + - !!python/tuple [1, 4] + - !!python/tuple [6, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex46.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex46.yaml new file mode 100644 index 0000000..8ba0699 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex46.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [1, 3] + name: agent0 + start: [2, 1] +- goal: [5, 4] + name: agent1 + start: [0, 7] +- goal: [3, 2] + name: agent2 + start: [3, 2] +- goal: [2, 4] + name: agent3 + start: [7, 7] +- goal: [0, 2] + name: agent4 + start: [6, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 6] + - !!python/tuple [3, 4] + - !!python/tuple [4, 2] + - !!python/tuple [1, 5] + - !!python/tuple [5, 3] + - !!python/tuple [2, 5] + - !!python/tuple [0, 5] + - !!python/tuple [3, 5] + - !!python/tuple [4, 5] + - !!python/tuple [4, 4] + - !!python/tuple [4, 0] + - !!python/tuple [4, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex47.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex47.yaml new file mode 100644 index 0000000..8b8c8df --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex47.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [7, 0] + name: agent0 + start: [1, 2] +- goal: [5, 6] + name: agent1 + start: [6, 6] +- goal: [1, 6] + name: agent2 + start: [1, 7] +- goal: [3, 3] + name: agent3 + start: [2, 4] +- goal: [2, 1] + name: agent4 + start: [5, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 3] + - !!python/tuple [3, 6] + - !!python/tuple [7, 5] + - !!python/tuple [7, 4] + - !!python/tuple [4, 4] + - !!python/tuple [1, 3] + - !!python/tuple [0, 0] + - !!python/tuple [6, 5] + - !!python/tuple [6, 4] + - !!python/tuple [2, 2] + - !!python/tuple [6, 3] + - !!python/tuple [0, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex48.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex48.yaml new file mode 100644 index 0000000..13f4009 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex48.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [2, 7] + name: agent0 + start: [2, 2] +- goal: [1, 0] + name: agent1 + start: [4, 6] +- goal: [7, 0] + name: agent2 + start: [5, 0] +- goal: [5, 3] + name: agent3 + start: [4, 5] +- goal: [1, 7] + name: agent4 + start: [6, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 6] + - !!python/tuple [5, 1] + - !!python/tuple [6, 1] + - !!python/tuple [5, 4] + - !!python/tuple [4, 7] + - !!python/tuple [4, 1] + - !!python/tuple [0, 7] + - !!python/tuple [6, 4] + - !!python/tuple [0, 0] + - !!python/tuple [7, 5] + - !!python/tuple [6, 6] + - !!python/tuple [6, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex49.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex49.yaml new file mode 100644 index 0000000..c8ffb73 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex49.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [4, 6] + name: agent0 + start: [6, 3] +- goal: [3, 6] + name: agent1 + start: [1, 6] +- goal: [5, 0] + name: agent2 + start: [0, 3] +- goal: [4, 1] + name: agent3 + start: [3, 6] +- goal: [3, 5] + name: agent4 + start: [7, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 7] + - !!python/tuple [6, 7] + - !!python/tuple [0, 2] + - !!python/tuple [2, 4] + - !!python/tuple [3, 3] + - !!python/tuple [3, 7] + - !!python/tuple [6, 5] + - !!python/tuple [4, 3] + - !!python/tuple [4, 0] + - !!python/tuple [5, 3] + - !!python/tuple [7, 6] + - !!python/tuple [5, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex5.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex5.yaml new file mode 100644 index 0000000..029c33f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex5.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [5, 0] + name: agent0 + start: [4, 0] +- goal: [0, 5] + name: agent1 + start: [2, 3] +- goal: [4, 4] + name: agent2 + start: [5, 0] +- goal: [1, 2] + name: agent3 + start: [0, 5] +- goal: [5, 4] + name: agent4 + start: [0, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 0] + - !!python/tuple [4, 1] + - !!python/tuple [0, 1] + - !!python/tuple [2, 1] + - !!python/tuple [4, 7] + - !!python/tuple [0, 3] + - !!python/tuple [2, 5] + - !!python/tuple [4, 6] + - !!python/tuple [6, 7] + - !!python/tuple [3, 2] + - !!python/tuple [5, 5] + - !!python/tuple [6, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex50.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex50.yaml new file mode 100644 index 0000000..8f3570f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex50.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [4, 3] + name: agent0 + start: [5, 1] +- goal: [7, 4] + name: agent1 + start: [2, 2] +- goal: [4, 5] + name: agent2 + start: [4, 7] +- goal: [7, 6] + name: agent3 + start: [1, 5] +- goal: [3, 1] + name: agent4 + start: [3, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 7] + - !!python/tuple [1, 2] + - !!python/tuple [0, 5] + - !!python/tuple [2, 4] + - !!python/tuple [5, 2] + - !!python/tuple [4, 6] + - !!python/tuple [5, 6] + - !!python/tuple [0, 0] + - !!python/tuple [7, 0] + - !!python/tuple [3, 2] + - !!python/tuple [3, 3] + - !!python/tuple [3, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex51.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex51.yaml new file mode 100644 index 0000000..d01764b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex51.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [6, 6] + name: agent0 + start: [7, 2] +- goal: [2, 1] + name: agent1 + start: [2, 7] +- goal: [5, 2] + name: agent2 + start: [5, 3] +- goal: [4, 7] + name: agent3 + start: [5, 5] +- goal: [0, 4] + name: agent4 + start: [7, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 0] + - !!python/tuple [0, 0] + - !!python/tuple [4, 3] + - !!python/tuple [2, 5] + - !!python/tuple [5, 6] + - !!python/tuple [4, 0] + - !!python/tuple [7, 3] + - !!python/tuple [2, 6] + - !!python/tuple [3, 5] + - !!python/tuple [3, 3] + - !!python/tuple [5, 7] + - !!python/tuple [4, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex52.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex52.yaml new file mode 100644 index 0000000..8ba8840 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex52.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [3, 3] + name: agent0 + start: [6, 2] +- goal: [7, 0] + name: agent1 + start: [5, 1] +- goal: [2, 3] + name: agent2 + start: [3, 7] +- goal: [4, 4] + name: agent3 + start: [1, 4] +- goal: [2, 7] + name: agent4 + start: [6, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 2] + - !!python/tuple [4, 3] + - !!python/tuple [6, 4] + - !!python/tuple [4, 2] + - !!python/tuple [5, 6] + - !!python/tuple [6, 6] + - !!python/tuple [3, 6] + - !!python/tuple [3, 4] + - !!python/tuple [7, 4] + - !!python/tuple [7, 6] + - !!python/tuple [7, 1] + - !!python/tuple [1, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex53.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex53.yaml new file mode 100644 index 0000000..7d20c17 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex53.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [6, 2] + name: agent0 + start: [0, 1] +- goal: [2, 1] + name: agent1 + start: [7, 5] +- goal: [4, 1] + name: agent2 + start: [3, 4] +- goal: [1, 4] + name: agent3 + start: [2, 3] +- goal: [5, 7] + name: agent4 + start: [5, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 2] + - !!python/tuple [6, 7] + - !!python/tuple [7, 1] + - !!python/tuple [2, 7] + - !!python/tuple [2, 0] + - !!python/tuple [6, 4] + - !!python/tuple [6, 3] + - !!python/tuple [3, 6] + - !!python/tuple [0, 6] + - !!python/tuple [1, 6] + - !!python/tuple [3, 3] + - !!python/tuple [1, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex54.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex54.yaml new file mode 100644 index 0000000..a47cf29 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex54.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [2, 7] + name: agent0 + start: [3, 5] +- goal: [4, 1] + name: agent1 + start: [7, 6] +- goal: [3, 1] + name: agent2 + start: [2, 4] +- goal: [5, 2] + name: agent3 + start: [5, 5] +- goal: [1, 5] + name: agent4 + start: [2, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 3] + - !!python/tuple [6, 5] + - !!python/tuple [7, 0] + - !!python/tuple [2, 0] + - !!python/tuple [5, 1] + - !!python/tuple [2, 3] + - !!python/tuple [3, 6] + - !!python/tuple [0, 7] + - !!python/tuple [6, 6] + - !!python/tuple [6, 0] + - !!python/tuple [5, 4] + - !!python/tuple [0, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex55.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex55.yaml new file mode 100644 index 0000000..2083800 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex55.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [2, 1] + name: agent0 + start: [1, 7] +- goal: [5, 7] + name: agent1 + start: [1, 0] +- goal: [1, 7] + name: agent2 + start: [4, 5] +- goal: [0, 1] + name: agent3 + start: [7, 0] +- goal: [7, 4] + name: agent4 + start: [3, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 0] + - !!python/tuple [1, 6] + - !!python/tuple [0, 2] + - !!python/tuple [4, 4] + - !!python/tuple [5, 0] + - !!python/tuple [6, 6] + - !!python/tuple [5, 6] + - !!python/tuple [5, 5] + - !!python/tuple [4, 7] + - !!python/tuple [4, 6] + - !!python/tuple [2, 5] + - !!python/tuple [2, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex56.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex56.yaml new file mode 100644 index 0000000..ca7f1b7 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex56.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [6, 4] + name: agent0 + start: [7, 1] +- goal: [1, 7] + name: agent1 + start: [1, 2] +- goal: [2, 6] + name: agent2 + start: [1, 4] +- goal: [0, 4] + name: agent3 + start: [3, 7] +- goal: [5, 5] + name: agent4 + start: [4, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 5] + - !!python/tuple [6, 7] + - !!python/tuple [3, 2] + - !!python/tuple [4, 5] + - !!python/tuple [2, 0] + - !!python/tuple [2, 2] + - !!python/tuple [0, 5] + - !!python/tuple [7, 3] + - !!python/tuple [5, 3] + - !!python/tuple [7, 0] + - !!python/tuple [6, 3] + - !!python/tuple [5, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex57.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex57.yaml new file mode 100644 index 0000000..cc4f466 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex57.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [1, 1] + name: agent0 + start: [4, 1] +- goal: [5, 5] + name: agent1 + start: [1, 0] +- goal: [2, 0] + name: agent2 + start: [6, 5] +- goal: [2, 3] + name: agent3 + start: [0, 7] +- goal: [6, 5] + name: agent4 + start: [3, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 0] + - !!python/tuple [0, 2] + - !!python/tuple [3, 5] + - !!python/tuple [7, 3] + - !!python/tuple [1, 2] + - !!python/tuple [3, 0] + - !!python/tuple [6, 6] + - !!python/tuple [7, 6] + - !!python/tuple [7, 4] + - !!python/tuple [1, 4] + - !!python/tuple [6, 2] + - !!python/tuple [6, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex58.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex58.yaml new file mode 100644 index 0000000..6db5283 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex58.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [0, 4] + name: agent0 + start: [7, 6] +- goal: [2, 3] + name: agent1 + start: [1, 6] +- goal: [1, 1] + name: agent2 + start: [6, 4] +- goal: [0, 1] + name: agent3 + start: [2, 7] +- goal: [1, 6] + name: agent4 + start: [2, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 1] + - !!python/tuple [1, 4] + - !!python/tuple [3, 7] + - !!python/tuple [7, 1] + - !!python/tuple [5, 1] + - !!python/tuple [3, 5] + - !!python/tuple [0, 5] + - !!python/tuple [4, 3] + - !!python/tuple [0, 2] + - !!python/tuple [4, 7] + - !!python/tuple [0, 6] + - !!python/tuple [7, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex59.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex59.yaml new file mode 100644 index 0000000..ff01591 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex59.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [4, 1] + name: agent0 + start: [5, 2] +- goal: [3, 3] + name: agent1 + start: [6, 7] +- goal: [6, 5] + name: agent2 + start: [1, 4] +- goal: [7, 4] + name: agent3 + start: [3, 4] +- goal: [6, 6] + name: agent4 + start: [4, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 4] + - !!python/tuple [1, 3] + - !!python/tuple [5, 1] + - !!python/tuple [4, 4] + - !!python/tuple [4, 0] + - !!python/tuple [7, 3] + - !!python/tuple [1, 1] + - !!python/tuple [3, 2] + - !!python/tuple [2, 3] + - !!python/tuple [6, 4] + - !!python/tuple [3, 0] + - !!python/tuple [1, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex6.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex6.yaml new file mode 100644 index 0000000..b7a03f1 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex6.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [4, 5] + name: agent0 + start: [0, 7] +- goal: [5, 0] + name: agent1 + start: [2, 2] +- goal: [3, 1] + name: agent2 + start: [2, 1] +- goal: [7, 6] + name: agent3 + start: [4, 2] +- goal: [6, 5] + name: agent4 + start: [1, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 2] + - !!python/tuple [0, 3] + - !!python/tuple [4, 7] + - !!python/tuple [0, 5] + - !!python/tuple [2, 3] + - !!python/tuple [6, 2] + - !!python/tuple [6, 1] + - !!python/tuple [3, 4] + - !!python/tuple [5, 7] + - !!python/tuple [5, 3] + - !!python/tuple [4, 4] + - !!python/tuple [6, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex60.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex60.yaml new file mode 100644 index 0000000..71a84bf --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex60.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [0, 3] + name: agent0 + start: [7, 7] +- goal: [1, 3] + name: agent1 + start: [2, 5] +- goal: [3, 7] + name: agent2 + start: [1, 1] +- goal: [1, 0] + name: agent3 + start: [2, 2] +- goal: [3, 1] + name: agent4 + start: [2, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 3] + - !!python/tuple [3, 2] + - !!python/tuple [7, 3] + - !!python/tuple [4, 0] + - !!python/tuple [0, 0] + - !!python/tuple [5, 5] + - !!python/tuple [2, 7] + - !!python/tuple [5, 3] + - !!python/tuple [5, 1] + - !!python/tuple [4, 1] + - !!python/tuple [4, 2] + - !!python/tuple [6, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex61.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex61.yaml new file mode 100644 index 0000000..e98667e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex61.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [0, 7] + name: agent0 + start: [1, 1] +- goal: [3, 7] + name: agent1 + start: [7, 5] +- goal: [6, 7] + name: agent2 + start: [5, 7] +- goal: [2, 3] + name: agent3 + start: [2, 7] +- goal: [5, 5] + name: agent4 + start: [1, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 4] + - !!python/tuple [7, 1] + - !!python/tuple [3, 6] + - !!python/tuple [0, 5] + - !!python/tuple [1, 3] + - !!python/tuple [0, 0] + - !!python/tuple [2, 4] + - !!python/tuple [6, 1] + - !!python/tuple [4, 5] + - !!python/tuple [5, 3] + - !!python/tuple [6, 3] + - !!python/tuple [1, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex62.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex62.yaml new file mode 100644 index 0000000..aaba6a2 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex62.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [7, 0] + name: agent0 + start: [2, 1] +- goal: [2, 7] + name: agent1 + start: [0, 2] +- goal: [3, 1] + name: agent2 + start: [6, 6] +- goal: [4, 0] + name: agent3 + start: [4, 0] +- goal: [2, 6] + name: agent4 + start: [5, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 7] + - !!python/tuple [1, 0] + - !!python/tuple [4, 4] + - !!python/tuple [5, 4] + - !!python/tuple [3, 2] + - !!python/tuple [4, 3] + - !!python/tuple [2, 5] + - !!python/tuple [0, 3] + - !!python/tuple [2, 2] + - !!python/tuple [6, 3] + - !!python/tuple [7, 4] + - !!python/tuple [4, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex63.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex63.yaml new file mode 100644 index 0000000..ed42c9e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex63.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [6, 4] + name: agent0 + start: [7, 4] +- goal: [1, 0] + name: agent1 + start: [6, 7] +- goal: [3, 4] + name: agent2 + start: [7, 1] +- goal: [1, 6] + name: agent3 + start: [5, 3] +- goal: [1, 7] + name: agent4 + start: [1, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 5] + - !!python/tuple [3, 0] + - !!python/tuple [1, 3] + - !!python/tuple [7, 2] + - !!python/tuple [4, 0] + - !!python/tuple [5, 1] + - !!python/tuple [3, 7] + - !!python/tuple [0, 3] + - !!python/tuple [6, 3] + - !!python/tuple [3, 6] + - !!python/tuple [4, 6] + - !!python/tuple [6, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex64.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex64.yaml new file mode 100644 index 0000000..20b3f25 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex64.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [4, 2] + name: agent0 + start: [6, 5] +- goal: [4, 5] + name: agent1 + start: [7, 2] +- goal: [7, 7] + name: agent2 + start: [1, 1] +- goal: [0, 3] + name: agent3 + start: [7, 0] +- goal: [6, 2] + name: agent4 + start: [0, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 5] + - !!python/tuple [3, 6] + - !!python/tuple [6, 6] + - !!python/tuple [6, 7] + - !!python/tuple [4, 4] + - !!python/tuple [2, 3] + - !!python/tuple [5, 0] + - !!python/tuple [0, 7] + - !!python/tuple [5, 1] + - !!python/tuple [2, 6] + - !!python/tuple [2, 5] + - !!python/tuple [4, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex65.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex65.yaml new file mode 100644 index 0000000..ce32ece --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex65.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [1, 6] + name: agent0 + start: [4, 0] +- goal: [2, 4] + name: agent1 + start: [7, 1] +- goal: [1, 2] + name: agent2 + start: [2, 0] +- goal: [0, 1] + name: agent3 + start: [1, 3] +- goal: [2, 7] + name: agent4 + start: [2, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 6] + - !!python/tuple [3, 5] + - !!python/tuple [0, 3] + - !!python/tuple [4, 3] + - !!python/tuple [6, 4] + - !!python/tuple [0, 6] + - !!python/tuple [5, 4] + - !!python/tuple [1, 5] + - !!python/tuple [0, 5] + - !!python/tuple [0, 7] + - !!python/tuple [4, 4] + - !!python/tuple [6, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex66.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex66.yaml new file mode 100644 index 0000000..731533d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex66.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [5, 6] + name: agent0 + start: [2, 0] +- goal: [1, 7] + name: agent1 + start: [7, 4] +- goal: [6, 4] + name: agent2 + start: [7, 2] +- goal: [7, 4] + name: agent3 + start: [3, 7] +- goal: [6, 6] + name: agent4 + start: [6, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 6] + - !!python/tuple [7, 1] + - !!python/tuple [0, 7] + - !!python/tuple [5, 1] + - !!python/tuple [4, 7] + - !!python/tuple [7, 3] + - !!python/tuple [7, 6] + - !!python/tuple [3, 4] + - !!python/tuple [6, 1] + - !!python/tuple [6, 3] + - !!python/tuple [0, 3] + - !!python/tuple [3, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex67.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex67.yaml new file mode 100644 index 0000000..3d2a97b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex67.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [2, 3] + name: agent0 + start: [3, 6] +- goal: [2, 7] + name: agent1 + start: [0, 3] +- goal: [0, 4] + name: agent2 + start: [6, 1] +- goal: [0, 0] + name: agent3 + start: [7, 4] +- goal: [6, 3] + name: agent4 + start: [7, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 5] + - !!python/tuple [1, 0] + - !!python/tuple [0, 6] + - !!python/tuple [4, 1] + - !!python/tuple [1, 1] + - !!python/tuple [4, 6] + - !!python/tuple [5, 7] + - !!python/tuple [6, 7] + - !!python/tuple [1, 5] + - !!python/tuple [5, 6] + - !!python/tuple [4, 4] + - !!python/tuple [1, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex68.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex68.yaml new file mode 100644 index 0000000..826143c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex68.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [6, 4] + name: agent0 + start: [0, 4] +- goal: [1, 6] + name: agent1 + start: [5, 2] +- goal: [7, 7] + name: agent2 + start: [5, 7] +- goal: [5, 3] + name: agent3 + start: [3, 1] +- goal: [6, 6] + name: agent4 + start: [1, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 5] + - !!python/tuple [1, 2] + - !!python/tuple [2, 0] + - !!python/tuple [2, 1] + - !!python/tuple [0, 3] + - !!python/tuple [1, 7] + - !!python/tuple [1, 4] + - !!python/tuple [7, 1] + - !!python/tuple [4, 6] + - !!python/tuple [2, 2] + - !!python/tuple [0, 6] + - !!python/tuple [1, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex69.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex69.yaml new file mode 100644 index 0000000..5544c27 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex69.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [0, 2] + name: agent0 + start: [4, 7] +- goal: [2, 2] + name: agent1 + start: [2, 2] +- goal: [0, 5] + name: agent2 + start: [4, 0] +- goal: [5, 1] + name: agent3 + start: [1, 7] +- goal: [5, 2] + name: agent4 + start: [5, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 6] + - !!python/tuple [6, 4] + - !!python/tuple [3, 7] + - !!python/tuple [7, 2] + - !!python/tuple [1, 1] + - !!python/tuple [3, 2] + - !!python/tuple [2, 1] + - !!python/tuple [0, 6] + - !!python/tuple [3, 6] + - !!python/tuple [6, 3] + - !!python/tuple [4, 4] + - !!python/tuple [5, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex7.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex7.yaml new file mode 100644 index 0000000..fd62998 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex7.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [2, 1] + name: agent0 + start: [1, 1] +- goal: [7, 4] + name: agent1 + start: [4, 2] +- goal: [3, 7] + name: agent2 + start: [5, 0] +- goal: [1, 3] + name: agent3 + start: [3, 2] +- goal: [7, 1] + name: agent4 + start: [6, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 5] + - !!python/tuple [5, 5] + - !!python/tuple [2, 3] + - !!python/tuple [1, 2] + - !!python/tuple [2, 7] + - !!python/tuple [2, 6] + - !!python/tuple [3, 5] + - !!python/tuple [0, 5] + - !!python/tuple [6, 5] + - !!python/tuple [3, 0] + - !!python/tuple [2, 0] + - !!python/tuple [0, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex70.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex70.yaml new file mode 100644 index 0000000..4e20f9d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex70.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [1, 6] + name: agent0 + start: [6, 0] +- goal: [2, 6] + name: agent1 + start: [1, 0] +- goal: [3, 6] + name: agent2 + start: [7, 1] +- goal: [6, 0] + name: agent3 + start: [1, 2] +- goal: [7, 1] + name: agent4 + start: [1, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 2] + - !!python/tuple [6, 1] + - !!python/tuple [4, 0] + - !!python/tuple [2, 5] + - !!python/tuple [6, 6] + - !!python/tuple [4, 5] + - !!python/tuple [7, 0] + - !!python/tuple [6, 7] + - !!python/tuple [5, 3] + - !!python/tuple [2, 7] + - !!python/tuple [4, 2] + - !!python/tuple [1, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex71.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex71.yaml new file mode 100644 index 0000000..5c32c76 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex71.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [4, 4] + name: agent0 + start: [0, 4] +- goal: [2, 1] + name: agent1 + start: [3, 7] +- goal: [3, 3] + name: agent2 + start: [6, 2] +- goal: [4, 2] + name: agent3 + start: [1, 0] +- goal: [7, 1] + name: agent4 + start: [4, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 4] + - !!python/tuple [4, 6] + - !!python/tuple [4, 0] + - !!python/tuple [3, 4] + - !!python/tuple [5, 0] + - !!python/tuple [5, 2] + - !!python/tuple [1, 4] + - !!python/tuple [5, 3] + - !!python/tuple [6, 4] + - !!python/tuple [7, 5] + - !!python/tuple [2, 4] + - !!python/tuple [7, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex72.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex72.yaml new file mode 100644 index 0000000..e986cc7 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex72.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [6, 3] + name: agent0 + start: [7, 6] +- goal: [1, 1] + name: agent1 + start: [5, 1] +- goal: [3, 0] + name: agent2 + start: [2, 6] +- goal: [1, 5] + name: agent3 + start: [2, 3] +- goal: [1, 3] + name: agent4 + start: [2, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 6] + - !!python/tuple [3, 4] + - !!python/tuple [3, 2] + - !!python/tuple [0, 4] + - !!python/tuple [2, 7] + - !!python/tuple [6, 7] + - !!python/tuple [6, 0] + - !!python/tuple [6, 5] + - !!python/tuple [7, 1] + - !!python/tuple [6, 6] + - !!python/tuple [3, 7] + - !!python/tuple [1, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex73.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex73.yaml new file mode 100644 index 0000000..a4c61e1 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex73.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [2, 0] + name: agent0 + start: [4, 3] +- goal: [5, 5] + name: agent1 + start: [6, 5] +- goal: [2, 7] + name: agent2 + start: [4, 7] +- goal: [7, 3] + name: agent3 + start: [1, 1] +- goal: [2, 2] + name: agent4 + start: [3, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 3] + - !!python/tuple [0, 7] + - !!python/tuple [1, 6] + - !!python/tuple [6, 6] + - !!python/tuple [6, 2] + - !!python/tuple [4, 1] + - !!python/tuple [2, 6] + - !!python/tuple [7, 0] + - !!python/tuple [7, 2] + - !!python/tuple [2, 3] + - !!python/tuple [0, 0] + - !!python/tuple [7, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex74.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex74.yaml new file mode 100644 index 0000000..ac1a97b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex74.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [0, 1] + name: agent0 + start: [5, 6] +- goal: [3, 5] + name: agent1 + start: [6, 0] +- goal: [1, 4] + name: agent2 + start: [5, 0] +- goal: [7, 0] + name: agent3 + start: [6, 2] +- goal: [1, 3] + name: agent4 + start: [1, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 5] + - !!python/tuple [0, 6] + - !!python/tuple [5, 4] + - !!python/tuple [7, 2] + - !!python/tuple [0, 4] + - !!python/tuple [3, 7] + - !!python/tuple [7, 1] + - !!python/tuple [0, 3] + - !!python/tuple [6, 4] + - !!python/tuple [1, 0] + - !!python/tuple [2, 3] + - !!python/tuple [4, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex75.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex75.yaml new file mode 100644 index 0000000..f699399 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex75.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [7, 6] + name: agent0 + start: [6, 1] +- goal: [4, 5] + name: agent1 + start: [6, 7] +- goal: [0, 7] + name: agent2 + start: [6, 2] +- goal: [0, 3] + name: agent3 + start: [5, 0] +- goal: [2, 0] + name: agent4 + start: [4, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 4] + - !!python/tuple [1, 1] + - !!python/tuple [6, 6] + - !!python/tuple [2, 6] + - !!python/tuple [6, 4] + - !!python/tuple [5, 7] + - !!python/tuple [6, 5] + - !!python/tuple [4, 0] + - !!python/tuple [3, 5] + - !!python/tuple [4, 6] + - !!python/tuple [4, 3] + - !!python/tuple [3, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex76.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex76.yaml new file mode 100644 index 0000000..22e1d30 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex76.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [3, 7] + name: agent0 + start: [2, 4] +- goal: [5, 0] + name: agent1 + start: [2, 3] +- goal: [5, 2] + name: agent2 + start: [5, 5] +- goal: [2, 3] + name: agent3 + start: [4, 3] +- goal: [5, 4] + name: agent4 + start: [3, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 1] + - !!python/tuple [4, 1] + - !!python/tuple [3, 2] + - !!python/tuple [6, 5] + - !!python/tuple [0, 2] + - !!python/tuple [2, 6] + - !!python/tuple [1, 3] + - !!python/tuple [2, 5] + - !!python/tuple [0, 4] + - !!python/tuple [6, 1] + - !!python/tuple [1, 0] + - !!python/tuple [0, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex77.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex77.yaml new file mode 100644 index 0000000..3d3eff4 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex77.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [6, 5] + name: agent0 + start: [1, 2] +- goal: [0, 0] + name: agent1 + start: [7, 2] +- goal: [2, 0] + name: agent2 + start: [3, 7] +- goal: [7, 3] + name: agent3 + start: [3, 6] +- goal: [1, 3] + name: agent4 + start: [3, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 1] + - !!python/tuple [0, 1] + - !!python/tuple [6, 2] + - !!python/tuple [5, 0] + - !!python/tuple [0, 3] + - !!python/tuple [4, 5] + - !!python/tuple [2, 6] + - !!python/tuple [5, 2] + - !!python/tuple [4, 4] + - !!python/tuple [7, 7] + - !!python/tuple [6, 6] + - !!python/tuple [0, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex78.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex78.yaml new file mode 100644 index 0000000..1f7bf8a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex78.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [7, 0] + name: agent0 + start: [4, 7] +- goal: [2, 0] + name: agent1 + start: [6, 4] +- goal: [2, 3] + name: agent2 + start: [1, 7] +- goal: [2, 2] + name: agent3 + start: [0, 1] +- goal: [4, 0] + name: agent4 + start: [2, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 5] + - !!python/tuple [0, 7] + - !!python/tuple [3, 3] + - !!python/tuple [2, 6] + - !!python/tuple [0, 3] + - !!python/tuple [5, 7] + - !!python/tuple [6, 5] + - !!python/tuple [1, 5] + - !!python/tuple [3, 7] + - !!python/tuple [7, 2] + - !!python/tuple [4, 5] + - !!python/tuple [5, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex79.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex79.yaml new file mode 100644 index 0000000..b538a67 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex79.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [4, 7] + name: agent0 + start: [1, 5] +- goal: [5, 7] + name: agent1 + start: [6, 4] +- goal: [3, 6] + name: agent2 + start: [6, 2] +- goal: [3, 7] + name: agent3 + start: [0, 7] +- goal: [7, 3] + name: agent4 + start: [6, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 3] + - !!python/tuple [7, 0] + - !!python/tuple [3, 4] + - !!python/tuple [7, 6] + - !!python/tuple [4, 6] + - !!python/tuple [4, 5] + - !!python/tuple [6, 7] + - !!python/tuple [2, 7] + - !!python/tuple [0, 1] + - !!python/tuple [2, 5] + - !!python/tuple [4, 2] + - !!python/tuple [6, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex8.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex8.yaml new file mode 100644 index 0000000..464fcea --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex8.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [3, 6] + name: agent0 + start: [4, 2] +- goal: [3, 3] + name: agent1 + start: [2, 3] +- goal: [2, 7] + name: agent2 + start: [4, 6] +- goal: [1, 6] + name: agent3 + start: [7, 4] +- goal: [1, 2] + name: agent4 + start: [4, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 6] + - !!python/tuple [6, 0] + - !!python/tuple [7, 2] + - !!python/tuple [0, 1] + - !!python/tuple [3, 4] + - !!python/tuple [5, 1] + - !!python/tuple [2, 4] + - !!python/tuple [5, 3] + - !!python/tuple [1, 0] + - !!python/tuple [7, 0] + - !!python/tuple [7, 5] + - !!python/tuple [2, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex80.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex80.yaml new file mode 100644 index 0000000..d0926db --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex80.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [6, 2] + name: agent0 + start: [5, 1] +- goal: [1, 5] + name: agent1 + start: [2, 1] +- goal: [6, 6] + name: agent2 + start: [0, 5] +- goal: [5, 0] + name: agent3 + start: [3, 4] +- goal: [3, 7] + name: agent4 + start: [7, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 0] + - !!python/tuple [7, 5] + - !!python/tuple [1, 3] + - !!python/tuple [4, 4] + - !!python/tuple [6, 1] + - !!python/tuple [5, 3] + - !!python/tuple [0, 7] + - !!python/tuple [4, 1] + - !!python/tuple [6, 4] + - !!python/tuple [1, 7] + - !!python/tuple [2, 7] + - !!python/tuple [7, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex81.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex81.yaml new file mode 100644 index 0000000..524b2a7 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex81.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [2, 1] + name: agent0 + start: [3, 3] +- goal: [3, 6] + name: agent1 + start: [0, 4] +- goal: [6, 0] + name: agent2 + start: [7, 1] +- goal: [2, 6] + name: agent3 + start: [7, 3] +- goal: [0, 0] + name: agent4 + start: [0, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 4] + - !!python/tuple [1, 6] + - !!python/tuple [7, 7] + - !!python/tuple [3, 5] + - !!python/tuple [6, 6] + - !!python/tuple [6, 1] + - !!python/tuple [4, 7] + - !!python/tuple [5, 3] + - !!python/tuple [6, 3] + - !!python/tuple [5, 5] + - !!python/tuple [0, 7] + - !!python/tuple [7, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex82.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex82.yaml new file mode 100644 index 0000000..c85fbbd --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex82.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [2, 7] + name: agent0 + start: [4, 6] +- goal: [3, 0] + name: agent1 + start: [6, 4] +- goal: [7, 3] + name: agent2 + start: [3, 4] +- goal: [2, 6] + name: agent3 + start: [7, 4] +- goal: [4, 0] + name: agent4 + start: [6, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 5] + - !!python/tuple [7, 7] + - !!python/tuple [5, 6] + - !!python/tuple [7, 0] + - !!python/tuple [5, 4] + - !!python/tuple [4, 3] + - !!python/tuple [3, 6] + - !!python/tuple [1, 3] + - !!python/tuple [1, 7] + - !!python/tuple [7, 1] + - !!python/tuple [2, 3] + - !!python/tuple [2, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex83.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex83.yaml new file mode 100644 index 0000000..f941c9b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex83.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [1, 2] + name: agent0 + start: [6, 1] +- goal: [6, 0] + name: agent1 + start: [5, 5] +- goal: [0, 2] + name: agent2 + start: [6, 6] +- goal: [0, 7] + name: agent3 + start: [4, 3] +- goal: [5, 5] + name: agent4 + start: [2, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 0] + - !!python/tuple [5, 7] + - !!python/tuple [5, 1] + - !!python/tuple [2, 7] + - !!python/tuple [0, 5] + - !!python/tuple [6, 3] + - !!python/tuple [2, 0] + - !!python/tuple [7, 3] + - !!python/tuple [0, 0] + - !!python/tuple [7, 2] + - !!python/tuple [1, 0] + - !!python/tuple [1, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex84.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex84.yaml new file mode 100644 index 0000000..572935c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex84.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [3, 2] + name: agent0 + start: [0, 4] +- goal: [0, 3] + name: agent1 + start: [1, 0] +- goal: [4, 0] + name: agent2 + start: [6, 2] +- goal: [6, 6] + name: agent3 + start: [5, 1] +- goal: [6, 1] + name: agent4 + start: [0, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 0] + - !!python/tuple [4, 1] + - !!python/tuple [1, 7] + - !!python/tuple [2, 5] + - !!python/tuple [0, 1] + - !!python/tuple [6, 5] + - !!python/tuple [6, 0] + - !!python/tuple [4, 5] + - !!python/tuple [7, 3] + - !!python/tuple [3, 5] + - !!python/tuple [2, 0] + - !!python/tuple [7, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex85.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex85.yaml new file mode 100644 index 0000000..ade0c64 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex85.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [1, 7] + name: agent0 + start: [5, 2] +- goal: [5, 1] + name: agent1 + start: [6, 6] +- goal: [5, 3] + name: agent2 + start: [7, 1] +- goal: [6, 7] + name: agent3 + start: [2, 1] +- goal: [4, 3] + name: agent4 + start: [0, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 0] + - !!python/tuple [2, 2] + - !!python/tuple [2, 6] + - !!python/tuple [7, 2] + - !!python/tuple [1, 1] + - !!python/tuple [4, 1] + - !!python/tuple [3, 5] + - !!python/tuple [3, 7] + - !!python/tuple [2, 5] + - !!python/tuple [7, 5] + - !!python/tuple [7, 3] + - !!python/tuple [0, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex86.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex86.yaml new file mode 100644 index 0000000..35080e4 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex86.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [1, 4] + name: agent0 + start: [4, 4] +- goal: [3, 3] + name: agent1 + start: [3, 3] +- goal: [6, 4] + name: agent2 + start: [2, 3] +- goal: [4, 6] + name: agent3 + start: [6, 4] +- goal: [6, 1] + name: agent4 + start: [4, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 2] + - !!python/tuple [2, 6] + - !!python/tuple [1, 7] + - !!python/tuple [0, 7] + - !!python/tuple [0, 3] + - !!python/tuple [4, 3] + - !!python/tuple [7, 2] + - !!python/tuple [3, 5] + - !!python/tuple [2, 5] + - !!python/tuple [4, 7] + - !!python/tuple [0, 1] + - !!python/tuple [5, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex87.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex87.yaml new file mode 100644 index 0000000..6430e3f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex87.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [0, 7] + name: agent0 + start: [4, 4] +- goal: [4, 2] + name: agent1 + start: [6, 0] +- goal: [1, 1] + name: agent2 + start: [6, 4] +- goal: [0, 3] + name: agent3 + start: [3, 7] +- goal: [6, 5] + name: agent4 + start: [7, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 1] + - !!python/tuple [5, 6] + - !!python/tuple [0, 4] + - !!python/tuple [5, 7] + - !!python/tuple [4, 5] + - !!python/tuple [2, 2] + - !!python/tuple [5, 3] + - !!python/tuple [1, 3] + - !!python/tuple [4, 7] + - !!python/tuple [0, 6] + - !!python/tuple [7, 4] + - !!python/tuple [5, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex88.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex88.yaml new file mode 100644 index 0000000..f384792 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex88.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [6, 3] + name: agent0 + start: [1, 0] +- goal: [3, 4] + name: agent1 + start: [1, 5] +- goal: [1, 2] + name: agent2 + start: [2, 5] +- goal: [1, 0] + name: agent3 + start: [3, 1] +- goal: [6, 1] + name: agent4 + start: [5, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 2] + - !!python/tuple [4, 6] + - !!python/tuple [2, 6] + - !!python/tuple [7, 6] + - !!python/tuple [4, 4] + - !!python/tuple [2, 7] + - !!python/tuple [6, 5] + - !!python/tuple [4, 1] + - !!python/tuple [7, 1] + - !!python/tuple [7, 7] + - !!python/tuple [0, 1] + - !!python/tuple [3, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex89.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex89.yaml new file mode 100644 index 0000000..0edcecd --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex89.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [4, 4] + name: agent0 + start: [0, 3] +- goal: [3, 4] + name: agent1 + start: [1, 5] +- goal: [7, 1] + name: agent2 + start: [5, 5] +- goal: [4, 5] + name: agent3 + start: [0, 4] +- goal: [3, 5] + name: agent4 + start: [1, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 3] + - !!python/tuple [5, 7] + - !!python/tuple [1, 2] + - !!python/tuple [2, 3] + - !!python/tuple [0, 7] + - !!python/tuple [5, 3] + - !!python/tuple [1, 4] + - !!python/tuple [5, 2] + - !!python/tuple [5, 4] + - !!python/tuple [5, 6] + - !!python/tuple [2, 5] + - !!python/tuple [7, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex9.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex9.yaml new file mode 100644 index 0000000..bf2b44c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex9.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [5, 4] + name: agent0 + start: [3, 3] +- goal: [3, 7] + name: agent1 + start: [4, 4] +- goal: [7, 5] + name: agent2 + start: [7, 3] +- goal: [1, 7] + name: agent3 + start: [6, 6] +- goal: [1, 0] + name: agent4 + start: [4, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 5] + - !!python/tuple [1, 1] + - !!python/tuple [2, 5] + - !!python/tuple [2, 7] + - !!python/tuple [2, 1] + - !!python/tuple [5, 0] + - !!python/tuple [5, 6] + - !!python/tuple [6, 0] + - !!python/tuple [7, 7] + - !!python/tuple [6, 7] + - !!python/tuple [0, 0] + - !!python/tuple [1, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex90.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex90.yaml new file mode 100644 index 0000000..6aa8fe3 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex90.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [2, 5] + name: agent0 + start: [7, 5] +- goal: [7, 5] + name: agent1 + start: [6, 0] +- goal: [3, 7] + name: agent2 + start: [0, 5] +- goal: [2, 2] + name: agent3 + start: [0, 2] +- goal: [4, 7] + name: agent4 + start: [1, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 3] + - !!python/tuple [7, 6] + - !!python/tuple [7, 4] + - !!python/tuple [0, 7] + - !!python/tuple [7, 7] + - !!python/tuple [1, 0] + - !!python/tuple [7, 1] + - !!python/tuple [6, 4] + - !!python/tuple [7, 3] + - !!python/tuple [6, 7] + - !!python/tuple [4, 2] + - !!python/tuple [5, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex91.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex91.yaml new file mode 100644 index 0000000..c42dff0 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex91.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [3, 6] + name: agent0 + start: [1, 2] +- goal: [7, 4] + name: agent1 + start: [6, 2] +- goal: [0, 3] + name: agent2 + start: [6, 7] +- goal: [2, 0] + name: agent3 + start: [6, 4] +- goal: [6, 5] + name: agent4 + start: [0, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 4] + - !!python/tuple [3, 0] + - !!python/tuple [4, 0] + - !!python/tuple [2, 3] + - !!python/tuple [0, 0] + - !!python/tuple [7, 0] + - !!python/tuple [7, 1] + - !!python/tuple [3, 2] + - !!python/tuple [5, 6] + - !!python/tuple [1, 5] + - !!python/tuple [7, 3] + - !!python/tuple [6, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex92.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex92.yaml new file mode 100644 index 0000000..4646084 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex92.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [6, 0] + name: agent0 + start: [4, 4] +- goal: [5, 2] + name: agent1 + start: [5, 4] +- goal: [7, 1] + name: agent2 + start: [7, 5] +- goal: [3, 5] + name: agent3 + start: [4, 3] +- goal: [7, 2] + name: agent4 + start: [4, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 6] + - !!python/tuple [7, 0] + - !!python/tuple [1, 3] + - !!python/tuple [4, 2] + - !!python/tuple [6, 1] + - !!python/tuple [2, 7] + - !!python/tuple [1, 2] + - !!python/tuple [3, 2] + - !!python/tuple [7, 3] + - !!python/tuple [7, 6] + - !!python/tuple [3, 6] + - !!python/tuple [7, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex93.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex93.yaml new file mode 100644 index 0000000..e6a261e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex93.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [6, 4] + name: agent0 + start: [3, 4] +- goal: [2, 2] + name: agent1 + start: [6, 0] +- goal: [5, 1] + name: agent2 + start: [0, 0] +- goal: [3, 5] + name: agent3 + start: [3, 7] +- goal: [7, 2] + name: agent4 + start: [6, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 6] + - !!python/tuple [4, 1] + - !!python/tuple [2, 3] + - !!python/tuple [6, 2] + - !!python/tuple [3, 0] + - !!python/tuple [7, 5] + - !!python/tuple [6, 6] + - !!python/tuple [2, 6] + - !!python/tuple [0, 5] + - !!python/tuple [5, 0] + - !!python/tuple [0, 6] + - !!python/tuple [4, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex94.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex94.yaml new file mode 100644 index 0000000..fc07d79 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex94.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [3, 4] + name: agent0 + start: [7, 0] +- goal: [0, 2] + name: agent1 + start: [6, 3] +- goal: [4, 3] + name: agent2 + start: [7, 2] +- goal: [1, 7] + name: agent3 + start: [1, 7] +- goal: [2, 5] + name: agent4 + start: [4, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 4] + - !!python/tuple [3, 5] + - !!python/tuple [2, 4] + - !!python/tuple [5, 7] + - !!python/tuple [5, 5] + - !!python/tuple [0, 0] + - !!python/tuple [3, 1] + - !!python/tuple [0, 3] + - !!python/tuple [7, 5] + - !!python/tuple [0, 1] + - !!python/tuple [4, 6] + - !!python/tuple [5, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex95.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex95.yaml new file mode 100644 index 0000000..52fee6b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex95.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [7, 1] + name: agent0 + start: [5, 1] +- goal: [2, 3] + name: agent1 + start: [6, 5] +- goal: [2, 5] + name: agent2 + start: [6, 2] +- goal: [2, 1] + name: agent3 + start: [5, 6] +- goal: [7, 2] + name: agent4 + start: [1, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 0] + - !!python/tuple [1, 3] + - !!python/tuple [5, 4] + - !!python/tuple [3, 7] + - !!python/tuple [7, 0] + - !!python/tuple [0, 3] + - !!python/tuple [0, 7] + - !!python/tuple [3, 6] + - !!python/tuple [3, 5] + - !!python/tuple [5, 7] + - !!python/tuple [1, 4] + - !!python/tuple [7, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex96.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex96.yaml new file mode 100644 index 0000000..d8a6aba --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex96.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [6, 5] + name: agent0 + start: [6, 5] +- goal: [2, 5] + name: agent1 + start: [7, 1] +- goal: [3, 1] + name: agent2 + start: [5, 4] +- goal: [5, 6] + name: agent3 + start: [2, 1] +- goal: [1, 6] + name: agent4 + start: [7, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 4] + - !!python/tuple [0, 3] + - !!python/tuple [0, 1] + - !!python/tuple [7, 5] + - !!python/tuple [7, 4] + - !!python/tuple [6, 6] + - !!python/tuple [5, 3] + - !!python/tuple [1, 0] + - !!python/tuple [7, 2] + - !!python/tuple [1, 2] + - !!python/tuple [6, 0] + - !!python/tuple [4, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex97.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex97.yaml new file mode 100644 index 0000000..d78f862 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex97.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [3, 3] + name: agent0 + start: [4, 3] +- goal: [3, 0] + name: agent1 + start: [3, 5] +- goal: [6, 1] + name: agent2 + start: [3, 7] +- goal: [6, 3] + name: agent3 + start: [1, 1] +- goal: [3, 7] + name: agent4 + start: [2, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 4] + - !!python/tuple [4, 0] + - !!python/tuple [6, 4] + - !!python/tuple [2, 6] + - !!python/tuple [4, 2] + - !!python/tuple [5, 5] + - !!python/tuple [5, 3] + - !!python/tuple [7, 0] + - !!python/tuple [6, 7] + - !!python/tuple [3, 2] + - !!python/tuple [0, 7] + - !!python/tuple [2, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex98.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex98.yaml new file mode 100644 index 0000000..369cd0a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex98.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [3, 6] + name: agent0 + start: [4, 1] +- goal: [0, 2] + name: agent1 + start: [5, 6] +- goal: [2, 7] + name: agent2 + start: [7, 4] +- goal: [2, 2] + name: agent3 + start: [6, 2] +- goal: [0, 3] + name: agent4 + start: [5, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 1] + - !!python/tuple [0, 5] + - !!python/tuple [2, 6] + - !!python/tuple [6, 4] + - !!python/tuple [3, 3] + - !!python/tuple [3, 4] + - !!python/tuple [2, 4] + - !!python/tuple [2, 3] + - !!python/tuple [7, 0] + - !!python/tuple [1, 2] + - !!python/tuple [7, 7] + - !!python/tuple [6, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex99.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex99.yaml new file mode 100644 index 0000000..8829971 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents5_ex99.yaml @@ -0,0 +1,31 @@ +agents: +- goal: [4, 5] + name: agent0 + start: [0, 0] +- goal: [0, 6] + name: agent1 + start: [5, 2] +- goal: [4, 4] + name: agent2 + start: [0, 6] +- goal: [2, 5] + name: agent3 + start: [1, 5] +- goal: [4, 7] + name: agent4 + start: [7, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 1] + - !!python/tuple [6, 5] + - !!python/tuple [5, 3] + - !!python/tuple [5, 1] + - !!python/tuple [4, 1] + - !!python/tuple [1, 4] + - !!python/tuple [7, 6] + - !!python/tuple [5, 7] + - !!python/tuple [2, 3] + - !!python/tuple [4, 6] + - !!python/tuple [6, 1] + - !!python/tuple [1, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex0.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex0.yaml new file mode 100644 index 0000000..c358c4f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex0.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [0, 4] + name: agent0 + start: [4, 1] +- goal: [6, 2] + name: agent1 + start: [6, 4] +- goal: [4, 0] + name: agent2 + start: [1, 2] +- goal: [2, 1] + name: agent3 + start: [0, 4] +- goal: [3, 5] + name: agent4 + start: [1, 6] +- goal: [0, 0] + name: agent5 + start: [4, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 6] + - !!python/tuple [0, 7] + - !!python/tuple [6, 5] + - !!python/tuple [5, 7] + - !!python/tuple [0, 5] + - !!python/tuple [2, 4] + - !!python/tuple [0, 6] + - !!python/tuple [4, 2] + - !!python/tuple [1, 5] + - !!python/tuple [4, 5] + - !!python/tuple [5, 2] + - !!python/tuple [3, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex1.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex1.yaml new file mode 100644 index 0000000..e64a820 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex1.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [2, 2] + name: agent0 + start: [7, 6] +- goal: [0, 5] + name: agent1 + start: [4, 3] +- goal: [7, 5] + name: agent2 + start: [1, 5] +- goal: [1, 0] + name: agent3 + start: [6, 7] +- goal: [7, 6] + name: agent4 + start: [3, 2] +- goal: [7, 3] + name: agent5 + start: [5, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 0] + - !!python/tuple [3, 3] + - !!python/tuple [3, 0] + - !!python/tuple [1, 7] + - !!python/tuple [1, 3] + - !!python/tuple [6, 5] + - !!python/tuple [2, 1] + - !!python/tuple [3, 6] + - !!python/tuple [7, 7] + - !!python/tuple [0, 6] + - !!python/tuple [1, 6] + - !!python/tuple [0, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex10.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex10.yaml new file mode 100644 index 0000000..d48775e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex10.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [3, 5] + name: agent0 + start: [6, 3] +- goal: [4, 4] + name: agent1 + start: [7, 3] +- goal: [0, 6] + name: agent2 + start: [3, 7] +- goal: [7, 3] + name: agent3 + start: [1, 1] +- goal: [4, 1] + name: agent4 + start: [2, 7] +- goal: [0, 0] + name: agent5 + start: [5, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 1] + - !!python/tuple [1, 3] + - !!python/tuple [2, 2] + - !!python/tuple [6, 5] + - !!python/tuple [0, 4] + - !!python/tuple [5, 5] + - !!python/tuple [5, 2] + - !!python/tuple [0, 2] + - !!python/tuple [1, 7] + - !!python/tuple [7, 1] + - !!python/tuple [2, 1] + - !!python/tuple [6, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex11.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex11.yaml new file mode 100644 index 0000000..279791f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex11.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [5, 1] + name: agent0 + start: [3, 6] +- goal: [1, 0] + name: agent1 + start: [6, 7] +- goal: [1, 2] + name: agent2 + start: [7, 0] +- goal: [1, 6] + name: agent3 + start: [7, 1] +- goal: [3, 0] + name: agent4 + start: [4, 5] +- goal: [6, 7] + name: agent5 + start: [1, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 6] + - !!python/tuple [6, 3] + - !!python/tuple [7, 2] + - !!python/tuple [1, 3] + - !!python/tuple [0, 0] + - !!python/tuple [2, 0] + - !!python/tuple [5, 6] + - !!python/tuple [4, 6] + - !!python/tuple [2, 7] + - !!python/tuple [4, 1] + - !!python/tuple [0, 5] + - !!python/tuple [2, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex12.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex12.yaml new file mode 100644 index 0000000..f9c47ed --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex12.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [4, 3] + name: agent0 + start: [2, 5] +- goal: [2, 2] + name: agent1 + start: [3, 5] +- goal: [1, 2] + name: agent2 + start: [1, 0] +- goal: [0, 6] + name: agent3 + start: [6, 1] +- goal: [5, 6] + name: agent4 + start: [4, 0] +- goal: [2, 6] + name: agent5 + start: [2, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 5] + - !!python/tuple [2, 4] + - !!python/tuple [7, 0] + - !!python/tuple [0, 5] + - !!python/tuple [7, 5] + - !!python/tuple [6, 0] + - !!python/tuple [2, 0] + - !!python/tuple [6, 4] + - !!python/tuple [5, 2] + - !!python/tuple [0, 0] + - !!python/tuple [3, 3] + - !!python/tuple [0, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex13.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex13.yaml new file mode 100644 index 0000000..7080ec2 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex13.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [6, 6] + name: agent0 + start: [4, 1] +- goal: [0, 4] + name: agent1 + start: [7, 1] +- goal: [6, 2] + name: agent2 + start: [1, 4] +- goal: [5, 3] + name: agent3 + start: [3, 5] +- goal: [3, 4] + name: agent4 + start: [6, 2] +- goal: [3, 1] + name: agent5 + start: [5, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 3] + - !!python/tuple [0, 5] + - !!python/tuple [2, 5] + - !!python/tuple [7, 5] + - !!python/tuple [6, 0] + - !!python/tuple [0, 3] + - !!python/tuple [6, 1] + - !!python/tuple [1, 7] + - !!python/tuple [5, 6] + - !!python/tuple [3, 3] + - !!python/tuple [5, 1] + - !!python/tuple [1, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex14.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex14.yaml new file mode 100644 index 0000000..f8dce2c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex14.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [1, 3] + name: agent0 + start: [7, 6] +- goal: [6, 6] + name: agent1 + start: [3, 1] +- goal: [0, 2] + name: agent2 + start: [7, 5] +- goal: [1, 2] + name: agent3 + start: [6, 2] +- goal: [4, 2] + name: agent4 + start: [0, 4] +- goal: [3, 5] + name: agent5 + start: [1, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 7] + - !!python/tuple [4, 3] + - !!python/tuple [1, 7] + - !!python/tuple [6, 5] + - !!python/tuple [5, 5] + - !!python/tuple [5, 3] + - !!python/tuple [2, 7] + - !!python/tuple [2, 6] + - !!python/tuple [0, 1] + - !!python/tuple [6, 0] + - !!python/tuple [5, 2] + - !!python/tuple [1, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex15.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex15.yaml new file mode 100644 index 0000000..040e2d7 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex15.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [7, 3] + name: agent0 + start: [5, 6] +- goal: [2, 3] + name: agent1 + start: [5, 3] +- goal: [5, 2] + name: agent2 + start: [1, 1] +- goal: [5, 5] + name: agent3 + start: [4, 5] +- goal: [1, 3] + name: agent4 + start: [2, 6] +- goal: [5, 3] + name: agent5 + start: [0, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 3] + - !!python/tuple [0, 2] + - !!python/tuple [3, 1] + - !!python/tuple [3, 5] + - !!python/tuple [5, 7] + - !!python/tuple [7, 2] + - !!python/tuple [1, 6] + - !!python/tuple [5, 0] + - !!python/tuple [7, 0] + - !!python/tuple [3, 6] + - !!python/tuple [4, 2] + - !!python/tuple [0, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex16.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex16.yaml new file mode 100644 index 0000000..ecad665 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex16.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [0, 2] + name: agent0 + start: [0, 2] +- goal: [3, 7] + name: agent1 + start: [1, 7] +- goal: [7, 0] + name: agent2 + start: [2, 2] +- goal: [5, 3] + name: agent3 + start: [6, 3] +- goal: [7, 5] + name: agent4 + start: [4, 5] +- goal: [1, 1] + name: agent5 + start: [0, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 1] + - !!python/tuple [0, 6] + - !!python/tuple [7, 2] + - !!python/tuple [1, 3] + - !!python/tuple [7, 6] + - !!python/tuple [0, 7] + - !!python/tuple [5, 6] + - !!python/tuple [3, 6] + - !!python/tuple [2, 1] + - !!python/tuple [2, 0] + - !!python/tuple [7, 4] + - !!python/tuple [6, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex17.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex17.yaml new file mode 100644 index 0000000..621c0da --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex17.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [6, 1] + name: agent0 + start: [0, 2] +- goal: [3, 1] + name: agent1 + start: [7, 3] +- goal: [6, 3] + name: agent2 + start: [1, 5] +- goal: [0, 7] + name: agent3 + start: [4, 0] +- goal: [4, 6] + name: agent4 + start: [3, 1] +- goal: [0, 2] + name: agent5 + start: [5, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 0] + - !!python/tuple [7, 7] + - !!python/tuple [6, 7] + - !!python/tuple [5, 3] + - !!python/tuple [4, 4] + - !!python/tuple [2, 4] + - !!python/tuple [1, 6] + - !!python/tuple [1, 4] + - !!python/tuple [3, 3] + - !!python/tuple [5, 0] + - !!python/tuple [6, 0] + - !!python/tuple [5, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex18.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex18.yaml new file mode 100644 index 0000000..857b5a7 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex18.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [3, 3] + name: agent0 + start: [2, 2] +- goal: [5, 0] + name: agent1 + start: [0, 4] +- goal: [0, 5] + name: agent2 + start: [2, 7] +- goal: [1, 3] + name: agent3 + start: [3, 4] +- goal: [7, 1] + name: agent4 + start: [4, 3] +- goal: [2, 2] + name: agent5 + start: [5, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 7] + - !!python/tuple [7, 2] + - !!python/tuple [4, 2] + - !!python/tuple [6, 4] + - !!python/tuple [6, 1] + - !!python/tuple [6, 2] + - !!python/tuple [5, 5] + - !!python/tuple [5, 1] + - !!python/tuple [2, 4] + - !!python/tuple [1, 5] + - !!python/tuple [1, 1] + - !!python/tuple [4, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex19.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex19.yaml new file mode 100644 index 0000000..012270f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex19.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [3, 4] + name: agent0 + start: [2, 4] +- goal: [3, 5] + name: agent1 + start: [5, 0] +- goal: [7, 2] + name: agent2 + start: [5, 5] +- goal: [7, 3] + name: agent3 + start: [3, 7] +- goal: [0, 2] + name: agent4 + start: [2, 0] +- goal: [1, 5] + name: agent5 + start: [7, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 0] + - !!python/tuple [4, 3] + - !!python/tuple [0, 7] + - !!python/tuple [6, 7] + - !!python/tuple [5, 1] + - !!python/tuple [1, 0] + - !!python/tuple [3, 3] + - !!python/tuple [2, 3] + - !!python/tuple [5, 7] + - !!python/tuple [6, 3] + - !!python/tuple [1, 2] + - !!python/tuple [0, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex2.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex2.yaml new file mode 100644 index 0000000..b135e1c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex2.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [6, 3] + name: agent0 + start: [4, 0] +- goal: [7, 1] + name: agent1 + start: [6, 4] +- goal: [5, 1] + name: agent2 + start: [1, 4] +- goal: [6, 5] + name: agent3 + start: [7, 4] +- goal: [1, 1] + name: agent4 + start: [3, 2] +- goal: [4, 6] + name: agent5 + start: [1, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 7] + - !!python/tuple [2, 5] + - !!python/tuple [6, 0] + - !!python/tuple [2, 3] + - !!python/tuple [3, 4] + - !!python/tuple [0, 5] + - !!python/tuple [2, 1] + - !!python/tuple [0, 3] + - !!python/tuple [0, 4] + - !!python/tuple [2, 2] + - !!python/tuple [5, 0] + - !!python/tuple [6, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex20.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex20.yaml new file mode 100644 index 0000000..ef1fbc0 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex20.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [7, 2] + name: agent0 + start: [3, 0] +- goal: [6, 3] + name: agent1 + start: [5, 2] +- goal: [1, 4] + name: agent2 + start: [1, 3] +- goal: [3, 6] + name: agent3 + start: [4, 6] +- goal: [2, 5] + name: agent4 + start: [3, 5] +- goal: [4, 5] + name: agent5 + start: [4, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 0] + - !!python/tuple [2, 4] + - !!python/tuple [5, 6] + - !!python/tuple [3, 4] + - !!python/tuple [7, 1] + - !!python/tuple [0, 4] + - !!python/tuple [5, 4] + - !!python/tuple [2, 1] + - !!python/tuple [7, 7] + - !!python/tuple [1, 5] + - !!python/tuple [3, 7] + - !!python/tuple [7, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex21.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex21.yaml new file mode 100644 index 0000000..19a8fe1 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex21.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [5, 6] + name: agent0 + start: [7, 4] +- goal: [5, 3] + name: agent1 + start: [1, 2] +- goal: [7, 4] + name: agent2 + start: [6, 5] +- goal: [2, 0] + name: agent3 + start: [2, 6] +- goal: [0, 4] + name: agent4 + start: [2, 7] +- goal: [2, 6] + name: agent5 + start: [7, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 2] + - !!python/tuple [3, 2] + - !!python/tuple [4, 5] + - !!python/tuple [7, 2] + - !!python/tuple [6, 6] + - !!python/tuple [3, 7] + - !!python/tuple [4, 3] + - !!python/tuple [0, 3] + - !!python/tuple [3, 6] + - !!python/tuple [6, 0] + - !!python/tuple [3, 0] + - !!python/tuple [5, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex22.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex22.yaml new file mode 100644 index 0000000..61ac906 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex22.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [2, 4] + name: agent0 + start: [5, 0] +- goal: [3, 5] + name: agent1 + start: [3, 2] +- goal: [7, 6] + name: agent2 + start: [3, 7] +- goal: [1, 7] + name: agent3 + start: [3, 0] +- goal: [1, 6] + name: agent4 + start: [5, 3] +- goal: [1, 2] + name: agent5 + start: [2, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 0] + - !!python/tuple [6, 4] + - !!python/tuple [7, 3] + - !!python/tuple [7, 0] + - !!python/tuple [1, 3] + - !!python/tuple [3, 3] + - !!python/tuple [5, 2] + - !!python/tuple [4, 1] + - !!python/tuple [4, 6] + - !!python/tuple [0, 4] + - !!python/tuple [4, 3] + - !!python/tuple [2, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex23.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex23.yaml new file mode 100644 index 0000000..09b7946 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex23.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [1, 2] + name: agent0 + start: [6, 7] +- goal: [4, 7] + name: agent1 + start: [2, 5] +- goal: [1, 3] + name: agent2 + start: [6, 1] +- goal: [0, 1] + name: agent3 + start: [1, 5] +- goal: [2, 5] + name: agent4 + start: [0, 1] +- goal: [6, 3] + name: agent5 + start: [5, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 5] + - !!python/tuple [3, 0] + - !!python/tuple [5, 0] + - !!python/tuple [1, 7] + - !!python/tuple [0, 7] + - !!python/tuple [7, 1] + - !!python/tuple [3, 5] + - !!python/tuple [4, 4] + - !!python/tuple [6, 2] + - !!python/tuple [3, 6] + - !!python/tuple [4, 6] + - !!python/tuple [0, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex24.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex24.yaml new file mode 100644 index 0000000..434f433 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex24.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [1, 4] + name: agent0 + start: [6, 5] +- goal: [2, 6] + name: agent1 + start: [1, 4] +- goal: [7, 3] + name: agent2 + start: [0, 4] +- goal: [5, 5] + name: agent3 + start: [4, 6] +- goal: [3, 2] + name: agent4 + start: [2, 6] +- goal: [1, 1] + name: agent5 + start: [4, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 6] + - !!python/tuple [2, 1] + - !!python/tuple [1, 2] + - !!python/tuple [7, 2] + - !!python/tuple [2, 7] + - !!python/tuple [3, 4] + - !!python/tuple [5, 3] + - !!python/tuple [2, 5] + - !!python/tuple [2, 4] + - !!python/tuple [4, 2] + - !!python/tuple [0, 3] + - !!python/tuple [0, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex25.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex25.yaml new file mode 100644 index 0000000..2aaa35c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex25.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [0, 7] + name: agent0 + start: [3, 0] +- goal: [0, 5] + name: agent1 + start: [6, 5] +- goal: [5, 5] + name: agent2 + start: [4, 6] +- goal: [3, 1] + name: agent3 + start: [0, 7] +- goal: [5, 6] + name: agent4 + start: [2, 3] +- goal: [4, 6] + name: agent5 + start: [6, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 6] + - !!python/tuple [1, 5] + - !!python/tuple [7, 7] + - !!python/tuple [4, 4] + - !!python/tuple [5, 0] + - !!python/tuple [4, 2] + - !!python/tuple [1, 1] + - !!python/tuple [4, 0] + - !!python/tuple [2, 4] + - !!python/tuple [6, 1] + - !!python/tuple [1, 7] + - !!python/tuple [4, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex26.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex26.yaml new file mode 100644 index 0000000..e84a8cf --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex26.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [0, 2] + name: agent0 + start: [5, 1] +- goal: [4, 0] + name: agent1 + start: [0, 1] +- goal: [1, 2] + name: agent2 + start: [4, 6] +- goal: [0, 5] + name: agent3 + start: [1, 2] +- goal: [4, 7] + name: agent4 + start: [6, 7] +- goal: [5, 6] + name: agent5 + start: [5, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 3] + - !!python/tuple [4, 1] + - !!python/tuple [6, 6] + - !!python/tuple [3, 4] + - !!python/tuple [0, 4] + - !!python/tuple [0, 7] + - !!python/tuple [4, 3] + - !!python/tuple [5, 0] + - !!python/tuple [4, 2] + - !!python/tuple [4, 4] + - !!python/tuple [3, 3] + - !!python/tuple [7, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex27.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex27.yaml new file mode 100644 index 0000000..515a1e3 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex27.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [1, 5] + name: agent0 + start: [5, 2] +- goal: [2, 0] + name: agent1 + start: [2, 5] +- goal: [0, 6] + name: agent2 + start: [4, 4] +- goal: [5, 3] + name: agent3 + start: [7, 0] +- goal: [3, 3] + name: agent4 + start: [3, 1] +- goal: [0, 2] + name: agent5 + start: [5, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 5] + - !!python/tuple [6, 6] + - !!python/tuple [1, 0] + - !!python/tuple [2, 2] + - !!python/tuple [1, 3] + - !!python/tuple [4, 2] + - !!python/tuple [7, 6] + - !!python/tuple [7, 4] + - !!python/tuple [3, 0] + - !!python/tuple [5, 5] + - !!python/tuple [5, 1] + - !!python/tuple [5, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex28.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex28.yaml new file mode 100644 index 0000000..f73ab09 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex28.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [6, 7] + name: agent0 + start: [0, 7] +- goal: [5, 5] + name: agent1 + start: [3, 0] +- goal: [5, 6] + name: agent2 + start: [3, 7] +- goal: [4, 6] + name: agent3 + start: [0, 0] +- goal: [4, 2] + name: agent4 + start: [3, 2] +- goal: [0, 3] + name: agent5 + start: [1, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 6] + - !!python/tuple [3, 6] + - !!python/tuple [5, 7] + - !!python/tuple [1, 5] + - !!python/tuple [2, 5] + - !!python/tuple [0, 4] + - !!python/tuple [7, 4] + - !!python/tuple [6, 2] + - !!python/tuple [3, 3] + - !!python/tuple [3, 5] + - !!python/tuple [4, 5] + - !!python/tuple [1, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex29.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex29.yaml new file mode 100644 index 0000000..da642d2 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex29.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [5, 7] + name: agent0 + start: [3, 4] +- goal: [3, 1] + name: agent1 + start: [2, 1] +- goal: [4, 4] + name: agent2 + start: [3, 2] +- goal: [3, 2] + name: agent3 + start: [0, 0] +- goal: [0, 4] + name: agent4 + start: [5, 3] +- goal: [6, 4] + name: agent5 + start: [4, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 5] + - !!python/tuple [4, 7] + - !!python/tuple [5, 5] + - !!python/tuple [5, 6] + - !!python/tuple [4, 2] + - !!python/tuple [1, 5] + - !!python/tuple [2, 2] + - !!python/tuple [0, 7] + - !!python/tuple [7, 2] + - !!python/tuple [4, 0] + - !!python/tuple [2, 3] + - !!python/tuple [2, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex3.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex3.yaml new file mode 100644 index 0000000..09c7481 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex3.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [3, 7] + name: agent0 + start: [4, 0] +- goal: [1, 6] + name: agent1 + start: [2, 1] +- goal: [5, 0] + name: agent2 + start: [5, 7] +- goal: [6, 7] + name: agent3 + start: [5, 5] +- goal: [0, 3] + name: agent4 + start: [6, 5] +- goal: [5, 7] + name: agent5 + start: [0, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 3] + - !!python/tuple [7, 4] + - !!python/tuple [6, 6] + - !!python/tuple [2, 6] + - !!python/tuple [5, 3] + - !!python/tuple [7, 1] + - !!python/tuple [0, 0] + - !!python/tuple [2, 4] + - !!python/tuple [3, 3] + - !!python/tuple [7, 2] + - !!python/tuple [3, 2] + - !!python/tuple [4, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex30.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex30.yaml new file mode 100644 index 0000000..cfc9205 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex30.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [6, 3] + name: agent0 + start: [5, 5] +- goal: [3, 5] + name: agent1 + start: [3, 1] +- goal: [7, 3] + name: agent2 + start: [2, 7] +- goal: [0, 2] + name: agent3 + start: [6, 5] +- goal: [1, 4] + name: agent4 + start: [0, 4] +- goal: [1, 3] + name: agent5 + start: [0, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 6] + - !!python/tuple [1, 5] + - !!python/tuple [7, 0] + - !!python/tuple [4, 5] + - !!python/tuple [5, 0] + - !!python/tuple [3, 6] + - !!python/tuple [7, 2] + - !!python/tuple [3, 7] + - !!python/tuple [2, 3] + - !!python/tuple [1, 1] + - !!python/tuple [6, 0] + - !!python/tuple [4, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex31.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex31.yaml new file mode 100644 index 0000000..e84dc82 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex31.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [5, 5] + name: agent0 + start: [1, 5] +- goal: [1, 6] + name: agent1 + start: [2, 4] +- goal: [7, 4] + name: agent2 + start: [2, 5] +- goal: [5, 4] + name: agent3 + start: [6, 2] +- goal: [2, 1] + name: agent4 + start: [7, 4] +- goal: [4, 4] + name: agent5 + start: [3, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 7] + - !!python/tuple [4, 3] + - !!python/tuple [0, 0] + - !!python/tuple [1, 1] + - !!python/tuple [4, 7] + - !!python/tuple [7, 2] + - !!python/tuple [5, 6] + - !!python/tuple [2, 6] + - !!python/tuple [3, 4] + - !!python/tuple [1, 2] + - !!python/tuple [0, 7] + - !!python/tuple [7, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex32.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex32.yaml new file mode 100644 index 0000000..ffa313c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex32.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [1, 4] + name: agent0 + start: [7, 1] +- goal: [2, 5] + name: agent1 + start: [6, 0] +- goal: [6, 4] + name: agent2 + start: [6, 7] +- goal: [6, 7] + name: agent3 + start: [0, 0] +- goal: [2, 4] + name: agent4 + start: [1, 2] +- goal: [6, 1] + name: agent5 + start: [7, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 3] + - !!python/tuple [3, 0] + - !!python/tuple [4, 0] + - !!python/tuple [1, 0] + - !!python/tuple [1, 1] + - !!python/tuple [0, 3] + - !!python/tuple [4, 3] + - !!python/tuple [2, 0] + - !!python/tuple [4, 1] + - !!python/tuple [7, 0] + - !!python/tuple [3, 1] + - !!python/tuple [2, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex33.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex33.yaml new file mode 100644 index 0000000..e8b9f1a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex33.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [1, 2] + name: agent0 + start: [5, 5] +- goal: [4, 4] + name: agent1 + start: [4, 2] +- goal: [1, 0] + name: agent2 + start: [1, 3] +- goal: [5, 5] + name: agent3 + start: [7, 4] +- goal: [0, 6] + name: agent4 + start: [3, 3] +- goal: [3, 6] + name: agent5 + start: [4, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 5] + - !!python/tuple [5, 0] + - !!python/tuple [3, 1] + - !!python/tuple [7, 3] + - !!python/tuple [5, 6] + - !!python/tuple [0, 1] + - !!python/tuple [6, 4] + - !!python/tuple [1, 6] + - !!python/tuple [5, 7] + - !!python/tuple [4, 5] + - !!python/tuple [7, 7] + - !!python/tuple [4, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex34.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex34.yaml new file mode 100644 index 0000000..e3cb23c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex34.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [1, 5] + name: agent0 + start: [6, 5] +- goal: [3, 1] + name: agent1 + start: [3, 6] +- goal: [1, 7] + name: agent2 + start: [1, 5] +- goal: [6, 1] + name: agent3 + start: [1, 2] +- goal: [3, 6] + name: agent4 + start: [6, 1] +- goal: [6, 5] + name: agent5 + start: [4, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 5] + - !!python/tuple [5, 1] + - !!python/tuple [6, 2] + - !!python/tuple [4, 1] + - !!python/tuple [5, 2] + - !!python/tuple [3, 2] + - !!python/tuple [7, 4] + - !!python/tuple [1, 4] + - !!python/tuple [2, 2] + - !!python/tuple [4, 4] + - !!python/tuple [5, 4] + - !!python/tuple [2, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex35.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex35.yaml new file mode 100644 index 0000000..0b65d0b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex35.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [5, 5] + name: agent0 + start: [2, 5] +- goal: [1, 0] + name: agent1 + start: [1, 1] +- goal: [6, 1] + name: agent2 + start: [2, 3] +- goal: [4, 7] + name: agent3 + start: [5, 1] +- goal: [6, 7] + name: agent4 + start: [3, 6] +- goal: [3, 0] + name: agent5 + start: [5, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 3] + - !!python/tuple [0, 1] + - !!python/tuple [1, 2] + - !!python/tuple [0, 4] + - !!python/tuple [7, 6] + - !!python/tuple [3, 5] + - !!python/tuple [5, 3] + - !!python/tuple [7, 2] + - !!python/tuple [6, 3] + - !!python/tuple [7, 7] + - !!python/tuple [0, 2] + - !!python/tuple [3, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex36.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex36.yaml new file mode 100644 index 0000000..b1e5f9e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex36.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [3, 4] + name: agent0 + start: [1, 7] +- goal: [6, 3] + name: agent1 + start: [4, 3] +- goal: [0, 2] + name: agent2 + start: [0, 0] +- goal: [5, 3] + name: agent3 + start: [5, 7] +- goal: [1, 4] + name: agent4 + start: [1, 4] +- goal: [6, 7] + name: agent5 + start: [0, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 5] + - !!python/tuple [3, 0] + - !!python/tuple [6, 4] + - !!python/tuple [4, 6] + - !!python/tuple [2, 7] + - !!python/tuple [2, 1] + - !!python/tuple [7, 5] + - !!python/tuple [2, 6] + - !!python/tuple [5, 1] + - !!python/tuple [1, 1] + - !!python/tuple [3, 3] + - !!python/tuple [6, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex37.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex37.yaml new file mode 100644 index 0000000..d5f3733 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex37.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [1, 4] + name: agent0 + start: [4, 2] +- goal: [5, 5] + name: agent1 + start: [6, 4] +- goal: [5, 6] + name: agent2 + start: [1, 4] +- goal: [2, 0] + name: agent3 + start: [7, 0] +- goal: [0, 0] + name: agent4 + start: [2, 0] +- goal: [5, 2] + name: agent5 + start: [7, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 6] + - !!python/tuple [6, 0] + - !!python/tuple [2, 3] + - !!python/tuple [4, 0] + - !!python/tuple [1, 5] + - !!python/tuple [4, 4] + - !!python/tuple [4, 1] + - !!python/tuple [4, 5] + - !!python/tuple [2, 5] + - !!python/tuple [4, 7] + - !!python/tuple [3, 2] + - !!python/tuple [0, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex38.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex38.yaml new file mode 100644 index 0000000..fabe2a0 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex38.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [4, 1] + name: agent0 + start: [1, 7] +- goal: [0, 1] + name: agent1 + start: [7, 7] +- goal: [0, 0] + name: agent2 + start: [2, 4] +- goal: [5, 6] + name: agent3 + start: [5, 2] +- goal: [0, 6] + name: agent4 + start: [0, 1] +- goal: [1, 6] + name: agent5 + start: [7, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 4] + - !!python/tuple [5, 4] + - !!python/tuple [0, 2] + - !!python/tuple [2, 0] + - !!python/tuple [1, 0] + - !!python/tuple [6, 3] + - !!python/tuple [4, 0] + - !!python/tuple [2, 1] + - !!python/tuple [7, 6] + - !!python/tuple [3, 0] + - !!python/tuple [5, 5] + - !!python/tuple [3, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex39.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex39.yaml new file mode 100644 index 0000000..f1becd9 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex39.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [3, 1] + name: agent0 + start: [3, 2] +- goal: [6, 7] + name: agent1 + start: [7, 1] +- goal: [6, 4] + name: agent2 + start: [7, 6] +- goal: [6, 5] + name: agent3 + start: [0, 0] +- goal: [4, 4] + name: agent4 + start: [5, 3] +- goal: [5, 4] + name: agent5 + start: [4, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 6] + - !!python/tuple [0, 1] + - !!python/tuple [1, 2] + - !!python/tuple [5, 5] + - !!python/tuple [0, 5] + - !!python/tuple [1, 5] + - !!python/tuple [2, 3] + - !!python/tuple [3, 7] + - !!python/tuple [2, 5] + - !!python/tuple [2, 6] + - !!python/tuple [3, 4] + - !!python/tuple [5, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex4.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex4.yaml new file mode 100644 index 0000000..bd43490 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex4.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [3, 6] + name: agent0 + start: [0, 0] +- goal: [4, 5] + name: agent1 + start: [7, 6] +- goal: [0, 7] + name: agent2 + start: [2, 7] +- goal: [1, 6] + name: agent3 + start: [4, 6] +- goal: [0, 4] + name: agent4 + start: [2, 0] +- goal: [7, 0] + name: agent5 + start: [1, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 1] + - !!python/tuple [0, 3] + - !!python/tuple [7, 3] + - !!python/tuple [6, 4] + - !!python/tuple [3, 5] + - !!python/tuple [5, 2] + - !!python/tuple [5, 0] + - !!python/tuple [7, 2] + - !!python/tuple [7, 7] + - !!python/tuple [4, 4] + - !!python/tuple [6, 3] + - !!python/tuple [4, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex40.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex40.yaml new file mode 100644 index 0000000..c23ab3a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex40.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [7, 4] + name: agent0 + start: [2, 5] +- goal: [1, 3] + name: agent1 + start: [4, 2] +- goal: [4, 2] + name: agent2 + start: [4, 7] +- goal: [1, 4] + name: agent3 + start: [3, 1] +- goal: [5, 3] + name: agent4 + start: [2, 6] +- goal: [7, 5] + name: agent5 + start: [6, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 6] + - !!python/tuple [1, 7] + - !!python/tuple [6, 6] + - !!python/tuple [3, 5] + - !!python/tuple [7, 2] + - !!python/tuple [4, 6] + - !!python/tuple [2, 4] + - !!python/tuple [1, 1] + - !!python/tuple [0, 5] + - !!python/tuple [3, 4] + - !!python/tuple [3, 2] + - !!python/tuple [4, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex41.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex41.yaml new file mode 100644 index 0000000..c2137a8 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex41.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [6, 3] + name: agent0 + start: [6, 4] +- goal: [3, 2] + name: agent1 + start: [4, 3] +- goal: [1, 0] + name: agent2 + start: [7, 1] +- goal: [5, 0] + name: agent3 + start: [7, 7] +- goal: [6, 0] + name: agent4 + start: [6, 6] +- goal: [6, 4] + name: agent5 + start: [6, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 7] + - !!python/tuple [1, 4] + - !!python/tuple [7, 4] + - !!python/tuple [0, 2] + - !!python/tuple [0, 4] + - !!python/tuple [1, 3] + - !!python/tuple [0, 3] + - !!python/tuple [5, 2] + - !!python/tuple [7, 5] + - !!python/tuple [1, 2] + - !!python/tuple [2, 5] + - !!python/tuple [4, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex42.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex42.yaml new file mode 100644 index 0000000..ceb4921 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex42.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [1, 3] + name: agent0 + start: [3, 6] +- goal: [4, 4] + name: agent1 + start: [4, 3] +- goal: [3, 1] + name: agent2 + start: [7, 1] +- goal: [6, 5] + name: agent3 + start: [5, 7] +- goal: [7, 2] + name: agent4 + start: [5, 4] +- goal: [5, 5] + name: agent5 + start: [0, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 6] + - !!python/tuple [4, 0] + - !!python/tuple [5, 2] + - !!python/tuple [2, 0] + - !!python/tuple [3, 5] + - !!python/tuple [6, 1] + - !!python/tuple [4, 5] + - !!python/tuple [7, 7] + - !!python/tuple [0, 7] + - !!python/tuple [6, 3] + - !!python/tuple [1, 5] + - !!python/tuple [6, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex43.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex43.yaml new file mode 100644 index 0000000..e833c1d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex43.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [4, 1] + name: agent0 + start: [4, 1] +- goal: [2, 5] + name: agent1 + start: [6, 3] +- goal: [0, 4] + name: agent2 + start: [5, 7] +- goal: [2, 3] + name: agent3 + start: [7, 7] +- goal: [0, 5] + name: agent4 + start: [7, 4] +- goal: [6, 5] + name: agent5 + start: [1, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 3] + - !!python/tuple [3, 5] + - !!python/tuple [4, 2] + - !!python/tuple [6, 7] + - !!python/tuple [6, 2] + - !!python/tuple [3, 1] + - !!python/tuple [2, 0] + - !!python/tuple [5, 3] + - !!python/tuple [4, 6] + - !!python/tuple [1, 2] + - !!python/tuple [1, 4] + - !!python/tuple [0, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex44.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex44.yaml new file mode 100644 index 0000000..cecb7e6 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex44.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [1, 4] + name: agent0 + start: [7, 3] +- goal: [0, 5] + name: agent1 + start: [1, 4] +- goal: [7, 4] + name: agent2 + start: [1, 2] +- goal: [7, 2] + name: agent3 + start: [0, 0] +- goal: [6, 2] + name: agent4 + start: [2, 1] +- goal: [3, 4] + name: agent5 + start: [5, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 2] + - !!python/tuple [4, 4] + - !!python/tuple [4, 7] + - !!python/tuple [5, 1] + - !!python/tuple [7, 1] + - !!python/tuple [6, 4] + - !!python/tuple [7, 0] + - !!python/tuple [1, 6] + - !!python/tuple [7, 5] + - !!python/tuple [6, 5] + - !!python/tuple [3, 5] + - !!python/tuple [5, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex45.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex45.yaml new file mode 100644 index 0000000..dbdc640 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex45.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [6, 5] + name: agent0 + start: [1, 7] +- goal: [5, 4] + name: agent1 + start: [5, 2] +- goal: [4, 5] + name: agent2 + start: [1, 0] +- goal: [7, 5] + name: agent3 + start: [1, 1] +- goal: [5, 6] + name: agent4 + start: [7, 2] +- goal: [7, 4] + name: agent5 + start: [5, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 4] + - !!python/tuple [6, 6] + - !!python/tuple [6, 7] + - !!python/tuple [1, 3] + - !!python/tuple [3, 3] + - !!python/tuple [4, 7] + - !!python/tuple [2, 0] + - !!python/tuple [0, 6] + - !!python/tuple [3, 5] + - !!python/tuple [5, 0] + - !!python/tuple [7, 1] + - !!python/tuple [2, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex46.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex46.yaml new file mode 100644 index 0000000..12477b7 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex46.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [6, 4] + name: agent0 + start: [5, 3] +- goal: [3, 2] + name: agent1 + start: [5, 5] +- goal: [6, 6] + name: agent2 + start: [3, 1] +- goal: [5, 5] + name: agent3 + start: [1, 5] +- goal: [7, 4] + name: agent4 + start: [4, 2] +- goal: [3, 6] + name: agent5 + start: [0, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 1] + - !!python/tuple [7, 1] + - !!python/tuple [1, 2] + - !!python/tuple [2, 6] + - !!python/tuple [5, 6] + - !!python/tuple [6, 2] + - !!python/tuple [6, 1] + - !!python/tuple [0, 4] + - !!python/tuple [4, 4] + - !!python/tuple [3, 5] + - !!python/tuple [2, 0] + - !!python/tuple [3, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex47.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex47.yaml new file mode 100644 index 0000000..ab5f186 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex47.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [1, 1] + name: agent0 + start: [5, 7] +- goal: [0, 6] + name: agent1 + start: [1, 3] +- goal: [6, 6] + name: agent2 + start: [2, 3] +- goal: [2, 5] + name: agent3 + start: [3, 4] +- goal: [5, 4] + name: agent4 + start: [0, 6] +- goal: [2, 2] + name: agent5 + start: [3, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 4] + - !!python/tuple [0, 1] + - !!python/tuple [4, 0] + - !!python/tuple [5, 1] + - !!python/tuple [7, 2] + - !!python/tuple [6, 5] + - !!python/tuple [4, 7] + - !!python/tuple [5, 3] + - !!python/tuple [0, 4] + - !!python/tuple [3, 3] + - !!python/tuple [5, 0] + - !!python/tuple [2, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex48.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex48.yaml new file mode 100644 index 0000000..5a78c3a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex48.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [7, 7] + name: agent0 + start: [7, 5] +- goal: [5, 1] + name: agent1 + start: [0, 4] +- goal: [6, 1] + name: agent2 + start: [6, 5] +- goal: [7, 6] + name: agent3 + start: [5, 4] +- goal: [2, 0] + name: agent4 + start: [3, 1] +- goal: [5, 7] + name: agent5 + start: [3, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 2] + - !!python/tuple [3, 5] + - !!python/tuple [4, 2] + - !!python/tuple [5, 3] + - !!python/tuple [3, 6] + - !!python/tuple [4, 6] + - !!python/tuple [0, 1] + - !!python/tuple [4, 3] + - !!python/tuple [3, 2] + - !!python/tuple [7, 2] + - !!python/tuple [5, 0] + - !!python/tuple [0, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex49.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex49.yaml new file mode 100644 index 0000000..3dad250 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex49.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [2, 6] + name: agent0 + start: [7, 4] +- goal: [5, 6] + name: agent1 + start: [0, 3] +- goal: [7, 7] + name: agent2 + start: [1, 2] +- goal: [3, 5] + name: agent3 + start: [6, 3] +- goal: [3, 2] + name: agent4 + start: [2, 6] +- goal: [2, 0] + name: agent5 + start: [5, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 0] + - !!python/tuple [4, 7] + - !!python/tuple [2, 3] + - !!python/tuple [6, 2] + - !!python/tuple [4, 2] + - !!python/tuple [4, 0] + - !!python/tuple [6, 6] + - !!python/tuple [0, 4] + - !!python/tuple [7, 1] + - !!python/tuple [3, 1] + - !!python/tuple [3, 7] + - !!python/tuple [5, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex5.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex5.yaml new file mode 100644 index 0000000..77a686d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex5.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [1, 6] + name: agent0 + start: [1, 4] +- goal: [0, 4] + name: agent1 + start: [0, 2] +- goal: [5, 1] + name: agent2 + start: [5, 3] +- goal: [1, 3] + name: agent3 + start: [3, 2] +- goal: [2, 7] + name: agent4 + start: [5, 1] +- goal: [0, 3] + name: agent5 + start: [2, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 5] + - !!python/tuple [4, 0] + - !!python/tuple [1, 2] + - !!python/tuple [3, 3] + - !!python/tuple [3, 5] + - !!python/tuple [0, 7] + - !!python/tuple [4, 7] + - !!python/tuple [6, 3] + - !!python/tuple [1, 7] + - !!python/tuple [7, 1] + - !!python/tuple [6, 0] + - !!python/tuple [5, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex50.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex50.yaml new file mode 100644 index 0000000..65cc954 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex50.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [4, 6] + name: agent0 + start: [6, 2] +- goal: [0, 6] + name: agent1 + start: [1, 4] +- goal: [2, 6] + name: agent2 + start: [0, 5] +- goal: [5, 5] + name: agent3 + start: [0, 3] +- goal: [1, 2] + name: agent4 + start: [2, 4] +- goal: [2, 3] + name: agent5 + start: [0, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 3] + - !!python/tuple [3, 5] + - !!python/tuple [2, 0] + - !!python/tuple [1, 1] + - !!python/tuple [6, 5] + - !!python/tuple [6, 3] + - !!python/tuple [4, 0] + - !!python/tuple [7, 4] + - !!python/tuple [2, 1] + - !!python/tuple [5, 4] + - !!python/tuple [5, 6] + - !!python/tuple [3, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex51.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex51.yaml new file mode 100644 index 0000000..cfb147d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex51.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [3, 5] + name: agent0 + start: [6, 5] +- goal: [0, 4] + name: agent1 + start: [0, 6] +- goal: [3, 1] + name: agent2 + start: [0, 0] +- goal: [4, 2] + name: agent3 + start: [3, 0] +- goal: [7, 7] + name: agent4 + start: [7, 6] +- goal: [1, 7] + name: agent5 + start: [7, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 5] + - !!python/tuple [7, 4] + - !!python/tuple [0, 5] + - !!python/tuple [2, 3] + - !!python/tuple [6, 1] + - !!python/tuple [5, 0] + - !!python/tuple [1, 1] + - !!python/tuple [0, 7] + - !!python/tuple [1, 4] + - !!python/tuple [3, 4] + - !!python/tuple [6, 4] + - !!python/tuple [3, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex52.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex52.yaml new file mode 100644 index 0000000..994b85b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex52.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [7, 3] + name: agent0 + start: [7, 4] +- goal: [4, 4] + name: agent1 + start: [3, 6] +- goal: [1, 4] + name: agent2 + start: [4, 0] +- goal: [5, 4] + name: agent3 + start: [1, 0] +- goal: [3, 3] + name: agent4 + start: [4, 3] +- goal: [6, 2] + name: agent5 + start: [0, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 2] + - !!python/tuple [3, 0] + - !!python/tuple [2, 0] + - !!python/tuple [5, 5] + - !!python/tuple [5, 2] + - !!python/tuple [1, 1] + - !!python/tuple [3, 1] + - !!python/tuple [6, 6] + - !!python/tuple [6, 7] + - !!python/tuple [2, 4] + - !!python/tuple [6, 0] + - !!python/tuple [1, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex53.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex53.yaml new file mode 100644 index 0000000..772362b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex53.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [2, 5] + name: agent0 + start: [6, 5] +- goal: [7, 1] + name: agent1 + start: [3, 4] +- goal: [0, 0] + name: agent2 + start: [4, 4] +- goal: [3, 4] + name: agent3 + start: [0, 5] +- goal: [1, 2] + name: agent4 + start: [2, 3] +- goal: [1, 6] + name: agent5 + start: [4, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 2] + - !!python/tuple [3, 0] + - !!python/tuple [6, 1] + - !!python/tuple [0, 4] + - !!python/tuple [3, 6] + - !!python/tuple [2, 1] + - !!python/tuple [4, 7] + - !!python/tuple [6, 4] + - !!python/tuple [1, 4] + - !!python/tuple [2, 4] + - !!python/tuple [5, 5] + - !!python/tuple [5, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex54.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex54.yaml new file mode 100644 index 0000000..3d7904c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex54.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [4, 2] + name: agent0 + start: [2, 0] +- goal: [4, 4] + name: agent1 + start: [7, 2] +- goal: [0, 4] + name: agent2 + start: [0, 1] +- goal: [7, 7] + name: agent3 + start: [3, 4] +- goal: [7, 2] + name: agent4 + start: [4, 0] +- goal: [4, 5] + name: agent5 + start: [0, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 2] + - !!python/tuple [7, 3] + - !!python/tuple [2, 4] + - !!python/tuple [4, 1] + - !!python/tuple [2, 5] + - !!python/tuple [6, 0] + - !!python/tuple [5, 7] + - !!python/tuple [2, 7] + - !!python/tuple [6, 3] + - !!python/tuple [3, 2] + - !!python/tuple [1, 5] + - !!python/tuple [2, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex55.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex55.yaml new file mode 100644 index 0000000..cd96448 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex55.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [5, 2] + name: agent0 + start: [2, 0] +- goal: [6, 2] + name: agent1 + start: [1, 0] +- goal: [1, 5] + name: agent2 + start: [6, 7] +- goal: [7, 5] + name: agent3 + start: [5, 2] +- goal: [2, 6] + name: agent4 + start: [4, 2] +- goal: [4, 6] + name: agent5 + start: [3, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 4] + - !!python/tuple [5, 3] + - !!python/tuple [0, 3] + - !!python/tuple [1, 4] + - !!python/tuple [3, 2] + - !!python/tuple [1, 7] + - !!python/tuple [7, 1] + - !!python/tuple [5, 5] + - !!python/tuple [4, 1] + - !!python/tuple [4, 0] + - !!python/tuple [7, 7] + - !!python/tuple [2, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex56.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex56.yaml new file mode 100644 index 0000000..23a7c7c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex56.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [0, 7] + name: agent0 + start: [5, 1] +- goal: [5, 7] + name: agent1 + start: [1, 6] +- goal: [6, 1] + name: agent2 + start: [1, 7] +- goal: [3, 5] + name: agent3 + start: [3, 5] +- goal: [6, 4] + name: agent4 + start: [2, 1] +- goal: [7, 2] + name: agent5 + start: [7, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 2] + - !!python/tuple [2, 2] + - !!python/tuple [5, 2] + - !!python/tuple [2, 4] + - !!python/tuple [2, 0] + - !!python/tuple [1, 3] + - !!python/tuple [4, 0] + - !!python/tuple [3, 4] + - !!python/tuple [1, 0] + - !!python/tuple [3, 1] + - !!python/tuple [4, 5] + - !!python/tuple [0, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex57.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex57.yaml new file mode 100644 index 0000000..265a1ba --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex57.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [1, 6] + name: agent0 + start: [2, 4] +- goal: [4, 2] + name: agent1 + start: [2, 3] +- goal: [3, 4] + name: agent2 + start: [3, 5] +- goal: [7, 3] + name: agent3 + start: [5, 3] +- goal: [7, 1] + name: agent4 + start: [0, 6] +- goal: [6, 4] + name: agent5 + start: [1, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 5] + - !!python/tuple [2, 6] + - !!python/tuple [1, 7] + - !!python/tuple [5, 7] + - !!python/tuple [3, 3] + - !!python/tuple [7, 5] + - !!python/tuple [6, 3] + - !!python/tuple [7, 6] + - !!python/tuple [4, 7] + - !!python/tuple [3, 1] + - !!python/tuple [1, 0] + - !!python/tuple [5, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex58.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex58.yaml new file mode 100644 index 0000000..06cfb6b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex58.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [6, 3] + name: agent0 + start: [1, 1] +- goal: [2, 1] + name: agent1 + start: [1, 0] +- goal: [1, 2] + name: agent2 + start: [2, 5] +- goal: [6, 2] + name: agent3 + start: [7, 1] +- goal: [1, 7] + name: agent4 + start: [1, 6] +- goal: [1, 0] + name: agent5 + start: [3, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 2] + - !!python/tuple [5, 0] + - !!python/tuple [5, 6] + - !!python/tuple [1, 5] + - !!python/tuple [2, 4] + - !!python/tuple [6, 5] + - !!python/tuple [4, 4] + - !!python/tuple [3, 4] + - !!python/tuple [7, 5] + - !!python/tuple [4, 7] + - !!python/tuple [4, 1] + - !!python/tuple [5, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex59.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex59.yaml new file mode 100644 index 0000000..140a532 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex59.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [0, 5] + name: agent0 + start: [4, 3] +- goal: [3, 4] + name: agent1 + start: [4, 6] +- goal: [7, 7] + name: agent2 + start: [6, 1] +- goal: [4, 0] + name: agent3 + start: [4, 4] +- goal: [0, 7] + name: agent4 + start: [3, 0] +- goal: [5, 5] + name: agent5 + start: [5, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 4] + - !!python/tuple [5, 3] + - !!python/tuple [3, 5] + - !!python/tuple [2, 1] + - !!python/tuple [1, 6] + - !!python/tuple [6, 3] + - !!python/tuple [0, 3] + - !!python/tuple [4, 7] + - !!python/tuple [6, 0] + - !!python/tuple [2, 2] + - !!python/tuple [1, 0] + - !!python/tuple [0, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex6.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex6.yaml new file mode 100644 index 0000000..1f021e0 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex6.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [1, 3] + name: agent0 + start: [5, 2] +- goal: [0, 5] + name: agent1 + start: [3, 1] +- goal: [2, 4] + name: agent2 + start: [7, 7] +- goal: [7, 7] + name: agent3 + start: [0, 2] +- goal: [5, 2] + name: agent4 + start: [5, 0] +- goal: [3, 3] + name: agent5 + start: [5, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 7] + - !!python/tuple [4, 5] + - !!python/tuple [2, 3] + - !!python/tuple [4, 0] + - !!python/tuple [4, 1] + - !!python/tuple [6, 3] + - !!python/tuple [1, 1] + - !!python/tuple [3, 7] + - !!python/tuple [0, 4] + - !!python/tuple [5, 3] + - !!python/tuple [7, 3] + - !!python/tuple [6, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex60.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex60.yaml new file mode 100644 index 0000000..9a2ee1c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex60.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [4, 2] + name: agent0 + start: [1, 2] +- goal: [3, 5] + name: agent1 + start: [6, 0] +- goal: [2, 1] + name: agent2 + start: [0, 5] +- goal: [1, 5] + name: agent3 + start: [4, 4] +- goal: [3, 3] + name: agent4 + start: [6, 4] +- goal: [5, 6] + name: agent5 + start: [1, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 5] + - !!python/tuple [5, 7] + - !!python/tuple [3, 7] + - !!python/tuple [5, 2] + - !!python/tuple [4, 5] + - !!python/tuple [2, 4] + - !!python/tuple [1, 1] + - !!python/tuple [3, 0] + - !!python/tuple [4, 0] + - !!python/tuple [1, 6] + - !!python/tuple [0, 1] + - !!python/tuple [7, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex61.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex61.yaml new file mode 100644 index 0000000..52ecbf9 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex61.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [6, 0] + name: agent0 + start: [4, 2] +- goal: [7, 4] + name: agent1 + start: [1, 7] +- goal: [3, 0] + name: agent2 + start: [1, 3] +- goal: [5, 0] + name: agent3 + start: [3, 4] +- goal: [6, 7] + name: agent4 + start: [0, 1] +- goal: [6, 4] + name: agent5 + start: [6, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 0] + - !!python/tuple [3, 7] + - !!python/tuple [5, 1] + - !!python/tuple [7, 3] + - !!python/tuple [0, 6] + - !!python/tuple [5, 4] + - !!python/tuple [2, 2] + - !!python/tuple [2, 5] + - !!python/tuple [4, 5] + - !!python/tuple [1, 1] + - !!python/tuple [1, 6] + - !!python/tuple [1, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex62.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex62.yaml new file mode 100644 index 0000000..56b0a89 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex62.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [5, 3] + name: agent0 + start: [5, 0] +- goal: [1, 2] + name: agent1 + start: [5, 4] +- goal: [7, 1] + name: agent2 + start: [3, 2] +- goal: [5, 6] + name: agent3 + start: [6, 3] +- goal: [2, 5] + name: agent4 + start: [4, 6] +- goal: [4, 0] + name: agent5 + start: [5, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 0] + - !!python/tuple [2, 4] + - !!python/tuple [0, 2] + - !!python/tuple [4, 2] + - !!python/tuple [7, 7] + - !!python/tuple [0, 7] + - !!python/tuple [4, 4] + - !!python/tuple [1, 7] + - !!python/tuple [4, 1] + - !!python/tuple [5, 5] + - !!python/tuple [7, 6] + - !!python/tuple [7, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex63.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex63.yaml new file mode 100644 index 0000000..12fe17b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex63.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [0, 7] + name: agent0 + start: [2, 6] +- goal: [2, 7] + name: agent1 + start: [7, 3] +- goal: [7, 5] + name: agent2 + start: [5, 5] +- goal: [5, 4] + name: agent3 + start: [0, 3] +- goal: [2, 3] + name: agent4 + start: [0, 4] +- goal: [6, 3] + name: agent5 + start: [0, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 6] + - !!python/tuple [4, 0] + - !!python/tuple [7, 0] + - !!python/tuple [4, 7] + - !!python/tuple [4, 1] + - !!python/tuple [4, 6] + - !!python/tuple [6, 7] + - !!python/tuple [5, 3] + - !!python/tuple [5, 2] + - !!python/tuple [4, 3] + - !!python/tuple [7, 2] + - !!python/tuple [1, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex64.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex64.yaml new file mode 100644 index 0000000..b20c85b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex64.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [1, 1] + name: agent0 + start: [4, 1] +- goal: [2, 1] + name: agent1 + start: [0, 2] +- goal: [2, 2] + name: agent2 + start: [7, 3] +- goal: [7, 7] + name: agent3 + start: [2, 2] +- goal: [0, 1] + name: agent4 + start: [4, 5] +- goal: [0, 2] + name: agent5 + start: [2, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 6] + - !!python/tuple [5, 0] + - !!python/tuple [5, 4] + - !!python/tuple [3, 2] + - !!python/tuple [6, 1] + - !!python/tuple [7, 1] + - !!python/tuple [6, 6] + - !!python/tuple [4, 6] + - !!python/tuple [1, 6] + - !!python/tuple [1, 7] + - !!python/tuple [4, 2] + - !!python/tuple [4, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex65.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex65.yaml new file mode 100644 index 0000000..994b836 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex65.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [5, 4] + name: agent0 + start: [7, 5] +- goal: [0, 5] + name: agent1 + start: [7, 6] +- goal: [1, 0] + name: agent2 + start: [0, 7] +- goal: [1, 4] + name: agent3 + start: [2, 4] +- goal: [1, 2] + name: agent4 + start: [7, 2] +- goal: [7, 4] + name: agent5 + start: [7, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 6] + - !!python/tuple [6, 5] + - !!python/tuple [3, 4] + - !!python/tuple [6, 1] + - !!python/tuple [3, 5] + - !!python/tuple [2, 7] + - !!python/tuple [6, 7] + - !!python/tuple [5, 7] + - !!python/tuple [1, 3] + - !!python/tuple [4, 0] + - !!python/tuple [4, 5] + - !!python/tuple [6, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex66.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex66.yaml new file mode 100644 index 0000000..1078f26 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex66.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [5, 4] + name: agent0 + start: [3, 1] +- goal: [2, 3] + name: agent1 + start: [7, 1] +- goal: [0, 6] + name: agent2 + start: [3, 2] +- goal: [2, 7] + name: agent3 + start: [3, 5] +- goal: [5, 1] + name: agent4 + start: [5, 2] +- goal: [3, 5] + name: agent5 + start: [0, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 5] + - !!python/tuple [6, 6] + - !!python/tuple [1, 2] + - !!python/tuple [2, 1] + - !!python/tuple [7, 3] + - !!python/tuple [6, 2] + - !!python/tuple [0, 4] + - !!python/tuple [4, 7] + - !!python/tuple [6, 7] + - !!python/tuple [2, 0] + - !!python/tuple [5, 0] + - !!python/tuple [2, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex67.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex67.yaml new file mode 100644 index 0000000..292167e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex67.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [5, 2] + name: agent0 + start: [7, 3] +- goal: [6, 4] + name: agent1 + start: [3, 2] +- goal: [3, 5] + name: agent2 + start: [3, 0] +- goal: [5, 4] + name: agent3 + start: [3, 4] +- goal: [7, 5] + name: agent4 + start: [6, 3] +- goal: [1, 7] + name: agent5 + start: [0, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 0] + - !!python/tuple [6, 5] + - !!python/tuple [1, 2] + - !!python/tuple [4, 3] + - !!python/tuple [0, 7] + - !!python/tuple [3, 3] + - !!python/tuple [2, 3] + - !!python/tuple [7, 2] + - !!python/tuple [1, 3] + - !!python/tuple [3, 7] + - !!python/tuple [4, 7] + - !!python/tuple [4, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex68.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex68.yaml new file mode 100644 index 0000000..67d2e8c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex68.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [1, 7] + name: agent0 + start: [7, 2] +- goal: [7, 1] + name: agent1 + start: [6, 7] +- goal: [4, 4] + name: agent2 + start: [0, 0] +- goal: [2, 6] + name: agent3 + start: [5, 2] +- goal: [7, 4] + name: agent4 + start: [7, 5] +- goal: [0, 2] + name: agent5 + start: [1, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 2] + - !!python/tuple [3, 1] + - !!python/tuple [4, 7] + - !!python/tuple [0, 1] + - !!python/tuple [1, 5] + - !!python/tuple [6, 6] + - !!python/tuple [1, 1] + - !!python/tuple [6, 2] + - !!python/tuple [3, 6] + - !!python/tuple [2, 7] + - !!python/tuple [6, 4] + - !!python/tuple [7, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex69.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex69.yaml new file mode 100644 index 0000000..7a72644 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex69.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [1, 4] + name: agent0 + start: [5, 6] +- goal: [1, 5] + name: agent1 + start: [2, 1] +- goal: [7, 4] + name: agent2 + start: [2, 2] +- goal: [5, 0] + name: agent3 + start: [7, 1] +- goal: [4, 3] + name: agent4 + start: [0, 2] +- goal: [4, 6] + name: agent5 + start: [2, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 1] + - !!python/tuple [6, 4] + - !!python/tuple [1, 6] + - !!python/tuple [7, 5] + - !!python/tuple [6, 7] + - !!python/tuple [4, 1] + - !!python/tuple [4, 5] + - !!python/tuple [0, 3] + - !!python/tuple [2, 0] + - !!python/tuple [0, 5] + - !!python/tuple [7, 2] + - !!python/tuple [0, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex7.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex7.yaml new file mode 100644 index 0000000..b2e934e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex7.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [4, 2] + name: agent0 + start: [3, 3] +- goal: [4, 1] + name: agent1 + start: [5, 7] +- goal: [5, 5] + name: agent2 + start: [4, 0] +- goal: [5, 6] + name: agent3 + start: [2, 4] +- goal: [7, 7] + name: agent4 + start: [1, 0] +- goal: [1, 0] + name: agent5 + start: [3, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 1] + - !!python/tuple [2, 0] + - !!python/tuple [3, 2] + - !!python/tuple [4, 5] + - !!python/tuple [6, 5] + - !!python/tuple [0, 2] + - !!python/tuple [2, 2] + - !!python/tuple [7, 0] + - !!python/tuple [0, 7] + - !!python/tuple [7, 5] + - !!python/tuple [5, 0] + - !!python/tuple [0, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex70.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex70.yaml new file mode 100644 index 0000000..1be2d6c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex70.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [3, 0] + name: agent0 + start: [3, 4] +- goal: [7, 6] + name: agent1 + start: [4, 7] +- goal: [5, 2] + name: agent2 + start: [4, 1] +- goal: [5, 5] + name: agent3 + start: [0, 0] +- goal: [0, 3] + name: agent4 + start: [7, 0] +- goal: [7, 1] + name: agent5 + start: [3, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 6] + - !!python/tuple [4, 3] + - !!python/tuple [3, 2] + - !!python/tuple [6, 3] + - !!python/tuple [3, 6] + - !!python/tuple [5, 6] + - !!python/tuple [5, 1] + - !!python/tuple [2, 5] + - !!python/tuple [7, 3] + - !!python/tuple [1, 0] + - !!python/tuple [1, 2] + - !!python/tuple [2, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex71.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex71.yaml new file mode 100644 index 0000000..0cfa7c3 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex71.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [0, 7] + name: agent0 + start: [5, 5] +- goal: [1, 2] + name: agent1 + start: [2, 5] +- goal: [6, 1] + name: agent2 + start: [4, 2] +- goal: [0, 5] + name: agent3 + start: [4, 1] +- goal: [5, 3] + name: agent4 + start: [3, 4] +- goal: [1, 4] + name: agent5 + start: [7, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 6] + - !!python/tuple [0, 0] + - !!python/tuple [6, 7] + - !!python/tuple [7, 1] + - !!python/tuple [3, 7] + - !!python/tuple [1, 0] + - !!python/tuple [0, 3] + - !!python/tuple [5, 7] + - !!python/tuple [7, 4] + - !!python/tuple [7, 7] + - !!python/tuple [2, 2] + - !!python/tuple [2, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex72.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex72.yaml new file mode 100644 index 0000000..9d59242 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex72.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [3, 4] + name: agent0 + start: [5, 0] +- goal: [6, 0] + name: agent1 + start: [0, 5] +- goal: [5, 7] + name: agent2 + start: [3, 1] +- goal: [7, 0] + name: agent3 + start: [7, 7] +- goal: [2, 0] + name: agent4 + start: [3, 0] +- goal: [1, 6] + name: agent5 + start: [3, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 4] + - !!python/tuple [0, 4] + - !!python/tuple [0, 6] + - !!python/tuple [1, 1] + - !!python/tuple [7, 3] + - !!python/tuple [2, 5] + - !!python/tuple [0, 2] + - !!python/tuple [4, 5] + - !!python/tuple [2, 6] + - !!python/tuple [4, 6] + - !!python/tuple [1, 7] + - !!python/tuple [6, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex73.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex73.yaml new file mode 100644 index 0000000..132b186 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex73.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [3, 4] + name: agent0 + start: [6, 5] +- goal: [1, 5] + name: agent1 + start: [3, 4] +- goal: [2, 3] + name: agent2 + start: [0, 3] +- goal: [5, 1] + name: agent3 + start: [5, 6] +- goal: [1, 3] + name: agent4 + start: [2, 2] +- goal: [6, 6] + name: agent5 + start: [6, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 5] + - !!python/tuple [6, 0] + - !!python/tuple [5, 2] + - !!python/tuple [2, 5] + - !!python/tuple [1, 0] + - !!python/tuple [7, 6] + - !!python/tuple [6, 2] + - !!python/tuple [1, 4] + - !!python/tuple [4, 4] + - !!python/tuple [3, 1] + - !!python/tuple [4, 3] + - !!python/tuple [1, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex74.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex74.yaml new file mode 100644 index 0000000..77a6534 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex74.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [3, 5] + name: agent0 + start: [1, 2] +- goal: [0, 0] + name: agent1 + start: [3, 7] +- goal: [1, 0] + name: agent2 + start: [2, 1] +- goal: [7, 5] + name: agent3 + start: [4, 3] +- goal: [6, 2] + name: agent4 + start: [1, 4] +- goal: [5, 5] + name: agent5 + start: [4, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 6] + - !!python/tuple [2, 6] + - !!python/tuple [6, 0] + - !!python/tuple [4, 1] + - !!python/tuple [0, 5] + - !!python/tuple [1, 1] + - !!python/tuple [1, 5] + - !!python/tuple [4, 2] + - !!python/tuple [6, 7] + - !!python/tuple [2, 3] + - !!python/tuple [5, 1] + - !!python/tuple [7, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex75.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex75.yaml new file mode 100644 index 0000000..71a74d6 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex75.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [5, 3] + name: agent0 + start: [3, 6] +- goal: [2, 0] + name: agent1 + start: [2, 6] +- goal: [1, 4] + name: agent2 + start: [1, 3] +- goal: [5, 6] + name: agent3 + start: [7, 6] +- goal: [7, 3] + name: agent4 + start: [3, 0] +- goal: [2, 7] + name: agent5 + start: [5, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 6] + - !!python/tuple [1, 6] + - !!python/tuple [3, 1] + - !!python/tuple [3, 5] + - !!python/tuple [3, 7] + - !!python/tuple [1, 1] + - !!python/tuple [7, 1] + - !!python/tuple [6, 7] + - !!python/tuple [3, 3] + - !!python/tuple [7, 2] + - !!python/tuple [7, 4] + - !!python/tuple [0, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex76.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex76.yaml new file mode 100644 index 0000000..5cad335 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex76.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [6, 6] + name: agent0 + start: [6, 7] +- goal: [5, 3] + name: agent1 + start: [3, 5] +- goal: [2, 1] + name: agent2 + start: [1, 4] +- goal: [6, 1] + name: agent3 + start: [4, 1] +- goal: [5, 0] + name: agent4 + start: [5, 1] +- goal: [7, 0] + name: agent5 + start: [0, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 7] + - !!python/tuple [4, 3] + - !!python/tuple [1, 5] + - !!python/tuple [0, 6] + - !!python/tuple [4, 7] + - !!python/tuple [3, 6] + - !!python/tuple [4, 2] + - !!python/tuple [2, 0] + - !!python/tuple [2, 6] + - !!python/tuple [6, 0] + - !!python/tuple [7, 4] + - !!python/tuple [7, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex77.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex77.yaml new file mode 100644 index 0000000..84505dc --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex77.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [1, 1] + name: agent0 + start: [1, 2] +- goal: [1, 0] + name: agent1 + start: [5, 7] +- goal: [4, 1] + name: agent2 + start: [0, 3] +- goal: [0, 7] + name: agent3 + start: [0, 5] +- goal: [0, 6] + name: agent4 + start: [5, 1] +- goal: [2, 7] + name: agent5 + start: [1, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 5] + - !!python/tuple [6, 6] + - !!python/tuple [4, 5] + - !!python/tuple [0, 0] + - !!python/tuple [2, 6] + - !!python/tuple [1, 5] + - !!python/tuple [3, 7] + - !!python/tuple [6, 4] + - !!python/tuple [5, 4] + - !!python/tuple [3, 4] + - !!python/tuple [2, 1] + - !!python/tuple [4, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex78.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex78.yaml new file mode 100644 index 0000000..5006b67 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex78.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [5, 5] + name: agent0 + start: [1, 0] +- goal: [5, 7] + name: agent1 + start: [6, 7] +- goal: [6, 5] + name: agent2 + start: [0, 1] +- goal: [4, 6] + name: agent3 + start: [7, 3] +- goal: [2, 5] + name: agent4 + start: [3, 0] +- goal: [0, 4] + name: agent5 + start: [7, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 7] + - !!python/tuple [0, 7] + - !!python/tuple [7, 4] + - !!python/tuple [6, 4] + - !!python/tuple [4, 5] + - !!python/tuple [2, 2] + - !!python/tuple [2, 0] + - !!python/tuple [6, 3] + - !!python/tuple [1, 6] + - !!python/tuple [5, 2] + - !!python/tuple [5, 4] + - !!python/tuple [6, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex79.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex79.yaml new file mode 100644 index 0000000..fa34fd8 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex79.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [2, 6] + name: agent0 + start: [4, 7] +- goal: [5, 7] + name: agent1 + start: [2, 3] +- goal: [4, 0] + name: agent2 + start: [2, 5] +- goal: [5, 2] + name: agent3 + start: [1, 4] +- goal: [5, 1] + name: agent4 + start: [5, 4] +- goal: [3, 2] + name: agent5 + start: [0, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 3] + - !!python/tuple [1, 3] + - !!python/tuple [1, 0] + - !!python/tuple [4, 2] + - !!python/tuple [6, 6] + - !!python/tuple [2, 1] + - !!python/tuple [7, 7] + - !!python/tuple [0, 1] + - !!python/tuple [7, 5] + - !!python/tuple [3, 6] + - !!python/tuple [0, 4] + - !!python/tuple [4, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex8.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex8.yaml new file mode 100644 index 0000000..ce1eed6 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex8.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [4, 2] + name: agent0 + start: [5, 5] +- goal: [0, 5] + name: agent1 + start: [3, 3] +- goal: [2, 5] + name: agent2 + start: [2, 3] +- goal: [5, 0] + name: agent3 + start: [1, 2] +- goal: [3, 3] + name: agent4 + start: [5, 3] +- goal: [4, 5] + name: agent5 + start: [6, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 7] + - !!python/tuple [5, 4] + - !!python/tuple [4, 7] + - !!python/tuple [3, 0] + - !!python/tuple [0, 0] + - !!python/tuple [7, 1] + - !!python/tuple [1, 1] + - !!python/tuple [0, 1] + - !!python/tuple [3, 1] + - !!python/tuple [2, 1] + - !!python/tuple [6, 6] + - !!python/tuple [5, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex80.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex80.yaml new file mode 100644 index 0000000..6cfb017 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex80.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [6, 1] + name: agent0 + start: [5, 5] +- goal: [7, 4] + name: agent1 + start: [6, 0] +- goal: [7, 7] + name: agent2 + start: [4, 1] +- goal: [5, 5] + name: agent3 + start: [5, 2] +- goal: [5, 0] + name: agent4 + start: [0, 0] +- goal: [2, 7] + name: agent5 + start: [0, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 5] + - !!python/tuple [2, 0] + - !!python/tuple [1, 1] + - !!python/tuple [0, 5] + - !!python/tuple [2, 5] + - !!python/tuple [4, 4] + - !!python/tuple [7, 5] + - !!python/tuple [1, 4] + - !!python/tuple [6, 7] + - !!python/tuple [6, 3] + - !!python/tuple [1, 7] + - !!python/tuple [3, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex81.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex81.yaml new file mode 100644 index 0000000..2208921 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex81.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [0, 2] + name: agent0 + start: [6, 6] +- goal: [6, 6] + name: agent1 + start: [1, 3] +- goal: [0, 3] + name: agent2 + start: [0, 4] +- goal: [4, 5] + name: agent3 + start: [4, 0] +- goal: [4, 7] + name: agent4 + start: [7, 4] +- goal: [3, 1] + name: agent5 + start: [7, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 2] + - !!python/tuple [1, 2] + - !!python/tuple [5, 6] + - !!python/tuple [3, 2] + - !!python/tuple [5, 4] + - !!python/tuple [2, 7] + - !!python/tuple [3, 6] + - !!python/tuple [0, 5] + - !!python/tuple [6, 0] + - !!python/tuple [2, 5] + - !!python/tuple [7, 3] + - !!python/tuple [0, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex82.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex82.yaml new file mode 100644 index 0000000..9aeaa78 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex82.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [6, 2] + name: agent0 + start: [0, 2] +- goal: [5, 5] + name: agent1 + start: [1, 4] +- goal: [1, 6] + name: agent2 + start: [2, 2] +- goal: [7, 0] + name: agent3 + start: [4, 7] +- goal: [5, 2] + name: agent4 + start: [5, 0] +- goal: [1, 4] + name: agent5 + start: [1, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 1] + - !!python/tuple [2, 5] + - !!python/tuple [7, 3] + - !!python/tuple [0, 0] + - !!python/tuple [4, 6] + - !!python/tuple [2, 1] + - !!python/tuple [5, 4] + - !!python/tuple [7, 4] + - !!python/tuple [7, 2] + - !!python/tuple [6, 6] + - !!python/tuple [1, 5] + - !!python/tuple [5, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex83.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex83.yaml new file mode 100644 index 0000000..f42e2d6 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex83.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [5, 0] + name: agent0 + start: [2, 5] +- goal: [5, 2] + name: agent1 + start: [1, 6] +- goal: [5, 6] + name: agent2 + start: [4, 5] +- goal: [2, 1] + name: agent3 + start: [1, 7] +- goal: [3, 0] + name: agent4 + start: [7, 7] +- goal: [6, 0] + name: agent5 + start: [6, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 0] + - !!python/tuple [4, 0] + - !!python/tuple [3, 1] + - !!python/tuple [4, 1] + - !!python/tuple [2, 4] + - !!python/tuple [6, 4] + - !!python/tuple [5, 5] + - !!python/tuple [4, 2] + - !!python/tuple [7, 3] + - !!python/tuple [3, 7] + - !!python/tuple [1, 4] + - !!python/tuple [7, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex84.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex84.yaml new file mode 100644 index 0000000..78cdca4 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex84.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [4, 1] + name: agent0 + start: [1, 6] +- goal: [7, 5] + name: agent1 + start: [5, 4] +- goal: [7, 0] + name: agent2 + start: [6, 4] +- goal: [7, 7] + name: agent3 + start: [1, 7] +- goal: [7, 3] + name: agent4 + start: [2, 1] +- goal: [4, 5] + name: agent5 + start: [5, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 4] + - !!python/tuple [1, 4] + - !!python/tuple [5, 0] + - !!python/tuple [1, 0] + - !!python/tuple [4, 3] + - !!python/tuple [1, 3] + - !!python/tuple [0, 7] + - !!python/tuple [4, 7] + - !!python/tuple [6, 5] + - !!python/tuple [2, 5] + - !!python/tuple [6, 1] + - !!python/tuple [3, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex85.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex85.yaml new file mode 100644 index 0000000..938839b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex85.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [5, 5] + name: agent0 + start: [4, 6] +- goal: [3, 1] + name: agent1 + start: [5, 2] +- goal: [3, 4] + name: agent2 + start: [0, 7] +- goal: [6, 6] + name: agent3 + start: [4, 3] +- goal: [1, 4] + name: agent4 + start: [4, 1] +- goal: [2, 2] + name: agent5 + start: [1, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 7] + - !!python/tuple [6, 3] + - !!python/tuple [6, 1] + - !!python/tuple [1, 1] + - !!python/tuple [3, 3] + - !!python/tuple [0, 0] + - !!python/tuple [3, 6] + - !!python/tuple [2, 0] + - !!python/tuple [0, 1] + - !!python/tuple [6, 2] + - !!python/tuple [2, 4] + - !!python/tuple [4, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex86.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex86.yaml new file mode 100644 index 0000000..e0f1e90 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex86.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [1, 0] + name: agent0 + start: [2, 5] +- goal: [6, 6] + name: agent1 + start: [3, 0] +- goal: [3, 7] + name: agent2 + start: [1, 7] +- goal: [4, 4] + name: agent3 + start: [0, 0] +- goal: [3, 3] + name: agent4 + start: [1, 0] +- goal: [4, 0] + name: agent5 + start: [4, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 2] + - !!python/tuple [1, 1] + - !!python/tuple [5, 1] + - !!python/tuple [7, 5] + - !!python/tuple [6, 1] + - !!python/tuple [3, 1] + - !!python/tuple [6, 7] + - !!python/tuple [7, 7] + - !!python/tuple [7, 0] + - !!python/tuple [1, 6] + - !!python/tuple [0, 3] + - !!python/tuple [3, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex87.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex87.yaml new file mode 100644 index 0000000..f6726f1 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex87.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [1, 0] + name: agent0 + start: [6, 4] +- goal: [3, 5] + name: agent1 + start: [7, 3] +- goal: [2, 4] + name: agent2 + start: [1, 5] +- goal: [2, 2] + name: agent3 + start: [4, 5] +- goal: [4, 5] + name: agent4 + start: [5, 2] +- goal: [3, 0] + name: agent5 + start: [0, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 4] + - !!python/tuple [1, 7] + - !!python/tuple [1, 4] + - !!python/tuple [0, 1] + - !!python/tuple [5, 0] + - !!python/tuple [4, 7] + - !!python/tuple [3, 1] + - !!python/tuple [3, 2] + - !!python/tuple [6, 5] + - !!python/tuple [7, 4] + - !!python/tuple [3, 4] + - !!python/tuple [2, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex88.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex88.yaml new file mode 100644 index 0000000..fef9d1b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex88.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [2, 5] + name: agent0 + start: [2, 6] +- goal: [1, 0] + name: agent1 + start: [6, 6] +- goal: [7, 3] + name: agent2 + start: [0, 3] +- goal: [3, 2] + name: agent3 + start: [2, 2] +- goal: [2, 3] + name: agent4 + start: [2, 3] +- goal: [5, 4] + name: agent5 + start: [1, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 5] + - !!python/tuple [4, 0] + - !!python/tuple [7, 5] + - !!python/tuple [0, 2] + - !!python/tuple [6, 1] + - !!python/tuple [5, 0] + - !!python/tuple [0, 7] + - !!python/tuple [1, 2] + - !!python/tuple [7, 7] + - !!python/tuple [2, 1] + - !!python/tuple [6, 4] + - !!python/tuple [6, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex89.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex89.yaml new file mode 100644 index 0000000..594b246 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex89.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [4, 4] + name: agent0 + start: [6, 2] +- goal: [5, 2] + name: agent1 + start: [4, 4] +- goal: [4, 5] + name: agent2 + start: [1, 4] +- goal: [2, 2] + name: agent3 + start: [2, 6] +- goal: [1, 0] + name: agent4 + start: [0, 4] +- goal: [0, 3] + name: agent5 + start: [5, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 2] + - !!python/tuple [7, 7] + - !!python/tuple [5, 3] + - !!python/tuple [1, 2] + - !!python/tuple [7, 4] + - !!python/tuple [3, 2] + - !!python/tuple [6, 0] + - !!python/tuple [0, 1] + - !!python/tuple [7, 1] + - !!python/tuple [0, 0] + - !!python/tuple [4, 3] + - !!python/tuple [6, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex9.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex9.yaml new file mode 100644 index 0000000..b8f03a0 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex9.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [5, 6] + name: agent0 + start: [1, 6] +- goal: [0, 7] + name: agent1 + start: [7, 2] +- goal: [0, 2] + name: agent2 + start: [0, 2] +- goal: [3, 7] + name: agent3 + start: [0, 0] +- goal: [1, 7] + name: agent4 + start: [4, 5] +- goal: [6, 1] + name: agent5 + start: [1, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 3] + - !!python/tuple [5, 2] + - !!python/tuple [2, 3] + - !!python/tuple [1, 3] + - !!python/tuple [5, 5] + - !!python/tuple [6, 3] + - !!python/tuple [7, 5] + - !!python/tuple [2, 4] + - !!python/tuple [5, 7] + - !!python/tuple [3, 6] + - !!python/tuple [2, 7] + - !!python/tuple [2, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex90.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex90.yaml new file mode 100644 index 0000000..e032999 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex90.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [2, 0] + name: agent0 + start: [5, 5] +- goal: [4, 7] + name: agent1 + start: [4, 6] +- goal: [3, 0] + name: agent2 + start: [4, 0] +- goal: [6, 6] + name: agent3 + start: [5, 3] +- goal: [3, 1] + name: agent4 + start: [1, 1] +- goal: [6, 7] + name: agent5 + start: [6, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 4] + - !!python/tuple [0, 3] + - !!python/tuple [0, 2] + - !!python/tuple [1, 5] + - !!python/tuple [0, 7] + - !!python/tuple [3, 2] + - !!python/tuple [4, 5] + - !!python/tuple [1, 6] + - !!python/tuple [3, 7] + - !!python/tuple [1, 3] + - !!python/tuple [2, 4] + - !!python/tuple [7, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex91.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex91.yaml new file mode 100644 index 0000000..c7617e2 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex91.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [7, 3] + name: agent0 + start: [6, 1] +- goal: [5, 6] + name: agent1 + start: [2, 4] +- goal: [4, 5] + name: agent2 + start: [5, 7] +- goal: [5, 0] + name: agent3 + start: [0, 5] +- goal: [5, 1] + name: agent4 + start: [7, 3] +- goal: [0, 7] + name: agent5 + start: [6, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 3] + - !!python/tuple [5, 4] + - !!python/tuple [1, 0] + - !!python/tuple [7, 0] + - !!python/tuple [4, 1] + - !!python/tuple [1, 1] + - !!python/tuple [2, 6] + - !!python/tuple [4, 0] + - !!python/tuple [2, 2] + - !!python/tuple [3, 0] + - !!python/tuple [7, 7] + - !!python/tuple [0, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex92.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex92.yaml new file mode 100644 index 0000000..2f56ebe --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex92.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [3, 1] + name: agent0 + start: [3, 7] +- goal: [4, 4] + name: agent1 + start: [0, 5] +- goal: [0, 7] + name: agent2 + start: [6, 2] +- goal: [3, 5] + name: agent3 + start: [4, 0] +- goal: [3, 0] + name: agent4 + start: [6, 5] +- goal: [7, 0] + name: agent5 + start: [3, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 6] + - !!python/tuple [1, 2] + - !!python/tuple [0, 4] + - !!python/tuple [7, 4] + - !!python/tuple [2, 7] + - !!python/tuple [4, 6] + - !!python/tuple [7, 5] + - !!python/tuple [2, 3] + - !!python/tuple [0, 1] + - !!python/tuple [3, 4] + - !!python/tuple [4, 7] + - !!python/tuple [2, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex93.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex93.yaml new file mode 100644 index 0000000..ea05add --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex93.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [0, 7] + name: agent0 + start: [5, 0] +- goal: [3, 6] + name: agent1 + start: [6, 7] +- goal: [3, 3] + name: agent2 + start: [3, 0] +- goal: [7, 2] + name: agent3 + start: [6, 0] +- goal: [4, 6] + name: agent4 + start: [4, 3] +- goal: [3, 2] + name: agent5 + start: [5, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 0] + - !!python/tuple [0, 2] + - !!python/tuple [4, 0] + - !!python/tuple [4, 7] + - !!python/tuple [2, 3] + - !!python/tuple [5, 5] + - !!python/tuple [1, 5] + - !!python/tuple [0, 3] + - !!python/tuple [4, 2] + - !!python/tuple [1, 7] + - !!python/tuple [4, 5] + - !!python/tuple [7, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex94.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex94.yaml new file mode 100644 index 0000000..d2ef406 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex94.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [6, 3] + name: agent0 + start: [7, 4] +- goal: [2, 1] + name: agent1 + start: [0, 5] +- goal: [3, 6] + name: agent2 + start: [4, 4] +- goal: [2, 6] + name: agent3 + start: [7, 6] +- goal: [1, 1] + name: agent4 + start: [6, 2] +- goal: [4, 3] + name: agent5 + start: [4, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 4] + - !!python/tuple [5, 0] + - !!python/tuple [0, 2] + - !!python/tuple [3, 5] + - !!python/tuple [0, 0] + - !!python/tuple [5, 6] + - !!python/tuple [6, 0] + - !!python/tuple [3, 3] + - !!python/tuple [6, 6] + - !!python/tuple [4, 2] + - !!python/tuple [0, 3] + - !!python/tuple [5, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex95.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex95.yaml new file mode 100644 index 0000000..e329730 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex95.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [7, 3] + name: agent0 + start: [2, 4] +- goal: [7, 7] + name: agent1 + start: [3, 3] +- goal: [2, 6] + name: agent2 + start: [0, 1] +- goal: [1, 7] + name: agent3 + start: [5, 6] +- goal: [4, 4] + name: agent4 + start: [5, 2] +- goal: [0, 2] + name: agent5 + start: [3, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 2] + - !!python/tuple [2, 5] + - !!python/tuple [7, 2] + - !!python/tuple [4, 1] + - !!python/tuple [1, 1] + - !!python/tuple [1, 5] + - !!python/tuple [5, 5] + - !!python/tuple [0, 4] + - !!python/tuple [0, 3] + - !!python/tuple [4, 3] + - !!python/tuple [4, 7] + - !!python/tuple [1, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex96.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex96.yaml new file mode 100644 index 0000000..8a68a29 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex96.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [6, 6] + name: agent0 + start: [5, 3] +- goal: [0, 1] + name: agent1 + start: [1, 7] +- goal: [2, 4] + name: agent2 + start: [7, 2] +- goal: [4, 3] + name: agent3 + start: [0, 4] +- goal: [6, 7] + name: agent4 + start: [2, 7] +- goal: [0, 2] + name: agent5 + start: [7, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 0] + - !!python/tuple [6, 3] + - !!python/tuple [6, 2] + - !!python/tuple [1, 2] + - !!python/tuple [0, 5] + - !!python/tuple [3, 4] + - !!python/tuple [5, 6] + - !!python/tuple [4, 1] + - !!python/tuple [5, 4] + - !!python/tuple [6, 0] + - !!python/tuple [7, 7] + - !!python/tuple [3, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex97.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex97.yaml new file mode 100644 index 0000000..a42f7b7 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex97.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [7, 3] + name: agent0 + start: [6, 3] +- goal: [1, 7] + name: agent1 + start: [5, 6] +- goal: [7, 1] + name: agent2 + start: [7, 6] +- goal: [7, 4] + name: agent3 + start: [3, 6] +- goal: [5, 0] + name: agent4 + start: [4, 3] +- goal: [4, 7] + name: agent5 + start: [6, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 1] + - !!python/tuple [1, 2] + - !!python/tuple [1, 1] + - !!python/tuple [6, 0] + - !!python/tuple [3, 3] + - !!python/tuple [7, 2] + - !!python/tuple [1, 5] + - !!python/tuple [6, 4] + - !!python/tuple [5, 1] + - !!python/tuple [2, 0] + - !!python/tuple [3, 2] + - !!python/tuple [3, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex98.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex98.yaml new file mode 100644 index 0000000..4fbebb9 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex98.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [1, 0] + name: agent0 + start: [4, 4] +- goal: [2, 4] + name: agent1 + start: [5, 3] +- goal: [3, 4] + name: agent2 + start: [1, 4] +- goal: [6, 2] + name: agent3 + start: [4, 5] +- goal: [0, 3] + name: agent4 + start: [1, 0] +- goal: [4, 3] + name: agent5 + start: [1, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 7] + - !!python/tuple [2, 0] + - !!python/tuple [5, 1] + - !!python/tuple [1, 7] + - !!python/tuple [3, 0] + - !!python/tuple [7, 6] + - !!python/tuple [4, 1] + - !!python/tuple [2, 6] + - !!python/tuple [4, 2] + - !!python/tuple [3, 7] + - !!python/tuple [4, 7] + - !!python/tuple [1, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex99.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex99.yaml new file mode 100644 index 0000000..cdbad0e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents6_ex99.yaml @@ -0,0 +1,34 @@ +agents: +- goal: [6, 0] + name: agent0 + start: [0, 2] +- goal: [7, 5] + name: agent1 + start: [1, 0] +- goal: [6, 7] + name: agent2 + start: [0, 7] +- goal: [3, 4] + name: agent3 + start: [4, 6] +- goal: [1, 7] + name: agent4 + start: [0, 1] +- goal: [2, 7] + name: agent5 + start: [5, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 2] + - !!python/tuple [2, 5] + - !!python/tuple [3, 7] + - !!python/tuple [6, 4] + - !!python/tuple [7, 2] + - !!python/tuple [2, 4] + - !!python/tuple [7, 7] + - !!python/tuple [5, 5] + - !!python/tuple [7, 1] + - !!python/tuple [3, 6] + - !!python/tuple [3, 5] + - !!python/tuple [1, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex0.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex0.yaml new file mode 100644 index 0000000..48b1992 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex0.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [6, 3] + name: agent0 + start: [1, 3] +- goal: [5, 6] + name: agent1 + start: [3, 2] +- goal: [4, 4] + name: agent2 + start: [3, 0] +- goal: [6, 1] + name: agent3 + start: [1, 2] +- goal: [5, 5] + name: agent4 + start: [6, 3] +- goal: [2, 6] + name: agent5 + start: [6, 7] +- goal: [2, 4] + name: agent6 + start: [7, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 4] + - !!python/tuple [2, 7] + - !!python/tuple [4, 6] + - !!python/tuple [4, 0] + - !!python/tuple [0, 6] + - !!python/tuple [1, 5] + - !!python/tuple [1, 4] + - !!python/tuple [0, 7] + - !!python/tuple [0, 4] + - !!python/tuple [0, 3] + - !!python/tuple [2, 1] + - !!python/tuple [7, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex1.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex1.yaml new file mode 100644 index 0000000..b6f6e6b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex1.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [5, 3] + name: agent0 + start: [5, 0] +- goal: [5, 5] + name: agent1 + start: [0, 4] +- goal: [4, 0] + name: agent2 + start: [0, 5] +- goal: [3, 1] + name: agent3 + start: [7, 0] +- goal: [5, 7] + name: agent4 + start: [1, 1] +- goal: [7, 1] + name: agent5 + start: [5, 5] +- goal: [7, 4] + name: agent6 + start: [4, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 3] + - !!python/tuple [1, 2] + - !!python/tuple [0, 6] + - !!python/tuple [7, 2] + - !!python/tuple [6, 5] + - !!python/tuple [1, 6] + - !!python/tuple [0, 7] + - !!python/tuple [3, 5] + - !!python/tuple [1, 5] + - !!python/tuple [7, 5] + - !!python/tuple [5, 1] + - !!python/tuple [6, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex10.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex10.yaml new file mode 100644 index 0000000..1a0fc36 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex10.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [7, 3] + name: agent0 + start: [3, 3] +- goal: [2, 6] + name: agent1 + start: [4, 7] +- goal: [0, 7] + name: agent2 + start: [4, 1] +- goal: [2, 1] + name: agent3 + start: [5, 1] +- goal: [0, 5] + name: agent4 + start: [7, 3] +- goal: [4, 6] + name: agent5 + start: [6, 5] +- goal: [4, 5] + name: agent6 + start: [4, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 3] + - !!python/tuple [3, 4] + - !!python/tuple [4, 2] + - !!python/tuple [3, 7] + - !!python/tuple [4, 4] + - !!python/tuple [1, 5] + - !!python/tuple [1, 7] + - !!python/tuple [6, 7] + - !!python/tuple [7, 0] + - !!python/tuple [7, 7] + - !!python/tuple [5, 4] + - !!python/tuple [1, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex11.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex11.yaml new file mode 100644 index 0000000..9b92cce --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex11.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [2, 6] + name: agent0 + start: [1, 5] +- goal: [2, 2] + name: agent1 + start: [2, 1] +- goal: [6, 1] + name: agent2 + start: [1, 4] +- goal: [6, 5] + name: agent3 + start: [7, 0] +- goal: [7, 2] + name: agent4 + start: [5, 2] +- goal: [1, 3] + name: agent5 + start: [2, 3] +- goal: [1, 1] + name: agent6 + start: [6, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 6] + - !!python/tuple [3, 3] + - !!python/tuple [6, 2] + - !!python/tuple [2, 7] + - !!python/tuple [7, 3] + - !!python/tuple [4, 4] + - !!python/tuple [1, 2] + - !!python/tuple [2, 0] + - !!python/tuple [5, 3] + - !!python/tuple [2, 4] + - !!python/tuple [6, 7] + - !!python/tuple [7, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex12.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex12.yaml new file mode 100644 index 0000000..c4eae15 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex12.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [6, 0] + name: agent0 + start: [6, 4] +- goal: [3, 4] + name: agent1 + start: [2, 4] +- goal: [5, 5] + name: agent2 + start: [2, 7] +- goal: [6, 4] + name: agent3 + start: [2, 0] +- goal: [5, 4] + name: agent4 + start: [7, 0] +- goal: [2, 6] + name: agent5 + start: [6, 7] +- goal: [0, 3] + name: agent6 + start: [5, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 3] + - !!python/tuple [7, 2] + - !!python/tuple [0, 2] + - !!python/tuple [4, 6] + - !!python/tuple [1, 6] + - !!python/tuple [3, 5] + - !!python/tuple [2, 2] + - !!python/tuple [1, 2] + - !!python/tuple [1, 3] + - !!python/tuple [7, 1] + - !!python/tuple [3, 1] + - !!python/tuple [7, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex13.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex13.yaml new file mode 100644 index 0000000..e7225a1 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex13.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [7, 5] + name: agent0 + start: [1, 1] +- goal: [2, 0] + name: agent1 + start: [0, 1] +- goal: [7, 7] + name: agent2 + start: [1, 4] +- goal: [5, 7] + name: agent3 + start: [5, 5] +- goal: [6, 1] + name: agent4 + start: [4, 4] +- goal: [4, 2] + name: agent5 + start: [3, 1] +- goal: [6, 6] + name: agent6 + start: [3, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 3] + - !!python/tuple [7, 0] + - !!python/tuple [0, 0] + - !!python/tuple [4, 7] + - !!python/tuple [2, 4] + - !!python/tuple [1, 6] + - !!python/tuple [5, 0] + - !!python/tuple [6, 0] + - !!python/tuple [7, 3] + - !!python/tuple [7, 1] + - !!python/tuple [6, 5] + - !!python/tuple [4, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex14.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex14.yaml new file mode 100644 index 0000000..36d2cb3 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex14.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [6, 6] + name: agent0 + start: [1, 7] +- goal: [0, 7] + name: agent1 + start: [4, 0] +- goal: [6, 2] + name: agent2 + start: [2, 6] +- goal: [4, 4] + name: agent3 + start: [3, 4] +- goal: [0, 3] + name: agent4 + start: [0, 7] +- goal: [4, 0] + name: agent5 + start: [1, 0] +- goal: [5, 2] + name: agent6 + start: [0, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 2] + - !!python/tuple [4, 7] + - !!python/tuple [5, 3] + - !!python/tuple [3, 7] + - !!python/tuple [7, 2] + - !!python/tuple [1, 1] + - !!python/tuple [7, 5] + - !!python/tuple [2, 3] + - !!python/tuple [4, 5] + - !!python/tuple [0, 1] + - !!python/tuple [5, 6] + - !!python/tuple [5, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex15.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex15.yaml new file mode 100644 index 0000000..37f75cb --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex15.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [6, 1] + name: agent0 + start: [5, 4] +- goal: [7, 6] + name: agent1 + start: [4, 0] +- goal: [0, 4] + name: agent2 + start: [0, 7] +- goal: [2, 3] + name: agent3 + start: [5, 6] +- goal: [4, 1] + name: agent4 + start: [6, 4] +- goal: [5, 2] + name: agent5 + start: [4, 7] +- goal: [3, 6] + name: agent6 + start: [5, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 7] + - !!python/tuple [4, 5] + - !!python/tuple [0, 3] + - !!python/tuple [4, 3] + - !!python/tuple [1, 6] + - !!python/tuple [6, 3] + - !!python/tuple [2, 7] + - !!python/tuple [4, 2] + - !!python/tuple [7, 0] + - !!python/tuple [5, 5] + - !!python/tuple [7, 5] + - !!python/tuple [7, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex16.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex16.yaml new file mode 100644 index 0000000..42fed65 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex16.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [5, 4] + name: agent0 + start: [3, 6] +- goal: [4, 1] + name: agent1 + start: [2, 2] +- goal: [5, 5] + name: agent2 + start: [4, 2] +- goal: [3, 4] + name: agent3 + start: [5, 6] +- goal: [4, 3] + name: agent4 + start: [5, 7] +- goal: [6, 3] + name: agent5 + start: [6, 7] +- goal: [5, 3] + name: agent6 + start: [0, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 2] + - !!python/tuple [3, 0] + - !!python/tuple [6, 5] + - !!python/tuple [7, 2] + - !!python/tuple [0, 0] + - !!python/tuple [1, 4] + - !!python/tuple [0, 3] + - !!python/tuple [1, 1] + - !!python/tuple [1, 0] + - !!python/tuple [2, 1] + - !!python/tuple [1, 7] + - !!python/tuple [5, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex17.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex17.yaml new file mode 100644 index 0000000..bc88caf --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex17.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [0, 6] + name: agent0 + start: [7, 5] +- goal: [2, 7] + name: agent1 + start: [5, 4] +- goal: [6, 2] + name: agent2 + start: [5, 2] +- goal: [2, 0] + name: agent3 + start: [6, 1] +- goal: [3, 2] + name: agent4 + start: [0, 2] +- goal: [3, 4] + name: agent5 + start: [3, 4] +- goal: [6, 1] + name: agent6 + start: [0, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 1] + - !!python/tuple [1, 2] + - !!python/tuple [1, 3] + - !!python/tuple [3, 0] + - !!python/tuple [7, 4] + - !!python/tuple [7, 2] + - !!python/tuple [4, 1] + - !!python/tuple [2, 1] + - !!python/tuple [7, 7] + - !!python/tuple [5, 5] + - !!python/tuple [2, 2] + - !!python/tuple [6, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex18.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex18.yaml new file mode 100644 index 0000000..4f0786b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex18.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [5, 5] + name: agent0 + start: [2, 5] +- goal: [7, 3] + name: agent1 + start: [7, 0] +- goal: [7, 6] + name: agent2 + start: [6, 5] +- goal: [2, 5] + name: agent3 + start: [2, 3] +- goal: [7, 0] + name: agent4 + start: [2, 7] +- goal: [0, 7] + name: agent5 + start: [1, 6] +- goal: [6, 6] + name: agent6 + start: [4, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 3] + - !!python/tuple [6, 4] + - !!python/tuple [4, 3] + - !!python/tuple [6, 2] + - !!python/tuple [7, 1] + - !!python/tuple [1, 0] + - !!python/tuple [0, 3] + - !!python/tuple [5, 2] + - !!python/tuple [5, 7] + - !!python/tuple [2, 1] + - !!python/tuple [5, 4] + - !!python/tuple [1, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex19.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex19.yaml new file mode 100644 index 0000000..438889c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex19.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [0, 7] + name: agent0 + start: [2, 7] +- goal: [1, 7] + name: agent1 + start: [5, 4] +- goal: [4, 3] + name: agent2 + start: [1, 1] +- goal: [4, 1] + name: agent3 + start: [7, 7] +- goal: [7, 0] + name: agent4 + start: [1, 2] +- goal: [1, 4] + name: agent5 + start: [7, 1] +- goal: [4, 7] + name: agent6 + start: [3, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 3] + - !!python/tuple [4, 2] + - !!python/tuple [3, 5] + - !!python/tuple [6, 6] + - !!python/tuple [7, 2] + - !!python/tuple [5, 0] + - !!python/tuple [0, 6] + - !!python/tuple [0, 0] + - !!python/tuple [2, 4] + - !!python/tuple [1, 3] + - !!python/tuple [5, 3] + - !!python/tuple [4, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex2.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex2.yaml new file mode 100644 index 0000000..683b2ee --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex2.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [3, 1] + name: agent0 + start: [4, 0] +- goal: [1, 5] + name: agent1 + start: [5, 5] +- goal: [4, 6] + name: agent2 + start: [7, 3] +- goal: [2, 6] + name: agent3 + start: [4, 3] +- goal: [2, 5] + name: agent4 + start: [7, 5] +- goal: [7, 0] + name: agent5 + start: [1, 2] +- goal: [7, 5] + name: agent6 + start: [5, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 1] + - !!python/tuple [0, 7] + - !!python/tuple [4, 1] + - !!python/tuple [0, 4] + - !!python/tuple [1, 3] + - !!python/tuple [3, 4] + - !!python/tuple [6, 3] + - !!python/tuple [1, 6] + - !!python/tuple [7, 6] + - !!python/tuple [0, 2] + - !!python/tuple [3, 5] + - !!python/tuple [2, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex20.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex20.yaml new file mode 100644 index 0000000..4ca8a8f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex20.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [2, 7] + name: agent0 + start: [5, 4] +- goal: [3, 1] + name: agent1 + start: [7, 2] +- goal: [2, 4] + name: agent2 + start: [0, 4] +- goal: [1, 2] + name: agent3 + start: [0, 3] +- goal: [0, 0] + name: agent4 + start: [4, 4] +- goal: [5, 1] + name: agent5 + start: [6, 2] +- goal: [5, 3] + name: agent6 + start: [0, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 2] + - !!python/tuple [1, 0] + - !!python/tuple [2, 2] + - !!python/tuple [1, 3] + - !!python/tuple [6, 1] + - !!python/tuple [3, 7] + - !!python/tuple [2, 3] + - !!python/tuple [2, 6] + - !!python/tuple [3, 6] + - !!python/tuple [3, 3] + - !!python/tuple [7, 4] + - !!python/tuple [2, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex21.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex21.yaml new file mode 100644 index 0000000..20fdca9 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex21.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [4, 0] + name: agent0 + start: [3, 2] +- goal: [6, 7] + name: agent1 + start: [6, 2] +- goal: [2, 1] + name: agent2 + start: [4, 1] +- goal: [4, 1] + name: agent3 + start: [1, 2] +- goal: [4, 7] + name: agent4 + start: [5, 4] +- goal: [1, 4] + name: agent5 + start: [4, 7] +- goal: [6, 2] + name: agent6 + start: [0, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 1] + - !!python/tuple [1, 0] + - !!python/tuple [7, 4] + - !!python/tuple [0, 4] + - !!python/tuple [2, 7] + - !!python/tuple [3, 0] + - !!python/tuple [2, 4] + - !!python/tuple [7, 3] + - !!python/tuple [0, 1] + - !!python/tuple [4, 5] + - !!python/tuple [4, 2] + - !!python/tuple [3, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex22.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex22.yaml new file mode 100644 index 0000000..b4c5126 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex22.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [4, 2] + name: agent0 + start: [1, 5] +- goal: [2, 4] + name: agent1 + start: [1, 2] +- goal: [7, 5] + name: agent2 + start: [4, 4] +- goal: [6, 0] + name: agent3 + start: [3, 2] +- goal: [0, 5] + name: agent4 + start: [0, 6] +- goal: [2, 7] + name: agent5 + start: [1, 1] +- goal: [3, 2] + name: agent6 + start: [5, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 2] + - !!python/tuple [3, 6] + - !!python/tuple [5, 4] + - !!python/tuple [4, 0] + - !!python/tuple [7, 6] + - !!python/tuple [6, 4] + - !!python/tuple [0, 0] + - !!python/tuple [4, 1] + - !!python/tuple [3, 1] + - !!python/tuple [3, 5] + - !!python/tuple [1, 6] + - !!python/tuple [1, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex23.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex23.yaml new file mode 100644 index 0000000..142466c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex23.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [1, 6] + name: agent0 + start: [6, 3] +- goal: [4, 1] + name: agent1 + start: [0, 6] +- goal: [7, 6] + name: agent2 + start: [3, 6] +- goal: [0, 7] + name: agent3 + start: [6, 7] +- goal: [1, 4] + name: agent4 + start: [3, 5] +- goal: [2, 5] + name: agent5 + start: [6, 1] +- goal: [0, 5] + name: agent6 + start: [7, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 5] + - !!python/tuple [7, 0] + - !!python/tuple [5, 2] + - !!python/tuple [1, 1] + - !!python/tuple [1, 7] + - !!python/tuple [6, 6] + - !!python/tuple [0, 4] + - !!python/tuple [6, 2] + - !!python/tuple [5, 6] + - !!python/tuple [2, 2] + - !!python/tuple [4, 7] + - !!python/tuple [3, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex24.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex24.yaml new file mode 100644 index 0000000..a339608 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex24.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [7, 7] + name: agent0 + start: [6, 6] +- goal: [3, 6] + name: agent1 + start: [3, 6] +- goal: [5, 0] + name: agent2 + start: [5, 6] +- goal: [5, 6] + name: agent3 + start: [3, 3] +- goal: [4, 7] + name: agent4 + start: [5, 3] +- goal: [7, 2] + name: agent5 + start: [6, 7] +- goal: [2, 5] + name: agent6 + start: [0, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 2] + - !!python/tuple [0, 1] + - !!python/tuple [5, 5] + - !!python/tuple [7, 1] + - !!python/tuple [3, 5] + - !!python/tuple [7, 5] + - !!python/tuple [2, 4] + - !!python/tuple [6, 4] + - !!python/tuple [5, 2] + - !!python/tuple [6, 3] + - !!python/tuple [1, 4] + - !!python/tuple [3, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex25.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex25.yaml new file mode 100644 index 0000000..0ebe5f0 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex25.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [5, 5] + name: agent0 + start: [3, 1] +- goal: [5, 1] + name: agent1 + start: [4, 4] +- goal: [1, 6] + name: agent2 + start: [2, 1] +- goal: [4, 3] + name: agent3 + start: [2, 6] +- goal: [0, 3] + name: agent4 + start: [3, 4] +- goal: [2, 1] + name: agent5 + start: [2, 0] +- goal: [6, 3] + name: agent6 + start: [4, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 7] + - !!python/tuple [6, 2] + - !!python/tuple [7, 6] + - !!python/tuple [1, 3] + - !!python/tuple [5, 7] + - !!python/tuple [2, 3] + - !!python/tuple [5, 0] + - !!python/tuple [7, 1] + - !!python/tuple [3, 7] + - !!python/tuple [0, 4] + - !!python/tuple [7, 3] + - !!python/tuple [0, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex26.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex26.yaml new file mode 100644 index 0000000..0c270ed --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex26.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [3, 6] + name: agent0 + start: [2, 0] +- goal: [7, 2] + name: agent1 + start: [4, 7] +- goal: [2, 7] + name: agent2 + start: [3, 1] +- goal: [2, 6] + name: agent3 + start: [5, 4] +- goal: [6, 3] + name: agent4 + start: [7, 6] +- goal: [2, 1] + name: agent5 + start: [1, 3] +- goal: [5, 2] + name: agent6 + start: [6, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 6] + - !!python/tuple [0, 4] + - !!python/tuple [7, 7] + - !!python/tuple [2, 2] + - !!python/tuple [7, 5] + - !!python/tuple [6, 5] + - !!python/tuple [1, 1] + - !!python/tuple [3, 0] + - !!python/tuple [5, 0] + - !!python/tuple [4, 2] + - !!python/tuple [4, 1] + - !!python/tuple [1, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex27.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex27.yaml new file mode 100644 index 0000000..2bdb46d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex27.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [7, 6] + name: agent0 + start: [4, 6] +- goal: [1, 2] + name: agent1 + start: [0, 0] +- goal: [1, 5] + name: agent2 + start: [2, 7] +- goal: [0, 5] + name: agent3 + start: [5, 2] +- goal: [0, 3] + name: agent4 + start: [7, 7] +- goal: [3, 0] + name: agent5 + start: [1, 2] +- goal: [1, 4] + name: agent6 + start: [7, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 7] + - !!python/tuple [7, 2] + - !!python/tuple [3, 5] + - !!python/tuple [3, 3] + - !!python/tuple [5, 5] + - !!python/tuple [5, 3] + - !!python/tuple [5, 4] + - !!python/tuple [4, 2] + - !!python/tuple [0, 7] + - !!python/tuple [4, 5] + - !!python/tuple [0, 2] + - !!python/tuple [7, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex28.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex28.yaml new file mode 100644 index 0000000..7aca51e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex28.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [7, 3] + name: agent0 + start: [3, 5] +- goal: [7, 6] + name: agent1 + start: [6, 7] +- goal: [6, 1] + name: agent2 + start: [2, 2] +- goal: [5, 2] + name: agent3 + start: [0, 7] +- goal: [5, 5] + name: agent4 + start: [1, 0] +- goal: [2, 2] + name: agent5 + start: [1, 5] +- goal: [1, 0] + name: agent6 + start: [4, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 2] + - !!python/tuple [4, 3] + - !!python/tuple [7, 4] + - !!python/tuple [6, 6] + - !!python/tuple [1, 3] + - !!python/tuple [0, 2] + - !!python/tuple [5, 4] + - !!python/tuple [3, 4] + - !!python/tuple [0, 6] + - !!python/tuple [5, 6] + - !!python/tuple [2, 5] + - !!python/tuple [1, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex29.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex29.yaml new file mode 100644 index 0000000..61b9b1d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex29.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [3, 5] + name: agent0 + start: [7, 4] +- goal: [3, 6] + name: agent1 + start: [0, 4] +- goal: [1, 1] + name: agent2 + start: [4, 2] +- goal: [1, 4] + name: agent3 + start: [3, 1] +- goal: [1, 2] + name: agent4 + start: [6, 4] +- goal: [3, 3] + name: agent5 + start: [1, 3] +- goal: [1, 3] + name: agent6 + start: [1, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 2] + - !!python/tuple [1, 5] + - !!python/tuple [4, 7] + - !!python/tuple [6, 7] + - !!python/tuple [3, 7] + - !!python/tuple [4, 5] + - !!python/tuple [4, 6] + - !!python/tuple [0, 1] + - !!python/tuple [7, 7] + - !!python/tuple [1, 0] + - !!python/tuple [4, 4] + - !!python/tuple [0, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex3.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex3.yaml new file mode 100644 index 0000000..7306096 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex3.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [4, 4] + name: agent0 + start: [3, 1] +- goal: [2, 1] + name: agent1 + start: [5, 6] +- goal: [6, 0] + name: agent2 + start: [2, 3] +- goal: [5, 6] + name: agent3 + start: [4, 0] +- goal: [4, 2] + name: agent4 + start: [3, 0] +- goal: [6, 4] + name: agent5 + start: [7, 3] +- goal: [7, 5] + name: agent6 + start: [4, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 7] + - !!python/tuple [1, 6] + - !!python/tuple [4, 1] + - !!python/tuple [1, 4] + - !!python/tuple [0, 2] + - !!python/tuple [4, 5] + - !!python/tuple [0, 6] + - !!python/tuple [7, 4] + - !!python/tuple [5, 2] + - !!python/tuple [5, 5] + - !!python/tuple [3, 7] + - !!python/tuple [6, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex30.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex30.yaml new file mode 100644 index 0000000..40433a9 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex30.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [1, 5] + name: agent0 + start: [3, 3] +- goal: [2, 6] + name: agent1 + start: [6, 4] +- goal: [0, 5] + name: agent2 + start: [1, 7] +- goal: [4, 1] + name: agent3 + start: [7, 0] +- goal: [4, 5] + name: agent4 + start: [5, 1] +- goal: [0, 0] + name: agent5 + start: [4, 6] +- goal: [6, 3] + name: agent6 + start: [2, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 6] + - !!python/tuple [4, 2] + - !!python/tuple [3, 2] + - !!python/tuple [7, 6] + - !!python/tuple [2, 2] + - !!python/tuple [0, 3] + - !!python/tuple [1, 2] + - !!python/tuple [7, 2] + - !!python/tuple [0, 6] + - !!python/tuple [5, 3] + - !!python/tuple [3, 1] + - !!python/tuple [4, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex31.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex31.yaml new file mode 100644 index 0000000..d6d6387 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex31.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [0, 2] + name: agent0 + start: [2, 1] +- goal: [7, 2] + name: agent1 + start: [0, 4] +- goal: [5, 7] + name: agent2 + start: [1, 6] +- goal: [5, 0] + name: agent3 + start: [4, 3] +- goal: [2, 0] + name: agent4 + start: [3, 7] +- goal: [0, 0] + name: agent5 + start: [7, 2] +- goal: [2, 4] + name: agent6 + start: [0, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 6] + - !!python/tuple [2, 3] + - !!python/tuple [6, 2] + - !!python/tuple [6, 7] + - !!python/tuple [6, 3] + - !!python/tuple [7, 6] + - !!python/tuple [3, 6] + - !!python/tuple [4, 0] + - !!python/tuple [5, 3] + - !!python/tuple [7, 0] + - !!python/tuple [3, 1] + - !!python/tuple [4, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex32.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex32.yaml new file mode 100644 index 0000000..96bfeae --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex32.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [1, 3] + name: agent0 + start: [4, 4] +- goal: [7, 1] + name: agent1 + start: [6, 6] +- goal: [5, 4] + name: agent2 + start: [1, 4] +- goal: [4, 4] + name: agent3 + start: [2, 0] +- goal: [4, 3] + name: agent4 + start: [5, 7] +- goal: [6, 0] + name: agent5 + start: [3, 1] +- goal: [3, 1] + name: agent6 + start: [3, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 6] + - !!python/tuple [6, 7] + - !!python/tuple [3, 0] + - !!python/tuple [3, 2] + - !!python/tuple [3, 7] + - !!python/tuple [1, 2] + - !!python/tuple [4, 2] + - !!python/tuple [0, 6] + - !!python/tuple [6, 3] + - !!python/tuple [6, 5] + - !!python/tuple [4, 1] + - !!python/tuple [6, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex33.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex33.yaml new file mode 100644 index 0000000..99c7e30 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex33.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [5, 5] + name: agent0 + start: [6, 2] +- goal: [5, 4] + name: agent1 + start: [2, 6] +- goal: [0, 2] + name: agent2 + start: [4, 0] +- goal: [5, 3] + name: agent3 + start: [1, 6] +- goal: [2, 4] + name: agent4 + start: [5, 3] +- goal: [4, 7] + name: agent5 + start: [0, 7] +- goal: [3, 5] + name: agent6 + start: [1, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 1] + - !!python/tuple [5, 7] + - !!python/tuple [6, 6] + - !!python/tuple [2, 0] + - !!python/tuple [0, 3] + - !!python/tuple [6, 1] + - !!python/tuple [5, 6] + - !!python/tuple [6, 4] + - !!python/tuple [0, 6] + - !!python/tuple [6, 3] + - !!python/tuple [1, 0] + - !!python/tuple [7, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex34.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex34.yaml new file mode 100644 index 0000000..3d49e22 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex34.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [4, 5] + name: agent0 + start: [1, 2] +- goal: [3, 2] + name: agent1 + start: [4, 4] +- goal: [0, 2] + name: agent2 + start: [2, 6] +- goal: [6, 6] + name: agent3 + start: [1, 5] +- goal: [1, 0] + name: agent4 + start: [4, 1] +- goal: [0, 6] + name: agent5 + start: [6, 6] +- goal: [0, 7] + name: agent6 + start: [0, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 2] + - !!python/tuple [0, 1] + - !!python/tuple [6, 3] + - !!python/tuple [7, 6] + - !!python/tuple [4, 7] + - !!python/tuple [5, 0] + - !!python/tuple [4, 3] + - !!python/tuple [5, 1] + - !!python/tuple [5, 4] + - !!python/tuple [2, 0] + - !!python/tuple [3, 7] + - !!python/tuple [7, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex35.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex35.yaml new file mode 100644 index 0000000..2ed69f2 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex35.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [4, 5] + name: agent0 + start: [5, 0] +- goal: [2, 4] + name: agent1 + start: [3, 7] +- goal: [7, 7] + name: agent2 + start: [4, 1] +- goal: [0, 1] + name: agent3 + start: [5, 4] +- goal: [5, 5] + name: agent4 + start: [2, 5] +- goal: [7, 2] + name: agent5 + start: [1, 3] +- goal: [4, 3] + name: agent6 + start: [6, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 6] + - !!python/tuple [6, 3] + - !!python/tuple [6, 0] + - !!python/tuple [0, 6] + - !!python/tuple [6, 4] + - !!python/tuple [7, 0] + - !!python/tuple [5, 7] + - !!python/tuple [1, 7] + - !!python/tuple [0, 7] + - !!python/tuple [2, 1] + - !!python/tuple [3, 4] + - !!python/tuple [1, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex36.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex36.yaml new file mode 100644 index 0000000..b2821e7 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex36.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [6, 6] + name: agent0 + start: [2, 6] +- goal: [5, 4] + name: agent1 + start: [5, 0] +- goal: [2, 1] + name: agent2 + start: [6, 6] +- goal: [2, 7] + name: agent3 + start: [6, 0] +- goal: [7, 0] + name: agent4 + start: [3, 7] +- goal: [2, 6] + name: agent5 + start: [2, 0] +- goal: [2, 3] + name: agent6 + start: [5, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 5] + - !!python/tuple [6, 3] + - !!python/tuple [4, 6] + - !!python/tuple [1, 6] + - !!python/tuple [7, 4] + - !!python/tuple [3, 3] + - !!python/tuple [5, 3] + - !!python/tuple [5, 2] + - !!python/tuple [6, 5] + - !!python/tuple [1, 3] + - !!python/tuple [4, 0] + - !!python/tuple [3, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex37.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex37.yaml new file mode 100644 index 0000000..044c2bb --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex37.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [7, 7] + name: agent0 + start: [3, 4] +- goal: [6, 2] + name: agent1 + start: [2, 3] +- goal: [5, 7] + name: agent2 + start: [6, 0] +- goal: [7, 2] + name: agent3 + start: [7, 2] +- goal: [2, 3] + name: agent4 + start: [1, 1] +- goal: [0, 7] + name: agent5 + start: [2, 7] +- goal: [7, 4] + name: agent6 + start: [5, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 1] + - !!python/tuple [3, 2] + - !!python/tuple [1, 6] + - !!python/tuple [1, 5] + - !!python/tuple [3, 6] + - !!python/tuple [1, 7] + - !!python/tuple [2, 0] + - !!python/tuple [6, 7] + - !!python/tuple [7, 1] + - !!python/tuple [6, 3] + - !!python/tuple [3, 5] + - !!python/tuple [5, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex38.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex38.yaml new file mode 100644 index 0000000..4571e14 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex38.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [3, 5] + name: agent0 + start: [0, 1] +- goal: [6, 2] + name: agent1 + start: [5, 6] +- goal: [4, 3] + name: agent2 + start: [5, 0] +- goal: [2, 5] + name: agent3 + start: [3, 0] +- goal: [3, 3] + name: agent4 + start: [2, 2] +- goal: [3, 1] + name: agent5 + start: [0, 3] +- goal: [1, 4] + name: agent6 + start: [4, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 5] + - !!python/tuple [0, 0] + - !!python/tuple [1, 0] + - !!python/tuple [6, 6] + - !!python/tuple [5, 2] + - !!python/tuple [1, 6] + - !!python/tuple [7, 0] + - !!python/tuple [3, 4] + - !!python/tuple [7, 2] + - !!python/tuple [1, 3] + - !!python/tuple [7, 4] + - !!python/tuple [4, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex39.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex39.yaml new file mode 100644 index 0000000..a933631 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex39.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [7, 3] + name: agent0 + start: [2, 7] +- goal: [6, 1] + name: agent1 + start: [6, 0] +- goal: [4, 5] + name: agent2 + start: [6, 7] +- goal: [7, 7] + name: agent3 + start: [6, 3] +- goal: [4, 2] + name: agent4 + start: [3, 2] +- goal: [3, 2] + name: agent5 + start: [7, 2] +- goal: [5, 3] + name: agent6 + start: [5, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 3] + - !!python/tuple [1, 1] + - !!python/tuple [1, 2] + - !!python/tuple [6, 2] + - !!python/tuple [2, 2] + - !!python/tuple [3, 0] + - !!python/tuple [2, 1] + - !!python/tuple [3, 6] + - !!python/tuple [4, 7] + - !!python/tuple [5, 6] + - !!python/tuple [7, 0] + - !!python/tuple [2, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex4.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex4.yaml new file mode 100644 index 0000000..1da575b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex4.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [7, 7] + name: agent0 + start: [1, 1] +- goal: [2, 2] + name: agent1 + start: [3, 6] +- goal: [2, 3] + name: agent2 + start: [3, 5] +- goal: [2, 6] + name: agent3 + start: [7, 3] +- goal: [2, 4] + name: agent4 + start: [7, 1] +- goal: [6, 1] + name: agent5 + start: [5, 7] +- goal: [3, 0] + name: agent6 + start: [1, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 1] + - !!python/tuple [6, 0] + - !!python/tuple [6, 5] + - !!python/tuple [3, 2] + - !!python/tuple [5, 2] + - !!python/tuple [0, 3] + - !!python/tuple [5, 0] + - !!python/tuple [5, 6] + - !!python/tuple [4, 1] + - !!python/tuple [3, 4] + - !!python/tuple [6, 3] + - !!python/tuple [4, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex40.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex40.yaml new file mode 100644 index 0000000..3db9c59 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex40.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [1, 5] + name: agent0 + start: [7, 0] +- goal: [1, 4] + name: agent1 + start: [3, 0] +- goal: [3, 6] + name: agent2 + start: [2, 4] +- goal: [2, 5] + name: agent3 + start: [1, 5] +- goal: [6, 0] + name: agent4 + start: [7, 7] +- goal: [5, 5] + name: agent5 + start: [3, 6] +- goal: [3, 5] + name: agent6 + start: [0, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 1] + - !!python/tuple [4, 0] + - !!python/tuple [6, 7] + - !!python/tuple [1, 7] + - !!python/tuple [1, 1] + - !!python/tuple [3, 4] + - !!python/tuple [2, 6] + - !!python/tuple [5, 4] + - !!python/tuple [7, 3] + - !!python/tuple [4, 4] + - !!python/tuple [0, 2] + - !!python/tuple [4, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex41.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex41.yaml new file mode 100644 index 0000000..31ad4df --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex41.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [2, 3] + name: agent0 + start: [1, 3] +- goal: [1, 2] + name: agent1 + start: [4, 4] +- goal: [6, 2] + name: agent2 + start: [7, 6] +- goal: [6, 0] + name: agent3 + start: [5, 1] +- goal: [7, 5] + name: agent4 + start: [4, 0] +- goal: [0, 3] + name: agent5 + start: [1, 0] +- goal: [2, 4] + name: agent6 + start: [7, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 6] + - !!python/tuple [7, 3] + - !!python/tuple [5, 5] + - !!python/tuple [3, 5] + - !!python/tuple [4, 2] + - !!python/tuple [2, 5] + - !!python/tuple [1, 4] + - !!python/tuple [1, 1] + - !!python/tuple [4, 3] + - !!python/tuple [7, 0] + - !!python/tuple [0, 1] + - !!python/tuple [3, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex42.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex42.yaml new file mode 100644 index 0000000..613aaf4 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex42.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [4, 2] + name: agent0 + start: [5, 7] +- goal: [3, 1] + name: agent1 + start: [7, 1] +- goal: [6, 0] + name: agent2 + start: [5, 1] +- goal: [0, 1] + name: agent3 + start: [0, 4] +- goal: [1, 3] + name: agent4 + start: [1, 1] +- goal: [1, 7] + name: agent5 + start: [1, 3] +- goal: [3, 2] + name: agent6 + start: [2, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 0] + - !!python/tuple [1, 5] + - !!python/tuple [3, 4] + - !!python/tuple [5, 4] + - !!python/tuple [6, 4] + - !!python/tuple [0, 6] + - !!python/tuple [4, 6] + - !!python/tuple [2, 5] + - !!python/tuple [7, 7] + - !!python/tuple [0, 2] + - !!python/tuple [4, 3] + - !!python/tuple [2, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex43.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex43.yaml new file mode 100644 index 0000000..d1a55ed --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex43.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [7, 1] + name: agent0 + start: [2, 7] +- goal: [3, 1] + name: agent1 + start: [2, 6] +- goal: [1, 0] + name: agent2 + start: [3, 0] +- goal: [3, 6] + name: agent3 + start: [5, 2] +- goal: [2, 6] + name: agent4 + start: [1, 2] +- goal: [6, 1] + name: agent5 + start: [6, 6] +- goal: [3, 4] + name: agent6 + start: [7, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 3] + - !!python/tuple [0, 6] + - !!python/tuple [4, 1] + - !!python/tuple [6, 7] + - !!python/tuple [7, 0] + - !!python/tuple [6, 5] + - !!python/tuple [1, 7] + - !!python/tuple [7, 2] + - !!python/tuple [2, 4] + - !!python/tuple [1, 3] + - !!python/tuple [0, 7] + - !!python/tuple [5, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex44.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex44.yaml new file mode 100644 index 0000000..ca706e6 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex44.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [1, 7] + name: agent0 + start: [6, 7] +- goal: [6, 4] + name: agent1 + start: [2, 4] +- goal: [2, 4] + name: agent2 + start: [4, 0] +- goal: [4, 1] + name: agent3 + start: [6, 2] +- goal: [0, 3] + name: agent4 + start: [4, 5] +- goal: [7, 0] + name: agent5 + start: [1, 7] +- goal: [0, 6] + name: agent6 + start: [5, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 7] + - !!python/tuple [5, 3] + - !!python/tuple [1, 2] + - !!python/tuple [2, 0] + - !!python/tuple [1, 3] + - !!python/tuple [2, 2] + - !!python/tuple [0, 0] + - !!python/tuple [2, 3] + - !!python/tuple [6, 0] + - !!python/tuple [7, 4] + - !!python/tuple [1, 0] + - !!python/tuple [6, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex45.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex45.yaml new file mode 100644 index 0000000..4b50daf --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex45.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [3, 1] + name: agent0 + start: [2, 0] +- goal: [7, 0] + name: agent1 + start: [2, 6] +- goal: [1, 2] + name: agent2 + start: [4, 2] +- goal: [0, 2] + name: agent3 + start: [4, 1] +- goal: [7, 4] + name: agent4 + start: [2, 5] +- goal: [0, 6] + name: agent5 + start: [7, 0] +- goal: [6, 5] + name: agent6 + start: [6, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 0] + - !!python/tuple [0, 5] + - !!python/tuple [5, 6] + - !!python/tuple [5, 3] + - !!python/tuple [0, 7] + - !!python/tuple [3, 5] + - !!python/tuple [2, 4] + - !!python/tuple [7, 3] + - !!python/tuple [6, 6] + - !!python/tuple [4, 5] + - !!python/tuple [1, 1] + - !!python/tuple [5, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex46.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex46.yaml new file mode 100644 index 0000000..26a96bd --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex46.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [7, 6] + name: agent0 + start: [3, 1] +- goal: [7, 4] + name: agent1 + start: [2, 2] +- goal: [6, 3] + name: agent2 + start: [5, 6] +- goal: [5, 0] + name: agent3 + start: [0, 6] +- goal: [4, 1] + name: agent4 + start: [5, 0] +- goal: [7, 2] + name: agent5 + start: [5, 1] +- goal: [6, 1] + name: agent6 + start: [3, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 3] + - !!python/tuple [5, 2] + - !!python/tuple [1, 7] + - !!python/tuple [0, 7] + - !!python/tuple [0, 5] + - !!python/tuple [7, 5] + - !!python/tuple [0, 4] + - !!python/tuple [3, 5] + - !!python/tuple [4, 0] + - !!python/tuple [0, 2] + - !!python/tuple [4, 7] + - !!python/tuple [5, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex47.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex47.yaml new file mode 100644 index 0000000..4faa440 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex47.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [4, 5] + name: agent0 + start: [3, 1] +- goal: [7, 3] + name: agent1 + start: [6, 2] +- goal: [7, 4] + name: agent2 + start: [1, 0] +- goal: [4, 2] + name: agent3 + start: [1, 3] +- goal: [1, 3] + name: agent4 + start: [5, 7] +- goal: [2, 3] + name: agent5 + start: [0, 0] +- goal: [5, 7] + name: agent6 + start: [2, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 0] + - !!python/tuple [0, 5] + - !!python/tuple [2, 0] + - !!python/tuple [1, 7] + - !!python/tuple [7, 7] + - !!python/tuple [5, 2] + - !!python/tuple [0, 3] + - !!python/tuple [7, 1] + - !!python/tuple [2, 4] + - !!python/tuple [0, 7] + - !!python/tuple [0, 1] + - !!python/tuple [5, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex48.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex48.yaml new file mode 100644 index 0000000..74949c3 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex48.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [1, 4] + name: agent0 + start: [3, 0] +- goal: [7, 2] + name: agent1 + start: [3, 4] +- goal: [2, 0] + name: agent2 + start: [7, 5] +- goal: [3, 4] + name: agent3 + start: [5, 1] +- goal: [6, 7] + name: agent4 + start: [3, 7] +- goal: [5, 4] + name: agent5 + start: [5, 3] +- goal: [3, 5] + name: agent6 + start: [1, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 0] + - !!python/tuple [0, 2] + - !!python/tuple [7, 0] + - !!python/tuple [5, 7] + - !!python/tuple [0, 0] + - !!python/tuple [6, 1] + - !!python/tuple [2, 3] + - !!python/tuple [4, 6] + - !!python/tuple [3, 6] + - !!python/tuple [2, 2] + - !!python/tuple [5, 5] + - !!python/tuple [0, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex49.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex49.yaml new file mode 100644 index 0000000..94c913f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex49.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [3, 4] + name: agent0 + start: [6, 5] +- goal: [2, 4] + name: agent1 + start: [1, 5] +- goal: [3, 7] + name: agent2 + start: [3, 5] +- goal: [7, 0] + name: agent3 + start: [2, 4] +- goal: [3, 5] + name: agent4 + start: [7, 0] +- goal: [0, 2] + name: agent5 + start: [4, 3] +- goal: [5, 3] + name: agent6 + start: [2, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 1] + - !!python/tuple [0, 5] + - !!python/tuple [5, 1] + - !!python/tuple [6, 0] + - !!python/tuple [1, 6] + - !!python/tuple [6, 2] + - !!python/tuple [1, 4] + - !!python/tuple [7, 4] + - !!python/tuple [4, 2] + - !!python/tuple [7, 6] + - !!python/tuple [5, 6] + - !!python/tuple [3, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex5.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex5.yaml new file mode 100644 index 0000000..d07f917 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex5.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [6, 7] + name: agent0 + start: [1, 2] +- goal: [0, 4] + name: agent1 + start: [6, 3] +- goal: [2, 5] + name: agent2 + start: [0, 3] +- goal: [3, 0] + name: agent3 + start: [5, 3] +- goal: [4, 5] + name: agent4 + start: [6, 2] +- goal: [0, 2] + name: agent5 + start: [6, 6] +- goal: [1, 3] + name: agent6 + start: [5, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 6] + - !!python/tuple [2, 7] + - !!python/tuple [7, 5] + - !!python/tuple [7, 0] + - !!python/tuple [1, 1] + - !!python/tuple [7, 7] + - !!python/tuple [7, 3] + - !!python/tuple [1, 7] + - !!python/tuple [2, 6] + - !!python/tuple [6, 1] + - !!python/tuple [1, 4] + - !!python/tuple [4, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex50.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex50.yaml new file mode 100644 index 0000000..6c5c38c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex50.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [5, 7] + name: agent0 + start: [2, 7] +- goal: [6, 5] + name: agent1 + start: [2, 1] +- goal: [7, 1] + name: agent2 + start: [4, 2] +- goal: [4, 2] + name: agent3 + start: [2, 6] +- goal: [7, 5] + name: agent4 + start: [0, 4] +- goal: [5, 0] + name: agent5 + start: [7, 0] +- goal: [5, 3] + name: agent6 + start: [7, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 4] + - !!python/tuple [0, 2] + - !!python/tuple [6, 0] + - !!python/tuple [5, 1] + - !!python/tuple [4, 1] + - !!python/tuple [1, 1] + - !!python/tuple [5, 6] + - !!python/tuple [6, 6] + - !!python/tuple [7, 2] + - !!python/tuple [3, 2] + - !!python/tuple [3, 4] + - !!python/tuple [1, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex51.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex51.yaml new file mode 100644 index 0000000..ed6ff87 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex51.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [2, 6] + name: agent0 + start: [1, 3] +- goal: [1, 7] + name: agent1 + start: [7, 0] +- goal: [6, 2] + name: agent2 + start: [6, 2] +- goal: [7, 0] + name: agent3 + start: [0, 2] +- goal: [5, 1] + name: agent4 + start: [1, 2] +- goal: [5, 2] + name: agent5 + start: [4, 0] +- goal: [1, 6] + name: agent6 + start: [0, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 3] + - !!python/tuple [5, 7] + - !!python/tuple [1, 0] + - !!python/tuple [6, 3] + - !!python/tuple [4, 5] + - !!python/tuple [6, 6] + - !!python/tuple [7, 7] + - !!python/tuple [4, 2] + - !!python/tuple [2, 2] + - !!python/tuple [6, 1] + - !!python/tuple [5, 4] + - !!python/tuple [6, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex52.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex52.yaml new file mode 100644 index 0000000..ac9c9f4 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex52.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [4, 5] + name: agent0 + start: [3, 7] +- goal: [4, 3] + name: agent1 + start: [3, 6] +- goal: [4, 0] + name: agent2 + start: [2, 0] +- goal: [1, 5] + name: agent3 + start: [3, 5] +- goal: [7, 6] + name: agent4 + start: [5, 7] +- goal: [6, 3] + name: agent5 + start: [5, 0] +- goal: [6, 6] + name: agent6 + start: [5, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 2] + - !!python/tuple [7, 4] + - !!python/tuple [6, 0] + - !!python/tuple [0, 0] + - !!python/tuple [1, 2] + - !!python/tuple [2, 7] + - !!python/tuple [3, 1] + - !!python/tuple [4, 6] + - !!python/tuple [0, 6] + - !!python/tuple [6, 5] + - !!python/tuple [1, 1] + - !!python/tuple [0, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex53.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex53.yaml new file mode 100644 index 0000000..917e250 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex53.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [0, 0] + name: agent0 + start: [1, 4] +- goal: [1, 3] + name: agent1 + start: [0, 5] +- goal: [4, 4] + name: agent2 + start: [0, 4] +- goal: [6, 3] + name: agent3 + start: [7, 2] +- goal: [7, 0] + name: agent4 + start: [6, 6] +- goal: [4, 0] + name: agent5 + start: [4, 1] +- goal: [0, 3] + name: agent6 + start: [7, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 2] + - !!python/tuple [3, 5] + - !!python/tuple [6, 4] + - !!python/tuple [6, 1] + - !!python/tuple [5, 6] + - !!python/tuple [5, 4] + - !!python/tuple [3, 7] + - !!python/tuple [5, 2] + - !!python/tuple [3, 3] + - !!python/tuple [1, 0] + - !!python/tuple [5, 5] + - !!python/tuple [4, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex54.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex54.yaml new file mode 100644 index 0000000..e80422f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex54.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [7, 6] + name: agent0 + start: [4, 0] +- goal: [6, 4] + name: agent1 + start: [2, 6] +- goal: [5, 0] + name: agent2 + start: [6, 5] +- goal: [2, 5] + name: agent3 + start: [3, 0] +- goal: [4, 0] + name: agent4 + start: [7, 2] +- goal: [1, 5] + name: agent5 + start: [3, 3] +- goal: [2, 4] + name: agent6 + start: [5, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 4] + - !!python/tuple [2, 1] + - !!python/tuple [5, 5] + - !!python/tuple [1, 4] + - !!python/tuple [6, 6] + - !!python/tuple [1, 0] + - !!python/tuple [7, 1] + - !!python/tuple [3, 6] + - !!python/tuple [0, 6] + - !!python/tuple [1, 1] + - !!python/tuple [0, 2] + - !!python/tuple [7, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex55.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex55.yaml new file mode 100644 index 0000000..bd13143 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex55.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [2, 3] + name: agent0 + start: [3, 4] +- goal: [5, 3] + name: agent1 + start: [0, 5] +- goal: [7, 6] + name: agent2 + start: [7, 3] +- goal: [5, 4] + name: agent3 + start: [2, 5] +- goal: [4, 6] + name: agent4 + start: [7, 6] +- goal: [6, 1] + name: agent5 + start: [6, 6] +- goal: [6, 3] + name: agent6 + start: [1, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 2] + - !!python/tuple [3, 2] + - !!python/tuple [1, 2] + - !!python/tuple [5, 2] + - !!python/tuple [5, 5] + - !!python/tuple [3, 6] + - !!python/tuple [2, 2] + - !!python/tuple [6, 5] + - !!python/tuple [6, 0] + - !!python/tuple [2, 0] + - !!python/tuple [1, 0] + - !!python/tuple [4, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex56.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex56.yaml new file mode 100644 index 0000000..a4c02fa --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex56.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [6, 5] + name: agent0 + start: [7, 5] +- goal: [7, 4] + name: agent1 + start: [0, 1] +- goal: [5, 1] + name: agent2 + start: [6, 7] +- goal: [0, 6] + name: agent3 + start: [2, 7] +- goal: [0, 7] + name: agent4 + start: [1, 1] +- goal: [5, 5] + name: agent5 + start: [5, 2] +- goal: [5, 0] + name: agent6 + start: [3, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 5] + - !!python/tuple [2, 4] + - !!python/tuple [6, 0] + - !!python/tuple [3, 2] + - !!python/tuple [4, 0] + - !!python/tuple [1, 2] + - !!python/tuple [2, 3] + - !!python/tuple [2, 6] + - !!python/tuple [0, 0] + - !!python/tuple [2, 2] + - !!python/tuple [1, 7] + - !!python/tuple [7, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex57.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex57.yaml new file mode 100644 index 0000000..a935950 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex57.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [7, 1] + name: agent0 + start: [7, 2] +- goal: [4, 2] + name: agent1 + start: [5, 1] +- goal: [7, 5] + name: agent2 + start: [4, 1] +- goal: [2, 6] + name: agent3 + start: [7, 5] +- goal: [6, 0] + name: agent4 + start: [6, 7] +- goal: [5, 0] + name: agent5 + start: [4, 5] +- goal: [0, 1] + name: agent6 + start: [7, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 1] + - !!python/tuple [2, 2] + - !!python/tuple [3, 5] + - !!python/tuple [7, 7] + - !!python/tuple [3, 7] + - !!python/tuple [0, 7] + - !!python/tuple [3, 2] + - !!python/tuple [6, 1] + - !!python/tuple [0, 0] + - !!python/tuple [3, 3] + - !!python/tuple [0, 5] + - !!python/tuple [6, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex58.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex58.yaml new file mode 100644 index 0000000..d3378be --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex58.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [4, 5] + name: agent0 + start: [1, 2] +- goal: [6, 1] + name: agent1 + start: [2, 7] +- goal: [4, 7] + name: agent2 + start: [0, 5] +- goal: [3, 5] + name: agent3 + start: [3, 1] +- goal: [6, 6] + name: agent4 + start: [7, 7] +- goal: [6, 2] + name: agent5 + start: [3, 4] +- goal: [7, 6] + name: agent6 + start: [7, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 6] + - !!python/tuple [1, 1] + - !!python/tuple [3, 0] + - !!python/tuple [1, 5] + - !!python/tuple [0, 3] + - !!python/tuple [6, 5] + - !!python/tuple [2, 5] + - !!python/tuple [5, 3] + - !!python/tuple [5, 4] + - !!python/tuple [5, 0] + - !!python/tuple [4, 6] + - !!python/tuple [7, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex59.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex59.yaml new file mode 100644 index 0000000..b692fdb --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex59.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [0, 2] + name: agent0 + start: [4, 5] +- goal: [0, 5] + name: agent1 + start: [4, 7] +- goal: [6, 1] + name: agent2 + start: [1, 1] +- goal: [5, 1] + name: agent3 + start: [0, 1] +- goal: [0, 4] + name: agent4 + start: [6, 3] +- goal: [7, 4] + name: agent5 + start: [1, 5] +- goal: [5, 3] + name: agent6 + start: [3, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 3] + - !!python/tuple [6, 6] + - !!python/tuple [4, 0] + - !!python/tuple [7, 2] + - !!python/tuple [2, 7] + - !!python/tuple [3, 7] + - !!python/tuple [7, 0] + - !!python/tuple [7, 5] + - !!python/tuple [4, 3] + - !!python/tuple [4, 4] + - !!python/tuple [2, 4] + - !!python/tuple [5, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex6.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex6.yaml new file mode 100644 index 0000000..16b8402 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex6.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [3, 5] + name: agent0 + start: [2, 7] +- goal: [1, 4] + name: agent1 + start: [0, 4] +- goal: [6, 2] + name: agent2 + start: [1, 4] +- goal: [6, 1] + name: agent3 + start: [6, 3] +- goal: [4, 7] + name: agent4 + start: [1, 1] +- goal: [1, 3] + name: agent5 + start: [5, 0] +- goal: [1, 5] + name: agent6 + start: [1, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 4] + - !!python/tuple [1, 0] + - !!python/tuple [0, 2] + - !!python/tuple [5, 2] + - !!python/tuple [7, 6] + - !!python/tuple [7, 0] + - !!python/tuple [2, 1] + - !!python/tuple [5, 6] + - !!python/tuple [2, 2] + - !!python/tuple [3, 1] + - !!python/tuple [0, 0] + - !!python/tuple [4, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex60.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex60.yaml new file mode 100644 index 0000000..9490268 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex60.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [2, 3] + name: agent0 + start: [2, 1] +- goal: [3, 5] + name: agent1 + start: [7, 4] +- goal: [5, 0] + name: agent2 + start: [2, 0] +- goal: [2, 1] + name: agent3 + start: [7, 5] +- goal: [6, 5] + name: agent4 + start: [3, 3] +- goal: [2, 4] + name: agent5 + start: [2, 5] +- goal: [0, 1] + name: agent6 + start: [6, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 3] + - !!python/tuple [1, 3] + - !!python/tuple [1, 1] + - !!python/tuple [6, 1] + - !!python/tuple [7, 1] + - !!python/tuple [4, 6] + - !!python/tuple [0, 2] + - !!python/tuple [0, 4] + - !!python/tuple [4, 3] + - !!python/tuple [7, 3] + - !!python/tuple [6, 0] + - !!python/tuple [7, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex61.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex61.yaml new file mode 100644 index 0000000..c80b577 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex61.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [6, 6] + name: agent0 + start: [3, 3] +- goal: [5, 2] + name: agent1 + start: [6, 7] +- goal: [7, 7] + name: agent2 + start: [3, 5] +- goal: [6, 7] + name: agent3 + start: [2, 2] +- goal: [6, 5] + name: agent4 + start: [0, 4] +- goal: [7, 1] + name: agent5 + start: [7, 6] +- goal: [4, 2] + name: agent6 + start: [7, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 3] + - !!python/tuple [6, 0] + - !!python/tuple [0, 2] + - !!python/tuple [7, 5] + - !!python/tuple [5, 6] + - !!python/tuple [3, 6] + - !!python/tuple [1, 6] + - !!python/tuple [2, 6] + - !!python/tuple [2, 3] + - !!python/tuple [6, 2] + - !!python/tuple [1, 0] + - !!python/tuple [4, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex62.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex62.yaml new file mode 100644 index 0000000..49d879b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex62.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [0, 7] + name: agent0 + start: [1, 4] +- goal: [6, 3] + name: agent1 + start: [4, 0] +- goal: [4, 5] + name: agent2 + start: [0, 6] +- goal: [5, 1] + name: agent3 + start: [6, 7] +- goal: [5, 4] + name: agent4 + start: [6, 1] +- goal: [2, 6] + name: agent5 + start: [4, 5] +- goal: [5, 3] + name: agent6 + start: [7, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 2] + - !!python/tuple [4, 2] + - !!python/tuple [3, 0] + - !!python/tuple [0, 4] + - !!python/tuple [6, 4] + - !!python/tuple [2, 2] + - !!python/tuple [5, 0] + - !!python/tuple [6, 5] + - !!python/tuple [5, 6] + - !!python/tuple [5, 2] + - !!python/tuple [2, 7] + - !!python/tuple [1, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex63.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex63.yaml new file mode 100644 index 0000000..7a93e3d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex63.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [3, 0] + name: agent0 + start: [1, 0] +- goal: [4, 5] + name: agent1 + start: [3, 3] +- goal: [3, 3] + name: agent2 + start: [6, 3] +- goal: [2, 0] + name: agent3 + start: [1, 4] +- goal: [1, 2] + name: agent4 + start: [1, 2] +- goal: [2, 4] + name: agent5 + start: [2, 0] +- goal: [0, 5] + name: agent6 + start: [0, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 1] + - !!python/tuple [6, 2] + - !!python/tuple [6, 4] + - !!python/tuple [3, 1] + - !!python/tuple [5, 7] + - !!python/tuple [4, 2] + - !!python/tuple [6, 1] + - !!python/tuple [2, 7] + - !!python/tuple [5, 2] + - !!python/tuple [0, 1] + - !!python/tuple [2, 2] + - !!python/tuple [0, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex64.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex64.yaml new file mode 100644 index 0000000..281c2a1 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex64.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [6, 5] + name: agent0 + start: [4, 1] +- goal: [2, 2] + name: agent1 + start: [7, 2] +- goal: [2, 4] + name: agent2 + start: [0, 7] +- goal: [1, 6] + name: agent3 + start: [4, 3] +- goal: [4, 3] + name: agent4 + start: [2, 1] +- goal: [4, 2] + name: agent5 + start: [5, 2] +- goal: [4, 4] + name: agent6 + start: [3, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 3] + - !!python/tuple [5, 4] + - !!python/tuple [5, 7] + - !!python/tuple [6, 1] + - !!python/tuple [1, 1] + - !!python/tuple [0, 1] + - !!python/tuple [5, 3] + - !!python/tuple [2, 3] + - !!python/tuple [0, 4] + - !!python/tuple [4, 7] + - !!python/tuple [3, 2] + - !!python/tuple [6, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex65.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex65.yaml new file mode 100644 index 0000000..6eaef36 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex65.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [7, 6] + name: agent0 + start: [5, 6] +- goal: [6, 7] + name: agent1 + start: [6, 6] +- goal: [2, 7] + name: agent2 + start: [2, 1] +- goal: [7, 5] + name: agent3 + start: [1, 1] +- goal: [4, 4] + name: agent4 + start: [6, 0] +- goal: [2, 5] + name: agent5 + start: [1, 4] +- goal: [5, 5] + name: agent6 + start: [5, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 7] + - !!python/tuple [6, 4] + - !!python/tuple [3, 0] + - !!python/tuple [6, 2] + - !!python/tuple [6, 3] + - !!python/tuple [4, 6] + - !!python/tuple [5, 3] + - !!python/tuple [4, 7] + - !!python/tuple [5, 1] + - !!python/tuple [0, 6] + - !!python/tuple [6, 1] + - !!python/tuple [0, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex66.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex66.yaml new file mode 100644 index 0000000..cc83b4a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex66.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [4, 0] + name: agent0 + start: [2, 6] +- goal: [7, 5] + name: agent1 + start: [4, 4] +- goal: [2, 2] + name: agent2 + start: [7, 4] +- goal: [3, 2] + name: agent3 + start: [3, 0] +- goal: [3, 1] + name: agent4 + start: [3, 3] +- goal: [5, 0] + name: agent5 + start: [7, 2] +- goal: [4, 2] + name: agent6 + start: [0, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 6] + - !!python/tuple [0, 7] + - !!python/tuple [7, 3] + - !!python/tuple [2, 7] + - !!python/tuple [7, 6] + - !!python/tuple [6, 6] + - !!python/tuple [5, 6] + - !!python/tuple [1, 0] + - !!python/tuple [1, 5] + - !!python/tuple [1, 2] + - !!python/tuple [4, 3] + - !!python/tuple [5, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex67.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex67.yaml new file mode 100644 index 0000000..195efb7 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex67.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [7, 6] + name: agent0 + start: [5, 5] +- goal: [1, 0] + name: agent1 + start: [4, 3] +- goal: [5, 6] + name: agent2 + start: [4, 4] +- goal: [2, 2] + name: agent3 + start: [6, 5] +- goal: [7, 2] + name: agent4 + start: [1, 7] +- goal: [0, 0] + name: agent5 + start: [1, 5] +- goal: [7, 3] + name: agent6 + start: [0, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 4] + - !!python/tuple [5, 1] + - !!python/tuple [4, 2] + - !!python/tuple [1, 6] + - !!python/tuple [1, 4] + - !!python/tuple [1, 1] + - !!python/tuple [3, 6] + - !!python/tuple [7, 5] + - !!python/tuple [0, 4] + - !!python/tuple [0, 1] + - !!python/tuple [1, 3] + - !!python/tuple [7, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex68.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex68.yaml new file mode 100644 index 0000000..5b222f4 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex68.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [7, 4] + name: agent0 + start: [5, 5] +- goal: [3, 2] + name: agent1 + start: [3, 2] +- goal: [7, 2] + name: agent2 + start: [6, 2] +- goal: [3, 5] + name: agent3 + start: [5, 7] +- goal: [6, 0] + name: agent4 + start: [7, 2] +- goal: [7, 0] + name: agent5 + start: [4, 0] +- goal: [5, 0] + name: agent6 + start: [0, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 4] + - !!python/tuple [1, 0] + - !!python/tuple [3, 0] + - !!python/tuple [5, 2] + - !!python/tuple [2, 1] + - !!python/tuple [3, 3] + - !!python/tuple [2, 3] + - !!python/tuple [0, 2] + - !!python/tuple [4, 1] + - !!python/tuple [3, 4] + - !!python/tuple [6, 4] + - !!python/tuple [1, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex69.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex69.yaml new file mode 100644 index 0000000..d678c05 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex69.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [6, 5] + name: agent0 + start: [2, 4] +- goal: [5, 6] + name: agent1 + start: [6, 4] +- goal: [1, 2] + name: agent2 + start: [0, 0] +- goal: [5, 0] + name: agent3 + start: [1, 2] +- goal: [0, 0] + name: agent4 + start: [7, 3] +- goal: [2, 7] + name: agent5 + start: [2, 0] +- goal: [0, 6] + name: agent6 + start: [7, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 7] + - !!python/tuple [7, 4] + - !!python/tuple [3, 2] + - !!python/tuple [4, 5] + - !!python/tuple [5, 2] + - !!python/tuple [1, 1] + - !!python/tuple [2, 2] + - !!python/tuple [3, 7] + - !!python/tuple [7, 7] + - !!python/tuple [1, 5] + - !!python/tuple [1, 6] + - !!python/tuple [1, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex7.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex7.yaml new file mode 100644 index 0000000..584ff3e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex7.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [2, 4] + name: agent0 + start: [0, 1] +- goal: [2, 5] + name: agent1 + start: [3, 1] +- goal: [7, 4] + name: agent2 + start: [5, 2] +- goal: [5, 4] + name: agent3 + start: [4, 1] +- goal: [7, 6] + name: agent4 + start: [7, 5] +- goal: [6, 3] + name: agent5 + start: [3, 2] +- goal: [7, 7] + name: agent6 + start: [2, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 1] + - !!python/tuple [6, 0] + - !!python/tuple [4, 3] + - !!python/tuple [2, 0] + - !!python/tuple [3, 4] + - !!python/tuple [5, 7] + - !!python/tuple [1, 5] + - !!python/tuple [3, 3] + - !!python/tuple [7, 1] + - !!python/tuple [6, 6] + - !!python/tuple [0, 3] + - !!python/tuple [7, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex70.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex70.yaml new file mode 100644 index 0000000..cafcb92 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex70.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [2, 2] + name: agent0 + start: [0, 3] +- goal: [4, 5] + name: agent1 + start: [5, 7] +- goal: [7, 1] + name: agent2 + start: [2, 3] +- goal: [0, 4] + name: agent3 + start: [3, 0] +- goal: [4, 3] + name: agent4 + start: [4, 6] +- goal: [7, 5] + name: agent5 + start: [4, 2] +- goal: [3, 5] + name: agent6 + start: [4, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 7] + - !!python/tuple [4, 0] + - !!python/tuple [7, 2] + - !!python/tuple [6, 2] + - !!python/tuple [0, 6] + - !!python/tuple [0, 5] + - !!python/tuple [2, 0] + - !!python/tuple [6, 7] + - !!python/tuple [1, 3] + - !!python/tuple [7, 3] + - !!python/tuple [0, 0] + - !!python/tuple [3, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex71.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex71.yaml new file mode 100644 index 0000000..9faed3d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex71.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [4, 0] + name: agent0 + start: [4, 7] +- goal: [1, 5] + name: agent1 + start: [7, 1] +- goal: [3, 5] + name: agent2 + start: [3, 2] +- goal: [6, 0] + name: agent3 + start: [6, 3] +- goal: [2, 7] + name: agent4 + start: [2, 2] +- goal: [7, 0] + name: agent5 + start: [1, 2] +- goal: [0, 0] + name: agent6 + start: [2, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 6] + - !!python/tuple [3, 0] + - !!python/tuple [4, 2] + - !!python/tuple [7, 3] + - !!python/tuple [0, 4] + - !!python/tuple [5, 1] + - !!python/tuple [3, 6] + - !!python/tuple [1, 4] + - !!python/tuple [1, 0] + - !!python/tuple [4, 5] + - !!python/tuple [2, 6] + - !!python/tuple [7, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex72.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex72.yaml new file mode 100644 index 0000000..83688e8 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex72.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [2, 0] + name: agent0 + start: [1, 6] +- goal: [0, 6] + name: agent1 + start: [0, 0] +- goal: [6, 6] + name: agent2 + start: [0, 2] +- goal: [6, 5] + name: agent3 + start: [0, 7] +- goal: [3, 7] + name: agent4 + start: [3, 7] +- goal: [4, 7] + name: agent5 + start: [4, 5] +- goal: [1, 3] + name: agent6 + start: [3, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 1] + - !!python/tuple [1, 5] + - !!python/tuple [0, 4] + - !!python/tuple [7, 2] + - !!python/tuple [4, 3] + - !!python/tuple [5, 2] + - !!python/tuple [2, 3] + - !!python/tuple [6, 2] + - !!python/tuple [3, 2] + - !!python/tuple [2, 1] + - !!python/tuple [4, 0] + - !!python/tuple [0, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex73.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex73.yaml new file mode 100644 index 0000000..7b021b6 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex73.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [6, 6] + name: agent0 + start: [4, 1] +- goal: [6, 7] + name: agent1 + start: [2, 1] +- goal: [4, 0] + name: agent2 + start: [2, 3] +- goal: [0, 3] + name: agent3 + start: [3, 3] +- goal: [4, 6] + name: agent4 + start: [5, 4] +- goal: [3, 3] + name: agent5 + start: [7, 1] +- goal: [7, 1] + name: agent6 + start: [7, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 5] + - !!python/tuple [2, 7] + - !!python/tuple [7, 2] + - !!python/tuple [2, 6] + - !!python/tuple [7, 0] + - !!python/tuple [3, 0] + - !!python/tuple [1, 5] + - !!python/tuple [7, 3] + - !!python/tuple [4, 2] + - !!python/tuple [6, 3] + - !!python/tuple [2, 4] + - !!python/tuple [1, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex74.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex74.yaml new file mode 100644 index 0000000..a9caea0 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex74.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [6, 7] + name: agent0 + start: [0, 0] +- goal: [4, 0] + name: agent1 + start: [0, 4] +- goal: [2, 6] + name: agent2 + start: [6, 5] +- goal: [5, 2] + name: agent3 + start: [0, 5] +- goal: [6, 0] + name: agent4 + start: [0, 1] +- goal: [7, 2] + name: agent5 + start: [3, 5] +- goal: [4, 2] + name: agent6 + start: [7, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 7] + - !!python/tuple [2, 3] + - !!python/tuple [3, 3] + - !!python/tuple [4, 1] + - !!python/tuple [1, 5] + - !!python/tuple [7, 6] + - !!python/tuple [4, 7] + - !!python/tuple [6, 2] + - !!python/tuple [1, 3] + - !!python/tuple [2, 1] + - !!python/tuple [3, 7] + - !!python/tuple [6, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex75.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex75.yaml new file mode 100644 index 0000000..091dd43 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex75.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [3, 0] + name: agent0 + start: [0, 6] +- goal: [6, 6] + name: agent1 + start: [0, 5] +- goal: [4, 7] + name: agent2 + start: [7, 4] +- goal: [2, 6] + name: agent3 + start: [4, 4] +- goal: [3, 1] + name: agent4 + start: [0, 0] +- goal: [0, 0] + name: agent5 + start: [5, 3] +- goal: [3, 7] + name: agent6 + start: [5, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 6] + - !!python/tuple [7, 2] + - !!python/tuple [3, 5] + - !!python/tuple [6, 5] + - !!python/tuple [5, 5] + - !!python/tuple [6, 7] + - !!python/tuple [6, 3] + - !!python/tuple [4, 1] + - !!python/tuple [3, 4] + - !!python/tuple [5, 0] + - !!python/tuple [1, 1] + - !!python/tuple [6, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex76.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex76.yaml new file mode 100644 index 0000000..7871308 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex76.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [3, 1] + name: agent0 + start: [7, 0] +- goal: [1, 6] + name: agent1 + start: [0, 4] +- goal: [1, 2] + name: agent2 + start: [5, 4] +- goal: [7, 2] + name: agent3 + start: [2, 4] +- goal: [5, 5] + name: agent4 + start: [4, 7] +- goal: [4, 6] + name: agent5 + start: [5, 7] +- goal: [3, 7] + name: agent6 + start: [7, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 4] + - !!python/tuple [1, 3] + - !!python/tuple [2, 7] + - !!python/tuple [7, 3] + - !!python/tuple [6, 0] + - !!python/tuple [4, 2] + - !!python/tuple [7, 4] + - !!python/tuple [1, 5] + - !!python/tuple [0, 3] + - !!python/tuple [1, 1] + - !!python/tuple [6, 5] + - !!python/tuple [0, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex77.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex77.yaml new file mode 100644 index 0000000..f219a72 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex77.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [6, 7] + name: agent0 + start: [0, 4] +- goal: [4, 5] + name: agent1 + start: [7, 2] +- goal: [5, 3] + name: agent2 + start: [5, 1] +- goal: [1, 5] + name: agent3 + start: [2, 1] +- goal: [3, 6] + name: agent4 + start: [4, 2] +- goal: [3, 2] + name: agent5 + start: [0, 1] +- goal: [4, 4] + name: agent6 + start: [1, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 6] + - !!python/tuple [2, 4] + - !!python/tuple [1, 0] + - !!python/tuple [5, 5] + - !!python/tuple [5, 2] + - !!python/tuple [6, 0] + - !!python/tuple [6, 6] + - !!python/tuple [1, 7] + - !!python/tuple [3, 1] + - !!python/tuple [0, 3] + - !!python/tuple [3, 7] + - !!python/tuple [2, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex78.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex78.yaml new file mode 100644 index 0000000..d122161 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex78.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [2, 5] + name: agent0 + start: [3, 1] +- goal: [6, 5] + name: agent1 + start: [2, 5] +- goal: [6, 2] + name: agent2 + start: [2, 0] +- goal: [2, 1] + name: agent3 + start: [4, 6] +- goal: [7, 7] + name: agent4 + start: [7, 6] +- goal: [3, 5] + name: agent5 + start: [0, 6] +- goal: [2, 6] + name: agent6 + start: [4, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 4] + - !!python/tuple [7, 2] + - !!python/tuple [1, 5] + - !!python/tuple [5, 5] + - !!python/tuple [4, 2] + - !!python/tuple [1, 0] + - !!python/tuple [5, 2] + - !!python/tuple [3, 0] + - !!python/tuple [6, 7] + - !!python/tuple [7, 4] + - !!python/tuple [2, 7] + - !!python/tuple [5, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex79.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex79.yaml new file mode 100644 index 0000000..2838e2e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex79.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [5, 1] + name: agent0 + start: [7, 2] +- goal: [1, 1] + name: agent1 + start: [2, 2] +- goal: [0, 5] + name: agent2 + start: [4, 6] +- goal: [1, 0] + name: agent3 + start: [0, 3] +- goal: [7, 2] + name: agent4 + start: [2, 7] +- goal: [5, 2] + name: agent5 + start: [5, 3] +- goal: [1, 4] + name: agent6 + start: [5, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 4] + - !!python/tuple [4, 4] + - !!python/tuple [0, 7] + - !!python/tuple [6, 0] + - !!python/tuple [4, 0] + - !!python/tuple [0, 6] + - !!python/tuple [1, 2] + - !!python/tuple [0, 2] + - !!python/tuple [4, 5] + - !!python/tuple [1, 5] + - !!python/tuple [1, 7] + - !!python/tuple [5, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex8.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex8.yaml new file mode 100644 index 0000000..f5d2ace --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex8.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [5, 4] + name: agent0 + start: [5, 5] +- goal: [0, 7] + name: agent1 + start: [4, 5] +- goal: [0, 3] + name: agent2 + start: [6, 1] +- goal: [1, 5] + name: agent3 + start: [2, 6] +- goal: [3, 6] + name: agent4 + start: [2, 4] +- goal: [4, 4] + name: agent5 + start: [5, 7] +- goal: [0, 6] + name: agent6 + start: [1, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 1] + - !!python/tuple [3, 7] + - !!python/tuple [4, 0] + - !!python/tuple [7, 2] + - !!python/tuple [4, 6] + - !!python/tuple [6, 6] + - !!python/tuple [3, 1] + - !!python/tuple [6, 5] + - !!python/tuple [7, 5] + - !!python/tuple [3, 2] + - !!python/tuple [5, 0] + - !!python/tuple [0, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex80.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex80.yaml new file mode 100644 index 0000000..dbbb6e8 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex80.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [2, 2] + name: agent0 + start: [7, 7] +- goal: [1, 5] + name: agent1 + start: [4, 2] +- goal: [0, 4] + name: agent2 + start: [0, 0] +- goal: [5, 4] + name: agent3 + start: [2, 5] +- goal: [6, 4] + name: agent4 + start: [6, 5] +- goal: [6, 7] + name: agent5 + start: [2, 2] +- goal: [5, 6] + name: agent6 + start: [3, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 2] + - !!python/tuple [0, 6] + - !!python/tuple [6, 1] + - !!python/tuple [1, 6] + - !!python/tuple [0, 2] + - !!python/tuple [4, 7] + - !!python/tuple [2, 3] + - !!python/tuple [0, 7] + - !!python/tuple [1, 1] + - !!python/tuple [5, 1] + - !!python/tuple [1, 7] + - !!python/tuple [0, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex81.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex81.yaml new file mode 100644 index 0000000..53d7967 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex81.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [2, 5] + name: agent0 + start: [6, 7] +- goal: [0, 5] + name: agent1 + start: [4, 3] +- goal: [4, 5] + name: agent2 + start: [0, 1] +- goal: [3, 4] + name: agent3 + start: [1, 6] +- goal: [7, 3] + name: agent4 + start: [0, 6] +- goal: [0, 0] + name: agent5 + start: [2, 5] +- goal: [3, 5] + name: agent6 + start: [6, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 6] + - !!python/tuple [1, 2] + - !!python/tuple [6, 0] + - !!python/tuple [4, 2] + - !!python/tuple [0, 7] + - !!python/tuple [1, 1] + - !!python/tuple [7, 4] + - !!python/tuple [2, 0] + - !!python/tuple [7, 1] + - !!python/tuple [3, 6] + - !!python/tuple [2, 6] + - !!python/tuple [3, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex82.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex82.yaml new file mode 100644 index 0000000..4c6c713 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex82.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [2, 0] + name: agent0 + start: [2, 1] +- goal: [7, 0] + name: agent1 + start: [7, 1] +- goal: [5, 2] + name: agent2 + start: [2, 3] +- goal: [0, 2] + name: agent3 + start: [5, 4] +- goal: [2, 2] + name: agent4 + start: [2, 2] +- goal: [3, 7] + name: agent5 + start: [0, 7] +- goal: [4, 0] + name: agent6 + start: [6, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 6] + - !!python/tuple [7, 4] + - !!python/tuple [7, 5] + - !!python/tuple [3, 0] + - !!python/tuple [1, 7] + - !!python/tuple [6, 5] + - !!python/tuple [3, 4] + - !!python/tuple [2, 7] + - !!python/tuple [1, 0] + - !!python/tuple [6, 3] + - !!python/tuple [0, 0] + - !!python/tuple [5, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex83.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex83.yaml new file mode 100644 index 0000000..980988a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex83.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [1, 3] + name: agent0 + start: [7, 7] +- goal: [1, 0] + name: agent1 + start: [0, 5] +- goal: [1, 2] + name: agent2 + start: [6, 7] +- goal: [3, 1] + name: agent3 + start: [3, 7] +- goal: [7, 6] + name: agent4 + start: [2, 0] +- goal: [7, 3] + name: agent5 + start: [1, 4] +- goal: [4, 5] + name: agent6 + start: [4, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 4] + - !!python/tuple [4, 7] + - !!python/tuple [6, 0] + - !!python/tuple [2, 2] + - !!python/tuple [7, 0] + - !!python/tuple [5, 5] + - !!python/tuple [1, 5] + - !!python/tuple [7, 4] + - !!python/tuple [4, 3] + - !!python/tuple [0, 2] + - !!python/tuple [4, 2] + - !!python/tuple [5, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex84.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex84.yaml new file mode 100644 index 0000000..f733da3 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex84.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [6, 5] + name: agent0 + start: [1, 6] +- goal: [7, 0] + name: agent1 + start: [4, 5] +- goal: [7, 7] + name: agent2 + start: [6, 6] +- goal: [2, 7] + name: agent3 + start: [1, 5] +- goal: [3, 4] + name: agent4 + start: [6, 3] +- goal: [5, 6] + name: agent5 + start: [0, 5] +- goal: [7, 5] + name: agent6 + start: [1, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 6] + - !!python/tuple [7, 1] + - !!python/tuple [3, 5] + - !!python/tuple [1, 2] + - !!python/tuple [5, 4] + - !!python/tuple [7, 2] + - !!python/tuple [2, 0] + - !!python/tuple [2, 5] + - !!python/tuple [0, 3] + - !!python/tuple [2, 4] + - !!python/tuple [4, 1] + - !!python/tuple [0, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex85.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex85.yaml new file mode 100644 index 0000000..8a4f43f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex85.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [7, 7] + name: agent0 + start: [0, 0] +- goal: [1, 3] + name: agent1 + start: [2, 2] +- goal: [1, 2] + name: agent2 + start: [3, 7] +- goal: [4, 6] + name: agent3 + start: [3, 0] +- goal: [4, 4] + name: agent4 + start: [2, 1] +- goal: [6, 1] + name: agent5 + start: [1, 2] +- goal: [3, 7] + name: agent6 + start: [4, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 1] + - !!python/tuple [5, 5] + - !!python/tuple [6, 4] + - !!python/tuple [0, 6] + - !!python/tuple [3, 3] + - !!python/tuple [5, 6] + - !!python/tuple [3, 2] + - !!python/tuple [7, 2] + - !!python/tuple [0, 3] + - !!python/tuple [6, 5] + - !!python/tuple [0, 1] + - !!python/tuple [5, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex86.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex86.yaml new file mode 100644 index 0000000..b0d1883 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex86.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [4, 6] + name: agent0 + start: [4, 0] +- goal: [1, 1] + name: agent1 + start: [3, 1] +- goal: [0, 4] + name: agent2 + start: [2, 3] +- goal: [5, 7] + name: agent3 + start: [7, 1] +- goal: [6, 6] + name: agent4 + start: [1, 1] +- goal: [3, 6] + name: agent5 + start: [6, 6] +- goal: [3, 2] + name: agent6 + start: [7, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 4] + - !!python/tuple [7, 0] + - !!python/tuple [4, 1] + - !!python/tuple [4, 4] + - !!python/tuple [2, 6] + - !!python/tuple [5, 5] + - !!python/tuple [0, 7] + - !!python/tuple [4, 5] + - !!python/tuple [5, 6] + - !!python/tuple [0, 1] + - !!python/tuple [2, 5] + - !!python/tuple [7, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex87.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex87.yaml new file mode 100644 index 0000000..fb344ea --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex87.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [4, 4] + name: agent0 + start: [7, 6] +- goal: [6, 5] + name: agent1 + start: [5, 6] +- goal: [1, 1] + name: agent2 + start: [5, 1] +- goal: [5, 1] + name: agent3 + start: [1, 1] +- goal: [5, 6] + name: agent4 + start: [0, 6] +- goal: [1, 4] + name: agent5 + start: [4, 3] +- goal: [6, 7] + name: agent6 + start: [0, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 2] + - !!python/tuple [0, 3] + - !!python/tuple [2, 2] + - !!python/tuple [0, 7] + - !!python/tuple [6, 2] + - !!python/tuple [3, 0] + - !!python/tuple [1, 7] + - !!python/tuple [1, 0] + - !!python/tuple [3, 6] + - !!python/tuple [0, 4] + - !!python/tuple [7, 4] + - !!python/tuple [1, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex88.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex88.yaml new file mode 100644 index 0000000..0a2940d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex88.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [5, 0] + name: agent0 + start: [4, 3] +- goal: [2, 6] + name: agent1 + start: [1, 4] +- goal: [0, 4] + name: agent2 + start: [2, 5] +- goal: [5, 1] + name: agent3 + start: [7, 5] +- goal: [0, 0] + name: agent4 + start: [5, 7] +- goal: [2, 3] + name: agent5 + start: [2, 2] +- goal: [2, 0] + name: agent6 + start: [4, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 2] + - !!python/tuple [0, 1] + - !!python/tuple [5, 5] + - !!python/tuple [7, 4] + - !!python/tuple [0, 5] + - !!python/tuple [4, 0] + - !!python/tuple [0, 3] + - !!python/tuple [4, 6] + - !!python/tuple [6, 3] + - !!python/tuple [0, 2] + - !!python/tuple [3, 0] + - !!python/tuple [6, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex89.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex89.yaml new file mode 100644 index 0000000..5e66119 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex89.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [1, 0] + name: agent0 + start: [0, 5] +- goal: [6, 2] + name: agent1 + start: [4, 4] +- goal: [3, 5] + name: agent2 + start: [6, 6] +- goal: [2, 4] + name: agent3 + start: [2, 0] +- goal: [1, 4] + name: agent4 + start: [5, 0] +- goal: [2, 2] + name: agent5 + start: [7, 1] +- goal: [3, 0] + name: agent6 + start: [0, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 6] + - !!python/tuple [0, 2] + - !!python/tuple [7, 7] + - !!python/tuple [5, 2] + - !!python/tuple [6, 3] + - !!python/tuple [1, 3] + - !!python/tuple [2, 7] + - !!python/tuple [6, 1] + - !!python/tuple [3, 4] + - !!python/tuple [6, 0] + - !!python/tuple [1, 7] + - !!python/tuple [4, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex9.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex9.yaml new file mode 100644 index 0000000..2f28145 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex9.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [7, 7] + name: agent0 + start: [6, 6] +- goal: [4, 0] + name: agent1 + start: [7, 0] +- goal: [5, 0] + name: agent2 + start: [4, 3] +- goal: [1, 5] + name: agent3 + start: [7, 7] +- goal: [5, 5] + name: agent4 + start: [3, 5] +- goal: [0, 7] + name: agent5 + start: [5, 1] +- goal: [2, 2] + name: agent6 + start: [5, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 3] + - !!python/tuple [4, 1] + - !!python/tuple [2, 7] + - !!python/tuple [3, 4] + - !!python/tuple [1, 2] + - !!python/tuple [2, 5] + - !!python/tuple [6, 2] + - !!python/tuple [0, 3] + - !!python/tuple [2, 4] + - !!python/tuple [3, 3] + - !!python/tuple [5, 4] + - !!python/tuple [0, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex90.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex90.yaml new file mode 100644 index 0000000..dda684b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex90.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [0, 7] + name: agent0 + start: [2, 2] +- goal: [3, 5] + name: agent1 + start: [5, 4] +- goal: [0, 6] + name: agent2 + start: [4, 5] +- goal: [1, 5] + name: agent3 + start: [2, 3] +- goal: [6, 6] + name: agent4 + start: [3, 7] +- goal: [0, 4] + name: agent5 + start: [1, 5] +- goal: [4, 2] + name: agent6 + start: [2, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 4] + - !!python/tuple [3, 3] + - !!python/tuple [7, 4] + - !!python/tuple [4, 3] + - !!python/tuple [5, 2] + - !!python/tuple [1, 1] + - !!python/tuple [4, 7] + - !!python/tuple [6, 7] + - !!python/tuple [7, 0] + - !!python/tuple [7, 6] + - !!python/tuple [5, 6] + - !!python/tuple [1, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex91.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex91.yaml new file mode 100644 index 0000000..12c3ed6 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex91.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [5, 2] + name: agent0 + start: [1, 1] +- goal: [1, 1] + name: agent1 + start: [3, 1] +- goal: [0, 2] + name: agent2 + start: [7, 1] +- goal: [0, 6] + name: agent3 + start: [2, 5] +- goal: [6, 0] + name: agent4 + start: [4, 3] +- goal: [3, 5] + name: agent5 + start: [4, 5] +- goal: [2, 1] + name: agent6 + start: [0, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 1] + - !!python/tuple [7, 0] + - !!python/tuple [3, 7] + - !!python/tuple [4, 0] + - !!python/tuple [7, 3] + - !!python/tuple [3, 4] + - !!python/tuple [3, 6] + - !!python/tuple [6, 4] + - !!python/tuple [7, 5] + - !!python/tuple [0, 4] + - !!python/tuple [5, 6] + - !!python/tuple [2, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex92.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex92.yaml new file mode 100644 index 0000000..403b5fc --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex92.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [5, 2] + name: agent0 + start: [0, 5] +- goal: [2, 7] + name: agent1 + start: [6, 5] +- goal: [6, 1] + name: agent2 + start: [5, 7] +- goal: [1, 6] + name: agent3 + start: [5, 2] +- goal: [6, 0] + name: agent4 + start: [7, 5] +- goal: [7, 2] + name: agent5 + start: [0, 3] +- goal: [7, 5] + name: agent6 + start: [4, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 3] + - !!python/tuple [2, 1] + - !!python/tuple [3, 7] + - !!python/tuple [5, 1] + - !!python/tuple [4, 3] + - !!python/tuple [2, 4] + - !!python/tuple [0, 0] + - !!python/tuple [2, 2] + - !!python/tuple [4, 5] + - !!python/tuple [4, 2] + - !!python/tuple [7, 1] + - !!python/tuple [5, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex93.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex93.yaml new file mode 100644 index 0000000..26bba5c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex93.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [4, 0] + name: agent0 + start: [6, 2] +- goal: [4, 2] + name: agent1 + start: [7, 0] +- goal: [3, 6] + name: agent2 + start: [1, 7] +- goal: [0, 1] + name: agent3 + start: [2, 7] +- goal: [5, 4] + name: agent4 + start: [5, 4] +- goal: [2, 0] + name: agent5 + start: [5, 6] +- goal: [1, 3] + name: agent6 + start: [6, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 6] + - !!python/tuple [3, 3] + - !!python/tuple [5, 2] + - !!python/tuple [1, 2] + - !!python/tuple [7, 2] + - !!python/tuple [4, 3] + - !!python/tuple [7, 5] + - !!python/tuple [3, 1] + - !!python/tuple [3, 4] + - !!python/tuple [7, 4] + - !!python/tuple [6, 1] + - !!python/tuple [2, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex94.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex94.yaml new file mode 100644 index 0000000..03e74a9 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex94.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [7, 5] + name: agent0 + start: [5, 7] +- goal: [2, 4] + name: agent1 + start: [5, 2] +- goal: [2, 5] + name: agent2 + start: [7, 5] +- goal: [2, 0] + name: agent3 + start: [6, 2] +- goal: [1, 2] + name: agent4 + start: [3, 4] +- goal: [1, 3] + name: agent5 + start: [7, 0] +- goal: [5, 4] + name: agent6 + start: [6, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 6] + - !!python/tuple [3, 3] + - !!python/tuple [4, 3] + - !!python/tuple [2, 6] + - !!python/tuple [0, 4] + - !!python/tuple [1, 7] + - !!python/tuple [0, 1] + - !!python/tuple [6, 3] + - !!python/tuple [1, 6] + - !!python/tuple [0, 6] + - !!python/tuple [2, 7] + - !!python/tuple [4, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex95.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex95.yaml new file mode 100644 index 0000000..d3ab10d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex95.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [3, 3] + name: agent0 + start: [5, 2] +- goal: [7, 3] + name: agent1 + start: [7, 7] +- goal: [7, 2] + name: agent2 + start: [5, 3] +- goal: [4, 0] + name: agent3 + start: [0, 5] +- goal: [7, 5] + name: agent4 + start: [2, 6] +- goal: [6, 7] + name: agent5 + start: [4, 7] +- goal: [5, 5] + name: agent6 + start: [4, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 3] + - !!python/tuple [7, 4] + - !!python/tuple [7, 0] + - !!python/tuple [1, 4] + - !!python/tuple [0, 2] + - !!python/tuple [1, 1] + - !!python/tuple [1, 2] + - !!python/tuple [5, 0] + - !!python/tuple [5, 7] + - !!python/tuple [0, 7] + - !!python/tuple [6, 0] + - !!python/tuple [5, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex96.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex96.yaml new file mode 100644 index 0000000..69ad4c5 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex96.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [0, 4] + name: agent0 + start: [5, 7] +- goal: [6, 5] + name: agent1 + start: [0, 4] +- goal: [1, 5] + name: agent2 + start: [0, 1] +- goal: [0, 6] + name: agent3 + start: [1, 0] +- goal: [2, 1] + name: agent4 + start: [0, 3] +- goal: [2, 2] + name: agent5 + start: [6, 7] +- goal: [1, 2] + name: agent6 + start: [1, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 7] + - !!python/tuple [4, 1] + - !!python/tuple [7, 1] + - !!python/tuple [4, 5] + - !!python/tuple [2, 5] + - !!python/tuple [0, 5] + - !!python/tuple [5, 1] + - !!python/tuple [0, 7] + - !!python/tuple [6, 1] + - !!python/tuple [4, 2] + - !!python/tuple [6, 3] + - !!python/tuple [6, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex97.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex97.yaml new file mode 100644 index 0000000..721fc6a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex97.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [0, 6] + name: agent0 + start: [3, 0] +- goal: [6, 6] + name: agent1 + start: [1, 2] +- goal: [4, 3] + name: agent2 + start: [6, 2] +- goal: [1, 0] + name: agent3 + start: [4, 6] +- goal: [1, 6] + name: agent4 + start: [1, 7] +- goal: [3, 2] + name: agent5 + start: [7, 4] +- goal: [1, 2] + name: agent6 + start: [4, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 5] + - !!python/tuple [5, 7] + - !!python/tuple [4, 5] + - !!python/tuple [2, 0] + - !!python/tuple [0, 7] + - !!python/tuple [2, 5] + - !!python/tuple [7, 6] + - !!python/tuple [7, 7] + - !!python/tuple [0, 1] + - !!python/tuple [1, 5] + - !!python/tuple [0, 0] + - !!python/tuple [6, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex98.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex98.yaml new file mode 100644 index 0000000..ff419f3 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex98.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [7, 5] + name: agent0 + start: [0, 0] +- goal: [5, 4] + name: agent1 + start: [0, 7] +- goal: [3, 1] + name: agent2 + start: [4, 7] +- goal: [3, 4] + name: agent3 + start: [6, 7] +- goal: [3, 5] + name: agent4 + start: [3, 5] +- goal: [2, 7] + name: agent5 + start: [4, 0] +- goal: [4, 1] + name: agent6 + start: [6, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 1] + - !!python/tuple [4, 5] + - !!python/tuple [2, 5] + - !!python/tuple [6, 2] + - !!python/tuple [4, 6] + - !!python/tuple [3, 0] + - !!python/tuple [5, 7] + - !!python/tuple [6, 0] + - !!python/tuple [6, 6] + - !!python/tuple [5, 5] + - !!python/tuple [0, 5] + - !!python/tuple [5, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex99.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex99.yaml new file mode 100644 index 0000000..5d4b4d5 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents7_ex99.yaml @@ -0,0 +1,37 @@ +agents: +- goal: [7, 6] + name: agent0 + start: [0, 5] +- goal: [2, 6] + name: agent1 + start: [6, 3] +- goal: [4, 4] + name: agent2 + start: [7, 5] +- goal: [4, 1] + name: agent3 + start: [7, 6] +- goal: [4, 2] + name: agent4 + start: [7, 2] +- goal: [2, 2] + name: agent5 + start: [4, 1] +- goal: [4, 0] + name: agent6 + start: [4, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 6] + - !!python/tuple [6, 2] + - !!python/tuple [4, 7] + - !!python/tuple [5, 5] + - !!python/tuple [7, 1] + - !!python/tuple [1, 5] + - !!python/tuple [6, 6] + - !!python/tuple [6, 7] + - !!python/tuple [2, 5] + - !!python/tuple [0, 3] + - !!python/tuple [6, 0] + - !!python/tuple [6, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex0.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex0.yaml new file mode 100644 index 0000000..a8acf77 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex0.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [3, 6] + name: agent0 + start: [2, 2] +- goal: [3, 1] + name: agent1 + start: [3, 4] +- goal: [1, 4] + name: agent2 + start: [0, 1] +- goal: [7, 2] + name: agent3 + start: [5, 4] +- goal: [5, 6] + name: agent4 + start: [5, 1] +- goal: [5, 0] + name: agent5 + start: [2, 1] +- goal: [2, 4] + name: agent6 + start: [4, 4] +- goal: [6, 0] + name: agent7 + start: [2, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 7] + - !!python/tuple [4, 5] + - !!python/tuple [6, 2] + - !!python/tuple [4, 2] + - !!python/tuple [4, 0] + - !!python/tuple [6, 4] + - !!python/tuple [5, 7] + - !!python/tuple [5, 3] + - !!python/tuple [4, 6] + - !!python/tuple [4, 1] + - !!python/tuple [6, 3] + - !!python/tuple [1, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex1.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex1.yaml new file mode 100644 index 0000000..4490ba9 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex1.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [7, 4] + name: agent0 + start: [3, 0] +- goal: [7, 6] + name: agent1 + start: [4, 3] +- goal: [7, 5] + name: agent2 + start: [1, 5] +- goal: [2, 6] + name: agent3 + start: [7, 5] +- goal: [0, 0] + name: agent4 + start: [3, 5] +- goal: [4, 4] + name: agent5 + start: [1, 6] +- goal: [6, 6] + name: agent6 + start: [5, 3] +- goal: [2, 5] + name: agent7 + start: [6, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 2] + - !!python/tuple [3, 7] + - !!python/tuple [1, 7] + - !!python/tuple [7, 2] + - !!python/tuple [1, 3] + - !!python/tuple [6, 1] + - !!python/tuple [0, 2] + - !!python/tuple [5, 5] + - !!python/tuple [6, 3] + - !!python/tuple [2, 7] + - !!python/tuple [7, 1] + - !!python/tuple [5, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex10.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex10.yaml new file mode 100644 index 0000000..1775687 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex10.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [1, 4] + name: agent0 + start: [0, 3] +- goal: [0, 2] + name: agent1 + start: [1, 1] +- goal: [6, 7] + name: agent2 + start: [0, 4] +- goal: [1, 6] + name: agent3 + start: [7, 7] +- goal: [2, 5] + name: agent4 + start: [7, 1] +- goal: [2, 2] + name: agent5 + start: [6, 6] +- goal: [4, 2] + name: agent6 + start: [0, 6] +- goal: [4, 3] + name: agent7 + start: [2, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 6] + - !!python/tuple [1, 5] + - !!python/tuple [7, 5] + - !!python/tuple [5, 4] + - !!python/tuple [1, 2] + - !!python/tuple [4, 5] + - !!python/tuple [1, 7] + - !!python/tuple [7, 4] + - !!python/tuple [1, 0] + - !!python/tuple [3, 0] + - !!python/tuple [2, 7] + - !!python/tuple [4, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex11.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex11.yaml new file mode 100644 index 0000000..0adec84 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex11.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [3, 3] + name: agent0 + start: [2, 0] +- goal: [4, 5] + name: agent1 + start: [7, 4] +- goal: [4, 1] + name: agent2 + start: [3, 0] +- goal: [4, 2] + name: agent3 + start: [0, 1] +- goal: [0, 3] + name: agent4 + start: [4, 4] +- goal: [5, 1] + name: agent5 + start: [5, 4] +- goal: [6, 7] + name: agent6 + start: [4, 7] +- goal: [6, 6] + name: agent7 + start: [2, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 2] + - !!python/tuple [1, 6] + - !!python/tuple [6, 3] + - !!python/tuple [1, 1] + - !!python/tuple [4, 0] + - !!python/tuple [5, 5] + - !!python/tuple [5, 2] + - !!python/tuple [3, 4] + - !!python/tuple [4, 6] + - !!python/tuple [4, 3] + - !!python/tuple [3, 7] + - !!python/tuple [6, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex12.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex12.yaml new file mode 100644 index 0000000..c443034 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex12.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [1, 0] + name: agent0 + start: [6, 0] +- goal: [6, 5] + name: agent1 + start: [3, 7] +- goal: [0, 7] + name: agent2 + start: [5, 2] +- goal: [6, 2] + name: agent3 + start: [1, 6] +- goal: [6, 1] + name: agent4 + start: [5, 1] +- goal: [1, 7] + name: agent5 + start: [3, 6] +- goal: [2, 2] + name: agent6 + start: [7, 6] +- goal: [3, 0] + name: agent7 + start: [3, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 2] + - !!python/tuple [4, 6] + - !!python/tuple [2, 1] + - !!python/tuple [0, 6] + - !!python/tuple [7, 0] + - !!python/tuple [2, 7] + - !!python/tuple [6, 3] + - !!python/tuple [3, 5] + - !!python/tuple [6, 4] + - !!python/tuple [4, 7] + - !!python/tuple [1, 2] + - !!python/tuple [6, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex13.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex13.yaml new file mode 100644 index 0000000..f4101ab --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex13.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [7, 7] + name: agent0 + start: [3, 3] +- goal: [5, 1] + name: agent1 + start: [1, 6] +- goal: [5, 4] + name: agent2 + start: [0, 4] +- goal: [2, 0] + name: agent3 + start: [7, 5] +- goal: [5, 7] + name: agent4 + start: [7, 4] +- goal: [7, 0] + name: agent5 + start: [1, 7] +- goal: [1, 3] + name: agent6 + start: [6, 0] +- goal: [7, 5] + name: agent7 + start: [5, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 7] + - !!python/tuple [1, 1] + - !!python/tuple [2, 2] + - !!python/tuple [3, 4] + - !!python/tuple [2, 1] + - !!python/tuple [4, 5] + - !!python/tuple [0, 3] + - !!python/tuple [6, 2] + - !!python/tuple [5, 0] + - !!python/tuple [3, 1] + - !!python/tuple [6, 3] + - !!python/tuple [5, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex14.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex14.yaml new file mode 100644 index 0000000..d494881 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex14.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [0, 1] + name: agent0 + start: [0, 5] +- goal: [2, 3] + name: agent1 + start: [7, 2] +- goal: [5, 6] + name: agent2 + start: [3, 6] +- goal: [2, 2] + name: agent3 + start: [4, 5] +- goal: [2, 0] + name: agent4 + start: [2, 2] +- goal: [3, 5] + name: agent5 + start: [2, 0] +- goal: [0, 4] + name: agent6 + start: [7, 5] +- goal: [0, 5] + name: agent7 + start: [3, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 7] + - !!python/tuple [1, 6] + - !!python/tuple [1, 4] + - !!python/tuple [3, 2] + - !!python/tuple [6, 6] + - !!python/tuple [5, 0] + - !!python/tuple [7, 4] + - !!python/tuple [7, 6] + - !!python/tuple [3, 1] + - !!python/tuple [6, 3] + - !!python/tuple [4, 1] + - !!python/tuple [4, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex15.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex15.yaml new file mode 100644 index 0000000..754cb03 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex15.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [7, 2] + name: agent0 + start: [2, 0] +- goal: [2, 2] + name: agent1 + start: [5, 1] +- goal: [5, 3] + name: agent2 + start: [2, 4] +- goal: [3, 4] + name: agent3 + start: [3, 5] +- goal: [7, 3] + name: agent4 + start: [6, 3] +- goal: [5, 6] + name: agent5 + start: [4, 7] +- goal: [2, 4] + name: agent6 + start: [3, 4] +- goal: [1, 5] + name: agent7 + start: [2, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 6] + - !!python/tuple [4, 1] + - !!python/tuple [1, 6] + - !!python/tuple [6, 1] + - !!python/tuple [4, 4] + - !!python/tuple [5, 2] + - !!python/tuple [5, 4] + - !!python/tuple [0, 2] + - !!python/tuple [1, 1] + - !!python/tuple [5, 7] + - !!python/tuple [6, 0] + - !!python/tuple [2, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex16.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex16.yaml new file mode 100644 index 0000000..2429bea --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex16.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [3, 4] + name: agent0 + start: [4, 7] +- goal: [0, 2] + name: agent1 + start: [6, 7] +- goal: [6, 4] + name: agent2 + start: [3, 7] +- goal: [2, 0] + name: agent3 + start: [0, 7] +- goal: [0, 5] + name: agent4 + start: [3, 6] +- goal: [1, 3] + name: agent5 + start: [2, 1] +- goal: [5, 5] + name: agent6 + start: [6, 0] +- goal: [3, 2] + name: agent7 + start: [7, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 0] + - !!python/tuple [4, 0] + - !!python/tuple [0, 3] + - !!python/tuple [1, 1] + - !!python/tuple [0, 4] + - !!python/tuple [0, 0] + - !!python/tuple [2, 7] + - !!python/tuple [7, 3] + - !!python/tuple [7, 7] + - !!python/tuple [5, 2] + - !!python/tuple [5, 1] + - !!python/tuple [6, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex17.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex17.yaml new file mode 100644 index 0000000..e668423 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex17.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [1, 0] + name: agent0 + start: [7, 7] +- goal: [7, 0] + name: agent1 + start: [0, 5] +- goal: [0, 5] + name: agent2 + start: [3, 0] +- goal: [5, 7] + name: agent3 + start: [3, 6] +- goal: [4, 3] + name: agent4 + start: [5, 6] +- goal: [2, 1] + name: agent5 + start: [5, 1] +- goal: [0, 2] + name: agent6 + start: [6, 3] +- goal: [7, 3] + name: agent7 + start: [0, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 0] + - !!python/tuple [4, 4] + - !!python/tuple [2, 6] + - !!python/tuple [1, 4] + - !!python/tuple [3, 7] + - !!python/tuple [5, 0] + - !!python/tuple [3, 4] + - !!python/tuple [6, 0] + - !!python/tuple [2, 4] + - !!python/tuple [3, 3] + - !!python/tuple [6, 7] + - !!python/tuple [6, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex18.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex18.yaml new file mode 100644 index 0000000..baf31a3 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex18.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [2, 1] + name: agent0 + start: [7, 7] +- goal: [2, 6] + name: agent1 + start: [0, 5] +- goal: [1, 1] + name: agent2 + start: [1, 6] +- goal: [4, 1] + name: agent3 + start: [5, 5] +- goal: [0, 5] + name: agent4 + start: [5, 2] +- goal: [3, 0] + name: agent5 + start: [0, 2] +- goal: [5, 4] + name: agent6 + start: [6, 3] +- goal: [3, 4] + name: agent7 + start: [5, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 5] + - !!python/tuple [4, 5] + - !!python/tuple [3, 3] + - !!python/tuple [4, 0] + - !!python/tuple [5, 3] + - !!python/tuple [6, 2] + - !!python/tuple [7, 1] + - !!python/tuple [6, 4] + - !!python/tuple [3, 5] + - !!python/tuple [2, 4] + - !!python/tuple [6, 7] + - !!python/tuple [6, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex19.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex19.yaml new file mode 100644 index 0000000..06f42aa --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex19.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [2, 2] + name: agent0 + start: [3, 7] +- goal: [5, 3] + name: agent1 + start: [4, 3] +- goal: [5, 6] + name: agent2 + start: [2, 3] +- goal: [4, 1] + name: agent3 + start: [3, 3] +- goal: [1, 7] + name: agent4 + start: [2, 7] +- goal: [2, 3] + name: agent5 + start: [6, 1] +- goal: [3, 3] + name: agent6 + start: [1, 5] +- goal: [7, 7] + name: agent7 + start: [6, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 0] + - !!python/tuple [5, 1] + - !!python/tuple [3, 4] + - !!python/tuple [3, 6] + - !!python/tuple [6, 4] + - !!python/tuple [1, 0] + - !!python/tuple [4, 2] + - !!python/tuple [1, 1] + - !!python/tuple [4, 4] + - !!python/tuple [2, 0] + - !!python/tuple [2, 4] + - !!python/tuple [0, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex2.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex2.yaml new file mode 100644 index 0000000..f54b70a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex2.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [0, 3] + name: agent0 + start: [2, 0] +- goal: [1, 7] + name: agent1 + start: [2, 5] +- goal: [1, 0] + name: agent2 + start: [3, 0] +- goal: [2, 3] + name: agent3 + start: [5, 5] +- goal: [1, 4] + name: agent4 + start: [7, 4] +- goal: [3, 7] + name: agent5 + start: [1, 6] +- goal: [2, 0] + name: agent6 + start: [3, 6] +- goal: [4, 3] + name: agent7 + start: [1, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 1] + - !!python/tuple [6, 7] + - !!python/tuple [1, 5] + - !!python/tuple [1, 1] + - !!python/tuple [2, 2] + - !!python/tuple [7, 5] + - !!python/tuple [3, 5] + - !!python/tuple [0, 0] + - !!python/tuple [6, 5] + - !!python/tuple [5, 6] + - !!python/tuple [6, 6] + - !!python/tuple [3, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex20.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex20.yaml new file mode 100644 index 0000000..6957c35 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex20.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [3, 6] + name: agent0 + start: [7, 3] +- goal: [2, 3] + name: agent1 + start: [4, 0] +- goal: [3, 3] + name: agent2 + start: [2, 3] +- goal: [7, 3] + name: agent3 + start: [3, 3] +- goal: [0, 4] + name: agent4 + start: [1, 0] +- goal: [6, 2] + name: agent5 + start: [0, 0] +- goal: [6, 7] + name: agent6 + start: [7, 5] +- goal: [5, 6] + name: agent7 + start: [5, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 4] + - !!python/tuple [7, 1] + - !!python/tuple [7, 7] + - !!python/tuple [5, 0] + - !!python/tuple [5, 4] + - !!python/tuple [2, 6] + - !!python/tuple [6, 1] + - !!python/tuple [3, 2] + - !!python/tuple [5, 1] + - !!python/tuple [6, 3] + - !!python/tuple [0, 5] + - !!python/tuple [4, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex21.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex21.yaml new file mode 100644 index 0000000..498c9fb --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex21.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [1, 1] + name: agent0 + start: [7, 7] +- goal: [0, 1] + name: agent1 + start: [1, 4] +- goal: [3, 6] + name: agent2 + start: [7, 4] +- goal: [3, 2] + name: agent3 + start: [0, 7] +- goal: [5, 2] + name: agent4 + start: [2, 1] +- goal: [2, 6] + name: agent5 + start: [7, 6] +- goal: [2, 0] + name: agent6 + start: [2, 6] +- goal: [6, 0] + name: agent7 + start: [0, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 1] + - !!python/tuple [2, 4] + - !!python/tuple [4, 4] + - !!python/tuple [6, 6] + - !!python/tuple [4, 0] + - !!python/tuple [6, 4] + - !!python/tuple [7, 1] + - !!python/tuple [0, 2] + - !!python/tuple [2, 7] + - !!python/tuple [5, 3] + - !!python/tuple [3, 3] + - !!python/tuple [7, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex22.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex22.yaml new file mode 100644 index 0000000..1819610 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex22.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [1, 4] + name: agent0 + start: [3, 0] +- goal: [2, 1] + name: agent1 + start: [3, 4] +- goal: [7, 1] + name: agent2 + start: [6, 6] +- goal: [2, 2] + name: agent3 + start: [7, 4] +- goal: [1, 6] + name: agent4 + start: [0, 3] +- goal: [6, 1] + name: agent5 + start: [2, 3] +- goal: [6, 0] + name: agent6 + start: [6, 4] +- goal: [1, 1] + name: agent7 + start: [4, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 3] + - !!python/tuple [7, 0] + - !!python/tuple [6, 5] + - !!python/tuple [1, 3] + - !!python/tuple [4, 7] + - !!python/tuple [3, 6] + - !!python/tuple [4, 5] + - !!python/tuple [2, 4] + - !!python/tuple [0, 5] + - !!python/tuple [1, 2] + - !!python/tuple [0, 2] + - !!python/tuple [7, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex23.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex23.yaml new file mode 100644 index 0000000..daa1ec6 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex23.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [4, 6] + name: agent0 + start: [5, 7] +- goal: [3, 6] + name: agent1 + start: [1, 0] +- goal: [1, 0] + name: agent2 + start: [7, 0] +- goal: [2, 5] + name: agent3 + start: [3, 1] +- goal: [4, 0] + name: agent4 + start: [6, 7] +- goal: [7, 3] + name: agent5 + start: [2, 3] +- goal: [1, 1] + name: agent6 + start: [1, 6] +- goal: [2, 4] + name: agent7 + start: [2, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 6] + - !!python/tuple [2, 1] + - !!python/tuple [7, 7] + - !!python/tuple [3, 4] + - !!python/tuple [0, 2] + - !!python/tuple [4, 7] + - !!python/tuple [3, 2] + - !!python/tuple [2, 6] + - !!python/tuple [5, 2] + - !!python/tuple [4, 4] + - !!python/tuple [1, 2] + - !!python/tuple [4, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex24.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex24.yaml new file mode 100644 index 0000000..77f3c56 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex24.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [0, 3] + name: agent0 + start: [6, 0] +- goal: [5, 0] + name: agent1 + start: [6, 6] +- goal: [1, 7] + name: agent2 + start: [2, 3] +- goal: [6, 1] + name: agent3 + start: [6, 2] +- goal: [1, 1] + name: agent4 + start: [2, 4] +- goal: [0, 1] + name: agent5 + start: [3, 7] +- goal: [4, 3] + name: agent6 + start: [0, 4] +- goal: [6, 2] + name: agent7 + start: [3, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 6] + - !!python/tuple [4, 0] + - !!python/tuple [6, 7] + - !!python/tuple [3, 4] + - !!python/tuple [3, 2] + - !!python/tuple [1, 3] + - !!python/tuple [1, 4] + - !!python/tuple [0, 0] + - !!python/tuple [7, 3] + - !!python/tuple [2, 5] + - !!python/tuple [7, 0] + - !!python/tuple [4, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex25.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex25.yaml new file mode 100644 index 0000000..4bc11ca --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex25.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [7, 5] + name: agent0 + start: [0, 7] +- goal: [7, 0] + name: agent1 + start: [2, 3] +- goal: [5, 2] + name: agent2 + start: [5, 7] +- goal: [5, 7] + name: agent3 + start: [2, 7] +- goal: [5, 4] + name: agent4 + start: [5, 5] +- goal: [0, 5] + name: agent5 + start: [7, 0] +- goal: [4, 7] + name: agent6 + start: [1, 4] +- goal: [0, 6] + name: agent7 + start: [3, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 4] + - !!python/tuple [6, 0] + - !!python/tuple [2, 2] + - !!python/tuple [7, 2] + - !!python/tuple [6, 7] + - !!python/tuple [0, 0] + - !!python/tuple [2, 0] + - !!python/tuple [7, 4] + - !!python/tuple [6, 4] + - !!python/tuple [4, 2] + - !!python/tuple [4, 3] + - !!python/tuple [7, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex26.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex26.yaml new file mode 100644 index 0000000..54fdcdc --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex26.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [4, 1] + name: agent0 + start: [0, 2] +- goal: [5, 3] + name: agent1 + start: [1, 2] +- goal: [3, 4] + name: agent2 + start: [4, 5] +- goal: [6, 5] + name: agent3 + start: [2, 6] +- goal: [2, 3] + name: agent4 + start: [7, 5] +- goal: [1, 4] + name: agent5 + start: [0, 1] +- goal: [5, 0] + name: agent6 + start: [3, 0] +- goal: [1, 5] + name: agent7 + start: [4, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 7] + - !!python/tuple [7, 0] + - !!python/tuple [6, 6] + - !!python/tuple [7, 6] + - !!python/tuple [4, 2] + - !!python/tuple [3, 6] + - !!python/tuple [6, 0] + - !!python/tuple [1, 3] + - !!python/tuple [2, 5] + - !!python/tuple [7, 1] + - !!python/tuple [1, 7] + - !!python/tuple [4, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex27.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex27.yaml new file mode 100644 index 0000000..163ad1d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex27.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [6, 5] + name: agent0 + start: [3, 7] +- goal: [0, 0] + name: agent1 + start: [4, 0] +- goal: [4, 5] + name: agent2 + start: [3, 2] +- goal: [2, 1] + name: agent3 + start: [2, 6] +- goal: [6, 7] + name: agent4 + start: [5, 2] +- goal: [6, 0] + name: agent5 + start: [7, 5] +- goal: [6, 6] + name: agent6 + start: [2, 4] +- goal: [0, 5] + name: agent7 + start: [7, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 2] + - !!python/tuple [1, 6] + - !!python/tuple [7, 3] + - !!python/tuple [4, 3] + - !!python/tuple [1, 7] + - !!python/tuple [3, 0] + - !!python/tuple [0, 4] + - !!python/tuple [3, 1] + - !!python/tuple [1, 0] + - !!python/tuple [0, 2] + - !!python/tuple [5, 6] + - !!python/tuple [6, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex28.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex28.yaml new file mode 100644 index 0000000..7822ea0 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex28.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [1, 1] + name: agent0 + start: [7, 3] +- goal: [4, 3] + name: agent1 + start: [2, 0] +- goal: [5, 2] + name: agent2 + start: [2, 1] +- goal: [3, 7] + name: agent3 + start: [3, 3] +- goal: [7, 4] + name: agent4 + start: [4, 0] +- goal: [0, 7] + name: agent5 + start: [4, 3] +- goal: [1, 4] + name: agent6 + start: [6, 5] +- goal: [1, 7] + name: agent7 + start: [3, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 6] + - !!python/tuple [6, 4] + - !!python/tuple [1, 5] + - !!python/tuple [2, 2] + - !!python/tuple [4, 5] + - !!python/tuple [2, 7] + - !!python/tuple [7, 5] + - !!python/tuple [6, 2] + - !!python/tuple [2, 3] + - !!python/tuple [5, 4] + - !!python/tuple [6, 3] + - !!python/tuple [5, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex29.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex29.yaml new file mode 100644 index 0000000..d3d7b9f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex29.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [3, 0] + name: agent0 + start: [7, 5] +- goal: [6, 3] + name: agent1 + start: [3, 0] +- goal: [7, 1] + name: agent2 + start: [0, 0] +- goal: [4, 6] + name: agent3 + start: [2, 0] +- goal: [2, 2] + name: agent4 + start: [3, 4] +- goal: [5, 4] + name: agent5 + start: [0, 3] +- goal: [1, 7] + name: agent6 + start: [5, 2] +- goal: [1, 6] + name: agent7 + start: [2, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 7] + - !!python/tuple [3, 2] + - !!python/tuple [4, 2] + - !!python/tuple [1, 2] + - !!python/tuple [4, 0] + - !!python/tuple [7, 3] + - !!python/tuple [2, 6] + - !!python/tuple [4, 7] + - !!python/tuple [5, 6] + - !!python/tuple [4, 3] + - !!python/tuple [2, 7] + - !!python/tuple [6, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex3.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex3.yaml new file mode 100644 index 0000000..54f43d6 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex3.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [3, 0] + name: agent0 + start: [5, 2] +- goal: [0, 4] + name: agent1 + start: [3, 3] +- goal: [5, 2] + name: agent2 + start: [0, 4] +- goal: [2, 0] + name: agent3 + start: [7, 5] +- goal: [4, 7] + name: agent4 + start: [3, 0] +- goal: [2, 7] + name: agent5 + start: [3, 4] +- goal: [0, 7] + name: agent6 + start: [0, 7] +- goal: [1, 1] + name: agent7 + start: [1, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 2] + - !!python/tuple [2, 4] + - !!python/tuple [4, 3] + - !!python/tuple [6, 5] + - !!python/tuple [3, 5] + - !!python/tuple [0, 0] + - !!python/tuple [5, 1] + - !!python/tuple [0, 5] + - !!python/tuple [4, 4] + - !!python/tuple [7, 2] + - !!python/tuple [6, 1] + - !!python/tuple [7, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex30.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex30.yaml new file mode 100644 index 0000000..655a76a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex30.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [0, 1] + name: agent0 + start: [3, 5] +- goal: [7, 2] + name: agent1 + start: [6, 3] +- goal: [5, 4] + name: agent2 + start: [2, 4] +- goal: [6, 3] + name: agent3 + start: [1, 5] +- goal: [4, 1] + name: agent4 + start: [4, 1] +- goal: [7, 0] + name: agent5 + start: [3, 7] +- goal: [1, 4] + name: agent6 + start: [4, 2] +- goal: [5, 6] + name: agent7 + start: [1, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 2] + - !!python/tuple [3, 0] + - !!python/tuple [4, 6] + - !!python/tuple [7, 4] + - !!python/tuple [0, 3] + - !!python/tuple [0, 6] + - !!python/tuple [4, 7] + - !!python/tuple [6, 6] + - !!python/tuple [6, 4] + - !!python/tuple [1, 7] + - !!python/tuple [1, 2] + - !!python/tuple [0, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex31.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex31.yaml new file mode 100644 index 0000000..33b1576 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex31.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [0, 6] + name: agent0 + start: [4, 6] +- goal: [3, 5] + name: agent1 + start: [7, 7] +- goal: [7, 4] + name: agent2 + start: [4, 4] +- goal: [6, 2] + name: agent3 + start: [2, 1] +- goal: [3, 2] + name: agent4 + start: [6, 7] +- goal: [4, 5] + name: agent5 + start: [0, 5] +- goal: [2, 0] + name: agent6 + start: [7, 4] +- goal: [2, 3] + name: agent7 + start: [7, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 6] + - !!python/tuple [4, 2] + - !!python/tuple [6, 4] + - !!python/tuple [5, 0] + - !!python/tuple [0, 0] + - !!python/tuple [3, 0] + - !!python/tuple [3, 6] + - !!python/tuple [6, 1] + - !!python/tuple [1, 6] + - !!python/tuple [0, 1] + - !!python/tuple [2, 2] + - !!python/tuple [3, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex32.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex32.yaml new file mode 100644 index 0000000..f039e19 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex32.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [0, 7] + name: agent0 + start: [3, 3] +- goal: [3, 1] + name: agent1 + start: [5, 3] +- goal: [3, 3] + name: agent2 + start: [3, 6] +- goal: [3, 6] + name: agent3 + start: [0, 3] +- goal: [2, 2] + name: agent4 + start: [2, 4] +- goal: [1, 4] + name: agent5 + start: [7, 3] +- goal: [6, 6] + name: agent6 + start: [6, 1] +- goal: [6, 1] + name: agent7 + start: [5, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 5] + - !!python/tuple [1, 6] + - !!python/tuple [3, 0] + - !!python/tuple [0, 1] + - !!python/tuple [2, 6] + - !!python/tuple [7, 6] + - !!python/tuple [4, 5] + - !!python/tuple [7, 5] + - !!python/tuple [0, 6] + - !!python/tuple [7, 0] + - !!python/tuple [3, 5] + - !!python/tuple [4, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex33.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex33.yaml new file mode 100644 index 0000000..d1396f9 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex33.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [0, 5] + name: agent0 + start: [0, 6] +- goal: [1, 6] + name: agent1 + start: [2, 6] +- goal: [6, 5] + name: agent2 + start: [4, 0] +- goal: [6, 2] + name: agent3 + start: [0, 3] +- goal: [4, 7] + name: agent4 + start: [3, 4] +- goal: [0, 2] + name: agent5 + start: [0, 1] +- goal: [5, 7] + name: agent6 + start: [3, 7] +- goal: [5, 1] + name: agent7 + start: [5, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 2] + - !!python/tuple [4, 5] + - !!python/tuple [5, 0] + - !!python/tuple [6, 3] + - !!python/tuple [4, 3] + - !!python/tuple [1, 0] + - !!python/tuple [6, 4] + - !!python/tuple [6, 7] + - !!python/tuple [7, 1] + - !!python/tuple [2, 1] + - !!python/tuple [3, 6] + - !!python/tuple [1, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex34.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex34.yaml new file mode 100644 index 0000000..b6286cf --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex34.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [0, 2] + name: agent0 + start: [0, 6] +- goal: [7, 1] + name: agent1 + start: [1, 3] +- goal: [2, 5] + name: agent2 + start: [2, 1] +- goal: [5, 2] + name: agent3 + start: [0, 0] +- goal: [4, 4] + name: agent4 + start: [0, 3] +- goal: [4, 1] + name: agent5 + start: [6, 0] +- goal: [5, 5] + name: agent6 + start: [0, 7] +- goal: [6, 0] + name: agent7 + start: [5, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 4] + - !!python/tuple [4, 7] + - !!python/tuple [6, 7] + - !!python/tuple [2, 2] + - !!python/tuple [1, 4] + - !!python/tuple [7, 3] + - !!python/tuple [1, 0] + - !!python/tuple [3, 7] + - !!python/tuple [6, 1] + - !!python/tuple [3, 2] + - !!python/tuple [5, 6] + - !!python/tuple [5, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex35.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex35.yaml new file mode 100644 index 0000000..1411356 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex35.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [4, 7] + name: agent0 + start: [2, 5] +- goal: [3, 4] + name: agent1 + start: [0, 7] +- goal: [4, 4] + name: agent2 + start: [2, 3] +- goal: [2, 5] + name: agent3 + start: [0, 5] +- goal: [2, 3] + name: agent4 + start: [4, 1] +- goal: [4, 6] + name: agent5 + start: [7, 6] +- goal: [3, 6] + name: agent6 + start: [2, 6] +- goal: [4, 1] + name: agent7 + start: [5, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 1] + - !!python/tuple [6, 1] + - !!python/tuple [1, 2] + - !!python/tuple [6, 4] + - !!python/tuple [0, 0] + - !!python/tuple [3, 5] + - !!python/tuple [7, 3] + - !!python/tuple [5, 5] + - !!python/tuple [1, 0] + - !!python/tuple [5, 0] + - !!python/tuple [1, 1] + - !!python/tuple [1, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex36.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex36.yaml new file mode 100644 index 0000000..f5016e4 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex36.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [1, 7] + name: agent0 + start: [0, 4] +- goal: [7, 0] + name: agent1 + start: [5, 7] +- goal: [3, 5] + name: agent2 + start: [6, 6] +- goal: [3, 3] + name: agent3 + start: [7, 0] +- goal: [1, 2] + name: agent4 + start: [3, 3] +- goal: [5, 5] + name: agent5 + start: [2, 0] +- goal: [7, 1] + name: agent6 + start: [3, 6] +- goal: [0, 3] + name: agent7 + start: [7, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 7] + - !!python/tuple [2, 1] + - !!python/tuple [0, 7] + - !!python/tuple [1, 6] + - !!python/tuple [4, 3] + - !!python/tuple [6, 1] + - !!python/tuple [5, 6] + - !!python/tuple [5, 4] + - !!python/tuple [0, 0] + - !!python/tuple [2, 2] + - !!python/tuple [4, 4] + - !!python/tuple [4, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex37.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex37.yaml new file mode 100644 index 0000000..67f60f8 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex37.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [3, 1] + name: agent0 + start: [3, 5] +- goal: [3, 3] + name: agent1 + start: [3, 0] +- goal: [3, 7] + name: agent2 + start: [4, 1] +- goal: [0, 7] + name: agent3 + start: [5, 7] +- goal: [6, 0] + name: agent4 + start: [4, 5] +- goal: [1, 1] + name: agent5 + start: [4, 4] +- goal: [7, 2] + name: agent6 + start: [2, 6] +- goal: [4, 3] + name: agent7 + start: [6, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 2] + - !!python/tuple [1, 3] + - !!python/tuple [6, 4] + - !!python/tuple [5, 1] + - !!python/tuple [1, 0] + - !!python/tuple [5, 4] + - !!python/tuple [4, 0] + - !!python/tuple [0, 6] + - !!python/tuple [0, 3] + - !!python/tuple [3, 4] + - !!python/tuple [0, 2] + - !!python/tuple [3, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex38.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex38.yaml new file mode 100644 index 0000000..aac95bc --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex38.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [2, 5] + name: agent0 + start: [2, 5] +- goal: [4, 5] + name: agent1 + start: [7, 2] +- goal: [3, 5] + name: agent2 + start: [2, 7] +- goal: [6, 7] + name: agent3 + start: [0, 3] +- goal: [4, 6] + name: agent4 + start: [1, 0] +- goal: [6, 3] + name: agent5 + start: [0, 4] +- goal: [3, 3] + name: agent6 + start: [3, 5] +- goal: [1, 5] + name: agent7 + start: [3, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 7] + - !!python/tuple [5, 0] + - !!python/tuple [5, 6] + - !!python/tuple [4, 4] + - !!python/tuple [5, 5] + - !!python/tuple [2, 1] + - !!python/tuple [6, 1] + - !!python/tuple [5, 2] + - !!python/tuple [3, 0] + - !!python/tuple [1, 7] + - !!python/tuple [7, 4] + - !!python/tuple [1, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex39.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex39.yaml new file mode 100644 index 0000000..3f312ad --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex39.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [2, 7] + name: agent0 + start: [7, 5] +- goal: [2, 0] + name: agent1 + start: [0, 4] +- goal: [0, 2] + name: agent2 + start: [2, 3] +- goal: [2, 3] + name: agent3 + start: [1, 5] +- goal: [5, 2] + name: agent4 + start: [3, 0] +- goal: [2, 2] + name: agent5 + start: [6, 4] +- goal: [4, 6] + name: agent6 + start: [7, 4] +- goal: [0, 5] + name: agent7 + start: [5, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 1] + - !!python/tuple [5, 4] + - !!python/tuple [4, 4] + - !!python/tuple [6, 3] + - !!python/tuple [3, 2] + - !!python/tuple [6, 7] + - !!python/tuple [3, 6] + - !!python/tuple [1, 3] + - !!python/tuple [2, 5] + - !!python/tuple [7, 6] + - !!python/tuple [2, 4] + - !!python/tuple [3, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex4.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex4.yaml new file mode 100644 index 0000000..185e100 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex4.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [2, 1] + name: agent0 + start: [3, 4] +- goal: [0, 0] + name: agent1 + start: [5, 6] +- goal: [2, 2] + name: agent2 + start: [7, 3] +- goal: [6, 3] + name: agent3 + start: [6, 4] +- goal: [2, 6] + name: agent4 + start: [5, 5] +- goal: [5, 6] + name: agent5 + start: [2, 1] +- goal: [7, 7] + name: agent6 + start: [2, 2] +- goal: [5, 7] + name: agent7 + start: [0, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 2] + - !!python/tuple [3, 0] + - !!python/tuple [5, 2] + - !!python/tuple [4, 7] + - !!python/tuple [2, 3] + - !!python/tuple [1, 0] + - !!python/tuple [6, 7] + - !!python/tuple [1, 7] + - !!python/tuple [0, 5] + - !!python/tuple [0, 2] + - !!python/tuple [6, 1] + - !!python/tuple [4, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex40.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex40.yaml new file mode 100644 index 0000000..6bd8616 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex40.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [3, 0] + name: agent0 + start: [2, 6] +- goal: [0, 7] + name: agent1 + start: [3, 2] +- goal: [0, 6] + name: agent2 + start: [5, 5] +- goal: [2, 6] + name: agent3 + start: [1, 4] +- goal: [3, 2] + name: agent4 + start: [0, 6] +- goal: [2, 7] + name: agent5 + start: [5, 0] +- goal: [4, 4] + name: agent6 + start: [2, 7] +- goal: [1, 2] + name: agent7 + start: [3, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 6] + - !!python/tuple [3, 4] + - !!python/tuple [3, 7] + - !!python/tuple [0, 2] + - !!python/tuple [6, 5] + - !!python/tuple [7, 3] + - !!python/tuple [3, 6] + - !!python/tuple [1, 5] + - !!python/tuple [5, 6] + - !!python/tuple [1, 0] + - !!python/tuple [4, 7] + - !!python/tuple [6, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex41.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex41.yaml new file mode 100644 index 0000000..144235c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex41.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [0, 4] + name: agent0 + start: [4, 2] +- goal: [4, 7] + name: agent1 + start: [5, 7] +- goal: [4, 6] + name: agent2 + start: [0, 5] +- goal: [0, 7] + name: agent3 + start: [7, 1] +- goal: [0, 0] + name: agent4 + start: [0, 0] +- goal: [5, 3] + name: agent5 + start: [7, 2] +- goal: [5, 6] + name: agent6 + start: [3, 5] +- goal: [1, 4] + name: agent7 + start: [3, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 5] + - !!python/tuple [6, 5] + - !!python/tuple [3, 0] + - !!python/tuple [4, 5] + - !!python/tuple [1, 7] + - !!python/tuple [1, 2] + - !!python/tuple [4, 4] + - !!python/tuple [3, 4] + - !!python/tuple [5, 4] + - !!python/tuple [1, 1] + - !!python/tuple [7, 0] + - !!python/tuple [4, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex42.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex42.yaml new file mode 100644 index 0000000..8d93fcb --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex42.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [1, 7] + name: agent0 + start: [7, 3] +- goal: [3, 6] + name: agent1 + start: [2, 4] +- goal: [4, 0] + name: agent2 + start: [2, 2] +- goal: [2, 3] + name: agent3 + start: [3, 5] +- goal: [0, 0] + name: agent4 + start: [0, 7] +- goal: [1, 1] + name: agent5 + start: [2, 7] +- goal: [6, 5] + name: agent6 + start: [3, 7] +- goal: [5, 1] + name: agent7 + start: [1, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 3] + - !!python/tuple [0, 2] + - !!python/tuple [5, 7] + - !!python/tuple [2, 6] + - !!python/tuple [0, 6] + - !!python/tuple [6, 2] + - !!python/tuple [4, 6] + - !!python/tuple [4, 7] + - !!python/tuple [6, 1] + - !!python/tuple [0, 5] + - !!python/tuple [1, 2] + - !!python/tuple [4, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex43.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex43.yaml new file mode 100644 index 0000000..208fe9e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex43.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [5, 5] + name: agent0 + start: [3, 7] +- goal: [2, 7] + name: agent1 + start: [3, 6] +- goal: [4, 2] + name: agent2 + start: [0, 1] +- goal: [7, 4] + name: agent3 + start: [1, 0] +- goal: [3, 0] + name: agent4 + start: [4, 5] +- goal: [5, 2] + name: agent5 + start: [5, 3] +- goal: [4, 0] + name: agent6 + start: [3, 2] +- goal: [1, 3] + name: agent7 + start: [4, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 5] + - !!python/tuple [7, 1] + - !!python/tuple [7, 7] + - !!python/tuple [4, 4] + - !!python/tuple [2, 4] + - !!python/tuple [0, 0] + - !!python/tuple [6, 0] + - !!python/tuple [7, 5] + - !!python/tuple [5, 7] + - !!python/tuple [3, 5] + - !!python/tuple [0, 7] + - !!python/tuple [6, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex44.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex44.yaml new file mode 100644 index 0000000..b2b61ab --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex44.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [5, 0] + name: agent0 + start: [0, 4] +- goal: [3, 7] + name: agent1 + start: [6, 0] +- goal: [1, 7] + name: agent2 + start: [6, 7] +- goal: [0, 1] + name: agent3 + start: [2, 1] +- goal: [1, 6] + name: agent4 + start: [4, 1] +- goal: [2, 2] + name: agent5 + start: [1, 6] +- goal: [5, 4] + name: agent6 + start: [4, 0] +- goal: [1, 4] + name: agent7 + start: [2, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 0] + - !!python/tuple [0, 0] + - !!python/tuple [6, 2] + - !!python/tuple [1, 0] + - !!python/tuple [1, 1] + - !!python/tuple [0, 5] + - !!python/tuple [5, 2] + - !!python/tuple [4, 5] + - !!python/tuple [3, 0] + - !!python/tuple [1, 3] + - !!python/tuple [6, 3] + - !!python/tuple [3, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex45.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex45.yaml new file mode 100644 index 0000000..6f31cb4 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex45.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [7, 6] + name: agent0 + start: [1, 5] +- goal: [5, 2] + name: agent1 + start: [4, 0] +- goal: [7, 1] + name: agent2 + start: [3, 0] +- goal: [1, 5] + name: agent3 + start: [1, 1] +- goal: [4, 2] + name: agent4 + start: [0, 1] +- goal: [1, 4] + name: agent5 + start: [4, 1] +- goal: [7, 4] + name: agent6 + start: [5, 2] +- goal: [7, 3] + name: agent7 + start: [3, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 4] + - !!python/tuple [6, 2] + - !!python/tuple [0, 3] + - !!python/tuple [1, 7] + - !!python/tuple [7, 0] + - !!python/tuple [2, 1] + - !!python/tuple [6, 5] + - !!python/tuple [6, 0] + - !!python/tuple [1, 2] + - !!python/tuple [3, 3] + - !!python/tuple [5, 4] + - !!python/tuple [0, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex46.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex46.yaml new file mode 100644 index 0000000..feed7be --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex46.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [6, 3] + name: agent0 + start: [0, 7] +- goal: [7, 3] + name: agent1 + start: [6, 1] +- goal: [1, 1] + name: agent2 + start: [5, 0] +- goal: [5, 5] + name: agent3 + start: [0, 6] +- goal: [2, 0] + name: agent4 + start: [6, 4] +- goal: [2, 6] + name: agent5 + start: [1, 0] +- goal: [5, 1] + name: agent6 + start: [5, 6] +- goal: [4, 0] + name: agent7 + start: [1, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 6] + - !!python/tuple [7, 4] + - !!python/tuple [0, 3] + - !!python/tuple [3, 6] + - !!python/tuple [6, 0] + - !!python/tuple [3, 2] + - !!python/tuple [6, 2] + - !!python/tuple [6, 7] + - !!python/tuple [7, 2] + - !!python/tuple [4, 1] + - !!python/tuple [2, 2] + - !!python/tuple [4, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex47.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex47.yaml new file mode 100644 index 0000000..917eff4 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex47.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [7, 6] + name: agent0 + start: [2, 1] +- goal: [1, 7] + name: agent1 + start: [2, 6] +- goal: [4, 4] + name: agent2 + start: [4, 3] +- goal: [6, 4] + name: agent3 + start: [5, 0] +- goal: [0, 6] + name: agent4 + start: [0, 0] +- goal: [2, 5] + name: agent5 + start: [6, 6] +- goal: [5, 3] + name: agent6 + start: [0, 6] +- goal: [4, 5] + name: agent7 + start: [7, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 2] + - !!python/tuple [7, 7] + - !!python/tuple [3, 1] + - !!python/tuple [1, 6] + - !!python/tuple [1, 3] + - !!python/tuple [6, 1] + - !!python/tuple [2, 4] + - !!python/tuple [4, 7] + - !!python/tuple [3, 6] + - !!python/tuple [5, 5] + - !!python/tuple [2, 2] + - !!python/tuple [3, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex48.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex48.yaml new file mode 100644 index 0000000..997112a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex48.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [2, 0] + name: agent0 + start: [5, 1] +- goal: [0, 4] + name: agent1 + start: [0, 4] +- goal: [7, 7] + name: agent2 + start: [4, 2] +- goal: [3, 7] + name: agent3 + start: [5, 4] +- goal: [0, 5] + name: agent4 + start: [1, 2] +- goal: [7, 6] + name: agent5 + start: [5, 6] +- goal: [2, 3] + name: agent6 + start: [1, 1] +- goal: [3, 4] + name: agent7 + start: [7, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 0] + - !!python/tuple [7, 5] + - !!python/tuple [4, 1] + - !!python/tuple [1, 4] + - !!python/tuple [5, 3] + - !!python/tuple [1, 0] + - !!python/tuple [0, 0] + - !!python/tuple [2, 7] + - !!python/tuple [5, 7] + - !!python/tuple [7, 0] + - !!python/tuple [7, 3] + - !!python/tuple [6, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex49.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex49.yaml new file mode 100644 index 0000000..48dc139 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex49.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [1, 0] + name: agent0 + start: [5, 3] +- goal: [0, 5] + name: agent1 + start: [4, 7] +- goal: [3, 3] + name: agent2 + start: [2, 7] +- goal: [4, 1] + name: agent3 + start: [7, 3] +- goal: [3, 2] + name: agent4 + start: [4, 4] +- goal: [0, 4] + name: agent5 + start: [5, 7] +- goal: [1, 3] + name: agent6 + start: [3, 4] +- goal: [4, 6] + name: agent7 + start: [0, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 1] + - !!python/tuple [0, 3] + - !!python/tuple [6, 2] + - !!python/tuple [5, 1] + - !!python/tuple [3, 5] + - !!python/tuple [2, 4] + - !!python/tuple [3, 6] + - !!python/tuple [7, 0] + - !!python/tuple [2, 2] + - !!python/tuple [7, 5] + - !!python/tuple [2, 3] + - !!python/tuple [1, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex5.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex5.yaml new file mode 100644 index 0000000..5eec505 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex5.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [7, 6] + name: agent0 + start: [6, 5] +- goal: [0, 5] + name: agent1 + start: [7, 0] +- goal: [7, 5] + name: agent2 + start: [5, 4] +- goal: [1, 7] + name: agent3 + start: [3, 1] +- goal: [3, 1] + name: agent4 + start: [2, 3] +- goal: [5, 7] + name: agent5 + start: [5, 1] +- goal: [0, 2] + name: agent6 + start: [5, 0] +- goal: [3, 6] + name: agent7 + start: [2, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 7] + - !!python/tuple [0, 4] + - !!python/tuple [0, 1] + - !!python/tuple [1, 2] + - !!python/tuple [4, 2] + - !!python/tuple [5, 3] + - !!python/tuple [5, 2] + - !!python/tuple [4, 3] + - !!python/tuple [7, 4] + - !!python/tuple [3, 3] + - !!python/tuple [7, 2] + - !!python/tuple [1, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex50.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex50.yaml new file mode 100644 index 0000000..984f318 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex50.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [6, 0] + name: agent0 + start: [1, 3] +- goal: [0, 0] + name: agent1 + start: [3, 4] +- goal: [5, 4] + name: agent2 + start: [7, 5] +- goal: [5, 3] + name: agent3 + start: [6, 2] +- goal: [1, 3] + name: agent4 + start: [4, 0] +- goal: [0, 6] + name: agent5 + start: [7, 7] +- goal: [5, 6] + name: agent6 + start: [2, 0] +- goal: [0, 2] + name: agent7 + start: [0, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 5] + - !!python/tuple [6, 3] + - !!python/tuple [4, 7] + - !!python/tuple [0, 4] + - !!python/tuple [5, 2] + - !!python/tuple [1, 7] + - !!python/tuple [0, 7] + - !!python/tuple [0, 5] + - !!python/tuple [2, 5] + - !!python/tuple [3, 3] + - !!python/tuple [2, 3] + - !!python/tuple [3, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex51.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex51.yaml new file mode 100644 index 0000000..6d5e991 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex51.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [1, 5] + name: agent0 + start: [2, 0] +- goal: [3, 3] + name: agent1 + start: [2, 2] +- goal: [2, 1] + name: agent2 + start: [2, 1] +- goal: [6, 3] + name: agent3 + start: [6, 5] +- goal: [2, 0] + name: agent4 + start: [4, 3] +- goal: [2, 3] + name: agent5 + start: [2, 6] +- goal: [4, 7] + name: agent6 + start: [3, 7] +- goal: [1, 1] + name: agent7 + start: [3, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 0] + - !!python/tuple [7, 5] + - !!python/tuple [4, 2] + - !!python/tuple [0, 5] + - !!python/tuple [7, 0] + - !!python/tuple [1, 7] + - !!python/tuple [0, 3] + - !!python/tuple [0, 7] + - !!python/tuple [6, 7] + - !!python/tuple [4, 5] + - !!python/tuple [4, 4] + - !!python/tuple [6, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex52.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex52.yaml new file mode 100644 index 0000000..379b89a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex52.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [2, 5] + name: agent0 + start: [3, 4] +- goal: [1, 2] + name: agent1 + start: [4, 4] +- goal: [4, 2] + name: agent2 + start: [7, 2] +- goal: [6, 3] + name: agent3 + start: [4, 6] +- goal: [2, 3] + name: agent4 + start: [6, 6] +- goal: [1, 6] + name: agent5 + start: [2, 7] +- goal: [7, 6] + name: agent6 + start: [7, 1] +- goal: [4, 0] + name: agent7 + start: [3, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 4] + - !!python/tuple [5, 6] + - !!python/tuple [5, 4] + - !!python/tuple [0, 0] + - !!python/tuple [5, 1] + - !!python/tuple [0, 3] + - !!python/tuple [0, 4] + - !!python/tuple [5, 5] + - !!python/tuple [3, 3] + - !!python/tuple [1, 3] + - !!python/tuple [2, 4] + - !!python/tuple [1, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex53.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex53.yaml new file mode 100644 index 0000000..45e1114 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex53.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [7, 2] + name: agent0 + start: [6, 6] +- goal: [3, 5] + name: agent1 + start: [3, 5] +- goal: [7, 5] + name: agent2 + start: [1, 1] +- goal: [5, 6] + name: agent3 + start: [6, 3] +- goal: [2, 3] + name: agent4 + start: [5, 3] +- goal: [5, 2] + name: agent5 + start: [7, 1] +- goal: [4, 6] + name: agent6 + start: [3, 6] +- goal: [1, 0] + name: agent7 + start: [5, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 3] + - !!python/tuple [0, 5] + - !!python/tuple [6, 2] + - !!python/tuple [3, 2] + - !!python/tuple [1, 3] + - !!python/tuple [1, 4] + - !!python/tuple [2, 7] + - !!python/tuple [7, 0] + - !!python/tuple [2, 6] + - !!python/tuple [6, 7] + - !!python/tuple [1, 6] + - !!python/tuple [2, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex54.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex54.yaml new file mode 100644 index 0000000..15b1f25 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex54.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [6, 1] + name: agent0 + start: [2, 3] +- goal: [2, 4] + name: agent1 + start: [6, 1] +- goal: [3, 6] + name: agent2 + start: [1, 0] +- goal: [5, 2] + name: agent3 + start: [3, 0] +- goal: [3, 0] + name: agent4 + start: [2, 4] +- goal: [1, 4] + name: agent5 + start: [3, 2] +- goal: [4, 6] + name: agent6 + start: [0, 0] +- goal: [1, 5] + name: agent7 + start: [4, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 6] + - !!python/tuple [7, 5] + - !!python/tuple [4, 1] + - !!python/tuple [3, 7] + - !!python/tuple [4, 2] + - !!python/tuple [1, 7] + - !!python/tuple [1, 6] + - !!python/tuple [5, 3] + - !!python/tuple [7, 0] + - !!python/tuple [1, 3] + - !!python/tuple [7, 4] + - !!python/tuple [0, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex55.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex55.yaml new file mode 100644 index 0000000..0395763 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex55.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [0, 2] + name: agent0 + start: [0, 6] +- goal: [6, 3] + name: agent1 + start: [7, 3] +- goal: [0, 5] + name: agent2 + start: [0, 2] +- goal: [5, 5] + name: agent3 + start: [5, 1] +- goal: [4, 3] + name: agent4 + start: [1, 2] +- goal: [7, 4] + name: agent5 + start: [1, 5] +- goal: [1, 2] + name: agent6 + start: [5, 4] +- goal: [7, 7] + name: agent7 + start: [6, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 7] + - !!python/tuple [3, 4] + - !!python/tuple [3, 5] + - !!python/tuple [5, 6] + - !!python/tuple [4, 7] + - !!python/tuple [0, 1] + - !!python/tuple [3, 7] + - !!python/tuple [1, 1] + - !!python/tuple [0, 3] + - !!python/tuple [4, 0] + - !!python/tuple [4, 5] + - !!python/tuple [5, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex56.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex56.yaml new file mode 100644 index 0000000..771b189 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex56.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [5, 0] + name: agent0 + start: [0, 5] +- goal: [7, 7] + name: agent1 + start: [4, 2] +- goal: [4, 2] + name: agent2 + start: [2, 5] +- goal: [2, 4] + name: agent3 + start: [3, 4] +- goal: [3, 4] + name: agent4 + start: [2, 7] +- goal: [4, 3] + name: agent5 + start: [1, 4] +- goal: [6, 7] + name: agent6 + start: [5, 0] +- goal: [6, 3] + name: agent7 + start: [7, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 0] + - !!python/tuple [0, 6] + - !!python/tuple [4, 4] + - !!python/tuple [7, 2] + - !!python/tuple [6, 2] + - !!python/tuple [1, 7] + - !!python/tuple [7, 4] + - !!python/tuple [1, 6] + - !!python/tuple [4, 7] + - !!python/tuple [6, 5] + - !!python/tuple [5, 1] + - !!python/tuple [4, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex57.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex57.yaml new file mode 100644 index 0000000..48017de --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex57.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [1, 2] + name: agent0 + start: [4, 7] +- goal: [0, 4] + name: agent1 + start: [7, 2] +- goal: [7, 6] + name: agent2 + start: [1, 5] +- goal: [1, 7] + name: agent3 + start: [3, 4] +- goal: [6, 0] + name: agent4 + start: [1, 0] +- goal: [3, 0] + name: agent5 + start: [4, 3] +- goal: [4, 4] + name: agent6 + start: [4, 0] +- goal: [5, 0] + name: agent7 + start: [6, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 2] + - !!python/tuple [2, 6] + - !!python/tuple [2, 4] + - !!python/tuple [0, 7] + - !!python/tuple [3, 7] + - !!python/tuple [7, 1] + - !!python/tuple [3, 6] + - !!python/tuple [2, 1] + - !!python/tuple [6, 5] + - !!python/tuple [3, 2] + - !!python/tuple [2, 3] + - !!python/tuple [6, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex58.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex58.yaml new file mode 100644 index 0000000..7e96c5f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex58.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [0, 2] + name: agent0 + start: [4, 5] +- goal: [0, 1] + name: agent1 + start: [1, 6] +- goal: [6, 6] + name: agent2 + start: [5, 3] +- goal: [4, 0] + name: agent3 + start: [7, 6] +- goal: [2, 4] + name: agent4 + start: [0, 1] +- goal: [1, 5] + name: agent5 + start: [4, 2] +- goal: [1, 0] + name: agent6 + start: [1, 0] +- goal: [3, 0] + name: agent7 + start: [4, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 4] + - !!python/tuple [1, 3] + - !!python/tuple [2, 2] + - !!python/tuple [5, 5] + - !!python/tuple [6, 3] + - !!python/tuple [7, 3] + - !!python/tuple [3, 2] + - !!python/tuple [0, 0] + - !!python/tuple [2, 3] + - !!python/tuple [3, 7] + - !!python/tuple [3, 1] + - !!python/tuple [0, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex59.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex59.yaml new file mode 100644 index 0000000..8a8f3b8 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex59.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [4, 4] + name: agent0 + start: [0, 3] +- goal: [4, 2] + name: agent1 + start: [3, 5] +- goal: [7, 1] + name: agent2 + start: [6, 6] +- goal: [0, 2] + name: agent3 + start: [3, 4] +- goal: [0, 5] + name: agent4 + start: [2, 0] +- goal: [6, 5] + name: agent5 + start: [3, 6] +- goal: [6, 2] + name: agent6 + start: [2, 1] +- goal: [4, 1] + name: agent7 + start: [6, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 5] + - !!python/tuple [3, 0] + - !!python/tuple [2, 3] + - !!python/tuple [0, 4] + - !!python/tuple [3, 7] + - !!python/tuple [0, 1] + - !!python/tuple [7, 6] + - !!python/tuple [4, 7] + - !!python/tuple [5, 0] + - !!python/tuple [2, 2] + - !!python/tuple [1, 0] + - !!python/tuple [6, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex6.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex6.yaml new file mode 100644 index 0000000..f770310 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex6.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [6, 4] + name: agent0 + start: [6, 0] +- goal: [3, 7] + name: agent1 + start: [5, 4] +- goal: [4, 4] + name: agent2 + start: [4, 5] +- goal: [7, 3] + name: agent3 + start: [1, 3] +- goal: [4, 6] + name: agent4 + start: [4, 6] +- goal: [1, 4] + name: agent5 + start: [5, 3] +- goal: [0, 4] + name: agent6 + start: [4, 3] +- goal: [7, 2] + name: agent7 + start: [1, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 2] + - !!python/tuple [0, 1] + - !!python/tuple [1, 7] + - !!python/tuple [6, 7] + - !!python/tuple [1, 0] + - !!python/tuple [0, 6] + - !!python/tuple [5, 2] + - !!python/tuple [7, 5] + - !!python/tuple [5, 0] + - !!python/tuple [3, 0] + - !!python/tuple [7, 4] + - !!python/tuple [3, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex60.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex60.yaml new file mode 100644 index 0000000..2afc6f2 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex60.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [6, 7] + name: agent0 + start: [3, 3] +- goal: [1, 0] + name: agent1 + start: [1, 1] +- goal: [1, 2] + name: agent2 + start: [1, 2] +- goal: [2, 7] + name: agent3 + start: [1, 4] +- goal: [5, 1] + name: agent4 + start: [4, 4] +- goal: [3, 4] + name: agent5 + start: [5, 7] +- goal: [4, 5] + name: agent6 + start: [0, 5] +- goal: [7, 0] + name: agent7 + start: [0, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 0] + - !!python/tuple [1, 5] + - !!python/tuple [4, 0] + - !!python/tuple [5, 2] + - !!python/tuple [2, 4] + - !!python/tuple [6, 4] + - !!python/tuple [0, 7] + - !!python/tuple [5, 5] + - !!python/tuple [2, 6] + - !!python/tuple [1, 6] + - !!python/tuple [6, 2] + - !!python/tuple [3, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex61.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex61.yaml new file mode 100644 index 0000000..f2f514b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex61.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [1, 4] + name: agent0 + start: [2, 1] +- goal: [1, 0] + name: agent1 + start: [2, 3] +- goal: [1, 7] + name: agent2 + start: [1, 5] +- goal: [5, 0] + name: agent3 + start: [4, 0] +- goal: [0, 7] + name: agent4 + start: [7, 6] +- goal: [6, 2] + name: agent5 + start: [1, 0] +- goal: [6, 1] + name: agent6 + start: [6, 6] +- goal: [4, 6] + name: agent7 + start: [3, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 2] + - !!python/tuple [7, 5] + - !!python/tuple [3, 6] + - !!python/tuple [4, 5] + - !!python/tuple [2, 4] + - !!python/tuple [5, 3] + - !!python/tuple [1, 1] + - !!python/tuple [2, 0] + - !!python/tuple [0, 4] + - !!python/tuple [7, 3] + - !!python/tuple [2, 6] + - !!python/tuple [2, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex62.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex62.yaml new file mode 100644 index 0000000..918c167 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex62.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [2, 1] + name: agent0 + start: [4, 3] +- goal: [5, 1] + name: agent1 + start: [5, 6] +- goal: [6, 0] + name: agent2 + start: [3, 6] +- goal: [3, 2] + name: agent3 + start: [4, 7] +- goal: [4, 7] + name: agent4 + start: [3, 0] +- goal: [1, 1] + name: agent5 + start: [0, 5] +- goal: [7, 7] + name: agent6 + start: [3, 2] +- goal: [4, 4] + name: agent7 + start: [5, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 5] + - !!python/tuple [7, 0] + - !!python/tuple [1, 6] + - !!python/tuple [2, 7] + - !!python/tuple [4, 0] + - !!python/tuple [6, 4] + - !!python/tuple [0, 6] + - !!python/tuple [3, 7] + - !!python/tuple [0, 4] + - !!python/tuple [0, 3] + - !!python/tuple [1, 3] + - !!python/tuple [2, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex63.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex63.yaml new file mode 100644 index 0000000..42ff2ba --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex63.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [2, 6] + name: agent0 + start: [6, 7] +- goal: [1, 6] + name: agent1 + start: [2, 5] +- goal: [4, 5] + name: agent2 + start: [5, 5] +- goal: [5, 0] + name: agent3 + start: [4, 2] +- goal: [0, 3] + name: agent4 + start: [4, 4] +- goal: [0, 1] + name: agent5 + start: [2, 7] +- goal: [7, 5] + name: agent6 + start: [4, 6] +- goal: [6, 6] + name: agent7 + start: [3, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 1] + - !!python/tuple [0, 4] + - !!python/tuple [6, 0] + - !!python/tuple [1, 2] + - !!python/tuple [5, 1] + - !!python/tuple [7, 1] + - !!python/tuple [6, 2] + - !!python/tuple [4, 3] + - !!python/tuple [3, 6] + - !!python/tuple [7, 6] + - !!python/tuple [6, 4] + - !!python/tuple [4, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex64.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex64.yaml new file mode 100644 index 0000000..4ba48e2 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex64.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [6, 1] + name: agent0 + start: [7, 0] +- goal: [6, 3] + name: agent1 + start: [7, 2] +- goal: [4, 6] + name: agent2 + start: [7, 1] +- goal: [5, 5] + name: agent3 + start: [5, 1] +- goal: [1, 4] + name: agent4 + start: [7, 4] +- goal: [0, 7] + name: agent5 + start: [3, 4] +- goal: [4, 3] + name: agent6 + start: [3, 1] +- goal: [6, 6] + name: agent7 + start: [3, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 0] + - !!python/tuple [2, 0] + - !!python/tuple [5, 2] + - !!python/tuple [5, 3] + - !!python/tuple [1, 7] + - !!python/tuple [1, 2] + - !!python/tuple [6, 2] + - !!python/tuple [3, 2] + - !!python/tuple [0, 2] + - !!python/tuple [2, 7] + - !!python/tuple [7, 3] + - !!python/tuple [7, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex65.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex65.yaml new file mode 100644 index 0000000..80ed13e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex65.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [6, 5] + name: agent0 + start: [1, 6] +- goal: [4, 1] + name: agent1 + start: [5, 1] +- goal: [0, 4] + name: agent2 + start: [4, 5] +- goal: [2, 0] + name: agent3 + start: [3, 4] +- goal: [2, 7] + name: agent4 + start: [1, 3] +- goal: [5, 7] + name: agent5 + start: [5, 6] +- goal: [4, 5] + name: agent6 + start: [7, 0] +- goal: [1, 7] + name: agent7 + start: [4, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 3] + - !!python/tuple [6, 2] + - !!python/tuple [1, 5] + - !!python/tuple [0, 2] + - !!python/tuple [7, 7] + - !!python/tuple [2, 2] + - !!python/tuple [2, 6] + - !!python/tuple [6, 6] + - !!python/tuple [7, 2] + - !!python/tuple [0, 6] + - !!python/tuple [2, 1] + - !!python/tuple [0, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex66.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex66.yaml new file mode 100644 index 0000000..384bdb1 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex66.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [6, 6] + name: agent0 + start: [0, 3] +- goal: [0, 1] + name: agent1 + start: [0, 4] +- goal: [1, 7] + name: agent2 + start: [4, 0] +- goal: [5, 0] + name: agent3 + start: [5, 1] +- goal: [5, 1] + name: agent4 + start: [6, 3] +- goal: [1, 6] + name: agent5 + start: [6, 2] +- goal: [3, 3] + name: agent6 + start: [1, 3] +- goal: [0, 3] + name: agent7 + start: [5, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 4] + - !!python/tuple [7, 7] + - !!python/tuple [7, 5] + - !!python/tuple [4, 3] + - !!python/tuple [6, 5] + - !!python/tuple [7, 4] + - !!python/tuple [0, 6] + - !!python/tuple [1, 4] + - !!python/tuple [4, 4] + - !!python/tuple [5, 5] + - !!python/tuple [2, 5] + - !!python/tuple [2, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex67.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex67.yaml new file mode 100644 index 0000000..9ba9ea0 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex67.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [6, 0] + name: agent0 + start: [0, 6] +- goal: [5, 1] + name: agent1 + start: [1, 7] +- goal: [4, 2] + name: agent2 + start: [4, 1] +- goal: [7, 1] + name: agent3 + start: [5, 2] +- goal: [5, 6] + name: agent4 + start: [5, 7] +- goal: [5, 4] + name: agent5 + start: [5, 6] +- goal: [4, 3] + name: agent6 + start: [6, 0] +- goal: [5, 3] + name: agent7 + start: [4, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 4] + - !!python/tuple [3, 2] + - !!python/tuple [2, 3] + - !!python/tuple [5, 5] + - !!python/tuple [1, 6] + - !!python/tuple [6, 7] + - !!python/tuple [3, 7] + - !!python/tuple [4, 6] + - !!python/tuple [2, 5] + - !!python/tuple [6, 4] + - !!python/tuple [7, 7] + - !!python/tuple [0, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex68.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex68.yaml new file mode 100644 index 0000000..667975f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex68.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [0, 6] + name: agent0 + start: [7, 2] +- goal: [7, 0] + name: agent1 + start: [7, 7] +- goal: [3, 7] + name: agent2 + start: [1, 2] +- goal: [3, 1] + name: agent3 + start: [0, 6] +- goal: [2, 1] + name: agent4 + start: [2, 0] +- goal: [3, 2] + name: agent5 + start: [5, 3] +- goal: [2, 0] + name: agent6 + start: [2, 1] +- goal: [4, 2] + name: agent7 + start: [1, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 0] + - !!python/tuple [6, 0] + - !!python/tuple [3, 3] + - !!python/tuple [4, 0] + - !!python/tuple [5, 5] + - !!python/tuple [6, 5] + - !!python/tuple [7, 5] + - !!python/tuple [2, 5] + - !!python/tuple [2, 2] + - !!python/tuple [6, 1] + - !!python/tuple [2, 3] + - !!python/tuple [6, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex69.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex69.yaml new file mode 100644 index 0000000..d522f8d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex69.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [5, 3] + name: agent0 + start: [0, 2] +- goal: [4, 7] + name: agent1 + start: [3, 0] +- goal: [2, 1] + name: agent2 + start: [1, 3] +- goal: [6, 5] + name: agent3 + start: [1, 1] +- goal: [5, 4] + name: agent4 + start: [3, 5] +- goal: [6, 0] + name: agent5 + start: [4, 0] +- goal: [0, 4] + name: agent6 + start: [2, 4] +- goal: [3, 5] + name: agent7 + start: [7, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 4] + - !!python/tuple [3, 1] + - !!python/tuple [7, 7] + - !!python/tuple [7, 3] + - !!python/tuple [5, 5] + - !!python/tuple [0, 7] + - !!python/tuple [5, 1] + - !!python/tuple [0, 3] + - !!python/tuple [7, 6] + - !!python/tuple [3, 6] + - !!python/tuple [3, 2] + - !!python/tuple [7, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex7.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex7.yaml new file mode 100644 index 0000000..d411f15 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex7.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [1, 5] + name: agent0 + start: [5, 6] +- goal: [0, 7] + name: agent1 + start: [7, 4] +- goal: [7, 1] + name: agent2 + start: [3, 4] +- goal: [4, 7] + name: agent3 + start: [5, 0] +- goal: [4, 5] + name: agent4 + start: [7, 0] +- goal: [6, 2] + name: agent5 + start: [7, 3] +- goal: [2, 3] + name: agent6 + start: [6, 3] +- goal: [5, 5] + name: agent7 + start: [0, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 4] + - !!python/tuple [2, 7] + - !!python/tuple [1, 3] + - !!python/tuple [4, 6] + - !!python/tuple [0, 5] + - !!python/tuple [3, 5] + - !!python/tuple [3, 3] + - !!python/tuple [7, 2] + - !!python/tuple [7, 7] + - !!python/tuple [3, 0] + - !!python/tuple [6, 6] + - !!python/tuple [4, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex70.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex70.yaml new file mode 100644 index 0000000..977f065 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex70.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [1, 0] + name: agent0 + start: [3, 6] +- goal: [0, 2] + name: agent1 + start: [5, 0] +- goal: [0, 7] + name: agent2 + start: [2, 4] +- goal: [5, 6] + name: agent3 + start: [2, 1] +- goal: [1, 6] + name: agent4 + start: [3, 7] +- goal: [3, 6] + name: agent5 + start: [4, 0] +- goal: [5, 4] + name: agent6 + start: [7, 5] +- goal: [5, 2] + name: agent7 + start: [3, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 5] + - !!python/tuple [5, 3] + - !!python/tuple [3, 5] + - !!python/tuple [1, 1] + - !!python/tuple [0, 0] + - !!python/tuple [4, 2] + - !!python/tuple [5, 1] + - !!python/tuple [6, 6] + - !!python/tuple [1, 3] + - !!python/tuple [4, 6] + - !!python/tuple [6, 0] + - !!python/tuple [3, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex71.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex71.yaml new file mode 100644 index 0000000..362f7ec --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex71.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [7, 3] + name: agent0 + start: [7, 6] +- goal: [1, 2] + name: agent1 + start: [7, 1] +- goal: [2, 7] + name: agent2 + start: [4, 1] +- goal: [0, 7] + name: agent3 + start: [1, 6] +- goal: [1, 1] + name: agent4 + start: [0, 0] +- goal: [1, 5] + name: agent5 + start: [3, 3] +- goal: [6, 1] + name: agent6 + start: [0, 1] +- goal: [7, 7] + name: agent7 + start: [4, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 4] + - !!python/tuple [2, 1] + - !!python/tuple [4, 6] + - !!python/tuple [6, 3] + - !!python/tuple [3, 1] + - !!python/tuple [3, 7] + - !!python/tuple [7, 4] + - !!python/tuple [1, 0] + - !!python/tuple [4, 2] + - !!python/tuple [2, 3] + - !!python/tuple [1, 3] + - !!python/tuple [2, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex72.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex72.yaml new file mode 100644 index 0000000..a7b960f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex72.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [4, 5] + name: agent0 + start: [4, 0] +- goal: [6, 1] + name: agent1 + start: [7, 0] +- goal: [5, 7] + name: agent2 + start: [0, 7] +- goal: [3, 0] + name: agent3 + start: [4, 6] +- goal: [3, 2] + name: agent4 + start: [5, 5] +- goal: [5, 2] + name: agent5 + start: [0, 3] +- goal: [7, 5] + name: agent6 + start: [5, 7] +- goal: [4, 2] + name: agent7 + start: [4, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 4] + - !!python/tuple [1, 0] + - !!python/tuple [5, 6] + - !!python/tuple [7, 4] + - !!python/tuple [1, 6] + - !!python/tuple [0, 5] + - !!python/tuple [5, 1] + - !!python/tuple [6, 6] + - !!python/tuple [6, 2] + - !!python/tuple [2, 0] + - !!python/tuple [2, 3] + - !!python/tuple [3, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex73.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex73.yaml new file mode 100644 index 0000000..cb27c7d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex73.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [1, 1] + name: agent0 + start: [1, 0] +- goal: [5, 1] + name: agent1 + start: [6, 2] +- goal: [3, 3] + name: agent2 + start: [0, 0] +- goal: [2, 2] + name: agent3 + start: [6, 5] +- goal: [6, 5] + name: agent4 + start: [5, 1] +- goal: [4, 7] + name: agent5 + start: [6, 1] +- goal: [3, 5] + name: agent6 + start: [7, 7] +- goal: [0, 0] + name: agent7 + start: [2, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 6] + - !!python/tuple [3, 6] + - !!python/tuple [6, 0] + - !!python/tuple [2, 3] + - !!python/tuple [4, 4] + - !!python/tuple [7, 0] + - !!python/tuple [2, 4] + - !!python/tuple [2, 1] + - !!python/tuple [0, 3] + - !!python/tuple [1, 3] + - !!python/tuple [1, 5] + - !!python/tuple [4, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex74.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex74.yaml new file mode 100644 index 0000000..9ea36ac --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex74.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [3, 0] + name: agent0 + start: [4, 7] +- goal: [2, 7] + name: agent1 + start: [7, 4] +- goal: [4, 5] + name: agent2 + start: [3, 7] +- goal: [4, 7] + name: agent3 + start: [5, 3] +- goal: [3, 6] + name: agent4 + start: [3, 6] +- goal: [0, 4] + name: agent5 + start: [5, 0] +- goal: [4, 4] + name: agent6 + start: [0, 6] +- goal: [4, 1] + name: agent7 + start: [5, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 7] + - !!python/tuple [1, 2] + - !!python/tuple [3, 5] + - !!python/tuple [4, 3] + - !!python/tuple [4, 0] + - !!python/tuple [3, 2] + - !!python/tuple [6, 3] + - !!python/tuple [2, 0] + - !!python/tuple [4, 6] + - !!python/tuple [1, 5] + - !!python/tuple [7, 3] + - !!python/tuple [0, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex75.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex75.yaml new file mode 100644 index 0000000..dc324e4 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex75.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [4, 4] + name: agent0 + start: [2, 0] +- goal: [7, 2] + name: agent1 + start: [7, 2] +- goal: [3, 3] + name: agent2 + start: [0, 3] +- goal: [5, 4] + name: agent3 + start: [6, 3] +- goal: [3, 1] + name: agent4 + start: [5, 2] +- goal: [5, 5] + name: agent5 + start: [1, 6] +- goal: [3, 5] + name: agent6 + start: [3, 2] +- goal: [1, 1] + name: agent7 + start: [5, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 0] + - !!python/tuple [5, 3] + - !!python/tuple [6, 2] + - !!python/tuple [0, 7] + - !!python/tuple [0, 4] + - !!python/tuple [4, 1] + - !!python/tuple [1, 4] + - !!python/tuple [7, 4] + - !!python/tuple [3, 6] + - !!python/tuple [0, 0] + - !!python/tuple [6, 7] + - !!python/tuple [1, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex76.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex76.yaml new file mode 100644 index 0000000..7704cc7 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex76.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [5, 1] + name: agent0 + start: [7, 3] +- goal: [6, 5] + name: agent1 + start: [2, 3] +- goal: [6, 4] + name: agent2 + start: [7, 5] +- goal: [5, 2] + name: agent3 + start: [1, 0] +- goal: [0, 1] + name: agent4 + start: [2, 4] +- goal: [3, 7] + name: agent5 + start: [4, 1] +- goal: [0, 5] + name: agent6 + start: [6, 1] +- goal: [2, 7] + name: agent7 + start: [0, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 1] + - !!python/tuple [2, 0] + - !!python/tuple [5, 7] + - !!python/tuple [1, 7] + - !!python/tuple [3, 4] + - !!python/tuple [1, 2] + - !!python/tuple [2, 2] + - !!python/tuple [6, 2] + - !!python/tuple [5, 3] + - !!python/tuple [0, 4] + - !!python/tuple [7, 7] + - !!python/tuple [1, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex77.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex77.yaml new file mode 100644 index 0000000..30297ff --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex77.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [1, 5] + name: agent0 + start: [0, 2] +- goal: [5, 3] + name: agent1 + start: [5, 1] +- goal: [3, 5] + name: agent2 + start: [1, 4] +- goal: [1, 2] + name: agent3 + start: [6, 1] +- goal: [5, 5] + name: agent4 + start: [7, 3] +- goal: [0, 6] + name: agent5 + start: [3, 7] +- goal: [5, 7] + name: agent6 + start: [6, 4] +- goal: [1, 7] + name: agent7 + start: [2, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 1] + - !!python/tuple [5, 0] + - !!python/tuple [0, 1] + - !!python/tuple [4, 5] + - !!python/tuple [3, 1] + - !!python/tuple [3, 6] + - !!python/tuple [6, 5] + - !!python/tuple [7, 5] + - !!python/tuple [2, 3] + - !!python/tuple [3, 0] + - !!python/tuple [0, 5] + - !!python/tuple [1, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex78.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex78.yaml new file mode 100644 index 0000000..4e314af --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex78.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [1, 6] + name: agent0 + start: [4, 3] +- goal: [5, 4] + name: agent1 + start: [3, 3] +- goal: [7, 1] + name: agent2 + start: [1, 3] +- goal: [6, 6] + name: agent3 + start: [6, 5] +- goal: [5, 6] + name: agent4 + start: [6, 6] +- goal: [0, 2] + name: agent5 + start: [0, 1] +- goal: [7, 0] + name: agent6 + start: [4, 6] +- goal: [7, 2] + name: agent7 + start: [1, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 0] + - !!python/tuple [4, 0] + - !!python/tuple [7, 5] + - !!python/tuple [5, 7] + - !!python/tuple [2, 0] + - !!python/tuple [6, 0] + - !!python/tuple [3, 2] + - !!python/tuple [0, 5] + - !!python/tuple [5, 2] + - !!python/tuple [3, 4] + - !!python/tuple [6, 3] + - !!python/tuple [1, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex79.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex79.yaml new file mode 100644 index 0000000..846fa42 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex79.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [3, 7] + name: agent0 + start: [4, 0] +- goal: [4, 2] + name: agent1 + start: [6, 7] +- goal: [6, 7] + name: agent2 + start: [2, 0] +- goal: [2, 5] + name: agent3 + start: [3, 7] +- goal: [0, 7] + name: agent4 + start: [1, 1] +- goal: [6, 3] + name: agent5 + start: [0, 6] +- goal: [2, 6] + name: agent6 + start: [7, 3] +- goal: [4, 7] + name: agent7 + start: [7, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 1] + - !!python/tuple [2, 7] + - !!python/tuple [3, 4] + - !!python/tuple [6, 0] + - !!python/tuple [4, 6] + - !!python/tuple [1, 5] + - !!python/tuple [2, 3] + - !!python/tuple [7, 4] + - !!python/tuple [4, 3] + - !!python/tuple [4, 1] + - !!python/tuple [7, 1] + - !!python/tuple [5, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex8.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex8.yaml new file mode 100644 index 0000000..ef6244a --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex8.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [1, 1] + name: agent0 + start: [7, 5] +- goal: [6, 1] + name: agent1 + start: [0, 4] +- goal: [1, 4] + name: agent2 + start: [1, 0] +- goal: [4, 1] + name: agent3 + start: [4, 6] +- goal: [0, 1] + name: agent4 + start: [6, 1] +- goal: [7, 5] + name: agent5 + start: [4, 3] +- goal: [3, 5] + name: agent6 + start: [7, 2] +- goal: [2, 4] + name: agent7 + start: [4, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 7] + - !!python/tuple [0, 3] + - !!python/tuple [6, 4] + - !!python/tuple [2, 2] + - !!python/tuple [0, 2] + - !!python/tuple [7, 0] + - !!python/tuple [2, 7] + - !!python/tuple [2, 5] + - !!python/tuple [2, 6] + - !!python/tuple [3, 7] + - !!python/tuple [7, 6] + - !!python/tuple [0, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex80.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex80.yaml new file mode 100644 index 0000000..8c0f474 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex80.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [3, 7] + name: agent0 + start: [5, 1] +- goal: [0, 6] + name: agent1 + start: [5, 2] +- goal: [3, 1] + name: agent2 + start: [0, 6] +- goal: [1, 2] + name: agent3 + start: [5, 6] +- goal: [5, 5] + name: agent4 + start: [3, 7] +- goal: [3, 5] + name: agent5 + start: [2, 1] +- goal: [4, 4] + name: agent6 + start: [5, 4] +- goal: [6, 0] + name: agent7 + start: [1, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 4] + - !!python/tuple [6, 1] + - !!python/tuple [5, 3] + - !!python/tuple [3, 6] + - !!python/tuple [0, 1] + - !!python/tuple [7, 4] + - !!python/tuple [2, 6] + - !!python/tuple [7, 6] + - !!python/tuple [0, 3] + - !!python/tuple [0, 2] + - !!python/tuple [6, 4] + - !!python/tuple [0, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex81.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex81.yaml new file mode 100644 index 0000000..aa47a71 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex81.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [4, 2] + name: agent0 + start: [0, 6] +- goal: [3, 2] + name: agent1 + start: [6, 3] +- goal: [0, 6] + name: agent2 + start: [2, 6] +- goal: [0, 2] + name: agent3 + start: [1, 1] +- goal: [6, 6] + name: agent4 + start: [6, 7] +- goal: [6, 3] + name: agent5 + start: [5, 2] +- goal: [4, 0] + name: agent6 + start: [4, 6] +- goal: [7, 3] + name: agent7 + start: [2, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 5] + - !!python/tuple [4, 3] + - !!python/tuple [5, 5] + - !!python/tuple [4, 5] + - !!python/tuple [0, 5] + - !!python/tuple [7, 0] + - !!python/tuple [1, 7] + - !!python/tuple [4, 4] + - !!python/tuple [6, 0] + - !!python/tuple [3, 3] + - !!python/tuple [6, 2] + - !!python/tuple [4, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex82.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex82.yaml new file mode 100644 index 0000000..c229f25 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex82.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [5, 4] + name: agent0 + start: [5, 1] +- goal: [3, 3] + name: agent1 + start: [4, 1] +- goal: [7, 2] + name: agent2 + start: [6, 5] +- goal: [3, 0] + name: agent3 + start: [3, 7] +- goal: [7, 1] + name: agent4 + start: [7, 6] +- goal: [1, 2] + name: agent5 + start: [7, 2] +- goal: [6, 3] + name: agent6 + start: [4, 6] +- goal: [0, 3] + name: agent7 + start: [6, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 5] + - !!python/tuple [1, 3] + - !!python/tuple [3, 4] + - !!python/tuple [1, 0] + - !!python/tuple [2, 3] + - !!python/tuple [6, 7] + - !!python/tuple [6, 0] + - !!python/tuple [0, 0] + - !!python/tuple [4, 0] + - !!python/tuple [1, 7] + - !!python/tuple [2, 1] + - !!python/tuple [0, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex83.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex83.yaml new file mode 100644 index 0000000..3c2cb32 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex83.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [3, 5] + name: agent0 + start: [7, 1] +- goal: [2, 0] + name: agent1 + start: [4, 5] +- goal: [3, 3] + name: agent2 + start: [3, 4] +- goal: [7, 5] + name: agent3 + start: [3, 5] +- goal: [0, 3] + name: agent4 + start: [6, 7] +- goal: [5, 7] + name: agent5 + start: [1, 7] +- goal: [7, 7] + name: agent6 + start: [3, 3] +- goal: [0, 0] + name: agent7 + start: [1, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 4] + - !!python/tuple [5, 3] + - !!python/tuple [0, 7] + - !!python/tuple [1, 4] + - !!python/tuple [7, 2] + - !!python/tuple [3, 0] + - !!python/tuple [6, 4] + - !!python/tuple [1, 0] + - !!python/tuple [3, 1] + - !!python/tuple [7, 3] + - !!python/tuple [6, 1] + - !!python/tuple [4, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex84.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex84.yaml new file mode 100644 index 0000000..2161f8b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex84.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [4, 6] + name: agent0 + start: [1, 1] +- goal: [0, 1] + name: agent1 + start: [4, 4] +- goal: [3, 2] + name: agent2 + start: [1, 7] +- goal: [6, 5] + name: agent3 + start: [5, 4] +- goal: [4, 7] + name: agent4 + start: [6, 7] +- goal: [3, 4] + name: agent5 + start: [6, 6] +- goal: [1, 3] + name: agent6 + start: [6, 1] +- goal: [2, 1] + name: agent7 + start: [3, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 4] + - !!python/tuple [6, 2] + - !!python/tuple [0, 4] + - !!python/tuple [7, 0] + - !!python/tuple [3, 6] + - !!python/tuple [2, 0] + - !!python/tuple [7, 7] + - !!python/tuple [7, 2] + - !!python/tuple [4, 3] + - !!python/tuple [5, 2] + - !!python/tuple [4, 0] + - !!python/tuple [5, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex85.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex85.yaml new file mode 100644 index 0000000..12115cc --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex85.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [6, 6] + name: agent0 + start: [0, 2] +- goal: [3, 1] + name: agent1 + start: [0, 5] +- goal: [0, 2] + name: agent2 + start: [0, 4] +- goal: [3, 4] + name: agent3 + start: [5, 6] +- goal: [3, 0] + name: agent4 + start: [5, 2] +- goal: [7, 1] + name: agent5 + start: [2, 7] +- goal: [5, 6] + name: agent6 + start: [6, 5] +- goal: [7, 5] + name: agent7 + start: [3, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 5] + - !!python/tuple [5, 3] + - !!python/tuple [4, 7] + - !!python/tuple [6, 7] + - !!python/tuple [1, 4] + - !!python/tuple [4, 1] + - !!python/tuple [1, 5] + - !!python/tuple [5, 5] + - !!python/tuple [5, 0] + - !!python/tuple [1, 1] + - !!python/tuple [4, 0] + - !!python/tuple [0, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex86.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex86.yaml new file mode 100644 index 0000000..5fedef0 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex86.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [0, 0] + name: agent0 + start: [0, 6] +- goal: [7, 7] + name: agent1 + start: [4, 4] +- goal: [1, 3] + name: agent2 + start: [2, 3] +- goal: [6, 2] + name: agent3 + start: [3, 3] +- goal: [0, 2] + name: agent4 + start: [7, 1] +- goal: [4, 1] + name: agent5 + start: [7, 0] +- goal: [6, 0] + name: agent6 + start: [6, 1] +- goal: [5, 0] + name: agent7 + start: [7, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 7] + - !!python/tuple [2, 4] + - !!python/tuple [0, 5] + - !!python/tuple [6, 6] + - !!python/tuple [5, 5] + - !!python/tuple [4, 2] + - !!python/tuple [0, 3] + - !!python/tuple [4, 3] + - !!python/tuple [5, 7] + - !!python/tuple [1, 7] + - !!python/tuple [2, 2] + - !!python/tuple [4, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex87.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex87.yaml new file mode 100644 index 0000000..a5ee3f2 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex87.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [1, 2] + name: agent0 + start: [4, 1] +- goal: [0, 6] + name: agent1 + start: [5, 7] +- goal: [7, 5] + name: agent2 + start: [3, 0] +- goal: [4, 6] + name: agent3 + start: [2, 1] +- goal: [0, 4] + name: agent4 + start: [6, 6] +- goal: [3, 2] + name: agent5 + start: [0, 2] +- goal: [3, 7] + name: agent6 + start: [3, 7] +- goal: [7, 4] + name: agent7 + start: [1, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 6] + - !!python/tuple [7, 3] + - !!python/tuple [7, 0] + - !!python/tuple [3, 4] + - !!python/tuple [2, 6] + - !!python/tuple [5, 5] + - !!python/tuple [4, 4] + - !!python/tuple [2, 5] + - !!python/tuple [0, 3] + - !!python/tuple [1, 5] + - !!python/tuple [1, 3] + - !!python/tuple [4, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex88.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex88.yaml new file mode 100644 index 0000000..66823b3 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex88.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [3, 0] + name: agent0 + start: [5, 4] +- goal: [3, 6] + name: agent1 + start: [7, 4] +- goal: [0, 4] + name: agent2 + start: [5, 6] +- goal: [7, 3] + name: agent3 + start: [5, 3] +- goal: [1, 2] + name: agent4 + start: [2, 2] +- goal: [1, 5] + name: agent5 + start: [4, 6] +- goal: [2, 3] + name: agent6 + start: [5, 5] +- goal: [5, 3] + name: agent7 + start: [3, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 0] + - !!python/tuple [6, 7] + - !!python/tuple [1, 4] + - !!python/tuple [6, 4] + - !!python/tuple [0, 5] + - !!python/tuple [3, 7] + - !!python/tuple [0, 7] + - !!python/tuple [3, 1] + - !!python/tuple [0, 1] + - !!python/tuple [2, 6] + - !!python/tuple [3, 2] + - !!python/tuple [4, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex89.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex89.yaml new file mode 100644 index 0000000..748c5d5 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex89.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [2, 1] + name: agent0 + start: [0, 4] +- goal: [6, 3] + name: agent1 + start: [6, 0] +- goal: [6, 4] + name: agent2 + start: [4, 2] +- goal: [5, 7] + name: agent3 + start: [0, 7] +- goal: [6, 7] + name: agent4 + start: [5, 6] +- goal: [7, 7] + name: agent5 + start: [0, 3] +- goal: [6, 2] + name: agent6 + start: [0, 6] +- goal: [2, 0] + name: agent7 + start: [2, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 6] + - !!python/tuple [0, 0] + - !!python/tuple [3, 2] + - !!python/tuple [5, 0] + - !!python/tuple [1, 5] + - !!python/tuple [1, 0] + - !!python/tuple [2, 7] + - !!python/tuple [2, 6] + - !!python/tuple [4, 0] + - !!python/tuple [3, 0] + - !!python/tuple [1, 7] + - !!python/tuple [7, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex9.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex9.yaml new file mode 100644 index 0000000..f15fea7 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex9.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [1, 3] + name: agent0 + start: [2, 1] +- goal: [5, 1] + name: agent1 + start: [2, 5] +- goal: [7, 3] + name: agent2 + start: [7, 2] +- goal: [2, 0] + name: agent3 + start: [4, 5] +- goal: [5, 5] + name: agent4 + start: [3, 3] +- goal: [3, 3] + name: agent5 + start: [7, 4] +- goal: [1, 2] + name: agent6 + start: [5, 2] +- goal: [3, 0] + name: agent7 + start: [2, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 6] + - !!python/tuple [5, 6] + - !!python/tuple [7, 7] + - !!python/tuple [4, 0] + - !!python/tuple [6, 5] + - !!python/tuple [3, 6] + - !!python/tuple [7, 5] + - !!python/tuple [0, 3] + - !!python/tuple [6, 0] + - !!python/tuple [6, 2] + - !!python/tuple [5, 7] + - !!python/tuple [3, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex90.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex90.yaml new file mode 100644 index 0000000..38b0c5d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex90.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [0, 0] + name: agent0 + start: [4, 2] +- goal: [3, 2] + name: agent1 + start: [0, 0] +- goal: [5, 5] + name: agent2 + start: [2, 2] +- goal: [7, 6] + name: agent3 + start: [5, 2] +- goal: [4, 6] + name: agent4 + start: [7, 0] +- goal: [5, 3] + name: agent5 + start: [5, 1] +- goal: [5, 7] + name: agent6 + start: [2, 4] +- goal: [2, 3] + name: agent7 + start: [7, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 1] + - !!python/tuple [1, 4] + - !!python/tuple [4, 7] + - !!python/tuple [2, 7] + - !!python/tuple [1, 6] + - !!python/tuple [1, 1] + - !!python/tuple [0, 5] + - !!python/tuple [2, 6] + - !!python/tuple [5, 6] + - !!python/tuple [3, 5] + - !!python/tuple [3, 4] + - !!python/tuple [2, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex91.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex91.yaml new file mode 100644 index 0000000..6b1620e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex91.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [6, 3] + name: agent0 + start: [5, 5] +- goal: [2, 2] + name: agent1 + start: [6, 4] +- goal: [4, 7] + name: agent2 + start: [0, 4] +- goal: [6, 1] + name: agent3 + start: [7, 7] +- goal: [3, 5] + name: agent4 + start: [6, 0] +- goal: [7, 6] + name: agent5 + start: [0, 6] +- goal: [0, 1] + name: agent6 + start: [0, 3] +- goal: [4, 1] + name: agent7 + start: [3, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 3] + - !!python/tuple [4, 2] + - !!python/tuple [3, 7] + - !!python/tuple [7, 3] + - !!python/tuple [1, 5] + - !!python/tuple [6, 6] + - !!python/tuple [5, 3] + - !!python/tuple [0, 2] + - !!python/tuple [3, 6] + - !!python/tuple [0, 7] + - !!python/tuple [1, 6] + - !!python/tuple [6, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex92.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex92.yaml new file mode 100644 index 0000000..e8d5ca4 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex92.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [7, 4] + name: agent0 + start: [4, 0] +- goal: [5, 0] + name: agent1 + start: [2, 7] +- goal: [1, 7] + name: agent2 + start: [4, 7] +- goal: [7, 7] + name: agent3 + start: [0, 2] +- goal: [2, 3] + name: agent4 + start: [2, 5] +- goal: [5, 6] + name: agent5 + start: [7, 5] +- goal: [3, 0] + name: agent6 + start: [2, 1] +- goal: [6, 0] + name: agent7 + start: [6, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 6] + - !!python/tuple [5, 2] + - !!python/tuple [0, 1] + - !!python/tuple [0, 3] + - !!python/tuple [2, 0] + - !!python/tuple [3, 6] + - !!python/tuple [3, 4] + - !!python/tuple [7, 1] + - !!python/tuple [3, 5] + - !!python/tuple [3, 1] + - !!python/tuple [4, 5] + - !!python/tuple [5, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex93.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex93.yaml new file mode 100644 index 0000000..9e69818 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex93.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [2, 1] + name: agent0 + start: [0, 5] +- goal: [0, 5] + name: agent1 + start: [5, 1] +- goal: [5, 7] + name: agent2 + start: [3, 1] +- goal: [4, 1] + name: agent3 + start: [5, 0] +- goal: [4, 7] + name: agent4 + start: [2, 6] +- goal: [3, 6] + name: agent5 + start: [4, 6] +- goal: [5, 2] + name: agent6 + start: [0, 1] +- goal: [4, 3] + name: agent7 + start: [1, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 7] + - !!python/tuple [3, 5] + - !!python/tuple [2, 4] + - !!python/tuple [7, 5] + - !!python/tuple [4, 0] + - !!python/tuple [6, 4] + - !!python/tuple [2, 3] + - !!python/tuple [7, 2] + - !!python/tuple [1, 4] + - !!python/tuple [6, 0] + - !!python/tuple [0, 7] + - !!python/tuple [5, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex94.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex94.yaml new file mode 100644 index 0000000..fe824ef --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex94.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [1, 5] + name: agent0 + start: [7, 2] +- goal: [4, 4] + name: agent1 + start: [3, 6] +- goal: [1, 6] + name: agent2 + start: [2, 3] +- goal: [1, 1] + name: agent3 + start: [5, 0] +- goal: [2, 4] + name: agent4 + start: [4, 6] +- goal: [5, 0] + name: agent5 + start: [0, 6] +- goal: [7, 0] + name: agent6 + start: [7, 1] +- goal: [3, 4] + name: agent7 + start: [6, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 5] + - !!python/tuple [4, 5] + - !!python/tuple [6, 2] + - !!python/tuple [0, 3] + - !!python/tuple [2, 7] + - !!python/tuple [3, 3] + - !!python/tuple [2, 2] + - !!python/tuple [1, 4] + - !!python/tuple [1, 3] + - !!python/tuple [2, 6] + - !!python/tuple [5, 5] + - !!python/tuple [0, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex95.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex95.yaml new file mode 100644 index 0000000..5ab4454 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex95.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [5, 3] + name: agent0 + start: [1, 6] +- goal: [4, 6] + name: agent1 + start: [7, 4] +- goal: [2, 5] + name: agent2 + start: [3, 5] +- goal: [4, 5] + name: agent3 + start: [5, 0] +- goal: [4, 4] + name: agent4 + start: [4, 3] +- goal: [1, 1] + name: agent5 + start: [2, 5] +- goal: [7, 2] + name: agent6 + start: [0, 1] +- goal: [2, 7] + name: agent7 + start: [1, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 1] + - !!python/tuple [2, 6] + - !!python/tuple [7, 7] + - !!python/tuple [5, 4] + - !!python/tuple [0, 5] + - !!python/tuple [2, 2] + - !!python/tuple [5, 2] + - !!python/tuple [6, 5] + - !!python/tuple [6, 7] + - !!python/tuple [2, 0] + - !!python/tuple [6, 4] + - !!python/tuple [1, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex96.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex96.yaml new file mode 100644 index 0000000..22eb5e4 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex96.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [3, 1] + name: agent0 + start: [4, 1] +- goal: [4, 2] + name: agent1 + start: [6, 6] +- goal: [7, 6] + name: agent2 + start: [7, 3] +- goal: [0, 1] + name: agent3 + start: [7, 6] +- goal: [2, 4] + name: agent4 + start: [2, 0] +- goal: [0, 3] + name: agent5 + start: [0, 7] +- goal: [4, 5] + name: agent6 + start: [7, 0] +- goal: [1, 7] + name: agent7 + start: [2, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 0] + - !!python/tuple [3, 5] + - !!python/tuple [1, 2] + - !!python/tuple [3, 4] + - !!python/tuple [6, 2] + - !!python/tuple [2, 3] + - !!python/tuple [1, 6] + - !!python/tuple [5, 6] + - !!python/tuple [1, 5] + - !!python/tuple [6, 4] + - !!python/tuple [6, 1] + - !!python/tuple [1, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex97.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex97.yaml new file mode 100644 index 0000000..6d1b48b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex97.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [2, 5] + name: agent0 + start: [1, 4] +- goal: [3, 7] + name: agent1 + start: [1, 7] +- goal: [6, 1] + name: agent2 + start: [0, 0] +- goal: [4, 6] + name: agent3 + start: [7, 1] +- goal: [6, 2] + name: agent4 + start: [1, 5] +- goal: [7, 6] + name: agent5 + start: [1, 2] +- goal: [2, 0] + name: agent6 + start: [5, 4] +- goal: [3, 2] + name: agent7 + start: [3, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 0] + - !!python/tuple [4, 3] + - !!python/tuple [2, 3] + - !!python/tuple [7, 4] + - !!python/tuple [5, 5] + - !!python/tuple [3, 1] + - !!python/tuple [0, 5] + - !!python/tuple [5, 7] + - !!python/tuple [2, 6] + - !!python/tuple [6, 0] + - !!python/tuple [7, 7] + - !!python/tuple [0, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex98.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex98.yaml new file mode 100644 index 0000000..ccfa0b7 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex98.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [7, 5] + name: agent0 + start: [7, 7] +- goal: [7, 6] + name: agent1 + start: [7, 5] +- goal: [4, 1] + name: agent2 + start: [0, 0] +- goal: [5, 7] + name: agent3 + start: [0, 2] +- goal: [4, 5] + name: agent4 + start: [5, 4] +- goal: [2, 1] + name: agent5 + start: [1, 2] +- goal: [2, 0] + name: agent6 + start: [2, 0] +- goal: [6, 6] + name: agent7 + start: [7, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 3] + - !!python/tuple [5, 6] + - !!python/tuple [0, 1] + - !!python/tuple [2, 7] + - !!python/tuple [1, 3] + - !!python/tuple [4, 6] + - !!python/tuple [3, 7] + - !!python/tuple [7, 0] + - !!python/tuple [6, 1] + - !!python/tuple [1, 7] + - !!python/tuple [7, 4] + - !!python/tuple [3, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex99.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex99.yaml new file mode 100644 index 0000000..0c1c8a9 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents8_ex99.yaml @@ -0,0 +1,40 @@ +agents: +- goal: [6, 2] + name: agent0 + start: [6, 3] +- goal: [4, 4] + name: agent1 + start: [2, 4] +- goal: [5, 5] + name: agent2 + start: [0, 5] +- goal: [0, 6] + name: agent3 + start: [7, 5] +- goal: [4, 0] + name: agent4 + start: [7, 0] +- goal: [5, 3] + name: agent5 + start: [3, 0] +- goal: [7, 4] + name: agent6 + start: [0, 2] +- goal: [0, 5] + name: agent7 + start: [5, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 1] + - !!python/tuple [1, 6] + - !!python/tuple [1, 1] + - !!python/tuple [4, 5] + - !!python/tuple [5, 7] + - !!python/tuple [3, 5] + - !!python/tuple [4, 3] + - !!python/tuple [2, 0] + - !!python/tuple [1, 3] + - !!python/tuple [0, 4] + - !!python/tuple [3, 6] + - !!python/tuple [5, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex0.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex0.yaml new file mode 100644 index 0000000..1164362 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex0.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [7, 2] + name: agent0 + start: [1, 7] +- goal: [2, 1] + name: agent1 + start: [4, 7] +- goal: [0, 5] + name: agent2 + start: [0, 6] +- goal: [3, 7] + name: agent3 + start: [5, 3] +- goal: [7, 3] + name: agent4 + start: [5, 1] +- goal: [1, 7] + name: agent5 + start: [4, 6] +- goal: [1, 5] + name: agent6 + start: [5, 4] +- goal: [5, 4] + name: agent7 + start: [1, 0] +- goal: [6, 2] + name: agent8 + start: [4, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 7] + - !!python/tuple [2, 5] + - !!python/tuple [3, 4] + - !!python/tuple [6, 6] + - !!python/tuple [3, 5] + - !!python/tuple [7, 0] + - !!python/tuple [3, 2] + - !!python/tuple [4, 3] + - !!python/tuple [2, 7] + - !!python/tuple [5, 7] + - !!python/tuple [7, 4] + - !!python/tuple [2, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex1.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex1.yaml new file mode 100644 index 0000000..ed0e7bb --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex1.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [6, 2] + name: agent0 + start: [3, 0] +- goal: [5, 1] + name: agent1 + start: [0, 5] +- goal: [3, 4] + name: agent2 + start: [6, 4] +- goal: [1, 4] + name: agent3 + start: [5, 4] +- goal: [0, 4] + name: agent4 + start: [7, 5] +- goal: [1, 5] + name: agent5 + start: [2, 0] +- goal: [5, 3] + name: agent6 + start: [4, 3] +- goal: [6, 5] + name: agent7 + start: [7, 3] +- goal: [3, 3] + name: agent8 + start: [0, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 6] + - !!python/tuple [5, 5] + - !!python/tuple [2, 6] + - !!python/tuple [0, 2] + - !!python/tuple [5, 6] + - !!python/tuple [2, 2] + - !!python/tuple [3, 6] + - !!python/tuple [7, 6] + - !!python/tuple [2, 1] + - !!python/tuple [1, 7] + - !!python/tuple [4, 6] + - !!python/tuple [0, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex10.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex10.yaml new file mode 100644 index 0000000..ead71de --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex10.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [4, 5] + name: agent0 + start: [2, 5] +- goal: [7, 0] + name: agent1 + start: [3, 7] +- goal: [5, 3] + name: agent2 + start: [3, 2] +- goal: [0, 4] + name: agent3 + start: [0, 6] +- goal: [6, 7] + name: agent4 + start: [1, 7] +- goal: [6, 4] + name: agent5 + start: [7, 4] +- goal: [0, 1] + name: agent6 + start: [2, 1] +- goal: [3, 7] + name: agent7 + start: [6, 7] +- goal: [2, 5] + name: agent8 + start: [7, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 4] + - !!python/tuple [4, 2] + - !!python/tuple [4, 6] + - !!python/tuple [3, 4] + - !!python/tuple [1, 4] + - !!python/tuple [5, 0] + - !!python/tuple [4, 1] + - !!python/tuple [2, 0] + - !!python/tuple [2, 6] + - !!python/tuple [3, 1] + - !!python/tuple [1, 3] + - !!python/tuple [3, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex11.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex11.yaml new file mode 100644 index 0000000..7b0e0d4 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex11.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [3, 5] + name: agent0 + start: [2, 3] +- goal: [2, 6] + name: agent1 + start: [6, 7] +- goal: [1, 2] + name: agent2 + start: [5, 0] +- goal: [3, 2] + name: agent3 + start: [0, 2] +- goal: [7, 4] + name: agent4 + start: [0, 4] +- goal: [4, 6] + name: agent5 + start: [1, 2] +- goal: [3, 7] + name: agent6 + start: [3, 1] +- goal: [1, 6] + name: agent7 + start: [3, 6] +- goal: [1, 3] + name: agent8 + start: [2, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 1] + - !!python/tuple [4, 2] + - !!python/tuple [6, 4] + - !!python/tuple [5, 5] + - !!python/tuple [4, 0] + - !!python/tuple [7, 5] + - !!python/tuple [6, 1] + - !!python/tuple [4, 5] + - !!python/tuple [7, 6] + - !!python/tuple [4, 7] + - !!python/tuple [0, 0] + - !!python/tuple [2, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex12.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex12.yaml new file mode 100644 index 0000000..aad87f4 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex12.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [6, 1] + name: agent0 + start: [5, 5] +- goal: [7, 3] + name: agent1 + start: [1, 7] +- goal: [2, 0] + name: agent2 + start: [2, 4] +- goal: [5, 6] + name: agent3 + start: [4, 0] +- goal: [6, 7] + name: agent4 + start: [6, 0] +- goal: [7, 7] + name: agent5 + start: [3, 5] +- goal: [3, 6] + name: agent6 + start: [0, 7] +- goal: [2, 3] + name: agent7 + start: [0, 4] +- goal: [0, 4] + name: agent8 + start: [5, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 2] + - !!python/tuple [7, 1] + - !!python/tuple [3, 4] + - !!python/tuple [3, 2] + - !!python/tuple [5, 1] + - !!python/tuple [7, 6] + - !!python/tuple [6, 2] + - !!python/tuple [6, 4] + - !!python/tuple [3, 3] + - !!python/tuple [4, 7] + - !!python/tuple [0, 6] + - !!python/tuple [6, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex13.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex13.yaml new file mode 100644 index 0000000..91c024c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex13.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [0, 6] + name: agent0 + start: [0, 5] +- goal: [3, 2] + name: agent1 + start: [0, 7] +- goal: [0, 7] + name: agent2 + start: [7, 3] +- goal: [2, 3] + name: agent3 + start: [2, 6] +- goal: [4, 3] + name: agent4 + start: [1, 5] +- goal: [6, 7] + name: agent5 + start: [1, 2] +- goal: [5, 4] + name: agent6 + start: [6, 6] +- goal: [6, 1] + name: agent7 + start: [7, 2] +- goal: [3, 1] + name: agent8 + start: [4, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 0] + - !!python/tuple [5, 2] + - !!python/tuple [5, 3] + - !!python/tuple [0, 1] + - !!python/tuple [3, 7] + - !!python/tuple [7, 5] + - !!python/tuple [6, 5] + - !!python/tuple [1, 7] + - !!python/tuple [0, 3] + - !!python/tuple [5, 5] + - !!python/tuple [7, 6] + - !!python/tuple [3, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex14.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex14.yaml new file mode 100644 index 0000000..9565fd8 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex14.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [5, 1] + name: agent0 + start: [3, 0] +- goal: [0, 4] + name: agent1 + start: [2, 7] +- goal: [5, 3] + name: agent2 + start: [7, 1] +- goal: [6, 6] + name: agent3 + start: [7, 6] +- goal: [4, 6] + name: agent4 + start: [1, 5] +- goal: [2, 1] + name: agent5 + start: [1, 7] +- goal: [2, 2] + name: agent6 + start: [0, 7] +- goal: [0, 6] + name: agent7 + start: [6, 5] +- goal: [4, 3] + name: agent8 + start: [3, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 3] + - !!python/tuple [2, 6] + - !!python/tuple [4, 5] + - !!python/tuple [3, 4] + - !!python/tuple [4, 4] + - !!python/tuple [0, 1] + - !!python/tuple [2, 5] + - !!python/tuple [6, 1] + - !!python/tuple [1, 3] + - !!python/tuple [1, 4] + - !!python/tuple [0, 2] + - !!python/tuple [5, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex15.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex15.yaml new file mode 100644 index 0000000..7cd72b2 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex15.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [5, 0] + name: agent0 + start: [5, 7] +- goal: [1, 3] + name: agent1 + start: [7, 3] +- goal: [3, 7] + name: agent2 + start: [4, 0] +- goal: [6, 6] + name: agent3 + start: [5, 5] +- goal: [7, 0] + name: agent4 + start: [7, 5] +- goal: [5, 1] + name: agent5 + start: [1, 0] +- goal: [0, 3] + name: agent6 + start: [4, 6] +- goal: [5, 6] + name: agent7 + start: [3, 1] +- goal: [4, 6] + name: agent8 + start: [2, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 6] + - !!python/tuple [5, 4] + - !!python/tuple [7, 4] + - !!python/tuple [6, 7] + - !!python/tuple [4, 1] + - !!python/tuple [3, 3] + - !!python/tuple [6, 3] + - !!python/tuple [4, 3] + - !!python/tuple [3, 4] + - !!python/tuple [2, 4] + - !!python/tuple [0, 1] + - !!python/tuple [5, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex16.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex16.yaml new file mode 100644 index 0000000..ee344fe --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex16.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [4, 7] + name: agent0 + start: [0, 2] +- goal: [0, 1] + name: agent1 + start: [5, 4] +- goal: [7, 6] + name: agent2 + start: [3, 4] +- goal: [6, 4] + name: agent3 + start: [6, 1] +- goal: [3, 3] + name: agent4 + start: [1, 6] +- goal: [3, 2] + name: agent5 + start: [0, 6] +- goal: [5, 1] + name: agent6 + start: [5, 7] +- goal: [0, 0] + name: agent7 + start: [3, 3] +- goal: [6, 0] + name: agent8 + start: [7, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 5] + - !!python/tuple [1, 2] + - !!python/tuple [2, 7] + - !!python/tuple [6, 6] + - !!python/tuple [1, 7] + - !!python/tuple [2, 0] + - !!python/tuple [2, 5] + - !!python/tuple [4, 6] + - !!python/tuple [6, 7] + - !!python/tuple [6, 3] + - !!python/tuple [5, 2] + - !!python/tuple [1, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex17.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex17.yaml new file mode 100644 index 0000000..a927f30 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex17.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [3, 4] + name: agent0 + start: [0, 5] +- goal: [7, 0] + name: agent1 + start: [4, 0] +- goal: [0, 7] + name: agent2 + start: [4, 3] +- goal: [1, 3] + name: agent3 + start: [2, 6] +- goal: [0, 2] + name: agent4 + start: [3, 2] +- goal: [6, 2] + name: agent5 + start: [5, 6] +- goal: [4, 1] + name: agent6 + start: [6, 6] +- goal: [3, 1] + name: agent7 + start: [3, 1] +- goal: [3, 5] + name: agent8 + start: [5, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 3] + - !!python/tuple [1, 5] + - !!python/tuple [6, 3] + - !!python/tuple [1, 2] + - !!python/tuple [6, 1] + - !!python/tuple [4, 7] + - !!python/tuple [5, 5] + - !!python/tuple [2, 4] + - !!python/tuple [0, 1] + - !!python/tuple [2, 1] + - !!python/tuple [4, 5] + - !!python/tuple [6, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex18.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex18.yaml new file mode 100644 index 0000000..52d31a2 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex18.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [0, 6] + name: agent0 + start: [1, 3] +- goal: [0, 3] + name: agent1 + start: [6, 4] +- goal: [2, 7] + name: agent2 + start: [2, 1] +- goal: [1, 0] + name: agent3 + start: [0, 3] +- goal: [5, 5] + name: agent4 + start: [0, 6] +- goal: [0, 0] + name: agent5 + start: [3, 6] +- goal: [6, 1] + name: agent6 + start: [6, 0] +- goal: [5, 6] + name: agent7 + start: [3, 4] +- goal: [7, 5] + name: agent8 + start: [0, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 0] + - !!python/tuple [0, 4] + - !!python/tuple [0, 5] + - !!python/tuple [5, 7] + - !!python/tuple [3, 5] + - !!python/tuple [4, 4] + - !!python/tuple [4, 7] + - !!python/tuple [2, 6] + - !!python/tuple [7, 1] + - !!python/tuple [3, 3] + - !!python/tuple [2, 0] + - !!python/tuple [4, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex19.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex19.yaml new file mode 100644 index 0000000..e9ed139 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex19.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [2, 0] + name: agent0 + start: [1, 1] +- goal: [4, 5] + name: agent1 + start: [5, 7] +- goal: [2, 3] + name: agent2 + start: [4, 4] +- goal: [1, 2] + name: agent3 + start: [0, 3] +- goal: [2, 4] + name: agent4 + start: [1, 5] +- goal: [3, 2] + name: agent5 + start: [5, 3] +- goal: [4, 6] + name: agent6 + start: [1, 2] +- goal: [3, 1] + name: agent7 + start: [2, 4] +- goal: [6, 3] + name: agent8 + start: [0, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 4] + - !!python/tuple [7, 5] + - !!python/tuple [1, 3] + - !!python/tuple [7, 2] + - !!python/tuple [5, 5] + - !!python/tuple [6, 0] + - !!python/tuple [2, 1] + - !!python/tuple [2, 6] + - !!python/tuple [3, 5] + - !!python/tuple [6, 6] + - !!python/tuple [4, 3] + - !!python/tuple [4, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex2.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex2.yaml new file mode 100644 index 0000000..323d269 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex2.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [2, 0] + name: agent0 + start: [3, 7] +- goal: [3, 1] + name: agent1 + start: [3, 4] +- goal: [4, 4] + name: agent2 + start: [0, 0] +- goal: [0, 1] + name: agent3 + start: [0, 3] +- goal: [3, 7] + name: agent4 + start: [5, 4] +- goal: [1, 2] + name: agent5 + start: [5, 7] +- goal: [1, 7] + name: agent6 + start: [0, 7] +- goal: [6, 2] + name: agent7 + start: [2, 5] +- goal: [5, 2] + name: agent8 + start: [3, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 2] + - !!python/tuple [7, 5] + - !!python/tuple [4, 1] + - !!python/tuple [3, 2] + - !!python/tuple [1, 5] + - !!python/tuple [0, 4] + - !!python/tuple [1, 0] + - !!python/tuple [3, 6] + - !!python/tuple [6, 1] + - !!python/tuple [2, 7] + - !!python/tuple [5, 0] + - !!python/tuple [3, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex20.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex20.yaml new file mode 100644 index 0000000..470e904 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex20.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [7, 6] + name: agent0 + start: [0, 1] +- goal: [0, 6] + name: agent1 + start: [6, 1] +- goal: [6, 2] + name: agent2 + start: [0, 4] +- goal: [3, 2] + name: agent3 + start: [5, 3] +- goal: [4, 0] + name: agent4 + start: [1, 5] +- goal: [5, 6] + name: agent5 + start: [5, 5] +- goal: [7, 0] + name: agent6 + start: [1, 7] +- goal: [1, 0] + name: agent7 + start: [1, 6] +- goal: [4, 7] + name: agent8 + start: [5, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 1] + - !!python/tuple [5, 1] + - !!python/tuple [4, 3] + - !!python/tuple [6, 4] + - !!python/tuple [7, 5] + - !!python/tuple [0, 5] + - !!python/tuple [4, 1] + - !!python/tuple [7, 2] + - !!python/tuple [0, 2] + - !!python/tuple [2, 2] + - !!python/tuple [6, 6] + - !!python/tuple [3, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex21.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex21.yaml new file mode 100644 index 0000000..ff75bc5 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex21.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [4, 3] + name: agent0 + start: [3, 7] +- goal: [2, 1] + name: agent1 + start: [4, 2] +- goal: [3, 7] + name: agent2 + start: [0, 1] +- goal: [2, 4] + name: agent3 + start: [2, 6] +- goal: [3, 0] + name: agent4 + start: [4, 3] +- goal: [5, 2] + name: agent5 + start: [6, 2] +- goal: [7, 6] + name: agent6 + start: [2, 4] +- goal: [5, 4] + name: agent7 + start: [1, 7] +- goal: [4, 2] + name: agent8 + start: [3, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 3] + - !!python/tuple [1, 3] + - !!python/tuple [3, 6] + - !!python/tuple [5, 3] + - !!python/tuple [5, 0] + - !!python/tuple [3, 5] + - !!python/tuple [7, 2] + - !!python/tuple [4, 0] + - !!python/tuple [5, 7] + - !!python/tuple [3, 4] + - !!python/tuple [0, 4] + - !!python/tuple [5, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex22.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex22.yaml new file mode 100644 index 0000000..e134a60 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex22.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [6, 7] + name: agent0 + start: [5, 7] +- goal: [1, 0] + name: agent1 + start: [3, 7] +- goal: [5, 1] + name: agent2 + start: [3, 5] +- goal: [0, 5] + name: agent3 + start: [5, 3] +- goal: [3, 3] + name: agent4 + start: [5, 5] +- goal: [2, 1] + name: agent5 + start: [2, 0] +- goal: [2, 6] + name: agent6 + start: [0, 6] +- goal: [2, 7] + name: agent7 + start: [4, 6] +- goal: [3, 5] + name: agent8 + start: [6, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 2] + - !!python/tuple [2, 5] + - !!python/tuple [7, 3] + - !!python/tuple [1, 4] + - !!python/tuple [1, 3] + - !!python/tuple [4, 2] + - !!python/tuple [5, 2] + - !!python/tuple [4, 4] + - !!python/tuple [3, 1] + - !!python/tuple [2, 3] + - !!python/tuple [6, 5] + - !!python/tuple [7, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex23.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex23.yaml new file mode 100644 index 0000000..8256f94 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex23.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [2, 5] + name: agent0 + start: [2, 4] +- goal: [6, 2] + name: agent1 + start: [0, 2] +- goal: [6, 1] + name: agent2 + start: [5, 3] +- goal: [3, 7] + name: agent3 + start: [6, 1] +- goal: [2, 6] + name: agent4 + start: [4, 7] +- goal: [1, 4] + name: agent5 + start: [0, 0] +- goal: [3, 6] + name: agent6 + start: [0, 4] +- goal: [0, 3] + name: agent7 + start: [1, 1] +- goal: [4, 1] + name: agent8 + start: [2, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 3] + - !!python/tuple [4, 4] + - !!python/tuple [2, 7] + - !!python/tuple [4, 2] + - !!python/tuple [1, 6] + - !!python/tuple [1, 2] + - !!python/tuple [5, 5] + - !!python/tuple [0, 7] + - !!python/tuple [7, 3] + - !!python/tuple [6, 4] + - !!python/tuple [3, 0] + - !!python/tuple [4, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex24.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex24.yaml new file mode 100644 index 0000000..e5fb35d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex24.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [6, 5] + name: agent0 + start: [3, 2] +- goal: [3, 3] + name: agent1 + start: [6, 1] +- goal: [1, 5] + name: agent2 + start: [2, 4] +- goal: [3, 5] + name: agent3 + start: [2, 1] +- goal: [6, 4] + name: agent4 + start: [7, 1] +- goal: [5, 3] + name: agent5 + start: [5, 6] +- goal: [6, 0] + name: agent6 + start: [4, 3] +- goal: [6, 7] + name: agent7 + start: [6, 5] +- goal: [3, 6] + name: agent8 + start: [0, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 6] + - !!python/tuple [3, 7] + - !!python/tuple [4, 5] + - !!python/tuple [4, 6] + - !!python/tuple [1, 0] + - !!python/tuple [7, 3] + - !!python/tuple [0, 5] + - !!python/tuple [5, 4] + - !!python/tuple [0, 7] + - !!python/tuple [7, 4] + - !!python/tuple [2, 0] + - !!python/tuple [2, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex25.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex25.yaml new file mode 100644 index 0000000..3ed02ff --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex25.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [0, 4] + name: agent0 + start: [3, 6] +- goal: [7, 2] + name: agent1 + start: [3, 5] +- goal: [4, 5] + name: agent2 + start: [2, 3] +- goal: [4, 1] + name: agent3 + start: [6, 3] +- goal: [5, 0] + name: agent4 + start: [0, 6] +- goal: [6, 7] + name: agent5 + start: [1, 6] +- goal: [3, 2] + name: agent6 + start: [0, 7] +- goal: [2, 2] + name: agent7 + start: [3, 4] +- goal: [3, 1] + name: agent8 + start: [7, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 7] + - !!python/tuple [7, 7] + - !!python/tuple [1, 1] + - !!python/tuple [6, 5] + - !!python/tuple [5, 4] + - !!python/tuple [4, 3] + - !!python/tuple [2, 1] + - !!python/tuple [4, 6] + - !!python/tuple [3, 3] + - !!python/tuple [4, 7] + - !!python/tuple [4, 2] + - !!python/tuple [4, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex26.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex26.yaml new file mode 100644 index 0000000..de5b6a5 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex26.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [2, 2] + name: agent0 + start: [3, 0] +- goal: [4, 4] + name: agent1 + start: [3, 4] +- goal: [7, 7] + name: agent2 + start: [1, 3] +- goal: [4, 7] + name: agent3 + start: [5, 0] +- goal: [5, 2] + name: agent4 + start: [0, 1] +- goal: [4, 1] + name: agent5 + start: [7, 5] +- goal: [3, 7] + name: agent6 + start: [6, 4] +- goal: [1, 6] + name: agent7 + start: [0, 6] +- goal: [1, 0] + name: agent8 + start: [7, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 7] + - !!python/tuple [3, 2] + - !!python/tuple [4, 5] + - !!python/tuple [0, 7] + - !!python/tuple [4, 2] + - !!python/tuple [0, 4] + - !!python/tuple [6, 1] + - !!python/tuple [1, 4] + - !!python/tuple [6, 6] + - !!python/tuple [5, 4] + - !!python/tuple [5, 3] + - !!python/tuple [6, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex27.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex27.yaml new file mode 100644 index 0000000..7b1b6fa --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex27.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [7, 7] + name: agent0 + start: [4, 4] +- goal: [7, 6] + name: agent1 + start: [5, 5] +- goal: [0, 4] + name: agent2 + start: [0, 7] +- goal: [7, 1] + name: agent3 + start: [5, 7] +- goal: [1, 0] + name: agent4 + start: [4, 5] +- goal: [0, 7] + name: agent5 + start: [0, 3] +- goal: [1, 3] + name: agent6 + start: [3, 6] +- goal: [2, 1] + name: agent7 + start: [2, 0] +- goal: [2, 4] + name: agent8 + start: [4, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 4] + - !!python/tuple [1, 4] + - !!python/tuple [7, 5] + - !!python/tuple [1, 1] + - !!python/tuple [6, 7] + - !!python/tuple [6, 2] + - !!python/tuple [5, 3] + - !!python/tuple [3, 7] + - !!python/tuple [4, 0] + - !!python/tuple [7, 0] + - !!python/tuple [3, 5] + - !!python/tuple [1, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex28.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex28.yaml new file mode 100644 index 0000000..54cb431 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex28.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [0, 7] + name: agent0 + start: [3, 6] +- goal: [3, 2] + name: agent1 + start: [7, 6] +- goal: [0, 0] + name: agent2 + start: [1, 2] +- goal: [0, 5] + name: agent3 + start: [4, 5] +- goal: [5, 5] + name: agent4 + start: [2, 3] +- goal: [2, 0] + name: agent5 + start: [0, 7] +- goal: [2, 1] + name: agent6 + start: [7, 5] +- goal: [0, 3] + name: agent7 + start: [1, 1] +- goal: [7, 7] + name: agent8 + start: [0, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 6] + - !!python/tuple [1, 0] + - !!python/tuple [5, 1] + - !!python/tuple [5, 6] + - !!python/tuple [6, 2] + - !!python/tuple [6, 7] + - !!python/tuple [2, 5] + - !!python/tuple [4, 1] + - !!python/tuple [4, 4] + - !!python/tuple [1, 7] + - !!python/tuple [4, 7] + - !!python/tuple [5, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex29.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex29.yaml new file mode 100644 index 0000000..a74fc0d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex29.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [0, 0] + name: agent0 + start: [3, 1] +- goal: [0, 7] + name: agent1 + start: [4, 2] +- goal: [3, 1] + name: agent2 + start: [4, 3] +- goal: [2, 5] + name: agent3 + start: [3, 6] +- goal: [3, 7] + name: agent4 + start: [2, 5] +- goal: [6, 2] + name: agent5 + start: [5, 0] +- goal: [3, 3] + name: agent6 + start: [3, 5] +- goal: [4, 3] + name: agent7 + start: [5, 4] +- goal: [4, 0] + name: agent8 + start: [4, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 3] + - !!python/tuple [4, 5] + - !!python/tuple [4, 6] + - !!python/tuple [6, 3] + - !!python/tuple [0, 1] + - !!python/tuple [0, 5] + - !!python/tuple [7, 4] + - !!python/tuple [2, 4] + - !!python/tuple [7, 0] + - !!python/tuple [7, 2] + - !!python/tuple [0, 3] + - !!python/tuple [4, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex3.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex3.yaml new file mode 100644 index 0000000..0e77554 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex3.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [6, 5] + name: agent0 + start: [2, 1] +- goal: [7, 5] + name: agent1 + start: [4, 7] +- goal: [3, 3] + name: agent2 + start: [5, 2] +- goal: [5, 4] + name: agent3 + start: [5, 6] +- goal: [2, 3] + name: agent4 + start: [4, 3] +- goal: [4, 1] + name: agent5 + start: [3, 3] +- goal: [0, 6] + name: agent6 + start: [7, 1] +- goal: [6, 3] + name: agent7 + start: [4, 4] +- goal: [4, 5] + name: agent8 + start: [6, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 1] + - !!python/tuple [7, 4] + - !!python/tuple [0, 7] + - !!python/tuple [3, 4] + - !!python/tuple [6, 6] + - !!python/tuple [1, 2] + - !!python/tuple [1, 3] + - !!python/tuple [4, 6] + - !!python/tuple [6, 0] + - !!python/tuple [2, 7] + - !!python/tuple [3, 1] + - !!python/tuple [1, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex30.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex30.yaml new file mode 100644 index 0000000..f506bf5 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex30.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [1, 6] + name: agent0 + start: [1, 2] +- goal: [5, 0] + name: agent1 + start: [3, 3] +- goal: [3, 6] + name: agent2 + start: [1, 5] +- goal: [6, 2] + name: agent3 + start: [5, 0] +- goal: [7, 4] + name: agent4 + start: [6, 4] +- goal: [6, 6] + name: agent5 + start: [0, 2] +- goal: [6, 3] + name: agent6 + start: [2, 6] +- goal: [6, 0] + name: agent7 + start: [5, 4] +- goal: [0, 0] + name: agent8 + start: [6, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 5] + - !!python/tuple [1, 4] + - !!python/tuple [7, 7] + - !!python/tuple [2, 2] + - !!python/tuple [0, 1] + - !!python/tuple [6, 7] + - !!python/tuple [4, 6] + - !!python/tuple [6, 1] + - !!python/tuple [0, 7] + - !!python/tuple [2, 4] + - !!python/tuple [7, 0] + - !!python/tuple [1, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex31.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex31.yaml new file mode 100644 index 0000000..514cc3c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex31.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [6, 1] + name: agent0 + start: [2, 5] +- goal: [0, 2] + name: agent1 + start: [7, 7] +- goal: [2, 3] + name: agent2 + start: [0, 1] +- goal: [2, 1] + name: agent3 + start: [1, 1] +- goal: [1, 2] + name: agent4 + start: [0, 4] +- goal: [4, 7] + name: agent5 + start: [5, 3] +- goal: [0, 4] + name: agent6 + start: [1, 5] +- goal: [0, 6] + name: agent7 + start: [3, 0] +- goal: [5, 3] + name: agent8 + start: [7, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 0] + - !!python/tuple [6, 4] + - !!python/tuple [0, 7] + - !!python/tuple [5, 2] + - !!python/tuple [6, 0] + - !!python/tuple [7, 0] + - !!python/tuple [7, 5] + - !!python/tuple [4, 3] + - !!python/tuple [6, 5] + - !!python/tuple [4, 2] + - !!python/tuple [7, 3] + - !!python/tuple [4, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex32.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex32.yaml new file mode 100644 index 0000000..9b162ed --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex32.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [4, 4] + name: agent0 + start: [6, 4] +- goal: [3, 5] + name: agent1 + start: [4, 5] +- goal: [4, 7] + name: agent2 + start: [2, 6] +- goal: [4, 0] + name: agent3 + start: [2, 1] +- goal: [5, 3] + name: agent4 + start: [1, 3] +- goal: [7, 1] + name: agent5 + start: [7, 6] +- goal: [6, 1] + name: agent6 + start: [6, 1] +- goal: [3, 7] + name: agent7 + start: [7, 2] +- goal: [3, 1] + name: agent8 + start: [4, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 2] + - !!python/tuple [7, 0] + - !!python/tuple [0, 1] + - !!python/tuple [4, 3] + - !!python/tuple [3, 6] + - !!python/tuple [3, 0] + - !!python/tuple [2, 2] + - !!python/tuple [7, 7] + - !!python/tuple [0, 4] + - !!python/tuple [4, 2] + - !!python/tuple [1, 1] + - !!python/tuple [1, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex33.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex33.yaml new file mode 100644 index 0000000..18487f4 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex33.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [7, 0] + name: agent0 + start: [3, 6] +- goal: [4, 3] + name: agent1 + start: [0, 6] +- goal: [1, 6] + name: agent2 + start: [0, 5] +- goal: [4, 5] + name: agent3 + start: [5, 2] +- goal: [2, 5] + name: agent4 + start: [7, 4] +- goal: [6, 2] + name: agent5 + start: [3, 2] +- goal: [0, 6] + name: agent6 + start: [6, 1] +- goal: [4, 4] + name: agent7 + start: [4, 4] +- goal: [7, 3] + name: agent8 + start: [1, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 3] + - !!python/tuple [1, 1] + - !!python/tuple [6, 4] + - !!python/tuple [0, 1] + - !!python/tuple [2, 3] + - !!python/tuple [1, 7] + - !!python/tuple [0, 2] + - !!python/tuple [0, 4] + - !!python/tuple [4, 7] + - !!python/tuple [7, 6] + - !!python/tuple [0, 0] + - !!python/tuple [3, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex34.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex34.yaml new file mode 100644 index 0000000..526c63b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex34.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [7, 4] + name: agent0 + start: [7, 6] +- goal: [2, 6] + name: agent1 + start: [3, 0] +- goal: [1, 3] + name: agent2 + start: [3, 4] +- goal: [5, 6] + name: agent3 + start: [1, 6] +- goal: [3, 2] + name: agent4 + start: [4, 7] +- goal: [5, 2] + name: agent5 + start: [1, 3] +- goal: [0, 1] + name: agent6 + start: [7, 5] +- goal: [1, 1] + name: agent7 + start: [5, 1] +- goal: [3, 7] + name: agent8 + start: [0, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 4] + - !!python/tuple [0, 3] + - !!python/tuple [6, 6] + - !!python/tuple [6, 1] + - !!python/tuple [2, 0] + - !!python/tuple [3, 5] + - !!python/tuple [4, 1] + - !!python/tuple [3, 6] + - !!python/tuple [5, 0] + - !!python/tuple [0, 0] + - !!python/tuple [6, 7] + - !!python/tuple [6, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex35.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex35.yaml new file mode 100644 index 0000000..e183eef --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex35.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [7, 6] + name: agent0 + start: [1, 7] +- goal: [0, 5] + name: agent1 + start: [2, 6] +- goal: [3, 5] + name: agent2 + start: [7, 6] +- goal: [3, 7] + name: agent3 + start: [7, 3] +- goal: [2, 3] + name: agent4 + start: [5, 7] +- goal: [6, 1] + name: agent5 + start: [6, 6] +- goal: [3, 2] + name: agent6 + start: [4, 2] +- goal: [5, 2] + name: agent7 + start: [4, 3] +- goal: [4, 3] + name: agent8 + start: [1, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 0] + - !!python/tuple [1, 4] + - !!python/tuple [5, 0] + - !!python/tuple [3, 4] + - !!python/tuple [7, 4] + - !!python/tuple [2, 0] + - !!python/tuple [0, 7] + - !!python/tuple [2, 1] + - !!python/tuple [3, 6] + - !!python/tuple [4, 4] + - !!python/tuple [7, 0] + - !!python/tuple [7, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex36.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex36.yaml new file mode 100644 index 0000000..c884efb --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex36.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [6, 5] + name: agent0 + start: [4, 4] +- goal: [7, 3] + name: agent1 + start: [6, 4] +- goal: [1, 2] + name: agent2 + start: [0, 6] +- goal: [6, 7] + name: agent3 + start: [6, 1] +- goal: [2, 1] + name: agent4 + start: [2, 1] +- goal: [2, 7] + name: agent5 + start: [2, 6] +- goal: [5, 7] + name: agent6 + start: [3, 2] +- goal: [4, 0] + name: agent7 + start: [7, 7] +- goal: [3, 2] + name: agent8 + start: [2, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 1] + - !!python/tuple [4, 5] + - !!python/tuple [1, 4] + - !!python/tuple [5, 3] + - !!python/tuple [3, 0] + - !!python/tuple [7, 4] + - !!python/tuple [2, 4] + - !!python/tuple [3, 4] + - !!python/tuple [0, 2] + - !!python/tuple [1, 0] + - !!python/tuple [4, 6] + - !!python/tuple [6, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex37.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex37.yaml new file mode 100644 index 0000000..78a75b2 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex37.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [5, 7] + name: agent0 + start: [7, 7] +- goal: [1, 3] + name: agent1 + start: [2, 6] +- goal: [2, 5] + name: agent2 + start: [6, 7] +- goal: [2, 6] + name: agent3 + start: [7, 1] +- goal: [4, 6] + name: agent4 + start: [7, 4] +- goal: [3, 2] + name: agent5 + start: [3, 2] +- goal: [0, 5] + name: agent6 + start: [2, 4] +- goal: [5, 6] + name: agent7 + start: [6, 6] +- goal: [2, 3] + name: agent8 + start: [0, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 3] + - !!python/tuple [6, 2] + - !!python/tuple [5, 5] + - !!python/tuple [5, 0] + - !!python/tuple [0, 6] + - !!python/tuple [5, 4] + - !!python/tuple [4, 7] + - !!python/tuple [1, 5] + - !!python/tuple [5, 3] + - !!python/tuple [4, 0] + - !!python/tuple [0, 0] + - !!python/tuple [4, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex38.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex38.yaml new file mode 100644 index 0000000..ccfa520 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex38.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [6, 7] + name: agent0 + start: [2, 6] +- goal: [5, 6] + name: agent1 + start: [6, 5] +- goal: [0, 6] + name: agent2 + start: [1, 4] +- goal: [7, 4] + name: agent3 + start: [3, 5] +- goal: [0, 5] + name: agent4 + start: [1, 5] +- goal: [6, 6] + name: agent5 + start: [3, 2] +- goal: [6, 0] + name: agent6 + start: [6, 1] +- goal: [6, 1] + name: agent7 + start: [7, 6] +- goal: [3, 1] + name: agent8 + start: [4, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 6] + - !!python/tuple [3, 6] + - !!python/tuple [0, 0] + - !!python/tuple [7, 0] + - !!python/tuple [1, 3] + - !!python/tuple [2, 4] + - !!python/tuple [5, 7] + - !!python/tuple [3, 4] + - !!python/tuple [0, 3] + - !!python/tuple [0, 1] + - !!python/tuple [5, 0] + - !!python/tuple [3, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex39.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex39.yaml new file mode 100644 index 0000000..76af5e0 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex39.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [2, 3] + name: agent0 + start: [0, 7] +- goal: [4, 7] + name: agent1 + start: [5, 6] +- goal: [2, 6] + name: agent2 + start: [3, 3] +- goal: [6, 1] + name: agent3 + start: [4, 3] +- goal: [2, 7] + name: agent4 + start: [6, 2] +- goal: [6, 7] + name: agent5 + start: [2, 1] +- goal: [4, 0] + name: agent6 + start: [2, 3] +- goal: [4, 3] + name: agent7 + start: [7, 2] +- goal: [4, 6] + name: agent8 + start: [2, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 2] + - !!python/tuple [7, 0] + - !!python/tuple [3, 4] + - !!python/tuple [1, 0] + - !!python/tuple [5, 5] + - !!python/tuple [5, 1] + - !!python/tuple [0, 3] + - !!python/tuple [0, 5] + - !!python/tuple [4, 4] + - !!python/tuple [5, 0] + - !!python/tuple [7, 3] + - !!python/tuple [1, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex4.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex4.yaml new file mode 100644 index 0000000..b18cc28 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex4.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [1, 0] + name: agent0 + start: [6, 5] +- goal: [2, 2] + name: agent1 + start: [1, 1] +- goal: [4, 7] + name: agent2 + start: [6, 2] +- goal: [6, 3] + name: agent3 + start: [7, 3] +- goal: [7, 3] + name: agent4 + start: [0, 4] +- goal: [7, 1] + name: agent5 + start: [7, 7] +- goal: [0, 5] + name: agent6 + start: [7, 5] +- goal: [6, 7] + name: agent7 + start: [0, 7] +- goal: [7, 4] + name: agent8 + start: [0, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 2] + - !!python/tuple [4, 2] + - !!python/tuple [2, 4] + - !!python/tuple [4, 3] + - !!python/tuple [4, 1] + - !!python/tuple [3, 7] + - !!python/tuple [0, 2] + - !!python/tuple [5, 1] + - !!python/tuple [3, 4] + - !!python/tuple [7, 6] + - !!python/tuple [6, 4] + - !!python/tuple [4, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex40.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex40.yaml new file mode 100644 index 0000000..438dad7 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex40.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [3, 0] + name: agent0 + start: [3, 0] +- goal: [2, 0] + name: agent1 + start: [0, 3] +- goal: [4, 1] + name: agent2 + start: [6, 7] +- goal: [0, 1] + name: agent3 + start: [4, 3] +- goal: [7, 4] + name: agent4 + start: [7, 4] +- goal: [7, 6] + name: agent5 + start: [3, 4] +- goal: [2, 4] + name: agent6 + start: [4, 0] +- goal: [1, 7] + name: agent7 + start: [6, 3] +- goal: [1, 6] + name: agent8 + start: [5, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 5] + - !!python/tuple [5, 7] + - !!python/tuple [2, 5] + - !!python/tuple [2, 1] + - !!python/tuple [6, 0] + - !!python/tuple [0, 5] + - !!python/tuple [2, 3] + - !!python/tuple [2, 6] + - !!python/tuple [3, 3] + - !!python/tuple [3, 5] + - !!python/tuple [6, 4] + - !!python/tuple [1, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex41.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex41.yaml new file mode 100644 index 0000000..5db656c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex41.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [0, 4] + name: agent0 + start: [2, 7] +- goal: [4, 6] + name: agent1 + start: [2, 6] +- goal: [3, 0] + name: agent2 + start: [0, 5] +- goal: [0, 6] + name: agent3 + start: [2, 0] +- goal: [1, 4] + name: agent4 + start: [1, 3] +- goal: [3, 5] + name: agent5 + start: [3, 5] +- goal: [7, 3] + name: agent6 + start: [0, 2] +- goal: [0, 7] + name: agent7 + start: [3, 1] +- goal: [6, 7] + name: agent8 + start: [5, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 0] + - !!python/tuple [1, 6] + - !!python/tuple [7, 2] + - !!python/tuple [4, 4] + - !!python/tuple [4, 5] + - !!python/tuple [6, 5] + - !!python/tuple [5, 7] + - !!python/tuple [0, 1] + - !!python/tuple [2, 2] + - !!python/tuple [6, 1] + - !!python/tuple [6, 3] + - !!python/tuple [5, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex42.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex42.yaml new file mode 100644 index 0000000..ec81e28 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex42.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [3, 4] + name: agent0 + start: [6, 4] +- goal: [6, 5] + name: agent1 + start: [7, 2] +- goal: [5, 3] + name: agent2 + start: [0, 0] +- goal: [2, 5] + name: agent3 + start: [0, 3] +- goal: [6, 1] + name: agent4 + start: [7, 7] +- goal: [4, 5] + name: agent5 + start: [1, 0] +- goal: [2, 3] + name: agent6 + start: [5, 4] +- goal: [2, 7] + name: agent7 + start: [3, 7] +- goal: [4, 3] + name: agent8 + start: [1, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 1] + - !!python/tuple [2, 6] + - !!python/tuple [7, 3] + - !!python/tuple [6, 2] + - !!python/tuple [3, 3] + - !!python/tuple [0, 4] + - !!python/tuple [2, 0] + - !!python/tuple [7, 5] + - !!python/tuple [0, 6] + - !!python/tuple [3, 1] + - !!python/tuple [6, 7] + - !!python/tuple [5, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex43.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex43.yaml new file mode 100644 index 0000000..5935637 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex43.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [0, 4] + name: agent0 + start: [4, 2] +- goal: [6, 0] + name: agent1 + start: [0, 2] +- goal: [6, 5] + name: agent2 + start: [0, 4] +- goal: [4, 2] + name: agent3 + start: [7, 4] +- goal: [3, 0] + name: agent4 + start: [0, 5] +- goal: [6, 7] + name: agent5 + start: [7, 1] +- goal: [3, 2] + name: agent6 + start: [5, 3] +- goal: [2, 0] + name: agent7 + start: [7, 2] +- goal: [7, 5] + name: agent8 + start: [5, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 1] + - !!python/tuple [2, 7] + - !!python/tuple [1, 7] + - !!python/tuple [7, 0] + - !!python/tuple [6, 6] + - !!python/tuple [0, 1] + - !!python/tuple [1, 1] + - !!python/tuple [0, 6] + - !!python/tuple [5, 4] + - !!python/tuple [3, 6] + - !!python/tuple [1, 6] + - !!python/tuple [5, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex44.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex44.yaml new file mode 100644 index 0000000..9f25af6 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex44.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [1, 3] + name: agent0 + start: [6, 1] +- goal: [7, 6] + name: agent1 + start: [3, 6] +- goal: [4, 5] + name: agent2 + start: [7, 7] +- goal: [3, 2] + name: agent3 + start: [1, 5] +- goal: [1, 6] + name: agent4 + start: [0, 4] +- goal: [5, 4] + name: agent5 + start: [1, 7] +- goal: [4, 2] + name: agent6 + start: [4, 7] +- goal: [7, 2] + name: agent7 + start: [2, 6] +- goal: [4, 4] + name: agent8 + start: [5, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 3] + - !!python/tuple [2, 4] + - !!python/tuple [4, 3] + - !!python/tuple [0, 2] + - !!python/tuple [1, 1] + - !!python/tuple [1, 0] + - !!python/tuple [4, 1] + - !!python/tuple [3, 5] + - !!python/tuple [2, 3] + - !!python/tuple [0, 0] + - !!python/tuple [3, 4] + - !!python/tuple [5, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex45.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex45.yaml new file mode 100644 index 0000000..57c2987 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex45.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [3, 3] + name: agent0 + start: [6, 5] +- goal: [2, 3] + name: agent1 + start: [2, 3] +- goal: [4, 2] + name: agent2 + start: [7, 5] +- goal: [0, 1] + name: agent3 + start: [3, 3] +- goal: [4, 1] + name: agent4 + start: [5, 2] +- goal: [5, 6] + name: agent5 + start: [6, 1] +- goal: [1, 3] + name: agent6 + start: [4, 2] +- goal: [1, 1] + name: agent7 + start: [6, 6] +- goal: [6, 3] + name: agent8 + start: [5, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 5] + - !!python/tuple [0, 4] + - !!python/tuple [0, 2] + - !!python/tuple [3, 6] + - !!python/tuple [6, 4] + - !!python/tuple [1, 5] + - !!python/tuple [2, 1] + - !!python/tuple [5, 7] + - !!python/tuple [4, 7] + - !!python/tuple [4, 4] + - !!python/tuple [3, 2] + - !!python/tuple [2, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex46.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex46.yaml new file mode 100644 index 0000000..3d787a9 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex46.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [2, 3] + name: agent0 + start: [1, 0] +- goal: [5, 3] + name: agent1 + start: [5, 6] +- goal: [0, 0] + name: agent2 + start: [6, 7] +- goal: [1, 2] + name: agent3 + start: [4, 6] +- goal: [5, 7] + name: agent4 + start: [7, 1] +- goal: [6, 2] + name: agent5 + start: [2, 6] +- goal: [6, 6] + name: agent6 + start: [2, 2] +- goal: [5, 0] + name: agent7 + start: [2, 0] +- goal: [2, 6] + name: agent8 + start: [7, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 4] + - !!python/tuple [3, 1] + - !!python/tuple [6, 3] + - !!python/tuple [2, 4] + - !!python/tuple [1, 6] + - !!python/tuple [3, 7] + - !!python/tuple [6, 4] + - !!python/tuple [0, 5] + - !!python/tuple [4, 2] + - !!python/tuple [4, 7] + - !!python/tuple [5, 1] + - !!python/tuple [7, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex47.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex47.yaml new file mode 100644 index 0000000..5daed7c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex47.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [4, 3] + name: agent0 + start: [0, 1] +- goal: [5, 7] + name: agent1 + start: [7, 6] +- goal: [2, 3] + name: agent2 + start: [1, 0] +- goal: [7, 1] + name: agent3 + start: [0, 6] +- goal: [4, 6] + name: agent4 + start: [0, 3] +- goal: [4, 4] + name: agent5 + start: [3, 7] +- goal: [4, 1] + name: agent6 + start: [1, 3] +- goal: [5, 4] + name: agent7 + start: [1, 2] +- goal: [3, 1] + name: agent8 + start: [1, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 5] + - !!python/tuple [7, 3] + - !!python/tuple [7, 7] + - !!python/tuple [6, 3] + - !!python/tuple [1, 7] + - !!python/tuple [6, 0] + - !!python/tuple [6, 7] + - !!python/tuple [3, 3] + - !!python/tuple [2, 1] + - !!python/tuple [3, 6] + - !!python/tuple [0, 0] + - !!python/tuple [1, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex48.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex48.yaml new file mode 100644 index 0000000..9c97482 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex48.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [4, 4] + name: agent0 + start: [6, 5] +- goal: [7, 4] + name: agent1 + start: [2, 3] +- goal: [3, 7] + name: agent2 + start: [0, 7] +- goal: [1, 6] + name: agent3 + start: [1, 6] +- goal: [6, 0] + name: agent4 + start: [4, 7] +- goal: [4, 0] + name: agent5 + start: [1, 7] +- goal: [0, 3] + name: agent6 + start: [3, 5] +- goal: [0, 0] + name: agent7 + start: [5, 2] +- goal: [5, 0] + name: agent8 + start: [6, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 7] + - !!python/tuple [5, 4] + - !!python/tuple [3, 1] + - !!python/tuple [2, 4] + - !!python/tuple [5, 7] + - !!python/tuple [7, 3] + - !!python/tuple [3, 6] + - !!python/tuple [2, 5] + - !!python/tuple [2, 0] + - !!python/tuple [7, 0] + - !!python/tuple [0, 2] + - !!python/tuple [3, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex49.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex49.yaml new file mode 100644 index 0000000..6562ab2 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex49.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [5, 2] + name: agent0 + start: [4, 7] +- goal: [1, 7] + name: agent1 + start: [4, 3] +- goal: [5, 7] + name: agent2 + start: [7, 3] +- goal: [5, 3] + name: agent3 + start: [3, 6] +- goal: [0, 0] + name: agent4 + start: [0, 1] +- goal: [1, 2] + name: agent5 + start: [2, 3] +- goal: [5, 5] + name: agent6 + start: [1, 5] +- goal: [0, 1] + name: agent7 + start: [6, 6] +- goal: [7, 1] + name: agent8 + start: [1, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 0] + - !!python/tuple [1, 3] + - !!python/tuple [4, 2] + - !!python/tuple [6, 2] + - !!python/tuple [2, 7] + - !!python/tuple [2, 5] + - !!python/tuple [5, 6] + - !!python/tuple [0, 5] + - !!python/tuple [2, 6] + - !!python/tuple [6, 3] + - !!python/tuple [7, 2] + - !!python/tuple [4, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex5.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex5.yaml new file mode 100644 index 0000000..d98bc13 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex5.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [0, 3] + name: agent0 + start: [1, 1] +- goal: [1, 3] + name: agent1 + start: [0, 6] +- goal: [2, 0] + name: agent2 + start: [4, 5] +- goal: [7, 6] + name: agent3 + start: [0, 5] +- goal: [1, 7] + name: agent4 + start: [4, 7] +- goal: [3, 4] + name: agent5 + start: [3, 2] +- goal: [2, 6] + name: agent6 + start: [0, 4] +- goal: [5, 2] + name: agent7 + start: [7, 5] +- goal: [6, 5] + name: agent8 + start: [3, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 4] + - !!python/tuple [5, 3] + - !!python/tuple [5, 7] + - !!python/tuple [4, 6] + - !!python/tuple [5, 5] + - !!python/tuple [0, 0] + - !!python/tuple [3, 3] + - !!python/tuple [6, 6] + - !!python/tuple [6, 3] + - !!python/tuple [6, 0] + - !!python/tuple [3, 1] + - !!python/tuple [3, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex50.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex50.yaml new file mode 100644 index 0000000..20dfc40 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex50.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [4, 3] + name: agent0 + start: [2, 0] +- goal: [7, 2] + name: agent1 + start: [1, 4] +- goal: [0, 1] + name: agent2 + start: [5, 3] +- goal: [0, 5] + name: agent3 + start: [4, 6] +- goal: [5, 4] + name: agent4 + start: [0, 5] +- goal: [4, 4] + name: agent5 + start: [5, 4] +- goal: [2, 4] + name: agent6 + start: [0, 6] +- goal: [0, 2] + name: agent7 + start: [0, 1] +- goal: [4, 1] + name: agent8 + start: [2, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 2] + - !!python/tuple [3, 5] + - !!python/tuple [2, 5] + - !!python/tuple [3, 1] + - !!python/tuple [4, 5] + - !!python/tuple [3, 0] + - !!python/tuple [7, 7] + - !!python/tuple [7, 1] + - !!python/tuple [1, 5] + - !!python/tuple [0, 7] + - !!python/tuple [2, 2] + - !!python/tuple [2, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex51.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex51.yaml new file mode 100644 index 0000000..3aa9466 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex51.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [6, 0] + name: agent0 + start: [5, 4] +- goal: [4, 5] + name: agent1 + start: [4, 7] +- goal: [4, 7] + name: agent2 + start: [4, 0] +- goal: [7, 0] + name: agent3 + start: [2, 2] +- goal: [2, 3] + name: agent4 + start: [5, 0] +- goal: [7, 2] + name: agent5 + start: [6, 4] +- goal: [2, 4] + name: agent6 + start: [6, 1] +- goal: [0, 0] + name: agent7 + start: [6, 2] +- goal: [7, 5] + name: agent8 + start: [1, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 3] + - !!python/tuple [3, 4] + - !!python/tuple [4, 1] + - !!python/tuple [6, 5] + - !!python/tuple [2, 7] + - !!python/tuple [3, 1] + - !!python/tuple [6, 7] + - !!python/tuple [5, 7] + - !!python/tuple [3, 7] + - !!python/tuple [2, 5] + - !!python/tuple [7, 6] + - !!python/tuple [2, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex52.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex52.yaml new file mode 100644 index 0000000..c76ad7f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex52.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [1, 1] + name: agent0 + start: [0, 4] +- goal: [1, 2] + name: agent1 + start: [0, 6] +- goal: [7, 2] + name: agent2 + start: [4, 4] +- goal: [6, 3] + name: agent3 + start: [5, 1] +- goal: [7, 7] + name: agent4 + start: [3, 2] +- goal: [3, 4] + name: agent5 + start: [3, 6] +- goal: [2, 3] + name: agent6 + start: [2, 4] +- goal: [5, 6] + name: agent7 + start: [7, 6] +- goal: [6, 6] + name: agent8 + start: [1, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 3] + - !!python/tuple [5, 2] + - !!python/tuple [3, 7] + - !!python/tuple [7, 5] + - !!python/tuple [4, 7] + - !!python/tuple [1, 0] + - !!python/tuple [2, 0] + - !!python/tuple [6, 1] + - !!python/tuple [2, 1] + - !!python/tuple [1, 7] + - !!python/tuple [6, 2] + - !!python/tuple [0, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex53.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex53.yaml new file mode 100644 index 0000000..09b6aec --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex53.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [4, 1] + name: agent0 + start: [7, 3] +- goal: [3, 0] + name: agent1 + start: [3, 0] +- goal: [0, 6] + name: agent2 + start: [0, 6] +- goal: [3, 2] + name: agent3 + start: [3, 4] +- goal: [6, 5] + name: agent4 + start: [3, 2] +- goal: [6, 6] + name: agent5 + start: [2, 0] +- goal: [3, 4] + name: agent6 + start: [0, 3] +- goal: [4, 3] + name: agent7 + start: [2, 5] +- goal: [5, 3] + name: agent8 + start: [7, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 4] + - !!python/tuple [3, 6] + - !!python/tuple [4, 5] + - !!python/tuple [0, 2] + - !!python/tuple [5, 0] + - !!python/tuple [7, 1] + - !!python/tuple [5, 2] + - !!python/tuple [0, 5] + - !!python/tuple [5, 1] + - !!python/tuple [2, 2] + - !!python/tuple [6, 2] + - !!python/tuple [1, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex54.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex54.yaml new file mode 100644 index 0000000..3b0d1e0 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex54.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [7, 7] + name: agent0 + start: [2, 2] +- goal: [3, 0] + name: agent1 + start: [7, 4] +- goal: [4, 0] + name: agent2 + start: [5, 5] +- goal: [1, 6] + name: agent3 + start: [0, 1] +- goal: [4, 7] + name: agent4 + start: [7, 2] +- goal: [4, 4] + name: agent5 + start: [5, 4] +- goal: [1, 0] + name: agent6 + start: [4, 0] +- goal: [6, 3] + name: agent7 + start: [0, 3] +- goal: [0, 3] + name: agent8 + start: [7, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 5] + - !!python/tuple [2, 6] + - !!python/tuple [6, 4] + - !!python/tuple [1, 5] + - !!python/tuple [5, 0] + - !!python/tuple [6, 2] + - !!python/tuple [1, 4] + - !!python/tuple [6, 0] + - !!python/tuple [4, 5] + - !!python/tuple [0, 6] + - !!python/tuple [0, 4] + - !!python/tuple [4, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex55.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex55.yaml new file mode 100644 index 0000000..cc9f214 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex55.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [3, 7] + name: agent0 + start: [2, 5] +- goal: [3, 6] + name: agent1 + start: [1, 5] +- goal: [4, 2] + name: agent2 + start: [6, 2] +- goal: [7, 1] + name: agent3 + start: [5, 7] +- goal: [4, 0] + name: agent4 + start: [1, 4] +- goal: [0, 4] + name: agent5 + start: [5, 0] +- goal: [6, 2] + name: agent6 + start: [5, 2] +- goal: [1, 5] + name: agent7 + start: [4, 0] +- goal: [2, 1] + name: agent8 + start: [0, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 3] + - !!python/tuple [1, 1] + - !!python/tuple [0, 6] + - !!python/tuple [3, 5] + - !!python/tuple [4, 4] + - !!python/tuple [7, 7] + - !!python/tuple [7, 2] + - !!python/tuple [0, 0] + - !!python/tuple [4, 6] + - !!python/tuple [6, 0] + - !!python/tuple [2, 0] + - !!python/tuple [5, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex56.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex56.yaml new file mode 100644 index 0000000..9f8378f --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex56.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [7, 4] + name: agent0 + start: [2, 0] +- goal: [5, 3] + name: agent1 + start: [0, 5] +- goal: [7, 7] + name: agent2 + start: [6, 0] +- goal: [4, 4] + name: agent3 + start: [4, 7] +- goal: [3, 3] + name: agent4 + start: [7, 3] +- goal: [3, 5] + name: agent5 + start: [7, 1] +- goal: [1, 7] + name: agent6 + start: [3, 6] +- goal: [1, 0] + name: agent7 + start: [6, 2] +- goal: [6, 3] + name: agent8 + start: [1, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 1] + - !!python/tuple [2, 1] + - !!python/tuple [4, 5] + - !!python/tuple [0, 4] + - !!python/tuple [4, 0] + - !!python/tuple [6, 5] + - !!python/tuple [4, 6] + - !!python/tuple [2, 6] + - !!python/tuple [2, 4] + - !!python/tuple [1, 5] + - !!python/tuple [5, 2] + - !!python/tuple [1, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex57.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex57.yaml new file mode 100644 index 0000000..68a5ead --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex57.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [6, 5] + name: agent0 + start: [6, 7] +- goal: [7, 2] + name: agent1 + start: [7, 5] +- goal: [4, 3] + name: agent2 + start: [6, 6] +- goal: [1, 1] + name: agent3 + start: [4, 0] +- goal: [5, 3] + name: agent4 + start: [6, 2] +- goal: [3, 0] + name: agent5 + start: [0, 1] +- goal: [0, 7] + name: agent6 + start: [7, 2] +- goal: [7, 0] + name: agent7 + start: [2, 7] +- goal: [5, 4] + name: agent8 + start: [4, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 5] + - !!python/tuple [1, 5] + - !!python/tuple [5, 6] + - !!python/tuple [2, 2] + - !!python/tuple [2, 5] + - !!python/tuple [0, 3] + - !!python/tuple [3, 6] + - !!python/tuple [2, 4] + - !!python/tuple [0, 0] + - !!python/tuple [4, 6] + - !!python/tuple [0, 4] + - !!python/tuple [6, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex58.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex58.yaml new file mode 100644 index 0000000..6fe3de1 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex58.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [0, 0] + name: agent0 + start: [0, 3] +- goal: [6, 5] + name: agent1 + start: [6, 2] +- goal: [6, 0] + name: agent2 + start: [5, 5] +- goal: [7, 0] + name: agent3 + start: [1, 2] +- goal: [0, 1] + name: agent4 + start: [1, 3] +- goal: [5, 5] + name: agent5 + start: [0, 2] +- goal: [1, 6] + name: agent6 + start: [6, 4] +- goal: [4, 2] + name: agent7 + start: [6, 6] +- goal: [0, 5] + name: agent8 + start: [7, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 3] + - !!python/tuple [1, 4] + - !!python/tuple [7, 1] + - !!python/tuple [4, 5] + - !!python/tuple [3, 6] + - !!python/tuple [3, 4] + - !!python/tuple [3, 1] + - !!python/tuple [2, 3] + - !!python/tuple [3, 5] + - !!python/tuple [0, 6] + - !!python/tuple [7, 4] + - !!python/tuple [5, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex59.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex59.yaml new file mode 100644 index 0000000..e51451e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex59.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [6, 6] + name: agent0 + start: [0, 4] +- goal: [1, 2] + name: agent1 + start: [6, 2] +- goal: [6, 3] + name: agent2 + start: [4, 2] +- goal: [3, 1] + name: agent3 + start: [3, 2] +- goal: [0, 5] + name: agent4 + start: [0, 7] +- goal: [1, 3] + name: agent5 + start: [7, 3] +- goal: [4, 3] + name: agent6 + start: [2, 3] +- goal: [0, 1] + name: agent7 + start: [6, 6] +- goal: [2, 3] + name: agent8 + start: [5, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 4] + - !!python/tuple [6, 0] + - !!python/tuple [4, 4] + - !!python/tuple [1, 6] + - !!python/tuple [7, 2] + - !!python/tuple [2, 1] + - !!python/tuple [6, 7] + - !!python/tuple [7, 0] + - !!python/tuple [2, 7] + - !!python/tuple [2, 2] + - !!python/tuple [7, 1] + - !!python/tuple [4, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex6.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex6.yaml new file mode 100644 index 0000000..68276ac --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex6.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [6, 4] + name: agent0 + start: [0, 0] +- goal: [1, 3] + name: agent1 + start: [5, 3] +- goal: [0, 6] + name: agent2 + start: [7, 1] +- goal: [1, 0] + name: agent3 + start: [4, 1] +- goal: [5, 3] + name: agent4 + start: [1, 2] +- goal: [5, 7] + name: agent5 + start: [0, 4] +- goal: [4, 2] + name: agent6 + start: [3, 6] +- goal: [0, 5] + name: agent7 + start: [6, 4] +- goal: [5, 5] + name: agent8 + start: [4, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 7] + - !!python/tuple [7, 7] + - !!python/tuple [5, 4] + - !!python/tuple [6, 5] + - !!python/tuple [0, 1] + - !!python/tuple [6, 7] + - !!python/tuple [3, 1] + - !!python/tuple [5, 2] + - !!python/tuple [2, 5] + - !!python/tuple [2, 4] + - !!python/tuple [1, 5] + - !!python/tuple [4, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex60.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex60.yaml new file mode 100644 index 0000000..5a4abb4 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex60.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [0, 7] + name: agent0 + start: [7, 3] +- goal: [5, 6] + name: agent1 + start: [0, 7] +- goal: [6, 1] + name: agent2 + start: [4, 1] +- goal: [0, 6] + name: agent3 + start: [1, 4] +- goal: [0, 5] + name: agent4 + start: [6, 1] +- goal: [5, 5] + name: agent5 + start: [3, 2] +- goal: [5, 1] + name: agent6 + start: [7, 2] +- goal: [3, 1] + name: agent7 + start: [6, 7] +- goal: [4, 0] + name: agent8 + start: [5, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 2] + - !!python/tuple [6, 4] + - !!python/tuple [6, 5] + - !!python/tuple [3, 6] + - !!python/tuple [1, 5] + - !!python/tuple [6, 3] + - !!python/tuple [2, 1] + - !!python/tuple [4, 7] + - !!python/tuple [7, 5] + - !!python/tuple [0, 4] + - !!python/tuple [1, 3] + - !!python/tuple [1, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex61.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex61.yaml new file mode 100644 index 0000000..2554d56 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex61.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [2, 6] + name: agent0 + start: [3, 0] +- goal: [4, 3] + name: agent1 + start: [0, 2] +- goal: [0, 4] + name: agent2 + start: [0, 1] +- goal: [3, 2] + name: agent3 + start: [4, 4] +- goal: [4, 1] + name: agent4 + start: [1, 5] +- goal: [2, 1] + name: agent5 + start: [6, 5] +- goal: [5, 6] + name: agent6 + start: [0, 4] +- goal: [5, 1] + name: agent7 + start: [4, 5] +- goal: [6, 3] + name: agent8 + start: [2, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 6] + - !!python/tuple [2, 4] + - !!python/tuple [0, 3] + - !!python/tuple [1, 3] + - !!python/tuple [7, 2] + - !!python/tuple [5, 0] + - !!python/tuple [5, 3] + - !!python/tuple [0, 7] + - !!python/tuple [6, 1] + - !!python/tuple [0, 0] + - !!python/tuple [1, 2] + - !!python/tuple [5, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex62.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex62.yaml new file mode 100644 index 0000000..b0e1100 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex62.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [5, 1] + name: agent0 + start: [0, 4] +- goal: [3, 5] + name: agent1 + start: [3, 4] +- goal: [7, 6] + name: agent2 + start: [0, 0] +- goal: [5, 5] + name: agent3 + start: [2, 4] +- goal: [3, 2] + name: agent4 + start: [3, 0] +- goal: [1, 5] + name: agent5 + start: [7, 2] +- goal: [6, 7] + name: agent6 + start: [3, 2] +- goal: [0, 0] + name: agent7 + start: [3, 7] +- goal: [4, 4] + name: agent8 + start: [4, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 2] + - !!python/tuple [5, 4] + - !!python/tuple [4, 3] + - !!python/tuple [4, 7] + - !!python/tuple [7, 0] + - !!python/tuple [2, 2] + - !!python/tuple [0, 3] + - !!python/tuple [2, 5] + - !!python/tuple [4, 5] + - !!python/tuple [0, 7] + - !!python/tuple [5, 3] + - !!python/tuple [1, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex63.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex63.yaml new file mode 100644 index 0000000..5486cae --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex63.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [6, 5] + name: agent0 + start: [6, 3] +- goal: [0, 3] + name: agent1 + start: [1, 7] +- goal: [5, 6] + name: agent2 + start: [0, 2] +- goal: [2, 7] + name: agent3 + start: [1, 1] +- goal: [6, 1] + name: agent4 + start: [3, 5] +- goal: [2, 5] + name: agent5 + start: [4, 3] +- goal: [1, 3] + name: agent6 + start: [6, 4] +- goal: [5, 1] + name: agent7 + start: [4, 1] +- goal: [3, 3] + name: agent8 + start: [4, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 0] + - !!python/tuple [0, 5] + - !!python/tuple [3, 4] + - !!python/tuple [3, 2] + - !!python/tuple [7, 0] + - !!python/tuple [2, 1] + - !!python/tuple [5, 5] + - !!python/tuple [5, 0] + - !!python/tuple [3, 7] + - !!python/tuple [2, 2] + - !!python/tuple [6, 2] + - !!python/tuple [5, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex64.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex64.yaml new file mode 100644 index 0000000..4ffb113 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex64.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [5, 1] + name: agent0 + start: [2, 3] +- goal: [4, 6] + name: agent1 + start: [3, 1] +- goal: [6, 5] + name: agent2 + start: [1, 4] +- goal: [1, 4] + name: agent3 + start: [7, 1] +- goal: [5, 6] + name: agent4 + start: [2, 2] +- goal: [7, 1] + name: agent5 + start: [7, 2] +- goal: [7, 2] + name: agent6 + start: [3, 3] +- goal: [0, 5] + name: agent7 + start: [6, 6] +- goal: [4, 4] + name: agent8 + start: [0, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 7] + - !!python/tuple [5, 4] + - !!python/tuple [1, 2] + - !!python/tuple [6, 4] + - !!python/tuple [4, 0] + - !!python/tuple [6, 1] + - !!python/tuple [5, 0] + - !!python/tuple [5, 2] + - !!python/tuple [2, 0] + - !!python/tuple [5, 5] + - !!python/tuple [4, 5] + - !!python/tuple [1, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex65.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex65.yaml new file mode 100644 index 0000000..d81370c --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex65.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [1, 0] + name: agent0 + start: [7, 7] +- goal: [2, 5] + name: agent1 + start: [6, 1] +- goal: [0, 7] + name: agent2 + start: [3, 0] +- goal: [7, 2] + name: agent3 + start: [7, 3] +- goal: [6, 7] + name: agent4 + start: [7, 4] +- goal: [0, 2] + name: agent5 + start: [0, 7] +- goal: [1, 2] + name: agent6 + start: [7, 1] +- goal: [4, 3] + name: agent7 + start: [3, 5] +- goal: [2, 7] + name: agent8 + start: [1, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 6] + - !!python/tuple [5, 3] + - !!python/tuple [6, 4] + - !!python/tuple [6, 5] + - !!python/tuple [3, 7] + - !!python/tuple [4, 6] + - !!python/tuple [1, 5] + - !!python/tuple [7, 6] + - !!python/tuple [5, 4] + - !!python/tuple [1, 4] + - !!python/tuple [4, 2] + - !!python/tuple [1, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex66.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex66.yaml new file mode 100644 index 0000000..96c32fb --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex66.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [5, 0] + name: agent0 + start: [2, 2] +- goal: [2, 1] + name: agent1 + start: [6, 5] +- goal: [2, 5] + name: agent2 + start: [4, 4] +- goal: [5, 6] + name: agent3 + start: [7, 1] +- goal: [5, 1] + name: agent4 + start: [2, 5] +- goal: [2, 6] + name: agent5 + start: [7, 0] +- goal: [4, 7] + name: agent6 + start: [0, 5] +- goal: [1, 6] + name: agent7 + start: [4, 2] +- goal: [6, 4] + name: agent8 + start: [1, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 2] + - !!python/tuple [3, 2] + - !!python/tuple [7, 7] + - !!python/tuple [4, 1] + - !!python/tuple [6, 7] + - !!python/tuple [4, 6] + - !!python/tuple [5, 5] + - !!python/tuple [7, 3] + - !!python/tuple [3, 3] + - !!python/tuple [1, 7] + - !!python/tuple [3, 0] + - !!python/tuple [3, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex67.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex67.yaml new file mode 100644 index 0000000..c27f7d1 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex67.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [0, 1] + name: agent0 + start: [3, 6] +- goal: [1, 7] + name: agent1 + start: [3, 3] +- goal: [6, 7] + name: agent2 + start: [0, 6] +- goal: [3, 6] + name: agent3 + start: [2, 2] +- goal: [7, 6] + name: agent4 + start: [4, 7] +- goal: [1, 2] + name: agent5 + start: [0, 2] +- goal: [4, 1] + name: agent6 + start: [5, 4] +- goal: [2, 7] + name: agent7 + start: [4, 0] +- goal: [7, 4] + name: agent8 + start: [4, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 0] + - !!python/tuple [1, 1] + - !!python/tuple [4, 2] + - !!python/tuple [1, 3] + - !!python/tuple [7, 1] + - !!python/tuple [3, 0] + - !!python/tuple [5, 1] + - !!python/tuple [5, 3] + - !!python/tuple [0, 5] + - !!python/tuple [2, 3] + - !!python/tuple [0, 0] + - !!python/tuple [6, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex68.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex68.yaml new file mode 100644 index 0000000..8da5785 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex68.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [3, 7] + name: agent0 + start: [3, 4] +- goal: [5, 4] + name: agent1 + start: [4, 2] +- goal: [1, 1] + name: agent2 + start: [3, 2] +- goal: [6, 2] + name: agent3 + start: [6, 7] +- goal: [4, 6] + name: agent4 + start: [7, 4] +- goal: [2, 3] + name: agent5 + start: [3, 6] +- goal: [7, 1] + name: agent6 + start: [5, 0] +- goal: [4, 5] + name: agent7 + start: [1, 2] +- goal: [6, 7] + name: agent8 + start: [5, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 4] + - !!python/tuple [7, 2] + - !!python/tuple [0, 5] + - !!python/tuple [2, 7] + - !!python/tuple [5, 2] + - !!python/tuple [0, 7] + - !!python/tuple [2, 4] + - !!python/tuple [0, 6] + - !!python/tuple [1, 5] + - !!python/tuple [1, 6] + - !!python/tuple [0, 1] + - !!python/tuple [5, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex69.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex69.yaml new file mode 100644 index 0000000..84d1d64 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex69.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [1, 1] + name: agent0 + start: [1, 7] +- goal: [6, 4] + name: agent1 + start: [3, 3] +- goal: [7, 6] + name: agent2 + start: [7, 3] +- goal: [7, 2] + name: agent3 + start: [6, 2] +- goal: [6, 3] + name: agent4 + start: [3, 1] +- goal: [5, 4] + name: agent5 + start: [6, 0] +- goal: [5, 1] + name: agent6 + start: [2, 2] +- goal: [1, 6] + name: agent7 + start: [0, 3] +- goal: [2, 2] + name: agent8 + start: [7, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 0] + - !!python/tuple [0, 4] + - !!python/tuple [3, 2] + - !!python/tuple [4, 5] + - !!python/tuple [3, 4] + - !!python/tuple [3, 5] + - !!python/tuple [1, 0] + - !!python/tuple [1, 5] + - !!python/tuple [2, 6] + - !!python/tuple [6, 7] + - !!python/tuple [4, 0] + - !!python/tuple [2, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex7.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex7.yaml new file mode 100644 index 0000000..bac32af --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex7.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [6, 7] + name: agent0 + start: [1, 2] +- goal: [0, 5] + name: agent1 + start: [0, 3] +- goal: [2, 7] + name: agent2 + start: [7, 7] +- goal: [6, 3] + name: agent3 + start: [1, 4] +- goal: [4, 6] + name: agent4 + start: [7, 5] +- goal: [6, 6] + name: agent5 + start: [4, 5] +- goal: [5, 1] + name: agent6 + start: [7, 4] +- goal: [6, 1] + name: agent7 + start: [7, 3] +- goal: [0, 6] + name: agent8 + start: [2, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 4] + - !!python/tuple [7, 1] + - !!python/tuple [3, 7] + - !!python/tuple [7, 6] + - !!python/tuple [0, 4] + - !!python/tuple [1, 5] + - !!python/tuple [0, 1] + - !!python/tuple [1, 3] + - !!python/tuple [5, 0] + - !!python/tuple [7, 0] + - !!python/tuple [3, 6] + - !!python/tuple [5, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex70.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex70.yaml new file mode 100644 index 0000000..0f683c3 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex70.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [2, 0] + name: agent0 + start: [6, 1] +- goal: [3, 1] + name: agent1 + start: [2, 1] +- goal: [4, 4] + name: agent2 + start: [0, 7] +- goal: [4, 5] + name: agent3 + start: [7, 2] +- goal: [2, 5] + name: agent4 + start: [1, 5] +- goal: [7, 5] + name: agent5 + start: [0, 4] +- goal: [3, 0] + name: agent6 + start: [4, 5] +- goal: [7, 2] + name: agent7 + start: [2, 5] +- goal: [5, 5] + name: agent8 + start: [6, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 3] + - !!python/tuple [1, 0] + - !!python/tuple [4, 7] + - !!python/tuple [2, 4] + - !!python/tuple [6, 3] + - !!python/tuple [6, 2] + - !!python/tuple [5, 2] + - !!python/tuple [1, 7] + - !!python/tuple [0, 5] + - !!python/tuple [5, 7] + - !!python/tuple [6, 7] + - !!python/tuple [7, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex71.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex71.yaml new file mode 100644 index 0000000..bfe831b --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex71.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [3, 5] + name: agent0 + start: [4, 6] +- goal: [6, 0] + name: agent1 + start: [1, 1] +- goal: [5, 3] + name: agent2 + start: [5, 3] +- goal: [5, 2] + name: agent3 + start: [2, 7] +- goal: [6, 1] + name: agent4 + start: [7, 1] +- goal: [2, 6] + name: agent5 + start: [0, 2] +- goal: [2, 3] + name: agent6 + start: [0, 5] +- goal: [0, 2] + name: agent7 + start: [7, 5] +- goal: [7, 1] + name: agent8 + start: [0, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 3] + - !!python/tuple [4, 1] + - !!python/tuple [2, 4] + - !!python/tuple [0, 0] + - !!python/tuple [4, 3] + - !!python/tuple [4, 7] + - !!python/tuple [1, 2] + - !!python/tuple [4, 0] + - !!python/tuple [3, 6] + - !!python/tuple [2, 1] + - !!python/tuple [6, 2] + - !!python/tuple [4, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex72.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex72.yaml new file mode 100644 index 0000000..ec1a16e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex72.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [0, 6] + name: agent0 + start: [7, 3] +- goal: [3, 5] + name: agent1 + start: [3, 4] +- goal: [4, 0] + name: agent2 + start: [5, 6] +- goal: [5, 0] + name: agent3 + start: [0, 1] +- goal: [3, 3] + name: agent4 + start: [0, 3] +- goal: [3, 1] + name: agent5 + start: [5, 2] +- goal: [1, 0] + name: agent6 + start: [6, 3] +- goal: [0, 2] + name: agent7 + start: [2, 7] +- goal: [5, 2] + name: agent8 + start: [0, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 2] + - !!python/tuple [1, 5] + - !!python/tuple [5, 7] + - !!python/tuple [0, 4] + - !!python/tuple [6, 6] + - !!python/tuple [6, 1] + - !!python/tuple [7, 2] + - !!python/tuple [1, 6] + - !!python/tuple [2, 5] + - !!python/tuple [7, 6] + - !!python/tuple [6, 0] + - !!python/tuple [1, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex73.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex73.yaml new file mode 100644 index 0000000..7058741 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex73.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [3, 4] + name: agent0 + start: [7, 3] +- goal: [4, 0] + name: agent1 + start: [0, 1] +- goal: [4, 1] + name: agent2 + start: [3, 7] +- goal: [2, 6] + name: agent3 + start: [7, 6] +- goal: [5, 2] + name: agent4 + start: [6, 4] +- goal: [3, 1] + name: agent5 + start: [1, 2] +- goal: [0, 3] + name: agent6 + start: [0, 3] +- goal: [6, 2] + name: agent7 + start: [4, 4] +- goal: [1, 6] + name: agent8 + start: [0, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 3] + - !!python/tuple [6, 5] + - !!python/tuple [1, 3] + - !!python/tuple [7, 0] + - !!python/tuple [4, 6] + - !!python/tuple [5, 6] + - !!python/tuple [7, 2] + - !!python/tuple [6, 6] + - !!python/tuple [3, 3] + - !!python/tuple [0, 6] + - !!python/tuple [1, 1] + - !!python/tuple [3, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex74.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex74.yaml new file mode 100644 index 0000000..0e141ed --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex74.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [0, 3] + name: agent0 + start: [2, 5] +- goal: [5, 5] + name: agent1 + start: [2, 1] +- goal: [3, 0] + name: agent2 + start: [7, 3] +- goal: [3, 6] + name: agent3 + start: [6, 4] +- goal: [5, 3] + name: agent4 + start: [5, 1] +- goal: [3, 4] + name: agent5 + start: [5, 6] +- goal: [6, 2] + name: agent6 + start: [3, 4] +- goal: [5, 4] + name: agent7 + start: [0, 7] +- goal: [3, 7] + name: agent8 + start: [0, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 4] + - !!python/tuple [4, 3] + - !!python/tuple [2, 0] + - !!python/tuple [4, 0] + - !!python/tuple [1, 3] + - !!python/tuple [2, 4] + - !!python/tuple [3, 5] + - !!python/tuple [1, 6] + - !!python/tuple [1, 2] + - !!python/tuple [7, 2] + - !!python/tuple [3, 3] + - !!python/tuple [5, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex75.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex75.yaml new file mode 100644 index 0000000..909a197 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex75.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [4, 3] + name: agent0 + start: [0, 7] +- goal: [7, 7] + name: agent1 + start: [3, 5] +- goal: [2, 6] + name: agent2 + start: [1, 7] +- goal: [1, 4] + name: agent3 + start: [2, 1] +- goal: [1, 3] + name: agent4 + start: [1, 0] +- goal: [0, 0] + name: agent5 + start: [3, 4] +- goal: [3, 6] + name: agent6 + start: [4, 2] +- goal: [1, 5] + name: agent7 + start: [0, 2] +- goal: [6, 4] + name: agent8 + start: [3, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 4] + - !!python/tuple [5, 6] + - !!python/tuple [0, 5] + - !!python/tuple [2, 2] + - !!python/tuple [5, 3] + - !!python/tuple [0, 1] + - !!python/tuple [6, 5] + - !!python/tuple [2, 3] + - !!python/tuple [7, 0] + - !!python/tuple [6, 3] + - !!python/tuple [7, 2] + - !!python/tuple [4, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex76.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex76.yaml new file mode 100644 index 0000000..8ae6a53 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex76.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [4, 2] + name: agent0 + start: [1, 5] +- goal: [6, 3] + name: agent1 + start: [3, 7] +- goal: [2, 2] + name: agent2 + start: [7, 2] +- goal: [3, 3] + name: agent3 + start: [0, 4] +- goal: [5, 1] + name: agent4 + start: [2, 5] +- goal: [0, 5] + name: agent5 + start: [6, 7] +- goal: [2, 7] + name: agent6 + start: [2, 0] +- goal: [3, 6] + name: agent7 + start: [5, 2] +- goal: [6, 7] + name: agent8 + start: [4, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 4] + - !!python/tuple [3, 1] + - !!python/tuple [1, 1] + - !!python/tuple [7, 0] + - !!python/tuple [5, 6] + - !!python/tuple [2, 4] + - !!python/tuple [0, 6] + - !!python/tuple [2, 6] + - !!python/tuple [1, 2] + - !!python/tuple [2, 1] + - !!python/tuple [4, 6] + - !!python/tuple [3, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex77.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex77.yaml new file mode 100644 index 0000000..4ba3503 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex77.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [4, 3] + name: agent0 + start: [0, 3] +- goal: [5, 0] + name: agent1 + start: [2, 5] +- goal: [6, 6] + name: agent2 + start: [3, 1] +- goal: [1, 5] + name: agent3 + start: [4, 2] +- goal: [7, 2] + name: agent4 + start: [3, 6] +- goal: [2, 5] + name: agent5 + start: [3, 2] +- goal: [3, 3] + name: agent6 + start: [0, 6] +- goal: [4, 0] + name: agent7 + start: [7, 3] +- goal: [0, 2] + name: agent8 + start: [5, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 2] + - !!python/tuple [3, 5] + - !!python/tuple [3, 0] + - !!python/tuple [2, 4] + - !!python/tuple [1, 0] + - !!python/tuple [5, 5] + - !!python/tuple [7, 5] + - !!python/tuple [7, 4] + - !!python/tuple [2, 1] + - !!python/tuple [5, 3] + - !!python/tuple [0, 7] + - !!python/tuple [4, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex78.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex78.yaml new file mode 100644 index 0000000..2527626 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex78.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [1, 6] + name: agent0 + start: [3, 1] +- goal: [5, 5] + name: agent1 + start: [0, 7] +- goal: [1, 2] + name: agent2 + start: [1, 4] +- goal: [1, 1] + name: agent3 + start: [6, 2] +- goal: [5, 3] + name: agent4 + start: [1, 0] +- goal: [3, 4] + name: agent5 + start: [0, 4] +- goal: [3, 6] + name: agent6 + start: [4, 1] +- goal: [1, 4] + name: agent7 + start: [0, 1] +- goal: [6, 1] + name: agent8 + start: [2, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 0] + - !!python/tuple [7, 0] + - !!python/tuple [3, 5] + - !!python/tuple [4, 0] + - !!python/tuple [0, 6] + - !!python/tuple [6, 0] + - !!python/tuple [6, 3] + - !!python/tuple [2, 4] + - !!python/tuple [2, 2] + - !!python/tuple [4, 2] + - !!python/tuple [4, 4] + - !!python/tuple [5, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex79.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex79.yaml new file mode 100644 index 0000000..31989f8 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex79.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [4, 0] + name: agent0 + start: [5, 7] +- goal: [6, 2] + name: agent1 + start: [1, 6] +- goal: [4, 4] + name: agent2 + start: [1, 0] +- goal: [1, 0] + name: agent3 + start: [4, 7] +- goal: [0, 3] + name: agent4 + start: [5, 4] +- goal: [4, 3] + name: agent5 + start: [3, 1] +- goal: [6, 6] + name: agent6 + start: [4, 5] +- goal: [3, 0] + name: agent7 + start: [1, 3] +- goal: [5, 7] + name: agent8 + start: [3, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 1] + - !!python/tuple [2, 2] + - !!python/tuple [2, 3] + - !!python/tuple [1, 5] + - !!python/tuple [5, 1] + - !!python/tuple [3, 5] + - !!python/tuple [3, 2] + - !!python/tuple [6, 5] + - !!python/tuple [5, 0] + - !!python/tuple [3, 4] + - !!python/tuple [4, 2] + - !!python/tuple [2, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex8.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex8.yaml new file mode 100644 index 0000000..f4ed20d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex8.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [4, 5] + name: agent0 + start: [0, 2] +- goal: [5, 1] + name: agent1 + start: [6, 6] +- goal: [7, 3] + name: agent2 + start: [1, 7] +- goal: [5, 5] + name: agent3 + start: [4, 3] +- goal: [5, 4] + name: agent4 + start: [4, 0] +- goal: [3, 2] + name: agent5 + start: [2, 2] +- goal: [1, 6] + name: agent6 + start: [4, 1] +- goal: [2, 4] + name: agent7 + start: [5, 2] +- goal: [6, 4] + name: agent8 + start: [6, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 6] + - !!python/tuple [7, 4] + - !!python/tuple [0, 4] + - !!python/tuple [2, 6] + - !!python/tuple [6, 7] + - !!python/tuple [5, 7] + - !!python/tuple [0, 3] + - !!python/tuple [7, 6] + - !!python/tuple [2, 0] + - !!python/tuple [0, 7] + - !!python/tuple [7, 0] + - !!python/tuple [6, 3] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex80.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex80.yaml new file mode 100644 index 0000000..222101d --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex80.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [0, 5] + name: agent0 + start: [1, 1] +- goal: [6, 7] + name: agent1 + start: [2, 3] +- goal: [1, 0] + name: agent2 + start: [7, 4] +- goal: [5, 5] + name: agent3 + start: [2, 2] +- goal: [6, 1] + name: agent4 + start: [2, 7] +- goal: [3, 1] + name: agent5 + start: [3, 1] +- goal: [6, 4] + name: agent6 + start: [2, 0] +- goal: [2, 5] + name: agent7 + start: [3, 6] +- goal: [3, 6] + name: agent8 + start: [6, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 4] + - !!python/tuple [0, 2] + - !!python/tuple [5, 7] + - !!python/tuple [4, 1] + - !!python/tuple [3, 2] + - !!python/tuple [4, 4] + - !!python/tuple [6, 2] + - !!python/tuple [4, 2] + - !!python/tuple [3, 5] + - !!python/tuple [4, 6] + - !!python/tuple [1, 5] + - !!python/tuple [0, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex81.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex81.yaml new file mode 100644 index 0000000..a1219a4 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex81.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [4, 1] + name: agent0 + start: [1, 6] +- goal: [0, 0] + name: agent1 + start: [4, 1] +- goal: [7, 6] + name: agent2 + start: [6, 0] +- goal: [1, 6] + name: agent3 + start: [5, 3] +- goal: [0, 1] + name: agent4 + start: [1, 1] +- goal: [6, 7] + name: agent5 + start: [1, 2] +- goal: [2, 0] + name: agent6 + start: [7, 0] +- goal: [5, 3] + name: agent7 + start: [7, 5] +- goal: [4, 3] + name: agent8 + start: [0, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 7] + - !!python/tuple [7, 1] + - !!python/tuple [3, 1] + - !!python/tuple [5, 1] + - !!python/tuple [3, 0] + - !!python/tuple [0, 7] + - !!python/tuple [6, 4] + - !!python/tuple [7, 3] + - !!python/tuple [3, 6] + - !!python/tuple [0, 5] + - !!python/tuple [3, 7] + - !!python/tuple [0, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex82.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex82.yaml new file mode 100644 index 0000000..774051e --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex82.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [2, 5] + name: agent0 + start: [2, 4] +- goal: [3, 0] + name: agent1 + start: [1, 3] +- goal: [4, 5] + name: agent2 + start: [1, 4] +- goal: [2, 2] + name: agent3 + start: [0, 3] +- goal: [0, 3] + name: agent4 + start: [7, 5] +- goal: [1, 6] + name: agent5 + start: [5, 0] +- goal: [6, 5] + name: agent6 + start: [1, 6] +- goal: [2, 7] + name: agent7 + start: [2, 1] +- goal: [3, 2] + name: agent8 + start: [2, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 6] + - !!python/tuple [7, 2] + - !!python/tuple [5, 6] + - !!python/tuple [4, 6] + - !!python/tuple [3, 5] + - !!python/tuple [4, 4] + - !!python/tuple [0, 4] + - !!python/tuple [4, 0] + - !!python/tuple [6, 2] + - !!python/tuple [1, 2] + - !!python/tuple [6, 4] + - !!python/tuple [4, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex83.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex83.yaml new file mode 100644 index 0000000..82a68e6 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex83.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [7, 6] + name: agent0 + start: [1, 7] +- goal: [5, 4] + name: agent1 + start: [1, 6] +- goal: [6, 5] + name: agent2 + start: [4, 0] +- goal: [1, 3] + name: agent3 + start: [5, 3] +- goal: [7, 2] + name: agent4 + start: [7, 0] +- goal: [2, 3] + name: agent5 + start: [1, 0] +- goal: [6, 6] + name: agent6 + start: [6, 6] +- goal: [7, 7] + name: agent7 + start: [0, 3] +- goal: [5, 6] + name: agent8 + start: [7, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [0, 1] + - !!python/tuple [3, 2] + - !!python/tuple [7, 4] + - !!python/tuple [0, 5] + - !!python/tuple [5, 7] + - !!python/tuple [0, 2] + - !!python/tuple [3, 4] + - !!python/tuple [5, 0] + - !!python/tuple [3, 5] + - !!python/tuple [7, 5] + - !!python/tuple [2, 0] + - !!python/tuple [4, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex84.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex84.yaml new file mode 100644 index 0000000..da8e048 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex84.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [7, 7] + name: agent0 + start: [1, 5] +- goal: [2, 4] + name: agent1 + start: [2, 4] +- goal: [7, 2] + name: agent2 + start: [0, 7] +- goal: [2, 6] + name: agent3 + start: [2, 2] +- goal: [1, 7] + name: agent4 + start: [3, 1] +- goal: [7, 0] + name: agent5 + start: [0, 0] +- goal: [4, 7] + name: agent6 + start: [0, 1] +- goal: [2, 5] + name: agent7 + start: [6, 7] +- goal: [1, 3] + name: agent8 + start: [3, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 6] + - !!python/tuple [5, 2] + - !!python/tuple [3, 5] + - !!python/tuple [7, 3] + - !!python/tuple [5, 4] + - !!python/tuple [6, 5] + - !!python/tuple [1, 2] + - !!python/tuple [4, 5] + - !!python/tuple [1, 1] + - !!python/tuple [7, 6] + - !!python/tuple [6, 2] + - !!python/tuple [2, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex85.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex85.yaml new file mode 100644 index 0000000..f9c7cca --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex85.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [5, 3] + name: agent0 + start: [2, 6] +- goal: [0, 1] + name: agent1 + start: [2, 1] +- goal: [5, 1] + name: agent2 + start: [6, 4] +- goal: [1, 5] + name: agent3 + start: [7, 4] +- goal: [7, 7] + name: agent4 + start: [1, 0] +- goal: [5, 7] + name: agent5 + start: [5, 0] +- goal: [6, 4] + name: agent6 + start: [7, 3] +- goal: [6, 5] + name: agent7 + start: [2, 2] +- goal: [7, 4] + name: agent8 + start: [1, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [4, 4] + - !!python/tuple [7, 0] + - !!python/tuple [4, 1] + - !!python/tuple [4, 5] + - !!python/tuple [4, 3] + - !!python/tuple [3, 4] + - !!python/tuple [6, 7] + - !!python/tuple [1, 1] + - !!python/tuple [3, 7] + - !!python/tuple [6, 6] + - !!python/tuple [4, 2] + - !!python/tuple [1, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex86.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex86.yaml new file mode 100644 index 0000000..1e4f3d8 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex86.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [7, 2] + name: agent0 + start: [5, 3] +- goal: [4, 6] + name: agent1 + start: [5, 1] +- goal: [5, 0] + name: agent2 + start: [6, 4] +- goal: [3, 5] + name: agent3 + start: [5, 4] +- goal: [6, 1] + name: agent4 + start: [2, 4] +- goal: [0, 1] + name: agent5 + start: [0, 5] +- goal: [3, 1] + name: agent6 + start: [6, 3] +- goal: [1, 2] + name: agent7 + start: [4, 2] +- goal: [2, 0] + name: agent8 + start: [4, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 6] + - !!python/tuple [2, 5] + - !!python/tuple [0, 6] + - !!python/tuple [3, 7] + - !!python/tuple [0, 2] + - !!python/tuple [5, 5] + - !!python/tuple [7, 4] + - !!python/tuple [2, 3] + - !!python/tuple [1, 7] + - !!python/tuple [2, 2] + - !!python/tuple [1, 6] + - !!python/tuple [0, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex87.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex87.yaml new file mode 100644 index 0000000..cc151f3 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex87.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [1, 3] + name: agent0 + start: [7, 6] +- goal: [6, 1] + name: agent1 + start: [4, 1] +- goal: [5, 6] + name: agent2 + start: [1, 5] +- goal: [7, 2] + name: agent3 + start: [5, 2] +- goal: [5, 4] + name: agent4 + start: [5, 6] +- goal: [0, 4] + name: agent5 + start: [6, 7] +- goal: [2, 3] + name: agent6 + start: [1, 0] +- goal: [0, 5] + name: agent7 + start: [7, 2] +- goal: [2, 5] + name: agent8 + start: [0, 0] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 6] + - !!python/tuple [3, 3] + - !!python/tuple [4, 7] + - !!python/tuple [0, 1] + - !!python/tuple [1, 7] + - !!python/tuple [3, 1] + - !!python/tuple [3, 4] + - !!python/tuple [4, 5] + - !!python/tuple [4, 6] + - !!python/tuple [6, 0] + - !!python/tuple [6, 3] + - !!python/tuple [5, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex88.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex88.yaml new file mode 100644 index 0000000..2ca1671 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex88.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [5, 0] + name: agent0 + start: [7, 4] +- goal: [6, 5] + name: agent1 + start: [7, 6] +- goal: [4, 7] + name: agent2 + start: [5, 3] +- goal: [5, 5] + name: agent3 + start: [4, 7] +- goal: [5, 4] + name: agent4 + start: [1, 0] +- goal: [5, 2] + name: agent5 + start: [7, 2] +- goal: [1, 0] + name: agent6 + start: [0, 1] +- goal: [2, 4] + name: agent7 + start: [5, 5] +- goal: [5, 3] + name: agent8 + start: [6, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 6] + - !!python/tuple [7, 3] + - !!python/tuple [3, 5] + - !!python/tuple [5, 1] + - !!python/tuple [2, 7] + - !!python/tuple [1, 7] + - !!python/tuple [7, 1] + - !!python/tuple [4, 5] + - !!python/tuple [1, 5] + - !!python/tuple [1, 1] + - !!python/tuple [3, 7] + - !!python/tuple [2, 1] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex89.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex89.yaml new file mode 100644 index 0000000..401e465 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex89.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [6, 3] + name: agent0 + start: [5, 2] +- goal: [1, 0] + name: agent1 + start: [7, 1] +- goal: [5, 2] + name: agent2 + start: [6, 3] +- goal: [1, 5] + name: agent3 + start: [1, 3] +- goal: [7, 6] + name: agent4 + start: [1, 4] +- goal: [7, 1] + name: agent5 + start: [7, 2] +- goal: [6, 2] + name: agent6 + start: [7, 0] +- goal: [2, 0] + name: agent7 + start: [1, 0] +- goal: [6, 1] + name: agent8 + start: [7, 5] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [2, 3] + - !!python/tuple [3, 7] + - !!python/tuple [2, 7] + - !!python/tuple [1, 1] + - !!python/tuple [6, 4] + - !!python/tuple [0, 6] + - !!python/tuple [6, 7] + - !!python/tuple [3, 0] + - !!python/tuple [0, 7] + - !!python/tuple [5, 7] + - !!python/tuple [1, 6] + - !!python/tuple [5, 4] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex9.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex9.yaml new file mode 100644 index 0000000..143f157 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex9.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [0, 1] + name: agent0 + start: [4, 0] +- goal: [1, 4] + name: agent1 + start: [3, 1] +- goal: [1, 7] + name: agent2 + start: [4, 3] +- goal: [3, 4] + name: agent3 + start: [4, 2] +- goal: [0, 5] + name: agent4 + start: [3, 2] +- goal: [3, 6] + name: agent5 + start: [7, 2] +- goal: [3, 1] + name: agent6 + start: [4, 7] +- goal: [0, 6] + name: agent7 + start: [0, 6] +- goal: [1, 6] + name: agent8 + start: [6, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 4] + - !!python/tuple [6, 3] + - !!python/tuple [4, 5] + - !!python/tuple [2, 5] + - !!python/tuple [4, 1] + - !!python/tuple [4, 6] + - !!python/tuple [1, 5] + - !!python/tuple [0, 3] + - !!python/tuple [5, 3] + - !!python/tuple [0, 7] + - !!python/tuple [5, 4] + - !!python/tuple [5, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex90.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex90.yaml new file mode 100644 index 0000000..1f5c680 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex90.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [1, 2] + name: agent0 + start: [1, 4] +- goal: [5, 0] + name: agent1 + start: [7, 5] +- goal: [3, 0] + name: agent2 + start: [3, 3] +- goal: [1, 0] + name: agent3 + start: [3, 7] +- goal: [4, 4] + name: agent4 + start: [1, 6] +- goal: [5, 6] + name: agent5 + start: [6, 7] +- goal: [7, 2] + name: agent6 + start: [6, 2] +- goal: [2, 1] + name: agent7 + start: [7, 3] +- goal: [7, 3] + name: agent8 + start: [4, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 5] + - !!python/tuple [6, 3] + - !!python/tuple [6, 6] + - !!python/tuple [2, 5] + - !!python/tuple [4, 7] + - !!python/tuple [0, 0] + - !!python/tuple [3, 6] + - !!python/tuple [4, 0] + - !!python/tuple [5, 4] + - !!python/tuple [5, 2] + - !!python/tuple [0, 6] + - !!python/tuple [0, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex91.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex91.yaml new file mode 100644 index 0000000..671e1f6 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex91.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [4, 0] + name: agent0 + start: [4, 6] +- goal: [3, 7] + name: agent1 + start: [6, 7] +- goal: [4, 4] + name: agent2 + start: [0, 6] +- goal: [6, 1] + name: agent3 + start: [4, 0] +- goal: [6, 6] + name: agent4 + start: [2, 0] +- goal: [5, 1] + name: agent5 + start: [6, 3] +- goal: [6, 7] + name: agent6 + start: [3, 6] +- goal: [5, 0] + name: agent7 + start: [5, 5] +- goal: [4, 6] + name: agent8 + start: [3, 3] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 0] + - !!python/tuple [5, 3] + - !!python/tuple [5, 2] + - !!python/tuple [2, 3] + - !!python/tuple [5, 6] + - !!python/tuple [4, 5] + - !!python/tuple [7, 7] + - !!python/tuple [7, 0] + - !!python/tuple [2, 7] + - !!python/tuple [6, 4] + - !!python/tuple [1, 3] + - !!python/tuple [5, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex92.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex92.yaml new file mode 100644 index 0000000..705bfa4 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex92.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [0, 6] + name: agent0 + start: [2, 0] +- goal: [1, 5] + name: agent1 + start: [1, 1] +- goal: [4, 0] + name: agent2 + start: [0, 2] +- goal: [4, 5] + name: agent3 + start: [7, 4] +- goal: [6, 6] + name: agent4 + start: [7, 2] +- goal: [7, 1] + name: agent5 + start: [5, 6] +- goal: [5, 4] + name: agent6 + start: [6, 1] +- goal: [0, 4] + name: agent7 + start: [5, 5] +- goal: [0, 2] + name: agent8 + start: [1, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [5, 2] + - !!python/tuple [1, 3] + - !!python/tuple [0, 1] + - !!python/tuple [2, 5] + - !!python/tuple [2, 6] + - !!python/tuple [2, 2] + - !!python/tuple [6, 4] + - !!python/tuple [1, 4] + - !!python/tuple [7, 0] + - !!python/tuple [7, 3] + - !!python/tuple [4, 7] + - !!python/tuple [3, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex93.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex93.yaml new file mode 100644 index 0000000..dafcb39 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex93.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [6, 3] + name: agent0 + start: [5, 7] +- goal: [0, 5] + name: agent1 + start: [5, 3] +- goal: [6, 7] + name: agent2 + start: [7, 2] +- goal: [6, 2] + name: agent3 + start: [7, 0] +- goal: [4, 4] + name: agent4 + start: [1, 4] +- goal: [7, 2] + name: agent5 + start: [3, 6] +- goal: [4, 1] + name: agent6 + start: [5, 2] +- goal: [5, 7] + name: agent7 + start: [6, 7] +- goal: [1, 5] + name: agent8 + start: [2, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [6, 6] + - !!python/tuple [2, 7] + - !!python/tuple [1, 0] + - !!python/tuple [6, 5] + - !!python/tuple [7, 3] + - !!python/tuple [3, 0] + - !!python/tuple [2, 6] + - !!python/tuple [1, 2] + - !!python/tuple [5, 0] + - !!python/tuple [4, 5] + - !!python/tuple [4, 2] + - !!python/tuple [5, 5] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex94.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex94.yaml new file mode 100644 index 0000000..dc9c8bb --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex94.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [3, 0] + name: agent0 + start: [7, 6] +- goal: [2, 2] + name: agent1 + start: [3, 6] +- goal: [5, 5] + name: agent2 + start: [2, 5] +- goal: [4, 4] + name: agent3 + start: [1, 2] +- goal: [1, 0] + name: agent4 + start: [7, 0] +- goal: [1, 1] + name: agent5 + start: [5, 6] +- goal: [6, 0] + name: agent6 + start: [3, 4] +- goal: [0, 7] + name: agent7 + start: [6, 5] +- goal: [7, 3] + name: agent8 + start: [1, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 5] + - !!python/tuple [4, 5] + - !!python/tuple [6, 4] + - !!python/tuple [3, 3] + - !!python/tuple [3, 2] + - !!python/tuple [5, 0] + - !!python/tuple [0, 3] + - !!python/tuple [0, 4] + - !!python/tuple [6, 1] + - !!python/tuple [4, 3] + - !!python/tuple [2, 3] + - !!python/tuple [6, 6] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex95.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex95.yaml new file mode 100644 index 0000000..aab0377 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex95.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [0, 5] + name: agent0 + start: [4, 6] +- goal: [3, 4] + name: agent1 + start: [2, 1] +- goal: [3, 2] + name: agent2 + start: [6, 0] +- goal: [7, 6] + name: agent3 + start: [6, 2] +- goal: [5, 1] + name: agent4 + start: [7, 3] +- goal: [7, 2] + name: agent5 + start: [6, 5] +- goal: [2, 0] + name: agent6 + start: [7, 6] +- goal: [2, 1] + name: agent7 + start: [6, 3] +- goal: [6, 3] + name: agent8 + start: [7, 4] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 0] + - !!python/tuple [5, 6] + - !!python/tuple [5, 4] + - !!python/tuple [1, 7] + - !!python/tuple [1, 6] + - !!python/tuple [7, 1] + - !!python/tuple [3, 7] + - !!python/tuple [0, 7] + - !!python/tuple [6, 1] + - !!python/tuple [6, 7] + - !!python/tuple [3, 5] + - !!python/tuple [3, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex96.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex96.yaml new file mode 100644 index 0000000..8757418 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex96.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [2, 4] + name: agent0 + start: [5, 3] +- goal: [1, 2] + name: agent1 + start: [2, 0] +- goal: [1, 1] + name: agent2 + start: [0, 2] +- goal: [6, 4] + name: agent3 + start: [0, 0] +- goal: [5, 6] + name: agent4 + start: [4, 1] +- goal: [1, 4] + name: agent5 + start: [5, 5] +- goal: [7, 0] + name: agent6 + start: [4, 4] +- goal: [5, 0] + name: agent7 + start: [5, 2] +- goal: [2, 0] + name: agent8 + start: [7, 6] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [7, 4] + - !!python/tuple [3, 0] + - !!python/tuple [3, 2] + - !!python/tuple [2, 7] + - !!python/tuple [0, 1] + - !!python/tuple [3, 3] + - !!python/tuple [4, 5] + - !!python/tuple [2, 6] + - !!python/tuple [0, 4] + - !!python/tuple [1, 3] + - !!python/tuple [3, 6] + - !!python/tuple [4, 7] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex97.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex97.yaml new file mode 100644 index 0000000..c121bbe --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex97.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [7, 2] + name: agent0 + start: [1, 7] +- goal: [0, 6] + name: agent1 + start: [2, 3] +- goal: [3, 7] + name: agent2 + start: [6, 3] +- goal: [1, 3] + name: agent3 + start: [7, 5] +- goal: [0, 1] + name: agent4 + start: [2, 1] +- goal: [6, 7] + name: agent5 + start: [4, 4] +- goal: [6, 0] + name: agent6 + start: [5, 1] +- goal: [2, 3] + name: agent7 + start: [2, 5] +- goal: [3, 5] + name: agent8 + start: [7, 7] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 0] + - !!python/tuple [7, 3] + - !!python/tuple [5, 0] + - !!python/tuple [2, 2] + - !!python/tuple [0, 3] + - !!python/tuple [1, 5] + - !!python/tuple [5, 7] + - !!python/tuple [5, 5] + - !!python/tuple [0, 4] + - !!python/tuple [2, 7] + - !!python/tuple [3, 3] + - !!python/tuple [4, 0] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex98.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex98.yaml new file mode 100644 index 0000000..c6337f2 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex98.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [0, 6] + name: agent0 + start: [3, 0] +- goal: [6, 7] + name: agent1 + start: [3, 7] +- goal: [5, 0] + name: agent2 + start: [4, 0] +- goal: [4, 2] + name: agent3 + start: [3, 6] +- goal: [1, 3] + name: agent4 + start: [0, 3] +- goal: [0, 3] + name: agent5 + start: [6, 0] +- goal: [7, 2] + name: agent6 + start: [0, 5] +- goal: [0, 2] + name: agent7 + start: [7, 6] +- goal: [2, 1] + name: agent8 + start: [6, 1] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [1, 5] + - !!python/tuple [4, 7] + - !!python/tuple [5, 3] + - !!python/tuple [6, 6] + - !!python/tuple [3, 4] + - !!python/tuple [5, 4] + - !!python/tuple [5, 1] + - !!python/tuple [2, 3] + - !!python/tuple [5, 2] + - !!python/tuple [7, 3] + - !!python/tuple [3, 1] + - !!python/tuple [3, 2] diff --git a/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex99.yaml b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex99.yaml new file mode 100644 index 0000000..58bc2a1 --- /dev/null +++ b/dot_planner/centralized/benchmark/8x8_obst12/map_8by8_obst12_agents9_ex99.yaml @@ -0,0 +1,43 @@ +agents: +- goal: [0, 7] + name: agent0 + start: [5, 1] +- goal: [2, 0] + name: agent1 + start: [0, 3] +- goal: [6, 4] + name: agent2 + start: [2, 6] +- goal: [5, 4] + name: agent3 + start: [2, 0] +- goal: [0, 3] + name: agent4 + start: [0, 6] +- goal: [3, 0] + name: agent5 + start: [6, 3] +- goal: [7, 6] + name: agent6 + start: [6, 1] +- goal: [3, 5] + name: agent7 + start: [7, 5] +- goal: [2, 3] + name: agent8 + start: [1, 2] +map: + dimensions: [8, 8] + obstacles: + - !!python/tuple [3, 4] + - !!python/tuple [4, 7] + - !!python/tuple [4, 4] + - !!python/tuple [0, 4] + - !!python/tuple [5, 2] + - !!python/tuple [2, 5] + - !!python/tuple [3, 3] + - !!python/tuple [0, 2] + - !!python/tuple [5, 7] + - !!python/tuple [1, 7] + - !!python/tuple [2, 4] + - !!python/tuple [4, 5] diff --git a/dot_planner/centralized/cbs/__init__.py b/dot_planner/centralized/cbs/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/dot_planner/centralized/cbs/__pycache__/__init__.cpython-38.pyc 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visualization_msgs.msg import Marker +from std_msgs.msg import Int8 +from math import fabs +from itertools import combinations +from copy import deepcopy + +from cbs.a_star import AStar + +class Location(object): + def __init__(self, x=-1, y=-1): + self.x = x + self.y = y + def __eq__(self, other): + return self.x == other.x and self.y == other.y + def __str__(self): + return str((self.x, self.y)) + +class State(object): + def __init__(self, time, location): + self.time = time + self.location = location + def __eq__(self, other): + return self.time == other.time and self.location == other.location + def __hash__(self): + return hash(str(self.time)+str(self.location.x) + str(self.location.y)) + def is_equal_except_time(self, state): + return self.location == state.location + def __str__(self): + return str((self.time, self.location.x, self.location.y)) + +class Conflict(object): + VERTEX = 1 + EDGE = 2 + def __init__(self): + self.time = -1 + self.type = -1 + + self.agent_1 = '' + self.agent_2 = '' + + self.location_1 = Location() + self.location_2 = Location() + + def __str__(self): + return '(' + str(self.time) + ', ' + self.agent_1 + ', ' + self.agent_2 + \ + ', '+ str(self.location_1) + ', ' + str(self.location_2) + ')' + +class VertexConstraint(object): + def __init__(self, time, location): + self.time = time + self.location = location + + def __eq__(self, other): + return self.time == other.time and self.location == other.location + def __hash__(self): + return hash(str(self.time)+str(self.location)) + def __str__(self): + return '(' + str(self.time) + ', '+ str(self.location) + ')' + +class EdgeConstraint(object): + def __init__(self, time, location_1, location_2): + self.time = time + self.location_1 = location_1 + self.location_2 = location_2 + def __eq__(self, other): + return self.time == other.time and self.location_1 == other.location_1 \ + and self.location_2 == other.location_2 + def __hash__(self): + return hash(str(self.time) + str(self.location_1) + str(self.location_2)) + def __str__(self): + return '(' + str(self.time) + ', '+ str(self.location_1) +', '+ str(self.location_2) + ')' + +class Constraints(object): + def __init__(self): + self.vertex_constraints = set() + self.edge_constraints = set() + + def add_constraint(self, other): + self.vertex_constraints |= other.vertex_constraints + self.edge_constraints |= other.edge_constraints + + def __str__(self): + return "VC: " + str([str(vc) for vc in self.vertex_constraints]) + \ + "EC: " + str([str(ec) for ec in self.edge_constraints]) + +class Environment(object): + def __init__(self, dimension, agents, obstacles): + self.dimension = dimension + self.obstacles = obstacles + + self.agents = agents + self.agent_dict = {} + + self.make_agent_dict() + + self.constraints = Constraints() + self.constraint_dict = {} + + self.a_star = AStar(self) + + def get_neighbors(self, state): + neighbors = [] + + # Wait action + n = State(state.time + 1, state.location) + if self.state_valid(n): + neighbors.append(n) + # Up action + n = State(state.time + 1, Location(state.location.x, state.location.y+1)) + if self.state_valid(n) and self.transition_valid(state, n): + neighbors.append(n) + # Down action + n = State(state.time + 1, Location(state.location.x, state.location.y-1)) + if self.state_valid(n) and self.transition_valid(state, n): + neighbors.append(n) + # Left action + n = State(state.time + 1, Location(state.location.x-1, state.location.y)) + if self.state_valid(n) and self.transition_valid(state, n): + neighbors.append(n) + # Right action + n = State(state.time + 1, Location(state.location.x+1, state.location.y)) + if self.state_valid(n) and self.transition_valid(state, n): + neighbors.append(n) + return neighbors + + + def get_first_conflict(self, solution): + max_t = max([len(plan) for plan in solution.values()]) + result = Conflict() + for t in range(max_t): + for agent_1, agent_2 in combinations(solution.keys(), 2): + state_1 = self.get_state(agent_1, solution, t) + state_2 = self.get_state(agent_2, solution, t) + if state_1.is_equal_except_time(state_2): + result.time = t + result.type = Conflict.VERTEX + result.location_1 = state_1.location + result.agent_1 = agent_1 + result.agent_2 = agent_2 + return result + + for agent_1, agent_2 in combinations(solution.keys(), 2): + state_1a = self.get_state(agent_1, solution, t) + state_1b = self.get_state(agent_1, solution, t+1) + + state_2a = self.get_state(agent_2, solution, t) + state_2b = self.get_state(agent_2, solution, t+1) + + if state_1a.is_equal_except_time(state_2b) and state_1b.is_equal_except_time(state_2a): + result.time = t + result.type = Conflict.EDGE + result.agent_1 = agent_1 + result.agent_2 = agent_2 + result.location_1 = state_1a.location + result.location_2 = state_1b.location + return result + return False + + def create_constraints_from_conflict(self, conflict): + constraint_dict = {} + if conflict.type == Conflict.VERTEX: + v_constraint = VertexConstraint(conflict.time, conflict.location_1) + constraint = Constraints() + constraint.vertex_constraints |= {v_constraint} + constraint_dict[conflict.agent_1] = constraint + constraint_dict[conflict.agent_2] = constraint + + elif conflict.type == Conflict.EDGE: + constraint1 = Constraints() + constraint2 = Constraints() + + e_constraint1 = EdgeConstraint(conflict.time, conflict.location_1, conflict.location_2) + e_constraint2 = EdgeConstraint(conflict.time, conflict.location_2, conflict.location_1) + + constraint1.edge_constraints |= {e_constraint1} + constraint2.edge_constraints |= {e_constraint2} + + constraint_dict[conflict.agent_1] = constraint1 + constraint_dict[conflict.agent_2] = constraint2 + + return constraint_dict + + def get_state(self, agent_name, solution, t): + if t < len(solution[agent_name]): + return solution[agent_name][t] + else: + return solution[agent_name][-1] + + def state_valid(self, state): + return state.location.x >= 0 and state.location.x < self.dimension[0] \ + and state.location.y >= 0 and state.location.y < self.dimension[1] \ + and VertexConstraint(state.time, state.location) not in self.constraints.vertex_constraints \ + and (state.location.x, state.location.y) not in self.obstacles + + def transition_valid(self, state_1, state_2): + return EdgeConstraint(state_1.time, state_1.location, state_2.location) not in self.constraints.edge_constraints + + def is_solution(self, agent_name): + pass + + def admissible_heuristic(self, state, agent_name): + goal = self.agent_dict[agent_name]["goal"] + return fabs(state.location.x - goal.location.x) + fabs(state.location.y - goal.location.y) + + + def is_at_goal(self, state, agent_name): + goal_state = self.agent_dict[agent_name]["goal"] + return state.is_equal_except_time(goal_state) + + def make_agent_dict(self): + for agent in self.agents: + start_state = State(0, Location(agent['start'][0], agent['start'][1])) + goal_state = State(0, Location(agent['goal'][0], agent['goal'][1])) + + self.agent_dict.update({agent['name']:{'start':start_state, 'goal':goal_state}}) + + def compute_solution(self): + solution = {} + for agent in self.agent_dict.keys(): + self.constraints = self.constraint_dict.setdefault(agent, Constraints()) + local_solution = self.a_star.search(agent) + if not local_solution: + return False + solution.update({agent:local_solution}) + return solution + + def compute_solution_cost(self, solution): + return sum([len(path) for path in solution.values()]) + +class HighLevelNode(object): + def __init__(self): + self.solution = {} + self.constraint_dict = {} + self.cost = 0 + + def __eq__(self, other): + if not isinstance(other, type(self)): return NotImplemented + return self.solution == other.solution and self.cost == other.cost + + def __hash__(self): + return hash((self.cost)) + + def __lt__(self, other): + return self.cost < other.cost + +class CBS(object): + def __init__(self, environment): + self.env = environment + self.open_set = set() + self.closed_set = set() + def search(self): + start = HighLevelNode() + # TODO: Initialize it in a better way + start.constraint_dict = {} + for agent in self.env.agent_dict.keys(): + start.constraint_dict[agent] = Constraints() + start.solution = self.env.compute_solution() + if not start.solution: + return {} + start.cost = self.env.compute_solution_cost(start.solution) + + self.open_set |= {start} + + while self.open_set: + P = min(self.open_set) + self.open_set -= {P} + self.closed_set |= {P} + + self.env.constraint_dict = P.constraint_dict + conflict_dict = self.env.get_first_conflict(P.solution) + if not conflict_dict: + print("solution found") + + return self.generate_plan(P.solution) + + constraint_dict = self.env.create_constraints_from_conflict(conflict_dict) + + for agent in constraint_dict.keys(): + new_node = deepcopy(P) + new_node.constraint_dict[agent].add_constraint(constraint_dict[agent]) + + self.env.constraint_dict = new_node.constraint_dict + new_node.solution = self.env.compute_solution() + if not new_node.solution: + continue + new_node.cost = self.env.compute_solution_cost(new_node.solution) + + # TODO: ending condition + if new_node not in self.closed_set: + self.open_set |= {new_node} + + return {} + + def generate_plan(self, solution): + plan = {} + for agent, path in solution.items(): + path_dict_list = [{'t':state.time, 'x':state.location.x, 'y':state.location.y} for state in path] + plan[agent] = path_dict_list + return plan + +path_pub1 = rospy.Publisher('/dot1/path', Path, queue_size=10) +path_pub2=rospy.Publisher('/dot2/path', Path, queue_size=10) +path_pub3=rospy.Publisher('/dot3/path', Path, queue_size=10) +path_pub4=rospy.Publisher('/dot4/path', Path, queue_size=10) +path_pub5=rospy.Publisher('/dot5/path', Path, queue_size=10) +path_pub6=rospy.Publisher('/dot6/path', Path, queue_size=10) + +def publish_plan(solution,ag): + """ + publish the global plan + """ + #print(coords) + global coords + coords=[] + for i in range(0,16): + col=[] + for j in range(0,16): + col.append((-1.143+j*0.1524,1.143-i*0.1524)) + coords.append(col) + + msg = Path() + msg.header.frame_id = "map" + msg.header.stamp = rospy.Time.now() + for p in solution[ag]: + pose = PoseStamped() + coor=coords[p['x']][p['y']] + pose.pose.position.x = coor[0] + pose.pose.position.y = coor[1] +# print(p['x'],p['y']) + pose.pose.position.z = 0 + pose.pose.orientation.x = 0 + pose.pose.orientation.y = 0 + pose.pose.orientation.z = 0 + pose.pose.orientation.w = 0 + msg.poses.append(pose) + + rospy.loginfo("Publishing Plan...") + return msg + + +gc=[(1,10),(5,0),(10,0),(9,7),(4,5),(3,1)] +ptg={ +'m':[(2,2),(3,2),(4,2),(5,2),(5,3),(5,4),(5,5),(4,5),(3,5),(2,5),(2,4),(2,3)], +'d':[(2,6),(3,6),(4,6),(5,6),(5,7),(5,8),(5,9),(4,9),(3,9),(2,9),(2,8),(2,7)], +'k':[(2,10),(3,10),(4,10),(5,10),(5,11),(5,12),(5,13),(4,13),(3,13),(2,13),(2,12),(2,11)], +'c':[(6,2),(7,2),(8,2),(9,2),(9,3),(9,4),(9,5),(8,5),(8,4),(8,3),(8,2),(7,2)], +'b':[(6,6),(7,6),(8,6),(9,6),(9,7),(9,8),(9,9),(8,9),(7,9),(6,9),(6,8),(6,7)], +'h':[(6,10),(7,10),(8,10),(9,10),(9,11),(9,12),(9,13),(8,13),(7,13),(6,13),(6,12),(6,11)], +'p':[(10,2),(11,2),(12,2),(13,2),(13,3),(13,4),(13,5),(12,5),(11,5),(10,5),(10,4),(10,3)], +'a':[(10,6),(11,6),(12,6),(13,6),(13,7),(13,8),(13,9),(12,9),(12,8),(12,7),(12,6),(11,6)], +'j':[(10,10),(11,10),(12,10),(13,10),(13,11),(13,12),(13,13),(12,13),(11,13),(10,13),(10,12),(10,11)] + } +pkg1=['c','b','k','m','m','m','c','k','k'] +pkg2=['c','b','k','m','c','b','m','a','p'] +st=[0,0,0,0,0,0] +tc=[(6,3),(6,7),(5,0),(10,0),(3,1),(12,1)] +f=0 +mark1_pub=rospy.Publisher("/dot1/marker",Marker,queue_size=1) +mark2_pub=rospy.Publisher("/dot2/marker",Marker,queue_size=1) +mark3_pub=rospy.Publisher("/dot3/marker",Marker,queue_size=1) +mark4_pub=rospy.Publisher("/dot4/marker",Marker,queue_size=1) +mark5_pub=rospy.Publisher("/dot5/marker",Marker,queue_size=1) +mark6_pub=rospy.Publisher("/dot6/marker",Marker,queue_size=1) + + +def mapper(x1,y1): + xd=round((y1-0.1524/2)/0.1524) + yd=round((x1-0.1524/2)/0.1524) + gx6=7-xd + gy6=8+yd + return [gx6,gy6] + +def imap(x1,y1): + return (-1.143+y1*0.1524,1.143-x1*0.1524) + +def mark(m1,m2,m3,m4,m5,m6): + global st,mark1_pub,mark2_pub,mark3_pub,mark4_pub,mark5_pub,mark6_pub,gc,tc + marker1=Marker() + marker1.header.frame_id = "map" + marker1.header.stamp = rospy.Time.now() + marker1.ns = "/" + marker1.id = 0 + marker1.type = Marker.SPHERE + marker1.action=0 + marker1.scale.x=0.04 + marker1.scale.y=0.04 + marker1.scale.z=0.01 + marker1.color.a = 1.0 + marker1.color.r = 0.0 + marker1.color.g = 1.0 + marker1.color.b = 0.0 + marker1.pose.position.z=0 + marker1.pose.orientation.x = 0.0 + marker1.pose.orientation.y = 0.0 + marker1.pose.orientation.z = 0.0 + marker1.pose.orientation.w = 1.0 + + marker2=Marker() + marker2.header.frame_id = "map" + marker2.header.stamp = rospy.Time.now() + marker2.ns = "/" + marker2.id = 0 + marker2.type = Marker.SPHERE + marker2.action=0 + marker2.scale.x=0.04 + marker2.scale.y=0.04 + marker2.scale.z=0.01 + marker2.color.a = 1.0 + marker2.color.r = 0.0 + marker2.color.g = 0.0 + marker2.color.b = 1.0 + marker2.pose.position.z=0 + marker2.pose.orientation.x = 0.0 + marker2.pose.orientation.y = 0.0 + marker2.pose.orientation.z = 0.0 + marker2.pose.orientation.w = 1.0 + + marker3=Marker() + marker3.header.frame_id = "map" + marker3.header.stamp = rospy.Time.now() + marker3.ns = "/" + marker3.id = 0 + marker3.type = Marker.SPHERE + marker3.action=0 + marker3.scale.x=0.04 + marker3.scale.y=0.04 + marker3.scale.z=0.01 + marker3.color.a = 1.0 + marker3.color.r = 1.0 + marker3.color.g = 0.0 + marker3.color.b = 0.0 + marker3.pose.position.z=0 + marker3.pose.orientation.x = 0.0 + marker3.pose.orientation.y = 0.0 + marker3.pose.orientation.z = 0.0 + marker3.pose.orientation.w = 1.0 + + marker4=Marker() + marker4.header.frame_id = "map" + marker4.header.stamp = rospy.Time.now() + marker4.ns = "/" + marker4.id = 0 + marker4.type = Marker.SPHERE + marker4.action=0 + marker4.scale.x=0.04 + marker4.scale.y=0.04 + marker4.scale.z=0.01 + marker4.color.a = 1.0 + marker4.color.r = 0.0 + marker4.color.g = 1.0 + marker4.color.b = 1.0 + marker4.pose.position.z=0 + marker4.pose.orientation.x = 0.0 + marker4.pose.orientation.y = 0.0 + marker4.pose.orientation.z = 0.0 + marker4.pose.orientation.w = 1.0 + + marker5=Marker() + marker5.header.frame_id = "map" + marker5.header.stamp = rospy.Time.now() + marker5.ns = "/" + marker5.id = 0 + marker5.type = Marker.SPHERE + marker5.action=0 + marker5.scale.x=0.04 + marker5.scale.y=0.04 + marker5.scale.z=0.01 + marker5.color.a = 1.0 + marker5.color.r = 1.0 + marker5.color.g = 0.0 + marker5.color.b = 1.0 + marker5.pose.position.z=0 + marker5.pose.orientation.x = 0.0 + marker5.pose.orientation.y = 0.0 + marker5.pose.orientation.z = 0.0 + marker5.pose.orientation.w = 1.0 + + marker6=Marker() + marker6.header.frame_id = "map" + marker6.header.stamp = rospy.Time.now() + marker6.ns = "/" + marker6.id = 0 + marker6.type = Marker.SPHERE + marker6.action=0 + marker6.scale.x=0.04 + marker6.scale.y=0.04 + marker6.scale.z=0.01 + marker6.color.a = 1.0 + marker6.color.r = 1.0 + marker6.color.g = 1.0 + marker6.color.b = 0.0 + marker6.pose.position.z=0 + marker6.pose.orientation.x = 0.0 + marker6.pose.orientation.y = 0.0 + marker6.pose.orientation.z = 0.0 + marker6.pose.orientation.w = 1.0 + + st=[0,0,0,0,0,0] + msgl=[m1,m2,m3,m4,m5,m6] + markl=[marker1,marker2,marker3,marker4,marker5,marker6] + mark_publ=[mark1_pub,mark2_pub,mark3_pub,mark4_pub,mark5_pub,mark6_pub] + lm=[len(m1.poses),len(m2.poses),len(m3.poses),len(m4.poses),len(m5.poses),len(m6.poses)] + for i in range(6): + if lm[i]==1: + lm[i]=500 + print(lm) + print("least=",min(lm)) + le=min(lm) + for i in range(1,le+1): + for j in range(0,6): + if(i==lm[j] or lm[j]==500): + st[j]=1 + for j in range(0,6): + if st[j]==0: + markl[j].pose.position.x=msgl[j].poses[i].pose.position.x + markl[j].pose.position.y=msgl[j].poses[i].pose.position.y + mapped=mapper(msgl[j].poses[i].pose.position.x,msgl[j].poses[i].pose.position.y) + gc[j]=(mapped[0],mapped[1]) + else: + imapped=imap(gc[j][0],gc[j][1]) + markl[j].pose.position.x=imapped[0] + markl[j].pose.position.y=imapped[1] + for j in range(0,6): + mark_publ[j].publish(markl[j]) + rospy.sleep(0.5) + print("st=",st) + targetpt() + +def dis(x1,y1,x2,y2): + return abs(x2-x1)+abs(y2-y1) +def induct(x,y): + if (x==5 and y==0) or (x==10 and y==0): + return True + else: + return False +def targetpt(): + global gc,tc,st,ptg,pkg1,pkg2 + ipl=[] + spl=[] +# tc=[(1,14),(3,14),(5,14),(7,14),(9,14),(11,14)] + for i in range(6): + if st[i]==1: + if induct(gc[i][0],gc[i][1]): + spl.append((gc[i],i)) + else: + ipl.append((gc[i],i)) + + inductpts=[(5,0),(10,0),(4,1),(11,1),(3,1),(12,1)] + for p in inductpts: + mini=500 + g=0 + if tc.count(p)==0: + for i in ipl: + disi=dis(i[0][0],i[0][1],p[0],p[1]) + if 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map["dynamic_obstacles"] + + self.sipp_graph = {} + self.init_graph() + self.init_intervals() + + def init_graph(self): + for i in range(self.dimensions[0]): + for j in range(self.dimensions[1]): + grid_dict = {(i,j):SippGrid()} + self.sipp_graph.update(grid_dict) + + def init_intervals(self): + if not self.dyn_obstacles: return + for schedule in self.dyn_obstacles.values(): + # for location in schedule: + for i in range(len(schedule)): + location = schedule[i] + last_t = i == len(schedule)-1 + + position = (location["x"],location["y"]) + t = location["t"] + + self.sipp_graph[position].split_interval(t, last_t) + # print(str(position) + str(self.sipp_graph[position].interval_list)) + + def is_valid_position(self, position): + dim_check = position[0] in range(self.dimensions[0]) and position[1] in range(self.dimensions[1]) + obs_check = position not in self.obstacles + # print(dim_check) + return dim_check and obs_check + + def get_valid_neighbours(self, position): + neighbour_list = [] + + up = (position[0], position[1]+1) + if self.is_valid_position(up): neighbour_list.append(up) + + down = (position[0], position[1]-1) + if self.is_valid_position(down): neighbour_list.append(down) + + left = (position[0]-1, position[1]) + if self.is_valid_position(left): neighbour_list.append(left) + + right = (position[0]+1, position[1]) + if self.is_valid_position(right): neighbour_list.append(right) + + return neighbour_list + + +def main(): + parser = argparse.ArgumentParser() + parser.add_argument("map", help="input file containing map and dynamic dyn_obstacles") + args = parser.parse_args() + + with open(args.map, 'r') as map_file: + try: + map = yaml.load(map_file, Loader=yaml.FullLoader) + except yaml.YAMLError as exc: + print(exc) + + graph = SippGraph(map) + # print(graph.get_valid_neighbours((0,0))) + # print(graph.sipp_graph[(1,1)].interval_list) + # print(graph.get_valid_neighbours((1,2))) + +if __name__ == "__main__": + main() + diff --git a/dot_planner/centralized/sipp/input.yaml b/dot_planner/centralized/sipp/input.yaml new file mode 100644 index 0000000..2258320 --- /dev/null +++ b/dot_planner/centralized/sipp/input.yaml @@ -0,0 +1,14 @@ +agents: +- start: [0, 0] + goal: [2, 2] + name: agent0 +- start: [2, 2] + goal: [0, 0] + name: agent1 +map: + dimensions: [3, 3] + obstacles: + - !!python/tuple [0, 1] + - !!python/tuple [2, 1] + +dynamic_obstacles: {} diff --git a/dot_planner/centralized/sipp/multi_sipp.py b/dot_planner/centralized/sipp/multi_sipp.py new file mode 100755 index 0000000..23edf4f --- /dev/null +++ b/dot_planner/centralized/sipp/multi_sipp.py @@ -0,0 +1,53 @@ +""" + +Extension of SIPP to multi-robot scenarios + +author: Ashwin Bose (@atb033) + +See the article: 10.1109/ICRA.2011.5980306 + +""" + +import argparse +import yaml +from math import fabs +from graph_generation import SippGraph, State +from sipp import SippPlanner + +def main(): + parser = argparse.ArgumentParser() + parser.add_argument("map", help="input file containing map and dynamic obstacles") + parser.add_argument("output", help="output file with the schedule") + + args = parser.parse_args() + + # Read Map + with open(args.map, 'r') as map_file: + try: + map = yaml.load(map_file, Loader=yaml.FullLoader) + except yaml.YAMLError as exc: + print(exc) + + # Output file + with open(args.output, 'r') as output_yaml: + try: + output = yaml.load(output_yaml, Loader=yaml.FullLoader) + except yaml.YAMLError as exc: + print(exc) + + for i in range(len(map["agents"])): + sipp_planner = SippPlanner(map,i) + + if sipp_planner.compute_plan(): + plan = sipp_planner.get_plan() + output["schedule"].update(plan) + map["dynamic_obstacles"].update(plan) + + with open(args.output, 'w') as output_yaml: + yaml.safe_dump(output, output_yaml) + else: + print("Plan not found") + + +if __name__ == "__main__": + main() diff --git a/dot_planner/centralized/sipp/output.yaml b/dot_planner/centralized/sipp/output.yaml new file mode 100644 index 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a/dot_planner/centralized/sipp/sipp.py b/dot_planner/centralized/sipp/sipp.py new file mode 100755 index 0000000..e35e69e --- /dev/null +++ b/dot_planner/centralized/sipp/sipp.py @@ -0,0 +1,145 @@ +""" + +SIPP implementation + +author: Ashwin Bose (@atb033) + +See the article: DOI: 10.1109/ICRA.2011.5980306 + +""" + +import argparse +import yaml +from math import fabs +from graph_generation import SippGraph, State + +class SippPlanner(SippGraph): + def __init__(self, map, agent_id): + SippGraph.__init__(self, map) + self.start = tuple(map["agents"][agent_id]["start"]) + self.goal = tuple(map["agents"][agent_id]["goal"]) + self.name = map["agents"][agent_id]["name"] + self.open = [] + + def get_successors(self, state): + successors = [] + m_time = 1 + neighbour_list = self.get_valid_neighbours(state.position) + + for neighbour in neighbour_list: + start_t = state.time + m_time + end_t = state.interval[1] + m_time + for i in self.sipp_graph[neighbour].interval_list: + if i[0] > end_t or i[1] < start_t: + continue + time = max(start_t, i[0]) + s = State(neighbour, time, i) + successors.append(s) + return successors + + def get_heuristic(self, position): + return fabs(position[0] - self.goal[0]) + fabs(position[1]-self.goal[1]) + + def compute_plan(self): + self.open = [] + goal_reached = False + cost = 1 + + s_start = State(self.start, 0) + + self.sipp_graph[self.start].g = 0. + f_start = self.get_heuristic(self.start) + self.sipp_graph[self.start].f = f_start + + self.open.append((f_start, s_start)) + + while (not goal_reached): + if self.open == {}: + # Plan not found + return 0 + s = self.open.pop(0)[1] + successors = self.get_successors(s) + + for successor in successors: + if self.sipp_graph[successor.position].g > self.sipp_graph[s.position].g + cost: + self.sipp_graph[successor.position].g = self.sipp_graph[s.position].g + cost + self.sipp_graph[successor.position].parent_state = s + + if successor.position == self.goal: + print("Plan successfully calculated!!") + goal_reached = True + break + + self.sipp_graph[successor.position].f = self.sipp_graph[successor.position].g + self.get_heuristic(successor.position) + self.open.append((self.sipp_graph[successor.position].f, successor)) + + # Tracking back + start_reached = False + self.plan = [] + current = successor + while not start_reached: + self.plan.insert(0,current) + if current.position == self.start: + start_reached = True + current = self.sipp_graph[current.position].parent_state + return 1 + + def get_plan(self): + path_list = [] + + # first setpoint + setpoint = self.plan[0] + temp_dict = {"x":setpoint.position[0], "y":setpoint.position[1], "t":setpoint.time} + path_list.append(temp_dict) + + for i in range(len(self.plan)-1): + for j in range(self.plan[i+1].time - self.plan[i].time-1): + x = self.plan[i].position[0] + y = self.plan[i].position[1] + t = self.plan[i].time + setpoint = self.plan[i] + temp_dict = {"x":x, "y":y, "t":t+j+1} + path_list.append(temp_dict) + + setpoint = self.plan[i+1] + temp_dict = {"x":setpoint.position[0], "y":setpoint.position[1], "t":setpoint.time} + path_list.append(temp_dict) + + data = {self.name:path_list} + return data + + + +def main(): + parser = argparse.ArgumentParser() + parser.add_argument("map", help="input file containing map and dynamic obstacles") + parser.add_argument("output", help="output file with the schedule") + + args = parser.parse_args() + + with open(args.map, 'r') as map_file: + try: + map = yaml.load(map_file, Loader=yaml.FullLoader) + except yaml.YAMLError as exc: + print(exc) + + with open(args.output, 'r') as output_yaml: + try: + output = yaml.load(output_yaml, Loader=yaml.FullLoader) + except yaml.YAMLError as exc: + print(exc) + + # compute first plan + sipp_planner = SippPlanner(map,0) + + if sipp_planner.compute_plan(): + plan = sipp_planner.get_plan() + output["schedule"].update(plan) + with open(args.output, 'w') as output_yaml: + yaml.safe_dump(output, output_yaml) + else: + print("Plan not found") + + +if __name__ == "__main__": + main() \ No newline at end of file diff --git a/dot_planner/centralized/sipp/visualize_sipp.py b/dot_planner/centralized/sipp/visualize_sipp.py new file mode 100755 index 0000000..c8a7140 --- /dev/null +++ b/dot_planner/centralized/sipp/visualize_sipp.py @@ -0,0 +1,178 @@ +#!/usr/bin/env python3 +import yaml +import matplotlib +# matplotlib.use("Agg") +from matplotlib.patches import Circle, Rectangle, Arrow +from matplotlib.collections import PatchCollection +import matplotlib.pyplot as plt +import numpy as np +from matplotlib import animation +import matplotlib.animation as manimation +import argparse +import math + +Colors = ['orange', 'blue', 'green'] + + +class Animation: + def __init__(self, map, schedule): + self.map = map + self.schedule = schedule + self.obstacle_schedule = map["dynamic_obstacles"] + self.combined_schedule = {} + self.combined_schedule.update(self.schedule["schedule"]) + self.combined_schedule.update(self.obstacle_schedule) + + aspect = map["map"]["dimensions"][0] / map["map"]["dimensions"][1] + + self.fig = plt.figure(frameon=False, figsize=(4 * aspect, 4)) + self.ax = self.fig.add_subplot(111, aspect='equal') + self.fig.subplots_adjust(left=0,right=1,bottom=0,top=1, wspace=None, hspace=None) + # self.ax.set_frame_on(False) + + self.patches = [] + self.artists = [] + self.agents = dict() + self.agent_names = dict() + # create boundary patch + xmin = -0.5 + ymin = -0.5 + xmax = map["map"]["dimensions"][0] - 0.5 + ymax = map["map"]["dimensions"][1] - 0.5 + + # self.ax.relim() + plt.xlim(xmin, xmax) + plt.ylim(ymin, ymax) + # self.ax.set_xticks([]) + # self.ax.set_yticks([]) + # plt.axis('off') + # self.ax.axis('tight') + # self.ax.axis('off') + + self.patches.append(Rectangle((xmin, ymin), xmax - xmin, ymax - ymin, facecolor='none', edgecolor='red')) + for o in map["map"]["obstacles"]: + x, y = o[0], o[1] + self.patches.append(Rectangle((x - 0.5, y - 0.5), 1, 1, facecolor='red', edgecolor='red')) + + # create agents: + self.T = 0 + # draw goals first + for d, i in zip(map["agents"], range(0, len(map["agents"]))): + self.patches.append(Rectangle((d["goal"][0] - 0.25, d["goal"][1] - 0.25), 0.5, 0.5, facecolor=Colors[0], edgecolor='black', alpha=0.5)) + for d, i in zip(map["agents"], range(0, len(map["agents"]))): + name = d["name"] + self.agents[name] = Circle((d["start"][0], d["start"][1]), 0.3, facecolor=Colors[0], edgecolor='black') + self.agents[name].original_face_color = Colors[0] + self.patches.append(self.agents[name]) + self.T = max(self.T, schedule["schedule"][name][-1]["t"]) + self.agent_names[name] = self.ax.text(d["start"][0], d["start"][1], name.replace('agent', '')) + self.agent_names[name].set_horizontalalignment('center') + self.agent_names[name].set_verticalalignment('center') + self.artists.append(self.agent_names[name]) + + for name in self.obstacle_schedule: + self.agents[name] = Circle((d["start"][0], d["start"][1]), 0.3, facecolor=Colors[2], edgecolor='black') + self.agents[name].original_face_color = Colors[2] + self.patches.append(self.agents[name]) + self.T = max(self.T, map["dynamic_obstacles"][name][-1]["t"]) + self.agent_names[name] = self.ax.text(d["start"][0], d["start"][1], name.replace('dynamic_obs', 'obs')) + self.agent_names[name].set_horizontalalignment('center') + self.agent_names[name].set_verticalalignment('center') + self.artists.append(self.agent_names[name]) + + # self.ax.set_axis_off() + # self.fig.axes[0].set_visible(False) + # self.fig.axes.get_yaxis().set_visible(False) + + # self.fig.tight_layout() + + self.anim = animation.FuncAnimation(self.fig, self.animate_func, + init_func=self.init_func, + frames=int(self.T+1) * 10, + interval=100, + blit=True) + + def save(self, file_name, speed): + self.anim.save( + file_name, + "ffmpeg", + fps=10 * speed, + dpi=200), + # savefig_kwargs={"pad_inches": 0, "bbox_inches": "tight"}) + + def show(self): + plt.show() + + def init_func(self): + for p in self.patches: + self.ax.add_patch(p) + for a in self.artists: + self.ax.add_artist(a) + return self.patches + self.artists + + def animate_func(self, i): + for agent_name, agent in self.combined_schedule.items(): + pos = self.getState(i / 10, agent) + p = (pos[0], pos[1]) + self.agents[agent_name].center = p + self.agent_names[agent_name].set_position(p) + + # reset all colors + for _,agent in self.agents.items(): + agent.set_facecolor(agent.original_face_color) + + # check drive-drive collisions + agents_array = [agent for _,agent in self.agents.items()] + for i in range(0, len(agents_array)): + for j in range(i+1, len(agents_array)): + d1 = agents_array[i] + d2 = agents_array[j] + pos1 = np.array(d1.center) + pos2 = np.array(d2.center) + if np.linalg.norm(pos1 - pos2) < 0.7: + d1.set_facecolor('red') + d2.set_facecolor('red') + print("COLLISION! (agent-agent) ({}, {})".format(i, j)) + + return self.patches + self.artists + + + def getState(self, t, d): + idx = 0 + while idx < len(d) and d[idx]["t"] < t: + idx += 1 + if idx == 0: + return np.array([float(d[0]["x"]), float(d[0]["y"])]) + elif idx < len(d): + posLast = np.array([float(d[idx-1]["x"]), float(d[idx-1]["y"])]) + posNext = np.array([float(d[idx]["x"]), float(d[idx]["y"])]) + else: + return np.array([float(d[-1]["x"]), float(d[-1]["y"])]) + dt = d[idx]["t"] - d[idx-1]["t"] + t = (t - d[idx-1]["t"]) / dt + pos = (posNext - posLast) * t + posLast + return pos + + + +if __name__ == "__main__": + parser = argparse.ArgumentParser() + parser.add_argument("map", help="input file containing map") + parser.add_argument("schedule", help="schedule for agents") + parser.add_argument('--video', dest='video', default=None, help="output video file (or leave empty to show on screen)") + parser.add_argument("--speed", type=int, default=1, help="speedup-factor") + args = parser.parse_args() + + + with open(args.map) as map_file: + map = yaml.load(map_file, Loader=yaml.FullLoader) + + with open(args.schedule) as states_file: + schedule = yaml.load(states_file, Loader=yaml.FullLoader) + + animation = Animation(map, schedule) + + if args.video: + animation.save(args.video, args.speed) + else: + animation.show() diff --git a/dot_planner/centralized/visualize.py b/dot_planner/centralized/visualize.py new file mode 100755 index 0000000..8a60356 --- /dev/null +++ b/dot_planner/centralized/visualize.py @@ -0,0 +1,166 @@ +#!/usr/bin/env python3 +import yaml +import matplotlib +# matplotlib.use("Agg") +from matplotlib.patches import Circle, Rectangle, Arrow +from matplotlib.collections import PatchCollection +import matplotlib.pyplot as plt +import numpy as np +from matplotlib import animation +import matplotlib.animation as manimation +import argparse +import math + +Colors = ['orange', 'blue', 'green'] + + +class Animation: + def __init__(self, map, schedule): + self.map = map + self.schedule = schedule + self.combined_schedule = {} + self.combined_schedule.update(self.schedule["schedule"]) + + aspect = map["map"]["dimensions"][0] / map["map"]["dimensions"][1] + + self.fig = plt.figure(frameon=False, figsize=(4 * aspect, 4)) + self.ax = self.fig.add_subplot(111, aspect='equal') + self.fig.subplots_adjust(left=0,right=1,bottom=0,top=1, wspace=None, hspace=None) + # self.ax.set_frame_on(False) + + self.patches = [] + self.artists = [] + self.agents = dict() + self.agent_names = dict() + # create boundary patch + xmin = -0.5 + ymin = -0.5 + xmax = map["map"]["dimensions"][0] - 0.5 + ymax = map["map"]["dimensions"][1] - 0.5 + + # self.ax.relim() + plt.xlim(xmin, xmax) + plt.ylim(ymin, ymax) + # self.ax.set_xticks([]) + # self.ax.set_yticks([]) + # plt.axis('off') + # self.ax.axis('tight') + # self.ax.axis('off') + + self.patches.append(Rectangle((xmin, ymin), xmax - xmin, ymax - ymin, facecolor='none', edgecolor='red')) + for o in map["map"]["obstacles"]: + x, y = o[0], o[1] + self.patches.append(Rectangle((x - 0.5, y - 0.5), 1, 1, facecolor='red', edgecolor='red')) + + # create agents: + self.T = 0 + # draw goals first + for d, i in zip(map["agents"], range(0, len(map["agents"]))): + self.patches.append(Rectangle((d["goal"][0] - 0.25, d["goal"][1] - 0.25), 0.5, 0.5, facecolor=Colors[0], edgecolor='black', alpha=0.5)) + for d, i in zip(map["agents"], range(0, len(map["agents"]))): + name = d["name"] + self.agents[name] = Circle((d["start"][0], d["start"][1]), 0.3, facecolor=Colors[0], edgecolor='black') + self.agents[name].original_face_color = Colors[0] + self.patches.append(self.agents[name]) + self.T = max(self.T, schedule["schedule"][name][-1]["t"]) + self.agent_names[name] = self.ax.text(d["start"][0], d["start"][1], name.replace('agent', '')) + self.agent_names[name].set_horizontalalignment('center') + self.agent_names[name].set_verticalalignment('center') + self.artists.append(self.agent_names[name]) + + # self.ax.set_axis_off() + # self.fig.axes[0].set_visible(False) + # self.fig.axes.get_yaxis().set_visible(False) + + # self.fig.tight_layout() + + self.anim = animation.FuncAnimation(self.fig, self.animate_func, + init_func=self.init_func, + frames=int(self.T+1) * 10, + interval=100, + blit=True) + + def save(self, file_name, speed): + self.anim.save( + file_name, + "ffmpeg", + fps=10 * speed, + dpi=200), + # savefig_kwargs={"pad_inches": 0, "bbox_inches": "tight"}) + + def show(self): + plt.show() + + def init_func(self): + for p in self.patches: + self.ax.add_patch(p) + for a in self.artists: + self.ax.add_artist(a) + return self.patches + self.artists + + def animate_func(self, i): + for agent_name, agent in self.combined_schedule.items(): + pos = self.getState(i / 10, agent) + p = (pos[0], pos[1]) + self.agents[agent_name].center = p + self.agent_names[agent_name].set_position(p) + + # reset all colors + for _,agent in self.agents.items(): + agent.set_facecolor(agent.original_face_color) + + # check drive-drive collisions + agents_array = [agent for _,agent in self.agents.items()] + for i in range(0, len(agents_array)): + for j in range(i+1, len(agents_array)): + d1 = agents_array[i] + d2 = agents_array[j] + pos1 = np.array(d1.center) + pos2 = np.array(d2.center) + if np.linalg.norm(pos1 - pos2) < 0.7: + d1.set_facecolor('red') + d2.set_facecolor('red') + print("COLLISION! (agent-agent) ({}, {})".format(i, j)) + + return self.patches + self.artists + + + def getState(self, t, d): + idx = 0 + while idx < len(d) and d[idx]["t"] < t: + idx += 1 + if idx == 0: + return np.array([float(d[0]["x"]), float(d[0]["y"])]) + elif idx < len(d): + posLast = np.array([float(d[idx-1]["x"]), float(d[idx-1]["y"])]) + posNext = np.array([float(d[idx]["x"]), float(d[idx]["y"])]) + else: + return np.array([float(d[-1]["x"]), float(d[-1]["y"])]) + dt = d[idx]["t"] - d[idx-1]["t"] + t = (t - d[idx-1]["t"]) / dt + pos = (posNext - posLast) * t + posLast + return pos + + + +if __name__ == "__main__": + parser = argparse.ArgumentParser() + parser.add_argument("map", help="input file containing map") + parser.add_argument("schedule", help="schedule for agents") + parser.add_argument('--video', dest='video', default=None, help="output video file (or leave empty to show on screen)") + parser.add_argument("--speed", type=int, default=1, help="speedup-factor") + args = parser.parse_args() + + + with open(args.map) as map_file: + map = yaml.load(map_file, Loader=yaml.FullLoader) + + with open(args.schedule) as states_file: + schedule = yaml.load(states_file, Loader=yaml.FullLoader) + + animation = Animation(map, schedule) + + if args.video: + animation.save(args.video, args.speed) + else: + animation.show() diff --git a/dot_planner/launch/dot_planner.launch b/dot_planner/launch/dot_planner.launch index 8608398..bbaed29 100644 --- a/dot_planner/launch/dot_planner.launch +++ b/dot_planner/launch/dot_planner.launch @@ -6,7 +6,7 @@ - + diff --git a/dot_planner/package.xml b/dot_planner/package.xml index 943544d..23badb8 100644 --- a/dot_planner/package.xml +++ b/dot_planner/package.xml @@ -64,6 +64,8 @@ dot_control dot_gazebo robot_localization + rospy + diff --git a/dot_planner/rviz/dot_planner.rviz b/dot_planner/rviz/dot_planner.rviz index c614ccf..80f95b1 100644 --- a/dot_planner/rviz/dot_planner.rviz +++ b/dot_planner/rviz/dot_planner.rviz @@ -1,13 +1,25 @@ Panels: - Class: rviz/Displays - Help Height: 78 + Help Height: 85 Name: Displays Property Tree Widget: Expanded: - /Global Options1 - /TF1/Tree1 + - /Path1 + - /Marker1 + - /Marker2 + - /Marker3 + - /Marker4 + - /Marker5 + - /Marker6 + - /Path2 + - /Path3 + - /Path4 + - /Path5 + - /Path6 Splitter Ratio: 0.5 - Tree Height: 549 + Tree Height: 514 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -62,6 +74,11 @@ Visualization Manager: Expand Link Details: false Expand Tree: false Link Tree Style: Links in Alphabetic Order + ball: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true base_link: Alpha: 1 Show Axes: false @@ -77,10 +94,45 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true + mid_cyl: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + mid_cyl_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true origin_link: Alpha: 1 Show Axes: false Show Trail: false + platform: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + platform_base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + platform_mid: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + platform_tag0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + platform_tag1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true rim_back_link: Alpha: 1 Show Axes: false @@ -216,6 +268,16 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true + supp_cyl: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + supp_cyl_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true Name: RobotModel Robot Description: robot_description TF Prefix: "" @@ -227,6 +289,8 @@ Visualization Manager: Frame Timeout: 15 Frames: All Enabled: true + ball: + Value: true base_link: Value: true hokuyo_link: @@ -235,16 +299,34 @@ Visualization Manager: Value: true map: Value: true + mid_cyl: + Value: true + mid_cyl_2: + Value: true odom: Value: true origin_link: Value: true + platform: + Value: true + platform_base: + Value: true + platform_mid: + Value: true + platform_tag0: + Value: true + platform_tag1: + Value: true rim_back_link: Value: true rim_left_link: Value: true rim_right_link: Value: true + supp_cyl: + Value: true + supp_cyl_2: + Value: true Marker Alpha: 1 Marker Scale: 0.10000000149011612 Name: TF @@ -254,17 +336,31 @@ Visualization Manager: Tree: map: odom: - base_link: - hokuyo_link: - {} - imu_link: - {} - rim_back_link: - {} - rim_left_link: - {} - rim_right_link: - {} + origin_link: + base_link: + hokuyo_link: + {} + imu_link: + {} + rim_back_link: + {} + rim_left_link: + {} + rim_right_link: + {} + supp_cyl: + mid_cyl: + supp_cyl_2: + mid_cyl_2: + platform_base: + ball: + platform_mid: + platform: + {} + platform_tag0: + {} + platform_tag1: + {} Update Interval: 0 Value: true - Angle Tolerance: 0.10000000149011612 @@ -302,6 +398,232 @@ Visualization Manager: Topic: /dot/odom Unreliable: false Value: true + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /map + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 25; 255; 0 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Queue Size: 10 + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: /dot1/path + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: false + Image Topic: /camera4/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: false + - Class: rviz/Image + Enabled: false + Image Topic: /tag_detections_image + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: false + - Class: rviz/Marker + Enabled: true + Marker Topic: /dot1/marker + Name: Marker + Namespaces: + /: true + Queue Size: 100 + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /dot2/marker + Name: Marker + Namespaces: + /: true + Queue Size: 100 + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /dot3/marker + Name: Marker + Namespaces: + /: true + Queue Size: 100 + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: dot4/marker + Name: Marker + Namespaces: + /: true + Queue Size: 100 + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: dot5/marker + Name: Marker + Namespaces: + /: true + Queue Size: 100 + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: dot6/marker + Name: Marker + Namespaces: + /: true + Queue Size: 100 + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 32; 74; 135 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Queue Size: 10 + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: /dot2/path + Unreliable: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 164; 0; 0 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Queue Size: 10 + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: /dot3/path + Unreliable: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 114; 159; 207 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Queue Size: 10 + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: /dot4/path + Unreliable: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 173; 127; 168 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Queue Size: 10 + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: /dot5/path + Unreliable: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 252; 233; 79 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Queue Size: 10 + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: /dot6/path + Unreliable: false + Value: true Enabled: true Global Options: Background Color: 48; 48; 48 @@ -330,7 +652,7 @@ Visualization Manager: Views: Current: Class: rviz/Orbit - Distance: 3.548444986343384 + Distance: 2.2911226749420166 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 @@ -338,17 +660,17 @@ Visualization Manager: Value: false Field of View: 0.7853981852531433 Focal Point: - X: 0.3453194200992584 - Y: 0.8301547169685364 - Z: 0.3898109495639801 + X: 0.04124204069375992 + Y: -0.06118923798203468 + Z: 0.8906717300415039 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.4297977089881897 + Pitch: 1.5697963237762451 Target Frame: - Yaw: 4.782261848449707 + Yaw: 4.712264537811279 Saved: ~ Window Geometry: Displays: @@ -356,7 +678,9 @@ Window Geometry: Height: 846 Hide Left Dock: false Hide Right Dock: false - QMainWindow State: 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+ Image: + collapsed: false + QMainWindow State: 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move_to(self, goal): error *= -1 twt = Twist() - twt.linear.x = 0.002 / abs(error) # Linear velocity inversely propotinal to error + twt.linear.x = 0#0.002 / abs(error) # Linear velocity inversely propotinal to error twt.linear.y = 0 twt.linear.z = 0 twt.angular.x = 0 twt.angular.y = 0 - twt.angular.z = error * 0.5 # angular velocity directly propotinal to error - + twt.angular.z = error * 20.5 # angular velocity directly propotinal to error self.vel_pub.publish(twt) print(error, self.dist(goal)) @@ -94,7 +93,7 @@ def dist(self, goal): return math.sqrt((goal[0] - self.cur_x) ** 2 + (goal[1] - self.cur_y) ** 2) -GOALS = [[0.25, -0.5], [-0.9, -0.5]] +GOALS = [[0.25, -0.5]] if __name__ == '__main__': try: @@ -108,4 +107,4 @@ def dist(self, goal): rospy.spin() except rospy.ROSInterruptException: - rospy.loginfo("Interrupted.") \ No newline at end of file + rospy.loginfo("Interrupted.") diff --git a/dot_teleop/CMakeLists.txt b/dot_teleop/CMakeLists.txt index a8efdab..b9ffeb8 100644 --- a/dot_teleop/CMakeLists.txt +++ b/dot_teleop/CMakeLists.txt @@ -142,11 +142,11 @@ include_directories( ## With catkin_make all packages are built within a single CMake context ## The recommended prefix ensures that target names across packages don't collide # add_executable(${PROJECT_NAME}_node src/dot_teleop_node.cpp) -add_executable(dot_teleop src/dot_key.cpp) +#add_executable(dot_teleop src/dot_key.cpp) #add_dependencies(dot_teleop ${catkin_EXPORTED_TARGETS} ${Boost_EXPORTED_TARGETS}) -target_link_libraries(dot_teleop - ${catkin_LIBRARIES} - ${Boost_LIBRARIES}) +#target_link_libraries(dot_teleop +# ${catkin_LIBRARIES} +# ${Boost_LIBRARIES}) ## Rename C++ executable without prefix diff --git a/dot_teleop/src/dot_key.cpp b/dot_teleop/src/dot_key.cpp deleted file mode 100644 index 6998758..0000000 --- a/dot_teleop/src/dot_key.cpp +++ /dev/null @@ -1,222 +0,0 @@ -#include -#include -#include -#include -#include -#include -#include "boost/thread/mutex.hpp" -#include "boost/thread/thread.hpp" - -#define KEYCODE_R 0x43 -#define KEYCODE_L 0x44 -#define KEYCODE_U 0x41 -#define KEYCODE_D 0x42 -#define KEYCODE_Q 0x71 - -#define KEYI 105 -#define KEYK 107 -#define KEYJ 106 -#define KEYL 108 -#define KEYO 111 -#define KEYM 109 -#define KEYU 117 -#define KEYW 119 -#define KEYA 97 -#define KEYS 115 -#define KEYD 100 -#define KEY_COM 44 -#define KEY_DOT 46 - -class DotTeleop -{ -public: - DotTeleop(); - void keyLoop(); - void watchdog(); - -private: - - - ros::NodeHandle nh_,ph_; - double linear_x_, linear_y_, angular_; - double dir_x, dir_y, dir_z; - ros::Time first_publish_; - ros::Time last_publish_; - double l_scale_, a_scale_; - ros::Publisher vel_pub_; - ros::Publisher dir_pub_; - void publish(double, double, double); - boost::mutex publish_mutex_; - ros::Publisher dir_pub; - - -}; - -DotTeleop::DotTeleop(): - ph_("~"), - linear_x_(0), - linear_y_(0), - angular_(0), - l_scale_(1), - a_scale_(1) -{ - ph_.param("scale_angular", a_scale_, a_scale_); - ph_.param("scale_linear", l_scale_, l_scale_); - - vel_pub_ = nh_.advertise("/dot/cmd_vel", 1); - dir_pub_ = nh_.advertise("/servo_dir", 1); -} - -int kfd = 0; -struct termios cooked, raw; - -void quit(int sig) -{ - tcsetattr(kfd, TCSANOW, &cooked); - ros::shutdown(); - exit(0); -} - - -int main(int argc, char** argv) -{ - ros::init(argc, argv, "dot_teleop"); - DotTeleop Dot_teleop; - ros::NodeHandle n; - - signal(SIGINT,quit); - - boost::thread my_thread(boost::bind(&DotTeleop::keyLoop, &Dot_teleop)); - - - ros::Timer timer = n.createTimer(ros::Duration(0.1), boost::bind(&DotTeleop::watchdog, &Dot_teleop)); - - ros::spin(); - - my_thread.interrupt() ; - my_thread.join() ; - - return(0); -} - - -void DotTeleop::watchdog() -{ - boost::mutex::scoped_lock lock(publish_mutex_); - if ((ros::Time::now() > last_publish_ + ros::Duration(0.15)) && - (ros::Time::now() > first_publish_ + ros::Duration(0.50))) - publish(0, 0, 0); -} - -void DotTeleop::keyLoop() -{ - char c; - - - // get the console in raw mode - tcgetattr(kfd, &cooked); - memcpy(&raw, &cooked, sizeof(struct termios)); - raw.c_lflag &=~ (ICANON | ECHO); - // Setting a new line, then end of file - raw.c_cc[VEOL] = 1; - raw.c_cc[VEOF] = 2; - tcsetattr(kfd, TCSANOW, &raw); - - puts("Reading from keyboard"); - puts("---------------------------"); - puts("Moving around:"); - puts("u i o"); - puts("j k l"); - puts("CTRL-C to quit"); - - while (ros::ok()) - { - // get the next event from the keyboard - if(read(kfd, &c, 1) < 0) - { - perror("read():"); - exit(-1); - } - - linear_x_=linear_y_=angular_=0; - ROS_DEBUG("value: 0x%02X\n", c); - ROS_INFO("value: 0x%02X\n", c); - - switch(c) - { - case KEYJ: - ROS_DEBUG("LEFT"); - linear_y_ = 1; - break; - case KEYL: - ROS_DEBUG("RIGHT"); - linear_y_ = -1; - break; - case KEYI: - ROS_DEBUG("UP"); - linear_x_ = 1; - break; - case KEYK: - ROS_DEBUG("DOWN"); - linear_x_ = -1; - break; - case KEYO: - ROS_DEBUG("CLOCK"); - angular_ = -1; - break; - case KEYU: - ROS_DEBUG("ANTICLOCK"); - angular_ = 1; - break; -<<<<<<< HEAD -======= - case KEYW: - ROS_DEBUG("NORTH"); - dir_x = 0; - dir_y = 2; - break; - case KEYS: - ROS_DEBUG("SOUTH"); - dir_x = 0; - dir_y = -2; - break; - case KEYA: - ROS_DEBUG("WEST"); - dir_x = -2; - dir_y = 0; - break; - case KEYD: - ROS_DEBUG("DOWN"); - dir_x = 2; - dir_y = 0; - break; - ->>>>>>> 277108b4418bdaf6b5ca4a1a8957d3207b17d302 - } - boost::mutex::scoped_lock lock(publish_mutex_); - if (ros::Time::now() > last_publish_ + ros::Duration(1.0)) { - first_publish_ = ros::Time::now(); - } - last_publish_ = ros::Time::now(); - publish(angular_, linear_x_, linear_y_); - } - - return; -} - -void DotTeleop::publish(double angular, double linear_x, double linear_y) -{ - geometry_msgs::Point dir; - geometry_msgs::Twist vel; - dir.x = dir_x; - dir.y = dir_y; - dir.z = 0; - vel.angular.z = a_scale_*angular; - vel.linear.x = l_scale_*linear_x; - vel.linear.y = l_scale_*linear_y; - vel_pub_.publish(vel); - dir_pub_.publish(dir); - - - return; -} diff --git a/dot_teleop/src/dot_teleop.py b/dot_teleop/src/dot_teleop.py index 36d72ce..705970f 100755 --- a/dot_teleop/src/dot_teleop.py +++ b/dot_teleop/src/dot_teleop.py @@ -1,4 +1,4 @@ -#!/usr/bin/env python +#!/usr/bin/env python3 import roslib @@ -65,7 +65,7 @@ def vels(speed,turn): settings = termios.tcgetattr(sys.stdin) rospy.init_node('dot_teleop') - pub = rospy.Publisher('~cmd_vel', Twist) + pub = rospy.Publisher('/dot/cmd_vel', Twist) x = 0 th = 0 @@ -77,8 +77,8 @@ def vels(speed,turn): control_speed = 0 control_turn = 0 try: - print msg - print vels(speed,turn) + print(msg) + print(vels(speed,turn)) while(1): key = getKey() if key in moveBindings.keys(): @@ -90,9 +90,9 @@ def vels(speed,turn): turn = turn * speedBindings[key][1] count = 0 - print vels(speed,turn) + print(vels(speed,turn)) if (status == 14): - print msg + print(msg) status = (status + 1) % 15 elif key == ' ' or key == 'k' : x = 0 @@ -134,7 +134,7 @@ def vels(speed,turn): #print("publihsed: vx: {0}, wz: {1}".format(twist.linear.x, twist.angular.z)) except: - print e + print(e) finally: twist = Twist() @@ -142,4 +142,4 @@ def vels(speed,turn): twist.angular.x = 0; twist.angular.y = 0; twist.angular.z = 0 pub.publish(twist) - termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings) \ No newline at end of file + termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings) diff --git a/tracking_pid b/tracking_pid new file mode 160000 index 0000000..3522bd8 --- /dev/null +++ b/tracking_pid @@ -0,0 +1 @@ +Subproject commit 3522bd8086ff2fc5f2aa97effdc3a264212ebbf8 From 0b8b685d4819a63c12805cdcc86167e810a8d65a Mon Sep 17 00:00:00 2001 From: Sandeepan Ghosh Date: Sun, 28 Nov 2021 12:36:02 +0530 Subject: [PATCH 2/3] rm tracking_pid --- tracking_pid | 1 - 1 file changed, 1 deletion(-) delete mode 160000 tracking_pid diff --git a/tracking_pid b/tracking_pid deleted file mode 160000 index 3522bd8..0000000 --- a/tracking_pid +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 3522bd8086ff2fc5f2aa97effdc3a264212ebbf8 From 23917d16270a1d4c7ba68bd30ea857a64558ec53 Mon Sep 17 00:00:00 2001 From: Sandeepan Ghosh Date: Sun, 28 Nov 2021 12:36:25 +0530 Subject: [PATCH 3/3] Add tracking_pid --- tracking_pid/CHANGELOG.rst | 48 ++ tracking_pid/CMakeLists.txt | 127 ++++ tracking_pid/LICENSE | 201 ++++++ tracking_pid/README.md | 291 +++++++++ tracking_pid/action/FollowPath.action | 7 + tracking_pid/cfg/Pid.cfg | 34 + tracking_pid/cfg/TargetVelocity.cfg | 16 + tracking_pid/doc/figures/controller.ipe | 363 +++++++++++ tracking_pid/doc/figures/controller.png | Bin 0 -> 45986 bytes tracking_pid/doc/figures/flowchart.ipe | 338 ++++++++++ tracking_pid/doc/figures/flowchart.png | Bin 0 -> 75389 bytes .../doc/figures/motion_planning_diagram.ipe | 293 +++++++++ .../doc/figures/motion_planning_diagram.png | Bin 0 -> 41897 bytes tracking_pid/doc/figures/robot_plus_tool.ipe | 325 ++++++++++ tracking_pid/doc/figures/robot_plus_tool.png | Bin 0 -> 37614 bytes tracking_pid/doc/figures/rqt_tracking_pid.png | Bin 0 -> 109372 bytes tracking_pid/doc/figures/schematic_config.ipe | 357 +++++++++++ tracking_pid/doc/figures/schematic_config.png | Bin 0 -> 16172 bytes tracking_pid/doc/figures/tracking.ipe | 345 +++++++++++ tracking_pid/doc/figures/tracking.png | Bin 0 -> 30604 bytes .../doc/figures/tracking_base_link.ipe | 380 ++++++++++++ .../doc/figures/tracking_base_link.png | Bin 0 -> 51796 bytes tracking_pid/doc/figures/trajectory.ipe | 362 +++++++++++ tracking_pid/include/controller/controller.h | 184 ++++++ .../include/controller/controller_node.h | 173 ++++++ tracking_pid/maps/grid.png | Bin 0 -> 1217 bytes tracking_pid/maps/grid.yaml | 6 + tracking_pid/msg/PidDebug.msg | 7 + tracking_pid/msg/error.msg | 4 + tracking_pid/msg/traj_point.msg | 5 + tracking_pid/msg/trajectory.msg | 5 + tracking_pid/nodes/path_interpolator | 16 + tracking_pid/package.xml | 46 ++ tracking_pid/setup.py | 11 + tracking_pid/src/controller.cpp | 475 ++++++++++++++ tracking_pid/src/controller_node.cpp | 228 +++++++ tracking_pid/src/tracking_pid/__init__.py | 0 .../path_interpolator.cpython-38.pyc | Bin 0 -> 16143 bytes .../src/tracking_pid/path_interpolator.py | 580 ++++++++++++++++++ .../src/tracking_pid/path_interpolator.pyc | Bin 0 -> 20262 bytes .../test/interpolator/interpolator.rviz | 158 +++++ .../test_path_interpolator_action.launch | 16 + .../test_path_interpolator_topic.launch | 15 + ..._interpolator_topic_empty_frame_ids.launch | 15 + tracking_pid/test/test_controller.cpp | 145 +++++ tracking_pid/test/test_interpolator.py | 231 +++++++ tracking_pid/test/test_interpolator.pyc | Bin 0 -> 6652 bytes tracking_pid/test/test_tracking_pid_system.py | 71 +++ .../test/tracking_pid/controller.rviz | 224 +++++++ .../test/tracking_pid/param/controllers.yaml | 10 + .../param/local_costmap_params.yaml | 10 + .../test/tracking_pid/param/planners.yaml | 7 + tracking_pid/test/tracking_pid/test.launch | 9 + .../test/tracking_pid/test_tracking_pid.test | 31 + .../tracking_pid/test_tracking_pid_cpp.launch | 83 +++ .../test/tracking_pid/tracking_pid_cpp.rviz | 223 +++++++ tracking_pid/trajectories/back_and_forth.yaml | 228 +++++++ tracking_pid/trajectories/coverage.yaml | 228 +++++++ .../trajectories/coverage_actiongoal.yaml | 241 ++++++++ tracking_pid/trajectories/coverage_map.yaml | 228 +++++++ .../coverage_with_orientation.yaml | 109 ++++ tracking_pid/trajectories/double_points.yaml | 245 ++++++++ tracking_pid/trajectories/empty.yaml | 7 + .../trajectories/empty_frame_ids.yaml | 92 +++ tracking_pid/trajectories/test_path.yaml | 92 +++ tracking_pid/trajectories/zigzag.yaml | 143 +++++ tracking_pid/trajectories/zigzag_short.yaml | 75 +++ 67 files changed, 8163 insertions(+) create mode 100644 tracking_pid/CHANGELOG.rst create mode 100644 tracking_pid/CMakeLists.txt create mode 100644 tracking_pid/LICENSE create mode 100644 tracking_pid/README.md create mode 100644 tracking_pid/action/FollowPath.action create mode 100755 tracking_pid/cfg/Pid.cfg create mode 100755 tracking_pid/cfg/TargetVelocity.cfg create mode 100644 tracking_pid/doc/figures/controller.ipe create mode 100644 tracking_pid/doc/figures/controller.png create mode 100644 tracking_pid/doc/figures/flowchart.ipe create mode 100644 tracking_pid/doc/figures/flowchart.png create mode 100644 tracking_pid/doc/figures/motion_planning_diagram.ipe create mode 100644 tracking_pid/doc/figures/motion_planning_diagram.png create mode 100644 tracking_pid/doc/figures/robot_plus_tool.ipe create mode 100644 tracking_pid/doc/figures/robot_plus_tool.png create mode 100644 tracking_pid/doc/figures/rqt_tracking_pid.png create mode 100644 tracking_pid/doc/figures/schematic_config.ipe create mode 100644 tracking_pid/doc/figures/schematic_config.png create mode 100644 tracking_pid/doc/figures/tracking.ipe create mode 100644 tracking_pid/doc/figures/tracking.png create mode 100644 tracking_pid/doc/figures/tracking_base_link.ipe create mode 100644 tracking_pid/doc/figures/tracking_base_link.png create mode 100644 tracking_pid/doc/figures/trajectory.ipe create mode 100644 tracking_pid/include/controller/controller.h create mode 100644 tracking_pid/include/controller/controller_node.h create mode 100644 tracking_pid/maps/grid.png create mode 100644 tracking_pid/maps/grid.yaml create mode 100644 tracking_pid/msg/PidDebug.msg create mode 100644 tracking_pid/msg/error.msg create mode 100644 tracking_pid/msg/traj_point.msg create mode 100644 tracking_pid/msg/trajectory.msg create mode 100755 tracking_pid/nodes/path_interpolator create mode 100644 tracking_pid/package.xml create mode 100644 tracking_pid/setup.py create mode 100644 tracking_pid/src/controller.cpp create mode 100644 tracking_pid/src/controller_node.cpp create mode 100644 tracking_pid/src/tracking_pid/__init__.py create mode 100644 tracking_pid/src/tracking_pid/__pycache__/path_interpolator.cpython-38.pyc create mode 100644 tracking_pid/src/tracking_pid/path_interpolator.py create mode 100644 tracking_pid/src/tracking_pid/path_interpolator.pyc create mode 100644 tracking_pid/test/interpolator/interpolator.rviz create mode 100644 tracking_pid/test/interpolator/test_path_interpolator_action.launch create mode 100644 tracking_pid/test/interpolator/test_path_interpolator_topic.launch create mode 100644 tracking_pid/test/interpolator/test_path_interpolator_topic_empty_frame_ids.launch create mode 100644 tracking_pid/test/test_controller.cpp create mode 100755 tracking_pid/test/test_interpolator.py create mode 100644 tracking_pid/test/test_interpolator.pyc create mode 100755 tracking_pid/test/test_tracking_pid_system.py create mode 100644 tracking_pid/test/tracking_pid/controller.rviz create mode 100644 tracking_pid/test/tracking_pid/param/controllers.yaml create mode 100644 tracking_pid/test/tracking_pid/param/local_costmap_params.yaml create mode 100644 tracking_pid/test/tracking_pid/param/planners.yaml create mode 100644 tracking_pid/test/tracking_pid/test.launch create mode 100644 tracking_pid/test/tracking_pid/test_tracking_pid.test create mode 100644 tracking_pid/test/tracking_pid/test_tracking_pid_cpp.launch create mode 100644 tracking_pid/test/tracking_pid/tracking_pid_cpp.rviz create mode 100644 tracking_pid/trajectories/back_and_forth.yaml create mode 100644 tracking_pid/trajectories/coverage.yaml create mode 100644 tracking_pid/trajectories/coverage_actiongoal.yaml create mode 100644 tracking_pid/trajectories/coverage_map.yaml create mode 100644 tracking_pid/trajectories/coverage_with_orientation.yaml create mode 100644 tracking_pid/trajectories/double_points.yaml create mode 100644 tracking_pid/trajectories/empty.yaml create mode 100644 tracking_pid/trajectories/empty_frame_ids.yaml create mode 100644 tracking_pid/trajectories/test_path.yaml create mode 100644 tracking_pid/trajectories/zigzag.yaml create mode 100644 tracking_pid/trajectories/zigzag_short.yaml diff --git a/tracking_pid/CHANGELOG.rst b/tracking_pid/CHANGELOG.rst new file mode 100644 index 0000000..9d355f7 --- /dev/null +++ b/tracking_pid/CHANGELOG.rst @@ -0,0 +1,48 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package tracking_pid +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +Forthcoming +----------- + +1.0.0 (2019-04-19) +------------------ +* Add Apache 2.0 as license as per ROSIN +* Add backwards compatibility to ROS-Kinetic by overloading planner initialize function. +* Add ~loop param to make interpolator loop +* Deal with 0.0 velocity in Python path_interpolator +* Ported path_interpolator.py/PathInterpolator itself to path_interpolator.cpp and integrating it +* Re-format code according to ROS standard (https://github.com/davetcoleman/roscpp_code_format) +* Contributors: Alaa Alassi, Ferry Schoenmakers, Jasper Verhoeven, Loy van Beek, Mukunda Bharatheesha, Tim Clephas + +0.6.4 (2019-01-03) +------------------ +* Drive backwards when control point is behind robot (negative) +* Deal with paths that have duplicate poses +* Contributors: Loy van Beek, Tim Clephas + +0.6.3 (2018-08-24) +------------------ +* Added dynamic reconfigure parameter for velocity +* Add options for different start-time than current time to allow for faster resuming after paused state +* Do not re-initialise interpolator on every pause callback but only when paused +* Contributors: Tim Clephas + +0.6.2 (2018-07-19) +------------------ +* Publish when the path is done tracking +* The functionality of the Interpolator would also be suitable for an ActionServer, called with a path +* Add node to interpolate nav_msgs/Path and send that to the tracking_pid node +* Added interpolation between data points to allow for paths with data points further apart in time and space +* Add parameter to allow chosing controller frames +* Contributors: Loy van Beek, Tim Clephas, Yuri Steinbuch + +0.1.0 (2017-10-16) +------------------ +* Added backwards driving compatibility to the controller +* Fixed feedforward issue and some improvements in the perf_logger +* Added performance logger wrt to future lifetime tests +* Added general launch file in which desired trajectory can be set. Added dynamic reconfigure for the global_planner to change trajectories online easily +* Bugfixes and dynamic reconfigure of local planner +* Added feedforward actions, improved overall performance, bug fixes +* Contributors: Michiel Francke, Tim Clephas, Yuri Steinbuch diff --git a/tracking_pid/CMakeLists.txt b/tracking_pid/CMakeLists.txt new file mode 100644 index 0000000..9954c7e --- /dev/null +++ b/tracking_pid/CMakeLists.txt @@ -0,0 +1,127 @@ +cmake_minimum_required(VERSION 3.0.2) +project(tracking_pid) +add_compile_options(-std=c++11) + +## Find catkin and any catkin packages +find_package(catkin REQUIRED + COMPONENTS + actionlib + actionlib_msgs + angles + dynamic_reconfigure + geometry_msgs + message_generation + nav_msgs + pluginlib + roscpp + roslib + roslint + rostest + std_msgs + std_srvs + tf + tf2 + tf2_geometry_msgs + tf2_ros + visualization_msgs +) + +catkin_python_setup() + +add_message_files( + FILES + PidDebug.msg + traj_point.msg + trajectory.msg +) + +add_action_files( + DIRECTORY + action + FILES + FollowPath.action +) + +generate_dynamic_reconfigure_options( + cfg/Pid.cfg + cfg/TargetVelocity.cfg +) + +generate_messages( + DEPENDENCIES + actionlib_msgs + geometry_msgs + nav_msgs + std_msgs +) + +## Declare a catkin package +catkin_package( + INCLUDE_DIRS + include + LIBRARIES + ${PROJECT_NAME} + CATKIN_DEPENDS + actionlib + actionlib_msgs + angles + dynamic_reconfigure + geometry_msgs + message_runtime + nav_msgs + roscpp + std_msgs + tf + tf2_geometry_msgs + tf2_ros + visualization_msgs +) + +add_executable(controller src/controller.cpp src/controller_node.cpp) +add_dependencies(controller ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ${${PROJECT_NAME}_EXPORTED_TARGETS}) +target_link_libraries(controller ${catkin_LIBRARIES}) + +add_library(${PROJECT_NAME} src/controller.cpp) +add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}) +target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES}) + +include_directories( + include + ${catkin_INCLUDE_DIRS} +) + +# Configure roslint for nodes + +# Roslint cpp +set(ROSLINT_CPP_OPTS "--filter=-legal/copyright") +roslint_cpp() + +install( + TARGETS + controller + ${PROJECT_NAME} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +) + +install( + DIRECTORY + include/controller + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +) + +catkin_install_python( + PROGRAMS + nodes/path_interpolator + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +if (CATKIN_ENABLE_TESTING) + catkin_add_gtest(test_controller test/test_controller.cpp src/controller.cpp) + add_dependencies(test_controller ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + target_link_libraries(test_controller ${catkin_LIBRARIES}) + + catkin_add_nosetests(test/test_interpolator.py) + + add_rostest(test/${PROJECT_NAME}/test_${PROJECT_NAME}.test) +endif() diff --git a/tracking_pid/LICENSE b/tracking_pid/LICENSE new file mode 100644 index 0000000..261eeb9 --- /dev/null +++ b/tracking_pid/LICENSE @@ -0,0 +1,201 @@ + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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An interpolator moves a goal over a ```nav_msgs/Path``` with a tuneable velocity, and a separate node tracks the given point. + + +One of the tracking options uses a carrot of length l in front of the robot to determine the velocity commands based on the lateral and longitudinal error between current Global Point (GP) and the Control point (CP): + +![Tracking carrot](doc/figures/tracking.png) + +If a smooth path is provided, the controller has the option to track the path with the base_link directly instead of lagging behind a carrot. In this case a Projected Global Point (PGP) is computed as well which is tracked by the CP. In this mode, the yaw error can also be used as control input. + +![Tracking Base Link](doc/figures/tracking_base_link.png) + + +The PID contains three loops: Longitudinal, lateral and angular loops. + +**Keywords:** tracking, pid, local_planner, trajectory + +### License + +Apache 2.0 + +**Author: Michiel Franke, Cesar Lopez** + +**Maintainer: Cesar Lopez, cesar.lopez@nobleo.nl.** + +**Affiliation: [Nobleo Projects](https://www.nobleo.nl)** + + +The tracking_pid package has been tested under [ROS] Melodic and Ubuntu 18.04. + + +## Installation + +### Building from Source + +#### Dependencies + +- [Robot Operating System (ROS)](http://wiki.ros.org) (middleware for robotics), + +#### Building + +To build from source, clone the latest version from this repository into your catkin workspace and compile the package using + + cd catkin_workspace/src + git clone https://github.com/nobleo/tracking_pid.git + cd ../ + catkin_make + +### Unit Tests + +All tests can be run using: + + catkin build tracking_pid --catkin-make-args run_tests + +#### test_controller +Unit test that checks basic tracking functionality of the controller alone + +#### test_interpolator +Unit test that checks interpolation between two poses + +#### test_tracking_pid.test +Ros system test that checks that interpolator + controller drives a robot to track a given path + + +## Usage + +Run the main node: + + roslaunch tracking_pid test_tracking_pid.test rviz:=true + +Or run the tracking node together with a Coverage Path Planner + + roslaunch tracking_pid test_tracking_pid_cpp.launch + + +Both of these depend on: + +[mobile_robot_simulator](https://github.com/mrath/mobile_robot_simulator.git) that integrates /cmd_vel into a /base_link TF-frame and an odometry publisher + + +tracking_pid test_tracking_pid_local_planner_cpp.launch depends on: + +[full_coverage_path_planner](https://github.com/nobleo/full_coverage_path_planner) for CPP global planner + +## Configuring in RQT + +Tracking_pid parameters are all available through (rqt_)dynamic_reconfigure. The main parameters are: + +* **`l`** (float, default: `0.5`); + Following distance from robot's rotational point to trajectory. + +Proportional, Integral and Derivative actions for the three loops: Longitudinal, lateral and angular loops. + +* **`Kp_(loop_name)`** (float); Proportional action gain for loop 'loop_name' +* **`Ki_(loop_name)`** (float); Integral action gain for loop 'loop_name' +* **`Kd_(loop_name)`** (float); Derivative action gain for loop 'loop_name' + +Each loop can be enabled/disabled separately. + +* **`feedback_(loop_name)`** (boolean); Enable feedback loop 'loop_name' + +Moreover, feedforward using trajectory velocity can be enabled/disabled. + +* **`feedforward_(loop_name)`** (boolean); Enable velocity feedforward for loop 'loop_name' + +* **`feedforward_(loop_name)`** (boolean); Enable velocity feedforward for loop 'loop_name' + +Coupling between angular and longitudinal control loops. Longitudinal effort is scaled such that: if angular error is smaller than 'dead_zone_yaw_error_cal' no scaling is applied, if it is greater than 'dead_zone_yaw_error_cal' and smaller than 'max_yaw_error_cal', a scaling from 0-1 is applied, if it is greater than 'max_yaw_error_cal' a scaling of 0 is applied. + +* **`coupling_ang_long`** (boolean); Enable coupling between angular and longitudinal controllers +* **`dead_zone_yaw_error_cal`** (float); Dead zone in yaw error for coupling between angular and longitudinal controllers +* **`max_yaw_error_cal`** (float); Max yaw error for coupling between angular and longitudinal controllers + +The interpolator parameters are also available through (rqt_)dynamic_reconfigure. The main parameters are: + +* **`target_x_vel`** (float); The velocity with which the the goal is moved along the path + +* **`target_x_acc`** (float); Target x acceleration for use in interpolator + +* **`target_yaw_vel`** (float); The velocity with which the goal is moved along the path points with changing yaw + +* **`target_yaw_acc`** (float); Target yaw acceleration for use in interpolator + + +Defaults are shown here + +![RQT reconfigure Tracking PID](doc/figures/rqt_tracking_pid.png) + +## Launch files + +### test/tracking_pid_local_planner/test_tracking_pid_local_planner_cpp.launch + +Runs the Tracking PID local planner in combination with the full_coverage_path_planner global planner. +Mobile_robot_simulator is used to integrate cmd_vel output into TF and odometry. + +Arguments: + +* **`map`**: path to a global costmap. Default: `$(find full_coverage_path_planner)/maps/basement.yaml)` +* **`target_x_vel`**: target x velocity for use in interpolator. Default: `0.5` +* **`target_x_acc`**: target x acceleration for use in interpolator. Default: `0.2` +* **`target_yaw_vel`**: target yaw velocity for use in interpolator. Default: `0.5` +* **`target_yaw_acc`**: target yaw acceleration for use in interpolator. Default: `0.2` +* **`robot_radius`**: radius of the robot for use in the global planner. Default: `0.6` +* **`tool_radius`**: radius of the tool for use in the global planner. Default: `0.2` + + +Start planning and tracking by giving a 2D nav goal. + +### test/test_path_interpolator_topic.launch + +Shows the the use of the path_interpolator. A path is published on /path and a target is moved along the path at a given velocity. +Takes no arguments. +If all is well, an orange sphere should move a back-and-forth path covering a square. + +### test/test_tracking_pid.test + +This launch-file extends test_path_interpolator_topic.launch with the actual tracking_pid controller, wrapped in a node. + +Arguments: + +* **`rviz`**: launch rviz as well?. Default: `false` + +If all is well, a red square moves along a toothed path that covers a square. The square should be followed by the base_link frame. + +## Nodes + +### path_interpolator + +Moves a goal over a path at a given velocity + +#### Subscribed topics + +* **`/path`** ([nav_msgs/Path]) + The path to follow + +* **`/pause`** ([std_msgs/Bool]) + Interpolator stops sending goals when True is received on this topic + +#### Published topics + +* **`/trajectory`** ([tracking_pid/traj_point]) + The control point at the interpolated goal according to the path and desired velocity + +* **`/interpolator_viz`** ([visualization_msgs/Marker]) + A Marker indicating the current interpolated goal along the path + +* **`/trajectory_finished`** ([std_msgs/Bool]) + True is published once when the path is finished + +#### (Static) Parameters + +* **`rate`** (float, default: `50.0`) + How often must the interpolated be calculated and published? + +* **`flip_for_axis`** (float, default: `None`) + When enabled, the desired following distance between robot and control point (published on `/trajectory`) + is inverted when the control point moves backwards along the given axis. + Depending on the robot, this makes the robot drive backwards when moving in the indicated axis. + +### controller + +Command the robot to stay as close to the target as possible given the tuneable PID parameters. + +#### Subscribed Topics + +* **`/trajectory`** ([tracking_pid/traj_point]) + Point along the trajectory the robot should follow. This is the current goal for the robot to move to + +* **`/tf`** ([tf2_msgs/TFMessage]) + The position of the robot wrt. the frame in which the map is received + +#### Published Topics + +* **`/cmd_vel`** ([geometry_msgs/Twist]) + The Twist the robot should realize to move towards the current goal as indicated by `/trajectory`. + +* **`/tf`** ([tf2_msgs/TFMessage]) + The position of the robot wrt. the frame in which the map is received + +* **`/visualization_marker`** ([visualization_msgs/Marker]) + A Marker indicating the current goal the robot is controlled towards + +* **`/debug`** ([tracking_pid/PidDebug]) + Intermediate values of the PID controller. Topic is silent by default, can be enabled via dynamic_reconfigure. + +#### Services + +* **`/enable_control`** ([std_srvs/SetBool]) + + Enables/disables the controller. Usefull when a different node should be taking control of the robot, eg. when station-keeping is no longer needed. + + rosservice call /enable_control "data: true" + +* **`/enable_control_and_wait`** ([std_srvs/SetBool]) + + Enables/disables the controller and wait for a new trakjectory. Usefull when the new trajectory starts at a different location from current robot location. + + rosservice call /enable_control_and_wait "data: true" +#### (Static) Parameters + +* **`subscriber_topic`** (string, default: "/temperature") + +* **`map_frame`** (string, default: `map`); + The map frame in which to operate + +* **`base_link_frame`** (string, default: `base_link`); + The frame to control. The controller operates on the transform between `/map` and `/base_link` + +* **`track_base_link`** (bool, default: `false`); + Should the path be tracked with the base_link? Path yaw data is needed + +* **`loop_rate`** (float, default: `20.0`); + How often the update the controller + +* **`holonomic_robot`** (bool, default: `false`); + True for an holonomic robot. + +* **`enabled_on_boot`** (bool, default: `true`); + Enables the controller when the node is launched + + +## Bugs & Feature Requests + +Please report bugs and request features using the [Issue Tracker](https://github.com/nobleo/tracking_pid/issues). + +[ROS]: http://www.ros.org +[rviz]: http://wiki.ros.org/rviz + +## Acknowledgments + + + + + rosin_logo + + +Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components. +More information: rosin-project.eu + +eu_flag + +This project has received funding from the European Union’s Horizon 2020 +research and innovation programme under grant agreement no. 732287. \ No newline at end of file diff --git a/tracking_pid/action/FollowPath.action b/tracking_pid/action/FollowPath.action new file mode 100644 index 0000000..3002744 --- /dev/null +++ b/tracking_pid/action/FollowPath.action @@ -0,0 +1,7 @@ +#goal definition +nav_msgs/Path path +--- +#result definition +--- +#feedback +float32 progress \ No newline at end of file diff --git a/tracking_pid/cfg/Pid.cfg b/tracking_pid/cfg/Pid.cfg new file mode 100755 index 0000000..fb479ba --- /dev/null +++ b/tracking_pid/cfg/Pid.cfg @@ -0,0 +1,34 @@ +#!/usr/bin/env python3 +PACKAGE = "tracking_pid" + +from dynamic_reconfigure.parameter_generator_catkin import * + +gen = ParameterGenerator() + +gen.add("l", double_t, 0, "Distance between axle and control point", 0, -10, 10) +gen.add("Kp_long", double_t, 0, "Kp Longitudinal", 0.8, 0, 5) +gen.add("Ki_long", double_t, 0, "Ki Longitudinal", 0.1, 0, 2) +gen.add("Kd_long", double_t, 0, "Kd Longitudinal", 0.4, 0, 5) + +gen.add("Kp_lat", double_t, 0, "Kp Lateral", 0.8, 0, 10) +gen.add("Ki_lat", double_t, 0, "Ki Lateral", 0.1, 0, 2) +gen.add("Kd_lat", double_t, 0, "Kd Lateral", 0.4, 0, 10) + +gen.add("Kp_ang", double_t, 0, "Kp Angular", 0, 0, 10) +gen.add("Ki_ang", double_t, 0, "Ki Angular", 0, 0, 2) +gen.add("Kd_ang", double_t, 0, "Kd Angular", 0, 0, 10) + +gen.add("feedback_long", bool_t, 0, "Enable longitudinal feedback?", True) +gen.add("feedback_lat", bool_t, 0, "Enable lateral feedback?", True) +gen.add("feedback_ang", bool_t, 0, "Enable angular feedback?", False) +gen.add("feedforward_long", bool_t, 0, "Enable longitudinal feedforward?", True) +gen.add("feedforward_lat", bool_t, 0, "Enable lateral feedforward?", True) +gen.add("feedforward_ang", bool_t, 0, "Enable angular feedforward?", False) + +gen.add("max_yaw_error_cal", double_t, 0, "Max yaw error for coupling between angular and longitudinal controllers", 0.25, 0, 3.1416) +gen.add("dead_zone_yaw_error_cal", double_t, 0, "Dead zone in yaw error for coupling between angular and longitudinal controllers", 0.06, 0, 3.1416) +gen.add("coupling_ang_long", bool_t, 0, "Enable coupling between angular and longitudinal controllers?", False) + +gen.add("controller_debug_enabled", bool_t, 0, "Debug controller intermediate gains", False) + +exit(gen.generate(PACKAGE, "tracking_pid", "Pid")) diff --git a/tracking_pid/cfg/TargetVelocity.cfg b/tracking_pid/cfg/TargetVelocity.cfg new file mode 100755 index 0000000..257b178 --- /dev/null +++ b/tracking_pid/cfg/TargetVelocity.cfg @@ -0,0 +1,16 @@ +#!/usr/bin/env python3 +PACKAGE = "tracking_pid" + +from dynamic_reconfigure.parameter_generator_catkin import * + +gen = ParameterGenerator() + +gen.add("target_x_vel", double_t, 0, "Target x velocity for the interpolator", 0.5, 1e-9, 10) # Minimum set to small value (not 0) to prevent numerical issues +gen.add("target_x_acc", double_t, 0, "Target x acceleration for the interpolator", 0.2, 1e-9, 100) +gen.add("target_yaw_vel", double_t, 0, "Target angular velocity for the interpolator", 0.5, 1e-9, 10) # Minimum set to small value (not 0) to prevent numerical issues +gen.add("target_yaw_acc", double_t, 0, "Target angular acceleration for the interpolator", 0.2, 1e-9, 100) +# Warning! Currently there are two interpolator versions: +# Stand alone Python script: takes target_x_vel and target_yaw_vel into account +# C++ interpolator to be used when pid is used as a move_base plugin: takes only target_x_vel into account + +exit(gen.generate(PACKAGE, "tracking_pid", "TargetVelocity")) diff --git a/tracking_pid/doc/figures/controller.ipe b/tracking_pid/doc/figures/controller.ipe new file mode 100644 index 0000000..ac6b89c --- /dev/null +++ b/tracking_pid/doc/figures/controller.ipe @@ -0,0 +1,363 @@ + + + + + + + +0 0 m +-1 0.333 l +-1 -0.333 l +h + + + + +0 0 m +-1 0.333 l +-1 -0.333 l +h + + + + +0 0 m +-1 0.333 l +-0.8 0 l +-1 -0.333 l +h + + + + +0 0 m +-1 0.333 l +-0.8 0 l +-1 -0.333 l +h + + + + +0.6 0 0 0.6 0 0 e +0.4 0 0 0.4 0 0 e + + + + +0.6 0 0 0.6 0 0 e + + + + + +0.5 0 0 0.5 0 0 e + + +0.6 0 0 0.6 0 0 e +0.4 0 0 0.4 0 0 e + + + + + +-0.6 -0.6 m +0.6 -0.6 l +0.6 0.6 l +-0.6 0.6 l +h +-0.4 -0.4 m +0.4 -0.4 l +0.4 0.4 l +-0.4 0.4 l +h + + + + +-0.6 -0.6 m +0.6 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+ + +208 672 m +208 720 l + + +336 672 m +384 672 l + + + diff --git a/tracking_pid/include/controller/controller.h b/tracking_pid/include/controller/controller.h new file mode 100644 index 0000000..9b09e21 --- /dev/null +++ b/tracking_pid/include/controller/controller.h @@ -0,0 +1,184 @@ +// +// Created by nobleo on 11-9-18. +// +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#ifndef CONTROLLER_CONTROLLER_H +#define CONTROLLER_CONTROLLER_H + +namespace tracking_pid +{ +enum ControllerMode +{ + frontAxleLateral = 0, + rearAxleLateral = 1, + rearAxleAngular = 2, + fixOrientation = 3, +}; + +class Controller +{ +public: + Controller(); + + /** + * Run one iteration of a PID controller + * @param current Where is the robot now? + * @param goal must the robot go? + * @param sample_time controller sample time + * @param pid_debug variable to store debuging data + * @return direction in which to drive to reduce the error + */ + geometry_msgs::Twist update(const geometry_msgs::Transform current, const tf::Transform goal, + const ros::Duration sample_time, tracking_pid::PidDebug* pid_debug); + geometry_msgs::Twist update(const geometry_msgs::Transform current, const geometry_msgs::Pose goal, + const ros::Duration sample_time, tracking_pid::PidDebug* pid_debug); + + /** + * Select mode for the controller + * @param mode + */ + void selectMode(ControllerMode mode); + + /** + * Set parameters for the PID controller + * @param config + */ + void configure(const tracking_pid::PidConfig& config); + + /** + * Set whether the controller is enabled + * @param value + */ + void setEnabled(bool value); + + /** + * Set whether the robot is holonomic + * @param value + */ + void setHolonomic(bool value); + + /** + * Set whether the robot should track the point with base_link + * @param value + */ + void setTrackBaseLink(bool value); + +protected: + /** + * Output some debug information about the current parameters + */ + void printParameters(); + + // Frame names + std::string map_frame; + std::string base_link_frame; + + double control_effort_long = 0.0; // output of pid controller + double control_effort_lat = 0.0; // output of pid controller + double control_effort_ang = 0.0; // output of pid controller + + bool enabled = true; + bool feedback_long_enabled = false; + bool feedback_lat_enabled = false; + bool feedback_ang_enabled = false; + bool feedforward_long_enabled = false; + bool feedforward_lat_enabled = false; + bool feedforward_ang_enabled = false; + bool holonomic_robot_enable = true; + bool track_base_link_enabled = false; + bool coupling_ang_long_enabled = false; + + // feedforward controller + + double feedforward_long = 0; + double feedforward_lat = 0; + double feedforward_ang = 0; + double xvel = 0.0; + double yvel = 0.0; + double thvel = 0.0; + double theta_cp = 0.0; + + bool debug_enabled = false; + + // Primary feedback controller parameters + double Kp_long = 0.0f; + double Ki_long = 0.0f; + double Kd_long = 0.0f; + double Kp_lat = 0.0f; + double Ki_lat = 0.0f; + double Kd_lat = 0.0f; + double Kp_ang = 0.0f; + double Ki_ang = 0.0f; + double Kd_ang = 0.0f; + double l = 0.0f; + + // Coupling between lat/ang loops and longitudinal loop + double max_yaw_error_cal = 0.0; + double dead_zone_yaw_error_cal = 0.0; + double scale_long_control = 1.0; + + // Cutoff frequency for the derivative calculation in Hz. + // Negative -> Has not been set by the user yet, so use a default. + double cutoff_frequency_long = -1.0f; + double cutoff_frequency_lat = -1.0f; + double cutoff_frequency_ang = -1.0f; + + // Upper and lower saturation limits + double upper_limit = 10.0f; + double lower_limit = -10.0f; + + double ang_upper_limit = 10.0f; + double ang_lower_limit = -10.0f; + + // Anti-windup term. Limits the absolute value of the integral term. + double windup_limit = 1000.0f; + + // Initialize filter data with zeros + std::vector error_long = decltype(error_long)(3, 0); + std::vector filtered_error_long = decltype(filtered_error_long)(3, 0); + std::vector error_deriv_long = decltype(error_deriv_long)(3, 0); + std::vector filtered_error_deriv_long = decltype(filtered_error_deriv_long)(3, 0); + std::vector error_lat = decltype(error_lat)(3, 0); + std::vector filtered_error_lat = decltype(filtered_error_lat)(3, 0); + std::vector error_deriv_lat = decltype(error_deriv_lat)(3, 0); + std::vector filtered_error_deriv_lat = decltype(filtered_error_deriv_lat)(3, 0); + std::vector error_ang = decltype(error_ang)(3, 0); + std::vector filtered_error_ang = decltype(filtered_error_ang)(3, 0); + std::vector error_deriv_ang = decltype(error_deriv_ang)(3, 0); + std::vector filtered_error_deriv_ang = decltype(filtered_error_deriv_ang)(3, 0); + + // Temporary variables + double proportional_long = 0; // proportional term of output + double integral_long = 0; // integral term of output + double derivative_long = 0; // derivative term of output + double proportional_lat = 0; // proportional term of output + double integral_lat = 0; // integral term of output + double derivative_lat = 0; // derivative term of output + double proportional_ang = 0; // proportional term of output + double integral_ang = 0; // integral term of output + double derivative_ang = 0; // derivative term of output + double error_integral_lat = 0; + double error_integral_long = 0; + double error_integral_ang = 0; + + // Used in filter calculations. Default 1.0 corresponds to a cutoff frequency at + // 1/4 of the sample rate. + double c_long = 1.; + double c_lat = 1.; + double c_ang = 1.; + + // Used to check for tan(0)==>NaN in the filter calculation + double tan_filt = 1.; +}; +} // namespace tracking_pid + +#endif // CONTROLLER_CONTROLLER_H diff --git a/tracking_pid/include/controller/controller_node.h b/tracking_pid/include/controller/controller_node.h new file mode 100644 index 0000000..8b8ac1a --- /dev/null +++ b/tracking_pid/include/controller/controller_node.h @@ -0,0 +1,173 @@ +#ifndef CONTROLLER_CONTROLLER_NODE_H +#define CONTROLLER_CONTROLLER_NODE_H + +#include "controller/controller.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +// Declare functions +void trajectory_callback(const tracking_pid::traj_point& goalPoint); +void curOdomCallback(const nav_msgs::Odometry& odom_msg); +void controller(); +void reconfigure_callback(const tracking_pid::PidConfig& config, uint32_t level); +void print_parameters(); +void printPoses(); +double dist2D(double x_err, double y_err); +void controllerSelector(int type); + + +// Generic pose variables +geometry_msgs::Transform tfCurPose; +tf::Transform tfControlPose = tf::Transform::getIdentity(); +tf::Transform tfGoalPose = tf::Transform::getIdentity(); +tf::Transform tfErrorPose = tf::Transform::getIdentity(); +tf::StampedTransform tfMapToOdom; +tf2_ros::Buffer tf_buffer; + +geometry_msgs::Pose controlPose; +geometry_msgs::Pose goalPose; +tracking_pid::traj_point goalPoint; +tf::Vector3 newOrigin; + +// Frame names +std::string map_frame; +std::string base_link_frame; + +// Errors +double error_x = 0; +double error_y = 0; +double error_th = 0; + +// For timing +ros::Time prev_time; +ros::Duration delta_t; + +// Controller output +double control_effort_long = 0.0; // output of pid controller +double control_effort_lat = 0.0; // output of pid controller +double control_effort_ang = 0.0; // output of pid controller +geometry_msgs::Twist output_combined; + +// Controller logic +int controlType = 0; +bool controller_enabled = true; +bool enabled_on_boot = true; +bool waiting_for_setpoint = false; +bool feedback_long_enabled = false; +bool feedback_lat_enabled = false; +bool feedback_ang_enabled = false; +bool feedforward_long_enabled = false; +bool feedforward_lat_enabled = false; +bool feedforward_ang_enabled = false; +bool controller_debug_enabled = false; +bool holonomic_robot = true; +bool track_base_link = false; + + +// Primary feedback controller parameters +double Kp_long = 0, Ki_long = 0, Kd_long = 0; +double Kp_lat = 0, Ki_lat = 0, Kd_lat = 0; +double Kp_ang = 0, Ki_ang = 0, Kd_ang = 0; +double l = 0.0; + +// feedforward controller + +double feedforward_long = 0; +double feedforward_lat = 0; +double feedforward_ang = 0; +double xvel = 0.0; +double yvel = 0.0; +double thvel = 0.0; +double theta_cp = 0.0; + +// Parameters for error calc. with disconinuous input +bool angle_error = false; +double angle_wrap = 2.0 * 3.14159; + +// Cutoff frequency for the derivative calculation in Hz. +// Negative -> Has not been set by the user yet, so use a default. +double cutoff_frequency_long = -1; +double cutoff_frequency_lat = -1; +double cutoff_frequency_ang = -1; + +// Used in filter calculations. Default 1.0 corresponds to a cutoff frequency at +// 1/4 of the sample rate. +double c_long = 1.; +double c_lat = 1.; +double c_ang = 1.; + +// Used to check for tan(0)==>NaN in the filter calculation +double tan_filt = 1.; + +// Upper and lower saturation limits +double upper_limit = 1000, lower_limit = -1000; + +// Anti-windup term. Limits the absolute value of the integral term. +double windup_limit = 1000; + +// Initialize filter data with zeros +std::vector error_long(3, 0), filtered_error_long(3, 0), error_deriv_long(3, 0), + filtered_error_deriv_long(3, 0); +std::vector error_lat(3, 0), filtered_error_lat(3, 0), error_deriv_lat(3, 0), filtered_error_deriv_lat(3, 0); +std::vector error_ang(3, 0), filtered_error_ang(3, 0), error_deriv_ang(3, 0), filtered_error_deriv_ang(3, 0); + +// Temporary variables +double proportional_long = 0; // proportional term of output +double integral_long = 0; // integral term of output +double derivative_long = 0; // derivative term of output +double proportional_lat = 0; // proportional term of output +double integral_lat = 0; // integral term of output +double derivative_lat = 0; // derivative term of output +double proportional_ang = 0; // proportional term of output +double integral_ang = 0; // integral term of output +double derivative_ang = 0; // derivative term of output +double steadySetPointThreshold = 0.01; // Threshold in degrees on the linear velocity output +double error_integral_lat = 0; +double error_integral_long = 0; +double error_integral_ang = 0; +double theta_rp = 0.0; + +// Topic and node names and message objects +ros::Publisher control_effort_pub; +ros::Subscriber sub_trajectory; +// ros::Subscriber subs_odom; +ros::ServiceServer enable_service; +ros::ServiceServer enable_and_wait_service; + +// Debugging of controller +ros::Publisher debug_pub; +// Rviz visualization +ros::Publisher marker_pub; +visualization_msgs::Marker mkCurPose, mkControlPose, mkGoalPose; +geometry_msgs::Point p; + +// For Screen output +std::string topic_from_controller, topic_from_plant, setpoint_topic, pid_enable_topic, node_name = "pid_node"; + +// Diagnostic objects +double min_loop_frequency = 1, max_loop_frequency = 1000; +int measurements_received = 0; + +tracking_pid::Controller pid_controller; + + +#endif // CONTROLLER_CONTROLLER_NODE_H diff --git a/tracking_pid/maps/grid.png b/tracking_pid/maps/grid.png new file mode 100644 index 0000000000000000000000000000000000000000..100ca0c541e68d6cc5534aea646ea1d4db402158 GIT binary patch literal 1217 zcmeAS@N?(olHy`uVBq!ia0y~yVAKI&4mO}jWo=(6kYXuz@(kesf*OvL4j{L})5S5Q zV$R#Uj(&#?1RMg{zWxh0;}-K+vtY}P`<3rm7Hj?7I`zcNt=FoUIV$ekG92*d6q}$J z;n0@ADA~lC!ZElwcgpxbXc%vCeo2=cfr!Xg0ZyTXT5r z*0O#Eer2Mg>sao0hVw?oyWJnKTC9DfbDZsT>#x+bKXNh$2h0-$V`W#v)@$zsA1LAq zrKb94dw2ZCooaz;=D_E(XWj|+J!n1um*ut6ot%2*U+XFG@nOM};)S0C_xIKB<2$&E z!Q5o|22~cylNh=OExrYR1*LVq$Fpvo=K?3-$1`*vMrD8JI50UfaWLjjL~$X1ztJpV Ux{2Z%V41|=>FVdQ&MBb@0GaK6TL1t6 literal 0 HcmV?d00001 diff --git a/tracking_pid/maps/grid.yaml b/tracking_pid/maps/grid.yaml new file mode 100644 index 0000000..f97769b --- /dev/null +++ b/tracking_pid/maps/grid.yaml @@ -0,0 +1,6 @@ +image: grid.png +resolution: 0.05 +origin: [-5, -5, 0.0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/tracking_pid/msg/PidDebug.msg b/tracking_pid/msg/PidDebug.msg new file mode 100644 index 0000000..848e70e --- /dev/null +++ b/tracking_pid/msg/PidDebug.msg @@ -0,0 +1,7 @@ +geometry_msgs/Twist error +geometry_msgs/Twist proportional +geometry_msgs/Twist integral +geometry_msgs/Twist derivative +geometry_msgs/Twist feedforward +geometry_msgs/Twist raw_error +float32 scale_long_control diff --git a/tracking_pid/msg/error.msg b/tracking_pid/msg/error.msg new file mode 100644 index 0000000..67a80a7 --- /dev/null +++ b/tracking_pid/msg/error.msg @@ -0,0 +1,4 @@ +# Message containing a translational and angular error related to setpoint tracking +std_msgs/Float64 time +std_msgs/Float64 distance +std_msgs/Float64 angle diff --git a/tracking_pid/msg/traj_point.msg b/tracking_pid/msg/traj_point.msg new file mode 100644 index 0000000..bdc8db3 --- /dev/null +++ b/tracking_pid/msg/traj_point.msg @@ -0,0 +1,5 @@ +std_msgs/Float64 time +std_msgs/Int8 controller +geometry_msgs/PoseStamped pose +geometry_msgs/Twist velocity +geometry_msgs/Twist acceleration diff --git a/tracking_pid/msg/trajectory.msg b/tracking_pid/msg/trajectory.msg new file mode 100644 index 0000000..e35b48c --- /dev/null +++ b/tracking_pid/msg/trajectory.msg @@ -0,0 +1,5 @@ +#An array of poses, velocities and accelerations that represents a trajectory +Header header +uint32 traj_id +traj_point[] points + diff --git a/tracking_pid/nodes/path_interpolator b/tracking_pid/nodes/path_interpolator new file mode 100755 index 0000000..5ed7086 --- /dev/null +++ b/tracking_pid/nodes/path_interpolator @@ -0,0 +1,16 @@ +#!/usr/bin/env python + +"""Accept a ROS navmsgs/Path and publish traj_point to tracking_pid interpolated along the given Path""" + +import rospy +from tracking_pid.path_interpolator import InterpolatorNode + + +if __name__ == "__main__": + rospy.init_node("path_interpolator") + try: + interpolator_node = InterpolatorNode() + except rospy.ROSInterruptException: + pass + + rospy.spin() diff --git a/tracking_pid/package.xml b/tracking_pid/package.xml new file mode 100644 index 0000000..a0086ed --- /dev/null +++ b/tracking_pid/package.xml @@ -0,0 +1,46 @@ + + + + + tracking_pid + 2.2.0 + PID controller following a moving carrot + + Cesar Lopez + + Michiel Francke + Cesar Lopez + + Apache 2.0 + + catkin + python-setuptools + python3-setuptools + message_generation + roslint + rostest + message_runtime + actionlib + actionlib_msgs + angles + dynamic_reconfigure + geometry_msgs + nav_msgs + pluginlib + roscpp + roslib + std_msgs + std_srvs + tf2 + tf2_geometry_msgs + tf2_ros + tf + visualization_msgs + message_runtime + nav_core + mobile_robot_simulator + rosunit + + diff --git a/tracking_pid/setup.py b/tracking_pid/setup.py new file mode 100644 index 0000000..f9588f8 --- /dev/null +++ b/tracking_pid/setup.py @@ -0,0 +1,11 @@ +#!/usr/bin/env python + +from catkin_pkg.python_setup import generate_distutils_setup +from setuptools import setup + +d = generate_distutils_setup( + packages=['tracking_pid'], + package_dir={'': 'src'} +) + +setup(**d) diff --git a/tracking_pid/src/controller.cpp b/tracking_pid/src/controller.cpp new file mode 100644 index 0000000..3c74695 --- /dev/null +++ b/tracking_pid/src/controller.cpp @@ -0,0 +1,475 @@ +// +// Created by nobleo on 11-9-18. +// + +#include "controller/controller.h" + +namespace tracking_pid +{ +Controller::Controller() +{ + holonomic_robot_enable = true; +} + +geometry_msgs::Twist Controller::update(const geometry_msgs::Transform current, const tf::Transform goal, + const ros::Duration sample_time, tracking_pid::PidDebug* pid_debug) +{ + // Compute location of the point to be controlled + double theta_rp = tf::getYaw(current.rotation); + tf::Vector3 newOrigin; + newOrigin.setX(current.translation.x + l * cos(theta_rp)); + newOrigin.setY(current.translation.y + l * sin(theta_rp)); + newOrigin.setZ(0); + tf::Transform newCurrent; + newCurrent.setOrigin(newOrigin); + tf::Quaternion cur_rot(current.rotation.x, current.rotation.y, current.rotation.z, current.rotation.w); + newCurrent.setRotation(cur_rot); + + tf::Transform newGoal; + if (track_base_link_enabled) + { + double theta_goal = tf::getYaw(goal.getRotation()); + tf::Vector3 newGoalOrigin; + newGoalOrigin.setX(goal.getOrigin().x() + l * cos(theta_goal)); + newGoalOrigin.setY(goal.getOrigin().y() + l * sin(theta_goal)); + newGoalOrigin.setZ(0); + newGoal.setOrigin(newGoalOrigin); + newGoal.setRotation(goal.getRotation()); + } + else + { + newGoal = goal; + } + // Compute errorPose between controlPose and goalPose + tf::Transform error = newCurrent.inverseTimes(newGoal); + + // Populate debug.raw_error output (used by boat_controller) + pid_debug->raw_error.linear.x = error.getOrigin().x(); + pid_debug->raw_error.linear.y = error.getOrigin().y(); + pid_debug->raw_error.linear.z = 0; + pid_debug->raw_error.angular.x = 0; + pid_debug->raw_error.angular.y = 0; + pid_debug->raw_error.angular.z = atan2(error.getOrigin().y(), error.getOrigin().x()); + + //***** Feedback control *****// + if (!((Kp_long <= 0. && Ki_long <= 0. && Kd_long <= 0.) || + (Kp_long >= 0. && Ki_long >= 0. && Kd_long >= 0.))) // All 3 gains should have the same sign + ROS_WARN("All three gains (Kp, Ki, Kd) should have the same sign for stability."); + if (!((Kp_lat <= 0. && Ki_lat <= 0. && Kd_lat <= 0.) || + (Kp_lat >= 0. && Ki_lat >= 0. && Kd_lat >= 0.))) // All 3 gains should have the same sign + ROS_WARN("All three gains (Kp, Ki, Kd) should have the same sign for stability."); + if (!((Kp_ang <= 0. && Ki_ang <= 0. && Kd_ang <= 0.) || + (Kp_ang >= 0. && Ki_ang >= 0. && Kd_ang >= 0.))) // All 3 gains should have the same sign + ROS_WARN("All three gains (Kp, Ki, Kd) should have the same sign for stability."); + + error_long.at(2) = error_long.at(1); + error_long.at(1) = error_long.at(0); + error_long.at(0) = error.getOrigin().x(); // Current error goes to slot 0 + error_lat.at(2) = error_lat.at(1); + error_lat.at(1) = error_lat.at(0); + error_lat.at(0) = error.getOrigin().y(); // Current error goes to slot 0 + error_ang.at(2) = error_ang.at(1); + error_ang.at(1) = error_ang.at(0); + + + tf::Transform origin; + tf::transformMsgToTF(current, origin); + tf::Transform error_ang_tf = origin.inverseTimes(newGoal); + // Current error goes to slot 0 + error_ang.at(0) = angles::normalize_angle(atan2(error_ang_tf.getOrigin().y(), error_ang_tf.getOrigin().x())); + + + // Populate debug output + pid_debug->error.linear.x = error_long.at(0); + pid_debug->error.linear.y = error_lat.at(0); + pid_debug->error.angular.z = error_ang.at(0); + + // integrate the error + error_integral_long += error_long.at(0) * sample_time.toSec(); + error_integral_lat += error_lat.at(0) * sample_time.toSec(); + error_integral_ang += error_ang.at(0) * sample_time.toSec(); + + // Apply windup limit to limit the size of the integral term + if (error_integral_long > fabsf(windup_limit)) + error_integral_long = fabsf(windup_limit); + if (error_integral_long < -fabsf(windup_limit)) + error_integral_long = -fabsf(windup_limit); + if (error_integral_lat > fabsf(windup_limit)) + error_integral_lat = fabsf(windup_limit); + if (error_integral_lat < -fabsf(windup_limit)) + error_integral_lat = -fabsf(windup_limit); + if (error_integral_ang > fabsf(windup_limit)) + error_integral_ang = fabsf(windup_limit); + if (error_integral_ang < -fabsf(windup_limit)) + error_integral_ang = -fabsf(windup_limit); + + // My filter reference was Julius O. Smith III, Intro. to Digital Filters With Audio Applications. + if (cutoff_frequency_long != -1) + { + // Check if tan(_) is really small, could cause c = NaN + tan_filt = tan((cutoff_frequency_long * 6.2832) * sample_time.toSec() / 2); + + // Avoid tan(0) ==> NaN + if ((tan_filt <= 0.) && (tan_filt > -0.01)) + tan_filt = -0.01; + if ((tan_filt >= 0.) && (tan_filt < 0.01)) + tan_filt = 0.01; + + c_long = 1 / tan_filt; + } + if (cutoff_frequency_lat != -1) + { + // Check if tan(_) is really small, could cause c = NaN + tan_filt = tan((cutoff_frequency_lat * 6.2832) * sample_time.toSec() / 2); + + // Avoid tan(0) ==> NaN + if ((tan_filt <= 0.) && (tan_filt > -0.01)) + tan_filt = -0.01; + if ((tan_filt >= 0.) && (tan_filt < 0.01)) + tan_filt = 0.01; + + c_lat = 1 / tan_filt; + } + if (cutoff_frequency_ang != -1) + { + // Check if tan(_) is really small, could cause c = NaN + tan_filt = tan((cutoff_frequency_ang * 6.2832) * sample_time.toSec() / 2); + + // Avoid tan(0) ==> NaN + if ((tan_filt <= 0.) && (tan_filt > -0.01)) + tan_filt = -0.01; + if ((tan_filt >= 0.) && (tan_filt < 0.01)) + tan_filt = 0.01; + + c_ang = 1 / tan_filt; + } + + filtered_error_long.at(2) = filtered_error_long.at(1); + filtered_error_long.at(1) = filtered_error_long.at(0); + filtered_error_long.at(0) = (1 / (1 + c_long * c_long + 1.414 * c_long)) * + (error_long.at(2) + 2 * error_long.at(1) + error_long.at(0) - + (c_long * c_long - 1.414 * c_long + 1) * filtered_error_long.at(2) - + (-2 * c_long * c_long + 2) * filtered_error_long.at(1)); + + filtered_error_lat.at(2) = filtered_error_lat.at(1); + filtered_error_lat.at(1) = filtered_error_lat.at(0); + filtered_error_lat.at(0) = + (1 / (1 + c_lat * c_lat + 1.414 * c_lat)) * (error_lat.at(2) + 2 * error_lat.at(1) + error_lat.at(0) - + (c_lat * c_lat - 1.414 * c_lat + 1) * filtered_error_lat.at(2) - + (-2 * c_lat * c_lat + 2) * filtered_error_lat.at(1)); + + filtered_error_ang.at(2) = filtered_error_ang.at(1); + filtered_error_ang.at(1) = filtered_error_ang.at(0); + filtered_error_ang.at(0) = + (1 / (1 + c_ang * c_ang + 1.414 * c_ang)) * (error_ang.at(2) + 2 * error_ang.at(1) + error_ang.at(0) - + (c_ang * c_ang - 1.414 * c_ang + 1) * filtered_error_ang.at(2) - + (-2 * c_ang * c_ang + 2) * filtered_error_ang.at(1)); + + // Take derivative of error, first the raw unfiltered data: + error_deriv_long.at(2) = error_deriv_long.at(1); + error_deriv_long.at(1) = error_deriv_long.at(0); + error_deriv_long.at(0) = (error_long.at(0) - error_long.at(1)) / sample_time.toSec(); + filtered_error_deriv_long.at(2) = filtered_error_deriv_long.at(1); + filtered_error_deriv_long.at(1) = filtered_error_deriv_long.at(0); + filtered_error_deriv_long.at(0) = (1 / (1 + c_long * c_long + 1.414 * c_long)) * + (error_deriv_long.at(2) + 2 * error_deriv_long.at(1) + error_deriv_long.at(0) - + (c_long * c_long - 1.414 * c_long + 1) * filtered_error_deriv_long.at(2) - + (-2 * c_long * c_long + 2) * filtered_error_deriv_long.at(1)); + + error_deriv_lat.at(2) = error_deriv_lat.at(1); + error_deriv_lat.at(1) = error_deriv_lat.at(0); + error_deriv_lat.at(0) = (error_lat.at(0) - error_lat.at(1)) / sample_time.toSec(); + filtered_error_deriv_lat.at(2) = filtered_error_deriv_lat.at(1); + filtered_error_deriv_lat.at(1) = filtered_error_deriv_lat.at(0); + filtered_error_deriv_lat.at(0) = (1 / (1 + c_lat * c_lat + 1.414 * c_lat)) * + (error_deriv_lat.at(2) + 2 * error_deriv_lat.at(1) + error_deriv_lat.at(0) - + (c_lat * c_lat - 1.414 * c_lat + 1) * filtered_error_deriv_lat.at(2) - + (-2 * c_lat * c_lat + 2) * filtered_error_deriv_lat.at(1)); + + error_deriv_ang.at(2) = error_deriv_ang.at(1); + error_deriv_ang.at(1) = error_deriv_ang.at(0); + error_deriv_ang.at(0) = (error_ang.at(0) - error_ang.at(1)) / sample_time.toSec(); + filtered_error_deriv_ang.at(2) = filtered_error_deriv_ang.at(1); + filtered_error_deriv_ang.at(1) = filtered_error_deriv_ang.at(0); + filtered_error_deriv_ang.at(0) = (1 / (1 + c_ang * c_ang + 1.414 * c_ang)) * + (error_deriv_ang.at(2) + 2 * error_deriv_ang.at(1) + error_deriv_ang.at(0) - + (c_ang * c_ang - 1.414 * c_ang + 1) * filtered_error_deriv_ang.at(2) - + (-2 * c_ang * c_ang + 2) * filtered_error_deriv_ang.at(1)); + + // calculate the control effort + proportional_long = Kp_long * filtered_error_long.at(0); + integral_long = Ki_long * error_integral_long; + derivative_long = Kd_long * filtered_error_deriv_long.at(0); + + proportional_lat = Kp_lat * filtered_error_lat.at(0); + integral_lat = Ki_lat * error_integral_lat; + derivative_lat = Kd_lat * filtered_error_deriv_lat.at(0); + + proportional_ang = Kp_ang * filtered_error_ang.at(0); + integral_ang = Ki_ang * error_integral_ang; + derivative_ang = Kd_ang * filtered_error_deriv_ang.at(0); + + // Populate debug output + pid_debug->proportional.linear.x = proportional_long; + pid_debug->proportional.linear.y = proportional_lat; + pid_debug->proportional.angular.z = proportional_ang; + + pid_debug->integral.linear.x = integral_long; + pid_debug->integral.linear.y = integral_lat; + pid_debug->integral.angular.z = integral_ang; + + pid_debug->derivative.linear.x = derivative_long; + pid_debug->derivative.linear.y = derivative_lat; + pid_debug->derivative.angular.z = derivative_ang; + + // //***** Feedforward control *****// + // // Transform trajectory velocities from map frame to control-point frame + // theta_cp = tf::getYaw(tfControlPose.getRotation()); + // xvel = cos(theta_cp) * goalPoint.velocity.x + sin(theta_cp) * goalPoint.velocity.y; + // yvel = -sin(theta_cp) * goalPoint.velocity.x + cos(theta_cp) * goalPoint.velocity.y; + // thvel = goalPoint.velocity.z; + // feedforward_long = xvel; + // feedforward_lat = yvel; + // feedforward_ang = thvel; + + // Populate debug output + pid_debug->feedforward.linear.x = feedforward_long; + pid_debug->feedforward.linear.y = feedforward_lat; + pid_debug->feedforward.angular.z = feedforward_ang; + + //***** Overall control *****// + // Controller logic && overall control effort + control_effort_long = 0; + control_effort_lat = 0; + control_effort_ang = 0; + if (feedback_long_enabled) + control_effort_long = control_effort_long + proportional_long + integral_long + derivative_long; + if (feedforward_long_enabled) + control_effort_long = control_effort_long + feedforward_long; + if (feedback_lat_enabled) + control_effort_lat = control_effort_lat + proportional_lat + integral_lat + derivative_lat; + if (feedforward_lat_enabled) + control_effort_lat = control_effort_lat + feedforward_lat; + if (feedback_ang_enabled) + control_effort_ang = control_effort_ang + proportional_ang + integral_ang + derivative_ang; + if (feedforward_ang_enabled) + control_effort_ang = control_effort_ang + feedforward_ang; + + // Apply saturation limits + if (control_effort_long > upper_limit) + control_effort_long = upper_limit; + else if (control_effort_long < lower_limit) + control_effort_long = lower_limit; + + if (control_effort_lat > upper_limit) + control_effort_lat = upper_limit; + else if (control_effort_lat < lower_limit) + control_effort_lat = lower_limit; + + if (control_effort_ang > ang_upper_limit) + control_effort_ang = ang_upper_limit; + else if (control_effort_ang < ang_lower_limit) + control_effort_ang = ang_lower_limit; + + + // Couple angular loop with forwards loop + if (coupling_ang_long_enabled) + { + double scale_long_control_1min = (fabs(error_ang.at(0)) - dead_zone_yaw_error_cal) + / (max_yaw_error_cal - dead_zone_yaw_error_cal); + if (scale_long_control_1min < 0.0) scale_long_control_1min = 0.0; + if (scale_long_control_1min > 1.0) scale_long_control_1min = 1.0; + scale_long_control = 1.0 - scale_long_control_1min; + } + else + { + scale_long_control = 1.0; + } + + + pid_debug->scale_long_control = scale_long_control; + + geometry_msgs::Twist output_combined; + // Generate twist message + if (holonomic_robot_enable) + { ROS_INFO("Hi"); + output_combined.linear.x = scale_long_control * control_effort_long; + output_combined.linear.y = control_effort_lat; + output_combined.linear.z = 0; + output_combined.angular.x = 0; + output_combined.angular.y = 0; + output_combined.angular.z = control_effort_ang; + } + else + { ROS_INFO("BYe"); + output_combined.linear.x = scale_long_control * control_effort_long; + output_combined.linear.y = 0; + output_combined.linear.z = 0; + output_combined.angular.x = 0; + output_combined.angular.y = 0; + output_combined.angular.z = + copysign(1.0, l) * control_effort_ang; // Take the sign of l for the lateral control effort + } + + // Publish control effort if controller enabled + if (!enabled) // Do nothing and reset integral action + { + error_integral_long = 0.0; + error_integral_lat = 0.0; + error_integral_ang = 0.0; + } + // ROS_INFO("errors (in cm/deg): (%.2f, %.2f, %.2f)", error_x*100, error_y*100,error_th); + return output_combined; +} + +geometry_msgs::Twist Controller::update(const geometry_msgs::Transform current, const geometry_msgs::Pose goal, + const ros::Duration sample_time, tracking_pid::PidDebug* pid_debug) +{ + tf::Pose tfGoal; + tf::poseMsgToTF(goal, tfGoal); + return update(current, (tf::Transform)tfGoal, sample_time, pid_debug); +} + +void Controller::selectMode(ControllerMode mode) +{ + switch (mode) + { + case ControllerMode::frontAxleLateral: + // Front axle lateral controller (default) + l = 0.5; + feedback_long_enabled = true; + feedback_lat_enabled = true; + feedback_ang_enabled = false; + feedforward_long_enabled = true; + feedforward_lat_enabled = true; + feedforward_ang_enabled = false; + break; + case ControllerMode::rearAxleLateral: + // Rear axle lateral control + l = 0.0; // To prevent singular configuration + feedback_long_enabled = true; + feedback_lat_enabled = true; + feedback_ang_enabled = false; + feedforward_long_enabled = true; + feedforward_lat_enabled = true; + feedforward_ang_enabled = false; + break; + case ControllerMode::rearAxleAngular: + // Rear axle angular controller + l = 0.0; + feedback_long_enabled = true; + feedback_lat_enabled = false; + feedback_ang_enabled = true; + feedforward_long_enabled = false; + feedforward_lat_enabled = false; + feedforward_ang_enabled = false; + break; + case ControllerMode::fixOrientation: + // Fix orientation controller + l = 0.0; + feedback_long_enabled = false; + feedback_lat_enabled = false; + feedback_ang_enabled = true; + feedforward_long_enabled = false; + feedforward_lat_enabled = false; + feedforward_ang_enabled = true; + break; + } + + printParameters(); +} + +void Controller::printParameters() +{ + ROS_INFO("CONTROLLER PARAMETERS"); + ROS_INFO("-----------------------------------------"); + ROS_INFO("Controller enabled: %i", enabled); + ROS_INFO("Controller DEBUG enabled: %i", debug_enabled); + ROS_INFO("Distance L: %f", l); + ROS_INFO("Feedback (long, lat, ang): (%i, %i, %i)", feedback_long_enabled, feedback_lat_enabled, + feedback_ang_enabled); + ROS_INFO("Feedforward (long, lat, ang): (%i, %i, %i)", feedforward_long_enabled, feedforward_lat_enabled, + feedforward_ang_enabled); + ROS_INFO("Longitudinal gains: (Kp: %f, Ki, %f, Kd, %f)", Kp_long, Ki_long, Kd_long); + ROS_INFO("Lateral gains: (Kp: %f, Ki, %f, Kd, %f)", Kp_lat, Ki_lat, Kd_lat); + ROS_INFO("Angular gains: (Kp: %f, Ki, %f, Kd, %f)", Kp_ang, Ki_ang, Kd_ang); + + ROS_INFO("Robot type (holonomic): (%i)", holonomic_robot_enable); + + ROS_INFO("Track base link: (%i)", track_base_link_enabled); + + if (cutoff_frequency_long == -1) // If the cutoff frequency was not specified by the user + ROS_INFO("LPF cutoff frequency: 1/4 of sampling rate"); + else + ROS_INFO("LPF cutoff frequency: %f", cutoff_frequency_long); + + ROS_INFO("Integral-windup limit: %f", windup_limit); + ROS_INFO("Saturation limits xy: %f/%f", upper_limit, lower_limit); + ROS_INFO("Saturation limits ang: %f/%f", ang_upper_limit, ang_lower_limit); + ROS_INFO("map frame: %s", map_frame.c_str()); + ROS_INFO("base_link frame: %s", base_link_frame.c_str()); + ROS_INFO("-----------------------------------------"); +} + +void Controller::configure(const tracking_pid::PidConfig& config) +{ + // Erase all queues when config changes + std::fill(error_long.begin(), error_long.end(), 0); + std::fill(filtered_error_long.begin(), filtered_error_long.end(), 0); + std::fill(error_deriv_long.begin(), error_deriv_long.end(), 0); + std::fill(filtered_error_deriv_long.begin(), filtered_error_deriv_long.end(), 0); + + std::fill(error_lat.begin(), error_lat.end(), 0); + std::fill(filtered_error_lat.begin(), filtered_error_lat.end(), 0); + std::fill(error_deriv_lat.begin(), error_deriv_lat.end(), 0); + std::fill(filtered_error_deriv_lat.begin(), filtered_error_deriv_lat.end(), 0); + + std::fill(error_ang.begin(), error_ang.end(), 0); + std::fill(filtered_error_ang.begin(), filtered_error_ang.end(), 0); + std::fill(error_deriv_ang.begin(), error_deriv_ang.end(), 0); + std::fill(filtered_error_deriv_ang.begin(), filtered_error_deriv_ang.end(), 0); + + Kp_long = config.Kp_long; + Ki_long = config.Ki_long; + Kd_long = config.Kd_long; + Kp_lat = config.Kp_lat; + Ki_lat = config.Ki_lat; + Kd_lat = config.Kd_lat; + Kp_ang = config.Kp_ang; + Ki_ang = config.Ki_ang; + Kd_ang = config.Kd_ang; + + l = config.l; + debug_enabled = config.controller_debug_enabled; + feedforward_long_enabled = config.feedforward_long; + feedforward_lat_enabled = config.feedforward_lat; + feedforward_ang_enabled = config.feedforward_ang; + feedback_long_enabled = config.feedback_long; + feedback_lat_enabled = config.feedback_lat; + feedback_ang_enabled = config.feedback_ang; + + max_yaw_error_cal = config.max_yaw_error_cal; + dead_zone_yaw_error_cal = config.dead_zone_yaw_error_cal; + coupling_ang_long_enabled = config.coupling_ang_long; + + printParameters(); +} + +void Controller::setEnabled(bool value) +{ + ROS_DEBUG("Controller::setEnabled(%d)", value); + enabled = value; +} + +void Controller::setHolonomic(bool value) +{ + ROS_DEBUG("Controller::setHolonomic(%d)", value); + holonomic_robot_enable = value; +} +void Controller::setTrackBaseLink(bool value) +{ + ROS_DEBUG("Controller::setTrackBaseLink(%d)", value); + track_base_link_enabled = value; +} + +} // namespace tracking_pid diff --git a/tracking_pid/src/controller_node.cpp b/tracking_pid/src/controller_node.cpp new file mode 100644 index 0000000..f85e0d6 --- /dev/null +++ b/tracking_pid/src/controller_node.cpp @@ -0,0 +1,228 @@ +// Subscribe to a topic about the state of a dynamic system and calculate feedback to +// stabilize it. + +#include "controller/controller_node.h" +#include +#include +#include +#include + + +void publishMarkers() +{ + p.x = tfCurPose.translation.x; + p.y = tfCurPose.translation.y; + p.z = tfCurPose.translation.z; + mkCurPose.points.push_back(p); + + p.x = tfControlPose.getOrigin().x(); + p.y = tfControlPose.getOrigin().y(); + p.z = tfControlPose.getOrigin().z(); + mkControlPose.points.push_back(p); + + p.x = tfGoalPose.getOrigin().x(); + p.y = tfGoalPose.getOrigin().y(); + p.z = tfGoalPose.getOrigin().z(); + mkGoalPose.points[0] = p; + + marker_pub.publish(mkCurPose); + marker_pub.publish(mkControlPose); + marker_pub.publish(mkGoalPose); +} + +bool enableCallback(std_srvs::SetBool::Request& req, // NOLINT + std_srvs::SetBool::Response& res) // NOLINT +{ + controller_enabled = req.data; + waiting_for_setpoint = false; + // TODO(Nobleo): Add wait dfor new Setp + pid_controller.setEnabled(controller_enabled); + res.success = true; + if (controller_enabled) + res.message = "Controller enabled"; + else + res.message = "Controller disabled"; + return true; +} + +bool enableAndWaitCallback(std_srvs::SetBool::Request& req, // NOLINT + std_srvs::SetBool::Response& res) // NOLINT +{ + controller_enabled = req.data; + waiting_for_setpoint = true; + // TODO(Nobleo): Add wait dfor new Setp + pid_controller.setEnabled(controller_enabled); + res.success = true; + if (controller_enabled) + res.message = "Controller enabled. Wait for Trajectory"; + else + res.message = "Controller disabled"; + return true; +} + +void trajectory_callback(const tracking_pid::traj_point& goalPointMsg) +{ + goalPoint = goalPointMsg; + try + { + goalPoint.pose = tf_buffer.transform(goalPoint.pose, map_frame); + waiting_for_setpoint = false; + } + catch (tf::TransformException &ex) + { + ROS_ERROR("%s", ex.what()); + return; + } + tfGoalPose = tf::Transform( + tf::Quaternion(goalPoint.pose.pose.orientation.x, goalPoint.pose.pose.orientation.y, + goalPoint.pose.pose.orientation.z, goalPoint.pose.pose.orientation.w), + tf::Vector3(goalPoint.pose.pose.position.x, goalPoint.pose.pose.position.y, goalPoint.pose.pose.position.z)); + if (goalPoint.controller.data != controlType) + { + controlType = goalPoint.controller.data; + pid_controller.selectMode((tracking_pid::ControllerMode)controlType); + } +} + +void poseCallback() +{ + try + { + tf_buffer.canTransform(base_link_frame, map_frame, ros::Time(0), ros::Duration(10.0)); + } + catch (tf2::TransformException ex) + { + ROS_ERROR("Received an exception trying to transform: %s", ex.what()); + } + + // calculate delta_t + if (!prev_time.isZero()) // Not first time through the program + { + delta_t = ros::Time::now() - prev_time; + prev_time = ros::Time::now(); + if (0 == delta_t.toSec()) + { + ROS_ERROR("delta_t is 0, skipping this loop. Possible overloaded cpu at time: %f", ros::Time::now().toSec()); + return; + } + } + else + { + ROS_DEBUG("prev_time is 0, doing nothing"); + prev_time = ros::Time::now(); + return; + } + + if (!waiting_for_setpoint) + { + geometry_msgs::Twist cmd_vel; + tracking_pid::PidDebug pid_debug; + geometry_msgs::TransformStamped tfCurPoseStamped; + tfCurPoseStamped = tf_buffer.lookupTransform(map_frame, base_link_frame, ros::Time(0)); + tfCurPose = tfCurPoseStamped.transform; + cmd_vel = pid_controller.update(tfCurPose, tfGoalPose, delta_t, &pid_debug); + + if (controller_enabled) + { + control_effort_pub.publish(cmd_vel); + } + + if (controller_debug_enabled) + { + debug_pub.publish(pid_debug); + } + } +} + +void reconfigure_callback(const tracking_pid::PidConfig& config) +{ + pid_controller.configure(config); + controller_debug_enabled = config.controller_debug_enabled; +} + +int main(int argc, char** argv) +{ + // Initialize ROS + ros::init(argc, argv, "pid_controller"); + ros::NodeHandle node; + ros::NodeHandle node_priv("~"); + + // Get params if specified in launch file or as params on command-line, set defaults + node_priv.param("map_frame", map_frame, "map"); + node_priv.param("base_link_frame", base_link_frame, "base_link"); + node_priv.param("holonomic_robot", holonomic_robot, true); + pid_controller.setHolonomic(holonomic_robot); + node_priv.param("track_base_link", track_base_link, false); + pid_controller.setTrackBaseLink(track_base_link); + node_priv.param("enabled_on_boot", enabled_on_boot, true); + controller_enabled = enabled_on_boot; + waiting_for_setpoint = true; + + // instantiate publishers & subscribers + control_effort_pub = node.advertise("move_base/cmd_vel", 1); + sub_trajectory = node.subscribe("local_trajectory", 1, trajectory_callback); + enable_service = node.advertiseService("enable_control", enableCallback); + enable_and_wait_service = node.advertiseService("enable_control_and_wait", enableAndWaitCallback); + + marker_pub = node.advertise("visualization_marker", 1); + + debug_pub = node.advertise("debug", 1); + + // configure dynamic reconfiguration + dynamic_reconfigure::Server config_server; + dynamic_reconfigure::Server::CallbackType f; + f = boost::bind(&reconfigure_callback, _1); + config_server.setCallback(f); + + // configure rviz visualization + mkCurPose.header.frame_id = mkControlPose.header.frame_id = mkGoalPose.header.frame_id = map_frame; + mkCurPose.header.stamp = mkControlPose.header.stamp = mkGoalPose.header.stamp = ros::Time::now(); + mkCurPose.ns = "axle point"; + mkControlPose.ns = "control point"; + mkGoalPose.ns = "goal point"; + mkCurPose.action = mkControlPose.action = mkGoalPose.action = visualization_msgs::Marker::ADD; + mkCurPose.pose.orientation.w = mkControlPose.pose.orientation.w = mkGoalPose.pose.orientation.w = 1.0; + mkCurPose.id = 0; + mkControlPose.id = 1; + mkGoalPose.id = 2; + mkCurPose.type = mkControlPose.type = mkGoalPose.type = visualization_msgs::Marker::POINTS; + mkCurPose.scale.x = 0.1; + mkCurPose.scale.y = 0.1; + mkControlPose.scale.x = 0.02; + mkControlPose.scale.y = 0.02; + mkGoalPose.scale.x = 0.1; + mkGoalPose.scale.y = 0.1; + mkCurPose.color.b = 1.0; + mkCurPose.color.a = 1.0; + mkControlPose.color.g = 1.0f; + mkControlPose.color.a = 1.0; + mkGoalPose.color.r = 1.0; + mkGoalPose.color.a = 1.0; + mkGoalPose.points.resize(1); + + tf2_ros::TransformListener tf_listener(tf_buffer); + + double loop_rate; + node_priv.param("loop_rate", loop_rate, 20.0); + ros::Rate rate(loop_rate); + + // Wait for frames to be available before starting node + while (!tf_buffer.canTransform(base_link_frame, map_frame, ros::Time(0), ros::Duration(10.0))) + ROS_INFO("Waiting for transform between %s and %s", map_frame.c_str(), base_link_frame.c_str()); + ROS_INFO("Transform between %s and %s found", map_frame.c_str(), base_link_frame.c_str()); + + while (ros::ok()) + { + // Get current robot pose and spin controller + poseCallback(); + + // Publish some poses as markers to be visualized in Rviz + publishMarkers(); + + // Spin + ros::spinOnce(); + rate.sleep(); + } + + return 0; +} diff --git a/tracking_pid/src/tracking_pid/__init__.py b/tracking_pid/src/tracking_pid/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/tracking_pid/src/tracking_pid/__pycache__/path_interpolator.cpython-38.pyc b/tracking_pid/src/tracking_pid/__pycache__/path_interpolator.cpython-38.pyc new file mode 100644 index 0000000000000000000000000000000000000000..e33d0db8a5fd87bcdc5b276a1135f7f883b6ddc7 GIT binary patch literal 16143 zcmbVzTaX*sd0scrxC{n^!CW}Jlg-rS5#M>Qp6O?k@CdPOZ1- zEcWV7y|?5n^_HDwDVyuA^j4i!iC4O(oKxtl(p_^-OL)dPBjH)+oP_6{^AcWgE_m}F z=ADbqCFe47s@{TE`%&JpzhHQaUj6%qSNE?x%R5(*Uh{ns{;oS{dp7cX zH3+)R$oK4KH|X!$(VlPbwjcX_n}~jbbu=1gTzufG$G$>r{(cbp529vo;Co0~ti|x{ zAm}12J@BI>y85uGcKzrpem7{fqo?l#{hju1qYzgn1B&bK1>J6NKqPOqqIS@aYm=NW z1kLVrjW7A(em9DjCpF&leQz7{LC3{kZmLJV+G^yLi822~Kn^igBUl9ZaXvP`7Mov> zO{azA%wHau-l>CYIa-ua=H?E9~PN_5Bsdg5! 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zp#uRQtdSWONC%^QJ4wT`iBGA(gQ-`{4gWIR!1o~P3X`Hk1npPC!ls-{X}n4V->gw` zB-rGx9f)D1+1;?;-?4A^gXp&QM%3JJ8f}8f_8^PW$U>$<5f_fz(pVG{-7NX+jblQk zre?S6Ao{ya<#qWHTr$-3M6;i4e8WvnOH6QSpZfc{wC4@`3-Sr5p22qx-`g5`?}&FL z#&6?QhqK0m9={mTHy#7*w;*(b@=mP?*(SLlh6n}AgF6Z6<9@gf6AoS+!I03NFABD& z#7gy(|BJua><%w&fo+~Vw!7e&58;tAG4}{pIKa6Pk>6S3tCJpI>L*YC=N(veyRpTd z<9u^Fl(!paH6d6t_3r5KXcuQ5h*l%l;x^JQUUr2gvP z5pZ-A z)rPhj%KIhv0AAXWdP@6QxWV^H(tf9kuaqZQy!bI5*Stv<>3}0ycsUL?0OUQ{sZaZF zZ?txH<%#rIHoKt#MjkH3mZ#{Gsc6-4)@I+DvvKhyT3ZZHoK<4_`%~8XTL5vPzuy}? z)v|@0!P_iaBA_i_ySV;a)+`3w{DewB?r@n;TK~BGIqk#pIu|Is1wdD$$-fJTPtjTO N 2x/a = t^2 -> t = sqrt(2x/a) + self._x_vel_adjusted = self._x_acc_decc*self.time_x_acc_decc + self.length_x_vel = 0.0 + self.time_x_vel = 0.0 + + self.time_yaw_acc_decc = self._yaw_vel/self._yaw_acc_decc # Time during acceleration phase t = v/a + self.length_yaw_acc_decc = 0.5*self._yaw_acc_decc*(self.time_yaw_acc_decc*self.time_yaw_acc_decc) # Translation during acceleration phase x = 0.5a*t^2 + self.length_yaw_vel = self.length_of_section_ang - self.length_yaw_acc_decc - self.length_yaw_acc_decc # Translation during constant velocity phase + self.time_yaw_vel = self.length_yaw_vel/self._yaw_vel # Time during constant velocity phase t = v/a + self._yaw_vel_adjusted = self._yaw_vel + + if self.time_yaw_vel < 0: # No constant acceleration phase. Recompute (de)-acceleration phase + self.length_yaw_acc_decc = 0.5*self.length_of_section_ang + self.time_yaw_acc_decc = math.sqrt(2*self.length_yaw_acc_decc/self._yaw_acc_decc) # x = 0.5a*t^2 -> 2x/a = t^2 -> t = sqrt(2x/a) + self._yaw_vel_adjusted = self._yaw_acc_decc*self.time_yaw_acc_decc + self.length_yaw_vel = 0.0 + self.time_yaw_vel = 0.0 + + + self.duration_for_section_x = self.time_x_acc_decc + self.time_x_vel + self.time_x_acc_decc + self.duration_for_section_yaw = self.time_yaw_acc_decc + self.time_yaw_vel + self.time_yaw_acc_decc + self.duration_for_section = rospy.Duration(max(self.duration_for_section_x,self.duration_for_section_yaw)) + + rospy.logdebug("self._x_acc_decc: %f",self._x_acc_decc) + rospy.logdebug("self._x_vel: %f",self._x_vel) + rospy.logdebug("self.length_of_section: %f",self.length_of_section) + rospy.logdebug("self.time_x_acc_decc: %f",self.time_x_acc_decc) + rospy.logdebug("self.time_x_vel: %f",self.time_x_vel) + rospy.logdebug("self.length_x_acc_decc: %f",self.length_x_acc_decc) + rospy.logdebug("self.length_x_vel: %f",self.length_x_vel) + rospy.logdebug("self.duration_for_section_x: %f",self.duration_for_section_x) + + rospy.logdebug("self._yaw_acc_decc: %f",self._yaw_acc_decc) + rospy.logdebug("self._yaw_vel: %f",self._yaw_vel) + rospy.logdebug("self.length_of_section_ang: %f",self.length_of_section_ang) + rospy.logdebug("self.time_yaw_acc_decc: %f",self.time_yaw_acc_decc) + rospy.logdebug("self.time_yaw_vel: %f",self.time_yaw_vel) + rospy.logdebug("self.length_yaw_acc_decc: %f",self.length_yaw_acc_decc) + rospy.logdebug("self.length_yaw_vel: %f",self.length_yaw_vel) + rospy.logdebug("self.duration_for_section_yaw: %f",self.duration_for_section_yaw) + + + rospy.logdebug("self.duration_for_section: %f",self.duration_for_section.to_sec()) + + + + self.section_start_time = start_time + self.x_progress = 0.0 + self.yaw_progress = 0.0 + self.current_x_vel = 0.0 + self.current_yaw_vel = 0.0 + self.section_end_time = self.section_start_time + self.duration_for_section + + def interpolate(self, progress_ratio): + """ + Calculate where we should be along the section given a ratio of progress. + 0.0 means we're at the start, 1.0 means finished + :param progress_ratio: How far along the section are we? + :type progress_ratio: float + :return: an interpolation between the Section's start and end + :rtype: PoseStamped + """ + # target_x = start_x + delta_x * progress_on_section + next_xyz = self._start_xyz + self._delta * progress_ratio + next_yaw = self._start_yaw + self._delta_yaw * progress_ratio + next_pose = PoseStamped() + # next_pose.header.stamp is to be filled by the caller + next_pose.header.frame_id = self.section_start_pose_stamped.header.frame_id + next_pose.pose.position.x = next_xyz[X] + next_pose.pose.position.y = next_xyz[Y] + next_pose.pose.position.z = next_xyz[Z] + # Compute orientation. PID can use it for holonomic robots + quaternion = tf.transformations.quaternion_from_euler(0, 0, next_yaw) + next_pose.pose.orientation.x = quaternion[0] + next_pose.pose.orientation.y = quaternion[1] + next_pose.pose.orientation.z = quaternion[2] + next_pose.pose.orientation.w = quaternion[3] + + + + return next_pose + + def interpolate_with_acceleration(self, current_time): + """ + Calculate where we should be along the section given a ratio of progress. + 0.0 means we're at the start, 1.0 means finished + :param progress_ratio: How far along the section are we? + :type progress_ratio: float + :return: an interpolation between the Section's start and end + :rtype: PoseStamped + """ + + current_section_time = (current_time - self.section_start_time) + t = current_section_time.to_sec() + + + if t < self.time_x_acc_decc: + tr = t + self.x_progress =0.5*self._x_acc_decc*tr*tr + self.current_x_vel = self._x_acc_decc*tr + if self.x_progress > self.length_x_acc_decc: + self.current_x_vel = self._x_vel_adjusted + self.x_progress = self.length_x_acc_decc + elif t < (self.time_x_acc_decc + self.time_x_vel): + tr = (t - self.time_x_acc_decc) + self.x_progress = self.length_x_acc_decc + self.current_x_vel*tr + self.current_x_vel = self._x_vel_adjusted + if self.x_progress > (self.length_x_acc_decc+self.length_x_vel): + self.x_progress = (self.length_x_acc_decc+self.length_x_vel) + elif t < (self.time_x_acc_decc + self.time_x_vel + self.time_x_acc_decc): + tr = (t - self.time_x_acc_decc - self.time_x_vel) + self.x_progress = (self.length_x_acc_decc + self.length_x_vel) + self._x_vel_adjusted*tr - 0.5*self._x_acc_decc*tr*tr + self.current_x_vel = self._x_vel_adjusted - self._x_acc_decc*tr + if self.x_progress > self.length_of_section: + self.current_x_vel = 0.0 + self.x_progress = self.length_of_section + else: + self.current_x_vel = 0.0 + self.x_progress = self.length_of_section + + + if t < self.time_yaw_acc_decc: + tr = t + self.yaw_progress =0.5*self._yaw_acc_decc*tr*tr + self.current_yaw_vel = self._yaw_acc_decc*tr + if self.yaw_progress > self.length_yaw_acc_decc: + self.current_yaw_vel = self._yaw_vel_adjusted + self.yaw_progress = self.length_yaw_acc_decc + elif t < (self.time_yaw_acc_decc + self.time_yaw_vel): + tr = (t - self.time_yaw_acc_decc) + self.yaw_progress = self.length_yaw_acc_decc + self.current_yaw_vel*tr + self.current_yaw_vel = self._yaw_vel_adjusted + if self.yaw_progress > (self.length_yaw_acc_decc+self.length_yaw_vel): + self.yaw_progress = (self.length_yaw_acc_decc+self.length_yaw_vel) + elif t < (self.time_yaw_acc_decc + self.time_yaw_vel + self.time_yaw_acc_decc): + tr = (t - self.time_yaw_acc_decc - self.time_yaw_vel) + self.yaw_progress = (self.length_yaw_acc_decc + self.length_yaw_vel) + self._yaw_vel_adjusted*tr - 0.5*self._yaw_acc_decc*tr*tr + self.current_yaw_vel = self._yaw_vel_adjusted - self._yaw_acc_decc*tr + if self.yaw_progress > self.length_of_section_ang: + self.current_yaw_vel = 0.0 + self.yaw_progress = self.length_of_section_ang + else: + self.current_yaw_vel = 0.0 + self.yaw_progress = self.length_of_section_ang + + if self.length_of_section > 0: + x_progress_ratio = self.x_progress/self.length_of_section + else: + x_progress_ratio = 1.0 + + if self.length_of_section_ang > 0: + yaw_progress_ratio = self.yaw_progress/self.length_of_section_ang + else: + yaw_progress_ratio = 1.0 + # target_x = start_x + delta_x * progress_on_section + next_xyz = self._start_xyz + self._delta * x_progress_ratio + next_yaw = self._start_yaw + self._delta_yaw * yaw_progress_ratio + tp = traj_point() + tp.pose = PoseStamped() + # next_pose.header.stamp is to be filled by the caller + tp.pose.header.frame_id = self.section_start_pose_stamped.header.frame_id + tp.pose.pose.position.x = next_xyz[X] + tp.pose.pose.position.y = next_xyz[Y] + tp.pose.pose.position.z = next_xyz[Z] + tp.velocity.linear.x = self.current_x_vel + # Compute orientation. PID can use it for holonomic robots + quaternion = tf.transformations.quaternion_from_euler(0, 0, next_yaw) + tp.pose.pose.orientation.x = quaternion[0] + tp.pose.pose.orientation.y = quaternion[1] + tp.pose.pose.orientation.z = quaternion[2] + tp.pose.pose.orientation.w = quaternion[3] + tp.velocity.angular.z = np.sign(self._delta_yaw) * self.current_yaw_vel + + + + + return tp + + def __repr__(self): + return "Section(from_={}, to={}, x_vel={})".format(self._start_xyz, self._end_xyz, self._x_vel) + + @property + def delta(self): + return self._delta + + +class InterpolatorNode(object): + def __init__(self): + self._path_poses = None + + self.trajectory_pub = rospy.Publisher("trajectory", traj_point, queue_size=1) + self.enable_srv = rospy.ServiceProxy("enable_control", SetBool) + self.reconfigure_client = None # type: dynamic_reconfigure.client.Client + + self._visualization_pub = rospy.Publisher("interpolator_viz", Marker, queue_size=1) + self._pub_finished = rospy.Publisher("trajectory_finished", Bool, queue_size=1) + + self.robot_frame = 'base_link' + + self.listener = tf.TransformListener() + + self._sections = None # List[Tuple[PoseStamped]] + self._current_section = None # type: SectionInterpolation + + self._rate = rospy.get_param("~rate", 50.0) + self._timer = None # type: rospy.Timer + + self._latest_subgoal_pose = None # type: PoseStamped + + self._paused = False + self._pause_sub = rospy.Subscriber("pause", Bool, self._process_pause, queue_size=1) + + self._target_x_vel = 1.0 # To be overridden by parameters + self._target_x_acc = 0.2 + self._target_yaw_vel = 0.1 + self._target_yaw_acc = 0.1 + + self._server = Server(TargetVelocityConfig, self._process_velocity) + + self._latest_path_msg = None + self._path_sub = rospy.Subscriber("path", Path, self._accept_path_from_topic, queue_size=1) + self._path_pub = rospy.Publisher("path/viz", Path, queue_size=1, latch=True) + self._as = actionlib.SimpleActionServer("follow_path", FollowPathAction, auto_start=False) + self._as.register_goal_callback(self._accept_goal) + self._as.start() + + rospy.loginfo("%s initialized", rospy.get_name()) + + def start_path(self): + rospy.logdebug("start_path()") + self._timer = rospy.Timer(rospy.Duration(1.0/self._rate), self._update_target) + + def stop_path(self): + rospy.logdebug("stop_path()") + self._timer.shutdown() + self._timer = None + + def continue_path(self, start_time=None): + # if we're un-paused and we were busy with a section: we resume the path from the last goal send: + if not self._paused and self._current_section and self._latest_subgoal_pose: + # When we're no longer paused, continue where we left off + # This is: from the latest sent subgoal, to the same finish point of the current section + # With the same velocity so the end time will be re-calculated based on the start_time + rospy.loginfo("Resuming path with velocities %0.3f m/s %0.3f rad/s and accelerations %0.3f m/s2 %0.3f rad/s2", self._target_x_vel, self._target_yaw_vel, self._target_x_acc, self._target_yaw_acc) + + if start_time is None: + start_time = self._latest_subgoal_pose.header.stamp + + self._current_section = SectionInterpolation(self._latest_subgoal_pose, + self._current_section.section_end_pose_stamped, + start_time, + self._target_x_vel, self._target_x_acc, + self._target_yaw_vel, self._target_yaw_acc) + + def _process_pause(self, bool_msg): + if bool_msg.data and bool_msg.data != self._paused: + rospy.loginfo("Pausing path_interpolator") + rospy.logwarn("No acceleration limits implemented when pausing!") + self._paused = bool_msg.data + elif not bool_msg.data and bool_msg.data != self._paused: + rospy.loginfo("Unpausing path_interpolator") + resume_time = rospy.Time.now() - rospy.Duration(1.0 / self._rate) # Prevent sending last goal again + self._paused = bool_msg.data + self.continue_path(start_time=resume_time) + + def _process_velocity(self, config, _): + target_x_vel = config.target_x_vel + target_yaw_vel = config.target_yaw_vel + + if target_x_vel == 0.0 or target_yaw_vel == 0.0: + rospy.logwarn("Ignoring ~target_x_vel of {}, ~target_yaw_vel of {}, keeping {}, {}, consider using the pause function".format(target_x_vel, target_yaw_vel,self._target_x_vel, self._target_yaw_vel)) + else: + self._target_x_vel = target_x_vel + self._target_x_acc = config.target_x_acc + self._target_yaw_vel = target_yaw_vel + self._target_yaw_acc = config.target_yaw_acc + + + self.continue_path() + return config + + def _accept_path_from_topic(self, path_msg): + """ + When receiving a path on a topic, just call our own action server! + This ensures canceling/aborting/preemption etc behave as they should + :return: None + """ + rospy.loginfo("Path received on topic, calling action to execute") + client = actionlib.SimpleActionClient("follow_path", FollowPathAction) + client.wait_for_server() + client.send_goal(FollowPathGoal(path=path_msg)) + + def _accept_goal(self): + rospy.logdebug("Accept goal") + goal = self._as.accept_new_goal() + self._process_path(goal.path) + + def _preempt_goal(self): + rospy.logdebug("Preempt goal") + self.stop_path() + self._path_poses = None + self._sections = None + self._current_section = None + self._as.set_preempted() + + def _process_path(self, path_msg): + """Accept and store the path""" + rospy.logdebug("_process_path(...). Path has {} poses".format(len(path_msg.poses))) + # Assert that all poses are defined in the same frame + # TODO: it would be nice to interpolate between poses defines in different frames but that is out of scope + # TODO: Tracking_pid completely disregards the frame_id and just does everything in the frame + # it was configured for, even though it listens to Pose*Stamped*s + + if not path_msg.poses: + rospy.logwarn("There are no poses in the given path with header {}".format(path_msg.header)) + return + + # If empty frame_ids are supplied, use the global headers frame_id + undefined_poses = (p for p in path_msg.poses if not p.header.frame_id) + + for pose in undefined_poses: + pose.header.frame_id = path_msg.header.frame_id + + # All the header_ids are the same, so set cardinality is 1 + # TODO: Fails for /map and map + # assert(len(set(pose.header.frame_id for pose in path_msg.poses)) == 1) + + self._path_pub.publish(path_msg) + + # Path is valid, so lets store it + self._latest_path_msg = path_msg + + target_x_vel = rospy.get_param("~target_x_vel", 1.0) + target_x_acc = rospy.get_param("~target_x_acc", 1.0) + target_yaw_vel = rospy.get_param("~target_yaw_vel", 1.0) + target_yaw_acc = rospy.get_param("~target_yaw_acc", 1.0) + if target_x_vel == 0.0 or target_yaw_vel == 0.0: + rospy.logwarn("Ignoring ~target_x_vel of {}, ~target_yaw_vel of {}, keeping {}, {}, consider using the pause function".format(target_x_vel, target_yaw_vel, self._target_x_vel, self._target_yaw_vel)) + else: + self._target_x_vel = target_x_vel + self._target_x_acc = target_x_acc + self._target_yaw_vel = target_yaw_vel + self._target_yaw_acc = target_yaw_acc + + self.flip_for_axis = rospy.get_param("~flip_for_axis", None) + if self.flip_for_axis: + assert self.flip_for_axis in ["X", "Y", "Z"] + + if self.flip_for_axis and not self.reconfigure_client: + self.reconfigure_client = dynamic_reconfigure.client.Client("controller", timeout=1) + + self._path_poses = path_msg.poses + self._sections = list(zip(self._path_poses, self._path_poses[1:])) + + if not self._timer: + self.start_path() + + def _update_target(self, event): + """ + Called by self._timer and determines & publishes a interpolated pose along the received Path + + :param event: supplied by rospy.Timer, the time at which the callback method is called + :type event: rospy.TimerEvent (see https://wiki.ros.org/rospy/Overview/Time#Timer) + :return: + """ + # event is supplied by the timer and contains info like the current time and time since last tick + # based on the time, the start time of the subsection and the target_velocities, we can calculate where the target should be: + # >>> duration_on_section = (current_time - section_start_time) + # >>> duration_for_section = (length_of_section / target_(x_yaw)velocity) + # >>> progress_on_section = (duration_on_section / duration_for_section) + # >>> target_x = start_x + delta_x * progress_on_section + + # Service preempt before other early-outs + if self._as.is_preempt_requested(): + self._preempt_goal() + return + + if not self._path_poses: + rospy.logdebug_throttle(1.0, "No path poses set") + return + + if self._paused: + rospy.logdebug_throttle(5.0, "Path_interpolator is paused") + return + + if not self._current_section or rospy.Time.now() > self._current_section.section_end_time: # or when past end time of current section, go to next + try: + start, end = self._sections.pop(0) + self._current_section = SectionInterpolation(start, end, event.current_real, self._target_x_vel, self._target_x_acc, self._target_yaw_vel, self._target_yaw_acc) + rospy.loginfo("Starting new {}. duration_for_section = {}".format(self._current_section, self._current_section.duration_for_section.to_sec())) + + if self.flip_for_axis: + # Have the control point in front if we are to drive forwards, control point in the back when driving backwards + # This makes the robot always keep point up, for Emma that always needs to keep pointing up + self._set_controller_direction(sign=np.sign(self._current_section.delta[axes[self.flip_for_axis]])) + except IndexError: + rospy.logdebug("Path ended") + + loop = rospy.get_param("~loop", 0) + if loop != 0: + rospy.loginfo("~loop = {}, starting path again".format(loop)) + rospy.set_param("~loop", loop-1) + self._process_path(self._latest_path_msg) + else: + rospy.logdebug("No loop requested or remaining, finishing up") + self._pub_finished.publish(True) + if self._as.is_active(): + self._as.set_succeeded() + self.stop_path() + return + + duration_on_section = event.current_real - self._current_section.section_start_time + + # Distance between duplicated poses is 0, so we can't do the division below. + # If the duration is 0, then we're done immediately. + # This will still be valid when this node starts taking rotation and angular velocity into account + # Then, even when the pose.position does not change while pose.orientation does change, + # the angular velocity will make the section have a nonzero duration + if not self._current_section.duration_for_section.is_zero(): + progress_on_section = (duration_on_section / self._current_section.duration_for_section) + else: + rospy.loginfo("Instantaneous completion of 0-length section") + progress_on_section = 1 + + tp = self._current_section.interpolate_with_acceleration(rospy.Time.now()) + tp.pose.header.stamp = event.current_real + + + # TODO: Rotate in the corners, using controller mode 3 tp.controller.data = 3 + + # Remember the last interpolated sub-goal on our way to the next waypoint in the Path + self._latest_subgoal_pose = tp.pose + + self.__publish_marker(tp.pose) + self.trajectory_pub.publish(tp) + + def __publish_marker(self, pose_stamped): + """ + Indicate what the current interpolated goal along the path is + :param pose_stamped: + :return: + """ + m = Marker() + m.color.r = 1.0 + m.color.g = 0.5 + m.color.b = 0.0 + m.color.a = 1.0 + m.pose = pose_stamped.pose + m.header = pose_stamped.header + m.type = Marker.SPHERE + m.scale.x = 0.2 + m.scale.y = 0.2 + m.scale.z = 0.2 + m.action = Marker.ADD + m.ns = "interpolated" + self._visualization_pub.publish(m) + + def _set_controller_direction(self, sign): + """ + Flip the sign of the tracking_pid controller + :param sign: optional. If *not* given, the sign of the control distance is flipped. If given, the given sign is applied, regardless of the current sign + """ + + rospy.loginfo("Flipping control point distance. Given sign: {}".format(sign)) + self.enable_srv(False) + # Query the controller configuration to retrieve current 'l' parameter (control distance/length) + controller_config = self.reconfigure_client.get_configuration() + + if controller_config is None: + rospy.logfatal("Could not get config to update. Incorrect controller settings are dangerous, exiting to stop driving") + exit(-1) + else: + new_l = abs(controller_config['l']) * sign + + rospy.logdebug("New control point distance: {}".format(new_l)) + self.reconfigure_client.update_configuration({"l": new_l}) + + self.enable_srv(True) diff --git a/tracking_pid/src/tracking_pid/path_interpolator.pyc b/tracking_pid/src/tracking_pid/path_interpolator.pyc new file mode 100644 index 0000000000000000000000000000000000000000..dbe9d8ea93bc78bbcacebb1117c75f9669e320bb GIT binary patch literal 20262 zcmeHPTZ|l8c|LvdcxF8I*fZn1*Dl-Zb=!Dnyt}Xv2iW_<3NmYz7ZxU6vqOpm*} zdaJ5E<6WB&jDSF*+=xO5LAj9&%0;ujc;X?-Tabbjq~tl|`@X-bx_UgI zfbc%W_8g!3>zx1m=bZoixAWK3{%imA%dO8hTQ2)k!~aj?CwZyjT-&)7loi*mx^Bhw zs&1v~DtxZFZq4=TZl!L|b=TeFdJ}GC!k+iI?q1iMbSsngJmI=it~c#grtNvJ>+W;C z8MiWH&y%jZ-}Mf-l>@Ff>sDr6@1R>b=z53T$|2XAb1QS!ZpwA%U2nmyEZFn3>mGJ1 zheadmN8HNMynf8B9Lwv+-O7o)e$uU+%% zotj=9a8L5}EdJZ?+6Uc}E1qi~a^YFGhJ~1OpLFh?b01zg=i2i*bfJKrckO9+qj8u^ 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Expanded: + Name: Tool Properties + Splitter Ratio: 0.588679016 + - Class: rviz/Views + Expanded: + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.0299999993 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 25; 255; 0 + Enabled: true + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Lines + Line Width: 0.0299999993 + Name: Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /path/viz + Unreliable: false + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /interpolator_viz + Name: Marker + Namespaces: + interpolated: true + Queue Size: 100 + Value: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: false + earth: + Value: false + map: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + earth: + map: + {} + Update Interval: 0 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 16.8273525 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.461280257 + Y: 1.07465017 + Z: -1.08606696 + Focal Shape Fixed Size: true + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Pitch: 0.785398006 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.785398006 + Saved: ~ +Window Geometry: + Displays: + collapsed: true + Height: 998 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: true + Time: + collapsed: true + Tool Properties: + collapsed: true + Views: + collapsed: true + Width: 1920 + X: 0 + Y: 27 diff --git a/tracking_pid/test/interpolator/test_path_interpolator_action.launch b/tracking_pid/test/interpolator/test_path_interpolator_action.launch new file mode 100644 index 0000000..191bf54 --- /dev/null +++ b/tracking_pid/test/interpolator/test_path_interpolator_action.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/tracking_pid/test/interpolator/test_path_interpolator_topic.launch b/tracking_pid/test/interpolator/test_path_interpolator_topic.launch new file mode 100644 index 0000000..2191d74 --- /dev/null +++ b/tracking_pid/test/interpolator/test_path_interpolator_topic.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/tracking_pid/test/interpolator/test_path_interpolator_topic_empty_frame_ids.launch b/tracking_pid/test/interpolator/test_path_interpolator_topic_empty_frame_ids.launch new file mode 100644 index 0000000..486a220 --- /dev/null +++ b/tracking_pid/test/interpolator/test_path_interpolator_topic_empty_frame_ids.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/tracking_pid/test/test_controller.cpp b/tracking_pid/test/test_controller.cpp new file mode 100644 index 0000000..5e82919 --- /dev/null +++ b/tracking_pid/test/test_controller.cpp @@ -0,0 +1,145 @@ +// +// Created by nobleo on 25-9-18. +// + +/* + * Run tests for all of the common function except the print* functions that do not return anything testable + * Most important here is the conversion function and a variant of A*. Each test is explained below + * + */ + +#include + +#include +#include + + +/** + * Test output of controller when target is reached. + * Output should be zero + */ +TEST(TestUpdateOutput, testZeroOutput) +{ + tracking_pid::Controller pid_controller; + tracking_pid::PidConfig config = tracking_pid::PidConfig::__getDefault__(); + pid_controller.configure(config); + tracking_pid::PidDebug pid_debug; + geometry_msgs::Twist cmd_vel; + ros::Duration sample_time(0.05); + geometry_msgs::Transform tfCurPose; + tf::Transform tfGoalPose; + + // Test tracking carrot + tfCurPose.translation.x = 1.0; + tfCurPose.translation.y = 1.0; + tfCurPose.rotation = tf::createQuaternionMsgFromYaw(0.0); + tfGoalPose.setOrigin(tf::Vector3(1.0 + config.l, 1.0, 0.0)); // Put carrot in front + tfGoalPose.setRotation(tf::createQuaternionFromYaw(0.0)); + cmd_vel = pid_controller.update(tfCurPose, tfGoalPose, sample_time, &pid_debug); + ASSERT_EQ(cmd_vel.linear.x, 0.0); + ASSERT_EQ(cmd_vel.linear.y, 0.0); + ASSERT_EQ(cmd_vel.angular.z, 0.0); + + // Test tracking base_link + pid_controller.setTrackBaseLink(true); + tfGoalPose.setOrigin(tf::Vector3(1.0, 1.0, 0.0)); + cmd_vel = pid_controller.update(tfCurPose, tfGoalPose, sample_time, &pid_debug); + ASSERT_EQ(cmd_vel.linear.x, 0.0); + ASSERT_EQ(cmd_vel.linear.y, 0.0); + ASSERT_EQ(cmd_vel.angular.z, 0.0); +} + +/** + * Test tracking error for a fix target using a carrot. + * A fixed target is given to the controller. After some iterations x/y tracking error + * should tend to zero + */ +TEST(TestUpdateOutput, testErrorTrackingCarrot) +{ + tracking_pid::Controller pid_controller; + tracking_pid::PidConfig config = tracking_pid::PidConfig::__getDefault__(); + pid_controller.configure(config); + tracking_pid::PidDebug pid_debug; + geometry_msgs::Twist cmd_vel; + ros::Duration sample_time(0.05); + geometry_msgs::Transform tfCurPose; + tf::Transform tfGoalPose; + + // Test tracking carrot + tfCurPose.translation.x = 0.0; + tfCurPose.translation.y = 0.0; + tfCurPose.rotation = tf::createQuaternionMsgFromYaw(0.0); + tfGoalPose.setOrigin(tf::Vector3(1.0, 1.0, 0.0)); + tfGoalPose.setRotation(tf::createQuaternionFromYaw(0.0)); + for (int i = 0; i < 1000; i++) + { + cmd_vel = pid_controller.update(tfCurPose, tfGoalPose, sample_time, &pid_debug); + // Run plant model + double theta = tf::getYaw(tfCurPose.rotation); + tfCurPose.translation.x += cmd_vel.linear.x * cos(theta) * sample_time.toSec(); + tfCurPose.translation.y += cmd_vel.linear.x * sin(theta) * sample_time.toSec(); + tfCurPose.rotation = tf::createQuaternionMsgFromYaw(theta + cmd_vel.angular.z * sample_time.toSec()); + } + // After some iterations error should reduce to less than 1%. + ASSERT_LE(fabs(pid_debug.error.linear.x), fabs(0.01 * tfGoalPose.getOrigin().getX())); + ASSERT_LE(abs(pid_debug.error.linear.y), fabs(0.01 * tfGoalPose.getOrigin().getY())); +} + +/** + * Test tracking error for a non-holonomic robot following a temporarily moving target using a base_link. + * The target is moved for some time to let the angle tp be aligned. After some iterations x/y/theta + * error with respect to target pose should be small enough + */ +TEST(TestUpdateOutput, testErrorTrackingBaseLink) +{ + tracking_pid::Controller pid_controller; + tracking_pid::PidConfig config = tracking_pid::PidConfig::__getDefault__(); + pid_controller.configure(config); + tracking_pid::PidDebug pid_debug; + geometry_msgs::Twist cmd_vel; + ros::Duration sample_time(0.05); + geometry_msgs::Transform tfCurPose; + tf::Transform tfGoalPose; + + // Test tracking base_link + pid_controller.setTrackBaseLink(true); + tfCurPose.translation.x = 0.0; + tfCurPose.translation.y = 0.0; + tfCurPose.rotation = tf::createQuaternionMsgFromYaw(1.0); + double x_goal = 1.0; + double y_goal = 1.0; + tfGoalPose.setOrigin(tf::Vector3(x_goal, y_goal, 0.0)); + tfGoalPose.setRotation(tf::createQuaternionFromYaw(0.0)); + for (int i = 0; i < 1000; i++) + { + cmd_vel = pid_controller.update(tfCurPose, tfGoalPose, sample_time, &pid_debug); + // Run plant model + double theta = tf::getYaw(tfCurPose.rotation); + tfCurPose.translation.x += (cmd_vel.linear.x * cos(theta) * sample_time.toSec() // NOLINT + - cmd_vel.linear.y * sin(theta) * sample_time.toSec()); + tfCurPose.translation.y += (cmd_vel.linear.x * sin(theta) * sample_time.toSec() // NOLINT + + cmd_vel.linear.y * cos(theta) * sample_time.toSec()); + tfCurPose.rotation = tf::createQuaternionMsgFromYaw(theta + cmd_vel.angular.z * sample_time.toSec()); + // Move goal forwards the fist 500 samples, then error for an non-holonomic robot tends to zero + if (i < 500) + { + x_goal += cmd_vel.linear.x * sample_time.toSec(); + tfGoalPose.setOrigin(tf::Vector3(x_goal, y_goal, 0.0)); + } + } + tf::Transform tfCurTransform; + tf::transformMsgToTF(tfCurPose, tfCurTransform); + tf::Transform error = tfCurTransform.inverseTimes(tfGoalPose); + // After some iterations error should reduce to less than 1cm/1degree + ASSERT_LE(fabs(error.getOrigin().getX()), 0.01); + ASSERT_LE(fabs(error.getOrigin().getY()), 0.01); + ASSERT_LE(fabs(tf::getYaw(error.getRotation())), M_PI / 180); +} + + +// Run all the tests that were declared with TEST() +int main(int argc, char **argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/tracking_pid/test/test_interpolator.py b/tracking_pid/test/test_interpolator.py new file mode 100755 index 0000000..3c90957 --- /dev/null +++ b/tracking_pid/test/test_interpolator.py @@ -0,0 +1,231 @@ +#!/usr/bin/env python + +from geometry_msgs.msg import PoseStamped +from nav_msgs.msg import Path +import math +import rospy +import tf +import unittest + +from tracking_pid.path_interpolator import SectionInterpolation + + +class TestSectionInterpolator(unittest.TestCase): + def quaternion_to_yaw(self, quaternion_in): + quaternion = ( + quaternion_in.x, + quaternion_in.y, + quaternion_in.z, + quaternion_in.w) + euler = tf.transformations.euler_from_quaternion(quaternion) + return (euler[2] + math.pi) % (2 * math.pi) - math.pi # wrap + + def test_interpolate_path_translation(self): + """ Test interpolation for translation + Accelerate at 1 m/s2 to 1m/s, keep 1s and deccelerate to standing still + Total movement should be 2m. + Trajectory is tested at different times + """ + self._target_x_vel = 1.0 + self._target_x_acc = 1.0 + self._target_yaw_vel = 1.0 + self._target_yaw_acc = 1.0 + + path = Path() + pose1 = PoseStamped() + quaternion = tf.transformations.quaternion_from_euler(0.0, 0.0, 0.0) + pose1.pose.orientation.x = quaternion[0] + pose1.pose.orientation.y = quaternion[1] + pose1.pose.orientation.z = quaternion[2] + pose1.pose.orientation.x = quaternion[3] + path.poses.append(pose1) + + pose2 = PoseStamped() + pose2.pose.position.x = 2.0 + quaternion = tf.transformations.quaternion_from_euler(0.0, 0.0, 0.0) + pose2.pose.orientation.x = quaternion[0] + pose2.pose.orientation.y = quaternion[1] + pose2.pose.orientation.z = quaternion[2] + pose2.pose.orientation.w = quaternion[3] + path.poses.append(pose2) + + current_section = SectionInterpolation(pose1, pose2, rospy.Time(0.0), + self._target_x_vel, self._target_x_acc, + self._target_yaw_vel, self._target_yaw_acc) + + # Acceleration phase x/theta = 0.5*a*t^2, v/dtheta=a*t + tp = current_section.interpolate_with_acceleration(rospy.Time(0.0)) + self.assertEqual(tp.pose.pose.position.x, 0.0) + self.assertEqual(tp.velocity.linear.x, 0.0) + + tp = current_section.interpolate_with_acceleration(rospy.Time(0.5)) + self.assertAlmostEqual(tp.pose.pose.position.x, 0.125) + self.assertAlmostEqual(tp.velocity.linear.x, 0.5) + + tp = current_section.interpolate_with_acceleration(rospy.Time(1.0)) + self.assertAlmostEqual(tp.pose.pose.position.x, 0.5) + self.assertAlmostEqual(tp.velocity.linear.x, 1.0) + + # Constant velocity phase x/theta = 0.5 + a*t, v/dtheta = 1.0 + tp = current_section.interpolate_with_acceleration(rospy.Time(1.5)) + self.assertAlmostEqual(tp.pose.pose.position.x, 1.0) + self.assertAlmostEqual(tp.velocity.linear.x, 1.0) + + tp = current_section.interpolate_with_acceleration(rospy.Time(2.0)) + self.assertAlmostEqual(tp.pose.pose.position.x, 1.5) + self.assertAlmostEqual(tp.velocity.linear.x, 1.0) + + # Decceleration phase x/theta = 1.5 + 1.0*t - 0.5*a*t^2, v/dtheta=1.0-a*t + tp = current_section.interpolate_with_acceleration(rospy.Time(2.5)) + self.assertAlmostEqual(tp.pose.pose.position.x, 1.875) + self.assertAlmostEqual(tp.velocity.linear.x, 0.5) + + tp = current_section.interpolate_with_acceleration(rospy.Time(3.0)) + self.assertAlmostEqual(tp.pose.pose.position.x, 2.0) + self.assertAlmostEqual(tp.velocity.linear.x, 0.0) + + def test_interpolate_path_rotation_left(self): + """ Test interpolation for rotation to the left + Accelerate at 1 rad/s2 to 1rad/s to the left, keep 1s and deccelerate to standing still + Total movement should be 2 rad. + Trajectory is tested at different times + """ + self._target_x_vel = 1.0 + self._target_x_acc = 1.0 + self._target_yaw_vel = 1.0 + self._target_yaw_acc = 1.0 + + path = Path() + pose1 = PoseStamped() + quaternion = tf.transformations.quaternion_from_euler(0.0, 0.0, 0.0) + pose1.pose.orientation.x = quaternion[0] + pose1.pose.orientation.y = quaternion[1] + pose1.pose.orientation.z = quaternion[2] + pose1.pose.orientation.x = quaternion[3] + path.poses.append(pose1) + + pose2 = PoseStamped() + pose2.pose.position.x = 0.0 + quaternion = tf.transformations.quaternion_from_euler(0.0, 0.0, 2.0) + pose2.pose.orientation.x = quaternion[0] + pose2.pose.orientation.y = quaternion[1] + pose2.pose.orientation.z = quaternion[2] + pose2.pose.orientation.w = quaternion[3] + path.poses.append(pose2) + + current_section = SectionInterpolation(pose1, pose2, rospy.Time(0.0), + self._target_x_vel, self._target_x_acc, + self._target_yaw_vel, self._target_yaw_acc) + + # Acceleration phase x/theta = 0.5*a*t^2, v/dtheta=a*t + tp = current_section.interpolate_with_acceleration(rospy.Time(0.0)) + yaw = self.quaternion_to_yaw(tp.pose.pose.orientation) + self.assertEqual(yaw, 0.0) + self.assertEqual(tp.velocity.angular.z, 0.0) + + tp = current_section.interpolate_with_acceleration(rospy.Time(0.5)) + yaw = self.quaternion_to_yaw(tp.pose.pose.orientation) + self.assertAlmostEqual(yaw, 0.125) + self.assertAlmostEqual(tp.velocity.angular.z, 0.5) + + tp = current_section.interpolate_with_acceleration(rospy.Time(1.0)) + yaw = self.quaternion_to_yaw(tp.pose.pose.orientation) + self.assertAlmostEqual(yaw, 0.5) + self.assertAlmostEqual(tp.velocity.angular.z, 1.0) + + # Constant velocity phase x/theta = 0.5 + a*t, v/dtheta = 1.0 + tp = current_section.interpolate_with_acceleration(rospy.Time(1.5)) + yaw = self.quaternion_to_yaw(tp.pose.pose.orientation) + self.assertAlmostEqual(yaw, 1.0) + self.assertAlmostEqual(tp.velocity.angular.z, 1.0) + + tp = current_section.interpolate_with_acceleration(rospy.Time(2.0)) + yaw = self.quaternion_to_yaw(tp.pose.pose.orientation) + self.assertAlmostEqual(yaw, 1.5) + self.assertAlmostEqual(tp.velocity.angular.z, 1.0) + + # Decceleration phase x/theta = 1.5 + 1.0*t - 0.5*a*t^2, v/dtheta=1.0-a*t + tp = current_section.interpolate_with_acceleration(rospy.Time(2.5)) + yaw = self.quaternion_to_yaw(tp.pose.pose.orientation) + self.assertAlmostEqual(yaw, 1.875) + self.assertAlmostEqual(tp.velocity.angular.z, 0.5) + + tp = current_section.interpolate_with_acceleration(rospy.Time(3.0)) + yaw = self.quaternion_to_yaw(tp.pose.pose.orientation) + self.assertAlmostEqual(yaw, 2.0) + self.assertAlmostEqual(tp.velocity.angular.z, 0.0) + + def test_interpolate_path_rotation_right(self): + """ Test interpolation for rotation to the right + Accelerate at 1 rad/s2 to 1rad/s to the right, keep 1s and deccelerate to standing still + Total movement should be -2 rad. + Trajectory is tested at different times + """ + self._target_x_vel = 1.0 + self._target_x_acc = 1.0 + self._target_yaw_vel = 1.0 + self._target_yaw_acc = 1.0 + + path = Path() + pose1 = PoseStamped() + quaternion = tf.transformations.quaternion_from_euler(0.0, 0.0, 0.0) + pose1.pose.orientation.x = quaternion[0] + pose1.pose.orientation.y = quaternion[1] + pose1.pose.orientation.z = quaternion[2] + pose1.pose.orientation.x = quaternion[3] + path.poses.append(pose1) + + pose2 = PoseStamped() + pose2.pose.position.x = 0.0 + quaternion = tf.transformations.quaternion_from_euler(0.0, 0.0, -2.0) + pose2.pose.orientation.x = quaternion[0] + pose2.pose.orientation.y = quaternion[1] + pose2.pose.orientation.z = quaternion[2] + pose2.pose.orientation.w = quaternion[3] + path.poses.append(pose2) + + current_section = SectionInterpolation(pose1, pose2, rospy.Time(0.0), + self._target_x_vel, self._target_x_acc, + self._target_yaw_vel, self._target_yaw_acc) + + # Acceleration phase x/theta = 0.5*a*t^2, v/dtheta=a*t + tp = current_section.interpolate_with_acceleration(rospy.Time(0.0)) + yaw = self.quaternion_to_yaw(tp.pose.pose.orientation) + self.assertEqual(yaw, 0.0) + self.assertEqual(tp.velocity.angular.z, 0.0) + + tp = current_section.interpolate_with_acceleration(rospy.Time(0.5)) + yaw = self.quaternion_to_yaw(tp.pose.pose.orientation) + self.assertAlmostEqual(yaw, -0.125) + self.assertAlmostEqual(tp.velocity.angular.z, -0.5) + + tp = current_section.interpolate_with_acceleration(rospy.Time(1.0)) + yaw = self.quaternion_to_yaw(tp.pose.pose.orientation) + self.assertAlmostEqual(yaw, -0.5) + self.assertAlmostEqual(tp.velocity.angular.z, -1.0) + + # Constant velocity phase x/theta = 0.5 + a*t, v/dtheta = 1.0 + tp = current_section.interpolate_with_acceleration(rospy.Time(1.5)) + yaw = self.quaternion_to_yaw(tp.pose.pose.orientation) + self.assertAlmostEqual(yaw, -1.0) + self.assertAlmostEqual(tp.velocity.angular.z, -1.0) + + tp = current_section.interpolate_with_acceleration(rospy.Time(2.0)) + yaw = self.quaternion_to_yaw(tp.pose.pose.orientation) + self.assertAlmostEqual(yaw, -1.5) + self.assertAlmostEqual(tp.velocity.angular.z, -1.0) + + # Decceleration phase x/theta = 1.5 + 1.0*t - 0.5*a*t^2, v/dtheta=1.0-a*t + tp = current_section.interpolate_with_acceleration(rospy.Time(2.5)) + yaw = self.quaternion_to_yaw(tp.pose.pose.orientation) + self.assertAlmostEqual(yaw, -1.875) + self.assertAlmostEqual(tp.velocity.angular.z, -0.5) + + tp = current_section.interpolate_with_acceleration(rospy.Time(3.0)) + yaw = self.quaternion_to_yaw(tp.pose.pose.orientation) + self.assertAlmostEqual(yaw, -2.0) + self.assertAlmostEqual(tp.velocity.angular.z, 0.0) + + +if __name__ == '__main__': + unittest.main() diff --git a/tracking_pid/test/test_interpolator.pyc b/tracking_pid/test/test_interpolator.pyc new file mode 100644 index 0000000000000000000000000000000000000000..4a6fa8c4b6d8f86c6a663c944edb38e86bd80841 GIT binary patch literal 6652 zcmeI0&u<%55XWb|{t@R#o2EaKlmg3d18t)8j3A{#h)aP@B*2%|Vn4_0uDxd8OVgm_ z6b_sb;>f>3{{@an9QX&2Dskxv_|ELEcjG!qBSoc1wd3*Z?0fUZ^Iqoj-r9f7O@G?@ z(Qi@uvhlr+kNydwjX#S*qP|5u2 zP4qH_Q`E0hvyT21QZ?#LQ^%rqmA)f7Ao{8~Lu!`VHM(1(_y=h*$2Y72hPP>>F@?~A zfADHp(98_PXOUJL#_tbRJ295o=$r1H3rEE{zQ!%^QC zxhwKpkvoQ4n2tHmU$H;Xoha^0F0{D}o7xUl>~-R(?|rlFBUJ-V6UUBLUFkgxA*fWf_&sYaSS`*+4If@TG7aC`vb^_* zype*L#eBdbGs}w2lW{<_kCazL!SqzACli55PyP<_tJTSmK4{%Z}Nz+5Ij7)hfBU2vB$aJ9)3sQkP zU=}zkL}4yc?-Hi~RwRp8G-RTq0d$)VYP4UWJuK(ThuZVH#sWv1E3}7%;s?oZ>dlD5 z5?T4ZMd~e4;YQKf6c3&|TYk)0oeolG$-R*?^yC{wXX5ENXK5cqJ?0EO$DK`|6j|Em ziJa9=a)!|+|I7)I&79+ zpQHLXC{d2os-$R7JL&6ItEEt_P^BE-IBQOSRo`?>PKncQdAUGNqig`8%^rt>0-} zg%c^np7G-?WxV^|Jr#~w{8mc}f7S-YQd)8Li#D`#IX)L3a=Bu*{yL~ffVs4j?uJ;=Az@P;y5QO zu8WQ*P(l!qll6GVIc3KjPhi;?Wsi59_D59Q~6K)yB|g67{uhN&D1qr<%FtZM&ujEbL_V>K#N-Jbhfy5;QyH?_6x|X zyTIZi3qGQ{4A@EJb+7OZF7fUXi^EiPm)XWU09Txj5b9oI8$;85i3J~*+?QE65I8!5 zm4mJA(2w0$q07nIW&F9Xv3Q*YQ_p>a#hWbNf-t;e!QSDlImd%e=3KVUJYHa5pqcJK zoSt+`*1WLp&^H)&-1T$rjZU%8xpzGGQVJA-dMfT6Nf97p{B#L0i0=u9XhCAS1we7f z79j2aIQJ$vJ{3jIjm~ys6q(@o{AnVdKg#ih9A7w%qg=k=pD9wB>Pvf1ElxbL#yhv#{2 zL_3qyvCEqg-m_>9rfSve_4WG4a_&bkJ{~E14SpglC;lyk2hJwm_4;~CuRzEX4#N+N z2mZa>Di1&SQ9`nVV$b4ndk`3&48z;0;xp + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 25; 255; 0 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: /path + Unreliable: false + Value: true + - Class: rviz/Marker + Enabled: false + Marker Topic: /interpolator_viz + Name: Marker + Namespaces: + {} + Queue Size: 100 + Value: false + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: false + map: + Value: true + path_frame: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + map: + path_frame: + {} + Update Interval: 0 + Value: true + - Angle Tolerance: 0.10000000149011612 + Class: rviz/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: true + Keep: 500 + Name: Odometry + Position Tolerance: 0.10000000149011612 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Color: 255; 255; 0 + Head Length: 0.05000000074505806 + Head Radius: 0.05000000074505806 + Shaft Length: 0.10000000149011612 + Shaft Radius: 0.019999999552965164 + Value: Arrow + Topic: /odom + Unreliable: false + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz/Pose + Color: 255; 25; 0 + Enabled: false + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Name: Pose + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Shape: Arrow + Topic: /error + Unreliable: false + Value: false + - Class: rviz/Marker + Enabled: true + Marker Topic: /visualization_marker + Name: Marker + Namespaces: + {} + Queue Size: 100 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 8.760865211486816 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 1.2392299175262451 + Y: -1.4761724472045898 + Z: -0.2541307508945465 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.6153976321220398 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.8753979206085205 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1025 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd00000004000000000000016a00000363fc0200000008fb0000001200530065006c0065006300740069006f006e010000003d000000a10000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000e4000002bc000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000363fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d00000363000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000003efc0100000002fb0000000800540069006d006501000000000000073d000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004b80000036300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: true + Tool Properties: + collapsed: true + Views: + collapsed: false + Width: 1853 + X: 67 + Y: 27 diff --git a/tracking_pid/test/tracking_pid/param/controllers.yaml b/tracking_pid/test/tracking_pid/param/controllers.yaml new file mode 100644 index 0000000..2c926c6 --- /dev/null +++ b/tracking_pid/test/tracking_pid/param/controllers.yaml @@ -0,0 +1,10 @@ +controllers: + - name: 'tracking_pid' + type: 'tracking_pid/TrackingPidLocalPlanner' + +controller: + holonomic_robot: true + +mbf_tolerance_check: true +dist_tolerance: 0.2 +angle_tolerance: 0.5 diff --git a/tracking_pid/test/tracking_pid/param/local_costmap_params.yaml b/tracking_pid/test/tracking_pid/param/local_costmap_params.yaml new file mode 100644 index 0000000..5147ed1 --- /dev/null +++ b/tracking_pid/test/tracking_pid/param/local_costmap_params.yaml @@ -0,0 +1,10 @@ +local_costmap: + global_frame: odom + robot_base_frame: base_link + update_frequency: 10.0 + publish_frequency: 5.0 + width: 5.0 + height: 5.0 + resolution: 0.05 + static_map: false + rolling_window: true diff --git a/tracking_pid/test/tracking_pid/param/planners.yaml b/tracking_pid/test/tracking_pid/param/planners.yaml new file mode 100644 index 0000000..3de1351 --- /dev/null +++ b/tracking_pid/test/tracking_pid/param/planners.yaml @@ -0,0 +1,7 @@ +planners: + - name: 'planner' + type: 'global_planner/GlobalPlanner' +planner: + allow_unknown: true + default_tolerance: 0.0 + visualize_potential: true diff --git a/tracking_pid/test/tracking_pid/test.launch b/tracking_pid/test/tracking_pid/test.launch new file mode 100644 index 0000000..b0d7134 --- /dev/null +++ b/tracking_pid/test/tracking_pid/test.launch @@ -0,0 +1,9 @@ + + + + + + + + + \ No newline at end of file diff --git a/tracking_pid/test/tracking_pid/test_tracking_pid.test b/tracking_pid/test/tracking_pid/test_tracking_pid.test new file mode 100644 index 0000000..afb4c57 --- /dev/null +++ b/tracking_pid/test/tracking_pid/test_tracking_pid.test @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/tracking_pid/test/tracking_pid/test_tracking_pid_cpp.launch b/tracking_pid/test/tracking_pid/test_tracking_pid_cpp.launch new file mode 100644 index 0000000..02a368a --- /dev/null +++ b/tracking_pid/test/tracking_pid/test_tracking_pid_cpp.launch @@ -0,0 +1,83 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/tracking_pid/test/tracking_pid/tracking_pid_cpp.rviz b/tracking_pid/test/tracking_pid/tracking_pid_cpp.rviz new file mode 100644 index 0000000..f05b858 --- /dev/null +++ b/tracking_pid/test/tracking_pid/tracking_pid_cpp.rviz @@ -0,0 +1,223 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Path1 + - /Footprint1 + Splitter Ratio: 0.5 + Tree Height: 583 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: ~ + Name: Tool Properties + Splitter Ratio: 0.588679016 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.0299999993 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + base_link: + Value: true + map: + Value: true + odom: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + map: + odom: + base_link: + {} + Update Interval: 0 + Value: true + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /map + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 0; 34; 255 + Enabled: true + Head Diameter: 0.0500000007 + Head Length: 0.0199999996 + Length: 0.300000012 + Line Style: Lines + Line Width: 0.0299999993 + Name: Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: Arrows + Radius: 0.0299999993 + Shaft Diameter: 0.0199999996 + Shaft Length: 0.0500000007 + Topic: /move_base/SpiralSTC/plan + Unreliable: false + Value: true + - Angle Tolerance: 0.100000001 + Class: rviz/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.300000012 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: true + Keep: 10000 + Name: Odometry + Position Tolerance: 0.100000001 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.100000001 + Color: 255; 25; 0 + Head Length: 0.0199999996 + Head Radius: 0.0500000007 + Shaft Length: 0.0500000007 + Shaft Radius: 0.0199999996 + Value: Arrow + Topic: /odom + Unreliable: false + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /visualization_marker + Name: Tracking_pid local planner + Namespaces: + axle point: true + control point: true + goal point: true + Queue Size: 100 + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /move_base/TrackingPidLocalPlanner/interpolator + Name: Interpolator + Namespaces: + {} + Queue Size: 100 + Value: true + - Alpha: 1 + Class: rviz/Polygon + Color: 25; 255; 0 + Enabled: true + Name: Footprint + Topic: /move_base_flex/global_costmap/footprint + Unreliable: false + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Angle: -3.14000177 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Scale: 101.672829 + Target Frame: map + Value: TopDownOrtho (rviz) + X: 1.79897141 + Y: -0.303433895 + Saved: ~ +Window Geometry: + Displays: + collapsed: true + Height: 1025 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd00000004000000000000016a00000377fc0200000008fb0000001200530065006c0065006300740069006f006e01000000280000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000c9000002d6000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000377fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000377000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000004ba0000037700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: true + Time: + collapsed: true + Tool Properties: + collapsed: true + Views: + collapsed: true + Width: 1855 + X: 65 + Y: 27 diff --git a/tracking_pid/trajectories/back_and_forth.yaml b/tracking_pid/trajectories/back_and_forth.yaml new file mode 100644 index 0000000..d8e9271 --- /dev/null +++ b/tracking_pid/trajectories/back_and_forth.yaml @@ -0,0 +1,228 @@ +header: + seq: 1 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' +poses: + - + header: + seq: 0 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 0.0 + y: 0.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 1 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 5.0 + y: 0.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 2 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 5.0 + y: 0.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 3 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 0.0 + y: 0.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 4 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 0.0 + y: 0.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 5 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 5.0 + y: 0.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 6 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 5.0 + y: 0.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 7 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 0.0 + y: 0.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 8 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 0.0 + y: 0.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 8 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 5.0 + y: 0.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 10 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 5.0 + y: 0.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 11 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 0.0 + y: 0.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 12 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 0.0 + y: 0.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 diff --git a/tracking_pid/trajectories/coverage.yaml b/tracking_pid/trajectories/coverage.yaml new file mode 100644 index 0000000..af3574a --- /dev/null +++ b/tracking_pid/trajectories/coverage.yaml @@ -0,0 +1,228 @@ +header: + seq: 1 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'path_frame' +poses: + - + header: + seq: 0 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'path_frame' + pose: + position: + x: 0.0 + y: 0.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 1 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'path_frame' + pose: + position: + x: 5.0 + y: 0.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 2 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'path_frame' + pose: + position: + x: 5.0 + y: -1.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 3 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'path_frame' + pose: + position: + x: 0.0 + y: -1.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 4 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'path_frame' + pose: + position: + x: 0.0 + y: -2.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 5 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'path_frame' + pose: + position: + x: 5.0 + y: -2.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 6 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'path_frame' + pose: + position: + x: 5.0 + y: -3.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 7 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'path_frame' + pose: + position: + x: 0.0 + y: -3.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 8 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'path_frame' + pose: + position: + x: 0.0 + y: -4.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 8 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'path_frame' + pose: + position: + x: 5.0 + y: -4.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 10 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'path_frame' + pose: + position: + x: 5.0 + y: -5.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 11 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'path_frame' + pose: + position: + x: 0.0 + y: -5.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 12 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'path_frame' + pose: + position: + x: 0.0 + y: 0.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 diff --git a/tracking_pid/trajectories/coverage_actiongoal.yaml b/tracking_pid/trajectories/coverage_actiongoal.yaml new file mode 100644 index 0000000..2a4741c --- /dev/null +++ b/tracking_pid/trajectories/coverage_actiongoal.yaml @@ -0,0 +1,241 @@ +header: + seq: 1 + stamp: + secs: 1545129449 + nsecs: 998500108 + frame_id: '' +goal_id: + stamp: + secs: 1545129449 + nsecs: 998473882 + id: "/axclient_15430_1545129402991-1-1545129449.998" +goal: + path: + header: + seq: 1 + stamp: + secs: 0 + nsecs: 0 + frame_id: "map" + poses: + - + header: + seq: 0 + stamp: + secs: 0 + nsecs: 0 + frame_id: "map" + pose: + position: + x: 0.0 + y: 0.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 1 + stamp: + secs: 0 + nsecs: 0 + frame_id: "map" + pose: + position: + x: 5.0 + y: 0.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 2 + stamp: + secs: 0 + nsecs: 0 + frame_id: "map" + pose: + position: + x: 5.0 + y: -1.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 3 + stamp: + secs: 0 + nsecs: 0 + frame_id: "map" + pose: + position: + x: 0.0 + y: -1.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 4 + stamp: + secs: 0 + nsecs: 0 + frame_id: "map" + pose: + position: + x: 0.0 + y: -2.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 5 + stamp: + secs: 0 + nsecs: 0 + frame_id: "map" + pose: + position: + x: 5.0 + y: -2.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 6 + stamp: + secs: 0 + nsecs: 0 + frame_id: "map" + pose: + position: + x: 5.0 + y: -3.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 7 + stamp: + secs: 0 + nsecs: 0 + frame_id: "map" + pose: + position: + x: 0.0 + y: -3.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 8 + stamp: + secs: 0 + nsecs: 0 + frame_id: "map" + pose: + position: + x: 0.0 + y: -4.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 8 + stamp: + secs: 0 + nsecs: 0 + frame_id: "map" + pose: + position: + x: 5.0 + y: -4.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 10 + stamp: + secs: 0 + nsecs: 0 + frame_id: "map" + pose: + position: + x: 5.0 + y: -5.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 11 + stamp: + secs: 0 + nsecs: 0 + frame_id: "map" + pose: + position: + x: 0.0 + y: -5.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 12 + stamp: + secs: 0 + nsecs: 0 + frame_id: "map" + pose: + position: + x: 0.0 + y: 0.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 diff --git a/tracking_pid/trajectories/coverage_map.yaml b/tracking_pid/trajectories/coverage_map.yaml new file mode 100644 index 0000000..715f0f5 --- /dev/null +++ b/tracking_pid/trajectories/coverage_map.yaml @@ -0,0 +1,228 @@ +header: + seq: 1 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' +poses: + - + header: + seq: 0 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 0.0 + y: 0.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 1 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 5.0 + y: 0.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 2 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 5.0 + y: -1.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 3 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 0.0 + y: -1.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 4 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 0.0 + y: -2.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 5 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 5.0 + y: -2.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 6 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 5.0 + y: -3.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 7 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 0.0 + y: -3.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 8 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 0.0 + y: -4.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 8 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 5.0 + y: -4.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 10 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 5.0 + y: -5.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 11 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 0.0 + y: -5.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 12 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 0.0 + y: 0.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 diff --git a/tracking_pid/trajectories/coverage_with_orientation.yaml b/tracking_pid/trajectories/coverage_with_orientation.yaml new file mode 100644 index 0000000..81ee0df --- /dev/null +++ b/tracking_pid/trajectories/coverage_with_orientation.yaml @@ -0,0 +1,109 @@ +header: + seq: 1 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'path_frame' +poses: + - + header: + seq: 0 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'path_frame' + pose: + position: + x: 0.0 + y: 0.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 1 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'path_frame' + pose: + position: + x: 5.0 + y: 0.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 2 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'path_frame' + pose: + position: + x: 5.0 + y: 0.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: -0.707 + w: 0.707 + - + header: + seq: 3 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'path_frame' + pose: + position: + x: 5.0 + y: -1.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: -0.707 + w: 0.707 + - + header: + seq: 4 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'path_frame' + pose: + position: + x: 5.0 + y: -1.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: -1.0 + w: 0.0 + - + header: + seq: 5 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'path_frame' + pose: + position: + x: 0.0 + y: -1.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: -1.0 + w: 0.0 diff --git a/tracking_pid/trajectories/double_points.yaml b/tracking_pid/trajectories/double_points.yaml new file mode 100644 index 0000000..3606d6a --- /dev/null +++ b/tracking_pid/trajectories/double_points.yaml @@ -0,0 +1,245 @@ +header: + seq: 1 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' +poses: + - + header: + seq: 0 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 0.0 + y: 0.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 1 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 0.0 + y: 0.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 2 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 5.0 + y: 0.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 3 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 5.0 + y: -1.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 4 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 0.0 + y: -1.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 5 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 0.0 + y: -2.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 6 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 5.0 + y: -2.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 7 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 5.0 + y: -3.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 8 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 0.0 + y: -3.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 9 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 0.0 + y: -4.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 10 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 5.0 + y: -4.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 11 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 5.0 + y: -5.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 12 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 0.0 + y: -5.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 13 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 0.0 + y: 0.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 diff --git a/tracking_pid/trajectories/empty.yaml b/tracking_pid/trajectories/empty.yaml new file mode 100644 index 0000000..8d90496 --- /dev/null +++ b/tracking_pid/trajectories/empty.yaml @@ -0,0 +1,7 @@ +header: + seq: 1 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' +poses: [] diff --git a/tracking_pid/trajectories/empty_frame_ids.yaml b/tracking_pid/trajectories/empty_frame_ids.yaml new file mode 100644 index 0000000..a0964c7 --- /dev/null +++ b/tracking_pid/trajectories/empty_frame_ids.yaml @@ -0,0 +1,92 @@ +header: + seq: 1 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' +poses: + - + header: + seq: 0 + stamp: + secs: 0 + nsecs: 0 + frame_id: '' + pose: + position: + x: 0.0 + y: 0.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 1 + stamp: + secs: 0 + nsecs: 0 + frame_id: '' + pose: + position: + x: 5.0 + y: 0.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 2 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 5.0 + y: 5.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 3 + stamp: + secs: 0 + nsecs: 0 + frame_id: '' + pose: + position: + x: 0.0 + y: 5.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 4 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 0.0 + y: 0.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 diff --git a/tracking_pid/trajectories/test_path.yaml b/tracking_pid/trajectories/test_path.yaml new file mode 100644 index 0000000..f149237 --- /dev/null +++ b/tracking_pid/trajectories/test_path.yaml @@ -0,0 +1,92 @@ +header: + seq: 1 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' +poses: + - + header: + seq: 0 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 0.25 + y: 1 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 1 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 5.0 + y: 0.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 2 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 5.0 + y: 5.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 3 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 0.0 + y: 5.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 4 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 0.0 + y: 0.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 diff --git a/tracking_pid/trajectories/zigzag.yaml b/tracking_pid/trajectories/zigzag.yaml new file mode 100644 index 0000000..aac3205 --- /dev/null +++ b/tracking_pid/trajectories/zigzag.yaml @@ -0,0 +1,143 @@ +header: + seq: 1 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' +poses: + - + header: + seq: 0 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 0.0 + y: 0.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 1 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 5.0 + y: 0.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 3 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 0.0 + y: -1.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 5 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 5.0 + y: -2.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 7 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 0.0 + y: -3.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 8 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 5.0 + y: -4.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 11 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 0.0 + y: -5.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 12 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 0.0 + y: 0.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 diff --git a/tracking_pid/trajectories/zigzag_short.yaml b/tracking_pid/trajectories/zigzag_short.yaml new file mode 100644 index 0000000..8deb1c6 --- /dev/null +++ b/tracking_pid/trajectories/zigzag_short.yaml @@ -0,0 +1,75 @@ +header: + seq: 1 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' +poses: + - + header: + seq: 0 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 0.25 + y: 1 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 1 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 13.0 + y: 0.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 3 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 0.0 + y: -3.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - + header: + seq: 5 + stamp: + secs: 0 + nsecs: 0 + frame_id: 'map' + pose: + position: + x: 3.0 + y: -3.0 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0

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